2025-10-26T20:33:36.039Z,1761510816.039 [lineCaptureHoming:BA.Execute](INFO): Executing command restart logs
2025-10-26T20:33:36.039Z,1761510816.039 [lineCaptureHoming:BA.Execute] Stopped
2025-10-26T20:33:36.039Z,1761510816.039 [lineCaptureHoming:InitialDive] Running Loop=1
2025-10-26T20:33:36.039Z,1761510816.039 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive
2025-10-26T20:33:36.040Z,1761510816.040 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-10-26T20:33:36.040Z,1761510816.040 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize.
2025-10-26T20:33:36.040Z,1761510816.040 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-10-26T20:33:36.040Z,1761510816.040 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize.
2025-10-26T20:33:36.040Z,1761510816.040 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1
2025-10-26T20:33:36.040Z,1761510816.040 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize.
2025-10-26T20:33:36.041Z,1761510816.041 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:33:36.049Z,1761510816.049 [CommandExec](IMPORTANT): got command restart logs
2025-10-26T20:33:36.116Z,1761510816.116 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:33:36.116Z,1761510816.116 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:33:36.369Z,1761510816.369 [DAT](INFO): DAT read: user:108>

2025-10-26T20:33:36.369Z,1761510816.369 [DAT](INFO): DAT read: Tx time:20:33:35.5030

2025-10-26T20:33:36.370Z,1761510816.370 [DAT](INFO): Ping request sent.
2025-10-26T20:33:36.370Z,1761510816.370 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:33:36.370Z,1761510816.370 [DAT](INFO): publishing transmit ping time
2025-10-26T20:33:36.371Z,1761510816.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-10-26T20:33:36.422Z,1761510816.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273704,0.958962,0.074015],[-0.960060,-0.277040,0.039167],[0.058065,-0.060339,0.996488]]
2025-10-26T20:33:36.451Z,1761510816.451 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-10-26T20:33:36.456Z,1761510816.456 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-10-26T20:33:36.620Z,1761510816.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250604
2025-10-26T20:33:36.872Z,1761510816.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502567
2025-10-26T20:33:37.124Z,1761510817.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754612
2025-10-26T20:33:37.230Z,1761510817.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307482,0.950638,0.041743],[-0.951068,-0.305627,-0.045410],[-0.030411,-0.053663,0.998096]]
2025-10-26T20:33:37.376Z,1761510817.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006609
2025-10-26T20:33:37.628Z,1761510817.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258593
2025-10-26T20:33:37.636Z,1761510817.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306311,0.949796,0.063732],[-0.950371,-0.301292,-0.077572],[-0.054475,-0.084331,0.994948]]
2025-10-26T20:33:37.880Z,1761510817.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510627
2025-10-26T20:33:38.041Z,1761510818.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308809,0.944667,0.110639],[-0.950780,-0.303474,-0.062622],[-0.025581,-0.124531,0.991886]]
2025-10-26T20:33:38.132Z,1761510818.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762677
2025-10-26T20:33:38.384Z,1761510818.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014488
2025-10-26T20:33:38.442Z,1761510818.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325391,0.936411,0.131361],[-0.945365,-0.319204,-0.066288],[-0.020141,-0.145753,0.989116]]
2025-10-26T20:33:38.637Z,1761510818.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266896
2025-10-26T20:33:38.888Z,1761510818.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518565
2025-10-26T20:33:39.140Z,1761510819.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770493
2025-10-26T20:33:39.250Z,1761510819.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363140,0.928511,0.077432],[-0.931301,-0.359180,-0.060572],[-0.028430,-0.094108,0.995156]]
2025-10-26T20:33:39.392Z,1761510819.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022591
2025-10-26T20:33:39.648Z,1761510819.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278470
2025-10-26T20:33:39.656Z,1761510819.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361882,0.930079,0.063203],[-0.932198,-0.361541,-0.017155],[0.006895,-0.065126,0.997853]]
2025-10-26T20:33:39.897Z,1761510819.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527665
2025-10-26T20:33:40.058Z,1761510820.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341072,0.937447,0.069743],[-0.938567,-0.343747,0.030482],[0.052549,-0.055061,0.997099]]
2025-10-26T20:33:40.149Z,1761510820.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778792
2025-10-26T20:33:40.401Z,1761510820.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030701
2025-10-26T20:33:40.652Z,1761510820.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282584
2025-10-26T20:33:40.866Z,1761510820.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333253,0.940544,0.065719],[-0.938009,-0.337785,0.077720],[0.095298,-0.035745,0.994807]]
2025-10-26T20:33:40.904Z,1761510820.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534478
2025-10-26T20:33:41.156Z,1761510821.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786632
2025-10-26T20:33:41.270Z,1761510821.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325199,0.943422,0.064815],[-0.943797,-0.328084,0.040114],[0.059109,-0.048127,0.997091]]
2025-10-26T20:33:41.408Z,1761510821.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038550
2025-10-26T20:33:41.661Z,1761510821.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290778
2025-10-26T20:33:41.676Z,1761510821.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316175,0.945242,0.080933],[-0.947313,-0.319174,0.026932],[0.051289,-0.068154,0.996356]]
2025-10-26T20:33:41.912Z,1761510821.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542615
2025-10-26T20:33:42.078Z,1761510822.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323088,0.934479,0.149541],[-0.940844,-0.334216,0.055785],[0.102109,-0.122671,0.987181]]
2025-10-26T20:33:42.164Z,1761510822.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794480
2025-10-26T20:33:42.417Z,1761510822.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046864
2025-10-26T20:33:42.486Z,1761510822.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320444,0.920110,0.225199],[-0.934790,-0.345616,0.081961],[0.153246,-0.184249,0.970859]]
2025-10-26T20:33:42.668Z,1761510822.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298547
2025-10-26T20:33:42.920Z,1761510822.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550487
2025-10-26T20:33:43.173Z,1761510823.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802723
2025-10-26T20:33:43.291Z,1761510823.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289327,0.950139,0.116302],[-0.953192,-0.297121,0.056078],[0.087838,-0.094633,0.991630]]
2025-10-26T20:33:43.425Z,1761510823.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054684
2025-10-26T20:33:43.676Z,1761510823.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306554
2025-10-26T20:33:43.696Z,1761510823.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284973,0.958105,0.028723],[-0.958027,-0.285670,0.024028],[0.031227,-0.020670,0.999299]]
2025-10-26T20:33:43.928Z,1761510823.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558583
2025-10-26T20:33:44.099Z,1761510824.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293477,0.955293,0.035878],[-0.955935,-0.293565,-0.002921],[0.007742,-0.035154,0.999352]]
2025-10-26T20:33:44.180Z,1761510824.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810538
2025-10-26T20:33:44.433Z,1761510824.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062696
2025-10-26T20:33:44.502Z,1761510824.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301346,0.946356,0.116622],[-0.953054,-0.302742,-0.005975],[0.029651,-0.112947,0.993158]]
2025-10-26T20:33:44.689Z,1761510824.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318720
2025-10-26T20:33:44.906Z,1761510824.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314843,0.926646,0.205430],[-0.945909,-0.324186,0.012621],[0.078292,-0.190344,0.978590]]
2025-10-26T20:33:44.936Z,1761510824.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566574
2025-10-26T20:33:45.189Z,1761510825.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818920
2025-10-26T20:33:45.311Z,1761510825.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313526,0.921901,0.227596],[-0.945615,-0.324995,0.013790],[0.086680,-0.210895,0.973658]]
2025-10-26T20:33:45.442Z,1761510825.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072063
2025-10-26T20:33:45.692Z,1761510825.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322606
2025-10-26T20:33:45.717Z,1761510825.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309905,0.934224,0.176592],[-0.949798,-0.312587,-0.013141],[0.042924,-0.171799,0.984196]]
2025-10-26T20:33:45.946Z,1761510825.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575662
2025-10-26T20:33:46.118Z,1761510826.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310989,0.942824,0.119870],[-0.950147,-0.311406,-0.015717],[0.022510,-0.118782,0.992665]]
2025-10-26T20:33:46.197Z,1761510826.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827169
2025-10-26T20:33:46.448Z,1761510826.448 [DAT](INFO): Reached modem response timeout
2025-10-26T20:33:46.518Z,1761510826.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313905,0.942853,0.111767],[-0.948101,-0.317561,0.016098],[0.050671,-0.100913,0.993604]]
2025-10-26T20:33:47.326Z,1761510827.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315103,0.940241,0.129061],[-0.942385,-0.326078,0.074727],[0.112345,-0.098078,0.988817]]
2025-10-26T20:33:47.735Z,1761510827.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312030,0.941809,0.125036],[-0.939607,-0.325389,0.106119],[0.140629,-0.084373,0.986461]]
2025-10-26T20:33:48.112Z,1761510828.112 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:33:48.134Z,1761510828.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305680,0.943786,0.125805],[-0.939694,-0.320330,0.119849],[0.153411,-0.081583,0.984789]]
2025-10-26T20:33:48.538Z,1761510828.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293092,0.945823,0.139697],[-0.944713,-0.308967,0.109808],[0.147020,-0.099790,0.984087]]
2025-10-26T20:33:48.718Z,1761510828.718 [DAT](INFO): DAT read: Response Not Received

2025-10-26T20:33:48.718Z,1761510828.718 [DAT](INFO): response not received
2025-10-26T20:33:48.718Z,1761510828.718 [DAT](ERROR): No response from remote modem.
2025-10-26T20:33:48.950Z,1761510828.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295184,0.941294,0.163805],[-0.945704,-0.312263,0.090195],[0.136050,-0.128287,0.982361]]
2025-10-26T20:33:49.350Z,1761510829.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306517,0.933647,0.185341],[-0.943234,-0.324086,0.072649],[0.127895,-0.152551,0.979985]]
2025-10-26T20:33:49.750Z,1761510829.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317793,0.929675,0.186311],[-0.938775,-0.336093,0.075789],[0.133077,-0.150819,0.979563]]
2025-10-26T20:33:50.154Z,1761510830.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332137,0.927394,0.172118],[-0.936124,-0.346459,0.060323],[0.115575,-0.141088,0.983228]]
2025-10-26T20:33:50.558Z,1761510830.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343921,0.926142,0.154855],[-0.935069,-0.352864,0.033653],[0.085810,-0.133226,0.987364]]
2025-10-26T20:33:50.969Z,1761510830.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355955,0.922003,0.152336],[-0.930465,-0.364813,0.033842],[0.086777,-0.129697,0.987749]]
2025-10-26T20:33:51.370Z,1761510831.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374902,0.911177,0.170891],[-0.920574,-0.387672,0.047472],[0.109506,-0.139521,0.984146]]
2025-10-26T20:33:51.774Z,1761510831.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382090,0.903525,0.194034],[-0.908715,-0.405527,0.098914],[0.168058,-0.138528,0.975995]]
2025-10-26T20:33:52.178Z,1761510832.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373516,0.908473,0.187516],[-0.894425,-0.406310,0.186859],[0.245945,-0.097924,0.964325]]
2025-10-26T20:33:52.582Z,1761510832.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351812,0.923395,0.153527],[-0.898309,-0.379162,0.221985],[0.263191,-0.059818,0.962887]]
2025-10-26T20:33:52.986Z,1761510832.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330213,0.936332,0.119340],[-0.914896,-0.348600,0.203574],[0.232215,-0.041961,0.971759]]
2025-10-26T20:33:53.390Z,1761510833.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339354,0.933875,0.112768],[-0.918129,-0.354918,0.176272],[0.204639,-0.043717,0.977861]]
2025-10-26T20:33:53.794Z,1761510833.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364321,0.920637,0.140346],[-0.913467,-0.382603,0.138539],[0.181241,-0.077728,0.980362]]
2025-10-26T20:33:53.810Z,1761510833.810 [NAL9602](INFO): SBD MO Status=0, MOMSN=2990, MT Status=0, MTMSN=0
2025-10-26T20:33:53.810Z,1761510833.810 [NAL9602](INFO): No messages in MT queue
2025-10-26T20:33:54.198Z,1761510834.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379515,0.902439,0.203893],[-0.904409,-0.408313,0.123795],[0.194970,-0.137420,0.971135]]
2025-10-26T20:33:54.602Z,1761510834.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386569,0.885721,0.257028],[-0.894368,-0.428047,0.129930],[0.225102,-0.179651,0.957630]]
2025-10-26T20:33:55.006Z,1761510835.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392441,0.879859,0.268026],[-0.894664,-0.432789,0.110771],[0.213462,-0.196322,0.957022]]
2025-10-26T20:33:55.410Z,1761510835.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398612,0.885410,0.239076],[-0.898454,-0.429323,0.091989],[0.184089,-0.178131,0.966634]]
2025-10-26T20:33:55.814Z,1761510835.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399813,0.895137,0.197180],[-0.897234,-0.426188,0.115481],[0.187407,-0.130746,0.973542]]
2025-10-26T20:33:56.218Z,1761510836.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383271,0.906919,0.174933],[-0.895834,-0.411126,0.168693],[0.224910,-0.092056,0.970021]]
2025-10-26T20:33:56.622Z,1761510836.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371392,0.913842,0.164199],[-0.895815,-0.399173,0.195387],[0.244096,-0.074526,0.966883]]
2025-10-26T20:33:57.205Z,1761510837.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386294,0.902435,0.190757],[-0.884175,-0.421192,0.202071],[0.262701,-0.090604,0.960614]]
2025-10-26T20:33:57.586Z,1761510837.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373564,0.899189,0.227836],[-0.880976,-0.420811,0.216333],[0.290400,-0.119904,0.949363]]
2025-10-26T20:33:57.991Z,1761510837.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362117,0.894321,0.262796],[-0.876669,-0.422554,0.229998],[0.316738,-0.147099,0.937037]]
2025-10-26T20:33:58.394Z,1761510838.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359567,0.888475,0.285174],[-0.871369,-0.429036,0.238002],[0.333809,-0.162914,0.928456]]
2025-10-26T20:33:58.814Z,1761510838.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365220,0.885263,0.287966],[-0.864971,-0.437060,0.246585],[0.344150,-0.159024,0.925350]]
2025-10-26T20:33:59.202Z,1761510839.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371742,0.884555,0.281727],[-0.852438,-0.445432,0.273751],[0.367638,-0.138390,0.919614]]
2025-10-26T20:33:59.606Z,1761510839.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374224,0.886912,0.270821],[-0.844653,-0.446542,0.295232],[0.382778,-0.118267,0.916239]]
2025-10-26T20:34:00.011Z,1761510840.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369300,0.888682,0.271775],[-0.849904,-0.441264,0.288009],[0.375873,-0.124621,0.918253]]
2025-10-26T20:34:00.425Z,1761510840.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358068,0.889527,0.283775],[-0.857309,-0.433620,0.277479],[0.369875,-0.143927,0.917866]]
2025-10-26T20:34:00.820Z,1761510840.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339176,0.895266,0.288891],[-0.861352,-0.419012,0.287230],[0.378196,-0.151416,0.913259]]
2025-10-26T20:34:01.223Z,1761510841.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324907,0.901567,0.285678],[-0.853090,-0.409780,0.322982],[0.408255,-0.138770,0.902259]]
2025-10-26T20:34:01.626Z,1761510841.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323939,0.905865,0.272896],[-0.838458,-0.408501,0.360714],[0.438237,-0.111962,0.891859]]
2025-10-26T20:34:01.824Z,1761510841.824 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T20:34:01.824Z,1761510841.824 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T20:34:02.030Z,1761510842.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318084,0.903123,0.288430],[-0.837265,-0.410316,0.361424],[0.444757,-0.126529,0.886669]]
2025-10-26T20:34:02.076Z,1761510842.076 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:34:02.481Z,1761510842.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313608,0.900834,0.300247],[-0.845217,-0.408926,0.344074],[0.432732,-0.145869,0.889643]]
2025-10-26T20:34:02.841Z,1761510842.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316508,0.902244,0.292878],[-0.851277,-0.406380,0.331940],[0.418511,-0.144259,0.896682]]
2025-10-26T20:34:03.242Z,1761510843.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322619,0.901420,0.288719],[-0.857066,-0.407653,0.315050],[0.401689,-0.145810,0.904094]]
2025-10-26T20:34:03.647Z,1761510843.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330648,0.896820,0.293914],[-0.856448,-0.415961,0.305733],[0.396444,-0.150632,0.905617]]
2025-10-26T20:34:04.050Z,1761510844.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338626,0.889320,0.307315],[-0.841774,-0.432264,0.323364],[0.420415,-0.149191,0.894982]]
2025-10-26T20:34:04.468Z,1761510844.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345478,0.878100,0.331038],[-0.818082,-0.454641,0.352198],[0.459768,-0.149139,0.875426]]
2025-10-26T20:34:04.859Z,1761510844.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344560,0.864898,0.365006],[-0.802174,-0.473230,0.364101],[0.487642,-0.167344,0.856856]]
2025-10-26T20:34:05.262Z,1761510845.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331383,0.857553,0.393431],[-0.805051,-0.474454,0.356071],[0.492015,-0.198736,0.847600]]
2025-10-26T20:34:05.666Z,1761510845.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313279,0.862252,0.397967],[-0.816491,-0.458564,0.350803],[0.484974,-0.215037,0.847679]]
2025-10-26T20:34:06.072Z,1761510846.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307630,0.873747,0.376736],[-0.817082,-0.445473,0.365965],[0.487586,-0.195243,0.850964]]
2025-10-26T20:34:06.474Z,1761510846.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313659,0.883127,0.348861],[-0.808625,-0.441020,0.389392],[0.497738,-0.159962,0.852449]]
2025-10-26T20:34:07.283Z,1761510847.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312851,0.889522,0.332980],[-0.798481,-0.436164,0.414956],[0.514346,-0.136059,0.846720]]
2025-10-26T20:34:07.686Z,1761510847.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304127,0.891843,0.334849],[-0.795667,-0.431096,0.425523],[0.523852,-0.137015,0.840718]]
2025-10-26T20:34:08.090Z,1761510848.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297783,0.895821,0.329895],[-0.795845,-0.423806,0.432457],[0.527216,-0.133767,0.839136]]
2025-10-26T20:34:08.494Z,1761510848.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300993,0.897212,0.323131],[-0.796422,-0.422875,0.432306],[0.524514,-0.127227,0.841842]]
2025-10-26T20:34:08.898Z,1761510848.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310976,0.894283,0.321796],[-0.794602,-0.430399,0.428210],[0.521442,-0.122537,0.844443]]
2025-10-26T20:34:09.303Z,1761510849.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323441,0.887074,0.329371],[-0.787866,-0.445245,0.425469],[0.524073,-0.121886,0.842906]]
2025-10-26T20:34:09.712Z,1761510849.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334431,0.876366,0.346611],[-0.777100,-0.464511,0.424671],[0.533172,-0.127328,0.836370]]
2025-10-26T20:34:10.110Z,1761510850.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341866,0.864655,0.368102],[-0.767790,-0.482852,0.421132],[0.541873,-0.138654,0.828944]]
2025-10-26T20:34:10.521Z,1761510850.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341814,0.856965,0.385714],[-0.767176,-0.491504,0.412146],[0.542774,-0.155033,0.825446]]
2025-10-26T20:34:10.937Z,1761510850.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338132,0.853157,0.397229],[-0.770193,-0.493423,0.404149],[0.540804,-0.169287,0.823938]]
2025-10-26T20:34:11.732Z,1761510851.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325935,0.855326,0.402722],[-0.775424,-0.485554,0.403676],[0.540817,-0.180708,0.821499]]
2025-10-26T20:34:12.132Z,1761510852.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320738,0.860537,0.395731],[-0.778167,-0.477600,0.407865],[0.539984,-0.177127,0.822826]]
2025-10-26T20:34:12.542Z,1761510852.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322213,0.864021,0.386841],[-0.778463,-0.474354,0.411077],[0.538679,-0.168687,0.825452]]
2025-10-26T20:34:12.941Z,1761510852.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327522,0.865312,0.379427],[-0.776097,-0.475421,0.414305],[0.538891,-0.158778,0.827276]]
2025-10-26T20:34:13.342Z,1761510853.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332357,0.863435,0.379498],[-0.770566,-0.480604,0.418625],[0.543844,-0.153295,0.825066]]
2025-10-26T20:34:13.747Z,1761510853.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335958,0.858765,0.386853],[-0.762829,-0.489000,0.423050],[0.552472,-0.152976,0.819374]]
2025-10-26T20:34:14.153Z,1761510854.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334101,0.856010,0.394492],[-0.759887,-0.492249,0.424574],[0.557627,-0.157919,0.814931]]
2025-10-26T20:34:14.554Z,1761510854.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329688,0.855431,0.399429],[-0.760729,-0.491265,0.424205],[0.559104,-0.164002,0.812716]]
2025-10-26T20:34:14.958Z,1761510854.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324447,0.856172,0.402125],[-0.761769,-0.488523,0.425504],[0.560751,-0.168273,0.810705]]
2025-10-26T20:34:15.362Z,1761510855.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318018,0.858229,0.402874],[-0.762263,-0.484131,0.429618],[0.563754,-0.170469,0.808159]]
2025-10-26T20:34:15.768Z,1761510855.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311930,0.861738,0.400134],[-0.763290,-0.478071,0.434552],[0.565763,-0.169868,0.806881]]
2025-10-26T20:34:16.170Z,1761510856.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307644,0.865993,0.394221],[-0.766756,-0.470963,0.436210],[0.563418,-0.168074,0.808895]]
2025-10-26T20:34:16.574Z,1761510856.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305715,0.872057,0.382171],[-0.772691,-0.461765,0.435570],[0.556315,-0.162140,0.814999]]
2025-10-26T20:34:16.978Z,1761510856.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305781,0.879344,0.365038],[-0.779030,-0.451496,0.435044],[0.547367,-0.151348,0.823094]]
2025-10-26T20:34:17.382Z,1761510857.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307890,0.884798,0.349767],[-0.782863,-0.444516,0.435351],[0.540674,-0.139780,0.829538]]
2025-10-26T20:34:17.786Z,1761510857.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311761,0.886512,0.341909],[-0.782945,-0.443563,0.436175],[0.538332,-0.131713,0.832376]]
2025-10-26T20:34:18.190Z,1761510858.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316369,0.884807,0.342093],[-0.779934,-0.447886,0.437152],[0.540013,-0.128508,0.831788]]
2025-10-26T20:34:18.594Z,1761510858.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321642,0.880424,0.348426],[-0.774541,-0.456309,0.438027],[0.544639,-0.128982,0.828693]]
2025-10-26T20:34:18.998Z,1761510858.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327963,0.873399,0.360020],[-0.767230,-0.468606,0.437912],[0.551179,-0.132599,0.823783]]
2025-10-26T20:34:19.156Z,1761510859.156 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:34:19.414Z,1761510859.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336031,0.863940,0.375087],[-0.758378,-0.484351,0.436196],[0.558521,-0.137883,0.817950]]
2025-10-26T20:34:19.808Z,1761510859.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346283,0.852566,0.391433],[-0.748840,-0.502534,0.432086],[0.565090,-0.143497,0.812454]]
2025-10-26T20:34:20.210Z,1761510860.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357642,0.840129,0.407768],[-0.739734,-0.521375,0.425396],[0.569988,-0.149500,0.807938]]
2025-10-26T20:34:20.621Z,1761510860.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369022,0.827066,0.424010],[-0.731447,-0.539898,0.416527],[0.573418,-0.156434,0.804189]]
2025-10-26T20:34:21.428Z,1761510861.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388141,0.801938,0.454138],[-0.716781,-0.572422,0.398193],[0.579285,-0.170963,0.796995]]
2025-10-26T20:34:21.826Z,1761510861.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394642,0.791170,0.467233],[-0.709792,-0.585414,0.391771],[0.583483,-0.177029,0.792596]]
2025-10-26T20:34:22.231Z,1761510862.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398644,0.781465,0.479995],[-0.703272,-0.596409,0.386917],[0.588635,-0.183325,0.787338]]
2025-10-26T20:34:22.634Z,1761510862.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399696,0.773246,0.492273],[-0.697888,-0.604886,0.383491],[0.594302,-0.190272,0.781410]]
2025-10-26T20:34:23.849Z,1761510863.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385530,0.767246,0.512542],[-0.696133,-0.606455,0.384203],[0.605612,-0.208676,0.767912]]
2025-10-26T20:34:24.250Z,1761510864.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376776,0.775502,0.506592],[-0.701589,-0.596007,0.390576],[0.604825,-0.208260,0.768645]]
2025-10-26T20:34:24.253Z,1761510864.253 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-26T20:34:24.654Z,1761510864.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367138,0.789428,0.491948],[-0.709989,-0.579519,0.400092],[0.600937,-0.202388,0.773248]]
2025-10-26T20:34:25.464Z,1761510865.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348348,0.829316,0.436909],[-0.732193,-0.531763,0.425584],[0.585275,-0.171650,0.792458]]
2025-10-26T20:34:25.866Z,1761510865.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339324,0.850640,0.401586],[-0.744138,-0.503892,0.438578],[0.575428,-0.150015,0.803976]]
2025-10-26T20:34:26.270Z,1761510866.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330288,0.869966,0.366153],[-0.755209,-0.476270,0.450362],[0.566188,-0.127773,0.814313]]
2025-10-26T20:34:26.674Z,1761510866.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321893,0.885810,0.334255],[-0.764768,-0.451393,0.459754],[0.558135,-0.107635,0.822739]]
2025-10-26T20:34:27.080Z,1761510867.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313838,0.898227,0.307724],[-0.772915,-0.429925,0.466654],[0.551460,-0.091391,0.829180]]
2025-10-26T20:34:27.503Z,1761510867.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306218,0.907458,0.287664],[-0.779770,-0.412441,0.471011],[0.546067,-0.080080,0.833905]]
2025-10-26T20:34:27.891Z,1761510867.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298406,0.913594,0.276223],[-0.785730,-0.399443,0.472306],[0.541832,-0.076098,0.837035]]
2025-10-26T20:34:28.291Z,1761510868.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292566,0.916669,0.272254],[-0.790175,-0.392096,0.471045],[0.538543,-0.077317,0.839043]]
2025-10-26T20:34:28.703Z,1761510868.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294931,0.915137,0.274846],[-0.790439,-0.395279,0.467933],[0.536864,-0.079241,0.839940]]
2025-10-26T20:34:29.502Z,1761510869.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304574,0.905345,0.295947],[-0.789432,-0.413791,0.453403],[0.532946,-0.095535,0.840739]]
2025-10-26T20:34:29.915Z,1761510869.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310566,0.898454,0.310370],[-0.789003,-0.425751,0.442955],[0.530115,-0.107317,0.841107]]
2025-10-26T20:34:30.722Z,1761510870.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325811,0.882796,0.338405],[-0.786867,-0.451624,0.420567],[0.524107,-0.129254,0.841787]]
2025-10-26T20:34:31.118Z,1761510871.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332935,0.875653,0.349837],[-0.785548,-0.462789,0.410780],[0.521602,-0.138051,0.841946]]
2025-10-26T20:34:31.523Z,1761510871.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338639,0.869880,0.358654],[-0.784628,-0.471448,0.402611],[0.519310,-0.145070,0.842183]]
2025-10-26T20:34:31.926Z,1761510871.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343764,0.865053,0.365390],[-0.783805,-0.478616,0.395698],[0.517181,-0.150367,0.842564]]
2025-10-26T20:34:32.330Z,1761510872.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349164,0.860856,0.370150],[-0.782173,-0.485278,0.390782],[0.516032,-0.153074,0.842780]]
2025-10-26T20:34:32.750Z,1761510872.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355126,0.856092,0.375488],[-0.779162,-0.493003,0.387111],[0.516519,-0.155093,0.842113]]
2025-10-26T20:34:33.139Z,1761510873.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361508,0.850538,0.381964],[-0.774496,-0.502027,0.384870],[0.519103,-0.156696,0.840225]]
2025-10-26T20:34:33.542Z,1761510873.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367485,0.843227,0.392329],[-0.768722,-0.512835,0.382185],[0.523470,-0.161145,0.836667]]
2025-10-26T20:34:33.946Z,1761510873.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372212,0.835670,0.403874],[-0.763499,-0.523102,0.378726],[0.527757,-0.167391,0.832738]]
2025-10-26T20:34:34.351Z,1761510874.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374868,0.829586,0.413836],[-0.761111,-0.530264,0.373538],[0.529324,-0.174948,0.830186]]
2025-10-26T20:34:34.805Z,1761510874.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379625,0.820580,0.427240],[-0.761669,-0.539347,0.359117],[0.525115,-0.189086,0.829760]]
2025-10-26T20:34:35.162Z,1761510875.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382995,0.818111,0.428963],[-0.763738,-0.541661,0.351152],[0.519634,-0.193126,0.832276]]
2025-10-26T20:34:35.571Z,1761510875.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387719,0.815932,0.428870],[-0.766104,-0.543970,0.342316],[0.512599,-0.195837,0.835996]]
2025-10-26T20:34:35.970Z,1761510875.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394871,0.813757,0.426469],[-0.767393,-0.547367,0.333911],[0.505158,-0.195418,0.840611]]
2025-10-26T20:34:36.389Z,1761510876.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404449,0.811120,0.422498],[-0.766760,-0.552539,0.326772],[0.498498,-0.191792,0.845408]]
2025-10-26T20:34:36.409Z,1761510876.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:34:36.636Z,1761510876.636 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:34:36.636Z,1761510876.636 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:34:36.900Z,1761510876.900 [DAT](INFO): DAT read: user:109>

2025-10-26T20:34:36.901Z,1761510876.901 [DAT](INFO): DAT read: Tx time:20:34:36.0028

2025-10-26T20:34:36.901Z,1761510876.901 [DAT](INFO): Ping request sent.
2025-10-26T20:34:36.901Z,1761510876.901 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:34:36.902Z,1761510876.902 [DAT](INFO): publishing transmit ping time
2025-10-26T20:34:36.902Z,1761510876.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-10-26T20:34:37.152Z,1761510877.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250944
2025-10-26T20:34:37.179Z,1761510877.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427426,0.801390,0.418427],[-0.759630,-0.569310,0.314402],[0.490173,-0.183466,0.852098]]
2025-10-26T20:34:37.404Z,1761510877.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502921
2025-10-26T20:34:37.589Z,1761510877.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437942,0.795001,0.419738],[-0.754322,-0.578956,0.309529],[0.489085,-0.181062,0.853236]]
2025-10-26T20:34:37.657Z,1761510877.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755487
2025-10-26T20:34:37.908Z,1761510877.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007013
2025-10-26T20:34:37.986Z,1761510877.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446424,0.788252,0.423514],[-0.748967,-0.588144,0.305181],[0.489647,-0.180958,0.852936]]
2025-10-26T20:34:38.160Z,1761510878.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258979
2025-10-26T20:34:38.395Z,1761510878.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452139,0.781423,0.430056],[-0.744199,-0.596276,0.301037],[0.491670,-0.183936,0.851134]]
2025-10-26T20:34:38.420Z,1761510878.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519053
2025-10-26T20:34:38.664Z,1761510878.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762986
2025-10-26T20:34:38.810Z,1761510878.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454936,0.775048,0.438559],[-0.740424,-0.602826,0.297276],[0.494778,-0.189479,0.848111]]
2025-10-26T20:34:38.917Z,1761510878.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015276
2025-10-26T20:34:39.168Z,1761510879.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266999
2025-10-26T20:34:39.203Z,1761510879.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454749,0.770208,0.447194],[-0.738254,-0.606853,0.294465],[0.498181,-0.196235,0.844575]]
2025-10-26T20:34:39.420Z,1761510879.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519009
2025-10-26T20:34:39.602Z,1761510879.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451633,0.768278,0.453625],[-0.738025,-0.607394,0.293924],[0.501345,-0.202040,0.841328]]
2025-10-26T20:34:39.672Z,1761510879.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771020
2025-10-26T20:34:39.924Z,1761510879.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022958
2025-10-26T20:34:40.006Z,1761510880.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446172,0.769176,0.457492],[-0.740037,-0.604558,0.294712],[0.503266,-0.207069,0.838956]]
2025-10-26T20:34:40.176Z,1761510880.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274952
2025-10-26T20:34:40.410Z,1761510880.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439044,0.774764,0.454951],[-0.744118,-0.597333,0.299135],[0.503517,-0.207204,0.838772]]
2025-10-26T20:34:40.428Z,1761510880.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527071
2025-10-26T20:34:40.680Z,1761510880.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778951
2025-10-26T20:34:40.817Z,1761510880.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430410,0.784810,0.445893],[-0.750307,-0.585688,0.306608],[0.501783,-0.202589,0.840935]]
2025-10-26T20:34:40.933Z,1761510880.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031409
2025-10-26T20:34:41.184Z,1761510881.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283077
2025-10-26T20:34:41.223Z,1761510881.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420776,0.798582,0.430365],[-0.758043,-0.570119,0.316756],[0.498315,-0.192952,0.845253]]
2025-10-26T20:34:41.436Z,1761510881.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534949
2025-10-26T20:34:41.622Z,1761510881.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410564,0.814865,0.409186],[-0.766617,-0.551440,0.328955],[0.493695,-0.178632,0.851091]]
2025-10-26T20:34:41.688Z,1761510881.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787064
2025-10-26T20:34:41.940Z,1761510881.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038922
2025-10-26T20:34:42.026Z,1761510882.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400155,0.831985,0.384289],[-0.775491,-0.530849,0.341780],[0.488355,-0.161247,0.857618]]
2025-10-26T20:34:42.192Z,1761510882.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290977
2025-10-26T20:34:42.444Z,1761510882.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542961
2025-10-26T20:34:42.697Z,1761510882.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795577
2025-10-26T20:34:42.835Z,1761510882.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378972,0.861947,0.336790],[-0.792210,-0.490284,0.363353],[0.478313,-0.129108,0.868647]]
2025-10-26T20:34:42.948Z,1761510882.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047022
2025-10-26T20:34:43.200Z,1761510883.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299012
2025-10-26T20:34:43.238Z,1761510883.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368914,0.873563,0.317475],[-0.799282,-0.472499,0.371339],[0.474395,-0.116760,0.872535]]
2025-10-26T20:34:43.452Z,1761510883.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550935
2025-10-26T20:34:43.705Z,1761510883.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803429
2025-10-26T20:34:43.956Z,1761510883.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054986
2025-10-26T20:34:44.208Z,1761510884.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306936
2025-10-26T20:34:44.451Z,1761510884.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351048,0.891502,0.286338],[-0.811452,-0.442239,0.382061],[0.467238,-0.098228,0.878658]]
2025-10-26T20:34:44.461Z,1761510884.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559352
2025-10-26T20:34:44.713Z,1761510884.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811477
2025-10-26T20:34:44.867Z,1761510884.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352268,0.891607,0.284507],[-0.812024,-0.442321,0.380748],[0.465321,-0.096901,0.879822]]
2025-10-26T20:34:44.965Z,1761510884.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063932
2025-10-26T20:34:45.216Z,1761510885.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314934
2025-10-26T20:34:45.258Z,1761510885.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355383,0.889505,0.287201],[-0.811723,-0.446042,0.377032],[0.463475,-0.099137,0.880547]]
2025-10-26T20:34:45.469Z,1761510885.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567300
2025-10-26T20:34:45.662Z,1761510885.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360095,0.885803,0.292720],[-0.810620,-0.452395,0.371799],[0.461765,-0.103401,0.880954]]
2025-10-26T20:34:45.721Z,1761510885.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819599
2025-10-26T20:34:45.973Z,1761510885.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071191
2025-10-26T20:34:46.067Z,1761510886.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366211,0.880256,0.301728],[-0.808697,-0.461472,0.364765],[0.460325,-0.110426,0.880856]]
2025-10-26T20:34:46.224Z,1761510886.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323007
2025-10-26T20:34:46.470Z,1761510886.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373553,0.873553,0.312031],[-0.805993,-0.472173,0.356972],[0.459166,-0.118147,0.880459]]
2025-10-26T20:34:46.476Z,1761510886.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575082
2025-10-26T20:34:46.729Z,1761510886.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827861
2025-10-26T20:34:46.876Z,1761510886.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381874,0.865763,0.323460],[-0.802399,-0.484242,0.348805],[0.458615,-0.126345,0.879607]]
2025-10-26T20:34:46.980Z,1761510886.980 [DAT](INFO): Reached modem response timeout
2025-10-26T20:34:47.268Z,1761510887.268 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.159302
2025-10-26T20:34:47.287Z,1761510887.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390901,0.857749,0.333861],[-0.797838,-0.496629,0.341781],[0.458968,-0.132765,0.878477]]
2025-10-26T20:34:47.682Z,1761510887.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400688,0.848737,0.345099],[-0.792335,-0.510124,0.334633],[0.460059,-0.139350,0.876885]]
2025-10-26T20:34:48.086Z,1761510888.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410986,0.839109,0.356353],[-0.785810,-0.524237,0.328143],[0.462161,-0.145163,0.874834]]
2025-10-26T20:34:48.272Z,1761510888.272 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:34:48.490Z,1761510888.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421339,0.828052,0.369868],[-0.778536,-0.539427,0.320780],[0.465140,-0.152799,0.871950]]
2025-10-26T20:34:48.894Z,1761510888.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431087,0.816405,0.384249],[-0.770915,-0.554539,0.313331],[0.468886,-0.161151,0.868433]]
2025-10-26T20:34:49.256Z,1761510889.256 [DAT](INFO): DAT read: Response Not Received

2025-10-26T20:34:49.257Z,1761510889.257 [DAT](INFO): response not received
2025-10-26T20:34:49.257Z,1761510889.257 [DAT](ERROR): No response from remote modem.
2025-10-26T20:34:49.314Z,1761510889.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439104,0.805111,0.398727],[-0.763978,-0.568145,0.305859],[0.472785,-0.170315,0.864562]]
2025-10-26T20:34:49.705Z,1761510889.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444440,0.795062,0.412734],[-0.758743,-0.579032,0.298379],[0.476216,-0.180548,0.860593]]
2025-10-26T20:34:50.106Z,1761510890.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446696,0.787845,0.423985],[-0.755682,-0.585934,0.292618],[0.478965,-0.189686,0.857095]]
2025-10-26T20:34:50.512Z,1761510890.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446247,0.783244,0.432888],[-0.754615,-0.589363,0.288458],[0.481061,-0.197940,0.854049]]
2025-10-26T20:34:50.915Z,1761510890.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443603,0.781059,0.439504],[-0.755304,-0.589785,0.285779],[0.482423,-0.205187,0.851567]]
2025-10-26T20:34:51.319Z,1761510891.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439349,0.781895,0.442280],[-0.757388,-0.587164,0.285662],[0.483048,-0.209472,0.850168]]
2025-10-26T20:34:51.727Z,1761510891.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433554,0.785843,0.441002],[-0.761091,-0.581351,0.287700],[0.482464,-0.210909,0.850145]]
2025-10-26T20:34:52.127Z,1761510892.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426492,0.793445,0.434223],[-0.766065,-0.572110,0.292976],[0.480883,-0.207692,0.851831]]
2025-10-26T20:34:52.530Z,1761510892.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418583,0.803512,0.423270],[-0.772091,-0.560247,0.299998],[0.478187,-0.201229,0.854894]]
2025-10-26T20:34:52.934Z,1761510892.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409701,0.815472,0.408841],[-0.778944,-0.545991,0.308448],[0.474754,-0.192092,0.858900]]
2025-10-26T20:34:53.347Z,1761510893.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400128,0.828125,0.392564],[-0.786252,-0.530267,0.317213],[0.470856,-0.181729,0.863290]]
2025-10-26T20:34:53.745Z,1761510893.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390965,0.839868,0.376522],[-0.793147,-0.514979,0.325138],[0.466974,-0.171520,0.867477]]
2025-10-26T20:34:54.147Z,1761510894.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384193,0.849359,0.361919],[-0.797975,-0.502647,0.332538],[0.464362,-0.161044,0.870881]]
2025-10-26T20:34:54.551Z,1761510894.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380124,0.856150,0.350018],[-0.800763,-0.494011,0.338720],[0.462908,-0.151526,0.873359]]
2025-10-26T20:34:54.954Z,1761510894.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377167,0.861364,0.340290],[-0.802472,-0.487377,0.344243],[0.462368,-0.143236,0.875043]]
2025-10-26T20:34:55.361Z,1761510895.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373795,0.865753,0.332791],[-0.804264,-0.481261,0.348636],[0.461991,-0.137333,0.876187]]
2025-10-26T20:34:55.764Z,1761510895.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369952,0.869581,0.327053],[-0.806202,-0.475431,0.352143],[0.461708,-0.133395,0.876945]]
2025-10-26T20:34:56.166Z,1761510896.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365040,0.872924,0.323649],[-0.808752,-0.469531,0.354205],[0.461158,-0.132453,0.877377]]
2025-10-26T20:34:56.570Z,1761510896.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359393,0.876494,0.320305],[-0.811870,-0.462912,0.355782],[0.460113,-0.132180,0.877966]]
2025-10-26T20:34:56.974Z,1761510896.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352931,0.880118,0.317542],[-0.815460,-0.455743,0.356824],[0.458764,-0.133008,0.878547]]
2025-10-26T20:34:57.386Z,1761510897.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346604,0.884023,0.313639],[-0.819367,-0.448107,0.357545],[0.456622,-0.133059,0.879654]]
2025-10-26T20:34:57.782Z,1761510897.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340504,0.887742,0.309793],[-0.823436,-0.440603,0.357523],[0.453884,-0.133356,0.881025]]
2025-10-26T20:34:58.186Z,1761510898.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335401,0.891774,0.303718],[-0.827325,-0.433022,0.357805],[0.450598,-0.131266,0.883024]]
2025-10-26T20:34:58.590Z,1761510898.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331745,0.895590,0.296419],[-0.830922,-0.426177,0.357689],[0.446670,-0.127639,0.885547]]
2025-10-26T20:34:58.996Z,1761510898.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329985,0.898848,0.288413],[-0.833941,-0.420739,0.357101],[0.442326,-0.122681,0.888424]]
2025-10-26T20:34:59.409Z,1761510899.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330320,0.901112,0.280866],[-0.836366,-0.417358,0.355393],[0.437470,-0.117514,0.891521]]
2025-10-26T20:34:59.809Z,1761510899.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332073,0.902447,0.274440],[-0.838283,-0.415741,0.352762],[0.432445,-0.112916,0.894562]]
2025-10-26T20:35:00.207Z,1761510900.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335198,0.902311,0.271068],[-0.839565,-0.416627,0.348643],[0.427519,-0.110715,0.897201]]
2025-10-26T20:35:00.611Z,1761510900.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339248,0.900563,0.271841],[-0.840161,-0.420049,0.343057],[0.423131,-0.112009,0.899119]]
2025-10-26T20:35:01.015Z,1761510901.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344461,0.896923,0.277266],[-0.839675,-0.426435,0.336300],[0.419871,-0.116971,0.900014]]
2025-10-26T20:35:01.418Z,1761510901.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350230,0.891693,0.286745],[-0.838150,-0.435012,0.329043],[0.418143,-0.125095,0.899726]]
2025-10-26T20:35:01.826Z,1761510901.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356575,0.885553,0.297741],[-0.835201,-0.444961,0.323185],[0.418680,-0.133434,0.898277]]
2025-10-26T20:35:02.226Z,1761510902.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363019,0.877985,0.312025],[-0.830872,-0.456585,0.318092],[0.421746,-0.143780,0.895242]]
2025-10-26T20:35:02.632Z,1761510902.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369070,0.869824,0.327404],[-0.825203,-0.468754,0.315134],[0.427583,-0.153868,0.890785]]
2025-10-26T20:35:03.034Z,1761510903.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374635,0.861305,0.343223],[-0.818384,-0.481172,0.314200],[0.435771,-0.163178,0.885142]]
2025-10-26T20:35:03.438Z,1761510903.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379065,0.852845,0.359117],[-0.811196,-0.492991,0.314517],[0.445276,-0.172092,0.878700]]
2025-10-26T20:35:03.842Z,1761510903.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381741,0.844769,0.375019],[-0.804349,-0.503509,0.315440],[0.455299,-0.181230,0.871698]]
2025-10-26T20:35:04.247Z,1761510904.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381891,0.839242,0.387082],[-0.798746,-0.510402,0.318582],[0.464935,-0.187516,0.865259]]
2025-10-26T20:35:04.650Z,1761510904.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378889,0.836297,0.396296],[-0.795176,-0.513265,0.322886],[0.473433,-0.192787,0.859473]]
2025-10-26T20:35:05.054Z,1761510905.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372307,0.837663,0.399635],[-0.794166,-0.510362,0.329895],[0.480300,-0.194554,0.855255]]
2025-10-26T20:35:05.464Z,1761510905.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362727,0.843098,0.397007],[-0.795469,-0.502047,0.339380],[0.485447,-0.192705,0.852764]]
2025-10-26T20:35:05.862Z,1761510905.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350325,0.850751,0.391784],[-0.798688,-0.489839,0.349507],[0.489255,-0.190472,0.851088]]
2025-10-26T20:35:06.016Z,1761510906.016 [Radio_Surface](INFO): Powering down
2025-10-26T20:35:06.266Z,1761510906.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336357,0.860741,0.382085],[-0.803091,-0.474067,0.360978],[0.491842,-0.185431,0.850709]]
2025-10-26T20:35:06.671Z,1761510906.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321801,0.871767,0.369414],[-0.807975,-0.456248,0.372845],[0.493578,-0.178496,0.851187]]
2025-10-26T20:35:07.074Z,1761510907.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307197,0.883019,0.354835],[-0.812922,-0.437344,0.384561],[0.494760,-0.170317,0.852177]]
2025-10-26T20:35:07.478Z,1761510907.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293759,0.894514,0.336971],[-0.817205,-0.417892,0.396915],[0.495864,-0.158777,0.853761]]
2025-10-26T20:35:07.882Z,1761510907.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282216,0.904856,0.318730],[-0.820455,-0.399834,0.408641],[0.497200,-0.146178,0.855233]]
2025-10-26T20:35:08.297Z,1761510908.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272994,0.913449,0.301804],[-0.822689,-0.384286,0.418936],[0.498656,-0.133923,0.856392]]
2025-10-26T20:35:08.690Z,1761510908.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266282,0.920424,0.286207],[-0.823734,-0.371494,0.428315],[0.500556,-0.121706,0.857107]]
2025-10-26T20:35:09.506Z,1761510909.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260561,0.928582,0.264279],[-0.822598,-0.356824,0.442729],[0.505411,-0.102037,0.856824]]
2025-10-26T20:35:09.905Z,1761510909.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260842,0.929417,0.261048],[-0.820759,-0.355867,0.446893],[0.508248,-0.097689,0.855652]]
2025-10-26T20:35:10.308Z,1761510910.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263145,0.927953,0.263929],[-0.818079,-0.359632,0.448789],[0.511372,-0.097818,0.853774]]
2025-10-26T20:35:10.721Z,1761510910.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266726,0.924707,0.271616],[-0.814822,-0.366873,0.448854],[0.514707,-0.101598,0.851325]]
2025-10-26T20:35:11.114Z,1761510911.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271408,0.920149,0.282249],[-0.811027,-0.376553,0.447710],[0.518241,-0.107399,0.848464]]
2025-10-26T20:35:11.525Z,1761510911.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276741,0.914902,0.293886],[-0.806923,-0.387323,0.445934],[0.521814,-0.113735,0.845443]]
2025-10-26T20:35:11.922Z,1761510911.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282196,0.909426,0.305466],[-0.802835,-0.398172,0.443752],[0.525187,-0.120014,0.842481]]
2025-10-26T20:35:12.326Z,1761510912.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287926,0.903733,0.316806],[-0.798813,-0.409110,0.441051],[0.528201,-0.126079,0.839707]]
2025-10-26T20:35:12.780Z,1761510912.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293949,0.898103,0.327116],[-0.794775,-0.419777,0.438315],[0.530968,-0.131141,0.837183]]
2025-10-26T20:35:13.538Z,1761510913.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306228,0.885325,0.349890],[-0.786880,-0.442265,0.430373],[0.535764,-0.143529,0.832079]]
2025-10-26T20:35:13.942Z,1761510913.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311979,0.878165,0.362622],[-0.783000,-0.453825,0.425386],[0.538126,-0.151221,0.829188]]
2025-10-26T20:35:14.346Z,1761510914.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317355,0.870807,0.375475],[-0.779253,-0.465106,0.420048],[0.540417,-0.159285,0.826183]]
2025-10-26T20:35:14.813Z,1761510914.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325585,0.858890,0.395350],[-0.772773,-0.482654,0.412149],[0.544809,-0.171326,0.820872]]
2025-10-26T20:35:15.566Z,1761510915.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327932,0.853708,0.404529],[-0.770244,-0.489550,0.408735],[0.546978,-0.177549,0.818103]]
2025-10-26T20:35:15.970Z,1761510915.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328774,0.849986,0.411621],[-0.768602,-0.494084,0.406364],[0.548779,-0.182771,0.815743]]
2025-10-26T20:35:16.376Z,1761510916.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328021,0.848108,0.416071],[-0.768077,-0.495853,0.405200],[0.549963,-0.186660,0.814063]]
2025-10-26T20:35:16.817Z,1761510916.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323516,0.849216,0.417335],[-0.769639,-0.492740,0.406033],[0.550448,-0.189839,0.813000]]
2025-10-26T20:35:17.586Z,1761510917.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319628,0.851695,0.415276],[-0.771924,-0.488217,0.407159],[0.549520,-0.190422,0.813491]]
2025-10-26T20:35:17.992Z,1761510917.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314887,0.855688,0.410664],[-0.774771,-0.481662,0.409550],[0.548249,-0.189208,0.814631]]
2025-10-26T20:35:18.392Z,1761510918.392 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:35:18.395Z,1761510918.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308806,0.861264,0.403563],[-0.778436,-0.472662,0.413073],[0.546514,-0.186589,0.816399]]
2025-10-26T20:35:18.819Z,1761510918.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295744,0.874732,0.383901],[-0.787125,-0.450853,0.420910],[0.541267,-0.177697,0.821860]]
2025-10-26T20:35:19.396Z,1761510919.396 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-26T20:35:19.396Z,1761510919.396 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:35:19.614Z,1761510919.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283830,0.888856,0.359688],[-0.796021,-0.427554,0.428425],[0.534594,-0.164719,0.828901]]
2025-10-26T20:35:20.015Z,1761510920.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278902,0.895618,0.346527],[-0.800065,-0.416284,0.431976],[0.531140,-0.156765,0.832656]]
2025-10-26T20:35:20.419Z,1761510920.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274882,0.901829,0.333382],[-0.803620,-0.405861,0.435284],[0.527859,-0.148261,0.836292]]
2025-10-26T20:35:20.825Z,1761510920.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271903,0.907266,0.320837],[-0.806593,-0.396700,0.438220],[0.524858,-0.139632,0.839659]]
2025-10-26T20:35:21.225Z,1761510921.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269844,0.912047,0.308794],[-0.809016,-0.388655,0.440954],[0.522186,-0.130830,0.842737]]
2025-10-26T20:35:21.626Z,1761510921.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268714,0.916036,0.297777],[-0.810988,-0.381962,0.443174],[0.519703,-0.122407,0.845533]]
2025-10-26T20:35:22.034Z,1761510922.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268380,0.918917,0.289073],[-0.812465,-0.377149,0.444589],[0.517564,-0.115543,0.847807]]
2025-10-26T20:35:22.439Z,1761510922.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268805,0.920240,0.284434],[-0.813572,-0.375000,0.444383],[0.515602,-0.111955,0.849483]]
2025-10-26T20:35:22.842Z,1761510922.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269695,0.920429,0.282977],[-0.814579,-0.374788,0.442714],[0.513543,-0.111109,0.850840]]
2025-10-26T20:35:23.254Z,1761510923.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270608,0.919830,0.284050],[-0.815494,-0.375831,0.440137],[0.511606,-0.112536,0.851819]]
2025-10-26T20:35:23.650Z,1761510923.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271716,0.918877,0.286068],[-0.816310,-0.377494,0.437191],[0.509714,-0.114728,0.852660]]
2025-10-26T20:35:24.055Z,1761510924.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272765,0.917712,0.288798],[-0.817249,-0.379409,0.433766],[0.507645,-0.117703,0.853489]]
2025-10-26T20:35:24.458Z,1761510924.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273976,0.916068,0.292844],[-0.818042,-0.382088,0.429903],[0.505712,-0.121776,0.854064]]
2025-10-26T20:35:24.862Z,1761510924.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275371,0.914980,0.294928],[-0.818918,-0.383954,0.426560],[0.503532,-0.124059,0.855023]]
2025-10-26T20:35:25.266Z,1761510925.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276176,0.913829,0.297730],[-0.820008,-0.385620,0.422946],[0.501311,-0.127333,0.855846]]
2025-10-26T20:35:25.672Z,1761510925.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276806,0.913048,0.299537],[-0.821178,-0.386650,0.419724],[0.499044,-0.129792,0.856802]]
2025-10-26T20:35:26.074Z,1761510926.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276774,0.912857,0.300147],[-0.822743,-0.386493,0.416794],[0.496478,-0.131586,0.858018]]
2025-10-26T20:35:26.478Z,1761510926.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277326,0.912633,0.300317],[-0.824100,-0.386644,0.413962],[0.493912,-0.132689,0.859328]]
2025-10-26T20:35:26.882Z,1761510926.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276917,0.911748,0.303369],[-0.825982,-0.387184,0.409685],[0.490989,-0.137128,0.860305]]
2025-10-26T20:35:27.287Z,1761510927.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276511,0.910704,0.306854],[-0.827660,-0.387946,0.405558],[0.488386,-0.141830,0.861025]]
2025-10-26T20:35:27.690Z,1761510927.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276307,0.909626,0.310217],[-0.829272,-0.388800,0.401425],[0.485759,-0.146338,0.861756]]
2025-10-26T20:35:28.094Z,1761510928.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275572,0.909206,0.312098],[-0.831110,-0.388490,0.397909],[0.483028,-0.149735,0.862707]]
2025-10-26T20:35:28.498Z,1761510928.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275269,0.909154,0.312516],[-0.832648,-0.387955,0.395207],[0.480546,-0.151427,0.863797]]
2025-10-26T20:35:28.902Z,1761510928.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274938,0.909345,0.312251],[-0.834077,-0.387128,0.392997],[0.478251,-0.152391,0.864901]]
2025-10-26T20:35:29.306Z,1761510929.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274521,0.909735,0.311481],[-0.835546,-0.386001,0.390981],[0.475921,-0.152924,0.866091]]
2025-10-26T20:35:29.719Z,1761510929.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274119,0.910373,0.309967],[-0.836845,-0.384619,0.389563],[0.473867,-0.152608,0.867272]]
2025-10-26T20:35:30.115Z,1761510930.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273986,0.911153,0.307784],[-0.837846,-0.383260,0.388750],[0.472172,-0.151364,0.868414]]
2025-10-26T20:35:30.518Z,1761510930.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273618,0.912333,0.304601],[-0.838960,-0.381259,0.388313],[0.470403,-0.149298,0.869731]]
2025-10-26T20:35:30.922Z,1761510930.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273983,0.913545,0.300615],[-0.839694,-0.379621,0.388333],[0.468879,-0.146028,0.871107]]
2025-10-26T20:35:31.326Z,1761510931.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275042,0.914254,0.297475],[-0.840089,-0.379002,0.388082],[0.467549,-0.143166,0.872296]]
2025-10-26T20:35:31.742Z,1761510931.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276319,0.914593,0.295241],[-0.840297,-0.379003,0.387631],[0.466422,-0.140980,0.873256]]
2025-10-26T20:35:32.134Z,1761510932.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278648,0.914430,0.293551],[-0.840155,-0.380180,0.386784],[0.465290,-0.138851,0.874200]]
2025-10-26T20:35:32.538Z,1761510932.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281196,0.913524,0.293944],[-0.839872,-0.382456,0.385153],[0.464267,-0.138572,0.874788]]
2025-10-26T20:35:32.942Z,1761510932.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284610,0.912304,0.294445],[-0.839116,-0.385603,0.383659],[0.463552,-0.137881,0.875276]]
2025-10-26T20:35:33.348Z,1761510933.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288151,0.910274,0.297272],[-0.838379,-0.389818,0.381003],[0.462699,-0.139440,0.875481]]
2025-10-26T20:35:33.750Z,1761510933.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291953,0.907822,0.301036],[-0.837257,-0.394737,0.378397],[0.462347,-0.141570,0.875325]]
2025-10-26T20:35:34.155Z,1761510934.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295625,0.904979,0.305973],[-0.836091,-0.400042,0.375392],[0.462124,-0.144846,0.874906]]
2025-10-26T20:35:34.558Z,1761510934.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299029,0.901520,0.312800],[-0.834814,-0.405937,0.371889],[0.462242,-0.149924,0.873988]]
2025-10-26T20:35:34.964Z,1761510934.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302061,0.898169,0.319455],[-0.833647,-0.411416,0.368468],[0.462376,-0.155013,0.873029]]
2025-10-26T20:35:35.366Z,1761510935.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303808,0.894895,0.326899],[-0.833025,-0.416021,0.364686],[0.462353,-0.161521,0.871861]]
2025-10-26T20:35:35.770Z,1761510935.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304740,0.892187,0.333370],[-0.832571,-0.419526,0.361696],[0.462558,-0.167331,0.870655]]
2025-10-26T20:35:36.176Z,1761510936.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304407,0.890364,0.338508],[-0.832630,-0.421330,0.359455],[0.462670,-0.172432,0.869600]]
2025-10-26T20:35:36.580Z,1761510936.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303630,0.889326,0.341918],[-0.832907,-0.422012,0.358011],[0.462682,-0.176083,0.868861]]
2025-10-26T20:35:36.602Z,1761510936.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:35:36.672Z,1761510936.672 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:35:36.673Z,1761510936.673 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:35:36.924Z,1761510936.924 [DAT](INFO): DAT read: user:110>

2025-10-26T20:35:36.925Z,1761510936.925 [DAT](INFO): DAT read: Tx time:20:35:36.0525

2025-10-26T20:35:36.925Z,1761510936.925 [DAT](INFO): Ping request sent.
2025-10-26T20:35:36.925Z,1761510936.925 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:35:36.926Z,1761510936.926 [DAT](INFO): publishing transmit ping time
2025-10-26T20:35:36.926Z,1761510936.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-10-26T20:35:36.982Z,1761510936.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301764,0.889380,0.343426],[-0.833665,-0.420918,0.357535],[0.462539,-0.178411,0.868463]]
2025-10-26T20:35:37.176Z,1761510937.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250843
2025-10-26T20:35:37.386Z,1761510937.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298774,0.890115,0.344134],[-0.835084,-0.418396,0.357184],[0.461919,-0.180664,0.868327]]
2025-10-26T20:35:37.428Z,1761510937.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502977
2025-10-26T20:35:37.680Z,1761510937.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754927
2025-10-26T20:35:37.790Z,1761510937.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295284,0.892129,0.341927],[-0.836900,-0.414163,0.357865],[0.460875,-0.180487,0.868918]]
2025-10-26T20:35:37.932Z,1761510937.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006860
2025-10-26T20:35:38.185Z,1761510938.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259775
2025-10-26T20:35:38.215Z,1761510938.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291268,0.894742,0.338524],[-0.838787,-0.409017,0.359363],[0.460000,-0.179279,0.869632]]
2025-10-26T20:35:38.436Z,1761510938.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510934
2025-10-26T20:35:38.598Z,1761510938.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287077,0.898319,0.332582],[-0.840933,-0.402605,0.361581],[0.458714,-0.175878,0.871005]]
2025-10-26T20:35:38.690Z,1761510938.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763896
2025-10-26T20:35:38.940Z,1761510938.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015022
2025-10-26T20:35:39.002Z,1761510939.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283150,0.901885,0.326235],[-0.843130,-0.396202,0.363531],[0.457119,-0.172125,0.872591]]
2025-10-26T20:35:39.193Z,1761510939.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267330
2025-10-26T20:35:39.406Z,1761510939.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279713,0.905649,0.318687],[-0.845267,-0.389708,0.365582],[0.455284,-0.167118,0.874522]]
2025-10-26T20:35:39.445Z,1761510939.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519162
2025-10-26T20:35:39.697Z,1761510939.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771597
2025-10-26T20:35:39.812Z,1761510939.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277086,0.908771,0.312023],[-0.847062,-0.384323,0.367127],[0.453552,-0.162577,0.876276]]
2025-10-26T20:35:39.948Z,1761510939.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022887
2025-10-26T20:35:40.201Z,1761510940.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275072
2025-10-26T20:35:40.219Z,1761510940.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275354,0.911778,0.304698],[-0.848535,-0.379485,0.368754],[0.451850,-0.157010,0.878168]]
2025-10-26T20:35:40.452Z,1761510940.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526887
2025-10-26T20:35:40.618Z,1761510940.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274754,0.914011,0.298486],[-0.849551,-0.376151,0.369830],[0.450304,-0.151967,0.879848]]
2025-10-26T20:35:40.705Z,1761510940.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779284
2025-10-26T20:35:40.956Z,1761510940.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030800
2025-10-26T20:35:41.022Z,1761510941.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275096,0.915948,0.292166],[-0.850159,-0.373662,0.370952],[0.448944,-0.146340,0.881495]]
2025-10-26T20:35:41.209Z,1761510941.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283761
2025-10-26T20:35:41.426Z,1761510941.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276440,0.917426,0.286199],[-0.850367,-0.372250,0.371896],[0.447725,-0.140567,0.883053]]
2025-10-26T20:35:41.461Z,1761510941.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535050
2025-10-26T20:35:41.713Z,1761510941.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787573
2025-10-26T20:35:41.830Z,1761510941.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278650,0.918116,0.281810],[-0.850082,-0.372328,0.372467],[0.446894,-0.135774,0.884223]]
2025-10-26T20:35:41.964Z,1761510941.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038927
2025-10-26T20:35:42.216Z,1761510942.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290923
2025-10-26T20:35:42.234Z,1761510942.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281759,0.917748,0.279910],[-0.849265,-0.374301,0.372354],[0.446498,-0.132803,0.884874]]
2025-10-26T20:35:42.471Z,1761510942.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545757
2025-10-26T20:35:42.640Z,1761510942.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285670,0.916576,0.279788],[-0.847957,-0.377782,0.371820],[0.446500,-0.131031,0.885138]]
2025-10-26T20:35:42.726Z,1761510942.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.800753
2025-10-26T20:35:42.976Z,1761510942.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050921
2025-10-26T20:35:43.043Z,1761510943.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289782,0.914214,0.283265],[-0.846268,-0.382992,0.370335],[0.447054,-0.132402,0.884654]]
2025-10-26T20:35:43.228Z,1761510943.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302971
2025-10-26T20:35:43.446Z,1761510943.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294385,0.911525,0.287157],[-0.843944,-0.388942,0.369435],[0.448437,-0.133588,0.883775]]
2025-10-26T20:35:43.480Z,1761510943.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554922
2025-10-26T20:35:43.732Z,1761510943.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806896
2025-10-26T20:35:43.860Z,1761510943.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299091,0.908412,0.292116],[-0.841253,-0.395509,0.368600],[0.450375,-0.135498,0.882498]]
2025-10-26T20:35:43.984Z,1761510943.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058852
2025-10-26T20:35:44.236Z,1761510944.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310853
2025-10-26T20:35:44.254Z,1761510944.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303400,0.905052,0.298043],[-0.838455,-0.402181,0.367755],[0.452705,-0.138319,0.880867]]
2025-10-26T20:35:44.488Z,1761510944.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562900
2025-10-26T20:35:44.658Z,1761510944.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307140,0.901359,0.305314],[-0.835607,-0.408964,0.366755],[0.455441,-0.142477,0.878791]]
2025-10-26T20:35:44.743Z,1761510944.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.817226
2025-10-26T20:35:44.993Z,1761510944.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067151
2025-10-26T20:35:45.062Z,1761510945.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309649,0.898262,0.311837],[-0.833102,-0.414377,0.366377],[0.458321,-0.146344,0.876656]]
2025-10-26T20:35:45.244Z,1761510945.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318928
2025-10-26T20:35:45.466Z,1761510945.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311056,0.895552,0.318166],[-0.830907,-0.418765,0.366373],[0.461343,-0.150404,0.874380]]
2025-10-26T20:35:45.496Z,1761510945.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570956
2025-10-26T20:35:45.748Z,1761510945.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822911
2025-10-26T20:35:45.870Z,1761510945.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311104,0.893323,0.324327],[-0.829189,-0.421893,0.366677],[0.464392,-0.154854,0.871986]]
2025-10-26T20:35:46.000Z,1761510946.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074921
2025-10-26T20:35:46.252Z,1761510946.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326839
2025-10-26T20:35:46.289Z,1761510946.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310195,0.892342,0.327879],[-0.827892,-0.423090,0.368225],[0.467305,-0.157227,0.870003]]
2025-10-26T20:35:46.504Z,1761510946.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578817
2025-10-26T20:35:46.686Z,1761510946.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307532,0.891845,0.331718],[-0.827540,-0.422755,0.369399],[0.469682,-0.160907,0.868048]]
2025-10-26T20:35:46.759Z,1761510946.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.833058
2025-10-26T20:35:47.008Z,1761510947.008 [DAT](INFO): Reached modem response timeout
2025-10-26T20:35:47.082Z,1761510947.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304083,0.892265,0.333762],[-0.827615,-0.420939,0.371299],[0.471790,-0.163321,0.866453]]
2025-10-26T20:35:47.486Z,1761510947.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299556,0.893229,0.335274],[-0.828342,-0.417858,0.373153],[0.473408,-0.165942,0.865071]]
2025-10-26T20:35:47.890Z,1761510947.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294231,0.895265,0.334557],[-0.829706,-0.413012,0.375512],[0.474359,-0.167097,0.864328]]
2025-10-26T20:35:48.298Z,1761510948.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288501,0.897745,0.332899],[-0.831612,-0.407259,0.377573],[0.474540,-0.167913,0.864070]]
2025-10-26T20:35:48.700Z,1761510948.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282420,0.901164,0.328850],[-0.833970,-0.400054,0.380067],[0.474060,-0.166913,0.864527]]
2025-10-26T20:35:49.104Z,1761510949.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276423,0.904993,0.323385],[-0.836674,-0.392174,0.382329],[0.472828,-0.164883,0.865591]]
2025-10-26T20:35:49.276Z,1761510949.276 [DAT](INFO): DAT read: Response Not Received

2025-10-26T20:35:49.277Z,1761510949.277 [DAT](INFO): response not received
2025-10-26T20:35:49.277Z,1761510949.277 [DAT](ERROR): No response from remote modem.
2025-10-26T20:35:49.506Z,1761510949.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270932,0.908838,0.317190],[-0.839522,-0.384311,0.384068],[0.470956,-0.162231,0.867111]]
2025-10-26T20:35:49.516Z,1761510949.516 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:35:49.910Z,1761510949.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266281,0.912760,0.309780],[-0.842235,-0.376623,0.385741],[0.468759,-0.158191,0.869046]]
2025-10-26T20:35:50.317Z,1761510950.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263024,0.916021,0.302860],[-0.844581,-0.370356,0.386676],[0.466369,-0.154085,0.871067]]
2025-10-26T20:35:50.520Z,1761510950.520 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:35:50.729Z,1761510950.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260575,0.918824,0.296416],[-0.846614,-0.365037,0.387290],[0.464054,-0.150032,0.873009]]
2025-10-26T20:35:51.122Z,1761510951.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259685,0.920997,0.290395],[-0.847839,-0.361401,0.388018],[0.462313,-0.145446,0.874707]]
2025-10-26T20:35:51.527Z,1761510951.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259812,0.922215,0.286387],[-0.848532,-0.359599,0.388178],[0.460968,-0.142155,0.875957]]
2025-10-26T20:35:51.930Z,1761510951.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260927,0.922866,0.283260],[-0.848709,-0.359122,0.388232],[0.460011,-0.139105,0.876949]]
2025-10-26T20:35:52.339Z,1761510952.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262983,0.923013,0.280869],[-0.848296,-0.359890,0.388423],[0.459601,-0.136111,0.877633]]
2025-10-26T20:35:52.763Z,1761510952.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265649,0.922207,0.281007],[-0.847355,-0.362368,0.388174],[0.459805,-0.134995,0.877699]]
2025-10-26T20:35:53.145Z,1761510953.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269275,0.920667,0.282602],[-0.845799,-0.366407,0.387775],[0.460559,-0.134607,0.877363]]
2025-10-26T20:35:53.547Z,1761510953.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273402,0.918609,0.285321],[-0.843823,-0.371438,0.387295],[0.461752,-0.134873,0.876695]]
2025-10-26T20:35:53.950Z,1761510953.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278132,0.915895,0.289446],[-0.841421,-0.377661,0.386501],[0.463307,-0.136048,0.875693]]
2025-10-26T20:35:54.364Z,1761510954.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283274,0.912404,0.295423],[-0.838665,-0.385089,0.385158],[0.465184,-0.138656,0.874287]]
2025-10-26T20:35:54.795Z,1761510954.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288318,0.908957,0.301115],[-0.835773,-0.392352,0.384113],[0.467286,-0.140917,0.872804]]
2025-10-26T20:35:55.168Z,1761510955.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293226,0.905258,0.307450],[-0.832886,-0.399770,0.382733],[0.469382,-0.143843,0.871200]]
2025-10-26T20:35:55.568Z,1761510955.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297717,0.901325,0.314608],[-0.830064,-0.407183,0.381046],[0.471549,-0.147700,0.869382]]
2025-10-26T20:35:55.970Z,1761510955.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301695,0.897812,0.320801],[-0.827416,-0.413730,0.379751],[0.473670,-0.150867,0.867684]]
2025-10-26T20:35:56.377Z,1761510956.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305053,0.894208,0.327620],[-0.824976,-0.419992,0.378182],[0.475771,-0.154913,0.865820]]
2025-10-26T20:35:56.807Z,1761510956.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307767,0.891405,0.332680],[-0.822929,-0.424888,0.377171],[0.477564,-0.157691,0.864330]]
2025-10-26T20:35:57.182Z,1761510957.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310180,0.888440,0.338323],[-0.820931,-0.429784,0.375976],[0.479438,-0.161120,0.862658]]
2025-10-26T20:35:57.589Z,1761510957.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311830,0.885660,0.344046],[-0.819181,-0.434053,0.374888],[0.481357,-0.164934,0.860867]]
2025-10-26T20:35:57.990Z,1761510957.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312301,0.883660,0.348731],[-0.818009,-0.436798,0.374258],[0.483042,-0.168384,0.859254]]
2025-10-26T20:35:58.398Z,1761510958.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311454,0.882071,0.353479],[-0.817266,-0.438434,0.373968],[0.484843,-0.172412,0.857439]]
2025-10-26T20:35:58.812Z,1761510958.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310110,0.881687,0.355611],[-0.816561,-0.438585,0.375328],[0.486887,-0.173985,0.855961]]
2025-10-26T20:35:59.204Z,1761510959.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307521,0.882231,0.356510],[-0.816388,-0.437093,0.377439],[0.488816,-0.174981,0.854658]]
2025-10-26T20:35:59.606Z,1761510959.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304255,0.883303,0.356658],[-0.816456,-0.434689,0.380059],[0.490742,-0.175561,0.853434]]
2025-10-26T20:36:00.010Z,1761510960.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299575,0.885923,0.354112],[-0.817131,-0.429841,0.384100],[0.492495,-0.174289,0.852685]]
2025-10-26T20:36:00.417Z,1761510960.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294039,0.889382,0.350057],[-0.818182,-0.423542,0.388832],[0.494085,-0.172079,0.852214]]
2025-10-26T20:36:00.820Z,1761510960.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287609,0.893608,0.344595],[-0.819563,-0.415804,0.394239],[0.495579,-0.169031,0.851957]]
2025-10-26T20:36:01.222Z,1761510961.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280448,0.898061,0.338874],[-0.821169,-0.407280,0.399756],[0.497022,-0.166163,0.851680]]
2025-10-26T20:36:01.634Z,1761510961.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272626,0.903193,0.331538],[-0.822932,-0.397429,0.405996],[0.498456,-0.162148,0.851616]]
2025-10-26T20:36:02.032Z,1761510962.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264785,0.908933,0.322071],[-0.824690,-0.386543,0.412880],[0.499775,-0.156285,0.851939]]
2025-10-26T20:36:02.438Z,1761510962.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257269,0.914196,0.313142],[-0.826262,-0.376144,0.419294],[0.501103,-0.150866,0.852135]]
2025-10-26T20:36:02.838Z,1761510962.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250173,0.919358,0.303634],[-0.827711,-0.365782,0.425556],[0.502302,-0.144858,0.852472]]
2025-10-26T20:36:03.242Z,1761510963.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243827,0.923995,0.294588],[-0.828949,-0.356226,0.431216],[0.503381,-0.139057,0.852802]]
2025-10-26T20:36:03.651Z,1761510963.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238420,0.927964,0.286425],[-0.829815,-0.347881,0.436332],[0.504542,-0.133649,0.852980]]
2025-10-26T20:36:04.052Z,1761510964.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234855,0.931423,0.278020],[-0.829866,-0.341058,0.441591],[0.506129,-0.127009,0.853055]]
2025-10-26T20:36:04.467Z,1761510964.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230818,0.935611,0.267124],[-0.828852,-0.332865,0.449672],[0.509634,-0.117614,0.852315]]
2025-10-26T20:36:04.863Z,1761510964.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230938,0.935881,0.266074],[-0.827420,-0.332782,0.452363],[0.511902,-0.115687,0.851218]]
2025-10-26T20:36:05.267Z,1761510965.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231812,0.935074,0.268143],[-0.825503,-0.334920,0.454284],[0.514595,-0.116044,0.849544]]
2025-10-26T20:36:05.673Z,1761510965.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233400,0.934086,0.270198],[-0.823388,-0.337669,0.456084],[0.517260,-0.116028,0.847927]]
2025-10-26T20:36:06.077Z,1761510966.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235570,0.932017,0.275410],[-0.820902,-0.342514,0.456951],[0.520217,-0.118441,0.845781]]
2025-10-26T20:36:06.479Z,1761510966.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238241,0.929238,0.282413],[-0.817990,-0.348749,0.457456],[0.523577,-0.122026,0.843194]]
2025-10-26T20:36:06.878Z,1761510966.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240757,0.926221,0.290088],[-0.814926,-0.355247,0.457925],[0.527193,-0.126151,0.840329]]
2025-10-26T20:36:07.282Z,1761510967.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243426,0.923192,0.297423],[-0.811503,-0.361807,0.458867],[0.531232,-0.129660,0.837246]]
2025-10-26T20:36:07.689Z,1761510967.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245501,0.920402,0.304285],[-0.808327,-0.367631,0.459842],[0.535104,-0.133070,0.834239]]
2025-10-26T20:36:08.090Z,1761510968.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246735,0.918181,0.309943],[-0.805255,-0.372194,0.461559],[0.539154,-0.135701,0.831203]]
2025-10-26T20:36:08.497Z,1761510968.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247676,0.916109,0.315279],[-0.802371,-0.376341,0.463215],[0.543008,-0.138243,0.828270]]
2025-10-26T20:36:09.303Z,1761510969.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246044,0.913331,0.324482],[-0.798324,-0.380812,0.466542],[0.549674,-0.144252,0.822830]]
2025-10-26T20:36:09.711Z,1761510969.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243416,0.912598,0.328502],[-0.797022,-0.381210,0.468440],[0.552725,-0.147797,0.820153]]
2025-10-26T20:36:10.119Z,1761510970.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239897,0.912847,0.330394],[-0.796173,-0.379735,0.471074],[0.555480,-0.150042,0.817881]]
2025-10-26T20:36:10.517Z,1761510970.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235157,0.914271,0.329862],[-0.795974,-0.375913,0.474463],[0.557787,-0.150988,0.816135]]
2025-10-26T20:36:10.920Z,1761510970.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229770,0.916909,0.326317],[-0.796124,-0.369933,0.478890],[0.559815,-0.149754,0.814973]]
2025-10-26T20:36:11.322Z,1761510971.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223483,0.919614,0.323056],[-0.796616,-0.363311,0.483123],[0.561656,-0.149382,0.813774]]
2025-10-26T20:36:12.132Z,1761510972.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210088,0.926484,0.312234],[-0.798907,-0.346773,0.491423],[0.563570,-0.146204,0.813027]]
2025-10-26T20:36:12.563Z,1761510972.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203500,0.929590,0.307327],[-0.800861,-0.338614,0.493925],[0.563213,-0.145613,0.813380]]
2025-10-26T20:36:12.940Z,1761510972.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196792,0.932589,0.302573],[-0.803393,-0.330277,0.495457],[0.561990,-0.145583,0.814231]]
2025-10-26T20:36:13.342Z,1761510973.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190422,0.936710,0.293792],[-0.806141,-0.319990,0.497737],[0.560246,-0.142058,0.816054]]
2025-10-26T20:36:13.765Z,1761510973.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184947,0.941199,0.282735],[-0.808890,-0.309179,0.500105],[0.558114,-0.136209,0.818508]]
2025-10-26T20:36:14.159Z,1761510974.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180385,0.945534,0.270975],[-0.811565,-0.298727,0.502120],[0.555719,-0.129339,0.821248]]
2025-10-26T20:36:14.568Z,1761510974.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176811,0.949788,0.258147],[-0.814326,-0.288480,0.503640],[0.552822,-0.121167,0.824443]]
2025-10-26T20:36:14.966Z,1761510974.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174240,0.953085,0.247526],[-0.817241,-0.280194,0.503595],[0.549324,-0.114542,0.827722]]
2025-10-26T20:36:15.371Z,1761510975.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172235,0.955529,0.239373],[-0.820587,-0.273612,0.501770],[0.544951,-0.110004,0.831220]]
2025-10-26T20:36:15.775Z,1761510975.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170861,0.956852,0.235034],[-0.824083,-0.269536,0.498235],[0.540088,-0.108559,0.834578]]
2025-10-26T20:36:16.178Z,1761510976.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169329,0.957392,0.233941],[-0.827703,-0.266999,0.493578],[0.535009,-0.110057,0.837647]]
2025-10-26T20:36:16.587Z,1761510976.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167872,0.957281,0.235438],[-0.831433,-0.265805,0.487921],[0.529659,-0.113843,0.840536]]
2025-10-26T20:36:16.990Z,1761510976.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167002,0.957108,0.236757],[-0.834920,-0.265004,0.482370],[0.524422,-0.117116,0.843365]]
2025-10-26T20:36:17.392Z,1761510977.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166404,0.956956,0.237790],[-0.838510,-0.264220,0.476539],[0.518856,-0.120091,0.846385]]
2025-10-26T20:36:17.794Z,1761510977.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166229,0.956882,0.238211],[-0.841972,-0.263473,0.470813],[0.513275,-0.122304,0.849465]]
2025-10-26T20:36:18.198Z,1761510978.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166780,0.956942,0.237584],[-0.845305,-0.262814,0.465175],[0.507586,-0.123249,0.852740]]
2025-10-26T20:36:18.611Z,1761510978.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168418,0.957038,0.236036],[-0.848449,-0.262640,0.459516],[0.501767,-0.122873,0.856231]]
2025-10-26T20:36:19.010Z,1761510979.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169923,0.956883,0.235585],[-0.851759,-0.262841,0.453234],[0.495613,-0.123647,0.859697]]
2025-10-26T20:36:19.411Z,1761510979.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172218,0.956405,0.235860],[-0.855080,-0.264021,0.446241],[0.489059,-0.124829,0.863272]]
2025-10-26T20:36:19.814Z,1761510979.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174999,0.955697,0.236685],[-0.858261,-0.265872,0.438975],[0.482455,-0.126317,0.866765]]
2025-10-26T20:36:20.218Z,1761510980.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178723,0.954635,0.238181],[-0.861184,-0.268854,0.431371],[0.475837,-0.128022,0.870166]]
2025-10-26T20:36:20.626Z,1761510980.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182852,0.953121,0.241094],[-0.863828,-0.272847,0.423503],[0.469431,-0.130826,0.873223]]
2025-10-26T20:36:20.644Z,1761510980.644 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:36:21.026Z,1761510981.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187476,0.951701,0.243144],[-0.866286,-0.276879,0.415796],[0.463035,-0.132681,0.876353]]
2025-10-26T20:36:21.648Z,1761510981.648 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:36:21.834Z,1761510981.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197657,0.947592,0.251000],[-0.871465,-0.287106,0.397642],[0.448866,-0.140141,0.882542]]
2025-10-26T20:36:22.649Z,1761510982.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209242,0.943905,0.255462],[-0.877335,-0.296586,0.377254],[0.431859,-0.145188,0.890179]]
2025-10-26T20:36:23.047Z,1761510983.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215121,0.941842,0.258180],[-0.880495,-0.301410,0.365898],[0.422435,-0.148614,0.894127]]
2025-10-26T20:36:23.450Z,1761510983.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221120,0.939944,0.260023],[-0.883724,-0.305883,0.354214],[0.412478,-0.151465,0.898288]]
2025-10-26T20:36:23.854Z,1761510983.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226963,0.937927,0.262259],[-0.887062,-0.310245,0.341862],[0.402006,-0.155050,0.902414]]
2025-10-26T20:36:24.259Z,1761510984.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232391,0.936128,0.263930],[-0.890622,-0.313868,0.329057],[0.390879,-0.158592,0.906676]]
2025-10-26T20:36:24.662Z,1761510984.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237428,0.934845,0.263995],[-0.894166,-0.316522,0.316671],[0.379599,-0.160868,0.911058]]
2025-10-26T20:36:25.072Z,1761510985.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241825,0.933912,0.263303],[-0.897896,-0.318247,0.304140],[0.367836,-0.162870,0.915516]]
2025-10-26T20:36:25.471Z,1761510985.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245558,0.933351,0.261835],[-0.901566,-0.319141,0.292109],[0.356202,-0.164332,0.919845]]
2025-10-26T20:36:25.874Z,1761510985.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248975,0.933209,0.259099],[-0.905163,-0.319372,0.280502],[0.344516,-0.164689,0.924222]]
2025-10-26T20:36:26.278Z,1761510986.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251691,0.933318,0.256064],[-0.908879,-0.318856,0.268830],[0.332551,-0.165069,0.928527]]
2025-10-26T20:36:26.683Z,1761510986.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254214,0.933839,0.251635],[-0.912377,-0.317873,0.257924],[0.320847,-0.164018,0.932821]]
2025-10-26T20:36:27.096Z,1761510987.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256342,0.934696,0.246235],[-0.915782,-0.316358,0.247508],[0.309243,-0.162051,0.937074]]
2025-10-26T20:36:27.490Z,1761510987.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257317,0.936049,0.240000],[-0.919332,-0.313643,0.237606],[0.297685,-0.159500,0.941246]]
2025-10-26T20:36:27.894Z,1761510987.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258503,0.937449,0.233166],[-0.922594,-0.311134,0.228072],[0.286352,-0.156160,0.945313]]
2025-10-26T20:36:28.298Z,1761510988.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258888,0.938695,0.227658],[-0.925918,-0.308294,0.218246],[0.275052,-0.154291,0.948968]]
2025-10-26T20:36:28.714Z,1761510988.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259535,0.939821,0.222212],[-0.928929,-0.305863,0.208658],[0.264068,-0.152265,0.952409]]
2025-10-26T20:36:29.107Z,1761510989.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259596,0.941223,0.216123],[-0.931993,-0.302802,0.199248],[0.252979,-0.149701,0.955819]]
2025-10-26T20:36:29.510Z,1761510989.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260320,0.942583,0.209215],[-0.934696,-0.300337,0.190105],[0.242025,-0.146064,0.959213]]
2025-10-26T20:36:29.605Z,1761510989.605 [DAT](INFO): DAT read: user:111>Rx Time:20:36:28.3849

2025-10-26T20:36:29.605Z,1761510989.605 [DAT](INFO): Rx dataTimestamp_ set to:1761510989.604733
2025-10-26T20:36:29.914Z,1761510989.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260555,0.943506,0.204713],[-0.937444,-0.297951,0.180069],[0.230890,-0.144989,0.962116]]
2025-10-26T20:36:30.319Z,1761510990.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260818,0.944658,0.198986],[-0.939941,-0.295503,0.170849],[0.220195,-0.142474,0.964995]]
2025-10-26T20:36:30.361Z,1761510990.361 [DAT](INFO): DAT read: $Error in header

2025-10-26T20:36:30.361Z,1761510990.361 [DAT](INFO): Received a bad header
2025-10-26T20:36:30.732Z,1761510990.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261247,0.945963,0.192104],[-0.942168,-0.293175,0.162383],[0.209929,-0.138572,0.967847]]
2025-10-26T20:36:31.127Z,1761510991.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261300,0.946997,0.186869],[-0.944275,-0.290929,0.153961],[0.200166,-0.136226,0.970245]]
2025-10-26T20:36:31.530Z,1761510991.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261639,0.948025,0.181089],[-0.946147,-0.288992,0.145909],[0.190659,-0.133162,0.972583]]
2025-10-26T20:36:32.338Z,1761510992.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264309,0.948883,0.172519],[-0.948838,-0.287883,0.129729],[0.172763,-0.129404,0.976426]]
2025-10-26T20:36:32.775Z,1761510992.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265876,0.949107,0.168839],[-0.949923,-0.287771,0.121798],[0.164186,-0.128001,0.978089]]
2025-10-26T20:36:33.147Z,1761510993.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267996,0.949181,0.165023],[-0.950703,-0.288289,0.114250],[0.156019,-0.126269,0.979650]]
2025-10-26T20:36:33.555Z,1761510993.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270696,0.949080,0.161156],[-0.951174,-0.289479,0.107099],[0.148297,-0.124296,0.981101]]
2025-10-26T20:36:33.955Z,1761510993.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273920,0.948446,0.159432],[-0.951370,-0.291506,0.099596],[0.140937,-0.124397,0.982172]]
2025-10-26T20:36:34.358Z,1761510994.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277487,0.947457,0.159141],[-0.951354,-0.294068,0.091925],[0.133893,-0.125891,0.982967]]
2025-10-26T20:36:34.801Z,1761510994.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281017,0.946197,0.160441],[-0.951269,-0.296742,0.083856],[0.126954,-0.129057,0.983477]]
2025-10-26T20:36:35.166Z,1761510995.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284302,0.945107,0.161072],[-0.951184,-0.299098,0.076088],[0.120088,-0.131577,0.984005]]
2025-10-26T20:36:35.580Z,1761510995.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287545,0.944050,0.161519],[-0.951022,-0.301410,0.068627],[0.113471,-0.133874,0.984481]]
2025-10-26T20:36:35.974Z,1761510995.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290975,0.942853,0.162365],[-0.950677,-0.304001,0.061620],[0.107458,-0.136427,0.984805]]
2025-10-26T20:36:36.378Z,1761510996.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293590,0.941801,0.163758],[-0.950500,-0.305842,0.054872],[0.101762,-0.139542,0.984973]]
2025-10-26T20:36:36.810Z,1761510996.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295836,0.940786,0.165540],[-0.950381,-0.307333,0.048192],[0.096214,-0.143069,0.985025]]
2025-10-26T20:36:36.851Z,1761510996.851 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:36:36.912Z,1761510996.912 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:36:36.912Z,1761510996.912 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:36:37.164Z,1761510997.164 [DAT](INFO): DAT read: 

2025-10-26T20:36:37.165Z,1761510997.165 [DAT](INFO): DAT read: Tx time:20:36:36.3021

2025-10-26T20:36:37.165Z,1761510997.165 [DAT](INFO): Ping request sent.
2025-10-26T20:36:37.165Z,1761510997.165 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:36:37.166Z,1761510997.166 [DAT](INFO): publishing transmit ping time
2025-10-26T20:36:37.166Z,1761510997.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-10-26T20:36:37.198Z,1761510997.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297483,0.940168,0.166097],[-0.950386,-0.308185,0.042277],[0.090936,-0.145280,0.985203]]
2025-10-26T20:36:37.416Z,1761510997.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250920
2025-10-26T20:36:37.603Z,1761510997.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299459,0.939933,0.163861],[-0.950206,-0.309321,0.037795],[0.086210,-0.144384,0.985759]]
2025-10-26T20:36:37.669Z,1761510997.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503288
2025-10-26T20:36:37.921Z,1761510997.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755258
2025-10-26T20:36:37.994Z,1761510997.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299861,0.939986,0.162816],[-0.950524,-0.308911,0.032841],[0.081166,-0.144912,0.986110]]
2025-10-26T20:36:38.172Z,1761510998.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006933
2025-10-26T20:36:38.398Z,1761510998.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300437,0.940334,0.159718],[-0.950714,-0.308700,0.029120],[0.076687,-0.143098,0.986733]]
2025-10-26T20:36:38.424Z,1761510998.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258962
2025-10-26T20:36:38.677Z,1761510998.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511134
2025-10-26T20:36:38.813Z,1761510998.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300279,0.940784,0.157347],[-0.951129,-0.307774,0.025070],[0.072013,-0.142130,0.987225]]
2025-10-26T20:36:38.928Z,1761510998.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762944
2025-10-26T20:36:39.180Z,1761510999.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014863
2025-10-26T20:36:39.206Z,1761510999.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300250,0.941262,0.154517],[-0.951468,-0.307008,0.021336],[0.067521,-0.140612,0.987760]]
2025-10-26T20:36:39.432Z,1761510999.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266857
2025-10-26T20:36:39.610Z,1761510999.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298995,0.941921,0.152930],[-0.952171,-0.305072,0.017387],[0.063032,-0.140417,0.988084]]
2025-10-26T20:36:39.646Z,1761510999.646 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-10-26T20:36:39.649Z,1761510999.649 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-10-26T20:36:39.649Z,1761510999.649 [lineCaptureHoming:InitialDive] Stopped
2025-10-26T20:36:39.649Z,1761510999.649 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-10-26T20:36:39.649Z,1761510999.649 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-10-26T20:36:39.649Z,1761510999.649 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-10-26T20:36:39.649Z,1761510999.649 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-10-26T20:36:39.649Z,1761510999.649 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-10-26T20:36:39.652Z,1761510999.652 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-10-26T20:36:39.652Z,1761510999.652 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-10-26T20:36:39.652Z,1761510999.652 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-10-26T20:36:39.685Z,1761510999.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519336
2025-10-26T20:36:39.936Z,1761510999.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770870
2025-10-26T20:36:40.014Z,1761511000.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297364,0.942661,0.151542],[-0.952960,-0.302792,0.013558],[0.058666,-0.140381,0.988358]]
2025-10-26T20:36:40.034Z,1761511000.034 [lineCaptureHoming:RepeatHack] Stopped
2025-10-26T20:36:40.034Z,1761511000.034 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-10-26T20:36:40.035Z,1761511000.035 [lineCaptureHoming:RepeatHack:A] Stopped
2025-10-26T20:36:40.035Z,1761511000.035 [lineCaptureHoming:Lap] Running Loop=1
2025-10-26T20:36:40.035Z,1761511000.035 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-10-26T20:36:40.035Z,1761511000.035 [lineCaptureHoming:Lap:A] Running Loop=1
2025-10-26T20:36:40.188Z,1761511000.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022839
2025-10-26T20:36:40.419Z,1761511000.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296089,0.943392,0.149474],[-0.953610,-0.300879,0.009992],[0.054400,-0.139581,0.988715]]
2025-10-26T20:36:40.435Z,1761511000.435 [lineCaptureHoming:Lap:A] Stopped
2025-10-26T20:36:40.435Z,1761511000.435 [lineCaptureHoming:Lap:B] Running Loop=1
2025-10-26T20:36:40.435Z,1761511000.435 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-10-26T20:36:40.441Z,1761511000.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275042
2025-10-26T20:36:40.692Z,1761511000.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526834
2025-10-26T20:36:40.822Z,1761511000.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295385,0.943775,0.148445],[-0.954036,-0.299620,0.006504],[0.050615,-0.139700,0.988899]]
2025-10-26T20:36:40.865Z,1761511000.865 [lineCaptureHoming:LineCapture] Running Loop=1
2025-10-26T20:36:40.866Z,1761511000.866 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-10-26T20:36:40.866Z,1761511000.866 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-10-26T20:36:40.866Z,1761511000.866 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-10-26T20:36:40.866Z,1761511000.866 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-26T20:36:40.866Z,1761511000.866 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-10-26T20:36:40.866Z,1761511000.866 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-26T20:36:40.866Z,1761511000.866 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-10-26T20:36:40.866Z,1761511000.866 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-26T20:36:40.866Z,1761511000.866 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-10-26T20:36:40.866Z,1761511000.866 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-10-26T20:36:40.867Z,1761511000.867 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-10-26T20:36:40.867Z,1761511000.867 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-10-26T20:36:40.867Z,1761511000.867 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-10-26T20:36:40.867Z,1761511000.867 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-10-26T20:36:40.867Z,1761511000.867 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-10-26T20:36:40.867Z,1761511000.867 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-10-26T20:36:40.867Z,1761511000.867 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-10-26T20:36:40.868Z,1761511000.868 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-26T20:36:40.868Z,1761511000.868 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-10-26T20:36:40.868Z,1761511000.868 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-10-26T20:36:40.868Z,1761511000.868 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-10-26T20:36:40.869Z,1761511000.869 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-10-26T20:36:40.869Z,1761511000.869 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-10-26T20:36:40.869Z,1761511000.869 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-10-26T20:36:40.869Z,1761511000.869 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-10-26T20:36:40.869Z,1761511000.869 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-10-26T20:36:40.870Z,1761511000.870 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-10-26T20:36:40.870Z,1761511000.870 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-10-26T20:36:40.870Z,1761511000.870 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-10-26T20:36:40.870Z,1761511000.870 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-26T20:36:40.871Z,1761511000.871 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-26T20:36:40.871Z,1761511000.871 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-26T20:36:40.872Z,1761511000.872 [lineCaptureHoming:LineCapture:A] Stopped
2025-10-26T20:36:40.872Z,1761511000.872 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-10-26T20:36:40.945Z,1761511000.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779272
2025-10-26T20:36:41.196Z,1761511001.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030936
2025-10-26T20:36:41.226Z,1761511001.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296450,0.944099,0.144202],[-0.953826,-0.300313,0.005295],[0.048305,-0.135974,0.989534]]
2025-10-26T20:36:41.265Z,1761511001.265 [lineCaptureHoming:LineCapture:B] Stopped
2025-10-26T20:36:41.265Z,1761511001.265 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-10-26T20:36:41.448Z,1761511001.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283007
2025-10-26T20:36:41.630Z,1761511001.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297457,0.944966,0.136232],[-0.953648,-0.300886,0.004829],[0.045553,-0.128481,0.990665]]
2025-10-26T20:36:41.648Z,1761511001.648 [lineCaptureHoming:LineCapture:D] Stopped
2025-10-26T20:36:41.648Z,1761511001.648 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-10-26T20:36:41.702Z,1761511001.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536748
2025-10-26T20:36:41.952Z,1761511001.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786931
2025-10-26T20:36:42.041Z,1761511002.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297068,0.946021,0.129591],[-0.953932,-0.300005,0.003302],[0.042002,-0.122640,0.991562]]
2025-10-26T20:36:42.069Z,1761511002.069 [lineCaptureHoming:LineCapture:E] Stopped
2025-10-26T20:36:42.069Z,1761511002.069 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-10-26T20:36:42.204Z,1761511002.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038871
2025-10-26T20:36:42.438Z,1761511002.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296265,0.947174,0.122838],[-0.954334,-0.298736,0.001781],[0.038383,-0.116701,0.992425]]
2025-10-26T20:36:42.457Z,1761511002.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291256
2025-10-26T20:36:42.465Z,1761511002.465 [lineCaptureHoming:LineCapture:F] Stopped
2025-10-26T20:36:42.465Z,1761511002.465 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-10-26T20:36:42.465Z,1761511002.465 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-10-26T20:36:42.466Z,1761511002.466 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-10-26T20:36:42.466Z,1761511002.466 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-10-26T20:36:42.466Z,1761511002.466 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-10-26T20:36:42.466Z,1761511002.466 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-10-26T20:36:42.466Z,1761511002.466 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-10-26T20:36:42.466Z,1761511002.466 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-10-26T20:36:42.466Z,1761511002.466 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-10-26T20:36:42.467Z,1761511002.467 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-10-26T20:36:42.467Z,1761511002.467 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-10-26T20:36:42.468Z,1761511002.468 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-10-26T20:36:42.468Z,1761511002.468 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-10-26T20:36:42.468Z,1761511002.468 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-10-26T20:36:42.468Z,1761511002.468 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-10-26T20:36:42.468Z,1761511002.468 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-10-26T20:36:42.468Z,1761511002.468 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-10-26T20:36:42.468Z,1761511002.468 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-10-26T20:36:42.468Z,1761511002.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-10-26T20:36:42.469Z,1761511002.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-10-26T20:36:42.469Z,1761511002.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-10-26T20:36:42.469Z,1761511002.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-10-26T20:36:42.469Z,1761511002.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-10-26T20:36:42.469Z,1761511002.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-10-26T20:36:42.469Z,1761511002.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-10-26T20:36:42.469Z,1761511002.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-10-26T20:36:42.469Z,1761511002.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-10-26T20:36:42.469Z,1761511002.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-10-26T20:36:42.469Z,1761511002.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-10-26T20:36:42.470Z,1761511002.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-10-26T20:36:42.470Z,1761511002.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-10-26T20:36:42.470Z,1761511002.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-10-26T20:36:42.470Z,1761511002.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-10-26T20:36:42.709Z,1761511002.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543198
2025-10-26T20:36:42.842Z,1761511002.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295343,0.948390,0.115453],[-0.954757,-0.297387,0.000497],[0.034806,-0.110083,0.993313]]
2025-10-26T20:36:42.887Z,1761511002.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-10-26T20:36:42.888Z,1761511002.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-10-26T20:36:42.888Z,1761511002.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-10-26T20:36:42.888Z,1761511002.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-10-26T20:36:42.888Z,1761511002.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-10-26T20:36:42.888Z,1761511002.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-10-26T20:36:42.888Z,1761511002.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-10-26T20:36:42.888Z,1761511002.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-10-26T20:36:42.888Z,1761511002.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-10-26T20:36:42.888Z,1761511002.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-10-26T20:36:42.888Z,1761511002.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-10-26T20:36:42.888Z,1761511002.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-10-26T20:36:42.888Z,1761511002.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-10-26T20:36:42.888Z,1761511002.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-10-26T20:36:42.889Z,1761511002.889 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-10-26T20:36:42.889Z,1761511002.889 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-10-26T20:36:42.889Z,1761511002.889 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-10-26T20:36:42.889Z,1761511002.889 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-10-26T20:36:42.889Z,1761511002.889 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-10-26T20:36:42.889Z,1761511002.889 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-10-26T20:36:42.889Z,1761511002.889 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-10-26T20:36:42.889Z,1761511002.889 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-10-26T20:36:42.889Z,1761511002.889 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-10-26T20:36:42.889Z,1761511002.889 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-10-26T20:36:42.889Z,1761511002.889 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-10-26T20:36:42.890Z,1761511002.890 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.191044 m.
2025-10-26T20:36:42.961Z,1761511002.961 [DAT](INFO): DAT read: Rx Time:20:36:41.5001

2025-10-26T20:36:42.961Z,1761511002.961 [DAT](INFO): Rx dataTimestamp_ set to:1761511002.960701
2025-10-26T20:36:42.961Z,1761511002.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.796046
2025-10-26T20:36:43.213Z,1761511003.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047119
2025-10-26T20:36:43.246Z,1761511003.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294516,0.949692,0.106512],[-0.955128,-0.296193,-0.000079],[0.031473,-0.101756,0.994311]]
2025-10-26T20:36:43.469Z,1761511003.469 [DAT](INFO): DAT read: 20:36:41.5001 LVL= 19040, 16561, 23106, 29811, AGC= 85, IDX=  94,-0.44, 1.112, 2.335, 0.476, 1.716, PHS=-0.502, 0.664,-1.284, RAW= 353.5,  13.1, CAL= 353.9,  16.0, ROT= 156.1, -16.0

2025-10-26T20:36:43.470Z,1761511003.470 [DAT](INFO): got valid direction response:
 20:36:41.5001 LVL= 19040, 16561, 23106, 29811, AGC= 85, IDX=  94,-0.44, 1.112, 2.335, 0.476, 1.716, PHS=-0.502, 0.664,-1.284, RAW= 353.5,  13.1, CAL= 353.9,  16.0, ROT= 156.1, -16.0

2025-10-26T20:36:43.472Z,1761511003.472 [DAT](INFO): DAT read: Range 11 to 50 : 2095.4 m  (Round-trip  2793.9 ms) speed -0.5 m/s

2025-10-26T20:36:43.473Z,1761511003.473 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:36:43.474Z,1761511003.474 [DAT](INFO): direction in FSK: [-0.878837,0.389447,0.275637]
2025-10-26T20:36:43.474Z,1761511003.474 [DAT](INFO): publishing direction and range info
2025-10-26T20:36:43.650Z,1761511003.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294012,0.950863,0.097042],[-0.955396,-0.295325,-0.000863],[0.027838,-0.092967,0.995280]]
2025-10-26T20:36:43.736Z,1761511003.736 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-10-26T20:36:43.856Z,1761511003.856 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-10-26T20:36:44.064Z,1761511004.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294039,0.951592,0.089521],[-0.955496,-0.294993,-0.002680],[0.023857,-0.086325,0.995981]]
2025-10-26T20:36:44.458Z,1761511004.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294177,0.951928,0.085397],[-0.955551,-0.294765,-0.005931],[0.019526,-0.083346,0.996329]]
2025-10-26T20:36:44.864Z,1761511004.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294839,0.951908,0.083310],[-0.955432,-0.295032,-0.010265],[0.014808,-0.082623,0.996471]]
2025-10-26T20:36:45.266Z,1761511005.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295222,0.951895,0.082097],[-0.955380,-0.294985,-0.015283],[0.009669,-0.082946,0.996507]]
2025-10-26T20:36:45.671Z,1761511005.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296098,0.951920,0.078580],[-0.955149,-0.295435,-0.020203],[0.003984,-0.081038,0.996703]]
2025-10-26T20:36:46.075Z,1761511006.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297674,0.951863,0.073119],[-0.954665,-0.296635,-0.024931],[-0.002041,-0.077226,0.997012]]
2025-10-26T20:36:46.478Z,1761511006.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298987,0.951602,0.071144],[-0.954216,-0.297452,-0.031520],[-0.008832,-0.077311,0.996968]]
2025-10-26T20:36:46.883Z,1761511006.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300433,0.951152,0.071068],[-0.953670,-0.298313,-0.039019],[-0.015913,-0.079498,0.996708]]
2025-10-26T20:36:47.286Z,1761511007.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301787,0.950659,0.071920],[-0.953095,-0.299010,-0.046940],[-0.023119,-0.082713,0.996305]]
2025-10-26T20:36:47.690Z,1761511007.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303016,0.950408,0.070040],[-0.952498,-0.299693,-0.054135],[-0.030460,-0.083117,0.996074]]
2025-10-26T20:36:47.781Z,1761511007.781 [DockingStepper](INFO): Changing to mode: 3
2025-10-26T20:36:48.095Z,1761511008.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303951,0.950441,0.065390],[-0.951932,-0.300261,-0.060562],[-0.037926,-0.080655,0.996020]]
2025-10-26T20:36:48.500Z,1761511008.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305405,0.950321,0.060153],[-0.951156,-0.301466,-0.066480],[-0.045043,-0.077518,0.995973]]
2025-10-26T20:36:48.902Z,1761511008.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306728,0.950179,0.055486],[-0.950369,-0.302555,-0.072514],[-0.052113,-0.074974,0.995823]]
2025-10-26T20:36:49.313Z,1761511009.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308057,0.950163,0.047854],[-0.949054,-0.303413,-0.085068],[-0.066309,-0.071622,0.995225]]
2025-10-26T20:36:49.722Z,1761511009.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308509,0.950164,0.044836],[-0.948397,-0.303621,-0.091417],[-0.073248,-0.070726,0.994803]]
2025-10-26T20:36:50.129Z,1761511010.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307964,0.950491,0.041530],[-0.948016,-0.302900,-0.097552],[-0.080143,-0.069414,0.994363]]
2025-10-26T20:36:50.529Z,1761511010.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307888,0.950795,0.034542],[-0.947433,-0.303073,-0.102552],[-0.087037,-0.064300,0.994128]]
2025-10-26T20:36:51.327Z,1761511011.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307372,0.951309,0.023081],[-0.946243,-0.302988,-0.113240],[-0.100733,-0.056647,0.993299]]
2025-10-26T20:36:51.739Z,1761511011.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306825,0.951584,0.018625],[-0.945655,-0.302582,-0.119085],[-0.107684,-0.054151,0.992709]]
2025-10-26T20:36:51.772Z,1761511011.772 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:36:52.134Z,1761511012.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306344,0.951793,0.015582],[-0.945025,-0.302117,-0.125110],[-0.114372,-0.053052,0.992020]]
2025-10-26T20:36:52.546Z,1761511012.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305845,0.952011,0.011584],[-0.944336,-0.301786,-0.130976],[-0.121195,-0.050998,0.991318]]
2025-10-26T20:36:52.777Z,1761511012.777 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:36:52.943Z,1761511012.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304863,0.952343,0.010055],[-0.943749,-0.300658,-0.137633],[-0.128050,-0.051448,0.990432]]
2025-10-26T20:36:53.347Z,1761511013.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303315,0.952833,0.010418],[-0.943300,-0.298697,-0.144795],[-0.134854,-0.053746,0.989407]]
2025-10-26T20:36:53.750Z,1761511013.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301287,0.953486,0.009536],[-0.942948,-0.296442,-0.151563],[-0.141686,-0.054656,0.988402]]
2025-10-26T20:36:53.778Z,1761511013.778 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-10-26T20:36:54.154Z,1761511014.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299081,0.954204,0.006769],[-0.942578,-0.294317,-0.157875],[-0.148653,-0.053597,0.987436]]
2025-10-26T20:36:54.559Z,1761511014.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296842,0.954915,0.004679],[-0.942162,-0.292072,-0.164393],[-0.155614,-0.053207,0.986384]]
2025-10-26T20:36:54.964Z,1761511014.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294549,0.955629,0.003887],[-0.941731,-0.289569,-0.171148],[-0.162429,-0.054072,0.985238]]
2025-10-26T20:36:55.366Z,1761511015.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292093,0.956386,0.002517],[-0.941302,-0.287019,-0.177684],[-0.169212,-0.054269,0.984084]]
2025-10-26T20:36:55.770Z,1761511015.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289176,0.957275,0.001067],[-0.941039,-0.284067,-0.183716],[-0.175563,-0.054130,0.982979]]
2025-10-26T20:36:56.174Z,1761511016.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286563,0.958060,-0.001516],[-0.940684,-0.281665,-0.189149],[-0.181643,-0.052777,0.981947]]
2025-10-26T20:36:56.581Z,1761511016.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284108,0.958784,-0.003951],[-0.940306,-0.279433,-0.194270],[-0.187367,-0.051478,0.980940]]
2025-10-26T20:36:56.982Z,1761511016.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280998,0.959688,-0.006297],[-0.940133,-0.276579,-0.199132],[-0.192846,-0.050036,0.979953]]
2025-10-26T20:36:57.390Z,1761511017.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277384,0.960720,-0.008672],[-0.940144,-0.273281,-0.203586],[-0.197960,-0.048318,0.979019]]
2025-10-26T20:36:57.791Z,1761511017.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274071,0.961648,-0.010925],[-0.940088,-0.270287,-0.207798],[-0.202781,-0.046681,0.978111]]
2025-10-26T20:36:58.201Z,1761511018.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270739,0.962571,-0.012512],[-0.940044,-0.267159,-0.211998],[-0.207406,-0.045634,0.977190]]
2025-10-26T20:36:58.629Z,1761511018.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268201,0.963270,-0.013422],[-0.939842,-0.264687,-0.215959],[-0.211579,-0.045306,0.976310]]
2025-10-26T20:36:59.002Z,1761511019.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265897,0.963927,-0.012020],[-0.939518,-0.261916,-0.220696],[-0.215883,-0.047389,0.975269]]
2025-10-26T20:36:59.411Z,1761511019.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264030,0.964470,-0.009306],[-0.939140,-0.259270,-0.225379],[-0.219784,-0.050767,0.974227]]
2025-10-26T20:36:59.812Z,1761511019.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262528,0.964893,-0.007786],[-0.938722,-0.257258,-0.229388],[-0.223337,-0.052912,0.973304]]
2025-10-26T20:37:00.214Z,1761511020.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261530,0.965147,-0.009714],[-0.938205,-0.256567,-0.232258],[-0.226655,-0.051629,0.972606]]
2025-10-26T20:37:00.623Z,1761511020.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261021,0.965244,-0.013095],[-0.937602,-0.256727,-0.234509],[-0.229720,-0.048934,0.972026]]
2025-10-26T20:37:01.031Z,1761511021.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261156,0.965169,-0.015715],[-0.936927,-0.257365,-0.236497],[-0.232304,-0.047039,0.971505]]
2025-10-26T20:37:01.437Z,1761511021.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261154,0.965150,-0.016870],[-0.936312,-0.257524,-0.238749],[-0.234773,-0.046555,0.970935]]
2025-10-26T20:37:01.830Z,1761511021.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261338,0.965101,-0.016785],[-0.935716,-0.257573,-0.241024],[-0.236936,-0.047283,0.970374]]
2025-10-26T20:37:02.234Z,1761511022.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261554,0.965057,-0.015964],[-0.935107,-0.257465,-0.243488],[-0.239090,-0.048757,0.969773]]
2025-10-26T20:37:02.644Z,1761511022.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261560,0.965066,-0.015310],[-0.934616,-0.257204,-0.245639],[-0.240995,-0.049941,0.969241]]
2025-10-26T20:37:03.046Z,1761511023.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261665,0.965020,-0.016329],[-0.934141,-0.257475,-0.247159],[-0.242718,-0.049419,0.968837]]
2025-10-26T20:37:03.449Z,1761511023.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261261,0.965070,-0.019556],[-0.933780,-0.257819,-0.248163],[-0.244536,-0.046574,0.968521]]
2025-10-26T20:37:04.254Z,1761511024.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260548,0.965153,-0.024378],[-0.933233,-0.258240,-0.249775],[-0.247367,-0.042328,0.967997]]
2025-10-26T20:37:04.661Z,1761511024.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259556,0.965474,-0.022144],[-0.933192,-0.256647,-0.251564],[-0.248562,-0.044630,0.967587]]
2025-10-26T20:37:05.062Z,1761511025.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258210,0.965909,-0.018625],[-0.933281,-0.254376,-0.253533],[-0.249628,-0.048082,0.967147]]
2025-10-26T20:37:05.470Z,1761511025.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256271,0.966453,-0.017169],[-0.933551,-0.252073,-0.254834],[-0.250613,-0.049278,0.966832]]
2025-10-26T20:37:05.870Z,1761511025.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254240,0.966985,-0.017353],[-0.933907,-0.250127,-0.255448],[-0.251355,-0.048739,0.966667]]
2025-10-26T20:37:06.276Z,1761511026.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251781,0.967624,-0.017633],[-0.934394,-0.247798,-0.255939],[-0.252022,-0.047964,0.966532]]
2025-10-26T20:37:06.679Z,1761511026.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249036,0.968345,-0.017002],[-0.935027,-0.244968,-0.256350],[-0.252400,-0.047943,0.966434]]
2025-10-26T20:37:07.082Z,1761511027.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245816,0.969186,-0.015898],[-0.935792,-0.241559,-0.256793],[-0.252721,-0.048246,0.966336]]
2025-10-26T20:37:07.493Z,1761511027.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242681,0.969984,-0.015375],[-0.936610,-0.238401,-0.256762],[-0.252720,-0.047911,0.966352]]
2025-10-26T20:37:07.890Z,1761511027.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239309,0.970822,-0.015341],[-0.937500,-0.235148,-0.256514],[-0.252637,-0.047004,0.966419]]
2025-10-26T20:37:08.294Z,1761511028.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235919,0.971647,-0.015659],[-0.938415,-0.231977,-0.256054],[-0.252426,-0.045713,0.966536]]
2025-10-26T20:37:08.702Z,1761511028.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232684,0.972421,-0.015961],[-0.939327,-0.228958,-0.255427],[-0.252037,-0.044441,0.966697]]
2025-10-26T20:37:09.103Z,1761511029.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229559,0.973178,-0.015082],[-0.940240,-0.225740,-0.254931],[-0.251498,-0.044341,0.966842]]
2025-10-26T20:37:09.521Z,1761511029.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226498,0.973914,-0.013824],[-0.941157,-0.222491,-0.254404],[-0.250843,-0.044611,0.966999]]
2025-10-26T20:37:09.910Z,1761511029.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223509,0.974630,-0.011858],[-0.942103,-0.219137,-0.253814],[-0.249973,-0.045558,0.967180]]
2025-10-26T20:37:10.314Z,1761511030.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220519,0.975329,-0.010252],[-0.943045,-0.215881,-0.253105],[-0.249074,-0.046146,0.967384]]
2025-10-26T20:37:10.725Z,1761511030.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217821,0.975952,-0.008497],[-0.943939,-0.212874,-0.252315],[-0.248057,-0.046939,0.967608]]
2025-10-26T20:37:11.122Z,1761511031.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215058,0.976574,-0.007293],[-0.944878,-0.209955,-0.251247],[-0.246893,-0.047142,0.967895]]
2025-10-26T20:37:11.532Z,1761511031.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212118,0.977214,-0.007718],[-0.945832,-0.207280,-0.249872],[-0.245779,-0.045703,0.968248]]
2025-10-26T20:37:11.930Z,1761511031.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209618,0.977738,-0.009454],[-0.946753,-0.205373,-0.247954],[-0.244376,-0.043025,0.968726]]
2025-10-26T20:37:12.336Z,1761511032.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206771,0.978329,-0.010824],[-0.947743,-0.203029,-0.246094],[-0.242958,-0.040626,0.969186]]
2025-10-26T20:37:12.741Z,1761511032.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203841,0.978957,-0.009593],[-0.948798,-0.199958,-0.244537],[-0.241310,-0.040745,0.969592]]
2025-10-26T20:37:13.143Z,1761511033.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200764,0.979622,-0.005952],[-0.949940,-0.196158,-0.243180],[-0.239392,-0.043168,0.969963]]
2025-10-26T20:37:13.550Z,1761511033.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197374,0.980326,-0.002228],[-0.951141,-0.192048,-0.241761],[-0.237433,-0.045598,0.970333]]
2025-10-26T20:37:13.951Z,1761511033.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195002,0.980803,-0.000272],[-0.952198,-0.189381,-0.239696],[-0.235146,-0.046482,0.970848]]
2025-10-26T20:37:13.981Z,1761511033.981 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 2095.40 m. Transitioning docking module to standby.
2025-10-26T20:37:14.354Z,1761511034.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193309,0.981138,-0.000536],[-0.953179,-0.187930,-0.236923],[-0.232555,-0.045288,0.971528]]
2025-10-26T20:37:14.421Z,1761511034.421 [DockingStepper](INFO): Changing to mode: 1
2025-10-26T20:37:14.758Z,1761511034.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191483,0.981495,-0.001304],[-0.954211,-0.186471,-0.233903],[-0.229818,-0.043544,0.972259]]
2025-10-26T20:37:15.162Z,1761511035.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189906,0.981801,-0.001228],[-0.955182,-0.185046,-0.231053],[-0.227076,-0.042705,0.972940]]
2025-10-26T20:37:15.573Z,1761511035.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188469,0.982079,0.001075],[-0.956133,-0.183239,-0.228545],[-0.224252,-0.044102,0.973533]]
2025-10-26T20:37:15.970Z,1761511035.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187119,0.982332,0.003339],[-0.957077,-0.181541,-0.225935],[-0.221337,-0.045473,0.974137]]
2025-10-26T20:37:16.375Z,1761511036.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186780,0.982391,0.004555],[-0.957879,-0.181086,-0.222879],[-0.218130,-0.045993,0.974835]]
2025-10-26T20:37:16.779Z,1761511036.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185995,0.982536,0.005355],[-0.958665,-0.180277,-0.220141],[-0.215331,-0.046078,0.975453]]
2025-10-26T20:37:17.184Z,1761511037.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185799,0.982569,0.006004],[-0.959391,-0.180090,-0.217111],[-0.212245,-0.046099,0.976129]]
2025-10-26T20:37:17.586Z,1761511037.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185962,0.982534,0.006711],[-0.960047,-0.180243,-0.214058],[-0.209110,-0.046250,0.976798]]
2025-10-26T20:37:17.999Z,1761511037.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186166,0.982493,0.007121],[-0.960654,-0.180498,-0.211103],[-0.206122,-0.046141,0.977438]]
2025-10-26T20:37:18.394Z,1761511038.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186089,0.982509,0.006773],[-0.961244,-0.180626,-0.208289],[-0.203423,-0.045271,0.978044]]
2025-10-26T20:37:18.800Z,1761511038.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186700,0.982402,0.005443],[-0.961741,-0.181638,-0.205088],[-0.200491,-0.043525,0.978728]]
2025-10-26T20:37:19.202Z,1761511039.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187063,0.982336,0.004840],[-0.962222,-0.182236,-0.202286],[-0.197831,-0.042498,0.979314]]
2025-10-26T20:37:19.606Z,1761511039.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187143,0.982315,0.005875],[-0.962719,-0.182214,-0.199927],[-0.195321,-0.043071,0.979793]]
2025-10-26T20:37:20.013Z,1761511040.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186876,0.982355,0.007498],[-0.963224,-0.181726,-0.197926],[-0.193071,-0.044210,0.980188]]
2025-10-26T20:37:20.415Z,1761511040.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185729,0.982564,0.008537],[-0.963873,-0.180494,-0.195884],[-0.190928,-0.044610,0.980590]]
2025-10-26T20:37:20.433Z,1761511040.433 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-10-26T20:37:20.818Z,1761511040.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184519,0.982793,0.008409],[-0.964564,-0.179441,-0.193433],[-0.188595,-0.043803,0.981078]]
2025-10-26T20:37:20.848Z,1761511040.848 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-10-26T20:37:20.848Z,1761511040.848 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-10-26T20:37:20.848Z,1761511040.848 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-10-26T20:37:21.222Z,1761511041.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182846,0.983111,0.007695],[-0.965284,-0.178035,-0.191127],[-0.186529,-0.042375,0.981535]]
2025-10-26T20:37:21.278Z,1761511041.278 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-10-26T20:37:21.278Z,1761511041.278 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-10-26T20:37:21.278Z,1761511041.278 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-10-26T20:37:21.626Z,1761511041.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180669,0.983514,0.007720],[-0.966072,-0.175982,-0.189039],[-0.184564,-0.041612,0.981939]]
2025-10-26T20:37:21.642Z,1761511041.642 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-10-26T20:37:21.643Z,1761511041.643 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-10-26T20:37:21.643Z,1761511041.643 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-10-26T20:37:21.643Z,1761511041.643 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-10-26T20:37:21.643Z,1761511041.643 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-10-26T20:37:22.032Z,1761511042.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178415,0.983915,0.008934],[-0.966891,-0.173630,-0.187012],[-0.182453,-0.042004,0.982317]]
2025-10-26T20:37:22.056Z,1761511042.056 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-10-26T20:37:22.056Z,1761511042.056 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-10-26T20:37:22.056Z,1761511042.056 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-10-26T20:37:22.056Z,1761511042.056 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-10-26T20:37:22.056Z,1761511042.056 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-10-26T20:37:22.056Z,1761511042.056 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-10-26T20:37:22.056Z,1761511042.056 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-10-26T20:37:22.056Z,1761511042.056 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-10-26T20:37:22.057Z,1761511042.057 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-10-26T20:37:22.057Z,1761511042.057 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-10-26T20:37:22.057Z,1761511042.057 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-10-26T20:37:22.057Z,1761511042.057 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-10-26T20:37:22.058Z,1761511042.058 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )
2025-10-26T20:37:22.058Z,1761511042.058 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-10-26T20:37:22.059Z,1761511042.059 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-10-26T20:37:22.059Z,1761511042.059 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-10-26T20:37:22.060Z,1761511042.060 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-121.859630
2025-10-26T20:37:22.434Z,1761511042.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175891,0.984351,0.010713],[-0.967742,-0.170908,-0.185108],[-0.180381,-0.042927,0.982660]]
2025-10-26T20:37:22.494Z,1761511042.494 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.779130,-121.859630
2025-10-26T20:37:22.838Z,1761511042.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173012,0.984840,0.012541],[-0.968648,-0.167835,-0.183174],[-0.178292,-0.043839,0.983001]]
2025-10-26T20:37:22.896Z,1761511042.896 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:37:23.254Z,1761511043.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169934,0.985344,0.014811],[-0.969579,-0.164491,-0.181269],[-0.176176,-0.045165,0.983322]]
2025-10-26T20:37:23.647Z,1761511043.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167069,0.985809,0.016381],[-0.970490,-0.161497,-0.179077],[-0.173890,-0.045816,0.983699]]
2025-10-26T20:37:23.900Z,1761511043.900 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:37:24.050Z,1761511044.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164007,0.986331,0.015907],[-0.971420,-0.158680,-0.176533],[-0.171595,-0.044405,0.984166]]
2025-10-26T20:37:24.858Z,1761511044.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158740,0.987226,0.013678],[-0.973146,-0.154107,-0.170989],[-0.166696,-0.040453,0.985178]]
2025-10-26T20:37:25.266Z,1761511045.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156308,0.987586,0.015554],[-0.973999,-0.151504,-0.168439],[-0.163991,-0.041478,0.985589]]
2025-10-26T20:37:26.070Z,1761511046.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152164,0.988149,0.020209],[-0.975570,-0.146886,-0.163366],[-0.158462,-0.044573,0.986359]]
2025-10-26T20:37:26.485Z,1761511046.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150687,0.988357,0.021079],[-0.976268,-0.145421,-0.160480],[-0.155547,-0.044761,0.986814]]
2025-10-26T20:37:26.880Z,1761511046.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147138,0.988797,0.025136],[-0.977056,-0.141341,-0.159323],[-0.153985,-0.048002,0.986906]]
2025-10-26T20:37:27.282Z,1761511047.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143281,0.988969,0.037555],[-0.977853,-0.135617,-0.159413],[-0.152562,-0.059565,0.986497]]
2025-10-26T20:37:27.686Z,1761511047.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140434,0.988849,0.049552],[-0.978617,-0.131035,-0.158551],[-0.150290,-0.070759,0.986107]]
2025-10-26T20:37:28.499Z,1761511048.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136013,0.989376,0.051341],[-0.980139,-0.126832,-0.152453],[-0.144321,-0.071057,0.986976]]
2025-10-26T20:37:28.898Z,1761511048.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133520,0.989982,0.045911],[-0.980925,-0.125411,-0.148517],[-0.141272,-0.064866,0.987844]]
2025-10-26T20:37:29.302Z,1761511049.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130527,0.990623,0.040348],[-0.981756,-0.123468,-0.144604],[-0.138267,-0.058486,0.988667]]
2025-10-26T20:37:29.713Z,1761511049.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126416,0.991282,0.037128],[-0.982694,-0.120037,-0.141083],[-0.135397,-0.054321,0.989301]]
2025-10-26T20:37:30.514Z,1761511050.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115909,0.992658,0.034578],[-0.984810,-0.110322,-0.134083],[-0.129283,-0.049594,0.990367]]
2025-10-26T20:37:31.322Z,1761511051.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102016,0.994263,0.032139],[-0.987189,-0.097200,-0.126527],[-0.122677,-0.044635,0.991442]]
2025-10-26T20:37:32.167Z,1761511052.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075414,0.996874,0.023550],[-0.990964,-0.072298,-0.112974],[-0.110918,-0.031857,0.993319]]
2025-10-26T20:37:33.349Z,1761511053.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053954,0.998291,0.022464],[-0.993295,-0.051353,-0.103579],[-0.102248,-0.027902,0.994368]]
2025-10-26T20:37:33.746Z,1761511053.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041980,0.998870,0.022264],[-0.994344,-0.039593,-0.098551],[-0.097559,-0.026275,0.994883]]
2025-10-26T20:37:34.977Z,1761511054.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011076,0.999926,0.005031],[-0.996971,0.011430,-0.076929],[-0.076981,-0.004163,0.997024]]
2025-10-26T20:37:35.369Z,1761511055.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025337,0.999677,-0.002106],[-0.997122,0.025121,-0.071529],[-0.071453,0.003912,0.997436]]
2025-10-26T20:37:35.771Z,1761511055.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039455,0.999193,-0.007571],[-0.997066,0.038871,-0.065936],[-0.065588,0.010150,0.997795]]
2025-10-26T20:37:36.177Z,1761511056.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054740,0.998447,-0.010378],[-0.996685,0.054011,-0.060846],[-0.060191,0.013674,0.998093]]
2025-10-26T20:37:36.578Z,1761511056.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070125,0.997467,-0.011901],[-0.996049,0.069363,-0.055449],[-0.054483,0.015742,0.998391]]
2025-10-26T20:37:36.983Z,1761511056.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086185,0.996200,-0.012591],[-0.995068,0.085450,-0.050384],[-0.049116,0.016871,0.998651]]
2025-10-26T20:37:36.000Z,1761511057.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:37:37.172Z,1761511057.172 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:37:37.173Z,1761511057.173 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:37:37.382Z,1761511057.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102792,0.994618,-0.012988],[-0.993731,0.102106,-0.045540],[-0.043969,0.017588,0.998878]]
2025-10-26T20:37:37.424Z,1761511057.424 [DAT](INFO): DAT read: user:112>

2025-10-26T20:37:37.425Z,1761511057.425 [DAT](INFO): DAT read: Tx time:20:37:36.5518

2025-10-26T20:37:37.425Z,1761511057.425 [DAT](INFO): Ping request sent.
2025-10-26T20:37:37.425Z,1761511057.425 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:37:37.426Z,1761511057.426 [DAT](INFO): publishing transmit ping time
2025-10-26T20:37:37.426Z,1761511057.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-10-26T20:37:37.676Z,1761511057.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250875
2025-10-26T20:37:37.794Z,1761511057.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119831,0.992702,-0.013519],[-0.992030,0.119193,-0.040862],[-0.038952,0.018308,0.999073]]
2025-10-26T20:37:37.929Z,1761511057.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503570
2025-10-26T20:37:38.180Z,1761511058.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754886
2025-10-26T20:37:38.191Z,1761511058.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137403,0.990397,-0.015297],[-0.989926,0.136772,-0.036607],[-0.034163,0.020173,0.999213]]
2025-10-26T20:37:38.433Z,1761511058.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007418
2025-10-26T20:37:38.594Z,1761511058.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155663,0.987676,-0.016271],[-0.987373,0.155083,-0.032325],[-0.029403,0.021098,0.999345]]
2025-10-26T20:37:38.684Z,1761511058.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258852
2025-10-26T20:37:38.937Z,1761511058.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511647
2025-10-26T20:37:39.189Z,1761511059.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763129
2025-10-26T20:37:39.403Z,1761511059.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194447,0.980681,-0.021353],[-0.980699,0.193904,-0.025099],[-0.020474,0.025821,0.999457]]
2025-10-26T20:37:39.454Z,1761511059.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.028376
2025-10-26T20:37:39.705Z,1761511059.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.279079
2025-10-26T20:37:39.807Z,1761511059.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214451,0.976438,-0.024064],[-0.976602,0.213951,-0.021752],[-0.016091,0.028165,0.999474]]
2025-10-26T20:37:39.958Z,1761511059.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531991
2025-10-26T20:37:40.208Z,1761511060.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782954
2025-10-26T20:37:40.212Z,1761511060.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234562,0.971711,-0.027551],[-0.972031,0.234110,-0.018652],[-0.011675,0.031155,0.999446]]
2025-10-26T20:37:40.461Z,1761511060.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035557
2025-10-26T20:37:40.713Z,1761511060.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287462
2025-10-26T20:37:40.968Z,1761511060.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542517
2025-10-26T20:37:41.020Z,1761511061.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275134,0.960838,-0.033045],[-0.961399,0.274844,-0.013117],[-0.003521,0.035378,0.999368]]
2025-10-26T20:37:41.216Z,1761511061.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790837
2025-10-26T20:37:41.424Z,1761511061.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294777,0.954855,-0.036863],[-0.955566,0.294576,-0.010904],[0.000447,0.038439,0.999261]]
2025-10-26T20:37:41.477Z,1761511061.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.051650
2025-10-26T20:37:41.729Z,1761511061.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.303217
2025-10-26T20:37:41.826Z,1761511061.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314115,0.948542,-0.039988],[-0.949376,0.314016,-0.008905],[0.004110,0.040761,0.999160]]
2025-10-26T20:37:41.981Z,1761511061.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.555034
2025-10-26T20:37:42.230Z,1761511062.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331809,0.942301,-0.044401],[-0.943316,0.331807,-0.007646],[0.007528,0.044421,0.998985]]
2025-10-26T20:37:42.232Z,1761511062.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.806902
2025-10-26T20:37:42.484Z,1761511062.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.058879
2025-10-26T20:37:42.647Z,1761511062.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349021,0.935975,-0.046207],[-0.937057,0.349125,-0.006060],[0.010460,0.045414,0.998913]]
2025-10-26T20:37:42.737Z,1761511062.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.311187
2025-10-26T20:37:42.988Z,1761511062.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.562864
2025-10-26T20:37:43.044Z,1761511063.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365672,0.929442,-0.049216],[-0.930650,0.365876,-0.005125],[0.013243,0.047677,0.998775]]
2025-10-26T20:37:43.240Z,1761511063.240 [DAT](INFO): DAT read: Rx Time:20:37:41.7749

2025-10-26T20:37:43.241Z,1761511063.241 [DAT](INFO): Rx dataTimestamp_ set to:1761511063.240608
2025-10-26T20:37:43.241Z,1761511063.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.815939
2025-10-26T20:37:43.451Z,1761511063.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381873,0.922786,-0.051377],[-0.924076,0.382188,-0.003940],[0.016000,0.048981,0.998672]]
2025-10-26T20:37:43.494Z,1761511063.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.068551
2025-10-26T20:37:43.750Z,1761511063.750 [DAT](INFO): DAT read: 20:37:41.7749 LVL= 12512, 11697, 16450, 20035, AGC= 80, IDX= 174, 0.03,-2.040,-2.815, 2.549,-2.449, PHS= 0.512,-0.321,-1.329, RAW=  56.9,  14.1, CAL=  52.9,  17.7, ROT=  97.1, -17.7

2025-10-26T20:37:43.751Z,1761511063.751 [DAT](INFO): got valid direction response:
 20:37:41.7749 LVL= 12512, 11697, 16450, 20035, AGC= 80, IDX= 174, 0.03,-2.040,-2.815, 2.549,-2.449, PHS= 0.512,-0.321,-1.329, RAW=  56.9,  14.1, CAL=  52.9,  17.7, ROT=  97.1, -17.7

2025-10-26T20:37:43.752Z,1761511063.752 [DAT](INFO): DAT read: Bearing 206.2,  73.1 (Local)

2025-10-26T20:37:43.752Z,1761511063.752 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.2,  73.1 (Local)

2025-10-26T20:37:43.754Z,1761511063.754 [DAT](INFO): DAT read: Range 11 to 50 : 2114.1 m  (Round-trip  2818.9 ms) speed -0.3 m/s

2025-10-26T20:37:43.754Z,1761511063.754 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:37:43.755Z,1761511063.755 [DAT](INFO): direction in FSK: [-0.117750,0.945356,0.304033]
2025-10-26T20:37:43.756Z,1761511063.756 [DAT](INFO): publishing direction and range info
2025-10-26T20:37:43.846Z,1761511063.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397862,0.915970,-0.052005],[-0.917251,0.398304,-0.002019],[0.018865,0.048505,0.998645]]
2025-10-26T20:37:44.251Z,1761511064.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413858,0.908852,-0.052054],[-0.910079,0.414435,0.000310],[0.021854,0.047245,0.998644]]
2025-10-26T20:37:44.656Z,1761511064.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429648,0.901442,-0.052966],[-0.902649,0.430369,0.002486],[0.025036,0.046742,0.998593]]
2025-10-26T20:37:45.058Z,1761511065.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445635,0.893492,-0.055508],[-0.894766,0.446518,0.004004],[0.028363,0.047882,0.998450]]
2025-10-26T20:37:45.465Z,1761511065.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461890,0.884988,-0.058764],[-0.886370,0.462949,0.005080],[0.031701,0.049740,0.998259]]
2025-10-26T20:37:45.866Z,1761511065.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478601,0.875789,-0.062728],[-0.877330,0.479854,0.005739],[0.035126,0.052287,0.998014]]
2025-10-26T20:37:46.273Z,1761511066.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495698,0.865740,-0.069123],[-0.867634,0.497179,0.004976],[0.038675,0.057507,0.997596]]
2025-10-26T20:37:46.674Z,1761511066.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513474,0.854801,-0.075233],[-0.857080,0.515170,0.003716],[0.041934,0.062573,0.997159]]
2025-10-26T20:37:47.078Z,1761511067.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531456,0.843301,-0.079987],[-0.845897,0.533340,0.002620],[0.044870,0.066268,0.996792]]
2025-10-26T20:37:47.482Z,1761511067.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549632,0.831507,-0.080623],[-0.834060,0.551663,0.003542],[0.047422,0.065297,0.996738]]
2025-10-26T20:37:47.888Z,1761511067.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568150,0.818946,-0.080825],[-0.821428,0.570295,0.004292],[0.049609,0.063953,0.996719]]
2025-10-26T20:37:48.291Z,1761511068.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586977,0.805310,-0.083269],[-0.807959,0.589230,0.003109],[0.051568,0.065453,0.996522]]
2025-10-26T20:37:48.695Z,1761511068.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606186,0.790895,-0.083812],[-0.793549,0.608500,0.002643],[0.053090,0.064906,0.996478]]
2025-10-26T20:37:49.099Z,1761511069.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625577,0.775597,-0.084277],[-0.778283,0.627912,0.001547],[0.054118,0.064623,0.996441]]
2025-10-26T20:37:49.504Z,1761511069.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644551,0.759660,-0.086431],[-0.762580,0.646893,-0.001199],[0.055001,0.066683,0.996257]]
2025-10-26T20:37:49.906Z,1761511069.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663636,0.742590,-0.090260],[-0.745975,0.665948,-0.005864],[0.055754,0.071224,0.995901]]
2025-10-26T20:37:50.311Z,1761511070.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682312,0.725230,-0.092147],[-0.728907,0.684545,-0.009659],[0.056074,0.073757,0.995699]]
2025-10-26T20:37:50.720Z,1761511070.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700244,0.707944,-0.092047],[-0.711714,0.702360,-0.012411],[0.055864,0.074202,0.995677]]
2025-10-26T20:37:51.120Z,1761511071.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717644,0.690389,-0.091378],[-0.694183,0.719649,-0.014652],[0.055645,0.073948,0.995708]]
2025-10-26T20:37:51.522Z,1761511071.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734246,0.672958,-0.089506],[-0.676643,0.736136,-0.016021],[0.055107,0.072327,0.995857]]
2025-10-26T20:37:51.934Z,1761511071.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750223,0.655288,-0.088110],[-0.658950,0.751966,-0.018213],[0.054321,0.071724,0.995944]]
2025-10-26T20:37:52.330Z,1761511072.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765581,0.637265,-0.088198],[-0.641105,0.767135,-0.022107],[0.053572,0.073469,0.995858]]
2025-10-26T20:37:52.741Z,1761511072.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780017,0.619587,-0.087664],[-0.623516,0.781407,-0.025128],[0.052932,0.074260,0.995833]]
2025-10-26T20:37:53.138Z,1761511073.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793462,0.602727,-0.084487],[-0.606397,0.794763,-0.025189],[0.051965,0.071219,0.996106]]
2025-10-26T20:37:53.542Z,1761511073.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805866,0.586541,-0.080925],[-0.589881,0.807130,-0.024100],[0.051181,0.067158,0.996429]]
2025-10-26T20:37:53.950Z,1761511073.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817696,0.570369,-0.077797],[-0.573444,0.818910,-0.023423],[0.050349,0.063765,0.996694]]
2025-10-26T20:37:54.025Z,1761511074.025 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:37:54.352Z,1761511074.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829069,0.554120,-0.074798],[-0.556938,0.830249,-0.022493],[0.049637,0.060306,0.996945]]
2025-10-26T20:37:54.754Z,1761511074.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840190,0.537275,-0.073587],[-0.540083,0.841263,-0.024223],[0.048892,0.060095,0.996995]]
2025-10-26T20:37:55.028Z,1761511075.028 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:37:55.158Z,1761511075.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850882,0.520334,-0.072469],[-0.523142,0.851848,-0.026031],[0.048188,0.060061,0.997031]]
2025-10-26T20:37:55.563Z,1761511075.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861506,0.502604,-0.072081],[-0.505549,0.862284,-0.029771],[0.047192,0.062088,0.996954]]
2025-10-26T20:37:55.967Z,1761511075.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871941,0.484285,-0.072023],[-0.487409,0.872512,-0.033981],[0.046384,0.064735,0.996824]]
2025-10-26T20:37:56.370Z,1761511076.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882287,0.464996,-0.073130],[-0.468468,0.882571,-0.040089],[0.045901,0.069629,0.996516]]
2025-10-26T20:37:56.774Z,1761511076.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892483,0.444875,-0.074562],[-0.448745,0.892448,-0.046528],[0.045843,0.074985,0.996130]]
2025-10-26T20:37:57.180Z,1761511077.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902544,0.423995,-0.075114],[-0.428110,0.902294,-0.050857],[0.046212,0.078057,0.995877]]
2025-10-26T20:37:57.582Z,1761511077.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912146,0.402969,-0.074875],[-0.407173,0.911812,-0.053001],[0.046914,0.078832,0.995783]]
2025-10-26T20:37:57.986Z,1761511077.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921570,0.380911,-0.074941],[-0.385269,0.921106,-0.055964],[0.047711,0.080447,0.995616]]
2025-10-26T20:37:58.395Z,1761511078.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930653,0.358048,-0.075412],[-0.362663,0.929977,-0.060151],[0.048594,0.083328,0.995337]]
2025-10-26T20:37:58.795Z,1761511078.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939299,0.334718,-0.075373],[-0.339524,0.938436,-0.063729],[0.049401,0.085452,0.995117]]
2025-10-26T20:37:59.199Z,1761511079.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947496,0.310821,-0.075114],[-0.315844,0.946369,-0.068030],[0.049940,0.088183,0.994852]]
2025-10-26T20:37:59.602Z,1761511079.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955181,0.286602,-0.074081],[-0.291692,0.953905,-0.070574],[0.050440,0.089019,0.994752]]
2025-10-26T20:38:00.438Z,1761511080.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968639,0.239116,-0.067542],[-0.243382,0.967808,-0.064128],[0.050034,0.078555,0.995653]]
2025-10-26T20:38:00.824Z,1761511080.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974485,0.215318,-0.063382],[-0.218975,0.974016,-0.057822],[0.049285,0.070226,0.996313]]
2025-10-26T20:38:01.226Z,1761511081.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979814,0.190758,-0.059793],[-0.193909,0.979628,-0.052238],[0.048610,0.062778,0.996843]]
2025-10-26T20:38:01.632Z,1761511081.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984545,0.165760,-0.056521],[-0.168556,0.984478,-0.048900],[0.047538,0.057671,0.997203]]
2025-10-26T20:38:02.035Z,1761511082.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988579,0.140709,-0.053966],[-0.143378,0.988441,-0.049256],[0.046412,0.056431,0.997327]]
2025-10-26T20:38:02.444Z,1761511082.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992058,0.114587,-0.051869],[-0.117386,0.991585,-0.054585],[0.045177,0.060240,0.997161]]
2025-10-26T20:38:02.842Z,1761511082.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994807,0.088777,-0.049770],[-0.091737,0.993929,-0.060734],[0.044076,0.064984,0.996912]]
2025-10-26T20:38:03.247Z,1761511083.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996905,0.062726,-0.047384],[-0.065806,0.995614,-0.066505],[0.043005,0.069417,0.996660]]
2025-10-26T20:38:03.650Z,1761511083.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998303,0.037207,-0.044790],[-0.040392,0.996554,-0.072453],[0.041940,0.074140,0.996366]]
2025-10-26T20:38:04.054Z,1761511084.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999049,0.011819,-0.041968],[-0.015027,0.996921,-0.076959],[0.040929,0.077517,0.996151]]
2025-10-26T20:38:04.473Z,1761511084.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999155,-0.012926,-0.039012],[0.009932,0.997060,-0.075977],[0.039879,0.075525,0.996346]]
2025-10-26T20:38:04.862Z,1761511084.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998690,-0.036307,-0.036054],[0.033641,0.996840,-0.071966],[0.038553,0.070659,0.996755]]
2025-10-26T20:38:05.267Z,1761511085.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997675,-0.059303,-0.033578],[0.056958,0.996130,-0.066933],[0.037417,0.064865,0.997192]]
2025-10-26T20:38:05.670Z,1761511085.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996098,-0.082788,-0.030575],[0.080654,0.994591,-0.065449],[0.035828,0.062728,0.997387]]
2025-10-26T20:38:06.077Z,1761511086.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993968,-0.106093,-0.027769],[0.104128,0.992464,-0.064591],[0.034412,0.061310,0.997525]]
2025-10-26T20:38:06.483Z,1761511086.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991134,-0.130484,-0.025059],[0.128629,0.989552,-0.065133],[0.033296,0.061333,0.997562]]
2025-10-26T20:38:06.882Z,1761511086.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987766,-0.154342,-0.022306],[0.152557,0.986021,-0.067000],[0.032335,0.062778,0.997504]]
2025-10-26T20:38:07.286Z,1761511087.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983719,-0.178689,-0.019176],[0.176941,0.981680,-0.070691],[0.031456,0.066147,0.997314]]
2025-10-26T20:38:07.694Z,1761511087.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979026,-0.203094,-0.016176],[0.201402,0.976735,-0.073655],[0.030758,0.068852,0.997153]]
2025-10-26T20:38:08.117Z,1761511088.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973774,-0.227119,-0.013428],[0.225508,0.971324,-0.075336],[0.030153,0.070332,0.997068]]
2025-10-26T20:38:08.501Z,1761511088.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967741,-0.251718,-0.010738],[0.250193,0.965149,-0.076749],[0.029683,0.071587,0.996993]]
2025-10-26T20:38:08.912Z,1761511088.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961083,-0.276148,-0.007790],[0.274712,0.958303,-0.078668],[0.029189,0.073467,0.996870]]
2025-10-26T20:38:09.307Z,1761511089.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954076,-0.299522,-0.005022],[0.298186,0.951160,-0.079878],[0.028702,0.074712,0.996792]]
2025-10-26T20:38:09.720Z,1761511089.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946246,-0.323443,-0.001921],[0.322228,0.943174,-0.081187],[0.028071,0.076204,0.996697]]
2025-10-26T20:38:10.156Z,1761511090.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937962,-0.346738,-0.000678],[0.345641,0.935145,-0.077690],[0.027572,0.072636,0.996977]]
2025-10-26T20:38:10.521Z,1761511090.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929013,-0.370045,0.000550],[0.369075,0.926467,-0.073776],[0.026791,0.068741,0.997275]]
2025-10-26T20:38:10.926Z,1761511090.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919689,-0.392647,0.000598],[0.391774,0.917539,-0.068080],[0.026183,0.062847,0.997680]]
2025-10-26T20:38:11.326Z,1761511091.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909614,-0.415454,0.000392],[0.414682,0.907865,-0.061796],[0.025317,0.056374,0.998089]]
2025-10-26T20:38:11.734Z,1761511091.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898840,-0.438276,0.000965],[0.437586,0.897297,-0.058110],[0.024603,0.052654,0.998310]]
2025-10-26T20:38:12.164Z,1761511092.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887118,-0.461532,0.003065],[0.460922,0.885563,-0.057690],[0.023911,0.052591,0.998330]]
2025-10-26T20:38:12.549Z,1761511092.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874705,-0.484617,0.006154],[0.484098,0.873019,-0.059050],[0.023245,0.054631,0.998236]]
2025-10-26T20:38:12.942Z,1761511092.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861842,-0.507096,0.009126],[0.506671,0.860037,-0.060177],[0.022666,0.056487,0.998146]]
2025-10-26T20:38:13.346Z,1761511093.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848474,-0.529103,0.011885],[0.528766,0.846559,-0.061194],[0.022317,0.058205,0.998055]]
2025-10-26T20:38:13.750Z,1761511093.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834595,-0.550677,0.014343],[0.550422,0.832601,-0.061724],[0.022048,0.059410,0.997990]]
2025-10-26T20:38:14.170Z,1761511094.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820258,-0.571774,0.015860],[0.571579,0.818290,-0.060826],[0.021800,0.058958,0.998022]]
2025-10-26T20:38:14.962Z,1761511094.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790952,-0.611548,0.020117],[0.611494,0.788862,-0.061419],[0.021691,0.060881,0.997909]]
2025-10-26T20:38:15.366Z,1761511095.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776321,-0.630009,0.020357],[0.629987,0.774405,-0.058426],[0.021044,0.058182,0.998084]]
2025-10-26T20:38:15.770Z,1761511095.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761057,-0.648237,0.024107],[0.648373,0.759015,-0.059229],[0.020096,0.060707,0.997953]]
2025-10-26T20:38:16.176Z,1761511096.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745213,-0.666327,0.025809],[0.666552,0.743237,-0.057508],[0.019137,0.060059,0.998011]]
2025-10-26T20:38:16.578Z,1761511096.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729729,-0.683209,0.026855],[0.683508,0.727906,-0.054486],[0.017677,0.058115,0.998153]]
2025-10-26T20:38:16.983Z,1761511096.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713888,-0.699724,0.027407],[0.700077,0.712261,-0.050760],[0.015997,0.055423,0.998335]]
2025-10-26T20:38:17.398Z,1761511097.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697550,-0.715932,0.029432],[0.716399,0.696023,-0.048213],[0.014032,0.054716,0.998403]]
2025-10-26T20:38:17.790Z,1761511097.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680547,-0.732073,0.030418],[0.732613,0.679218,-0.044050],[0.011587,0.052262,0.998566]]
2025-10-26T20:38:18.194Z,1761511098.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663185,-0.747667,0.034341],[0.748404,0.661905,-0.042109],[0.008753,0.053627,0.998523]]
2025-10-26T20:38:18.611Z,1761511098.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645725,-0.762638,0.037710],[0.763549,0.644559,-0.039195],[0.005585,0.054103,0.998520]]
2025-10-26T20:38:19.004Z,1761511099.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627748,-0.777187,0.043726],[0.778412,0.626567,-0.038586],[0.002591,0.058260,0.998298]]
2025-10-26T20:38:19.415Z,1761511099.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592151,-0.804379,0.048285],[0.805822,0.591307,-0.031737],[-0.003023,0.057702,0.998329]]
2025-10-26T20:38:19.816Z,1761511099.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574862,-0.816950,0.046112],[0.818234,0.574297,-0.026006],[-0.005237,0.052681,0.998598]]
2025-10-26T20:38:20.220Z,1761511100.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557952,-0.828845,0.041300],[0.829845,0.557654,-0.019494],[-0.006874,0.045149,0.998957]]
2025-10-26T20:38:20.622Z,1761511100.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541444,-0.839984,0.035560],[0.840696,0.541348,-0.013100],[-0.008246,0.036988,0.999282]]
2025-10-26T20:38:21.026Z,1761511101.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525766,-0.850079,0.030597],[0.850578,0.525791,-0.007881],[-0.009388,0.030169,0.999501]]
2025-10-26T20:38:21.428Z,1761511101.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510219,-0.859577,0.028363],[0.859981,0.510305,-0.004693],[-0.010439,0.026786,0.999587]]
2025-10-26T20:38:21.833Z,1761511101.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494288,-0.868890,0.026638],[0.869225,0.494411,-0.002223],[-0.011238,0.024254,0.999643]]
2025-10-26T20:38:22.234Z,1761511102.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478612,-0.877689,0.024327],[0.877942,0.478767,0.000636],[-0.012205,0.021053,0.999704]]
2025-10-26T20:38:22.638Z,1761511102.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462799,-0.886206,0.021361],[0.886367,0.462970,0.003606],[-0.013085,0.017265,0.999765]]
2025-10-26T20:38:23.043Z,1761511103.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447038,-0.894363,0.016518],[0.894408,0.447194,0.007193],[-0.013820,0.011558,0.999838]]
2025-10-26T20:38:23.448Z,1761511103.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431574,-0.901984,0.012988],[0.901960,0.431705,0.009942],[-0.014575,0.007424,0.999866]]
2025-10-26T20:38:23.856Z,1761511103.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415916,-0.909351,0.009763],[0.909276,0.416013,0.012275],[-0.015224,0.003772,0.999877]]
2025-10-26T20:38:24.254Z,1761511104.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400633,-0.916211,0.007091],[0.916102,0.400695,0.014150],[-0.015805,0.000827,0.999875]]
2025-10-26T20:38:24.658Z,1761511104.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385433,-0.922725,0.004518],[0.922594,0.385455,0.015638],[-0.016171,-0.001859,0.999867]]
2025-10-26T20:38:25.063Z,1761511105.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371204,-0.928551,-0.000137],[0.928402,0.371142,0.017969],[-0.016634,-0.006797,0.999839]]
2025-10-26T20:38:25.148Z,1761511105.148 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:38:25.468Z,1761511105.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356956,-0.934109,-0.004850],[0.933964,0.356795,0.020208],[-0.017146,-0.011743,0.999784]]
2025-10-26T20:38:25.887Z,1761511105.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343766,-0.939002,-0.009977],[0.938889,0.343486,0.022460],[-0.017663,-0.017088,0.999698]]
2025-10-26T20:38:26.153Z,1761511106.153 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:38:26.274Z,1761511106.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332740,-0.942887,-0.015738],[0.942841,0.332307,0.024973],[-0.018317,-0.023148,0.999564]]
2025-10-26T20:38:26.686Z,1761511106.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321728,-0.946560,-0.022682],[0.946642,0.321091,0.027735],[-0.018970,-0.030395,0.999358]]
2025-10-26T20:38:27.082Z,1761511107.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311907,-0.949655,-0.029475],[0.949906,0.311042,0.030534],[-0.019829,-0.037522,0.999099]]
2025-10-26T20:38:27.486Z,1761511107.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302813,-0.952407,-0.035005],[0.952833,0.301757,0.032427],[-0.020321,-0.043173,0.998861]]
2025-10-26T20:38:27.895Z,1761511107.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294626,-0.954757,-0.040430],[0.955375,0.293345,0.034749],[-0.021316,-0.048864,0.998578]]
2025-10-26T20:38:28.296Z,1761511108.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288077,-0.956563,-0.044706],[0.957347,0.286596,0.036748],[-0.022339,-0.053386,0.998324]]
2025-10-26T20:38:28.718Z,1761511108.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282749,-0.957943,-0.048976],[0.958905,0.281043,0.038929],[-0.023527,-0.057970,0.998041]]
2025-10-26T20:38:29.102Z,1761511109.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278338,-0.958993,-0.053481],[0.960165,0.276381,0.041191],[-0.024720,-0.062816,0.997719]]
2025-10-26T20:38:29.506Z,1761511109.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274457,-0.959818,-0.058506],[0.961248,0.272203,0.043692],[-0.026011,-0.068230,0.997330]]
2025-10-26T20:38:29.911Z,1761511109.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271300,-0.960335,-0.064440],[0.962108,0.268684,0.046454],[-0.027297,-0.074602,0.996840]]
2025-10-26T20:38:30.314Z,1761511110.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268222,-0.960809,-0.070023],[0.962940,0.265257,0.048845],[-0.028356,-0.080529,0.996349]]
2025-10-26T20:38:30.724Z,1761511110.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264940,-0.961414,-0.074093],[0.963816,0.261689,0.050770],[-0.029421,-0.084863,0.995958]]
2025-10-26T20:38:31.123Z,1761511111.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261480,-0.962052,-0.077998],[0.964722,0.257927,0.052763],[-0.030643,-0.089043,0.995556]]
2025-10-26T20:38:31.528Z,1761511111.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257320,-0.962807,-0.082397],[0.965808,0.253452,0.054570],[-0.031656,-0.093622,0.995104]]
2025-10-26T20:38:31.930Z,1761511111.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252587,-0.963813,-0.085230],[0.967026,0.248496,0.055780],[-0.032582,-0.096509,0.994799]]
2025-10-26T20:38:32.335Z,1761511112.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246672,-0.964930,-0.089790],[0.968520,0.242260,0.057269],[-0.033508,-0.101090,0.994313]]
2025-10-26T20:38:32.751Z,1761511112.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240438,-0.966213,-0.092856],[0.970058,0.235803,0.058182],[-0.034321,-0.104065,0.993978]]
2025-10-26T20:38:33.147Z,1761511113.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234365,-0.967787,-0.091982],[0.971514,0.229741,0.058138],[-0.035133,-0.102987,0.994062]]
2025-10-26T20:38:33.555Z,1761511113.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228075,-0.969542,-0.089272],[0.972988,0.223598,0.057427],[-0.035717,-0.099958,0.994350]]
2025-10-26T20:38:33.954Z,1761511113.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221437,-0.971060,-0.089490],[0.974507,0.216958,0.057140],[-0.036071,-0.099862,0.994347]]
2025-10-26T20:38:34.368Z,1761511114.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214889,-0.972443,-0.090434],[0.975956,0.210356,0.057090],[-0.036493,-0.100528,0.994265]]
2025-10-26T20:38:34.769Z,1761511114.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208650,-0.973780,-0.090648],[0.977305,0.204136,0.056597],[-0.036609,-0.100400,0.994273]]
2025-10-26T20:38:35.166Z,1761511115.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202528,-0.975065,-0.090728],[0.978601,0.198077,0.055732],[-0.036371,-0.100074,0.994315]]
2025-10-26T20:38:35.570Z,1761511115.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196825,-0.975913,-0.094093],[0.979781,0.192270,0.055328],[-0.035904,-0.103080,0.994025]]
2025-10-26T20:38:35.991Z,1761511115.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191896,-0.976325,-0.099830],[0.980774,0.187101,0.055451],[-0.035460,-0.108552,0.993458]]
2025-10-26T20:38:36.381Z,1761511116.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187141,-0.976699,-0.105062],[0.981701,0.182114,0.055650],[-0.035220,-0.113554,0.992907]]
2025-10-26T20:38:36.782Z,1761511116.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181880,-0.977159,-0.109909],[0.982699,0.176653,0.055643],[-0.034957,-0.118128,0.992383]]
2025-10-26T20:38:37.186Z,1761511117.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176775,-0.977609,-0.114153],[0.983639,0.171384,0.055507],[-0.034700,-0.122097,0.991911]]
2025-10-26T20:38:37.211Z,1761511117.211 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:38:37.456Z,1761511117.456 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:38:37.456Z,1761511117.456 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:38:37.594Z,1761511117.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171194,-0.978243,-0.117188],[0.984637,0.165722,0.055019],[-0.034401,-0.124806,0.991585]]
2025-10-26T20:38:37.709Z,1761511117.709 [DAT](INFO): DAT read: user:113>

2025-10-26T20:38:37.710Z,1761511117.710 [DAT](INFO): DAT read: Tx time:20:38:36.8015

2025-10-26T20:38:37.710Z,1761511117.710 [DAT](INFO): Ping request sent.
2025-10-26T20:38:37.710Z,1761511117.710 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:38:37.711Z,1761511117.711 [DAT](INFO): publishing transmit ping time
2025-10-26T20:38:37.712Z,1761511117.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001176
2025-10-26T20:38:37.960Z,1761511117.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249775
2025-10-26T20:38:37.994Z,1761511117.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165197,-0.978787,-0.121188],[0.985671,0.159599,0.054602],[-0.034102,-0.128472,0.991127]]
2025-10-26T20:38:38.212Z,1761511118.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501858
2025-10-26T20:38:38.398Z,1761511118.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159453,-0.979729,-0.121265],[0.986631,0.153963,0.053433],[-0.033680,-0.128163,0.991181]]
2025-10-26T20:38:38.466Z,1761511118.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755773
2025-10-26T20:38:38.717Z,1761511118.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006393
2025-10-26T20:38:38.806Z,1761511118.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153739,-0.980808,-0.119914],[0.987540,0.148388,0.052399],[-0.033600,-0.126476,0.991400]]
2025-10-26T20:38:38.969Z,1761511118.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258116
2025-10-26T20:38:39.213Z,1761511119.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148333,-0.981811,-0.118510],[0.988371,0.143123,0.051374],[-0.033478,-0.124753,0.991623]]
2025-10-26T20:38:39.220Z,1761511119.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509927
2025-10-26T20:38:39.472Z,1761511119.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761826
2025-10-26T20:38:39.614Z,1761511119.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143925,-0.982507,-0.118178],[0.989027,0.138791,0.050629],[-0.033342,-0.124169,0.991701]]
2025-10-26T20:38:39.725Z,1761511119.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014227
2025-10-26T20:38:39.976Z,1761511119.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265877
2025-10-26T20:38:40.018Z,1761511120.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140188,-0.982965,-0.118859],[0.989568,0.135072,0.050099],[-0.033191,-0.124642,0.991646]]
2025-10-26T20:38:40.229Z,1761511120.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517957
2025-10-26T20:38:40.422Z,1761511120.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137097,-0.983066,-0.121595],[0.990014,0.131921,0.049681],[-0.032798,-0.127192,0.991336]]
2025-10-26T20:38:40.480Z,1761511120.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769974
2025-10-26T20:38:40.733Z,1761511120.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022006
2025-10-26T20:38:40.827Z,1761511120.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135685,-0.982693,-0.126114],[0.990223,0.130352,0.049657],[-0.032359,-0.131619,0.990772]]
2025-10-26T20:38:40.984Z,1761511120.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273774
2025-10-26T20:38:41.231Z,1761511121.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135114,-0.982012,-0.131896],[0.990319,0.129567,0.049811],[-0.031826,-0.137350,0.990011]]
2025-10-26T20:38:41.236Z,1761511121.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525809
2025-10-26T20:38:41.488Z,1761511121.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777980
2025-10-26T20:38:41.635Z,1761511121.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135900,-0.981041,-0.138166],[0.990228,0.130097,0.050235],[-0.031308,-0.143642,0.989134]]
2025-10-26T20:38:41.740Z,1761511121.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029857
2025-10-26T20:38:41.992Z,1761511121.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281836
2025-10-26T20:38:42.040Z,1761511122.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137444,-0.979828,-0.145074],[0.990042,0.131399,0.050502],[-0.030421,-0.150570,0.988131]]
2025-10-26T20:38:42.244Z,1761511122.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533909
2025-10-26T20:38:42.445Z,1761511122.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140870,-0.978073,-0.153393],[0.989584,0.134466,0.051406],[-0.029652,-0.159037,0.986827]]
2025-10-26T20:38:42.496Z,1761511122.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785744
2025-10-26T20:38:42.749Z,1761511122.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038238
2025-10-26T20:38:42.857Z,1761511122.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145127,-0.975904,-0.162944],[0.988996,0.138306,0.052512],[-0.028710,-0.168771,0.985237]]
2025-10-26T20:38:43.000Z,1761511123.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289910
2025-10-26T20:38:43.250Z,1761511123.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150284,-0.973594,-0.171839],[0.988239,0.142970,0.054245],[-0.028245,-0.177970,0.983630]]
2025-10-26T20:38:43.252Z,1761511123.252 [DAT](INFO): DAT read: Rx Time:20:38:41.9913

2025-10-26T20:38:43.253Z,1761511123.253 [DAT](INFO): Rx dataTimestamp_ set to:1761511123.252621
2025-10-26T20:38:43.253Z,1761511123.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542965
2025-10-26T20:38:43.504Z,1761511123.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793846
2025-10-26T20:38:43.654Z,1761511123.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155792,-0.971664,-0.177756],[0.987413,0.148221,0.055191],[-0.027280,-0.184117,0.982526]]
2025-10-26T20:38:43.759Z,1761511123.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047788
2025-10-26T20:38:44.022Z,1761511124.022 [DAT](INFO): DAT read: 20:38:41.9913 LVL= 26384, 32753, 15842, 32755, AGC= 85, IDX=  89, 0.20, 2.897, 2.013,-2.072,-2.991, PHS=-0.293,-1.234, 0.875, RAW= 183.5,   7.2, CAL= 183.4,   6.9, ROT= 326.6,  -6.9

2025-10-26T20:38:44.023Z,1761511124.023 [DAT](INFO): got valid direction response:
 20:38:41.9913 LVL= 26384, 32753, 15842, 32755, AGC= 85, IDX=  89, 0.20, 2.897, 2.013,-2.072,-2.991, PHS=-0.293,-1.234, 0.875, RAW= 183.5,   7.2, CAL= 183.4,   6.9, ROT= 326.6,  -6.9

2025-10-26T20:38:44.024Z,1761511124.024 [DAT](INFO): DAT read: Bearing 240.9, -35.8 (Local)

2025-10-26T20:38:44.025Z,1761511124.025 [DAT](INFO): Local bearing/azimuth received:
 Bearing 240.9, -35.8 (Local)

2025-10-26T20:38:44.026Z,1761511124.026 [DAT](INFO): DAT read: Range 11 to 50 : 2089.2 m  (Round-trip  2785.6 ms) speed  0.3 m/s

2025-10-26T20:38:44.027Z,1761511124.027 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:38:44.029Z,1761511124.029 [DAT](INFO): direction in FSK: [0.828801,-0.546494,0.120137]
2025-10-26T20:38:44.029Z,1761511124.029 [DAT](INFO): publishing direction and range info
2025-10-26T20:38:44.058Z,1761511124.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162363,-0.969790,-0.182062],[0.986371,0.154530,0.056512],[-0.026671,-0.188756,0.981662]]
2025-10-26T20:38:44.462Z,1761511124.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169342,-0.967885,-0.185802],[0.985215,0.161278,0.057798],[-0.025976,-0.192842,0.980886]]
2025-10-26T20:38:44.869Z,1761511124.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177046,-0.965794,-0.189465],[0.983880,0.168749,0.059193],[-0.025196,-0.196891,0.980102]]
2025-10-26T20:38:45.272Z,1761511125.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184488,-0.963868,-0.192153],[0.982542,0.176104,0.059985],[-0.023979,-0.199865,0.979530]]
2025-10-26T20:38:45.674Z,1761511125.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191975,-0.961925,-0.194539],[0.981140,0.183557,0.060585],[-0.022569,-0.202501,0.979022]]
2025-10-26T20:38:46.482Z,1761511126.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206592,-0.957781,-0.199936],[0.978231,0.198103,0.061794],[-0.019577,-0.208350,0.977858]]
2025-10-26T20:38:46.894Z,1761511126.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213490,-0.955530,-0.203432],[0.976774,0.204870,0.062785],[-0.018316,-0.212111,0.977074]]
2025-10-26T20:38:47.318Z,1761511127.318 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-2768,V
2025-10-26T20:38:47.704Z,1761511127.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224375,-0.951053,-0.212493],[0.974368,0.215315,0.065171],[-0.016228,-0.221669,0.974987]]
2025-10-26T20:38:48.115Z,1761511128.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228741,-0.949964,-0.212711],[0.973356,0.219589,0.066027],[-0.016014,-0.222146,0.974882]]
2025-10-26T20:38:48.524Z,1761511128.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231950,-0.949437,-0.211587],[0.972593,0.222744,0.066696],[-0.016194,-0.221258,0.975081]]
2025-10-26T20:38:48.928Z,1761511128.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234974,-0.949376,-0.208501],[0.971855,0.225747,0.067350],[-0.016872,-0.218458,0.975701]]
2025-10-26T20:38:49.340Z,1761511129.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237776,-0.949162,-0.206289],[0.971160,0.228453,0.068250],[-0.017653,-0.216568,0.976108]]
2025-10-26T20:38:49.737Z,1761511129.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240648,-0.949134,-0.203057],[0.970434,0.231271,0.069074],[-0.018600,-0.213676,0.976727]]
2025-10-26T20:38:50.139Z,1761511130.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243630,-0.949188,-0.199216],[0.969671,0.234247,0.069760],[-0.019549,-0.210170,0.977469]]
2025-10-26T20:38:50.542Z,1761511130.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247066,-0.948923,-0.196225],[0.968791,0.237703,0.070295],[-0.020061,-0.207468,0.978036]]
2025-10-26T20:38:50.946Z,1761511130.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251388,-0.948545,-0.192528],[0.967669,0.242090,0.070781],[-0.020530,-0.204097,0.978735]]
2025-10-26T20:38:51.354Z,1761511131.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256392,-0.947026,-0.193404],[0.966345,0.246805,0.072557],[-0.020980,-0.205498,0.978433]]
2025-10-26T20:38:51.754Z,1761511131.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261691,-0.945158,-0.195434],[0.964920,0.251777,0.074408],[-0.021121,-0.208050,0.977890]]
2025-10-26T20:38:52.159Z,1761511132.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267441,-0.942774,-0.199130],[0.963333,0.256981,0.077136],[-0.021549,-0.212458,0.976933]]
2025-10-26T20:38:52.562Z,1761511132.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273578,-0.940639,-0.200881],[0.961597,0.262688,0.079534],[-0.022044,-0.214926,0.976382]]
2025-10-26T20:38:52.968Z,1761511132.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279806,-0.938329,-0.203096],[0.959796,0.268467,0.081962],[-0.022382,-0.217864,0.975722]]
2025-10-26T20:38:53.370Z,1761511133.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286953,-0.935629,-0.205563],[0.957664,0.274993,0.085195],[-0.023183,-0.221307,0.974929]]
2025-10-26T20:38:53.774Z,1761511133.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294386,-0.932497,-0.209253],[0.955390,0.281704,0.088723],[-0.023786,-0.226037,0.973828]]
2025-10-26T20:38:54.184Z,1761511134.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302498,-0.928883,-0.213707],[0.952835,0.288939,0.092839],[-0.024488,-0.231711,0.972476]]
2025-10-26T20:38:54.584Z,1761511134.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310818,-0.925664,-0.215727],[0.950135,0.296581,0.096348],[-0.025205,-0.234917,0.971689]]
2025-10-26T20:38:54.986Z,1761511134.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318477,-0.922727,-0.217134],[0.947577,0.303638,0.099508],[-0.025889,-0.237442,0.971057]]
2025-10-26T20:38:55.391Z,1761511135.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326580,-0.919987,-0.216724],[0.944785,0.311211,0.102609],[-0.026952,-0.238267,0.970826]]
2025-10-26T20:38:55.795Z,1761511135.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334999,-0.917497,-0.214420],[0.941804,0.319318,0.105073],[-0.027936,-0.237141,0.971074]]
2025-10-26T20:38:56.212Z,1761511136.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342783,-0.915328,-0.211362],[0.938980,0.326999,0.106714],[-0.028564,-0.235045,0.971565]]
2025-10-26T20:38:56.272Z,1761511136.272 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:38:56.602Z,1761511136.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350610,-0.912842,-0.209268],[0.936066,0.334607,0.108715],[-0.029217,-0.234005,0.971796]]
2025-10-26T20:38:57.006Z,1761511137.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358207,-0.910169,-0.208039],[0.933162,0.341872,0.111052],[-0.029954,-0.233914,0.971796]]
2025-10-26T20:38:57.276Z,1761511137.276 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:38:57.410Z,1761511137.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365862,-0.907512,-0.206316],[0.930142,0.349099,0.113866],[-0.031310,-0.233563,0.971837]]
2025-10-26T20:38:57.824Z,1761511137.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373173,-0.905079,-0.203896],[0.927194,0.356139,0.116090],[-0.032455,-0.232373,0.972085]]
2025-10-26T20:38:58.239Z,1761511138.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379849,-0.902973,-0.200884],[0.924432,0.362612,0.118057],[-0.033760,-0.230547,0.972475]]
2025-10-26T20:38:58.623Z,1761511138.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386600,-0.900620,-0.198553],[0.921581,0.369080,0.120284],[-0.035048,-0.229484,0.972681]]
2025-10-26T20:38:59.027Z,1761511139.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393376,-0.897955,-0.197310],[0.918663,0.375449,0.122870],[-0.036252,-0.229596,0.972611]]
2025-10-26T20:38:59.430Z,1761511139.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400732,-0.894666,-0.197448],[0.915440,0.382248,0.125919],[-0.037181,-0.231212,0.972193]]
2025-10-26T20:38:59.838Z,1761511139.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407939,-0.891695,-0.196129],[0.912219,0.389135,0.128183],[-0.037979,-0.231203,0.972164]]
2025-10-26T20:39:00.268Z,1761511140.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422899,-0.885114,-0.194240],[0.905344,0.403498,0.132448],[-0.038857,-0.231866,0.971971]]
2025-10-26T20:39:01.048Z,1761511141.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430002,-0.882051,-0.192572],[0.901975,0.410439,0.134091],[-0.039236,-0.231355,0.972078]]
2025-10-26T20:39:01.450Z,1761511141.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437959,-0.878309,-0.191744],[0.898126,0.418094,0.136259],[-0.039511,-0.231886,0.971940]]
2025-10-26T20:39:01.859Z,1761511141.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445412,-0.874590,-0.191576],[0.894455,0.425237,0.138292],[-0.039484,-0.232953,0.971686]]
2025-10-26T20:39:02.294Z,1761511142.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460883,-0.866711,-0.190785],[0.886593,0.440161,0.142168],[-0.039243,-0.234671,0.971282]]
2025-10-26T20:39:02.700Z,1761511142.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468172,-0.863013,-0.189799],[0.882761,0.447231,0.143934],[-0.039333,-0.234933,0.971215]]
2025-10-26T20:39:03.071Z,1761511143.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474714,-0.859737,-0.188414],[0.879254,0.453636,0.145351],[-0.039492,-0.234663,0.971274]]
2025-10-26T20:39:03.878Z,1761511143.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487174,-0.853496,-0.184946],[0.872386,0.465913,0.147875],[-0.040042,-0.233385,0.971560]]
2025-10-26T20:39:04.323Z,1761511144.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492787,-0.850657,-0.183148],[0.869213,0.471465,0.148962],[-0.040368,-0.232602,0.971734]]
2025-10-26T20:39:04.688Z,1761511144.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498155,-0.847794,-0.181900],[0.866139,0.476726,0.150116],[-0.040551,-0.232332,0.971791]]
2025-10-26T20:39:05.086Z,1761511145.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502683,-0.845400,-0.180580],[0.863506,0.481180,0.151071],[-0.040824,-0.231873,0.971889]]
2025-10-26T20:39:05.494Z,1761511145.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507708,-0.842384,-0.180615],[0.860552,0.485881,0.152871],[-0.041018,-0.233043,0.971601]]
2025-10-26T20:39:05.894Z,1761511145.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512963,-0.839131,-0.180908],[0.857425,0.490767,0.154824],[-0.041134,-0.234534,0.971237]]
2025-10-26T20:39:06.345Z,1761511146.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518057,-0.836404,-0.179013],[0.854355,0.495925,0.155358],[-0.041165,-0.233424,0.971503]]
2025-10-26T20:39:06.706Z,1761511146.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523115,-0.833666,-0.177061],[0.851274,0.501110,0.155629],[-0.041016,-0.232140,0.971817]]
2025-10-26T20:39:07.108Z,1761511147.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528128,-0.831276,-0.173381],[0.848159,0.506458,0.155326],[-0.041309,-0.229087,0.972529]]
2025-10-26T20:39:07.520Z,1761511147.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532723,-0.828685,-0.171721],[0.845260,0.511000,0.156252],[-0.041734,-0.228388,0.972675]]
2025-10-26T20:39:07.914Z,1761511147.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538124,-0.824985,-0.172693],[0.841803,0.515756,0.159259],[-0.042319,-0.231075,0.972015]]
2025-10-26T20:39:08.359Z,1761511148.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542964,-0.821795,-0.172751],[0.838659,0.520145,0.161558],[-0.042912,-0.232599,0.971626]]
2025-10-26T20:39:08.740Z,1761511148.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548158,-0.818683,-0.171119],[0.835246,0.525210,0.162845],[-0.043445,-0.232191,0.971700]]
2025-10-26T20:39:09.128Z,1761511149.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553416,-0.815630,-0.168757],[0.831747,0.530502,0.163597],[-0.043909,-0.230900,0.971986]]
2025-10-26T20:39:09.533Z,1761511149.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558616,-0.812401,-0.167188],[0.828236,0.535568,0.164902],[-0.044426,-0.230588,0.972037]]
2025-10-26T20:39:09.934Z,1761511149.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564216,-0.808844,-0.165627],[0.824412,0.541050,0.166165],[-0.044789,-0.230298,0.972089]]
2025-10-26T20:39:10.345Z,1761511150.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570238,-0.805084,-0.163307],[0.820247,0.547131,0.166860],[-0.044986,-0.229102,0.972362]]
2025-10-26T20:39:10.749Z,1761511150.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576338,-0.801042,-0.161761],[0.815987,0.553255,0.167555],[-0.044723,-0.228563,0.972501]]
2025-10-26T20:39:11.146Z,1761511151.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583327,-0.796340,-0.159915],[0.811012,0.560235,0.168512],[-0.044603,-0.227990,0.972641]]
2025-10-26T20:39:11.553Z,1761511151.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590416,-0.791341,-0.158706],[0.805867,0.567145,0.170074],[-0.044577,-0.228310,0.972567]]
2025-10-26T20:39:11.954Z,1761511151.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598034,-0.785869,-0.157369],[0.800221,0.574516,0.171980],[-0.044743,-0.228780,0.972449]]
2025-10-26T20:39:12.364Z,1761511152.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605627,-0.780247,-0.156304],[0.794490,0.581846,0.173900],[-0.044740,-0.229500,0.972280]]
2025-10-26T20:39:12.763Z,1761511152.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613023,-0.774740,-0.154855],[0.788786,0.589011,0.175736],[-0.044938,-0.229877,0.972182]]
2025-10-26T20:39:13.166Z,1761511153.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620364,-0.769342,-0.152520],[0.783020,0.596349,0.176771],[-0.045042,-0.229088,0.972363]]
2025-10-26T20:39:13.571Z,1761511153.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627780,-0.763507,-0.151493],[0.777083,0.603462,0.178816],[-0.045107,-0.229980,0.972150]]
2025-10-26T20:39:13.975Z,1761511153.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634789,-0.758028,-0.149788],[0.771358,0.610318,0.180333],[-0.045279,-0.230013,0.972134]]
2025-10-26T20:39:14.378Z,1761511154.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641707,-0.752725,-0.147030],[0.765586,0.617256,0.181311],[-0.045722,-0.228913,0.972373]]
2025-10-26T20:39:14.805Z,1761511154.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648143,-0.747624,-0.144808],[0.760124,0.623648,0.182414],[-0.046068,-0.228303,0.972500]]
2025-10-26T20:39:15.596Z,1761511155.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660025,-0.737795,-0.141511],[0.749776,0.635176,0.185440],[-0.046932,-0.228497,0.972413]]
2025-10-26T20:39:15.994Z,1761511155.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664725,-0.733861,-0.139962],[0.745595,0.639810,0.186364],[-0.047216,-0.228236,0.972460]]
2025-10-26T20:39:16.398Z,1761511156.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669301,-0.730074,-0.137944],[0.741468,0.644433,0.186900],[-0.047555,-0.227373,0.972646]]
2025-10-26T20:39:16.815Z,1761511156.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673918,-0.726219,-0.135795],[0.737252,0.649128,0.187328],[-0.047893,-0.226359,0.972866]]
2025-10-26T20:39:17.206Z,1761511157.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677790,-0.723004,-0.133661],[0.733691,0.653227,0.187061],[-0.047935,-0.224854,0.973213]]
2025-10-26T20:39:17.610Z,1761511157.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681025,-0.720311,-0.131745],[0.730695,0.656722,0.186553],[-0.047856,-0.223313,0.973571]]
2025-10-26T20:39:18.014Z,1761511158.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683919,-0.717760,-0.130671],[0.727989,0.659671,0.186725],[-0.047824,-0.222832,0.973683]]
2025-10-26T20:39:18.419Z,1761511158.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686489,-0.715428,-0.129986],[0.725557,0.662167,0.187355],[-0.047967,-0.222929,0.973654]]
2025-10-26T20:39:18.823Z,1761511158.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689445,-0.712794,-0.128803],[0.722753,0.665215,0.187395],[-0.047892,-0.222291,0.973803]]
2025-10-26T20:39:19.226Z,1761511159.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692112,-0.710478,-0.127284],[0.720210,0.668116,0.186863],[-0.047722,-0.221001,0.974105]]
2025-10-26T20:39:19.630Z,1761511159.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695160,-0.707911,-0.124958],[0.717263,0.671500,0.186069],[-0.047811,-0.218975,0.974558]]
2025-10-26T20:39:20.036Z,1761511160.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698713,-0.704881,-0.122239],[0.713787,0.675408,0.185291],[-0.048047,-0.216718,0.975051]]
2025-10-26T20:39:20.439Z,1761511160.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702263,-0.701599,-0.120775],[0.710281,0.678993,0.185661],[-0.048255,-0.216167,0.975163]]
2025-10-26T20:39:20.842Z,1761511160.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705845,-0.698267,-0.119189],[0.706681,0.682527,0.186436],[-0.048833,-0.215823,0.975211]]
2025-10-26T20:39:21.246Z,1761511161.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708944,-0.695234,-0.118524],[0.703559,0.685491,0.187366],[-0.049016,-0.216221,0.975113]]
2025-10-26T20:39:21.652Z,1761511161.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713231,-0.691026,-0.117407],[0.699214,0.689722,0.188104],[-0.049006,-0.216254,0.975106]]
2025-10-26T20:39:22.056Z,1761511162.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717553,-0.686751,-0.116149],[0.694795,0.694094,0.188397],[-0.048763,-0.215885,0.975200]]
2025-10-26T20:39:22.458Z,1761511162.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722171,-0.682284,-0.113833],[0.690043,0.699167,0.187102],[-0.048069,-0.213669,0.975723]]
2025-10-26T20:39:22.862Z,1761511162.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727281,-0.677009,-0.112790],[0.684686,0.704260,0.187679],[-0.047627,-0.213721,0.975733]]
2025-10-26T20:39:23.274Z,1761511163.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732642,-0.671237,-0.112585],[0.678976,0.709343,0.189274],[-0.047186,-0.215113,0.975449]]
2025-10-26T20:39:23.729Z,1761511163.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738338,-0.664971,-0.112566],[0.672811,0.714673,0.191228],[-0.046713,-0.216926,0.975070]]
2025-10-26T20:39:24.074Z,1761511164.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743997,-0.658715,-0.112085],[0.666570,0.720038,0.192949],[-0.046393,-0.218266,0.974786]]
2025-10-26T20:39:24.478Z,1761511164.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749194,-0.653005,-0.110874],[0.660724,0.725083,0.194164],[-0.046397,-0.218724,0.974683]]
2025-10-26T20:39:24.882Z,1761511164.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753608,-0.648294,-0.108578],[0.655676,0.729705,0.193955],[-0.046510,-0.217358,0.974983]]
2025-10-26T20:39:25.294Z,1761511165.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757855,-0.643797,-0.105740],[0.650718,0.734174,0.193790],[-0.047130,-0.215672,0.975328]]
2025-10-26T20:39:25.738Z,1761511165.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761665,-0.639676,-0.103343],[0.646212,0.738134,0.193825],[-0.047704,-0.214411,0.975578]]
2025-10-26T20:39:26.096Z,1761511166.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765306,-0.635835,-0.100103],[0.641844,0.742157,0.192974],[-0.048407,-0.211934,0.976084]]
2025-10-26T20:39:26.500Z,1761511166.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769099,-0.631586,-0.097911],[0.637255,0.746065,0.193112],[-0.048919,-0.210917,0.976279]]
2025-10-26T20:39:26.902Z,1761511166.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771649,-0.628840,-0.095489],[0.634176,0.749142,0.191330],[-0.048781,-0.208196,0.976870]]
2025-10-26T20:39:27.306Z,1761511167.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773787,-0.626430,-0.094016],[0.631603,0.751679,0.189883],[-0.048278,-0.206310,0.977295]]
2025-10-26T20:39:27.396Z,1761511167.396 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:39:27.792Z,1761511167.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776134,-0.623676,-0.092976],[0.628759,0.754290,0.188965],[-0.047722,-0.205122,0.977572]]
2025-10-26T20:39:28.114Z,1761511168.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778112,-0.621240,-0.092749],[0.626365,0.756379,0.188568],[-0.046993,-0.204822,0.977671]]
2025-10-26T20:39:28.400Z,1761511168.400 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:39:28.518Z,1761511168.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779787,-0.619248,-0.092000],[0.624340,0.758381,0.187236],[-0.046174,-0.203443,0.977997]]
2025-10-26T20:39:28.922Z,1761511168.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781070,-0.617732,-0.091306],[0.622792,0.760003,0.185811],[-0.045389,-0.201996,0.978334]]
2025-10-26T20:39:29.328Z,1761511169.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781988,-0.616642,-0.090820],[0.621707,0.761282,0.184202],[-0.044447,-0.200507,0.978684]]
2025-10-26T20:39:29.744Z,1761511169.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782868,-0.615647,-0.089977],[0.620661,0.762617,0.182193],[-0.043549,-0.198478,0.979137]]
2025-10-26T20:39:30.135Z,1761511170.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783691,-0.614550,-0.090316],[0.619696,0.763601,0.181357],[-0.042487,-0.198096,0.979261]]
2025-10-26T20:39:30.538Z,1761511170.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784329,-0.613754,-0.090189],[0.618939,0.764456,0.180338],[-0.041738,-0.197265,0.979461]]
2025-10-26T20:39:30.943Z,1761511170.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784858,-0.613004,-0.090689],[0.618332,0.765088,0.179739],[-0.040796,-0.197146,0.979525]]
2025-10-26T20:39:31.346Z,1761511171.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786049,-0.611479,-0.090662],[0.616865,0.766414,0.179130],[-0.040050,-0.196731,0.979639]]
2025-10-26T20:39:31.754Z,1761511171.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787456,-0.609766,-0.089993],[0.615120,0.768141,0.177726],[-0.039244,-0.195308,0.979957]]
2025-10-26T20:39:32.154Z,1761511172.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788894,-0.607831,-0.090486],[0.613333,0.769595,0.177610],[-0.038319,-0.195614,0.979932]]
2025-10-26T20:39:32.560Z,1761511172.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790866,-0.605292,-0.090296],[0.610841,0.771705,0.177045],[-0.037482,-0.195175,0.980052]]
2025-10-26T20:39:32.962Z,1761511172.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792858,-0.602753,-0.089809],[0.608305,0.773925,0.176086],[-0.036631,-0.194243,0.980269]]
2025-10-26T20:39:33.366Z,1761511173.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794667,-0.600379,-0.089716],[0.605997,0.775901,0.175344],[-0.035662,-0.193708,0.980411]]
2025-10-26T20:39:33.777Z,1761511173.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796831,-0.597544,-0.089452],[0.603195,0.778193,0.174845],[-0.034867,-0.193279,0.980524]]
2025-10-26T20:39:34.175Z,1761511174.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798963,-0.594725,-0.089221],[0.600406,0.780399,0.174615],[-0.034220,-0.193080,0.980586]]
2025-10-26T20:39:34.578Z,1761511174.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800923,-0.592005,-0.089742],[0.597822,0.782206,0.175392],[-0.033636,-0.194125,0.980400]]
2025-10-26T20:39:34.982Z,1761511174.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802784,-0.589489,-0.089666],[0.595347,0.784065,0.175513],[-0.033158,-0.194281,0.980385]]
2025-10-26T20:39:35.386Z,1761511175.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804532,-0.587186,-0.089108],[0.593001,0.785917,0.175170],[-0.032826,-0.193771,0.980498]]
2025-10-26T20:39:35.815Z,1761511175.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806683,-0.584328,-0.088451],[0.590082,0.788110,0.175174],[-0.032650,-0.193503,0.980556]]
2025-10-26T20:39:36.218Z,1761511176.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808408,-0.582178,-0.086864],[0.587735,0.790247,0.173430],[-0.032323,-0.191256,0.981008]]
2025-10-26T20:39:37.063Z,1761511177.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811724,-0.577604,-0.086481],[0.583242,0.793927,0.171781],[-0.030562,-0.189878,0.981332]]
2025-10-26T20:39:37.467Z,1761511177.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812762,-0.576047,-0.087111],[0.581872,0.795172,0.170664],[-0.029042,-0.189397,0.981471]]
2025-10-26T20:39:37.482Z,1761511177.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:39:37.713Z,1761511177.713 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:39:37.714Z,1761511177.714 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:39:37.871Z,1761511177.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813675,-0.574670,-0.087682],[0.580684,0.796430,0.168834],[-0.027191,-0.188292,0.981737]]
2025-10-26T20:39:37.961Z,1761511177.961 [DAT](INFO): DAT read: user:114>

2025-10-26T20:39:37.962Z,1761511177.962 [DAT](INFO): DAT read: Tx time:20:39:37.1012

2025-10-26T20:39:37.962Z,1761511177.962 [DAT](INFO): Ping request sent.
2025-10-26T20:39:37.962Z,1761511177.962 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:39:37.963Z,1761511177.963 [DAT](INFO): publishing transmit ping time
2025-10-26T20:39:37.966Z,1761511177.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000898
2025-10-26T20:39:38.212Z,1761511178.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250029
2025-10-26T20:39:38.288Z,1761511178.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814398,-0.573440,-0.089010],[0.579759,0.797338,0.167724],[-0.025208,-0.188198,0.981807]]
2025-10-26T20:39:38.464Z,1761511178.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501966
2025-10-26T20:39:38.678Z,1761511178.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814971,-0.572343,-0.090810],[0.579045,0.798047,0.166817],[-0.023006,-0.188534,0.981797]]
2025-10-26T20:39:38.717Z,1761511178.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754635
2025-10-26T20:39:38.968Z,1761511178.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005994
2025-10-26T20:39:39.082Z,1761511179.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815196,-0.571907,-0.091528],[0.578818,0.798816,0.163896],[-0.020620,-0.186586,0.982222]]
2025-10-26T20:39:39.220Z,1761511179.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257954
2025-10-26T20:39:39.480Z,1761511179.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517815
2025-10-26T20:39:39.493Z,1761511179.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815628,-0.571249,-0.091790],[0.578284,0.799845,0.160734],[-0.018402,-0.184180,0.982720]]
2025-10-26T20:39:39.728Z,1761511179.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764349
2025-10-26T20:39:39.890Z,1761511179.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816257,-0.570224,-0.092568],[0.577470,0.800996,0.157908],[-0.015896,-0.182349,0.983105]]
2025-10-26T20:39:39.976Z,1761511179.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014084
2025-10-26T20:39:40.229Z,1761511180.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266206
2025-10-26T20:39:40.303Z,1761511180.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816836,-0.569174,-0.093921],[0.576719,0.801997,0.155551],[-0.013212,-0.181226,0.983353]]
2025-10-26T20:39:40.480Z,1761511180.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518065
2025-10-26T20:39:40.706Z,1761511180.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818902,-0.565462,-0.098248],[0.573877,0.804333,0.153992],[-0.008053,-0.182487,0.983175]]
2025-10-26T20:39:40.734Z,1761511180.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771041
2025-10-26T20:39:40.984Z,1761511180.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021986
2025-10-26T20:39:41.109Z,1761511181.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820078,-0.563395,-0.100296],[0.572224,0.805603,0.153506],[-0.005686,-0.183278,0.983045]]
2025-10-26T20:39:41.237Z,1761511181.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274800
2025-10-26T20:39:41.488Z,1761511181.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525959
2025-10-26T20:39:41.511Z,1761511181.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821379,-0.561086,-0.102562],[0.570373,0.806928,0.153433],[-0.003329,-0.184525,0.982822]]
2025-10-26T20:39:41.741Z,1761511181.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778199
2025-10-26T20:39:41.914Z,1761511181.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822739,-0.558797,-0.104150],[0.568419,0.808544,0.152170],[-0.000822,-0.184397,0.982851]]
2025-10-26T20:39:41.993Z,1761511181.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030505
2025-10-26T20:39:42.245Z,1761511182.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282621
2025-10-26T20:39:42.324Z,1761511182.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824250,-0.556241,-0.105869],[0.566225,0.810143,0.151849],[0.001304,-0.185107,0.982717]]
2025-10-26T20:39:42.496Z,1761511182.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533969
2025-10-26T20:39:42.749Z,1761511182.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786530
2025-10-26T20:39:42.768Z,1761511182.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825392,-0.554184,-0.107747],[0.564550,0.811375,0.151505],[0.003461,-0.185880,0.982566]]
2025-10-26T20:39:43.000Z,1761511183.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037967
2025-10-26T20:39:43.122Z,1761511183.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826553,-0.552304,-0.108488],[0.562834,0.812825,0.150112],[0.005274,-0.185137,0.982699]]
2025-10-26T20:39:43.254Z,1761511183.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291286
2025-10-26T20:39:43.506Z,1761511183.506 [DAT](INFO): DAT read: Rx Time:20:39:42.2501

2025-10-26T20:39:43.507Z,1761511183.507 [DAT](INFO): Rx dataTimestamp_ set to:1761511183.506464
2025-10-26T20:39:43.507Z,1761511183.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545078
2025-10-26T20:39:43.535Z,1761511183.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827505,-0.550579,-0.109991],[0.561415,0.813858,0.149832],[0.007023,-0.185737,0.982574]]
2025-10-26T20:39:43.757Z,1761511183.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794588
2025-10-26T20:39:43.931Z,1761511183.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828467,-0.548915,-0.111060],[0.559966,0.815073,0.148638],[0.008932,-0.185331,0.982636]]
2025-10-26T20:39:44.012Z,1761511184.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049304
2025-10-26T20:39:44.266Z,1761511184.266 [DAT](INFO): DAT read: 20:39:42.2501 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX=  24,-0.06, 0.758,-0.889, 0.796, 0.724, PHS= 0.136,-1.568, 0.028, RAW= 146.8,  16.7, CAL= 146.7,  18.4, ROT=   3.3, -18.4

2025-10-26T20:39:44.267Z,1761511184.267 [DAT](INFO): got valid direction response:
 20:39:42.2501 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX=  24,-0.06, 0.758,-0.889, 0.796, 0.724, PHS= 0.136,-1.568, 0.028, RAW= 146.8,  16.7, CAL= 146.7,  18.4, ROT=   3.3, -18.4

2025-10-26T20:39:44.268Z,1761511184.268 [DAT](INFO): DAT read: $Error in header

2025-10-26T20:39:44.268Z,1761511184.268 [DAT](INFO): Received a bad header
2025-10-26T20:39:44.280Z,1761511184.280 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T20:39:44.281Z,1761511184.281 [DAT](INFO): direction in FSK: [0.947303,0.054621,0.315649]
2025-10-26T20:39:44.334Z,1761511184.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828974,-0.547971,-0.111938],[0.559184,0.815889,0.147096],[0.010724,-0.184533,0.982768]]
2025-10-26T20:39:44.749Z,1761511184.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829014,-0.547648,-0.113212],[0.559088,0.816170,0.145904],[0.012496,-0.184253,0.982799]]
2025-10-26T20:39:45.142Z,1761511185.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828855,-0.547633,-0.114444],[0.559284,0.816248,0.144709],[0.014167,-0.183950,0.982834]]
2025-10-26T20:39:45.547Z,1761511185.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828415,-0.548318,-0.114350],[0.559886,0.816468,0.141095],[0.015999,-0.180908,0.983370]]
2025-10-26T20:39:45.951Z,1761511185.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827723,-0.549132,-0.115452],[0.560846,0.816225,0.138667],[0.018089,-0.179529,0.983586]]
2025-10-26T20:39:46.358Z,1761511186.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827041,-0.549838,-0.116966],[0.561778,0.815901,0.136788],[0.020221,-0.178838,0.983671]]
2025-10-26T20:39:46.761Z,1761511186.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826356,-0.550648,-0.117988],[0.562699,0.815735,0.133968],[0.022478,-0.177097,0.983937]]
2025-10-26T20:39:47.163Z,1761511187.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825428,-0.551718,-0.119484],[0.563968,0.815206,0.131828],[0.024672,-0.176199,0.984045]]
2025-10-26T20:39:47.568Z,1761511187.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824650,-0.552601,-0.120769],[0.565006,0.814863,0.129488],[0.026855,-0.175017,0.984199]]
2025-10-26T20:39:47.970Z,1761511187.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824231,-0.552847,-0.122491],[0.565514,0.814722,0.128151],[0.028948,-0.174896,0.984161]]
2025-10-26T20:39:48.040Z,1761511188.040 [DAT](INFO): Reached modem response timeout
2025-10-26T20:39:48.377Z,1761511188.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824191,-0.552417,-0.124683],[0.565463,0.814818,0.127764],[0.031015,-0.175805,0.983936]]
2025-10-26T20:39:48.779Z,1761511188.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824046,-0.552269,-0.126285],[0.565566,0.814908,0.126729],[0.032922,-0.175853,0.983866]]
2025-10-26T20:39:49.183Z,1761511189.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824467,-0.551424,-0.127225],[0.564863,0.815545,0.125759],[0.034411,-0.175549,0.983869]]
2025-10-26T20:39:49.586Z,1761511189.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825045,-0.550367,-0.128054],[0.563940,0.816287,0.125091],[0.035683,-0.175420,0.983847]]
2025-10-26T20:39:49.990Z,1761511189.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825544,-0.549587,-0.128186],[0.563175,0.816883,0.124642],[0.036211,-0.175089,0.983886]]
2025-10-26T20:39:50.313Z,1761511190.313 [DAT](INFO): DAT read: Response Not Received

2025-10-26T20:39:50.313Z,1761511190.313 [DAT](INFO): response not received
2025-10-26T20:39:50.314Z,1761511190.314 [DAT](ERROR): No response from remote modem.
2025-10-26T20:39:50.397Z,1761511190.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826337,-0.548522,-0.127636],[0.561958,0.817996,0.122829],[0.037031,-0.173224,0.984186]]
2025-10-26T20:39:50.800Z,1761511190.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827279,-0.547164,-0.127359],[0.560520,0.819158,0.121642],[0.037769,-0.172019,0.984369]]
2025-10-26T20:39:51.202Z,1761511191.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828190,-0.545721,-0.127634],[0.559164,0.819984,0.122315],[0.037908,-0.172669,0.984250]]
2025-10-26T20:39:51.606Z,1761511191.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828724,-0.544842,-0.127918],[0.558347,0.820528,0.122406],[0.038268,-0.172863,0.984202]]
2025-10-26T20:39:52.010Z,1761511192.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829226,-0.543978,-0.128344],[0.557574,0.821023,0.122608],[0.038677,-0.173231,0.984121]]
2025-10-26T20:39:52.425Z,1761511192.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829744,-0.543105,-0.128693],[0.556775,0.821544,0.122748],[0.039062,-0.173503,0.984058]]
2025-10-26T20:39:52.818Z,1761511192.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829809,-0.542989,-0.128766],[0.556650,0.821715,0.122171],[0.039471,-0.173056,0.984121]]
2025-10-26T20:39:53.229Z,1761511193.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829601,-0.543326,-0.128681],[0.556933,0.821660,0.121248],[0.039855,-0.172254,0.984246]]
2025-10-26T20:39:53.626Z,1761511193.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829333,-0.543724,-0.128729],[0.557296,0.821553,0.120300],[0.040348,-0.171509,0.984356]]
2025-10-26T20:39:54.032Z,1761511194.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828973,-0.544214,-0.128976],[0.557803,0.821286,0.119771],[0.040745,-0.171230,0.984388]]
2025-10-26T20:39:54.434Z,1761511194.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828714,-0.544318,-0.130194],[0.558155,0.820913,0.120684],[0.041187,-0.172681,0.984116]]
2025-10-26T20:39:54.839Z,1761511194.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828311,-0.544908,-0.130293],[0.558719,0.820657,0.119812],[0.041640,-0.172039,0.984210]]
2025-10-26T20:39:55.247Z,1761511195.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828033,-0.545112,-0.131207],[0.559062,0.820482,0.119410],[0.042562,-0.172228,0.984137]]
2025-10-26T20:39:55.646Z,1761511195.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827729,-0.545199,-0.132750],[0.559426,0.820205,0.119610],[0.043671,-0.173269,0.983906]]
2025-10-26T20:39:56.050Z,1761511196.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827488,-0.545120,-0.134563],[0.559710,0.819865,0.120604],[0.044580,-0.175115,0.983538]]
2025-10-26T20:39:56.456Z,1761511196.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827251,-0.544956,-0.136667],[0.559975,0.819513,0.121766],[0.045643,-0.177261,0.983105]]
2025-10-26T20:39:56.861Z,1761511196.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827113,-0.544802,-0.138112],[0.560091,0.819402,0.121981],[0.046714,-0.178247,0.982876]]
2025-10-26T20:39:57.262Z,1761511197.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826939,-0.544992,-0.138406],[0.560286,0.819409,0.121027],[0.047453,-0.177629,0.982953]]
2025-10-26T20:39:57.681Z,1761511197.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827112,-0.544670,-0.138640],[0.559977,0.819716,0.120379],[0.048079,-0.177202,0.983000]]
2025-10-26T20:39:58.074Z,1761511198.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827709,-0.543344,-0.140269],[0.559012,0.820209,0.121506],[0.049030,-0.178984,0.982630]]
2025-10-26T20:39:58.474Z,1761511198.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828364,-0.542228,-0.140721],[0.557986,0.820911,0.121476],[0.049652,-0.179147,0.982569]]
2025-10-26T20:39:58.520Z,1761511198.520 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:39:58.879Z,1761511198.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829088,-0.540901,-0.141561],[0.556862,0.821561,0.122240],[0.050181,-0.180178,0.982353]]
2025-10-26T20:39:59.283Z,1761511199.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829891,-0.539604,-0.141806],[0.555624,0.822393,0.122282],[0.050636,-0.180271,0.982313]]
2025-10-26T20:39:59.524Z,1761511199.524 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:39:59.730Z,1761511199.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830725,-0.538224,-0.142162],[0.554334,0.823224,0.122538],[0.051078,-0.180601,0.982229]]
2025-10-26T20:40:00.090Z,1761511200.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831613,-0.536831,-0.142237],[0.552963,0.824158,0.122456],[0.051487,-0.180488,0.982229]]
2025-10-26T20:40:00.494Z,1761511200.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832569,-0.535355,-0.142210],[0.551480,0.825193,0.122172],[0.051945,-0.180142,0.982268]]
2025-10-26T20:40:00.900Z,1761511200.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833288,-0.534381,-0.141659],[0.550356,0.826107,0.121063],[0.052332,-0.178844,0.982485]]
2025-10-26T20:40:01.304Z,1761511201.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833909,-0.533493,-0.141353],[0.549371,0.826895,0.120151],[0.052784,-0.177851,0.982641]]
2025-10-26T20:40:01.737Z,1761511201.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834699,-0.532318,-0.141121],[0.548138,0.827787,0.119641],[0.053131,-0.177218,0.982736]]
2025-10-26T20:40:02.110Z,1761511202.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835016,-0.532146,-0.139890],[0.547627,0.828445,0.117405],[0.053415,-0.174643,0.983182]]
2025-10-26T20:40:02.521Z,1761511202.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835397,-0.531600,-0.139688],[0.547008,0.828964,0.116626],[0.053798,-0.173840,0.983303]]
2025-10-26T20:40:03.322Z,1761511203.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835846,-0.530993,-0.139309],[0.546199,0.829849,0.114091],[0.055024,-0.171453,0.983654]]
2025-10-26T20:40:03.740Z,1761511203.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835950,-0.530791,-0.139459],[0.545985,0.830085,0.113401],[0.055570,-0.170939,0.983713]]
2025-10-26T20:40:04.130Z,1761511204.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835840,-0.530863,-0.139844],[0.546088,0.830102,0.112779],[0.056214,-0.170632,0.983730]]
2025-10-26T20:40:04.538Z,1761511204.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836146,-0.530232,-0.140407],[0.545537,0.830516,0.112400],[0.057012,-0.170580,0.983693]]
2025-10-26T20:40:04.951Z,1761511204.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836113,-0.530084,-0.141159],[0.545486,0.830625,0.111838],[0.057967,-0.170510,0.983649]]
2025-10-26T20:40:05.342Z,1761511205.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836285,-0.529460,-0.142476],[0.545096,0.830873,0.111892],[0.059137,-0.171237,0.983453]]
2025-10-26T20:40:05.746Z,1761511205.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836548,-0.529059,-0.142419],[0.544608,0.831370,0.110570],[0.059904,-0.170060,0.983611]]
2025-10-26T20:40:06.151Z,1761511206.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836607,-0.528914,-0.142613],[0.544429,0.831633,0.109467],[0.060703,-0.169223,0.983707]]
2025-10-26T20:40:06.554Z,1761511206.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836971,-0.528317,-0.142692],[0.543832,0.832061,0.109187],[0.061044,-0.168987,0.983726]]
2025-10-26T20:40:06.959Z,1761511206.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837744,-0.526852,-0.143567],[0.542599,0.832712,0.110351],[0.061412,-0.170345,0.983469]]
2025-10-26T20:40:07.362Z,1761511207.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838666,-0.525024,-0.144878],[0.541130,0.833409,0.112281],[0.061792,-0.172564,0.983058]]
2025-10-26T20:40:07.772Z,1761511207.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839428,-0.523654,-0.145418],[0.539902,0.834123,0.112892],[0.062180,-0.173276,0.982908]]
2025-10-26T20:40:08.171Z,1761511208.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839987,-0.522188,-0.147450],[0.538972,0.834363,0.115531],[0.062698,-0.176516,0.982299]]
2025-10-26T20:40:08.576Z,1761511208.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840383,-0.521331,-0.148226],[0.538299,0.834713,0.116140],[0.063179,-0.177393,0.982110]]
2025-10-26T20:40:08.986Z,1761511208.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840515,-0.520991,-0.148670],[0.538033,0.834901,0.116023],[0.063677,-0.177508,0.982057]]
2025-10-26T20:40:09.382Z,1761511209.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840581,-0.520732,-0.149205],[0.537894,0.834945,0.116352],[0.063989,-0.178059,0.981937]]
2025-10-26T20:40:09.786Z,1761511209.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840573,-0.520644,-0.149556],[0.537847,0.835021,0.116018],[0.064478,-0.177960,0.981923]]
2025-10-26T20:40:10.197Z,1761511210.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840742,-0.520026,-0.150754],[0.537578,0.834921,0.117967],[0.064522,-0.180222,0.981508]]
2025-10-26T20:40:10.600Z,1761511210.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840873,-0.519774,-0.150887],[0.537356,0.835058,0.118013],[0.064659,-0.180314,0.981482]]
2025-10-26T20:40:10.998Z,1761511210.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840835,-0.519929,-0.150569],[0.537400,0.835139,0.117232],[0.064794,-0.179488,0.981624]]
2025-10-26T20:40:11.402Z,1761511211.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840819,-0.520019,-0.150346],[0.537399,0.835247,0.116472],[0.065009,-0.178727,0.981749]]
2025-10-26T20:40:11.806Z,1761511211.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840985,-0.519939,-0.149689],[0.537138,0.835549,0.115505],[0.065017,-0.177542,0.981963]]
2025-10-26T20:40:12.215Z,1761511212.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841324,-0.519671,-0.148714],[0.536619,0.836041,0.114345],[0.064910,-0.176004,0.982247]]
2025-10-26T20:40:12.614Z,1761511212.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841541,-0.519629,-0.147631],[0.536293,0.836441,0.112942],[0.064797,-0.174219,0.982573]]
2025-10-26T20:40:13.422Z,1761511213.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842489,-0.517971,-0.148050],[0.534788,0.837263,0.113987],[0.064915,-0.175208,0.982389]]
2025-10-26T20:40:13.828Z,1761511213.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843302,-0.516363,-0.149033],[0.533473,0.837880,0.115602],[0.065179,-0.176993,0.982052]]
2025-10-26T20:40:14.230Z,1761511214.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844265,-0.514715,-0.149286],[0.531925,0.838772,0.116267],[0.065372,-0.177569,0.981935]]
2025-10-26T20:40:14.634Z,1761511214.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845214,-0.512898,-0.150164],[0.530347,0.839626,0.117303],[0.065917,-0.178785,0.981678]]
2025-10-26T20:40:14.756Z,1761511214.756 [DAT](INFO): DAT read: Rx Time:20:40:13.4579

2025-10-26T20:40:14.757Z,1761511214.757 [DAT](INFO): Rx dataTimestamp_ set to:1761511214.756615
2025-10-26T20:40:15.045Z,1761511215.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846497,-0.510751,-0.150256],[0.528212,0.841012,0.117010],[0.066604,-0.178415,0.981698]]
2025-10-26T20:40:15.265Z,1761511215.265 [DAT](INFO): DAT read: 20:40:13.4579 LVL= 32752, 32753, 29458, 32755, AGC= 89, IDX=  40, 0.07, 2.442, 0.820, 2.337, 2.208, PHS= 0.335,-1.343, 0.084, RAW= 142.0,  11.8, CAL= 141.5,  12.8, ROT=   8.5, -12.8

2025-10-26T20:40:15.266Z,1761511215.266 [DAT](INFO): got valid direction response:
 20:40:13.4579 LVL= 32752, 32753, 29458, 32755, AGC= 89, IDX=  40, 0.07, 2.442, 0.820, 2.337, 2.208, PHS= 0.335,-1.343, 0.084, RAW= 142.0,  11.8, CAL= 141.5,  12.8, ROT=   8.5, -12.8

2025-10-26T20:40:15.267Z,1761511215.267 [DAT](INFO): DAT read: bearing request

2025-10-26T20:40:15.267Z,1761511215.267 [DAT](INFO): received a bearing request message
2025-10-26T20:40:15.268Z,1761511215.268 [DAT](INFO): DAT read: Tx time:20:40:15.0607

2025-10-26T20:40:15.268Z,1761511215.268 [DAT](INFO): Ping request sent.
2025-10-26T20:40:15.268Z,1761511215.268 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:40:15.268Z,1761511215.268 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-26T20:40:15.269Z,1761511215.269 [DAT](INFO): direction in FSK: [0.964438,0.144136,0.221548]
2025-10-26T20:40:15.269Z,1761511215.269 [DAT](INFO): publishing transmit ping time
2025-10-26T20:40:15.270Z,1761511215.270 [DAT](INFO): publishing range request flag
2025-10-26T20:40:15.273Z,1761511215.273 [DAT](INFO): publishing transmit ping time
2025-10-26T20:40:15.273Z,1761511215.273 [DAT](INFO): publishing range request flag
2025-10-26T20:40:15.442Z,1761511215.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847796,-0.508562,-0.150352],[0.526024,0.842442,0.116574],[0.067378,-0.177920,0.981736]]
2025-10-26T20:40:15.846Z,1761511215.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848860,-0.506694,-0.150662],[0.524209,0.843603,0.116362],[0.068139,-0.177753,0.981713]]
2025-10-26T20:40:16.250Z,1761511216.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850046,-0.504784,-0.150383],[0.522115,0.845184,0.114283],[0.069413,-0.175663,0.982000]]
2025-10-26T20:40:16.661Z,1761511216.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851319,-0.502839,-0.149700],[0.519932,0.846769,0.112489],[0.070197,-0.173597,0.982312]]
2025-10-26T20:40:17.058Z,1761511217.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852517,-0.500387,-0.151090],[0.517913,0.847680,0.114910],[0.070577,-0.176215,0.981818]]
2025-10-26T20:40:17.462Z,1761511217.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853780,-0.497726,-0.152739],[0.515823,0.848462,0.118487],[0.070619,-0.179948,0.981138]]
2025-10-26T20:40:17.867Z,1761511217.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854753,-0.496057,-0.152723],[0.514213,0.849340,0.119193],[0.070587,-0.180413,0.981055]]
2025-10-26T20:40:18.271Z,1761511218.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855717,-0.494476,-0.152456],[0.512657,0.850153,0.120096],[0.070226,-0.180926,0.980986]]
2025-10-26T20:40:18.686Z,1761511218.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856328,-0.493714,-0.151490],[0.511698,0.850781,0.119735],[0.069770,-0.180050,0.981180]]
2025-10-26T20:40:19.078Z,1761511219.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856780,-0.493477,-0.149695],[0.511062,0.851312,0.118675],[0.068874,-0.178181,0.981584]]
2025-10-26T20:40:19.482Z,1761511219.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856993,-0.493500,-0.148392],[0.510803,0.851563,0.117986],[0.068139,-0.176912,0.981865]]
2025-10-26T20:40:19.888Z,1761511219.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857482,-0.492889,-0.147597],[0.510087,0.851922,0.118485],[0.067341,-0.176886,0.981925]]
2025-10-26T20:40:20.290Z,1761511220.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857539,-0.493230,-0.146118],[0.510063,0.852142,0.117003],[0.066804,-0.174864,0.982324]]
2025-10-26T20:40:20.727Z,1761511220.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857557,-0.493472,-0.145191],[0.510082,0.852247,0.116155],[0.066419,-0.173668,0.982562]]
2025-10-26T20:40:21.504Z,1761511221.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857241,-0.494555,-0.143366],[0.510652,0.852284,0.113347],[0.066132,-0.170375,0.983157]]
2025-10-26T20:40:21.906Z,1761511221.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857073,-0.494811,-0.143485],[0.511008,0.851907,0.114564],[0.065548,-0.171512,0.982999]]
2025-10-26T20:40:22.310Z,1761511222.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857248,-0.494476,-0.143597],[0.510779,0.851874,0.115827],[0.065052,-0.172639,0.982835]]
2025-10-26T20:40:22.826Z,1761511222.826 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,  +114,  +684, 
2025-10-26T20:40:23.522Z,1761511223.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857497,-0.494715,-0.141269],[0.510500,0.852273,0.114107],[0.063950,-0.169965,0.983373]]
2025-10-26T20:40:23.926Z,1761511223.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857811,-0.494336,-0.140685],[0.510117,0.852305,0.115574],[0.062774,-0.170906,0.983285]]
2025-10-26T20:40:24.332Z,1761511224.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858588,-0.493060,-0.140420],[0.509006,0.852528,0.118782],[0.061146,-0.173459,0.982941]]
2025-10-26T20:40:24.738Z,1761511224.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859192,-0.492477,-0.138763],[0.508112,0.853120,0.118358],[0.060093,-0.172199,0.983227]]
2025-10-26T20:40:25.138Z,1761511225.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859876,-0.491424,-0.138259],[0.507063,0.853550,0.119748],[0.059164,-0.173074,0.983130]]
2025-10-26T20:40:25.542Z,1761511225.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860726,-0.489878,-0.138458],[0.505683,0.854086,0.121747],[0.058614,-0.174806,0.982857]]
2025-10-26T20:40:26.760Z,1761511226.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865501,-0.482428,-0.134800],[0.497690,0.858669,0.122440],[0.056680,-0.173060,0.983279]]
2025-10-26T20:40:27.170Z,1761511227.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866937,-0.479587,-0.135707],[0.495202,0.859680,0.125397],[0.056526,-0.175914,0.982781]]
2025-10-26T20:40:27.567Z,1761511227.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868187,-0.477126,-0.136388],[0.493027,0.860563,0.127889],[0.056351,-0.178274,0.982366]]
2025-10-26T20:40:27.970Z,1761511227.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869276,-0.475103,-0.136515],[0.491155,0.861343,0.129827],[0.055905,-0.179905,0.982094]]
2025-10-26T20:40:28.374Z,1761511228.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869863,-0.473827,-0.137208],[0.490124,0.861649,0.131682],[0.055831,-0.181794,0.981750]]
2025-10-26T20:40:28.774Z,1761511228.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870675,-0.472644,-0.136133],[0.488723,0.862531,0.131111],[0.055450,-0.180686,0.981976]]
2025-10-26T20:40:29.182Z,1761511229.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871157,-0.472311,-0.134193],[0.487934,0.863267,0.129191],[0.054826,-0.178023,0.982498]]
2025-10-26T20:40:29.582Z,1761511229.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871369,-0.472424,-0.132408],[0.487661,0.863600,0.127990],[0.053882,-0.176096,0.982897]]
2025-10-26T20:40:29.650Z,1761511229.650 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:40:29.988Z,1761511229.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871545,-0.472744,-0.130087],[0.487490,0.863913,0.126525],[0.052570,-0.173688,0.983397]]
2025-10-26T20:40:30.391Z,1761511230.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871846,-0.473385,-0.125664],[0.487088,0.864894,0.121258],[0.051284,-0.166928,0.984634]]
2025-10-26T20:40:30.653Z,1761511230.653 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:40:30.794Z,1761511230.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871981,-0.473988,-0.122409],[0.487016,0.865286,0.118725],[0.049645,-0.163141,0.985353]]
2025-10-26T20:40:31.199Z,1761511231.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872185,-0.474281,-0.119791],[0.486814,0.865582,0.117392],[0.048012,-0.160704,0.985834]]
2025-10-26T20:40:31.603Z,1761511231.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872314,-0.474367,-0.118505],[0.486728,0.865525,0.118163],[0.046517,-0.160755,0.985898]]
2025-10-26T20:40:32.006Z,1761511232.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872640,-0.474032,-0.117443],[0.486248,0.865721,0.118698],[0.045406,-0.160687,0.985960]]
2025-10-26T20:40:32.411Z,1761511232.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873114,-0.473416,-0.116401],[0.485504,0.866032,0.119475],[0.044246,-0.160829,0.985990]]
2025-10-26T20:40:33.218Z,1761511233.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873736,-0.473189,-0.112591],[0.484543,0.866970,0.116540],[0.042467,-0.156380,0.986784]]
2025-10-26T20:40:33.622Z,1761511233.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873933,-0.473183,-0.111081],[0.484252,0.867283,0.115412],[0.041727,-0.154654,0.987087]]
2025-10-26T20:40:34.026Z,1761511234.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874239,-0.472936,-0.109716],[0.483786,0.867574,0.115182],[0.040713,-0.153776,0.987267]]
2025-10-26T20:40:34.431Z,1761511234.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874516,-0.472209,-0.110640],[0.483337,0.867401,0.118322],[0.040097,-0.156951,0.986792]]
2025-10-26T20:40:34.835Z,1761511234.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874861,-0.471410,-0.111316],[0.482775,0.867294,0.121366],[0.039331,-0.159919,0.986346]]
2025-10-26T20:40:35.238Z,1761511235.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875174,-0.470920,-0.110926],[0.482294,0.867317,0.123102],[0.038237,-0.161234,0.986175]]
2025-10-26T20:40:35.648Z,1761511235.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875651,-0.470006,-0.111038],[0.481511,0.867364,0.125804],[0.037182,-0.163626,0.985822]]
2025-10-26T20:40:36.048Z,1761511236.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876121,-0.469392,-0.109920],[0.480739,0.867716,0.126332],[0.036080,-0.163525,0.985879]]
2025-10-26T20:40:36.450Z,1761511236.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876474,-0.469089,-0.108395],[0.480177,0.868074,0.126010],[0.034985,-0.162493,0.986089]]
2025-10-26T20:40:36.855Z,1761511236.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876804,-0.468741,-0.107223],[0.479672,0.868226,0.126879],[0.033620,-0.162680,0.986106]]
2025-10-26T20:40:37.260Z,1761511237.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877149,-0.468307,-0.106296],[0.479112,0.868440,0.127532],[0.032587,-0.162792,0.986122]]
2025-10-26T20:40:37.668Z,1761511237.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877544,-0.467682,-0.105785],[0.478481,0.868460,0.129745],[0.031191,-0.164473,0.985888]]
2025-10-26T20:40:37.695Z,1761511237.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:40:37.940Z,1761511237.940 [DAT](INFO): ****** received valid address query ******
2025-10-26T20:40:37.940Z,1761511237.940 [DAT](INFO): ****** received valid ping request ******
2025-10-26T20:40:37.940Z,1761511237.940 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:40:38.066Z,1761511238.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877528,-0.467777,-0.105499],[0.478602,0.868024,0.132186],[0.029742,-0.166489,0.985595]]
2025-10-26T20:40:38.096Z,1761511238.096 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA,  0.76, 297.04, 329.95
2025-10-26T20:40:38.192Z,1761511238.192 [DAT](INFO): DAT read: 

2025-10-26T20:40:38.193Z,1761511238.193 [DAT](INFO): DAT read: Tx time:20:40:37.3009

2025-10-26T20:40:38.193Z,1761511238.193 [DAT](INFO): Ping request sent.
2025-10-26T20:40:38.193Z,1761511238.193 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:40:38.193Z,1761511238.193 [DAT](INFO): publishing transmit ping time
2025-10-26T20:40:38.194Z,1761511238.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761
2025-10-26T20:40:38.444Z,1761511238.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250970
2025-10-26T20:40:38.470Z,1761511238.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877369,-0.468349,-0.104274],[0.478952,0.867894,0.131777],[0.028781,-0.165560,0.985780]]
2025-10-26T20:40:38.697Z,1761511238.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503371
2025-10-26T20:40:38.875Z,1761511238.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877112,-0.469227,-0.102468],[0.479494,0.867747,0.130770],[0.027555,-0.163833,0.986103]]
2025-10-26T20:40:38.948Z,1761511238.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755185
2025-10-26T20:40:39.200Z,1761511239.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007009
2025-10-26T20:40:39.278Z,1761511239.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876874,-0.469849,-0.101656],[0.479995,0.867366,0.131459],[0.026408,-0.164067,0.986096]]
2025-10-26T20:40:39.452Z,1761511239.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259040
2025-10-26T20:40:39.682Z,1761511239.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876764,-0.470296,-0.100528],[0.480250,0.867231,0.131418],[0.025375,-0.163501,0.986217]]
2025-10-26T20:40:39.705Z,1761511239.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511599
2025-10-26T20:40:39.956Z,1761511239.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762969
2025-10-26T20:40:40.090Z,1761511240.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876523,-0.471229,-0.098234],[0.480755,0.867223,0.129610],[0.024114,-0.160833,0.986687]]
2025-10-26T20:40:40.208Z,1761511240.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015099
2025-10-26T20:40:40.460Z,1761511240.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267028
2025-10-26T20:40:40.497Z,1761511240.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876152,-0.472390,-0.095946],[0.481488,0.867127,0.127515],[0.022961,-0.157920,0.987185]]
2025-10-26T20:40:40.713Z,1761511240.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519561
2025-10-26T20:40:40.894Z,1761511240.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876161,-0.472599,-0.094831],[0.481521,0.867089,0.127650],[0.021900,-0.157505,0.987275]]
2025-10-26T20:40:40.964Z,1761511240.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771041
2025-10-26T20:40:41.216Z,1761511241.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023076
2025-10-26T20:40:41.298Z,1761511241.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875838,-0.473544,-0.093076],[0.482124,0.867143,0.124979],[0.021527,-0.154336,0.987784]]
2025-10-26T20:40:41.473Z,1761511241.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279081
2025-10-26T20:40:41.708Z,1761511241.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875807,-0.473907,-0.091509],[0.482226,0.867195,0.124218],[0.020489,-0.152919,0.988026]]
2025-10-26T20:40:41.721Z,1761511241.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527692
2025-10-26T20:40:41.972Z,1761511241.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779100
2025-10-26T20:40:42.110Z,1761511242.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876181,-0.473411,-0.090493],[0.481592,0.867464,0.124803],[0.019417,-0.152930,0.988046]]
2025-10-26T20:40:42.224Z,1761511242.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031090
2025-10-26T20:40:42.477Z,1761511242.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283285
2025-10-26T20:40:42.512Z,1761511242.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876526,-0.472901,-0.089814],[0.480997,0.867688,0.125537],[0.018564,-0.153237,0.988015]]
2025-10-26T20:40:42.729Z,1761511242.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535571
2025-10-26T20:40:42.980Z,1761511242.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787117
2025-10-26T20:40:43.232Z,1761511243.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039067
2025-10-26T20:40:43.318Z,1761511243.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877862,-0.470329,-0.090275],[0.478600,0.868385,0.129803],[0.017343,-0.157155,0.987422]]
2025-10-26T20:40:43.486Z,1761511243.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292941
2025-10-26T20:40:43.727Z,1761511243.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878566,-0.468927,-0.090714],[0.477324,0.868737,0.132129],[0.016848,-0.159384,0.987073]]
2025-10-26T20:40:43.737Z,1761511243.737 [DAT](INFO): DAT read: Rx Time:20:40:42.3941

2025-10-26T20:40:43.737Z,1761511243.737 [DAT](INFO): Rx dataTimestamp_ set to:1761511243.736803
2025-10-26T20:40:43.738Z,1761511243.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544347
2025-10-26T20:40:43.988Z,1761511243.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795044
2025-10-26T20:40:44.138Z,1761511244.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879369,-0.467384,-0.090898],[0.475863,0.869212,0.134257],[0.016260,-0.161316,0.986769]]
2025-10-26T20:40:44.246Z,1761511244.246 [DAT](INFO): DAT read: 20:40:42.3941 LVL= 32112, 32753, 32754, 32755, AGC= 90, IDX=  12, 0.47,-2.413, 2.063,-2.676,-2.735, PHS= 0.424,-1.440, 0.016, RAW= 138.0,  11.8, CAL= 137.4,  12.8, ROT=  12.6, -12.8

2025-10-26T20:40:44.247Z,1761511244.247 [DAT](INFO): got valid direction response:
 20:40:42.3941 LVL= 32112, 32753, 32754, 32755, AGC= 90, IDX=  12, 0.47,-2.413, 2.063,-2.676,-2.735, PHS= 0.424,-1.440, 0.016, RAW= 138.0,  11.8, CAL= 137.4,  12.8, ROT=  12.6, -12.8

2025-10-26T20:40:44.248Z,1761511244.248 [DAT](INFO): DAT read: Bearing 190.6,  10.8 (Local)

2025-10-26T20:40:44.248Z,1761511244.248 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.6,  10.8 (Local)

2025-10-26T20:40:44.250Z,1761511244.250 [DAT](INFO): DAT read: Range 11 to 50 : 2016.7 m  (Round-trip  2689.0 ms) speed  0.5 m/s

2025-10-26T20:40:44.250Z,1761511244.250 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:40:44.251Z,1761511244.251 [DAT](INFO): direction in FSK: [0.951665,0.212722,0.221548]
2025-10-26T20:40:44.252Z,1761511244.252 [DAT](INFO): publishing direction and range info
2025-10-26T20:40:44.530Z,1761511244.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880223,-0.465788,-0.090826],[0.474305,0.869769,0.136148],[0.015581,-0.162920,0.986516]]
2025-10-26T20:40:44.934Z,1761511244.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881163,-0.464146,-0.090111],[0.472590,0.870457,0.137710],[0.014521,-0.163930,0.986365]]
2025-10-26T20:40:45.342Z,1761511245.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882249,-0.462180,-0.089589],[0.470586,0.871264,0.139456],[0.013602,-0.165194,0.986167]]
2025-10-26T20:40:45.745Z,1761511245.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883471,-0.459847,-0.089547],[0.468311,0.872069,0.142059],[0.012766,-0.167441,0.985799]]
2025-10-26T20:40:46.158Z,1761511246.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884615,-0.457682,-0.089350],[0.466169,0.872855,0.144261],[0.011964,-0.169267,0.985498]]
2025-10-26T20:40:46.550Z,1761511246.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885467,-0.456149,-0.088744],[0.464567,0.873516,0.145421],[0.011186,-0.169993,0.985382]]
2025-10-26T20:40:46.961Z,1761511246.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885882,-0.455641,-0.087209],[0.463796,0.874064,0.144586],[0.010347,-0.168533,0.985642]]
2025-10-26T20:40:47.370Z,1761511247.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885848,-0.456237,-0.084388],[0.463876,0.874654,0.140708],[0.009614,-0.163792,0.986448]]
2025-10-26T20:40:47.791Z,1761511247.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885661,-0.456952,-0.082453],[0.464244,0.874862,0.138182],[0.008993,-0.160661,0.986969]]
2025-10-26T20:40:48.166Z,1761511248.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885205,-0.458048,-0.081266],[0.465123,0.874651,0.136554],[0.008531,-0.158677,0.987294]]
2025-10-26T20:40:48.570Z,1761511248.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884744,-0.458990,-0.080964],[0.466011,0.874079,0.137186],[0.007802,-0.159105,0.987231]]
2025-10-26T20:40:48.989Z,1761511248.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884008,-0.460706,-0.079246],[0.467423,0.873577,0.135568],[0.006771,-0.156884,0.987594]]
2025-10-26T20:40:49.382Z,1761511249.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882891,-0.463182,-0.077243],[0.469545,0.872751,0.133540],[0.005560,-0.154171,0.988029]]
2025-10-26T20:40:49.782Z,1761511249.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881851,-0.465546,-0.074869],[0.471508,0.872083,0.130962],[0.004323,-0.150790,0.988556]]
2025-10-26T20:40:50.591Z,1761511250.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879083,-0.471686,-0.068743],[0.476668,0.870227,0.124473],[0.001110,-0.142190,0.989839]]
2025-10-26T20:40:51.016Z,1761511251.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877825,-0.474272,-0.067004],[0.478981,0.868921,0.124717],[-0.000928,-0.141574,0.989927]]
2025-10-26T20:40:51.402Z,1761511251.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876454,-0.476885,-0.066396],[0.481479,0.867348,0.126036],[-0.002516,-0.142433,0.989801]]
2025-10-26T20:40:51.803Z,1761511251.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875136,-0.479524,-0.064761],[0.483861,0.866129,0.125302],[-0.003994,-0.140991,0.990003]]
2025-10-26T20:40:52.207Z,1761511252.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873697,-0.482280,-0.063713],[0.486443,0.864721,0.125021],[-0.005201,-0.140224,0.990106]]
2025-10-26T20:40:52.614Z,1761511252.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872493,-0.484545,-0.063024],[0.488590,0.863564,0.124648],[-0.005972,-0.139547,0.990197]]
2025-10-26T20:40:53.423Z,1761511253.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869626,-0.489750,-0.062416],[0.493669,0.860925,0.122875],[-0.006443,-0.137667,0.990458]]
2025-10-26T20:40:53.823Z,1761511253.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868387,-0.491918,-0.062617],[0.495845,0.859721,0.122550],[-0.006451,-0.137469,0.990485]]
2025-10-26T20:40:54.226Z,1761511254.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867112,-0.494127,-0.062887],[0.498070,0.858444,0.122479],[-0.006535,-0.137526,0.990477]]
2025-10-26T20:40:54.636Z,1761511254.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866126,-0.495852,-0.062901],[0.499777,0.857402,0.122824],[-0.006970,-0.137817,0.990433]]
2025-10-26T20:40:55.070Z,1761511255.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865081,-0.497788,-0.061993],[0.501574,0.856458,0.122075],[-0.007673,-0.136699,0.990583]]
2025-10-26T20:40:55.449Z,1761511255.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864327,-0.499337,-0.060015],[0.502850,0.855888,0.120816],[-0.008962,-0.134603,0.990859]]
2025-10-26T20:40:55.843Z,1761511255.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863912,-0.500274,-0.058157],[0.503529,0.855481,0.120874],[-0.010717,-0.133708,0.990963]]
2025-10-26T20:40:56.246Z,1761511256.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863418,-0.501311,-0.056548],[0.504323,0.854811,0.122295],[-0.012970,-0.134110,0.990882]]
2025-10-26T20:40:56.651Z,1761511256.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863014,-0.502314,-0.053736],[0.504938,0.854415,0.122525],[-0.015633,-0.132874,0.991010]]
2025-10-26T20:40:57.104Z,1761511257.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862701,-0.503227,-0.050093],[0.505383,0.854311,0.121414],[-0.018304,-0.130060,0.991337]]
2025-10-26T20:40:57.462Z,1761511257.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862627,-0.503671,-0.046799],[0.505404,0.854344,0.121095],[-0.021010,-0.128112,0.991537]]
2025-10-26T20:40:57.863Z,1761511257.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862800,-0.503622,-0.044046],[0.504997,0.854536,0.121431],[-0.023516,-0.127014,0.991622]]
2025-10-26T20:40:58.266Z,1761511258.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863359,-0.502745,-0.043105],[0.503927,0.854698,0.124695],[-0.025849,-0.129378,0.991258]]
2025-10-26T20:40:58.672Z,1761511258.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863926,-0.501936,-0.041143],[0.502843,0.855176,0.125789],[-0.027954,-0.129360,0.991204]]
2025-10-26T20:40:59.074Z,1761511259.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864406,-0.501242,-0.039489],[0.501913,0.855571,0.126815],[-0.029780,-0.129439,0.991140]]
2025-10-26T20:40:59.483Z,1761511259.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865274,-0.499781,-0.038986],[0.500327,0.856138,0.129235],[-0.031211,-0.131329,0.990847]]
2025-10-26T20:40:59.887Z,1761511259.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865641,-0.499088,-0.039708],[0.499621,0.855996,0.132851],[-0.032314,-0.134840,0.990340]]
2025-10-26T20:41:00.286Z,1761511260.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865778,-0.498781,-0.040569],[0.499319,0.855623,0.136345],[-0.033294,-0.138301,0.989830]]
2025-10-26T20:41:00.690Z,1761511260.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865672,-0.498856,-0.041894],[0.499447,0.854922,0.140216],[-0.034132,-0.142305,0.989234]]
2025-10-26T20:41:00.773Z,1761511260.773 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:41:01.102Z,1761511261.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865345,-0.499365,-0.042589],[0.499967,0.854230,0.142561],[-0.034809,-0.144657,0.988869]]
2025-10-26T20:41:01.506Z,1761511261.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864827,-0.500273,-0.042441],[0.500822,0.853634,0.143128],[-0.035373,-0.145036,0.988794]]
2025-10-26T20:41:01.776Z,1761511261.776 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:41:01.902Z,1761511261.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863930,-0.501880,-0.041719],[0.502342,0.852911,0.142113],[-0.035741,-0.143733,0.988971]]
2025-10-26T20:41:02.306Z,1761511262.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862478,-0.504460,-0.040644],[0.504816,0.851815,0.139901],[-0.035953,-0.141179,0.989331]]
2025-10-26T20:41:02.716Z,1761511262.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860717,-0.507477,-0.040409],[0.507807,0.850231,0.138706],[-0.036033,-0.139907,0.989509]]
2025-10-26T20:41:03.522Z,1761511263.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856173,-0.515131,-0.040105],[0.515362,0.845837,0.137697],[-0.037010,-0.138561,0.989662]]
2025-10-26T20:41:03.922Z,1761511263.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853183,-0.520108,-0.039580],[0.520265,0.843075,0.136196],[-0.037468,-0.136792,0.989891]]
2025-10-26T20:41:04.327Z,1761511264.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850155,-0.525079,-0.039098],[0.525121,0.840101,0.135939],[-0.038532,-0.136101,0.989945]]
2025-10-26T20:41:04.737Z,1761511264.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847160,-0.529979,-0.037974],[0.529863,0.837328,0.134634],[-0.039556,-0.134177,0.990167]]
2025-10-26T20:41:05.134Z,1761511265.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844098,-0.534986,-0.035893],[0.534643,0.834696,0.132057],[-0.040689,-0.130658,0.990592]]
2025-10-26T20:41:05.546Z,1761511265.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841175,-0.539664,-0.034452],[0.539183,0.832150,0.129647],[-0.041296,-0.127632,0.990961]]
2025-10-26T20:41:05.967Z,1761511265.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838256,-0.544244,-0.033532],[0.543653,0.829436,0.128361],[-0.042047,-0.125829,0.991160]]
2025-10-26T20:41:06.346Z,1761511266.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835911,-0.547851,-0.033352],[0.547219,0.827159,0.127905],[-0.042485,-0.125168,0.991225]]
2025-10-26T20:41:06.750Z,1761511266.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833701,-0.551263,-0.032432],[0.550554,0.825204,0.126209],[-0.042811,-0.123076,0.991473]]
2025-10-26T20:41:07.154Z,1761511267.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832390,-0.553196,-0.033175],[0.552514,0.823735,0.127239],[-0.043061,-0.124242,0.991317]]
2025-10-26T20:41:07.566Z,1761511267.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831803,-0.553996,-0.034535],[0.553395,0.822853,0.129099],[-0.043103,-0.126497,0.991030]]
2025-10-26T20:41:07.962Z,1761511267.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831668,-0.554101,-0.036065],[0.553589,0.822339,0.131521],[-0.043218,-0.129347,0.990657]]
2025-10-26T20:41:08.366Z,1761511268.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832063,-0.553423,-0.037341],[0.552974,0.822341,0.134073],[-0.043492,-0.132206,0.990268]]
2025-10-26T20:41:08.770Z,1761511268.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832921,-0.552101,-0.037774],[0.551674,0.823027,0.135209],[-0.043560,-0.133458,0.990097]]
2025-10-26T20:41:09.176Z,1761511269.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834144,-0.550236,-0.037988],[0.549820,0.824115,0.136133],[-0.043599,-0.134442,0.989962]]
2025-10-26T20:41:09.582Z,1761511269.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835925,-0.547542,-0.037777],[0.547022,0.825571,0.138562],[-0.044681,-0.136493,0.989633]]
2025-10-26T20:41:09.982Z,1761511269.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837751,-0.544783,-0.037218],[0.544155,0.827221,0.140002],[-0.045483,-0.137539,0.989451]]
2025-10-26T20:41:10.386Z,1761511270.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839742,-0.541714,-0.037140],[0.540990,0.828839,0.142673],[-0.046505,-0.139901,0.989073]]
2025-10-26T20:41:10.791Z,1761511270.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841500,-0.538965,-0.037335],[0.538183,0.830216,0.145264],[-0.047296,-0.142333,0.988688]]
2025-10-26T20:41:11.194Z,1761511271.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842899,-0.536781,-0.037253],[0.535920,0.831329,0.147249],[-0.048070,-0.144080,0.988398]]
2025-10-26T20:41:11.609Z,1761511271.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844253,-0.534635,-0.037433],[0.533694,0.832264,0.150026],[-0.049055,-0.146637,0.987973]]
2025-10-26T20:41:12.414Z,1761511272.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843981,-0.535076,-0.037273],[0.534053,0.831843,0.151079],[-0.049833,-0.147414,0.987819]]
2025-10-26T20:41:13.219Z,1761511273.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841163,-0.539639,-0.035148],[0.538512,0.829911,0.145785],[-0.049502,-0.141556,0.988692]]
2025-10-26T20:41:13.623Z,1761511273.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839133,-0.542756,-0.035665],[0.541715,0.828013,0.144703],[-0.049007,-0.140745,0.988832]]
2025-10-26T20:41:14.023Z,1761511274.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836988,-0.546067,-0.035536],[0.545052,0.826133,0.142907],[-0.048679,-0.138980,0.989098]]
2025-10-26T20:41:14.426Z,1761511274.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834470,-0.549904,-0.035569],[0.548949,0.823915,0.140781],[-0.048110,-0.137004,0.989402]]
2025-10-26T20:41:14.830Z,1761511274.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831261,-0.554683,-0.036507],[0.553829,0.820760,0.140098],[-0.047746,-0.136676,0.989464]]
2025-10-26T20:41:15.234Z,1761511275.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828036,-0.559445,-0.037112],[0.558665,0.817659,0.139020],[-0.047429,-0.135847,0.989594]]
2025-10-26T20:41:15.646Z,1761511275.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824797,-0.564217,-0.037002],[0.563454,0.814692,0.137100],[-0.047209,-0.133928,0.989866]]
2025-10-26T20:41:16.046Z,1761511276.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821571,-0.568876,-0.037442],[0.568174,0.811613,0.135878],[-0.046909,-0.132907,0.990018]]
2025-10-26T20:41:16.447Z,1761511276.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818488,-0.573321,-0.037148],[0.572614,0.808794,0.134033],[-0.046799,-0.130976,0.990280]]
2025-10-26T20:41:16.851Z,1761511276.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815762,-0.577135,-0.038045],[0.576513,0.806064,0.133764],[-0.046533,-0.131052,0.990283]]
2025-10-26T20:41:17.276Z,1761511277.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813556,-0.580119,-0.039862],[0.579641,0.803608,0.135017],[-0.046292,-0.132949,0.990041]]
2025-10-26T20:41:17.666Z,1761511277.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812236,-0.581814,-0.042028],[0.581508,0.801906,0.137092],[-0.046059,-0.135791,0.989666]]
2025-10-26T20:41:18.064Z,1761511278.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811442,-0.582756,-0.044244],[0.582660,0.800767,0.138848],[-0.045486,-0.138446,0.989325]]
2025-10-26T20:41:18.466Z,1761511278.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811295,-0.582732,-0.047147],[0.582905,0.800056,0.141889],[-0.044963,-0.142596,0.988759]]
2025-10-26T20:41:18.870Z,1761511278.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811612,-0.581953,-0.051150],[0.582534,0.799593,0.145960],[-0.044043,-0.148259,0.987967]]
2025-10-26T20:41:19.337Z,1761511279.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812348,-0.580693,-0.053734],[0.581578,0.799866,0.148262],[-0.043115,-0.151691,0.987487]]
2025-10-26T20:41:19.679Z,1761511279.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813471,-0.578775,-0.057310],[0.580079,0.800255,0.151987],[-0.042103,-0.156881,0.986720]]
2025-10-26T20:41:20.091Z,1761511280.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814694,-0.576796,-0.059830],[0.578447,0.801053,0.153993],[-0.040896,-0.160066,0.986259]]
2025-10-26T20:41:20.487Z,1761511280.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816037,-0.574792,-0.060805],[0.576614,0.802283,0.154460],[-0.040000,-0.161106,0.986126]]
2025-10-26T20:41:20.890Z,1761511280.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817371,-0.572822,-0.061475],[0.574729,0.803368,0.155842],[-0.039883,-0.162712,0.985867]]
2025-10-26T20:41:21.295Z,1761511281.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819028,-0.570438,-0.061585],[0.572364,0.804859,0.156852],[-0.039907,-0.163715,0.985700]]
2025-10-26T20:41:21.705Z,1761511281.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820856,-0.567870,-0.060984],[0.569741,0.806713,0.156873],[-0.039886,-0.163515,0.985734]]
2025-10-26T20:41:22.104Z,1761511282.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822870,-0.565085,-0.059703],[0.566800,0.808808,0.156741],[-0.040284,-0.162817,0.985834]]
2025-10-26T20:41:22.506Z,1761511282.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824828,-0.562663,-0.055397],[0.563907,0.811637,0.152497],[-0.040842,-0.157023,0.986750]]
2025-10-26T20:41:23.363Z,1761511283.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828607,-0.557577,-0.050184],[0.558211,0.816068,0.149777],[-0.042559,-0.152120,0.987445]]
2025-10-26T20:41:23.737Z,1761511283.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830219,-0.555245,-0.049400],[0.555766,0.817612,0.150448],[-0.043145,-0.152359,0.987383]]
2025-10-26T20:41:24.122Z,1761511284.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831820,-0.552789,-0.049995],[0.553344,0.818853,0.152609],[-0.043422,-0.154607,0.987021]]
2025-10-26T20:41:24.526Z,1761511284.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832853,-0.551184,-0.050517],[0.551776,0.819614,0.154197],[-0.043586,-0.156297,0.986748]]
2025-10-26T20:41:24.930Z,1761511284.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833401,-0.550312,-0.050992],[0.550940,0.819958,0.155349],[-0.043679,-0.157562,0.986543]]
2025-10-26T20:41:25.369Z,1761511285.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833778,-0.549661,-0.051841],[0.550373,0.820076,0.156736],[-0.043638,-0.159214,0.986279]]
2025-10-26T20:41:25.740Z,1761511285.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833371,-0.550246,-0.052175],[0.551009,0.819678,0.156581],[-0.043391,-0.159239,0.986286]]
2025-10-26T20:41:26.142Z,1761511286.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832499,-0.551577,-0.052034],[0.552375,0.819103,0.154765],[-0.042744,-0.157584,0.986580]]
2025-10-26T20:41:26.548Z,1761511286.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831289,-0.553370,-0.052343],[0.554256,0.818134,0.153156],[-0.041928,-0.156328,0.986815]]
2025-10-26T20:41:26.951Z,1761511286.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829681,-0.555826,-0.051830],[0.556737,0.817074,0.149781],[-0.040903,-0.153126,0.987360]]
2025-10-26T20:41:27.370Z,1761511287.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828021,-0.558272,-0.052090],[0.559279,0.815751,0.147504],[-0.039855,-0.151269,0.987689]]
2025-10-26T20:41:27.758Z,1761511287.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826083,-0.561088,-0.052611],[0.562210,0.814091,0.145518],[-0.038819,-0.149789,0.987956]]
2025-10-26T20:41:28.162Z,1761511288.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824230,-0.563746,-0.053250],[0.565000,0.812500,0.143591],[-0.037683,-0.148439,0.988203]]
2025-10-26T20:41:28.576Z,1761511288.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821978,-0.566992,-0.053594],[0.568360,0.810662,0.140691],[-0.036324,-0.146106,0.988602]]
2025-10-26T20:41:28.970Z,1761511288.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819983,-0.569830,-0.054057],[0.571307,0.808974,0.138456],[-0.035166,-0.144415,0.988892]]
2025-10-26T20:41:29.375Z,1761511289.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817840,-0.572793,-0.055191],[0.574437,0.806966,0.137215],[-0.034059,-0.143923,0.989003]]
2025-10-26T20:41:29.781Z,1761511289.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815915,-0.575390,-0.056651],[0.577211,0.804993,0.137165],[-0.033320,-0.144614,0.988927]]
2025-10-26T20:41:30.183Z,1761511290.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814199,-0.577763,-0.057178],[0.579669,0.803432,0.135944],[-0.032605,-0.143830,0.989065]]
2025-10-26T20:41:30.587Z,1761511290.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812790,-0.579660,-0.058016],[0.581682,0.802082,0.135315],[-0.031903,-0.143729,0.989103]]
2025-10-26T20:41:30.990Z,1761511290.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811608,-0.581129,-0.059846],[0.583368,0.800712,0.136167],[-0.031212,-0.145427,0.988877]]
2025-10-26T20:41:31.395Z,1761511291.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811091,-0.581547,-0.062724],[0.584101,0.799614,0.139441],[-0.030936,-0.149736,0.988242]]
2025-10-26T20:41:31.798Z,1761511291.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810811,-0.581667,-0.065180],[0.584521,0.798914,0.141672],[-0.030333,-0.152968,0.987765]]
2025-10-26T20:41:31.904Z,1761511291.904 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:41:32.202Z,1761511292.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810535,-0.581809,-0.067312],[0.584951,0.798379,0.142908],[-0.029405,-0.155206,0.987444]]
2025-10-26T20:41:32.606Z,1761511292.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810166,-0.582224,-0.068168],[0.585494,0.797991,0.142856],[-0.028777,-0.155649,0.987393]]
2025-10-26T20:41:32.908Z,1761511292.908 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:41:33.011Z,1761511293.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810073,-0.582192,-0.069526],[0.585662,0.797793,0.143268],[-0.027942,-0.156777,0.987239]]
2025-10-26T20:41:33.389Z,1761511293.389 [DAT](INFO): DAT read: user:116>Rx Time:20:41:32.1266

2025-10-26T20:41:33.389Z,1761511293.389 [DAT](INFO): Rx dataTimestamp_ set to:1761511293.388732
2025-10-26T20:41:33.414Z,1761511293.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810223,-0.581821,-0.070874],[0.585497,0.797837,0.143697],[-0.027060,-0.157924,0.987080]]
2025-10-26T20:41:33.818Z,1761511293.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810872,-0.580757,-0.072166],[0.584639,0.798370,0.144230],[-0.026147,-0.159144,0.986909]]
2025-10-26T20:41:34.149Z,1761511294.149 [DAT](INFO): DAT read: 20:41:32.1266 LVL= 32752, 32753, 32754, 32755, AGC= 90, IDX= 300,-0.10,-2.253, 2.369,-2.184,-2.437, PHS= 0.286,-1.432, 0.210, RAW= 147.7,  11.1, CAL= 147.5,  12.2, ROT=   2.5, -12.2

2025-10-26T20:41:34.150Z,1761511294.150 [DAT](INFO): got valid direction response:
 20:41:32.1266 LVL= 32752, 32753, 32754, 32755, AGC= 90, IDX= 300,-0.10,-2.253, 2.369,-2.184,-2.437, PHS= 0.286,-1.432, 0.210, RAW= 147.7,  11.1, CAL= 147.5,  12.2, ROT=   2.5, -12.2

2025-10-26T20:41:34.150Z,1761511294.150 [DAT](INFO): DAT read: bearing request

2025-10-26T20:41:34.151Z,1761511294.151 [DAT](INFO): received a bearing request message
2025-10-26T20:41:34.151Z,1761511294.151 [DAT](INFO): DAT read: Tx time:20:41:33.7294

2025-10-26T20:41:34.151Z,1761511294.151 [DAT](INFO): Ping request sent.
2025-10-26T20:41:34.152Z,1761511294.152 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:41:34.152Z,1761511294.152 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-26T20:41:34.153Z,1761511294.153 [DAT](INFO): direction in FSK: [0.976486,0.042634,0.211325]
2025-10-26T20:41:34.153Z,1761511294.153 [DAT](INFO): publishing transmit ping time
2025-10-26T20:41:34.153Z,1761511294.153 [DAT](INFO): publishing range request flag
2025-10-26T20:41:34.177Z,1761511294.177 [DAT](INFO): publishing transmit ping time
2025-10-26T20:41:34.177Z,1761511294.177 [DAT](INFO): publishing range request flag
2025-10-26T20:41:34.222Z,1761511294.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811729,-0.579487,-0.072736],[0.583475,0.799189,0.144408],[-0.025553,-0.159660,0.986841]]
2025-10-26T20:41:34.626Z,1761511294.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812725,-0.577967,-0.073703],[0.582115,0.800054,0.145107],[-0.024901,-0.160836,0.986667]]
2025-10-26T20:41:35.031Z,1761511295.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814026,-0.576016,-0.074610],[0.580329,0.801265,0.145575],[-0.024071,-0.161800,0.986530]]
2025-10-26T20:41:35.434Z,1761511295.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815956,-0.572950,-0.077099],[0.577639,0.802597,0.148897],[-0.023432,-0.166029,0.985842]]
2025-10-26T20:41:35.838Z,1761511295.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817910,-0.569851,-0.079329],[0.574893,0.803991,0.151973],[-0.022822,-0.169906,0.985196]]
2025-10-26T20:41:36.242Z,1761511296.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819575,-0.567311,-0.080343],[0.572542,0.805439,0.153180],[-0.022189,-0.171542,0.984927]]
2025-10-26T20:41:36.647Z,1761511296.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821212,-0.564865,-0.080865],[0.570220,0.807020,0.153519],[-0.021458,-0.172182,0.984831]]
2025-10-26T20:41:37.058Z,1761511297.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822728,-0.562512,-0.081845],[0.568069,0.808461,0.153913],[-0.020409,-0.173122,0.984689]]
2025-10-26T20:41:37.454Z,1761511297.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824801,-0.559379,-0.082451],[0.565092,0.810517,0.154055],[-0.019347,-0.173657,0.984616]]
2025-10-26T20:41:37.865Z,1761511297.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826833,-0.556251,-0.083258],[0.562144,0.812418,0.154826],[-0.018482,-0.174818,0.984427]]
2025-10-26T20:41:37.881Z,1761511297.881 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:41:37.925Z,1761511297.925 [DAT](INFO): ****** received valid address query ******
2025-10-26T20:41:37.925Z,1761511297.925 [DAT](INFO): ****** received valid ping request ******
2025-10-26T20:41:37.925Z,1761511297.925 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:41:38.176Z,1761511298.176 [DAT](INFO): DAT read: 

2025-10-26T20:41:38.177Z,1761511298.177 [DAT](INFO): DAT read: Tx time:20:41:37.3007

2025-10-26T20:41:38.177Z,1761511298.177 [DAT](INFO): Ping request sent.
2025-10-26T20:41:38.177Z,1761511298.177 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:41:38.177Z,1761511298.177 [DAT](INFO): publishing transmit ping time
2025-10-26T20:41:38.178Z,1761511298.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-10-26T20:41:38.263Z,1761511298.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828996,-0.552989,-0.083483],[0.558985,0.814682,0.154366],[-0.017351,-0.174634,0.984480]]
2025-10-26T20:41:38.434Z,1761511298.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253514
2025-10-26T20:41:38.680Z,1761511298.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503016
2025-10-26T20:41:38.932Z,1761511298.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755102
2025-10-26T20:41:39.072Z,1761511299.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832968,-0.546943,-0.083774],[0.553093,0.818668,0.154502],[-0.015921,-0.175030,0.984434]]
2025-10-26T20:41:39.184Z,1761511299.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007036
2025-10-26T20:41:39.437Z,1761511299.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259320
2025-10-26T20:41:39.474Z,1761511299.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834290,-0.544707,-0.085176],[0.551119,0.819720,0.155973],[-0.015140,-0.177069,0.984082]]
2025-10-26T20:41:39.688Z,1761511299.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511139
2025-10-26T20:41:39.885Z,1761511299.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835317,-0.542929,-0.086450],[0.549572,0.820423,0.157724],[-0.014707,-0.179260,0.983692]]
2025-10-26T20:41:39.940Z,1761511299.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763159
2025-10-26T20:41:40.193Z,1761511300.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015226
2025-10-26T20:41:40.282Z,1761511300.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835566,-0.542504,-0.086710],[0.549206,0.820726,0.157421],[-0.014236,-0.179158,0.983717]]
2025-10-26T20:41:40.445Z,1761511300.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267949
2025-10-26T20:41:40.686Z,1761511300.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836195,-0.541708,-0.085620],[0.548251,0.821655,0.155899],[-0.014102,-0.177303,0.984055]]
2025-10-26T20:41:40.697Z,1761511300.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519726
2025-10-26T20:41:40.949Z,1761511300.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771233
2025-10-26T20:41:41.200Z,1761511301.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023108
2025-10-26T20:41:41.452Z,1761511301.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275026
2025-10-26T20:41:41.494Z,1761511301.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836475,-0.541972,-0.081097],[0.547820,0.823132,0.149492],[-0.014267,-0.169473,0.985431]]
2025-10-26T20:41:41.705Z,1761511301.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527406
2025-10-26T20:41:41.906Z,1761511301.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836349,-0.542345,-0.079891],[0.548015,0.823384,0.147369],[-0.014144,-0.167033,0.985850]]
2025-10-26T20:41:41.957Z,1761511301.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779852
2025-10-26T20:41:42.208Z,1761511302.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031037
2025-10-26T20:41:42.302Z,1761511302.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836523,-0.542248,-0.078719],[0.547759,0.823984,0.144947],[-0.013734,-0.164371,0.986303]]
2025-10-26T20:41:42.461Z,1761511302.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284180
2025-10-26T20:41:42.711Z,1761511302.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836467,-0.542530,-0.077357],[0.547863,0.824504,0.141563],[-0.013021,-0.160794,0.986902]]
2025-10-26T20:41:42.713Z,1761511302.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535737
2025-10-26T20:41:42.964Z,1761511302.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787062
2025-10-26T20:41:43.110Z,1761511303.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836121,-0.543031,-0.077577],[0.548403,0.824291,0.140710],[-0.012464,-0.160194,0.987007]]
2025-10-26T20:41:43.216Z,1761511303.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039030
2025-10-26T20:41:43.468Z,1761511303.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291114
2025-10-26T20:41:43.521Z,1761511303.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836245,-0.542611,-0.079164],[0.548228,0.824172,0.142079],[-0.011849,-0.162213,0.986685]]
2025-10-26T20:41:43.721Z,1761511303.721 [DAT](INFO): DAT read: Rx Time:20:41:42.3446

2025-10-26T20:41:43.721Z,1761511303.721 [DAT](INFO): Rx dataTimestamp_ set to:1761511303.721127
2025-10-26T20:41:43.722Z,1761511303.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544960
2025-10-26T20:41:43.925Z,1761511303.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836146,-0.542640,-0.080011],[0.548388,0.823984,0.142550],[-0.011426,-0.163070,0.986548]]
2025-10-26T20:41:43.973Z,1761511303.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.796048
2025-10-26T20:41:44.230Z,1761511304.230 [DAT](INFO): DAT read: 20:41:42.3446 LVL= 21920, 23217, 21762, 32755, AGC= 88, IDX=  84, 0.17,-1.305,-2.827,-1.307,-1.304, PHS= 0.101,-1.478,-0.047, RAW= 145.1,  18.4, CAL= 145.0,  20.3, ROT=   5.0, -20.3

2025-10-26T20:41:44.231Z,1761511304.231 [DAT](INFO): got valid direction response:
 20:41:42.3446 LVL= 21920, 23217, 21762, 32755, AGC= 88, IDX=  84, 0.17,-1.305,-2.827,-1.307,-1.304, PHS= 0.101,-1.478,-0.047, RAW= 145.1,  18.4, CAL= 145.0,  20.3, ROT=   5.0, -20.3

2025-10-26T20:41:44.232Z,1761511304.232 [DAT](INFO): DAT read: Bearing 201.0,   0.5 (Local)

2025-10-26T20:41:44.232Z,1761511304.232 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.0,   0.5 (Local)

2025-10-26T20:41:44.234Z,1761511304.234 [DAT](INFO): DAT read: Range 11 to 50 : 1979.8 m  (Round-trip  2639.8 ms) speed  0.0 m/s

2025-10-26T20:41:44.234Z,1761511304.234 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:41:44.240Z,1761511304.240 [DAT](INFO): direction in FSK: [0.934320,0.081742,0.346936]
2025-10-26T20:41:44.240Z,1761511304.240 [DAT](INFO): publishing direction and range info
2025-10-26T20:41:44.322Z,1761511304.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836213,-0.542280,-0.081735],[0.548295,0.823725,0.144394],[-0.010975,-0.165559,0.986139]]
2025-10-26T20:41:44.732Z,1761511304.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836308,-0.542046,-0.082311],[0.548161,0.823828,0.144318],[-0.010417,-0.165814,0.986102]]
2025-10-26T20:41:45.132Z,1761511305.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836480,-0.541734,-0.082624],[0.547907,0.824035,0.144097],[-0.009977,-0.165805,0.986108]]
2025-10-26T20:41:45.546Z,1761511305.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836549,-0.541609,-0.082730],[0.547809,0.824208,0.143480],[-0.009524,-0.165349,0.986189]]
2025-10-26T20:41:45.938Z,1761511305.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836300,-0.542088,-0.082120],[0.548193,0.824182,0.142158],[-0.009380,-0.163904,0.986432]]
2025-10-26T20:41:46.342Z,1761511306.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836098,-0.542420,-0.081979],[0.548503,0.824100,0.141436],[-0.009158,-0.163220,0.986547]]
2025-10-26T20:41:46.748Z,1761511306.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836117,-0.542371,-0.082112],[0.548475,0.824094,0.141575],[-0.009118,-0.163410,0.986516]]
2025-10-26T20:41:47.150Z,1761511307.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835675,-0.543024,-0.082295],[0.549146,0.823603,0.141832],[-0.009240,-0.163717,0.986464]]
2025-10-26T20:41:47.555Z,1761511307.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835170,-0.543741,-0.082686],[0.549919,0.823122,0.141630],[-0.008950,-0.163756,0.986460]]
2025-10-26T20:41:47.958Z,1761511307.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834164,-0.545217,-0.083118],[0.551440,0.822011,0.142166],[-0.009188,-0.164424,0.986347]]
2025-10-26T20:41:48.363Z,1761511308.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832986,-0.547114,-0.082461],[0.553215,0.821059,0.140766],[-0.009310,-0.162874,0.986603]]
2025-10-26T20:41:48.767Z,1761511308.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831761,-0.549186,-0.081052],[0.555055,0.820260,0.138156],[-0.009390,-0.159901,0.987088]]
2025-10-26T20:41:49.171Z,1761511309.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830741,-0.550846,-0.080238],[0.556577,0.819458,0.136786],[-0.009596,-0.158293,0.987346]]
2025-10-26T20:41:49.574Z,1761511309.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830147,-0.551973,-0.078620],[0.557458,0.819234,0.134526],[-0.009846,-0.155504,0.987786]]
2025-10-26T20:41:49.980Z,1761511309.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829368,-0.553334,-0.077263],[0.558616,0.818842,0.132086],[-0.009821,-0.152708,0.988223]]
2025-10-26T20:41:50.382Z,1761511310.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829212,-0.553546,-0.077419],[0.558855,0.818779,0.131464],[-0.009383,-0.152278,0.988293]]
2025-10-26T20:41:50.787Z,1761511310.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829525,-0.553058,-0.077554],[0.558394,0.819101,0.131415],[-0.009155,-0.152317,0.988289]]
2025-10-26T20:41:51.191Z,1761511311.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829847,-0.552538,-0.077820],[0.557921,0.819424,0.131406],[-0.008840,-0.152464,0.988269]]
2025-10-26T20:41:51.596Z,1761511311.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830578,-0.551398,-0.078107],[0.556836,0.820100,0.131793],[-0.008615,-0.152957,0.988195]]
2025-10-26T20:41:51.999Z,1761511311.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831453,-0.549939,-0.079078],[0.555534,0.820787,0.133005],[-0.008239,-0.154518,0.987956]]
2025-10-26T20:41:52.403Z,1761511312.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832470,-0.548268,-0.079973],[0.554017,0.821674,0.133856],[-0.007677,-0.155738,0.987769]]
2025-10-26T20:41:52.807Z,1761511312.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833767,-0.546107,-0.081238],[0.552073,0.822782,0.135075],[-0.006924,-0.157470,0.987499]]
2025-10-26T20:41:53.211Z,1761511313.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835225,-0.543559,-0.083325],[0.549880,0.824007,0.136545],[-0.005560,-0.159865,0.987123]]
2025-10-26T20:41:53.614Z,1761511313.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836257,-0.541672,-0.085238],[0.548323,0.824922,0.137279],[-0.004046,-0.161538,0.986858]]
2025-10-26T20:41:54.025Z,1761511314.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837516,-0.539513,-0.086559],[0.546408,0.826289,0.136693],[-0.002225,-0.161779,0.986825]]
2025-10-26T20:41:54.427Z,1761511314.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838572,-0.537538,-0.088599],[0.544791,0.827361,0.136665],[-0.000159,-0.162872,0.986647]]
2025-10-26T20:41:54.828Z,1761511314.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839845,-0.535270,-0.090256],[0.542823,0.828675,0.136532],[0.001711,-0.163659,0.986516]]
2025-10-26T20:41:55.230Z,1761511315.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840594,-0.533864,-0.091599],[0.541654,0.829542,0.135907],[0.003430,-0.163858,0.986478]]
2025-10-26T20:41:55.634Z,1761511315.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841564,-0.532220,-0.092265],[0.540135,0.830736,0.134654],[0.004983,-0.163155,0.986588]]
2025-10-26T20:41:56.041Z,1761511316.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842222,-0.531029,-0.093112],[0.539096,0.831478,0.134242],[0.006134,-0.163258,0.986564]]
2025-10-26T20:41:56.449Z,1761511316.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842584,-0.530378,-0.093552],[0.538517,0.832038,0.133087],[0.007252,-0.162516,0.986679]]
2025-10-26T20:41:56.847Z,1761511316.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842703,-0.530047,-0.094355],[0.538309,0.832378,0.131793],[0.008682,-0.161854,0.986776]]
2025-10-26T20:41:57.253Z,1761511317.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842711,-0.529735,-0.096014],[0.538265,0.832502,0.131192],[0.010435,-0.162238,0.986696]]
2025-10-26T20:41:57.660Z,1761511317.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842923,-0.528657,-0.100015],[0.537842,0.832909,0.130342],[0.014397,-0.163660,0.986412]]
2025-10-26T20:41:58.064Z,1761511318.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842805,-0.528611,-0.101246],[0.537986,0.832942,0.129533],[0.015860,-0.163641,0.986392]]
2025-10-26T20:41:58.471Z,1761511318.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842367,-0.528818,-0.103771],[0.538598,0.832616,0.129085],[0.018139,-0.164627,0.986189]]
2025-10-26T20:41:58.871Z,1761511318.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841969,-0.529268,-0.104712],[0.539137,0.832733,0.126044],[0.020486,-0.162579,0.986483]]
2025-10-26T20:41:59.272Z,1761511319.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841570,-0.529716,-0.105642],[0.539682,0.832724,0.123750],[0.022418,-0.161158,0.986674]]
2025-10-26T20:41:59.676Z,1761511319.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841162,-0.529936,-0.107766],[0.540237,0.832412,0.123428],[0.024296,-0.162042,0.986485]]
2025-10-26T20:42:00.078Z,1761511320.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840632,-0.530125,-0.110927],[0.540978,0.831722,0.124828],[0.026086,-0.164944,0.985958]]
2025-10-26T20:42:00.482Z,1761511320.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839861,-0.530729,-0.113839],[0.542090,0.830840,0.125869],[0.027779,-0.167423,0.985494]]
2025-10-26T20:42:00.886Z,1761511320.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839349,-0.530982,-0.116408],[0.542809,0.830190,0.127057],[0.029176,-0.169833,0.985041]]
2025-10-26T20:42:01.308Z,1761511321.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839042,-0.531136,-0.117911],[0.543212,0.829955,0.126867],[0.030477,-0.170497,0.984887]]
2025-10-26T20:42:01.694Z,1761511321.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838270,-0.532216,-0.118527],[0.544341,0.829433,0.125433],[0.031553,-0.169666,0.984996]]
2025-10-26T20:42:02.098Z,1761511322.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837642,-0.533091,-0.119035],[0.545233,0.829123,0.123593],[0.032808,-0.168429,0.985168]]
2025-10-26T20:42:02.521Z,1761511322.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836991,-0.534294,-0.118219],[0.546165,0.829041,0.119978],[0.033905,-0.164987,0.985713]]
2025-10-26T20:42:02.907Z,1761511322.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835983,-0.535979,-0.117723],[0.547631,0.828573,0.116479],[0.035112,-0.161843,0.986192]]
2025-10-26T20:42:03.028Z,1761511323.028 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:42:03.350Z,1761511323.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835188,-0.537234,-0.117644],[0.548774,0.828156,0.114039],[0.036162,-0.159804,0.986486]]
2025-10-26T20:42:03.719Z,1761511323.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834621,-0.538083,-0.117787],[0.549570,0.827884,0.112167],[0.037159,-0.158349,0.986684]]
2025-10-26T20:42:04.032Z,1761511324.032 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:42:04.118Z,1761511324.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834300,-0.538337,-0.118899],[0.549968,0.827725,0.111388],[0.038452,-0.158321,0.986639]]
2025-10-26T20:42:04.526Z,1761511324.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833517,-0.539386,-0.119628],[0.551075,0.827161,0.110099],[0.039565,-0.157694,0.986695]]
2025-10-26T20:42:04.926Z,1761511324.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832691,-0.540179,-0.121789],[0.552253,0.826219,0.111258],[0.040524,-0.159902,0.986301]]
2025-10-26T20:42:05.361Z,1761511325.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832042,-0.541204,-0.121674],[0.553167,0.825882,0.109201],[0.041389,-0.158166,0.986545]]
2025-10-26T20:42:05.740Z,1761511325.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831702,-0.541538,-0.122511],[0.553618,0.825622,0.108881],[0.042184,-0.158381,0.986477]]
2025-10-26T20:42:06.139Z,1761511326.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831618,-0.541396,-0.123702],[0.553695,0.825488,0.109510],[0.042827,-0.159564,0.986258]]
2025-10-26T20:42:06.542Z,1761511326.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831612,-0.541620,-0.122754],[0.553715,0.825630,0.108326],[0.042678,-0.158056,0.986507]]
2025-10-26T20:42:06.947Z,1761511326.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832159,-0.540969,-0.121921],[0.552909,0.826252,0.107699],[0.042476,-0.157034,0.986679]]
2025-10-26T20:42:07.366Z,1761511327.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832774,-0.540138,-0.121401],[0.551969,0.826977,0.106954],[0.042626,-0.156078,0.986825]]
2025-10-26T20:42:07.756Z,1761511327.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833324,-0.539117,-0.122160],[0.551082,0.827550,0.107099],[0.043355,-0.156569,0.986715]]
2025-10-26T20:42:08.158Z,1761511328.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834409,-0.537126,-0.123522],[0.549413,0.828384,0.109206],[0.043666,-0.158987,0.986315]]
2025-10-26T20:42:08.567Z,1761511328.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835537,-0.534817,-0.125891],[0.547653,0.829106,0.112514],[0.044203,-0.162954,0.985643]]
2025-10-26T20:42:08.966Z,1761511328.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836691,-0.532710,-0.127152],[0.545820,0.830166,0.113604],[0.045039,-0.164453,0.985356]]
2025-10-26T20:42:09.373Z,1761511329.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837913,-0.530450,-0.128549],[0.543849,0.831342,0.114450],[0.046158,-0.165810,0.985077]]
2025-10-26T20:42:09.774Z,1761511329.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839017,-0.528340,-0.130028],[0.542046,0.832396,0.115339],[0.047297,-0.167252,0.984779]]
2025-10-26T20:42:10.178Z,1761511330.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840270,-0.526004,-0.131398],[0.539971,0.833711,0.115576],[0.048754,-0.168066,0.984569]]
2025-10-26T20:42:10.586Z,1761511330.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841457,-0.523771,-0.132713],[0.538008,0.834898,0.116154],[0.049964,-0.169140,0.984325]]
2025-10-26T20:42:10.000Z,1761511331.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842484,-0.521961,-0.133334],[0.536277,0.836120,0.115372],[0.051264,-0.168703,0.984333]]
2025-10-26T20:42:11.390Z,1761511331.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843293,-0.520483,-0.133994],[0.534902,0.837052,0.114991],[0.052309,-0.168645,0.984288]]
2025-10-26T20:42:11.795Z,1761511331.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843676,-0.519993,-0.133482],[0.534237,0.837712,0.113263],[0.052924,-0.166869,0.984558]]
2025-10-26T20:42:12.199Z,1761511332.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844110,-0.519326,-0.133334],[0.533516,0.838256,0.112636],[0.053273,-0.166213,0.984650]]
2025-10-26T20:42:12.613Z,1761511332.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844202,-0.519617,-0.131610],[0.533393,0.838644,0.110310],[0.053055,-0.163324,0.985145]]
2025-10-26T20:42:13.009Z,1761511333.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844092,-0.519936,-0.131055],[0.533630,0.838467,0.110510],[0.052428,-0.163216,0.985196]]
2025-10-26T20:42:13.410Z,1761511333.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843775,-0.520616,-0.130398],[0.534151,0.838247,0.109657],[0.052216,-0.162178,0.985379]]
2025-10-26T20:42:13.814Z,1761511333.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843033,-0.522383,-0.128106],[0.535320,0.838033,0.105520],[0.052235,-0.157534,0.986131]]
2025-10-26T20:42:14.220Z,1761511334.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842062,-0.524204,-0.127053],[0.536779,0.837528,0.102051],[0.052915,-0.154132,0.986632]]
2025-10-26T20:42:14.625Z,1761511334.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841271,-0.525297,-0.127772],[0.537955,0.836827,0.101616],[0.053545,-0.154223,0.986584]]
2025-10-26T20:42:15.026Z,1761511335.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840304,-0.526811,-0.127901],[0.539379,0.836136,0.099735],[0.054401,-0.152795,0.986760]]
2025-10-26T20:42:15.430Z,1761511335.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839347,-0.528187,-0.128516],[0.540766,0.835402,0.098367],[0.055406,-0.152061,0.986817]]
2025-10-26T20:42:15.836Z,1761511335.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838367,-0.529675,-0.128787],[0.542209,0.834630,0.096965],[0.056130,-0.151121,0.986920]]
2025-10-26T20:42:16.238Z,1761511336.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837061,-0.531817,-0.128451],[0.544168,0.833603,0.094799],[0.056661,-0.149252,0.987175]]
2025-10-26T20:42:16.646Z,1761511336.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835488,-0.534205,-0.128783],[0.546554,0.832122,0.094079],[0.056905,-0.148989,0.987200]]
2025-10-26T20:42:17.046Z,1761511337.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833944,-0.536298,-0.130085],[0.548981,0.830233,0.096608],[0.056190,-0.151980,0.986785]]
2025-10-26T20:42:17.452Z,1761511337.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832670,-0.538221,-0.130303],[0.551052,0.828600,0.098811],[0.054787,-0.154081,0.986538]]
2025-10-26T20:42:17.873Z,1761511337.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831378,-0.540432,-0.129397],[0.553142,0.827141,0.099360],[0.053333,-0.154181,0.986602]]
2025-10-26T20:42:18.258Z,1761511338.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830191,-0.542443,-0.128602],[0.555070,0.825732,0.100319],[0.051773,-0.154667,0.986609]]
2025-10-26T20:42:18.666Z,1761511338.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829328,-0.544032,-0.127450],[0.556490,0.824731,0.100685],[0.050336,-0.154426,0.986721]]
2025-10-26T20:42:19.068Z,1761511339.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828510,-0.545745,-0.125436],[0.557850,0.823888,0.100064],[0.048736,-0.152878,0.987043]]
2025-10-26T20:42:19.485Z,1761511339.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828214,-0.546740,-0.123030],[0.558417,0.823640,0.098932],[0.047242,-0.150639,0.987459]]
2025-10-26T20:42:19.874Z,1761511339.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827621,-0.548100,-0.120952],[0.559422,0.823042,0.098225],[0.045712,-0.148956,0.987787]]
2025-10-26T20:42:20.279Z,1761511340.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827190,-0.548919,-0.120185],[0.560153,0.822460,0.098930],[0.044543,-0.149156,0.987810]]
2025-10-26T20:42:20.693Z,1761511340.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827050,-0.549395,-0.118970],[0.560477,0.822154,0.099647],[0.043066,-0.149092,0.987885]]
2025-10-26T20:42:21.086Z,1761511341.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827061,-0.549552,-0.118160],[0.560553,0.821982,0.100629],[0.041825,-0.149461,0.987883]]
2025-10-26T20:42:21.493Z,1761511341.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827047,-0.549694,-0.117602],[0.560660,0.821760,0.101837],[0.040661,-0.150159,0.987825]]
2025-10-26T20:42:21.894Z,1761511341.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826892,-0.550204,-0.116293],[0.560978,0.821521,0.102016],[0.039408,-0.149594,0.987962]]
2025-10-26T20:42:22.302Z,1761511342.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827007,-0.550271,-0.115160],[0.560894,0.821511,0.102553],[0.038173,-0.149404,0.988039]]
2025-10-26T20:42:22.707Z,1761511342.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827137,-0.550300,-0.114079],[0.560780,0.821530,0.103029],[0.037022,-0.149192,0.988115]]
2025-10-26T20:42:23.107Z,1761511343.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827331,-0.550235,-0.112980],[0.560563,0.821634,0.103378],[0.035946,-0.148861,0.988205]]
2025-10-26T20:42:23.510Z,1761511343.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828023,-0.549400,-0.111974],[0.559616,0.822163,0.104297],[0.034760,-0.149023,0.988223]]
2025-10-26T20:42:23.914Z,1761511343.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828848,-0.548508,-0.110226],[0.558467,0.822955,0.104208],[0.033552,-0.147930,0.988429]]
2025-10-26T20:42:24.322Z,1761511344.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829801,-0.547317,-0.108966],[0.557104,0.823853,0.104405],[0.032629,-0.147341,0.988548]]
2025-10-26T20:42:24.727Z,1761511344.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830971,-0.545931,-0.106990],[0.555414,0.825083,0.103696],[0.031665,-0.145592,0.988838]]
2025-10-26T20:42:25.128Z,1761511345.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832492,-0.543974,-0.105116],[0.553207,0.826528,0.103987],[0.030315,-0.144719,0.989008]]
2025-10-26T20:42:25.530Z,1761511345.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834294,-0.541401,-0.104109],[0.550570,0.828015,0.106131],[0.028745,-0.145864,0.988887]]
2025-10-26T20:42:25.935Z,1761511345.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836222,-0.538766,-0.102295],[0.547723,0.829752,0.107293],[0.027073,-0.145750,0.988951]]
2025-10-26T20:42:26.350Z,1761511346.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837961,-0.536323,-0.100894],[0.545154,0.831141,0.109596],[0.025078,-0.146840,0.988842]]
2025-10-26T20:42:26.750Z,1761511346.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839540,-0.533902,-0.100608],[0.542807,0.832150,0.113522],[0.023111,-0.149917,0.988428]]
2025-10-26T20:42:27.146Z,1761511347.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840732,-0.532141,-0.099973],[0.541040,0.832838,0.116858],[0.021076,-0.152336,0.988104]]
2025-10-26T20:42:27.550Z,1761511347.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841542,-0.530753,-0.100542],[0.539863,0.832828,0.122252],[0.018849,-0.157160,0.987393]]
2025-10-26T20:42:27.963Z,1761511347.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841919,-0.530268,-0.099939],[0.539339,0.832745,0.125099],[0.016888,-0.159224,0.987098]]
2025-10-26T20:42:28.377Z,1761511348.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841935,-0.530577,-0.098150],[0.539373,0.832593,0.125956],[0.014890,-0.158986,0.987169]]
2025-10-26T20:42:28.762Z,1761511348.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840939,-0.532563,-0.095911],[0.540969,0.831700,0.125011],[0.013193,-0.157011,0.987509]]
2025-10-26T20:42:29.166Z,1761511349.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839665,-0.534990,-0.093533],[0.542983,0.830588,0.123663],[0.011529,-0.154622,0.987906]]
2025-10-26T20:42:29.576Z,1761511349.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837763,-0.538490,-0.090456],[0.545939,0.829142,0.120313],[0.010214,-0.150178,0.988606]]
2025-10-26T20:42:29.978Z,1761511349.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835310,-0.542734,-0.087735],[0.549712,0.827014,0.117747],[0.008653,-0.146584,0.989160]]
2025-10-26T20:42:30.403Z,1761511350.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832426,-0.547521,-0.085363],[0.554091,0.824391,0.115596],[0.007081,-0.143524,0.989622]]
2025-10-26T20:42:30.782Z,1761511350.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829708,-0.551977,-0.083096],[0.558170,0.821889,0.113777],[0.005493,-0.140783,0.990025]]
2025-10-26T20:42:31.186Z,1761511351.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826866,-0.556389,-0.081996],[0.562386,0.818967,0.114081],[0.003678,-0.140443,0.990082]]
2025-10-26T20:42:31.594Z,1761511351.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823715,-0.561232,-0.080698],[0.566999,0.815883,0.113345],[0.002228,-0.139120,0.990273]]
2025-10-26T20:42:31.996Z,1761511351.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820662,-0.565834,-0.079654],[0.571412,0.812882,0.112745],[0.000955,-0.138041,0.990426]]
2025-10-26T20:42:32.398Z,1761511352.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817652,-0.570352,-0.078384],[0.575713,0.810009,0.111540],[-0.000126,-0.136328,0.990664]]
2025-10-26T20:42:32.803Z,1761511352.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815123,-0.573952,-0.078451],[0.579288,0.807387,0.112037],[-0.000963,-0.136769,0.990602]]
2025-10-26T20:42:33.206Z,1761511353.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813469,-0.576271,-0.078616],[0.581606,0.805617,0.112764],[-0.001648,-0.137454,0.990507]]
2025-10-26T20:42:33.616Z,1761511353.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812452,-0.577669,-0.078868],[0.583026,0.804626,0.112506],[-0.001532,-0.137388,0.990516]]
2025-10-26T20:42:34.156Z,1761511354.156 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:42:34.440Z,1761511354.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812213,-0.577551,-0.082132],[0.583357,0.803560,0.118266],[-0.002307,-0.143970,0.989579]]
2025-10-26T20:42:34.830Z,1761511354.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813104,-0.576176,-0.082969],[0.582111,0.804030,0.121171],[-0.003106,-0.146822,0.989158]]
2025-10-26T20:42:35.160Z,1761511355.160 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:42:35.226Z,1761511355.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814311,-0.574260,-0.084401],[0.580418,0.804735,0.124563],[-0.003611,-0.150421,0.988615]]
2025-10-26T20:42:35.630Z,1761511355.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816010,-0.571690,-0.085432],[0.578022,0.805914,0.128040],[-0.004348,-0.153863,0.988083]]
2025-10-26T20:42:36.035Z,1761511356.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818086,-0.568538,-0.086605],[0.575075,0.807415,0.131798],[-0.005006,-0.157627,0.987486]]
2025-10-26T20:42:36.842Z,1761511356.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822487,-0.561719,-0.089369],[0.568756,0.810678,0.138991],[-0.005624,-0.165147,0.986253]]
2025-10-26T20:42:37.246Z,1761511357.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824839,-0.558247,-0.089446],[0.565333,0.812646,0.141442],[-0.006271,-0.167233,0.985897]]
2025-10-26T20:42:37.650Z,1761511357.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827032,-0.555155,-0.088436],[0.562111,0.814728,0.142299],[-0.006947,-0.167397,0.985865]]
2025-10-26T20:42:38.056Z,1761511358.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828777,-0.552647,-0.087803],[0.559526,0.816287,0.143547],[-0.007658,-0.168097,0.985741]]
2025-10-26T20:42:38.081Z,1761511358.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:42:38.176Z,1761511358.176 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:42:38.176Z,1761511358.176 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:42:38.433Z,1761511358.433 [DAT](INFO): DAT read: user:117>

2025-10-26T20:42:38.436Z,1761511358.436 [DAT](INFO): DAT read: Tx time:20:42:37.5504

2025-10-26T20:42:38.437Z,1761511358.437 [DAT](INFO): Ping request sent.
2025-10-26T20:42:38.437Z,1761511358.437 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:42:38.438Z,1761511358.438 [DAT](INFO): publishing transmit ping time
2025-10-26T20:42:38.441Z,1761511358.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002806
2025-10-26T20:42:38.523Z,1761511358.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831642,-0.548624,-0.085925],[0.555238,0.818986,0.144821],[-0.009080,-0.168148,0.985720]]
2025-10-26T20:42:38.681Z,1761511358.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243618
2025-10-26T20:42:38.935Z,1761511358.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497294
2025-10-26T20:42:39.184Z,1761511359.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747067
2025-10-26T20:42:39.266Z,1761511359.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832591,-0.547309,-0.085117],[0.553804,0.819901,0.145135],[-0.009647,-0.167976,0.985744]]
2025-10-26T20:42:39.441Z,1761511359.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002640
2025-10-26T20:42:39.689Z,1761511359.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251347
2025-10-26T20:42:39.941Z,1761511359.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503487
2025-10-26T20:42:40.192Z,1761511360.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755157
2025-10-26T20:42:40.445Z,1761511360.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008048
2025-10-26T20:42:40.519Z,1761511360.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834230,-0.545201,-0.082561],[0.551294,0.821482,0.145748],[-0.011640,-0.167103,0.985871]]
2025-10-26T20:42:40.697Z,1761511360.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259971
2025-10-26T20:42:40.949Z,1761511360.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511854
2025-10-26T20:42:41.200Z,1761511361.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763260
2025-10-26T20:42:41.287Z,1761511361.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833890,-0.545950,-0.081025],[0.551793,0.821381,0.144422],[-0.012294,-0.165141,0.986193]]
2025-10-26T20:42:41.455Z,1761511361.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017146
2025-10-26T20:42:41.690Z,1761511361.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833724,-0.546438,-0.079434],[0.552024,0.821386,0.143507],[-0.013172,-0.163495,0.986456]]
2025-10-26T20:42:41.706Z,1761511361.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268590
2025-10-26T20:42:41.956Z,1761511361.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519130
2025-10-26T20:42:42.094Z,1761511362.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833247,-0.547226,-0.079013],[0.552736,0.820958,0.143219],[-0.013507,-0.163010,0.986532]]
2025-10-26T20:42:42.210Z,1761511362.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772363
2025-10-26T20:42:42.460Z,1761511362.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023186
2025-10-26T20:42:42.551Z,1761511362.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831952,-0.549057,-0.079955],[0.554678,0.819441,0.144393],[-0.013762,-0.164477,0.986285]]
2025-10-26T20:42:42.713Z,1761511362.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.275769
2025-10-26T20:42:42.964Z,1761511362.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.527212
2025-10-26T20:42:43.216Z,1761511363.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.779210
2025-10-26T20:42:43.313Z,1761511363.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829163,-0.553146,-0.080740],[0.558857,0.816891,0.142717],[-0.012987,-0.163458,0.986465]]
2025-10-26T20:42:43.470Z,1761511363.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.032884
2025-10-26T20:42:43.721Z,1761511363.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.283535
2025-10-26T20:42:43.726Z,1761511363.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827590,-0.555554,-0.080339],[0.561195,0.815694,0.140370],[-0.012451,-0.161255,0.986834]]
2025-10-26T20:42:43.972Z,1761511363.972 [DAT](INFO): DAT read: Rx Time:20:42:42.5450

2025-10-26T20:42:43.973Z,1761511363.973 [DAT](INFO): Rx dataTimestamp_ set to:1761511363.972629
2025-10-26T20:42:43.973Z,1761511363.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.536267
2025-10-26T20:42:44.119Z,1761511364.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826347,-0.557456,-0.079961],[0.563041,0.814865,0.137767],[-0.011642,-0.158865,0.987232]]
2025-10-26T20:42:44.224Z,1761511364.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.787112
2025-10-26T20:42:44.482Z,1761511364.482 [DAT](INFO): DAT read: 20:42:42.5450 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 442, 0.05, 0.613,-1.022, 0.712, 0.586, PHS= 0.129,-1.563, 0.082, RAW= 148.6,  16.0, CAL= 148.8,  17.8, ROT=   1.2, -17.8

2025-10-26T20:42:44.483Z,1761511364.483 [DAT](INFO): got valid direction response:
 20:42:42.5450 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 442, 0.05, 0.613,-1.022, 0.712, 0.586, PHS= 0.129,-1.563, 0.082, RAW= 148.6,  16.0, CAL= 148.8,  17.8, ROT=   1.2, -17.8

2025-10-26T20:42:44.484Z,1761511364.484 [DAT](INFO): DAT read: Bearing 198.9,  -2.8 (Local)

2025-10-26T20:42:44.484Z,1761511364.484 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.9,  -2.8 (Local)

2025-10-26T20:42:44.486Z,1761511364.486 [DAT](INFO): DAT read: Range 11 to 50 : 1942.8 m  (Round-trip  2590.4 ms) speed  0.5 m/s

2025-10-26T20:42:44.486Z,1761511364.486 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:42:44.487Z,1761511364.487 [DAT](INFO): direction in FSK: [0.951921,0.019940,0.305695]
2025-10-26T20:42:44.488Z,1761511364.488 [DAT](INFO): publishing direction and range info
2025-10-26T20:42:44.591Z,1761511364.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825517,-0.558758,-0.079444],[0.564254,0.814177,0.136873],[-0.011797,-0.157818,0.987398]]
2025-10-26T20:42:44.929Z,1761511364.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825098,-0.559356,-0.079593],[0.564866,0.813744,0.136919],[-0.011818,-0.157931,0.987379]]
2025-10-26T20:42:45.326Z,1761511365.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824698,-0.560160,-0.078065],[0.565443,0.813657,0.135041],[-0.012126,-0.155509,0.987760]]
2025-10-26T20:42:45.734Z,1761511365.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824705,-0.560474,-0.075694],[0.565416,0.814028,0.132900],[-0.012870,-0.152402,0.988235]]
2025-10-26T20:42:46.134Z,1761511366.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824658,-0.560606,-0.075233],[0.565464,0.813846,0.133812],[-0.013788,-0.152890,0.988147]]
2025-10-26T20:42:46.551Z,1761511366.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825033,-0.559852,-0.076720],[0.564883,0.813482,0.138396],[-0.015071,-0.157519,0.987401]]
2025-10-26T20:42:46.954Z,1761511366.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825067,-0.559743,-0.077152],[0.564801,0.813068,0.141139],[-0.016272,-0.160025,0.986979]]
2025-10-26T20:42:47.346Z,1761511367.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825145,-0.559652,-0.076979],[0.564666,0.812987,0.142143],[-0.016968,-0.160756,0.986848]]
2025-10-26T20:42:47.750Z,1761511367.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825174,-0.559640,-0.076748],[0.564595,0.812815,0.143399],[-0.017870,-0.161661,0.986685]]
2025-10-26T20:42:48.155Z,1761511368.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824756,-0.560463,-0.075222],[0.565170,0.812509,0.142871],[-0.018956,-0.160347,0.986879]]
2025-10-26T20:42:48.564Z,1761511368.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824444,-0.561025,-0.074453],[0.565602,0.812217,0.142822],[-0.019655,-0.159860,0.986944]]
2025-10-26T20:42:48.962Z,1761511368.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824159,-0.561427,-0.074584],[0.566004,0.811805,0.143567],[-0.020055,-0.160537,0.986826]]
2025-10-26T20:42:49.366Z,1761511369.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823670,-0.562147,-0.074552],[0.566703,0.811271,0.143828],[-0.020371,-0.160716,0.986791]]
2025-10-26T20:42:49.770Z,1761511369.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822915,-0.563273,-0.074396],[0.567791,0.810542,0.143648],[-0.020612,-0.160451,0.986829]]
2025-10-26T20:42:50.175Z,1761511370.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822131,-0.564450,-0.074142],[0.568932,0.809931,0.142574],[-0.020426,-0.159397,0.987003]]
2025-10-26T20:42:50.578Z,1761511370.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821605,-0.565224,-0.074070],[0.569691,0.809463,0.142201],[-0.020419,-0.159030,0.987063]]
2025-10-26T20:42:50.985Z,1761511370.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821283,-0.565482,-0.075661],[0.570188,0.809022,0.142724],[-0.019496,-0.160358,0.986866]]
2025-10-26T20:42:51.387Z,1761511371.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821422,-0.565020,-0.077585],[0.570023,0.808962,0.143714],[-0.018438,-0.162275,0.986573]]
2025-10-26T20:42:51.798Z,1761511371.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820960,-0.565655,-0.077841],[0.570708,0.808651,0.142745],[-0.017798,-0.161613,0.986694]]
2025-10-26T20:42:52.194Z,1761511372.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821070,-0.565449,-0.078172],[0.570565,0.808809,0.142422],[-0.017306,-0.161541,0.986714]]
2025-10-26T20:42:52.598Z,1761511372.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821365,-0.565021,-0.078172],[0.570172,0.809379,0.140747],[-0.016254,-0.160176,0.986955]]
2025-10-26T20:42:53.004Z,1761511373.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821720,-0.564387,-0.079020],[0.569694,0.809852,0.139955],[-0.014995,-0.160021,0.987000]]
2025-10-26T20:42:53.417Z,1761511373.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822388,-0.563118,-0.081091],[0.568757,0.810265,0.141370],[-0.013902,-0.162382,0.986630]]
2025-10-26T20:42:53.811Z,1761511373.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823164,-0.561614,-0.083609],[0.567660,0.810675,0.143416],[-0.012764,-0.165517,0.986124]]
2025-10-26T20:42:54.214Z,1761511374.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824166,-0.559880,-0.085355],[0.566225,0.811429,0.144818],[-0.011821,-0.167684,0.985770]]
2025-10-26T20:42:54.619Z,1761511374.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825088,-0.558493,-0.085531],[0.564880,0.812229,0.145584],[-0.011837,-0.168434,0.985642]]
2025-10-26T20:42:55.022Z,1761511375.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826032,-0.557110,-0.085433],[0.563507,0.813252,0.145193],[-0.011410,-0.168076,0.985708]]
2025-10-26T20:42:55.431Z,1761511375.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827110,-0.555564,-0.085071],[0.561932,0.814462,0.144513],[-0.010999,-0.167332,0.985839]]
2025-10-26T20:42:55.831Z,1761511375.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828075,-0.554333,-0.083708],[0.560509,0.815705,0.143020],[-0.011000,-0.165350,0.986174]]
2025-10-26T20:42:56.234Z,1761511376.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828926,-0.553279,-0.082239],[0.559246,0.816818,0.141604],[-0.011172,-0.163371,0.986501]]
2025-10-26T20:42:56.639Z,1761511376.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829764,-0.552116,-0.081609],[0.557996,0.817650,0.141738],[-0.011528,-0.163146,0.986535]]
2025-10-26T20:42:57.043Z,1761511377.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830612,-0.551183,-0.079249],[0.556714,0.818797,0.140145],[-0.012357,-0.160525,0.986954]]
2025-10-26T20:42:57.447Z,1761511377.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830892,-0.551046,-0.077241],[0.556289,0.819463,0.137925],[-0.012707,-0.157570,0.987426]]
2025-10-26T20:42:58.254Z,1761511378.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830698,-0.551627,-0.075154],[0.556570,0.819714,0.135271],[-0.013014,-0.154198,0.987954]]
2025-10-26T20:42:58.659Z,1761511378.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830498,-0.551976,-0.074801],[0.556870,0.819617,0.134628],[-0.013003,-0.153462,0.988069]]
2025-10-26T20:42:59.064Z,1761511379.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829830,-0.552987,-0.074744],[0.557868,0.819055,0.133908],[-0.012830,-0.152818,0.988171]]
2025-10-26T20:42:59.466Z,1761511379.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829271,-0.553669,-0.075901],[0.558704,0.818311,0.134970],[-0.012618,-0.154333,0.987938]]
2025-10-26T20:42:59.872Z,1761511379.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828560,-0.554794,-0.075445],[0.559757,0.817749,0.134006],[-0.012651,-0.153263,0.988104]]
2025-10-26T20:43:00.275Z,1761511380.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827519,-0.556616,-0.073425],[0.561286,0.817140,0.131301],[-0.013086,-0.149867,0.988620]]
2025-10-26T20:43:00.678Z,1761511380.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826264,-0.558528,-0.073032],[0.563129,0.816038,0.130261],[-0.013158,-0.148757,0.988786]]
2025-10-26T20:43:01.082Z,1761511381.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825443,-0.559744,-0.073004],[0.564308,0.815010,0.131589],[-0.014157,-0.149816,0.988613]]
2025-10-26T20:43:01.486Z,1761511381.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824379,-0.561351,-0.072696],[0.565835,0.813818,0.132402],[-0.015163,-0.150283,0.988527]]
2025-10-26T20:43:01.895Z,1761511381.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822896,-0.563442,-0.073310],[0.567967,0.812069,0.134007],[-0.015973,-0.151912,0.988265]]
2025-10-26T20:43:02.294Z,1761511382.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821649,-0.565290,-0.073079],[0.569742,0.810693,0.134798],[-0.016956,-0.152393,0.988175]]
2025-10-26T20:43:02.700Z,1761511382.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820313,-0.567245,-0.072932],[0.571638,0.809261,0.135374],[-0.017769,-0.152740,0.988107]]
2025-10-26T20:43:03.104Z,1761511383.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819472,-0.568534,-0.072353],[0.572809,0.808322,0.136035],[-0.018857,-0.152921,0.988058]]
2025-10-26T20:43:03.506Z,1761511383.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818284,-0.570279,-0.072065],[0.574474,0.807028,0.136698],[-0.019798,-0.153257,0.987988]]
2025-10-26T20:43:03.917Z,1761511383.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817083,-0.572023,-0.071866],[0.576162,0.805817,0.136732],[-0.020303,-0.153127,0.987998]]
2025-10-26T20:43:04.314Z,1761511384.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815904,-0.573683,-0.072029],[0.577811,0.804531,0.137345],[-0.020843,-0.153680,0.987901]]
2025-10-26T20:43:04.727Z,1761511384.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815365,-0.574480,-0.071779],[0.578558,0.803988,0.137382],[-0.021214,-0.153544,0.987914]]
2025-10-26T20:43:05.122Z,1761511385.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814938,-0.575163,-0.071162],[0.579138,0.803575,0.137354],[-0.021817,-0.153148,0.987962]]
2025-10-26T20:43:05.288Z,1761511385.288 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:43:05.526Z,1761511385.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814874,-0.575277,-0.070970],[0.579216,0.803481,0.137576],[-0.022121,-0.153214,0.987945]]
2025-10-26T20:43:05.930Z,1761511385.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815761,-0.573934,-0.071649],[0.577973,0.804198,0.138609],[-0.021932,-0.154483,0.987752]]
2025-10-26T20:43:06.292Z,1761511386.292 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:43:06.337Z,1761511386.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817488,-0.571349,-0.072612],[0.575543,0.805692,0.140036],[-0.021506,-0.156269,0.987480]]
2025-10-26T20:43:06.743Z,1761511386.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819560,-0.568415,-0.072298],[0.572608,0.807828,0.139765],[-0.021040,-0.155944,0.987542]]
2025-10-26T20:43:07.142Z,1761511387.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821720,-0.565247,-0.072610],[0.569519,0.809884,0.140488],[-0.020605,-0.156795,0.987416]]
2025-10-26T20:43:07.546Z,1761511387.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824502,-0.560953,-0.074353],[0.565495,0.812116,0.143815],[-0.020290,-0.160622,0.986807]]
2025-10-26T20:43:07.953Z,1761511387.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827249,-0.556690,-0.075866],[0.561490,0.814424,0.146431],[-0.019730,-0.163733,0.986307]]
2025-10-26T20:43:08.354Z,1761511388.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829729,-0.552690,-0.077998],[0.557834,0.816268,0.150093],[-0.019287,-0.168047,0.985590]]
2025-10-26T20:43:08.762Z,1761511388.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832222,-0.548763,-0.079153],[0.554113,0.818295,0.152814],[-0.019088,-0.171035,0.985080]]
2025-10-26T20:43:09.570Z,1761511389.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836291,-0.542297,-0.080823],[0.547912,0.821146,0.159723],[-0.020249,-0.177859,0.983848]]
2025-10-26T20:43:09.970Z,1761511389.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837798,-0.540043,-0.080299],[0.545575,0.822407,0.161229],[-0.021032,-0.178887,0.983645]]
2025-10-26T20:43:10.381Z,1761511390.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838596,-0.538880,-0.079782],[0.544309,0.822953,0.162715],[-0.022027,-0.179879,0.983442]]
2025-10-26T20:43:10.778Z,1761511390.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838761,-0.538732,-0.079044],[0.544020,0.823050,0.163189],[-0.022858,-0.179878,0.983423]]
2025-10-26T20:43:11.182Z,1761511391.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838769,-0.538874,-0.077984],[0.543970,0.823092,0.163144],[-0.023727,-0.179261,0.983515]]
2025-10-26T20:43:11.589Z,1761511391.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838866,-0.539263,-0.074158],[0.543734,0.823708,0.160804],[-0.025630,-0.175215,0.984196]]
2025-10-26T20:43:11.992Z,1761511391.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838533,-0.540355,-0.069848],[0.544141,0.823993,0.157944],[-0.027791,-0.170448,0.984975]]
2025-10-26T20:43:12.402Z,1761511392.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838237,-0.541434,-0.064860],[0.544474,0.824452,0.154361],[-0.030102,-0.164706,0.985883]]
2025-10-26T20:43:12.798Z,1761511392.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837425,-0.543285,-0.059674],[0.545587,0.824463,0.150320],[-0.032468,-0.158439,0.986835]]
2025-10-26T20:43:13.202Z,1761511393.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836856,-0.544514,-0.056352],[0.546319,0.824201,0.149091],[-0.034737,-0.155554,0.987216]]
2025-10-26T20:43:13.609Z,1761511393.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836476,-0.545331,-0.054058],[0.546752,0.823832,0.149545],[-0.037017,-0.154648,0.987276]]
2025-10-26T20:43:14.013Z,1761511394.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836441,-0.545638,-0.051423],[0.546652,0.823906,0.149499],[-0.039204,-0.153157,0.987424]]
2025-10-26T20:43:14.414Z,1761511394.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836173,-0.546097,-0.050919],[0.546917,0.823240,0.152175],[-0.041183,-0.155093,0.987041]]
2025-10-26T20:43:14.818Z,1761511394.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836217,-0.545935,-0.051914],[0.546734,0.822567,0.156415],[-0.042690,-0.159180,0.986326]]
2025-10-26T20:43:15.222Z,1761511395.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836348,-0.545728,-0.051981],[0.546456,0.822379,0.158364],[-0.043676,-0.160852,0.986012]]
2025-10-26T20:43:15.629Z,1761511395.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836514,-0.545376,-0.053014],[0.546144,0.822012,0.161317],[-0.044400,-0.163897,0.985478]]
2025-10-26T20:43:16.031Z,1761511396.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836680,-0.544861,-0.055620],[0.545895,0.821399,0.165237],[-0.044345,-0.168613,0.984684]]
2025-10-26T20:43:16.435Z,1761511396.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836383,-0.544977,-0.058847],[0.546407,0.820372,0.168610],[-0.043612,-0.173176,0.983925]]
2025-10-26T20:43:16.839Z,1761511396.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836549,-0.544342,-0.062266],[0.546270,0.819931,0.171178],[-0.042126,-0.177213,0.983270]]
2025-10-26T20:43:17.242Z,1761511397.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836234,-0.544594,-0.064265],[0.546866,0.819508,0.171301],[-0.040624,-0.178392,0.983121]]
2025-10-26T20:43:17.649Z,1761511397.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835969,-0.544894,-0.065161],[0.547383,0.819490,0.169730],[-0.039086,-0.177558,0.983334]]
2025-10-26T20:43:18.067Z,1761511398.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835550,-0.545530,-0.065218],[0.548123,0.819556,0.167003],[-0.037655,-0.175286,0.983797]]
2025-10-26T20:43:18.454Z,1761511398.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835260,-0.545823,-0.066470],[0.548659,0.819360,0.166201],[-0.036253,-0.175291,0.983849]]
2025-10-26T20:43:18.862Z,1761511398.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834880,-0.546215,-0.068004],[0.549358,0.819154,0.164903],[-0.034367,-0.175033,0.983963]]
2025-10-26T20:43:19.263Z,1761511399.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834520,-0.546624,-0.069125],[0.550018,0.819085,0.163035],[-0.032500,-0.174076,0.984196]]
2025-10-26T20:43:19.672Z,1761511399.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833778,-0.547836,-0.068481],[0.551234,0.819098,0.158808],[-0.030908,-0.170159,0.984932]]
2025-10-26T20:43:20.095Z,1761511400.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832991,-0.549230,-0.066879],[0.552482,0.819165,0.154054],[-0.029826,-0.165275,0.985796]]
2025-10-26T20:43:20.474Z,1761511400.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832294,-0.550482,-0.065238],[0.553560,0.819137,0.150286],[-0.029291,-0.161195,0.986488]]
2025-10-26T20:43:20.884Z,1761511400.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831940,-0.551288,-0.062908],[0.554109,0.819528,0.146070],[-0.028971,-0.156380,0.987272]]
2025-10-26T20:43:21.283Z,1761511401.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831867,-0.551614,-0.060983],[0.554237,0.820064,0.142535],[-0.028615,-0.152369,0.987909]]
2025-10-26T20:43:21.305Z,1761511401.305 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA,  0.00, 358.18, 329.10
2025-10-26T20:43:21.686Z,1761511401.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831931,-0.551643,-0.059836],[0.554144,0.820436,0.140747],[-0.028550,-0.150249,0.988236]]
2025-10-26T20:43:22.121Z,1761511402.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832414,-0.550919,-0.059794],[0.553397,0.820782,0.141665],[-0.028968,-0.151013,0.988107]]
2025-10-26T20:43:22.495Z,1761511402.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832876,-0.550261,-0.059417],[0.552676,0.821178,0.142185],[-0.029447,-0.151261,0.988055]]
2025-10-26T20:43:22.927Z,1761511402.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833675,-0.549153,-0.058455],[0.551464,0.822138,0.141341],[-0.029560,-0.150069,0.988234]]
2025-10-26T20:43:23.304Z,1761511403.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834520,-0.547688,-0.060116],[0.550201,0.822578,0.143682],[-0.029243,-0.152982,0.987796]]
2025-10-26T20:43:23.711Z,1761511403.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835398,-0.545923,-0.063857],[0.548918,0.822673,0.147980],[-0.028252,-0.158674,0.986927]]
2025-10-26T20:43:24.154Z,1761511404.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836113,-0.544253,-0.068586],[0.547901,0.822445,0.152935],[-0.026827,-0.165449,0.985853]]
2025-10-26T20:43:24.514Z,1761511404.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836725,-0.543011,-0.070930],[0.547034,0.822772,0.154272],[-0.025412,-0.167884,0.985479]]
2025-10-26T20:43:24.918Z,1761511404.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836586,-0.542931,-0.073139],[0.547315,0.822494,0.154757],[-0.023866,-0.169497,0.985242]]
2025-10-26T20:43:25.323Z,1761511405.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836389,-0.543116,-0.074009],[0.547674,0.822494,0.153483],[-0.022487,-0.168905,0.985376]]
2025-10-26T20:43:25.744Z,1761511405.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835628,-0.544181,-0.074788],[0.548877,0.821900,0.152361],[-0.021443,-0.168366,0.985491]]
2025-10-26T20:43:26.177Z,1761511406.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833016,-0.548255,-0.074171],[0.552911,0.820301,0.146273],[-0.019352,-0.162858,0.986460]]
2025-10-26T20:43:26.938Z,1761511406.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831653,-0.550508,-0.072760],[0.554987,0.819655,0.141968],[-0.018517,-0.158448,0.987194]]
2025-10-26T20:43:27.346Z,1761511407.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829726,-0.553522,-0.071892],[0.557881,0.818242,0.138740],[-0.017971,-0.155223,0.987716]]
2025-10-26T20:43:27.757Z,1761511407.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827519,-0.556882,-0.071384],[0.561171,0.816489,0.135769],[-0.017323,-0.152410,0.988166]]
2025-10-26T20:43:28.150Z,1761511408.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825284,-0.560315,-0.070377],[0.564459,0.814708,0.132806],[-0.017076,-0.149328,0.988640]]
2025-10-26T20:43:28.560Z,1761511408.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820860,-0.567374,-0.065392],[0.570894,0.811835,0.122488],[-0.016408,-0.137877,0.990313]]
2025-10-26T20:43:28.963Z,1761511408.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818599,-0.571046,-0.061662],[0.574138,0.810524,0.115830],[-0.016166,-0.130221,0.991353]]
2025-10-26T20:43:29.376Z,1761511409.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816532,-0.574321,-0.058569],[0.577070,0.809135,0.110863],[-0.016281,-0.124322,0.992108]]
2025-10-26T20:43:29.770Z,1761511409.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814494,-0.577300,-0.057657],[0.579942,0.807343,0.108924],[-0.016333,-0.122156,0.992377]]
2025-10-26T20:43:30.173Z,1761511410.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812989,-0.579327,-0.058560],[0.582037,0.805635,0.110385],[-0.016771,-0.123826,0.992162]]
2025-10-26T20:43:30.575Z,1761511410.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811781,-0.580816,-0.060538],[0.583700,0.803939,0.113915],[-0.017495,-0.127810,0.991644]]
2025-10-26T20:43:30.980Z,1761511410.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810815,-0.581908,-0.062939],[0.585024,0.802415,0.117804],[-0.018048,-0.132338,0.991040]]
2025-10-26T20:43:31.382Z,1761511411.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809908,-0.583054,-0.064000],[0.586253,0.801150,0.120275],[-0.018853,-0.134932,0.990676]]
2025-10-26T20:43:31.786Z,1761511411.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809675,-0.583267,-0.065001],[0.586545,0.800507,0.123100],[-0.019767,-0.137797,0.990263]]
2025-10-26T20:43:32.192Z,1761511412.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809769,-0.583004,-0.066178],[0.586390,0.800169,0.125999],[-0.020504,-0.140836,0.989821]]
2025-10-26T20:43:32.594Z,1761511412.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810038,-0.582442,-0.067827],[0.586003,0.799949,0.129162],[-0.020971,-0.144374,0.989301]]
2025-10-26T20:43:32.998Z,1761511412.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810707,-0.581496,-0.067946],[0.585064,0.800467,0.130202],[-0.021324,-0.145308,0.989157]]
2025-10-26T20:43:33.402Z,1761511413.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811447,-0.580486,-0.067748],[0.584018,0.801082,0.131115],[-0.021839,-0.145959,0.989050]]
2025-10-26T20:43:33.812Z,1761511413.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812657,-0.578675,-0.068728],[0.582304,0.801810,0.134247],[-0.022579,-0.149118,0.988562]]
2025-10-26T20:43:34.219Z,1761511414.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813805,-0.576974,-0.069441],[0.580667,0.802509,0.137136],[-0.023397,-0.151924,0.988115]]
2025-10-26T20:43:34.614Z,1761511414.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815141,-0.575089,-0.069413],[0.578763,0.803590,0.138840],[-0.024066,-0.153348,0.987879]]
2025-10-26T20:43:35.018Z,1761511415.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816064,-0.573717,-0.069921],[0.577448,0.804253,0.140468],[-0.024354,-0.155006,0.987613]]
2025-10-26T20:43:35.425Z,1761511415.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817191,-0.572009,-0.070739],[0.575830,0.804965,0.143004],[-0.024857,-0.157596,0.987191]]
2025-10-26T20:43:35.829Z,1761511415.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818247,-0.570498,-0.070734],[0.574293,0.805720,0.144925],[-0.025687,-0.159207,0.986911]]
2025-10-26T20:43:36.245Z,1761511416.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818965,-0.569445,-0.070918],[0.573242,0.806175,0.146546],[-0.026278,-0.160669,0.986658]]
2025-10-26T20:43:36.416Z,1761511416.416 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:43:36.634Z,1761511416.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819414,-0.568796,-0.070934],[0.572586,0.806510,0.147265],[-0.026555,-0.161287,0.986550]]
2025-10-26T20:43:37.040Z,1761511417.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819851,-0.568312,-0.069757],[0.571945,0.807123,0.146395],[-0.026896,-0.159919,0.986764]]
2025-10-26T20:43:37.420Z,1761511417.420 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:43:37.442Z,1761511417.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819960,-0.568224,-0.069193],[0.571780,0.807314,0.145988],[-0.027093,-0.159268,0.986864]]
2025-10-26T20:43:37.857Z,1761511417.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819827,-0.568470,-0.068742],[0.571959,0.807241,0.145686],[-0.027327,-0.158755,0.986940]]
2025-10-26T20:43:38.251Z,1761511418.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819339,-0.569291,-0.067759],[0.572648,0.806985,0.144397],[-0.027523,-0.157112,0.987197]]
2025-10-26T20:43:38.267Z,1761511418.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:43:38.420Z,1761511418.420 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:43:38.420Z,1761511418.420 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:43:38.656Z,1761511418.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818485,-0.570679,-0.066397],[0.573857,0.806463,0.142500],[-0.027775,-0.154736,0.987565]]
2025-10-26T20:43:38.672Z,1761511418.672 [DAT](INFO): DAT read: user:118>

2025-10-26T20:43:38.673Z,1761511418.673 [DAT](INFO): DAT read: Tx time:20:43:37.8001

2025-10-26T20:43:38.673Z,1761511418.673 [DAT](INFO): Ping request sent.
2025-10-26T20:43:38.674Z,1761511418.674 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:43:38.674Z,1761511418.674 [DAT](INFO): publishing transmit ping time
2025-10-26T20:43:38.674Z,1761511418.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755
2025-10-26T20:43:38.924Z,1761511418.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250723
2025-10-26T20:43:39.059Z,1761511419.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817223,-0.572747,-0.064097],[0.575639,0.805778,0.139146],[-0.028048,-0.150610,0.988195]]
2025-10-26T20:43:39.176Z,1761511419.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502790
2025-10-26T20:43:39.428Z,1761511419.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754799
2025-10-26T20:43:39.462Z,1761511419.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816037,-0.574340,-0.064945],[0.577316,0.804444,0.139912],[-0.028112,-0.151667,0.988032]]
2025-10-26T20:43:39.680Z,1761511419.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006677
2025-10-26T20:43:39.880Z,1761511419.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815296,-0.575169,-0.066881],[0.578358,0.803256,0.142412],[-0.028189,-0.154789,0.987545]]
2025-10-26T20:43:39.932Z,1761511419.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258850
2025-10-26T20:43:40.184Z,1761511420.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510803
2025-10-26T20:43:40.276Z,1761511420.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815240,-0.575132,-0.067877],[0.578436,0.802950,0.143813],[-0.028210,-0.156505,0.987274]]
2025-10-26T20:43:40.436Z,1761511420.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762815
2025-10-26T20:43:40.678Z,1761511420.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815332,-0.574864,-0.069024],[0.578313,0.802789,0.145204],[-0.028061,-0.158306,0.986991]]
2025-10-26T20:43:40.688Z,1761511420.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014723
2025-10-26T20:43:40.940Z,1761511420.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266793
2025-10-26T20:43:41.082Z,1761511421.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815257,-0.574922,-0.069434],[0.578430,0.802679,0.145344],[-0.027828,-0.158656,0.986942]]
2025-10-26T20:43:41.193Z,1761511421.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519335
2025-10-26T20:43:41.444Z,1761511421.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770750
2025-10-26T20:43:41.492Z,1761511421.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815776,-0.574281,-0.068635],[0.577721,0.803496,0.143640],[-0.027341,-0.156830,0.987247]]
2025-10-26T20:43:41.697Z,1761511421.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023203
2025-10-26T20:43:41.898Z,1761511421.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816387,-0.573396,-0.068775],[0.576858,0.804030,0.144125],[-0.027344,-0.157335,0.987167]]
2025-10-26T20:43:41.949Z,1761511421.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275226
2025-10-26T20:43:42.201Z,1761511422.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526966
2025-10-26T20:43:42.294Z,1761511422.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817119,-0.572268,-0.069473],[0.575819,0.804524,0.145512],[-0.027379,-0.158904,0.986914]]
2025-10-26T20:43:42.452Z,1761511422.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778754
2025-10-26T20:43:42.699Z,1761511422.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818243,-0.570562,-0.070268],[0.574205,0.805276,0.147716],[-0.027696,-0.161216,0.986530]]
2025-10-26T20:43:42.705Z,1761511422.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030989
2025-10-26T20:43:42.957Z,1761511422.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283025
2025-10-26T20:43:43.102Z,1761511423.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819225,-0.569120,-0.070524],[0.572777,0.805964,0.149493],[-0.028240,-0.162863,0.986244]]
2025-10-26T20:43:43.208Z,1761511423.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534825
2025-10-26T20:43:43.460Z,1761511423.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786753
2025-10-26T20:43:43.506Z,1761511423.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820528,-0.567147,-0.071265],[0.570866,0.806724,0.152675],[-0.029098,-0.165957,0.985704]]
2025-10-26T20:43:43.714Z,1761511423.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039710
2025-10-26T20:43:43.910Z,1761511423.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821667,-0.565553,-0.070801],[0.569193,0.807721,0.153646],[-0.029708,-0.166545,0.985586]]
2025-10-26T20:43:43.965Z,1761511423.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290928
2025-10-26T20:43:44.216Z,1761511424.216 [DAT](INFO): DAT read: Rx Time:20:43:42.7459

2025-10-26T20:43:44.217Z,1761511424.217 [DAT](INFO): Rx dataTimestamp_ set to:1761511424.216553
2025-10-26T20:43:44.217Z,1761511424.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543807
2025-10-26T20:43:44.318Z,1761511424.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822807,-0.563945,-0.070399],[0.567505,0.808656,0.154963],[-0.030462,-0.167457,0.985409]]
2025-10-26T20:43:44.468Z,1761511424.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794860
2025-10-26T20:43:44.728Z,1761511424.728 [DAT](INFO): DAT read: 20:43:42.7459 LVL= 28656, 32753, 30162, 32755, AGC= 87, IDX= 455, 0.35,-0.248,-1.977,-0.144,-0.477, PHS= 0.331,-1.456, 0.289, RAW= 148.8,   9.5, CAL= 148.4,  10.3, ROT=   1.6, -10.3

2025-10-26T20:43:44.729Z,1761511424.729 [DAT](INFO): got valid direction response:
 20:43:42.7459 LVL= 28656, 32753, 30162, 32755, AGC= 87, IDX= 455, 0.35,-0.248,-1.977,-0.144,-0.477, PHS= 0.331,-1.456, 0.289, RAW= 148.8,   9.5, CAL= 148.4,  10.3, ROT=   1.6, -10.3

2025-10-26T20:43:44.731Z,1761511424.731 [DAT](INFO): DAT read: Bearing 192.3,  -2.1 (Local)

2025-10-26T20:43:44.731Z,1761511424.731 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.3,  -2.1 (Local)

2025-10-26T20:43:44.733Z,1761511424.733 [DAT](INFO): DAT read: Range 11 to 50 : 1906.2 m  (Round-trip  2541.6 ms) speed  0.8 m/s

2025-10-26T20:43:44.733Z,1761511424.733 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:43:44.734Z,1761511424.734 [DAT](INFO): direction in FSK: [0.983501,0.027472,0.178802]
2025-10-26T20:43:44.735Z,1761511424.735 [DAT](INFO): publishing direction and range info
2025-10-26T20:43:44.743Z,1761511424.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823708,-0.562621,-0.070446],[0.566189,0.809436,0.155703],[-0.030580,-0.168140,0.985289]]
2025-10-26T20:43:45.122Z,1761511425.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824444,-0.561572,-0.070202],[0.565103,0.810107,0.156154],[-0.030821,-0.168412,0.985235]]
2025-10-26T20:43:45.526Z,1761511425.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824243,-0.562022,-0.068951],[0.565395,0.810260,0.154299],[-0.030852,-0.166164,0.985615]]
2025-10-26T20:43:45.932Z,1761511425.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823965,-0.562560,-0.067886],[0.565794,0.810260,0.152830],[-0.030971,-0.164336,0.985918]]
2025-10-26T20:43:46.341Z,1761511426.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823310,-0.563674,-0.066572],[0.566739,0.809975,0.150819],[-0.031091,-0.161900,0.986317]]
2025-10-26T20:43:46.741Z,1761511426.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822497,-0.564884,-0.066368],[0.567928,0.809327,0.149821],[-0.030918,-0.160920,0.986483]]
2025-10-26T20:43:47.143Z,1761511427.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821700,-0.566011,-0.066644],[0.569098,0.808599,0.149316],[-0.030627,-0.160620,0.986541]]
2025-10-26T20:43:47.961Z,1761511427.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820563,-0.567871,-0.064795],[0.570762,0.808169,0.145239],[-0.030112,-0.156161,0.987273]]
2025-10-26T20:43:48.354Z,1761511428.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820321,-0.568346,-0.063698],[0.571145,0.808400,0.142414],[-0.029447,-0.153206,0.987755]]
2025-10-26T20:43:48.760Z,1761511428.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820183,-0.568439,-0.064627],[0.571400,0.808343,0.141718],[-0.028317,-0.153163,0.987795]]
2025-10-26T20:43:49.164Z,1761511429.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820121,-0.568076,-0.068492],[0.571558,0.807696,0.144734],[-0.026899,-0.157847,0.987097]]
2025-10-26T20:43:49.970Z,1761511429.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820632,-0.566418,-0.075727],[0.570969,0.807225,0.149608],[-0.023612,-0.166011,0.985841]]
2025-10-26T20:43:50.374Z,1761511430.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820931,-0.565637,-0.078279],[0.570627,0.807475,0.149563],[-0.021390,-0.167449,0.985649]]
2025-10-26T20:43:50.780Z,1761511430.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821178,-0.564858,-0.081259],[0.570357,0.807626,0.149779],[-0.018977,-0.169342,0.985375]]
2025-10-26T20:43:51.184Z,1761511431.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821496,-0.564151,-0.082940],[0.569970,0.808152,0.148404],[-0.016694,-0.169187,0.985443]]
2025-10-26T20:43:51.586Z,1761511431.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821673,-0.563887,-0.082980],[0.569767,0.808863,0.145279],[-0.014801,-0.166651,0.985905]]
2025-10-26T20:43:51.991Z,1761511431.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822160,-0.563105,-0.083464],[0.569101,0.809627,0.143621],[-0.013299,-0.165579,0.986107]]
2025-10-26T20:43:52.395Z,1761511432.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822857,-0.562146,-0.083048],[0.568115,0.810672,0.141622],[-0.012288,-0.163715,0.986431]]
2025-10-26T20:43:52.806Z,1761511432.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823615,-0.560927,-0.083777],[0.567019,0.811234,0.142789],[-0.012132,-0.165107,0.986201]]
2025-10-26T20:43:53.202Z,1761511433.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825122,-0.558912,-0.082411],[0.564827,0.813003,0.141412],[-0.012037,-0.163230,0.986515]]
2025-10-26T20:43:53.606Z,1761511433.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826674,-0.557101,-0.079050],[0.562542,0.815140,0.138182],[-0.012545,-0.158700,0.987247]]
2025-10-26T20:43:54.011Z,1761511434.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827925,-0.555435,-0.077665],[0.560683,0.816458,0.137950],[-0.013212,-0.157758,0.987389]]
2025-10-26T20:43:54.416Z,1761511434.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828957,-0.554125,-0.076006],[0.559143,0.817670,0.137019],[-0.013778,-0.156080,0.987648]]
2025-10-26T20:43:54.827Z,1761511434.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829442,-0.553015,-0.078744],[0.558422,0.817428,0.141335],[-0.013793,-0.161202,0.986825]]
2025-10-26T20:43:55.222Z,1761511435.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829657,-0.552048,-0.083138],[0.558125,0.816758,0.146295],[-0.012858,-0.167776,0.985741]]
2025-10-26T20:43:55.917Z,1761511435.917 [CTD_Seabird](ERROR): Failed to parse device response: 49.42.22
2025-10-26T20:43:56.434Z,1761511436.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827446,-0.554218,-0.090420],[0.561496,0.814439,0.146329],[-0.007457,-0.171850,0.985095]]
2025-10-26T20:43:56.838Z,1761511436.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826317,-0.555289,-0.094094],[0.563183,0.813192,0.146776],[-0.004987,-0.174276,0.984684]]
2025-10-26T20:43:57.244Z,1761511437.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825113,-0.556328,-0.098420],[0.564962,0.811769,0.147811],[-0.002337,-0.177564,0.984106]]
2025-10-26T20:43:57.646Z,1761511437.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824451,-0.557106,-0.099565],[0.565933,0.811396,0.146137],[-0.000627,-0.176830,0.984241]]
2025-10-26T20:43:58.050Z,1761511438.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823424,-0.558742,-0.098897],[0.567427,0.810976,0.142636],[0.000507,-0.173567,0.984822]]
2025-10-26T20:43:58.455Z,1761511438.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822618,-0.560055,-0.098170],[0.568593,0.810621,0.139985],[0.001179,-0.170973,0.985275]]
2025-10-26T20:43:58.859Z,1761511438.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822048,-0.560819,-0.098582],[0.569416,0.810076,0.139794],[0.001460,-0.171052,0.985261]]
2025-10-26T20:43:59.262Z,1761511439.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821599,-0.561481,-0.098559],[0.570063,0.809745,0.139075],[0.001720,-0.170449,0.985365]]
2025-10-26T20:43:59.666Z,1761511439.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821084,-0.562593,-0.096487],[0.570801,0.810029,0.134311],[0.002595,-0.165355,0.986231]]
2025-10-26T20:44:00.070Z,1761511440.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820346,-0.564223,-0.093195],[0.571857,0.810372,0.127579],[0.003539,-0.157953,0.987440]]
2025-10-26T20:44:00.476Z,1761511440.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819164,-0.566161,-0.091830],[0.573538,0.809945,0.122650],[0.004937,-0.153138,0.988192]]
2025-10-26T20:44:00.878Z,1761511440.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818455,-0.567039,-0.092726],[0.574534,0.809508,0.120862],[0.006529,-0.152194,0.988329]]
2025-10-26T20:44:01.284Z,1761511441.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817859,-0.567354,-0.096000],[0.575354,0.808803,0.121679],[0.008610,-0.154750,0.987916]]
2025-10-26T20:44:02.091Z,1761511442.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816655,-0.568545,-0.099153],[0.576949,0.808518,0.115881],[0.014284,-0.151841,0.988302]]
2025-10-26T20:44:02.494Z,1761511442.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815876,-0.569433,-0.100466],[0.577974,0.808259,0.112533],[0.017123,-0.149880,0.988556]]
2025-10-26T20:44:02.898Z,1761511442.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815281,-0.569953,-0.102324],[0.578736,0.807955,0.110784],[0.019532,-0.149539,0.988563]]
2025-10-26T20:44:03.309Z,1761511443.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814910,-0.569993,-0.105020],[0.579181,0.807644,0.110729],[0.021704,-0.151059,0.988286]]
2025-10-26T20:44:03.713Z,1761511443.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814465,-0.570453,-0.105974],[0.579726,0.807571,0.108378],[0.023757,-0.149706,0.988445]]
2025-10-26T20:44:04.110Z,1761511444.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814128,-0.570776,-0.106822],[0.580104,0.807664,0.105631],[0.025985,-0.147965,0.988651]]
2025-10-26T20:44:04.514Z,1761511444.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813881,-0.571022,-0.107385],[0.580359,0.807826,0.102964],[0.027954,-0.146122,0.988872]]
2025-10-26T20:44:04.921Z,1761511444.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814332,-0.570058,-0.109079],[0.579652,0.808327,0.103007],[0.029451,-0.147110,0.988682]]
2025-10-26T20:44:05.322Z,1761511445.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815184,-0.568386,-0.111411],[0.578394,0.809000,0.104780],[0.030576,-0.149854,0.988235]]
2025-10-26T20:44:05.732Z,1761511445.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816285,-0.566595,-0.112463],[0.576812,0.809982,0.105915],[0.031082,-0.151327,0.987995]]
2025-10-26T20:44:06.130Z,1761511446.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816747,-0.565831,-0.112963],[0.576137,0.810431,0.106152],[0.031484,-0.151781,0.987913]]
2025-10-26T20:44:06.539Z,1761511446.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817425,-0.564713,-0.113643],[0.575146,0.811075,0.106604],[0.031972,-0.152502,0.987786]]
2025-10-26T20:44:06.938Z,1761511446.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818182,-0.563333,-0.115036],[0.574053,0.811602,0.108466],[0.032261,-0.154782,0.987422]]
2025-10-26T20:44:07.354Z,1761511447.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819156,-0.561516,-0.116975],[0.572666,0.812122,0.111856],[0.032189,-0.158615,0.986816]]
2025-10-26T20:44:07.540Z,1761511447.540 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:44:07.746Z,1761511447.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820095,-0.559837,-0.118434],[0.571332,0.812659,0.114740],[0.032011,-0.161763,0.986310]]
2025-10-26T20:44:08.151Z,1761511448.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820752,-0.558710,-0.119200],[0.570390,0.813098,0.116301],[0.031943,-0.163445,0.986035]]
2025-10-26T20:44:08.544Z,1761511448.544 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:44:08.566Z,1761511448.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821860,-0.557446,-0.117477],[0.568816,0.814378,0.115048],[0.031537,-0.161376,0.986389]]
2025-10-26T20:44:08.958Z,1761511448.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822832,-0.556228,-0.116441],[0.567418,0.815459,0.114291],[0.031381,-0.160113,0.986600]]
2025-10-26T20:44:09.405Z,1761511449.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823918,-0.554416,-0.117398],[0.565840,0.816278,0.116256],[0.031375,-0.162213,0.986257]]
2025-10-26T20:44:09.770Z,1761511449.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824767,-0.552553,-0.120189],[0.564567,0.816659,0.119719],[0.032003,-0.166595,0.985506]]
2025-10-26T20:44:10.170Z,1761511450.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825365,-0.550730,-0.124376],[0.563632,0.816601,0.124424],[0.033041,-0.172797,0.984403]]
2025-10-26T20:44:10.577Z,1761511450.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825710,-0.549049,-0.129414],[0.563027,0.816272,0.129228],[0.034684,-0.179568,0.983134]]
2025-10-26T20:44:10.978Z,1761511450.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825591,-0.548542,-0.132293],[0.563112,0.815943,0.130929],[0.036123,-0.182589,0.982525]]
2025-10-26T20:44:11.384Z,1761511451.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824866,-0.549455,-0.133026],[0.564073,0.815601,0.128911],[0.037666,-0.181370,0.982693]]
2025-10-26T20:44:11.798Z,1761511451.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823789,-0.551314,-0.132003],[0.565526,0.815390,0.123771],[0.039398,-0.176612,0.983492]]
2025-10-26T20:44:12.190Z,1761511452.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822611,-0.553392,-0.130645],[0.567118,0.815110,0.118205],[0.041076,-0.171328,0.984357]]
2025-10-26T20:44:12.597Z,1761511452.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821486,-0.555505,-0.128744],[0.568679,0.814734,0.113192],[0.042013,-0.166200,0.985197]]
2025-10-26T20:44:13.010Z,1761511453.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820862,-0.556842,-0.126936],[0.569532,0.814692,0.109131],[0.042645,-0.161875,0.985889]]
2025-10-26T20:44:13.440Z,1761511453.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819395,-0.560917,-0.118170],[0.571670,0.814809,0.096331],[0.042252,-0.146487,0.988310]]
2025-10-26T20:44:13.811Z,1761511453.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818798,-0.561697,-0.118601],[0.572611,0.813860,0.098735],[0.041065,-0.148756,0.988021]]
2025-10-26T20:44:14.214Z,1761511454.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818686,-0.561575,-0.119943],[0.572905,0.813008,0.103918],[0.039156,-0.153792,0.987327]]
2025-10-26T20:44:14.627Z,1761511454.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818392,-0.561863,-0.120600],[0.573469,0.812014,0.108473],[0.036982,-0.157934,0.986757]]
2025-10-26T20:44:15.026Z,1761511455.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818117,-0.561820,-0.122650],[0.573950,0.810960,0.113689],[0.035592,-0.163405,0.985917]]
2025-10-26T20:44:15.443Z,1761511455.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817934,-0.561881,-0.123585],[0.574215,0.810577,0.115077],[0.035515,-0.165090,0.985639]]
2025-10-26T20:44:15.826Z,1761511455.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817401,-0.562801,-0.122925],[0.574912,0.810485,0.112203],[0.036481,-0.162386,0.986053]]
2025-10-26T20:44:16.231Z,1761511456.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817155,-0.562847,-0.124343],[0.575130,0.810547,0.110629],[0.038519,-0.161914,0.986053]]
2025-10-26T20:44:16.637Z,1761511456.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817026,-0.562781,-0.125484],[0.575138,0.810914,0.107868],[0.041051,-0.160301,0.986214]]
2025-10-26T20:44:17.038Z,1761511457.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817234,-0.562046,-0.127411],[0.574641,0.811504,0.106060],[0.043783,-0.159891,0.986163]]
2025-10-26T20:44:17.442Z,1761511457.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817666,-0.560835,-0.129946],[0.573800,0.812232,0.105038],[0.046637,-0.160449,0.985942]]
2025-10-26T20:44:17.848Z,1761511457.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817848,-0.559909,-0.132765],[0.573303,0.812672,0.104346],[0.049470,-0.161453,0.985640]]
2025-10-26T20:44:18.267Z,1761511458.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818408,-0.558000,-0.137273],[0.572286,0.813051,0.106942],[0.051936,-0.166082,0.984743]]
2025-10-26T20:44:18.657Z,1761511458.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819059,-0.556476,-0.139558],[0.571224,0.813633,0.108191],[0.053343,-0.168334,0.984286]]
2025-10-26T20:44:19.058Z,1761511459.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819574,-0.555608,-0.139994],[0.570450,0.814139,0.108464],[0.053711,-0.168754,0.984194]]
2025-10-26T20:44:19.463Z,1761511459.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820412,-0.554193,-0.140689],[0.569197,0.814936,0.109062],[0.054211,-0.169555,0.984029]]
2025-10-26T20:44:19.867Z,1761511459.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821550,-0.552354,-0.141286],[0.567538,0.815932,0.110252],[0.054382,-0.170762,0.983810]]
2025-10-26T20:44:20.284Z,1761511460.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822794,-0.550298,-0.142065],[0.565737,0.816922,0.112163],[0.054333,-0.172659,0.983482]]
2025-10-26T20:44:20.674Z,1761511460.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823888,-0.548723,-0.141814],[0.564176,0.817883,0.113015],[0.053974,-0.173120,0.983421]]
2025-10-26T20:44:21.086Z,1761511461.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824929,-0.547694,-0.139726],[0.562745,0.818986,0.112156],[0.053006,-0.171151,0.983818]]
2025-10-26T20:44:21.484Z,1761511461.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825612,-0.547456,-0.136591],[0.561827,0.819988,0.109402],[0.052110,-0.167064,0.984568]]
2025-10-26T20:44:21.886Z,1761511461.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826159,-0.547138,-0.134539],[0.561102,0.820649,0.108161],[0.051231,-0.164849,0.984987]]
2025-10-26T20:44:22.292Z,1761511462.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826759,-0.546260,-0.134424],[0.560262,0.821094,0.109136],[0.050758,-0.165541,0.984896]]
2025-10-26T20:44:22.702Z,1761511462.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827252,-0.545713,-0.133605],[0.559601,0.821495,0.109507],[0.049996,-0.165356,0.984966]]
2025-10-26T20:44:23.099Z,1761511463.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827218,-0.546424,-0.130887],[0.559693,0.821866,0.106202],[0.049540,-0.161109,0.985693]]
2025-10-26T20:44:23.502Z,1761511463.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826889,-0.547457,-0.128629],[0.560189,0.821954,0.102857],[0.049417,-0.157108,0.986344]]
2025-10-26T20:44:23.906Z,1761511463.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826732,-0.547938,-0.127585],[0.560388,0.822103,0.100557],[0.049789,-0.154631,0.986717]]
2025-10-26T20:44:24.312Z,1761511464.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826118,-0.549277,-0.125790],[0.561234,0.822023,0.096411],[0.050446,-0.150245,0.987361]]
2025-10-26T20:44:24.728Z,1761511464.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825642,-0.549876,-0.126303],[0.561840,0.821761,0.095102],[0.051497,-0.149482,0.987423]]
2025-10-26T20:44:25.118Z,1761511465.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824675,-0.551040,-0.127540],[0.563167,0.820893,0.094754],[0.052483,-0.149968,0.987297]]
2025-10-26T20:44:25.522Z,1761511465.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823699,-0.552131,-0.129115],[0.564512,0.819925,0.095127],[0.053342,-0.151243,0.987056]]
2025-10-26T20:44:25.927Z,1761511465.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823045,-0.553031,-0.129437],[0.565417,0.819389,0.094373],[0.053867,-0.150859,0.987087]]
2025-10-26T20:44:26.332Z,1761511466.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821955,-0.554563,-0.129806],[0.566982,0.818339,0.094091],[0.054046,-0.150936,0.987065]]
2025-10-26T20:44:26.738Z,1761511466.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821050,-0.555118,-0.133120],[0.568308,0.816860,0.098821],[0.053884,-0.156790,0.986161]]
2025-10-26T20:44:27.138Z,1761511467.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820890,-0.555101,-0.134170],[0.568610,0.816308,0.101606],[0.053123,-0.159698,0.985736]]
2025-10-26T20:44:27.542Z,1761511467.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820399,-0.555842,-0.134110],[0.569378,0.815675,0.102388],[0.052479,-0.160358,0.985663]]
2025-10-26T20:44:27.949Z,1761511467.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820129,-0.556626,-0.132501],[0.569803,0.815606,0.100556],[0.052096,-0.157968,0.986069]]
2025-10-26T20:44:28.351Z,1761511468.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820113,-0.557204,-0.130150],[0.569872,0.815871,0.097982],[0.051590,-0.154526,0.986641]]
2025-10-26T20:44:28.762Z,1761511468.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820418,-0.557123,-0.128560],[0.569494,0.816252,0.097001],[0.050896,-0.152795,0.986946]]
2025-10-26T20:44:29.158Z,1761511469.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820723,-0.556524,-0.129210],[0.569135,0.816181,0.099670],[0.049990,-0.155339,0.986596]]
2025-10-26T20:44:29.564Z,1761511469.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821455,-0.555082,-0.130749],[0.568159,0.816333,0.103906],[0.049059,-0.159641,0.985955]]
2025-10-26T20:44:29.966Z,1761511469.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822190,-0.553729,-0.131862],[0.567119,0.816735,0.106396],[0.048782,-0.162259,0.985542]]
2025-10-26T20:44:30.371Z,1761511470.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823182,-0.551968,-0.133050],[0.565687,0.817403,0.108860],[0.048669,-0.164877,0.985113]]
2025-10-26T20:44:30.778Z,1761511470.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824264,-0.550333,-0.133124],[0.564125,0.818350,0.109843],[0.048492,-0.165638,0.984994]]
2025-10-26T20:44:31.178Z,1761511471.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825537,-0.548646,-0.132198],[0.562263,0.819721,0.109167],[0.048472,-0.164452,0.985193]]
2025-10-26T20:44:31.582Z,1761511471.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826612,-0.547136,-0.131736],[0.560639,0.820959,0.108215],[0.048941,-0.163308,0.985361]]
2025-10-26T20:44:31.986Z,1761511471.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827504,-0.545761,-0.131843],[0.559295,0.821865,0.108288],[0.049258,-0.163348,0.985338]]
2025-10-26T20:44:32.390Z,1761511472.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828564,-0.543573,-0.134202],[0.557658,0.822602,0.111105],[0.050001,-0.166897,0.984706]]
2025-10-26T20:44:32.800Z,1761511472.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829582,-0.541486,-0.136331],[0.556097,0.823256,0.114041],[0.050484,-0.170420,0.984078]]
2025-10-26T20:44:33.198Z,1761511473.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830038,-0.540712,-0.136627],[0.555381,0.823740,0.114037],[0.050884,-0.170535,0.984037]]
2025-10-26T20:44:33.603Z,1761511473.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830121,-0.540415,-0.137296],[0.555199,0.823868,0.113997],[0.051509,-0.170858,0.983948]]
2025-10-26T20:44:34.008Z,1761511474.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829749,-0.541097,-0.136859],[0.555741,0.823658,0.112870],[0.051652,-0.169712,0.984139]]
2025-10-26T20:44:34.414Z,1761511474.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828687,-0.542733,-0.136814],[0.557339,0.822627,0.112510],[0.051484,-0.169488,0.984187]]
2025-10-26T20:44:34.814Z,1761511474.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827407,-0.544444,-0.137758],[0.559260,0.821163,0.113665],[0.051237,-0.171089,0.983922]]
2025-10-26T20:44:35.218Z,1761511475.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826127,-0.546337,-0.137950],[0.561198,0.819766,0.114193],[0.050699,-0.171756,0.983834]]
2025-10-26T20:44:35.623Z,1761511475.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824360,-0.549276,-0.136846],[0.563819,0.818251,0.112129],[0.050385,-0.169591,0.984226]]
2025-10-26T20:44:36.029Z,1761511476.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822894,-0.552136,-0.134132],[0.565977,0.817353,0.107722],[0.050156,-0.164559,0.985091]]
2025-10-26T20:44:36.430Z,1761511476.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821686,-0.554661,-0.131086],[0.567703,0.816879,0.102093],[0.050454,-0.158307,0.986100]]
2025-10-26T20:44:36.834Z,1761511476.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820946,-0.556447,-0.128120],[0.568747,0.816788,0.096870],[0.050744,-0.152393,0.987016]]
2025-10-26T20:44:37.247Z,1761511477.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820731,-0.556582,-0.128904],[0.569004,0.816606,0.096901],[0.051331,-0.152877,0.986911]]
2025-10-26T20:44:37.643Z,1761511477.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820833,-0.556648,-0.127971],[0.568785,0.817073,0.094210],[0.052120,-0.150119,0.987293]]
2025-10-26T20:44:38.046Z,1761511478.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821320,-0.556246,-0.126589],[0.568041,0.817885,0.091620],[0.052572,-0.147157,0.987715]]
2025-10-26T20:44:38.450Z,1761511478.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822235,-0.554778,-0.127084],[0.566687,0.818752,0.092257],[0.052868,-0.147874,0.987592]]
2025-10-26T20:44:38.492Z,1761511478.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:44:38.680Z,1761511478.680 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:44:38.680Z,1761511478.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:44:38.684Z,1761511478.684 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:44:38.860Z,1761511478.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823312,-0.552982,-0.127939],[0.565079,0.819751,0.093239],[0.053319,-0.149061,0.987390]]
2025-10-26T20:44:38.932Z,1761511478.932 [DAT](INFO): DAT read: user:119>

2025-10-26T20:44:38.933Z,1761511478.933 [DAT](INFO): DAT read: Tx time:20:44:38.0499

2025-10-26T20:44:38.933Z,1761511478.933 [DAT](INFO): Ping request sent.
2025-10-26T20:44:38.933Z,1761511478.933 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:44:38.934Z,1761511478.934 [DAT](INFO): publishing transmit ping time
2025-10-26T20:44:38.934Z,1761511478.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-10-26T20:44:39.184Z,1761511479.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250879
2025-10-26T20:44:39.260Z,1761511479.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824624,-0.550565,-0.129900],[0.563092,0.820859,0.095483],[0.054060,-0.151883,0.986919]]
2025-10-26T20:44:39.436Z,1761511479.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502769
2025-10-26T20:44:39.662Z,1761511479.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826562,-0.547216,-0.131719],[0.560223,0.822431,0.098781],[0.054275,-0.155441,0.986353]]
2025-10-26T20:44:39.688Z,1761511479.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754965
2025-10-26T20:44:39.696Z,1761511479.696 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:44:39.940Z,1761511479.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006865
2025-10-26T20:44:40.068Z,1761511480.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828415,-0.544157,-0.132745],[0.557462,0.824041,0.100965],[0.054447,-0.157641,0.985994]]
2025-10-26T20:44:40.192Z,1761511480.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258831
2025-10-26T20:44:40.445Z,1761511480.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511089
2025-10-26T20:44:40.470Z,1761511480.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830370,-0.540912,-0.133791],[0.554549,0.825674,0.103626],[0.054415,-0.160242,0.985577]]
2025-10-26T20:44:40.697Z,1761511480.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763272
2025-10-26T20:44:40.874Z,1761511480.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832323,-0.537585,-0.135055],[0.551673,0.827080,0.107689],[0.053809,-0.164138,0.984969]]
2025-10-26T20:44:40.948Z,1761511480.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014735
2025-10-26T20:44:41.201Z,1761511481.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267247
2025-10-26T20:44:41.278Z,1761511481.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834325,-0.534243,-0.135965],[0.548741,0.828449,0.112056],[0.052775,-0.168100,0.984356]]
2025-10-26T20:44:41.452Z,1761511481.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518868
2025-10-26T20:44:41.683Z,1761511481.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835861,-0.531666,-0.136628],[0.546497,0.829414,0.115819],[0.051744,-0.171475,0.983829]]
2025-10-26T20:44:41.705Z,1761511481.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771295
2025-10-26T20:44:41.957Z,1761511481.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023125
2025-10-26T20:44:42.086Z,1761511482.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836837,-0.530085,-0.136799],[0.545104,0.829934,0.118622],[0.050654,-0.173837,0.983471]]
2025-10-26T20:44:42.208Z,1761511482.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274857
2025-10-26T20:44:42.461Z,1761511482.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527627
2025-10-26T20:44:42.490Z,1761511482.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837475,-0.529231,-0.136198],[0.544237,0.830260,0.120310],[0.049408,-0.174881,0.983349]]
2025-10-26T20:44:42.714Z,1761511482.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779909
2025-10-26T20:44:42.896Z,1761511482.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837541,-0.529534,-0.134606],[0.544261,0.830233,0.120384],[0.048007,-0.174088,0.983559]]
2025-10-26T20:44:42.965Z,1761511482.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031647
2025-10-26T20:44:43.217Z,1761511483.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283657
2025-10-26T20:44:43.301Z,1761511483.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836932,-0.531027,-0.132495],[0.545297,0.829785,0.118780],[0.046867,-0.171660,0.984041]]
2025-10-26T20:44:43.468Z,1761511483.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534770
2025-10-26T20:44:43.705Z,1761511483.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835817,-0.533343,-0.130208],[0.547097,0.828913,0.116569],[0.045760,-0.168667,0.984610]]
2025-10-26T20:44:43.721Z,1761511483.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787827
2025-10-26T20:44:43.972Z,1761511483.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038801
2025-10-26T20:44:44.106Z,1761511484.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834290,-0.536123,-0.128578],[0.549500,0.827561,0.114859],[0.044827,-0.166479,0.985025]]
2025-10-26T20:44:44.226Z,1761511484.226 [DAT](INFO): DAT read: Rx Time:20:44:42.9500

2025-10-26T20:44:44.227Z,1761511484.227 [DAT](INFO): Rx dataTimestamp_ set to:1761511484.226072
2025-10-26T20:44:44.229Z,1761511484.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295006
2025-10-26T20:44:44.476Z,1761511484.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542862
2025-10-26T20:44:44.516Z,1761511484.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832408,-0.539482,-0.126711],[0.552410,0.825963,0.112372],[0.044036,-0.163536,0.985554]]
2025-10-26T20:44:44.732Z,1761511484.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797353
2025-10-26T20:44:44.914Z,1761511484.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830388,-0.543154,-0.124251],[0.555497,0.824372,0.108783],[0.043343,-0.159353,0.986270]]
2025-10-26T20:44:44.987Z,1761511484.987 [DAT](INFO): DAT read: 20:44:42.9500 LVL= 23648, 27105, 22354, 32755, AGC= 82, IDX= 483, 0.28, 0.650,-1.152, 0.604, 0.333, PHS= 0.419,-1.440, 0.227, RAW= 144.6,   9.0, CAL= 144.2,   9.8, ROT=   5.8,  -9.8

2025-10-26T20:44:44.989Z,1761511484.989 [DAT](INFO): got valid direction response:
 20:44:42.9500 LVL= 23648, 27105, 22354, 32755, AGC= 82, IDX= 483, 0.28, 0.650,-1.152, 0.604, 0.333, PHS= 0.419,-1.440, 0.227, RAW= 144.6,   9.0, CAL= 144.2,   9.8, ROT=   5.8,  -9.8

2025-10-26T20:44:44.990Z,1761511484.990 [DAT](INFO): DAT read: Bearing 190.8,   6.6 (Local)

2025-10-26T20:44:44.990Z,1761511484.990 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.8,   6.6 (Local)

2025-10-26T20:44:44.991Z,1761511484.991 [DAT](INFO): DAT read: Range 11 to 50 : 1871.9 m  (Round-trip  2495.9 ms) speed  0.4 m/s

2025-10-26T20:44:44.992Z,1761511484.992 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:44:44.993Z,1761511484.993 [DAT](INFO): direction in FSK: [0.980363,0.099582,0.170209]
2025-10-26T20:44:44.993Z,1761511484.993 [DAT](INFO): publishing direction and range info
2025-10-26T20:44:45.318Z,1761511485.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828227,-0.546840,-0.122504],[0.558732,0.822619,0.105432],[0.043119,-0.155769,0.986852]]
2025-10-26T20:44:45.742Z,1761511485.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826062,-0.550536,-0.120549],[0.561935,0.820917,0.101611],[0.043020,-0.151678,0.987493]]
2025-10-26T20:44:46.126Z,1761511486.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824204,-0.553582,-0.119310],[0.564682,0.819294,0.099456],[0.042693,-0.149345,0.987863]]
2025-10-26T20:44:46.531Z,1761511486.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822866,-0.555658,-0.118891],[0.566684,0.817908,0.099480],[0.041965,-0.149232,0.987911]]
2025-10-26T20:44:46.934Z,1761511486.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821573,-0.557772,-0.117935],[0.568622,0.816618,0.099016],[0.041080,-0.148409,0.988072]]
2025-10-26T20:44:47.338Z,1761511487.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820509,-0.559310,-0.118053],[0.570213,0.815376,0.100096],[0.040273,-0.149445,0.987950]]
2025-10-26T20:44:47.758Z,1761511487.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820239,-0.559960,-0.116847],[0.570690,0.815003,0.100412],[0.039004,-0.149045,0.988061]]
2025-10-26T20:44:48.146Z,1761511488.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820131,-0.560445,-0.115263],[0.570950,0.814773,0.100797],[0.037422,-0.148476,0.988208]]
2025-10-26T20:44:48.552Z,1761511488.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820294,-0.560125,-0.115661],[0.570811,0.814467,0.104008],[0.035945,-0.151338,0.987828]]
2025-10-26T20:44:48.954Z,1761511488.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821174,-0.559012,-0.114801],[0.569652,0.815001,0.106162],[0.034217,-0.152574,0.987700]]
2025-10-26T20:44:49.358Z,1761511489.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822371,-0.557528,-0.113436],[0.568005,0.816013,0.107204],[0.032795,-0.152594,0.987745]]
2025-10-26T20:44:49.783Z,1761511489.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823619,-0.556081,-0.111471],[0.566257,0.817280,0.106805],[0.031711,-0.151088,0.988012]]
2025-10-26T20:44:50.171Z,1761511490.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825484,-0.553328,-0.111374],[0.563566,0.818906,0.108563],[0.031134,-0.152383,0.987831]]
2025-10-26T20:44:50.572Z,1761511490.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827031,-0.551101,-0.110940],[0.561341,0.820217,0.110185],[0.030272,-0.153401,0.987700]]
2025-10-26T20:44:50.974Z,1761511490.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828627,-0.548618,-0.111339],[0.559073,0.821160,0.114604],[0.028553,-0.157210,0.987152]]
2025-10-26T20:44:51.378Z,1761511491.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830290,-0.546333,-0.110178],[0.556674,0.822545,0.116337],[0.027067,-0.157927,0.987080]]
2025-10-26T20:44:51.810Z,1761511491.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831609,-0.544782,-0.107881],[0.554796,0.823702,0.117120],[0.025057,-0.157250,0.987241]]
2025-10-26T20:44:52.192Z,1761511492.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832810,-0.543398,-0.105570],[0.553078,0.824756,0.117820],[0.023047,-0.156511,0.987407]]
2025-10-26T20:44:52.590Z,1761511492.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833456,-0.542586,-0.104648],[0.552167,0.825123,0.119517],[0.021499,-0.157395,0.987302]]
2025-10-26T20:44:53.009Z,1761511493.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833722,-0.542449,-0.103234],[0.551824,0.825244,0.120261],[0.019958,-0.157232,0.987360]]
2025-10-26T20:44:53.399Z,1761511493.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833567,-0.543225,-0.100364],[0.552139,0.825054,0.120117],[0.017555,-0.155540,0.987674]]
2025-10-26T20:44:53.839Z,1761511493.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833155,-0.544311,-0.097872],[0.552839,0.824480,0.120840],[0.014919,-0.154786,0.987835]]
2025-10-26T20:44:54.214Z,1761511494.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832555,-0.545718,-0.095106],[0.553822,0.823606,0.122287],[0.011596,-0.154482,0.987927]]
2025-10-26T20:44:54.610Z,1761511494.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832028,-0.546921,-0.092774],[0.554674,0.822678,0.124648],[0.008151,-0.155171,0.987854]]
2025-10-26T20:44:55.015Z,1761511495.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831260,-0.548462,-0.090529],[0.555867,0.821391,0.127783],[0.004276,-0.156543,0.987662]]
2025-10-26T20:44:55.420Z,1761511495.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830478,-0.550016,-0.088257],[0.557051,0.820174,0.130414],[0.000656,-0.157470,0.987524]]
2025-10-26T20:44:55.867Z,1761511495.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828887,-0.552977,-0.084627],[0.559383,0.817671,0.136034],[-0.006027,-0.160095,0.987083]]
2025-10-26T20:44:56.631Z,1761511496.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828180,-0.554333,-0.082665],[0.560393,0.816691,0.137756],[-0.008851,-0.160412,0.987011]]
2025-10-26T20:44:57.037Z,1761511497.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827636,-0.555456,-0.080540],[0.561144,0.815920,0.139253],[-0.011635,-0.160445,0.986976]]
2025-10-26T20:44:57.438Z,1761511497.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827365,-0.555825,-0.080785],[0.561492,0.814938,0.143540],[-0.013948,-0.164120,0.986342]]
2025-10-26T20:44:57.892Z,1761511497.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827044,-0.556386,-0.080208],[0.561861,0.813708,0.148969],[-0.017618,-0.168270,0.985584]]
2025-10-26T20:44:58.657Z,1761511498.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827538,-0.555766,-0.079400],[0.561079,0.813883,0.150949],[-0.019270,-0.169466,0.985348]]
2025-10-26T20:44:59.063Z,1761511499.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828883,-0.554379,-0.074943],[0.558980,0.815438,0.150340],[-0.022234,-0.166506,0.985790]]
2025-10-26T20:44:59.463Z,1761511499.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829564,-0.553550,-0.073521],[0.557922,0.816114,0.150602],[-0.023364,-0.165954,0.985857]]
2025-10-26T20:44:59.909Z,1761511499.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830465,-0.552439,-0.071693],[0.556523,0.817037,0.150777],[-0.024719,-0.165114,0.985965]]
2025-10-26T20:45:00.272Z,1761511500.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831507,-0.551117,-0.069758],[0.554908,0.818159,0.150643],[-0.025949,-0.163970,0.986124]]
2025-10-26T20:45:00.673Z,1761511500.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832655,-0.549750,-0.066787],[0.553131,0.819698,0.148802],[-0.027059,-0.160842,0.986609]]
2025-10-26T20:45:01.074Z,1761511501.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834064,-0.547809,-0.065129],[0.550950,0.821137,0.148955],[-0.028119,-0.160121,0.986697]]
2025-10-26T20:45:01.478Z,1761511501.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835433,-0.546007,-0.062675],[0.548818,0.822762,0.147856],[-0.029164,-0.157921,0.987021]]
2025-10-26T20:45:01.891Z,1761511501.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837028,-0.543846,-0.060132],[0.546308,0.824526,0.147327],[-0.030543,-0.156167,0.987258]]
2025-10-26T20:45:02.287Z,1761511502.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838396,-0.542054,-0.057173],[0.544109,0.826119,0.146536],[-0.032198,-0.153963,0.987552]]
2025-10-26T20:45:02.701Z,1761511502.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839733,-0.540182,-0.055238],[0.541945,0.827419,0.147221],[-0.033821,-0.153563,0.987560]]
2025-10-26T20:45:03.095Z,1761511503.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840330,-0.539480,-0.052979],[0.540920,0.828148,0.146892],[-0.035371,-0.152095,0.987733]]
2025-10-26T20:45:03.501Z,1761511503.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840922,-0.538597,-0.052576],[0.539903,0.828395,0.149216],[-0.036814,-0.153865,0.987406]]
2025-10-26T20:45:03.907Z,1761511503.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841262,-0.538150,-0.051702],[0.539300,0.828650,0.149981],[-0.037869,-0.154056,0.987336]]
2025-10-26T20:45:04.306Z,1761511504.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840818,-0.538886,-0.051245],[0.539944,0.828182,0.150249],[-0.038527,-0.154002,0.987319]]
2025-10-26T20:45:04.717Z,1761511504.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839955,-0.540094,-0.052665],[0.541296,0.827028,0.151733],[-0.038395,-0.155956,0.987017]]
2025-10-26T20:45:05.115Z,1761511505.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838683,-0.541876,-0.054598],[0.543276,0.825363,0.153710],[-0.038228,-0.158576,0.986606]]
2025-10-26T20:45:05.518Z,1761511505.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837499,-0.543675,-0.054885],[0.545115,0.824258,0.153128],[-0.038013,-0.158163,0.986681]]
2025-10-26T20:45:05.923Z,1761511505.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835826,-0.546441,-0.052884],[0.547697,0.823355,0.148711],[-0.037720,-0.153261,0.987466]]
2025-10-26T20:45:06.326Z,1761511506.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834300,-0.548828,-0.052261],[0.550015,0.822094,0.147123],[-0.037782,-0.151489,0.987737]]
2025-10-26T20:45:06.737Z,1761511506.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832282,-0.551833,-0.052786],[0.553054,0.820047,0.147152],[-0.037917,-0.151666,0.987704]]
2025-10-26T20:45:07.134Z,1761511507.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830875,-0.554005,-0.052215],[0.555133,0.818761,0.146484],[-0.038402,-0.150696,0.987834]]
2025-10-26T20:45:07.541Z,1761511507.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828963,-0.557034,-0.050335],[0.557919,0.817227,0.144449],[-0.039328,-0.147826,0.988231]]
2025-10-26T20:45:07.944Z,1761511507.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827451,-0.559439,-0.048504],[0.560081,0.816000,0.143013],[-0.040428,-0.145503,0.988532]]
2025-10-26T20:45:08.346Z,1761511508.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825958,-0.561709,-0.047711],[0.562219,0.814589,0.142671],[-0.041275,-0.144664,0.988620]]
2025-10-26T20:45:08.361Z,1761511508.361 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050300332630,35.0, +11.4,   0.0,1495.1,A,  0.00, 352.02, 293.23, 327.53
2025-10-26T20:45:08.750Z,1761511508.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824509,-0.563831,-0.047752],[0.564278,0.813003,0.143585],[-0.042135,-0.145332,0.988485]]
2025-10-26T20:45:09.154Z,1761511509.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823722,-0.565026,-0.047207],[0.565366,0.812199,0.143852],[-0.042938,-0.145183,0.988473]]
2025-10-26T20:45:09.563Z,1761511509.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822829,-0.566401,-0.046286],[0.566609,0.811413,0.143399],[-0.043664,-0.144218,0.988582]]
2025-10-26T20:45:09.828Z,1761511509.828 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:45:09.965Z,1761511509.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822104,-0.567511,-0.045560],[0.567609,0.810750,0.143193],[-0.044326,-0.143580,0.988646]]
2025-10-26T20:45:10.366Z,1761511510.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821873,-0.567899,-0.044896],[0.567866,0.810452,0.143862],[-0.045313,-0.143731,0.988579]]
2025-10-26T20:45:10.770Z,1761511510.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822023,-0.567613,-0.045754],[0.567566,0.810111,0.146935],[-0.046336,-0.146752,0.988087]]
2025-10-26T20:45:10.832Z,1761511510.832 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:45:11.182Z,1761511511.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822132,-0.567394,-0.046514],[0.567326,0.809753,0.149803],[-0.047333,-0.149546,0.987621]]
2025-10-26T20:45:11.589Z,1761511511.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822223,-0.567187,-0.047408],[0.567113,0.809344,0.152794],[-0.048294,-0.152517,0.987120]]
2025-10-26T20:45:11.982Z,1761511511.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822522,-0.566764,-0.047287],[0.566587,0.809365,0.154621],[-0.049362,-0.153972,0.986841]]
2025-10-26T20:45:12.386Z,1761511512.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822817,-0.566314,-0.047547],[0.566066,0.809277,0.156971],[-0.050416,-0.156073,0.986458]]
2025-10-26T20:45:12.790Z,1761511512.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823413,-0.565514,-0.046750],[0.565126,0.809825,0.157533],[-0.051228,-0.156134,0.986407]]
2025-10-26T20:45:13.200Z,1761511513.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823948,-0.564903,-0.044667],[0.564289,0.810726,0.155889],[-0.051850,-0.153649,0.986764]]
2025-10-26T20:45:13.602Z,1761511513.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824663,-0.563926,-0.043795],[0.563196,0.811492,0.155855],[-0.052351,-0.153193,0.986809]]
2025-10-26T20:45:14.002Z,1761511514.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825836,-0.562130,-0.044768],[0.561462,0.812269,0.158049],[-0.052480,-0.155658,0.986416]]
2025-10-26T20:45:14.406Z,1761511514.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827323,-0.559713,-0.047527],[0.559257,0.812808,0.163018],[-0.052613,-0.161448,0.985478]]
2025-10-26T20:45:14.810Z,1761511514.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828903,-0.557216,-0.049297],[0.556875,0.813609,0.167123],[-0.053015,-0.165981,0.984703]]
2025-10-26T20:45:15.214Z,1761511515.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830538,-0.554738,-0.049721],[0.554377,0.814793,0.169645],[-0.053596,-0.168461,0.984250]]
2025-10-26T20:45:15.619Z,1761511515.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832088,-0.552607,-0.047490],[0.551976,0.816655,0.168513],[-0.054338,-0.166431,0.984555]]
2025-10-26T20:45:16.055Z,1761511516.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833069,-0.551295,-0.045496],[0.550434,0.817973,0.167159],[-0.054940,-0.164297,0.984880]]
2025-10-26T20:45:16.490Z,1761511516.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833873,-0.550182,-0.044219],[0.549150,0.818897,0.166857],[-0.055591,-0.163420,0.984989]]
2025-10-26T20:45:17.294Z,1761511517.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835118,-0.548252,-0.044704],[0.547085,0.819378,0.171225],[-0.057245,-0.167450,0.984217]]
2025-10-26T20:45:17.700Z,1761511517.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835430,-0.547870,-0.043539],[0.546478,0.819649,0.171863],[-0.058472,-0.167372,0.984158]]
2025-10-26T20:45:18.104Z,1761511518.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835228,-0.548356,-0.041226],[0.546670,0.819862,0.170232],[-0.059548,-0.164720,0.984541]]
2025-10-26T20:45:18.555Z,1761511518.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834898,-0.548912,-0.040499],[0.547067,0.819498,0.170709],[-0.060515,-0.164680,0.984489]]
2025-10-26T20:45:18.959Z,1761511518.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834411,-0.549709,-0.039726],[0.547729,0.819075,0.170611],[-0.061248,-0.164119,0.984537]]
2025-10-26T20:45:19.362Z,1761511519.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833742,-0.550784,-0.038878],[0.548699,0.818604,0.169754],[-0.061672,-0.162864,0.984719]]
2025-10-26T20:45:19.766Z,1761511519.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832531,-0.552672,-0.038018],[0.550536,0.817770,0.167819],[-0.061659,-0.160645,0.985084]]
2025-10-26T20:45:20.216Z,1761511520.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831377,-0.554468,-0.037119],[0.552303,0.817051,0.165497],[-0.061435,-0.158091,0.985512]]
2025-10-26T20:45:20.576Z,1761511520.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829875,-0.556828,-0.035352],[0.554619,0.816353,0.161136],[-0.060866,-0.153330,0.986299]]
2025-10-26T20:45:20.978Z,1761511520.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827897,-0.559746,-0.035651],[0.557665,0.814690,0.159031],[-0.059972,-0.151542,0.986630]]
2025-10-26T20:45:21.382Z,1761511521.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826177,-0.562174,-0.037299],[0.560306,0.812883,0.158994],[-0.059063,-0.152256,0.986575]]
2025-10-26T20:45:21.786Z,1761511521.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824572,-0.564493,-0.037794],[0.562754,0.811489,0.157462],[-0.058217,-0.151107,0.986802]]
2025-10-26T20:45:22.231Z,1761511522.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822855,-0.566930,-0.038740],[0.565348,0.809862,0.156541],[-0.057374,-0.150712,0.986911]]
2025-10-26T20:45:22.594Z,1761511522.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820903,-0.569722,-0.039177],[0.568298,0.808250,0.154175],[-0.056172,-0.148827,0.987267]]
2025-10-26T20:45:23.023Z,1761511523.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819206,-0.572137,-0.039497],[0.570844,0.806858,0.152042],[-0.055121,-0.147101,0.987584]]
2025-10-26T20:45:23.402Z,1761511523.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817952,-0.573895,-0.039996],[0.572762,0.805884,0.149980],[-0.053841,-0.145584,0.987880]]
2025-10-26T20:45:23.807Z,1761511523.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817124,-0.575162,-0.038707],[0.574043,0.805712,0.145954],[-0.052760,-0.141482,0.988534]]
2025-10-26T20:45:24.214Z,1761511524.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816615,-0.575912,-0.038277],[0.574882,0.805653,0.142950],[-0.051489,-0.138740,0.988989]]
2025-10-26T20:45:24.614Z,1761511524.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816365,-0.576216,-0.039030],[0.575340,0.805512,0.141894],[-0.050322,-0.138293,0.989112]]
2025-10-26T20:45:25.018Z,1761511525.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816645,-0.575693,-0.040849],[0.574999,0.805483,0.143432],[-0.049669,-0.140621,0.988817]]
2025-10-26T20:45:25.424Z,1761511525.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817326,-0.574622,-0.042277],[0.574069,0.805874,0.144958],[-0.049226,-0.142748,0.988534]]
2025-10-26T20:45:25.827Z,1761511525.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818355,-0.572953,-0.044953],[0.572612,0.806182,0.148950],[-0.049101,-0.147634,0.987822]]
2025-10-26T20:45:26.230Z,1761511526.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819798,-0.570718,-0.047044],[0.570552,0.806999,0.152391],[-0.049008,-0.151771,0.987200]]
2025-10-26T20:45:26.636Z,1761511526.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821344,-0.568413,-0.047963],[0.568335,0.808223,0.154179],[-0.048873,-0.153893,0.986878]]
2025-10-26T20:45:27.040Z,1761511527.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822970,-0.565981,-0.048849],[0.566002,0.809558,0.155749],[-0.048605,-0.155826,0.986588]]
2025-10-26T20:45:27.442Z,1761511527.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824709,-0.563326,-0.050182],[0.563475,0.810825,0.158300],[-0.048486,-0.158828,0.986115]]
2025-10-26T20:45:27.847Z,1761511527.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826492,-0.560605,-0.051317],[0.560861,0.812156,0.160740],[-0.048435,-0.161632,0.985662]]
2025-10-26T20:45:28.250Z,1761511528.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827907,-0.558362,-0.052932],[0.558791,0.813054,0.163387],[-0.048192,-0.164847,0.985141]]
2025-10-26T20:45:28.666Z,1761511528.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829087,-0.556558,-0.053468],[0.557043,0.813987,0.164707],[-0.048147,-0.166341,0.984892]]
2025-10-26T20:45:29.058Z,1761511529.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830209,-0.554816,-0.054155],[0.555376,0.814826,0.166179],[-0.048072,-0.168039,0.984607]]
2025-10-26T20:45:29.462Z,1761511529.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830903,-0.553765,-0.054264],[0.554323,0.815375,0.167002],[-0.048235,-0.168842,0.984462]]
2025-10-26T20:45:29.868Z,1761511529.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831257,-0.553321,-0.053365],[0.553765,0.815872,0.166427],[-0.048548,-0.167895,0.984609]]
2025-10-26T20:45:30.270Z,1761511530.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831300,-0.553281,-0.053111],[0.553686,0.815937,0.166371],[-0.048715,-0.167711,0.984632]]
2025-10-26T20:45:30.675Z,1761511530.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830967,-0.553824,-0.052655],[0.554190,0.815791,0.165403],[-0.048648,-0.166625,0.984819]]
2025-10-26T20:45:31.078Z,1761511531.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830087,-0.555260,-0.051396],[0.555540,0.815470,0.162434],[-0.048281,-0.163387,0.985380]]
2025-10-26T20:45:31.483Z,1761511531.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829141,-0.556740,-0.050649],[0.556994,0.814967,0.159955],[-0.047776,-0.160836,0.985824]]
2025-10-26T20:45:31.895Z,1761511531.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826278,-0.560800,-0.052607],[0.561403,0.812368,0.157749],[-0.045730,-0.159878,0.986077]]
2025-10-26T20:45:32.306Z,1761511532.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824754,-0.562633,-0.056786],[0.563778,0.810288,0.159962],[-0.043987,-0.163944,0.985488]]
2025-10-26T20:45:32.702Z,1761511532.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823569,-0.564281,-0.057623],[0.565658,0.809537,0.157103],[-0.042002,-0.161980,0.985900]]
2025-10-26T20:45:33.103Z,1761511533.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822018,-0.566572,-0.057303],[0.568054,0.808750,0.152442],[-0.040026,-0.157861,0.986650]]
2025-10-26T20:45:33.508Z,1761511533.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820304,-0.568910,-0.058673],[0.570701,0.807514,0.149070],[-0.037428,-0.155767,0.987084]]
2025-10-26T20:45:33.909Z,1761511533.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818855,-0.570850,-0.060048],[0.572934,0.806477,0.146087],[-0.034967,-0.154027,0.987448]]
2025-10-26T20:45:34.310Z,1761511534.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817488,-0.572548,-0.062463],[0.575028,0.805253,0.144606],[-0.032495,-0.154132,0.987516]]
2025-10-26T20:45:34.724Z,1761511534.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816553,-0.573515,-0.065741],[0.576484,0.804190,0.144722],[-0.030132,-0.156072,0.987286]]
2025-10-26T20:45:35.118Z,1761511535.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815931,-0.574069,-0.068572],[0.577474,0.803493,0.144648],[-0.027941,-0.157621,0.987104]]
2025-10-26T20:45:35.522Z,1761511535.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815312,-0.574735,-0.070333],[0.578446,0.803048,0.143226],[-0.025837,-0.157458,0.987188]]
2025-10-26T20:45:35.929Z,1761511535.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814843,-0.575259,-0.071473],[0.579199,0.802923,0.140867],[-0.023647,-0.156182,0.987445]]
2025-10-26T20:45:36.330Z,1761511536.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814978,-0.575000,-0.072013],[0.579079,0.803396,0.138643],[-0.021865,-0.154692,0.987721]]
2025-10-26T20:45:36.737Z,1761511536.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815150,-0.574509,-0.073963],[0.578910,0.803625,0.138026],[-0.019859,-0.155330,0.987663]]
2025-10-26T20:45:37.145Z,1761511537.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815877,-0.573098,-0.076834],[0.577943,0.804092,0.139351],[-0.018080,-0.158099,0.987258]]
2025-10-26T20:45:37.543Z,1761511537.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816818,-0.571468,-0.078950],[0.576660,0.804898,0.140006],[-0.016463,-0.159887,0.986998]]
2025-10-26T20:45:37.947Z,1761511537.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817994,-0.569521,-0.080820],[0.575031,0.805940,0.140710],[-0.015001,-0.161574,0.986747]]
2025-10-26T20:45:38.350Z,1761511538.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819061,-0.567721,-0.082655],[0.573550,0.806929,0.141093],[-0.013405,-0.162970,0.986540]]
2025-10-26T20:45:38.754Z,1761511538.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820213,-0.565983,-0.083146],[0.571935,0.808318,0.139683],[-0.011850,-0.162124,0.986699]]
2025-10-26T20:45:38.816Z,1761511538.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:45:38.940Z,1761511538.940 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:45:38.940Z,1761511538.940 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:45:39.161Z,1761511539.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821566,-0.563756,-0.084903],[0.570022,0.809615,0.139996],[-0.010185,-0.163412,0.986505]]
2025-10-26T20:45:39.192Z,1761511539.192 [DAT](INFO): DAT read: user:120>

2025-10-26T20:45:39.193Z,1761511539.193 [DAT](INFO): DAT read: Tx time:20:45:38.2997

2025-10-26T20:45:39.193Z,1761511539.193 [DAT](INFO): Ping request sent.
2025-10-26T20:45:39.193Z,1761511539.193 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:45:39.194Z,1761511539.194 [DAT](INFO): publishing transmit ping time
2025-10-26T20:45:39.194Z,1761511539.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-10-26T20:45:39.447Z,1761511539.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253164
2025-10-26T20:45:39.562Z,1761511539.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822574,-0.561960,-0.087026],[0.568596,0.810527,0.140516],[-0.008427,-0.165067,0.986246]]
2025-10-26T20:45:39.698Z,1761511539.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504007
2025-10-26T20:45:39.948Z,1761511539.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754843
2025-10-26T20:45:39.967Z,1761511539.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823766,-0.560064,-0.087962],[0.566884,0.811773,0.140241],[-0.007139,-0.165390,0.986202]]
2025-10-26T20:45:40.201Z,1761511540.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007045
2025-10-26T20:45:40.376Z,1761511540.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824749,-0.558482,-0.088812],[0.565472,0.812940,0.139175],[-0.005527,-0.165005,0.986277]]
2025-10-26T20:45:40.457Z,1761511540.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263060
2025-10-26T20:45:40.705Z,1761511540.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511178
2025-10-26T20:45:40.774Z,1761511540.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825409,-0.557551,-0.088526],[0.564520,0.814034,0.136623],[-0.004111,-0.162744,0.986660]]
2025-10-26T20:45:40.956Z,1761511540.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762856
2025-10-26T20:45:40.968Z,1761511540.968 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:45:41.178Z,1761511541.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825944,-0.556632,-0.089317],[0.563745,0.814673,0.136013],[-0.002945,-0.162691,0.986673]]
2025-10-26T20:45:41.209Z,1761511541.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015038
2025-10-26T20:45:41.460Z,1761511541.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266783
2025-10-26T20:45:41.585Z,1761511541.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826184,-0.556139,-0.090164],[0.563399,0.815105,0.134856],[-0.001506,-0.162215,0.986754]]
2025-10-26T20:45:41.714Z,1761511541.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520471
2025-10-26T20:45:41.965Z,1761511541.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771047
2025-10-26T20:45:41.976Z,1761511541.976 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:45:41.988Z,1761511541.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826280,-0.555898,-0.090769],[0.563260,0.815449,0.133345],[-0.000109,-0.161307,0.986904]]
2025-10-26T20:45:42.216Z,1761511542.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022857
2025-10-26T20:45:42.394Z,1761511542.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826106,-0.555963,-0.091940],[0.563513,0.815414,0.132488],[0.001311,-0.161259,0.986911]]
2025-10-26T20:45:42.469Z,1761511542.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275388
2025-10-26T20:45:42.722Z,1761511542.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528335
2025-10-26T20:45:42.794Z,1761511542.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825667,-0.556356,-0.093502],[0.564151,0.815042,0.132060],[0.002736,-0.161787,0.986822]]
2025-10-26T20:45:42.972Z,1761511542.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778866
2025-10-26T20:45:43.198Z,1761511543.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825077,-0.557101,-0.094271],[0.565006,0.814667,0.130715],[0.003978,-0.161113,0.986928]]
2025-10-26T20:45:43.224Z,1761511543.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031009
2025-10-26T20:45:43.476Z,1761511543.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282922
2025-10-26T20:45:43.617Z,1761511543.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824144,-0.558453,-0.094427],[0.566357,0.814085,0.128476],[0.005124,-0.159362,0.987207]]
2025-10-26T20:45:43.729Z,1761511543.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535150
2025-10-26T20:45:43.981Z,1761511543.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787162
2025-10-26T20:45:44.006Z,1761511544.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823076,-0.560095,-0.094017],[0.567891,0.813619,0.124593],[0.006710,-0.155941,0.987744]]
2025-10-26T20:45:44.232Z,1761511544.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038936
2025-10-26T20:45:44.418Z,1761511544.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821829,-0.561902,-0.094146],[0.569679,0.812771,0.121944],[0.007999,-0.153850,0.988062]]
2025-10-26T20:45:44.484Z,1761511544.484 [DAT](INFO): DAT read: Rx Time:20:45:43.1527

2025-10-26T20:45:44.485Z,1761511544.485 [DAT](INFO): Rx dataTimestamp_ set to:1761511544.484628
2025-10-26T20:45:44.485Z,1761511544.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291986
2025-10-26T20:45:44.736Z,1761511544.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542911
2025-10-26T20:45:44.814Z,1761511544.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820552,-0.563786,-0.094020],[0.571501,0.811866,0.119416],[0.009006,-0.151720,0.988383]]
2025-10-26T20:45:44.994Z,1761511544.994 [DAT](INFO): DAT read: 20:45:43.1527 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 465,-0.45, 2.065, 0.452, 2.050, 1.890, PHS= 0.277,-1.392, 0.116, RAW= 145.0,  12.5, CAL= 144.6,  13.6, ROT=   5.4, -13.6

2025-10-26T20:45:44.995Z,1761511544.995 [DAT](INFO): got valid direction response:
 20:45:43.1527 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 465,-0.45, 2.065, 0.452, 2.050, 1.890, PHS= 0.277,-1.392, 0.116, RAW= 145.0,  12.5, CAL= 144.6,  13.6, ROT=   5.4, -13.6

2025-10-26T20:45:44.996Z,1761511544.996 [DAT](INFO): DAT read: Bearing 196.8,   3.5 (Local)

2025-10-26T20:45:44.997Z,1761511544.997 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.8,   3.5 (Local)

2025-10-26T20:45:44.998Z,1761511544.998 [DAT](INFO): DAT read: Range 11 to 50 : 1836.6 m  (Round-trip  2448.9 ms) speed  0.5 m/s

2025-10-26T20:45:44.999Z,1761511544.999 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:45:44.000Z,1761511545.000 [DAT](INFO): direction in FSK: [0.967647,0.091470,0.235142]
2025-10-26T20:45:45.000Z,1761511545.000 [DAT](INFO): publishing direction and range info
2025-10-26T20:45:45.218Z,1761511545.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819519,-0.564946,-0.096048],[0.572959,0.810824,0.119512],[0.010360,-0.152974,0.988176]]
2025-10-26T20:45:45.666Z,1761511545.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818765,-0.565461,-0.099383],[0.574008,0.809786,0.121500],[0.011776,-0.156526,0.987604]]
2025-10-26T20:45:46.028Z,1761511546.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818019,-0.565756,-0.103755],[0.575040,0.808525,0.124964],[0.013190,-0.161886,0.986721]]
2025-10-26T20:45:46.430Z,1761511546.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817501,-0.566176,-0.105533],[0.575745,0.808016,0.125009],[0.014495,-0.162955,0.986527]]
2025-10-26T20:45:46.834Z,1761511546.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816583,-0.567398,-0.106072],[0.577010,0.807422,0.123005],[0.015852,-0.161649,0.986721]]
2025-10-26T20:45:47.238Z,1761511547.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815939,-0.567923,-0.108202],[0.577868,0.806869,0.122603],[0.017676,-0.162563,0.986540]]
2025-10-26T20:45:47.670Z,1761511547.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815474,-0.568108,-0.110703],[0.578465,0.806409,0.122815],[0.019500,-0.164190,0.986236]]
2025-10-26T20:45:48.062Z,1761511548.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815220,-0.568354,-0.111309],[0.578781,0.806382,0.121492],[0.020707,-0.163466,0.986332]]
2025-10-26T20:45:48.450Z,1761511548.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815509,-0.567771,-0.112164],[0.578330,0.806803,0.120845],[0.021881,-0.163418,0.986314]]
2025-10-26T20:45:48.855Z,1761511548.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815489,-0.567505,-0.113649],[0.578306,0.806848,0.120655],[0.023225,-0.164117,0.986167]]
2025-10-26T20:45:49.258Z,1761511549.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815795,-0.566642,-0.115738],[0.577810,0.807135,0.121116],[0.024787,-0.165680,0.985868]]
2025-10-26T20:45:49.664Z,1761511549.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816233,-0.565779,-0.116867],[0.577136,0.807663,0.120809],[0.026038,-0.166057,0.985772]]
2025-10-26T20:45:50.068Z,1761511550.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816985,-0.564482,-0.117875],[0.576023,0.808448,0.120868],[0.027068,-0.166646,0.985645]]
2025-10-26T20:45:50.470Z,1761511550.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817463,-0.563691,-0.118351],[0.575263,0.809281,0.118902],[0.028755,-0.165281,0.985827]]
2025-10-26T20:45:50.876Z,1761511550.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818035,-0.562766,-0.118800],[0.574356,0.810242,0.116722],[0.030569,-0.163716,0.986034]]
2025-10-26T20:45:51.278Z,1761511551.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818754,-0.561325,-0.120649],[0.573230,0.811051,0.116633],[0.032384,-0.164653,0.985820]]
2025-10-26T20:45:51.682Z,1761511551.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819866,-0.559226,-0.122826],[0.571553,0.812066,0.117795],[0.033868,-0.166778,0.985413]]
2025-10-26T20:45:52.088Z,1761511552.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820928,-0.557567,-0.123273],[0.569948,0.813341,0.116773],[0.035154,-0.166122,0.985478]]
2025-10-26T20:45:52.492Z,1761511552.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821707,-0.556273,-0.123925],[0.568756,0.814254,0.116225],[0.036253,-0.165986,0.985461]]
2025-10-26T20:45:52.894Z,1761511552.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822492,-0.554896,-0.124890],[0.567551,0.815100,0.116183],[0.037328,-0.166441,0.985345]]
2025-10-26T20:45:53.298Z,1761511553.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823284,-0.553306,-0.126710],[0.566331,0.815766,0.117456],[0.038377,-0.168459,0.984961]]
2025-10-26T20:45:53.705Z,1761511553.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823848,-0.552229,-0.127740],[0.565438,0.816387,0.117443],[0.039430,-0.168984,0.984830]]
2025-10-26T20:45:54.118Z,1761511554.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824087,-0.551887,-0.127679],[0.565028,0.816882,0.115959],[0.040303,-0.167703,0.985013]]
2025-10-26T20:45:54.510Z,1761511554.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824110,-0.551785,-0.127968],[0.564928,0.817115,0.114800],[0.041220,-0.166901,0.985112]]
2025-10-26T20:45:54.914Z,1761511554.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823752,-0.552423,-0.127523],[0.565435,0.816935,0.113583],[0.041432,-0.165670,0.985311]]
2025-10-26T20:45:55.319Z,1761511555.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823219,-0.553539,-0.126116],[0.566234,0.816630,0.111781],[0.041115,-0.163432,0.985698]]
2025-10-26T20:45:55.731Z,1761511555.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822421,-0.554801,-0.125775],[0.567369,0.816039,0.110332],[0.041425,-0.162100,0.985904]]
2025-10-26T20:45:56.130Z,1761511556.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821467,-0.556330,-0.125259],[0.568719,0.815363,0.108360],[0.041848,-0.160252,0.986189]]
2025-10-26T20:45:56.530Z,1761511556.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820138,-0.558002,-0.126518],[0.570578,0.814080,0.108236],[0.042600,-0.160956,0.986042]]
2025-10-26T20:45:56.934Z,1761511556.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819179,-0.559342,-0.126812],[0.571886,0.813371,0.106646],[0.043493,-0.159884,0.986177]]
2025-10-26T20:45:57.340Z,1761511557.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818350,-0.560497,-0.127067],[0.573006,0.812780,0.105131],[0.044351,-0.158844,0.986307]]
2025-10-26T20:45:57.746Z,1761511557.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817277,-0.561900,-0.127779],[0.574467,0.811879,0.104118],[0.045237,-0.158498,0.986323]]
2025-10-26T20:45:58.146Z,1761511558.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816262,-0.563325,-0.127988],[0.575842,0.811109,0.102512],[0.046064,-0.157378,0.986464]]
2025-10-26T20:45:58.550Z,1761511558.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815658,-0.564094,-0.128455],[0.576624,0.810701,0.101329],[0.046980,-0.156720,0.986525]]
2025-10-26T20:45:58.958Z,1761511558.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815214,-0.564689,-0.128655],[0.577182,0.810472,0.099981],[0.047813,-0.155764,0.986637]]
2025-10-26T20:45:59.359Z,1761511559.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815455,-0.564254,-0.129032],[0.576861,0.810569,0.101043],[0.047576,-0.156830,0.986479]]
2025-10-26T20:45:59.762Z,1761511559.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815750,-0.563803,-0.129146],[0.576494,0.810663,0.102368],[0.046979,-0.157959,0.986328]]
2025-10-26T20:46:00.166Z,1761511560.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816184,-0.562745,-0.131002],[0.575912,0.810618,0.105945],[0.046572,-0.161916,0.985705]]
2025-10-26T20:46:00.574Z,1761511560.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816641,-0.561473,-0.133586],[0.575267,0.810539,0.109973],[0.046530,-0.166657,0.984917]]
2025-10-26T20:46:00.978Z,1761511560.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817247,-0.560061,-0.135792],[0.574411,0.810648,0.113581],[0.046467,-0.170824,0.984205]]
2025-10-26T20:46:01.378Z,1761511561.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817708,-0.558946,-0.137599],[0.573722,0.810831,0.115743],[0.046875,-0.173588,0.983702]]
2025-10-26T20:46:01.783Z,1761511561.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818305,-0.557326,-0.140585],[0.572825,0.810920,0.119499],[0.047404,-0.178317,0.982830]]
2025-10-26T20:46:02.604Z,1761511562.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819627,-0.555261,-0.141058],[0.570845,0.812372,0.119112],[0.048453,-0.178150,0.982810]]
2025-10-26T20:46:02.997Z,1761511562.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820752,-0.553968,-0.139589],[0.569196,0.813840,0.116968],[0.048806,-0.175455,0.983277]]
2025-10-26T20:46:03.399Z,1761511563.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821947,-0.552602,-0.137964],[0.567426,0.815444,0.114368],[0.049302,-0.172289,0.983812]]
2025-10-26T20:46:03.802Z,1761511563.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823474,-0.550503,-0.137247],[0.565184,0.817097,0.113666],[0.049571,-0.171171,0.983994]]
2025-10-26T20:46:04.206Z,1761511564.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824810,-0.548511,-0.137201],[0.563177,0.818543,0.113217],[0.050204,-0.170651,0.984052]]
2025-10-26T20:46:04.613Z,1761511564.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825908,-0.546667,-0.137954],[0.561510,0.819598,0.113870],[0.050818,-0.171509,0.983871]]
2025-10-26T20:46:05.017Z,1761511565.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827581,-0.543914,-0.138809],[0.559014,0.821067,0.115548],[0.051123,-0.173221,0.983555]]
2025-10-26T20:46:05.418Z,1761511565.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829049,-0.541552,-0.139282],[0.556799,0.822450,0.116414],[0.051508,-0.174065,0.983386]]
2025-10-26T20:46:05.823Z,1761511565.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830591,-0.539094,-0.139632],[0.554485,0.823840,0.117618],[0.051628,-0.175116,0.983193]]
2025-10-26T20:46:06.227Z,1761511566.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831528,-0.537953,-0.138444],[0.553137,0.824765,0.117478],[0.050986,-0.174265,0.983378]]
2025-10-26T20:46:06.630Z,1761511566.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832084,-0.537099,-0.138422],[0.552357,0.825090,0.118860],[0.050371,-0.175359,0.983215]]
2025-10-26T20:46:07.438Z,1761511567.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832157,-0.537375,-0.136901],[0.552397,0.824964,0.119546],[0.048697,-0.175105,0.983345]]
2025-10-26T20:46:07.844Z,1761511567.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831564,-0.539113,-0.133639],[0.553361,0.824874,0.115646],[0.047889,-0.170118,0.984259]]
2025-10-26T20:46:08.246Z,1761511568.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830848,-0.540984,-0.130493],[0.554502,0.824635,0.111828],[0.047112,-0.165270,0.985122]]
2025-10-26T20:46:08.650Z,1761511568.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830100,-0.542477,-0.129046],[0.555664,0.824083,0.110117],[0.046608,-0.163114,0.985506]]
2025-10-26T20:46:09.057Z,1761511569.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829564,-0.543730,-0.127210],[0.556512,0.823780,0.108078],[0.046028,-0.160452,0.985970]]
2025-10-26T20:46:09.460Z,1761511569.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828971,-0.545245,-0.124557],[0.557437,0.823593,0.104681],[0.045507,-0.156210,0.986675]]
2025-10-26T20:46:10.266Z,1761511570.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827619,-0.548115,-0.120901],[0.559477,0.822882,0.099253],[0.045085,-0.149785,0.987690]]
2025-10-26T20:46:10.670Z,1761511570.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826893,-0.549282,-0.120573],[0.560540,0.822285,0.098197],[0.045207,-0.148784,0.987836]]
2025-10-26T20:46:11.478Z,1761511571.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825498,-0.551291,-0.120961],[0.562655,0.820682,0.099503],[0.044416,-0.150198,0.987658]]
2025-10-26T20:46:11.882Z,1761511571.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824819,-0.552133,-0.121749],[0.563694,0.819741,0.101354],[0.043842,-0.152228,0.987373]]
2025-10-26T20:46:12.116Z,1761511572.116 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:46:12.288Z,1761511572.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824234,-0.552772,-0.122810],[0.564566,0.818935,0.103009],[0.043633,-0.154238,0.987070]]
2025-10-26T20:46:12.690Z,1761511572.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823554,-0.553725,-0.123075],[0.565624,0.818003,0.104595],[0.042759,-0.155754,0.986870]]
2025-10-26T20:46:13.101Z,1761511573.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823114,-0.554225,-0.123767],[0.566362,0.817092,0.107681],[0.041450,-0.158730,0.986451]]
2025-10-26T20:46:13.120Z,1761511573.120 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:46:13.498Z,1761511573.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822858,-0.554725,-0.123229],[0.566803,0.816684,0.108445],[0.040481,-0.159082,0.986435]]
2025-10-26T20:46:13.904Z,1761511573.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822592,-0.555108,-0.123279],[0.567281,0.816057,0.110652],[0.039179,-0.160955,0.986184]]
2025-10-26T20:46:14.306Z,1761511574.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822946,-0.554728,-0.122626],[0.566820,0.816301,0.111207],[0.038410,-0.161024,0.986203]]
2025-10-26T20:46:14.722Z,1761511574.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823248,-0.554817,-0.120175],[0.566478,0.816667,0.110263],[0.036967,-0.158850,0.986610]]
2025-10-26T20:46:15.114Z,1761511575.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823940,-0.554445,-0.117102],[0.565571,0.817485,0.108844],[0.035381,-0.155911,0.987137]]
2025-10-26T20:46:15.518Z,1761511575.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824779,-0.553454,-0.115881],[0.564416,0.818209,0.109398],[0.034268,-0.155634,0.987220]]
2025-10-26T20:46:15.923Z,1761511575.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825782,-0.552123,-0.115083],[0.563012,0.819016,0.110591],[0.033195,-0.156117,0.987181]]
2025-10-26T20:46:16.326Z,1761511576.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826888,-0.550651,-0.114191],[0.561456,0.819900,0.111946],[0.031982,-0.156680,0.987131]]
2025-10-26T20:46:16.734Z,1761511576.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828164,-0.548912,-0.113310],[0.559646,0.820909,0.113598],[0.030662,-0.157491,0.987044]]
2025-10-26T20:46:17.134Z,1761511577.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829226,-0.547549,-0.112132],[0.558156,0.821705,0.115164],[0.029082,-0.158085,0.986997]]
2025-10-26T20:46:17.551Z,1761511577.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831807,-0.544007,-0.110243],[0.554457,0.823637,0.119164],[0.025974,-0.160247,0.986735]]
2025-10-26T20:46:17.947Z,1761511577.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832954,-0.542472,-0.109140],[0.552803,0.824500,0.120867],[0.024419,-0.161009,0.986651]]
2025-10-26T20:46:18.353Z,1761511578.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833913,-0.541432,-0.106964],[0.551422,0.825430,0.120826],[0.022872,-0.159741,0.986894]]
2025-10-26T20:46:18.755Z,1761511578.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834541,-0.540749,-0.105504],[0.550530,0.825912,0.121598],[0.021383,-0.159561,0.986956]]
2025-10-26T20:46:19.159Z,1761511579.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835111,-0.540047,-0.104588],[0.549713,0.826289,0.122730],[0.020139,-0.159987,0.986914]]
2025-10-26T20:46:19.582Z,1761511579.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835788,-0.539059,-0.104275],[0.548720,0.826680,0.124527],[0.019074,-0.161296,0.986722]]
2025-10-26T20:46:19.962Z,1761511579.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835849,-0.539121,-0.103467],[0.548658,0.826665,0.124897],[0.018198,-0.161163,0.986760]]
2025-10-26T20:46:20.366Z,1761511580.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835925,-0.539166,-0.102613],[0.548568,0.826704,0.125038],[0.017415,-0.160813,0.986831]]
2025-10-26T20:46:20.770Z,1761511580.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835718,-0.539630,-0.101855],[0.548906,0.826471,0.125093],[0.016676,-0.160451,0.986903]]
2025-10-26T20:46:21.181Z,1761511581.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835522,-0.540106,-0.100935],[0.549232,0.826217,0.125340],[0.015697,-0.160161,0.986966]]
2025-10-26T20:46:21.583Z,1761511581.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835540,-0.540203,-0.100265],[0.549229,0.826130,0.125921],[0.014809,-0.160281,0.986960]]
2025-10-26T20:46:21.987Z,1761511581.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834918,-0.541352,-0.099244],[0.550193,0.825586,0.125284],[0.014112,-0.159205,0.987145]]
2025-10-26T20:46:22.386Z,1761511582.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834378,-0.542281,-0.098717],[0.551027,0.825043,0.125193],[0.013557,-0.158854,0.987209]]
2025-10-26T20:46:22.792Z,1761511582.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833659,-0.543512,-0.098018],[0.552125,0.824399,0.124597],[0.013086,-0.157989,0.987354]]
2025-10-26T20:46:23.194Z,1761511583.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832901,-0.544777,-0.097433],[0.553277,0.823697,0.124128],[0.012633,-0.157294,0.987471]]
2025-10-26T20:46:23.599Z,1761511583.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832397,-0.545479,-0.097817],[0.554041,0.823082,0.124800],[0.012436,-0.158077,0.987348]]
2025-10-26T20:46:24.015Z,1761511584.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831965,-0.546107,-0.097986],[0.554694,0.822575,0.125242],[0.012206,-0.158549,0.987276]]
2025-10-26T20:46:24.409Z,1761511584.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831589,-0.546719,-0.097766],[0.555255,0.822313,0.124475],[0.012341,-0.157797,0.987394]]
2025-10-26T20:46:24.810Z,1761511584.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830671,-0.548285,-0.096795],[0.556627,0.821670,0.122571],[0.012330,-0.155695,0.987728]]
2025-10-26T20:46:25.214Z,1761511585.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829921,-0.549601,-0.095762],[0.557747,0.821174,0.120796],[0.012247,-0.153662,0.988048]]
2025-10-26T20:46:25.619Z,1761511585.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828874,-0.551334,-0.094866],[0.559302,0.820377,0.119008],[0.012213,-0.151701,0.988351]]
2025-10-26T20:46:26.050Z,1761511586.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828275,-0.552190,-0.095119],[0.560197,0.819662,0.119723],[0.011856,-0.152449,0.988240]]
2025-10-26T20:46:26.426Z,1761511586.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827177,-0.553597,-0.096481],[0.561818,0.818307,0.121383],[0.011754,-0.154610,0.987906]]
2025-10-26T20:46:26.830Z,1761511586.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826381,-0.554930,-0.095644],[0.562995,0.817661,0.120275],[0.011460,-0.153240,0.988122]]
2025-10-26T20:46:27.240Z,1761511587.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825905,-0.555753,-0.094970],[0.563703,0.817219,0.119965],[0.010941,-0.152615,0.988225]]
2025-10-26T20:46:27.641Z,1761511587.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825305,-0.556708,-0.094598],[0.564590,0.816618,0.119891],[0.010506,-0.152355,0.988270]]
2025-10-26T20:46:28.110Z,1761511588.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824917,-0.557445,-0.093630],[0.565167,0.816295,0.119366],[0.009890,-0.151384,0.988426]]
2025-10-26T20:46:28.447Z,1761511588.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824383,-0.558636,-0.091207],[0.565960,0.816091,0.116985],[0.009081,-0.148060,0.988937]]
2025-10-26T20:46:28.850Z,1761511588.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824390,-0.558782,-0.090240],[0.565960,0.816123,0.116762],[0.008402,-0.147330,0.989052]]
2025-10-26T20:46:29.260Z,1761511589.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824538,-0.558723,-0.089252],[0.565755,0.816264,0.116766],[0.007613,-0.146773,0.989141]]
2025-10-26T20:46:29.659Z,1761511589.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824693,-0.558481,-0.089339],[0.565536,0.816270,0.117781],[0.007147,-0.147657,0.989013]]
2025-10-26T20:46:30.098Z,1761511590.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825458,-0.557060,-0.091121],[0.564421,0.816546,0.121165],[0.006908,-0.151447,0.988441]]
2025-10-26T20:46:30.468Z,1761511590.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826284,-0.555641,-0.092295],[0.563212,0.817050,0.123376],[0.006857,-0.153925,0.988059]]
2025-10-26T20:46:30.870Z,1761511590.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826858,-0.554687,-0.092887],[0.562372,0.817384,0.124983],[0.006598,-0.155580,0.987801]]
2025-10-26T20:46:31.280Z,1761511591.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827676,-0.553052,-0.095321],[0.561165,0.817636,0.128705],[0.006758,-0.160017,0.987091]]
2025-10-26T20:46:31.679Z,1761511591.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828430,-0.551708,-0.096552],[0.560048,0.818133,0.130403],[0.007048,-0.162103,0.986749]]
2025-10-26T20:46:32.123Z,1761511592.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829260,-0.550338,-0.097238],[0.558818,0.818739,0.131865],[0.007042,-0.163689,0.986487]]
2025-10-26T20:46:32.486Z,1761511592.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830259,-0.548708,-0.097924],[0.557331,0.819560,0.133055],[0.007246,-0.165047,0.986259]]
2025-10-26T20:46:32.890Z,1761511592.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831086,-0.547495,-0.097699],[0.556103,0.820233,0.134044],[0.006747,-0.165733,0.986148]]
2025-10-26T20:46:33.294Z,1761511593.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832004,-0.546111,-0.097634],[0.554732,0.821031,0.134837],[0.006525,-0.166346,0.986046]]
2025-10-26T20:46:33.314Z,1761511593.314 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 295.39, 322.94, 322.94
2025-10-26T20:46:33.700Z,1761511593.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833028,-0.544688,-0.096845],[0.553192,0.822152,0.134327],[0.006455,-0.165472,0.986193]]
2025-10-26T20:46:34.141Z,1761511594.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833659,-0.543612,-0.097457],[0.552242,0.822570,0.135674],[0.006411,-0.166926,0.985949]]
2025-10-26T20:46:34.507Z,1761511594.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834905,-0.541460,-0.098771],[0.550358,0.823375,0.138418],[0.006378,-0.169925,0.985436]]
2025-10-26T20:46:34.912Z,1761511594.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836116,-0.539625,-0.098562],[0.548519,0.824442,0.139366],[0.006053,-0.170589,0.985324]]
2025-10-26T20:46:35.314Z,1761511595.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836720,-0.539028,-0.096691],[0.547604,0.825306,0.137843],[0.005499,-0.168284,0.985723]]
2025-10-26T20:46:35.723Z,1761511595.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837244,-0.538477,-0.095209],[0.546805,0.826057,0.136505],[0.005143,-0.166348,0.986054]]
2025-10-26T20:46:36.135Z,1761511596.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837681,-0.538162,-0.093122],[0.546143,0.826694,0.135291],[0.004175,-0.164188,0.986420]]
2025-10-26T20:46:36.535Z,1761511596.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837748,-0.538185,-0.092381],[0.546044,0.826806,0.135014],[0.003719,-0.163552,0.986528]]
2025-10-26T20:46:36.930Z,1761511596.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837845,-0.538113,-0.091923],[0.545899,0.826823,0.135494],[0.003093,-0.163704,0.986505]]
2025-10-26T20:46:37.334Z,1761511597.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837894,-0.538257,-0.090620],[0.545827,0.827015,0.134609],[0.002490,-0.162251,0.986746]]
2025-10-26T20:46:37.741Z,1761511597.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837661,-0.538666,-0.090351],[0.546187,0.826726,0.134923],[0.002017,-0.162368,0.986728]]
2025-10-26T20:46:38.163Z,1761511598.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837543,-0.538926,-0.089894],[0.546370,0.826583,0.135057],[0.001519,-0.162232,0.986752]]
2025-10-26T20:46:38.551Z,1761511598.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837354,-0.539309,-0.089355],[0.546660,0.826395,0.135032],[0.001018,-0.161916,0.986804]]
2025-10-26T20:46:38.950Z,1761511598.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836694,-0.540444,-0.088678],[0.547671,0.825824,0.134431],[0.000580,-0.161044,0.986947]]
2025-10-26T20:46:38.990Z,1761511598.990 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:46:39.000Z,1761511599.000 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:46:39.001Z,1761511599.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:46:39.252Z,1761511599.252 [DAT](INFO): DAT read: user:121>

2025-10-26T20:46:39.253Z,1761511599.253 [DAT](INFO): DAT read: Tx time:20:46:38.3495

2025-10-26T20:46:39.253Z,1761511599.253 [DAT](INFO): Ping request sent.
2025-10-26T20:46:39.253Z,1761511599.253 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:46:39.254Z,1761511599.254 [DAT](INFO): publishing transmit ping time
2025-10-26T20:46:39.254Z,1761511599.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-10-26T20:46:39.354Z,1761511599.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836119,-0.541434,-0.088055],[0.548548,0.825301,0.134066],[0.000085,-0.160397,0.987053]]
2025-10-26T20:46:39.505Z,1761511599.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251435
2025-10-26T20:46:39.756Z,1761511599.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503092
2025-10-26T20:46:39.761Z,1761511599.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835718,-0.542037,-0.088150],[0.549158,0.824799,0.134652],[-0.000280,-0.160939,0.986964]]
2025-10-26T20:46:40.008Z,1761511600.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754965
2025-10-26T20:46:40.164Z,1761511600.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835117,-0.543025,-0.087768],[0.550072,0.824335,0.133763],[-0.000286,-0.159986,0.987119]]
2025-10-26T20:46:40.261Z,1761511600.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007318
2025-10-26T20:46:40.513Z,1761511600.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259794
2025-10-26T20:46:40.572Z,1761511600.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835079,-0.543061,-0.087907],[0.550129,0.824163,0.134587],[-0.000639,-0.160751,0.986995]]
2025-10-26T20:46:40.767Z,1761511600.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514000
2025-10-26T20:46:40.972Z,1761511600.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835155,-0.542914,-0.088099],[0.550014,0.824099,0.135442],[-0.000931,-0.161571,0.986861]]
2025-10-26T20:46:41.017Z,1761511601.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764029
2025-10-26T20:46:41.268Z,1761511601.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015015
2025-10-26T20:46:41.374Z,1761511601.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835527,-0.542221,-0.088831],[0.549448,0.824193,0.137160],[-0.001157,-0.163409,0.986558]]
2025-10-26T20:46:41.521Z,1761511601.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267003
2025-10-26T20:46:41.772Z,1761511601.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518974
2025-10-26T20:46:41.780Z,1761511601.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836075,-0.541368,-0.088878],[0.548613,0.824587,0.138134],[-0.001494,-0.164250,0.986418]]
2025-10-26T20:46:42.025Z,1761511602.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771990
2025-10-26T20:46:42.182Z,1761511602.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836438,-0.540854,-0.088590],[0.548059,0.824990,0.137921],[-0.001509,-0.163915,0.986473]]
2025-10-26T20:46:42.277Z,1761511602.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023283
2025-10-26T20:46:42.529Z,1761511602.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275537
2025-10-26T20:46:42.588Z,1761511602.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837042,-0.539714,-0.089833],[0.547137,0.825258,0.139966],[-0.001406,-0.166308,0.986073]]
2025-10-26T20:46:42.780Z,1761511602.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527033
2025-10-26T20:46:42.990Z,1761511602.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837938,-0.538080,-0.091263],[0.545763,0.825649,0.142995],[-0.001592,-0.169629,0.985507]]
2025-10-26T20:46:43.033Z,1761511603.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779881
2025-10-26T20:46:43.241Z,1761511603.241 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:46:43.284Z,1761511603.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030998
2025-10-26T20:46:43.394Z,1761511603.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838966,-0.536469,-0.091303],[0.544179,0.826432,0.144499],[-0.002063,-0.170915,0.985284]]
2025-10-26T20:46:43.537Z,1761511603.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283824
2025-10-26T20:46:43.788Z,1761511603.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535034
2025-10-26T20:46:43.799Z,1761511603.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839955,-0.534973,-0.090992],[0.542650,0.827250,0.145561],[-0.002598,-0.171641,0.985156]]
2025-10-26T20:46:44.040Z,1761511604.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787036
2025-10-26T20:46:44.204Z,1761511604.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840528,-0.534302,-0.089633],[0.541759,0.827977,0.144745],[-0.003123,-0.170221,0.985401]]
2025-10-26T20:46:44.245Z,1761511604.245 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:46:44.295Z,1761511604.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041326
2025-10-26T20:46:44.544Z,1761511604.544 [DAT](INFO): DAT read: Rx Time:20:46:43.1532

2025-10-26T20:46:44.545Z,1761511604.545 [DAT](INFO): Rx dataTimestamp_ set to:1761511604.544555
2025-10-26T20:46:44.545Z,1761511604.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292025
2025-10-26T20:46:44.796Z,1761511604.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543003
2025-10-26T20:46:45.019Z,1761511605.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842288,-0.532063,-0.086366],[0.539004,0.829893,0.144056],[-0.004972,-0.167888,0.985794]]
2025-10-26T20:46:45.062Z,1761511605.062 [DAT](INFO): DAT read: 20:46:43.1532 LVL= 32752, 32753, 32754, 32755, AGC= 86, IDX= 456,-0.38, 1.698, 0.005, 1.748, 1.593, PHS= 0.207,-1.542, 0.111, RAW= 147.2,  14.3, CAL= 147.1,  15.7, ROT=   2.9, -15.7

2025-10-26T20:46:45.063Z,1761511605.063 [DAT](INFO): got valid direction response:
 20:46:43.1532 LVL= 32752, 32753, 32754, 32755, AGC= 86, IDX= 456,-0.38, 1.698, 0.005, 1.748, 1.593, PHS= 0.207,-1.542, 0.111, RAW= 147.2,  14.3, CAL= 147.1,  15.7, ROT=   2.9, -15.7

2025-10-26T20:46:45.064Z,1761511605.064 [DAT](INFO): DAT read: Bearing 195.8,   0.1 (Local)

2025-10-26T20:46:45.064Z,1761511605.064 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.8,   0.1 (Local)

2025-10-26T20:46:45.066Z,1761511605.066 [DAT](INFO): DAT read: Range 11 to 50 : 1799.7 m  (Round-trip  2399.6 ms) speed  0.4 m/s

2025-10-26T20:46:45.066Z,1761511605.066 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:46:45.067Z,1761511605.067 [DAT](INFO): direction in FSK: [0.961459,0.048705,0.270600]
2025-10-26T20:46:45.068Z,1761511605.068 [DAT](INFO): publishing direction and range info
2025-10-26T20:46:45.415Z,1761511605.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842715,-0.531676,-0.084567],[0.538327,0.830452,0.143368],[-0.005996,-0.166343,0.986050]]
2025-10-26T20:46:45.819Z,1761511605.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843063,-0.531487,-0.082252],[0.537768,0.831071,0.141870],[-0.007045,-0.163838,0.986462]]
2025-10-26T20:46:46.223Z,1761511606.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843210,-0.531539,-0.080398],[0.537524,0.831386,0.140944],[-0.008076,-0.162061,0.986748]]
2025-10-26T20:46:46.626Z,1761511606.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843096,-0.531783,-0.079967],[0.537694,0.831254,0.141072],[-0.008547,-0.161935,0.986764]]
2025-10-26T20:46:47.036Z,1761511607.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842806,-0.532362,-0.079179],[0.538138,0.830985,0.140965],[-0.009247,-0.161416,0.986843]]
2025-10-26T20:46:47.434Z,1761511607.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842073,-0.533648,-0.078318],[0.539274,0.830358,0.140319],[-0.009849,-0.160394,0.987004]]
2025-10-26T20:46:47.841Z,1761511607.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840980,-0.535339,-0.078512],[0.540960,0.829055,0.141525],[-0.010673,-0.161491,0.986816]]
2025-10-26T20:46:48.242Z,1761511608.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839980,-0.536872,-0.078755],[0.542505,0.827956,0.142046],[-0.011054,-0.162041,0.986722]]
2025-10-26T20:46:48.646Z,1761511608.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839026,-0.538463,-0.078060],[0.543971,0.827139,0.141198],[-0.011464,-0.160931,0.986899]]
2025-10-26T20:46:49.050Z,1761511609.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837837,-0.540367,-0.077668],[0.545798,0.826119,0.140111],[-0.011548,-0.159781,0.987085]]
2025-10-26T20:46:49.455Z,1761511609.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836528,-0.542404,-0.077578],[0.547800,0.824903,0.139464],[-0.011651,-0.159163,0.987184]]
2025-10-26T20:46:49.859Z,1761511609.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835691,-0.543754,-0.077148],[0.549070,0.824162,0.138848],[-0.011917,-0.158394,0.987304]]
2025-10-26T20:46:50.262Z,1761511610.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834746,-0.545175,-0.077349],[0.550505,0.823221,0.138751],[-0.011968,-0.158403,0.987302]]
2025-10-26T20:46:51.071Z,1761511611.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833886,-0.546453,-0.077610],[0.551803,0.822299,0.139062],[-0.012172,-0.158787,0.987238]]
2025-10-26T20:46:51.474Z,1761511611.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833589,-0.546925,-0.077476],[0.552252,0.822067,0.138649],[-0.012140,-0.158363,0.987306]]
2025-10-26T20:46:51.879Z,1761511611.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833623,-0.546885,-0.077395],[0.552195,0.822045,0.139006],[-0.012398,-0.158616,0.987262]]
2025-10-26T20:46:52.283Z,1761511612.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833897,-0.546470,-0.077369],[0.551775,0.822237,0.139535],[-0.012636,-0.159048,0.987190]]
2025-10-26T20:46:52.687Z,1761511612.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834325,-0.545808,-0.077436],[0.551125,0.822575,0.140111],[-0.012777,-0.159575,0.987103]]
2025-10-26T20:46:53.116Z,1761511613.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834908,-0.545085,-0.076231],[0.550236,0.823362,0.138978],[-0.012989,-0.157979,0.987357]]
2025-10-26T20:46:53.499Z,1761511613.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835329,-0.544512,-0.075716],[0.549585,0.823732,0.139362],[-0.013514,-0.158025,0.987343]]
2025-10-26T20:46:53.898Z,1761511613.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836172,-0.543401,-0.074377],[0.548293,0.824761,0.138363],[-0.013843,-0.156475,0.987585]]
2025-10-26T20:46:54.302Z,1761511614.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836824,-0.542559,-0.073186],[0.547280,0.825478,0.138093],[-0.014511,-0.155613,0.987712]]
2025-10-26T20:46:54.719Z,1761511614.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837519,-0.541531,-0.072848],[0.546201,0.826052,0.138932],[-0.015059,-0.156147,0.987619]]
2025-10-26T20:46:55.110Z,1761511615.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838281,-0.540316,-0.073096],[0.545018,0.826565,0.140518],[-0.015505,-0.157632,0.987376]]
2025-10-26T20:46:55.519Z,1761511615.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839303,-0.538665,-0.073562],[0.543421,0.827166,0.143139],[-0.016256,-0.160112,0.986965]]
2025-10-26T20:46:55.921Z,1761511615.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840174,-0.537361,-0.073152],[0.542046,0.827812,0.144616],[-0.017154,-0.161154,0.986780]]
2025-10-26T20:46:56.322Z,1761511616.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840808,-0.536282,-0.073780],[0.541041,0.828036,0.147070],[-0.017779,-0.163576,0.986371]]
2025-10-26T20:46:56.736Z,1761511616.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841298,-0.535424,-0.074418],[0.540268,0.828213,0.148910],[-0.018096,-0.165484,0.986046]]
2025-10-26T20:46:57.130Z,1761511617.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841457,-0.535157,-0.074543],[0.540022,0.828337,0.149112],[-0.018052,-0.165726,0.986007]]
2025-10-26T20:46:57.536Z,1761511617.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841273,-0.535436,-0.074616],[0.540314,0.828200,0.148811],[-0.017882,-0.165507,0.986047]]
2025-10-26T20:46:57.938Z,1761511617.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841130,-0.535664,-0.074592],[0.540551,0.828207,0.147910],[-0.017452,-0.164732,0.986184]]
2025-10-26T20:46:58.343Z,1761511618.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840651,-0.536540,-0.073692],[0.541316,0.828207,0.145086],[-0.016812,-0.161857,0.986671]]
2025-10-26T20:46:58.750Z,1761511618.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839994,-0.537385,-0.075024],[0.542355,0.827428,0.145651],[-0.016194,-0.163036,0.986487]]
2025-10-26T20:46:59.152Z,1761511619.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839671,-0.537831,-0.075433],[0.542867,0.827159,0.145269],[-0.015735,-0.162928,0.986512]]
2025-10-26T20:46:59.554Z,1761511619.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838879,-0.539135,-0.074935],[0.544107,0.826745,0.142968],[-0.015127,-0.160706,0.986886]]
2025-10-26T20:46:59.958Z,1761511619.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838234,-0.540170,-0.074698],[0.545116,0.826381,0.141216],[-0.014551,-0.159092,0.987157]]
2025-10-26T20:47:00.362Z,1761511620.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837162,-0.541879,-0.074352],[0.546780,0.825684,0.138845],[-0.013846,-0.156890,0.987519]]
2025-10-26T20:47:00.766Z,1761511620.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836522,-0.542827,-0.074630],[0.547771,0.825164,0.138031],[-0.013345,-0.156346,0.987612]]
2025-10-26T20:47:01.170Z,1761511621.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836562,-0.542792,-0.074439],[0.547716,0.825316,0.137332],[-0.013107,-0.155658,0.987724]]
2025-10-26T20:47:01.577Z,1761511621.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836063,-0.543758,-0.072981],[0.548486,0.825320,0.134200],[-0.012739,-0.152228,0.988263]]
2025-10-26T20:47:01.991Z,1761511621.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835541,-0.544494,-0.073464],[0.549283,0.824758,0.134398],[-0.012589,-0.152648,0.988200]]
2025-10-26T20:47:02.791Z,1761511622.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835650,-0.544508,-0.072112],[0.549121,0.825222,0.132195],[-0.012473,-0.150067,0.988597]]
2025-10-26T20:47:03.196Z,1761511623.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836108,-0.543773,-0.072350],[0.548417,0.825522,0.133236],[-0.012724,-0.151077,0.988440]]
2025-10-26T20:47:03.601Z,1761511623.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836521,-0.543128,-0.072415],[0.547783,0.825842,0.133861],[-0.012900,-0.151645,0.988351]]
2025-10-26T20:47:04.014Z,1761511624.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836467,-0.543068,-0.073485],[0.547872,0.825597,0.135002],[-0.012646,-0.153185,0.988117]]
2025-10-26T20:47:04.406Z,1761511624.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836499,-0.542862,-0.074636],[0.547825,0.825359,0.136639],[-0.012575,-0.155186,0.987805]]
2025-10-26T20:47:04.809Z,1761511624.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836453,-0.542911,-0.074788],[0.547891,0.825238,0.137104],[-0.012718,-0.155657,0.987729]]
2025-10-26T20:47:05.210Z,1761511625.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836504,-0.542801,-0.075026],[0.547815,0.825244,0.137368],[-0.012649,-0.156009,0.987675]]
2025-10-26T20:47:05.614Z,1761511625.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836076,-0.543402,-0.075445],[0.548469,0.824755,0.137701],[-0.012603,-0.156508,0.987596]]
2025-10-26T20:47:06.018Z,1761511626.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836093,-0.543340,-0.075704],[0.548440,0.824662,0.138370],[-0.012751,-0.157210,0.987483]]
2025-10-26T20:47:06.423Z,1761511626.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835780,-0.543799,-0.075864],[0.548921,0.824376,0.138165],[-0.012594,-0.157119,0.987499]]
2025-10-26T20:47:06.826Z,1761511626.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835437,-0.544338,-0.075774],[0.549442,0.824075,0.137889],[-0.012615,-0.156831,0.987545]]
2025-10-26T20:47:07.230Z,1761511627.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834870,-0.545306,-0.075064],[0.550302,0.823714,0.136610],[-0.012663,-0.155359,0.987777]]
2025-10-26T20:47:07.634Z,1761511627.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834537,-0.545822,-0.075010],[0.550808,0.823440,0.136223],[-0.012588,-0.154999,0.987834]]
2025-10-26T20:47:08.043Z,1761511628.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834445,-0.545914,-0.075361],[0.550947,0.823258,0.136765],[-0.012621,-0.155643,0.987733]]
2025-10-26T20:47:08.442Z,1761511628.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834820,-0.545291,-0.075711],[0.550380,0.823549,0.137292],[-0.012513,-0.156284,0.987633]]
2025-10-26T20:47:08.846Z,1761511628.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834677,-0.545623,-0.074900],[0.550598,0.823613,0.136026],[-0.012530,-0.154777,0.987870]]
2025-10-26T20:47:09.251Z,1761511629.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834947,-0.545196,-0.074999],[0.550186,0.823822,0.136428],[-0.012594,-0.155174,0.987807]]
2025-10-26T20:47:09.654Z,1761511629.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835371,-0.544610,-0.074535],[0.549539,0.824283,0.136254],[-0.012767,-0.154783,0.987866]]
2025-10-26T20:47:10.069Z,1761511630.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835539,-0.544367,-0.074429],[0.549285,0.824484,0.136062],[-0.012703,-0.154567,0.987901]]
2025-10-26T20:47:10.466Z,1761511630.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836118,-0.543475,-0.074439],[0.548398,0.824968,0.136705],[-0.012886,-0.155124,0.987811]]
2025-10-26T20:47:10.866Z,1761511630.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836708,-0.542572,-0.074393],[0.547491,0.825460,0.137365],[-0.013122,-0.155664,0.987723]]
2025-10-26T20:47:11.272Z,1761511631.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837283,-0.541722,-0.074124],[0.546602,0.825940,0.138018],[-0.013546,-0.156077,0.987652]]
2025-10-26T20:47:11.675Z,1761511631.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837938,-0.540778,-0.073620],[0.545590,0.826582,0.138182],[-0.013873,-0.155955,0.987667]]
2025-10-26T20:47:12.086Z,1761511632.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838508,-0.539944,-0.073238],[0.544702,0.827093,0.138629],[-0.014278,-0.156134,0.987633]]
2025-10-26T20:47:12.488Z,1761511632.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839046,-0.539167,-0.072804],[0.543860,0.827565,0.139114],[-0.014756,-0.156318,0.987596]]
2025-10-26T20:47:12.886Z,1761511632.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839550,-0.538475,-0.072108],[0.543070,0.828089,0.139083],[-0.015181,-0.155927,0.987652]]
2025-10-26T20:47:13.293Z,1761511633.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839805,-0.538195,-0.071222],[0.542665,0.828452,0.138496],[-0.015533,-0.154959,0.987799]]
2025-10-26T20:47:13.694Z,1761511633.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839768,-0.538274,-0.071064],[0.542724,0.828479,0.138102],[-0.015462,-0.154541,0.987865]]
2025-10-26T20:47:14.102Z,1761511634.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839547,-0.538698,-0.070469],[0.543064,0.828387,0.137318],[-0.015597,-0.153554,0.988017]]
2025-10-26T20:47:14.364Z,1761511634.364 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:47:14.503Z,1761511634.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839368,-0.539051,-0.069888],[0.543334,0.828318,0.136664],[-0.015780,-0.152683,0.988149]]
2025-10-26T20:47:14.908Z,1761511634.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838930,-0.539762,-0.069670],[0.544001,0.827866,0.136753],[-0.016136,-0.152627,0.988152]]
2025-10-26T20:47:15.311Z,1761511635.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838140,-0.541012,-0.069483],[0.545205,0.827070,0.136769],[-0.016526,-0.152515,0.988163]]
2025-10-26T20:47:15.368Z,1761511635.368 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:47:15.720Z,1761511635.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837376,-0.542163,-0.069717],[0.546380,0.826322,0.136605],[-0.016453,-0.152482,0.988169]]
2025-10-26T20:47:16.125Z,1761511636.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836292,-0.543891,-0.069268],[0.548039,0.825440,0.135289],[-0.016405,-0.151103,0.988382]]
2025-10-26T20:47:16.522Z,1761511636.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835257,-0.545346,-0.070318],[0.549603,0.824094,0.137134],[-0.016837,-0.153189,0.988053]]
2025-10-26T20:47:16.926Z,1761511636.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834361,-0.546742,-0.070099],[0.550965,0.823355,0.136106],[-0.016699,-0.152184,0.988211]]
2025-10-26T20:47:17.330Z,1761511637.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833067,-0.548706,-0.070152],[0.552924,0.822170,0.135322],[-0.016575,-0.151521,0.988315]]
2025-10-26T20:47:17.757Z,1761511637.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831768,-0.550532,-0.071255],[0.554876,0.820681,0.136364],[-0.016595,-0.152961,0.988093]]
2025-10-26T20:47:18.141Z,1761511638.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830835,-0.551914,-0.071444],[0.556277,0.819813,0.135876],[-0.016421,-0.152633,0.988147]]
2025-10-26T20:47:18.542Z,1761511638.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830103,-0.553003,-0.071530],[0.557376,0.819182,0.135178],[-0.016157,-0.152081,0.988236]]
2025-10-26T20:47:18.951Z,1761511638.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829215,-0.554355,-0.071370],[0.558704,0.818467,0.134020],[-0.015881,-0.151006,0.988405]]
2025-10-26T20:47:19.351Z,1761511639.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828636,-0.555217,-0.071396],[0.559568,0.817965,0.133479],[-0.015711,-0.150556,0.988477]]
2025-10-26T20:47:19.792Z,1761511639.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828508,-0.555332,-0.071984],[0.559758,0.817712,0.134233],[-0.015682,-0.151507,0.988332]]
2025-10-26T20:47:20.244Z,1761511640.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828810,-0.554863,-0.072112],[0.559313,0.817996,0.134353],[-0.015560,-0.151686,0.988306]]
2025-10-26T20:47:20.655Z,1761511640.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829199,-0.554269,-0.072213],[0.558735,0.818313,0.134833],[-0.015641,-0.152152,0.988233]]
2025-10-26T20:47:21.050Z,1761511641.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829778,-0.553406,-0.072186],[0.557875,0.818862,0.135053],[-0.015629,-0.152334,0.988205]]
2025-10-26T20:47:21.461Z,1761511641.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830231,-0.552713,-0.072283],[0.557201,0.819276,0.135330],[-0.015578,-0.152631,0.988160]]
2025-10-26T20:47:21.859Z,1761511641.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831119,-0.551305,-0.072825],[0.555879,0.820001,0.136370],[-0.015465,-0.153822,0.987978]]
2025-10-26T20:47:22.264Z,1761511642.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832023,-0.549835,-0.073614],[0.554533,0.820727,0.137479],[-0.015174,-0.155207,0.987765]]
2025-10-26T20:47:22.669Z,1761511642.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832879,-0.548513,-0.073802],[0.553249,0.821492,0.138082],[-0.015112,-0.155836,0.987667]]
2025-10-26T20:47:23.070Z,1761511643.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833327,-0.547853,-0.073636],[0.552587,0.822095,0.137141],[-0.014597,-0.154974,0.987811]]
2025-10-26T20:47:23.477Z,1761511643.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834016,-0.546995,-0.072209],[0.551563,0.823252,0.134293],[-0.014012,-0.151830,0.988307]]
2025-10-26T20:47:23.884Z,1761511643.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834384,-0.546360,-0.072765],[0.551013,0.823543,0.134767],[-0.013706,-0.152541,0.988202]]
2025-10-26T20:47:24.282Z,1761511644.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834882,-0.545478,-0.073659],[0.550265,0.823861,0.135872],[-0.013430,-0.153969,0.987984]]
2025-10-26T20:47:24.686Z,1761511644.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835202,-0.544971,-0.073780],[0.549781,0.824157,0.136040],[-0.013331,-0.154184,0.987952]]
2025-10-26T20:47:25.090Z,1761511645.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834922,-0.545401,-0.073778],[0.550214,0.823986,0.135319],[-0.013012,-0.153575,0.988051]]
2025-10-26T20:47:25.496Z,1761511645.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834544,-0.545968,-0.073866],[0.550797,0.823723,0.134548],[-0.012614,-0.152971,0.988150]]
2025-10-26T20:47:25.900Z,1761511645.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834151,-0.546548,-0.074007],[0.551401,0.823436,0.133829],[-0.012203,-0.152441,0.988237]]
2025-10-26T20:47:26.302Z,1761511646.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833687,-0.547242,-0.074113],[0.552109,0.823054,0.133256],[-0.011925,-0.152012,0.988307]]
2025-10-26T20:47:26.722Z,1761511646.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833235,-0.547899,-0.074342],[0.552798,0.822667,0.132793],[-0.011598,-0.151744,0.988352]]
2025-10-26T20:47:27.111Z,1761511647.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832472,-0.549038,-0.074486],[0.553952,0.821997,0.132130],[-0.011317,-0.151256,0.988430]]
2025-10-26T20:47:27.514Z,1761511647.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831338,-0.550732,-0.074640],[0.555656,0.820960,0.131420],[-0.011100,-0.150729,0.988513]]
2025-10-26T20:47:27.920Z,1761511647.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830394,-0.552108,-0.074983],[0.557071,0.820058,0.131063],[-0.010870,-0.150605,0.988534]]
2025-10-26T20:47:28.322Z,1761511648.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829725,-0.553001,-0.075809],[0.558067,0.819230,0.132000],[-0.010892,-0.151830,0.988347]]
2025-10-26T20:47:28.806Z,1761511648.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828819,-0.554252,-0.076572],[0.559415,0.818270,0.132249],[-0.010642,-0.152446,0.988254]]
2025-10-26T20:47:29.130Z,1761511649.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827992,-0.555469,-0.076703],[0.560642,0.817506,0.131773],[-0.010491,-0.152110,0.988308]]
2025-10-26T20:47:29.534Z,1761511649.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827360,-0.556387,-0.076866],[0.561577,0.816920,0.131427],[-0.010331,-0.151903,0.988341]]
2025-10-26T20:47:29.949Z,1761511649.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826799,-0.557281,-0.076430],[0.562405,0.816529,0.130308],[-0.010211,-0.150723,0.988523]]
2025-10-26T20:47:30.343Z,1761511650.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826060,-0.558377,-0.076417],[0.563497,0.815958,0.129164],[-0.009769,-0.149758,0.988674]]
2025-10-26T20:47:30.746Z,1761511650.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825626,-0.558953,-0.076903],[0.564142,0.815565,0.128835],[-0.009293,-0.149754,0.988680]]
2025-10-26T20:47:31.150Z,1761511651.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825266,-0.559380,-0.077654],[0.564678,0.815219,0.128675],[-0.008673,-0.150041,0.988642]]
2025-10-26T20:47:31.554Z,1761511651.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825172,-0.559415,-0.078394],[0.564822,0.815105,0.128759],[-0.008130,-0.150527,0.988572]]
2025-10-26T20:47:31.964Z,1761511651.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825377,-0.559053,-0.078818],[0.564525,0.815252,0.129130],[-0.007934,-0.151075,0.988490]]
2025-10-26T20:47:32.362Z,1761511652.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825462,-0.558913,-0.078924],[0.564410,0.815461,0.128315],[-0.007358,-0.150465,0.988588]]
2025-10-26T20:47:32.766Z,1761511652.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825081,-0.559468,-0.078972],[0.564970,0.815175,0.127667],[-0.007050,-0.149952,0.988668]]
2025-10-26T20:47:33.171Z,1761511653.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825249,-0.559145,-0.079498],[0.564726,0.815242,0.128314],[-0.006937,-0.150786,0.988542]]
2025-10-26T20:47:33.575Z,1761511653.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825677,-0.558501,-0.079590],[0.564101,0.815628,0.128612],[-0.006914,-0.151089,0.988496]]
2025-10-26T20:47:33.979Z,1761511653.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825547,-0.558701,-0.079526],[0.564290,0.815508,0.128545],[-0.006964,-0.150996,0.988510]]
2025-10-26T20:47:34.382Z,1761511654.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825527,-0.558810,-0.078977],[0.564314,0.815492,0.128540],[-0.007424,-0.150681,0.988555]]
2025-10-26T20:47:35.192Z,1761511655.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824832,-0.560020,-0.077648],[0.565320,0.814986,0.127323],[-0.008021,-0.148916,0.988817]]
2025-10-26T20:47:35.594Z,1761511655.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824763,-0.560143,-0.077499],[0.565418,0.814889,0.127510],[-0.008271,-0.148985,0.988805]]
2025-10-26T20:47:35.999Z,1761511655.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824380,-0.560721,-0.077395],[0.565976,0.814537,0.127283],[-0.008329,-0.148734,0.988842]]
2025-10-26T20:47:36.402Z,1761511656.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823976,-0.561161,-0.078498],[0.566566,0.813963,0.128327],[-0.008117,-0.150213,0.988620]]
2025-10-26T20:47:36.815Z,1761511656.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823398,-0.561828,-0.079781],[0.567409,0.813161,0.129680],[-0.007983,-0.152047,0.988341]]
2025-10-26T20:47:37.211Z,1761511657.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822835,-0.562497,-0.080865],[0.568229,0.812486,0.130315],[-0.007600,-0.153178,0.988169]]
2025-10-26T20:47:37.614Z,1761511657.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822240,-0.563123,-0.082553],[0.569097,0.811675,0.131574],[-0.007086,-0.155166,0.987863]]
2025-10-26T20:47:38.018Z,1761511658.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821995,-0.563357,-0.083387],[0.569454,0.811315,0.132251],[-0.006852,-0.156195,0.987702]]
2025-10-26T20:47:38.435Z,1761511658.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820962,-0.564694,-0.084513],[0.570951,0.810306,0.131980],[-0.006047,-0.156603,0.987643]]
2025-10-26T20:47:38.838Z,1761511658.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820457,-0.565395,-0.084726],[0.571680,0.809893,0.131357],[-0.005649,-0.156209,0.987708]]
2025-10-26T20:47:39.234Z,1761511659.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819822,-0.566515,-0.083381],[0.572594,0.809693,0.128582],[-0.005330,-0.153158,0.988187]]
2025-10-26T20:47:39.257Z,1761511659.257 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:47:39.260Z,1761511659.260 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:47:39.261Z,1761511659.261 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:47:39.512Z,1761511659.512 [DAT](INFO): DAT read: user:122>

2025-10-26T20:47:39.513Z,1761511659.513 [DAT](INFO): DAT read: Tx time:20:47:38.6493

2025-10-26T20:47:39.513Z,1761511659.513 [DAT](INFO): Ping request sent.
2025-10-26T20:47:39.513Z,1761511659.513 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:47:39.514Z,1761511659.514 [DAT](INFO): publishing transmit ping time
2025-10-26T20:47:39.514Z,1761511659.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-10-26T20:47:39.638Z,1761511659.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819207,-0.567573,-0.082218],[0.573476,0.809486,0.125927],[-0.004919,-0.150311,0.988627]]
2025-10-26T20:47:39.768Z,1761511659.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254705
2025-10-26T20:47:40.016Z,1761511660.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502855
2025-10-26T20:47:40.268Z,1761511660.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754963
2025-10-26T20:47:40.451Z,1761511660.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819539,-0.567166,-0.081727],[0.573003,0.809929,0.125227],[-0.004831,-0.149459,0.988756]]
2025-10-26T20:47:40.520Z,1761511660.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006871
2025-10-26T20:47:40.772Z,1761511660.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258916
2025-10-26T20:47:40.846Z,1761511660.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819990,-0.566635,-0.080881],[0.572356,0.810489,0.124568],[-0.005031,-0.148437,0.988909]]
2025-10-26T20:47:41.025Z,1761511661.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511489
2025-10-26T20:47:41.250Z,1761511661.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820384,-0.566095,-0.080664],[0.571789,0.810854,0.124790],[-0.005237,-0.148499,0.988899]]
2025-10-26T20:47:41.276Z,1761511661.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763007
2025-10-26T20:47:41.528Z,1761511661.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015018
2025-10-26T20:47:41.655Z,1761511661.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820565,-0.565860,-0.080471],[0.571530,0.811096,0.124406],[-0.005127,-0.148075,0.988963]]
2025-10-26T20:47:41.783Z,1761511661.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269223
2025-10-26T20:47:42.034Z,1761511662.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520595
2025-10-26T20:47:42.058Z,1761511662.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820857,-0.565330,-0.081207],[0.571114,0.811329,0.124798],[-0.004666,-0.148819,0.988853]]
2025-10-26T20:47:42.284Z,1761511662.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770943
2025-10-26T20:47:42.462Z,1761511662.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820730,-0.565347,-0.082373],[0.571302,0.811117,0.125309],[-0.004029,-0.149905,0.988692]]
2025-10-26T20:47:42.536Z,1761511662.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022947
2025-10-26T20:47:42.788Z,1761511662.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274906
2025-10-26T20:47:42.866Z,1761511662.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820874,-0.564993,-0.083363],[0.571098,0.811140,0.126090],[-0.003621,-0.151112,0.988510]]
2025-10-26T20:47:43.041Z,1761511663.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527210
2025-10-26T20:47:43.272Z,1761511663.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820586,-0.565336,-0.083867],[0.571514,0.810873,0.125926],[-0.003185,-0.151265,0.988488]]
2025-10-26T20:47:43.293Z,1761511663.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779100
2025-10-26T20:47:43.544Z,1761511663.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030988
2025-10-26T20:47:43.674Z,1761511663.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820202,-0.565606,-0.085785],[0.572070,0.810367,0.126653],[-0.002119,-0.152956,0.988231]]
2025-10-26T20:47:43.800Z,1761511663.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285639
2025-10-26T20:47:44.049Z,1761511664.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535128
2025-10-26T20:47:44.078Z,1761511664.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819632,-0.566257,-0.086929],[0.572889,0.809815,0.126483],[-0.001226,-0.153470,0.988153]]
2025-10-26T20:47:44.300Z,1761511664.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786884
2025-10-26T20:47:44.482Z,1761511664.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818615,-0.567624,-0.087590],[0.574342,0.808957,0.125379],[-0.000312,-0.152944,0.988235]]
2025-10-26T20:47:44.553Z,1761511664.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039339
2025-10-26T20:47:44.804Z,1761511664.804 [DAT](INFO): DAT read: Rx Time:20:47:43.4055

2025-10-26T20:47:44.805Z,1761511664.805 [DAT](INFO): Rx dataTimestamp_ set to:1761511664.804603
2025-10-26T20:47:44.805Z,1761511664.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292015
2025-10-26T20:47:44.888Z,1761511664.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817260,-0.569509,-0.088006],[0.576268,0.807857,0.123622],[0.000693,-0.151747,0.988419]]
2025-10-26T20:47:45.057Z,1761511665.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543353
2025-10-26T20:47:45.291Z,1761511665.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815749,-0.571560,-0.088730],[0.578403,0.806560,0.122107],[0.001774,-0.150931,0.988543]]
2025-10-26T20:47:45.314Z,1761511665.314 [DAT](INFO): DAT read: 20:47:43.4055 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 466,-0.03, 2.255, 0.606, 2.336, 2.103, PHS= 0.255,-1.451, 0.189, RAW= 148.1,  12.0, CAL= 147.9,  13.2, ROT=   2.1, -13.2

2025-10-26T20:47:45.315Z,1761511665.315 [DAT](INFO): got valid direction response:
 20:47:43.4055 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 466,-0.03, 2.255, 0.606, 2.336, 2.103, PHS= 0.255,-1.451, 0.189, RAW= 148.1,  12.0, CAL= 147.9,  13.2, ROT=   2.1, -13.2

2025-10-26T20:47:45.316Z,1761511665.316 [DAT](INFO): DAT read: Bearing 196.1,   0.4 (Local)

2025-10-26T20:47:45.316Z,1761511665.316 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.1,   0.4 (Local)

2025-10-26T20:47:45.318Z,1761511665.318 [DAT](INFO): DAT read: Range 11 to 50 : 1764.0 m  (Round-trip  2352.1 ms) speed  0.5 m/s

2025-10-26T20:47:45.318Z,1761511665.318 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:47:45.319Z,1761511665.319 [DAT](INFO): direction in FSK: [0.972925,0.035676,0.228351]
2025-10-26T20:47:45.320Z,1761511665.320 [DAT](INFO): publishing direction and range info
2025-10-26T20:47:45.488Z,1761511665.488 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:47:45.694Z,1761511665.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814381,-0.573444,-0.089133],[0.580323,0.805477,0.120132],[0.002906,-0.149559,0.988748]]
2025-10-26T20:47:46.100Z,1761511666.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812753,-0.575671,-0.089646],[0.582594,0.804140,0.118079],[0.004113,-0.148196,0.988949]]
2025-10-26T20:47:46.492Z,1761511666.492 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:47:46.509Z,1761511666.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810879,-0.577983,-0.091708],[0.585189,0.802248,0.118117],[0.005303,-0.149445,0.988756]]
2025-10-26T20:47:46.913Z,1761511666.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809338,-0.579999,-0.092590],[0.587305,0.800942,0.116468],[0.006608,-0.148640,0.988869]]
2025-10-26T20:47:47.310Z,1761511667.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807797,-0.581989,-0.093552],[0.589406,0.799636,0.114816],[0.007986,-0.147888,0.988972]]
2025-10-26T20:47:47.722Z,1761511667.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806286,-0.583942,-0.094416],[0.591454,0.798344,0.113262],[0.009238,-0.147164,0.989069]]
2025-10-26T20:47:48.118Z,1761511668.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805142,-0.585313,-0.095680],[0.592988,0.797344,0.112286],[0.010568,-0.147143,0.989059]]
2025-10-26T20:47:48.522Z,1761511668.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804023,-0.586609,-0.097147],[0.594474,0.796392,0.111174],[0.012151,-0.147138,0.989041]]
2025-10-26T20:47:48.937Z,1761511668.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802896,-0.587964,-0.098273],[0.595958,0.795529,0.109392],[0.013860,-0.146397,0.989129]]
2025-10-26T20:47:49.331Z,1761511669.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802126,-0.588751,-0.099830],[0.596957,0.794874,0.108707],[0.015351,-0.146792,0.989048]]
2025-10-26T20:47:49.753Z,1761511669.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801612,-0.589172,-0.101459],[0.597610,0.794430,0.108367],[0.016755,-0.147501,0.988920]]
2025-10-26T20:47:50.138Z,1761511670.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801498,-0.588885,-0.103992],[0.597726,0.794160,0.109698],[0.017987,-0.150081,0.988510]]
2025-10-26T20:47:50.542Z,1761511670.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801653,-0.588317,-0.105993],[0.597487,0.794189,0.110784],[0.019002,-0.152140,0.988176]]
2025-10-26T20:47:50.951Z,1761511670.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801914,-0.587609,-0.107930],[0.597109,0.794286,0.112121],[0.019844,-0.154357,0.987816]]
2025-10-26T20:47:51.352Z,1761511671.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802215,-0.586941,-0.109321],[0.596682,0.794481,0.113006],[0.020526,-0.155885,0.987562]]
2025-10-26T20:47:51.794Z,1761511671.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802209,-0.586767,-0.110298],[0.596665,0.794478,0.113122],[0.021253,-0.156558,0.987440]]
2025-10-26T20:47:52.158Z,1761511672.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802022,-0.586814,-0.111400],[0.596887,0.794296,0.113225],[0.022043,-0.157303,0.987304]]
2025-10-26T20:47:52.563Z,1761511672.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802283,-0.586402,-0.111688],[0.596523,0.794587,0.113105],[0.022421,-0.157367,0.987286]]
2025-10-26T20:47:52.975Z,1761511672.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802337,-0.586117,-0.112796],[0.596438,0.794512,0.114070],[0.022759,-0.158799,0.987049]]
2025-10-26T20:47:53.370Z,1761511673.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802228,-0.586076,-0.113775],[0.596562,0.794371,0.114410],[0.023326,-0.159657,0.986897]]
2025-10-26T20:47:53.808Z,1761511673.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802073,-0.586130,-0.114587],[0.596748,0.794216,0.114511],[0.023888,-0.160226,0.986791]]
2025-10-26T20:47:54.178Z,1761511674.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801807,-0.586287,-0.115646],[0.597075,0.793963,0.114561],[0.024653,-0.160905,0.986662]]
2025-10-26T20:47:54.583Z,1761511674.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801721,-0.586244,-0.116452],[0.597171,0.793846,0.114868],[0.025104,-0.161634,0.986531]]
2025-10-26T20:47:54.986Z,1761511674.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801351,-0.586593,-0.117241],[0.597641,0.793509,0.114752],[0.025719,-0.162024,0.986452]]
2025-10-26T20:47:55.398Z,1761511675.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801033,-0.586767,-0.118536],[0.598038,0.793136,0.115263],[0.026382,-0.163219,0.986237]]
2025-10-26T20:47:55.811Z,1761511675.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800698,-0.587019,-0.119546],[0.598457,0.792804,0.115376],[0.027048,-0.163924,0.986102]]
2025-10-26T20:47:56.200Z,1761511676.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800363,-0.587440,-0.119727],[0.598885,0.792578,0.114707],[0.027510,-0.163510,0.986158]]
2025-10-26T20:47:56.602Z,1761511676.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799727,-0.588151,-0.120475],[0.599704,0.792000,0.114416],[0.028122,-0.163751,0.986101]]
2025-10-26T20:47:57.006Z,1761511677.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799164,-0.588777,-0.121152],[0.600429,0.791484,0.114184],[0.028661,-0.163995,0.986045]]
2025-10-26T20:47:57.416Z,1761511677.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798463,-0.589686,-0.121356],[0.601324,0.790995,0.112856],[0.029442,-0.163085,0.986173]]
2025-10-26T20:47:57.819Z,1761511677.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797616,-0.590672,-0.122127],[0.602401,0.790296,0.112007],[0.030356,-0.162908,0.986174]]
2025-10-26T20:47:58.218Z,1761511678.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797167,-0.591142,-0.122781],[0.602962,0.789922,0.111626],[0.031001,-0.163017,0.986136]]
2025-10-26T20:47:58.622Z,1761511678.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796296,-0.592201,-0.123332],[0.604065,0.789237,0.110500],[0.031900,-0.162491,0.986194]]
2025-10-26T20:47:59.027Z,1761511679.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795582,-0.592980,-0.124189],[0.604961,0.788624,0.109974],[0.032726,-0.162623,0.986145]]
2025-10-26T20:47:59.433Z,1761511679.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795021,-0.593507,-0.125267],[0.605646,0.788151,0.109592],[0.033686,-0.162995,0.986052]]
2025-10-26T20:47:59.834Z,1761511679.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794708,-0.593699,-0.126336],[0.606019,0.787838,0.109783],[0.034354,-0.163807,0.985894]]
2025-10-26T20:48:00.238Z,1761511680.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794010,-0.594384,-0.127499],[0.606895,0.787143,0.109930],[0.035019,-0.164664,0.985728]]
2025-10-26T20:48:00.642Z,1761511680.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793519,-0.594719,-0.128981],[0.607484,0.786650,0.110203],[0.035924,-0.165802,0.985505]]
2025-10-26T20:48:01.047Z,1761511681.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793013,-0.595165,-0.130035],[0.608109,0.786144,0.110369],[0.036539,-0.166600,0.985347]]
2025-10-26T20:48:01.453Z,1761511681.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792707,-0.595367,-0.130972],[0.608463,0.785879,0.110306],[0.037256,-0.167132,0.985230]]
2025-10-26T20:48:01.854Z,1761511681.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792191,-0.595829,-0.131989],[0.609083,0.785436,0.110041],[0.038103,-0.167565,0.985124]]
2025-10-26T20:48:02.258Z,1761511682.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792225,-0.595492,-0.133301],[0.608998,0.785405,0.110731],[0.038756,-0.168904,0.984870]]
2025-10-26T20:48:02.702Z,1761511682.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792140,-0.595358,-0.134395],[0.609063,0.785315,0.111012],[0.039450,-0.169792,0.984690]]
2025-10-26T20:48:03.067Z,1761511683.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792385,-0.594761,-0.135591],[0.608701,0.785505,0.111649],[0.040103,-0.171003,0.984454]]
2025-10-26T20:48:03.471Z,1761511683.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792591,-0.594353,-0.136175],[0.608381,0.785810,0.111244],[0.040889,-0.171017,0.984419]]
2025-10-26T20:48:04.278Z,1761511684.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793751,-0.592543,-0.137303],[0.606799,0.786973,0.111661],[0.041890,-0.171946,0.984215]]
2025-10-26T20:48:04.726Z,1761511684.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794279,-0.591698,-0.137891],[0.606072,0.787503,0.111878],[0.042392,-0.172435,0.984108]]
2025-10-26T20:48:05.086Z,1761511685.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794895,-0.590780,-0.138278],[0.605232,0.788141,0.111934],[0.042854,-0.172666,0.984048]]
2025-10-26T20:48:05.490Z,1761511685.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795141,-0.590395,-0.138508],[0.604857,0.788533,0.111194],[0.043570,-0.172193,0.984099]]
2025-10-26T20:48:05.900Z,1761511685.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795628,-0.589664,-0.138826],[0.604208,0.788966,0.111649],[0.043694,-0.172711,0.984003]]
2025-10-26T20:48:06.299Z,1761511686.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795803,-0.589512,-0.138465],[0.603939,0.789349,0.110389],[0.044222,-0.171472,0.984196]]
2025-10-26T20:48:06.750Z,1761511686.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795907,-0.589266,-0.138916],[0.603767,0.789496,0.110279],[0.044690,-0.171644,0.984145]]
2025-10-26T20:48:07.106Z,1761511687.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795726,-0.589479,-0.139051],[0.603968,0.789444,0.109544],[0.045199,-0.171149,0.984208]]
2025-10-26T20:48:07.511Z,1761511687.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795484,-0.589769,-0.139206],[0.604256,0.789305,0.108961],[0.045614,-0.170793,0.984251]]
2025-10-26T20:48:07.916Z,1761511687.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795372,-0.589771,-0.139833],[0.604365,0.789223,0.108951],[0.046103,-0.171167,0.984163]]
2025-10-26T20:48:08.318Z,1761511688.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794854,-0.590474,-0.139812],[0.605007,0.788882,0.107850],[0.046613,-0.170312,0.984287]]
2025-10-26T20:48:08.729Z,1761511688.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794088,-0.591503,-0.139813],[0.605976,0.788291,0.106724],[0.047085,-0.169471,0.984410]]
2025-10-26T20:48:09.127Z,1761511689.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793215,-0.592753,-0.139477],[0.607082,0.787656,0.105112],[0.047554,-0.168050,0.984631]]
2025-10-26T20:48:09.536Z,1761511689.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792380,-0.593868,-0.139480],[0.608130,0.787010,0.103887],[0.048077,-0.167140,0.984760]]
2025-10-26T20:48:09.934Z,1761511689.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791486,-0.594917,-0.140081],[0.609256,0.786186,0.103530],[0.048538,-0.167288,0.984713]]
2025-10-26T20:48:10.338Z,1761511690.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790854,-0.595608,-0.140712],[0.610055,0.785553,0.103634],[0.048812,-0.167802,0.984612]]
2025-10-26T20:48:10.745Z,1761511690.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790247,-0.596348,-0.140991],[0.610801,0.785069,0.102902],[0.049323,-0.167435,0.984648]]
2025-10-26T20:48:11.553Z,1761511691.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790208,-0.596019,-0.142597],[0.610769,0.785033,0.103369],[0.050333,-0.168777,0.984368]]
2025-10-26T20:48:11.955Z,1761511691.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790843,-0.594656,-0.144750],[0.609896,0.785425,0.105523],[0.050941,-0.171734,0.983825]]
2025-10-26T20:48:12.364Z,1761511692.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791779,-0.592932,-0.146691],[0.608642,0.786086,0.107812],[0.051386,-0.174646,0.983290]]
2025-10-26T20:48:12.789Z,1761511692.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792295,-0.592009,-0.147626],[0.607924,0.786560,0.108412],[0.051936,-0.175640,0.983084]]
2025-10-26T20:48:13.180Z,1761511693.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793373,-0.590378,-0.148367],[0.606480,0.787558,0.109245],[0.052352,-0.176654,0.982880]]
2025-10-26T20:48:13.573Z,1761511693.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794149,-0.589235,-0.148757],[0.605427,0.788339,0.109457],[0.052775,-0.176986,0.982797]]
2025-10-26T20:48:13.974Z,1761511693.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796124,-0.586160,-0.150342],[0.602832,0.789875,0.112649],[0.052721,-0.180314,0.982195]]
2025-10-26T20:48:14.383Z,1761511694.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798078,-0.583380,-0.150796],[0.600253,0.791584,0.114421],[0.052617,-0.181833,0.981921]]
2025-10-26T20:48:14.817Z,1761511694.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800003,-0.580621,-0.151241],[0.597693,0.793262,0.116183],[0.052515,-0.183343,0.981645]]
2025-10-26T20:48:15.593Z,1761511695.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803892,-0.575119,-0.151641],[0.592478,0.796709,0.119266],[0.052221,-0.185721,0.981214]]
2025-10-26T20:48:16.018Z,1761511696.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805538,-0.572836,-0.151553],[0.590277,0.798119,0.120743],[0.051791,-0.186721,0.981047]]
2025-10-26T20:48:16.400Z,1761511696.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806785,-0.571235,-0.150957],[0.588595,0.799315,0.121043],[0.051518,-0.186508,0.981102]]
2025-10-26T20:48:16.612Z,1761511696.612 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:48:16.843Z,1761511696.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807852,-0.569695,-0.151073],[0.587138,0.800251,0.121935],[0.051431,-0.187206,0.980973]]
2025-10-26T20:48:17.206Z,1761511697.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808477,-0.568807,-0.151074],[0.586270,0.800852,0.122163],[0.051500,-0.187336,0.980945]]
2025-10-26T20:48:17.613Z,1761511697.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808689,-0.568485,-0.151153],[0.585965,0.801080,0.122135],[0.051654,-0.187339,0.980936]]
2025-10-26T20:48:17.616Z,1761511697.616 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:48:18.016Z,1761511698.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808928,-0.568136,-0.151189],[0.585638,0.801282,0.122375],[0.051619,-0.187534,0.980901]]
2025-10-26T20:48:18.419Z,1761511698.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808988,-0.568043,-0.151210],[0.585552,0.801340,0.122406],[0.051639,-0.187566,0.980894]]
2025-10-26T20:48:18.874Z,1761511698.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809002,-0.567972,-0.151406],[0.585506,0.801410,0.122165],[0.051952,-0.187480,0.980894]]
2025-10-26T20:48:19.635Z,1761511699.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809097,-0.568034,-0.150667],[0.585370,0.801673,0.121086],[0.052005,-0.186166,0.981141]]
2025-10-26T20:48:20.037Z,1761511700.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809329,-0.567740,-0.150526],[0.585058,0.801887,0.121181],[0.051905,-0.186141,0.981151]]
2025-10-26T20:48:20.438Z,1761511700.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809836,-0.567073,-0.150311],[0.584419,0.802172,0.122372],[0.051181,-0.186946,0.981036]]
2025-10-26T20:48:20.880Z,1761511700.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810557,-0.566097,-0.150107],[0.583489,0.802628,0.123815],[0.050389,-0.187944,0.980886]]
2025-10-26T20:48:21.246Z,1761511701.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811450,-0.565052,-0.149215],[0.582314,0.803393,0.124383],[0.049595,-0.187820,0.980950]]
2025-10-26T20:48:21.613Z,1761511701.613 [DAT](INFO): DAT read: user:123>Rx Time:20:48:20.3258

2025-10-26T20:48:21.613Z,1761511701.613 [DAT](INFO): Rx dataTimestamp_ set to:1761511701.612927
2025-10-26T20:48:21.666Z,1761511701.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812279,-0.564331,-0.147422],[0.581245,0.804216,0.124061],[0.048548,-0.186461,0.981262]]
2025-10-26T20:48:22.056Z,1761511702.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813166,-0.563224,-0.146765],[0.580062,0.804955,0.124802],[0.047847,-0.186618,0.981267]]
2025-10-26T20:48:22.121Z,1761511702.121 [DAT](INFO): DAT read: 20:48:20.3258 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 164, 0.29,-2.435, 2.184,-2.348,-2.767, PHS= 0.434,-1.288, 0.375, RAW= 148.3,   5.7, CAL= 147.6,   6.1, ROT=   2.4,  -6.1

2025-10-26T20:48:22.122Z,1761511702.122 [DAT](INFO): got valid direction response:
 20:48:20.3258 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 164, 0.29,-2.435, 2.184,-2.348,-2.767, PHS= 0.434,-1.288, 0.375, RAW= 148.3,   5.7, CAL= 147.6,   6.1, ROT=   2.4,  -6.1

2025-10-26T20:48:22.123Z,1761511702.123 [DAT](INFO): DAT read: bearing request

2025-10-26T20:48:22.123Z,1761511702.123 [DAT](INFO): received a bearing request message
2025-10-26T20:48:22.123Z,1761511702.123 [DAT](INFO): DAT read: Tx time:20:48:21.9287

2025-10-26T20:48:22.124Z,1761511702.124 [DAT](INFO): Ping request sent.
2025-10-26T20:48:22.124Z,1761511702.124 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:48:22.124Z,1761511702.124 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-26T20:48:22.125Z,1761511702.125 [DAT](INFO): direction in FSK: [0.993466,0.041639,0.106264]
2025-10-26T20:48:22.125Z,1761511702.125 [DAT](INFO): publishing transmit ping time
2025-10-26T20:48:22.126Z,1761511702.126 [DAT](INFO): publishing range request flag
2025-10-26T20:48:22.129Z,1761511702.129 [DAT](INFO): publishing transmit ping time
2025-10-26T20:48:22.129Z,1761511702.129 [DAT](INFO): publishing range request flag
2025-10-26T20:48:22.458Z,1761511702.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814534,-0.561493,-0.145804],[0.578222,0.806105,0.125915],[0.046833,-0.186869,0.981268]]
2025-10-26T20:48:22.897Z,1761511702.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816992,-0.558257,-0.144476],[0.574869,0.808163,0.128057],[0.045271,-0.187676,0.981187]]
2025-10-26T20:48:23.685Z,1761511703.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819673,-0.554884,-0.142264],[0.571168,0.810598,0.129219],[0.043617,-0.187174,0.981358]]
2025-10-26T20:48:24.484Z,1761511704.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822807,-0.550503,-0.141190],[0.566783,0.813115,0.132668],[0.041769,-0.189184,0.981053]]
2025-10-26T20:48:24.893Z,1761511704.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824114,-0.548700,-0.140585],[0.564928,0.814245,0.133648],[0.041138,-0.189561,0.981007]]
2025-10-26T20:48:25.292Z,1761511705.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825492,-0.546826,-0.139803],[0.562968,0.815439,0.134636],[0.040378,-0.189845,0.980983]]
2025-10-26T20:48:25.694Z,1761511705.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826705,-0.545243,-0.138815],[0.561231,0.816573,0.135012],[0.039738,-0.189522,0.981072]]
2025-10-26T20:48:26.100Z,1761511706.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827896,-0.543747,-0.137576],[0.559530,0.817685,0.135341],[0.038903,-0.189027,0.981201]]
2025-10-26T20:48:26.498Z,1761511706.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828938,-0.542372,-0.136730],[0.558031,0.818625,0.135845],[0.038252,-0.188907,0.981250]]
2025-10-26T20:48:26.902Z,1761511706.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829813,-0.541316,-0.135603],[0.556759,0.819560,0.135428],[0.037826,-0.187878,0.981464]]
2025-10-26T20:48:27.306Z,1761511707.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830672,-0.540215,-0.134729],[0.555517,0.820355,0.135712],[0.037212,-0.187577,0.981545]]
2025-10-26T20:48:27.725Z,1761511707.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831293,-0.539517,-0.133689],[0.554619,0.821018,0.135379],[0.036722,-0.186686,0.981733]]
2025-10-26T20:48:28.119Z,1761511708.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832068,-0.538493,-0.132996],[0.553491,0.821724,0.135710],[0.036207,-0.186532,0.981781]]
2025-10-26T20:48:28.518Z,1761511708.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832536,-0.537874,-0.132572],[0.552806,0.822159,0.135871],[0.035914,-0.186404,0.981816]]
2025-10-26T20:48:28.922Z,1761511708.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832892,-0.537555,-0.131627],[0.552305,0.822539,0.135609],[0.035371,-0.185646,0.981980]]
2025-10-26T20:48:29.332Z,1761511709.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832792,-0.537938,-0.130691],[0.552484,0.822528,0.134937],[0.034910,-0.184579,0.982197]]
2025-10-26T20:48:29.734Z,1761511709.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832742,-0.538374,-0.129208],[0.552602,0.822630,0.133830],[0.034240,-0.182847,0.982545]]
2025-10-26T20:48:30.134Z,1761511710.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832480,-0.538965,-0.128424],[0.553037,0.822362,0.133681],[0.033561,-0.182310,0.982668]]
2025-10-26T20:48:30.538Z,1761511710.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832295,-0.539426,-0.127690],[0.553352,0.822182,0.133486],[0.032979,-0.181757,0.982790]]
2025-10-26T20:48:30.945Z,1761511710.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832414,-0.539496,-0.126612],[0.553217,0.822307,0.133275],[0.032213,-0.180983,0.982958]]
2025-10-26T20:48:31.353Z,1761511711.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832514,-0.539609,-0.125473],[0.553113,0.822421,0.133003],[0.031422,-0.180127,0.983141]]
2025-10-26T20:48:31.753Z,1761511711.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832809,-0.539419,-0.124328],[0.552722,0.822661,0.133141],[0.030461,-0.179600,0.983268]]
2025-10-26T20:48:32.157Z,1761511712.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833040,-0.539285,-0.123356],[0.552419,0.822842,0.133282],[0.029625,-0.179173,0.983371]]
2025-10-26T20:48:32.559Z,1761511712.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833730,-0.538472,-0.122238],[0.551427,0.823445,0.133663],[0.028683,-0.178844,0.983459]]
2025-10-26T20:48:32.963Z,1761511712.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834158,-0.538164,-0.120666],[0.550825,0.823942,0.133082],[0.027802,-0.177478,0.983732]]
2025-10-26T20:48:33.366Z,1761511713.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835066,-0.537143,-0.118922],[0.549514,0.824775,0.133345],[0.026459,-0.176701,0.983909]]
2025-10-26T20:48:33.773Z,1761511713.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836072,-0.535930,-0.117312],[0.548058,0.825575,0.134385],[0.024829,-0.176649,0.983961]]
2025-10-26T20:48:34.179Z,1761511714.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837206,-0.534413,-0.116140],[0.546390,0.826415,0.136000],[0.023300,-0.177317,0.983878]]
2025-10-26T20:48:34.578Z,1761511714.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838685,-0.532403,-0.114693],[0.544189,0.827578,0.137741],[0.021584,-0.177936,0.983805]]
2025-10-26T20:48:34.985Z,1761511714.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840671,-0.529651,-0.112885],[0.541187,0.829258,0.139458],[0.019747,-0.178330,0.983773]]
2025-10-26T20:48:35.386Z,1761511715.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842439,-0.527308,-0.110645],[0.538492,0.830869,0.140295],[0.017953,-0.177771,0.983908]]
2025-10-26T20:48:35.793Z,1761511715.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844324,-0.524617,-0.109057],[0.535589,0.832408,0.142271],[0.016142,-0.178533,0.983802]]
2025-10-26T20:48:36.195Z,1761511716.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846124,-0.522056,-0.107381],[0.532794,0.833878,0.144147],[0.014290,-0.179179,0.983713]]
2025-10-26T20:48:36.598Z,1761511716.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847906,-0.519529,-0.105569],[0.530001,0.835356,0.145871],[0.012403,-0.179637,0.983655]]
2025-10-26T20:48:37.003Z,1761511717.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849516,-0.517289,-0.103606],[0.527458,0.836709,0.147332],[0.010475,-0.179808,0.983646]]
2025-10-26T20:48:37.406Z,1761511717.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851053,-0.515138,-0.101693],[0.525009,0.838011,0.148675],[0.008632,-0.179920,0.983643]]
2025-10-26T20:48:37.823Z,1761511717.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852287,-0.513591,-0.099153],[0.523032,0.839206,0.148899],[0.006737,-0.178765,0.983869]]
2025-10-26T20:48:38.214Z,1761511718.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853432,-0.512073,-0.097139],[0.521181,0.840226,0.149637],[0.004994,-0.178332,0.983958]]
2025-10-26T20:48:38.618Z,1761511718.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854723,-0.510189,-0.095687],[0.519076,0.841148,0.151756],[0.003063,-0.179378,0.983775]]
2025-10-26T20:48:39.023Z,1761511719.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855392,-0.509464,-0.093545],[0.517979,0.841796,0.151915],[0.001351,-0.178401,0.983957]]
2025-10-26T20:48:39.427Z,1761511719.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855553,-0.509576,-0.091440],[0.517716,0.842032,0.151500],[-0.000205,-0.176956,0.984219]]
2025-10-26T20:48:39.462Z,1761511719.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:48:39.525Z,1761511719.525 [DAT](INFO): ****** received valid address query ******
2025-10-26T20:48:39.525Z,1761511719.525 [DAT](INFO): ****** received valid ping request ******
2025-10-26T20:48:39.525Z,1761511719.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:48:39.776Z,1761511719.776 [DAT](INFO): DAT read: 

2025-10-26T20:48:39.777Z,1761511719.777 [DAT](INFO): DAT read: Tx time:20:48:38.8991

2025-10-26T20:48:39.777Z,1761511719.777 [DAT](INFO): Ping request sent.
2025-10-26T20:48:39.777Z,1761511719.777 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:48:39.777Z,1761511719.777 [DAT](INFO): publishing transmit ping time
2025-10-26T20:48:39.778Z,1761511719.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-10-26T20:48:39.841Z,1761511719.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855688,-0.509706,-0.089425],[0.517489,0.842233,0.151159],[-0.001730,-0.175621,0.984456]]
2025-10-26T20:48:40.029Z,1761511720.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251660
2025-10-26T20:48:40.234Z,1761511720.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855623,-0.510154,-0.087481],[0.517590,0.842269,0.150610],[-0.003152,-0.174145,0.984715]]
2025-10-26T20:48:40.280Z,1761511720.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503282
2025-10-26T20:48:40.532Z,1761511720.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755179
2025-10-26T20:48:40.638Z,1761511720.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855481,-0.510752,-0.085355],[0.517814,0.842269,0.149842],[-0.004640,-0.172385,0.985019]]
2025-10-26T20:48:40.784Z,1761511720.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007275
2025-10-26T20:48:41.036Z,1761511721.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259120
2025-10-26T20:48:41.052Z,1761511721.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855068,-0.511774,-0.083351],[0.518482,0.842036,0.148832],[-0.005984,-0.170477,0.985343]]
2025-10-26T20:48:41.289Z,1761511721.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511897
2025-10-26T20:48:41.446Z,1761511721.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854328,-0.513267,-0.081732],[0.519681,0.841379,0.148370],[-0.007386,-0.169231,0.985549]]
2025-10-26T20:48:41.540Z,1761511721.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763281
2025-10-26T20:48:41.792Z,1761511721.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015190
2025-10-26T20:48:41.860Z,1761511721.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853874,-0.514376,-0.079475],[0.520401,0.841081,0.147535],[-0.009043,-0.167335,0.985859]]
2025-10-26T20:48:42.044Z,1761511722.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267220
2025-10-26T20:48:42.256Z,1761511722.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853078,-0.516032,-0.077258],[0.521673,0.840452,0.146621],[-0.010729,-0.165383,0.986171]]
2025-10-26T20:48:42.297Z,1761511722.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519377
2025-10-26T20:48:42.548Z,1761511722.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771179
2025-10-26T20:48:42.658Z,1761511722.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852592,-0.517057,-0.075755],[0.522434,0.839954,0.146767],[-0.012256,-0.164709,0.986266]]
2025-10-26T20:48:42.802Z,1761511722.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024184
2025-10-26T20:48:43.060Z,1761511723.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283223
2025-10-26T20:48:43.063Z,1761511723.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852395,-0.517651,-0.073887],[0.522718,0.839851,0.146339],[-0.013699,-0.163360,0.986471]]
2025-10-26T20:48:43.313Z,1761511723.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535934
2025-10-26T20:48:43.466Z,1761511723.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851876,-0.518617,-0.073096],[0.523520,0.839111,0.147711],[-0.015270,-0.164099,0.986326]]
2025-10-26T20:48:43.480Z,1761511723.480 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 356.58, 296.89, 319.85, 

2025-10-26T20:48:43.565Z,1761511723.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787362
2025-10-26T20:48:43.817Z,1761511723.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039588
2025-10-26T20:48:43.885Z,1761511723.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851903,-0.518802,-0.071455],[0.523431,0.839133,0.147906],[-0.016773,-0.163403,0.986417]]
2025-10-26T20:48:44.068Z,1761511724.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291175
2025-10-26T20:48:44.274Z,1761511724.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852111,-0.518651,-0.070061],[0.523041,0.839239,0.148681],[-0.018316,-0.163338,0.986400]]
2025-10-26T20:48:44.321Z,1761511724.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.544073
2025-10-26T20:48:44.572Z,1761511724.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.795255
2025-10-26T20:48:44.678Z,1761511724.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852588,-0.518090,-0.068385],[0.522206,0.839670,0.149183],[-0.019870,-0.162903,0.986442]]
2025-10-26T20:48:44.825Z,1761511724.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047892
2025-10-26T20:48:45.077Z,1761511725.077 [DAT](INFO): DAT read: Rx Time:20:48:43.6080

2025-10-26T20:48:45.077Z,1761511725.077 [DAT](INFO): Rx dataTimestamp_ set to:1761511725.076837
2025-10-26T20:48:45.078Z,1761511725.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.300524
2025-10-26T20:48:45.086Z,1761511725.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853133,-0.517416,-0.066675],[0.521252,0.840155,0.149786],[-0.021484,-0.162541,0.986468]]
2025-10-26T20:48:45.329Z,1761511725.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.552113
2025-10-26T20:48:45.486Z,1761511725.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853723,-0.516633,-0.065179],[0.520223,0.840678,0.150424],[-0.022920,-0.162328,0.986471]]
2025-10-26T20:48:45.586Z,1761511725.586 [DAT](INFO): DAT read: 20:48:43.6079 LVL= 32752, 32753, 32754, 32755, AGC= 86, IDX= 221, 0.09, 1.644,-0.056, 1.548, 1.509, PHS= 0.237,-1.521,-0.006, RAW= 142.7,  15.4, CAL= 142.1,  16.7, ROT=   7.9, -16.7

2025-10-26T20:48:45.587Z,1761511725.587 [DAT](INFO): got valid direction response:
 20:48:43.6079 LVL= 32752, 32753, 32754, 32755, AGC= 86, IDX= 221, 0.09, 1.644,-0.056, 1.548, 1.509, PHS= 0.237,-1.521,-0.006, RAW= 142.7,  15.4, CAL= 142.1,  16.7, ROT=   7.9, -16.7

2025-10-26T20:48:45.588Z,1761511725.588 [DAT](INFO): DAT read: Bearing 194.8,   3.2 (Local)

2025-10-26T20:48:45.588Z,1761511725.588 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.8,   3.2 (Local)

2025-10-26T20:48:45.589Z,1761511725.589 [DAT](INFO): DAT read: Range 11 to 50 : 1728.5 m  (Round-trip  2304.7 ms) speed  0.4 m/s

2025-10-26T20:48:45.590Z,1761511725.590 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:48:45.591Z,1761511725.591 [DAT](INFO): direction in FSK: [0.948732,0.131647,0.287361]
2025-10-26T20:48:45.591Z,1761511725.591 [DAT](INFO): publishing direction and range info
2025-10-26T20:48:45.890Z,1761511725.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854652,-0.515275,-0.063731],[0.518625,0.841462,0.151557],[-0.024467,-0.162581,0.986392]]
2025-10-26T20:48:46.296Z,1761511726.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855786,-0.513586,-0.062137],[0.516665,0.842408,0.152991],[-0.026229,-0.163031,0.986272]]
2025-10-26T20:48:46.702Z,1761511726.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856730,-0.512184,-0.060672],[0.515018,0.843219,0.154073],[-0.027754,-0.163246,0.986195]]
2025-10-26T20:48:47.103Z,1761511727.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857806,-0.510578,-0.058984],[0.513129,0.844163,0.155200],[-0.029449,-0.163398,0.986121]]
2025-10-26T20:48:47.507Z,1761511727.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858991,-0.508736,-0.057646],[0.511057,0.845171,0.156544],[-0.030918,-0.163930,0.985987]]
2025-10-26T20:48:47.736Z,1761511727.736 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:48:47.910Z,1761511727.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859793,-0.507628,-0.055408],[0.509605,0.846064,0.156457],[-0.032543,-0.162757,0.986129]]
2025-10-26T20:48:48.323Z,1761511728.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860965,-0.505819,-0.053721],[0.507510,0.847098,0.157670],[-0.034245,-0.163012,0.986030]]
2025-10-26T20:48:48.723Z,1761511728.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861699,-0.504738,-0.052102],[0.506170,0.847831,0.158031],[-0.035590,-0.162548,0.986059]]
2025-10-26T20:48:48.740Z,1761511728.740 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:48:49.123Z,1761511729.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862196,-0.504064,-0.050378],[0.505223,0.848371,0.158166],[-0.036987,-0.161822,0.986127]]
2025-10-26T20:48:49.526Z,1761511729.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862671,-0.503343,-0.049437],[0.504309,0.848657,0.159544],[-0.038350,-0.162566,0.985952]]
2025-10-26T20:48:49.936Z,1761511729.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862999,-0.502930,-0.047907],[0.503646,0.849010,0.159760],[-0.039674,-0.162001,0.985993]]
2025-10-26T20:48:50.337Z,1761511730.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863079,-0.502871,-0.047074],[0.503400,0.848911,0.161053],[-0.041027,-0.162699,0.985822]]
2025-10-26T20:48:50.741Z,1761511730.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862928,-0.503199,-0.046336],[0.503568,0.848655,0.161877],[-0.042134,-0.163022,0.985722]]
2025-10-26T20:48:51.143Z,1761511731.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862716,-0.503591,-0.046020],[0.503845,0.848238,0.163195],[-0.043148,-0.163977,0.985520]]
2025-10-26T20:48:51.547Z,1761511731.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862367,-0.504182,-0.046086],[0.504359,0.847591,0.164956],[-0.044106,-0.165496,0.985224]]
2025-10-26T20:48:51.950Z,1761511731.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862193,-0.504494,-0.045920],[0.504570,0.847169,0.166474],[-0.045083,-0.166702,0.984976]]
2025-10-26T20:48:52.364Z,1761511732.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861886,-0.505024,-0.045849],[0.505025,0.846668,0.167637],[-0.045842,-0.167639,0.984782]]
2025-10-26T20:48:52.760Z,1761511732.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861494,-0.505804,-0.044603],[0.505604,0.846408,0.167209],[-0.046822,-0.166601,0.984912]]
2025-10-26T20:48:53.165Z,1761511733.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861060,-0.506584,-0.044139],[0.506267,0.845903,0.167753],[-0.047644,-0.166792,0.984840]]
2025-10-26T20:48:53.566Z,1761511733.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860632,-0.507308,-0.044167],[0.506913,0.845234,0.169172],[-0.048491,-0.167984,0.984596]]
2025-10-26T20:48:53.970Z,1761511733.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860378,-0.507825,-0.043174],[0.507261,0.845052,0.169035],[-0.049356,-0.167334,0.984664]]
2025-10-26T20:48:54.392Z,1761511734.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859993,-0.508469,-0.043265],[0.507858,0.844489,0.170056],[-0.049931,-0.168219,0.984484]]
2025-10-26T20:48:54.782Z,1761511734.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859607,-0.509072,-0.043828],[0.508477,0.843844,0.171401],[-0.050272,-0.169623,0.984226]]
2025-10-26T20:48:55.183Z,1761511735.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859692,-0.508974,-0.043293],[0.508249,0.843819,0.172201],[-0.051114,-0.170044,0.984110]]
2025-10-26T20:48:55.586Z,1761511735.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859699,-0.508958,-0.043363],[0.508182,0.843614,0.173396],[-0.051670,-0.171104,0.983897]]
2025-10-26T20:48:55.990Z,1761511735.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859801,-0.508788,-0.043316],[0.507940,0.843497,0.174670],[-0.052333,-0.172183,0.983674]]
2025-10-26T20:48:56.420Z,1761511736.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859973,-0.508570,-0.042466],[0.507600,0.843778,0.174302],[-0.052813,-0.171450,0.983776]]
2025-10-26T20:48:56.809Z,1761511736.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859908,-0.508781,-0.041234],[0.507659,0.843980,0.173147],[-0.053293,-0.169823,0.984032]]
2025-10-26T20:48:57.203Z,1761511737.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860015,-0.508664,-0.040432],[0.507398,0.844097,0.173344],[-0.054045,-0.169593,0.984031]]
2025-10-26T20:48:57.607Z,1761511737.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860317,-0.508226,-0.039502],[0.506790,0.844383,0.173730],[-0.054939,-0.169482,0.984001]]
2025-10-26T20:48:58.017Z,1761511738.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860866,-0.507348,-0.038829],[0.505780,0.844862,0.174342],[-0.055647,-0.169724,0.983919]]
2025-10-26T20:48:58.447Z,1761511738.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861341,-0.506583,-0.038289],[0.504903,0.845262,0.174942],[-0.056259,-0.170017,0.983834]]
2025-10-26T20:48:58.819Z,1761511738.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861669,-0.506062,-0.037783],[0.504288,0.845561,0.175272],[-0.056751,-0.170080,0.983795]]
2025-10-26T20:48:59.227Z,1761511739.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862030,-0.505479,-0.037357],[0.503619,0.845875,0.175680],[-0.057203,-0.170255,0.983738]]
2025-10-26T20:48:59.628Z,1761511739.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862285,-0.505075,-0.036928],[0.503139,0.846121,0.175868],[-0.057582,-0.170228,0.983721]]
2025-10-26T20:49:00.031Z,1761511740.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862586,-0.504565,-0.036862],[0.502601,0.846348,0.176318],[-0.057766,-0.170616,0.983643]]
2025-10-26T20:49:00.474Z,1761511740.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863069,-0.503748,-0.036741],[0.501751,0.846756,0.176775],[-0.057940,-0.171004,0.983565]]
2025-10-26T20:49:00.838Z,1761511740.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863245,-0.503505,-0.035933],[0.501463,0.847232,0.175310],[-0.057826,-0.169355,0.983857]]
2025-10-26T20:49:01.248Z,1761511741.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863597,-0.502917,-0.035714],[0.500823,0.847523,0.175732],[-0.058110,-0.169648,0.983790]]
2025-10-26T20:49:01.646Z,1761511741.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863989,-0.502262,-0.035429],[0.500112,0.847870,0.176079],[-0.058398,-0.169849,0.983738]]
2025-10-26T20:49:02.181Z,1761511742.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864201,-0.501921,-0.035099],[0.499711,0.848071,0.176249],[-0.058697,-0.169853,0.983720]]
2025-10-26T20:49:02.580Z,1761511742.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864231,-0.501868,-0.035107],[0.499651,0.848074,0.176405],[-0.058759,-0.169996,0.983691]]
2025-10-26T20:49:02.988Z,1761511742.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863936,-0.502417,-0.034526],[0.500155,0.847996,0.175353],[-0.058822,-0.168762,0.983900]]
2025-10-26T20:49:03.410Z,1761511743.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863459,-0.503241,-0.034464],[0.501014,0.847699,0.174332],[-0.058515,-0.167796,0.984084]]
2025-10-26T20:49:03.820Z,1761511743.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862604,-0.504722,-0.034193],[0.502522,0.847146,0.172670],[-0.058184,-0.166129,0.984386]]
2025-10-26T20:49:04.198Z,1761511744.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861670,-0.506328,-0.034027],[0.504189,0.846562,0.170665],[-0.057607,-0.164213,0.984741]]
2025-10-26T20:49:04.603Z,1761511744.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860830,-0.507737,-0.034277],[0.505707,0.845974,0.169080],[-0.056851,-0.162884,0.985006]]
2025-10-26T20:49:05.010Z,1761511745.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859569,-0.509758,-0.035894],[0.507979,0.844692,0.168679],[-0.055666,-0.163225,0.985017]]
2025-10-26T20:49:05.408Z,1761511745.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858494,-0.511437,-0.037685],[0.509931,0.843551,0.168499],[-0.054387,-0.163873,0.984981]]
2025-10-26T20:49:05.812Z,1761511745.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857763,-0.512629,-0.038141],[0.511216,0.842912,0.167802],[-0.053870,-0.163432,0.985083]]
2025-10-26T20:49:06.224Z,1761511746.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856900,-0.514001,-0.039045],[0.512755,0.842138,0.166988],[-0.052951,-0.163112,0.985186]]
2025-10-26T20:49:06.628Z,1761511746.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855968,-0.515497,-0.039776],[0.514412,0.841380,0.165708],[-0.051955,-0.162301,0.985372]]
2025-10-26T20:49:07.059Z,1761511747.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855026,-0.516991,-0.040629],[0.516086,0.840609,0.164413],[-0.050847,-0.161545,0.985555]]
2025-10-26T20:49:07.428Z,1761511747.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854186,-0.518305,-0.041536],[0.517587,0.839924,0.163193],[-0.049697,-0.160895,0.985720]]
2025-10-26T20:49:07.844Z,1761511747.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853185,-0.519890,-0.042314],[0.519360,0.839182,0.161368],[-0.048385,-0.159653,0.985987]]
2025-10-26T20:49:08.250Z,1761511748.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852358,-0.521079,-0.044309],[0.520863,0.838307,0.161068],[-0.046785,-0.160367,0.985948]]
2025-10-26T20:49:08.655Z,1761511748.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851913,-0.521695,-0.045593],[0.521690,0.837860,0.160720],[-0.045646,-0.160705,0.985946]]
2025-10-26T20:49:09.058Z,1761511749.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851453,-0.522376,-0.046386],[0.522524,0.837497,0.159894],[-0.044677,-0.160380,0.986044]]
2025-10-26T20:49:09.457Z,1761511749.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851054,-0.522941,-0.047319],[0.523250,0.837128,0.159457],[-0.043775,-0.160466,0.986070]]
2025-10-26T20:49:09.861Z,1761511749.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851050,-0.522863,-0.048245],[0.523335,0.837132,0.159156],[-0.042829,-0.160698,0.986074]]
2025-10-26T20:49:10.267Z,1761511750.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850891,-0.523118,-0.048299],[0.523663,0.837230,0.157553],[-0.041981,-0.159353,0.986329]]
2025-10-26T20:49:10.663Z,1761511750.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850925,-0.523000,-0.048955],[0.523660,0.837272,0.157338],[-0.041299,-0.159519,0.986331]]
2025-10-26T20:49:11.069Z,1761511751.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851326,-0.522252,-0.049962],[0.523071,0.837574,0.157692],[-0.040508,-0.160381,0.986224]]
2025-10-26T20:49:11.471Z,1761511751.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851383,-0.522081,-0.050781],[0.523048,0.837656,0.157334],[-0.039604,-0.160512,0.986239]]
2025-10-26T20:49:11.874Z,1761511751.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851524,-0.521791,-0.051393],[0.522872,0.837821,0.157038],[-0.038883,-0.160594,0.986254]]
2025-10-26T20:49:12.290Z,1761511752.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851775,-0.521333,-0.051877],[0.522507,0.838087,0.156832],[-0.038284,-0.160692,0.986262]]
2025-10-26T20:49:12.680Z,1761511752.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851959,-0.520975,-0.052456],[0.522259,0.838298,0.156530],[-0.037574,-0.160752,0.986279]]
2025-10-26T20:49:13.087Z,1761511753.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851996,-0.520856,-0.053022],[0.522252,0.838395,0.156036],[-0.036819,-0.160633,0.986327]]
2025-10-26T20:49:13.488Z,1761511753.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851846,-0.521067,-0.053366],[0.522540,0.838346,0.155330],[-0.036198,-0.160203,0.986420]]
2025-10-26T20:49:13.893Z,1761511753.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851785,-0.521127,-0.053743],[0.522671,0.838324,0.155006],[-0.035723,-0.160122,0.986451]]
2025-10-26T20:49:14.299Z,1761511754.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851616,-0.521396,-0.053822],[0.522970,0.838247,0.154417],[-0.035396,-0.159651,0.986539]]
2025-10-26T20:49:14.701Z,1761511754.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850999,-0.522402,-0.053814],[0.523994,0.837786,0.153444],[-0.035075,-0.158779,0.986691]]
2025-10-26T20:49:15.108Z,1761511755.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850344,-0.523453,-0.053963],[0.525078,0.837240,0.152715],[-0.034759,-0.158195,0.986796]]
2025-10-26T20:49:15.509Z,1761511755.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849618,-0.524606,-0.054194],[0.526277,0.836629,0.151938],[-0.034367,-0.157610,0.986903]]
2025-10-26T20:49:15.912Z,1761511755.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848918,-0.525704,-0.054526],[0.527432,0.836016,0.151300],[-0.033954,-0.157200,0.986983]]
2025-10-26T20:49:16.316Z,1761511756.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848043,-0.527072,-0.054946],[0.528868,0.835230,0.150633],[-0.033502,-0.156802,0.987062]]
2025-10-26T20:49:16.727Z,1761511756.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847337,-0.528156,-0.055426],[0.530022,0.834560,0.150287],[-0.033119,-0.156720,0.987088]]
2025-10-26T20:49:17.140Z,1761511757.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846537,-0.529338,-0.056357],[0.531328,0.833700,0.150449],[-0.032653,-0.157305,0.987010]]
2025-10-26T20:49:17.550Z,1761511757.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845551,-0.530837,-0.057057],[0.532937,0.832804,0.149721],[-0.031960,-0.157004,0.987081]]
2025-10-26T20:49:17.946Z,1761511757.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844597,-0.532273,-0.057806],[0.534498,0.831963,0.148826],[-0.031124,-0.156595,0.987172]]
2025-10-26T20:49:18.342Z,1761511758.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843819,-0.533388,-0.058872],[0.535787,0.831273,0.148046],[-0.030027,-0.156467,0.987227]]
2025-10-26T20:49:18.750Z,1761511758.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842769,-0.534905,-0.060146],[0.537512,0.830357,0.146926],[-0.028649,-0.156154,0.987317]]
2025-10-26T20:49:18.876Z,1761511758.876 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:49:19.160Z,1761511759.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841956,-0.536038,-0.061427],[0.538855,0.829652,0.145991],[-0.027294,-0.156018,0.987377]]
2025-10-26T20:49:19.548Z,1761511759.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841240,-0.536969,-0.063091],[0.540059,0.829047,0.144976],[-0.025542,-0.156033,0.987422]]
2025-10-26T20:49:19.880Z,1761511759.880 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:49:19.952Z,1761511759.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840731,-0.537564,-0.064779],[0.540958,0.828810,0.142961],[-0.023161,-0.155235,0.987606]]
2025-10-26T20:49:20.367Z,1761511760.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840266,-0.538104,-0.066310],[0.541758,0.828527,0.141567],[-0.021238,-0.154878,0.987705]]
2025-10-26T20:49:20.777Z,1761511760.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840032,-0.538246,-0.068096],[0.542194,0.828407,0.140597],[-0.019264,-0.155028,0.987722]]
2025-10-26T20:49:21.197Z,1761511761.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839853,-0.538323,-0.069677],[0.542527,0.828297,0.139960],[-0.017631,-0.155348,0.987703]]
2025-10-26T20:49:21.568Z,1761511761.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839918,-0.537972,-0.071576],[0.542487,0.828431,0.139318],[-0.015653,-0.155845,0.987657]]
2025-10-26T20:49:21.982Z,1761511761.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839874,-0.537805,-0.073339],[0.542610,0.828509,0.138373],[-0.013655,-0.156010,0.987661]]
2025-10-26T20:49:22.393Z,1761511762.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839797,-0.537674,-0.075153],[0.542774,0.828528,0.137611],[-0.011724,-0.156357,0.987631]]
2025-10-26T20:49:22.803Z,1761511762.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839872,-0.537301,-0.076959],[0.542696,0.828690,0.136947],[-0.009807,-0.156783,0.987584]]
2025-10-26T20:49:23.214Z,1761511763.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839972,-0.536945,-0.078342],[0.542573,0.828987,0.135632],[-0.007883,-0.156433,0.987657]]
2025-10-26T20:49:23.601Z,1761511763.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840404,-0.536046,-0.079845],[0.541923,0.829441,0.135453],[-0.006382,-0.157105,0.987561]]
2025-10-26T20:49:24.002Z,1761511764.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840370,-0.535856,-0.081469],[0.541994,0.829512,0.134734],[-0.004619,-0.157382,0.987527]]
2025-10-26T20:49:24.399Z,1761511764.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840201,-0.535916,-0.082797],[0.542266,0.829488,0.133779],[-0.003015,-0.157299,0.987546]]
2025-10-26T20:49:24.802Z,1761511764.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840078,-0.535873,-0.084312],[0.542464,0.829486,0.132988],[-0.001329,-0.157457,0.987525]]
2025-10-26T20:49:25.213Z,1761511765.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839783,-0.536095,-0.085831],[0.542922,0.829342,0.132009],[0.000414,-0.157458,0.987526]]
2025-10-26T20:49:25.637Z,1761511765.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838906,-0.537250,-0.087177],[0.544272,0.828705,0.130444],[0.002163,-0.156878,0.987616]]
2025-10-26T20:49:26.062Z,1761511766.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838185,-0.538150,-0.088544],[0.545374,0.828128,0.129503],[0.003634,-0.156837,0.987618]]
2025-10-26T20:49:26.416Z,1761511766.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837191,-0.539497,-0.089741],[0.546885,0.827368,0.127979],[0.005205,-0.156222,0.987708]]
2025-10-26T20:49:26.821Z,1761511766.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835985,-0.541165,-0.090940],[0.548711,0.826401,0.126406],[0.006746,-0.155574,0.987801]]
2025-10-26T20:49:27.239Z,1761511767.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834626,-0.543060,-0.092115],[0.550755,0.825276,0.124855],[0.008217,-0.154940,0.987890]]
2025-10-26T20:49:27.673Z,1761511767.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832801,-0.545620,-0.093497],[0.553491,0.823620,0.123683],[0.009522,-0.154753,0.987907]]
2025-10-26T20:49:28.438Z,1761511768.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829399,-0.550425,-0.095548],[0.558518,0.820776,0.119935],[0.012408,-0.152839,0.988173]]
2025-10-26T20:49:28.840Z,1761511768.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827524,-0.553064,-0.096567],[0.561259,0.819194,0.117933],[0.013882,-0.151792,0.988315]]
2025-10-26T20:49:29.255Z,1761511769.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825835,-0.555382,-0.097716],[0.563709,0.817702,0.116603],[0.015143,-0.151378,0.988360]]
2025-10-26T20:49:29.679Z,1761511769.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824205,-0.557504,-0.099377],[0.566054,0.816153,0.116091],[0.016385,-0.151935,0.988255]]
2025-10-26T20:49:30.053Z,1761511770.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822862,-0.559249,-0.100689],[0.567963,0.814983,0.114977],[0.017760,-0.151798,0.988252]]
2025-10-26T20:49:30.459Z,1761511770.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821749,-0.560583,-0.102354],[0.569530,0.813951,0.114537],[0.019104,-0.152414,0.988132]]
2025-10-26T20:49:30.860Z,1761511770.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820893,-0.561557,-0.103868],[0.570720,0.813170,0.114168],[0.020350,-0.152999,0.988017]]
2025-10-26T20:49:31.272Z,1761511771.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820730,-0.561444,-0.105749],[0.570912,0.812937,0.114858],[0.021481,-0.154641,0.987737]]
2025-10-26T20:49:31.710Z,1761511771.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820915,-0.560811,-0.107655],[0.570605,0.813012,0.115851],[0.022554,-0.156532,0.987415]]
2025-10-26T20:49:32.092Z,1761511772.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821446,-0.559714,-0.109304],[0.569799,0.813453,0.116721],[0.023583,-0.158161,0.987132]]
2025-10-26T20:49:32.478Z,1761511772.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822374,-0.558245,-0.109837],[0.568414,0.814507,0.116121],[0.024639,-0.157928,0.987143]]
2025-10-26T20:49:32.882Z,1761511772.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823490,-0.556516,-0.110245],[0.566752,0.815742,0.115574],[0.025612,-0.157655,0.987162]]
2025-10-26T20:49:33.294Z,1761511773.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824810,-0.554469,-0.110693],[0.564787,0.817149,0.115254],[0.026548,-0.157580,0.987149]]
2025-10-26T20:49:33.690Z,1761511773.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825924,-0.552554,-0.111956],[0.563117,0.818162,0.116237],[0.027371,-0.159048,0.986891]]
2025-10-26T20:49:34.092Z,1761511774.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827604,-0.550000,-0.112125],[0.560626,0.819808,0.116678],[0.027748,-0.159424,0.986820]]
2025-10-26T20:49:34.503Z,1761511774.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829046,-0.547659,-0.112931],[0.558469,0.821119,0.117799],[0.028216,-0.160729,0.986595]]
2025-10-26T20:49:34.909Z,1761511774.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830395,-0.545562,-0.113163],[0.556437,0.822462,0.118044],[0.028672,-0.160991,0.986539]]
2025-10-26T20:49:35.331Z,1761511775.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831168,-0.544181,-0.114133],[0.555253,0.823128,0.118974],[0.029203,-0.162260,0.986316]]
2025-10-26T20:49:35.712Z,1761511775.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832101,-0.542742,-0.114186],[0.553847,0.824025,0.119311],[0.029337,-0.162520,0.986269]]
2025-10-26T20:49:36.123Z,1761511776.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832193,-0.542457,-0.114870],[0.553677,0.824136,0.119336],[0.029933,-0.162911,0.986187]]
2025-10-26T20:49:36.530Z,1761511776.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832196,-0.542411,-0.115068],[0.553661,0.824161,0.119240],[0.030157,-0.162939,0.986175]]
2025-10-26T20:49:36.942Z,1761511776.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831784,-0.542991,-0.115309],[0.554254,0.823858,0.118575],[0.030614,-0.162539,0.986227]]
2025-10-26T20:49:37.340Z,1761511777.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831500,-0.543336,-0.115732],[0.554655,0.823639,0.118223],[0.031086,-0.162494,0.986220]]
2025-10-26T20:49:37.748Z,1761511777.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830730,-0.544285,-0.116796],[0.555799,0.822728,0.119191],[0.031218,-0.163931,0.985978]]
2025-10-26T20:49:38.140Z,1761511778.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829589,-0.545895,-0.117389],[0.557461,0.821741,0.118229],[0.031923,-0.163521,0.986023]]
2025-10-26T20:49:38.539Z,1761511778.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828372,-0.547632,-0.117896],[0.559226,0.820710,0.117055],[0.032655,-0.162896,0.986103]]
2025-10-26T20:49:38.942Z,1761511778.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826779,-0.549900,-0.118520],[0.561527,0.819342,0.115613],[0.033533,-0.162139,0.986198]]
2025-10-26T20:49:39.346Z,1761511779.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825055,-0.552332,-0.119220],[0.564002,0.817842,0.114177],[0.034439,-0.161442,0.986281]]
2025-10-26T20:49:39.751Z,1761511779.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823219,-0.555003,-0.119508],[0.566624,0.816313,0.112120],[0.035329,-0.160016,0.986482]]
2025-10-26T20:49:39.797Z,1761511779.797 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:49:39.872Z,1761511779.872 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:49:39.872Z,1761511779.872 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:49:40.124Z,1761511780.124 [DAT](INFO): DAT read: user:124>

2025-10-26T20:49:40.125Z,1761511780.125 [DAT](INFO): DAT read: Tx time:20:49:39.2489

2025-10-26T20:49:40.125Z,1761511780.125 [DAT](INFO): Ping request sent.
2025-10-26T20:49:40.125Z,1761511780.125 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:49:40.126Z,1761511780.126 [DAT](INFO): publishing transmit ping time
2025-10-26T20:49:40.126Z,1761511780.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-10-26T20:49:40.185Z,1761511780.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819605,-0.560064,-0.120734],[0.571733,0.813139,0.109211],[0.037009,-0.158538,0.986659]]
2025-10-26T20:49:40.376Z,1761511780.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251016
2025-10-26T20:49:40.563Z,1761511780.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818124,-0.562010,-0.121724],[0.573775,0.811862,0.107990],[0.038132,-0.158191,0.986672]]
2025-10-26T20:49:40.628Z,1761511780.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503013
2025-10-26T20:49:40.880Z,1761511780.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754963
2025-10-26T20:49:40.966Z,1761511780.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816657,-0.563997,-0.122385],[0.575803,0.810594,0.106716],[0.039018,-0.157620,0.986729]]
2025-10-26T20:49:41.133Z,1761511781.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007382
2025-10-26T20:49:41.369Z,1761511781.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815637,-0.565254,-0.123384],[0.577195,0.809647,0.106383],[0.039764,-0.157987,0.986640]]
2025-10-26T20:49:41.384Z,1761511781.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259046
2025-10-26T20:49:41.640Z,1761511781.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514303
2025-10-26T20:49:41.772Z,1761511781.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814349,-0.567255,-0.122709],[0.578978,0.808686,0.103974],[0.040253,-0.155717,0.986981]]
2025-10-26T20:49:41.888Z,1761511781.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763055
2025-10-26T20:49:42.140Z,1761511782.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014941
2025-10-26T20:49:42.182Z,1761511782.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813495,-0.568517,-0.122533],[0.580143,0.808039,0.102502],[0.040738,-0.154472,0.987157]]
2025-10-26T20:49:42.392Z,1761511782.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266965
2025-10-26T20:49:42.578Z,1761511782.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812979,-0.569157,-0.122987],[0.580843,0.807555,0.102354],[0.041063,-0.154648,0.987116]]
2025-10-26T20:49:42.645Z,1761511782.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519206
2025-10-26T20:49:42.897Z,1761511782.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771277
2025-10-26T20:49:42.980Z,1761511782.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812864,-0.569164,-0.123710],[0.580975,0.807422,0.102647],[0.041464,-0.155311,0.986995]]
2025-10-26T20:49:43.148Z,1761511783.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023035
2025-10-26T20:49:43.385Z,1761511783.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812996,-0.568800,-0.124511],[0.580772,0.807473,0.103402],[0.041724,-0.156378,0.986816]]
2025-10-26T20:49:43.400Z,1761511783.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275110
2025-10-26T20:49:43.656Z,1761511783.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529803
2025-10-26T20:49:43.789Z,1761511783.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813731,-0.567481,-0.125727],[0.579728,0.807997,0.105151],[0.041916,-0.158452,0.986477]]
2025-10-26T20:49:43.905Z,1761511783.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780017
2025-10-26T20:49:44.156Z,1761511784.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031041
2025-10-26T20:49:44.192Z,1761511784.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814277,-0.566459,-0.126797],[0.578934,0.808416,0.106295],[0.042293,-0.159961,0.986217]]
2025-10-26T20:49:44.408Z,1761511784.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282989
2025-10-26T20:49:44.596Z,1761511784.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815185,-0.564756,-0.128545],[0.577623,0.809061,0.108504],[0.042722,-0.162701,0.985750]]
2025-10-26T20:49:44.661Z,1761511784.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535842
2025-10-26T20:49:44.912Z,1761511784.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786967
2025-10-26T20:49:44.000Z,1761511785.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815738,-0.563728,-0.129543],[0.576807,0.809517,0.109435],[0.043175,-0.163992,0.985516]]
2025-10-26T20:49:45.164Z,1761511785.164 [DAT](INFO): DAT read: Rx Time:20:49:43.9102

2025-10-26T20:49:45.165Z,1761511785.165 [DAT](INFO): Rx dataTimestamp_ set to:1761511785.164560
2025-10-26T20:49:45.165Z,1761511785.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040023
2025-10-26T20:49:45.410Z,1761511785.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816379,-0.562651,-0.130188],[0.575893,0.810020,0.110521],[0.043270,-0.165201,0.985310]]
2025-10-26T20:49:45.420Z,1761511785.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294857
2025-10-26T20:49:45.675Z,1761511785.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.549425
2025-10-26T20:49:45.838Z,1761511785.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817048,-0.561463,-0.131117],[0.574918,0.810562,0.111615],[0.043611,-0.166577,0.985064]]
2025-10-26T20:49:45.938Z,1761511785.938 [DAT](INFO): DAT read: 20:49:43.9102 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 471,-0.12, 1.571, 0.056, 1.704, 1.532, PHS= 0.141,-1.431, 0.129, RAW= 149.6,  14.7, CAL= 149.8,  16.3, ROT=   0.2, -16.3

2025-10-26T20:49:45.939Z,1761511785.939 [DAT](INFO): got valid direction response:
 20:49:43.9102 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 471,-0.12, 1.571, 0.056, 1.704, 1.532, PHS= 0.141,-1.431, 0.129, RAW= 149.6,  14.7, CAL= 149.8,  16.3, ROT=   0.2, -16.3

2025-10-26T20:49:45.940Z,1761511785.940 [DAT](INFO): DAT read: Bearing 198.0,  -0.1 (Local)

2025-10-26T20:49:45.940Z,1761511785.940 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.0,  -0.1 (Local)

2025-10-26T20:49:45.942Z,1761511785.942 [DAT](INFO): DAT read: Range 11 to 50 : 1692.9 m  (Round-trip  2257.2 ms) speed  0.4 m/s

2025-10-26T20:49:45.942Z,1761511785.942 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:49:45.943Z,1761511785.943 [DAT](INFO): direction in FSK: [0.959799,0.003350,0.280667]
2025-10-26T20:49:45.958Z,1761511785.958 [DAT](INFO): publishing direction and range info
2025-10-26T20:49:46.238Z,1761511786.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817643,-0.560398,-0.131959],[0.574046,0.811049,0.112566],[0.043943,-0.167790,0.984843]]
2025-10-26T20:49:46.619Z,1761511786.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818276,-0.559233,-0.132979],[0.573116,0.811539,0.113762],[0.044299,-0.169301,0.984568]]
2025-10-26T20:49:47.022Z,1761511787.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818984,-0.558000,-0.133797],[0.572089,0.812092,0.114981],[0.044496,-0.170712,0.984316]]
2025-10-26T20:49:47.454Z,1761511787.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819520,-0.556993,-0.134706],[0.571286,0.812534,0.115846],[0.044928,-0.171893,0.984091]]
2025-10-26T20:49:47.828Z,1761511787.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820099,-0.555976,-0.135383],[0.570432,0.813024,0.116619],[0.045232,-0.172866,0.983906]]
2025-10-26T20:49:48.262Z,1761511788.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820468,-0.555353,-0.135700],[0.569895,0.813320,0.117175],[0.045294,-0.173473,0.983797]]
2025-10-26T20:49:48.642Z,1761511788.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820575,-0.555053,-0.136284],[0.569703,0.813444,0.117247],[0.045781,-0.173851,0.983707]]
2025-10-26T20:49:49.049Z,1761511789.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820914,-0.554563,-0.136234],[0.569191,0.813855,0.116881],[0.046057,-0.173492,0.983758]]
2025-10-26T20:49:49.491Z,1761511789.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820819,-0.554475,-0.137162],[0.569286,0.813728,0.117306],[0.046569,-0.174372,0.983578]]
2025-10-26T20:49:49.848Z,1761511789.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820961,-0.554110,-0.137787],[0.569046,0.813863,0.117531],[0.047015,-0.174896,0.983464]]
2025-10-26T20:49:49.000Z,1761511790.000 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:49:50.263Z,1761511790.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821087,-0.553845,-0.138098],[0.568829,0.814043,0.117336],[0.047432,-0.174897,0.983444]]
2025-10-26T20:49:50.671Z,1761511790.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821136,-0.553564,-0.138935],[0.568725,0.814033,0.117903],[0.047830,-0.175830,0.983258]]
2025-10-26T20:49:51.004Z,1761511791.004 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:49:51.071Z,1761511791.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821129,-0.553471,-0.139345],[0.568692,0.814097,0.117621],[0.048341,-0.175827,0.983233]]
2025-10-26T20:49:51.485Z,1761511791.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821108,-0.553649,-0.138764],[0.568708,0.814254,0.116456],[0.048513,-0.174539,0.983454]]
2025-10-26T20:49:51.878Z,1761511791.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821177,-0.553580,-0.138626],[0.568587,0.814421,0.115874],[0.048754,-0.173973,0.983543]]
2025-10-26T20:49:52.280Z,1761511792.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820915,-0.554107,-0.138072],[0.568947,0.814358,0.114549],[0.048968,-0.172590,0.983776]]
2025-10-26T20:49:52.681Z,1761511792.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821059,-0.553741,-0.138682],[0.568723,0.814423,0.115194],[0.049158,-0.173453,0.983615]]
2025-10-26T20:49:53.082Z,1761511793.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821010,-0.553826,-0.138630],[0.568792,0.814393,0.115066],[0.049172,-0.173322,0.983637]]
2025-10-26T20:49:53.493Z,1761511793.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820969,-0.554096,-0.137794],[0.568895,0.814374,0.114688],[0.048667,-0.172545,0.983799]]
2025-10-26T20:49:53.890Z,1761511793.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820859,-0.554844,-0.135421],[0.569151,0.814414,0.113128],[0.047521,-0.169937,0.984308]]
2025-10-26T20:49:54.293Z,1761511794.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820741,-0.555436,-0.133699],[0.569428,0.814267,0.112789],[0.046220,-0.168703,0.984583]]
2025-10-26T20:49:54.706Z,1761511794.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820507,-0.556160,-0.132116],[0.569853,0.814043,0.112254],[0.045117,-0.167392,0.984858]]
2025-10-26T20:49:55.101Z,1761511795.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820584,-0.556320,-0.130959],[0.569851,0.813941,0.113005],[0.043726,-0.167357,0.984926]]
2025-10-26T20:49:55.504Z,1761511795.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820478,-0.556804,-0.129562],[0.570092,0.813785,0.112909],[0.042567,-0.166502,0.985122]]
2025-10-26T20:49:55.908Z,1761511795.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820305,-0.557225,-0.128841],[0.570397,0.813546,0.113095],[0.041799,-0.166263,0.985195]]
2025-10-26T20:49:56.312Z,1761511796.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820373,-0.557269,-0.128217],[0.570376,0.813426,0.114056],[0.040735,-0.166701,0.985166]]
2025-10-26T20:49:56.724Z,1761511796.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820219,-0.557681,-0.127412],[0.570672,0.813139,0.114620],[0.039682,-0.166724,0.985205]]
2025-10-26T20:49:57.120Z,1761511797.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820349,-0.557766,-0.126194],[0.570584,0.813090,0.115406],[0.038237,-0.166678,0.985270]]
2025-10-26T20:49:57.525Z,1761511797.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820270,-0.558026,-0.125552],[0.570758,0.812880,0.116024],[0.037315,-0.166831,0.985279]]
2025-10-26T20:49:57.928Z,1761511797.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820099,-0.558517,-0.124482],[0.571083,0.812579,0.116529],[0.036068,-0.166655,0.985355]]
2025-10-26T20:49:58.333Z,1761511798.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819957,-0.558967,-0.123397],[0.571365,0.812309,0.117034],[0.034818,-0.166467,0.985432]]
2025-10-26T20:49:58.738Z,1761511798.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819573,-0.559758,-0.122359],[0.571981,0.811852,0.117190],[0.033740,-0.166032,0.985543]]
2025-10-26T20:49:59.140Z,1761511799.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819301,-0.560334,-0.121542],[0.572426,0.811489,0.117533],[0.032772,-0.165868,0.985603]]
2025-10-26T20:49:59.553Z,1761511799.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818885,-0.561139,-0.120624],[0.573077,0.811004,0.117708],[0.031776,-0.165516,0.985695]]
2025-10-26T20:49:59.971Z,1761511799.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818785,-0.561435,-0.119920],[0.573276,0.810761,0.118410],[0.030747,-0.165700,0.985697]]
2025-10-26T20:50:00.372Z,1761511800.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818548,-0.561956,-0.119095],[0.573683,0.810334,0.119357],[0.029433,-0.166023,0.985683]]
2025-10-26T20:50:00.758Z,1761511800.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818421,-0.562346,-0.118126],[0.573928,0.810055,0.120069],[0.028168,-0.166063,0.985713]]
2025-10-26T20:50:01.161Z,1761511801.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818450,-0.562420,-0.117574],[0.573945,0.809852,0.121353],[0.026967,-0.166802,0.985622]]
2025-10-26T20:50:01.582Z,1761511801.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818479,-0.562646,-0.116283],[0.573965,0.809767,0.121825],[0.025618,-0.166454,0.985716]]
2025-10-26T20:50:01.968Z,1761511801.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818447,-0.562951,-0.115026],[0.574064,0.809661,0.122065],[0.024416,-0.165936,0.985834]]
2025-10-26T20:50:02.372Z,1761511802.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818308,-0.563508,-0.113267],[0.574306,0.809599,0.121335],[0.023328,-0.164340,0.986128]]
2025-10-26T20:50:02.783Z,1761511802.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818406,-0.563571,-0.112247],[0.574215,0.809566,0.121984],[0.022125,-0.164287,0.986164]]
2025-10-26T20:50:03.200Z,1761511803.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818508,-0.563601,-0.111344],[0.574111,0.809535,0.122679],[0.020995,-0.164338,0.986181]]
2025-10-26T20:50:03.621Z,1761511803.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818758,-0.563472,-0.110155],[0.573798,0.809678,0.123196],[0.019772,-0.164074,0.986250]]
2025-10-26T20:50:03.988Z,1761511803.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819100,-0.563191,-0.109047],[0.573355,0.809858,0.124074],[0.018435,-0.164151,0.986263]]
2025-10-26T20:50:04.404Z,1761511804.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819394,-0.562833,-0.108688],[0.572964,0.809946,0.125299],[0.017509,-0.164944,0.986148]]
2025-10-26T20:50:04.810Z,1761511804.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819613,-0.562683,-0.107806],[0.572678,0.810076,0.125766],[0.016564,-0.164818,0.986185]]
2025-10-26T20:50:05.226Z,1761511805.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819817,-0.562577,-0.106807],[0.572417,0.810174,0.126319],[0.015468,-0.164697,0.986223]]
2025-10-26T20:50:05.639Z,1761511805.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820320,-0.562107,-0.105408],[0.571727,0.810613,0.126630],[0.014266,-0.164142,0.986334]]
2025-10-26T20:50:06.018Z,1761511806.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820426,-0.562119,-0.104516],[0.571599,0.810620,0.127161],[0.013243,-0.164068,0.986360]]
2025-10-26T20:50:06.420Z,1761511806.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820768,-0.561624,-0.104494],[0.571133,0.810631,0.129172],[0.012161,-0.165700,0.986101]]
2025-10-26T20:50:06.821Z,1761511806.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820767,-0.561813,-0.103475],[0.571155,0.810560,0.129516],[0.011109,-0.165403,0.986164]]
2025-10-26T20:50:07.222Z,1761511807.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821118,-0.561482,-0.102483],[0.570670,0.810797,0.130167],[0.010006,-0.165366,0.986181]]
2025-10-26T20:50:07.665Z,1761511807.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821654,-0.560894,-0.101404],[0.569917,0.811231,0.130760],[0.008919,-0.165231,0.986215]]
2025-10-26T20:50:08.030Z,1761511808.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821536,-0.561321,-0.099988],[0.570102,0.811179,0.130277],[0.007981,-0.164031,0.986423]]
2025-10-26T20:50:08.434Z,1761511808.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821405,-0.561709,-0.098877],[0.570302,0.811052,0.130193],[0.007064,-0.163331,0.986546]]
2025-10-26T20:50:08.836Z,1761511808.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821551,-0.561695,-0.097738],[0.570103,0.811171,0.130325],[0.006079,-0.162789,0.986642]]
2025-10-26T20:50:09.240Z,1761511809.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821780,-0.561498,-0.096939],[0.569778,0.811403,0.130298],[0.005495,-0.162310,0.986724]]
2025-10-26T20:50:09.644Z,1761511809.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822362,-0.560738,-0.096405],[0.568944,0.811896,0.130874],[0.004885,-0.162475,0.986701]]
2025-10-26T20:50:10.050Z,1761511810.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822967,-0.559672,-0.097425],[0.568068,0.812210,0.132719],[0.004851,-0.164568,0.986354]]
2025-10-26T20:50:10.452Z,1761511810.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823789,-0.558599,-0.096637],[0.566879,0.813052,0.132644],[0.004476,-0.164052,0.986442]]
2025-10-26T20:50:10.856Z,1761511810.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824198,-0.558131,-0.095855],[0.566289,0.813432,0.132835],[0.003832,-0.163764,0.986492]]
2025-10-26T20:50:11.260Z,1761511811.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824836,-0.557263,-0.095415],[0.565361,0.814066,0.132904],[0.003612,-0.163568,0.986525]]
2025-10-26T20:50:11.692Z,1761511811.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825673,-0.555990,-0.095602],[0.564139,0.814755,0.133875],[0.003459,-0.164470,0.986376]]
2025-10-26T20:50:12.070Z,1761511812.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826111,-0.555450,-0.094948],[0.563500,0.815173,0.134017],[0.002959,-0.164217,0.986420]]
2025-10-26T20:50:12.472Z,1761511812.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826522,-0.554727,-0.095596],[0.562896,0.815402,0.135156],[0.002975,-0.165520,0.986202]]
2025-10-26T20:50:12.876Z,1761511812.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827276,-0.553676,-0.095168],[0.561789,0.816086,0.135637],[0.002567,-0.165674,0.986177]]
2025-10-26T20:50:13.283Z,1761511813.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827686,-0.553029,-0.095372],[0.561187,0.816376,0.136382],[0.002436,-0.166403,0.986055]]
2025-10-26T20:50:13.733Z,1761511813.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827864,-0.552829,-0.094979],[0.560925,0.816569,0.136306],[0.002203,-0.166119,0.986103]]
2025-10-26T20:50:14.106Z,1761511814.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828081,-0.552515,-0.094921],[0.560606,0.816698,0.136841],[0.001915,-0.166529,0.986035]]
2025-10-26T20:50:14.506Z,1761511814.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828146,-0.552556,-0.094104],[0.560510,0.816863,0.136249],[0.001585,-0.165581,0.986195]]
2025-10-26T20:50:14.896Z,1761511814.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828280,-0.552407,-0.093799],[0.560312,0.817001,0.136231],[0.001379,-0.165394,0.986227]]
2025-10-26T20:50:15.302Z,1761511815.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828384,-0.552315,-0.093424],[0.560159,0.817094,0.136307],[0.001051,-0.165247,0.986252]]
2025-10-26T20:50:15.749Z,1761511815.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828273,-0.552545,-0.093041],[0.560323,0.817084,0.135692],[0.001047,-0.164523,0.986373]]
2025-10-26T20:50:16.116Z,1761511816.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828225,-0.552575,-0.093298],[0.560395,0.817000,0.135897],[0.001131,-0.164837,0.986320]]
2025-10-26T20:50:16.514Z,1761511816.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828421,-0.552217,-0.093677],[0.560105,0.817091,0.136546],[0.001140,-0.165587,0.986194]]
2025-10-26T20:50:16.916Z,1761511816.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828085,-0.552716,-0.093700],[0.560600,0.816826,0.136097],[0.001314,-0.165228,0.986254]]
2025-10-26T20:50:17.326Z,1761511817.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828146,-0.552644,-0.093584],[0.560510,0.816975,0.135577],[0.001530,-0.164732,0.986337]]
2025-10-26T20:50:17.781Z,1761511817.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828147,-0.552646,-0.093572],[0.560509,0.817018,0.135320],[0.001666,-0.164513,0.986374]]
2025-10-26T20:50:18.141Z,1761511818.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828194,-0.552595,-0.093452],[0.560439,0.817110,0.135054],[0.001730,-0.164225,0.986421]]
2025-10-26T20:50:18.558Z,1761511818.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828516,-0.551937,-0.094480],[0.559961,0.817253,0.136165],[0.002060,-0.165720,0.986171]]
2025-10-26T20:50:18.934Z,1761511818.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828917,-0.551442,-0.093858],[0.559367,0.817876,0.134862],[0.002395,-0.164291,0.986409]]
2025-10-26T20:50:19.805Z,1761511819.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830655,-0.548871,-0.093560],[0.556782,0.819620,0.134970],[0.002602,-0.164206,0.986423]]
2025-10-26T20:50:20.574Z,1761511820.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831729,-0.547271,-0.093391],[0.555177,0.820575,0.135773],[0.002330,-0.164775,0.986328]]
2025-10-26T20:50:20.965Z,1761511820.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832585,-0.545949,-0.093493],[0.553892,0.821338,0.136411],[0.002316,-0.165359,0.986231]]
2025-10-26T20:50:21.148Z,1761511821.148 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:50:21.369Z,1761511821.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833713,-0.544245,-0.093383],[0.552193,0.822417,0.136797],[0.002348,-0.165615,0.986188]]
2025-10-26T20:50:21.826Z,1761511821.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835813,-0.541057,-0.093134],[0.549010,0.824382,0.137778],[0.002233,-0.166288,0.986075]]
2025-10-26T20:50:22.152Z,1761511822.152 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:50:22.578Z,1761511822.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836955,-0.539310,-0.093008],[0.547267,0.825420,0.138491],[0.002081,-0.166811,0.985987]]
2025-10-26T20:50:22.979Z,1761511822.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837763,-0.538060,-0.092979],[0.546030,0.826194,0.138759],[0.002158,-0.167016,0.985952]]
2025-10-26T20:50:23.384Z,1761511823.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838454,-0.537008,-0.092830],[0.544968,0.826892,0.138777],[0.002236,-0.166948,0.985963]]
2025-10-26T20:50:23.790Z,1761511823.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839217,-0.535834,-0.092719],[0.543792,0.827671,0.138748],[0.002395,-0.166860,0.985978]]
2025-10-26T20:50:24.191Z,1761511824.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839887,-0.534826,-0.092469],[0.542755,0.828389,0.138526],[0.002513,-0.166534,0.986032]]
2025-10-26T20:50:24.596Z,1761511824.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840735,-0.533471,-0.092592],[0.541439,0.829246,0.138547],[0.002871,-0.166614,0.986018]]
2025-10-26T20:50:24.997Z,1761511824.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841642,-0.531995,-0.092848],[0.540027,0.830095,0.138974],[0.003139,-0.167107,0.985934]]
2025-10-26T20:50:25.400Z,1761511825.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842608,-0.530438,-0.092987],[0.538517,0.831014,0.139343],[0.003361,-0.167487,0.985869]]
2025-10-26T20:50:25.810Z,1761511825.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843105,-0.529588,-0.093327],[0.537735,0.831557,0.139118],[0.003931,-0.167476,0.985868]]
2025-10-26T20:50:26.216Z,1761511826.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844124,-0.527980,-0.093231],[0.536132,0.832590,0.139127],[0.004167,-0.167424,0.985876]]
2025-10-26T20:50:26.626Z,1761511826.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844449,-0.527529,-0.092841],[0.535621,0.832930,0.139056],[0.003974,-0.167154,0.985923]]
2025-10-26T20:50:27.021Z,1761511827.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844524,-0.527468,-0.092506],[0.535504,0.833068,0.138685],[0.003912,-0.166660,0.986007]]
2025-10-26T20:50:27.424Z,1761511827.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844280,-0.527897,-0.092283],[0.535888,0.832912,0.138136],[0.003942,-0.166079,0.986105]]
2025-10-26T20:50:27.827Z,1761511827.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844071,-0.528308,-0.091846],[0.536219,0.832760,0.137766],[0.003703,-0.165534,0.986197]]
2025-10-26T20:50:28.237Z,1761511828.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843888,-0.528682,-0.091371],[0.536509,0.832631,0.137422],[0.003425,-0.164990,0.986289]]
2025-10-26T20:50:28.649Z,1761511828.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843589,-0.529387,-0.090040],[0.536985,0.832327,0.137398],[0.002206,-0.164257,0.986415]]
2025-10-26T20:50:29.041Z,1761511829.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842874,-0.530882,-0.087903],[0.538110,0.831690,0.136853],[0.000456,-0.162651,0.986683]]
2025-10-26T20:50:29.466Z,1761511829.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842456,-0.531814,-0.086270],[0.538763,0.831126,0.137709],[-0.001534,-0.162493,0.986709]]
2025-10-26T20:50:29.862Z,1761511829.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842027,-0.532618,-0.085492],[0.539424,0.830351,0.139781],[-0.003461,-0.163816,0.986485]]
2025-10-26T20:50:30.250Z,1761511830.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841668,-0.533468,-0.083707],[0.539971,0.829970,0.139933],[-0.005175,-0.162977,0.986616]]
2025-10-26T20:50:30.659Z,1761511830.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841269,-0.534237,-0.082808],[0.540571,0.829276,0.141722],[-0.007043,-0.163990,0.986437]]
2025-10-26T20:50:31.062Z,1761511831.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841332,-0.534295,-0.081785],[0.540448,0.829089,0.143278],[-0.008746,-0.164745,0.986297]]
2025-10-26T20:50:31.460Z,1761511831.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841183,-0.534684,-0.080778],[0.540658,0.828834,0.143953],[-0.010018,-0.164764,0.986282]]
2025-10-26T20:50:31.865Z,1761511831.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841355,-0.534633,-0.079303],[0.540360,0.828938,0.144476],[-0.011504,-0.164407,0.986325]]
2025-10-26T20:50:32.281Z,1761511832.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841945,-0.533849,-0.078321],[0.539406,0.829284,0.146047],[-0.013016,-0.165210,0.986172]]
2025-10-26T20:50:32.681Z,1761511832.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842886,-0.532601,-0.076681],[0.537892,0.830081,0.147097],[-0.014693,-0.165232,0.986145]]
2025-10-26T20:50:33.104Z,1761511833.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843971,-0.531061,-0.075415],[0.536154,0.831063,0.147894],[-0.015866,-0.165252,0.986124]]
2025-10-26T20:50:33.478Z,1761511833.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845204,-0.529316,-0.073858],[0.534161,0.832156,0.148954],[-0.017382,-0.165348,0.986082]]
2025-10-26T20:50:33.897Z,1761511833.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846892,-0.526847,-0.072151],[0.531420,0.833624,0.150544],[-0.019167,-0.165837,0.985967]]
2025-10-26T20:50:34.302Z,1761511834.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848567,-0.524530,-0.069297],[0.528658,0.835300,0.150977],[-0.021308,-0.164748,0.986106]]
2025-10-26T20:50:34.715Z,1761511834.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850011,-0.522433,-0.067422],[0.526258,0.836595,0.152186],[-0.023101,-0.164841,0.986050]]
2025-10-26T20:50:35.105Z,1761511835.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851547,-0.520040,-0.066527],[0.523712,0.837857,0.154019],[-0.024356,-0.165995,0.985826]]
2025-10-26T20:50:35.510Z,1761511835.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852958,-0.517894,-0.065180],[0.521327,0.838983,0.155964],[-0.026088,-0.167011,0.985610]]
2025-10-26T20:50:35.921Z,1761511835.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854447,-0.515623,-0.063668],[0.518782,0.840157,0.158120],[-0.028039,-0.168135,0.985365]]
2025-10-26T20:50:36.312Z,1761511836.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855868,-0.513592,-0.060942],[0.516301,0.841511,0.159037],[-0.030396,-0.167579,0.985390]]
2025-10-26T20:50:36.721Z,1761511836.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857011,-0.511893,-0.059136],[0.514276,0.842439,0.160677],[-0.032431,-0.168114,0.985234]]
2025-10-26T20:50:37.128Z,1761511837.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857604,-0.511092,-0.057445],[0.513127,0.842704,0.162945],[-0.034870,-0.169219,0.984961]]
2025-10-26T20:50:37.523Z,1761511837.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857916,-0.510806,-0.055299],[0.512456,0.842966,0.163700],[-0.037004,-0.168779,0.984959]]
2025-10-26T20:50:37.926Z,1761511837.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858157,-0.510612,-0.053316],[0.511901,0.843148,0.164494],[-0.039039,-0.168454,0.984936]]
2025-10-26T20:50:38.328Z,1761511838.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858003,-0.511071,-0.051354],[0.512004,0.842996,0.164953],[-0.041012,-0.167823,0.984964]]
2025-10-26T20:50:38.737Z,1761511838.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857490,-0.512121,-0.049422],[0.512696,0.842495,0.165365],[-0.043049,-0.167137,0.984993]]
2025-10-26T20:50:39.144Z,1761511839.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856560,-0.513851,-0.047573],[0.514098,0.841681,0.165155],[-0.044824,-0.165922,0.985120]]
2025-10-26T20:50:39.540Z,1761511839.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855748,-0.515374,-0.045673],[0.515279,0.840950,0.165196],[-0.046729,-0.164901,0.985203]]
2025-10-26T20:50:39.944Z,1761511839.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854679,-0.517302,-0.043850],[0.516887,0.840008,0.164968],[-0.048504,-0.163660,0.985324]]
2025-10-26T20:50:39.961Z,1761511839.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:50:40.176Z,1761511840.176 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:50:40.176Z,1761511840.176 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:50:40.349Z,1761511840.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853386,-0.519574,-0.042129],[0.518866,0.838891,0.164440],[-0.050097,-0.162190,0.985487]]
2025-10-26T20:50:40.430Z,1761511840.430 [DAT](INFO): DAT read: user:125>

2025-10-26T20:50:40.430Z,1761511840.430 [DAT](INFO): DAT read: Tx time:20:50:39.5487

2025-10-26T20:50:40.431Z,1761511840.431 [DAT](INFO): Ping request sent.
2025-10-26T20:50:40.431Z,1761511840.431 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:50:40.431Z,1761511840.431 [DAT](INFO): publishing transmit ping time
2025-10-26T20:50:40.440Z,1761511840.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.008915
2025-10-26T20:50:40.681Z,1761511840.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249790
2025-10-26T20:50:40.753Z,1761511840.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852010,-0.521896,-0.041268],[0.520982,0.837474,0.164969],[-0.051535,-0.162055,0.985435]]
2025-10-26T20:50:40.933Z,1761511840.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501905
2025-10-26T20:50:41.156Z,1761511841.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850633,-0.524206,-0.040398],[0.523126,0.836189,0.164703],[-0.052557,-0.161235,0.985516]]
2025-10-26T20:50:41.184Z,1761511841.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753652
2025-10-26T20:50:41.436Z,1761511841.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005562
2025-10-26T20:50:41.560Z,1761511841.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849522,-0.526083,-0.039354],[0.524806,0.835140,0.164684],[-0.053772,-0.160556,0.985561]]
2025-10-26T20:50:41.692Z,1761511841.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261318
2025-10-26T20:50:41.940Z,1761511841.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509531
2025-10-26T20:50:41.971Z,1761511841.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848314,-0.528068,-0.038824],[0.526660,0.833929,0.164900],[-0.054702,-0.160334,0.985546]]
2025-10-26T20:50:42.192Z,1761511842.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761535
2025-10-26T20:50:42.371Z,1761511842.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847087,-0.530065,-0.038394],[0.528550,0.832717,0.164977],[-0.055477,-0.160043,0.985550]]
2025-10-26T20:50:42.448Z,1761511842.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017374
2025-10-26T20:50:42.697Z,1761511842.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265894
2025-10-26T20:50:42.772Z,1761511842.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846305,-0.531386,-0.037371],[0.529734,0.832129,0.164143],[-0.056126,-0.158711,0.985728]]
2025-10-26T20:50:42.948Z,1761511842.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517558
2025-10-26T20:50:43.180Z,1761511843.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845605,-0.532552,-0.036606],[0.530751,0.831452,0.164290],[-0.057057,-0.158353,0.985733]]
2025-10-26T20:50:43.201Z,1761511843.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769738
2025-10-26T20:50:43.453Z,1761511843.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021840
2025-10-26T20:50:43.595Z,1761511843.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845101,-0.533374,-0.036271],[0.531461,0.830847,0.165052],[-0.057899,-0.158762,0.985618]]
2025-10-26T20:50:43.705Z,1761511843.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274362
2025-10-26T20:50:43.956Z,1761511843.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525602
2025-10-26T20:50:44.008Z,1761511844.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844658,-0.534161,-0.034999],[0.532118,0.830707,0.163635],[-0.058333,-0.156840,0.985900]]
2025-10-26T20:50:44.208Z,1761511844.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777595
2025-10-26T20:50:44.396Z,1761511844.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844294,-0.534794,-0.034106],[0.532629,0.830468,0.163186],[-0.058947,-0.155943,0.986006]]
2025-10-26T20:50:44.460Z,1761511844.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029627
2025-10-26T20:50:44.713Z,1761511844.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282170
2025-10-26T20:50:44.793Z,1761511844.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844457,-0.534580,-0.033426],[0.532246,0.830497,0.164282],[-0.060061,-0.156520,0.985847]]
2025-10-26T20:50:44.964Z,1761511844.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533477
2025-10-26T20:50:45.205Z,1761511845.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844436,-0.534664,-0.032609],[0.532162,0.830428,0.164903],[-0.061088,-0.156603,0.985771]]
2025-10-26T20:50:45.219Z,1761511845.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787587
2025-10-26T20:50:45.468Z,1761511845.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037606
2025-10-26T20:50:45.610Z,1761511845.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844583,-0.534484,-0.031731],[0.531798,0.830499,0.165717],[-0.062221,-0.156836,0.985663]]
2025-10-26T20:50:45.721Z,1761511845.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289933
2025-10-26T20:50:45.972Z,1761511845.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541472
2025-10-26T20:50:46.043Z,1761511846.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844917,-0.534025,-0.030550],[0.531123,0.830809,0.166327],[-0.063441,-0.156758,0.985597]]
2025-10-26T20:50:46.229Z,1761511846.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798006
2025-10-26T20:50:46.414Z,1761511846.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845147,-0.533704,-0.029779],[0.530629,0.830948,0.167206],[-0.064494,-0.157115,0.985472]]
2025-10-26T20:50:46.476Z,1761511846.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045600
2025-10-26T20:50:46.729Z,1761511846.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298039
2025-10-26T20:50:46.820Z,1761511846.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845436,-0.533293,-0.028930],[0.530035,0.831155,0.168058],[-0.065579,-0.157416,0.985352]]
2025-10-26T20:50:46.980Z,1761511846.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549549
2025-10-26T20:50:47.235Z,1761511847.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803995
2025-10-26T20:50:47.283Z,1761511847.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845739,-0.532853,-0.028156],[0.529408,0.831333,0.169154],[-0.066727,-0.157966,0.985187]]
2025-10-26T20:50:47.484Z,1761511847.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053563
2025-10-26T20:50:47.657Z,1761511847.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846174,-0.532219,-0.027064],[0.528603,0.831817,0.169291],[-0.067588,-0.157556,0.985194]]
2025-10-26T20:50:47.737Z,1761511847.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305868
2025-10-26T20:50:47.988Z,1761511847.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557522
2025-10-26T20:50:48.024Z,1761511848.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846139,-0.532312,-0.026314],[0.528539,0.831746,0.169836],[-0.068519,-0.157613,0.985121]]
2025-10-26T20:50:48.241Z,1761511848.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809837
2025-10-26T20:50:48.445Z,1761511848.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845811,-0.532866,-0.025633],[0.528964,0.831439,0.170016],[-0.069283,-0.157360,0.985108]]
2025-10-26T20:50:48.492Z,1761511848.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061563
2025-10-26T20:50:48.744Z,1761511848.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313510
2025-10-26T20:50:48.845Z,1761511848.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845471,-0.533422,-0.025268],[0.529430,0.831073,0.170356],[-0.069872,-0.157409,0.985059]]
2025-10-26T20:50:48.996Z,1761511848.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565539
2025-10-26T20:50:49.259Z,1761511849.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827313
2025-10-26T20:50:49.299Z,1761511849.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844811,-0.534465,-0.025309],[0.530455,0.830402,0.170441],[-0.070078,-0.157416,0.985043]]
2025-10-26T20:50:49.508Z,1761511849.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.077518
2025-10-26T20:50:49.650Z,1761511849.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844088,-0.535548,-0.026533],[0.531638,0.829431,0.171481],[-0.069829,-0.158851,0.984830]]
2025-10-26T20:50:49.761Z,1761511849.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.329943
2025-10-26T20:50:50.012Z,1761511850.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.581588
2025-10-26T20:50:50.055Z,1761511850.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843348,-0.536727,-0.026247],[0.532757,0.828727,0.171410],[-0.070249,-0.158542,0.984850]]
2025-10-26T20:50:50.264Z,1761511850.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.833557
2025-10-26T20:50:50.456Z,1761511850.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842752,-0.537649,-0.026514],[0.533690,0.828083,0.171623],[-0.070317,-0.158786,0.984806]]
2025-10-26T20:50:50.516Z,1761511850.516 [DAT](INFO): Reached modem response timeout
2025-10-26T20:50:50.855Z,1761511850.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842149,-0.538541,-0.027552],[0.534658,0.827244,0.172652],[-0.070188,-0.160129,0.984598]]
2025-10-26T20:50:51.283Z,1761511851.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841264,-0.539927,-0.027448],[0.536029,0.826433,0.172283],[-0.070336,-0.159649,0.984665]]
2025-10-26T20:50:51.662Z,1761511851.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840220,-0.541535,-0.027763],[0.537676,0.825413,0.172040],[-0.070250,-0.159479,0.984699]]
2025-10-26T20:50:52.067Z,1761511852.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839563,-0.542542,-0.027977],[0.538711,0.824771,0.171882],[-0.070178,-0.159378,0.984720]]
2025-10-26T20:50:52.300Z,1761511852.300 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:50:52.470Z,1761511852.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838695,-0.543775,-0.030002],[0.540161,0.823571,0.173081],[-0.069408,-0.161368,0.984451]]
2025-10-26T20:50:52.785Z,1761511852.785 [DAT](INFO): DAT read: Response Not Received

2025-10-26T20:50:52.785Z,1761511852.785 [DAT](INFO): response not received
2025-10-26T20:50:52.785Z,1761511852.785 [DAT](ERROR): No response from remote modem.
2025-10-26T20:50:52.872Z,1761511852.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837973,-0.544836,-0.030905],[0.541331,0.822750,0.173329],[-0.069009,-0.161975,0.984379]]
2025-10-26T20:50:53.304Z,1761511853.304 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:50:53.313Z,1761511853.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837156,-0.546056,-0.031515],[0.542643,0.821933,0.173100],[-0.068619,-0.162013,0.984400]]
2025-10-26T20:50:53.681Z,1761511853.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836799,-0.546554,-0.032337],[0.543235,0.821452,0.173530],[-0.068281,-0.162776,0.984298]]
2025-10-26T20:50:54.093Z,1761511854.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836369,-0.547166,-0.033102],[0.543960,0.820971,0.173536],[-0.067777,-0.163146,0.984271]]
2025-10-26T20:50:54.488Z,1761511854.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836138,-0.547494,-0.033515],[0.544365,0.820749,0.173315],[-0.067381,-0.163160,0.984296]]
2025-10-26T20:50:54.892Z,1761511854.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836078,-0.547564,-0.033863],[0.544497,0.820682,0.173219],[-0.067058,-0.163263,0.984301]]
2025-10-26T20:50:55.296Z,1761511855.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835833,-0.547902,-0.034433],[0.544915,0.820385,0.173309],[-0.066708,-0.163621,0.984265]]
2025-10-26T20:50:55.707Z,1761511855.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835876,-0.547821,-0.034688],[0.544899,0.820464,0.172986],[-0.066305,-0.163496,0.984313]]
2025-10-26T20:50:56.113Z,1761511856.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835800,-0.547959,-0.034334],[0.545092,0.820695,0.171273],[-0.065673,-0.161865,0.984625]]
2025-10-26T20:50:56.508Z,1761511856.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835682,-0.548124,-0.034574],[0.545394,0.820814,0.169733],[-0.064655,-0.160699,0.984883]]
2025-10-26T20:50:56.913Z,1761511856.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835763,-0.547965,-0.035124],[0.545417,0.821085,0.168343],[-0.063406,-0.159852,0.985102]]
2025-10-26T20:50:57.317Z,1761511857.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835594,-0.548150,-0.036265],[0.545839,0.820994,0.167418],[-0.061997,-0.159688,0.985219]]
2025-10-26T20:50:57.739Z,1761511857.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835386,-0.548377,-0.037595],[0.546362,0.820936,0.165992],[-0.060163,-0.159208,0.985410]]
2025-10-26T20:50:58.150Z,1761511858.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834943,-0.548949,-0.039061],[0.547243,0.820639,0.164550],[-0.058275,-0.158766,0.985595]]
2025-10-26T20:50:58.542Z,1761511858.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834840,-0.548911,-0.041701],[0.547603,0.820320,0.164941],[-0.056330,-0.160535,0.985421]]
2025-10-26T20:50:58.934Z,1761511858.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834794,-0.548882,-0.042986],[0.547874,0.820476,0.163254],[-0.054338,-0.159835,0.985647]]
2025-10-26T20:50:59.338Z,1761511859.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834451,-0.549267,-0.044680],[0.548622,0.820341,0.161417],[-0.052008,-0.159207,0.985874]]
2025-10-26T20:50:59.750Z,1761511859.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834258,-0.549378,-0.046874],[0.549130,0.820196,0.160420],[-0.049685,-0.159572,0.985935]]
2025-10-26T20:51:00.144Z,1761511860.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833857,-0.549840,-0.048564],[0.549956,0.820048,0.158334],[-0.047234,-0.158736,0.986191]]
2025-10-26T20:51:00.550Z,1761511860.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833408,-0.550380,-0.050132],[0.550830,0.819851,0.156306],[-0.044927,-0.157881,0.986436]]
2025-10-26T20:51:00.960Z,1761511860.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832579,-0.551488,-0.051709],[0.552262,0.819294,0.154153],[-0.042649,-0.156902,0.986693]]
2025-10-26T20:51:01.365Z,1761511861.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831855,-0.552410,-0.053478],[0.553521,0.818776,0.152381],[-0.040391,-0.156360,0.986874]]
2025-10-26T20:51:01.774Z,1761511861.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831027,-0.553481,-0.055247],[0.554908,0.818103,0.150943],[-0.038346,-0.156095,0.986997]]
2025-10-26T20:51:02.164Z,1761511862.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830214,-0.554470,-0.057510],[0.556270,0.817351,0.150000],[-0.036165,-0.156523,0.987012]]
2025-10-26T20:51:02.589Z,1761511862.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829175,-0.555871,-0.058958],[0.557947,0.816576,0.147984],[-0.034117,-0.155600,0.987231]]
2025-10-26T20:51:02.989Z,1761511862.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827972,-0.557443,-0.060986],[0.559849,0.815479,0.146842],[-0.032123,-0.155724,0.987278]]
2025-10-26T20:51:03.387Z,1761511863.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826552,-0.559248,-0.063661],[0.562071,0.814114,0.145927],[-0.029782,-0.156398,0.987245]]
2025-10-26T20:51:03.794Z,1761511863.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825290,-0.560814,-0.066213],[0.564028,0.812852,0.145413],[-0.027729,-0.157354,0.987153]]
2025-10-26T20:51:04.194Z,1761511864.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823745,-0.562917,-0.067589],[0.566391,0.811709,0.142580],[-0.025399,-0.155731,0.987473]]
2025-10-26T20:51:04.604Z,1761511864.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822112,-0.564988,-0.070141],[0.568853,0.810157,0.141600],[-0.023177,-0.156311,0.987436]]
2025-10-26T20:51:04.996Z,1761511864.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820348,-0.567331,-0.071861],[0.571477,0.808672,0.139513],[-0.021038,-0.155516,0.987609]]
2025-10-26T20:51:05.400Z,1761511865.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818821,-0.569219,-0.074311],[0.573741,0.807260,0.138392],[-0.018787,-0.155954,0.987586]]
2025-10-26T20:51:05.801Z,1761511865.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817471,-0.570785,-0.077114],[0.575731,0.805914,0.137975],[-0.016607,-0.157188,0.987429]]
2025-10-26T20:51:06.205Z,1761511866.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816161,-0.572396,-0.079015],[0.577645,0.804833,0.136274],[-0.014409,-0.156865,0.987515]]
2025-10-26T20:51:06.609Z,1761511866.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814891,-0.573785,-0.081996],[0.579488,0.803565,0.135931],[-0.012106,-0.158284,0.987319]]
2025-10-26T20:51:07.013Z,1761511867.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813914,-0.574644,-0.085604],[0.580904,0.802445,0.136503],[-0.009748,-0.160829,0.986934]]
2025-10-26T20:51:07.418Z,1761511867.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813568,-0.574578,-0.089266],[0.581423,0.801893,0.137534],[-0.007442,-0.163794,0.986466]]
2025-10-26T20:51:07.820Z,1761511867.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813495,-0.574175,-0.092463],[0.581547,0.801658,0.138371],[-0.005325,-0.166335,0.986055]]
2025-10-26T20:51:08.224Z,1761511868.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813474,-0.573656,-0.095808],[0.581593,0.801465,0.139299],[-0.003123,-0.169037,0.985605]]
2025-10-26T20:51:08.629Z,1761511868.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813695,-0.572959,-0.098075],[0.581291,0.801708,0.139157],[-0.001104,-0.170241,0.985402]]
2025-10-26T20:51:09.036Z,1761511869.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814025,-0.572061,-0.100549],[0.580829,0.802029,0.139237],[0.000991,-0.171744,0.985141]]
2025-10-26T20:51:09.437Z,1761511869.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814149,-0.571423,-0.103137],[0.580648,0.802136,0.139377],[0.003087,-0.173360,0.984854]]
2025-10-26T20:51:09.840Z,1761511869.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814488,-0.570621,-0.104882],[0.580158,0.802614,0.138661],[0.005057,-0.173786,0.984770]]
2025-10-26T20:51:10.245Z,1761511870.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814935,-0.569731,-0.106243],[0.579511,0.803266,0.137589],[0.006953,-0.173695,0.984775]]
2025-10-26T20:51:11.065Z,1761511871.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816332,-0.566860,-0.110775],[0.577438,0.805267,0.134572],[0.012920,-0.173822,0.984692]]
2025-10-26T20:51:11.461Z,1761511871.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816769,-0.566015,-0.111874],[0.576779,0.805935,0.133399],[0.014657,-0.173482,0.984728]]
2025-10-26T20:51:11.870Z,1761511871.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817465,-0.564750,-0.113177],[0.575754,0.806703,0.133184],[0.016085,-0.174036,0.984608]]
2025-10-26T20:51:12.302Z,1761511872.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817987,-0.563919,-0.113548],[0.574967,0.807565,0.131348],[0.017628,-0.172727,0.984812]]
2025-10-26T20:51:12.691Z,1761511872.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818373,-0.563114,-0.114751],[0.574362,0.808153,0.130372],[0.019322,-0.172601,0.984802]]
2025-10-26T20:51:13.088Z,1761511873.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818606,-0.562457,-0.116297],[0.573975,0.808484,0.130023],[0.020892,-0.173189,0.984667]]
2025-10-26T20:51:13.481Z,1761511873.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818812,-0.561845,-0.117803],[0.573639,0.808668,0.130357],[0.022023,-0.174315,0.984444]]
2025-10-26T20:51:13.885Z,1761511873.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818975,-0.561393,-0.118820],[0.573352,0.809004,0.129541],[0.023403,-0.174216,0.984429]]
2025-10-26T20:51:14.285Z,1761511874.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819104,-0.560888,-0.120305],[0.573118,0.809143,0.129706],[0.024593,-0.175192,0.984227]]
2025-10-26T20:51:14.688Z,1761511874.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819000,-0.560751,-0.121648],[0.573211,0.809122,0.129425],[0.025853,-0.175729,0.984099]]
2025-10-26T20:51:15.107Z,1761511875.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818913,-0.560671,-0.122597],[0.573281,0.809188,0.128702],[0.027044,-0.175678,0.984076]]
2025-10-26T20:51:15.505Z,1761511875.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818060,-0.561731,-0.123435],[0.574459,0.808448,0.128098],[0.027835,-0.175700,0.984050]]
2025-10-26T20:51:15.914Z,1761511875.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817350,-0.562679,-0.123822],[0.575448,0.807834,0.127532],[0.028268,-0.175492,0.984075]]
2025-10-26T20:51:16.304Z,1761511876.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816672,-0.563530,-0.124420],[0.576371,0.807304,0.126713],[0.029038,-0.175196,0.984105]]
2025-10-26T20:51:16.734Z,1761511876.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815650,-0.564935,-0.124753],[0.577761,0.806607,0.124806],[0.030119,-0.173876,0.984307]]
2025-10-26T20:51:17.129Z,1761511877.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814711,-0.566095,-0.125628],[0.579031,0.805847,0.123831],[0.031137,-0.173629,0.984319]]
2025-10-26T20:51:17.540Z,1761511877.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813980,-0.566870,-0.126865],[0.579998,0.805226,0.123345],[0.032234,-0.173981,0.984221]]
2025-10-26T20:51:17.930Z,1761511877.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813027,-0.568040,-0.127740],[0.581279,0.804438,0.122456],[0.033199,-0.173812,0.984219]]
2025-10-26T20:51:18.345Z,1761511878.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811874,-0.569385,-0.129074],[0.582822,0.803416,0.121827],[0.034334,-0.174136,0.984123]]
2025-10-26T20:51:18.741Z,1761511878.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810990,-0.570415,-0.130089],[0.583994,0.802666,0.121155],[0.035309,-0.174226,0.984072]]
2025-10-26T20:51:19.547Z,1761511879.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808941,-0.572838,-0.132178],[0.586717,0.800851,0.120002],[0.037113,-0.174626,0.983935]]
2025-10-26T20:51:19.942Z,1761511879.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807788,-0.574261,-0.133051],[0.588235,0.799909,0.118849],[0.038178,-0.174270,0.983958]]
2025-10-26T20:51:20.345Z,1761511880.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806919,-0.575313,-0.133781],[0.589367,0.799219,0.117880],[0.039102,-0.173966,0.983975]]
2025-10-26T20:51:20.749Z,1761511880.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806058,-0.576217,-0.135070],[0.590474,0.798452,0.117532],[0.040123,-0.174493,0.983841]]
2025-10-26T20:51:21.162Z,1761511881.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805433,-0.576802,-0.136301],[0.591256,0.797923,0.117193],[0.041161,-0.174980,0.983711]]
2025-10-26T20:51:21.567Z,1761511881.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805737,-0.575894,-0.138326],[0.590773,0.798082,0.118540],[0.042129,-0.177231,0.983267]]
2025-10-26T20:51:21.960Z,1761511881.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806038,-0.574950,-0.140480],[0.590270,0.798298,0.119584],[0.043390,-0.179311,0.982835]]
2025-10-26T20:51:22.364Z,1761511882.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806772,-0.573419,-0.142509],[0.589197,0.798846,0.121210],[0.044339,-0.181755,0.982344]]
2025-10-26T20:51:22.769Z,1761511882.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807926,-0.571206,-0.144839],[0.587539,0.799722,0.123463],[0.045308,-0.184847,0.981722]]
2025-10-26T20:51:23.185Z,1761511883.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809315,-0.568890,-0.146193],[0.585545,0.801031,0.124439],[0.046314,-0.186313,0.981398]]
2025-10-26T20:51:23.424Z,1761511883.424 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:51:23.576Z,1761511883.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810882,-0.566334,-0.147435],[0.583306,0.802481,0.125615],[0.047173,-0.187858,0.981063]]
2025-10-26T20:51:23.980Z,1761511883.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812407,-0.563884,-0.148426],[0.581088,0.804030,0.125985],[0.048298,-0.188599,0.980866]]
2025-10-26T20:51:24.385Z,1761511884.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814141,-0.561167,-0.149218],[0.578590,0.805701,0.126806],[0.049066,-0.189574,0.980640]]
2025-10-26T20:51:24.428Z,1761511884.428 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:51:24.791Z,1761511884.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815983,-0.558363,-0.149675],[0.575922,0.807551,0.127181],[0.049857,-0.189979,0.980521]]
2025-10-26T20:51:25.200Z,1761511885.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817804,-0.555584,-0.150078],[0.573264,0.809392,0.127489],[0.050641,-0.190295,0.980420]]
2025-10-26T20:51:25.596Z,1761511885.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819860,-0.552467,-0.150367],[0.570260,0.811436,0.127967],[0.051315,-0.190663,0.980313]]
2025-10-26T20:51:26.005Z,1761511886.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821870,-0.549254,-0.151162],[0.567306,0.813288,0.129332],[0.051902,-0.192049,0.980012]]
2025-10-26T20:51:26.419Z,1761511886.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823987,-0.545979,-0.151502],[0.564174,0.815336,0.130132],[0.052476,-0.192700,0.979854]]
2025-10-26T20:51:26.837Z,1761511886.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826084,-0.542730,-0.151752],[0.561056,0.817344,0.131016],[0.052928,-0.193372,0.979697]]
2025-10-26T20:51:27.260Z,1761511887.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828007,-0.539709,-0.152047],[0.558183,0.819135,0.132096],[0.053254,-0.194246,0.979506]]
2025-10-26T20:51:27.590Z,1761511887.590 [DAT](INFO): DAT read: user:126>20:51:26.0579 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 418,-0.04, 0.261,-1.423, 0.383, 0.000, PHS= 0.363,-1.378, 0.339, RAW= 149.3,   7.9, CAL= 148.8,   8.5, ROT=   1.2,  -8.5

2025-10-26T20:51:27.592Z,1761511887.592 [DAT](INFO): DAT read: Rx Time:20:51:26.0579

2025-10-26T20:51:27.592Z,1761511887.592 [DAT](INFO): Rx dataTimestamp_ set to:1761511887.591904
2025-10-26T20:51:27.593Z,1761511887.593 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-26T20:51:27.593Z,1761511887.593 [DAT](INFO): Received low SNR in chirp
2025-10-26T20:51:27.645Z,1761511887.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830109,-0.536583,-0.151651],[0.555060,0.821115,0.132961],[0.053178,-0.194547,0.979451]]
2025-10-26T20:51:28.023Z,1761511888.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832067,-0.533743,-0.150939],[0.552123,0.823056,0.133188],[0.053143,-0.194158,0.979530]]
2025-10-26T20:51:28.420Z,1761511888.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833859,-0.530980,-0.150796],[0.549406,0.824741,0.133998],[0.053217,-0.194584,0.979441]]
2025-10-26T20:51:28.825Z,1761511888.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835342,-0.528623,-0.150872],[0.547137,0.826108,0.134862],[0.053345,-0.195203,0.979311]]
2025-10-26T20:51:29.287Z,1761511889.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836648,-0.526844,-0.149853],[0.545166,0.827443,0.134658],[0.053051,-0.194356,0.979495]]
2025-10-26T20:51:29.640Z,1761511889.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837720,-0.525368,-0.149041],[0.543521,0.828604,0.134168],[0.053008,-0.193402,0.979687]]
2025-10-26T20:51:30.066Z,1761511890.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838030,-0.525025,-0.148508],[0.543038,0.829036,0.133448],[0.053055,-0.192479,0.979866]]
2025-10-26T20:51:30.506Z,1761511890.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838096,-0.524774,-0.149024],[0.542918,0.829033,0.133955],[0.053250,-0.193175,0.979718]]
2025-10-26T20:51:31.310Z,1761511891.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837201,-0.526290,-0.148704],[0.544259,0.828440,0.132174],[0.053631,-0.191590,0.980009]]
2025-10-26T20:51:31.721Z,1761511891.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835965,-0.528134,-0.149125],[0.546151,0.827232,0.131930],[0.053684,-0.191733,0.979978]]
2025-10-26T20:51:32.118Z,1761511892.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834768,-0.530026,-0.149116],[0.547996,0.826089,0.131448],[0.053512,-0.191443,0.980044]]
2025-10-26T20:51:32.529Z,1761511892.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833302,-0.532460,-0.148638],[0.550246,0.824785,0.130228],[0.053253,-0.190307,0.980279]]
2025-10-26T20:51:32.928Z,1761511892.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831901,-0.534723,-0.148365],[0.552369,0.823552,0.129033],[0.053189,-0.189294,0.980479]]
2025-10-26T20:51:33.345Z,1761511893.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830440,-0.537088,-0.148008],[0.554577,0.822255,0.127831],[0.053044,-0.188238,0.980690]]
2025-10-26T20:51:33.737Z,1761511893.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829000,-0.539350,-0.147854],[0.556735,0.820948,0.126848],[0.052965,-0.187473,0.980841]]
2025-10-26T20:51:34.139Z,1761511894.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827841,-0.541275,-0.147313],[0.558434,0.820094,0.124887],[0.053213,-0.185651,0.981174]]
2025-10-26T20:51:34.549Z,1761511894.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826907,-0.542907,-0.146547],[0.559778,0.819540,0.122486],[0.053602,-0.183319,0.981591]]
2025-10-26T20:51:34.946Z,1761511894.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826165,-0.543869,-0.147167],[0.560808,0.818938,0.121797],[0.054279,-0.183157,0.981584]]
2025-10-26T20:51:35.350Z,1761511895.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825645,-0.544429,-0.148013],[0.561488,0.818554,0.121244],[0.055149,-0.183212,0.981525]]
2025-10-26T20:51:35.754Z,1761511895.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825851,-0.544117,-0.148008],[0.561164,0.818815,0.120984],[0.055362,-0.182972,0.981558]]
2025-10-26T20:51:36.161Z,1761511896.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826503,-0.543013,-0.148420],[0.560174,0.819420,0.121474],[0.055657,-0.183540,0.981435]]
2025-10-26T20:51:36.562Z,1761511896.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828054,-0.540573,-0.148683],[0.557858,0.820857,0.122429],[0.055866,-0.184322,0.981277]]
2025-10-26T20:51:36.966Z,1761511896.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830005,-0.537368,-0.149426],[0.554917,0.822591,0.124140],[0.056208,-0.185956,0.980949]]
2025-10-26T20:51:37.370Z,1761511897.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832848,-0.533028,-0.149150],[0.550646,0.825239,0.125576],[0.056149,-0.186715,0.980808]]
2025-10-26T20:51:37.779Z,1761511897.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836052,-0.527771,-0.149918],[0.545773,0.827966,0.128857],[0.056120,-0.189552,0.980266]]
2025-10-26T20:51:37.785Z,1761511897.785 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-10-26T20:51:38.179Z,1761511898.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839467,-0.522594,-0.148968],[0.540519,0.831256,0.129820],[0.055988,-0.189499,0.980283]]
2025-10-26T20:51:38.582Z,1761511898.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842849,-0.517153,-0.148855],[0.535251,0.834270,0.132286],[0.055774,-0.191172,0.979971]]
2025-10-26T20:51:38.987Z,1761511898.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846203,-0.511799,-0.148333],[0.529945,0.837392,0.133913],[0.055677,-0.191925,0.979829]]
2025-10-26T20:51:39.392Z,1761511899.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849506,-0.506703,-0.146943],[0.524641,0.840701,0.134067],[0.055603,-0.190983,0.980017]]
2025-10-26T20:51:40.216Z,1761511900.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855202,-0.497226,-0.146270],[0.515316,0.845936,0.137267],[0.055483,-0.192766,0.979675]]
2025-10-26T20:51:40.274Z,1761511900.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:51:40.458Z,1761511900.458 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:51:40.458Z,1761511900.458 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:51:40.602Z,1761511900.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857423,-0.493339,-0.146433],[0.511619,0.847845,0.139302],[0.055430,-0.194358,0.979363]]
2025-10-26T20:51:40.709Z,1761511900.709 [DAT](INFO): DAT read: 

2025-10-26T20:51:40.710Z,1761511900.710 [DAT](INFO): DAT read: Tx time:20:51:39.8485

2025-10-26T20:51:40.711Z,1761511900.711 [DAT](INFO): Ping request sent.
2025-10-26T20:51:40.711Z,1761511900.711 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:51:40.711Z,1761511900.711 [DAT](INFO): publishing transmit ping time
2025-10-26T20:51:40.712Z,1761511900.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001267
2025-10-26T20:51:40.960Z,1761511900.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249411
2025-10-26T20:51:41.020Z,1761511901.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859384,-0.490174,-0.145564],[0.508339,0.849756,0.139662],[0.055236,-0.194019,0.979441]]
2025-10-26T20:51:41.213Z,1761511901.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501803
2025-10-26T20:51:41.410Z,1761511901.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860803,-0.488115,-0.144091],[0.505944,0.851392,0.138391],[0.055127,-0.192029,0.979840]]
2025-10-26T20:51:41.464Z,1761511901.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753571
2025-10-26T20:51:41.717Z,1761511901.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005793
2025-10-26T20:51:41.814Z,1761511901.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861795,-0.486785,-0.142650],[0.504263,0.852642,0.136825],[0.055025,-0.189848,0.980270]]
2025-10-26T20:51:41.968Z,1761511901.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257431
2025-10-26T20:51:42.221Z,1761511902.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509603
2025-10-26T20:51:42.222Z,1761511902.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862145,-0.486415,-0.141798],[0.503688,0.853111,0.136016],[0.054809,-0.188688,0.980506]]
2025-10-26T20:51:42.472Z,1761511902.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761359
2025-10-26T20:51:42.622Z,1761511902.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862280,-0.486512,-0.140639],[0.503478,0.853481,0.134461],[0.054616,-0.186751,0.980888]]
2025-10-26T20:51:42.726Z,1761511902.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014715
2025-10-26T20:51:42.976Z,1761511902.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265571
2025-10-26T20:51:43.033Z,1761511903.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862228,-0.486739,-0.140169],[0.503576,0.853532,0.133766],[0.054529,-0.185922,0.981050]]
2025-10-26T20:51:43.229Z,1761511903.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517991
2025-10-26T20:51:43.430Z,1761511903.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862094,-0.487259,-0.139186],[0.503836,0.853578,0.132487],[0.054251,-0.184343,0.981364]]
2025-10-26T20:51:43.480Z,1761511903.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769492
2025-10-26T20:51:43.733Z,1761511903.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021766
2025-10-26T20:51:43.845Z,1761511903.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861552,-0.488457,-0.138342],[0.504775,0.853278,0.130836],[0.054137,-0.182553,0.981704]]
2025-10-26T20:51:43.984Z,1761511903.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273394
2025-10-26T20:51:44.236Z,1761511904.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525517
2025-10-26T20:51:44.240Z,1761511904.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861057,-0.489654,-0.137186],[0.505670,0.852971,0.129381],[0.053664,-0.180775,0.982059]]
2025-10-26T20:51:44.488Z,1761511904.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777462
2025-10-26T20:51:44.642Z,1761511904.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860453,-0.491239,-0.135294],[0.506789,0.852608,0.127379],[0.052779,-0.178169,0.982583]]
2025-10-26T20:51:44.740Z,1761511904.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029475
2025-10-26T20:51:44.993Z,1761511904.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282039
2025-10-26T20:51:45.047Z,1761511905.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859719,-0.492914,-0.133858],[0.508103,0.852074,0.125702],[0.052097,-0.176082,0.982996]]
2025-10-26T20:51:45.244Z,1761511905.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533428
2025-10-26T20:51:45.450Z,1761511905.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858880,-0.494762,-0.132420],[0.509592,0.851433,0.124006],[0.051393,-0.173986,0.983406]]
2025-10-26T20:51:45.498Z,1761511905.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786406
2025-10-26T20:51:45.749Z,1761511905.749 [DAT](INFO): DAT read: Rx Time:20:51:44.4105

2025-10-26T20:51:45.749Z,1761511905.749 [DAT](INFO): Rx dataTimestamp_ set to:1761511905.748881
2025-10-26T20:51:45.750Z,1761511905.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038807
2025-10-26T20:51:45.857Z,1761511905.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858077,-0.496516,-0.131055],[0.511083,0.850560,0.123863],[0.049970,-0.173264,0.983607]]
2025-10-26T20:51:46.001Z,1761511906.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290349
2025-10-26T20:51:46.258Z,1761511906.258 [DAT](INFO): DAT read: 20:51:44.4105 LVL= 32752, 32753, 32754, 32755, AGC= 88, IDX= 461, 0.12, 2.657, 0.946, 2.542, 2.394, PHS= 0.365,-1.403, 0.104, RAW= 142.2,  11.3, CAL= 141.6,  12.3, ROT=   8.4, -12.3

2025-10-26T20:51:46.259Z,1761511906.259 [DAT](INFO): got valid direction response:
 20:51:44.4105 LVL= 32752, 32753, 32754, 32755, AGC= 88, IDX= 461, 0.12, 2.657, 0.946, 2.542, 2.394, PHS= 0.365,-1.403, 0.104, RAW= 142.2,  11.3, CAL= 141.6,  12.3, ROT=   8.4, -12.3

2025-10-26T20:51:46.260Z,1761511906.260 [DAT](INFO): DAT read: Bearing 190.9,   8.7 (Local)

2025-10-26T20:51:46.260Z,1761511906.260 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.9,   8.7 (Local)

2025-10-26T20:51:46.262Z,1761511906.262 [DAT](INFO): DAT read: Range 11 to 50 : 1618.4 m  (Round-trip  2157.9 ms) speed  0.4 m/s

2025-10-26T20:51:46.262Z,1761511906.262 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:51:46.263Z,1761511906.263 [DAT](INFO): direction in FSK: [0.966564,0.142730,0.213030]
2025-10-26T20:51:46.264Z,1761511906.264 [DAT](INFO): publishing direction and range info
2025-10-26T20:51:46.274Z,1761511906.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857268,-0.498269,-0.129689],[0.512519,0.849881,0.122582],[0.049142,-0.171554,0.983948]]
2025-10-26T20:51:46.662Z,1761511906.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856481,-0.499966,-0.128351],[0.513948,0.849087,0.122104],[0.047933,-0.170546,0.984183]]
2025-10-26T20:51:47.066Z,1761511907.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855823,-0.501431,-0.127020],[0.515193,0.848267,0.122549],[0.046297,-0.170320,0.984301]]
2025-10-26T20:51:47.472Z,1761511907.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855468,-0.502373,-0.125680],[0.515875,0.847922,0.122072],[0.045241,-0.169265,0.984532]]
2025-10-26T20:51:48.279Z,1761511908.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855517,-0.502998,-0.122815],[0.516047,0.847687,0.122969],[0.042256,-0.168580,0.984782]]
2025-10-26T20:51:48.683Z,1761511908.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855574,-0.503185,-0.121644],[0.516067,0.847564,0.123735],[0.040839,-0.168641,0.984831]]
2025-10-26T20:51:49.505Z,1761511909.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857204,-0.501474,-0.117155],[0.513647,0.848909,0.124577],[0.036982,-0.166964,0.985269]]
2025-10-26T20:51:49.901Z,1761511909.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858252,-0.499931,-0.116071],[0.511976,0.849764,0.125623],[0.035830,-0.167242,0.985265]]
2025-10-26T20:51:50.303Z,1761511910.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859810,-0.497551,-0.114762],[0.509451,0.851066,0.127069],[0.034447,-0.167720,0.985233]]
2025-10-26T20:51:50.710Z,1761511910.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861060,-0.495650,-0.113610],[0.507414,0.852115,0.128183],[0.033275,-0.168020,0.985222]]
2025-10-26T20:51:51.112Z,1761511911.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862686,-0.493115,-0.112297],[0.504711,0.853597,0.128995],[0.032247,-0.167959,0.985266]]
2025-10-26T20:51:51.519Z,1761511911.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864353,-0.490456,-0.111114],[0.501927,0.855017,0.130442],[0.031028,-0.168519,0.985210]]
2025-10-26T20:51:51.917Z,1761511911.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865992,-0.487832,-0.109897],[0.499162,0.856458,0.131596],[0.029925,-0.168818,0.985193]]
2025-10-26T20:51:52.319Z,1761511912.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867755,-0.485106,-0.108046],[0.496173,0.858083,0.132310],[0.028528,-0.168422,0.985302]]
2025-10-26T20:51:52.730Z,1761511912.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869451,-0.482420,-0.106419],[0.493274,0.859580,0.133426],[0.027108,-0.168502,0.985328]]
2025-10-26T20:51:53.126Z,1761511913.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870817,-0.480341,-0.104640],[0.490932,0.860841,0.133938],[0.025743,-0.168006,0.985450]]
2025-10-26T20:51:53.531Z,1761511913.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872156,-0.478242,-0.103097],[0.488621,0.862006,0.134887],[0.024362,-0.168017,0.985483]]
2025-10-26T20:51:53.938Z,1761511913.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873239,-0.476634,-0.101360],[0.486752,0.862984,0.135388],[0.022941,-0.167563,0.985594]]
2025-10-26T20:51:54.341Z,1761511914.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873888,-0.475894,-0.099217],[0.485649,0.863703,0.134768],[0.021559,-0.165957,0.985897]]
2025-10-26T20:51:54.556Z,1761511914.556 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:51:54.743Z,1761511914.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873950,-0.476216,-0.097108],[0.485582,0.864007,0.133047],[0.020542,-0.163431,0.986341]]
2025-10-26T20:51:55.147Z,1761511915.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873824,-0.476971,-0.094498],[0.485854,0.864242,0.130509],[0.019420,-0.159954,0.986933]]
2025-10-26T20:51:55.550Z,1761511915.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873206,-0.478572,-0.092090],[0.487004,0.863998,0.127807],[0.018401,-0.156450,0.987515]]
2025-10-26T20:51:55.560Z,1761511915.560 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:51:56.012Z,1761511916.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872386,-0.480405,-0.090297],[0.488507,0.863406,0.126056],[0.017405,-0.154080,0.987905]]
2025-10-26T20:51:56.363Z,1761511916.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871381,-0.482518,-0.088721],[0.490327,0.862625,0.124325],[0.016543,-0.151837,0.988267]]
2025-10-26T20:51:56.593Z,1761511916.593 [DAT](INFO): DAT read: user:127>Rx Time:20:51:55.0948

2025-10-26T20:51:56.593Z,1761511916.593 [DAT](INFO): Rx dataTimestamp_ set to:1761511916.592836
2025-10-26T20:51:56.770Z,1761511916.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870413,-0.484465,-0.087609],[0.492076,0.861724,0.123663],[0.015584,-0.150748,0.988449]]
2025-10-26T20:51:57.116Z,1761511917.116 [DAT](INFO): DAT read: 20:51:55.0948 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 317,-0.48,-1.789, 2.918,-1.912,-1.984, PHS= 0.296,-1.336, 0.028, RAW= 141.2,  13.3, CAL= 140.5,  14.3, ROT=   9.5, -14.3

2025-10-26T20:51:57.117Z,1761511917.117 [DAT](INFO): got valid direction response:
 20:51:55.0948 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 317,-0.48,-1.789, 2.918,-1.912,-1.984, PHS= 0.296,-1.336, 0.028, RAW= 141.2,  13.3, CAL= 140.5,  14.3, ROT=   9.5, -14.3

2025-10-26T20:51:57.118Z,1761511917.118 [DAT](INFO): DAT read: bearing request

2025-10-26T20:51:57.118Z,1761511917.118 [DAT](INFO): received a bearing request message
2025-10-26T20:51:57.119Z,1761511917.119 [DAT](INFO): DAT read: Tx time:20:51:56.6976

2025-10-26T20:51:57.119Z,1761511917.119 [DAT](INFO): Ping request sent.
2025-10-26T20:51:57.119Z,1761511917.119 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:51:57.120Z,1761511917.120 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-26T20:51:57.121Z,1761511917.121 [DAT](INFO): direction in FSK: [0.955726,0.159934,0.246999]
2025-10-26T20:51:57.121Z,1761511917.121 [DAT](INFO): publishing transmit ping time
2025-10-26T20:51:57.121Z,1761511917.121 [DAT](INFO): publishing range request flag
2025-10-26T20:51:57.124Z,1761511917.124 [DAT](INFO): publishing transmit ping time
2025-10-26T20:51:57.125Z,1761511917.125 [DAT](INFO): publishing range request flag
2025-10-26T20:51:57.167Z,1761511917.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869462,-0.486380,-0.086427],[0.493783,0.860861,0.122874],[0.014638,-0.149510,0.988652]]
2025-10-26T20:51:57.571Z,1761511917.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868204,-0.488673,-0.086141],[0.496010,0.859567,0.122954],[0.013960,-0.149476,0.988667]]
2025-10-26T20:51:58.008Z,1761511918.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866827,-0.491090,-0.086263],[0.498427,0.858115,0.123325],[0.013460,-0.149897,0.988610]]
2025-10-26T20:51:58.378Z,1761511918.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865702,-0.493188,-0.085586],[0.500397,0.857033,0.122871],[0.012752,-0.149196,0.988725]]
2025-10-26T20:51:58.783Z,1761511918.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864260,-0.495575,-0.086372],[0.502892,0.855402,0.124043],[0.012410,-0.150641,0.988511]]
2025-10-26T20:51:59.186Z,1761511919.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863195,-0.497366,-0.086722],[0.504729,0.854189,0.124942],[0.011935,-0.151620,0.988367]]
2025-10-26T20:51:59.591Z,1761511919.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862208,-0.499096,-0.086606],[0.506436,0.853021,0.126011],[0.010985,-0.152508,0.988241]]
2025-10-26T20:52:00.002Z,1761511920.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861423,-0.500594,-0.085768],[0.507792,0.852169,0.126313],[0.009857,-0.152361,0.988276]]
2025-10-26T20:52:00.399Z,1761511920.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860727,-0.501948,-0.084830],[0.508997,0.851327,0.127139],[0.008401,-0.152610,0.988251]]
2025-10-26T20:52:00.804Z,1761511920.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859924,-0.503450,-0.084073],[0.510373,0.850373,0.128004],[0.007050,-0.152982,0.988204]]
2025-10-26T20:52:01.206Z,1761511921.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859759,-0.503957,-0.082716],[0.510670,0.850122,0.128486],[0.005567,-0.152707,0.988256]]
2025-10-26T20:52:01.610Z,1761511921.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859949,-0.503877,-0.081214],[0.510363,0.850241,0.128916],[0.004094,-0.152310,0.988324]]
2025-10-26T20:52:02.027Z,1761511922.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860084,-0.503861,-0.079874],[0.510147,0.850160,0.130296],[0.002254,-0.152813,0.988253]]
2025-10-26T20:52:02.417Z,1761511922.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860420,-0.503661,-0.077478],[0.509585,0.850499,0.130282],[0.000277,-0.151579,0.988445]]
2025-10-26T20:52:02.822Z,1761511922.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860928,-0.503087,-0.075537],[0.508724,0.850908,0.130980],[-0.001619,-0.151192,0.988503]]
2025-10-26T20:52:03.226Z,1761511923.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861488,-0.502441,-0.073425],[0.507765,0.851388,0.131580],[-0.003598,-0.150637,0.988583]]
2025-10-26T20:52:03.631Z,1761511923.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862211,-0.501436,-0.071795],[0.506521,0.851953,0.132716],[-0.005383,-0.150794,0.988551]]
2025-10-26T20:52:04.043Z,1761511924.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862939,-0.500398,-0.070273],[0.505255,0.852461,0.134266],[-0.007281,-0.151369,0.988450]]
2025-10-26T20:52:04.438Z,1761511924.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863827,-0.499092,-0.068626],[0.503705,0.853170,0.135577],[-0.009116,-0.151683,0.988387]]
2025-10-26T20:52:04.842Z,1761511924.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864769,-0.497697,-0.066876],[0.502049,0.853928,0.136946],[-0.011050,-0.152002,0.988319]]
2025-10-26T20:52:05.247Z,1761511925.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865602,-0.496504,-0.064929],[0.500561,0.854611,0.138129],[-0.013093,-0.152066,0.988284]]
2025-10-26T20:52:05.651Z,1761511925.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866379,-0.495377,-0.063162],[0.499163,0.855250,0.139227],[-0.014951,-0.152152,0.988244]]
2025-10-26T20:52:06.054Z,1761511926.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866889,-0.494740,-0.061117],[0.498212,0.855684,0.139959],[-0.016946,-0.151778,0.988269]]
2025-10-26T20:52:06.463Z,1761511926.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867541,-0.493828,-0.059220],[0.497002,0.856182,0.141217],[-0.019034,-0.151944,0.988206]]
2025-10-26T20:52:07.268Z,1761511927.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868591,-0.492457,-0.055103],[0.494981,0.857013,0.143253],[-0.023322,-0.151703,0.988151]]
2025-10-26T20:52:07.670Z,1761511927.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868722,-0.492439,-0.053166],[0.494649,0.857063,0.144099],[-0.025393,-0.151481,0.988134]]
2025-10-26T20:52:08.074Z,1761511928.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868484,-0.493072,-0.051129],[0.494959,0.856834,0.144401],[-0.027391,-0.150717,0.988197]]
2025-10-26T20:52:08.486Z,1761511928.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868051,-0.494018,-0.049321],[0.495615,0.856422,0.144592],[-0.029192,-0.149957,0.988261]]
2025-10-26T20:52:08.884Z,1761511928.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867654,-0.494826,-0.048213],[0.496214,0.855898,0.145641],[-0.030802,-0.150290,0.988162]]
2025-10-26T20:52:09.286Z,1761511929.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867147,-0.495765,-0.047680],[0.496991,0.855078,0.147788],[-0.032498,-0.151851,0.987869]]
2025-10-26T20:52:09.690Z,1761511929.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866268,-0.497290,-0.047766],[0.498425,0.853810,0.150271],[-0.033945,-0.153983,0.987490]]
2025-10-26T20:52:10.094Z,1761511930.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865435,-0.498875,-0.046334],[0.499767,0.853028,0.150251],[-0.035432,-0.153189,0.987562]]
2025-10-26T20:52:10.500Z,1761511930.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864257,-0.501075,-0.044528],[0.501702,0.852082,0.149171],[-0.036804,-0.151262,0.987808]]
2025-10-26T20:52:10.902Z,1761511930.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862677,-0.503871,-0.043627],[0.504309,0.850479,0.149527],[-0.038239,-0.150995,0.987795]]
2025-10-26T20:52:11.306Z,1761511931.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861009,-0.506774,-0.042946],[0.507076,0.848866,0.149332],[-0.039222,-0.150353,0.987854]]
2025-10-26T20:52:11.717Z,1761511931.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859226,-0.509903,-0.041586],[0.510004,0.847309,0.148204],[-0.040333,-0.148550,0.988082]]
2025-10-26T20:52:12.118Z,1761511932.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857319,-0.513191,-0.040484],[0.513118,0.845570,0.147382],[-0.041403,-0.147126,0.988251]]
2025-10-26T20:52:12.518Z,1761511932.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855565,-0.516202,-0.039281],[0.515920,0.843899,0.147178],[-0.042824,-0.146186,0.988330]]
2025-10-26T20:52:12.922Z,1761511932.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853883,-0.519075,-0.038014],[0.518571,0.842277,0.147151],[-0.044364,-0.145363,0.988383]]
2025-10-26T20:52:13.326Z,1761511933.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852280,-0.521750,-0.037356],[0.521100,0.840660,0.147466],[-0.045537,-0.145148,0.988361]]
2025-10-26T20:52:13.738Z,1761511933.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850668,-0.524427,-0.036617],[0.523638,0.839098,0.147366],[-0.046558,-0.144534,0.988404]]
2025-10-26T20:52:14.134Z,1761511934.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849794,-0.525911,-0.035604],[0.524948,0.838249,0.147539],[-0.047747,-0.144068,0.988415]]
2025-10-26T20:52:14.538Z,1761511934.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848541,-0.528008,-0.034433],[0.526899,0.837204,0.146516],[-0.048535,-0.142468,0.988609]]
2025-10-26T20:52:14.947Z,1761511934.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847614,-0.529511,-0.034184],[0.528321,0.836216,0.147034],[-0.049271,-0.142688,0.988541]]
2025-10-26T20:52:15.347Z,1761511935.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846932,-0.530590,-0.034353],[0.529352,0.835364,0.148164],[-0.049917,-0.143670,0.988366]]
2025-10-26T20:52:15.751Z,1761511935.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846498,-0.531283,-0.034344],[0.529990,0.834803,0.149048],[-0.050517,-0.144371,0.988233]]
2025-10-26T20:52:16.154Z,1761511936.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846435,-0.531335,-0.035095],[0.530041,0.834389,0.151169],[-0.051038,-0.146557,0.987885]]
2025-10-26T20:52:16.972Z,1761511936.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846785,-0.530692,-0.036336],[0.529405,0.834137,0.154743],[-0.051812,-0.150270,0.987286]]
2025-10-26T20:52:17.366Z,1761511937.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847271,-0.529871,-0.037002],[0.528583,0.834253,0.156917],[-0.052277,-0.152510,0.986918]]
2025-10-26T20:52:17.771Z,1761511937.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847840,-0.528927,-0.037451],[0.527635,0.834541,0.158568],[-0.052616,-0.154201,0.986638]]
2025-10-26T20:52:18.175Z,1761511938.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848488,-0.527857,-0.037896],[0.526543,0.834850,0.160555],[-0.053113,-0.156182,0.986299]]
2025-10-26T20:52:18.580Z,1761511938.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849256,-0.526550,-0.038836],[0.525285,0.835210,0.162787],[-0.053280,-0.158648,0.985897]]
2025-10-26T20:52:18.982Z,1761511938.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849826,-0.525586,-0.039433],[0.524341,0.835471,0.164486],[-0.053506,-0.160461,0.985591]]
2025-10-26T20:52:19.386Z,1761511939.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850328,-0.524704,-0.040353],[0.523489,0.835520,0.166931],[-0.053873,-0.163071,0.985142]]
2025-10-26T20:52:19.791Z,1761511939.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850825,-0.523895,-0.040374],[0.522593,0.835702,0.168813],[-0.054700,-0.164730,0.984821]]
2025-10-26T20:52:20.198Z,1761511940.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851088,-0.523515,-0.039761],[0.522048,0.835785,0.170089],[-0.055812,-0.165518,0.984626]]
2025-10-26T20:52:20.598Z,1761511940.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851107,-0.523507,-0.039457],[0.521924,0.835627,0.171238],[-0.056673,-0.166336,0.984439]]
2025-10-26T20:52:21.002Z,1761511941.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850922,-0.523801,-0.039545],[0.522161,0.835245,0.172376],[-0.057261,-0.167327,0.984237]]
2025-10-26T20:52:21.407Z,1761511941.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850742,-0.524140,-0.038923],[0.522352,0.834990,0.173031],[-0.058192,-0.167536,0.984147]]
2025-10-26T20:52:21.814Z,1761511941.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850204,-0.525057,-0.038329],[0.523132,0.834430,0.173377],[-0.059049,-0.167457,0.984109]]
2025-10-26T20:52:22.214Z,1761511942.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849198,-0.526714,-0.037880],[0.524714,0.833542,0.172868],[-0.059477,-0.166675,0.984216]]
2025-10-26T20:52:22.640Z,1761511942.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848140,-0.528436,-0.037605],[0.526385,0.832578,0.172433],[-0.059811,-0.166042,0.984303]]
2025-10-26T20:52:23.042Z,1761511943.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846956,-0.530360,-0.037202],[0.528235,0.831501,0.171970],[-0.060273,-0.165302,0.984399]]
2025-10-26T20:52:23.454Z,1761511943.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845414,-0.532879,-0.036272],[0.530715,0.830450,0.169395],[-0.060145,-0.162459,0.984881]]
2025-10-26T20:52:24.254Z,1761511944.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841978,-0.538317,-0.035880],[0.536212,0.827634,0.165828],[-0.059573,-0.158862,0.985502]]
2025-10-26T20:52:24.658Z,1761511944.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840258,-0.541018,-0.035571],[0.538966,0.826327,0.163399],[-0.059008,-0.156469,0.985919]]
2025-10-26T20:52:25.062Z,1761511945.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838649,-0.543459,-0.036330],[0.541550,0.824855,0.162288],[-0.058230,-0.155777,0.986074]]
2025-10-26T20:52:25.469Z,1761511945.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836995,-0.545924,-0.037497],[0.544182,0.823207,0.161853],[-0.057492,-0.155876,0.986102]]
2025-10-26T20:52:25.680Z,1761511945.680 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:52:25.870Z,1761511945.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835860,-0.547615,-0.038173],[0.545974,0.822102,0.161435],[-0.057022,-0.155779,0.986145]]
2025-10-26T20:52:26.274Z,1761511946.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834714,-0.549293,-0.039112],[0.547779,0.820928,0.161293],[-0.056489,-0.156058,0.986131]]
2025-10-26T20:52:26.678Z,1761511946.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833568,-0.550988,-0.039710],[0.549575,0.819852,0.160656],[-0.055964,-0.155741,0.986211]]
2025-10-26T20:52:26.684Z,1761511946.684 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:52:27.090Z,1761511947.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832447,-0.552661,-0.039978],[0.551299,0.818820,0.160009],[-0.055696,-0.155239,0.986306]]
2025-10-26T20:52:27.486Z,1761511947.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831566,-0.553946,-0.040528],[0.552668,0.817967,0.159652],[-0.055288,-0.155159,0.986341]]
2025-10-26T20:52:27.890Z,1761511947.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831031,-0.554694,-0.041247],[0.553518,0.817400,0.159610],[-0.054819,-0.155472,0.986318]]
2025-10-26T20:52:28.705Z,1761511948.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830008,-0.556068,-0.043306],[0.555181,0.816242,0.159758],[-0.053488,-0.156643,0.986206]]
2025-10-26T20:52:29.106Z,1761511949.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829825,-0.556225,-0.044776],[0.555516,0.815832,0.160684],[-0.052847,-0.158214,0.985990]]
2025-10-26T20:52:29.519Z,1761511949.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829462,-0.556711,-0.045438],[0.556099,0.815436,0.160679],[-0.052400,-0.158545,0.985960]]
2025-10-26T20:52:30.314Z,1761511950.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829030,-0.557190,-0.047405],[0.556860,0.814833,0.161105],[-0.051139,-0.159959,0.985798]]
2025-10-26T20:52:30.740Z,1761511950.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828846,-0.557388,-0.048295],[0.557190,0.814582,0.161232],[-0.050528,-0.160546,0.985734]]
2025-10-26T20:52:31.122Z,1761511951.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828788,-0.557384,-0.049329],[0.557345,0.814451,0.161358],[-0.049762,-0.161225,0.985662]]
2025-10-26T20:52:31.573Z,1761511951.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829392,-0.556344,-0.050893],[0.556514,0.814768,0.162621],[-0.049007,-0.163200,0.985375]]
2025-10-26T20:52:31.946Z,1761511951.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829528,-0.556105,-0.051295],[0.556361,0.814942,0.162273],[-0.048439,-0.163148,0.985412]]
2025-10-26T20:52:32.746Z,1761511952.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829907,-0.555345,-0.053346],[0.555954,0.815237,0.162187],[-0.046580,-0.164258,0.985317]]
2025-10-26T20:52:33.155Z,1761511953.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830061,-0.554982,-0.054708],[0.555841,0.815402,0.161744],[-0.045156,-0.164667,0.985315]]
2025-10-26T20:52:33.577Z,1761511953.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830284,-0.554503,-0.056174],[0.555626,0.815612,0.161422],[-0.043693,-0.165238,0.985285]]
2025-10-26T20:52:33.955Z,1761511953.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830498,-0.554017,-0.057776],[0.555460,0.815942,0.160322],[-0.041679,-0.165239,0.985372]]
2025-10-26T20:52:34.356Z,1761511954.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830487,-0.553841,-0.059585],[0.555602,0.815920,0.159943],[-0.039967,-0.165936,0.985326]]
2025-10-26T20:52:34.759Z,1761511954.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830460,-0.553715,-0.061127],[0.555747,0.815889,0.159592],[-0.038496,-0.166506,0.985289]]
2025-10-26T20:52:35.167Z,1761511955.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830340,-0.553731,-0.062587],[0.556061,0.815961,0.158129],[-0.036492,-0.166103,0.985433]]
2025-10-26T20:52:35.582Z,1761511955.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830326,-0.553518,-0.064632],[0.556198,0.815906,0.157926],[-0.034681,-0.167078,0.985334]]
2025-10-26T20:52:35.984Z,1761511955.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829968,-0.553844,-0.066409],[0.556841,0.815614,0.157168],[-0.032882,-0.167423,0.985337]]
2025-10-26T20:52:36.374Z,1761511956.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829560,-0.554232,-0.068242],[0.557563,0.815323,0.156113],[-0.030884,-0.167554,0.985379]]
2025-10-26T20:52:36.780Z,1761511956.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828980,-0.554887,-0.069943],[0.558525,0.814879,0.154989],[-0.029006,-0.167548,0.985437]]
2025-10-26T20:52:37.183Z,1761511957.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828111,-0.555978,-0.071552],[0.559908,0.814206,0.153530],[-0.027101,-0.167202,0.985550]]
2025-10-26T20:52:37.586Z,1761511957.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827282,-0.556998,-0.073196],[0.561222,0.813563,0.152137],[-0.025190,-0.166939,0.985645]]
2025-10-26T20:52:37.990Z,1761511957.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826471,-0.557980,-0.074869],[0.562497,0.812921,0.150851],[-0.023309,-0.166787,0.985717]]
2025-10-26T20:52:38.399Z,1761511958.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825272,-0.559530,-0.076496],[0.564335,0.811991,0.148982],[-0.021246,-0.166119,0.985877]]
2025-10-26T20:52:38.798Z,1761511958.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824194,-0.560895,-0.078102],[0.565978,0.811141,0.147376],[-0.019311,-0.165671,0.985992]]
2025-10-26T20:52:39.204Z,1761511959.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823057,-0.562227,-0.080491],[0.567703,0.810129,0.146302],[-0.017047,-0.166110,0.985960]]
2025-10-26T20:52:39.606Z,1761511959.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822115,-0.563261,-0.082844],[0.569127,0.809288,0.145424],[-0.014868,-0.166704,0.985895]]
2025-10-26T20:52:40.011Z,1761511960.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820929,-0.564729,-0.084600],[0.570887,0.808336,0.143809],[-0.012828,-0.166354,0.985983]]
2025-10-26T20:52:40.426Z,1761511960.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819832,-0.566078,-0.086203],[0.572500,0.807469,0.142260],[-0.010924,-0.165981,0.986068]]
2025-10-26T20:52:40.444Z,1761511960.444 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:52:40.460Z,1761511960.460 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:52:40.460Z,1761511960.460 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:52:40.713Z,1761511960.713 [DAT](INFO): DAT read: 

2025-10-26T20:52:40.713Z,1761511960.713 [DAT](INFO): DAT read: Tx time:20:52:39.8483

2025-10-26T20:52:40.714Z,1761511960.714 [DAT](INFO): Ping request sent.
2025-10-26T20:52:40.714Z,1761511960.714 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:52:40.714Z,1761511960.714 [DAT](INFO): publishing transmit ping time
2025-10-26T20:52:40.715Z,1761511960.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001033
2025-10-26T20:52:40.818Z,1761511960.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818575,-0.567699,-0.087479],[0.574330,0.806557,0.140039],[-0.008943,-0.164875,0.986274]]
2025-10-26T20:52:40.964Z,1761511960.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250210
2025-10-26T20:52:41.216Z,1761511961.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502159
2025-10-26T20:52:41.224Z,1761511961.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817303,-0.569379,-0.088454],[0.576166,0.805695,0.137432],[-0.006984,-0.163288,0.986554]]
2025-10-26T20:52:41.468Z,1761511961.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754210
2025-10-26T20:52:41.627Z,1761511961.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816398,-0.570435,-0.089991],[0.577467,0.805001,0.136033],[-0.005155,-0.163024,0.986609]]
2025-10-26T20:52:41.721Z,1761511961.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006586
2025-10-26T20:52:41.973Z,1761511961.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258449
2025-10-26T20:52:42.031Z,1761511962.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815729,-0.571120,-0.091694],[0.578424,0.804489,0.134993],[-0.003330,-0.163156,0.986595]]
2025-10-26T20:52:42.224Z,1761511962.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510202
2025-10-26T20:52:42.437Z,1761511962.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815302,-0.571442,-0.093469],[0.579033,0.804184,0.134194],[-0.001518,-0.163530,0.986537]]
2025-10-26T20:52:42.476Z,1761511962.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762254
2025-10-26T20:52:42.729Z,1761511962.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014728
2025-10-26T20:52:42.838Z,1761511962.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814846,-0.571864,-0.094851],[0.579677,0.803963,0.132734],[0.000350,-0.163141,0.986603]]
2025-10-26T20:52:42.980Z,1761511962.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266224
2025-10-26T20:52:43.233Z,1761511963.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519074
2025-10-26T20:52:43.250Z,1761511963.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814673,-0.571823,-0.096574],[0.579917,0.803901,0.132059],[0.002122,-0.163590,0.986526]]
2025-10-26T20:52:43.484Z,1761511963.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770116
2025-10-26T20:52:43.646Z,1761511963.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814610,-0.571600,-0.098410],[0.579996,0.803950,0.131416],[0.004000,-0.164130,0.986431]]
2025-10-26T20:52:43.737Z,1761511963.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022550
2025-10-26T20:52:43.988Z,1761511963.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274146
2025-10-26T20:52:44.050Z,1761511964.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814647,-0.571235,-0.100203],[0.579927,0.804107,0.130755],[0.005882,-0.164629,0.986338]]
2025-10-26T20:52:44.241Z,1761511964.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526425
2025-10-26T20:52:44.454Z,1761511964.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815207,-0.570104,-0.102076],[0.579119,0.804719,0.130573],[0.007702,-0.165558,0.986170]]
2025-10-26T20:52:44.492Z,1761511964.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778239
2025-10-26T20:52:44.744Z,1761511964.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030101
2025-10-26T20:52:44.863Z,1761511964.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815715,-0.569042,-0.103922],[0.578374,0.805324,0.130140],[0.009635,-0.166263,0.986034]]
2025-10-26T20:52:44.996Z,1761511964.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282148
2025-10-26T20:52:45.253Z,1761511965.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539234
2025-10-26T20:52:45.264Z,1761511965.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816568,-0.567526,-0.105501],[0.577136,0.806269,0.129781],[0.011408,-0.166864,0.985914]]
2025-10-26T20:52:45.500Z,1761511965.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786149
2025-10-26T20:52:45.673Z,1761511965.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816998,-0.566584,-0.107222],[0.576488,0.806818,0.129257],[0.013273,-0.167415,0.985797]]
2025-10-26T20:52:45.758Z,1761511965.758 [DAT](INFO): DAT read: 20:52:44.3620 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 334, 0.07, 0.574,-1.054, 0.672, 0.379, PHS= 0.297,-1.388, 0.248, RAW= 148.6,  10.2, CAL= 148.2,  11.1, ROT=   1.8, -11.1

2025-10-26T20:52:45.759Z,1761511965.759 [DAT](INFO): got valid direction response:
 20:52:44.3620 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 334, 0.07, 0.574,-1.054, 0.672, 0.379, PHS= 0.297,-1.388, 0.248, RAW= 148.6,  10.2, CAL= 148.2,  11.1, ROT=   1.8, -11.1

2025-10-26T20:52:45.760Z,1761511965.760 [DAT](INFO): DAT read: Rx Time:20:52:44.3620

2025-10-26T20:52:45.761Z,1761511965.761 [DAT](INFO): Rx dataTimestamp_ set to:1761511965.760588
2025-10-26T20:52:45.762Z,1761511965.762 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-26T20:52:45.762Z,1761511965.762 [DAT](INFO): Received low SNR in chirp
2025-10-26T20:52:45.776Z,1761511965.776 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T20:52:45.777Z,1761511965.777 [DAT](INFO): direction in FSK: [0.980808,0.030823,0.192522]
2025-10-26T20:52:46.071Z,1761511966.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817498,-0.565585,-0.108677],[0.575739,0.807422,0.128821],[0.014889,-0.167881,0.985695]]
2025-10-26T20:52:46.476Z,1761511966.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817986,-0.564559,-0.110328],[0.575005,0.807940,0.128849],[0.016396,-0.168835,0.985508]]
2025-10-26T20:52:46.882Z,1761511966.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818414,-0.563683,-0.111621],[0.574349,0.808497,0.128282],[0.017935,-0.169098,0.985436]]
2025-10-26T20:52:47.282Z,1761511967.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818474,-0.563385,-0.112687],[0.574216,0.808739,0.127344],[0.019390,-0.168935,0.985436]]
2025-10-26T20:52:47.686Z,1761511967.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818558,-0.563066,-0.113660],[0.574047,0.809011,0.126380],[0.020792,-0.168696,0.985449]]
2025-10-26T20:52:48.092Z,1761511968.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818362,-0.563135,-0.114730],[0.574269,0.809045,0.125144],[0.022349,-0.168299,0.985483]]
2025-10-26T20:52:48.494Z,1761511968.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817876,-0.563615,-0.115829],[0.574899,0.808791,0.123887],[0.023857,-0.167914,0.985513]]
2025-10-26T20:52:48.908Z,1761511968.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817516,-0.564044,-0.116286],[0.575357,0.808730,0.122144],[0.025149,-0.166761,0.985677]]
2025-10-26T20:52:49.302Z,1761511969.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816983,-0.564566,-0.117486],[0.576057,0.808334,0.121469],[0.026391,-0.166917,0.985618]]
2025-10-26T20:52:49.712Z,1761511969.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816408,-0.565144,-0.118707],[0.576811,0.807913,0.120684],[0.027701,-0.166999,0.985568]]
2025-10-26T20:52:50.110Z,1761511970.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815818,-0.565769,-0.119776],[0.577569,0.807575,0.119318],[0.029222,-0.166521,0.985605]]
2025-10-26T20:52:50.514Z,1761511970.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815350,-0.566252,-0.120681],[0.578188,0.807188,0.118940],[0.030063,-0.166754,0.985540]]
2025-10-26T20:52:50.792Z,1761511970.792 [DAT](INFO): Reached modem response timeout
2025-10-26T20:52:50.975Z,1761511970.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814968,-0.566449,-0.122325],[0.578670,0.806792,0.119283],[0.031123,-0.167998,0.985296]]
2025-10-26T20:52:51.324Z,1761511971.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814585,-0.566497,-0.124627],[0.579150,0.806259,0.120551],[0.032190,-0.170377,0.984853]]
2025-10-26T20:52:51.731Z,1761511971.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814173,-0.566956,-0.125231],[0.579661,0.806100,0.119150],[0.033397,-0.169600,0.984947]]
2025-10-26T20:52:52.130Z,1761511972.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813999,-0.566995,-0.126181],[0.579838,0.806074,0.118460],[0.034545,-0.169590,0.984909]]
2025-10-26T20:52:52.535Z,1761511972.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813866,-0.566976,-0.127123],[0.579960,0.806067,0.117908],[0.035619,-0.169688,0.984854]]
2025-10-26T20:52:52.947Z,1761511972.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814020,-0.566541,-0.128074],[0.579687,0.806280,0.117791],[0.036530,-0.170127,0.984745]]
2025-10-26T20:52:53.060Z,1761511973.060 [DAT](INFO): DAT read: Response Not Received

2025-10-26T20:52:53.061Z,1761511973.061 [DAT](INFO): response not received
2025-10-26T20:52:53.061Z,1761511973.061 [DAT](ERROR): No response from remote modem.
2025-10-26T20:52:53.342Z,1761511973.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814067,-0.566285,-0.128905],[0.579562,0.806421,0.117441],[0.037447,-0.170313,0.984678]]
2025-10-26T20:52:53.746Z,1761511973.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814216,-0.566026,-0.129096],[0.579300,0.806758,0.116420],[0.038253,-0.169577,0.984774]]
2025-10-26T20:52:54.150Z,1761511974.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814465,-0.565488,-0.129884],[0.578890,0.807095,0.116127],[0.039161,-0.169769,0.984705]]
2025-10-26T20:52:54.555Z,1761511974.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814865,-0.564756,-0.130561],[0.578274,0.807554,0.115996],[0.039926,-0.170021,0.984631]]
2025-10-26T20:52:54.958Z,1761511974.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815303,-0.563970,-0.131220],[0.577605,0.808044,0.115922],[0.040655,-0.170305,0.984552]]
2025-10-26T20:52:55.362Z,1761511975.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815440,-0.563622,-0.131859],[0.577349,0.808302,0.115399],[0.041540,-0.170230,0.984528]]
2025-10-26T20:52:55.833Z,1761511975.833 [DAT](INFO): DAT read: Rx Time:20:52:54.4730

2025-10-26T20:52:55.833Z,1761511975.833 [DAT](INFO): Rx dataTimestamp_ set to:1761511975.832701
2025-10-26T20:52:56.170Z,1761511976.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816036,-0.562852,-0.131470],[0.576442,0.809202,0.113609],[0.042441,-0.168494,0.984789]]
2025-10-26T20:52:56.341Z,1761511976.341 [DAT](INFO): DAT read: 20:52:54.4730 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX=  79, 0.35, 3.016, 1.278, 3.036, 2.584, PHS= 0.534,-1.261, 0.408, RAW= 146.4,   3.7, CAL= 145.8,   4.0, ROT=   4.2,  -4.0

2025-10-26T20:52:56.342Z,1761511976.342 [DAT](INFO): got valid direction response:
 20:52:54.4730 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX=  79, 0.35, 3.016, 1.278, 3.036, 2.584, PHS= 0.534,-1.261, 0.408, RAW= 146.4,   3.7, CAL= 145.8,   4.0, ROT=   4.2,  -4.0

2025-10-26T20:52:56.342Z,1761511976.342 [DAT](INFO): DAT read: bearing request

2025-10-26T20:52:56.343Z,1761511976.343 [DAT](INFO): received a bearing request message
2025-10-26T20:52:56.343Z,1761511976.343 [DAT](INFO): DAT read: Tx time:20:52:56.0758

2025-10-26T20:52:56.344Z,1761511976.344 [DAT](INFO): Ping request sent.
2025-10-26T20:52:56.344Z,1761511976.344 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:52:56.344Z,1761511976.344 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-26T20:52:56.345Z,1761511976.345 [DAT](INFO): direction in FSK: [0.994885,0.073060,0.069756]
2025-10-26T20:52:56.345Z,1761511976.345 [DAT](INFO): publishing transmit ping time
2025-10-26T20:52:56.346Z,1761511976.346 [DAT](INFO): publishing range request flag
2025-10-26T20:52:56.349Z,1761511976.349 [DAT](INFO): publishing transmit ping time
2025-10-26T20:52:56.349Z,1761511976.349 [DAT](INFO): publishing range request flag
2025-10-26T20:52:56.574Z,1761511976.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815871,-0.563082,-0.131504],[0.576623,0.809242,0.112397],[0.043130,-0.167530,0.984923]]
2025-10-26T20:52:56.812Z,1761511976.812 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:52:56.978Z,1761511976.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815981,-0.562847,-0.131826],[0.576424,0.809451,0.111915],[0.043716,-0.167308,0.984935]]
2025-10-26T20:52:57.390Z,1761511977.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816092,-0.562677,-0.131861],[0.576247,0.809620,0.111601],[0.043962,-0.167062,0.984966]]
2025-10-26T20:52:57.787Z,1761511977.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816120,-0.562573,-0.132138],[0.576202,0.809612,0.111892],[0.044033,-0.167455,0.984896]]
2025-10-26T20:52:57.816Z,1761511977.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:52:58.192Z,1761511978.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816054,-0.562605,-0.132411],[0.576262,0.809627,0.111475],[0.044487,-0.167273,0.984906]]
2025-10-26T20:52:58.594Z,1761511978.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816130,-0.562444,-0.132624],[0.576138,0.809715,0.111475],[0.044689,-0.167388,0.984878]]
2025-10-26T20:52:58.999Z,1761511978.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816260,-0.562250,-0.132646],[0.575951,0.809844,0.111506],[0.044728,-0.167415,0.984871]]
2025-10-26T20:52:59.406Z,1761511979.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815921,-0.562752,-0.132604],[0.576419,0.809577,0.111017],[0.044878,-0.167017,0.984932]]
2025-10-26T20:52:59.807Z,1761511979.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815611,-0.563255,-0.132374],[0.576863,0.809312,0.110650],[0.044808,-0.166609,0.985004]]
2025-10-26T20:53:00.210Z,1761511980.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815515,-0.563334,-0.132626],[0.576979,0.809245,0.110536],[0.045058,-0.166666,0.984983]]
2025-10-26T20:53:00.614Z,1761511980.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815072,-0.563946,-0.132750],[0.577579,0.808900,0.109921],[0.045392,-0.166267,0.985035]]
2025-10-26T20:53:01.020Z,1761511981.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814809,-0.564300,-0.132863],[0.577938,0.808676,0.109686],[0.045547,-0.166159,0.985047]]
2025-10-26T20:53:01.424Z,1761511981.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814637,-0.564516,-0.132996],[0.578168,0.808530,0.109547],[0.045690,-0.166136,0.985044]]
2025-10-26T20:53:01.826Z,1761511981.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814218,-0.565284,-0.132295],[0.578758,0.808273,0.108324],[0.045697,-0.164766,0.985274]]
2025-10-26T20:53:02.234Z,1761511982.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813976,-0.565610,-0.132397],[0.579088,0.808063,0.108126],[0.045827,-0.164682,0.985282]]
2025-10-26T20:53:02.635Z,1761511982.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813813,-0.565823,-0.132484],[0.579314,0.807903,0.108109],[0.045864,-0.164731,0.985272]]
2025-10-26T20:53:03.045Z,1761511983.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813463,-0.566371,-0.132295],[0.579800,0.807632,0.107529],[0.045944,-0.164176,0.985361]]
2025-10-26T20:53:03.442Z,1761511983.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813242,-0.566652,-0.132450],[0.580100,0.807429,0.107441],[0.046062,-0.164210,0.985349]]
2025-10-26T20:53:03.847Z,1761511983.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812695,-0.567370,-0.132734],[0.580855,0.806901,0.107328],[0.046209,-0.164324,0.985324]]
2025-10-26T20:53:04.250Z,1761511984.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812526,-0.567651,-0.132563],[0.581095,0.806758,0.107099],[0.046152,-0.164053,0.985371]]
2025-10-26T20:53:05.064Z,1761511985.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812158,-0.568247,-0.132272],[0.581624,0.806416,0.106803],[0.045976,-0.163674,0.985443]]
2025-10-26T20:53:05.462Z,1761511985.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812078,-0.568222,-0.132863],[0.581723,0.806273,0.107341],[0.046131,-0.164458,0.985305]]
2025-10-26T20:53:06.278Z,1761511986.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811521,-0.568902,-0.133359],[0.582483,0.805713,0.107422],[0.046337,-0.164855,0.985229]]
2025-10-26T20:53:07.078Z,1761511987.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812051,-0.567387,-0.136550],[0.581694,0.805779,0.111145],[0.046967,-0.169686,0.984378]]
2025-10-26T20:53:07.482Z,1761511987.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812277,-0.566772,-0.137753],[0.581363,0.805810,0.112637],[0.047164,-0.171577,0.984041]]
2025-10-26T20:53:07.892Z,1761511987.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812947,-0.565414,-0.139368],[0.580401,0.806198,0.114802],[0.047448,-0.174218,0.983563]]
2025-10-26T20:53:08.290Z,1761511988.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813302,-0.564666,-0.140331],[0.579892,0.806376,0.116117],[0.047592,-0.175815,0.983272]]
2025-10-26T20:53:09.098Z,1761511989.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814127,-0.563351,-0.140831],[0.578779,0.806872,0.118211],[0.047038,-0.177748,0.982951]]
2025-10-26T20:53:09.519Z,1761511989.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814661,-0.562612,-0.140698],[0.578068,0.807240,0.119169],[0.046531,-0.178415,0.982854]]
2025-10-26T20:53:09.692Z,1761511989.692 [DAT](INFO): DAT read: Rx Time:20:53:08.3165

2025-10-26T20:53:09.693Z,1761511989.693 [DAT](INFO): Rx dataTimestamp_ set to:1761511989.692618
2025-10-26T20:53:09.906Z,1761511989.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814925,-0.562308,-0.140379],[0.577722,0.807450,0.119421],[0.046198,-0.178420,0.982869]]
2025-10-26T20:53:10.202Z,1761511990.202 [DAT](INFO): DAT read: 20:53:08.3165 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 366,-0.26,-2.883, 1.654,-2.709, 3.058, PHS= 0.444,-1.359, 0.473, RAW= 150.8,   4.9, CAL= 150.0,   5.0, ROT=   0.0,  -5.0

2025-10-26T20:53:10.203Z,1761511990.203 [DAT](INFO): got valid direction response:
 20:53:08.3165 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 366,-0.26,-2.883, 1.654,-2.709, 3.058, PHS= 0.444,-1.359, 0.473, RAW= 150.8,   4.9, CAL= 150.0,   5.0, ROT=   0.0,  -5.0

2025-10-26T20:53:10.204Z,1761511990.204 [DAT](INFO): DAT read: $Error in header

2025-10-26T20:53:10.204Z,1761511990.204 [DAT](INFO): Received a bad header
2025-10-26T20:53:10.215Z,1761511990.215 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-26T20:53:10.216Z,1761511990.216 [DAT](INFO): direction in FSK: [0.996195,0.000000,0.087156]
2025-10-26T20:53:10.310Z,1761511990.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815537,-0.561492,-0.140096],[0.576913,0.807866,0.120513],[0.045512,-0.179106,0.982777]]
2025-10-26T20:53:10.728Z,1761511990.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815824,-0.561074,-0.140097],[0.576554,0.807945,0.121699],[0.044909,-0.180059,0.982630]]
2025-10-26T20:53:11.122Z,1761511991.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816112,-0.560903,-0.139102],[0.576206,0.808186,0.121746],[0.044132,-0.179510,0.982766]]
2025-10-26T20:53:11.522Z,1761511991.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816521,-0.560467,-0.138458],[0.575676,0.808502,0.122153],[0.043480,-0.179448,0.982806]]
2025-10-26T20:53:11.926Z,1761511991.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816797,-0.560244,-0.137728],[0.575334,0.808709,0.122397],[0.042809,-0.179213,0.982878]]
2025-10-26T20:53:12.331Z,1761511992.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817022,-0.559950,-0.137587],[0.575077,0.808685,0.123755],[0.041968,-0.180234,0.982728]]
2025-10-26T20:53:12.740Z,1761511992.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817490,-0.559291,-0.137494],[0.574474,0.808871,0.125331],[0.041119,-0.181444,0.982541]]
2025-10-26T20:53:13.138Z,1761511993.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817860,-0.559038,-0.136310],[0.574008,0.809204,0.125319],[0.040245,-0.180737,0.982708]]
2025-10-26T20:53:13.542Z,1761511993.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818068,-0.559000,-0.135220],[0.573777,0.809346,0.125458],[0.039309,-0.180219,0.982841]]
2025-10-26T20:53:13.946Z,1761511993.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818484,-0.558462,-0.134925],[0.573242,0.809525,0.126741],[0.038445,-0.181080,0.982717]]
2025-10-26T20:53:14.358Z,1761511994.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818883,-0.557974,-0.134521],[0.572766,0.809534,0.128818],[0.037022,-0.182535,0.982502]]
2025-10-26T20:53:14.754Z,1761511994.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819344,-0.557424,-0.133992],[0.572175,0.809737,0.130160],[0.035943,-0.183313,0.982397]]
2025-10-26T20:53:15.158Z,1761511995.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819382,-0.557604,-0.133003],[0.572182,0.809679,0.130489],[0.034928,-0.183022,0.982488]]
2025-10-26T20:53:15.563Z,1761511995.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819336,-0.558035,-0.131475],[0.572325,0.809585,0.130446],[0.033646,-0.182126,0.982699]]
2025-10-26T20:53:16.006Z,1761511996.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819241,-0.558870,-0.128487],[0.572586,0.809502,0.129813],[0.031462,-0.179918,0.983178]]
2025-10-26T20:53:16.774Z,1761511996.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819368,-0.558752,-0.128189],[0.572457,0.809382,0.131126],[0.030487,-0.180823,0.983043]]
2025-10-26T20:53:17.190Z,1761511997.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819210,-0.559458,-0.126101],[0.572777,0.809148,0.131169],[0.028651,-0.179683,0.983307]]
2025-10-26T20:53:17.991Z,1761511997.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819214,-0.560070,-0.123329],[0.572865,0.809197,0.130486],[0.026716,-0.177546,0.983750]]
2025-10-26T20:53:18.421Z,1761511998.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819306,-0.560150,-0.122348],[0.572774,0.809237,0.130635],[0.025833,-0.177108,0.983852]]
2025-10-26T20:53:18.799Z,1761511998.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819302,-0.560307,-0.121660],[0.572819,0.809125,0.131130],[0.024965,-0.177124,0.983872]]
2025-10-26T20:53:19.209Z,1761511999.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819419,-0.560274,-0.121020],[0.572693,0.809084,0.131932],[0.023998,-0.177415,0.983843]]
2025-10-26T20:53:19.604Z,1761511999.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819648,-0.560054,-0.120488],[0.572398,0.809173,0.132664],[0.023196,-0.177705,0.983810]]
2025-10-26T20:53:20.006Z,1761512000.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819996,-0.559778,-0.119393],[0.571939,0.809439,0.133022],[0.022179,-0.177363,0.983896]]
2025-10-26T20:53:20.411Z,1761512000.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820161,-0.559695,-0.118650],[0.571724,0.809603,0.132947],[0.021649,-0.176873,0.983996]]
2025-10-26T20:53:20.814Z,1761512000.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820139,-0.559901,-0.117827],[0.571779,0.809580,0.132852],[0.021006,-0.176328,0.984107]]
2025-10-26T20:53:21.218Z,1761512001.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820529,-0.559478,-0.117118],[0.571246,0.809877,0.133334],[0.020254,-0.176308,0.984127]]
2025-10-26T20:53:21.622Z,1761512001.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820894,-0.559051,-0.116597],[0.570741,0.810160,0.133772],[0.019677,-0.176359,0.984129]]
2025-10-26T20:53:22.028Z,1761512002.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821660,-0.557756,-0.117403],[0.569655,0.810518,0.136212],[0.019184,-0.178799,0.983699]]
2025-10-26T20:53:22.430Z,1761512002.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822506,-0.556594,-0.116990],[0.568457,0.811158,0.137402],[0.018420,-0.179518,0.983582]]
2025-10-26T20:53:22.841Z,1761512002.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823426,-0.555326,-0.116546],[0.567141,0.811952,0.138146],[0.017914,-0.179851,0.983531]]
2025-10-26T20:53:23.238Z,1761512003.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824229,-0.554236,-0.116055],[0.565988,0.812659,0.138717],[0.017431,-0.180020,0.983508]]
2025-10-26T20:53:23.644Z,1761512003.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825277,-0.552781,-0.115544],[0.564478,0.813549,0.139654],[0.016802,-0.180475,0.983436]]
2025-10-26T20:53:24.047Z,1761512004.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826465,-0.551227,-0.114478],[0.562753,0.814747,0.139632],[0.016302,-0.179824,0.983564]]
2025-10-26T20:53:24.450Z,1761512004.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827610,-0.549730,-0.113396],[0.561087,0.815841,0.139944],[0.015582,-0.179444,0.983645]]
2025-10-26T20:53:24.859Z,1761512004.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828815,-0.548016,-0.112887],[0.559322,0.816880,0.140949],[0.014972,-0.179961,0.983560]]
2025-10-26T20:53:25.267Z,1761512005.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829638,-0.546980,-0.111865],[0.558107,0.817818,0.140323],[0.014732,-0.178850,0.983766]]
2025-10-26T20:53:25.662Z,1761512005.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830410,-0.545980,-0.111017],[0.556977,0.818513,0.140763],[0.014015,-0.178725,0.983799]]
2025-10-26T20:53:26.066Z,1761512006.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831081,-0.545150,-0.110069],[0.555987,0.819205,0.140648],[0.013495,-0.178087,0.983922]]
2025-10-26T20:53:26.334Z,1761512006.334 [DAT](INFO): DAT read: Rx Time:20:53:25.0610

2025-10-26T20:53:26.334Z,1761512006.334 [DAT](INFO): Rx dataTimestamp_ set to:1761512006.333968
2025-10-26T20:53:26.470Z,1761512006.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831506,-0.544714,-0.109016],[0.555367,0.819668,0.140401],[0.012879,-0.177288,0.984075]]
2025-10-26T20:53:26.885Z,1761512006.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831974,-0.544162,-0.108204],[0.554681,0.820090,0.140643],[0.012205,-0.177030,0.984130]]
2025-10-26T20:53:27.094Z,1761512007.094 [DAT](INFO): DAT read: 20:53:25.0610 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 421, 0.14,-2.776, 1.873,-2.687,-2.844, PHS= 0.170,-1.521, 0.113, RAW= 148.3,  14.7, CAL= 148.3,  16.3, ROT=   1.7, -16.3

2025-10-26T20:53:27.095Z,1761512007.095 [DAT](INFO): got valid direction response:
 20:53:25.0610 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 421, 0.14,-2.776, 1.873,-2.687,-2.844, PHS= 0.170,-1.521, 0.113, RAW= 148.3,  14.7, CAL= 148.3,  16.3, ROT=   1.7, -16.3

2025-10-26T20:53:27.096Z,1761512007.096 [DAT](INFO): DAT read: $Error in header

2025-10-26T20:53:27.096Z,1761512007.096 [DAT](INFO): Received a bad header
2025-10-26T20:53:27.107Z,1761512007.107 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-26T20:53:27.108Z,1761512007.108 [DAT](INFO): direction in FSK: [0.959383,0.028474,0.280667]
2025-10-26T20:53:27.278Z,1761512007.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832348,-0.543685,-0.107720],[0.554131,0.820381,0.141118],[0.011648,-0.177150,0.984115]]
2025-10-26T20:53:27.685Z,1761512007.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832533,-0.543596,-0.106739],[0.553870,0.820539,0.141220],[0.010817,-0.176690,0.984207]]
2025-10-26T20:53:27.940Z,1761512007.940 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:53:28.086Z,1761512008.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832715,-0.543560,-0.105493],[0.553623,0.820573,0.141994],[0.009382,-0.176644,0.984230]]
2025-10-26T20:53:28.894Z,1761512008.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832765,-0.544090,-0.102313],[0.553601,0.820145,0.144526],[0.005276,-0.176997,0.984197]]
2025-10-26T20:53:28.944Z,1761512008.944 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:53:29.299Z,1761512009.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832513,-0.544598,-0.101662],[0.553995,0.819487,0.146730],[0.003402,-0.178475,0.983939]]
2025-10-26T20:53:29.716Z,1761512009.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832525,-0.544766,-0.100657],[0.553986,0.819074,0.149053],[0.001247,-0.179852,0.983693]]
2025-10-26T20:53:30.106Z,1761512010.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832506,-0.545026,-0.099399],[0.554015,0.818749,0.150724],[-0.000766,-0.180547,0.983566]]
2025-10-26T20:53:30.510Z,1761512010.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832281,-0.545767,-0.097191],[0.554347,0.818527,0.150706],[-0.002697,-0.179308,0.983789]]
2025-10-26T20:53:30.915Z,1761512010.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832488,-0.545686,-0.095868],[0.554024,0.818444,0.152338],[-0.004666,-0.179933,0.983668]]
2025-10-26T20:53:31.323Z,1761512011.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832638,-0.545717,-0.094380],[0.553780,0.818396,0.153481],[-0.006517,-0.180060,0.983634]]
2025-10-26T20:53:31.740Z,1761512011.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833165,-0.545162,-0.092923],[0.552960,0.818666,0.154987],[-0.008420,-0.180513,0.983537]]
2025-10-26T20:53:32.127Z,1761512012.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833738,-0.544500,-0.091650],[0.552068,0.819005,0.156369],[-0.010081,-0.180968,0.983437]]
2025-10-26T20:53:32.532Z,1761512012.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834128,-0.544135,-0.090261],[0.551448,0.819260,0.157217],[-0.011600,-0.180913,0.983431]]
2025-10-26T20:53:32.934Z,1761512012.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835155,-0.542807,-0.088753],[0.549857,0.820108,0.158366],[-0.013175,-0.181061,0.983384]]
2025-10-26T20:53:33.343Z,1761512013.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835717,-0.542181,-0.087278],[0.548974,0.820670,0.158520],[-0.014320,-0.180391,0.983491]]
2025-10-26T20:53:33.782Z,1761512013.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836713,-0.540754,-0.086582],[0.547417,0.821320,0.160523],[-0.015692,-0.181708,0.983227]]
2025-10-26T20:53:34.148Z,1761512014.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837725,-0.539338,-0.085629],[0.545831,0.822111,0.161871],[-0.016907,-0.182343,0.983090]]
2025-10-26T20:53:34.550Z,1761512014.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838937,-0.537662,-0.084294],[0.543918,0.823097,0.163294],[-0.018415,-0.182842,0.982970]]
2025-10-26T20:53:34.954Z,1761512014.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840263,-0.535808,-0.082874],[0.541806,0.824148,0.165004],[-0.020110,-0.183548,0.982805]]
2025-10-26T20:53:35.364Z,1761512015.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841716,-0.533799,-0.081077],[0.539477,0.825398,0.166378],[-0.021891,-0.183782,0.982723]]
2025-10-26T20:53:35.797Z,1761512015.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842995,-0.531975,-0.079762],[0.537414,0.826446,0.167848],[-0.023372,-0.184361,0.982581]]
2025-10-26T20:53:36.166Z,1761512016.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844183,-0.530295,-0.078378],[0.535473,0.827391,0.169387],[-0.024976,-0.184963,0.982428]]
2025-10-26T20:53:36.570Z,1761512016.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845383,-0.528613,-0.076793],[0.533498,0.828396,0.170705],[-0.026621,-0.185280,0.982325]]
2025-10-26T20:53:37.391Z,1761512017.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847896,-0.525141,-0.072795],[0.529336,0.830889,0.171543],[-0.029599,-0.183984,0.982484]]
2025-10-26T20:53:37.823Z,1761512017.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849090,-0.523396,-0.071432],[0.527336,0.831899,0.172799],[-0.031018,-0.184391,0.982363]]
2025-10-26T20:53:38.186Z,1761512018.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850157,-0.521915,-0.069553],[0.525536,0.833008,0.172942],[-0.032323,-0.183581,0.982473]]
2025-10-26T20:53:38.997Z,1761512018.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852246,-0.518942,-0.066142],[0.521943,0.834922,0.174587],[-0.035377,-0.183313,0.982418]]
2025-10-26T20:53:39.398Z,1761512019.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852907,-0.518069,-0.064453],[0.520772,0.835611,0.174785],[-0.036693,-0.182641,0.982495]]
2025-10-26T20:53:39.854Z,1761512019.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853963,-0.516545,-0.062683],[0.518925,0.836589,0.175601],[-0.038266,-0.182485,0.982464]]
2025-10-26T20:53:40.207Z,1761512020.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854628,-0.515671,-0.060791],[0.517734,0.837370,0.175395],[-0.039542,-0.181371,0.982619]]
2025-10-26T20:53:40.612Z,1761512020.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854877,-0.515502,-0.058685],[0.517228,0.837882,0.174440],[-0.040753,-0.179478,0.982917]]
2025-10-26T20:53:40.628Z,1761512020.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:53:40.709Z,1761512020.709 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:53:40.709Z,1761512020.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:53:40.960Z,1761512020.960 [DAT](INFO): DAT read: 

2025-10-26T20:53:40.961Z,1761512020.961 [DAT](INFO): DAT read: Tx time:20:53:40.0981

2025-10-26T20:53:40.961Z,1761512020.961 [DAT](INFO): Ping request sent.
2025-10-26T20:53:40.961Z,1761512020.961 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:53:40.961Z,1761512020.961 [DAT](INFO): publishing transmit ping time
2025-10-26T20:53:40.962Z,1761512020.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758
2025-10-26T20:53:41.014Z,1761512021.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854884,-0.515724,-0.056576],[0.517109,0.838140,0.173552],[-0.042086,-0.177623,0.983198]]
2025-10-26T20:53:41.213Z,1761512021.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251585
2025-10-26T20:53:41.418Z,1761512021.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854916,-0.515847,-0.054954],[0.516938,0.838225,0.173647],[-0.043511,-0.176862,0.983273]]
2025-10-26T20:53:41.465Z,1761512021.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503257
2025-10-26T20:53:41.717Z,1761512021.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755412
2025-10-26T20:53:41.829Z,1761512021.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854637,-0.516505,-0.053080],[0.517288,0.838163,0.172905],[-0.044817,-0.175229,0.983507]]
2025-10-26T20:53:41.972Z,1761512021.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010821
2025-10-26T20:53:42.220Z,1761512022.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259072
2025-10-26T20:53:42.230Z,1761512022.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854188,-0.517466,-0.050906],[0.517926,0.838092,0.171330],[-0.045994,-0.172714,0.983898]]
2025-10-26T20:53:42.472Z,1761512022.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511051
2025-10-26T20:53:42.630Z,1761512022.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853753,-0.518400,-0.048656],[0.518528,0.838024,0.169836],[-0.047268,-0.170228,0.984270]]
2025-10-26T20:53:42.726Z,1761512022.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764219
2025-10-26T20:53:42.976Z,1761512022.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015141
2025-10-26T20:53:43.035Z,1761512023.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853118,-0.519573,-0.047263],[0.519470,0.837548,0.169305],[-0.048381,-0.168989,0.984430]]
2025-10-26T20:53:43.228Z,1761512023.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267200
2025-10-26T20:53:43.439Z,1761512023.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852718,-0.520337,-0.046055],[0.520020,0.837220,0.169237],[-0.049502,-0.168261,0.984499]]
2025-10-26T20:53:43.480Z,1761512023.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519222
2025-10-26T20:53:43.733Z,1761512023.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771482
2025-10-26T20:53:43.844Z,1761512023.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852253,-0.521197,-0.044928],[0.520699,0.836887,0.168799],[-0.050378,-0.167253,0.984626]]
2025-10-26T20:53:43.987Z,1761512023.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024779
2025-10-26T20:53:44.237Z,1761512024.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276207
2025-10-26T20:53:44.248Z,1761512024.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852023,-0.521672,-0.043767],[0.520986,0.836762,0.168532],[-0.051296,-0.166395,0.984724]]
2025-10-26T20:53:44.488Z,1761512024.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527079
2025-10-26T20:53:44.650Z,1761512024.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851830,-0.522068,-0.042792],[0.521214,0.836626,0.168501],[-0.052168,-0.165838,0.984772]]
2025-10-26T20:53:44.740Z,1761512024.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779067
2025-10-26T20:53:44.992Z,1761512024.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031099
2025-10-26T20:53:45.055Z,1761512025.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851530,-0.522598,-0.042290],[0.521639,0.836312,0.168746],[-0.052819,-0.165753,0.984752]]
2025-10-26T20:53:45.244Z,1761512025.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283139
2025-10-26T20:53:45.460Z,1761512025.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851336,-0.522857,-0.042978],[0.521902,0.835748,0.170717],[-0.053341,-0.167768,0.984382]]
2025-10-26T20:53:45.496Z,1761512025.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535153
2025-10-26T20:53:45.748Z,1761512025.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787088
2025-10-26T20:53:45.862Z,1761512025.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851133,-0.523237,-0.042369],[0.522163,0.835545,0.170912],[-0.054026,-0.167592,0.984375]]
2025-10-26T20:53:46.004Z,1761512026.004 [DAT](INFO): DAT read: Rx Time:20:53:44.5747

2025-10-26T20:53:46.006Z,1761512026.006 [DAT](INFO): Rx dataTimestamp_ set to:1761512026.004716
2025-10-26T20:53:46.008Z,1761512026.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.045934
2025-10-26T20:53:46.252Z,1761512026.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290923
2025-10-26T20:53:46.268Z,1761512026.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851044,-0.523345,-0.042828],[0.522284,0.835240,0.172030],[-0.054259,-0.168773,0.984160]]
2025-10-26T20:53:46.510Z,1761512026.510 [DAT](INFO): DAT read: 20:53:44.5747 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX=  82,-0.20,-2.152, 2.204,-2.169,-2.375, PHS= 0.325,-1.659, 0.162, RAW= 145.8,  12.2, CAL= 145.4,  13.4, ROT=   4.6, -13.4

2025-10-26T20:53:46.511Z,1761512026.511 [DAT](INFO): got valid direction response:
 20:53:44.5747 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX=  82,-0.20,-2.152, 2.204,-2.169,-2.375, PHS= 0.325,-1.659, 0.162, RAW= 145.8,  12.2, CAL= 145.4,  13.4, ROT=   4.6, -13.4

2025-10-26T20:53:46.512Z,1761512026.512 [DAT](INFO): DAT read: Bearing 192.2,  -1.0 (Local)

2025-10-26T20:53:46.512Z,1761512026.512 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.2,  -1.0 (Local)

2025-10-26T20:53:46.514Z,1761512026.514 [DAT](INFO): DAT read: Range 11 to 50 : 1554.3 m  (Round-trip  2072.4 ms) speed  0.4 m/s

2025-10-26T20:53:46.514Z,1761512026.514 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:53:46.531Z,1761512026.531 [DAT](INFO): direction in FSK: [0.969642,0.078016,0.231748]
2025-10-26T20:53:46.532Z,1761512026.532 [DAT](INFO): publishing direction and range info
2025-10-26T20:53:46.670Z,1761512026.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850981,-0.523429,-0.043054],[0.522356,0.835012,0.172914],[-0.054557,-0.169636,0.983995]]
2025-10-26T20:53:47.074Z,1761512027.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851300,-0.522962,-0.042416],[0.521766,0.835293,0.173340],[-0.055220,-0.169696,0.983948]]
2025-10-26T20:53:47.478Z,1761512027.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851619,-0.522457,-0.042231],[0.521227,0.835588,0.173535],[-0.055377,-0.169798,0.983922]]
2025-10-26T20:53:47.905Z,1761512027.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851791,-0.522187,-0.042108],[0.520950,0.835793,0.173381],[-0.055344,-0.169620,0.983954]]
2025-10-26T20:53:48.290Z,1761512028.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852318,-0.521331,-0.042056],[0.520099,0.836314,0.173423],[-0.055238,-0.169685,0.983949]]
2025-10-26T20:53:49.094Z,1761512029.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854411,-0.517874,-0.042292],[0.516637,0.838048,0.175393],[-0.055389,-0.171707,0.983590]]
2025-10-26T20:53:49.499Z,1761512029.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855443,-0.516168,-0.042274],[0.514916,0.838938,0.176196],[-0.055481,-0.172493,0.983447]]
2025-10-26T20:53:49.926Z,1761512029.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856677,-0.514079,-0.042752],[0.512858,0.839854,0.177824],[-0.055510,-0.174263,0.983133]]
2025-10-26T20:53:50.313Z,1761512030.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857851,-0.512106,-0.042878],[0.510891,0.840846,0.178797],[-0.055510,-0.175287,0.982951]]
2025-10-26T20:53:50.714Z,1761512030.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858795,-0.510593,-0.042029],[0.509339,0.842084,0.177395],[-0.055185,-0.173753,0.983242]]
2025-10-26T20:53:51.115Z,1761512031.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859825,-0.508899,-0.041517],[0.507563,0.843059,0.177852],[-0.055508,-0.173993,0.983181]]
2025-10-26T20:53:51.518Z,1761512031.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860352,-0.508110,-0.040221],[0.506637,0.843879,0.176598],[-0.055790,-0.172314,0.983461]]
2025-10-26T20:53:51.926Z,1761512031.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861073,-0.506911,-0.039936],[0.505386,0.844533,0.177056],[-0.056024,-0.172641,0.983390]]
2025-10-26T20:53:52.327Z,1761512032.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861437,-0.506351,-0.039188],[0.504714,0.844957,0.176951],[-0.056487,-0.172211,0.983439]]
2025-10-26T20:53:52.736Z,1761512032.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861645,-0.506103,-0.037772],[0.504308,0.845484,0.175588],[-0.056930,-0.170344,0.983739]]
2025-10-26T20:53:53.134Z,1761512033.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861552,-0.506321,-0.036978],[0.504431,0.845570,0.174816],[-0.057246,-0.169266,0.983907]]
2025-10-26T20:53:53.538Z,1761512033.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861523,-0.506374,-0.036923],[0.504445,0.845456,0.175326],[-0.057564,-0.169673,0.983818]]
2025-10-26T20:53:53.945Z,1761512033.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861499,-0.506447,-0.036468],[0.504442,0.845466,0.175286],[-0.057941,-0.169405,0.983842]]
2025-10-26T20:53:54.347Z,1761512034.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861304,-0.506801,-0.036179],[0.504731,0.845263,0.175432],[-0.058328,-0.169361,0.983827]]
2025-10-26T20:53:54.750Z,1761512034.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861110,-0.507158,-0.035781],[0.505042,0.845173,0.174972],[-0.058497,-0.168741,0.983923]]
2025-10-26T20:53:55.154Z,1761512035.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860429,-0.508327,-0.035578],[0.506202,0.844641,0.174187],[-0.058493,-0.167886,0.984070]]
2025-10-26T20:53:55.559Z,1761512035.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859560,-0.509767,-0.035988],[0.507714,0.843835,0.173693],[-0.058174,-0.167571,0.984142]]
2025-10-26T20:53:55.585Z,1761512035.585 [DAT](INFO): DAT read: user:129>Rx Time:20:53:54.1486

2025-10-26T20:53:55.585Z,1761512035.585 [DAT](INFO): Rx dataTimestamp_ set to:1761512035.584834
2025-10-26T20:53:55.972Z,1761512035.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858798,-0.511060,-0.035828],[0.509018,0.843263,0.172648],[-0.058021,-0.166507,0.984332]]
2025-10-26T20:53:56.093Z,1761512036.093 [DAT](INFO): DAT read: 20:53:54.1486 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 199, 0.04, 0.973,-1.052, 0.754, 0.565, PHS= 0.510,-1.572, 0.145, RAW= 140.6,   9.6, CAL= 140.1,  10.4, ROT=   9.9, -10.4

2025-10-26T20:53:56.094Z,1761512036.094 [DAT](INFO): got valid direction response:
 20:53:54.1486 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 199, 0.04, 0.973,-1.052, 0.754, 0.565, PHS= 0.510,-1.572, 0.145, RAW= 140.6,   9.6, CAL= 140.1,  10.4, ROT=   9.9, -10.4

2025-10-26T20:53:56.094Z,1761512036.094 [DAT](INFO): DAT read: bearing request

2025-10-26T20:53:56.095Z,1761512036.095 [DAT](INFO): received a bearing request message
2025-10-26T20:53:56.095Z,1761512036.095 [DAT](INFO): DAT read: Tx time:20:53:55.7514

2025-10-26T20:53:56.096Z,1761512036.096 [DAT](INFO): Ping request sent.
2025-10-26T20:53:56.096Z,1761512036.096 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:53:56.096Z,1761512036.096 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-26T20:53:56.097Z,1761512036.097 [DAT](INFO): direction in FSK: [0.968925,0.169105,0.180519]
2025-10-26T20:53:56.097Z,1761512036.097 [DAT](INFO): publishing transmit ping time
2025-10-26T20:53:56.098Z,1761512036.098 [DAT](INFO): publishing range request flag
2025-10-26T20:53:56.101Z,1761512036.101 [DAT](INFO): publishing transmit ping time
2025-10-26T20:53:56.101Z,1761512036.101 [DAT](INFO): publishing range request flag
2025-10-26T20:53:56.366Z,1761512036.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857982,-0.512392,-0.036358],[0.510433,0.842474,0.172322],[-0.057666,-0.166408,0.984369]]
2025-10-26T20:53:56.774Z,1761512036.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857281,-0.513555,-0.036480],[0.511655,0.841938,0.171320],[-0.057268,-0.165535,0.984540]]
2025-10-26T20:53:57.174Z,1761512037.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856724,-0.514474,-0.036605],[0.512627,0.841520,0.170461],[-0.056894,-0.164803,0.984684]]
2025-10-26T20:53:57.580Z,1761512037.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856137,-0.515419,-0.037056],[0.513677,0.841049,0.169622],[-0.056260,-0.164254,0.984812]]
2025-10-26T20:53:57.985Z,1761512037.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855521,-0.516394,-0.037694],[0.514760,0.840460,0.169258],[-0.055724,-0.164207,0.984851]]
2025-10-26T20:53:59.064Z,1761512039.064 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:53:59.196Z,1761512039.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853850,-0.518952,-0.040364],[0.517757,0.838785,0.168428],[-0.053549,-0.164711,0.984887]]
2025-10-26T20:53:59.598Z,1761512039.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853722,-0.519081,-0.041402],[0.518036,0.838541,0.168782],[-0.052895,-0.165541,0.984783]]
2025-10-26T20:54:00.009Z,1761512040.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853644,-0.519098,-0.042776],[0.518248,0.838287,0.169395],[-0.052074,-0.166771,0.984619]]
2025-10-26T20:54:00.069Z,1761512040.069 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:54:00.407Z,1761512040.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853651,-0.519006,-0.043743],[0.518313,0.838225,0.169500],[-0.051305,-0.167367,0.984559]]
2025-10-26T20:54:00.810Z,1761512040.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853844,-0.518602,-0.044753],[0.518066,0.838301,0.169880],[-0.050584,-0.168236,0.984448]]
2025-10-26T20:54:01.214Z,1761512041.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853677,-0.518801,-0.045614],[0.518442,0.838213,0.169162],[-0.049527,-0.168058,0.984532]]
2025-10-26T20:54:01.618Z,1761512041.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853940,-0.518278,-0.046629],[0.518080,0.838359,0.169550],[-0.048782,-0.168943,0.984418]]
2025-10-26T20:54:02.084Z,1761512042.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853902,-0.518171,-0.048477],[0.518320,0.838352,0.168849],[-0.046852,-0.169308,0.984449]]
2025-10-26T20:54:02.835Z,1761512042.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853939,-0.518027,-0.049364],[0.518337,0.838375,0.168682],[-0.045996,-0.169631,0.984434]]
2025-10-26T20:54:03.240Z,1761512043.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854153,-0.517411,-0.052042],[0.518143,0.838298,0.169659],[-0.044157,-0.171880,0.984128]]
2025-10-26T20:54:03.644Z,1761512043.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854353,-0.516947,-0.053347],[0.517908,0.838421,0.169767],[-0.043033,-0.172670,0.984039]]
2025-10-26T20:54:04.088Z,1761512044.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854308,-0.516862,-0.054873],[0.518137,0.838517,0.168596],[-0.041129,-0.172464,0.984157]]
2025-10-26T20:54:04.449Z,1761512044.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854262,-0.516713,-0.056966],[0.518356,0.838402,0.168494],[-0.039302,-0.173467,0.984055]]
2025-10-26T20:54:04.852Z,1761512044.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854248,-0.516563,-0.058510],[0.518532,0.838583,0.167042],[-0.037222,-0.173035,0.984212]]
2025-10-26T20:54:05.258Z,1761512045.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854195,-0.516513,-0.059707],[0.518764,0.838841,0.165014],[-0.035147,-0.171928,0.984482]]
2025-10-26T20:54:05.658Z,1761512045.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853880,-0.516858,-0.061213],[0.519428,0.838815,0.163049],[-0.032927,-0.171020,0.984717]]
2025-10-26T20:54:06.093Z,1761512046.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853655,-0.517058,-0.062647],[0.519930,0.838871,0.161147],[-0.030770,-0.170136,0.984940]]
2025-10-26T20:54:06.466Z,1761512046.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853449,-0.517212,-0.064163],[0.520394,0.838941,0.159274],[-0.028550,-0.169323,0.985147]]
2025-10-26T20:54:06.872Z,1761512046.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853375,-0.517049,-0.066416],[0.520612,0.838782,0.159395],[-0.026706,-0.170601,0.984978]]
2025-10-26T20:54:07.283Z,1761512047.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853175,-0.517230,-0.067571],[0.521013,0.838720,0.158410],[-0.025261,-0.170357,0.985059]]
2025-10-26T20:54:07.678Z,1761512047.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852869,-0.517577,-0.068764],[0.521600,0.838685,0.156658],[-0.023411,-0.169476,0.985256]]
2025-10-26T20:54:08.091Z,1761512048.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852422,-0.518132,-0.070115],[0.522393,0.838346,0.155822],[-0.021955,-0.169454,0.985294]]
2025-10-26T20:54:08.892Z,1761512048.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851575,-0.519026,-0.073701],[0.523901,0.837589,0.154828],[-0.018629,-0.170459,0.985189]]
2025-10-26T20:54:09.294Z,1761512049.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850986,-0.519803,-0.075020],[0.524914,0.837197,0.153512],[-0.016989,-0.170015,0.985295]]
2025-10-26T20:54:09.700Z,1761512049.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850326,-0.520653,-0.076596],[0.526039,0.836739,0.152150],[-0.015127,-0.169669,0.985385]]
2025-10-26T20:54:10.102Z,1761512050.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849755,-0.521361,-0.078096],[0.527009,0.836358,0.150887],[-0.013350,-0.169374,0.985461]]
2025-10-26T20:54:10.512Z,1761512050.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849328,-0.521825,-0.079625],[0.527735,0.836059,0.150003],[-0.011704,-0.169423,0.985474]]
2025-10-26T20:54:10.910Z,1761512050.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848556,-0.522908,-0.080742],[0.529020,0.835744,0.147209],[-0.009497,-0.167630,0.985804]]
2025-10-26T20:54:11.314Z,1761512051.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847863,-0.523738,-0.082628],[0.530163,0.835213,0.146103],[-0.007508,-0.167682,0.985813]]
2025-10-26T20:54:11.733Z,1761512051.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847255,-0.524336,-0.085027],[0.531159,0.834678,0.145546],[-0.005345,-0.168477,0.985691]]
2025-10-26T20:54:12.128Z,1761512052.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846606,-0.525146,-0.086485],[0.532209,0.834320,0.143751],[-0.003334,-0.167728,0.985828]]
2025-10-26T20:54:12.526Z,1761512052.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845839,-0.526107,-0.088134],[0.533436,0.833762,0.142433],[-0.001452,-0.167489,0.985873]]
2025-10-26T20:54:12.930Z,1761512052.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845478,-0.526479,-0.089366],[0.534009,0.833712,0.140562],[0.000503,-0.166565,0.986030]]
2025-10-26T20:54:13.334Z,1761512053.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844904,-0.527121,-0.090998],[0.534913,0.833309,0.139516],[0.002288,-0.166554,0.986030]]
2025-10-26T20:54:13.745Z,1761512053.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844342,-0.527704,-0.092819],[0.535788,0.832925,0.138446],[0.004253,-0.166627,0.986011]]
2025-10-26T20:54:14.142Z,1761512054.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843812,-0.528227,-0.094639],[0.536602,0.832566,0.137445],[0.006191,-0.166761,0.985978]]
2025-10-26T20:54:14.546Z,1761512054.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843246,-0.528911,-0.095855],[0.537466,0.832326,0.135513],[0.008108,-0.165790,0.986128]]
2025-10-26T20:54:14.951Z,1761512054.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842694,-0.529406,-0.097955],[0.538300,0.831862,0.135050],[0.009989,-0.166535,0.985985]]
2025-10-26T20:54:15.356Z,1761512055.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842312,-0.529681,-0.099740],[0.538861,0.831608,0.134376],[0.011768,-0.166933,0.985898]]
2025-10-26T20:54:15.771Z,1761512055.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842032,-0.529802,-0.101448],[0.539260,0.831430,0.133877],[0.013419,-0.167435,0.985792]]
2025-10-26T20:54:16.162Z,1761512056.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841579,-0.530360,-0.102290],[0.539932,0.831215,0.132494],[0.014755,-0.166734,0.985892]]
2025-10-26T20:54:16.568Z,1761512056.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841347,-0.530427,-0.103840],[0.540251,0.831085,0.132012],[0.016277,-0.167167,0.985794]]
2025-10-26T20:54:16.972Z,1761512056.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841057,-0.530628,-0.105154],[0.540652,0.830980,0.131024],[0.017856,-0.167050,0.985787]]
2025-10-26T20:54:17.374Z,1761512057.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840942,-0.530473,-0.106845],[0.540784,0.830883,0.131098],[0.019232,-0.168026,0.985595]]
2025-10-26T20:54:17.778Z,1761512057.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841201,-0.529730,-0.108474],[0.540331,0.831133,0.131379],[0.020561,-0.169128,0.985380]]
2025-10-26T20:54:18.182Z,1761512058.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841317,-0.529168,-0.110301],[0.540097,0.831213,0.131835],[0.021921,-0.170489,0.985116]]
2025-10-26T20:54:18.990Z,1761512058.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841569,-0.527939,-0.114199],[0.539584,0.831357,0.133022],[0.024713,-0.173567,0.984512]]
2025-10-26T20:54:19.394Z,1761512059.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841871,-0.527166,-0.115539],[0.539052,0.831713,0.132953],[0.026007,-0.174211,0.984365]]
2025-10-26T20:54:19.799Z,1761512059.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841693,-0.527138,-0.116952],[0.539257,0.831665,0.132418],[0.027462,-0.174523,0.984270]]
2025-10-26T20:54:20.208Z,1761512060.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841911,-0.526531,-0.118111],[0.538858,0.831936,0.132341],[0.028579,-0.175064,0.984142]]
2025-10-26T20:54:20.608Z,1761512060.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841861,-0.526415,-0.118986],[0.538881,0.832007,0.131802],[0.029614,-0.175078,0.984109]]
2025-10-26T20:54:21.010Z,1761512061.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841765,-0.526366,-0.119876],[0.538970,0.832049,0.131172],[0.030698,-0.175026,0.984085]]
2025-10-26T20:54:21.414Z,1761512061.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841757,-0.526091,-0.121133],[0.538910,0.832135,0.130873],[0.031948,-0.175443,0.983971]]
2025-10-26T20:54:21.820Z,1761512061.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841720,-0.525966,-0.121931],[0.538914,0.832196,0.130465],[0.032851,-0.175525,0.983927]]
2025-10-26T20:54:22.626Z,1761512062.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841728,-0.525382,-0.124370],[0.538778,0.832242,0.130733],[0.034821,-0.177049,0.983586]]
2025-10-26T20:54:23.030Z,1761512063.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841454,-0.525642,-0.125125],[0.539133,0.832167,0.129742],[0.035927,-0.176631,0.983621]]
2025-10-26T20:54:23.434Z,1761512063.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841045,-0.526200,-0.125523],[0.539703,0.832021,0.128301],[0.036926,-0.175652,0.983760]]
2025-10-26T20:54:23.841Z,1761512063.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840800,-0.526391,-0.126365],[0.540015,0.831922,0.127631],[0.037942,-0.175551,0.983739]]
2025-10-26T20:54:24.249Z,1761512064.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840533,-0.526577,-0.127366],[0.540351,0.831797,0.127022],[0.039056,-0.175588,0.983689]]
2025-10-26T20:54:24.646Z,1761512064.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840389,-0.526718,-0.127729],[0.540528,0.831786,0.126336],[0.039699,-0.175213,0.983730]]
2025-10-26T20:54:25.051Z,1761512065.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840272,-0.526593,-0.129010],[0.540661,0.831588,0.127074],[0.040367,-0.176528,0.983468]]
2025-10-26T20:54:25.456Z,1761512065.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839994,-0.526759,-0.130137],[0.541033,0.831320,0.127240],[0.041160,-0.177289,0.983298]]
2025-10-26T20:54:25.859Z,1761512065.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839926,-0.526669,-0.130933],[0.541079,0.831319,0.127057],[0.041930,-0.177563,0.983216]]
2025-10-26T20:54:26.263Z,1761512066.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839598,-0.527027,-0.131596],[0.541514,0.831169,0.126182],[0.042878,-0.177203,0.983240]]
2025-10-26T20:54:26.666Z,1761512066.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839290,-0.527352,-0.132262],[0.541932,0.830971,0.125685],[0.043626,-0.177163,0.983214]]
2025-10-26T20:54:27.072Z,1761512067.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839105,-0.527429,-0.133121],[0.542145,0.830886,0.125325],[0.044509,-0.177332,0.983144]]
2025-10-26T20:54:27.474Z,1761512067.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838919,-0.527649,-0.133420],[0.542376,0.830871,0.124426],[0.045201,-0.176748,0.983218]]
2025-10-26T20:54:27.878Z,1761512067.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838895,-0.527521,-0.134079],[0.542361,0.830897,0.124314],[0.045828,-0.177005,0.983142]]
2025-10-26T20:54:28.283Z,1761512068.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838829,-0.527462,-0.134722],[0.542400,0.830924,0.123967],[0.046556,-0.177060,0.983098]]
2025-10-26T20:54:29.090Z,1761512069.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839305,-0.526360,-0.136059],[0.541564,0.831421,0.124285],[0.047704,-0.177998,0.982874]]
2025-10-26T20:54:29.494Z,1761512069.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839431,-0.525974,-0.136778],[0.541310,0.831586,0.124292],[0.048368,-0.178374,0.982773]]
2025-10-26T20:54:29.940Z,1761512069.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839440,-0.525787,-0.137432],[0.541241,0.831637,0.124251],[0.048964,-0.178685,0.982687]]
2025-10-26T20:54:30.196Z,1761512070.196 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:54:30.308Z,1761512070.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839810,-0.525036,-0.138042],[0.540632,0.831960,0.124740],[0.049352,-0.179388,0.982540]]
2025-10-26T20:54:30.711Z,1761512070.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840307,-0.524283,-0.137880],[0.539854,0.832473,0.124686],[0.049411,-0.179210,0.982569]]
2025-10-26T20:54:31.110Z,1761512071.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840709,-0.523879,-0.136966],[0.539252,0.832970,0.123970],[0.049143,-0.178082,0.982788]]
2025-10-26T20:54:31.200Z,1761512071.200 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:54:31.514Z,1761512071.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840861,-0.523586,-0.137151],[0.538995,0.833140,0.123943],[0.049371,-0.178142,0.982765]]
2025-10-26T20:54:31.957Z,1761512071.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841234,-0.523124,-0.136627],[0.538418,0.833586,0.123454],[0.049309,-0.177416,0.982900]]
2025-10-26T20:54:32.322Z,1761512072.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841586,-0.522559,-0.136622],[0.537869,0.833906,0.123681],[0.049299,-0.177573,0.982872]]
2025-10-26T20:54:32.740Z,1761512072.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841903,-0.522031,-0.136683],[0.537358,0.834234,0.123693],[0.049454,-0.177585,0.982862]]
2025-10-26T20:54:33.147Z,1761512073.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842235,-0.521471,-0.136776],[0.536836,0.834520,0.124030],[0.049464,-0.177889,0.982807]]
2025-10-26T20:54:33.537Z,1761512073.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842470,-0.521184,-0.136428],[0.536487,0.834752,0.123982],[0.049266,-0.177643,0.982861]]
2025-10-26T20:54:33.939Z,1761512073.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842288,-0.521676,-0.135663],[0.536775,0.834751,0.122729],[0.049220,-0.176194,0.983124]]
2025-10-26T20:54:34.342Z,1761512074.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842064,-0.522042,-0.135648],[0.537116,0.834589,0.122345],[0.049341,-0.175882,0.983174]]
2025-10-26T20:54:34.748Z,1761512074.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842143,-0.522003,-0.135307],[0.537009,0.834682,0.122181],[0.049160,-0.175554,0.983242]]
2025-10-26T20:54:35.151Z,1761512075.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841880,-0.522539,-0.134874],[0.537441,0.834469,0.121730],[0.048940,-0.174969,0.983357]]
2025-10-26T20:54:35.554Z,1761512075.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841621,-0.523010,-0.134667],[0.537855,0.834251,0.121397],[0.048854,-0.174602,0.983426]]
2025-10-26T20:54:35.994Z,1761512075.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841112,-0.523907,-0.134362],[0.538634,0.833914,0.120258],[0.049043,-0.173522,0.983608]]
2025-10-26T20:54:36.364Z,1761512076.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840900,-0.524256,-0.134327],[0.538974,0.833694,0.120255],[0.048943,-0.173521,0.983613]]
2025-10-26T20:54:36.768Z,1761512076.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840649,-0.524687,-0.134209],[0.539362,0.833499,0.119870],[0.048968,-0.173156,0.983676]]
2025-10-26T20:54:37.170Z,1761512077.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840383,-0.525163,-0.134016],[0.539784,0.833271,0.119552],[0.048887,-0.172809,0.983741]]
2025-10-26T20:54:37.574Z,1761512077.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840294,-0.525308,-0.134007],[0.539920,0.833199,0.119437],[0.048914,-0.172715,0.983757]]
2025-10-26T20:54:37.983Z,1761512077.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839907,-0.525881,-0.134183],[0.540494,0.832898,0.118944],[0.049211,-0.172427,0.983792]]
2025-10-26T20:54:38.383Z,1761512078.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839788,-0.526005,-0.134447],[0.540659,0.832800,0.118875],[0.049439,-0.172520,0.983765]]
2025-10-26T20:54:39.190Z,1761512079.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839894,-0.525663,-0.135119],[0.540473,0.832821,0.119572],[0.049675,-0.173456,0.983588]]
2025-10-26T20:54:39.594Z,1761512079.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839979,-0.525414,-0.135555],[0.540315,0.832888,0.119821],[0.049946,-0.173889,0.983498]]
2025-10-26T20:54:40.000Z,1761512080.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840014,-0.525268,-0.135905],[0.540236,0.832928,0.119903],[0.050218,-0.174141,0.983439]]
2025-10-26T20:54:40.402Z,1761512080.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840209,-0.524923,-0.136034],[0.539922,0.833115,0.120014],[0.050334,-0.174284,0.983408]]
2025-10-26T20:54:40.806Z,1761512080.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840298,-0.524883,-0.135638],[0.539768,0.833339,0.119147],[0.050494,-0.173332,0.983568]]
2025-10-26T20:54:40.822Z,1761512080.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:54:40.980Z,1761512080.980 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:54:40.980Z,1761512080.980 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:54:41.218Z,1761512081.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840323,-0.524934,-0.135283],[0.539745,0.833389,0.118906],[0.050325,-0.172938,0.983646]]
2025-10-26T20:54:41.232Z,1761512081.232 [DAT](INFO): DAT read: 

2025-10-26T20:54:41.233Z,1761512081.233 [DAT](INFO): DAT read: Tx time:20:54:40.3480

2025-10-26T20:54:41.233Z,1761512081.233 [DAT](INFO): Ping request sent.
2025-10-26T20:54:41.233Z,1761512081.233 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:54:41.233Z,1761512081.233 [DAT](INFO): publishing transmit ping time
2025-10-26T20:54:41.234Z,1761512081.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000765
2025-10-26T20:54:41.484Z,1761512081.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251014
2025-10-26T20:54:41.616Z,1761512081.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840493,-0.524763,-0.134890],[0.539523,0.833488,0.119217],[0.049868,-0.172977,0.983663]]
2025-10-26T20:54:41.736Z,1761512081.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503141
2025-10-26T20:54:41.988Z,1761512081.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755015
2025-10-26T20:54:42.018Z,1761512082.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840717,-0.524526,-0.134417],[0.539215,0.833657,0.119429],[0.049414,-0.172885,0.983702]]
2025-10-26T20:54:42.240Z,1761512082.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007052
2025-10-26T20:54:42.422Z,1761512082.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841037,-0.524189,-0.133727],[0.538771,0.833915,0.119628],[0.048810,-0.172660,0.983771]]
2025-10-26T20:54:42.505Z,1761512082.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.271394
2025-10-26T20:54:42.756Z,1761512082.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522955
2025-10-26T20:54:42.826Z,1761512082.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841460,-0.523798,-0.132596],[0.538201,0.834242,0.119917],[0.047805,-0.172268,0.983889]]
2025-10-26T20:54:43.008Z,1761512083.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.775015
2025-10-26T20:54:43.233Z,1761512083.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842006,-0.523195,-0.131504],[0.537443,0.834644,0.120515],[0.046706,-0.172150,0.983963]]
2025-10-26T20:54:43.260Z,1761512083.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027151
2025-10-26T20:54:43.512Z,1761512083.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278994
2025-10-26T20:54:43.639Z,1761512083.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842630,-0.522368,-0.130790],[0.536599,0.834876,0.122651],[0.045124,-0.173531,0.983794]]
2025-10-26T20:54:43.764Z,1761512083.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531131
2025-10-26T20:54:44.016Z,1761512084.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783065
2025-10-26T20:54:44.039Z,1761512084.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842968,-0.522277,-0.128960],[0.536165,0.835239,0.122080],[0.043953,-0.172054,0.984107]]
2025-10-26T20:54:44.269Z,1761512084.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035874
2025-10-26T20:54:44.442Z,1761512084.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843319,-0.521926,-0.128085],[0.535688,0.835468,0.122604],[0.043020,-0.172008,0.984156]]
2025-10-26T20:54:44.520Z,1761512084.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287086
2025-10-26T20:54:44.772Z,1761512084.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.539058
2025-10-26T20:54:44.847Z,1761512084.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843594,-0.521718,-0.127124],[0.535328,0.835655,0.122897],[0.042114,-0.171729,0.984244]]
2025-10-26T20:54:45.024Z,1761512085.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790982
2025-10-26T20:54:45.250Z,1761512085.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843809,-0.521710,-0.125721],[0.535074,0.835833,0.122798],[0.041017,-0.170888,0.984436]]
2025-10-26T20:54:45.278Z,1761512085.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.045164
2025-10-26T20:54:45.528Z,1761512085.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.295095
2025-10-26T20:54:45.658Z,1761512085.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844069,-0.521523,-0.124743],[0.534739,0.835982,0.123238],[0.040012,-0.170727,0.984506]]
2025-10-26T20:54:45.781Z,1761512085.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.547503
2025-10-26T20:54:46.033Z,1761512086.033 [DAT](INFO): DAT read: Rx Time:20:54:44.7592

2025-10-26T20:54:46.033Z,1761512086.033 [DAT](INFO): Rx dataTimestamp_ set to:1761512086.032762
2025-10-26T20:54:46.034Z,1761512086.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.800271
2025-10-26T20:54:46.071Z,1761512086.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844258,-0.521390,-0.124023],[0.534530,0.835943,0.124406],[0.038812,-0.171324,0.984450]]
2025-10-26T20:54:46.284Z,1761512086.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.051082
2025-10-26T20:54:46.464Z,1761512086.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844615,-0.520903,-0.123634],[0.534043,0.836013,0.126019],[0.037716,-0.172463,0.984294]]
2025-10-26T20:54:46.539Z,1761512086.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.305056
2025-10-26T20:54:46.794Z,1761512086.794 [DAT](INFO): DAT read: 20:54:44.7592 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 278,-0.02, 0.157,-1.475, 0.039,-0.115, PHS= 0.375,-1.315, 0.110, RAW= 141.6,  10.6, CAL= 141.1,  11.5, ROT=   8.9, -11.5

2025-10-26T20:54:46.795Z,1761512086.795 [DAT](INFO): got valid direction response:
 20:54:44.7592 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 278,-0.02, 0.157,-1.475, 0.039,-0.115, PHS= 0.375,-1.315, 0.110, RAW= 141.6,  10.6, CAL= 141.1,  11.5, ROT=   8.9, -11.5

2025-10-26T20:54:46.796Z,1761512086.796 [DAT](INFO): DAT read: Bearing 192.7,   8.6 (Local)

2025-10-26T20:54:46.796Z,1761512086.796 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.7,   8.6 (Local)

2025-10-26T20:54:46.798Z,1761512086.798 [DAT](INFO): DAT read: Range 11 to 50 : 1505.3 m  (Round-trip  2007.1 ms) speed  0.5 m/s

2025-10-26T20:54:46.798Z,1761512086.798 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:54:46.803Z,1761512086.803 [DAT](INFO): direction in FSK: [0.968126,0.151605,0.199368]
2025-10-26T20:54:46.804Z,1761512086.804 [DAT](INFO): publishing direction and range info
2025-10-26T20:54:46.899Z,1761512086.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845180,-0.520418,-0.121802],[0.533292,0.836302,0.127274],[0.035627,-0.172525,0.984361]]
2025-10-26T20:54:47.690Z,1761512087.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845418,-0.520414,-0.120157],[0.533038,0.836316,0.128246],[0.033748,-0.172470,0.984436]]
2025-10-26T20:54:48.891Z,1761512088.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846233,-0.519808,-0.117000],[0.531974,0.836594,0.130818],[0.029882,-0.172944,0.984478]]
2025-10-26T20:54:49.296Z,1761512089.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846704,-0.519338,-0.115671],[0.531302,0.836900,0.131594],[0.028464,-0.172878,0.984532]]
2025-10-26T20:54:49.712Z,1761512089.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846807,-0.519367,-0.114786],[0.531210,0.836770,0.132787],[0.027084,-0.173420,0.984475]]
2025-10-26T20:54:50.098Z,1761512090.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847044,-0.519172,-0.113911],[0.530887,0.836849,0.133575],[0.025978,-0.173617,0.984471]]
2025-10-26T20:54:50.502Z,1761512090.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847189,-0.519135,-0.113002],[0.530710,0.836848,0.134284],[0.024854,-0.173735,0.984479]]
2025-10-26T20:54:50.907Z,1761512090.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847629,-0.518697,-0.111708],[0.530070,0.837135,0.135024],[0.023478,-0.173664,0.984525]]
2025-10-26T20:54:51.312Z,1761512091.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847860,-0.518587,-0.110462],[0.529753,0.837275,0.135396],[0.022273,-0.173315,0.984615]]
2025-10-26T20:54:51.721Z,1761512091.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847741,-0.519054,-0.109172],[0.529983,0.837182,0.135071],[0.021288,-0.172365,0.984803]]
2025-10-26T20:54:52.118Z,1761512092.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847856,-0.519080,-0.108153],[0.529839,0.837221,0.135392],[0.020268,-0.172097,0.984872]]
2025-10-26T20:54:52.522Z,1761512092.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848219,-0.518630,-0.107462],[0.529296,0.837403,0.136392],[0.019252,-0.172569,0.984809]]
2025-10-26T20:54:52.929Z,1761512092.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848367,-0.518618,-0.106343],[0.529094,0.837507,0.136536],[0.018253,-0.172099,0.984911]]
2025-10-26T20:54:53.330Z,1761512093.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848604,-0.518295,-0.106030],[0.528742,0.837539,0.137695],[0.017438,-0.172911,0.984783]]
2025-10-26T20:54:53.738Z,1761512093.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848895,-0.517757,-0.106325],[0.528300,0.837463,0.139842],[0.016639,-0.174883,0.984449]]
2025-10-26T20:54:54.139Z,1761512094.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849047,-0.517530,-0.106211],[0.528080,0.837360,0.141281],[0.015820,-0.176043,0.984255]]
2025-10-26T20:54:54.543Z,1761512094.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848957,-0.517844,-0.105399],[0.528246,0.837260,0.141251],[0.015100,-0.175593,0.984347]]
2025-10-26T20:54:54.946Z,1761512094.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848846,-0.518235,-0.104368],[0.528448,0.837162,0.141080],[0.014260,-0.174908,0.984481]]
2025-10-26T20:54:55.350Z,1761512095.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848926,-0.518147,-0.104153],[0.528334,0.837111,0.141802],[0.013713,-0.175407,0.984400]]
2025-10-26T20:54:55.755Z,1761512095.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849111,-0.517966,-0.103547],[0.528055,0.837213,0.142241],[0.013015,-0.175457,0.984401]]
2025-10-26T20:54:56.158Z,1761512096.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848933,-0.518464,-0.102510],[0.528345,0.837279,0.140767],[0.012846,-0.173662,0.984721]]
2025-10-26T20:54:56.562Z,1761512096.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848713,-0.518937,-0.101934],[0.528715,0.836996,0.141059],[0.012118,-0.173613,0.984739]]
2025-10-26T20:54:56.970Z,1761512096.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848978,-0.518590,-0.101494],[0.528305,0.837127,0.141815],[0.011419,-0.174018,0.984676]]
2025-10-26T20:54:57.371Z,1761512097.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848806,-0.519075,-0.100446],[0.528591,0.837093,0.140952],[0.010918,-0.172735,0.984908]]
2025-10-26T20:54:57.774Z,1761512097.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848500,-0.519831,-0.099116],[0.529092,0.837023,0.139480],[0.010457,-0.170790,0.985252]]
2025-10-26T20:54:58.185Z,1761512098.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848609,-0.519751,-0.098594],[0.528926,0.837097,0.139663],[0.009943,-0.170668,0.985278]]
2025-10-26T20:54:58.990Z,1761512098.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849251,-0.518896,-0.097568],[0.527918,0.837552,0.140744],[0.008687,-0.171035,0.985227]]
2025-10-26T20:54:59.390Z,1761512099.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849648,-0.518326,-0.097142],[0.527290,0.837793,0.141662],[0.007958,-0.171585,0.985137]]
2025-10-26T20:54:59.794Z,1761512099.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850030,-0.517732,-0.096963],[0.526680,0.838048,0.142422],[0.007523,-0.172131,0.985045]]
2025-10-26T20:55:00.203Z,1761512100.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850447,-0.517123,-0.096557],[0.526013,0.838392,0.142860],[0.007076,-0.172285,0.985022]]
2025-10-26T20:55:00.602Z,1761512100.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850985,-0.516251,-0.096491],[0.525148,0.838765,0.143847],[0.006672,-0.173084,0.984885]]
2025-10-26T20:55:01.070Z,1761512101.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851775,-0.515022,-0.096084],[0.523874,0.839376,0.144930],[0.006008,-0.173783,0.984766]]
2025-10-26T20:55:01.320Z,1761512101.320 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:55:01.410Z,1761512101.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852487,-0.513943,-0.095544],[0.522722,0.839928,0.145886],[0.005273,-0.174309,0.984677]]
2025-10-26T20:55:01.816Z,1761512101.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853406,-0.512389,-0.095686],[0.521224,0.840598,0.147378],[0.004918,-0.175647,0.984441]]
2025-10-26T20:55:02.218Z,1761512102.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853789,-0.511842,-0.095201],[0.520600,0.840952,0.147564],[0.004530,-0.175550,0.984460]]
2025-10-26T20:55:02.324Z,1761512102.324 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:55:02.622Z,1761512102.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854341,-0.510897,-0.095315],[0.519696,0.841274,0.148908],[0.004110,-0.176753,0.984247]]
2025-10-26T20:55:03.031Z,1761512103.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855420,-0.509097,-0.095275],[0.517925,0.841984,0.151053],[0.003319,-0.178559,0.983924]]
2025-10-26T20:55:03.435Z,1761512103.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855905,-0.508370,-0.094800],[0.517125,0.842386,0.151550],[0.002814,-0.178736,0.983893]]
2025-10-26T20:55:03.834Z,1761512103.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856230,-0.507932,-0.094211],[0.516590,0.842695,0.151658],[0.002360,-0.178522,0.983933]]
2025-10-26T20:55:04.238Z,1761512104.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856867,-0.507048,-0.093167],[0.515534,0.843376,0.151463],[0.001775,-0.177815,0.984062]]
2025-10-26T20:55:04.642Z,1761512104.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857187,-0.506607,-0.092630],[0.515004,0.843665,0.151662],[0.001315,-0.177707,0.984082]]
2025-10-26T20:55:05.054Z,1761512105.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857401,-0.506410,-0.091720],[0.514648,0.844017,0.150905],[0.000993,-0.176589,0.984284]]
2025-10-26T20:55:05.463Z,1761512105.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857614,-0.506096,-0.091464],[0.514294,0.844187,0.151163],[0.000710,-0.176679,0.984268]]
2025-10-26T20:55:05.854Z,1761512105.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858068,-0.505309,-0.091548],[0.513535,0.844541,0.151763],[0.000629,-0.177236,0.984168]]
2025-10-26T20:55:06.258Z,1761512106.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858219,-0.505208,-0.090694],[0.513283,0.844970,0.150219],[0.000742,-0.175472,0.984484]]
2025-10-26T20:55:06.682Z,1761512106.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858302,-0.505174,-0.090094],[0.513145,0.845177,0.149526],[0.000609,-0.174569,0.984645]]
2025-10-26T20:55:07.074Z,1761512107.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858348,-0.505127,-0.089923],[0.513068,0.845268,0.149276],[0.000605,-0.174267,0.984698]]
2025-10-26T20:55:07.530Z,1761512107.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858653,-0.504683,-0.089494],[0.512556,0.845551,0.149432],[0.000256,-0.174181,0.984713]]
2025-10-26T20:55:07.555Z,1761512107.555 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD
2025-10-26T20:55:07.874Z,1761512107.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859064,-0.504131,-0.088663],[0.511868,0.845835,0.150181],[-0.000717,-0.174399,0.984675]]
2025-10-26T20:55:08.281Z,1761512108.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859235,-0.504115,-0.087084],[0.511579,0.846111,0.149612],[-0.001739,-0.173102,0.984902]]
2025-10-26T20:55:09.086Z,1761512109.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860013,-0.503390,-0.083528],[0.510246,0.846673,0.150977],[-0.005279,-0.172462,0.985002]]
2025-10-26T20:55:09.515Z,1761512109.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860456,-0.502950,-0.081585],[0.509470,0.846927,0.152171],[-0.007438,-0.172502,0.984981]]
2025-10-26T20:55:09.897Z,1761512109.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860887,-0.502645,-0.078881],[0.508707,0.847411,0.152027],[-0.009571,-0.171005,0.985224]]
2025-10-26T20:55:10.298Z,1761512110.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861420,-0.501952,-0.077463],[0.507764,0.847679,0.153674],[-0.011473,-0.171710,0.985081]]
2025-10-26T20:55:10.705Z,1761512110.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862007,-0.501287,-0.075201],[0.506712,0.848159,0.154494],[-0.013663,-0.171281,0.985128]]
2025-10-26T20:55:11.106Z,1761512111.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862588,-0.500575,-0.073255],[0.505662,0.848580,0.155622],[-0.015738,-0.171280,0.985097]]
2025-10-26T20:55:11.549Z,1761512111.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863339,-0.499502,-0.071716],[0.504306,0.848994,0.157747],[-0.017909,-0.172356,0.984872]]
2025-10-26T20:55:11.914Z,1761512111.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864097,-0.498445,-0.069925],[0.502926,0.849502,0.159411],[-0.020056,-0.172913,0.984733]]
2025-10-26T20:55:12.318Z,1761512112.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864865,-0.497414,-0.067729],[0.501519,0.850200,0.160120],[-0.022063,-0.172449,0.984771]]
2025-10-26T20:55:12.787Z,1761512112.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865676,-0.496259,-0.065822],[0.500042,0.850963,0.160685],[-0.023730,-0.172015,0.984809]]
2025-10-26T20:55:13.126Z,1761512113.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866492,-0.495015,-0.064434],[0.498562,0.851685,0.161457],[-0.025047,-0.172026,0.984774]]
2025-10-26T20:55:13.578Z,1761512113.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867361,-0.493649,-0.063204],[0.496970,0.852337,0.162917],[-0.026553,-0.172718,0.984613]]
2025-10-26T20:55:13.934Z,1761512113.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868300,-0.492151,-0.061988],[0.495249,0.853064,0.164351],[-0.028006,-0.173405,0.984452]]
2025-10-26T20:55:14.339Z,1761512114.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869437,-0.490365,-0.060185],[0.493147,0.854051,0.165539],[-0.029774,-0.173606,0.984365]]
2025-10-26T20:55:14.743Z,1761512114.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870145,-0.489544,-0.056514],[0.491765,0.855183,0.163796],[-0.031855,-0.170318,0.984874]]
2025-10-26T20:55:15.153Z,1761512115.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871222,-0.487843,-0.054606],[0.489734,0.856146,0.164850],[-0.033671,-0.170363,0.984806]]
2025-10-26T20:55:15.595Z,1761512115.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872031,-0.486577,-0.052966],[0.488170,0.856817,0.165993],[-0.035387,-0.170608,0.984703]]
2025-10-26T20:55:15.954Z,1761512115.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873014,-0.485005,-0.051162],[0.486265,0.857619,0.167438],[-0.037331,-0.171054,0.984554]]
2025-10-26T20:55:16.359Z,1761512116.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873825,-0.483800,-0.048649],[0.484636,0.858454,0.167880],[-0.039457,-0.170275,0.984606]]
2025-10-26T20:55:16.762Z,1761512116.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874340,-0.483068,-0.046631],[0.483550,0.858949,0.168485],[-0.041336,-0.169862,0.984601]]
2025-10-26T20:55:17.170Z,1761512117.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874645,-0.482691,-0.044785],[0.482848,0.859254,0.168937],[-0.043063,-0.169384,0.984609]]
2025-10-26T20:55:17.589Z,1761512117.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874948,-0.482353,-0.042436],[0.482136,0.859723,0.168587],[-0.044835,-0.167964,0.984773]]
2025-10-26T20:55:17.976Z,1761512117.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874978,-0.482519,-0.039862],[0.481935,0.860105,0.167208],[-0.046396,-0.165514,0.985115]]
2025-10-26T20:55:18.379Z,1761512118.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874750,-0.483105,-0.037712],[0.482202,0.860134,0.166283],[-0.047895,-0.163640,0.985357]]
2025-10-26T20:55:18.787Z,1761512118.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874343,-0.483948,-0.036317],[0.482787,0.859740,0.166624],[-0.049414,-0.163220,0.985352]]
2025-10-26T20:55:19.186Z,1761512119.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874127,-0.484464,-0.034590],[0.483016,0.859620,0.166582],[-0.050969,-0.162322,0.985421]]
2025-10-26T20:55:19.607Z,1761512119.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873768,-0.485224,-0.032984],[0.483491,0.859306,0.166822],[-0.052602,-0.161712,0.985435]]
2025-10-26T20:55:19.994Z,1761512119.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873325,-0.486080,-0.032097],[0.484131,0.858737,0.167896],[-0.054048,-0.162167,0.985282]]
2025-10-26T20:55:20.399Z,1761512120.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872839,-0.487021,-0.031011],[0.484852,0.858227,0.168422],[-0.055410,-0.162041,0.985227]]
2025-10-26T20:55:20.802Z,1761512120.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872085,-0.488449,-0.029745],[0.486070,0.857599,0.168108],[-0.056603,-0.161062,0.985320]]
2025-10-26T20:55:21.216Z,1761512121.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871503,-0.489541,-0.028849],[0.486958,0.856959,0.168800],[-0.057912,-0.161158,0.985228]]
2025-10-26T20:55:21.616Z,1761512121.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870933,-0.490596,-0.028143],[0.487845,0.856330,0.169430],[-0.059021,-0.161292,0.985140]]
2025-10-26T20:55:22.014Z,1761512122.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870304,-0.491727,-0.027853],[0.488855,0.855574,0.170336],[-0.059928,-0.161861,0.984992]]
2025-10-26T20:55:22.419Z,1761512122.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869720,-0.492804,-0.027026],[0.489773,0.855021,0.170476],[-0.060904,-0.161503,0.984991]]
2025-10-26T20:55:22.826Z,1761512122.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869568,-0.493054,-0.027392],[0.489957,0.854529,0.172400],[-0.061595,-0.163334,0.984646]]
2025-10-26T20:55:23.226Z,1761512123.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869669,-0.492894,-0.027049],[0.489672,0.854459,0.173556],[-0.062433,-0.164182,0.984452]]
2025-10-26T20:55:23.637Z,1761512123.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869809,-0.492682,-0.026406],[0.489286,0.854452,0.174672],[-0.063495,-0.164851,0.984272]]
2025-10-26T20:55:24.035Z,1761512124.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869851,-0.492633,-0.025928],[0.489114,0.854407,0.175374],[-0.064242,-0.165231,0.984160]]
2025-10-26T20:55:24.440Z,1761512124.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869998,-0.492404,-0.025345],[0.488750,0.854480,0.176033],[-0.065022,-0.165536,0.984058]]
2025-10-26T20:55:24.843Z,1761512124.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870530,-0.491479,-0.025013],[0.487717,0.854854,0.177078],[-0.065648,-0.166351,0.983879]]
2025-10-26T20:55:25.246Z,1761512125.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871073,-0.490545,-0.024441],[0.486679,0.855368,0.177449],[-0.066141,-0.166466,0.983827]]
2025-10-26T20:55:25.655Z,1761512125.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871685,-0.489484,-0.023881],[0.485471,0.855830,0.178529],[-0.066949,-0.167214,0.983645]]
2025-10-26T20:55:26.458Z,1761512126.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873108,-0.487027,-0.022049],[0.482769,0.857401,0.178320],[-0.067942,-0.166337,0.983726]]
2025-10-26T20:55:26.862Z,1761512126.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873846,-0.485739,-0.021221],[0.481368,0.858194,0.178293],[-0.068393,-0.166016,0.983749]]
2025-10-26T20:55:27.672Z,1761512127.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875048,-0.483625,-0.019975],[0.479075,0.859444,0.178448],[-0.069135,-0.165720,0.983747]]
2025-10-26T20:55:28.075Z,1761512128.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875443,-0.482948,-0.019009],[0.478350,0.860138,0.177043],[-0.069152,-0.164084,0.984020]]
2025-10-26T20:55:28.478Z,1761512128.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875500,-0.482877,-0.018169],[0.478206,0.860403,0.176141],[-0.069422,-0.162900,0.984197]]
2025-10-26T20:55:28.904Z,1761512128.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875642,-0.482632,-0.017824],[0.477887,0.860516,0.176454],[-0.069824,-0.163028,0.984148]]
2025-10-26T20:55:29.294Z,1761512129.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875405,-0.483080,-0.017301],[0.478307,0.860469,0.175543],[-0.069914,-0.161946,0.984320]]
2025-10-26T20:55:29.692Z,1761512129.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874767,-0.484243,-0.017052],[0.479444,0.859932,0.175072],[-0.070114,-0.161323,0.984408]]
2025-10-26T20:55:30.094Z,1761512130.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874041,-0.485550,-0.017151],[0.480803,0.859342,0.174242],[-0.069864,-0.160541,0.984554]]
2025-10-26T20:55:30.498Z,1761512130.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873193,-0.487064,-0.017387],[0.482392,0.858629,0.173362],[-0.069509,-0.159766,0.984705]]
2025-10-26T20:55:30.951Z,1761512130.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870580,-0.491682,-0.018418],[0.487235,0.856287,0.171392],[-0.068499,-0.158184,0.985031]]
2025-10-26T20:55:31.724Z,1761512131.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869019,-0.494442,-0.018262],[0.490052,0.855040,0.169573],[-0.068229,-0.156312,0.985348]]
2025-10-26T20:55:32.125Z,1761512132.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867538,-0.497025,-0.018540],[0.492709,0.853716,0.168542],[-0.067942,-0.155351,0.985520]]
2025-10-26T20:55:32.445Z,1761512132.445 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:55:32.518Z,1761512132.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865579,-0.500387,-0.019647],[0.496203,0.851733,0.168327],[-0.067495,-0.155449,0.985535]]
2025-10-26T20:55:32.958Z,1761512132.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862000,-0.506554,-0.018968],[0.502485,0.848945,0.163712],[-0.066826,-0.150651,0.986326]]
2025-10-26T20:55:33.331Z,1761512133.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860439,-0.509163,-0.019933],[0.505182,0.847293,0.163968],[-0.066598,-0.151154,0.986264]]
2025-10-26T20:55:33.448Z,1761512133.448 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:55:33.738Z,1761512133.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859481,-0.510737,-0.020969],[0.506855,0.846196,0.164469],[-0.066257,-0.151987,0.986159]]
2025-10-26T20:55:34.144Z,1761512134.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858377,-0.512591,-0.020975],[0.508794,0.845357,0.162792],[-0.065715,-0.150409,0.986437]]
2025-10-26T20:55:34.580Z,1761512134.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857535,-0.513953,-0.022061],[0.510250,0.844336,0.163528],[-0.065419,-0.151487,0.986292]]
2025-10-26T20:55:34.982Z,1761512134.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857021,-0.514795,-0.022383],[0.511207,0.843989,0.162325],[-0.064674,-0.150558,0.986483]]
2025-10-26T20:55:35.435Z,1761512135.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856596,-0.515482,-0.022844],[0.512023,0.843702,0.161247],[-0.063846,-0.149820,0.986650]]
2025-10-26T20:55:35.835Z,1761512135.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856378,-0.515772,-0.024437],[0.512561,0.843418,0.161017],[-0.062437,-0.150416,0.986649]]
2025-10-26T20:55:36.238Z,1761512136.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856334,-0.515747,-0.026404],[0.512845,0.843283,0.160822],[-0.060678,-0.151258,0.986630]]
2025-10-26T20:55:36.643Z,1761512136.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856537,-0.515276,-0.028887],[0.512740,0.843287,0.161137],[-0.058670,-0.152831,0.986509]]
2025-10-26T20:55:37.046Z,1761512137.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856672,-0.514935,-0.030910],[0.512721,0.843324,0.161003],[-0.056839,-0.153775,0.986470]]
2025-10-26T20:55:37.451Z,1761512137.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856724,-0.514733,-0.032773],[0.512822,0.843307,0.160768],[-0.055115,-0.154541,0.986448]]
2025-10-26T20:55:37.858Z,1761512137.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856685,-0.514662,-0.034843],[0.513091,0.843207,0.160436],[-0.053191,-0.155321,0.986431]]
2025-10-26T20:55:38.258Z,1761512138.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856583,-0.514686,-0.036944],[0.513456,0.843042,0.160133],[-0.051273,-0.156136,0.986404]]
2025-10-26T20:55:39.066Z,1761512139.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855716,-0.515883,-0.040192],[0.515237,0.842318,0.158213],[-0.047765,-0.156094,0.986587]]
2025-10-26T20:55:39.470Z,1761512139.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855256,-0.516551,-0.041382],[0.516113,0.841911,0.157520],[-0.046527,-0.156077,0.986648]]
2025-10-26T20:55:39.879Z,1761512139.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854471,-0.517789,-0.042124],[0.517515,0.841324,0.156050],[-0.045361,-0.155140,0.986851]]
2025-10-26T20:55:40.280Z,1761512140.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853520,-0.519285,-0.042965],[0.519169,0.840510,0.154937],[-0.044344,-0.154548,0.986990]]
2025-10-26T20:55:40.682Z,1761512140.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852123,-0.521503,-0.043837],[0.521567,0.839355,0.153134],[-0.043065,-0.153353,0.987233]]
2025-10-26T20:55:41.145Z,1761512141.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:55:41.244Z,1761512141.244 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:55:41.245Z,1761512141.245 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:55:41.491Z,1761512141.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849648,-0.525332,-0.046088],[0.525791,0.837179,0.150585],[-0.040523,-0.152177,0.987522]]
2025-10-26T20:55:41.497Z,1761512141.497 [DAT](INFO): DAT read: user:130>

2025-10-26T20:55:41.497Z,1761512141.497 [DAT](INFO): DAT read: Tx time:20:55:40.5978

2025-10-26T20:55:41.498Z,1761512141.498 [DAT](INFO): Ping request sent.
2025-10-26T20:55:41.498Z,1761512141.498 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:55:41.498Z,1761512141.498 [DAT](INFO): publishing transmit ping time
2025-10-26T20:55:41.499Z,1761512141.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756
2025-10-26T20:55:41.748Z,1761512141.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250574
2025-10-26T20:55:41.902Z,1761512141.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848351,-0.527301,-0.047477],[0.527993,0.836019,0.149320],[-0.039045,-0.151744,0.987648]]
2025-10-26T20:55:42.005Z,1761512142.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506819
2025-10-26T20:55:42.256Z,1761512142.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758489
2025-10-26T20:55:42.298Z,1761512142.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846916,-0.529469,-0.048940],[0.530416,0.834787,0.147613],[-0.037302,-0.150974,0.987834]]
2025-10-26T20:55:42.508Z,1761512142.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010489
2025-10-26T20:55:42.705Z,1761512142.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845310,-0.531907,-0.050254],[0.533076,0.833375,0.146002],[-0.035779,-0.150206,0.988007]]
2025-10-26T20:55:42.760Z,1761512142.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262481
2025-10-26T20:55:43.013Z,1761512143.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514711
2025-10-26T20:55:43.113Z,1761512143.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844222,-0.533487,-0.051770],[0.534918,0.832473,0.144400],[-0.033938,-0.149598,0.988164]]
2025-10-26T20:55:43.264Z,1761512143.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766537
2025-10-26T20:55:43.512Z,1761512143.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842839,-0.535528,-0.053219],[0.537197,0.831265,0.142891],[-0.032283,-0.149023,0.988307]]
2025-10-26T20:55:43.519Z,1761512143.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021284
2025-10-26T20:55:43.768Z,1761512143.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270529
2025-10-26T20:55:43.914Z,1761512143.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841489,-0.537489,-0.054787],[0.539408,0.830069,0.141507],[-0.030582,-0.148629,0.988420]]
2025-10-26T20:55:44.020Z,1761512144.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522502
2025-10-26T20:55:44.272Z,1761512144.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774449
2025-10-26T20:55:44.318Z,1761512144.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840393,-0.539064,-0.056119],[0.541227,0.829275,0.139199],[-0.028499,-0.147355,0.988673]]
2025-10-26T20:55:44.525Z,1761512144.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026805
2025-10-26T20:55:44.729Z,1761512144.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839458,-0.540233,-0.058804],[0.542776,0.828255,0.139239],[-0.026517,-0.148803,0.988511]]
2025-10-26T20:55:44.776Z,1761512144.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278597
2025-10-26T20:55:45.029Z,1761512145.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530840
2025-10-26T20:55:45.129Z,1761512145.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838678,-0.541142,-0.061524],[0.544075,0.827376,0.139392],[-0.024527,-0.150379,0.988324]]
2025-10-26T20:55:45.281Z,1761512145.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782676
2025-10-26T20:55:45.530Z,1761512145.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838055,-0.541849,-0.063747],[0.545110,0.826706,0.139328],[-0.022795,-0.151514,0.988192]]
2025-10-26T20:55:45.532Z,1761512145.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034593
2025-10-26T20:55:45.784Z,1761512145.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286402
2025-10-26T20:55:45.982Z,1761512145.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837331,-0.542772,-0.065389],[0.546282,0.826030,0.138744],[-0.021293,-0.151896,0.988167]]
2025-10-26T20:55:46.039Z,1761512146.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.541004
2025-10-26T20:55:46.288Z,1761512146.288 [DAT](INFO): DAT read: Rx Time:20:55:44.9603

2025-10-26T20:55:46.289Z,1761512146.289 [DAT](INFO): Rx dataTimestamp_ set to:1761512146.288580
2025-10-26T20:55:46.289Z,1761512146.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791549
2025-10-26T20:55:46.350Z,1761512146.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837004,-0.543006,-0.067586],[0.546839,0.825589,0.139176],[-0.019775,-0.153450,0.987959]]
2025-10-26T20:55:46.542Z,1761512146.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043667
2025-10-26T20:55:46.768Z,1761512146.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836545,-0.543470,-0.069519],[0.547597,0.825122,0.138962],[-0.018159,-0.154316,0.987855]]
2025-10-26T20:55:46.798Z,1761512146.798 [DAT](INFO): DAT read: 20:55:44.9603 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 451,-0.49, 2.167, 0.606, 2.047, 2.033, PHS= 0.236,-1.382,-0.030, RAW= 141.2,  15.5, CAL= 140.4,  16.6, ROT=   9.6, -16.6

2025-10-26T20:55:46.799Z,1761512146.799 [DAT](INFO): got valid direction response:
 20:55:44.9603 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 451,-0.49, 2.167, 0.606, 2.047, 2.033, PHS= 0.236,-1.382,-0.030, RAW= 141.2,  15.5, CAL= 140.4,  16.6, ROT=   9.6, -16.6

2025-10-26T20:55:46.800Z,1761512146.800 [DAT](INFO): DAT read: Bearing 200.4,   5.6 (Local)

2025-10-26T20:55:46.801Z,1761512146.801 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.4,   5.6 (Local)

2025-10-26T20:55:46.802Z,1761512146.802 [DAT](INFO): DAT read: Range 11 to 50 : 1468.7 m  (Round-trip  1958.3 ms) speed  0.8 m/s

2025-10-26T20:55:46.803Z,1761512146.803 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:55:46.804Z,1761512146.804 [DAT](INFO): direction in FSK: [0.944902,0.159818,0.285688]
2025-10-26T20:55:46.804Z,1761512146.804 [DAT](INFO): publishing direction and range info
2025-10-26T20:55:47.146Z,1761512147.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836208,-0.543754,-0.071330],[0.548160,0.824776,0.138798],[-0.016641,-0.155164,0.987749]]
2025-10-26T20:55:47.553Z,1761512147.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835872,-0.544052,-0.072978],[0.548714,0.824448,0.138557],[-0.015215,-0.155860,0.987662]]
2025-10-26T20:55:47.955Z,1761512147.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835432,-0.544458,-0.074966],[0.549427,0.824007,0.138354],[-0.013556,-0.156774,0.987541]]
2025-10-26T20:55:48.358Z,1761512148.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834994,-0.545083,-0.075298],[0.550131,0.823984,0.135672],[-0.011908,-0.154709,0.987888]]
2025-10-26T20:55:48.800Z,1761512148.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834390,-0.545742,-0.077195],[0.551083,0.823474,0.134901],[-0.010053,-0.155101,0.987847]]
2025-10-26T20:55:49.167Z,1761512149.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833746,-0.546528,-0.078580],[0.552085,0.823018,0.133579],[-0.008332,-0.154754,0.987918]]
2025-10-26T20:55:49.574Z,1761512149.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833096,-0.547402,-0.079386],[0.553088,0.822667,0.131579],[-0.006718,-0.153525,0.988122]]
2025-10-26T20:55:49.974Z,1761512149.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832255,-0.548404,-0.081267],[0.554371,0.821936,0.130749],[-0.004907,-0.153868,0.988079]]
2025-10-26T20:55:50.378Z,1761512150.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831732,-0.548956,-0.082882],[0.555167,0.821494,0.130142],[-0.003355,-0.154257,0.988025]]
2025-10-26T20:55:50.783Z,1761512150.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830841,-0.550150,-0.083888],[0.556507,0.820881,0.128278],[-0.001710,-0.153263,0.988184]]
2025-10-26T20:55:51.188Z,1761512151.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829800,-0.551557,-0.084954],[0.558061,0.820099,0.126516],[-0.000109,-0.152392,0.988320]]
2025-10-26T20:55:51.598Z,1761512151.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828523,-0.553222,-0.086572],[0.559952,0.819001,0.125264],[0.001603,-0.152260,0.988339]]
2025-10-26T20:55:51.994Z,1761512151.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827492,-0.554473,-0.088411],[0.561470,0.817995,0.125044],[0.002986,-0.153113,0.988204]]
2025-10-26T20:55:52.400Z,1761512152.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826151,-0.556254,-0.089750],[0.563430,0.816846,0.123728],[0.004487,-0.152785,0.988249]]
2025-10-26T20:55:52.802Z,1761512152.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824463,-0.558500,-0.091315],[0.565885,0.815278,0.122862],[0.005829,-0.152969,0.988214]]
2025-10-26T20:55:53.206Z,1761512153.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822933,-0.560489,-0.092908],[0.568090,0.813900,0.121820],[0.007339,-0.153030,0.988194]]
2025-10-26T20:55:53.614Z,1761512153.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821259,-0.562596,-0.094970],[0.570489,0.812253,0.121605],[0.008726,-0.154049,0.988025]]
2025-10-26T20:55:54.016Z,1761512154.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819655,-0.564403,-0.098056],[0.572769,0.810443,0.122959],[0.010070,-0.156948,0.987556]]
2025-10-26T20:55:54.419Z,1761512154.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818244,-0.566135,-0.099845],[0.574764,0.809025,0.122984],[0.011151,-0.158019,0.987373]]
2025-10-26T20:55:54.822Z,1761512154.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816819,-0.567808,-0.101985],[0.576770,0.807448,0.123955],[0.011964,-0.160070,0.987033]]
2025-10-26T20:55:55.226Z,1761512155.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815475,-0.569401,-0.103842],[0.578647,0.806055,0.124267],[0.012945,-0.161424,0.986800]]
2025-10-26T20:55:55.632Z,1761512155.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814276,-0.570898,-0.105022],[0.580304,0.805021,0.123243],[0.014186,-0.161298,0.986804]]
2025-10-26T20:55:56.034Z,1761512156.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813570,-0.571661,-0.106338],[0.581266,0.804384,0.122869],[0.015297,-0.161774,0.986709]]
2025-10-26T20:55:56.438Z,1761512156.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812739,-0.572553,-0.107885],[0.582399,0.803567,0.122849],[0.016355,-0.162676,0.986544]]
2025-10-26T20:55:56.842Z,1761512156.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812327,-0.572900,-0.109134],[0.582943,0.803195,0.122698],[0.017362,-0.163290,0.986425]]
2025-10-26T20:55:57.246Z,1761512157.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811870,-0.573348,-0.110177],[0.583550,0.802817,0.122286],[0.018340,-0.163574,0.986361]]
2025-10-26T20:55:57.650Z,1761512157.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812427,-0.572175,-0.112154],[0.582747,0.803161,0.123848],[0.019216,-0.165975,0.985943]]
2025-10-26T20:55:58.055Z,1761512158.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812755,-0.571463,-0.113397],[0.582259,0.803451,0.124261],[0.020098,-0.167020,0.985749]]
2025-10-26T20:55:58.458Z,1761512158.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813648,-0.569935,-0.114679],[0.580987,0.804199,0.125371],[0.020771,-0.168635,0.985460]]
2025-10-26T20:55:58.862Z,1761512158.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814687,-0.568373,-0.115052],[0.579499,0.805323,0.125044],[0.021582,-0.168544,0.985458]]
2025-10-26T20:55:59.266Z,1761512159.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815704,-0.566869,-0.115262],[0.578033,0.806482,0.124358],[0.022462,-0.168064,0.985520]]
2025-10-26T20:55:59.670Z,1761512159.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816676,-0.565497,-0.115126],[0.576622,0.807689,0.123063],[0.023394,-0.166887,0.985698]]
2025-10-26T20:56:00.084Z,1761512160.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817209,-0.564524,-0.116111],[0.575834,0.808196,0.123424],[0.024165,-0.167723,0.985538]]
2025-10-26T20:56:00.478Z,1761512160.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818159,-0.562986,-0.116888],[0.574452,0.809133,0.123732],[0.024919,-0.168379,0.985407]]
2025-10-26T20:56:00.895Z,1761512160.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819045,-0.561731,-0.116716],[0.573156,0.810203,0.122732],[0.025622,-0.167419,0.985553]]
2025-10-26T20:56:01.287Z,1761512161.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819472,-0.561031,-0.117090],[0.572509,0.810758,0.122082],[0.026440,-0.167078,0.985589]]
2025-10-26T20:56:01.692Z,1761512161.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819707,-0.560503,-0.117969],[0.572129,0.811058,0.121873],[0.027370,-0.167394,0.985510]]
2025-10-26T20:56:02.099Z,1761512162.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819930,-0.559907,-0.119239],[0.571771,0.811220,0.122476],[0.028154,-0.168600,0.985282]]
2025-10-26T20:56:02.498Z,1761512162.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820032,-0.559562,-0.120155],[0.571578,0.811389,0.122258],[0.029081,-0.168933,0.985198]]
2025-10-26T20:56:03.308Z,1761512163.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818909,-0.560855,-0.121779],[0.573077,0.810604,0.120436],[0.031167,-0.168414,0.985223]]
2025-10-26T20:56:03.568Z,1761512163.568 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:56:03.714Z,1761512163.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818106,-0.561859,-0.122543],[0.574164,0.809997,0.119330],[0.032213,-0.167984,0.985263]]
2025-10-26T20:56:04.114Z,1761512164.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817186,-0.563055,-0.123191],[0.575422,0.809259,0.118273],[0.033099,-0.167538,0.985310]]
2025-10-26T20:56:04.519Z,1761512164.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816157,-0.564389,-0.123908],[0.576846,0.808324,0.117732],[0.033711,-0.167564,0.985285]]
2025-10-26T20:56:04.572Z,1761512164.572 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:56:04.959Z,1761512164.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815204,-0.565591,-0.124700],[0.578158,0.807435,0.117396],[0.034289,-0.167798,0.985225]]
2025-10-26T20:56:05.326Z,1761512165.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814099,-0.566976,-0.125623],[0.579666,0.806438,0.116812],[0.035077,-0.167916,0.985177]]
2025-10-26T20:56:05.734Z,1761512165.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812845,-0.568400,-0.127297],[0.581380,0.805125,0.117353],[0.035787,-0.169397,0.984898]]
2025-10-26T20:56:06.134Z,1761512166.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811367,-0.570326,-0.128107],[0.583374,0.803884,0.115951],[0.036853,-0.168813,0.984959]]
2025-10-26T20:56:06.540Z,1761512166.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810139,-0.571745,-0.129551],[0.585028,0.802673,0.116011],[0.037659,-0.169776,0.984763]]
2025-10-26T20:56:06.966Z,1761512166.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808013,-0.574318,-0.131429],[0.587831,0.800868,0.114303],[0.039611,-0.169617,0.984714]]
2025-10-26T20:56:07.751Z,1761512167.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806989,-0.575582,-0.132192],[0.589182,0.799990,0.113497],[0.040425,-0.169476,0.984705]]
2025-10-26T20:56:08.155Z,1761512168.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806142,-0.576561,-0.133090],[0.590279,0.799271,0.112855],[0.041307,-0.169537,0.984658]]
2025-10-26T20:56:08.969Z,1761512168.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804864,-0.577357,-0.137302],[0.591876,0.797823,0.114718],[0.043309,-0.173598,0.983864]]
2025-10-26T20:56:09.370Z,1761512169.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805323,-0.576296,-0.139063],[0.591215,0.798050,0.116540],[0.043818,-0.176068,0.983402]]
2025-10-26T20:56:09.775Z,1761512169.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805629,-0.575606,-0.140139],[0.590757,0.798278,0.117293],[0.044355,-0.177283,0.983160]]
2025-10-26T20:56:10.180Z,1761512170.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806391,-0.574361,-0.140865],[0.589679,0.798993,0.117852],[0.044861,-0.178100,0.982989]]
2025-10-26T20:56:10.583Z,1761512170.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807572,-0.572409,-0.142044],[0.588029,0.799978,0.119403],[0.045285,-0.179953,0.982632]]
2025-10-26T20:56:10.982Z,1761512170.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809303,-0.569587,-0.143524],[0.585615,0.801389,0.121783],[0.045652,-0.182609,0.982125]]
2025-10-26T20:56:11.387Z,1761512171.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811214,-0.566601,-0.144553],[0.582916,0.803131,0.123242],[0.046266,-0.184238,0.981792]]
2025-10-26T20:56:11.831Z,1761512171.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813316,-0.563372,-0.145359],[0.579961,0.804974,0.125151],[0.046504,-0.186090,0.981432]]
2025-10-26T20:56:12.194Z,1761512172.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815262,-0.560458,-0.145721],[0.577184,0.806838,0.125981],[0.046967,-0.186815,0.981272]]
2025-10-26T20:56:12.598Z,1761512172.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817220,-0.557436,-0.146344],[0.574373,0.808642,0.127253],[0.047405,-0.188050,0.981015]]
2025-10-26T20:56:13.002Z,1761512173.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819004,-0.554555,-0.147314],[0.571787,0.810214,0.128891],[0.047879,-0.189794,0.980656]]
2025-10-26T20:56:13.408Z,1761512173.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820636,-0.552216,-0.147015],[0.569437,0.811798,0.129328],[0.047930,-0.189847,0.980643]]
2025-10-26T20:56:13.838Z,1761512173.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822119,-0.550058,-0.146821],[0.567286,0.813232,0.129768],[0.048020,-0.189974,0.980614]]
2025-10-26T20:56:14.214Z,1761512174.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823466,-0.548187,-0.146269],[0.565304,0.814699,0.129217],[0.048330,-0.189092,0.980769]]
2025-10-26T20:56:14.620Z,1761512174.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824599,-0.546461,-0.146346],[0.563631,0.815792,0.129631],[0.048550,-0.189379,0.980703]]
2025-10-26T20:56:15.024Z,1761512175.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825787,-0.544690,-0.146245],[0.561859,0.817015,0.129621],[0.048881,-0.189208,0.980720]]
2025-10-26T20:56:15.426Z,1761512175.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826874,-0.543027,-0.146292],[0.560240,0.818069,0.129978],[0.049095,-0.189435,0.980665]]
2025-10-26T20:56:15.841Z,1761512175.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827922,-0.541306,-0.146740],[0.558659,0.819035,0.130695],[0.049439,-0.190184,0.980503]]
2025-10-26T20:56:16.234Z,1761512176.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828744,-0.539949,-0.147100],[0.557405,0.819830,0.131064],[0.049829,-0.190613,0.980400]]
2025-10-26T20:56:16.643Z,1761512176.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829757,-0.538421,-0.146992],[0.555887,0.820818,0.131334],[0.049941,-0.190686,0.980380]]
2025-10-26T20:56:17.065Z,1761512177.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830473,-0.537155,-0.147575],[0.554766,0.821515,0.131710],[0.050486,-0.191251,0.980242]]
2025-10-26T20:56:17.446Z,1761512177.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830948,-0.536181,-0.148444],[0.553984,0.822002,0.131965],[0.051264,-0.191892,0.980076]]
2025-10-26T20:56:17.854Z,1761512177.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831417,-0.535312,-0.148956],[0.553206,0.822577,0.131646],[0.052056,-0.191856,0.980042]]
2025-10-26T20:56:18.256Z,1761512178.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831628,-0.534952,-0.149069],[0.552819,0.822995,0.130658],[0.052787,-0.191067,0.980157]]
2025-10-26T20:56:19.069Z,1761512179.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831936,-0.534130,-0.150290],[0.552256,0.823333,0.130908],[0.053817,-0.191906,0.979937]]
2025-10-26T20:56:19.467Z,1761512179.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832027,-0.534096,-0.149907],[0.552096,0.823587,0.129980],[0.054040,-0.190909,0.980119]]
2025-10-26T20:56:19.870Z,1761512179.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832273,-0.533874,-0.149332],[0.551692,0.824067,0.128644],[0.054379,-0.189452,0.980383]]
2025-10-26T20:56:20.274Z,1761512180.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831874,-0.534366,-0.149794],[0.552227,0.823823,0.127912],[0.055052,-0.189127,0.980408]]
2025-10-26T20:56:20.681Z,1761512180.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831796,-0.534415,-0.150051],[0.552311,0.823804,0.127670],[0.055384,-0.189070,0.980400]]
2025-10-26T20:56:21.089Z,1761512181.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831471,-0.534945,-0.149963],[0.552758,0.823671,0.126590],[0.055801,-0.188149,0.980554]]
2025-10-26T20:56:21.486Z,1761512181.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831142,-0.535606,-0.149433],[0.553226,0.823587,0.125080],[0.056077,-0.186629,0.980829]]
2025-10-26T20:56:21.890Z,1761512181.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831099,-0.535819,-0.148903],[0.553275,0.823719,0.123991],[0.056218,-0.185433,0.981047]]
2025-10-26T20:56:22.294Z,1761512182.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831075,-0.536045,-0.148225],[0.553305,0.823876,0.122806],[0.056289,-0.184074,0.981299]]
2025-10-26T20:56:22.711Z,1761512182.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830866,-0.536442,-0.147958],[0.553595,0.823820,0.121876],[0.056511,-0.183172,0.981455]]
2025-10-26T20:56:23.103Z,1761512183.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831021,-0.536218,-0.147897],[0.553345,0.824034,0.121563],[0.056688,-0.182859,0.981503]]
2025-10-26T20:56:23.506Z,1761512183.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831139,-0.536148,-0.147491],[0.553150,0.824290,0.120708],[0.056858,-0.181910,0.981670]]
2025-10-26T20:56:23.910Z,1761512183.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831603,-0.535404,-0.147574],[0.552442,0.824729,0.120955],[0.056949,-0.182113,0.981627]]
2025-10-26T20:56:24.316Z,1761512184.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831879,-0.534960,-0.147629],[0.552006,0.825037,0.120842],[0.057154,-0.182018,0.981633]]
2025-10-26T20:56:24.734Z,1761512184.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832249,-0.534545,-0.147050],[0.551440,0.825534,0.120029],[0.057234,-0.180983,0.981819]]
2025-10-26T20:56:25.122Z,1761512185.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832770,-0.533653,-0.147340],[0.550640,0.825990,0.120566],[0.057361,-0.181534,0.981710]]
2025-10-26T20:56:25.533Z,1761512185.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833773,-0.531902,-0.147999],[0.549126,0.826744,0.122294],[0.057309,-0.183235,0.981397]]
2025-10-26T20:56:25.933Z,1761512185.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834561,-0.530791,-0.147544],[0.547947,0.827509,0.122408],[0.057121,-0.183003,0.981452]]
2025-10-26T20:56:26.334Z,1761512186.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835416,-0.529380,-0.147775],[0.546646,0.828227,0.123363],[0.057086,-0.183840,0.981297]]
2025-10-26T20:56:26.740Z,1761512186.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836213,-0.528083,-0.147906],[0.545417,0.828954,0.123917],[0.057169,-0.184292,0.981208]]
2025-10-26T20:56:27.149Z,1761512187.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837430,-0.526080,-0.148161],[0.543556,0.829975,0.125250],[0.057078,-0.185422,0.981000]]
2025-10-26T20:56:27.553Z,1761512187.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838578,-0.524099,-0.148685],[0.541787,0.830884,0.126879],[0.057043,-0.186953,0.980711]]
2025-10-26T20:56:27.950Z,1761512187.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839515,-0.522624,-0.148587],[0.540343,0.831731,0.127490],[0.056954,-0.187318,0.980647]]
2025-10-26T20:56:28.354Z,1761512188.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840485,-0.521175,-0.148193],[0.538847,0.832663,0.127737],[0.056822,-0.187215,0.980674]]
2025-10-26T20:56:28.758Z,1761512188.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841250,-0.519943,-0.148182],[0.537643,0.833391,0.128062],[0.056908,-0.187402,0.980633]]
2025-10-26T20:56:29.164Z,1761512189.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842323,-0.518241,-0.148052],[0.535976,0.834346,0.128829],[0.056762,-0.187868,0.980553]]
2025-10-26T20:56:29.566Z,1761512189.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843325,-0.516640,-0.147942],[0.534412,0.835236,0.129555],[0.056633,-0.188319,0.980474]]
2025-10-26T20:56:29.970Z,1761512189.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844079,-0.515374,-0.148059],[0.533209,0.835928,0.130052],[0.056741,-0.188720,0.980390]]
2025-10-26T20:56:30.375Z,1761512190.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844833,-0.514189,-0.147876],[0.532028,0.836607,0.130517],[0.056604,-0.188939,0.980356]]
2025-10-26T20:56:30.778Z,1761512190.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845135,-0.513778,-0.147577],[0.531536,0.836996,0.130029],[0.056716,-0.188335,0.980466]]
2025-10-26T20:56:31.183Z,1761512191.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845382,-0.513462,-0.147263],[0.531134,0.837326,0.129541],[0.056793,-0.187728,0.980578]]
2025-10-26T20:56:31.586Z,1761512191.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845848,-0.512756,-0.147048],[0.530395,0.837795,0.129546],[0.056771,-0.187569,0.980609]]
2025-10-26T20:56:31.992Z,1761512191.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845823,-0.512851,-0.146856],[0.530406,0.837913,0.128732],[0.057032,-0.186778,0.980745]]
2025-10-26T20:56:32.394Z,1761512192.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845830,-0.512783,-0.147057],[0.530354,0.838004,0.128350],[0.057419,-0.186555,0.980765]]
2025-10-26T20:56:32.798Z,1761512192.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845762,-0.512797,-0.147397],[0.530420,0.837993,0.128151],[0.057803,-0.186567,0.980740]]
2025-10-26T20:56:33.203Z,1761512193.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845645,-0.512828,-0.147960],[0.530579,0.837837,0.128510],[0.058062,-0.187178,0.980608]]
2025-10-26T20:56:33.610Z,1761512193.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845397,-0.513236,-0.147966],[0.530945,0.837705,0.127858],[0.058331,-0.186653,0.980693]]
2025-10-26T20:56:34.021Z,1761512194.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845097,-0.513832,-0.147609],[0.531401,0.837588,0.126726],[0.058519,-0.185535,0.980894]]
2025-10-26T20:56:34.414Z,1761512194.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845198,-0.513917,-0.146731],[0.531256,0.837844,0.125634],[0.058372,-0.184138,0.981166]]
2025-10-26T20:56:34.696Z,1761512194.696 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:56:34.818Z,1761512194.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845031,-0.514103,-0.147040],[0.531533,0.837583,0.126206],[0.058275,-0.184805,0.981046]]
2025-10-26T20:56:35.223Z,1761512195.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845505,-0.513252,-0.147285],[0.530800,0.837883,0.127296],[0.058073,-0.185808,0.980868]]
2025-10-26T20:56:35.626Z,1761512195.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845833,-0.512800,-0.146976],[0.530276,0.838261,0.126988],[0.058084,-0.185349,0.980955]]
2025-10-26T20:56:35.700Z,1761512195.700 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:56:36.039Z,1761512196.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846300,-0.512068,-0.146839],[0.529530,0.838720,0.127072],[0.058087,-0.185297,0.980964]]
2025-10-26T20:56:36.434Z,1761512196.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847249,-0.510607,-0.146456],[0.528037,0.839592,0.127523],[0.057849,-0.185378,0.980963]]
2025-10-26T20:56:36.838Z,1761512196.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848130,-0.509355,-0.145717],[0.526654,0.840469,0.127462],[0.057547,-0.184847,0.981081]]
2025-10-26T20:56:37.242Z,1761512197.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849170,-0.507727,-0.145337],[0.524982,0.841484,0.127670],[0.057478,-0.184713,0.981110]]
2025-10-26T20:56:37.648Z,1761512197.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850139,-0.506184,-0.145056],[0.523425,0.842388,0.128093],[0.057355,-0.184823,0.981097]]
2025-10-26T20:56:38.454Z,1761512198.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851968,-0.503351,-0.144183],[0.520485,0.844131,0.128602],[0.056978,-0.184610,0.981159]]
2025-10-26T20:56:38.865Z,1761512198.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852980,-0.501718,-0.143888],[0.518844,0.845054,0.129165],[0.056789,-0.184831,0.981128]]
2025-10-26T20:56:39.268Z,1761512199.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853781,-0.500503,-0.143369],[0.517546,0.845845,0.129200],[0.056603,-0.184508,0.981200]]
2025-10-26T20:56:39.670Z,1761512199.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854207,-0.500326,-0.141437],[0.516868,0.846645,0.126650],[0.056380,-0.181290,0.981812]]
2025-10-26T20:56:40.074Z,1761512200.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854338,-0.500745,-0.139143],[0.516706,0.847158,0.123847],[0.055860,-0.177703,0.982497]]
2025-10-26T20:56:40.479Z,1761512200.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854379,-0.501216,-0.137185],[0.516689,0.847518,0.121429],[0.055404,-0.174628,0.983074]]
2025-10-26T20:56:40.888Z,1761512200.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854134,-0.502060,-0.135615],[0.517133,0.847546,0.119325],[0.055032,-0.172050,0.983550]]
2025-10-26T20:56:41.286Z,1761512201.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854246,-0.502028,-0.135023],[0.516968,0.847726,0.118760],[0.054842,-0.171253,0.983700]]
2025-10-26T20:56:41.330Z,1761512201.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:56:41.509Z,1761512201.509 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:56:41.510Z,1761512201.510 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:56:41.690Z,1761512201.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853916,-0.502984,-0.133549],[0.517582,0.847558,0.117280],[0.054200,-0.169270,0.984078]]
2025-10-26T20:56:41.760Z,1761512201.760 [DAT](INFO): DAT read: user:131>

2025-10-26T20:56:41.761Z,1761512201.761 [DAT](INFO): DAT read: Tx time:20:56:40.8977

2025-10-26T20:56:41.762Z,1761512201.762 [DAT](INFO): Ping request sent.
2025-10-26T20:56:41.762Z,1761512201.762 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:56:41.762Z,1761512201.762 [DAT](INFO): publishing transmit ping time
2025-10-26T20:56:41.762Z,1761512201.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-10-26T20:56:42.013Z,1761512202.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251206
2025-10-26T20:56:42.094Z,1761512202.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853664,-0.503743,-0.132288],[0.518080,0.847356,0.116538],[0.053390,-0.168021,0.984337]]
2025-10-26T20:56:42.267Z,1761512202.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505007
2025-10-26T20:56:42.507Z,1761512202.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853091,-0.504948,-0.131389],[0.519138,0.846670,0.116811],[0.052260,-0.167860,0.984425]]
2025-10-26T20:56:42.517Z,1761512202.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755293
2025-10-26T20:56:42.768Z,1761512202.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006684
2025-10-26T20:56:42.902Z,1761512202.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852610,-0.506067,-0.130203],[0.520057,0.846082,0.116984],[0.050961,-0.167455,0.984562]]
2025-10-26T20:56:43.020Z,1761512203.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258821
2025-10-26T20:56:43.275Z,1761512203.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512820
2025-10-26T20:56:43.306Z,1761512203.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851890,-0.507457,-0.129506],[0.521382,0.845093,0.118232],[0.049447,-0.168242,0.984505]]
2025-10-26T20:56:43.525Z,1761512203.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762976
2025-10-26T20:56:43.718Z,1761512203.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851257,-0.508841,-0.128230],[0.522555,0.844323,0.118551],[0.047944,-0.167924,0.984633]]
2025-10-26T20:56:43.776Z,1761512203.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014742
2025-10-26T20:56:44.029Z,1761512204.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267168
2025-10-26T20:56:44.114Z,1761512204.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850360,-0.510516,-0.127517],[0.524158,0.843144,0.119864],[0.046323,-0.168767,0.984567]]
2025-10-26T20:56:44.283Z,1761512204.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520907
2025-10-26T20:56:44.555Z,1761512204.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.793034
2025-10-26T20:56:44.557Z,1761512204.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849873,-0.511666,-0.126149],[0.525090,0.842488,0.120394],[0.044678,-0.168559,0.984678]]
2025-10-26T20:56:44.784Z,1761512204.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022694
2025-10-26T20:56:44.928Z,1761512204.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849294,-0.513078,-0.124302],[0.526158,0.841883,0.119959],[0.043099,-0.167283,0.984966]]
2025-10-26T20:56:45.037Z,1761512205.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275126
2025-10-26T20:56:45.292Z,1761512205.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529298
2025-10-26T20:56:45.338Z,1761512205.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849105,-0.513802,-0.122588],[0.526604,0.841550,0.120342],[0.041332,-0.166738,0.985135]]
2025-10-26T20:56:45.540Z,1761512205.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778698
2025-10-26T20:56:45.734Z,1761512205.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849088,-0.514338,-0.120444],[0.526772,0.841462,0.120221],[0.039515,-0.165524,0.985414]]
2025-10-26T20:56:45.793Z,1761512205.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031200
2025-10-26T20:56:46.045Z,1761512206.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283100
2025-10-26T20:56:46.135Z,1761512206.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849147,-0.514935,-0.117432],[0.526786,0.841748,0.118142],[0.038012,-0.162181,0.986029]]
2025-10-26T20:56:46.299Z,1761512206.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536879
2025-10-26T20:56:46.539Z,1761512206.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849611,-0.514573,-0.115655],[0.526147,0.842113,0.118384],[0.036477,-0.161432,0.986210]]
2025-10-26T20:56:46.554Z,1761512206.554 [DAT](INFO): DAT read: 20:56:45.2092 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 423, 0.41,-2.660, 2.000,-2.855,-3.006, PHS= 0.448,-1.232, 0.107, RAW= 138.9,   8.8, CAL= 138.6,   9.8, ROT=  11.4,  -9.8

2025-10-26T20:56:46.555Z,1761512206.555 [DAT](INFO): got valid direction response:
 20:56:45.2092 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 423, 0.41,-2.660, 2.000,-2.855,-3.006, PHS= 0.448,-1.232, 0.107, RAW= 138.9,   8.8, CAL= 138.6,   9.8, ROT=  11.4,  -9.8

2025-10-26T20:56:46.556Z,1761512206.556 [DAT](INFO): DAT read: Rx Time:20:56:45.2092

2025-10-26T20:56:46.556Z,1761512206.556 [DAT](INFO): Rx dataTimestamp_ set to:1761512206.556132
2025-10-26T20:56:46.557Z,1761512206.557 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-26T20:56:46.557Z,1761512206.557 [DAT](INFO): Received low SNR in chirp
2025-10-26T20:56:46.572Z,1761512206.572 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T20:56:46.573Z,1761512206.573 [DAT](INFO): direction in FSK: [0.965967,0.194773,0.170209]
2025-10-26T20:56:46.942Z,1761512206.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850615,-0.513153,-0.114577],[0.524603,0.842924,0.119457],[0.035280,-0.161719,0.986206]]
2025-10-26T20:56:47.357Z,1761512207.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851548,-0.512058,-0.112524],[0.523198,0.843751,0.119781],[0.033607,-0.160872,0.986403]]
2025-10-26T20:56:47.753Z,1761512207.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852635,-0.510467,-0.111521],[0.521509,0.844585,0.121263],[0.032288,-0.161552,0.986336]]
2025-10-26T20:56:48.154Z,1761512208.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853666,-0.509026,-0.110209],[0.519905,0.845410,0.122396],[0.030870,-0.161783,0.986343]]
2025-10-26T20:56:48.558Z,1761512208.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854784,-0.507385,-0.109104],[0.518151,0.846241,0.124081],[0.029371,-0.162595,0.986256]]
2025-10-26T20:56:48.963Z,1761512208.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855950,-0.505581,-0.108338],[0.516298,0.847082,0.126054],[0.028041,-0.163831,0.986090]]
2025-10-26T20:56:49.386Z,1761512209.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856747,-0.504521,-0.106972],[0.515051,0.847695,0.127027],[0.026592,-0.163926,0.986114]]
2025-10-26T20:56:49.774Z,1761512209.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857723,-0.503114,-0.105773],[0.513493,0.848458,0.128232],[0.025229,-0.164301,0.986088]]
2025-10-26T20:56:50.178Z,1761512210.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858518,-0.502068,-0.104279],[0.512238,0.849063,0.129249],[0.023648,-0.164379,0.986114]]
2025-10-26T20:56:50.578Z,1761512210.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858892,-0.501730,-0.102822],[0.511670,0.849360,0.129542],[0.022338,-0.163873,0.986229]]
2025-10-26T20:56:50.991Z,1761512210.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858898,-0.502014,-0.101371],[0.511712,0.849347,0.129464],[0.021106,-0.163069,0.986389]]
2025-10-26T20:56:51.420Z,1761512211.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858835,-0.502423,-0.099865],[0.511924,0.848793,0.132227],[0.018331,-0.164685,0.986176]]
2025-10-26T20:56:51.856Z,1761512211.856 [DAT](INFO): Reached modem response timeout
2025-10-26T20:56:52.200Z,1761512212.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858667,-0.502841,-0.099204],[0.512247,0.848431,0.133295],[0.017141,-0.165273,0.986099]]
2025-10-26T20:56:52.598Z,1761512212.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858274,-0.503747,-0.098006],[0.512932,0.848123,0.132616],[0.016316,-0.164091,0.986310]]
2025-10-26T20:56:53.013Z,1761512213.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856892,-0.506618,-0.095261],[0.515296,0.846962,0.130862],[0.014385,-0.161222,0.986813]]
2025-10-26T20:56:53.452Z,1761512213.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855220,-0.509721,-0.093721],[0.518081,0.845649,0.128338],[0.013838,-0.158312,0.987292]]
2025-10-26T20:56:53.817Z,1761512213.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854192,-0.511689,-0.092361],[0.519798,0.844748,0.127321],[0.012872,-0.156766,0.987552]]
2025-10-26T20:56:54.124Z,1761512214.124 [DAT](INFO): DAT read: Response Not Received

2025-10-26T20:56:54.125Z,1761512214.125 [DAT](INFO): response not received
2025-10-26T20:56:54.125Z,1761512214.125 [DAT](ERROR): No response from remote modem.
2025-10-26T20:56:54.219Z,1761512214.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853086,-0.513770,-0.091016],[0.521636,0.843734,0.126524],[0.011789,-0.155414,0.987779]]
2025-10-26T20:56:54.622Z,1761512214.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851950,-0.515927,-0.089450],[0.523518,0.842689,0.125714],[0.010519,-0.153931,0.988026]]
2025-10-26T20:56:55.025Z,1761512215.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850534,-0.518525,-0.087885],[0.525846,0.841266,0.125531],[0.008843,-0.152982,0.988189]]
2025-10-26T20:56:55.487Z,1761512215.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849106,-0.520979,-0.087175],[0.528175,0.839579,0.127034],[0.007008,-0.153909,0.988060]]
2025-10-26T20:56:55.830Z,1761512215.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848306,-0.522547,-0.085562],[0.529478,0.838776,0.126917],[0.005447,-0.152968,0.988216]]
2025-10-26T20:56:56.234Z,1761512216.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847560,-0.524025,-0.083905],[0.530687,0.838005,0.126961],[0.003783,-0.152134,0.988353]]
2025-10-26T20:56:56.638Z,1761512216.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846892,-0.525328,-0.082489],[0.531761,0.837222,0.127628],[0.002015,-0.151952,0.988386]]
2025-10-26T20:56:57.044Z,1761512217.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846277,-0.526456,-0.081609],[0.532744,0.836413,0.128829],[0.000436,-0.152501,0.988303]]
2025-10-26T20:56:57.497Z,1761512217.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846037,-0.527065,-0.080150],[0.533123,0.836025,0.129780],[-0.001395,-0.152529,0.988298]]
2025-10-26T20:56:57.850Z,1761512217.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846083,-0.527160,-0.079032],[0.533041,0.835775,0.131710],[-0.003380,-0.153565,0.988133]]
2025-10-26T20:56:58.254Z,1761512218.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846065,-0.527408,-0.077557],[0.533054,0.835572,0.132937],[-0.005307,-0.153816,0.988085]]
2025-10-26T20:56:58.659Z,1761512218.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846236,-0.527368,-0.075947],[0.532759,0.835568,0.134138],[-0.007281,-0.153974,0.988048]]
2025-10-26T20:56:59.062Z,1761512219.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846624,-0.526987,-0.074241],[0.532108,0.835755,0.135554],[-0.009388,-0.154268,0.987984]]
2025-10-26T20:56:59.524Z,1761512219.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847054,-0.526544,-0.072461],[0.531381,0.835986,0.136970],[-0.011545,-0.154526,0.987921]]
2025-10-26T20:56:59.870Z,1761512219.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847604,-0.525900,-0.070686],[0.530454,0.836347,0.138357],[-0.013644,-0.154768,0.987857]]
2025-10-26T20:57:00.275Z,1761512220.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848488,-0.524694,-0.069030],[0.528978,0.836962,0.140275],[-0.015826,-0.155537,0.987703]]
2025-10-26T20:57:00.678Z,1761512220.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849360,-0.523461,-0.067646],[0.527513,0.837550,0.142268],[-0.017815,-0.156521,0.987514]]
2025-10-26T20:57:01.083Z,1761512221.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850050,-0.522573,-0.065821],[0.526324,0.838048,0.143731],[-0.019949,-0.156822,0.987425]]
2025-10-26T20:57:01.516Z,1761512221.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850424,-0.522202,-0.063913],[0.525637,0.838298,0.144784],[-0.022029,-0.156723,0.987397]]
2025-10-26T20:57:01.891Z,1761512221.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850962,-0.521485,-0.062584],[0.524680,0.838581,0.146607],[-0.023971,-0.157594,0.987213]]
2025-10-26T20:57:02.294Z,1761512222.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851385,-0.520903,-0.061682],[0.523903,0.838644,0.149003],[-0.025887,-0.159174,0.986911]]
2025-10-26T20:57:02.702Z,1761512222.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851367,-0.521077,-0.060441],[0.523840,0.838441,0.150360],[-0.027673,-0.159672,0.986782]]
2025-10-26T20:57:03.102Z,1761512223.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851203,-0.521492,-0.059154],[0.524022,0.838190,0.151123],[-0.029227,-0.159634,0.986744]]
2025-10-26T20:57:03.515Z,1761512223.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850764,-0.522376,-0.057654],[0.524651,0.837780,0.151216],[-0.030690,-0.158898,0.986818]]
2025-10-26T20:57:03.910Z,1761512223.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850144,-0.523552,-0.056117],[0.525571,0.837233,0.151048],[-0.032099,-0.157906,0.986932]]
2025-10-26T20:57:04.315Z,1761512224.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849519,-0.524694,-0.054887],[0.526498,0.836624,0.151195],[-0.033411,-0.157341,0.986979]]
2025-10-26T20:57:04.725Z,1761512224.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848437,-0.526478,-0.054550],[0.528181,0.835453,0.151799],[-0.034345,-0.157604,0.986905]]
2025-10-26T20:57:05.123Z,1761512225.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847908,-0.527335,-0.054496],[0.528953,0.834636,0.153594],[-0.035511,-0.159059,0.986630]]
2025-10-26T20:57:05.526Z,1761512225.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846992,-0.528788,-0.054669],[0.530354,0.833460,0.155142],[-0.036472,-0.160398,0.986378]]
2025-10-26T20:57:05.824Z,1761512225.824 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:57:05.930Z,1761512225.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846010,-0.530323,-0.054992],[0.531874,0.832282,0.156260],[-0.037099,-0.161446,0.986184]]
2025-10-26T20:57:06.334Z,1761512226.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845167,-0.531781,-0.053874],[0.533137,0.831513,0.156053],[-0.038189,-0.160613,0.986278]]
2025-10-26T20:57:06.743Z,1761512226.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844425,-0.532993,-0.053525],[0.534252,0.830691,0.156615],[-0.039012,-0.160845,0.986208]]
2025-10-26T20:57:06.828Z,1761512226.828 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:57:07.142Z,1761512227.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843901,-0.533874,-0.053008],[0.534999,0.830042,0.157498],[-0.040086,-0.161272,0.986096]]
2025-10-26T20:57:07.550Z,1761512227.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843512,-0.534566,-0.052215],[0.535529,0.829592,0.158067],[-0.041180,-0.161294,0.986047]]
2025-10-26T20:57:07.957Z,1761512227.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843181,-0.535182,-0.051252],[0.535960,0.829225,0.158534],[-0.042345,-0.161142,0.986022]]
2025-10-26T20:57:08.356Z,1761512228.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843040,-0.535514,-0.050084],[0.536085,0.829084,0.158847],[-0.043541,-0.160764,0.986032]]
2025-10-26T20:57:08.759Z,1761512228.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842760,-0.536051,-0.049037],[0.536419,0.828756,0.159429],[-0.044823,-0.160665,0.985991]]
2025-10-26T20:57:09.162Z,1761512229.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842737,-0.536089,-0.049013],[0.536380,0.828472,0.161033],[-0.045722,-0.161998,0.985731]]
2025-10-26T20:57:09.570Z,1761512229.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842557,-0.536475,-0.047876],[0.536547,0.828245,0.161640],[-0.047063,-0.161878,0.985688]]
2025-10-26T20:57:09.976Z,1761512229.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842154,-0.537206,-0.046763],[0.537073,0.827852,0.161908],[-0.048265,-0.161466,0.985697]]
2025-10-26T20:57:10.376Z,1761512230.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841937,-0.537645,-0.045615],[0.537299,0.827623,0.162329],[-0.049523,-0.161180,0.985682]]
2025-10-26T20:57:10.779Z,1761512230.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841494,-0.538428,-0.044521],[0.537885,0.827209,0.162498],[-0.050665,-0.160688,0.985704]]
2025-10-26T20:57:11.183Z,1761512231.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841129,-0.539058,-0.043794],[0.538351,0.826767,0.163203],[-0.051768,-0.160851,0.985620]]
2025-10-26T20:57:11.590Z,1761512231.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840900,-0.539500,-0.042744],[0.538579,0.826476,0.163923],[-0.053109,-0.160864,0.985547]]
2025-10-26T20:57:11.992Z,1761512231.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840255,-0.540557,-0.042063],[0.539484,0.825800,0.164349],[-0.054104,-0.160788,0.985505]]
2025-10-26T20:57:12.394Z,1761512232.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839917,-0.541142,-0.041295],[0.539896,0.825385,0.165084],[-0.055250,-0.160952,0.985415]]
2025-10-26T20:57:12.799Z,1761512232.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839283,-0.542185,-0.040485],[0.540761,0.824712,0.165611],[-0.056403,-0.160887,0.985360]]
2025-10-26T20:57:13.208Z,1761512233.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838466,-0.543509,-0.039658],[0.541918,0.823914,0.165807],[-0.057442,-0.160515,0.985361]]
2025-10-26T20:57:13.633Z,1761512233.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837866,-0.544484,-0.038955],[0.542739,0.823291,0.166208],[-0.058427,-0.160403,0.985321]]
2025-10-26T20:57:14.014Z,1761512234.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837526,-0.545013,-0.038877],[0.543187,0.822792,0.167218],[-0.059148,-0.161167,0.985153]]
2025-10-26T20:57:14.418Z,1761512234.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837358,-0.545233,-0.039414],[0.543382,0.822299,0.168997],[-0.059732,-0.162928,0.984828]]
2025-10-26T20:57:14.823Z,1761512234.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837431,-0.545116,-0.039467],[0.543192,0.822141,0.170369],[-0.060423,-0.164111,0.984590]]
2025-10-26T20:57:15.226Z,1761512235.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837605,-0.544802,-0.040110],[0.542893,0.822010,0.171952],[-0.060709,-0.165803,0.984288]]
2025-10-26T20:57:15.630Z,1761512235.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837996,-0.544195,-0.040182],[0.542222,0.822156,0.173363],[-0.061307,-0.167065,0.984038]]
2025-10-26T20:57:16.034Z,1761512236.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838390,-0.543562,-0.040527],[0.541588,0.822336,0.174489],[-0.061519,-0.168239,0.983825]]
2025-10-26T20:57:16.446Z,1761512236.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838927,-0.542745,-0.040376],[0.540766,0.822894,0.174406],[-0.061433,-0.168148,0.983846]]
2025-10-26T20:57:16.842Z,1761512236.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839554,-0.541786,-0.040218],[0.539768,0.823443,0.174906],[-0.061644,-0.168551,0.983763]]
2025-10-26T20:57:17.246Z,1761512237.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840352,-0.540552,-0.040143],[0.538457,0.824002,0.176309],[-0.062226,-0.169776,0.983516]]
2025-10-26T20:57:17.651Z,1761512237.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841097,-0.539405,-0.039977],[0.537300,0.824744,0.176370],[-0.062164,-0.169824,0.983512]]
2025-10-26T20:57:18.055Z,1761512238.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841853,-0.538297,-0.038981],[0.536088,0.825676,0.175696],[-0.062391,-0.168808,0.983672]]
2025-10-26T20:57:18.464Z,1761512238.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842536,-0.537288,-0.038150],[0.534961,0.826413,0.175666],[-0.062856,-0.168413,0.983710]]
2025-10-26T20:57:18.862Z,1761512238.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843119,-0.536421,-0.037460],[0.533982,0.827004,0.175863],[-0.063357,-0.168276,0.983702]]
2025-10-26T20:57:19.266Z,1761512239.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843619,-0.535659,-0.037099],[0.533124,0.827394,0.176631],[-0.063919,-0.168788,0.983578]]
2025-10-26T20:57:19.677Z,1761512239.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843886,-0.535243,-0.037025],[0.532671,0.827577,0.177136],[-0.064170,-0.169205,0.983490]]
2025-10-26T20:57:20.076Z,1761512240.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843998,-0.535090,-0.036696],[0.532440,0.827644,0.177520],[-0.064618,-0.169365,0.983433]]
2025-10-26T20:57:20.478Z,1761512240.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844169,-0.534833,-0.036506],[0.532131,0.827761,0.177900],[-0.064929,-0.169603,0.983371]]
2025-10-26T20:57:20.882Z,1761512240.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844230,-0.534707,-0.036919],[0.532019,0.827642,0.178788],[-0.065044,-0.170580,0.983195]]
2025-10-26T20:57:21.286Z,1761512241.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844546,-0.534127,-0.038079],[0.531485,0.827447,0.181262],[-0.065309,-0.173323,0.982697]]
2025-10-26T20:57:21.698Z,1761512241.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844301,-0.534521,-0.038000],[0.531859,0.827210,0.181246],[-0.065446,-0.173236,0.982703]]
2025-10-26T20:57:22.094Z,1761512242.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843751,-0.535320,-0.038949],[0.532745,0.826437,0.182169],[-0.065330,-0.174455,0.982496]]
2025-10-26T20:57:22.498Z,1761512242.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843506,-0.535679,-0.039320],[0.533144,0.826124,0.182420],[-0.065235,-0.174836,0.982434]]
2025-10-26T20:57:22.904Z,1761512242.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843001,-0.536482,-0.039193],[0.533927,0.825680,0.182136],[-0.065352,-0.174467,0.982492]]
2025-10-26T20:57:23.314Z,1761512243.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842563,-0.537149,-0.039471],[0.534641,0.825258,0.181957],[-0.065164,-0.174413,0.982514]]
2025-10-26T20:57:24.115Z,1761512244.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841425,-0.538939,-0.039348],[0.536452,0.824344,0.180766],[-0.064985,-0.173209,0.982739]]
2025-10-26T20:57:24.518Z,1761512244.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840884,-0.539780,-0.039400],[0.537299,0.823840,0.180548],[-0.064997,-0.172990,0.982777]]
2025-10-26T20:57:24.939Z,1761512244.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840695,-0.540074,-0.039409],[0.537577,0.823620,0.180724],[-0.065146,-0.173120,0.982744]]
2025-10-26T20:57:25.326Z,1761512245.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840072,-0.541037,-0.039477],[0.538588,0.823143,0.179887],[-0.064830,-0.172380,0.982895]]
2025-10-26T20:57:25.734Z,1761512245.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839498,-0.541925,-0.039491],[0.539493,0.822660,0.179381],[-0.064724,-0.171895,0.982987]]
2025-10-26T20:57:26.134Z,1761512246.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839001,-0.542637,-0.040279],[0.540291,0.822019,0.179917],[-0.064519,-0.172713,0.982857]]
2025-10-26T20:57:26.540Z,1761512246.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838931,-0.542737,-0.040395],[0.540426,0.821988,0.179656],[-0.064302,-0.172549,0.982900]]
2025-10-26T20:57:26.960Z,1761512246.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838775,-0.542965,-0.040560],[0.540694,0.821863,0.179421],[-0.064085,-0.172424,0.982936]]
2025-10-26T20:57:27.346Z,1761512247.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838340,-0.543610,-0.040911],[0.541414,0.821484,0.178981],[-0.063688,-0.172197,0.983002]]
2025-10-26T20:57:27.751Z,1761512247.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837985,-0.544144,-0.041082],[0.541993,0.821191,0.178576],[-0.063435,-0.171910,0.983068]]
2025-10-26T20:57:28.155Z,1761512248.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837812,-0.544414,-0.041049],[0.542274,0.821079,0.178236],[-0.063330,-0.171588,0.983131]]
2025-10-26T20:57:28.558Z,1761512248.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837679,-0.544658,-0.040514],[0.542499,0.821189,0.177043],[-0.063158,-0.170284,0.983369]]
2025-10-26T20:57:28.987Z,1761512248.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837923,-0.544349,-0.039600],[0.542123,0.821711,0.175767],[-0.063139,-0.168747,0.983635]]
2025-10-26T20:57:29.370Z,1761512249.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837970,-0.544318,-0.039048],[0.542094,0.822040,0.174311],[-0.062782,-0.167236,0.983916]]
2025-10-26T20:57:29.777Z,1761512249.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837957,-0.544374,-0.038533],[0.542119,0.822211,0.173426],[-0.062726,-0.166213,0.984093]]
2025-10-26T20:57:30.174Z,1761512250.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838341,-0.543828,-0.037885],[0.541538,0.822796,0.172461],[-0.062618,-0.165098,0.984288]]
2025-10-26T20:57:30.578Z,1761512250.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838797,-0.543139,-0.037679],[0.540826,0.823258,0.172495],[-0.062669,-0.165066,0.984289]]
2025-10-26T20:57:31.013Z,1761512251.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839407,-0.542202,-0.037588],[0.539869,0.823814,0.172833],[-0.062745,-0.165370,0.984234]]
2025-10-26T20:57:31.386Z,1761512251.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840053,-0.541216,-0.037372],[0.538878,0.824503,0.172641],[-0.062622,-0.165167,0.984276]]
2025-10-26T20:57:31.790Z,1761512251.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840684,-0.540225,-0.037505],[0.537954,0.825193,0.172228],[-0.062093,-0.164965,0.984343]]
2025-10-26T20:57:32.194Z,1761512252.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841691,-0.538639,-0.037731],[0.536420,0.826145,0.172446],[-0.061715,-0.165386,0.984296]]
2025-10-26T20:57:32.600Z,1761512252.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842811,-0.536911,-0.037368],[0.534773,0.827574,0.170703],[-0.060727,-0.163854,0.984614]]
2025-10-26T20:57:33.040Z,1761512253.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844097,-0.534800,-0.038584],[0.532834,0.828600,0.171783],[-0.059899,-0.165560,0.984379]]
2025-10-26T20:57:33.410Z,1761512253.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845234,-0.533009,-0.038492],[0.531110,0.829877,0.170959],[-0.059179,-0.164944,0.984526]]
2025-10-26T20:57:33.810Z,1761512253.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846667,-0.530716,-0.038659],[0.528885,0.831289,0.170996],[-0.058613,-0.165223,0.984513]]
2025-10-26T20:57:34.214Z,1761512254.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847750,-0.528965,-0.038926],[0.527199,0.832324,0.171165],[-0.058141,-0.165627,0.984473]]
2025-10-26T20:57:34.620Z,1761512254.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848562,-0.527624,-0.039433],[0.525978,0.833138,0.170961],[-0.057350,-0.165812,0.984488]]
2025-10-26T20:57:35.069Z,1761512255.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850619,-0.524280,-0.039727],[0.522800,0.835336,0.169983],[-0.055934,-0.165360,0.984646]]
2025-10-26T20:57:35.833Z,1761512255.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850889,-0.523823,-0.039964],[0.522446,0.835759,0.168992],[-0.055122,-0.164672,0.984807]]
2025-10-26T20:57:36.237Z,1761512256.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850970,-0.523703,-0.039823],[0.522368,0.836038,0.167846],[-0.054608,-0.163634,0.985009]]
2025-10-26T20:57:36.638Z,1761512256.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850915,-0.523816,-0.039497],[0.522498,0.836217,0.166545],[-0.054211,-0.162352,0.985243]]
2025-10-26T20:57:36.952Z,1761512256.952 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:57:37.043Z,1761512257.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850462,-0.524562,-0.039369],[0.523295,0.836023,0.165009],[-0.053644,-0.160935,0.985506]]
2025-10-26T20:57:37.446Z,1761512257.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849865,-0.525510,-0.039612],[0.524318,0.835573,0.164039],[-0.053106,-0.160180,0.985658]]
2025-10-26T20:57:37.864Z,1761512257.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847734,-0.528828,-0.041085],[0.527892,0.833602,0.162595],[-0.051737,-0.159526,0.985837]]
2025-10-26T20:57:37.956Z,1761512257.956 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:57:38.261Z,1761512258.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846487,-0.530735,-0.042196],[0.529983,0.832419,0.161854],[-0.050777,-0.159371,0.985912]]
2025-10-26T20:57:38.663Z,1761512258.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845062,-0.532945,-0.042897],[0.532336,0.831179,0.160497],[-0.049881,-0.158466,0.986104]]
2025-10-26T20:57:39.067Z,1761512259.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843536,-0.535242,-0.044299],[0.534840,0.829656,0.160056],[-0.048916,-0.158706,0.986113]]
2025-10-26T20:57:39.471Z,1761512259.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842093,-0.537406,-0.045549],[0.537217,0.828322,0.158999],[-0.047718,-0.158361,0.986228]]
2025-10-26T20:57:39.873Z,1761512259.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840695,-0.539562,-0.045882],[0.539482,0.827208,0.157118],[-0.046821,-0.156841,0.986513]]
2025-10-26T20:57:40.276Z,1761512260.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839398,-0.541483,-0.046980],[0.541599,0.826049,0.155930],[-0.045625,-0.156332,0.986650]]
2025-10-26T20:57:40.678Z,1761512260.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838346,-0.542988,-0.048374],[0.543315,0.824992,0.155554],[-0.044556,-0.156690,0.986642]]
2025-10-26T20:57:41.082Z,1761512261.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837523,-0.544137,-0.049694],[0.544659,0.824135,0.155398],[-0.043603,-0.157215,0.986601]]
2025-10-26T20:57:41.486Z,1761512261.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837049,-0.544790,-0.050531],[0.545473,0.823770,0.154474],[-0.042530,-0.156866,0.986704]]
2025-10-26T20:57:41.522Z,1761512261.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:57:41.528Z,1761512261.528 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:57:41.529Z,1761512261.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:57:41.780Z,1761512261.780 [DAT](INFO): DAT read: 

2025-10-26T20:57:41.781Z,1761512261.781 [DAT](INFO): DAT read: Tx time:20:57:40.8975

2025-10-26T20:57:41.781Z,1761512261.781 [DAT](INFO): Ping request sent.
2025-10-26T20:57:41.781Z,1761512261.781 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:57:41.781Z,1761512261.781 [DAT](INFO): publishing transmit ping time
2025-10-26T20:57:41.782Z,1761512261.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761
2025-10-26T20:57:41.894Z,1761512261.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837058,-0.544719,-0.051134],[0.545519,0.823836,0.153959],[-0.041738,-0.156767,0.986753]]
2025-10-26T20:57:42.037Z,1761512262.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253819
2025-10-26T20:57:42.284Z,1761512262.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503216
2025-10-26T20:57:42.296Z,1761512262.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837188,-0.544491,-0.051434],[0.545377,0.824085,0.153129],[-0.040991,-0.156249,0.986867]]
2025-10-26T20:57:42.536Z,1761512262.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755181
2025-10-26T20:57:42.701Z,1761512262.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837343,-0.544247,-0.051504],[0.545207,0.824466,0.151675],[-0.040085,-0.155085,0.987088]]
2025-10-26T20:57:42.789Z,1761512262.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007555
2025-10-26T20:57:43.043Z,1761512263.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261709
2025-10-26T20:57:43.111Z,1761512263.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837874,-0.543384,-0.051971],[0.544434,0.824997,0.151565],[-0.039482,-0.155287,0.987080]]
2025-10-26T20:57:43.292Z,1761512263.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511092
2025-10-26T20:57:43.506Z,1761512263.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838982,-0.541628,-0.052421],[0.542752,0.825998,0.152143],[-0.039106,-0.156097,0.986967]]
2025-10-26T20:57:43.544Z,1761512263.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763228
2025-10-26T20:57:43.796Z,1761512263.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015145
2025-10-26T20:57:43.917Z,1761512263.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839938,-0.540063,-0.053259],[0.541334,0.826892,0.152338],[-0.038233,-0.156785,0.986892]]
2025-10-26T20:57:44.052Z,1761512264.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269574
2025-10-26T20:57:44.301Z,1761512264.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519319
2025-10-26T20:57:44.316Z,1761512264.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841451,-0.537661,-0.053670],[0.539017,0.828321,0.152789],[-0.037693,-0.157493,0.986800]]
2025-10-26T20:57:44.552Z,1761512264.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771174
2025-10-26T20:57:44.724Z,1761512264.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842945,-0.535294,-0.053900],[0.536705,0.829735,0.153259],[-0.037316,-0.158118,0.986715]]
2025-10-26T20:57:44.804Z,1761512264.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022979
2025-10-26T20:57:45.058Z,1761512265.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275869
2025-10-26T20:57:45.141Z,1761512265.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844446,-0.532861,-0.054500],[0.534386,0.831137,0.153762],[-0.036636,-0.158967,0.986604]]
2025-10-26T20:57:45.308Z,1761512265.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527144
2025-10-26T20:57:45.528Z,1761512265.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846159,-0.530103,-0.054826],[0.531721,0.832831,0.153835],[-0.035888,-0.159321,0.986574]]
2025-10-26T20:57:45.562Z,1761512265.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780817
2025-10-26T20:57:45.812Z,1761512265.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031122
2025-10-26T20:57:45.930Z,1761512265.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847800,-0.527443,-0.055122],[0.529127,0.834361,0.154487],[-0.035491,-0.160140,0.986456]]
2025-10-26T20:57:46.067Z,1761512266.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285545
2025-10-26T20:57:46.316Z,1761512266.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535114
2025-10-26T20:57:46.334Z,1761512266.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849236,-0.525084,-0.055544],[0.526885,0.835845,0.154126],[-0.034503,-0.160155,0.986489]]
2025-10-26T20:57:46.569Z,1761512266.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787426
2025-10-26T20:57:46.741Z,1761512266.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850864,-0.522415,-0.055800],[0.524329,0.837613,0.153247],[-0.033320,-0.159650,0.986611]]
2025-10-26T20:57:46.820Z,1761512266.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039198
2025-10-26T20:57:47.072Z,1761512267.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291109
2025-10-26T20:57:47.144Z,1761512267.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852404,-0.519804,-0.056665],[0.521883,0.839061,0.153670],[-0.032333,-0.160562,0.986496]]
2025-10-26T20:57:47.324Z,1761512267.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543100
2025-10-26T20:57:47.546Z,1761512267.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853623,-0.517702,-0.057564],[0.519960,0.840269,0.153586],[-0.031143,-0.161035,0.986457]]
2025-10-26T20:57:47.576Z,1761512267.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795247
2025-10-26T20:57:47.828Z,1761512267.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047118
2025-10-26T20:57:47.950Z,1761512267.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854738,-0.515701,-0.058949],[0.518212,0.841339,0.153640],[-0.029637,-0.161870,0.986367]]
2025-10-26T20:57:48.081Z,1761512268.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299515
2025-10-26T20:57:48.332Z,1761512268.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551138
2025-10-26T20:57:48.356Z,1761512268.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855742,-0.513927,-0.059880],[0.516652,0.842522,0.152406],[-0.027875,-0.161357,0.986502]]
2025-10-26T20:57:48.584Z,1761512268.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803126
2025-10-26T20:57:48.760Z,1761512268.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856355,-0.512820,-0.060596],[0.515707,0.843295,0.151329],[-0.026505,-0.160841,0.986624]]
2025-10-26T20:57:48.836Z,1761512268.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055138
2025-10-26T20:57:49.088Z,1761512269.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307173
2025-10-26T20:57:49.162Z,1761512269.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856660,-0.512285,-0.060807],[0.515283,0.844026,0.148672],[-0.024840,-0.158694,0.987015]]
2025-10-26T20:57:49.340Z,1761512269.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559153
2025-10-26T20:57:49.566Z,1761512269.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856743,-0.512052,-0.061602],[0.515216,0.844340,0.147110],[-0.023315,-0.157774,0.987200]]
2025-10-26T20:57:49.592Z,1761512269.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811218
2025-10-26T20:57:49.844Z,1761512269.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063118
2025-10-26T20:57:49.971Z,1761512269.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856435,-0.512472,-0.062378],[0.515800,0.844345,0.145024],[-0.021652,-0.156379,0.987460]]
2025-10-26T20:57:50.097Z,1761512270.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315455
2025-10-26T20:57:50.348Z,1761512270.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567105
2025-10-26T20:57:50.388Z,1761512270.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855672,-0.513575,-0.063764],[0.517135,0.843775,0.143579],[-0.019936,-0.155831,0.987583]]
2025-10-26T20:57:50.601Z,1761512270.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819760
2025-10-26T20:57:50.778Z,1761512270.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854916,-0.514711,-0.064740],[0.518446,0.843324,0.141486],[-0.018227,-0.154523,0.987821]]
2025-10-26T20:57:50.854Z,1761512270.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072627
2025-10-26T20:57:51.105Z,1761512271.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323409
2025-10-26T20:57:51.182Z,1761512271.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853925,-0.516266,-0.065427],[0.520133,0.842729,0.138817],[-0.016529,-0.152570,0.988154]]
2025-10-26T20:57:51.356Z,1761512271.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575113
2025-10-26T20:57:51.586Z,1761512271.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852438,-0.518545,-0.066786],[0.522618,0.841497,0.136942],[-0.014811,-0.151638,0.988325]]
2025-10-26T20:57:51.608Z,1761512271.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827171
2025-10-26T20:57:51.860Z,1761512271.860 [DAT](INFO): Reached modem response timeout
2025-10-26T20:57:51.991Z,1761512271.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850743,-0.521159,-0.068036],[0.525422,0.840137,0.134541],[-0.012958,-0.150208,0.988569]]
2025-10-26T20:57:52.403Z,1761512272.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849155,-0.523630,-0.068905],[0.528027,0.838970,0.131589],[-0.011094,-0.148123,0.988907]]
2025-10-26T20:57:52.798Z,1761512272.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846803,-0.527155,-0.070934],[0.531827,0.836813,0.130015],[-0.009180,-0.147821,0.988971]]
2025-10-26T20:57:53.203Z,1761512273.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844655,-0.530402,-0.072328],[0.535263,0.835036,0.127308],[-0.007128,-0.146246,0.989223]]
2025-10-26T20:57:53.606Z,1761512273.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842073,-0.534141,-0.074872],[0.539339,0.832555,0.126357],[-0.005157,-0.146783,0.989155]]
2025-10-26T20:57:54.011Z,1761512274.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839551,-0.537878,-0.076428],[0.543271,0.830327,0.124152],[-0.003319,-0.145753,0.989315]]
2025-10-26T20:57:54.129Z,1761512274.129 [DAT](INFO): DAT read: Response Not Received

2025-10-26T20:57:54.129Z,1761512274.129 [DAT](INFO): response not received
2025-10-26T20:57:54.130Z,1761512274.130 [DAT](ERROR): No response from remote modem.
2025-10-26T20:57:54.414Z,1761512274.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837321,-0.541099,-0.078137],[0.546710,0.828413,0.121818],[-0.001186,-0.144719,0.989472]]
2025-10-26T20:57:54.819Z,1761512274.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835072,-0.544254,-0.080267],[0.550140,0.826411,0.119963],[0.001043,-0.144336,0.989528]]
2025-10-26T20:57:55.228Z,1761512275.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833223,-0.546705,-0.082786],[0.552928,0.824687,0.119005],[0.003212,-0.144932,0.989436]]
2025-10-26T20:57:55.626Z,1761512275.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832035,-0.548115,-0.085364],[0.554696,0.823586,0.118399],[0.005408,-0.145863,0.989290]]
2025-10-26T20:57:56.031Z,1761512276.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831309,-0.548907,-0.087333],[0.555759,0.823041,0.117195],[0.007550,-0.145962,0.989261]]
2025-10-26T20:57:56.443Z,1761512276.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830893,-0.548934,-0.091042],[0.556351,0.822380,0.119018],[0.009538,-0.149542,0.988709]]
2025-10-26T20:57:56.840Z,1761512276.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831368,-0.547785,-0.093589],[0.555605,0.822786,0.119694],[0.011437,-0.151508,0.988390]]
2025-10-26T20:57:57.275Z,1761512277.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832329,-0.545877,-0.096166],[0.554128,0.823581,0.121069],[0.013112,-0.154057,0.987975]]
2025-10-26T20:57:57.646Z,1761512277.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833468,-0.543697,-0.098617],[0.552366,0.824616,0.122067],[0.014954,-0.156212,0.987610]]
2025-10-26T20:57:58.051Z,1761512278.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834741,-0.541492,-0.099970],[0.550402,0.825877,0.122415],[0.016276,-0.157209,0.987431]]
2025-10-26T20:57:58.458Z,1761512278.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836209,-0.538961,-0.101371],[0.548128,0.827321,0.122866],[0.017647,-0.158306,0.987232]]
2025-10-26T20:57:58.861Z,1761512278.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837867,-0.536161,-0.102520],[0.545549,0.828948,0.123376],[0.018834,-0.159302,0.987050]]
2025-10-26T20:57:59.298Z,1761512279.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839691,-0.533140,-0.103346],[0.542692,0.830826,0.123345],[0.020103,-0.159657,0.986968]]
2025-10-26T20:57:59.667Z,1761512279.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841392,-0.530244,-0.104408],[0.540008,0.832495,0.123870],[0.021237,-0.160604,0.986790]]
2025-10-26T20:58:00.070Z,1761512280.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843083,-0.527372,-0.105306],[0.537315,0.834212,0.124027],[0.022439,-0.161148,0.986675]]
2025-10-26T20:58:00.474Z,1761512280.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844451,-0.525030,-0.106047],[0.535107,0.835696,0.123585],[0.023737,-0.161108,0.986651]]
2025-10-26T20:58:00.887Z,1761512280.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846017,-0.522439,-0.106360],[0.532585,0.837352,0.123269],[0.024660,-0.160933,0.986657]]
2025-10-26T20:58:01.306Z,1761512281.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847114,-0.520639,-0.106455],[0.530795,0.838623,0.122345],[0.025578,-0.160146,0.986762]]
2025-10-26T20:58:01.686Z,1761512281.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847684,-0.519584,-0.107071],[0.529827,0.839356,0.121510],[0.026736,-0.159732,0.986798]]
2025-10-26T20:58:02.091Z,1761512282.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848278,-0.518497,-0.107636],[0.528822,0.840086,0.120840],[0.027768,-0.159427,0.986819]]
2025-10-26T20:58:02.510Z,1761512282.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848563,-0.518109,-0.107262],[0.528323,0.840679,0.118887],[0.028577,-0.157552,0.987097]]
2025-10-26T20:58:02.899Z,1761512282.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848219,-0.518550,-0.107848],[0.528838,0.840426,0.118382],[0.029252,-0.157448,0.987094]]
2025-10-26T20:58:03.311Z,1761512283.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847844,-0.519074,-0.108273],[0.529377,0.840303,0.116835],[0.030336,-0.156375,0.987232]]
2025-10-26T20:58:03.712Z,1761512283.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846891,-0.520787,-0.107504],[0.530894,0.839623,0.114825],[0.030464,-0.154317,0.987552]]
2025-10-26T20:58:04.112Z,1761512284.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845291,-0.523502,-0.106905],[0.533436,0.838264,0.112956],[0.030482,-0.152508,0.987832]]
2025-10-26T20:58:04.518Z,1761512284.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843509,-0.526261,-0.107435],[0.536225,0.836604,0.112051],[0.030913,-0.152126,0.987878]]
2025-10-26T20:58:04.918Z,1761512284.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841673,-0.529339,-0.106705],[0.539075,0.835163,0.109089],[0.031371,-0.149339,0.988288]]
2025-10-26T20:58:05.322Z,1761512285.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839745,-0.532329,-0.107029],[0.542040,0.833446,0.107520],[0.031967,-0.148303,0.988425]]
2025-10-26T20:58:05.800Z,1761512285.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837911,-0.535082,-0.107662],[0.544818,0.831823,0.106032],[0.032820,-0.147502,0.988517]]
2025-10-26T20:58:06.130Z,1761512286.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835863,-0.538124,-0.108423],[0.547918,0.829909,0.105052],[0.033450,-0.147217,0.988538]]
2025-10-26T20:58:06.539Z,1761512286.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833964,-0.540937,-0.109045],[0.550766,0.828160,0.103960],[0.034071,-0.146757,0.988586]]
2025-10-26T20:58:06.938Z,1761512286.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832303,-0.543211,-0.110422],[0.553213,0.826578,0.103558],[0.035018,-0.147279,0.988475]]
2025-10-26T20:58:07.346Z,1761512287.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830511,-0.545769,-0.111298],[0.555844,0.824947,0.102468],[0.035890,-0.146965,0.988490]]
2025-10-26T20:58:07.807Z,1761512287.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829294,-0.547462,-0.112056],[0.557576,0.823985,0.100784],[0.037157,-0.146059,0.988578]]
2025-10-26T20:58:08.076Z,1761512288.076 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:58:08.210Z,1761512288.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828232,-0.548916,-0.112795],[0.559072,0.823150,0.099306],[0.038337,-0.145309,0.988643]]
2025-10-26T20:58:08.615Z,1761512288.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827369,-0.550041,-0.113647],[0.560317,0.822297,0.099361],[0.038799,-0.145886,0.988540]]
2025-10-26T20:58:09.018Z,1761512289.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827054,-0.550312,-0.114626],[0.560756,0.821920,0.100000],[0.039182,-0.146982,0.988363]]
2025-10-26T20:58:09.080Z,1761512289.080 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:58:09.423Z,1761512289.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826997,-0.550128,-0.115908],[0.560790,0.821816,0.100666],[0.039876,-0.148250,0.988146]]
2025-10-26T20:58:09.826Z,1761512289.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827438,-0.549097,-0.117641],[0.560117,0.821999,0.102895],[0.040201,-0.151032,0.987711]]
2025-10-26T20:58:10.230Z,1761512290.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828010,-0.547906,-0.119157],[0.559235,0.822385,0.104590],[0.040688,-0.153239,0.987351]]
2025-10-26T20:58:10.634Z,1761512290.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828828,-0.546408,-0.120341],[0.558012,0.822967,0.106532],[0.040826,-0.155448,0.987000]]
2025-10-26T20:58:11.041Z,1761512291.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829811,-0.544658,-0.121497],[0.556531,0.823732,0.108343],[0.041072,-0.157521,0.986661]]
2025-10-26T20:58:11.442Z,1761512291.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830822,-0.542924,-0.122347],[0.554985,0.824650,0.109290],[0.041558,-0.158701,0.986452]]
2025-10-26T20:58:11.855Z,1761512291.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831580,-0.541573,-0.123181],[0.553783,0.825439,0.109426],[0.042416,-0.159212,0.986333]]
2025-10-26T20:58:12.251Z,1761512292.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832899,-0.539738,-0.122324],[0.551802,0.826832,0.108916],[0.042355,-0.158215,0.986496]]
2025-10-26T20:58:12.654Z,1761512292.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834020,-0.538009,-0.122294],[0.550091,0.827945,0.109118],[0.042546,-0.158280,0.986477]]
2025-10-26T20:58:13.058Z,1761512293.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835077,-0.536334,-0.122444],[0.548468,0.828970,0.109503],[0.042772,-0.158601,0.986416]]
2025-10-26T20:58:13.462Z,1761512293.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836122,-0.534690,-0.122503],[0.546861,0.829983,0.109869],[0.042929,-0.158856,0.986368]]
2025-10-26T20:58:13.871Z,1761512293.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836911,-0.533583,-0.121940],[0.545642,0.830878,0.109161],[0.043071,-0.157894,0.986516]]
2025-10-26T20:58:14.272Z,1761512294.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837742,-0.532303,-0.121827],[0.544362,0.831691,0.109365],[0.043107,-0.157938,0.986508]]
2025-10-26T20:58:14.674Z,1761512294.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838074,-0.531702,-0.122166],[0.543852,0.831927,0.110101],[0.043092,-0.158713,0.986384]]
2025-10-26T20:58:15.078Z,1761512295.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838350,-0.531234,-0.122309],[0.543409,0.832221,0.110067],[0.043317,-0.158739,0.986370]]
2025-10-26T20:58:15.483Z,1761512295.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838677,-0.530806,-0.121921],[0.542906,0.832597,0.109707],[0.043278,-0.158200,0.986458]]
2025-10-26T20:58:15.887Z,1761512295.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838841,-0.530635,-0.121543],[0.542655,0.832826,0.109209],[0.043274,-0.157565,0.986560]]
2025-10-26T20:58:16.702Z,1761512296.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838038,-0.531758,-0.122174],[0.543901,0.831916,0.109938],[0.043178,-0.158582,0.986401]]
2025-10-26T20:58:17.103Z,1761512297.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837179,-0.533128,-0.122089],[0.545216,0.831152,0.109208],[0.043252,-0.157992,0.986493]]
2025-10-26T20:58:17.508Z,1761512297.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836248,-0.534621,-0.121941],[0.546646,0.830297,0.108559],[0.043210,-0.157441,0.986583]]
2025-10-26T20:58:17.909Z,1761512297.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835354,-0.536033,-0.121870],[0.548009,0.829480,0.107929],[0.043235,-0.156945,0.986661]]
2025-10-26T20:58:18.314Z,1761512298.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834355,-0.537513,-0.122193],[0.549523,0.828502,0.107744],[0.043324,-0.157045,0.986641]]
2025-10-26T20:58:18.719Z,1761512298.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833021,-0.539588,-0.122151],[0.551518,0.827344,0.106436],[0.043629,-0.156032,0.986788]]
2025-10-26T20:58:19.121Z,1761512299.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831724,-0.541473,-0.122649],[0.553455,0.826090,0.106129],[0.043853,-0.156150,0.986759]]
2025-10-26T20:58:19.522Z,1761512299.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830684,-0.543001,-0.122937],[0.555003,0.825095,0.105783],[0.043994,-0.156103,0.986761]]
2025-10-26T20:58:19.926Z,1761512299.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829488,-0.544650,-0.123713],[0.556769,0.823889,0.105906],[0.044244,-0.156727,0.986650]]
2025-10-26T20:58:20.339Z,1761512300.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829112,-0.545135,-0.124100],[0.557304,0.823547,0.105746],[0.044556,-0.156836,0.986619]]
2025-10-26T20:58:20.739Z,1761512300.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828489,-0.546056,-0.124208],[0.558213,0.822999,0.105220],[0.044767,-0.156509,0.986662]]
2025-10-26T20:58:21.139Z,1761512301.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828111,-0.546452,-0.124989],[0.558753,0.822564,0.105752],[0.045023,-0.157412,0.986506]]
2025-10-26T20:58:21.546Z,1761512301.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828208,-0.546274,-0.125127],[0.558606,0.822640,0.105938],[0.045063,-0.157635,0.986469]]
2025-10-26T20:58:21.946Z,1761512301.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828357,-0.545957,-0.125519],[0.558376,0.822735,0.106413],[0.045172,-0.158235,0.986368]]
2025-10-26T20:58:22.357Z,1761512302.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828892,-0.545223,-0.125177],[0.557577,0.823319,0.106079],[0.045224,-0.157724,0.986447]]
2025-10-26T20:58:22.754Z,1761512302.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829147,-0.544832,-0.125190],[0.557176,0.823632,0.105759],[0.045490,-0.157442,0.986480]]
2025-10-26T20:58:23.158Z,1761512303.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830035,-0.543327,-0.125847],[0.555845,0.824365,0.107042],[0.045585,-0.158801,0.986258]]
2025-10-26T20:58:23.563Z,1761512303.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830664,-0.542277,-0.126228],[0.554890,0.824933,0.107623],[0.045768,-0.159442,0.986146]]
2025-10-26T20:58:23.968Z,1761512303.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831387,-0.541275,-0.125764],[0.553829,0.825622,0.107807],[0.045480,-0.159281,0.986185]]
2025-10-26T20:58:24.371Z,1761512304.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832083,-0.540265,-0.125504],[0.552809,0.826234,0.108348],[0.045159,-0.159534,0.986159]]
2025-10-26T20:58:24.774Z,1761512304.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832893,-0.539283,-0.124349],[0.551647,0.827017,0.108302],[0.044434,-0.158801,0.986310]]
2025-10-26T20:58:25.182Z,1761512305.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833616,-0.538396,-0.123343],[0.550623,0.827648,0.108688],[0.043568,-0.158520,0.986394]]
2025-10-26T20:58:25.582Z,1761512305.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834252,-0.537623,-0.122412],[0.549728,0.828178,0.109180],[0.042681,-0.158377,0.986456]]
2025-10-26T20:58:25.986Z,1761512305.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834622,-0.537286,-0.121368],[0.549235,0.828483,0.109348],[0.041800,-0.157923,0.986566]]
2025-10-26T20:58:26.391Z,1761512306.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835113,-0.536749,-0.120364],[0.548605,0.828698,0.110867],[0.040238,-0.158619,0.986520]]
2025-10-26T20:58:26.795Z,1761512306.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835367,-0.536551,-0.119474],[0.548301,0.828785,0.111715],[0.039077,-0.158830,0.986532]]
2025-10-26T20:58:27.208Z,1761512307.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835359,-0.536710,-0.118816],[0.548406,0.828531,0.113075],[0.037754,-0.159618,0.986457]]
2025-10-26T20:58:27.602Z,1761512307.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834999,-0.537609,-0.117273],[0.549025,0.828217,0.112374],[0.036714,-0.158218,0.986721]]
2025-10-26T20:58:28.006Z,1761512308.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834173,-0.539207,-0.115811],[0.550338,0.827492,0.111284],[0.035828,-0.156565,0.987018]]
2025-10-26T20:58:28.412Z,1761512308.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833279,-0.540892,-0.114377],[0.551767,0.826609,0.110775],[0.034627,-0.155416,0.987242]]
2025-10-26T20:58:28.822Z,1761512308.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832368,-0.542544,-0.113182],[0.553244,0.825525,0.111490],[0.032946,-0.155418,0.987299]]
2025-10-26T20:58:29.221Z,1761512309.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831134,-0.544517,-0.112776],[0.555184,0.824024,0.112939],[0.031433,-0.156479,0.987181]]
2025-10-26T20:58:29.626Z,1761512309.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829623,-0.546914,-0.112298],[0.557520,0.822289,0.114073],[0.029953,-0.157246,0.987105]]
2025-10-26T20:58:30.028Z,1761512310.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828086,-0.549332,-0.111841],[0.559873,0.820556,0.115024],[0.028585,-0.157866,0.987047]]
2025-10-26T20:58:30.431Z,1761512310.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826593,-0.551799,-0.110738],[0.562130,0.819074,0.114579],[0.027478,-0.156959,0.987223]]
2025-10-26T20:58:30.839Z,1761512310.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825244,-0.553985,-0.109877],[0.564154,0.817718,0.114315],[0.026520,-0.156326,0.987349]]
2025-10-26T20:58:31.241Z,1761512311.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824007,-0.556010,-0.108928],[0.565986,0.816583,0.113362],[0.025918,-0.155063,0.987565]]
2025-10-26T20:58:31.643Z,1761512311.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822607,-0.558211,-0.108249],[0.568074,0.815065,0.113845],[0.024680,-0.155143,0.987584]]
2025-10-26T20:58:32.047Z,1761512312.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821920,-0.559428,-0.107182],[0.569108,0.814383,0.113564],[0.023756,-0.154338,0.987732]]
2025-10-26T20:58:32.451Z,1761512312.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821264,-0.560565,-0.106267],[0.570091,0.813705,0.113492],[0.022851,-0.153789,0.987839]]
2025-10-26T20:58:32.854Z,1761512312.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820662,-0.561612,-0.105380],[0.570991,0.813080,0.113446],[0.021970,-0.153271,0.987940]]
2025-10-26T20:58:33.267Z,1761512313.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820047,-0.562688,-0.104426],[0.571909,0.812442,0.113391],[0.021037,-0.152708,0.988047]]
2025-10-26T20:58:33.686Z,1761512313.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819786,-0.563239,-0.103504],[0.572323,0.812090,0.113828],[0.019943,-0.152552,0.988094]]
2025-10-26T20:58:34.066Z,1761512314.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819586,-0.563686,-0.102652],[0.572644,0.811800,0.114279],[0.018915,-0.152444,0.988131]]
2025-10-26T20:58:34.473Z,1761512314.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819739,-0.563569,-0.102067],[0.572457,0.811794,0.115254],[0.017904,-0.152907,0.988078]]
2025-10-26T20:58:34.874Z,1761512314.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820291,-0.562764,-0.102074],[0.571693,0.812070,0.117089],[0.016998,-0.154402,0.987862]]
2025-10-26T20:58:35.279Z,1761512315.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820525,-0.562592,-0.101137],[0.571391,0.812176,0.117822],[0.015855,-0.154465,0.987871]]
2025-10-26T20:58:35.683Z,1761512315.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821154,-0.561689,-0.101048],[0.570511,0.812538,0.119581],[0.014938,-0.155843,0.987669]]
2025-10-26T20:58:36.088Z,1761512316.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821819,-0.560815,-0.100498],[0.569582,0.812960,0.121130],[0.013769,-0.156789,0.987536]]
2025-10-26T20:58:36.499Z,1761512316.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822482,-0.559949,-0.099904],[0.568650,0.813406,0.122503],[0.012667,-0.157567,0.987427]]
2025-10-26T20:58:36.894Z,1761512316.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823196,-0.559000,-0.099332],[0.567639,0.813896,0.123929],[0.011570,-0.158402,0.987307]]
2025-10-26T20:58:37.308Z,1761512317.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824024,-0.557896,-0.098672],[0.566458,0.814505,0.125325],[0.010451,-0.159164,0.987197]]
2025-10-26T20:58:37.708Z,1761512317.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824424,-0.557399,-0.098137],[0.565891,0.814753,0.126276],[0.009571,-0.159640,0.987129]]
2025-10-26T20:58:38.106Z,1761512318.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824487,-0.557395,-0.097632],[0.565813,0.814703,0.126942],[0.008784,-0.159904,0.987094]]
2025-10-26T20:58:38.914Z,1761512318.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824652,-0.557364,-0.096403],[0.565597,0.814630,0.128367],[0.006986,-0.160383,0.987030]]
2025-10-26T20:58:39.200Z,1761512319.200 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:58:39.327Z,1761512319.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824637,-0.557479,-0.095872],[0.565628,0.814535,0.128832],[0.006270,-0.160467,0.987021]]
2025-10-26T20:58:39.728Z,1761512319.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824270,-0.558117,-0.095307],[0.566169,0.814132,0.129007],[0.005592,-0.160296,0.987053]]
2025-10-26T20:58:40.126Z,1761512320.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824248,-0.558218,-0.094910],[0.566208,0.813988,0.129737],[0.004834,-0.160674,0.986996]]
2025-10-26T20:58:40.204Z,1761512320.204 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:58:40.934Z,1761512320.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822913,-0.560239,-0.094585],[0.568154,0.812560,0.130184],[0.003922,-0.160869,0.986968]]
2025-10-26T20:58:41.338Z,1761512321.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822182,-0.561289,-0.094718],[0.569212,0.811792,0.130350],[0.003727,-0.161086,0.986933]]
2025-10-26T20:58:41.744Z,1761512321.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821319,-0.562663,-0.094050],[0.570460,0.811007,0.129783],[0.003251,-0.160245,0.987072]]
2025-10-26T20:58:41.816Z,1761512321.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:58:42.044Z,1761512322.044 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:58:42.044Z,1761512322.044 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:58:42.148Z,1761512322.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820597,-0.563864,-0.093158],[0.571502,0.810373,0.129154],[0.002668,-0.159224,0.987239]]
2025-10-26T20:58:42.297Z,1761512322.297 [DAT](INFO): DAT read: user:133>

2025-10-26T20:58:42.298Z,1761512322.298 [DAT](INFO): DAT read: Tx time:20:58:41.3974

2025-10-26T20:58:42.299Z,1761512322.299 [DAT](INFO): Ping request sent.
2025-10-26T20:58:42.299Z,1761512322.299 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:58:42.299Z,1761512322.299 [DAT](INFO): publishing transmit ping time
2025-10-26T20:58:42.300Z,1761512322.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001425
2025-10-26T20:58:42.552Z,1761512322.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252298
2025-10-26T20:58:42.588Z,1761512322.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819622,-0.565280,-0.093164],[0.572901,0.809353,0.129351],[0.002283,-0.159393,0.987213]]
2025-10-26T20:58:42.801Z,1761512322.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501953
2025-10-26T20:58:42.954Z,1761512322.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818846,-0.566379,-0.093306],[0.574010,0.808484,0.129865],[0.001884,-0.159898,0.987132]]
2025-10-26T20:58:43.053Z,1761512323.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754457
2025-10-26T20:58:43.306Z,1761512323.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006932
2025-10-26T20:58:43.365Z,1761512323.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818169,-0.567413,-0.092966],[0.574977,0.807761,0.130090],[0.001280,-0.159888,0.987134]]
2025-10-26T20:58:43.559Z,1761512323.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259819
2025-10-26T20:58:43.763Z,1761512323.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817400,-0.568529,-0.092906],[0.576070,0.806949,0.130294],[0.000894,-0.160022,0.987113]]
2025-10-26T20:58:43.809Z,1761512323.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510111
2025-10-26T20:58:44.060Z,1761512324.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761769
2025-10-26T20:58:44.166Z,1761512324.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816831,-0.569377,-0.092714],[0.576876,0.806316,0.130647],[0.000369,-0.160201,0.987084]]
2025-10-26T20:58:44.312Z,1761512324.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013736
2025-10-26T20:58:44.567Z,1761512324.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267915
2025-10-26T20:58:44.614Z,1761512324.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815682,-0.571078,-0.092374],[0.578501,0.805245,0.130070],[0.000104,-0.159534,0.987192]]
2025-10-26T20:58:44.817Z,1761512324.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517918
2025-10-26T20:58:44.974Z,1761512324.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814513,-0.572723,-0.092508],[0.580146,0.804046,0.130155],[-0.000162,-0.159681,0.987169]]
2025-10-26T20:58:45.068Z,1761512325.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769689
2025-10-26T20:58:45.320Z,1761512325.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021556
2025-10-26T20:58:45.384Z,1761512325.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813888,-0.573576,-0.092722],[0.581022,0.803294,0.130889],[-0.000592,-0.160403,0.987051]]
2025-10-26T20:58:45.575Z,1761512325.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275612
2025-10-26T20:58:45.788Z,1761512325.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813197,-0.574529,-0.092881],[0.581987,0.802556,0.131131],[-0.000796,-0.160691,0.987004]]
2025-10-26T20:58:45.824Z,1761512325.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525752
2025-10-26T20:58:46.077Z,1761512326.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777968
2025-10-26T20:58:46.186Z,1761512326.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812370,-0.575699,-0.092875],[0.583142,0.801715,0.131141],[-0.001039,-0.160694,0.987004]]
2025-10-26T20:58:46.329Z,1761512326.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029776
2025-10-26T20:58:46.583Z,1761512326.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284039
2025-10-26T20:58:46.645Z,1761512326.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811913,-0.576208,-0.093709],[0.583778,0.801075,0.132219],[-0.001117,-0.162056,0.986781]]
2025-10-26T20:58:46.832Z,1761512326.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533563
2025-10-26T20:58:46.996Z,1761512326.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811950,-0.575952,-0.094956],[0.583726,0.800793,0.134143],[-0.001220,-0.164346,0.986402]]
2025-10-26T20:58:47.084Z,1761512327.084 [DAT](INFO): DAT read: Rx Time:20:58:45.6097

2025-10-26T20:58:47.085Z,1761512327.085 [DAT](INFO): Rx dataTimestamp_ set to:1761512327.084617
2025-10-26T20:58:47.085Z,1761512327.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786743
2025-10-26T20:58:47.336Z,1761512327.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037663
2025-10-26T20:58:47.429Z,1761512327.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812018,-0.575754,-0.095576],[0.583631,0.800647,0.135424],[-0.001448,-0.165748,0.986167]]
2025-10-26T20:58:47.596Z,1761512327.596 [DAT](INFO): DAT read: 20:58:45.6097 LVL= 32752, 32753, 31874, 32755, AGC= 90, IDX= 430,-0.05, 2.340, 0.886, 2.312, 2.188, PHS= 0.254,-1.257, 0.080, RAW= 143.9,  12.8, CAL= 143.5,  14.0, ROT=   6.5, -14.0

2025-10-26T20:58:47.598Z,1761512327.598 [DAT](INFO): got valid direction response:
 20:58:45.6097 LVL= 32752, 32753, 31874, 32755, AGC= 90, IDX= 430,-0.05, 2.340, 0.886, 2.312, 2.188, PHS= 0.254,-1.257, 0.080, RAW= 143.9,  12.8, CAL= 143.5,  14.0, ROT=   6.5, -14.0

2025-10-26T20:58:47.599Z,1761512327.599 [DAT](INFO): DAT read: Bearing 198.1,   3.8 (Local)

2025-10-26T20:58:47.599Z,1761512327.599 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.1,   3.8 (Local)

2025-10-26T20:58:47.630Z,1761512327.630 [DAT](INFO): DAT read: Range 11 to 50 : 1356.1 m  (Round-trip  1808.2 ms) speed  0.0 m/s

2025-10-26T20:58:47.632Z,1761512327.632 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:58:47.673Z,1761512327.673 [DAT](INFO): direction in FSK: [0.964059,0.109841,0.241922]
2025-10-26T20:58:47.673Z,1761512327.673 [DAT](INFO): publishing direction and range info
2025-10-26T20:58:47.810Z,1761512327.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812083,-0.575492,-0.096589],[0.583540,0.800436,0.137053],[-0.001560,-0.167662,0.985843]]
2025-10-26T20:58:48.206Z,1761512328.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812134,-0.575366,-0.096912],[0.583468,0.800345,0.137889],[-0.001774,-0.168529,0.985695]]
2025-10-26T20:58:48.662Z,1761512328.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812569,-0.574596,-0.097833],[0.582862,0.800484,0.139633],[-0.001919,-0.170484,0.985358]]
2025-10-26T20:58:49.424Z,1761512329.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813568,-0.572923,-0.099330],[0.581467,0.801101,0.141892],[-0.001720,-0.173196,0.984886]]
2025-10-26T20:58:49.824Z,1761512329.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814392,-0.571702,-0.099613],[0.580313,0.801763,0.142875],[-0.001816,-0.174162,0.984715]]
2025-10-26T20:58:50.226Z,1761512330.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815442,-0.570142,-0.099960],[0.578835,0.802582,0.144263],[-0.002025,-0.175499,0.984478]]
2025-10-26T20:58:50.642Z,1761512330.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816582,-0.568541,-0.099774],[0.577226,0.803704,0.144462],[-0.001944,-0.175557,0.984467]]
2025-10-26T20:58:51.035Z,1761512331.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817772,-0.566785,-0.100022],[0.575539,0.804717,0.145551],[-0.002007,-0.176594,0.984282]]
2025-10-26T20:58:51.444Z,1761512331.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819254,-0.564733,-0.099495],[0.573428,0.806288,0.145192],[-0.001773,-0.176002,0.984388]]
2025-10-26T20:58:51.842Z,1761512331.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820318,-0.563188,-0.099483],[0.571904,0.807180,0.146243],[-0.002062,-0.176860,0.984234]]
2025-10-26T20:58:52.246Z,1761512332.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821618,-0.561315,-0.099342],[0.570033,0.808337,0.147151],[-0.002296,-0.177530,0.984113]]
2025-10-26T20:58:52.654Z,1761512332.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822642,-0.559834,-0.099226],[0.568554,0.809222,0.148008],[-0.002564,-0.178173,0.983996]]
2025-10-26T20:58:53.056Z,1761512333.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824068,-0.557749,-0.099138],[0.566483,0.810428,0.149340],[-0.002950,-0.179227,0.983803]]
2025-10-26T20:58:53.458Z,1761512333.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825273,-0.555977,-0.099066],[0.564725,0.811493,0.150217],[-0.003126,-0.179915,0.983677]]
2025-10-26T20:58:53.863Z,1761512333.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826356,-0.554438,-0.098667],[0.563137,0.812446,0.151024],[-0.003571,-0.180363,0.983594]]
2025-10-26T20:58:53.938Z,1761512333.938 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050300471202,35.0, +11.3,   0.0,,  0.00, 353.48, 290.74, 321.35, 319.82
2025-10-26T20:58:54.275Z,1761512334.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827597,-0.552609,-0.098523],[0.561309,0.813509,0.152102],[-0.003904,-0.181180,0.983442]]
2025-10-26T20:58:54.670Z,1761512334.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828504,-0.551302,-0.098225],[0.559968,0.814300,0.152810],[-0.004260,-0.181607,0.983362]]
2025-10-26T20:58:55.074Z,1761512335.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828975,-0.550769,-0.097226],[0.559267,0.814916,0.152093],[-0.004538,-0.180457,0.983572]]
2025-10-26T20:58:55.485Z,1761512335.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829583,-0.549816,-0.097443],[0.558361,0.815257,0.153585],[-0.005002,-0.181820,0.983319]]
2025-10-26T20:58:55.882Z,1761512335.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829752,-0.549620,-0.097104],[0.558109,0.815501,0.153206],[-0.005017,-0.181318,0.983412]]
2025-10-26T20:58:56.293Z,1761512336.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829957,-0.549352,-0.096872],[0.557803,0.815678,0.153379],[-0.005243,-0.181333,0.983408]]
2025-10-26T20:58:56.694Z,1761512336.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830006,-0.549263,-0.096953],[0.557729,0.815686,0.153603],[-0.005285,-0.181564,0.983365]]
2025-10-26T20:58:57.095Z,1761512337.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829910,-0.549326,-0.097420],[0.557871,0.815400,0.154604],[-0.005492,-0.182655,0.983162]]
2025-10-26T20:58:57.503Z,1761512337.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829581,-0.549834,-0.097351],[0.558360,0.815144,0.154191],[-0.005424,-0.182270,0.983233]]
2025-10-26T20:58:57.902Z,1761512337.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829408,-0.550068,-0.097504],[0.558618,0.814995,0.154041],[-0.005268,-0.182230,0.983242]]
2025-10-26T20:58:58.306Z,1761512338.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828760,-0.551131,-0.097011],[0.559581,0.814586,0.152707],[-0.005138,-0.180843,0.983499]]
2025-10-26T20:58:58.739Z,1761512338.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828253,-0.551892,-0.097013],[0.560333,0.814220,0.151897],[-0.004841,-0.180169,0.983624]]
2025-10-26T20:58:59.114Z,1761512339.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827549,-0.552996,-0.096733],[0.561374,0.813705,0.150812],[-0.004686,-0.179108,0.983818]]
2025-10-26T20:58:59.518Z,1761512339.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827318,-0.553380,-0.096514],[0.561715,0.813584,0.150193],[-0.004592,-0.178471,0.983935]]
2025-10-26T20:58:59.922Z,1761512339.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827119,-0.553679,-0.096508],[0.562009,0.813441,0.149866],[-0.004474,-0.178195,0.983985]]
2025-10-26T20:59:00.327Z,1761512340.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827237,-0.553514,-0.096440],[0.561835,0.813578,0.149774],[-0.004441,-0.178082,0.984006]]
2025-10-26T20:59:00.746Z,1761512340.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828090,-0.552290,-0.096142],[0.560576,0.814345,0.150320],[-0.004727,-0.178374,0.983952]]
2025-10-26T20:59:01.544Z,1761512341.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829454,-0.550309,-0.095739],[0.558555,0.815715,0.150417],[-0.004680,-0.178239,0.983976]]
2025-10-26T20:59:01.948Z,1761512341.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830593,-0.548602,-0.095661],[0.556859,0.816732,0.151184],[-0.004810,-0.178842,0.983866]]
2025-10-26T20:59:02.352Z,1761512342.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832000,-0.546397,-0.096054],[0.554755,0.817911,0.152540],[-0.004783,-0.180200,0.983618]]
2025-10-26T20:59:02.762Z,1761512342.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833640,-0.543960,-0.095668],[0.552288,0.819515,0.152879],[-0.004759,-0.180282,0.983603]]
2025-10-26T20:59:03.156Z,1761512343.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835068,-0.541743,-0.095791],[0.550125,0.820744,0.154084],[-0.004854,-0.181368,0.983403]]
2025-10-26T20:59:03.565Z,1761512343.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836966,-0.538758,-0.096059],[0.547231,0.822307,0.156043],[-0.005080,-0.183169,0.983068]]
2025-10-26T20:59:03.963Z,1761512343.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838928,-0.535718,-0.095945],[0.544214,0.823955,0.157891],[-0.005530,-0.184674,0.982784]]
2025-10-26T20:59:04.366Z,1761512344.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840680,-0.533136,-0.094988],[0.541500,0.825699,0.158110],[-0.005863,-0.184356,0.982842]]
2025-10-26T20:59:04.780Z,1761512344.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842063,-0.531047,-0.094437],[0.539346,0.827090,0.158202],[-0.005905,-0.184151,0.982880]]
2025-10-26T20:59:05.176Z,1761512345.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843176,-0.529402,-0.093744],[0.537604,0.828246,0.158083],[-0.006047,-0.183689,0.982966]]
2025-10-26T20:59:05.578Z,1761512345.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844097,-0.528014,-0.093284],[0.536155,0.829138,0.158331],[-0.006256,-0.183661,0.982970]]
2025-10-26T20:59:05.982Z,1761512345.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844710,-0.527101,-0.092897],[0.535187,0.829793,0.158173],[-0.006288,-0.183328,0.983032]]
2025-10-26T20:59:06.386Z,1761512346.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845140,-0.526516,-0.092302],[0.534504,0.830236,0.158158],[-0.006641,-0.183001,0.983090]]
2025-10-26T20:59:06.796Z,1761512346.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845735,-0.525641,-0.091835],[0.533557,0.830790,0.158447],[-0.006991,-0.183003,0.983087]]
2025-10-26T20:59:07.194Z,1761512347.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845865,-0.525466,-0.091635],[0.533352,0.830999,0.158042],[-0.006897,-0.182556,0.983171]]
2025-10-26T20:59:07.598Z,1761512347.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845886,-0.525485,-0.091337],[0.533319,0.831113,0.157550],[-0.006878,-0.181981,0.983278]]
2025-10-26T20:59:08.002Z,1761512348.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845636,-0.525906,-0.091226],[0.533714,0.830896,0.157356],[-0.006955,-0.181754,0.983319]]
2025-10-26T20:59:08.407Z,1761512348.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845369,-0.526292,-0.091476],[0.534139,0.830636,0.157288],[-0.006796,-0.181827,0.983307]]
2025-10-26T20:59:08.810Z,1761512348.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845166,-0.526642,-0.091337],[0.534463,0.830556,0.156609],[-0.006616,-0.181177,0.983428]]
2025-10-26T20:59:09.214Z,1761512349.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845211,-0.526620,-0.091044],[0.534390,0.830638,0.156423],[-0.006750,-0.180863,0.983485]]
2025-10-26T20:59:09.618Z,1761512349.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845224,-0.526617,-0.090947],[0.534370,0.830694,0.156189],[-0.006702,-0.180615,0.983531]]
2025-10-26T20:59:10.022Z,1761512350.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845319,-0.526492,-0.090783],[0.534220,0.830839,0.155935],[-0.006672,-0.180313,0.983587]]
2025-10-26T20:59:10.324Z,1761512350.324 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:59:10.427Z,1761512350.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845309,-0.526577,-0.090386],[0.534235,0.830910,0.155503],[-0.006782,-0.179736,0.983692]]
2025-10-26T20:59:10.830Z,1761512350.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845763,-0.525930,-0.089901],[0.533511,0.831332,0.155738],[-0.007170,-0.179680,0.983699]]
2025-10-26T20:59:11.236Z,1761512351.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846281,-0.525134,-0.089681],[0.532686,0.831785,0.156138],[-0.007398,-0.179908,0.983656]]
2025-10-26T20:59:11.329Z,1761512351.329 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:59:11.638Z,1761512351.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846834,-0.524273,-0.089502],[0.531800,0.832171,0.157098],[-0.007882,-0.180633,0.983519]]
2025-10-26T20:59:12.043Z,1761512352.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847718,-0.522872,-0.089330],[0.530382,0.832849,0.158296],[-0.008370,-0.181570,0.983342]]
2025-10-26T20:59:12.448Z,1761512352.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848680,-0.521358,-0.089036],[0.528832,0.833626,0.159387],[-0.008875,-0.182354,0.983193]]
2025-10-26T20:59:12.850Z,1761512352.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849534,-0.520007,-0.088797],[0.527452,0.834313,0.160364],[-0.009306,-0.183071,0.983056]]
2025-10-26T20:59:13.261Z,1761512353.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850646,-0.518413,-0.087460],[0.525651,0.835611,0.159517],[-0.009613,-0.181666,0.983313]]
2025-10-26T20:59:13.658Z,1761512353.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851892,-0.516524,-0.086503],[0.523621,0.836879,0.159547],[-0.010017,-0.181211,0.983393]]
2025-10-26T20:59:14.070Z,1761512354.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853117,-0.514624,-0.085758],[0.521614,0.838027,0.160093],[-0.010520,-0.181310,0.983370]]
2025-10-26T20:59:14.466Z,1761512354.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854250,-0.512816,-0.085299],[0.519749,0.839079,0.160645],[-0.010809,-0.181565,0.983319]]
2025-10-26T20:59:14.870Z,1761512354.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855323,-0.511097,-0.084873],[0.517974,0.840019,0.161463],[-0.011228,-0.182065,0.983222]]
2025-10-26T20:59:15.274Z,1761512355.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856765,-0.508868,-0.083711],[0.515575,0.841499,0.161436],[-0.011707,-0.181472,0.983326]]
2025-10-26T20:59:15.679Z,1761512355.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857978,-0.506955,-0.082884],[0.513541,0.842654,0.161896],[-0.012231,-0.181467,0.983321]]
2025-10-26T20:59:16.098Z,1761512356.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858847,-0.505581,-0.082273],[0.512077,0.843496,0.162146],[-0.012581,-0.181389,0.983331]]
2025-10-26T20:59:16.486Z,1761512356.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859751,-0.504170,-0.081487],[0.510547,0.844397,0.162280],[-0.013009,-0.181123,0.983374]]
2025-10-26T20:59:16.890Z,1761512356.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860440,-0.503052,-0.081121],[0.509385,0.845117,0.162185],[-0.013031,-0.180873,0.983420]]
2025-10-26T20:59:17.296Z,1761512357.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861124,-0.501961,-0.080631],[0.508225,0.845833,0.162092],[-0.013163,-0.180560,0.983476]]
2025-10-26T20:59:17.699Z,1761512357.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861744,-0.501003,-0.079960],[0.507164,0.846479,0.162045],[-0.013501,-0.180195,0.983538]]
2025-10-26T20:59:18.132Z,1761512358.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862207,-0.500296,-0.079386],[0.506370,0.847007,0.161767],[-0.013691,-0.179675,0.983631]]
2025-10-26T20:59:18.506Z,1761512358.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862227,-0.500442,-0.078240],[0.506335,0.847383,0.159897],[-0.013720,-0.177483,0.984028]]
2025-10-26T20:59:18.910Z,1761512358.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862186,-0.500612,-0.077608],[0.506405,0.847529,0.158899],[-0.013772,-0.176301,0.984240]]
2025-10-26T20:59:19.314Z,1761512359.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861962,-0.501238,-0.076038],[0.506786,0.847828,0.156064],[-0.013758,-0.173056,0.984816]]
2025-10-26T20:59:19.725Z,1761512359.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861960,-0.501317,-0.075539],[0.506789,0.847963,0.155320],[-0.013810,-0.172162,0.984972]]
2025-10-26T20:59:20.156Z,1761512360.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861855,-0.501547,-0.075211],[0.506970,0.848008,0.154479],[-0.013699,-0.171268,0.985129]]
2025-10-26T20:59:20.526Z,1761512360.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861874,-0.501562,-0.074893],[0.506937,0.848117,0.153992],[-0.013719,-0.170688,0.985230]]
2025-10-26T20:59:20.931Z,1761512360.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861653,-0.501976,-0.074661],[0.507307,0.847920,0.153854],[-0.013924,-0.170445,0.985269]]
2025-10-26T20:59:21.334Z,1761512361.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861476,-0.502254,-0.074839],[0.507608,0.847700,0.154073],[-0.013942,-0.170719,0.985221]]
2025-10-26T20:59:21.747Z,1761512361.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861417,-0.502368,-0.074740],[0.507709,0.847713,0.153668],[-0.013839,-0.170318,0.985292]]
2025-10-26T20:59:22.184Z,1761512362.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861248,-0.502692,-0.074521],[0.507996,0.847615,0.153258],[-0.013876,-0.169850,0.985372]]
2025-10-26T20:59:22.546Z,1761512362.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861024,-0.502968,-0.075238],[0.508368,0.847111,0.154805],[-0.014127,-0.171539,0.985076]]
2025-10-26T20:59:22.950Z,1761512362.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861020,-0.502950,-0.075408],[0.508375,0.847044,0.155152],[-0.014160,-0.171925,0.985008]]
2025-10-26T20:59:23.356Z,1761512363.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861034,-0.502907,-0.075526],[0.508348,0.846996,0.155499],[-0.014231,-0.172283,0.984945]]
2025-10-26T20:59:23.758Z,1761512363.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861167,-0.502643,-0.075768],[0.508125,0.847067,0.155844],[-0.014153,-0.172707,0.984872]]
2025-10-26T20:59:24.226Z,1761512364.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861210,-0.502535,-0.076000],[0.508056,0.847074,0.156026],[-0.014030,-0.172983,0.984825]]
2025-10-26T20:59:24.566Z,1761512364.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861477,-0.502105,-0.075817],[0.507598,0.847304,0.156269],[-0.014223,-0.173107,0.984800]]
2025-10-26T20:59:24.971Z,1761512364.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861570,-0.501983,-0.075569],[0.507438,0.847443,0.156037],[-0.014287,-0.172783,0.984856]]
2025-10-26T20:59:25.374Z,1761512365.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862027,-0.501309,-0.074828],[0.506649,0.847934,0.155935],[-0.014722,-0.172332,0.984929]]
2025-10-26T20:59:25.778Z,1761512365.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862599,-0.500369,-0.074522],[0.505664,0.848432,0.156418],[-0.015040,-0.172609,0.984876]]
2025-10-26T20:59:26.242Z,1761512366.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863099,-0.499559,-0.074167],[0.504802,0.848889,0.156723],[-0.015333,-0.172707,0.984854]]
2025-10-26T20:59:26.588Z,1761512366.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863757,-0.498484,-0.073731],[0.503666,0.849522,0.156946],[-0.015599,-0.172699,0.984851]]
2025-10-26T20:59:26.990Z,1761512366.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864556,-0.497178,-0.073196],[0.502281,0.850258,0.157402],[-0.016021,-0.172848,0.984818]]
2025-10-26T20:59:27.394Z,1761512367.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865433,-0.495810,-0.072103],[0.500749,0.851175,0.157327],[-0.016632,-0.172261,0.984911]]
2025-10-26T20:59:27.805Z,1761512367.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866306,-0.494388,-0.071375],[0.499236,0.852178,0.156703],[-0.016648,-0.171386,0.985063]]
2025-10-26T20:59:28.248Z,1761512368.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867122,-0.493124,-0.070202],[0.497795,0.853050,0.156544],[-0.017310,-0.170689,0.985173]]
2025-10-26T20:59:28.606Z,1761512368.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867912,-0.491870,-0.069231],[0.496396,0.853863,0.156551],[-0.017889,-0.170239,0.985240]]
2025-10-26T20:59:29.010Z,1761512369.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868408,-0.491177,-0.067916],[0.495512,0.854582,0.155426],[-0.018302,-0.168626,0.985510]]
2025-10-26T20:59:29.416Z,1761512369.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868979,-0.490320,-0.066791],[0.494492,0.855285,0.154809],[-0.018780,-0.167553,0.985684]]
2025-10-26T20:59:29.818Z,1761512369.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869264,-0.490011,-0.065339],[0.493970,0.855819,0.153517],[-0.019307,-0.165722,0.985983]]
2025-10-26T20:59:30.258Z,1761512370.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869662,-0.489402,-0.064608],[0.493245,0.856186,0.153802],[-0.019955,-0.165623,0.985987]]
2025-10-26T20:59:30.628Z,1761512370.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869944,-0.488939,-0.064315],[0.492738,0.856459,0.153905],[-0.020167,-0.165579,0.985990]]
2025-10-26T20:59:31.030Z,1761512371.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870099,-0.488732,-0.063790],[0.492448,0.856634,0.153860],[-0.020551,-0.165287,0.986031]]
2025-10-26T20:59:31.435Z,1761512371.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869726,-0.489530,-0.062751],[0.493090,0.856491,0.152593],[-0.020953,-0.163656,0.986295]]
2025-10-26T20:59:31.847Z,1761512371.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869421,-0.490128,-0.062306],[0.493618,0.856282,0.152063],[-0.021179,-0.162962,0.986405]]
2025-10-26T20:59:32.261Z,1761512372.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869120,-0.490722,-0.061832],[0.494138,0.856079,0.151515],[-0.021419,-0.162238,0.986519]]
2025-10-26T20:59:32.646Z,1761512372.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868538,-0.491837,-0.061141],[0.495140,0.855622,0.150821],[-0.021866,-0.161267,0.986669]]
2025-10-26T20:59:33.050Z,1761512373.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867646,-0.493441,-0.060874],[0.496701,0.854903,0.149759],[-0.021856,-0.160174,0.986847]]
2025-10-26T20:59:33.454Z,1761512373.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866925,-0.494740,-0.060609],[0.497954,0.854291,0.149093],[-0.021985,-0.159433,0.986964]]
2025-10-26T20:59:33.858Z,1761512373.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865928,-0.496503,-0.060442],[0.499687,0.853450,0.148108],[-0.021952,-0.158453,0.987122]]
2025-10-26T20:59:34.267Z,1761512374.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865012,-0.498110,-0.060345],[0.501273,0.852663,0.147280],[-0.021908,-0.157648,0.987252]]
2025-10-26T20:59:34.667Z,1761512374.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864264,-0.499431,-0.060138],[0.502560,0.852037,0.146511],[-0.021932,-0.156847,0.987379]]
2025-10-26T20:59:35.070Z,1761512375.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863364,-0.500989,-0.060104],[0.504108,0.851256,0.145735],[-0.021848,-0.156121,0.987496]]
2025-10-26T20:59:35.474Z,1761512375.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862663,-0.502191,-0.060142],[0.505311,0.850635,0.145194],[-0.021756,-0.155644,0.987574]]
2025-10-26T20:59:35.878Z,1761512375.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861891,-0.503521,-0.060096],[0.506629,0.849952,0.144597],[-0.021729,-0.155073,0.987664]]
2025-10-26T20:59:36.293Z,1761512376.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861469,-0.504196,-0.060482],[0.507350,0.849491,0.144778],[-0.021617,-0.155407,0.987614]]
2025-10-26T20:59:36.687Z,1761512376.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861197,-0.504694,-0.060198],[0.507806,0.849283,0.144401],[-0.021753,-0.154927,0.987686]]
2025-10-26T20:59:37.090Z,1761512377.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861062,-0.504880,-0.060564],[0.508036,0.849073,0.144821],[-0.021695,-0.155469,0.987603]]
2025-10-26T20:59:37.494Z,1761512377.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860608,-0.505624,-0.060810],[0.508817,0.848672,0.144436],[-0.021422,-0.155244,0.987644]]
2025-10-26T20:59:37.903Z,1761512377.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860584,-0.505651,-0.060926],[0.508859,0.848627,0.144549],[-0.021388,-0.155400,0.987620]]
2025-10-26T20:59:38.306Z,1761512378.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860480,-0.505877,-0.060526],[0.509020,0.848533,0.144534],[-0.021758,-0.155178,0.987647]]
2025-10-26T20:59:38.746Z,1761512378.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860340,-0.506201,-0.059794],[0.509236,0.848475,0.144112],[-0.022215,-0.154435,0.987753]]
2025-10-26T20:59:39.114Z,1761512379.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860244,-0.506441,-0.059141],[0.509374,0.848405,0.144037],[-0.022771,-0.154032,0.987803]]
2025-10-26T20:59:39.519Z,1761512379.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860210,-0.506512,-0.059029],[0.509421,0.848336,0.144277],[-0.023002,-0.154179,0.987775]]
2025-10-26T20:59:39.922Z,1761512379.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860136,-0.506690,-0.058573],[0.509526,0.848268,0.144309],[-0.023434,-0.153970,0.987798]]
2025-10-26T20:59:40.326Z,1761512380.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859876,-0.507242,-0.057605],[0.509940,0.848147,0.143557],[-0.023960,-0.152817,0.987964]]
2025-10-26T20:59:40.736Z,1761512380.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859796,-0.507461,-0.056867],[0.510037,0.848049,0.143789],[-0.024741,-0.152633,0.987973]]
2025-10-26T20:59:41.134Z,1761512381.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859512,-0.507983,-0.056503],[0.510497,0.847767,0.143818],[-0.025156,-0.152458,0.987990]]
2025-10-26T20:59:41.464Z,1761512381.464 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:59:41.538Z,1761512381.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859115,-0.508697,-0.056111],[0.511137,0.847358,0.143955],[-0.025683,-0.152355,0.987992]]
2025-10-26T20:59:41.942Z,1761512381.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859042,-0.508795,-0.056352],[0.511234,0.847063,0.145340],[-0.026215,-0.153662,0.987776]]
2025-10-26T20:59:41.966Z,1761512381.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T20:59:42.060Z,1761512382.060 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:59:42.060Z,1761512382.060 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T20:59:42.312Z,1761512382.312 [DAT](INFO): DAT read: user:134>

2025-10-26T20:59:42.313Z,1761512382.313 [DAT](INFO): DAT read: Tx time:20:59:41.4472

2025-10-26T20:59:42.313Z,1761512382.313 [DAT](INFO): Ping request sent.
2025-10-26T20:59:42.313Z,1761512382.313 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:59:42.314Z,1761512382.314 [DAT](INFO): publishing transmit ping time
2025-10-26T20:59:42.314Z,1761512382.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-10-26T20:59:42.366Z,1761512382.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858753,-0.509308,-0.056112],[0.511699,0.846751,0.145521],[-0.026602,-0.153679,0.987763]]
2025-10-26T20:59:42.469Z,1761512382.469 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:59:42.565Z,1761512382.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251198
2025-10-26T20:59:42.750Z,1761512382.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858366,-0.509950,-0.056203],[0.512333,0.846288,0.145984],[-0.026881,-0.154103,0.987689]]
2025-10-26T20:59:42.817Z,1761512382.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503293
2025-10-26T20:59:43.068Z,1761512383.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754933
2025-10-26T20:59:43.154Z,1761512383.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857961,-0.510639,-0.056134],[0.513002,0.845889,0.145944],[-0.027042,-0.154011,0.987699]]
2025-10-26T20:59:43.320Z,1761512383.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006895
2025-10-26T20:59:43.559Z,1761512383.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857445,-0.511516,-0.056038],[0.513857,0.845397,0.145789],[-0.027199,-0.153801,0.987727]]
2025-10-26T20:59:43.572Z,1761512383.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259046
2025-10-26T20:59:43.824Z,1761512383.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510911
2025-10-26T20:59:43.962Z,1761512383.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857558,-0.511334,-0.055959],[0.513647,0.845406,0.146481],[-0.027592,-0.154359,0.987629]]
2025-10-26T20:59:44.076Z,1761512384.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762924
2025-10-26T20:59:44.328Z,1761512384.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014900
2025-10-26T20:59:44.366Z,1761512384.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857342,-0.511700,-0.055928],[0.513995,0.845153,0.146717],[-0.027808,-0.154533,0.987596]]
2025-10-26T20:59:44.580Z,1761512384.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266849
2025-10-26T20:59:44.770Z,1761512384.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857034,-0.512232,-0.055770],[0.514493,0.844834,0.146809],[-0.028084,-0.154513,0.987592]]
2025-10-26T20:59:44.832Z,1761512384.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519003
2025-10-26T20:59:45.084Z,1761512385.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770975
2025-10-26T20:59:45.176Z,1761512385.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856666,-0.512841,-0.055838],[0.515104,0.844463,0.146797],[-0.028131,-0.154518,0.987589]]
2025-10-26T20:59:45.336Z,1761512385.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022881
2025-10-26T20:59:45.582Z,1761512385.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856392,-0.513324,-0.055610],[0.515553,0.844241,0.146500],[-0.028254,-0.154131,0.987646]]
2025-10-26T20:59:45.589Z,1761512385.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275279
2025-10-26T20:59:45.840Z,1761512385.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526974
2025-10-26T20:59:45.988Z,1761512385.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856123,-0.513873,-0.054672],[0.515973,0.844116,0.145739],[-0.028741,-0.152980,0.987811]]
2025-10-26T20:59:46.092Z,1761512386.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778975
2025-10-26T20:59:46.345Z,1761512386.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031165
2025-10-26T20:59:46.391Z,1761512386.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855711,-0.514609,-0.054182],[0.516639,0.843793,0.145250],[-0.029028,-0.152285,0.987910]]
2025-10-26T20:59:46.596Z,1761512386.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283035
2025-10-26T20:59:46.796Z,1761512386.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855492,-0.514989,-0.054031],[0.516977,0.843507,0.145710],[-0.029464,-0.152586,0.987851]]
2025-10-26T20:59:46.848Z,1761512386.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535015
2025-10-26T20:59:47.100Z,1761512387.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786925
2025-10-26T20:59:47.206Z,1761512387.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855272,-0.515336,-0.054211],[0.517330,0.843194,0.146266],[-0.029666,-0.153142,0.987759]]
2025-10-26T20:59:47.352Z,1761512387.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038941
2025-10-26T20:59:47.600Z,1761512387.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854925,-0.515908,-0.054246],[0.517895,0.842828,0.146377],[-0.029797,-0.153235,0.987740]]
2025-10-26T20:59:47.604Z,1761512387.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290773
2025-10-26T20:59:47.856Z,1761512387.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542888
2025-10-26T20:59:48.002Z,1761512388.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854564,-0.516543,-0.053882],[0.518478,0.842538,0.145981],[-0.030008,-0.152686,0.987819]]
2025-10-26T20:59:48.108Z,1761512388.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795035
2025-10-26T20:59:48.360Z,1761512388.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046877
2025-10-26T20:59:48.414Z,1761512388.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854186,-0.517147,-0.054096],[0.519087,0.842057,0.146590],[-0.030256,-0.153296,0.987717]]
2025-10-26T20:59:48.613Z,1761512388.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299135
2025-10-26T20:59:48.812Z,1761512388.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853888,-0.517625,-0.054224],[0.519573,0.841728,0.146757],[-0.030324,-0.153488,0.987685]]
2025-10-26T20:59:48.864Z,1761512388.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551009
2025-10-26T20:59:49.116Z,1761512389.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802836
2025-10-26T20:59:49.214Z,1761512389.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853421,-0.518395,-0.054219],[0.520338,0.841292,0.146544],[-0.030354,-0.153276,0.987717]]
2025-10-26T20:59:49.368Z,1761512389.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054892
2025-10-26T20:59:49.618Z,1761512389.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852829,-0.519342,-0.054473],[0.521316,0.840721,0.146348],[-0.030208,-0.153208,0.987732]]
2025-10-26T20:59:49.620Z,1761512389.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307031
2025-10-26T20:59:49.872Z,1761512389.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558872
2025-10-26T20:59:50.022Z,1761512390.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852546,-0.519785,-0.054666],[0.521775,0.840396,0.146575],[-0.030246,-0.153486,0.987688]]
2025-10-26T20:59:50.125Z,1761512390.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811205
2025-10-26T20:59:50.376Z,1761512390.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062942
2025-10-26T20:59:50.431Z,1761512390.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852463,-0.519904,-0.054841],[0.521908,0.840247,0.146959],[-0.030324,-0.153899,0.987621]]
2025-10-26T20:59:50.628Z,1761512390.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314852
2025-10-26T20:59:50.831Z,1761512390.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852487,-0.519864,-0.054848],[0.521858,0.840214,0.147327],[-0.030506,-0.154217,0.987566]]
2025-10-26T20:59:50.880Z,1761512390.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567027
2025-10-26T20:59:51.132Z,1761512391.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818941
2025-10-26T20:59:51.234Z,1761512391.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852319,-0.520126,-0.054965],[0.522147,0.840108,0.146901],[-0.030230,-0.153906,0.987623]]
2025-10-26T20:59:51.384Z,1761512391.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070889
2025-10-26T20:59:51.636Z,1761512391.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322983
2025-10-26T20:59:51.640Z,1761512391.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852359,-0.520066,-0.054916],[0.522081,0.840148,0.146913],[-0.030267,-0.153893,0.987624]]
2025-10-26T20:59:51.888Z,1761512391.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574951
2025-10-26T20:59:52.044Z,1761512392.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852381,-0.520042,-0.054804],[0.522049,0.840222,0.146602],[-0.030192,-0.153571,0.987676]]
2025-10-26T20:59:52.140Z,1761512392.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826869
2025-10-26T20:59:52.392Z,1761512392.392 [DAT](INFO): Reached modem response timeout
2025-10-26T20:59:52.446Z,1761512392.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852369,-0.520053,-0.054889],[0.522073,0.840208,0.146595],[-0.030119,-0.153609,0.987673]]
2025-10-26T20:59:52.850Z,1761512392.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852469,-0.519910,-0.054681],[0.521896,0.840290,0.146755],[-0.030351,-0.153642,0.987660]]
2025-10-26T20:59:53.254Z,1761512393.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852477,-0.519942,-0.054242],[0.521860,0.840309,0.146775],[-0.030735,-0.153429,0.987682]]
2025-10-26T20:59:53.663Z,1761512393.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852438,-0.520019,-0.054119],[0.521901,0.840196,0.147276],[-0.031116,-0.153788,0.987614]]
2025-10-26T20:59:54.063Z,1761512394.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852319,-0.520235,-0.053923],[0.522093,0.840130,0.146968],[-0.031156,-0.153417,0.987670]]
2025-10-26T20:59:54.466Z,1761512394.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851944,-0.520913,-0.053307],[0.522710,0.839979,0.145633],[-0.031085,-0.151936,0.987901]]
2025-10-26T20:59:54.661Z,1761512394.661 [DAT](INFO): DAT read: Response Not Received

2025-10-26T20:59:54.662Z,1761512394.662 [DAT](INFO): response not received
2025-10-26T20:59:54.662Z,1761512394.662 [DAT](ERROR): No response from remote modem.
2025-10-26T20:59:54.870Z,1761512394.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851245,-0.522072,-0.053129],[0.523852,0.839413,0.144793],[-0.030995,-0.151086,0.988035]]
2025-10-26T20:59:55.275Z,1761512395.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850551,-0.523188,-0.053269],[0.524994,0.838810,0.144147],[-0.030733,-0.150570,0.988122]]
2025-10-26T20:59:55.689Z,1761512395.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849920,-0.524127,-0.054102],[0.526049,0.838169,0.144032],[-0.030145,-0.150876,0.988093]]
2025-10-26T20:59:56.082Z,1761512396.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848836,-0.525776,-0.055109],[0.527841,0.837121,0.143571],[-0.029353,-0.150957,0.988104]]
2025-10-26T20:59:56.486Z,1761512396.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847841,-0.527238,-0.056439],[0.529488,0.836108,0.143407],[-0.028420,-0.151470,0.988053]]
2025-10-26T20:59:56.891Z,1761512396.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846657,-0.529068,-0.057092],[0.531425,0.835082,0.142216],[-0.027565,-0.150748,0.988188]]
2025-10-26T20:59:57.296Z,1761512397.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845527,-0.530773,-0.058000],[0.533269,0.834061,0.141302],[-0.026624,-0.150404,0.988266]]
2025-10-26T20:59:57.706Z,1761512397.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844468,-0.532367,-0.058809],[0.534992,0.833146,0.140184],[-0.025633,-0.149843,0.988378]]
2025-10-26T20:59:58.513Z,1761512398.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842720,-0.534738,-0.062266],[0.537844,0.831257,0.140482],[-0.023362,-0.151877,0.988123]]
2025-10-26T20:59:58.910Z,1761512398.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842076,-0.535612,-0.063464],[0.538902,0.830678,0.139852],[-0.022189,-0.151967,0.988136]]
2025-10-26T20:59:59.314Z,1761512399.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841743,-0.536005,-0.064553],[0.539461,0.830365,0.139555],[-0.021200,-0.152293,0.988108]]
2025-10-26T20:59:59.733Z,1761512399.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841462,-0.536358,-0.065278],[0.539940,0.830208,0.138636],[-0.020164,-0.151904,0.988190]]
2025-10-26T21:00:00.124Z,1761512400.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841968,-0.535425,-0.066410],[0.539178,0.830593,0.139291],[-0.019420,-0.153085,0.988022]]
2025-10-26T21:00:00.527Z,1761512400.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842442,-0.534517,-0.067697],[0.538468,0.830957,0.139866],[-0.018508,-0.154282,0.987853]]
2025-10-26T21:00:00.931Z,1761512400.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842913,-0.533697,-0.068302],[0.537759,0.831465,0.139576],[-0.017701,-0.154381,0.987853]]
2025-10-26T21:00:01.334Z,1761512401.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843834,-0.532108,-0.069319],[0.536331,0.832213,0.140608],[-0.017131,-0.155828,0.987636]]
2025-10-26T21:00:01.757Z,1761512401.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844877,-0.530494,-0.068981],[0.534702,0.833409,0.139725],[-0.016634,-0.154934,0.987785]]
2025-10-26T21:00:02.142Z,1761512402.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845929,-0.528930,-0.068099],[0.533044,0.834689,0.138415],[-0.016371,-0.153389,0.988030]]
2025-10-26T21:00:02.553Z,1761512402.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846936,-0.527344,-0.067877],[0.531457,0.835820,0.137688],[-0.015876,-0.152686,0.988147]]
2025-10-26T21:00:02.950Z,1761512402.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847576,-0.526284,-0.068117],[0.530452,0.836502,0.137421],[-0.015342,-0.152607,0.988168]]
2025-10-26T21:00:03.355Z,1761512403.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848277,-0.525121,-0.068362],[0.529342,0.837203,0.137434],[-0.014937,-0.152769,0.988149]]
2025-10-26T21:00:03.798Z,1761512403.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848903,-0.524181,-0.067805],[0.528348,0.838039,0.136158],[-0.014548,-0.151410,0.988364]]
2025-10-26T21:00:04.174Z,1761512404.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849181,-0.523753,-0.067644],[0.527916,0.838480,0.135116],[-0.014049,-0.150448,0.988518]]
2025-10-26T21:00:04.566Z,1761512404.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849232,-0.523648,-0.067806],[0.527847,0.838637,0.134406],[-0.013517,-0.149933,0.988604]]
2025-10-26T21:00:04.975Z,1761512404.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848848,-0.524219,-0.068210],[0.528480,0.838345,0.133745],[-0.012928,-0.149577,0.988666]]
2025-10-26T21:00:05.376Z,1761512405.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848500,-0.524674,-0.069035],[0.529054,0.837994,0.133676],[-0.012286,-0.149947,0.988618]]
2025-10-26T21:00:05.810Z,1761512405.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848150,-0.525013,-0.070730],[0.529632,0.837475,0.134632],[-0.011449,-0.151649,0.988368]]
2025-10-26T21:00:06.183Z,1761512406.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847797,-0.525484,-0.071453],[0.530211,0.837167,0.134268],[-0.010737,-0.151718,0.988366]]
2025-10-26T21:00:06.587Z,1761512406.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847149,-0.526462,-0.071944],[0.531257,0.836593,0.133707],[-0.010204,-0.151491,0.988406]]
2025-10-26T21:00:06.000Z,1761512407.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846330,-0.527569,-0.073462],[0.532569,0.835577,0.134834],[-0.009751,-0.153237,0.988141]]
2025-10-26T21:00:07.394Z,1761512407.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845693,-0.528466,-0.074340],[0.533592,0.834955,0.134651],[-0.009088,-0.153541,0.988101]]
2025-10-26T21:00:07.838Z,1761512407.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844936,-0.529559,-0.075169],[0.534803,0.834285,0.133990],[-0.008243,-0.153414,0.988128]]
2025-10-26T21:00:08.202Z,1761512408.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844074,-0.530785,-0.076204],[0.536174,0.833428,0.133848],[-0.007534,-0.153836,0.988068]]
2025-10-26T21:00:08.608Z,1761512408.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843495,-0.531581,-0.077060],[0.537093,0.832856,0.133725],[-0.006906,-0.154185,0.988018]]
2025-10-26T21:00:09.010Z,1761512409.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842696,-0.532727,-0.077883],[0.538354,0.832108,0.133308],[-0.006210,-0.154267,0.988010]]
2025-10-26T21:00:09.414Z,1761512409.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841440,-0.534720,-0.077806],[0.540322,0.831149,0.131315],[-0.005548,-0.152534,0.988283]]
2025-10-26T21:00:09.862Z,1761512409.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840452,-0.536131,-0.078766],[0.541866,0.830232,0.130754],[-0.004708,-0.152573,0.988281]]
2025-10-26T21:00:10.223Z,1761512410.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839823,-0.537003,-0.079534],[0.542846,0.829645,0.130415],[-0.004048,-0.152700,0.988264]]
2025-10-26T21:00:10.627Z,1761512410.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838733,-0.538605,-0.080195],[0.544532,0.828650,0.129706],[-0.003407,-0.152457,0.988304]]
2025-10-26T21:00:11.030Z,1761512411.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837777,-0.539939,-0.081214],[0.546007,0.827734,0.129356],[-0.002621,-0.152715,0.988267]]
2025-10-26T21:00:11.434Z,1761512411.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836900,-0.541230,-0.081652],[0.547351,0.826990,0.128426],[-0.001983,-0.152172,0.988352]]
2025-10-26T21:00:11.868Z,1761512411.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836027,-0.542484,-0.082275],[0.548687,0.826210,0.127748],[-0.001325,-0.151944,0.988388]]
2025-10-26T21:00:12.244Z,1761512412.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835417,-0.543362,-0.082681],[0.549616,0.825670,0.127248],[-0.000874,-0.151748,0.988419]]
2025-10-26T21:00:12.600Z,1761512412.600 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:00:12.653Z,1761512412.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834983,-0.543931,-0.083317],[0.550275,0.825248,0.127133],[-0.000395,-0.152002,0.988380]]
2025-10-26T21:00:13.050Z,1761512413.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834223,-0.544984,-0.084050],[0.551427,0.824567,0.126557],[0.000334,-0.151924,0.988392]]
2025-10-26T21:00:13.455Z,1761512413.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833643,-0.545843,-0.084232],[0.552304,0.824082,0.125893],[0.000696,-0.151471,0.988461]]
2025-10-26T21:00:13.605Z,1761512413.605 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:00:13.880Z,1761512413.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833595,-0.545869,-0.084539],[0.552376,0.824003,0.126098],[0.000827,-0.151812,0.988409]]
2025-10-26T21:00:14.262Z,1761512414.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833959,-0.545243,-0.084982],[0.551826,0.824274,0.126729],[0.000950,-0.152582,0.988290]]
2025-10-26T21:00:14.667Z,1761512414.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834550,-0.544261,-0.085476],[0.550931,0.824788,0.127279],[0.001227,-0.153312,0.988177]]
2025-10-26T21:00:15.073Z,1761512415.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835373,-0.542983,-0.085563],[0.549681,0.825594,0.127454],[0.001435,-0.153504,0.988147]]
2025-10-26T21:00:15.476Z,1761512415.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836456,-0.541168,-0.086482],[0.548031,0.826537,0.128446],[0.001970,-0.154835,0.987938]]
2025-10-26T21:00:15.883Z,1761512415.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837836,-0.539002,-0.086647],[0.545914,0.828097,0.127414],[0.003075,-0.154054,0.988058]]
2025-10-26T21:00:16.282Z,1761512416.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839223,-0.536895,-0.086306],[0.543772,0.829751,0.125798],[0.004072,-0.152503,0.988295]]
2025-10-26T21:00:16.687Z,1761512416.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840955,-0.534173,-0.086339],[0.541083,0.831608,0.125127],[0.004961,-0.151942,0.988377]]
2025-10-26T21:00:17.090Z,1761512417.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842653,-0.531428,-0.086715],[0.538425,0.833364,0.124915],[0.005882,-0.151949,0.988371]]
2025-10-26T21:00:17.494Z,1761512417.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843953,-0.529345,-0.086816],[0.536372,0.834863,0.123730],[0.006984,-0.150988,0.988511]]
2025-10-26T21:00:17.898Z,1761512417.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845178,-0.527291,-0.087397],[0.534430,0.836062,0.124035],[0.007667,-0.151540,0.988421]]
2025-10-26T21:00:18.304Z,1761512418.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846241,-0.525469,-0.088082],[0.532738,0.837020,0.124851],[0.008121,-0.152578,0.988258]]
2025-10-26T21:00:18.710Z,1761512418.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846884,-0.524282,-0.088976],[0.531708,0.837555,0.125653],[0.008645,-0.153723,0.988076]]
2025-10-26T21:00:19.110Z,1761512419.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847243,-0.523704,-0.088961],[0.531122,0.838122,0.124342],[0.009442,-0.152597,0.988243]]
2025-10-26T21:00:19.515Z,1761512419.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846792,-0.524438,-0.088924],[0.531829,0.837881,0.122937],[0.010034,-0.151394,0.988423]]
2025-10-26T21:00:19.920Z,1761512419.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846133,-0.525443,-0.089263],[0.532865,0.837366,0.121955],[0.010665,-0.150755,0.988514]]
2025-10-26T21:00:20.732Z,1761512420.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843523,-0.529444,-0.090325],[0.536949,0.835183,0.118972],[0.012449,-0.148856,0.988780]]
2025-10-26T21:00:21.139Z,1761512421.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841649,-0.532260,-0.091245],[0.539858,0.833494,0.117649],[0.013432,-0.148279,0.988854]]
2025-10-26T21:00:21.536Z,1761512421.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839332,-0.535628,-0.092864],[0.543425,0.831255,0.117060],[0.014493,-0.148717,0.988774]]
2025-10-26T21:00:22.342Z,1761512422.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833751,-0.543871,-0.095204],[0.551883,0.826146,0.113609],[0.016864,-0.147263,0.988954]]
2025-10-26T21:00:22.748Z,1761512422.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831021,-0.547845,-0.096283],[0.555942,0.823713,0.111472],[0.018240,-0.146163,0.989092]]
2025-10-26T21:00:23.154Z,1761512423.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828320,-0.551771,-0.097131],[0.559908,0.821373,0.108855],[0.019718,-0.144551,0.989301]]
2025-10-26T21:00:23.554Z,1761512423.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824955,-0.556513,-0.098701],[0.564808,0.818204,0.107398],[0.020989,-0.144346,0.989305]]
2025-10-26T21:00:23.958Z,1761512423.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822500,-0.559785,-0.100671],[0.568320,0.815882,0.106529],[0.022502,-0.144833,0.989200]]
2025-10-26T21:00:24.362Z,1761512424.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820408,-0.562558,-0.102269],[0.571273,0.813984,0.105245],[0.024039,-0.144768,0.989174]]
2025-10-26T21:00:24.766Z,1761512424.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818629,-0.564825,-0.104019],[0.573760,0.812315,0.104609],[0.025410,-0.145318,0.989059]]
2025-10-26T21:00:25.170Z,1761512425.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817609,-0.565765,-0.106890],[0.575144,0.811196,0.105692],[0.026912,-0.147892,0.988637]]
2025-10-26T21:00:25.575Z,1761512425.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817321,-0.565731,-0.109244],[0.575497,0.810787,0.106902],[0.028096,-0.150243,0.988250]]
2025-10-26T21:00:26.382Z,1761512426.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818470,-0.563188,-0.113694],[0.573759,0.811558,0.110340],[0.030127,-0.155543,0.987370]]
2025-10-26T21:00:26.786Z,1761512426.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819753,-0.561030,-0.115108],[0.571887,0.812678,0.111806],[0.030819,-0.157482,0.987041]]
2025-10-26T21:00:27.201Z,1761512427.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821329,-0.558408,-0.116612],[0.569574,0.814099,0.113265],[0.031685,-0.159447,0.986698]]
2025-10-26T21:00:27.594Z,1761512427.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823364,-0.555261,-0.117288],[0.566566,0.816177,0.113391],[0.032766,-0.159814,0.986603]]
2025-10-26T21:00:27.998Z,1761512427.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825627,-0.551880,-0.117335],[0.563220,0.818499,0.113322],[0.033498,-0.159647,0.986606]]
2025-10-26T21:00:28.404Z,1761512428.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827992,-0.548467,-0.116675],[0.559698,0.821046,0.112345],[0.034178,-0.158324,0.986796]]
2025-10-26T21:00:28.806Z,1761512428.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830433,-0.544813,-0.116447],[0.556034,0.823545,0.112244],[0.034747,-0.157960,0.986834]]
2025-10-26T21:00:29.213Z,1761512429.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832933,-0.541050,-0.116133],[0.552258,0.826062,0.112397],[0.035120,-0.157755,0.986854]]
2025-10-26T21:00:29.623Z,1761512429.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835441,-0.537245,-0.115784],[0.548440,0.828561,0.112696],[0.035389,-0.157651,0.986861]]
2025-10-26T21:00:30.019Z,1761512430.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837765,-0.533682,-0.115469],[0.544869,0.830864,0.113060],[0.035601,-0.157633,0.986856]]
2025-10-26T21:00:30.422Z,1761512430.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839412,-0.531046,-0.115658],[0.542314,0.832427,0.113849],[0.035818,-0.158289,0.986743]]
2025-10-26T21:00:30.831Z,1761512430.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840625,-0.529133,-0.115617],[0.540447,0.833499,0.114878],[0.035581,-0.159054,0.986628]]
2025-10-26T21:00:31.239Z,1761512431.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841055,-0.528435,-0.115684],[0.539747,0.834021,0.114375],[0.036043,-0.158636,0.986679]]
2025-10-26T21:00:31.643Z,1761512431.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840364,-0.529547,-0.115625],[0.540810,0.833444,0.113557],[0.036233,-0.157961,0.986780]]
2025-10-26T21:00:32.043Z,1761512432.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839189,-0.531557,-0.114925],[0.542608,0.832592,0.111209],[0.036571,-0.155685,0.987130]]
2025-10-26T21:00:32.446Z,1761512432.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837823,-0.533782,-0.114585],[0.544702,0.831440,0.109579],[0.036779,-0.154223,0.987351]]
2025-10-26T21:00:32.847Z,1761512432.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836105,-0.536465,-0.114603],[0.547303,0.829957,0.107845],[0.037260,-0.152892,0.987540]]
2025-10-26T21:00:33.255Z,1761512433.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833841,-0.539761,-0.115618],[0.550720,0.827729,0.107571],[0.037637,-0.153370,0.987452]]
2025-10-26T21:00:33.654Z,1761512433.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831586,-0.543341,-0.115089],[0.554081,0.825862,0.104627],[0.038200,-0.150775,0.987830]]
2025-10-26T21:00:34.058Z,1761512434.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829409,-0.546543,-0.115632],[0.557291,0.823867,0.103295],[0.038810,-0.150115,0.987907]]
2025-10-26T21:00:34.462Z,1761512434.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827092,-0.549875,-0.116433],[0.560687,0.821668,0.102429],[0.039346,-0.150000,0.987903]]
2025-10-26T21:00:34.868Z,1761512434.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825037,-0.552855,-0.116897],[0.563650,0.819850,0.100720],[0.040154,-0.148986,0.988024]]
2025-10-26T21:00:35.274Z,1761512435.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823222,-0.555471,-0.117297],[0.566260,0.818196,0.099520],[0.040691,-0.148347,0.988098]]
2025-10-26T21:00:35.674Z,1761512435.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821477,-0.557894,-0.118021],[0.568771,0.816472,0.099367],[0.040925,-0.148755,0.988027]]
2025-10-26T21:00:36.078Z,1761512436.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820149,-0.559734,-0.118550],[0.570660,0.815206,0.098930],[0.041269,-0.148789,0.988007]]
2025-10-26T21:00:36.484Z,1761512436.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819083,-0.561117,-0.119378],[0.572169,0.814120,0.099154],[0.041551,-0.149519,0.987885]]
2025-10-26T21:00:36.886Z,1761512436.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818242,-0.561958,-0.121176],[0.573335,0.813131,0.100524],[0.042042,-0.151727,0.987528]]
2025-10-26T21:00:37.694Z,1761512437.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817821,-0.562125,-0.123227],[0.573895,0.812509,0.102342],[0.042594,-0.154417,0.987087]]
2025-10-26T21:00:38.110Z,1761512438.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817882,-0.561845,-0.124099],[0.573802,0.812428,0.103500],[0.042671,-0.155858,0.986857]]
2025-10-26T21:00:38.502Z,1761512438.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818566,-0.560600,-0.125212],[0.572838,0.812821,0.105730],[0.042502,-0.158273,0.986480]]
2025-10-26T21:00:38.906Z,1761512438.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819684,-0.559027,-0.124924],[0.571246,0.813896,0.106075],[0.042376,-0.158311,0.986480]]
2025-10-26T21:00:39.310Z,1761512439.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820868,-0.557224,-0.125205],[0.569561,0.814893,0.107471],[0.042143,-0.159531,0.986293]]
2025-10-26T21:00:39.722Z,1761512439.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821894,-0.555510,-0.126093],[0.568084,0.815667,0.109398],[0.042078,-0.161545,0.985968]]
2025-10-26T21:00:40.121Z,1761512440.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823202,-0.553380,-0.126921],[0.566192,0.816708,0.111417],[0.042001,-0.163580,0.985636]]
2025-10-26T21:00:40.522Z,1761512440.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825156,-0.550471,-0.126880],[0.563336,0.818566,0.112257],[0.042066,-0.164105,0.985546]]
2025-10-26T21:00:40.926Z,1761512440.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826940,-0.547754,-0.127027],[0.560715,0.820202,0.113433],[0.042055,-0.165028,0.985392]]
2025-10-26T21:00:41.340Z,1761512441.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828836,-0.544879,-0.127031],[0.557908,0.821976,0.114431],[0.042066,-0.165717,0.985276]]
2025-10-26T21:00:41.738Z,1761512441.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830394,-0.542468,-0.127177],[0.555609,0.823308,0.116028],[0.041764,-0.167010,0.985070]]
2025-10-26T21:00:42.138Z,1761512442.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832077,-0.540120,-0.126165],[0.553089,0.825076,0.115505],[0.041709,-0.165890,0.985262]]
2025-10-26T21:00:42.174Z,1761512442.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:00:42.344Z,1761512442.344 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:00:42.345Z,1761512442.345 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:00:42.542Z,1761512442.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833614,-0.537846,-0.125735],[0.550783,0.826550,0.115988],[0.041543,-0.165942,0.985260]]
2025-10-26T21:00:42.597Z,1761512442.597 [DAT](INFO): DAT read: user:135>

2025-10-26T21:00:42.598Z,1761512442.598 [DAT](INFO): DAT read: Tx time:21:00:41.6971

2025-10-26T21:00:42.599Z,1761512442.599 [DAT](INFO): Ping request sent.
2025-10-26T21:00:42.599Z,1761512442.599 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:00:42.600Z,1761512442.600 [DAT](INFO): publishing transmit ping time
2025-10-26T21:00:42.601Z,1761512442.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001623
2025-10-26T21:00:42.848Z,1761512442.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249376
2025-10-26T21:00:42.948Z,1761512442.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834860,-0.536090,-0.124966],[0.548910,0.827807,0.115903],[0.041313,-0.165358,0.985368]]
2025-10-26T21:00:43.101Z,1761512443.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502185
2025-10-26T21:00:43.353Z,1761512443.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753503
2025-10-26T21:00:43.370Z,1761512443.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835691,-0.534912,-0.124459],[0.547651,0.828661,0.115758],[0.041214,-0.164898,0.985449]]
2025-10-26T21:00:43.605Z,1761512443.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006228
2025-10-26T21:00:43.736Z,1761512443.736 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:00:43.755Z,1761512443.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836235,-0.534021,-0.124632],[0.546843,0.829040,0.116858],[0.040920,-0.165875,0.985297]]
2025-10-26T21:00:43.856Z,1761512443.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257453
2025-10-26T21:00:44.108Z,1761512444.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509461
2025-10-26T21:00:44.168Z,1761512444.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836428,-0.533680,-0.124794],[0.546560,0.829132,0.117526],[0.040750,-0.166509,0.985198]]
2025-10-26T21:00:44.360Z,1761512444.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761362
2025-10-26T21:00:44.563Z,1761512444.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836679,-0.533279,-0.124823],[0.546182,0.829332,0.117875],[0.040659,-0.166799,0.985152]]
2025-10-26T21:00:44.629Z,1761512444.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.029668
2025-10-26T21:00:44.740Z,1761512444.740 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:00:44.880Z,1761512444.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.281410
2025-10-26T21:00:44.966Z,1761512444.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836750,-0.533337,-0.124101],[0.546095,0.829466,0.117327],[0.040363,-0.165945,0.985309]]
2025-10-26T21:00:45.134Z,1761512445.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534597
2025-10-26T21:00:45.384Z,1761512445.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.785480
2025-10-26T21:00:45.386Z,1761512445.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836430,-0.533977,-0.123500],[0.546598,0.829246,0.116538],[0.040183,-0.164981,0.985478]]
2025-10-26T21:00:45.636Z,1761512445.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.037408
2025-10-26T21:00:45.774Z,1761512445.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835800,-0.534926,-0.123663],[0.547549,0.828674,0.116141],[0.040350,-0.164782,0.985504]]
2025-10-26T21:00:45.888Z,1761512445.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289503
2025-10-26T21:00:46.140Z,1761512446.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.541291
2025-10-26T21:00:46.181Z,1761512446.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835163,-0.535914,-0.123689],[0.548542,0.827990,0.116336],[0.040067,-0.165008,0.985478]]
2025-10-26T21:00:46.397Z,1761512446.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.797595
2025-10-26T21:00:46.590Z,1761512446.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834432,-0.536979,-0.123999],[0.549650,0.827250,0.116372],[0.040089,-0.165260,0.985435]]
2025-10-26T21:00:46.648Z,1761512446.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.049436
2025-10-26T21:00:46.900Z,1761512446.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.301320
2025-10-26T21:00:46.987Z,1761512446.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833683,-0.538068,-0.124317],[0.550768,0.826558,0.116004],[0.040337,-0.165180,0.985438]]
2025-10-26T21:00:47.152Z,1761512447.152 [DAT](INFO): DAT read: Rx Time:21:00:45.8079

2025-10-26T21:00:47.153Z,1761512447.153 [DAT](INFO): Rx dataTimestamp_ set to:1761512447.152625
2025-10-26T21:00:47.153Z,1761512447.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.554485
2025-10-26T21:00:47.407Z,1761512447.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.807727
2025-10-26T21:00:47.426Z,1761512447.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832983,-0.539100,-0.124541],[0.551814,0.825907,0.115666],[0.040504,-0.165071,0.985450]]
2025-10-26T21:00:47.662Z,1761512447.662 [DAT](INFO): DAT read: 21:00:45.8079 LVL= 32752, 32753, 32754, 32755, AGC= 89, IDX= 401,-0.36, 1.143,-0.449, 1.095, 1.032, PHS= 0.213,-1.436, 0.018, RAW= 143.8,  15.3, CAL= 143.3,  16.6, ROT=   6.7, -16.6

2025-10-26T21:00:47.663Z,1761512447.663 [DAT](INFO): got valid direction response:
 21:00:45.8079 LVL= 32752, 32753, 32754, 32755, AGC= 89, IDX= 401,-0.36, 1.143,-0.449, 1.095, 1.032, PHS= 0.213,-1.436, 0.018, RAW= 143.8,  15.3, CAL= 143.3,  16.6, ROT=   6.7, -16.6

2025-10-26T21:00:47.664Z,1761512447.664 [DAT](INFO): DAT read: Bearing 198.0,   5.7 (Local)

2025-10-26T21:00:47.664Z,1761512447.664 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.0,   5.7 (Local)

2025-10-26T21:00:47.666Z,1761512447.666 [DAT](INFO): DAT read: Range 11 to 50 : 1279.9 m  (Round-trip  1706.6 ms) speed  0.8 m/s

2025-10-26T21:00:47.666Z,1761512447.666 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:00:47.668Z,1761512447.668 [DAT](INFO): direction in FSK: [0.951778,0.111808,0.285688]
2025-10-26T21:00:47.668Z,1761512447.668 [DAT](INFO): publishing direction and range info
2025-10-26T21:00:47.794Z,1761512447.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832465,-0.539820,-0.124883],[0.552581,0.825405,0.115586],[0.040683,-0.165230,0.985416]]
2025-10-26T21:00:48.198Z,1761512448.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832001,-0.540561,-0.124771],[0.553279,0.825002,0.115127],[0.040703,-0.164819,0.985484]]
2025-10-26T21:00:48.605Z,1761512448.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831536,-0.541223,-0.125005],[0.553967,0.824560,0.114979],[0.040845,-0.164858,0.985471]]
2025-10-26T21:00:49.008Z,1761512449.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830916,-0.542057,-0.125510],[0.554869,0.823989,0.114729],[0.041230,-0.164972,0.985436]]
2025-10-26T21:00:49.448Z,1761512449.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831035,-0.541720,-0.126173],[0.554673,0.824027,0.115402],[0.041455,-0.165888,0.985273]]
2025-10-26T21:00:49.814Z,1761512449.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831265,-0.541273,-0.126576],[0.554311,0.824224,0.115734],[0.041683,-0.166368,0.985182]]
2025-10-26T21:00:50.219Z,1761512450.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831324,-0.541118,-0.126852],[0.554206,0.824285,0.115801],[0.041900,-0.166570,0.985139]]
2025-10-26T21:00:50.623Z,1761512450.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831945,-0.540118,-0.127045],[0.553271,0.824831,0.116383],[0.041930,-0.167114,0.985046]]
2025-10-26T21:00:51.026Z,1761512451.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832590,-0.539094,-0.127169],[0.552275,0.825505,0.116332],[0.042265,-0.167089,0.985036]]
2025-10-26T21:00:51.474Z,1761512451.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833368,-0.538002,-0.126695],[0.551100,0.826333,0.116028],[0.042269,-0.166516,0.985132]]
2025-10-26T21:00:51.835Z,1761512451.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834218,-0.536832,-0.126062],[0.549821,0.827226,0.115735],[0.042151,-0.165859,0.985248]]
2025-10-26T21:00:52.238Z,1761512452.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835086,-0.535475,-0.126090],[0.548517,0.827972,0.116588],[0.041969,-0.166523,0.985144]]
2025-10-26T21:00:52.642Z,1761512452.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836405,-0.533482,-0.125793],[0.546541,0.829113,0.117750],[0.041480,-0.167238,0.985044]]
2025-10-26T21:00:53.046Z,1761512453.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837770,-0.531577,-0.124768],[0.544511,0.830339,0.118506],[0.040605,-0.167218,0.985083]]
2025-10-26T21:00:53.503Z,1761512453.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838843,-0.530009,-0.124231],[0.542905,0.831254,0.119459],[0.039953,-0.167653,0.985036]]
2025-10-26T21:00:53.854Z,1761512453.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840021,-0.528460,-0.122861],[0.541167,0.832289,0.120143],[0.038765,-0.167411,0.985125]]
2025-10-26T21:00:54.258Z,1761512454.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841063,-0.526881,-0.122511],[0.539599,0.833098,0.121571],[0.038010,-0.168355,0.984993]]
2025-10-26T21:00:54.664Z,1761512454.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841851,-0.525870,-0.121440],[0.538449,0.833716,0.122434],[0.036862,-0.168461,0.985019]]
2025-10-26T21:00:55.081Z,1761512455.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842558,-0.525029,-0.120173],[0.537422,0.834302,0.122954],[0.035706,-0.168180,0.985110]]
2025-10-26T21:00:55.506Z,1761512455.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843031,-0.524618,-0.118637],[0.536752,0.834752,0.122830],[0.034593,-0.167228,0.985311]]
2025-10-26T21:00:55.874Z,1761512455.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843657,-0.523760,-0.117974],[0.535826,0.835194,0.123857],[0.033660,-0.167707,0.985262]]
2025-10-26T21:00:56.280Z,1761512456.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844308,-0.522905,-0.117108],[0.534867,0.835662,0.124843],[0.032582,-0.168043,0.985241]]
2025-10-26T21:00:56.682Z,1761512456.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844606,-0.522691,-0.115912],[0.534468,0.835848,0.125307],[0.031388,-0.167786,0.985324]]
2025-10-26T21:00:57.090Z,1761512457.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844924,-0.522391,-0.114937],[0.534023,0.836059,0.125799],[0.030377,-0.167669,0.985375]]
2025-10-26T21:00:57.531Z,1761512457.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845035,-0.522476,-0.113733],[0.533911,0.836092,0.126051],[0.029233,-0.167241,0.985483]]
2025-10-26T21:00:57.894Z,1761512457.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845037,-0.522698,-0.112695],[0.533983,0.835908,0.126963],[0.027840,-0.167466,0.985485]]
2025-10-26T21:00:58.298Z,1761512458.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844933,-0.523167,-0.111283],[0.534204,0.835806,0.126706],[0.026722,-0.166506,0.985678]]
2025-10-26T21:00:58.705Z,1761512458.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844770,-0.523649,-0.110249],[0.534509,0.835607,0.126733],[0.025761,-0.165990,0.985791]]
2025-10-26T21:00:59.108Z,1761512459.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844844,-0.523745,-0.109227],[0.534446,0.835568,0.127250],[0.024620,-0.165883,0.985838]]
2025-10-26T21:00:59.518Z,1761512459.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844587,-0.524394,-0.108093],[0.534896,0.835309,0.127065],[0.023659,-0.165136,0.985987]]
2025-10-26T21:00:59.914Z,1761512459.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844596,-0.524581,-0.107113],[0.534927,0.835228,0.127464],[0.022599,-0.164953,0.986042]]
2025-10-26T21:01:00.318Z,1761512460.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844770,-0.524460,-0.106328],[0.534695,0.835258,0.128236],[0.021556,-0.165183,0.986027]]
2025-10-26T21:01:00.729Z,1761512460.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845136,-0.524013,-0.105623],[0.534157,0.835457,0.129182],[0.020551,-0.165596,0.985980]]
2025-10-26T21:01:01.126Z,1761512461.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845328,-0.523866,-0.104807],[0.533892,0.835501,0.129991],[0.019469,-0.165841,0.985960]]
2025-10-26T21:01:01.531Z,1761512461.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845407,-0.523976,-0.103614],[0.533802,0.835565,0.129947],[0.018487,-0.165168,0.986092]]
2025-10-26T21:01:01.935Z,1761512461.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845842,-0.523402,-0.102960],[0.533144,0.835841,0.130870],[0.017561,-0.165588,0.986039]]
2025-10-26T21:01:02.744Z,1761512462.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846326,-0.522863,-0.101719],[0.532434,0.836017,0.132627],[0.015693,-0.166404,0.985933]]
2025-10-26T21:01:03.146Z,1761512463.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846484,-0.522759,-0.100934],[0.532207,0.836093,0.133056],[0.014834,-0.166348,0.985956]]
2025-10-26T21:01:03.567Z,1761512463.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846783,-0.522405,-0.100260],[0.531753,0.836291,0.133628],[0.014038,-0.166468,0.985947]]
2025-10-26T21:01:03.955Z,1761512463.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847144,-0.521930,-0.099680],[0.531200,0.836498,0.134526],[0.013169,-0.166913,0.985884]]
2025-10-26T21:01:04.358Z,1761512464.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847658,-0.521258,-0.098825],[0.530406,0.836846,0.135496],[0.012073,-0.167272,0.985837]]
2025-10-26T21:01:04.762Z,1761512464.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847845,-0.521162,-0.097718],[0.530131,0.836946,0.135950],[0.010933,-0.167068,0.985885]]
2025-10-26T21:01:05.167Z,1761512465.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848084,-0.520979,-0.096617],[0.529769,0.837147,0.136127],[0.009963,-0.166632,0.985969]]
2025-10-26T21:01:05.577Z,1761512465.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848396,-0.520627,-0.095772],[0.529287,0.837331,0.136868],[0.008935,-0.166809,0.985949]]
2025-10-26T21:01:05.974Z,1761512465.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848813,-0.520247,-0.094131],[0.528639,0.837734,0.136903],[0.007633,-0.165967,0.986102]]
2025-10-26T21:01:06.378Z,1761512466.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848974,-0.520157,-0.093166],[0.528394,0.837796,0.137470],[0.006548,-0.165937,0.986115]]
2025-10-26T21:01:06.782Z,1761512466.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849382,-0.519596,-0.092570],[0.527749,0.838010,0.138634],[0.005541,-0.166607,0.986008]]
2025-10-26T21:01:07.186Z,1761512467.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849337,-0.519809,-0.091787],[0.527829,0.837935,0.138784],[0.004770,-0.166322,0.986060]]
2025-10-26T21:01:07.590Z,1761512467.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849368,-0.519916,-0.090888],[0.527786,0.837929,0.138981],[0.003900,-0.166016,0.986115]]
2025-10-26T21:01:07.995Z,1761512467.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849508,-0.519768,-0.090426],[0.527566,0.837959,0.139641],[0.003192,-0.166332,0.986065]]
2025-10-26T21:01:08.398Z,1761512468.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849915,-0.519218,-0.089765],[0.526915,0.838242,0.140397],[0.002348,-0.166624,0.986018]]
2025-10-26T21:01:08.809Z,1761512468.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850046,-0.519141,-0.088968],[0.526707,0.838326,0.140678],[0.001552,-0.166442,0.986050]]
2025-10-26T21:01:09.207Z,1761512469.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850547,-0.518436,-0.088287],[0.525899,0.838699,0.141474],[0.000701,-0.166760,0.985997]]
2025-10-26T21:01:09.618Z,1761512469.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851066,-0.517606,-0.088152],[0.525059,0.839032,0.142614],[0.000144,-0.167659,0.985845]]
2025-10-26T21:01:10.014Z,1761512470.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851330,-0.517256,-0.087649],[0.524630,0.839227,0.143042],[-0.000432,-0.167760,0.985828]]
2025-10-26T21:01:10.418Z,1761512470.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851706,-0.516747,-0.087005],[0.524019,0.839506,0.143642],[-0.001185,-0.167934,0.985798]]
2025-10-26T21:01:10.822Z,1761512470.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852250,-0.515933,-0.086506],[0.523131,0.839933,0.144380],[-0.001832,-0.168302,0.985734]]
2025-10-26T21:01:11.228Z,1761512471.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852818,-0.515075,-0.086021],[0.522203,0.840445,0.144760],[-0.002267,-0.168374,0.985721]]
2025-10-26T21:01:11.630Z,1761512471.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853301,-0.514347,-0.085580],[0.521411,0.840851,0.145261],[-0.002755,-0.168574,0.985685]]
2025-10-26T21:01:12.041Z,1761512472.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854132,-0.513032,-0.085182],[0.520045,0.841513,0.146317],[-0.003384,-0.169272,0.985564]]
2025-10-26T21:01:12.439Z,1761512472.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854811,-0.512007,-0.084540],[0.518926,0.842199,0.146342],[-0.003728,-0.168965,0.985615]]
2025-10-26T21:01:12.844Z,1761512472.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855578,-0.510812,-0.084007],[0.517655,0.842843,0.147139],[-0.004356,-0.169376,0.985542]]
2025-10-26T21:01:13.246Z,1761512473.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856080,-0.510063,-0.083440],[0.516821,0.843351,0.147153],[-0.004688,-0.169098,0.985588]]
2025-10-26T21:01:13.651Z,1761512473.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856754,-0.508995,-0.083052],[0.515700,0.843919,0.147829],[-0.005155,-0.169482,0.985520]]
2025-10-26T21:01:14.060Z,1761512474.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856859,-0.508910,-0.082476],[0.515521,0.844075,0.147564],[-0.005481,-0.168959,0.985608]]
2025-10-26T21:01:14.460Z,1761512474.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857206,-0.508407,-0.081979],[0.514939,0.844378,0.147863],[-0.005953,-0.168963,0.985604]]
2025-10-26T21:01:14.860Z,1761512474.860 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:01:14.863Z,1761512474.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857337,-0.508267,-0.081469],[0.514714,0.844461,0.148176],[-0.006516,-0.168970,0.985600]]
2025-10-26T21:01:15.266Z,1761512475.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857455,-0.508153,-0.080935],[0.514511,0.844571,0.148252],[-0.006979,-0.168761,0.985632]]
2025-10-26T21:01:15.672Z,1761512475.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856992,-0.509079,-0.080022],[0.515277,0.844295,0.147157],[-0.007352,-0.167346,0.985871]]
2025-10-26T21:01:15.864Z,1761512475.864 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:01:16.082Z,1761512476.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854935,-0.512790,-0.078311],[0.518675,0.842738,0.144112],[-0.007904,-0.163824,0.986458]]
2025-10-26T21:01:16.485Z,1761512476.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853660,-0.515084,-0.077159],[0.520763,0.841736,0.142433],[-0.008418,-0.161771,0.986793]]
2025-10-26T21:01:16.888Z,1761512476.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852448,-0.517138,-0.076814],[0.522738,0.840615,0.141812],[-0.008765,-0.161041,0.986909]]
2025-10-26T21:01:17.290Z,1761512477.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851325,-0.519093,-0.076083],[0.524559,0.839677,0.140640],[-0.009120,-0.159641,0.987133]]
2025-10-26T21:01:17.693Z,1761512477.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850277,-0.520887,-0.075532],[0.526251,0.838769,0.139736],[-0.009433,-0.158563,0.987304]]
2025-10-26T21:01:18.096Z,1761512478.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848931,-0.523223,-0.074522],[0.528411,0.837665,0.138198],[-0.009884,-0.156699,0.987597]]
2025-10-26T21:01:18.498Z,1761512478.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847674,-0.525315,-0.074108],[0.530406,0.836339,0.138587],[-0.010822,-0.156785,0.987574]]
2025-10-26T21:01:18.902Z,1761512478.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846751,-0.526856,-0.073719],[0.531869,0.835458,0.138292],[-0.011271,-0.156308,0.987644]]
2025-10-26T21:01:18.920Z,1761512478.920 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 41.27, 286.18, 310.67, 312.20
2025-10-26T21:01:19.315Z,1761512479.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846117,-0.527940,-0.073244],[0.532852,0.834663,0.139307],[-0.012412,-0.156899,0.987537]]
2025-10-26T21:01:19.717Z,1761512479.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845525,-0.528904,-0.073133],[0.533760,0.833768,0.141174],[-0.013692,-0.158401,0.987280]]
2025-10-26T21:01:20.114Z,1761512480.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845088,-0.529669,-0.072641],[0.534433,0.833291,0.141446],[-0.014388,-0.158356,0.987277]]
2025-10-26T21:01:20.528Z,1761512480.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845205,-0.529582,-0.071915],[0.534213,0.833209,0.142754],[-0.015679,-0.159074,0.987142]]
2025-10-26T21:01:20.922Z,1761512480.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845485,-0.529247,-0.071085],[0.533732,0.833322,0.143895],[-0.016919,-0.159601,0.987037]]
2025-10-26T21:01:21.327Z,1761512481.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846027,-0.528518,-0.070053],[0.532823,0.833659,0.145303],[-0.018395,-0.160256,0.986904]]
2025-10-26T21:01:21.803Z,1761512481.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846691,-0.527566,-0.069197],[0.531710,0.834033,0.147221],[-0.019956,-0.161443,0.986680]]
2025-10-26T21:01:22.138Z,1761512482.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847382,-0.526567,-0.068347],[0.530555,0.834482,0.148834],[-0.021337,-0.162381,0.986497]]
2025-10-26T21:01:22.544Z,1761512482.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848188,-0.525404,-0.067285],[0.529203,0.835059,0.150400],[-0.022834,-0.163175,0.986333]]
2025-10-26T21:01:22.942Z,1761512482.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848886,-0.524438,-0.066007],[0.528015,0.835595,0.151598],[-0.024349,-0.163542,0.986236]]
2025-10-26T21:01:23.346Z,1761512483.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849779,-0.523153,-0.064703],[0.526495,0.836259,0.153209],[-0.026044,-0.164260,0.986073]]
2025-10-26T21:01:23.751Z,1761512483.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850447,-0.522386,-0.062079],[0.525317,0.837037,0.153005],[-0.027965,-0.162734,0.986274]]
2025-10-26T21:01:24.158Z,1761512484.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851127,-0.521434,-0.060739],[0.524130,0.837572,0.154149],[-0.029505,-0.163035,0.986179]]
2025-10-26T21:01:24.558Z,1761512484.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851667,-0.520775,-0.058787],[0.523153,0.838113,0.154522],[-0.031201,-0.162356,0.986239]]
2025-10-26T21:01:24.963Z,1761512484.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851924,-0.520510,-0.057399],[0.522648,0.838315,0.155134],[-0.032630,-0.162162,0.986224]]
2025-10-26T21:01:25.373Z,1761512485.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852034,-0.520499,-0.055851],[0.522376,0.838424,0.155464],[-0.034093,-0.161636,0.986261]]
2025-10-26T21:01:25.770Z,1761512485.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852106,-0.520525,-0.054495],[0.522139,0.838344,0.156683],[-0.035871,-0.161964,0.986144]]
2025-10-26T21:01:26.177Z,1761512486.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852229,-0.520405,-0.053710],[0.521832,0.838221,0.158355],[-0.037387,-0.162982,0.985920]]
2025-10-26T21:01:26.579Z,1761512486.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852318,-0.520364,-0.052676],[0.521579,0.838160,0.159511],[-0.038853,-0.163428,0.985790]]
2025-10-26T21:01:26.989Z,1761512486.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852111,-0.520837,-0.051343],[0.521806,0.837925,0.159998],[-0.040311,-0.163128,0.985781]]
2025-10-26T21:01:27.386Z,1761512487.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851453,-0.522051,-0.049905],[0.522783,0.837387,0.159627],[-0.041544,-0.162004,0.985915]]
2025-10-26T21:01:27.790Z,1761512487.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851326,-0.522398,-0.048413],[0.522872,0.837278,0.159911],[-0.043002,-0.161450,0.985943]]
2025-10-26T21:01:28.197Z,1761512488.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850978,-0.523095,-0.046983],[0.523326,0.836990,0.159929],[-0.044333,-0.160684,0.986010]]
2025-10-26T21:01:28.599Z,1761512488.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850696,-0.523643,-0.045973],[0.523677,0.836659,0.160513],[-0.045588,-0.160623,0.985962]]
2025-10-26T21:01:29.025Z,1761512489.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850406,-0.524221,-0.044745],[0.524036,0.836383,0.160779],[-0.046860,-0.160176,0.985976]]
2025-10-26T21:01:29.406Z,1761512489.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850304,-0.524471,-0.043732],[0.524072,0.836168,0.161775],[-0.048279,-0.160477,0.985858]]
2025-10-26T21:01:29.810Z,1761512489.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849845,-0.525307,-0.042617],[0.524713,0.835754,0.161839],[-0.049398,-0.159900,0.985896]]
2025-10-26T21:01:30.220Z,1761512490.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849581,-0.525825,-0.041491],[0.525028,0.835503,0.162113],[-0.050577,-0.159512,0.985900]]
2025-10-26T21:01:30.618Z,1761512490.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849145,-0.526624,-0.040246],[0.525631,0.835175,0.161846],[-0.051619,-0.158586,0.985995]]
2025-10-26T21:01:31.046Z,1761512491.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848733,-0.527346,-0.039466],[0.526197,0.834741,0.162248],[-0.052617,-0.158473,0.985960]]
2025-10-26T21:01:31.427Z,1761512491.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848465,-0.527839,-0.038631],[0.526545,0.834502,0.162348],[-0.053456,-0.158087,0.985977]]
2025-10-26T21:01:31.831Z,1761512491.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848048,-0.528553,-0.038022],[0.527152,0.834121,0.162337],[-0.054089,-0.157713,0.986002]]
2025-10-26T21:01:32.234Z,1761512492.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847766,-0.529044,-0.037494],[0.527533,0.833819,0.162648],[-0.054785,-0.157667,0.985971]]
2025-10-26T21:01:32.638Z,1761512492.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847510,-0.529501,-0.036821],[0.527861,0.833555,0.162936],[-0.055582,-0.157526,0.985949]]
2025-10-26T21:01:33.070Z,1761512493.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847446,-0.529624,-0.036523],[0.527910,0.833437,0.163380],[-0.056090,-0.157737,0.985887]]
2025-10-26T21:01:33.448Z,1761512493.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846932,-0.530487,-0.035905],[0.528663,0.832963,0.163367],[-0.056757,-0.157342,0.985912]]
2025-10-26T21:01:33.850Z,1761512493.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846510,-0.531166,-0.035819],[0.529275,0.832431,0.164092],[-0.057343,-0.157863,0.985795]]
2025-10-26T21:01:34.254Z,1761512494.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846378,-0.531398,-0.035486],[0.529437,0.832280,0.164336],[-0.057794,-0.157878,0.985766]]
2025-10-26T21:01:34.658Z,1761512494.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845871,-0.532240,-0.034979],[0.530199,0.831845,0.164084],[-0.058234,-0.157340,0.985826]]
2025-10-26T21:01:35.100Z,1761512495.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845884,-0.532225,-0.034885],[0.530120,0.831727,0.164931],[-0.058765,-0.158006,0.985688]]
2025-10-26T21:01:35.466Z,1761512495.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845916,-0.532190,-0.034632],[0.530020,0.831708,0.165346],[-0.059192,-0.158225,0.985627]]
2025-10-26T21:01:35.870Z,1761512495.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845841,-0.532319,-0.034492],[0.530112,0.831608,0.165559],[-0.059446,-0.158321,0.985597]]
2025-10-26T21:01:36.278Z,1761512496.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845975,-0.532138,-0.033998],[0.529830,0.831699,0.166002],[-0.060060,-0.158447,0.985539]]
2025-10-26T21:01:37.124Z,1761512497.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846032,-0.532102,-0.033120],[0.529669,0.831844,0.165789],[-0.060666,-0.157806,0.985605]]
2025-10-26T21:01:37.493Z,1761512497.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846116,-0.532010,-0.032442],[0.529478,0.831987,0.165682],[-0.061153,-0.157364,0.985646]]
2025-10-26T21:01:37.892Z,1761512497.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846228,-0.531885,-0.031564],[0.529239,0.832207,0.165338],[-0.061673,-0.156619,0.985732]]
2025-10-26T21:01:38.294Z,1761512498.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846335,-0.531781,-0.030427],[0.528999,0.832484,0.164712],[-0.062261,-0.155497,0.985872]]
2025-10-26T21:01:38.700Z,1761512498.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846615,-0.531376,-0.029705],[0.528474,0.832770,0.164954],[-0.062915,-0.155351,0.985854]]
2025-10-26T21:01:39.138Z,1761512499.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846855,-0.530951,-0.030452],[0.528103,0.832790,0.166039],[-0.062799,-0.156693,0.985649]]
2025-10-26T21:01:39.513Z,1761512499.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846918,-0.530879,-0.029961],[0.527990,0.832969,0.165495],[-0.062901,-0.155980,0.985755]]
2025-10-26T21:01:39.910Z,1761512499.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846955,-0.530830,-0.029773],[0.527917,0.833028,0.165435],[-0.063016,-0.155834,0.985771]]
2025-10-26T21:01:40.314Z,1761512500.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847097,-0.530608,-0.029701],[0.527682,0.833159,0.165524],[-0.063083,-0.155888,0.985758]]
2025-10-26T21:01:40.732Z,1761512500.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847112,-0.530570,-0.029940],[0.527680,0.833157,0.165540],[-0.062886,-0.156030,0.985748]]
2025-10-26T21:01:41.148Z,1761512501.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846636,-0.531308,-0.030332],[0.528512,0.832770,0.164832],[-0.062317,-0.155583,0.985855]]
2025-10-26T21:01:41.526Z,1761512501.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846298,-0.531816,-0.030857],[0.529120,0.832468,0.164409],[-0.061748,-0.155466,0.985910]]
2025-10-26T21:01:41.930Z,1761512501.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846064,-0.532168,-0.031189],[0.529530,0.832246,0.164207],[-0.061428,-0.155445,0.985933]]
2025-10-26T21:01:42.340Z,1761512502.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845809,-0.532497,-0.032472],[0.530040,0.831879,0.164424],[-0.060542,-0.156283,0.985855]]
2025-10-26T21:01:42.399Z,1761512502.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:01:42.628Z,1761512502.628 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:01:42.628Z,1761512502.628 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:01:42.740Z,1761512502.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845569,-0.532782,-0.034017],[0.530522,0.831443,0.165071],[-0.059664,-0.157625,0.985695]]
2025-10-26T21:01:42.880Z,1761512502.880 [DAT](INFO): DAT read: user:136>

2025-10-26T21:01:42.881Z,1761512502.881 [DAT](INFO): DAT read: Tx time:21:01:41.9970

2025-10-26T21:01:42.881Z,1761512502.881 [DAT](INFO): Ping request sent.
2025-10-26T21:01:42.881Z,1761512502.881 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:01:42.882Z,1761512502.882 [DAT](INFO): publishing transmit ping time
2025-10-26T21:01:42.882Z,1761512502.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-10-26T21:01:43.140Z,1761512503.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.258959
2025-10-26T21:01:43.148Z,1761512503.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845344,-0.533117,-0.034356],[0.530925,0.831252,0.164737],[-0.059266,-0.157500,0.985739]]
2025-10-26T21:01:43.392Z,1761512503.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.510808
2025-10-26T21:01:43.546Z,1761512503.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844949,-0.533710,-0.034863],[0.531628,0.830938,0.164055],[-0.058589,-0.157152,0.985835]]
2025-10-26T21:01:43.644Z,1761512503.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762905
2025-10-26T21:01:43.896Z,1761512503.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014882
2025-10-26T21:01:43.956Z,1761512503.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844493,-0.534394,-0.035416],[0.532443,0.830598,0.163132],[-0.057760,-0.156621,0.985968]]
2025-10-26T21:01:44.148Z,1761512504.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266744
2025-10-26T21:01:44.354Z,1761512504.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844259,-0.534721,-0.036058],[0.532895,0.830413,0.162592],[-0.056999,-0.156485,0.986034]]
2025-10-26T21:01:44.400Z,1761512504.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518966
2025-10-26T21:01:44.652Z,1761512504.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770859
2025-10-26T21:01:44.758Z,1761512504.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844276,-0.534607,-0.037331],[0.532960,0.830292,0.163000],[-0.056145,-0.157513,0.985919]]
2025-10-26T21:01:44.906Z,1761512504.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024042
2025-10-26T21:01:45.156Z,1761512505.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274909
2025-10-26T21:01:45.166Z,1761512505.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844015,-0.534957,-0.038205],[0.533463,0.830044,0.162620],[-0.055283,-0.157635,0.985949]]
2025-10-26T21:01:45.408Z,1761512505.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526929
2025-10-26T21:01:45.567Z,1761512505.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843931,-0.535038,-0.038928],[0.533672,0.829964,0.162342],[-0.054551,-0.157780,0.985966]]
2025-10-26T21:01:45.661Z,1761512505.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779379
2025-10-26T21:01:45.912Z,1761512505.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030911
2025-10-26T21:01:45.974Z,1761512505.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843576,-0.535549,-0.039577],[0.534319,0.829699,0.161563],[-0.053688,-0.157438,0.986068]]
2025-10-26T21:01:45.984Z,1761512505.984 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:01:46.164Z,1761512506.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282853
2025-10-26T21:01:46.374Z,1761512506.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843449,-0.535706,-0.040151],[0.534591,0.829621,0.161064],[-0.052973,-0.157313,0.986127]]
2025-10-26T21:01:46.416Z,1761512506.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534875
2025-10-26T21:01:46.668Z,1761512506.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786826
2025-10-26T21:01:46.778Z,1761512506.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843340,-0.535830,-0.040789],[0.534834,0.829545,0.160648],[-0.052244,-0.157297,0.986169]]
2025-10-26T21:01:46.920Z,1761512506.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038821
2025-10-26T21:01:46.988Z,1761512506.988 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:01:47.172Z,1761512507.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290876
2025-10-26T21:01:47.189Z,1761512507.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843348,-0.535774,-0.041353],[0.534882,0.829564,0.160392],[-0.051629,-0.157385,0.986187]]
2025-10-26T21:01:47.430Z,1761512507.430 [DAT](INFO): DAT read: 21:01:46.0600 LVL= 32752, 32753, 32754, 32755, AGC= 90, IDX= 471, 0.00, 2.935, 1.107, 2.864, 2.568, PHS= 0.470,-1.416, 0.253, RAW= 144.0,   7.8, CAL= 143.5,   8.5, ROT=   6.5,  -8.5

2025-10-26T21:01:47.431Z,1761512507.431 [DAT](INFO): got valid direction response:
 21:01:46.0600 LVL= 32752, 32753, 32754, 32755, AGC= 90, IDX= 471, 0.00, 2.935, 1.107, 2.864, 2.568, PHS= 0.470,-1.416, 0.253, RAW= 144.0,   7.8, CAL= 143.5,   8.5, ROT=   6.5,  -8.5

2025-10-26T21:01:47.432Z,1761512507.432 [DAT](INFO): DAT read: Rx Time:21:01:46.0600

2025-10-26T21:01:47.432Z,1761512507.432 [DAT](INFO): Rx dataTimestamp_ set to:1761512507.431964
2025-10-26T21:01:47.433Z,1761512507.433 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-26T21:01:47.433Z,1761512507.433 [DAT](INFO): Received low SNR in chirp
2025-10-26T21:01:47.448Z,1761512507.448 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:01:47.449Z,1761512507.449 [DAT](INFO): direction in FSK: [0.982658,0.111960,0.147809]
2025-10-26T21:01:47.587Z,1761512507.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843301,-0.535780,-0.042238],[0.535043,0.829521,0.160072],[-0.050727,-0.157588,0.986201]]
2025-10-26T21:01:47.998Z,1761512507.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842958,-0.536273,-0.042815],[0.535654,0.829259,0.159389],[-0.049972,-0.157292,0.986287]]
2025-10-26T21:01:48.401Z,1761512508.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842537,-0.536881,-0.043482],[0.536398,0.828938,0.158552],[-0.049079,-0.156910,0.986393]]
2025-10-26T21:01:48.798Z,1761512508.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842378,-0.537108,-0.043750],[0.536700,0.828887,0.157797],[-0.048490,-0.156405,0.986502]]
2025-10-26T21:01:49.204Z,1761512509.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842179,-0.537402,-0.043976],[0.537059,0.828784,0.157114],[-0.047987,-0.155936,0.986601]]
2025-10-26T21:01:49.607Z,1761512509.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841500,-0.538402,-0.044729],[0.538194,0.828184,0.156390],[-0.047157,-0.155675,0.986682]]
2025-10-26T21:01:50.012Z,1761512510.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840972,-0.539122,-0.045970],[0.539110,0.827644,0.156097],[-0.046108,-0.156056,0.986671]]
2025-10-26T21:01:50.421Z,1761512510.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840739,-0.539467,-0.046189],[0.539513,0.827498,0.155474],[-0.045652,-0.155632,0.986760]]
2025-10-26T21:01:50.818Z,1761512510.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840360,-0.540059,-0.046166],[0.540137,0.827274,0.154497],[-0.045246,-0.154769,0.986914]]
2025-10-26T21:01:51.222Z,1761512511.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840038,-0.540533,-0.046477],[0.540678,0.827031,0.153903],[-0.044752,-0.154413,0.986992]]
2025-10-26T21:01:51.626Z,1761512511.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839531,-0.541272,-0.047038],[0.541547,0.826686,0.152700],[-0.043766,-0.153670,0.987153]]
2025-10-26T21:01:52.032Z,1761512512.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839112,-0.541798,-0.048432],[0.542307,0.826308,0.152045],[-0.042358,-0.153848,0.987186]]
2025-10-26T21:01:52.438Z,1761512512.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838849,-0.542101,-0.049578],[0.542813,0.826115,0.151285],[-0.041054,-0.153817,0.987246]]
2025-10-26T21:01:52.837Z,1761512512.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838486,-0.542525,-0.051061],[0.543490,0.825809,0.150530],[-0.039500,-0.153969,0.987286]]
2025-10-26T21:01:52.969Z,1761512512.969 [DAT](INFO): Reached modem response timeout
2025-10-26T21:01:53.242Z,1761512513.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838407,-0.542459,-0.053029],[0.543744,0.825716,0.150118],[-0.037646,-0.154694,0.987245]]
2025-10-26T21:01:54.051Z,1761512514.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838196,-0.542502,-0.055847],[0.544291,0.825709,0.148165],[-0.034266,-0.154588,0.987385]]
2025-10-26T21:01:54.462Z,1761512514.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838189,-0.542287,-0.058008],[0.544433,0.825717,0.147598],[-0.032142,-0.155296,0.987345]]
2025-10-26T21:01:54.858Z,1761512514.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838633,-0.541362,-0.060180],[0.543853,0.826060,0.147811],[-0.030307,-0.156688,0.987183]]
2025-10-26T21:01:55.236Z,1761512515.236 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:01:55.237Z,1761512515.237 [DAT](INFO): response not received
2025-10-26T21:01:55.237Z,1761512515.237 [DAT](ERROR): No response from remote modem.
2025-10-26T21:01:55.267Z,1761512515.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839021,-0.540551,-0.062033],[0.543352,0.826436,0.147556],[-0.028495,-0.157508,0.987106]]
2025-10-26T21:01:55.666Z,1761512515.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839449,-0.539709,-0.063555],[0.542773,0.826883,0.147181],[-0.026883,-0.158047,0.987066]]
2025-10-26T21:01:56.070Z,1761512516.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839985,-0.538631,-0.065582],[0.542037,0.827401,0.146979],[-0.024904,-0.159008,0.986963]]
2025-10-26T21:01:56.492Z,1761512516.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840467,-0.537662,-0.067345],[0.541371,0.827900,0.146624],[-0.023079,-0.159691,0.986897]]
2025-10-26T21:01:56.880Z,1761512516.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841084,-0.536462,-0.069185],[0.540489,0.828521,0.146373],[-0.021202,-0.160506,0.986807]]
2025-10-26T21:01:57.283Z,1761512517.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841579,-0.535444,-0.071024],[0.539793,0.829076,0.145798],[-0.019182,-0.161038,0.986762]]
2025-10-26T21:01:57.686Z,1761512517.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842038,-0.534482,-0.072801],[0.539143,0.829603,0.145202],[-0.017212,-0.161516,0.986720]]
2025-10-26T21:01:58.090Z,1761512518.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842158,-0.534094,-0.074252],[0.539017,0.829938,0.143746],[-0.015149,-0.161080,0.986825]]
2025-10-26T21:01:58.498Z,1761512518.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842172,-0.533872,-0.075673],[0.539048,0.830167,0.142301],[-0.013149,-0.160634,0.986927]]
2025-10-26T21:01:58.898Z,1761512518.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842416,-0.533249,-0.077334],[0.538709,0.830505,0.141612],[-0.011288,-0.160957,0.986897]]
2025-10-26T21:01:59.302Z,1761512519.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842361,-0.533135,-0.078708],[0.538831,0.830646,0.140315],[-0.009429,-0.160606,0.986974]]
2025-10-26T21:01:59.710Z,1761512519.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842253,-0.533098,-0.080103],[0.539030,0.830740,0.138988],[-0.007550,-0.160241,0.987049]]
2025-10-26T21:02:00.112Z,1761512520.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841839,-0.533582,-0.081232],[0.539698,0.830583,0.137325],[-0.005804,-0.159446,0.987190]]
2025-10-26T21:02:00.515Z,1761512520.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841358,-0.534164,-0.082382],[0.540463,0.830341,0.135767],[-0.004117,-0.158753,0.987310]]
2025-10-26T21:02:00.926Z,1761512520.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840001,-0.535768,-0.085735],[0.542584,0.829339,0.133415],[-0.000376,-0.158587,0.987345]]
2025-10-26T21:02:01.327Z,1761512521.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839238,-0.536699,-0.087373],[0.543763,0.828757,0.132227],[0.001445,-0.158480,0.987361]]
2025-10-26T21:02:01.736Z,1761512521.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838628,-0.537273,-0.089675],[0.544697,0.828089,0.132567],[0.003034,-0.160020,0.987109]]
2025-10-26T21:02:02.135Z,1761512522.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837837,-0.538328,-0.090731],[0.545899,0.827601,0.130651],[0.004756,-0.158994,0.987268]]
2025-10-26T21:02:02.537Z,1761512522.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836913,-0.539535,-0.092076],[0.547296,0.826944,0.128963],[0.006562,-0.158324,0.987365]]
2025-10-26T21:02:02.947Z,1761512522.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836277,-0.540298,-0.093380],[0.548247,0.826507,0.127717],[0.008174,-0.158002,0.987405]]
2025-10-26T21:02:03.342Z,1761512523.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835497,-0.541289,-0.094611],[0.549411,0.825901,0.126629],[0.009597,-0.157778,0.987428]]
2025-10-26T21:02:03.747Z,1761512523.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835269,-0.541422,-0.095852],[0.549733,0.825774,0.126057],[0.010902,-0.157985,0.987381]]
2025-10-26T21:02:04.150Z,1761512524.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834711,-0.542155,-0.096565],[0.550555,0.825438,0.124667],[0.012120,-0.157225,0.987488]]
2025-10-26T21:02:04.562Z,1761512524.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834528,-0.542224,-0.097758],[0.550804,0.825348,0.124162],[0.013361,-0.157462,0.987435]]
2025-10-26T21:02:04.965Z,1761512524.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834199,-0.542555,-0.098719],[0.551273,0.825144,0.123436],[0.014486,-0.157391,0.987430]]
2025-10-26T21:02:05.362Z,1761512525.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834458,-0.541962,-0.099782],[0.550854,0.825421,0.123451],[0.015457,-0.157980,0.987321]]
2025-10-26T21:02:05.766Z,1761512525.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834570,-0.541629,-0.100651],[0.550651,0.825658,0.122769],[0.016608,-0.157883,0.987318]]
2025-10-26T21:02:06.170Z,1761512526.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835009,-0.540785,-0.101549],[0.549955,0.826151,0.122571],[0.017610,-0.158195,0.987251]]
2025-10-26T21:02:06.587Z,1761512526.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835589,-0.539706,-0.102514],[0.549040,0.826760,0.122566],[0.018605,-0.158699,0.987152]]
2025-10-26T21:02:06.980Z,1761512526.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836259,-0.538481,-0.103482],[0.547982,0.827463,0.122557],[0.019633,-0.159196,0.987052]]
2025-10-26T21:02:07.382Z,1761512527.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836764,-0.537497,-0.104514],[0.547168,0.828043,0.122276],[0.020819,-0.159503,0.986978]]
2025-10-26T21:02:07.786Z,1761512527.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837433,-0.536253,-0.105541],[0.546102,0.828748,0.122269],[0.021900,-0.160028,0.986870]]
2025-10-26T21:02:08.191Z,1761512528.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838195,-0.534824,-0.106736],[0.544896,0.829437,0.122973],[0.022762,-0.161235,0.986653]]
2025-10-26T21:02:08.618Z,1761512528.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839276,-0.533037,-0.107176],[0.543189,0.830617,0.122563],[0.023692,-0.161081,0.986657]]
2025-10-26T21:02:08.998Z,1761512528.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839936,-0.531936,-0.107482],[0.542134,0.831390,0.121988],[0.024469,-0.160732,0.986695]]
2025-10-26T21:02:09.404Z,1761512529.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840126,-0.531501,-0.108139],[0.541786,0.831751,0.121071],[0.025595,-0.160303,0.986736]]
2025-10-26T21:02:09.806Z,1761512529.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840286,-0.531073,-0.109002],[0.541487,0.832022,0.120546],[0.026673,-0.160316,0.986705]]
2025-10-26T21:02:10.211Z,1761512530.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840693,-0.530241,-0.109909],[0.540816,0.832425,0.120778],[0.027449,-0.160978,0.986576]]
2025-10-26T21:02:10.641Z,1761512530.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840952,-0.529634,-0.110849],[0.540358,0.832769,0.120451],[0.028517,-0.161191,0.986511]]
2025-10-26T21:02:11.019Z,1761512531.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840717,-0.529831,-0.111686],[0.540671,0.832649,0.119873],[0.029483,-0.161165,0.986487]]
2025-10-26T21:02:11.424Z,1761512531.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840566,-0.529880,-0.112591],[0.540855,0.832583,0.119506],[0.030418,-0.161348,0.986429]]
2025-10-26T21:02:11.826Z,1761512531.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840295,-0.530177,-0.113215],[0.541225,0.832457,0.118704],[0.031313,-0.161021,0.986454]]
2025-10-26T21:02:12.230Z,1761512532.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839658,-0.531138,-0.113431],[0.542166,0.832049,0.117261],[0.032099,-0.159958,0.986602]]
2025-10-26T21:02:12.668Z,1761512532.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839325,-0.531563,-0.113901],[0.542637,0.831853,0.116473],[0.032836,-0.159566,0.986641]]
2025-10-26T21:02:13.039Z,1761512533.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838761,-0.532316,-0.114539],[0.543471,0.831365,0.116066],[0.033440,-0.159601,0.986615]]
2025-10-26T21:02:13.449Z,1761512533.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838305,-0.532881,-0.115250],[0.544129,0.831003,0.115572],[0.034187,-0.159596,0.986590]]
2025-10-26T21:02:13.870Z,1761512533.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837461,-0.534367,-0.114505],[0.545395,0.830522,0.113036],[0.034696,-0.157114,0.986971]]
2025-10-26T21:02:14.252Z,1761512534.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836591,-0.535735,-0.114469],[0.546691,0.829882,0.111468],[0.035278,-0.155833,0.987153]]
2025-10-26T21:02:14.696Z,1761512534.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835830,-0.536853,-0.114793],[0.547811,0.829289,0.110377],[0.035941,-0.155141,0.987238]]
2025-10-26T21:02:15.058Z,1761512535.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835080,-0.537972,-0.115012],[0.548918,0.828692,0.109353],[0.036480,-0.154450,0.987327]]
2025-10-26T21:02:15.464Z,1761512535.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834538,-0.538752,-0.115291],[0.549715,0.828237,0.108799],[0.036872,-0.154174,0.987355]]
2025-10-26T21:02:15.866Z,1761512535.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833985,-0.539534,-0.115641],[0.550518,0.827797,0.108086],[0.037412,-0.153805,0.987393]]
2025-10-26T21:02:16.270Z,1761512536.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833232,-0.540545,-0.116343],[0.551612,0.827130,0.107612],[0.038062,-0.153842,0.987362]]
2025-10-26T21:02:16.722Z,1761512536.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832927,-0.540914,-0.116808],[0.552043,0.826865,0.107431],[0.038474,-0.153965,0.987327]]
2025-10-26T21:02:17.078Z,1761512537.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832400,-0.541648,-0.117166],[0.552806,0.826426,0.106889],[0.038933,-0.153744,0.987343]]
2025-10-26T21:02:17.124Z,1761512537.124 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:02:17.888Z,1761512537.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831258,-0.543210,-0.118038],[0.554430,0.825535,0.105353],[0.040216,-0.153019,0.987405]]
2025-10-26T21:02:18.128Z,1761512538.128 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:02:18.319Z,1761512538.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830640,-0.544090,-0.118333],[0.555314,0.825052,0.104479],[0.040785,-0.152497,0.987462]]
2025-10-26T21:02:18.757Z,1761512538.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830198,-0.544652,-0.118851],[0.555954,0.824614,0.104533],[0.041072,-0.152858,0.987394]]
2025-10-26T21:02:19.129Z,1761512539.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829959,-0.544914,-0.119320],[0.556294,0.824362,0.104713],[0.041304,-0.153284,0.987319]]
2025-10-26T21:02:19.530Z,1761512539.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829795,-0.544969,-0.120205],[0.556516,0.824117,0.105452],[0.041595,-0.154399,0.987133]]
2025-10-26T21:02:19.941Z,1761512539.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829614,-0.545038,-0.121134],[0.556756,0.823877,0.106065],[0.041990,-0.155435,0.986953]]
2025-10-26T21:02:20.340Z,1761512540.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829482,-0.545108,-0.121721],[0.556922,0.823752,0.106168],[0.042395,-0.155853,0.986870]]
2025-10-26T21:02:20.786Z,1761512540.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829545,-0.544915,-0.122159],[0.556805,0.823808,0.106340],[0.042689,-0.156233,0.986797]]
2025-10-26T21:02:21.150Z,1761512541.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829581,-0.544738,-0.122701],[0.556732,0.823810,0.106709],[0.042954,-0.156835,0.986690]]
2025-10-26T21:02:21.551Z,1761512541.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829817,-0.544306,-0.123025],[0.556379,0.823975,0.107279],[0.042977,-0.157470,0.986588]]
2025-10-26T21:02:21.954Z,1761512541.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829914,-0.544019,-0.123632],[0.556226,0.823970,0.108099],[0.043062,-0.158480,0.986423]]
2025-10-26T21:02:22.358Z,1761512542.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830165,-0.543432,-0.124534],[0.555835,0.824092,0.109179],[0.043296,-0.159857,0.986190]]
2025-10-26T21:02:22.801Z,1761512542.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830419,-0.542864,-0.125310],[0.555427,0.824275,0.109868],[0.043646,-0.160837,0.986015]]
2025-10-26T21:02:23.170Z,1761512543.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830773,-0.542217,-0.125761],[0.554886,0.824557,0.110491],[0.043787,-0.161576,0.985888]]
2025-10-26T21:02:23.576Z,1761512543.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831155,-0.541595,-0.125921],[0.554298,0.824938,0.110594],[0.043980,-0.161719,0.985856]]
2025-10-26T21:02:23.974Z,1761512543.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831359,-0.541333,-0.125703],[0.553985,0.825203,0.110183],[0.044085,-0.161239,0.985930]]
2025-10-26T21:02:24.378Z,1761512544.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831563,-0.540988,-0.125837],[0.553666,0.825412,0.110221],[0.044240,-0.161327,0.985909]]
2025-10-26T21:02:24.795Z,1761512544.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831971,-0.540334,-0.125948],[0.553024,0.825872,0.109998],[0.044582,-0.161167,0.985920]]
2025-10-26T21:02:25.194Z,1761512545.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832323,-0.539803,-0.125902],[0.552498,0.826201,0.110173],[0.044549,-0.161260,0.985906]]
2025-10-26T21:02:25.595Z,1761512545.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832593,-0.539462,-0.125579],[0.552074,0.826580,0.109452],[0.044755,-0.160458,0.986027]]
2025-10-26T21:02:25.994Z,1761512545.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833074,-0.538698,-0.125668],[0.551353,0.826994,0.109958],[0.044692,-0.160891,0.985960]]
2025-10-26T21:02:26.400Z,1761512546.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833052,-0.538723,-0.125701],[0.551371,0.827020,0.109671],[0.044875,-0.160670,0.985988]]
2025-10-26T21:02:26.812Z,1761512546.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833105,-0.538698,-0.125457],[0.551301,0.827083,0.109550],[0.044749,-0.160431,0.986032]]
2025-10-26T21:02:27.210Z,1761512547.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833201,-0.538700,-0.124815],[0.551165,0.827272,0.108802],[0.044645,-0.159448,0.986196]]
2025-10-26T21:02:27.610Z,1761512547.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832878,-0.539263,-0.124535],[0.551655,0.827017,0.108257],[0.044613,-0.158865,0.986292]]
2025-10-26T21:02:28.014Z,1761512548.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832469,-0.539804,-0.124929],[0.552263,0.826591,0.108414],[0.044742,-0.159245,0.986225]]
2025-10-26T21:02:28.427Z,1761512548.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831961,-0.540640,-0.124696],[0.553026,0.826167,0.107754],[0.044763,-0.158608,0.986326]]
2025-10-26T21:02:28.822Z,1761512548.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831556,-0.541295,-0.124553],[0.553639,0.825797,0.107440],[0.044699,-0.158300,0.986379]]
2025-10-26T21:02:29.229Z,1761512549.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830715,-0.542586,-0.124554],[0.554886,0.825058,0.106679],[0.044882,-0.157733,0.986461]]
2025-10-26T21:02:29.630Z,1761512549.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829937,-0.543582,-0.125393],[0.556091,0.824011,0.108483],[0.044356,-0.159764,0.986158]]
2025-10-26T21:02:30.036Z,1761512550.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828849,-0.545126,-0.125887],[0.557717,0.822870,0.108795],[0.044282,-0.160384,0.986061]]
2025-10-26T21:02:30.438Z,1761512550.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827870,-0.546602,-0.125926],[0.559172,0.821935,0.108396],[0.044254,-0.160152,0.986100]]
2025-10-26T21:02:30.842Z,1761512550.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826780,-0.548089,-0.126623],[0.560790,0.820742,0.109072],[0.044144,-0.161187,0.985936]]
2025-10-26T21:02:31.246Z,1761512551.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825869,-0.549339,-0.127149],[0.562139,0.819754,0.109557],[0.044047,-0.161955,0.985815]]
2025-10-26T21:02:31.650Z,1761512551.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824775,-0.550913,-0.127438],[0.563731,0.818714,0.109155],[0.044201,-0.161869,0.985822]]
2025-10-26T21:02:32.056Z,1761512552.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823463,-0.552795,-0.127773],[0.565636,0.817451,0.108766],[0.044323,-0.161838,0.985821]]
2025-10-26T21:02:32.895Z,1761512552.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821696,-0.555251,-0.128502],[0.568215,0.815592,0.109274],[0.044130,-0.162807,0.985671]]
2025-10-26T21:02:33.297Z,1761512553.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821203,-0.556046,-0.128211],[0.568963,0.815053,0.109405],[0.043664,-0.162791,0.985694]]
2025-10-26T21:02:33.694Z,1761512553.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820402,-0.557462,-0.127188],[0.570169,0.814306,0.108685],[0.042983,-0.161684,0.985906]]
2025-10-26T21:02:34.098Z,1761512554.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820164,-0.557768,-0.127380],[0.570570,0.813821,0.110207],[0.042194,-0.163067,0.985712]]
2025-10-26T21:02:34.503Z,1761512554.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820542,-0.557263,-0.127157],[0.570081,0.814009,0.111343],[0.041460,-0.163851,0.985613]]
2025-10-26T21:02:34.919Z,1761512554.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821128,-0.556575,-0.126389],[0.569325,0.814361,0.112634],[0.040237,-0.164443,0.985566]]
2025-10-26T21:02:35.310Z,1761512555.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821847,-0.555602,-0.125991],[0.568353,0.814835,0.114099],[0.039268,-0.165379,0.985448]]
2025-10-26T21:02:35.720Z,1761512555.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822794,-0.554288,-0.125594],[0.567055,0.815487,0.115886],[0.038186,-0.166569,0.985290]]
2025-10-26T21:02:36.119Z,1761512556.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823776,-0.552917,-0.125206],[0.565699,0.816170,0.117689],[0.037117,-0.167778,0.985126]]
2025-10-26T21:02:36.522Z,1761512556.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825092,-0.551225,-0.123991],[0.563869,0.817237,0.119058],[0.035702,-0.168149,0.985115]]
2025-10-26T21:02:36.926Z,1761512556.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826351,-0.549537,-0.123099],[0.562111,0.818179,0.120888],[0.034285,-0.169092,0.985004]]
2025-10-26T21:02:37.330Z,1761512557.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827577,-0.548162,-0.120974],[0.560410,0.819256,0.121488],[0.032514,-0.168336,0.985193]]
2025-10-26T21:02:37.738Z,1761512557.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828569,-0.546991,-0.119477],[0.559028,0.820059,0.122434],[0.031008,-0.168236,0.985259]]
2025-10-26T21:02:38.140Z,1761512558.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829578,-0.545795,-0.117935],[0.557615,0.820867,0.123460],[0.029425,-0.168182,0.985317]]
2025-10-26T21:02:38.542Z,1761512558.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830356,-0.544785,-0.117122],[0.556531,0.821332,0.125251],[0.027961,-0.169185,0.985188]]
2025-10-26T21:02:38.946Z,1761512558.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830934,-0.544210,-0.115693],[0.555748,0.821700,0.126304],[0.026329,-0.169246,0.985222]]
2025-10-26T21:02:39.352Z,1761512559.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831204,-0.544092,-0.114298],[0.555417,0.821788,0.127185],[0.024728,-0.169200,0.985271]]
2025-10-26T21:02:39.760Z,1761512559.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831672,-0.543555,-0.113446],[0.554784,0.821948,0.128908],[0.023178,-0.170147,0.985146]]
2025-10-26T21:02:40.167Z,1761512560.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832060,-0.543238,-0.112111],[0.554302,0.821841,0.131632],[0.020630,-0.171669,0.984939]]
2025-10-26T21:02:40.567Z,1761512560.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831900,-0.543586,-0.111605],[0.554578,0.821501,0.132585],[0.019612,-0.172191,0.984868]]
2025-10-26T21:02:40.971Z,1761512560.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831246,-0.544790,-0.110611],[0.555588,0.820878,0.132216],[0.018768,-0.171358,0.985030]]
2025-10-26T21:02:41.389Z,1761512561.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830740,-0.545673,-0.110055],[0.556372,0.820289,0.132578],[0.017932,-0.171369,0.985044]]
2025-10-26T21:02:41.777Z,1761512561.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830496,-0.546110,-0.109727],[0.556768,0.819830,0.133746],[0.016917,-0.172168,0.984922]]
2025-10-26T21:02:42.178Z,1761512562.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830089,-0.546885,-0.108942],[0.557404,0.819334,0.134139],[0.015901,-0.172072,0.984956]]
2025-10-26T21:02:42.582Z,1761512562.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829386,-0.547937,-0.109013],[0.558477,0.818365,0.135584],[0.014921,-0.173333,0.984750]]
2025-10-26T21:02:42.598Z,1761512562.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:02:42.636Z,1761512562.636 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:02:42.637Z,1761512562.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:02:42.888Z,1761512562.888 [DAT](INFO): DAT read: 

2025-10-26T21:02:42.890Z,1761512562.890 [DAT](INFO): DAT read: Tx time:21:02:41.9969

2025-10-26T21:02:42.890Z,1761512562.890 [DAT](INFO): Ping request sent.
2025-10-26T21:02:42.890Z,1761512562.890 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:02:42.891Z,1761512562.891 [DAT](INFO): publishing transmit ping time
2025-10-26T21:02:42.892Z,1761512562.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001343
2025-10-26T21:02:42.987Z,1761512562.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828936,-0.548704,-0.108574],[0.559162,0.817852,0.135853],[0.014254,-0.173324,0.984762]]
2025-10-26T21:02:43.140Z,1761512563.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249904
2025-10-26T21:02:43.393Z,1761512563.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502838
2025-10-26T21:02:43.410Z,1761512563.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828372,-0.549680,-0.107944],[0.560014,0.817280,0.135783],[0.013583,-0.172929,0.984841]]
2025-10-26T21:02:43.644Z,1761512563.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754036
2025-10-26T21:02:43.794Z,1761512563.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828103,-0.550225,-0.107228],[0.560431,0.816948,0.136060],[0.012736,-0.172765,0.984881]]
2025-10-26T21:02:43.897Z,1761512563.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006462
2025-10-26T21:02:44.148Z,1761512564.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257938
2025-10-26T21:02:44.200Z,1761512564.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827727,-0.550911,-0.106605],[0.561002,0.816534,0.136195],[0.012015,-0.172538,0.984930]]
2025-10-26T21:02:44.400Z,1761512564.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510080
2025-10-26T21:02:44.602Z,1761512564.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827666,-0.551117,-0.106016],[0.561110,0.816373,0.136713],[0.011204,-0.172640,0.984921]]
2025-10-26T21:02:44.652Z,1761512564.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761937
2025-10-26T21:02:44.908Z,1761512564.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017471
2025-10-26T21:02:45.007Z,1761512565.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827635,-0.551269,-0.105467],[0.561172,0.816209,0.137437],[0.010318,-0.172933,0.984879]]
2025-10-26T21:02:45.156Z,1761512565.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266049
2025-10-26T21:02:45.408Z,1761512565.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518059
2025-10-26T21:02:45.416Z,1761512565.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827616,-0.551447,-0.104679],[0.561215,0.816117,0.137804],[0.009439,-0.172797,0.984912]]
2025-10-26T21:02:45.660Z,1761512565.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769890
2025-10-26T21:02:45.814Z,1761512565.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827823,-0.551237,-0.104149],[0.560923,0.816190,0.138561],[0.008625,-0.173124,0.984862]]
2025-10-26T21:02:45.913Z,1761512565.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022456
2025-10-26T21:02:46.167Z,1761512566.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276597
2025-10-26T21:02:46.218Z,1761512566.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828129,-0.550909,-0.103449],[0.560484,0.816381,0.139214],[0.007760,-0.173268,0.984844]]
2025-10-26T21:02:46.416Z,1761512566.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525966
2025-10-26T21:02:46.622Z,1761512566.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828583,-0.550400,-0.102521],[0.559824,0.816765,0.139616],[0.006891,-0.173077,0.984884]]
2025-10-26T21:02:46.668Z,1761512566.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778050
2025-10-26T21:02:46.920Z,1761512566.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029843
2025-10-26T21:02:47.026Z,1761512567.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829253,-0.549248,-0.103276],[0.558838,0.817006,0.142133],[0.006311,-0.175579,0.984445]]
2025-10-26T21:02:47.176Z,1761512567.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285802
2025-10-26T21:02:47.432Z,1761512567.432 [DAT](INFO): DAT read: 21:02:46.0073 LVL= 32752, 32753, 31090, 32755, AGC= 87, IDX= 412, 0.17,-1.060,-2.741,-1.050,-1.458, PHS= 0.500,-1.239, 0.364, RAW= 146.0,   4.5, CAL= 145.4,   4.9, ROT=   4.6,  -4.9

2025-10-26T21:02:47.433Z,1761512567.433 [DAT](INFO): got valid direction response:
 21:02:46.0073 LVL= 32752, 32753, 31090, 32755, AGC= 87, IDX= 412, 0.17,-1.060,-2.741,-1.050,-1.458, PHS= 0.500,-1.239, 0.364, RAW= 146.0,   4.5, CAL= 145.4,   4.9, ROT=   4.6,  -4.9

2025-10-26T21:02:47.434Z,1761512567.434 [DAT](INFO): DAT read: Rx Time:21:02:46.0073

2025-10-26T21:02:47.434Z,1761512567.434 [DAT](INFO): Rx dataTimestamp_ set to:1761512567.433858
2025-10-26T21:02:47.435Z,1761512567.435 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-26T21:02:47.435Z,1761512567.435 [DAT](INFO): Received low SNR in chirp
2025-10-26T21:02:47.447Z,1761512567.447 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:02:47.448Z,1761512567.448 [DAT](INFO): direction in FSK: [0.993136,0.079906,0.085417]
2025-10-26T21:02:47.834Z,1761512567.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830741,-0.547188,-0.102246],[0.556639,0.818136,0.144247],[0.004720,-0.176746,0.984245]]
2025-10-26T21:02:48.238Z,1761512568.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831608,-0.546011,-0.101490],[0.555350,0.818877,0.145009],[0.003931,-0.176953,0.984211]]
2025-10-26T21:02:48.262Z,1761512568.262 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:02:48.643Z,1761512568.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832519,-0.544769,-0.100691],[0.553988,0.819615,0.146044],[0.002967,-0.177366,0.984141]]
2025-10-26T21:02:49.046Z,1761512569.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833283,-0.543705,-0.100124],[0.552843,0.820205,0.147066],[0.002162,-0.177901,0.984046]]
2025-10-26T21:02:49.264Z,1761512569.264 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:02:49.451Z,1761512569.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834416,-0.541893,-0.100514],[0.551134,0.820889,0.149643],[0.001420,-0.180261,0.983618]]
2025-10-26T21:02:49.854Z,1761512569.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835353,-0.540602,-0.099670],[0.549713,0.821789,0.149926],[0.000857,-0.180031,0.983661]]
2025-10-26T21:02:50.662Z,1761512570.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836813,-0.538588,-0.098327],[0.547489,0.823099,0.150876],[-0.000327,-0.180088,0.983651]]
2025-10-26T21:02:51.066Z,1761512571.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837677,-0.537337,-0.097801],[0.546165,0.823830,0.151684],[-0.000934,-0.180478,0.983579]]
2025-10-26T21:02:51.471Z,1761512571.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838309,-0.536454,-0.097234],[0.545193,0.824376,0.152214],[-0.001499,-0.180614,0.983553]]
2025-10-26T21:02:51.883Z,1761512571.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839243,-0.535133,-0.096454],[0.543751,0.825198,0.152916],[-0.002236,-0.180780,0.983521]]
2025-10-26T21:02:52.281Z,1761512572.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840427,-0.533345,-0.096054],[0.541917,0.826115,0.154467],[-0.003033,-0.181872,0.983318]]
2025-10-26T21:02:52.682Z,1761512572.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841493,-0.531806,-0.095246],[0.540254,0.827016,0.155470],[-0.003910,-0.182284,0.983238]]
2025-10-26T21:02:52.976Z,1761512572.976 [DAT](INFO): Reached modem response timeout
2025-10-26T21:02:53.086Z,1761512573.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842544,-0.530390,-0.093840],[0.538611,0.828259,0.154548],[-0.004247,-0.180757,0.983519]]
2025-10-26T21:02:53.493Z,1761512573.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843305,-0.529318,-0.093053],[0.537413,0.828969,0.154910],[-0.004859,-0.180644,0.983536]]
2025-10-26T21:02:53.911Z,1761512573.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844171,-0.527998,-0.092704],[0.536046,0.829623,0.156141],[-0.005533,-0.181503,0.983375]]
2025-10-26T21:02:54.299Z,1761512574.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845176,-0.526510,-0.092008],[0.534452,0.830507,0.156902],[-0.006198,-0.181784,0.983319]]
2025-10-26T21:02:54.705Z,1761512574.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845689,-0.525785,-0.091430],[0.533635,0.831005,0.157050],[-0.006596,-0.181606,0.983349]]
2025-10-26T21:02:55.107Z,1761512575.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846143,-0.525150,-0.090882],[0.532909,0.831425,0.157292],[-0.007040,-0.181523,0.983361]]
2025-10-26T21:02:55.248Z,1761512575.248 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:02:55.249Z,1761512575.249 [DAT](INFO): response not received
2025-10-26T21:02:55.250Z,1761512575.250 [DAT](ERROR): No response from remote modem.
2025-10-26T21:02:55.514Z,1761512575.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846736,-0.524270,-0.090434],[0.531960,0.831922,0.157874],[-0.007535,-0.181785,0.983309]]
2025-10-26T21:02:55.914Z,1761512575.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847098,-0.523794,-0.089803],[0.531375,0.832257,0.158079],[-0.008062,-0.181628,0.983334]]
2025-10-26T21:02:56.318Z,1761512576.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847090,-0.523907,-0.089219],[0.531380,0.832250,0.158098],[-0.008576,-0.181332,0.983384]]
2025-10-26T21:02:56.729Z,1761512576.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847176,-0.523618,-0.090093],[0.531239,0.831973,0.160018],[-0.008833,-0.183424,0.982994]]
2025-10-26T21:02:57.128Z,1761512577.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847210,-0.523613,-0.089806],[0.531182,0.832029,0.159915],[-0.009012,-0.183185,0.983037]]
2025-10-26T21:02:57.530Z,1761512577.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847059,-0.523947,-0.089279],[0.531415,0.831910,0.159762],[-0.009435,-0.182772,0.983110]]
2025-10-26T21:02:57.935Z,1761512577.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846987,-0.524136,-0.088852],[0.531523,0.831847,0.159733],[-0.009811,-0.182518,0.983154]]
2025-10-26T21:02:58.339Z,1761512578.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846765,-0.524598,-0.088237],[0.531870,0.831720,0.159237],[-0.010147,-0.181767,0.983289]]
2025-10-26T21:02:58.748Z,1761512578.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846811,-0.524611,-0.087714],[0.531788,0.831772,0.159237],[-0.010580,-0.181489,0.983336]]
2025-10-26T21:02:59.147Z,1761512579.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846955,-0.524429,-0.087419],[0.531553,0.831888,0.159417],[-0.010880,-0.181487,0.983333]]
2025-10-26T21:02:59.550Z,1761512579.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846936,-0.524473,-0.087333],[0.531582,0.831877,0.159378],[-0.010939,-0.181408,0.983347]]
2025-10-26T21:02:59.954Z,1761512579.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847341,-0.523806,-0.087416],[0.530937,0.832210,0.159787],[-0.010948,-0.181806,0.983273]]
2025-10-26T21:03:00.372Z,1761512580.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848085,-0.522598,-0.087427],[0.529747,0.832853,0.160387],[-0.011004,-0.182336,0.983175]]
2025-10-26T21:03:00.766Z,1761512580.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848757,-0.521521,-0.087338],[0.528676,0.833593,0.160079],[-0.010680,-0.182042,0.983233]]
2025-10-26T21:03:01.166Z,1761512581.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849742,-0.519965,-0.087040],[0.527094,0.834607,0.160010],[-0.010555,-0.181845,0.983271]]
2025-10-26T21:03:01.570Z,1761512581.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850892,-0.518124,-0.086774],[0.525234,0.835715,0.160340],[-0.010558,-0.182009,0.983240]]
2025-10-26T21:03:01.975Z,1761512581.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852187,-0.516076,-0.086274],[0.523128,0.836975,0.160657],[-0.010702,-0.182042,0.983232]]
2025-10-26T21:03:02.395Z,1761512582.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853461,-0.514098,-0.085486],[0.521041,0.838252,0.160778],[-0.010997,-0.181759,0.983282]]
2025-10-26T21:03:02.782Z,1761512582.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855099,-0.511417,-0.085195],[0.518340,0.839669,0.162114],[-0.011372,-0.182783,0.983087]]
2025-10-26T21:03:03.186Z,1761512583.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856682,-0.508971,-0.083933],[0.515713,0.841364,0.161698],[-0.011682,-0.181809,0.983264]]
2025-10-26T21:03:03.994Z,1761512583.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859418,-0.504524,-0.082801],[0.511126,0.843935,0.162859],[-0.012288,-0.182286,0.983169]]
2025-10-26T21:03:04.422Z,1761512584.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860464,-0.502854,-0.082100],[0.509353,0.844936,0.163226],[-0.012710,-0.182268,0.983167]]
2025-10-26T21:03:04.802Z,1761512584.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861508,-0.501155,-0.081538],[0.507579,0.845944,0.163530],[-0.012977,-0.182269,0.983163]]
2025-10-26T21:03:05.207Z,1761512585.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862383,-0.499705,-0.081186],[0.506085,0.846751,0.163985],[-0.013200,-0.182505,0.983116]]
2025-10-26T21:03:05.610Z,1761512585.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862840,-0.499022,-0.080523],[0.505303,0.847358,0.163257],[-0.013237,-0.181553,0.983292]]
2025-10-26T21:03:06.014Z,1761512586.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863369,-0.498223,-0.079801],[0.504392,0.847958,0.162962],[-0.013524,-0.180947,0.983400]]
2025-10-26T21:03:06.446Z,1761512586.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863594,-0.497962,-0.078989],[0.503997,0.848298,0.162413],[-0.013870,-0.180069,0.983556]]
2025-10-26T21:03:06.823Z,1761512586.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863616,-0.498016,-0.078404],[0.503955,0.848463,0.161679],[-0.013996,-0.179141,0.983724]]
2025-10-26T21:03:07.226Z,1761512587.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863483,-0.498362,-0.077673],[0.504176,0.848480,0.160896],[-0.014281,-0.178092,0.983910]]
2025-10-26T21:03:07.630Z,1761512587.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863257,-0.498820,-0.077236],[0.504556,0.848355,0.160364],[-0.014469,-0.177405,0.984032]]
2025-10-26T21:03:08.034Z,1761512588.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863007,-0.499394,-0.076317],[0.504972,0.848287,0.159413],[-0.014871,-0.176112,0.984258]]
2025-10-26T21:03:08.476Z,1761512588.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862586,-0.500181,-0.075925],[0.505691,0.848023,0.158535],[-0.014910,-0.175145,0.984430]]
2025-10-26T21:03:08.856Z,1761512588.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862023,-0.501155,-0.075899],[0.506652,0.847546,0.158019],[-0.014864,-0.174670,0.984515]]
2025-10-26T21:03:09.246Z,1761512589.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861548,-0.501943,-0.076079],[0.507452,0.846993,0.158416],[-0.015077,-0.175089,0.984437]]
2025-10-26T21:03:09.650Z,1761512589.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861157,-0.502643,-0.075881],[0.508112,0.846674,0.158006],[-0.015174,-0.174625,0.984518]]
2025-10-26T21:03:10.056Z,1761512590.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860757,-0.503333,-0.075851],[0.508796,0.846389,0.157329],[-0.014990,-0.174015,0.984629]]
2025-10-26T21:03:10.498Z,1761512590.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860556,-0.503692,-0.075750],[0.509134,0.846227,0.157104],[-0.015030,-0.173764,0.984673]]
2025-10-26T21:03:10.865Z,1761512590.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860658,-0.503470,-0.076058],[0.508960,0.846214,0.157739],[-0.015055,-0.174470,0.984547]]
2025-10-26T21:03:11.266Z,1761512591.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861085,-0.502705,-0.076288],[0.508234,0.846484,0.158629],[-0.015167,-0.175365,0.984387]]
2025-10-26T21:03:11.670Z,1761512591.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861334,-0.502277,-0.076298],[0.507813,0.846707,0.158784],[-0.015151,-0.175511,0.984361]]
2025-10-26T21:03:12.074Z,1761512592.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861772,-0.501475,-0.076626],[0.507072,0.847032,0.159417],[-0.015039,-0.176236,0.984233]]
2025-10-26T21:03:12.514Z,1761512592.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862442,-0.500204,-0.077393],[0.505940,0.847468,0.160697],[-0.014793,-0.177748,0.983965]]
2025-10-26T21:03:12.882Z,1761512592.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863503,-0.498364,-0.077436],[0.504126,0.848382,0.161571],[-0.014826,-0.178554,0.983818]]
2025-10-26T21:03:13.288Z,1761512593.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864299,-0.496988,-0.077396],[0.502767,0.849195,0.161535],[-0.014557,-0.178527,0.983827]]
2025-10-26T21:03:13.690Z,1761512593.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865403,-0.495054,-0.077450],[0.500862,0.850129,0.162535],[-0.014621,-0.179450,0.983658]]
2025-10-26T21:03:14.094Z,1761512594.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866531,-0.493084,-0.077411],[0.498906,0.851098,0.163479],[-0.014725,-0.180280,0.983505]]
2025-10-26T21:03:14.513Z,1761512594.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867895,-0.490881,-0.076113],[0.496515,0.852566,0.163105],[-0.015173,-0.179349,0.983668]]
2025-10-26T21:03:14.905Z,1761512594.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869066,-0.488867,-0.075716],[0.494453,0.853608,0.163922],[-0.015504,-0.179897,0.983563]]
2025-10-26T21:03:15.306Z,1761512595.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869979,-0.487283,-0.075447],[0.492844,0.854478,0.164230],[-0.015559,-0.180060,0.983533]]
2025-10-26T21:03:15.715Z,1761512595.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870777,-0.485937,-0.074918],[0.491424,0.855269,0.164368],[-0.015797,-0.179944,0.983550]]
2025-10-26T21:03:16.118Z,1761512596.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871931,-0.483936,-0.074448],[0.489363,0.856320,0.165044],[-0.016120,-0.180339,0.983472]]
2025-10-26T21:03:16.524Z,1761512596.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872604,-0.482788,-0.074013],[0.488156,0.856986,0.165160],[-0.016309,-0.180250,0.983486]]
2025-10-26T21:03:16.923Z,1761512596.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873656,-0.480921,-0.073761],[0.486268,0.857954,0.165704],[-0.016407,-0.180636,0.983413]]
2025-10-26T21:03:17.336Z,1761512597.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874342,-0.479810,-0.072859],[0.485035,0.858882,0.164508],[-0.016356,-0.179176,0.983681]]
2025-10-26T21:03:17.735Z,1761512597.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874976,-0.478731,-0.072336],[0.483887,0.859589,0.164198],[-0.016428,-0.178672,0.983771]]
2025-10-26T21:03:18.145Z,1761512598.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875676,-0.477519,-0.071879],[0.482611,0.860269,0.164387],[-0.016662,-0.178639,0.983774]]
2025-10-26T21:03:18.943Z,1761512598.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876886,-0.475511,-0.070427],[0.480396,0.861683,0.163469],[-0.017045,-0.177177,0.984031]]
2025-10-26T21:03:19.350Z,1761512599.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877156,-0.475078,-0.069992],[0.479903,0.862068,0.162887],[-0.017046,-0.176466,0.984159]]
2025-10-26T21:03:19.388Z,1761512599.388 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:03:19.750Z,1761512599.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877276,-0.475012,-0.068929],[0.479678,0.862471,0.161409],[-0.017222,-0.174664,0.984478]]
2025-10-26T21:03:20.158Z,1761512600.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877286,-0.475117,-0.068073],[0.479648,0.862659,0.160490],[-0.017527,-0.173446,0.984687]]
2025-10-26T21:03:20.392Z,1761512600.392 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:03:20.559Z,1761512600.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877205,-0.475388,-0.067208],[0.479786,0.862794,0.159349],[-0.017766,-0.172028,0.984932]]
2025-10-26T21:03:20.987Z,1761512600.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877226,-0.475426,-0.066669],[0.479741,0.862913,0.158837],[-0.017986,-0.171320,0.985051]]
2025-10-26T21:03:21.366Z,1761512601.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877429,-0.475145,-0.066002],[0.479353,0.863158,0.158680],[-0.018426,-0.170869,0.985121]]
2025-10-26T21:03:21.770Z,1761512601.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876898,-0.476303,-0.064685],[0.480314,0.863053,0.156324],[-0.018631,-0.168149,0.985586]]
2025-10-26T21:03:22.178Z,1761512602.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876354,-0.477439,-0.063688],[0.481294,0.862777,0.154827],[-0.018972,-0.166336,0.985887]]
2025-10-26T21:03:22.580Z,1761512602.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876083,-0.477997,-0.063228],[0.481771,0.862542,0.154653],[-0.019386,-0.165950,0.985944]]
2025-10-26T21:03:22.984Z,1761512602.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875762,-0.478646,-0.062769],[0.482337,0.862258,0.154475],[-0.019816,-0.165559,0.986001]]
2025-10-26T21:03:23.386Z,1761512603.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875402,-0.479327,-0.062578],[0.482977,0.861905,0.154444],[-0.020093,-0.165424,0.986018]]
2025-10-26T21:03:23.791Z,1761512603.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874981,-0.480074,-0.062750],[0.483727,0.861358,0.155148],[-0.020433,-0.166105,0.985896]]
2025-10-26T21:03:24.199Z,1761512604.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874403,-0.481151,-0.062556],[0.484767,0.860888,0.154506],[-0.020487,-0.165426,0.986009]]
2025-10-26T21:03:24.598Z,1761512604.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873773,-0.482359,-0.062063],[0.485900,0.860460,0.153327],[-0.020556,-0.164130,0.986225]]
2025-10-26T21:03:25.007Z,1761512605.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873240,-0.483361,-0.061762],[0.486850,0.860020,0.152783],[-0.020733,-0.163485,0.986328]]
2025-10-26T21:03:25.413Z,1761512605.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871923,-0.485862,-0.060733],[0.489191,0.859062,0.150676],[-0.021035,-0.161088,0.986716]]
2025-10-26T21:03:25.825Z,1761512605.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871426,-0.486713,-0.061053],[0.490062,0.858412,0.151553],[-0.021354,-0.161987,0.986562]]
2025-10-26T21:03:26.219Z,1761512606.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870920,-0.487564,-0.061473],[0.490964,0.857860,0.151758],[-0.021256,-0.162350,0.986504]]
2025-10-26T21:03:26.621Z,1761512606.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870534,-0.488278,-0.061278],[0.491638,0.857493,0.151647],[-0.021500,-0.162140,0.986533]]
2025-10-26T21:03:27.024Z,1761512607.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870009,-0.489213,-0.061272],[0.492565,0.857010,0.151375],[-0.021543,-0.161878,0.986576]]
2025-10-26T21:03:27.428Z,1761512607.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869650,-0.489851,-0.061272],[0.493184,0.856584,0.151764],[-0.021857,-0.162200,0.986516]]
2025-10-26T21:03:27.833Z,1761512607.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869583,-0.489991,-0.061107],[0.493290,0.856478,0.152024],[-0.022153,-0.162341,0.986486]]
2025-10-26T21:03:28.237Z,1761512608.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869398,-0.490346,-0.060891],[0.493598,0.856251,0.152297],[-0.022540,-0.162462,0.986457]]
2025-10-26T21:03:28.639Z,1761512608.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869504,-0.490195,-0.060593],[0.493394,0.856315,0.152600],[-0.022917,-0.162583,0.986429]]
2025-10-26T21:03:29.042Z,1761512609.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869652,-0.489996,-0.060071],[0.493110,0.856453,0.152745],[-0.023396,-0.162456,0.986438]]
2025-10-26T21:03:29.446Z,1761512609.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869828,-0.489702,-0.059931],[0.492783,0.856536,0.153330],[-0.023753,-0.162904,0.986356]]
2025-10-26T21:03:29.850Z,1761512609.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870347,-0.488825,-0.059556],[0.491843,0.856963,0.153967],[-0.024226,-0.163297,0.986279]]
2025-10-26T21:03:30.254Z,1761512610.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870574,-0.488508,-0.058832],[0.491421,0.857258,0.153669],[-0.024635,-0.162692,0.986369]]
2025-10-26T21:03:30.659Z,1761512610.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870820,-0.488109,-0.058496],[0.490958,0.857418,0.154253],[-0.025137,-0.163046,0.986298]]
2025-10-26T21:03:31.062Z,1761512611.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871079,-0.487773,-0.057431],[0.490481,0.857872,0.153244],[-0.025480,-0.161657,0.986518]]
2025-10-26T21:03:31.467Z,1761512611.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871472,-0.487160,-0.056667],[0.489749,0.858256,0.153435],[-0.026113,-0.161467,0.986533]]
2025-10-26T21:03:31.874Z,1761512611.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871723,-0.486780,-0.056073],[0.489275,0.858505,0.153555],[-0.026609,-0.161293,0.986548]]
2025-10-26T21:03:32.274Z,1761512612.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871884,-0.486542,-0.055639],[0.488969,0.858663,0.153645],[-0.026979,-0.161167,0.986558]]
2025-10-26T21:03:32.678Z,1761512612.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871785,-0.486793,-0.054980],[0.489117,0.858620,0.153414],[-0.027474,-0.160636,0.986631]]
2025-10-26T21:03:33.084Z,1761512613.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871520,-0.487324,-0.054489],[0.489567,0.858403,0.153194],[-0.027882,-0.160187,0.986693]]
2025-10-26T21:03:33.486Z,1761512613.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871567,-0.487263,-0.054278],[0.489457,0.858366,0.153754],[-0.028328,-0.160573,0.986617]]
2025-10-26T21:03:34.309Z,1761512614.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871350,-0.487713,-0.053726],[0.489803,0.858111,0.154075],[-0.029041,-0.160568,0.986597]]
2025-10-26T21:03:34.701Z,1761512614.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870931,-0.488457,-0.053752],[0.490534,0.857659,0.154264],[-0.029251,-0.160720,0.986566]]
2025-10-26T21:03:35.102Z,1761512615.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870452,-0.489325,-0.053609],[0.491373,0.857219,0.154042],[-0.029422,-0.160429,0.986609]]
2025-10-26T21:03:35.506Z,1761512615.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869793,-0.490503,-0.053535],[0.492535,0.856633,0.153587],[-0.029475,-0.159957,0.986684]]
2025-10-26T21:03:36.325Z,1761512616.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868532,-0.492686,-0.053970],[0.494743,0.855289,0.153985],[-0.029707,-0.160442,0.986598]]
2025-10-26T21:03:36.723Z,1761512616.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867919,-0.493758,-0.054031],[0.495820,0.854736,0.153586],[-0.029652,-0.160090,0.986657]]
2025-10-26T21:03:37.123Z,1761512617.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867350,-0.494640,-0.055092],[0.496822,0.853940,0.154773],[-0.029511,-0.161613,0.986413]]
2025-10-26T21:03:37.527Z,1761512617.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866915,-0.495375,-0.055330],[0.497582,0.853480,0.154868],[-0.029495,-0.161789,0.986385]]
2025-10-26T21:03:37.938Z,1761512617.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866310,-0.496421,-0.055434],[0.498639,0.852926,0.154518],[-0.029424,-0.161502,0.986434]]
2025-10-26T21:03:38.337Z,1761512618.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865759,-0.497354,-0.055684],[0.499607,0.852414,0.154217],[-0.029234,-0.161335,0.986467]]
2025-10-26T21:03:38.741Z,1761512618.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865532,-0.497707,-0.056046],[0.500003,0.852120,0.154560],[-0.029168,-0.161800,0.986392]]
2025-10-26T21:03:39.142Z,1761512619.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865277,-0.498148,-0.056078],[0.500428,0.851785,0.155033],[-0.029463,-0.162209,0.986316]]
2025-10-26T21:03:39.546Z,1761512619.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865085,-0.498434,-0.056493],[0.500758,0.851477,0.155652],[-0.029480,-0.162942,0.986195]]
2025-10-26T21:03:39.966Z,1761512619.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864809,-0.498896,-0.056643],[0.501242,0.851218,0.155516],[-0.029371,-0.162883,0.986208]]
2025-10-26T21:03:40.364Z,1761512620.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864416,-0.499582,-0.056593],[0.501910,0.850834,0.155459],[-0.029513,-0.162786,0.986220]]
2025-10-26T21:03:40.758Z,1761512620.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864239,-0.499889,-0.056584],[0.502220,0.850705,0.155169],[-0.029431,-0.162520,0.986266]]
2025-10-26T21:03:41.162Z,1761512621.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863924,-0.500444,-0.056495],[0.502759,0.850432,0.154915],[-0.029481,-0.162238,0.986311]]
2025-10-26T21:03:41.566Z,1761512621.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864000,-0.500296,-0.056642],[0.502620,0.850410,0.155486],[-0.029620,-0.162809,0.986213]]
2025-10-26T21:03:41.992Z,1761512621.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863850,-0.500528,-0.056877],[0.502880,0.850217,0.155701],[-0.029574,-0.163105,0.986165]]
2025-10-26T21:03:42.374Z,1761512622.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863655,-0.500867,-0.056844],[0.503208,0.850016,0.155741],[-0.029687,-0.163111,0.986161]]
2025-10-26T21:03:42.788Z,1761512622.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863501,-0.501204,-0.056227],[0.503459,0.849989,0.155072],[-0.029930,-0.162212,0.986302]]
2025-10-26T21:03:42.816Z,1761512622.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:03:42.888Z,1761512622.888 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:03:42.889Z,1761512622.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:03:43.140Z,1761512623.140 [DAT](INFO): DAT read: 

2025-10-26T21:03:43.141Z,1761512623.141 [DAT](INFO): DAT read: Tx time:21:03:42.2469

2025-10-26T21:03:43.141Z,1761512623.141 [DAT](INFO): Ping request sent.
2025-10-26T21:03:43.141Z,1761512623.141 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:03:43.141Z,1761512623.141 [DAT](INFO): publishing transmit ping time
2025-10-26T21:03:43.142Z,1761512623.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757
2025-10-26T21:03:43.195Z,1761512623.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863570,-0.501095,-0.056126],[0.503327,0.850015,0.155363],[-0.030144,-0.162416,0.986262]]
2025-10-26T21:03:43.392Z,1761512623.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251175
2025-10-26T21:03:43.588Z,1761512623.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863662,-0.501006,-0.055505],[0.503155,0.850214,0.154828],[-0.030378,-0.161647,0.986381]]
2025-10-26T21:03:43.644Z,1761512623.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503153
2025-10-26T21:03:43.896Z,1761512623.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755102
2025-10-26T21:03:44.019Z,1761512624.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863807,-0.500792,-0.055171],[0.502897,0.850405,0.154613],[-0.030512,-0.161301,0.986433]]
2025-10-26T21:03:44.148Z,1761512624.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007218
2025-10-26T21:03:44.395Z,1761512624.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863770,-0.500868,-0.055068],[0.502957,0.850378,0.154567],[-0.030589,-0.161208,0.986446]]
2025-10-26T21:03:44.400Z,1761512624.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259246
2025-10-26T21:03:44.653Z,1761512624.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511604
2025-10-26T21:03:44.802Z,1761512624.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863747,-0.500875,-0.055365],[0.503023,0.850406,0.154200],[-0.030152,-0.161040,0.986487]]
2025-10-26T21:03:44.905Z,1761512624.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763532
2025-10-26T21:03:45.156Z,1761512625.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015081
2025-10-26T21:03:45.202Z,1761512625.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863605,-0.501082,-0.055706],[0.503280,0.850245,0.154250],[-0.029928,-0.161247,0.986460]]
2025-10-26T21:03:45.408Z,1761512625.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267210
2025-10-26T21:03:45.606Z,1761512625.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863575,-0.500984,-0.057035],[0.503358,0.849951,0.155608],[-0.029480,-0.163088,0.986171]]
2025-10-26T21:03:45.662Z,1761512625.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520967
2025-10-26T21:03:45.912Z,1761512625.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771209
2025-10-26T21:03:46.047Z,1761512626.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863432,-0.501202,-0.057280],[0.503622,0.849855,0.155281],[-0.029147,-0.162922,0.986208]]
2025-10-26T21:03:46.165Z,1761512626.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023505
2025-10-26T21:03:46.416Z,1761512626.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275212
2025-10-26T21:03:46.425Z,1761512626.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863285,-0.501445,-0.057375],[0.503888,0.849768,0.154891],[-0.028914,-0.162625,0.986264]]
2025-10-26T21:03:46.668Z,1761512626.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527143
2025-10-26T21:03:46.818Z,1761512626.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863050,-0.501777,-0.057999],[0.504323,0.849552,0.154660],[-0.028332,-0.162729,0.986264]]
2025-10-26T21:03:46.920Z,1761512626.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779230
2025-10-26T21:03:47.172Z,1761512627.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031196
2025-10-26T21:03:47.222Z,1761512627.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862882,-0.501995,-0.058608],[0.504636,0.849365,0.154666],[-0.027862,-0.163034,0.986227]]
2025-10-26T21:03:47.428Z,1761512627.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286631
2025-10-26T21:03:47.627Z,1761512627.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862531,-0.502538,-0.059118],[0.505264,0.849061,0.154282],[-0.027338,-0.162943,0.986257]]
2025-10-26T21:03:47.680Z,1761512627.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538656
2025-10-26T21:03:47.928Z,1761512627.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787224
2025-10-26T21:03:48.075Z,1761512628.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862395,-0.502680,-0.059889],[0.505531,0.848908,0.154251],[-0.026699,-0.163301,0.986215]]
2025-10-26T21:03:48.182Z,1761512628.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040747
2025-10-26T21:03:48.432Z,1761512628.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291142
2025-10-26T21:03:48.436Z,1761512628.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862046,-0.503201,-0.060547],[0.506159,0.848591,0.153937],[-0.026082,-0.163347,0.986224]]
2025-10-26T21:03:48.684Z,1761512628.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543198
2025-10-26T21:03:48.838Z,1761512628.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861605,-0.503845,-0.061457],[0.506938,0.848101,0.154071],[-0.025506,-0.163904,0.986147]]
2025-10-26T21:03:48.936Z,1761512628.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795223
2025-10-26T21:03:49.189Z,1761512629.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047423
2025-10-26T21:03:49.242Z,1761512629.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861212,-0.504439,-0.062089],[0.507644,0.847804,0.153382],[-0.024732,-0.163614,0.986214]]
2025-10-26T21:03:49.440Z,1761512629.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299288
2025-10-26T21:03:49.648Z,1761512629.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860675,-0.505360,-0.062047],[0.508588,0.847561,0.151586],[-0.024017,-0.162022,0.986495]]
2025-10-26T21:03:49.694Z,1761512629.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552068
2025-10-26T21:03:49.944Z,1761512629.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803229
2025-10-26T21:03:50.086Z,1761512630.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860157,-0.506192,-0.062450],[0.509494,0.847177,0.150689],[-0.023371,-0.161434,0.986607]]
2025-10-26T21:03:50.197Z,1761512630.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055666
2025-10-26T21:03:50.448Z,1761512630.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307236
2025-10-26T21:03:50.456Z,1761512630.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859813,-0.506605,-0.063814],[0.510110,0.846718,0.151183],[-0.022557,-0.162542,0.986444]]
2025-10-26T21:03:50.514Z,1761512630.514 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:03:50.701Z,1761512630.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559670
2025-10-26T21:03:50.858Z,1761512630.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859494,-0.507042,-0.064642],[0.510684,0.846446,0.150769],[-0.021730,-0.162597,0.986453]]
2025-10-26T21:03:50.954Z,1761512630.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813077
2025-10-26T21:03:51.204Z,1761512631.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063142
2025-10-26T21:03:51.269Z,1761512631.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859115,-0.507588,-0.065385],[0.511351,0.846118,0.150349],[-0.020992,-0.162602,0.986468]]
2025-10-26T21:03:51.458Z,1761512631.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317058
2025-10-26T21:03:51.516Z,1761512631.516 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:03:51.666Z,1761512631.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859115,-0.507368,-0.067074],[0.511380,0.845843,0.151790],[-0.020279,-0.164705,0.986134]]
2025-10-26T21:03:51.709Z,1761512631.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567582
2025-10-26T21:03:51.960Z,1761512631.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819134
2025-10-26T21:03:52.085Z,1761512632.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858776,-0.507839,-0.067846],[0.511983,0.845589,0.151170],[-0.019400,-0.164557,0.986177]]
2025-10-26T21:03:52.217Z,1761512632.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075799
2025-10-26T21:03:52.468Z,1761512632.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327295
2025-10-26T21:03:52.481Z,1761512632.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858733,-0.507831,-0.068447],[0.512088,0.845657,0.150435],[-0.018512,-0.164234,0.986248]]
2025-10-26T21:03:52.721Z,1761512632.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579381
2025-10-26T21:03:52.878Z,1761512632.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858752,-0.507746,-0.068841],[0.512085,0.845806,0.149601],[-0.017733,-0.163723,0.986347]]
2025-10-26T21:03:52.972Z,1761512632.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831220
2025-10-26T21:03:53.224Z,1761512633.224 [DAT](INFO): Reached modem response timeout
2025-10-26T21:03:53.286Z,1761512633.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858726,-0.507693,-0.069551],[0.512152,0.845806,0.149374],[-0.017010,-0.163892,0.986332]]
2025-10-26T21:03:53.686Z,1761512633.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858400,-0.508156,-0.070192],[0.512734,0.845661,0.148193],[-0.015946,-0.163199,0.986464]]
2025-10-26T21:03:54.094Z,1761512634.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858045,-0.508671,-0.070802],[0.513353,0.845425,0.147399],[-0.015120,-0.162821,0.986540]]
2025-10-26T21:03:54.496Z,1761512634.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857771,-0.509066,-0.071276],[0.513829,0.845252,0.146728],[-0.014448,-0.162483,0.986606]]
2025-10-26T21:03:54.899Z,1761512634.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857682,-0.509145,-0.071782],[0.513995,0.845230,0.146273],[-0.013802,-0.162351,0.986637]]
2025-10-26T21:03:55.304Z,1761512635.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857592,-0.509253,-0.072094],[0.514162,0.845256,0.145529],[-0.013174,-0.161872,0.986724]]
2025-10-26T21:03:55.497Z,1761512635.497 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:03:55.497Z,1761512635.497 [DAT](INFO): response not received
2025-10-26T21:03:55.498Z,1761512635.498 [DAT](ERROR): No response from remote modem.
2025-10-26T21:03:55.710Z,1761512635.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857282,-0.509814,-0.071810],[0.514691,0.845209,0.143928],[-0.012683,-0.160347,0.986979]]
2025-10-26T21:03:56.110Z,1761512636.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856937,-0.510317,-0.072363],[0.515283,0.844966,0.143233],[-0.011950,-0.160029,0.987040]]
2025-10-26T21:03:56.516Z,1761512636.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856742,-0.510477,-0.073530],[0.515623,0.844678,0.143709],[-0.011251,-0.161036,0.986884]]
2025-10-26T21:03:56.920Z,1761512636.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856374,-0.511018,-0.074059],[0.516249,0.844412,0.143027],[-0.010553,-0.160717,0.986944]]
2025-10-26T21:03:57.322Z,1761512637.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855953,-0.511653,-0.074537],[0.516958,0.844087,0.142377],[-0.009932,-0.160400,0.987002]]
2025-10-26T21:03:57.732Z,1761512637.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855494,-0.512324,-0.075198],[0.517729,0.843659,0.142116],[-0.009368,-0.160512,0.986989]]
2025-10-26T21:03:58.130Z,1761512638.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854959,-0.513087,-0.076069],[0.518624,0.843158,0.141822],[-0.008629,-0.160703,0.986965]]
2025-10-26T21:03:58.536Z,1761512638.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854455,-0.513836,-0.076670],[0.519464,0.842736,0.141255],[-0.007969,-0.160524,0.987000]]
2025-10-26T21:03:58.943Z,1761512638.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853663,-0.515082,-0.077140],[0.520776,0.842125,0.140064],[-0.007183,-0.159740,0.987133]]
2025-10-26T21:03:59.342Z,1761512639.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852864,-0.516191,-0.078556],[0.522097,0.841315,0.140015],[-0.006184,-0.160428,0.987028]]
2025-10-26T21:03:59.754Z,1761512639.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852284,-0.517058,-0.079142],[0.523052,0.840846,0.139266],[-0.005463,-0.160089,0.987087]]
2025-10-26T21:04:00.150Z,1761512640.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851493,-0.518253,-0.079835],[0.524346,0.840187,0.138372],[-0.004636,-0.159684,0.987157]]
2025-10-26T21:04:00.959Z,1761512640.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850146,-0.520154,-0.081797],[0.526540,0.839075,0.136778],[-0.002512,-0.159351,0.987219]]
2025-10-26T21:04:01.364Z,1761512641.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849504,-0.521022,-0.082938],[0.527580,0.838546,0.136016],[-0.001320,-0.159303,0.987229]]
2025-10-26T21:04:01.771Z,1761512641.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848635,-0.522231,-0.084224],[0.528979,0.837823,0.135033],[0.000046,-0.159146,0.987255]]
2025-10-26T21:04:02.170Z,1761512642.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848058,-0.522875,-0.086015],[0.529901,0.837291,0.134721],[0.001578,-0.159831,0.987143]]
2025-10-26T21:04:02.979Z,1761512642.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847155,-0.523910,-0.088579],[0.531329,0.836584,0.133481],[0.004171,-0.160144,0.987085]]
2025-10-26T21:04:03.382Z,1761512643.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846793,-0.524263,-0.089948],[0.531895,0.836310,0.132941],[0.005528,-0.160416,0.987034]]
2025-10-26T21:04:03.786Z,1761512643.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846324,-0.524766,-0.091420],[0.532623,0.835946,0.132310],[0.006990,-0.160670,0.986983]]
2025-10-26T21:04:04.190Z,1761512644.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845590,-0.525651,-0.093100],[0.533764,0.835322,0.131658],[0.008562,-0.161022,0.986914]]
2025-10-26T21:04:04.595Z,1761512644.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845121,-0.526204,-0.094235],[0.534485,0.834987,0.130853],[0.009829,-0.160953,0.986913]]
2025-10-26T21:04:04.998Z,1761512644.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844647,-0.526720,-0.095592],[0.535205,0.834646,0.130081],[0.011269,-0.161034,0.986885]]
2025-10-26T21:04:05.402Z,1761512645.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844042,-0.527490,-0.096687],[0.536132,0.834192,0.129176],[0.012516,-0.160866,0.986897]]
2025-10-26T21:04:05.806Z,1761512645.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843561,-0.528073,-0.097692],[0.536856,0.833895,0.128084],[0.013828,-0.160493,0.986940]]
2025-10-26T21:04:06.212Z,1761512646.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843288,-0.528382,-0.098377],[0.537251,0.833838,0.126790],[0.015037,-0.159774,0.987039]]
2025-10-26T21:04:06.614Z,1761512646.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842790,-0.528997,-0.099336],[0.537997,0.833510,0.125775],[0.016263,-0.159444,0.987073]]
2025-10-26T21:04:07.021Z,1761512647.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842407,-0.529398,-0.100437],[0.538559,0.833243,0.125143],[0.017437,-0.159513,0.987042]]
2025-10-26T21:04:07.422Z,1761512647.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842184,-0.529545,-0.101534],[0.538871,0.833114,0.124659],[0.018577,-0.159699,0.986991]]
2025-10-26T21:04:07.826Z,1761512647.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842037,-0.529555,-0.102692],[0.539060,0.833038,0.124346],[0.019698,-0.160061,0.986911]]
2025-10-26T21:04:08.235Z,1761512648.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841755,-0.529871,-0.103372],[0.539458,0.832952,0.123193],[0.020828,-0.159463,0.986984]]
2025-10-26T21:04:08.634Z,1761512648.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841491,-0.530080,-0.104437],[0.539823,0.832802,0.122606],[0.021984,-0.159549,0.986945]]
2025-10-26T21:04:09.033Z,1761512649.033 [CTD_Seabird](ERROR): Failed to parse device response: 49.80,11.117.87
2025-10-26T21:04:09.056Z,1761512649.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841198,-0.530142,-0.106468],[0.540183,0.832733,0.121484],[0.024256,-0.159704,0.986867]]
2025-10-26T21:04:09.851Z,1761512649.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841001,-0.530232,-0.107565],[0.540434,0.832650,0.120930],[0.025443,-0.159834,0.986816]]
2025-10-26T21:04:10.260Z,1761512650.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840706,-0.530337,-0.109339],[0.540783,0.832635,0.119469],[0.027681,-0.159567,0.986799]]
2025-10-26T21:04:10.659Z,1761512650.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840073,-0.531172,-0.110151],[0.541709,0.832188,0.118380],[0.028786,-0.159118,0.986840]]
2025-10-26T21:04:11.066Z,1761512651.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839634,-0.531697,-0.110963],[0.542342,0.831854,0.117828],[0.029656,-0.159113,0.986815]]
2025-10-26T21:04:11.466Z,1761512651.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839210,-0.532201,-0.111749],[0.542951,0.831530,0.117309],[0.030491,-0.159121,0.986788]]
2025-10-26T21:04:11.867Z,1761512651.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838531,-0.533082,-0.112648],[0.543944,0.830987,0.116557],[0.031474,-0.159011,0.986775]]
2025-10-26T21:04:12.270Z,1761512652.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837525,-0.534508,-0.113369],[0.545434,0.830177,0.115360],[0.032456,-0.158452,0.986833]]
2025-10-26T21:04:12.674Z,1761512652.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836732,-0.535614,-0.114001],[0.546606,0.829511,0.114604],[0.033181,-0.158207,0.986848]]
2025-10-26T21:04:13.094Z,1761512653.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835692,-0.537100,-0.114641],[0.548148,0.828621,0.113671],[0.033941,-0.157834,0.986882]]
2025-10-26T21:04:13.482Z,1761512653.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834361,-0.539034,-0.115258],[0.550128,0.827448,0.112643],[0.034652,-0.157392,0.986928]]
2025-10-26T21:04:13.887Z,1761512653.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832976,-0.540992,-0.116100],[0.552172,0.826204,0.111771],[0.035455,-0.157210,0.986929]]
2025-10-26T21:04:14.291Z,1761512654.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831717,-0.542776,-0.116793],[0.554017,0.825096,0.110822],[0.036213,-0.156878,0.986954]]
2025-10-26T21:04:14.694Z,1761512654.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830636,-0.544318,-0.117310],[0.555602,0.824124,0.110120],[0.036737,-0.156647,0.986971]]
2025-10-26T21:04:15.102Z,1761512655.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829251,-0.546351,-0.117655],[0.557631,0.822906,0.108963],[0.037287,-0.155966,0.987058]]
2025-10-26T21:04:15.502Z,1761512655.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828303,-0.547653,-0.118278],[0.559002,0.822041,0.108473],[0.037824,-0.155966,0.987038]]
2025-10-26T21:04:15.909Z,1761512655.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827041,-0.549369,-0.119147],[0.560837,0.820807,0.108341],[0.038278,-0.156425,0.986948]]
2025-10-26T21:04:16.310Z,1761512656.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826149,-0.550394,-0.120599],[0.562109,0.819850,0.108994],[0.038884,-0.157836,0.986700]]
2025-10-26T21:04:16.743Z,1761512656.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825369,-0.551261,-0.121974],[0.563190,0.819102,0.109039],[0.039800,-0.158692,0.986526]]
2025-10-26T21:04:17.122Z,1761512657.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824839,-0.551864,-0.122827],[0.563924,0.818598,0.109027],[0.040378,-0.159194,0.986421]]
2025-10-26T21:04:17.524Z,1761512657.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824627,-0.551916,-0.124015],[0.564196,0.818317,0.109733],[0.040921,-0.160457,0.986194]]
2025-10-26T21:04:17.937Z,1761512657.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824756,-0.551492,-0.125039],[0.563972,0.818369,0.110489],[0.041394,-0.161645,0.985980]]
2025-10-26T21:04:18.330Z,1761512658.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825206,-0.550469,-0.126565],[0.563262,0.818682,0.111787],[0.042081,-0.163537,0.985639]]
2025-10-26T21:04:18.740Z,1761512658.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825846,-0.549230,-0.127769],[0.562270,0.819242,0.112668],[0.042793,-0.164887,0.985384]]
2025-10-26T21:04:19.153Z,1761512659.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826936,-0.547395,-0.128590],[0.560628,0.820236,0.113621],[0.043279,-0.166049,0.985167]]
2025-10-26T21:04:19.542Z,1761512659.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828693,-0.544373,-0.130103],[0.557986,0.821716,0.115903],[0.043814,-0.168643,0.984703]]
2025-10-26T21:04:19.948Z,1761512659.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830449,-0.541556,-0.130661],[0.555338,0.823353,0.117005],[0.044215,-0.169727,0.984499]]
2025-10-26T21:04:20.350Z,1761512660.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832109,-0.538855,-0.131261],[0.552813,0.824891,0.118119],[0.044627,-0.170851,0.984286]]
2025-10-26T21:04:20.755Z,1761512660.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834083,-0.535552,-0.132248],[0.549812,0.826570,0.120370],[0.044848,-0.173110,0.983881]]
2025-10-26T21:04:21.162Z,1761512661.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835763,-0.532932,-0.132226],[0.547241,0.828182,0.121002],[0.045021,-0.173489,0.983806]]
2025-10-26T21:04:21.567Z,1761512661.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837414,-0.530209,-0.132727],[0.544694,0.829659,0.122369],[0.045237,-0.174769,0.983570]]
2025-10-26T21:04:21.636Z,1761512661.636 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:04:21.967Z,1761512661.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838927,-0.527801,-0.132770],[0.542339,0.831125,0.122878],[0.045493,-0.175092,0.983500]]
2025-10-26T21:04:22.372Z,1761512662.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839823,-0.526494,-0.132295],[0.540925,0.832160,0.122107],[0.045802,-0.174110,0.983661]]
2025-10-26T21:04:22.640Z,1761512662.640 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:04:22.774Z,1761512662.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840818,-0.525018,-0.131841],[0.539377,0.833183,0.121976],[0.045808,-0.173671,0.983738]]
2025-10-26T21:04:23.181Z,1761512663.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841499,-0.523912,-0.131891],[0.538302,0.833840,0.122238],[0.045935,-0.173860,0.983698]]
2025-10-26T21:04:23.597Z,1761512663.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841321,-0.524102,-0.132275],[0.538555,0.833683,0.122194],[0.046233,-0.174042,0.983652]]
2025-10-26T21:04:23.987Z,1761512663.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840816,-0.524754,-0.132902],[0.539292,0.833266,0.121788],[0.046834,-0.174074,0.983618]]
2025-10-26T21:04:24.390Z,1761512664.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840666,-0.525272,-0.131798],[0.539527,0.833377,0.119974],[0.046819,-0.171966,0.983990]]
2025-10-26T21:04:24.794Z,1761512664.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839923,-0.526491,-0.131668],[0.540655,0.832820,0.118754],[0.047132,-0.170932,0.984155]]
2025-10-26T21:04:25.214Z,1761512665.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838991,-0.527935,-0.131829],[0.542062,0.832061,0.117661],[0.047573,-0.170176,0.984265]]
2025-10-26T21:04:25.622Z,1761512665.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837843,-0.529746,-0.131868],[0.543803,0.831103,0.116389],[0.047939,-0.169225,0.984411]]
2025-10-26T21:04:26.006Z,1761512666.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836913,-0.531330,-0.131398],[0.545226,0.830364,0.114995],[0.048008,-0.167882,0.984637]]
2025-10-26T21:04:26.410Z,1761512666.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835954,-0.532896,-0.131161],[0.546693,0.829534,0.114020],[0.048042,-0.167021,0.984782]]
2025-10-26T21:04:26.816Z,1761512666.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835037,-0.534294,-0.131315],[0.548068,0.828733,0.113238],[0.048322,-0.166528,0.984852]]
2025-10-26T21:04:27.226Z,1761512667.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834070,-0.535765,-0.131468],[0.549512,0.827890,0.112404],[0.048618,-0.165996,0.984927]]
2025-10-26T21:04:27.652Z,1761512667.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833314,-0.536851,-0.131832],[0.550623,0.827229,0.111832],[0.049019,-0.165781,0.984944]]
2025-10-26T21:04:28.026Z,1761512668.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832424,-0.538176,-0.132047],[0.551938,0.826452,0.111093],[0.049343,-0.165358,0.984998]]
2025-10-26T21:04:28.432Z,1761512668.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831737,-0.539168,-0.132329],[0.552951,0.825823,0.110731],[0.049577,-0.165270,0.985001]]
2025-10-26T21:04:28.834Z,1761512668.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831106,-0.540277,-0.131775],[0.553871,0.825442,0.108958],[0.049905,-0.163542,0.985273]]
2025-10-26T21:04:29.240Z,1761512669.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830748,-0.540757,-0.132054],[0.554381,0.825136,0.108686],[0.050190,-0.163499,0.985266]]
2025-10-26T21:04:29.677Z,1761512669.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830623,-0.540784,-0.132733],[0.554552,0.824934,0.109342],[0.050366,-0.164429,0.985102]]
2025-10-26T21:04:30.044Z,1761512670.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830623,-0.540764,-0.132811],[0.554561,0.824888,0.109640],[0.050265,-0.164722,0.985058]]
2025-10-26T21:04:30.447Z,1761512670.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831024,-0.540033,-0.133277],[0.553961,0.825166,0.110584],[0.050256,-0.165729,0.984890]]
2025-10-26T21:04:30.850Z,1761512670.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831368,-0.539357,-0.133868],[0.553434,0.825400,0.111468],[0.050374,-0.166758,0.984710]]
2025-10-26T21:04:31.266Z,1761512671.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832274,-0.537838,-0.134348],[0.552077,0.826122,0.112843],[0.050297,-0.168087,0.984488]]
2025-10-26T21:04:31.704Z,1761512671.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833243,-0.536192,-0.134924],[0.550606,0.826930,0.114106],[0.050390,-0.169368,0.984264]]
2025-10-26T21:04:32.062Z,1761512672.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834495,-0.534146,-0.135298],[0.548716,0.827979,0.115593],[0.050280,-0.170702,0.984039]]
2025-10-26T21:04:32.466Z,1761512672.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835678,-0.532215,-0.135611],[0.546918,0.828993,0.116841],[0.050236,-0.171809,0.983849]]
2025-10-26T21:04:32.871Z,1761512672.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837036,-0.530014,-0.135856],[0.544847,0.830163,0.118201],[0.050134,-0.172959,0.983652]]
2025-10-26T21:04:33.277Z,1761512673.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838556,-0.527836,-0.134958],[0.542512,0.831744,0.117830],[0.050056,-0.172023,0.983820]]
2025-10-26T21:04:33.737Z,1761512673.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839905,-0.525877,-0.134214],[0.540435,0.833107,0.117739],[0.049898,-0.171424,0.983933]]
2025-10-26T21:04:34.082Z,1761512674.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841082,-0.523941,-0.134416],[0.538601,0.834150,0.118755],[0.049902,-0.172279,0.983783]]
2025-10-26T21:04:34.487Z,1761512674.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842039,-0.522464,-0.134172],[0.537130,0.834995,0.119474],[0.049612,-0.172670,0.983729]]
2025-10-26T21:04:34.890Z,1761512674.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842782,-0.521408,-0.133615],[0.535991,0.835715,0.119560],[0.049324,-0.172380,0.983795]]
2025-10-26T21:04:35.294Z,1761512675.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843676,-0.520006,-0.133433],[0.534597,0.836527,0.120118],[0.049159,-0.172674,0.983752]]
2025-10-26T21:04:35.741Z,1761512675.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844276,-0.519277,-0.132471],[0.533691,0.837153,0.119785],[0.048697,-0.171831,0.983922]]
2025-10-26T21:04:36.105Z,1761512676.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844692,-0.518743,-0.131915],[0.533063,0.837560,0.119739],[0.048373,-0.171461,0.984003]]
2025-10-26T21:04:36.506Z,1761512676.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844749,-0.518878,-0.131018],[0.533017,0.837660,0.119239],[0.047878,-0.170561,0.984183]]
2025-10-26T21:04:36.910Z,1761512676.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844621,-0.519198,-0.130570],[0.533245,0.837552,0.118981],[0.047584,-0.170120,0.984274]]
2025-10-26T21:04:37.315Z,1761512677.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844340,-0.519798,-0.130002],[0.533711,0.837350,0.118308],[0.047361,-0.169276,0.984430]]
2025-10-26T21:04:37.736Z,1761512677.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843799,-0.520860,-0.129260],[0.534573,0.836992,0.116945],[0.047277,-0.167777,0.984691]]
2025-10-26T21:04:38.122Z,1761512678.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842928,-0.522217,-0.129468],[0.535936,0.836172,0.116568],[0.047384,-0.167645,0.984708]]
2025-10-26T21:04:38.526Z,1761512678.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841948,-0.523850,-0.129246],[0.537458,0.835368,0.115320],[0.047558,-0.166558,0.984884]]
2025-10-26T21:04:38.930Z,1761512678.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840826,-0.525572,-0.129558],[0.539223,0.834218,0.115406],[0.047425,-0.166897,0.984833]]
2025-10-26T21:04:39.338Z,1761512679.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839761,-0.527010,-0.130623],[0.540879,0.833003,0.116430],[0.047449,-0.168424,0.984572]]
2025-10-26T21:04:39.740Z,1761512679.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839093,-0.528149,-0.130313],[0.541913,0.832457,0.115521],[0.047468,-0.167551,0.984720]]
2025-10-26T21:04:40.142Z,1761512680.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838266,-0.529305,-0.130942],[0.543172,0.831619,0.115643],[0.047683,-0.168064,0.984622]]
2025-10-26T21:04:40.548Z,1761512680.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837707,-0.529944,-0.131932],[0.544014,0.830956,0.116452],[0.047917,-0.169325,0.984395]]
2025-10-26T21:04:40.950Z,1761512680.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837493,-0.530289,-0.131905],[0.544345,0.830757,0.116321],[0.047897,-0.169220,0.984414]]
2025-10-26T21:04:41.354Z,1761512681.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837531,-0.530154,-0.132206],[0.544273,0.830775,0.116531],[0.048054,-0.169555,0.984349]]
2025-10-26T21:04:41.759Z,1761512681.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837723,-0.529832,-0.132285],[0.543966,0.830977,0.116524],[0.048187,-0.169573,0.984339]]
2025-10-26T21:04:42.162Z,1761512682.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837911,-0.529541,-0.132253],[0.543649,0.831252,0.116042],[0.048487,-0.169132,0.984400]]
2025-10-26T21:04:42.566Z,1761512682.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838128,-0.529250,-0.132047],[0.543289,0.831586,0.115333],[0.048769,-0.168403,0.984511]]
2025-10-26T21:04:42.970Z,1761512682.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838954,-0.527936,-0.132058],[0.542030,0.832286,0.116201],[0.048564,-0.169067,0.984407]]
2025-10-26T21:04:43.026Z,1761512683.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:04:43.136Z,1761512683.136 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:04:43.136Z,1761512683.136 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:04:43.381Z,1761512683.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839558,-0.526959,-0.132121],[0.541081,0.832880,0.116371],[0.048718,-0.169188,0.984379]]
2025-10-26T21:04:43.388Z,1761512683.388 [DAT](INFO): DAT read: user:139>

2025-10-26T21:04:43.389Z,1761512683.389 [DAT](INFO): DAT read: Tx time:21:04:42.4968

2025-10-26T21:04:43.389Z,1761512683.389 [DAT](INFO): Ping request sent.
2025-10-26T21:04:43.389Z,1761512683.389 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:04:43.390Z,1761512683.390 [DAT](INFO): publishing transmit ping time
2025-10-26T21:04:43.390Z,1761512683.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-10-26T21:04:43.641Z,1761512683.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251010
2025-10-26T21:04:43.779Z,1761512683.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840428,-0.525603,-0.131997],[0.539740,0.833677,0.116893],[0.048603,-0.169484,0.984334]]
2025-10-26T21:04:43.893Z,1761512683.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503596
2025-10-26T21:04:44.144Z,1761512684.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754777
2025-10-26T21:04:44.197Z,1761512684.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841248,-0.524326,-0.131851],[0.538465,0.834453,0.117232],[0.048555,-0.169618,0.984313]]
2025-10-26T21:04:44.397Z,1761512684.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007092
2025-10-26T21:04:44.586Z,1761512684.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842145,-0.522939,-0.131629],[0.537063,0.835323,0.117468],[0.048524,-0.169618,0.984315]]
2025-10-26T21:04:44.648Z,1761512684.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258953
2025-10-26T21:04:44.903Z,1761512684.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513054
2025-10-26T21:04:44.990Z,1761512684.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843006,-0.521638,-0.131278],[0.535728,0.836135,0.117784],[0.048326,-0.169622,0.984324]]
2025-10-26T21:04:45.152Z,1761512685.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762871
2025-10-26T21:04:45.394Z,1761512685.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843725,-0.520612,-0.130737],[0.534618,0.836845,0.117788],[0.048085,-0.169275,0.984395]]
2025-10-26T21:04:45.405Z,1761512685.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014972
2025-10-26T21:04:45.656Z,1761512685.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266788
2025-10-26T21:04:45.798Z,1761512685.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844765,-0.519045,-0.130243],[0.533040,0.837678,0.119011],[0.047330,-0.169961,0.984314]]
2025-10-26T21:04:45.912Z,1761512685.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521167
2025-10-26T21:04:46.161Z,1761512686.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771655
2025-10-26T21:04:46.216Z,1761512686.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845445,-0.518102,-0.129588],[0.532016,0.838258,0.119508],[0.046711,-0.169980,0.984340]]
2025-10-26T21:04:46.412Z,1761512686.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022869
2025-10-26T21:04:46.607Z,1761512686.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846263,-0.516968,-0.128777],[0.530817,0.838823,0.120873],[0.045534,-0.170647,0.984280]]
2025-10-26T21:04:46.666Z,1761512686.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275881
2025-10-26T21:04:46.919Z,1761512686.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528996
2025-10-26T21:04:47.011Z,1761512687.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846743,-0.516413,-0.127843],[0.530148,0.839111,0.121804],[0.044373,-0.170912,0.984287]]
2025-10-26T21:04:47.169Z,1761512687.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779509
2025-10-26T21:04:47.414Z,1761512687.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846999,-0.516068,-0.127544],[0.529840,0.839025,0.123722],[0.043164,-0.172370,0.984086]]
2025-10-26T21:04:47.420Z,1761512687.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030776
2025-10-26T21:04:47.673Z,1761512687.673 [DAT](INFO): DAT read: Rx Time:21:04:46.4078

2025-10-26T21:04:47.674Z,1761512687.674 [DAT](INFO): Rx dataTimestamp_ set to:1761512687.673268
2025-10-26T21:04:47.675Z,1761512687.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285086
2025-10-26T21:04:47.818Z,1761512687.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847148,-0.515972,-0.126937],[0.529702,0.838899,0.125161],[0.041908,-0.173269,0.983983]]
2025-10-26T21:04:47.951Z,1761512687.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.561254
2025-10-26T21:04:48.180Z,1761512688.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789251
2025-10-26T21:04:48.236Z,1761512688.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847017,-0.516179,-0.126965],[0.530013,0.838338,0.127576],[0.040588,-0.175352,0.983669]]
2025-10-26T21:04:48.434Z,1761512688.434 [DAT](INFO): DAT read: 21:04:46.4078 LVL= 32752, 32753, 32754, 32755, AGC= 89, IDX= 418, 0.28,-0.821,-2.601,-0.944,-1.292, PHS= 0.573,-1.264, 0.304, RAW= 142.2,   4.6, CAL= 141.9,   5.1, ROT=   8.1,  -5.1

2025-10-26T21:04:48.435Z,1761512688.435 [DAT](INFO): got valid direction response:
 21:04:46.4078 LVL= 32752, 32753, 32754, 32755, AGC= 89, IDX= 418, 0.28,-0.821,-2.601,-0.944,-1.292, PHS= 0.573,-1.264, 0.304, RAW= 142.2,   4.6, CAL= 141.9,   5.1, ROT=   8.1,  -5.1

2025-10-26T21:04:48.436Z,1761512688.436 [DAT](INFO): DAT read: Bearing 186.1,   9.5 (Local)

2025-10-26T21:04:48.436Z,1761512688.436 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.1,   9.5 (Local)

2025-10-26T21:04:48.437Z,1761512688.437 [DAT](INFO): DAT read: Range 11 to 50 : 1130.1 m  (Round-trip  1506.8 ms) speed  0.7 m/s

2025-10-26T21:04:48.438Z,1761512688.438 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:04:48.439Z,1761512688.439 [DAT](INFO): direction in FSK: [0.986104,0.140343,0.088894]
2025-10-26T21:04:48.439Z,1761512688.439 [DAT](INFO): publishing direction and range info
2025-10-26T21:04:48.626Z,1761512688.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847064,-0.516468,-0.125476],[0.530038,0.838318,0.127606],[0.039284,-0.174597,0.983856]]
2025-10-26T21:04:49.030Z,1761512689.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846943,-0.516717,-0.125261],[0.530319,0.837857,0.129452],[0.038061,-0.176067,0.983642]]
2025-10-26T21:04:49.434Z,1761512689.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846595,-0.517532,-0.124248],[0.530946,0.837461,0.129442],[0.037062,-0.175554,0.983772]]
2025-10-26T21:04:49.838Z,1761512689.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846595,-0.517680,-0.123631],[0.531010,0.837309,0.130162],[0.036135,-0.175843,0.983755]]
2025-10-26T21:04:50.248Z,1761512690.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846635,-0.517819,-0.122770],[0.530994,0.837326,0.130119],[0.035420,-0.175353,0.983868]]
2025-10-26T21:04:50.647Z,1761512690.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846837,-0.517627,-0.122185],[0.530736,0.837331,0.131135],[0.034430,-0.175898,0.983806]]
2025-10-26T21:04:51.050Z,1761512691.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846987,-0.517575,-0.121362],[0.530524,0.837536,0.130684],[0.034006,-0.175073,0.983968]]
2025-10-26T21:04:51.455Z,1761512691.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847231,-0.517350,-0.120614],[0.530162,0.837806,0.130422],[0.033577,-0.174443,0.984095]]
2025-10-26T21:04:51.858Z,1761512691.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847877,-0.516506,-0.119694],[0.529178,0.838370,0.130792],[0.032793,-0.174235,0.984158]]
2025-10-26T21:04:52.262Z,1761512692.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848543,-0.515671,-0.118566],[0.528161,0.838986,0.130953],[0.031947,-0.173741,0.984273]]
2025-10-26T21:04:52.673Z,1761512692.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849284,-0.514662,-0.117641],[0.527017,0.839634,0.131408],[0.031145,-0.173601,0.984323]]
2025-10-26T21:04:52.764Z,1761512692.764 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:04:53.070Z,1761512693.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850120,-0.513482,-0.116759],[0.525709,0.840388,0.131825],[0.030433,-0.173449,0.984373]]
2025-10-26T21:04:53.482Z,1761512693.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850846,-0.512645,-0.115136],[0.524591,0.841135,0.131518],[0.029423,-0.172301,0.984605]]
2025-10-26T21:04:53.768Z,1761512693.768 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:04:53.880Z,1761512693.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851903,-0.511166,-0.113889],[0.522921,0.842134,0.131773],[0.028552,-0.171813,0.984716]]
2025-10-26T21:04:54.287Z,1761512694.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852617,-0.510342,-0.112225],[0.521816,0.842844,0.131614],[0.027420,-0.170777,0.984928]]
2025-10-26T21:04:54.300Z,1761512694.300 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050300531230,35.0,  0.0,1494.8,  0
2025-10-26T21:04:54.694Z,1761512694.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853576,-0.509036,-0.110862],[0.520310,0.843670,0.132286],[0.026192,-0.170598,0.984993]]
2025-10-26T21:04:55.093Z,1761512695.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854512,-0.507769,-0.109455],[0.518829,0.844507,0.132758],[0.025026,-0.170231,0.985086]]
2025-10-26T21:04:55.501Z,1761512695.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855995,-0.505873,-0.106604],[0.516486,0.845837,0.133422],[0.022675,-0.169268,0.985309]]
2025-10-26T21:04:55.904Z,1761512695.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856955,-0.504373,-0.105998],[0.514948,0.846442,0.135518],[0.021370,-0.170717,0.985088]]
2025-10-26T21:04:56.309Z,1761512696.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857561,-0.503417,-0.105639],[0.513976,0.846774,0.137125],[0.020422,-0.171889,0.984905]]
2025-10-26T21:04:56.715Z,1761512696.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858260,-0.502315,-0.105211],[0.512855,0.847129,0.139116],[0.019247,-0.173356,0.984671]]
2025-10-26T21:04:57.113Z,1761512697.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858658,-0.501754,-0.104638],[0.512221,0.847345,0.140129],[0.018354,-0.173921,0.984589]]
2025-10-26T21:04:57.521Z,1761512697.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858989,-0.501106,-0.105027],[0.511693,0.847257,0.142567],[0.017544,-0.176206,0.984197]]
2025-10-26T21:04:57.919Z,1761512697.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859106,-0.501064,-0.104273],[0.511526,0.847290,0.142975],[0.016710,-0.176169,0.984218]]
2025-10-26T21:04:58.322Z,1761512698.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859416,-0.500696,-0.103477],[0.511039,0.847410,0.144000],[0.015587,-0.176636,0.984153]]
2025-10-26T21:04:58.730Z,1761512698.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859583,-0.500655,-0.102278],[0.510783,0.847616,0.143692],[0.014752,-0.175757,0.984323]]
2025-10-26T21:04:59.137Z,1761512699.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859435,-0.501107,-0.101307],[0.511048,0.847566,0.143048],[0.014182,-0.174713,0.984517]]
2025-10-26T21:04:59.543Z,1761512699.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859482,-0.501258,-0.100153],[0.510999,0.847553,0.143300],[0.013054,-0.174342,0.984599]]
2025-10-26T21:04:59.938Z,1761512699.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859446,-0.501484,-0.099334],[0.511080,0.847481,0.143431],[0.012255,-0.174039,0.984662]]
2025-10-26T21:05:00.343Z,1761512700.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859447,-0.501687,-0.098286],[0.511095,0.847520,0.143148],[0.011484,-0.173262,0.984809]]
2025-10-26T21:05:00.747Z,1761512700.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859411,-0.501986,-0.097067],[0.511175,0.847532,0.142790],[0.010589,-0.172333,0.984982]]
2025-10-26T21:05:01.170Z,1761512701.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859631,-0.501864,-0.095746],[0.510826,0.847757,0.142706],[0.009550,-0.171584,0.985123]]
2025-10-26T21:05:01.555Z,1761512701.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859751,-0.502003,-0.093920],[0.510639,0.848103,0.141316],[0.008713,-0.169455,0.985499]]
2025-10-26T21:05:01.958Z,1761512701.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859968,-0.501928,-0.092319],[0.510289,0.848425,0.140641],[0.007734,-0.168057,0.985747]]
2025-10-26T21:05:02.362Z,1761512702.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860492,-0.501274,-0.090983],[0.509422,0.848883,0.141019],[0.006544,-0.167694,0.985817]]
2025-10-26T21:05:02.766Z,1761512702.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861096,-0.500459,-0.089748],[0.508418,0.849302,0.142117],[0.005099,-0.168006,0.985773]]
2025-10-26T21:05:03.192Z,1761512703.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861864,-0.499386,-0.088336],[0.507126,0.849924,0.143014],[0.003659,-0.168056,0.985771]]
2025-10-26T21:05:03.574Z,1761512703.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862741,-0.498247,-0.086186],[0.505644,0.850706,0.143609],[0.001766,-0.167477,0.985874]]
2025-10-26T21:05:04.002Z,1761512704.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863590,-0.497072,-0.084449],[0.504194,0.851442,0.144339],[0.000157,-0.167228,0.985918]]
2025-10-26T21:05:04.384Z,1761512704.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864086,-0.496480,-0.082848],[0.503343,0.851881,0.144724],[-0.001276,-0.166755,0.985997]]
2025-10-26T21:05:04.786Z,1761512704.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864768,-0.495602,-0.080958],[0.502161,0.852438,0.145543],[-0.003120,-0.166515,0.986034]]
2025-10-26T21:05:05.218Z,1761512705.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865604,-0.494422,-0.079226],[0.500703,0.853033,0.147078],[-0.005136,-0.166980,0.985947]]
2025-10-26T21:05:05.597Z,1761512705.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866287,-0.493456,-0.077776],[0.499499,0.853471,0.148621],[-0.006958,-0.167597,0.985831]]
2025-10-26T21:05:05.000Z,1761512706.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867082,-0.492238,-0.076615],[0.498083,0.853844,0.151206],[-0.009012,-0.169269,0.985529]]
2025-10-26T21:05:06.402Z,1761512706.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867500,-0.491755,-0.074965],[0.497323,0.854185,0.151783],[-0.010606,-0.168954,0.985567]]
2025-10-26T21:05:06.806Z,1761512706.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867747,-0.491587,-0.073188],[0.496854,0.854389,0.152170],[-0.012274,-0.168409,0.985641]]
2025-10-26T21:05:07.245Z,1761512707.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867909,-0.491598,-0.071173],[0.496526,0.854566,0.152247],[-0.014022,-0.167476,0.985776]]
2025-10-26T21:05:07.614Z,1761512707.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868136,-0.491411,-0.069676],[0.496075,0.854636,0.153319],[-0.015795,-0.167666,0.985717]]
2025-10-26T21:05:08.018Z,1761512708.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868367,-0.491231,-0.068047],[0.495618,0.854829,0.153723],[-0.017345,-0.167214,0.985768]]
2025-10-26T21:05:08.423Z,1761512708.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868818,-0.490674,-0.066281],[0.494767,0.855239,0.154179],[-0.018965,-0.166747,0.985817]]
2025-10-26T21:05:08.829Z,1761512708.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869235,-0.490128,-0.064842],[0.493971,0.855526,0.155140],[-0.020564,-0.166883,0.985762]]
2025-10-26T21:05:09.270Z,1761512709.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869802,-0.489230,-0.064018],[0.492904,0.855760,0.157225],[-0.022135,-0.168309,0.985486]]
2025-10-26T21:05:09.643Z,1761512709.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870015,-0.489034,-0.062614],[0.492456,0.855864,0.158063],[-0.023709,-0.168351,0.985442]]
2025-10-26T21:05:10.039Z,1761512710.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870165,-0.488926,-0.061352],[0.492121,0.855933,0.158730],[-0.025094,-0.168314,0.985414]]
2025-10-26T21:05:10.443Z,1761512710.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870526,-0.488493,-0.059667],[0.491396,0.856237,0.159339],[-0.026747,-0.168028,0.985419]]
2025-10-26T21:05:10.847Z,1761512710.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870741,-0.488301,-0.058076],[0.490926,0.856405,0.159881],[-0.028333,-0.167726,0.985426]]
2025-10-26T21:05:11.289Z,1761512711.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870840,-0.488328,-0.056332],[0.490647,0.856476,0.160360],[-0.030061,-0.167287,0.985450]]
2025-10-26T21:05:11.664Z,1761512711.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870828,-0.488502,-0.054995],[0.490571,0.856382,0.161091],[-0.031597,-0.167262,0.985406]]
2025-10-26T21:05:12.060Z,1761512712.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870640,-0.489058,-0.052998],[0.490803,0.856344,0.160586],[-0.033152,-0.165824,0.985598]]
2025-10-26T21:05:12.462Z,1761512712.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870244,-0.489996,-0.050795],[0.491394,0.856176,0.159671],[-0.034749,-0.163913,0.985863]]
2025-10-26T21:05:12.866Z,1761512712.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869658,-0.491260,-0.048571],[0.492348,0.855991,0.157714],[-0.035902,-0.161071,0.986290]]
2025-10-26T21:05:13.288Z,1761512713.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869474,-0.491741,-0.046963],[0.492567,0.855879,0.157635],[-0.037321,-0.160192,0.986380]]
2025-10-26T21:05:13.679Z,1761512713.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869489,-0.491866,-0.045337],[0.492421,0.855919,0.157874],[-0.038849,-0.159595,0.986418]]
2025-10-26T21:05:14.078Z,1761512714.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869179,-0.492591,-0.043387],[0.492862,0.855831,0.156975],[-0.040193,-0.157823,0.986649]]
2025-10-26T21:05:14.482Z,1761512714.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868866,-0.493246,-0.042194],[0.493304,0.855509,0.157340],[-0.041510,-0.157522,0.986643]]
2025-10-26T21:05:14.886Z,1761512714.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868914,-0.493265,-0.040969],[0.493099,0.855495,0.158053],[-0.042913,-0.157536,0.986580]]
2025-10-26T21:05:15.296Z,1761512715.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868772,-0.493633,-0.039516],[0.493227,0.855393,0.158208],[-0.044295,-0.156938,0.986615]]
2025-10-26T21:05:15.694Z,1761512715.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868678,-0.493898,-0.038241],[0.493274,0.855305,0.158535],[-0.045593,-0.156579,0.986612]]
2025-10-26T21:05:16.098Z,1761512716.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868896,-0.493634,-0.036682],[0.492742,0.855500,0.159135],[-0.047174,-0.156347,0.986575]]
2025-10-26T21:05:16.502Z,1761512716.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868823,-0.493843,-0.035569],[0.492758,0.855428,0.159475],[-0.048329,-0.156083,0.986561]]
2025-10-26T21:05:16.907Z,1761512716.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869104,-0.493400,-0.034856],[0.492125,0.855472,0.161185],[-0.049710,-0.157240,0.986309]]
2025-10-26T21:05:17.310Z,1761512717.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869420,-0.492897,-0.034085],[0.491452,0.855649,0.162296],[-0.050830,-0.157854,0.986153]]
2025-10-26T21:05:17.721Z,1761512717.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869409,-0.493001,-0.032828],[0.491341,0.855655,0.162596],[-0.052070,-0.157492,0.986146]]
2025-10-26T21:05:18.126Z,1761512718.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869830,-0.492292,-0.032325],[0.490502,0.855915,0.163761],[-0.052951,-0.158299,0.985970]]
2025-10-26T21:05:18.522Z,1761512718.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869926,-0.492174,-0.031505],[0.490250,0.856034,0.163889],[-0.053693,-0.158017,0.985976]]
2025-10-26T21:05:18.926Z,1761512718.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870358,-0.491437,-0.031096],[0.489408,0.856336,0.164827],[-0.054374,-0.158677,0.985832]]
2025-10-26T21:05:19.338Z,1761512719.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870881,-0.490510,-0.031085],[0.488404,0.856592,0.166470],[-0.055028,-0.160158,0.985556]]
2025-10-26T21:05:19.737Z,1761512719.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871146,-0.490090,-0.030290],[0.487827,0.856796,0.167110],[-0.055946,-0.160354,0.985473]]
2025-10-26T21:05:20.141Z,1761512720.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871470,-0.489567,-0.029380],[0.487134,0.857076,0.167694],[-0.056916,-0.160452,0.985401]]
2025-10-26T21:05:20.542Z,1761512720.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871888,-0.488845,-0.029012],[0.486313,0.857367,0.168588],[-0.057539,-0.161099,0.985260]]
2025-10-26T21:05:20.947Z,1761512720.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872168,-0.488368,-0.028630],[0.485742,0.857555,0.169273],[-0.058116,-0.161541,0.985153]]
2025-10-26T21:05:21.353Z,1761512721.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872401,-0.487947,-0.028710],[0.485262,0.857560,0.170621],[-0.058634,-0.162781,0.984918]]
2025-10-26T21:05:21.755Z,1761512721.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872795,-0.487272,-0.028171],[0.484464,0.857857,0.171396],[-0.059350,-0.163241,0.984799]]
2025-10-26T21:05:22.158Z,1761512722.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873333,-0.486326,-0.027872],[0.483426,0.858247,0.172370],[-0.059907,-0.164011,0.984638]]
2025-10-26T21:05:22.562Z,1761512722.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873839,-0.485434,-0.027545],[0.482443,0.858625,0.173240],[-0.060446,-0.164673,0.984494]]
2025-10-26T21:05:22.967Z,1761512722.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874225,-0.484764,-0.027107],[0.481660,0.858892,0.174093],[-0.061112,-0.165252,0.984356]]
2025-10-26T21:05:23.374Z,1761512723.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874538,-0.484235,-0.026461],[0.481032,0.859238,0.174122],[-0.061580,-0.165005,0.984369]]
2025-10-26T21:05:23.774Z,1761512723.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874876,-0.483634,-0.026250],[0.480370,0.859489,0.174711],[-0.061935,-0.165460,0.984270]]
2025-10-26T21:05:23.888Z,1761512723.888 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:05:24.178Z,1761512724.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875194,-0.483078,-0.025904],[0.479741,0.859756,0.175124],[-0.062328,-0.165695,0.984206]]
2025-10-26T21:05:24.582Z,1761512724.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875235,-0.483027,-0.025472],[0.479597,0.859767,0.175464],[-0.062854,-0.165788,0.984156]]
2025-10-26T21:05:24.892Z,1761512724.892 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:05:24.989Z,1761512724.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875613,-0.482373,-0.024870],[0.478839,0.860138,0.175715],[-0.063368,-0.165767,0.984127]]
2025-10-26T21:05:25.390Z,1761512725.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875299,-0.482955,-0.024614],[0.479387,0.859892,0.175424],[-0.063556,-0.165348,0.984185]]
2025-10-26T21:05:25.794Z,1761512725.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875363,-0.482866,-0.024100],[0.479199,0.859949,0.175658],[-0.064094,-0.165313,0.984156]]
2025-10-26T21:05:26.198Z,1761512726.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874933,-0.483672,-0.023546],[0.479928,0.859629,0.175236],[-0.064516,-0.164620,0.984245]]
2025-10-26T21:05:26.612Z,1761512726.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874383,-0.484693,-0.022944],[0.480871,0.859222,0.174645],[-0.064935,-0.163740,0.984364]]
2025-10-26T21:05:27.008Z,1761512727.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873717,-0.485931,-0.022132],[0.482001,0.858728,0.173956],[-0.065525,-0.162655,0.984505]]
2025-10-26T21:05:27.410Z,1761512727.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872975,-0.487278,-0.021782],[0.483313,0.858125,0.173291],[-0.065749,-0.161806,0.984630]]
2025-10-26T21:05:27.814Z,1761512727.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872414,-0.488297,-0.021431],[0.484316,0.857734,0.172423],[-0.065812,-0.160804,0.984790]]
2025-10-26T21:05:28.218Z,1761512728.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871430,-0.490042,-0.021650],[0.486134,0.856906,0.171422],[-0.065452,-0.159907,0.984960]]
2025-10-26T21:05:28.628Z,1761512728.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870467,-0.491731,-0.022085],[0.487906,0.856027,0.170779],[-0.065072,-0.159433,0.985062]]
2025-10-26T21:05:29.046Z,1761512729.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869540,-0.493346,-0.022565],[0.489615,0.855182,0.170118],[-0.064630,-0.158973,0.985165]]
2025-10-26T21:05:29.430Z,1761512729.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868668,-0.494803,-0.024216],[0.491301,0.854187,0.170258],[-0.063559,-0.159794,0.985102]]
2025-10-26T21:05:29.835Z,1761512729.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867992,-0.495923,-0.025494],[0.492616,0.853460,0.170102],[-0.062599,-0.160206,0.985097]]
2025-10-26T21:05:30.238Z,1761512730.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867486,-0.496770,-0.026200],[0.493583,0.852966,0.169780],[-0.061994,-0.160214,0.985134]]
2025-10-26T21:05:30.642Z,1761512730.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866954,-0.497633,-0.027424],[0.494653,0.852430,0.169358],[-0.060901,-0.160391,0.985173]]
2025-10-26T21:05:31.048Z,1761512731.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866760,-0.497917,-0.028375],[0.495083,0.852172,0.169399],[-0.060166,-0.160876,0.985139]]
2025-10-26T21:05:31.450Z,1761512731.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866729,-0.497933,-0.029043],[0.495211,0.852118,0.169296],[-0.059550,-0.161116,0.985137]]
2025-10-26T21:05:31.854Z,1761512731.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867009,-0.497398,-0.029826],[0.494801,0.852317,0.169492],[-0.058883,-0.161709,0.985080]]
2025-10-26T21:05:32.258Z,1761512732.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867569,-0.496365,-0.030762],[0.493912,0.852752,0.169896],[-0.058098,-0.162590,0.984982]]
2025-10-26T21:05:32.664Z,1761512732.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868144,-0.495301,-0.031680],[0.492994,0.853211,0.170259],[-0.057300,-0.163427,0.984890]]
2025-10-26T21:05:33.067Z,1761512733.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869054,-0.493658,-0.032360],[0.491513,0.854143,0.169867],[-0.056216,-0.163529,0.984936]]
2025-10-26T21:05:33.470Z,1761512733.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870119,-0.491744,-0.032888],[0.489692,0.855097,0.170324],[-0.055634,-0.164307,0.984839]]
2025-10-26T21:05:33.874Z,1761512733.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871225,-0.489761,-0.033185],[0.487789,0.856172,0.170384],[-0.055035,-0.164630,0.984819]]
2025-10-26T21:05:34.278Z,1761512734.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872414,-0.487667,-0.032785],[0.485718,0.857539,0.169424],[-0.054508,-0.163732,0.984998]]
2025-10-26T21:05:34.684Z,1761512734.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873536,-0.485667,-0.032601],[0.483764,0.858791,0.168670],[-0.053920,-0.163111,0.985133]]
2025-10-26T21:05:35.097Z,1761512735.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874651,-0.483641,-0.032828],[0.481796,0.859849,0.168915],[-0.053467,-0.163557,0.985084]]
2025-10-26T21:05:35.490Z,1761512735.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875381,-0.482304,-0.033023],[0.480520,0.860586,0.168798],[-0.052993,-0.163631,0.985097]]
2025-10-26T21:05:35.892Z,1761512735.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876060,-0.481083,-0.032840],[0.479285,0.861257,0.168886],[-0.052964,-0.163694,0.985088]]
2025-10-26T21:05:36.702Z,1761512736.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876645,-0.480082,-0.031860],[0.478243,0.862206,0.166989],[-0.052699,-0.161627,0.985444]]
2025-10-26T21:05:37.531Z,1761512737.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876249,-0.480703,-0.033339],[0.479148,0.861906,0.165940],[-0.051033,-0.161379,0.985572]]
2025-10-26T21:05:37.940Z,1761512737.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875809,-0.481449,-0.034128],[0.480049,0.861555,0.165155],[-0.050111,-0.161027,0.985677]]
2025-10-26T21:05:38.347Z,1761512738.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874142,-0.484225,-0.037435],[0.483384,0.859970,0.163684],[-0.047067,-0.161179,0.985802]]
2025-10-26T21:05:38.748Z,1761512738.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873041,-0.486065,-0.039245],[0.485544,0.858993,0.162412],[-0.045232,-0.160848,0.985942]]
2025-10-26T21:05:39.152Z,1761512739.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871880,-0.488063,-0.040234],[0.487764,0.858129,0.160316],[-0.043718,-0.159401,0.986245]]
2025-10-26T21:05:39.555Z,1761512739.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870326,-0.490663,-0.042222],[0.490704,0.856737,0.158780],[-0.041735,-0.158909,0.986411]]
2025-10-26T21:05:39.956Z,1761512739.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868551,-0.493543,-0.045107],[0.494022,0.854935,0.158202],[-0.039516,-0.159691,0.986376]]
2025-10-26T21:05:40.362Z,1761512740.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867119,-0.495876,-0.047018],[0.496684,0.853681,0.156631],[-0.037532,-0.159171,0.986537]]
2025-10-26T21:05:40.763Z,1761512740.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865729,-0.498148,-0.048604],[0.499246,0.852548,0.154649],[-0.035600,-0.158149,0.986773]]
2025-10-26T21:05:41.166Z,1761512741.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864416,-0.500196,-0.050872],[0.501658,0.851322,0.153593],[-0.033518,-0.158288,0.986824]]
2025-10-26T21:05:41.574Z,1761512741.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863310,-0.501738,-0.054356],[0.503721,0.850054,0.153860],[-0.030991,-0.160209,0.986596]]
2025-10-26T21:05:41.975Z,1761512741.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862302,-0.503237,-0.056452],[0.505574,0.849203,0.152476],[-0.028793,-0.160022,0.986694]]
2025-10-26T21:05:42.387Z,1761512742.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861859,-0.503813,-0.058065],[0.506428,0.848876,0.151462],[-0.027018,-0.159944,0.986756]]
2025-10-26T21:05:42.782Z,1761512742.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861370,-0.504438,-0.059866],[0.507358,0.848500,0.150452],[-0.025098,-0.159969,0.986803]]
2025-10-26T21:05:43.186Z,1761512743.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861126,-0.504630,-0.061738],[0.507868,0.848357,0.149532],[-0.023082,-0.160121,0.986828]]
2025-10-26T21:05:43.271Z,1761512743.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:05:43.400Z,1761512743.400 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:05:43.401Z,1761512743.401 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:05:43.597Z,1761512743.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861232,-0.504275,-0.063143],[0.507767,0.848609,0.148441],[-0.021272,-0.159904,0.986903]]
2025-10-26T21:05:43.652Z,1761512743.652 [DAT](INFO): DAT read: user:140>

2025-10-26T21:05:43.653Z,1761512743.653 [DAT](INFO): DAT read: Tx time:21:05:42.7467

2025-10-26T21:05:43.653Z,1761512743.653 [DAT](INFO): Ping request sent.
2025-10-26T21:05:43.654Z,1761512743.654 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:05:43.654Z,1761512743.654 [DAT](INFO): publishing transmit ping time
2025-10-26T21:05:43.654Z,1761512743.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000770
2025-10-26T21:05:43.904Z,1761512743.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250826
2025-10-26T21:05:43.998Z,1761512743.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861462,-0.503704,-0.064536],[0.507445,0.848948,0.147605],[-0.019562,-0.159905,0.986939]]
2025-10-26T21:05:44.156Z,1761512744.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502764
2025-10-26T21:05:44.401Z,1761512744.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861757,-0.503005,-0.066037],[0.507004,0.849287,0.147168],[-0.017942,-0.160304,0.986905]]
2025-10-26T21:05:44.408Z,1761512744.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754748
2025-10-26T21:05:44.660Z,1761512744.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006813
2025-10-26T21:05:44.803Z,1761512744.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862144,-0.502217,-0.066982],[0.506397,0.849839,0.146070],[-0.016435,-0.159853,0.987004]]
2025-10-26T21:05:44.913Z,1761512744.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259051
2025-10-26T21:05:45.164Z,1761512745.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510718
2025-10-26T21:05:45.206Z,1761512745.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862474,-0.501503,-0.068075],[0.505875,0.850228,0.145608],[-0.015143,-0.160021,0.986997]]
2025-10-26T21:05:45.416Z,1761512745.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762896
2025-10-26T21:05:45.610Z,1761512745.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862833,-0.500773,-0.068890],[0.505301,0.850743,0.144595],[-0.013802,-0.159572,0.987090]]
2025-10-26T21:05:45.668Z,1761512745.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014824
2025-10-26T21:05:45.920Z,1761512745.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266793
2025-10-26T21:05:46.014Z,1761512746.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863331,-0.499852,-0.069330],[0.504478,0.851418,0.143488],[-0.012694,-0.158853,0.987221]]
2025-10-26T21:05:46.172Z,1761512746.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518814
2025-10-26T21:05:46.424Z,1761512746.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770857
2025-10-26T21:05:46.428Z,1761512746.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863555,-0.499397,-0.069819],[0.504120,0.851821,0.142353],[-0.011618,-0.158126,0.987351]]
2025-10-26T21:05:46.676Z,1761512746.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022748
2025-10-26T21:05:46.826Z,1761512746.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863805,-0.498834,-0.070752],[0.503713,0.852081,0.142235],[-0.010665,-0.158502,0.987301]]
2025-10-26T21:05:46.929Z,1761512746.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275091
2025-10-26T21:05:47.180Z,1761512747.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526624
2025-10-26T21:05:47.226Z,1761512747.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863912,-0.498603,-0.071068],[0.503554,0.852480,0.140399],[-0.009420,-0.157079,0.987541]]
2025-10-26T21:05:47.433Z,1761512747.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779029
2025-10-26T21:05:47.630Z,1761512747.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863731,-0.498823,-0.071721],[0.503885,0.852493,0.139124],[-0.008256,-0.156305,0.987674]]
2025-10-26T21:05:47.684Z,1761512747.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030909
2025-10-26T21:05:47.936Z,1761512747.936 [DAT](INFO): DAT read: Rx Time:21:05:46.6087

2025-10-26T21:05:47.937Z,1761512747.937 [DAT](INFO): Rx dataTimestamp_ set to:1761512747.936583
2025-10-26T21:05:47.937Z,1761512747.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283876
2025-10-26T21:05:48.035Z,1761512748.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863793,-0.498619,-0.072396],[0.503794,0.852656,0.138453],[-0.007307,-0.156067,0.987719]]
2025-10-26T21:05:48.188Z,1761512748.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534864
2025-10-26T21:05:48.450Z,1761512748.450 [DAT](INFO): DAT read: 21:05:46.6087 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 445,-0.29, 0.118,-1.670,-0.072,-0.249, PHS= 0.469,-1.376, 0.133, RAW= 140.2,   9.1, CAL= 139.7,  10.0, ROT=  10.3, -10.0

2025-10-26T21:05:48.451Z,1761512748.451 [DAT](INFO): got valid direction response:
 21:05:46.6087 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 445,-0.29, 0.118,-1.670,-0.072,-0.249, PHS= 0.469,-1.376, 0.133, RAW= 140.2,   9.1, CAL= 139.7,  10.0, ROT=  10.3, -10.0

2025-10-26T21:05:48.456Z,1761512748.456 [DAT](INFO): DAT read: Bearing 190.3,   8.1 (Local)

2025-10-26T21:05:48.456Z,1761512748.456 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.3,   8.1 (Local)

2025-10-26T21:05:48.458Z,1761512748.458 [DAT](INFO): DAT read: Range 11 to 50 : 1093.4 m  (Round-trip  1457.9 ms) speed  0.5 m/s

2025-10-26T21:05:48.458Z,1761512748.458 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:05:48.459Z,1761512748.459 [DAT](INFO): direction in FSK: [0.968938,0.176086,0.173648]
2025-10-26T21:05:48.460Z,1761512748.460 [DAT](INFO): publishing direction and range info
2025-10-26T21:05:48.465Z,1761512748.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863535,-0.498959,-0.073133],[0.504248,0.852481,0.137875],[-0.006449,-0.155937,0.987746]]
2025-10-26T21:05:48.854Z,1761512748.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863329,-0.499131,-0.074370],[0.504611,0.852245,0.138005],[-0.005501,-0.156671,0.987635]]
2025-10-26T21:05:49.248Z,1761512749.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862842,-0.499812,-0.075447],[0.505455,0.851838,0.137429],[-0.004420,-0.156715,0.987634]]
2025-10-26T21:05:49.650Z,1761512749.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862050,-0.501009,-0.076550],[0.506812,0.851167,0.136584],[-0.003273,-0.156539,0.987666]]
2025-10-26T21:05:50.061Z,1761512750.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861438,-0.501832,-0.078030],[0.507857,0.850503,0.136845],[-0.002308,-0.157511,0.987514]]
2025-10-26T21:05:50.477Z,1761512750.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860529,-0.503243,-0.078965],[0.509400,0.849803,0.135450],[-0.001059,-0.156783,0.987632]]
2025-10-26T21:05:50.880Z,1761512750.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859669,-0.504478,-0.080444],[0.510852,0.848999,0.135024],[0.000180,-0.157171,0.987571]]
2025-10-26T21:05:51.267Z,1761512751.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858839,-0.505681,-0.081747],[0.512245,0.848199,0.134776],[0.001184,-0.157626,0.987498]]
2025-10-26T21:05:51.671Z,1761512751.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858121,-0.506742,-0.082709],[0.513442,0.847646,0.133691],[0.002361,-0.157189,0.987566]]
2025-10-26T21:05:52.081Z,1761512752.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857015,-0.508435,-0.083782],[0.515278,0.846771,0.132167],[0.003746,-0.156440,0.987680]]
2025-10-26T21:05:52.484Z,1761512752.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855931,-0.510064,-0.084960],[0.517065,0.845892,0.130807],[0.005147,-0.155891,0.987761]]
2025-10-26T21:05:52.909Z,1761512752.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854854,-0.511677,-0.086093],[0.518829,0.844994,0.129619],[0.006425,-0.155473,0.987819]]
2025-10-26T21:05:53.287Z,1761512753.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854266,-0.512442,-0.087366],[0.519782,0.844456,0.129311],[0.007512,-0.155878,0.987748]]
2025-10-26T21:05:53.690Z,1761512753.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853690,-0.513188,-0.088612],[0.520709,0.843969,0.128761],[0.008707,-0.156062,0.987709]]
2025-10-26T21:05:54.094Z,1761512754.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853070,-0.514035,-0.089665],[0.521706,0.843442,0.128175],[0.009740,-0.156121,0.987690]]
2025-10-26T21:05:54.506Z,1761512754.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852654,-0.514582,-0.090481],[0.522366,0.843145,0.127438],[0.010711,-0.155925,0.987711]]
2025-10-26T21:05:54.935Z,1761512754.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852030,-0.515450,-0.091408],[0.523362,0.842628,0.126767],[0.011681,-0.155849,0.987712]]
2025-10-26T21:05:55.048Z,1761512755.048 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:05:55.306Z,1761512755.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851618,-0.515986,-0.092224],[0.524011,0.842324,0.126108],[0.012612,-0.155722,0.987720]]
2025-10-26T21:05:55.715Z,1761512755.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851535,-0.516054,-0.092609],[0.524130,0.842345,0.125470],[0.013259,-0.155381,0.987766]]
2025-10-26T21:05:56.056Z,1761512756.056 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:05:56.116Z,1761512756.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851530,-0.515973,-0.093105],[0.524118,0.842453,0.124792],[0.014048,-0.155062,0.987805]]
2025-10-26T21:05:56.521Z,1761512756.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851378,-0.516156,-0.093480],[0.524338,0.842508,0.123494],[0.015015,-0.154155,0.987933]]
2025-10-26T21:05:56.964Z,1761512756.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851506,-0.515828,-0.094126],[0.524107,0.842703,0.123142],[0.015800,-0.154188,0.987915]]
2025-10-26T21:05:57.326Z,1761512757.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852090,-0.514717,-0.094914],[0.523136,0.843249,0.123532],[0.016452,-0.154913,0.987791]]
2025-10-26T21:05:57.735Z,1761512757.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852226,-0.514381,-0.095509],[0.522885,0.843507,0.122835],[0.017379,-0.154624,0.987821]]
2025-10-26T21:05:58.134Z,1761512758.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852448,-0.513864,-0.096313],[0.522496,0.843762,0.122733],[0.018197,-0.154947,0.987755]]
2025-10-26T21:05:58.548Z,1761512758.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852574,-0.513530,-0.096979],[0.522264,0.843941,0.122491],[0.018941,-0.155081,0.987720]]
2025-10-26T21:05:58.979Z,1761512758.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852564,-0.513413,-0.097682],[0.522255,0.843957,0.122414],[0.019590,-0.155380,0.987660]]
2025-10-26T21:05:59.346Z,1761512759.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852682,-0.513111,-0.098235],[0.522043,0.844090,0.122408],[0.020110,-0.155658,0.987606]]
2025-10-26T21:05:59.750Z,1761512759.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852388,-0.513413,-0.099211],[0.522492,0.843823,0.122329],[0.020911,-0.156109,0.987518]]
2025-10-26T21:06:00.155Z,1761512760.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851908,-0.513934,-0.100620],[0.523250,0.843216,0.123275],[0.021489,-0.157669,0.987258]]
2025-10-26T21:06:00.570Z,1761512760.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851297,-0.514840,-0.101160],[0.524213,0.842738,0.122447],[0.022211,-0.157268,0.987306]]
2025-10-26T21:06:00.987Z,1761512760.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850639,-0.515800,-0.101808],[0.525246,0.842221,0.121572],[0.023038,-0.156888,0.987348]]
2025-10-26T21:06:01.366Z,1761512761.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849999,-0.516700,-0.102580],[0.526244,0.841692,0.120924],[0.023859,-0.156767,0.987347]]
2025-10-26T21:06:01.770Z,1761512761.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849203,-0.517896,-0.103137],[0.527495,0.841028,0.120085],[0.024550,-0.156381,0.987392]]
2025-10-26T21:06:02.174Z,1761512762.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848338,-0.519217,-0.103619],[0.528859,0.840282,0.119310],[0.025122,-0.156015,0.987435]]
2025-10-26T21:06:02.582Z,1761512762.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847290,-0.520728,-0.104600],[0.530506,0.839265,0.119153],[0.025741,-0.156449,0.987351]]
2025-10-26T21:06:02.988Z,1761512762.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846660,-0.521624,-0.105236],[0.531479,0.838726,0.118612],[0.026394,-0.156355,0.987348]]
2025-10-26T21:06:03.388Z,1761512763.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845534,-0.523351,-0.105713],[0.533230,0.837791,0.117354],[0.027148,-0.155596,0.987448]]
2025-10-26T21:06:03.790Z,1761512763.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844689,-0.524624,-0.106162],[0.534539,0.837072,0.116529],[0.027731,-0.155179,0.987497]]
2025-10-26T21:06:04.194Z,1761512764.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844273,-0.525141,-0.106913],[0.535167,0.836672,0.116515],[0.028264,-0.155587,0.987418]]
2025-10-26T21:06:04.599Z,1761512764.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843558,-0.526198,-0.107355],[0.536257,0.836103,0.115583],[0.028940,-0.155071,0.987479]]
2025-10-26T21:06:05.008Z,1761512765.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843055,-0.526874,-0.107990],[0.537012,0.835684,0.115110],[0.029597,-0.155036,0.987465]]
2025-10-26T21:06:05.406Z,1761512765.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842662,-0.527346,-0.108755],[0.537588,0.835363,0.114747],[0.030338,-0.155158,0.987424]]
2025-10-26T21:06:05.810Z,1761512765.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842541,-0.527367,-0.109587],[0.537740,0.835261,0.114780],[0.031002,-0.155636,0.987328]]
2025-10-26T21:06:06.215Z,1761512766.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842331,-0.527606,-0.110048],[0.538032,0.835144,0.114261],[0.031621,-0.155455,0.987337]]
2025-10-26T21:06:06.627Z,1761512766.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841993,-0.528043,-0.110532],[0.538530,0.834870,0.113917],[0.032127,-0.155442,0.987322]]
2025-10-26T21:06:07.024Z,1761512767.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841652,-0.528483,-0.111028],[0.539032,0.834593,0.113572],[0.032643,-0.155436,0.987306]]
2025-10-26T21:06:07.426Z,1761512767.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841279,-0.528919,-0.111775],[0.539571,0.834288,0.113252],[0.033351,-0.155587,0.987259]]
2025-10-26T21:06:07.830Z,1761512767.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840821,-0.529473,-0.112596],[0.540240,0.833889,0.113004],[0.034060,-0.155845,0.987194]]
2025-10-26T21:06:08.236Z,1761512768.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840479,-0.529791,-0.113647],[0.540741,0.833487,0.113576],[0.034551,-0.156912,0.987008]]
2025-10-26T21:06:08.639Z,1761512768.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840366,-0.529755,-0.114653],[0.540891,0.833281,0.114367],[0.034952,-0.158124,0.986800]]
2025-10-26T21:06:09.085Z,1761512769.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839922,-0.530328,-0.115248],[0.541549,0.832878,0.114188],[0.035431,-0.158321,0.986752]]
2025-10-26T21:06:09.450Z,1761512769.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839677,-0.530541,-0.116053],[0.541911,0.832556,0.114817],[0.035705,-0.159300,0.986584]]
2025-10-26T21:06:09.850Z,1761512769.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839262,-0.531045,-0.116750],[0.542527,0.832137,0.114946],[0.036110,-0.159810,0.986487]]
2025-10-26T21:06:10.254Z,1761512770.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838733,-0.531650,-0.117793],[0.543336,0.831454,0.116064],[0.036234,-0.161348,0.986232]]
2025-10-26T21:06:10.659Z,1761512770.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838140,-0.532456,-0.118370],[0.544217,0.830922,0.115740],[0.036730,-0.161425,0.986201]]
2025-10-26T21:06:11.063Z,1761512771.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837147,-0.533996,-0.118463],[0.545726,0.830054,0.114866],[0.036992,-0.160808,0.986292]]
2025-10-26T21:06:11.468Z,1761512771.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836641,-0.534646,-0.119102],[0.546493,0.829478,0.115377],[0.037107,-0.161617,0.986156]]
2025-10-26T21:06:11.870Z,1761512771.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835975,-0.535618,-0.119414],[0.547488,0.828892,0.114868],[0.037456,-0.161404,0.986177]]
2025-10-26T21:06:12.274Z,1761512772.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835233,-0.536727,-0.119624],[0.548588,0.828290,0.113964],[0.037916,-0.160810,0.986257]]
2025-10-26T21:06:12.683Z,1761512772.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834733,-0.537433,-0.119941],[0.549326,0.827845,0.113638],[0.038220,-0.160744,0.986256]]
2025-10-26T21:06:13.084Z,1761512773.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834210,-0.538195,-0.120164],[0.550109,0.827360,0.113385],[0.038395,-0.160690,0.986258]]
2025-10-26T21:06:13.486Z,1761512773.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833820,-0.538771,-0.120292],[0.550694,0.826993,0.113221],[0.038481,-0.160650,0.986261]]
2025-10-26T21:06:13.890Z,1761512773.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833544,-0.539224,-0.120173],[0.551092,0.826841,0.112394],[0.038759,-0.159911,0.986370]]
2025-10-26T21:06:14.294Z,1761512774.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833536,-0.539217,-0.120263],[0.551096,0.826847,0.112324],[0.038872,-0.159903,0.986367]]
2025-10-26T21:06:14.712Z,1761512774.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833626,-0.539047,-0.120399],[0.550953,0.826932,0.112402],[0.038972,-0.160035,0.986342]]
2025-10-26T21:06:15.102Z,1761512775.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833767,-0.538800,-0.120526],[0.550744,0.827017,0.112804],[0.038899,-0.160431,0.986280]]
2025-10-26T21:06:15.506Z,1761512775.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834316,-0.538019,-0.120217],[0.549923,0.827553,0.112878],[0.038756,-0.160286,0.986309]]
2025-10-26T21:06:15.910Z,1761512775.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834759,-0.537527,-0.119337],[0.549257,0.828121,0.111950],[0.038649,-0.158998,0.986522]]
2025-10-26T21:06:16.314Z,1761512776.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834867,-0.537282,-0.119689],[0.549101,0.828118,0.112734],[0.038546,-0.159839,0.986390]]
2025-10-26T21:06:16.731Z,1761512776.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835060,-0.537194,-0.118733],[0.548827,0.828417,0.111868],[0.038266,-0.158580,0.986604]]
2025-10-26T21:06:17.122Z,1761512777.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835106,-0.537111,-0.118784],[0.548762,0.828427,0.112108],[0.038189,-0.158806,0.986571]]
2025-10-26T21:06:17.533Z,1761512777.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835252,-0.536914,-0.118644],[0.548560,0.828507,0.112506],[0.037891,-0.159054,0.986542]]
2025-10-26T21:06:17.932Z,1761512777.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835272,-0.536966,-0.118269],[0.548544,0.828543,0.112323],[0.037677,-0.158697,0.986608]]
2025-10-26T21:06:18.334Z,1761512778.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835052,-0.537297,-0.118320],[0.548877,0.828335,0.112229],[0.037708,-0.158661,0.986613]]
2025-10-26T21:06:18.741Z,1761512778.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835008,-0.537406,-0.118136],[0.548950,0.828306,0.112082],[0.037619,-0.158440,0.986652]]
2025-10-26T21:06:19.142Z,1761512779.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834844,-0.537648,-0.118193],[0.549216,0.828068,0.112537],[0.037367,-0.158865,0.986593]]
2025-10-26T21:06:19.547Z,1761512779.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834757,-0.537754,-0.118330],[0.549363,0.827902,0.113045],[0.037175,-0.159371,0.986519]]
2025-10-26T21:06:19.950Z,1761512779.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834309,-0.538419,-0.118465],[0.550038,0.827475,0.112889],[0.037246,-0.159344,0.986520]]
2025-10-26T21:06:20.354Z,1761512780.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833868,-0.539097,-0.118484],[0.550707,0.827053,0.112720],[0.037226,-0.159243,0.986537]]
2025-10-26T21:06:20.766Z,1761512780.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833268,-0.540008,-0.118558],[0.551606,0.826512,0.112292],[0.037351,-0.158967,0.986577]]
2025-10-26T21:06:21.162Z,1761512781.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832564,-0.541081,-0.118611],[0.552656,0.825891,0.111691],[0.037526,-0.158541,0.986639]]
2025-10-26T21:06:21.567Z,1761512781.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831908,-0.541992,-0.119053],[0.553635,0.825220,0.111805],[0.037647,-0.158923,0.986573]]
2025-10-26T21:06:21.970Z,1761512781.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831217,-0.543008,-0.119251],[0.554654,0.824606,0.111278],[0.037910,-0.158639,0.986609]]
2025-10-26T21:06:22.376Z,1761512782.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830565,-0.543839,-0.120009],[0.555634,0.823827,0.112165],[0.037867,-0.159841,0.986416]]
2025-10-26T21:06:22.778Z,1761512782.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830038,-0.544698,-0.119753],[0.556426,0.823362,0.111652],[0.037783,-0.159309,0.986506]]
2025-10-26T21:06:23.188Z,1761512783.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829274,-0.545761,-0.120202],[0.557547,0.822622,0.111510],[0.038023,-0.159490,0.986467]]
2025-10-26T21:06:23.596Z,1761512783.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829585,-0.545112,-0.121000],[0.557087,0.822737,0.112952],[0.037979,-0.161111,0.986205]]
2025-10-26T21:06:24.000Z,1761512784.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829813,-0.544600,-0.121743],[0.556745,0.822806,0.114124],[0.038019,-0.162482,0.985979]]
2025-10-26T21:06:24.399Z,1761512784.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830019,-0.544171,-0.122252],[0.556431,0.822920,0.114835],[0.038114,-0.163340,0.985833]]
2025-10-26T21:06:24.801Z,1761512784.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830957,-0.542451,-0.123517],[0.555031,0.823518,0.117301],[0.038089,-0.166028,0.985385]]
2025-10-26T21:06:25.202Z,1761512785.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831482,-0.541565,-0.123873],[0.554251,0.823898,0.118311],[0.037986,-0.167031,0.985220]]
2025-10-26T21:06:25.615Z,1761512785.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832164,-0.540447,-0.124181],[0.553232,0.824447,0.119255],[0.037929,-0.167941,0.985067]]
2025-10-26T21:06:26.017Z,1761512786.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832872,-0.539284,-0.124485],[0.552157,0.825069,0.119932],[0.038032,-0.168623,0.984947]]
2025-10-26T21:06:26.172Z,1761512786.172 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:06:26.423Z,1761512786.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833682,-0.537853,-0.125256],[0.550912,0.825745,0.120997],[0.038351,-0.169878,0.984719]]
2025-10-26T21:06:26.826Z,1761512786.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834685,-0.536148,-0.125879],[0.549369,0.826629,0.121979],[0.038657,-0.170968,0.984518]]
2025-10-26T21:06:27.176Z,1761512787.176 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:06:27.225Z,1761512787.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835826,-0.534389,-0.125792],[0.547633,0.827702,0.122504],[0.038653,-0.171280,0.984464]]
2025-10-26T21:06:27.626Z,1761512787.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836778,-0.532920,-0.125696],[0.546168,0.828643,0.122684],[0.038776,-0.171310,0.984454]]
2025-10-26T21:06:28.033Z,1761512788.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838049,-0.530889,-0.125820],[0.544224,0.829750,0.123834],[0.038657,-0.172253,0.984294]]
2025-10-26T21:06:28.451Z,1761512788.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838948,-0.529544,-0.125498],[0.542825,0.830708,0.123551],[0.038826,-0.171777,0.984370]]
2025-10-26T21:06:28.842Z,1761512788.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839683,-0.528369,-0.125535],[0.541684,0.831393,0.123951],[0.038877,-0.172080,0.984316]]
2025-10-26T21:06:29.242Z,1761512789.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840578,-0.526944,-0.125533],[0.540294,0.832216,0.124497],[0.038868,-0.172474,0.984247]]
2025-10-26T21:06:29.646Z,1761512789.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841091,-0.526137,-0.125487],[0.539485,0.832748,0.124448],[0.039022,-0.172370,0.984259]]
2025-10-26T21:06:30.050Z,1761512790.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841822,-0.524981,-0.125422],[0.538340,0.833448,0.124716],[0.039059,-0.172508,0.984233]]
2025-10-26T21:06:30.479Z,1761512790.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842542,-0.523835,-0.125378],[0.537213,0.834118,0.125098],[0.039050,-0.172755,0.984190]]
2025-10-26T21:06:30.858Z,1761512790.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842973,-0.523228,-0.125016],[0.536533,0.834614,0.124703],[0.039092,-0.172197,0.984287]]
2025-10-26T21:06:31.262Z,1761512791.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843117,-0.523017,-0.124929],[0.536298,0.834808,0.124418],[0.039219,-0.171898,0.984334]]
2025-10-26T21:06:31.667Z,1761512791.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843013,-0.523229,-0.124745],[0.536449,0.834814,0.123730],[0.039399,-0.171225,0.984444]]
2025-10-26T21:06:32.073Z,1761512792.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842848,-0.523491,-0.124760],[0.536683,0.834764,0.123043],[0.039733,-0.170664,0.984528]]
2025-10-26T21:06:32.511Z,1761512792.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842767,-0.523639,-0.124683],[0.536805,0.834729,0.122752],[0.039798,-0.170381,0.984574]]
2025-10-26T21:06:32.878Z,1761512792.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842768,-0.523715,-0.124352],[0.536819,0.834737,0.122634],[0.039576,-0.170107,0.984631]]
2025-10-26T21:06:33.282Z,1761512793.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843040,-0.523384,-0.123907],[0.536430,0.834931,0.123013],[0.039071,-0.170172,0.984639]]
2025-10-26T21:06:33.692Z,1761512793.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843333,-0.523191,-0.122719],[0.536029,0.835216,0.122830],[0.038233,-0.169368,0.984811]]
2025-10-26T21:06:34.091Z,1761512794.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843223,-0.523489,-0.122206],[0.536230,0.835112,0.122654],[0.037848,-0.168955,0.984897]]
2025-10-26T21:06:34.535Z,1761512794.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843763,-0.522896,-0.121011],[0.535452,0.835565,0.122974],[0.036810,-0.168557,0.985004]]
2025-10-26T21:06:34.898Z,1761512794.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844122,-0.522410,-0.120606],[0.534950,0.835696,0.124264],[0.035873,-0.169412,0.984892]]
2025-10-26T21:06:35.302Z,1761512795.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844313,-0.522213,-0.120119],[0.534692,0.835778,0.124819],[0.035211,-0.169613,0.984882]]
2025-10-26T21:06:35.712Z,1761512795.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844840,-0.521541,-0.119333],[0.533921,0.836150,0.125623],[0.034263,-0.169845,0.984875]]
2025-10-26T21:06:36.111Z,1761512796.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845362,-0.520897,-0.118444],[0.533163,0.836496,0.126539],[0.033164,-0.170122,0.984865]]
2025-10-26T21:06:36.553Z,1761512796.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845702,-0.520542,-0.117578],[0.532682,0.836717,0.127096],[0.032221,-0.170117,0.984897]]
2025-10-26T21:06:36.918Z,1761512796.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846465,-0.519552,-0.116461],[0.531544,0.837289,0.128097],[0.030959,-0.170333,0.984900]]
2025-10-26T21:06:37.324Z,1761512797.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847167,-0.518837,-0.114526],[0.530507,0.837943,0.128114],[0.029496,-0.169291,0.985125]]
2025-10-26T21:06:37.731Z,1761512797.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847726,-0.518058,-0.113917],[0.529683,0.838202,0.129818],[0.028232,-0.170390,0.984972]]
2025-10-26T21:06:38.131Z,1761512798.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848296,-0.517490,-0.112242],[0.528838,0.838722,0.129905],[0.026915,-0.169556,0.985153]]
2025-10-26T21:06:38.558Z,1761512798.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849012,-0.516734,-0.110293],[0.527761,0.839395,0.129940],[0.025435,-0.168528,0.985369]]
2025-10-26T21:06:38.939Z,1761512798.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849641,-0.515939,-0.109164],[0.526802,0.839882,0.130679],[0.024263,-0.168538,0.985397]]
2025-10-26T21:06:39.342Z,1761512799.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850535,-0.514711,-0.107997],[0.525420,0.840559,0.131885],[0.022895,-0.168916,0.985364]]
2025-10-26T21:06:39.746Z,1761512799.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851196,-0.513947,-0.106412],[0.524401,0.841164,0.132083],[0.021627,-0.168231,0.985510]]
2025-10-26T21:06:40.151Z,1761512800.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852006,-0.512767,-0.105625],[0.523134,0.841719,0.133562],[0.020421,-0.169052,0.985396]]
2025-10-26T21:06:40.570Z,1761512800.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852747,-0.511765,-0.104491],[0.521973,0.842274,0.134604],[0.019124,-0.169324,0.985375]]
2025-10-26T21:06:40.958Z,1761512800.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853391,-0.510880,-0.103566],[0.520963,0.842720,0.135725],[0.017938,-0.169781,0.985319]]
2025-10-26T21:06:41.362Z,1761512801.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854249,-0.509617,-0.102709],[0.519592,0.843358,0.137006],[0.016800,-0.170404,0.985231]]
2025-10-26T21:06:41.766Z,1761512801.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854896,-0.508766,-0.101541],[0.518567,0.843843,0.137903],[0.015525,-0.170549,0.985227]]
2025-10-26T21:06:42.172Z,1761512802.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855883,-0.507296,-0.100570],[0.516970,0.844619,0.139142],[0.014357,-0.171081,0.985152]]
2025-10-26T21:06:42.578Z,1761512802.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856740,-0.506174,-0.098911],[0.515577,0.845492,0.139006],[0.013268,-0.170089,0.985339]]
2025-10-26T21:06:42.985Z,1761512802.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857813,-0.504514,-0.098090],[0.513816,0.846346,0.140327],[0.012221,-0.170775,0.985234]]
2025-10-26T21:06:43.382Z,1761512803.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858752,-0.503130,-0.096987],[0.512270,0.847153,0.141107],[0.011167,-0.170859,0.985232]]
2025-10-26T21:06:43.410Z,1761512803.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:06:43.416Z,1761512803.416 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:06:43.416Z,1761512803.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:06:43.668Z,1761512803.668 [DAT](INFO): DAT read: user:141>

2025-10-26T21:06:43.669Z,1761512803.669 [DAT](INFO): DAT read: Tx time:21:06:42.7966

2025-10-26T21:06:43.669Z,1761512803.669 [DAT](INFO): Ping request sent.
2025-10-26T21:06:43.669Z,1761512803.669 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:06:43.670Z,1761512803.670 [DAT](INFO): publishing transmit ping time
2025-10-26T21:06:43.670Z,1761512803.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000772
2025-10-26T21:06:43.787Z,1761512803.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859571,-0.501942,-0.095874],[0.510910,0.847944,0.141285],[0.010379,-0.170427,0.985316]]
2025-10-26T21:06:43.920Z,1761512803.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250820
2025-10-26T21:06:44.172Z,1761512804.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502857
2025-10-26T21:06:44.190Z,1761512804.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860435,-0.500634,-0.094962],[0.509471,0.848712,0.141871],[0.009570,-0.170451,0.985320]]
2025-10-26T21:06:44.424Z,1761512804.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754977
2025-10-26T21:06:44.594Z,1761512804.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861224,-0.499487,-0.093841],[0.508155,0.849390,0.142532],[0.008515,-0.170438,0.985332]]
2025-10-26T21:06:44.680Z,1761512804.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009353
2025-10-26T21:06:44.929Z,1761512804.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259147
2025-10-26T21:06:45.000Z,1761512805.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861769,-0.498693,-0.093058],[0.507242,0.849854,0.143018],[0.007763,-0.170451,0.985336]]
2025-10-26T21:06:45.180Z,1761512805.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510942
2025-10-26T21:06:45.402Z,1761512805.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862347,-0.497859,-0.092157],[0.506268,0.850382,0.143329],[0.007010,-0.170256,0.985375]]
2025-10-26T21:06:45.432Z,1761512805.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762969
2025-10-26T21:06:45.684Z,1761512805.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014905
2025-10-26T21:06:45.806Z,1761512805.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862638,-0.497515,-0.091295],[0.505783,0.850643,0.143491],[0.006270,-0.169956,0.985432]]
2025-10-26T21:06:45.937Z,1761512805.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267033
2025-10-26T21:06:46.188Z,1761512806.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518827
2025-10-26T21:06:46.217Z,1761512806.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862898,-0.497185,-0.090628],[0.505347,0.850817,0.143993],[0.005516,-0.170050,0.985420]]
2025-10-26T21:06:46.440Z,1761512806.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770974
2025-10-26T21:06:46.615Z,1761512806.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863156,-0.496885,-0.089815],[0.504915,0.851040,0.144194],[0.004788,-0.169811,0.985465]]
2025-10-26T21:06:46.696Z,1761512806.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025660
2025-10-26T21:06:46.944Z,1761512806.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274953
2025-10-26T21:06:47.019Z,1761512807.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862970,-0.497348,-0.089034],[0.505238,0.850877,0.144026],[0.004126,-0.169274,0.985560]]
2025-10-26T21:06:47.196Z,1761512807.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526813
2025-10-26T21:06:47.423Z,1761512807.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862740,-0.497817,-0.088644],[0.505635,0.850608,0.144224],[0.003604,-0.169249,0.985567]]
2025-10-26T21:06:47.449Z,1761512807.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779075
2025-10-26T21:06:47.703Z,1761512807.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032932
2025-10-26T21:06:47.827Z,1761512807.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862219,-0.498889,-0.087683],[0.506526,0.850233,0.143304],[0.003058,-0.167973,0.985787]]
2025-10-26T21:06:47.954Z,1761512807.954 [DAT](INFO): DAT read: Rx Time:21:06:46.6069

2025-10-26T21:06:47.955Z,1761512807.955 [DAT](INFO): Rx dataTimestamp_ set to:1761512807.954524
2025-10-26T21:06:47.956Z,1761512807.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286510
2025-10-26T21:06:48.204Z,1761512808.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534865
2025-10-26T21:06:48.230Z,1761512808.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861606,-0.500077,-0.086932],[0.507571,0.849718,0.142658],[0.002527,-0.167039,0.985947]]
2025-10-26T21:06:48.465Z,1761512808.465 [DAT](INFO): DAT read: 21:06:46.6069 LVL= 32752, 32753, 32754, 32755, AGC= 88, IDX= 427,-0.08, 0.774,-0.977, 0.711, 0.650, PHS= 0.226,-1.581, 0.017, RAW= 143.9,  15.4, CAL= 143.5,  16.8, ROT=   6.5, -16.8

2025-10-26T21:06:48.467Z,1761512808.467 [DAT](INFO): got valid direction response:
 21:06:46.6069 LVL= 32752, 32753, 32754, 32755, AGC= 88, IDX= 427,-0.08, 0.774,-0.977, 0.711, 0.650, PHS= 0.226,-1.581, 0.017, RAW= 143.9,  15.4, CAL= 143.5,  16.8, ROT=   6.5, -16.8

2025-10-26T21:06:48.469Z,1761512808.469 [DAT](INFO): DAT read: Bearing 195.8,   3.3 (Local)

2025-10-26T21:06:48.469Z,1761512808.469 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.8,   3.3 (Local)

2025-10-26T21:06:48.472Z,1761512808.472 [DAT](INFO): DAT read: Range 11 to 50 : 1054.5 m  (Round-trip  1406.1 ms) speed  0.3 m/s

2025-10-26T21:06:48.473Z,1761512808.473 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:06:48.474Z,1761512808.474 [DAT](INFO): direction in FSK: [0.951166,0.108372,0.289032]
2025-10-26T21:06:48.474Z,1761512808.474 [DAT](INFO): publishing direction and range info
2025-10-26T21:06:48.634Z,1761512808.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861038,-0.501196,-0.086123],[0.508538,0.849208,0.142247],[0.001843,-0.166277,0.986077]]
2025-10-26T21:06:49.038Z,1761512809.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860489,-0.502209,-0.085701],[0.509467,0.848615,0.142459],[0.001182,-0.166246,0.986084]]
2025-10-26T21:06:49.443Z,1761512809.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860118,-0.502946,-0.085105],[0.510095,0.848292,0.142137],[0.000707,-0.165667,0.986182]]
2025-10-26T21:06:49.848Z,1761512809.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859398,-0.504283,-0.084461],[0.511308,0.847685,0.141402],[0.000290,-0.164706,0.986343]]
2025-10-26T21:06:50.250Z,1761512810.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858932,-0.505148,-0.084033],[0.512090,0.847323,0.140740],[0.000109,-0.163918,0.986474]]
2025-10-26T21:06:50.654Z,1761512810.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858961,-0.505153,-0.083709],[0.512041,0.847262,0.141284],[-0.000446,-0.164220,0.986424]]
2025-10-26T21:06:51.058Z,1761512811.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858920,-0.505310,-0.083175],[0.512109,0.847193,0.141452],[-0.001012,-0.164091,0.986445]]
2025-10-26T21:06:51.474Z,1761512811.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859157,-0.504855,-0.083497],[0.511711,0.847190,0.142905],[-0.001409,-0.165504,0.986208]]
2025-10-26T21:06:51.866Z,1761512811.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859724,-0.503917,-0.083321],[0.510755,0.847613,0.143808],[-0.001843,-0.166192,0.986092]]
2025-10-26T21:06:52.270Z,1761512812.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860400,-0.502789,-0.083151],[0.509613,0.848129,0.144814],[-0.002289,-0.166973,0.985959]]
2025-10-26T21:06:52.674Z,1761512812.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861337,-0.501235,-0.082844],[0.508026,0.848863,0.146086],[-0.002900,-0.167916,0.985797]]
2025-10-26T21:06:53.078Z,1761512813.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862407,-0.499416,-0.082691],[0.506205,0.849741,0.147298],[-0.003297,-0.168889,0.985629]]
2025-10-26T21:06:53.484Z,1761512813.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863916,-0.496841,-0.082456],[0.503622,0.850994,0.148906],[-0.003813,-0.170169,0.985407]]
2025-10-26T21:06:53.886Z,1761512813.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865298,-0.494469,-0.082218],[0.501242,0.852229,0.149874],[-0.004040,-0.170897,0.985281]]
2025-10-26T21:06:54.291Z,1761512814.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866794,-0.491895,-0.081906],[0.498647,0.853495,0.151322],[-0.004528,-0.172007,0.985085]]
2025-10-26T21:06:54.696Z,1761512814.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868328,-0.489246,-0.081511],[0.495964,0.854793,0.152802],[-0.005083,-0.173109,0.984890]]
2025-10-26T21:06:55.098Z,1761512815.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869929,-0.486530,-0.080698],[0.493144,0.856250,0.153770],[-0.005715,-0.173565,0.984806]]
2025-10-26T21:06:55.502Z,1761512815.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871067,-0.484581,-0.080148],[0.491126,0.857278,0.154496],[-0.006157,-0.173939,0.984737]]
2025-10-26T21:06:55.906Z,1761512815.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872439,-0.482189,-0.079651],[0.488679,0.858507,0.155431],[-0.006566,-0.174528,0.984630]]
2025-10-26T21:06:56.312Z,1761512816.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873534,-0.480367,-0.078658],[0.486716,0.859690,0.155053],[-0.006860,-0.173728,0.984770]]
2025-10-26T21:06:56.718Z,1761512816.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874385,-0.478947,-0.077845],[0.485175,0.860505,0.155360],[-0.007423,-0.173613,0.984786]]
2025-10-26T21:06:57.312Z,1761512817.312 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:06:57.528Z,1761512817.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875041,-0.478054,-0.075949],[0.483974,0.861312,0.154628],[-0.008505,-0.172063,0.985049]]
2025-10-26T21:06:57.926Z,1761512817.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875127,-0.478076,-0.074809],[0.483808,0.861533,0.153918],[-0.009134,-0.170891,0.985248]]
2025-10-26T21:06:58.316Z,1761512818.316 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:06:58.332Z,1761512818.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874739,-0.478921,-0.073936],[0.484499,0.861293,0.153086],[-0.009636,-0.169732,0.985443]]
2025-10-26T21:06:58.741Z,1761512818.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874235,-0.480049,-0.072571],[0.485398,0.861109,0.151260],[-0.010121,-0.167463,0.985826]]
2025-10-26T21:06:59.141Z,1761512819.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873436,-0.481617,-0.071796],[0.486822,0.860451,0.150427],[-0.010672,-0.166340,0.986011]]
2025-10-26T21:06:59.545Z,1761512819.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872625,-0.483149,-0.071366],[0.488265,0.859708,0.149998],[-0.011117,-0.165738,0.986107]]
2025-10-26T21:06:59.954Z,1761512819.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871620,-0.485064,-0.070647],[0.490051,0.858962,0.148437],[-0.011318,-0.164002,0.986395]]
2025-10-26T21:07:00.350Z,1761512820.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870521,-0.487150,-0.069839],[0.491994,0.858131,0.146807],[-0.011586,-0.162159,0.986697]]
2025-10-26T21:07:00.763Z,1761512820.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869241,-0.489541,-0.069068],[0.494241,0.857036,0.145652],[-0.012109,-0.160742,0.986922]]
2025-10-26T21:07:01.158Z,1761512821.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868011,-0.491829,-0.068280],[0.496390,0.856057,0.144094],[-0.012419,-0.158969,0.987205]]
2025-10-26T21:07:01.565Z,1761512821.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866593,-0.494364,-0.067977],[0.498857,0.854805,0.143001],[-0.012588,-0.157835,0.987385]]
2025-10-26T21:07:01.969Z,1761512821.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865219,-0.496729,-0.068233],[0.501228,0.853387,0.143186],[-0.012896,-0.158088,0.987341]]
2025-10-26T21:07:02.371Z,1761512822.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863776,-0.499141,-0.068913],[0.503700,0.851749,0.144257],[-0.013308,-0.159317,0.987138]]
2025-10-26T21:07:02.774Z,1761512822.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862832,-0.500753,-0.069044],[0.505310,0.850785,0.144317],[-0.013525,-0.159410,0.987120]]
2025-10-26T21:07:03.178Z,1761512823.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862540,-0.501300,-0.068724],[0.505801,0.850537,0.144052],[-0.013761,-0.159011,0.987181]]
2025-10-26T21:07:03.585Z,1761512823.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862228,-0.501880,-0.068413],[0.506328,0.850268,0.143793],[-0.013997,-0.158621,0.987240]]
2025-10-26T21:07:03.988Z,1761512823.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862069,-0.502210,-0.067991],[0.506585,0.850098,0.143894],[-0.014466,-0.158490,0.987255]]
2025-10-26T21:07:04.390Z,1761512824.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862095,-0.502133,-0.068224],[0.506538,0.850035,0.144429],[-0.014529,-0.159069,0.987161]]
2025-10-26T21:07:04.794Z,1761512824.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862227,-0.501920,-0.068123],[0.506304,0.850084,0.144956],[-0.014846,-0.159476,0.987090]]
2025-10-26T21:07:05.198Z,1761512825.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862680,-0.501143,-0.068114],[0.505522,0.850389,0.145896],[-0.015192,-0.160295,0.986952]]
2025-10-26T21:07:05.607Z,1761512825.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863281,-0.500130,-0.067936],[0.504479,0.850834,0.146907],[-0.015671,-0.161094,0.986815]]
2025-10-26T21:07:06.006Z,1761512826.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863696,-0.499450,-0.067669],[0.503761,0.851195,0.147284],[-0.015962,-0.161298,0.986777]]
2025-10-26T21:07:06.410Z,1761512826.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864454,-0.498181,-0.067346],[0.502440,0.851791,0.148343],[-0.016537,-0.162073,0.986640]]
2025-10-26T21:07:06.814Z,1761512826.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865064,-0.497168,-0.066997],[0.501374,0.852297,0.149043],[-0.016998,-0.162522,0.986558]]
2025-10-26T21:07:07.220Z,1761512827.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865472,-0.496499,-0.066680],[0.500658,0.852663,0.149356],[-0.017299,-0.162647,0.986533]]
2025-10-26T21:07:07.640Z,1761512827.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866925,-0.493995,-0.066406],[0.498115,0.853848,0.151081],[-0.017933,-0.164054,0.986288]]
2025-10-26T21:07:08.444Z,1761512828.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868443,-0.491393,-0.065869],[0.495440,0.855163,0.152430],[-0.018574,-0.165011,0.986117]]
2025-10-26T21:07:08.840Z,1761512828.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869134,-0.490212,-0.065564],[0.494215,0.855768,0.153009],[-0.018899,-0.165388,0.986047]]
2025-10-26T21:07:09.242Z,1761512829.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869846,-0.488994,-0.065222],[0.492950,0.856403,0.153538],[-0.019223,-0.165705,0.985988]]
2025-10-26T21:07:09.646Z,1761512829.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870280,-0.488261,-0.064919],[0.492176,0.856827,0.153657],[-0.019400,-0.165676,0.985989]]
2025-10-26T21:07:10.057Z,1761512830.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870324,-0.488221,-0.064629],[0.492097,0.856954,0.153203],[-0.019413,-0.165139,0.986079]]
2025-10-26T21:07:10.456Z,1761512830.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870368,-0.488132,-0.064702],[0.492024,0.857011,0.153118],[-0.019291,-0.165104,0.986087]]
2025-10-26T21:07:10.854Z,1761512830.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870502,-0.488012,-0.063801],[0.491776,0.857319,0.152186],[-0.019571,-0.163854,0.986290]]
2025-10-26T21:07:11.258Z,1761512831.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870427,-0.488102,-0.064133],[0.491883,0.856943,0.153949],[-0.020185,-0.165547,0.985995]]
2025-10-26T21:07:11.670Z,1761512831.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870065,-0.488807,-0.063682],[0.492517,0.856704,0.153250],[-0.020353,-0.164702,0.986133]]
2025-10-26T21:07:12.082Z,1761512832.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869289,-0.490262,-0.063077],[0.493877,0.856136,0.152046],[-0.020540,-0.163324,0.986359]]
2025-10-26T21:07:12.470Z,1761512832.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868441,-0.491835,-0.062519],[0.495351,0.855420,0.151274],[-0.020922,-0.162341,0.986513]]
2025-10-26T21:07:12.874Z,1761512832.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867394,-0.493758,-0.061893],[0.497171,0.854582,0.150034],[-0.021188,-0.160910,0.986742]]
2025-10-26T21:07:13.280Z,1761512833.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866263,-0.495760,-0.061732],[0.499121,0.853474,0.149866],[-0.021611,-0.160635,0.986777]]
2025-10-26T21:07:13.682Z,1761512833.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865005,-0.498005,-0.061301],[0.501293,0.852435,0.148526],[-0.021711,-0.159205,0.987007]]
2025-10-26T21:07:14.126Z,1761512834.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863718,-0.500286,-0.060869],[0.503500,0.851343,0.147319],[-0.021881,-0.157889,0.987214]]
2025-10-26T21:07:14.490Z,1761512834.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862463,-0.502463,-0.060737],[0.505634,0.850146,0.146923],[-0.022188,-0.157427,0.987281]]
2025-10-26T21:07:14.895Z,1761512834.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860938,-0.504971,-0.061562],[0.508218,0.848465,0.147720],[-0.022361,-0.158464,0.987111]]
2025-10-26T21:07:15.298Z,1761512835.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859672,-0.507123,-0.061560],[0.510354,0.847300,0.147042],[-0.022409,-0.157826,0.987213]]
2025-10-26T21:07:15.705Z,1761512835.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858826,-0.508559,-0.061521],[0.511767,0.846474,0.146889],[-0.022626,-0.157636,0.987238]]
2025-10-26T21:07:16.136Z,1761512836.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857940,-0.510003,-0.061940],[0.513259,0.845592,0.146765],[-0.022475,-0.157706,0.987230]]
2025-10-26T21:07:16.510Z,1761512836.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857252,-0.511149,-0.062017],[0.514402,0.844908,0.146702],[-0.022588,-0.157662,0.987235]]
2025-10-26T21:07:16.922Z,1761512836.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856741,-0.511982,-0.062201],[0.515251,0.844385,0.146729],[-0.022601,-0.157758,0.987219]]
2025-10-26T21:07:17.318Z,1761512837.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856576,-0.512035,-0.064014],[0.515544,0.843837,0.148842],[-0.022195,-0.160497,0.986787]]
2025-10-26T21:07:17.739Z,1761512837.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856648,-0.511892,-0.064195],[0.515418,0.843806,0.149449],[-0.022333,-0.161112,0.986683]]
2025-10-26T21:07:18.568Z,1761512838.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857499,-0.510270,-0.065726],[0.514028,0.844328,0.151284],[-0.021702,-0.163511,0.986303]]
2025-10-26T21:07:18.971Z,1761512838.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858021,-0.509385,-0.065775],[0.513170,0.844897,0.151016],[-0.021352,-0.163329,0.986341]]
2025-10-26T21:07:19.374Z,1761512839.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858545,-0.508502,-0.065781],[0.512308,0.845475,0.150710],[-0.021020,-0.163091,0.986387]]
2025-10-26T21:07:19.778Z,1761512839.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859410,-0.506991,-0.066137],[0.510855,0.846157,0.151807],[-0.021002,-0.164251,0.986195]]
2025-10-26T21:07:20.200Z,1761512840.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860252,-0.505474,-0.066809],[0.509452,0.846833,0.152750],[-0.020634,-0.165439,0.986004]]
2025-10-26T21:07:20.587Z,1761512840.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861436,-0.503265,-0.068201],[0.507471,0.847676,0.154658],[-0.020021,-0.167838,0.985611]]
2025-10-26T21:07:20.990Z,1761512840.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862744,-0.500918,-0.068952],[0.505259,0.848735,0.156084],[-0.019663,-0.169499,0.985334]]
2025-10-26T21:07:21.394Z,1761512841.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863747,-0.499098,-0.069580],[0.503556,0.849561,0.157091],[-0.019291,-0.170724,0.985130]]
2025-10-26T21:07:21.798Z,1761512841.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864659,-0.497438,-0.070149],[0.502007,0.850354,0.157754],[-0.018821,-0.171619,0.984984]]
2025-10-26T21:07:22.231Z,1761512842.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865232,-0.496386,-0.070530],[0.501033,0.850875,0.158042],[-0.018438,-0.172081,0.984910]]
2025-10-26T21:07:22.606Z,1761512842.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866059,-0.494842,-0.071225],[0.499623,0.851589,0.158661],[-0.017858,-0.172995,0.984761]]
2025-10-26T21:07:23.010Z,1761512843.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866437,-0.494082,-0.071899],[0.498986,0.851899,0.159002],[-0.017310,-0.173642,0.984657]]
2025-10-26T21:07:23.422Z,1761512843.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867237,-0.492635,-0.072178],[0.497609,0.852673,0.159165],[-0.016866,-0.173950,0.984610]]
2025-10-26T21:07:23.820Z,1761512843.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867456,-0.492267,-0.072065],[0.497244,0.853067,0.158191],[-0.016396,-0.173057,0.984775]]
2025-10-26T21:07:24.258Z,1761512844.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867562,-0.492108,-0.071876],[0.497076,0.853412,0.156856],[-0.015850,-0.171810,0.985003]]
2025-10-26T21:07:24.627Z,1761512844.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867358,-0.492420,-0.072202],[0.497448,0.853292,0.156328],[-0.015369,-0.171509,0.985063]]
2025-10-26T21:07:25.031Z,1761512845.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867252,-0.492609,-0.072182],[0.497641,0.853301,0.155663],[-0.015088,-0.170920,0.985169]]
2025-10-26T21:07:25.436Z,1761512845.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866988,-0.493067,-0.072223],[0.498110,0.853163,0.154915],[-0.014766,-0.170285,0.985284]]
2025-10-26T21:07:25.838Z,1761512845.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866570,-0.493761,-0.072499],[0.498850,0.852861,0.154194],[-0.014303,-0.169786,0.985377]]
2025-10-26T21:07:26.293Z,1761512846.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866092,-0.494593,-0.072538],[0.499692,0.852578,0.153029],[-0.013843,-0.168784,0.985556]]
2025-10-26T21:07:26.647Z,1761512846.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865427,-0.495768,-0.072459],[0.500857,0.852161,0.151538],[-0.013381,-0.167437,0.985792]]
2025-10-26T21:07:27.054Z,1761512847.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864749,-0.496918,-0.072673],[0.502040,0.851676,0.150347],[-0.012817,-0.166497,0.985959]]
2025-10-26T21:07:27.454Z,1761512847.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863930,-0.498397,-0.072287],[0.503455,0.851126,0.148720],[-0.012596,-0.164877,0.986234]]
2025-10-26T21:07:27.858Z,1761512847.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863116,-0.499767,-0.072555],[0.504864,0.850512,0.147450],[-0.011982,-0.163897,0.986405]]
2025-10-26T21:07:28.321Z,1761512848.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862436,-0.500906,-0.072786],[0.506033,0.849939,0.146745],[-0.011641,-0.163390,0.986493]]
2025-10-26T21:07:28.436Z,1761512848.436 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:07:28.666Z,1761512848.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861731,-0.502102,-0.072893],[0.507239,0.849367,0.145892],[-0.011340,-0.162693,0.986611]]
2025-10-26T21:07:29.071Z,1761512849.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860987,-0.503310,-0.073346],[0.508515,0.848783,0.144846],[-0.010647,-0.162009,0.986732]]
2025-10-26T21:07:29.440Z,1761512849.440 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:07:29.474Z,1761512849.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860403,-0.504262,-0.073667],[0.509514,0.848322,0.144033],[-0.010137,-0.161460,0.986827]]
2025-10-26T21:07:29.893Z,1761512849.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860003,-0.504880,-0.074106],[0.510198,0.847991,0.143558],[-0.009638,-0.161269,0.986863]]
2025-10-26T21:07:30.341Z,1761512850.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859473,-0.505766,-0.074204],[0.511099,0.847643,0.142407],[-0.009126,-0.160320,0.987023]]
2025-10-26T21:07:30.686Z,1761512850.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859239,-0.506112,-0.074557],[0.511499,0.847459,0.142063],[-0.008716,-0.160202,0.987046]]
2025-10-26T21:07:31.092Z,1761512851.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858741,-0.506949,-0.074607],[0.512343,0.847137,0.140936],[-0.008245,-0.159251,0.987204]]
2025-10-26T21:07:31.494Z,1761512851.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858686,-0.506978,-0.075044],[0.512441,0.847078,0.140938],[-0.007884,-0.159477,0.987170]]
2025-10-26T21:07:31.908Z,1761512851.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858587,-0.507078,-0.075499],[0.512613,0.846995,0.140806],[-0.007453,-0.159596,0.987154]]
2025-10-26T21:07:32.328Z,1761512852.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858390,-0.507380,-0.075716],[0.512948,0.846835,0.140550],[-0.007193,-0.159485,0.987174]]
2025-10-26T21:07:32.714Z,1761512852.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858313,-0.507475,-0.075951],[0.513079,0.846768,0.140477],[-0.006976,-0.159542,0.987166]]
2025-10-26T21:07:33.111Z,1761512853.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858263,-0.507636,-0.075442],[0.513163,0.846856,0.139635],[-0.006995,-0.158558,0.987325]]
2025-10-26T21:07:33.514Z,1761512853.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858126,-0.508012,-0.074453],[0.513391,0.846998,0.137924],[-0.007005,-0.156580,0.987640]]
2025-10-26T21:07:33.922Z,1761512853.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858193,-0.507880,-0.074583],[0.513281,0.847066,0.137917],[-0.006868,-0.156641,0.987632]]
2025-10-26T21:07:34.343Z,1761512854.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858325,-0.507627,-0.074779],[0.513061,0.847173,0.138079],[-0.006742,-0.156883,0.987594]]
2025-10-26T21:07:34.731Z,1761512854.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858452,-0.507386,-0.074964],[0.512852,0.847277,0.138217],[-0.006614,-0.157098,0.987561]]
2025-10-26T21:07:35.132Z,1761512855.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858673,-0.507016,-0.074937],[0.512480,0.847458,0.138489],[-0.006710,-0.157321,0.987525]]
2025-10-26T21:07:35.534Z,1761512855.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858519,-0.507242,-0.075173],[0.512742,0.847348,0.138191],[-0.006398,-0.157184,0.987549]]
2025-10-26T21:07:35.938Z,1761512855.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858594,-0.507071,-0.075474],[0.512619,0.847397,0.138349],[-0.006196,-0.157475,0.987504]]
2025-10-26T21:07:36.346Z,1761512856.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858716,-0.506789,-0.075976],[0.512416,0.847408,0.139032],[-0.006077,-0.158321,0.987369]]
2025-10-26T21:07:36.748Z,1761512856.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858763,-0.506675,-0.076203],[0.512336,0.847369,0.139562],[-0.006141,-0.158892,0.987277]]
2025-10-26T21:07:37.150Z,1761512857.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858442,-0.507100,-0.076982],[0.512879,0.846990,0.139869],[-0.005724,-0.159552,0.987173]]
2025-10-26T21:07:37.554Z,1761512857.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858256,-0.507385,-0.077187],[0.513191,0.846778,0.140006],[-0.005676,-0.159773,0.987138]]
2025-10-26T21:07:37.958Z,1761512857.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858024,-0.507767,-0.077245],[0.513577,0.846533,0.140072],[-0.005733,-0.159857,0.987124]]
2025-10-26T21:07:38.368Z,1761512858.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857776,-0.508091,-0.077869],[0.513991,0.846137,0.140947],[-0.005726,-0.160925,0.986950]]
2025-10-26T21:07:38.766Z,1761512858.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857551,-0.508412,-0.078257],[0.514369,0.845877,0.141127],[-0.005554,-0.161277,0.986894]]
2025-10-26T21:07:39.170Z,1761512859.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857192,-0.508913,-0.078929],[0.514969,0.845411,0.141731],[-0.005401,-0.162136,0.986754]]
2025-10-26T21:07:39.574Z,1761512859.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856984,-0.509144,-0.079694],[0.515319,0.845127,0.142152],[-0.005024,-0.162889,0.986632]]
2025-10-26T21:07:39.978Z,1761512859.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856768,-0.509400,-0.080381],[0.515682,0.844881,0.142294],[-0.004572,-0.163365,0.986555]]
2025-10-26T21:07:40.394Z,1761512860.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856486,-0.509809,-0.080792],[0.516155,0.844656,0.141920],[-0.004110,-0.163254,0.986576]]
2025-10-26T21:07:40.786Z,1761512860.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856186,-0.510255,-0.081154],[0.516655,0.844407,0.141579],[-0.003714,-0.163146,0.986595]]
2025-10-26T21:07:41.190Z,1761512861.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856223,-0.510126,-0.081569],[0.516595,0.844421,0.141715],[-0.003414,-0.163478,0.986541]]
2025-10-26T21:07:41.596Z,1761512861.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856208,-0.510111,-0.081819],[0.516621,0.844390,0.141805],[-0.003249,-0.163684,0.986508]]
2025-10-26T21:07:41.998Z,1761512861.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856278,-0.509961,-0.082019],[0.516506,0.844495,0.141595],[-0.002943,-0.163608,0.986521]]
2025-10-26T21:07:42.408Z,1761512862.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856082,-0.510263,-0.082190],[0.516832,0.844331,0.141383],[-0.002747,-0.163514,0.986537]]
2025-10-26T21:07:42.806Z,1761512862.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855985,-0.510390,-0.082419],[0.516995,0.844233,0.141377],[-0.002577,-0.163627,0.986519]]
2025-10-26T21:07:43.211Z,1761512863.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855956,-0.510396,-0.082673],[0.517042,0.844198,0.141413],[-0.002384,-0.163789,0.986493]]
2025-10-26T21:07:43.616Z,1761512863.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855650,-0.510894,-0.082768],[0.517550,0.843943,0.141073],[-0.002222,-0.163545,0.986533]]
2025-10-26T21:07:43.650Z,1761512863.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:07:43.693Z,1761512863.693 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:07:43.693Z,1761512863.693 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:07:43.944Z,1761512863.944 [DAT](INFO): DAT read: user:142>

2025-10-26T21:07:43.945Z,1761512863.945 [DAT](INFO): DAT read: Tx time:21:07:43.0465

2025-10-26T21:07:43.945Z,1761512863.945 [DAT](INFO): Ping request sent.
2025-10-26T21:07:43.946Z,1761512863.946 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:07:43.946Z,1761512863.946 [DAT](INFO): publishing transmit ping time
2025-10-26T21:07:43.946Z,1761512863.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758
2025-10-26T21:07:44.024Z,1761512864.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855263,-0.511531,-0.082833],[0.518191,0.843650,0.140477],[-0.001976,-0.163068,0.986613]]
2025-10-26T21:07:44.196Z,1761512864.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250719
2025-10-26T21:07:44.426Z,1761512864.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855021,-0.511905,-0.083018],[0.518590,0.843459,0.140150],[-0.001721,-0.162883,0.986644]]
2025-10-26T21:07:44.449Z,1761512864.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502903
2025-10-26T21:07:44.701Z,1761512864.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755250
2025-10-26T21:07:44.826Z,1761512864.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854617,-0.512545,-0.083230],[0.519257,0.843172,0.139400],[-0.001271,-0.162351,0.986732]]
2025-10-26T21:07:44.952Z,1761512864.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006784
2025-10-26T21:07:45.204Z,1761512865.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258787
2025-10-26T21:07:45.230Z,1761512865.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854303,-0.513002,-0.083639],[0.519774,0.842888,0.139190],[-0.000906,-0.162383,0.986727]]
2025-10-26T21:07:45.456Z,1761512865.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510729
2025-10-26T21:07:45.635Z,1761512865.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853978,-0.513463,-0.084130],[0.520309,0.842559,0.139184],[-0.000582,-0.162634,0.986686]]
2025-10-26T21:07:45.709Z,1761512865.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763479
2025-10-26T21:07:45.960Z,1761512865.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014753
2025-10-26T21:07:46.039Z,1761512866.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853542,-0.514265,-0.083652],[0.521024,0.842317,0.137973],[-0.000493,-0.161351,0.986897]]
2025-10-26T21:07:46.212Z,1761512866.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266741
2025-10-26T21:07:46.446Z,1761512866.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853201,-0.514784,-0.083939],[0.521582,0.841988,0.137870],[-0.000297,-0.161412,0.986887]]
2025-10-26T21:07:46.473Z,1761512866.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527102
2025-10-26T21:07:46.725Z,1761512866.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779314
2025-10-26T21:07:46.847Z,1761512866.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852862,-0.515283,-0.084314],[0.522136,0.841653,0.137821],[-0.000053,-0.161566,0.986862]]
2025-10-26T21:07:46.976Z,1761512866.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030802
2025-10-26T21:07:47.229Z,1761512867.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282943
2025-10-26T21:07:47.256Z,1761512867.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852399,-0.515985,-0.084708],[0.522892,0.841246,0.137435],[0.000345,-0.161443,0.986882]]
2025-10-26T21:07:47.480Z,1761512867.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534789
2025-10-26T21:07:47.654Z,1761512867.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852196,-0.516151,-0.085729],[0.523221,0.840967,0.137894],[0.000921,-0.162368,0.986730]]
2025-10-26T21:07:47.733Z,1761512867.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787132
2025-10-26T21:07:47.985Z,1761512867.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038912
2025-10-26T21:07:48.074Z,1761512868.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851514,-0.517032,-0.087192],[0.524328,0.840344,0.137487],[0.002186,-0.162790,0.986658]]
2025-10-26T21:07:48.236Z,1761512868.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290743
2025-10-26T21:07:48.488Z,1761512868.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542824
2025-10-26T21:07:48.741Z,1761512868.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.795021
2025-10-26T21:07:48.883Z,1761512868.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851307,-0.516975,-0.089519],[0.524652,0.840141,0.137491],[0.004129,-0.164013,0.986449]]
2025-10-26T21:07:48.992Z,1761512868.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046872
2025-10-26T21:07:49.244Z,1761512869.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298666
2025-10-26T21:07:49.274Z,1761512869.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851297,-0.516851,-0.090325],[0.524661,0.840150,0.137400],[0.004872,-0.164359,0.986389]]
2025-10-26T21:07:49.496Z,1761512869.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550779
2025-10-26T21:07:49.678Z,1761512869.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851033,-0.517093,-0.091418],[0.525077,0.839985,0.136817],[0.006043,-0.164437,0.986369]]
2025-10-26T21:07:49.748Z,1761512869.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802884
2025-10-26T21:07:50.000Z,1761512870.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054847
2025-10-26T21:07:50.083Z,1761512870.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850811,-0.517287,-0.092381],[0.525423,0.839865,0.136226],[0.007120,-0.164442,0.986361]]
2025-10-26T21:07:50.252Z,1761512870.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306769
2025-10-26T21:07:50.490Z,1761512870.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850997,-0.516708,-0.093900],[0.525106,0.839981,0.136733],[0.008223,-0.165667,0.986148]]
2025-10-26T21:07:50.505Z,1761512870.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558929
2025-10-26T21:07:50.756Z,1761512870.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810761
2025-10-26T21:07:50.892Z,1761512870.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851386,-0.515869,-0.094981],[0.524460,0.840335,0.137036],[0.009124,-0.166484,0.986002]]
2025-10-26T21:07:51.009Z,1761512871.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063561
2025-10-26T21:07:51.260Z,1761512871.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314820
2025-10-26T21:07:51.290Z,1761512871.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851604,-0.515406,-0.095537],[0.524089,0.840687,0.136295],[0.010069,-0.166139,0.986051]]
2025-10-26T21:07:51.512Z,1761512871.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566678
2025-10-26T21:07:51.695Z,1761512871.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851738,-0.515021,-0.096415],[0.523854,0.840854,0.136169],[0.010941,-0.166488,0.985983]]
2025-10-26T21:07:51.764Z,1761512871.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818846
2025-10-26T21:07:52.016Z,1761512872.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070837
2025-10-26T21:07:52.098Z,1761512872.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851564,-0.515164,-0.097186],[0.524109,0.840893,0.134942],[0.012206,-0.165848,0.986076]]
2025-10-26T21:07:52.268Z,1761512872.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322743
2025-10-26T21:07:52.510Z,1761512872.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851511,-0.515145,-0.097746],[0.524171,0.840996,0.134051],[0.013148,-0.165382,0.986142]]
2025-10-26T21:07:52.520Z,1761512872.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574885
2025-10-26T21:07:52.772Z,1761512872.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826772
2025-10-26T21:07:52.906Z,1761512872.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851173,-0.515497,-0.098834],[0.524692,0.840753,0.133539],[0.014256,-0.165522,0.986103]]
2025-10-26T21:07:53.024Z,1761512873.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078843
2025-10-26T21:07:53.276Z,1761512873.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330801
2025-10-26T21:07:53.310Z,1761512873.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851028,-0.515651,-0.099277],[0.524905,0.840760,0.132656],[0.015064,-0.165005,0.986178]]
2025-10-26T21:07:53.528Z,1761512873.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582731
2025-10-26T21:07:53.721Z,1761512873.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850705,-0.516024,-0.100100],[0.525395,0.840593,0.131773],[0.016145,-0.164692,0.986213]]
2025-10-26T21:07:53.780Z,1761512873.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834838
2025-10-26T21:07:54.032Z,1761512874.032 [DAT](INFO): Reached modem response timeout
2025-10-26T21:07:54.145Z,1761512874.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850264,-0.516578,-0.100987],[0.526073,0.840321,0.130798],[0.017294,-0.164340,0.986252]]
2025-10-26T21:07:54.525Z,1761512874.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849769,-0.517307,-0.101417],[0.526835,0.840091,0.129195],[0.018366,-0.163216,0.986419]]
2025-10-26T21:07:54.926Z,1761512874.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849245,-0.518039,-0.102070],[0.527643,0.839755,0.128079],[0.019364,-0.162628,0.986497]]
2025-10-26T21:07:55.331Z,1761512875.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848727,-0.518699,-0.103020],[0.528436,0.839369,0.127340],[0.020421,-0.162517,0.986495]]
2025-10-26T21:07:55.746Z,1761512875.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848176,-0.519288,-0.104581],[0.529271,0.838861,0.127218],[0.021666,-0.163255,0.986346]]
2025-10-26T21:07:56.138Z,1761512876.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847581,-0.520001,-0.105860],[0.530175,0.838361,0.126749],[0.022840,-0.163555,0.986270]]
2025-10-26T21:07:56.300Z,1761512876.300 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:07:56.301Z,1761512876.301 [DAT](INFO): response not received
2025-10-26T21:07:56.301Z,1761512876.301 [DAT](ERROR): No response from remote modem.
2025-10-26T21:07:56.542Z,1761512876.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847065,-0.520639,-0.106845],[0.530949,0.837988,0.125969],[0.023951,-0.163433,0.986264]]
2025-10-26T21:07:56.948Z,1761512876.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846707,-0.520944,-0.108190],[0.531470,0.837672,0.125880],[0.025052,-0.164083,0.986128]]
2025-10-26T21:07:57.360Z,1761512877.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846361,-0.521306,-0.109147],[0.531971,0.837440,0.125302],[0.026084,-0.164114,0.986097]]
2025-10-26T21:07:57.772Z,1761512877.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845667,-0.522248,-0.110022],[0.533019,0.836930,0.124258],[0.027187,-0.163724,0.986131]]
2025-10-26T21:07:58.158Z,1761512878.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845231,-0.522779,-0.110843],[0.533659,0.836624,0.123563],[0.028137,-0.163592,0.986127]]
2025-10-26T21:07:58.570Z,1761512878.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844766,-0.523350,-0.111689],[0.534344,0.836289,0.122872],[0.029099,-0.163479,0.986118]]
2025-10-26T21:07:58.967Z,1761512878.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844096,-0.524275,-0.112414],[0.535344,0.835815,0.121738],[0.030133,-0.162939,0.986176]]
2025-10-26T21:07:59.373Z,1761512879.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843769,-0.524673,-0.113014],[0.535814,0.835620,0.121007],[0.030948,-0.162656,0.986197]]
2025-10-26T21:07:59.568Z,1761512879.568 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:07:59.799Z,1761512879.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843663,-0.524717,-0.113601],[0.535942,0.835589,0.120652],[0.031615,-0.162673,0.986173]]
2025-10-26T21:08:00.178Z,1761512880.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843810,-0.524283,-0.114509],[0.535670,0.835720,0.120956],[0.032282,-0.163403,0.986031]]
2025-10-26T21:08:00.572Z,1761512880.572 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:08:00.592Z,1761512880.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843929,-0.523861,-0.115555],[0.535447,0.835764,0.121634],[0.032857,-0.164524,0.985826]]
2025-10-26T21:08:00.986Z,1761512880.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844329,-0.522837,-0.117257],[0.534760,0.836015,0.122923],[0.033760,-0.166492,0.985465]]
2025-10-26T21:08:01.390Z,1761512881.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844587,-0.522231,-0.118103],[0.534316,0.836237,0.123343],[0.034349,-0.167278,0.985311]]
2025-10-26T21:08:01.828Z,1761512881.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845119,-0.521121,-0.119195],[0.533432,0.836671,0.124223],[0.034992,-0.168565,0.985069]]
2025-10-26T21:08:02.199Z,1761512882.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845607,-0.520112,-0.120139],[0.532623,0.837062,0.125058],[0.035520,-0.169739,0.984849]]
2025-10-26T21:08:02.603Z,1761512882.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845849,-0.519523,-0.120975],[0.532191,0.837306,0.125267],[0.036214,-0.170339,0.984720]]
2025-10-26T21:08:03.011Z,1761512883.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846534,-0.518170,-0.121984],[0.531065,0.837860,0.126332],[0.036744,-0.171725,0.984459]]
2025-10-26T21:08:03.410Z,1761512883.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847094,-0.517060,-0.122801],[0.530129,0.838371,0.126879],[0.037349,-0.172579,0.984287]]
2025-10-26T21:08:03.854Z,1761512883.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847429,-0.516319,-0.123612],[0.529536,0.838745,0.126883],[0.038167,-0.172981,0.984185]]
2025-10-26T21:08:04.218Z,1761512884.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847899,-0.515284,-0.124698],[0.528712,0.839223,0.127159],[0.039127,-0.173747,0.984013]]
2025-10-26T21:08:04.623Z,1761512884.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848490,-0.514316,-0.124672],[0.527729,0.839917,0.126653],[0.039575,-0.173257,0.984081]]
2025-10-26T21:08:05.031Z,1761512885.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848881,-0.513457,-0.125551],[0.527062,0.840224,0.127394],[0.040080,-0.174315,0.983874]]
2025-10-26T21:08:05.431Z,1761512885.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849543,-0.512253,-0.125989],[0.525960,0.840866,0.127711],[0.040520,-0.174761,0.983777]]
2025-10-26T21:08:05.878Z,1761512885.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850080,-0.511311,-0.126194],[0.525064,0.841428,0.127699],[0.040889,-0.174814,0.983752]]
2025-10-26T21:08:06.238Z,1761512886.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850585,-0.510387,-0.126531],[0.524216,0.841927,0.127892],[0.041255,-0.175113,0.983684]]
2025-10-26T21:08:06.644Z,1761512886.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851067,-0.509546,-0.126684],[0.523403,0.842462,0.127703],[0.041656,-0.174990,0.983689]]
2025-10-26T21:08:07.047Z,1761512887.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851735,-0.508363,-0.126940],[0.522294,0.843089,0.128098],[0.041901,-0.175406,0.983604]]
2025-10-26T21:08:07.450Z,1761512887.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852140,-0.507665,-0.127017],[0.521616,0.843510,0.128092],[0.042112,-0.175406,0.983595]]
2025-10-26T21:08:07.894Z,1761512887.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852464,-0.507022,-0.127409],[0.521051,0.843854,0.128130],[0.042550,-0.175612,0.983539]]
2025-10-26T21:08:08.260Z,1761512888.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852665,-0.506649,-0.127549],[0.520700,0.844092,0.127986],[0.042819,-0.175544,0.983540]]
2025-10-26T21:08:08.663Z,1761512888.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852815,-0.506334,-0.127799],[0.520412,0.844338,0.127534],[0.043331,-0.175271,0.983566]]
2025-10-26T21:08:09.066Z,1761512889.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852686,-0.506672,-0.127317],[0.520596,0.844451,0.126029],[0.043658,-0.173744,0.983823]]
2025-10-26T21:08:09.470Z,1761512889.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852534,-0.506907,-0.127400],[0.520821,0.844385,0.125538],[0.043938,-0.173378,0.983875]]
2025-10-26T21:08:09.890Z,1761512889.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852293,-0.507328,-0.127339],[0.521192,0.844275,0.124732],[0.044229,-0.172676,0.983985]]
2025-10-26T21:08:10.278Z,1761512890.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851882,-0.508055,-0.127190],[0.521849,0.843991,0.123908],[0.044395,-0.171929,0.984109]]
2025-10-26T21:08:10.684Z,1761512890.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851385,-0.508863,-0.127283],[0.522657,0.843517,0.123724],[0.044406,-0.171862,0.984120]]
2025-10-26T21:08:11.086Z,1761512891.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850991,-0.509531,-0.127251],[0.523291,0.843198,0.123221],[0.044513,-0.171450,0.984187]]
2025-10-26T21:08:11.492Z,1761512891.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850383,-0.510546,-0.127248],[0.524271,0.842668,0.122680],[0.044594,-0.171037,0.984255]]
2025-10-26T21:08:11.900Z,1761512891.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849912,-0.511259,-0.127528],[0.525043,0.842135,0.123037],[0.044492,-0.171528,0.984174]]
2025-10-26T21:08:12.298Z,1761512892.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849576,-0.511793,-0.127626],[0.525580,0.841831,0.122830],[0.044576,-0.171430,0.984187]]
2025-10-26T21:08:12.705Z,1761512892.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849114,-0.512569,-0.127587],[0.526316,0.841450,0.122279],[0.044682,-0.170980,0.984261]]
2025-10-26T21:08:13.110Z,1761512893.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849089,-0.512616,-0.127566],[0.526357,0.841430,0.122240],[0.044676,-0.170938,0.984268]]
2025-10-26T21:08:13.510Z,1761512893.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849286,-0.512237,-0.127775],[0.526035,0.841577,0.122619],[0.044722,-0.171353,0.984194]]
2025-10-26T21:08:13.914Z,1761512893.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849454,-0.511923,-0.127914],[0.525763,0.841701,0.122934],[0.044733,-0.171679,0.984137]]
2025-10-26T21:08:14.328Z,1761512894.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849848,-0.511228,-0.128078],[0.525113,0.842073,0.123163],[0.044887,-0.171925,0.984087]]
2025-10-26T21:08:14.737Z,1761512894.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850534,-0.510175,-0.127728],[0.523996,0.842810,0.122884],[0.044958,-0.171446,0.984167]]
2025-10-26T21:08:15.126Z,1761512895.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851536,-0.508475,-0.127830],[0.522352,0.843754,0.123399],[0.045112,-0.171851,0.984089]]
2025-10-26T21:08:15.530Z,1761512895.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852701,-0.506536,-0.127760],[0.520441,0.844865,0.123876],[0.045192,-0.172121,0.984039]]
2025-10-26T21:08:15.934Z,1761512895.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853930,-0.504373,-0.128103],[0.518415,0.845929,0.125099],[0.045270,-0.173236,0.983839]]
2025-10-26T21:08:16.343Z,1761512896.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855359,-0.501717,-0.128999],[0.516019,0.847142,0.126788],[0.045669,-0.175015,0.983506]]
2025-10-26T21:08:16.744Z,1761512896.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857269,-0.498349,-0.129375],[0.512841,0.848772,0.128760],[0.045642,-0.176731,0.983200]]
2025-10-26T21:08:17.146Z,1761512897.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858901,-0.495497,-0.129504],[0.510116,0.850168,0.130369],[0.045503,-0.178037,0.982971]]
2025-10-26T21:08:17.550Z,1761512897.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860643,-0.492430,-0.129638],[0.507184,0.851655,0.132089],[0.045362,-0.179432,0.982724]]
2025-10-26T21:08:17.957Z,1761512897.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862455,-0.489280,-0.129524],[0.504120,0.853223,0.133693],[0.045099,-0.180600,0.982522]]
2025-10-26T21:08:18.358Z,1761512898.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863995,-0.486778,-0.128686],[0.501517,0.854671,0.134232],[0.044643,-0.180514,0.982559]]
2025-10-26T21:08:18.762Z,1761512898.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865242,-0.484639,-0.128381],[0.499385,0.855782,0.135097],[0.044393,-0.181003,0.982480]]
2025-10-26T21:08:19.168Z,1761512899.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866465,-0.482831,-0.126936],[0.497307,0.857088,0.134480],[0.043864,-0.179648,0.982753]]
2025-10-26T21:08:19.571Z,1761512899.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867135,-0.481761,-0.126427],[0.496164,0.857726,0.134638],[0.043576,-0.179478,0.982796]]
2025-10-26T21:08:19.974Z,1761512899.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867761,-0.480867,-0.125529],[0.495089,0.858448,0.133992],[0.043328,-0.178421,0.983000]]
2025-10-26T21:08:20.379Z,1761512900.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868150,-0.480376,-0.124720],[0.494433,0.858914,0.133425],[0.043030,-0.177498,0.983180]]
2025-10-26T21:08:20.784Z,1761512900.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867672,-0.481628,-0.123207],[0.495302,0.858779,0.131055],[0.042687,-0.174738,0.983689]]
2025-10-26T21:08:21.186Z,1761512901.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867169,-0.482766,-0.122286],[0.496212,0.858446,0.129784],[0.042321,-0.173225,0.983973]]
2025-10-26T21:08:21.590Z,1761512901.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866418,-0.484612,-0.120291],[0.497614,0.857921,0.127878],[0.041229,-0.170654,0.984468]]
2025-10-26T21:08:21.994Z,1761512901.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865526,-0.486684,-0.118338],[0.499269,0.857188,0.126331],[0.039954,-0.168425,0.984904]]
2025-10-26T21:08:22.398Z,1761512902.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864423,-0.488865,-0.117405],[0.501271,0.856019,0.126333],[0.038741,-0.168056,0.985016]]
2025-10-26T21:08:22.809Z,1761512902.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863318,-0.491280,-0.115433],[0.503248,0.855175,0.124164],[0.037716,-0.165285,0.985524]]
2025-10-26T21:08:23.207Z,1761512903.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862278,-0.493393,-0.114194],[0.505122,0.854124,0.123793],[0.036457,-0.164425,0.985716]]
2025-10-26T21:08:23.612Z,1761512903.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861110,-0.495736,-0.112850],[0.507176,0.853084,0.122554],[0.035517,-0.162767,0.986025]]
2025-10-26T21:08:24.014Z,1761512904.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860066,-0.497613,-0.112551],[0.508990,0.851992,0.122633],[0.034869,-0.162760,0.986049]]
2025-10-26T21:08:24.829Z,1761512904.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858899,-0.499975,-0.110982],[0.511104,0.850593,0.123551],[0.032628,-0.162841,0.986113]]
2025-10-26T21:08:25.228Z,1761512905.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858650,-0.500622,-0.109988],[0.511589,0.850273,0.123744],[0.031571,-0.162522,0.986200]]
2025-10-26T21:08:25.630Z,1761512905.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858444,-0.501131,-0.109281],[0.511990,0.849973,0.124144],[0.030673,-0.162522,0.986228]]
2025-10-26T21:08:26.034Z,1761512906.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858602,-0.501018,-0.108553],[0.511774,0.850034,0.124616],[0.029839,-0.162550,0.986249]]
2025-10-26T21:08:26.438Z,1761512906.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859149,-0.500176,-0.108111],[0.510880,0.850512,0.125023],[0.029416,-0.162645,0.986246]]
2025-10-26T21:08:26.843Z,1761512906.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859888,-0.498960,-0.107851],[0.509663,0.851099,0.125992],[0.028927,-0.163307,0.986151]]
2025-10-26T21:08:27.246Z,1761512907.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861282,-0.496670,-0.107296],[0.507357,0.852210,0.127776],[0.027976,-0.164489,0.985982]]
2025-10-26T21:08:27.652Z,1761512907.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862600,-0.494513,-0.106669],[0.505165,0.853262,0.129427],[0.027014,-0.165529,0.985835]]
2025-10-26T21:08:28.054Z,1761512908.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863882,-0.492428,-0.105934],[0.503019,0.854314,0.130842],[0.026071,-0.166319,0.985727]]
2025-10-26T21:08:28.458Z,1761512908.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865158,-0.490405,-0.104902],[0.500883,0.855349,0.132266],[0.024864,-0.166975,0.985648]]
2025-10-26T21:08:28.869Z,1761512908.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866653,-0.488063,-0.103475],[0.498354,0.856668,0.133279],[0.023596,-0.167074,0.985662]]
2025-10-26T21:08:29.266Z,1761512909.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867985,-0.485998,-0.102022],[0.496090,0.857840,0.134181],[0.022307,-0.167079,0.985691]]
2025-10-26T21:08:29.292Z,1761512909.292 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050300564748,35.0, +11.3,   0.0,1494.6RA,  0.00, 319.65, 265.24, 293.80, 284.28
2025-10-26T21:08:29.670Z,1761512909.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869371,-0.483790,-0.100706],[0.493713,0.859019,0.135399],[0.021004,-0.167431,0.985660]]
2025-10-26T21:08:30.074Z,1761512910.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870306,-0.482387,-0.099347],[0.492110,0.859861,0.135895],[0.019870,-0.167160,0.985730]]
2025-10-26T21:08:30.479Z,1761512910.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871375,-0.480757,-0.097873],[0.490271,0.860760,0.136847],[0.018455,-0.167230,0.985745]]
2025-10-26T21:08:30.700Z,1761512910.700 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:08:30.882Z,1761512910.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872281,-0.479356,-0.096666],[0.488697,0.861551,0.137497],[0.017373,-0.167176,0.985774]]
2025-10-26T21:08:31.293Z,1761512911.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873006,-0.478258,-0.095549],[0.487434,0.862190,0.137976],[0.016393,-0.167028,0.985816]]
2025-10-26T21:08:31.704Z,1761512911.704 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:08:32.095Z,1761512912.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873801,-0.477278,-0.093155],[0.486069,0.862930,0.138161],[0.014445,-0.166005,0.986019]]
2025-10-26T21:08:32.500Z,1761512912.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873529,-0.478179,-0.091056],[0.486593,0.862867,0.136705],[0.013200,-0.163723,0.986418]]
2025-10-26T21:08:32.902Z,1761512912.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872976,-0.479459,-0.089620],[0.487605,0.862507,0.135359],[0.012399,-0.161864,0.986735]]
2025-10-26T21:08:33.317Z,1761512913.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872229,-0.481305,-0.086956],[0.488986,0.861926,0.134075],[0.010419,-0.159465,0.987149]]
2025-10-26T21:08:33.722Z,1761512913.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871350,-0.483102,-0.085800],[0.490566,0.861209,0.132905],[0.009685,-0.157897,0.987408]]
2025-10-26T21:08:34.121Z,1761512914.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870701,-0.484469,-0.084676],[0.491737,0.860594,0.132559],[0.008651,-0.157058,0.987552]]
2025-10-26T21:08:34.522Z,1761512914.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869913,-0.486037,-0.083782],[0.493144,0.859836,0.132256],[0.007757,-0.156368,0.987668]]
2025-10-26T21:08:34.929Z,1761512914.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869253,-0.487343,-0.083038],[0.494318,0.859196,0.132031],[0.007002,-0.155816,0.987761]]
2025-10-26T21:08:35.332Z,1761512915.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868680,-0.488475,-0.082389],[0.495337,0.858566,0.132311],[0.006106,-0.155746,0.987778]]
2025-10-26T21:08:35.735Z,1761512915.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868094,-0.489553,-0.082158],[0.496370,0.857873,0.132930],[0.005405,-0.156176,0.987714]]
2025-10-26T21:08:36.135Z,1761512916.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867685,-0.490419,-0.081316],[0.497094,0.857460,0.132893],[0.004552,-0.155731,0.987789]]
2025-10-26T21:08:36.538Z,1761512916.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867063,-0.491554,-0.081092],[0.498183,0.856730,0.133518],[0.003843,-0.156167,0.987723]]
2025-10-26T21:08:36.943Z,1761512916.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866693,-0.492229,-0.080956],[0.498832,0.856242,0.134227],[0.003248,-0.156717,0.987638]]
2025-10-26T21:08:37.346Z,1761512917.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866287,-0.493047,-0.080319],[0.499539,0.855878,0.133917],[0.002716,-0.156133,0.987732]]
2025-10-26T21:08:37.751Z,1761512917.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866228,-0.493191,-0.080078],[0.499645,0.855688,0.134734],[0.002072,-0.156721,0.987641]]
2025-10-26T21:08:38.160Z,1761512918.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866206,-0.493278,-0.079773],[0.499685,0.855561,0.135392],[0.001465,-0.157139,0.987575]]
2025-10-26T21:08:38.559Z,1761512918.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866425,-0.492935,-0.079512],[0.499305,0.855720,0.135782],[0.001108,-0.157345,0.987543]]
2025-10-26T21:08:38.962Z,1761512918.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866346,-0.493151,-0.079042],[0.499445,0.855662,0.135636],[0.000744,-0.156985,0.987601]]
2025-10-26T21:08:39.377Z,1761512919.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866516,-0.492924,-0.078588],[0.499149,0.855760,0.136108],[0.000162,-0.157167,0.987572]]
2025-10-26T21:08:39.775Z,1761512919.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866891,-0.492299,-0.078367],[0.498497,0.855973,0.137153],[-0.000440,-0.157962,0.987445]]
2025-10-26T21:08:40.180Z,1761512920.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867507,-0.491251,-0.078130],[0.497424,0.856406,0.138343],[-0.001050,-0.158877,0.987298]]
2025-10-26T21:08:40.578Z,1761512920.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867965,-0.490528,-0.077579],[0.496622,0.856771,0.138963],[-0.001698,-0.159143,0.987254]]
2025-10-26T21:08:41.002Z,1761512921.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868470,-0.489780,-0.076642],[0.495737,0.857374,0.138402],[-0.002075,-0.158192,0.987406]]
2025-10-26T21:08:41.404Z,1761512921.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868884,-0.489159,-0.075924],[0.495009,0.857765,0.138580],[-0.002663,-0.157993,0.987437]]
2025-10-26T21:08:41.798Z,1761512921.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869004,-0.489087,-0.075005],[0.494795,0.857965,0.138106],[-0.003194,-0.157127,0.987573]]
2025-10-26T21:08:42.195Z,1761512922.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869291,-0.488649,-0.074534],[0.494288,0.858249,0.138157],[-0.003541,-0.156940,0.987602]]
2025-10-26T21:08:42.598Z,1761512922.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869591,-0.488228,-0.073788],[0.493755,0.858535,0.138287],[-0.004166,-0.156687,0.987640]]
2025-10-26T21:08:43.002Z,1761512923.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869731,-0.488055,-0.073281],[0.493503,0.858628,0.138609],[-0.004727,-0.156717,0.987632]]
2025-10-26T21:08:43.433Z,1761512923.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870077,-0.487443,-0.073256],[0.492891,0.858850,0.139408],[-0.005038,-0.157403,0.987522]]
2025-10-26T21:08:43.810Z,1761512923.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870121,-0.487445,-0.072711],[0.492808,0.858927,0.139226],[-0.005412,-0.156976,0.987588]]
2025-10-26T21:08:43.834Z,1761512923.834 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:08:43.944Z,1761512923.944 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:08:43.944Z,1761512923.944 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:08:44.196Z,1761512924.196 [DAT](INFO): DAT read: user:143>

2025-10-26T21:08:44.197Z,1761512924.197 [DAT](INFO): DAT read: Tx time:21:08:43.2964

2025-10-26T21:08:44.197Z,1761512924.197 [DAT](INFO): Ping request sent.
2025-10-26T21:08:44.197Z,1761512924.197 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:08:44.198Z,1761512924.198 [DAT](INFO): publishing transmit ping time
2025-10-26T21:08:44.198Z,1761512924.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000763
2025-10-26T21:08:44.214Z,1761512924.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869968,-0.487701,-0.072820],[0.493077,0.858730,0.139489],[-0.005496,-0.157256,0.987543]]
2025-10-26T21:08:44.451Z,1761512924.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252937
2025-10-26T21:08:44.618Z,1761512924.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869880,-0.487788,-0.073295],[0.493229,0.858390,0.141038],[-0.005881,-0.158837,0.987287]]
2025-10-26T21:08:44.701Z,1761512924.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503338
2025-10-26T21:08:44.952Z,1761512924.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754885
2025-10-26T21:08:45.024Z,1761512925.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869723,-0.488144,-0.072790],[0.493501,0.858268,0.140829],[-0.006272,-0.158404,0.987354]]
2025-10-26T21:08:45.205Z,1761512925.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007078
2025-10-26T21:08:45.456Z,1761512925.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258951
2025-10-26T21:08:45.472Z,1761512925.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869535,-0.488579,-0.072113],[0.493825,0.858112,0.140645],[-0.006835,-0.157907,0.987430]]
2025-10-26T21:08:45.709Z,1761512925.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511294
2025-10-26T21:08:45.830Z,1761512925.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869326,-0.489026,-0.071598],[0.494186,0.857935,0.140456],[-0.007261,-0.157485,0.987495]]
2025-10-26T21:08:45.960Z,1761512925.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762827
2025-10-26T21:08:46.212Z,1761512926.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014848
2025-10-26T21:08:46.244Z,1761512926.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869045,-0.489579,-0.071224],[0.494671,0.857612,0.140718],[-0.007810,-0.157523,0.987484]]
2025-10-26T21:08:46.467Z,1761512926.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269305
2025-10-26T21:08:46.638Z,1761512926.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868691,-0.490294,-0.070630],[0.495283,0.857268,0.140661],[-0.008416,-0.157173,0.987535]]
2025-10-26T21:08:46.716Z,1761512926.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518967
2025-10-26T21:08:46.968Z,1761512926.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770730
2025-10-26T21:08:47.043Z,1761512927.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868593,-0.490522,-0.070250],[0.495430,0.856861,0.142613],[-0.009761,-0.158677,0.987282]]
2025-10-26T21:08:47.220Z,1761512927.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022850
2025-10-26T21:08:47.476Z,1761512927.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277379
2025-10-26T21:08:47.500Z,1761512927.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868526,-0.490732,-0.069605],[0.495518,0.856548,0.144179],[-0.011133,-0.159714,0.987101]]
2025-10-26T21:08:47.729Z,1761512927.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530644
2025-10-26T21:08:47.852Z,1761512927.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868237,-0.491303,-0.069179],[0.495992,0.855980,0.145912],[-0.012472,-0.160999,0.986876]]
2025-10-26T21:08:47.976Z,1761512927.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778872
2025-10-26T21:08:48.228Z,1761512928.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030842
2025-10-26T21:08:48.263Z,1761512928.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867993,-0.491806,-0.068658],[0.496397,0.855632,0.146574],[-0.013340,-0.161307,0.986814]]
2025-10-26T21:08:48.484Z,1761512928.484 [DAT](INFO): DAT read: Rx Time:21:08:47.0087

2025-10-26T21:08:48.486Z,1761512928.486 [DAT](INFO): Rx dataTimestamp_ set to:1761512928.485000
2025-10-26T21:08:48.488Z,1761512928.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.289614
2025-10-26T21:08:48.657Z,1761512928.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868000,-0.491866,-0.068142],[0.496356,0.855460,0.147712],[-0.014362,-0.162036,0.986680]]
2025-10-26T21:08:48.733Z,1761512928.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535444
2025-10-26T21:08:48.990Z,1761512928.990 [DAT](INFO): DAT read: 21:08:47.0087 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 432, 0.10,-2.571, 1.876,-2.733,-3.051, PHS= 0.582,-1.311, 0.274, RAW= 141.3,   5.2, CAL= 141.0,   5.9, ROT=   9.0,  -5.9

2025-10-26T21:08:48.991Z,1761512928.991 [DAT](INFO): got valid direction response:
 21:08:47.0087 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 432, 0.10,-2.571, 1.876,-2.733,-3.051, PHS= 0.582,-1.311, 0.274, RAW= 141.3,   5.2, CAL= 141.0,   5.9, ROT=   9.0,  -5.9

2025-10-26T21:08:48.992Z,1761512928.992 [DAT](INFO): DAT read: Bearing 184.4,   7.2 (Local)

2025-10-26T21:08:48.992Z,1761512928.992 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.4,   7.2 (Local)

2025-10-26T21:08:48.994Z,1761512928.994 [DAT](INFO): DAT read: Range 11 to 50 : 981.1 m  (Round-trip  1308.2 ms) speed  0.6 m/s

2025-10-26T21:08:48.994Z,1761512928.994 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:08:48.995Z,1761512928.995 [DAT](INFO): direction in FSK: [0.982456,0.155606,0.102793]
2025-10-26T21:08:48.995Z,1761512928.995 [DAT](INFO): publishing direction and range info
2025-10-26T21:08:49.062Z,1761512929.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868221,-0.491560,-0.067543],[0.495944,0.855550,0.148570],[-0.015244,-0.162489,0.986593]]
2025-10-26T21:08:49.521Z,1761512929.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868416,-0.491297,-0.066943],[0.495574,0.855615,0.149434],[-0.016139,-0.162946,0.986503]]
2025-10-26T21:08:49.870Z,1761512929.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868467,-0.491326,-0.066059],[0.495448,0.855577,0.150064],[-0.017212,-0.163055,0.986467]]
2025-10-26T21:08:50.281Z,1761512930.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868536,-0.491326,-0.065149],[0.495289,0.855567,0.150643],[-0.018275,-0.163106,0.986439]]
2025-10-26T21:08:50.678Z,1761512930.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868710,-0.491157,-0.064087],[0.494939,0.855664,0.151243],[-0.019447,-0.163106,0.986417]]
2025-10-26T21:08:51.082Z,1761512931.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869041,-0.490717,-0.062960],[0.494305,0.855887,0.152050],[-0.020727,-0.163259,0.986365]]
2025-10-26T21:08:51.550Z,1761512931.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869134,-0.490718,-0.061662],[0.494087,0.855948,0.152419],[-0.022016,-0.162939,0.986391]]
2025-10-26T21:08:51.890Z,1761512931.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869425,-0.490329,-0.060646],[0.493520,0.856137,0.153193],[-0.023194,-0.163119,0.986334]]
2025-10-26T21:08:52.294Z,1761512932.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869904,-0.489766,-0.058273],[0.492600,0.856801,0.152435],[-0.024729,-0.161309,0.986594]]
2025-10-26T21:08:52.700Z,1761512932.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870252,-0.489396,-0.056143],[0.491907,0.857287,0.151941],[-0.026228,-0.159844,0.986794]]
2025-10-26T21:08:53.104Z,1761512933.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870284,-0.489533,-0.054424],[0.491779,0.857426,0.151573],[-0.027536,-0.158676,0.986947]]
2025-10-26T21:08:53.552Z,1761512933.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870612,-0.489074,-0.053311],[0.491126,0.857650,0.152422],[-0.028823,-0.158883,0.986877]]
2025-10-26T21:08:53.910Z,1761512933.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870880,-0.488713,-0.052235],[0.490579,0.857844,0.153087],[-0.030006,-0.158946,0.986831]]
2025-10-26T21:08:54.316Z,1761512934.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871064,-0.488503,-0.051112],[0.490182,0.857996,0.153507],[-0.031135,-0.158769,0.986825]]
2025-10-26T21:08:54.722Z,1761512934.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871229,-0.488306,-0.050175],[0.489822,0.858107,0.154034],[-0.032160,-0.158776,0.986791]]
2025-10-26T21:08:55.122Z,1761512935.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871344,-0.488204,-0.049164],[0.489542,0.858162,0.154617],[-0.033294,-0.158792,0.986751]]
2025-10-26T21:08:55.536Z,1761512935.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871513,-0.488011,-0.048069],[0.489153,0.858249,0.155366],[-0.034565,-0.158916,0.986687]]
2025-10-26T21:08:55.932Z,1761512935.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871629,-0.487893,-0.047144],[0.488863,0.858278,0.156111],[-0.035703,-0.159118,0.986614]]
2025-10-26T21:08:56.334Z,1761512936.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871597,-0.488030,-0.046318],[0.488835,0.858135,0.156987],[-0.036867,-0.159471,0.986514]]
2025-10-26T21:08:56.745Z,1761512936.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871729,-0.487902,-0.045160],[0.488486,0.858148,0.158001],[-0.038335,-0.159794,0.986406]]
2025-10-26T21:08:57.142Z,1761512937.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871572,-0.488267,-0.044230],[0.488674,0.857931,0.158594],[-0.039490,-0.159840,0.986353]]
2025-10-26T21:08:57.555Z,1761512937.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871244,-0.488962,-0.043008],[0.489145,0.857583,0.159025],[-0.040874,-0.159587,0.986337]]
2025-10-26T21:08:57.952Z,1761512937.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870836,-0.489787,-0.041886],[0.489764,0.857165,0.159371],[-0.042155,-0.159300,0.986330]]
2025-10-26T21:08:58.354Z,1761512938.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870802,-0.489943,-0.040749],[0.489701,0.857048,0.160196],[-0.043563,-0.159453,0.986244]]
2025-10-26T21:08:58.764Z,1761512938.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870268,-0.490944,-0.040108],[0.490544,0.856400,0.161075],[-0.044730,-0.159853,0.986127]]
2025-10-26T21:08:59.186Z,1761512939.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870215,-0.491084,-0.039520],[0.490523,0.856145,0.162492],[-0.045962,-0.160788,0.985918]]
2025-10-26T21:08:59.582Z,1761512939.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870067,-0.491406,-0.038768],[0.490686,0.855918,0.163194],[-0.047012,-0.161013,0.985832]]
2025-10-26T21:09:00.374Z,1761512940.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870128,-0.491387,-0.037630],[0.490378,0.855678,0.165359],[-0.049057,-0.162337,0.985515]]
2025-10-26T21:09:00.778Z,1761512940.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870341,-0.491045,-0.037175],[0.489920,0.855755,0.166319],[-0.049858,-0.162967,0.985371]]
2025-10-26T21:09:01.184Z,1761512941.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870228,-0.491246,-0.037150],[0.490060,0.855470,0.167372],[-0.050440,-0.163857,0.985194]]
2025-10-26T21:09:01.590Z,1761512941.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870487,-0.490799,-0.036993],[0.489526,0.855513,0.168705],[-0.051153,-0.164964,0.984972]]
2025-10-26T21:09:01.836Z,1761512941.836 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:09:02.395Z,1761512942.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871278,-0.489480,-0.035835],[0.487963,0.856122,0.170139],[-0.052601,-0.165725,0.984768]]
2025-10-26T21:09:02.798Z,1761512942.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872024,-0.488190,-0.035288],[0.486565,0.856767,0.170897],[-0.053197,-0.166196,0.984657]]
2025-10-26T21:09:02.840Z,1761512942.840 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:09:03.202Z,1761512943.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872671,-0.487090,-0.034485],[0.485366,0.857504,0.170605],[-0.053529,-0.165620,0.984736]]
2025-10-26T21:09:03.611Z,1761512943.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873267,-0.486086,-0.033539],[0.484281,0.858329,0.169539],[-0.053623,-0.164295,0.984953]]
2025-10-26T21:09:04.012Z,1761512944.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873811,-0.485142,-0.033026],[0.483236,0.858796,0.170153],[-0.054186,-0.164641,0.984864]]
2025-10-26T21:09:04.414Z,1761512944.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874301,-0.484282,-0.032681],[0.482324,0.859271,0.170345],[-0.054413,-0.164696,0.984842]]
2025-10-26T21:09:04.818Z,1761512944.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875008,-0.483054,-0.031948],[0.481044,0.860160,0.169475],[-0.054385,-0.163660,0.985017]]
2025-10-26T21:09:05.228Z,1761512945.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875927,-0.481417,-0.031469],[0.479333,0.861027,0.169919],[-0.054706,-0.163921,0.984955]]
2025-10-26T21:09:05.640Z,1761512945.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876393,-0.480611,-0.030809],[0.478507,0.861750,0.168577],[-0.054470,-0.162482,0.985207]]
2025-10-26T21:09:06.434Z,1761512946.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877318,-0.478978,-0.029902],[0.476724,0.862632,0.169114],[-0.055207,-0.162621,0.985143]]
2025-10-26T21:09:06.839Z,1761512946.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877575,-0.478567,-0.028913],[0.476217,0.863109,0.168107],[-0.055495,-0.161295,0.985345]]
2025-10-26T21:09:07.251Z,1761512947.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877741,-0.478323,-0.027872],[0.475893,0.863572,0.166641],[-0.055639,-0.159531,0.985624]]
2025-10-26T21:09:07.647Z,1761512947.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877759,-0.478317,-0.027420],[0.475811,0.863605,0.166703],[-0.056057,-0.159371,0.985626]]
2025-10-26T21:09:08.455Z,1761512948.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876974,-0.479813,-0.026372],[0.477206,0.863132,0.165161],[-0.056484,-0.157427,0.985914]]
2025-10-26T21:09:08.869Z,1761512948.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876473,-0.480731,-0.026310],[0.478103,0.862647,0.165099],[-0.056672,-0.157284,0.985926]]
2025-10-26T21:09:09.262Z,1761512949.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875912,-0.481764,-0.026122],[0.479111,0.862155,0.164751],[-0.056850,-0.156822,0.985989]]
2025-10-26T21:09:09.667Z,1761512949.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875175,-0.483127,-0.025647],[0.480416,0.861551,0.164103],[-0.057186,-0.155940,0.986110]]
2025-10-26T21:09:10.070Z,1761512950.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874198,-0.484894,-0.025596],[0.482174,0.860659,0.163630],[-0.057314,-0.155387,0.986190]]
2025-10-26T21:09:10.475Z,1761512950.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873192,-0.486711,-0.025461],[0.483990,0.859794,0.162811],[-0.057351,-0.154488,0.986329]]
2025-10-26T21:09:10.879Z,1761512950.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872191,-0.488513,-0.025260],[0.485762,0.858886,0.162328],[-0.057604,-0.153851,0.986414]]
2025-10-26T21:09:11.286Z,1761512951.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871168,-0.490329,-0.025382],[0.487572,0.857869,0.162279],[-0.057796,-0.153748,0.986418]]
2025-10-26T21:09:12.092Z,1761512952.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869029,-0.494047,-0.026589],[0.491332,0.855441,0.163750],[-0.058155,-0.155368,0.986143]]
2025-10-26T21:09:12.495Z,1761512952.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868080,-0.495726,-0.026340],[0.493003,0.854661,0.162797],[-0.058191,-0.154307,0.986308]]
2025-10-26T21:09:12.898Z,1761512952.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867427,-0.496840,-0.026845],[0.494177,0.853982,0.162801],[-0.057961,-0.154484,0.986294]]
2025-10-26T21:09:13.303Z,1761512953.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866673,-0.498104,-0.027752],[0.495572,0.853208,0.162619],[-0.057323,-0.154691,0.986299]]
2025-10-26T21:09:13.729Z,1761512953.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866140,-0.498959,-0.029016],[0.496612,0.852611,0.162575],[-0.056379,-0.155223,0.986269]]
2025-10-26T21:09:14.110Z,1761512954.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865797,-0.499473,-0.030383],[0.497358,0.852272,0.162070],[-0.055055,-0.155431,0.986311]]
2025-10-26T21:09:14.514Z,1761512954.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865550,-0.499815,-0.031763],[0.497958,0.852091,0.161177],[-0.053494,-0.155323,0.986414]]
2025-10-26T21:09:14.918Z,1761512954.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865336,-0.500087,-0.033265],[0.498458,0.851795,0.161198],[-0.052278,-0.156071,0.986361]]
2025-10-26T21:09:15.328Z,1761512955.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865369,-0.499945,-0.034514],[0.498567,0.851927,0.160159],[-0.050668,-0.155804,0.986488]]
2025-10-26T21:09:15.744Z,1761512955.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865660,-0.499373,-0.035486],[0.498141,0.852120,0.160458],[-0.049891,-0.156579,0.986405]]
2025-10-26T21:09:16.130Z,1761512956.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866102,-0.498532,-0.036512],[0.497474,0.852514,0.160432],[-0.048854,-0.157114,0.986371]]
2025-10-26T21:09:16.534Z,1761512956.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866537,-0.497694,-0.037597],[0.496821,0.852899,0.160410],[-0.047769,-0.157681,0.986334]]
2025-10-26T21:09:16.945Z,1761512956.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867049,-0.496721,-0.038657],[0.496057,0.853451,0.159839],[-0.046404,-0.157765,0.986386]]
2025-10-26T21:09:17.347Z,1761512957.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867496,-0.495877,-0.039465],[0.495427,0.854117,0.158229],[-0.044754,-0.156816,0.986613]]
2025-10-26T21:09:17.749Z,1761512957.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867984,-0.494992,-0.039829],[0.494676,0.854810,0.156833],[-0.043584,-0.155831,0.986822]]
2025-10-26T21:09:18.151Z,1761512958.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868517,-0.494008,-0.040425],[0.493854,0.855514,0.155575],[-0.042272,-0.155083,0.986997]]
2025-10-26T21:09:18.563Z,1761512958.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869020,-0.493087,-0.040856],[0.493045,0.856119,0.154814],[-0.041360,-0.154681,0.987098]]
2025-10-26T21:09:18.976Z,1761512958.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870022,-0.491154,-0.042778],[0.491383,0.856825,0.156186],[-0.040058,-0.156906,0.986801]]
2025-10-26T21:09:19.367Z,1761512959.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870153,-0.490852,-0.043572],[0.491210,0.856922,0.156196],[-0.039332,-0.157317,0.986765]]
2025-10-26T21:09:19.778Z,1761512959.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870157,-0.490805,-0.044006],[0.491253,0.856996,0.155654],[-0.038683,-0.157062,0.986831]]
2025-10-26T21:09:20.177Z,1761512960.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870037,-0.490943,-0.044832],[0.491542,0.856939,0.155052],[-0.037703,-0.156938,0.986889]]
2025-10-26T21:09:20.576Z,1761512960.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869736,-0.491412,-0.045537],[0.492148,0.856751,0.154173],[-0.036749,-0.156500,0.986994]]
2025-10-26T21:09:20.997Z,1761512960.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869441,-0.491882,-0.046096],[0.492729,0.856572,0.153307],[-0.035924,-0.156004,0.987103]]
2025-10-26T21:09:21.386Z,1761512961.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869043,-0.492518,-0.046804],[0.493494,0.856273,0.152510],[-0.035037,-0.155636,0.987193]]
2025-10-26T21:09:21.786Z,1761512961.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868473,-0.493419,-0.047880],[0.494570,0.855756,0.151927],[-0.033990,-0.155624,0.987231]]
2025-10-26T21:09:22.191Z,1761512962.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868129,-0.493934,-0.048791],[0.495225,0.855406,0.151768],[-0.033227,-0.155917,0.987211]]
2025-10-26T21:09:22.594Z,1761512962.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867428,-0.495041,-0.050039],[0.496534,0.854777,0.151031],[-0.031994,-0.155855,0.987262]]
2025-10-26T21:09:23.025Z,1761512963.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866413,-0.496703,-0.051138],[0.498377,0.853892,0.149963],[-0.030821,-0.155416,0.987368]]
2025-10-26T21:09:23.404Z,1761512963.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865319,-0.498452,-0.052612],[0.500354,0.852877,0.149157],[-0.029476,-0.155393,0.987413]]
2025-10-26T21:09:23.806Z,1761512963.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864212,-0.500145,-0.054704],[0.502327,0.851593,0.149856],[-0.028364,-0.156987,0.987193]]
2025-10-26T21:09:24.228Z,1761512964.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862698,-0.502654,-0.055603],[0.504991,0.850334,0.148042],[-0.027133,-0.155794,0.987417]]
2025-10-26T21:09:24.615Z,1761512964.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861482,-0.504584,-0.056959],[0.507106,0.849077,0.148029],[-0.026330,-0.156409,0.987341]]
2025-10-26T21:09:25.055Z,1761512965.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860291,-0.506465,-0.058241],[0.509187,0.848011,0.146988],[-0.025056,-0.156108,0.987422]]
2025-10-26T21:09:25.422Z,1761512965.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859167,-0.508183,-0.059842],[0.511137,0.846882,0.146734],[-0.023889,-0.156656,0.987364]]
2025-10-26T21:09:25.826Z,1761512965.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858098,-0.509821,-0.061239],[0.512988,0.845902,0.145919],[-0.022590,-0.156628,0.987399]]
2025-10-26T21:09:26.231Z,1761512966.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857068,-0.511455,-0.062032],[0.514748,0.845029,0.144777],[-0.021628,-0.156015,0.987518]]
2025-10-26T21:09:26.636Z,1761512966.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856058,-0.513070,-0.062637],[0.516466,0.844227,0.143328],[-0.020657,-0.155047,0.987691]]
2025-10-26T21:09:27.081Z,1761512967.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855164,-0.514411,-0.063844],[0.517989,0.843406,0.142667],[-0.019543,-0.155074,0.987710]]
2025-10-26T21:09:27.442Z,1761512967.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854948,-0.514630,-0.064957],[0.518375,0.843145,0.142805],[-0.018724,-0.155764,0.987617]]
2025-10-26T21:09:27.850Z,1761512967.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854811,-0.514750,-0.065809],[0.518625,0.842975,0.142903],[-0.018084,-0.156285,0.987546]]
2025-10-26T21:09:28.275Z,1761512968.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854635,-0.514926,-0.066708],[0.518936,0.842764,0.143018],[-0.017425,-0.156845,0.987469]]
2025-10-26T21:09:28.679Z,1761512968.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854444,-0.515155,-0.067381],[0.519280,0.842665,0.142350],[-0.016553,-0.156620,0.987520]]
2025-10-26T21:09:29.121Z,1761512969.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854678,-0.514636,-0.068384],[0.518918,0.842824,0.142730],[-0.015818,-0.157474,0.987396]]
2025-10-26T21:09:29.515Z,1761512969.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855033,-0.513861,-0.069753],[0.518361,0.843064,0.143339],[-0.014850,-0.158717,0.987212]]
2025-10-26T21:09:29.919Z,1761512969.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855487,-0.512854,-0.071570],[0.517644,0.843338,0.144312],[-0.013654,-0.160505,0.986941]]
2025-10-26T21:09:30.322Z,1761512970.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856214,-0.511407,-0.073214],[0.516470,0.843895,0.145255],[-0.012500,-0.162183,0.986682]]
2025-10-26T21:09:30.730Z,1761512970.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856743,-0.510306,-0.074692],[0.515621,0.844351,0.145626],[-0.011248,-0.163277,0.986516]]
2025-10-26T21:09:31.147Z,1761512971.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857072,-0.509535,-0.076172],[0.515103,0.844679,0.145551],[-0.009823,-0.163984,0.986414]]
2025-10-26T21:09:31.536Z,1761512971.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857673,-0.508308,-0.077581],[0.514125,0.845257,0.145660],[-0.008464,-0.164815,0.986288]]
2025-10-26T21:09:31.938Z,1761512971.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857995,-0.507609,-0.078595],[0.513612,0.845794,0.144342],[-0.006794,-0.164212,0.986402]]
2025-10-26T21:09:32.346Z,1761512972.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858211,-0.507060,-0.079772],[0.513268,0.846094,0.143812],[-0.005427,-0.164365,0.986385]]
2025-10-26T21:09:32.746Z,1761512972.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858445,-0.506446,-0.081142],[0.512889,0.846366,0.143561],[-0.004030,-0.164856,0.986309]]
2025-10-26T21:09:32.960Z,1761512972.960 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:09:33.181Z,1761512973.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858677,-0.505856,-0.082357],[0.512509,0.846656,0.143202],[-0.002711,-0.165173,0.986261]]
2025-10-26T21:09:33.554Z,1761512973.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858643,-0.505699,-0.083663],[0.512572,0.846732,0.142533],[-0.001238,-0.165268,0.986248]]
2025-10-26T21:09:33.958Z,1761512973.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858643,-0.505523,-0.084727],[0.512574,0.846897,0.141541],[0.000203,-0.164962,0.986300]]
2025-10-26T21:09:33.964Z,1761512973.964 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:09:34.365Z,1761512974.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858354,-0.505830,-0.085813],[0.513055,0.846803,0.140354],[0.001671,-0.164500,0.986376]]
2025-10-26T21:09:34.768Z,1761512974.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857987,-0.506290,-0.086774],[0.513663,0.846638,0.139120],[0.003031,-0.163936,0.986466]]
2025-10-26T21:09:35.205Z,1761512975.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857783,-0.506431,-0.087955],[0.513993,0.846571,0.138306],[0.004418,-0.163845,0.986476]]
2025-10-26T21:09:35.575Z,1761512975.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857680,-0.506395,-0.089152],[0.514150,0.846600,0.137540],[0.005827,-0.163803,0.986476]]
2025-10-26T21:09:35.979Z,1761512975.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857420,-0.506621,-0.090366],[0.514566,0.846493,0.136646],[0.007267,-0.163662,0.986490]]
2025-10-26T21:09:36.400Z,1761512976.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856883,-0.507239,-0.091978],[0.515436,0.846055,0.136077],[0.008795,-0.164011,0.986419]]
2025-10-26T21:09:36.786Z,1761512976.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856440,-0.507763,-0.093206],[0.516145,0.845770,0.135159],[0.010202,-0.163863,0.986430]]
2025-10-26T21:09:37.230Z,1761512977.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855960,-0.508323,-0.094549],[0.516911,0.845432,0.134342],[0.011646,-0.163865,0.986414]]
2025-10-26T21:09:37.594Z,1761512977.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855411,-0.509010,-0.095814],[0.517788,0.845009,0.133628],[0.012946,-0.163919,0.986389]]
2025-10-26T21:09:37.000Z,1761512978.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854646,-0.510040,-0.097162],[0.519014,0.844391,0.132772],[0.014324,-0.163902,0.986373]]
2025-10-26T21:09:38.408Z,1761512978.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853836,-0.511152,-0.098431],[0.520308,0.843735,0.131876],[0.015641,-0.163815,0.986367]]
2025-10-26T21:09:38.807Z,1761512978.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853169,-0.512059,-0.099489],[0.521366,0.843191,0.131175],[0.016718,-0.163785,0.986354]]
2025-10-26T21:09:39.272Z,1761512979.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852385,-0.513175,-0.100451],[0.522605,0.842618,0.129917],[0.017972,-0.163235,0.986423]]
2025-10-26T21:09:39.287Z,1761512979.287 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-327WE,-32768,-32768,-32:WD,      +150.20,     +5309.42,       -4.24,  20.00
2025-10-26T21:09:39.615Z,1761512979.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851395,-0.514659,-0.101255],[0.524179,0.841844,0.128591],[0.019060,-0.162558,0.986515]]
2025-10-26T21:09:40.018Z,1761512980.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850539,-0.515842,-0.102421],[0.525520,0.841146,0.127681],[0.020288,-0.162422,0.986513]]
2025-10-26T21:09:40.425Z,1761512980.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849839,-0.516765,-0.103572],[0.526607,0.840562,0.127046],[0.021406,-0.162510,0.986475]]
2025-10-26T21:09:40.826Z,1761512980.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849015,-0.517857,-0.104870],[0.527882,0.839877,0.126284],[0.022681,-0.162576,0.986435]]
2025-10-26T21:09:41.252Z,1761512981.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848482,-0.518464,-0.106178],[0.528689,0.839416,0.125975],[0.023814,-0.163022,0.986335]]
2025-10-26T21:09:41.634Z,1761512981.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847989,-0.519048,-0.107261],[0.529434,0.839000,0.125610],[0.024794,-0.163303,0.986264]]
2025-10-26T21:09:42.039Z,1761512982.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847520,-0.519581,-0.108381],[0.530130,0.838648,0.125025],[0.025933,-0.163417,0.986216]]
2025-10-26T21:09:42.458Z,1761512982.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847065,-0.520166,-0.109124],[0.530799,0.838401,0.123842],[0.027071,-0.162825,0.986283]]
2025-10-26T21:09:42.846Z,1761512982.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846666,-0.520591,-0.110191],[0.531382,0.838095,0.123410],[0.028104,-0.163041,0.986219]]
2025-10-26T21:09:43.257Z,1761512983.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846645,-0.520407,-0.111215],[0.531372,0.838083,0.123537],[0.028918,-0.163689,0.986088]]
2025-10-26T21:09:43.654Z,1761512983.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846717,-0.520080,-0.112187],[0.531202,0.838221,0.123327],[0.029897,-0.164017,0.986004]]
2025-10-26T21:09:44.060Z,1761512984.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847167,-0.519014,-0.113720],[0.530438,0.838525,0.124548],[0.030715,-0.165834,0.985675]]
2025-10-26T21:09:44.077Z,1761512984.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:09:44.212Z,1761512984.212 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:09:44.212Z,1761512984.212 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:09:44.462Z,1761512984.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847511,-0.518210,-0.114823],[0.529842,0.838826,0.125051],[0.031514,-0.166820,0.985484]]
2025-10-26T21:09:44.464Z,1761512984.464 [DAT](INFO): DAT read: user:144>

2025-10-26T21:09:44.465Z,1761512984.465 [DAT](INFO): DAT read: Tx time:21:09:43.5963

2025-10-26T21:09:44.465Z,1761512984.465 [DAT](INFO): Ping request sent.
2025-10-26T21:09:44.465Z,1761512984.465 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:09:44.466Z,1761512984.466 [DAT](INFO): publishing transmit ping time
2025-10-26T21:09:44.466Z,1761512984.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762
2025-10-26T21:09:44.717Z,1761512984.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251109
2025-10-26T21:09:44.866Z,1761512984.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848051,-0.517101,-0.115827],[0.528921,0.839371,0.125294],[0.032432,-0.167520,0.985335]]
2025-10-26T21:09:44.972Z,1761512984.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506866
2025-10-26T21:09:45.220Z,1761512985.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754786
2025-10-26T21:09:45.276Z,1761512985.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849007,-0.515266,-0.116993],[0.527348,0.840151,0.126688],[0.033014,-0.169255,0.985019]]
2025-10-26T21:09:45.278Z,1761512985.278 [BPC1](FAULT): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-26T21:09:45.279Z,1761512985.279 [BPC1](FAULT): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-26T21:09:45.280Z,1761512985.280 [BPC1](FAULT): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0.
2025-10-26T21:09:45.280Z,1761512985.280 [BPC1](FAULT): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-26T21:09:45.281Z,1761512985.281 [BPC1](FAULT): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-26T21:09:45.282Z,1761512985.282 [BPC1](FAULT): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-26T21:09:45.283Z,1761512985.283 [BPC1](FAULT): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0.
2025-10-26T21:09:45.284Z,1761512985.284 [BPC1](FAULT): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-26T21:09:45.286Z,1761512985.286 [BPC1](FAULT): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-26T21:09:45.288Z,1761512985.288 [BPC1](FAULT): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-26T21:09:45.290Z,1761512985.290 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 1.
2025-10-26T21:09:45.298Z,1761512985.298 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2025-10-26T21:09:45.473Z,1761512985.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007603
2025-10-26T21:09:45.684Z,1761512985.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850052,-0.513317,-0.117972],[0.525620,0.841086,0.127663],[0.033693,-0.170529,0.984776]]
2025-10-26T21:09:45.725Z,1761512985.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259501
2025-10-26T21:09:45.976Z,1761512985.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510755
2025-10-26T21:09:46.078Z,1761512986.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851255,-0.511299,-0.118063],[0.523640,0.842316,0.127694],[0.034157,-0.170522,0.984762]]
2025-10-26T21:09:46.228Z,1761512986.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762806
2025-10-26T21:09:46.480Z,1761512986.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014782
2025-10-26T21:09:46.496Z,1761512986.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852234,-0.509507,-0.118741],[0.522008,0.843220,0.128404],[0.034702,-0.171414,0.984588]]
2025-10-26T21:09:46.733Z,1761512986.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267093
2025-10-26T21:09:46.888Z,1761512986.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853055,-0.508031,-0.119170],[0.520626,0.844056,0.128523],[0.035292,-0.171680,0.984520]]
2025-10-26T21:09:46.989Z,1761512986.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523024
2025-10-26T21:09:47.236Z,1761512987.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770837
2025-10-26T21:09:47.290Z,1761512987.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853705,-0.506944,-0.119149],[0.519518,0.844857,0.127741],[0.035906,-0.170953,0.984625]]
2025-10-26T21:09:47.488Z,1761512987.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022962
2025-10-26T21:09:47.694Z,1761512987.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854362,-0.505789,-0.119343],[0.518416,0.845504,0.127934],[0.036197,-0.171171,0.984576]]
2025-10-26T21:09:47.741Z,1761512987.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275185
2025-10-26T21:09:47.992Z,1761512987.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526883
2025-10-26T21:09:48.099Z,1761512988.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854751,-0.505155,-0.119244],[0.517722,0.846131,0.126595],[0.036946,-0.169942,0.984761]]
2025-10-26T21:09:48.244Z,1761512988.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778844
2025-10-26T21:09:48.496Z,1761512988.496 [DAT](INFO): DAT read: Rx Time:21:09:47.2598

2025-10-26T21:09:48.497Z,1761512988.497 [DAT](INFO): Rx dataTimestamp_ set to:1761512988.496588
2025-10-26T21:09:48.497Z,1761512988.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031933
2025-10-26T21:09:48.524Z,1761512988.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854725,-0.505109,-0.119626],[0.517721,0.846213,0.126051],[0.037560,-0.169672,0.984785]]
2025-10-26T21:09:48.748Z,1761512988.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282862
2025-10-26T21:09:48.906Z,1761512988.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854851,-0.504791,-0.120066],[0.517470,0.846410,0.125757],[0.038144,-0.169634,0.984769]]
2025-10-26T21:09:49.001Z,1761512989.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535020
2025-10-26T21:09:49.258Z,1761512989.258 [DAT](INFO): DAT read: 21:09:47.2598 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 480, 0.14,-0.649,-2.346,-0.737,-0.952, PHS= 0.406,-1.348, 0.172, RAW= 142.9,   9.4, CAL= 142.5,  10.2, ROT=   7.5, -10.2

2025-10-26T21:09:49.259Z,1761512989.259 [DAT](INFO): got valid direction response:
 21:09:47.2598 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 480, 0.14,-0.649,-2.346,-0.737,-0.952, PHS= 0.406,-1.348, 0.172, RAW= 142.9,   9.4, CAL= 142.5,  10.2, ROT=   7.5, -10.2

2025-10-26T21:09:49.260Z,1761512989.260 [DAT](INFO): DAT read: Bearing 190.8,   7.9 (Local)

2025-10-26T21:09:49.260Z,1761512989.260 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.8,   7.9 (Local)

2025-10-26T21:09:49.261Z,1761512989.261 [DAT](INFO): DAT read: Range 11 to 50 : 944.4 m  (Round-trip  1259.3 ms) speed  0.4 m/s

2025-10-26T21:09:49.262Z,1761512989.262 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:09:49.263Z,1761512989.263 [DAT](INFO): direction in FSK: [0.975776,0.128463,0.177085]
2025-10-26T21:09:49.263Z,1761512989.263 [DAT](INFO): publishing direction and range info
2025-10-26T21:09:49.315Z,1761512989.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854676,-0.504994,-0.120455],[0.517707,0.846379,0.124987],[0.038833,-0.169184,0.984819]]
2025-10-26T21:09:49.719Z,1761512989.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854198,-0.505731,-0.120752],[0.518451,0.846060,0.124060],[0.039423,-0.168576,0.984900]]
2025-10-26T21:09:50.118Z,1761512990.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853843,-0.506147,-0.121519],[0.519006,0.845671,0.124392],[0.039805,-0.169280,0.984764]]
2025-10-26T21:09:50.523Z,1761512990.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853479,-0.506387,-0.123069],[0.519550,0.845187,0.125403],[0.040514,-0.170970,0.984443]]
2025-10-26T21:09:51.330Z,1761512991.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852079,-0.508363,-0.124614],[0.521720,0.844039,0.124123],[0.042080,-0.170776,0.984411]]
2025-10-26T21:09:51.737Z,1761512991.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851660,-0.508787,-0.125746],[0.522322,0.843707,0.123848],[0.043081,-0.171156,0.984302]]
2025-10-26T21:09:52.138Z,1761512992.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851181,-0.509446,-0.126318],[0.523030,0.843412,0.122866],[0.043945,-0.170650,0.984351]]
2025-10-26T21:09:52.550Z,1761512992.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851111,-0.509190,-0.127814],[0.523078,0.843240,0.123835],[0.044722,-0.172254,0.984037]]
2025-10-26T21:09:52.946Z,1761512992.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851015,-0.509111,-0.128761],[0.523148,0.843246,0.123499],[0.045703,-0.172460,0.983956]]
2025-10-26T21:09:53.350Z,1761512993.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851388,-0.508363,-0.129247],[0.522474,0.843720,0.123114],[0.046462,-0.172346,0.983940]]
2025-10-26T21:09:53.754Z,1761512993.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851841,-0.507453,-0.129837],[0.521656,0.844283,0.122723],[0.047343,-0.172271,0.983911]]
2025-10-26T21:09:54.168Z,1761512994.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852717,-0.505745,-0.130750],[0.520164,0.845078,0.123583],[0.047992,-0.173392,0.983683]]
2025-10-26T21:09:54.564Z,1761512994.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853684,-0.503925,-0.131464],[0.518509,0.846022,0.124079],[0.048695,-0.174090,0.983525]]
2025-10-26T21:09:54.967Z,1761512994.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854683,-0.502124,-0.131862],[0.516768,0.847163,0.123553],[0.049670,-0.173741,0.983538]]
2025-10-26T21:09:55.369Z,1761512995.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856034,-0.499731,-0.132194],[0.514453,0.848573,0.123537],[0.050441,-0.173759,0.983496]]
2025-10-26T21:09:55.774Z,1761512995.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857318,-0.497530,-0.132170],[0.512261,0.849916,0.123415],[0.050931,-0.173511,0.983514]]
2025-10-26T21:09:56.180Z,1761512996.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858574,-0.495508,-0.131616],[0.510089,0.851416,0.122064],[0.051576,-0.171937,0.983757]]
2025-10-26T21:09:56.583Z,1761512996.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859807,-0.493409,-0.131449],[0.507975,0.852689,0.121997],[0.051890,-0.171667,0.983788]]
2025-10-26T21:09:56.986Z,1761512996.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860721,-0.491800,-0.131497],[0.506383,0.853649,0.121902],[0.052301,-0.171512,0.983793]]
2025-10-26T21:09:57.390Z,1761512997.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861643,-0.490303,-0.131047],[0.504781,0.854701,0.121168],[0.052597,-0.170554,0.983944]]
2025-10-26T21:09:57.802Z,1761512997.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862107,-0.489496,-0.131013],[0.503901,0.855414,0.119794],[0.053431,-0.169293,0.984116]]
2025-10-26T21:09:58.206Z,1761512998.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862130,-0.489453,-0.131026],[0.503832,0.855528,0.119270],[0.053719,-0.168841,0.984178]]
2025-10-26T21:09:58.608Z,1761512998.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861896,-0.489845,-0.131100],[0.504202,0.855391,0.118687],[0.054003,-0.168397,0.984239]]
2025-10-26T21:09:59.012Z,1761512999.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861156,-0.491153,-0.131071],[0.505412,0.854883,0.117191],[0.054492,-0.167165,0.984422]]
2025-10-26T21:09:59.415Z,1761512999.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860239,-0.492873,-0.130630],[0.506934,0.854255,0.115176],[0.054824,-0.165300,0.984718]]
2025-10-26T21:09:59.815Z,1761512999.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858974,-0.494956,-0.131084],[0.509040,0.853095,0.114489],[0.055161,-0.165070,0.984738]]
2025-10-26T21:10:00.218Z,1761513000.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857612,-0.497339,-0.130977],[0.511292,0.851979,0.112753],[0.055513,-0.163666,0.984953]]
2025-10-26T21:10:00.622Z,1761513000.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856082,-0.499743,-0.131836],[0.513789,0.850551,0.112175],[0.056074,-0.163767,0.984904]]
2025-10-26T21:10:01.026Z,1761513001.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854669,-0.501789,-0.133224],[0.516084,0.849088,0.112726],[0.056554,-0.165098,0.984654]]
2025-10-26T21:10:01.430Z,1761513001.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853478,-0.503750,-0.133461],[0.517998,0.848091,0.111447],[0.057046,-0.164250,0.984768]]
2025-10-26T21:10:01.835Z,1761513001.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852393,-0.505297,-0.134541],[0.519760,0.846907,0.112239],[0.057230,-0.165601,0.984531]]
2025-10-26T21:10:02.239Z,1761513002.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851602,-0.506421,-0.135323],[0.521034,0.846067,0.112673],[0.057432,-0.166460,0.984374]]
2025-10-26T21:10:02.662Z,1761513002.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851167,-0.507089,-0.135555],[0.521695,0.845754,0.111960],[0.057872,-0.166015,0.984424]]
2025-10-26T21:10:03.046Z,1761513003.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850997,-0.507273,-0.135933],[0.521920,0.845661,0.111613],[0.058335,-0.165928,0.984411]]
2025-10-26T21:10:03.450Z,1761513003.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851064,-0.507030,-0.136423],[0.521765,0.845748,0.111680],[0.058755,-0.166227,0.984336]]
2025-10-26T21:10:03.854Z,1761513003.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851450,-0.506301,-0.136720],[0.521106,0.846120,0.111933],[0.059010,-0.166551,0.984266]]
2025-10-26T21:10:04.084Z,1761513004.084 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:10:04.267Z,1761513004.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852196,-0.504850,-0.137437],[0.519841,0.846775,0.112859],[0.059401,-0.167624,0.984060]]
2025-10-26T21:10:04.664Z,1761513004.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853112,-0.503121,-0.138091],[0.518290,0.847601,0.113791],[0.059795,-0.168648,0.983861]]
2025-10-26T21:10:04.690Z,1761513004.690 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   -44,  +589,   :BE,   -44,  +589,   -71,A
2025-10-26T21:10:05.066Z,1761513005.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854487,-0.500707,-0.138368],[0.515989,0.848892,0.114621],[0.060067,-0.169339,0.983726]]
2025-10-26T21:10:05.096Z,1761513005.096 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:10:05.470Z,1761513005.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855855,-0.498451,-0.138055],[0.513681,0.850319,0.114408],[0.060364,-0.168833,0.983794]]
2025-10-26T21:10:05.875Z,1761513005.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857506,-0.495576,-0.138162],[0.510899,0.851873,0.115304],[0.060555,-0.169461,0.983675]]
2025-10-26T21:10:06.278Z,1761513006.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859018,-0.493034,-0.137860],[0.508323,0.853409,0.115328],[0.060790,-0.169147,0.983714]]
2025-10-26T21:10:06.683Z,1761513006.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860555,-0.490294,-0.138049],[0.505686,0.854859,0.116180],[0.061050,-0.169789,0.983588]]
2025-10-26T21:10:07.086Z,1761513007.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862102,-0.487610,-0.137900],[0.503023,0.856365,0.116644],[0.061216,-0.169927,0.983554]]
2025-10-26T21:10:07.492Z,1761513007.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863474,-0.485278,-0.137544],[0.500670,0.857689,0.117038],[0.061174,-0.169923,0.983557]]
2025-10-26T21:10:07.894Z,1761513007.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864879,-0.483022,-0.136654],[0.498251,0.859153,0.116627],[0.061074,-0.168956,0.983730]]
2025-10-26T21:10:08.298Z,1761513008.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865639,-0.481717,-0.136449],[0.496923,0.859915,0.116677],[0.061129,-0.168805,0.983752]]
2025-10-26T21:10:08.707Z,1761513008.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866387,-0.480422,-0.136262],[0.495635,0.860593,0.117156],[0.060982,-0.169039,0.983721]]
2025-10-26T21:10:09.107Z,1761513009.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866788,-0.479739,-0.136119],[0.494945,0.860961,0.117370],[0.060887,-0.169106,0.983715]]
2025-10-26T21:10:09.514Z,1761513009.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867095,-0.479142,-0.136270],[0.494425,0.861155,0.118137],[0.060745,-0.169811,0.983603]]
2025-10-26T21:10:09.914Z,1761513009.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867151,-0.479248,-0.135535],[0.494368,0.861271,0.117527],[0.060408,-0.168918,0.983777]]
2025-10-26T21:10:10.319Z,1761513010.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866860,-0.479915,-0.135041],[0.494918,0.861017,0.117071],[0.060088,-0.168318,0.983900]]
2025-10-26T21:10:10.731Z,1761513010.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866269,-0.480929,-0.135220],[0.496015,0.860252,0.118049],[0.059550,-0.169333,0.983758]]
2025-10-26T21:10:11.134Z,1761513011.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865672,-0.482101,-0.134875],[0.497155,0.859513,0.118637],[0.058732,-0.169754,0.983735]]
2025-10-26T21:10:11.534Z,1761513011.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864802,-0.483656,-0.134887],[0.498715,0.858576,0.118870],[0.058318,-0.170069,0.983705]]
2025-10-26T21:10:11.935Z,1761513011.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863865,-0.485232,-0.135230],[0.500332,0.857651,0.118756],[0.058356,-0.170249,0.983672]]
2025-10-26T21:10:12.339Z,1761513012.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862885,-0.487106,-0.134750],[0.502013,0.856893,0.117120],[0.058416,-0.168707,0.983934]]
2025-10-26T21:10:12.753Z,1761513012.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861723,-0.489152,-0.134774],[0.504035,0.855738,0.116883],[0.058158,-0.168652,0.983958]]
2025-10-26T21:10:13.149Z,1761513013.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860857,-0.490537,-0.135276],[0.505544,0.854734,0.117706],[0.057886,-0.169716,0.983791]]
2025-10-26T21:10:13.551Z,1761513013.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860301,-0.491590,-0.134984],[0.506488,0.854298,0.116811],[0.057894,-0.168860,0.983938]]
2025-10-26T21:10:13.956Z,1761513013.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859835,-0.492531,-0.134529],[0.507281,0.853975,0.115728],[0.057885,-0.167751,0.984128]]
2025-10-26T21:10:14.359Z,1761513014.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859502,-0.493289,-0.133871],[0.507883,0.853711,0.115036],[0.057541,-0.166865,0.984299]]
2025-10-26T21:10:14.783Z,1761513014.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859546,-0.493413,-0.133130],[0.507875,0.853730,0.114925],[0.056952,-0.166397,0.984413]]
2025-10-26T21:10:15.166Z,1761513015.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859882,-0.493052,-0.132298],[0.507409,0.853928,0.115508],[0.056022,-0.166452,0.984457]]
2025-10-26T21:10:15.574Z,1761513015.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860519,-0.492211,-0.131285],[0.506451,0.854384,0.116344],[0.054902,-0.166606,0.984494]]
2025-10-26T21:10:15.987Z,1761513015.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861322,-0.491090,-0.130213],[0.505203,0.855014,0.117140],[0.053808,-0.166679,0.984542]]
2025-10-26T21:10:16.378Z,1761513016.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862450,-0.489560,-0.128499],[0.503436,0.855952,0.117891],[0.052274,-0.166366,0.984677]]
2025-10-26T21:10:16.811Z,1761513016.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863879,-0.487447,-0.126921],[0.501136,0.857140,0.119051],[0.050758,-0.166450,0.984743]]
2025-10-26T21:10:17.186Z,1761513017.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865585,-0.484829,-0.125316],[0.498334,0.858593,0.120336],[0.049253,-0.166610,0.984792]]
2025-10-26T21:10:17.595Z,1761513017.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867307,-0.482061,-0.124084],[0.495467,0.860007,0.122067],[0.047870,-0.167349,0.984735]]
2025-10-26T21:10:17.994Z,1761513017.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869128,-0.479082,-0.122874],[0.492397,0.861507,0.123901],[0.046499,-0.168188,0.984658]]
2025-10-26T21:10:18.398Z,1761513018.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870743,-0.476457,-0.121634],[0.489654,0.862856,0.125373],[0.045218,-0.168726,0.984625]]
2025-10-26T21:10:18.832Z,1761513018.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872626,-0.473337,-0.120316],[0.486430,0.864385,0.127375],[0.043708,-0.169676,0.984530]]
2025-10-26T21:10:19.208Z,1761513019.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874342,-0.470498,-0.118985],[0.483457,0.865824,0.128911],[0.042368,-0.170236,0.984492]]
2025-10-26T21:10:19.622Z,1761513019.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875785,-0.468234,-0.117296],[0.480958,0.867102,0.129669],[0.040993,-0.169977,0.984595]]
2025-10-26T21:10:20.014Z,1761513020.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877024,-0.466322,-0.115638],[0.478808,0.868196,0.130297],[0.039636,-0.169642,0.984708]]
2025-10-26T21:10:20.419Z,1761513020.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878237,-0.464577,-0.113439],[0.476710,0.869341,0.130363],[0.038054,-0.168567,0.984955]]
2025-10-26T21:10:20.861Z,1761513020.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879096,-0.463308,-0.111961],[0.475234,0.870030,0.131154],[0.036645,-0.168504,0.985020]]
2025-10-26T21:10:21.226Z,1761513021.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879735,-0.462532,-0.110136],[0.474165,0.870579,0.131376],[0.035117,-0.167799,0.985196]]
2025-10-26T21:10:21.633Z,1761513021.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879799,-0.462767,-0.108631],[0.474174,0.870447,0.132219],[0.033371,-0.167835,0.985250]]
2025-10-26T21:10:22.034Z,1761513022.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879786,-0.463151,-0.107087],[0.474276,0.870475,0.131666],[0.032236,-0.166627,0.985493]]
2025-10-26T21:10:22.440Z,1761513022.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879314,-0.464316,-0.105912],[0.475254,0.869836,0.132359],[0.030669,-0.166720,0.985527]]
2025-10-26T21:10:22.882Z,1761513022.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878977,-0.465326,-0.104262],[0.475961,0.869531,0.131819],[0.029321,-0.165490,0.985775]]
2025-10-26T21:10:23.246Z,1761513023.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878225,-0.467118,-0.102573],[0.477427,0.868871,0.130867],[0.027992,-0.163902,0.986079]]
2025-10-26T21:10:23.650Z,1761513023.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877083,-0.469539,-0.101278],[0.479590,0.867791,0.130120],[0.026792,-0.162698,0.986312]]
2025-10-26T21:10:24.056Z,1761513024.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875964,-0.471907,-0.099958],[0.481707,0.866679,0.129715],[0.025418,-0.161776,0.986500]]
2025-10-26T21:10:24.458Z,1761513024.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874738,-0.474445,-0.098670],[0.483986,0.865550,0.128767],[0.024311,-0.160392,0.986754]]
2025-10-26T21:10:24.885Z,1761513024.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873769,-0.476490,-0.097393],[0.485789,0.864641,0.128082],[0.023180,-0.159226,0.986970]]
2025-10-26T21:10:25.672Z,1761513025.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871920,-0.480317,-0.095132],[0.489199,0.862840,0.127248],[0.020964,-0.157489,0.987298]]
2025-10-26T21:10:26.074Z,1761513026.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871203,-0.481930,-0.093538],[0.490523,0.862237,0.126229],[0.019819,-0.155853,0.987581]]
2025-10-26T21:10:26.478Z,1761513026.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870776,-0.482901,-0.092495],[0.491317,0.861818,0.126007],[0.018865,-0.155168,0.987708]]
2025-10-26T21:10:26.898Z,1761513026.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870749,-0.483079,-0.091822],[0.491401,0.861677,0.126640],[0.017944,-0.155393,0.987690]]
2025-10-26T21:10:27.296Z,1761513027.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870988,-0.482836,-0.090822],[0.491013,0.861829,0.127113],[0.016898,-0.155309,0.987721]]
2025-10-26T21:10:27.690Z,1761513027.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871230,-0.482492,-0.090327],[0.490606,0.861969,0.127732],[0.016229,-0.155599,0.987687]]
2025-10-26T21:10:28.102Z,1761513028.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872026,-0.481078,-0.090192],[0.489216,0.862473,0.129643],[0.015420,-0.157176,0.987450]]
2025-10-26T21:10:28.500Z,1761513028.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872662,-0.480109,-0.089195],[0.488105,0.863076,0.129824],[0.014652,-0.156829,0.987517]]
2025-10-26T21:10:28.906Z,1761513028.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873564,-0.478590,-0.088531],[0.486516,0.863779,0.131104],[0.013727,-0.157599,0.987408]]
2025-10-26T21:10:29.309Z,1761513029.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874831,-0.476310,-0.088322],[0.484256,0.864731,0.133174],[0.012942,-0.159275,0.987149]]
2025-10-26T21:10:29.715Z,1761513029.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875912,-0.474468,-0.087514],[0.482325,0.865595,0.134568],[0.011903,-0.160080,0.987032]]
2025-10-26T21:10:30.120Z,1761513030.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877034,-0.472544,-0.086681],[0.480305,0.866502,0.135942],[0.010871,-0.160859,0.986918]]
2025-10-26T21:10:30.518Z,1761513030.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878363,-0.470189,-0.086028],[0.477892,0.867554,0.137728],[0.009875,-0.162088,0.986727]]
2025-10-26T21:10:31.014Z,1761513031.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879371,-0.468471,-0.085099],[0.476053,0.868420,0.138635],[0.008955,-0.162423,0.986681]]
2025-10-26T21:10:31.334Z,1761513031.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880131,-0.467298,-0.083676],[0.474659,0.869281,0.138022],[0.008240,-0.161195,0.986888]]
2025-10-26T21:10:31.734Z,1761513031.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880848,-0.466074,-0.082956],[0.473340,0.869882,0.138761],[0.007489,-0.161493,0.986845]]
2025-10-26T21:10:32.134Z,1761513032.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881422,-0.465120,-0.082214],[0.472277,0.870488,0.138583],[0.007109,-0.160978,0.986932]]
2025-10-26T21:10:32.538Z,1761513032.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881895,-0.464469,-0.080802],[0.471404,0.871046,0.138049],[0.006262,-0.159835,0.987124]]
2025-10-26T21:10:32.945Z,1761513032.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882277,-0.463777,-0.080608],[0.470695,0.871266,0.139073],[0.005732,-0.160642,0.986996]]
2025-10-26T21:10:33.349Z,1761513033.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882366,-0.463793,-0.079534],[0.470535,0.871448,0.138471],[0.005088,-0.159606,0.987168]]
2025-10-26T21:10:33.751Z,1761513033.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882295,-0.464090,-0.078585],[0.470675,0.871443,0.138028],[0.004425,-0.158769,0.987306]]
2025-10-26T21:10:34.154Z,1761513034.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882275,-0.464278,-0.077690],[0.470719,0.871432,0.137946],[0.003656,-0.158277,0.987388]]
2025-10-26T21:10:34.559Z,1761513034.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881963,-0.465077,-0.076445],[0.471311,0.871160,0.137646],[0.002580,-0.157428,0.987527]]
2025-10-26T21:10:34.962Z,1761513034.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881354,-0.466485,-0.074881],[0.472455,0.870640,0.137009],[0.001282,-0.156131,0.987735]]
2025-10-26T21:10:35.228Z,1761513035.228 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:10:35.369Z,1761513035.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880701,-0.467951,-0.073403],[0.473673,0.869978,0.137008],[-0.000254,-0.155432,0.987846]]
2025-10-26T21:10:35.770Z,1761513035.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880045,-0.469401,-0.071998],[0.474887,0.869321,0.136978],[-0.001708,-0.154738,0.987954]]
2025-10-26T21:10:36.176Z,1761513036.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878896,-0.471780,-0.070469],[0.477004,0.868278,0.136238],[-0.003087,-0.153353,0.988167]]
2025-10-26T21:10:36.234Z,1761513036.234 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:10:36.590Z,1761513036.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877885,-0.473816,-0.069394],[0.478844,0.867038,0.137671],[-0.005063,-0.154088,0.988044]]
2025-10-26T21:10:36.983Z,1761513036.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877035,-0.475622,-0.067767],[0.480380,0.866240,0.137344],[-0.006621,-0.153009,0.988203]]
2025-10-26T21:10:37.389Z,1761513037.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876317,-0.477126,-0.066478],[0.481669,0.865522,0.137357],[-0.007998,-0.152388,0.988288]]
2025-10-26T21:10:37.791Z,1761513037.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875488,-0.478791,-0.065412],[0.483145,0.864586,0.138067],[-0.009551,-0.152479,0.988261]]
2025-10-26T21:10:38.194Z,1761513038.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874765,-0.480163,-0.065046],[0.484432,0.863691,0.139154],[-0.010636,-0.153237,0.988132]]
2025-10-26T21:10:38.602Z,1761513038.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874401,-0.480999,-0.063740],[0.485051,0.863253,0.139708],[-0.012175,-0.153078,0.988139]]
2025-10-26T21:10:39.002Z,1761513039.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873936,-0.481861,-0.063608],[0.485861,0.862534,0.141329],[-0.013237,-0.154417,0.987917]]
2025-10-26T21:10:39.413Z,1761513039.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873770,-0.482258,-0.062867],[0.486129,0.862264,0.142058],[-0.014300,-0.154688,0.987860]]
2025-10-26T21:10:40.215Z,1761513040.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873635,-0.482710,-0.061264],[0.486308,0.861958,0.143292],[-0.016362,-0.154978,0.987782]]
2025-10-26T21:10:40.619Z,1761513040.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874092,-0.481954,-0.060689],[0.485448,0.862206,0.144713],[-0.017418,-0.155954,0.987611]]
2025-10-26T21:10:41.022Z,1761513041.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874458,-0.481413,-0.059707],[0.484750,0.862490,0.145357],[-0.018480,-0.156051,0.987576]]
2025-10-26T21:10:41.426Z,1761513041.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874869,-0.480831,-0.058366],[0.483955,0.862843,0.145908],[-0.019797,-0.155897,0.987575]]
2025-10-26T21:10:41.830Z,1761513041.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875391,-0.480090,-0.056598],[0.482943,0.863353,0.146244],[-0.021346,-0.155354,0.987628]]
2025-10-26T21:10:42.235Z,1761513042.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875894,-0.479404,-0.054601],[0.481964,0.863945,0.145980],[-0.022811,-0.154179,0.987780]]
2025-10-26T21:10:42.648Z,1761513042.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876598,-0.478328,-0.052712],[0.480610,0.864682,0.146079],[-0.024295,-0.153386,0.987868]]
2025-10-26T21:10:43.048Z,1761513043.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878079,-0.476036,-0.048653],[0.477728,0.866259,0.146185],[-0.027443,-0.151605,0.988060]]
2025-10-26T21:10:43.451Z,1761513043.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878708,-0.475095,-0.046435],[0.476474,0.866999,0.145897],[-0.029056,-0.150326,0.988210]]
2025-10-26T21:10:43.855Z,1761513043.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879150,-0.474455,-0.044596],[0.475567,0.867500,0.145872],[-0.030523,-0.149452,0.988298]]
2025-10-26T21:10:44.261Z,1761513044.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879573,-0.473772,-0.043495],[0.474691,0.867774,0.147093],[-0.031945,-0.150026,0.988166]]
2025-10-26T21:10:44.328Z,1761513044.328 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:10:44.500Z,1761513044.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:10:44.500Z,1761513044.500 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:10:44.664Z,1761513044.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879837,-0.473429,-0.041862],[0.474091,0.868019,0.147581],[-0.033533,-0.149694,0.988164]]
2025-10-26T21:10:44.753Z,1761513044.753 [DAT](INFO): DAT read: user:145>

2025-10-26T21:10:44.754Z,1761513044.754 [DAT](INFO): DAT read: Tx time:21:10:43.8462

2025-10-26T21:10:44.754Z,1761513044.754 [DAT](INFO): Ping request sent.
2025-10-26T21:10:44.754Z,1761513044.754 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:10:44.755Z,1761513044.755 [DAT](INFO): publishing transmit ping time
2025-10-26T21:10:44.756Z,1761513044.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001295
2025-10-26T21:10:45.004Z,1761513045.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250061
2025-10-26T21:10:45.070Z,1761513045.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880065,-0.473111,-0.040650],[0.473566,0.868155,0.148468],[-0.034951,-0.149912,0.988081]]
2025-10-26T21:10:45.257Z,1761513045.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502322
2025-10-26T21:10:45.466Z,1761513045.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880240,-0.472853,-0.039834],[0.473137,0.868141,0.149910],[-0.036304,-0.150803,0.987897]]
2025-10-26T21:10:45.509Z,1761513045.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754271
2025-10-26T21:10:45.760Z,1761513045.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006141
2025-10-26T21:10:45.870Z,1761513045.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880501,-0.472433,-0.039045],[0.472540,0.868173,0.151596],[-0.037721,-0.151931,0.987671]]
2025-10-26T21:10:46.012Z,1761513046.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258061
2025-10-26T21:10:46.265Z,1761513046.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511106
2025-10-26T21:10:46.276Z,1761513046.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880224,-0.473063,-0.037636],[0.472965,0.868013,0.151187],[-0.038852,-0.150879,0.987788]]
2025-10-26T21:10:46.516Z,1761513046.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762100
2025-10-26T21:10:46.683Z,1761513046.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880078,-0.473330,-0.037702],[0.473157,0.867554,0.153205],[-0.039808,-0.152671,0.987475]]
2025-10-26T21:10:46.768Z,1761513046.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014112
2025-10-26T21:10:47.020Z,1761513047.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266125
2025-10-26T21:10:47.091Z,1761513047.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879883,-0.473788,-0.036487],[0.473416,0.867377,0.153407],[-0.041035,-0.152254,0.987489]]
2025-10-26T21:10:47.272Z,1761513047.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518066
2025-10-26T21:10:47.486Z,1761513047.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879512,-0.474539,-0.035655],[0.474026,0.867027,0.153508],[-0.041931,-0.151913,0.987504]]
2025-10-26T21:10:47.524Z,1761513047.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770155
2025-10-26T21:10:47.777Z,1761513047.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022849
2025-10-26T21:10:47.891Z,1761513047.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878991,-0.475491,-0.035830],[0.474964,0.866404,0.154117],[-0.042238,-0.152486,0.987403]]
2025-10-26T21:10:48.028Z,1761513048.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274054
2025-10-26T21:10:48.281Z,1761513048.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527039
2025-10-26T21:10:48.304Z,1761513048.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878638,-0.476169,-0.035477],[0.475560,0.865999,0.154555],[-0.042872,-0.152670,0.987347]]
2025-10-26T21:10:48.532Z,1761513048.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778158
2025-10-26T21:10:48.702Z,1761513048.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878061,-0.477185,-0.036092],[0.476597,0.865188,0.155903],[-0.043168,-0.154094,0.987113]]
2025-10-26T21:10:48.784Z,1761513048.784 [DAT](INFO): DAT read: Rx Time:21:10:47.4865

2025-10-26T21:10:48.785Z,1761513048.785 [DAT](INFO): Rx dataTimestamp_ set to:1761513048.784669
2025-10-26T21:10:48.786Z,1761513048.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031276
2025-10-26T21:10:49.037Z,1761513049.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282244
2025-10-26T21:10:49.102Z,1761513049.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877816,-0.477590,-0.036693],[0.477008,0.864627,0.157746],[-0.043612,-0.155975,0.986798]]
2025-10-26T21:10:49.302Z,1761513049.302 [DAT](INFO): DAT read: 21:10:47.4865 LVL= 15008, 15441, 15826, 20931, AGC= 80, IDX= 203, 0.06, 2.597, 0.724, 2.356, 2.100, PHS= 0.599,-1.330, 0.213, RAW= 139.1,   5.9, CAL= 138.9,   6.7, ROT=  11.1,  -6.7

2025-10-26T21:10:49.303Z,1761513049.303 [DAT](INFO): got valid direction response:
 21:10:47.4865 LVL= 15008, 15441, 15826, 20931, AGC= 80, IDX= 203, 0.06, 2.597, 0.724, 2.356, 2.100, PHS= 0.599,-1.330, 0.213, RAW= 139.1,   5.9, CAL= 138.9,   6.7, ROT=  11.1,  -6.7

2025-10-26T21:10:49.305Z,1761513049.305 [DAT](INFO): DAT read: $Error in header

2025-10-26T21:10:49.305Z,1761513049.305 [DAT](INFO): Received a bad header
2025-10-26T21:10:49.321Z,1761513049.321 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:10:49.322Z,1761513049.322 [DAT](INFO): direction in FSK: [0.974591,0.191207,0.116671]
2025-10-26T21:10:49.506Z,1761513049.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877394,-0.478403,-0.036211],[0.477738,0.864240,0.157657],[-0.044128,-0.155626,0.986830]]
2025-10-26T21:10:49.545Z,1761513049.545 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      +244.91,     +5965.  29.07,  0.00
2025-10-26T21:10:49.910Z,1761513049.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876948,-0.479237,-0.035969],[0.478524,0.863817,0.157590],[-0.044452,-0.155410,0.986849]]
2025-10-26T21:10:50.323Z,1761513050.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876587,-0.479916,-0.035716],[0.479157,0.863476,0.157540],[-0.044766,-0.155211,0.986867]]
2025-10-26T21:10:50.731Z,1761513050.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875949,-0.481091,-0.035583],[0.480315,0.862921,0.157053],[-0.044852,-0.154662,0.986949]]
2025-10-26T21:10:51.122Z,1761513051.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875494,-0.481905,-0.035743],[0.481137,0.862440,0.157174],[-0.044917,-0.154803,0.986924]]
2025-10-26T21:10:51.526Z,1761513051.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874869,-0.483049,-0.035617],[0.482276,0.861932,0.156467],[-0.044882,-0.154066,0.987041]]
2025-10-26T21:10:51.930Z,1761513051.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874595,-0.483568,-0.035297],[0.482746,0.861699,0.156303],[-0.045168,-0.153741,0.987078]]
2025-10-26T21:10:52.348Z,1761513052.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874204,-0.484285,-0.035157],[0.483445,0.861361,0.156006],[-0.045269,-0.153378,0.987130]]
2025-10-26T21:10:52.740Z,1761513052.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873956,-0.484749,-0.034909],[0.483867,0.861135,0.155948],[-0.045534,-0.153183,0.987148]]
2025-10-26T21:10:53.144Z,1761513053.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873494,-0.485601,-0.034632],[0.484666,0.860694,0.155901],[-0.045898,-0.152964,0.987165]]
2025-10-26T21:10:53.566Z,1761513053.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873219,-0.486118,-0.034338],[0.485124,0.860413,0.156022],[-0.046300,-0.152900,0.987157]]
2025-10-26T21:10:53.950Z,1761513053.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872593,-0.487296,-0.033519],[0.486232,0.860060,0.154517],[-0.046467,-0.151129,0.987421]]
2025-10-26T21:10:54.377Z,1761513054.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872124,-0.488162,-0.033123],[0.487046,0.859675,0.154095],[-0.046748,-0.150522,0.987501]]
2025-10-26T21:10:54.762Z,1761513054.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871698,-0.488914,-0.033237],[0.487781,0.859169,0.154589],[-0.047024,-0.150968,0.987420]]
2025-10-26T21:10:54.836Z,1761513054.836 [DAT](INFO): Reached modem response timeout
2025-10-26T21:10:55.163Z,1761513055.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871390,-0.489476,-0.033070],[0.488303,0.858850,0.154715],[-0.047328,-0.150965,0.987405]]
2025-10-26T21:10:55.571Z,1761513055.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871030,-0.490123,-0.032971],[0.488929,0.858503,0.154665],[-0.047499,-0.150838,0.987417]]
2025-10-26T21:10:55.970Z,1761513055.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870816,-0.490500,-0.033012],[0.489302,0.858274,0.154756],[-0.047575,-0.150917,0.987401]]
2025-10-26T21:10:56.404Z,1761513056.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870944,-0.490236,-0.033543],[0.489077,0.858231,0.155700],[-0.047543,-0.152011,0.987235]]
2025-10-26T21:10:56.778Z,1761513056.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871000,-0.490128,-0.033665],[0.488969,0.858218,0.156111],[-0.047623,-0.152434,0.987166]]
2025-10-26T21:10:57.104Z,1761513057.104 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:10:57.105Z,1761513057.105 [DAT](INFO): response not received
2025-10-26T21:10:57.105Z,1761513057.105 [DAT](ERROR): No response from remote modem.
2025-10-26T21:10:57.182Z,1761513057.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870998,-0.490143,-0.033497],[0.488965,0.858244,0.155986],[-0.047707,-0.152242,0.987191]]
2025-10-26T21:10:57.588Z,1761513057.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870928,-0.490304,-0.032946],[0.489092,0.858366,0.154911],[-0.047673,-0.151030,0.987379]]
2025-10-26T21:10:57.990Z,1761513057.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871020,-0.490144,-0.032910],[0.488910,0.858399,0.155303],[-0.047871,-0.151362,0.987319]]
2025-10-26T21:10:58.430Z,1761513058.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871188,-0.489844,-0.032937],[0.488603,0.858518,0.155611],[-0.047948,-0.151659,0.987269]]
2025-10-26T21:10:58.798Z,1761513058.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871097,-0.490016,-0.032771],[0.488752,0.858449,0.155524],[-0.048077,-0.151494,0.987288]]
2025-10-26T21:10:59.203Z,1761513059.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871117,-0.490006,-0.032396],[0.488681,0.858475,0.155602],[-0.048435,-0.151379,0.987288]]
2025-10-26T21:10:59.606Z,1761513059.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871476,-0.489380,-0.032195],[0.488011,0.858768,0.156085],[-0.048737,-0.151736,0.987219]]
2025-10-26T21:11:00.010Z,1761513060.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871749,-0.488897,-0.032159],[0.487509,0.858980,0.156488],[-0.048883,-0.152096,0.987156]]
2025-10-26T21:11:00.454Z,1761513060.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872006,-0.488445,-0.032059],[0.487030,0.859186,0.156844],[-0.049065,-0.152383,0.987103]]
2025-10-26T21:11:00.818Z,1761513060.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872338,-0.487861,-0.031900],[0.486382,0.859373,0.157832],[-0.049586,-0.153198,0.986951]]
2025-10-26T21:11:01.224Z,1761513061.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872398,-0.487775,-0.031583],[0.486267,0.859502,0.157481],[-0.049670,-0.152744,0.987017]]
2025-10-26T21:11:02.038Z,1761513062.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873061,-0.486568,-0.031869],[0.485049,0.859928,0.158910],[-0.049916,-0.154196,0.986779]]
2025-10-26T21:11:02.463Z,1761513062.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873260,-0.486163,-0.032607],[0.484728,0.859976,0.159623],[-0.049562,-0.155198,0.986639]]
2025-10-26T21:11:02.840Z,1761513062.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873369,-0.485944,-0.032938],[0.484568,0.860080,0.159549],[-0.049203,-0.155306,0.986640]]
2025-10-26T21:11:03.242Z,1761513063.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873548,-0.485575,-0.033622],[0.484302,0.860199,0.159713],[-0.048631,-0.155800,0.986591]]
2025-10-26T21:11:03.646Z,1761513063.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873585,-0.485476,-0.034101],[0.484357,0.860466,0.158102],[-0.047412,-0.154633,0.986834]]
2025-10-26T21:11:04.055Z,1761513064.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873573,-0.485380,-0.035740],[0.484504,0.860335,0.158365],[-0.046119,-0.155660,0.986733]]
2025-10-26T21:11:04.472Z,1761513064.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873470,-0.485523,-0.036288],[0.484775,0.860361,0.157392],[-0.045196,-0.155069,0.986869]]
2025-10-26T21:11:04.858Z,1761513064.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873404,-0.485603,-0.036805],[0.484961,0.860366,0.156792],[-0.044472,-0.154792,0.986946]]
2025-10-26T21:11:05.262Z,1761513065.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873112,-0.486049,-0.037827],[0.485581,0.860107,0.156293],[-0.043431,-0.154830,0.986986]]
2025-10-26T21:11:05.666Z,1761513065.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872759,-0.486615,-0.038707],[0.486300,0.859810,0.155690],[-0.042480,-0.154703,0.987047]]
2025-10-26T21:11:06.072Z,1761513066.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872192,-0.487587,-0.039243],[0.487407,0.859464,0.154128],[-0.041423,-0.153557,0.987271]]
2025-10-26T21:11:06.352Z,1761513066.352 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:11:06.478Z,1761513066.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871709,-0.488363,-0.040322],[0.488355,0.859004,0.153693],[-0.040421,-0.153667,0.987296]]
2025-10-26T21:11:06.878Z,1761513066.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870899,-0.489752,-0.040959],[0.489872,0.858362,0.152445],[-0.039502,-0.152829,0.987463]]
2025-10-26T21:11:07.282Z,1761513067.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870258,-0.490804,-0.041972],[0.491098,0.857818,0.151563],[-0.038383,-0.152512,0.987556]]
2025-10-26T21:11:07.356Z,1761513067.356 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:11:07.692Z,1761513067.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869730,-0.491634,-0.043196],[0.492115,0.857290,0.151253],[-0.037330,-0.152807,0.987551]]
2025-10-26T21:11:08.090Z,1761513068.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869066,-0.492722,-0.044160],[0.493361,0.856705,0.150506],[-0.036326,-0.152586,0.987622]]
2025-10-26T21:11:08.494Z,1761513068.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868459,-0.493664,-0.045555],[0.494517,0.856107,0.150109],[-0.035103,-0.152892,0.987619]]
2025-10-26T21:11:08.898Z,1761513068.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867896,-0.494555,-0.046597],[0.495576,0.855599,0.149514],[-0.034074,-0.152855,0.987661]]
2025-10-26T21:11:09.325Z,1761513069.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866989,-0.496082,-0.047258],[0.497217,0.854830,0.148464],[-0.033252,-0.152214,0.987788]]
2025-10-26T21:11:09.722Z,1761513069.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866341,-0.497080,-0.048632],[0.498412,0.854142,0.148416],[-0.032236,-0.152817,0.987729]]
2025-10-26T21:11:10.110Z,1761513070.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865981,-0.497606,-0.049647],[0.499096,0.853800,0.148084],[-0.031299,-0.153016,0.987728]]
2025-10-26T21:11:10.519Z,1761513070.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865487,-0.498384,-0.050461],[0.500012,0.853400,0.147298],[-0.030348,-0.152715,0.987804]]
2025-10-26T21:11:10.918Z,1761513070.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865403,-0.498435,-0.051383],[0.500206,0.853303,0.147201],[-0.029525,-0.153090,0.987771]]
2025-10-26T21:11:11.322Z,1761513071.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865246,-0.498604,-0.052385],[0.500530,0.853140,0.147042],[-0.028624,-0.153447,0.987742]]
2025-10-26T21:11:11.732Z,1761513071.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865139,-0.498701,-0.053222],[0.500762,0.853050,0.146777],[-0.027797,-0.153634,0.987737]]
2025-10-26T21:11:12.132Z,1761513072.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865365,-0.498203,-0.054197],[0.500419,0.853241,0.146839],[-0.026913,-0.154190,0.987675]]
2025-10-26T21:11:12.542Z,1761513072.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865332,-0.498141,-0.055280],[0.500536,0.853244,0.146419],[-0.025770,-0.154371,0.987677]]
2025-10-26T21:11:12.938Z,1761513072.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865482,-0.497759,-0.056359],[0.500328,0.853381,0.146331],[-0.024742,-0.154845,0.987629]]
2025-10-26T21:11:13.342Z,1761513073.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865846,-0.497027,-0.057224],[0.499732,0.853676,0.146648],[-0.024038,-0.155571,0.987532]]
2025-10-26T21:11:13.750Z,1761513073.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866414,-0.495936,-0.058086],[0.498780,0.854156,0.147088],[-0.023331,-0.156411,0.987416]]
2025-10-26T21:11:14.150Z,1761513074.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866781,-0.495196,-0.058927],[0.498179,0.854483,0.147231],[-0.022556,-0.156973,0.987345]]
2025-10-26T21:11:14.554Z,1761513074.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867254,-0.494334,-0.059202],[0.497386,0.855051,0.146610],[-0.021854,-0.156595,0.987421]]
2025-10-26T21:11:14.958Z,1761513074.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867452,-0.493953,-0.059481],[0.497076,0.855403,0.145604],[-0.021041,-0.155871,0.987553]]
2025-10-26T21:11:15.364Z,1761513075.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867958,-0.492999,-0.060004],[0.496213,0.855877,0.145763],[-0.020505,-0.156291,0.987498]]
2025-10-26T21:11:15.767Z,1761513075.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868081,-0.492826,-0.059655],[0.496018,0.856231,0.144339],[-0.020056,-0.154888,0.987728]]
2025-10-26T21:11:16.170Z,1761513076.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868138,-0.492658,-0.060202],[0.495940,0.856302,0.144188],[-0.019484,-0.155032,0.987717]]
2025-10-26T21:11:16.574Z,1761513076.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868034,-0.492747,-0.060970],[0.496152,0.856230,0.143885],[-0.018695,-0.155147,0.987714]]
2025-10-26T21:11:16.980Z,1761513076.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867617,-0.493427,-0.061408],[0.496905,0.855917,0.143151],[-0.018074,-0.154714,0.987794]]
2025-10-26T21:11:17.382Z,1761513077.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867212,-0.494078,-0.061893],[0.497633,0.855599,0.142519],[-0.017460,-0.154394,0.987855]]
2025-10-26T21:11:17.791Z,1761513077.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866765,-0.494805,-0.062338],[0.498430,0.855234,0.141924],[-0.016911,-0.154086,0.987913]]
2025-10-26T21:11:18.190Z,1761513078.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866304,-0.495541,-0.062900],[0.499253,0.854863,0.141266],[-0.016232,-0.153783,0.987971]]
2025-10-26T21:11:18.595Z,1761513078.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865470,-0.496907,-0.063603],[0.500720,0.854113,0.140606],[-0.015544,-0.153538,0.988020]]
2025-10-26T21:11:19.002Z,1761513079.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864795,-0.497973,-0.064435],[0.501904,0.853463,0.140337],[-0.014891,-0.153703,0.988005]]
2025-10-26T21:11:19.402Z,1761513079.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864195,-0.498950,-0.064925],[0.502954,0.852968,0.139580],[-0.014264,-0.153279,0.988080]]
2025-10-26T21:11:19.811Z,1761513079.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863354,-0.500318,-0.065593],[0.504422,0.852283,0.138467],[-0.013374,-0.152632,0.988193]]
2025-10-26T21:11:20.210Z,1761513080.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862836,-0.501107,-0.066369],[0.505327,0.851837,0.137907],[-0.012571,-0.152529,0.988219]]
2025-10-26T21:11:20.614Z,1761513080.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862207,-0.502040,-0.067495],[0.506420,0.851194,0.137865],[-0.011762,-0.153049,0.988149]]
2025-10-26T21:11:21.024Z,1761513081.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861947,-0.502387,-0.068220],[0.506875,0.850942,0.137750],[-0.011153,-0.153312,0.988115]]
2025-10-26T21:11:21.423Z,1761513081.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861786,-0.502614,-0.068583],[0.507156,0.850792,0.137645],[-0.010833,-0.153403,0.988104]]
2025-10-26T21:11:21.836Z,1761513081.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861540,-0.502961,-0.069140],[0.507586,0.850577,0.137384],[-0.010290,-0.153456,0.988102]]
2025-10-26T21:11:22.230Z,1761513082.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861622,-0.502710,-0.069927],[0.507458,0.850622,0.137584],[-0.009684,-0.154030,0.988019]]
2025-10-26T21:11:22.634Z,1761513082.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861738,-0.502461,-0.070292],[0.507273,0.850813,0.137082],[-0.009073,-0.153786,0.988062]]
2025-10-26T21:11:23.039Z,1761513083.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861866,-0.502155,-0.070911],[0.507063,0.850892,0.137368],[-0.008642,-0.154350,0.987979]]
2025-10-26T21:11:23.442Z,1761513083.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861987,-0.501863,-0.071495],[0.506862,0.850947,0.137767],[-0.008301,-0.154992,0.987881]]
2025-10-26T21:11:23.851Z,1761513083.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862175,-0.501486,-0.071868],[0.506546,0.851091,0.138040],[-0.008059,-0.155419,0.987816]]
2025-10-26T21:11:24.250Z,1761513084.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862075,-0.501693,-0.071631],[0.506719,0.851112,0.137273],[-0.007903,-0.154636,0.987940]]
2025-10-26T21:11:24.656Z,1761513084.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861967,-0.501818,-0.072049],[0.506907,0.850996,0.137296],[-0.007584,-0.154866,0.987906]]
2025-10-26T21:11:25.059Z,1761513085.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861628,-0.502368,-0.072270],[0.507488,0.850723,0.136846],[-0.007265,-0.154587,0.987952]]
2025-10-26T21:11:25.462Z,1761513085.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861394,-0.502676,-0.072920],[0.507890,0.850422,0.137225],[-0.006967,-0.155240,0.987852]]
2025-10-26T21:11:25.867Z,1761513085.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860926,-0.503426,-0.073274],[0.508689,0.850036,0.136653],[-0.006509,-0.154921,0.987905]]
2025-10-26T21:11:26.270Z,1761513086.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860607,-0.503855,-0.074068],[0.509233,0.849639,0.137099],[-0.006147,-0.155706,0.987784]]
2025-10-26T21:11:26.674Z,1761513086.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860212,-0.504439,-0.074672],[0.509905,0.849272,0.136870],[-0.005626,-0.155812,0.987771]]
2025-10-26T21:11:27.080Z,1761513087.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859768,-0.505151,-0.074975],[0.510658,0.848889,0.136443],[-0.005279,-0.155596,0.987807]]
2025-10-26T21:11:27.490Z,1761513087.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859596,-0.505327,-0.075758],[0.510952,0.848673,0.136682],[-0.004775,-0.156200,0.987714]]
2025-10-26T21:11:27.893Z,1761513087.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859043,-0.505952,-0.077834],[0.511888,0.847849,0.138286],[-0.003975,-0.158636,0.987329]]
2025-10-26T21:11:28.295Z,1761513088.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859029,-0.505799,-0.078970],[0.511914,0.847634,0.139504],[-0.003623,-0.160263,0.987068]]
2025-10-26T21:11:28.702Z,1761513088.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859068,-0.505663,-0.079417],[0.511850,0.847603,0.139923],[-0.003440,-0.160853,0.986972]]
2025-10-26T21:11:29.103Z,1761513089.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859035,-0.505562,-0.080406],[0.511905,0.847313,0.141471],[-0.003394,-0.162689,0.986672]]
2025-10-26T21:11:29.510Z,1761513089.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859207,-0.505170,-0.081037],[0.511619,0.847362,0.142213],[-0.003174,-0.163650,0.986513]]
2025-10-26T21:11:29.914Z,1761513089.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859716,-0.504309,-0.081000],[0.510763,0.847845,0.142408],[-0.003142,-0.163802,0.986488]]
2025-10-26T21:11:30.311Z,1761513090.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860116,-0.503654,-0.080828],[0.510091,0.848373,0.141673],[-0.002782,-0.163084,0.986608]]
2025-10-26T21:11:30.720Z,1761513090.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860414,-0.503095,-0.081137],[0.509589,0.848602,0.142104],[-0.002639,-0.163615,0.986521]]
2025-10-26T21:11:31.118Z,1761513091.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860776,-0.502535,-0.080764],[0.508977,0.849075,0.141471],[-0.002519,-0.162882,0.986642]]
2025-10-26T21:11:31.523Z,1761513091.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861335,-0.501591,-0.080677],[0.508031,0.849616,0.141621],[-0.002491,-0.162969,0.986628]]
2025-10-26T21:11:31.927Z,1761513091.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861553,-0.501276,-0.080303],[0.507662,0.849968,0.140831],[-0.002340,-0.162101,0.986771]]
2025-10-26T21:11:32.330Z,1761513092.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861953,-0.500559,-0.080479],[0.506984,0.850393,0.140708],[-0.001994,-0.162085,0.986775]]
2025-10-26T21:11:32.737Z,1761513092.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862144,-0.500273,-0.080216],[0.506662,0.850861,0.139029],[-0.001300,-0.160505,0.987034]]
2025-10-26T21:11:33.138Z,1761513093.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862476,-0.499690,-0.080281],[0.506097,0.851292,0.138443],[-0.000836,-0.160034,0.987111]]
2025-10-26T21:11:33.542Z,1761513093.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862878,-0.498928,-0.080701],[0.505412,0.851594,0.139093],[-0.000673,-0.160807,0.986986]]
2025-10-26T21:11:34.354Z,1761513094.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862818,-0.498868,-0.081702],[0.505513,0.851759,0.137702],[0.000895,-0.160113,0.987098]]
2025-10-26T21:11:34.754Z,1761513094.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862377,-0.499531,-0.082308],[0.506264,0.851437,0.136935],[0.001677,-0.159759,0.987155]]
2025-10-26T21:11:35.158Z,1761513095.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862083,-0.499910,-0.083084],[0.506761,0.851183,0.136676],[0.002394,-0.159929,0.987126]]
2025-10-26T21:11:35.563Z,1761513095.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861619,-0.500610,-0.083678],[0.507545,0.850856,0.135806],[0.003212,-0.159483,0.987195]]
2025-10-26T21:11:35.998Z,1761513095.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861123,-0.501267,-0.084845],[0.508379,0.850421,0.135409],[0.004278,-0.159737,0.987150]]
2025-10-26T21:11:36.371Z,1761513096.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860648,-0.501901,-0.085914],[0.509174,0.850002,0.135051],[0.005245,-0.159976,0.987107]]
2025-10-26T21:11:36.774Z,1761513096.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860343,-0.502058,-0.088021],[0.509672,0.849600,0.135698],[0.006655,-0.161609,0.986832]]
2025-10-26T21:11:37.178Z,1761513097.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859915,-0.502505,-0.089639],[0.510377,0.849158,0.135813],[0.007871,-0.162538,0.986671]]
2025-10-26T21:11:37.476Z,1761513097.476 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:11:37.584Z,1761513097.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859251,-0.503410,-0.090914],[0.511473,0.848599,0.135185],[0.009096,-0.162657,0.986641]]
2025-10-26T21:11:38.009Z,1761513098.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858762,-0.503878,-0.092926],[0.512274,0.847963,0.136142],[0.010199,-0.164517,0.986322]]
2025-10-26T21:11:38.390Z,1761513098.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858557,-0.503993,-0.094187],[0.512598,0.847735,0.136340],[0.011131,-0.165336,0.986175]]
2025-10-26T21:11:38.481Z,1761513098.481 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:11:38.795Z,1761513098.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858182,-0.504475,-0.095022],[0.513203,0.847486,0.135609],[0.012119,-0.165143,0.986195]]
2025-10-26T21:11:39.198Z,1761513099.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857999,-0.504556,-0.096237],[0.513486,0.847295,0.135735],[0.013055,-0.165877,0.986060]]
2025-10-26T21:11:39.602Z,1761513099.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858035,-0.504300,-0.097246],[0.513400,0.847355,0.135680],[0.013979,-0.166344,0.985969]]
2025-10-26T21:11:40.044Z,1761513100.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857931,-0.504305,-0.098143],[0.513549,0.847327,0.135294],[0.014930,-0.166474,0.985933]]
2025-10-26T21:11:40.411Z,1761513100.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858066,-0.503944,-0.098807],[0.513296,0.847549,0.134860],[0.015782,-0.166436,0.985926]]
2025-10-26T21:11:40.815Z,1761513100.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858504,-0.503086,-0.099372],[0.512540,0.848045,0.134622],[0.016545,-0.166505,0.985902]]
2025-10-26T21:11:41.218Z,1761513101.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858601,-0.502827,-0.099845],[0.512347,0.848303,0.133727],[0.017458,-0.165973,0.985976]]
2025-10-26T21:11:41.622Z,1761513101.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859069,-0.501969,-0.100133],[0.511536,0.848893,0.133085],[0.018197,-0.165550,0.986033]]
2025-10-26T21:11:42.070Z,1761513102.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859442,-0.501191,-0.100831],[0.510883,0.849282,0.133109],[0.018921,-0.165912,0.985959]]
2025-10-26T21:11:42.431Z,1761513102.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859967,-0.500111,-0.101717],[0.509967,0.849797,0.133334],[0.019757,-0.166536,0.985837]]
2025-10-26T21:11:42.834Z,1761513102.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860308,-0.499491,-0.101872],[0.509362,0.850309,0.132384],[0.020498,-0.165780,0.985950]]
2025-10-26T21:11:43.238Z,1761513103.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860397,-0.499305,-0.102036],[0.509180,0.850603,0.131192],[0.021287,-0.164831,0.986092]]
2025-10-26T21:11:43.642Z,1761513103.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860147,-0.499602,-0.102688],[0.509559,0.850524,0.130226],[0.022277,-0.164339,0.986152]]
2025-10-26T21:11:44.086Z,1761513104.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859793,-0.500093,-0.103265],[0.510120,0.850319,0.129363],[0.023115,-0.163903,0.986206]]
2025-10-26T21:11:44.452Z,1761513104.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859478,-0.500526,-0.103790],[0.510615,0.850143,0.128562],[0.023888,-0.163493,0.986255]]
2025-10-26T21:11:44.490Z,1761513104.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:11:44.516Z,1761513104.516 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:11:44.517Z,1761513104.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:11:44.768Z,1761513104.768 [DAT](INFO): DAT read: 

2025-10-26T21:11:44.769Z,1761513104.769 [DAT](INFO): DAT read: Tx time:21:11:43.8961

2025-10-26T21:11:44.769Z,1761513104.769 [DAT](INFO): Ping request sent.
2025-10-26T21:11:44.769Z,1761513104.769 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:11:44.769Z,1761513104.769 [DAT](INFO): publishing transmit ping time
2025-10-26T21:11:44.770Z,1761513104.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-10-26T21:11:44.854Z,1761513104.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859190,-0.500835,-0.104678],[0.511071,0.849844,0.128735],[0.024485,-0.164105,0.986139]]
2025-10-26T21:11:45.020Z,1761513105.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251043
2025-10-26T21:11:45.258Z,1761513105.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858519,-0.501913,-0.105013],[0.512166,0.849346,0.127662],[0.025117,-0.163384,0.986243]]
2025-10-26T21:11:45.272Z,1761513105.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503140
2025-10-26T21:11:45.524Z,1761513105.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755098
2025-10-26T21:11:45.663Z,1761513105.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857743,-0.503156,-0.105406],[0.513427,0.848772,0.126405],[0.025865,-0.162541,0.986363]]
2025-10-26T21:11:45.776Z,1761513105.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006986
2025-10-26T21:11:46.029Z,1761513106.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259596
2025-10-26T21:11:46.106Z,1761513106.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856830,-0.504607,-0.105896],[0.514909,0.848059,0.125157],[0.026651,-0.161765,0.986469]]
2025-10-26T21:11:46.280Z,1761513106.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511127
2025-10-26T21:11:46.476Z,1761513106.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855883,-0.506084,-0.106504],[0.516441,0.847284,0.124089],[0.027439,-0.161209,0.986539]]
2025-10-26T21:11:46.532Z,1761513106.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763084
2025-10-26T21:11:46.785Z,1761513106.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015328
2025-10-26T21:11:46.875Z,1761513106.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854846,-0.507624,-0.107503],[0.518112,0.846341,0.123556],[0.028264,-0.161320,0.986497]]
2025-10-26T21:11:47.037Z,1761513107.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267280
2025-10-26T21:11:47.279Z,1761513107.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854091,-0.508671,-0.108550],[0.519316,0.845613,0.123484],[0.028979,-0.161838,0.986392]]
2025-10-26T21:11:47.288Z,1761513107.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518986
2025-10-26T21:11:47.540Z,1761513107.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770948
2025-10-26T21:11:47.682Z,1761513107.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853358,-0.509765,-0.109183],[0.520483,0.844988,0.122853],[0.029632,-0.161666,0.986401]]
2025-10-26T21:11:47.792Z,1761513107.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023154
2025-10-26T21:11:48.044Z,1761513108.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275191
2025-10-26T21:11:48.099Z,1761513108.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852832,-0.510459,-0.110047],[0.521301,0.844528,0.122544],[0.030384,-0.161877,0.986343]]
2025-10-26T21:11:48.296Z,1761513108.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527069
2025-10-26T21:11:48.492Z,1761513108.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852209,-0.511343,-0.110763],[0.522265,0.844062,0.121649],[0.031286,-0.161518,0.986374]]
2025-10-26T21:11:48.548Z,1761513108.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779197
2025-10-26T21:11:48.800Z,1761513108.800 [DAT](INFO): DAT read: Rx Time:21:11:47.4600

2025-10-26T21:11:48.801Z,1761513108.801 [DAT](INFO): Rx dataTimestamp_ set to:1761513108.800603
2025-10-26T21:11:48.801Z,1761513108.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032170
2025-10-26T21:11:48.894Z,1761513108.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851719,-0.511876,-0.112057],[0.523021,0.843520,0.122162],[0.031991,-0.162656,0.986164]]
2025-10-26T21:11:49.052Z,1761513109.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283090
2025-10-26T21:11:49.298Z,1761513109.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851537,-0.512006,-0.112847],[0.523277,0.843366,0.122129],[0.032640,-0.163047,0.986078]]
2025-10-26T21:11:49.310Z,1761513109.310 [DAT](INFO): DAT read: 21:11:47.4600 LVL= 30896, 32753, 32754, 32755, AGC= 87, IDX= 176, 0.49, 0.113,-1.531, 0.072,-0.114, PHS= 0.329,-1.372, 0.142, RAW= 144.3,  11.1, CAL= 143.8,  12.1, ROT=   6.2, -12.1

2025-10-26T21:11:49.311Z,1761513109.311 [DAT](INFO): got valid direction response:
 21:11:47.4600 LVL= 30896, 32753, 32754, 32755, AGC= 87, IDX= 176, 0.49, 0.113,-1.531, 0.072,-0.114, PHS= 0.329,-1.372, 0.142, RAW= 144.3,  11.1, CAL= 143.8,  12.1, ROT=   6.2, -12.1

2025-10-26T21:11:49.312Z,1761513109.312 [DAT](INFO): DAT read: Bearing 193.0,   5.4 (Local)

2025-10-26T21:11:49.312Z,1761513109.312 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.0,   5.4 (Local)

2025-10-26T21:11:49.313Z,1761513109.313 [DAT](INFO): DAT read: Range 11 to 50 : 869.7 m  (Round-trip  1159.7 ms) speed  0.6 m/s

2025-10-26T21:11:49.314Z,1761513109.314 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:11:49.315Z,1761513109.315 [DAT](INFO): direction in FSK: [0.972064,0.105600,0.209619]
2025-10-26T21:11:49.331Z,1761513109.331 [DAT](INFO): publishing direction and range info
2025-10-26T21:11:49.708Z,1761513109.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851850,-0.511429,-0.113101],[0.522733,0.843769,0.121676],[0.033202,-0.162771,0.986105]]
2025-10-26T21:11:50.110Z,1761513110.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852265,-0.510617,-0.113639],[0.522036,0.844116,0.122257],[0.033498,-0.163519,0.985971]]
2025-10-26T21:11:50.510Z,1761513110.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852969,-0.509211,-0.114663],[0.520857,0.844655,0.123556],[0.033934,-0.165113,0.985691]]
2025-10-26T21:11:50.921Z,1761513110.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854185,-0.506900,-0.115847],[0.518830,0.845630,0.125399],[0.034399,-0.167219,0.985319]]
2025-10-26T21:11:51.318Z,1761513111.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855738,-0.503983,-0.117107],[0.516241,0.846851,0.127819],[0.034754,-0.169835,0.984859]]
2025-10-26T21:11:51.792Z,1761513111.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857025,-0.501662,-0.117654],[0.514064,0.848066,0.128538],[0.035296,-0.170642,0.984701]]
2025-10-26T21:11:52.128Z,1761513112.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858201,-0.499551,-0.118069],[0.512082,0.849114,0.129529],[0.035548,-0.171623,0.984521]]
2025-10-26T21:11:52.532Z,1761513112.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858938,-0.498209,-0.118375],[0.510808,0.849877,0.129553],[0.036059,-0.171745,0.984481]]
2025-10-26T21:11:52.942Z,1761513112.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859990,-0.496260,-0.118921],[0.509011,0.850801,0.130560],[0.036387,-0.172812,0.984282]]
2025-10-26T21:11:53.338Z,1761513113.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860461,-0.495272,-0.119633],[0.508167,0.851269,0.130797],[0.037060,-0.173339,0.984165]]
2025-10-26T21:11:53.743Z,1761513113.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860921,-0.494315,-0.120280],[0.507350,0.851688,0.131240],[0.037568,-0.174011,0.984027]]
2025-10-26T21:11:54.148Z,1761513114.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861440,-0.493300,-0.120729],[0.506436,0.852182,0.131560],[0.037985,-0.174472,0.983929]]
2025-10-26T21:11:54.551Z,1761513114.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861471,-0.493194,-0.120946],[0.506354,0.852291,0.131167],[0.038390,-0.174238,0.983955]]
2025-10-26T21:11:54.962Z,1761513114.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861655,-0.492711,-0.121602],[0.506022,0.852369,0.131940],[0.038641,-0.175220,0.983771]]
2025-10-26T21:11:55.358Z,1761513115.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861559,-0.492788,-0.121971],[0.506136,0.852404,0.131278],[0.039276,-0.174837,0.983814]]
2025-10-26T21:11:55.763Z,1761513115.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861298,-0.493319,-0.121666],[0.506568,0.852303,0.130262],[0.039436,-0.173826,0.983986]]
2025-10-26T21:11:56.166Z,1761513116.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861027,-0.493768,-0.121763],[0.507000,0.852158,0.129529],[0.039804,-0.173262,0.984071]]
2025-10-26T21:11:56.570Z,1761513116.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860685,-0.494225,-0.122320],[0.507542,0.851863,0.129346],[0.040274,-0.173409,0.984026]]
2025-10-26T21:11:56.978Z,1761513116.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860317,-0.494761,-0.122746],[0.508137,0.851544,0.129112],[0.040644,-0.173449,0.984004]]
2025-10-26T21:11:57.379Z,1761513117.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860209,-0.494897,-0.122955],[0.508289,0.851521,0.128661],[0.041025,-0.173172,0.984037]]
2025-10-26T21:11:57.782Z,1761513117.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859914,-0.495357,-0.123166],[0.508750,0.851362,0.127894],[0.041506,-0.172639,0.984110]]
2025-10-26T21:11:58.187Z,1761513118.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859935,-0.495176,-0.123739],[0.508675,0.851387,0.128021],[0.041957,-0.173033,0.984022]]
2025-10-26T21:11:58.594Z,1761513118.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860189,-0.494667,-0.124012],[0.508209,0.851700,0.127792],[0.042406,-0.172949,0.984017]]
2025-10-26T21:11:59.001Z,1761513119.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860574,-0.493922,-0.124313],[0.507522,0.852115,0.127756],[0.042827,-0.173035,0.983984]]
2025-10-26T21:11:59.398Z,1761513119.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861072,-0.493030,-0.124404],[0.506651,0.852646,0.127671],[0.043127,-0.172963,0.983984]]
2025-10-26T21:11:59.802Z,1761513119.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861797,-0.491816,-0.124188],[0.505399,0.853430,0.127396],[0.043331,-0.172554,0.984047]]
2025-10-26T21:12:00.206Z,1761513120.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862464,-0.490622,-0.124282],[0.504255,0.854030,0.127901],[0.043390,-0.172980,0.983969]]
2025-10-26T21:12:00.613Z,1761513120.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863215,-0.489299,-0.124285],[0.502956,0.854759,0.128147],[0.043532,-0.173128,0.983937]]
2025-10-26T21:12:01.014Z,1761513121.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863907,-0.488171,-0.123912],[0.501769,0.855475,0.128022],[0.043507,-0.172774,0.984000]]
2025-10-26T21:12:01.419Z,1761513121.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864779,-0.486653,-0.123797],[0.500269,0.856276,0.128538],[0.043451,-0.173089,0.983947]]
2025-10-26T21:12:01.824Z,1761513121.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865590,-0.485218,-0.123762],[0.498862,0.857026,0.129003],[0.043473,-0.173404,0.983891]]
2025-10-26T21:12:02.226Z,1761513122.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866300,-0.483962,-0.123712],[0.497625,0.857695,0.129340],[0.043511,-0.173609,0.983853]]
2025-10-26T21:12:02.633Z,1761513122.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867034,-0.482806,-0.123083],[0.496374,0.858409,0.129408],[0.043177,-0.173296,0.983923]]
2025-10-26T21:12:03.036Z,1761513123.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867603,-0.481850,-0.122826],[0.495382,0.858982,0.129410],[0.043149,-0.173123,0.983955]]
2025-10-26T21:12:03.452Z,1761513123.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868166,-0.480980,-0.122256],[0.494421,0.859538,0.129392],[0.042849,-0.172780,0.984028]]
2025-10-26T21:12:03.842Z,1761513123.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868600,-0.480252,-0.122036],[0.493659,0.859983,0.129341],[0.042833,-0.172590,0.984062]]
2025-10-26T21:12:04.246Z,1761513124.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869173,-0.479246,-0.121908],[0.492686,0.860386,0.130368],[0.042410,-0.173375,0.983942]]
2025-10-26T21:12:04.654Z,1761513124.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869920,-0.477959,-0.121634],[0.491380,0.861079,0.130727],[0.042254,-0.173490,0.983929]]
2025-10-26T21:12:05.055Z,1761513125.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870543,-0.477025,-0.120842],[0.490300,0.861755,0.130326],[0.041967,-0.172703,0.984079]]
2025-10-26T21:12:05.461Z,1761513125.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870954,-0.476401,-0.120341],[0.489569,0.862265,0.129699],[0.041977,-0.171877,0.984224]]
2025-10-26T21:12:05.862Z,1761513125.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871446,-0.475700,-0.119546],[0.488711,0.862848,0.129055],[0.041759,-0.170888,0.984405]]
2025-10-26T21:12:06.267Z,1761513126.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872163,-0.474546,-0.118901],[0.487462,0.863536,0.129174],[0.041377,-0.170621,0.984468]]
2025-10-26T21:12:06.680Z,1761513126.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872478,-0.474183,-0.118037],[0.486898,0.864059,0.127802],[0.041390,-0.168976,0.984751]]
2025-10-26T21:12:07.074Z,1761513127.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872761,-0.473762,-0.117633],[0.486393,0.864409,0.127351],[0.041349,-0.168363,0.984857]]
2025-10-26T21:12:07.479Z,1761513127.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873398,-0.472821,-0.116686],[0.485268,0.865159,0.126550],[0.041116,-0.167153,0.985073]]
2025-10-26T21:12:07.883Z,1761513127.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873522,-0.472834,-0.115701],[0.485049,0.865514,0.124951],[0.041060,-0.165268,0.985394]]
2025-10-26T21:12:08.288Z,1761513128.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873732,-0.472486,-0.115541],[0.484663,0.865782,0.124589],[0.041167,-0.164856,0.985458]]
2025-10-26T21:12:08.604Z,1761513128.604 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:12:08.690Z,1761513128.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874171,-0.471720,-0.115347],[0.483880,0.866192,0.124789],[0.041047,-0.164901,0.985456]]
2025-10-26T21:12:09.094Z,1761513129.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874324,-0.471462,-0.115240],[0.483605,0.866352,0.124742],[0.041027,-0.164796,0.985474]]
2025-10-26T21:12:09.499Z,1761513129.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874464,-0.471232,-0.115125],[0.483351,0.866516,0.124585],[0.041049,-0.164592,0.985507]]
2025-10-26T21:12:09.608Z,1761513129.608 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:12:09.903Z,1761513129.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874464,-0.471256,-0.115025],[0.483362,0.866497,0.124676],[0.040915,-0.164623,0.985508]]
2025-10-26T21:12:10.306Z,1761513130.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874424,-0.471359,-0.114908],[0.483431,0.866504,0.124356],[0.040952,-0.164290,0.985562]]
2025-10-26T21:12:10.716Z,1761513130.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874412,-0.471395,-0.114848],[0.483449,0.866521,0.124167],[0.040986,-0.164096,0.985592]]
2025-10-26T21:12:11.115Z,1761513131.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874333,-0.471464,-0.115172],[0.483585,0.866396,0.124511],[0.041082,-0.164559,0.985511]]
2025-10-26T21:12:11.525Z,1761513131.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874235,-0.471617,-0.115288],[0.483755,0.866306,0.124482],[0.041167,-0.164597,0.985501]]
2025-10-26T21:12:11.938Z,1761513131.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874192,-0.471688,-0.115321],[0.483825,0.866285,0.124350],[0.041246,-0.164501,0.985514]]
2025-10-26T21:12:12.326Z,1761513132.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874320,-0.471529,-0.115001],[0.483630,0.866344,0.124704],[0.040829,-0.164650,0.985507]]
2025-10-26T21:12:12.741Z,1761513132.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874941,-0.470518,-0.114416],[0.482609,0.866635,0.126620],[0.039580,-0.166004,0.985331]]
2025-10-26T21:12:13.140Z,1761513133.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875339,-0.470232,-0.112533],[0.481987,0.867078,0.125951],[0.038348,-0.164489,0.985633]]
2025-10-26T21:12:13.553Z,1761513133.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875796,-0.469594,-0.111639],[0.481223,0.867441,0.126373],[0.037497,-0.164400,0.985681]]
2025-10-26T21:12:13.948Z,1761513133.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876597,-0.468477,-0.110029],[0.479858,0.868175,0.126528],[0.036249,-0.163712,0.985842]]
2025-10-26T21:12:14.372Z,1761513134.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877560,-0.466984,-0.108694],[0.478168,0.869071,0.126769],[0.035264,-0.163222,0.985959]]
2025-10-26T21:12:14.750Z,1761513134.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878433,-0.465646,-0.107372],[0.476640,0.869854,0.127153],[0.034190,-0.162873,0.986054]]
2025-10-26T21:12:15.154Z,1761513135.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879542,-0.463730,-0.106588],[0.474648,0.870800,0.128129],[0.033399,-0.163287,0.986013]]
2025-10-26T21:12:15.578Z,1761513135.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880536,-0.462122,-0.105353],[0.472878,0.871653,0.128865],[0.032280,-0.163289,0.986050]]
2025-10-26T21:12:15.962Z,1761513135.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881537,-0.460545,-0.103880],[0.471087,0.872572,0.129206],[0.031137,-0.162837,0.986162]]
2025-10-26T21:12:16.366Z,1761513136.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882188,-0.459783,-0.101701],[0.469949,0.873327,0.128248],[0.029852,-0.160934,0.986514]]
2025-10-26T21:12:16.770Z,1761513136.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882692,-0.459153,-0.100164],[0.469075,0.873812,0.128143],[0.028688,-0.160095,0.986685]]
2025-10-26T21:12:17.174Z,1761513137.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883275,-0.458315,-0.098854],[0.468048,0.874296,0.128600],[0.027488,-0.159858,0.986757]]
2025-10-26T21:12:17.605Z,1761513137.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883534,-0.458167,-0.097218],[0.467631,0.874567,0.128270],[0.026254,-0.158793,0.986963]]
2025-10-26T21:12:17.982Z,1761513137.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883609,-0.458407,-0.095383],[0.467567,0.874659,0.127878],[0.024808,-0.157592,0.987193]]
2025-10-26T21:12:18.386Z,1761513138.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883765,-0.458422,-0.093857],[0.467347,0.874745,0.128092],[0.023380,-0.157067,0.987311]]
2025-10-26T21:12:18.790Z,1761513138.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883728,-0.458943,-0.091634],[0.467490,0.874823,0.127031],[0.021863,-0.155099,0.987657]]
2025-10-26T21:12:19.194Z,1761513139.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883430,-0.459775,-0.090329],[0.468101,0.874567,0.126546],[0.020816,-0.154078,0.987839]]
2025-10-26T21:12:19.634Z,1761513139.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882855,-0.461089,-0.089235],[0.469247,0.873855,0.127219],[0.019319,-0.154189,0.987852]]
2025-10-26T21:12:20.002Z,1761513140.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882486,-0.462033,-0.088001],[0.469984,0.873514,0.126842],[0.018265,-0.153296,0.988012]]
2025-10-26T21:12:20.413Z,1761513140.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882187,-0.462797,-0.086978],[0.470597,0.873076,0.127579],[0.016896,-0.153480,0.988007]]
2025-10-26T21:12:20.816Z,1761513140.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881703,-0.463819,-0.086440],[0.471532,0.872512,0.127990],[0.016056,-0.153608,0.988001]]
2025-10-26T21:12:21.214Z,1761513141.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881276,-0.464776,-0.085648],[0.472354,0.872096,0.127786],[0.015302,-0.153071,0.988097]]
2025-10-26T21:12:21.660Z,1761513141.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881043,-0.465342,-0.084966],[0.472811,0.871834,0.127889],[0.014564,-0.152849,0.988142]]
2025-10-26T21:12:22.023Z,1761513142.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880879,-0.465761,-0.084374],[0.473140,0.871606,0.128227],[0.013817,-0.152873,0.988149]]
2025-10-26T21:12:22.430Z,1761513142.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880987,-0.465701,-0.083573],[0.472967,0.871594,0.128940],[0.012794,-0.153121,0.988125]]
2025-10-26T21:12:22.830Z,1761513142.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881031,-0.465712,-0.083043],[0.472905,0.871526,0.129624],[0.012006,-0.153474,0.988080]]
2025-10-26T21:12:23.234Z,1761513143.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881162,-0.465578,-0.082403],[0.472680,0.871569,0.130155],[0.011223,-0.153638,0.988064]]
2025-10-26T21:12:23.690Z,1761513143.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881494,-0.465051,-0.081821],[0.472080,0.871766,0.131014],[0.010401,-0.154114,0.987998]]
2025-10-26T21:12:24.044Z,1761513144.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881776,-0.464653,-0.081049],[0.471573,0.871941,0.131669],[0.009490,-0.154323,0.987975]]
2025-10-26T21:12:24.446Z,1761513144.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882251,-0.463898,-0.080201],[0.470704,0.872266,0.132626],[0.008432,-0.154760,0.987916]]
2025-10-26T21:12:24.850Z,1761513144.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882988,-0.462686,-0.079084],[0.469337,0.872924,0.133140],[0.007432,-0.154678,0.987937]]
2025-10-26T21:12:25.254Z,1761513145.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883501,-0.461903,-0.077920],[0.468385,0.873382,0.133488],[0.006396,-0.154433,0.987983]]
2025-10-26T21:12:25.682Z,1761513145.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883887,-0.461346,-0.076839],[0.467673,0.873628,0.134369],[0.005138,-0.154703,0.987948]]
2025-10-26T21:12:26.062Z,1761513146.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884156,-0.461035,-0.075602],[0.467176,0.873848,0.134672],[0.003976,-0.154391,0.988002]]
2025-10-26T21:12:26.466Z,1761513146.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884427,-0.460754,-0.074126],[0.466671,0.874110,0.134725],[0.002719,-0.153747,0.988107]]
2025-10-26T21:12:26.872Z,1761513146.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884376,-0.461030,-0.073012],[0.466772,0.874074,0.134603],[0.001762,-0.153120,0.988206]]
2025-10-26T21:12:27.276Z,1761513147.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884537,-0.460800,-0.072506],[0.466469,0.874104,0.135456],[0.000960,-0.153638,0.988127]]
2025-10-26T21:12:27.698Z,1761513147.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884699,-0.460538,-0.072203],[0.466164,0.874053,0.136829],[0.000094,-0.154711,0.987960]]
2025-10-26T21:12:28.086Z,1761513148.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884389,-0.461250,-0.071443],[0.466750,0.873745,0.136803],[-0.000677,-0.154333,0.988019]]
2025-10-26T21:12:28.487Z,1761513148.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884333,-0.461419,-0.071046],[0.466854,0.873571,0.137551],[-0.001404,-0.154809,0.987943]]
2025-10-26T21:12:28.907Z,1761513148.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884247,-0.461710,-0.070218],[0.467014,0.873497,0.137482],[-0.002141,-0.154361,0.988012]]
2025-10-26T21:12:29.294Z,1761513149.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883733,-0.462755,-0.069807],[0.467983,0.872956,0.137621],[-0.002746,-0.154289,0.988022]]
2025-10-26T21:12:29.703Z,1761513149.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883016,-0.464200,-0.069292],[0.469332,0.872274,0.137356],[-0.003319,-0.153808,0.988095]]
2025-10-26T21:12:30.110Z,1761513150.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882522,-0.465231,-0.068668],[0.470254,0.871780,0.137338],[-0.004030,-0.153495,0.988141]]
2025-10-26T21:12:30.506Z,1761513150.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882036,-0.466216,-0.068234],[0.471161,0.871298,0.137287],[-0.004553,-0.153241,0.988178]]
2025-10-26T21:12:30.913Z,1761513150.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881431,-0.467436,-0.067701],[0.472286,0.870739,0.136964],[-0.005072,-0.152699,0.988260]]
2025-10-26T21:12:31.314Z,1761513151.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880876,-0.468582,-0.066996],[0.473316,0.870322,0.136061],[-0.005447,-0.151563,0.988433]]
2025-10-26T21:12:31.725Z,1761513151.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880252,-0.469858,-0.066252],[0.474470,0.869835,0.135152],[-0.005874,-0.150403,0.988607]]
2025-10-26T21:12:32.122Z,1761513152.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879825,-0.470740,-0.065656],[0.475253,0.869430,0.135004],[-0.006468,-0.149983,0.988667]]
2025-10-26T21:12:32.526Z,1761513152.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879638,-0.471137,-0.065314],[0.475588,0.869115,0.135853],[-0.007240,-0.150565,0.988574]]
2025-10-26T21:12:32.930Z,1761513152.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879479,-0.471563,-0.064390],[0.475876,0.869085,0.135029],[-0.007714,-0.149396,0.988747]]
2025-10-26T21:12:33.335Z,1761513153.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879305,-0.471914,-0.064191],[0.476190,0.868855,0.135400],[-0.008125,-0.149625,0.988709]]
2025-10-26T21:12:33.740Z,1761513153.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879426,-0.471741,-0.063803],[0.475956,0.868883,0.136046],[-0.008741,-0.150010,0.988646]]
2025-10-26T21:12:34.142Z,1761513154.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879586,-0.471503,-0.063345],[0.475653,0.869057,0.135998],[-0.009073,-0.149752,0.988682]]
2025-10-26T21:12:34.546Z,1761513154.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879571,-0.471580,-0.062983],[0.475675,0.869051,0.135951],[-0.009376,-0.149538,0.988712]]
2025-10-26T21:12:34.955Z,1761513154.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879592,-0.471552,-0.062900],[0.475630,0.869000,0.136434],[-0.009675,-0.149924,0.988650]]
2025-10-26T21:12:35.354Z,1761513155.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879734,-0.471256,-0.063133],[0.475361,0.868957,0.137643],[-0.010006,-0.151100,0.988468]]
2025-10-26T21:12:35.758Z,1761513155.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879809,-0.471158,-0.062819],[0.475213,0.868985,0.137976],[-0.010420,-0.151245,0.988441]]
2025-10-26T21:12:36.162Z,1761513156.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879827,-0.471144,-0.062671],[0.475175,0.868983,0.138119],[-0.010614,-0.151301,0.988431]]
2025-10-26T21:12:36.568Z,1761513156.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879517,-0.471790,-0.062158],[0.475743,0.868769,0.137513],[-0.010876,-0.150516,0.988548]]
2025-10-26T21:12:36.970Z,1761513156.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879542,-0.471809,-0.061659],[0.475681,0.868732,0.137954],[-0.011523,-0.150666,0.988518]]
2025-10-26T21:12:37.383Z,1761513157.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879183,-0.472565,-0.060989],[0.476324,0.868346,0.138169],[-0.012335,-0.150527,0.988529]]
2025-10-26T21:12:37.778Z,1761513157.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879140,-0.472724,-0.060372],[0.476365,0.868033,0.139985],[-0.013770,-0.151825,0.988311]]
2025-10-26T21:12:38.183Z,1761513158.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879112,-0.472904,-0.059367],[0.476375,0.867866,0.140978],[-0.015146,-0.152216,0.988231]]
2025-10-26T21:12:38.586Z,1761513158.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879014,-0.473270,-0.057878],[0.476484,0.867548,0.142560],[-0.017258,-0.152890,0.988092]]
2025-10-26T21:12:38.993Z,1761513158.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878732,-0.473955,-0.056546],[0.476933,0.867101,0.143770],[-0.019110,-0.153304,0.987994]]
2025-10-26T21:12:39.409Z,1761513159.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878349,-0.474818,-0.055237],[0.477583,0.866722,0.143901],[-0.020452,-0.152775,0.988049]]
2025-10-26T21:12:39.728Z,1761513159.728 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:12:39.798Z,1761513159.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877743,-0.476085,-0.053948],[0.478643,0.866191,0.143573],[-0.021623,-0.151842,0.988168]]
2025-10-26T21:12:40.202Z,1761513160.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877278,-0.477074,-0.052765],[0.479444,0.865775,0.143411],[-0.022735,-0.151110,0.988256]]
2025-10-26T21:12:40.608Z,1761513160.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876922,-0.477858,-0.051572],[0.480034,0.865419,0.143589],[-0.023984,-0.150672,0.988293]]
2025-10-26T21:12:40.732Z,1761513160.732 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:12:41.010Z,1761513161.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876620,-0.478552,-0.050263],[0.480519,0.865126,0.143732],[-0.025300,-0.150151,0.988339]]
2025-10-26T21:12:41.414Z,1761513161.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876145,-0.479557,-0.048939],[0.481308,0.864657,0.143915],[-0.026700,-0.149645,0.988379]]
2025-10-26T21:12:41.818Z,1761513161.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875561,-0.480766,-0.047500],[0.482276,0.864055,0.144286],[-0.028325,-0.149239,0.988395]]
2025-10-26T21:12:42.222Z,1761513162.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875307,-0.481378,-0.045967],[0.482629,0.863732,0.145040],[-0.030116,-0.149140,0.988357]]
2025-10-26T21:12:42.626Z,1761513162.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875205,-0.481701,-0.044493],[0.482708,0.863580,0.145681],[-0.031751,-0.148978,0.988331]]
2025-10-26T21:12:43.032Z,1761513163.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874800,-0.482519,-0.043589],[0.483337,0.863004,0.146998],[-0.033312,-0.149662,0.988176]]
2025-10-26T21:12:43.436Z,1761513163.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874675,-0.482816,-0.042805],[0.483454,0.862646,0.148706],[-0.034872,-0.150764,0.987955]]
2025-10-26T21:12:43.838Z,1761513163.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874679,-0.482987,-0.040746],[0.483332,0.862803,0.148192],[-0.036420,-0.149314,0.988119]]
2025-10-26T21:12:44.242Z,1761513164.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874302,-0.483778,-0.039426],[0.483904,0.862426,0.148522],[-0.037850,-0.148932,0.988123]]
2025-10-26T21:12:44.735Z,1761513164.735 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:12:44.792Z,1761513164.792 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:12:44.793Z,1761513164.793 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:12:45.044Z,1761513165.044 [DAT](INFO): DAT read: user:147>

2025-10-26T21:12:45.045Z,1761513165.045 [DAT](INFO): DAT read: Tx time:21:12:44.1461

2025-10-26T21:12:45.045Z,1761513165.045 [DAT](INFO): Ping request sent.
2025-10-26T21:12:45.046Z,1761513165.046 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:12:45.046Z,1761513165.046 [DAT](INFO): publishing transmit ping time
2025-10-26T21:12:45.046Z,1761513165.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-10-26T21:12:45.054Z,1761513165.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873936,-0.484607,-0.037313],[0.484334,0.861868,0.150347],[-0.040701,-0.149465,0.987929]]
2025-10-26T21:12:45.296Z,1761513165.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250800
2025-10-26T21:12:45.454Z,1761513165.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873990,-0.484614,-0.035918],[0.484101,0.861866,0.151107],[-0.042272,-0.149454,0.987865]]
2025-10-26T21:12:45.548Z,1761513165.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502772
2025-10-26T21:12:45.800Z,1761513165.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754718
2025-10-26T21:12:45.865Z,1761513165.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874205,-0.484246,-0.035650],[0.483606,0.861769,0.153232],[-0.043480,-0.151197,0.987547]]
2025-10-26T21:12:46.052Z,1761513166.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006871
2025-10-26T21:12:46.263Z,1761513166.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874085,-0.484542,-0.034553],[0.483708,0.861617,0.153760],[-0.044732,-0.151112,0.987504]]
2025-10-26T21:12:46.304Z,1761513166.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258845
2025-10-26T21:12:46.556Z,1761513166.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510732
2025-10-26T21:12:46.666Z,1761513166.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873827,-0.485088,-0.033389],[0.484058,0.861366,0.154065],[-0.045974,-0.150788,0.987496]]
2025-10-26T21:12:46.808Z,1761513166.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762770
2025-10-26T21:12:47.061Z,1761513167.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015609
2025-10-26T21:12:47.072Z,1761513167.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873744,-0.485304,-0.032442],[0.484080,0.861176,0.155055],[-0.047310,-0.151183,0.987373]]
2025-10-26T21:12:47.312Z,1761513167.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266716
2025-10-26T21:12:47.474Z,1761513167.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873625,-0.485576,-0.031555],[0.484193,0.861032,0.155504],[-0.048339,-0.151132,0.987331]]
2025-10-26T21:12:47.569Z,1761513167.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522912
2025-10-26T21:12:47.816Z,1761513167.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770691
2025-10-26T21:12:47.883Z,1761513167.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873196,-0.486412,-0.030525],[0.484860,0.860649,0.155548],[-0.049389,-0.150624,0.987357]]
2025-10-26T21:12:48.068Z,1761513168.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022658
2025-10-26T21:12:48.282Z,1761513168.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873129,-0.486595,-0.029524],[0.484876,0.860591,0.155817],[-0.050412,-0.150364,0.987345]]
2025-10-26T21:12:48.321Z,1761513168.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275097
2025-10-26T21:12:48.572Z,1761513168.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526763
2025-10-26T21:12:48.686Z,1761513168.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872929,-0.486990,-0.028900],[0.485123,0.860280,0.156762],[-0.051479,-0.150862,0.987213]]
2025-10-26T21:12:48.824Z,1761513168.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778767
2025-10-26T21:12:49.077Z,1761513169.077 [DAT](INFO): DAT read: Rx Time:21:12:47.6679

2025-10-26T21:12:49.077Z,1761513169.077 [DAT](INFO): Rx dataTimestamp_ set to:1761513169.077196
2025-10-26T21:12:49.078Z,1761513169.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032435
2025-10-26T21:12:49.094Z,1761513169.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873098,-0.486729,-0.028190],[0.484702,0.860319,0.157844],[-0.052576,-0.151477,0.987062]]
2025-10-26T21:12:49.328Z,1761513169.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282733
2025-10-26T21:12:49.494Z,1761513169.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873394,-0.486241,-0.027435],[0.484051,0.860498,0.158861],[-0.053637,-0.152028,0.986920]]
2025-10-26T21:12:49.586Z,1761513169.586 [DAT](INFO): DAT read: 21:12:47.6679 LVL= 32752, 32753, 32754, 32755, AGC= 90, IDX=  16, 0.39,-2.188, 2.273,-2.350,-2.465, PHS= 0.379,-1.500, 0.070, RAW= 141.2,  12.0, CAL= 140.6,  13.0, ROT=   9.4, -13.0

2025-10-26T21:12:49.587Z,1761513169.587 [DAT](INFO): got valid direction response:
 21:12:47.6679 LVL= 32752, 32753, 32754, 32755, AGC= 90, IDX=  16, 0.39,-2.188, 2.273,-2.350,-2.465, PHS= 0.379,-1.500, 0.070, RAW= 141.2,  12.0, CAL= 140.6,  13.0, ROT=   9.4, -13.0

2025-10-26T21:12:49.588Z,1761513169.588 [DAT](INFO): DAT read: Bearing 192.1,   4.1 (Local)

2025-10-26T21:12:49.588Z,1761513169.588 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.1,   4.1 (Local)

2025-10-26T21:12:49.590Z,1761513169.590 [DAT](INFO): DAT read: Range 11 to 50 : 838.2 m  (Round-trip  1117.6 ms) speed  0.4 m/s

2025-10-26T21:12:49.590Z,1761513169.590 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:12:49.592Z,1761513169.592 [DAT](INFO): direction in FSK: [0.961286,0.159140,0.224951]
2025-10-26T21:12:49.592Z,1761513169.592 [DAT](INFO): publishing direction and range info
2025-10-26T21:12:49.898Z,1761513169.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873535,-0.486032,-0.026657],[0.483671,0.860522,0.159887],[-0.054771,-0.152560,0.986775]]
2025-10-26T21:12:50.302Z,1761513170.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873683,-0.485808,-0.025851],[0.483272,0.860563,0.160867],[-0.055904,-0.153040,0.986637]]
2025-10-26T21:12:50.716Z,1761513170.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873595,-0.486022,-0.024785],[0.483312,0.860511,0.161032],[-0.056937,-0.152656,0.986638]]
2025-10-26T21:12:51.110Z,1761513171.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873550,-0.486158,-0.023678],[0.483261,0.860489,0.161301],[-0.058043,-0.152347,0.986621]]
2025-10-26T21:12:51.514Z,1761513171.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873681,-0.485970,-0.022687],[0.482881,0.860563,0.162040],[-0.059223,-0.152527,0.986523]]
2025-10-26T21:12:51.918Z,1761513171.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873632,-0.486080,-0.022226],[0.482873,0.860424,0.162803],[-0.060012,-0.152962,0.986408]]
2025-10-26T21:12:52.324Z,1761513172.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873520,-0.486311,-0.021573],[0.482980,0.860299,0.163143],[-0.060779,-0.152928,0.986367]]
2025-10-26T21:12:52.732Z,1761513172.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873490,-0.486401,-0.020727],[0.482931,0.860300,0.163285],[-0.061591,-0.152638,0.986361]]
2025-10-26T21:12:53.132Z,1761513173.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873229,-0.486883,-0.020387],[0.483339,0.860026,0.163520],[-0.062082,-0.152645,0.986329]]
2025-10-26T21:12:53.534Z,1761513173.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872950,-0.487421,-0.019455],[0.483776,0.859926,0.162750],[-0.062598,-0.151484,0.986476]]
2025-10-26T21:12:53.939Z,1761513173.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872513,-0.488216,-0.019121],[0.484495,0.859479,0.162974],[-0.063133,-0.151461,0.986445]]
2025-10-26T21:12:54.353Z,1761513174.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872057,-0.489036,-0.018993],[0.485282,0.859031,0.162992],[-0.063393,-0.151355,0.986445]]
2025-10-26T21:12:54.746Z,1761513174.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871637,-0.489781,-0.019094],[0.485975,0.858476,0.163853],[-0.063860,-0.152099,0.986300]]
2025-10-26T21:12:55.153Z,1761513175.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871084,-0.490730,-0.019914],[0.486942,0.857652,0.165289],[-0.064033,-0.153677,0.986044]]
2025-10-26T21:12:55.560Z,1761513175.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870845,-0.491145,-0.020133],[0.487325,0.857257,0.166206],[-0.064373,-0.154551,0.985886]]
2025-10-26T21:12:55.958Z,1761513175.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870335,-0.492045,-0.020233],[0.488185,0.856647,0.166830],[-0.064755,-0.155075,0.985778]]
2025-10-26T21:12:56.367Z,1761513176.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869712,-0.493126,-0.020705],[0.489283,0.855906,0.167410],[-0.064833,-0.155729,0.985670]]
2025-10-26T21:12:56.766Z,1761513176.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869136,-0.494136,-0.020785],[0.490282,0.855310,0.167537],[-0.065009,-0.155803,0.985647]]
2025-10-26T21:12:57.186Z,1761513177.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869010,-0.494363,-0.020676],[0.490418,0.855026,0.168585],[-0.065664,-0.156642,0.985470]]
2025-10-26T21:12:57.586Z,1761513177.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868794,-0.494733,-0.020870],[0.490765,0.854684,0.169305],[-0.065923,-0.157333,0.985343]]
2025-10-26T21:12:57.983Z,1761513177.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868450,-0.495324,-0.021166],[0.491377,0.854286,0.169541],[-0.065895,-0.157638,0.985296]]
2025-10-26T21:12:58.386Z,1761513178.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868308,-0.495562,-0.021437],[0.491630,0.854070,0.169896],[-0.065885,-0.158061,0.985229]]
2025-10-26T21:12:58.791Z,1761513178.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868192,-0.495757,-0.021600],[0.491829,0.853899,0.170175],[-0.065921,-0.158369,0.985177]]
2025-10-26T21:12:59.213Z,1761513179.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868093,-0.495944,-0.021315],[0.491980,0.853849,0.169992],[-0.066106,-0.158056,0.985215]]
2025-10-26T21:12:59.599Z,1761513179.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868258,-0.495657,-0.021270],[0.491696,0.854028,0.169917],[-0.066055,-0.157990,0.985229]]
2025-10-26T21:12:59.998Z,1761513179.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868166,-0.495822,-0.021171],[0.491897,0.854075,0.169092],[-0.065758,-0.157214,0.985373]]
2025-10-26T21:13:00.402Z,1761513180.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868119,-0.495862,-0.022155],[0.492051,0.853863,0.169717],[-0.065239,-0.158236,0.985244]]
2025-10-26T21:13:00.806Z,1761513180.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867932,-0.496178,-0.022399],[0.492513,0.853936,0.167999],[-0.064230,-0.156843,0.985533]]
2025-10-26T21:13:01.242Z,1761513181.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867797,-0.496384,-0.023058],[0.492905,0.853973,0.166656],[-0.063034,-0.155989,0.985745]]
2025-10-26T21:13:01.617Z,1761513181.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867870,-0.496240,-0.023401],[0.492818,0.854026,0.166644],[-0.062710,-0.156158,0.985739]]
2025-10-26T21:13:02.019Z,1761513182.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867204,-0.497374,-0.024018],[0.494079,0.853450,0.165860],[-0.061996,-0.155701,0.985857]]
2025-10-26T21:13:02.424Z,1761513182.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866807,-0.498047,-0.024379],[0.494881,0.853246,0.164512],[-0.061133,-0.154664,0.986074]]
2025-10-26T21:13:02.833Z,1761513182.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866150,-0.499163,-0.024913],[0.496108,0.852673,0.163784],[-0.060512,-0.154221,0.986181]]
2025-10-26T21:13:03.270Z,1761513183.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865785,-0.499752,-0.025766],[0.496832,0.852295,0.163559],[-0.059778,-0.154408,0.986197]]
2025-10-26T21:13:03.639Z,1761513183.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865245,-0.500631,-0.026820],[0.497933,0.851885,0.162341],[-0.058425,-0.153819,0.986370]]
2025-10-26T21:13:04.039Z,1761513184.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864528,-0.501824,-0.027631],[0.499307,0.851326,0.161049],[-0.057295,-0.153028,0.986560]]
2025-10-26T21:13:04.851Z,1761513184.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863303,-0.503824,-0.029486],[0.501623,0.850171,0.159951],[-0.055519,-0.152877,0.986685]]
2025-10-26T21:13:05.295Z,1761513185.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862916,-0.504425,-0.030520],[0.502400,0.849803,0.159466],[-0.054502,-0.152939,0.986732]]
2025-10-26T21:13:05.658Z,1761513185.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862396,-0.505253,-0.031506],[0.503398,0.849324,0.158869],[-0.053510,-0.152868,0.986797]]
2025-10-26T21:13:06.062Z,1761513186.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862058,-0.505756,-0.032648],[0.504070,0.848929,0.158848],[-0.052622,-0.153393,0.986763]]
2025-10-26T21:13:06.467Z,1761513186.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861905,-0.505987,-0.033112],[0.504400,0.848848,0.158233],[-0.051957,-0.153083,0.986846]]
2025-10-26T21:13:06.870Z,1761513186.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861722,-0.506240,-0.034017],[0.504805,0.848668,0.157906],[-0.051069,-0.153243,0.986868]]
2025-10-26T21:13:07.329Z,1761513187.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861607,-0.506352,-0.035227],[0.505099,0.848488,0.157935],[-0.050081,-0.153871,0.986821]]
2025-10-26T21:13:07.678Z,1761513187.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861697,-0.506136,-0.036124],[0.505015,0.848501,0.158133],[-0.049386,-0.154506,0.986757]]
2025-10-26T21:13:08.082Z,1761513188.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861891,-0.505730,-0.037151],[0.504754,0.848583,0.158523],[-0.048644,-0.155382,0.986656]]
2025-10-26T21:13:08.486Z,1761513188.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861909,-0.505641,-0.037949],[0.504788,0.848554,0.158574],[-0.047980,-0.155833,0.986618]]
2025-10-26T21:13:08.892Z,1761513188.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861760,-0.505846,-0.038600],[0.505101,0.848405,0.158371],[-0.047363,-0.155975,0.986625]]
2025-10-26T21:13:09.333Z,1761513189.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861745,-0.505820,-0.039271],[0.505182,0.848366,0.158322],[-0.046766,-0.156272,0.986606]]
2025-10-26T21:13:09.700Z,1761513189.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861585,-0.506034,-0.040012],[0.505523,0.848222,0.158007],[-0.046018,-0.156364,0.986627]]
2025-10-26T21:13:10.102Z,1761513190.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861671,-0.505829,-0.040746],[0.505432,0.848259,0.158097],[-0.045407,-0.156822,0.986583]]
2025-10-26T21:13:10.508Z,1761513190.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861691,-0.505744,-0.041380],[0.505440,0.848226,0.158248],[-0.044933,-0.157276,0.986532]]
2025-10-26T21:13:10.852Z,1761513190.852 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:13:10.910Z,1761513190.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861448,-0.506118,-0.041867],[0.505903,0.848025,0.157850],[-0.044387,-0.157160,0.986575]]
2025-10-26T21:13:11.361Z,1761513191.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861200,-0.506485,-0.042524],[0.506381,0.847796,0.157548],[-0.043744,-0.157213,0.986595]]
2025-10-26T21:13:11.734Z,1761513191.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860427,-0.507727,-0.043349],[0.507778,0.847148,0.156530],[-0.042751,-0.156694,0.986722]]
2025-10-26T21:13:11.856Z,1761513191.856 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:13:12.122Z,1761513192.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859939,-0.508437,-0.044684],[0.508700,0.846659,0.156179],[-0.041575,-0.157035,0.986718]]
2025-10-26T21:13:12.527Z,1761513192.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859506,-0.509020,-0.046351],[0.509546,0.846192,0.155955],[-0.040162,-0.157662,0.986676]]
2025-10-26T21:13:12.930Z,1761513192.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858674,-0.510256,-0.048148],[0.511080,0.845428,0.155076],[-0.038422,-0.157767,0.986729]]
2025-10-26T21:13:13.342Z,1761513193.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857799,-0.511538,-0.050094],[0.512714,0.844751,0.153363],[-0.036134,-0.157238,0.986899]]
2025-10-26T21:13:13.740Z,1761513193.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856958,-0.512703,-0.052523],[0.514262,0.843907,0.152828],[-0.034031,-0.157978,0.986856]]
2025-10-26T21:13:14.142Z,1761513194.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856215,-0.513775,-0.054135],[0.515612,0.843302,0.151609],[-0.032241,-0.157723,0.986957]]
2025-10-26T21:13:14.951Z,1761513194.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854296,-0.516536,-0.058039],[0.519034,0.841715,0.148727],[-0.027971,-0.157181,0.987174]]
2025-10-26T21:13:15.354Z,1761513195.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853628,-0.517439,-0.059790],[0.520240,0.841241,0.147186],[-0.025862,-0.156748,0.987300]]
2025-10-26T21:13:15.787Z,1761513195.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852893,-0.518451,-0.061497],[0.521531,0.840623,0.146146],[-0.024074,-0.156720,0.987350]]
2025-10-26T21:13:16.164Z,1761513196.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852103,-0.519442,-0.064027],[0.522909,0.839801,0.145948],[-0.022042,-0.157843,0.987218]]
2025-10-26T21:13:16.567Z,1761513196.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851633,-0.520025,-0.065533],[0.523747,0.839486,0.144749],[-0.020259,-0.157596,0.987296]]
2025-10-26T21:13:16.970Z,1761513196.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851088,-0.520772,-0.066671],[0.524698,0.839209,0.142899],[-0.018467,-0.156602,0.987489]]
2025-10-26T21:13:17.374Z,1761513197.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850610,-0.521364,-0.068129],[0.525524,0.838837,0.142047],[-0.016910,-0.156630,0.987513]]
2025-10-26T21:13:17.786Z,1761513197.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849937,-0.522297,-0.069374],[0.526666,0.838401,0.140385],[-0.015160,-0.155855,0.987664]]
2025-10-26T21:13:18.182Z,1761513198.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849520,-0.522739,-0.071129],[0.527384,0.838054,0.139757],[-0.013446,-0.156239,0.987628]]
2025-10-26T21:13:18.587Z,1761513198.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849389,-0.522726,-0.072766],[0.527634,0.837974,0.139294],[-0.011837,-0.156709,0.987574]]
2025-10-26T21:13:18.990Z,1761513198.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849390,-0.522539,-0.074092],[0.527663,0.838049,0.138725],[-0.010396,-0.156927,0.987555]]
2025-10-26T21:13:19.426Z,1761513199.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849197,-0.522699,-0.075169],[0.527998,0.837978,0.137882],[-0.009081,-0.156778,0.987592]]
2025-10-26T21:13:19.821Z,1761513199.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848949,-0.522917,-0.076441],[0.528418,0.837823,0.137208],[-0.007705,-0.156875,0.987588]]
2025-10-26T21:13:20.202Z,1761513200.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848437,-0.523611,-0.077362],[0.529260,0.837566,0.135527],[-0.006168,-0.155931,0.987749]]
2025-10-26T21:13:20.606Z,1761513200.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847792,-0.524443,-0.078789],[0.530307,0.837030,0.134744],[-0.004717,-0.156018,0.987743]]
2025-10-26T21:13:21.012Z,1761513201.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846979,-0.525599,-0.079822],[0.531615,0.836409,0.133439],[-0.003372,-0.155455,0.987837]]
2025-10-26T21:13:21.414Z,1761513201.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846209,-0.526641,-0.081120],[0.532848,0.835755,0.132614],[-0.002044,-0.155443,0.987843]]
2025-10-26T21:13:21.826Z,1761513201.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845446,-0.527673,-0.082355],[0.534061,0.835095,0.131895],[-0.000823,-0.155492,0.987837]]
2025-10-26T21:13:22.222Z,1761513202.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844649,-0.528779,-0.083428],[0.535320,0.834427,0.131015],[0.000336,-0.155322,0.987864]]
2025-10-26T21:13:22.626Z,1761513202.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843792,-0.529951,-0.084653],[0.536667,0.833704,0.130103],[0.001627,-0.155210,0.987880]]
2025-10-26T21:13:23.031Z,1761513203.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842783,-0.531449,-0.085315],[0.538247,0.832896,0.128740],[0.002640,-0.154420,0.988002]]
2025-10-26T21:13:23.435Z,1761513203.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841700,-0.533002,-0.086310],[0.539932,0.831985,0.127570],[0.003814,-0.153977,0.988067]]
2025-10-26T21:13:23.840Z,1761513203.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840694,-0.534336,-0.087856],[0.541485,0.831069,0.126957],[0.005177,-0.154305,0.988010]]
2025-10-26T21:13:24.242Z,1761513204.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839674,-0.535728,-0.089127],[0.543053,0.830174,0.126117],[0.006426,-0.154297,0.988004]]
2025-10-26T21:13:24.646Z,1761513204.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838923,-0.536622,-0.090807],[0.544198,0.829409,0.126213],[0.007588,-0.155300,0.987838]]
2025-10-26T21:13:25.052Z,1761513205.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838150,-0.537601,-0.092135],[0.545367,0.828748,0.125504],[0.008885,-0.155438,0.987806]]
2025-10-26T21:13:25.454Z,1761513205.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837434,-0.538498,-0.093400],[0.546444,0.828143,0.124812],[0.010138,-0.155560,0.987774]]
2025-10-26T21:13:25.859Z,1761513205.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836862,-0.539117,-0.094943],[0.547294,0.827624,0.124528],[0.011442,-0.156174,0.987663]]
2025-10-26T21:13:26.263Z,1761513206.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836606,-0.539226,-0.096568],[0.547660,0.827345,0.124778],[0.012612,-0.157276,0.987474]]
2025-10-26T21:13:26.666Z,1761513206.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836710,-0.538669,-0.098750],[0.547474,0.827256,0.126172],[0.013726,-0.159632,0.987081]]
2025-10-26T21:13:27.070Z,1761513207.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836962,-0.537897,-0.100809],[0.547059,0.827344,0.127392],[0.014880,-0.161771,0.986716]]
2025-10-26T21:13:27.474Z,1761513207.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837116,-0.537346,-0.102450],[0.546790,0.827445,0.127893],[0.016049,-0.163080,0.986482]]
2025-10-26T21:13:28.291Z,1761513208.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837562,-0.536110,-0.105241],[0.546035,0.827865,0.128391],[0.018293,-0.165000,0.986124]]
2025-10-26T21:13:28.686Z,1761513208.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837867,-0.535369,-0.106579],[0.545531,0.828155,0.128667],[0.019380,-0.165948,0.985944]]
2025-10-26T21:13:29.090Z,1761513209.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838206,-0.534637,-0.107585],[0.544975,0.828516,0.128701],[0.020327,-0.166509,0.985830]]
2025-10-26T21:13:29.495Z,1761513209.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838504,-0.534151,-0.107673],[0.544489,0.828984,0.127736],[0.021029,-0.165734,0.985946]]
2025-10-26T21:13:29.898Z,1761513209.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838655,-0.533727,-0.108598],[0.544215,0.829226,0.127336],[0.022089,-0.165891,0.985897]]
2025-10-26T21:13:30.307Z,1761513210.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838860,-0.533515,-0.108058],[0.543872,0.829745,0.125406],[0.022754,-0.163968,0.986203]]
2025-10-26T21:13:30.710Z,1761513210.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838848,-0.533465,-0.108391],[0.543855,0.829898,0.124464],[0.023557,-0.163356,0.986286]]
2025-10-26T21:13:31.112Z,1761513211.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838769,-0.533602,-0.108326],[0.543960,0.829956,0.123614],[0.023945,-0.162609,0.986400]]
2025-10-26T21:13:31.514Z,1761513211.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838530,-0.533797,-0.109214],[0.544283,0.829834,0.123009],[0.024968,-0.162590,0.986378]]
2025-10-26T21:13:31.918Z,1761513211.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838414,-0.534095,-0.108643],[0.544439,0.829998,0.121197],[0.025443,-0.160763,0.986665]]
2025-10-26T21:13:32.323Z,1761513212.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838086,-0.534478,-0.109299],[0.544904,0.829803,0.120445],[0.026321,-0.160501,0.986685]]
2025-10-26T21:13:32.737Z,1761513212.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837567,-0.535102,-0.110216],[0.545660,0.829357,0.120090],[0.027148,-0.160724,0.986626]]
2025-10-26T21:13:33.130Z,1761513213.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837400,-0.535196,-0.111023],[0.545888,0.829185,0.120242],[0.027705,-0.161297,0.986517]]
2025-10-26T21:13:33.534Z,1761513213.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836836,-0.535942,-0.111675],[0.546715,0.828726,0.119652],[0.028422,-0.161184,0.986515]]
2025-10-26T21:13:33.938Z,1761513213.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836232,-0.536748,-0.112331],[0.547619,0.828131,0.119634],[0.028812,-0.161556,0.986443]]
2025-10-26T21:13:34.348Z,1761513214.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835784,-0.537282,-0.113108],[0.548269,0.827726,0.119460],[0.029439,-0.161856,0.986375]]
2025-10-26T21:13:35.150Z,1761513215.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834927,-0.538447,-0.113889],[0.549531,0.826980,0.118825],[0.030203,-0.161796,0.986362]]
2025-10-26T21:13:35.554Z,1761513215.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834323,-0.539298,-0.114294],[0.550417,0.826491,0.118122],[0.030760,-0.161461,0.986400]]
2025-10-26T21:13:35.986Z,1761513215.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833579,-0.540441,-0.114320],[0.551521,0.825902,0.117089],[0.031137,-0.160653,0.986520]]
2025-10-26T21:13:36.370Z,1761513216.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832763,-0.541658,-0.114510],[0.552731,0.825210,0.116264],[0.031520,-0.160114,0.986595]]
2025-10-26T21:13:36.785Z,1761513216.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832323,-0.542235,-0.114976],[0.553372,0.824809,0.116059],[0.031902,-0.160223,0.986565]]
2025-10-26T21:13:37.170Z,1761513217.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831785,-0.542880,-0.115821],[0.554161,0.824223,0.116456],[0.032241,-0.161050,0.986419]]
2025-10-26T21:13:37.575Z,1761513217.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831143,-0.543723,-0.116474],[0.555090,0.823648,0.116101],[0.032806,-0.161150,0.986384]]
2025-10-26T21:13:37.985Z,1761513217.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830539,-0.544494,-0.117176],[0.555972,0.823037,0.116213],[0.033163,-0.161666,0.986288]]
2025-10-26T21:13:38.382Z,1761513218.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830183,-0.544807,-0.118245],[0.556485,0.822570,0.117064],[0.033488,-0.162986,0.986060]]
2025-10-26T21:13:38.807Z,1761513218.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830029,-0.544763,-0.119526],[0.556696,0.822241,0.118364],[0.033799,-0.164785,0.985750]]
2025-10-26T21:13:39.190Z,1761513219.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829798,-0.544937,-0.120328],[0.557018,0.821955,0.118830],[0.034150,-0.165630,0.985596]]
2025-10-26T21:13:39.595Z,1761513219.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829595,-0.545063,-0.121155],[0.557296,0.821704,0.119264],[0.034548,-0.166460,0.985443]]
2025-10-26T21:13:39.998Z,1761513219.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829836,-0.544488,-0.122090],[0.556916,0.821827,0.120190],[0.034895,-0.167731,0.985215]]
2025-10-26T21:13:40.402Z,1761513220.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830122,-0.543817,-0.123124],[0.556453,0.822032,0.120926],[0.035450,-0.168897,0.984996]]
2025-10-26T21:13:40.835Z,1761513220.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831172,-0.541992,-0.124088],[0.554840,0.823001,0.121746],[0.036139,-0.170041,0.984774]]
2025-10-26T21:13:41.614Z,1761513221.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831786,-0.540942,-0.124554],[0.553886,0.823618,0.121915],[0.036636,-0.170396,0.984694]]
2025-10-26T21:13:41.976Z,1761513221.976 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:13:42.025Z,1761513222.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832596,-0.539615,-0.124898],[0.552648,0.824382,0.122366],[0.036933,-0.170906,0.984595]]
2025-10-26T21:13:42.433Z,1761513222.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834686,-0.536153,-0.125855],[0.549462,0.826209,0.124378],[0.037296,-0.172969,0.984221]]
2025-10-26T21:13:42.862Z,1761513222.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836003,-0.533926,-0.126578],[0.547433,0.827364,0.125643],[0.037642,-0.174331,0.983967]]
2025-10-26T21:13:42.980Z,1761513222.980 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:13:43.235Z,1761513223.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837188,-0.531933,-0.127138],[0.545600,0.828410,0.126720],[0.037916,-0.175455,0.983757]]
2025-10-26T21:13:43.638Z,1761513223.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838656,-0.529453,-0.127811],[0.543324,0.829669,0.128247],[0.038140,-0.176998,0.983472]]
2025-10-26T21:13:44.044Z,1761513224.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840561,-0.526508,-0.127465],[0.540362,0.831551,0.128577],[0.038296,-0.176954,0.983474]]
2025-10-26T21:13:44.889Z,1761513224.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844049,-0.521084,-0.126702],[0.534895,0.834944,0.129449],[0.038336,-0.177033,0.983458]]
2025-10-26T21:13:44.924Z,1761513224.924 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:13:45.044Z,1761513225.044 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:13:45.044Z,1761513225.044 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:13:45.259Z,1761513225.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845596,-0.518591,-0.126614],[0.532445,0.836380,0.130273],[0.038339,-0.177573,0.983360]]
2025-10-26T21:13:45.296Z,1761513225.296 [DAT](INFO): DAT read: user:148>

2025-10-26T21:13:45.297Z,1761513225.297 [DAT](INFO): DAT read: Tx time:21:13:44.3960

2025-10-26T21:13:45.297Z,1761513225.297 [DAT](INFO): Ping request sent.
2025-10-26T21:13:45.298Z,1761513225.298 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:13:45.298Z,1761513225.298 [DAT](INFO): publishing transmit ping time
2025-10-26T21:13:45.298Z,1761513225.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-10-26T21:13:45.548Z,1761513225.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250808
2025-10-26T21:13:45.654Z,1761513225.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847195,-0.516073,-0.126214],[0.529877,0.838033,0.130120],[0.038620,-0.177115,0.983432]]
2025-10-26T21:13:45.800Z,1761513225.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502727
2025-10-26T21:13:46.053Z,1761513226.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755154
2025-10-26T21:13:46.060Z,1761513226.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848483,-0.513998,-0.126024],[0.527781,0.839391,0.129881],[0.039025,-0.176715,0.983488]]
2025-10-26T21:13:46.304Z,1761513226.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006751
2025-10-26T21:13:46.462Z,1761513226.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849491,-0.512265,-0.126294],[0.526136,0.840340,0.130422],[0.039319,-0.177240,0.983382]]
2025-10-26T21:13:46.556Z,1761513226.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258771
2025-10-26T21:13:46.809Z,1761513226.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511038
2025-10-26T21:13:46.920Z,1761513226.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850260,-0.511226,-0.125323],[0.524892,0.841290,0.129302],[0.039331,-0.175722,0.983654]]
2025-10-26T21:13:47.061Z,1761513227.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763240
2025-10-26T21:13:47.278Z,1761513227.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850558,-0.510964,-0.124364],[0.524408,0.841805,0.127908],[0.039334,-0.174011,0.983958]]
2025-10-26T21:13:47.314Z,1761513227.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016039
2025-10-26T21:13:47.565Z,1761513227.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267030
2025-10-26T21:13:47.674Z,1761513227.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850438,-0.511449,-0.123190],[0.524594,0.842029,0.125655],[0.039463,-0.171486,0.984396]]
2025-10-26T21:13:47.817Z,1761513227.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519165
2025-10-26T21:13:48.070Z,1761513228.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772299
2025-10-26T21:13:48.080Z,1761513228.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849660,-0.513009,-0.122063],[0.525837,0.841654,0.122937],[0.039667,-0.168640,0.984879]]
2025-10-26T21:13:48.320Z,1761513228.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022706
2025-10-26T21:13:48.484Z,1761513228.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848915,-0.514320,-0.121728],[0.527010,0.841168,0.121231],[0.040042,-0.167066,0.985132]]
2025-10-26T21:13:48.573Z,1761513228.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274922
2025-10-26T21:13:48.828Z,1761513228.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529950
2025-10-26T21:13:48.906Z,1761513228.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848012,-0.516108,-0.120449],[0.528455,0.840661,0.118429],[0.040135,-0.164081,0.985630]]
2025-10-26T21:13:49.077Z,1761513229.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779019
2025-10-26T21:13:49.290Z,1761513229.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847064,-0.517636,-0.120564],[0.529944,0.839877,0.117327],[0.040527,-0.163276,0.985748]]
2025-10-26T21:13:49.329Z,1761513229.329 [DAT](INFO): DAT read: Rx Time:21:13:47.8655

2025-10-26T21:13:49.329Z,1761513229.329 [DAT](INFO): Rx dataTimestamp_ set to:1761513229.328754
2025-10-26T21:13:49.330Z,1761513229.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032024
2025-10-26T21:13:49.580Z,1761513229.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282764
2025-10-26T21:13:49.694Z,1761513229.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846067,-0.519199,-0.120845],[0.531489,0.839070,0.116110],[0.041113,-0.162465,0.985857]]
2025-10-26T21:13:49.839Z,1761513229.839 [DAT](INFO): DAT read: 21:13:47.8655 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 425,-0.14,-1.600, 3.003,-1.612,-1.738, PHS= 0.239,-1.498, 0.081, RAW= 145.3,  14.1, CAL= 145.0,  15.3, ROT=   5.0, -15.3

2025-10-26T21:13:49.840Z,1761513229.840 [DAT](INFO): got valid direction response:
 21:13:47.8655 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 425,-0.14,-1.600, 3.003,-1.612,-1.738, PHS= 0.239,-1.498, 0.081, RAW= 145.3,  14.1, CAL= 145.0,  15.3, ROT=   5.0, -15.3

2025-10-26T21:13:49.841Z,1761513229.841 [DAT](INFO): DAT read: Bearing 196.5,   4.3 (Local)

2025-10-26T21:13:49.841Z,1761513229.841 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.5,   4.3 (Local)

2025-10-26T21:13:49.843Z,1761513229.843 [DAT](INFO): DAT read: Range 11 to 50 : 798.9 m  (Round-trip  1065.3 ms) speed  0.0 m/s

2025-10-26T21:13:49.843Z,1761513229.843 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:13:49.844Z,1761513229.844 [DAT](INFO): direction in FSK: [0.960887,0.084067,0.263873]
2025-10-26T21:13:49.845Z,1761513229.845 [DAT](INFO): publishing direction and range info
2025-10-26T21:13:50.099Z,1761513230.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844760,-0.521267,-0.121082],[0.533548,0.837867,0.115352],[0.041321,-0.162047,0.985917]]
2025-10-26T21:13:50.502Z,1761513230.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843234,-0.523489,-0.122128],[0.535960,0.836200,0.116256],[0.041264,-0.163487,0.985682]]
2025-10-26T21:13:50.910Z,1761513230.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841869,-0.525500,-0.122907],[0.538081,0.834843,0.116218],[0.041536,-0.163974,0.985590]]
2025-10-26T21:13:51.310Z,1761513231.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840710,-0.527221,-0.123468],[0.539856,0.833775,0.115647],[0.041973,-0.163880,0.985587]]
2025-10-26T21:13:51.721Z,1761513231.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839652,-0.528828,-0.123797],[0.541482,0.832791,0.115138],[0.042209,-0.163710,0.985605]]
2025-10-26T21:13:52.118Z,1761513232.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838764,-0.530068,-0.124512],[0.542846,0.831850,0.115517],[0.042343,-0.164483,0.985471]]
2025-10-26T21:13:52.523Z,1761513232.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838060,-0.531198,-0.124438],[0.543922,0.831253,0.114752],[0.042484,-0.163854,0.985569]]
2025-10-26T21:13:52.931Z,1761513232.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837405,-0.532192,-0.124600],[0.544913,0.830673,0.114248],[0.042700,-0.163568,0.985608]]
2025-10-26T21:13:53.330Z,1761513233.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836986,-0.532752,-0.125021],[0.545527,0.830305,0.113993],[0.043075,-0.163613,0.985584]]
2025-10-26T21:13:53.741Z,1761513233.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837247,-0.532292,-0.125231],[0.545091,0.830632,0.113690],[0.043505,-0.163449,0.985592]]
2025-10-26T21:13:54.140Z,1761513234.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837550,-0.531719,-0.125639],[0.544609,0.830893,0.114100],[0.043724,-0.163989,0.985493]]
2025-10-26T21:13:54.947Z,1761513234.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839608,-0.528055,-0.127342],[0.541423,0.832456,0.117804],[0.043800,-0.167855,0.984838]]
2025-10-26T21:13:55.351Z,1761513235.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841169,-0.525409,-0.127983],[0.538992,0.833767,0.119667],[0.043834,-0.169642,0.984530]]
2025-10-26T21:13:55.761Z,1761513235.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842470,-0.523241,-0.128311],[0.536935,0.834979,0.120458],[0.044108,-0.170377,0.984391]]
2025-10-26T21:13:56.160Z,1761513236.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844028,-0.520600,-0.128808],[0.534471,0.836344,0.121943],[0.044244,-0.171768,0.984143]]
2025-10-26T21:13:56.562Z,1761513236.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845635,-0.517894,-0.129179],[0.531915,0.837772,0.123305],[0.044364,-0.172984,0.983925]]
2025-10-26T21:13:56.966Z,1761513236.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847523,-0.514756,-0.129350],[0.528904,0.839453,0.124818],[0.044332,-0.174199,0.983712]]
2025-10-26T21:13:57.371Z,1761513237.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849014,-0.512207,-0.129691],[0.526489,0.840807,0.125910],[0.044553,-0.175180,0.983528]]
2025-10-26T21:13:57.776Z,1761513237.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850280,-0.509951,-0.130281],[0.524410,0.841939,0.127014],[0.044918,-0.176318,0.983308]]
2025-10-26T21:13:58.582Z,1761513238.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852903,-0.505365,-0.131008],[0.520081,0.844347,0.128817],[0.045516,-0.178003,0.982977]]
2025-10-26T21:13:58.987Z,1761513238.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853945,-0.503550,-0.131209],[0.518357,0.845288,0.129593],[0.045653,-0.178678,0.982848]]
2025-10-26T21:13:59.390Z,1761513239.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855086,-0.501790,-0.130518],[0.516481,0.846467,0.129387],[0.045554,-0.178048,0.982967]]
2025-10-26T21:13:59.794Z,1761513239.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855743,-0.500718,-0.130329],[0.515385,0.847139,0.129359],[0.045635,-0.177868,0.982996]]
2025-10-26T21:14:00.198Z,1761513240.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856258,-0.500063,-0.129460],[0.514512,0.847895,0.127870],[0.045825,-0.176098,0.983305]]
2025-10-26T21:14:00.603Z,1761513240.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856837,-0.499041,-0.129568],[0.513535,0.848438,0.128201],[0.045953,-0.176385,0.983248]]
2025-10-26T21:14:01.008Z,1761513241.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857610,-0.497859,-0.129005],[0.512242,0.849291,0.127723],[0.045974,-0.175618,0.983384]]
2025-10-26T21:14:01.410Z,1761513241.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858062,-0.497229,-0.128421],[0.511487,0.849836,0.127116],[0.045931,-0.174760,0.983539]]
2025-10-26T21:14:01.814Z,1761513241.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858588,-0.496313,-0.128456],[0.510591,0.850359,0.127226],[0.046090,-0.174823,0.983521]]
2025-10-26T21:14:02.223Z,1761513242.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858683,-0.496452,-0.127276],[0.510452,0.850664,0.125735],[0.045848,-0.172935,0.983865]]
2025-10-26T21:14:02.623Z,1761513242.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858518,-0.497143,-0.125682],[0.510745,0.850858,0.123209],[0.045685,-0.169968,0.984390]]
2025-10-26T21:14:03.026Z,1761513243.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858467,-0.497468,-0.124739],[0.510817,0.851090,0.121291],[0.045826,-0.167843,0.984748]]
2025-10-26T21:14:03.430Z,1761513243.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858230,-0.498285,-0.123100],[0.511248,0.851151,0.119030],[0.045465,-0.165090,0.985230]]
2025-10-26T21:14:03.835Z,1761513243.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857793,-0.499350,-0.121818],[0.512000,0.850978,0.117014],[0.045234,-0.162745,0.985631]]
2025-10-26T21:14:04.246Z,1761513244.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857342,-0.500458,-0.120442],[0.512791,0.850754,0.115166],[0.044831,-0.160499,0.986017]]
2025-10-26T21:14:05.046Z,1761513245.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856288,-0.502585,-0.119076],[0.514587,0.849954,0.113044],[0.044395,-0.158073,0.986429]]
2025-10-26T21:14:05.451Z,1761513245.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855687,-0.503817,-0.118190],[0.515621,0.849470,0.111961],[0.043991,-0.156745,0.986659]]
2025-10-26T21:14:05.856Z,1761513245.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855119,-0.504760,-0.118269],[0.516553,0.848954,0.111581],[0.044084,-0.156507,0.986692]]
2025-10-26T21:14:06.258Z,1761513246.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854419,-0.505933,-0.118318],[0.517748,0.848159,0.112087],[0.043644,-0.157028,0.986629]]
2025-10-26T21:14:06.666Z,1761513246.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853500,-0.507443,-0.118484],[0.519326,0.847032,0.113302],[0.042866,-0.158235,0.986471]]
2025-10-26T21:14:07.066Z,1761513247.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852571,-0.509048,-0.118293],[0.520882,0.846096,0.113154],[0.042486,-0.158089,0.986510]]
2025-10-26T21:14:07.472Z,1761513247.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851668,-0.510703,-0.117659],[0.522380,0.845308,0.112133],[0.042192,-0.156963,0.986703]]
2025-10-26T21:14:07.874Z,1761513247.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850506,-0.512548,-0.118042],[0.524307,0.844004,0.112958],[0.041732,-0.157961,0.986563]]
2025-10-26T21:14:08.278Z,1761513248.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849586,-0.513958,-0.118536],[0.525840,0.842874,0.114259],[0.041186,-0.159404,0.986354]]
2025-10-26T21:14:08.686Z,1761513248.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848897,-0.515228,-0.117955],[0.526969,0.842293,0.113345],[0.040954,-0.158377,0.986529]]
2025-10-26T21:14:09.089Z,1761513249.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848215,-0.516414,-0.117680],[0.528084,0.841650,0.112926],[0.040729,-0.157931,0.986610]]
2025-10-26T21:14:09.505Z,1761513249.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847727,-0.517154,-0.117944],[0.528868,0.841135,0.113096],[0.040719,-0.158251,0.986559]]
2025-10-26T21:14:09.894Z,1761513249.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847405,-0.517642,-0.118115],[0.529393,0.840760,0.113426],[0.040592,-0.158647,0.986501]]
2025-10-26T21:14:10.298Z,1761513250.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847231,-0.517887,-0.118291],[0.529682,0.840518,0.113873],[0.040452,-0.159133,0.986428]]
2025-10-26T21:14:10.727Z,1761513250.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847337,-0.517613,-0.118732],[0.529527,0.840463,0.114992],[0.040268,-0.160309,0.986245]]
2025-10-26T21:14:11.106Z,1761513251.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847406,-0.517485,-0.118795],[0.529420,0.840496,0.115243],[0.040210,-0.160550,0.986208]]
2025-10-26T21:14:11.515Z,1761513251.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847410,-0.517423,-0.119036],[0.529417,0.840435,0.115702],[0.040175,-0.161066,0.986126]]
2025-10-26T21:14:11.914Z,1761513251.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847906,-0.516519,-0.119425],[0.528630,0.840772,0.116843],[0.040058,-0.162203,0.985944]]
2025-10-26T21:14:12.320Z,1761513252.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848904,-0.514864,-0.119486],[0.527044,0.841612,0.117956],[0.039829,-0.163108,0.985804]]
2025-10-26T21:14:12.735Z,1761513252.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849992,-0.513084,-0.119405],[0.525295,0.842603,0.118681],[0.039718,-0.163601,0.985727]]
2025-10-26T21:14:13.101Z,1761513253.101 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:14:13.126Z,1761513253.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851148,-0.511146,-0.119487],[0.523437,0.843588,0.119888],[0.039517,-0.164586,0.985571]]
2025-10-26T21:14:13.531Z,1761513253.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852313,-0.509222,-0.119400],[0.521553,0.844618,0.120842],[0.039312,-0.165268,0.985465]]
2025-10-26T21:14:13.934Z,1761513253.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853717,-0.506901,-0.119240],[0.519267,0.845879,0.121859],[0.039092,-0.165951,0.985359]]
2025-10-26T21:14:14.106Z,1761513254.106 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:14:14.338Z,1761513254.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855594,-0.503544,-0.120009],[0.516171,0.847411,0.124352],[0.039080,-0.168340,0.984954]]
2025-10-26T21:14:15.148Z,1761513255.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858604,-0.498399,-0.119989],[0.511177,0.850040,0.127006],[0.038696,-0.170383,0.984618]]
2025-10-26T21:14:15.552Z,1761513255.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860072,-0.495901,-0.119826],[0.508726,0.851314,0.128306],[0.038383,-0.171311,0.984469]]
2025-10-26T21:14:15.954Z,1761513255.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861819,-0.492733,-0.120344],[0.505776,0.852700,0.130742],[0.038196,-0.173543,0.984085]]
2025-10-26T21:14:16.358Z,1761513256.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862998,-0.490684,-0.120265],[0.503773,0.853734,0.131725],[0.038039,-0.174265,0.983964]]
2025-10-26T21:14:16.769Z,1761513256.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863769,-0.489373,-0.120070],[0.502448,0.854490,0.131880],[0.038060,-0.174243,0.983967]]
2025-10-26T21:14:17.166Z,1761513257.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864337,-0.488466,-0.119678],[0.501464,0.855142,0.131402],[0.038156,-0.173590,0.984079]]
2025-10-26T21:14:17.570Z,1761513257.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864877,-0.487659,-0.119070],[0.500553,0.855702,0.131233],[0.037892,-0.173101,0.984175]]
2025-10-26T21:14:17.974Z,1761513257.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864934,-0.487674,-0.118586],[0.500439,0.855945,0.130071],[0.038071,-0.171847,0.984388]]
2025-10-26T21:14:18.383Z,1761513258.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864749,-0.488074,-0.118289],[0.500760,0.855849,0.129464],[0.038049,-0.171189,0.984503]]
2025-10-26T21:14:18.782Z,1761513258.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864510,-0.488625,-0.117764],[0.501184,0.855728,0.128627],[0.037924,-0.170221,0.984676]]
2025-10-26T21:14:19.189Z,1761513259.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864208,-0.489519,-0.116257],[0.501793,0.855442,0.128152],[0.036718,-0.169087,0.984917]]
2025-10-26T21:14:19.590Z,1761513259.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863537,-0.490915,-0.115357],[0.503029,0.854687,0.128345],[0.035588,-0.168858,0.984998]]
2025-10-26T21:14:19.994Z,1761513259.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862928,-0.492326,-0.113888],[0.504172,0.854034,0.128206],[0.034145,-0.168052,0.985187]]
2025-10-26T21:14:20.409Z,1761513260.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862220,-0.493823,-0.112765],[0.505460,0.853291,0.128080],[0.032973,-0.167432,0.985332]]
2025-10-26T21:14:20.802Z,1761513260.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861377,-0.495587,-0.111463],[0.506979,0.852430,0.127812],[0.031673,-0.166604,0.985515]]
2025-10-26T21:14:21.612Z,1761513261.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859910,-0.498870,-0.108091],[0.509627,0.851046,0.126491],[0.028888,-0.163857,0.986061]]
2025-10-26T21:14:22.014Z,1761513262.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859491,-0.499840,-0.106935],[0.510408,0.850524,0.126853],[0.027545,-0.163609,0.986141]]
2025-10-26T21:14:22.825Z,1761513262.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859217,-0.500805,-0.104597],[0.510985,0.850156,0.127002],[0.025320,-0.162570,0.986372]]
2025-10-26T21:14:23.227Z,1761513263.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859477,-0.500514,-0.103851],[0.510582,0.850354,0.127293],[0.024599,-0.162430,0.986413]]
2025-10-26T21:14:23.630Z,1761513263.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859866,-0.500003,-0.103086],[0.509980,0.850541,0.128455],[0.023451,-0.163026,0.986343]]
2025-10-26T21:14:24.034Z,1761513264.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860515,-0.499048,-0.102300],[0.508937,0.850969,0.129751],[0.022302,-0.163717,0.986255]]
2025-10-26T21:14:24.486Z,1761513264.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862450,-0.496152,-0.100065],[0.505751,0.852544,0.131854],[0.019890,-0.164325,0.986206]]
2025-10-26T21:14:25.246Z,1761513265.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863611,-0.494331,-0.099060],[0.503819,0.853423,0.133550],[0.018522,-0.165243,0.986079]]
2025-10-26T21:14:25.652Z,1761513265.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865012,-0.492044,-0.098220],[0.501456,0.854487,0.135625],[0.017195,-0.166570,0.985880]]
2025-10-26T21:14:26.054Z,1761513266.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866566,-0.489583,-0.096802],[0.498810,0.855841,0.136839],[0.015853,-0.166866,0.985852]]
2025-10-26T21:14:26.493Z,1761513266.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869250,-0.485236,-0.094607],[0.494195,0.858008,0.139976],[0.013252,-0.168428,0.985625]]
2025-10-26T21:14:27.272Z,1761513267.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872226,-0.480330,-0.092221],[0.488978,0.860626,0.142209],[0.011061,-0.169132,0.985531]]
2025-10-26T21:14:27.682Z,1761513267.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873574,-0.478124,-0.090922],[0.486588,0.861870,0.142870],[0.010054,-0.169049,0.985556]]
2025-10-26T21:14:28.078Z,1761513268.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875077,-0.475695,-0.089184],[0.483903,0.863300,0.143355],[0.008799,-0.168603,0.985645]]
2025-10-26T21:14:28.518Z,1761513268.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876232,-0.473789,-0.087986],[0.481828,0.864311,0.144253],[0.007702,-0.168793,0.985621]]
2025-10-26T21:14:28.891Z,1761513268.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877462,-0.471836,-0.086203],[0.479603,0.865520,0.144416],[0.006470,-0.168062,0.985755]]
2025-10-26T21:14:29.288Z,1761513269.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878535,-0.470026,-0.085158],[0.477646,0.866460,0.145265],[0.005507,-0.168296,0.985721]]
2025-10-26T21:14:29.705Z,1761513269.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879604,-0.468202,-0.084162],[0.475685,0.867385,0.146175],[0.004561,-0.168611,0.985672]]
2025-10-26T21:14:30.094Z,1761513270.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880370,-0.467026,-0.082678],[0.474275,0.868144,0.146250],[0.003474,-0.167967,0.985787]]
2025-10-26T21:14:30.531Z,1761513270.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880874,-0.466315,-0.081315],[0.473345,0.868648,0.146271],[0.002426,-0.167337,0.985897]]
2025-10-26T21:14:30.909Z,1761513270.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881095,-0.466170,-0.079737],[0.472937,0.869005,0.145466],[0.001480,-0.165880,0.986145]]
2025-10-26T21:14:31.306Z,1761513271.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881471,-0.465670,-0.078481],[0.472237,0.869374,0.145538],[0.000457,-0.165349,0.986235]]
2025-10-26T21:14:31.724Z,1761513271.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881769,-0.465382,-0.076836],[0.471682,0.869712,0.145318],[-0.000803,-0.164379,0.986397]]
2025-10-26T21:14:32.115Z,1761513272.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881972,-0.465234,-0.075389],[0.471298,0.869890,0.145501],[-0.002112,-0.163858,0.986482]]
2025-10-26T21:14:32.547Z,1761513272.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881837,-0.465638,-0.074465],[0.471542,0.869593,0.146480],[-0.003452,-0.164285,0.986407]]
2025-10-26T21:14:32.922Z,1761513272.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881604,-0.466381,-0.072549],[0.471966,0.869528,0.145499],[-0.004774,-0.162513,0.986695]]
2025-10-26T21:14:33.326Z,1761513273.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881205,-0.467370,-0.071015],[0.472697,0.869233,0.144883],[-0.005985,-0.161240,0.986897]]
2025-10-26T21:14:33.734Z,1761513273.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880853,-0.468261,-0.069486],[0.473333,0.868955,0.144473],[-0.007271,-0.160150,0.987066]]
2025-10-26T21:14:34.136Z,1761513274.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880141,-0.469839,-0.067850],[0.474639,0.868458,0.143171],[-0.008343,-0.158215,0.987369]]
2025-10-26T21:14:34.560Z,1761513274.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879383,-0.471329,-0.067336],[0.476026,0.867651,0.143460],[-0.009193,-0.158210,0.987363]]
2025-10-26T21:14:34.942Z,1761513274.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878737,-0.472650,-0.066506],[0.477196,0.866966,0.143711],[-0.010267,-0.158021,0.987382]]
2025-10-26T21:14:35.346Z,1761513275.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878105,-0.473967,-0.065472],[0.478339,0.866431,0.143138],[-0.011116,-0.157008,0.987535]]
2025-10-26T21:14:35.752Z,1761513275.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877489,-0.475240,-0.064495],[0.479448,0.865901,0.142637],[-0.011940,-0.156084,0.987672]]
2025-10-26T21:14:36.154Z,1761513276.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877198,-0.475833,-0.064081],[0.479964,0.865557,0.142987],[-0.012572,-0.156185,0.987648]]
2025-10-26T21:14:36.562Z,1761513276.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876796,-0.476512,-0.064536],[0.480692,0.864985,0.143999],[-0.012794,-0.157280,0.987471]]
2025-10-26T21:14:36.969Z,1761513276.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876825,-0.476524,-0.064052],[0.480623,0.864965,0.144352],[-0.013385,-0.157356,0.987451]]
2025-10-26T21:14:37.367Z,1761513277.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876800,-0.476611,-0.063743],[0.480657,0.864903,0.144605],[-0.013789,-0.157428,0.987434]]
2025-10-26T21:14:37.770Z,1761513277.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876800,-0.476659,-0.063386],[0.480645,0.864865,0.144879],[-0.014238,-0.157496,0.987417]]
2025-10-26T21:14:38.183Z,1761513278.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877018,-0.476358,-0.062633],[0.480232,0.865133,0.144642],[-0.014715,-0.156931,0.987500]]
2025-10-26T21:14:38.580Z,1761513278.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877432,-0.475666,-0.062080],[0.479453,0.865450,0.145333],[-0.015403,-0.157284,0.987433]]
2025-10-26T21:14:38.982Z,1761513278.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878137,-0.474413,-0.061714],[0.478144,0.866014,0.146278],[-0.015951,-0.157960,0.987317]]
2025-10-26T21:14:39.386Z,1761513279.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878730,-0.473427,-0.060831],[0.477040,0.866694,0.145857],[-0.016331,-0.157187,0.987434]]
2025-10-26T21:14:39.790Z,1761513279.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879574,-0.471952,-0.060094],[0.475466,0.867518,0.146097],[-0.016818,-0.157076,0.987443]]
2025-10-26T21:14:40.195Z,1761513280.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880469,-0.470312,-0.059843],[0.473790,0.868256,0.147156],[-0.017250,-0.157919,0.987301]]
2025-10-26T21:14:40.598Z,1761513280.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881504,-0.468411,-0.059509],[0.471846,0.869156,0.148088],[-0.017643,-0.158619,0.987182]]
2025-10-26T21:14:41.004Z,1761513281.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882353,-0.466847,-0.059222],[0.470247,0.869916,0.148705],[-0.017905,-0.159059,0.987107]]
2025-10-26T21:14:41.406Z,1761513281.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883382,-0.465007,-0.058349],[0.468301,0.871020,0.148384],[-0.018176,-0.158405,0.987207]]
2025-10-26T21:14:42.214Z,1761513282.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884870,-0.462324,-0.057115],[0.465435,0.872330,0.149700],[-0.019387,-0.159048,0.987081]]
2025-10-26T21:14:42.620Z,1761513282.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885716,-0.460773,-0.056530],[0.463798,0.873070,0.150467],[-0.019976,-0.159490,0.986997]]
2025-10-26T21:14:43.022Z,1761513283.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886069,-0.460190,-0.055745],[0.463099,0.873446,0.150436],[-0.020539,-0.159112,0.987047]]
2025-10-26T21:14:43.426Z,1761513283.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886317,-0.459828,-0.054773],[0.462592,0.873752,0.150222],[-0.021218,-0.158482,0.987134]]
2025-10-26T21:14:43.830Z,1761513283.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886489,-0.459624,-0.053697],[0.462225,0.873981,0.150014],[-0.022020,-0.157806,0.987225]]
2025-10-26T21:14:44.224Z,1761513284.224 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:14:44.241Z,1761513284.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886467,-0.459748,-0.052999],[0.462240,0.873989,0.149925],[-0.022607,-0.157402,0.987276]]
2025-10-26T21:14:44.638Z,1761513284.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886154,-0.460431,-0.052284],[0.462804,0.873709,0.149820],[-0.023300,-0.156961,0.987330]]
2025-10-26T21:14:45.043Z,1761513285.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885589,-0.461623,-0.051335],[0.463850,0.873288,0.149031],[-0.023966,-0.155792,0.987499]]
2025-10-26T21:14:45.085Z,1761513285.085 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:14:45.228Z,1761513285.228 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:14:45.304Z,1761513285.304 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:14:45.304Z,1761513285.304 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:14:45.447Z,1761513285.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884781,-0.463251,-0.050614],[0.465362,0.872613,0.148273],[-0.024521,-0.154743,0.987650]]
2025-10-26T21:14:45.557Z,1761513285.557 [DAT](INFO): DAT read: user:149>

2025-10-26T21:14:45.557Z,1761513285.557 [DAT](INFO): DAT read: Tx time:21:14:44.6960

2025-10-26T21:14:45.558Z,1761513285.558 [DAT](INFO): Ping request sent.
2025-10-26T21:14:45.558Z,1761513285.558 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:14:45.558Z,1761513285.558 [DAT](INFO): publishing transmit ping time
2025-10-26T21:14:45.559Z,1761513285.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762
2025-10-26T21:14:45.808Z,1761513285.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250448
2025-10-26T21:14:45.855Z,1761513285.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883829,-0.465115,-0.050134],[0.467147,0.871791,0.147493],[-0.024895,-0.153779,0.987792]]
2025-10-26T21:14:46.061Z,1761513286.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502686
2025-10-26T21:14:46.254Z,1761513286.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882550,-0.467537,-0.050145],[0.469537,0.870509,0.147475],[-0.025299,-0.153699,0.987794]]
2025-10-26T21:14:46.312Z,1761513286.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754458
2025-10-26T21:14:46.564Z,1761513286.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006480
2025-10-26T21:14:46.665Z,1761513286.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881254,-0.469939,-0.050484],[0.471938,0.869072,0.148285],[-0.025810,-0.154502,0.987655]]
2025-10-26T21:14:46.816Z,1761513286.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258472
2025-10-26T21:14:47.062Z,1761513287.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879927,-0.472420,-0.050483],[0.474395,0.867802,0.147885],[-0.026054,-0.154077,0.987715]]
2025-10-26T21:14:47.069Z,1761513287.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510643
2025-10-26T21:14:47.320Z,1761513287.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762417
2025-10-26T21:14:47.467Z,1761513287.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878935,-0.474301,-0.050127],[0.476221,0.866967,0.146906],[-0.026219,-0.152992,0.987880]]
2025-10-26T21:14:47.572Z,1761513287.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014563
2025-10-26T21:14:47.824Z,1761513287.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266510
2025-10-26T21:14:47.876Z,1761513287.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877984,-0.476098,-0.049752],[0.477950,0.866102,0.146393],[-0.026607,-0.152309,0.987975]]
2025-10-26T21:14:48.079Z,1761513288.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520665
2025-10-26T21:14:48.274Z,1761513288.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877152,-0.477645,-0.049583],[0.479455,0.865294,0.146252],[-0.026953,-0.152058,0.988004]]
2025-10-26T21:14:48.332Z,1761513288.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774491
2025-10-26T21:14:48.584Z,1761513288.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026497
2025-10-26T21:14:48.680Z,1761513288.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876456,-0.478959,-0.049224],[0.480699,0.864623,0.146137],[-0.027434,-0.151745,0.988039]]
2025-10-26T21:14:48.836Z,1761513288.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278484
2025-10-26T21:14:49.082Z,1761513289.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876102,-0.479603,-0.049262],[0.481328,0.864194,0.146606],[-0.027741,-0.152153,0.987968]]
2025-10-26T21:14:49.088Z,1761513289.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530323
2025-10-26T21:14:49.343Z,1761513289.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784693
2025-10-26T21:14:49.503Z,1761513289.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875649,-0.480438,-0.049181],[0.482138,0.863740,0.146616],[-0.027960,-0.152096,0.987970]]
2025-10-26T21:14:49.596Z,1761513289.596 [DAT](INFO): DAT read: Rx Time:21:14:48.1210

2025-10-26T21:14:49.597Z,1761513289.597 [DAT](INFO): Rx dataTimestamp_ set to:1761513289.596491
2025-10-26T21:14:49.598Z,1761513289.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039762
2025-10-26T21:14:49.848Z,1761513289.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.288907
2025-10-26T21:14:49.933Z,1761513289.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875129,-0.481424,-0.048785],[0.483092,0.863451,0.145174],[-0.027767,-0.150613,0.988203]]
2025-10-26T21:14:50.102Z,1761513290.102 [DAT](INFO): DAT read: 21:14:48.1210 LVL= 30864, 32753, 32754, 32755, AGC= 85, IDX= 499,-0.32, 2.088, 0.204, 1.952, 1.748, PHS= 0.443,-1.499, 0.160, RAW= 142.2,   9.9, CAL= 141.8,  10.8, ROT=   8.2, -10.8

2025-10-26T21:14:50.103Z,1761513290.103 [DAT](INFO): got valid direction response:
 21:14:48.1210 LVL= 30864, 32753, 32754, 32755, AGC= 85, IDX= 499,-0.32, 2.088, 0.204, 1.952, 1.748, PHS= 0.443,-1.499, 0.160, RAW= 142.2,   9.9, CAL= 141.8,  10.8, ROT=   8.2, -10.8

2025-10-26T21:14:50.104Z,1761513290.104 [DAT](INFO): DAT read: Bearing 188.9,   4.3 (Local)

2025-10-26T21:14:50.104Z,1761513290.104 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.9,   4.3 (Local)

2025-10-26T21:14:50.105Z,1761513290.105 [DAT](INFO): DAT read: Range 11 to 50 : 765.6 m  (Round-trip  1020.8 ms) speed  0.8 m/s

2025-10-26T21:14:50.106Z,1761513290.106 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:14:50.107Z,1761513290.107 [DAT](INFO): direction in FSK: [0.972245,0.140103,0.187381]
2025-10-26T21:14:50.107Z,1761513290.107 [DAT](INFO): publishing direction and range info
2025-10-26T21:14:50.294Z,1761513290.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875113,-0.481476,-0.048570],[0.483111,0.863442,0.145162],[-0.027955,-0.150498,0.988215]]
2025-10-26T21:14:50.712Z,1761513290.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875229,-0.481275,-0.048465],[0.482887,0.863507,0.145521],[-0.028186,-0.150767,0.988167]]
2025-10-26T21:14:51.102Z,1761513291.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875568,-0.480651,-0.048536],[0.482261,0.863731,0.146260],[-0.028378,-0.151467,0.988055]]
2025-10-26T21:14:51.506Z,1761513291.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876017,-0.479821,-0.048639],[0.481434,0.864051,0.147097],[-0.028554,-0.152276,0.987925]]
2025-10-26T21:14:51.911Z,1761513291.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876946,-0.478121,-0.048643],[0.479715,0.864756,0.148560],[-0.028965,-0.153614,0.987706]]
2025-10-26T21:14:52.314Z,1761513292.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877987,-0.476185,-0.048855],[0.477786,0.865512,0.150363],[-0.029316,-0.155359,0.987423]]
2025-10-26T21:14:52.723Z,1761513292.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879200,-0.473909,-0.049159],[0.475515,0.866317,0.152909],[-0.029877,-0.157814,0.987017]]
2025-10-26T21:14:53.123Z,1761513293.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880150,-0.472161,-0.048987],[0.473716,0.867022,0.154487],[-0.030470,-0.159178,0.986780]]
2025-10-26T21:14:53.528Z,1761513293.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881089,-0.470441,-0.048669],[0.471929,0.867752,0.155855],[-0.031088,-0.160290,0.986580]]
2025-10-26T21:14:53.930Z,1761513293.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881967,-0.468816,-0.048422],[0.470247,0.868427,0.157170],[-0.031633,-0.161389,0.986384]]
2025-10-26T21:14:54.334Z,1761513294.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882742,-0.467392,-0.048083],[0.468758,0.869046,0.158193],[-0.032152,-0.162182,0.986237]]
2025-10-26T21:14:54.743Z,1761513294.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883519,-0.465955,-0.047752],[0.467256,0.869670,0.159203],[-0.032653,-0.162971,0.986090]]
2025-10-26T21:14:55.158Z,1761513295.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884351,-0.464400,-0.047488],[0.465647,0.870335,0.160282],[-0.033104,-0.163858,0.985928]]
2025-10-26T21:14:55.546Z,1761513295.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884749,-0.463656,-0.047356],[0.464888,0.870711,0.160440],[-0.033156,-0.163964,0.985909]]
2025-10-26T21:14:55.994Z,1761513295.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885105,-0.463022,-0.046899],[0.464179,0.871035,0.160738],[-0.033575,-0.164039,0.985882]]
2025-10-26T21:14:56.355Z,1761513296.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885245,-0.462801,-0.046443],[0.463894,0.871228,0.160509],[-0.033821,-0.163635,0.985941]]
2025-10-26T21:14:56.758Z,1761513296.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885110,-0.463143,-0.045600],[0.464138,0.871338,0.159206],[-0.034002,-0.162080,0.986192]]
2025-10-26T21:14:57.165Z,1761513297.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884818,-0.463717,-0.045415],[0.464699,0.871168,0.158499],[-0.033935,-0.161347,0.986314]]
2025-10-26T21:14:57.569Z,1761513297.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884325,-0.464685,-0.045131],[0.465637,0.870831,0.157592],[-0.033929,-0.160377,0.986472]]
2025-10-26T21:14:57.981Z,1761513297.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883844,-0.465654,-0.044556],[0.466527,0.870501,0.156781],[-0.034219,-0.159356,0.986628]]
2025-10-26T21:14:58.375Z,1761513298.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883249,-0.466812,-0.044258],[0.467629,0.869954,0.156532],[-0.034569,-0.158953,0.986681]]
2025-10-26T21:14:58.778Z,1761513298.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882701,-0.467882,-0.043873],[0.468634,0.869473,0.156203],[-0.034938,-0.158441,0.986750]]
2025-10-26T21:14:59.183Z,1761513299.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882082,-0.469088,-0.043443],[0.469765,0.868919,0.155887],[-0.035376,-0.157913,0.986819]]
2025-10-26T21:14:59.590Z,1761513299.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881380,-0.470402,-0.043489],[0.471062,0.868193,0.156017],[-0.035633,-0.157996,0.986797]]
2025-10-26T21:15:00.007Z,1761513300.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880813,-0.471490,-0.043184],[0.472099,0.867694,0.155656],[-0.035919,-0.157491,0.986867]]
2025-10-26T21:15:00.395Z,1761513300.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880235,-0.472560,-0.043288],[0.473184,0.867175,0.155257],[-0.035830,-0.157146,0.986925]]
2025-10-26T21:15:00.802Z,1761513300.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879449,-0.474015,-0.043347],[0.474646,0.866471,0.154725],[-0.035783,-0.156647,0.987006]]
2025-10-26T21:15:01.204Z,1761513301.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878793,-0.475229,-0.043365],[0.475859,0.865873,0.154344],[-0.035800,-0.156272,0.987065]]
2025-10-26T21:15:01.610Z,1761513301.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878346,-0.476024,-0.043702],[0.476687,0.865382,0.154542],[-0.035747,-0.156574,0.987019]]
2025-10-26T21:15:02.035Z,1761513302.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877855,-0.476913,-0.043871],[0.477596,0.864913,0.154362],[-0.035673,-0.156460,0.987040]]
2025-10-26T21:15:02.414Z,1761513302.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877348,-0.477790,-0.044470],[0.478523,0.864243,0.155240],[-0.035740,-0.157479,0.986875]]
2025-10-26T21:15:02.819Z,1761513302.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877048,-0.478323,-0.044654],[0.479073,0.863924,0.155318],[-0.035715,-0.157614,0.986855]]
2025-10-26T21:15:03.222Z,1761513303.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876711,-0.478952,-0.044516],[0.479671,0.863588,0.155345],[-0.035959,-0.157546,0.986857]]
2025-10-26T21:15:03.636Z,1761513303.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876520,-0.479295,-0.044595],[0.480008,0.863340,0.155680],[-0.036116,-0.157862,0.986800]]
2025-10-26T21:15:04.061Z,1761513304.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876429,-0.479458,-0.044636],[0.480158,0.863168,0.156168],[-0.036348,-0.158303,0.986721]]
2025-10-26T21:15:04.434Z,1761513304.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876227,-0.479824,-0.044669],[0.480527,0.862979,0.156082],[-0.036343,-0.158228,0.986734]]
2025-10-26T21:15:04.838Z,1761513304.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876082,-0.480138,-0.044129],[0.480791,0.863031,0.154972],[-0.036323,-0.156985,0.986933]]
2025-10-26T21:15:05.243Z,1761513305.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876221,-0.479887,-0.044111],[0.480521,0.863082,0.155529],[-0.036565,-0.157474,0.986846]]
2025-10-26T21:15:05.653Z,1761513305.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876585,-0.479231,-0.044011],[0.479839,0.863365,0.156063],[-0.036793,-0.157921,0.986766]]
2025-10-26T21:15:06.089Z,1761513306.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876758,-0.478967,-0.043420],[0.479500,0.863619,0.155697],[-0.037075,-0.157329,0.986850]]
2025-10-26T21:15:06.454Z,1761513306.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877158,-0.478251,-0.043237],[0.478753,0.863971,0.156048],[-0.037274,-0.157579,0.986803]]
2025-10-26T21:15:06.858Z,1761513306.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877409,-0.477803,-0.043111],[0.478281,0.864180,0.156334],[-0.037441,-0.157788,0.986763]]
2025-10-26T21:15:07.262Z,1761513307.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877663,-0.477346,-0.042990],[0.477797,0.864377,0.156722],[-0.037651,-0.158090,0.986707]]
2025-10-26T21:15:07.675Z,1761513307.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878075,-0.476574,-0.043152],[0.477023,0.864618,0.157751],[-0.037870,-0.159102,0.986536]]
2025-10-26T21:15:08.113Z,1761513308.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878680,-0.475507,-0.042607],[0.475909,0.865345,0.157128],[-0.037846,-0.158342,0.986659]]
2025-10-26T21:15:08.474Z,1761513308.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879030,-0.474952,-0.041561],[0.475232,0.865873,0.156262],[-0.038231,-0.157110,0.986841]]
2025-10-26T21:15:08.878Z,1761513308.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879310,-0.474447,-0.041392],[0.474685,0.866067,0.156854],[-0.038571,-0.157572,0.986754]]
2025-10-26T21:15:09.283Z,1761513309.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879776,-0.473600,-0.041210],[0.473776,0.866354,0.158011],[-0.039132,-0.158539,0.986577]]
2025-10-26T21:15:09.689Z,1761513309.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879734,-0.473710,-0.040834],[0.473826,0.866327,0.158011],[-0.039476,-0.158356,0.986593]]
2025-10-26T21:15:10.132Z,1761513310.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879789,-0.473625,-0.040624],[0.473646,0.866142,0.159555],[-0.040383,-0.159616,0.986353]]
2025-10-26T21:15:10.898Z,1761513310.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879532,-0.474145,-0.040134],[0.474088,0.865938,0.159349],[-0.040801,-0.159179,0.986406]]
2025-10-26T21:15:11.302Z,1761513311.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879157,-0.474866,-0.039811],[0.474767,0.865656,0.158856],[-0.040973,-0.158560,0.986499]]
2025-10-26T21:15:11.721Z,1761513311.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878483,-0.476136,-0.039523],[0.475985,0.865046,0.158533],[-0.041294,-0.158081,0.986562]]
2025-10-26T21:15:12.521Z,1761513312.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877087,-0.478708,-0.039456],[0.478536,0.863760,0.157870],[-0.041493,-0.157346,0.986671]]
2025-10-26T21:15:12.923Z,1761513312.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876251,-0.480231,-0.039524],[0.480061,0.862975,0.157527],[-0.041541,-0.157007,0.986723]]
2025-10-26T21:15:13.327Z,1761513313.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875063,-0.482387,-0.039583],[0.482229,0.861918,0.156694],[-0.041470,-0.156205,0.986854]]
2025-10-26T21:15:13.741Z,1761513313.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873784,-0.484681,-0.039818],[0.484527,0.860639,0.156637],[-0.041650,-0.156160,0.986853]]
2025-10-26T21:15:14.137Z,1761513314.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872871,-0.486300,-0.040105],[0.486173,0.859737,0.156490],[-0.041621,-0.156093,0.986865]]
2025-10-26T21:15:14.534Z,1761513314.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871907,-0.488018,-0.040214],[0.487893,0.858812,0.156210],[-0.041697,-0.155821,0.986905]]
2025-10-26T21:15:14.939Z,1761513314.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870796,-0.489994,-0.040254],[0.489878,0.857819,0.155454],[-0.041641,-0.155088,0.987023]]
2025-10-26T21:15:15.049Z,1761513315.049 [DAT](INFO): DAT read: user:150>Rx Time:21:15:13.7117

2025-10-26T21:15:15.050Z,1761513315.050 [DAT](INFO): Rx dataTimestamp_ set to:1761513315.049290
2025-10-26T21:15:15.344Z,1761513315.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869703,-0.491914,-0.040468],[0.491822,0.856789,0.154994],[-0.041571,-0.154701,0.987086]]
2025-10-26T21:15:15.348Z,1761513315.348 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:15:15.557Z,1761513315.557 [DAT](INFO): DAT read: 21:15:13.7117 LVL= 32752, 32753, 32754, 32755, AGC= 86, IDX= 314,-0.29, 2.967, 1.250, 2.749, 2.819, PHS= 0.250,-1.524,-0.114, RAW= 138.8,  16.8, CAL= 137.8,  18.0, ROT=  12.2, -18.0

2025-10-26T21:15:15.558Z,1761513315.558 [DAT](INFO): got valid direction response:
 21:15:13.7117 LVL= 32752, 32753, 32754, 32755, AGC= 86, IDX= 314,-0.29, 2.967, 1.250, 2.749, 2.819, PHS= 0.250,-1.524,-0.114, RAW= 138.8,  16.8, CAL= 137.8,  18.0, ROT=  12.2, -18.0

2025-10-26T21:15:15.558Z,1761513315.558 [DAT](INFO): DAT read: bearing request

2025-10-26T21:15:15.559Z,1761513315.559 [DAT](INFO): received a bearing request message
2025-10-26T21:15:15.559Z,1761513315.559 [DAT](INFO): DAT read: Tx time:21:15:15.3145

2025-10-26T21:15:15.560Z,1761513315.560 [DAT](INFO): Ping request sent.
2025-10-26T21:15:15.560Z,1761513315.560 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:15:15.560Z,1761513315.560 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-26T21:15:15.561Z,1761513315.561 [DAT](INFO): direction in FSK: [0.929578,0.200982,0.309017]
2025-10-26T21:15:15.561Z,1761513315.561 [DAT](INFO): publishing transmit ping time
2025-10-26T21:15:15.562Z,1761513315.562 [DAT](INFO): publishing range request flag
2025-10-26T21:15:15.565Z,1761513315.565 [DAT](INFO): publishing transmit ping time
2025-10-26T21:15:15.565Z,1761513315.565 [DAT](INFO): publishing range request flag
2025-10-26T21:15:15.746Z,1761513315.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868882,-0.493300,-0.041210],[0.493279,0.855850,0.155552],[-0.041464,-0.155484,0.986968]]
2025-10-26T21:15:16.150Z,1761513316.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867969,-0.494908,-0.041169],[0.494889,0.855060,0.154782],[-0.041401,-0.154720,0.987091]]
2025-10-26T21:15:16.352Z,1761513316.352 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:15:16.554Z,1761513316.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867113,-0.496431,-0.040892],[0.496389,0.854375,0.153755],[-0.041391,-0.153621,0.987262]]
2025-10-26T21:15:16.958Z,1761513316.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866691,-0.497169,-0.040862],[0.497112,0.853955,0.153755],[-0.041548,-0.153571,0.987264]]
2025-10-26T21:15:17.363Z,1761513317.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866579,-0.497328,-0.041307],[0.497305,0.853701,0.154539],[-0.041592,-0.154462,0.987123]]
2025-10-26T21:15:17.773Z,1761513317.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866594,-0.497282,-0.041538],[0.497274,0.853633,0.155010],[-0.041625,-0.154987,0.987039]]
2025-10-26T21:15:18.172Z,1761513318.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866944,-0.496665,-0.041610],[0.496641,0.853842,0.155889],[-0.041896,-0.155812,0.986898]]
2025-10-26T21:15:18.574Z,1761513318.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867067,-0.496440,-0.041741],[0.496418,0.853878,0.156400],[-0.042001,-0.156330,0.986811]]
2025-10-26T21:15:18.979Z,1761513318.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867615,-0.495459,-0.042004],[0.495446,0.854238,0.157516],[-0.042162,-0.157474,0.986623]]
2025-10-26T21:15:19.383Z,1761513319.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868251,-0.494344,-0.042010],[0.494321,0.854769,0.158166],[-0.042280,-0.158094,0.986518]]
2025-10-26T21:15:19.786Z,1761513319.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868558,-0.493804,-0.042007],[0.493781,0.855047,0.158352],[-0.042277,-0.158280,0.986489]]
2025-10-26T21:15:20.190Z,1761513320.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868724,-0.493469,-0.042518],[0.493496,0.855055,0.159195],[-0.042203,-0.159279,0.986331]]
2025-10-26T21:15:20.606Z,1761513320.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869041,-0.492902,-0.042613],[0.492944,0.855331,0.159423],[-0.042132,-0.159551,0.986290]]
2025-10-26T21:15:20.998Z,1761513320.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869220,-0.492587,-0.042592],[0.492630,0.855511,0.159428],[-0.042094,-0.159560,0.986290]]
2025-10-26T21:15:21.402Z,1761513321.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869316,-0.492411,-0.042673],[0.492463,0.855579,0.159577],[-0.042067,-0.159738,0.986263]]
2025-10-26T21:15:21.839Z,1761513321.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869411,-0.492273,-0.042323],[0.492290,0.855759,0.159147],[-0.042126,-0.159199,0.986347]]
2025-10-26T21:15:22.210Z,1761513322.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869227,-0.492612,-0.042177],[0.492608,0.855610,0.158963],[-0.042220,-0.158952,0.986383]]
2025-10-26T21:15:22.619Z,1761513322.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868898,-0.493196,-0.042122],[0.493191,0.855347,0.158567],[-0.042176,-0.158553,0.986449]]
2025-10-26T21:15:23.019Z,1761513323.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868516,-0.493837,-0.042475],[0.493876,0.854942,0.158618],[-0.042018,-0.158740,0.986426]]
2025-10-26T21:15:23.422Z,1761513323.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867849,-0.495027,-0.042257],[0.495034,0.854363,0.158133],[-0.042177,-0.158154,0.986513]]
2025-10-26T21:15:23.830Z,1761513323.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867207,-0.496132,-0.042488],[0.496183,0.853804,0.157547],[-0.041887,-0.157707,0.986597]]
2025-10-26T21:15:24.230Z,1761513324.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866156,-0.497910,-0.043128],[0.498047,0.852776,0.157231],[-0.041508,-0.157667,0.986620]]
2025-10-26T21:15:24.639Z,1761513324.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865168,-0.499590,-0.043525],[0.499790,0.851867,0.156628],[-0.041172,-0.157263,0.986698]]
2025-10-26T21:15:24.829Z,1761513324.829 [CTD_Seabird](ERROR): Failed to parse device response: ,11.3619,3.79744,3091.92
2025-10-26T21:15:25.039Z,1761513325.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864198,-0.501229,-0.043957],[0.501499,0.850987,0.155950],[-0.040760,-0.156816,0.986786]]
2025-10-26T21:15:25.442Z,1761513325.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863373,-0.502519,-0.045393],[0.502960,0.849966,0.156808],[-0.040217,-0.158215,0.986585]]
2025-10-26T21:15:25.859Z,1761513325.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862755,-0.503500,-0.046275],[0.504053,0.849263,0.157110],[-0.039805,-0.158873,0.986496]]
2025-10-26T21:15:26.250Z,1761513326.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861923,-0.504834,-0.047235],[0.505525,0.848421,0.156930],[-0.039149,-0.159140,0.986479]]
2025-10-26T21:15:26.655Z,1761513326.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861321,-0.505746,-0.048442],[0.506608,0.847740,0.157117],[-0.038395,-0.159869,0.986391]]
2025-10-26T21:15:27.058Z,1761513327.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860674,-0.506813,-0.048804],[0.507766,0.847289,0.155808],[-0.037614,-0.158880,0.986581]]
2025-10-26T21:15:27.867Z,1761513327.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860092,-0.507643,-0.050397],[0.508834,0.846636,0.155871],[-0.036459,-0.159707,0.986491]]
2025-10-26T21:15:28.302Z,1761513328.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859810,-0.508059,-0.051023],[0.509372,0.846460,0.155065],[-0.035593,-0.159316,0.986586]]
2025-10-26T21:15:28.706Z,1761513328.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859562,-0.508363,-0.052158],[0.509856,0.846186,0.154975],[-0.034648,-0.159804,0.986541]]
2025-10-26T21:15:29.109Z,1761513329.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859499,-0.508325,-0.053551],[0.510033,0.846039,0.155188],[-0.033579,-0.160697,0.986432]]
2025-10-26T21:15:29.511Z,1761513329.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859710,-0.507803,-0.055097],[0.509749,0.846105,0.155766],[-0.032481,-0.161999,0.986256]]
2025-10-26T21:15:29.915Z,1761513329.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859726,-0.507621,-0.056491],[0.509815,0.846175,0.155163],[-0.030962,-0.162198,0.986272]]
2025-10-26T21:15:30.318Z,1761513330.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859577,-0.507719,-0.057877],[0.510147,0.846041,0.154807],[-0.029632,-0.162594,0.986248]]
2025-10-26T21:15:30.726Z,1761513330.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859399,-0.507844,-0.059391],[0.510522,0.845849,0.154621],[-0.028287,-0.163201,0.986187]]
2025-10-26T21:15:31.127Z,1761513331.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859267,-0.507874,-0.061031],[0.510825,0.845703,0.154416],[-0.026810,-0.163860,0.986119]]
2025-10-26T21:15:31.532Z,1761513331.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859140,-0.507940,-0.062249],[0.511119,0.845738,0.153246],[-0.025193,-0.163477,0.986225]]
2025-10-26T21:15:31.934Z,1761513331.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858747,-0.508433,-0.063633],[0.511848,0.845424,0.152543],[-0.023761,-0.163566,0.986246]]
2025-10-26T21:15:32.338Z,1761513332.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858396,-0.508777,-0.065588],[0.512512,0.845064,0.152310],[-0.022065,-0.164357,0.986154]]
2025-10-26T21:15:32.743Z,1761513332.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857912,-0.509374,-0.067271],[0.513392,0.844660,0.151585],[-0.020392,-0.164583,0.986152]]
2025-10-26T21:15:33.147Z,1761513333.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857411,-0.510004,-0.068861],[0.514290,0.844263,0.150753],[-0.018748,-0.164672,0.986170]]
2025-10-26T21:15:33.550Z,1761513333.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857134,-0.510251,-0.070461],[0.514809,0.844065,0.150086],[-0.017107,-0.164918,0.986159]]
2025-10-26T21:15:33.955Z,1761513333.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856573,-0.510993,-0.071892],[0.515793,0.843655,0.149008],[-0.015490,-0.164718,0.986219]]
2025-10-26T21:15:34.358Z,1761513334.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856098,-0.511547,-0.073592],[0.516625,0.843210,0.148648],[-0.013987,-0.165277,0.986148]]
2025-10-26T21:15:34.762Z,1761513334.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855827,-0.511750,-0.075312],[0.517114,0.842971,0.148300],[-0.012407,-0.165864,0.986071]]
2025-10-26T21:15:35.167Z,1761513335.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855427,-0.512241,-0.076506],[0.517810,0.842777,0.146967],[-0.010805,-0.165335,0.986178]]
2025-10-26T21:15:35.582Z,1761513335.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855110,-0.512560,-0.077906],[0.518363,0.842550,0.146322],[-0.009360,-0.165505,0.986165]]
2025-10-26T21:15:35.975Z,1761513335.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854936,-0.512685,-0.078988],[0.518679,0.842648,0.144628],[-0.007590,-0.164617,0.986328]]
2025-10-26T21:15:36.379Z,1761513336.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854830,-0.512667,-0.080237],[0.518873,0.842675,0.143772],[-0.006093,-0.164533,0.986353]]
2025-10-26T21:15:36.783Z,1761513336.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854801,-0.512487,-0.081689],[0.518935,0.842676,0.143538],[-0.004724,-0.165088,0.986268]]
2025-10-26T21:15:37.188Z,1761513337.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854700,-0.512463,-0.082882],[0.519112,0.842716,0.142664],[-0.003264,-0.164960,0.986295]]
2025-10-26T21:15:37.593Z,1761513337.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854579,-0.512488,-0.083966],[0.519317,0.842717,0.141906],[-0.001966,-0.164875,0.986313]]
2025-10-26T21:15:37.995Z,1761513337.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854391,-0.512596,-0.085217],[0.519630,0.842627,0.141294],[-0.000621,-0.165001,0.986293]]
2025-10-26T21:15:38.399Z,1761513338.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854137,-0.512819,-0.086417],[0.520048,0.842503,0.140491],[0.000760,-0.164940,0.986303]]
2025-10-26T21:15:38.804Z,1761513338.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853577,-0.513654,-0.086982],[0.520962,0.842308,0.138258],[0.002249,-0.163328,0.986569]]
2025-10-26T21:15:38.820Z,1761513338.820 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,      +150.20,     ,       -4.24,  20.00,916.51
2025-10-26T21:15:39.206Z,1761513339.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853151,-0.514193,-0.087976],[0.521653,0.842035,0.137311],[0.003475,-0.163040,0.986613]]
2025-10-26T21:15:39.610Z,1761513339.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852642,-0.514850,-0.089053],[0.522473,0.841696,0.136272],[0.004796,-0.162719,0.986661]]
2025-10-26T21:15:40.015Z,1761513340.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851669,-0.516304,-0.089948],[0.524046,0.840943,0.134870],[0.006007,-0.162002,0.986772]]
2025-10-26T21:15:40.420Z,1761513340.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850470,-0.517997,-0.091540],[0.525973,0.839817,0.134384],[0.007267,-0.162437,0.986692]]
2025-10-26T21:15:40.822Z,1761513340.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849519,-0.519346,-0.092719],[0.527492,0.838964,0.133760],[0.008320,-0.162541,0.986667]]
2025-10-26T21:15:41.226Z,1761513341.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848173,-0.521356,-0.093763],[0.529636,0.837792,0.132625],[0.009409,-0.162149,0.986721]]
2025-10-26T21:15:41.630Z,1761513341.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846941,-0.523088,-0.095236],[0.531587,0.836555,0.132630],[0.010293,-0.162956,0.986580]]
2025-10-26T21:15:42.036Z,1761513342.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845718,-0.524872,-0.096281],[0.533503,0.835571,0.131130],[0.011623,-0.162265,0.986679]]
2025-10-26T21:15:42.439Z,1761513342.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844403,-0.526781,-0.097394],[0.535552,0.834485,0.129685],[0.012959,-0.161666,0.986760]]
2025-10-26T21:15:42.842Z,1761513342.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843370,-0.528165,-0.098837],[0.537144,0.833575,0.128952],[0.014280,-0.161844,0.986713]]
2025-10-26T21:15:43.246Z,1761513343.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842523,-0.529268,-0.100157],[0.538437,0.832847,0.128265],[0.015529,-0.161994,0.986670]]
2025-10-26T21:15:43.650Z,1761513343.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842248,-0.529251,-0.102530],[0.538832,0.832373,0.129675],[0.016713,-0.164465,0.986241]]
2025-10-26T21:15:44.066Z,1761513344.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842498,-0.528328,-0.105198],[0.538407,0.832262,0.132127],[0.017746,-0.167956,0.985635]]
2025-10-26T21:15:44.458Z,1761513344.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842517,-0.528021,-0.106579],[0.538338,0.832290,0.132228],[0.018886,-0.168780,0.985473]]
2025-10-26T21:15:44.862Z,1761513344.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843162,-0.526630,-0.108345],[0.537287,0.832796,0.133321],[0.020018,-0.170624,0.985133]]
2025-10-26T21:15:45.267Z,1761513345.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844149,-0.524810,-0.109487],[0.535692,0.833764,0.133685],[0.021127,-0.171502,0.984957]]
2025-10-26T21:15:45.282Z,1761513345.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:15:45.293Z,1761513345.293 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:15:45.293Z,1761513345.293 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:15:45.293Z,1761513345.293 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:15:45.545Z,1761513345.545 [DAT](INFO): DAT read: 

2025-10-26T21:15:45.547Z,1761513345.547 [DAT](INFO): DAT read: Tx time:21:15:44.6460

2025-10-26T21:15:45.547Z,1761513345.547 [DAT](INFO): Ping request sent.
2025-10-26T21:15:45.547Z,1761513345.547 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:15:45.547Z,1761513345.547 [DAT](INFO): publishing transmit ping time
2025-10-26T21:15:45.548Z,1761513345.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000874
2025-10-26T21:15:45.675Z,1761513345.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845291,-0.522694,-0.110789],[0.533848,0.834792,0.134641],[0.022109,-0.172955,0.984682]]
2025-10-26T21:15:45.796Z,1761513345.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249315
2025-10-26T21:15:46.049Z,1761513346.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502177
2025-10-26T21:15:46.077Z,1761513346.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846866,-0.519940,-0.111716],[0.531302,0.836331,0.135164],[0.023154,-0.173820,0.984505]]
2025-10-26T21:15:46.300Z,1761513346.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753391
2025-10-26T21:15:46.480Z,1761513346.480 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:15:46.482Z,1761513346.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848419,-0.517137,-0.112937],[0.528778,0.837729,0.136395],[0.024076,-0.175439,0.984196]]
2025-10-26T21:15:46.553Z,1761513346.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005658
2025-10-26T21:15:46.804Z,1761513346.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257308
2025-10-26T21:15:46.882Z,1761513346.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850506,-0.513642,-0.113186],[0.525368,0.839891,0.136281],[0.025065,-0.175372,0.984183]]
2025-10-26T21:15:47.058Z,1761513347.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510717
2025-10-26T21:15:47.286Z,1761513347.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852695,-0.509891,-0.113678],[0.521761,0.842062,0.136735],[0.026004,-0.175906,0.984064]]
2025-10-26T21:15:47.308Z,1761513347.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761322
2025-10-26T21:15:47.488Z,1761513347.488 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:15:47.563Z,1761513347.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015438
2025-10-26T21:15:47.700Z,1761513347.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854669,-0.506406,-0.114431],[0.518479,0.843932,0.137687],[0.026847,-0.177007,0.983843]]
2025-10-26T21:15:47.813Z,1761513347.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265746
2025-10-26T21:15:48.065Z,1761513348.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518069
2025-10-26T21:15:48.099Z,1761513348.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856658,-0.502797,-0.115467],[0.515153,0.845659,0.139566],[0.027473,-0.179044,0.983457]]
2025-10-26T21:15:48.317Z,1761513348.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769661
2025-10-26T21:15:48.508Z,1761513348.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858408,-0.499863,-0.115205],[0.512206,0.847470,0.139427],[0.027938,-0.178694,0.983508]]
2025-10-26T21:15:48.569Z,1761513348.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021534
2025-10-26T21:15:48.820Z,1761513348.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273240
2025-10-26T21:15:49.072Z,1761513349.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525259
2025-10-26T21:15:49.306Z,1761513349.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860544,-0.496092,-0.115569],[0.508548,0.849670,0.139424],[0.029029,-0.178753,0.983466]]
2025-10-26T21:15:49.325Z,1761513349.325 [DAT](INFO): DAT read: Rx Time:21:15:48.0247

2025-10-26T21:15:49.325Z,1761513349.325 [DAT](INFO): Rx dataTimestamp_ set to:1761513349.324740
2025-10-26T21:15:49.326Z,1761513349.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778570
2025-10-26T21:15:49.577Z,1761513349.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030005
2025-10-26T21:15:49.728Z,1761513349.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860654,-0.495837,-0.115842],[0.508326,0.849912,0.138759],[0.029654,-0.178309,0.983528]]
2025-10-26T21:15:49.840Z,1761513349.840 [DAT](INFO): DAT read: 21:15:48.0247 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 279, 0.23,-0.804,-2.557,-0.842,-1.329, PHS= 0.627,-1.183, 0.443, RAW= 144.7,   1.3, CAL= 144.2,   1.5, ROT=   5.8,  -1.5

2025-10-26T21:15:49.841Z,1761513349.841 [DAT](INFO): got valid direction response:
 21:15:48.0247 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 279, 0.23,-0.804,-2.557,-0.842,-1.329, PHS= 0.627,-1.183, 0.443, RAW= 144.7,   1.3, CAL= 144.2,   1.5, ROT=   5.8,  -1.5

2025-10-26T21:15:49.842Z,1761513349.842 [DAT](INFO): DAT read: Bearing 182.3,   7.4 (Local)

2025-10-26T21:15:49.843Z,1761513349.843 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.3,   7.4 (Local)

2025-10-26T21:15:49.844Z,1761513349.844 [DAT](INFO): DAT read: Range 11 to 50 : 730.8 m  (Round-trip  974.5 ms) speed  0.6 m/s

2025-10-26T21:15:49.845Z,1761513349.845 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:15:49.846Z,1761513349.846 [DAT](INFO): direction in FSK: [0.994540,0.101022,0.026177]
2025-10-26T21:15:49.846Z,1761513349.846 [DAT](INFO): publishing direction and range info
2025-10-26T21:15:50.114Z,1761513350.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860383,-0.496282,-0.115951],[0.508748,0.849852,0.137575],[0.030265,-0.177357,0.983681]]
2025-10-26T21:15:50.522Z,1761513350.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859501,-0.497897,-0.115573],[0.510211,0.849313,0.135470],[0.030707,-0.175403,0.984018]]
2025-10-26T21:15:50.926Z,1761513350.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858379,-0.499775,-0.115804],[0.512046,0.848523,0.133484],[0.031551,-0.173876,0.984262]]
2025-10-26T21:15:51.326Z,1761513351.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857047,-0.501995,-0.116064],[0.514215,0.847548,0.131320],[0.032448,-0.172230,0.984522]]
2025-10-26T21:15:51.794Z,1761513351.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853870,-0.507272,-0.116540],[0.519409,0.844867,0.128114],[0.033472,-0.169925,0.984888]]
2025-10-26T21:15:52.563Z,1761513352.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849835,-0.513677,-0.117971],[0.525871,0.841379,0.124662],[0.035222,-0.167980,0.985161]]
2025-10-26T21:15:53.346Z,1761513353.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847969,-0.516550,-0.118848],[0.528804,0.839781,0.123016],[0.036262,-0.167162,0.985262]]
2025-10-26T21:15:53.781Z,1761513353.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844855,-0.521266,-0.120427],[0.533641,0.837098,0.120393],[0.038053,-0.165979,0.985395]]
2025-10-26T21:15:54.162Z,1761513354.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843439,-0.523231,-0.121821],[0.535823,0.835699,0.120419],[0.038799,-0.166841,0.985220]]
2025-10-26T21:15:54.576Z,1761513354.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842500,-0.524514,-0.122797],[0.537240,0.834850,0.119994],[0.039579,-0.167066,0.985151]]
2025-10-26T21:15:54.967Z,1761513354.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841884,-0.525358,-0.123408],[0.538149,0.834373,0.119238],[0.040325,-0.166796,0.985166]]
2025-10-26T21:15:55.370Z,1761513355.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841872,-0.525177,-0.124262],[0.538124,0.834353,0.119491],[0.040925,-0.167464,0.985028]]
2025-10-26T21:15:55.808Z,1761513355.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842120,-0.524662,-0.124757],[0.537709,0.834577,0.119794],[0.041268,-0.167964,0.984929]]
2025-10-26T21:15:56.174Z,1761513356.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842812,-0.523368,-0.125516],[0.536591,0.835176,0.120626],[0.041696,-0.169015,0.984731]]
2025-10-26T21:15:56.578Z,1761513356.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843926,-0.521325,-0.126526],[0.534792,0.836150,0.121865],[0.042263,-0.170510,0.984449]]
2025-10-26T21:15:56.982Z,1761513356.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845577,-0.518336,-0.127776],[0.532134,0.837549,0.123878],[0.042809,-0.172742,0.984036]]
2025-10-26T21:15:57.388Z,1761513357.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847514,-0.514815,-0.129174],[0.528999,0.839170,0.126308],[0.043374,-0.175381,0.983545]]
2025-10-26T21:15:57.829Z,1761513357.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849530,-0.511267,-0.130021],[0.525702,0.841014,0.127797],[0.044011,-0.176920,0.983241]]
2025-10-26T21:15:58.194Z,1761513358.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851504,-0.507763,-0.130837],[0.522470,0.842720,0.129803],[0.044350,-0.178886,0.982870]]
2025-10-26T21:15:58.598Z,1761513358.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853463,-0.504290,-0.131499],[0.519217,0.844508,0.131220],[0.044879,-0.180268,0.982593]]
2025-10-26T21:15:59.011Z,1761513359.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855181,-0.501165,-0.132286],[0.516342,0.846021,0.132815],[0.045355,-0.181886,0.982273]]
2025-10-26T21:15:59.406Z,1761513359.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857248,-0.497708,-0.131960],[0.512841,0.848217,0.132369],[0.046050,-0.181148,0.982377]]
2025-10-26T21:15:59.849Z,1761513359.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858886,-0.494904,-0.131852],[0.510038,0.849937,0.132171],[0.046653,-0.180769,0.982418]]
2025-10-26T21:16:00.215Z,1761513360.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860240,-0.492443,-0.132240],[0.507727,0.851141,0.133311],[0.046907,-0.181821,0.982212]]
2025-10-26T21:16:00.624Z,1761513360.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861834,-0.489633,-0.132290],[0.504984,0.852683,0.133877],[0.047251,-0.182184,0.982128]]
2025-10-26T21:16:01.045Z,1761513361.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863065,-0.487600,-0.131775],[0.502853,0.854021,0.133370],[0.047507,-0.181370,0.982267]]
2025-10-26T21:16:01.430Z,1761513361.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863574,-0.486588,-0.132184],[0.501924,0.854578,0.133304],[0.048098,-0.181464,0.982221]]
2025-10-26T21:16:01.849Z,1761513361.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864082,-0.486082,-0.130715],[0.501060,0.855390,0.131328],[0.047976,-0.178974,0.982683]]
2025-10-26T21:16:02.239Z,1761513362.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864059,-0.486764,-0.128309],[0.501105,0.855988,0.127192],[0.047918,-0.174198,0.983544]]
2025-10-26T21:16:02.642Z,1761513362.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863509,-0.487944,-0.127523],[0.502028,0.855779,0.124942],[0.048167,-0.171909,0.983935]]
2025-10-26T21:16:03.050Z,1761513363.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863096,-0.488731,-0.127305],[0.502695,0.855610,0.123407],[0.048611,-0.170507,0.984157]]
2025-10-26T21:16:03.453Z,1761513363.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862643,-0.489467,-0.127550],[0.503408,0.855358,0.122244],[0.049266,-0.169663,0.984270]]
2025-10-26T21:16:03.858Z,1761513363.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862067,-0.490624,-0.127000],[0.504366,0.855065,0.120327],[0.049558,-0.167784,0.984577]]
2025-10-26T21:16:04.257Z,1761513364.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861150,-0.492347,-0.126551],[0.505905,0.854416,0.118465],[0.049801,-0.166039,0.984861]]
2025-10-26T21:16:04.662Z,1761513364.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860449,-0.493677,-0.126135],[0.507079,0.853931,0.116931],[0.049984,-0.164574,0.985097]]
2025-10-26T21:16:05.071Z,1761513365.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859582,-0.495218,-0.126005],[0.508503,0.853307,0.115292],[0.050427,-0.163177,0.985307]]
2025-10-26T21:16:05.471Z,1761513365.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858566,-0.496808,-0.126674],[0.510212,0.852231,0.115696],[0.050477,-0.163963,0.985174]]
2025-10-26T21:16:05.875Z,1761513365.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857770,-0.498270,-0.126324],[0.511523,0.851663,0.114079],[0.050743,-0.162471,0.985408]]
2025-10-26T21:16:06.278Z,1761513366.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856983,-0.499580,-0.126489],[0.512798,0.851034,0.113049],[0.051170,-0.161744,0.985505]]
2025-10-26T21:16:06.682Z,1761513366.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856275,-0.500919,-0.125987],[0.513955,0.850567,0.111291],[0.051413,-0.160048,0.985770]]
2025-10-26T21:16:07.086Z,1761513367.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855662,-0.501949,-0.126050],[0.514951,0.850059,0.110567],[0.051651,-0.159518,0.985843]]
2025-10-26T21:16:07.493Z,1761513367.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854930,-0.503177,-0.126129],[0.516120,0.849504,0.109374],[0.052112,-0.158605,0.985966]]
2025-10-26T21:16:07.894Z,1761513367.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854374,-0.504138,-0.126056],[0.517021,0.849058,0.108576],[0.052291,-0.157939,0.986063]]
2025-10-26T21:16:08.298Z,1761513368.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854043,-0.504496,-0.126864],[0.517550,0.848631,0.109397],[0.052471,-0.159088,0.985869]]
2025-10-26T21:16:08.706Z,1761513368.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854096,-0.504406,-0.126863],[0.517474,0.848643,0.109662],[0.052347,-0.159310,0.985840]]
2025-10-26T21:16:09.107Z,1761513369.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854235,-0.504065,-0.127282],[0.517229,0.848729,0.110151],[0.052505,-0.159929,0.985731]]
2025-10-26T21:16:09.541Z,1761513369.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854586,-0.503126,-0.128635],[0.516631,0.848810,0.112314],[0.052679,-0.162438,0.985312]]
2025-10-26T21:16:09.914Z,1761513369.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854959,-0.502427,-0.128890],[0.516003,0.849130,0.112780],[0.052781,-0.162930,0.985225]]
2025-10-26T21:16:10.318Z,1761513370.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855367,-0.501838,-0.128480],[0.515324,0.849610,0.112272],[0.052816,-0.162242,0.985336]]
2025-10-26T21:16:10.734Z,1761513370.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855906,-0.500952,-0.128343],[0.514455,0.850054,0.112892],[0.052545,-0.162652,0.985283]]
2025-10-26T21:16:11.126Z,1761513371.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856657,-0.499642,-0.128439],[0.513214,0.850695,0.113710],[0.052448,-0.163327,0.985177]]
2025-10-26T21:16:11.535Z,1761513371.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857548,-0.498016,-0.128811],[0.511711,0.851473,0.114657],[0.052578,-0.164238,0.985018]]
2025-10-26T21:16:11.934Z,1761513371.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858743,-0.495715,-0.129722],[0.509691,0.852396,0.116774],[0.052688,-0.166397,0.984650]]
2025-10-26T21:16:12.338Z,1761513372.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859986,-0.493420,-0.130236],[0.507585,0.853433,0.118361],[0.052746,-0.167894,0.984393]]
2025-10-26T21:16:12.743Z,1761513372.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861351,-0.490918,-0.130668],[0.505271,0.854558,0.120137],[0.052686,-0.169503,0.984120]]
2025-10-26T21:16:13.146Z,1761513373.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862945,-0.487967,-0.131205],[0.502555,0.855844,0.122353],[0.052587,-0.171521,0.983776]]
2025-10-26T21:16:13.553Z,1761513373.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864169,-0.485661,-0.131699],[0.500434,0.856869,0.123858],[0.052696,-0.172941,0.983521]]
2025-10-26T21:16:13.954Z,1761513373.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865434,-0.483453,-0.131522],[0.498176,0.858284,0.123160],[0.053341,-0.172108,0.983633]]
2025-10-26T21:16:14.359Z,1761513374.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866546,-0.481371,-0.131832],[0.496226,0.859253,0.124276],[0.053454,-0.173109,0.983451]]
2025-10-26T21:16:14.769Z,1761513374.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867784,-0.479107,-0.131935],[0.494042,0.860396,0.125065],[0.053597,-0.173711,0.983337]]
2025-10-26T21:16:15.166Z,1761513375.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868748,-0.477288,-0.132183],[0.492322,0.861276,0.125789],[0.053808,-0.174356,0.983211]]
2025-10-26T21:16:15.570Z,1761513375.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869364,-0.476088,-0.132462],[0.491193,0.861887,0.126013],[0.054174,-0.174616,0.983145]]
2025-10-26T21:16:15.975Z,1761513375.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869917,-0.475113,-0.132336],[0.490179,0.862531,0.125557],[0.054490,-0.174092,0.983221]]
2025-10-26T21:16:16.378Z,1761513376.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870492,-0.474245,-0.131663],[0.489170,0.863186,0.124991],[0.054373,-0.173209,0.983383]]
2025-10-26T21:16:16.788Z,1761513376.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870873,-0.473716,-0.131045],[0.488481,0.863724,0.123967],[0.054461,-0.171973,0.983595]]
2025-10-26T21:16:17.186Z,1761513377.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870945,-0.473722,-0.130545],[0.488333,0.863981,0.122749],[0.054640,-0.170658,0.983814]]
2025-10-26T21:16:17.590Z,1761513377.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870864,-0.473936,-0.130311],[0.488458,0.864030,0.121902],[0.054819,-0.169812,0.983951]]
2025-10-26T21:16:17.628Z,1761513377.628 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:16:18.004Z,1761513378.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870869,-0.473967,-0.130166],[0.488432,0.864125,0.121335],[0.054971,-0.169244,0.984040]]
2025-10-26T21:16:18.398Z,1761513378.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870635,-0.474436,-0.130022],[0.488823,0.864029,0.120437],[0.055203,-0.168415,0.984169]]
2025-10-26T21:16:18.632Z,1761513378.632 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:16:18.802Z,1761513378.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870436,-0.474883,-0.129717],[0.489185,0.863900,0.119899],[0.055124,-0.167820,0.984275]]
2025-10-26T21:16:19.207Z,1761513379.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870387,-0.475043,-0.129465],[0.489279,0.863901,0.119506],[0.055075,-0.167361,0.984356]]
2025-10-26T21:16:19.610Z,1761513379.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869970,-0.475869,-0.129231],[0.490002,0.863632,0.118480],[0.055227,-0.166397,0.984511]]
2025-10-26T21:16:20.018Z,1761513380.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869704,-0.476558,-0.128484],[0.490477,0.863566,0.116986],[0.055204,-0.164762,0.984787]]
2025-10-26T21:16:20.418Z,1761513380.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869585,-0.476883,-0.128076],[0.490697,0.863528,0.116346],[0.055114,-0.164019,0.984916]]
2025-10-26T21:16:20.828Z,1761513380.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869326,-0.477411,-0.127873],[0.491154,0.863348,0.115748],[0.055139,-0.163428,0.985013]]
2025-10-26T21:16:21.228Z,1761513381.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869191,-0.477520,-0.128379],[0.491348,0.863233,0.115784],[0.055531,-0.163717,0.984943]]
2025-10-26T21:16:21.631Z,1761513381.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869122,-0.477613,-0.128501],[0.491434,0.863247,0.115317],[0.055851,-0.163374,0.984982]]
2025-10-26T21:16:22.034Z,1761513382.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869201,-0.477614,-0.127963],[0.491282,0.863486,0.114167],[0.055966,-0.162100,0.985186]]
2025-10-26T21:16:22.438Z,1761513382.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869386,-0.477285,-0.127935],[0.490944,0.863691,0.114070],[0.056053,-0.161980,0.985201]]
2025-10-26T21:16:22.843Z,1761513382.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869530,-0.477169,-0.127386],[0.490686,0.863963,0.113119],[0.056080,-0.160867,0.985382]]
2025-10-26T21:16:23.246Z,1761513383.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869872,-0.476604,-0.127167],[0.490099,0.864274,0.113285],[0.055915,-0.160868,0.985391]]
2025-10-26T21:16:23.650Z,1761513383.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870174,-0.476118,-0.126922],[0.489576,0.864570,0.113287],[0.055795,-0.160718,0.985422]]
2025-10-26T21:16:24.054Z,1761513384.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870547,-0.475457,-0.126838],[0.488922,0.864902,0.113578],[0.055701,-0.160889,0.985399]]
2025-10-26T21:16:24.459Z,1761513384.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871101,-0.474664,-0.126001],[0.487988,0.865453,0.113395],[0.055224,-0.160266,0.985528]]
2025-10-26T21:16:24.863Z,1761513384.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871548,-0.473820,-0.126087],[0.487234,0.865713,0.114650],[0.054831,-0.161357,0.985372]]
2025-10-26T21:16:25.672Z,1761513385.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872696,-0.471707,-0.126070],[0.485260,0.866513,0.116948],[0.054076,-0.163237,0.985104]]
2025-10-26T21:16:26.074Z,1761513386.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873130,-0.471186,-0.125012],[0.484530,0.867018,0.116239],[0.053617,-0.162064,0.985323]]
2025-10-26T21:16:26.484Z,1761513386.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873720,-0.470160,-0.124750],[0.483507,0.867492,0.116955],[0.053232,-0.162503,0.985271]]
2025-10-26T21:16:26.883Z,1761513386.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874340,-0.469249,-0.123833],[0.482461,0.868055,0.117098],[0.052546,-0.162129,0.985370]]
2025-10-26T21:16:27.299Z,1761513387.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874757,-0.468761,-0.122734],[0.481762,0.868534,0.116427],[0.052022,-0.160974,0.985587]]
2025-10-26T21:16:27.690Z,1761513387.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875096,-0.468252,-0.122262],[0.481180,0.868854,0.116439],[0.051705,-0.160725,0.985644]]
2025-10-26T21:16:28.095Z,1761513388.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875287,-0.468008,-0.121823],[0.480841,0.869108,0.115945],[0.051614,-0.160063,0.985756]]
2025-10-26T21:16:28.505Z,1761513388.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875692,-0.467390,-0.121281],[0.480145,0.869481,0.116031],[0.051220,-0.159840,0.985813]]
2025-10-26T21:16:28.902Z,1761513388.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875900,-0.467103,-0.120888],[0.479784,0.869710,0.115804],[0.051045,-0.159433,0.985888]]
2025-10-26T21:16:29.336Z,1761513389.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876063,-0.466943,-0.120326],[0.479525,0.869882,0.115591],[0.050695,-0.158964,0.985982]]
2025-10-26T21:16:29.718Z,1761513389.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876167,-0.466879,-0.119818],[0.479359,0.870026,0.115191],[0.050465,-0.158362,0.986091]]
2025-10-26T21:16:30.114Z,1761513390.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876324,-0.466852,-0.118767],[0.479145,0.870196,0.114797],[0.049757,-0.157506,0.986264]]
2025-10-26T21:16:30.518Z,1761513390.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876469,-0.466747,-0.118102],[0.478929,0.870334,0.114654],[0.049274,-0.157053,0.986360]]
2025-10-26T21:16:31.054Z,1761513391.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876625,-0.466731,-0.117004],[0.478764,0.870361,0.115141],[0.048096,-0.156953,0.986434]]
2025-10-26T21:16:31.737Z,1761513391.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876750,-0.466556,-0.116771],[0.478578,0.870393,0.115669],[0.047671,-0.157297,0.986400]]
2025-10-26T21:16:32.139Z,1761513392.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876850,-0.466520,-0.116159],[0.478449,0.870458,0.115714],[0.047129,-0.157040,0.986467]]
2025-10-26T21:16:32.538Z,1761513392.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876977,-0.466451,-0.115475],[0.478285,0.870513,0.115981],[0.046423,-0.156942,0.986516]]
2025-10-26T21:16:32.945Z,1761513392.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877340,-0.465834,-0.115213],[0.477674,0.870722,0.116925],[0.045851,-0.157617,0.986435]]
2025-10-26T21:16:33.383Z,1761513393.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877574,-0.465482,-0.114850],[0.477283,0.870892,0.117251],[0.045444,-0.157712,0.986439]]
2025-10-26T21:16:33.750Z,1761513393.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878042,-0.464650,-0.114646],[0.476471,0.871200,0.118266],[0.044927,-0.158468,0.986341]]
2025-10-26T21:16:34.158Z,1761513394.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878088,-0.464661,-0.114244],[0.476418,0.871228,0.118267],[0.044579,-0.158277,0.986388]]
2025-10-26T21:16:34.585Z,1761513394.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878269,-0.464495,-0.113523],[0.476141,0.871371,0.118332],[0.043956,-0.157980,0.986463]]
2025-10-26T21:16:34.975Z,1761513394.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878466,-0.464282,-0.112865],[0.475821,0.871561,0.118216],[0.043483,-0.157552,0.986553]]
2025-10-26T21:16:35.420Z,1761513395.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879009,-0.463305,-0.112657],[0.474917,0.871747,0.120465],[0.042396,-0.159392,0.986305]]
2025-10-26T21:16:35.456Z,1761513395.456 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-10-26T21:16:35.456Z,1761513395.456 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-10-26T21:16:35.456Z,1761513395.456 [RDI_Pathfinder](ERROR): Communications Fault
2025-10-26T21:16:35.635Z,1761513395.635 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-10-26T21:16:35.856Z,1761513395.856 [RDI_Pathfinder](INFO): Powering down
2025-10-26T21:16:36.180Z,1761513396.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879153,-0.463156,-0.112140],[0.474678,0.871904,0.120266],[0.042074,-0.158963,0.986388]]
2025-10-26T21:16:36.580Z,1761513396.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879412,-0.462820,-0.111500],[0.474244,0.872134,0.120316],[0.041558,-0.158685,0.986454]]
2025-10-26T21:16:36.643Z,1761513396.643 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-10-26T21:16:36.643Z,1761513396.643 [RDI_Pathfinder] No Fault, FailCount= 1
2025-10-26T21:16:36.988Z,1761513396.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879803,-0.462275,-0.110678],[0.473583,0.872457,0.120573],[0.040824,-0.158495,0.986515]]
2025-10-26T21:16:37.000Z,1761513397.000 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-10-26T21:16:37.386Z,1761513397.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880006,-0.462128,-0.109672],[0.473296,0.872549,0.121035],[0.039760,-0.158419,0.986571]]
2025-10-26T21:16:37.790Z,1761513397.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880473,-0.461540,-0.108386],[0.472542,0.872839,0.121883],[0.038350,-0.158532,0.986609]]
2025-10-26T21:16:38.207Z,1761513398.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880491,-0.461950,-0.106475],[0.472674,0.872661,0.122650],[0.036258,-0.158320,0.986722]]
2025-10-26T21:16:38.606Z,1761513398.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880275,-0.462551,-0.105654],[0.473143,0.872390,0.122763],[0.035388,-0.158055,0.986796]]
2025-10-26T21:16:39.007Z,1761513399.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880273,-0.462744,-0.104817],[0.473236,0.872200,0.123753],[0.034156,-0.158540,0.986762]]
2025-10-26T21:16:39.414Z,1761513399.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880336,-0.462958,-0.103338],[0.473208,0.872236,0.123609],[0.032910,-0.157718,0.986936]]
2025-10-26T21:16:39.814Z,1761513399.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880179,-0.463469,-0.102381],[0.473560,0.872058,0.123511],[0.032039,-0.157196,0.987048]]
2025-10-26T21:16:40.214Z,1761513400.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880197,-0.463674,-0.101290],[0.473599,0.872002,0.123761],[0.030940,-0.156905,0.987129]]
2025-10-26T21:16:40.618Z,1761513400.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880216,-0.463900,-0.100085],[0.473634,0.871980,0.123778],[0.029852,-0.156355,0.987250]]
2025-10-26T21:16:41.022Z,1761513401.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880531,-0.463547,-0.098940],[0.473123,0.872169,0.124402],[0.028626,-0.156351,0.987287]]
2025-10-26T21:16:41.432Z,1761513401.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880787,-0.463294,-0.097841],[0.472712,0.872334,0.124807],[0.027527,-0.156179,0.987345]]
2025-10-26T21:16:41.831Z,1761513401.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881051,-0.462800,-0.097802],[0.472265,0.872317,0.126602],[0.026723,-0.157732,0.987120]]
2025-10-26T21:16:42.235Z,1761513402.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881668,-0.461778,-0.097072],[0.471177,0.872695,0.128048],[0.025584,-0.158634,0.987006]]
2025-10-26T21:16:42.638Z,1761513402.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882278,-0.460922,-0.095584],[0.470090,0.873298,0.127928],[0.024508,-0.157801,0.987167]]
2025-10-26T21:16:43.044Z,1761513403.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883093,-0.459516,-0.094828],[0.468610,0.873904,0.129215],[0.023494,-0.158546,0.987072]]
2025-10-26T21:16:43.469Z,1761513403.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883910,-0.458162,-0.093756],[0.467120,0.874577,0.130054],[0.022411,-0.158752,0.987064]]
2025-10-26T21:16:43.850Z,1761513403.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884748,-0.456745,-0.092762],[0.465584,0.875230,0.131166],[0.021279,-0.159237,0.987011]]
2025-10-26T21:16:44.254Z,1761513404.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885563,-0.455457,-0.091301],[0.464081,0.875999,0.131354],[0.020154,-0.158694,0.987122]]
2025-10-26T21:16:44.660Z,1761513404.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886469,-0.453903,-0.090248],[0.462400,0.876704,0.132579],[0.018942,-0.159258,0.987055]]
2025-10-26T21:16:45.063Z,1761513405.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887073,-0.452908,-0.089305],[0.461290,0.877084,0.133923],[0.017673,-0.159995,0.986960]]
2025-10-26T21:16:45.474Z,1761513405.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887481,-0.452296,-0.088350],[0.460541,0.877401,0.134421],[0.016721,-0.159985,0.986978]]
2025-10-26T21:16:45.509Z,1761513405.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:16:45.560Z,1761513405.560 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:16:45.560Z,1761513405.560 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:16:45.813Z,1761513405.813 [DAT](INFO): DAT read: user:151>

2025-10-26T21:16:45.813Z,1761513405.813 [DAT](INFO): DAT read: Tx time:21:16:44.9460

2025-10-26T21:16:45.814Z,1761513405.814 [DAT](INFO): Ping request sent.
2025-10-26T21:16:45.814Z,1761513405.814 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:16:45.814Z,1761513405.814 [DAT](INFO): publishing transmit ping time
2025-10-26T21:16:45.814Z,1761513405.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-10-26T21:16:45.888Z,1761513405.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887839,-0.451816,-0.087199],[0.459891,0.877652,0.135008],[0.015532,-0.159968,0.987000]]
2025-10-26T21:16:46.065Z,1761513406.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250807
2025-10-26T21:16:46.274Z,1761513406.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888099,-0.451544,-0.085956],[0.459429,0.877839,0.135365],[0.014332,-0.159708,0.987060]]
2025-10-26T21:16:46.319Z,1761513406.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505028
2025-10-26T21:16:46.568Z,1761513406.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754622
2025-10-26T21:16:46.678Z,1761513406.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888148,-0.451664,-0.084816],[0.459372,0.877796,0.135839],[0.013098,-0.159607,0.987094]]
2025-10-26T21:16:46.820Z,1761513406.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006659
2025-10-26T21:16:47.076Z,1761513407.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262574
2025-10-26T21:16:47.084Z,1761513407.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887814,-0.452499,-0.083854],[0.460043,0.877455,0.135770],[0.012142,-0.159115,0.987185]]
2025-10-26T21:16:47.329Z,1761513407.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514882
2025-10-26T21:16:47.486Z,1761513407.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887240,-0.453852,-0.082606],[0.461173,0.876985,0.134972],[0.011187,-0.157848,0.987400]]
2025-10-26T21:16:47.581Z,1761513407.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767448
2025-10-26T21:16:47.832Z,1761513407.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018592
2025-10-26T21:16:47.895Z,1761513407.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886558,-0.455292,-0.082001],[0.462502,0.876254,0.135169],[0.010312,-0.157761,0.987423]]
2025-10-26T21:16:48.085Z,1761513408.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270871
2025-10-26T21:16:48.294Z,1761513408.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885834,-0.456671,-0.082156],[0.463900,0.875355,0.136200],[0.009717,-0.158762,0.987269]]
2025-10-26T21:16:48.337Z,1761513408.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522774
2025-10-26T21:16:48.588Z,1761513408.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774588
2025-10-26T21:16:48.700Z,1761513408.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885077,-0.458084,-0.082444],[0.465352,0.874432,0.137170],[0.009256,-0.159771,0.987111]]
2025-10-26T21:16:48.752Z,1761513408.752 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:16:48.840Z,1761513408.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026552
2025-10-26T21:16:49.094Z,1761513409.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279783
2025-10-26T21:16:49.104Z,1761513409.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883948,-0.460203,-0.082756],[0.467505,0.873127,0.138159],[0.008676,-0.160814,0.986947]]
2025-10-26T21:16:49.344Z,1761513409.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530619
2025-10-26T21:16:49.537Z,1761513409.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882995,-0.462142,-0.082121],[0.469314,0.872232,0.137681],[0.008000,-0.160112,0.987066]]
2025-10-26T21:16:49.597Z,1761513409.597 [DAT](INFO): DAT read: Rx Time:21:16:48.2693

2025-10-26T21:16:49.597Z,1761513409.597 [DAT](INFO): Rx dataTimestamp_ set to:1761513409.596715
2025-10-26T21:16:49.598Z,1761513409.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783828
2025-10-26T21:16:49.756Z,1761513409.756 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:16:49.848Z,1761513409.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034653
2025-10-26T21:16:49.910Z,1761513409.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882161,-0.463851,-0.081452],[0.470892,0.871442,0.137295],[0.007296,-0.159471,0.987176]]
2025-10-26T21:16:50.106Z,1761513410.106 [DAT](INFO): DAT read: 21:16:48.2693 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 383, 0.45, 1.631,-0.147, 1.459, 1.210, PHS= 0.523,-1.312, 0.206, RAW= 140.7,   6.9, CAL= 140.3,   7.7, ROT=   9.7,  -7.7

2025-10-26T21:16:50.107Z,1761513410.107 [DAT](INFO): got valid direction response:
 21:16:48.2693 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 383, 0.45, 1.631,-0.147, 1.459, 1.210, PHS= 0.523,-1.312, 0.206, RAW= 140.7,   6.9, CAL= 140.3,   7.7, ROT=   9.7,  -7.7

2025-10-26T21:16:50.108Z,1761513410.108 [DAT](INFO): DAT read: Bearing 186.0,   8.4 (Local)

2025-10-26T21:16:50.108Z,1761513410.108 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.0,   8.4 (Local)

2025-10-26T21:16:50.109Z,1761513410.109 [DAT](INFO): DAT read: Range 11 to 50 : 689.3 m  (Round-trip  919.1 ms) speed  0.4 m/s

2025-10-26T21:16:50.110Z,1761513410.110 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:16:50.111Z,1761513410.111 [DAT](INFO): direction in FSK: [0.976816,0.166970,0.133986]
2025-10-26T21:16:50.111Z,1761513410.111 [DAT](INFO): publishing direction and range info
2025-10-26T21:16:50.314Z,1761513410.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881436,-0.465160,-0.081838],[0.472256,0.870480,0.138703],[0.006720,-0.160906,0.986947]]
2025-10-26T21:16:50.723Z,1761513410.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880837,-0.466398,-0.081234],[0.473381,0.869887,0.138590],[0.006026,-0.160530,0.987013]]
2025-10-26T21:16:51.124Z,1761513411.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880478,-0.467194,-0.080553],[0.474057,0.869548,0.138406],[0.005382,-0.160050,0.987094]]
2025-10-26T21:16:51.526Z,1761513411.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880360,-0.467468,-0.080250],[0.474283,0.869296,0.139214],[0.004683,-0.160620,0.987005]]
2025-10-26T21:16:51.936Z,1761513411.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880528,-0.467232,-0.079779],[0.473977,0.869379,0.139735],[0.004070,-0.160854,0.986970]]
2025-10-26T21:16:52.334Z,1761513412.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880619,-0.467157,-0.079215],[0.473812,0.869432,0.139961],[0.003488,-0.160785,0.986983]]
2025-10-26T21:16:52.750Z,1761513412.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881150,-0.466269,-0.078533],[0.472828,0.869916,0.140285],[0.002907,-0.160745,0.986992]]
2025-10-26T21:16:53.142Z,1761513413.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881610,-0.465539,-0.077705],[0.471973,0.870395,0.140190],[0.002370,-0.160267,0.987071]]
2025-10-26T21:16:53.546Z,1761513413.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882362,-0.464281,-0.076688],[0.470568,0.871206,0.139876],[0.001870,-0.159508,0.987195]]
2025-10-26T21:16:53.956Z,1761513413.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883286,-0.462635,-0.075989],[0.468833,0.871951,0.141056],[0.001001,-0.160219,0.987081]]
2025-10-26T21:16:54.356Z,1761513414.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884256,-0.460905,-0.075217],[0.467002,0.872824,0.141733],[0.000326,-0.160455,0.987043]]
2025-10-26T21:16:54.758Z,1761513414.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885007,-0.459600,-0.074373],[0.465578,0.873552,0.141931],[-0.000263,-0.160236,0.987079]]
2025-10-26T21:16:55.162Z,1761513415.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885855,-0.458072,-0.073696],[0.463961,0.874289,0.142683],[-0.000928,-0.160589,0.987021]]
2025-10-26T21:16:55.570Z,1761513415.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886791,-0.456378,-0.072942],[0.462167,0.875135,0.143320],[-0.001574,-0.160807,0.986985]]
2025-10-26T21:16:55.972Z,1761513415.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887546,-0.454960,-0.072621],[0.460715,0.875723,0.144398],[-0.002099,-0.161617,0.986851]]
2025-10-26T21:16:56.374Z,1761513416.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888152,-0.453865,-0.072059],[0.459543,0.876357,0.144288],[-0.002338,-0.161264,0.986909]]
2025-10-26T21:16:56.778Z,1761513416.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888583,-0.453131,-0.071366],[0.458707,0.876777,0.144394],[-0.002857,-0.161042,0.986943]]
2025-10-26T21:16:57.182Z,1761513417.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889042,-0.452293,-0.070967],[0.457814,0.877157,0.144920],[-0.003297,-0.161330,0.986895]]
2025-10-26T21:16:57.590Z,1761513417.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889475,-0.451475,-0.070738],[0.456969,0.877525,0.145359],[-0.003552,-0.161618,0.986847]]
2025-10-26T21:16:57.990Z,1761513417.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889484,-0.451521,-0.070337],[0.456951,0.877556,0.145231],[-0.003851,-0.161321,0.986895]]
2025-10-26T21:16:58.394Z,1761513418.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889308,-0.451870,-0.070314],[0.457290,0.877333,0.145505],[-0.004061,-0.161553,0.986856]]
2025-10-26T21:16:58.799Z,1761513418.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889013,-0.452519,-0.069874],[0.457861,0.877110,0.145059],[-0.004355,-0.160952,0.986953]]
2025-10-26T21:16:59.204Z,1761513419.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888511,-0.453546,-0.069602],[0.458831,0.876595,0.145102],[-0.004798,-0.160861,0.986965]]
2025-10-26T21:16:59.606Z,1761513419.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887904,-0.454840,-0.068898],[0.460000,0.876155,0.144059],[-0.005159,-0.159603,0.987168]]
2025-10-26T21:17:00.010Z,1761513420.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887298,-0.456017,-0.068922],[0.461160,0.875396,0.144958],[-0.005770,-0.160405,0.987034]]
2025-10-26T21:17:00.426Z,1761513420.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886567,-0.457504,-0.068482],[0.462561,0.874796,0.144113],[-0.006025,-0.159443,0.987189]]
2025-10-26T21:17:00.820Z,1761513420.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885620,-0.459337,-0.068461],[0.464366,0.873816,0.144254],[-0.006438,-0.159545,0.987170]]
2025-10-26T21:17:01.222Z,1761513421.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884711,-0.461144,-0.068057],[0.466091,0.873032,0.143436],[-0.006728,-0.158620,0.987317]]
2025-10-26T21:17:01.626Z,1761513421.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883863,-0.462834,-0.067608],[0.467694,0.872340,0.142430],[-0.006944,-0.157508,0.987493]]
2025-10-26T21:17:02.030Z,1761513422.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883067,-0.464345,-0.067648],[0.469190,0.871507,0.142605],[-0.007262,-0.157670,0.987465]]
2025-10-26T21:17:02.448Z,1761513422.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882622,-0.465197,-0.067610],[0.470023,0.871016,0.142862],[-0.007569,-0.157871,0.987431]]
2025-10-26T21:17:02.838Z,1761513422.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882268,-0.465902,-0.067368],[0.470683,0.870709,0.142562],[-0.007762,-0.157487,0.987491]]
2025-10-26T21:17:03.242Z,1761513423.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881899,-0.466620,-0.067232],[0.471374,0.870405,0.142132],[-0.007802,-0.157037,0.987562]]
2025-10-26T21:17:03.646Z,1761513423.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881587,-0.467164,-0.067539],[0.471958,0.870078,0.142196],[-0.007664,-0.157234,0.987532]]
2025-10-26T21:17:04.051Z,1761513424.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881945,-0.466462,-0.067717],[0.471286,0.870277,0.143206],[-0.007868,-0.158214,0.987374]]
2025-10-26T21:17:04.475Z,1761513424.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882319,-0.465763,-0.067666],[0.470582,0.870537,0.143939],[-0.008136,-0.158843,0.987270]]
2025-10-26T21:17:04.858Z,1761513424.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882877,-0.464741,-0.067406],[0.469529,0.871033,0.144376],[-0.008384,-0.159116,0.987224]]
2025-10-26T21:17:05.262Z,1761513425.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883340,-0.463928,-0.066945],[0.468651,0.871459,0.144658],[-0.008771,-0.159155,0.987215]]
2025-10-26T21:17:05.670Z,1761513425.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883987,-0.462740,-0.066626],[0.467422,0.871991,0.145426],[-0.009197,-0.159697,0.987123]]
2025-10-26T21:17:06.070Z,1761513426.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884578,-0.461724,-0.065822],[0.466297,0.872690,0.144844],[-0.009436,-0.158818,0.987263]]
2025-10-26T21:17:06.502Z,1761513426.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885286,-0.460424,-0.065410],[0.464943,0.873320,0.145395],[-0.009819,-0.159128,0.987209]]
2025-10-26T21:17:06.878Z,1761513426.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885964,-0.459162,-0.065095],[0.463643,0.873917,0.145958],[-0.010131,-0.159495,0.987147]]
2025-10-26T21:17:07.287Z,1761513427.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886733,-0.457690,-0.064992],[0.462166,0.874564,0.146767],[-0.010334,-0.160180,0.987034]]
2025-10-26T21:17:07.686Z,1761513427.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887488,-0.456326,-0.064280],[0.460708,0.875361,0.146600],[-0.010629,-0.159721,0.987105]]
2025-10-26T21:17:08.090Z,1761513428.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887775,-0.455820,-0.063900],[0.460146,0.875615,0.146846],[-0.010984,-0.159769,0.987093]]
2025-10-26T21:17:08.530Z,1761513428.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888040,-0.455351,-0.063559],[0.459626,0.875844,0.147108],[-0.011319,-0.159851,0.987076]]
2025-10-26T21:17:08.908Z,1761513428.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888406,-0.454676,-0.063283],[0.458911,0.876152,0.147506],[-0.011621,-0.160086,0.987035]]
2025-10-26T21:17:09.302Z,1761513429.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888463,-0.454632,-0.062791],[0.458797,0.876306,0.146945],[-0.011782,-0.159364,0.987150]]
2025-10-26T21:17:10.111Z,1761513430.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888066,-0.455481,-0.062254],[0.459557,0.876020,0.146275],[-0.012090,-0.158511,0.987283]]
2025-10-26T21:17:10.557Z,1761513430.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887788,-0.456049,-0.062068],[0.460081,0.875668,0.146736],[-0.012568,-0.158827,0.987226]]
2025-10-26T21:17:10.925Z,1761513430.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886936,-0.457720,-0.061951],[0.461727,0.875008,0.145497],[-0.012389,-0.157650,0.987417]]
2025-10-26T21:17:11.322Z,1761513431.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886483,-0.458618,-0.061786],[0.462591,0.874612,0.145130],[-0.012521,-0.157237,0.987482]]
2025-10-26T21:17:11.733Z,1761513431.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885919,-0.459750,-0.061455],[0.463665,0.874141,0.144542],[-0.012733,-0.156548,0.987588]]
2025-10-26T21:17:12.130Z,1761513432.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885398,-0.460801,-0.061102],[0.464653,0.873705,0.144001],[-0.012971,-0.155890,0.987689]]
2025-10-26T21:17:12.579Z,1761513432.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884622,-0.462327,-0.060815],[0.466128,0.873091,0.142954],[-0.012995,-0.154808,0.987859]]
2025-10-26T21:17:12.938Z,1761513432.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883768,-0.464024,-0.060303],[0.467738,0.872397,0.141935],[-0.013253,-0.153643,0.988037]]
2025-10-26T21:17:13.346Z,1761513433.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883213,-0.465174,-0.059558],[0.468778,0.872056,0.140588],[-0.013460,-0.152088,0.988275]]
2025-10-26T21:17:13.746Z,1761513433.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882607,-0.466364,-0.059240],[0.469916,0.871573,0.139783],[-0.013557,-0.151211,0.988409]]
2025-10-26T21:17:14.150Z,1761513434.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882286,-0.467018,-0.058861],[0.470510,0.871307,0.139443],[-0.013837,-0.150723,0.988479]]
2025-10-26T21:17:14.570Z,1761513434.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882053,-0.467554,-0.058100],[0.470939,0.871234,0.138447],[-0.014113,-0.149479,0.988664]]
2025-10-26T21:17:14.960Z,1761513434.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881869,-0.467941,-0.057776],[0.471273,0.871056,0.138434],[-0.014453,-0.149308,0.988685]]
2025-10-26T21:17:15.362Z,1761513435.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881653,-0.468413,-0.057238],[0.471662,0.870876,0.138237],[-0.014905,-0.148874,0.988744]]
2025-10-26T21:17:15.767Z,1761513435.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881529,-0.468709,-0.056724],[0.471871,0.870692,0.138688],[-0.015615,-0.149023,0.988710]]
2025-10-26T21:17:16.170Z,1761513436.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881281,-0.469319,-0.055528],[0.472305,0.870545,0.138131],[-0.016488,-0.147959,0.988856]]
2025-10-26T21:17:16.584Z,1761513436.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881101,-0.469750,-0.054736],[0.472617,0.870404,0.137948],[-0.017158,-0.147415,0.988926]]
2025-10-26T21:17:16.978Z,1761513436.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881118,-0.469820,-0.053847],[0.472534,0.870262,0.139129],[-0.018505,-0.148034,0.988809]]
2025-10-26T21:17:17.383Z,1761513437.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881158,-0.469826,-0.053140],[0.472400,0.870050,0.140897],[-0.019962,-0.149256,0.988597]]
2025-10-26T21:17:17.786Z,1761513437.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881228,-0.469799,-0.052207],[0.472203,0.869921,0.142343],[-0.021457,-0.150089,0.988440]]
2025-10-26T21:17:18.192Z,1761513438.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881420,-0.469567,-0.051044],[0.471784,0.870026,0.143088],[-0.022780,-0.150203,0.988393]]
2025-10-26T21:17:18.602Z,1761513438.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881474,-0.469582,-0.049953],[0.471624,0.870037,0.143547],[-0.023946,-0.150092,0.988382]]
2025-10-26T21:17:18.998Z,1761513438.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881499,-0.469655,-0.048824],[0.471520,0.870046,0.143835],[-0.025073,-0.149812,0.988397]]
2025-10-26T21:17:19.410Z,1761513439.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881434,-0.469908,-0.047550],[0.471570,0.869965,0.144158],[-0.026375,-0.149489,0.988412]]
2025-10-26T21:17:19.807Z,1761513439.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881557,-0.469802,-0.046301],[0.471267,0.870050,0.144637],[-0.027667,-0.149326,0.988401]]
2025-10-26T21:17:19.880Z,1761513439.880 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:17:20.210Z,1761513440.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881738,-0.469586,-0.045026],[0.470848,0.870185,0.145189],[-0.028998,-0.149219,0.988379]]
2025-10-26T21:17:20.615Z,1761513440.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881881,-0.469433,-0.043804],[0.470499,0.870287,0.145712],[-0.030280,-0.149110,0.988357]]
2025-10-26T21:17:20.884Z,1761513440.884 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:17:21.019Z,1761513441.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881646,-0.469994,-0.042501],[0.470856,0.870080,0.145794],[-0.031543,-0.148550,0.988402]]
2025-10-26T21:17:21.422Z,1761513441.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881650,-0.470092,-0.041324],[0.470764,0.870055,0.146237],[-0.032790,-0.148384,0.988386]]
2025-10-26T21:17:21.826Z,1761513441.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881460,-0.470537,-0.040283],[0.471042,0.869871,0.146434],[-0.033861,-0.148050,0.988400]]
2025-10-26T21:17:22.230Z,1761513442.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881436,-0.470682,-0.039114],[0.470994,0.869807,0.146973],[-0.035156,-0.147969,0.988367]]
2025-10-26T21:17:22.642Z,1761513442.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881377,-0.470864,-0.038235],[0.471004,0.869616,0.148063],[-0.036468,-0.148508,0.988239]]
2025-10-26T21:17:23.046Z,1761513443.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881360,-0.470979,-0.037203],[0.470939,0.869538,0.148725],[-0.037697,-0.148601,0.988178]]
2025-10-26T21:17:23.448Z,1761513443.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880659,-0.472468,-0.034849],[0.472041,0.868856,0.149221],[-0.040223,-0.147863,0.988190]]
2025-10-26T21:17:23.850Z,1761513443.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880225,-0.473404,-0.033063],[0.472720,0.868562,0.148782],[-0.041716,-0.146592,0.988317]]
2025-10-26T21:17:24.256Z,1761513444.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879562,-0.474699,-0.032127],[0.473861,0.867940,0.148783],[-0.042742,-0.146088,0.988348]]
2025-10-26T21:17:24.659Z,1761513444.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879063,-0.475692,-0.031068],[0.474671,0.867438,0.149123],[-0.043987,-0.145836,0.988330]]
2025-10-26T21:17:25.059Z,1761513445.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878661,-0.476528,-0.029580],[0.475298,0.867158,0.148758],[-0.045237,-0.144768,0.988431]]
2025-10-26T21:17:25.462Z,1761513445.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878341,-0.477185,-0.028480],[0.475762,0.866812,0.149292],[-0.046553,-0.144679,0.988383]]
2025-10-26T21:17:25.870Z,1761513445.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878070,-0.477743,-0.027488],[0.476131,0.866472,0.150082],[-0.047884,-0.144870,0.988291]]
2025-10-26T21:17:26.270Z,1761513446.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877729,-0.478420,-0.026578],[0.476652,0.866129,0.150414],[-0.048941,-0.144690,0.988266]]
2025-10-26T21:17:26.675Z,1761513446.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877739,-0.478377,-0.026994],[0.476540,0.865733,0.153020],[-0.049831,-0.147176,0.987854]]
2025-10-26T21:17:27.079Z,1761513447.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877997,-0.477982,-0.025594],[0.475950,0.866077,0.152910],[-0.050922,-0.146436,0.987909]]
2025-10-26T21:17:27.482Z,1761513447.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878146,-0.477757,-0.024672],[0.475545,0.866138,0.153825],[-0.052121,-0.146814,0.987790]]
2025-10-26T21:17:27.894Z,1761513447.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878610,-0.476946,-0.023833],[0.474555,0.866456,0.155084],[-0.053317,-0.147568,0.987614]]
2025-10-26T21:17:28.290Z,1761513448.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878957,-0.476335,-0.023202],[0.473808,0.866694,0.156035],[-0.054216,-0.148142,0.987479]]
2025-10-26T21:17:28.698Z,1761513448.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879621,-0.475150,-0.022331],[0.472518,0.867420,0.155915],[-0.054713,-0.147697,0.987518]]
2025-10-26T21:17:29.098Z,1761513449.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880110,-0.474275,-0.021647],[0.471502,0.867806,0.156836],[-0.055598,-0.148240,0.987387]]
2025-10-26T21:17:29.502Z,1761513449.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880651,-0.473289,-0.021231],[0.470412,0.868219,0.157823],[-0.056262,-0.148974,0.987239]]
2025-10-26T21:17:29.906Z,1761513449.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881120,-0.472449,-0.020479],[0.469475,0.868734,0.157779],[-0.056752,-0.148637,0.987262]]
2025-10-26T21:17:30.314Z,1761513450.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881748,-0.471286,-0.020248],[0.468238,0.869226,0.158744],[-0.057214,-0.149453,0.987112]]
2025-10-26T21:17:30.722Z,1761513450.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882022,-0.470789,-0.019855],[0.467672,0.869475,0.159050],[-0.057616,-0.149572,0.987071]]
2025-10-26T21:17:31.118Z,1761513451.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882131,-0.470603,-0.019422],[0.467417,0.869590,0.159167],[-0.058016,-0.149484,0.987061]]
2025-10-26T21:17:31.522Z,1761513451.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882109,-0.470680,-0.018579],[0.467419,0.869750,0.158286],[-0.058343,-0.148309,0.987219]]
2025-10-26T21:17:31.929Z,1761513451.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882199,-0.470522,-0.018300],[0.467204,0.869810,0.158589],[-0.058702,-0.148457,0.987175]]
2025-10-26T21:17:32.333Z,1761513452.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881596,-0.471654,-0.018208],[0.468331,0.869279,0.158179],[-0.058778,-0.147978,0.987243]]
2025-10-26T21:17:32.739Z,1761513452.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881269,-0.472279,-0.017798],[0.468892,0.868991,0.158097],[-0.059200,-0.147671,0.987263]]
2025-10-26T21:17:33.138Z,1761513453.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880491,-0.473749,-0.017235],[0.470338,0.868447,0.156786],[-0.059309,-0.146155,0.987482]]
2025-10-26T21:17:33.543Z,1761513453.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879275,-0.475998,-0.017375],[0.472569,0.867211,0.156918],[-0.059625,-0.146185,0.987459]]
2025-10-26T21:17:33.947Z,1761513453.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878043,-0.478288,-0.016765],[0.474823,0.866230,0.155527],[-0.059865,-0.144520,0.987689]]
2025-10-26T21:17:34.354Z,1761513454.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876421,-0.481282,-0.015929],[0.477810,0.865036,0.153004],[-0.059858,-0.141707,0.988097]]
2025-10-26T21:17:34.755Z,1761513454.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874760,-0.484279,-0.016363],[0.480782,0.863248,0.153791],[-0.060353,-0.142398,0.987968]]
2025-10-26T21:17:35.158Z,1761513455.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873443,-0.486644,-0.016594],[0.483158,0.861949,0.153627],[-0.060458,-0.142202,0.987990]]
2025-10-26T21:17:35.562Z,1761513455.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872229,-0.488830,-0.016197],[0.485322,0.860914,0.152607],[-0.060655,-0.140969,0.988154]]
2025-10-26T21:17:35.966Z,1761513455.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871170,-0.490725,-0.015880],[0.487192,0.859982,0.151901],[-0.060885,-0.140069,0.988268]]
2025-10-26T21:17:36.428Z,1761513456.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869943,-0.492874,-0.016547],[0.489381,0.858664,0.152322],[-0.060867,-0.140609,0.988192]]
2025-10-26T21:17:36.818Z,1761513456.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869002,-0.494532,-0.016516],[0.491038,0.857789,0.151923],[-0.060964,-0.140131,0.988254]]
2025-10-26T21:17:37.223Z,1761513457.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868341,-0.495688,-0.016679],[0.492200,0.857118,0.151950],[-0.061023,-0.140154,0.988247]]
2025-10-26T21:17:37.626Z,1761513457.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867648,-0.496871,-0.017487],[0.493473,0.856363,0.152071],[-0.060584,-0.140574,0.988215]]
2025-10-26T21:17:38.034Z,1761513458.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867262,-0.497469,-0.019493],[0.494263,0.855658,0.153470],[-0.059667,-0.142734,0.987961]]
2025-10-26T21:17:38.434Z,1761513458.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867063,-0.497789,-0.020203],[0.494664,0.855379,0.153735],[-0.059247,-0.143292,0.987906]]
2025-10-26T21:17:38.838Z,1761513458.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867127,-0.497652,-0.020811],[0.494606,0.855383,0.153900],[-0.058788,-0.143744,0.987867]]
2025-10-26T21:17:39.243Z,1761513459.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867280,-0.497355,-0.021544],[0.494407,0.855466,0.154076],[-0.058200,-0.144278,0.987824]]
2025-10-26T21:17:39.646Z,1761513459.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867598,-0.496770,-0.022202],[0.493885,0.855643,0.154764],[-0.057885,-0.145238,0.987702]]
2025-10-26T21:17:40.052Z,1761513460.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868339,-0.495400,-0.023808],[0.492684,0.856071,0.156223],[-0.057012,-0.147384,0.987435]]
2025-10-26T21:17:40.454Z,1761513460.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868976,-0.494254,-0.024385],[0.491629,0.856643,0.156406],[-0.056415,-0.147902,0.987392]]
2025-10-26T21:17:40.865Z,1761513460.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869719,-0.492936,-0.024567],[0.490427,0.857560,0.155153],[-0.055413,-0.146988,0.987585]]
2025-10-26T21:17:41.262Z,1761513461.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870287,-0.491899,-0.025203],[0.489467,0.858005,0.155726],[-0.054977,-0.147862,0.987479]]
2025-10-26T21:17:41.666Z,1761513461.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870827,-0.490902,-0.025983],[0.488572,0.858425,0.156218],[-0.054383,-0.148733,0.987381]]
2025-10-26T21:17:42.072Z,1761513462.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871507,-0.489689,-0.026074],[0.487443,0.859244,0.155240],[-0.053615,-0.148003,0.987533]]
2025-10-26T21:17:42.475Z,1761513462.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871791,-0.489179,-0.026167],[0.487028,0.859727,0.153861],[-0.052769,-0.146879,0.987746]]
2025-10-26T21:17:42.881Z,1761513462.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871880,-0.488969,-0.027105],[0.486939,0.859710,0.154237],[-0.052115,-0.147675,0.987662]]
2025-10-26T21:17:43.282Z,1761513463.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871777,-0.489110,-0.027861],[0.487191,0.859574,0.154203],[-0.051473,-0.148004,0.987646]]
2025-10-26T21:17:43.688Z,1761513463.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871641,-0.489286,-0.028998],[0.487552,0.859436,0.153826],[-0.050343,-0.148219,0.987672]]
2025-10-26T21:17:44.090Z,1761513464.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870966,-0.490421,-0.030073],[0.488898,0.858911,0.152484],[-0.048951,-0.147511,0.987848]]
2025-10-26T21:17:44.494Z,1761513464.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870342,-0.491428,-0.031674],[0.490183,0.858385,0.151314],[-0.047171,-0.147221,0.987978]]
2025-10-26T21:17:44.898Z,1761513464.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869197,-0.493356,-0.033107],[0.492427,0.857597,0.148471],[-0.044857,-0.145353,0.988363]]
2025-10-26T21:17:45.304Z,1761513465.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867914,-0.495504,-0.034650],[0.494836,0.856466,0.146982],[-0.043153,-0.144714,0.988532]]
2025-10-26T21:17:45.714Z,1761513465.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866602,-0.497686,-0.036186],[0.497280,0.855328,0.145348],[-0.041387,-0.143953,0.988719]]
2025-10-26T21:17:45.736Z,1761513465.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:17:45.832Z,1761513465.832 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:17:45.833Z,1761513465.833 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:17:46.087Z,1761513466.087 [DAT](INFO): DAT read: user:152>

2025-10-26T21:17:46.090Z,1761513466.090 [DAT](INFO): DAT read: Tx time:21:17:45.1960

2025-10-26T21:17:46.092Z,1761513466.092 [DAT](INFO): Ping request sent.
2025-10-26T21:17:46.092Z,1761513466.092 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:17:46.093Z,1761513466.093 [DAT](INFO): publishing transmit ping time
2025-10-26T21:17:46.095Z,1761513466.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003026
2025-10-26T21:17:46.113Z,1761513466.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865102,-0.500141,-0.038180],[0.500060,0.853999,0.143618],[-0.039224,-0.143336,0.988896]]
2025-10-26T21:17:46.337Z,1761513466.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245616
2025-10-26T21:17:46.514Z,1761513466.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863499,-0.502648,-0.041409],[0.503026,0.852377,0.142891],[-0.036527,-0.144216,0.988872]]
2025-10-26T21:17:46.589Z,1761513466.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497582
2025-10-26T21:17:46.841Z,1761513466.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749194
2025-10-26T21:17:46.919Z,1761513466.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861764,-0.505348,-0.044567],[0.506178,0.850654,0.142024],[-0.033860,-0.144950,0.988860]]
2025-10-26T21:17:47.095Z,1761513467.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002810
2025-10-26T21:17:47.324Z,1761513467.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860010,-0.508140,-0.046647],[0.509289,0.849064,0.140411],[-0.031742,-0.144511,0.988994]]
2025-10-26T21:17:47.345Z,1761513467.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253498
2025-10-26T21:17:47.596Z,1761513467.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504697
2025-10-26T21:17:47.733Z,1761513467.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858138,-0.511067,-0.049088],[0.512570,0.847299,0.139126],[-0.029511,-0.144550,0.989057]]
2025-10-26T21:17:47.849Z,1761513467.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757696
2025-10-26T21:17:48.106Z,1761513468.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014267
2025-10-26T21:17:48.137Z,1761513468.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856322,-0.513871,-0.051463],[0.515714,0.845571,0.138015],[-0.027406,-0.144726,0.989092]]
2025-10-26T21:17:48.353Z,1761513468.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260896
2025-10-26T21:17:48.534Z,1761513468.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854774,-0.516227,-0.053579],[0.518370,0.844086,0.137157],[-0.025579,-0.145012,0.989099]]
2025-10-26T21:17:48.605Z,1761513468.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513083
2025-10-26T21:17:48.857Z,1761513468.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765537
2025-10-26T21:17:48.940Z,1761513468.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853177,-0.518625,-0.055822],[0.521083,0.842545,0.136346],[-0.023680,-0.145415,0.989087]]
2025-10-26T21:17:49.112Z,1761513469.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019542
2025-10-26T21:17:49.353Z,1761513469.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851740,-0.520733,-0.058111],[0.523514,0.841155,0.135613],[-0.021738,-0.145929,0.989056]]
2025-10-26T21:17:49.361Z,1761513469.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269190
2025-10-26T21:17:49.613Z,1761513469.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521170
2025-10-26T21:17:49.746Z,1761513469.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850522,-0.522479,-0.060232],[0.525565,0.840001,0.134833],[-0.019852,-0.146334,0.989036]]
2025-10-26T21:17:49.869Z,1761513469.869 [DAT](INFO): DAT read: Rx Time:21:17:48.4695

2025-10-26T21:17:49.869Z,1761513469.869 [DAT](INFO): Rx dataTimestamp_ set to:1761513469.869139
2025-10-26T21:17:49.870Z,1761513469.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778352
2025-10-26T21:17:50.120Z,1761513470.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027122
2025-10-26T21:17:50.169Z,1761513470.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849490,-0.523836,-0.062958],[0.527297,0.838846,0.135262],[-0.018043,-0.148102,0.988808]]
2025-10-26T21:17:50.374Z,1761513470.374 [DAT](INFO): DAT read: 21:17:48.4695 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 450, 0.20,-2.064, 2.507,-2.040,-2.198, PHS= 0.236,-1.532, 0.114, RAW= 146.4,  13.7, CAL= 146.2,  15.1, ROT=   3.8, -15.1

2025-10-26T21:17:50.375Z,1761513470.375 [DAT](INFO): got valid direction response:
 21:17:48.4695 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 450, 0.20,-2.064, 2.507,-2.040,-2.198, PHS= 0.236,-1.532, 0.114, RAW= 146.4,  13.7, CAL= 146.2,  15.1, ROT=   3.8, -15.1

2025-10-26T21:17:50.376Z,1761513470.376 [DAT](INFO): DAT read: Bearing 196.0,   0.4 (Local)

2025-10-26T21:17:50.377Z,1761513470.377 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.0,   0.4 (Local)

2025-10-26T21:17:50.378Z,1761513470.378 [DAT](INFO): DAT read: Range 11 to 50 : 651.9 m  (Round-trip  869.3 ms) speed  0.4 m/s

2025-10-26T21:17:50.379Z,1761513470.379 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:17:50.380Z,1761513470.380 [DAT](INFO): direction in FSK: [0.963350,0.063986,0.260505]
2025-10-26T21:17:50.380Z,1761513470.380 [DAT](INFO): publishing direction and range info
2025-10-26T21:17:50.555Z,1761513470.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849131,-0.524063,-0.065839],[0.527930,0.838252,0.136467],[-0.016328,-0.150637,0.988454]]
2025-10-26T21:17:50.989Z,1761513470.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848781,-0.524410,-0.067560],[0.528540,0.837948,0.135974],[-0.014695,-0.151121,0.988406]]
2025-10-26T21:17:51.004Z,1761513471.004 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:17:51.365Z,1761513471.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848338,-0.524936,-0.069030],[0.529299,0.837675,0.134696],[-0.012882,-0.150805,0.988480]]
2025-10-26T21:17:51.767Z,1761513471.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848110,-0.525080,-0.070706],[0.529701,0.837507,0.134159],[-0.011227,-0.151235,0.988434]]
2025-10-26T21:17:52.008Z,1761513472.008 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:17:52.193Z,1761513472.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848119,-0.524849,-0.072298],[0.529719,0.837583,0.133613],[-0.009571,-0.151617,0.988393]]
2025-10-26T21:17:52.574Z,1761513472.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848055,-0.524693,-0.074153],[0.529851,0.837570,0.133171],[-0.007766,-0.152227,0.988315]]
2025-10-26T21:17:52.978Z,1761513472.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848490,-0.523573,-0.077046],[0.529180,0.837825,0.134231],[-0.005729,-0.154665,0.987950]]
2025-10-26T21:17:53.382Z,1761513473.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848777,-0.522831,-0.078902],[0.528737,0.838124,0.134112],[-0.003988,-0.155550,0.987820]]
2025-10-26T21:17:53.786Z,1761513473.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849503,-0.521323,-0.081035],[0.527577,0.838695,0.135106],[-0.002470,-0.157525,0.987512]]
2025-10-26T21:17:54.220Z,1761513474.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850403,-0.519691,-0.082073],[0.526130,0.839656,0.134777],[-0.001130,-0.157796,0.987471]]
2025-10-26T21:17:54.594Z,1761513474.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850866,-0.518665,-0.083751],[0.525383,0.840089,0.134995],[0.000341,-0.158864,0.987300]]
2025-10-26T21:17:54.999Z,1761513474.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851380,-0.517528,-0.085535],[0.524545,0.840553,0.135362],[0.001843,-0.160111,0.987097]]
2025-10-26T21:17:55.404Z,1761513475.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851667,-0.516784,-0.087171],[0.524074,0.840800,0.135650],[0.003192,-0.161212,0.986915]]
2025-10-26T21:17:55.807Z,1761513475.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852048,-0.515892,-0.088715],[0.523444,0.841173,0.135772],[0.004581,-0.162122,0.986760]]
2025-10-26T21:17:56.247Z,1761513476.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852328,-0.515239,-0.089806],[0.522974,0.841544,0.135285],[0.005871,-0.162274,0.986728]]
2025-10-26T21:17:56.614Z,1761513476.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852425,-0.514842,-0.091152],[0.522799,0.841691,0.135046],[0.007195,-0.162771,0.986638]]
2025-10-26T21:17:57.019Z,1761513477.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852130,-0.515178,-0.092012],[0.523262,0.841572,0.133989],[0.008407,-0.162322,0.986702]]
2025-10-26T21:17:57.422Z,1761513477.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851480,-0.516120,-0.092749],[0.524300,0.841155,0.132548],[0.009606,-0.161490,0.986828]]
2025-10-26T21:17:57.836Z,1761513477.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851192,-0.516384,-0.093910],[0.524740,0.841002,0.131771],[0.010934,-0.161441,0.986822]]
2025-10-26T21:17:58.272Z,1761513478.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850751,-0.516959,-0.094746],[0.525432,0.840712,0.130861],[0.012005,-0.161112,0.986863]]
2025-10-26T21:17:58.634Z,1761513478.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850076,-0.517902,-0.095642],[0.526494,0.840228,0.129697],[0.013191,-0.160607,0.986930]]
2025-10-26T21:17:59.040Z,1761513479.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849728,-0.518219,-0.097016],[0.527029,0.839894,0.129691],[0.014275,-0.161332,0.986797]]
2025-10-26T21:17:59.444Z,1761513479.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849045,-0.519154,-0.097995],[0.528096,0.839373,0.128714],[0.015432,-0.161035,0.986828]]
2025-10-26T21:17:59.849Z,1761513479.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848457,-0.519771,-0.099792],[0.529008,0.838699,0.129362],[0.016457,-0.162549,0.986563]]
2025-10-26T21:18:00.293Z,1761513480.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847941,-0.520383,-0.100986],[0.529793,0.838332,0.128524],[0.017778,-0.162483,0.986551]]
2025-10-26T21:18:00.365Z,1761513480.365 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:2.000000m. At depth:49.380405m.
2025-10-26T21:18:00.367Z,1761513480.367 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:2.000000m. At depth:49.380405m.
2025-10-26T21:18:00.654Z,1761513480.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847548,-0.520807,-0.102093],[0.530376,0.838095,0.127661],[0.019077,-0.162347,0.986549]]
2025-10-26T21:18:01.063Z,1761513481.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847302,-0.520981,-0.103232],[0.530725,0.837943,0.127209],[0.020229,-0.162572,0.986489]]
2025-10-26T21:18:01.463Z,1761513481.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846834,-0.521615,-0.103874],[0.531436,0.837641,0.126225],[0.021168,-0.162094,0.986548]]
2025-10-26T21:18:01.900Z,1761513481.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845862,-0.522915,-0.105253],[0.532902,0.836995,0.124314],[0.023091,-0.161242,0.986645]]
2025-10-26T21:18:01.910Z,1761513481.910 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 22.43 mm (2 active estimators).
2025-10-26T21:18:02.339Z,1761513482.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845389,-0.523510,-0.106087],[0.533618,0.836593,0.123953],[0.023861,-0.161398,0.986601]]
2025-10-26T21:18:02.744Z,1761513482.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845233,-0.523573,-0.107016],[0.533835,0.836428,0.124130],[0.024520,-0.162047,0.986478]]
2025-10-26T21:18:03.147Z,1761513483.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845003,-0.523921,-0.107127],[0.534174,0.836353,0.123175],[0.025062,-0.161308,0.986586]]
2025-10-26T21:18:03.550Z,1761513483.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844760,-0.524204,-0.107661],[0.534531,0.836178,0.122811],[0.025645,-0.161294,0.986573]]
2025-10-26T21:18:03.954Z,1761513483.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844510,-0.524502,-0.108166],[0.534899,0.835993,0.122470],[0.026191,-0.161285,0.986560]]
2025-10-26T21:18:04.374Z,1761513484.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844154,-0.525033,-0.108367],[0.535442,0.835727,0.121910],[0.026559,-0.160936,0.986607]]
2025-10-26T21:18:04.763Z,1761513484.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843822,-0.525506,-0.108662],[0.535944,0.835481,0.121390],[0.026994,-0.160669,0.986639]]
2025-10-26T21:18:05.167Z,1761513485.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843634,-0.525895,-0.108244],[0.536238,0.835414,0.120551],[0.027032,-0.159745,0.986788]]
2025-10-26T21:18:05.570Z,1761513485.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843227,-0.526668,-0.107649],[0.536876,0.835178,0.119338],[0.027055,-0.158423,0.987001]]
2025-10-26T21:18:05.974Z,1761513485.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843001,-0.527041,-0.107595],[0.537224,0.835023,0.118861],[0.027200,-0.158002,0.987064]]
2025-10-26T21:18:06.402Z,1761513486.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842886,-0.527204,-0.107698],[0.537384,0.835007,0.118248],[0.027588,-0.157544,0.987126]]
2025-10-26T21:18:06.784Z,1761513486.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842741,-0.527400,-0.107874],[0.537599,0.834903,0.117999],[0.027832,-0.157435,0.987137]]
2025-10-26T21:18:07.186Z,1761513487.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842464,-0.527820,-0.107985],[0.538009,0.834753,0.117187],[0.028287,-0.156823,0.987222]]
2025-10-26T21:18:07.590Z,1761513487.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842397,-0.527800,-0.108602],[0.538086,0.834709,0.117150],[0.028819,-0.157124,0.987158]]
2025-10-26T21:18:07.994Z,1761513487.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842298,-0.527903,-0.108873],[0.538221,0.834666,0.116834],[0.029196,-0.157006,0.987166]]
2025-10-26T21:18:08.430Z,1761513488.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842538,-0.527335,-0.109761],[0.537836,0.834740,0.118069],[0.029360,-0.158511,0.986921]]
2025-10-26T21:18:08.808Z,1761513488.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842652,-0.527097,-0.110025],[0.537647,0.834841,0.118222],[0.029539,-0.158775,0.986873]]
2025-10-26T21:18:09.206Z,1761513489.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842844,-0.526721,-0.110362],[0.537340,0.834984,0.118606],[0.029678,-0.159269,0.986789]]
2025-10-26T21:18:09.611Z,1761513489.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842967,-0.526482,-0.110556],[0.537142,0.835072,0.118881],[0.029734,-0.159597,0.986734]]
2025-10-26T21:18:10.016Z,1761513490.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843001,-0.526412,-0.110633],[0.537084,0.835115,0.118845],[0.029829,-0.159606,0.986730]]
2025-10-26T21:18:10.456Z,1761513490.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843005,-0.526559,-0.109902],[0.537087,0.835240,0.117951],[0.029686,-0.158460,0.986919]]
2025-10-26T21:18:10.827Z,1761513490.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842834,-0.526858,-0.109780],[0.537353,0.835117,0.117605],[0.029718,-0.158112,0.986974]]
2025-10-26T21:18:11.227Z,1761513491.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842637,-0.527197,-0.109660],[0.537659,0.834973,0.117235],[0.029758,-0.157746,0.987031]]
2025-10-26T21:18:11.631Z,1761513491.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842547,-0.527295,-0.109884],[0.537786,0.834913,0.117076],[0.030010,-0.157736,0.987025]]
2025-10-26T21:18:12.034Z,1761513492.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842108,-0.528025,-0.109743],[0.538474,0.834529,0.116648],[0.029991,-0.157324,0.987092]]
2025-10-26T21:18:12.481Z,1761513492.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842008,-0.528039,-0.110446],[0.538643,0.834215,0.118101],[0.029774,-0.158933,0.986840]]
2025-10-26T21:18:12.842Z,1761513492.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841692,-0.528534,-0.110483],[0.539132,0.833940,0.117818],[0.029866,-0.158731,0.986870]]
2025-10-26T21:18:13.248Z,1761513493.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841321,-0.529056,-0.110813],[0.539698,0.833588,0.117716],[0.030094,-0.158843,0.986845]]
2025-10-26T21:18:13.650Z,1761513493.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841015,-0.529404,-0.111468],[0.540154,0.833263,0.117925],[0.030452,-0.159386,0.986746]]
2025-10-26T21:18:14.054Z,1761513494.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841307,-0.528760,-0.112321],[0.539705,0.833316,0.119597],[0.030360,-0.161238,0.986448]]
2025-10-26T21:18:14.496Z,1761513494.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841557,-0.528158,-0.113271],[0.539312,0.833342,0.121173],[0.030395,-0.163063,0.986147]]
2025-10-26T21:18:14.863Z,1761513494.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841861,-0.527528,-0.113944],[0.538816,0.833583,0.121725],[0.030768,-0.163870,0.986002]]
2025-10-26T21:18:15.266Z,1761513495.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842071,-0.527176,-0.114027],[0.538476,0.833823,0.121581],[0.030984,-0.163781,0.986010]]
2025-10-26T21:18:15.670Z,1761513495.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842340,-0.526662,-0.114418],[0.538037,0.834080,0.121766],[0.031304,-0.164129,0.985942]]
2025-10-26T21:18:16.074Z,1761513496.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842870,-0.525727,-0.114815],[0.537195,0.834539,0.122337],[0.031501,-0.164792,0.985825]]
2025-10-26T21:18:16.495Z,1761513496.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843400,-0.524767,-0.115309],[0.536344,0.835009,0.122862],[0.031810,-0.165467,0.985702]]
2025-10-26T21:18:16.882Z,1761513496.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844078,-0.523580,-0.115745],[0.535262,0.835610,0.123493],[0.032060,-0.166191,0.985572]]
2025-10-26T21:18:17.291Z,1761513497.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844889,-0.522200,-0.116057],[0.533971,0.836329,0.124209],[0.032200,-0.166915,0.985445]]
2025-10-26T21:18:17.692Z,1761513497.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845656,-0.521023,-0.115764],[0.532747,0.837154,0.123913],[0.032351,-0.166460,0.985517]]
2025-10-26T21:18:18.095Z,1761513498.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846408,-0.519961,-0.115038],[0.531529,0.838130,0.122536],[0.032703,-0.164862,0.985774]]
2025-10-26T21:18:18.502Z,1761513498.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846660,-0.519588,-0.114872],[0.531120,0.838446,0.122149],[0.032846,-0.164429,0.985842]]
2025-10-26T21:18:18.903Z,1761513498.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847127,-0.518885,-0.114604],[0.530362,0.839001,0.121626],[0.033043,-0.163814,0.985938]]
2025-10-26T21:18:19.313Z,1761513499.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847356,-0.518540,-0.114476],[0.529991,0.839272,0.121377],[0.033138,-0.163521,0.985983]]
2025-10-26T21:18:19.741Z,1761513499.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847529,-0.518273,-0.114401],[0.529705,0.839493,0.121100],[0.033276,-0.163235,0.986026]]
2025-10-26T21:18:20.114Z,1761513500.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847413,-0.518411,-0.114634],[0.529866,0.839447,0.120710],[0.033651,-0.163032,0.986047]]
2025-10-26T21:18:20.518Z,1761513500.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847481,-0.518251,-0.114856],[0.529743,0.839529,0.120676],[0.033885,-0.163115,0.986025]]
2025-10-26T21:18:20.924Z,1761513500.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847023,-0.518900,-0.115305],[0.530461,0.839072,0.120706],[0.034115,-0.163405,0.985969]]
2025-10-26T21:18:21.327Z,1761513501.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846420,-0.519864,-0.115387],[0.531398,0.838609,0.119796],[0.034487,-0.162714,0.986070]]
2025-10-26T21:18:21.734Z,1761513501.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845991,-0.520523,-0.115561],[0.532060,0.838264,0.119268],[0.034789,-0.162385,0.986114]]
2025-10-26T21:18:22.134Z,1761513502.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845651,-0.520729,-0.117115],[0.532566,0.837759,0.120553],[0.035338,-0.164317,0.985774]]
2025-10-26T21:18:22.137Z,1761513502.137 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:18:22.539Z,1761513502.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845332,-0.521167,-0.117468],[0.533041,0.837524,0.120088],[0.035797,-0.164130,0.985789]]
2025-10-26T21:18:22.943Z,1761513502.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844904,-0.521831,-0.117602],[0.533703,0.837173,0.119598],[0.036043,-0.163813,0.985833]]
2025-10-26T21:18:23.140Z,1761513503.140 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:18:23.346Z,1761513503.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844935,-0.521580,-0.118487],[0.533625,0.837129,0.120249],[0.036469,-0.164830,0.985648]]
2025-10-26T21:18:23.756Z,1761513503.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845049,-0.521257,-0.119097],[0.533416,0.837220,0.120540],[0.036878,-0.165391,0.985538]]
2025-10-26T21:18:24.558Z,1761513504.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846135,-0.519285,-0.119989],[0.531647,0.838210,0.121474],[0.037497,-0.166575,0.985316]]
2025-10-26T21:18:24.962Z,1761513504.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847054,-0.517632,-0.120654],[0.530151,0.839041,0.122270],[0.037943,-0.167534,0.985136]]
2025-10-26T21:18:25.367Z,1761513505.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848446,-0.515237,-0.121118],[0.527911,0.840253,0.123636],[0.038068,-0.168838,0.984908]]
2025-10-26T21:18:25.781Z,1761513505.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850068,-0.512473,-0.121472],[0.525299,0.841641,0.125309],[0.038018,-0.170330,0.984653]]
2025-10-26T21:18:26.174Z,1761513506.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851704,-0.509595,-0.122118],[0.522618,0.843085,0.126799],[0.038340,-0.171816,0.984383]]
2025-10-26T21:18:26.578Z,1761513506.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853644,-0.506289,-0.122322],[0.519430,0.844865,0.128045],[0.038517,-0.172843,0.984196]]
2025-10-26T21:18:26.983Z,1761513506.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855459,-0.503194,-0.122412],[0.516413,0.846595,0.128821],[0.038812,-0.173417,0.984083]]
2025-10-26T21:18:27.386Z,1761513507.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857238,-0.500153,-0.122437],[0.513434,0.848306,0.129472],[0.039109,-0.173851,0.983995]]
2025-10-26T21:18:27.801Z,1761513507.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859172,-0.496904,-0.122109],[0.510193,0.850136,0.130274],[0.039075,-0.174227,0.983930]]
2025-10-26T21:18:28.195Z,1761513508.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860500,-0.494591,-0.122146],[0.507946,0.851347,0.131143],[0.039126,-0.174892,0.983810]]
2025-10-26T21:18:28.599Z,1761513508.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861824,-0.492300,-0.122068],[0.505697,0.852562,0.131942],[0.039115,-0.175440,0.983713]]
2025-10-26T21:18:29.002Z,1761513509.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863251,-0.490037,-0.121087],[0.503269,0.854061,0.131528],[0.038962,-0.174481,0.983889]]
2025-10-26T21:18:29.406Z,1761513509.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864268,-0.488310,-0.120809],[0.501542,0.854958,0.132294],[0.038686,-0.174929,0.983821]]
2025-10-26T21:18:29.814Z,1761513509.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865143,-0.486733,-0.120906],[0.500031,0.855722,0.133076],[0.038689,-0.175587,0.983703]]
2025-10-26T21:18:30.217Z,1761513510.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865604,-0.485888,-0.121004],[0.499212,0.856199,0.133079],[0.038942,-0.175601,0.983691]]
2025-10-26T21:18:30.618Z,1761513510.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865592,-0.485987,-0.120692],[0.499215,0.856353,0.132073],[0.039170,-0.174573,0.983865]]
2025-10-26T21:18:31.022Z,1761513511.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865489,-0.486280,-0.120248],[0.499396,0.856368,0.131292],[0.039132,-0.173683,0.984024]]
2025-10-26T21:18:31.427Z,1761513511.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865163,-0.486880,-0.120172],[0.499973,0.856047,0.131192],[0.038998,-0.173586,0.984046]]
2025-10-26T21:18:31.834Z,1761513511.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864693,-0.487735,-0.120089],[0.500792,0.855615,0.130886],[0.038912,-0.173315,0.984097]]
2025-10-26T21:18:32.236Z,1761513512.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864316,-0.488436,-0.119953],[0.501450,0.855276,0.130581],[0.038813,-0.173013,0.984154]]
2025-10-26T21:18:32.644Z,1761513512.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863900,-0.489070,-0.120368],[0.502184,0.854709,0.131466],[0.038584,-0.174020,0.983986]]
2025-10-26T21:18:33.044Z,1761513513.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863647,-0.489387,-0.120893],[0.502609,0.854386,0.131945],[0.038717,-0.174716,0.983857]]
2025-10-26T21:18:33.446Z,1761513513.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863291,-0.490004,-0.120931],[0.503186,0.854204,0.130919],[0.039149,-0.173872,0.983990]]
2025-10-26T21:18:33.855Z,1761513513.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863000,-0.490541,-0.120835],[0.503662,0.854071,0.129952],[0.039454,-0.173009,0.984130]]
2025-10-26T21:18:34.260Z,1761513514.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862817,-0.490823,-0.120994],[0.503945,0.853994,0.129362],[0.039834,-0.172590,0.984188]]
2025-10-26T21:18:34.684Z,1761513514.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863092,-0.490261,-0.121311],[0.503447,0.854270,0.129473],[0.040157,-0.172820,0.984134]]
2025-10-26T21:18:35.062Z,1761513515.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863767,-0.488987,-0.121651],[0.502265,0.854893,0.129953],[0.040453,-0.173350,0.984029]]
2025-10-26T21:18:35.466Z,1761513515.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864698,-0.487173,-0.122310],[0.500632,0.855680,0.131072],[0.040804,-0.174570,0.983799]]
2025-10-26T21:18:35.875Z,1761513515.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865786,-0.485321,-0.121978],[0.498723,0.856858,0.130649],[0.041111,-0.173947,0.983896]]
2025-10-26T21:18:36.283Z,1761513516.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866878,-0.483440,-0.121686],[0.496799,0.858021,0.130349],[0.041393,-0.173451,0.983972]]
2025-10-26T21:18:36.678Z,1761513516.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868420,-0.480702,-0.121542],[0.494088,0.859495,0.130941],[0.041521,-0.173765,0.983912]]
2025-10-26T21:18:37.084Z,1761513517.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870237,-0.477612,-0.120720],[0.490875,0.861374,0.130677],[0.041572,-0.172979,0.984048]]
2025-10-26T21:18:37.486Z,1761513517.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871913,-0.474706,-0.120092],[0.487893,0.863053,0.130764],[0.041571,-0.172607,0.984113]]
2025-10-26T21:18:37.894Z,1761513517.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873701,-0.471544,-0.119552],[0.484683,0.864813,0.131077],[0.041581,-0.172467,0.984137]]
2025-10-26T21:18:38.295Z,1761513518.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875453,-0.468461,-0.118854],[0.481500,0.866626,0.130834],[0.041711,-0.171767,0.984254]]
2025-10-26T21:18:38.707Z,1761513518.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877462,-0.465016,-0.117559],[0.477817,0.868837,0.129665],[0.041843,-0.169948,0.984564]]
2025-10-26T21:18:39.102Z,1761513519.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879113,-0.462009,-0.117076],[0.474779,0.870424,0.130177],[0.041762,-0.170026,0.984554]]
2025-10-26T21:18:39.506Z,1761513519.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880575,-0.459387,-0.116411],[0.472047,0.871987,0.129653],[0.041948,-0.169120,0.984702]]
2025-10-26T21:18:39.923Z,1761513519.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882809,-0.455272,-0.115657],[0.467838,0.874274,0.129510],[0.042153,-0.168441,0.984810]]
2025-10-26T21:18:40.730Z,1761513520.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884484,-0.452178,-0.114995],[0.464687,0.875865,0.130100],[0.041891,-0.168508,0.984810]]
2025-10-26T21:18:41.127Z,1761513521.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885063,-0.451111,-0.114725],[0.463576,0.876484,0.129897],[0.041957,-0.168151,0.984868]]
2025-10-26T21:18:41.532Z,1761513521.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885326,-0.450708,-0.114281],[0.463081,0.876819,0.129403],[0.041881,-0.167485,0.984985]]
2025-10-26T21:18:41.934Z,1761513521.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885388,-0.450702,-0.113826],[0.462970,0.876974,0.128747],[0.041796,-0.166689,0.985123]]
2025-10-26T21:18:42.335Z,1761513522.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884907,-0.451931,-0.112681],[0.463898,0.876825,0.126396],[0.041680,-0.164121,0.985559]]
2025-10-26T21:18:42.754Z,1761513522.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884237,-0.453420,-0.111965],[0.465182,0.876396,0.124644],[0.041609,-0.162299,0.985864]]
2025-10-26T21:18:43.144Z,1761513523.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883658,-0.454657,-0.111514],[0.466290,0.875958,0.123574],[0.041498,-0.161195,0.986050]]
2025-10-26T21:18:43.546Z,1761513523.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882877,-0.456343,-0.110814],[0.467778,0.875402,0.121882],[0.041387,-0.159443,0.986339]]
2025-10-26T21:18:43.952Z,1761513523.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882277,-0.457580,-0.110489],[0.468914,0.874920,0.120975],[0.041314,-0.158543,0.986487]]
2025-10-26T21:18:44.354Z,1761513524.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881411,-0.459465,-0.109573],[0.470545,0.874351,0.118732],[0.041252,-0.156211,0.986862]]
2025-10-26T21:18:44.769Z,1761513524.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880857,-0.460595,-0.109281],[0.471600,0.873848,0.118246],[0.041031,-0.155694,0.986953]]
2025-10-26T21:18:45.162Z,1761513525.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880359,-0.461827,-0.108091],[0.472598,0.873436,0.117310],[0.040233,-0.154358,0.987195]]
2025-10-26T21:18:45.566Z,1761513525.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880445,-0.461854,-0.107271],[0.472522,0.873394,0.117926],[0.039225,-0.154515,0.987211]]
2025-10-26T21:18:45.985Z,1761513525.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880721,-0.461464,-0.106688],[0.472058,0.873600,0.118257],[0.038631,-0.154515,0.987235]]
2025-10-26T21:18:46.034Z,1761513526.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:18:46.088Z,1761513526.088 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:18:46.088Z,1761513526.088 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:18:46.340Z,1761513526.340 [DAT](INFO): DAT read: user:153>

2025-10-26T21:18:46.341Z,1761513526.341 [DAT](INFO): DAT read: Tx time:21:18:45.4460

2025-10-26T21:18:46.341Z,1761513526.341 [DAT](INFO): Ping request sent.
2025-10-26T21:18:46.341Z,1761513526.341 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:18:46.342Z,1761513526.342 [DAT](INFO): publishing transmit ping time
2025-10-26T21:18:46.342Z,1761513526.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-10-26T21:18:46.374Z,1761513526.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881002,-0.461060,-0.106113],[0.471615,0.873672,0.119485],[0.037618,-0.155311,0.987149]]
2025-10-26T21:18:46.592Z,1761513526.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250950
2025-10-26T21:18:46.778Z,1761513526.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881662,-0.460078,-0.104886],[0.470466,0.874233,0.119908],[0.036528,-0.155063,0.987229]]
2025-10-26T21:18:46.844Z,1761513526.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502988
2025-10-26T21:18:47.097Z,1761513527.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755154
2025-10-26T21:18:47.182Z,1761513527.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882645,-0.458427,-0.103838],[0.468712,0.875000,0.121179],[0.035306,-0.155628,0.987185]]
2025-10-26T21:18:47.348Z,1761513527.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006921
2025-10-26T21:18:47.587Z,1761513527.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883399,-0.457351,-0.102157],[0.467394,0.875663,0.121479],[0.033897,-0.155062,0.987323]]
2025-10-26T21:18:47.600Z,1761513527.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258968
2025-10-26T21:18:47.852Z,1761513527.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510909
2025-10-26T21:18:48.005Z,1761513528.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884188,-0.456253,-0.100222],[0.466015,0.876357,0.121773],[0.032271,-0.154375,0.987485]]
2025-10-26T21:18:48.104Z,1761513528.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763000
2025-10-26T21:18:48.361Z,1761513528.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019197
2025-10-26T21:18:48.394Z,1761513528.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885048,-0.454905,-0.098752],[0.464473,0.877082,0.122442],[0.030915,-0.154235,0.987550]]
2025-10-26T21:18:48.612Z,1761513528.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270889
2025-10-26T21:18:48.798Z,1761513528.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886166,-0.453074,-0.097129],[0.462430,0.878057,0.123182],[0.029474,-0.154074,0.987620]]
2025-10-26T21:18:48.865Z,1761513528.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523151
2025-10-26T21:18:49.116Z,1761513529.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774888
2025-10-26T21:18:49.202Z,1761513529.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887105,-0.451735,-0.094763],[0.460738,0.878955,0.123124],[0.027673,-0.152884,0.987857]]
2025-10-26T21:18:49.369Z,1761513529.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027364
2025-10-26T21:18:49.606Z,1761513529.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887981,-0.450329,-0.093242],[0.459130,0.879699,0.123810],[0.026269,-0.152751,0.987916]]
2025-10-26T21:18:49.621Z,1761513529.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279052
2025-10-26T21:18:49.872Z,1761513529.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530887
2025-10-26T21:18:50.035Z,1761513530.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888670,-0.449527,-0.090507],[0.457897,0.880467,0.122920],[0.024432,-0.150678,0.988281]]
2025-10-26T21:18:50.124Z,1761513530.124 [DAT](INFO): DAT read: Rx Time:21:18:48.6702

2025-10-26T21:18:50.125Z,1761513530.125 [DAT](INFO): Rx dataTimestamp_ set to:1761513530.124454
2025-10-26T21:18:50.125Z,1761513530.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783858
2025-10-26T21:18:50.377Z,1761513530.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035325
2025-10-26T21:18:50.415Z,1761513530.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889201,-0.448791,-0.088928],[0.456941,0.880894,0.123415],[0.022948,-0.150375,0.988363]]
2025-10-26T21:18:50.634Z,1761513530.634 [DAT](INFO): DAT read: 21:18:48.6702 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 442,-0.31,-1.219,-2.892,-1.375,-1.371, PHS= 0.254,-1.476,-0.049, RAW= 140.6,  15.7, CAL= 139.7,  16.8, ROT=  10.3, -16.8

2025-10-26T21:18:50.635Z,1761513530.635 [DAT](INFO): got valid direction response:
 21:18:48.6702 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 442,-0.31,-1.219,-2.892,-1.375,-1.371, PHS= 0.254,-1.476,-0.049, RAW= 140.6,  15.7, CAL= 139.7,  16.8, ROT=  10.3, -16.8

2025-10-26T21:18:50.636Z,1761513530.636 [DAT](INFO): DAT read: Bearing 194.1,   8.6 (Local)

2025-10-26T21:18:50.637Z,1761513530.637 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.1,   8.6 (Local)

2025-10-26T21:18:50.638Z,1761513530.638 [DAT](INFO): DAT read: Range 11 to 50 : 615.0 m  (Round-trip  820.1 ms) speed  0.6 m/s

2025-10-26T21:18:50.639Z,1761513530.639 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:18:50.645Z,1761513530.645 [DAT](INFO): direction in FSK: [0.941892,0.171171,0.289032]
2025-10-26T21:18:50.646Z,1761513530.646 [DAT](INFO): publishing direction and range info
2025-10-26T21:18:50.818Z,1761513530.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889839,-0.447722,-0.087932],[0.455769,0.881269,0.125057],[0.021500,-0.151357,0.988245]]
2025-10-26T21:18:51.223Z,1761513531.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890132,-0.447340,-0.086903],[0.455242,0.881486,0.125450],[0.020485,-0.151229,0.988287]]
2025-10-26T21:18:51.294Z,1761513531.294 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-10-26T21:18:51.295Z,1761513531.295 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T21:18:51.295Z,1761513531.295 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-10-26T21:18:51.300Z,1761513531.300 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 615.000000 m (mode  0.000000 count ).
2025-10-26T21:18:51.300Z,1761513531.300 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-10-26T21:18:51.301Z,1761513531.301 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-10-26T21:18:51.312Z,1761513531.312 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-10-26T21:18:51.312Z,1761513531.312 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-10-26T21:18:51.312Z,1761513531.312 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-10-26T21:18:51.312Z,1761513531.312 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 615.000000 m 
2025-10-26T21:18:51.312Z,1761513531.312 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-10-26T21:18:51.313Z,1761513531.313 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-10-26T21:18:51.626Z,1761513531.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890469,-0.446882,-0.085797],[0.454642,0.881639,0.126540],[0.019093,-0.151687,0.988244]]
2025-10-26T21:18:51.660Z,1761513531.660 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-10-26T21:18:51.660Z,1761513531.660 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-10-26T21:18:51.660Z,1761513531.660 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:18:51.663Z,1761513531.663 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-10-26T21:18:51.667Z,1761513531.667 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-10-26T21:18:51.668Z,1761513531.668 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-10-26T21:18:51.668Z,1761513531.668 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-10-26T21:18:51.888Z,1761513531.888 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:18:51.888Z,1761513531.888 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:18:51.889Z,1761513531.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:18:52.064Z,1761513532.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890676,-0.446706,-0.084554],[0.454292,0.881730,0.127165],[0.017749,-0.151675,0.988271]]
2025-10-26T21:18:52.098Z,1761513532.098 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-10-26T21:18:52.099Z,1761513532.099 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-10-26T21:18:52.099Z,1761513532.099 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-10-26T21:18:52.099Z,1761513532.099 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-10-26T21:18:52.099Z,1761513532.099 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-10-26T21:18:52.101Z,1761513532.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-10-26T21:18:52.101Z,1761513532.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-10-26T21:18:52.101Z,1761513532.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-10-26T21:18:52.101Z,1761513532.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-10-26T21:18:52.101Z,1761513532.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-10-26T21:18:52.101Z,1761513532.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-10-26T21:18:52.101Z,1761513532.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-10-26T21:18:52.101Z,1761513532.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-10-26T21:18:52.102Z,1761513532.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-10-26T21:18:52.102Z,1761513532.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-10-26T21:18:52.102Z,1761513532.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-10-26T21:18:52.102Z,1761513532.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-10-26T21:18:52.102Z,1761513532.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-10-26T21:18:52.102Z,1761513532.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-10-26T21:18:52.102Z,1761513532.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-10-26T21:18:52.102Z,1761513532.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-10-26T21:18:52.103Z,1761513532.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-10-26T21:18:52.103Z,1761513532.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-10-26T21:18:52.103Z,1761513532.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-10-26T21:18:52.104Z,1761513532.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-10-26T21:18:52.104Z,1761513532.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-10-26T21:18:52.104Z,1761513532.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-10-26T21:18:52.104Z,1761513532.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-10-26T21:18:52.105Z,1761513532.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-10-26T21:18:52.105Z,1761513532.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-10-26T21:18:52.105Z,1761513532.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-10-26T21:18:52.105Z,1761513532.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-10-26T21:18:52.105Z,1761513532.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-10-26T21:18:52.105Z,1761513532.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-10-26T21:18:52.106Z,1761513532.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-10-26T21:18:52.107Z,1761513532.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00.
2025-10-26T21:18:52.107Z,1761513532.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-10-26T21:18:52.123Z,1761513532.123 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-10-26T21:18:52.124Z,1761513532.124 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-10-26T21:18:52.124Z,1761513532.124 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-10-26T21:18:52.124Z,1761513532.124 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-10-26T21:18:52.124Z,1761513532.124 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-10-26T21:18:52.124Z,1761513532.124 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-10-26T21:18:52.124Z,1761513532.124 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-10-26T21:18:52.124Z,1761513532.124 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-10-26T21:18:52.124Z,1761513532.124 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-10-26T21:18:52.140Z,1761513532.140 [DAT](INFO): DAT read: user:154>

2025-10-26T21:18:52.141Z,1761513532.141 [DAT](INFO): DAT read: Tx time:21:18:51.2459

2025-10-26T21:18:52.141Z,1761513532.141 [DAT](INFO): Ping request sent.
2025-10-26T21:18:52.141Z,1761513532.141 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:18:52.142Z,1761513532.142 [DAT](INFO): publishing transmit ping time
2025-10-26T21:18:52.142Z,1761513532.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-10-26T21:18:52.392Z,1761513532.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250797
2025-10-26T21:18:52.434Z,1761513532.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890717,-0.446804,-0.083606],[0.454269,0.881534,0.128596],[0.016245,-0.152522,0.988167]]
2025-10-26T21:18:52.450Z,1761513532.450 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-10-26T21:18:52.450Z,1761513532.450 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T21:18:52.450Z,1761513532.450 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-10-26T21:18:52.450Z,1761513532.450 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T21:18:52.454Z,1761513532.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 615.000000 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-10-26T21:18:52.457Z,1761513532.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 612.426270 m,
      bearing: 39.937532 deg,
      lat: 36.779008 deg,
      lon: -121.859152 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-10-26T21:18:52.458Z,1761513532.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:18:52.461Z,1761513532.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 586.916260 m,
      bearing: 39.950813 deg,
      approach rate: nan m/s,
      LOS rate: nan deg/s,
      cmd heading: 27.023976 deg,
      new cmd heading: 39.950813 deg.

2025-10-26T21:18:52.462Z,1761513532.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697273 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:18:52.490Z,1761513532.490 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-10-26T21:18:52.490Z,1761513532.490 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-10-26T21:18:52.644Z,1761513532.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502812
2025-10-26T21:18:52.838Z,1761513532.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890717,-0.447123,-0.081880],[0.454302,0.881700,0.127335],[0.015259,-0.150618,0.988474]]
2025-10-26T21:18:52.868Z,1761513532.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:18:52.870Z,1761513532.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 586.658813 m,
      bearing: 39.954168 deg,
      approach rate: -0.626927 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.950815 deg,
      new cmd heading: 39.954168 deg.

2025-10-26T21:18:52.871Z,1761513532.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697332 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:18:52.896Z,1761513532.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754944
2025-10-26T21:18:53.149Z,1761513533.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007082
2025-10-26T21:18:53.252Z,1761513533.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890034,-0.449135,-0.078214],[0.455642,0.882060,0.119834],[0.015168,-0.142294,0.989708]]
2025-10-26T21:18:53.260Z,1761513533.260 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:18:53.307Z,1761513533.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:18:53.309Z,1761513533.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 586.361389 m,
      bearing: 39.956698 deg,
      approach rate: -0.671417 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.954168 deg,
      new cmd heading: 39.956698 deg.

2025-10-26T21:18:53.310Z,1761513533.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697376 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:18:53.400Z,1761513533.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258809
2025-10-26T21:18:53.464Z,1761513533.464 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-10-26T21:18:53.584Z,1761513533.584 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-10-26T21:18:53.649Z,1761513533.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889126,-0.451605,-0.074220],[0.457429,0.882089,0.112590],[0.014622,-0.134057,0.990866]]
2025-10-26T21:18:53.652Z,1761513533.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510893
2025-10-26T21:18:53.667Z,1761513533.667 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:18:53.669Z,1761513533.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:18:53.672Z,1761513533.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 586.122498 m,
      bearing: 39.958687 deg,
      approach rate: -0.658955 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.956699 deg,
      new cmd heading: 39.958687 deg.

2025-10-26T21:18:53.672Z,1761513533.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697411 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:18:53.904Z,1761513533.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762756
2025-10-26T21:18:54.089Z,1761513534.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888067,-0.454422,-0.069547],[0.459515,0.881909,0.105271],[0.013496,-0.125445,0.992009]]
2025-10-26T21:18:54.142Z,1761513534.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:18:54.150Z,1761513534.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 585.838623 m,
      bearing: 39.960528 deg,
      approach rate: -0.600612 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.958686 deg,
      new cmd heading: 39.960528 deg.

2025-10-26T21:18:54.151Z,1761513534.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697443 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:18:54.157Z,1761513534.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015023
2025-10-26T21:18:54.264Z,1761513534.264 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:18:54.408Z,1761513534.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266816
2025-10-26T21:18:54.467Z,1761513534.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886533,-0.458248,-0.063776],[0.462506,0.881380,0.096219],[0.012118,-0.114798,0.993315]]
2025-10-26T21:18:54.485Z,1761513534.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:18:54.488Z,1761513534.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 585.615173 m,
      bearing: 39.961896 deg,
      approach rate: -0.650333 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.960527 deg,
      new cmd heading: 39.961896 deg.

2025-10-26T21:18:54.489Z,1761513534.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697467 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:18:54.661Z,1761513534.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519240
2025-10-26T21:18:54.862Z,1761513534.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883472,-0.465171,-0.055613],[0.468355,0.879767,0.081570],[0.010983,-0.098111,0.995115]]
2025-10-26T21:18:54.901Z,1761513534.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:18:54.903Z,1761513534.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 585.356812 m,
      bearing: 39.963301 deg,
      approach rate: -0.621732 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.961897 deg,
      new cmd heading: 39.963301 deg.

2025-10-26T21:18:54.904Z,1761513534.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697491 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:18:54.913Z,1761513534.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770981
2025-10-26T21:18:55.164Z,1761513535.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022779
2025-10-26T21:18:55.266Z,1761513535.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879593,-0.473431,-0.046671],[0.475625,0.877189,0.065732],[0.009820,-0.080015,0.996745]]
2025-10-26T21:18:55.313Z,1761513535.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:18:55.316Z,1761513535.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 585.114990 m,
      bearing: 39.964343 deg,
      approach rate: -0.586778 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.963300 deg,
      new cmd heading: 39.964343 deg.

2025-10-26T21:18:55.316Z,1761513535.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697509 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:18:55.417Z,1761513535.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275102
2025-10-26T21:18:55.669Z,1761513535.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526994
2025-10-26T21:18:55.671Z,1761513535.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874459,-0.483588,-0.038261],[0.485019,0.873026,0.050813],[0.008830,-0.062991,0.997975]]
2025-10-26T21:18:55.697Z,1761513535.697 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:18:55.729Z,1761513535.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:18:55.748Z,1761513535.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 584.890137 m,
      bearing: 39.965054 deg,
      approach rate: -0.541445 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.964342 deg,
      new cmd heading: 39.965054 deg.

2025-10-26T21:18:55.749Z,1761513535.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697522 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:18:55.920Z,1761513535.920 [DAT](INFO): DAT read: Rx Time:21:18:54.4712

2025-10-26T21:18:55.921Z,1761513535.921 [DAT](INFO): Rx dataTimestamp_ set to:1761513535.920506
2025-10-26T21:18:55.921Z,1761513535.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779805
2025-10-26T21:18:56.180Z,1761513536.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038937
2025-10-26T21:18:56.201Z,1761513536.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:18:56.204Z,1761513536.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 584.620789 m,
      bearing: 39.965453 deg,
      approach rate: -0.569449 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.965052 deg,
      new cmd heading: 39.965453 deg.

2025-10-26T21:18:56.205Z,1761513536.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697529 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:18:56.438Z,1761513536.438 [DAT](INFO): DAT read: 21:18:54.4712 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 453,-0.13,-2.006, 2.571,-2.094,-2.402, PHS= 0.498,-1.265, 0.264, RAW= 143.0,   6.1, CAL= 142.6,   6.8, ROT=   7.4,  -6.8

2025-10-26T21:18:56.439Z,1761513536.439 [DAT](INFO): got valid direction response:
 21:18:54.4712 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 453,-0.13,-2.006, 2.571,-2.094,-2.402, PHS= 0.498,-1.265, 0.264, RAW= 143.0,   6.1, CAL= 142.6,   6.8, ROT=   7.4,  -6.8

2025-10-26T21:18:56.440Z,1761513536.440 [DAT](INFO): DAT read: $Error in header

2025-10-26T21:18:56.440Z,1761513536.440 [DAT](INFO): Received a bad header
2025-10-26T21:18:56.451Z,1761513536.451 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:18:56.452Z,1761513536.452 [DAT](INFO): direction in FSK: [0.984695,0.127890,0.118404]
2025-10-26T21:18:56.455Z,1761513536.455 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:18:56.456Z,1761513536.456 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:18:56.456Z,1761513536.456 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:18:56.487Z,1761513536.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860427,-0.509134,-0.021157],[0.509524,0.860183,0.021698],[0.007151,-0.029450,0.999541]]
2025-10-26T21:18:56.551Z,1761513536.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:18:56.558Z,1761513536.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 584.417175 m,
      bearing: 39.965145 deg,
      approach rate: -0.594634 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.965452 deg,
      new cmd heading: 39.965145 deg.

2025-10-26T21:18:56.559Z,1761513536.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697523 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:18:56.684Z,1761513536.684 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:18:56.684Z,1761513536.684 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:18:56.684Z,1761513536.684 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:18:56.882Z,1761513536.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851765,-0.523804,-0.011237],[0.523888,0.851762,0.006524],[0.006154,-0.011443,0.999916]]
2025-10-26T21:18:56.925Z,1761513536.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:18:56.927Z,1761513536.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 584.207214 m,
      bearing: 39.964457 deg,
      approach rate: -0.550982 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.965144 deg,
      new cmd heading: 39.964457 deg.

2025-10-26T21:18:56.928Z,1761513536.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697511 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:18:56.936Z,1761513536.936 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:18:56.937Z,1761513536.937 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:18:56.937Z,1761513536.937 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:18:57.188Z,1761513537.188 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:18:57.188Z,1761513537.188 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:18:57.188Z,1761513537.188 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:18:57.287Z,1761513537.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842758,-0.538286,-0.002616],[0.538264,0.842754,-0.006053],[0.005463,0.003693,0.999978]]
2025-10-26T21:18:57.343Z,1761513537.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:18:57.346Z,1761513537.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 583.989746 m,
      bearing: 39.963492 deg,
      approach rate: -0.524755 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.964458 deg,
      new cmd heading: 39.963492 deg.

2025-10-26T21:18:57.347Z,1761513537.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697495 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:18:57.393Z,1761513537.393 [DockingStepper](INFO): Changing to mode: 1
2025-10-26T21:18:57.440Z,1761513537.440 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:18:57.440Z,1761513537.440 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:18:57.440Z,1761513537.440 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:18:57.690Z,1761513537.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833902,-0.551902,0.003523],[0.551894,0.833803,-0.013627],[0.004583,0.013308,0.999901]]
2025-10-26T21:18:57.692Z,1761513537.692 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:18:57.692Z,1761513537.692 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:18:57.692Z,1761513537.692 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:18:57.764Z,1761513537.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:18:57.766Z,1761513537.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:18:57.773Z,1761513537.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 583.761658 m,
      bearing: 39.962102 deg,
      approach rate: -0.534353 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.963491 deg,
      new cmd heading: 39.962102 deg.

2025-10-26T21:18:57.773Z,1761513537.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697470 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:18:57.944Z,1761513537.944 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:18:57.944Z,1761513537.944 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:18:57.944Z,1761513537.944 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:18:58.149Z,1761513538.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825374,-0.564555,0.006033],[0.564574,0.825237,-0.015492],[0.003768,0.016193,0.999862]]
2025-10-26T21:18:58.196Z,1761513538.196 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:18:58.196Z,1761513538.196 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:18:58.196Z,1761513538.196 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:18:58.202Z,1761513538.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:18:58.205Z,1761513538.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 583.553284 m,
      bearing: 39.960698 deg,
      approach rate: -0.478103 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.962102 deg,
      new cmd heading: 39.960698 deg.

2025-10-26T21:18:58.205Z,1761513538.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697446 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:18:58.448Z,1761513538.448 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:18:58.449Z,1761513538.449 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:18:58.449Z,1761513538.449 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:18:58.524Z,1761513538.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817566,-0.575817,0.004581],[0.575827,0.817489,-0.011612],[0.002942,0.012131,0.999922]]
2025-10-26T21:18:58.550Z,1761513538.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:18:58.553Z,1761513538.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 583.382874 m,
      bearing: 39.959322 deg,
      approach rate: -0.489246 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.960698 deg,
      new cmd heading: 39.959322 deg.

2025-10-26T21:18:58.554Z,1761513538.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697422 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:18:58.701Z,1761513538.701 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:18:58.701Z,1761513538.701 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:18:58.701Z,1761513538.701 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:18:58.926Z,1761513538.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810589,-0.585615,0.000994],[0.585611,0.810576,-0.005141],[0.002204,0.004749,0.999986]]
2025-10-26T21:18:58.949Z,1761513538.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:18:58.952Z,1761513538.952 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:18:58.952Z,1761513538.952 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:18:58.952Z,1761513538.952 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:18:58.976Z,1761513538.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 583.192322 m,
      bearing: 39.957560 deg,
      approach rate: -0.477437 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.959322 deg,
      new cmd heading: 39.957560 deg.

2025-10-26T21:18:58.977Z,1761513538.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697391 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:18:59.204Z,1761513539.204 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:18:59.204Z,1761513539.204 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:18:59.205Z,1761513539.205 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:18:59.330Z,1761513539.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804271,-0.594256,-0.002773],[0.594260,0.804272,0.001077],[0.001590,-0.002514,0.999996]]
2025-10-26T21:18:59.380Z,1761513539.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:18:59.382Z,1761513539.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 582.996033 m,
      bearing: 39.955902 deg,
      approach rate: -0.456129 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.957559 deg,
      new cmd heading: 39.955902 deg.

2025-10-26T21:18:59.383Z,1761513539.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697362 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:18:59.457Z,1761513539.457 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:18:59.457Z,1761513539.457 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:18:59.457Z,1761513539.457 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:18:59.709Z,1761513539.709 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:18:59.710Z,1761513539.710 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:18:59.710Z,1761513539.710 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:18:59.764Z,1761513539.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798880,-0.601444,-0.007440],[0.601490,0.798836,0.008416],[0.000882,-0.011198,0.999937]]
2025-10-26T21:18:59.793Z,1761513539.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:18:59.795Z,1761513539.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:18:59.798Z,1761513539.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 582.806824 m,
      bearing: 39.954138 deg,
      approach rate: -0.455439 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.955903 deg,
      new cmd heading: 39.954138 deg.

2025-10-26T21:18:59.798Z,1761513539.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697331 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:18:59.960Z,1761513539.960 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:18:59.960Z,1761513539.960 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:18:59.960Z,1761513539.960 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:00.176Z,1761513540.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793943,-0.607856,-0.012866],[0.607992,0.793768,0.016678],[0.000075,-0.021064,0.999778]]
2025-10-26T21:19:00.213Z,1761513540.213 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:00.214Z,1761513540.214 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:00.214Z,1761513540.214 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:00.244Z,1761513540.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:19:00.246Z,1761513540.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 582.602539 m,
      bearing: 39.952410 deg,
      approach rate: -0.455758 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.954138 deg,
      new cmd heading: 39.952410 deg.

2025-10-26T21:19:00.247Z,1761513540.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697301 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:19:00.464Z,1761513540.464 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:00.464Z,1761513540.464 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:00.464Z,1761513540.464 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:00.575Z,1761513540.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789768,-0.613134,-0.018237],[0.613405,0.789394,0.024333],[-0.000523,-0.030405,0.999538]]
2025-10-26T21:19:00.596Z,1761513540.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:19:00.598Z,1761513540.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 582.437317 m,
      bearing: 39.950901 deg,
      approach rate: -0.468435 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.952409 deg,
      new cmd heading: 39.950901 deg.

2025-10-26T21:19:00.600Z,1761513540.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697275 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:19:00.717Z,1761513540.717 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:00.718Z,1761513540.718 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:00.718Z,1761513540.718 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:00.968Z,1761513540.968 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:00.968Z,1761513540.968 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:00.968Z,1761513540.968 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:00.976Z,1761513540.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786409,-0.617270,-0.023217],[0.617705,0.785789,0.031250],[-0.001046,-0.038916,0.999242]]
2025-10-26T21:19:01.006Z,1761513541.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:19:01.012Z,1761513541.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 582.254150 m,
      bearing: 39.949131 deg,
      approach rate: -0.447105 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.950900 deg,
      new cmd heading: 39.949131 deg.

2025-10-26T21:19:01.013Z,1761513541.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697244 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:19:01.223Z,1761513541.223 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:01.223Z,1761513541.223 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:01.224Z,1761513541.224 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:01.378Z,1761513541.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783563,-0.620705,-0.027485],[0.621311,0.782691,0.036979],[-0.001441,-0.046052,0.998938]]
2025-10-26T21:19:01.420Z,1761513541.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:19:01.422Z,1761513541.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 582.056335 m,
      bearing: 39.947737 deg,
      approach rate: -0.477390 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.949131 deg,
      new cmd heading: 39.947737 deg.

2025-10-26T21:19:01.423Z,1761513541.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697220 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:19:01.475Z,1761513541.475 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:01.475Z,1761513541.475 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:01.475Z,1761513541.475 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:01.725Z,1761513541.725 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:01.725Z,1761513541.725 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:01.725Z,1761513541.725 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:01.790Z,1761513541.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781429,-0.623137,-0.032701],[0.623992,0.780203,0.043783],[-0.001769,-0.054619,0.998506]]
2025-10-26T21:19:01.826Z,1761513541.826 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:01.828Z,1761513541.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:19:01.830Z,1761513541.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 581.867249 m,
      bearing: 39.946343 deg,
      approach rate: -0.463463 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.947738 deg,
      new cmd heading: 39.946343 deg.

2025-10-26T21:19:01.842Z,1761513541.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697195 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:19:01.976Z,1761513541.976 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:01.976Z,1761513541.976 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:01.976Z,1761513541.976 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:02.216Z,1761513542.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779836,-0.624754,-0.039206],[0.625981,0.778114,0.051828],[-0.001873,-0.064959,0.997886]]
2025-10-26T21:19:02.229Z,1761513542.229 [DAT](INFO): Reached modem response timeout
2025-10-26T21:19:02.229Z,1761513542.229 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:02.229Z,1761513542.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:19:02.325Z,1761513542.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:19:02.332Z,1761513542.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 581.641174 m,
      bearing: 39.944904 deg,
      approach rate: -0.454731 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.946344 deg,
      new cmd heading: 39.944904 deg.

2025-10-26T21:19:02.333Z,1761513542.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697170 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:19:02.481Z,1761513542.481 [DAT](INFO): DAT read: 

2025-10-26T21:19:02.481Z,1761513542.481 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:02.681Z,1761513542.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778628,-0.625860,-0.045136],[0.627483,0.776379,0.059168],[-0.001988,-0.074392,0.997227]]
2025-10-26T21:19:02.701Z,1761513542.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:19:02.724Z,1761513542.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 581.465027 m,
      bearing: 39.943751 deg,
      approach rate: -0.468749 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.944903 deg,
      new cmd heading: 39.943751 deg.

2025-10-26T21:19:02.725Z,1761513542.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697150 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:19:02.733Z,1761513542.733 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:02.985Z,1761513542.985 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:03.085Z,1761513543.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777702,-0.626551,-0.051124],[0.628631,0.774872,0.066314],[-0.001935,-0.083710,0.996488]]
2025-10-26T21:19:03.108Z,1761513543.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:19:03.110Z,1761513543.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 581.278320 m,
      bearing: 39.942506 deg,
      approach rate: -0.459317 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.943752 deg,
      new cmd heading: 39.942506 deg.

2025-10-26T21:19:03.111Z,1761513543.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697128 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:19:03.236Z,1761513543.236 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:03.486Z,1761513543.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776853,-0.627178,-0.056093],[0.629679,0.773485,0.072288],[-0.001950,-0.091478,0.995805]]
2025-10-26T21:19:03.488Z,1761513543.488 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:03.551Z,1761513543.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:19:03.557Z,1761513543.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 581.079285 m,
      bearing: 39.940866 deg,
      approach rate: -0.448956 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.942506 deg,
      new cmd heading: 39.940866 deg.

2025-10-26T21:19:03.558Z,1761513543.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697100 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:19:03.740Z,1761513543.740 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:03.903Z,1761513543.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776140,-0.627677,-0.060238],[0.630558,0.772278,0.077358],[-0.002035,-0.098024,0.995182]]
2025-10-26T21:19:03.945Z,1761513543.945 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:03.947Z,1761513543.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:19:03.949Z,1761513543.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 580.882568 m,
      bearing: 39.939225 deg,
      approach rate: -0.497034 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.940866 deg,
      new cmd heading: 39.939225 deg.

2025-10-26T21:19:03.950Z,1761513543.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697071 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:19:03.993Z,1761513543.993 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:04.244Z,1761513544.244 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:04.306Z,1761513544.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775596,-0.627980,-0.063969],[0.631227,0.771304,0.081506],[-0.001845,-0.103595,0.994618]]
2025-10-26T21:19:04.371Z,1761513544.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:19:04.374Z,1761513544.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 580.689209 m,
      bearing: 39.937319 deg,
      approach rate: -0.459621 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.939224 deg,
      new cmd heading: 39.937319 deg.

2025-10-26T21:19:04.375Z,1761513544.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697038 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:19:04.499Z,1761513544.499 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:19:04.499Z,1761513544.499 [DAT](INFO): response not received
2025-10-26T21:19:04.500Z,1761513544.500 [DAT](INFO): DAT read: user:156>Tx time:21:19:03.6959

2025-10-26T21:19:04.500Z,1761513544.500 [DAT](ERROR): No response from remote modem.
2025-10-26T21:19:04.500Z,1761513544.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:04.501Z,1761513544.501 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:19:04.749Z,1761513544.749 [DAT](INFO): DAT read: 

2025-10-26T21:19:04.749Z,1761513544.749 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:04.803Z,1761513544.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773847,-0.629737,-0.067771],[0.633371,0.769145,0.085185],[-0.001518,-0.108844,0.994058]]
2025-10-26T21:19:04.821Z,1761513544.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:19:04.824Z,1761513544.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 580.458496 m,
      bearing: 39.934982 deg,
      approach rate: -0.508388 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.937318 deg,
      new cmd heading: 39.934982 deg.

2025-10-26T21:19:04.824Z,1761513544.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696997 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:19:05.000Z,1761513545.000 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:05.195Z,1761513545.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772961,-0.630677,-0.069126],[0.634453,0.768175,0.085883],[-0.001064,-0.110242,0.993904]]
2025-10-26T21:19:05.255Z,1761513545.255 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:05.277Z,1761513545.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:19:05.284Z,1761513545.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 580.243652 m,
      bearing: 39.932775 deg,
      approach rate: -0.471060 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.934982 deg,
      new cmd heading: 39.932775 deg.

2025-10-26T21:19:05.285Z,1761513545.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696958 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:19:05.504Z,1761513545.504 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:05.604Z,1761513545.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771954,-0.631822,-0.069917],[0.635678,0.767084,0.086578],[-0.001070,-0.111279,0.993789]]
2025-10-26T21:19:05.643Z,1761513545.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:19:05.645Z,1761513545.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 580.056824 m,
      bearing: 39.930169 deg,
      approach rate: -0.511056 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.932776 deg,
      new cmd heading: 39.930169 deg.

2025-10-26T21:19:05.646Z,1761513545.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696913 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:19:05.757Z,1761513545.757 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:06.005Z,1761513546.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771214,-0.632649,-0.070595],[0.636575,0.766237,0.087484],[-0.001254,-0.112408,0.993661]]
2025-10-26T21:19:06.008Z,1761513546.008 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:06.023Z,1761513546.023 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:06.025Z,1761513546.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:19:06.028Z,1761513546.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 579.866821 m,
      bearing: 39.927494 deg,
      approach rate: -0.497006 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.930170 deg,
      new cmd heading: 39.927494 deg.

2025-10-26T21:19:06.029Z,1761513546.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696866 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:19:06.263Z,1761513546.263 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:06.406Z,1761513546.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770462,-0.633493,-0.071233],[0.637484,0.765408,0.088120],[-0.001301,-0.113303,0.993560]]
2025-10-26T21:19:06.455Z,1761513546.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:19:06.458Z,1761513546.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 579.645447 m,
      bearing: 39.923427 deg,
      approach rate: -0.514921 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.927493 deg,
      new cmd heading: 39.923427 deg.

2025-10-26T21:19:06.458Z,1761513546.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696795 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:19:06.513Z,1761513546.513 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:06.764Z,1761513546.764 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:06.817Z,1761513546.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769585,-0.634616,-0.070722],[0.638543,0.764580,0.087639],[-0.001544,-0.112605,0.993639]]
2025-10-26T21:19:06.835Z,1761513546.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:19:06.838Z,1761513546.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 579.449829 m,
      bearing: 39.919800 deg,
      approach rate: -0.514404 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.923426 deg,
      new cmd heading: 39.919800 deg.

2025-10-26T21:19:06.839Z,1761513546.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696732 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:19:07.016Z,1761513547.016 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:07.234Z,1761513547.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768576,-0.635830,-0.070786],[0.639755,0.763519,0.088046],[-0.001936,-0.112955,0.993598]]
2025-10-26T21:19:07.271Z,1761513547.271 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:07.312Z,1761513547.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:19:07.314Z,1761513547.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 579.219849 m,
      bearing: 39.915498 deg,
      approach rate: -0.487138 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.919799 deg,
      new cmd heading: 39.915498 deg.

2025-10-26T21:19:07.315Z,1761513547.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696657 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:19:07.521Z,1761513547.521 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:07.773Z,1761513547.773 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:07.790Z,1761513547.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767549,-0.636980,-0.071588],[0.640987,0.762398,0.088798],[-0.001984,-0.114044,0.993474]]
2025-10-26T21:19:07.842Z,1761513547.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:19:07.845Z,1761513547.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 578.920349 m,
      bearing: 39.908382 deg,
      approach rate: -0.559843 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.915499 deg,
      new cmd heading: 39.908382 deg.

2025-10-26T21:19:07.846Z,1761513547.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696533 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:19:08.024Z,1761513548.024 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:08.283Z,1761513548.283 [DAT](INFO): DAT read: Rx Time:21:19:06.9072

2025-10-26T21:19:08.285Z,1761513548.285 [DAT](INFO): Rx dataTimestamp_ set to:1761513548.283726
2025-10-26T21:19:08.286Z,1761513548.286 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:08.314Z,1761513548.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766585,-0.637999,-0.072834],[0.642140,0.761282,0.090035],[-0.001995,-0.115789,0.993272]]
2025-10-26T21:19:08.374Z,1761513548.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:08.377Z,1761513548.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 612.43 m.
2025-10-26T21:19:08.391Z,1761513548.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 612.426270 m,
      nav range: 578.621338 m,
      bearing: 39.900025 deg,
      approach rate: -0.559313 m/s,
      LOS rate: nan deg/s,
      cmd heading: 39.908382 deg,
      new cmd heading: 39.900025 deg.

2025-10-26T21:19:08.392Z,1761513548.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696387 target range: 612.426270 and range: 615.00 m.
2025-10-26T21:19:08.528Z,1761513548.528 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:08.787Z,1761513548.787 [DAT](INFO): DAT read: 21:19:06.9072 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 309,-0.19, 2.885, 1.248, 3.084, 2.526, PHS= 0.461,-1.233, 0.514, RAW= 151.5,   3.0, CAL= 150.5,   2.8, ROT= 359.5,  -2.8

2025-10-26T21:19:08.788Z,1761513548.788 [DAT](INFO): got valid direction response:
 21:19:06.9072 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 309,-0.19, 2.885, 1.248, 3.084, 2.526, PHS= 0.461,-1.233, 0.514, RAW= 151.5,   3.0, CAL= 150.5,   2.8, ROT= 359.5,  -2.8

2025-10-26T21:19:08.789Z,1761513548.789 [DAT](INFO): DAT read: Bearing 192.3,  -0.8 (Local)

2025-10-26T21:19:08.789Z,1761513548.789 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.3,  -0.8 (Local)

2025-10-26T21:19:08.791Z,1761513548.791 [DAT](INFO): DAT read: Range 11 to 50 : 605.3 m  (Round-trip  807.1 ms) speed  0.4 m/s

2025-10-26T21:19:08.792Z,1761513548.792 [DAT](INFO): DAT read: user:157>Tx time:21:19:07.9959

2025-10-26T21:19:08.792Z,1761513548.792 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:19:08.793Z,1761513548.793 [DAT](INFO): direction in FSK: [0.998768,-0.008716,0.048850]
2025-10-26T21:19:08.794Z,1761513548.794 [DAT](INFO): publishing direction and range info
2025-10-26T21:19:08.797Z,1761513548.797 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:08.798Z,1761513548.798 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:19:08.854Z,1761513548.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764150,-0.640530,-0.076126],[0.645037,0.758580,0.092106],[-0.001249,-0.119487,0.992835]]
2025-10-26T21:19:08.918Z,1761513548.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 605.299988 m,
      deltaT: 18.152476 s,
      deltaX: -9.700012 m,
      approachRate: -0.534363 m/s,
      rangeRepo size: 2

2025-10-26T21:19:08.924Z,1761513548.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 602.737000 m,
      bearing: 40.006922 deg,
      lat: 36.779086 deg,
      lon: -121.859061 deg,
      deltaT: 18.152476 s,
      deltaX: -9.689270 m,
      approachRate: -0.533771 m/s,
      posRepo size: 2

2025-10-26T21:19:08.925Z,1761513548.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:08.926Z,1761513548.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 40.006922 deg.
2025-10-26T21:19:08.927Z,1761513548.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698252 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:09.033Z,1761513549.033 [DAT](INFO): DAT read: 

2025-10-26T21:19:09.033Z,1761513549.033 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:09.256Z,1761513549.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762847,-0.641913,-0.077540],[0.646579,0.757215,0.092524],[-0.000678,-0.120718,0.992687]]
2025-10-26T21:19:09.287Z,1761513549.287 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:09.340Z,1761513549.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:09.347Z,1761513549.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 589.945068 m,
      bearing: 39.942933 deg,
      approach rate: -0.548330 m/s,
      LOS rate: -0.015322 deg/s,
      cmd heading: 40.006921 deg,
      new cmd heading: 39.987462 deg.

2025-10-26T21:19:09.348Z,1761513549.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697913 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:09.536Z,1761513549.536 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:09.662Z,1761513549.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761554,-0.643232,-0.079298],[0.648101,0.755813,0.093340],[-0.000104,-0.122476,0.992471]]
2025-10-26T21:19:09.762Z,1761513549.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:09.764Z,1761513549.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 589.693054 m,
      bearing: 39.935537 deg,
      approach rate: -0.598140 m/s,
      LOS rate: -0.017561 deg/s,
      cmd heading: 39.987462 deg,
      new cmd heading: 39.965266 deg.

2025-10-26T21:19:09.765Z,1761513549.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697526 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:09.788Z,1761513549.788 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:10.040Z,1761513550.040 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:10.070Z,1761513550.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760450,-0.644328,-0.080977],[0.649397,0.754585,0.094261],[0.000369,-0.124267,0.992249]]
2025-10-26T21:19:10.089Z,1761513550.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:10.092Z,1761513550.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 589.508118 m,
      bearing: 39.930073 deg,
      approach rate: -0.564402 m/s,
      LOS rate: -0.016681 deg/s,
      cmd heading: 39.965267 deg,
      new cmd heading: 39.948870 deg.

2025-10-26T21:19:10.093Z,1761513550.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697239 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:10.298Z,1761513550.298 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:10.474Z,1761513550.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758985,-0.645827,-0.082762],[0.651107,0.753059,0.094661],[0.001190,-0.125733,0.992063]]
2025-10-26T21:19:10.515Z,1761513550.515 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:10.517Z,1761513550.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:10.520Z,1761513550.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 589.261414 m,
      bearing: 39.923336 deg,
      approach rate: -0.576315 m/s,
      LOS rate: -0.015746 deg/s,
      cmd heading: 39.948871 deg,
      new cmd heading: 39.928651 deg.

2025-10-26T21:19:10.521Z,1761513550.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696886 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:10.544Z,1761513550.544 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:10.796Z,1761513550.796 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:10.878Z,1761513550.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758016,-0.646814,-0.083923],[0.652233,0.752079,0.094708],[0.001859,-0.126528,0.991961]]
2025-10-26T21:19:10.916Z,1761513550.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:10.918Z,1761513550.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 589.041260 m,
      bearing: 39.917285 deg,
      approach rate: -0.553003 m/s,
      LOS rate: -0.015205 deg/s,
      cmd heading: 39.928651 deg,
      new cmd heading: 39.910491 deg.

2025-10-26T21:19:10.920Z,1761513550.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696570 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:11.048Z,1761513551.048 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:11.286Z,1761513551.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757095,-0.647700,-0.085392],[0.653300,0.751106,0.095071],[0.002561,-0.127765,0.991801]]
2025-10-26T21:19:11.304Z,1761513551.304 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:11.372Z,1761513551.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:11.374Z,1761513551.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 588.771545 m,
      bearing: 39.909826 deg,
      approach rate: -0.596531 m/s,
      LOS rate: -0.016504 deg/s,
      cmd heading: 39.910493 deg,
      new cmd heading: 39.888107 deg.

2025-10-26T21:19:11.380Z,1761513551.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696179 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:11.552Z,1761513551.552 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:11.772Z,1761513551.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756439,-0.648210,-0.087316],[0.654056,0.750344,0.095893],[0.003359,-0.129647,0.991555]]
2025-10-26T21:19:11.804Z,1761513551.804 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:11.827Z,1761513551.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:11.829Z,1761513551.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 588.505981 m,
      bearing: 39.903404 deg,
      approach rate: -0.578537 m/s,
      LOS rate: -0.013998 deg/s,
      cmd heading: 39.888107 deg,
      new cmd heading: 39.868830 deg.

2025-10-26T21:19:11.830Z,1761513551.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695842 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:12.056Z,1761513552.056 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:12.285Z,1761513552.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756221,-0.648286,-0.088627],[0.654303,0.750100,0.096111],[0.004171,-0.130670,0.991417]]
2025-10-26T21:19:12.310Z,1761513552.310 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:12.375Z,1761513552.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:12.381Z,1761513552.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 588.208008 m,
      bearing: 39.896184 deg,
      approach rate: -0.543840 m/s,
      LOS rate: -0.013184 deg/s,
      cmd heading: 39.868832 deg,
      new cmd heading: 39.847161 deg.

2025-10-26T21:19:12.382Z,1761513552.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695464 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:12.567Z,1761513552.567 [DAT](INFO): DAT read: 21:19:11.2048 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 469, 0.11, 2.781, 1.301, 3.049, 2.529, PHS= 0.354,-1.183, 0.476, RAW= 153.8,   4.5, CAL= 152.9,   4.2, ROT= 357.1,  -4.2

2025-10-26T21:19:12.568Z,1761513552.568 [DAT](INFO): got valid direction response:
 21:19:11.2048 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 469, 0.11, 2.781, 1.301, 3.049, 2.529, PHS= 0.354,-1.183, 0.476, RAW= 153.8,   4.5, CAL= 152.9,   4.2, ROT= 357.1,  -4.2

2025-10-26T21:19:12.569Z,1761513552.569 [DAT](INFO): DAT read: Rx Time:21:19:11.2048

2025-10-26T21:19:12.570Z,1761513552.570 [DAT](INFO): Rx dataTimestamp_ set to:1761513552.569266
2025-10-26T21:19:12.570Z,1761513552.570 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-26T21:19:12.570Z,1761513552.570 [DAT](INFO): Received low SNR in chirp
2025-10-26T21:19:12.584Z,1761513552.584 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:19:12.586Z,1761513552.586 [DAT](INFO): direction in FSK: [0.996037,-0.050457,0.073238]
2025-10-26T21:19:12.592Z,1761513552.592 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:12.812Z,1761513552.812 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:12.823Z,1761513552.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756130,-0.647900,-0.092158],[0.654396,0.749825,0.097614],[0.005858,-0.134116,0.990948]]
2025-10-26T21:19:12.877Z,1761513552.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:12.879Z,1761513552.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:12.882Z,1761513552.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 587.898254 m,
      bearing: 39.890889 deg,
      approach rate: -0.614005 m/s,
      LOS rate: -0.010501 deg/s,
      cmd heading: 39.847163 deg,
      new cmd heading: 39.831270 deg.

2025-10-26T21:19:12.883Z,1761513552.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695187 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:13.064Z,1761513553.064 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:13.229Z,1761513553.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756487,-0.647308,-0.093380],[0.653971,0.750224,0.097396],[0.007011,-0.134747,0.990855]]
2025-10-26T21:19:13.247Z,1761513553.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:13.250Z,1761513553.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 587.685852 m,
      bearing: 39.887269 deg,
      approach rate: -0.577620 m/s,
      LOS rate: -0.009849 deg/s,
      cmd heading: 39.831269 deg,
      new cmd heading: 39.820404 deg.

2025-10-26T21:19:13.250Z,1761513553.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694997 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:13.319Z,1761513553.319 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:13.572Z,1761513553.572 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:13.618Z,1761513553.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757150,-0.646279,-0.095122],[0.653193,0.750803,0.098157],[0.007981,-0.136452,0.990615]]
2025-10-26T21:19:13.665Z,1761513553.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:13.668Z,1761513553.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 587.448059 m,
      bearing: 39.884466 deg,
      approach rate: -0.568199 m/s,
      LOS rate: -0.006698 deg/s,
      cmd heading: 39.820406 deg,
      new cmd heading: 39.811996 deg.

2025-10-26T21:19:13.669Z,1761513553.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694850 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:13.824Z,1761513553.824 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:14.022Z,1761513554.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757945,-0.645068,-0.096989],[0.652258,0.751484,0.099154],[0.008925,-0.138415,0.990334]]
2025-10-26T21:19:14.048Z,1761513554.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:14.051Z,1761513554.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 587.230713 m,
      bearing: 39.881934 deg,
      approach rate: -0.568805 m/s,
      LOS rate: -0.006630 deg/s,
      cmd heading: 39.811998 deg,
      new cmd heading: 39.804398 deg.

2025-10-26T21:19:14.052Z,1761513554.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694718 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:14.076Z,1761513554.076 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:14.331Z,1761513554.331 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:14.480Z,1761513554.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:14.483Z,1761513554.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 586.989380 m,
      bearing: 39.880107 deg,
      approach rate: -0.557530 m/s,
      LOS rate: -0.004223 deg/s,
      cmd heading: 39.804399 deg,
      new cmd heading: 39.798915 deg.

2025-10-26T21:19:14.484Z,1761513554.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694622 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:14.580Z,1761513554.580 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:14.832Z,1761513554.832 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:14.838Z,1761513554.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760050,-0.641970,-0.100990],[0.649776,0.753289,0.101721],[0.010773,-0.142934,0.989674]]
2025-10-26T21:19:14.856Z,1761513554.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:14.859Z,1761513554.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 586.779541 m,
      bearing: 39.878590 deg,
      approach rate: -0.558180 m/s,
      LOS rate: -0.004035 deg/s,
      cmd heading: 39.798915 deg,
      new cmd heading: 39.794364 deg.

2025-10-26T21:19:14.860Z,1761513554.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694543 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:15.084Z,1761513555.084 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:15.237Z,1761513555.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761332,-0.640241,-0.102296],[0.648255,0.754536,0.102180],[0.011766,-0.144107,0.989492]]
2025-10-26T21:19:15.253Z,1761513555.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:15.255Z,1761513555.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:15.258Z,1761513555.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 586.557312 m,
      bearing: 39.877028 deg,
      approach rate: -0.557348 m/s,
      LOS rate: -0.003920 deg/s,
      cmd heading: 39.794362 deg,
      new cmd heading: 39.789674 deg.

2025-10-26T21:19:15.259Z,1761513555.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694461 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:15.338Z,1761513555.338 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:15.588Z,1761513555.588 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:15.638Z,1761513555.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762536,-0.638580,-0.103701],[0.646823,0.755647,0.103040],[0.012562,-0.145649,0.989257]]
2025-10-26T21:19:15.697Z,1761513555.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:15.704Z,1761513555.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 586.317444 m,
      bearing: 39.876138 deg,
      approach rate: -0.544401 m/s,
      LOS rate: -0.002020 deg/s,
      cmd heading: 39.789673 deg,
      new cmd heading: 39.787003 deg.

2025-10-26T21:19:15.706Z,1761513555.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694414 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:15.840Z,1761513555.840 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:16.046Z,1761513556.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763666,-0.636832,-0.106111],[0.645470,0.756558,0.104823],[0.013524,-0.148541,0.988814]]
2025-10-26T21:19:16.064Z,1761513556.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:16.066Z,1761513556.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 586.109253 m,
      bearing: 39.875403 deg,
      approach rate: -0.565973 m/s,
      LOS rate: -0.001999 deg/s,
      cmd heading: 39.787003 deg,
      new cmd heading: 39.784796 deg.

2025-10-26T21:19:16.067Z,1761513556.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694376 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:16.110Z,1761513556.110 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:16.362Z,1761513556.362 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:16.446Z,1761513556.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764823,-0.635515,-0.105669],[0.644078,0.757958,0.103266],[0.014466,-0.147039,0.989025]]
2025-10-26T21:19:16.513Z,1761513556.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:16.515Z,1761513556.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 585.856934 m,
      bearing: 39.874319 deg,
      approach rate: -0.561592 m/s,
      LOS rate: -0.002415 deg/s,
      cmd heading: 39.784797 deg,
      new cmd heading: 39.781542 deg.

2025-10-26T21:19:16.516Z,1761513556.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694319 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:16.613Z,1761513556.613 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:16.855Z,1761513556.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765738,-0.634258,-0.106596],[0.642974,0.758849,0.103602],[0.015180,-0.147870,0.988890]]
2025-10-26T21:19:16.864Z,1761513556.864 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:16.875Z,1761513556.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:16.878Z,1761513556.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 585.653198 m,
      bearing: 39.873471 deg,
      approach rate: -0.562381 m/s,
      LOS rate: -0.002340 deg/s,
      cmd heading: 39.781542 deg,
      new cmd heading: 39.778998 deg.

2025-10-26T21:19:16.879Z,1761513556.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694274 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:17.116Z,1761513557.116 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:17.254Z,1761513557.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766531,-0.633019,-0.108248],[0.642005,0.759557,0.104415],[0.016124,-0.149533,0.988625]]
2025-10-26T21:19:17.290Z,1761513557.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:17.292Z,1761513557.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:17.295Z,1761513557.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 585.418945 m,
      bearing: 39.872524 deg,
      approach rate: -0.561321 m/s,
      LOS rate: -0.002269 deg/s,
      cmd heading: 39.778998 deg,
      new cmd heading: 39.776157 deg.

2025-10-26T21:19:17.296Z,1761513557.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694225 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:17.369Z,1761513557.369 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:17.620Z,1761513557.620 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:17.661Z,1761513557.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767427,-0.631785,-0.109102],[0.640917,0.760431,0.104741],[0.016790,-0.150306,0.988497]]
2025-10-26T21:19:17.738Z,1761513557.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:17.744Z,1761513557.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 585.183105 m,
      bearing: 39.870881 deg,
      approach rate: -0.529657 m/s,
      LOS rate: -0.003693 deg/s,
      cmd heading: 39.776156 deg,
      new cmd heading: 39.771223 deg.

2025-10-26T21:19:17.745Z,1761513557.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694139 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:17.872Z,1761513557.872 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:18.063Z,1761513558.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768174,-0.630711,-0.110057],[0.640006,0.761121,0.105294],[0.017357,-0.151321,0.988332]]
2025-10-26T21:19:18.093Z,1761513558.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:18.095Z,1761513558.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 584.964417 m,
      bearing: 39.869379 deg,
      approach rate: -0.615800 m/s,
      LOS rate: -0.004229 deg/s,
      cmd heading: 39.771222 deg,
      new cmd heading: 39.766716 deg.

2025-10-26T21:19:18.096Z,1761513558.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694060 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:18.129Z,1761513558.129 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:18.383Z,1761513558.383 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:18.466Z,1761513558.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768267,-0.630431,-0.111011],[0.639876,0.761211,0.105433],[0.018035,-0.152034,0.988211]]
2025-10-26T21:19:18.517Z,1761513558.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:18.520Z,1761513558.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 584.712952 m,
      bearing: 39.866879 deg,
      approach rate: -0.592461 m/s,
      LOS rate: -0.005894 deg/s,
      cmd heading: 39.766717 deg,
      new cmd heading: 39.759213 deg.

2025-10-26T21:19:18.521Z,1761513558.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693929 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:18.632Z,1761513558.632 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:18.876Z,1761513558.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768691,-0.629892,-0.111132],[0.639352,0.761710,0.105004],[0.018509,-0.151768,0.988243]]
2025-10-26T21:19:18.885Z,1761513558.885 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:18.896Z,1761513558.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:18.898Z,1761513558.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 584.488464 m,
      bearing: 39.864660 deg,
      approach rate: -0.593011 m/s,
      LOS rate: -0.005864 deg/s,
      cmd heading: 39.759214 deg,
      new cmd heading: 39.752555 deg.

2025-10-26T21:19:18.900Z,1761513558.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693813 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:19.136Z,1761513559.136 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:19.274Z,1761513559.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769311,-0.629106,-0.111295],[0.638599,0.762336,0.105049],[0.018757,-0.151889,0.988220]]
2025-10-26T21:19:19.304Z,1761513559.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:19.306Z,1761513559.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:19.309Z,1761513559.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 584.245789 m,
      bearing: 39.862282 deg,
      approach rate: -0.591586 m/s,
      LOS rate: -0.005798 deg/s,
      cmd heading: 39.752555 deg,
      new cmd heading: 39.745419 deg.

2025-10-26T21:19:19.310Z,1761513559.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693688 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:19.388Z,1761513559.388 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:19.640Z,1761513559.640 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:19.721Z,1761513559.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769575,-0.628623,-0.112190],[0.638266,0.762552,0.105503],[0.019229,-0.152800,0.988070]]
2025-10-26T21:19:19.780Z,1761513559.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:19.783Z,1761513559.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 583.970276 m,
      bearing: 39.858502 deg,
      approach rate: -0.581727 m/s,
      LOS rate: -0.007985 deg/s,
      cmd heading: 39.745421 deg,
      new cmd heading: 39.734075 deg.

2025-10-26T21:19:19.792Z,1761513559.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693490 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:19.893Z,1761513559.893 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:20.096Z,1761513560.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769580,-0.628563,-0.112495],[0.638257,0.762535,0.105685],[0.019351,-0.153134,0.988016]]
2025-10-26T21:19:20.114Z,1761513560.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:20.117Z,1761513560.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 583.759216 m,
      bearing: 39.855604 deg,
      approach rate: -0.630439 m/s,
      LOS rate: -0.008661 deg/s,
      cmd heading: 39.734076 deg,
      new cmd heading: 39.725377 deg.

2025-10-26T21:19:20.118Z,1761513560.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693339 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:20.144Z,1761513560.144 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:20.398Z,1761513560.398 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:20.498Z,1761513560.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769419,-0.628840,-0.112046],[0.638431,0.762608,0.104091],[0.019991,-0.151623,0.988236]]
2025-10-26T21:19:20.542Z,1761513560.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:20.544Z,1761513560.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 583.491821 m,
      bearing: 39.850959 deg,
      approach rate: -0.625673 m/s,
      LOS rate: -0.010875 deg/s,
      cmd heading: 39.725377 deg,
      new cmd heading: 39.711435 deg.

2025-10-26T21:19:20.545Z,1761513560.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693095 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:20.648Z,1761513560.648 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:20.900Z,1761513560.900 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:20.904Z,1761513560.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768993,-0.629362,-0.112041],[0.638934,0.762277,0.103425],[0.020314,-0.151120,0.988307]]
2025-10-26T21:19:20.924Z,1761513560.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:20.927Z,1761513560.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 583.252991 m,
      bearing: 39.846790 deg,
      approach rate: -0.623978 m/s,
      LOS rate: -0.010896 deg/s,
      cmd heading: 39.711434 deg,
      new cmd heading: 39.698922 deg.

2025-10-26T21:19:20.928Z,1761513560.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692877 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:21.157Z,1761513561.157 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:19:21.158Z,1761513561.158 [DAT](INFO): response not received
2025-10-26T21:19:21.160Z,1761513561.160 [DAT](INFO): DAT read: Tx time:21:19:20.4459

2025-10-26T21:19:21.160Z,1761513561.160 [DAT](INFO): Ping request sent.
2025-10-26T21:19:21.160Z,1761513561.160 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:19:21.161Z,1761513561.161 [DAT](INFO): publishing transmit ping time
2025-10-26T21:19:21.306Z,1761513561.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768642,-0.629747,-0.112285],[0.639343,0.761999,0.102943],[0.020733,-0.150915,0.988329]]
2025-10-26T21:19:21.334Z,1761513561.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:21.340Z,1761513561.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:21.343Z,1761513561.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 582.994629 m,
      bearing: 39.842261 deg,
      approach rate: -0.621201 m/s,
      LOS rate: -0.010893 deg/s,
      cmd heading: 39.698921 deg,
      new cmd heading: 39.685329 deg.

2025-10-26T21:19:21.349Z,1761513561.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692640 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:21.405Z,1761513561.405 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:21.405Z,1761513561.405 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:21.405Z,1761513561.405 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:21.656Z,1761513561.656 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:21.656Z,1761513561.656 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:21.656Z,1761513561.656 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:21.908Z,1761513561.908 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:21.908Z,1761513561.908 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:21.908Z,1761513561.908 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:21.911Z,1761513561.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:21.914Z,1761513561.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 582.627258 m,
      bearing: 39.835352 deg,
      approach rate: -0.643649 m/s,
      LOS rate: -0.012113 deg/s,
      cmd heading: 39.685329 deg,
      new cmd heading: 39.664588 deg.

2025-10-26T21:19:21.915Z,1761513561.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692278 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:22.160Z,1761513562.160 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:22.161Z,1761513562.161 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:22.161Z,1761513562.161 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:22.215Z,1761513562.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767597,-0.630880,-0.113070],[0.640563,0.761113,0.101918],[0.021761,-0.150660,0.988346]]
2025-10-26T21:19:22.241Z,1761513562.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:22.243Z,1761513562.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 582.415405 m,
      bearing: 39.831330 deg,
      approach rate: -0.642969 m/s,
      LOS rate: -0.012212 deg/s,
      cmd heading: 39.664589 deg,
      new cmd heading: 39.652518 deg.

2025-10-26T21:19:22.244Z,1761513562.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692067 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:22.412Z,1761513562.412 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:22.412Z,1761513562.412 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:22.412Z,1761513562.412 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:22.599Z,1761513562.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767027,-0.631555,-0.113175],[0.641232,0.760645,0.101200],[0.022173,-0.150195,0.988408]]
2025-10-26T21:19:22.655Z,1761513562.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:22.662Z,1761513562.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 582.160095 m,
      bearing: 39.826663 deg,
      approach rate: -0.616319 m/s,
      LOS rate: -0.011272 deg/s,
      cmd heading: 39.652516 deg,
      new cmd heading: 39.638509 deg.

2025-10-26T21:19:22.663Z,1761513562.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691822 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:22.665Z,1761513562.665 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:22.665Z,1761513562.665 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:22.665Z,1761513562.665 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:22.916Z,1761513562.916 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:22.916Z,1761513562.916 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:22.916Z,1761513562.916 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:23.002Z,1761513563.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766371,-0.632284,-0.113543],[0.641991,0.760121,0.100319],[0.022876,-0.149775,0.988455]]
2025-10-26T21:19:23.020Z,1761513563.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:23.023Z,1761513563.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 581.910339 m,
      bearing: 39.822066 deg,
      approach rate: -0.682947 m/s,
      LOS rate: -0.012574 deg/s,
      cmd heading: 39.638508 deg,
      new cmd heading: 39.624712 deg.

2025-10-26T21:19:23.024Z,1761513563.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691582 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:23.169Z,1761513563.169 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:23.169Z,1761513563.169 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:23.170Z,1761513563.170 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:23.406Z,1761513563.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766030,-0.632646,-0.113826],[0.642383,0.759840,0.099939],[0.023263,-0.149676,0.988461]]
2025-10-26T21:19:23.420Z,1761513563.420 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:23.420Z,1761513563.420 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:23.420Z,1761513563.420 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:23.433Z,1761513563.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:23.436Z,1761513563.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:23.438Z,1761513563.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 581.642334 m,
      bearing: 39.817116 deg,
      approach rate: -0.645847 m/s,
      LOS rate: -0.011935 deg/s,
      cmd heading: 39.624711 deg,
      new cmd heading: 39.609852 deg.

2025-10-26T21:19:23.439Z,1761513563.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691322 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:23.674Z,1761513563.674 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:23.675Z,1761513563.675 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:23.675Z,1761513563.675 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:23.869Z,1761513563.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:23.872Z,1761513563.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 581.360657 m,
      bearing: 39.812523 deg,
      approach rate: -0.650100 m/s,
      LOS rate: -0.010604 deg/s,
      cmd heading: 39.609852 deg,
      new cmd heading: 39.596068 deg.

2025-10-26T21:19:23.873Z,1761513563.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691082 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:23.925Z,1761513563.925 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:23.925Z,1761513563.925 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:23.925Z,1761513563.925 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:24.176Z,1761513564.176 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:24.177Z,1761513564.177 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:24.177Z,1761513564.177 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:24.215Z,1761513564.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764584,-0.634223,-0.114775],[0.644056,0.758606,0.098535],[0.024576,-0.149259,0.988493]]
2025-10-26T21:19:24.249Z,1761513564.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:24.256Z,1761513564.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 581.119019 m,
      bearing: 39.808525 deg,
      approach rate: -0.635579 m/s,
      LOS rate: -0.010521 deg/s,
      cmd heading: 39.596068 deg,
      new cmd heading: 39.584068 deg.

2025-10-26T21:19:24.257Z,1761513564.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690872 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:24.384Z,1761513564.384 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:19:24.428Z,1761513564.428 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:24.428Z,1761513564.428 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:24.428Z,1761513564.428 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:24.621Z,1761513564.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764173,-0.634585,-0.115502],[0.644514,0.758269,0.098130],[0.025309,-0.149431,0.988448]]
2025-10-26T21:19:24.657Z,1761513564.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:24.660Z,1761513564.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 580.848083 m,
      bearing: 39.805679 deg,
      approach rate: -0.664099 m/s,
      LOS rate: -0.006980 deg/s,
      cmd heading: 39.584068 deg,
      new cmd heading: 39.575525 deg.

2025-10-26T21:19:24.661Z,1761513564.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690723 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:24.681Z,1761513564.681 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:24.681Z,1761513564.681 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:24.681Z,1761513564.681 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:24.932Z,1761513564.932 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:24.933Z,1761513564.933 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:24.933Z,1761513564.933 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:25.022Z,1761513565.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763747,-0.634952,-0.116307],[0.644987,0.757923,0.097693],[0.026121,-0.149629,0.988397]]
2025-10-26T21:19:25.041Z,1761513565.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:25.043Z,1761513565.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 580.598083 m,
      bearing: 39.803034 deg,
      approach rate: -0.651327 m/s,
      LOS rate: -0.006893 deg/s,
      cmd heading: 39.575523 deg,
      new cmd heading: 39.567585 deg.

2025-10-26T21:19:25.044Z,1761513565.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690585 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:25.185Z,1761513565.185 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:25.185Z,1761513565.185 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:25.185Z,1761513565.185 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:25.388Z,1761513565.388 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:19:25.426Z,1761513565.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763174,-0.635580,-0.116638],[0.645643,0.757451,0.097026],[0.026680,-0.149354,0.988424]]
2025-10-26T21:19:25.436Z,1761513565.436 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:25.436Z,1761513565.436 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:25.436Z,1761513565.436 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:25.451Z,1761513565.451 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:25.453Z,1761513565.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:25.456Z,1761513565.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 580.329834 m,
      bearing: 39.800171 deg,
      approach rate: -0.650665 m/s,
      LOS rate: -0.006948 deg/s,
      cmd heading: 39.567586 deg,
      new cmd heading: 39.558993 deg.

2025-10-26T21:19:25.457Z,1761513565.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690435 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:25.689Z,1761513565.689 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:25.690Z,1761513565.690 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:25.690Z,1761513565.690 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:25.893Z,1761513565.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:25.896Z,1761513565.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 580.043579 m,
      bearing: 39.798513 deg,
      approach rate: -0.650752 m/s,
      LOS rate: -0.003770 deg/s,
      cmd heading: 39.558994 deg,
      new cmd heading: 39.554019 deg.

2025-10-26T21:19:25.897Z,1761513565.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690348 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:25.941Z,1761513565.941 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:25.941Z,1761513565.941 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:25.941Z,1761513565.941 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:26.192Z,1761513566.192 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:26.193Z,1761513566.193 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:26.193Z,1761513566.193 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:26.234Z,1761513566.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762513,-0.636330,-0.116869],[0.646356,0.757142,0.094654],[0.028255,-0.147714,0.988626]]
2025-10-26T21:19:26.269Z,1761513566.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:26.272Z,1761513566.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 579.809387 m,
      bearing: 39.797130 deg,
      approach rate: -0.622793 m/s,
      LOS rate: -0.003681 deg/s,
      cmd heading: 39.554018 deg,
      new cmd heading: 39.549866 deg.

2025-10-26T21:19:26.273Z,1761513566.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690275 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:26.444Z,1761513566.444 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:26.444Z,1761513566.444 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:26.444Z,1761513566.444 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:26.638Z,1761513566.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762669,-0.635969,-0.117809],[0.646136,0.757333,0.094629],[0.029040,-0.148291,0.988517]]
2025-10-26T21:19:26.697Z,1761513566.697 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:26.697Z,1761513566.697 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:26.697Z,1761513566.697 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:26.706Z,1761513566.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:26.726Z,1761513566.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 579.523438 m,
      bearing: 39.796234 deg,
      approach rate: -0.655095 m/s,
      LOS rate: -0.002053 deg/s,
      cmd heading: 39.549865 deg,
      new cmd heading: 39.547177 deg.

2025-10-26T21:19:26.731Z,1761513566.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690228 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:26.948Z,1761513566.948 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:26.949Z,1761513566.949 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:26.949Z,1761513566.949 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:27.045Z,1761513567.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763082,-0.635376,-0.118337],[0.645629,0.757752,0.094732],[0.029480,-0.148690,0.988444]]
2025-10-26T21:19:27.063Z,1761513567.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:27.066Z,1761513567.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 579.288635 m,
      bearing: 39.795514 deg,
      approach rate: -0.657122 m/s,
      LOS rate: -0.002017 deg/s,
      cmd heading: 39.547178 deg,
      new cmd heading: 39.545016 deg.

2025-10-26T21:19:27.066Z,1761513567.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690191 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:27.200Z,1761513567.200 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:27.201Z,1761513567.201 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:27.201Z,1761513567.201 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:27.446Z,1761513567.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763298,-0.634972,-0.119107],[0.645340,0.758013,0.094613],[0.030208,-0.149082,0.988363]]
2025-10-26T21:19:27.452Z,1761513567.452 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:27.452Z,1761513567.452 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:27.452Z,1761513567.452 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:27.490Z,1761513567.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:27.493Z,1761513567.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:27.495Z,1761513567.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 579.013245 m,
      bearing: 39.794679 deg,
      approach rate: -0.640704 m/s,
      LOS rate: -0.001944 deg/s,
      cmd heading: 39.545016 deg,
      new cmd heading: 39.542510 deg.

2025-10-26T21:19:27.496Z,1761513567.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690147 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:27.705Z,1761513567.705 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:27.705Z,1761513567.705 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:27.705Z,1761513567.705 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:27.850Z,1761513567.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763662,-0.634437,-0.119623],[0.644882,0.758418,0.094490],[0.030777,-0.149301,0.988313]]
2025-10-26T21:19:27.910Z,1761513567.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:27.913Z,1761513567.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 578.746948 m,
      bearing: 39.794696 deg,
      approach rate: -0.637309 m/s,
      LOS rate: 0.000042 deg/s,
      cmd heading: 39.542509 deg,
      new cmd heading: 39.542562 deg.

2025-10-26T21:19:27.914Z,1761513567.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690148 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:27.956Z,1761513567.956 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:27.956Z,1761513567.956 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:27.957Z,1761513567.957 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:28.208Z,1761513568.208 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:28.208Z,1761513568.208 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:28.208Z,1761513568.208 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:28.266Z,1761513568.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764623,-0.633224,-0.119914],[0.643714,0.759435,0.094289],[0.031361,-0.149286,0.988297]]
2025-10-26T21:19:28.292Z,1761513568.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:28.294Z,1761513568.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 578.504578 m,
      bearing: 39.794749 deg,
      approach rate: -0.635851 m/s,
      LOS rate: 0.000137 deg/s,
      cmd heading: 39.542561 deg,
      new cmd heading: 39.542718 deg.

2025-10-26T21:19:28.303Z,1761513568.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690151 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:28.461Z,1761513568.461 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:28.461Z,1761513568.461 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:28.461Z,1761513568.461 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:28.713Z,1761513568.713 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:28.713Z,1761513568.713 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:28.713Z,1761513568.713 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:28.768Z,1761513568.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765511,-0.632058,-0.120397],[0.642634,0.760328,0.094457],[0.031839,-0.149679,0.988222]]
2025-10-26T21:19:28.816Z,1761513568.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:28.819Z,1761513568.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 578.176147 m,
      bearing: 39.794444 deg,
      approach rate: -0.625735 m/s,
      LOS rate: -0.000582 deg/s,
      cmd heading: 39.542718 deg,
      new cmd heading: 39.541802 deg.

2025-10-26T21:19:28.820Z,1761513568.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690135 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:28.964Z,1761513568.964 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:28.964Z,1761513568.964 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:28.964Z,1761513568.964 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:29.188Z,1761513569.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767893,-0.628861,-0.121965],[0.639741,0.762594,0.095820],[0.032752,-0.151606,0.987898]]
2025-10-26T21:19:29.207Z,1761513569.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:29.210Z,1761513569.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 577.928040 m,
      bearing: 39.794304 deg,
      approach rate: -0.635622 m/s,
      LOS rate: -0.000358 deg/s,
      cmd heading: 39.541802 deg,
      new cmd heading: 39.541383 deg.

2025-10-26T21:19:29.211Z,1761513569.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690127 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:29.216Z,1761513569.216 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:29.216Z,1761513569.216 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:29.216Z,1761513569.216 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:29.468Z,1761513569.468 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:29.468Z,1761513569.468 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:29.469Z,1761513569.469 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:29.679Z,1761513569.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769180,-0.627085,-0.122990],[0.638149,0.763872,0.096260],[0.033586,-0.152528,0.987728]]
2025-10-26T21:19:29.721Z,1761513569.721 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:29.721Z,1761513569.721 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:29.721Z,1761513569.721 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:29.813Z,1761513569.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:29.822Z,1761513569.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:29.833Z,1761513569.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 577.550537 m,
      bearing: 39.792176 deg,
      approach rate: -0.620566 m/s,
      LOS rate: -0.003501 deg/s,
      cmd heading: 39.541382 deg,
      new cmd heading: 39.534994 deg.

2025-10-26T21:19:29.834Z,1761513569.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690016 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:29.972Z,1761513569.972 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:29.972Z,1761513569.972 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:29.972Z,1761513569.972 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:30.224Z,1761513570.224 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:30.225Z,1761513570.225 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:30.225Z,1761513570.225 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:30.269Z,1761513570.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770374,-0.625122,-0.125485],[0.636581,0.765190,0.096174],[0.035899,-0.153971,0.987423]]
2025-10-26T21:19:30.313Z,1761513570.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:30.320Z,1761513570.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 577.237305 m,
      bearing: 39.790466 deg,
      approach rate: -0.629457 m/s,
      LOS rate: -0.003437 deg/s,
      cmd heading: 39.534993 deg,
      new cmd heading: 39.529862 deg.

2025-10-26T21:19:30.321Z,1761513570.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689926 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:30.476Z,1761513570.476 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:30.476Z,1761513570.476 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:30.476Z,1761513570.476 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:30.689Z,1761513570.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771557,-0.623368,-0.126934],[0.635020,0.766625,0.095055],[0.038057,-0.153946,0.987346]]
2025-10-26T21:19:30.728Z,1761513570.728 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:30.729Z,1761513570.729 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:30.729Z,1761513570.729 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:30.763Z,1761513570.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:30.774Z,1761513570.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 576.954041 m,
      bearing: 39.787220 deg,
      approach rate: -0.629659 m/s,
      LOS rate: -0.007220 deg/s,
      cmd heading: 39.529863 deg,
      new cmd heading: 39.520119 deg.

2025-10-26T21:19:30.774Z,1761513570.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689756 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:30.981Z,1761513570.981 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:30.981Z,1761513570.981 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:30.981Z,1761513570.981 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:19:31.075Z,1761513571.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772248,-0.621903,-0.129883],[0.634025,0.767449,0.095054],[0.040564,-0.155754,0.986963]]
2025-10-26T21:19:31.093Z,1761513571.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:31.096Z,1761513571.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 576.740479 m,
      bearing: 39.784793 deg,
      approach rate: -0.645958 m/s,
      LOS rate: -0.007343 deg/s,
      cmd heading: 39.520120 deg,
      new cmd heading: 39.512837 deg.

2025-10-26T21:19:31.097Z,1761513571.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689629 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:31.233Z,1761513571.233 [DAT](INFO): Reached modem response timeout
2025-10-26T21:19:31.233Z,1761513571.233 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:31.234Z,1761513571.234 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:19:31.484Z,1761513571.484 [DAT](INFO): DAT read: 

2025-10-26T21:19:31.485Z,1761513571.485 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:31.516Z,1761513571.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:31.518Z,1761513571.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 576.474976 m,
      bearing: 39.781773 deg,
      approach rate: -0.628863 m/s,
      LOS rate: -0.007157 deg/s,
      cmd heading: 39.512839 deg,
      new cmd heading: 39.503774 deg.

2025-10-26T21:19:31.539Z,1761513571.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689471 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:31.758Z,1761513571.758 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:31.889Z,1761513571.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773280,-0.619593,-0.134695],[0.632459,0.768827,0.094345],[0.045102,-0.158144,0.986385]]
2025-10-26T21:19:31.947Z,1761513571.947 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:31.949Z,1761513571.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:31.960Z,1761513571.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 576.206543 m,
      bearing: 39.777440 deg,
      approach rate: -0.618417 m/s,
      LOS rate: -0.009986 deg/s,
      cmd heading: 39.503775 deg,
      new cmd heading: 39.490772 deg.

2025-10-26T21:19:31.961Z,1761513571.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689244 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:32.008Z,1761513572.008 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:32.261Z,1761513572.261 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:32.320Z,1761513572.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:32.323Z,1761513572.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 575.967102 m,
      bearing: 39.773572 deg,
      approach rate: -0.645788 m/s,
      LOS rate: -0.010439 deg/s,
      cmd heading: 39.490771 deg,
      new cmd heading: 39.479159 deg.

2025-10-26T21:19:32.324Z,1761513572.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689041 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:32.513Z,1761513572.513 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:32.694Z,1761513572.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773114,-0.618729,-0.139530],[0.632311,0.769113,0.092997],[0.049774,-0.160123,0.985841]]
2025-10-26T21:19:32.764Z,1761513572.764 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:32.817Z,1761513572.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:32.819Z,1761513572.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 575.645020 m,
      bearing: 39.766586 deg,
      approach rate: -0.648978 m/s,
      LOS rate: -0.014084 deg/s,
      cmd heading: 39.479159 deg,
      new cmd heading: 39.458191 deg.

2025-10-26T21:19:32.820Z,1761513572.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688675 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:33.016Z,1761513573.016 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:33.191Z,1761513573.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:33.194Z,1761513573.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 575.402283 m,
      bearing: 39.761316 deg,
      approach rate: -0.648155 m/s,
      LOS rate: -0.014077 deg/s,
      cmd heading: 39.458191 deg,
      new cmd heading: 39.442374 deg.

2025-10-26T21:19:33.195Z,1761513573.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688399 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:33.268Z,1761513573.268 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:33.524Z,1761513573.524 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:33.539Z,1761513573.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771784,-0.619804,-0.142102],[0.633661,0.768311,0.090404],[0.053146,-0.159817,0.985715]]
2025-10-26T21:19:33.562Z,1761513573.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:33.565Z,1761513573.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 575.160950 m,
      bearing: 39.756023 deg,
      approach rate: -0.650313 m/s,
      LOS rate: -0.014268 deg/s,
      cmd heading: 39.442375 deg,
      new cmd heading: 39.426491 deg.

2025-10-26T21:19:33.566Z,1761513573.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688122 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:33.779Z,1761513573.779 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:19:33.780Z,1761513573.780 [DAT](INFO): response not received
2025-10-26T21:19:33.780Z,1761513573.780 [DAT](INFO): DAT read: user:159>Tx time:21:19:32.8959

2025-10-26T21:19:33.781Z,1761513573.781 [DAT](ERROR): No response from remote modem.
2025-10-26T21:19:33.781Z,1761513573.781 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:33.781Z,1761513573.781 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:19:33.938Z,1761513573.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770981,-0.620487,-0.143472],[0.634459,0.767869,0.088537],[0.055232,-0.159287,0.985686]]
2025-10-26T21:19:33.991Z,1761513573.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:33.993Z,1761513573.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:33.996Z,1761513573.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 574.870789 m,
      bearing: 39.749391 deg,
      approach rate: -0.673626 m/s,
      LOS rate: -0.015405 deg/s,
      cmd heading: 39.426492 deg,
      new cmd heading: 39.406584 deg.

2025-10-26T21:19:33.997Z,1761513573.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687775 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:34.029Z,1761513574.029 [DAT](INFO): DAT read: 

2025-10-26T21:19:34.029Z,1761513574.029 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:34.281Z,1761513574.281 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:34.346Z,1761513574.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769938,-0.621557,-0.144441],[0.635540,0.767254,0.086086],[0.057316,-0.158079,0.985762]]
2025-10-26T21:19:34.373Z,1761513574.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:34.376Z,1761513574.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 574.620667 m,
      bearing: 39.743627 deg,
      approach rate: -0.658005 m/s,
      LOS rate: -0.015170 deg/s,
      cmd heading: 39.406585 deg,
      new cmd heading: 39.389286 deg.

2025-10-26T21:19:34.377Z,1761513574.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687473 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:34.532Z,1761513574.532 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:34.746Z,1761513574.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768534,-0.623085,-0.145325],[0.637032,0.766337,0.083178],[0.059541,-0.156502,0.985881]]
2025-10-26T21:19:34.784Z,1761513574.784 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:34.801Z,1761513574.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:34.804Z,1761513574.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 574.331543 m,
      bearing: 39.736702 deg,
      approach rate: -0.674977 m/s,
      LOS rate: -0.016174 deg/s,
      cmd heading: 39.389284 deg,
      new cmd heading: 39.368500 deg.

2025-10-26T21:19:34.805Z,1761513574.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687110 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:35.036Z,1761513575.036 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:35.155Z,1761513575.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767380,-0.624240,-0.146466],[0.638240,0.765547,0.081167],[0.061459,-0.155766,0.985880]]
2025-10-26T21:19:35.190Z,1761513575.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:35.193Z,1761513575.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 574.075012 m,
      bearing: 39.730506 deg,
      approach rate: -0.660010 m/s,
      LOS rate: -0.015949 deg/s,
      cmd heading: 39.368500 deg,
      new cmd heading: 39.349902 deg.

2025-10-26T21:19:35.194Z,1761513575.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.686785 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:35.288Z,1761513575.288 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:35.540Z,1761513575.540 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:35.555Z,1761513575.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766113,-0.625482,-0.147793],[0.639551,0.764679,0.078999],[0.063601,-0.155043,0.985858]]
2025-10-26T21:19:35.596Z,1761513575.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:35.598Z,1761513575.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 573.807129 m,
      bearing: 39.723977 deg,
      approach rate: -0.660000 m/s,
      LOS rate: -0.016092 deg/s,
      cmd heading: 39.349901 deg,
      new cmd heading: 39.330307 deg.

2025-10-26T21:19:35.600Z,1761513575.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.686443 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:35.793Z,1761513575.793 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:35.959Z,1761513575.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764967,-0.626542,-0.149233],[0.640697,0.763933,0.076904],[0.065820,-0.154442,0.985807]]
2025-10-26T21:19:36.021Z,1761513576.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:36.023Z,1761513576.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:36.026Z,1761513576.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 573.530518 m,
      bearing: 39.717895 deg,
      approach rate: -0.647618 m/s,
      LOS rate: -0.014247 deg/s,
      cmd heading: 39.330306 deg,
      new cmd heading: 39.312050 deg.

2025-10-26T21:19:36.028Z,1761513576.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.686125 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:36.046Z,1761513576.046 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:36.296Z,1761513576.296 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:36.400Z,1761513576.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:36.403Z,1761513576.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 573.285706 m,
      bearing: 39.712506 deg,
      approach rate: -0.649457 m/s,
      LOS rate: -0.014302 deg/s,
      cmd heading: 39.312049 deg,
      new cmd heading: 39.295875 deg.

2025-10-26T21:19:36.404Z,1761513576.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685842 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:36.548Z,1761513576.548 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:36.767Z,1761513576.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763016,-0.628152,-0.152418],[0.642520,0.762801,0.072814],[0.070526,-0.153490,0.985630]]
2025-10-26T21:19:36.800Z,1761513576.800 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:36.816Z,1761513576.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:36.818Z,1761513576.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 573.015076 m,
      bearing: 39.707835 deg,
      approach rate: -0.651475 m/s,
      LOS rate: -0.011250 deg/s,
      cmd heading: 39.295875 deg,
      new cmd heading: 39.281854 deg.

2025-10-26T21:19:36.819Z,1761513576.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685598 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:37.056Z,1761513577.056 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:37.185Z,1761513577.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761677,-0.628863,-0.156139],[0.643558,0.762243,0.069408],[0.075367,-0.153351,0.985294]]
2025-10-26T21:19:37.203Z,1761513577.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:37.206Z,1761513577.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 572.762634 m,
      bearing: 39.703431 deg,
      approach rate: -0.651158 m/s,
      LOS rate: -0.011364 deg/s,
      cmd heading: 39.281856 deg,
      new cmd heading: 39.268639 deg.

2025-10-26T21:19:37.207Z,1761513577.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685367 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:37.305Z,1761513577.305 [DAT](INFO): DAT read: Rx Time:21:19:36.0904

2025-10-26T21:19:37.305Z,1761513577.305 [DAT](INFO): Rx dataTimestamp_ set to:1761513577.304773
2025-10-26T21:19:37.305Z,1761513577.305 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:37.556Z,1761513577.556 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:37.579Z,1761513577.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761278,-0.628880,-0.158004],[0.643754,0.762209,0.067957],[0.077695,-0.153450,0.985097]]
2025-10-26T21:19:37.598Z,1761513577.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:37.617Z,1761513577.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 572.505249 m,
      bearing: 39.698927 deg,
      approach rate: -0.652236 m/s,
      LOS rate: -0.011419 deg/s,
      cmd heading: 39.268639 deg,
      new cmd heading: 39.255121 deg.

2025-10-26T21:19:37.617Z,1761513577.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685131 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:37.808Z,1761513577.808 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:37.983Z,1761513577.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761313,-0.628333,-0.160000],[0.643438,0.762564,0.066958],[0.079939,-0.153926,0.984843]]
2025-10-26T21:19:38.034Z,1761513578.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:38.040Z,1761513578.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.74 m.
2025-10-26T21:19:38.043Z,1761513578.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 602.737000 m,
      nav range: 572.237671 m,
      bearing: 39.696157 deg,
      approach rate: -0.604558 m/s,
      LOS rate: -0.006262 deg/s,
      cmd heading: 39.255122 deg,
      new cmd heading: 39.246807 deg.

2025-10-26T21:19:38.048Z,1761513578.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684986 target range: 602.737000 and range: 605.30 m.
2025-10-26T21:19:38.066Z,1761513578.066 [DAT](INFO): DAT read: 21:19:36.0904 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 265,-0.33, 2.186, 0.580, 2.327, 1.857, PHS= 0.432,-1.232, 0.426, RAW= 149.8,   4.6, CAL= 149.0,   4.7, ROT=   1.0,  -4.7

2025-10-26T21:19:38.068Z,1761513578.068 [DAT](INFO): got valid direction response:
 21:19:36.0904 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 265,-0.33, 2.186, 0.580, 2.327, 1.857, PHS= 0.432,-1.232, 0.426, RAW= 149.8,   4.6, CAL= 149.0,   4.7, ROT=   1.0,  -4.7

2025-10-26T21:19:38.069Z,1761513578.069 [DAT](INFO): DAT read: Bearing 192.0,   4.5 (Local)

2025-10-26T21:19:38.069Z,1761513578.069 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.0,   4.5 (Local)

2025-10-26T21:19:38.070Z,1761513578.070 [DAT](INFO): DAT read: Range 11 to 50 : 592.7 m  (Round-trip  790.3 ms) speed  0.6 m/s

2025-10-26T21:19:38.071Z,1761513578.071 [DAT](INFO): DAT read: Tx time:21:19:37.1491

2025-10-26T21:19:38.072Z,1761513578.072 [DAT](INFO): Ping request sent.
2025-10-26T21:19:38.072Z,1761513578.072 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:19:38.072Z,1761513578.072 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:19:38.073Z,1761513578.073 [DAT](INFO): direction in FSK: [0.996486,0.017394,0.081939]
2025-10-26T21:19:38.073Z,1761513578.073 [DAT](INFO): publishing transmit ping time
2025-10-26T21:19:38.073Z,1761513578.073 [DAT](INFO): publishing direction and range info
2025-10-26T21:19:38.077Z,1761513578.077 [DAT](INFO): publishing transmit ping time
2025-10-26T21:19:38.077Z,1761513578.077 [DAT](INFO): publishing direction and range info
2025-10-26T21:19:38.387Z,1761513578.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761487,-0.627401,-0.162802],[0.642932,0.763005,0.066792],[0.082313,-0.155532,0.984395]]
2025-10-26T21:19:38.426Z,1761513578.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 592.700012 m,
      deltaT: 29.279670 s,
      deltaX: -12.599976 m,
      approachRate: -0.430332 m/s,
      rangeRepo size: 3

2025-10-26T21:19:38.429Z,1761513578.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 590.220520 m,
      bearing: 41.914474 deg,
      lat: 36.779027 deg,
      lon: -121.858971 deg,
      deltaT: 29.279670 s,
      deltaX: -12.516479 m,
      approachRate: -0.427480 m/s,
      posRepo size: 3

2025-10-26T21:19:38.430Z,1761513578.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.22 m.
2025-10-26T21:19:38.433Z,1761513578.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 590.220520 m,
      nav range: 572.170715 m,
      bearing: 40.734160 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006262 deg/s,
      cmd heading: 39.246807 deg,
      new cmd heading: 39.239566 deg.

2025-10-26T21:19:38.434Z,1761513578.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684860 target range: 590.220520 and range: 592.70 m.
2025-10-26T21:19:38.792Z,1761513578.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761902,-0.626315,-0.165032],[0.642164,0.763687,0.066394],[0.084449,-0.156563,0.984051]]
2025-10-26T21:19:38.829Z,1761513578.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.22 m.
2025-10-26T21:19:38.833Z,1761513578.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 590.220520 m,
      nav range: 571.912903 m,
      bearing: 40.732967 deg,
      approach rate: -0.638929 m/s,
      LOS rate: -0.002958 deg/s,
      cmd heading: 39.239567 deg,
      new cmd heading: 39.235986 deg.

2025-10-26T21:19:38.834Z,1761513578.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684797 target range: 590.220520 and range: 592.70 m.
2025-10-26T21:19:39.192Z,1761513579.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762418,-0.625157,-0.167029],[0.641274,0.764482,0.065839],[0.086531,-0.157308,0.983751]]
2025-10-26T21:19:39.226Z,1761513579.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.22 m.
2025-10-26T21:19:39.236Z,1761513579.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 590.220520 m,
      nav range: 571.672424 m,
      bearing: 40.731879 deg,
      approach rate: -0.606503 m/s,
      LOS rate: -0.002746 deg/s,
      cmd heading: 39.235984 deg,
      new cmd heading: 39.232718 deg.

2025-10-26T21:19:39.237Z,1761513579.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684740 target range: 590.220520 and range: 592.70 m.
2025-10-26T21:19:39.594Z,1761513579.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763077,-0.623797,-0.169087],[0.640214,0.765398,0.065523],[0.088546,-0.158251,0.983421]]
2025-10-26T21:19:39.613Z,1761513579.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.22 m.
2025-10-26T21:19:39.615Z,1761513579.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 590.220520 m,
      nav range: 571.417786 m,
      bearing: 40.730758 deg,
      approach rate: -0.658345 m/s,
      LOS rate: -0.002898 deg/s,
      cmd heading: 39.232719 deg,
      new cmd heading: 39.229357 deg.

2025-10-26T21:19:39.616Z,1761513579.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684681 target range: 590.220520 and range: 592.70 m.
2025-10-26T21:19:40.000Z,1761513580.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763634,-0.622557,-0.171130],[0.639255,0.766241,0.065029],[0.090643,-0.159054,0.983100]]
2025-10-26T21:19:40.009Z,1761513580.009 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 292.78, 243.99, 252.32
2025-10-26T21:19:40.025Z,1761513580.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.22 m.
2025-10-26T21:19:40.028Z,1761513580.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 590.220520 m,
      nav range: 571.157288 m,
      bearing: 40.729641 deg,
      approach rate: -0.631965 m/s,
      LOS rate: -0.002712 deg/s,
      cmd heading: 39.229355 deg,
      new cmd heading: 39.226002 deg.

2025-10-26T21:19:40.029Z,1761513580.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684623 target range: 590.220520 and range: 592.70 m.
2025-10-26T21:19:40.403Z,1761513580.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764523,-0.621149,-0.172276],[0.637930,0.767433,0.063977],[0.092471,-0.158812,0.982969]]
2025-10-26T21:19:40.422Z,1761513580.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:40.441Z,1761513580.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.22 m.
2025-10-26T21:19:40.448Z,1761513580.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 590.220520 m,
      nav range: 570.904785 m,
      bearing: 40.728597 deg,
      approach rate: -0.607108 m/s,
      LOS rate: -0.002511 deg/s,
      cmd heading: 39.226002 deg,
      new cmd heading: 39.222869 deg.

2025-10-26T21:19:40.449Z,1761513580.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684568 target range: 590.220520 and range: 592.70 m.
2025-10-26T21:19:40.580Z,1761513580.580 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:40.580Z,1761513580.580 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:40.580Z,1761513580.580 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:19:40.806Z,1761513580.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765669,-0.619073,-0.174640],[0.636311,0.768704,0.064822],[0.094117,-0.160758,0.982496]]
2025-10-26T21:19:40.832Z,1761513580.832 [DAT](INFO): DAT read: user:160>

2025-10-26T21:19:40.833Z,1761513580.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761331
2025-10-26T21:19:40.853Z,1761513580.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.22 m.
2025-10-26T21:19:40.856Z,1761513580.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 590.220520 m,
      nav range: 570.644470 m,
      bearing: 40.728780 deg,
      approach rate: -0.630917 m/s,
      LOS rate: 0.000444 deg/s,
      cmd heading: 39.222870 deg,
      new cmd heading: 39.223420 deg.

2025-10-26T21:19:40.857Z,1761513580.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684578 target range: 590.220520 and range: 592.70 m.
2025-10-26T21:19:41.085Z,1761513581.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013124
2025-10-26T21:19:41.210Z,1761513581.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766576,-0.617582,-0.175936],[0.634956,0.769886,0.064079],[0.095877,-0.160833,0.982314]]
2025-10-26T21:19:41.228Z,1761513581.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.22 m.
2025-10-26T21:19:41.231Z,1761513581.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 590.220520 m,
      nav range: 570.416931 m,
      bearing: 40.728978 deg,
      approach rate: -0.607696 m/s,
      LOS rate: 0.000527 deg/s,
      cmd heading: 39.223420 deg,
      new cmd heading: 39.224012 deg.

2025-10-26T21:19:41.232Z,1761513581.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684588 target range: 590.220520 and range: 592.70 m.
2025-10-26T21:19:41.336Z,1761513581.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264669
2025-10-26T21:19:41.588Z,1761513581.588 [DAT](INFO): DAT read: Rx Time:21:19:40.3345

2025-10-26T21:19:41.589Z,1761513581.589 [DAT](INFO): Rx dataTimestamp_ set to:1761513581.588586
2025-10-26T21:19:41.589Z,1761513581.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517706
2025-10-26T21:19:41.631Z,1761513581.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767264,-0.616284,-0.177485],[0.633851,0.770842,0.063521],[0.097666,-0.161236,0.982071]]
2025-10-26T21:19:41.679Z,1761513581.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.22 m.
2025-10-26T21:19:41.682Z,1761513581.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 590.220520 m,
      nav range: 570.158264 m,
      bearing: 40.729236 deg,
      approach rate: -0.577925 m/s,
      LOS rate: 0.000576 deg/s,
      cmd heading: 39.224011 deg,
      new cmd heading: 39.224785 deg.

2025-10-26T21:19:41.683Z,1761513581.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684602 target range: 590.220520 and range: 592.70 m.
2025-10-26T21:19:41.841Z,1761513581.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768818
2025-10-26T21:19:42.019Z,1761513582.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767794,-0.615182,-0.179008],[0.632938,0.771639,0.062948],[0.099405,-0.161632,0.981832]]
2025-10-26T21:19:42.066Z,1761513582.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.22 m.
2025-10-26T21:19:42.069Z,1761513582.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 590.220520 m,
      nav range: 569.910095 m,
      bearing: 40.729135 deg,
      approach rate: -0.634547 m/s,
      LOS rate: -0.000258 deg/s,
      cmd heading: 39.224786 deg,
      new cmd heading: 39.224484 deg.

2025-10-26T21:19:42.070Z,1761513582.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684596 target range: 590.220520 and range: 592.70 m.
2025-10-26T21:19:42.095Z,1761513582.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023204
2025-10-26T21:19:42.350Z,1761513582.350 [DAT](INFO): DAT read: 21:19:40.3345 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX=  92, 0.07,-2.361, 2.355,-2.176,-2.696, PHS= 0.436,-1.187, 0.476, RAW= 151.2,   3.4, CAL= 150.2,   3.2, ROT= 359.8,  -3.2

2025-10-26T21:19:42.351Z,1761513582.351 [DAT](INFO): got valid direction response:
 21:19:40.3345 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX=  92, 0.07,-2.361, 2.355,-2.176,-2.696, PHS= 0.436,-1.187, 0.476, RAW= 151.2,   3.4, CAL= 150.2,   3.2, ROT= 359.8,  -3.2

2025-10-26T21:19:42.352Z,1761513582.352 [DAT](INFO): DAT read: Bearing 190.0,   4.9 (Local)

2025-10-26T21:19:42.353Z,1761513582.353 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.0,   4.9 (Local)

2025-10-26T21:19:42.354Z,1761513582.354 [DAT](INFO): DAT read: Range 11 to 50 : 585.9 m  (Round-trip  781.3 ms) speed  0.6 m/s

2025-10-26T21:19:42.355Z,1761513582.355 [DAT](INFO): DAT read: Tx time:21:19:41.3991

2025-10-26T21:19:42.355Z,1761513582.355 [DAT](INFO): Ping request sent.
2025-10-26T21:19:42.355Z,1761513582.355 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:19:42.356Z,1761513582.356 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:19:42.357Z,1761513582.357 [DAT](INFO): direction in FSK: [0.998435,-0.003485,0.055822]
2025-10-26T21:19:42.357Z,1761513582.357 [DAT](INFO): publishing transmit ping time
2025-10-26T21:19:42.357Z,1761513582.357 [DAT](INFO): publishing direction and range info
2025-10-26T21:19:42.385Z,1761513582.385 [DAT](INFO): publishing transmit ping time
2025-10-26T21:19:42.385Z,1761513582.385 [DAT](INFO): publishing direction and range info
2025-10-26T21:19:42.435Z,1761513582.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768047,-0.614485,-0.180311],[0.632370,0.772172,0.062123],[0.101057,-0.161736,0.981646]]
2025-10-26T21:19:42.483Z,1761513582.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 585.900024 m,
      deltaT: 4.283913 s,
      deltaX: -6.799988 m,
      approachRate: -1.587331 m/s,
      rangeRepo size: 4

2025-10-26T21:19:42.489Z,1761513582.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 583.412598 m,
      bearing: 39.793192 deg,
      lat: 36.779077 deg,
      lon: -121.858987 deg,
      deltaT: 4.283913 s,
      deltaX: -6.807922 m,
      approachRate: -1.589183 m/s,
      posRepo size: 4

2025-10-26T21:19:42.490Z,1761513582.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.41 m.
2025-10-26T21:19:42.497Z,1761513582.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 583.412598 m,
      nav range: 572.934998 m,
      bearing: 40.257447 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000258 deg/s,
      cmd heading: 39.224485 deg,
      new cmd heading: 39.224164 deg.

2025-10-26T21:19:42.498Z,1761513582.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684591 target range: 583.412598 and range: 585.90 m.
2025-10-26T21:19:42.877Z,1761513582.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:42.879Z,1761513582.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.41 m.
2025-10-26T21:19:42.881Z,1761513582.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 583.412598 m,
      nav range: 572.682495 m,
      bearing: 40.255995 deg,
      approach rate: -0.637068 m/s,
      LOS rate: -0.003666 deg/s,
      cmd heading: 39.224164 deg,
      new cmd heading: 39.219806 deg.

2025-10-26T21:19:42.882Z,1761513582.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684515 target range: 583.412598 and range: 585.90 m.
2025-10-26T21:19:43.103Z,1761513583.103 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:43.103Z,1761513583.103 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:43.104Z,1761513583.104 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:19:43.230Z,1761513583.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768345,-0.613294,-0.183073],[0.631481,0.773013,0.060687],[0.104299,-0.162236,0.981224]]
2025-10-26T21:19:43.261Z,1761513583.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.41 m.
2025-10-26T21:19:43.263Z,1761513583.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 583.412598 m,
      nav range: 572.448364 m,
      bearing: 40.254666 deg,
      approach rate: -0.612922 m/s,
      LOS rate: -0.003479 deg/s,
      cmd heading: 39.219807 deg,
      new cmd heading: 39.215819 deg.

2025-10-26T21:19:43.264Z,1761513583.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684445 target range: 583.412598 and range: 585.90 m.
2025-10-26T21:19:43.353Z,1761513583.353 [DAT](INFO): DAT read: user:161>

2025-10-26T21:19:43.354Z,1761513583.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998317
2025-10-26T21:19:43.604Z,1761513583.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248867
2025-10-26T21:19:43.638Z,1761513583.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768221,-0.613066,-0.184354],[0.631357,0.773191,0.059697],[0.105942,-0.162254,0.981045]]
2025-10-26T21:19:43.791Z,1761513583.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.41 m.
2025-10-26T21:19:43.801Z,1761513583.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 583.412598 m,
      nav range: 572.135925 m,
      bearing: 40.252892 deg,
      approach rate: -0.590487 m/s,
      LOS rate: -0.003355 deg/s,
      cmd heading: 39.215818 deg,
      new cmd heading: 39.210493 deg.

2025-10-26T21:19:43.825Z,1761513583.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684352 target range: 583.412598 and range: 585.90 m.
2025-10-26T21:19:43.857Z,1761513583.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501349
2025-10-26T21:19:44.095Z,1761513584.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768022,-0.612938,-0.185605],[0.631319,0.773306,0.058608],[0.107606,-0.162189,0.980875]]
2025-10-26T21:19:44.108Z,1761513584.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753023
2025-10-26T21:19:44.167Z,1761513584.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.41 m.
2025-10-26T21:19:44.170Z,1761513584.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 583.412598 m,
      nav range: 571.910767 m,
      bearing: 40.250542 deg,
      approach rate: -0.630808 m/s,
      LOS rate: -0.006585 deg/s,
      cmd heading: 39.210494 deg,
      new cmd heading: 39.203442 deg.

2025-10-26T21:19:44.171Z,1761513584.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684229 target range: 583.412598 and range: 585.90 m.
2025-10-26T21:19:44.360Z,1761513584.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004832
2025-10-26T21:19:44.498Z,1761513584.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767830,-0.612772,-0.186943],[0.631270,0.773417,0.057665],[0.109250,-0.162288,0.980677]]
2025-10-26T21:19:44.516Z,1761513584.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.41 m.
2025-10-26T21:19:44.518Z,1761513584.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 583.412598 m,
      nav range: 571.680359 m,
      bearing: 40.248134 deg,
      approach rate: -0.624814 m/s,
      LOS rate: -0.006534 deg/s,
      cmd heading: 39.203442 deg,
      new cmd heading: 39.196213 deg.

2025-10-26T21:19:44.532Z,1761513584.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684103 target range: 583.412598 and range: 585.90 m.
2025-10-26T21:19:44.614Z,1761513584.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258426
2025-10-26T21:19:44.864Z,1761513584.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508953
2025-10-26T21:19:44.953Z,1761513584.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:44.955Z,1761513584.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.41 m.
2025-10-26T21:19:44.974Z,1761513584.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 583.412598 m,
      nav range: 571.413940 m,
      bearing: 40.244565 deg,
      approach rate: -0.606020 m/s,
      LOS rate: -0.008122 deg/s,
      cmd heading: 39.196212 deg,
      new cmd heading: 39.185501 deg.

2025-10-26T21:19:44.975Z,1761513584.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683916 target range: 583.412598 and range: 585.90 m.
2025-10-26T21:19:45.116Z,1761513585.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760961
2025-10-26T21:19:45.306Z,1761513585.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767401,-0.612491,-0.189606],[0.631232,0.773576,0.055905],[0.112433,-0.162586,0.980268]]
2025-10-26T21:19:45.340Z,1761513585.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.41 m.
2025-10-26T21:19:45.343Z,1761513585.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 583.412598 m,
      nav range: 571.185120 m,
      bearing: 40.241492 deg,
      approach rate: -0.593826 m/s,
      LOS rate: -0.007978 deg/s,
      cmd heading: 39.185502 deg,
      new cmd heading: 39.176280 deg.

2025-10-26T21:19:45.349Z,1761513585.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683755 target range: 583.412598 and range: 585.90 m.
2025-10-26T21:19:45.369Z,1761513585.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013457
2025-10-26T21:19:45.621Z,1761513585.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265457
2025-10-26T21:19:45.719Z,1761513585.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767209,-0.612000,-0.191954],[0.631212,0.773543,0.056590],[0.113852,-0.164580,0.979771]]
2025-10-26T21:19:45.742Z,1761513585.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.41 m.
2025-10-26T21:19:45.745Z,1761513585.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 583.412598 m,
      nav range: 570.929443 m,
      bearing: 40.238053 deg,
      approach rate: -0.636294 m/s,
      LOS rate: -0.008563 deg/s,
      cmd heading: 39.176278 deg,
      new cmd heading: 39.165956 deg.

2025-10-26T21:19:45.746Z,1761513585.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683575 target range: 583.412598 and range: 585.90 m.
2025-10-26T21:19:45.873Z,1761513585.873 [DAT](INFO): DAT read: Rx Time:21:19:44.5868

2025-10-26T21:19:45.874Z,1761513585.874 [DAT](INFO): Rx dataTimestamp_ set to:1761513585.873271
2025-10-26T21:19:45.875Z,1761513585.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518976
2025-10-26T21:19:46.124Z,1761513586.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768939
2025-10-26T21:19:46.187Z,1761513586.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.41 m.
2025-10-26T21:19:46.190Z,1761513586.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 583.412598 m,
      nav range: 570.653687 m,
      bearing: 40.233790 deg,
      approach rate: -0.619774 m/s,
      LOS rate: -0.009585 deg/s,
      cmd heading: 39.165954 deg,
      new cmd heading: 39.153160 deg.

2025-10-26T21:19:46.191Z,1761513586.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683352 target range: 583.412598 and range: 585.90 m.
2025-10-26T21:19:46.400Z,1761513586.400 [DAT](INFO): DAT read: 21:19:44.5868 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 468, 0.07,-1.847, 2.895,-1.710,-2.183, PHS= 0.438,-1.159, 0.430, RAW= 149.7,   3.7, CAL= 148.9,   3.7, ROT=   1.1,  -3.7

2025-10-26T21:19:46.403Z,1761513586.403 [DAT](INFO): got valid direction response:
 21:19:44.5868 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 468, 0.07,-1.847, 2.895,-1.710,-2.183, PHS= 0.438,-1.159, 0.430, RAW= 149.7,   3.7, CAL= 148.9,   3.7, ROT=   1.1,  -3.7

2025-10-26T21:19:46.404Z,1761513586.404 [DAT](INFO): DAT read: Bearing 190.1,   7.1 (Local)

2025-10-26T21:19:46.405Z,1761513586.405 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.1,   7.1 (Local)

2025-10-26T21:19:46.406Z,1761513586.406 [DAT](INFO): DAT read: Range 11 to 50 : 587.6 m  (Round-trip  783.5 ms) speed  0.5 m/s

2025-10-26T21:19:46.407Z,1761513586.407 [DAT](INFO): DAT read: Tx time:21:19:45.6506

2025-10-26T21:19:46.407Z,1761513586.407 [DAT](INFO): Ping request sent.
2025-10-26T21:19:46.408Z,1761513586.408 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:19:46.408Z,1761513586.408 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:19:46.409Z,1761513586.409 [DAT](INFO): direction in FSK: [0.997732,0.019157,0.064532]
2025-10-26T21:19:46.409Z,1761513586.409 [DAT](INFO): publishing transmit ping time
2025-10-26T21:19:46.409Z,1761513586.409 [DAT](INFO): publishing direction and range info
2025-10-26T21:19:46.414Z,1761513586.414 [DAT](INFO): publishing transmit ping time
2025-10-26T21:19:46.414Z,1761513586.414 [DAT](INFO): publishing direction and range info
2025-10-26T21:19:46.518Z,1761513586.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767166,-0.611369,-0.194126],[0.630753,0.774033,0.054979],[0.116647,-0.164623,0.979435]]
2025-10-26T21:19:46.578Z,1761513586.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 587.599976 m,
      deltaT: 4.033721 s,
      deltaX: 1.699951 m,
      approachRate: 0.421435 m/s,
      rangeRepo size: 4

2025-10-26T21:19:46.584Z,1761513586.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 585.070007 m,
      bearing: 41.149174 deg,
      lat: 36.779060 deg,
      lon: -121.858971 deg,
      deltaT: 4.033721 s,
      deltaX: 1.657410 m,
      approachRate: 0.410889 m/s,
      posRepo size: 4

2025-10-26T21:19:46.585Z,1761513586.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 585.07 m.
2025-10-26T21:19:46.587Z,1761513586.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 585.070007 m,
      nav range: 569.963135 m,
      bearing: 40.461214 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009585 deg/s,
      cmd heading: 39.153161 deg,
      new cmd heading: 39.141961 deg.

2025-10-26T21:19:46.592Z,1761513586.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683156 target range: 585.070007 and range: 587.60 m.
2025-10-26T21:19:46.976Z,1761513586.976 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:46.978Z,1761513586.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 585.07 m.
2025-10-26T21:19:46.981Z,1761513586.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 585.070007 m,
      nav range: 569.709839 m,
      bearing: 40.457366 deg,
      approach rate: -0.630707 m/s,
      LOS rate: -0.009586 deg/s,
      cmd heading: 39.141960 deg,
      new cmd heading: 39.130411 deg.

2025-10-26T21:19:46.982Z,1761513586.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682954 target range: 585.070007 and range: 587.60 m.
2025-10-26T21:19:47.134Z,1761513587.134 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:47.134Z,1761513587.134 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:47.134Z,1761513587.134 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:19:47.326Z,1761513587.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767274,-0.610597,-0.196117],[0.630151,0.774618,0.053633],[0.119168,-0.164735,0.979113]]
2025-10-26T21:19:47.344Z,1761513587.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 585.07 m.
2025-10-26T21:19:47.347Z,1761513587.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 585.070007 m,
      nav range: 569.487366 m,
      bearing: 40.453995 deg,
      approach rate: -0.607750 m/s,
      LOS rate: -0.009213 deg/s,
      cmd heading: 39.130410 deg,
      new cmd heading: 39.120293 deg.

2025-10-26T21:19:47.364Z,1761513587.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682778 target range: 585.070007 and range: 587.60 m.
2025-10-26T21:19:47.384Z,1761513587.384 [DAT](INFO): DAT read: user:162>

2025-10-26T21:19:47.385Z,1761513587.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.977526
2025-10-26T21:19:47.638Z,1761513587.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.229733
2025-10-26T21:19:47.737Z,1761513587.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767235,-0.610398,-0.196889],[0.630005,0.774779,0.053018],[0.120184,-0.164718,0.978991]]
2025-10-26T21:19:47.755Z,1761513587.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 585.07 m.
2025-10-26T21:19:47.758Z,1761513587.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 585.070007 m,
      nav range: 569.238098 m,
      bearing: 40.450218 deg,
      approach rate: -0.607006 m/s,
      LOS rate: -0.009203 deg/s,
      cmd heading: 39.120291 deg,
      new cmd heading: 39.108953 deg.

2025-10-26T21:19:47.759Z,1761513587.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682580 target range: 585.070007 and range: 587.60 m.
2025-10-26T21:19:47.892Z,1761513587.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483641
2025-10-26T21:19:48.142Z,1761513588.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733913
2025-10-26T21:19:48.186Z,1761513588.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767598,-0.609803,-0.197317],[0.629405,0.775306,0.052432],[0.121008,-0.164439,0.978937]]
2025-10-26T21:19:48.241Z,1761513588.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 585.07 m.
2025-10-26T21:19:48.244Z,1761513588.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 585.070007 m,
      nav range: 568.948120 m,
      bearing: 40.446349 deg,
      approach rate: -0.596735 m/s,
      LOS rate: -0.007965 deg/s,
      cmd heading: 39.108953 deg,
      new cmd heading: 39.097342 deg.

2025-10-26T21:19:48.245Z,1761513588.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682377 target range: 585.070007 and range: 587.60 m.
2025-10-26T21:19:48.393Z,1761513588.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984972
2025-10-26T21:19:48.625Z,1761513588.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 585.07 m.
2025-10-26T21:19:48.645Z,1761513588.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237356
2025-10-26T21:19:48.653Z,1761513588.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 585.070007 m,
      nav range: 568.700073 m,
      bearing: 40.443036 deg,
      approach rate: -0.648638 m/s,
      LOS rate: -0.008667 deg/s,
      cmd heading: 39.097342 deg,
      new cmd heading: 39.087399 deg.

2025-10-26T21:19:48.654Z,1761513588.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682204 target range: 585.070007 and range: 587.60 m.
2025-10-26T21:19:48.897Z,1761513588.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489286
2025-10-26T21:19:49.150Z,1761513589.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742002
2025-10-26T21:19:49.230Z,1761513589.230 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:49.233Z,1761513589.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 585.07 m.
2025-10-26T21:19:49.236Z,1761513589.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 585.070007 m,
      nav range: 568.327942 m,
      bearing: 40.438293 deg,
      approach rate: -0.610485 m/s,
      LOS rate: -0.007786 deg/s,
      cmd heading: 39.087400 deg,
      new cmd heading: 39.073162 deg.

2025-10-26T21:19:49.237Z,1761513589.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681955 target range: 585.070007 and range: 587.60 m.
2025-10-26T21:19:49.400Z,1761513589.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992706
2025-10-26T21:19:49.601Z,1761513589.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 585.07 m.
2025-10-26T21:19:49.604Z,1761513589.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 585.070007 m,
      nav range: 568.099548 m,
      bearing: 40.435379 deg,
      approach rate: -0.623292 m/s,
      LOS rate: -0.007956 deg/s,
      cmd heading: 39.073163 deg,
      new cmd heading: 39.064417 deg.

2025-10-26T21:19:49.605Z,1761513589.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681803 target range: 585.070007 and range: 587.60 m.
2025-10-26T21:19:49.654Z,1761513589.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245807
2025-10-26T21:19:49.907Z,1761513589.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499183
2025-10-26T21:19:49.967Z,1761513589.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768774,-0.608431,-0.196976],[0.627639,0.776908,0.049841],[0.122707,-0.161946,0.979141]]
2025-10-26T21:19:50.023Z,1761513590.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 585.07 m.
2025-10-26T21:19:50.026Z,1761513590.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 585.070007 m,
      nav range: 567.822449 m,
      bearing: 40.432506 deg,
      approach rate: -0.654143 m/s,
      LOS rate: -0.006787 deg/s,
      cmd heading: 39.064417 deg,
      new cmd heading: 39.055791 deg.

2025-10-26T21:19:50.027Z,1761513590.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681652 target range: 585.070007 and range: 587.60 m.
2025-10-26T21:19:50.156Z,1761513590.156 [DAT](INFO): DAT read: Rx Time:21:19:48.8291

2025-10-26T21:19:50.157Z,1761513590.157 [DAT](INFO): Rx dataTimestamp_ set to:1761513590.156691
2025-10-26T21:19:50.158Z,1761513590.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749922
2025-10-26T21:19:50.358Z,1761513590.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768977,-0.607924,-0.197745],[0.627226,0.777256,0.049609],[0.123540,-0.162179,0.978997]]
2025-10-26T21:19:50.393Z,1761513590.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 585.07 m.
2025-10-26T21:19:50.400Z,1761513590.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 585.070007 m,
      nav range: 567.599365 m,
      bearing: 40.430201 deg,
      approach rate: -0.602526 m/s,
      LOS rate: -0.006228 deg/s,
      cmd heading: 39.055790 deg,
      new cmd heading: 39.048873 deg.

2025-10-26T21:19:50.401Z,1761513590.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681531 target range: 585.070007 and range: 587.60 m.
2025-10-26T21:19:50.408Z,1761513590.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.000823
2025-10-26T21:19:50.666Z,1761513590.666 [DAT](INFO): DAT read: 21:19:48.8291 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX=  86, 0.07,-2.218, 2.546,-1.955,-2.455, PHS= 0.339,-1.237, 0.456, RAW= 153.6,   5.4, CAL= 152.8,   5.4, ROT= 357.2,  -5.4

2025-10-26T21:19:50.667Z,1761513590.667 [DAT](INFO): got valid direction response:
 21:19:48.8291 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX=  86, 0.07,-2.218, 2.546,-1.955,-2.455, PHS= 0.339,-1.237, 0.456, RAW= 153.6,   5.4, CAL= 152.8,   5.4, ROT= 357.2,  -5.4

2025-10-26T21:19:50.668Z,1761513590.668 [DAT](INFO): DAT read: Bearing 191.4,   3.5 (Local)

2025-10-26T21:19:50.668Z,1761513590.668 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.4,   3.5 (Local)

2025-10-26T21:19:50.670Z,1761513590.670 [DAT](INFO): DAT read: Range 11 to 50 : 580.8 m  (Round-trip  774.4 ms) speed  1.3 m/s

2025-10-26T21:19:50.671Z,1761513590.671 [DAT](INFO): DAT read: user:163>Tx time:21:19:49.8959

2025-10-26T21:19:50.672Z,1761513590.672 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:19:50.673Z,1761513590.673 [DAT](INFO): direction in FSK: [0.994373,-0.048633,0.094108]
2025-10-26T21:19:50.673Z,1761513590.673 [DAT](INFO): publishing direction and range info
2025-10-26T21:19:50.676Z,1761513590.676 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:19:50.677Z,1761513590.677 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:19:50.677Z,1761513590.677 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:19:50.853Z,1761513590.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770096,-0.606559,-0.197580],[0.625776,0.778445,0.049271],[0.123919,-0.161584,0.979048]]
2025-10-26T21:19:50.915Z,1761513590.915 [DAT](INFO): DAT read: 

2025-10-26T21:19:50.918Z,1761513590.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.509877
2025-10-26T21:19:50.944Z,1761513590.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 580.799988 m,
      deltaT: 4.282266 s,
      deltaX: -6.799988 m,
      approachRate: -1.587942 m/s,
      rangeRepo size: 4

2025-10-26T21:19:50.946Z,1761513590.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 578.230957 m,
      bearing: 37.177086 deg,
      lat: 36.779127 deg,
      lon: -121.858971 deg,
      deltaT: 4.282266 s,
      deltaX: -6.839050 m,
      approachRate: -1.597063 m/s,
      posRepo size: 4

2025-10-26T21:19:50.946Z,1761513590.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:19:50.950Z,1761513590.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 572.911377 m,
      bearing: 39.948539 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006228 deg/s,
      cmd heading: 39.048875 deg,
      new cmd heading: 39.038680 deg.

2025-10-26T21:19:50.950Z,1761513590.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681354 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:19:51.166Z,1761513591.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.757911
2025-10-26T21:19:51.416Z,1761513591.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.008739
2025-10-26T21:19:51.445Z,1761513591.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770742,-0.605616,-0.197955],[0.624966,0.779056,0.049900],[0.123998,-0.162175,0.978940]]
2025-10-26T21:19:51.506Z,1761513591.506 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:51.513Z,1761513591.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:19:51.519Z,1761513591.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 572.521423 m,
      bearing: 39.943443 deg,
      approach rate: -0.679639 m/s,
      LOS rate: -0.008888 deg/s,
      cmd heading: 39.038680 deg,
      new cmd heading: 39.023381 deg.

2025-10-26T21:19:51.520Z,1761513591.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681086 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:19:51.668Z,1761513591.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.260822
2025-10-26T21:19:51.935Z,1761513591.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.526400
2025-10-26T21:19:51.981Z,1761513591.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771391,-0.604751,-0.198073],[0.624161,0.779675,0.050302],[0.124012,-0.162432,0.978896]]
2025-10-26T21:19:52.044Z,1761513592.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:19:52.046Z,1761513592.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 572.158508 m,
      bearing: 39.938564 deg,
      approach rate: -0.683470 m/s,
      LOS rate: -0.009194 deg/s,
      cmd heading: 39.023381 deg,
      new cmd heading: 39.008734 deg.

2025-10-26T21:19:52.048Z,1761513592.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680831 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:19:52.177Z,1761513592.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.768951
2025-10-26T21:19:52.363Z,1761513592.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772086,-0.603634,-0.198772],[0.623300,0.780286,0.051484],[0.124021,-0.163645,0.978693]]
2025-10-26T21:19:52.380Z,1761513592.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:19:52.383Z,1761513592.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 571.937134 m,
      bearing: 39.935610 deg,
      approach rate: -0.657251 m/s,
      LOS rate: -0.008773 deg/s,
      cmd heading: 39.008733 deg,
      new cmd heading: 38.999869 deg.

2025-10-26T21:19:52.385Z,1761513592.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680676 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:19:52.429Z,1761513592.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.020925
2025-10-26T21:19:52.680Z,1761513592.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.272691
2025-10-26T21:19:52.767Z,1761513592.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772759,-0.602908,-0.198358],[0.622466,0.780967,0.051246],[0.124015,-0.163072,0.978789]]
2025-10-26T21:19:52.795Z,1761513592.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:19:52.798Z,1761513592.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 571.667969 m,
      bearing: 39.932046 deg,
      approach rate: -0.649263 m/s,
      LOS rate: -0.008603 deg/s,
      cmd heading: 38.999868 deg,
      new cmd heading: 38.989168 deg.

2025-10-26T21:19:52.799Z,1761513592.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680489 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:19:52.936Z,1761513592.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.527570
2025-10-26T21:19:53.171Z,1761513593.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773590,-0.602249,-0.197116],[0.621517,0.781761,0.050653],[0.123592,-0.161695,0.979071]]
2025-10-26T21:19:53.184Z,1761513593.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.776851
2025-10-26T21:19:53.224Z,1761513593.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:19:53.227Z,1761513593.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 571.378540 m,
      bearing: 39.928427 deg,
      approach rate: -0.673899 m/s,
      LOS rate: -0.008430 deg/s,
      cmd heading: 38.989168 deg,
      new cmd heading: 38.978307 deg.

2025-10-26T21:19:53.228Z,1761513593.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680300 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:19:53.436Z,1761513593.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.028747
2025-10-26T21:19:53.576Z,1761513593.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774746,-0.600884,-0.196742],[0.620182,0.782766,0.051500],[0.123057,-0.161915,0.979102]]
2025-10-26T21:19:53.602Z,1761513593.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:53.605Z,1761513593.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:19:53.607Z,1761513593.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 571.124207 m,
      bearing: 39.925291 deg,
      approach rate: -0.668975 m/s,
      LOS rate: -0.008252 deg/s,
      cmd heading: 38.978308 deg,
      new cmd heading: 38.968897 deg.

2025-10-26T21:19:53.608Z,1761513593.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680136 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:19:53.689Z,1761513593.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.281719
2025-10-26T21:19:53.944Z,1761513593.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.535325
2025-10-26T21:19:54.013Z,1761513594.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777046,-0.598300,-0.195544],[0.617488,0.784831,0.052433],[0.122098,-0.161489,0.979292]]
2025-10-26T21:19:54.082Z,1761513594.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:19:54.089Z,1761513594.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 570.813171 m,
      bearing: 39.921991 deg,
      approach rate: -0.651717 m/s,
      LOS rate: -0.006919 deg/s,
      cmd heading: 38.968896 deg,
      new cmd heading: 38.958990 deg.

2025-10-26T21:19:54.090Z,1761513594.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679963 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:19:54.193Z,1761513594.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.785790
2025-10-26T21:19:54.425Z,1761513594.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777688,-0.597995,-0.193918],[0.616732,0.785519,0.050994],[0.121832,-0.159253,0.979692]]
2025-10-26T21:19:54.443Z,1761513594.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:19:54.444Z,1761513594.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.036841
2025-10-26T21:19:54.448Z,1761513594.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 570.568481 m,
      bearing: 39.919415 deg,
      approach rate: -0.677472 m/s,
      LOS rate: -0.007136 deg/s,
      cmd heading: 38.958989 deg,
      new cmd heading: 38.951257 deg.

2025-10-26T21:19:54.448Z,1761513594.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679828 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:19:54.698Z,1761513594.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.289713
2025-10-26T21:19:54.826Z,1761513594.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778711,-0.596966,-0.192980],[0.615547,0.786445,0.051052],[0.121292,-0.158543,0.979874]]
2025-10-26T21:19:54.844Z,1761513594.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:19:54.846Z,1761513594.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 570.303101 m,
      bearing: 39.916661 deg,
      approach rate: -0.662760 m/s,
      LOS rate: -0.006881 deg/s,
      cmd heading: 38.951257 deg,
      new cmd heading: 38.942992 deg.

2025-10-26T21:19:54.863Z,1761513594.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679683 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:19:54.952Z,1761513594.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.544116
2025-10-26T21:19:55.201Z,1761513595.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.793021
2025-10-26T21:19:55.240Z,1761513595.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779419,-0.596456,-0.191691],[0.614717,0.787149,0.050196],[0.120949,-0.156959,0.980171]]
2025-10-26T21:19:55.277Z,1761513595.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:19:55.296Z,1761513595.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 570.018127 m,
      bearing: 39.914736 deg,
      approach rate: -0.657199 m/s,
      LOS rate: -0.004441 deg/s,
      cmd heading: 38.942993 deg,
      new cmd heading: 38.937216 deg.

2025-10-26T21:19:55.297Z,1761513595.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679583 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:19:55.452Z,1761513595.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.044729
2025-10-26T21:19:55.508Z,1761513595.508 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:19:55.643Z,1761513595.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780400,-0.595445,-0.190844],[0.613582,0.788022,0.050381],[0.120390,-0.156416,0.980327]]
2025-10-26T21:19:55.678Z,1761513595.678 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:55.680Z,1761513595.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:19:55.682Z,1761513595.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 569.764832 m,
      bearing: 39.913062 deg,
      approach rate: -0.629300 m/s,
      LOS rate: -0.004162 deg/s,
      cmd heading: 38.937218 deg,
      new cmd heading: 38.932192 deg.

2025-10-26T21:19:55.683Z,1761513595.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679495 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:19:55.705Z,1761513595.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.297110
2025-10-26T21:19:55.960Z,1761513595.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.551472
2025-10-26T21:19:56.102Z,1761513596.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:19:56.104Z,1761513596.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 569.479370 m,
      bearing: 39.912748 deg,
      approach rate: -0.676524 m/s,
      LOS rate: -0.000743 deg/s,
      cmd heading: 38.932191 deg,
      new cmd heading: 38.931250 deg.

2025-10-26T21:19:56.105Z,1761513596.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679479 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:19:56.209Z,1761513596.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.801269
2025-10-26T21:19:56.442Z,1761513596.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782380,-0.594102,-0.186879],[0.611270,0.789983,0.047701],[0.119292,-0.151554,0.981224]]
2025-10-26T21:19:56.460Z,1761513596.460 [DAT](INFO): Reached modem response timeout
2025-10-26T21:19:56.460Z,1761513596.460 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:56.461Z,1761513596.461 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:19:56.481Z,1761513596.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:19:56.488Z,1761513596.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 569.245483 m,
      bearing: 39.912558 deg,
      approach rate: -0.616007 m/s,
      LOS rate: -0.000501 deg/s,
      cmd heading: 38.931252 deg,
      new cmd heading: 38.930682 deg.

2025-10-26T21:19:56.489Z,1761513596.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679469 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:19:56.512Z,1761513596.512 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:19:56.712Z,1761513596.712 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:56.846Z,1761513596.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783949,-0.592903,-0.184089],[0.609447,0.791479,0.046201],[0.118310,-0.148412,0.981823]]
2025-10-26T21:19:56.865Z,1761513596.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:19:56.884Z,1761513596.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 568.983093 m,
      bearing: 39.912405 deg,
      approach rate: -0.683402 m/s,
      LOS rate: -0.000399 deg/s,
      cmd heading: 38.930681 deg,
      new cmd heading: 38.930222 deg.

2025-10-26T21:19:56.885Z,1761513596.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679461 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:19:56.969Z,1761513596.969 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:57.216Z,1761513597.216 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:57.250Z,1761513597.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785330,-0.591473,-0.182804],[0.607836,0.792703,0.046439],[0.117442,-0.147585,0.982052]]
2025-10-26T21:19:57.294Z,1761513597.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:19:57.297Z,1761513597.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 568.713623 m,
      bearing: 39.913199 deg,
      approach rate: -0.627982 m/s,
      LOS rate: 0.001851 deg/s,
      cmd heading: 38.930224 deg,
      new cmd heading: 38.932607 deg.

2025-10-26T21:19:57.298Z,1761513597.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679502 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:19:57.468Z,1761513597.468 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:57.656Z,1761513597.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787025,-0.589575,-0.181640],[0.605802,0.794231,0.046917],[0.116603,-0.146963,0.982245]]
2025-10-26T21:19:57.674Z,1761513597.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:19:57.677Z,1761513597.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 568.475403 m,
      bearing: 39.913965 deg,
      approach rate: -0.627308 m/s,
      LOS rate: 0.002017 deg/s,
      cmd heading: 38.932608 deg,
      new cmd heading: 38.934906 deg.

2025-10-26T21:19:57.678Z,1761513597.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679542 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:19:57.721Z,1761513597.721 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:57.973Z,1761513597.973 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:58.077Z,1761513598.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788632,-0.587499,-0.181398],[0.603858,0.795614,0.048511],[0.115823,-0.147796,0.982212]]
2025-10-26T21:19:58.153Z,1761513598.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:19:58.159Z,1761513598.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:19:58.162Z,1761513598.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 568.186035 m,
      bearing: 39.915724 deg,
      approach rate: -0.601403 m/s,
      LOS rate: 0.003657 deg/s,
      cmd heading: 38.934906 deg,
      new cmd heading: 38.940185 deg.

2025-10-26T21:19:58.163Z,1761513598.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679634 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:19:58.225Z,1761513598.225 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:58.476Z,1761513598.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:58.497Z,1761513598.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790113,-0.585582,-0.181150],[0.602055,0.796891,0.049942],[0.115111,-0.148522,0.982187]]
2025-10-26T21:19:58.515Z,1761513598.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:19:58.517Z,1761513598.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 567.960327 m,
      bearing: 39.917151 deg,
      approach rate: -0.627912 m/s,
      LOS rate: 0.003972 deg/s,
      cmd heading: 38.940186 deg,
      new cmd heading: 38.944469 deg.

2025-10-26T21:19:58.518Z,1761513598.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679709 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:19:58.729Z,1761513598.729 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:58.894Z,1761513598.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791331,-0.584069,-0.180720],[0.600616,0.797894,0.051244],[0.114265,-0.149094,0.982199]]
2025-10-26T21:19:58.935Z,1761513598.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:19:58.938Z,1761513598.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 567.712524 m,
      bearing: 39.918767 deg,
      approach rate: -0.612400 m/s,
      LOS rate: 0.003997 deg/s,
      cmd heading: 38.944468 deg,
      new cmd heading: 38.949320 deg.

2025-10-26T21:19:58.939Z,1761513598.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679794 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:19:58.983Z,1761513598.983 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:59.232Z,1761513599.232 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:59.302Z,1761513599.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792271,-0.583151,-0.179559],[0.599501,0.798739,0.051140],[0.113598,-0.148162,0.982417]]
2025-10-26T21:19:59.354Z,1761513599.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:19:59.361Z,1761513599.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 567.460449 m,
      bearing: 39.920979 deg,
      approach rate: -0.580272 m/s,
      LOS rate: 0.005094 deg/s,
      cmd heading: 38.949321 deg,
      new cmd heading: 38.955959 deg.

2025-10-26T21:19:59.362Z,1761513599.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679910 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:19:59.484Z,1761513599.484 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:59.705Z,1761513599.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793113,-0.582378,-0.178346],[0.598485,0.799529,0.050676],[0.113081,-0.146929,0.982662]]
2025-10-26T21:19:59.737Z,1761513599.737 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:19:59.762Z,1761513599.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:19:59.764Z,1761513599.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 567.204834 m,
      bearing: 39.923258 deg,
      approach rate: -0.626470 m/s,
      LOS rate: 0.005587 deg/s,
      cmd heading: 38.955960 deg,
      new cmd heading: 38.962799 deg.

2025-10-26T21:19:59.765Z,1761513599.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680029 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:19:59.988Z,1761513599.988 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:20:00.159Z,1761513600.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793375,-0.582999,-0.175121],[0.598218,0.799951,0.047056],[0.112655,-0.142093,0.983422]]
2025-10-26T21:20:00.198Z,1761513600.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:00.220Z,1761513600.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:20:00.223Z,1761513600.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 566.939941 m,
      bearing: 39.925538 deg,
      approach rate: -0.577720 m/s,
      LOS rate: 0.004976 deg/s,
      cmd heading: 38.962800 deg,
      new cmd heading: 38.969645 deg.

2025-10-26T21:20:00.228Z,1761513600.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680149 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:20:00.240Z,1761513600.240 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:20:00.493Z,1761513600.493 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:20:00.544Z,1761513600.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793606,-0.583516,-0.172333],[0.598043,0.800229,0.044473],[0.111956,-0.138356,0.984034]]
2025-10-26T21:20:00.562Z,1761513600.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:20:00.589Z,1761513600.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 566.720276 m,
      bearing: 39.927438 deg,
      approach rate: -0.641918 m/s,
      LOS rate: 0.005554 deg/s,
      cmd heading: 38.969644 deg,
      new cmd heading: 38.975346 deg.

2025-10-26T21:20:00.590Z,1761513600.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680248 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:20:00.744Z,1761513600.744 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:20:00.947Z,1761513600.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793890,-0.583481,-0.171139],[0.597743,0.800500,0.043628],[0.111540,-0.136933,0.984281]]
2025-10-26T21:20:00.976Z,1761513600.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:20:00.978Z,1761513600.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 566.470093 m,
      bearing: 39.929616 deg,
      approach rate: -0.605448 m/s,
      LOS rate: 0.005272 deg/s,
      cmd heading: 38.975348 deg,
      new cmd heading: 38.981883 deg.

2025-10-26T21:20:00.980Z,1761513600.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680362 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:20:01.000Z,1761513601.000 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:20:01.253Z,1761513601.253 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:20:01.352Z,1761513601.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794354,-0.582811,-0.171267],[0.597162,0.800896,0.044299],[0.111349,-0.137463,0.984228]]
2025-10-26T21:20:01.388Z,1761513601.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:20:01.391Z,1761513601.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 566.220947 m,
      bearing: 39.931961 deg,
      approach rate: -0.603639 m/s,
      LOS rate: 0.005685 deg/s,
      cmd heading: 38.981884 deg,
      new cmd heading: 38.988923 deg.

2025-10-26T21:20:01.429Z,1761513601.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680485 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:20:01.505Z,1761513601.505 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:20:01.754Z,1761513601.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794659,-0.582845,-0.169734],[0.596860,0.801180,0.043223],[0.110795,-0.135655,0.984542]]
2025-10-26T21:20:01.756Z,1761513601.756 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:20:01.784Z,1761513601.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:20:01.787Z,1761513601.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 565.981812 m,
      bearing: 39.934226 deg,
      approach rate: -0.603834 m/s,
      LOS rate: 0.005722 deg/s,
      cmd heading: 38.988923 deg,
      new cmd heading: 38.995720 deg.

2025-10-26T21:20:01.788Z,1761513601.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680604 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:20:02.008Z,1761513602.008 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:20:02.158Z,1761513602.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795047,-0.583022,-0.167287],[0.596460,0.801592,0.041055],[0.110160,-0.132421,0.985053]]
2025-10-26T21:20:02.207Z,1761513602.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:02.209Z,1761513602.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:20:02.212Z,1761513602.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 565.721375 m,
      bearing: 39.935765 deg,
      approach rate: -0.612959 m/s,
      LOS rate: 0.003624 deg/s,
      cmd heading: 38.995722 deg,
      new cmd heading: 39.000342 deg.

2025-10-26T21:20:02.213Z,1761513602.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680684 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:20:02.260Z,1761513602.260 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:20:02.512Z,1761513602.512 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:20:02.646Z,1761513602.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795081,-0.583663,-0.164873],[0.596488,0.801702,0.038411],[0.109760,-0.128885,0.985567]]
2025-10-26T21:20:02.673Z,1761513602.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:20:02.676Z,1761513602.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 565.436401 m,
      bearing: 39.937455 deg,
      approach rate: -0.614468 m/s,
      LOS rate: 0.003645 deg/s,
      cmd heading: 39.000343 deg,
      new cmd heading: 39.005414 deg.

2025-10-26T21:20:02.677Z,1761513602.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680773 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:20:02.764Z,1761513602.764 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:20:03.016Z,1761513603.016 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:20:03.017Z,1761513603.017 [DAT](INFO): response not received
2025-10-26T21:20:03.017Z,1761513603.017 [DAT](INFO): DAT read: user:164>

2025-10-26T21:20:03.017Z,1761513603.017 [DAT](ERROR): No response from remote modem.
2025-10-26T21:20:03.018Z,1761513603.018 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:20:03.018Z,1761513603.018 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:20:03.204Z,1761513603.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:20:03.207Z,1761513603.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 565.111755 m,
      bearing: 39.938069 deg,
      approach rate: -0.611479 m/s,
      LOS rate: 0.001158 deg/s,
      cmd heading: 39.005414 deg,
      new cmd heading: 39.007258 deg.

2025-10-26T21:20:03.208Z,1761513603.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680805 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:20:03.269Z,1761513603.269 [DAT](INFO): DAT read: Tx time:21:20:02.3459

2025-10-26T21:20:03.269Z,1761513603.269 [DAT](INFO): Ping request sent.
2025-10-26T21:20:03.269Z,1761513603.269 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:20:03.269Z,1761513603.269 [DAT](INFO): publishing transmit ping time
2025-10-26T21:20:03.270Z,1761513603.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000785
2025-10-26T21:20:03.521Z,1761513603.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251967
2025-10-26T21:20:03.630Z,1761513603.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795777,-0.582726,-0.164831],[0.595597,0.802340,0.038933],[0.109563,-0.129155,0.985553]]
2025-10-26T21:20:03.667Z,1761513603.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:20:03.672Z,1761513603.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 564.822388 m,
      bearing: 39.938651 deg,
      approach rate: -0.624861 m/s,
      LOS rate: 0.001256 deg/s,
      cmd heading: 39.007258 deg,
      new cmd heading: 39.009003 deg.

2025-10-26T21:20:03.673Z,1761513603.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680836 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:20:03.772Z,1761513603.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503410
2025-10-26T21:20:04.024Z,1761513604.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755395
2025-10-26T21:20:04.028Z,1761513604.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795783,-0.583316,-0.162702],[0.595544,0.802533,0.035612],[0.109801,-0.125236,0.986032]]
2025-10-26T21:20:04.047Z,1761513604.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:20:04.049Z,1761513604.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 564.587891 m,
      bearing: 39.939127 deg,
      approach rate: -0.617642 m/s,
      LOS rate: 0.001256 deg/s,
      cmd heading: 39.009003 deg,
      new cmd heading: 39.010433 deg.

2025-10-26T21:20:04.050Z,1761513604.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680861 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:20:04.276Z,1761513604.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007327
2025-10-26T21:20:04.424Z,1761513604.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795283,-0.584196,-0.161984],[0.596098,0.802216,0.033430],[0.110416,-0.123144,0.986227]]
2025-10-26T21:20:04.472Z,1761513604.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:04.474Z,1761513604.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:20:04.480Z,1761513604.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 564.321716 m,
      bearing: 39.938136 deg,
      approach rate: -0.622895 m/s,
      LOS rate: -0.002319 deg/s,
      cmd heading: 39.010434 deg,
      new cmd heading: 39.007461 deg.

2025-10-26T21:20:04.481Z,1761513604.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680809 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:20:04.529Z,1761513604.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260147
2025-10-26T21:20:04.780Z,1761513604.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511329
2025-10-26T21:20:04.833Z,1761513604.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795229,-0.584195,-0.162255],[0.596095,0.802230,0.033118],[0.110818,-0.123056,0.986193]]
2025-10-26T21:20:04.851Z,1761513604.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:20:04.854Z,1761513604.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 564.086426 m,
      bearing: 39.937259 deg,
      approach rate: -0.624482 m/s,
      LOS rate: -0.002330 deg/s,
      cmd heading: 39.007460 deg,
      new cmd heading: 39.004826 deg.

2025-10-26T21:20:04.855Z,1761513604.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680763 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:20:05.034Z,1761513605.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764751
2025-10-26T21:20:05.230Z,1761513605.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794967,-0.584460,-0.162584],[0.596353,0.802057,0.032669],[0.111308,-0.122928,0.986154]]
2025-10-26T21:20:05.282Z,1761513605.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:20:05.285Z,1761513605.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015529
2025-10-26T21:20:05.289Z,1761513605.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 563.810913 m,
      bearing: 39.935723 deg,
      approach rate: -0.639101 m/s,
      LOS rate: -0.003565 deg/s,
      cmd heading: 39.004827 deg,
      new cmd heading: 39.000216 deg.

2025-10-26T21:20:05.290Z,1761513605.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680682 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:20:05.536Z,1761513605.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267462
2025-10-26T21:20:05.700Z,1761513605.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:20:05.704Z,1761513605.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 563.556702 m,
      bearing: 39.934304 deg,
      approach rate: -0.639796 m/s,
      LOS rate: -0.003571 deg/s,
      cmd heading: 39.000216 deg,
      new cmd heading: 38.995959 deg.

2025-10-26T21:20:05.705Z,1761513605.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680608 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:20:05.788Z,1761513605.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519395
2025-10-26T21:20:06.041Z,1761513606.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771501
2025-10-26T21:20:06.041Z,1761513606.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794137,-0.584439,-0.166665],[0.597228,0.801266,0.035941],[0.112538,-0.128078,0.985358]]
2025-10-26T21:20:06.073Z,1761513606.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:20:06.076Z,1761513606.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 563.305176 m,
      bearing: 39.932864 deg,
      approach rate: -0.639091 m/s,
      LOS rate: -0.003662 deg/s,
      cmd heading: 38.995958 deg,
      new cmd heading: 38.991634 deg.

2025-10-26T21:20:06.077Z,1761513606.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680532 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:20:06.294Z,1761513606.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024591
2025-10-26T21:20:06.442Z,1761513606.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793063,-0.585306,-0.168724],[0.598572,0.800184,0.037650],[0.112973,-0.130853,0.984944]]
2025-10-26T21:20:06.489Z,1761513606.489 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:06.491Z,1761513606.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:20:06.493Z,1761513606.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 563.030518 m,
      bearing: 39.929985 deg,
      approach rate: -0.657266 m/s,
      LOS rate: -0.006893 deg/s,
      cmd heading: 38.991634 deg,
      new cmd heading: 38.982993 deg.

2025-10-26T21:20:06.494Z,1761513606.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680382 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:20:06.545Z,1761513606.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276045
2025-10-26T21:20:06.796Z,1761513606.796 [DAT](INFO): DAT read: Rx Time:21:20:05.5132

2025-10-26T21:20:06.797Z,1761513606.797 [DAT](INFO): Rx dataTimestamp_ set to:1761513606.796574
2025-10-26T21:20:06.797Z,1761513606.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528408
2025-10-26T21:20:06.846Z,1761513606.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792069,-0.586257,-0.170087],[0.599786,0.799244,0.038272],[0.113504,-0.132330,0.984686]]
2025-10-26T21:20:06.876Z,1761513606.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.23 m.
2025-10-26T21:20:06.878Z,1761513606.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 578.230957 m,
      nav range: 562.777344 m,
      bearing: 39.927287 deg,
      approach rate: -0.657998 m/s,
      LOS rate: -0.007015 deg/s,
      cmd heading: 38.982994 deg,
      new cmd heading: 38.974896 deg.

2025-10-26T21:20:06.879Z,1761513606.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680240 target range: 578.230957 and range: 580.80 m.
2025-10-26T21:20:07.048Z,1761513607.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779336
2025-10-26T21:20:07.250Z,1761513607.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791076,-0.587828,-0.169287],[0.600999,0.798439,0.035982],[0.114014,-0.130205,0.984910]]
2025-10-26T21:20:07.322Z,1761513607.322 [DAT](INFO): DAT read: 21:20:05.5132 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 291,-0.13,-1.545,-3.024,-1.357,-1.627, PHS= 0.184,-1.352, 0.227, RAW= 151.4,  12.1, CAL= 151.3,  13.3, ROT= 358.7, -13.3

2025-10-26T21:20:07.323Z,1761513607.323 [DAT](INFO): got valid direction response:
 21:20:05.5132 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 291,-0.13,-1.545,-3.024,-1.357,-1.627, PHS= 0.184,-1.352, 0.227, RAW= 151.4,  12.1, CAL= 151.3,  13.3, ROT= 358.7, -13.3

2025-10-26T21:20:07.336Z,1761513607.336 [DAT](INFO): DAT read: Bearing 196.4,   3.4 (Local)

2025-10-26T21:20:07.336Z,1761513607.336 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.4,   3.4 (Local)

2025-10-26T21:20:07.338Z,1761513607.338 [DAT](INFO): DAT read: Range 11 to 50 : 572.3 m  (Round-trip  763.1 ms) speed  0.5 m/s

2025-10-26T21:20:07.338Z,1761513607.338 [DAT](INFO): DAT read: user:165>

2025-10-26T21:20:07.339Z,1761513607.339 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:20:07.364Z,1761513607.364 [DAT](INFO): direction in FSK: [0.972928,-0.022079,0.230050]
2025-10-26T21:20:07.364Z,1761513607.364 [DAT](INFO): publishing direction and range info
2025-10-26T21:20:07.380Z,1761513607.380 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:20:07.380Z,1761513607.380 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:20:07.380Z,1761513607.380 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:20:07.441Z,1761513607.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 572.299988 m,
      deltaT: 16.641853 s,
      deltaX: -8.500000 m,
      approachRate: -0.510760 m/s,
      rangeRepo size: 4

2025-10-26T21:20:07.447Z,1761513607.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 569.516663 m,
      bearing: 37.728275 deg,
      lat: 36.779060 deg,
      lon: -121.859003 deg,
      deltaT: 16.641853 s,
      deltaX: -8.714294 m,
      approachRate: -0.523637 m/s,
      posRepo size: 4

2025-10-26T21:20:07.452Z,1761513607.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.52 m.
2025-10-26T21:20:07.454Z,1761513607.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.516663 m,
      nav range: 554.892151 m,
      bearing: 40.181125 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007015 deg/s,
      cmd heading: 38.974897 deg,
      new cmd heading: 38.963003 deg.

2025-10-26T21:20:07.455Z,1761513607.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680033 target range: 569.516663 and range: 572.30 m.
2025-10-26T21:20:07.553Z,1761513607.553 [DAT](INFO): DAT read: Tx time:21:20:06.6459

2025-10-26T21:20:07.554Z,1761513607.554 [DAT](INFO): Ping request sent.
2025-10-26T21:20:07.554Z,1761513607.554 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:20:07.554Z,1761513607.554 [DAT](INFO): publishing transmit ping time
2025-10-26T21:20:07.555Z,1761513607.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001089
2025-10-26T21:20:07.749Z,1761513607.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789246,-0.590297,-0.169235],[0.603227,0.796854,0.033766],[0.114924,-0.128737,0.984997]]
2025-10-26T21:20:07.768Z,1761513607.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.52 m.
2025-10-26T21:20:07.770Z,1761513607.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.516663 m,
      nav range: 554.658142 m,
      bearing: 40.178208 deg,
      approach rate: -0.715739 m/s,
      LOS rate: -0.008926 deg/s,
      cmd heading: 38.963002 deg,
      new cmd heading: 38.954247 deg.

2025-10-26T21:20:07.771Z,1761513607.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679880 target range: 569.516663 and range: 572.30 m.
2025-10-26T21:20:07.806Z,1761513607.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251856
2025-10-26T21:20:08.056Z,1761513608.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502576
2025-10-26T21:20:08.204Z,1761513608.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787382,-0.592846,-0.169005],[0.605465,0.795262,0.031147],[0.115938,-0.126851,0.985123]]
2025-10-26T21:20:08.246Z,1761513608.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.52 m.
2025-10-26T21:20:08.249Z,1761513608.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.516663 m,
      nav range: 554.343140 m,
      bearing: 40.174919 deg,
      approach rate: -0.658574 m/s,
      LOS rate: -0.006881 deg/s,
      cmd heading: 38.954246 deg,
      new cmd heading: 38.944372 deg.

2025-10-26T21:20:08.250Z,1761513608.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679708 target range: 569.516663 and range: 572.30 m.
2025-10-26T21:20:08.309Z,1761513608.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755681
2025-10-26T21:20:08.555Z,1761513608.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785764,-0.595031,-0.168861],[0.607412,0.793853,0.029111],[0.116729,-0.125442,0.985210]]
2025-10-26T21:20:08.560Z,1761513608.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006655
2025-10-26T21:20:08.574Z,1761513608.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:08.576Z,1761513608.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.52 m.
2025-10-26T21:20:08.579Z,1761513608.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.516663 m,
      nav range: 554.125793 m,
      bearing: 40.172588 deg,
      approach rate: -0.658168 m/s,
      LOS rate: -0.007061 deg/s,
      cmd heading: 38.944373 deg,
      new cmd heading: 38.937377 deg.

2025-10-26T21:20:08.580Z,1761513608.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679585 target range: 569.516663 and range: 572.30 m.
2025-10-26T21:20:08.813Z,1761513608.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258946
2025-10-26T21:20:08.970Z,1761513608.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784736,-0.596398,-0.168816],[0.608645,0.792952,0.027898],[0.117224,-0.124642,0.985253]]
2025-10-26T21:20:08.998Z,1761513608.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.52 m.
2025-10-26T21:20:09.001Z,1761513609.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.516663 m,
      nav range: 553.847290 m,
      bearing: 40.169551 deg,
      approach rate: -0.659684 m/s,
      LOS rate: -0.007197 deg/s,
      cmd heading: 38.937378 deg,
      new cmd heading: 38.928263 deg.

2025-10-26T21:20:09.002Z,1761513609.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679426 target range: 569.516663 and range: 572.30 m.
2025-10-26T21:20:09.065Z,1761513609.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510723
2025-10-26T21:20:09.317Z,1761513609.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762975
2025-10-26T21:20:09.366Z,1761513609.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783612,-0.597359,-0.170627],[0.609973,0.791893,0.028940],[0.117831,-0.126755,0.984911]]
2025-10-26T21:20:09.413Z,1761513609.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.52 m.
2025-10-26T21:20:09.416Z,1761513609.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.516663 m,
      nav range: 553.569031 m,
      bearing: 40.166565 deg,
      approach rate: -0.670828 m/s,
      LOS rate: -0.007201 deg/s,
      cmd heading: 38.928264 deg,
      new cmd heading: 38.919303 deg.

2025-10-26T21:20:09.417Z,1761513609.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679270 target range: 569.516663 and range: 572.30 m.
2025-10-26T21:20:09.569Z,1761513609.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014702
2025-10-26T21:20:09.772Z,1761513609.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782634,-0.598381,-0.171534],[0.611078,0.791055,0.028557],[0.118605,-0.127170,0.984764]]
2025-10-26T21:20:09.790Z,1761513609.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.52 m.
2025-10-26T21:20:09.793Z,1761513609.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.516663 m,
      nav range: 553.316284 m,
      bearing: 40.163813 deg,
      approach rate: -0.669765 m/s,
      LOS rate: -0.007298 deg/s,
      cmd heading: 38.919302 deg,
      new cmd heading: 38.911041 deg.

2025-10-26T21:20:09.794Z,1761513609.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679126 target range: 569.516663 and range: 572.30 m.
2025-10-26T21:20:09.820Z,1761513609.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266605
2025-10-26T21:20:10.072Z,1761513610.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518514
2025-10-26T21:20:10.280Z,1761513610.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.52 m.
2025-10-26T21:20:10.283Z,1761513610.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.516663 m,
      nav range: 553.001831 m,
      bearing: 40.161913 deg,
      approach rate: -0.642171 m/s,
      LOS rate: -0.003882 deg/s,
      cmd heading: 38.911041 deg,
      new cmd heading: 38.905338 deg.

2025-10-26T21:20:10.284Z,1761513610.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679026 target range: 569.516663 and range: 572.30 m.
2025-10-26T21:20:10.325Z,1761513610.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771634
2025-10-26T21:20:10.576Z,1761513610.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022693
2025-10-26T21:20:10.579Z,1761513610.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781582,-0.599306,-0.173096],[0.612222,0.790169,0.028587],[0.119643,-0.128316,0.984490]]
2025-10-26T21:20:10.604Z,1761513610.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:10.607Z,1761513610.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.52 m.
2025-10-26T21:20:10.612Z,1761513610.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.516663 m,
      nav range: 552.796997 m,
      bearing: 40.160642 deg,
      approach rate: -0.626204 m/s,
      LOS rate: -0.003884 deg/s,
      cmd heading: 38.905338 deg,
      new cmd heading: 38.901526 deg.

2025-10-26T21:20:10.614Z,1761513610.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678960 target range: 569.516663 and range: 572.30 m.
2025-10-26T21:20:10.831Z,1761513610.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277491
2025-10-26T21:20:10.978Z,1761513610.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781186,-0.599514,-0.174158],[0.612622,0.789844,0.028989],[0.120178,-0.129339,0.984291]]
2025-10-26T21:20:10.996Z,1761513610.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.52 m.
2025-10-26T21:20:10.999Z,1761513610.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.516663 m,
      nav range: 552.542358 m,
      bearing: 40.159049 deg,
      approach rate: -0.654969 m/s,
      LOS rate: -0.004101 deg/s,
      cmd heading: 38.901527 deg,
      new cmd heading: 38.896743 deg.

2025-10-26T21:20:10.000Z,1761513611.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678876 target range: 569.516663 and range: 572.30 m.
2025-10-26T21:20:11.081Z,1761513611.081 [DAT](INFO): DAT read: Rx Time:21:20:09.8137

2025-10-26T21:20:11.081Z,1761513611.081 [DAT](INFO): Rx dataTimestamp_ set to:1761513611.080878
2025-10-26T21:20:11.082Z,1761513611.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527925
2025-10-26T21:20:11.332Z,1761513611.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778578
2025-10-26T21:20:11.434Z,1761513611.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.52 m.
2025-10-26T21:20:11.436Z,1761513611.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.516663 m,
      nav range: 552.265991 m,
      bearing: 40.158943 deg,
      approach rate: -0.631545 m/s,
      LOS rate: -0.000242 deg/s,
      cmd heading: 38.896742 deg,
      new cmd heading: 38.896425 deg.

2025-10-26T21:20:11.437Z,1761513611.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678871 target range: 569.516663 and range: 572.30 m.
2025-10-26T21:20:11.588Z,1761513611.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034271
2025-10-26T21:20:11.786Z,1761513611.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781086,-0.598388,-0.178431],[0.612672,0.789608,0.033951],[0.120575,-0.135839,0.983366]]
2025-10-26T21:20:11.811Z,1761513611.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.52 m.
2025-10-26T21:20:11.814Z,1761513611.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.516663 m,
      nav range: 552.027405 m,
      bearing: 40.158861 deg,
      approach rate: -0.631729 m/s,
      LOS rate: -0.000216 deg/s,
      cmd heading: 38.896425 deg,
      new cmd heading: 38.896180 deg.

2025-10-26T21:20:11.815Z,1761513611.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678866 target range: 569.516663 and range: 572.30 m.
2025-10-26T21:20:11.842Z,1761513611.842 [DAT](INFO): DAT read: 21:20:09.8137 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 440,-0.01, 1.363,-0.232, 1.463, 1.007, PHS= 0.458,-1.194, 0.413, RAW= 148.6,   4.0, CAL= 147.9,   4.1, ROT=   2.1,  -4.1

2025-10-26T21:20:11.843Z,1761513611.843 [DAT](INFO): got valid direction response:
 21:20:09.8137 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 440,-0.01, 1.363,-0.232, 1.463, 1.007, PHS= 0.458,-1.194, 0.413, RAW= 148.6,   4.0, CAL= 147.9,   4.1, ROT=   2.1,  -4.1

2025-10-26T21:20:11.844Z,1761513611.844 [DAT](INFO): DAT read: Bearing 187.6,   8.4 (Local)

2025-10-26T21:20:11.845Z,1761513611.845 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.6,   8.4 (Local)

2025-10-26T21:20:11.846Z,1761513611.846 [DAT](INFO): DAT read: Range 11 to 50 : 572.7 m  (Round-trip  763.6 ms) speed  0.6 m/s

2025-10-26T21:20:11.847Z,1761513611.847 [DAT](INFO): DAT read: user:166>

2025-10-26T21:20:11.848Z,1761513611.848 [DAT](INFO): DAT read: Tx time:21:20:10.9459

2025-10-26T21:20:11.848Z,1761513611.848 [DAT](INFO): Ping request sent.
2025-10-26T21:20:11.848Z,1761513611.848 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:20:11.848Z,1761513611.848 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:20:11.849Z,1761513611.849 [DAT](INFO): direction in FSK: [0.996771,0.036550,0.071497]
2025-10-26T21:20:11.850Z,1761513611.850 [DAT](INFO): publishing transmit ping time
2025-10-26T21:20:11.850Z,1761513611.850 [DAT](INFO): publishing direction and range info
2025-10-26T21:20:11.866Z,1761513611.866 [DAT](INFO): publishing transmit ping time
2025-10-26T21:20:11.866Z,1761513611.866 [DAT](INFO): publishing direction and range info
2025-10-26T21:20:12.217Z,1761513612.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780981,-0.598023,-0.180103],[0.612696,0.789533,0.035229],[0.121130,-0.137861,0.983017]]
2025-10-26T21:20:12.299Z,1761513612.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 572.700012 m,
      deltaT: 4.534255 s,
      deltaX: 0.400024 m,
      approachRate: 0.088223 m/s,
      rangeRepo size: 4

2025-10-26T21:20:12.301Z,1761513612.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 569.875427 m,
      bearing: 40.805629 deg,
      lat: 36.779080 deg,
      lon: -121.859003 deg,
      deltaT: 4.534255 s,
      deltaX: 0.358765 m,
      approachRate: 0.079123 m/s,
      posRepo size: 4

2025-10-26T21:20:12.302Z,1761513612.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.88 m.
2025-10-26T21:20:12.305Z,1761513612.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.875427 m,
      nav range: 553.401306 m,
      bearing: 40.014837 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000216 deg/s,
      cmd heading: 38.896179 deg,
      new cmd heading: 38.895863 deg.

2025-10-26T21:20:12.306Z,1761513612.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678861 target range: 569.875427 and range: 572.70 m.
2025-10-26T21:20:12.627Z,1761513612.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781076,-0.597771,-0.180527],[0.612495,0.789692,0.035176],[0.121533,-0.138047,0.982941]]
2025-10-26T21:20:12.672Z,1761513612.672 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:12.674Z,1761513612.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.88 m.
2025-10-26T21:20:12.681Z,1761513612.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.875427 m,
      nav range: 553.180054 m,
      bearing: 40.016148 deg,
      approach rate: -0.588758 m/s,
      LOS rate: 0.003489 deg/s,
      cmd heading: 38.895865 deg,
      new cmd heading: 38.899798 deg.

2025-10-26T21:20:12.681Z,1761513612.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678930 target range: 569.875427 and range: 572.70 m.
2025-10-26T21:20:12.844Z,1761513612.844 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:20:12.844Z,1761513612.844 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:20:12.845Z,1761513612.845 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:20:13.018Z,1761513613.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780791,-0.598008,-0.180977],[0.612767,0.789492,0.034923],[0.121996,-0.138164,0.982867]]
2025-10-26T21:20:13.037Z,1761513613.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.88 m.
2025-10-26T21:20:13.040Z,1761513613.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.875427 m,
      nav range: 552.944153 m,
      bearing: 40.017537 deg,
      approach rate: -0.650103 m/s,
      LOS rate: 0.003830 deg/s,
      cmd heading: 38.899799 deg,
      new cmd heading: 38.903968 deg.

2025-10-26T21:20:13.041Z,1761513613.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679002 target range: 569.875427 and range: 572.70 m.
2025-10-26T21:20:13.097Z,1761513613.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248930
2025-10-26T21:20:13.348Z,1761513613.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500144
2025-10-26T21:20:13.485Z,1761513613.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.88 m.
2025-10-26T21:20:13.488Z,1761513613.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.875427 m,
      nav range: 552.683655 m,
      bearing: 40.020834 deg,
      approach rate: -0.581836 m/s,
      LOS rate: 0.007367 deg/s,
      cmd heading: 38.903969 deg,
      new cmd heading: 38.913863 deg.

2025-10-26T21:20:13.489Z,1761513613.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679175 target range: 569.875427 and range: 572.70 m.
2025-10-26T21:20:13.602Z,1761513613.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753600
2025-10-26T21:20:13.822Z,1761513613.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781648,-0.597082,-0.180331],[0.611522,0.790532,0.033174],[0.122750,-0.136207,0.983046]]
2025-10-26T21:20:13.848Z,1761513613.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.88 m.
2025-10-26T21:20:13.851Z,1761513613.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.875427 m,
      nav range: 552.455750 m,
      bearing: 40.023756 deg,
      approach rate: -0.626638 m/s,
      LOS rate: 0.008038 deg/s,
      cmd heading: 38.913862 deg,
      new cmd heading: 38.922632 deg.

2025-10-26T21:20:13.852Z,1761513613.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004275
2025-10-26T21:20:13.854Z,1761513613.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679328 target range: 569.875427 and range: 572.70 m.
2025-10-26T21:20:14.105Z,1761513614.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256952
2025-10-26T21:20:14.288Z,1761513614.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782681,-0.596177,-0.178838],[0.610170,0.791650,0.031341],[0.122893,-0.133652,0.983379]]
2025-10-26T21:20:14.333Z,1761513614.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.88 m.
2025-10-26T21:20:14.336Z,1761513614.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.875427 m,
      nav range: 552.176147 m,
      bearing: 40.028568 deg,
      approach rate: -0.577366 m/s,
      LOS rate: 0.009942 deg/s,
      cmd heading: 38.922632 deg,
      new cmd heading: 38.937076 deg.

2025-10-26T21:20:14.337Z,1761513614.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679580 target range: 569.875427 and range: 572.70 m.
2025-10-26T21:20:14.356Z,1761513614.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508214
2025-10-26T21:20:14.610Z,1761513614.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761060
2025-10-26T21:20:14.777Z,1761513614.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783924,-0.594819,-0.177912],[0.608535,0.792949,0.030264],[0.123074,-0.131991,0.983581]]
2025-10-26T21:20:14.799Z,1761513614.799 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:14.801Z,1761513614.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.88 m.
2025-10-26T21:20:14.804Z,1761513614.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.875427 m,
      nav range: 551.906128 m,
      bearing: 40.033281 deg,
      approach rate: -0.576222 m/s,
      LOS rate: 0.010063 deg/s,
      cmd heading: 38.937075 deg,
      new cmd heading: 38.951221 deg.

2025-10-26T21:20:14.805Z,1761513614.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679827 target range: 569.875427 and range: 572.70 m.
2025-10-26T21:20:14.861Z,1761513614.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012327
2025-10-26T21:20:15.113Z,1761513615.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265271
2025-10-26T21:20:15.175Z,1761513615.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785158,-0.593114,-0.178162],[0.606892,0.794193,0.030640],[0.123322,-0.132183,0.983524]]
2025-10-26T21:20:15.194Z,1761513615.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.88 m.
2025-10-26T21:20:15.197Z,1761513615.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.875427 m,
      nav range: 551.678955 m,
      bearing: 40.037300 deg,
      approach rate: -0.578540 m/s,
      LOS rate: 0.010238 deg/s,
      cmd heading: 38.951220 deg,
      new cmd heading: 38.963281 deg.

2025-10-26T21:20:15.198Z,1761513615.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680038 target range: 569.875427 and range: 572.70 m.
2025-10-26T21:20:15.364Z,1761513615.364 [DAT](INFO): DAT read: Rx Time:21:20:14.1105

2025-10-26T21:20:15.365Z,1761513615.365 [DAT](INFO): Rx dataTimestamp_ set to:1761513615.364554
2025-10-26T21:20:15.365Z,1761513615.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517208
2025-10-26T21:20:15.620Z,1761513615.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771483
2025-10-26T21:20:15.718Z,1761513615.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788057,-0.588167,-0.181731],[0.602825,0.797142,0.034161],[0.124773,-0.136473,0.982755]]
2025-10-26T21:20:15.780Z,1761513615.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.88 m.
2025-10-26T21:20:15.782Z,1761513615.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 569.875427 m,
      nav range: 551.337769 m,
      bearing: 40.043738 deg,
      approach rate: -0.582856 m/s,
      LOS rate: 0.011005 deg/s,
      cmd heading: 38.963282 deg,
      new cmd heading: 38.982609 deg.

2025-10-26T21:20:15.783Z,1761513615.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680375 target range: 569.875427 and range: 572.70 m.
2025-10-26T21:20:15.871Z,1761513615.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022567
2025-10-26T21:20:16.129Z,1761513616.129 [DAT](INFO): DAT read: 21:20:14.1105 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 407,-0.19,-3.094, 1.622,-2.966, 2.795, PHS= 0.497,-1.128, 0.479, RAW= 149.4,   1.9, CAL= 148.5,   1.7, ROT=   1.5,  -1.7

2025-10-26T21:20:16.130Z,1761513616.130 [DAT](INFO): got valid direction response:
 21:20:14.1105 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 407,-0.19,-3.094, 1.622,-2.966, 2.795, PHS= 0.497,-1.128, 0.479, RAW= 149.4,   1.9, CAL= 148.5,   1.7, ROT=   1.5,  -1.7

2025-10-26T21:20:16.132Z,1761513616.132 [DAT](INFO): DAT read: Bearing 185.2,   8.3 (Local)

2025-10-26T21:20:16.132Z,1761513616.132 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.2,   8.3 (Local)

2025-10-26T21:20:16.133Z,1761513616.133 [DAT](INFO): DAT read: Range 11 to 50 : 570.3 m  (Round-trip  760.4 ms) speed  0.4 m/s

2025-10-26T21:20:16.134Z,1761513616.134 [DAT](INFO): DAT read: user:167>

2025-10-26T21:20:16.135Z,1761513616.135 [DAT](INFO): DAT read: Tx time:21:20:15.2459

2025-10-26T21:20:16.135Z,1761513616.135 [DAT](INFO): Ping request sent.
2025-10-26T21:20:16.135Z,1761513616.135 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:20:16.136Z,1761513616.136 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:20:16.137Z,1761513616.137 [DAT](INFO): direction in FSK: [0.999217,0.026165,0.029666]
2025-10-26T21:20:16.137Z,1761513616.137 [DAT](INFO): publishing transmit ping time
2025-10-26T21:20:16.137Z,1761513616.137 [DAT](INFO): publishing direction and range info
2025-10-26T21:20:16.145Z,1761513616.145 [DAT](INFO): publishing transmit ping time
2025-10-26T21:20:16.145Z,1761513616.145 [DAT](INFO): publishing direction and range info
2025-10-26T21:20:16.219Z,1761513616.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789487,-0.585397,-0.184448],[0.600714,0.798629,0.036547],[0.125911,-0.139654,0.982163]]
2025-10-26T21:20:16.327Z,1761513616.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 570.299988 m,
      deltaT: 4.284246 s,
      deltaX: -2.400024 m,
      approachRate: -0.560198 m/s,
      rangeRepo size: 4

2025-10-26T21:20:16.333Z,1761513616.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 567.450867 m,
      bearing: 39.011042 deg,
      lat: 36.779080 deg,
      lon: -121.859020 deg,
      deltaT: 4.284246 s,
      deltaX: -2.424561 m,
      approachRate: -0.565925 m/s,
      posRepo size: 4

2025-10-26T21:20:16.334Z,1761513616.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.45 m.
2025-10-26T21:20:16.341Z,1761513616.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 567.450867 m,
      nav range: 550.092407 m,
      bearing: 39.928184 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011005 deg/s,
      cmd heading: 38.982608 deg,
      new cmd heading: 39.000658 deg.

2025-10-26T21:20:16.342Z,1761513616.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680690 target range: 567.450867 and range: 570.30 m.
2025-10-26T21:20:16.620Z,1761513616.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790792,-0.583353,-0.185327],[0.598672,0.800195,0.035771],[0.127431,-0.139237,0.982026]]
2025-10-26T21:20:16.679Z,1761513616.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.45 m.
2025-10-26T21:20:16.682Z,1761513616.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 567.450867 m,
      nav range: 549.849976 m,
      bearing: 39.932519 deg,
      approach rate: -0.687297 m/s,
      LOS rate: 0.012297 deg/s,
      cmd heading: 39.000657 deg,
      new cmd heading: 39.013669 deg.

2025-10-26T21:20:16.683Z,1761513616.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680917 target range: 567.450867 and range: 570.30 m.
2025-10-26T21:20:17.016Z,1761513617.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791371,-0.582340,-0.186044],[0.597520,0.801132,0.034020],[0.129234,-0.138087,0.981952]]
2025-10-26T21:20:17.033Z,1761513617.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:17.036Z,1761513617.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.45 m.
2025-10-26T21:20:17.038Z,1761513617.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 567.450867 m,
      nav range: 549.629272 m,
      bearing: 39.936504 deg,
      approach rate: -0.619008 m/s,
      LOS rate: 0.011181 deg/s,
      cmd heading: 39.013668 deg,
      new cmd heading: 39.025628 deg.

2025-10-26T21:20:17.039Z,1761513617.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681126 target range: 567.450867 and range: 570.30 m.
2025-10-26T21:20:17.129Z,1761513617.129 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:20:17.130Z,1761513617.130 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:20:17.130Z,1761513617.130 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:20:17.380Z,1761513617.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245219
2025-10-26T21:20:17.416Z,1761513617.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792029,-0.581142,-0.186988],[0.596285,0.802101,0.032838],[0.130900,-0.137507,0.981813]]
2025-10-26T21:20:17.465Z,1761513617.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.45 m.
2025-10-26T21:20:17.468Z,1761513617.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 567.450867 m,
      nav range: 549.375183 m,
      bearing: 39.939998 deg,
      approach rate: -0.590996 m/s,
      LOS rate: 0.008129 deg/s,
      cmd heading: 39.025628 deg,
      new cmd heading: 39.036113 deg.

2025-10-26T21:20:17.469Z,1761513617.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681309 target range: 567.450867 and range: 570.30 m.
2025-10-26T21:20:17.632Z,1761513617.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497181
2025-10-26T21:20:17.820Z,1761513617.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792333,-0.580783,-0.186813],[0.595455,0.802845,0.029547],[0.132822,-0.134650,0.981951]]
2025-10-26T21:20:17.839Z,1761513617.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.45 m.
2025-10-26T21:20:17.842Z,1761513617.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 567.450867 m,
      nav range: 549.154663 m,
      bearing: 39.943061 deg,
      approach rate: -0.589690 m/s,
      LOS rate: 0.008195 deg/s,
      cmd heading: 39.036112 deg,
      new cmd heading: 39.045306 deg.

2025-10-26T21:20:17.843Z,1761513617.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681469 target range: 567.450867 and range: 570.30 m.
2025-10-26T21:20:17.885Z,1761513617.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749362
2025-10-26T21:20:18.136Z,1761513618.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001265
2025-10-26T21:20:18.225Z,1761513618.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792499,-0.580666,-0.186474],[0.594800,0.803455,0.025956],[0.134752,-0.131485,0.982117]]
2025-10-26T21:20:18.248Z,1761513618.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.45 m.
2025-10-26T21:20:18.251Z,1761513618.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 567.450867 m,
      nav range: 548.913635 m,
      bearing: 39.946440 deg,
      approach rate: -0.589139 m/s,
      LOS rate: 0.008263 deg/s,
      cmd heading: 39.045306 deg,
      new cmd heading: 39.055447 deg.

2025-10-26T21:20:18.252Z,1761513618.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681646 target range: 567.450867 and range: 570.30 m.
2025-10-26T21:20:18.388Z,1761513618.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253278
2025-10-26T21:20:18.629Z,1761513618.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791946,-0.580889,-0.188122],[0.594989,0.803374,0.024068],[0.137152,-0.130991,0.981851]]
2025-10-26T21:20:18.640Z,1761513618.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505277
2025-10-26T21:20:18.680Z,1761513618.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.45 m.
2025-10-26T21:20:18.682Z,1761513618.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 567.450867 m,
      nav range: 548.650024 m,
      bearing: 39.948097 deg,
      approach rate: -0.611728 m/s,
      LOS rate: 0.003847 deg/s,
      cmd heading: 39.055449 deg,
      new cmd heading: 39.060422 deg.

2025-10-26T21:20:18.683Z,1761513618.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681733 target range: 567.450867 and range: 570.30 m.
2025-10-26T21:20:18.894Z,1761513618.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758557
2025-10-26T21:20:19.035Z,1761513619.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791302,-0.581032,-0.190374],[0.595319,0.803154,0.023213],[0.139412,-0.131702,0.981437]]
2025-10-26T21:20:19.052Z,1761513619.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:19.054Z,1761513619.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.45 m.
2025-10-26T21:20:19.057Z,1761513619.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 567.450867 m,
      nav range: 548.421143 m,
      bearing: 39.949519 deg,
      approach rate: -0.611215 m/s,
      LOS rate: 0.003798 deg/s,
      cmd heading: 39.060421 deg,
      new cmd heading: 39.064688 deg.

2025-10-26T21:20:19.058Z,1761513619.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681807 target range: 567.450867 and range: 570.30 m.
2025-10-26T21:20:19.145Z,1761513619.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009771
2025-10-26T21:20:19.397Z,1761513619.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261443
2025-10-26T21:20:19.441Z,1761513619.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790336,-0.581917,-0.191681],[0.596019,0.802706,0.020596],[0.141878,-0.130524,0.981241]]
2025-10-26T21:20:19.498Z,1761513619.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.45 m.
2025-10-26T21:20:19.501Z,1761513619.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 567.450867 m,
      nav range: 548.154358 m,
      bearing: 39.949174 deg,
      approach rate: -0.600034 m/s,
      LOS rate: -0.000776 deg/s,
      cmd heading: 39.064686 deg,
      new cmd heading: 39.063651 deg.

2025-10-26T21:20:19.502Z,1761513619.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681789 target range: 567.450867 and range: 570.30 m.
2025-10-26T21:20:19.648Z,1761513619.648 [DAT](INFO): DAT read: Rx Time:21:20:18.4067

2025-10-26T21:20:19.649Z,1761513619.649 [DAT](INFO): Rx dataTimestamp_ set to:1761513619.648651
2025-10-26T21:20:19.649Z,1761513619.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514355
2025-10-26T21:20:19.841Z,1761513619.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788943,-0.582866,-0.194514],[0.597294,0.801771,0.020081],[0.144251,-0.132025,0.980694]]
2025-10-26T21:20:19.859Z,1761513619.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.45 m.
2025-10-26T21:20:19.862Z,1761513619.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 567.450867 m,
      nav range: 547.914856 m,
      bearing: 39.948812 deg,
      approach rate: -0.663723 m/s,
      LOS rate: -0.001005 deg/s,
      cmd heading: 39.063652 deg,
      new cmd heading: 39.062564 deg.

2025-10-26T21:20:19.863Z,1761513619.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681770 target range: 567.450867 and range: 570.30 m.
2025-10-26T21:20:19.901Z,1761513619.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765508
2025-10-26T21:20:20.152Z,1761513620.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.017180
2025-10-26T21:20:20.247Z,1761513620.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787358,-0.584575,-0.195807],[0.598807,0.800705,0.017383],[0.146622,-0.130938,0.980488]]
2025-10-26T21:20:20.284Z,1761513620.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.45 m.
2025-10-26T21:20:20.287Z,1761513620.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 567.450867 m,
      nav range: 547.658325 m,
      bearing: 39.948367 deg,
      approach rate: -0.603811 m/s,
      LOS rate: -0.001048 deg/s,
      cmd heading: 39.062566 deg,
      new cmd heading: 39.061230 deg.

2025-10-26T21:20:20.293Z,1761513620.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681747 target range: 567.450867 and range: 570.30 m.
2025-10-26T21:20:20.412Z,1761513620.412 [DAT](INFO): DAT read: 21:20:18.4067 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 399, 0.24,-1.640,-3.117,-1.524,-1.973, PHS= 0.435,-1.098, 0.405, RAW= 149.0,   3.4, CAL= 148.2,   3.5, ROT=   1.8,  -3.5

2025-10-26T21:20:20.420Z,1761513620.420 [DAT](INFO): got valid direction response:
 21:20:18.4067 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 399, 0.24,-1.640,-3.117,-1.524,-1.973, PHS= 0.435,-1.098, 0.405, RAW= 149.0,   3.4, CAL= 148.2,   3.5, ROT=   1.8,  -3.5

2025-10-26T21:20:20.421Z,1761513620.421 [DAT](INFO): DAT read: Bearing 186.6,   9.7 (Local)

2025-10-26T21:20:20.421Z,1761513620.421 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.6,   9.7 (Local)

2025-10-26T21:20:20.422Z,1761513620.422 [DAT](INFO): DAT read: Range 11 to 50 : 567.4 m  (Round-trip  756.6 ms) speed  0.2 m/s

2025-10-26T21:20:20.425Z,1761513620.425 [DAT](INFO): DAT read: user:168>

2025-10-26T21:20:20.426Z,1761513620.426 [DAT](INFO): DAT read: Tx time:21:20:19.4959

2025-10-26T21:20:20.426Z,1761513620.426 [DAT](INFO): Ping request sent.
2025-10-26T21:20:20.426Z,1761513620.426 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:20:20.427Z,1761513620.427 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:20:20.469Z,1761513620.469 [DAT](INFO): direction in FSK: [0.997642,0.031352,0.061049]
2025-10-26T21:20:20.470Z,1761513620.470 [DAT](INFO): publishing transmit ping time
2025-10-26T21:20:20.476Z,1761513620.476 [DAT](INFO): publishing direction and range info
2025-10-26T21:20:20.485Z,1761513620.485 [DAT](INFO): publishing transmit ping time
2025-10-26T21:20:20.485Z,1761513620.485 [DAT](INFO): publishing direction and range info
2025-10-26T21:20:20.653Z,1761513620.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785259,-0.586577,-0.198230],[0.600923,0.799152,0.015720],[0.149195,-0.131465,0.980029]]
2025-10-26T21:20:20.713Z,1761513620.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 567.400024 m,
      deltaT: 4.283748 s,
      deltaX: -2.899963 m,
      approachRate: -0.676969 m/s,
      rangeRepo size: 4

2025-10-26T21:20:20.717Z,1761513620.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 564.448669 m,
      bearing: 39.719774 deg,
      lat: 36.779128 deg,
      lon: -121.859020 deg,
      deltaT: 4.283748 s,
      deltaX: -3.002197 m,
      approachRate: -0.700834 m/s,
      posRepo size: 4

2025-10-26T21:20:20.718Z,1761513620.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.45 m.
2025-10-26T21:20:20.722Z,1761513620.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 564.448669 m,
      nav range: 551.482666 m,
      bearing: 39.589466 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001048 deg/s,
      cmd heading: 39.061230 deg,
      new cmd heading: 39.059885 deg.

2025-10-26T21:20:20.724Z,1761513620.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681724 target range: 564.448669 and range: 567.40 m.
2025-10-26T21:20:21.052Z,1761513621.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783073,-0.588532,-0.201065],[0.603184,0.797462,0.014945],[0.151546,-0.132982,0.979464]]
2025-10-26T21:20:21.105Z,1761513621.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:21.112Z,1761513621.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.45 m.
2025-10-26T21:20:21.114Z,1761513621.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 564.448669 m,
      nav range: 551.243164 m,
      bearing: 39.587119 deg,
      approach rate: -0.605926 m/s,
      LOS rate: -0.005939 deg/s,
      cmd heading: 39.059885 deg,
      new cmd heading: 39.052842 deg.

2025-10-26T21:20:21.123Z,1761513621.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681601 target range: 564.448669 and range: 567.40 m.
2025-10-26T21:20:21.160Z,1761513621.160 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:20:21.160Z,1761513621.160 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:20:21.161Z,1761513621.161 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:20:21.412Z,1761513621.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.985962
2025-10-26T21:20:21.456Z,1761513621.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780423,-0.591116,-0.203767],[0.606005,0.795342,0.013744],[0.153940,-0.134210,0.978923]]
2025-10-26T21:20:21.513Z,1761513621.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.45 m.
2025-10-26T21:20:21.520Z,1761513621.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 564.448669 m,
      nav range: 550.952637 m,
      bearing: 39.583095 deg,
      approach rate: -0.715828 m/s,
      LOS rate: -0.009921 deg/s,
      cmd heading: 39.052843 deg,
      new cmd heading: 39.040763 deg.

2025-10-26T21:20:21.521Z,1761513621.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681390 target range: 564.448669 and range: 567.40 m.
2025-10-26T21:20:21.666Z,1761513621.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239370
2025-10-26T21:20:21.896Z,1761513621.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.45 m.
2025-10-26T21:20:21.898Z,1761513621.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 564.448669 m,
      nav range: 550.696289 m,
      bearing: 39.579540 deg,
      approach rate: -0.670695 m/s,
      LOS rate: -0.009306 deg/s,
      cmd heading: 39.040764 deg,
      new cmd heading: 39.030093 deg.

2025-10-26T21:20:21.899Z,1761513621.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681204 target range: 564.448669 and range: 567.40 m.
2025-10-26T21:20:21.918Z,1761513621.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491242
2025-10-26T21:20:22.169Z,1761513622.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742111
2025-10-26T21:20:22.268Z,1761513622.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774873,-0.597164,-0.207283],[0.612075,0.790736,0.010037],[0.157912,-0.134650,0.978230]]
2025-10-26T21:20:22.306Z,1761513622.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.45 m.
2025-10-26T21:20:22.313Z,1761513622.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 564.448669 m,
      nav range: 550.437927 m,
      bearing: 39.575723 deg,
      approach rate: -0.629106 m/s,
      LOS rate: -0.009297 deg/s,
      cmd heading: 39.030095 deg,
      new cmd heading: 39.018640 deg.

2025-10-26T21:20:22.314Z,1761513622.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681004 target range: 564.448669 and range: 567.40 m.
2025-10-26T21:20:22.422Z,1761513622.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995153
2025-10-26T21:20:22.673Z,1761513622.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246089
2025-10-26T21:20:22.686Z,1761513622.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771598,-0.600425,-0.210063],[0.615680,0.787941,0.009321],[0.159921,-0.136523,0.977643]]
2025-10-26T21:20:22.753Z,1761513622.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.45 m.
2025-10-26T21:20:22.759Z,1761513622.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 564.448669 m,
      nav range: 550.136475 m,
      bearing: 39.571627 deg,
      approach rate: -0.675176 m/s,
      LOS rate: -0.009179 deg/s,
      cmd heading: 39.018641 deg,
      new cmd heading: 39.006346 deg.

2025-10-26T21:20:22.760Z,1761513622.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680789 target range: 564.448669 and range: 567.40 m.
2025-10-26T21:20:22.924Z,1761513622.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497892
2025-10-26T21:20:23.109Z,1761513623.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768246,-0.603725,-0.212869],[0.619322,0.785091,0.008514],[0.161982,-0.138376,0.977044]]
2025-10-26T21:20:23.160Z,1761513623.160 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:23.162Z,1761513623.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.45 m.
2025-10-26T21:20:23.169Z,1761513623.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 564.448669 m,
      nav range: 549.851013 m,
      bearing: 39.567592 deg,
      approach rate: -0.697709 m/s,
      LOS rate: -0.009867 deg/s,
      cmd heading: 39.006346 deg,
      new cmd heading: 38.994236 deg.

2025-10-26T21:20:23.170Z,1761513623.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680578 target range: 564.448669 and range: 567.40 m.
2025-10-26T21:20:23.185Z,1761513623.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758277
2025-10-26T21:20:23.436Z,1761513623.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010066
2025-10-26T21:20:23.509Z,1761513623.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765076,-0.606805,-0.215512],[0.622755,0.782377,0.007907],[0.163814,-0.140260,0.976469]]
2025-10-26T21:20:23.565Z,1761513623.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.45 m.
2025-10-26T21:20:23.575Z,1761513623.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 564.448669 m,
      nav range: 549.581421 m,
      bearing: 39.564318 deg,
      approach rate: -0.668808 m/s,
      LOS rate: -0.008128 deg/s,
      cmd heading: 38.994236 deg,
      new cmd heading: 38.984408 deg.

2025-10-26T21:20:23.582Z,1761513623.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680406 target range: 564.448669 and range: 567.40 m.
2025-10-26T21:20:23.688Z,1761513623.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261990
2025-10-26T21:20:23.912Z,1761513623.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761621,-0.610374,-0.217661],[0.626448,0.779438,0.006281],[0.165820,-0.141137,0.976004]]
2025-10-26T21:20:23.930Z,1761513623.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.45 m.
2025-10-26T21:20:23.933Z,1761513623.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 564.448669 m,
      nav range: 549.316223 m,
      bearing: 39.560951 deg,
      approach rate: -0.726269 m/s,
      LOS rate: -0.009224 deg/s,
      cmd heading: 38.984408 deg,
      new cmd heading: 38.974304 deg.

2025-10-26T21:20:23.934Z,1761513623.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680230 target range: 564.448669 and range: 567.40 m.
2025-10-26T21:20:23.941Z,1761513623.941 [DAT](INFO): DAT read: Rx Time:21:20:22.6461

2025-10-26T21:20:23.941Z,1761513623.941 [DAT](INFO): Rx dataTimestamp_ set to:1761513623.940973
2025-10-26T21:20:23.942Z,1761513623.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515415
2025-10-26T21:20:24.193Z,1761513624.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766164
2025-10-26T21:20:24.360Z,1761513624.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.45 m.
2025-10-26T21:20:24.362Z,1761513624.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 564.448669 m,
      nav range: 549.028748 m,
      bearing: 39.557299 deg,
      approach rate: -0.669685 m/s,
      LOS rate: -0.008513 deg/s,
      cmd heading: 38.974302 deg,
      new cmd heading: 38.963340 deg.

2025-10-26T21:20:24.363Z,1761513624.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680039 target range: 564.448669 and range: 567.40 m.
2025-10-26T21:20:24.463Z,1761513624.463 [DAT](INFO): DAT read: 21:20:22.6461 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 340,-0.05, 1.124,-0.558, 1.364, 0.719, PHS= 0.507,-1.232, 0.601, RAW= 152.6,   1.4, CAL= 151.3,   0.8, ROT= 358.7,  -0.8

2025-10-26T21:20:24.465Z,1761513624.465 [DAT](INFO): got valid direction response:
 21:20:22.6461 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 340,-0.05, 1.124,-0.558, 1.364, 0.719, PHS= 0.507,-1.232, 0.601, RAW= 152.6,   1.4, CAL= 151.3,   0.8, ROT= 358.7,  -0.8

2025-10-26T21:20:24.466Z,1761513624.466 [DAT](INFO): DAT read: Bearing 184.9,   8.0 (Local)

2025-10-26T21:20:24.467Z,1761513624.467 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.9,   8.0 (Local)

2025-10-26T21:20:24.501Z,1761513624.501 [DAT](INFO): DAT read: Range 11 to 50 : 559.5 m  (Round-trip  746.0 ms) speed  0.4 m/s

2025-10-26T21:20:24.501Z,1761513624.501 [DAT](INFO): DAT read: user:169>

2025-10-26T21:20:24.502Z,1761513624.502 [DAT](INFO): DAT read: Tx time:21:20:23.7459

2025-10-26T21:20:24.502Z,1761513624.502 [DAT](INFO): Ping request sent.
2025-10-26T21:20:24.502Z,1761513624.502 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:20:24.503Z,1761513624.503 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:20:24.509Z,1761513624.509 [DAT](INFO): direction in FSK: [0.999645,-0.022685,0.013962]
2025-10-26T21:20:24.509Z,1761513624.509 [DAT](INFO): publishing transmit ping time
2025-10-26T21:20:24.509Z,1761513624.509 [DAT](INFO): publishing direction and range info
2025-10-26T21:20:24.522Z,1761513624.522 [DAT](INFO): publishing transmit ping time
2025-10-26T21:20:24.522Z,1761513624.522 [DAT](INFO): publishing direction and range info
2025-10-26T21:20:24.824Z,1761513624.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 559.500000 m,
      deltaT: 4.042038 s,
      deltaX: -7.900024 m,
      approachRate: -1.954466 m/s,
      rangeRepo size: 4

2025-10-26T21:20:24.826Z,1761513624.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 556.537292 m,
      bearing: 38.245917 deg,
      lat: 36.779128 deg,
      lon: -121.859020 deg,
      deltaT: 4.042038 s,
      deltaX: -7.911377 m,
      approachRate: -1.957274 m/s,
      posRepo size: 4

2025-10-26T21:20:24.827Z,1761513624.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.54 m.
2025-10-26T21:20:24.834Z,1761513624.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.537292 m,
      nav range: 548.724243 m,
      bearing: 39.555543 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008513 deg/s,
      cmd heading: 38.963340 deg,
      new cmd heading: 38.951642 deg.

2025-10-26T21:20:24.835Z,1761513624.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679834 target range: 556.537292 and range: 559.50 m.
2025-10-26T21:20:25.153Z,1761513625.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752286,-0.619271,-0.224874],[0.636001,0.771684,0.002549],[0.171953,-0.144938,0.974384]]
2025-10-26T21:20:25.169Z,1761513625.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:25.172Z,1761513625.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.54 m.
2025-10-26T21:20:25.174Z,1761513625.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.537292 m,
      nav range: 548.470703 m,
      bearing: 39.553733 deg,
      approach rate: -0.716280 m/s,
      LOS rate: -0.005116 deg/s,
      cmd heading: 38.951643 deg,
      new cmd heading: 38.946210 deg.

2025-10-26T21:20:25.175Z,1761513625.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679740 target range: 556.537292 and range: 559.50 m.
2025-10-26T21:20:25.200Z,1761513625.200 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:20:25.200Z,1761513625.200 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:20:25.201Z,1761513625.201 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:20:25.454Z,1761513625.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.951110
2025-10-26T21:20:25.554Z,1761513625.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749869,-0.621343,-0.227219],[0.638363,0.769733,0.001851],[0.173748,-0.146436,0.973842]]
2025-10-26T21:20:25.612Z,1761513625.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.54 m.
2025-10-26T21:20:25.615Z,1761513625.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.537292 m,
      nav range: 548.187195 m,
      bearing: 39.554225 deg,
      approach rate: -0.643897 m/s,
      LOS rate: 0.001118 deg/s,
      cmd heading: 38.946210 deg,
      new cmd heading: 38.947687 deg.

2025-10-26T21:20:25.616Z,1761513625.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679765 target range: 556.537292 and range: 559.50 m.
2025-10-26T21:20:25.705Z,1761513625.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.202814
2025-10-26T21:20:25.956Z,1761513625.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.453889
2025-10-26T21:20:25.965Z,1761513625.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747941,-0.622510,-0.230360],[0.640131,0.768262,0.002297],[0.175546,-0.149179,0.973103]]
2025-10-26T21:20:25.987Z,1761513625.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.54 m.
2025-10-26T21:20:25.990Z,1761513625.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.537292 m,
      nav range: 547.945374 m,
      bearing: 39.554587 deg,
      approach rate: -0.643885 m/s,
      LOS rate: 0.000966 deg/s,
      cmd heading: 38.947689 deg,
      new cmd heading: 38.948777 deg.

2025-10-26T21:20:25.991Z,1761513625.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679784 target range: 556.537292 and range: 559.50 m.
2025-10-26T21:20:26.208Z,1761513626.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.705814
2025-10-26T21:20:26.364Z,1761513626.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746251,-0.623732,-0.232527],[0.641643,0.767001,0.001820],[0.177214,-0.150558,0.972588]]
2025-10-26T21:20:26.392Z,1761513626.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.54 m.
2025-10-26T21:20:26.394Z,1761513626.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.537292 m,
      nav range: 547.687805 m,
      bearing: 39.554917 deg,
      approach rate: -0.637055 m/s,
      LOS rate: 0.000817 deg/s,
      cmd heading: 38.948778 deg,
      new cmd heading: 38.949769 deg.

2025-10-26T21:20:26.396Z,1761513626.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679802 target range: 556.537292 and range: 559.50 m.
2025-10-26T21:20:26.464Z,1761513626.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.960620
2025-10-26T21:20:26.656Z,1761513626.656 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:20:26.713Z,1761513626.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210052
2025-10-26T21:20:26.831Z,1761513626.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.54 m.
2025-10-26T21:20:26.834Z,1761513626.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.537292 m,
      nav range: 547.423645 m,
      bearing: 39.558233 deg,
      approach rate: -0.601181 m/s,
      LOS rate: 0.007548 deg/s,
      cmd heading: 38.949768 deg,
      new cmd heading: 38.959718 deg.

2025-10-26T21:20:26.835Z,1761513626.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679975 target range: 556.537292 and range: 559.50 m.
2025-10-26T21:20:26.964Z,1761513626.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.461818
2025-10-26T21:20:27.206Z,1761513627.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:27.208Z,1761513627.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.54 m.
2025-10-26T21:20:27.211Z,1761513627.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.537292 m,
      nav range: 547.193298 m,
      bearing: 39.561125 deg,
      approach rate: -0.610154 m/s,
      LOS rate: 0.007665 deg/s,
      cmd heading: 38.959720 deg,
      new cmd heading: 38.968401 deg.

2025-10-26T21:20:27.212Z,1761513627.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680127 target range: 556.537292 and range: 559.50 m.
2025-10-26T21:20:27.217Z,1761513627.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.713989
2025-10-26T21:20:27.468Z,1761513627.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.965867
2025-10-26T21:20:27.585Z,1761513627.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745414,-0.622451,-0.238564],[0.641751,0.766901,0.004241],[0.180315,-0.156260,0.971118]]
2025-10-26T21:20:27.637Z,1761513627.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.54 m.
2025-10-26T21:20:27.640Z,1761513627.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.537292 m,
      nav range: 546.955994 m,
      bearing: 39.566422 deg,
      approach rate: -0.553522 m/s,
      LOS rate: 0.012361 deg/s,
      cmd heading: 38.968401 deg,
      new cmd heading: 38.984299 deg.

2025-10-26T21:20:27.641Z,1761513627.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680404 target range: 556.537292 and range: 559.50 m.
2025-10-26T21:20:27.660Z,1761513627.660 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:20:27.722Z,1761513627.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.218822
2025-10-26T21:20:27.972Z,1761513627.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.469944
2025-10-26T21:20:27.986Z,1761513627.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746299,-0.620758,-0.240205],[0.640553,0.767893,0.005696],[0.180916,-0.158115,0.970705]]
2025-10-26T21:20:28.012Z,1761513628.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.54 m.
2025-10-26T21:20:28.014Z,1761513628.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.537292 m,
      nav range: 546.748840 m,
      bearing: 39.571085 deg,
      approach rate: -0.553377 m/s,
      LOS rate: 0.012462 deg/s,
      cmd heading: 38.984298 deg,
      new cmd heading: 38.998294 deg.

2025-10-26T21:20:28.015Z,1761513628.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680649 target range: 556.537292 and range: 559.50 m.
2025-10-26T21:20:28.224Z,1761513628.224 [DAT](INFO): DAT read: Rx Time:21:20:26.8929

2025-10-26T21:20:28.225Z,1761513628.225 [DAT](INFO): Rx dataTimestamp_ set to:1761513628.224564
2025-10-26T21:20:28.225Z,1761513628.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.722887
2025-10-26T21:20:28.379Z,1761513628.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747370,-0.618854,-0.241780],[0.639177,0.769024,0.007400],[0.181355,-0.160071,0.970303]]
2025-10-26T21:20:28.426Z,1761513628.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.54 m.
2025-10-26T21:20:28.450Z,1761513628.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.537292 m,
      nav range: 546.533569 m,
      bearing: 39.575981 deg,
      approach rate: -0.527419 m/s,
      LOS rate: 0.011998 deg/s,
      cmd heading: 38.998294 deg,
      new cmd heading: 39.012985 deg.

2025-10-26T21:20:28.458Z,1761513628.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680905 target range: 556.537292 and range: 559.50 m.
2025-10-26T21:20:28.479Z,1761513628.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.975988
2025-10-26T21:20:28.736Z,1761513628.736 [DAT](INFO): DAT read: 21:20:26.8929 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 330,-0.38,-0.983,-2.639,-0.688,-1.155, PHS= 0.274,-1.439, 0.423, RAW= 154.1,   8.3, CAL= 153.7,   8.8, ROT= 356.3,  -8.8

2025-10-26T21:20:28.738Z,1761513628.738 [DAT](INFO): got valid direction response:
 21:20:26.8929 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 330,-0.38,-0.983,-2.639,-0.688,-1.155, PHS= 0.274,-1.439, 0.423, RAW= 154.1,   8.3, CAL= 153.7,   8.8, ROT= 356.3,  -8.8

2025-10-26T21:20:28.738Z,1761513628.738 [DAT](INFO): DAT read: Bearing 194.0,   5.2 (Local)

2025-10-26T21:20:28.739Z,1761513628.739 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.0,   5.2 (Local)

2025-10-26T21:20:28.740Z,1761513628.740 [DAT](INFO): DAT read: Range 11 to 50 : 557.1 m  (Round-trip  742.8 ms) speed  0.6 m/s

2025-10-26T21:20:28.741Z,1761513628.741 [DAT](INFO): DAT read: user:170>

2025-10-26T21:20:28.742Z,1761513628.742 [DAT](INFO): DAT read: Tx time:21:20:27.9959

2025-10-26T21:20:28.742Z,1761513628.742 [DAT](INFO): Ping request sent.
2025-10-26T21:20:28.742Z,1761513628.742 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:20:28.743Z,1761513628.743 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:20:28.744Z,1761513628.744 [DAT](INFO): direction in FSK: [0.986169,-0.063773,0.152986]
2025-10-26T21:20:28.744Z,1761513628.744 [DAT](INFO): publishing transmit ping time
2025-10-26T21:20:28.744Z,1761513628.744 [DAT](INFO): publishing direction and range info
2025-10-26T21:20:28.752Z,1761513628.752 [DAT](INFO): publishing transmit ping time
2025-10-26T21:20:28.752Z,1761513628.752 [DAT](INFO): publishing direction and range info
2025-10-26T21:20:28.843Z,1761513628.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750216,-0.614052,-0.245184],[0.635470,0.772050,0.010853],[0.182630,-0.163949,0.969416]]
2025-10-26T21:20:28.962Z,1761513628.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 557.099976 m,
      deltaT: 4.282124 s,
      deltaX: -2.400024 m,
      approachRate: -0.560475 m/s,
      rangeRepo size: 4

2025-10-26T21:20:28.968Z,1761513628.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 554.059021 m,
      bearing: 37.989881 deg,
      lat: 36.779128 deg,
      lon: -121.859020 deg,
      deltaT: 4.282124 s,
      deltaX: -2.478271 m,
      approachRate: -0.578748 m/s,
      posRepo size: 4

2025-10-26T21:20:28.969Z,1761513628.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.06 m.
2025-10-26T21:20:28.975Z,1761513628.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.059021 m,
      nav range: 546.254700 m,
      bearing: 39.583423 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011998 deg/s,
      cmd heading: 39.012985 deg,
      new cmd heading: 39.032467 deg.

2025-10-26T21:20:28.976Z,1761513628.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681245 target range: 554.059021 and range: 557.10 m.
2025-10-26T21:20:29.275Z,1761513629.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751801,-0.611516,-0.246663],[0.633327,0.773792,0.011960],[0.183552,-0.165210,0.969028]]
2025-10-26T21:20:29.293Z,1761513629.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:29.295Z,1761513629.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.06 m.
2025-10-26T21:20:29.297Z,1761513629.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.059021 m,
      nav range: 546.075928 m,
      bearing: 39.588253 deg,
      approach rate: -0.535749 m/s,
      LOS rate: 0.014479 deg/s,
      cmd heading: 39.032468 deg,
      new cmd heading: 39.046963 deg.

2025-10-26T21:20:29.298Z,1761513629.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681498 target range: 554.059021 and range: 557.10 m.
2025-10-26T21:20:29.486Z,1761513629.486 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:20:29.487Z,1761513629.487 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:20:29.488Z,1761513629.488 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:20:29.679Z,1761513629.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753428,-0.608910,-0.248143],[0.631240,0.775466,0.013722],[0.184071,-0.166976,0.968626]]
2025-10-26T21:20:29.737Z,1761513629.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994929
2025-10-26T21:20:29.781Z,1761513629.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.06 m.
2025-10-26T21:20:29.787Z,1761513629.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.059021 m,
      nav range: 545.857544 m,
      bearing: 39.593416 deg,
      approach rate: -0.449434 m/s,
      LOS rate: 0.010631 deg/s,
      cmd heading: 39.046962 deg,
      new cmd heading: 39.062459 deg.

2025-10-26T21:20:29.788Z,1761513629.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681769 target range: 554.059021 and range: 557.10 m.
2025-10-26T21:20:29.989Z,1761513629.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246581
2025-10-26T21:20:30.093Z,1761513630.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755260,-0.606083,-0.249490],[0.628828,0.777398,0.015078],[0.184815,-0.168274,0.968260]]
2025-10-26T21:20:30.115Z,1761513630.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.06 m.
2025-10-26T21:20:30.118Z,1761513630.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.059021 m,
      nav range: 545.672485 m,
      bearing: 39.597856 deg,
      approach rate: -0.559221 m/s,
      LOS rate: 0.013419 deg/s,
      cmd heading: 39.062460 deg,
      new cmd heading: 39.075782 deg.

2025-10-26T21:20:30.119Z,1761513630.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682001 target range: 554.059021 and range: 557.10 m.
2025-10-26T21:20:30.240Z,1761513630.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498155
2025-10-26T21:20:30.496Z,1761513630.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752598
2025-10-26T21:20:30.530Z,1761513630.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756787,-0.603517,-0.251079],[0.626723,0.779070,0.016385],[0.185720,-0.169757,0.967828]]
2025-10-26T21:20:30.594Z,1761513630.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.06 m.
2025-10-26T21:20:30.597Z,1761513630.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.059021 m,
      nav range: 545.432251 m,
      bearing: 39.600490 deg,
      approach rate: -0.497352 m/s,
      LOS rate: 0.005457 deg/s,
      cmd heading: 39.075782 deg,
      new cmd heading: 39.083689 deg.

2025-10-26T21:20:30.598Z,1761513630.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682139 target range: 554.059021 and range: 557.10 m.
2025-10-26T21:20:30.744Z,1761513630.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002169
2025-10-26T21:20:30.892Z,1761513630.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758010,-0.601320,-0.252656],[0.624967,0.780454,0.017526],[0.186648,-0.171186,0.967397]]
2025-10-26T21:20:30.910Z,1761513630.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.06 m.
2025-10-26T21:20:30.913Z,1761513630.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.059021 m,
      nav range: 545.274231 m,
      bearing: 39.602257 deg,
      approach rate: -0.501371 m/s,
      LOS rate: 0.005606 deg/s,
      cmd heading: 39.083688 deg,
      new cmd heading: 39.088989 deg.

2025-10-26T21:20:30.914Z,1761513630.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682232 target range: 554.059021 and range: 557.10 m.
2025-10-26T21:20:30.997Z,1761513630.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254681
2025-10-26T21:20:31.248Z,1761513631.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506089
2025-10-26T21:20:31.294Z,1761513631.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758915,-0.599744,-0.253683],[0.623535,0.781599,0.017544],[0.187757,-0.171494,0.967128]]
2025-10-26T21:20:31.323Z,1761513631.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:31.325Z,1761513631.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.06 m.
2025-10-26T21:20:31.328Z,1761513631.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.059021 m,
      nav range: 545.067505 m,
      bearing: 39.604606 deg,
      approach rate: -0.497872 m/s,
      LOS rate: 0.005660 deg/s,
      cmd heading: 39.088988 deg,
      new cmd heading: 39.096038 deg.

2025-10-26T21:20:31.329Z,1761513631.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682355 target range: 554.059021 and range: 557.10 m.
2025-10-26T21:20:31.505Z,1761513631.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761919
2025-10-26T21:20:31.700Z,1761513631.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759389,-0.598655,-0.254835],[0.622608,0.782339,0.017466],[0.188911,-0.171925,0.966827]]
2025-10-26T21:20:31.753Z,1761513631.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010279
2025-10-26T21:20:31.755Z,1761513631.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.06 m.
2025-10-26T21:20:31.758Z,1761513631.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.059021 m,
      nav range: 544.843445 m,
      bearing: 39.603703 deg,
      approach rate: -0.521100 m/s,
      LOS rate: -0.002100 deg/s,
      cmd heading: 39.096037 deg,
      new cmd heading: 39.093328 deg.

2025-10-26T21:20:31.759Z,1761513631.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682307 target range: 554.059021 and range: 557.10 m.
2025-10-26T21:20:32.005Z,1761513632.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262897
2025-10-26T21:20:32.102Z,1761513632.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759451,-0.598171,-0.255786],[0.622161,0.782708,0.016839],[0.190133,-0.171928,0.966587]]
2025-10-26T21:20:32.140Z,1761513632.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.06 m.
2025-10-26T21:20:32.143Z,1761513632.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.059021 m,
      nav range: 544.651611 m,
      bearing: 39.602937 deg,
      approach rate: -0.497856 m/s,
      LOS rate: -0.001989 deg/s,
      cmd heading: 39.093329 deg,
      new cmd heading: 39.091029 deg.

2025-10-26T21:20:32.148Z,1761513632.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682267 target range: 554.059021 and range: 557.10 m.
2025-10-26T21:20:32.256Z,1761513632.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514133
2025-10-26T21:20:32.512Z,1761513632.512 [DAT](INFO): DAT read: Rx Time:21:20:31.1468

2025-10-26T21:20:32.514Z,1761513632.514 [DAT](INFO): Rx dataTimestamp_ set to:1761513632.512561
2025-10-26T21:20:32.516Z,1761513632.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772643
2025-10-26T21:20:32.585Z,1761513632.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759714,-0.597439,-0.256712],[0.621573,0.783176,0.016820],[0.191001,-0.172344,0.966342]]
2025-10-26T21:20:32.622Z,1761513632.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.06 m.
2025-10-26T21:20:32.625Z,1761513632.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.059021 m,
      nav range: 544.362366 m,
      bearing: 39.597483 deg,
      approach rate: -0.600728 m/s,
      LOS rate: -0.011334 deg/s,
      cmd heading: 39.091030 deg,
      new cmd heading: 39.074659 deg.

2025-10-26T21:20:32.626Z,1761513632.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681981 target range: 554.059021 and range: 557.10 m.
2025-10-26T21:20:32.760Z,1761513632.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018051
2025-10-26T21:20:32.972Z,1761513632.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759238,-0.597646,-0.257638],[0.621761,0.783047,0.015832],[0.192280,-0.172209,0.966112]]
2025-10-26T21:20:32.991Z,1761513632.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.06 m.
2025-10-26T21:20:32.993Z,1761513632.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.059021 m,
      nav range: 544.149475 m,
      bearing: 39.593453 deg,
      approach rate: -0.576977 m/s,
      LOS rate: -0.010926 deg/s,
      cmd heading: 39.074658 deg,
      new cmd heading: 39.062564 deg.

2025-10-26T21:20:32.994Z,1761513632.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681770 target range: 554.059021 and range: 557.10 m.
2025-10-26T21:20:33.046Z,1761513633.046 [DAT](INFO): DAT read: 21:20:31.1468 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 474, 0.22,-0.107,-1.532, 0.066,-0.548, PHS= 0.543,-0.939, 0.570, RAW= 150.9,  -2.4, CAL= 150.2,  -3.3, ROT= 359.8,   3.3

2025-10-26T21:20:33.048Z,1761513633.048 [DAT](INFO): got valid direction response:
 21:20:31.1468 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 474, 0.22,-0.107,-1.532, 0.066,-0.548, PHS= 0.543,-0.939, 0.570, RAW= 150.9,  -2.4, CAL= 150.2,  -3.3, ROT= 359.8,   3.3

2025-10-26T21:20:33.049Z,1761513633.049 [DAT](INFO): DAT read: Bearing 182.6,  11.7 (Local)

2025-10-26T21:20:33.049Z,1761513633.049 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.6,  11.7 (Local)

2025-10-26T21:20:33.073Z,1761513633.073 [DAT](INFO): DAT read: Range 11 to 50 : 560.0 m  (Round-trip  746.7 ms) speed  0.4 m/s

2025-10-26T21:20:33.074Z,1761513633.074 [DAT](INFO): DAT read: user:171>

2025-10-26T21:20:33.080Z,1761513633.080 [DAT](INFO): DAT read: Tx time:21:20:32.2459

2025-10-26T21:20:33.080Z,1761513633.080 [DAT](INFO): Ping request sent.
2025-10-26T21:20:33.080Z,1761513633.080 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:20:33.081Z,1761513633.081 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:20:33.104Z,1761513633.104 [DAT](INFO): direction in FSK: [0.998336,-0.003485,-0.057564]
2025-10-26T21:20:33.104Z,1761513633.104 [DAT](INFO): publishing transmit ping time
2025-10-26T21:20:33.104Z,1761513633.104 [DAT](INFO): publishing direction and range info
2025-10-26T21:20:33.111Z,1761513633.111 [DAT](INFO): publishing transmit ping time
2025-10-26T21:20:33.112Z,1761513633.112 [DAT](INFO): publishing direction and range info
2025-10-26T21:20:33.347Z,1761513633.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758380,-0.598444,-0.258310],[0.622441,0.782532,0.014498],[0.193460,-0.171777,0.965953]]
2025-10-26T21:20:33.381Z,1761513633.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 560.000000 m,
      deltaT: 4.308919 s,
      deltaX: 2.900024 m,
      approachRate: 0.673028 m/s,
      rangeRepo size: 4

2025-10-26T21:20:33.383Z,1761513633.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 556.906067 m,
      bearing: 38.595889 deg,
      lat: 36.779188 deg,
      lon: -121.859049 deg,
      deltaT: 4.308919 s,
      deltaX: 2.847046 m,
      approachRate: 0.660733 m/s,
      posRepo size: 4

2025-10-26T21:20:33.384Z,1761513633.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.91 m.
2025-10-26T21:20:33.386Z,1761513633.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.906067 m,
      nav range: 547.466187 m,
      bearing: 38.936988 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010926 deg/s,
      cmd heading: 39.062562 deg,
      new cmd heading: 39.049795 deg.

2025-10-26T21:20:33.387Z,1761513633.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681548 target range: 556.906067 and range: 560.00 m.
2025-10-26T21:20:33.778Z,1761513633.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757284,-0.599644,-0.258745],[0.623474,0.781735,0.013077],[0.194429,-0.171224,0.965857]]
2025-10-26T21:20:33.815Z,1761513633.815 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:33.817Z,1761513633.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.91 m.
2025-10-26T21:20:33.836Z,1761513633.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.906067 m,
      nav range: 547.196533 m,
      bearing: 38.929924 deg,
      approach rate: -0.617410 m/s,
      LOS rate: -0.016182 deg/s,
      cmd heading: 39.049797 deg,
      new cmd heading: 39.028594 deg.

2025-10-26T21:20:33.837Z,1761513633.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681177 target range: 556.906067 and range: 560.00 m.
2025-10-26T21:20:34.048Z,1761513634.048 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:20:34.048Z,1761513634.048 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:20:34.049Z,1761513634.049 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:20:34.178Z,1761513634.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755778,-0.601564,-0.258691],[0.625104,0.780459,0.011378],[0.195053,-0.170308,0.965893]]
2025-10-26T21:20:34.208Z,1761513634.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.91 m.
2025-10-26T21:20:34.211Z,1761513634.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.906067 m,
      nav range: 546.956543 m,
      bearing: 38.923572 deg,
      approach rate: -0.612933 m/s,
      LOS rate: -0.016230 deg/s,
      cmd heading: 39.028592 deg,
      new cmd heading: 39.009528 deg.

2025-10-26T21:20:34.212Z,1761513634.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680845 target range: 556.906067 and range: 560.00 m.
2025-10-26T21:20:34.298Z,1761513634.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.216822
2025-10-26T21:20:34.553Z,1761513634.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471653
2025-10-26T21:20:34.601Z,1761513634.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753757,-0.604779,-0.257084],[0.627716,0.778387,0.009310],[0.194480,-0.168393,0.966344]]
2025-10-26T21:20:34.644Z,1761513634.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.91 m.
2025-10-26T21:20:34.646Z,1761513634.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.906067 m,
      nav range: 546.674133 m,
      bearing: 38.915691 deg,
      approach rate: -0.648886 m/s,
      LOS rate: -0.018116 deg/s,
      cmd heading: 39.009529 deg,
      new cmd heading: 38.985876 deg.

2025-10-26T21:20:34.648Z,1761513634.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680432 target range: 556.906067 and range: 560.00 m.
2025-10-26T21:20:34.801Z,1761513634.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720638
2025-10-26T21:20:35.054Z,1761513635.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972830
2025-10-26T21:20:35.085Z,1761513635.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751816,-0.608413,-0.254177],[0.630668,0.776012,0.007912],[0.192431,-0.166250,0.967125]]
2025-10-26T21:20:35.104Z,1761513635.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.91 m.
2025-10-26T21:20:35.106Z,1761513635.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.906067 m,
      nav range: 546.375854 m,
      bearing: 38.907237 deg,
      approach rate: -0.647929 m/s,
      LOS rate: -0.018375 deg/s,
      cmd heading: 38.985876 deg,
      new cmd heading: 38.960498 deg.

2025-10-26T21:20:35.116Z,1761513635.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679989 target range: 556.906067 and range: 560.00 m.
2025-10-26T21:20:35.305Z,1761513635.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224180
2025-10-26T21:20:35.560Z,1761513635.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478895
2025-10-26T21:20:35.597Z,1761513635.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749910,-0.612450,-0.250079],[0.633855,0.773424,0.006601],[0.189374,-0.163464,0.968203]]
2025-10-26T21:20:35.655Z,1761513635.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.91 m.
2025-10-26T21:20:35.658Z,1761513635.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.906067 m,
      nav range: 546.024719 m,
      bearing: 38.899244 deg,
      approach rate: -0.656043 m/s,
      LOS rate: -0.014943 deg/s,
      cmd heading: 38.960499 deg,
      new cmd heading: 38.936504 deg.

2025-10-26T21:20:35.659Z,1761513635.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679570 target range: 556.906067 and range: 560.00 m.
2025-10-26T21:20:35.808Z,1761513635.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727777
2025-10-26T21:20:35.972Z,1761513635.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748288,-0.615939,-0.246341],[0.636862,0.770947,0.006901],[0.185665,-0.162049,0.969159]]
2025-10-26T21:20:36.000Z,1761513636.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:36.002Z,1761513636.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.91 m.
2025-10-26T21:20:36.005Z,1761513636.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.906067 m,
      nav range: 545.782654 m,
      bearing: 38.893633 deg,
      approach rate: -0.666799 m/s,
      LOS rate: -0.015462 deg/s,
      cmd heading: 38.936504 deg,
      new cmd heading: 38.919665 deg.

2025-10-26T21:20:36.006Z,1761513636.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679276 target range: 556.906067 and range: 560.00 m.
2025-10-26T21:20:36.062Z,1761513636.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981134
2025-10-26T21:20:36.312Z,1761513636.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231848
2025-10-26T21:20:36.386Z,1761513636.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747038,-0.618984,-0.242472],[0.639506,0.768746,0.007811],[0.181565,-0.160897,0.970127]]
2025-10-26T21:20:36.410Z,1761513636.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.91 m.
2025-10-26T21:20:36.414Z,1761513636.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.906067 m,
      nav range: 545.511292 m,
      bearing: 38.887250 deg,
      approach rate: -0.664833 m/s,
      LOS rate: -0.015647 deg/s,
      cmd heading: 38.919664 deg,
      new cmd heading: 38.900505 deg.

2025-10-26T21:20:36.415Z,1761513636.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678942 target range: 556.906067 and range: 560.00 m.
2025-10-26T21:20:36.568Z,1761513636.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487364
2025-10-26T21:20:36.778Z,1761513636.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746393,-0.621532,-0.237899],[0.641511,0.767065,0.008674],[0.177093,-0.159089,0.971251]]
2025-10-26T21:20:36.819Z,1761513636.819 [DAT](INFO): DAT read: Rx Time:21:20:35.3790

2025-10-26T21:20:36.820Z,1761513636.820 [DAT](INFO): Rx dataTimestamp_ set to:1761513636.819251
2025-10-26T21:20:36.820Z,1761513636.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.739614
2025-10-26T21:20:36.861Z,1761513636.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.91 m.
2025-10-26T21:20:36.868Z,1761513636.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.906067 m,
      nav range: 545.217468 m,
      bearing: 38.883015 deg,
      approach rate: -0.651803 m/s,
      LOS rate: -0.009400 deg/s,
      cmd heading: 38.900506 deg,
      new cmd heading: 38.887794 deg.

2025-10-26T21:20:36.869Z,1761513636.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678720 target range: 556.906067 and range: 560.00 m.
2025-10-26T21:20:37.073Z,1761513637.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.992956
2025-10-26T21:20:37.213Z,1761513637.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746347,-0.623170,-0.233719],[0.642864,0.765905,0.010744],[0.172311,-0.158268,0.972245]]
2025-10-26T21:20:37.269Z,1761513637.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 556.91 m.
2025-10-26T21:20:37.276Z,1761513637.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 556.906067 m,
      nav range: 544.951660 m,
      bearing: 38.879146 deg,
      approach rate: -0.651991 m/s,
      LOS rate: -0.009495 deg/s,
      cmd heading: 38.887795 deg,
      new cmd heading: 38.876182 deg.

2025-10-26T21:20:37.277Z,1761513637.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678517 target range: 556.906067 and range: 560.00 m.
2025-10-26T21:20:37.331Z,1761513637.331 [DAT](INFO): DAT read: 21:20:35.3790 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 260,-0.13,-0.309,-1.725,-0.082,-0.375, PHS= 0.168,-1.305, 0.248, RAW= 152.6,  11.7, CAL= 152.6,  13.0, ROT= 357.4, -13.0

2025-10-26T21:20:37.333Z,1761513637.333 [DAT](INFO): got valid direction response:
 21:20:35.3790 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 260,-0.13,-0.309,-1.725,-0.082,-0.375, PHS= 0.168,-1.305, 0.248, RAW= 152.6,  11.7, CAL= 152.6,  13.0, ROT= 357.4, -13.0

2025-10-26T21:20:37.334Z,1761513637.334 [DAT](INFO): DAT read: Bearing 198.9,   5.3 (Local)

2025-10-26T21:20:37.335Z,1761513637.335 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.9,   5.3 (Local)

2025-10-26T21:20:37.337Z,1761513637.337 [DAT](INFO): DAT read: Range 11 to 50 : 546.6 m  (Round-trip  728.9 ms) speed  0.6 m/s

2025-10-26T21:20:37.338Z,1761513637.338 [DAT](INFO): DAT read: user:172>

2025-10-26T21:20:37.339Z,1761513637.339 [DAT](INFO): DAT read: Tx time:21:20:36.4959

2025-10-26T21:20:37.353Z,1761513637.353 [DAT](INFO): Ping request sent.
2025-10-26T21:20:37.353Z,1761513637.353 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:20:37.353Z,1761513637.353 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:20:37.355Z,1761513637.355 [DAT](INFO): direction in FSK: [0.973367,-0.044200,0.224951]
2025-10-26T21:20:37.355Z,1761513637.355 [DAT](INFO): publishing transmit ping time
2025-10-26T21:20:37.355Z,1761513637.355 [DAT](INFO): publishing direction and range info
2025-10-26T21:20:37.374Z,1761513637.374 [DAT](INFO): publishing transmit ping time
2025-10-26T21:20:37.375Z,1761513637.375 [DAT](INFO): publishing direction and range info
2025-10-26T21:20:37.651Z,1761513637.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748455,-0.623169,-0.226881],[0.642983,0.765667,0.018092],[0.162441,-0.159422,0.973754]]
2025-10-26T21:20:37.698Z,1761513637.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 546.599976 m,
      deltaT: 4.286935 s,
      deltaX: -13.400024 m,
      approachRate: -3.125782 m/s,
      rangeRepo size: 4

2025-10-26T21:20:37.703Z,1761513637.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 543.556091 m,
      bearing: 40.213755 deg,
      lat: 36.779128 deg,
      lon: -121.859141 deg,
      deltaT: 4.286935 s,
      deltaX: -13.349976 m,
      approachRate: -3.114107 m/s,
      posRepo size: 4

2025-10-26T21:20:37.721Z,1761513637.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.56 m.
2025-10-26T21:20:37.729Z,1761513637.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.556091 m,
      nav range: 534.366699 m,
      bearing: 38.645855 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009495 deg/s,
      cmd heading: 38.876183 deg,
      new cmd heading: 38.863978 deg.

2025-10-26T21:20:37.731Z,1761513637.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678304 target range: 543.556091 and range: 546.60 m.
2025-10-26T21:20:38.054Z,1761513638.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750713,-0.621826,-0.223077],[0.641613,0.766713,0.021989],[0.157362,-0.159636,0.974553]]
2025-10-26T21:20:38.096Z,1761513638.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:38.098Z,1761513638.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.56 m.
2025-10-26T21:20:38.109Z,1761513638.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.556091 m,
      nav range: 534.122620 m,
      bearing: 38.644941 deg,
      approach rate: -0.609089 m/s,
      LOS rate: -0.002283 deg/s,
      cmd heading: 38.863978 deg,
      new cmd heading: 38.861233 deg.

2025-10-26T21:20:38.110Z,1761513638.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678256 target range: 543.556091 and range: 546.60 m.
2025-10-26T21:20:38.340Z,1761513638.340 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:20:38.340Z,1761513638.340 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:20:38.341Z,1761513638.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:20:38.450Z,1761513638.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753587,-0.619433,-0.220019],[0.639481,0.768326,0.027170],[0.152216,-0.161173,0.975117]]
2025-10-26T21:20:38.469Z,1761513638.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.56 m.
2025-10-26T21:20:38.484Z,1761513638.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.556091 m,
      nav range: 533.877563 m,
      bearing: 38.644120 deg,
      approach rate: -0.661069 m/s,
      LOS rate: -0.002214 deg/s,
      cmd heading: 38.861232 deg,
      new cmd heading: 38.858770 deg.

2025-10-26T21:20:38.485Z,1761513638.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678213 target range: 543.556091 and range: 546.60 m.
2025-10-26T21:20:38.595Z,1761513638.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241994
2025-10-26T21:20:38.844Z,1761513638.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491730
2025-10-26T21:20:38.861Z,1761513638.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756915,-0.616646,-0.216395],[0.636739,0.770424,0.031783],[0.147117,-0.161844,0.975788]]
2025-10-26T21:20:38.917Z,1761513638.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.56 m.
2025-10-26T21:20:38.923Z,1761513638.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.556091 m,
      nav range: 533.627991 m,
      bearing: 38.646812 deg,
      approach rate: -0.557433 m/s,
      LOS rate: 0.006014 deg/s,
      cmd heading: 38.858770 deg,
      new cmd heading: 38.866847 deg.

2025-10-26T21:20:38.928Z,1761513638.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678354 target range: 543.556091 and range: 546.60 m.
2025-10-26T21:20:39.096Z,1761513639.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743689
2025-10-26T21:20:39.253Z,1761513639.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760669,-0.612966,-0.213673],[0.633412,0.772895,0.037712],[0.142031,-0.164029,0.976177]]
2025-10-26T21:20:39.282Z,1761513639.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.56 m.
2025-10-26T21:20:39.285Z,1761513639.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.556091 m,
      nav range: 533.410339 m,
      bearing: 38.649284 deg,
      approach rate: -0.595354 m/s,
      LOS rate: 0.006765 deg/s,
      cmd heading: 38.866847 deg,
      new cmd heading: 38.874266 deg.

2025-10-26T21:20:39.286Z,1761513639.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678484 target range: 543.556091 and range: 546.60 m.
2025-10-26T21:20:39.349Z,1761513639.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996040
2025-10-26T21:20:39.603Z,1761513639.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249647
2025-10-26T21:20:39.664Z,1761513639.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764844,-0.609179,-0.209558],[0.629476,0.775885,0.041986],[0.137016,-0.164024,0.976894]]
2025-10-26T21:20:39.714Z,1761513639.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.56 m.
2025-10-26T21:20:39.718Z,1761513639.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.556091 m,
      nav range: 533.169434 m,
      bearing: 38.654263 deg,
      approach rate: -0.558774 m/s,
      LOS rate: 0.011554 deg/s,
      cmd heading: 38.874268 deg,
      new cmd heading: 38.889211 deg.

2025-10-26T21:20:39.719Z,1761513639.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678745 target range: 543.556091 and range: 546.60 m.
2025-10-26T21:20:39.853Z,1761513639.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500635
2025-10-26T21:20:40.084Z,1761513640.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769137,-0.604822,-0.206442],[0.625297,0.778936,0.047572],[0.132032,-0.165677,0.977302]]
2025-10-26T21:20:40.101Z,1761513640.101 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:40.103Z,1761513640.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.56 m.
2025-10-26T21:20:40.105Z,1761513640.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751958
2025-10-26T21:20:40.107Z,1761513640.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.556091 m,
      nav range: 532.950439 m,
      bearing: 38.658939 deg,
      approach rate: -0.562445 m/s,
      LOS rate: 0.012016 deg/s,
      cmd heading: 38.889212 deg,
      new cmd heading: 38.903248 deg.

2025-10-26T21:20:40.128Z,1761513640.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678990 target range: 543.556091 and range: 546.60 m.
2025-10-26T21:20:40.356Z,1761513640.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003672
2025-10-26T21:20:40.482Z,1761513640.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773444,-0.600198,-0.203833],[0.620910,0.782077,0.053172],[0.127499,-0.167687,0.977561]]
2025-10-26T21:20:40.508Z,1761513640.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.56 m.
2025-10-26T21:20:40.511Z,1761513640.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.556091 m,
      nav range: 532.730286 m,
      bearing: 38.663794 deg,
      approach rate: -0.542670 m/s,
      LOS rate: 0.011972 deg/s,
      cmd heading: 38.903248 deg,
      new cmd heading: 38.917818 deg.

2025-10-26T21:20:40.512Z,1761513640.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679244 target range: 543.556091 and range: 546.60 m.
2025-10-26T21:20:40.612Z,1761513640.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258592
2025-10-26T21:20:40.868Z,1761513640.868 [DAT](INFO): DAT read: Rx Time:21:20:39.6255

2025-10-26T21:20:40.869Z,1761513640.869 [DAT](INFO): Rx dataTimestamp_ set to:1761513640.868474
2025-10-26T21:20:40.869Z,1761513640.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516675
2025-10-26T21:20:40.989Z,1761513640.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777464,-0.596239,-0.200124],[0.616791,0.785041,0.057269],[0.122959,-0.167959,0.978095]]
2025-10-26T21:20:41.077Z,1761513641.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.56 m.
2025-10-26T21:20:41.083Z,1761513641.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.556091 m,
      nav range: 532.438599 m,
      bearing: 38.670594 deg,
      approach rate: -0.513271 m/s,
      LOS rate: 0.011972 deg/s,
      cmd heading: 38.917817 deg,
      new cmd heading: 38.938227 deg.

2025-10-26T21:20:41.084Z,1761513641.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679600 target range: 543.556091 and range: 546.60 m.
2025-10-26T21:20:41.121Z,1761513641.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768590
2025-10-26T21:20:41.374Z,1761513641.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021143
2025-10-26T21:20:41.465Z,1761513641.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781591,-0.592147,-0.196159],[0.612468,0.788117,0.061267],[0.118317,-0.168027,0.978656]]
2025-10-26T21:20:41.494Z,1761513641.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.56 m.
2025-10-26T21:20:41.498Z,1761513641.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.556091 m,
      nav range: 532.202148 m,
      bearing: 38.676265 deg,
      approach rate: -0.566312 m/s,
      LOS rate: 0.013588 deg/s,
      cmd heading: 38.938229 deg,
      new cmd heading: 38.955248 deg.

2025-10-26T21:20:41.499Z,1761513641.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679897 target range: 543.556091 and range: 546.60 m.
2025-10-26T21:20:41.648Z,1761513641.648 [DAT](INFO): DAT read: 21:20:39.6255 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 401,-0.41,-2.407, 2.382,-2.173,-2.555, PHS= 0.250,-1.301, 0.338, RAW= 152.7,   9.0, CAL= 152.4,   9.6, ROT= 357.6,  -9.6

2025-10-26T21:20:41.653Z,1761513641.653 [DAT](INFO): got valid direction response:
 21:20:39.6255 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 401,-0.41,-2.407, 2.382,-2.173,-2.555, PHS= 0.250,-1.301, 0.338, RAW= 152.7,   9.0, CAL= 152.4,   9.6, ROT= 357.6,  -9.6

2025-10-26T21:20:41.656Z,1761513641.656 [DAT](INFO): DAT read: Bearing 194.2,   3.1 (Local)

2025-10-26T21:20:41.657Z,1761513641.657 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.2,   3.1 (Local)

2025-10-26T21:20:41.692Z,1761513641.692 [DAT](INFO): DAT read: Range 11 to 50 : 544.0 m  (Round-trip  725.4 ms) speed  0.7 m/s

2025-10-26T21:20:41.693Z,1761513641.693 [DAT](INFO): DAT read: user:173>

2025-10-26T21:20:41.694Z,1761513641.694 [DAT](INFO): DAT read: Tx time:21:20:40.7459

2025-10-26T21:20:41.694Z,1761513641.694 [DAT](INFO): Ping request sent.
2025-10-26T21:20:41.694Z,1761513641.694 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:20:41.695Z,1761513641.695 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:20:41.712Z,1761513641.712 [DAT](INFO): direction in FSK: [0.985131,-0.041289,0.166769]
2025-10-26T21:20:41.713Z,1761513641.713 [DAT](INFO): publishing transmit ping time
2025-10-26T21:20:41.713Z,1761513641.713 [DAT](INFO): publishing direction and range info
2025-10-26T21:20:41.729Z,1761513641.729 [DAT](INFO): publishing transmit ping time
2025-10-26T21:20:41.730Z,1761513641.730 [DAT](INFO): publishing direction and range info
2025-10-26T21:20:41.975Z,1761513641.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785014,-0.588736,-0.192725],[0.608846,0.790645,0.064712],[0.114278,-0.168139,0.979117]]
2025-10-26T21:20:42.025Z,1761513642.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 544.000000 m,
      deltaT: 4.301613 s,
      deltaX: -2.599976 m,
      approachRate: -0.604419 m/s,
      rangeRepo size: 4

2025-10-26T21:20:42.027Z,1761513642.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 540.870667 m,
      bearing: 37.051865 deg,
      lat: 36.779117 deg,
      lon: -121.859250 deg,
      deltaT: 4.301613 s,
      deltaX: -2.685425 m,
      approachRate: -0.624283 m/s,
      posRepo size: 4

2025-10-26T21:20:42.028Z,1761513642.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:42.031Z,1761513642.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 524.959656 m,
      bearing: 37.933646 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013588 deg/s,
      cmd heading: 38.955250 deg,
      new cmd heading: 38.976857 deg.

2025-10-26T21:20:42.032Z,1761513642.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680274 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:42.378Z,1761513642.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787839,-0.586231,-0.188790],[0.605934,0.792669,0.067225],[0.110239,-0.167357,0.979714]]
2025-10-26T21:20:42.404Z,1761513642.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:42.406Z,1761513642.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:42.409Z,1761513642.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 524.751648 m,
      bearing: 37.937093 deg,
      approach rate: -0.545002 m/s,
      LOS rate: 0.009035 deg/s,
      cmd heading: 38.976857 deg,
      new cmd heading: 38.987202 deg.

2025-10-26T21:20:42.410Z,1761513642.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680455 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:42.632Z,1761513642.632 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:20:42.633Z,1761513642.633 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:20:42.633Z,1761513642.633 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:20:42.782Z,1761513642.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790442,-0.583834,-0.185307],[0.603256,0.794451,0.070217],[0.106222,-0.167290,0.980169]]
2025-10-26T21:20:42.844Z,1761513642.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:42.846Z,1761513642.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 524.509766 m,
      bearing: 37.938608 deg,
      approach rate: -0.552951 m/s,
      LOS rate: 0.003467 deg/s,
      cmd heading: 38.987201 deg,
      new cmd heading: 38.991751 deg.

2025-10-26T21:20:42.848Z,1761513642.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680534 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:42.885Z,1761513642.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.190699
2025-10-26T21:20:43.136Z,1761513643.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.442245
2025-10-26T21:20:43.186Z,1761513643.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792037,-0.582922,-0.181326],[0.601790,0.795454,0.071430],[0.102598,-0.165695,0.980826]]
2025-10-26T21:20:43.224Z,1761513643.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:43.226Z,1761513643.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 524.294556 m,
      bearing: 37.940014 deg,
      approach rate: -0.566007 m/s,
      LOS rate: 0.003699 deg/s,
      cmd heading: 38.991750 deg,
      new cmd heading: 38.995969 deg.

2025-10-26T21:20:43.227Z,1761513643.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680608 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:43.388Z,1761513643.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.694313
2025-10-26T21:20:43.591Z,1761513643.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793164,-0.582683,-0.177119],[0.600927,0.796029,0.072276],[0.098878,-0.163762,0.981532]]
2025-10-26T21:20:43.614Z,1761513643.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:43.617Z,1761513643.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 524.075928 m,
      bearing: 37.941482 deg,
      approach rate: -0.559680 m/s,
      LOS rate: 0.003759 deg/s,
      cmd heading: 38.995968 deg,
      new cmd heading: 39.000373 deg.

2025-10-26T21:20:43.618Z,1761513643.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680685 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:43.645Z,1761513643.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.950423
2025-10-26T21:20:43.892Z,1761513643.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.198227
2025-10-26T21:20:43.994Z,1761513643.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793473,-0.583733,-0.172208],[0.601097,0.795966,0.071553],[0.095303,-0.160289,0.982459]]
2025-10-26T21:20:44.071Z,1761513644.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:44.074Z,1761513644.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 523.828796 m,
      bearing: 37.940722 deg,
      approach rate: -0.545591 m/s,
      LOS rate: -0.001679 deg/s,
      cmd heading: 39.000373 deg,
      new cmd heading: 38.998092 deg.

2025-10-26T21:20:44.075Z,1761513644.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680645 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:44.145Z,1761513644.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.450861
2025-10-26T21:20:44.169Z,1761513644.169 [CTD_Seabird](ERROR): Failed to parse device response: 56.00,54
2025-10-26T21:20:44.396Z,1761513644.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.702223
2025-10-26T21:20:44.405Z,1761513644.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793420,-0.585194,-0.167433],[0.601701,0.795592,0.070631],[0.091875,-0.156785,0.983350]]
2025-10-26T21:20:44.426Z,1761513644.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:44.429Z,1761513644.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:44.431Z,1761513644.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 523.602783 m,
      bearing: 37.940025 deg,
      approach rate: -0.625190 m/s,
      LOS rate: -0.001929 deg/s,
      cmd heading: 38.998092 deg,
      new cmd heading: 38.996000 deg.

2025-10-26T21:20:44.432Z,1761513644.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680609 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:44.649Z,1761513644.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954383
2025-10-26T21:20:44.806Z,1761513644.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792871,-0.587536,-0.161731],[0.602972,0.794803,0.068650],[0.088210,-0.151950,0.984444]]
2025-10-26T21:20:44.862Z,1761513644.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:44.865Z,1761513644.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 523.337463 m,
      bearing: 37.936645 deg,
      approach rate: -0.611605 m/s,
      LOS rate: -0.007795 deg/s,
      cmd heading: 38.995999 deg,
      new cmd heading: 38.985854 deg.

2025-10-26T21:20:44.866Z,1761513644.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680431 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:44.901Z,1761513644.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.206458
2025-10-26T21:20:45.152Z,1761513645.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.458236
2025-10-26T21:20:45.323Z,1761513645.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790162,-0.593848,-0.151620],[0.607539,0.791551,0.065908],[0.080876,-0.144193,0.986239]]
2025-10-26T21:20:45.340Z,1761513645.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:45.343Z,1761513645.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 523.045044 m,
      bearing: 37.932764 deg,
      approach rate: -0.611729 m/s,
      LOS rate: -0.008124 deg/s,
      cmd heading: 38.985852 deg,
      new cmd heading: 38.974202 deg.

2025-10-26T21:20:45.344Z,1761513645.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680228 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:45.407Z,1761513645.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.712501
2025-10-26T21:20:45.661Z,1761513645.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.966709
2025-10-26T21:20:45.749Z,1761513645.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788273,-0.597288,-0.147896],[0.610461,0.789279,0.066151],[0.077220,-0.142430,0.986788]]
2025-10-26T21:20:45.802Z,1761513645.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:45.805Z,1761513645.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 522.765747 m,
      bearing: 37.927837 deg,
      approach rate: -0.605478 m/s,
      LOS rate: -0.010687 deg/s,
      cmd heading: 38.974203 deg,
      new cmd heading: 38.959415 deg.

2025-10-26T21:20:45.806Z,1761513645.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679970 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:45.912Z,1761513645.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.218303
2025-10-26T21:20:46.164Z,1761513646.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.470266
2025-10-26T21:20:46.240Z,1761513646.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785775,-0.601255,-0.145085],[0.614023,0.786517,0.066075],[0.074384,-0.141006,0.987210]]
2025-10-26T21:20:46.257Z,1761513646.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:46.260Z,1761513646.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 522.469849 m,
      bearing: 37.922468 deg,
      approach rate: -0.649446 m/s,
      LOS rate: -0.011790 deg/s,
      cmd heading: 38.959416 deg,
      new cmd heading: 38.943300 deg.

2025-10-26T21:20:46.261Z,1761513646.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679689 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:46.417Z,1761513646.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.722892
2025-10-26T21:20:46.642Z,1761513646.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783310,-0.605235,-0.141829],[0.617508,0.783826,0.065579],[0.071479,-0.138949,0.987716]]
2025-10-26T21:20:46.668Z,1761513646.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.974134
2025-10-26T21:20:46.688Z,1761513646.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:46.690Z,1761513646.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:46.706Z,1761513646.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 522.202454 m,
      bearing: 37.917483 deg,
      approach rate: -0.618240 m/s,
      LOS rate: -0.011532 deg/s,
      cmd heading: 38.943300 deg,
      new cmd heading: 38.928337 deg.

2025-10-26T21:20:46.714Z,1761513646.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679428 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:46.920Z,1761513646.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.226221
2025-10-26T21:20:47.094Z,1761513647.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781113,-0.608841,-0.138474],[0.620613,0.781409,0.065108],[0.068564,-0.136796,0.988224]]
2025-10-26T21:20:47.131Z,1761513647.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:47.134Z,1761513647.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 521.918152 m,
      bearing: 37.911915 deg,
      approach rate: -0.644360 m/s,
      LOS rate: -0.012626 deg/s,
      cmd heading: 38.928339 deg,
      new cmd heading: 38.911626 deg.

2025-10-26T21:20:47.135Z,1761513647.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679136 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:47.172Z,1761513647.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.478335
2025-10-26T21:20:47.425Z,1761513647.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.730469
2025-10-26T21:20:47.498Z,1761513647.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778675,-0.612416,-0.136421],[0.623921,0.778753,0.065316],[0.066238,-0.135976,0.988495]]
2025-10-26T21:20:47.516Z,1761513647.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:47.518Z,1761513647.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 521.672974 m,
      bearing: 37.906994 deg,
      approach rate: -0.637568 m/s,
      LOS rate: -0.012802 deg/s,
      cmd heading: 38.911625 deg,
      new cmd heading: 38.896856 deg.

2025-10-26T21:20:47.520Z,1761513647.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678878 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:47.678Z,1761513647.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.983518
2025-10-26T21:20:47.929Z,1761513647.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.235344
2025-10-26T21:20:47.978Z,1761513647.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776833,-0.615195,-0.134410],[0.626446,0.776694,0.065660],[0.064002,-0.135207,0.988748]]
2025-10-26T21:20:48.032Z,1761513648.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:48.037Z,1761513648.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 521.354248 m,
      bearing: 37.900985 deg,
      approach rate: -0.618957 m/s,
      LOS rate: -0.011677 deg/s,
      cmd heading: 38.896855 deg,
      new cmd heading: 38.878816 deg.

2025-10-26T21:20:48.039Z,1761513648.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678563 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:48.180Z,1761513648.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.486297
2025-10-26T21:20:48.432Z,1761513648.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.738330
2025-10-26T21:20:48.511Z,1761513648.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773537,-0.619794,-0.132273],[0.630854,0.772978,0.067295],[0.060535,-0.135499,0.988926]]
2025-10-26T21:20:48.558Z,1761513648.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:48.565Z,1761513648.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 521.041443 m,
      bearing: 37.894886 deg,
      approach rate: -0.592814 m/s,
      LOS rate: -0.011566 deg/s,
      cmd heading: 38.878816 deg,
      new cmd heading: 38.860507 deg.

2025-10-26T21:20:48.566Z,1761513648.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678244 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:48.684Z,1761513648.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.990233
2025-10-26T21:20:48.937Z,1761513648.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.242636
2025-10-26T21:20:49.039Z,1761513649.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772403,-0.621367,-0.131519],[0.632356,0.771700,0.067859],[0.059328,-0.135581,0.988988]]
2025-10-26T21:20:49.087Z,1761513649.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:49.089Z,1761513649.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:49.092Z,1761513649.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 520.701050 m,
      bearing: 37.889563 deg,
      approach rate: -0.641109 m/s,
      LOS rate: -0.010031 deg/s,
      cmd heading: 38.860508 deg,
      new cmd heading: 38.844530 deg.

2025-10-26T21:20:49.093Z,1761513649.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677965 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:49.189Z,1761513649.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.494466
2025-10-26T21:20:49.430Z,1761513649.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771690,-0.622351,-0.131045],[0.633314,0.770856,0.068521],[0.058373,-0.135870,0.989005]]
2025-10-26T21:20:49.440Z,1761513649.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.746342
2025-10-26T21:20:49.461Z,1761513649.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:49.464Z,1761513649.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 520.474487 m,
      bearing: 37.885987 deg,
      approach rate: -0.609481 m/s,
      LOS rate: -0.009623 deg/s,
      cmd heading: 38.844529 deg,
      new cmd heading: 38.833797 deg.

2025-10-26T21:20:49.465Z,1761513649.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677778 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:49.692Z,1761513649.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.998237
2025-10-26T21:20:49.834Z,1761513649.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771107,-0.623006,-0.131368],[0.634099,0.770076,0.070007],[0.057548,-0.137284,0.988859]]
2025-10-26T21:20:49.847Z,1761513649.847 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-
2025-10-26T21:20:49.862Z,1761513649.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:49.865Z,1761513649.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 520.230652 m,
      bearing: 37.882112 deg,
      approach rate: -0.608155 m/s,
      LOS rate: -0.009669 deg/s,
      cmd heading: 38.833795 deg,
      new cmd heading: 38.822165 deg.

2025-10-26T21:20:49.866Z,1761513649.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677575 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:49.945Z,1761513649.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.250945
2025-10-26T21:20:50.197Z,1761513650.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.502390
2025-10-26T21:20:50.238Z,1761513650.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771149,-0.622789,-0.132152],[0.634119,0.769857,0.072200],[0.056772,-0.139477,0.988596]]
2025-10-26T21:20:50.257Z,1761513650.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:50.275Z,1761513650.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 519.990540 m,
      bearing: 37.878298 deg,
      approach rate: -0.608186 m/s,
      LOS rate: -0.009666 deg/s,
      cmd heading: 38.822163 deg,
      new cmd heading: 38.810715 deg.

2025-10-26T21:20:50.276Z,1761513650.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677375 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:50.450Z,1761513650.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.755497
2025-10-26T21:20:50.644Z,1761513650.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771031,-0.622727,-0.133127],[0.634300,0.769534,0.074032],[0.056344,-0.141524,0.988330]]
2025-10-26T21:20:50.662Z,1761513650.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:50.665Z,1761513650.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 519.744141 m,
      bearing: 37.874381 deg,
      approach rate: -0.607437 m/s,
      LOS rate: -0.009661 deg/s,
      cmd heading: 38.810716 deg,
      new cmd heading: 38.798959 deg.

2025-10-26T21:20:50.666Z,1761513650.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677170 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:50.701Z,1761513650.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.006877
2025-10-26T21:20:50.952Z,1761513650.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.258143
2025-10-26T21:20:51.090Z,1761513651.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771650,-0.621732,-0.134183],[0.633620,0.769817,0.076861],[0.055509,-0.144331,0.987971]]
2025-10-26T21:20:51.141Z,1761513651.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:51.143Z,1761513651.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:51.149Z,1761513651.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 519.469666 m,
      bearing: 37.873891 deg,
      approach rate: -0.571401 m/s,
      LOS rate: -0.001020 deg/s,
      cmd heading: 38.798958 deg,
      new cmd heading: 38.797487 deg.

2025-10-26T21:20:51.150Z,1761513651.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677144 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:51.205Z,1761513651.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.510955
2025-10-26T21:20:51.456Z,1761513651.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.762331
2025-10-26T21:20:51.507Z,1761513651.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772594,-0.620175,-0.135943],[0.632534,0.770331,0.080567],[0.054756,-0.148234,0.987435]]
2025-10-26T21:20:51.588Z,1761513651.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:51.590Z,1761513651.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 519.196960 m,
      bearing: 37.873454 deg,
      approach rate: -0.613118 m/s,
      LOS rate: -0.000983 deg/s,
      cmd heading: 38.797486 deg,
      new cmd heading: 38.796174 deg.

2025-10-26T21:20:51.592Z,1761513651.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677121 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:51.708Z,1761513651.708 [DAT](INFO): Reached modem response timeout
2025-10-26T21:20:51.709Z,1761513651.709 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:20:51.709Z,1761513651.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:20:51.961Z,1761513651.961 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:20:52.068Z,1761513652.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774464,-0.616848,-0.140372],[0.630202,0.771647,0.086057],[0.055234,-0.155111,0.986352]]
2025-10-26T21:20:52.110Z,1761513652.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:52.114Z,1761513652.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 518.897461 m,
      bearing: 37.874628 deg,
      approach rate: -0.573087 m/s,
      LOS rate: 0.002247 deg/s,
      cmd heading: 38.796175 deg,
      new cmd heading: 38.799698 deg.

2025-10-26T21:20:52.114Z,1761513652.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677182 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:52.213Z,1761513652.213 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:20:52.459Z,1761513652.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775021,-0.615774,-0.142001],[0.629433,0.772189,0.086826],[0.056186,-0.156672,0.986051]]
2025-10-26T21:20:52.464Z,1761513652.464 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:20:52.489Z,1761513652.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:52.491Z,1761513652.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 518.680420 m,
      bearing: 37.875503 deg,
      approach rate: -0.573285 m/s,
      LOS rate: 0.002312 deg/s,
      cmd heading: 38.799699 deg,
      new cmd heading: 38.802325 deg.

2025-10-26T21:20:52.492Z,1761513652.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677228 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:52.717Z,1761513652.717 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:20:52.866Z,1761513652.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775603,-0.614347,-0.144973],[0.628580,0.772697,0.088466],[0.057672,-0.159742,0.985473]]
2025-10-26T21:20:52.908Z,1761513652.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:52.910Z,1761513652.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 518.441528 m,
      bearing: 37.877603 deg,
      approach rate: -0.570359 m/s,
      LOS rate: 0.005017 deg/s,
      cmd heading: 38.802325 deg,
      new cmd heading: 38.808630 deg.

2025-10-26T21:20:52.911Z,1761513652.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677338 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:52.969Z,1761513652.969 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:20:53.220Z,1761513653.220 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:20:53.272Z,1761513653.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776358,-0.613018,-0.146554],[0.627555,0.773446,0.089192],[0.058676,-0.161216,0.985173]]
2025-10-26T21:20:53.289Z,1761513653.289 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:53.291Z,1761513653.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:53.293Z,1761513653.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 518.223206 m,
      bearing: 37.879555 deg,
      approach rate: -0.569818 m/s,
      LOS rate: 0.005096 deg/s,
      cmd heading: 38.808629 deg,
      new cmd heading: 38.814486 deg.

2025-10-26T21:20:53.294Z,1761513653.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677441 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:53.472Z,1761513653.472 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:20:53.667Z,1761513653.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776865,-0.611771,-0.149056],[0.626773,0.773986,0.090007],[0.060304,-0.163348,0.984724]]
2025-10-26T21:20:53.685Z,1761513653.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:53.688Z,1761513653.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 517.997925 m,
      bearing: 37.881593 deg,
      approach rate: -0.570759 m/s,
      LOS rate: 0.005167 deg/s,
      cmd heading: 38.814486 deg,
      new cmd heading: 38.820604 deg.

2025-10-26T21:20:53.689Z,1761513653.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677547 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:53.725Z,1761513653.725 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:20:53.977Z,1761513653.977 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:20:53.978Z,1761513653.978 [DAT](INFO): response not received
2025-10-26T21:20:53.978Z,1761513653.978 [DAT](INFO): DAT read: user:174>

2025-10-26T21:20:53.980Z,1761513653.980 [DAT](INFO): DAT read: Tx time:21:20:53.1959

2025-10-26T21:20:53.980Z,1761513653.980 [DAT](INFO): Ping request sent.
2025-10-26T21:20:53.980Z,1761513653.980 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:20:53.980Z,1761513653.980 [DAT](INFO): publishing transmit ping time
2025-10-26T21:20:53.981Z,1761513653.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001079
2025-10-26T21:20:54.070Z,1761513654.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777041,-0.611253,-0.150255],[0.626363,0.774488,0.088529],[0.062257,-0.162905,0.984675]]
2025-10-26T21:20:54.148Z,1761513654.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:54.151Z,1761513654.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 517.739685 m,
      bearing: 37.884090 deg,
      approach rate: -0.557787 m/s,
      LOS rate: 0.005397 deg/s,
      cmd heading: 38.820603 deg,
      new cmd heading: 38.828098 deg.

2025-10-26T21:20:54.152Z,1761513654.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677678 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:54.228Z,1761513654.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248497
2025-10-26T21:20:54.476Z,1761513654.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777437,-0.610320,-0.151989],[0.625727,0.774991,0.088631],[0.063696,-0.164009,0.984400]]
2025-10-26T21:20:54.480Z,1761513654.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500504
2025-10-26T21:20:54.496Z,1761513654.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:54.499Z,1761513654.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 517.545288 m,
      bearing: 37.885987 deg,
      approach rate: -0.558434 m/s,
      LOS rate: 0.005451 deg/s,
      cmd heading: 38.828099 deg,
      new cmd heading: 38.833792 deg.

2025-10-26T21:20:54.500Z,1761513654.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677778 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:54.734Z,1761513654.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754229
2025-10-26T21:20:54.984Z,1761513654.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004413
2025-10-26T21:20:55.063Z,1761513655.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:55.070Z,1761513655.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 517.244446 m,
      bearing: 37.888442 deg,
      approach rate: -0.531219 m/s,
      LOS rate: 0.004337 deg/s,
      cmd heading: 38.833792 deg,
      new cmd heading: 38.841160 deg.

2025-10-26T21:20:55.070Z,1761513655.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677906 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:55.237Z,1761513655.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256728
2025-10-26T21:20:55.489Z,1761513655.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508931
2025-10-26T21:20:55.553Z,1761513655.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777409,-0.609575,-0.155093],[0.625300,0.775669,0.085662],[0.068084,-0.163574,0.984179]]
2025-10-26T21:20:55.572Z,1761513655.572 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:55.574Z,1761513655.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:55.577Z,1761513655.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 516.943604 m,
      bearing: 37.890912 deg,
      approach rate: -0.587932 m/s,
      LOS rate: 0.004830 deg/s,
      cmd heading: 38.841162 deg,
      new cmd heading: 38.848576 deg.

2025-10-26T21:20:55.578Z,1761513655.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678036 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:55.741Z,1761513655.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761002
2025-10-26T21:20:55.989Z,1761513655.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776953,-0.609802,-0.156477],[0.625561,0.775758,0.082906],[0.070832,-0.162301,0.984196]]
2025-10-26T21:20:55.992Z,1761513655.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012487
2025-10-26T21:20:56.072Z,1761513656.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:56.075Z,1761513656.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 516.675537 m,
      bearing: 37.892574 deg,
      approach rate: -0.538398 m/s,
      LOS rate: 0.003341 deg/s,
      cmd heading: 38.848576 deg,
      new cmd heading: 38.853566 deg.

2025-10-26T21:20:56.080Z,1761513656.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678123 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:56.244Z,1761513656.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264286
2025-10-26T21:20:56.390Z,1761513656.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776219,-0.610207,-0.158528],[0.626078,0.775659,0.079868],[0.074228,-0.161246,0.984119]]
2025-10-26T21:20:56.418Z,1761513656.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:56.421Z,1761513656.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 516.473511 m,
      bearing: 37.893811 deg,
      approach rate: -0.584025 m/s,
      LOS rate: 0.003575 deg/s,
      cmd heading: 38.853565 deg,
      new cmd heading: 38.857275 deg.

2025-10-26T21:20:56.422Z,1761513656.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678187 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:56.497Z,1761513656.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516550
2025-10-26T21:20:56.748Z,1761513656.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768388
2025-10-26T21:20:56.794Z,1761513656.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775300,-0.610723,-0.161017],[0.626753,0.775439,0.076654],[0.078044,-0.160348,0.983970]]
2025-10-26T21:20:56.813Z,1761513656.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:56.816Z,1761513656.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 516.253723 m,
      bearing: 37.895132 deg,
      approach rate: -0.556537 m/s,
      LOS rate: 0.003347 deg/s,
      cmd heading: 38.857274 deg,
      new cmd heading: 38.861239 deg.

2025-10-26T21:20:56.817Z,1761513656.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678257 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:57.000Z,1761513657.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020282
2025-10-26T21:20:57.198Z,1761513657.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774580,-0.610899,-0.163793],[0.627139,0.775413,0.073697],[0.081986,-0.159805,0.983738]]
2025-10-26T21:20:57.245Z,1761513657.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:57.248Z,1761513657.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 516.011353 m,
      bearing: 37.895852 deg,
      approach rate: -0.561022 m/s,
      LOS rate: 0.001667 deg/s,
      cmd heading: 38.861239 deg,
      new cmd heading: 38.863400 deg.

2025-10-26T21:20:57.249Z,1761513657.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678294 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:57.256Z,1761513657.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275867
2025-10-26T21:20:57.504Z,1761513657.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524459
2025-10-26T21:20:57.744Z,1761513657.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772715,-0.611403,-0.170580],[0.628292,0.774961,0.068452],[0.090341,-0.160068,0.982963]]
2025-10-26T21:20:57.756Z,1761513657.756 [DAT](INFO): DAT read: Rx Time:21:20:56.3125

2025-10-26T21:20:57.757Z,1761513657.757 [DAT](INFO): Rx dataTimestamp_ set to:1761513657.756668
2025-10-26T21:20:57.757Z,1761513657.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777504
2025-10-26T21:20:57.764Z,1761513657.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:57.766Z,1761513657.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:57.769Z,1761513657.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 515.721191 m,
      bearing: 37.896648 deg,
      approach rate: -0.557291 m/s,
      LOS rate: 0.001531 deg/s,
      cmd heading: 38.863401 deg,
      new cmd heading: 38.865793 deg.

2025-10-26T21:20:57.770Z,1761513657.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678336 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:57.780Z,1761513657.780 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:20:58.012Z,1761513658.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032376
2025-10-26T21:20:58.129Z,1761513658.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771848,-0.611683,-0.173477],[0.628724,0.774903,0.065050],[0.094637,-0.159278,0.982687]]
2025-10-26T21:20:58.186Z,1761513658.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.87 m.
2025-10-26T21:20:58.189Z,1761513658.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.870667 m,
      nav range: 515.491577 m,
      bearing: 37.896402 deg,
      approach rate: -0.546459 m/s,
      LOS rate: -0.000587 deg/s,
      cmd heading: 38.865791 deg,
      new cmd heading: 38.865051 deg.

2025-10-26T21:20:58.190Z,1761513658.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678323 target range: 540.870667 and range: 544.00 m.
2025-10-26T21:20:58.267Z,1761513658.267 [DAT](INFO): DAT read: 21:20:56.3125 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 283,-0.07, 3.027, 1.469,-2.948, 2.833, PHS= 0.296,-1.320, 0.458, RAW= 154.7,   6.7, CAL= 154.1,   6.8, ROT= 355.9,  -6.8

2025-10-26T21:20:58.268Z,1761513658.268 [DAT](INFO): got valid direction response:
 21:20:56.3125 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 283,-0.07, 3.027, 1.469,-2.948, 2.833, PHS= 0.296,-1.320, 0.458, RAW= 154.7,   6.7, CAL= 154.1,   6.8, ROT= 355.9,  -6.8

2025-10-26T21:20:58.269Z,1761513658.269 [DAT](INFO): DAT read: Bearing 191.5,   0.1 (Local)

2025-10-26T21:20:58.269Z,1761513658.269 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.5,   0.1 (Local)

2025-10-26T21:20:58.271Z,1761513658.271 [DAT](INFO): DAT read: Range 11 to 50 : 534.3 m  (Round-trip  712.4 ms) speed  0.4 m/s

2025-10-26T21:20:58.272Z,1761513658.272 [DAT](INFO): DAT read: user:175>

2025-10-26T21:20:58.273Z,1761513658.273 [DAT](INFO): DAT read: Tx time:21:20:57.4459

2025-10-26T21:20:58.273Z,1761513658.273 [DAT](INFO): Ping request sent.
2025-10-26T21:20:58.273Z,1761513658.273 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:20:58.273Z,1761513658.273 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:20:58.274Z,1761513658.274 [DAT](INFO): direction in FSK: [0.990424,-0.070995,0.118404]
2025-10-26T21:20:58.274Z,1761513658.274 [DAT](INFO): publishing transmit ping time
2025-10-26T21:20:58.275Z,1761513658.275 [DAT](INFO): publishing direction and range info
2025-10-26T21:20:58.278Z,1761513658.278 [DAT](INFO): publishing transmit ping time
2025-10-26T21:20:58.278Z,1761513658.278 [DAT](INFO): publishing direction and range info
2025-10-26T21:20:58.523Z,1761513658.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770701,-0.612249,-0.176554],[0.629481,0.774549,0.061875],[0.098867,-0.158824,0.982344]]
2025-10-26T21:20:58.554Z,1761513658.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 534.299988 m,
      deltaT: 16.634943 s,
      deltaX: -9.700012 m,
      approachRate: -0.583111 m/s,
      rangeRepo size: 4

2025-10-26T21:20:58.576Z,1761513658.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 531.110901 m,
      bearing: 36.229023 deg,
      lat: 36.779117 deg,
      lon: -121.859326 deg,
      deltaT: 16.634943 s,
      deltaX: -9.759766 m,
      approachRate: -0.586703 m/s,
      posRepo size: 4

2025-10-26T21:20:58.576Z,1761513658.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.11 m.
2025-10-26T21:20:58.579Z,1761513658.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 531.110901 m,
      nav range: 511.145111 m,
      bearing: 37.296878 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000587 deg/s,
      cmd heading: 38.865050 deg,
      new cmd heading: 38.864404 deg.

2025-10-26T21:20:58.584Z,1761513658.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678312 target range: 531.110901 and range: 534.30 m.
2025-10-26T21:20:58.785Z,1761513658.785 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:20:58.947Z,1761513658.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769345,-0.612802,-0.180504],[0.630437,0.773955,0.059512],[0.103233,-0.159582,0.981772]]
2025-10-26T21:20:58.984Z,1761513658.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.11 m.
2025-10-26T21:20:58.986Z,1761513658.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 531.110901 m,
      nav range: 510.896484 m,
      bearing: 37.295611 deg,
      approach rate: -0.577336 m/s,
      LOS rate: -0.002943 deg/s,
      cmd heading: 38.864405 deg,
      new cmd heading: 38.860602 deg.

2025-10-26T21:20:58.988Z,1761513658.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678245 target range: 531.110901 and range: 534.30 m.
2025-10-26T21:20:59.328Z,1761513659.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767941,-0.613634,-0.183628],[0.631428,0.773396,0.056186],[0.107540,-0.159095,0.981389]]
2025-10-26T21:20:59.346Z,1761513659.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.11 m.
2025-10-26T21:20:59.348Z,1761513659.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 531.110901 m,
      nav range: 510.689545 m,
      bearing: 37.294517 deg,
      approach rate: -0.571747 m/s,
      LOS rate: -0.003024 deg/s,
      cmd heading: 38.860604 deg,
      new cmd heading: 38.857321 deg.

2025-10-26T21:20:59.349Z,1761513659.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678188 target range: 531.110901 and range: 534.30 m.
2025-10-26T21:20:59.735Z,1761513659.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767071,-0.613779,-0.186757],[0.631750,0.773344,0.053199],[0.111775,-0.158791,0.980965]]
2025-10-26T21:20:59.790Z,1761513659.790 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:20:59.796Z,1761513659.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.11 m.
2025-10-26T21:20:59.801Z,1761513659.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 531.110901 m,
      nav range: 510.452545 m,
      bearing: 37.293241 deg,
      approach rate: -0.525774 m/s,
      LOS rate: -0.002831 deg/s,
      cmd heading: 38.857322 deg,
      new cmd heading: 38.853494 deg.

2025-10-26T21:20:59.802Z,1761513659.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678121 target range: 531.110901 and range: 534.30 m.
2025-10-26T21:21:00.025Z,1761513660.025 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:00.025Z,1761513660.025 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:00.025Z,1761513660.025 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:21:00.138Z,1761513660.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766149,-0.613987,-0.189830],[0.632167,0.773175,0.050650],[0.115673,-0.158810,0.980510]]
2025-10-26T21:21:00.173Z,1761513660.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.11 m.
2025-10-26T21:21:00.176Z,1761513660.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 531.110901 m,
      nav range: 510.214142 m,
      bearing: 37.291152 deg,
      approach rate: -0.632209 m/s,
      LOS rate: -0.005544 deg/s,
      cmd heading: 38.853494 deg,
      new cmd heading: 38.847222 deg.

2025-10-26T21:21:00.177Z,1761513660.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678012 target range: 531.110901 and range: 534.30 m.
2025-10-26T21:21:00.276Z,1761513660.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003513
2025-10-26T21:21:00.529Z,1761513660.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255742
2025-10-26T21:21:00.546Z,1761513660.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765435,-0.613726,-0.193520],[0.632331,0.773137,0.049161],[0.119446,-0.159999,0.979864]]
2025-10-26T21:21:00.564Z,1761513660.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.11 m.
2025-10-26T21:21:00.567Z,1761513660.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 531.110901 m,
      nav range: 509.988068 m,
      bearing: 37.289152 deg,
      approach rate: -0.578094 m/s,
      LOS rate: -0.005117 deg/s,
      cmd heading: 38.847223 deg,
      new cmd heading: 38.841220 deg.

2025-10-26T21:21:00.568Z,1761513660.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677907 target range: 531.110901 and range: 534.30 m.
2025-10-26T21:21:00.780Z,1761513660.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507439
2025-10-26T21:21:00.977Z,1761513660.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764331,-0.613952,-0.197135],[0.632915,0.772781,0.047207],[0.123359,-0.160852,0.979239]]
2025-10-26T21:21:01.034Z,1761513661.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760686
2025-10-26T21:21:01.041Z,1761513661.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.11 m.
2025-10-26T21:21:01.048Z,1761513661.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 531.110901 m,
      nav range: 509.724304 m,
      bearing: 37.285722 deg,
      approach rate: -0.553699 m/s,
      LOS rate: -0.007203 deg/s,
      cmd heading: 38.841220 deg,
      new cmd heading: 38.830925 deg.

2025-10-26T21:21:01.049Z,1761513661.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677728 target range: 531.110901 and range: 534.30 m.
2025-10-26T21:21:01.285Z,1761513661.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011747
2025-10-26T21:21:01.343Z,1761513661.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763033,-0.614255,-0.201175],[0.633707,0.772221,0.045722],[0.127267,-0.162374,0.978487]]
2025-10-26T21:21:01.365Z,1761513661.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.11 m.
2025-10-26T21:21:01.368Z,1761513661.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 531.110901 m,
      nav range: 509.517181 m,
      bearing: 37.282990 deg,
      approach rate: -0.638728 m/s,
      LOS rate: -0.008428 deg/s,
      cmd heading: 38.830927 deg,
      new cmd heading: 38.822727 deg.

2025-10-26T21:21:01.369Z,1761513661.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677584 target range: 531.110901 and range: 534.30 m.
2025-10-26T21:21:01.537Z,1761513661.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264033
2025-10-26T21:21:01.747Z,1761513661.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761983,-0.614389,-0.204715],[0.634183,0.771943,0.043782],[0.131129,-0.163188,0.977842]]
2025-10-26T21:21:01.765Z,1761513661.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.11 m.
2025-10-26T21:21:01.768Z,1761513661.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 531.110901 m,
      nav range: 509.282440 m,
      bearing: 37.279861 deg,
      approach rate: -0.587382 m/s,
      LOS rate: -0.007833 deg/s,
      cmd heading: 38.822727 deg,
      new cmd heading: 38.813336 deg.

2025-10-26T21:21:01.769Z,1761513661.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677420 target range: 531.110901 and range: 534.30 m.
2025-10-26T21:21:01.791Z,1761513661.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517403
2025-10-26T21:21:02.040Z,1761513662.040 [DAT](INFO): DAT read: Rx Time:21:21:00.5591

2025-10-26T21:21:02.041Z,1761513662.041 [DAT](INFO): Rx dataTimestamp_ set to:1761513662.040573
2025-10-26T21:21:02.041Z,1761513662.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768418
2025-10-26T21:21:02.152Z,1761513662.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760849,-0.614587,-0.208306],[0.634750,0.771575,0.042005],[0.134908,-0.164182,0.977161]]
2025-10-26T21:21:02.186Z,1761513662.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:02.188Z,1761513662.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.11 m.
2025-10-26T21:21:02.191Z,1761513662.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 531.110901 m,
      nav range: 509.025787 m,
      bearing: 37.275910 deg,
      approach rate: -0.606111 m/s,
      LOS rate: -0.009335 deg/s,
      cmd heading: 38.813335 deg,
      new cmd heading: 38.801477 deg.

2025-10-26T21:21:02.192Z,1761513662.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677214 target range: 531.110901 and range: 534.30 m.
2025-10-26T21:21:02.293Z,1761513662.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020219
2025-10-26T21:21:02.550Z,1761513662.550 [DAT](INFO): DAT read: 21:21:00.5591 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 409,-0.11, 1.917, 0.391, 2.189, 1.753, PHS= 0.266,-1.317, 0.392, RAW= 153.8,   8.0, CAL= 153.3,   8.5, ROT= 356.7,  -8.5

2025-10-26T21:21:02.551Z,1761513662.551 [DAT](INFO): got valid direction response:
 21:21:00.5591 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 409,-0.11, 1.917, 0.391, 2.189, 1.753, PHS= 0.266,-1.317, 0.392, RAW= 153.8,   8.0, CAL= 153.3,   8.5, ROT= 356.7,  -8.5

2025-10-26T21:21:02.552Z,1761513662.552 [DAT](INFO): DAT read: Bearing 192.9,   3.1 (Local)

2025-10-26T21:21:02.553Z,1761513662.553 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.9,   3.1 (Local)

2025-10-26T21:21:02.554Z,1761513662.554 [DAT](INFO): DAT read: Range 11 to 50 : 531.7 m  (Round-trip  709.0 ms) speed  0.4 m/s

2025-10-26T21:21:02.555Z,1761513662.555 [DAT](INFO): DAT read: user:176>

2025-10-26T21:21:02.556Z,1761513662.556 [DAT](INFO): DAT read: Tx time:21:21:01.6459

2025-10-26T21:21:02.556Z,1761513662.556 [DAT](INFO): Ping request sent.
2025-10-26T21:21:02.556Z,1761513662.556 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:21:02.556Z,1761513662.556 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:21:02.557Z,1761513662.557 [DAT](INFO): direction in FSK: [0.987376,-0.056931,0.147809]
2025-10-26T21:21:02.558Z,1761513662.558 [DAT](INFO): publishing transmit ping time
2025-10-26T21:21:02.558Z,1761513662.558 [DAT](INFO): publishing direction and range info
2025-10-26T21:21:02.561Z,1761513662.561 [DAT](INFO): publishing transmit ping time
2025-10-26T21:21:02.561Z,1761513662.561 [DAT](INFO): publishing direction and range info
2025-10-26T21:21:02.577Z,1761513662.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759643,-0.614979,-0.211527],[0.635460,0.771081,0.040300],[0.138321,-0.165031,0.976541]]
2025-10-26T21:21:02.639Z,1761513662.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 531.700012 m,
      deltaT: 4.283393 s,
      deltaX: -2.599976 m,
      approachRate: -0.606990 m/s,
      rangeRepo size: 4

2025-10-26T21:21:02.641Z,1761513662.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 528.517090 m,
      bearing: 38.026592 deg,
      lat: 36.779117 deg,
      lon: -121.859288 deg,
      deltaT: 4.283393 s,
      deltaX: -2.593811 m,
      approachRate: -0.605551 m/s,
      posRepo size: 4

2025-10-26T21:21:02.642Z,1761513662.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.52 m.
2025-10-26T21:21:02.652Z,1761513662.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.517090 m,
      nav range: 510.861572 m,
      bearing: 37.577952 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009335 deg/s,
      cmd heading: 38.801478 deg,
      new cmd heading: 38.788895 deg.

2025-10-26T21:21:02.653Z,1761513662.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676994 target range: 528.517090 and range: 531.70 m.
2025-10-26T21:21:02.998Z,1761513662.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757883,-0.616346,-0.213848],[0.636757,0.770182,0.036886],[0.141967,-0.164125,0.976170]]
2025-10-26T21:21:03.061Z,1761513663.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.52 m.
2025-10-26T21:21:03.064Z,1761513663.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.517090 m,
      nav range: 510.577728 m,
      bearing: 37.573521 deg,
      approach rate: -0.670076 m/s,
      LOS rate: -0.010465 deg/s,
      cmd heading: 38.788894 deg,
      new cmd heading: 38.775594 deg.

2025-10-26T21:21:03.065Z,1761513663.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676762 target range: 528.517090 and range: 531.70 m.
2025-10-26T21:21:03.362Z,1761513663.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755930,-0.617578,-0.217181],[0.638274,0.769022,0.034810],[0.145519,-0.164935,0.975510]]
2025-10-26T21:21:03.394Z,1761513663.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.52 m.
2025-10-26T21:21:03.397Z,1761513663.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.517090 m,
      nav range: 510.375000 m,
      bearing: 37.570296 deg,
      approach rate: -0.608490 m/s,
      LOS rate: -0.009683 deg/s,
      cmd heading: 38.775595 deg,
      new cmd heading: 38.765917 deg.

2025-10-26T21:21:03.398Z,1761513663.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676593 target range: 528.517090 and range: 531.70 m.
2025-10-26T21:21:03.766Z,1761513663.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754214,-0.618621,-0.220160],[0.639561,0.768036,0.032895],[0.148741,-0.165615,0.974909]]
2025-10-26T21:21:03.801Z,1761513663.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.52 m.
2025-10-26T21:21:03.808Z,1761513663.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.517090 m,
      nav range: 510.137451 m,
      bearing: 37.566456 deg,
      approach rate: -0.583915 m/s,
      LOS rate: -0.009445 deg/s,
      cmd heading: 38.765917 deg,
      new cmd heading: 38.754390 deg.

2025-10-26T21:21:03.809Z,1761513663.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676392 target range: 528.517090 and range: 531.70 m.
2025-10-26T21:21:04.172Z,1761513664.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752516,-0.619714,-0.222877],[0.640847,0.767044,0.030959],[0.151771,-0.166127,0.974355]]
2025-10-26T21:21:04.207Z,1761513664.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:04.209Z,1761513664.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.52 m.
2025-10-26T21:21:04.212Z,1761513664.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.517090 m,
      nav range: 509.879578 m,
      bearing: 37.562872 deg,
      approach rate: -0.632291 m/s,
      LOS rate: -0.008791 deg/s,
      cmd heading: 38.754391 deg,
      new cmd heading: 38.743635 deg.

2025-10-26T21:21:04.213Z,1761513664.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676204 target range: 528.517090 and range: 531.70 m.
2025-10-26T21:21:04.310Z,1761513664.310 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:04.310Z,1761513664.310 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:04.310Z,1761513664.310 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:21:04.560Z,1761513664.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004172
2025-10-26T21:21:04.576Z,1761513664.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750977,-0.620593,-0.225606],[0.641939,0.766200,0.029178],[0.154751,-0.166737,0.973782]]
2025-10-26T21:21:04.604Z,1761513664.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.52 m.
2025-10-26T21:21:04.607Z,1761513664.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.517090 m,
      nav range: 509.638855 m,
      bearing: 37.559473 deg,
      approach rate: -0.608773 m/s,
      LOS rate: -0.008601 deg/s,
      cmd heading: 38.743637 deg,
      new cmd heading: 38.733433 deg.

2025-10-26T21:21:04.608Z,1761513664.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676026 target range: 528.517090 and range: 531.70 m.
2025-10-26T21:21:04.812Z,1761513664.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256217
2025-10-26T21:21:05.015Z,1761513665.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749989,-0.621168,-0.227303],[0.642602,0.765696,0.027801],[0.156776,-0.166916,0.973427]]
2025-10-26T21:21:05.064Z,1761513665.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508393
2025-10-26T21:21:05.077Z,1761513665.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.52 m.
2025-10-26T21:21:05.080Z,1761513665.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.517090 m,
      nav range: 509.355316 m,
      bearing: 37.556900 deg,
      approach rate: -0.599706 m/s,
      LOS rate: -0.005446 deg/s,
      cmd heading: 38.733432 deg,
      new cmd heading: 38.725708 deg.

2025-10-26T21:21:05.081Z,1761513665.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675891 target range: 528.517090 and range: 531.70 m.
2025-10-26T21:21:05.316Z,1761513665.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760232
2025-10-26T21:21:05.383Z,1761513665.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749039,-0.621582,-0.229295],[0.643161,0.765273,0.026487],[0.159009,-0.167314,0.972997]]
2025-10-26T21:21:05.408Z,1761513665.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.52 m.
2025-10-26T21:21:05.410Z,1761513665.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.517090 m,
      nav range: 509.157562 m,
      bearing: 37.555080 deg,
      approach rate: -0.599016 m/s,
      LOS rate: -0.005514 deg/s,
      cmd heading: 38.725708 deg,
      new cmd heading: 38.720246 deg.

2025-10-26T21:21:05.411Z,1761513665.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675796 target range: 528.517090 and range: 531.70 m.
2025-10-26T21:21:05.569Z,1761513665.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012523
2025-10-26T21:21:05.786Z,1761513665.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748129,-0.621710,-0.231904],[0.643593,0.764942,0.025518],[0.161528,-0.168343,0.972404]]
2025-10-26T21:21:05.821Z,1761513665.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264421
2025-10-26T21:21:05.821Z,1761513665.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.52 m.
2025-10-26T21:21:05.824Z,1761513665.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.517090 m,
      nav range: 508.911285 m,
      bearing: 37.552787 deg,
      approach rate: -0.597700 m/s,
      LOS rate: -0.005567 deg/s,
      cmd heading: 38.720247 deg,
      new cmd heading: 38.713366 deg.

2025-10-26T21:21:05.825Z,1761513665.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675676 target range: 528.517090 and range: 531.70 m.
2025-10-26T21:21:06.072Z,1761513666.072 [DAT](INFO): DAT read: Rx Time:21:21:04.7643

2025-10-26T21:21:06.073Z,1761513666.073 [DAT](INFO): Rx dataTimestamp_ set to:1761513666.072509
2025-10-26T21:21:06.073Z,1761513666.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517239
2025-10-26T21:21:06.190Z,1761513666.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747393,-0.621581,-0.234606],[0.643796,0.764800,0.024651],[0.164104,-0.169463,0.971778]]
2025-10-26T21:21:06.236Z,1761513666.236 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:06.238Z,1761513666.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.52 m.
2025-10-26T21:21:06.241Z,1761513666.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.517090 m,
      nav range: 508.666962 m,
      bearing: 37.552297 deg,
      approach rate: -0.583930 m/s,
      LOS rate: -0.001172 deg/s,
      cmd heading: 38.713365 deg,
      new cmd heading: 38.711894 deg.

2025-10-26T21:21:06.242Z,1761513666.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675650 target range: 528.517090 and range: 531.70 m.
2025-10-26T21:21:06.324Z,1761513666.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768191
2025-10-26T21:21:06.587Z,1761513666.587 [DAT](INFO): DAT read: 21:21:04.7643 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 496, 0.33,-0.450,-1.699,-0.315,-0.664, PHS= 0.316,-0.990, 0.305, RAW= 149.6,   5.7, CAL= 148.9,   6.0, ROT=   1.1,  -6.0

2025-10-26T21:21:06.588Z,1761513666.588 [DAT](INFO): got valid direction response:
 21:21:04.7643 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 496, 0.33,-0.450,-1.699,-0.315,-0.664, PHS= 0.316,-0.990, 0.305, RAW= 149.6,   5.7, CAL= 148.9,   6.0, ROT=   1.1,  -6.0

2025-10-26T21:21:06.589Z,1761513666.589 [DAT](INFO): DAT read: Bearing 192.0,   9.5 (Local)

2025-10-26T21:21:06.591Z,1761513666.591 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.0,   9.5 (Local)

2025-10-26T21:21:06.613Z,1761513666.613 [DAT](INFO): DAT read: Range 11 to 50 : 535.6 m  (Round-trip  714.2 ms) speed  0.3 m/s

2025-10-26T21:21:06.613Z,1761513666.613 [DAT](INFO): DAT read: user:177>

2025-10-26T21:21:06.614Z,1761513666.614 [DAT](INFO): DAT read: Tx time:21:21:05.8959

2025-10-26T21:21:06.614Z,1761513666.614 [DAT](INFO): Ping request sent.
2025-10-26T21:21:06.615Z,1761513666.615 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:21:06.615Z,1761513666.615 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:21:06.625Z,1761513666.625 [DAT](INFO): direction in FSK: [0.994339,0.019092,0.104528]
2025-10-26T21:21:06.625Z,1761513666.625 [DAT](INFO): publishing transmit ping time
2025-10-26T21:21:06.625Z,1761513666.625 [DAT](INFO): publishing direction and range info
2025-10-26T21:21:06.633Z,1761513666.633 [DAT](INFO): publishing transmit ping time
2025-10-26T21:21:06.633Z,1761513666.633 [DAT](INFO): publishing direction and range info
2025-10-26T21:21:06.637Z,1761513666.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746709,-0.621521,-0.236935],[0.643941,0.764716,0.023421],[0.166631,-0.170061,0.971243]]
2025-10-26T21:21:06.748Z,1761513666.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 535.599976 m,
      deltaT: 4.032006 s,
      deltaX: 3.899963 m,
      approachRate: 0.967251 m/s,
      rangeRepo size: 4

2025-10-26T21:21:06.750Z,1761513666.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 532.372498 m,
      bearing: 42.962183 deg,
      lat: 36.779059 deg,
      lon: -121.859288 deg,
      deltaT: 4.032006 s,
      deltaX: 3.855408 m,
      approachRate: 0.956201 m/s,
      posRepo size: 4

2025-10-26T21:21:06.751Z,1761513666.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 532.37 m.
2025-10-26T21:21:06.758Z,1761513666.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 532.372498 m,
      nav range: 503.292816 m,
      bearing: 38.000616 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001172 deg/s,
      cmd heading: 38.711893 deg,
      new cmd heading: 38.710144 deg.

2025-10-26T21:21:06.759Z,1761513666.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675619 target range: 532.372498 and range: 535.60 m.
2025-10-26T21:21:07.021Z,1761513667.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746370,-0.620986,-0.239391],[0.643693,0.764950,0.022596],[0.169091,-0.170959,0.970660]]
2025-10-26T21:21:07.102Z,1761513667.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 532.37 m.
2025-10-26T21:21:07.105Z,1761513667.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 532.372498 m,
      nav range: 503.060730 m,
      bearing: 38.001937 deg,
      approach rate: -0.633509 m/s,
      LOS rate: 0.003608 deg/s,
      cmd heading: 38.710145 deg,
      new cmd heading: 38.714111 deg.

2025-10-26T21:21:07.105Z,1761513667.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675689 target range: 532.372498 and range: 535.60 m.
2025-10-26T21:21:07.402Z,1761513667.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746209,-0.620455,-0.241265],[0.643216,0.765395,0.021058],[0.171597,-0.170899,0.970231]]
2025-10-26T21:21:07.433Z,1761513667.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 532.37 m.
2025-10-26T21:21:07.436Z,1761513667.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 532.372498 m,
      nav range: 502.876312 m,
      bearing: 38.002994 deg,
      approach rate: -0.556738 m/s,
      LOS rate: 0.003192 deg/s,
      cmd heading: 38.714110 deg,
      new cmd heading: 38.717282 deg.

2025-10-26T21:21:07.437Z,1761513667.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675744 target range: 532.372498 and range: 535.60 m.
2025-10-26T21:21:07.807Z,1761513667.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746158,-0.619677,-0.243408],[0.642608,0.765936,0.019944],[0.174076,-0.171297,0.969719]]
2025-10-26T21:21:07.826Z,1761513667.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 532.37 m.
2025-10-26T21:21:07.829Z,1761513667.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 532.372498 m,
      nav range: 502.658020 m,
      bearing: 38.004259 deg,
      approach rate: -0.555400 m/s,
      LOS rate: 0.003219 deg/s,
      cmd heading: 38.717282 deg,
      new cmd heading: 38.721077 deg.

2025-10-26T21:21:07.830Z,1761513667.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675810 target range: 532.372498 and range: 535.60 m.
2025-10-26T21:21:08.260Z,1761513668.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:08.262Z,1761513668.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 532.37 m.
2025-10-26T21:21:08.281Z,1761513668.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 532.372498 m,
      nav range: 502.422668 m,
      bearing: 38.006691 deg,
      approach rate: -0.539644 m/s,
      LOS rate: 0.005580 deg/s,
      cmd heading: 38.721077 deg,
      new cmd heading: 38.728377 deg.

2025-10-26T21:21:08.282Z,1761513668.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675938 target range: 532.372498 and range: 535.60 m.
2025-10-26T21:21:08.340Z,1761513668.340 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:08.340Z,1761513668.340 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:08.341Z,1761513668.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:21:08.592Z,1761513668.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977734
2025-10-26T21:21:08.655Z,1761513668.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747100,-0.617079,-0.247094],[0.640256,0.767951,0.018001],[0.178648,-0.171652,0.968824]]
2025-10-26T21:21:08.697Z,1761513668.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 532.37 m.
2025-10-26T21:21:08.701Z,1761513668.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 532.372498 m,
      nav range: 502.188110 m,
      bearing: 38.009186 deg,
      approach rate: -0.539862 m/s,
      LOS rate: 0.005746 deg/s,
      cmd heading: 38.728378 deg,
      new cmd heading: 38.735867 deg.

2025-10-26T21:21:08.702Z,1761513668.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676068 target range: 532.372498 and range: 535.60 m.
2025-10-26T21:21:08.844Z,1761513668.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229791
2025-10-26T21:21:09.094Z,1761513669.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747652,-0.615589,-0.249132],[0.639025,0.768984,0.017621],[0.180731,-0.172376,0.968309]]
2025-10-26T21:21:09.096Z,1761513669.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481814
2025-10-26T21:21:09.176Z,1761513669.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 532.37 m.
2025-10-26T21:21:09.179Z,1761513669.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 532.372498 m,
      nav range: 501.949615 m,
      bearing: 38.011814 deg,
      approach rate: -0.497314 m/s,
      LOS rate: 0.005483 deg/s,
      cmd heading: 38.735867 deg,
      new cmd heading: 38.743756 deg.

2025-10-26T21:21:09.188Z,1761513669.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676206 target range: 532.372498 and range: 535.60 m.
2025-10-26T21:21:09.348Z,1761513669.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733740
2025-10-26T21:21:09.525Z,1761513669.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748693,-0.613675,-0.250722],[0.637181,0.770532,0.016742],[0.182915,-0.172290,0.967914]]
2025-10-26T21:21:09.579Z,1761513669.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 532.37 m.
2025-10-26T21:21:09.600Z,1761513669.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985839
2025-10-26T21:21:09.601Z,1761513669.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 532.372498 m,
      nav range: 501.729553 m,
      bearing: 38.014297 deg,
      approach rate: -0.546159 m/s,
      LOS rate: 0.006164 deg/s,
      cmd heading: 38.743756 deg,
      new cmd heading: 38.751208 deg.

2025-10-26T21:21:09.602Z,1761513669.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676336 target range: 532.372498 and range: 535.60 m.
2025-10-26T21:21:09.853Z,1761513669.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238501
2025-10-26T21:21:09.918Z,1761513669.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749924,-0.611158,-0.253182],[0.635154,0.772191,0.017327],[0.184915,-0.173803,0.967264]]
2025-10-26T21:21:09.937Z,1761513669.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 532.37 m.
2025-10-26T21:21:09.941Z,1761513669.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 532.372498 m,
      nav range: 501.540802 m,
      bearing: 38.016480 deg,
      approach rate: -0.527036 m/s,
      LOS rate: 0.006098 deg/s,
      cmd heading: 38.751208 deg,
      new cmd heading: 38.757759 deg.

2025-10-26T21:21:09.942Z,1761513669.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676450 target range: 532.372498 and range: 535.60 m.
2025-10-26T21:21:10.104Z,1761513670.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489756
2025-10-26T21:21:10.356Z,1761513670.356 [DAT](INFO): DAT read: Rx Time:21:21:09.0193

2025-10-26T21:21:10.357Z,1761513670.357 [DAT](INFO): Rx dataTimestamp_ set to:1761513670.356596
2025-10-26T21:21:10.357Z,1761513670.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.742827
2025-10-26T21:21:10.401Z,1761513670.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:10.404Z,1761513670.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 532.37 m.
2025-10-26T21:21:10.406Z,1761513670.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 532.372498 m,
      nav range: 501.297180 m,
      bearing: 38.018963 deg,
      approach rate: -0.522632 m/s,
      LOS rate: 0.005329 deg/s,
      cmd heading: 38.757758 deg,
      new cmd heading: 38.765210 deg.

2025-10-26T21:21:10.407Z,1761513670.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676581 target range: 532.372498 and range: 535.60 m.
2025-10-26T21:21:10.610Z,1761513670.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.994781
2025-10-26T21:21:10.871Z,1761513670.871 [DAT](INFO): DAT read: 21:21:09.0193 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 497,-0.44, 0.040,-1.498, 0.220,-0.524, PHS= 0.666,-0.929, 0.700, RAW= 151.0,  -5.5, CAL= 150.8,  -6.8, ROT= 359.2,   6.8

2025-10-26T21:21:10.873Z,1761513670.873 [DAT](INFO): got valid direction response:
 21:21:09.0193 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 497,-0.44, 0.040,-1.498, 0.220,-0.524, PHS= 0.666,-0.929, 0.700, RAW= 151.0,  -5.5, CAL= 150.8,  -6.8, ROT= 359.2,   6.8

2025-10-26T21:21:10.874Z,1761513670.874 [DAT](INFO): DAT read: Bearing 177.9,  11.6 (Local)

2025-10-26T21:21:10.874Z,1761513670.874 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.9,  11.6 (Local)

2025-10-26T21:21:10.875Z,1761513670.875 [DAT](INFO): DAT read: Range 11 to 50 : 539.4 m  (Round-trip  719.2 ms) speed  0.0 m/s

2025-10-26T21:21:10.876Z,1761513670.876 [DAT](INFO): DAT read: user:178>

2025-10-26T21:21:10.877Z,1761513670.877 [DAT](INFO): DAT read: Tx time:21:21:10.1459

2025-10-26T21:21:10.877Z,1761513670.877 [DAT](INFO): Ping request sent.
2025-10-26T21:21:10.877Z,1761513670.877 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:21:10.878Z,1761513670.878 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:21:10.878Z,1761513670.878 [DAT](INFO): direction in FSK: [0.992869,-0.013864,-0.118404]
2025-10-26T21:21:10.879Z,1761513670.879 [DAT](INFO): publishing transmit ping time
2025-10-26T21:21:10.879Z,1761513670.879 [DAT](INFO): publishing direction and range info
2025-10-26T21:21:10.882Z,1761513670.882 [DAT](INFO): publishing transmit ping time
2025-10-26T21:21:10.883Z,1761513670.883 [DAT](INFO): publishing direction and range info
2025-10-26T21:21:10.919Z,1761513670.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754400,-0.602814,-0.259801],[0.628074,0.777927,0.018759],[0.190798,-0.177326,0.965480]]
2025-10-26T21:21:11.011Z,1761513671.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 539.400024 m,
      deltaT: 4.284386 s,
      deltaX: 3.800049 m,
      approachRate: 0.886953 m/s,
      rangeRepo size: 4

2025-10-26T21:21:11.018Z,1761513671.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 536.124084 m,
      bearing: 37.765767 deg,
      lat: 36.779117 deg,
      lon: -121.859288 deg,
      deltaT: 4.284386 s,
      deltaX: 3.751587 m,
      approachRate: 0.875642 m/s,
      posRepo size: 4

2025-10-26T21:21:11.024Z,1761513671.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:11.026Z,1761513671.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 506.109650 m,
      bearing: 37.571189 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005329 deg/s,
      cmd heading: 38.765210 deg,
      new cmd heading: 38.774901 deg.

2025-10-26T21:21:11.032Z,1761513671.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676750 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:11.491Z,1761513671.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755697,-0.600349,-0.261731],[0.625939,0.779642,0.018964],[0.192672,-0.178158,0.964954]]
2025-10-26T21:21:11.549Z,1761513671.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:11.552Z,1761513671.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 505.805664 m,
      bearing: 37.571935 deg,
      approach rate: -0.563814 m/s,
      LOS rate: 0.001385 deg/s,
      cmd heading: 38.774902 deg,
      new cmd heading: 38.777143 deg.

2025-10-26T21:21:11.553Z,1761513671.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676789 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:11.890Z,1761513671.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756850,-0.598331,-0.263017],[0.624052,0.781158,0.018718],[0.194259,-0.178303,0.964610]]
2025-10-26T21:21:11.916Z,1761513671.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:11.918Z,1761513671.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 505.611237 m,
      bearing: 37.572462 deg,
      approach rate: -0.529821 m/s,
      LOS rate: 0.001437 deg/s,
      cmd heading: 38.777142 deg,
      new cmd heading: 38.778724 deg.

2025-10-26T21:21:11.920Z,1761513671.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676816 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:12.398Z,1761513672.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:12.401Z,1761513672.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 505.348053 m,
      bearing: 37.571361 deg,
      approach rate: -0.545072 m/s,
      LOS rate: -0.002283 deg/s,
      cmd heading: 38.778723 deg,
      new cmd heading: 38.775417 deg.

2025-10-26T21:21:12.402Z,1761513672.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676759 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:12.736Z,1761513672.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759417,-0.593662,-0.266178],[0.620413,0.783979,0.021541],[0.195890,-0.181499,0.963683]]
2025-10-26T21:21:12.754Z,1761513672.754 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:12.773Z,1761513672.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:12.780Z,1761513672.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 505.153015 m,
      bearing: 37.570638 deg,
      approach rate: -0.520552 m/s,
      LOS rate: -0.001930 deg/s,
      cmd heading: 38.775418 deg,
      new cmd heading: 38.773249 deg.

2025-10-26T21:21:12.781Z,1761513672.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676721 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:12.877Z,1761513672.877 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:12.877Z,1761513672.877 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:12.878Z,1761513672.878 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:21:13.131Z,1761513673.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253492
2025-10-26T21:21:13.167Z,1761513673.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760695,-0.591872,-0.266516],[0.618842,0.785191,0.022578],[0.195903,-0.182106,0.963566]]
2025-10-26T21:21:13.225Z,1761513673.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:13.228Z,1761513673.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 504.887543 m,
      bearing: 37.568581 deg,
      approach rate: -0.587873 m/s,
      LOS rate: -0.004558 deg/s,
      cmd heading: 38.773249 deg,
      new cmd heading: 38.767074 deg.

2025-10-26T21:21:13.229Z,1761513673.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676613 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:13.380Z,1761513673.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503104
2025-10-26T21:21:13.539Z,1761513673.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761844,-0.590489,-0.266302],[0.617476,0.786251,0.023084],[0.195750,-0.182021,0.963613]]
2025-10-26T21:21:13.557Z,1761513673.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:13.560Z,1761513673.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 504.699463 m,
      bearing: 37.567161 deg,
      approach rate: -0.566050 m/s,
      LOS rate: -0.004274 deg/s,
      cmd heading: 38.767075 deg,
      new cmd heading: 38.762814 deg.

2025-10-26T21:21:13.561Z,1761513673.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676539 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:13.633Z,1761513673.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755212
2025-10-26T21:21:13.885Z,1761513673.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007283
2025-10-26T21:21:14.023Z,1761513674.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762759,-0.589680,-0.265475],[0.616422,0.787086,0.022797],[0.195509,-0.181033,0.963848]]
2025-10-26T21:21:14.042Z,1761513674.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:14.045Z,1761513674.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 504.424988 m,
      bearing: 37.565133 deg,
      approach rate: -0.565839 m/s,
      LOS rate: -0.004183 deg/s,
      cmd heading: 38.762813 deg,
      new cmd heading: 38.756726 deg.

2025-10-26T21:21:14.046Z,1761513674.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676432 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:14.140Z,1761513674.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261953
2025-10-26T21:21:14.388Z,1761513674.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511111
2025-10-26T21:21:14.593Z,1761513674.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763942,-0.588830,-0.263956],[0.615189,0.788059,0.022490],[0.194770,-0.179563,0.964273]]
2025-10-26T21:21:14.640Z,1761513674.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763040
2025-10-26T21:21:14.660Z,1761513674.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:14.663Z,1761513674.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 504.085907 m,
      bearing: 37.561635 deg,
      approach rate: -0.548873 m/s,
      LOS rate: -0.005667 deg/s,
      cmd heading: 38.756727 deg,
      new cmd heading: 38.746225 deg.

2025-10-26T21:21:14.672Z,1761513674.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676249 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:14.893Z,1761513674.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.015771
2025-10-26T21:21:15.147Z,1761513675.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.269358
2025-10-26T21:21:15.208Z,1761513675.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764282,-0.588832,-0.262964],[0.614757,0.788430,0.021277],[0.194800,-0.177921,0.964571]]
2025-10-26T21:21:15.244Z,1761513675.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:15.246Z,1761513675.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:15.249Z,1761513675.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 503.720215 m,
      bearing: 37.557908 deg,
      approach rate: -0.623981 m/s,
      LOS rate: -0.006363 deg/s,
      cmd heading: 38.746225 deg,
      new cmd heading: 38.735039 deg.

2025-10-26T21:21:15.250Z,1761513675.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676054 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:15.397Z,1761513675.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.519316
2025-10-26T21:21:15.648Z,1761513675.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.771184
2025-10-26T21:21:15.744Z,1761513675.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764514,-0.589586,-0.260588],[0.614489,0.788713,0.018310],[0.194734,-0.174127,0.965276]]
2025-10-26T21:21:15.763Z,1761513675.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:15.766Z,1761513675.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 503.412567 m,
      bearing: 37.554780 deg,
      approach rate: -0.595328 m/s,
      LOS rate: -0.006057 deg/s,
      cmd heading: 38.735038 deg,
      new cmd heading: 38.725648 deg.

2025-10-26T21:21:15.766Z,1761513675.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675890 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:15.900Z,1761513675.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.023036
2025-10-26T21:21:16.157Z,1761513676.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.279215
2025-10-26T21:21:16.271Z,1761513676.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:16.274Z,1761513676.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 503.109619 m,
      bearing: 37.552516 deg,
      approach rate: -0.595926 m/s,
      LOS rate: -0.004456 deg/s,
      cmd heading: 38.725646 deg,
      new cmd heading: 38.718850 deg.

2025-10-26T21:21:16.275Z,1761513676.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675771 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:16.404Z,1761513676.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.527048
2025-10-26T21:21:16.606Z,1761513676.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764554,-0.590566,-0.258241],[0.614570,0.788703,0.015840],[0.194321,-0.170818,0.965951]]
2025-10-26T21:21:16.624Z,1761513676.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:16.627Z,1761513676.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 502.899323 m,
      bearing: 37.550940 deg,
      approach rate: -0.595358 m/s,
      LOS rate: -0.004465 deg/s,
      cmd heading: 38.718850 deg,
      new cmd heading: 38.714118 deg.

2025-10-26T21:21:16.644Z,1761513676.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675689 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:16.656Z,1761513676.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.779196
2025-10-26T21:21:16.909Z,1761513676.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.031288
2025-10-26T21:21:17.019Z,1761513677.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764831,-0.590947,-0.256545],[0.614405,0.788856,0.014594],[0.193753,-0.168785,0.966422]]
2025-10-26T21:21:17.038Z,1761513677.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:17.041Z,1761513677.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 502.653320 m,
      bearing: 37.549101 deg,
      approach rate: -0.595053 m/s,
      LOS rate: -0.004450 deg/s,
      cmd heading: 38.714117 deg,
      new cmd heading: 38.708597 deg.

2025-10-26T21:21:17.042Z,1761513677.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675592 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:17.164Z,1761513677.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.285363
2025-10-26T21:21:17.412Z,1761513677.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.535026
2025-10-26T21:21:17.416Z,1761513677.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765127,-0.591132,-0.255233],[0.614161,0.789064,0.013596],[0.193358,-0.167156,0.966784]]
2025-10-26T21:21:17.462Z,1761513677.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:17.464Z,1761513677.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:17.467Z,1761513677.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 502.398254 m,
      bearing: 37.548542 deg,
      approach rate: -0.597918 m/s,
      LOS rate: -0.001311 deg/s,
      cmd heading: 38.708598 deg,
      new cmd heading: 38.706920 deg.

2025-10-26T21:21:17.468Z,1761513677.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675563 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:17.664Z,1761513677.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.787003
2025-10-26T21:21:17.818Z,1761513677.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765607,-0.590669,-0.254867],[0.613681,0.789431,0.013913],[0.192982,-0.167059,0.966876]]
2025-10-26T21:21:17.843Z,1761513677.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:17.846Z,1761513677.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 502.171143 m,
      bearing: 37.548061 deg,
      approach rate: -0.600004 m/s,
      LOS rate: -0.001270 deg/s,
      cmd heading: 38.706921 deg,
      new cmd heading: 38.705479 deg.

2025-10-26T21:21:17.847Z,1761513677.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675538 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:17.919Z,1761513677.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.041211
2025-10-26T21:21:18.175Z,1761513678.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.297412
2025-10-26T21:21:18.230Z,1761513678.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766171,-0.590483,-0.253596],[0.613119,0.789880,0.013183],[0.192526,-0.165584,0.967220]]
2025-10-26T21:21:18.278Z,1761513678.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:18.281Z,1761513678.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 501.914520 m,
      bearing: 37.548308 deg,
      approach rate: -0.589222 m/s,
      LOS rate: 0.000568 deg/s,
      cmd heading: 38.705480 deg,
      new cmd heading: 38.706222 deg.

2025-10-26T21:21:18.282Z,1761513678.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675551 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:18.431Z,1761513678.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.553359
2025-10-26T21:21:18.676Z,1761513678.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:18.679Z,1761513678.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 501.687500 m,
      bearing: 37.548527 deg,
      approach rate: -0.589349 m/s,
      LOS rate: 0.000568 deg/s,
      cmd heading: 38.706221 deg,
      new cmd heading: 38.706878 deg.

2025-10-26T21:21:18.681Z,1761513678.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.803821
2025-10-26T21:21:18.682Z,1761513678.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675562 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:18.932Z,1761513678.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.055057
2025-10-26T21:21:19.030Z,1761513679.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767670,-0.589190,-0.252067],[0.611538,0.791103,0.013289],[0.191581,-0.164351,0.967619]]
2025-10-26T21:21:19.055Z,1761513679.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:19.057Z,1761513679.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 501.456909 m,
      bearing: 37.548807 deg,
      approach rate: -0.589786 m/s,
      LOS rate: 0.000717 deg/s,
      cmd heading: 38.706877 deg,
      new cmd heading: 38.707718 deg.

2025-10-26T21:21:19.058Z,1761513679.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675577 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:19.187Z,1761513679.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.309472
2025-10-26T21:21:19.434Z,1761513679.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768659,-0.588269,-0.251203],[0.610438,0.791953,0.013287],[0.191125,-0.163557,0.967843]]
2025-10-26T21:21:19.436Z,1761513679.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.559188
2025-10-26T21:21:19.491Z,1761513679.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:19.495Z,1761513679.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:19.500Z,1761513679.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 501.200165 m,
      bearing: 37.549962 deg,
      approach rate: -0.583350 m/s,
      LOS rate: 0.002625 deg/s,
      cmd heading: 38.707717 deg,
      new cmd heading: 38.711182 deg.

2025-10-26T21:21:19.502Z,1761513679.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675638 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:19.688Z,1761513679.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.811037
2025-10-26T21:21:19.839Z,1761513679.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769651,-0.587366,-0.250278],[0.609306,0.792828,0.013075],[0.190748,-0.162559,0.968086]]
2025-10-26T21:21:19.867Z,1761513679.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:19.870Z,1761513679.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 500.974884 m,
      bearing: 37.551016 deg,
      approach rate: -0.605716 m/s,
      LOS rate: 0.002834 deg/s,
      cmd heading: 38.711183 deg,
      new cmd heading: 38.714345 deg.

2025-10-26T21:21:19.871Z,1761513679.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675693 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:19.941Z,1761513679.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.063631
2025-10-26T21:21:20.195Z,1761513680.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.317401
2025-10-26T21:21:20.324Z,1761513680.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:20.327Z,1761513680.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 500.709625 m,
      bearing: 37.552803 deg,
      approach rate: -0.579562 m/s,
      LOS rate: 0.003907 deg/s,
      cmd heading: 38.714345 deg,
      new cmd heading: 38.719711 deg.

2025-10-26T21:21:20.328Z,1761513680.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675786 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:20.444Z,1761513680.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.567033
2025-10-26T21:21:20.698Z,1761513680.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.820732
2025-10-26T21:21:20.759Z,1761513680.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771751,-0.584799,-0.249821],[0.606945,0.794604,0.014918],[0.189785,-0.163140,0.968177]]
2025-10-26T21:21:20.796Z,1761513680.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:20.798Z,1761513680.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 500.431824 m,
      bearing: 37.554779 deg,
      approach rate: -0.589649 m/s,
      LOS rate: 0.004197 deg/s,
      cmd heading: 38.719711 deg,
      new cmd heading: 38.725642 deg.

2025-10-26T21:21:20.800Z,1761513680.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675890 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:20.948Z,1761513680.948 [DAT](INFO): Reached modem response timeout
2025-10-26T21:21:20.948Z,1761513680.948 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:20.948Z,1761513680.948 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:21:21.164Z,1761513681.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772753,-0.583715,-0.249258],[0.605755,0.795509,0.015040],[0.189508,-0.162612,0.968320]]
2025-10-26T21:21:21.182Z,1761513681.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:21.184Z,1761513681.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 500.206116 m,
      bearing: 37.556427 deg,
      approach rate: -0.584507 m/s,
      LOS rate: 0.004270 deg/s,
      cmd heading: 38.725643 deg,
      new cmd heading: 38.730590 deg.

2025-10-26T21:21:21.185Z,1761513681.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675976 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:21.200Z,1761513681.200 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:21.452Z,1761513681.452 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:21.659Z,1761513681.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773513,-0.582999,-0.248575],[0.604758,0.796281,0.014312],[0.189592,-0.161398,0.968507]]
2025-10-26T21:21:21.705Z,1761513681.705 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:21.728Z,1761513681.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:21.731Z,1761513681.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:21.734Z,1761513681.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 499.888367 m,
      bearing: 37.559484 deg,
      approach rate: -0.578462 m/s,
      LOS rate: 0.005569 deg/s,
      cmd heading: 38.730591 deg,
      new cmd heading: 38.739767 deg.

2025-10-26T21:21:21.752Z,1761513681.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676136 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:21.956Z,1761513681.956 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:22.062Z,1761513682.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774230,-0.582262,-0.248070],[0.603823,0.796998,0.013852],[0.189646,-0.160516,0.968643]]
2025-10-26T21:21:22.096Z,1761513682.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:22.099Z,1761513682.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 499.671783 m,
      bearing: 37.561600 deg,
      approach rate: -0.594141 m/s,
      LOS rate: 0.005806 deg/s,
      cmd heading: 38.739767 deg,
      new cmd heading: 38.746117 deg.

2025-10-26T21:21:22.100Z,1761513682.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676247 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:22.211Z,1761513682.211 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:22.460Z,1761513682.460 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:22.476Z,1761513682.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774828,-0.581649,-0.247642],[0.603015,0.797618,0.013325],[0.189773,-0.159656,0.968760]]
2025-10-26T21:21:22.533Z,1761513682.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:22.535Z,1761513682.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 499.419434 m,
      bearing: 37.564202 deg,
      approach rate: -0.577160 m/s,
      LOS rate: 0.005955 deg/s,
      cmd heading: 38.746116 deg,
      new cmd heading: 38.753927 deg.

2025-10-26T21:21:22.536Z,1761513682.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676384 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:22.713Z,1761513682.713 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:22.870Z,1761513682.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775393,-0.580710,-0.248078],[0.602201,0.798227,0.013724],[0.190053,-0.160034,0.968643]]
2025-10-26T21:21:22.909Z,1761513682.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:22.912Z,1761513682.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 499.202332 m,
      bearing: 37.566469 deg,
      approach rate: -0.577115 m/s,
      LOS rate: 0.006027 deg/s,
      cmd heading: 38.753926 deg,
      new cmd heading: 38.760729 deg.

2025-10-26T21:21:22.913Z,1761513682.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676502 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:22.966Z,1761513682.966 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:23.216Z,1761513683.216 [DAT](INFO): DAT read: Rx Time:21:21:21.9672

2025-10-26T21:21:23.217Z,1761513683.217 [DAT](INFO): Rx dataTimestamp_ set to:1761513683.216626
2025-10-26T21:21:23.217Z,1761513683.217 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:23.327Z,1761513683.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776141,-0.579656,-0.248202],[0.601015,0.799130,0.013102],[0.190751,-0.159342,0.968620]]
2025-10-26T21:21:23.377Z,1761513683.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:23.380Z,1761513683.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 498.931641 m,
      bearing: 37.569192 deg,
      approach rate: -0.578289 m/s,
      LOS rate: 0.005821 deg/s,
      cmd heading: 38.760729 deg,
      new cmd heading: 38.768903 deg.

2025-10-26T21:21:23.381Z,1761513683.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676645 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:23.470Z,1761513683.470 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:21:23.471Z,1761513683.471 [DAT](INFO): response not received
2025-10-26T21:21:23.472Z,1761513683.472 [DAT](INFO): DAT read: user:179>

2025-10-26T21:21:23.473Z,1761513683.473 [DAT](ERROR): No response from remote modem.
2025-10-26T21:21:23.473Z,1761513683.473 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:23.473Z,1761513683.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:21:23.723Z,1761513683.723 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:23.788Z,1761513683.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776307,-0.579360,-0.248374],[0.600681,0.799386,0.012803],[0.191130,-0.159133,0.968579]]
2025-10-26T21:21:23.816Z,1761513683.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:23.818Z,1761513683.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:23.821Z,1761513683.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 498.679413 m,
      bearing: 37.571743 deg,
      approach rate: -0.571523 m/s,
      LOS rate: 0.005785 deg/s,
      cmd heading: 38.768902 deg,
      new cmd heading: 38.776561 deg.

2025-10-26T21:21:23.822Z,1761513683.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676779 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:23.980Z,1761513683.980 [DAT](INFO): DAT read: 21:21:21.9672 LVL= 32752, 22337, 26610, 32755, AGC= 57, IDX= 428,-0.30,-2.245,-0.399,-0.746,-0.901, PHS=-1.242, 0.547, 0.110, RAW= 283.5,   7.3, CAL= 281.7,   5.3, ROT= 228.3,  -5.3

2025-10-26T21:21:23.982Z,1761513683.982 [DAT](INFO): got valid direction response:
 21:21:21.9672 LVL= 32752, 22337, 26610, 32755, AGC= 57, IDX= 428,-0.30,-2.245,-0.399,-0.746,-0.901, PHS=-1.242, 0.547, 0.110, RAW= 283.5,   7.3, CAL= 281.7,   5.3, ROT= 228.3,  -5.3

2025-10-26T21:21:23.983Z,1761513683.983 [DAT](INFO): DAT read: 

2025-10-26T21:21:23.985Z,1761513683.985 [DAT](INFO): DAT read: $Packet for address 50

2025-10-26T21:21:23.985Z,1761513683.985 [DAT](INFO): received a packet notification
2025-10-26T21:21:23.000Z,1761513684.000 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:21:24.001Z,1761513684.001 [DAT](INFO): direction in FSK: [-0.662386,-0.743446,0.092371]
2025-10-26T21:21:24.004Z,1761513684.004 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:24.164Z,1761513684.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776437,-0.579268,-0.248184],[0.600384,0.799623,0.011946],[0.191533,-0.158281,0.968639]]
2025-10-26T21:21:24.182Z,1761513684.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:24.185Z,1761513684.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 498.466461 m,
      bearing: 37.573908 deg,
      approach rate: -0.585072 m/s,
      LOS rate: 0.005950 deg/s,
      cmd heading: 38.776562 deg,
      new cmd heading: 38.783058 deg.

2025-10-26T21:21:24.186Z,1761513684.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676892 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:24.226Z,1761513684.226 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:24.480Z,1761513684.480 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:24.567Z,1761513684.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776619,-0.578796,-0.248711],[0.600072,0.799850,0.012371],[0.191771,-0.158852,0.968499]]
2025-10-26T21:21:24.610Z,1761513684.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:24.612Z,1761513684.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 498.218597 m,
      bearing: 37.576962 deg,
      approach rate: -0.579964 m/s,
      LOS rate: 0.007149 deg/s,
      cmd heading: 38.783057 deg,
      new cmd heading: 38.792224 deg.

2025-10-26T21:21:24.613Z,1761513684.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677052 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:24.729Z,1761513684.729 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:24.981Z,1761513684.981 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:24.985Z,1761513684.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776476,-0.578877,-0.248969],[0.600148,0.799797,0.012113],[0.192113,-0.158824,0.968436]]
2025-10-26T21:21:25.006Z,1761513685.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:25.048Z,1761513685.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 497.988403 m,
      bearing: 37.579797 deg,
      approach rate: -0.580277 m/s,
      LOS rate: 0.007150 deg/s,
      cmd heading: 38.792223 deg,
      new cmd heading: 38.800733 deg.

2025-10-26T21:21:25.049Z,1761513685.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677201 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:25.232Z,1761513685.232 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:25.408Z,1761513685.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776190,-0.579277,-0.248934],[0.600433,0.799592,0.011510],[0.192378,-0.158402,0.968452]]
2025-10-26T21:21:25.450Z,1761513685.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:25.470Z,1761513685.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 497.729004 m,
      bearing: 37.582674 deg,
      approach rate: -0.584197 m/s,
      LOS rate: 0.006483 deg/s,
      cmd heading: 38.800734 deg,
      new cmd heading: 38.809370 deg.

2025-10-26T21:21:25.476Z,1761513685.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677351 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:25.485Z,1761513685.485 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:25.736Z,1761513685.736 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:25.814Z,1761513685.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775764,-0.579740,-0.249183],[0.600888,0.799255,0.011181],[0.192679,-0.158404,0.968392]]
2025-10-26T21:21:25.831Z,1761513685.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:25.833Z,1761513685.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:25.848Z,1761513685.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 497.505676 m,
      bearing: 37.585137 deg,
      approach rate: -0.583685 m/s,
      LOS rate: 0.006440 deg/s,
      cmd heading: 38.809371 deg,
      new cmd heading: 38.816763 deg.

2025-10-26T21:21:25.849Z,1761513685.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677480 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:25.989Z,1761513685.989 [DAT](INFO): DAT read: Rx Time:21:21:24.5875

2025-10-26T21:21:25.990Z,1761513685.990 [DAT](INFO): Rx dataTimestamp_ set to:1761513685.989664
2025-10-26T21:21:25.991Z,1761513685.991 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:26.206Z,1761513686.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775364,-0.580363,-0.248976],[0.601350,0.798917,0.010457],[0.192843,-0.157830,0.968453]]
2025-10-26T21:21:26.224Z,1761513686.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:26.227Z,1761513686.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 497.276794 m,
      bearing: 37.587648 deg,
      approach rate: -0.585296 m/s,
      LOS rate: 0.006424 deg/s,
      cmd heading: 38.816764 deg,
      new cmd heading: 38.824300 deg.

2025-10-26T21:21:26.240Z,1761513686.240 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:26.244Z,1761513686.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677612 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:26.497Z,1761513686.497 [DAT](INFO): DAT read: 21:21:24.5875 LVL= 19360, 26897, 21538, 25811, AGC= 78, IDX= 123, 0.45, 0.079,-1.495, 0.282,-0.228, PHS= 0.409,-1.222, 0.465, RAW= 151.7,   4.2, CAL= 150.8,   4.2, ROT= 359.2,  -4.2

2025-10-26T21:21:26.498Z,1761513686.498 [DAT](INFO): got valid direction response:
 21:21:24.5875 LVL= 19360, 26897, 21538, 25811, AGC= 78, IDX= 123, 0.45, 0.079,-1.495, 0.282,-0.228, PHS= 0.409,-1.222, 0.465, RAW= 151.7,   4.2, CAL= 150.8,   4.2, ROT= 359.2,  -4.2

2025-10-26T21:21:26.498Z,1761513686.498 [DAT](INFO): DAT read: 

2025-10-26T21:21:26.499Z,1761513686.499 [DAT](INFO): DAT read: $Packet for address 10

2025-10-26T21:21:26.500Z,1761513686.500 [DAT](INFO): received a packet notification
2025-10-26T21:21:26.511Z,1761513686.511 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-26T21:21:26.512Z,1761513686.512 [DAT](INFO): direction in FSK: [0.997217,-0.013925,0.073238]
2025-10-26T21:21:26.516Z,1761513686.516 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:26.516Z,1761513686.516 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:26.516Z,1761513686.516 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:26.650Z,1761513686.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774785,-0.581257,-0.248693],[0.602019,0.798426,0.009427],[0.193084,-0.157022,0.968536]]
2025-10-26T21:21:26.687Z,1761513686.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:26.707Z,1761513686.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 497.012726 m,
      bearing: 37.590472 deg,
      approach rate: -0.570682 m/s,
      LOS rate: 0.006107 deg/s,
      cmd heading: 38.824301 deg,
      new cmd heading: 38.832779 deg.

2025-10-26T21:21:26.713Z,1761513686.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677760 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:26.744Z,1761513686.744 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:26.997Z,1761513686.997 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:27.050Z,1761513687.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774151,-0.582053,-0.248807],[0.602751,0.797880,0.008888],[0.193345,-0.156849,0.968512]]
2025-10-26T21:21:27.082Z,1761513687.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:27.084Z,1761513687.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 496.787170 m,
      bearing: 37.592862 deg,
      approach rate: -0.571211 m/s,
      LOS rate: 0.006054 deg/s,
      cmd heading: 38.832778 deg,
      new cmd heading: 38.839949 deg.

2025-10-26T21:21:27.085Z,1761513687.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677885 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:27.248Z,1761513687.248 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:27.454Z,1761513687.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773327,-0.583337,-0.248361],[0.603728,0.797155,0.007530],[0.193590,-0.155765,0.968638]]
2025-10-26T21:21:27.500Z,1761513687.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:27.516Z,1761513687.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:27.519Z,1761513687.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 496.532684 m,
      bearing: 37.595157 deg,
      approach rate: -0.585540 m/s,
      LOS rate: 0.005284 deg/s,
      cmd heading: 38.839949 deg,
      new cmd heading: 38.846839 deg.

2025-10-26T21:21:27.520Z,1761513687.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678005 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:27.753Z,1761513687.753 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:27.861Z,1761513687.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772657,-0.584271,-0.248250],[0.604459,0.796610,0.006459],[0.193985,-0.155047,0.968674]]
2025-10-26T21:21:27.877Z,1761513687.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:27.879Z,1761513687.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:27.882Z,1761513687.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 496.320221 m,
      bearing: 37.597051 deg,
      approach rate: -0.585242 m/s,
      LOS rate: 0.005220 deg/s,
      cmd heading: 38.846838 deg,
      new cmd heading: 38.852523 deg.

2025-10-26T21:21:27.883Z,1761513687.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678104 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:28.004Z,1761513688.004 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:28.256Z,1761513688.256 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:28.265Z,1761513688.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771807,-0.585809,-0.247268],[0.605464,0.795861,0.004363],[0.194235,-0.153079,0.968937]]
2025-10-26T21:21:28.288Z,1761513688.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:28.290Z,1761513688.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 496.083405 m,
      bearing: 37.599131 deg,
      approach rate: -0.580181 m/s,
      LOS rate: 0.005099 deg/s,
      cmd heading: 38.852524 deg,
      new cmd heading: 38.858767 deg.

2025-10-26T21:21:28.291Z,1761513688.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678213 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:28.508Z,1761513688.508 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:28.666Z,1761513688.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770884,-0.587337,-0.246522],[0.606571,0.795025,0.002629],[0.194447,-0.151559,0.969134]]
2025-10-26T21:21:28.734Z,1761513688.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:28.738Z,1761513688.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 495.829956 m,
      bearing: 37.600210 deg,
      approach rate: -0.567069 m/s,
      LOS rate: 0.002414 deg/s,
      cmd heading: 38.858766 deg,
      new cmd heading: 38.862003 deg.

2025-10-26T21:21:28.738Z,1761513688.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678270 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:28.760Z,1761513688.760 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:28.904Z,1761513688.904 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:21:29.012Z,1761513689.012 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:29.071Z,1761513689.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769761,-0.589051,-0.245942],[0.607876,0.794032,0.000787],[0.194822,-0.150108,0.969284]]
2025-10-26T21:21:29.089Z,1761513689.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:29.091Z,1761513689.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 495.614227 m,
      bearing: 37.601087 deg,
      approach rate: -0.608803 m/s,
      LOS rate: 0.002477 deg/s,
      cmd heading: 38.862004 deg,
      new cmd heading: 38.864637 deg.

2025-10-26T21:21:29.092Z,1761513689.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678316 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:29.264Z,1761513689.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:29.485Z,1761513689.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768885,-0.590395,-0.245457],[0.608875,0.793266,-0.000753],[0.195157,-0.148874,0.969407]]
2025-10-26T21:21:29.516Z,1761513689.516 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:29.523Z,1761513689.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:29.525Z,1761513689.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 495.356750 m,
      bearing: 37.601158 deg,
      approach rate: -0.593441 m/s,
      LOS rate: 0.000163 deg/s,
      cmd heading: 38.864637 deg,
      new cmd heading: 38.864849 deg.

2025-10-26T21:21:29.526Z,1761513689.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678320 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:29.769Z,1761513689.769 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:29.878Z,1761513689.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767818,-0.592076,-0.244748],[0.610137,0.792292,-0.002543],[0.195418,-0.147377,0.969583]]
2025-10-26T21:21:29.894Z,1761513689.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:29.897Z,1761513689.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:29.900Z,1761513689.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 495.133698 m,
      bearing: 37.601177 deg,
      approach rate: -0.595690 m/s,
      LOS rate: 0.000053 deg/s,
      cmd heading: 38.864849 deg,
      new cmd heading: 38.864908 deg.

2025-10-26T21:21:29.901Z,1761513689.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678321 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:29.916Z,1761513689.916 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:21:30.020Z,1761513690.020 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:30.273Z,1761513690.273 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:30.283Z,1761513690.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766694,-0.593424,-0.245005],[0.611408,0.791308,-0.003340],[0.195857,-0.147238,0.969516]]
2025-10-26T21:21:30.310Z,1761513690.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:30.321Z,1761513690.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 494.887512 m,
      bearing: 37.601150 deg,
      approach rate: -0.596709 m/s,
      LOS rate: -0.000066 deg/s,
      cmd heading: 38.864907 deg,
      new cmd heading: 38.864826 deg.

2025-10-26T21:21:30.322Z,1761513690.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678319 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:30.524Z,1761513690.524 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:30.686Z,1761513690.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765613,-0.594924,-0.244747],[0.612669,0.790327,-0.004565],[0.196146,-0.146454,0.969576]]
2025-10-26T21:21:30.748Z,1761513690.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:30.751Z,1761513690.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 494.626556 m,
      bearing: 37.600090 deg,
      approach rate: -0.594778 m/s,
      LOS rate: -0.002419 deg/s,
      cmd heading: 38.864825 deg,
      new cmd heading: 38.861641 deg.

2025-10-26T21:21:30.752Z,1761513690.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678264 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:30.776Z,1761513690.776 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:31.029Z,1761513691.029 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:31.123Z,1761513691.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:31.126Z,1761513691.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 494.403473 m,
      bearing: 37.599182 deg,
      approach rate: -0.595297 m/s,
      LOS rate: -0.002423 deg/s,
      cmd heading: 38.861642 deg,
      new cmd heading: 38.858918 deg.

2025-10-26T21:21:31.127Z,1761513691.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678216 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:31.280Z,1761513691.280 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:31.494Z,1761513691.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763299,-0.597814,-0.244933],[0.615276,0.788284,-0.006562],[0.197000,-0.145693,0.969518]]
2025-10-26T21:21:31.532Z,1761513691.532 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:31.556Z,1761513691.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:31.558Z,1761513691.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 494.145081 m,
      bearing: 37.597564 deg,
      approach rate: -0.597772 m/s,
      LOS rate: -0.003746 deg/s,
      cmd heading: 38.858917 deg,
      new cmd heading: 38.854059 deg.

2025-10-26T21:21:31.560Z,1761513691.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678131 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:31.784Z,1761513691.784 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:31.900Z,1761513691.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762247,-0.598995,-0.245326],[0.616469,0.787348,-0.006994],[0.197346,-0.145905,0.969415]]
2025-10-26T21:21:31.916Z,1761513691.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:31.918Z,1761513691.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:31.921Z,1761513691.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 493.928375 m,
      bearing: 37.596164 deg,
      approach rate: -0.597330 m/s,
      LOS rate: -0.003860 deg/s,
      cmd heading: 38.854060 deg,
      new cmd heading: 38.849860 deg.

2025-10-26T21:21:31.922Z,1761513691.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678058 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:32.036Z,1761513692.036 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:32.292Z,1761513692.292 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:32.304Z,1761513692.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761378,-0.599810,-0.246031],[0.617472,0.786564,-0.006745],[0.197564,-0.146782,0.969239]]
2025-10-26T21:21:32.330Z,1761513692.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:32.336Z,1761513692.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 493.681793 m,
      bearing: 37.594531 deg,
      approach rate: -0.598369 m/s,
      LOS rate: -0.003966 deg/s,
      cmd heading: 38.849860 deg,
      new cmd heading: 38.844957 deg.

2025-10-26T21:21:32.337Z,1761513692.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677972 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:32.544Z,1761513692.544 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:32.712Z,1761513692.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760511,-0.600433,-0.247189],[0.618429,0.785817,-0.006103],[0.197910,-0.148227,0.968948]]
2025-10-26T21:21:32.762Z,1761513692.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:32.765Z,1761513692.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 493.420166 m,
      bearing: 37.592710 deg,
      approach rate: -0.605871 m/s,
      LOS rate: -0.004219 deg/s,
      cmd heading: 38.844956 deg,
      new cmd heading: 38.839491 deg.

2025-10-26T21:21:32.766Z,1761513692.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677877 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:32.796Z,1761513692.796 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:33.048Z,1761513693.048 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:33.110Z,1761513693.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759768,-0.601046,-0.247983],[0.619269,0.785158,-0.005707],[0.198136,-0.149232,0.968748]]
2025-10-26T21:21:33.136Z,1761513693.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:33.138Z,1761513693.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 493.193817 m,
      bearing: 37.591103 deg,
      approach rate: -0.606274 m/s,
      LOS rate: -0.004306 deg/s,
      cmd heading: 38.839492 deg,
      new cmd heading: 38.834669 deg.

2025-10-26T21:21:33.139Z,1761513693.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677793 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:33.300Z,1761513693.300 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:33.514Z,1761513693.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758900,-0.601742,-0.248951],[0.620171,0.784447,-0.005572],[0.198642,-0.150164,0.968500]]
2025-10-26T21:21:33.552Z,1761513693.552 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:33.566Z,1761513693.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:33.569Z,1761513693.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 492.928619 m,
      bearing: 37.589422 deg,
      approach rate: -0.616351 m/s,
      LOS rate: -0.003909 deg/s,
      cmd heading: 38.834670 deg,
      new cmd heading: 38.829623 deg.

2025-10-26T21:21:33.569Z,1761513693.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677705 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:33.808Z,1761513693.808 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:33.919Z,1761513693.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758277,-0.602059,-0.250080],[0.620830,0.783930,-0.004841],[0.198960,-0.151587,0.968213]]
2025-10-26T21:21:33.937Z,1761513693.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:33.938Z,1761513693.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:33.943Z,1761513693.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 492.699249 m,
      bearing: 37.587943 deg,
      approach rate: -0.615059 m/s,
      LOS rate: -0.003969 deg/s,
      cmd heading: 38.829622 deg,
      new cmd heading: 38.825182 deg.

2025-10-26T21:21:33.946Z,1761513693.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677627 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:34.057Z,1761513694.057 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:34.309Z,1761513694.309 [DAT](INFO): DAT read: Rx Time:21:21:32.9202

2025-10-26T21:21:34.309Z,1761513694.309 [DAT](INFO): Rx dataTimestamp_ set to:1761513694.308783
2025-10-26T21:21:34.309Z,1761513694.309 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:34.325Z,1761513694.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757985,-0.602149,-0.250751],[0.621125,0.783700,-0.004389],[0.199157,-0.152421,0.968042]]
2025-10-26T21:21:34.343Z,1761513694.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:34.345Z,1761513694.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 492.449432 m,
      bearing: 37.586318 deg,
      approach rate: -0.618186 m/s,
      LOS rate: -0.004023 deg/s,
      cmd heading: 38.825182 deg,
      new cmd heading: 38.820305 deg.

2025-10-26T21:21:34.346Z,1761513694.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677542 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:34.560Z,1761513694.560 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:34.747Z,1761513694.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757907,-0.601692,-0.252080],[0.621174,0.783667,-0.002914],[0.199300,-0.154377,0.967702]]
2025-10-26T21:21:34.817Z,1761513694.817 [DAT](INFO): DAT read: 21:21:32.9202 LVL= 32752, 22801, 26386, 32755, AGC= 59, IDX= 298,-0.38, 1.412,-2.959, 2.850, 2.751, PHS=-1.237, 0.618, 0.055, RAW= 287.2,   6.9, CAL= 285.3,   4.7, ROT= 224.7,  -4.7

2025-10-26T21:21:34.818Z,1761513694.818 [DAT](INFO): got valid direction response:
 21:21:32.9202 LVL= 32752, 22801, 26386, 32755, AGC= 59, IDX= 298,-0.38, 1.412,-2.959, 2.850, 2.751, PHS=-1.237, 0.618, 0.055, RAW= 287.2,   6.9, CAL= 285.3,   4.7, ROT= 224.7,  -4.7

2025-10-26T21:21:34.818Z,1761513694.818 [DAT](INFO): DAT read: 

2025-10-26T21:21:34.819Z,1761513694.819 [DAT](INFO): DAT read: $Packet for address 50

2025-10-26T21:21:34.819Z,1761513694.819 [DAT](INFO): received a packet notification
2025-10-26T21:21:34.832Z,1761513694.832 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-26T21:21:34.833Z,1761513694.833 [DAT](INFO): direction in FSK: [-0.708409,-0.701029,0.081939]
2025-10-26T21:21:34.836Z,1761513694.836 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:34.837Z,1761513694.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:34.844Z,1761513694.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 492.157745 m,
      bearing: 37.586152 deg,
      approach rate: -0.589876 m/s,
      LOS rate: -0.000335 deg/s,
      cmd heading: 38.820306 deg,
      new cmd heading: 38.819809 deg.

2025-10-26T21:21:34.845Z,1761513694.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677534 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:35.064Z,1761513695.064 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:35.166Z,1761513695.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757978,-0.601002,-0.253507],[0.621011,0.783801,-0.001394],[0.199537,-0.156373,0.967333]]
2025-10-26T21:21:35.186Z,1761513695.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:35.189Z,1761513695.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 491.927765 m,
      bearing: 37.586027 deg,
      approach rate: -0.659580 m/s,
      LOS rate: -0.000359 deg/s,
      cmd heading: 38.819810 deg,
      new cmd heading: 38.819435 deg.

2025-10-26T21:21:35.190Z,1761513695.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677527 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:35.316Z,1761513695.316 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:35.566Z,1761513695.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758060,-0.600438,-0.254596],[0.620809,0.783962,-0.000430],[0.199852,-0.157730,0.967047]]
2025-10-26T21:21:35.568Z,1761513695.568 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:35.618Z,1761513695.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:35.621Z,1761513695.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 491.660461 m,
      bearing: 37.586816 deg,
      approach rate: -0.618946 m/s,
      LOS rate: 0.001828 deg/s,
      cmd heading: 38.819435 deg,
      new cmd heading: 38.821803 deg.

2025-10-26T21:21:35.622Z,1761513695.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677568 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:35.820Z,1761513695.820 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:21:35.821Z,1761513695.821 [DAT](INFO): response not received
2025-10-26T21:21:35.821Z,1761513695.821 [DAT](INFO): DAT read: user:180>

2025-10-26T21:21:35.822Z,1761513695.822 [DAT](INFO): DAT read: Tx time:21:21:35.0459

2025-10-26T21:21:35.822Z,1761513695.822 [DAT](INFO): Ping request sent.
2025-10-26T21:21:35.822Z,1761513695.822 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:21:35.822Z,1761513695.822 [DAT](INFO): publishing transmit ping time
2025-10-26T21:21:36.010Z,1761513696.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:36.012Z,1761513696.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:36.014Z,1761513696.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 491.416809 m,
      bearing: 37.587536 deg,
      approach rate: -0.618520 m/s,
      LOS rate: 0.001829 deg/s,
      cmd heading: 38.821801 deg,
      new cmd heading: 38.823962 deg.

2025-10-26T21:21:36.016Z,1761513696.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677606 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:36.072Z,1761513696.072 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:36.072Z,1761513696.072 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:36.073Z,1761513696.073 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:36.324Z,1761513696.324 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:36.324Z,1761513696.324 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:36.324Z,1761513696.324 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:36.375Z,1761513696.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758669,-0.598857,-0.256498],[0.619974,0.784620,0.001870],[0.200134,-0.160440,0.966543]]
2025-10-26T21:21:36.415Z,1761513696.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:36.432Z,1761513696.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 491.172882 m,
      bearing: 37.588288 deg,
      approach rate: -0.610365 m/s,
      LOS rate: 0.001883 deg/s,
      cmd heading: 38.823963 deg,
      new cmd heading: 38.826221 deg.

2025-10-26T21:21:36.444Z,1761513696.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677645 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:36.576Z,1761513696.576 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:36.577Z,1761513696.577 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:36.577Z,1761513696.577 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:36.818Z,1761513696.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758837,-0.598210,-0.257509],[0.619538,0.784964,0.002155],[0.200846,-0.161172,0.966273]]
2025-10-26T21:21:36.828Z,1761513696.828 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:36.828Z,1761513696.828 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:36.828Z,1761513696.828 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:36.856Z,1761513696.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:36.859Z,1761513696.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 490.899536 m,
      bearing: 37.590568 deg,
      approach rate: -0.614658 m/s,
      LOS rate: 0.005129 deg/s,
      cmd heading: 38.826221 deg,
      new cmd heading: 38.833063 deg.

2025-10-26T21:21:36.860Z,1761513696.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677765 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:37.081Z,1761513697.081 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:37.081Z,1761513697.081 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:37.081Z,1761513697.081 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:37.219Z,1761513697.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759100,-0.597553,-0.258260],[0.619023,0.785370,0.002323],[0.201441,-0.161632,0.966073]]
2025-10-26T21:21:37.253Z,1761513697.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:37.256Z,1761513697.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 490.668732 m,
      bearing: 37.592511 deg,
      approach rate: -0.581732 m/s,
      LOS rate: 0.004899 deg/s,
      cmd heading: 38.833064 deg,
      new cmd heading: 38.838896 deg.

2025-10-26T21:21:37.257Z,1761513697.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677867 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:37.332Z,1761513697.332 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:37.332Z,1761513697.332 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:37.332Z,1761513697.332 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:37.584Z,1761513697.584 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:37.584Z,1761513697.584 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:37.584Z,1761513697.584 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:37.629Z,1761513697.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759394,-0.596596,-0.259604],[0.618230,0.785994,0.002154],[0.202763,-0.162131,0.965713]]
2025-10-26T21:21:37.678Z,1761513697.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:37.681Z,1761513697.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 490.409271 m,
      bearing: 37.595738 deg,
      approach rate: -0.610409 m/s,
      LOS rate: 0.007598 deg/s,
      cmd heading: 38.838894 deg,
      new cmd heading: 38.848582 deg.

2025-10-26T21:21:37.682Z,1761513697.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678036 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:37.836Z,1761513697.836 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:37.836Z,1761513697.836 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:37.836Z,1761513697.836 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:38.028Z,1761513698.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760004,-0.595234,-0.260940],[0.617211,0.786793,0.002900],[0.203580,-0.163259,0.965351]]
2025-10-26T21:21:38.050Z,1761513698.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:38.053Z,1761513698.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:38.055Z,1761513698.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 490.189087 m,
      bearing: 37.598512 deg,
      approach rate: -0.587403 m/s,
      LOS rate: 0.007401 deg/s,
      cmd heading: 38.848583 deg,
      new cmd heading: 38.856906 deg.

2025-10-26T21:21:38.056Z,1761513698.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678181 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:38.089Z,1761513698.089 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:38.089Z,1761513698.089 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:38.089Z,1761513698.089 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:38.340Z,1761513698.340 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:38.340Z,1761513698.340 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:38.340Z,1761513698.340 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:38.444Z,1761513698.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760750,-0.594186,-0.261157],[0.616152,0.787622,0.002846],[0.204002,-0.163078,0.965292]]
2025-10-26T21:21:38.528Z,1761513698.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:38.531Z,1761513698.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 489.918640 m,
      bearing: 37.601964 deg,
      approach rate: -0.568429 m/s,
      LOS rate: 0.007260 deg/s,
      cmd heading: 38.856905 deg,
      new cmd heading: 38.867267 deg.

2025-10-26T21:21:38.536Z,1761513698.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678362 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:38.593Z,1761513698.593 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:38.593Z,1761513698.593 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:38.593Z,1761513698.593 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:38.838Z,1761513698.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761516,-0.593100,-0.261392],[0.615113,0.788433,0.003057],[0.204277,-0.163113,0.965228]]
2025-10-26T21:21:38.844Z,1761513698.844 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:38.845Z,1761513698.845 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:38.845Z,1761513698.845 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:38.921Z,1761513698.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:38.928Z,1761513698.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 489.693176 m,
      bearing: 37.604634 deg,
      approach rate: -0.574340 m/s,
      LOS rate: 0.006805 deg/s,
      cmd heading: 38.867267 deg,
      new cmd heading: 38.875281 deg.

2025-10-26T21:21:38.929Z,1761513698.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678502 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:39.096Z,1761513699.096 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:39.096Z,1761513699.096 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:39.096Z,1761513699.096 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:39.282Z,1761513699.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:39.284Z,1761513699.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 489.471130 m,
      bearing: 37.607266 deg,
      approach rate: -0.615787 m/s,
      LOS rate: 0.007302 deg/s,
      cmd heading: 38.875282 deg,
      new cmd heading: 38.883181 deg.

2025-10-26T21:21:39.285Z,1761513699.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678640 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:39.349Z,1761513699.349 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:39.349Z,1761513699.349 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:39.349Z,1761513699.349 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:39.600Z,1761513699.600 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:39.600Z,1761513699.600 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:39.600Z,1761513699.600 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:39.654Z,1761513699.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762150,-0.591940,-0.262173],[0.613950,0.789341,0.002591],[0.205410,-0.162936,0.965017]]
2025-10-26T21:21:39.718Z,1761513699.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:39.722Z,1761513699.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 489.213501 m,
      bearing: 37.610281 deg,
      approach rate: -0.590854 m/s,
      LOS rate: 0.006919 deg/s,
      cmd heading: 38.883181 deg,
      new cmd heading: 38.892231 deg.

2025-10-26T21:21:39.724Z,1761513699.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678797 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:39.852Z,1761513699.852 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:39.852Z,1761513699.852 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:39.852Z,1761513699.852 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:40.050Z,1761513700.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762483,-0.591256,-0.262747],[0.613342,0.789813,0.002591],[0.205989,-0.163130,0.964861]]
2025-10-26T21:21:40.074Z,1761513700.074 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:40.076Z,1761513700.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:40.079Z,1761513700.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 489.000092 m,
      bearing: 37.612799 deg,
      approach rate: -0.595371 m/s,
      LOS rate: 0.007028 deg/s,
      cmd heading: 38.892231 deg,
      new cmd heading: 38.899788 deg.

2025-10-26T21:21:40.098Z,1761513700.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678929 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:40.104Z,1761513700.104 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:40.104Z,1761513700.104 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:40.104Z,1761513700.104 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:40.360Z,1761513700.360 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:40.360Z,1761513700.360 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:40.360Z,1761513700.360 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:40.471Z,1761513700.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762975,-0.590315,-0.263436],[0.612522,0.790449,0.002754],[0.206607,-0.163462,0.964673]]
2025-10-26T21:21:40.555Z,1761513700.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:40.562Z,1761513700.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 488.728180 m,
      bearing: 37.616041 deg,
      approach rate: -0.567830 m/s,
      LOS rate: 0.006774 deg/s,
      cmd heading: 38.899789 deg,
      new cmd heading: 38.909520 deg.

2025-10-26T21:21:40.563Z,1761513700.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679099 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:40.609Z,1761513700.609 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:40.609Z,1761513700.609 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:40.610Z,1761513700.610 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:40.860Z,1761513700.860 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:40.860Z,1761513700.860 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:40.860Z,1761513700.860 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:40.973Z,1761513700.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:40.980Z,1761513700.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 488.477509 m,
      bearing: 37.618499 deg,
      approach rate: -0.599837 m/s,
      LOS rate: 0.005885 deg/s,
      cmd heading: 38.909522 deg,
      new cmd heading: 38.916900 deg.

2025-10-26T21:21:40.981Z,1761513700.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679228 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:41.112Z,1761513701.112 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:41.112Z,1761513701.112 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:41.112Z,1761513701.112 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:41.304Z,1761513701.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763832,-0.588449,-0.265120],[0.610829,0.791759,0.002491],[0.208445,-0.163846,0.964212]]
2025-10-26T21:21:41.323Z,1761513701.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:41.325Z,1761513701.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 488.271240 m,
      bearing: 37.620571 deg,
      approach rate: -0.589719 m/s,
      LOS rate: 0.005924 deg/s,
      cmd heading: 38.916902 deg,
      new cmd heading: 38.923118 deg.

2025-10-26T21:21:41.326Z,1761513701.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679337 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:41.365Z,1761513701.365 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:41.365Z,1761513701.365 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:41.365Z,1761513701.365 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:41.616Z,1761513701.616 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:41.616Z,1761513701.616 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:41.616Z,1761513701.616 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:41.704Z,1761513701.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764346,-0.587593,-0.265535],[0.610081,0.792334,0.002798],[0.208748,-0.164136,0.964097]]
2025-10-26T21:21:41.762Z,1761513701.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:41.765Z,1761513701.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 488.015411 m,
      bearing: 37.621727 deg,
      approach rate: -0.581909 m/s,
      LOS rate: 0.002632 deg/s,
      cmd heading: 38.923117 deg,
      new cmd heading: 38.926589 deg.

2025-10-26T21:21:41.766Z,1761513701.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679397 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:41.868Z,1761513701.868 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:41.868Z,1761513701.868 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:41.869Z,1761513701.869 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:42.110Z,1761513702.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764816,-0.586836,-0.265856],[0.609382,0.792872,0.002931],[0.209069,-0.164249,0.964008]]
2025-10-26T21:21:42.120Z,1761513702.120 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:42.120Z,1761513702.120 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:42.120Z,1761513702.120 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:42.128Z,1761513702.128 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:42.130Z,1761513702.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:42.133Z,1761513702.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 487.801575 m,
      bearing: 37.622717 deg,
      approach rate: -0.581481 m/s,
      LOS rate: 0.002691 deg/s,
      cmd heading: 38.926590 deg,
      new cmd heading: 38.929560 deg.

2025-10-26T21:21:42.134Z,1761513702.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679449 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:42.372Z,1761513702.372 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:42.372Z,1761513702.372 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:42.372Z,1761513702.372 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:42.535Z,1761513702.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765292,-0.586153,-0.265993],[0.608689,0.793404,0.002888],[0.209347,-0.164117,0.963971]]
2025-10-26T21:21:42.595Z,1761513702.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:42.602Z,1761513702.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 487.535461 m,
      bearing: 37.623976 deg,
      approach rate: -0.572460 m/s,
      LOS rate: 0.002711 deg/s,
      cmd heading: 38.929558 deg,
      new cmd heading: 38.933339 deg.

2025-10-26T21:21:42.603Z,1761513702.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679515 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:42.624Z,1761513702.624 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:42.624Z,1761513702.624 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:42.625Z,1761513702.625 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:42.876Z,1761513702.876 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:42.876Z,1761513702.876 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:42.876Z,1761513702.876 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:42.971Z,1761513702.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765512,-0.585803,-0.266130],[0.608233,0.793755,0.002352],[0.209864,-0.163670,0.963934]]
2025-10-26T21:21:43.018Z,1761513703.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:43.021Z,1761513703.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 487.282166 m,
      bearing: 37.624451 deg,
      approach rate: -0.598398 m/s,
      LOS rate: 0.001123 deg/s,
      cmd heading: 38.933338 deg,
      new cmd heading: 38.934764 deg.

2025-10-26T21:21:43.022Z,1761513703.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679540 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:43.128Z,1761513703.128 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:43.128Z,1761513703.128 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:43.128Z,1761513703.128 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:43.338Z,1761513703.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766032,-0.585086,-0.266212],[0.607498,0.794318,0.002322],[0.210099,-0.163502,0.963912]]
2025-10-26T21:21:43.374Z,1761513703.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:43.377Z,1761513703.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 487.083923 m,
      bearing: 37.624845 deg,
      approach rate: -0.556787 m/s,
      LOS rate: 0.001107 deg/s,
      cmd heading: 38.934763 deg,
      new cmd heading: 38.935944 deg.

2025-10-26T21:21:43.378Z,1761513703.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679560 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:43.380Z,1761513703.380 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:43.380Z,1761513703.380 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:43.380Z,1761513703.380 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:43.632Z,1761513703.632 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:43.632Z,1761513703.632 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:43.633Z,1761513703.633 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:43.745Z,1761513703.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766385,-0.584936,-0.265525],[0.607053,0.794660,0.001547],[0.210097,-0.162373,0.964103]]
2025-10-26T21:21:43.782Z,1761513703.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:43.785Z,1761513703.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 486.827637 m,
      bearing: 37.624124 deg,
      approach rate: -0.628341 m/s,
      LOS rate: -0.001768 deg/s,
      cmd heading: 38.935944 deg,
      new cmd heading: 38.933780 deg.

2025-10-26T21:21:43.786Z,1761513703.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679523 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:43.884Z,1761513703.884 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:43.884Z,1761513703.884 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:43.884Z,1761513703.884 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:44.136Z,1761513704.136 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:44.136Z,1761513704.136 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:44.136Z,1761513704.136 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:44.148Z,1761513704.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766382,-0.584952,-0.265500],[0.607032,0.794676,0.001394],[0.210171,-0.162235,0.964110]]
2025-10-26T21:21:44.164Z,1761513704.164 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:44.166Z,1761513704.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:44.169Z,1761513704.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 486.596954 m,
      bearing: 37.623475 deg,
      approach rate: -0.600646 m/s,
      LOS rate: -0.001691 deg/s,
      cmd heading: 38.933779 deg,
      new cmd heading: 38.931831 deg.

2025-10-26T21:21:44.170Z,1761513704.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679489 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:44.388Z,1761513704.388 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:44.388Z,1761513704.388 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:44.388Z,1761513704.388 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:44.585Z,1761513704.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766513,-0.584594,-0.265910],[0.606810,0.794845,0.001753],[0.210332,-0.162701,0.963996]]
2025-10-26T21:21:44.648Z,1761513704.648 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:44.648Z,1761513704.648 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:44.648Z,1761513704.648 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:44.654Z,1761513704.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:44.661Z,1761513704.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 486.307251 m,
      bearing: 37.622774 deg,
      approach rate: -0.594263 m/s,
      LOS rate: -0.001438 deg/s,
      cmd heading: 38.931832 deg,
      new cmd heading: 38.929729 deg.

2025-10-26T21:21:44.662Z,1761513704.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679452 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:44.903Z,1761513704.903 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:44.903Z,1761513704.903 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:44.903Z,1761513704.903 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:44.968Z,1761513704.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766463,-0.584362,-0.266562],[0.606745,0.794894,0.002033],[0.210700,-0.163294,0.963816]]
2025-10-26T21:21:44.988Z,1761513704.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:44.990Z,1761513704.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 486.096985 m,
      bearing: 37.622265 deg,
      approach rate: -0.629873 m/s,
      LOS rate: -0.001525 deg/s,
      cmd heading: 38.929729 deg,
      new cmd heading: 38.928201 deg.

2025-10-26T21:21:44.991Z,1761513704.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679425 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:45.152Z,1761513705.152 [DAT](INFO): DAT read: Rx Time:21:21:43.8748

2025-10-26T21:21:45.153Z,1761513705.153 [DAT](INFO): Rx dataTimestamp_ set to:1761513705.152605
2025-10-26T21:21:45.153Z,1761513705.153 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:45.153Z,1761513705.153 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:45.153Z,1761513705.153 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:45.358Z,1761513705.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766152,-0.585019,-0.266015],[0.607046,0.794666,0.000732],[0.210965,-0.162045,0.963969]]
2025-10-26T21:21:45.400Z,1761513705.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:45.402Z,1761513705.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 485.855499 m,
      bearing: 37.621668 deg,
      approach rate: -0.609709 m/s,
      LOS rate: -0.001508 deg/s,
      cmd heading: 38.928202 deg,
      new cmd heading: 38.926410 deg.

2025-10-26T21:21:45.404Z,1761513705.404 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:45.404Z,1761513705.404 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:45.404Z,1761513705.404 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:45.405Z,1761513705.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679394 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:45.658Z,1761513705.658 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:45.659Z,1761513705.659 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:45.660Z,1761513705.660 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:45.763Z,1761513705.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765808,-0.586046,-0.264743],[0.607462,0.794348,-0.001230],[0.211019,-0.159879,0.964318]]
2025-10-26T21:21:45.799Z,1761513705.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:45.817Z,1761513705.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 485.599792 m,
      bearing: 37.620483 deg,
      approach rate: -0.615961 m/s,
      LOS rate: -0.002858 deg/s,
      cmd heading: 38.926409 deg,
      new cmd heading: 38.922850 deg.

2025-10-26T21:21:45.818Z,1761513705.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679332 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:45.915Z,1761513705.915 [DAT](INFO): DAT read: 21:21:43.8748 LVL= 32752, 24049, 27442, 32755, AGC= 57, IDX= 473, 0.20, 2.871,-1.521,-1.962,-2.122, PHS=-1.188, 0.646, 0.116, RAW= 286.3,   5.3, CAL= 284.5,   0.3, ROT= 225.5,  -0.3

2025-10-26T21:21:45.921Z,1761513705.921 [DAT](INFO): got valid direction response:
 21:21:43.8748 LVL= 32752, 24049, 27442, 32755, AGC= 57, IDX= 473, 0.20, 2.871,-1.521,-1.962,-2.122, PHS=-1.188, 0.646, 0.116, RAW= 286.3,   5.3, CAL= 284.5,   0.3, ROT= 225.5,  -0.3

2025-10-26T21:21:45.922Z,1761513705.922 [DAT](INFO): DAT read: 

2025-10-26T21:21:45.923Z,1761513705.923 [DAT](INFO): DAT read: $Packet for address 50

2025-10-26T21:21:45.924Z,1761513705.924 [DAT](INFO): received a packet notification
2025-10-26T21:21:45.937Z,1761513705.937 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-26T21:21:45.940Z,1761513705.940 [DAT](INFO): direction in FSK: [-0.700900,-0.713241,0.005236]
2025-10-26T21:21:45.963Z,1761513705.963 [DAT](INFO): Reached modem response timeout
2025-10-26T21:21:45.963Z,1761513705.963 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:45.963Z,1761513705.963 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:45.964Z,1761513705.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:21:46.160Z,1761513706.160 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:46.168Z,1761513706.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765475,-0.586643,-0.264381],[0.607759,0.794118,-0.002416],[0.211367,-0.158831,0.964415]]
2025-10-26T21:21:46.185Z,1761513706.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:46.186Z,1761513706.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:46.189Z,1761513706.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 485.361145 m,
      bearing: 37.619363 deg,
      approach rate: -0.615179 m/s,
      LOS rate: -0.002889 deg/s,
      cmd heading: 38.922851 deg,
      new cmd heading: 38.919489 deg.

2025-10-26T21:21:46.190Z,1761513706.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679273 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:46.414Z,1761513706.414 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:46.597Z,1761513706.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765221,-0.587120,-0.264059],[0.607967,0.793955,-0.003475],[0.211691,-0.157880,0.964500]]
2025-10-26T21:21:46.650Z,1761513706.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:46.653Z,1761513706.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 485.082397 m,
      bearing: 37.618042 deg,
      approach rate: -0.600971 m/s,
      LOS rate: -0.002849 deg/s,
      cmd heading: 38.919490 deg,
      new cmd heading: 38.915526 deg.

2025-10-26T21:21:46.654Z,1761513706.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679204 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:46.664Z,1761513706.664 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:46.918Z,1761513706.918 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:46.977Z,1761513706.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764698,-0.588389,-0.262745],[0.608466,0.793556,-0.006193],[0.212146,-0.155136,0.964845]]
2025-10-26T21:21:47.029Z,1761513707.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:47.032Z,1761513707.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 484.847626 m,
      bearing: 37.617029 deg,
      approach rate: -0.619696 m/s,
      LOS rate: -0.002675 deg/s,
      cmd heading: 38.915525 deg,
      new cmd heading: 38.912485 deg.

2025-10-26T21:21:47.033Z,1761513707.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679151 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:47.168Z,1761513707.168 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:47.379Z,1761513707.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764552,-0.588562,-0.262782],[0.608490,0.793531,-0.006928],[0.212604,-0.154603,0.964830]]
2025-10-26T21:21:47.398Z,1761513707.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:47.401Z,1761513707.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 484.625122 m,
      bearing: 37.616065 deg,
      approach rate: -0.602757 m/s,
      LOS rate: -0.002613 deg/s,
      cmd heading: 38.912486 deg,
      new cmd heading: 38.909593 deg.

2025-10-26T21:21:47.402Z,1761513707.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679101 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:47.421Z,1761513707.421 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:47.676Z,1761513707.676 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:47.846Z,1761513707.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:47.865Z,1761513707.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 484.353027 m,
      bearing: 37.616136 deg,
      approach rate: -0.607670 m/s,
      LOS rate: 0.000159 deg/s,
      cmd heading: 38.909593 deg,
      new cmd heading: 38.909807 deg.

2025-10-26T21:21:47.866Z,1761513707.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679104 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:47.947Z,1761513707.947 [DAT](INFO): DAT read: 21:21:46.4790 LVL= 31984, 32753, 32482, 31411, AGC= 79, IDX=   5,-0.08, 1.025,-0.641, 1.173, 0.566, PHS= 0.562,-1.162, 0.563, RAW= 150.0,   0.4, CAL= 148.9,  -0.0, ROT=   1.1,   0.0

2025-10-26T21:21:47.949Z,1761513707.949 [DAT](INFO): got valid direction response:
 21:21:46.4790 LVL= 31984, 32753, 32482, 31411, AGC= 79, IDX=   5,-0.08, 1.025,-0.641, 1.173, 0.566, PHS= 0.562,-1.162, 0.563, RAW= 150.0,   0.4, CAL= 148.9,  -0.0, ROT=   1.1,   0.0

2025-10-26T21:21:47.950Z,1761513707.950 [DAT](INFO): DAT read: Rx Time:21:21:46.4790

2025-10-26T21:21:47.950Z,1761513707.950 [DAT](INFO): Rx dataTimestamp_ set to:1761513707.949931
2025-10-26T21:21:47.951Z,1761513707.951 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-26T21:21:47.952Z,1761513707.952 [DAT](INFO): Received low SNR in chirp
2025-10-26T21:21:47.964Z,1761513707.964 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:21:47.965Z,1761513707.965 [DAT](INFO): direction in FSK: [0.999816,0.019197,-0.000000]
2025-10-26T21:21:47.968Z,1761513707.968 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:48.177Z,1761513708.177 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:21:48.177Z,1761513708.177 [DAT](INFO): response not received
2025-10-26T21:21:48.177Z,1761513708.177 [DAT](INFO): DAT read: user:182>

2025-10-26T21:21:48.178Z,1761513708.178 [DAT](ERROR): No response from remote modem.
2025-10-26T21:21:48.178Z,1761513708.178 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:21:48.178Z,1761513708.178 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:21:48.197Z,1761513708.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764342,-0.589493,-0.261301],[0.608653,0.793380,-0.009466],[0.212891,-0.151807,0.965211]]
2025-10-26T21:21:48.213Z,1761513708.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:48.215Z,1761513708.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:48.218Z,1761513708.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 484.129089 m,
      bearing: 37.616188 deg,
      approach rate: -0.606814 m/s,
      LOS rate: 0.000141 deg/s,
      cmd heading: 38.909808 deg,
      new cmd heading: 38.909965 deg.

2025-10-26T21:21:48.219Z,1761513708.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679107 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:48.429Z,1761513708.429 [DAT](INFO): DAT read: Tx time:21:21:47.4959

2025-10-26T21:21:48.430Z,1761513708.430 [DAT](INFO): Ping request sent.
2025-10-26T21:21:48.430Z,1761513708.430 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:21:48.430Z,1761513708.430 [DAT](INFO): publishing transmit ping time
2025-10-26T21:21:48.450Z,1761513708.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.018836
2025-10-26T21:21:48.594Z,1761513708.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763978,-0.590067,-0.261073],[0.608948,0.793139,-0.010657],[0.213355,-0.150838,0.965260]]
2025-10-26T21:21:48.677Z,1761513708.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:48.680Z,1761513708.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250727
2025-10-26T21:21:48.684Z,1761513708.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 483.850647 m,
      bearing: 37.616238 deg,
      approach rate: -0.602636 m/s,
      LOS rate: 0.000107 deg/s,
      cmd heading: 38.909966 deg,
      new cmd heading: 38.910114 deg.

2025-10-26T21:21:48.685Z,1761513708.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679110 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:48.934Z,1761513708.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503819
2025-10-26T21:21:49.049Z,1761513709.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763858,-0.590228,-0.261060],[0.609052,0.793055,-0.010932],[0.213488,-0.150648,0.965261]]
2025-10-26T21:21:49.105Z,1761513709.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:49.112Z,1761513709.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 483.599792 m,
      bearing: 37.616804 deg,
      approach rate: -0.585754 m/s,
      LOS rate: 0.001324 deg/s,
      cmd heading: 38.910112 deg,
      new cmd heading: 38.911813 deg.

2025-10-26T21:21:49.113Z,1761513709.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679139 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:49.185Z,1761513709.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754986
2025-10-26T21:21:49.441Z,1761513709.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010950
2025-10-26T21:21:49.460Z,1761513709.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764251,-0.589541,-0.261462],[0.608624,0.793397,-0.009941],[0.213303,-0.151534,0.965163]]
2025-10-26T21:21:49.498Z,1761513709.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:49.505Z,1761513709.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 483.360992 m,
      bearing: 37.617361 deg,
      approach rate: -0.608819 m/s,
      LOS rate: 0.001421 deg/s,
      cmd heading: 38.911813 deg,
      new cmd heading: 38.913485 deg.

2025-10-26T21:21:49.506Z,1761513709.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679168 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:49.695Z,1761513709.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264556
2025-10-26T21:21:49.858Z,1761513709.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764575,-0.588371,-0.263145],[0.608176,0.793765,-0.007723],[0.213419,-0.154133,0.964725]]
2025-10-26T21:21:49.917Z,1761513709.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:49.926Z,1761513709.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 483.112213 m,
      bearing: 37.618456 deg,
      approach rate: -0.601151 m/s,
      LOS rate: 0.002647 deg/s,
      cmd heading: 38.913483 deg,
      new cmd heading: 38.916770 deg.

2025-10-26T21:21:49.932Z,1761513709.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679226 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:49.944Z,1761513709.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514721
2025-10-26T21:21:50.197Z,1761513710.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766931
2025-10-26T21:21:50.258Z,1761513710.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764485,-0.587593,-0.265137],[0.608145,0.793805,-0.005722],[0.213829,-0.156867,0.964194]]
2025-10-26T21:21:50.282Z,1761513710.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:50.284Z,1761513710.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:50.286Z,1761513710.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 482.879089 m,
      bearing: 37.619482 deg,
      approach rate: -0.626574 m/s,
      LOS rate: 0.002760 deg/s,
      cmd heading: 38.916768 deg,
      new cmd heading: 38.919849 deg.

2025-10-26T21:21:50.288Z,1761513710.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679280 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:50.448Z,1761513710.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018597
2025-10-26T21:21:50.697Z,1761513710.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764871,-0.586732,-0.265930],[0.607540,0.794273,-0.005022],[0.214167,-0.157722,0.963979]]
2025-10-26T21:21:50.701Z,1761513710.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271315
2025-10-26T21:21:50.773Z,1761513710.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:50.776Z,1761513710.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 482.611328 m,
      bearing: 37.621412 deg,
      approach rate: -0.546598 m/s,
      LOS rate: 0.003941 deg/s,
      cmd heading: 38.919849 deg,
      new cmd heading: 38.925641 deg.

2025-10-26T21:21:50.777Z,1761513710.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679381 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:50.953Z,1761513710.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522798
2025-10-26T21:21:51.099Z,1761513711.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765208,-0.586023,-0.266521],[0.607110,0.794607,-0.004101],[0.214182,-0.158670,0.963820]]
2025-10-26T21:21:51.127Z,1761513711.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:51.129Z,1761513711.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 482.389374 m,
      bearing: 37.623028 deg,
      approach rate: -0.628525 m/s,
      LOS rate: 0.004577 deg/s,
      cmd heading: 38.925641 deg,
      new cmd heading: 38.930490 deg.

2025-10-26T21:21:51.130Z,1761513711.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679465 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:51.205Z,1761513711.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775489
2025-10-26T21:21:51.456Z,1761513711.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026642
2025-10-26T21:21:51.511Z,1761513711.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765573,-0.585517,-0.266585],[0.606624,0.794979,-0.003971],[0.214255,-0.158677,0.963803]]
2025-10-26T21:21:51.529Z,1761513711.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:51.532Z,1761513711.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 482.155884 m,
      bearing: 37.624746 deg,
      approach rate: -0.580585 m/s,
      LOS rate: 0.004276 deg/s,
      cmd heading: 38.930490 deg,
      new cmd heading: 38.935649 deg.

2025-10-26T21:21:51.533Z,1761513711.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679555 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:51.712Z,1761513711.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282150
2025-10-26T21:21:51.914Z,1761513711.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765820,-0.584803,-0.267442],[0.606230,0.795283,-0.003070],[0.214488,-0.159781,0.963569]]
2025-10-26T21:21:51.961Z,1761513711.961 [DAT](INFO): DAT read: Rx Time:21:21:50.5893

2025-10-26T21:21:51.961Z,1761513711.961 [DAT](INFO): Rx dataTimestamp_ set to:1761513711.960757
2025-10-26T21:21:51.962Z,1761513711.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531841
2025-10-26T21:21:52.011Z,1761513712.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:52.018Z,1761513712.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 481.911255 m,
      bearing: 37.626947 deg,
      approach rate: -0.568054 m/s,
      LOS rate: 0.005112 deg/s,
      cmd heading: 38.935650 deg,
      new cmd heading: 38.942254 deg.

2025-10-26T21:21:52.019Z,1761513712.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679671 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:52.212Z,1761513712.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782509
2025-10-26T21:21:52.362Z,1761513712.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766331,-0.583847,-0.268065],[0.605519,0.795828,-0.002290],[0.214670,-0.160563,0.963398]]
2025-10-26T21:21:52.435Z,1761513712.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:52.441Z,1761513712.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.12 m.
2025-10-26T21:21:52.448Z,1761513712.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 536.124084 m,
      nav range: 481.646759 m,
      bearing: 37.629356 deg,
      approach rate: -0.548773 m/s,
      LOS rate: 0.005002 deg/s,
      cmd heading: 38.942255 deg,
      new cmd heading: 38.949488 deg.

2025-10-26T21:21:52.449Z,1761513712.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679797 target range: 536.124084 and range: 539.40 m.
2025-10-26T21:21:52.470Z,1761513712.470 [DAT](INFO): DAT read: 21:21:50.5893 LVL= 25648, 29745, 27794, 24179, AGC= 76, IDX=  56,-0.40, 2.413, 1.066, 2.519, 1.898, PHS= 0.617,-0.787, 0.578, RAW= 148.6,  -6.0, CAL= 148.5,  -7.2, ROT=   1.5,   7.2

2025-10-26T21:21:52.472Z,1761513712.472 [DAT](INFO): got valid direction response:
 21:21:50.5893 LVL= 25648, 29745, 27794, 24179, AGC= 76, IDX=  56,-0.40, 2.413, 1.066, 2.519, 1.898, PHS= 0.617,-0.787, 0.578, RAW= 148.6,  -6.0, CAL= 148.5,  -7.2, ROT=   1.5,   7.2

2025-10-26T21:21:52.473Z,1761513712.473 [DAT](INFO): DAT read: Bearing 174.6,  15.0 (Local)

2025-10-26T21:21:52.473Z,1761513712.473 [DAT](INFO): Local bearing/azimuth received:
 Bearing 174.6,  15.0 (Local)

2025-10-26T21:21:52.475Z,1761513712.475 [DAT](INFO): DAT read: Range 11 to 50 : 516.9 m  (Round-trip  689.2 ms) speed  0.4 m/s

2025-10-26T21:21:52.475Z,1761513712.475 [DAT](INFO): DAT read: user:183>

2025-10-26T21:21:52.476Z,1761513712.476 [DAT](INFO): DAT read: Tx time:21:21:51.6959

2025-10-26T21:21:52.476Z,1761513712.476 [DAT](INFO): Ping request sent.
2025-10-26T21:21:52.476Z,1761513712.476 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:21:52.477Z,1761513712.477 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:21:52.478Z,1761513712.478 [DAT](INFO): direction in FSK: [0.991775,0.025971,-0.125333]
2025-10-26T21:21:52.478Z,1761513712.478 [DAT](INFO): publishing transmit ping time
2025-10-26T21:21:52.478Z,1761513712.478 [DAT](INFO): publishing direction and range info
2025-10-26T21:21:52.494Z,1761513712.494 [DAT](INFO): publishing transmit ping time
2025-10-26T21:21:52.494Z,1761513712.494 [DAT](INFO): publishing direction and range info
2025-10-26T21:21:52.799Z,1761513712.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766813,-0.583061,-0.268400],[0.604847,0.796339,-0.001898],[0.214844,-0.160885,0.963306]]
2025-10-26T21:21:52.889Z,1761513712.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 516.900024 m,
      deltaT: 41.603939 s,
      deltaX: -22.500000 m,
      approachRate: -0.540814 m/s,
      rangeRepo size: 4

2025-10-26T21:21:52.891Z,1761513712.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 513.674805 m,
      bearing: 38.551544 deg,
      lat: 36.779214 deg,
      lon: -121.859077 deg,
      deltaT: 41.603939 s,
      deltaX: -22.449280 m,
      approachRate: -0.539595 m/s,
      posRepo size: 4

2025-10-26T21:21:52.895Z,1761513712.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:21:52.898Z,1761513712.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 501.442413 m,
      bearing: 38.575500 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005002 deg/s,
      cmd heading: 38.949488 deg,
      new cmd heading: 38.956125 deg.

2025-10-26T21:21:52.899Z,1761513712.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679913 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:21:53.241Z,1761513713.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767013,-0.582553,-0.268928],[0.604505,0.796600,-0.001481],[0.215091,-0.161432,0.963159]]
2025-10-26T21:21:53.259Z,1761513713.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:21:53.262Z,1761513713.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 501.223541 m,
      bearing: 38.578056 deg,
      approach rate: -0.583713 m/s,
      LOS rate: 0.006820 deg/s,
      cmd heading: 38.956124 deg,
      new cmd heading: 38.963795 deg.

2025-10-26T21:21:53.263Z,1761513713.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680046 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:21:53.638Z,1761513713.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766994,-0.582598,-0.268887],[0.604422,0.796661,-0.002025],[0.215392,-0.160968,0.963170]]
2025-10-26T21:21:53.679Z,1761513713.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:21:53.682Z,1761513713.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 500.997437 m,
      bearing: 38.580700 deg,
      approach rate: -0.558855 m/s,
      LOS rate: 0.006539 deg/s,
      cmd heading: 38.963794 deg,
      new cmd heading: 38.971731 deg.

2025-10-26T21:21:53.683Z,1761513713.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680185 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:21:54.088Z,1761513714.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:21:54.090Z,1761513714.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 500.760223 m,
      bearing: 38.583394 deg,
      approach rate: -0.559100 m/s,
      LOS rate: 0.006352 deg/s,
      cmd heading: 38.971731 deg,
      new cmd heading: 38.979816 deg.

2025-10-26T21:21:54.091Z,1761513714.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680326 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:21:54.449Z,1761513714.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766789,-0.583596,-0.267301],[0.604581,0.796530,-0.004734],[0.215676,-0.157975,0.963601]]
2025-10-26T21:21:54.470Z,1761513714.470 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:54.472Z,1761513714.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:21:54.475Z,1761513714.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 500.548096 m,
      bearing: 38.585800 deg,
      approach rate: -0.551474 m/s,
      LOS rate: 0.006259 deg/s,
      cmd heading: 38.979814 deg,
      new cmd heading: 38.987037 deg.

2025-10-26T21:21:54.476Z,1761513714.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680452 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:21:54.480Z,1761513714.480 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:54.480Z,1761513714.480 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:54.481Z,1761513714.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:21:54.736Z,1761513714.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258364
2025-10-26T21:21:54.851Z,1761513714.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766483,-0.583824,-0.267681],[0.604883,0.796301,-0.004735],[0.215919,-0.158286,0.963496]]
2025-10-26T21:21:54.899Z,1761513714.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:21:54.903Z,1761513714.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 500.306061 m,
      bearing: 38.588136 deg,
      approach rate: -0.567434 m/s,
      LOS rate: 0.005479 deg/s,
      cmd heading: 38.987037 deg,
      new cmd heading: 38.994049 deg.

2025-10-26T21:21:54.908Z,1761513714.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680575 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:21:54.985Z,1761513714.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508248
2025-10-26T21:21:55.236Z,1761513715.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759898
2025-10-26T21:21:55.296Z,1761513715.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:21:55.298Z,1761513715.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 500.083160 m,
      bearing: 38.590289 deg,
      approach rate: -0.561844 m/s,
      LOS rate: 0.005430 deg/s,
      cmd heading: 38.994049 deg,
      new cmd heading: 39.000511 deg.

2025-10-26T21:21:55.299Z,1761513715.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680687 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:21:55.488Z,1761513715.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011933
2025-10-26T21:21:55.658Z,1761513715.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765626,-0.585629,-0.266186],[0.605806,0.795574,-0.007853],[0.216369,-0.155245,0.963890]]
2025-10-26T21:21:55.688Z,1761513715.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:21:55.691Z,1761513715.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 499.869873 m,
      bearing: 38.592322 deg,
      approach rate: -0.543238 m/s,
      LOS rate: 0.005179 deg/s,
      cmd heading: 39.000510 deg,
      new cmd heading: 39.006610 deg.

2025-10-26T21:21:55.692Z,1761513715.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680794 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:21:55.744Z,1761513715.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266418
2025-10-26T21:21:55.992Z,1761513715.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515883
2025-10-26T21:21:56.067Z,1761513716.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764776,-0.587407,-0.264707],[0.606688,0.794863,-0.011057],[0.216901,-0.152139,0.964265]]
2025-10-26T21:21:56.127Z,1761513716.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:21:56.130Z,1761513716.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 499.627502 m,
      bearing: 38.594183 deg,
      approach rate: -0.556982 m/s,
      LOS rate: 0.004279 deg/s,
      cmd heading: 39.006609 deg,
      new cmd heading: 39.012196 deg.

2025-10-26T21:21:56.131Z,1761513716.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680891 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:21:56.245Z,1761513716.245 [DAT](INFO): DAT read: Rx Time:21:21:54.8275

2025-10-26T21:21:56.245Z,1761513716.245 [DAT](INFO): Rx dataTimestamp_ set to:1761513716.244767
2025-10-26T21:21:56.246Z,1761513716.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769134
2025-10-26T21:21:56.483Z,1761513716.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764220,-0.588244,-0.264458],[0.607198,0.794452,-0.012474],[0.217437,-0.151045,0.964316]]
2025-10-26T21:21:56.496Z,1761513716.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019940
2025-10-26T21:21:56.501Z,1761513716.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:56.503Z,1761513716.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:21:56.506Z,1761513716.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 499.401886 m,
      bearing: 38.595898 deg,
      approach rate: -0.594256 m/s,
      LOS rate: 0.004520 deg/s,
      cmd heading: 39.012196 deg,
      new cmd heading: 39.017344 deg.

2025-10-26T21:21:56.507Z,1761513716.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680981 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:21:56.770Z,1761513716.770 [DAT](INFO): DAT read: 21:21:54.8275 LVL= 26608, 17601, 21042, 29315, AGC= 59, IDX= 324, 0.42, 0.166, 2.011, 1.500, 1.391, PHS=-1.122, 0.665, 0.065, RAW= 289.3,   5.0, CAL= 287.4,   0.3, ROT= 222.6,  -0.3

2025-10-26T21:21:56.776Z,1761513716.776 [DAT](INFO): got valid direction response:
 21:21:54.8275 LVL= 26608, 17601, 21042, 29315, AGC= 59, IDX= 324, 0.42, 0.166, 2.011, 1.500, 1.391, PHS=-1.122, 0.665, 0.065, RAW= 289.3,   5.0, CAL= 287.4,   0.3, ROT= 222.6,  -0.3

2025-10-26T21:21:56.777Z,1761513716.777 [DAT](INFO): DAT read: 

2025-10-26T21:21:56.816Z,1761513716.816 [DAT](INFO): DAT read: $Packet for address 50

2025-10-26T21:21:56.816Z,1761513716.816 [DAT](INFO): received a packet notification
2025-10-26T21:21:56.828Z,1761513716.828 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:21:56.829Z,1761513716.829 [DAT](INFO): direction in FSK: [-0.736087,-0.676867,0.005236]
2025-10-26T21:21:56.847Z,1761513716.847 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:56.847Z,1761513716.847 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:56.847Z,1761513716.847 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:56.878Z,1761513716.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763842,-0.588562,-0.264840],[0.607465,0.794239,-0.013033],[0.218018,-0.150926,0.964204]]
2025-10-26T21:21:56.963Z,1761513716.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:21:56.966Z,1761513716.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 499.138763 m,
      bearing: 38.597588 deg,
      approach rate: -0.571948 m/s,
      LOS rate: 0.003675 deg/s,
      cmd heading: 39.017343 deg,
      new cmd heading: 39.022415 deg.

2025-10-26T21:21:56.967Z,1761513716.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681070 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:21:57.001Z,1761513717.001 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:57.001Z,1761513717.001 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:57.001Z,1761513717.001 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:57.252Z,1761513717.252 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:57.252Z,1761513717.252 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:57.252Z,1761513717.252 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:57.291Z,1761513717.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763084,-0.588921,-0.266224],[0.607971,0.793845,-0.013443],[0.219258,-0.151598,0.963817]]
2025-10-26T21:21:57.330Z,1761513717.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:21:57.333Z,1761513717.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 498.935303 m,
      bearing: 38.598875 deg,
      approach rate: -0.554013 m/s,
      LOS rate: 0.003506 deg/s,
      cmd heading: 39.022414 deg,
      new cmd heading: 39.026277 deg.

2025-10-26T21:21:57.334Z,1761513717.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681137 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:21:57.504Z,1761513717.504 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:57.504Z,1761513717.504 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:57.504Z,1761513717.504 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:57.682Z,1761513717.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762599,-0.588846,-0.267774],[0.608196,0.793677,-0.013232],[0.220317,-0.152769,0.963391]]
2025-10-26T21:21:57.718Z,1761513717.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:21:57.723Z,1761513717.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 498.713928 m,
      bearing: 38.600264 deg,
      approach rate: -0.571373 m/s,
      LOS rate: 0.003586 deg/s,
      cmd heading: 39.026277 deg,
      new cmd heading: 39.030445 deg.

2025-10-26T21:21:57.725Z,1761513717.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681210 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:21:57.758Z,1761513717.758 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:57.759Z,1761513717.759 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:57.759Z,1761513717.759 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:58.009Z,1761513718.009 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:58.009Z,1761513718.009 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:58.009Z,1761513718.009 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:58.153Z,1761513718.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:21:58.155Z,1761513718.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 498.452362 m,
      bearing: 38.601684 deg,
      approach rate: -0.601232 m/s,
      LOS rate: 0.003266 deg/s,
      cmd heading: 39.030447 deg,
      new cmd heading: 39.034709 deg.

2025-10-26T21:21:58.157Z,1761513718.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681284 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:21:58.260Z,1761513718.260 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:58.260Z,1761513718.260 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:58.260Z,1761513718.260 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:58.502Z,1761513718.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761478,-0.588776,-0.271096],[0.608548,0.793397,-0.013785],[0.223203,-0.154478,0.962454]]
2025-10-26T21:21:58.516Z,1761513718.516 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:58.516Z,1761513718.516 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:58.516Z,1761513718.516 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:58.551Z,1761513718.551 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:21:58.557Z,1761513718.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:21:58.564Z,1761513718.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 498.218903 m,
      bearing: 38.602925 deg,
      approach rate: -0.576831 m/s,
      LOS rate: 0.003069 deg/s,
      cmd heading: 39.034709 deg,
      new cmd heading: 39.038435 deg.

2025-10-26T21:21:58.565Z,1761513718.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681349 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:21:58.766Z,1761513718.766 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:58.767Z,1761513718.767 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:58.767Z,1761513718.767 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:58.925Z,1761513718.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760427,-0.589075,-0.273390],[0.609011,0.793024,-0.014787],[0.225516,-0.155253,0.961790]]
2025-10-26T21:21:58.969Z,1761513718.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:21:58.972Z,1761513718.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 497.971100 m,
      bearing: 38.604299 deg,
      approach rate: -0.601618 m/s,
      LOS rate: 0.003336 deg/s,
      cmd heading: 39.038435 deg,
      new cmd heading: 39.042557 deg.

2025-10-26T21:21:58.973Z,1761513718.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681421 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:21:59.017Z,1761513719.017 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:59.017Z,1761513719.017 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:59.017Z,1761513719.017 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:59.268Z,1761513719.268 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:59.268Z,1761513719.268 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:59.268Z,1761513719.268 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:59.343Z,1761513719.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:21:59.346Z,1761513719.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 497.749847 m,
      bearing: 38.605527 deg,
      approach rate: -0.591783 m/s,
      LOS rate: 0.003285 deg/s,
      cmd heading: 39.042557 deg,
      new cmd heading: 39.046241 deg.

2025-10-26T21:21:59.347Z,1761513719.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681485 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:21:59.520Z,1761513719.520 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:59.520Z,1761513719.520 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:59.520Z,1761513719.520 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:21:59.727Z,1761513719.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759658,-0.588403,-0.276950],[0.608892,0.793114,-0.014880],[0.228408,-0.157329,0.960769]]
2025-10-26T21:21:59.747Z,1761513719.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:21:59.750Z,1761513719.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 497.511688 m,
      bearing: 38.606838 deg,
      approach rate: -0.589980 m/s,
      LOS rate: 0.003250 deg/s,
      cmd heading: 39.046241 deg,
      new cmd heading: 39.050177 deg.

2025-10-26T21:21:59.750Z,1761513719.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681554 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:21:59.772Z,1761513719.772 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:21:59.772Z,1761513719.772 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:21:59.772Z,1761513719.772 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:00.024Z,1761513720.024 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:00.024Z,1761513720.024 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:00.024Z,1761513720.024 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:00.040Z,1761513720.040 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:22:00.125Z,1761513720.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758888,-0.589149,-0.277475],[0.609287,0.792770,-0.016865],[0.229910,-0.156263,0.960585]]
2025-10-26T21:22:00.157Z,1761513720.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:00.160Z,1761513720.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 497.269836 m,
      bearing: 38.608150 deg,
      approach rate: -0.589568 m/s,
      LOS rate: 0.003199 deg/s,
      cmd heading: 39.050179 deg,
      new cmd heading: 39.054116 deg.

2025-10-26T21:22:00.161Z,1761513720.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681623 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:00.276Z,1761513720.276 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:00.276Z,1761513720.276 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:00.276Z,1761513720.276 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:00.527Z,1761513720.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758352,-0.589350,-0.278512],[0.609446,0.792627,-0.017810],[0.231253,-0.156232,0.960268]]
2025-10-26T21:22:00.528Z,1761513720.528 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:00.528Z,1761513720.528 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:00.528Z,1761513720.528 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:00.565Z,1761513720.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:00.571Z,1761513720.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:00.574Z,1761513720.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 497.040070 m,
      bearing: 38.609385 deg,
      approach rate: -0.560150 m/s,
      LOS rate: 0.003012 deg/s,
      cmd heading: 39.054117 deg,
      new cmd heading: 39.057824 deg.

2025-10-26T21:22:00.575Z,1761513720.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681688 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:00.784Z,1761513720.784 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:00.784Z,1761513720.784 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:00.784Z,1761513720.784 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:00.990Z,1761513720.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:00.993Z,1761513720.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 496.775330 m,
      bearing: 38.610655 deg,
      approach rate: -0.626205 m/s,
      LOS rate: 0.003007 deg/s,
      cmd heading: 39.057822 deg,
      new cmd heading: 39.061636 deg.

2025-10-26T21:22:00.994Z,1761513720.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681754 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:01.033Z,1761513721.033 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:01.033Z,1761513721.033 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:01.033Z,1761513721.033 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:01.044Z,1761513721.044 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:22:01.284Z,1761513721.284 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:01.284Z,1761513721.284 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:01.284Z,1761513721.284 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:01.373Z,1761513721.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:01.376Z,1761513721.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 496.546204 m,
      bearing: 38.611756 deg,
      approach rate: -0.597987 m/s,
      LOS rate: 0.002874 deg/s,
      cmd heading: 39.061637 deg,
      new cmd heading: 39.064941 deg.

2025-10-26T21:22:01.377Z,1761513721.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681812 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:01.536Z,1761513721.536 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:01.536Z,1761513721.536 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:01.536Z,1761513721.536 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:01.739Z,1761513721.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757148,-0.589062,-0.282371],[0.609518,0.792545,-0.018994],[0.234980,-0.157729,0.959117]]
2025-10-26T21:22:01.757Z,1761513721.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:01.760Z,1761513721.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 496.317139 m,
      bearing: 38.612836 deg,
      approach rate: -0.596795 m/s,
      LOS rate: 0.002814 deg/s,
      cmd heading: 39.064939 deg,
      new cmd heading: 39.068179 deg.

2025-10-26T21:22:01.761Z,1761513721.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681868 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:01.788Z,1761513721.788 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:01.788Z,1761513721.788 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:01.789Z,1761513721.789 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:02.040Z,1761513722.040 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:02.040Z,1761513722.040 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:02.040Z,1761513722.040 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:02.138Z,1761513722.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756550,-0.589307,-0.283461],[0.609718,0.792366,-0.019985],[0.236382,-0.157711,0.958776]]
2025-10-26T21:22:02.184Z,1761513722.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:02.186Z,1761513722.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 496.060303 m,
      bearing: 38.613453 deg,
      approach rate: -0.601465 m/s,
      LOS rate: 0.001446 deg/s,
      cmd heading: 39.068180 deg,
      new cmd heading: 39.070033 deg.

2025-10-26T21:22:02.188Z,1761513722.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681901 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:02.292Z,1761513722.292 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:02.292Z,1761513722.292 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:02.292Z,1761513722.292 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:02.544Z,1761513722.544 [DAT](INFO): Reached modem response timeout
2025-10-26T21:22:02.544Z,1761513722.544 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:02.545Z,1761513722.545 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:22:02.553Z,1761513722.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756173,-0.589292,-0.284494],[0.609724,0.792345,-0.020619],[0.237568,-0.157872,0.958456]]
2025-10-26T21:22:02.587Z,1761513722.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:02.590Z,1761513722.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:02.601Z,1761513722.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 495.819336 m,
      bearing: 38.614026 deg,
      approach rate: -0.593936 m/s,
      LOS rate: 0.001413 deg/s,
      cmd heading: 39.070034 deg,
      new cmd heading: 39.071754 deg.

2025-10-26T21:22:02.602Z,1761513722.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681931 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:02.797Z,1761513722.797 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:02.948Z,1761513722.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755588,-0.589640,-0.285326],[0.609995,0.792112,-0.021575],[0.238732,-0.157745,0.958188]]
2025-10-26T21:22:02.985Z,1761513722.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:03.004Z,1761513723.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 495.583191 m,
      bearing: 38.614684 deg,
      approach rate: -0.596903 m/s,
      LOS rate: 0.001665 deg/s,
      cmd heading: 39.071756 deg,
      new cmd heading: 39.073731 deg.

2025-10-26T21:22:03.005Z,1761513723.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681965 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:03.048Z,1761513723.048 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:03.300Z,1761513723.300 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:03.350Z,1761513723.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755109,-0.589898,-0.286059],[0.610222,0.791918,-0.022257],[0.239665,-0.157753,0.957953]]
2025-10-26T21:22:03.381Z,1761513723.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:03.383Z,1761513723.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 495.350189 m,
      bearing: 38.615321 deg,
      approach rate: -0.589537 m/s,
      LOS rate: 0.001613 deg/s,
      cmd heading: 39.073733 deg,
      new cmd heading: 39.075645 deg.

2025-10-26T21:22:03.384Z,1761513723.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681999 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:03.552Z,1761513723.552 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:03.804Z,1761513723.804 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:03.835Z,1761513723.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754195,-0.590714,-0.286787],[0.610966,0.791317,-0.023205],[0.240647,-0.157716,0.957713]]
2025-10-26T21:22:03.921Z,1761513723.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:03.928Z,1761513723.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 495.055359 m,
      bearing: 38.616088 deg,
      approach rate: -0.545677 m/s,
      LOS rate: 0.001420 deg/s,
      cmd heading: 39.075645 deg,
      new cmd heading: 39.077947 deg.

2025-10-26T21:22:03.931Z,1761513723.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682039 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:04.056Z,1761513724.056 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:04.308Z,1761513724.308 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:04.385Z,1761513724.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753592,-0.591218,-0.287332],[0.611358,0.790987,-0.024123],[0.241538,-0.157483,0.957527]]
2025-10-26T21:22:04.446Z,1761513724.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:04.449Z,1761513724.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 494.715881 m,
      bearing: 38.617438 deg,
      approach rate: -0.646208 m/s,
      LOS rate: 0.002571 deg/s,
      cmd heading: 39.077947 deg,
      new cmd heading: 39.081999 deg.

2025-10-26T21:22:04.450Z,1761513724.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682110 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:04.560Z,1761513724.560 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:04.813Z,1761513724.813 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:22:04.813Z,1761513724.813 [DAT](INFO): response not received
2025-10-26T21:22:04.814Z,1761513724.814 [DAT](INFO): DAT read: user:184>

2025-10-26T21:22:04.814Z,1761513724.814 [DAT](ERROR): No response from remote modem.
2025-10-26T21:22:04.814Z,1761513724.814 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:04.815Z,1761513724.815 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:22:04.954Z,1761513724.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752180,-0.592774,-0.287827],[0.612538,0.790005,-0.026252],[0.242946,-0.156559,0.957323]]
2025-10-26T21:22:04.970Z,1761513724.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:04.972Z,1761513724.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:04.975Z,1761513724.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 494.400391 m,
      bearing: 38.618626 deg,
      approach rate: -0.599782 m/s,
      LOS rate: 0.002261 deg/s,
      cmd heading: 39.082001 deg,
      new cmd heading: 39.085569 deg.

2025-10-26T21:22:04.976Z,1761513724.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682172 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:05.065Z,1761513725.065 [DAT](INFO): DAT read: Tx time:21:22:04.1458

2025-10-26T21:22:05.066Z,1761513725.066 [DAT](INFO): Ping request sent.
2025-10-26T21:22:05.066Z,1761513725.066 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:22:05.066Z,1761513725.066 [DAT](INFO): publishing transmit ping time
2025-10-26T21:22:05.067Z,1761513725.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001191
2025-10-26T21:22:05.316Z,1761513725.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250652
2025-10-26T21:22:05.344Z,1761513725.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751559,-0.593542,-0.287867],[0.613074,0.789552,-0.027344],[0.243516,-0.155934,0.957280]]
2025-10-26T21:22:05.362Z,1761513725.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:05.365Z,1761513725.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 494.165894 m,
      bearing: 38.619488 deg,
      approach rate: -0.601325 m/s,
      LOS rate: 0.002211 deg/s,
      cmd heading: 39.085570 deg,
      new cmd heading: 39.088157 deg.

2025-10-26T21:22:05.366Z,1761513725.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682217 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:05.569Z,1761513725.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503182
2025-10-26T21:22:05.748Z,1761513725.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751108,-0.594197,-0.287692],[0.613492,0.789194,-0.028286],[0.243853,-0.155251,0.957305]]
2025-10-26T21:22:05.767Z,1761513725.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:05.769Z,1761513725.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 493.923096 m,
      bearing: 38.620364 deg,
      approach rate: -0.600294 m/s,
      LOS rate: 0.002166 deg/s,
      cmd heading: 39.088158 deg,
      new cmd heading: 39.090787 deg.

2025-10-26T21:22:05.770Z,1761513725.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682263 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:05.821Z,1761513725.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755473
2025-10-26T21:22:06.072Z,1761513726.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006633
2025-10-26T21:22:06.247Z,1761513726.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:06.250Z,1761513726.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 493.645569 m,
      bearing: 38.622013 deg,
      approach rate: -0.577712 m/s,
      LOS rate: 0.003435 deg/s,
      cmd heading: 39.090788 deg,
      new cmd heading: 39.095738 deg.

2025-10-26T21:22:06.251Z,1761513726.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682349 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:06.325Z,1761513726.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259377
2025-10-26T21:22:06.576Z,1761513726.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510723
2025-10-26T21:22:06.585Z,1761513726.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751068,-0.593732,-0.288755],[0.613484,0.789241,-0.027118],[0.243998,-0.156779,0.957019]]
2025-10-26T21:22:06.609Z,1761513726.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:06.612Z,1761513726.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 493.436157 m,
      bearing: 38.623258 deg,
      approach rate: -0.578287 m/s,
      LOS rate: 0.003440 deg/s,
      cmd heading: 39.095736 deg,
      new cmd heading: 39.099474 deg.

2025-10-26T21:22:06.613Z,1761513726.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682415 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:06.829Z,1761513726.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763149
2025-10-26T21:22:06.978Z,1761513726.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751344,-0.593344,-0.288835],[0.613142,0.789514,-0.026911],[0.244007,-0.156878,0.957000]]
2025-10-26T21:22:07.022Z,1761513727.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:07.024Z,1761513727.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:07.027Z,1761513727.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 493.202271 m,
      bearing: 38.626839 deg,
      approach rate: -0.563502 m/s,
      LOS rate: 0.008632 deg/s,
      cmd heading: 39.099473 deg,
      new cmd heading: 39.110221 deg.

2025-10-26T21:22:07.028Z,1761513727.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682602 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:07.030Z,1761513727.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 63.870285 m.
2025-10-26T21:22:07.081Z,1761513727.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015165
2025-10-26T21:22:07.332Z,1761513727.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266683
2025-10-26T21:22:07.440Z,1761513727.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:07.442Z,1761513727.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 492.973877 m,
      bearing: 38.630339 deg,
      approach rate: -0.549492 m/s,
      LOS rate: 0.008426 deg/s,
      cmd heading: 39.110220 deg,
      new cmd heading: 39.120726 deg.

2025-10-26T21:22:07.444Z,1761513727.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682785 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:07.584Z,1761513727.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518623
2025-10-26T21:22:07.786Z,1761513727.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752260,-0.592386,-0.288416],[0.612168,0.790284,-0.026502],[0.243630,-0.156623,0.957138]]
2025-10-26T21:22:07.812Z,1761513727.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:07.815Z,1761513727.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 492.757080 m,
      bearing: 38.633700 deg,
      approach rate: -0.582326 m/s,
      LOS rate: 0.009030 deg/s,
      cmd heading: 39.120725 deg,
      new cmd heading: 39.130810 deg.

2025-10-26T21:22:07.816Z,1761513727.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682961 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:07.836Z,1761513727.836 [DAT](INFO): DAT read: Rx Time:21:22:06.4791

2025-10-26T21:22:07.837Z,1761513727.837 [DAT](INFO): Rx dataTimestamp_ set to:1761513727.836619
2025-10-26T21:22:07.837Z,1761513727.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771720
2025-10-26T21:22:08.089Z,1761513728.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022866
2025-10-26T21:22:08.190Z,1761513728.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752945,-0.591251,-0.288956],[0.611338,0.790960,-0.025445],[0.243597,-0.157491,0.957004]]
2025-10-26T21:22:08.285Z,1761513728.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:08.292Z,1761513728.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 492.513428 m,
      bearing: 38.638860 deg,
      approach rate: -0.514868 m/s,
      LOS rate: 0.010910 deg/s,
      cmd heading: 39.130809 deg,
      new cmd heading: 39.146299 deg.

2025-10-26T21:22:08.296Z,1761513728.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683232 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:08.345Z,1761513728.345 [DAT](INFO): DAT read: 21:22:06.4791 LVL= 29984, 21825, 25458, 32547, AGC= 58, IDX= 439, 0.22,-2.080,-0.155,-0.767,-0.752, PHS=-1.226, 0.642,-0.059, RAW= 291.8,   7.9, CAL= 289.5,   7.7, ROT= 220.5,  -7.7

2025-10-26T21:22:08.346Z,1761513728.346 [DAT](INFO): got valid direction response:
 21:22:06.4791 LVL= 29984, 21825, 25458, 32547, AGC= 58, IDX= 439, 0.22,-2.080,-0.155,-0.767,-0.752, PHS=-1.226, 0.642,-0.059, RAW= 291.8,   7.9, CAL= 289.5,   7.7, ROT= 220.5,  -7.7

2025-10-26T21:22:08.346Z,1761513728.346 [DAT](INFO): DAT read: 

2025-10-26T21:22:08.347Z,1761513728.347 [DAT](INFO): DAT read: $Packet for address 50

2025-10-26T21:22:08.347Z,1761513728.347 [DAT](INFO): received a packet notification
2025-10-26T21:22:08.360Z,1761513728.360 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:22:08.362Z,1761513728.362 [DAT](INFO): direction in FSK: [-0.753550,-0.643592,0.133986]
2025-10-26T21:22:08.366Z,1761513728.366 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:08.366Z,1761513728.366 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:08.367Z,1761513728.367 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:08.592Z,1761513728.592 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:08.592Z,1761513728.592 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:08.592Z,1761513728.592 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:08.620Z,1761513728.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753618,-0.590345,-0.289055],[0.610564,0.791578,-0.024813],[0.243457,-0.157788,0.956991]]
2025-10-26T21:22:08.658Z,1761513728.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:08.665Z,1761513728.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 492.305603 m,
      bearing: 38.643292 deg,
      approach rate: -0.557525 m/s,
      LOS rate: 0.011895 deg/s,
      cmd heading: 39.146300 deg,
      new cmd heading: 39.159602 deg.

2025-10-26T21:22:08.666Z,1761513728.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683464 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:08.844Z,1761513728.844 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:08.844Z,1761513728.844 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:08.844Z,1761513728.844 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:09.025Z,1761513729.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754217,-0.589510,-0.289197],[0.609900,0.792112,-0.024071],[0.243267,-0.158226,0.956967]]
2025-10-26T21:22:09.060Z,1761513729.060 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:09.062Z,1761513729.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:09.085Z,1761513729.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 492.073364 m,
      bearing: 38.648526 deg,
      approach rate: -0.575425 m/s,
      LOS rate: 0.012973 deg/s,
      cmd heading: 39.159602 deg,
      new cmd heading: 39.175309 deg.

2025-10-26T21:22:09.085Z,1761513729.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683738 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:09.096Z,1761513729.096 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:09.096Z,1761513729.096 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:09.097Z,1761513729.097 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:09.348Z,1761513729.348 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:09.348Z,1761513729.348 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:09.348Z,1761513729.348 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:09.430Z,1761513729.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754947,-0.588344,-0.289665],[0.609081,0.792780,-0.022797],[0.243053,-0.159219,0.956856]]
2025-10-26T21:22:09.463Z,1761513729.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:09.469Z,1761513729.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 491.861023 m,
      bearing: 38.653343 deg,
      approach rate: -0.529621 m/s,
      LOS rate: 0.012020 deg/s,
      cmd heading: 39.175308 deg,
      new cmd heading: 39.189765 deg.

2025-10-26T21:22:09.470Z,1761513729.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683990 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:09.600Z,1761513729.600 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:09.600Z,1761513729.600 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:09.601Z,1761513729.601 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:09.850Z,1761513729.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755838,-0.587252,-0.289559],[0.607984,0.793630,-0.022529],[0.243033,-0.159019,0.956895]]
2025-10-26T21:22:09.852Z,1761513729.852 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:09.853Z,1761513729.853 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:09.853Z,1761513729.853 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:09.910Z,1761513729.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:09.918Z,1761513729.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 491.623047 m,
      bearing: 38.658789 deg,
      approach rate: -0.531618 m/s,
      LOS rate: 0.012173 deg/s,
      cmd heading: 39.189764 deg,
      new cmd heading: 39.206111 deg.

2025-10-26T21:22:09.919Z,1761513729.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684276 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:10.104Z,1761513730.104 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:10.104Z,1761513730.104 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:10.104Z,1761513730.104 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:10.235Z,1761513730.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756575,-0.586279,-0.289605],[0.607028,0.794368,-0.022305],[0.243130,-0.158923,0.956886]]
2025-10-26T21:22:10.279Z,1761513730.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:10.281Z,1761513730.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 491.408051 m,
      bearing: 38.663713 deg,
      approach rate: -0.583590 m/s,
      LOS rate: 0.013373 deg/s,
      cmd heading: 39.206112 deg,
      new cmd heading: 39.220892 deg.

2025-10-26T21:22:10.282Z,1761513730.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684534 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:10.357Z,1761513730.357 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:10.357Z,1761513730.357 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:10.357Z,1761513730.357 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:10.608Z,1761513730.608 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:10.608Z,1761513730.608 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:10.608Z,1761513730.608 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:10.641Z,1761513730.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756929,-0.586081,-0.289080],[0.606456,0.794773,-0.023373],[0.243451,-0.157623,0.957020]]
2025-10-26T21:22:10.676Z,1761513730.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:10.679Z,1761513730.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 491.201263 m,
      bearing: 38.668474 deg,
      approach rate: -0.520203 m/s,
      LOS rate: 0.011981 deg/s,
      cmd heading: 39.220893 deg,
      new cmd heading: 39.235181 deg.

2025-10-26T21:22:10.684Z,1761513730.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684783 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:10.860Z,1761513730.860 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:10.860Z,1761513730.860 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:10.860Z,1761513730.860 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:11.044Z,1761513731.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757735,-0.585074,-0.289010],[0.605423,0.795565,-0.023230],[0.243518,-0.157371,0.957044]]
2025-10-26T21:22:11.080Z,1761513731.080 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:11.082Z,1761513731.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:11.085Z,1761513731.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 490.961731 m,
      bearing: 38.672664 deg,
      approach rate: -0.590702 m/s,
      LOS rate: 0.010338 deg/s,
      cmd heading: 39.235182 deg,
      new cmd heading: 39.247758 deg.

2025-10-26T21:22:11.086Z,1761513731.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685003 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:11.112Z,1761513731.112 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:11.112Z,1761513731.112 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:11.112Z,1761513731.112 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:11.365Z,1761513731.365 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:11.365Z,1761513731.365 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:11.365Z,1761513731.365 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:11.446Z,1761513731.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758100,-0.584538,-0.289137],[0.604890,0.795971,-0.023200],[0.243706,-0.157308,0.957007]]
2025-10-26T21:22:11.465Z,1761513731.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:11.468Z,1761513731.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 490.743896 m,
      bearing: 38.676496 deg,
      approach rate: -0.568244 m/s,
      LOS rate: 0.009999 deg/s,
      cmd heading: 39.247759 deg,
      new cmd heading: 39.259259 deg.

2025-10-26T21:22:11.469Z,1761513731.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685203 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:11.616Z,1761513731.616 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:11.616Z,1761513731.616 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:11.616Z,1761513731.616 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:11.868Z,1761513731.868 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:11.868Z,1761513731.868 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:11.869Z,1761513731.869 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:11.901Z,1761513731.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:11.906Z,1761513731.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 490.500244 m,
      bearing: 38.680785 deg,
      approach rate: -0.559146 m/s,
      LOS rate: 0.009850 deg/s,
      cmd heading: 39.259258 deg,
      new cmd heading: 39.272134 deg.

2025-10-26T21:22:11.907Z,1761513731.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685428 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:12.123Z,1761513732.123 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:12.123Z,1761513732.123 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:12.124Z,1761513732.124 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:12.256Z,1761513732.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758590,-0.583520,-0.289905],[0.604016,0.796642,-0.022960],[0.244348,-0.157690,0.956780]]
2025-10-26T21:22:12.309Z,1761513732.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:12.316Z,1761513732.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 490.266602 m,
      bearing: 38.683075 deg,
      approach rate: -0.572310 m/s,
      LOS rate: 0.005611 deg/s,
      cmd heading: 39.272133 deg,
      new cmd heading: 39.279005 deg.

2025-10-26T21:22:12.317Z,1761513732.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685548 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:12.373Z,1761513732.373 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:12.374Z,1761513732.374 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:12.374Z,1761513732.374 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:12.624Z,1761513732.624 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:12.624Z,1761513732.624 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:12.624Z,1761513732.624 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:12.657Z,1761513732.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758625,-0.583236,-0.290386],[0.603801,0.796804,-0.022955],[0.244768,-0.157921,0.956634]]
2025-10-26T21:22:12.701Z,1761513732.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:12.709Z,1761513732.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 490.043304 m,
      bearing: 38.685270 deg,
      approach rate: -0.570014 m/s,
      LOS rate: 0.005606 deg/s,
      cmd heading: 39.279004 deg,
      new cmd heading: 39.285593 deg.

2025-10-26T21:22:12.711Z,1761513732.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685663 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:12.878Z,1761513732.878 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:12.878Z,1761513732.878 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:12.878Z,1761513732.878 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:13.058Z,1761513733.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758364,-0.583409,-0.290718],[0.603919,0.796701,-0.023430],[0.245285,-0.157802,0.956522]]
2025-10-26T21:22:13.102Z,1761513733.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:13.105Z,1761513733.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:13.108Z,1761513733.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 489.782745 m,
      bearing: 38.685851 deg,
      approach rate: -0.644991 m/s,
      LOS rate: 0.001439 deg/s,
      cmd heading: 39.285592 deg,
      new cmd heading: 39.287336 deg.

2025-10-26T21:22:13.109Z,1761513733.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685693 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:13.128Z,1761513733.128 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:13.128Z,1761513733.128 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:13.128Z,1761513733.128 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:13.381Z,1761513733.381 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:13.382Z,1761513733.382 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:13.382Z,1761513733.382 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:13.462Z,1761513733.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757871,-0.583878,-0.291064],[0.604309,0.796387,-0.024064],[0.245850,-0.157655,0.956401]]
2025-10-26T21:22:13.481Z,1761513733.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:13.483Z,1761513733.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 489.554260 m,
      bearing: 38.686345 deg,
      approach rate: -0.607959 m/s,
      LOS rate: 0.001313 deg/s,
      cmd heading: 39.287337 deg,
      new cmd heading: 39.288818 deg.

2025-10-26T21:22:13.484Z,1761513733.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685719 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:13.632Z,1761513733.632 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:13.632Z,1761513733.632 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:13.632Z,1761513733.632 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:13.885Z,1761513733.885 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:13.885Z,1761513733.885 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:13.885Z,1761513733.885 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:13.929Z,1761513733.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:13.932Z,1761513733.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 489.282104 m,
      bearing: 38.686933 deg,
      approach rate: -0.607031 m/s,
      LOS rate: 0.001313 deg/s,
      cmd heading: 39.288819 deg,
      new cmd heading: 39.290585 deg.

2025-10-26T21:22:13.933Z,1761513733.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685750 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:14.137Z,1761513734.137 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:14.137Z,1761513734.137 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:14.137Z,1761513734.137 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:14.271Z,1761513734.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755702,-0.586469,-0.291493],[0.606375,0.794724,-0.026903],[0.247434,-0.156423,0.956195]]
2025-10-26T21:22:14.307Z,1761513734.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:14.326Z,1761513734.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 489.047241 m,
      bearing: 38.686218 deg,
      approach rate: -0.621144 m/s,
      LOS rate: -0.001890 deg/s,
      cmd heading: 39.290585 deg,
      new cmd heading: 39.288440 deg.

2025-10-26T21:22:14.327Z,1761513734.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685713 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:14.390Z,1761513734.390 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:14.390Z,1761513734.390 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:14.390Z,1761513734.390 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:14.640Z,1761513734.640 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:14.640Z,1761513734.640 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:14.640Z,1761513734.640 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:14.760Z,1761513734.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:14.762Z,1761513734.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 488.773651 m,
      bearing: 38.685385 deg,
      approach rate: -0.610281 m/s,
      LOS rate: -0.001859 deg/s,
      cmd heading: 39.288440 deg,
      new cmd heading: 39.285939 deg.

2025-10-26T21:22:14.763Z,1761513734.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685669 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:14.893Z,1761513734.893 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:14.893Z,1761513734.893 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:14.894Z,1761513734.894 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:15.115Z,1761513735.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752591,-0.590921,-0.290551],[0.609787,0.791951,-0.031182],[0.248529,-0.153707,0.956351]]
2025-10-26T21:22:15.144Z,1761513735.144 [DAT](INFO): Reached modem response timeout
2025-10-26T21:22:15.144Z,1761513735.144 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:15.145Z,1761513735.145 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:22:15.154Z,1761513735.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:15.156Z,1761513735.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:15.158Z,1761513735.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 488.518890 m,
      bearing: 38.683616 deg,
      approach rate: -0.636560 m/s,
      LOS rate: -0.004424 deg/s,
      cmd heading: 39.285940 deg,
      new cmd heading: 39.280629 deg.

2025-10-26T21:22:15.176Z,1761513735.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685576 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:15.397Z,1761513735.397 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:15.648Z,1761513735.648 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:15.665Z,1761513735.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:15.668Z,1761513735.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 488.194183 m,
      bearing: 38.681358 deg,
      approach rate: -0.637513 m/s,
      LOS rate: -0.004437 deg/s,
      cmd heading: 39.280630 deg,
      new cmd heading: 39.273851 deg.

2025-10-26T21:22:15.669Z,1761513735.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685458 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:15.900Z,1761513735.900 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:16.077Z,1761513736.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748915,-0.595977,-0.289720],[0.614051,0.788502,-0.034710],[0.249131,-0.151908,0.956482]]
2025-10-26T21:22:16.141Z,1761513736.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:16.148Z,1761513736.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 487.900909 m,
      bearing: 38.679043 deg,
      approach rate: -0.615396 m/s,
      LOS rate: -0.004859 deg/s,
      cmd heading: 39.273851 deg,
      new cmd heading: 39.266904 deg.

2025-10-26T21:22:16.149Z,1761513736.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685337 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:16.152Z,1761513736.152 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:16.404Z,1761513736.404 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:16.605Z,1761513736.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745039,-0.601687,-0.287905],[0.618848,0.784580,-0.038230],[0.248887,-0.149687,0.956896]]
2025-10-26T21:22:16.652Z,1761513736.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:16.655Z,1761513736.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 487.575073 m,
      bearing: 38.676224 deg,
      approach rate: -0.637730 m/s,
      LOS rate: -0.005522 deg/s,
      cmd heading: 39.266904 deg,
      new cmd heading: 39.258440 deg.

2025-10-26T21:22:16.656Z,1761513736.656 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:16.660Z,1761513736.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685189 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:16.908Z,1761513736.908 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:17.106Z,1761513737.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743129,-0.604562,-0.286817],[0.621432,0.782485,-0.039246],[0.248157,-0.149073,0.957181]]
2025-10-26T21:22:17.152Z,1761513737.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:17.154Z,1761513737.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 487.234222 m,
      bearing: 38.674882 deg,
      approach rate: -0.683127 m/s,
      LOS rate: -0.002691 deg/s,
      cmd heading: 39.258438 deg,
      new cmd heading: 39.254411 deg.

2025-10-26T21:22:17.155Z,1761513737.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685119 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:17.160Z,1761513737.160 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:17.413Z,1761513737.413 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:22:17.413Z,1761513737.413 [DAT](INFO): response not received
2025-10-26T21:22:17.413Z,1761513737.413 [DAT](INFO): DAT read: user:185>

2025-10-26T21:22:17.414Z,1761513737.414 [DAT](INFO): DAT read: Tx time:21:22:16.5958

2025-10-26T21:22:17.414Z,1761513737.414 [DAT](INFO): Ping request sent.
2025-10-26T21:22:17.414Z,1761513737.414 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:22:17.414Z,1761513737.414 [DAT](INFO): publishing transmit ping time
2025-10-26T21:22:17.415Z,1761513737.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-10-26T21:22:17.503Z,1761513737.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741482,-0.606861,-0.286224],[0.623755,0.780634,-0.039246],[0.247253,-0.149434,0.957359]]
2025-10-26T21:22:17.526Z,1761513737.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:17.528Z,1761513737.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:17.530Z,1761513737.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 486.990906 m,
      bearing: 38.673840 deg,
      approach rate: -0.646004 m/s,
      LOS rate: -0.002770 deg/s,
      cmd heading: 39.254412 deg,
      new cmd heading: 39.251282 deg.

2025-10-26T21:22:17.532Z,1761513737.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685064 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:17.664Z,1761513737.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250088
2025-10-26T21:22:17.917Z,1761513737.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502236
2025-10-26T21:22:17.948Z,1761513737.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:17.951Z,1761513737.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 486.718597 m,
      bearing: 38.672672 deg,
      approach rate: -0.648149 m/s,
      LOS rate: -0.002782 deg/s,
      cmd heading: 39.251284 deg,
      new cmd heading: 39.247778 deg.

2025-10-26T21:22:17.952Z,1761513737.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685003 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:18.168Z,1761513738.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754018
2025-10-26T21:22:18.311Z,1761513738.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739166,-0.610454,-0.284569],[0.627336,0.777773,-0.038969],[0.245119,-0.149716,0.957863]]
2025-10-26T21:22:18.354Z,1761513738.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:18.356Z,1761513738.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 486.464935 m,
      bearing: 38.673884 deg,
      approach rate: -0.625682 m/s,
      LOS rate: 0.002992 deg/s,
      cmd heading: 39.247776 deg,
      new cmd heading: 39.251415 deg.

2025-10-26T21:22:18.357Z,1761513738.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685066 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:18.421Z,1761513738.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006169
2025-10-26T21:22:18.672Z,1761513738.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257999
2025-10-26T21:22:18.725Z,1761513738.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738689,-0.611606,-0.283331],[0.628516,0.776854,-0.038296],[0.243529,-0.149789,0.958257]]
2025-10-26T21:22:18.758Z,1761513738.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:18.761Z,1761513738.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 486.211700 m,
      bearing: 38.675057 deg,
      approach rate: -0.626420 m/s,
      LOS rate: 0.002904 deg/s,
      cmd heading: 39.251414 deg,
      new cmd heading: 39.254936 deg.

2025-10-26T21:22:18.762Z,1761513738.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685128 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:18.925Z,1761513738.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510194
2025-10-26T21:22:19.126Z,1761513739.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738476,-0.612205,-0.282592],[0.629281,0.776283,-0.037284],[0.242197,-0.150297,0.958515]]
2025-10-26T21:22:19.176Z,1761513739.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762094
2025-10-26T21:22:19.180Z,1761513739.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:19.182Z,1761513739.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 485.959259 m,
      bearing: 38.678790 deg,
      approach rate: -0.598638 m/s,
      LOS rate: 0.008857 deg/s,
      cmd heading: 39.254934 deg,
      new cmd heading: 39.266139 deg.

2025-10-26T21:22:19.183Z,1761513739.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685323 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:19.429Z,1761513739.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014754
2025-10-26T21:22:19.522Z,1761513739.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738778,-0.612062,-0.282112],[0.629405,0.776249,-0.035882],[0.240951,-0.151054,0.958710]]
2025-10-26T21:22:19.550Z,1761513739.550 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:19.552Z,1761513739.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:19.555Z,1761513739.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 485.734802 m,
      bearing: 38.682115 deg,
      approach rate: -0.602538 m/s,
      LOS rate: 0.008930 deg/s,
      cmd heading: 39.266139 deg,
      new cmd heading: 39.276119 deg.

2025-10-26T21:22:19.556Z,1761513739.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685498 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:19.680Z,1761513739.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265996
2025-10-26T21:22:19.926Z,1761513739.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739686,-0.610954,-0.282135],[0.628934,0.776752,-0.033126],[0.239387,-0.152942,0.958803]]
2025-10-26T21:22:19.932Z,1761513739.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517926
2025-10-26T21:22:19.950Z,1761513739.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:19.972Z,1761513739.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 485.495728 m,
      bearing: 38.685687 deg,
      approach rate: -0.601222 m/s,
      LOS rate: 0.008987 deg/s,
      cmd heading: 39.276118 deg,
      new cmd heading: 39.286840 deg.

2025-10-26T21:22:19.973Z,1761513739.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685685 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:20.185Z,1761513740.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770777
2025-10-26T21:22:20.330Z,1761513740.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740868,-0.609514,-0.282148],[0.628137,0.777514,-0.030263],[0.237820,-0.154807,0.958893]]
2025-10-26T21:22:20.437Z,1761513740.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022183
2025-10-26T21:22:20.463Z,1761513740.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:20.466Z,1761513740.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 485.218048 m,
      bearing: 38.693175 deg,
      approach rate: -0.541417 m/s,
      LOS rate: 0.014607 deg/s,
      cmd heading: 39.286838 deg,
      new cmd heading: 39.309313 deg.

2025-10-26T21:22:20.467Z,1761513740.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.686077 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:20.688Z,1761513740.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273999
2025-10-26T21:22:20.745Z,1761513740.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742085,-0.608136,-0.281921],[0.627150,0.778386,-0.028254],[0.236625,-0.155840,0.959022]]
2025-10-26T21:22:20.778Z,1761513740.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:20.781Z,1761513740.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 485.033295 m,
      bearing: 38.698195 deg,
      approach rate: -0.585354 m/s,
      LOS rate: 0.015913 deg/s,
      cmd heading: 39.309313 deg,
      new cmd heading: 39.324381 deg.

2025-10-26T21:22:20.782Z,1761513740.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.686340 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:20.940Z,1761513740.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526071
2025-10-26T21:22:21.153Z,1761513741.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743804,-0.606170,-0.281626],[0.625793,0.779582,-0.025184],[0.234816,-0.157508,0.959194]]
2025-10-26T21:22:21.193Z,1761513741.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778158
2025-10-26T21:22:21.197Z,1761513741.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:21.200Z,1761513741.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 484.811249 m,
      bearing: 38.705153 deg,
      approach rate: -0.529688 m/s,
      LOS rate: 0.016605 deg/s,
      cmd heading: 39.324380 deg,
      new cmd heading: 39.345263 deg.

2025-10-26T21:22:21.201Z,1761513741.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.686704 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:21.444Z,1761513741.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029970
2025-10-26T21:22:21.542Z,1761513741.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745143,-0.604543,-0.281583],[0.624641,0.780576,-0.022889],[0.233635,-0.158833,0.959264]]
2025-10-26T21:22:21.570Z,1761513741.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:21.576Z,1761513741.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:21.578Z,1761513741.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 484.610992 m,
      bearing: 38.711476 deg,
      approach rate: -0.529389 m/s,
      LOS rate: 0.016721 deg/s,
      cmd heading: 39.345264 deg,
      new cmd heading: 39.364239 deg.

2025-10-26T21:22:21.580Z,1761513741.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687036 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:21.697Z,1761513741.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282742
2025-10-26T21:22:21.946Z,1761513741.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746362,-0.603265,-0.281096],[0.623629,0.781433,-0.021197],[0.232445,-0.159479,0.959446]]
2025-10-26T21:22:21.948Z,1761513741.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534121
2025-10-26T21:22:21.972Z,1761513741.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:21.974Z,1761513741.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 484.398224 m,
      bearing: 38.718239 deg,
      approach rate: -0.537459 m/s,
      LOS rate: 0.017093 deg/s,
      cmd heading: 39.364238 deg,
      new cmd heading: 39.384538 deg.

2025-10-26T21:22:21.975Z,1761513741.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687390 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:22.200Z,1761513742.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785970
2025-10-26T21:22:22.350Z,1761513742.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747838,-0.601606,-0.280729],[0.622314,0.782532,-0.019184],[0.231220,-0.160355,0.959596]]
2025-10-26T21:22:22.411Z,1761513742.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:22.430Z,1761513742.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 484.167358 m,
      bearing: 38.725680 deg,
      approach rate: -0.525268 m/s,
      LOS rate: 0.016938 deg/s,
      cmd heading: 39.384537 deg,
      new cmd heading: 39.406871 deg.

2025-10-26T21:22:22.431Z,1761513742.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687780 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:22.453Z,1761513742.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038174
2025-10-26T21:22:22.705Z,1761513742.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290474
2025-10-26T21:22:22.771Z,1761513742.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749510,-0.599776,-0.280185],[0.620842,0.783753,-0.016950],[0.229762,-0.161246,0.959796]]
2025-10-26T21:22:22.789Z,1761513742.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:22.792Z,1761513742.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 483.968658 m,
      bearing: 38.732144 deg,
      approach rate: -0.525642 m/s,
      LOS rate: 0.017106 deg/s,
      cmd heading: 39.406872 deg,
      new cmd heading: 39.426271 deg.

2025-10-26T21:22:22.793Z,1761513742.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688118 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:22.956Z,1761513742.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541989
2025-10-26T21:22:23.181Z,1761513743.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750971,-0.598299,-0.279429],[0.619596,0.784775,-0.015142],[0.228348,-0.161762,0.960047]]
2025-10-26T21:22:23.209Z,1761513743.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794406
2025-10-26T21:22:23.236Z,1761513743.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:23.239Z,1761513743.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 483.732300 m,
      bearing: 38.738174 deg,
      approach rate: -0.528778 m/s,
      LOS rate: 0.013497 deg/s,
      cmd heading: 39.426270 deg,
      new cmd heading: 39.444370 deg.

2025-10-26T21:22:23.240Z,1761513743.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688434 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:23.461Z,1761513743.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046500
2025-10-26T21:22:23.562Z,1761513743.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752574,-0.596632,-0.278682],[0.618173,0.785930,-0.013240],[0.226924,-0.162310,0.960292]]
2025-10-26T21:22:23.597Z,1761513743.597 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:23.599Z,1761513743.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:23.605Z,1761513743.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 483.541992 m,
      bearing: 38.743082 deg,
      approach rate: -0.524820 m/s,
      LOS rate: 0.013538 deg/s,
      cmd heading: 39.444370 deg,
      new cmd heading: 39.459097 deg.

2025-10-26T21:22:23.606Z,1761513743.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688691 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:23.713Z,1761513743.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298711
2025-10-26T21:22:23.964Z,1761513743.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549977
2025-10-26T21:22:23.968Z,1761513743.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754222,-0.595007,-0.277697],[0.616653,0.787148,-0.011760],[0.225586,-0.162373,0.960597]]
2025-10-26T21:22:23.986Z,1761513743.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:24.001Z,1761513744.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 483.335724 m,
      bearing: 38.748460 deg,
      approach rate: -0.532950 m/s,
      LOS rate: 0.013904 deg/s,
      cmd heading: 39.459099 deg,
      new cmd heading: 39.475243 deg.

2025-10-26T21:22:24.002Z,1761513744.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688973 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:24.217Z,1761513744.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802782
2025-10-26T21:22:24.384Z,1761513744.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755331,-0.594068,-0.276692],[0.615719,0.787891,-0.010803],[0.224421,-0.162205,0.960898]]
2025-10-26T21:22:24.440Z,1761513744.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:24.443Z,1761513744.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 483.089508 m,
      bearing: 38.752028 deg,
      approach rate: -0.541444 m/s,
      LOS rate: 0.007850 deg/s,
      cmd heading: 39.475242 deg,
      new cmd heading: 39.485951 deg.

2025-10-26T21:22:24.448Z,1761513744.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689160 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:24.468Z,1761513744.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054099
2025-10-26T21:22:24.722Z,1761513744.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306996
2025-10-26T21:22:24.778Z,1761513744.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755996,-0.593630,-0.275815],[0.615227,0.788283,-0.010296],[0.223533,-0.161905,0.961155]]
2025-10-26T21:22:24.799Z,1761513744.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:24.802Z,1761513744.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 482.874878 m,
      bearing: 38.755163 deg,
      approach rate: -0.598586 m/s,
      LOS rate: 0.008746 deg/s,
      cmd heading: 39.485952 deg,
      new cmd heading: 39.495360 deg.

2025-10-26T21:22:24.803Z,1761513744.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689324 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:24.973Z,1761513744.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558168
2025-10-26T21:22:25.208Z,1761513745.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756684,-0.593140,-0.274981],[0.614726,0.788682,-0.009618],[0.222577,-0.161760,0.961402]]
2025-10-26T21:22:25.224Z,1761513745.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810032
2025-10-26T21:22:25.257Z,1761513745.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:25.260Z,1761513745.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 482.602966 m,
      bearing: 38.756240 deg,
      approach rate: -0.593529 m/s,
      LOS rate: 0.002353 deg/s,
      cmd heading: 39.495361 deg,
      new cmd heading: 39.498594 deg.

2025-10-26T21:22:25.261Z,1761513745.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689381 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:25.477Z,1761513745.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062997
2025-10-26T21:22:25.579Z,1761513745.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756941,-0.593370,-0.273774],[0.614681,0.788713,-0.009942],[0.221828,-0.160758,0.961743]]
2025-10-26T21:22:25.599Z,1761513745.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:25.601Z,1761513745.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:25.620Z,1761513745.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 482.398743 m,
      bearing: 38.757057 deg,
      approach rate: -0.593323 m/s,
      LOS rate: 0.002374 deg/s,
      cmd heading: 39.498595 deg,
      new cmd heading: 39.501046 deg.

2025-10-26T21:22:25.621Z,1761513745.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689423 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:25.730Z,1761513745.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315311
2025-10-26T21:22:25.980Z,1761513745.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565984
2025-10-26T21:22:25.984Z,1761513745.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756770,-0.594130,-0.272597],[0.615126,0.788358,-0.010559],[0.221178,-0.159691,0.962070]]
2025-10-26T21:22:26.015Z,1761513746.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:26.017Z,1761513746.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 482.152954 m,
      bearing: 38.758030 deg,
      approach rate: -0.594650 m/s,
      LOS rate: 0.002355 deg/s,
      cmd heading: 39.501047 deg,
      new cmd heading: 39.503967 deg.

2025-10-26T21:22:26.018Z,1761513746.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689474 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:26.234Z,1761513746.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819966
2025-10-26T21:22:26.390Z,1761513746.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756505,-0.595152,-0.271097],[0.615734,0.787871,-0.011424],[0.220388,-0.158282,0.962484]]
2025-10-26T21:22:26.436Z,1761513746.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:26.438Z,1761513746.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 481.889587 m,
      bearing: 38.756474 deg,
      approach rate: -0.625732 m/s,
      LOS rate: -0.003698 deg/s,
      cmd heading: 39.503967 deg,
      new cmd heading: 39.499297 deg.

2025-10-26T21:22:26.439Z,1761513746.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689393 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:26.485Z,1761513746.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070250
2025-10-26T21:22:26.741Z,1761513746.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325587
2025-10-26T21:22:26.860Z,1761513746.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755867,-0.596498,-0.269918],[0.616703,0.787097,-0.012436],[0.219870,-0.157059,0.962803]]
2025-10-26T21:22:26.897Z,1761513746.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:26.900Z,1761513746.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 481.600952 m,
      bearing: 38.754729 deg,
      approach rate: -0.625632 m/s,
      LOS rate: -0.003785 deg/s,
      cmd heading: 39.499298 deg,
      new cmd heading: 39.494060 deg.

2025-10-26T21:22:26.901Z,1761513746.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689301 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:26.991Z,1761513746.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.576155
2025-10-26T21:22:27.245Z,1761513747.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830176
2025-10-26T21:22:27.258Z,1761513747.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755057,-0.598074,-0.268695],[0.617874,0.786159,-0.013587],[0.219363,-0.155761,0.963129]]
2025-10-26T21:22:27.294Z,1761513747.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:27.316Z,1761513747.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 481.347748 m,
      bearing: 38.751025 deg,
      approach rate: -0.638323 m/s,
      LOS rate: -0.009343 deg/s,
      cmd heading: 39.494059 deg,
      new cmd heading: 39.482941 deg.

2025-10-26T21:22:27.317Z,1761513747.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689107 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:27.497Z,1761513747.497 [DAT](INFO): Reached modem response timeout
2025-10-26T21:22:27.497Z,1761513747.497 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:27.498Z,1761513747.498 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:22:27.748Z,1761513747.748 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:27.759Z,1761513747.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753085,-0.601617,-0.266308],[0.620873,0.783770,-0.014867],[0.217669,-0.154148,0.963773]]
2025-10-26T21:22:27.785Z,1761513747.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:27.787Z,1761513747.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:27.790Z,1761513747.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 481.032623 m,
      bearing: 38.746272 deg,
      approach rate: -0.638064 m/s,
      LOS rate: -0.009630 deg/s,
      cmd heading: 39.482940 deg,
      new cmd heading: 39.468672 deg.

2025-10-26T21:22:27.791Z,1761513747.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688858 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:28.000Z,1761513748.000 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:28.218Z,1761513748.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:28.229Z,1761513748.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 480.768646 m,
      bearing: 38.742286 deg,
      approach rate: -0.614213 m/s,
      LOS rate: -0.009279 deg/s,
      cmd heading: 39.468672 deg,
      new cmd heading: 39.456708 deg.

2025-10-26T21:22:28.232Z,1761513748.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688649 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:28.254Z,1761513748.254 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:28.504Z,1761513748.504 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:28.603Z,1761513748.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750809,-0.605900,-0.263006],[0.624668,0.780739,-0.015374],[0.214654,-0.152748,0.964672]]
2025-10-26T21:22:28.652Z,1761513748.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:28.654Z,1761513748.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 480.461884 m,
      bearing: 38.738093 deg,
      approach rate: -0.706215 m/s,
      LOS rate: -0.009660 deg/s,
      cmd heading: 39.456709 deg,
      new cmd heading: 39.444120 deg.

2025-10-26T21:22:28.656Z,1761513748.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688430 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:28.756Z,1761513748.756 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:29.003Z,1761513749.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749717,-0.607763,-0.261819],[0.626668,0.779157,-0.014203],[0.212630,-0.153426,0.965012]]
2025-10-26T21:22:29.008Z,1761513749.008 [DAT](INFO): DAT read: Rx Time:21:22:27.6936

2025-10-26T21:22:29.009Z,1761513749.009 [DAT](INFO): Rx dataTimestamp_ set to:1761513749.008431
2025-10-26T21:22:29.009Z,1761513749.009 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:29.027Z,1761513749.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:29.030Z,1761513749.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 480.207031 m,
      bearing: 38.734537 deg,
      approach rate: -0.679195 m/s,
      LOS rate: -0.009482 deg/s,
      cmd heading: 39.444120 deg,
      new cmd heading: 39.433446 deg.

2025-10-26T21:22:29.031Z,1761513749.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688243 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:29.263Z,1761513749.263 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:29.407Z,1761513749.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748590,-0.610237,-0.259276],[0.628702,0.777506,-0.014745],[0.210587,-0.151969,0.965691]]
2025-10-26T21:22:29.495Z,1761513749.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:29.502Z,1761513749.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 479.929718 m,
      bearing: 38.731433 deg,
      approach rate: -0.592615 m/s,
      LOS rate: -0.006637 deg/s,
      cmd heading: 39.433445 deg,
      new cmd heading: 39.424128 deg.

2025-10-26T21:22:29.502Z,1761513749.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688081 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:29.517Z,1761513749.517 [DAT](INFO): DAT read: 21:22:27.6936 LVL= 17968, 12673, 16114, 20755, AGC= 58, IDX=  59,-0.09, 1.298,-3.026, 2.567, 2.569, PHS=-1.169, 0.733,-0.046, RAW= 294.0,   5.9, CAL= 291.9,   3.1, ROT= 218.1,  -3.1

2025-10-26T21:22:29.518Z,1761513749.518 [DAT](INFO): got valid direction response:
 21:22:27.6936 LVL= 17968, 12673, 16114, 20755, AGC= 58, IDX=  59,-0.09, 1.298,-3.026, 2.567, 2.569, PHS=-1.169, 0.733,-0.046, RAW= 294.0,   5.9, CAL= 291.9,   3.1, ROT= 218.1,  -3.1

2025-10-26T21:22:29.518Z,1761513749.518 [DAT](INFO): DAT read: 

2025-10-26T21:22:29.519Z,1761513749.519 [DAT](INFO): DAT read: $Packet for address 50

2025-10-26T21:22:29.520Z,1761513749.520 [DAT](INFO): received a packet notification
2025-10-26T21:22:29.532Z,1761513749.532 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:22:29.533Z,1761513749.533 [DAT](INFO): direction in FSK: [-0.785783,-0.616133,0.054079]
2025-10-26T21:22:29.536Z,1761513749.536 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:29.765Z,1761513749.765 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:22:29.766Z,1761513749.766 [DAT](INFO): response not received
2025-10-26T21:22:29.766Z,1761513749.766 [DAT](INFO): DAT read: user:186>

2025-10-26T21:22:29.768Z,1761513749.768 [DAT](INFO): DAT read: Tx time:21:22:29.0458

2025-10-26T21:22:29.768Z,1761513749.768 [DAT](INFO): Ping request sent.
2025-10-26T21:22:29.768Z,1761513749.768 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:22:29.768Z,1761513749.768 [DAT](INFO): publishing transmit ping time
2025-10-26T21:22:29.895Z,1761513749.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747676,-0.611934,-0.257909],[0.630446,0.776110,-0.013800],[0.208611,-0.152279,0.966071]]
2025-10-26T21:22:29.935Z,1761513749.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:29.937Z,1761513749.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:29.944Z,1761513749.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 479.624115 m,
      bearing: 38.727937 deg,
      approach rate: -0.690905 m/s,
      LOS rate: -0.007908 deg/s,
      cmd heading: 39.424129 deg,
      new cmd heading: 39.413635 deg.

2025-10-26T21:22:29.945Z,1761513749.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687898 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:30.016Z,1761513750.016 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:30.017Z,1761513750.017 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:30.017Z,1761513750.017 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:30.271Z,1761513750.271 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:30.272Z,1761513750.272 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:30.272Z,1761513750.272 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:30.304Z,1761513750.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747151,-0.613217,-0.256379],[0.631631,0.775155,-0.013321],[0.206902,-0.151984,0.966485]]
2025-10-26T21:22:30.378Z,1761513750.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:30.396Z,1761513750.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 479.352997 m,
      bearing: 38.727331 deg,
      approach rate: -0.615499 m/s,
      LOS rate: -0.001378 deg/s,
      cmd heading: 39.413634 deg,
      new cmd heading: 39.411813 deg.

2025-10-26T21:22:30.397Z,1761513750.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687866 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:30.521Z,1761513750.521 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:30.521Z,1761513750.521 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:30.521Z,1761513750.521 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:30.661Z,1761513750.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746795,-0.614402,-0.254572],[0.632816,0.774207,-0.012137],[0.204548,-0.152034,0.966978]]
2025-10-26T21:22:30.679Z,1761513750.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:30.682Z,1761513750.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 479.155823 m,
      bearing: 38.726862 deg,
      approach rate: -0.654620 m/s,
      LOS rate: -0.001558 deg/s,
      cmd heading: 39.411814 deg,
      new cmd heading: 39.410406 deg.

2025-10-26T21:22:30.682Z,1761513750.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687841 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:30.772Z,1761513750.772 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:30.772Z,1761513750.772 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:30.772Z,1761513750.772 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:31.024Z,1761513751.024 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:31.024Z,1761513751.024 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:31.024Z,1761513751.024 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:31.062Z,1761513751.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746530,-0.615119,-0.253616],[0.633909,0.773346,-0.009732],[0.202119,-0.153505,0.967256]]
2025-10-26T21:22:31.094Z,1761513751.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:31.097Z,1761513751.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 478.896149 m,
      bearing: 38.726214 deg,
      approach rate: -0.624762 m/s,
      LOS rate: -0.001560 deg/s,
      cmd heading: 39.410407 deg,
      new cmd heading: 39.408462 deg.

2025-10-26T21:22:31.098Z,1761513751.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687807 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:31.164Z,1761513751.164 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:22:31.278Z,1761513751.278 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:31.278Z,1761513751.278 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:31.279Z,1761513751.279 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:31.528Z,1761513751.528 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:31.528Z,1761513751.528 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:31.528Z,1761513751.528 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:31.536Z,1761513751.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:31.539Z,1761513751.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 478.644531 m,
      bearing: 38.728350 deg,
      approach rate: -0.569438 m/s,
      LOS rate: 0.004838 deg/s,
      cmd heading: 39.408463 deg,
      new cmd heading: 39.414877 deg.

2025-10-26T21:22:31.540Z,1761513751.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687919 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:31.780Z,1761513751.780 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:31.780Z,1761513751.780 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:31.780Z,1761513751.780 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:31.878Z,1761513751.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747910,-0.614193,-0.251789],[0.633529,0.773699,-0.005469],[0.198168,-0.155425,0.967767]]
2025-10-26T21:22:31.904Z,1761513751.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:31.906Z,1761513751.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 478.419769 m,
      bearing: 38.730294 deg,
      approach rate: -0.625585 m/s,
      LOS rate: 0.005413 deg/s,
      cmd heading: 39.414877 deg,
      new cmd heading: 39.420711 deg.

2025-10-26T21:22:31.911Z,1761513751.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688021 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:32.032Z,1761513752.032 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:32.032Z,1761513752.032 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:32.032Z,1761513752.032 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:32.168Z,1761513752.168 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:22:32.288Z,1761513752.288 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:32.288Z,1761513752.288 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:32.289Z,1761513752.289 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:32.407Z,1761513752.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:32.409Z,1761513752.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:32.412Z,1761513752.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 478.139221 m,
      bearing: 38.736735 deg,
      approach rate: -0.546656 m/s,
      LOS rate: 0.012558 deg/s,
      cmd heading: 39.420710 deg,
      new cmd heading: 39.440044 deg.

2025-10-26T21:22:32.413Z,1761513752.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688359 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:32.536Z,1761513752.536 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:32.536Z,1761513752.536 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:32.536Z,1761513752.536 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:32.728Z,1761513752.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750080,-0.612289,-0.249966],[0.632222,0.774787,-0.000704],[0.194101,-0.157506,0.968254]]
2025-10-26T21:22:32.748Z,1761513752.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:32.751Z,1761513752.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 477.952423 m,
      bearing: 38.741082 deg,
      approach rate: -0.550288 m/s,
      LOS rate: 0.012809 deg/s,
      cmd heading: 39.440043 deg,
      new cmd heading: 39.453088 deg.

2025-10-26T21:22:32.752Z,1761513752.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688586 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:32.794Z,1761513752.794 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:32.794Z,1761513752.794 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:32.794Z,1761513752.794 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:33.044Z,1761513753.044 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:33.044Z,1761513753.044 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:33.044Z,1761513753.044 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:33.120Z,1761513753.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751445,-0.611056,-0.248880],[0.631231,0.775593,0.001626],[0.192036,-0.158322,0.968533]]
2025-10-26T21:22:33.138Z,1761513753.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:33.141Z,1761513753.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 477.738525 m,
      bearing: 38.746105 deg,
      approach rate: -0.548281 m/s,
      LOS rate: 0.012883 deg/s,
      cmd heading: 39.453089 deg,
      new cmd heading: 39.468166 deg.

2025-10-26T21:22:33.142Z,1761513753.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688849 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:33.300Z,1761513753.300 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:33.301Z,1761513753.301 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:33.301Z,1761513753.301 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:33.524Z,1761513753.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752897,-0.609695,-0.247825],[0.630132,0.776477,0.004077],[0.189945,-0.159232,0.968796]]
2025-10-26T21:22:33.552Z,1761513753.552 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:33.552Z,1761513753.552 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:33.552Z,1761513753.552 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:33.561Z,1761513753.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:33.564Z,1761513753.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 477.506958 m,
      bearing: 38.752788 deg,
      approach rate: -0.547663 m/s,
      LOS rate: 0.015812 deg/s,
      cmd heading: 39.468166 deg,
      new cmd heading: 39.488224 deg.

2025-10-26T21:22:33.565Z,1761513753.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689200 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:33.804Z,1761513753.804 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:33.804Z,1761513753.804 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:33.804Z,1761513753.804 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:33.927Z,1761513753.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754639,-0.607985,-0.246726],[0.628691,0.777626,0.006688],[0.187794,-0.160161,0.969062]]
2025-10-26T21:22:33.959Z,1761513753.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:33.962Z,1761513753.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 477.287384 m,
      bearing: 38.759191 deg,
      approach rate: -0.552243 m/s,
      LOS rate: 0.016111 deg/s,
      cmd heading: 39.488223 deg,
      new cmd heading: 39.507440 deg.

2025-10-26T21:22:33.962Z,1761513753.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689535 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:34.056Z,1761513754.056 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:34.057Z,1761513754.057 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:34.057Z,1761513754.057 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:34.310Z,1761513754.310 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:34.310Z,1761513754.310 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:34.311Z,1761513754.311 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:34.387Z,1761513754.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756559,-0.606007,-0.245711],[0.627017,0.778948,0.009474],[0.185655,-0.161232,0.969297]]
2025-10-26T21:22:34.473Z,1761513754.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:34.475Z,1761513754.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:34.482Z,1761513754.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 477.029053 m,
      bearing: 38.768015 deg,
      approach rate: -0.500362 m/s,
      LOS rate: 0.017102 deg/s,
      cmd heading: 39.507440 deg,
      new cmd heading: 39.533929 deg.

2025-10-26T21:22:34.483Z,1761513754.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689997 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:34.562Z,1761513754.562 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:34.562Z,1761513754.562 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:34.562Z,1761513754.562 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:34.813Z,1761513754.813 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:34.813Z,1761513754.813 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:34.813Z,1761513754.813 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:34.902Z,1761513754.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758565,-0.603867,-0.244792],[0.625181,0.780384,0.012223],[0.183651,-0.162311,0.969499]]
2025-10-26T21:22:34.920Z,1761513754.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:34.923Z,1761513754.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 476.798248 m,
      bearing: 38.775983 deg,
      approach rate: -0.518254 m/s,
      LOS rate: 0.017899 deg/s,
      cmd heading: 39.533927 deg,
      new cmd heading: 39.557841 deg.

2025-10-26T21:22:34.924Z,1761513754.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690415 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:35.064Z,1761513755.064 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:35.064Z,1761513755.064 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:35.064Z,1761513755.064 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:35.319Z,1761513755.319 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:35.319Z,1761513755.319 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:35.320Z,1761513755.320 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:35.419Z,1761513755.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:35.421Z,1761513755.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 476.531494 m,
      bearing: 38.783378 deg,
      approach rate: -0.535509 m/s,
      LOS rate: 0.014853 deg/s,
      cmd heading: 39.557843 deg,
      new cmd heading: 39.580039 deg.

2025-10-26T21:22:35.422Z,1761513755.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690802 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:35.568Z,1761513755.568 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:35.568Z,1761513755.568 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:35.568Z,1761513755.568 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:35.777Z,1761513755.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:35.779Z,1761513755.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 476.339691 m,
      bearing: 38.788699 deg,
      approach rate: -0.535724 m/s,
      LOS rate: 0.014870 deg/s,
      cmd heading: 39.580038 deg,
      new cmd heading: 39.596009 deg.

2025-10-26T21:22:35.780Z,1761513755.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691081 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:35.820Z,1761513755.820 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:35.820Z,1761513755.820 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:35.821Z,1761513755.821 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:36.072Z,1761513756.072 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:36.072Z,1761513756.072 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:36.072Z,1761513756.072 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:36.142Z,1761513756.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763561,-0.598987,-0.241225],[0.620635,0.783892,0.018039],[0.178289,-0.163486,0.970302]]
2025-10-26T21:22:36.172Z,1761513756.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:36.174Z,1761513756.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 476.128601 m,
      bearing: 38.794732 deg,
      approach rate: -0.534807 m/s,
      LOS rate: 0.015291 deg/s,
      cmd heading: 39.596010 deg,
      new cmd heading: 39.614116 deg.

2025-10-26T21:22:36.175Z,1761513756.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691397 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:36.326Z,1761513756.326 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:36.327Z,1761513756.327 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:36.327Z,1761513756.327 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:36.576Z,1761513756.576 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:36.576Z,1761513756.576 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:36.576Z,1761513756.576 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:36.600Z,1761513756.600 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:36.602Z,1761513756.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:36.605Z,1761513756.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 475.884613 m,
      bearing: 38.799133 deg,
      approach rate: -0.565928 m/s,
      LOS rate: 0.010214 deg/s,
      cmd heading: 39.614117 deg,
      new cmd heading: 39.627328 deg.

2025-10-26T21:22:36.606Z,1761513756.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691627 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:36.829Z,1761513756.829 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:36.829Z,1761513756.829 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:36.829Z,1761513756.829 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:36.957Z,1761513756.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766346,-0.597227,-0.236714],[0.618450,0.785564,0.020223],[0.173876,-0.161894,0.971369]]
2025-10-26T21:22:36.989Z,1761513756.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:36.991Z,1761513756.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 475.673553 m,
      bearing: 38.803035 deg,
      approach rate: -0.546370 m/s,
      LOS rate: 0.010106 deg/s,
      cmd heading: 39.627327 deg,
      new cmd heading: 39.639038 deg.

2025-10-26T21:22:36.992Z,1761513756.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691832 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:37.081Z,1761513757.081 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:37.081Z,1761513757.081 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:37.081Z,1761513757.081 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:37.335Z,1761513757.335 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:37.336Z,1761513757.336 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:37.336Z,1761513757.336 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:37.410Z,1761513757.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766187,-0.598146,-0.234903],[0.618934,0.785204,0.019377],[0.172856,-0.160236,0.971826]]
2025-10-26T21:22:37.468Z,1761513757.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:37.471Z,1761513757.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 475.371368 m,
      bearing: 38.804877 deg,
      approach rate: -0.630008 m/s,
      LOS rate: 0.003841 deg/s,
      cmd heading: 39.639037 deg,
      new cmd heading: 39.644565 deg.

2025-10-26T21:22:37.476Z,1761513757.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691928 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:37.584Z,1761513757.584 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:37.584Z,1761513757.584 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:37.584Z,1761513757.584 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:37.800Z,1761513757.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765978,-0.598928,-0.233586],[0.619462,0.784795,0.019088],[0.171884,-0.159318,0.972149]]
2025-10-26T21:22:37.818Z,1761513757.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:37.837Z,1761513757.837 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:37.838Z,1761513757.838 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:37.838Z,1761513757.838 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:37.841Z,1761513757.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 475.138977 m,
      bearing: 38.806281 deg,
      approach rate: -0.664891 m/s,
      LOS rate: 0.004019 deg/s,
      cmd heading: 39.644566 deg,
      new cmd heading: 39.648780 deg.

2025-10-26T21:22:37.843Z,1761513757.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692002 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:38.089Z,1761513758.089 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:38.089Z,1761513758.089 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:38.089Z,1761513758.089 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:38.206Z,1761513758.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765290,-0.600321,-0.232263],[0.620536,0.783963,0.018345],[0.171072,-0.158167,0.972480]]
2025-10-26T21:22:38.224Z,1761513758.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:38.227Z,1761513758.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 474.881226 m,
      bearing: 38.807801 deg,
      approach rate: -0.634287 m/s,
      LOS rate: 0.003744 deg/s,
      cmd heading: 39.648780 deg,
      new cmd heading: 39.653344 deg.

2025-10-26T21:22:38.228Z,1761513758.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692081 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:38.341Z,1761513758.341 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:38.341Z,1761513758.341 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:38.341Z,1761513758.341 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:38.592Z,1761513758.592 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:38.592Z,1761513758.592 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:38.592Z,1761513758.592 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:38.608Z,1761513758.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764594,-0.601763,-0.230818],[0.621664,0.783083,0.017719],[0.170087,-0.157039,0.972836]]
2025-10-26T21:22:38.680Z,1761513758.680 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:38.682Z,1761513758.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:38.685Z,1761513758.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 474.582733 m,
      bearing: 38.806815 deg,
      approach rate: -0.652614 m/s,
      LOS rate: -0.002158 deg/s,
      cmd heading: 39.653343 deg,
      new cmd heading: 39.650382 deg.

2025-10-26T21:22:38.686Z,1761513758.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692030 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:38.845Z,1761513758.845 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:38.845Z,1761513758.845 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:38.845Z,1761513758.845 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:39.022Z,1761513759.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763357,-0.603779,-0.229644],[0.623388,0.781731,0.016875],[0.169331,-0.156039,0.973128]]
2025-10-26T21:22:39.042Z,1761513759.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:39.045Z,1761513759.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 474.332214 m,
      bearing: 38.805922 deg,
      approach rate: -0.694268 m/s,
      LOS rate: -0.002474 deg/s,
      cmd heading: 39.650382 deg,
      new cmd heading: 39.647703 deg.

2025-10-26T21:22:39.046Z,1761513759.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691983 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:39.097Z,1761513759.097 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:39.097Z,1761513759.097 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:39.097Z,1761513759.097 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:39.352Z,1761513759.352 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:39.352Z,1761513759.352 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:39.353Z,1761513759.353 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:39.467Z,1761513759.467 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.65,  73.71,  91.03,  73.37
2025-10-26T21:22:39.483Z,1761513759.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:39.485Z,1761513759.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 474.037018 m,
      bearing: 38.804870 deg,
      approach rate: -0.670729 m/s,
      LOS rate: -0.002394 deg/s,
      cmd heading: 39.647705 deg,
      new cmd heading: 39.644544 deg.

2025-10-26T21:22:39.486Z,1761513759.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691928 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:39.600Z,1761513759.600 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:39.601Z,1761513759.601 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:39.601Z,1761513759.601 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:39.832Z,1761513759.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760514,-0.608284,-0.227177],[0.627183,0.778738,0.014473],[0.168108,-0.153488,0.973746]]
2025-10-26T21:22:39.855Z,1761513759.855 [DAT](INFO): Reached modem response timeout
2025-10-26T21:22:39.855Z,1761513759.855 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:39.856Z,1761513759.856 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:22:39.913Z,1761513759.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:39.916Z,1761513759.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 473.747864 m,
      bearing: 38.803673 deg,
      approach rate: -0.671309 m/s,
      LOS rate: -0.002780 deg/s,
      cmd heading: 39.644546 deg,
      new cmd heading: 39.640954 deg.

2025-10-26T21:22:39.917Z,1761513759.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691865 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:40.104Z,1761513760.104 [DAT](INFO): DAT read: Rx Time:21:22:38.6501

2025-10-26T21:22:40.105Z,1761513760.105 [DAT](INFO): Rx dataTimestamp_ set to:1761513760.104622
2025-10-26T21:22:40.105Z,1761513760.105 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:40.230Z,1761513760.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758966,-0.610771,-0.225675],[0.629281,0.777065,0.013267],[0.167261,-0.152082,0.974112]]
2025-10-26T21:22:40.249Z,1761513760.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:40.272Z,1761513760.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 473.523041 m,
      bearing: 38.802672 deg,
      approach rate: -0.670257 m/s,
      LOS rate: -0.002987 deg/s,
      cmd heading: 39.640953 deg,
      new cmd heading: 39.637947 deg.

2025-10-26T21:22:40.273Z,1761513760.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691813 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:40.357Z,1761513760.357 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:40.613Z,1761513760.613 [DAT](INFO): DAT read: 21:22:38.6501 LVL= 21792, 21025, 20914, 28563, AGC= 81, IDX= 494, 0.50, 0.755, 2.813, 2.121, 2.121, PHS=-1.265, 0.736,-0.045, RAW= 292.8,   6.6, CAL= 290.6,   4.7, ROT= 219.4,  -4.7

2025-10-26T21:22:40.614Z,1761513760.614 [DAT](INFO): got valid direction response:
 21:22:38.6501 LVL= 21792, 21025, 20914, 28563, AGC= 81, IDX= 494, 0.50, 0.755, 2.813, 2.121, 2.121, PHS=-1.265, 0.736,-0.045, RAW= 292.8,   6.6, CAL= 290.6,   4.7, ROT= 219.4,  -4.7

2025-10-26T21:22:40.614Z,1761513760.614 [DAT](INFO): DAT read: 

2025-10-26T21:22:40.615Z,1761513760.615 [DAT](INFO): DAT read: $Packet for address 50

2025-10-26T21:22:40.615Z,1761513760.615 [DAT](INFO): received a packet notification
2025-10-26T21:22:40.628Z,1761513760.628 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:22:40.629Z,1761513760.629 [DAT](INFO): direction in FSK: [-0.770135,-0.632596,0.081939]
2025-10-26T21:22:40.637Z,1761513760.637 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:40.750Z,1761513760.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757546,-0.613050,-0.224263],[0.631231,0.775497,0.012343],[0.166349,-0.150912,0.974450]]
2025-10-26T21:22:40.785Z,1761513760.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:40.787Z,1761513760.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:40.790Z,1761513760.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 473.150238 m,
      bearing: 38.797498 deg,
      approach rate: -0.692244 m/s,
      LOS rate: -0.009614 deg/s,
      cmd heading: 39.637948 deg,
      new cmd heading: 39.622416 deg.

2025-10-26T21:22:40.791Z,1761513760.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691542 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:40.860Z,1761513760.860 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:41.112Z,1761513761.112 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:41.146Z,1761513761.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756059,-0.615245,-0.223266],[0.633226,0.773877,0.011790],[0.165527,-0.150292,0.974686]]
2025-10-26T21:22:41.184Z,1761513761.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:41.186Z,1761513761.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 472.888824 m,
      bearing: 38.793785 deg,
      approach rate: -0.665432 m/s,
      LOS rate: -0.009457 deg/s,
      cmd heading: 39.622416 deg,
      new cmd heading: 39.611270 deg.

2025-10-26T21:22:41.187Z,1761513761.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691347 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:41.366Z,1761513761.366 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:41.599Z,1761513761.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754552,-0.617691,-0.221606],[0.635285,0.772204,0.010702],[0.164514,-0.148858,0.975078]]
2025-10-26T21:22:41.616Z,1761513761.616 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:41.657Z,1761513761.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:41.664Z,1761513761.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 472.553650 m,
      bearing: 38.789981 deg,
      approach rate: -0.703181 m/s,
      LOS rate: -0.007986 deg/s,
      cmd heading: 39.611269 deg,
      new cmd heading: 39.599849 deg.

2025-10-26T21:22:41.665Z,1761513761.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691148 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:41.868Z,1761513761.868 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:42.002Z,1761513762.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753585,-0.619289,-0.220435],[0.637015,0.770753,0.012368],[0.162242,-0.149741,0.975323]]
2025-10-26T21:22:42.038Z,1761513762.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:42.044Z,1761513762.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 472.290405 m,
      bearing: 38.786928 deg,
      approach rate: -0.691408 m/s,
      LOS rate: -0.008024 deg/s,
      cmd heading: 39.599849 deg,
      new cmd heading: 39.590683 deg.

2025-10-26T21:22:42.045Z,1761513762.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690988 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:42.121Z,1761513762.121 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:42.372Z,1761513762.372 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:22:42.373Z,1761513762.373 [DAT](INFO): response not received
2025-10-26T21:22:42.373Z,1761513762.373 [DAT](INFO): DAT read: user:187>

2025-10-26T21:22:42.374Z,1761513762.374 [DAT](INFO): DAT read: Tx time:21:22:41.4958

2025-10-26T21:22:42.374Z,1761513762.374 [DAT](INFO): Ping request sent.
2025-10-26T21:22:42.374Z,1761513762.374 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:22:42.374Z,1761513762.374 [DAT](INFO): publishing transmit ping time
2025-10-26T21:22:42.461Z,1761513762.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752798,-0.621132,-0.217921],[0.638451,0.769569,0.012024],[0.160237,-0.148183,0.975892]]
2025-10-26T21:22:42.562Z,1761513762.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:42.570Z,1761513762.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 471.931854 m,
      bearing: 38.784017 deg,
      approach rate: -0.683213 m/s,
      LOS rate: -0.005551 deg/s,
      cmd heading: 39.590683 deg,
      new cmd heading: 39.581943 deg.

2025-10-26T21:22:42.571Z,1761513762.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690835 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:42.899Z,1761513762.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752690,-0.621944,-0.215971],[0.639263,0.768865,0.013780],[0.157482,-0.148435,0.976302]]
2025-10-26T21:22:42.918Z,1761513762.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:42.920Z,1761513762.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:42.923Z,1761513762.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 471.680115 m,
      bearing: 38.781949 deg,
      approach rate: -0.703126 m/s,
      LOS rate: -0.005777 deg/s,
      cmd heading: 39.581943 deg,
      new cmd heading: 39.575739 deg.

2025-10-26T21:22:42.928Z,1761513762.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690727 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:43.129Z,1761513763.129 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:43.129Z,1761513763.129 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:43.129Z,1761513763.129 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:43.294Z,1761513763.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752847,-0.622244,-0.214554],[0.639721,0.768438,0.016108],[0.154848,-0.149382,0.976579]]
2025-10-26T21:22:43.316Z,1761513763.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:43.318Z,1761513763.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 471.409515 m,
      bearing: 38.779718 deg,
      approach rate: -0.685077 m/s,
      LOS rate: -0.005654 deg/s,
      cmd heading: 39.575738 deg,
      new cmd heading: 39.569039 deg.

2025-10-26T21:22:43.319Z,1761513763.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690610 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:43.381Z,1761513763.381 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:43.381Z,1761513763.381 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:43.381Z,1761513763.381 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:43.632Z,1761513763.632 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:43.633Z,1761513763.633 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:43.633Z,1761513763.633 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:43.727Z,1761513763.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753777,-0.621449,-0.213592],[0.639320,0.768688,0.019687],[0.151952,-0.151394,0.976725]]
2025-10-26T21:22:43.776Z,1761513763.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:43.778Z,1761513763.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 471.110870 m,
      bearing: 38.779541 deg,
      approach rate: -0.649110 m/s,
      LOS rate: -0.000383 deg/s,
      cmd heading: 39.569038 deg,
      new cmd heading: 39.568509 deg.

2025-10-26T21:22:43.779Z,1761513763.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690601 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:43.884Z,1761513763.884 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:43.884Z,1761513763.884 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:43.884Z,1761513763.884 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:44.103Z,1761513764.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754710,-0.620729,-0.212388],[0.638898,0.768949,0.022945],[0.149073,-0.153011,0.976916]]
2025-10-26T21:22:44.136Z,1761513764.136 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:44.136Z,1761513764.136 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:44.136Z,1761513764.136 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:44.144Z,1761513764.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:44.146Z,1761513764.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 470.885529 m,
      bearing: 38.779434 deg,
      approach rate: -0.647203 m/s,
      LOS rate: -0.000308 deg/s,
      cmd heading: 39.568508 deg,
      new cmd heading: 39.568186 deg.

2025-10-26T21:22:44.152Z,1761513764.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690595 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:44.388Z,1761513764.388 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:44.389Z,1761513764.389 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:44.389Z,1761513764.389 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:44.582Z,1761513764.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:44.584Z,1761513764.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 470.600677 m,
      bearing: 38.780974 deg,
      approach rate: -0.621908 m/s,
      LOS rate: 0.003364 deg/s,
      cmd heading: 39.568187 deg,
      new cmd heading: 39.572811 deg.

2025-10-26T21:22:44.585Z,1761513764.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690676 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:44.641Z,1761513764.641 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:44.641Z,1761513764.641 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:44.641Z,1761513764.641 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:44.892Z,1761513764.892 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:44.892Z,1761513764.892 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:44.892Z,1761513764.892 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:44.910Z,1761513764.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757699,-0.618184,-0.209142],[0.636624,0.770646,0.028538],[0.143533,-0.154769,0.977469]]
2025-10-26T21:22:44.983Z,1761513764.983 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:44.993Z,1761513764.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:45.004Z,1761513765.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 470.355347 m,
      bearing: 38.782411 deg,
      approach rate: -0.596609 m/s,
      LOS rate: 0.003495 deg/s,
      cmd heading: 39.572811 deg,
      new cmd heading: 39.577123 deg.

2025-10-26T21:22:45.005Z,1761513765.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690751 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:45.144Z,1761513765.144 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:45.144Z,1761513765.144 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:45.144Z,1761513765.144 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:45.357Z,1761513765.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759656,-0.616224,-0.207824],[0.634956,0.771875,0.032246],[0.140543,-0.156455,0.977635]]
2025-10-26T21:22:45.385Z,1761513765.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:45.388Z,1761513765.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 470.101837 m,
      bearing: 38.783974 deg,
      approach rate: -0.646568 m/s,
      LOS rate: 0.003990 deg/s,
      cmd heading: 39.577121 deg,
      new cmd heading: 39.581815 deg.

2025-10-26T21:22:45.389Z,1761513765.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690833 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:45.396Z,1761513765.396 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:45.396Z,1761513765.396 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:45.396Z,1761513765.396 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:45.649Z,1761513765.649 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:45.649Z,1761513765.649 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:45.649Z,1761513765.649 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:45.742Z,1761513765.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761597,-0.614345,-0.206277],[0.633281,0.773100,0.035655],[0.137568,-0.157786,0.977844]]
2025-10-26T21:22:45.791Z,1761513765.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:45.794Z,1761513765.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 469.863129 m,
      bearing: 38.786972 deg,
      approach rate: -0.588008 m/s,
      LOS rate: 0.007388 deg/s,
      cmd heading: 39.581814 deg,
      new cmd heading: 39.590811 deg.

2025-10-26T21:22:45.799Z,1761513765.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690990 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:45.901Z,1761513765.901 [DAT](INFO): DAT read: Rx Time:21:22:44.5505

2025-10-26T21:22:45.901Z,1761513765.901 [DAT](INFO): Rx dataTimestamp_ set to:1761513765.900912
2025-10-26T21:22:45.902Z,1761513765.902 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:45.902Z,1761513765.902 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:45.902Z,1761513765.902 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:46.138Z,1761513766.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763432,-0.612662,-0.204492],[0.631669,0.774284,0.038443],[0.134782,-0.158519,0.978113]]
2025-10-26T21:22:46.152Z,1761513766.152 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:46.152Z,1761513766.152 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:46.152Z,1761513766.152 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:46.181Z,1761513766.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.67 m.
2025-10-26T21:22:46.188Z,1761513766.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.674805 m,
      nav range: 469.638794 m,
      bearing: 38.789857 deg,
      approach rate: -0.574971 m/s,
      LOS rate: 0.007398 deg/s,
      cmd heading: 39.590812 deg,
      new cmd heading: 39.599472 deg.

2025-10-26T21:22:46.189Z,1761513766.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691141 target range: 513.674805 and range: 516.90 m.
2025-10-26T21:22:46.410Z,1761513766.410 [DAT](INFO): DAT read: 21:22:44.5505 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 434, 0.13,-0.658,-2.049,-0.470,-1.084, PHS= 0.527,-0.921, 0.569, RAW= 151.4,  -2.4, CAL= 150.7,  -3.4, ROT= 359.3,   3.4

2025-10-26T21:22:46.411Z,1761513766.411 [DAT](INFO): got valid direction response:
 21:22:44.5505 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 434, 0.13,-0.658,-2.049,-0.470,-1.084, PHS= 0.527,-0.921, 0.569, RAW= 151.4,  -2.4, CAL= 150.7,  -3.4, ROT= 359.3,   3.4

2025-10-26T21:22:46.412Z,1761513766.412 [DAT](INFO): DAT read: Bearing 180.1,   7.6 (Local)

2025-10-26T21:22:46.412Z,1761513766.412 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.1,   7.6 (Local)

2025-10-26T21:22:46.414Z,1761513766.414 [DAT](INFO): DAT read: Range 11 to 50 : 487.8 m  (Round-trip  650.5 ms) speed  0.5 m/s

2025-10-26T21:22:46.415Z,1761513766.415 [DAT](INFO): DAT read: user:188>

2025-10-26T21:22:46.415Z,1761513766.415 [DAT](INFO): DAT read: Tx time:21:22:45.6458

2025-10-26T21:22:46.416Z,1761513766.416 [DAT](INFO): Ping request sent.
2025-10-26T21:22:46.416Z,1761513766.416 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:22:46.416Z,1761513766.416 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T21:22:46.417Z,1761513766.417 [DAT](INFO): direction in FSK: [0.998165,-0.012196,-0.059306]
2025-10-26T21:22:46.417Z,1761513766.417 [DAT](INFO): publishing transmit ping time
2025-10-26T21:22:46.418Z,1761513766.418 [DAT](INFO): publishing direction and range info
2025-10-26T21:22:46.421Z,1761513766.421 [DAT](INFO): publishing transmit ping time
2025-10-26T21:22:46.422Z,1761513766.422 [DAT](INFO): publishing direction and range info
2025-10-26T21:22:46.588Z,1761513766.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767269,-0.608660,-0.202068],[0.628090,0.776841,0.044944],[0.129619,-0.161401,0.978340]]
2025-10-26T21:22:46.679Z,1761513766.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 487.799988 m,
      deltaT: 53.939522 s,
      deltaX: -29.100037 m,
      approachRate: -0.539494 m/s,
      rangeRepo size: 4

2025-10-26T21:22:46.685Z,1761513766.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 484.710083 m,
      bearing: 38.057939 deg,
      lat: 36.779287 deg,
      lon: -121.859033 deg,
      deltaT: 53.939522 s,
      deltaX: -28.964722 m,
      approachRate: -0.536985 m/s,
      posRepo size: 4

2025-10-26T21:22:46.686Z,1761513766.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:46.692Z,1761513766.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 478.160461 m,
      bearing: 38.549630 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007398 deg/s,
      cmd heading: 39.599473 deg,
      new cmd heading: 39.610504 deg.

2025-10-26T21:22:46.693Z,1761513766.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691334 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:47.056Z,1761513767.056 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:47.058Z,1761513767.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:47.060Z,1761513767.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 477.922577 m,
      bearing: 38.553196 deg,
      approach rate: -0.626731 m/s,
      LOS rate: 0.009401 deg/s,
      cmd heading: 39.610504 deg,
      new cmd heading: 39.621208 deg.

2025-10-26T21:22:47.061Z,1761513767.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691521 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:47.161Z,1761513767.161 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:47.161Z,1761513767.161 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:47.162Z,1761513767.162 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:22:47.413Z,1761513767.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996812
2025-10-26T21:22:47.425Z,1761513767.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770626,-0.605757,-0.197976],[0.625028,0.779048,0.049244],[0.124403,-0.161690,0.978969]]
2025-10-26T21:22:47.443Z,1761513767.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:47.446Z,1761513767.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 477.695435 m,
      bearing: 38.556727 deg,
      approach rate: -0.589951 m/s,
      LOS rate: 0.009175 deg/s,
      cmd heading: 39.621207 deg,
      new cmd heading: 39.631804 deg.

2025-10-26T21:22:47.447Z,1761513767.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691705 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:47.664Z,1761513767.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248485
2025-10-26T21:22:47.835Z,1761513767.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771721,-0.605120,-0.195647],[0.624187,0.779623,0.050769],[0.121809,-0.161299,0.979360]]
2025-10-26T21:22:47.883Z,1761513767.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:47.886Z,1761513767.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 477.444366 m,
      bearing: 38.560987 deg,
      approach rate: -0.570363 m/s,
      LOS rate: 0.009684 deg/s,
      cmd heading: 39.631804 deg,
      new cmd heading: 39.644593 deg.

2025-10-26T21:22:47.887Z,1761513767.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691929 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:47.916Z,1761513767.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500362
2025-10-26T21:22:48.168Z,1761513768.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752537
2025-10-26T21:22:48.232Z,1761513768.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772506,-0.604870,-0.193305],[0.623657,0.779989,0.051662],[0.119527,-0.160465,0.979778]]
2025-10-26T21:22:48.250Z,1761513768.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:48.253Z,1761513768.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 477.234589 m,
      bearing: 38.564574 deg,
      approach rate: -0.570638 m/s,
      LOS rate: 0.009760 deg/s,
      cmd heading: 39.644593 deg,
      new cmd heading: 39.655358 deg.

2025-10-26T21:22:48.254Z,1761513768.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692117 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:48.420Z,1761513768.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004623
2025-10-26T21:22:48.634Z,1761513768.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772961,-0.605163,-0.190551],[0.623535,0.780067,0.051955],[0.117201,-0.158974,0.980301]]
2025-10-26T21:22:48.672Z,1761513768.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256560
2025-10-26T21:22:48.677Z,1761513768.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:48.684Z,1761513768.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 476.971069 m,
      bearing: 38.568195 deg,
      approach rate: -0.617346 m/s,
      LOS rate: 0.008489 deg/s,
      cmd heading: 39.655358 deg,
      new cmd heading: 39.666228 deg.

2025-10-26T21:22:48.685Z,1761513768.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692306 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:48.924Z,1761513768.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508448
2025-10-26T21:22:49.037Z,1761513769.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773448,-0.605352,-0.187958],[0.623346,0.780194,0.052321],[0.114971,-0.157631,0.980782]]
2025-10-26T21:22:49.069Z,1761513769.069 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:49.073Z,1761513769.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:49.080Z,1761513769.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 476.735870 m,
      bearing: 38.571445 deg,
      approach rate: -0.594024 m/s,
      LOS rate: 0.008210 deg/s,
      cmd heading: 39.666228 deg,
      new cmd heading: 39.675980 deg.

2025-10-26T21:22:49.081Z,1761513769.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692477 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:49.177Z,1761513769.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761231
2025-10-26T21:22:49.428Z,1761513769.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012361
2025-10-26T21:22:49.446Z,1761513769.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773541,-0.606077,-0.185215],[0.623632,0.779967,0.052288],[0.112771,-0.155953,0.981306]]
2025-10-26T21:22:49.465Z,1761513769.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:49.467Z,1761513769.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 476.481689 m,
      bearing: 38.574956 deg,
      approach rate: -0.649406 m/s,
      LOS rate: 0.008975 deg/s,
      cmd heading: 39.675981 deg,
      new cmd heading: 39.686520 deg.

2025-10-26T21:22:49.468Z,1761513769.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692660 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:49.681Z,1761513769.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264705
2025-10-26T21:22:49.877Z,1761513769.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773519,-0.606845,-0.182776],[0.624028,0.779644,0.052383],[0.110712,-0.154577,0.981758]]
2025-10-26T21:22:49.930Z,1761513769.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:49.933Z,1761513769.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516680
2025-10-26T21:22:49.934Z,1761513769.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 476.192047 m,
      bearing: 38.577830 deg,
      approach rate: -0.622445 m/s,
      LOS rate: 0.006180 deg/s,
      cmd heading: 39.686520 deg,
      new cmd heading: 39.695148 deg.

2025-10-26T21:22:49.936Z,1761513769.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692811 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:50.186Z,1761513770.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769862
2025-10-26T21:22:50.247Z,1761513770.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773343,-0.607685,-0.180718],[0.624570,0.779197,0.052572],[0.108868,-0.153527,0.982129]]
2025-10-26T21:22:50.265Z,1761513770.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:50.268Z,1761513770.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 475.983185 m,
      bearing: 38.579891 deg,
      approach rate: -0.622997 m/s,
      LOS rate: 0.006152 deg/s,
      cmd heading: 39.695147 deg,
      new cmd heading: 39.701335 deg.

2025-10-26T21:22:50.269Z,1761513770.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692919 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:50.436Z,1761513770.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020425
2025-10-26T21:22:50.650Z,1761513770.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773347,-0.608239,-0.178828],[0.624890,0.778904,0.053106],[0.106989,-0.152817,0.982446]]
2025-10-26T21:22:50.689Z,1761513770.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.272675
2025-10-26T21:22:50.706Z,1761513770.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:50.726Z,1761513770.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 475.705322 m,
      bearing: 38.582461 deg,
      approach rate: -0.630506 m/s,
      LOS rate: 0.005833 deg/s,
      cmd heading: 39.701335 deg,
      new cmd heading: 39.709047 deg.

2025-10-26T21:22:50.732Z,1761513770.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693054 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:50.940Z,1761513770.940 [DAT](INFO): DAT read: Rx Time:21:22:49.6058

2025-10-26T21:22:50.941Z,1761513770.941 [DAT](INFO): Rx dataTimestamp_ set to:1761513770.940672
2025-10-26T21:22:50.942Z,1761513770.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.525678
2025-10-26T21:22:51.054Z,1761513771.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773239,-0.608952,-0.176860],[0.625341,0.778518,0.053476],[0.105124,-0.151947,0.982782]]
2025-10-26T21:22:51.094Z,1761513771.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:51.096Z,1761513771.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:51.099Z,1761513771.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 475.463867 m,
      bearing: 38.584683 deg,
      approach rate: -0.618258 m/s,
      LOS rate: 0.005694 deg/s,
      cmd heading: 39.709046 deg,
      new cmd heading: 39.715718 deg.

2025-10-26T21:22:51.100Z,1761513771.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693170 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:51.192Z,1761513771.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.776535
2025-10-26T21:22:51.449Z,1761513771.449 [DAT](INFO): DAT read: 21:22:49.6058 LVL= 32752, 23905, 27826, 32755, AGC= 71, IDX= 488, 0.18,-3.056,-1.105,-1.814,-1.852, PHS=-1.102, 0.792,-0.006, RAW= 294.8,   3.9, CAL= 292.8,  -0.6, ROT= 217.2,   0.6

2025-10-26T21:22:51.450Z,1761513771.450 [DAT](INFO): got valid direction response:
 21:22:49.6058 LVL= 32752, 23905, 27826, 32755, AGC= 71, IDX= 488, 0.18,-3.056,-1.105,-1.814,-1.852, PHS=-1.102, 0.792,-0.006, RAW= 294.8,   3.9, CAL= 292.8,  -0.6, ROT= 217.2,   0.6

2025-10-26T21:22:51.450Z,1761513771.450 [DAT](INFO): DAT read: 

2025-10-26T21:22:51.451Z,1761513771.451 [DAT](INFO): DAT read: $Packet for address 50

2025-10-26T21:22:51.451Z,1761513771.451 [DAT](INFO): received a packet notification
2025-10-26T21:22:51.464Z,1761513771.464 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:22:51.465Z,1761513771.465 [DAT](INFO): direction in FSK: [-0.796486,-0.604566,-0.010472]
2025-10-26T21:22:51.472Z,1761513771.472 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:51.472Z,1761513771.472 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:51.472Z,1761513771.472 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:51.487Z,1761513771.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773377,-0.609311,-0.175010],[0.625486,0.778354,0.054150],[0.103226,-0.151345,0.983076]]
2025-10-26T21:22:51.606Z,1761513771.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:51.613Z,1761513771.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 475.138062 m,
      bearing: 38.587685 deg,
      approach rate: -0.638754 m/s,
      LOS rate: 0.005890 deg/s,
      cmd heading: 39.715720 deg,
      new cmd heading: 39.724732 deg.

2025-10-26T21:22:51.614Z,1761513771.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693327 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:51.696Z,1761513771.696 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:51.697Z,1761513771.697 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:51.697Z,1761513771.697 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:51.948Z,1761513771.948 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:51.949Z,1761513771.949 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:51.949Z,1761513771.949 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:51.980Z,1761513771.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:51.983Z,1761513771.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 474.883911 m,
      bearing: 38.589667 deg,
      approach rate: -0.680482 m/s,
      LOS rate: 0.005309 deg/s,
      cmd heading: 39.724732 deg,
      new cmd heading: 39.730680 deg.

2025-10-26T21:22:52.004Z,1761513772.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693431 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:52.201Z,1761513772.201 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:52.201Z,1761513772.201 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:52.201Z,1761513772.201 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:52.340Z,1761513772.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773516,-0.610093,-0.171640],[0.625836,0.778017,0.054951],[0.100014,-0.149924,0.983626]]
2025-10-26T21:22:52.371Z,1761513772.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:52.374Z,1761513772.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 474.634979 m,
      bearing: 38.591605 deg,
      approach rate: -0.636459 m/s,
      LOS rate: 0.004957 deg/s,
      cmd heading: 39.730681 deg,
      new cmd heading: 39.736497 deg.

2025-10-26T21:22:52.375Z,1761513772.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693533 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:52.452Z,1761513772.452 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:52.452Z,1761513772.452 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:52.452Z,1761513772.452 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:52.705Z,1761513772.705 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:52.705Z,1761513772.705 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:52.705Z,1761513772.705 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:52.812Z,1761513772.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:52.818Z,1761513772.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 474.340881 m,
      bearing: 38.593512 deg,
      approach rate: -0.668716 m/s,
      LOS rate: 0.004340 deg/s,
      cmd heading: 39.736497 deg,
      new cmd heading: 39.742223 deg.

2025-10-26T21:22:52.836Z,1761513772.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693633 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:52.956Z,1761513772.956 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:52.956Z,1761513772.956 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:52.956Z,1761513772.956 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:53.149Z,1761513773.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773638,-0.610641,-0.169120],[0.626153,0.777653,0.056464],[0.097037,-0.149578,0.983977]]
2025-10-26T21:22:53.166Z,1761513773.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:53.168Z,1761513773.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:53.170Z,1761513773.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 474.107452 m,
      bearing: 38.595022 deg,
      approach rate: -0.653828 m/s,
      LOS rate: 0.004233 deg/s,
      cmd heading: 39.742224 deg,
      new cmd heading: 39.746757 deg.

2025-10-26T21:22:53.172Z,1761513773.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693712 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:53.208Z,1761513773.208 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:53.208Z,1761513773.208 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:53.208Z,1761513773.208 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:53.460Z,1761513773.460 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:53.460Z,1761513773.460 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:53.461Z,1761513773.461 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:53.554Z,1761513773.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773709,-0.610864,-0.167987],[0.626298,0.777466,0.057425],[0.095526,-0.149640,0.984115]]
2025-10-26T21:22:53.638Z,1761513773.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:53.642Z,1761513773.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 473.806091 m,
      bearing: 38.596972 deg,
      approach rate: -0.640525 m/s,
      LOS rate: 0.004146 deg/s,
      cmd heading: 39.746756 deg,
      new cmd heading: 39.752608 deg.

2025-10-26T21:22:53.643Z,1761513773.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693814 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:53.713Z,1761513773.713 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:53.713Z,1761513773.713 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:53.713Z,1761513773.713 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:53.963Z,1761513773.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773508,-0.611282,-0.167392],[0.626723,0.777049,0.058421],[0.094361,-0.150097,0.984158]]
2025-10-26T21:22:53.964Z,1761513773.964 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:53.964Z,1761513773.964 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:53.964Z,1761513773.964 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:54.037Z,1761513774.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:54.044Z,1761513774.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 473.536102 m,
      bearing: 38.598132 deg,
      approach rate: -0.677082 m/s,
      LOS rate: 0.002911 deg/s,
      cmd heading: 39.752606 deg,
      new cmd heading: 39.756088 deg.

2025-10-26T21:22:54.048Z,1761513774.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693875 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:54.216Z,1761513774.216 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:54.216Z,1761513774.216 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:54.216Z,1761513774.216 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:54.366Z,1761513774.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773398,-0.611832,-0.165884],[0.627046,0.776787,0.058432],[0.093105,-0.149208,0.984413]]
2025-10-26T21:22:54.384Z,1761513774.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:54.387Z,1761513774.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 473.295105 m,
      bearing: 38.599159 deg,
      approach rate: -0.693975 m/s,
      LOS rate: 0.002961 deg/s,
      cmd heading: 39.756089 deg,
      new cmd heading: 39.759174 deg.

2025-10-26T21:22:54.388Z,1761513774.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693928 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:54.469Z,1761513774.469 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:54.469Z,1761513774.469 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:54.469Z,1761513774.469 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:54.721Z,1761513774.721 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:54.721Z,1761513774.721 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:54.721Z,1761513774.721 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:54.774Z,1761513774.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773343,-0.612202,-0.164770],[0.627293,0.776553,0.058899],[0.091894,-0.148908,0.984572]]
2025-10-26T21:22:54.825Z,1761513774.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:54.830Z,1761513774.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 473.011902 m,
      bearing: 38.600364 deg,
      approach rate: -0.643309 m/s,
      LOS rate: 0.002737 deg/s,
      cmd heading: 39.759173 deg,
      new cmd heading: 39.762788 deg.

2025-10-26T21:22:54.832Z,1761513774.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693992 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:54.973Z,1761513774.973 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:54.973Z,1761513774.973 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:54.973Z,1761513774.973 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:55.172Z,1761513775.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773322,-0.612480,-0.163832],[0.627515,0.776303,0.059821],[0.090544,-0.149068,0.984673]]
2025-10-26T21:22:55.189Z,1761513775.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:55.191Z,1761513775.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:55.193Z,1761513775.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 472.766907 m,
      bearing: 38.601401 deg,
      approach rate: -0.669387 m/s,
      LOS rate: 0.002835 deg/s,
      cmd heading: 39.762786 deg,
      new cmd heading: 39.765899 deg.

2025-10-26T21:22:55.194Z,1761513775.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694046 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:55.224Z,1761513775.224 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:55.224Z,1761513775.224 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:55.224Z,1761513775.224 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:55.476Z,1761513775.476 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:55.476Z,1761513775.476 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:55.476Z,1761513775.476 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:55.578Z,1761513775.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773248,-0.612821,-0.162905],[0.627813,0.775979,0.060886],[0.089099,-0.149354,0.984761]]
2025-10-26T21:22:55.662Z,1761513775.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:55.669Z,1761513775.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 472.470123 m,
      bearing: 38.602648 deg,
      approach rate: -0.629266 m/s,
      LOS rate: 0.002646 deg/s,
      cmd heading: 39.765898 deg,
      new cmd heading: 39.769641 deg.

2025-10-26T21:22:55.670Z,1761513775.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694111 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:55.729Z,1761513775.729 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:55.729Z,1761513775.729 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:55.729Z,1761513775.729 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:55.981Z,1761513775.981 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:55.981Z,1761513775.981 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:55.981Z,1761513775.981 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:56.081Z,1761513776.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:56.084Z,1761513776.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 472.171204 m,
      bearing: 38.603290 deg,
      approach rate: -0.714432 m/s,
      LOS rate: 0.001535 deg/s,
      cmd heading: 39.769640 deg,
      new cmd heading: 39.771567 deg.

2025-10-26T21:22:56.085Z,1761513776.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694145 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:56.232Z,1761513776.232 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:22:56.232Z,1761513776.232 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:22:56.232Z,1761513776.232 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:22:56.425Z,1761513776.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772884,-0.613859,-0.160711],[0.628638,0.775206,0.062206],[0.086398,-0.149107,0.985039]]
2025-10-26T21:22:56.443Z,1761513776.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:56.446Z,1761513776.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 471.923492 m,
      bearing: 38.603796 deg,
      approach rate: -0.683343 m/s,
      LOS rate: 0.001397 deg/s,
      cmd heading: 39.771567 deg,
      new cmd heading: 39.773086 deg.

2025-10-26T21:22:56.447Z,1761513776.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694171 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:56.485Z,1761513776.485 [DAT](INFO): Reached modem response timeout
2025-10-26T21:22:56.485Z,1761513776.485 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:56.486Z,1761513776.486 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:22:56.739Z,1761513776.739 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:56.836Z,1761513776.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772125,-0.615024,-0.159902],[0.629683,0.774359,0.062187],[0.085575,-0.148704,0.985172]]
2025-10-26T21:22:56.882Z,1761513776.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:56.885Z,1761513776.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 471.619446 m,
      bearing: 38.603882 deg,
      approach rate: -0.692974 m/s,
      LOS rate: 0.000197 deg/s,
      cmd heading: 39.773086 deg,
      new cmd heading: 39.773346 deg.

2025-10-26T21:22:56.886Z,1761513776.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694176 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:56.992Z,1761513776.992 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:57.231Z,1761513777.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771777,-0.615667,-0.159106],[0.630253,0.773852,0.062723],[0.084508,-0.148685,0.985267]]
2025-10-26T21:22:57.244Z,1761513777.244 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:57.249Z,1761513777.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:57.251Z,1761513777.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:57.254Z,1761513777.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 471.364716 m,
      bearing: 38.603934 deg,
      approach rate: -0.690417 m/s,
      LOS rate: 0.000141 deg/s,
      cmd heading: 39.773346 deg,
      new cmd heading: 39.773502 deg.

2025-10-26T21:22:57.255Z,1761513777.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694179 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:57.500Z,1761513777.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:57.682Z,1761513777.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771185,-0.616689,-0.158018],[0.631111,0.773154,0.062700],[0.083506,-0.148080,0.985444]]
2025-10-26T21:22:57.748Z,1761513777.748 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:57.754Z,1761513777.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:57.761Z,1761513777.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 471.028900 m,
      bearing: 38.603532 deg,
      approach rate: -0.667225 m/s,
      LOS rate: -0.000800 deg/s,
      cmd heading: 39.773503 deg,
      new cmd heading: 39.772296 deg.

2025-10-26T21:22:57.762Z,1761513777.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694157 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:58.001Z,1761513778.001 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:58.078Z,1761513778.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770563,-0.617691,-0.157133],[0.631994,0.772422,0.062835],[0.082560,-0.147725,0.985577]]
2025-10-26T21:22:58.097Z,1761513778.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:58.100Z,1761513778.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 470.792664 m,
      bearing: 38.603218 deg,
      approach rate: -0.689100 m/s,
      LOS rate: -0.000917 deg/s,
      cmd heading: 39.772294 deg,
      new cmd heading: 39.771351 deg.

2025-10-26T21:22:58.101Z,1761513778.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694141 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:58.252Z,1761513778.252 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:58.482Z,1761513778.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770142,-0.618409,-0.156368],[0.632655,0.771826,0.063502],[0.081418,-0.147833,0.985655]]
2025-10-26T21:22:58.504Z,1761513778.504 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:58.516Z,1761513778.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:58.519Z,1761513778.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 470.520721 m,
      bearing: 38.602830 deg,
      approach rate: -0.649123 m/s,
      LOS rate: -0.000927 deg/s,
      cmd heading: 39.771351 deg,
      new cmd heading: 39.770187 deg.

2025-10-26T21:22:58.524Z,1761513778.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694121 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:58.757Z,1761513778.757 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:22:58.758Z,1761513778.758 [DAT](INFO): response not received
2025-10-26T21:22:58.758Z,1761513778.758 [DAT](INFO): DAT read: user:189>

2025-10-26T21:22:58.758Z,1761513778.758 [DAT](ERROR): No response from remote modem.
2025-10-26T21:22:58.759Z,1761513778.759 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:22:58.759Z,1761513778.759 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:22:58.886Z,1761513778.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769446,-0.619444,-0.155700],[0.633600,0.771042,0.063611],[0.080648,-0.147596,0.985754]]
2025-10-26T21:22:58.934Z,1761513778.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:58.937Z,1761513778.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 470.231628 m,
      bearing: 38.602536 deg,
      approach rate: -0.691450 m/s,
      LOS rate: -0.000703 deg/s,
      cmd heading: 39.770187 deg,
      new cmd heading: 39.769305 deg.

2025-10-26T21:22:58.938Z,1761513778.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694105 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:59.009Z,1761513779.009 [DAT](INFO): DAT read: Tx time:21:22:58.0958

2025-10-26T21:22:59.010Z,1761513779.010 [DAT](INFO): Ping request sent.
2025-10-26T21:22:59.010Z,1761513779.010 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:22:59.010Z,1761513779.010 [DAT](INFO): publishing transmit ping time
2025-10-26T21:22:59.012Z,1761513779.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001407
2025-10-26T21:22:59.260Z,1761513779.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250127
2025-10-26T21:22:59.297Z,1761513779.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768785,-0.620528,-0.154646],[0.634527,0.770279,0.063597],[0.079657,-0.147020,0.985921]]
2025-10-26T21:22:59.325Z,1761513779.325 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:22:59.330Z,1761513779.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:59.334Z,1761513779.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 469.973358 m,
      bearing: 38.602237 deg,
      approach rate: -0.654147 m/s,
      LOS rate: -0.000757 deg/s,
      cmd heading: 39.769306 deg,
      new cmd heading: 39.768409 deg.

2025-10-26T21:22:59.364Z,1761513779.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694090 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:22:59.513Z,1761513779.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502969
2025-10-26T21:22:59.764Z,1761513779.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754301
2025-10-26T21:22:59.819Z,1761513779.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766884,-0.623257,-0.153103],[0.637007,0.768256,0.063286],[0.078179,-0.146061,0.986182]]
2025-10-26T21:22:59.922Z,1761513779.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:22:59.928Z,1761513779.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 469.588623 m,
      bearing: 38.603072 deg,
      approach rate: -0.649140 m/s,
      LOS rate: 0.001410 deg/s,
      cmd heading: 39.768408 deg,
      new cmd heading: 39.770914 deg.

2025-10-26T21:22:59.929Z,1761513779.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694133 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:23:00.016Z,1761513780.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006243
2025-10-26T21:23:00.268Z,1761513780.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258100
2025-10-26T21:23:00.403Z,1761513780.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766433,-0.623854,-0.152930],[0.637683,0.767586,0.064601],[0.077085,-0.147033,0.986123]]
2025-10-26T21:23:00.421Z,1761513780.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:23:00.424Z,1761513780.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 469.258820 m,
      bearing: 38.603756 deg,
      approach rate: -0.660503 m/s,
      LOS rate: 0.001370 deg/s,
      cmd heading: 39.770914 deg,
      new cmd heading: 39.772966 deg.

2025-10-26T21:23:00.425Z,1761513780.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694169 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:23:00.520Z,1761513780.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510249
2025-10-26T21:23:00.772Z,1761513780.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762183
2025-10-26T21:23:00.848Z,1761513780.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766215,-0.624252,-0.152396],[0.638099,0.767133,0.065860],[0.075795,-0.147707,0.986123]]
2025-10-26T21:23:00.891Z,1761513780.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:23:00.894Z,1761513780.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 468.955963 m,
      bearing: 38.604867 deg,
      approach rate: -0.644192 m/s,
      LOS rate: 0.002366 deg/s,
      cmd heading: 39.772967 deg,
      new cmd heading: 39.776303 deg.

2025-10-26T21:23:00.895Z,1761513780.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694227 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:23:01.025Z,1761513781.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014581
2025-10-26T21:23:01.252Z,1761513781.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766126,-0.624567,-0.151548],[0.638363,0.766828,0.066847],[0.074461,-0.147956,0.986187]]
2025-10-26T21:23:01.269Z,1761513781.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:23:01.272Z,1761513781.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 468.712097 m,
      bearing: 38.605755 deg,
      approach rate: -0.644488 m/s,
      LOS rate: 0.002348 deg/s,
      cmd heading: 39.776303 deg,
      new cmd heading: 39.778969 deg.

2025-10-26T21:23:01.273Z,1761513781.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694274 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:23:01.277Z,1761513781.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266373
2025-10-26T21:23:01.529Z,1761513781.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518546
2025-10-26T21:23:01.654Z,1761513781.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766143,-0.624809,-0.150462],[0.638525,0.766595,0.067959],[0.072881,-0.148140,0.986277]]
2025-10-26T21:23:01.730Z,1761513781.730 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:01.745Z,1761513781.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:23:01.748Z,1761513781.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 468.446930 m,
      bearing: 38.606718 deg,
      approach rate: -0.557546 m/s,
      LOS rate: 0.002025 deg/s,
      cmd heading: 39.778967 deg,
      new cmd heading: 39.781857 deg.

2025-10-26T21:23:01.749Z,1761513781.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694324 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:23:01.781Z,1761513781.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770437
2025-10-26T21:23:02.032Z,1761513782.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022275
2025-10-26T21:23:02.067Z,1761513782.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766428,-0.624908,-0.148588],[0.638427,0.766573,0.069116],[0.070713,-0.147835,0.986481]]
2025-10-26T21:23:02.107Z,1761513782.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:23:02.126Z,1761513782.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 468.183105 m,
      bearing: 38.608677 deg,
      approach rate: -0.729041 m/s,
      LOS rate: 0.005417 deg/s,
      cmd heading: 39.781856 deg,
      new cmd heading: 39.787737 deg.

2025-10-26T21:23:02.127Z,1761513782.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694427 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:23:02.284Z,1761513782.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274142
2025-10-26T21:23:02.288Z,1761513782.288 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:23:02.465Z,1761513782.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766718,-0.624845,-0.147349],[0.638331,0.766454,0.071293],[0.068389,-0.148719,0.986512]]
2025-10-26T21:23:02.488Z,1761513782.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:23:02.491Z,1761513782.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 467.947510 m,
      bearing: 38.610435 deg,
      approach rate: -0.618193 m/s,
      LOS rate: 0.004616 deg/s,
      cmd heading: 39.787737 deg,
      new cmd heading: 39.793014 deg.

2025-10-26T21:23:02.492Z,1761513782.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694519 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:23:02.537Z,1761513782.537 [DAT](INFO): DAT read: Rx Time:21:23:01.1370

2025-10-26T21:23:02.538Z,1761513782.538 [DAT](INFO): Rx dataTimestamp_ set to:1761513782.537461
2025-10-26T21:23:02.539Z,1761513782.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528342
2025-10-26T21:23:02.788Z,1761513782.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778205
2025-10-26T21:23:02.866Z,1761513782.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766866,-0.624960,-0.146089],[0.638344,0.766321,0.072588],[0.066586,-0.148920,0.986605]]
2025-10-26T21:23:02.990Z,1761513782.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.71 m.
2025-10-26T21:23:03.009Z,1761513783.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.710083 m,
      nav range: 467.647644 m,
      bearing: 38.614278 deg,
      approach rate: -0.597594 m/s,
      LOS rate: 0.007664 deg/s,
      cmd heading: 39.793013 deg,
      new cmd heading: 39.804550 deg.

2025-10-26T21:23:03.010Z,1761513783.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694720 target range: 484.710083 and range: 487.80 m.
2025-10-26T21:23:03.049Z,1761513783.049 [DAT](INFO): DAT read: 21:23:01.1370 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 230, 0.01,-0.402,-1.936,-0.193,-0.831, PHS= 0.531,-1.060, 0.594, RAW= 151.9,  -0.8, CAL= 150.9,  -1.7, ROT= 359.1,   1.7

2025-10-26T21:23:03.050Z,1761513783.050 [DAT](INFO): got valid direction response:
 21:23:01.1370 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 230, 0.01,-0.402,-1.936,-0.193,-0.831, PHS= 0.531,-1.060, 0.594, RAW= 151.9,  -0.8, CAL= 150.9,  -1.7, ROT= 359.1,   1.7

2025-10-26T21:23:03.052Z,1761513783.052 [DAT](INFO): DAT read: Bearing 183.6,   3.2 (Local)

2025-10-26T21:23:03.052Z,1761513783.052 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.6,   3.2 (Local)

2025-10-26T21:23:03.053Z,1761513783.053 [DAT](INFO): DAT read: Range 11 to 50 : 477.7 m  (Round-trip  637.0 ms) speed  0.4 m/s

2025-10-26T21:23:03.054Z,1761513783.054 [DAT](INFO): DAT read: user:190>

2025-10-26T21:23:03.069Z,1761513783.069 [DAT](INFO): DAT read: Tx time:21:23:02.2458

2025-10-26T21:23:03.069Z,1761513783.069 [DAT](INFO): Ping request sent.
2025-10-26T21:23:03.069Z,1761513783.069 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:23:03.070Z,1761513783.070 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:23:03.071Z,1761513783.071 [DAT](INFO): direction in FSK: [0.999437,-0.015700,-0.029666]
2025-10-26T21:23:03.124Z,1761513783.124 [DAT](INFO): publishing transmit ping time
2025-10-26T21:23:03.124Z,1761513783.124 [DAT](INFO): publishing direction and range info
2025-10-26T21:23:03.136Z,1761513783.136 [DAT](INFO): publishing transmit ping time
2025-10-26T21:23:03.136Z,1761513783.136 [DAT](INFO): publishing direction and range info
2025-10-26T21:23:03.297Z,1761513783.297 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:23:03.338Z,1761513783.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767298,-0.624712,-0.144874],[0.638048,0.766373,0.074615],[0.064415,-0.149688,0.986633]]
2025-10-26T21:23:03.385Z,1761513783.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 477.700012 m,
      deltaT: 16.638415 s,
      deltaX: -10.099976 m,
      approachRate: -0.607028 m/s,
      rangeRepo size: 4

2025-10-26T21:23:03.387Z,1761513783.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 474.654175 m,
      bearing: 38.600048 deg,
      lat: 36.779310 deg,
      lon: -121.859008 deg,
      deltaT: 16.638415 s,
      deltaX: -10.055908 m,
      approachRate: -0.604379 m/s,
      posRepo size: 4

2025-10-26T21:23:03.392Z,1761513783.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.65 m.
2025-10-26T21:23:03.394Z,1761513783.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.654175 m,
      nav range: 470.777924 m,
      bearing: 38.644604 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007664 deg/s,
      cmd heading: 39.804550 deg,
      new cmd heading: 39.813613 deg.

2025-10-26T21:23:03.395Z,1761513783.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694879 target range: 474.654175 and range: 477.70 m.
2025-10-26T21:23:03.784Z,1761513783.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768406,-0.624007,-0.142015],[0.637115,0.766825,0.077869],[0.060309,-0.150315,0.986797]]
2025-10-26T21:23:03.850Z,1761513783.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:03.857Z,1761513783.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.65 m.
2025-10-26T21:23:03.867Z,1761513783.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.654175 m,
      nav range: 470.476257 m,
      bearing: 38.648406 deg,
      approach rate: -0.638245 m/s,
      LOS rate: 0.008049 deg/s,
      cmd heading: 39.813613 deg,
      new cmd heading: 39.825027 deg.

2025-10-26T21:23:03.868Z,1761513783.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695078 target range: 474.654175 and range: 477.70 m.
2025-10-26T21:23:04.048Z,1761513784.048 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:04.048Z,1761513784.048 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:04.049Z,1761513784.049 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:23:04.177Z,1761513784.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.65 m.
2025-10-26T21:23:04.183Z,1761513784.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.654175 m,
      nav range: 470.273895 m,
      bearing: 38.650960 deg,
      approach rate: -0.634969 m/s,
      LOS rate: 0.008016 deg/s,
      cmd heading: 39.825026 deg,
      new cmd heading: 39.832690 deg.

2025-10-26T21:23:04.222Z,1761513784.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695212 target range: 474.654175 and range: 477.70 m.
2025-10-26T21:23:04.302Z,1761513784.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232852
2025-10-26T21:23:04.542Z,1761513784.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768589,-0.624150,-0.140381],[0.637080,0.766735,0.079032],[0.058307,-0.150178,0.986938]]
2025-10-26T21:23:04.552Z,1761513784.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483359
2025-10-26T21:23:04.573Z,1761513784.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.65 m.
2025-10-26T21:23:04.578Z,1761513784.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.654175 m,
      nav range: 470.028046 m,
      bearing: 38.654068 deg,
      approach rate: -0.618040 m/s,
      LOS rate: 0.007819 deg/s,
      cmd heading: 39.832690 deg,
      new cmd heading: 39.842021 deg.

2025-10-26T21:23:04.582Z,1761513784.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695374 target range: 474.654175 and range: 477.70 m.
2025-10-26T21:23:04.805Z,1761513784.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736273
2025-10-26T21:23:04.946Z,1761513784.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768849,-0.624109,-0.139134],[0.636949,0.766664,0.080755],[0.056269,-0.150710,0.986975]]
2025-10-26T21:23:05.009Z,1761513785.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.65 m.
2025-10-26T21:23:05.016Z,1761513785.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.654175 m,
      nav range: 469.743408 m,
      bearing: 38.657196 deg,
      approach rate: -0.653363 m/s,
      LOS rate: 0.007183 deg/s,
      cmd heading: 39.842020 deg,
      new cmd heading: 39.851408 deg.

2025-10-26T21:23:05.017Z,1761513785.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695538 target range: 474.654175 and range: 477.70 m.
2025-10-26T21:23:05.058Z,1761513785.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988440
2025-10-26T21:23:05.309Z,1761513785.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240396
2025-10-26T21:23:05.356Z,1761513785.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769261,-0.623962,-0.137507],[0.636644,0.766747,0.082359],[0.054044,-0.150899,0.987071]]
2025-10-26T21:23:05.374Z,1761513785.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.65 m.
2025-10-26T21:23:05.382Z,1761513785.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.654175 m,
      nav range: 469.499817 m,
      bearing: 38.659890 deg,
      approach rate: -0.667136 m/s,
      LOS rate: 0.007382 deg/s,
      cmd heading: 39.851408 deg,
      new cmd heading: 39.859494 deg.

2025-10-26T21:23:05.383Z,1761513785.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695679 target range: 474.654175 and range: 477.70 m.
2025-10-26T21:23:05.561Z,1761513785.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491605
2025-10-26T21:23:05.813Z,1761513785.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744038
2025-10-26T21:23:05.833Z,1761513785.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769507,-0.624369,-0.134249],[0.636689,0.766430,0.084925],[0.049868,-0.150826,0.987302]]
2025-10-26T21:23:05.884Z,1761513785.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:05.886Z,1761513785.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.65 m.
2025-10-26T21:23:05.893Z,1761513785.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.654175 m,
      nav range: 469.174805 m,
      bearing: 38.662558 deg,
      approach rate: -0.634274 m/s,
      LOS rate: 0.005210 deg/s,
      cmd heading: 39.859495 deg,
      new cmd heading: 39.867503 deg.

2025-10-26T21:23:05.894Z,1761513785.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695819 target range: 474.654175 and range: 477.70 m.
2025-10-26T21:23:06.064Z,1761513786.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995300
2025-10-26T21:23:06.230Z,1761513786.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769474,-0.624865,-0.132111],[0.636891,0.766190,0.085575],[0.047749,-0.149988,0.987534]]
2025-10-26T21:23:06.248Z,1761513786.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.65 m.
2025-10-26T21:23:06.251Z,1761513786.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.654175 m,
      nav range: 468.931152 m,
      bearing: 38.664555 deg,
      approach rate: -0.673090 m/s,
      LOS rate: 0.005522 deg/s,
      cmd heading: 39.867503 deg,
      new cmd heading: 39.873500 deg.

2025-10-26T21:23:06.252Z,1761513786.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695924 target range: 474.654175 and range: 477.70 m.
2025-10-26T21:23:06.322Z,1761513786.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252656
2025-10-26T21:23:06.572Z,1761513786.572 [DAT](INFO): DAT read: Rx Time:21:23:05.2708

2025-10-26T21:23:06.573Z,1761513786.573 [DAT](INFO): Rx dataTimestamp_ set to:1761513786.572645
2025-10-26T21:23:06.573Z,1761513786.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504497
2025-10-26T21:23:06.646Z,1761513786.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769045,-0.625774,-0.130291],[0.637550,0.765573,0.086183],[0.045816,-0.149346,0.987723]]
2025-10-26T21:23:06.681Z,1761513786.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.65 m.
2025-10-26T21:23:06.688Z,1761513786.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.654175 m,
      nav range: 468.654907 m,
      bearing: 38.666797 deg,
      approach rate: -0.638375 m/s,
      LOS rate: 0.005183 deg/s,
      cmd heading: 39.873500 deg,
      new cmd heading: 39.880229 deg.

2025-10-26T21:23:06.689Z,1761513786.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696041 target range: 474.654175 and range: 477.70 m.
2025-10-26T21:23:06.829Z,1761513786.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759104
2025-10-26T21:23:07.082Z,1761513787.082 [DAT](INFO): DAT read: 21:23:05.2708 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 273, 0.23, 0.148,-1.373, 0.464, 0.138, PHS= 0.112,-1.467, 0.282, RAW= 155.0,  12.8, CAL= 155.3,  14.4, ROT= 354.7, -14.4

2025-10-26T21:23:07.096Z,1761513787.096 [DAT](INFO): got valid direction response:
 21:23:05.2708 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 273, 0.23, 0.148,-1.373, 0.464, 0.138, PHS= 0.112,-1.467, 0.282, RAW= 155.0,  12.8, CAL= 155.3,  14.4, ROT= 354.7, -14.4

2025-10-26T21:23:07.097Z,1761513787.097 [DAT](INFO): DAT read: Bearing 199.2,  -4.8 (Local)

2025-10-26T21:23:07.097Z,1761513787.097 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.2,  -4.8 (Local)

2025-10-26T21:23:07.099Z,1761513787.099 [DAT](INFO): DAT read: Range 11 to 50 : 465.6 m  (Round-trip  620.8 ms) speed  0.4 m/s

2025-10-26T21:23:07.100Z,1761513787.100 [DAT](INFO): DAT read: user:191>

2025-10-26T21:23:07.100Z,1761513787.100 [DAT](INFO): DAT read: Tx time:21:23:06.3958

2025-10-26T21:23:07.101Z,1761513787.101 [DAT](INFO): Ping request sent.
2025-10-26T21:23:07.101Z,1761513787.101 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:23:07.101Z,1761513787.101 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:23:07.102Z,1761513787.102 [DAT](INFO): direction in FSK: [0.964442,-0.089469,0.248690]
2025-10-26T21:23:07.102Z,1761513787.102 [DAT](INFO): publishing transmit ping time
2025-10-26T21:23:07.102Z,1761513787.102 [DAT](INFO): publishing direction and range info
2025-10-26T21:23:07.105Z,1761513787.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768967,-0.626111,-0.129130],[0.637790,0.765173,0.087940],[0.043746,-0.149981,0.987721]]
2025-10-26T21:23:07.110Z,1761513787.110 [DAT](INFO): publishing transmit ping time
2025-10-26T21:23:07.110Z,1761513787.110 [DAT](INFO): publishing direction and range info
2025-10-26T21:23:07.237Z,1761513787.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 465.600006 m,
      deltaT: 4.034100 s,
      deltaX: -12.100006 m,
      approachRate: -2.999431 m/s,
      rangeRepo size: 4

2025-10-26T21:23:07.243Z,1761513787.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 462.623840 m,
      bearing: 36.599569 deg,
      lat: 36.779310 deg,
      lon: -121.859033 deg,
      deltaT: 4.034100 s,
      deltaX: -12.030334 m,
      approachRate: -2.982161 m/s,
      posRepo size: 4

2025-10-26T21:23:07.244Z,1761513787.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.62 m.
2025-10-26T21:23:07.247Z,1761513787.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.623840 m,
      nav range: 466.888031 m,
      bearing: 38.451436 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005183 deg/s,
      cmd heading: 39.880228 deg,
      new cmd heading: 39.888867 deg.

2025-10-26T21:23:07.252Z,1761513787.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696192 target range: 462.623840 and range: 465.60 m.
2025-10-26T21:23:07.547Z,1761513787.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768750,-0.626514,-0.128467],[0.638173,0.764633,0.089840],[0.041945,-0.151049,0.987636]]
2025-10-26T21:23:07.575Z,1761513787.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.62 m.
2025-10-26T21:23:07.577Z,1761513787.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.623840 m,
      nav range: 466.658112 m,
      bearing: 38.453096 deg,
      approach rate: -0.680183 m/s,
      LOS rate: 0.004915 deg/s,
      cmd heading: 39.888868 deg,
      new cmd heading: 39.893853 deg.

2025-10-26T21:23:07.578Z,1761513787.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696279 target range: 462.623840 and range: 465.60 m.
2025-10-26T21:23:07.950Z,1761513787.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768471,-0.627191,-0.126817],[0.638626,0.764168,0.090575],[0.040101,-0.150593,0.987782]]
2025-10-26T21:23:07.994Z,1761513787.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:07.996Z,1761513787.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.62 m.
2025-10-26T21:23:07.999Z,1761513787.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.623840 m,
      nav range: 466.380219 m,
      bearing: 38.454266 deg,
      approach rate: -0.658898 m/s,
      LOS rate: 0.002775 deg/s,
      cmd heading: 39.893854 deg,
      new cmd heading: 39.897365 deg.

2025-10-26T21:23:08.000Z,1761513788.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696340 target range: 462.623840 and range: 465.60 m.
2025-10-26T21:23:08.089Z,1761513788.089 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:08.089Z,1761513788.089 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:08.089Z,1761513788.089 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:23:08.340Z,1761513788.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239581
2025-10-26T21:23:08.363Z,1761513788.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767859,-0.628275,-0.125152],[0.639466,0.763425,0.090922],[0.038420,-0.149846,0.987963]]
2025-10-26T21:23:08.383Z,1761513788.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.62 m.
2025-10-26T21:23:08.385Z,1761513788.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.623840 m,
      nav range: 466.124603 m,
      bearing: 38.455311 deg,
      approach rate: -0.661766 m/s,
      LOS rate: 0.002707 deg/s,
      cmd heading: 39.897365 deg,
      new cmd heading: 39.900502 deg.

2025-10-26T21:23:08.386Z,1761513788.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696395 target range: 462.623840 and range: 465.60 m.
2025-10-26T21:23:08.593Z,1761513788.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491937
2025-10-26T21:23:08.807Z,1761513788.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.62 m.
2025-10-26T21:23:08.819Z,1761513788.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.623840 m,
      nav range: 465.851379 m,
      bearing: 38.456429 deg,
      approach rate: -0.646414 m/s,
      LOS rate: 0.002647 deg/s,
      cmd heading: 39.900503 deg,
      new cmd heading: 39.903860 deg.

2025-10-26T21:23:08.848Z,1761513788.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746210
2025-10-26T21:23:08.856Z,1761513788.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696454 target range: 462.623840 and range: 465.60 m.
2025-10-26T21:23:09.096Z,1761513789.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995631
2025-10-26T21:23:09.163Z,1761513789.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766647,-0.630308,-0.122327],[0.641105,0.761909,0.092080],[0.035163,-0.149017,0.988209]]
2025-10-26T21:23:09.214Z,1761513789.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.62 m.
2025-10-26T21:23:09.217Z,1761513789.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.623840 m,
      nav range: 465.572327 m,
      bearing: 38.457769 deg,
      approach rate: -0.682411 m/s,
      LOS rate: 0.003278 deg/s,
      cmd heading: 39.903861 deg,
      new cmd heading: 39.907882 deg.

2025-10-26T21:23:09.218Z,1761513789.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696524 target range: 462.623840 and range: 465.60 m.
2025-10-26T21:23:09.349Z,1761513789.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248455
2025-10-26T21:23:09.567Z,1761513789.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766498,-0.630714,-0.121161],[0.641373,0.761548,0.093196],[0.033490,-0.149144,0.988248]]
2025-10-26T21:23:09.588Z,1761513789.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.62 m.
2025-10-26T21:23:09.591Z,1761513789.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.623840 m,
      nav range: 465.323547 m,
      bearing: 38.458955 deg,
      approach rate: -0.665287 m/s,
      LOS rate: 0.003174 deg/s,
      cmd heading: 39.907883 deg,
      new cmd heading: 39.911444 deg.

2025-10-26T21:23:09.592Z,1761513789.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696586 target range: 462.623840 and range: 465.60 m.
2025-10-26T21:23:09.600Z,1761513789.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499791
2025-10-26T21:23:09.855Z,1761513789.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753463
2025-10-26T21:23:09.970Z,1761513789.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766180,-0.631290,-0.120172],[0.641826,0.761055,0.094095],[0.032056,-0.149223,0.988284]]
2025-10-26T21:23:10.020Z,1761513790.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:10.022Z,1761513790.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.62 m.
2025-10-26T21:23:10.025Z,1761513790.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.623840 m,
      nav range: 465.033356 m,
      bearing: 38.460430 deg,
      approach rate: -0.669172 m/s,
      LOS rate: 0.003403 deg/s,
      cmd heading: 39.911445 deg,
      new cmd heading: 39.915873 deg.

2025-10-26T21:23:10.026Z,1761513790.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696663 target range: 462.623840 and range: 465.60 m.
2025-10-26T21:23:10.106Z,1761513790.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004624
2025-10-26T21:23:10.356Z,1761513790.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255687
2025-10-26T21:23:10.374Z,1761513790.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766042,-0.631651,-0.119149],[0.642065,0.760717,0.095194],[0.030510,-0.149424,0.988302]]
2025-10-26T21:23:10.405Z,1761513790.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.62 m.
2025-10-26T21:23:10.408Z,1761513790.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.623840 m,
      nav range: 464.777740 m,
      bearing: 38.461722 deg,
      approach rate: -0.667406 m/s,
      LOS rate: 0.003374 deg/s,
      cmd heading: 39.915871 deg,
      new cmd heading: 39.919749 deg.

2025-10-26T21:23:10.409Z,1761513790.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696731 target range: 462.623840 and range: 465.60 m.
2025-10-26T21:23:10.609Z,1761513790.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508032
2025-10-26T21:23:10.782Z,1761513790.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765675,-0.632313,-0.117988],[0.642569,0.760209,0.095846],[0.029091,-0.149202,0.988379]]
2025-10-26T21:23:10.864Z,1761513790.864 [DAT](INFO): DAT read: Rx Time:21:23:09.4170

2025-10-26T21:23:10.865Z,1761513790.865 [DAT](INFO): Rx dataTimestamp_ set to:1761513790.864410
2025-10-26T21:23:10.868Z,1761513790.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766169
2025-10-26T21:23:10.881Z,1761513790.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.62 m.
2025-10-26T21:23:10.897Z,1761513790.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.623840 m,
      nav range: 464.496368 m,
      bearing: 38.463124 deg,
      approach rate: -0.598305 m/s,
      LOS rate: 0.002983 deg/s,
      cmd heading: 39.919748 deg,
      new cmd heading: 39.923956 deg.

2025-10-26T21:23:10.898Z,1761513790.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696804 target range: 462.623840 and range: 465.60 m.
2025-10-26T21:23:11.112Z,1761513791.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.011629
2025-10-26T21:23:11.249Z,1761513791.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765416,-0.632780,-0.117167],[0.642933,0.759796,0.096677],[0.027847,-0.149328,0.988395]]
2025-10-26T21:23:11.309Z,1761513791.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.62 m.
2025-10-26T21:23:11.314Z,1761513791.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.623840 m,
      nav range: 464.188110 m,
      bearing: 38.464705 deg,
      approach rate: -0.712236 m/s,
      LOS rate: 0.003655 deg/s,
      cmd heading: 39.923955 deg,
      new cmd heading: 39.928701 deg.

2025-10-26T21:23:11.316Z,1761513791.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696887 target range: 462.623840 and range: 465.60 m.
2025-10-26T21:23:11.370Z,1761513791.370 [DAT](INFO): DAT read: 21:23:09.4170 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 411,-0.31, 3.052, 1.597,-3.033, 2.811, PHS= 0.343,-1.169, 0.396, RAW= 151.7,   5.7, CAL= 150.9,   5.8, ROT= 359.1,  -5.8

2025-10-26T21:23:11.372Z,1761513791.372 [DAT](INFO): got valid direction response:
 21:23:09.4170 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 411,-0.31, 3.052, 1.597,-3.033, 2.811, PHS= 0.343,-1.169, 0.396, RAW= 151.7,   5.7, CAL= 150.9,   5.8, ROT= 359.1,  -5.8

2025-10-26T21:23:11.373Z,1761513791.373 [DAT](INFO): DAT read: Bearing 192.1,  -0.4 (Local)

2025-10-26T21:23:11.373Z,1761513791.373 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.1,  -0.4 (Local)

2025-10-26T21:23:11.375Z,1761513791.375 [DAT](INFO): DAT read: Range 11 to 50 : 462.7 m  (Round-trip  617.0 ms) speed  0.4 m/s

2025-10-26T21:23:11.375Z,1761513791.375 [DAT](INFO): DAT read: user:192>

2025-10-26T21:23:11.376Z,1761513791.376 [DAT](INFO): DAT read: Tx time:21:23:10.5458

2025-10-26T21:23:11.376Z,1761513791.376 [DAT](INFO): Ping request sent.
2025-10-26T21:23:11.376Z,1761513791.376 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:23:11.377Z,1761513791.377 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:23:11.378Z,1761513791.378 [DAT](INFO): direction in FSK: [0.994758,-0.015627,0.101056]
2025-10-26T21:23:11.378Z,1761513791.378 [DAT](INFO): publishing transmit ping time
2025-10-26T21:23:11.378Z,1761513791.378 [DAT](INFO): publishing direction and range info
2025-10-26T21:23:11.382Z,1761513791.382 [DAT](INFO): publishing transmit ping time
2025-10-26T21:23:11.382Z,1761513791.382 [DAT](INFO): publishing direction and range info
2025-10-26T21:23:11.682Z,1761513791.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765344,-0.633028,-0.116291],[0.643074,0.759558,0.097609],[0.026541,-0.149488,0.988407]]
2025-10-26T21:23:11.727Z,1761513791.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 462.700012 m,
      deltaT: 4.287788 s,
      deltaX: -2.899994 m,
      approachRate: -0.676338 m/s,
      rangeRepo size: 4

2025-10-26T21:23:11.730Z,1761513791.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 459.742096 m,
      bearing: 40.018761 deg,
      lat: 36.779287 deg,
      lon: -121.859008 deg,
      deltaT: 4.287788 s,
      deltaX: -2.881744 m,
      approachRate: -0.672082 m/s,
      posRepo size: 4

2025-10-26T21:23:11.736Z,1761513791.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.74 m.
2025-10-26T21:23:11.738Z,1761513791.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.742096 m,
      nav range: 463.405304 m,
      bearing: 38.877840 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003655 deg/s,
      cmd heading: 39.928702 deg,
      new cmd heading: 39.933112 deg.

2025-10-26T21:23:11.743Z,1761513791.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696964 target range: 459.742096 and range: 462.70 m.
2025-10-26T21:23:12.080Z,1761513792.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765225,-0.633345,-0.115345],[0.643272,0.759263,0.098594],[0.025133,-0.149645,0.988420]]
2025-10-26T21:23:12.115Z,1761513792.115 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:12.117Z,1761513792.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.74 m.
2025-10-26T21:23:12.120Z,1761513792.120 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:12.120Z,1761513792.120 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:12.121Z,1761513792.121 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:23:12.124Z,1761513792.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.742096 m,
      nav range: 463.137390 m,
      bearing: 38.879215 deg,
      approach rate: -0.657832 m/s,
      LOS rate: 0.003378 deg/s,
      cmd heading: 39.933111 deg,
      new cmd heading: 39.937238 deg.

2025-10-26T21:23:12.125Z,1761513792.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697036 target range: 459.742096 and range: 462.70 m.
2025-10-26T21:23:12.372Z,1761513792.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995907
2025-10-26T21:23:12.482Z,1761513792.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764938,-0.633871,-0.114355],[0.643660,0.758858,0.099179],[0.023912,-0.149471,0.988477]]
2025-10-26T21:23:12.512Z,1761513792.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.74 m.
2025-10-26T21:23:12.514Z,1761513792.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.742096 m,
      nav range: 462.883057 m,
      bearing: 38.880507 deg,
      approach rate: -0.645741 m/s,
      LOS rate: 0.003281 deg/s,
      cmd heading: 39.937236 deg,
      new cmd heading: 39.941113 deg.

2025-10-26T21:23:12.515Z,1761513792.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697104 target range: 459.742096 and range: 462.70 m.
2025-10-26T21:23:12.624Z,1761513792.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247924
2025-10-26T21:23:12.879Z,1761513792.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501995
2025-10-26T21:23:12.931Z,1761513792.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765001,-0.633961,-0.113433],[0.643634,0.758743,0.100216],[0.022533,-0.149675,0.988478]]
2025-10-26T21:23:12.984Z,1761513792.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.74 m.
2025-10-26T21:23:12.993Z,1761513792.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.742096 m,
      nav range: 462.584747 m,
      bearing: 38.881934 deg,
      approach rate: -0.631785 m/s,
      LOS rate: 0.003026 deg/s,
      cmd heading: 39.941112 deg,
      new cmd heading: 39.945398 deg.

2025-10-26T21:23:12.994Z,1761513792.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697179 target range: 459.742096 and range: 462.70 m.
2025-10-26T21:23:13.128Z,1761513793.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751803
2025-10-26T21:23:13.328Z,1761513793.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765273,-0.633827,-0.112341],[0.643364,0.758815,0.101403],[0.020974,-0.149878,0.988482]]
2025-10-26T21:23:13.347Z,1761513793.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.74 m.
2025-10-26T21:23:13.350Z,1761513793.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.742096 m,
      nav range: 462.336182 m,
      bearing: 38.883137 deg,
      approach rate: -0.683177 m/s,
      LOS rate: 0.003307 deg/s,
      cmd heading: 39.945398 deg,
      new cmd heading: 39.949008 deg.

2025-10-26T21:23:13.351Z,1761513793.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697242 target range: 459.742096 and range: 462.70 m.
2025-10-26T21:23:13.381Z,1761513793.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004038
2025-10-26T21:23:13.632Z,1761513793.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255718
2025-10-26T21:23:13.728Z,1761513793.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765401,-0.633880,-0.111166],[0.643257,0.758790,0.102263],[0.019529,-0.149781,0.988526]]
2025-10-26T21:23:13.760Z,1761513793.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.74 m.
2025-10-26T21:23:13.762Z,1761513793.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.742096 m,
      nav range: 462.066345 m,
      bearing: 38.884449 deg,
      approach rate: -0.654458 m/s,
      LOS rate: 0.003185 deg/s,
      cmd heading: 39.949008 deg,
      new cmd heading: 39.952947 deg.

2025-10-26T21:23:13.763Z,1761513793.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697311 target range: 459.742096 and range: 462.70 m.
2025-10-26T21:23:13.887Z,1761513793.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510139
2025-10-26T21:23:14.127Z,1761513794.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765328,-0.634105,-0.110381],[0.643380,0.758567,0.103146],[0.018326,-0.149957,0.988523]]
2025-10-26T21:23:14.136Z,1761513794.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759961
2025-10-26T21:23:14.164Z,1761513794.164 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:14.166Z,1761513794.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.74 m.
2025-10-26T21:23:14.169Z,1761513794.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.742096 m,
      nav range: 461.799225 m,
      bearing: 38.884538 deg,
      approach rate: -0.656606 m/s,
      LOS rate: 0.000220 deg/s,
      cmd heading: 39.952949 deg,
      new cmd heading: 39.953217 deg.

2025-10-26T21:23:14.170Z,1761513794.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697315 target range: 459.742096 and range: 462.70 m.
2025-10-26T21:23:14.389Z,1761513794.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012325
2025-10-26T21:23:14.530Z,1761513794.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765172,-0.634383,-0.109866],[0.643598,0.758224,0.104299],[0.017138,-0.150517,0.988459]]
2025-10-26T21:23:14.556Z,1761513794.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.74 m.
2025-10-26T21:23:14.559Z,1761513794.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.742096 m,
      nav range: 461.542358 m,
      bearing: 38.884615 deg,
      approach rate: -0.658419 m/s,
      LOS rate: 0.000198 deg/s,
      cmd heading: 39.953215 deg,
      new cmd heading: 39.953447 deg.

2025-10-26T21:23:14.561Z,1761513794.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697319 target range: 459.742096 and range: 462.70 m.
2025-10-26T21:23:14.640Z,1761513794.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263899
2025-10-26T21:23:14.896Z,1761513794.896 [DAT](INFO): DAT read: Rx Time:21:23:13.5640

2025-10-26T21:23:14.897Z,1761513794.897 [DAT](INFO): Rx dataTimestamp_ set to:1761513794.896349
2025-10-26T21:23:14.900Z,1761513794.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522427
2025-10-26T21:23:14.976Z,1761513794.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765397,-0.634330,-0.108593],[0.643366,0.758313,0.105077],[0.015694,-0.150291,0.988517]]
2025-10-26T21:23:15.033Z,1761513795.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.74 m.
2025-10-26T21:23:15.040Z,1761513795.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.742096 m,
      nav range: 461.236237 m,
      bearing: 38.883483 deg,
      approach rate: -0.642002 m/s,
      LOS rate: -0.002376 deg/s,
      cmd heading: 39.953448 deg,
      new cmd heading: 39.950049 deg.

2025-10-26T21:23:15.041Z,1761513795.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697260 target range: 459.742096 and range: 462.70 m.
2025-10-26T21:23:15.144Z,1761513795.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767889
2025-10-26T21:23:15.381Z,1761513795.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765361,-0.634330,-0.108843],[0.643430,0.758035,0.106680],[0.014836,-0.151682,0.988318]]
2025-10-26T21:23:15.404Z,1761513795.404 [DAT](INFO): DAT read: 21:23:13.5640 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 408, 0.26,-2.807, 2.225,-2.565,-3.091, PHS= 0.385,-0.923, 0.481, RAW= 153.5,   0.8, CAL= 152.2,  -0.0, ROT= 357.8,   0.0

2025-10-26T21:23:15.405Z,1761513795.405 [DAT](INFO): got valid direction response:
 21:23:13.5640 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 408, 0.26,-2.807, 2.225,-2.565,-3.091, PHS= 0.385,-0.923, 0.481, RAW= 153.5,   0.8, CAL= 152.2,  -0.0, ROT= 357.8,   0.0

2025-10-26T21:23:15.406Z,1761513795.406 [DAT](INFO): DAT read: Bearing 186.4,  -1.3 (Local)

2025-10-26T21:23:15.406Z,1761513795.406 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.4,  -1.3 (Local)

2025-10-26T21:23:15.408Z,1761513795.408 [DAT](INFO): DAT read: Range 11 to 50 : 460.5 m  (Round-trip  614.0 ms) speed  0.4 m/s

2025-10-26T21:23:15.409Z,1761513795.409 [DAT](INFO): DAT read: user:193>

2025-10-26T21:23:15.410Z,1761513795.410 [DAT](INFO): DAT read: Tx time:21:23:14.6958

2025-10-26T21:23:15.410Z,1761513795.410 [DAT](INFO): Ping request sent.
2025-10-26T21:23:15.410Z,1761513795.410 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:23:15.410Z,1761513795.410 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:23:15.420Z,1761513795.420 [DAT](INFO): direction in FSK: [0.999263,-0.038388,-0.000000]
2025-10-26T21:23:15.420Z,1761513795.420 [DAT](INFO): publishing transmit ping time
2025-10-26T21:23:15.420Z,1761513795.420 [DAT](INFO): publishing direction and range info
2025-10-26T21:23:15.423Z,1761513795.423 [DAT](INFO): publishing transmit ping time
2025-10-26T21:23:15.423Z,1761513795.423 [DAT](INFO): publishing direction and range info
2025-10-26T21:23:15.494Z,1761513795.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 460.500000 m,
      deltaT: 4.033245 s,
      deltaX: -2.200012 m,
      approachRate: -0.545470 m/s,
      rangeRepo size: 4

2025-10-26T21:23:15.500Z,1761513795.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 457.554047 m,
      bearing: 37.878333 deg,
      lat: 36.779308 deg,
      lon: -121.859033 deg,
      deltaT: 4.033245 s,
      deltaX: -2.188049 m,
      approachRate: -0.542503 m/s,
      posRepo size: 4

2025-10-26T21:23:15.501Z,1761513795.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.55 m.
2025-10-26T21:23:15.520Z,1761513795.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.554047 m,
      nav range: 461.291656 m,
      bearing: 38.485618 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002376 deg/s,
      cmd heading: 39.950050 deg,
      new cmd heading: 39.946772 deg.

2025-10-26T21:23:15.521Z,1761513795.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697203 target range: 457.554047 and range: 460.50 m.
2025-10-26T21:23:15.775Z,1761513795.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765020,-0.634760,-0.108743],[0.643853,0.757548,0.107583],[0.014089,-0.152318,0.988231]]
2025-10-26T21:23:15.830Z,1761513795.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.55 m.
2025-10-26T21:23:15.837Z,1761513795.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.554047 m,
      nav range: 461.066132 m,
      bearing: 38.484570 deg,
      approach rate: -0.669774 m/s,
      LOS rate: -0.003113 deg/s,
      cmd heading: 39.946771 deg,
      new cmd heading: 39.943626 deg.

2025-10-26T21:23:15.838Z,1761513795.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697148 target range: 457.554047 and range: 460.50 m.
2025-10-26T21:23:16.178Z,1761513796.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764710,-0.635198,-0.108360],[0.644240,0.757091,0.108478],[0.013133,-0.152764,0.988175]]
2025-10-26T21:23:16.232Z,1761513796.232 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:16.234Z,1761513796.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.55 m.
2025-10-26T21:23:16.237Z,1761513796.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.554047 m,
      nav range: 460.775177 m,
      bearing: 38.482229 deg,
      approach rate: -0.720254 m/s,
      LOS rate: -0.005799 deg/s,
      cmd heading: 39.943626 deg,
      new cmd heading: 39.936598 deg.

2025-10-26T21:23:16.238Z,1761513796.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697025 target range: 457.554047 and range: 460.50 m.
2025-10-26T21:23:16.404Z,1761513796.404 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:16.404Z,1761513796.404 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:16.404Z,1761513796.404 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:23:16.582Z,1761513796.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764196,-0.635846,-0.108185],[0.644863,0.756481,0.109039],[0.012508,-0.153091,0.988133]]
2025-10-26T21:23:16.606Z,1761513796.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.55 m.
2025-10-26T21:23:16.609Z,1761513796.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.554047 m,
      nav range: 460.528107 m,
      bearing: 38.480214 deg,
      approach rate: -0.664164 m/s,
      LOS rate: -0.005421 deg/s,
      cmd heading: 39.936598 deg,
      new cmd heading: 39.930548 deg.

2025-10-26T21:23:16.610Z,1761513796.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696920 target range: 457.554047 and range: 460.50 m.
2025-10-26T21:23:16.657Z,1761513796.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246482
2025-10-26T21:23:16.908Z,1761513796.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498365
2025-10-26T21:23:17.002Z,1761513797.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762295,-0.638053,-0.108606],[0.647131,0.754305,0.110661],[0.011315,-0.154639,0.987906]]
2025-10-26T21:23:17.039Z,1761513797.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.55 m.
2025-10-26T21:23:17.041Z,1761513797.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.554047 m,
      nav range: 460.235504 m,
      bearing: 38.477314 deg,
      approach rate: -0.676155 m/s,
      LOS rate: -0.006704 deg/s,
      cmd heading: 39.930549 deg,
      new cmd heading: 39.921846 deg.

2025-10-26T21:23:17.042Z,1761513797.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696768 target range: 457.554047 and range: 460.50 m.
2025-10-26T21:23:17.160Z,1761513797.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750351
2025-10-26T21:23:17.413Z,1761513797.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002717
2025-10-26T21:23:17.546Z,1761513797.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.55 m.
2025-10-26T21:23:17.548Z,1761513797.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.554047 m,
      nav range: 459.902344 m,
      bearing: 38.474008 deg,
      approach rate: -0.657129 m/s,
      LOS rate: -0.006526 deg/s,
      cmd heading: 39.921844 deg,
      new cmd heading: 39.911919 deg.

2025-10-26T21:23:17.549Z,1761513797.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696594 target range: 457.554047 and range: 460.50 m.
2025-10-26T21:23:17.665Z,1761513797.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254746
2025-10-26T21:23:17.906Z,1761513797.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760990,-0.639793,-0.107511],[0.648689,0.752894,0.111143],[0.009836,-0.154320,0.987972]]
2025-10-26T21:23:17.920Z,1761513797.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508816
2025-10-26T21:23:17.984Z,1761513797.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.55 m.
2025-10-26T21:23:17.987Z,1761513797.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.554047 m,
      nav range: 459.632416 m,
      bearing: 38.471257 deg,
      approach rate: -0.615392 m/s,
      LOS rate: -0.006275 deg/s,
      cmd heading: 39.911920 deg,
      new cmd heading: 39.903662 deg.

2025-10-26T21:23:17.992Z,1761513797.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696450 target range: 457.554047 and range: 460.50 m.
2025-10-26T21:23:18.169Z,1761513798.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758961
2025-10-26T21:23:18.399Z,1761513798.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760123,-0.640902,-0.107041],[0.649720,0.751884,0.111954],[0.008731,-0.154646,0.987931]]
2025-10-26T21:23:18.420Z,1761513798.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010418
2025-10-26T21:23:18.448Z,1761513798.448 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:18.450Z,1761513798.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.55 m.
2025-10-26T21:23:18.453Z,1761513798.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.554047 m,
      nav range: 459.292786 m,
      bearing: 38.466982 deg,
      approach rate: -0.729047 m/s,
      LOS rate: -0.009184 deg/s,
      cmd heading: 39.903662 deg,
      new cmd heading: 39.890827 deg.

2025-10-26T21:23:18.454Z,1761513798.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696226 target range: 457.554047 and range: 460.50 m.
2025-10-26T21:23:18.672Z,1761513798.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262285
2025-10-26T21:23:18.817Z,1761513798.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759445,-0.641707,-0.107031],[0.650531,0.750889,0.113907],[0.007274,-0.156133,0.987709]]
2025-10-26T21:23:18.858Z,1761513798.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.55 m.
2025-10-26T21:23:18.861Z,1761513798.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.554047 m,
      nav range: 459.039673 m,
      bearing: 38.463759 deg,
      approach rate: -0.624105 m/s,
      LOS rate: -0.007953 deg/s,
      cmd heading: 39.890829 deg,
      new cmd heading: 39.881153 deg.

2025-10-26T21:23:18.862Z,1761513798.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696057 target range: 457.554047 and range: 460.50 m.
2025-10-26T21:23:18.925Z,1761513798.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514546
2025-10-26T21:23:19.176Z,1761513799.176 [DAT](INFO): DAT read: Rx Time:21:23:17.7100

2025-10-26T21:23:19.177Z,1761513799.177 [DAT](INFO): Rx dataTimestamp_ set to:1761513799.176572
2025-10-26T21:23:19.177Z,1761513799.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767373
2025-10-26T21:23:19.276Z,1761513799.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.55 m.
2025-10-26T21:23:19.279Z,1761513799.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.554047 m,
      nav range: 458.763916 m,
      bearing: 38.461771 deg,
      approach rate: -0.655738 m/s,
      LOS rate: -0.004729 deg/s,
      cmd heading: 39.881154 deg,
      new cmd heading: 39.875187 deg.

2025-10-26T21:23:19.302Z,1761513799.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695953 target range: 457.554047 and range: 460.50 m.
2025-10-26T21:23:19.429Z,1761513799.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018456
2025-10-26T21:23:19.610Z,1761513799.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757755,-0.644036,-0.105000],[0.652520,0.749081,0.114433],[0.004955,-0.155227,0.987866]]
2025-10-26T21:23:19.644Z,1761513799.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.55 m.
2025-10-26T21:23:19.647Z,1761513799.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.554047 m,
      nav range: 458.523254 m,
      bearing: 38.459956 deg,
      approach rate: -0.654004 m/s,
      LOS rate: -0.004936 deg/s,
      cmd heading: 39.875187 deg,
      new cmd heading: 39.869738 deg.

2025-10-26T21:23:19.648Z,1761513799.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695858 target range: 457.554047 and range: 460.50 m.
2025-10-26T21:23:19.713Z,1761513799.713 [DAT](INFO): DAT read: 21:23:17.7100 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 404, 0.21, 1.462, 0.048, 1.748, 1.584, PHS=-0.019,-1.491, 0.120, RAW= 154.5,  17.6, CAL= 155.5,  20.6, ROT= 354.5, -20.6

2025-10-26T21:23:19.715Z,1761513799.715 [DAT](INFO): got valid direction response:
 21:23:17.7100 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 404, 0.21, 1.462, 0.048, 1.748, 1.584, PHS=-0.019,-1.491, 0.120, RAW= 154.5,  17.6, CAL= 155.5,  20.6, ROT= 354.5, -20.6

2025-10-26T21:23:19.717Z,1761513799.717 [DAT](INFO): DAT read: Bearing 206.2,  -7.9 (Local)

2025-10-26T21:23:19.717Z,1761513799.717 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.2,  -7.9 (Local)

2025-10-26T21:23:19.719Z,1761513799.719 [DAT](INFO): DAT read: Range 11 to 50 : 457.5 m  (Round-trip  610.0 ms) speed  0.4 m/s

2025-10-26T21:23:19.740Z,1761513799.740 [DAT](INFO): DAT read: user:194>

2025-10-26T21:23:19.741Z,1761513799.741 [DAT](INFO): DAT read: Tx time:21:23:18.8458

2025-10-26T21:23:19.741Z,1761513799.741 [DAT](INFO): Ping request sent.
2025-10-26T21:23:19.742Z,1761513799.742 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:23:19.742Z,1761513799.742 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:23:19.743Z,1761513799.743 [DAT](INFO): direction in FSK: [0.931750,-0.089718,0.351842]
2025-10-26T21:23:19.743Z,1761513799.743 [DAT](INFO): publishing transmit ping time
2025-10-26T21:23:19.744Z,1761513799.744 [DAT](INFO): publishing direction and range info
2025-10-26T21:23:19.747Z,1761513799.747 [DAT](INFO): publishing transmit ping time
2025-10-26T21:23:19.747Z,1761513799.747 [DAT](INFO): publishing direction and range info
2025-10-26T21:23:20.024Z,1761513800.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757738,-0.644202,-0.104105],[0.652552,0.748773,0.116250],[0.003063,-0.156021,0.987749]]
2025-10-26T21:23:20.117Z,1761513800.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 457.500000 m,
      deltaT: 4.307129 s,
      deltaX: -3.000000 m,
      approachRate: -0.696520 m/s,
      rangeRepo size: 4

2025-10-26T21:23:20.124Z,1761513800.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 454.570190 m,
      bearing: 38.659185 deg,
      lat: 36.779207 deg,
      lon: -121.859103 deg,
      deltaT: 4.307129 s,
      deltaX: -2.983856 m,
      approachRate: -0.692771 m/s,
      posRepo size: 4

2025-10-26T21:23:20.124Z,1761513800.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:20.127Z,1761513800.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 445.544281 m,
      bearing: 38.733709 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004936 deg/s,
      cmd heading: 39.869737 deg,
      new cmd heading: 39.862738 deg.

2025-10-26T21:23:20.132Z,1761513800.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695736 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:20.431Z,1761513800.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757647,-0.644422,-0.103395],[0.652663,0.748397,0.118040],[0.001313,-0.156915,0.987611]]
2025-10-26T21:23:20.449Z,1761513800.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:20.452Z,1761513800.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 445.301117 m,
      bearing: 38.732763 deg,
      approach rate: -0.730929 m/s,
      LOS rate: -0.002843 deg/s,
      cmd heading: 39.862739 deg,
      new cmd heading: 39.859902 deg.

2025-10-26T21:23:20.453Z,1761513800.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695687 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:20.841Z,1761513800.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757721,-0.644471,-0.102544],[0.652578,0.748176,0.119896],[-0.000548,-0.157766,0.987476]]
2025-10-26T21:23:20.857Z,1761513800.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:20.859Z,1761513800.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:20.861Z,1761513800.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 445.027313 m,
      bearing: 38.731702 deg,
      approach rate: -0.668999 m/s,
      LOS rate: -0.002595 deg/s,
      cmd heading: 39.859901 deg,
      new cmd heading: 39.856715 deg.

2025-10-26T21:23:20.862Z,1761513800.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695631 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:20.968Z,1761513800.968 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:20.968Z,1761513800.968 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:20.969Z,1761513800.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:23:21.220Z,1761513801.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478666
2025-10-26T21:23:21.243Z,1761513801.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757936,-0.644365,-0.101626],[0.652326,0.748153,0.121403],[-0.002196,-0.158308,0.987387]]
2025-10-26T21:23:21.317Z,1761513801.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:21.324Z,1761513801.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 444.756989 m,
      bearing: 38.732506 deg,
      approach rate: -0.589911 m/s,
      LOS rate: 0.001756 deg/s,
      cmd heading: 39.856715 deg,
      new cmd heading: 39.859130 deg.

2025-10-26T21:23:21.325Z,1761513801.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695673 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:21.473Z,1761513801.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730990
2025-10-26T21:23:21.642Z,1761513801.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758873,-0.643405,-0.100708],[0.651223,0.748648,0.124234],[-0.004538,-0.159862,0.987129]]
2025-10-26T21:23:21.677Z,1761513801.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:21.687Z,1761513801.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 444.516968 m,
      bearing: 38.733266 deg,
      approach rate: -0.666910 m/s,
      LOS rate: 0.002111 deg/s,
      cmd heading: 39.859130 deg,
      new cmd heading: 39.861409 deg.

2025-10-26T21:23:21.688Z,1761513801.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695713 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:21.725Z,1761513801.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983540
2025-10-26T21:23:21.979Z,1761513801.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236749
2025-10-26T21:23:22.111Z,1761513802.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:22.116Z,1761513802.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 444.240479 m,
      bearing: 38.735903 deg,
      approach rate: -0.637504 m/s,
      LOS rate: 0.006086 deg/s,
      cmd heading: 39.861407 deg,
      new cmd heading: 39.869326 deg.

2025-10-26T21:23:22.117Z,1761513802.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695851 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:22.229Z,1761513802.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487452
2025-10-26T21:23:22.452Z,1761513802.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760184,-0.642260,-0.098088],[0.649651,0.749427,0.127721],[-0.008520,-0.160815,0.986948]]
2025-10-26T21:23:22.476Z,1761513802.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:22.478Z,1761513802.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 444.015717 m,
      bearing: 38.738109 deg,
      approach rate: -0.615141 m/s,
      LOS rate: 0.006039 deg/s,
      cmd heading: 39.869327 deg,
      new cmd heading: 39.875946 deg.

2025-10-26T21:23:22.481Z,1761513802.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738900
2025-10-26T21:23:22.482Z,1761513802.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695967 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:22.733Z,1761513802.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991064
2025-10-26T21:23:22.854Z,1761513802.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761103,-0.641338,-0.097000],[0.648548,0.750050,0.129655],[-0.010398,-0.161590,0.986803]]
2025-10-26T21:23:22.878Z,1761513802.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:22.896Z,1761513802.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:22.899Z,1761513802.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 443.767761 m,
      bearing: 38.740590 deg,
      approach rate: -0.589648 m/s,
      LOS rate: 0.005903 deg/s,
      cmd heading: 39.875946 deg,
      new cmd heading: 39.883393 deg.

2025-10-26T21:23:22.904Z,1761513802.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696097 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:22.985Z,1761513802.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243174
2025-10-26T21:23:23.242Z,1761513803.242 [DAT](INFO): DAT read: 21:23:21.8570 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 403,-0.04, 2.161, 0.535, 2.362, 1.737, PHS= 0.526,-1.156, 0.582, RAW= 151.6,   0.6, CAL= 150.3,  -0.1, ROT= 359.7,   0.1

2025-10-26T21:23:23.243Z,1761513803.243 [DAT](INFO): got valid direction response:
 21:23:21.8570 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 403,-0.04, 2.161, 0.535, 2.362, 1.737, PHS= 0.526,-1.156, 0.582, RAW= 151.6,   0.6, CAL= 150.3,  -0.1, ROT= 359.7,   0.1

2025-10-26T21:23:23.248Z,1761513803.248 [DAT](INFO): DAT read: Rx Time:21:23:21.8570

2025-10-26T21:23:23.248Z,1761513803.248 [DAT](INFO): Rx dataTimestamp_ set to:1761513803.247993
2025-10-26T21:23:23.249Z,1761513803.249 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-26T21:23:23.249Z,1761513803.249 [DAT](INFO): Received low SNR in chirp
2025-10-26T21:23:23.264Z,1761513803.264 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:23:23.265Z,1761513803.265 [DAT](INFO): direction in FSK: [0.999985,-0.005236,-0.001745]
2025-10-26T21:23:23.268Z,1761513803.268 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:23.268Z,1761513803.268 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:23.268Z,1761513803.268 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:23.297Z,1761513803.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762136,-0.640293,-0.095776],[0.647300,0.750808,0.131493],[-0.012284,-0.162211,0.986680]]
2025-10-26T21:23:23.393Z,1761513803.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:23.405Z,1761513803.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 443.438721 m,
      bearing: 38.745071 deg,
      approach rate: -0.662216 m/s,
      LOS rate: 0.009026 deg/s,
      cmd heading: 39.883394 deg,
      new cmd heading: 39.896848 deg.

2025-10-26T21:23:23.406Z,1761513803.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696331 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:23.488Z,1761513803.488 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:23.488Z,1761513803.488 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:23.488Z,1761513803.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:23.722Z,1761513803.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763208,-0.639192,-0.094593],[0.645999,0.751613,0.133278],[-0.014093,-0.162826,0.986554]]
2025-10-26T21:23:23.740Z,1761513803.740 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:23.740Z,1761513803.740 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:23.741Z,1761513803.741 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:23.830Z,1761513803.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:23.834Z,1761513803.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 443.151917 m,
      bearing: 38.749045 deg,
      approach rate: -0.656647 m/s,
      LOS rate: 0.009104 deg/s,
      cmd heading: 39.896849 deg,
      new cmd heading: 39.908778 deg.

2025-10-26T21:23:23.834Z,1761513803.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696540 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:23.994Z,1761513803.994 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:23.995Z,1761513803.995 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:23.995Z,1761513803.995 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:24.127Z,1761513804.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764693,-0.637571,-0.093534],[0.644197,0.752758,0.135519],[-0.015995,-0.163884,0.986350]]
2025-10-26T21:23:24.174Z,1761513804.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:24.177Z,1761513804.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 442.936096 m,
      bearing: 38.752098 deg,
      approach rate: -0.627018 m/s,
      LOS rate: 0.008874 deg/s,
      cmd heading: 39.908778 deg,
      new cmd heading: 39.917942 deg.

2025-10-26T21:23:24.178Z,1761513804.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696700 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:24.245Z,1761513804.245 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:24.245Z,1761513804.245 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:24.246Z,1761513804.246 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:24.496Z,1761513804.496 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:24.496Z,1761513804.496 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:24.496Z,1761513804.496 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:24.545Z,1761513804.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766342,-0.635779,-0.092220],[0.642184,0.754122,0.137477],[-0.017860,-0.164577,0.986203]]
2025-10-26T21:23:24.565Z,1761513804.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:24.575Z,1761513804.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 442.694824 m,
      bearing: 38.755596 deg,
      approach rate: -0.618224 m/s,
      LOS rate: 0.008967 deg/s,
      cmd heading: 39.917941 deg,
      new cmd heading: 39.928440 deg.

2025-10-26T21:23:24.576Z,1761513804.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696883 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:24.749Z,1761513804.749 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:24.749Z,1761513804.749 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:24.749Z,1761513804.749 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:24.934Z,1761513804.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767448,-0.634600,-0.091140],[0.640813,0.754966,0.139228],[-0.019546,-0.165254,0.986057]]
2025-10-26T21:23:24.973Z,1761513804.973 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:24.980Z,1761513804.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:24.982Z,1761513804.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 442.449646 m,
      bearing: 38.759209 deg,
      approach rate: -0.596962 m/s,
      LOS rate: 0.008802 deg/s,
      cmd heading: 39.928439 deg,
      new cmd heading: 39.939284 deg.

2025-10-26T21:23:24.983Z,1761513804.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697072 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:25.002Z,1761513805.002 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:25.002Z,1761513805.002 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:25.002Z,1761513805.002 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:25.253Z,1761513805.253 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:25.253Z,1761513805.253 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:25.253Z,1761513805.253 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:25.342Z,1761513805.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768634,-0.633336,-0.089930],[0.639337,0.755926,0.140795],[-0.021191,-0.165716,0.985946]]
2025-10-26T21:23:25.388Z,1761513805.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:25.390Z,1761513805.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 442.177063 m,
      bearing: 38.763070 deg,
      approach rate: -0.661439 m/s,
      LOS rate: 0.009377 deg/s,
      cmd heading: 39.939285 deg,
      new cmd heading: 39.950878 deg.

2025-10-26T21:23:25.392Z,1761513805.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697274 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:25.504Z,1761513805.504 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:25.504Z,1761513805.504 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:25.504Z,1761513805.504 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:25.743Z,1761513805.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769475,-0.632587,-0.087995],[0.638283,0.756822,0.140765],[-0.022450,-0.164480,0.986125]]
2025-10-26T21:23:25.756Z,1761513805.756 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:25.756Z,1761513805.756 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:25.757Z,1761513805.757 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:25.765Z,1761513805.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:25.798Z,1761513805.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 441.937103 m,
      bearing: 38.766519 deg,
      approach rate: -0.635140 m/s,
      LOS rate: 0.009133 deg/s,
      cmd heading: 39.950880 deg,
      new cmd heading: 39.961231 deg.

2025-10-26T21:23:25.809Z,1761513805.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697455 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:26.011Z,1761513806.011 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:26.011Z,1761513806.011 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:26.012Z,1761513806.012 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:26.146Z,1761513806.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770166,-0.631917,-0.086747],[0.637393,0.757364,0.141880],[-0.023958,-0.164563,0.986076]]
2025-10-26T21:23:26.205Z,1761513806.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:26.208Z,1761513806.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 441.663025 m,
      bearing: 38.768263 deg,
      approach rate: -0.623089 m/s,
      LOS rate: 0.003966 deg/s,
      cmd heading: 39.961231 deg,
      new cmd heading: 39.966465 deg.

2025-10-26T21:23:26.209Z,1761513806.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697546 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:26.261Z,1761513806.261 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:26.261Z,1761513806.261 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:26.261Z,1761513806.261 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:26.512Z,1761513806.512 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:26.512Z,1761513806.512 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:26.512Z,1761513806.512 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:26.566Z,1761513806.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770660,-0.631517,-0.085266],[0.636743,0.757804,0.142450],[-0.025344,-0.164073,0.986123]]
2025-10-26T21:23:26.584Z,1761513806.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:26.587Z,1761513806.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 441.420563 m,
      bearing: 38.769833 deg,
      approach rate: -0.639074 m/s,
      LOS rate: 0.004142 deg/s,
      cmd heading: 39.966466 deg,
      new cmd heading: 39.971181 deg.

2025-10-26T21:23:26.608Z,1761513806.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697629 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:26.765Z,1761513806.765 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:26.765Z,1761513806.765 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:26.765Z,1761513806.765 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:26.962Z,1761513806.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771140,-0.631292,-0.082539],[0.636097,0.758473,0.141772],[-0.026896,-0.161829,0.986452]]
2025-10-26T21:23:26.992Z,1761513806.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:26.994Z,1761513806.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:26.997Z,1761513806.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 441.163239 m,
      bearing: 38.771533 deg,
      approach rate: -0.628535 m/s,
      LOS rate: 0.004154 deg/s,
      cmd heading: 39.971182 deg,
      new cmd heading: 39.976285 deg.

2025-10-26T21:23:26.998Z,1761513806.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697718 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:27.016Z,1761513807.016 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:27.016Z,1761513807.016 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:27.016Z,1761513807.016 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:27.268Z,1761513807.268 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:27.268Z,1761513807.268 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:27.268Z,1761513807.268 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:27.366Z,1761513807.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770934,-0.631823,-0.080376],[0.636287,0.758411,0.141252],[-0.028288,-0.160038,0.986705]]
2025-10-26T21:23:27.422Z,1761513807.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:27.425Z,1761513807.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 440.873077 m,
      bearing: 38.772508 deg,
      approach rate: -0.678225 m/s,
      LOS rate: 0.002279 deg/s,
      cmd heading: 39.976284 deg,
      new cmd heading: 39.979210 deg.

2025-10-26T21:23:27.425Z,1761513807.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697769 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:27.521Z,1761513807.521 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:27.521Z,1761513807.521 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:27.521Z,1761513807.521 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:27.770Z,1761513807.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770610,-0.632487,-0.078231],[0.636625,0.758288,0.140384],[-0.029469,-0.157985,0.987002]]
2025-10-26T21:23:27.806Z,1761513807.806 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:27.806Z,1761513807.806 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:27.806Z,1761513807.806 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:27.888Z,1761513807.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:27.890Z,1761513807.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 440.567535 m,
      bearing: 38.773519 deg,
      approach rate: -0.661755 m/s,
      LOS rate: 0.002191 deg/s,
      cmd heading: 39.979211 deg,
      new cmd heading: 39.982246 deg.

2025-10-26T21:23:27.891Z,1761513807.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697822 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:28.056Z,1761513808.056 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:28.056Z,1761513808.056 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:28.056Z,1761513808.056 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:28.221Z,1761513808.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769326,-0.634584,-0.073761],[0.638058,0.757459,0.138335],[-0.031914,-0.153489,0.987635]]
2025-10-26T21:23:28.258Z,1761513808.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:28.261Z,1761513808.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 440.308594 m,
      bearing: 38.772505 deg,
      approach rate: -0.690717 m/s,
      LOS rate: -0.002704 deg/s,
      cmd heading: 39.982247 deg,
      new cmd heading: 39.979206 deg.

2025-10-26T21:23:28.262Z,1761513808.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697769 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:28.308Z,1761513808.308 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:28.308Z,1761513808.308 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:28.309Z,1761513808.309 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:28.560Z,1761513808.560 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:28.560Z,1761513808.560 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:28.560Z,1761513808.560 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:28.619Z,1761513808.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768776,-0.635439,-0.072113],[0.638654,0.756985,0.138182],[-0.033218,-0.152286,0.987778]]
2025-10-26T21:23:28.650Z,1761513808.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:28.653Z,1761513808.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 440.054413 m,
      bearing: 38.771483 deg,
      approach rate: -0.649154 m/s,
      LOS rate: -0.002612 deg/s,
      cmd heading: 39.979204 deg,
      new cmd heading: 39.976136 deg.

2025-10-26T21:23:28.654Z,1761513808.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697715 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:28.812Z,1761513808.812 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:28.812Z,1761513808.812 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:28.812Z,1761513808.812 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:29.019Z,1761513809.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768148,-0.636406,-0.070260],[0.639331,0.756437,0.138051],[-0.034709,-0.150963,0.987930]]
2025-10-26T21:23:29.042Z,1761513809.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:29.045Z,1761513809.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:29.048Z,1761513809.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 439.782318 m,
      bearing: 38.770355 deg,
      approach rate: -0.689198 m/s,
      LOS rate: -0.002860 deg/s,
      cmd heading: 39.976134 deg,
      new cmd heading: 39.972747 deg.

2025-10-26T21:23:29.049Z,1761513809.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697656 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:29.067Z,1761513809.067 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:29.067Z,1761513809.067 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:29.067Z,1761513809.067 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:29.316Z,1761513809.316 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:29.316Z,1761513809.316 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:29.316Z,1761513809.316 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:29.421Z,1761513809.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767258,-0.637632,-0.068851],[0.640336,0.755630,0.137815],[-0.035849,-0.149827,0.988062]]
2025-10-26T21:23:29.478Z,1761513809.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:29.480Z,1761513809.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 439.486938 m,
      bearing: 38.768461 deg,
      approach rate: -0.682383 m/s,
      LOS rate: -0.004378 deg/s,
      cmd heading: 39.972746 deg,
      new cmd heading: 39.967061 deg.

2025-10-26T21:23:29.481Z,1761513809.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697557 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:29.569Z,1761513809.569 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:29.569Z,1761513809.569 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:29.569Z,1761513809.569 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:23:29.820Z,1761513809.820 [DAT](INFO): Reached modem response timeout
2025-10-26T21:23:29.821Z,1761513809.821 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:23:29.821Z,1761513809.821 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:23:29.842Z,1761513809.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766797,-0.638321,-0.067597],[0.640804,0.755120,0.138434],[-0.037322,-0.149467,0.988062]]
2025-10-26T21:23:29.918Z,1761513809.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:29.940Z,1761513809.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 439.208618 m,
      bearing: 38.766650 deg,
      approach rate: -0.632243 m/s,
      LOS rate: -0.004116 deg/s,
      cmd heading: 39.967060 deg,
      new cmd heading: 39.961625 deg.

2025-10-26T21:23:29.941Z,1761513809.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697462 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:30.072Z,1761513810.072 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:23:30.227Z,1761513810.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765826,-0.639622,-0.066291],[0.641894,0.754205,0.138372],[-0.038509,-0.148521,0.988159]]
2025-10-26T21:23:30.273Z,1761513810.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:30.279Z,1761513810.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 438.948578 m,
      bearing: 38.764461 deg,
      approach rate: -0.735697 m/s,
      LOS rate: -0.006198 deg/s,
      cmd heading: 39.961623 deg,
      new cmd heading: 39.955051 deg.

2025-10-26T21:23:30.281Z,1761513810.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697347 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:30.324Z,1761513810.324 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:23:30.576Z,1761513810.576 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:23:30.633Z,1761513810.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764876,-0.640900,-0.064899],[0.642947,0.753305,0.138386],[-0.039803,-0.147575,0.988250]]
2025-10-26T21:23:30.656Z,1761513810.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:30.658Z,1761513810.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 438.688629 m,
      bearing: 38.762221 deg,
      approach rate: -0.676557 m/s,
      LOS rate: -0.005833 deg/s,
      cmd heading: 39.955053 deg,
      new cmd heading: 39.948329 deg.

2025-10-26T21:23:30.659Z,1761513810.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697230 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:30.829Z,1761513810.829 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:23:31.036Z,1761513811.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764262,-0.641746,-0.063767],[0.643594,0.752665,0.138862],[-0.041120,-0.147167,0.988257]]
2025-10-26T21:23:31.071Z,1761513811.071 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:31.073Z,1761513811.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:31.076Z,1761513811.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 438.407410 m,
      bearing: 38.759761 deg,
      approach rate: -0.673636 m/s,
      LOS rate: -0.005895 deg/s,
      cmd heading: 39.948328 deg,
      new cmd heading: 39.940945 deg.

2025-10-26T21:23:31.077Z,1761513811.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697101 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:31.080Z,1761513811.080 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:23:31.332Z,1761513811.332 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:23:31.451Z,1761513811.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763698,-0.642509,-0.062836],[0.644188,0.752067,0.139344],[-0.042273,-0.146895,0.988248]]
2025-10-26T21:23:31.515Z,1761513811.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:31.518Z,1761513811.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 438.104980 m,
      bearing: 38.756477 deg,
      approach rate: -0.684062 m/s,
      LOS rate: -0.007435 deg/s,
      cmd heading: 39.940945 deg,
      new cmd heading: 39.931084 deg.

2025-10-26T21:23:31.519Z,1761513811.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696929 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:31.585Z,1761513811.585 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:23:31.836Z,1761513811.836 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:23:31.856Z,1761513811.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763126,-0.643210,-0.062602],[0.644791,0.751320,0.140578],[-0.043387,-0.147644,0.988088]]
2025-10-26T21:23:31.887Z,1761513811.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:31.890Z,1761513811.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 437.850891 m,
      bearing: 38.753686 deg,
      approach rate: -0.683686 m/s,
      LOS rate: -0.007514 deg/s,
      cmd heading: 39.931086 deg,
      new cmd heading: 39.922708 deg.

2025-10-26T21:23:31.890Z,1761513811.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696783 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:32.089Z,1761513812.089 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:23:32.089Z,1761513812.089 [DAT](INFO): response not received
2025-10-26T21:23:32.090Z,1761513812.090 [DAT](INFO): DAT read: user:196>

2025-10-26T21:23:32.091Z,1761513812.091 [DAT](INFO): DAT read: Tx time:21:23:31.2958

2025-10-26T21:23:32.092Z,1761513812.092 [DAT](INFO): Ping request sent.
2025-10-26T21:23:32.092Z,1761513812.092 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:23:32.092Z,1761513812.092 [DAT](INFO): publishing transmit ping time
2025-10-26T21:23:32.093Z,1761513812.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001102
2025-10-26T21:23:32.246Z,1761513812.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762823,-0.643648,-0.061792],[0.645064,0.750919,0.141471],[-0.044657,-0.147777,0.988012]]
2025-10-26T21:23:32.318Z,1761513812.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:32.321Z,1761513812.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 437.569336 m,
      bearing: 38.751219 deg,
      approach rate: -0.652512 m/s,
      LOS rate: -0.005721 deg/s,
      cmd heading: 39.922708 deg,
      new cmd heading: 39.915302 deg.

2025-10-26T21:23:32.322Z,1761513812.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696653 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:32.341Z,1761513812.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248772
2025-10-26T21:23:32.592Z,1761513812.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500571
2025-10-26T21:23:32.650Z,1761513812.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762383,-0.644205,-0.061415],[0.645499,0.750309,0.142715],[-0.045858,-0.148446,0.987857]]
2025-10-26T21:23:32.685Z,1761513812.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:32.688Z,1761513812.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 437.325623 m,
      bearing: 38.749061 deg,
      approach rate: -0.663780 m/s,
      LOS rate: -0.005880 deg/s,
      cmd heading: 39.915301 deg,
      new cmd heading: 39.908825 deg.

2025-10-26T21:23:32.689Z,1761513812.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696540 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:32.844Z,1761513812.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752638
2025-10-26T21:23:33.066Z,1761513813.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762074,-0.644615,-0.060956],[0.645784,0.749861,0.143776],[-0.046972,-0.148932,0.987731]]
2025-10-26T21:23:33.094Z,1761513813.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:33.105Z,1761513813.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.012771
2025-10-26T21:23:33.120Z,1761513813.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:33.123Z,1761513813.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 437.038666 m,
      bearing: 38.746502 deg,
      approach rate: -0.659929 m/s,
      LOS rate: -0.005889 deg/s,
      cmd heading: 39.908826 deg,
      new cmd heading: 39.901144 deg.

2025-10-26T21:23:33.128Z,1761513813.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696406 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:33.356Z,1761513813.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264695
2025-10-26T21:23:33.444Z,1761513813.444 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:23:33.499Z,1761513813.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762013,-0.644643,-0.061416],[0.645789,0.749487,0.145688],[-0.047887,-0.150678,0.987422]]
2025-10-26T21:23:33.544Z,1761513813.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:33.547Z,1761513813.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 436.738281 m,
      bearing: 38.744418 deg,
      approach rate: -0.707893 m/s,
      LOS rate: -0.004915 deg/s,
      cmd heading: 39.901142 deg,
      new cmd heading: 39.894885 deg.

2025-10-26T21:23:33.548Z,1761513813.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696297 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:33.609Z,1761513813.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516925
2025-10-26T21:23:33.860Z,1761513813.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768671
2025-10-26T21:23:33.911Z,1761513813.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761867,-0.644813,-0.061433],[0.645892,0.749130,0.147063],[-0.048807,-0.151721,0.987218]]
2025-10-26T21:23:33.929Z,1761513813.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:33.932Z,1761513813.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 436.480591 m,
      bearing: 38.742622 deg,
      approach rate: -0.669491 m/s,
      LOS rate: -0.004669 deg/s,
      cmd heading: 39.894886 deg,
      new cmd heading: 39.889494 deg.

2025-10-26T21:23:33.933Z,1761513813.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696203 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:34.112Z,1761513814.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020531
2025-10-26T21:23:34.309Z,1761513814.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761691,-0.645053,-0.061108],[0.646018,0.748786,0.148259],[-0.049878,-0.152405,0.987059]]
2025-10-26T21:23:34.360Z,1761513814.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:34.363Z,1761513814.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 436.180969 m,
      bearing: 38.742067 deg,
      approach rate: -0.696472 m/s,
      LOS rate: -0.001290 deg/s,
      cmd heading: 39.889493 deg,
      new cmd heading: 39.887828 deg.

2025-10-26T21:23:34.364Z,1761513814.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272770
2025-10-26T21:23:34.366Z,1761513814.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696174 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:34.448Z,1761513814.448 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:23:34.618Z,1761513814.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526295
2025-10-26T21:23:34.716Z,1761513814.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761640,-0.645016,-0.062123],[0.646015,0.748310,0.150656],[-0.050688,-0.154878,0.986632]]
2025-10-26T21:23:34.747Z,1761513814.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:34.750Z,1761513814.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 435.910980 m,
      bearing: 38.741566 deg,
      approach rate: -0.697095 m/s,
      LOS rate: -0.001294 deg/s,
      cmd heading: 39.887827 deg,
      new cmd heading: 39.886323 deg.

2025-10-26T21:23:34.751Z,1761513814.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696148 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:34.868Z,1761513814.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776764
2025-10-26T21:23:35.121Z,1761513815.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028932
2025-10-26T21:23:35.146Z,1761513815.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:35.170Z,1761513815.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:35.177Z,1761513815.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 435.631989 m,
      bearing: 38.741048 deg,
      approach rate: -0.696146 m/s,
      LOS rate: -0.001294 deg/s,
      cmd heading: 39.886324 deg,
      new cmd heading: 39.884769 deg.

2025-10-26T21:23:35.178Z,1761513815.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696121 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:35.372Z,1761513815.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280667
2025-10-26T21:23:35.524Z,1761513815.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761292,-0.645472,-0.061649],[0.646264,0.747609,0.153044],[-0.052697,-0.156353,0.986294]]
2025-10-26T21:23:35.560Z,1761513815.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:35.562Z,1761513815.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 435.355255 m,
      bearing: 38.742577 deg,
      approach rate: -0.672151 m/s,
      LOS rate: 0.003717 deg/s,
      cmd heading: 39.884770 deg,
      new cmd heading: 39.889361 deg.

2025-10-26T21:23:35.579Z,1761513815.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696201 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:35.625Z,1761513815.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533283
2025-10-26T21:23:35.876Z,1761513815.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784595
2025-10-26T21:23:35.933Z,1761513815.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761584,-0.645178,-0.061126],[0.645837,0.747762,0.154098],[-0.053714,-0.156836,0.986163]]
2025-10-26T21:23:35.959Z,1761513815.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:35.962Z,1761513815.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 435.091949 m,
      bearing: 38.744052 deg,
      approach rate: -0.671834 m/s,
      LOS rate: 0.003766 deg/s,
      cmd heading: 39.889360 deg,
      new cmd heading: 39.893788 deg.

2025-10-26T21:23:35.963Z,1761513815.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696278 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:36.128Z,1761513816.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036624
2025-10-26T21:23:36.380Z,1761513816.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.288626
2025-10-26T21:23:36.408Z,1761513816.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:36.410Z,1761513816.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 434.783264 m,
      bearing: 38.746903 deg,
      approach rate: -0.675954 m/s,
      LOS rate: 0.006246 deg/s,
      cmd heading: 39.893786 deg,
      new cmd heading: 39.902343 deg.

2025-10-26T21:23:36.412Z,1761513816.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696427 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:36.633Z,1761513816.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.541074
2025-10-26T21:23:36.775Z,1761513816.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:36.780Z,1761513816.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 434.539581 m,
      bearing: 38.749156 deg,
      approach rate: -0.665735 m/s,
      LOS rate: 0.006158 deg/s,
      cmd heading: 39.902344 deg,
      new cmd heading: 39.909107 deg.

2025-10-26T21:23:36.782Z,1761513816.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696545 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:36.885Z,1761513816.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.793433
2025-10-26T21:23:37.134Z,1761513817.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761678,-0.645181,-0.059896],[0.645486,0.747464,0.156991],[-0.056517,-0.158239,0.985782]]
2025-10-26T21:23:37.136Z,1761513817.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.044670
2025-10-26T21:23:37.152Z,1761513817.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:37.154Z,1761513817.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:37.157Z,1761513817.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 434.278809 m,
      bearing: 38.751580 deg,
      approach rate: -0.686011 m/s,
      LOS rate: 0.006382 deg/s,
      cmd heading: 39.909106 deg,
      new cmd heading: 39.916384 deg.

2025-10-26T21:23:37.158Z,1761513817.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696672 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:37.389Z,1761513817.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.296775
2025-10-26T21:23:37.539Z,1761513817.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762274,-0.644592,-0.058647],[0.644667,0.748008,0.157763],[-0.057824,-0.158067,0.985734]]
2025-10-26T21:23:37.575Z,1761513817.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:37.578Z,1761513817.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 434.004761 m,
      bearing: 38.755656 deg,
      approach rate: -0.651007 m/s,
      LOS rate: 0.009687 deg/s,
      cmd heading: 39.916384 deg,
      new cmd heading: 39.928617 deg.

2025-10-26T21:23:37.579Z,1761513817.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696886 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:37.642Z,1761513817.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.549818
2025-10-26T21:23:37.892Z,1761513817.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.800629
2025-10-26T21:23:37.942Z,1761513817.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762629,-0.644251,-0.057776],[0.644150,0.748294,0.158513],[-0.058889,-0.158103,0.985665]]
2025-10-26T21:23:37.976Z,1761513817.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:37.979Z,1761513817.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 433.754120 m,
      bearing: 38.759408 deg,
      approach rate: -0.624505 m/s,
      LOS rate: 0.009355 deg/s,
      cmd heading: 39.928617 deg,
      new cmd heading: 39.939880 deg.

2025-10-26T21:23:37.980Z,1761513817.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697082 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:38.144Z,1761513818.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.052617
2025-10-26T21:23:38.346Z,1761513818.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763162,-0.643664,-0.057281],[0.643425,0.748666,0.159699],[-0.059908,-0.158732,0.985502]]
2025-10-26T21:23:38.397Z,1761513818.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.304781
2025-10-26T21:23:38.402Z,1761513818.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:38.409Z,1761513818.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 433.480530 m,
      bearing: 38.763484 deg,
      approach rate: -0.642211 m/s,
      LOS rate: 0.009573 deg/s,
      cmd heading: 39.939880 deg,
      new cmd heading: 39.952114 deg.

2025-10-26T21:23:38.410Z,1761513818.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697296 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:38.648Z,1761513818.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.556611
2025-10-26T21:23:38.766Z,1761513818.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763810,-0.642981,-0.056295],[0.642542,0.749226,0.160622],[-0.061099,-0.158857,0.985409]]
2025-10-26T21:23:38.811Z,1761513818.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:38.814Z,1761513818.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 433.215332 m,
      bearing: 38.767478 deg,
      approach rate: -0.649371 m/s,
      LOS rate: 0.009786 deg/s,
      cmd heading: 39.952112 deg,
      new cmd heading: 39.964102 deg.

2025-10-26T21:23:38.815Z,1761513818.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697505 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:38.901Z,1761513818.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.809190
2025-10-26T21:23:39.152Z,1761513819.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.060629
2025-10-26T21:23:39.168Z,1761513819.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764405,-0.642330,-0.055645],[0.641737,0.749697,0.161640],[-0.062109,-0.159268,0.985280]]
2025-10-26T21:23:39.197Z,1761513819.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:39.200Z,1761513819.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:39.202Z,1761513819.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 432.951019 m,
      bearing: 38.771498 deg,
      approach rate: -0.680132 m/s,
      LOS rate: 0.010351 deg/s,
      cmd heading: 39.964103 deg,
      new cmd heading: 39.976171 deg.

2025-10-26T21:23:39.203Z,1761513819.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697716 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:39.404Z,1761513819.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.312683
2025-10-26T21:23:39.571Z,1761513819.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765050,-0.641667,-0.054427],[0.640927,0.750500,0.161128],[-0.062543,-0.158154,0.985432]]
2025-10-26T21:23:39.621Z,1761513819.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:39.624Z,1761513819.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 432.683350 m,
      bearing: 38.776643 deg,
      approach rate: -0.634880 m/s,
      LOS rate: 0.012212 deg/s,
      cmd heading: 39.976172 deg,
      new cmd heading: 39.991617 deg.

2025-10-26T21:23:39.625Z,1761513819.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697985 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:39.657Z,1761513819.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.565097
2025-10-26T21:23:39.909Z,1761513819.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.817490
2025-10-26T21:23:39.974Z,1761513819.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765186,-0.641543,-0.053967],[0.640685,0.750547,0.161872],[-0.063343,-0.158438,0.985335]]
2025-10-26T21:23:40.007Z,1761513820.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:40.010Z,1761513820.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 432.438568 m,
      bearing: 38.781362 deg,
      approach rate: -0.634123 m/s,
      LOS rate: 0.012231 deg/s,
      cmd heading: 39.991618 deg,
      new cmd heading: 40.005782 deg.

2025-10-26T21:23:40.011Z,1761513820.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698233 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:40.160Z,1761513820.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.068598
2025-10-26T21:23:40.378Z,1761513820.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766005,-0.640571,-0.053907],[0.639611,0.751092,0.163579],[-0.064295,-0.159782,0.985056]]
2025-10-26T21:23:40.412Z,1761513820.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.320549
2025-10-26T21:23:40.446Z,1761513820.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:40.453Z,1761513820.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 432.168549 m,
      bearing: 38.785245 deg,
      approach rate: -0.614698 m/s,
      LOS rate: 0.008847 deg/s,
      cmd heading: 40.005784 deg,
      new cmd heading: 40.017442 deg.

2025-10-26T21:23:40.454Z,1761513820.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698436 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:40.665Z,1761513820.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.573289
2025-10-26T21:23:40.794Z,1761513820.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766617,-0.639902,-0.053144],[0.638771,0.751597,0.164541],[-0.065348,-0.160087,0.984937]]
2025-10-26T21:23:40.813Z,1761513820.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:40.816Z,1761513820.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 431.933899 m,
      bearing: 38.788657 deg,
      approach rate: -0.639082 m/s,
      LOS rate: 0.009295 deg/s,
      cmd heading: 40.017443 deg,
      new cmd heading: 40.027682 deg.

2025-10-26T21:23:40.817Z,1761513820.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698615 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:40.917Z,1761513820.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.825217
2025-10-26T21:23:41.168Z,1761513821.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076617
2025-10-26T21:23:41.186Z,1761513821.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767028,-0.639452,-0.052620],[0.638214,0.751962,0.165033],[-0.065963,-0.160168,0.984883]]
2025-10-26T21:23:41.202Z,1761513821.202 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:41.204Z,1761513821.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:41.207Z,1761513821.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 431.688934 m,
      bearing: 38.792244 deg,
      approach rate: -0.626490 m/s,
      LOS rate: 0.009180 deg/s,
      cmd heading: 40.027682 deg,
      new cmd heading: 40.038450 deg.

2025-10-26T21:23:41.229Z,1761513821.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698803 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:41.420Z,1761513821.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.328762
2025-10-26T21:23:41.590Z,1761513821.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767464,-0.639046,-0.051173],[0.637656,0.752662,0.163993],[-0.066283,-0.158490,0.985133]]
2025-10-26T21:23:41.633Z,1761513821.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:41.635Z,1761513821.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 431.428040 m,
      bearing: 38.795249 deg,
      approach rate: -0.609573 m/s,
      LOS rate: 0.007025 deg/s,
      cmd heading: 40.038449 deg,
      new cmd heading: 40.047469 deg.

2025-10-26T21:23:41.636Z,1761513821.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698960 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:41.673Z,1761513821.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.581050
2025-10-26T21:23:41.924Z,1761513821.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.832505
2025-10-26T21:23:42.028Z,1761513822.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:42.031Z,1761513822.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 431.187439 m,
      bearing: 38.798023 deg,
      approach rate: -0.609297 m/s,
      LOS rate: 0.007030 deg/s,
      cmd heading: 40.047469 deg,
      new cmd heading: 40.055797 deg.

2025-10-26T21:23:42.032Z,1761513822.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699106 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:42.176Z,1761513822.176 [DAT](INFO): Reached modem response timeout
2025-10-26T21:23:42.176Z,1761513822.176 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:23:42.177Z,1761513822.177 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:23:42.398Z,1761513822.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767842,-0.638764,-0.048989],[0.637110,0.753359,0.162914],[-0.067157,-0.156303,0.985423]]
2025-10-26T21:23:42.428Z,1761513822.428 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:23:42.448Z,1761513822.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:42.450Z,1761513822.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 430.923889 m,
      bearing: 38.798962 deg,
      approach rate: -0.627517 m/s,
      LOS rate: 0.002237 deg/s,
      cmd heading: 40.055798 deg,
      new cmd heading: 40.058616 deg.

2025-10-26T21:23:42.451Z,1761513822.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699155 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:42.682Z,1761513822.682 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:23:42.807Z,1761513822.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768006,-0.638603,-0.048501],[0.636846,0.753486,0.163357],[-0.067775,-0.156347,0.985374]]
2025-10-26T21:23:42.825Z,1761513822.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:42.827Z,1761513822.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 430.687225 m,
      bearing: 38.799816 deg,
      approach rate: -0.627461 m/s,
      LOS rate: 0.002265 deg/s,
      cmd heading: 40.058616 deg,
      new cmd heading: 40.061178 deg.

2025-10-26T21:23:42.828Z,1761513822.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699199 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:42.932Z,1761513822.932 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:23:43.184Z,1761513823.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:23:43.211Z,1761513823.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767988,-0.638660,-0.048032],[0.636813,0.753464,0.163590],[-0.068289,-0.156223,0.985358]]
2025-10-26T21:23:43.239Z,1761513823.239 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:43.241Z,1761513823.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:43.244Z,1761513823.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 430.425812 m,
      bearing: 38.800761 deg,
      approach rate: -0.627126 m/s,
      LOS rate: 0.002268 deg/s,
      cmd heading: 40.061177 deg,
      new cmd heading: 40.064013 deg.

2025-10-26T21:23:43.245Z,1761513823.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699249 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:43.436Z,1761513823.436 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:23:43.614Z,1761513823.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767657,-0.639088,-0.047639],[0.637175,0.753169,0.163536],[-0.068634,-0.155894,0.985386]]
2025-10-26T21:23:43.664Z,1761513823.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:43.667Z,1761513823.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 430.143341 m,
      bearing: 38.799880 deg,
      approach rate: -0.667787 m/s,
      LOS rate: -0.002085 deg/s,
      cmd heading: 40.064015 deg,
      new cmd heading: 40.061370 deg.

2025-10-26T21:23:43.668Z,1761513823.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699203 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:43.688Z,1761513823.688 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:23:43.941Z,1761513823.941 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:23:44.019Z,1761513824.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767137,-0.639728,-0.047415],[0.637784,0.752701,0.163317],[-0.068789,-0.155527,0.985434]]
2025-10-26T21:23:44.045Z,1761513824.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:44.047Z,1761513824.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 429.889465 m,
      bearing: 38.799060 deg,
      approach rate: -0.667509 m/s,
      LOS rate: -0.002158 deg/s,
      cmd heading: 40.061368 deg,
      new cmd heading: 40.058906 deg.

2025-10-26T21:23:44.048Z,1761513824.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699160 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:44.192Z,1761513824.192 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:23:44.422Z,1761513824.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766263,-0.640799,-0.047089],[0.638820,0.751932,0.162809],[-0.068920,-0.154836,0.985533]]
2025-10-26T21:23:44.446Z,1761513824.446 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:23:44.446Z,1761513824.446 [DAT](INFO): response not received
2025-10-26T21:23:44.447Z,1761513824.447 [DAT](INFO): DAT read: user:197>

2025-10-26T21:23:44.448Z,1761513824.448 [DAT](INFO): DAT read: Tx time:21:23:43.7458

2025-10-26T21:23:44.448Z,1761513824.448 [DAT](INFO): Ping request sent.
2025-10-26T21:23:44.448Z,1761513824.448 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:23:44.448Z,1761513824.448 [DAT](INFO): publishing transmit ping time
2025-10-26T21:23:44.449Z,1761513824.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-10-26T21:23:44.532Z,1761513824.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:44.534Z,1761513824.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 429.582794 m,
      bearing: 38.796952 deg,
      approach rate: -0.634612 m/s,
      LOS rate: -0.004366 deg/s,
      cmd heading: 40.058906 deg,
      new cmd heading: 40.052577 deg.

2025-10-26T21:23:44.535Z,1761513824.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699049 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:44.697Z,1761513824.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248763
2025-10-26T21:23:44.836Z,1761513824.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765435,-0.641786,-0.047121],[0.639809,0.751141,0.162574],[-0.068943,-0.154588,0.985570]]
2025-10-26T21:23:44.854Z,1761513824.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:44.856Z,1761513824.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 429.358093 m,
      bearing: 38.795366 deg,
      approach rate: -0.689889 m/s,
      LOS rate: -0.004870 deg/s,
      cmd heading: 40.052578 deg,
      new cmd heading: 40.047819 deg.

2025-10-26T21:23:44.857Z,1761513824.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698966 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:44.949Z,1761513824.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500553
2025-10-26T21:23:45.200Z,1761513825.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752158
2025-10-26T21:23:45.244Z,1761513825.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764727,-0.642671,-0.046552],[0.640651,0.750608,0.161725],[-0.068994,-0.153499,0.985737]]
2025-10-26T21:23:45.266Z,1761513825.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:45.270Z,1761513825.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:45.275Z,1761513825.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 429.090179 m,
      bearing: 38.793434 deg,
      approach rate: -0.644585 m/s,
      LOS rate: -0.004651 deg/s,
      cmd heading: 40.047820 deg,
      new cmd heading: 40.042020 deg.

2025-10-26T21:23:45.277Z,1761513825.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698865 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:45.452Z,1761513825.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004136
2025-10-26T21:23:45.642Z,1761513825.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763900,-0.643669,-0.046332],[0.641634,0.749881,0.161194],[-0.069012,-0.152864,0.985835]]
2025-10-26T21:23:45.694Z,1761513825.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:45.698Z,1761513825.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 428.809387 m,
      bearing: 38.790788 deg,
      approach rate: -0.661614 m/s,
      LOS rate: -0.006240 deg/s,
      cmd heading: 40.042022 deg,
      new cmd heading: 40.034077 deg.

2025-10-26T21:23:45.699Z,1761513825.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698726 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:45.705Z,1761513825.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256596
2025-10-26T21:23:45.960Z,1761513825.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512149
2025-10-26T21:23:46.046Z,1761513826.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762863,-0.644854,-0.046953],[0.642891,0.748804,0.161193],[-0.068787,-0.153154,0.985805]]
2025-10-26T21:23:46.072Z,1761513826.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:46.075Z,1761513826.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 428.563171 m,
      bearing: 38.788411 deg,
      approach rate: -0.650054 m/s,
      LOS rate: -0.006280 deg/s,
      cmd heading: 40.034078 deg,
      new cmd heading: 40.026943 deg.

2025-10-26T21:23:46.092Z,1761513826.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698602 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:46.213Z,1761513826.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764487
2025-10-26T21:23:46.461Z,1761513826.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762045,-0.645822,-0.046912],[0.643881,0.748093,0.160547],[-0.068590,-0.152550,0.985913]]
2025-10-26T21:23:46.464Z,1761513826.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016109
2025-10-26T21:23:46.520Z,1761513826.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:46.522Z,1761513826.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 428.277405 m,
      bearing: 38.786233 deg,
      approach rate: -0.669379 m/s,
      LOS rate: -0.005103 deg/s,
      cmd heading: 40.026944 deg,
      new cmd heading: 40.020408 deg.

2025-10-26T21:23:46.523Z,1761513826.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698488 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:46.717Z,1761513826.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268779
2025-10-26T21:23:46.873Z,1761513826.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761452,-0.646525,-0.046867],[0.644592,0.747565,0.160150],[-0.068505,-0.152156,0.985980]]
2025-10-26T21:23:46.903Z,1761513826.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:46.906Z,1761513826.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 428.006348 m,
      bearing: 38.784131 deg,
      approach rate: -0.671795 m/s,
      LOS rate: -0.005213 deg/s,
      cmd heading: 40.020407 deg,
      new cmd heading: 40.014097 deg.

2025-10-26T21:23:46.907Z,1761513826.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698378 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:46.969Z,1761513826.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521206
2025-10-26T21:23:47.221Z,1761513827.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772403
2025-10-26T21:23:47.291Z,1761513827.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760828,-0.647195,-0.047745],[0.645386,0.746889,0.160105],[-0.067959,-0.152626,0.985945]]
2025-10-26T21:23:47.307Z,1761513827.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:47.325Z,1761513827.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:47.332Z,1761513827.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 427.734161 m,
      bearing: 38.781981 deg,
      approach rate: -0.644397 m/s,
      LOS rate: -0.005093 deg/s,
      cmd heading: 40.014096 deg,
      new cmd heading: 40.007642 deg.

2025-10-26T21:23:47.333Z,1761513827.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698265 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:47.473Z,1761513827.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024851
2025-10-26T21:23:47.719Z,1761513827.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760550,-0.647497,-0.048078],[0.645739,0.746603,0.160017],[-0.067715,-0.152747,0.985943]]
2025-10-26T21:23:47.725Z,1761513827.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276616
2025-10-26T21:23:47.794Z,1761513827.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:47.801Z,1761513827.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 427.427124 m,
      bearing: 38.780685 deg,
      approach rate: -0.655417 m/s,
      LOS rate: -0.002769 deg/s,
      cmd heading: 40.007642 deg,
      new cmd heading: 40.003750 deg.

2025-10-26T21:23:47.801Z,1761513827.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698197 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:47.976Z,1761513827.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528144
2025-10-26T21:23:48.128Z,1761513828.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760386,-0.647677,-0.048243],[0.645947,0.746444,0.159915],[-0.067563,-0.152760,0.985951]]
2025-10-26T21:23:48.147Z,1761513828.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:48.149Z,1761513828.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 427.163910 m,
      bearing: 38.779563 deg,
      approach rate: -0.745911 m/s,
      LOS rate: -0.003182 deg/s,
      cmd heading: 40.003749 deg,
      new cmd heading: 40.000380 deg.

2025-10-26T21:23:48.150Z,1761513828.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698138 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:48.229Z,1761513828.229 [DAT](INFO): DAT read: Rx Time:21:23:46.7488

2025-10-26T21:23:48.229Z,1761513828.229 [DAT](INFO): Rx dataTimestamp_ set to:1761513828.228894
2025-10-26T21:23:48.230Z,1761513828.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781731
2025-10-26T21:23:48.480Z,1761513828.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032124
2025-10-26T21:23:48.576Z,1761513828.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759921,-0.648192,-0.048657],[0.646555,0.746040,0.159343],[-0.066985,-0.152548,0.986023]]
2025-10-26T21:23:48.636Z,1761513828.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.57 m.
2025-10-26T21:23:48.638Z,1761513828.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.570190 m,
      nav range: 426.841125 m,
      bearing: 38.780098 deg,
      approach rate: -0.659697 m/s,
      LOS rate: 0.001095 deg/s,
      cmd heading: 40.000381 deg,
      new cmd heading: 40.001988 deg.

2025-10-26T21:23:48.644Z,1761513828.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698166 target range: 454.570190 and range: 457.50 m.
2025-10-26T21:23:48.738Z,1761513828.738 [DAT](INFO): DAT read: 21:23:46.7488 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 320,-0.26, 1.893, 0.391, 2.102, 1.646, PHS= 0.350,-1.210, 0.413, RAW= 152.0,   5.7, CAL= 151.2,   5.8, ROT= 358.8,  -5.8

2025-10-26T21:23:48.740Z,1761513828.740 [DAT](INFO): got valid direction response:
 21:23:46.7488 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 320,-0.26, 1.893, 0.391, 2.102, 1.646, PHS= 0.350,-1.210, 0.413, RAW= 152.0,   5.7, CAL= 151.2,   5.8, ROT= 358.8,  -5.8

2025-10-26T21:23:48.740Z,1761513828.740 [DAT](INFO): DAT read: Bearing 192.1,  -6.0 (Local)

2025-10-26T21:23:48.741Z,1761513828.741 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.1,  -6.0 (Local)

2025-10-26T21:23:48.742Z,1761513828.742 [DAT](INFO): DAT read: Range 11 to 50 : 449.1 m  (Round-trip  598.8 ms) speed  0.6 m/s

2025-10-26T21:23:48.743Z,1761513828.743 [DAT](INFO): DAT read: user:198>

2025-10-26T21:23:48.744Z,1761513828.744 [DAT](INFO): DAT read: Tx time:21:23:47.8458

2025-10-26T21:23:48.744Z,1761513828.744 [DAT](INFO): Ping request sent.
2025-10-26T21:23:48.744Z,1761513828.744 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:23:48.744Z,1761513828.744 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:23:48.745Z,1761513828.745 [DAT](INFO): direction in FSK: [0.994663,-0.020835,0.101056]
2025-10-26T21:23:48.746Z,1761513828.746 [DAT](INFO): publishing transmit ping time
2025-10-26T21:23:48.746Z,1761513828.746 [DAT](INFO): publishing direction and range info
2025-10-26T21:23:48.766Z,1761513828.766 [DAT](INFO): publishing transmit ping time
2025-10-26T21:23:48.767Z,1761513828.767 [DAT](INFO): publishing direction and range info
2025-10-26T21:23:48.993Z,1761513828.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759728,-0.648368,-0.049329],[0.646862,0.745876,0.158867],[-0.066211,-0.152605,0.986067]]
2025-10-26T21:23:49.038Z,1761513829.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 449.100006 m,
      deltaT: 29.027361 s,
      deltaX: -8.399994 m,
      approachRate: -0.289382 m/s,
      rangeRepo size: 4

2025-10-26T21:23:49.044Z,1761513829.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 446.254364 m,
      bearing: 40.117984 deg,
      lat: 36.779207 deg,
      lon: -121.859103 deg,
      deltaT: 29.027361 s,
      deltaX: -8.315826 m,
      approachRate: -0.286482 m/s,
      posRepo size: 4

2025-10-26T21:23:49.045Z,1761513829.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.25 m.
2025-10-26T21:23:49.047Z,1761513829.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.254364 m,
      nav range: 426.564667 m,
      bearing: 38.780544 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001095 deg/s,
      cmd heading: 40.001986 deg,
      new cmd heading: 40.003304 deg.

2025-10-26T21:23:49.052Z,1761513829.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698189 target range: 446.254364 and range: 449.10 m.
2025-10-26T21:23:49.413Z,1761513829.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759908,-0.648152,-0.049393],[0.646681,0.746101,0.158545],[-0.065909,-0.152421,0.986116]]
2025-10-26T21:23:49.474Z,1761513829.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:49.481Z,1761513829.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.25 m.
2025-10-26T21:23:49.488Z,1761513829.488 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:49.489Z,1761513829.489 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:49.489Z,1761513829.489 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:23:49.496Z,1761513829.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.254364 m,
      nav range: 426.244446 m,
      bearing: 38.781071 deg,
      approach rate: -0.720691 m/s,
      LOS rate: 0.001189 deg/s,
      cmd heading: 40.003305 deg,
      new cmd heading: 40.004889 deg.

2025-10-26T21:23:49.497Z,1761513829.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698217 target range: 446.254364 and range: 449.10 m.
2025-10-26T21:23:49.740Z,1761513829.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996203
2025-10-26T21:23:49.863Z,1761513829.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.25 m.
2025-10-26T21:23:49.865Z,1761513829.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.254364 m,
      nav range: 425.982727 m,
      bearing: 38.782926 deg,
      approach rate: -0.686326 m/s,
      LOS rate: 0.004867 deg/s,
      cmd heading: 40.004889 deg,
      new cmd heading: 40.010457 deg.

2025-10-26T21:23:49.866Z,1761513829.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698314 target range: 446.254364 and range: 449.10 m.
2025-10-26T21:23:49.993Z,1761513829.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248949
2025-10-26T21:23:50.239Z,1761513830.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.25 m.
2025-10-26T21:23:50.242Z,1761513830.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.254364 m,
      nav range: 425.730286 m,
      bearing: 38.784717 deg,
      approach rate: -0.670761 m/s,
      LOS rate: 0.004762 deg/s,
      cmd heading: 40.010456 deg,
      new cmd heading: 40.015832 deg.

2025-10-26T21:23:50.243Z,1761513830.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698408 target range: 446.254364 and range: 449.10 m.
2025-10-26T21:23:50.244Z,1761513830.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500264
2025-10-26T21:23:50.496Z,1761513830.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752229
2025-10-26T21:23:50.606Z,1761513830.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761044,-0.646775,-0.049934],[0.645442,0.747270,0.158088],[-0.064933,-0.152542,0.986162]]
2025-10-26T21:23:50.664Z,1761513830.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.25 m.
2025-10-26T21:23:50.667Z,1761513830.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.254364 m,
      nav range: 425.443237 m,
      bearing: 38.788363 deg,
      approach rate: -0.674646 m/s,
      LOS rate: 0.008575 deg/s,
      cmd heading: 40.015831 deg,
      new cmd heading: 40.026777 deg.

2025-10-26T21:23:50.668Z,1761513830.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698599 target range: 446.254364 and range: 449.10 m.
2025-10-26T21:23:50.750Z,1761513830.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004861
2025-10-26T21:23:51.000Z,1761513831.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256227
2025-10-26T21:23:51.012Z,1761513831.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761290,-0.646481,-0.049987],[0.645177,0.747549,0.157854],[-0.064682,-0.152423,0.986197]]
2025-10-26T21:23:51.047Z,1761513831.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.25 m.
2025-10-26T21:23:51.054Z,1761513831.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.254364 m,
      nav range: 425.190643 m,
      bearing: 38.791588 deg,
      approach rate: -0.660878 m/s,
      LOS rate: 0.008442 deg/s,
      cmd heading: 40.026777 deg,
      new cmd heading: 40.036457 deg.

2025-10-26T21:23:51.054Z,1761513831.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698768 target range: 446.254364 and range: 449.10 m.
2025-10-26T21:23:51.254Z,1761513831.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509334
2025-10-26T21:23:51.420Z,1761513831.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761873,-0.645839,-0.049409],[0.644504,0.748273,0.157168],[-0.064534,-0.151587,0.986335]]
2025-10-26T21:23:51.498Z,1761513831.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:51.505Z,1761513831.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760365
2025-10-26T21:23:51.506Z,1761513831.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.25 m.
2025-10-26T21:23:51.513Z,1761513831.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.254364 m,
      nav range: 424.908478 m,
      bearing: 38.795231 deg,
      approach rate: -0.614273 m/s,
      LOS rate: 0.007935 deg/s,
      cmd heading: 40.036458 deg,
      new cmd heading: 40.047394 deg.

2025-10-26T21:23:51.514Z,1761513831.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698959 target range: 446.254364 and range: 449.10 m.
2025-10-26T21:23:51.758Z,1761513831.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013388
2025-10-26T21:23:51.824Z,1761513831.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762383,-0.645240,-0.049366],[0.643914,0.748797,0.157094],[-0.064398,-0.151553,0.986349]]
2025-10-26T21:23:51.879Z,1761513831.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.25 m.
2025-10-26T21:23:51.886Z,1761513831.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.254364 m,
      nav range: 424.631378 m,
      bearing: 38.798994 deg,
      approach rate: -0.742892 m/s,
      LOS rate: 0.010096 deg/s,
      cmd heading: 40.047394 deg,
      new cmd heading: 40.058691 deg.

2025-10-26T21:23:51.887Z,1761513831.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699156 target range: 446.254364 and range: 449.10 m.
2025-10-26T21:23:52.008Z,1761513832.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264234
2025-10-26T21:23:52.278Z,1761513832.278 [DAT](INFO): DAT read: Rx Time:21:23:50.8476

2025-10-26T21:23:52.278Z,1761513832.278 [DAT](INFO): Rx dataTimestamp_ set to:1761513832.278110
2025-10-26T21:23:52.279Z,1761513832.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534776
2025-10-26T21:23:52.289Z,1761513832.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.25 m.
2025-10-26T21:23:52.297Z,1761513832.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.254364 m,
      nav range: 424.363739 m,
      bearing: 38.802634 deg,
      approach rate: -0.652172 m/s,
      LOS rate: 0.008874 deg/s,
      cmd heading: 40.058691 deg,
      new cmd heading: 40.069616 deg.

2025-10-26T21:23:52.298Z,1761513832.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699347 target range: 446.254364 and range: 449.10 m.
2025-10-26T21:23:52.528Z,1761513832.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784109
2025-10-26T21:23:52.667Z,1761513832.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764124,-0.643194,-0.049159],[0.641845,0.750482,0.157517],[-0.064421,-0.151915,0.986292]]
2025-10-26T21:23:52.717Z,1761513832.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.25 m.
2025-10-26T21:23:52.721Z,1761513832.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.254364 m,
      nav range: 424.059845 m,
      bearing: 38.806596 deg,
      approach rate: -0.711619 m/s,
      LOS rate: 0.009285 deg/s,
      cmd heading: 40.069616 deg,
      new cmd heading: 40.081511 deg.

2025-10-26T21:23:52.722Z,1761513832.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699554 target range: 446.254364 and range: 449.10 m.
2025-10-26T21:23:52.788Z,1761513832.788 [DAT](INFO): DAT read: 21:23:50.8476 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 436,-0.06,-1.943, 2.819,-1.756,-2.186, PHS= 0.344,-1.234, 0.386, RAW= 151.3,   6.4, CAL= 150.6,   6.7, ROT= 359.4,  -6.7

2025-10-26T21:23:52.789Z,1761513832.789 [DAT](INFO): got valid direction response:
 21:23:50.8476 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 436,-0.06,-1.943, 2.819,-1.756,-2.186, PHS= 0.344,-1.234, 0.386, RAW= 151.3,   6.4, CAL= 150.6,   6.7, ROT= 359.4,  -6.7

2025-10-26T21:23:52.790Z,1761513832.790 [DAT](INFO): DAT read: Bearing 192.7,  -5.3 (Local)

2025-10-26T21:23:52.791Z,1761513832.791 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.7,  -5.3 (Local)

2025-10-26T21:23:52.793Z,1761513832.793 [DAT](INFO): DAT read: Range 11 to 50 : 448.2 m  (Round-trip  597.6 ms) speed  0.6 m/s

2025-10-26T21:23:52.794Z,1761513832.794 [DAT](INFO): DAT read: user:199>

2025-10-26T21:23:52.795Z,1761513832.795 [DAT](INFO): DAT read: Tx time:21:23:51.9458

2025-10-26T21:23:52.796Z,1761513832.796 [DAT](INFO): Ping request sent.
2025-10-26T21:23:52.796Z,1761513832.796 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:23:52.796Z,1761513832.796 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:23:52.798Z,1761513832.798 [DAT](INFO): direction in FSK: [0.993116,-0.010400,0.116671]
2025-10-26T21:23:52.798Z,1761513832.798 [DAT](INFO): publishing transmit ping time
2025-10-26T21:23:52.799Z,1761513832.799 [DAT](INFO): publishing direction and range info
2025-10-26T21:23:52.849Z,1761513832.849 [DAT](INFO): publishing transmit ping time
2025-10-26T21:23:52.850Z,1761513832.850 [DAT](INFO): publishing direction and range info
2025-10-26T21:23:53.072Z,1761513833.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 448.200012 m,
      deltaT: 4.049043 s,
      deltaX: -0.899994 m,
      approachRate: -0.222273 m/s,
      rangeRepo size: 4

2025-10-26T21:23:53.074Z,1761513833.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 445.360779 m,
      bearing: 40.458685 deg,
      lat: 36.779280 deg,
      lon: -121.858982 deg,
      deltaT: 4.049043 s,
      deltaX: -0.893585 m,
      approachRate: -0.220690 m/s,
      posRepo size: 4

2025-10-26T21:23:53.074Z,1761513833.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.36 m.
2025-10-26T21:23:53.077Z,1761513833.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 445.360779 m,
      nav range: 436.941589 m,
      bearing: 39.243122 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009285 deg/s,
      cmd heading: 40.081510 deg,
      new cmd heading: 40.091376 deg.

2025-10-26T21:23:53.078Z,1761513833.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699727 target range: 445.360779 and range: 448.20 m.
2025-10-26T21:23:53.437Z,1761513833.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765406,-0.641602,-0.050004],[0.640302,0.751448,0.159183],[-0.064556,-0.153857,0.985982]]
2025-10-26T21:23:53.476Z,1761513833.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.36 m.
2025-10-26T21:23:53.510Z,1761513833.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 445.360779 m,
      nav range: 436.674652 m,
      bearing: 39.246842 deg,
      approach rate: -0.661278 m/s,
      LOS rate: 0.009222 deg/s,
      cmd heading: 40.091377 deg,
      new cmd heading: 40.102544 deg.

2025-10-26T21:23:53.518Z,1761513833.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699921 target range: 445.360779 and range: 448.20 m.
2025-10-26T21:23:53.840Z,1761513833.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765815,-0.641120,-0.049934],[0.639794,0.751806,0.159537],[-0.064742,-0.154123,0.985928]]
2025-10-26T21:23:53.883Z,1761513833.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:53.885Z,1761513833.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.36 m.
2025-10-26T21:23:53.888Z,1761513833.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 445.360779 m,
      nav range: 436.386841 m,
      bearing: 39.250099 deg,
      approach rate: -0.700233 m/s,
      LOS rate: 0.007929 deg/s,
      cmd heading: 40.102544 deg,
      new cmd heading: 40.112321 deg.

2025-10-26T21:23:53.889Z,1761513833.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700092 target range: 445.360779 and range: 448.20 m.
2025-10-26T21:23:54.040Z,1761513834.040 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:54.040Z,1761513834.040 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:54.041Z,1761513834.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:23:54.243Z,1761513834.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766415,-0.640396,-0.050005],[0.639058,0.752311,0.160102],[-0.064909,-0.154661,0.985833]]
2025-10-26T21:23:54.283Z,1761513834.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.36 m.
2025-10-26T21:23:54.286Z,1761513834.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 445.360779 m,
      nav range: 436.120819 m,
      bearing: 39.253146 deg,
      approach rate: -0.669197 m/s,
      LOS rate: 0.007669 deg/s,
      cmd heading: 40.112321 deg,
      new cmd heading: 40.121467 deg.

2025-10-26T21:23:54.287Z,1761513834.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700252 target range: 445.360779 and range: 448.20 m.
2025-10-26T21:23:54.293Z,1761513834.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496383
2025-10-26T21:23:54.544Z,1761513834.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748258
2025-10-26T21:23:54.645Z,1761513834.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766621,-0.640180,-0.049607],[0.638807,0.752599,0.159751],[-0.064935,-0.154158,0.985910]]
2025-10-26T21:23:54.688Z,1761513834.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.36 m.
2025-10-26T21:23:54.690Z,1761513834.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 445.360779 m,
      nav range: 435.835480 m,
      bearing: 39.255247 deg,
      approach rate: -0.705252 m/s,
      LOS rate: 0.005198 deg/s,
      cmd heading: 40.121467 deg,
      new cmd heading: 40.127776 deg.

2025-10-26T21:23:54.692Z,1761513834.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700362 target range: 445.360779 and range: 448.20 m.
2025-10-26T21:23:54.797Z,1761513834.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000388
2025-10-26T21:23:55.046Z,1761513835.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766491,-0.640346,-0.049484],[0.638990,0.752569,0.159160],[-0.064677,-0.153614,0.986012]]
2025-10-26T21:23:55.048Z,1761513835.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252352
2025-10-26T21:23:55.097Z,1761513835.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.36 m.
2025-10-26T21:23:55.099Z,1761513835.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 445.360779 m,
      nav range: 435.556519 m,
      bearing: 39.257297 deg,
      approach rate: -0.681965 m/s,
      LOS rate: 0.005014 deg/s,
      cmd heading: 40.127775 deg,
      new cmd heading: 40.133928 deg.

2025-10-26T21:23:55.106Z,1761513835.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700469 target range: 445.360779 and range: 448.20 m.
2025-10-26T21:23:55.300Z,1761513835.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504201
2025-10-26T21:23:55.450Z,1761513835.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766292,-0.640563,-0.049748],[0.639250,0.752368,0.159066],[-0.064463,-0.153693,0.986014]]
2025-10-26T21:23:55.485Z,1761513835.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.36 m.
2025-10-26T21:23:55.498Z,1761513835.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 445.360779 m,
      nav range: 435.292084 m,
      bearing: 39.259231 deg,
      approach rate: -0.681354 m/s,
      LOS rate: 0.004986 deg/s,
      cmd heading: 40.133929 deg,
      new cmd heading: 40.139734 deg.

2025-10-26T21:23:55.506Z,1761513835.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700571 target range: 445.360779 and range: 448.20 m.
2025-10-26T21:23:55.554Z,1761513835.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757935
2025-10-26T21:23:55.804Z,1761513835.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008253
2025-10-26T21:23:55.855Z,1761513835.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766266,-0.640608,-0.049580],[0.639292,0.752409,0.158703],[-0.064362,-0.153304,0.986081]]
2025-10-26T21:23:55.897Z,1761513835.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:55.900Z,1761513835.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.36 m.
2025-10-26T21:23:55.902Z,1761513835.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 445.360779 m,
      nav range: 435.002502 m,
      bearing: 39.260488 deg,
      approach rate: -0.698013 m/s,
      LOS rate: 0.003031 deg/s,
      cmd heading: 40.139734 deg,
      new cmd heading: 40.143506 deg.

2025-10-26T21:23:55.903Z,1761513835.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700636 target range: 445.360779 and range: 448.20 m.
2025-10-26T21:23:56.056Z,1761513836.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260099
2025-10-26T21:23:56.270Z,1761513836.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766136,-0.640778,-0.049385],[0.639453,0.752348,0.158345],[-0.064309,-0.152893,0.986148]]
2025-10-26T21:23:56.292Z,1761513836.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.36 m.
2025-10-26T21:23:56.295Z,1761513836.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 445.360779 m,
      nav range: 434.737915 m,
      bearing: 39.261630 deg,
      approach rate: -0.673873 m/s,
      LOS rate: 0.002912 deg/s,
      cmd heading: 40.143508 deg,
      new cmd heading: 40.146938 deg.

2025-10-26T21:23:56.308Z,1761513836.308 [DAT](INFO): DAT read: Rx Time:21:23:54.9416

2025-10-26T21:23:56.309Z,1761513836.309 [DAT](INFO): Rx dataTimestamp_ set to:1761513836.308677
2025-10-26T21:23:56.309Z,1761513836.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513401
2025-10-26T21:23:56.316Z,1761513836.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700696 target range: 445.360779 and range: 448.20 m.
2025-10-26T21:23:56.561Z,1761513836.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764936
2025-10-26T21:23:56.662Z,1761513836.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765753,-0.641227,-0.049502],[0.639939,0.752024,0.157916],[-0.064034,-0.152603,0.986211]]
2025-10-26T21:23:56.781Z,1761513836.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.36 m.
2025-10-26T21:23:56.788Z,1761513836.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 445.360779 m,
      nav range: 434.443665 m,
      bearing: 39.261781 deg,
      approach rate: -0.601396 m/s,
      LOS rate: 0.000308 deg/s,
      cmd heading: 40.146937 deg,
      new cmd heading: 40.147388 deg.

2025-10-26T21:23:56.789Z,1761513836.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700704 target range: 445.360779 and range: 448.20 m.
2025-10-26T21:23:56.818Z,1761513836.818 [DAT](INFO): DAT read: 21:23:54.9416 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 375, 0.08,-2.359, 2.299,-2.138,-2.804, PHS= 0.547,-1.135, 0.622, RAW= 152.2,  -0.4, CAL= 151.0,  -1.2, ROT= 359.0,   1.2

2025-10-26T21:23:56.820Z,1761513836.820 [DAT](INFO): got valid direction response:
 21:23:54.9416 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 375, 0.08,-2.359, 2.299,-2.138,-2.804, PHS= 0.547,-1.135, 0.622, RAW= 152.2,  -0.4, CAL= 151.0,  -1.2, ROT= 359.0,   1.2

2025-10-26T21:23:56.820Z,1761513836.820 [DAT](INFO): DAT read: Bearing 184.1,  -4.7 (Local)

2025-10-26T21:23:56.821Z,1761513836.821 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.1,  -4.7 (Local)

2025-10-26T21:23:56.822Z,1761513836.822 [DAT](INFO): DAT read: Range 11 to 50 : 443.7 m  (Round-trip  591.6 ms) speed  0.4 m/s

2025-10-26T21:23:56.823Z,1761513836.823 [DAT](INFO): DAT read: user:200>

2025-10-26T21:23:56.824Z,1761513836.824 [DAT](INFO): DAT read: Tx time:21:23:56.0458

2025-10-26T21:23:56.824Z,1761513836.824 [DAT](INFO): Ping request sent.
2025-10-26T21:23:56.824Z,1761513836.824 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:23:56.825Z,1761513836.825 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:23:56.826Z,1761513836.826 [DAT](INFO): direction in FSK: [0.999628,-0.017449,-0.020942]
2025-10-26T21:23:56.826Z,1761513836.826 [DAT](INFO): publishing transmit ping time
2025-10-26T21:23:56.826Z,1761513836.826 [DAT](INFO): publishing direction and range info
2025-10-26T21:23:56.829Z,1761513836.829 [DAT](INFO): publishing transmit ping time
2025-10-26T21:23:56.830Z,1761513836.830 [DAT](INFO): publishing direction and range info
2025-10-26T21:23:57.130Z,1761513837.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765333,-0.641743,-0.049321],[0.640453,0.751699,0.157379],[-0.063922,-0.152035,0.986306]]
2025-10-26T21:23:57.153Z,1761513837.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 443.700012 m,
      deltaT: 4.031100 s,
      deltaX: -4.500000 m,
      approachRate: -1.116321 m/s,
      rangeRepo size: 4

2025-10-26T21:23:57.155Z,1761513837.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 440.892700 m,
      bearing: 38.748683 deg,
      lat: 36.779283 deg,
      lon: -121.858979 deg,
      deltaT: 4.031100 s,
      deltaX: -4.468079 m,
      approachRate: -1.108402 m/s,
      posRepo size: 4

2025-10-26T21:23:57.156Z,1761513837.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:23:57.158Z,1761513837.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 434.618530 m,
      bearing: 39.255745 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000308 deg/s,
      cmd heading: 40.147387 deg,
      new cmd heading: 40.147730 deg.

2025-10-26T21:23:57.160Z,1761513837.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700710 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:23:57.586Z,1761513837.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764415,-0.642889,-0.048622],[0.641579,0.751078,0.155750],[-0.063612,-0.150252,0.986599]]
2025-10-26T21:23:57.636Z,1761513837.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:23:57.639Z,1761513837.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 434.292999 m,
      bearing: 39.255012 deg,
      approach rate: -0.673134 m/s,
      LOS rate: -0.001517 deg/s,
      cmd heading: 40.147729 deg,
      new cmd heading: 40.145529 deg.

2025-10-26T21:23:57.640Z,1761513837.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700672 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:23:57.932Z,1761513837.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763588,-0.643811,-0.049395],[0.642598,0.750197,0.155796],[-0.063247,-0.150705,0.986553]]
2025-10-26T21:23:57.958Z,1761513837.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:23:57.964Z,1761513837.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:23:57.967Z,1761513837.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 434.075958 m,
      bearing: 39.254485 deg,
      approach rate: -0.660846 m/s,
      LOS rate: -0.001605 deg/s,
      cmd heading: 40.145530 deg,
      new cmd heading: 40.143948 deg.

2025-10-26T21:23:57.968Z,1761513837.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700644 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:23:58.072Z,1761513838.072 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:23:58.072Z,1761513838.072 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:23:58.073Z,1761513838.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:23:58.324Z,1761513838.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499915
2025-10-26T21:23:58.336Z,1761513838.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763080,-0.644388,-0.049727],[0.643217,0.749675,0.155755],[-0.063088,-0.150839,0.986543]]
2025-10-26T21:23:58.354Z,1761513838.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:23:58.357Z,1761513838.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 433.812622 m,
      bearing: 39.253817 deg,
      approach rate: -0.675690 m/s,
      LOS rate: -0.001715 deg/s,
      cmd heading: 40.143948 deg,
      new cmd heading: 40.141944 deg.

2025-10-26T21:23:58.358Z,1761513838.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700609 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:23:58.580Z,1761513838.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754758
2025-10-26T21:23:58.741Z,1761513838.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762679,-0.644867,-0.049674],[0.643711,0.749351,0.155273],[-0.062908,-0.150399,0.986622]]
2025-10-26T21:23:58.799Z,1761513838.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:23:58.802Z,1761513838.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 433.522980 m,
      bearing: 39.253236 deg,
      approach rate: -0.651426 m/s,
      LOS rate: -0.001307 deg/s,
      cmd heading: 40.141944 deg,
      new cmd heading: 40.140200 deg.

2025-10-26T21:23:58.803Z,1761513838.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700579 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:23:58.828Z,1761513838.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003944
2025-10-26T21:23:59.080Z,1761513839.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255981
2025-10-26T21:23:59.142Z,1761513839.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762088,-0.645555,-0.049806],[0.644441,0.748834,0.154737],[-0.062595,-0.150020,0.986699]]
2025-10-26T21:23:59.171Z,1761513839.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:23:59.174Z,1761513839.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 433.280518 m,
      bearing: 39.252719 deg,
      approach rate: -0.651545 m/s,
      LOS rate: -0.001390 deg/s,
      cmd heading: 40.140199 deg,
      new cmd heading: 40.138647 deg.

2025-10-26T21:23:59.175Z,1761513839.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700552 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:23:59.332Z,1761513839.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507985
2025-10-26T21:23:59.587Z,1761513839.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762035
2025-10-26T21:23:59.599Z,1761513839.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761722,-0.645928,-0.050562],[0.644871,0.748302,0.155513],[-0.062615,-0.151064,0.986539]]
2025-10-26T21:23:59.656Z,1761513839.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:23:59.659Z,1761513839.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 432.969757 m,
      bearing: 39.252540 deg,
      approach rate: -0.640566 m/s,
      LOS rate: -0.000368 deg/s,
      cmd heading: 40.138645 deg,
      new cmd heading: 40.138109 deg.

2025-10-26T21:23:59.660Z,1761513839.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700542 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:23:59.837Z,1761513839.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012703
2025-10-26T21:23:59.963Z,1761513839.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761336,-0.646364,-0.050792],[0.645326,0.747882,0.155650],[-0.062620,-0.151280,0.986506]]
2025-10-26T21:24:00.002Z,1761513840.002 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:00.004Z,1761513840.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:00.007Z,1761513840.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 432.747101 m,
      bearing: 39.252395 deg,
      approach rate: -0.639104 m/s,
      LOS rate: -0.000418 deg/s,
      cmd heading: 40.138109 deg,
      new cmd heading: 40.137671 deg.

2025-10-26T21:24:00.008Z,1761513840.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700535 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:00.089Z,1761513840.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264133
2025-10-26T21:24:00.340Z,1761513840.340 [DAT](INFO): DAT read: Rx Time:21:23:59.0384

2025-10-26T21:24:00.341Z,1761513840.341 [DAT](INFO): Rx dataTimestamp_ set to:1761513840.340662
2025-10-26T21:24:00.341Z,1761513840.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517126
2025-10-26T21:24:00.378Z,1761513840.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761118,-0.646586,-0.051239],[0.645592,0.747591,0.155945],[-0.062526,-0.151772,0.986436]]
2025-10-26T21:24:00.415Z,1761513840.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:00.422Z,1761513840.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 432.488708 m,
      bearing: 39.252214 deg,
      approach rate: -0.629654 m/s,
      LOS rate: -0.000441 deg/s,
      cmd heading: 40.137672 deg,
      new cmd heading: 40.137128 deg.

2025-10-26T21:24:00.423Z,1761513840.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700525 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:00.595Z,1761513840.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770485
2025-10-26T21:24:00.778Z,1761513840.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760814,-0.646918,-0.051563],[0.645954,0.747234,0.156154],[-0.062490,-0.152112,0.986386]]
2025-10-26T21:24:00.857Z,1761513840.857 [DAT](INFO): DAT read: 21:23:59.0384 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 405, 0.39,-0.866,-2.409,-0.674,-1.248, PHS= 0.485,-1.115, 0.531, RAW= 151.4,   1.2, CAL= 150.2,   0.7, ROT= 359.8,  -0.7

2025-10-26T21:24:00.858Z,1761513840.858 [DAT](INFO): got valid direction response:
 21:23:59.0384 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 405, 0.39,-0.866,-2.409,-0.674,-1.248, PHS= 0.485,-1.115, 0.531, RAW= 151.4,   1.2, CAL= 150.2,   0.7, ROT= 359.8,  -0.7

2025-10-26T21:24:00.859Z,1761513840.859 [DAT](INFO): DAT read: $Error in header

2025-10-26T21:24:00.859Z,1761513840.859 [DAT](INFO): Received a bad header
2025-10-26T21:24:00.872Z,1761513840.872 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:24:00.873Z,1761513840.873 [DAT](INFO): direction in FSK: [0.999919,-0.003490,0.012217]
2025-10-26T21:24:00.876Z,1761513840.876 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:00.876Z,1761513840.876 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:00.876Z,1761513840.876 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:00.883Z,1761513840.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:00.886Z,1761513840.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 432.180908 m,
      bearing: 39.252889 deg,
      approach rate: -0.657395 m/s,
      LOS rate: 0.001443 deg/s,
      cmd heading: 40.137129 deg,
      new cmd heading: 40.139156 deg.

2025-10-26T21:24:00.887Z,1761513840.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700560 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:01.096Z,1761513841.096 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:01.096Z,1761513841.096 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:01.096Z,1761513841.096 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:01.225Z,1761513841.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760718,-0.646980,-0.052196],[0.646064,0.746982,0.156908],[-0.062527,-0.153085,0.986233]]
2025-10-26T21:24:01.247Z,1761513841.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:01.253Z,1761513841.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 431.942108 m,
      bearing: 39.253409 deg,
      approach rate: -0.656945 m/s,
      LOS rate: 0.001432 deg/s,
      cmd heading: 40.139157 deg,
      new cmd heading: 40.140718 deg.

2025-10-26T21:24:01.254Z,1761513841.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700588 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:01.349Z,1761513841.349 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:01.349Z,1761513841.349 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:01.349Z,1761513841.349 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:01.602Z,1761513841.602 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:01.603Z,1761513841.603 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:01.603Z,1761513841.603 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:01.674Z,1761513841.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760749,-0.646904,-0.052699],[0.646030,0.746894,0.157465],[-0.062504,-0.153837,0.986117]]
2025-10-26T21:24:01.762Z,1761513841.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:01.771Z,1761513841.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 431.651764 m,
      bearing: 39.254780 deg,
      approach rate: -0.563964 m/s,
      LOS rate: 0.002665 deg/s,
      cmd heading: 40.140718 deg,
      new cmd heading: 40.144833 deg.

2025-10-26T21:24:01.777Z,1761513841.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700660 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:01.853Z,1761513841.853 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:01.853Z,1761513841.853 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:01.854Z,1761513841.854 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:02.101Z,1761513842.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760614,-0.647047,-0.052877],[0.646178,0.746698,0.157783],[-0.062610,-0.154180,0.986057]]
2025-10-26T21:24:02.104Z,1761513842.104 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:02.104Z,1761513842.104 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:02.104Z,1761513842.104 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:02.138Z,1761513842.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:02.144Z,1761513842.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:02.147Z,1761513842.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 431.398407 m,
      bearing: 39.255971 deg,
      approach rate: -0.669849 m/s,
      LOS rate: 0.003151 deg/s,
      cmd heading: 40.144833 deg,
      new cmd heading: 40.148408 deg.

2025-10-26T21:24:02.152Z,1761513842.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700722 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:02.357Z,1761513842.357 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:02.357Z,1761513842.357 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:02.357Z,1761513842.357 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:02.502Z,1761513842.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760664,-0.646971,-0.053098],[0.646106,0.746659,0.158263],[-0.062746,-0.154692,0.985968]]
2025-10-26T21:24:02.530Z,1761513842.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:02.533Z,1761513842.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 431.152466 m,
      bearing: 39.257131 deg,
      approach rate: -0.629067 m/s,
      LOS rate: 0.002969 deg/s,
      cmd heading: 40.148409 deg,
      new cmd heading: 40.151891 deg.

2025-10-26T21:24:02.534Z,1761513842.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700783 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:02.612Z,1761513842.612 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:02.612Z,1761513842.612 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:02.613Z,1761513842.613 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:02.860Z,1761513842.860 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:02.860Z,1761513842.860 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:02.860Z,1761513842.860 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:02.906Z,1761513842.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760699,-0.646909,-0.053350],[0.646046,0.746584,0.158861],[-0.062938,-0.155312,0.985859]]
2025-10-26T21:24:02.962Z,1761513842.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:02.965Z,1761513842.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 430.877777 m,
      bearing: 39.258816 deg,
      approach rate: -0.636266 m/s,
      LOS rate: 0.003906 deg/s,
      cmd heading: 40.151892 deg,
      new cmd heading: 40.156951 deg.

2025-10-26T21:24:02.966Z,1761513842.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700871 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:03.112Z,1761513843.112 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:03.112Z,1761513843.112 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:03.113Z,1761513843.113 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:03.311Z,1761513843.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760819,-0.646741,-0.053674],[0.645899,0.746602,0.159370],[-0.062998,-0.155920,0.985759]]
2025-10-26T21:24:03.329Z,1761513843.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:03.332Z,1761513843.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 430.646027 m,
      bearing: 39.260245 deg,
      approach rate: -0.631330 m/s,
      LOS rate: 0.003895 deg/s,
      cmd heading: 40.156950 deg,
      new cmd heading: 40.161239 deg.

2025-10-26T21:24:03.333Z,1761513843.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700946 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:03.364Z,1761513843.364 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:03.364Z,1761513843.364 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:03.364Z,1761513843.364 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:03.618Z,1761513843.618 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:03.619Z,1761513843.619 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:03.619Z,1761513843.619 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:03.721Z,1761513843.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760828,-0.646704,-0.053983],[0.645889,0.746537,0.159716],[-0.062988,-0.156383,0.985686]]
2025-10-26T21:24:03.786Z,1761513843.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:03.789Z,1761513843.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 430.360748 m,
      bearing: 39.262256 deg,
      approach rate: -0.624255 m/s,
      LOS rate: 0.004403 deg/s,
      cmd heading: 40.161239 deg,
      new cmd heading: 40.167276 deg.

2025-10-26T21:24:03.790Z,1761513843.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701051 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:03.869Z,1761513843.869 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:03.869Z,1761513843.869 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:03.869Z,1761513843.869 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:04.120Z,1761513844.120 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:04.120Z,1761513844.120 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:04.120Z,1761513844.120 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:04.127Z,1761513844.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760917,-0.646561,-0.054448],[0.645788,0.746515,0.160230],[-0.062952,-0.157084,0.985577]]
2025-10-26T21:24:04.168Z,1761513844.168 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:04.170Z,1761513844.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:04.177Z,1761513844.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 430.126190 m,
      bearing: 39.263915 deg,
      approach rate: -0.610851 m/s,
      LOS rate: 0.004322 deg/s,
      cmd heading: 40.167277 deg,
      new cmd heading: 40.172256 deg.

2025-10-26T21:24:04.180Z,1761513844.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701138 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:04.375Z,1761513844.375 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:04.375Z,1761513844.375 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:04.375Z,1761513844.375 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:04.562Z,1761513844.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:04.564Z,1761513844.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 429.877747 m,
      bearing: 39.265674 deg,
      approach rate: -0.634956 m/s,
      LOS rate: 0.004499 deg/s,
      cmd heading: 40.172256 deg,
      new cmd heading: 40.177537 deg.

2025-10-26T21:24:04.565Z,1761513844.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701230 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:04.572Z,1761513844.572 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:24:04.628Z,1761513844.628 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:04.628Z,1761513844.628 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:04.629Z,1761513844.629 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:04.876Z,1761513844.876 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:04.876Z,1761513844.876 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:04.876Z,1761513844.876 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:05.005Z,1761513845.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:05.008Z,1761513845.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 429.603699 m,
      bearing: 39.266995 deg,
      approach rate: -0.617454 m/s,
      LOS rate: 0.002978 deg/s,
      cmd heading: 40.177536 deg,
      new cmd heading: 40.181502 deg.

2025-10-26T21:24:05.009Z,1761513845.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701299 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:05.128Z,1761513845.128 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:05.128Z,1761513845.128 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:05.128Z,1761513845.128 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:05.335Z,1761513845.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761548,-0.645766,-0.055051],[0.644950,0.746724,0.162612],[-0.063901,-0.159342,0.985153]]
2025-10-26T21:24:05.369Z,1761513845.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:05.376Z,1761513845.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 429.390289 m,
      bearing: 39.268053 deg,
      approach rate: -0.587497 m/s,
      LOS rate: 0.002914 deg/s,
      cmd heading: 40.181501 deg,
      new cmd heading: 40.184676 deg.

2025-10-26T21:24:05.377Z,1761513845.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701355 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:05.380Z,1761513845.380 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:05.381Z,1761513845.381 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:05.381Z,1761513845.381 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:05.577Z,1761513845.577 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:24:05.636Z,1761513845.636 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:05.637Z,1761513845.637 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:05.637Z,1761513845.637 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:05.746Z,1761513845.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761333,-0.646020,-0.055041],[0.645186,0.746479,0.162801],[-0.064086,-0.159457,0.985123]]
2025-10-26T21:24:05.802Z,1761513845.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:05.804Z,1761513845.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 429.110291 m,
      bearing: 39.268079 deg,
      approach rate: -0.646856 m/s,
      LOS rate: 0.000060 deg/s,
      cmd heading: 40.184677 deg,
      new cmd heading: 40.184755 deg.

2025-10-26T21:24:05.805Z,1761513845.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701356 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:05.884Z,1761513845.884 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:05.884Z,1761513845.884 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:05.884Z,1761513845.884 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:06.136Z,1761513846.136 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:06.136Z,1761513846.136 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:06.136Z,1761513846.136 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:06.193Z,1761513846.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:06.195Z,1761513846.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:06.197Z,1761513846.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 428.865143 m,
      bearing: 39.268101 deg,
      approach rate: -0.623465 m/s,
      LOS rate: 0.000058 deg/s,
      cmd heading: 40.184755 deg,
      new cmd heading: 40.184824 deg.

2025-10-26T21:24:06.198Z,1761513846.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701357 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:06.388Z,1761513846.388 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:06.388Z,1761513846.388 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:06.388Z,1761513846.388 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:06.584Z,1761513846.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:06.586Z,1761513846.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 428.623169 m,
      bearing: 39.268124 deg,
      approach rate: -0.622273 m/s,
      LOS rate: 0.000058 deg/s,
      cmd heading: 40.184824 deg,
      new cmd heading: 40.184891 deg.

2025-10-26T21:24:06.588Z,1761513846.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701359 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:06.649Z,1761513846.649 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:06.649Z,1761513846.649 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:06.650Z,1761513846.650 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:06.900Z,1761513846.900 [DAT](INFO): Reached modem response timeout
2025-10-26T21:24:06.900Z,1761513846.900 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:06.901Z,1761513846.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:24:06.954Z,1761513846.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761313,-0.646002,-0.055531],[0.645126,0.746127,0.164640],[-0.064924,-0.161167,0.984789]]
2025-10-26T21:24:07.024Z,1761513847.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:07.026Z,1761513847.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 428.342438 m,
      bearing: 39.266309 deg,
      approach rate: -0.637909 m/s,
      LOS rate: -0.004126 deg/s,
      cmd heading: 40.184892 deg,
      new cmd heading: 40.179445 deg.

2025-10-26T21:24:07.028Z,1761513847.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701264 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:07.152Z,1761513847.152 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:07.354Z,1761513847.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760887,-0.646510,-0.055466],[0.645616,0.745714,0.164594],[-0.065050,-0.161047,0.984801]]
2025-10-26T21:24:07.372Z,1761513847.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:07.374Z,1761513847.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 428.121368 m,
      bearing: 39.264859 deg,
      approach rate: -0.635286 m/s,
      LOS rate: -0.004169 deg/s,
      cmd heading: 40.179445 deg,
      new cmd heading: 40.175093 deg.

2025-10-26T21:24:07.376Z,1761513847.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701188 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:07.404Z,1761513847.404 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:07.656Z,1761513847.656 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:07.769Z,1761513847.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760672,-0.646766,-0.055423],[0.645842,0.745456,0.164873],[-0.065319,-0.161209,0.984756]]
2025-10-26T21:24:07.807Z,1761513847.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:07.810Z,1761513847.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 427.854401 m,
      bearing: 39.262480 deg,
      approach rate: -0.612872 m/s,
      LOS rate: -0.005465 deg/s,
      cmd heading: 40.175094 deg,
      new cmd heading: 40.167952 deg.

2025-10-26T21:24:07.811Z,1761513847.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701063 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:07.909Z,1761513847.909 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:08.160Z,1761513848.160 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:08.168Z,1761513848.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760055,-0.647525,-0.055032],[0.646567,0.744974,0.164209],[-0.065332,-0.160389,0.984889]]
2025-10-26T21:24:08.186Z,1761513848.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:08.189Z,1761513848.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 427.621887 m,
      bearing: 39.260376 deg,
      approach rate: -0.614228 m/s,
      LOS rate: -0.005562 deg/s,
      cmd heading: 40.167953 deg,
      new cmd heading: 40.161636 deg.

2025-10-26T21:24:08.190Z,1761513848.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700953 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:08.412Z,1761513848.412 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:08.567Z,1761513848.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759236,-0.648551,-0.054235],[0.647522,0.744396,0.163062],[-0.065382,-0.158921,0.985124]]
2025-10-26T21:24:08.592Z,1761513848.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:08.594Z,1761513848.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:08.596Z,1761513848.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 427.372437 m,
      bearing: 39.258074 deg,
      approach rate: -0.611636 m/s,
      LOS rate: -0.005647 deg/s,
      cmd heading: 40.161635 deg,
      new cmd heading: 40.154725 deg.

2025-10-26T21:24:08.597Z,1761513848.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700832 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:08.668Z,1761513848.668 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:08.916Z,1761513848.916 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:08.973Z,1761513848.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758233,-0.649721,-0.054269],[0.648709,0.743475,0.162550],[-0.065264,-0.158455,0.985207]]
2025-10-26T21:24:09.038Z,1761513849.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:09.046Z,1761513849.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 427.110809 m,
      bearing: 39.254634 deg,
      approach rate: -0.589345 m/s,
      LOS rate: -0.007753 deg/s,
      cmd heading: 40.154727 deg,
      new cmd heading: 40.144402 deg.

2025-10-26T21:24:09.047Z,1761513849.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700652 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:09.169Z,1761513849.169 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:24:09.169Z,1761513849.169 [DAT](INFO): response not received
2025-10-26T21:24:09.169Z,1761513849.169 [DAT](INFO): DAT read: user:202>

2025-10-26T21:24:09.170Z,1761513849.170 [DAT](ERROR): No response from remote modem.
2025-10-26T21:24:09.170Z,1761513849.170 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:09.170Z,1761513849.170 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:24:09.408Z,1761513849.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:09.411Z,1761513849.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 426.860535 m,
      bearing: 39.251340 deg,
      approach rate: -0.674769 m/s,
      LOS rate: -0.008887 deg/s,
      cmd heading: 40.144403 deg,
      new cmd heading: 40.134514 deg.

2025-10-26T21:24:09.412Z,1761513849.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700479 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:09.421Z,1761513849.421 [DAT](INFO): DAT read: Tx time:21:24:08.4958

2025-10-26T21:24:09.421Z,1761513849.421 [DAT](INFO): Ping request sent.
2025-10-26T21:24:09.421Z,1761513849.421 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:24:09.421Z,1761513849.421 [DAT](INFO): publishing transmit ping time
2025-10-26T21:24:09.422Z,1761513849.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-10-26T21:24:09.673Z,1761513849.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251489
2025-10-26T21:24:09.780Z,1761513849.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756860,-0.651215,-0.055522],[0.650357,0.741985,0.162773],[-0.064804,-0.159305,0.985100]]
2025-10-26T21:24:09.853Z,1761513849.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:09.856Z,1761513849.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 426.598602 m,
      bearing: 39.247020 deg,
      approach rate: -0.589493 m/s,
      LOS rate: -0.009727 deg/s,
      cmd heading: 40.134513 deg,
      new cmd heading: 40.121546 deg.

2025-10-26T21:24:09.857Z,1761513849.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700253 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:09.926Z,1761513849.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505380
2025-10-26T21:24:10.176Z,1761513850.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755377
2025-10-26T21:24:10.197Z,1761513850.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755916,-0.652307,-0.055551],[0.651493,0.741188,0.161856],[-0.064407,-0.158541,0.985250]]
2025-10-26T21:24:10.215Z,1761513850.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:10.218Z,1761513850.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 426.343170 m,
      bearing: 39.242750 deg,
      approach rate: -0.705709 m/s,
      LOS rate: -0.011805 deg/s,
      cmd heading: 40.121545 deg,
      new cmd heading: 40.108727 deg.

2025-10-26T21:24:10.218Z,1761513850.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700029 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:10.428Z,1761513850.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007328
2025-10-26T21:24:10.622Z,1761513850.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:10.624Z,1761513850.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:10.627Z,1761513850.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 426.081055 m,
      bearing: 39.238363 deg,
      approach rate: -0.640496 m/s,
      LOS rate: -0.010727 deg/s,
      cmd heading: 40.108729 deg,
      new cmd heading: 40.095559 deg.

2025-10-26T21:24:10.647Z,1761513850.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699800 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:10.684Z,1761513850.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262001
2025-10-26T21:24:10.933Z,1761513850.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511918
2025-10-26T21:24:10.996Z,1761513850.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754206,-0.654161,-0.056985],[0.653504,0.739304,0.162365],[-0.064084,-0.159696,0.985084]]
2025-10-26T21:24:11.072Z,1761513851.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:11.074Z,1761513851.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 425.795532 m,
      bearing: 39.234238 deg,
      approach rate: -0.637901 m/s,
      LOS rate: -0.009222 deg/s,
      cmd heading: 40.095560 deg,
      new cmd heading: 40.083177 deg.

2025-10-26T21:24:11.076Z,1761513851.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699583 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:11.185Z,1761513851.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763706
2025-10-26T21:24:11.395Z,1761513851.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753322,-0.655185,-0.056908],[0.654532,0.738518,0.161799],[-0.063981,-0.159135,0.985182]]
2025-10-26T21:24:11.422Z,1761513851.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:11.425Z,1761513851.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 425.571442 m,
      bearing: 39.230954 deg,
      approach rate: -0.638862 m/s,
      LOS rate: -0.009366 deg/s,
      cmd heading: 40.083177 deg,
      new cmd heading: 40.073321 deg.

2025-10-26T21:24:11.426Z,1761513851.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699411 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:11.436Z,1761513851.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015461
2025-10-26T21:24:11.688Z,1761513851.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267422
2025-10-26T21:24:11.805Z,1761513851.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752670,-0.655926,-0.056991],[0.655281,0.737884,0.161663],[-0.063986,-0.159024,0.985199]]
2025-10-26T21:24:11.853Z,1761513851.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:11.855Z,1761513851.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 425.299377 m,
      bearing: 39.227643 deg,
      approach rate: -0.632368 m/s,
      LOS rate: -0.007701 deg/s,
      cmd heading: 40.073321 deg,
      new cmd heading: 40.063381 deg.

2025-10-26T21:24:11.856Z,1761513851.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699238 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:11.941Z,1761513851.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519771
2025-10-26T21:24:12.192Z,1761513852.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771407
2025-10-26T21:24:12.216Z,1761513852.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752183,-0.656447,-0.057424],[0.655865,0.737381,0.161589],[-0.063731,-0.159207,0.985186]]
2025-10-26T21:24:12.239Z,1761513852.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:12.246Z,1761513852.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 425.052338 m,
      bearing: 39.224607 deg,
      approach rate: -0.640428 m/s,
      LOS rate: -0.007876 deg/s,
      cmd heading: 40.063380 deg,
      new cmd heading: 40.054266 deg.

2025-10-26T21:24:12.250Z,1761513852.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699079 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:12.444Z,1761513852.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023317
2025-10-26T21:24:12.607Z,1761513852.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752046,-0.656476,-0.058867],[0.656040,0.736942,0.162872],[-0.063540,-0.161107,0.984889]]
2025-10-26T21:24:12.624Z,1761513852.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:12.626Z,1761513852.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:12.629Z,1761513852.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 424.801605 m,
      bearing: 39.221517 deg,
      approach rate: -0.646369 m/s,
      LOS rate: -0.007971 deg/s,
      cmd heading: 40.054265 deg,
      new cmd heading: 40.044989 deg.

2025-10-26T21:24:12.630Z,1761513852.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698917 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:12.698Z,1761513852.698 [DAT](INFO): DAT read: Rx Time:21:24:11.4774

2025-10-26T21:24:12.698Z,1761513852.698 [DAT](INFO): Rx dataTimestamp_ set to:1761513852.697857
2025-10-26T21:24:12.699Z,1761513852.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278052
2025-10-26T21:24:12.948Z,1761513852.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527324
2025-10-26T21:24:13.011Z,1761513853.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751989,-0.656473,-0.059626],[0.656129,0.736758,0.163349],[-0.063304,-0.161959,0.984765]]
2025-10-26T21:24:13.067Z,1761513853.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:13.069Z,1761513853.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 424.514191 m,
      bearing: 39.219633 deg,
      approach rate: -0.652573 m/s,
      LOS rate: -0.004280 deg/s,
      cmd heading: 40.044989 deg,
      new cmd heading: 40.039334 deg.

2025-10-26T21:24:13.070Z,1761513853.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698818 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:13.201Z,1761513853.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779912
2025-10-26T21:24:13.412Z,1761513853.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752299,-0.656046,-0.060420],[0.655778,0.736860,0.164296],[-0.063264,-0.163222,0.984559]]
2025-10-26T21:24:13.430Z,1761513853.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.89 m.
2025-10-26T21:24:13.451Z,1761513853.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.892700 m,
      nav range: 424.277374 m,
      bearing: 39.218095 deg,
      approach rate: -0.651427 m/s,
      LOS rate: -0.004234 deg/s,
      cmd heading: 40.039334 deg,
      new cmd heading: 40.034717 deg.

2025-10-26T21:24:13.458Z,1761513853.458 [DAT](INFO): DAT read: 21:24:11.4774 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 325, 0.41,-2.049, 2.649,-1.857,-2.445, PHS= 0.498,-1.144, 0.544, RAW= 151.4,   1.2, CAL= 150.1,   0.7, ROT= 359.9,  -0.7

2025-10-26T21:24:13.460Z,1761513853.460 [DAT](INFO): got valid direction response:
 21:24:11.4774 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 325, 0.41,-2.049, 2.649,-1.857,-2.445, PHS= 0.498,-1.144, 0.544, RAW= 151.4,   1.2, CAL= 150.1,   0.7, ROT= 359.9,  -0.7

2025-10-26T21:24:13.461Z,1761513853.461 [DAT](INFO): DAT read: Bearing 186.8,  -3.7 (Local)

2025-10-26T21:24:13.461Z,1761513853.461 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.8,  -3.7 (Local)

2025-10-26T21:24:13.463Z,1761513853.463 [DAT](INFO): DAT read: Range 11 to 50 : 433.1 m  (Round-trip  577.5 ms) speed  0.2 m/s

2025-10-26T21:24:13.464Z,1761513853.464 [DAT](INFO): DAT read: user:203>

2025-10-26T21:24:13.464Z,1761513853.464 [DAT](INFO): DAT read: Tx time:21:24:12.5958

2025-10-26T21:24:13.465Z,1761513853.465 [DAT](INFO): Ping request sent.
2025-10-26T21:24:13.465Z,1761513853.465 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:24:13.465Z,1761513853.465 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:24:13.466Z,1761513853.466 [DAT](INFO): direction in FSK: [0.999924,-0.001745,0.012217]
2025-10-26T21:24:13.466Z,1761513853.466 [DAT](INFO): publishing transmit ping time
2025-10-26T21:24:13.467Z,1761513853.467 [DAT](INFO): publishing direction and range info
2025-10-26T21:24:13.468Z,1761513853.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698738 target range: 440.892700 and range: 443.70 m.
2025-10-26T21:24:13.478Z,1761513853.478 [DAT](INFO): publishing transmit ping time
2025-10-26T21:24:13.478Z,1761513853.478 [DAT](INFO): publishing direction and range info
2025-10-26T21:24:13.834Z,1761513853.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752395,-0.655881,-0.061010],[0.655692,0.736866,0.164610],[-0.063008,-0.163855,0.984470]]
2025-10-26T21:24:13.898Z,1761513853.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 433.100006 m,
      deltaT: 16.640033 s,
      deltaX: -10.600006 m,
      approachRate: -0.637018 m/s,
      rangeRepo size: 4

2025-10-26T21:24:13.901Z,1761513853.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 430.383942 m,
      bearing: 41.087597 deg,
      lat: 36.779280 deg,
      lon: -121.858877 deg,
      deltaT: 16.640033 s,
      deltaX: -10.508759 m,
      approachRate: -0.631535 m/s,
      posRepo size: 4

2025-10-26T21:24:13.901Z,1761513853.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.38 m.
2025-10-26T21:24:13.904Z,1761513853.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.383942 m,
      nav range: 429.559906 m,
      bearing: 40.193442 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004234 deg/s,
      cmd heading: 40.034717 deg,
      new cmd heading: 40.028779 deg.

2025-10-26T21:24:13.905Z,1761513853.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698634 target range: 430.383942 and range: 433.10 m.
2025-10-26T21:24:14.237Z,1761513854.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752807,-0.655347,-0.061665],[0.655241,0.737146,0.165152],[-0.062776,-0.164733,0.984338]]
2025-10-26T21:24:14.279Z,1761513854.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.38 m.
2025-10-26T21:24:14.282Z,1761513854.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.383942 m,
      nav range: 429.313660 m,
      bearing: 40.193834 deg,
      approach rate: -0.645623 m/s,
      LOS rate: 0.001027 deg/s,
      cmd heading: 40.028778 deg,
      new cmd heading: 40.029953 deg.

2025-10-26T21:24:14.283Z,1761513854.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698654 target range: 430.383942 and range: 433.10 m.
2025-10-26T21:24:14.638Z,1761513854.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753564,-0.654414,-0.062315],[0.654389,0.737741,0.165871],[-0.062576,-0.165773,0.984177]]
2025-10-26T21:24:14.665Z,1761513854.665 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:14.667Z,1761513854.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.38 m.
2025-10-26T21:24:14.669Z,1761513854.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.383942 m,
      nav range: 429.074341 m,
      bearing: 40.194251 deg,
      approach rate: -0.617621 m/s,
      LOS rate: 0.001077 deg/s,
      cmd heading: 40.029953 deg,
      new cmd heading: 40.031205 deg.

2025-10-26T21:24:14.670Z,1761513854.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698676 target range: 430.383942 and range: 433.10 m.
2025-10-26T21:24:14.713Z,1761513854.713 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:14.713Z,1761513854.713 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:14.713Z,1761513854.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:24:14.965Z,1761513854.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499783
2025-10-26T21:24:15.042Z,1761513855.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754351,-0.653444,-0.062980],[0.653510,0.738380,0.166491],[-0.062290,-0.166751,0.984030]]
2025-10-26T21:24:15.108Z,1761513855.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.38 m.
2025-10-26T21:24:15.110Z,1761513855.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.383942 m,
      nav range: 428.803497 m,
      bearing: 40.196026 deg,
      approach rate: -0.614205 m/s,
      LOS rate: 0.004028 deg/s,
      cmd heading: 40.031206 deg,
      new cmd heading: 40.036534 deg.

2025-10-26T21:24:15.112Z,1761513855.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698769 target range: 430.383942 and range: 433.10 m.
2025-10-26T21:24:15.217Z,1761513855.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751905
2025-10-26T21:24:15.441Z,1761513855.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755104,-0.652506,-0.063675],[0.652680,0.739015,0.166931],[-0.061866,-0.167610,0.983910]]
2025-10-26T21:24:15.465Z,1761513855.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.38 m.
2025-10-26T21:24:15.469Z,1761513855.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003655
2025-10-26T21:24:15.469Z,1761513855.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.383942 m,
      nav range: 428.571930 m,
      bearing: 40.197579 deg,
      approach rate: -0.647886 m/s,
      LOS rate: 0.004348 deg/s,
      cmd heading: 40.036534 deg,
      new cmd heading: 40.041196 deg.

2025-10-26T21:24:15.470Z,1761513855.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698851 target range: 430.383942 and range: 433.10 m.
2025-10-26T21:24:15.722Z,1761513855.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256960
2025-10-26T21:24:15.864Z,1761513855.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756982,-0.650308,-0.063848],[0.650524,0.740789,0.167481],[-0.061617,-0.168315,0.983806]]
2025-10-26T21:24:15.900Z,1761513855.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.38 m.
2025-10-26T21:24:15.903Z,1761513855.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.383942 m,
      nav range: 428.299164 m,
      bearing: 40.201347 deg,
      approach rate: -0.626598 m/s,
      LOS rate: 0.008662 deg/s,
      cmd heading: 40.041195 deg,
      new cmd heading: 40.052507 deg.

2025-10-26T21:24:15.932Z,1761513855.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699048 target range: 430.383942 and range: 433.10 m.
2025-10-26T21:24:15.973Z,1761513855.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507651
2025-10-26T21:24:16.225Z,1761513856.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759930
2025-10-26T21:24:16.284Z,1761513856.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758147,-0.648904,-0.064318],[0.649198,0.741844,0.167956],[-0.061274,-0.169090,0.983694]]
2025-10-26T21:24:16.307Z,1761513856.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.38 m.
2025-10-26T21:24:16.315Z,1761513856.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.383942 m,
      nav range: 428.044556 m,
      bearing: 40.204928 deg,
      approach rate: -0.626402 m/s,
      LOS rate: 0.008816 deg/s,
      cmd heading: 40.052506 deg,
      new cmd heading: 40.063255 deg.

2025-10-26T21:24:16.316Z,1761513856.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699236 target range: 430.383942 and range: 433.10 m.
2025-10-26T21:24:16.476Z,1761513856.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011537
2025-10-26T21:24:16.678Z,1761513856.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759275,-0.647612,-0.064033],[0.647895,0.743013,0.167818],[-0.061104,-0.168907,0.983736]]
2025-10-26T21:24:16.696Z,1761513856.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:16.699Z,1761513856.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.38 m.
2025-10-26T21:24:16.708Z,1761513856.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.383942 m,
      nav range: 427.799774 m,
      bearing: 40.208433 deg,
      approach rate: -0.624787 m/s,
      LOS rate: 0.008951 deg/s,
      cmd heading: 40.063257 deg,
      new cmd heading: 40.073777 deg.

2025-10-26T21:24:16.710Z,1761513856.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699419 target range: 430.383942 and range: 433.10 m.
2025-10-26T21:24:16.731Z,1761513856.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265682
2025-10-26T21:24:16.981Z,1761513856.981 [DAT](INFO): DAT read: Rx Time:21:24:15.5748

2025-10-26T21:24:16.982Z,1761513856.982 [DAT](INFO): Rx dataTimestamp_ set to:1761513856.981587
2025-10-26T21:24:16.983Z,1761513856.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517862
2025-10-26T21:24:17.084Z,1761513857.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760356,-0.646417,-0.063277],[0.646631,0.744230,0.167304],[-0.061056,-0.168128,0.983873]]
2025-10-26T21:24:17.121Z,1761513857.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.38 m.
2025-10-26T21:24:17.127Z,1761513857.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.383942 m,
      nav range: 427.533081 m,
      bearing: 40.212670 deg,
      approach rate: -0.631735 m/s,
      LOS rate: 0.010042 deg/s,
      cmd heading: 40.073775 deg,
      new cmd heading: 40.086494 deg.

2025-10-26T21:24:17.128Z,1761513857.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699641 target range: 430.383942 and range: 433.10 m.
2025-10-26T21:24:17.234Z,1761513857.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768712
2025-10-26T21:24:17.490Z,1761513857.490 [DAT](INFO): DAT read: 21:24:15.5748 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 411,-0.39,-1.388,-2.951,-1.170,-1.732, PHS= 0.447,-1.174, 0.518, RAW= 152.1,   2.6, CAL= 151.0,   2.2, ROT= 359.0,  -2.2

2025-10-26T21:24:17.491Z,1761513857.491 [DAT](INFO): got valid direction response:
 21:24:15.5748 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 411,-0.39,-1.388,-2.951,-1.170,-1.732, PHS= 0.447,-1.174, 0.518, RAW= 152.1,   2.6, CAL= 151.0,   2.2, ROT= 359.0,  -2.2

2025-10-26T21:24:17.493Z,1761513857.493 [DAT](INFO): DAT read: Bearing 187.2,  -4.7 (Local)

2025-10-26T21:24:17.493Z,1761513857.493 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.2,  -4.7 (Local)

2025-10-26T21:24:17.494Z,1761513857.494 [DAT](INFO): DAT read: Range 11 to 50 : 431.1 m  (Round-trip  574.9 ms) speed  0.5 m/s

2025-10-26T21:24:17.495Z,1761513857.495 [DAT](INFO): DAT read: user:204>

2025-10-26T21:24:17.496Z,1761513857.496 [DAT](INFO): DAT read: Tx time:21:24:16.6958

2025-10-26T21:24:17.496Z,1761513857.496 [DAT](INFO): Ping request sent.
2025-10-26T21:24:17.496Z,1761513857.496 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:24:17.497Z,1761513857.497 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:24:17.497Z,1761513857.497 [DAT](INFO): direction in FSK: [0.999111,-0.017440,0.038388]
2025-10-26T21:24:17.498Z,1761513857.498 [DAT](INFO): publishing transmit ping time
2025-10-26T21:24:17.498Z,1761513857.498 [DAT](INFO): publishing direction and range info
2025-10-26T21:24:17.501Z,1761513857.501 [DAT](INFO): publishing transmit ping time
2025-10-26T21:24:17.501Z,1761513857.501 [DAT](INFO): publishing direction and range info
2025-10-26T21:24:17.508Z,1761513857.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761157,-0.645479,-0.063219],[0.645686,0.744987,0.167583],[-0.061073,-0.168377,0.983829]]
2025-10-26T21:24:17.588Z,1761513857.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 431.100006 m,
      deltaT: 4.031783 s,
      deltaX: -2.000000 m,
      approachRate: -0.496058 m/s,
      rangeRepo size: 4

2025-10-26T21:24:17.590Z,1761513857.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 428.402222 m,
      bearing: 39.693756 deg,
      lat: 36.779283 deg,
      lon: -121.858877 deg,
      deltaT: 4.031783 s,
      deltaX: -1.981720 m,
      approachRate: -0.491524 m/s,
      posRepo size: 4

2025-10-26T21:24:17.591Z,1761513857.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.40 m.
2025-10-26T21:24:17.597Z,1761513857.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.402222 m,
      nav range: 427.556000 m,
      bearing: 40.185254 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010042 deg/s,
      cmd heading: 40.086493 deg,
      new cmd heading: 40.100297 deg.

2025-10-26T21:24:17.598Z,1761513857.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699882 target range: 428.402222 and range: 431.10 m.
2025-10-26T21:24:17.912Z,1761513857.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762216,-0.644315,-0.062335],[0.644460,0.746270,0.166593],[-0.060820,-0.167152,0.984054]]
2025-10-26T21:24:17.967Z,1761513857.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.40 m.
2025-10-26T21:24:17.986Z,1761513857.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.402222 m,
      nav range: 427.283875 m,
      bearing: 40.190236 deg,
      approach rate: -0.701399 m/s,
      LOS rate: 0.012849 deg/s,
      cmd heading: 40.100297 deg,
      new cmd heading: 40.115252 deg.

2025-10-26T21:24:17.987Z,1761513857.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700143 target range: 428.402222 and range: 431.10 m.
2025-10-26T21:24:18.362Z,1761513858.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.40 m.
2025-10-26T21:24:18.365Z,1761513858.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.402222 m,
      nav range: 427.047119 m,
      bearing: 40.194576 deg,
      approach rate: -0.599370 m/s,
      LOS rate: 0.010993 deg/s,
      cmd heading: 40.115251 deg,
      new cmd heading: 40.128279 deg.

2025-10-26T21:24:18.366Z,1761513858.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700371 target range: 428.402222 and range: 431.10 m.
2025-10-26T21:24:18.735Z,1761513858.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763739,-0.642588,-0.061510],[0.642669,0.747947,0.165986],[-0.060655,-0.166301,0.984208]]
2025-10-26T21:24:18.785Z,1761513858.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:18.787Z,1761513858.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.40 m.
2025-10-26T21:24:18.790Z,1761513858.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.402222 m,
      nav range: 426.789337 m,
      bearing: 40.199391 deg,
      approach rate: -0.606597 m/s,
      LOS rate: 0.011338 deg/s,
      cmd heading: 40.128280 deg,
      new cmd heading: 40.142734 deg.

2025-10-26T21:24:18.791Z,1761513858.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700623 target range: 428.402222 and range: 431.10 m.
2025-10-26T21:24:18.996Z,1761513858.996 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:18.997Z,1761513858.997 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:18.997Z,1761513858.997 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:24:19.122Z,1761513859.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763988,-0.642454,-0.059788],[0.642371,0.748617,0.164110],[-0.060674,-0.163784,0.984629]]
2025-10-26T21:24:19.173Z,1761513859.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.40 m.
2025-10-26T21:24:19.177Z,1761513859.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.402222 m,
      nav range: 426.538330 m,
      bearing: 40.203339 deg,
      approach rate: -0.649840 m/s,
      LOS rate: 0.010227 deg/s,
      cmd heading: 40.142733 deg,
      new cmd heading: 40.154584 deg.

2025-10-26T21:24:19.178Z,1761513859.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700830 target range: 428.402222 and range: 431.10 m.
2025-10-26T21:24:19.249Z,1761513859.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752524
2025-10-26T21:24:19.500Z,1761513859.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004048
2025-10-26T21:24:19.526Z,1761513859.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764404,-0.641984,-0.059531],[0.641883,0.749089,0.163868],[-0.060606,-0.163473,0.984684]]
2025-10-26T21:24:19.561Z,1761513859.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.40 m.
2025-10-26T21:24:19.564Z,1761513859.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.402222 m,
      nav range: 426.299255 m,
      bearing: 40.207125 deg,
      approach rate: -0.616821 m/s,
      LOS rate: 0.009774 deg/s,
      cmd heading: 40.154583 deg,
      new cmd heading: 40.165948 deg.

2025-10-26T21:24:19.565Z,1761513859.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701028 target range: 428.402222 and range: 431.10 m.
2025-10-26T21:24:19.754Z,1761513859.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257600
2025-10-26T21:24:19.962Z,1761513859.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764846,-0.641457,-0.059522],[0.641365,0.749530,0.163879],[-0.060508,-0.163517,0.984683]]
2025-10-26T21:24:19.999Z,1761513859.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.40 m.
2025-10-26T21:24:20.001Z,1761513860.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.402222 m,
      nav range: 426.029266 m,
      bearing: 40.210320 deg,
      approach rate: -0.616591 m/s,
      LOS rate: 0.007302 deg/s,
      cmd heading: 40.165949 deg,
      new cmd heading: 40.175540 deg.

2025-10-26T21:24:20.002Z,1761513860.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701195 target range: 428.402222 and range: 431.10 m.
2025-10-26T21:24:20.005Z,1761513860.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508237
2025-10-26T21:24:20.258Z,1761513860.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761506
2025-10-26T21:24:20.334Z,1761513860.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764978,-0.641373,-0.058726],[0.641221,0.749891,0.162785],[-0.060368,-0.162184,0.984912]]
2025-10-26T21:24:20.369Z,1761513860.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.40 m.
2025-10-26T21:24:20.372Z,1761513860.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.402222 m,
      nav range: 425.800873 m,
      bearing: 40.213035 deg,
      approach rate: -0.616565 m/s,
      LOS rate: 0.007332 deg/s,
      cmd heading: 40.175542 deg,
      new cmd heading: 40.183689 deg.

2025-10-26T21:24:20.373Z,1761513860.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701338 target range: 428.402222 and range: 431.10 m.
2025-10-26T21:24:20.508Z,1761513860.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012069
2025-10-26T21:24:20.751Z,1761513860.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765129,-0.641225,-0.058387],[0.641062,0.750173,0.162110],[-0.060148,-0.161464,0.985044]]
2025-10-26T21:24:20.761Z,1761513860.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264256
2025-10-26T21:24:20.796Z,1761513860.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:20.798Z,1761513860.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.40 m.
2025-10-26T21:24:20.801Z,1761513860.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.402222 m,
      nav range: 425.536957 m,
      bearing: 40.216184 deg,
      approach rate: -0.614961 m/s,
      LOS rate: 0.007343 deg/s,
      cmd heading: 40.183690 deg,
      new cmd heading: 40.193143 deg.

2025-10-26T21:24:20.802Z,1761513860.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701503 target range: 428.402222 and range: 431.10 m.
2025-10-26T21:24:21.012Z,1761513861.012 [DAT](INFO): DAT read: Rx Time:21:24:19.6708

2025-10-26T21:24:21.013Z,1761513861.013 [DAT](INFO): Rx dataTimestamp_ set to:1761513861.012534
2025-10-26T21:24:21.013Z,1761513861.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517099
2025-10-26T21:24:21.142Z,1761513861.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764931,-0.641554,-0.057352],[0.641324,0.750317,0.160399],[-0.059873,-0.159475,0.985385]]
2025-10-26T21:24:21.200Z,1761513861.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.40 m.
2025-10-26T21:24:21.203Z,1761513861.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.402222 m,
      nav range: 425.293213 m,
      bearing: 40.217854 deg,
      approach rate: -0.605986 m/s,
      LOS rate: 0.004155 deg/s,
      cmd heading: 40.193143 deg,
      new cmd heading: 40.198156 deg.

2025-10-26T21:24:21.204Z,1761513861.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701590 target range: 428.402222 and range: 431.10 m.
2025-10-26T21:24:21.264Z,1761513861.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768209
2025-10-26T21:24:21.522Z,1761513861.522 [DAT](INFO): DAT read: 21:24:19.6708 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 402,-0.01, 2.871, 1.243, 3.108, 2.490, PHS= 0.483,-1.202, 0.574, RAW= 152.6,   1.7, CAL= 151.4,   1.1, ROT= 358.6,  -1.1

2025-10-26T21:24:21.523Z,1761513861.523 [DAT](INFO): got valid direction response:
 21:24:19.6708 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 402,-0.01, 2.871, 1.243, 3.108, 2.490, PHS= 0.483,-1.202, 0.574, RAW= 152.6,   1.7, CAL= 151.4,   1.1, ROT= 358.6,  -1.1

2025-10-26T21:24:21.524Z,1761513861.524 [DAT](INFO): DAT read: Bearing 185.7,  -4.7 (Local)

2025-10-26T21:24:21.525Z,1761513861.525 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.7,  -4.7 (Local)

2025-10-26T21:24:21.526Z,1761513861.526 [DAT](INFO): DAT read: Range 11 to 50 : 428.1 m  (Round-trip  570.9 ms) speed  0.4 m/s

2025-10-26T21:24:21.527Z,1761513861.527 [DAT](INFO): DAT read: user:205>

2025-10-26T21:24:21.528Z,1761513861.528 [DAT](INFO): DAT read: Tx time:21:24:20.7958

2025-10-26T21:24:21.528Z,1761513861.528 [DAT](INFO): Ping request sent.
2025-10-26T21:24:21.528Z,1761513861.528 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:24:21.528Z,1761513861.528 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:24:21.529Z,1761513861.529 [DAT](INFO): direction in FSK: [0.999517,-0.024427,0.019197]
2025-10-26T21:24:21.529Z,1761513861.529 [DAT](INFO): publishing transmit ping time
2025-10-26T21:24:21.530Z,1761513861.530 [DAT](INFO): publishing direction and range info
2025-10-26T21:24:21.537Z,1761513861.537 [DAT](INFO): publishing transmit ping time
2025-10-26T21:24:21.537Z,1761513861.537 [DAT](INFO): publishing direction and range info
2025-10-26T21:24:21.569Z,1761513861.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764830,-0.641713,-0.056906],[0.641458,0.750374,0.159594],[-0.059713,-0.158565,0.985541]]
2025-10-26T21:24:21.654Z,1761513861.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 428.100006 m,
      deltaT: 4.032077 s,
      deltaX: -3.000000 m,
      approachRate: -0.744033 m/s,
      rangeRepo size: 4

2025-10-26T21:24:21.660Z,1761513861.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 425.420685 m,
      bearing: 38.778330 deg,
      lat: 36.779309 deg,
      lon: -121.858903 deg,
      deltaT: 4.032077 s,
      deltaX: -2.981537 m,
      approachRate: -0.739454 m/s,
      posRepo size: 4

2025-10-26T21:24:21.661Z,1761513861.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:21.663Z,1761513861.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 425.762085 m,
      bearing: 39.723820 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004155 deg/s,
      cmd heading: 40.198156 deg,
      new cmd heading: 40.203797 deg.

2025-10-26T21:24:21.668Z,1761513861.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701689 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:21.954Z,1761513861.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764606,-0.642003,-0.056654],[0.641750,0.750290,0.158811],[-0.059450,-0.157786,0.985682]]
2025-10-26T21:24:21.999Z,1761513861.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:22.002Z,1761513862.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 425.518738 m,
      bearing: 39.723462 deg,
      approach rate: -0.702877 m/s,
      LOS rate: -0.001035 deg/s,
      cmd heading: 40.203798 deg,
      new cmd heading: 40.202723 deg.

2025-10-26T21:24:22.003Z,1761513862.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701670 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:22.356Z,1761513862.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763912,-0.642927,-0.055532],[0.642612,0.750008,0.156642],[-0.059060,-0.155346,0.986093]]
2025-10-26T21:24:22.374Z,1761513862.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:22.376Z,1761513862.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 425.277740 m,
      bearing: 39.723072 deg,
      approach rate: -0.643633 m/s,
      LOS rate: -0.001042 deg/s,
      cmd heading: 40.202722 deg,
      new cmd heading: 40.201552 deg.

2025-10-26T21:24:22.377Z,1761513862.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701649 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:22.765Z,1761513862.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763813,-0.643037,-0.055615],[0.642739,0.749918,0.156557],[-0.058965,-0.155326,0.986102]]
2025-10-26T21:24:22.807Z,1761513862.807 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:22.809Z,1761513862.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:22.813Z,1761513862.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 425.013947 m,
      bearing: 39.722639 deg,
      approach rate: -0.605215 m/s,
      LOS rate: -0.000994 deg/s,
      cmd heading: 40.201551 deg,
      new cmd heading: 40.200251 deg.

2025-10-26T21:24:22.814Z,1761513862.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701627 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:23.029Z,1761513863.029 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:23.029Z,1761513863.029 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:23.030Z,1761513863.030 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:24:23.162Z,1761513863.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763135,-0.643887,-0.055083],[0.643568,0.749474,0.155268],[-0.058692,-0.153940,0.986335]]
2025-10-26T21:24:23.212Z,1761513863.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:23.214Z,1761513863.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 424.744873 m,
      bearing: 39.721155 deg,
      approach rate: -0.669877 m/s,
      LOS rate: -0.003698 deg/s,
      cmd heading: 40.200250 deg,
      new cmd heading: 40.195793 deg.

2025-10-26T21:24:23.216Z,1761513863.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701549 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:23.280Z,1761513863.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752480
2025-10-26T21:24:23.532Z,1761513863.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004352
2025-10-26T21:24:23.566Z,1761513863.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762510,-0.644529,-0.056220],[0.644317,0.748633,0.156215],[-0.058598,-0.155339,0.986122]]
2025-10-26T21:24:23.616Z,1761513863.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:23.619Z,1761513863.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 424.509674 m,
      bearing: 39.719824 deg,
      approach rate: -0.580781 m/s,
      LOS rate: -0.003287 deg/s,
      cmd heading: 40.195793 deg,
      new cmd heading: 40.191799 deg.

2025-10-26T21:24:23.628Z,1761513863.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701479 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:23.785Z,1761513863.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256646
2025-10-26T21:24:23.984Z,1761513863.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762003,-0.645130,-0.056197],[0.644911,0.748148,0.156091],[-0.058655,-0.155184,0.986143]]
2025-10-26T21:24:24.036Z,1761513864.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508382
2025-10-26T21:24:24.051Z,1761513864.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:24.054Z,1761513864.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 424.219055 m,
      bearing: 39.717499 deg,
      approach rate: -0.668658 m/s,
      LOS rate: -0.005353 deg/s,
      cmd heading: 40.191801 deg,
      new cmd heading: 40.184821 deg.

2025-10-26T21:24:24.054Z,1761513864.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701357 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:24.288Z,1761513864.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760288
2025-10-26T21:24:24.374Z,1761513864.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761372,-0.645916,-0.055733],[0.645659,0.747670,0.155288],[-0.058633,-0.154216,0.986296]]
2025-10-26T21:24:24.412Z,1761513864.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:24.414Z,1761513864.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 424.006256 m,
      bearing: 39.715766 deg,
      approach rate: -0.624568 m/s,
      LOS rate: -0.005089 deg/s,
      cmd heading: 40.184820 deg,
      new cmd heading: 40.179619 deg.

2025-10-26T21:24:24.419Z,1761513864.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701267 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:24.540Z,1761513864.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012401
2025-10-26T21:24:24.786Z,1761513864.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760512,-0.646930,-0.055713],[0.646712,0.746971,0.154264],[-0.058182,-0.153350,0.986458]]
2025-10-26T21:24:24.793Z,1761513864.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264521
2025-10-26T21:24:24.806Z,1761513864.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:24.809Z,1761513864.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 423.747681 m,
      bearing: 39.713610 deg,
      approach rate: -0.624101 m/s,
      LOS rate: -0.005208 deg/s,
      cmd heading: 40.179619 deg,
      new cmd heading: 40.173146 deg.

2025-10-26T21:24:24.810Z,1761513864.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701154 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:25.050Z,1761513865.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521499
2025-10-26T21:24:25.182Z,1761513865.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759433,-0.648127,-0.056507],[0.647990,0.745793,0.154605],[-0.058061,-0.154028,0.986359]]
2025-10-26T21:24:25.199Z,1761513865.199 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +639,    -8,A
2025-10-26T21:24:25.257Z,1761513865.257 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:25.259Z,1761513865.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:25.265Z,1761513865.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 423.492889 m,
      bearing: 39.711425 deg,
      approach rate: -0.562723 m/s,
      LOS rate: -0.004829 deg/s,
      cmd heading: 40.173148 deg,
      new cmd heading: 40.166589 deg.

2025-10-26T21:24:25.266Z,1761513865.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701039 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:25.302Z,1761513865.302 [DAT](INFO): DAT read: 21:24:23.7678 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 404,-0.39, 0.080,-1.427, 0.309,-0.194, PHS= 0.376,-1.188, 0.459, RAW= 152.6,   4.4, CAL= 151.7,   4.3, ROT= 358.3,  -4.3

2025-10-26T21:24:25.303Z,1761513865.303 [DAT](INFO): got valid direction response:
 21:24:23.7678 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 404,-0.39, 0.080,-1.427, 0.309,-0.194, PHS= 0.376,-1.188, 0.459, RAW= 152.6,   4.4, CAL= 151.7,   4.3, ROT= 358.3,  -4.3

2025-10-26T21:24:25.304Z,1761513865.304 [DAT](INFO): DAT read: Rx Time:21:24:23.7678

2025-10-26T21:24:25.305Z,1761513865.305 [DAT](INFO): Rx dataTimestamp_ set to:1761513865.304313
2025-10-26T21:24:25.305Z,1761513865.305 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-26T21:24:25.306Z,1761513865.306 [DAT](INFO): Received low SNR in chirp
2025-10-26T21:24:25.320Z,1761513865.320 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:24:25.321Z,1761513865.321 [DAT](INFO): direction in FSK: [0.996746,-0.029583,0.074979]
2025-10-26T21:24:25.325Z,1761513865.325 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:25.325Z,1761513865.325 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:25.325Z,1761513865.325 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:25.548Z,1761513865.548 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:25.548Z,1761513865.548 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:25.548Z,1761513865.548 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:25.594Z,1761513865.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758853,-0.648796,-0.056620],[0.648674,0.745232,0.154438],[-0.058004,-0.153924,0.986379]]
2025-10-26T21:24:25.637Z,1761513865.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:25.644Z,1761513865.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 423.235077 m,
      bearing: 39.709179 deg,
      approach rate: -0.680799 m/s,
      LOS rate: -0.005933 deg/s,
      cmd heading: 40.166587 deg,
      new cmd heading: 40.159847 deg.

2025-10-26T21:24:25.645Z,1761513865.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700922 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:25.800Z,1761513865.800 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:25.800Z,1761513865.800 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:25.800Z,1761513865.800 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:26.017Z,1761513866.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758028,-0.649790,-0.056271],[0.649655,0.744581,0.153451],[-0.057812,-0.152877,0.986553]]
2025-10-26T21:24:26.052Z,1761513866.052 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:26.052Z,1761513866.052 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:26.053Z,1761513866.053 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:26.089Z,1761513866.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:26.096Z,1761513866.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 422.956390 m,
      bearing: 39.707060 deg,
      approach rate: -0.616882 m/s,
      LOS rate: -0.004694 deg/s,
      cmd heading: 40.159846 deg,
      new cmd heading: 40.153484 deg.

2025-10-26T21:24:26.097Z,1761513866.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700810 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:26.304Z,1761513866.304 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:26.304Z,1761513866.304 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:26.304Z,1761513866.304 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:26.406Z,1761513866.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757517,-0.650406,-0.056039],[0.650245,0.744137,0.153106],[-0.057880,-0.152420,0.986620]]
2025-10-26T21:24:26.451Z,1761513866.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:26.454Z,1761513866.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 422.740753 m,
      bearing: 39.705395 deg,
      approach rate: -0.595752 m/s,
      LOS rate: -0.004602 deg/s,
      cmd heading: 40.153483 deg,
      new cmd heading: 40.148486 deg.

2025-10-26T21:24:26.455Z,1761513866.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700723 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:26.556Z,1761513866.556 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:26.557Z,1761513866.557 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:26.557Z,1761513866.557 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:26.808Z,1761513866.808 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:26.808Z,1761513866.808 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:26.808Z,1761513866.808 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:26.812Z,1761513866.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756991,-0.650931,-0.057039],[0.650858,0.743409,0.154036],[-0.057863,-0.153728,0.986418]]
2025-10-26T21:24:26.830Z,1761513866.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:26.861Z,1761513866.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 422.488892 m,
      bearing: 39.703422 deg,
      approach rate: -0.664215 m/s,
      LOS rate: -0.005207 deg/s,
      cmd heading: 40.148487 deg,
      new cmd heading: 40.142564 deg.

2025-10-26T21:24:26.862Z,1761513866.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700620 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:27.063Z,1761513867.063 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:27.063Z,1761513867.063 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:27.064Z,1761513867.064 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:27.215Z,1761513867.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756673,-0.651281,-0.057265],[0.651241,0.743092,0.153946],[-0.057709,-0.153780,0.986418]]
2025-10-26T21:24:27.304Z,1761513867.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:27.306Z,1761513867.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:27.312Z,1761513867.312 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:27.312Z,1761513867.312 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:27.313Z,1761513867.313 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:27.314Z,1761513867.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 422.209473 m,
      bearing: 39.702397 deg,
      approach rate: -0.587189 m/s,
      LOS rate: -0.002155 deg/s,
      cmd heading: 40.142565 deg,
      new cmd heading: 40.139489 deg.

2025-10-26T21:24:27.340Z,1761513867.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700566 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:27.564Z,1761513867.564 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:27.564Z,1761513867.564 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:27.564Z,1761513867.564 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:27.621Z,1761513867.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756513,-0.651447,-0.057491],[0.651427,0.742885,0.154159],[-0.057717,-0.154074,0.986372]]
2025-10-26T21:24:27.640Z,1761513867.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:27.643Z,1761513867.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 422.005524 m,
      bearing: 39.701642 deg,
      approach rate: -0.612094 m/s,
      LOS rate: -0.002268 deg/s,
      cmd heading: 40.139488 deg,
      new cmd heading: 40.137221 deg.

2025-10-26T21:24:27.661Z,1761513867.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700527 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:27.816Z,1761513867.816 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:27.816Z,1761513867.816 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:27.816Z,1761513867.816 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:28.041Z,1761513868.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756206,-0.651711,-0.058524],[0.651794,0.742382,0.155028],[-0.057586,-0.155379,0.986175]]
2025-10-26T21:24:28.068Z,1761513868.068 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:28.068Z,1761513868.068 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:28.068Z,1761513868.068 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:28.127Z,1761513868.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:28.130Z,1761513868.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 421.718506 m,
      bearing: 39.702484 deg,
      approach rate: -0.588663 m/s,
      LOS rate: 0.001727 deg/s,
      cmd heading: 40.137221 deg,
      new cmd heading: 40.139747 deg.

2025-10-26T21:24:28.131Z,1761513868.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700571 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:28.320Z,1761513868.320 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:28.320Z,1761513868.320 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:28.320Z,1761513868.320 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:28.473Z,1761513868.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756592,-0.651207,-0.059142],[0.651337,0.742573,0.156029],[-0.057690,-0.156571,0.985980]]
2025-10-26T21:24:28.499Z,1761513868.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:28.502Z,1761513868.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 421.490387 m,
      bearing: 39.703172 deg,
      approach rate: -0.613693 m/s,
      LOS rate: 0.001854 deg/s,
      cmd heading: 40.139748 deg,
      new cmd heading: 40.141815 deg.

2025-10-26T21:24:28.502Z,1761513868.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700607 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:28.573Z,1761513868.573 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:28.573Z,1761513868.573 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:28.573Z,1761513868.573 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:28.824Z,1761513868.824 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:28.824Z,1761513868.824 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:28.825Z,1761513868.825 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:28.883Z,1761513868.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757182,-0.650482,-0.059577],[0.650641,0.742995,0.156920],[-0.057808,-0.157580,0.985813]]
2025-10-26T21:24:28.920Z,1761513868.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:28.923Z,1761513868.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 421.240662 m,
      bearing: 39.703958 deg,
      approach rate: -0.592308 m/s,
      LOS rate: 0.001865 deg/s,
      cmd heading: 40.141814 deg,
      new cmd heading: 40.144174 deg.

2025-10-26T21:24:28.924Z,1761513868.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700648 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:29.076Z,1761513869.076 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:29.076Z,1761513869.076 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:29.076Z,1761513869.076 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:29.275Z,1761513869.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757610,-0.649954,-0.059895],[0.650155,0.743356,0.157228],[-0.057668,-0.158059,0.985744]]
2025-10-26T21:24:29.328Z,1761513869.328 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:29.328Z,1761513869.328 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:29.328Z,1761513869.328 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:29.339Z,1761513869.339 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:29.341Z,1761513869.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:29.344Z,1761513869.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 420.989624 m,
      bearing: 39.706081 deg,
      approach rate: -0.596198 m/s,
      LOS rate: 0.005045 deg/s,
      cmd heading: 40.144174 deg,
      new cmd heading: 40.150547 deg.

2025-10-26T21:24:29.345Z,1761513869.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700759 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:29.581Z,1761513869.581 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:29.581Z,1761513869.581 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:29.581Z,1761513869.581 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:29.678Z,1761513869.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757937,-0.649579,-0.059823],[0.649779,0.743695,0.157181],[-0.057611,-0.158005,0.985756]]
2025-10-26T21:24:29.733Z,1761513869.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:29.741Z,1761513869.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 420.771973 m,
      bearing: 39.707940 deg,
      approach rate: -0.556598 m/s,
      LOS rate: 0.004754 deg/s,
      cmd heading: 40.150546 deg,
      new cmd heading: 40.156124 deg.

2025-10-26T21:24:29.751Z,1761513869.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700857 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:29.833Z,1761513869.833 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:29.833Z,1761513869.833 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:29.833Z,1761513869.833 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:30.084Z,1761513870.084 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:30.084Z,1761513870.084 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:30.084Z,1761513870.084 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:30.095Z,1761513870.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758708,-0.648667,-0.059940],[0.648848,0.744308,0.158118],[-0.057952,-0.158858,0.985599]]
2025-10-26T21:24:30.169Z,1761513870.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:30.175Z,1761513870.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 420.502350 m,
      bearing: 39.711758 deg,
      approach rate: -0.617865 m/s,
      LOS rate: 0.008755 deg/s,
      cmd heading: 40.156123 deg,
      new cmd heading: 40.167585 deg.

2025-10-26T21:24:30.176Z,1761513870.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701057 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:30.336Z,1761513870.336 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:30.336Z,1761513870.336 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:30.336Z,1761513870.336 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:30.483Z,1761513870.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759640,-0.647546,-0.060263],[0.647752,0.745093,0.158913],[-0.058002,-0.159753,0.985452]]
2025-10-26T21:24:30.513Z,1761513870.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:30.516Z,1761513870.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 420.291504 m,
      bearing: 39.714789 deg,
      approach rate: -0.612348 m/s,
      LOS rate: 0.008806 deg/s,
      cmd heading: 40.167584 deg,
      new cmd heading: 40.176681 deg.

2025-10-26T21:24:30.517Z,1761513870.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701215 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:30.588Z,1761513870.588 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:30.589Z,1761513870.589 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:30.589Z,1761513870.589 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:30.840Z,1761513870.840 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:30.840Z,1761513870.840 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:30.840Z,1761513870.840 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:30.892Z,1761513870.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760568,-0.646461,-0.060204],[0.646657,0.745964,0.159287],[-0.058063,-0.160080,0.985395]]
2025-10-26T21:24:30.923Z,1761513870.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:30.929Z,1761513870.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 420.053772 m,
      bearing: 39.718256 deg,
      approach rate: -0.580311 m/s,
      LOS rate: 0.008468 deg/s,
      cmd heading: 40.176682 deg,
      new cmd heading: 40.187089 deg.

2025-10-26T21:24:30.930Z,1761513870.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701397 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:31.093Z,1761513871.093 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:31.093Z,1761513871.093 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:31.093Z,1761513871.093 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:31.290Z,1761513871.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761257,-0.645643,-0.060273],[0.645857,0.746624,0.159443],[-0.057942,-0.160305,0.985365]]
2025-10-26T21:24:31.337Z,1761513871.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:31.340Z,1761513871.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 419.800781 m,
      bearing: 39.721838 deg,
      approach rate: -0.610430 m/s,
      LOS rate: 0.008648 deg/s,
      cmd heading: 40.187088 deg,
      new cmd heading: 40.197840 deg.

2025-10-26T21:24:31.341Z,1761513871.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701585 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:31.344Z,1761513871.344 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:31.344Z,1761513871.344 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:31.344Z,1761513871.344 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:24:31.596Z,1761513871.596 [DAT](INFO): Reached modem response timeout
2025-10-26T21:24:31.596Z,1761513871.596 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:31.596Z,1761513871.596 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:24:31.698Z,1761513871.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762152,-0.644607,-0.060056],[0.644796,0.747505,0.159606],[-0.057991,-0.160368,0.985352]]
2025-10-26T21:24:31.728Z,1761513871.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:31.732Z,1761513871.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:31.756Z,1761513871.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 419.572174 m,
      bearing: 39.725121 deg,
      approach rate: -0.580249 m/s,
      LOS rate: 0.008339 deg/s,
      cmd heading: 40.197839 deg,
      new cmd heading: 40.207695 deg.

2025-10-26T21:24:31.757Z,1761513871.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701757 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:31.849Z,1761513871.849 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:32.100Z,1761513872.100 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:32.118Z,1761513872.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763082,-0.643508,-0.060028],[0.643681,0.748348,0.160152],[-0.058137,-0.160848,0.985265]]
2025-10-26T21:24:32.174Z,1761513872.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:32.180Z,1761513872.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 419.309052 m,
      bearing: 39.728625 deg,
      approach rate: -0.594633 m/s,
      LOS rate: 0.007924 deg/s,
      cmd heading: 40.207695 deg,
      new cmd heading: 40.218213 deg.

2025-10-26T21:24:32.181Z,1761513872.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701940 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:32.352Z,1761513872.352 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:32.500Z,1761513872.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763513,-0.642998,-0.060016],[0.643178,0.748777,0.160172],[-0.058051,-0.160895,0.985263]]
2025-10-26T21:24:32.519Z,1761513872.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:32.521Z,1761513872.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 419.086639 m,
      bearing: 39.731611 deg,
      approach rate: -0.644505 m/s,
      LOS rate: 0.008656 deg/s,
      cmd heading: 40.218213 deg,
      new cmd heading: 40.227174 deg.

2025-10-26T21:24:32.522Z,1761513872.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702097 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:32.606Z,1761513872.606 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:32.856Z,1761513872.856 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:32.906Z,1761513872.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764017,-0.642431,-0.059665],[0.642558,0.749280,0.160305],[-0.058279,-0.160814,0.985263]]
2025-10-26T21:24:32.925Z,1761513872.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:32.928Z,1761513872.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 418.838928 m,
      bearing: 39.734968 deg,
      approach rate: -0.609776 m/s,
      LOS rate: 0.008268 deg/s,
      cmd heading: 40.227174 deg,
      new cmd heading: 40.237251 deg.

2025-10-26T21:24:32.929Z,1761513872.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702273 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:33.109Z,1761513873.109 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:33.308Z,1761513873.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764424,-0.641978,-0.059337],[0.642069,0.749727,0.160180],[-0.058345,-0.160544,0.985303]]
2025-10-26T21:24:33.360Z,1761513873.360 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:33.370Z,1761513873.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:33.374Z,1761513873.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 418.566833 m,
      bearing: 39.736738 deg,
      approach rate: -0.610760 m/s,
      LOS rate: 0.003976 deg/s,
      cmd heading: 40.237252 deg,
      new cmd heading: 40.242567 deg.

2025-10-26T21:24:33.374Z,1761513873.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702365 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:33.613Z,1761513873.613 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:33.729Z,1761513873.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764695,-0.641679,-0.059072],[0.641755,0.750072,0.159820],[-0.058245,-0.160124,0.985377]]
2025-10-26T21:24:33.752Z,1761513873.752 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:33.754Z,1761513873.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:33.777Z,1761513873.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 418.321167 m,
      bearing: 39.738353 deg,
      approach rate: -0.639798 m/s,
      LOS rate: 0.004209 deg/s,
      cmd heading: 40.242566 deg,
      new cmd heading: 40.247415 deg.

2025-10-26T21:24:33.778Z,1761513873.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702450 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:33.866Z,1761513873.866 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:34.123Z,1761513874.123 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:24:34.124Z,1761513874.124 [DAT](INFO): response not received
2025-10-26T21:24:34.124Z,1761513874.124 [DAT](INFO): DAT read: user:207>

2025-10-26T21:24:34.125Z,1761513874.125 [DAT](INFO): DAT read: Tx time:21:24:33.2458

2025-10-26T21:24:34.125Z,1761513874.125 [DAT](INFO): Ping request sent.
2025-10-26T21:24:34.125Z,1761513874.125 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:24:34.125Z,1761513874.125 [DAT](INFO): publishing transmit ping time
2025-10-26T21:24:34.126Z,1761513874.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726
2025-10-26T21:24:34.188Z,1761513874.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764875,-0.641503,-0.058664],[0.641540,0.750340,0.159424],[-0.058253,-0.159575,0.985466]]
2025-10-26T21:24:34.262Z,1761513874.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:34.266Z,1761513874.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 418.019775 m,
      bearing: 39.739387 deg,
      approach rate: -0.593711 m/s,
      LOS rate: 0.002038 deg/s,
      cmd heading: 40.247416 deg,
      new cmd heading: 40.250519 deg.

2025-10-26T21:24:34.271Z,1761513874.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702504 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:34.377Z,1761513874.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251422
2025-10-26T21:24:34.569Z,1761513874.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764868,-0.641619,-0.057456],[0.641531,0.750589,0.158284],[-0.058432,-0.157927,0.985720]]
2025-10-26T21:24:34.587Z,1761513874.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:34.590Z,1761513874.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 417.809082 m,
      bearing: 39.740113 deg,
      approach rate: -0.648084 m/s,
      LOS rate: 0.002233 deg/s,
      cmd heading: 40.250520 deg,
      new cmd heading: 40.252698 deg.

2025-10-26T21:24:34.591Z,1761513874.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702542 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:34.628Z,1761513874.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503310
2025-10-26T21:24:34.881Z,1761513874.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755511
2025-10-26T21:24:34.970Z,1761513874.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764406,-0.642203,-0.057081],[0.642095,0.750282,0.157451],[-0.058288,-0.157008,0.985876]]
2025-10-26T21:24:34.988Z,1761513874.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:34.991Z,1761513874.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 417.562592 m,
      bearing: 39.740939 deg,
      approach rate: -0.614484 m/s,
      LOS rate: 0.002062 deg/s,
      cmd heading: 40.252699 deg,
      new cmd heading: 40.255180 deg.

2025-10-26T21:24:35.008Z,1761513875.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702585 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:35.132Z,1761513875.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007356
2025-10-26T21:24:35.384Z,1761513875.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259296
2025-10-26T21:24:35.386Z,1761513875.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764267,-0.642402,-0.056698],[0.642248,0.750213,0.157158],[-0.058423,-0.156525,0.985945]]
2025-10-26T21:24:35.438Z,1761513875.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:35.446Z,1761513875.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 417.288177 m,
      bearing: 39.740494 deg,
      approach rate: -0.609881 m/s,
      LOS rate: -0.000990 deg/s,
      cmd heading: 40.255182 deg,
      new cmd heading: 40.253846 deg.

2025-10-26T21:24:35.446Z,1761513875.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702562 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:35.636Z,1761513875.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511205
2025-10-26T21:24:35.697Z,1761513875.697 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:24:35.778Z,1761513875.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763671,-0.643158,-0.056158],[0.642958,0.749789,0.156275],[-0.058402,-0.155450,0.986116]]
2025-10-26T21:24:35.794Z,1761513875.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:35.796Z,1761513875.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:35.799Z,1761513875.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 417.051849 m,
      bearing: 39.740081 deg,
      approach rate: -0.660007 m/s,
      LOS rate: -0.001154 deg/s,
      cmd heading: 40.253846 deg,
      new cmd heading: 40.252606 deg.

2025-10-26T21:24:35.800Z,1761513875.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702541 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:35.890Z,1761513875.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764703
2025-10-26T21:24:36.143Z,1761513876.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017351
2025-10-26T21:24:36.182Z,1761513876.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763444,-0.643454,-0.055855],[0.643221,0.749629,0.155959],[-0.058482,-0.154993,0.986183]]
2025-10-26T21:24:36.241Z,1761513876.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:36.244Z,1761513876.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 416.766632 m,
      bearing: 39.738964 deg,
      approach rate: -0.641129 m/s,
      LOS rate: -0.002512 deg/s,
      cmd heading: 40.252607 deg,
      new cmd heading: 40.249254 deg.

2025-10-26T21:24:36.245Z,1761513876.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702482 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:36.392Z,1761513876.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267163
2025-10-26T21:24:36.587Z,1761513876.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762695,-0.644316,-0.056142],[0.644110,0.748860,0.155981],[-0.058458,-0.155128,0.986163]]
2025-10-26T21:24:36.606Z,1761513876.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:36.609Z,1761513876.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 416.524567 m,
      bearing: 39.737977 deg,
      approach rate: -0.663662 m/s,
      LOS rate: -0.002709 deg/s,
      cmd heading: 40.249253 deg,
      new cmd heading: 40.246288 deg.

2025-10-26T21:24:36.610Z,1761513876.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702430 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:36.645Z,1761513876.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519868
2025-10-26T21:24:36.700Z,1761513876.700 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:24:36.896Z,1761513876.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771146
2025-10-26T21:24:36.990Z,1761513876.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762349,-0.644723,-0.056174],[0.644527,0.748545,0.155775],[-0.058383,-0.154961,0.986194]]
2025-10-26T21:24:37.009Z,1761513877.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:37.012Z,1761513877.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 416.262695 m,
      bearing: 39.736887 deg,
      approach rate: -0.649802 m/s,
      LOS rate: -0.002705 deg/s,
      cmd heading: 40.246289 deg,
      new cmd heading: 40.243018 deg.

2025-10-26T21:24:37.013Z,1761513877.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702373 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:37.151Z,1761513877.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025646
2025-10-26T21:24:37.394Z,1761513877.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761783,-0.645401,-0.056079],[0.645213,0.748077,0.155183],[-0.058204,-0.154399,0.986293]]
2025-10-26T21:24:37.400Z,1761513877.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275317
2025-10-26T21:24:37.459Z,1761513877.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:37.462Z,1761513877.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 415.972961 m,
      bearing: 39.736008 deg,
      approach rate: -0.643418 m/s,
      LOS rate: -0.001955 deg/s,
      cmd heading: 40.243017 deg,
      new cmd heading: 40.240376 deg.

2025-10-26T21:24:37.463Z,1761513877.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702327 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:37.652Z,1761513877.652 [DAT](INFO): DAT read: Rx Time:21:24:36.2080

2025-10-26T21:24:37.653Z,1761513877.653 [DAT](INFO): Rx dataTimestamp_ set to:1761513877.652546
2025-10-26T21:24:37.653Z,1761513877.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528259
2025-10-26T21:24:37.805Z,1761513877.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761280,-0.645974,-0.056302],[0.645809,0.747560,0.155190],[-0.058160,-0.154503,0.986279]]
2025-10-26T21:24:37.822Z,1761513877.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:37.824Z,1761513877.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.42 m.
2025-10-26T21:24:37.826Z,1761513877.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.420685 m,
      nav range: 415.739075 m,
      bearing: 39.735271 deg,
      approach rate: -0.641694 m/s,
      LOS rate: -0.002021 deg/s,
      cmd heading: 40.240377 deg,
      new cmd heading: 40.238167 deg.

2025-10-26T21:24:37.828Z,1761513877.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702289 target range: 425.420685 and range: 428.10 m.
2025-10-26T21:24:37.905Z,1761513877.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780071
2025-10-26T21:24:38.182Z,1761513878.182 [DAT](INFO): DAT read: 21:24:36.2080 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 335,-0.35, 0.902,-0.649, 1.123, 0.660, PHS= 0.344,-1.264, 0.418, RAW= 152.2,   6.1, CAL= 151.5,   6.4, ROT= 358.5,  -6.4

2025-10-26T21:24:38.212Z,1761513878.212 [DAT](INFO): got valid direction response:
 21:24:36.2080 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 335,-0.35, 0.902,-0.649, 1.123, 0.660, PHS= 0.344,-1.264, 0.418, RAW= 152.2,   6.1, CAL= 151.5,   6.4, ROT= 358.5,  -6.4

2025-10-26T21:24:38.214Z,1761513878.214 [DAT](INFO): DAT read: Bearing 191.3,  -5.8 (Local)

2025-10-26T21:24:38.215Z,1761513878.215 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.3,  -5.8 (Local)

2025-10-26T21:24:38.229Z,1761513878.229 [DAT](INFO): DAT read: Range 11 to 50 : 418.5 m  (Round-trip  558.1 ms) speed  0.6 m/s

2025-10-26T21:24:38.230Z,1761513878.230 [DAT](INFO): DAT read: user:208>

2025-10-26T21:24:38.236Z,1761513878.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761084,-0.646220,-0.056135],[0.646031,0.747390,0.155084],[-0.058264,-0.154297,0.986305]]
2025-10-26T21:24:38.248Z,1761513878.248 [DAT](INFO): DAT read: Tx time:21:24:37.2958

2025-10-26T21:24:38.248Z,1761513878.248 [DAT](INFO): Ping request sent.
2025-10-26T21:24:38.248Z,1761513878.248 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:24:38.249Z,1761513878.249 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:24:38.250Z,1761513878.250 [DAT](INFO): direction in FSK: [0.993427,-0.026014,0.111469]
2025-10-26T21:24:38.250Z,1761513878.250 [DAT](INFO): publishing transmit ping time
2025-10-26T21:24:38.250Z,1761513878.250 [DAT](INFO): publishing direction and range info
2025-10-26T21:24:38.280Z,1761513878.280 [DAT](INFO): publishing transmit ping time
2025-10-26T21:24:38.281Z,1761513878.281 [DAT](INFO): publishing direction and range info
2025-10-26T21:24:38.394Z,1761513878.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 418.500000 m,
      deltaT: 16.641468 s,
      deltaX: -9.600006 m,
      approachRate: -0.576873 m/s,
      rangeRepo size: 4

2025-10-26T21:24:38.400Z,1761513878.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 415.878845 m,
      bearing: 39.839390 deg,
      lat: 36.779309 deg,
      lon: -121.858903 deg,
      deltaT: 16.641468 s,
      deltaX: -9.541840 m,
      approachRate: -0.573377 m/s,
      posRepo size: 4

2025-10-26T21:24:38.401Z,1761513878.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:38.411Z,1761513878.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 415.398804 m,
      bearing: 39.735834 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002021 deg/s,
      cmd heading: 40.238168 deg,
      new cmd heading: 40.234715 deg.

2025-10-26T21:24:38.412Z,1761513878.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702228 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:38.735Z,1761513878.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760334,-0.647183,-0.055197],[0.646918,0.746918,0.153654],[-0.058215,-0.152537,0.986582]]
2025-10-26T21:24:38.761Z,1761513878.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:38.764Z,1761513878.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 415.145660 m,
      bearing: 39.736212 deg,
      approach rate: -0.688031 m/s,
      LOS rate: 0.001027 deg/s,
      cmd heading: 40.234715 deg,
      new cmd heading: 40.235849 deg.

2025-10-26T21:24:38.765Z,1761513878.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702248 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:39.177Z,1761513879.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760273,-0.647184,-0.056022],[0.646997,0.746680,0.154482],[-0.058148,-0.153694,0.986406]]
2025-10-26T21:24:39.241Z,1761513879.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:39.244Z,1761513879.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 414.838745 m,
      bearing: 39.738087 deg,
      approach rate: -0.638896 m/s,
      LOS rate: 0.003907 deg/s,
      cmd heading: 40.235849 deg,
      new cmd heading: 40.241479 deg.

2025-10-26T21:24:39.245Z,1761513879.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702346 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:39.549Z,1761513879.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760120,-0.647391,-0.055709],[0.647187,0.746639,0.153883],[-0.058028,-0.153024,0.986517]]
2025-10-26T21:24:39.567Z,1761513879.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:39.570Z,1761513879.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 414.625702 m,
      bearing: 39.739383 deg,
      approach rate: -0.654127 m/s,
      LOS rate: 0.003982 deg/s,
      cmd heading: 40.241480 deg,
      new cmd heading: 40.245371 deg.

2025-10-26T21:24:39.571Z,1761513879.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702414 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:40.006Z,1761513880.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:40.008Z,1761513880.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:40.010Z,1761513880.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 414.341675 m,
      bearing: 39.741113 deg,
      approach rate: -0.644641 m/s,
      LOS rate: 0.003929 deg/s,
      cmd heading: 40.245370 deg,
      new cmd heading: 40.250563 deg.

2025-10-26T21:24:40.012Z,1761513880.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702505 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:40.179Z,1761513880.179 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:40.179Z,1761513880.179 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:40.180Z,1761513880.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:24:40.404Z,1761513880.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:40.407Z,1761513880.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 414.086151 m,
      bearing: 39.743523 deg,
      approach rate: -0.644354 m/s,
      LOS rate: 0.006083 deg/s,
      cmd heading: 40.250564 deg,
      new cmd heading: 40.257801 deg.

2025-10-26T21:24:40.408Z,1761513880.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702631 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:40.428Z,1761513880.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.180180
2025-10-26T21:24:40.680Z,1761513880.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.432189
2025-10-26T21:24:40.754Z,1761513880.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761238,-0.646043,-0.056087],[0.645860,0.747574,0.154910],[-0.058150,-0.154148,0.986335]]
2025-10-26T21:24:40.789Z,1761513880.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:40.799Z,1761513880.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 413.838837 m,
      bearing: 39.745918 deg,
      approach rate: -0.642836 m/s,
      LOS rate: 0.006229 deg/s,
      cmd heading: 40.257801 deg,
      new cmd heading: 40.264990 deg.

2025-10-26T21:24:40.800Z,1761513880.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702757 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:40.932Z,1761513880.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.684134
2025-10-26T21:24:41.188Z,1761513881.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.938687
2025-10-26T21:24:41.238Z,1761513881.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761691,-0.645523,-0.055924],[0.645304,0.747980,0.155269],[-0.058399,-0.154355,0.986288]]
2025-10-26T21:24:41.281Z,1761513881.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:41.284Z,1761513881.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 413.521454 m,
      bearing: 39.749276 deg,
      approach rate: -0.644376 m/s,
      LOS rate: 0.006823 deg/s,
      cmd heading: 40.264990 deg,
      new cmd heading: 40.275072 deg.

2025-10-26T21:24:41.285Z,1761513881.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702933 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:41.436Z,1761513881.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.188050
2025-10-26T21:24:41.688Z,1761513881.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.440170
2025-10-26T21:24:41.698Z,1761513881.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762334,-0.644748,-0.056100],[0.644540,0.748535,0.155764],[-0.058436,-0.154903,0.986200]]
2025-10-26T21:24:41.757Z,1761513881.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:41.764Z,1761513881.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 413.224426 m,
      bearing: 39.752464 deg,
      approach rate: -0.624035 m/s,
      LOS rate: 0.006702 deg/s,
      cmd heading: 40.275071 deg,
      new cmd heading: 40.284641 deg.

2025-10-26T21:24:41.765Z,1761513881.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703100 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:41.940Z,1761513881.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.692152
2025-10-26T21:24:42.196Z,1761513882.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.946489
2025-10-26T21:24:42.228Z,1761513882.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762776,-0.644268,-0.055597],[0.644000,0.749030,0.155621],[-0.058618,-0.154509,0.986251]]
2025-10-26T21:24:42.291Z,1761513882.291 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:42.293Z,1761513882.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:42.308Z,1761513882.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 412.868469 m,
      bearing: 39.757150 deg,
      approach rate: -0.664821 m/s,
      LOS rate: 0.008759 deg/s,
      cmd heading: 40.284640 deg,
      new cmd heading: 40.298710 deg.

2025-10-26T21:24:42.309Z,1761513882.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703345 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:42.445Z,1761513882.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.196517
2025-10-26T21:24:42.584Z,1761513882.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763127,-0.643828,-0.055886],[0.643605,0.749344,0.155744],[-0.058394,-0.154821,0.986215]]
2025-10-26T21:24:42.621Z,1761513882.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:42.623Z,1761513882.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 412.661743 m,
      bearing: 39.759890 deg,
      approach rate: -0.657141 m/s,
      LOS rate: 0.008713 deg/s,
      cmd heading: 40.298710 deg,
      new cmd heading: 40.306933 deg.

2025-10-26T21:24:42.624Z,1761513882.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703489 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:42.697Z,1761513882.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.448861
2025-10-26T21:24:42.948Z,1761513882.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.700109
2025-10-26T21:24:42.986Z,1761513882.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763253,-0.643680,-0.055865],[0.643466,0.749495,0.155592],[-0.058281,-0.154703,0.986240]]
2025-10-26T21:24:43.038Z,1761513883.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:43.041Z,1761513883.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 412.401581 m,
      bearing: 39.763349 deg,
      approach rate: -0.604137 m/s,
      LOS rate: 0.008039 deg/s,
      cmd heading: 40.306934 deg,
      new cmd heading: 40.317319 deg.

2025-10-26T21:24:43.042Z,1761513883.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703670 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:43.204Z,1761513883.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.955361
2025-10-26T21:24:43.391Z,1761513883.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763449,-0.643433,-0.056035],[0.643257,0.749701,0.155466],[-0.058022,-0.154735,0.986251]]
2025-10-26T21:24:43.452Z,1761513883.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.204220
2025-10-26T21:24:43.492Z,1761513883.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:43.495Z,1761513883.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 412.093170 m,
      bearing: 39.767054 deg,
      approach rate: -0.679057 m/s,
      LOS rate: 0.008163 deg/s,
      cmd heading: 40.317319 deg,
      new cmd heading: 40.328442 deg.

2025-10-26T21:24:43.504Z,1761513883.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703864 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:43.706Z,1761513883.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.457167
2025-10-26T21:24:43.819Z,1761513883.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763669,-0.643111,-0.056731],[0.643056,0.749902,0.155328],[-0.057351,-0.155101,0.986233]]
2025-10-26T21:24:43.861Z,1761513883.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:43.868Z,1761513883.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 411.833130 m,
      bearing: 39.770192 deg,
      approach rate: -0.704361 m/s,
      LOS rate: 0.008505 deg/s,
      cmd heading: 40.328442 deg,
      new cmd heading: 40.337862 deg.

2025-10-26T21:24:43.869Z,1761513883.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704028 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:43.957Z,1761513883.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.709028
2025-10-26T21:24:44.216Z,1761513884.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.966791
2025-10-26T21:24:44.292Z,1761513884.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763911,-0.642733,-0.057737],[0.642867,0.750160,0.154858],[-0.056221,-0.155415,0.986248]]
2025-10-26T21:24:44.333Z,1761513884.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:44.335Z,1761513884.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:44.337Z,1761513884.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 411.515564 m,
      bearing: 39.773245 deg,
      approach rate: -0.671153 m/s,
      LOS rate: 0.006459 deg/s,
      cmd heading: 40.337861 deg,
      new cmd heading: 40.347029 deg.

2025-10-26T21:24:44.338Z,1761513884.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704189 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:44.464Z,1761513884.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.216053
2025-10-26T21:24:44.661Z,1761513884.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:44.663Z,1761513884.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 411.298279 m,
      bearing: 39.775338 deg,
      approach rate: -0.666255 m/s,
      LOS rate: 0.006419 deg/s,
      cmd heading: 40.347031 deg,
      new cmd heading: 40.353311 deg.

2025-10-26T21:24:44.664Z,1761513884.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704298 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:44.719Z,1761513884.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.470069
2025-10-26T21:24:44.968Z,1761513884.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.720108
2025-10-26T21:24:45.032Z,1761513885.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764062,-0.642403,-0.059390],[0.642754,0.750087,0.155683],[-0.055463,-0.157125,0.986020]]
2025-10-26T21:24:45.067Z,1761513885.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:45.070Z,1761513885.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 411.027893 m,
      bearing: 39.777948 deg,
      approach rate: -0.665901 m/s,
      LOS rate: 0.006432 deg/s,
      cmd heading: 40.353311 deg,
      new cmd heading: 40.361146 deg.

2025-10-26T21:24:45.070Z,1761513885.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704435 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:45.224Z,1761513885.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.975482
2025-10-26T21:24:45.434Z,1761513885.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764052,-0.642327,-0.060335],[0.642838,0.750053,0.155498],[-0.054626,-0.157594,0.985992]]
2025-10-26T21:24:45.473Z,1761513885.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.224417
2025-10-26T21:24:45.516Z,1761513885.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:45.518Z,1761513885.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 410.732391 m,
      bearing: 39.780416 deg,
      approach rate: -0.683157 m/s,
      LOS rate: 0.005710 deg/s,
      cmd heading: 40.361145 deg,
      new cmd heading: 40.368555 deg.

2025-10-26T21:24:45.519Z,1761513885.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704564 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:45.726Z,1761513885.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.477188
2025-10-26T21:24:45.841Z,1761513885.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764016,-0.642318,-0.060881],[0.642948,0.750082,0.154903],[-0.053832,-0.157491,0.986052]]
2025-10-26T21:24:45.862Z,1761513885.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:45.865Z,1761513885.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 410.484802 m,
      bearing: 39.782483 deg,
      approach rate: -0.681782 m/s,
      LOS rate: 0.005695 deg/s,
      cmd heading: 40.368556 deg,
      new cmd heading: 40.374761 deg.

2025-10-26T21:24:45.866Z,1761513885.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704673 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:45.976Z,1761513885.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.728244
2025-10-26T21:24:46.229Z,1761513886.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.980871
2025-10-26T21:24:46.306Z,1761513886.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763416,-0.642922,-0.062034],[0.643794,0.749638,0.153531],[-0.052206,-0.157145,0.986195]]
2025-10-26T21:24:46.361Z,1761513886.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:46.363Z,1761513886.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:46.370Z,1761513886.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 410.156860 m,
      bearing: 39.786059 deg,
      approach rate: -0.655179 m/s,
      LOS rate: 0.007149 deg/s,
      cmd heading: 40.374761 deg,
      new cmd heading: 40.385497 deg.

2025-10-26T21:24:46.371Z,1761513886.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704860 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:46.480Z,1761513886.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.232129
2025-10-26T21:24:46.710Z,1761513886.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762921,-0.643532,-0.061794],[0.644446,0.749428,0.151809],[-0.051384,-0.155642,0.986476]]
2025-10-26T21:24:46.733Z,1761513886.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.484660
2025-10-26T21:24:46.741Z,1761513886.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:46.744Z,1761513886.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 409.886902 m,
      bearing: 39.788977 deg,
      approach rate: -0.713340 m/s,
      LOS rate: 0.007716 deg/s,
      cmd heading: 40.385498 deg,
      new cmd heading: 40.394259 deg.

2025-10-26T21:24:46.745Z,1761513886.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705013 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:46.985Z,1761513886.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.736376
2025-10-26T21:24:47.149Z,1761513887.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:47.152Z,1761513887.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 409.615540 m,
      bearing: 39.791914 deg,
      approach rate: -0.665040 m/s,
      LOS rate: 0.007204 deg/s,
      cmd heading: 40.394258 deg,
      new cmd heading: 40.403076 deg.

2025-10-26T21:24:47.153Z,1761513887.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705167 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:47.239Z,1761513887.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.990765
2025-10-26T21:24:47.488Z,1761513887.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.240064
2025-10-26T21:24:47.519Z,1761513887.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761927,-0.644637,-0.062529],[0.645744,0.748695,0.149902],[-0.049818,-0.154592,0.986722]]
2025-10-26T21:24:47.576Z,1761513887.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:47.578Z,1761513887.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 409.340363 m,
      bearing: 39.794437 deg,
      approach rate: -0.652271 m/s,
      LOS rate: 0.005985 deg/s,
      cmd heading: 40.403076 deg,
      new cmd heading: 40.410650 deg.

2025-10-26T21:24:47.579Z,1761513887.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705299 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:47.740Z,1761513887.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.492088
2025-10-26T21:24:47.910Z,1761513887.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761701,-0.644865,-0.062936],[0.646069,0.748569,0.149125],[-0.049053,-0.154250,0.986813]]
2025-10-26T21:24:47.929Z,1761513887.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:47.932Z,1761513887.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 409.095734 m,
      bearing: 39.796670 deg,
      approach rate: -0.684323 m/s,
      LOS rate: 0.006249 deg/s,
      cmd heading: 40.410650 deg,
      new cmd heading: 40.417352 deg.

2025-10-26T21:24:47.933Z,1761513887.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705416 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:47.993Z,1761513887.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.744257
2025-10-26T21:24:48.245Z,1761513888.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.996494
2025-10-26T21:24:48.395Z,1761513888.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:48.397Z,1761513888.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:48.400Z,1761513888.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 408.791962 m,
      bearing: 39.800429 deg,
      approach rate: -0.648512 m/s,
      LOS rate: 0.008030 deg/s,
      cmd heading: 40.417351 deg,
      new cmd heading: 40.428635 deg.

2025-10-26T21:24:48.401Z,1761513888.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705613 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:48.496Z,1761513888.496 [DAT](INFO): Reached modem response timeout
2025-10-26T21:24:48.496Z,1761513888.496 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:48.497Z,1761513888.497 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:24:48.748Z,1761513888.748 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:48.763Z,1761513888.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:48.766Z,1761513888.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 408.554443 m,
      bearing: 39.803371 deg,
      approach rate: -0.649662 m/s,
      LOS rate: 0.008053 deg/s,
      cmd heading: 40.428634 deg,
      new cmd heading: 40.437467 deg.

2025-10-26T21:24:48.767Z,1761513888.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705767 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:49.000Z,1761513889.000 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:49.124Z,1761513889.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761530,-0.644999,-0.063627],[0.646399,0.748660,0.147228],[-0.047327,-0.153247,0.987054]]
2025-10-26T21:24:49.142Z,1761513889.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:49.146Z,1761513889.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 408.308502 m,
      bearing: 39.806410 deg,
      approach rate: -0.648430 m/s,
      LOS rate: 0.008017 deg/s,
      cmd heading: 40.437466 deg,
      new cmd heading: 40.446588 deg.

2025-10-26T21:24:49.147Z,1761513889.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705926 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:49.254Z,1761513889.254 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:49.504Z,1761513889.504 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:49.575Z,1761513889.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:49.578Z,1761513889.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 408.022186 m,
      bearing: 39.810192 deg,
      approach rate: -0.661328 m/s,
      LOS rate: 0.008742 deg/s,
      cmd heading: 40.446587 deg,
      new cmd heading: 40.457942 deg.

2025-10-26T21:24:49.579Z,1761513889.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.706124 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:49.756Z,1761513889.756 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:49.931Z,1761513889.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762222,-0.644095,-0.064494],[0.645656,0.749357,0.146942],[-0.046316,-0.153643,0.987040]]
2025-10-26T21:24:49.974Z,1761513889.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:49.997Z,1761513889.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 407.774597 m,
      bearing: 39.813503 deg,
      approach rate: -0.620509 m/s,
      LOS rate: 0.008301 deg/s,
      cmd heading: 40.457943 deg,
      new cmd heading: 40.467879 deg.

2025-10-26T21:24:49.998Z,1761513889.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.706298 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:50.008Z,1761513890.008 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:50.260Z,1761513890.260 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:24:50.370Z,1761513890.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762572,-0.643737,-0.063924],[0.645266,0.749893,0.145921],[-0.045999,-0.152523,0.987229]]
2025-10-26T21:24:50.409Z,1761513890.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:50.431Z,1761513890.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:50.434Z,1761513890.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 407.485382 m,
      bearing: 39.818074 deg,
      approach rate: -0.661726 m/s,
      LOS rate: 0.010468 deg/s,
      cmd heading: 40.467880 deg,
      new cmd heading: 40.481605 deg.

2025-10-26T21:24:50.435Z,1761513890.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.706537 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:50.513Z,1761513890.513 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:24:50.514Z,1761513890.514 [DAT](INFO): response not received
2025-10-26T21:24:50.514Z,1761513890.514 [DAT](INFO): DAT read: user:209>

2025-10-26T21:24:50.515Z,1761513890.515 [DAT](INFO): DAT read: Tx time:21:24:49.7457

2025-10-26T21:24:50.516Z,1761513890.516 [DAT](INFO): Ping request sent.
2025-10-26T21:24:50.516Z,1761513890.516 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:24:50.516Z,1761513890.516 [DAT](INFO): publishing transmit ping time
2025-10-26T21:24:50.517Z,1761513890.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001073
2025-10-26T21:24:50.764Z,1761513890.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248282
2025-10-26T21:24:50.768Z,1761513890.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762703,-0.643620,-0.063542],[0.645152,0.750238,0.144647],[-0.045426,-0.151317,0.987441]]
2025-10-26T21:24:50.788Z,1761513890.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:50.790Z,1761513890.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 407.249542 m,
      bearing: 39.821814 deg,
      approach rate: -0.626913 m/s,
      LOS rate: 0.009947 deg/s,
      cmd heading: 40.481606 deg,
      new cmd heading: 40.492832 deg.

2025-10-26T21:24:50.791Z,1761513890.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.706733 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:51.016Z,1761513891.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500479
2025-10-26T21:24:51.166Z,1761513891.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762720,-0.643582,-0.063721],[0.645168,0.750338,0.144052],[-0.044897,-0.150983,0.987516]]
2025-10-26T21:24:51.188Z,1761513891.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:51.208Z,1761513891.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 406.997986 m,
      bearing: 39.825809 deg,
      approach rate: -0.627143 m/s,
      LOS rate: 0.009965 deg/s,
      cmd heading: 40.492831 deg,
      new cmd heading: 40.504823 deg.

2025-10-26T21:24:51.210Z,1761513891.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.706942 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:51.268Z,1761513891.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752243
2025-10-26T21:24:51.520Z,1761513891.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004407
2025-10-26T21:24:51.583Z,1761513891.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762794,-0.643492,-0.063749],[0.645106,0.750484,0.143572],[-0.044545,-0.150641,0.987584]]
2025-10-26T21:24:51.602Z,1761513891.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:51.605Z,1761513891.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 406.738556 m,
      bearing: 39.829937 deg,
      approach rate: -0.627643 m/s,
      LOS rate: 0.009994 deg/s,
      cmd heading: 40.504822 deg,
      new cmd heading: 40.517214 deg.

2025-10-26T21:24:51.606Z,1761513891.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.707159 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:51.773Z,1761513891.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256891
2025-10-26T21:24:52.024Z,1761513892.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508418
2025-10-26T21:24:52.104Z,1761513892.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:52.107Z,1761513892.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 406.423462 m,
      bearing: 39.834959 deg,
      approach rate: -0.627111 m/s,
      LOS rate: 0.010002 deg/s,
      cmd heading: 40.517215 deg,
      new cmd heading: 40.532292 deg.

2025-10-26T21:24:52.108Z,1761513892.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.707422 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:52.276Z,1761513892.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760384
2025-10-26T21:24:52.466Z,1761513892.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763243,-0.642911,-0.064238],[0.644632,0.750995,0.143029],[-0.043713,-0.150575,0.987632]]
2025-10-26T21:24:52.502Z,1761513892.502 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:52.508Z,1761513892.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:52.511Z,1761513892.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 406.173035 m,
      bearing: 39.838979 deg,
      approach rate: -0.620135 m/s,
      LOS rate: 0.009961 deg/s,
      cmd heading: 40.532293 deg,
      new cmd heading: 40.544360 deg.

2025-10-26T21:24:52.512Z,1761513892.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.707633 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:52.528Z,1761513892.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012461
2025-10-26T21:24:52.780Z,1761513892.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264349
2025-10-26T21:24:52.932Z,1761513892.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763532,-0.642530,-0.064612],[0.644325,0.751310,0.142755],[-0.043181,-0.150630,0.987647]]
2025-10-26T21:24:52.950Z,1761513892.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:52.969Z,1761513892.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 405.893677 m,
      bearing: 39.843487 deg,
      approach rate: -0.632703 m/s,
      LOS rate: 0.010216 deg/s,
      cmd heading: 40.544361 deg,
      new cmd heading: 40.557893 deg.

2025-10-26T21:24:52.970Z,1761513892.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.707869 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:53.033Z,1761513893.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516862
2025-10-26T21:24:53.284Z,1761513893.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768405
2025-10-26T21:24:53.363Z,1761513893.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763224,-0.642812,-0.065438],[0.644758,0.751075,0.142032],[-0.042151,-0.150594,0.987697]]
2025-10-26T21:24:53.413Z,1761513893.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:53.415Z,1761513893.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 405.603577 m,
      bearing: 39.848152 deg,
      approach rate: -0.626654 m/s,
      LOS rate: 0.010085 deg/s,
      cmd heading: 40.557892 deg,
      new cmd heading: 40.571898 deg.

2025-10-26T21:24:53.416Z,1761513893.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708113 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:53.536Z,1761513893.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020438
2025-10-26T21:24:53.741Z,1761513893.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763089,-0.642871,-0.066421],[0.644988,0.750985,0.141465],[-0.041063,-0.150792,0.987712]]
2025-10-26T21:24:53.788Z,1761513893.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272447
2025-10-26T21:24:53.794Z,1761513893.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:53.797Z,1761513893.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 405.363434 m,
      bearing: 39.850863 deg,
      approach rate: -0.628835 m/s,
      LOS rate: 0.007104 deg/s,
      cmd heading: 40.571897 deg,
      new cmd heading: 40.580036 deg.

2025-10-26T21:24:53.798Z,1761513893.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708255 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:54.041Z,1761513894.041 [DAT](INFO): DAT read: Rx Time:21:24:52.6937

2025-10-26T21:24:54.041Z,1761513894.041 [DAT](INFO): Rx dataTimestamp_ set to:1761513894.041158
2025-10-26T21:24:54.042Z,1761513894.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526030
2025-10-26T21:24:54.142Z,1761513894.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762691,-0.643221,-0.067596],[0.645549,0.750690,0.140467],[-0.039607,-0.150769,0.987775]]
2025-10-26T21:24:54.170Z,1761513894.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.88 m.
2025-10-26T21:24:54.173Z,1761513894.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.878845 m,
      nav range: 405.125549 m,
      bearing: 39.853529 deg,
      approach rate: -0.633796 m/s,
      LOS rate: 0.007107 deg/s,
      cmd heading: 40.580036 deg,
      new cmd heading: 40.588038 deg.

2025-10-26T21:24:54.174Z,1761513894.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708395 target range: 415.878845 and range: 418.50 m.
2025-10-26T21:24:54.292Z,1761513894.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776421
2025-10-26T21:24:54.550Z,1761513894.550 [DAT](INFO): DAT read: 21:24:52.6937 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 270,-0.27, 0.923,-0.625, 1.138, 0.585, PHS= 0.440,-1.165, 0.509, RAW= 152.1,   2.7, CAL= 151.0,   2.3, ROT= 359.0,  -2.3

2025-10-26T21:24:54.551Z,1761513894.551 [DAT](INFO): got valid direction response:
 21:24:52.6937 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 270,-0.27, 0.923,-0.625, 1.138, 0.585, PHS= 0.440,-1.165, 0.509, RAW= 152.1,   2.7, CAL= 151.0,   2.3, ROT= 359.0,  -2.3

2025-10-26T21:24:54.552Z,1761513894.552 [DAT](INFO): DAT read: Bearing 188.2,  -3.6 (Local)

2025-10-26T21:24:54.553Z,1761513894.553 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.2,  -3.6 (Local)

2025-10-26T21:24:54.554Z,1761513894.554 [DAT](INFO): DAT read: Range 11 to 50 : 407.9 m  (Round-trip  543.9 ms) speed  0.4 m/s

2025-10-26T21:24:54.555Z,1761513894.555 [DAT](INFO): DAT read: user:210>

2025-10-26T21:24:54.556Z,1761513894.556 [DAT](INFO): DAT read: Tx time:21:24:53.7957

2025-10-26T21:24:54.556Z,1761513894.556 [DAT](INFO): Ping request sent.
2025-10-26T21:24:54.556Z,1761513894.556 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:24:54.556Z,1761513894.556 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:24:54.557Z,1761513894.557 [DAT](INFO): direction in FSK: [0.999042,-0.017439,0.040132]
2025-10-26T21:24:54.557Z,1761513894.557 [DAT](INFO): publishing transmit ping time
2025-10-26T21:24:54.558Z,1761513894.558 [DAT](INFO): publishing direction and range info
2025-10-26T21:24:54.570Z,1761513894.570 [DAT](INFO): publishing transmit ping time
2025-10-26T21:24:54.571Z,1761513894.571 [DAT](INFO): publishing direction and range info
2025-10-26T21:24:54.629Z,1761513894.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762470,-0.643258,-0.069704],[0.645918,0.750441,0.140102],[-0.037813,-0.151847,0.987680]]
2025-10-26T21:24:54.750Z,1761513894.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 407.899994 m,
      deltaT: 16.386539 s,
      deltaX: -10.600006 m,
      approachRate: -0.646873 m/s,
      rangeRepo size: 4

2025-10-26T21:24:54.757Z,1761513894.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 405.338989 m,
      bearing: 39.631086 deg,
      lat: 36.779309 deg,
      lon: -121.858903 deg,
      deltaT: 16.386539 s,
      deltaX: -10.539856 m,
      approachRate: -0.643202 m/s,
      posRepo size: 4

2025-10-26T21:24:54.757Z,1761513894.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.34 m.
2025-10-26T21:24:54.773Z,1761513894.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.338989 m,
      nav range: 404.754608 m,
      bearing: 39.857038 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007107 deg/s,
      cmd heading: 40.588037 deg,
      new cmd heading: 40.600398 deg.

2025-10-26T21:24:54.774Z,1761513894.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708611 target range: 405.338989 and range: 407.90 m.
2025-10-26T21:24:55.282Z,1761513895.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:55.284Z,1761513895.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.34 m.
2025-10-26T21:24:55.286Z,1761513895.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.338989 m,
      nav range: 404.380554 m,
      bearing: 39.860584 deg,
      approach rate: -0.700360 m/s,
      LOS rate: 0.006644 deg/s,
      cmd heading: 40.600396 deg,
      new cmd heading: 40.611042 deg.

2025-10-26T21:24:55.288Z,1761513895.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708796 target range: 405.338989 and range: 407.90 m.
2025-10-26T21:24:55.300Z,1761513895.300 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:55.300Z,1761513895.300 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:55.301Z,1761513895.301 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:24:55.552Z,1761513895.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996326
2025-10-26T21:24:55.710Z,1761513895.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760884,-0.644659,-0.073961],[0.648080,0.749301,0.136163],[-0.032359,-0.151537,0.987922]]
2025-10-26T21:24:55.767Z,1761513895.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.34 m.
2025-10-26T21:24:55.770Z,1761513895.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.338989 m,
      nav range: 404.040283 m,
      bearing: 39.863741 deg,
      approach rate: -0.703842 m/s,
      LOS rate: 0.006536 deg/s,
      cmd heading: 40.611041 deg,
      new cmd heading: 40.620521 deg.

2025-10-26T21:24:55.771Z,1761513895.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708962 target range: 405.338989 and range: 407.90 m.
2025-10-26T21:24:55.805Z,1761513895.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248864
2025-10-26T21:24:56.057Z,1761513896.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500617
2025-10-26T21:24:56.098Z,1761513896.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760184,-0.645330,-0.075298],[0.648996,0.748811,0.134486],[-0.030404,-0.151102,0.988050]]
2025-10-26T21:24:56.133Z,1761513896.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.34 m.
2025-10-26T21:24:56.142Z,1761513896.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.338989 m,
      nav range: 403.799530 m,
      bearing: 39.865939 deg,
      approach rate: -0.658378 m/s,
      LOS rate: 0.006014 deg/s,
      cmd heading: 40.620522 deg,
      new cmd heading: 40.627119 deg.

2025-10-26T21:24:56.143Z,1761513896.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.709077 target range: 405.338989 and range: 407.90 m.
2025-10-26T21:24:56.308Z,1761513896.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752392
2025-10-26T21:24:56.502Z,1761513896.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759618,-0.645784,-0.077090],[0.649757,0.748412,0.133022],[-0.028208,-0.151136,0.988110]]
2025-10-26T21:24:56.561Z,1761513896.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004527
2025-10-26T21:24:56.576Z,1761513896.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.34 m.
2025-10-26T21:24:56.578Z,1761513896.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.338989 m,
      nav range: 403.483459 m,
      bearing: 39.868854 deg,
      approach rate: -0.713932 m/s,
      LOS rate: 0.006590 deg/s,
      cmd heading: 40.627119 deg,
      new cmd heading: 40.635871 deg.

2025-10-26T21:24:56.579Z,1761513896.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.709230 target range: 405.338989 and range: 407.90 m.
2025-10-26T21:24:56.814Z,1761513896.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257690
2025-10-26T21:24:56.909Z,1761513896.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758912,-0.646411,-0.078775],[0.650676,0.747920,0.131287],[-0.025948,-0.150892,0.988210]]
2025-10-26T21:24:56.927Z,1761513896.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.34 m.
2025-10-26T21:24:56.930Z,1761513896.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.338989 m,
      nav range: 403.241486 m,
      bearing: 39.871049 deg,
      approach rate: -0.688006 m/s,
      LOS rate: 0.006246 deg/s,
      cmd heading: 40.635872 deg,
      new cmd heading: 40.642462 deg.

2025-10-26T21:24:56.931Z,1761513896.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.709345 target range: 405.338989 and range: 407.90 m.
2025-10-26T21:24:57.064Z,1761513897.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508412
2025-10-26T21:24:57.310Z,1761513897.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758189,-0.646958,-0.081209],[0.651616,0.747343,0.129904],[-0.023351,-0.151409,0.988195]]
2025-10-26T21:24:57.316Z,1761513897.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760441
2025-10-26T21:24:57.329Z,1761513897.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:57.331Z,1761513897.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.34 m.
2025-10-26T21:24:57.358Z,1761513897.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.338989 m,
      nav range: 402.963470 m,
      bearing: 39.873527 deg,
      approach rate: -0.689048 m/s,
      LOS rate: 0.006146 deg/s,
      cmd heading: 40.642464 deg,
      new cmd heading: 40.649902 deg.

2025-10-26T21:24:57.359Z,1761513897.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.709475 target range: 405.338989 and range: 407.90 m.
2025-10-26T21:24:57.568Z,1761513897.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012362
2025-10-26T21:24:57.742Z,1761513897.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757715,-0.647277,-0.083067],[0.652247,0.747063,0.128337],[-0.021014,-0.151423,0.988246]]
2025-10-26T21:24:57.779Z,1761513897.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.34 m.
2025-10-26T21:24:57.801Z,1761513897.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.338989 m,
      nav range: 402.651154 m,
      bearing: 39.876280 deg,
      approach rate: -0.697312 m/s,
      LOS rate: 0.006150 deg/s,
      cmd heading: 40.649902 deg,
      new cmd heading: 40.658166 deg.

2025-10-26T21:24:57.802Z,1761513897.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.709619 target range: 405.338989 and range: 407.90 m.
2025-10-26T21:24:57.821Z,1761513897.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264533
2025-10-26T21:24:58.073Z,1761513898.073 [DAT](INFO): DAT read: Rx Time:21:24:56.7405

2025-10-26T21:24:58.073Z,1761513898.073 [DAT](INFO): Rx dataTimestamp_ set to:1761513898.073196
2025-10-26T21:24:58.074Z,1761513898.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518047
2025-10-26T21:24:58.141Z,1761513898.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757393,-0.647398,-0.085042],[0.652692,0.746901,0.127012],[-0.018709,-0.151704,0.988249]]
2025-10-26T21:24:58.158Z,1761513898.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.34 m.
2025-10-26T21:24:58.161Z,1761513898.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.338989 m,
      nav range: 402.386444 m,
      bearing: 39.878595 deg,
      approach rate: -0.697180 m/s,
      LOS rate: 0.006102 deg/s,
      cmd heading: 40.658166 deg,
      new cmd heading: 40.665116 deg.

2025-10-26T21:24:58.162Z,1761513898.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.709740 target range: 405.338989 and range: 407.90 m.
2025-10-26T21:24:58.324Z,1761513898.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768456
2025-10-26T21:24:58.573Z,1761513898.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757001,-0.647589,-0.087053],[0.653210,0.746686,0.125610],[-0.016342,-0.151951,0.988253]]
2025-10-26T21:24:58.582Z,1761513898.582 [DAT](INFO): DAT read: 21:24:56.7405 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 413,-0.35,-1.653, 3.127,-1.428,-2.004, PHS= 0.454,-1.107, 0.532, RAW= 152.4,   1.5, CAL= 151.2,   0.9, ROT= 358.8,  -0.9

2025-10-26T21:24:58.584Z,1761513898.584 [DAT](INFO): got valid direction response:
 21:24:56.7405 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 413,-0.35,-1.653, 3.127,-1.428,-2.004, PHS= 0.454,-1.107, 0.532, RAW= 152.4,   1.5, CAL= 151.2,   0.9, ROT= 358.8,  -0.9

2025-10-26T21:24:58.585Z,1761513898.585 [DAT](INFO): DAT read: Bearing 186.6,  -2.3 (Local)

2025-10-26T21:24:58.586Z,1761513898.586 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.6,  -2.3 (Local)

2025-10-26T21:24:58.587Z,1761513898.587 [DAT](INFO): DAT read: Range 11 to 50 : 405.5 m  (Round-trip  540.7 ms) speed  0.6 m/s

2025-10-26T21:24:58.588Z,1761513898.588 [DAT](INFO): DAT read: user:211>

2025-10-26T21:24:58.589Z,1761513898.589 [DAT](INFO): DAT read: Tx time:21:24:57.8457

2025-10-26T21:24:58.589Z,1761513898.589 [DAT](INFO): Ping request sent.
2025-10-26T21:24:58.589Z,1761513898.589 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:24:58.589Z,1761513898.589 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:24:58.590Z,1761513898.590 [DAT](INFO): direction in FSK: [0.999657,-0.020940,0.015707]
2025-10-26T21:24:58.590Z,1761513898.590 [DAT](INFO): publishing transmit ping time
2025-10-26T21:24:58.591Z,1761513898.591 [DAT](INFO): publishing direction and range info
2025-10-26T21:24:58.602Z,1761513898.602 [DAT](INFO): publishing transmit ping time
2025-10-26T21:24:58.602Z,1761513898.602 [DAT](INFO): publishing direction and range info
2025-10-26T21:24:58.734Z,1761513898.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 405.500000 m,
      deltaT: 4.032124 s,
      deltaX: -2.399994 m,
      approachRate: -0.595218 m/s,
      rangeRepo size: 4

2025-10-26T21:24:58.741Z,1761513898.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 402.951599 m,
      bearing: 39.741511 deg,
      lat: 36.779322 deg,
      lon: -121.858905 deg,
      deltaT: 4.032124 s,
      deltaX: -2.387390 m,
      approachRate: -0.592092 m/s,
      posRepo size: 4

2025-10-26T21:24:58.742Z,1761513898.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.95 m.
2025-10-26T21:24:58.748Z,1761513898.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.951599 m,
      nav range: 402.947479 m,
      bearing: 39.740132 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006102 deg/s,
      cmd heading: 40.665116 deg,
      new cmd heading: 40.675646 deg.

2025-10-26T21:24:58.749Z,1761513898.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.709924 target range: 402.951599 and range: 405.50 m.
2025-10-26T21:24:59.016Z,1761513899.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756701,-0.647689,-0.088895],[0.653609,0.746568,0.124225],[-0.014093,-0.152104,0.988264]]
2025-10-26T21:24:59.035Z,1761513899.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.95 m.
2025-10-26T21:24:59.037Z,1761513899.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.951599 m,
      nav range: 402.707123 m,
      bearing: 39.742383 deg,
      approach rate: -0.797898 m/s,
      LOS rate: 0.007479 deg/s,
      cmd heading: 40.675645 deg,
      new cmd heading: 40.682403 deg.

2025-10-26T21:24:59.038Z,1761513899.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710042 target range: 402.951599 and range: 405.50 m.
2025-10-26T21:24:59.440Z,1761513899.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756412,-0.647758,-0.090837],[0.653992,0.746486,0.122694],[-0.011667,-0.152214,0.988279]]
2025-10-26T21:24:59.501Z,1761513899.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:24:59.503Z,1761513899.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.95 m.
2025-10-26T21:24:59.506Z,1761513899.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.951599 m,
      nav range: 402.398499 m,
      bearing: 39.745257 deg,
      approach rate: -0.658769 m/s,
      LOS rate: 0.006139 deg/s,
      cmd heading: 40.682403 deg,
      new cmd heading: 40.691031 deg.

2025-10-26T21:24:59.507Z,1761513899.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710192 target range: 402.951599 and range: 405.50 m.
2025-10-26T21:24:59.585Z,1761513899.585 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:24:59.585Z,1761513899.585 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:24:59.586Z,1761513899.586 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:24:59.819Z,1761513899.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756082,-0.647841,-0.092962],[0.654413,0.746355,0.121236],[-0.009159,-0.152500,0.988261]]
2025-10-26T21:24:59.837Z,1761513899.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247740
2025-10-26T21:24:59.859Z,1761513899.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.95 m.
2025-10-26T21:24:59.877Z,1761513899.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.951599 m,
      nav range: 402.142700 m,
      bearing: 39.747811 deg,
      approach rate: -0.719934 m/s,
      LOS rate: 0.007194 deg/s,
      cmd heading: 40.691030 deg,
      new cmd heading: 40.698697 deg.

2025-10-26T21:24:59.878Z,1761513899.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710326 target range: 402.951599 and range: 405.50 m.
2025-10-26T21:25:00.088Z,1761513900.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499396
2025-10-26T21:25:00.230Z,1761513900.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755814,-0.647784,-0.095504],[0.654752,0.746176,0.120508],[-0.006800,-0.153613,0.988108]]
2025-10-26T21:25:00.264Z,1761513900.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.95 m.
2025-10-26T21:25:00.266Z,1761513900.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.951599 m,
      nav range: 401.877106 m,
      bearing: 39.750449 deg,
      approach rate: -0.682920 m/s,
      LOS rate: 0.006788 deg/s,
      cmd heading: 40.698696 deg,
      new cmd heading: 40.706616 deg.

2025-10-26T21:25:00.267Z,1761513900.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710464 target range: 402.951599 and range: 405.50 m.
2025-10-26T21:25:00.340Z,1761513900.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751510
2025-10-26T21:25:00.593Z,1761513900.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003632
2025-10-26T21:25:00.638Z,1761513900.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755616,-0.647721,-0.097477],[0.654999,0.746139,0.119386],[-0.004597,-0.154057,0.988051]]
2025-10-26T21:25:00.701Z,1761513900.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.95 m.
2025-10-26T21:25:00.705Z,1761513900.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.951599 m,
      nav range: 401.574127 m,
      bearing: 39.752416 deg,
      approach rate: -0.669155 m/s,
      LOS rate: 0.004347 deg/s,
      cmd heading: 40.706616 deg,
      new cmd heading: 40.712520 deg.

2025-10-26T21:25:00.708Z,1761513900.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710568 target range: 402.951599 and range: 405.50 m.
2025-10-26T21:25:00.845Z,1761513900.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256225
2025-10-26T21:25:01.068Z,1761513901.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.95 m.
2025-10-26T21:25:01.070Z,1761513901.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.951599 m,
      nav range: 401.314667 m,
      bearing: 39.754103 deg,
      approach rate: -0.706207 m/s,
      LOS rate: 0.004594 deg/s,
      cmd heading: 40.712521 deg,
      new cmd heading: 40.717584 deg.

2025-10-26T21:25:01.074Z,1761513901.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710656 target range: 402.951599 and range: 405.50 m.
2025-10-26T21:25:01.098Z,1761513901.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508693
2025-10-26T21:25:01.348Z,1761513901.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759368
2025-10-26T21:25:01.442Z,1761513901.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755612,-0.647201,-0.100905],[0.655019,0.746442,0.117365],[-0.000639,-0.154777,0.987949]]
2025-10-26T21:25:01.520Z,1761513901.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:01.525Z,1761513901.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.95 m.
2025-10-26T21:25:01.528Z,1761513901.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.951599 m,
      nav range: 401.020294 m,
      bearing: 39.756017 deg,
      approach rate: -0.643141 m/s,
      LOS rate: 0.004186 deg/s,
      cmd heading: 40.717585 deg,
      new cmd heading: 40.723333 deg.

2025-10-26T21:25:01.529Z,1761513901.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710756 target range: 402.951599 and range: 405.50 m.
2025-10-26T21:25:01.601Z,1761513901.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012257
2025-10-26T21:25:01.852Z,1761513901.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263327
2025-10-26T21:25:01.900Z,1761513901.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.95 m.
2025-10-26T21:25:01.902Z,1761513901.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.951599 m,
      nav range: 400.751526 m,
      bearing: 39.756939 deg,
      approach rate: -0.718039 m/s,
      LOS rate: 0.002464 deg/s,
      cmd heading: 40.723333 deg,
      new cmd heading: 40.726099 deg.

2025-10-26T21:25:01.904Z,1761513901.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710805 target range: 402.951599 and range: 405.50 m.
2025-10-26T21:25:02.104Z,1761513902.104 [DAT](INFO): DAT read: Rx Time:21:25:00.7866

2025-10-26T21:25:02.105Z,1761513902.105 [DAT](INFO): Rx dataTimestamp_ set to:1761513902.104557
2025-10-26T21:25:02.105Z,1761513902.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516426
2025-10-26T21:25:02.254Z,1761513902.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755430,-0.646764,-0.104983],[0.655220,0.746480,0.115995],[0.003346,-0.156413,0.987686]]
2025-10-26T21:25:02.273Z,1761513902.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.95 m.
2025-10-26T21:25:02.275Z,1761513902.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.951599 m,
      nav range: 400.496277 m,
      bearing: 39.757804 deg,
      approach rate: -0.684160 m/s,
      LOS rate: 0.002321 deg/s,
      cmd heading: 40.726099 deg,
      new cmd heading: 40.728697 deg.

2025-10-26T21:25:02.276Z,1761513902.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710850 target range: 402.951599 and range: 405.50 m.
2025-10-26T21:25:02.357Z,1761513902.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767573
2025-10-26T21:25:02.614Z,1761513902.614 [DAT](INFO): DAT read: 21:25:00.7866 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 407,-0.19, 2.500, 1.313, 2.751, 2.390, PHS= 0.213,-1.031, 0.317, RAW= 154.0,   7.8, CAL= 153.5,   8.2, ROT= 356.5,  -8.2

2025-10-26T21:25:02.623Z,1761513902.623 [DAT](INFO): got valid direction response:
 21:25:00.7866 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 407,-0.19, 2.500, 1.313, 2.751, 2.390, PHS= 0.213,-1.031, 0.317, RAW= 154.0,   7.8, CAL= 153.5,   8.2, ROT= 356.5,  -8.2

2025-10-26T21:25:02.624Z,1761513902.624 [DAT](INFO): DAT read: Bearing 194.1,  -4.3 (Local)

2025-10-26T21:25:02.625Z,1761513902.625 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.1,  -4.3 (Local)

2025-10-26T21:25:02.626Z,1761513902.626 [DAT](INFO): DAT read: Range 11 to 50 : 402.6 m  (Round-trip  536.8 ms) speed  0.4 m/s

2025-10-26T21:25:02.627Z,1761513902.627 [DAT](INFO): DAT read: user:212>

2025-10-26T21:25:02.648Z,1761513902.648 [DAT](INFO): DAT read: Tx time:21:25:01.8957

2025-10-26T21:25:02.649Z,1761513902.649 [DAT](INFO): Ping request sent.
2025-10-26T21:25:02.649Z,1761513902.649 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:25:02.649Z,1761513902.649 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:25:02.650Z,1761513902.650 [DAT](INFO): direction in FSK: [0.987930,-0.060424,0.142629]
2025-10-26T21:25:02.650Z,1761513902.650 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:02.650Z,1761513902.650 [DAT](INFO): publishing direction and range info
2025-10-26T21:25:02.654Z,1761513902.654 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:02.654Z,1761513902.654 [DAT](INFO): publishing direction and range info
2025-10-26T21:25:02.713Z,1761513902.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755283,-0.646669,-0.106614],[0.655378,0.746482,0.115080],[0.005167,-0.156791,0.987618]]
2025-10-26T21:25:02.835Z,1761513902.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 402.600006 m,
      deltaT: 4.031836 s,
      deltaX: -2.899994 m,
      approachRate: -0.719274 m/s,
      rangeRepo size: 4

2025-10-26T21:25:02.841Z,1761513902.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 400.069000 m,
      bearing: 38.784237 deg,
      lat: 36.779323 deg,
      lon: -121.858913 deg,
      deltaT: 4.031836 s,
      deltaX: -2.882599 m,
      approachRate: -0.714959 m/s,
      posRepo size: 4

2025-10-26T21:25:02.842Z,1761513902.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.07 m.
2025-10-26T21:25:02.849Z,1761513902.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.069000 m,
      nav range: 399.799530 m,
      bearing: 39.671251 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002321 deg/s,
      cmd heading: 40.728698 deg,
      new cmd heading: 40.732607 deg.

2025-10-26T21:25:02.849Z,1761513902.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710918 target range: 400.069000 and range: 402.60 m.
2025-10-26T21:25:03.163Z,1761513903.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754840,-0.646515,-0.110613],[0.655850,0.746214,0.114125],[0.008758,-0.158692,0.987289]]
2025-10-26T21:25:03.189Z,1761513903.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.07 m.
2025-10-26T21:25:03.194Z,1761513903.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.069000 m,
      nav range: 399.554474 m,
      bearing: 39.671837 deg,
      approach rate: -0.691479 m/s,
      LOS rate: 0.001654 deg/s,
      cmd heading: 40.732608 deg,
      new cmd heading: 40.734367 deg.

2025-10-26T21:25:03.195Z,1761513903.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710949 target range: 400.069000 and range: 402.60 m.
2025-10-26T21:25:03.562Z,1761513903.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754522,-0.646589,-0.112332],[0.656190,0.746038,0.113326],[0.010528,-0.159218,0.987187]]
2025-10-26T21:25:03.625Z,1761513903.625 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:03.627Z,1761513903.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.07 m.
2025-10-26T21:25:03.630Z,1761513903.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.069000 m,
      nav range: 399.264130 m,
      bearing: 39.671609 deg,
      approach rate: -0.661952 m/s,
      LOS rate: -0.000521 deg/s,
      cmd heading: 40.734367 deg,
      new cmd heading: 40.733681 deg.

2025-10-26T21:25:03.631Z,1761513903.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710937 target range: 400.069000 and range: 402.60 m.
2025-10-26T21:25:03.868Z,1761513903.868 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:25:03.868Z,1761513903.868 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:25:03.869Z,1761513903.869 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:25:03.977Z,1761513903.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753982,-0.646900,-0.114154],[0.656778,0.745661,0.112398],[0.012410,-0.159720,0.987084]]
2025-10-26T21:25:03.995Z,1761513903.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.07 m.
2025-10-26T21:25:03.997Z,1761513903.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.069000 m,
      nav range: 399.020294 m,
      bearing: 39.671388 deg,
      approach rate: -0.663516 m/s,
      LOS rate: -0.000600 deg/s,
      cmd heading: 40.733681 deg,
      new cmd heading: 40.733019 deg.

2025-10-26T21:25:03.998Z,1761513903.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710925 target range: 400.069000 and range: 402.60 m.
2025-10-26T21:25:04.120Z,1761513904.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471626
2025-10-26T21:25:04.372Z,1761513904.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723720
2025-10-26T21:25:04.380Z,1761513904.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753500,-0.647143,-0.115947],[0.657294,0.745325,0.111601],[0.014197,-0.160303,0.986966]]
2025-10-26T21:25:04.411Z,1761513904.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.07 m.
2025-10-26T21:25:04.414Z,1761513904.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.069000 m,
      nav range: 398.747040 m,
      bearing: 39.671113 deg,
      approach rate: -0.656536 m/s,
      LOS rate: -0.000662 deg/s,
      cmd heading: 40.733018 deg,
      new cmd heading: 40.732191 deg.

2025-10-26T21:25:04.415Z,1761513904.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710911 target range: 400.069000 and range: 402.60 m.
2025-10-26T21:25:04.625Z,1761513904.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976160
2025-10-26T21:25:04.782Z,1761513904.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752952,-0.647512,-0.117441],[0.657885,0.744947,0.110640],[0.015846,-0.160569,0.986897]]
2025-10-26T21:25:04.833Z,1761513904.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.07 m.
2025-10-26T21:25:04.838Z,1761513904.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.069000 m,
      nav range: 398.468414 m,
      bearing: 39.670454 deg,
      approach rate: -0.659743 m/s,
      LOS rate: -0.001561 deg/s,
      cmd heading: 40.732192 deg,
      new cmd heading: 40.730214 deg.

2025-10-26T21:25:04.839Z,1761513904.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710876 target range: 400.069000 and range: 402.60 m.
2025-10-26T21:25:04.877Z,1761513904.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228260
2025-10-26T21:25:05.128Z,1761513905.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479729
2025-10-26T21:25:05.198Z,1761513905.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752202,-0.648145,-0.118748],[0.658704,0.744383,0.109561],[0.017382,-0.160632,0.986861]]
2025-10-26T21:25:05.220Z,1761513905.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.07 m.
2025-10-26T21:25:05.222Z,1761513905.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.069000 m,
      nav range: 398.213318 m,
      bearing: 39.669810 deg,
      approach rate: -0.660312 m/s,
      LOS rate: -0.001670 deg/s,
      cmd heading: 40.730214 deg,
      new cmd heading: 40.728279 deg.

2025-10-26T21:25:05.248Z,1761513905.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710843 target range: 400.069000 and range: 402.60 m.
2025-10-26T21:25:05.380Z,1761513905.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731685
2025-10-26T21:25:05.590Z,1761513905.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751521,-0.648671,-0.120178],[0.659436,0.743887,0.108522],[0.019004,-0.160806,0.986803]]
2025-10-26T21:25:05.632Z,1761513905.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983745
2025-10-26T21:25:05.638Z,1761513905.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:05.640Z,1761513905.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.07 m.
2025-10-26T21:25:05.642Z,1761513905.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.069000 m,
      nav range: 397.941010 m,
      bearing: 39.668650 deg,
      approach rate: -0.648134 m/s,
      LOS rate: -0.002761 deg/s,
      cmd heading: 40.728278 deg,
      new cmd heading: 40.724798 deg.

2025-10-26T21:25:05.645Z,1761513905.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710782 target range: 400.069000 and range: 402.60 m.
2025-10-26T21:25:05.885Z,1761513905.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236284
2025-10-26T21:25:05.996Z,1761513905.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750494,-0.649641,-0.121346],[0.660557,0.743090,0.107152],[0.020560,-0.160573,0.986810]]
2025-10-26T21:25:06.014Z,1761513906.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.07 m.
2025-10-26T21:25:06.017Z,1761513906.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.069000 m,
      nav range: 397.695862 m,
      bearing: 39.667552 deg,
      approach rate: -0.654761 m/s,
      LOS rate: -0.002936 deg/s,
      cmd heading: 40.724798 deg,
      new cmd heading: 40.721501 deg.

2025-10-26T21:25:06.018Z,1761513906.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710724 target range: 400.069000 and range: 402.60 m.
2025-10-26T21:25:06.137Z,1761513906.137 [DAT](INFO): DAT read: Rx Time:21:25:04.8341

2025-10-26T21:25:06.138Z,1761513906.138 [DAT](INFO): Rx dataTimestamp_ set to:1761513906.137406
2025-10-26T21:25:06.139Z,1761513906.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489833
2025-10-26T21:25:06.388Z,1761513906.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.739679
2025-10-26T21:25:06.400Z,1761513906.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749675,-0.650379,-0.122452],[0.661440,0.742478,0.105942],[0.022016,-0.160416,0.986804]]
2025-10-26T21:25:06.429Z,1761513906.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.07 m.
2025-10-26T21:25:06.432Z,1761513906.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.069000 m,
      nav range: 397.425507 m,
      bearing: 39.666292 deg,
      approach rate: -0.651331 m/s,
      LOS rate: -0.003037 deg/s,
      cmd heading: 40.721499 deg,
      new cmd heading: 40.717717 deg.

2025-10-26T21:25:06.433Z,1761513906.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710658 target range: 400.069000 and range: 402.60 m.
2025-10-26T21:25:06.656Z,1761513906.656 [DAT](INFO): DAT read: 21:25:04.8341 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 408,-0.25,-0.021,-1.436, 0.258,-0.311, PHS= 0.392,-1.081, 0.524, RAW= 154.3,   2.2, CAL= 153.1,   1.4, ROT= 356.9,  -1.4

2025-10-26T21:25:06.657Z,1761513906.657 [DAT](INFO): got valid direction response:
 21:25:04.8341 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 408,-0.25,-0.021,-1.436, 0.258,-0.311, PHS= 0.392,-1.081, 0.524, RAW= 154.3,   2.2, CAL= 153.1,   1.4, ROT= 356.9,  -1.4

2025-10-26T21:25:06.658Z,1761513906.658 [DAT](INFO): DAT read: Bearing 187.7,  -2.0 (Local)

2025-10-26T21:25:06.658Z,1761513906.658 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.7,  -2.0 (Local)

2025-10-26T21:25:06.664Z,1761513906.664 [DAT](INFO): DAT read: Range 11 to 50 : 400.7 m  (Round-trip  534.3 ms) speed  0.4 m/s

2025-10-26T21:25:06.665Z,1761513906.665 [DAT](INFO): DAT read: user:213>

2025-10-26T21:25:06.665Z,1761513906.665 [DAT](INFO): DAT read: Tx time:21:25:05.9472

2025-10-26T21:25:06.666Z,1761513906.666 [DAT](INFO): Ping request sent.
2025-10-26T21:25:06.666Z,1761513906.666 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:25:06.666Z,1761513906.666 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:25:06.667Z,1761513906.667 [DAT](INFO): direction in FSK: [0.998239,-0.054063,0.024432]
2025-10-26T21:25:06.672Z,1761513906.672 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:06.672Z,1761513906.672 [DAT](INFO): publishing direction and range info
2025-10-26T21:25:06.683Z,1761513906.683 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:06.692Z,1761513906.692 [DAT](INFO): publishing direction and range info
2025-10-26T21:25:06.802Z,1761513906.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749020,-0.650891,-0.123733],[0.662139,0.741944,0.105310],[0.023257,-0.160807,0.986712]]
2025-10-26T21:25:06.824Z,1761513906.824 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:25:06.900Z,1761513906.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 400.700012 m,
      deltaT: 4.034686 s,
      deltaX: -1.899994 m,
      approachRate: -0.470915 m/s,
      rangeRepo size: 4

2025-10-26T21:25:06.902Z,1761513906.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 398.182526 m,
      bearing: 38.639251 deg,
      lat: 36.779323 deg,
      lon: -121.858913 deg,
      deltaT: 4.034686 s,
      deltaX: -1.886475 m,
      approachRate: -0.467564 m/s,
      posRepo size: 4

2025-10-26T21:25:06.903Z,1761513906.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.18 m.
2025-10-26T21:25:06.914Z,1761513906.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.182526 m,
      nav range: 397.151917 m,
      bearing: 39.665240 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003037 deg/s,
      cmd heading: 40.717715 deg,
      new cmd heading: 40.713541 deg.

2025-10-26T21:25:06.915Z,1761513906.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710585 target range: 398.182526 and range: 400.70 m.
2025-10-26T21:25:07.236Z,1761513907.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748251,-0.651559,-0.124864],[0.662955,0.741380,0.104145],[0.024715,-0.160706,0.986693]]
2025-10-26T21:25:07.258Z,1761513907.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.18 m.
2025-10-26T21:25:07.289Z,1761513907.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.182526 m,
      nav range: 396.896149 m,
      bearing: 39.664214 deg,
      approach rate: -0.689249 m/s,
      LOS rate: -0.002767 deg/s,
      cmd heading: 40.713542 deg,
      new cmd heading: 40.710461 deg.

2025-10-26T21:25:07.290Z,1761513907.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710532 target range: 398.182526 and range: 400.70 m.
2025-10-26T21:25:07.650Z,1761513907.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747839,-0.651787,-0.126136],[0.663370,0.741103,0.103477],[0.026035,-0.161059,0.986601]]
2025-10-26T21:25:07.720Z,1761513907.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:07.723Z,1761513907.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.18 m.
2025-10-26T21:25:07.734Z,1761513907.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.182526 m,
      nav range: 396.608246 m,
      bearing: 39.663958 deg,
      approach rate: -0.619956 m/s,
      LOS rate: -0.000551 deg/s,
      cmd heading: 40.710461 deg,
      new cmd heading: 40.709694 deg.

2025-10-26T21:25:07.735Z,1761513907.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710518 target range: 398.182526 and range: 400.70 m.
2025-10-26T21:25:07.828Z,1761513907.828 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:25:07.904Z,1761513907.904 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:25:07.904Z,1761513907.904 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:25:07.904Z,1761513907.904 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:25:08.045Z,1761513908.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747459,-0.651949,-0.127545],[0.663742,0.740852,0.102883],[0.027417,-0.161558,0.986482]]
2025-10-26T21:25:08.063Z,1761513908.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.18 m.
2025-10-26T21:25:08.086Z,1761513908.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.182526 m,
      nav range: 396.370209 m,
      bearing: 39.663728 deg,
      approach rate: -0.700455 m/s,
      LOS rate: -0.000677 deg/s,
      cmd heading: 40.709693 deg,
      new cmd heading: 40.709003 deg.

2025-10-26T21:25:08.087Z,1761513908.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710506 target range: 398.182526 and range: 400.70 m.
2025-10-26T21:25:08.152Z,1761513908.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486580
2025-10-26T21:25:08.404Z,1761513908.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738545
2025-10-26T21:25:08.454Z,1761513908.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747266,-0.651892,-0.128954],[0.663900,0.740781,0.102371],[0.028792,-0.162111,0.986352]]
2025-10-26T21:25:08.476Z,1761513908.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.18 m.
2025-10-26T21:25:08.479Z,1761513908.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.182526 m,
      nav range: 396.101898 m,
      bearing: 39.663459 deg,
      approach rate: -0.648339 m/s,
      LOS rate: -0.000651 deg/s,
      cmd heading: 40.709003 deg,
      new cmd heading: 40.708196 deg.

2025-10-26T21:25:08.480Z,1761513908.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710492 target range: 398.182526 and range: 400.70 m.
2025-10-26T21:25:08.656Z,1761513908.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990498
2025-10-26T21:25:08.850Z,1761513908.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747282,-0.651647,-0.130099],[0.663832,0.740899,0.101958],[0.029949,-0.162555,0.986245]]
2025-10-26T21:25:08.904Z,1761513908.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.18 m.
2025-10-26T21:25:08.906Z,1761513908.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.182526 m,
      nav range: 395.825256 m,
      bearing: 39.664697 deg,
      approach rate: -0.647800 m/s,
      LOS rate: 0.002900 deg/s,
      cmd heading: 40.708197 deg,
      new cmd heading: 40.711913 deg.

2025-10-26T21:25:08.908Z,1761513908.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242653
2025-10-26T21:25:08.909Z,1761513908.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710557 target range: 398.182526 and range: 400.70 m.
2025-10-26T21:25:09.160Z,1761513909.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494570
2025-10-26T21:25:09.258Z,1761513909.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747175,-0.651494,-0.131468],[0.663884,0.740941,0.101311],[0.031407,-0.162977,0.986130]]
2025-10-26T21:25:09.276Z,1761513909.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.18 m.
2025-10-26T21:25:09.279Z,1761513909.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.182526 m,
      nav range: 395.584961 m,
      bearing: 39.665770 deg,
      approach rate: -0.644426 m/s,
      LOS rate: 0.002878 deg/s,
      cmd heading: 40.711913 deg,
      new cmd heading: 40.715133 deg.

2025-10-26T21:25:09.282Z,1761513909.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710613 target range: 398.182526 and range: 400.70 m.
2025-10-26T21:25:09.413Z,1761513909.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746780
2025-10-26T21:25:09.661Z,1761513909.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747255,-0.651150,-0.132717],[0.663734,0.741137,0.100865],[0.032683,-0.163461,0.986008]]
2025-10-26T21:25:09.665Z,1761513909.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999040
2025-10-26T21:25:09.760Z,1761513909.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:09.762Z,1761513909.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.18 m.
2025-10-26T21:25:09.770Z,1761513909.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.182526 m,
      nav range: 395.283173 m,
      bearing: 39.669123 deg,
      approach rate: -0.620875 m/s,
      LOS rate: 0.006905 deg/s,
      cmd heading: 40.715133 deg,
      new cmd heading: 40.725202 deg.

2025-10-26T21:25:09.771Z,1761513909.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710789 target range: 398.182526 and range: 400.70 m.
2025-10-26T21:25:09.916Z,1761513909.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250585
2025-10-26T21:25:10.104Z,1761513910.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747293,-0.650892,-0.133764],[0.663628,0.741318,0.100229],[0.033923,-0.163670,0.985932]]
2025-10-26T21:25:10.122Z,1761513910.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.18 m.
2025-10-26T21:25:10.125Z,1761513910.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.182526 m,
      nav range: 395.050201 m,
      bearing: 39.671720 deg,
      approach rate: -0.647074 m/s,
      LOS rate: 0.007216 deg/s,
      cmd heading: 40.725201 deg,
      new cmd heading: 40.732995 deg.

2025-10-26T21:25:10.126Z,1761513910.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710925 target range: 398.182526 and range: 400.70 m.
2025-10-26T21:25:10.170Z,1761513910.170 [DAT](INFO): DAT read: Rx Time:21:25:08.8820

2025-10-26T21:25:10.172Z,1761513910.172 [DAT](INFO): Rx dataTimestamp_ set to:1761513910.170490
2025-10-26T21:25:10.173Z,1761513910.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507099
2025-10-26T21:25:10.420Z,1761513910.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754537
2025-10-26T21:25:10.490Z,1761513910.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747389,-0.650556,-0.134855],[0.663459,0.741532,0.099765],[0.035097,-0.164034,0.985830]]
2025-10-26T21:25:10.519Z,1761513910.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.18 m.
2025-10-26T21:25:10.538Z,1761513910.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.182526 m,
      nav range: 394.800079 m,
      bearing: 39.674517 deg,
      approach rate: -0.631124 m/s,
      LOS rate: 0.007064 deg/s,
      cmd heading: 40.732994 deg,
      new cmd heading: 40.741392 deg.

2025-10-26T21:25:10.538Z,1761513910.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711071 target range: 398.182526 and range: 400.70 m.
2025-10-26T21:25:10.709Z,1761513910.709 [DAT](INFO): DAT read: 21:25:08.8820 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 406,-0.13,-1.874, 2.998,-1.605,-2.235, PHS= 0.463,-1.005, 0.586, RAW= 154.0,  -0.6, CAL= 152.9,  -1.6, ROT= 357.1,   1.6

2025-10-26T21:25:10.711Z,1761513910.711 [DAT](INFO): got valid direction response:
 21:25:08.8820 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 406,-0.13,-1.874, 2.998,-1.605,-2.235, PHS= 0.463,-1.005, 0.586, RAW= 154.0,  -0.6, CAL= 152.9,  -1.6, ROT= 357.1,   1.6

2025-10-26T21:25:10.717Z,1761513910.717 [DAT](INFO): DAT read: Bearing 185.2,  -0.6 (Local)

2025-10-26T21:25:10.717Z,1761513910.717 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.2,  -0.6 (Local)

2025-10-26T21:25:10.719Z,1761513910.719 [DAT](INFO): DAT read: Range 11 to 50 : 397.9 m  (Round-trip  530.6 ms) speed  0.6 m/s

2025-10-26T21:25:10.724Z,1761513910.724 [DAT](INFO): DAT read: user:214>

2025-10-26T21:25:10.725Z,1761513910.725 [DAT](INFO): DAT read: Tx time:21:25:09.9957

2025-10-26T21:25:10.726Z,1761513910.726 [DAT](INFO): Ping request sent.
2025-10-26T21:25:10.726Z,1761513910.726 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:25:10.726Z,1761513910.726 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:25:10.732Z,1761513910.732 [DAT](INFO): direction in FSK: [0.998330,-0.050573,-0.027922]
2025-10-26T21:25:10.733Z,1761513910.733 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:10.733Z,1761513910.733 [DAT](INFO): publishing direction and range info
2025-10-26T21:25:10.760Z,1761513910.760 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:10.760Z,1761513910.760 [DAT](INFO): publishing direction and range info
2025-10-26T21:25:10.894Z,1761513910.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748163,-0.649388,-0.136190],[0.662535,0.742304,0.100161],[0.036051,-0.165167,0.985606]]
2025-10-26T21:25:10.998Z,1761513910.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 397.899994 m,
      deltaT: 4.031205 s,
      deltaX: -2.800018 m,
      approachRate: -0.694586 m/s,
      rangeRepo size: 4

2025-10-26T21:25:11.000Z,1761513911.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 395.398956 m,
      bearing: 38.402312 deg,
      lat: 36.779326 deg,
      lon: -121.858972 deg,
      deltaT: 4.031205 s,
      deltaX: -2.783569 m,
      approachRate: -0.690506 m/s,
      posRepo size: 4

2025-10-26T21:25:11.001Z,1761513911.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m.
2025-10-26T21:25:11.004Z,1761513911.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.398956 m,
      nav range: 391.418213 m,
      bearing: 39.053503 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007064 deg/s,
      cmd heading: 40.741392 deg,
      new cmd heading: 40.751532 deg.

2025-10-26T21:25:11.005Z,1761513911.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711248 target range: 395.398956 and range: 397.90 m.
2025-10-26T21:25:11.324Z,1761513911.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749053,-0.648236,-0.136781],[0.661492,0.743228,0.100202],[0.036705,-0.165537,0.985520]]
2025-10-26T21:25:11.354Z,1761513911.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m.
2025-10-26T21:25:11.361Z,1761513911.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.398956 m,
      nav range: 391.195343 m,
      bearing: 39.056428 deg,
      approach rate: -0.625057 m/s,
      LOS rate: 0.008209 deg/s,
      cmd heading: 40.751531 deg,
      new cmd heading: 40.760313 deg.

2025-10-26T21:25:11.362Z,1761513911.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711402 target range: 395.398956 and range: 397.90 m.
2025-10-26T21:25:11.749Z,1761513911.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749550,-0.647600,-0.137073],[0.660881,0.743871,0.099457],[0.037556,-0.165136,0.985555]]
2025-10-26T21:25:11.789Z,1761513911.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:11.791Z,1761513911.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m.
2025-10-26T21:25:11.794Z,1761513911.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.398956 m,
      nav range: 390.913879 m,
      bearing: 39.061214 deg,
      approach rate: -0.644114 m/s,
      LOS rate: 0.010960 deg/s,
      cmd heading: 40.760312 deg,
      new cmd heading: 40.774679 deg.

2025-10-26T21:25:11.795Z,1761513911.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711652 target range: 395.398956 and range: 397.90 m.
2025-10-26T21:25:11.932Z,1761513911.932 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:25:11.933Z,1761513911.933 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:25:11.933Z,1761513911.933 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:25:12.139Z,1761513912.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750217,-0.646580,-0.138235],[0.660069,0.744568,0.099635],[0.038504,-0.165993,0.985375]]
2025-10-26T21:25:12.185Z,1761513912.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.458805
2025-10-26T21:25:12.194Z,1761513912.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m.
2025-10-26T21:25:12.197Z,1761513912.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.398956 m,
      nav range: 390.683655 m,
      bearing: 39.065169 deg,
      approach rate: -0.586515 m/s,
      LOS rate: 0.010081 deg/s,
      cmd heading: 40.774679 deg,
      new cmd heading: 40.786550 deg.

2025-10-26T21:25:12.198Z,1761513912.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711860 target range: 395.398956 and range: 397.90 m.
2025-10-26T21:25:12.436Z,1761513912.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710220
2025-10-26T21:25:12.554Z,1761513912.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750752,-0.645869,-0.138653],[0.659423,0.745179,0.099346],[0.039157,-0.166016,0.985345]]
2025-10-26T21:25:12.601Z,1761513912.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m.
2025-10-26T21:25:12.614Z,1761513912.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.398956 m,
      nav range: 390.415314 m,
      bearing: 39.069818 deg,
      approach rate: -0.642385 m/s,
      LOS rate: 0.011137 deg/s,
      cmd heading: 40.786550 deg,
      new cmd heading: 40.800507 deg.

2025-10-26T21:25:12.615Z,1761513912.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712103 target range: 395.398956 and range: 397.90 m.
2025-10-26T21:25:12.693Z,1761513912.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966728
2025-10-26T21:25:12.945Z,1761513912.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.218927
2025-10-26T21:25:12.992Z,1761513912.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751604,-0.644843,-0.138814],[0.658420,0.746101,0.099077],[0.039680,-0.165864,0.985350]]
2025-10-26T21:25:13.029Z,1761513913.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m.
2025-10-26T21:25:13.032Z,1761513913.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.398956 m,
      nav range: 390.141479 m,
      bearing: 39.073726 deg,
      approach rate: -0.640413 m/s,
      LOS rate: 0.009147 deg/s,
      cmd heading: 40.800507 deg,
      new cmd heading: 40.812241 deg.

2025-10-26T21:25:13.033Z,1761513913.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712308 target range: 395.398956 and range: 397.90 m.
2025-10-26T21:25:13.196Z,1761513913.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470220
2025-10-26T21:25:13.387Z,1761513913.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752568,-0.643514,-0.139755],[0.657278,0.747043,0.099561],[0.040333,-0.166784,0.985168]]
2025-10-26T21:25:13.405Z,1761513913.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m.
2025-10-26T21:25:13.408Z,1761513913.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.398956 m,
      nav range: 389.908783 m,
      bearing: 39.077102 deg,
      approach rate: -0.617770 m/s,
      LOS rate: 0.008967 deg/s,
      cmd heading: 40.812242 deg,
      new cmd heading: 40.822374 deg.

2025-10-26T21:25:13.409Z,1761513913.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712485 target range: 395.398956 and range: 397.90 m.
2025-10-26T21:25:13.449Z,1761513913.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722604
2025-10-26T21:25:13.701Z,1761513913.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975020
2025-10-26T21:25:13.790Z,1761513913.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753700,-0.642136,-0.139994],[0.655944,0.748235,0.099406],[0.040916,-0.166751,0.985150]]
2025-10-26T21:25:13.834Z,1761513913.834 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:13.837Z,1761513913.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m.
2025-10-26T21:25:13.839Z,1761513913.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.398956 m,
      nav range: 389.639984 m,
      bearing: 39.080156 deg,
      approach rate: -0.623289 m/s,
      LOS rate: 0.007087 deg/s,
      cmd heading: 40.822374 deg,
      new cmd heading: 40.831543 deg.

2025-10-26T21:25:13.840Z,1761513913.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712645 target range: 395.398956 and range: 397.90 m.
2025-10-26T21:25:13.953Z,1761513913.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226542
2025-10-26T21:25:14.205Z,1761513914.205 [DAT](INFO): DAT read: Rx Time:21:25:12.9268

2025-10-26T21:25:14.205Z,1761513914.205 [DAT](INFO): Rx dataTimestamp_ set to:1761513914.204736
2025-10-26T21:25:14.206Z,1761513914.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479423
2025-10-26T21:25:14.263Z,1761513914.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m.
2025-10-26T21:25:14.266Z,1761513914.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.398956 m,
      nav range: 389.388580 m,
      bearing: 39.083016 deg,
      approach rate: -0.624607 m/s,
      LOS rate: 0.007110 deg/s,
      cmd heading: 40.831544 deg,
      new cmd heading: 40.840129 deg.

2025-10-26T21:25:14.267Z,1761513914.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712795 target range: 395.398956 and range: 397.90 m.
2025-10-26T21:25:14.456Z,1761513914.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.730261
2025-10-26T21:25:14.598Z,1761513914.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755208,-0.640212,-0.140673],[0.654125,0.749897,0.098862],[0.042198,-0.166679,0.985108]]
2025-10-26T21:25:14.630Z,1761513914.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m.
2025-10-26T21:25:14.634Z,1761513914.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.398956 m,
      nav range: 389.144775 m,
      bearing: 39.085880 deg,
      approach rate: -0.623238 m/s,
      LOS rate: 0.007325 deg/s,
      cmd heading: 40.840129 deg,
      new cmd heading: 40.848725 deg.

2025-10-26T21:25:14.635Z,1761513914.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712945 target range: 395.398956 and range: 397.90 m.
2025-10-26T21:25:14.714Z,1761513914.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.987062
2025-10-26T21:25:14.983Z,1761513914.983 [DAT](INFO): DAT read: 21:25:12.9268 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 400, 0.20,-1.055,-2.443,-0.821,-1.367, PHS= 0.414,-1.030, 0.502, RAW= 152.9,   1.6, CAL= 151.7,   0.9, ROT= 358.3,  -0.9

2025-10-26T21:25:15.000Z,1761513915.000 [DAT](INFO): got valid direction response:
 21:25:12.9268 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 400, 0.20,-1.055,-2.443,-0.821,-1.367, PHS= 0.414,-1.030, 0.502, RAW= 152.9,   1.6, CAL= 151.7,   0.9, ROT= 358.3,  -0.9

2025-10-26T21:25:15.001Z,1761513915.001 [DAT](INFO): DAT read: Bearing 187.9,   0.6 (Local)

2025-10-26T21:25:15.002Z,1761513915.002 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.9,   0.6 (Local)

2025-10-26T21:25:15.003Z,1761513915.003 [DAT](INFO): DAT read: Range 11 to 50 : 395.2 m  (Round-trip  527.0 ms) speed  0.4 m/s

2025-10-26T21:25:15.004Z,1761513915.004 [DAT](INFO): DAT read: user:215>

2025-10-26T21:25:15.005Z,1761513915.005 [DAT](INFO): DAT read: Tx time:21:25:14.0457

2025-10-26T21:25:15.005Z,1761513915.005 [DAT](INFO): Ping request sent.
2025-10-26T21:25:15.005Z,1761513915.005 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:25:15.005Z,1761513915.005 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:25:15.006Z,1761513915.006 [DAT](INFO): direction in FSK: [0.999437,-0.029663,0.015707]
2025-10-26T21:25:15.006Z,1761513915.006 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:15.007Z,1761513915.007 [DAT](INFO): publishing direction and range info
2025-10-26T21:25:15.020Z,1761513915.020 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:15.020Z,1761513915.020 [DAT](INFO): publishing direction and range info
2025-10-26T21:25:15.157Z,1761513915.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 395.200012 m,
      deltaT: 4.286078 s,
      deltaX: -2.699982 m,
      approachRate: -0.629942 m/s,
      rangeRepo size: 4

2025-10-26T21:25:15.166Z,1761513915.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 392.716125 m,
      bearing: 39.368769 deg,
      lat: 36.779336 deg,
      lon: -121.858972 deg,
      deltaT: 4.286078 s,
      deltaX: -2.682831 m,
      approachRate: -0.625941 m/s,
      posRepo size: 4

2025-10-26T21:25:15.167Z,1761513915.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.72 m.
2025-10-26T21:25:15.184Z,1761513915.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.716125 m,
      nav range: 389.766418 m,
      bearing: 38.975795 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007325 deg/s,
      cmd heading: 40.848725 deg,
      new cmd heading: 40.860162 deg.

2025-10-26T21:25:15.186Z,1761513915.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713144 target range: 392.716125 and range: 395.20 m.
2025-10-26T21:25:15.435Z,1761513915.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756167,-0.638864,-0.141648],[0.652927,0.751012,0.098326],[0.043562,-0.166836,0.985022]]
2025-10-26T21:25:15.461Z,1761513915.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.72 m.
2025-10-26T21:25:15.465Z,1761513915.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.716125 m,
      nav range: 389.558319 m,
      bearing: 38.976412 deg,
      approach rate: -0.671148 m/s,
      LOS rate: 0.001992 deg/s,
      cmd heading: 40.860162 deg,
      new cmd heading: 40.862015 deg.

2025-10-26T21:25:15.466Z,1761513915.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713177 target range: 392.716125 and range: 395.20 m.
2025-10-26T21:25:15.838Z,1761513915.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756648,-0.638317,-0.141544],[0.652329,0.751641,0.097482],[0.044166,-0.166092,0.985121]]
2025-10-26T21:25:15.890Z,1761513915.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:15.892Z,1761513915.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.72 m.
2025-10-26T21:25:15.895Z,1761513915.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.716125 m,
      nav range: 389.281738 m,
      bearing: 38.974669 deg,
      approach rate: -0.641496 m/s,
      LOS rate: -0.004044 deg/s,
      cmd heading: 40.862013 deg,
      new cmd heading: 40.856782 deg.

2025-10-26T21:25:15.896Z,1761513915.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713085 target range: 392.716125 and range: 395.20 m.
2025-10-26T21:25:15.970Z,1761513915.970 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:25:15.970Z,1761513915.970 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:25:15.971Z,1761513915.971 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:25:16.224Z,1761513916.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219333
2025-10-26T21:25:16.242Z,1761513916.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756700,-0.638165,-0.141952],[0.652222,0.751803,0.096946],[0.044853,-0.165944,0.985115]]
2025-10-26T21:25:16.282Z,1761513916.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.72 m.
2025-10-26T21:25:16.285Z,1761513916.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.716125 m,
      nav range: 389.032227 m,
      bearing: 38.973100 deg,
      approach rate: -0.639015 m/s,
      LOS rate: -0.004023 deg/s,
      cmd heading: 40.856781 deg,
      new cmd heading: 40.852069 deg.

2025-10-26T21:25:16.286Z,1761513916.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713003 target range: 392.716125 and range: 395.20 m.
2025-10-26T21:25:16.477Z,1761513916.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471829
2025-10-26T21:25:16.648Z,1761513916.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756517,-0.638284,-0.142393],[0.652389,0.751728,0.096404],[0.045508,-0.165827,0.985104]]
2025-10-26T21:25:16.679Z,1761513916.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.72 m.
2025-10-26T21:25:16.686Z,1761513916.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.716125 m,
      nav range: 388.780640 m,
      bearing: 38.971506 deg,
      approach rate: -0.635296 m/s,
      LOS rate: -0.004027 deg/s,
      cmd heading: 40.852068 deg,
      new cmd heading: 40.847284 deg.

2025-10-26T21:25:16.731Z,1761513916.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725675
2025-10-26T21:25:16.734Z,1761513916.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712920 target range: 392.716125 and range: 395.20 m.
2025-10-26T21:25:16.980Z,1761513916.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975368
2025-10-26T21:25:17.050Z,1761513917.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756385,-0.638424,-0.142467],[0.652510,0.751705,0.095759],[0.045958,-0.165392,0.985157]]
2025-10-26T21:25:17.102Z,1761513917.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.72 m.
2025-10-26T21:25:17.104Z,1761513917.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.716125 m,
      nav range: 388.500885 m,
      bearing: 38.967676 deg,
      approach rate: -0.661260 m/s,
      LOS rate: -0.009059 deg/s,
      cmd heading: 40.847284 deg,
      new cmd heading: 40.835787 deg.

2025-10-26T21:25:17.105Z,1761513917.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712719 target range: 392.716125 and range: 395.20 m.
2025-10-26T21:25:17.232Z,1761513917.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227347
2025-10-26T21:25:17.456Z,1761513917.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755707,-0.639346,-0.141928],[0.653270,0.751228,0.094313],[0.046321,-0.163990,0.985374]]
2025-10-26T21:25:17.474Z,1761513917.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.72 m.
2025-10-26T21:25:17.477Z,1761513917.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.716125 m,
      nav range: 388.259369 m,
      bearing: 38.964331 deg,
      approach rate: -0.648047 m/s,
      LOS rate: -0.008983 deg/s,
      cmd heading: 40.835785 deg,
      new cmd heading: 40.825742 deg.

2025-10-26T21:25:17.478Z,1761513917.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712544 target range: 392.716125 and range: 395.20 m.
2025-10-26T21:25:17.484Z,1761513917.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479506
2025-10-26T21:25:17.739Z,1761513917.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733329
2025-10-26T21:25:17.858Z,1761513917.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754709,-0.640399,-0.142493],[0.654364,0.750397,0.093341],[0.047151,-0.163688,0.985385]]
2025-10-26T21:25:17.909Z,1761513917.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:17.915Z,1761513917.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.72 m.
2025-10-26T21:25:17.918Z,1761513917.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.716125 m,
      nav range: 387.960083 m,
      bearing: 38.959213 deg,
      approach rate: -0.678944 m/s,
      LOS rate: -0.011619 deg/s,
      cmd heading: 40.825741 deg,
      new cmd heading: 40.810376 deg.

2025-10-26T21:25:17.919Z,1761513917.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712275 target range: 392.716125 and range: 395.20 m.
2025-10-26T21:25:17.989Z,1761513917.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983781
2025-10-26T21:25:18.240Z,1761513918.240 [DAT](INFO): DAT read: Rx Time:21:25:16.9743

2025-10-26T21:25:18.241Z,1761513918.241 [DAT](INFO): Rx dataTimestamp_ set to:1761513918.240610
2025-10-26T21:25:18.241Z,1761513918.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236444
2025-10-26T21:25:18.266Z,1761513918.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753756,-0.641508,-0.142550],[0.655414,0.749638,0.092060],[0.047804,-0.162820,0.985497]]
2025-10-26T21:25:18.319Z,1761513918.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.72 m.
2025-10-26T21:25:18.325Z,1761513918.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.716125 m,
      nav range: 387.683167 m,
      bearing: 38.954412 deg,
      approach rate: -0.686249 m/s,
      LOS rate: -0.011906 deg/s,
      cmd heading: 40.810377 deg,
      new cmd heading: 40.795964 deg.

2025-10-26T21:25:18.326Z,1761513918.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712024 target range: 392.716125 and range: 395.20 m.
2025-10-26T21:25:18.492Z,1761513918.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487361
2025-10-26T21:25:18.677Z,1761513918.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752102,-0.643269,-0.143345],[0.657251,0.748140,0.091145],[0.048612,-0.162764,0.985467]]
2025-10-26T21:25:18.749Z,1761513918.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743578
2025-10-26T21:25:18.758Z,1761513918.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.72 m.
2025-10-26T21:25:18.782Z,1761513918.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.716125 m,
      nav range: 387.417572 m,
      bearing: 38.949702 deg,
      approach rate: -0.631380 m/s,
      LOS rate: -0.011204 deg/s,
      cmd heading: 40.795965 deg,
      new cmd heading: 40.781827 deg.

2025-10-26T21:25:18.787Z,1761513918.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711777 target range: 392.716125 and range: 395.20 m.
2025-10-26T21:25:19.002Z,1761513919.002 [DAT](INFO): DAT read: 21:25:16.9743 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 423,-0.07, 0.245,-1.219, 0.488,-0.162, PHS= 0.509,-1.011, 0.606, RAW= 153.1,  -1.3, CAL= 152.1,  -2.4, ROT= 357.9,   2.4

2025-10-26T21:25:19.004Z,1761513919.004 [DAT](INFO): got valid direction response:
 21:25:16.9743 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 423,-0.07, 0.245,-1.219, 0.488,-0.162, PHS= 0.509,-1.011, 0.606, RAW= 153.1,  -1.3, CAL= 152.1,  -2.4, ROT= 357.9,   2.4

2025-10-26T21:25:19.005Z,1761513919.005 [DAT](INFO): DAT read: Bearing 184.4,   1.1 (Local)

2025-10-26T21:25:19.006Z,1761513919.006 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.4,   1.1 (Local)

2025-10-26T21:25:19.009Z,1761513919.009 [DAT](INFO): DAT read: Range 11 to 50 : 393.3 m  (Round-trip  524.5 ms) speed  0.4 m/s

2025-10-26T21:25:19.010Z,1761513919.010 [DAT](INFO): DAT read: user:216>

2025-10-26T21:25:19.010Z,1761513919.010 [DAT](INFO): DAT read: Tx time:21:25:18.0957

2025-10-26T21:25:19.011Z,1761513919.011 [DAT](INFO): Ping request sent.
2025-10-26T21:25:19.011Z,1761513919.011 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:25:19.011Z,1761513919.011 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:25:19.012Z,1761513919.012 [DAT](INFO): direction in FSK: [0.998452,-0.036612,-0.041876]
2025-10-26T21:25:19.012Z,1761513919.012 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:19.013Z,1761513919.013 [DAT](INFO): publishing direction and range info
2025-10-26T21:25:19.020Z,1761513919.020 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:19.021Z,1761513919.021 [DAT](INFO): publishing direction and range info
2025-10-26T21:25:19.125Z,1761513919.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750929,-0.644488,-0.144017],[0.658522,0.747148,0.090099],[0.049535,-0.162497,0.985465]]
2025-10-26T21:25:19.230Z,1761513919.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 393.299988 m,
      deltaT: 4.036090 s,
      deltaX: -1.900024 m,
      approachRate: -0.470759 m/s,
      rangeRepo size: 4

2025-10-26T21:25:19.237Z,1761513919.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 390.830994 m,
      bearing: 38.787812 deg,
      lat: 36.779366 deg,
      lon: -121.858972 deg,
      deltaT: 4.036090 s,
      deltaX: -1.885132 m,
      approachRate: -0.467069 m/s,
      posRepo size: 4

2025-10-26T21:25:19.237Z,1761513919.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.83 m.
2025-10-26T21:25:19.244Z,1761513919.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.830994 m,
      nav range: 389.622345 m,
      bearing: 38.639803 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011204 deg/s,
      cmd heading: 40.781827 deg,
      new cmd heading: 40.765335 deg.

2025-10-26T21:25:19.245Z,1761513919.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711489 target range: 390.830994 and range: 393.30 m.
2025-10-26T21:25:19.537Z,1761513919.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748244,-0.647411,-0.144880],[0.661430,0.744906,0.087323],[0.051388,-0.161167,0.985588]]
2025-10-26T21:25:19.563Z,1761513919.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.83 m.
2025-10-26T21:25:19.566Z,1761513919.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.830994 m,
      nav range: 389.386292 m,
      bearing: 38.634651 deg,
      approach rate: -0.708431 m/s,
      LOS rate: -0.015474 deg/s,
      cmd heading: 40.765335 deg,
      new cmd heading: 40.749868 deg.

2025-10-26T21:25:19.567Z,1761513919.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711219 target range: 390.830994 and range: 393.30 m.
2025-10-26T21:25:19.938Z,1761513919.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747166,-0.648530,-0.145439],[0.662592,0.743972,0.086481],[0.052117,-0.160982,0.985580]]
2025-10-26T21:25:20.005Z,1761513920.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:20.007Z,1761513920.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.83 m.
2025-10-26T21:25:20.008Z,1761513920.008 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:25:20.008Z,1761513920.008 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:25:20.009Z,1761513920.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:25:20.029Z,1761513920.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.830994 m,
      nav range: 389.080566 m,
      bearing: 38.629998 deg,
      approach rate: -0.688606 m/s,
      LOS rate: -0.010489 deg/s,
      cmd heading: 40.749868 deg,
      new cmd heading: 40.735898 deg.

2025-10-26T21:25:20.030Z,1761513920.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710976 target range: 390.830994 and range: 393.30 m.
2025-10-26T21:25:20.260Z,1761513920.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249468
2025-10-26T21:25:20.349Z,1761513920.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746013,-0.649774,-0.145804],[0.663829,0.742997,0.085356],[0.052870,-0.160465,0.985624]]
2025-10-26T21:25:20.368Z,1761513920.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.83 m.
2025-10-26T21:25:20.371Z,1761513920.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.830994 m,
      nav range: 388.831604 m,
      bearing: 38.626140 deg,
      approach rate: -0.689398 m/s,
      LOS rate: -0.010690 deg/s,
      cmd heading: 40.735897 deg,
      new cmd heading: 40.724316 deg.

2025-10-26T21:25:20.372Z,1761513920.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710773 target range: 390.830994 and range: 393.30 m.
2025-10-26T21:25:20.512Z,1761513920.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501549
2025-10-26T21:25:20.767Z,1761513920.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755856
2025-10-26T21:25:20.819Z,1761513920.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744882,-0.650752,-0.147219],[0.665040,0.741899,0.085483],[0.053593,-0.161581,0.985403]]
2025-10-26T21:25:20.856Z,1761513920.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.83 m.
2025-10-26T21:25:20.858Z,1761513920.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.830994 m,
      nav range: 388.519562 m,
      bearing: 38.624033 deg,
      approach rate: -0.640324 m/s,
      LOS rate: -0.004327 deg/s,
      cmd heading: 40.724316 deg,
      new cmd heading: 40.717991 deg.

2025-10-26T21:25:20.875Z,1761513920.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710663 target range: 390.830994 and range: 393.30 m.
2025-10-26T21:25:21.016Z,1761513921.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005468
2025-10-26T21:25:21.165Z,1761513921.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744238,-0.651304,-0.148029],[0.665701,0.741353,0.085075],[0.054332,-0.161859,0.985317]]
2025-10-26T21:25:21.190Z,1761513921.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.83 m.
2025-10-26T21:25:21.193Z,1761513921.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.830994 m,
      nav range: 388.305450 m,
      bearing: 38.622556 deg,
      approach rate: -0.640163 m/s,
      LOS rate: -0.004417 deg/s,
      cmd heading: 40.717992 deg,
      new cmd heading: 40.713560 deg.

2025-10-26T21:25:21.194Z,1761513921.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710586 target range: 390.830994 and range: 393.30 m.
2025-10-26T21:25:21.269Z,1761513921.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257687
2025-10-26T21:25:21.520Z,1761513921.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509483
2025-10-26T21:25:21.558Z,1761513921.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743909,-0.651313,-0.149638],[0.666003,0.741023,0.085589],[0.055140,-0.163329,0.985030]]
2025-10-26T21:25:21.594Z,1761513921.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.83 m.
2025-10-26T21:25:21.597Z,1761513921.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.830994 m,
      nav range: 388.058502 m,
      bearing: 38.620837 deg,
      approach rate: -0.611553 m/s,
      LOS rate: -0.004260 deg/s,
      cmd heading: 40.713559 deg,
      new cmd heading: 40.708398 deg.

2025-10-26T21:25:21.598Z,1761513921.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710496 target range: 390.830994 and range: 393.30 m.
2025-10-26T21:25:21.776Z,1761513921.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764749
2025-10-26T21:25:21.962Z,1761513921.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744071,-0.650937,-0.150462],[0.665778,0.741197,0.085828],[0.055653,-0.164037,0.984883]]
2025-10-26T21:25:22.017Z,1761513922.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:22.024Z,1761513922.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013645
2025-10-26T21:25:22.025Z,1761513922.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.83 m.
2025-10-26T21:25:22.040Z,1761513922.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.830994 m,
      nav range: 387.793549 m,
      bearing: 38.621911 deg,
      approach rate: -0.622302 m/s,
      LOS rate: 0.002524 deg/s,
      cmd heading: 40.708399 deg,
      new cmd heading: 40.711622 deg.

2025-10-26T21:25:22.041Z,1761513922.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710552 target range: 390.830994 and range: 393.30 m.
2025-10-26T21:25:22.281Z,1761513922.281 [DAT](INFO): DAT read: Rx Time:21:25:21.0209

2025-10-26T21:25:22.282Z,1761513922.282 [DAT](INFO): Rx dataTimestamp_ set to:1761513922.281578
2025-10-26T21:25:22.283Z,1761513922.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271908
2025-10-26T21:25:22.368Z,1761513922.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744336,-0.650384,-0.151541],[0.665419,0.741496,0.086031],[0.056414,-0.164874,0.984700]]
2025-10-26T21:25:22.392Z,1761513922.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.83 m.
2025-10-26T21:25:22.395Z,1761513922.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.830994 m,
      nav range: 387.547760 m,
      bearing: 38.622925 deg,
      approach rate: -0.659662 m/s,
      LOS rate: 0.002723 deg/s,
      cmd heading: 40.711623 deg,
      new cmd heading: 40.714667 deg.

2025-10-26T21:25:22.396Z,1761513922.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710605 target range: 390.830994 and range: 393.30 m.
2025-10-26T21:25:22.528Z,1761513922.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517462
2025-10-26T21:25:22.785Z,1761513922.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773531
2025-10-26T21:25:22.843Z,1761513922.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745208,-0.649109,-0.152718],[0.664390,0.742328,0.086809],[0.057018,-0.166155,0.984450]]
2025-10-26T21:25:22.905Z,1761513922.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.83 m.
2025-10-26T21:25:22.912Z,1761513922.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.830994 m,
      nav range: 387.245850 m,
      bearing: 38.628312 deg,
      approach rate: -0.589023 m/s,
      LOS rate: 0.010518 deg/s,
      cmd heading: 40.714665 deg,
      new cmd heading: 40.730839 deg.

2025-10-26T21:25:22.913Z,1761513922.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710887 target range: 390.830994 and range: 393.30 m.
2025-10-26T21:25:23.038Z,1761513923.038 [DAT](INFO): DAT read: 21:25:21.0209 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 405,-0.11,-2.199, 2.677,-1.927,-2.529, PHS= 0.432,-1.032, 0.558, RAW= 154.1,   0.6, CAL= 152.8,  -0.4, ROT= 357.2,   0.4

2025-10-26T21:25:23.040Z,1761513923.040 [DAT](INFO): got valid direction response:
 21:25:21.0209 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 405,-0.11,-2.199, 2.677,-1.927,-2.529, PHS= 0.432,-1.032, 0.558, RAW= 154.1,   0.6, CAL= 152.8,  -0.4, ROT= 357.2,   0.4

2025-10-26T21:25:23.041Z,1761513923.041 [DAT](INFO): DAT read: Bearing 185.9,   0.7 (Local)

2025-10-26T21:25:23.041Z,1761513923.041 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.9,   0.7 (Local)

2025-10-26T21:25:23.042Z,1761513923.042 [DAT](INFO): DAT read: Range 11 to 50 : 390.8 m  (Round-trip  521.1 ms) speed  0.8 m/s

2025-10-26T21:25:23.043Z,1761513923.043 [DAT](INFO): DAT read: user:217>

2025-10-26T21:25:23.044Z,1761513923.044 [DAT](INFO): DAT read: Tx time:21:25:22.1457

2025-10-26T21:25:23.044Z,1761513923.044 [DAT](INFO): Ping request sent.
2025-10-26T21:25:23.044Z,1761513923.044 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:25:23.044Z,1761513923.044 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:25:23.045Z,1761513923.045 [DAT](INFO): direction in FSK: [0.998782,-0.048848,-0.006981]
2025-10-26T21:25:23.046Z,1761513923.046 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:23.046Z,1761513923.046 [DAT](INFO): publishing direction and range info
2025-10-26T21:25:23.050Z,1761513923.050 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:23.050Z,1761513923.050 [DAT](INFO): publishing direction and range info
2025-10-26T21:25:23.194Z,1761513923.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745882,-0.648089,-0.153754],[0.663574,0.743008,0.087229],[0.057708,-0.167089,0.984251]]
2025-10-26T21:25:23.230Z,1761513923.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 390.799988 m,
      deltaT: 4.036173 s,
      deltaX: -2.500000 m,
      approachRate: -0.619399 m/s,
      rangeRepo size: 4

2025-10-26T21:25:23.237Z,1761513923.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 388.348267 m,
      bearing: 38.825529 deg,
      lat: 36.779366 deg,
      lon: -121.858956 deg,
      deltaT: 4.036173 s,
      deltaX: -2.482727 m,
      approachRate: -0.615119 m/s,
      posRepo size: 4

2025-10-26T21:25:23.237Z,1761513923.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.35 m.
2025-10-26T21:25:23.244Z,1761513923.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.348267 m,
      nav range: 387.926514 m,
      bearing: 38.793816 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010518 deg/s,
      cmd heading: 40.730839 deg,
      new cmd heading: 40.741100 deg.

2025-10-26T21:25:23.245Z,1761513923.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711066 target range: 388.348267 and range: 390.80 m.
2025-10-26T21:25:23.582Z,1761513923.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747020,-0.646578,-0.154586],[0.662262,0.744073,0.088118],[0.058048,-0.168202,0.984042]]
2025-10-26T21:25:23.600Z,1761513923.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.35 m.
2025-10-26T21:25:23.603Z,1761513923.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.348267 m,
      nav range: 387.695587 m,
      bearing: 38.798131 deg,
      approach rate: -0.623485 m/s,
      LOS rate: 0.011657 deg/s,
      cmd heading: 40.741102 deg,
      new cmd heading: 40.754054 deg.

2025-10-26T21:25:23.620Z,1761513923.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711292 target range: 388.348267 and range: 390.80 m.
2025-10-26T21:25:23.986Z,1761513923.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748390,-0.644984,-0.154620],[0.660684,0.745465,0.088195],[0.058379,-0.168160,0.984030]]
2025-10-26T21:25:24.029Z,1761513924.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:24.031Z,1761513924.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.35 m.
2025-10-26T21:25:24.034Z,1761513924.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.348267 m,
      nav range: 387.438354 m,
      bearing: 38.803719 deg,
      approach rate: -0.597128 m/s,
      LOS rate: 0.012980 deg/s,
      cmd heading: 40.754055 deg,
      new cmd heading: 40.770830 deg.

2025-10-26T21:25:24.035Z,1761513924.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711585 target range: 388.348267 and range: 390.80 m.
2025-10-26T21:25:24.040Z,1761513924.040 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:25:24.040Z,1761513924.040 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:25:24.041Z,1761513924.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:25:24.292Z,1761513924.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248220
2025-10-26T21:25:24.390Z,1761513924.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749611,-0.643406,-0.155281],[0.659274,0.746616,0.089012],[0.058665,-0.169097,0.983852]]
2025-10-26T21:25:24.408Z,1761513924.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.35 m.
2025-10-26T21:25:24.411Z,1761513924.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.348267 m,
      nav range: 387.211792 m,
      bearing: 38.808709 deg,
      approach rate: -0.600705 m/s,
      LOS rate: 0.013239 deg/s,
      cmd heading: 40.770830 deg,
      new cmd heading: 40.785809 deg.

2025-10-26T21:25:24.412Z,1761513924.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711847 target range: 388.348267 and range: 390.80 m.
2025-10-26T21:25:24.545Z,1761513924.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500457
2025-10-26T21:25:24.797Z,1761513924.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752504
2025-10-26T21:25:24.893Z,1761513924.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.35 m.
2025-10-26T21:25:24.902Z,1761513924.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.348267 m,
      nav range: 386.936859 m,
      bearing: 38.814772 deg,
      approach rate: -0.567544 m/s,
      LOS rate: 0.012526 deg/s,
      cmd heading: 40.785809 deg,
      new cmd heading: 40.804013 deg.

2025-10-26T21:25:24.903Z,1761513924.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712164 target range: 388.348267 and range: 390.80 m.
2025-10-26T21:25:25.048Z,1761513925.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004112
2025-10-26T21:25:25.201Z,1761513925.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751972,-0.640262,-0.156853],[0.656504,0.748872,0.090516],[0.059509,-0.171040,0.983465]]
2025-10-26T21:25:25.253Z,1761513925.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.35 m.
2025-10-26T21:25:25.259Z,1761513925.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.348267 m,
      nav range: 386.724152 m,
      bearing: 38.820436 deg,
      approach rate: -0.590867 m/s,
      LOS rate: 0.015742 deg/s,
      cmd heading: 40.804011 deg,
      new cmd heading: 40.821012 deg.

2025-10-26T21:25:25.260Z,1761513925.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712461 target range: 388.348267 and range: 390.80 m.
2025-10-26T21:25:25.301Z,1761513925.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256247
2025-10-26T21:25:25.552Z,1761513925.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508062
2025-10-26T21:25:25.603Z,1761513925.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752961,-0.639098,-0.156852],[0.655344,0.749887,0.090514],[0.059774,-0.170946,0.983466]]
2025-10-26T21:25:25.622Z,1761513925.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.35 m.
2025-10-26T21:25:25.625Z,1761513925.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.348267 m,
      nav range: 386.502014 m,
      bearing: 38.826411 deg,
      approach rate: -0.601293 m/s,
      LOS rate: 0.016181 deg/s,
      cmd heading: 40.821011 deg,
      new cmd heading: 40.838945 deg.

2025-10-26T21:25:25.626Z,1761513925.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712774 target range: 388.348267 and range: 390.80 m.
2025-10-26T21:25:25.807Z,1761513925.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761917
2025-10-26T21:25:26.006Z,1761513926.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753971,-0.637902,-0.156869],[0.654184,0.750844,0.090975],[0.059751,-0.171214,0.983420]]
2025-10-26T21:25:26.056Z,1761513926.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012175
2025-10-26T21:25:26.060Z,1761513926.060 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:26.062Z,1761513926.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.35 m.
2025-10-26T21:25:26.065Z,1761513926.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.348267 m,
      nav range: 386.240173 m,
      bearing: 38.831807 deg,
      approach rate: -0.594496 m/s,
      LOS rate: 0.012261 deg/s,
      cmd heading: 40.838944 deg,
      new cmd heading: 40.855144 deg.

2025-10-26T21:25:26.066Z,1761513926.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713057 target range: 388.348267 and range: 390.80 m.
2025-10-26T21:25:26.309Z,1761513926.309 [DAT](INFO): DAT read: Rx Time:21:25:25.0670

2025-10-26T21:25:26.310Z,1761513926.310 [DAT](INFO): Rx dataTimestamp_ set to:1761513926.309408
2025-10-26T21:25:26.311Z,1761513926.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266333
2025-10-26T21:25:26.410Z,1761513926.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754696,-0.637093,-0.156674],[0.653325,0.751630,0.090659],[0.060003,-0.170779,0.983481]]
2025-10-26T21:25:26.442Z,1761513926.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.35 m.
2025-10-26T21:25:26.444Z,1761513926.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.348267 m,
      nav range: 386.013092 m,
      bearing: 38.836534 deg,
      approach rate: -0.599047 m/s,
      LOS rate: 0.012477 deg/s,
      cmd heading: 40.855145 deg,
      new cmd heading: 40.869334 deg.

2025-10-26T21:25:26.445Z,1761513926.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713304 target range: 388.348267 and range: 390.80 m.
2025-10-26T21:25:26.560Z,1761513926.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516235
2025-10-26T21:25:26.812Z,1761513926.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768075
2025-10-26T21:25:26.823Z,1761513926.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755138,-0.636578,-0.156634],[0.652792,0.752120,0.090432],[0.060241,-0.170539,0.983508]]
2025-10-26T21:25:26.923Z,1761513926.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.35 m.
2025-10-26T21:25:26.926Z,1761513926.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.348267 m,
      nav range: 385.732574 m,
      bearing: 38.842412 deg,
      approach rate: -0.587404 m/s,
      LOS rate: 0.012317 deg/s,
      cmd heading: 40.869335 deg,
      new cmd heading: 40.886981 deg.

2025-10-26T21:25:26.927Z,1761513926.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713612 target range: 388.348267 and range: 390.80 m.
2025-10-26T21:25:27.070Z,1761513927.070 [DAT](INFO): DAT read: 21:25:25.0670 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 397, 0.16,-0.119,-1.532, 0.121,-0.511, PHS= 0.494,-0.976, 0.588, RAW= 153.1,  -1.4, CAL= 152.1,  -2.4, ROT= 357.9,   2.4

2025-10-26T21:25:27.071Z,1761513927.071 [DAT](INFO): got valid direction response:
 21:25:25.0670 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 397, 0.16,-0.119,-1.532, 0.121,-0.511, PHS= 0.494,-0.976, 0.588, RAW= 153.1,  -1.4, CAL= 152.1,  -2.4, ROT= 357.9,   2.4

2025-10-26T21:25:27.072Z,1761513927.072 [DAT](INFO): DAT read: Bearing 183.6,   2.1 (Local)

2025-10-26T21:25:27.072Z,1761513927.072 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.6,   2.1 (Local)

2025-10-26T21:25:27.074Z,1761513927.074 [DAT](INFO): DAT read: Range 11 to 50 : 387.9 m  (Round-trip  517.2 ms) speed  0.4 m/s

2025-10-26T21:25:27.075Z,1761513927.075 [DAT](INFO): DAT read: user:218>

2025-10-26T21:25:27.075Z,1761513927.075 [DAT](INFO): DAT read: Tx time:21:25:26.1957

2025-10-26T21:25:27.076Z,1761513927.076 [DAT](INFO): Ping request sent.
2025-10-26T21:25:27.076Z,1761513927.076 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:25:27.076Z,1761513927.076 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:25:27.077Z,1761513927.077 [DAT](INFO): direction in FSK: [0.998452,-0.036612,-0.041876]
2025-10-26T21:25:27.077Z,1761513927.077 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:27.077Z,1761513927.077 [DAT](INFO): publishing direction and range info
2025-10-26T21:25:27.081Z,1761513927.081 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:27.082Z,1761513927.082 [DAT](INFO): publishing direction and range info
2025-10-26T21:25:27.244Z,1761513927.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755575,-0.636171,-0.156186],[0.652252,0.752698,0.089517],[0.060613,-0.169509,0.983663]]
2025-10-26T21:25:27.319Z,1761513927.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 387.899994 m,
      deltaT: 4.031753 s,
      deltaX: -2.899994 m,
      approachRate: -0.719289 m/s,
      rangeRepo size: 4

2025-10-26T21:25:27.325Z,1761513927.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 385.463806 m,
      bearing: 38.326257 deg,
      lat: 36.779368 deg,
      lon: -121.858956 deg,
      deltaT: 4.031753 s,
      deltaX: -2.884460 m,
      approachRate: -0.715436 m/s,
      posRepo size: 4

2025-10-26T21:25:27.326Z,1761513927.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.46 m.
2025-10-26T21:25:27.333Z,1761513927.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 385.463806 m,
      nav range: 385.726135 m,
      bearing: 38.819070 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012317 deg/s,
      cmd heading: 40.886981 deg,
      new cmd heading: 40.901725 deg.

2025-10-26T21:25:27.334Z,1761513927.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713870 target range: 385.463806 and range: 387.90 m.
2025-10-26T21:25:27.634Z,1761513927.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755826,-0.635953,-0.155852],[0.651949,0.753018,0.089032],[0.060739,-0.168900,0.983760]]
2025-10-26T21:25:27.675Z,1761513927.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.46 m.
2025-10-26T21:25:27.678Z,1761513927.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 385.463806 m,
      nav range: 385.512939 m,
      bearing: 38.822118 deg,
      approach rate: -0.596996 m/s,
      LOS rate: 0.008538 deg/s,
      cmd heading: 40.901724 deg,
      new cmd heading: 40.910871 deg.

2025-10-26T21:25:27.679Z,1761513927.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714029 target range: 385.463806 and range: 387.90 m.
2025-10-26T21:25:28.038Z,1761513928.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755550,-0.636555,-0.154730],[0.652246,0.752972,0.087221],[0.060986,-0.166822,0.984099]]
2025-10-26T21:25:28.089Z,1761513928.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:28.095Z,1761513928.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.46 m.
2025-10-26T21:25:28.098Z,1761513928.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 385.463806 m,
      nav range: 385.278168 m,
      bearing: 38.823041 deg,
      approach rate: -0.564435 m/s,
      LOS rate: 0.002221 deg/s,
      cmd heading: 40.910873 deg,
      new cmd heading: 40.913644 deg.

2025-10-26T21:25:28.099Z,1761513928.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714078 target range: 385.463806 and range: 387.90 m.
2025-10-26T21:25:28.325Z,1761513928.325 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:25:28.325Z,1761513928.325 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:25:28.325Z,1761513928.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:25:28.453Z,1761513928.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755161,-0.637022,-0.154708],[0.652667,0.752681,0.086583],[0.061290,-0.166357,0.984159]]
2025-10-26T21:25:28.471Z,1761513928.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.46 m.
2025-10-26T21:25:28.474Z,1761513928.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 385.463806 m,
      nav range: 385.046844 m,
      bearing: 38.823933 deg,
      approach rate: -0.608598 m/s,
      LOS rate: 0.002349 deg/s,
      cmd heading: 40.913643 deg,
      new cmd heading: 40.916321 deg.

2025-10-26T21:25:28.475Z,1761513928.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714125 target range: 385.463806 and range: 387.90 m.
2025-10-26T21:25:28.577Z,1761513928.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500946
2025-10-26T21:25:28.828Z,1761513928.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752587
2025-10-26T21:25:28.859Z,1761513928.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755202,-0.637031,-0.154472],[0.652616,0.752763,0.086257],[0.061332,-0.165952,0.984225]]
2025-10-26T21:25:28.951Z,1761513928.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.46 m.
2025-10-26T21:25:28.954Z,1761513928.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 385.463806 m,
      nav range: 384.774750 m,
      bearing: 38.824988 deg,
      approach rate: -0.571689 m/s,
      LOS rate: 0.002218 deg/s,
      cmd heading: 40.916320 deg,
      new cmd heading: 40.919486 deg.

2025-10-26T21:25:28.955Z,1761513928.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714180 target range: 385.463806 and range: 387.90 m.
2025-10-26T21:25:29.080Z,1761513929.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004586
2025-10-26T21:25:29.284Z,1761513929.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754784,-0.637728,-0.153637],[0.653087,0.752510,0.084891],[0.061476,-0.164413,0.984474]]
2025-10-26T21:25:29.324Z,1761513929.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.46 m.
2025-10-26T21:25:29.326Z,1761513929.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 385.463806 m,
      nav range: 384.542572 m,
      bearing: 38.824330 deg,
      approach rate: -0.617266 m/s,
      LOS rate: -0.001749 deg/s,
      cmd heading: 40.919486 deg,
      new cmd heading: 40.917512 deg.

2025-10-26T21:25:29.327Z,1761513929.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714145 target range: 385.463806 and range: 387.90 m.
2025-10-26T21:25:29.342Z,1761513929.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266130
2025-10-26T21:25:29.592Z,1761513929.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516543
2025-10-26T21:25:29.683Z,1761513929.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754429,-0.638215,-0.153360],[0.653486,0.752234,0.084260],[0.061587,-0.163787,0.984571]]
2025-10-26T21:25:29.725Z,1761513929.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.46 m.
2025-10-26T21:25:29.733Z,1761513929.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 385.463806 m,
      nav range: 384.315186 m,
      bearing: 38.823668 deg,
      approach rate: -0.566790 m/s,
      LOS rate: -0.001651 deg/s,
      cmd heading: 40.917512 deg,
      new cmd heading: 40.915525 deg.

2025-10-26T21:25:29.734Z,1761513929.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714111 target range: 385.463806 and range: 387.90 m.
2025-10-26T21:25:29.844Z,1761513929.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768537
2025-10-26T21:25:30.089Z,1761513930.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753983,-0.638722,-0.153438],[0.653981,0.751848,0.083867],[0.061794,-0.163580,0.984593]]
2025-10-26T21:25:30.096Z,1761513930.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020610
2025-10-26T21:25:30.125Z,1761513930.125 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:30.127Z,1761513930.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.46 m.
2025-10-26T21:25:30.130Z,1761513930.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 385.463806 m,
      nav range: 384.047272 m,
      bearing: 38.821474 deg,
      approach rate: -0.665682 m/s,
      LOS rate: -0.005457 deg/s,
      cmd heading: 40.915524 deg,
      new cmd heading: 40.908936 deg.

2025-10-26T21:25:30.131Z,1761513930.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713996 target range: 385.463806 and range: 387.90 m.
2025-10-26T21:25:30.348Z,1761513930.348 [DAT](INFO): DAT read: Rx Time:21:25:29.1144

2025-10-26T21:25:30.349Z,1761513930.349 [DAT](INFO): Rx dataTimestamp_ set to:1761513930.348617
2025-10-26T21:25:30.349Z,1761513930.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273650
2025-10-26T21:25:30.490Z,1761513930.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753513,-0.639421,-0.152835],[0.654524,0.751472,0.083001],[0.061779,-0.162577,0.984760]]
2025-10-26T21:25:30.524Z,1761513930.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.46 m.
2025-10-26T21:25:30.526Z,1761513930.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 385.463806 m,
      nav range: 383.807129 m,
      bearing: 38.819479 deg,
      approach rate: -0.605164 m/s,
      LOS rate: -0.005031 deg/s,
      cmd heading: 40.908937 deg,
      new cmd heading: 40.902948 deg.

2025-10-26T21:25:30.536Z,1761513930.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713891 target range: 385.463806 and range: 387.90 m.
2025-10-26T21:25:30.601Z,1761513930.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525145
2025-10-26T21:25:30.853Z,1761513930.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776811
2025-10-26T21:25:30.967Z,1761513930.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752709,-0.640378,-0.152791],[0.655434,0.750742,0.082418],[0.061928,-0.162181,0.984816]]
2025-10-26T21:25:31.016Z,1761513931.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.46 m.
2025-10-26T21:25:31.018Z,1761513931.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 385.463806 m,
      nav range: 383.477844 m,
      bearing: 38.816270 deg,
      approach rate: -0.669965 m/s,
      LOS rate: -0.006535 deg/s,
      cmd heading: 40.902946 deg,
      new cmd heading: 40.893311 deg.

2025-10-26T21:25:31.019Z,1761513931.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713723 target range: 385.463806 and range: 387.90 m.
2025-10-26T21:25:31.111Z,1761513931.111 [DAT](INFO): DAT read: 21:25:29.1144 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 418, 0.15,-1.497,-2.977,-1.207,-2.002, PHS= 0.607,-0.930, 0.750, RAW= 154.4,  -5.3, CAL= 154.3,  -6.8, ROT= 355.7,   6.8

2025-10-26T21:25:31.112Z,1761513931.112 [DAT](INFO): got valid direction response:
 21:25:29.1144 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 418, 0.15,-1.497,-2.977,-1.207,-2.002, PHS= 0.607,-0.930, 0.750, RAW= 154.4,  -5.3, CAL= 154.3,  -6.8, ROT= 355.7,   6.8

2025-10-26T21:25:31.113Z,1761513931.113 [DAT](INFO): DAT read: Bearing 179.4,   0.6 (Local)

2025-10-26T21:25:31.114Z,1761513931.114 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.4,   0.6 (Local)

2025-10-26T21:25:31.115Z,1761513931.115 [DAT](INFO): DAT read: Range 11 to 50 : 386.0 m  (Round-trip  514.7 ms) speed  0.6 m/s

2025-10-26T21:25:31.116Z,1761513931.116 [DAT](INFO): DAT read: user:219>

2025-10-26T21:25:31.117Z,1761513931.117 [DAT](INFO): DAT read: Tx time:21:25:30.2456

2025-10-26T21:25:31.117Z,1761513931.117 [DAT](INFO): Ping request sent.
2025-10-26T21:25:31.117Z,1761513931.117 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:25:31.117Z,1761513931.117 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:25:31.118Z,1761513931.118 [DAT](INFO): direction in FSK: [0.990170,-0.074451,-0.118404]
2025-10-26T21:25:31.118Z,1761513931.118 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:31.119Z,1761513931.119 [DAT](INFO): publishing direction and range info
2025-10-26T21:25:31.142Z,1761513931.142 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:31.143Z,1761513931.143 [DAT](INFO): publishing direction and range info
2025-10-26T21:25:31.303Z,1761513931.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751915,-0.641478,-0.152084],[0.656325,0.750120,0.080976],[0.062137,-0.160703,0.985045]]
2025-10-26T21:25:31.352Z,1761513931.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 386.000000 m,
      deltaT: 4.040675 s,
      deltaX: -1.899994 m,
      approachRate: -0.470217 m/s,
      rangeRepo size: 4

2025-10-26T21:25:31.354Z,1761513931.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 383.574524 m,
      bearing: 35.801816 deg,
      lat: 36.779368 deg,
      lon: -121.858956 deg,
      deltaT: 4.040675 s,
      deltaX: -1.889282 m,
      approachRate: -0.467566 m/s,
      posRepo size: 4

2025-10-26T21:25:31.355Z,1761513931.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:31.362Z,1761513931.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 383.273804 m,
      bearing: 38.814241 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006535 deg/s,
      cmd heading: 40.893312 deg,
      new cmd heading: 40.886799 deg.

2025-10-26T21:25:31.363Z,1761513931.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713609 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:31.714Z,1761513931.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751426,-0.642135,-0.151728],[0.656864,0.749748,0.080049],[0.062355,-0.159816,0.985175]]
2025-10-26T21:25:31.738Z,1761513931.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:31.740Z,1761513931.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 383.009369 m,
      bearing: 38.811581 deg,
      approach rate: -0.677796 m/s,
      LOS rate: -0.006824 deg/s,
      cmd heading: 40.886800 deg,
      new cmd heading: 40.878813 deg.

2025-10-26T21:25:31.741Z,1761513931.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713470 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:32.176Z,1761513932.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:32.178Z,1761513932.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:32.182Z,1761513932.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 382.716370 m,
      bearing: 38.807923 deg,
      approach rate: -0.664780 m/s,
      LOS rate: -0.008306 deg/s,
      cmd heading: 40.878812 deg,
      new cmd heading: 40.867829 deg.

2025-10-26T21:25:32.183Z,1761513932.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713278 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:32.364Z,1761513932.364 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:25:32.364Z,1761513932.364 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:25:32.364Z,1761513932.364 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:25:32.514Z,1761513932.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750775,-0.643085,-0.150925],[0.657597,0.749250,0.078687],[0.062478,-0.158324,0.985409]]
2025-10-26T21:25:32.543Z,1761513932.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:32.545Z,1761513932.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 382.481934 m,
      bearing: 38.804957 deg,
      approach rate: -0.643692 m/s,
      LOS rate: -0.008148 deg/s,
      cmd heading: 40.867829 deg,
      new cmd heading: 40.858926 deg.

2025-10-26T21:25:32.546Z,1761513932.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713123 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:32.618Z,1761513932.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501251
2025-10-26T21:25:32.868Z,1761513932.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751457
2025-10-26T21:25:33.007Z,1761513933.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:33.010Z,1761513933.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 382.182404 m,
      bearing: 38.801162 deg,
      approach rate: -0.644722 m/s,
      LOS rate: -0.008174 deg/s,
      cmd heading: 40.858926 deg,
      new cmd heading: 40.847534 deg.

2025-10-26T21:25:33.011Z,1761513933.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712924 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:33.121Z,1761513933.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003592
2025-10-26T21:25:33.322Z,1761513933.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750140,-0.643954,-0.150378],[0.658324,0.748697,0.077861],[0.062448,-0.157404,0.985558]]
2025-10-26T21:25:33.372Z,1761513933.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255381
2025-10-26T21:25:33.396Z,1761513933.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:33.398Z,1761513933.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 381.912994 m,
      bearing: 38.797639 deg,
      approach rate: -0.701172 m/s,
      LOS rate: -0.009177 deg/s,
      cmd heading: 40.847533 deg,
      new cmd heading: 40.836955 deg.

2025-10-26T21:25:33.403Z,1761513933.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712739 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:33.626Z,1761513933.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508736
2025-10-26T21:25:33.736Z,1761513933.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749820,-0.644558,-0.149381],[0.658700,0.748478,0.076778],[0.062320,-0.155967,0.985794]]
2025-10-26T21:25:33.754Z,1761513933.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:33.757Z,1761513933.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 381.663177 m,
      bearing: 38.794347 deg,
      approach rate: -0.688292 m/s,
      LOS rate: -0.009075 deg/s,
      cmd heading: 40.836953 deg,
      new cmd heading: 40.827071 deg.

2025-10-26T21:25:33.758Z,1761513933.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712567 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:33.877Z,1761513933.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759615
2025-10-26T21:25:34.128Z,1761513934.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011458
2025-10-26T21:25:34.135Z,1761513934.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749413,-0.644900,-0.149947],[0.659152,0.748046,0.077110],[0.062439,-0.156625,0.985683]]
2025-10-26T21:25:34.208Z,1761513934.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:34.210Z,1761513934.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:34.217Z,1761513934.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 381.367310 m,
      bearing: 38.790863 deg,
      approach rate: -0.649129 m/s,
      LOS rate: -0.007650 deg/s,
      cmd heading: 40.827070 deg,
      new cmd heading: 40.816609 deg.

2025-10-26T21:25:34.218Z,1761513934.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712384 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:34.380Z,1761513934.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263451
2025-10-26T21:25:34.635Z,1761513934.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517343
2025-10-26T21:25:34.679Z,1761513934.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749113,-0.645275,-0.149836],[0.659496,0.747763,0.076911],[0.062414,-0.156431,0.985715]]
2025-10-26T21:25:34.717Z,1761513934.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:34.721Z,1761513934.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 381.024780 m,
      bearing: 38.786798 deg,
      approach rate: -0.676673 m/s,
      LOS rate: -0.008037 deg/s,
      cmd heading: 40.816609 deg,
      new cmd heading: 40.804405 deg.

2025-10-26T21:25:34.722Z,1761513934.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712171 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:34.885Z,1761513934.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767789
2025-10-26T21:25:35.104Z,1761513935.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748808,-0.645626,-0.149846],[0.659830,0.747498,0.076624],[0.062539,-0.156249,0.985736]]
2025-10-26T21:25:35.138Z,1761513935.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020812
2025-10-26T21:25:35.183Z,1761513935.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:35.185Z,1761513935.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 380.722168 m,
      bearing: 38.783180 deg,
      approach rate: -0.649207 m/s,
      LOS rate: -0.007768 deg/s,
      cmd heading: 40.804404 deg,
      new cmd heading: 40.793541 deg.

2025-10-26T21:25:35.186Z,1761513935.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711982 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:35.389Z,1761513935.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.271615
2025-10-26T21:25:35.606Z,1761513935.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748300,-0.646094,-0.150365],[0.660441,0.746857,0.077601],[0.062164,-0.157376,0.985580]]
2025-10-26T21:25:35.641Z,1761513935.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524338
2025-10-26T21:25:35.649Z,1761513935.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:35.658Z,1761513935.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 380.411530 m,
      bearing: 38.779423 deg,
      approach rate: -0.666186 m/s,
      LOS rate: -0.008064 deg/s,
      cmd heading: 40.793540 deg,
      new cmd heading: 40.782260 deg.

2025-10-26T21:25:35.664Z,1761513935.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711785 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:35.892Z,1761513935.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775261
2025-10-26T21:25:36.029Z,1761513936.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748159,-0.646165,-0.150760],[0.660627,0.746606,0.078425],[0.061883,-0.158271,0.985455]]
2025-10-26T21:25:36.082Z,1761513936.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:36.085Z,1761513936.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 380.105316 m,
      bearing: 38.776950 deg,
      approach rate: -0.706360 m/s,
      LOS rate: -0.005709 deg/s,
      cmd heading: 40.782260 deg,
      new cmd heading: 40.774836 deg.

2025-10-26T21:25:36.086Z,1761513936.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711655 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:36.145Z,1761513936.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.027914
2025-10-26T21:25:36.396Z,1761513936.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.279469
2025-10-26T21:25:36.404Z,1761513936.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748002,-0.646157,-0.151575],[0.660831,0.746290,0.079713],[0.061611,-0.159791,0.985226]]
2025-10-26T21:25:36.421Z,1761513936.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:36.423Z,1761513936.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:36.425Z,1761513936.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 379.875061 m,
      bearing: 38.775079 deg,
      approach rate: -0.676741 m/s,
      LOS rate: -0.005502 deg/s,
      cmd heading: 40.774836 deg,
      new cmd heading: 40.769220 deg.

2025-10-26T21:25:36.426Z,1761513936.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711557 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:36.649Z,1761513936.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531935
2025-10-26T21:25:36.806Z,1761513936.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747736,-0.646452,-0.151625],[0.661129,0.746035,0.079629],[0.061641,-0.159785,0.985225]]
2025-10-26T21:25:36.836Z,1761513936.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:36.839Z,1761513936.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 379.602325 m,
      bearing: 38.772844 deg,
      approach rate: -0.659634 m/s,
      LOS rate: -0.005411 deg/s,
      cmd heading: 40.769218 deg,
      new cmd heading: 40.762507 deg.

2025-10-26T21:25:36.844Z,1761513936.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711440 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:36.902Z,1761513936.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.784839
2025-10-26T21:25:37.154Z,1761513937.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.036585
2025-10-26T21:25:37.258Z,1761513937.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:37.261Z,1761513937.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 379.301758 m,
      bearing: 38.773306 deg,
      approach rate: -0.712573 m/s,
      LOS rate: 0.001096 deg/s,
      cmd heading: 40.762507 deg,
      new cmd heading: 40.763895 deg.

2025-10-26T21:25:37.262Z,1761513937.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711464 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:37.404Z,1761513937.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.287398
2025-10-26T21:25:37.614Z,1761513937.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747404,-0.646595,-0.152648],[0.661551,0.745465,0.081440],[0.061136,-0.161853,0.984919]]
2025-10-26T21:25:37.640Z,1761513937.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:37.657Z,1761513937.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.539958
2025-10-26T21:25:37.664Z,1761513937.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 379.042511 m,
      bearing: 38.773684 deg,
      approach rate: -0.680101 m/s,
      LOS rate: 0.000993 deg/s,
      cmd heading: 40.763894 deg,
      new cmd heading: 40.765029 deg.

2025-10-26T21:25:37.665Z,1761513937.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711484 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:37.908Z,1761513937.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.791396
2025-10-26T21:25:37.948Z,1761513937.948 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:25:38.054Z,1761513938.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747652,-0.646285,-0.152748],[0.661284,0.745654,0.081870],[0.060986,-0.162220,0.984868]]
2025-10-26T21:25:38.098Z,1761513938.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:38.100Z,1761513938.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 378.730835 m,
      bearing: 38.776965 deg,
      approach rate: -0.679603 m/s,
      LOS rate: 0.007160 deg/s,
      cmd heading: 40.765028 deg,
      new cmd heading: 40.774879 deg.

2025-10-26T21:25:38.101Z,1761513938.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711656 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:38.161Z,1761513938.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.043651
2025-10-26T21:25:38.413Z,1761513938.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.295578
2025-10-26T21:25:38.431Z,1761513938.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748124,-0.645777,-0.152583],[0.660792,0.746017,0.082539],[0.060528,-0.162575,0.984838]]
2025-10-26T21:25:38.449Z,1761513938.449 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:38.451Z,1761513938.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:38.465Z,1761513938.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 378.494812 m,
      bearing: 38.779478 deg,
      approach rate: -0.668800 m/s,
      LOS rate: 0.007124 deg/s,
      cmd heading: 40.774880 deg,
      new cmd heading: 40.782423 deg.

2025-10-26T21:25:38.466Z,1761513938.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711788 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:38.664Z,1761513938.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.547484
2025-10-26T21:25:38.826Z,1761513938.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748765,-0.644986,-0.152786],[0.660087,0.746549,0.083366],[0.060292,-0.163274,0.984737]]
2025-10-26T21:25:38.856Z,1761513938.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:38.859Z,1761513938.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 378.223541 m,
      bearing: 38.782408 deg,
      approach rate: -0.668855 m/s,
      LOS rate: 0.007231 deg/s,
      cmd heading: 40.782424 deg,
      new cmd heading: 40.791223 deg.

2025-10-26T21:25:38.860Z,1761513938.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711941 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:38.917Z,1761513938.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.799957
2025-10-26T21:25:38.952Z,1761513938.952 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:25:39.168Z,1761513939.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.051346
2025-10-26T21:25:39.282Z,1761513939.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:39.284Z,1761513939.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 377.952209 m,
      bearing: 38.788751 deg,
      approach rate: -0.637690 m/s,
      LOS rate: 0.014916 deg/s,
      cmd heading: 40.791222 deg,
      new cmd heading: 40.810262 deg.

2025-10-26T21:25:39.285Z,1761513939.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712273 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:39.420Z,1761513939.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.303379
2025-10-26T21:25:39.658Z,1761513939.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750608,-0.642901,-0.152534],[0.658086,0.748092,0.085326],[0.059253,-0.164427,0.984608]]
2025-10-26T21:25:39.672Z,1761513939.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.555430
2025-10-26T21:25:39.700Z,1761513939.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:39.709Z,1761513939.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 377.696686 m,
      bearing: 38.794837 deg,
      approach rate: -0.635609 m/s,
      LOS rate: 0.015150 deg/s,
      cmd heading: 40.810261 deg,
      new cmd heading: 40.828532 deg.

2025-10-26T21:25:39.710Z,1761513939.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712592 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:39.924Z,1761513939.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.807299
2025-10-26T21:25:40.087Z,1761513940.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751850,-0.641635,-0.151744],[0.656707,0.749277,0.085556],[0.058802,-0.163977,0.984710]]
2025-10-26T21:25:40.123Z,1761513940.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:40.129Z,1761513940.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 377.432709 m,
      bearing: 38.802869 deg,
      approach rate: -0.600807 m/s,
      LOS rate: 0.018293 deg/s,
      cmd heading: 40.828532 deg,
      new cmd heading: 40.852643 deg.

2025-10-26T21:25:40.131Z,1761513940.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713013 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:40.176Z,1761513940.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.059388
2025-10-26T21:25:40.430Z,1761513940.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.312232
2025-10-26T21:25:40.478Z,1761513940.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753234,-0.640018,-0.151706],[0.655154,0.750510,0.086642],[0.058405,-0.164653,0.984621]]
2025-10-26T21:25:40.494Z,1761513940.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:40.496Z,1761513940.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:40.499Z,1761513940.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 377.209045 m,
      bearing: 38.809754 deg,
      approach rate: -0.599322 m/s,
      LOS rate: 0.018461 deg/s,
      cmd heading: 40.852642 deg,
      new cmd heading: 40.873311 deg.

2025-10-26T21:25:40.500Z,1761513940.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713374 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:40.680Z,1761513940.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.563273
2025-10-26T21:25:40.882Z,1761513940.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755159,-0.637837,-0.151322],[0.652995,0.752237,0.087963],[0.057724,-0.165238,0.984563]]
2025-10-26T21:25:40.926Z,1761513940.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:40.932Z,1761513940.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.815457
2025-10-26T21:25:40.937Z,1761513940.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 376.957062 m,
      bearing: 38.817635 deg,
      approach rate: -0.586437 m/s,
      LOS rate: 0.018354 deg/s,
      cmd heading: 40.873310 deg,
      new cmd heading: 40.896970 deg.

2025-10-26T21:25:40.938Z,1761513940.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713787 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:41.184Z,1761513941.184 [DAT](INFO): Reached modem response timeout
2025-10-26T21:25:41.184Z,1761513941.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:25:41.185Z,1761513941.185 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:25:41.286Z,1761513941.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756810,-0.635926,-0.151118],[0.651129,0.753707,0.089194],[0.057178,-0.165901,0.984483]]
2025-10-26T21:25:41.338Z,1761513941.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:41.341Z,1761513941.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 376.711945 m,
      bearing: 38.826818 deg,
      approach rate: -0.594582 m/s,
      LOS rate: 0.022289 deg/s,
      cmd heading: 40.896970 deg,
      new cmd heading: 40.924536 deg.

2025-10-26T21:25:41.342Z,1761513941.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714268 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:41.436Z,1761513941.436 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:25:41.688Z,1761513941.688 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:25:41.691Z,1761513941.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758537,-0.634205,-0.149686],[0.649167,0.755416,0.089042],[0.056604,-0.164713,0.984716]]
2025-10-26T21:25:41.724Z,1761513941.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:41.728Z,1761513941.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 376.490814 m,
      bearing: 38.835210 deg,
      approach rate: -0.573923 m/s,
      LOS rate: 0.021793 deg/s,
      cmd heading: 40.924537 deg,
      new cmd heading: 40.949726 deg.

2025-10-26T21:25:41.729Z,1761513941.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714708 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:41.940Z,1761513941.940 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:25:42.119Z,1761513942.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760259,-0.632652,-0.147506],[0.647207,0.757205,0.088110],[0.055949,-0.162453,0.985129]]
2025-10-26T21:25:42.185Z,1761513942.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:42.192Z,1761513942.192 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:25:42.193Z,1761513942.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 376.224152 m,
      bearing: 38.844537 deg,
      approach rate: -0.577880 m/s,
      LOS rate: 0.020227 deg/s,
      cmd heading: 40.949726 deg,
      new cmd heading: 40.977728 deg.

2025-10-26T21:25:42.194Z,1761513942.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.715196 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:42.444Z,1761513942.444 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:25:42.499Z,1761513942.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761745,-0.631187,-0.146106],[0.645503,0.758688,0.087849],[0.055400,-0.161230,0.985361]]
2025-10-26T21:25:42.526Z,1761513942.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:42.528Z,1761513942.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:42.531Z,1761513942.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 376.011780 m,
      bearing: 38.852056 deg,
      approach rate: -0.618859 m/s,
      LOS rate: 0.021923 deg/s,
      cmd heading: 40.977727 deg,
      new cmd heading: 41.000296 deg.

2025-10-26T21:25:42.532Z,1761513942.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.715590 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:42.696Z,1761513942.696 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:25:42.944Z,1761513942.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:42.946Z,1761513942.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 375.764893 m,
      bearing: 38.860808 deg,
      approach rate: -0.593770 m/s,
      LOS rate: 0.021063 deg/s,
      cmd heading: 41.000297 deg,
      new cmd heading: 41.026570 deg.

2025-10-26T21:25:42.948Z,1761513942.948 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:25:42.949Z,1761513942.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.716049 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:43.201Z,1761513943.201 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:25:43.370Z,1761513943.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:43.373Z,1761513943.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 375.514984 m,
      bearing: 38.865996 deg,
      approach rate: -0.585791 m/s,
      LOS rate: 0.012169 deg/s,
      cmd heading: 41.026569 deg,
      new cmd heading: 41.042143 deg.

2025-10-26T21:25:43.374Z,1761513943.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.716321 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:43.453Z,1761513943.453 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:25:43.453Z,1761513943.453 [DAT](INFO): response not received
2025-10-26T21:25:43.453Z,1761513943.453 [DAT](INFO): DAT read: user:220>

2025-10-26T21:25:43.454Z,1761513943.454 [DAT](INFO): DAT read: Tx time:21:25:42.6956

2025-10-26T21:25:43.455Z,1761513943.455 [DAT](INFO): Ping request sent.
2025-10-26T21:25:43.455Z,1761513943.455 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:25:43.455Z,1761513943.455 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:43.456Z,1761513943.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001188
2025-10-26T21:25:43.705Z,1761513943.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249751
2025-10-26T21:25:43.720Z,1761513943.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764717,-0.628883,-0.140409],[0.642188,0.761722,0.085876],[0.052947,-0.155839,0.986362]]
2025-10-26T21:25:43.756Z,1761513943.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:43.759Z,1761513943.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 375.289001 m,
      bearing: 38.870864 deg,
      approach rate: -0.586205 m/s,
      LOS rate: 0.012638 deg/s,
      cmd heading: 41.042142 deg,
      new cmd heading: 41.056758 deg.

2025-10-26T21:25:43.760Z,1761513943.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.716576 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:43.961Z,1761513943.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505894
2025-10-26T21:25:44.147Z,1761513944.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764970,-0.628950,-0.138719],[0.641925,0.762082,0.084643],[0.052479,-0.153797,0.986708]]
2025-10-26T21:25:44.191Z,1761513944.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:44.194Z,1761513944.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 375.016815 m,
      bearing: 38.872895 deg,
      approach rate: -0.625379 m/s,
      LOS rate: 0.004669 deg/s,
      cmd heading: 41.056759 deg,
      new cmd heading: 41.062855 deg.

2025-10-26T21:25:44.195Z,1761513944.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.716682 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:44.208Z,1761513944.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753178
2025-10-26T21:25:44.461Z,1761513944.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005649
2025-10-26T21:25:44.523Z,1761513944.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765272,-0.628803,-0.137713],[0.641619,0.762345,0.084583],[0.051799,-0.153088,0.986854]]
2025-10-26T21:25:44.559Z,1761513944.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:44.561Z,1761513944.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:44.564Z,1761513944.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 374.797577 m,
      bearing: 38.874549 deg,
      approach rate: -0.593082 m/s,
      LOS rate: 0.004476 deg/s,
      cmd heading: 41.062855 deg,
      new cmd heading: 41.067819 deg.

2025-10-26T21:25:44.565Z,1761513944.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.716769 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:44.713Z,1761513944.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257805
2025-10-26T21:25:44.926Z,1761513944.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765035,-0.629255,-0.136963],[0.641924,0.762153,0.084005],[0.051526,-0.152187,0.987008]]
2025-10-26T21:25:44.947Z,1761513944.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:44.950Z,1761513944.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 374.544006 m,
      bearing: 38.876451 deg,
      approach rate: -0.656789 m/s,
      LOS rate: 0.004930 deg/s,
      cmd heading: 41.067817 deg,
      new cmd heading: 41.073527 deg.

2025-10-26T21:25:44.951Z,1761513944.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.716868 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:44.968Z,1761513944.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513369
2025-10-26T21:25:45.221Z,1761513945.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766063
2025-10-26T21:25:45.332Z,1761513945.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764698,-0.629788,-0.136395],[0.642347,0.761840,0.083610],[0.051254,-0.151549,0.987120]]
2025-10-26T21:25:45.368Z,1761513945.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:45.370Z,1761513945.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 374.269135 m,
      bearing: 38.873685 deg,
      approach rate: -0.653397 m/s,
      LOS rate: -0.006579 deg/s,
      cmd heading: 41.073527 deg,
      new cmd heading: 41.065224 deg.

2025-10-26T21:25:45.372Z,1761513945.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.716723 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:45.473Z,1761513945.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017890
2025-10-26T21:25:45.725Z,1761513945.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269931
2025-10-26T21:25:45.747Z,1761513945.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763921,-0.630797,-0.136087],[0.643293,0.761067,0.083369],[0.050982,-0.151231,0.987183]]
2025-10-26T21:25:45.765Z,1761513945.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:45.768Z,1761513945.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 374.009613 m,
      bearing: 38.871021 deg,
      approach rate: -0.653262 m/s,
      LOS rate: -0.006710 deg/s,
      cmd heading: 41.065225 deg,
      new cmd heading: 41.057227 deg.

2025-10-26T21:25:45.769Z,1761513945.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.716584 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:45.977Z,1761513945.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521750
2025-10-26T21:25:46.176Z,1761513946.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762726,-0.632296,-0.135834],[0.644731,0.759884,0.083056],[0.050702,-0.150926,0.987244]]
2025-10-26T21:25:46.227Z,1761513946.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:46.229Z,1761513946.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773488
2025-10-26T21:25:46.231Z,1761513946.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 373.712250 m,
      bearing: 38.864274 deg,
      approach rate: -0.643656 m/s,
      LOS rate: -0.014616 deg/s,
      cmd heading: 41.057227 deg,
      new cmd heading: 41.036970 deg.

2025-10-26T21:25:46.232Z,1761513946.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.716230 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:46.480Z,1761513946.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025316
2025-10-26T21:25:46.542Z,1761513946.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760673,-0.634719,-0.136043],[0.647146,0.757895,0.082443],[0.050778,-0.150752,0.987267]]
2025-10-26T21:25:46.559Z,1761513946.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:46.561Z,1761513946.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:46.564Z,1761513946.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 373.479736 m,
      bearing: 38.858875 deg,
      approach rate: -0.695765 m/s,
      LOS rate: -0.016166 deg/s,
      cmd heading: 41.036968 deg,
      new cmd heading: 41.020761 deg.

2025-10-26T21:25:46.565Z,1761513946.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.715947 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:46.733Z,1761513946.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277955
2025-10-26T21:25:46.946Z,1761513946.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758908,-0.636818,-0.136096],[0.649198,0.756236,0.081541],[0.050994,-0.150236,0.987334]]
2025-10-26T21:25:46.983Z,1761513946.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:46.985Z,1761513946.985 [DAT](INFO): DAT read: Rx Time:21:25:45.6018

2025-10-26T21:25:46.986Z,1761513946.986 [DAT](INFO): Rx dataTimestamp_ set to:1761513946.985406
2025-10-26T21:25:46.986Z,1761513946.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531204
2025-10-26T21:25:46.990Z,1761513946.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 373.209442 m,
      bearing: 38.852474 deg,
      approach rate: -0.640705 m/s,
      LOS rate: -0.015183 deg/s,
      cmd heading: 41.020760 deg,
      new cmd heading: 41.001545 deg.

2025-10-26T21:25:46.991Z,1761513946.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.715612 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:47.237Z,1761513947.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781786
2025-10-26T21:25:47.458Z,1761513947.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.57 m.
2025-10-26T21:25:47.461Z,1761513947.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.574524 m,
      nav range: 372.860321 m,
      bearing: 38.844015 deg,
      approach rate: -0.734616 m/s,
      LOS rate: -0.017817 deg/s,
      cmd heading: 41.001544 deg,
      new cmd heading: 40.976141 deg.

2025-10-26T21:25:47.462Z,1761513947.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.715169 target range: 383.574524 and range: 386.00 m.
2025-10-26T21:25:47.498Z,1761513947.498 [DAT](INFO): DAT read: 21:25:45.6018 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 274, 0.06,-0.984,-2.393,-0.701,-1.430, PHS= 0.547,-0.918, 0.685, RAW= 154.4,  -4.1, CAL= 154.1,  -5.5, ROT= 355.9,   5.5

2025-10-26T21:25:47.500Z,1761513947.500 [DAT](INFO): got valid direction response:
 21:25:45.6018 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 274, 0.06,-0.984,-2.393,-0.701,-1.430, PHS= 0.547,-0.918, 0.685, RAW= 154.4,  -4.1, CAL= 154.1,  -5.5, ROT= 355.9,   5.5

2025-10-26T21:25:47.501Z,1761513947.501 [DAT](INFO): DAT read: Bearing 179.7,  -0.3 (Local)

2025-10-26T21:25:47.501Z,1761513947.501 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.7,  -0.3 (Local)

2025-10-26T21:25:47.504Z,1761513947.504 [DAT](INFO): DAT read: Range 11 to 50 : 376.5 m  (Round-trip  502.1 ms) speed  0.4 m/s

2025-10-26T21:25:47.505Z,1761513947.505 [DAT](INFO): DAT read: user:221>

2025-10-26T21:25:47.506Z,1761513947.506 [DAT](INFO): DAT read: Tx time:21:25:46.6956

2025-10-26T21:25:47.507Z,1761513947.507 [DAT](INFO): Ping request sent.
2025-10-26T21:25:47.507Z,1761513947.507 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:25:47.507Z,1761513947.507 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:25:47.509Z,1761513947.509 [DAT](INFO): direction in FSK: [0.992849,-0.071169,-0.095846]
2025-10-26T21:25:47.509Z,1761513947.509 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:47.510Z,1761513947.510 [DAT](INFO): publishing direction and range info
2025-10-26T21:25:47.522Z,1761513947.522 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:47.522Z,1761513947.522 [DAT](INFO): publishing direction and range info
2025-10-26T21:25:47.757Z,1761513947.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753355,-0.643054,-0.137613],[0.655576,0.750855,0.080233],[0.051734,-0.150660,0.987231]]
2025-10-26T21:25:47.805Z,1761513947.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 376.500000 m,
      deltaT: 16.383441 s,
      deltaX: -9.500000 m,
      approachRate: -0.579854 m/s,
      rangeRepo size: 4

2025-10-26T21:25:47.807Z,1761513947.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 374.130615 m,
      bearing: 36.162169 deg,
      lat: 36.779384 deg,
      lon: -121.858988 deg,
      deltaT: 16.383441 s,
      deltaX: -9.443909 m,
      approachRate: -0.576430 m/s,
      posRepo size: 4

2025-10-26T21:25:47.812Z,1761513947.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.13 m.
2025-10-26T21:25:47.814Z,1761513947.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.130615 m,
      nav range: 372.232971 m,
      bearing: 38.326484 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017817 deg/s,
      cmd heading: 40.976142 deg,
      new cmd heading: 40.957901 deg.

2025-10-26T21:25:47.820Z,1761513947.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714850 target range: 374.130615 and range: 376.50 m.
2025-10-26T21:25:48.264Z,1761513948.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750402,-0.646478,-0.137705],[0.658940,0.748031,0.079043],[0.051908,-0.150054,0.987314]]
2025-10-26T21:25:48.325Z,1761513948.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.13 m.
2025-10-26T21:25:48.328Z,1761513948.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.130615 m,
      nav range: 371.854065 m,
      bearing: 38.316745 deg,
      approach rate: -0.721136 m/s,
      LOS rate: -0.018554 deg/s,
      cmd heading: 40.957902 deg,
      new cmd heading: 40.928656 deg.

2025-10-26T21:25:48.329Z,1761513948.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714340 target range: 374.130615 and range: 376.50 m.
2025-10-26T21:25:48.668Z,1761513948.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747784,-0.649691,-0.136825],[0.661912,0.745600,0.077162],[0.051886,-0.148267,0.987585]]
2025-10-26T21:25:48.684Z,1761513948.684 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:48.686Z,1761513948.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.13 m.
2025-10-26T21:25:48.689Z,1761513948.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.130615 m,
      nav range: 371.591522 m,
      bearing: 38.309818 deg,
      approach rate: -0.727038 m/s,
      LOS rate: -0.019198 deg/s,
      cmd heading: 40.928655 deg,
      new cmd heading: 40.907857 deg.

2025-10-26T21:25:48.690Z,1761513948.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713977 target range: 374.130615 and range: 376.50 m.
2025-10-26T21:25:48.748Z,1761513948.748 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:25:48.748Z,1761513948.748 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:25:48.749Z,1761513948.749 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:25:49.001Z,1761513949.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494189
2025-10-26T21:25:49.104Z,1761513949.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745080,-0.652905,-0.136277],[0.664967,0.743010,0.075866],[0.051722,-0.147146,0.987762]]
2025-10-26T21:25:49.129Z,1761513949.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.13 m.
2025-10-26T21:25:49.134Z,1761513949.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.130615 m,
      nav range: 371.281372 m,
      bearing: 38.301417 deg,
      approach rate: -0.699581 m/s,
      LOS rate: -0.018964 deg/s,
      cmd heading: 40.907857 deg,
      new cmd heading: 40.882635 deg.

2025-10-26T21:25:49.153Z,1761513949.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713537 target range: 374.130615 and range: 376.50 m.
2025-10-26T21:25:49.253Z,1761513949.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745929
2025-10-26T21:25:49.504Z,1761513949.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997493
2025-10-26T21:25:49.518Z,1761513949.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743156,-0.655149,-0.136008],[0.667162,0.741044,0.075813],[0.051119,-0.147080,0.987803]]
2025-10-26T21:25:49.574Z,1761513949.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.13 m.
2025-10-26T21:25:49.581Z,1761513949.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.130615 m,
      nav range: 370.962067 m,
      bearing: 38.296214 deg,
      approach rate: -0.718200 m/s,
      LOS rate: -0.011714 deg/s,
      cmd heading: 40.882633 deg,
      new cmd heading: 40.867010 deg.

2025-10-26T21:25:49.582Z,1761513949.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713264 target range: 374.130615 and range: 376.50 m.
2025-10-26T21:25:49.756Z,1761513949.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249557
2025-10-26T21:25:49.914Z,1761513949.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741424,-0.657412,-0.134533],[0.669170,0.739293,0.075214],[0.050012,-0.145791,0.988050]]
2025-10-26T21:25:49.932Z,1761513949.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.13 m.
2025-10-26T21:25:49.935Z,1761513949.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.130615 m,
      nav range: 370.707825 m,
      bearing: 38.291957 deg,
      approach rate: -0.709721 m/s,
      LOS rate: -0.011891 deg/s,
      cmd heading: 40.867009 deg,
      new cmd heading: 40.854230 deg.

2025-10-26T21:25:49.936Z,1761513949.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713041 target range: 374.130615 and range: 376.50 m.
2025-10-26T21:25:50.020Z,1761513950.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501836
2025-10-26T21:25:50.260Z,1761513950.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753577
2025-10-26T21:25:50.314Z,1761513950.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740434,-0.658614,-0.134109],[0.670354,0.738121,0.076179],[0.048816,-0.146306,0.988034]]
2025-10-26T21:25:50.366Z,1761513950.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.13 m.
2025-10-26T21:25:50.369Z,1761513950.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.130615 m,
      nav range: 370.411804 m,
      bearing: 38.290259 deg,
      approach rate: -0.682353 m/s,
      LOS rate: -0.003917 deg/s,
      cmd heading: 40.854230 deg,
      new cmd heading: 40.849132 deg.

2025-10-26T21:25:50.370Z,1761513950.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712952 target range: 374.130615 and range: 376.50 m.
2025-10-26T21:25:50.512Z,1761513950.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005658
2025-10-26T21:25:50.726Z,1761513950.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740205,-0.658789,-0.134516],[0.670702,0.737563,0.078491],[0.047504,-0.148319,0.987798]]
2025-10-26T21:25:50.750Z,1761513950.750 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:50.752Z,1761513950.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.13 m.
2025-10-26T21:25:50.755Z,1761513950.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.130615 m,
      nav range: 370.151550 m,
      bearing: 38.288749 deg,
      approach rate: -0.673493 m/s,
      LOS rate: -0.003910 deg/s,
      cmd heading: 40.849131 deg,
      new cmd heading: 40.844599 deg.

2025-10-26T21:25:50.756Z,1761513950.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712873 target range: 374.130615 and range: 376.50 m.
2025-10-26T21:25:50.765Z,1761513950.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257883
2025-10-26T21:25:51.016Z,1761513951.016 [DAT](INFO): DAT read: Rx Time:21:25:49.5984

2025-10-26T21:25:51.017Z,1761513951.017 [DAT](INFO): Rx dataTimestamp_ set to:1761513951.016578
2025-10-26T21:25:51.017Z,1761513951.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510676
2025-10-26T21:25:51.129Z,1761513951.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740451,-0.658628,-0.133941],[0.670532,0.737544,0.080097],[0.046033,-0.149120,0.987747]]
2025-10-26T21:25:51.174Z,1761513951.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.13 m.
2025-10-26T21:25:51.187Z,1761513951.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.130615 m,
      nav range: 369.871429 m,
      bearing: 38.287135 deg,
      approach rate: -0.665076 m/s,
      LOS rate: -0.003834 deg/s,
      cmd heading: 40.844600 deg,
      new cmd heading: 40.839755 deg.

2025-10-26T21:25:51.188Z,1761513951.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712788 target range: 374.130615 and range: 376.50 m.
2025-10-26T21:25:51.268Z,1761513951.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761765
2025-10-26T21:25:51.526Z,1761513951.526 [DAT](INFO): DAT read: 21:25:49.5984 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 396, 0.26, 0.827,-0.649, 1.096, 0.337, PHS= 0.592,-0.941, 0.715, RAW= 153.8,  -4.6, CAL= 153.5,  -6.0, ROT= 356.5,   6.0

2025-10-26T21:25:51.528Z,1761513951.528 [DAT](INFO): got valid direction response:
 21:25:49.5984 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 396, 0.26, 0.827,-0.649, 1.096, 0.337, PHS= 0.592,-0.941, 0.715, RAW= 153.8,  -4.6, CAL= 153.5,  -6.0, ROT= 356.5,   6.0

2025-10-26T21:25:51.529Z,1761513951.529 [DAT](INFO): DAT read: Bearing 180.4,  -0.1 (Local)

2025-10-26T21:25:51.529Z,1761513951.529 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.4,  -0.1 (Local)

2025-10-26T21:25:51.530Z,1761513951.530 [DAT](INFO): DAT read: Range 11 to 50 : 374.0 m  (Round-trip  498.7 ms) speed  0.8 m/s

2025-10-26T21:25:51.531Z,1761513951.531 [DAT](INFO): DAT read: user:222>

2025-10-26T21:25:51.532Z,1761513951.532 [DAT](INFO): DAT read: Tx time:21:25:50.6956

2025-10-26T21:25:51.532Z,1761513951.532 [DAT](INFO): Ping request sent.
2025-10-26T21:25:51.532Z,1761513951.532 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:25:51.533Z,1761513951.533 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:25:51.534Z,1761513951.534 [DAT](INFO): direction in FSK: [0.992667,-0.060714,-0.104528]
2025-10-26T21:25:51.534Z,1761513951.534 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:51.534Z,1761513951.534 [DAT](INFO): publishing direction and range info
2025-10-26T21:25:51.565Z,1761513951.565 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:51.566Z,1761513951.566 [DAT](INFO): publishing direction and range info
2025-10-26T21:25:51.584Z,1761513951.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742934,-0.655925,-0.133462],[0.668010,0.739224,0.085505],[0.042573,-0.152678,0.987359]]
2025-10-26T21:25:51.695Z,1761513951.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 374.000000 m,
      deltaT: 4.032326 s,
      deltaX: -2.500000 m,
      approachRate: -0.619990 m/s,
      rangeRepo size: 4

2025-10-26T21:25:51.717Z,1761513951.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 371.628143 m,
      bearing: 37.597283 deg,
      lat: 36.779421 deg,
      lon: -121.859017 deg,
      deltaT: 4.032326 s,
      deltaX: -2.502472 m,
      approachRate: -0.620603 m/s,
      posRepo size: 4

2025-10-26T21:25:51.718Z,1761513951.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.63 m.
2025-10-26T21:25:51.726Z,1761513951.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.628143 m,
      nav range: 371.129211 m,
      bearing: 37.596046 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003834 deg/s,
      cmd heading: 40.839754 deg,
      new cmd heading: 40.833764 deg.

2025-10-26T21:25:51.732Z,1761513951.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712684 target range: 371.628143 and range: 374.00 m.
2025-10-26T21:25:52.042Z,1761513952.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744772,-0.653723,-0.134014],[0.666062,0.740543,0.089200],[0.040931,-0.155695,0.986957]]
2025-10-26T21:25:52.060Z,1761513952.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.63 m.
2025-10-26T21:25:52.063Z,1761513952.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.628143 m,
      nav range: 370.870056 m,
      bearing: 37.597964 deg,
      approach rate: -0.707987 m/s,
      LOS rate: 0.005244 deg/s,
      cmd heading: 40.833763 deg,
      new cmd heading: 40.839522 deg.

2025-10-26T21:25:52.064Z,1761513952.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712784 target range: 371.628143 and range: 374.00 m.
2025-10-26T21:25:52.438Z,1761513952.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746909,-0.651206,-0.134378],[0.663770,0.742141,0.092933],[0.039209,-0.158608,0.986563]]
2025-10-26T21:25:52.484Z,1761513952.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.63 m.
2025-10-26T21:25:52.487Z,1761513952.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.628143 m,
      nav range: 370.600922 m,
      bearing: 37.603052 deg,
      approach rate: -0.634980 m/s,
      LOS rate: 0.012013 deg/s,
      cmd heading: 40.839521 deg,
      new cmd heading: 40.854797 deg.

2025-10-26T21:25:52.488Z,1761513952.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713051 target range: 371.628143 and range: 374.00 m.
2025-10-26T21:25:52.840Z,1761513952.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749233,-0.648593,-0.134080],[0.661247,0.743994,0.096052],[0.037456,-0.160625,0.986304]]
2025-10-26T21:25:52.857Z,1761513952.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:52.859Z,1761513952.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.63 m.
2025-10-26T21:25:52.861Z,1761513952.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.628143 m,
      nav range: 370.363098 m,
      bearing: 37.607678 deg,
      approach rate: -0.635022 m/s,
      LOS rate: 0.012360 deg/s,
      cmd heading: 40.854797 deg,
      new cmd heading: 40.868684 deg.

2025-10-26T21:25:52.862Z,1761513952.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713293 target range: 371.628143 and range: 374.00 m.
2025-10-26T21:25:53.032Z,1761513953.032 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:25:53.032Z,1761513953.032 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:25:53.033Z,1761513953.033 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:25:53.287Z,1761513953.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754349
2025-10-26T21:25:53.346Z,1761513953.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.63 m.
2025-10-26T21:25:53.349Z,1761513953.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.628143 m,
      nav range: 370.063293 m,
      bearing: 37.614312 deg,
      approach rate: -0.614912 m/s,
      LOS rate: 0.013617 deg/s,
      cmd heading: 40.868683 deg,
      new cmd heading: 40.888599 deg.

2025-10-26T21:25:53.350Z,1761513953.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713641 target range: 371.628143 and range: 374.00 m.
2025-10-26T21:25:53.536Z,1761513953.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003962
2025-10-26T21:25:53.668Z,1761513953.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753461,-0.643869,-0.133152],[0.656605,0.747372,0.101513],[0.034153,-0.163914,0.985883]]
2025-10-26T21:25:53.697Z,1761513953.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.63 m.
2025-10-26T21:25:53.701Z,1761513953.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.628143 m,
      nav range: 369.847992 m,
      bearing: 37.619286 deg,
      approach rate: -0.614378 m/s,
      LOS rate: 0.014203 deg/s,
      cmd heading: 40.888600 deg,
      new cmd heading: 40.903531 deg.

2025-10-26T21:25:53.702Z,1761513953.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713901 target range: 371.628143 and range: 374.00 m.
2025-10-26T21:25:53.789Z,1761513953.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256751
2025-10-26T21:25:54.040Z,1761513954.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508098
2025-10-26T21:25:54.073Z,1761513954.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755704,-0.641217,-0.133236],[0.654107,0.749084,0.104965],[0.032499,-0.166473,0.985510]]
2025-10-26T21:25:54.092Z,1761513954.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.63 m.
2025-10-26T21:25:54.094Z,1761513954.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.628143 m,
      nav range: 369.604919 m,
      bearing: 37.625030 deg,
      approach rate: -0.615791 m/s,
      LOS rate: 0.014562 deg/s,
      cmd heading: 40.903530 deg,
      new cmd heading: 40.920775 deg.

2025-10-26T21:25:54.095Z,1761513954.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714202 target range: 371.628143 and range: 374.00 m.
2025-10-26T21:25:54.293Z,1761513954.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760404
2025-10-26T21:25:54.474Z,1761513954.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757748,-0.639188,-0.131364],[0.651813,0.750949,0.105903],[0.030955,-0.165872,0.985661]]
2025-10-26T21:25:54.523Z,1761513954.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.63 m.
2025-10-26T21:25:54.526Z,1761513954.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.628143 m,
      nav range: 369.336304 m,
      bearing: 37.630259 deg,
      approach rate: -0.622526 m/s,
      LOS rate: 0.012127 deg/s,
      cmd heading: 40.920773 deg,
      new cmd heading: 40.936472 deg.

2025-10-26T21:25:54.527Z,1761513954.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714476 target range: 371.628143 and range: 374.00 m.
2025-10-26T21:25:54.544Z,1761513954.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012134
2025-10-26T21:25:54.797Z,1761513954.797 [DAT](INFO): DAT read: Rx Time:21:25:53.5786

2025-10-26T21:25:54.798Z,1761513954.798 [DAT](INFO): Rx dataTimestamp_ set to:1761513954.797430
2025-10-26T21:25:54.799Z,1761513954.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266211
2025-10-26T21:25:54.879Z,1761513954.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759107,-0.637808,-0.130221],[0.650297,0.752068,0.107275],[0.029514,-0.166116,0.985664]]
2025-10-26T21:25:54.898Z,1761513954.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:54.900Z,1761513954.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.63 m.
2025-10-26T21:25:54.903Z,1761513954.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.628143 m,
      nav range: 369.101532 m,
      bearing: 37.634910 deg,
      approach rate: -0.621788 m/s,
      LOS rate: 0.012325 deg/s,
      cmd heading: 40.936472 deg,
      new cmd heading: 40.950433 deg.

2025-10-26T21:25:54.905Z,1761513954.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714720 target range: 371.628143 and range: 374.00 m.
2025-10-26T21:25:55.049Z,1761513955.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516822
2025-10-26T21:25:55.303Z,1761513955.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770349
2025-10-26T21:25:55.352Z,1761513955.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760454,-0.636750,-0.127512],[0.648797,0.753366,0.107246],[0.027774,-0.164285,0.986022]]
2025-10-26T21:25:55.464Z,1761513955.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.63 m.
2025-10-26T21:25:55.466Z,1761513955.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.628143 m,
      nav range: 368.753967 m,
      bearing: 37.640102 deg,
      approach rate: -0.617389 m/s,
      LOS rate: 0.009232 deg/s,
      cmd heading: 40.950433 deg,
      new cmd heading: 40.966025 deg.

2025-10-26T21:25:55.467Z,1761513955.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714992 target range: 371.628143 and range: 374.00 m.
2025-10-26T21:25:55.558Z,1761513955.558 [DAT](INFO): DAT read: 21:25:53.5786 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 244,-0.11, 0.107,-1.344, 0.355,-0.347, PHS= 0.556,-0.952, 0.658, RAW= 153.2,  -3.4, CAL= 152.7,  -4.6, ROT= 357.3,   4.6

2025-10-26T21:25:55.560Z,1761513955.560 [DAT](INFO): got valid direction response:
 21:25:53.5786 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 244,-0.11, 0.107,-1.344, 0.355,-0.347, PHS= 0.556,-0.952, 0.658, RAW= 153.2,  -3.4, CAL= 152.7,  -4.6, ROT= 357.3,   4.6

2025-10-26T21:25:55.561Z,1761513955.561 [DAT](INFO): DAT read: Bearing 181.3,  -0.2 (Local)

2025-10-26T21:25:55.561Z,1761513955.561 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.3,  -0.2 (Local)

2025-10-26T21:25:55.562Z,1761513955.562 [DAT](INFO): DAT read: Range 11 to 50 : 359.1 m  (Round-trip  478.9 ms) speed  0.8 m/s

2025-10-26T21:25:55.563Z,1761513955.563 [DAT](INFO): DAT read: user:223>

2025-10-26T21:25:55.564Z,1761513955.564 [DAT](INFO): DAT read: Tx time:21:25:54.6956

2025-10-26T21:25:55.564Z,1761513955.564 [DAT](INFO): Ping request sent.
2025-10-26T21:25:55.564Z,1761513955.564 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:25:55.565Z,1761513955.565 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:25:55.566Z,1761513955.566 [DAT](INFO): direction in FSK: [0.995672,-0.046955,-0.080199]
2025-10-26T21:25:55.566Z,1761513955.566 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:55.566Z,1761513955.566 [DAT](INFO): publishing direction and range info
2025-10-26T21:25:55.574Z,1761513955.574 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:55.574Z,1761513955.574 [DAT](INFO): publishing direction and range info
2025-10-26T21:25:55.805Z,1761513955.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761366,-0.636001,-0.125795],[0.647790,0.754144,0.107864],[0.026266,-0.163612,0.986175]]
2025-10-26T21:25:55.834Z,1761513955.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 359.100006 m,
      deltaT: 4.031921 s,
      deltaX: -14.899994 m,
      approachRate: -3.695507 m/s,
      rangeRepo size: 4

2025-10-26T21:25:55.836Z,1761513955.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 356.818542 m,
      bearing: 36.980364 deg,
      lat: 36.779421 deg,
      lon: -121.859102 deg,
      deltaT: 4.031921 s,
      deltaX: -14.809601 m,
      approachRate: -3.673088 m/s,
      posRepo size: 4

2025-10-26T21:25:55.837Z,1761513955.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.82 m.
2025-10-26T21:25:55.840Z,1761513955.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.818542 m,
      nav range: 363.905518 m,
      bearing: 36.689909 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009232 deg/s,
      cmd heading: 40.966023 deg,
      new cmd heading: 40.976271 deg.

2025-10-26T21:25:55.841Z,1761513955.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.715171 target range: 356.818542 and range: 359.10 m.
2025-10-26T21:25:56.198Z,1761513956.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761855,-0.636101,-0.122281],[0.647286,0.754748,0.106658],[0.024447,-0.160409,0.986748]]
2025-10-26T21:25:56.226Z,1761513956.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.82 m.
2025-10-26T21:25:56.229Z,1761513956.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.818542 m,
      nav range: 363.660095 m,
      bearing: 36.693073 deg,
      approach rate: -0.625396 m/s,
      LOS rate: 0.008068 deg/s,
      cmd heading: 40.976272 deg,
      new cmd heading: 40.985770 deg.

2025-10-26T21:25:56.230Z,1761513956.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.715337 target range: 356.818542 and range: 359.10 m.
2025-10-26T21:25:56.602Z,1761513956.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761780,-0.636571,-0.120286],[0.647425,0.754673,0.106351],[0.023077,-0.158892,0.987026]]
2025-10-26T21:25:56.667Z,1761513956.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.82 m.
2025-10-26T21:25:56.670Z,1761513956.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.818542 m,
      nav range: 363.379974 m,
      bearing: 36.692913 deg,
      approach rate: -0.635182 m/s,
      LOS rate: -0.000363 deg/s,
      cmd heading: 40.985769 deg,
      new cmd heading: 40.985289 deg.

2025-10-26T21:25:56.671Z,1761513956.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.715328 target range: 356.818542 and range: 359.10 m.
2025-10-26T21:25:57.004Z,1761513957.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761689,-0.637229,-0.117342],[0.647590,0.754667,0.105382],[0.021402,-0.156258,0.987484]]
2025-10-26T21:25:57.035Z,1761513957.035 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:57.037Z,1761513957.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.82 m.
2025-10-26T21:25:57.040Z,1761513957.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.818542 m,
      nav range: 363.147034 m,
      bearing: 36.692778 deg,
      approach rate: -0.628757 m/s,
      LOS rate: -0.000366 deg/s,
      cmd heading: 40.985288 deg,
      new cmd heading: 40.984881 deg.

2025-10-26T21:25:57.041Z,1761513957.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.715321 target range: 356.818542 and range: 359.10 m.
2025-10-26T21:25:57.073Z,1761513957.073 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:25:57.073Z,1761513957.073 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:25:57.073Z,1761513957.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:25:57.328Z,1761513957.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763545
2025-10-26T21:25:57.408Z,1761513957.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761473,-0.637715,-0.116096],[0.647879,0.754396,0.105544],[0.020276,-0.155585,0.987614]]
2025-10-26T21:25:57.445Z,1761513957.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.82 m.
2025-10-26T21:25:57.472Z,1761513957.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.818542 m,
      nav range: 362.884216 m,
      bearing: 36.690043 deg,
      approach rate: -0.645090 m/s,
      LOS rate: -0.006719 deg/s,
      cmd heading: 40.984881 deg,
      new cmd heading: 40.976670 deg.

2025-10-26T21:25:57.473Z,1761513957.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.715178 target range: 356.818542 and range: 359.10 m.
2025-10-26T21:25:57.577Z,1761513957.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012694
2025-10-26T21:25:57.810Z,1761513957.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761041,-0.638737,-0.113279],[0.648444,0.753992,0.104959],[0.018370,-0.153333,0.988004]]
2025-10-26T21:25:57.828Z,1761513957.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264096
2025-10-26T21:25:57.830Z,1761513957.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.82 m.
2025-10-26T21:25:57.834Z,1761513957.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.818542 m,
      nav range: 362.638763 m,
      bearing: 36.687459 deg,
      approach rate: -0.636730 m/s,
      LOS rate: -0.006706 deg/s,
      cmd heading: 40.976668 deg,
      new cmd heading: 40.968913 deg.

2025-10-26T21:25:57.835Z,1761513957.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.715042 target range: 356.818542 and range: 359.10 m.
2025-10-26T21:25:58.080Z,1761513958.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516043
2025-10-26T21:25:58.217Z,1761513958.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760375,-0.639823,-0.111607],[0.649258,0.753336,0.104633],[0.017131,-0.152022,0.988229]]
2025-10-26T21:25:58.236Z,1761513958.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.82 m.
2025-10-26T21:25:58.239Z,1761513958.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.818542 m,
      nav range: 362.379181 m,
      bearing: 36.684682 deg,
      approach rate: -0.640680 m/s,
      LOS rate: -0.006860 deg/s,
      cmd heading: 40.968912 deg,
      new cmd heading: 40.960574 deg.

2025-10-26T21:25:58.240Z,1761513958.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714897 target range: 356.818542 and range: 359.10 m.
2025-10-26T21:25:58.338Z,1761513958.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773312
2025-10-26T21:25:58.584Z,1761513958.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019982
2025-10-26T21:25:58.627Z,1761513958.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759605,-0.640994,-0.110128],[0.650192,0.752541,0.104562],[0.015852,-0.151030,0.988402]]
2025-10-26T21:25:58.693Z,1761513958.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.82 m.
2025-10-26T21:25:58.700Z,1761513958.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.818542 m,
      nav range: 362.090485 m,
      bearing: 36.679845 deg,
      approach rate: -0.631371 m/s,
      LOS rate: -0.010585 deg/s,
      cmd heading: 40.960573 deg,
      new cmd heading: 40.946053 deg.

2025-10-26T21:25:58.701Z,1761513958.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714643 target range: 356.818542 and range: 359.10 m.
2025-10-26T21:25:58.837Z,1761513958.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272642
2025-10-26T21:25:59.037Z,1761513959.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758978,-0.641977,-0.108712],[0.650954,0.751867,0.104666],[0.014544,-0.150206,0.988548]]
2025-10-26T21:25:59.061Z,1761513959.061 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:25:59.076Z,1761513959.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.82 m.
2025-10-26T21:25:59.078Z,1761513959.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.818542 m,
      nav range: 361.842773 m,
      bearing: 36.675650 deg,
      approach rate: -0.668063 m/s,
      LOS rate: -0.011321 deg/s,
      cmd heading: 40.946052 deg,
      new cmd heading: 40.933459 deg.

2025-10-26T21:25:59.084Z,1761513959.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714424 target range: 356.818542 and range: 359.10 m.
2025-10-26T21:25:59.089Z,1761513959.089 [DAT](INFO): DAT read: Rx Time:21:25:57.5916

2025-10-26T21:25:59.089Z,1761513959.089 [DAT](INFO): Rx dataTimestamp_ set to:1761513959.088742
2025-10-26T21:25:59.090Z,1761513959.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525221
2025-10-26T21:25:59.346Z,1761513959.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781114
2025-10-26T21:25:59.438Z,1761513959.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758151,-0.643169,-0.107430],[0.651947,0.750956,0.105026],[0.013126,-0.149664,0.988650]]
2025-10-26T21:25:59.487Z,1761513959.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.82 m.
2025-10-26T21:25:59.490Z,1761513959.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.818542 m,
      nav range: 361.563904 m,
      bearing: 36.670361 deg,
      approach rate: -0.658533 m/s,
      LOS rate: -0.012501 deg/s,
      cmd heading: 40.933460 deg,
      new cmd heading: 40.917579 deg.

2025-10-26T21:25:59.491Z,1761513959.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714146 target range: 356.818542 and range: 359.10 m.
2025-10-26T21:25:59.593Z,1761513959.593 [DAT](INFO): DAT read: Range 11 to 50 : 368.9 m  (Round-trip  491.9 ms) speed  0.4 m/s

2025-10-26T21:25:59.594Z,1761513959.594 [DAT](INFO): DAT read: user:224>

2025-10-26T21:25:59.595Z,1761513959.595 [DAT](INFO): DAT read: Tx time:21:25:58.6956

2025-10-26T21:25:59.595Z,1761513959.595 [DAT](INFO): Ping request sent.
2025-10-26T21:25:59.595Z,1761513959.595 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:25:59.596Z,1761513959.596 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-26T21:25:59.596Z,1761513959.596 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:59.596Z,1761513959.596 [DAT](INFO): publishing transmit ping time
2025-10-26T21:25:59.846Z,1761513959.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757378,-0.644217,-0.106593],[0.652872,0.750012,0.106018],[0.011647,-0.149888,0.988634]]
2025-10-26T21:25:59.865Z,1761513959.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 368.899994 m,
      deltaT: 4.039802 s,
      deltaX: 9.799988 m,
      approachRate: 2.425858 m/s,
      rangeRepo size: 4

2025-10-26T21:25:59.865Z,1761513959.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.82 m.
2025-10-26T21:25:59.868Z,1761513959.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.818542 m,
      nav range: 361.314789 m,
      bearing: 36.665581 deg,
      approach rate: -0.660304 m/s,
      LOS rate: -0.012678 deg/s,
      cmd heading: 40.917580 deg,
      new cmd heading: 40.903231 deg.

2025-10-26T21:25:59.869Z,1761513959.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713896 target range: 356.818542 and range: 368.90 m.
2025-10-26T21:26:00.280Z,1761513960.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.82 m.
2025-10-26T21:26:00.282Z,1761513960.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.818542 m,
      nav range: 361.041199 m,
      bearing: 36.660323 deg,
      approach rate: -0.658853 m/s,
      LOS rate: -0.012672 deg/s,
      cmd heading: 40.903230 deg,
      new cmd heading: 40.887444 deg.

2025-10-26T21:26:00.283Z,1761513960.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713621 target range: 356.818542 and range: 368.90 m.
2025-10-26T21:26:00.709Z,1761513960.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.82 m.
2025-10-26T21:26:00.713Z,1761513960.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.818542 m,
      nav range: 360.760620 m,
      bearing: 36.654967 deg,
      approach rate: -0.653333 m/s,
      LOS rate: -0.012481 deg/s,
      cmd heading: 40.887445 deg,
      new cmd heading: 40.871366 deg.

2025-10-26T21:26:00.715Z,1761513960.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713340 target range: 356.818542 and range: 368.90 m.
2025-10-26T21:26:01.079Z,1761513961.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:01.081Z,1761513961.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.82 m.
2025-10-26T21:26:01.084Z,1761513961.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.818542 m,
      nav range: 360.512299 m,
      bearing: 36.650220 deg,
      approach rate: -0.667097 m/s,
      LOS rate: -0.012762 deg/s,
      cmd heading: 40.871367 deg,
      new cmd heading: 40.857115 deg.

2025-10-26T21:26:01.085Z,1761513961.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713091 target range: 356.818542 and range: 368.90 m.
2025-10-26T21:26:01.104Z,1761513961.104 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:26:01.104Z,1761513961.104 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:26:01.105Z,1761513961.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:26:01.359Z,1761513961.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763180
2025-10-26T21:26:01.458Z,1761513961.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753633,-0.648963,-0.104330],[0.657261,0.745669,0.109481],[0.006747,-0.151080,0.988498]]
2025-10-26T21:26:01.511Z,1761513961.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.82 m.
2025-10-26T21:26:01.514Z,1761513961.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.818542 m,
      nav range: 360.226898 m,
      bearing: 36.645447 deg,
      approach rate: -0.663975 m/s,
      LOS rate: -0.011112 deg/s,
      cmd heading: 40.857116 deg,
      new cmd heading: 40.842787 deg.

2025-10-26T21:26:01.515Z,1761513961.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712841 target range: 356.818542 and range: 368.90 m.
2025-10-26T21:26:01.610Z,1761513961.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014536
2025-10-26T21:26:01.860Z,1761513961.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264771
2025-10-26T21:26:01.865Z,1761513961.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752939,-0.649733,-0.104544],[0.658063,0.744781,0.110696],[0.005939,-0.152144,0.988340]]
2025-10-26T21:26:01.885Z,1761513961.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.82 m.
2025-10-26T21:26:01.887Z,1761513961.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.818542 m,
      nav range: 359.979279 m,
      bearing: 36.641259 deg,
      approach rate: -0.662659 m/s,
      LOS rate: -0.011217 deg/s,
      cmd heading: 40.842786 deg,
      new cmd heading: 40.830211 deg.

2025-10-26T21:26:01.888Z,1761513961.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712622 target range: 356.818542 and range: 368.90 m.
2025-10-26T21:26:02.113Z,1761513962.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517996
2025-10-26T21:26:02.267Z,1761513962.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752618,-0.650147,-0.104287],[0.658439,0.744306,0.111658],[0.005027,-0.152702,0.988259]]
2025-10-26T21:26:02.292Z,1761513962.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.82 m.
2025-10-26T21:26:02.294Z,1761513962.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.818542 m,
      nav range: 359.708771 m,
      bearing: 36.636655 deg,
      approach rate: -0.664870 m/s,
      LOS rate: -0.011323 deg/s,
      cmd heading: 40.830212 deg,
      new cmd heading: 40.816391 deg.

2025-10-26T21:26:02.296Z,1761513962.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712380 target range: 356.818542 and range: 368.90 m.
2025-10-26T21:26:02.377Z,1761513962.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780630
2025-10-26T21:26:02.625Z,1761513962.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029260
2025-10-26T21:26:02.736Z,1761513962.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.82 m.
2025-10-26T21:26:02.738Z,1761513962.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.818542 m,
      nav range: 359.412537 m,
      bearing: 36.632989 deg,
      approach rate: -0.667254 m/s,
      LOS rate: -0.008265 deg/s,
      cmd heading: 40.816391 deg,
      new cmd heading: 40.805383 deg.

2025-10-26T21:26:02.756Z,1761513962.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712188 target range: 356.818542 and range: 368.90 m.
2025-10-26T21:26:02.877Z,1761513962.877 [DAT](INFO): DAT read: Rx Time:21:26:01.5887

2025-10-26T21:26:02.877Z,1761513962.877 [DAT](INFO): Rx dataTimestamp_ set to:1761513962.876702
2025-10-26T21:26:02.877Z,1761513962.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282074
2025-10-26T21:26:03.099Z,1761513963.099 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:03.101Z,1761513963.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.82 m.
2025-10-26T21:26:03.106Z,1761513963.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.818542 m,
      nav range: 359.164948 m,
      bearing: 36.629919 deg,
      approach rate: -0.676684 m/s,
      LOS rate: -0.008395 deg/s,
      cmd heading: 40.805384 deg,
      new cmd heading: 40.796170 deg.

2025-10-26T21:26:03.109Z,1761513963.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712027 target range: 356.818542 and range: 368.90 m.
2025-10-26T21:26:03.130Z,1761513963.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534203
2025-10-26T21:26:03.411Z,1761513963.411 [DAT](INFO): DAT read: 21:26:01.5887 LVL= 32752, 32753, 32242, 32755, AGC= 77, IDX= 412,-0.13, 0.761,-0.866, 1.074, 0.176, PHS= 0.688,-0.997, 0.855, RAW= 154.7,  -6.2, CAL= 154.7,  -7.7, ROT= 355.3,   7.7

2025-10-26T21:26:03.415Z,1761513963.415 [DAT](INFO): got valid direction response:
 21:26:01.5887 LVL= 32752, 32753, 32242, 32755, AGC= 77, IDX= 412,-0.13, 0.761,-0.866, 1.074, 0.176, PHS= 0.688,-0.997, 0.855, RAW= 154.7,  -6.2, CAL= 154.7,  -7.7, ROT= 355.3,   7.7

2025-10-26T21:26:03.445Z,1761513963.445 [DAT](INFO): DAT read: Bearing 177.9,  -3.3 (Local)

2025-10-26T21:26:03.445Z,1761513963.445 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.9,  -3.3 (Local)

2025-10-26T21:26:03.447Z,1761513963.447 [DAT](INFO): DAT read: Range 11 to 50 : 366.7 m  (Round-trip  489.0 ms) speed  0.4 m/s

2025-10-26T21:26:03.452Z,1761513963.452 [DAT](INFO): DAT read: user:225>

2025-10-26T21:26:03.453Z,1761513963.453 [DAT](INFO): DAT read: Tx time:21:26:02.6956

2025-10-26T21:26:03.453Z,1761513963.453 [DAT](INFO): Ping request sent.
2025-10-26T21:26:03.453Z,1761513963.453 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:26:03.454Z,1761513963.454 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:26:03.455Z,1761513963.455 [DAT](INFO): direction in FSK: [0.987651,-0.081200,-0.133986]
2025-10-26T21:26:03.455Z,1761513963.455 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:03.455Z,1761513963.455 [DAT](INFO): publishing direction and range info
2025-10-26T21:26:03.458Z,1761513963.458 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:03.459Z,1761513963.459 [DAT](INFO): publishing direction and range info
2025-10-26T21:26:03.478Z,1761513963.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752915,-0.649588,-0.105612],[0.658110,0.743918,0.116093],[0.003154,-0.156913,0.987607]]
2025-10-26T21:26:03.618Z,1761513963.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 366.700012 m,
      deltaT: 3.790390 s,
      deltaX: -2.199982 m,
      approachRate: -0.580410 m/s,
      rangeRepo size: 4

2025-10-26T21:26:03.626Z,1761513963.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 364.379700 m,
      bearing: 35.306867 deg,
      lat: 36.779473 deg,
      lon: -121.859136 deg,
      deltaT: 7.830192 s,
      deltaX: 7.561157 m,
      approachRate: 0.965641 m/s,
      posRepo size: 4

2025-10-26T21:26:03.627Z,1761513963.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:03.639Z,1761513963.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 361.790649 m,
      bearing: 35.691273 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008395 deg/s,
      cmd heading: 40.796170 deg,
      new cmd heading: 40.783208 deg.

2025-10-26T21:26:03.653Z,1761513963.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711801 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:03.897Z,1761513963.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753219,-0.649322,-0.105079],[0.657766,0.744053,0.117172],[0.002102,-0.157373,0.987537]]
2025-10-26T21:26:03.931Z,1761513963.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:03.933Z,1761513963.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 361.565552 m,
      bearing: 35.689127 deg,
      approach rate: -0.715495 m/s,
      LOS rate: -0.006826 deg/s,
      cmd heading: 40.783206 deg,
      new cmd heading: 40.776764 deg.

2025-10-26T21:26:03.934Z,1761513963.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711689 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:04.298Z,1761513964.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753374,-0.649042,-0.105699],[0.657590,0.743998,0.118501],[0.001728,-0.158782,0.987312]]
2025-10-26T21:26:04.327Z,1761513964.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:04.330Z,1761513964.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 361.287750 m,
      bearing: 35.686485 deg,
      approach rate: -0.701641 m/s,
      LOS rate: -0.006677 deg/s,
      cmd heading: 40.776762 deg,
      new cmd heading: 40.768831 deg.

2025-10-26T21:26:04.330Z,1761513964.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711550 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:04.707Z,1761513964.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754238,-0.647900,-0.106540],[0.656599,0.744632,0.119999],[0.001586,-0.160461,0.987041]]
2025-10-26T21:26:04.769Z,1761513964.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:04.772Z,1761513964.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 360.999847 m,
      bearing: 35.684858 deg,
      approach rate: -0.650538 m/s,
      LOS rate: -0.003680 deg/s,
      cmd heading: 40.768832 deg,
      new cmd heading: 40.763947 deg.

2025-10-26T21:26:04.773Z,1761513964.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711465 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:05.131Z,1761513965.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754732,-0.647434,-0.105870],[0.656032,0.745133,0.119996],[0.001198,-0.160019,0.987113]]
2025-10-26T21:26:05.150Z,1761513965.150 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:05.152Z,1761513965.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:05.171Z,1761513965.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 360.750763 m,
      bearing: 35.683478 deg,
      approach rate: -0.650141 m/s,
      LOS rate: -0.003604 deg/s,
      cmd heading: 40.763949 deg,
      new cmd heading: 40.759807 deg.

2025-10-26T21:26:05.172Z,1761513965.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711393 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:05.396Z,1761513965.396 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:26:05.396Z,1761513965.396 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:26:05.397Z,1761513965.397 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:26:05.511Z,1761513965.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754978,-0.647050,-0.106464],[0.655749,0.745248,0.120828],[0.001161,-0.161036,0.986948]]
2025-10-26T21:26:05.565Z,1761513965.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:05.584Z,1761513965.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 360.492462 m,
      bearing: 35.682680 deg,
      approach rate: -0.625329 m/s,
      LOS rate: -0.001933 deg/s,
      cmd heading: 40.759806 deg,
      new cmd heading: 40.757410 deg.

2025-10-26T21:26:05.585Z,1761513965.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711351 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:05.648Z,1761513965.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.195031
2025-10-26T21:26:05.900Z,1761513965.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446816
2025-10-26T21:26:05.977Z,1761513965.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:05.980Z,1761513965.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 360.240509 m,
      bearing: 35.681901 deg,
      approach rate: -0.612305 m/s,
      LOS rate: -0.001896 deg/s,
      cmd heading: 40.757409 deg,
      new cmd heading: 40.755068 deg.

2025-10-26T21:26:05.981Z,1761513965.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711310 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:06.152Z,1761513966.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.698835
2025-10-26T21:26:06.319Z,1761513966.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756397,-0.645322,-0.106877],[0.654112,0.746412,0.122498],[0.000723,-0.162567,0.986697]]
2025-10-26T21:26:06.345Z,1761513966.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:06.348Z,1761513966.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 359.997559 m,
      bearing: 35.681229 deg,
      approach rate: -0.659543 m/s,
      LOS rate: -0.001823 deg/s,
      cmd heading: 40.755069 deg,
      new cmd heading: 40.753055 deg.

2025-10-26T21:26:06.349Z,1761513966.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711275 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:06.409Z,1761513966.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.955212
2025-10-26T21:26:06.656Z,1761513966.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.202906
2025-10-26T21:26:06.730Z,1761513966.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756729,-0.644861,-0.107312],[0.653728,0.746631,0.123211],[0.000669,-0.163390,0.986561]]
2025-10-26T21:26:06.779Z,1761513966.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:06.782Z,1761513966.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 359.717407 m,
      bearing: 35.679242 deg,
      approach rate: -0.645854 m/s,
      LOS rate: -0.004584 deg/s,
      cmd heading: 40.753055 deg,
      new cmd heading: 40.747089 deg.

2025-10-26T21:26:06.783Z,1761513966.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711171 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:06.908Z,1761513966.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.454904
2025-10-26T21:26:07.137Z,1761513967.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757223,-0.644299,-0.107205],[0.653156,0.747092,0.123454],[0.000550,-0.163504,0.986543]]
2025-10-26T21:26:07.155Z,1761513967.155 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:07.167Z,1761513967.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.709690
2025-10-26T21:26:07.184Z,1761513967.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:07.186Z,1761513967.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 359.472412 m,
      bearing: 35.677532 deg,
      approach rate: -0.645761 m/s,
      LOS rate: -0.004512 deg/s,
      cmd heading: 40.747088 deg,
      new cmd heading: 40.741952 deg.

2025-10-26T21:26:07.187Z,1761513967.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711081 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:07.412Z,1761513967.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.958905
2025-10-26T21:26:07.537Z,1761513967.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757577,-0.643878,-0.107225],[0.652745,0.747369,0.123950],[0.000328,-0.163893,0.986478]]
2025-10-26T21:26:07.578Z,1761513967.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:07.597Z,1761513967.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 359.193573 m,
      bearing: 35.674938 deg,
      approach rate: -0.664111 m/s,
      LOS rate: -0.006181 deg/s,
      cmd heading: 40.741952 deg,
      new cmd heading: 40.734167 deg.

2025-10-26T21:26:07.598Z,1761513967.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710945 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:07.665Z,1761513967.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.211585
2025-10-26T21:26:07.916Z,1761513967.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.462906
2025-10-26T21:26:07.934Z,1761513967.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757823,-0.643544,-0.107494],[0.652460,0.747612,0.123984],[0.000575,-0.164094,0.986445]]
2025-10-26T21:26:07.981Z,1761513967.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:07.990Z,1761513967.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 358.932007 m,
      bearing: 35.672518 deg,
      approach rate: -0.649104 m/s,
      LOS rate: -0.006011 deg/s,
      cmd heading: 40.734166 deg,
      new cmd heading: 40.726899 deg.

2025-10-26T21:26:07.995Z,1761513967.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710818 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:08.169Z,1761513968.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.715390
2025-10-26T21:26:08.340Z,1761513968.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757874,-0.643462,-0.107633],[0.652401,0.747624,0.124220],[0.000538,-0.164363,0.986400]]
2025-10-26T21:26:08.364Z,1761513968.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:08.366Z,1761513968.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 358.677246 m,
      bearing: 35.670160 deg,
      approach rate: -0.670416 m/s,
      LOS rate: -0.006210 deg/s,
      cmd heading: 40.726898 deg,
      new cmd heading: 40.719819 deg.

2025-10-26T21:26:08.368Z,1761513968.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710695 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:08.424Z,1761513968.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.970076
2025-10-26T21:26:08.673Z,1761513968.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.219187
2025-10-26T21:26:08.744Z,1761513968.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757756,-0.643597,-0.107652],[0.652538,0.747525,0.124097],[0.000604,-0.164282,0.986413]]
2025-10-26T21:26:08.795Z,1761513968.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:08.798Z,1761513968.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 358.394348 m,
      bearing: 35.666812 deg,
      approach rate: -0.652130 m/s,
      LOS rate: -0.007724 deg/s,
      cmd heading: 40.719819 deg,
      new cmd heading: 40.709766 deg.

2025-10-26T21:26:08.799Z,1761513968.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710519 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:08.924Z,1761513968.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.470894
2025-10-26T21:26:09.072Z,1761513969.072 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:26:09.154Z,1761513969.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757747,-0.643678,-0.107230],[0.652548,0.747688,0.123058],[0.000965,-0.163219,0.986589]]
2025-10-26T21:26:09.176Z,1761513969.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.722920
2025-10-26T21:26:09.204Z,1761513969.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:09.206Z,1761513969.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:09.213Z,1761513969.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 358.141174 m,
      bearing: 35.663811 deg,
      approach rate: -0.615326 m/s,
      LOS rate: -0.007299 deg/s,
      cmd heading: 40.709765 deg,
      new cmd heading: 40.700755 deg.

2025-10-26T21:26:09.214Z,1761513969.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710362 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:09.429Z,1761513969.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.975759
2025-10-26T21:26:09.550Z,1761513969.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757353,-0.644193,-0.106920],[0.653004,0.747489,0.121844],[0.001430,-0.162098,0.986774]]
2025-10-26T21:26:09.630Z,1761513969.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:09.637Z,1761513969.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 357.868134 m,
      bearing: 35.659413 deg,
      approach rate: -0.655768 m/s,
      LOS rate: -0.010571 deg/s,
      cmd heading: 40.700756 deg,
      new cmd heading: 40.687552 deg.

2025-10-26T21:26:09.638Z,1761513969.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710132 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:09.681Z,1761513969.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.227116
2025-10-26T21:26:09.932Z,1761513969.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.478891
2025-10-26T21:26:09.957Z,1761513969.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757246,-0.644355,-0.106701],[0.653128,0.747434,0.121515],[0.001453,-0.161706,0.986838]]
2025-10-26T21:26:09.000Z,1761513970.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:10.002Z,1761513970.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 357.622559 m,
      bearing: 35.655445 deg,
      approach rate: -0.659456 m/s,
      LOS rate: -0.010663 deg/s,
      cmd heading: 40.687553 deg,
      new cmd heading: 40.675640 deg.

2025-10-26T21:26:10.020Z,1761513970.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.709924 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:10.076Z,1761513970.076 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:26:10.184Z,1761513970.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.730896
2025-10-26T21:26:10.380Z,1761513970.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756272,-0.645495,-0.106715],[0.654253,0.746678,0.120104],[0.002154,-0.160650,0.987009]]
2025-10-26T21:26:10.399Z,1761513970.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:10.402Z,1761513970.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 357.348633 m,
      bearing: 35.650947 deg,
      approach rate: -0.678649 m/s,
      LOS rate: -0.011151 deg/s,
      cmd heading: 40.675641 deg,
      new cmd heading: 40.662138 deg.

2025-10-26T21:26:10.403Z,1761513970.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.709688 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:10.437Z,1761513970.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.984031
2025-10-26T21:26:10.689Z,1761513970.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.235207
2025-10-26T21:26:10.781Z,1761513970.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755915,-0.645895,-0.106828],[0.654665,0.746400,0.119583],[0.002498,-0.160331,0.987060]]
2025-10-26T21:26:10.818Z,1761513970.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:10.841Z,1761513970.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 357.072723 m,
      bearing: 35.646221 deg,
      approach rate: -0.658934 m/s,
      LOS rate: -0.011297 deg/s,
      cmd heading: 40.662138 deg,
      new cmd heading: 40.647947 deg.

2025-10-26T21:26:10.842Z,1761513970.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.709441 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:10.942Z,1761513970.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.488077
2025-10-26T21:26:11.181Z,1761513971.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755787,-0.646035,-0.106891],[0.654813,0.746296,0.119426],[0.002619,-0.160254,0.987072]]
2025-10-26T21:26:11.200Z,1761513971.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.747013
2025-10-26T21:26:11.219Z,1761513971.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:11.225Z,1761513971.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:11.232Z,1761513971.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 356.809998 m,
      bearing: 35.641705 deg,
      approach rate: -0.644522 m/s,
      LOS rate: -0.011087 deg/s,
      cmd heading: 40.647948 deg,
      new cmd heading: 40.634391 deg.

2025-10-26T21:26:11.236Z,1761513971.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.709204 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:11.454Z,1761513971.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.000180
2025-10-26T21:26:11.584Z,1761513971.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755700,-0.646152,-0.106794],[0.654913,0.746209,0.119419],[0.002528,-0.160186,0.987084]]
2025-10-26T21:26:11.660Z,1761513971.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:11.662Z,1761513971.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 356.514191 m,
      bearing: 35.636519 deg,
      approach rate: -0.687793 m/s,
      LOS rate: -0.012067 deg/s,
      cmd heading: 40.634390 deg,
      new cmd heading: 40.618821 deg.

2025-10-26T21:26:11.663Z,1761513971.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708932 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:11.705Z,1761513971.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.251504
2025-10-26T21:26:11.957Z,1761513971.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.503348
2025-10-26T21:26:12.010Z,1761513972.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755339,-0.646550,-0.106940],[0.655328,0.745899,0.119078],[0.002776,-0.160025,0.987109]]
2025-10-26T21:26:12.030Z,1761513972.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:12.033Z,1761513972.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 356.253784 m,
      bearing: 35.631925 deg,
      approach rate: -0.694845 m/s,
      LOS rate: -0.012269 deg/s,
      cmd heading: 40.618821 deg,
      new cmd heading: 40.605027 deg.

2025-10-26T21:26:12.034Z,1761513972.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708691 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:12.211Z,1761513972.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.757613
2025-10-26T21:26:12.406Z,1761513972.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754839,-0.647117,-0.107041],[0.655903,0.745449,0.118734],[0.002959,-0.159834,0.987140]]
2025-10-26T21:26:12.423Z,1761513972.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:12.426Z,1761513972.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 355.982330 m,
      bearing: 35.627094 deg,
      approach rate: -0.690603 m/s,
      LOS rate: -0.012300 deg/s,
      cmd heading: 40.605027 deg,
      new cmd heading: 40.590523 deg.

2025-10-26T21:26:12.427Z,1761513972.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708438 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:12.463Z,1761513972.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.010000
2025-10-26T21:26:12.713Z,1761513972.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.259421
2025-10-26T21:26:12.810Z,1761513972.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755102,-0.646799,-0.107104],[0.655601,0.745627,0.119280],[0.002709,-0.160286,0.987067]]
2025-10-26T21:26:12.860Z,1761513972.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:12.863Z,1761513972.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 355.689087 m,
      bearing: 35.622054 deg,
      approach rate: -0.672083 m/s,
      LOS rate: -0.011560 deg/s,
      cmd heading: 40.590523 deg,
      new cmd heading: 40.575392 deg.

2025-10-26T21:26:12.864Z,1761513972.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708174 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:12.965Z,1761513972.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.511181
2025-10-26T21:26:13.216Z,1761513973.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.762899
2025-10-26T21:26:13.227Z,1761513973.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754737,-0.647216,-0.107160],[0.656021,0.745288,0.119089],[0.002788,-0.160180,0.987084]]
2025-10-26T21:26:13.243Z,1761513973.243 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:13.245Z,1761513973.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:13.248Z,1761513973.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 355.430084 m,
      bearing: 35.617572 deg,
      approach rate: -0.671606 m/s,
      LOS rate: -0.011629 deg/s,
      cmd heading: 40.575391 deg,
      new cmd heading: 40.561937 deg.

2025-10-26T21:26:13.249Z,1761513973.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.707939 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:13.469Z,1761513973.469 [DAT](INFO): Reached modem response timeout
2025-10-26T21:26:13.469Z,1761513973.469 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:26:13.469Z,1761513973.469 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:26:13.687Z,1761513973.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:13.690Z,1761513973.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 355.146484 m,
      bearing: 35.612820 deg,
      approach rate: -0.642098 m/s,
      LOS rate: -0.010769 deg/s,
      cmd heading: 40.561936 deg,
      new cmd heading: 40.547666 deg.

2025-10-26T21:26:13.691Z,1761513973.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.707690 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:13.721Z,1761513973.721 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:26:13.973Z,1761513973.973 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:26:14.030Z,1761513974.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753991,-0.648299,-0.105859],[0.656879,0.744810,0.117340],[0.002774,-0.158010,0.987434]]
2025-10-26T21:26:14.048Z,1761513974.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:14.051Z,1761513974.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 354.914459 m,
      bearing: 35.608883 deg,
      approach rate: -0.641526 m/s,
      LOS rate: -0.010891 deg/s,
      cmd heading: 40.547667 deg,
      new cmd heading: 40.535850 deg.

2025-10-26T21:26:14.052Z,1761513974.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.707484 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:14.224Z,1761513974.224 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:26:14.430Z,1761513974.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753871,-0.648453,-0.105775],[0.657017,0.744696,0.117286],[0.002716,-0.157915,0.987449]]
2025-10-26T21:26:14.465Z,1761513974.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:14.474Z,1761513974.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 354.657837 m,
      bearing: 35.604517 deg,
      approach rate: -0.616740 m/s,
      LOS rate: -0.010502 deg/s,
      cmd heading: 40.535851 deg,
      new cmd heading: 40.522741 deg.

2025-10-26T21:26:14.476Z,1761513974.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:26:14.477Z,1761513974.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.707255 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:14.730Z,1761513974.730 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:26:14.834Z,1761513974.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753635,-0.648769,-0.105512],[0.657288,0.744480,0.117142],[0.002553,-0.157635,0.987494]]
2025-10-26T21:26:14.888Z,1761513974.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:14.891Z,1761513974.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 354.388367 m,
      bearing: 35.599849 deg,
      approach rate: -0.638283 m/s,
      LOS rate: -0.011065 deg/s,
      cmd heading: 40.522741 deg,
      new cmd heading: 40.508727 deg.

2025-10-26T21:26:14.892Z,1761513974.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.707011 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:14.980Z,1761513974.980 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:26:15.232Z,1761513975.232 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:26:15.242Z,1761513975.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753841,-0.648534,-0.105488],[0.657053,0.744570,0.117880],[0.002094,-0.158174,0.987409]]
2025-10-26T21:26:15.266Z,1761513975.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:15.269Z,1761513975.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:15.271Z,1761513975.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 354.134552 m,
      bearing: 35.595460 deg,
      approach rate: -0.664697 m/s,
      LOS rate: -0.011503 deg/s,
      cmd heading: 40.508728 deg,
      new cmd heading: 40.495551 deg.

2025-10-26T21:26:15.272Z,1761513975.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.706781 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:15.484Z,1761513975.484 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:26:15.641Z,1761513975.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754137,-0.648186,-0.105511],[0.656715,0.744803,0.118296],[0.001907,-0.158503,0.987357]]
2025-10-26T21:26:15.697Z,1761513975.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:15.702Z,1761513975.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 353.866760 m,
      bearing: 35.591724 deg,
      approach rate: -0.625295 m/s,
      LOS rate: -0.008728 deg/s,
      cmd heading: 40.495550 deg,
      new cmd heading: 40.484335 deg.

2025-10-26T21:26:15.716Z,1761513975.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.706585 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:15.736Z,1761513975.736 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:26:15.988Z,1761513975.988 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:26:15.989Z,1761513975.989 [DAT](INFO): response not received
2025-10-26T21:26:15.989Z,1761513975.989 [DAT](INFO): DAT read: user:226>

2025-10-26T21:26:15.990Z,1761513975.990 [DAT](INFO): DAT read: Tx time:21:26:15.1456

2025-10-26T21:26:15.990Z,1761513975.990 [DAT](INFO): Ping request sent.
2025-10-26T21:26:15.990Z,1761513975.990 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:26:15.990Z,1761513975.990 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:15.991Z,1761513975.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000716
2025-10-26T21:26:16.063Z,1761513976.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754051,-0.648428,-0.104633],[0.656814,0.744801,0.117762],[0.001571,-0.157523,0.987514]]
2025-10-26T21:26:16.120Z,1761513976.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:16.128Z,1761513976.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 353.616394 m,
      bearing: 35.588222 deg,
      approach rate: -0.598523 m/s,
      LOS rate: -0.008379 deg/s,
      cmd heading: 40.484334 deg,
      new cmd heading: 40.473820 deg.

2025-10-26T21:26:16.129Z,1761513976.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.706401 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:16.240Z,1761513976.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250095
2025-10-26T21:26:16.492Z,1761513976.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502119
2025-10-26T21:26:16.621Z,1761513976.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754545,-0.647960,-0.103968],[0.656248,0.745196,0.118415],[0.000748,-0.157578,0.987506]]
2025-10-26T21:26:16.671Z,1761513976.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:16.674Z,1761513976.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 353.265900 m,
      bearing: 35.582532 deg,
      approach rate: -0.630516 m/s,
      LOS rate: -0.010246 deg/s,
      cmd heading: 40.473819 deg,
      new cmd heading: 40.456732 deg.

2025-10-26T21:26:16.675Z,1761513976.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.706103 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:16.745Z,1761513976.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754372
2025-10-26T21:26:16.997Z,1761513976.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006747
2025-10-26T21:26:17.084Z,1761513977.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755057,-0.647515,-0.103021],[0.655659,0.745615,0.119031],[-0.000261,-0.157421,0.987531]]
2025-10-26T21:26:17.114Z,1761513977.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:17.133Z,1761513977.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 353.000275 m,
      bearing: 35.578246 deg,
      approach rate: -0.599464 m/s,
      LOS rate: -0.009680 deg/s,
      cmd heading: 40.456734 deg,
      new cmd heading: 40.443866 deg.

2025-10-26T21:26:17.134Z,1761513977.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705879 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:17.249Z,1761513977.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258831
2025-10-26T21:26:17.486Z,1761513977.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755441,-0.647334,-0.101326],[0.655214,0.745899,0.119706],[-0.001911,-0.156820,0.987625]]
2025-10-26T21:26:17.500Z,1761513977.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510186
2025-10-26T21:26:17.504Z,1761513977.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:17.506Z,1761513977.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:17.509Z,1761513977.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 352.757599 m,
      bearing: 35.574348 deg,
      approach rate: -0.619208 m/s,
      LOS rate: -0.009952 deg/s,
      cmd heading: 40.443866 deg,
      new cmd heading: 40.432164 deg.

2025-10-26T21:26:17.510Z,1761513977.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705674 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:17.753Z,1761513977.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762891
2025-10-26T21:26:17.890Z,1761513977.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755816,-0.647062,-0.100260],[0.654775,0.746114,0.120763],[-0.003336,-0.156922,0.987605]]
2025-10-26T21:26:17.938Z,1761513977.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:17.940Z,1761513977.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 352.490936 m,
      bearing: 35.569762 deg,
      approach rate: -0.618031 m/s,
      LOS rate: -0.010637 deg/s,
      cmd heading: 40.432165 deg,
      new cmd heading: 40.418397 deg.

2025-10-26T21:26:17.941Z,1761513977.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705434 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:18.006Z,1761513978.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015632
2025-10-26T21:26:18.256Z,1761513978.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266092
2025-10-26T21:26:18.300Z,1761513978.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756171,-0.646869,-0.098824],[0.654356,0.746347,0.121589],[-0.004895,-0.156609,0.987649]]
2025-10-26T21:26:18.317Z,1761513978.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:18.320Z,1761513978.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 352.256927 m,
      bearing: 35.565753 deg,
      approach rate: -0.615915 m/s,
      LOS rate: -0.010558 deg/s,
      cmd heading: 40.418396 deg,
      new cmd heading: 40.406362 deg.

2025-10-26T21:26:18.321Z,1761513978.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705224 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:18.509Z,1761513978.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518424
2025-10-26T21:26:18.760Z,1761513978.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770265
2025-10-26T21:26:18.761Z,1761513978.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:18.764Z,1761513978.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 351.986389 m,
      bearing: 35.560620 deg,
      approach rate: -0.611903 m/s,
      LOS rate: -0.011619 deg/s,
      cmd heading: 40.406361 deg,
      new cmd heading: 40.390950 deg.

2025-10-26T21:26:18.765Z,1761513978.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704955 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:19.012Z,1761513979.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022137
2025-10-26T21:26:19.125Z,1761513979.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757203,-0.645950,-0.096911],[0.653112,0.746608,0.126575],[-0.009407,-0.159137,0.987212]]
2025-10-26T21:26:19.143Z,1761513979.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:19.166Z,1761513979.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 351.751678 m,
      bearing: 35.556223 deg,
      approach rate: -0.612221 m/s,
      LOS rate: -0.011477 deg/s,
      cmd heading: 40.390949 deg,
      new cmd heading: 40.377748 deg.

2025-10-26T21:26:19.167Z,1761513979.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704725 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:19.265Z,1761513979.265 [DAT](INFO): DAT read: Rx Time:21:26:18.0253

2025-10-26T21:26:19.265Z,1761513979.265 [DAT](INFO): Rx dataTimestamp_ set to:1761513979.264931
2025-10-26T21:26:19.266Z,1761513979.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275532
2025-10-26T21:26:19.516Z,1761513979.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526140
2025-10-26T21:26:19.520Z,1761513979.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757688,-0.645597,-0.095468],[0.652513,0.746800,0.128521],[-0.011677,-0.159672,0.987101]]
2025-10-26T21:26:19.560Z,1761513979.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:19.562Z,1761513979.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:19.565Z,1761513979.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 351.509918 m,
      bearing: 35.551718 deg,
      approach rate: -0.576431 m/s,
      LOS rate: -0.010748 deg/s,
      cmd heading: 40.377749 deg,
      new cmd heading: 40.364225 deg.

2025-10-26T21:26:19.566Z,1761513979.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704489 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:19.768Z,1761513979.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778101
2025-10-26T21:26:19.931Z,1761513979.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758111,-0.645238,-0.094528],[0.651979,0.746863,0.130844],[-0.013826,-0.160825,0.986886]]
2025-10-26T21:26:19.981Z,1761513979.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.38 m.
2025-10-26T21:26:19.984Z,1761513979.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.379700 m,
      nav range: 351.240479 m,
      bearing: 35.547222 deg,
      approach rate: -0.643793 m/s,
      LOS rate: -0.010752 deg/s,
      cmd heading: 40.364226 deg,
      new cmd heading: 40.350726 deg.

2025-10-26T21:26:19.985Z,1761513979.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704253 target range: 364.379700 and range: 366.70 m.
2025-10-26T21:26:20.063Z,1761513980.063 [DAT](INFO): DAT read: 21:26:18.0253 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 276, 0.23, 1.921, 0.573, 2.171, 1.735, PHS= 0.288,-1.117, 0.392, RAW= 153.5,   6.0, CAL= 152.8,   6.1, ROT= 357.2,  -6.1

2025-10-26T21:26:20.068Z,1761513980.068 [DAT](INFO): got valid direction response:
 21:26:18.0253 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 276, 0.23, 1.921, 0.573, 2.171, 1.735, PHS= 0.288,-1.117, 0.392, RAW= 153.5,   6.0, CAL= 152.8,   6.1, ROT= 357.2,  -6.1

2025-10-26T21:26:20.069Z,1761513980.069 [DAT](INFO): DAT read: Bearing 191.9,  -4.3 (Local)

2025-10-26T21:26:20.070Z,1761513980.070 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.9,  -4.3 (Local)

2025-10-26T21:26:20.076Z,1761513980.076 [DAT](INFO): DAT read: Range 11 to 50 : 356.7 m  (Round-trip  475.7 ms) speed  0.6 m/s

2025-10-26T21:26:20.078Z,1761513980.078 [DAT](INFO): DAT read: user:227>

2025-10-26T21:26:20.079Z,1761513980.079 [DAT](INFO): DAT read: Tx time:21:26:19.1455

2025-10-26T21:26:20.083Z,1761513980.083 [DAT](INFO): Ping request sent.
2025-10-26T21:26:20.084Z,1761513980.084 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:26:20.084Z,1761513980.084 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:26:20.085Z,1761513980.085 [DAT](INFO): direction in FSK: [0.993151,-0.048573,0.106264]
2025-10-26T21:26:20.085Z,1761513980.085 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:20.085Z,1761513980.085 [DAT](INFO): publishing direction and range info
2025-10-26T21:26:20.106Z,1761513980.106 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:20.107Z,1761513980.107 [DAT](INFO): publishing direction and range info
2025-10-26T21:26:20.334Z,1761513980.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758708,-0.644768,-0.092930],[0.651244,0.747311,0.131942],[-0.015625,-0.160626,0.986892]]
2025-10-26T21:26:20.377Z,1761513980.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 356.700012 m,
      deltaT: 16.639757 s,
      deltaX: -10.000000 m,
      approachRate: -0.600970 m/s,
      rangeRepo size: 4

2025-10-26T21:26:20.379Z,1761513980.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 354.447998 m,
      bearing: 38.863950 deg,
      lat: 36.779421 deg,
      lon: -121.859102 deg,
      deltaT: 16.639757 s,
      deltaX: -9.931702 m,
      approachRate: -0.596866 m/s,
      posRepo size: 4

2025-10-26T21:26:20.380Z,1761513980.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.45 m.
2025-10-26T21:26:20.383Z,1761513980.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 354.447998 m,
      nav range: 348.036041 m,
      bearing: 36.507384 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010752 deg/s,
      cmd heading: 40.350726 deg,
      new cmd heading: 40.337995 deg.

2025-10-26T21:26:20.384Z,1761513980.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704031 target range: 354.447998 and range: 356.70 m.
2025-10-26T21:26:20.756Z,1761513980.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759156,-0.644446,-0.091493],[0.650676,0.747596,0.133120],[-0.017389,-0.160591,0.986868]]
2025-10-26T21:26:20.810Z,1761513980.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.45 m.
2025-10-26T21:26:20.813Z,1761513980.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 354.447998 m,
      nav range: 347.754578 m,
      bearing: 36.503600 deg,
      approach rate: -0.647407 m/s,
      LOS rate: -0.008710 deg/s,
      cmd heading: 40.337994 deg,
      new cmd heading: 40.326633 deg.

2025-10-26T21:26:20.814Z,1761513980.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703833 target range: 354.447998 and range: 356.70 m.
2025-10-26T21:26:21.142Z,1761513981.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759521,-0.644140,-0.090621],[0.650210,0.747766,0.134433],[-0.018831,-0.161027,0.986770]]
2025-10-26T21:26:21.169Z,1761513981.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.45 m.
2025-10-26T21:26:21.174Z,1761513981.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 354.447998 m,
      nav range: 347.524963 m,
      bearing: 36.500531 deg,
      approach rate: -0.640922 m/s,
      LOS rate: -0.008570 deg/s,
      cmd heading: 40.326632 deg,
      new cmd heading: 40.317421 deg.

2025-10-26T21:26:21.177Z,1761513981.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703672 target range: 354.447998 and range: 356.70 m.
2025-10-26T21:26:21.547Z,1761513981.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759677,-0.644160,-0.089155],[0.649990,0.747907,0.134714],[-0.020098,-0.160289,0.986865]]
2025-10-26T21:26:21.568Z,1761513981.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:21.570Z,1761513981.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.45 m.
2025-10-26T21:26:21.590Z,1761513981.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 354.447998 m,
      nav range: 347.269470 m,
      bearing: 36.497123 deg,
      approach rate: -0.637146 m/s,
      LOS rate: -0.008506 deg/s,
      cmd heading: 40.317422 deg,
      new cmd heading: 40.307189 deg.

2025-10-26T21:26:21.596Z,1761513981.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703493 target range: 354.447998 and range: 356.70 m.
2025-10-26T21:26:21.784Z,1761513981.784 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:26:21.784Z,1761513981.784 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:26:21.785Z,1761513981.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:26:21.953Z,1761513981.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759857,-0.644059,-0.088347],[0.649724,0.747821,0.136462],[-0.021822,-0.161093,0.986698]]
2025-10-26T21:26:21.994Z,1761513981.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.45 m.
2025-10-26T21:26:21.996Z,1761513981.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 354.447998 m,
      nav range: 346.999115 m,
      bearing: 36.494404 deg,
      approach rate: -0.637531 m/s,
      LOS rate: -0.006417 deg/s,
      cmd heading: 40.307190 deg,
      new cmd heading: 40.299026 deg.

2025-10-26T21:26:21.997Z,1761513981.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703351 target range: 354.447998 and range: 356.70 m.
2025-10-26T21:26:22.036Z,1761513982.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.957250
2025-10-26T21:26:22.289Z,1761513982.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.209414
2025-10-26T21:26:22.395Z,1761513982.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.45 m.
2025-10-26T21:26:22.397Z,1761513982.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 354.447998 m,
      nav range: 346.743591 m,
      bearing: 36.491830 deg,
      approach rate: -0.637097 m/s,
      LOS rate: -0.006422 deg/s,
      cmd heading: 40.299025 deg,
      new cmd heading: 40.291297 deg.

2025-10-26T21:26:22.398Z,1761513982.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703216 target range: 354.447998 and range: 356.70 m.
2025-10-26T21:26:22.540Z,1761513982.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.461268
2025-10-26T21:26:22.759Z,1761513982.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760455,-0.643576,-0.086709],[0.648905,0.747919,0.139784],[-0.025110,-0.162565,0.986378]]
2025-10-26T21:26:22.792Z,1761513982.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.713204
2025-10-26T21:26:22.815Z,1761513982.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.45 m.
2025-10-26T21:26:22.817Z,1761513982.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 354.447998 m,
      nav range: 346.468933 m,
      bearing: 36.488943 deg,
      approach rate: -0.654099 m/s,
      LOS rate: -0.006881 deg/s,
      cmd heading: 40.291296 deg,
      new cmd heading: 40.282628 deg.

2025-10-26T21:26:22.818Z,1761513982.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703065 target range: 354.447998 and range: 356.70 m.
2025-10-26T21:26:23.045Z,1761513983.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.965822
2025-10-26T21:26:23.163Z,1761513983.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761229,-0.642697,-0.086432],[0.647925,0.748264,0.142459],[-0.026884,-0.164446,0.986020]]
2025-10-26T21:26:23.186Z,1761513983.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.45 m.
2025-10-26T21:26:23.189Z,1761513983.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 354.447998 m,
      nav range: 346.227783 m,
      bearing: 36.486455 deg,
      approach rate: -0.648723 m/s,
      LOS rate: -0.006698 deg/s,
      cmd heading: 40.282629 deg,
      new cmd heading: 40.275159 deg.

2025-10-26T21:26:23.190Z,1761513983.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702934 target range: 354.447998 and range: 356.70 m.
2025-10-26T21:26:23.297Z,1761513983.297 [DAT](INFO): DAT read: Rx Time:21:26:22.0219

2025-10-26T21:26:23.297Z,1761513983.297 [DAT](INFO): Rx dataTimestamp_ set to:1761513983.296856
2025-10-26T21:26:23.298Z,1761513983.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.218519
2025-10-26T21:26:23.548Z,1761513983.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.469138
2025-10-26T21:26:23.570Z,1761513983.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761640,-0.642338,-0.085474],[0.647386,0.748527,0.143520],[-0.028209,-0.164646,0.985949]]
2025-10-26T21:26:23.620Z,1761513983.620 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:23.622Z,1761513983.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.45 m.
2025-10-26T21:26:23.629Z,1761513983.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 354.447998 m,
      nav range: 345.958252 m,
      bearing: 36.483700 deg,
      approach rate: -0.618426 m/s,
      LOS rate: -0.006326 deg/s,
      cmd heading: 40.275160 deg,
      new cmd heading: 40.266889 deg.

2025-10-26T21:26:23.630Z,1761513983.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702790 target range: 354.447998 and range: 356.70 m.
2025-10-26T21:26:23.805Z,1761513983.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.725487
2025-10-26T21:26:23.970Z,1761513983.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761998,-0.642048,-0.084457],[0.646914,0.748804,0.144205],[-0.029345,-0.164521,0.985937]]
2025-10-26T21:26:24.021Z,1761513984.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.45 m.
2025-10-26T21:26:24.024Z,1761513984.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 354.447998 m,
      nav range: 345.685242 m,
      bearing: 36.482159 deg,
      approach rate: -0.684488 m/s,
      LOS rate: -0.003866 deg/s,
      cmd heading: 40.266888 deg,
      new cmd heading: 40.262263 deg.

2025-10-26T21:26:24.025Z,1761513984.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702709 target range: 354.447998 and range: 356.70 m.
2025-10-26T21:26:24.060Z,1761513984.060 [DAT](INFO): DAT read: 21:26:22.0219 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 401,-0.06,-1.585,-3.102,-1.328,-1.998, PHS= 0.515,-1.059, 0.626, RAW= 153.4,  -1.0, CAL= 152.4,  -2.0, ROT= 357.6,   2.0

2025-10-26T21:26:24.062Z,1761513984.062 [DAT](INFO): got valid direction response:
 21:26:22.0219 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 401,-0.06,-1.585,-3.102,-1.328,-1.998, PHS= 0.515,-1.059, 0.626, RAW= 153.4,  -1.0, CAL= 152.4,  -2.0, ROT= 357.6,   2.0

2025-10-26T21:26:24.064Z,1761513984.064 [DAT](INFO): DAT read: Bearing 182.8,  -3.6 (Local)

2025-10-26T21:26:24.064Z,1761513984.064 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.8,  -3.6 (Local)

2025-10-26T21:26:24.066Z,1761513984.066 [DAT](INFO): DAT read: Range 11 to 50 : 354.2 m  (Round-trip  472.3 ms) speed  0.3 m/s

2025-10-26T21:26:24.067Z,1761513984.067 [DAT](INFO): DAT read: user:228>

2025-10-26T21:26:24.069Z,1761513984.069 [DAT](INFO): DAT read: Tx time:21:26:23.1455

2025-10-26T21:26:24.069Z,1761513984.069 [DAT](INFO): Ping request sent.
2025-10-26T21:26:24.069Z,1761513984.069 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:26:24.070Z,1761513984.070 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:26:24.071Z,1761513984.071 [DAT](INFO): direction in FSK: [0.998514,-0.041850,-0.034899]
2025-10-26T21:26:24.072Z,1761513984.072 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:24.072Z,1761513984.072 [DAT](INFO): publishing direction and range info
2025-10-26T21:26:24.077Z,1761513984.077 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:24.077Z,1761513984.077 [DAT](INFO): publishing direction and range info
2025-10-26T21:26:24.432Z,1761513984.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 354.200012 m,
      deltaT: 4.029754 s,
      deltaX: -2.500000 m,
      approachRate: -0.620385 m/s,
      rangeRepo size: 4

2025-10-26T21:26:24.434Z,1761513984.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 351.963287 m,
      bearing: 37.630691 deg,
      lat: 36.779421 deg,
      lon: -121.859017 deg,
      deltaT: 4.029754 s,
      deltaX: -2.484711 m,
      approachRate: -0.616591 m/s,
      posRepo size: 4

2025-10-26T21:26:24.435Z,1761513984.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.96 m.
2025-10-26T21:26:24.445Z,1761513984.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.963287 m,
      nav range: 350.039612 m,
      bearing: 37.487496 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003866 deg/s,
      cmd heading: 40.262264 deg,
      new cmd heading: 40.257739 deg.

2025-10-26T21:26:24.446Z,1761513984.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702630 target range: 351.963287 and range: 354.20 m.
2025-10-26T21:26:24.806Z,1761513984.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762954,-0.641343,-0.081116],[0.645609,0.749529,0.146270],[-0.033011,-0.163967,0.985913]]
2025-10-26T21:26:24.849Z,1761513984.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.96 m.
2025-10-26T21:26:24.852Z,1761513984.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.963287 m,
      nav range: 349.750824 m,
      bearing: 37.487655 deg,
      approach rate: -0.659336 m/s,
      LOS rate: 0.000363 deg/s,
      cmd heading: 40.257739 deg,
      new cmd heading: 40.258216 deg.

2025-10-26T21:26:24.853Z,1761513984.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702638 target range: 351.963287 and range: 354.20 m.
2025-10-26T21:26:25.202Z,1761513985.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763282,-0.641250,-0.078737],[0.645138,0.749975,0.146066],[-0.034614,-0.162286,0.986136]]
2025-10-26T21:26:25.232Z,1761513985.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.96 m.
2025-10-26T21:26:25.234Z,1761513985.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.963287 m,
      nav range: 349.500946 m,
      bearing: 37.487816 deg,
      approach rate: -0.653785 m/s,
      LOS rate: 0.000423 deg/s,
      cmd heading: 40.258214 deg,
      new cmd heading: 40.258699 deg.

2025-10-26T21:26:25.235Z,1761513985.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702647 target range: 351.963287 and range: 354.20 m.
2025-10-26T21:26:25.619Z,1761513985.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763764,-0.640847,-0.077327],[0.644489,0.750397,0.146760],[-0.036025,-0.161927,0.986145]]
2025-10-26T21:26:25.651Z,1761513985.651 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:25.657Z,1761513985.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.96 m.
2025-10-26T21:26:25.664Z,1761513985.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.963287 m,
      nav range: 349.230743 m,
      bearing: 37.488027 deg,
      approach rate: -0.634500 m/s,
      LOS rate: 0.000496 deg/s,
      cmd heading: 40.258699 deg,
      new cmd heading: 40.259333 deg.

2025-10-26T21:26:25.665Z,1761513985.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702658 target range: 351.963287 and range: 354.20 m.
2025-10-26T21:26:25.816Z,1761513985.816 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:26:25.817Z,1761513985.817 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:26:25.817Z,1761513985.817 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:26:26.012Z,1761513986.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764259,-0.640544,-0.074912],[0.643806,0.750995,0.146696],[-0.037707,-0.160342,0.986341]]
2025-10-26T21:26:26.048Z,1761513986.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.96 m.
2025-10-26T21:26:26.051Z,1761513986.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.963287 m,
      nav range: 348.967651 m,
      bearing: 37.488517 deg,
      approach rate: -0.672515 m/s,
      LOS rate: 0.001252 deg/s,
      cmd heading: 40.259331 deg,
      new cmd heading: 40.260800 deg.

2025-10-26T21:26:26.068Z,1761513986.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999263
2025-10-26T21:26:26.070Z,1761513986.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702684 target range: 351.963287 and range: 354.20 m.
2025-10-26T21:26:26.320Z,1761513986.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251353
2025-10-26T21:26:26.414Z,1761513986.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764659,-0.640237,-0.073430],[0.643243,0.751347,0.147363],[-0.039176,-0.159916,0.986353]]
2025-10-26T21:26:26.449Z,1761513986.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.96 m.
2025-10-26T21:26:26.458Z,1761513986.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.963287 m,
      nav range: 348.716980 m,
      bearing: 37.489012 deg,
      approach rate: -0.625996 m/s,
      LOS rate: 0.001238 deg/s,
      cmd heading: 40.260799 deg,
      new cmd heading: 40.262287 deg.

2025-10-26T21:26:26.459Z,1761513986.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702709 target range: 351.963287 and range: 354.20 m.
2025-10-26T21:26:26.572Z,1761513986.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503194
2025-10-26T21:26:26.818Z,1761513986.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765120,-0.639824,-0.072220],[0.642614,0.751740,0.148098],[-0.040466,-0.159723,0.986332]]
2025-10-26T21:26:26.824Z,1761513986.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755398
2025-10-26T21:26:26.876Z,1761513986.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.96 m.
2025-10-26T21:26:26.879Z,1761513986.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.963287 m,
      nav range: 348.434113 m,
      bearing: 37.489584 deg,
      approach rate: -0.661735 m/s,
      LOS rate: 0.001339 deg/s,
      cmd heading: 40.262288 deg,
      new cmd heading: 40.264006 deg.

2025-10-26T21:26:26.880Z,1761513986.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702739 target range: 351.963287 and range: 354.20 m.
2025-10-26T21:26:27.077Z,1761513987.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007852
2025-10-26T21:26:27.223Z,1761513987.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765533,-0.639493,-0.070763],[0.642033,0.752118,0.148702],[-0.041871,-0.159268,0.986347]]
2025-10-26T21:26:27.242Z,1761513987.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.96 m.
2025-10-26T21:26:27.248Z,1761513987.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.963287 m,
      nav range: 348.200806 m,
      bearing: 37.490085 deg,
      approach rate: -0.638240 m/s,
      LOS rate: 0.001370 deg/s,
      cmd heading: 40.264006 deg,
      new cmd heading: 40.265508 deg.

2025-10-26T21:26:27.249Z,1761513987.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702766 target range: 351.963287 and range: 354.20 m.
2025-10-26T21:26:27.329Z,1761513987.329 [DAT](INFO): DAT read: Rx Time:21:26:26.0198

2025-10-26T21:26:27.329Z,1761513987.329 [DAT](INFO): Rx dataTimestamp_ set to:1761513987.328845
2025-10-26T21:26:27.330Z,1761513987.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260990
2025-10-26T21:26:27.584Z,1761513987.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514556
2025-10-26T21:26:27.627Z,1761513987.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766219,-0.638846,-0.069169],[0.641121,0.752787,0.149252],[-0.043280,-0.158705,0.986377]]
2025-10-26T21:26:27.646Z,1761513987.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.96 m.
2025-10-26T21:26:27.660Z,1761513987.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.963287 m,
      nav range: 347.943268 m,
      bearing: 37.490687 deg,
      approach rate: -0.638054 m/s,
      LOS rate: 0.001493 deg/s,
      cmd heading: 40.265509 deg,
      new cmd heading: 40.267316 deg.

2025-10-26T21:26:27.661Z,1761513987.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702797 target range: 351.963287 and range: 354.20 m.
2025-10-26T21:26:27.838Z,1761513987.838 [DAT](INFO): DAT read: 21:26:26.0198 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 422, 0.11,-1.661,-3.114,-1.435,-1.937, PHS= 0.378,-1.133, 0.457, RAW= 152.5,   3.9, CAL= 151.6,   3.7, ROT= 358.4,  -3.7

2025-10-26T21:26:27.839Z,1761513987.839 [DAT](INFO): got valid direction response:
 21:26:26.0198 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 422, 0.11,-1.661,-3.114,-1.435,-1.937, PHS= 0.378,-1.133, 0.457, RAW= 152.5,   3.9, CAL= 151.6,   3.7, ROT= 358.4,  -3.7

2025-10-26T21:26:27.840Z,1761513987.840 [DAT](INFO): DAT read: Bearing 188.6,  -4.6 (Local)

2025-10-26T21:26:27.841Z,1761513987.841 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.6,  -4.6 (Local)

2025-10-26T21:26:27.842Z,1761513987.842 [DAT](INFO): DAT read: Range 11 to 50 : 352.6 m  (Round-trip  470.2 ms) speed  0.7 m/s

2025-10-26T21:26:27.843Z,1761513987.843 [DAT](INFO): DAT read: user:229>

2025-10-26T21:26:27.843Z,1761513987.843 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:26:27.846Z,1761513987.846 [DAT](INFO): direction in FSK: [0.997527,-0.027863,0.064532]
2025-10-26T21:26:27.847Z,1761513987.847 [DAT](INFO): publishing direction and range info
2025-10-26T21:26:27.858Z,1761513987.858 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:26:27.859Z,1761513987.859 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:26:27.859Z,1761513987.859 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:26:28.030Z,1761513988.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766368,-0.638819,-0.067750],[0.640865,0.752979,0.149380],[-0.044412,-0.157899,0.986456]]
2025-10-26T21:26:28.082Z,1761513988.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 352.600006 m,
      deltaT: 3.780258 s,
      deltaX: -1.600006 m,
      approachRate: -0.423253 m/s,
      rangeRepo size: 4

2025-10-26T21:26:28.086Z,1761513988.086 [DAT](INFO): DAT read: Tx time:21:26:27.1455

2025-10-26T21:26:28.087Z,1761513988.087 [DAT](INFO): Ping request sent.
2025-10-26T21:26:28.087Z,1761513988.087 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:26:28.087Z,1761513988.087 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:28.089Z,1761513988.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001946
2025-10-26T21:26:28.093Z,1761513988.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 350.372070 m,
      bearing: 38.911265 deg,
      lat: 36.779391 deg,
      lon: -121.859000 deg,
      deltaT: 3.780258 s,
      deltaX: -1.591217 m,
      approachRate: -0.420928 m/s,
      posRepo size: 4

2025-10-26T21:26:28.094Z,1761513988.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.37 m.
2025-10-26T21:26:28.115Z,1761513988.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.372070 m,
      nav range: 345.987854 m,
      bearing: 38.022863 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001493 deg/s,
      cmd heading: 40.267315 deg,
      new cmd heading: 40.269259 deg.

2025-10-26T21:26:28.122Z,1761513988.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702831 target range: 350.372070 and range: 352.60 m.
2025-10-26T21:26:28.338Z,1761513988.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251017
2025-10-26T21:26:28.434Z,1761513988.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766524,-0.638782,-0.066317],[0.640591,0.753160,0.149645],[-0.045643,-0.157188,0.986513]]
2025-10-26T21:26:28.467Z,1761513988.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:28.469Z,1761513988.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.37 m.
2025-10-26T21:26:28.476Z,1761513988.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.372070 m,
      nav range: 345.752014 m,
      bearing: 38.023326 deg,
      approach rate: -0.605600 m/s,
      LOS rate: 0.001191 deg/s,
      cmd heading: 40.269259 deg,
      new cmd heading: 40.270650 deg.

2025-10-26T21:26:28.477Z,1761513988.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702855 target range: 350.372070 and range: 352.60 m.
2025-10-26T21:26:28.589Z,1761513988.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502741
2025-10-26T21:26:28.840Z,1761513988.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753728
2025-10-26T21:26:28.907Z,1761513988.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.37 m.
2025-10-26T21:26:28.910Z,1761513988.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.372070 m,
      nav range: 345.463196 m,
      bearing: 38.022012 deg,
      approach rate: -0.659353 m/s,
      LOS rate: -0.003004 deg/s,
      cmd heading: 40.270648 deg,
      new cmd heading: 40.266701 deg.

2025-10-26T21:26:28.911Z,1761513988.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702787 target range: 350.372070 and range: 352.60 m.
2025-10-26T21:26:29.092Z,1761513989.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005742
2025-10-26T21:26:29.243Z,1761513989.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766565,-0.639131,-0.062370],[0.640351,0.753483,0.149044],[-0.048264,-0.154190,0.986862]]
2025-10-26T21:26:29.261Z,1761513989.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.37 m.
2025-10-26T21:26:29.285Z,1761513989.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.372070 m,
      nav range: 345.238373 m,
      bearing: 38.020997 deg,
      approach rate: -0.635902 m/s,
      LOS rate: -0.002872 deg/s,
      cmd heading: 40.266701 deg,
      new cmd heading: 40.263654 deg.

2025-10-26T21:26:29.286Z,1761513989.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702733 target range: 350.372070 and range: 352.60 m.
2025-10-26T21:26:29.344Z,1761513989.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257749
2025-10-26T21:26:29.597Z,1761513989.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510593
2025-10-26T21:26:29.664Z,1761513989.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766343,-0.639557,-0.060706],[0.640513,0.753337,0.149085],[-0.049617,-0.153133,0.986959]]
2025-10-26T21:26:29.700Z,1761513989.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.37 m.
2025-10-26T21:26:29.709Z,1761513989.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.372070 m,
      nav range: 344.970428 m,
      bearing: 38.019775 deg,
      approach rate: -0.609918 m/s,
      LOS rate: -0.002785 deg/s,
      cmd heading: 40.263654 deg,
      new cmd heading: 40.259984 deg.

2025-10-26T21:26:29.710Z,1761513989.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702669 target range: 350.372070 and range: 352.60 m.
2025-10-26T21:26:29.849Z,1761513989.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761948
2025-10-26T21:26:30.102Z,1761513990.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015208
2025-10-26T21:26:30.131Z,1761513990.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765928,-0.640118,-0.060033],[0.640891,0.752741,0.150465],[-0.051126,-0.153719,0.986791]]
2025-10-26T21:26:30.185Z,1761513990.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.37 m.
2025-10-26T21:26:30.188Z,1761513990.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.372070 m,
      nav range: 344.657501 m,
      bearing: 38.016960 deg,
      approach rate: -0.644627 m/s,
      LOS rate: -0.005804 deg/s,
      cmd heading: 40.259983 deg,
      new cmd heading: 40.251530 deg.

2025-10-26T21:26:30.189Z,1761513990.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702522 target range: 350.372070 and range: 352.60 m.
2025-10-26T21:26:30.353Z,1761513990.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265950
2025-10-26T21:26:30.605Z,1761513990.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518428
2025-10-26T21:26:30.623Z,1761513990.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765550,-0.640705,-0.058564],[0.641229,0.752398,0.150739],[-0.052516,-0.152951,0.986837]]
2025-10-26T21:26:30.662Z,1761513990.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:30.664Z,1761513990.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.37 m.
2025-10-26T21:26:30.666Z,1761513990.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.372070 m,
      nav range: 344.360260 m,
      bearing: 38.014257 deg,
      approach rate: -0.621051 m/s,
      LOS rate: -0.005653 deg/s,
      cmd heading: 40.251531 deg,
      new cmd heading: 40.243415 deg.

2025-10-26T21:26:30.668Z,1761513990.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702380 target range: 350.372070 and range: 352.60 m.
2025-10-26T21:26:30.861Z,1761513990.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773177
2025-10-26T21:26:31.079Z,1761513991.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.37 m.
2025-10-26T21:26:31.085Z,1761513991.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.372070 m,
      nav range: 344.095306 m,
      bearing: 38.010490 deg,
      approach rate: -0.640020 m/s,
      LOS rate: -0.009105 deg/s,
      cmd heading: 40.243413 deg,
      new cmd heading: 40.232105 deg.

2025-10-26T21:26:31.087Z,1761513991.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702183 target range: 350.372070 and range: 352.60 m.
2025-10-26T21:26:31.110Z,1761513991.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022657
2025-10-26T21:26:31.361Z,1761513991.361 [DAT](INFO): DAT read: Rx Time:21:26:30.0157

2025-10-26T21:26:31.362Z,1761513991.362 [DAT](INFO): Rx dataTimestamp_ set to:1761513991.361315
2025-10-26T21:26:31.362Z,1761513991.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275634
2025-10-26T21:26:31.427Z,1761513991.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764353,-0.642320,-0.056469],[0.642487,0.751280,0.150959],[-0.054540,-0.151666,0.986926]]
2025-10-26T21:26:31.570Z,1761513991.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.37 m.
2025-10-26T21:26:31.573Z,1761513991.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.372070 m,
      nav range: 343.785187 m,
      bearing: 38.005984 deg,
      approach rate: -0.630386 m/s,
      LOS rate: -0.009168 deg/s,
      cmd heading: 40.232106 deg,
      new cmd heading: 40.218576 deg.

2025-10-26T21:26:31.574Z,1761513991.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701947 target range: 350.372070 and range: 352.60 m.
2025-10-26T21:26:31.613Z,1761513991.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526355
2025-10-26T21:26:31.870Z,1761513991.870 [DAT](INFO): DAT read: 21:26:30.0157 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 401, 0.09, 2.255, 0.825, 2.457, 2.005, PHS= 0.352,-1.135, 0.408, RAW= 151.8,   5.0, CAL= 151.0,   5.0, ROT= 359.0,  -5.0

2025-10-26T21:26:31.871Z,1761513991.871 [DAT](INFO): got valid direction response:
 21:26:30.0157 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 401, 0.09, 2.255, 0.825, 2.457, 2.005, PHS= 0.352,-1.135, 0.408, RAW= 151.8,   5.0, CAL= 151.0,   5.0, ROT= 359.0,  -5.0

2025-10-26T21:26:31.872Z,1761513991.872 [DAT](INFO): DAT read: Bearing 189.6,  -5.0 (Local)

2025-10-26T21:26:31.872Z,1761513991.872 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.6,  -5.0 (Local)

2025-10-26T21:26:31.874Z,1761513991.874 [DAT](INFO): DAT read: Range 11 to 50 : 349.5 m  (Round-trip  466.1 ms) speed  0.4 m/s

2025-10-26T21:26:31.875Z,1761513991.875 [DAT](INFO): DAT read: user:230>

2025-10-26T21:26:31.876Z,1761513991.876 [DAT](INFO): DAT read: Tx time:21:26:31.1455

2025-10-26T21:26:31.876Z,1761513991.876 [DAT](INFO): Ping request sent.
2025-10-26T21:26:31.876Z,1761513991.876 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:26:31.876Z,1761513991.876 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:26:31.877Z,1761513991.877 [DAT](INFO): direction in FSK: [0.996043,-0.017386,0.087156]
2025-10-26T21:26:31.877Z,1761513991.877 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:31.878Z,1761513991.878 [DAT](INFO): publishing direction and range info
2025-10-26T21:26:31.881Z,1761513991.881 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:31.881Z,1761513991.881 [DAT](INFO): publishing direction and range info
2025-10-26T21:26:32.074Z,1761513992.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 349.500000 m,
      deltaT: 4.031675 s,
      deltaX: -3.100006 m,
      approachRate: -0.768913 m/s,
      rangeRepo size: 4

2025-10-26T21:26:32.081Z,1761513992.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 347.291138 m,
      bearing: 39.822938 deg,
      lat: 36.779391 deg,
      lon: -121.858942 deg,
      deltaT: 4.031675 s,
      deltaX: -3.080933 m,
      approachRate: -0.764182 m/s,
      posRepo size: 4

2025-10-26T21:26:32.083Z,1761513992.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 347.29 m.
2025-10-26T21:26:32.095Z,1761513992.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 347.291138 m,
      nav range: 346.648315 m,
      bearing: 38.668434 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009168 deg/s,
      cmd heading: 40.218575 deg,
      new cmd heading: 40.204730 deg.

2025-10-26T21:26:32.096Z,1761513992.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701705 target range: 347.291138 and range: 349.50 m.
2025-10-26T21:26:32.408Z,1761513992.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762494,-0.644613,-0.055474],[0.644515,0.749272,0.152287],[-0.056601,-0.151871,0.986778]]
2025-10-26T21:26:32.426Z,1761513992.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 347.29 m.
2025-10-26T21:26:32.445Z,1761513992.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 347.291138 m,
      nav range: 346.410431 m,
      bearing: 38.664690 deg,
      approach rate: -0.673510 m/s,
      LOS rate: -0.010608 deg/s,
      cmd heading: 40.204730 deg,
      new cmd heading: 40.193491 deg.

2025-10-26T21:26:32.446Z,1761513992.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701509 target range: 347.291138 and range: 349.50 m.
2025-10-26T21:26:32.868Z,1761513992.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761938,-0.645209,-0.056184],[0.645133,0.748472,0.153601],[-0.057053,-0.153280,0.986534]]
2025-10-26T21:26:32.921Z,1761513992.921 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:32.923Z,1761513992.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 347.29 m.
2025-10-26T21:26:32.926Z,1761513992.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 347.291138 m,
      nav range: 346.086365 m,
      bearing: 38.660919 deg,
      approach rate: -0.652724 m/s,
      LOS rate: -0.007602 deg/s,
      cmd heading: 40.193491 deg,
      new cmd heading: 40.182168 deg.

2025-10-26T21:26:32.927Z,1761513992.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701311 target range: 347.291138 and range: 349.50 m.
2025-10-26T21:26:33.124Z,1761513993.124 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:26:33.124Z,1761513993.124 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:26:33.124Z,1761513993.124 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:26:33.212Z,1761513993.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761259,-0.646053,-0.055687],[0.645885,0.747819,0.153624],[-0.057605,-0.152915,0.986559]]
2025-10-26T21:26:33.235Z,1761513993.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 347.29 m.
2025-10-26T21:26:33.238Z,1761513993.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 347.291138 m,
      nav range: 345.864380 m,
      bearing: 38.658295 deg,
      approach rate: -0.711046 m/s,
      LOS rate: -0.008412 deg/s,
      cmd heading: 40.182167 deg,
      new cmd heading: 40.174288 deg.

2025-10-26T21:26:33.239Z,1761513993.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701174 target range: 347.291138 and range: 349.50 m.
2025-10-26T21:26:33.376Z,1761513993.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500463
2025-10-26T21:26:33.622Z,1761513993.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760580,-0.646900,-0.055121],[0.646627,0.747164,0.153688],[-0.058237,-0.152534,0.986581]]
2025-10-26T21:26:33.629Z,1761513993.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752687
2025-10-26T21:26:33.666Z,1761513993.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 347.29 m.
2025-10-26T21:26:33.673Z,1761513993.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 347.291138 m,
      nav range: 345.589508 m,
      bearing: 38.654993 deg,
      approach rate: -0.637301 m/s,
      LOS rate: -0.007661 deg/s,
      cmd heading: 40.174288 deg,
      new cmd heading: 40.164376 deg.

2025-10-26T21:26:33.674Z,1761513993.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701001 target range: 347.291138 and range: 349.50 m.
2025-10-26T21:26:33.884Z,1761513993.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007916
2025-10-26T21:26:34.019Z,1761513994.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760009,-0.647571,-0.055116],[0.647262,0.746533,0.154080],[-0.058632,-0.152776,0.986520]]
2025-10-26T21:26:34.068Z,1761513994.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 347.29 m.
2025-10-26T21:26:34.071Z,1761513994.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 347.291138 m,
      nav range: 345.311066 m,
      bearing: 38.653486 deg,
      approach rate: -0.693326 m/s,
      LOS rate: -0.003757 deg/s,
      cmd heading: 40.164374 deg,
      new cmd heading: 40.159848 deg.

2025-10-26T21:26:34.072Z,1761513994.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700922 target range: 347.291138 and range: 349.50 m.
2025-10-26T21:26:34.133Z,1761513994.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257263
2025-10-26T21:26:34.386Z,1761513994.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509808
2025-10-26T21:26:34.427Z,1761513994.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759427,-0.648105,-0.056842],[0.647928,0.745524,0.156152],[-0.058826,-0.155416,0.986096]]
2025-10-26T21:26:34.446Z,1761513994.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 347.29 m.
2025-10-26T21:26:34.448Z,1761513994.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 347.291138 m,
      nav range: 345.064026 m,
      bearing: 38.652111 deg,
      approach rate: -0.654289 m/s,
      LOS rate: -0.003645 deg/s,
      cmd heading: 40.159849 deg,
      new cmd heading: 40.155721 deg.

2025-10-26T21:26:34.449Z,1761513994.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700850 target range: 347.291138 and range: 349.50 m.
2025-10-26T21:26:34.637Z,1761513994.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760575
2025-10-26T21:26:34.839Z,1761513994.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759355,-0.648221,-0.056476],[0.647956,0.745399,0.156632],[-0.059434,-0.155533,0.986041]]
2025-10-26T21:26:34.891Z,1761513994.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014676
2025-10-26T21:26:34.937Z,1761513994.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:34.939Z,1761513994.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 347.29 m.
2025-10-26T21:26:34.942Z,1761513994.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 347.291138 m,
      nav range: 344.747925 m,
      bearing: 38.652784 deg,
      approach rate: -0.640697 m/s,
      LOS rate: 0.001366 deg/s,
      cmd heading: 40.155720 deg,
      new cmd heading: 40.157742 deg.

2025-10-26T21:26:34.943Z,1761513994.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700885 target range: 347.291138 and range: 349.50 m.
2025-10-26T21:26:35.140Z,1761513995.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264306
2025-10-26T21:26:35.275Z,1761513995.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759159,-0.648481,-0.056128],[0.648135,0.745166,0.156996],[-0.059984,-0.155563,0.986003]]
2025-10-26T21:26:35.294Z,1761513995.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 347.29 m.
2025-10-26T21:26:35.296Z,1761513995.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 347.291138 m,
      nav range: 344.520142 m,
      bearing: 38.653260 deg,
      approach rate: -0.642309 m/s,
      LOS rate: 0.001344 deg/s,
      cmd heading: 40.157742 deg,
      new cmd heading: 40.159171 deg.

2025-10-26T21:26:35.297Z,1761513995.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700910 target range: 347.291138 and range: 349.50 m.
2025-10-26T21:26:35.393Z,1761513995.393 [DAT](INFO): DAT read: Rx Time:21:26:34.0132

2025-10-26T21:26:35.393Z,1761513995.393 [DAT](INFO): Rx dataTimestamp_ set to:1761513995.392712
2025-10-26T21:26:35.394Z,1761513995.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517588
2025-10-26T21:26:35.644Z,1761513995.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768371
2025-10-26T21:26:35.674Z,1761513995.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759372,-0.648225,-0.056206],[0.647835,0.745215,0.158000],[-0.060534,-0.156393,0.985838]]
2025-10-26T21:26:35.712Z,1761513995.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 347.29 m.
2025-10-26T21:26:35.720Z,1761513995.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 347.291138 m,
      nav range: 344.259277 m,
      bearing: 38.653823 deg,
      approach rate: -0.630788 m/s,
      LOS rate: 0.001360 deg/s,
      cmd heading: 40.159173 deg,
      new cmd heading: 40.160861 deg.

2025-10-26T21:26:35.722Z,1761513995.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700939 target range: 347.291138 and range: 349.50 m.
2025-10-26T21:26:35.929Z,1761513995.929 [DAT](INFO): DAT read: 21:26:34.0132 LVL= 32752, 32753, 30882, 32755, AGC= 73, IDX= 423, 0.05,-0.274,-1.963,-0.023,-0.879, PHS= 0.706,-1.039, 0.812, RAW= 152.9,  -5.4, CAL= 152.7,  -6.8, ROT= 357.3,   6.8

2025-10-26T21:26:35.930Z,1761513995.930 [DAT](INFO): got valid direction response:
 21:26:34.0132 LVL= 32752, 32753, 30882, 32755, AGC= 73, IDX= 423, 0.05,-0.274,-1.963,-0.023,-0.879, PHS= 0.706,-1.039, 0.812, RAW= 152.9,  -5.4, CAL= 152.7,  -6.8, ROT= 357.3,   6.8

2025-10-26T21:26:35.932Z,1761513995.932 [DAT](INFO): DAT read: Bearing 177.2,  -5.2 (Local)

2025-10-26T21:26:35.932Z,1761513995.932 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.2,  -5.2 (Local)

2025-10-26T21:26:35.933Z,1761513995.933 [DAT](INFO): DAT read: Range 11 to 50 : 347.7 m  (Round-trip  463.6 ms) speed  0.4 m/s

2025-10-26T21:26:35.934Z,1761513995.934 [DAT](INFO): DAT read: user:231>

2025-10-26T21:26:35.935Z,1761513995.935 [DAT](INFO): DAT read: Tx time:21:26:35.1455

2025-10-26T21:26:35.935Z,1761513995.935 [DAT](INFO): Ping request sent.
2025-10-26T21:26:35.940Z,1761513995.940 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:26:35.940Z,1761513995.940 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:26:35.941Z,1761513995.941 [DAT](INFO): direction in FSK: [0.991863,-0.046775,-0.118404]
2025-10-26T21:26:35.941Z,1761513995.941 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:35.942Z,1761513995.942 [DAT](INFO): publishing direction and range info
2025-10-26T21:26:35.953Z,1761513995.953 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:35.953Z,1761513995.953 [DAT](INFO): publishing direction and range info
2025-10-26T21:26:36.117Z,1761513996.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759760,-0.647756,-0.056371],[0.647327,0.745404,0.159188],[-0.061095,-0.157435,0.985638]]
2025-10-26T21:26:36.182Z,1761513996.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 347.700012 m,
      deltaT: 4.039268 s,
      deltaX: -1.799988 m,
      approachRate: -0.445622 m/s,
      rangeRepo size: 4

2025-10-26T21:26:36.188Z,1761513996.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 345.501251 m,
      bearing: 36.657393 deg,
      lat: 36.779391 deg,
      lon: -121.858942 deg,
      deltaT: 4.039268 s,
      deltaX: -1.789886 m,
      approachRate: -0.443121 m/s,
      posRepo size: 4

2025-10-26T21:26:36.189Z,1761513996.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.50 m.
2025-10-26T21:26:36.191Z,1761513996.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.501251 m,
      nav range: 343.970184 m,
      bearing: 38.657662 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001360 deg/s,
      cmd heading: 40.160860 deg,
      new cmd heading: 40.162794 deg.

2025-10-26T21:26:36.196Z,1761513996.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700973 target range: 345.501251 and range: 347.70 m.
2025-10-26T21:26:36.520Z,1761513996.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760462,-0.646928,-0.056402],[0.646441,0.745898,0.160469],[-0.061742,-0.158491,0.985428]]
2025-10-26T21:26:36.538Z,1761513996.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.50 m.
2025-10-26T21:26:36.541Z,1761513996.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.501251 m,
      nav range: 343.731018 m,
      bearing: 38.660889 deg,
      approach rate: -0.669296 m/s,
      LOS rate: 0.009035 deg/s,
      cmd heading: 40.162793 deg,
      new cmd heading: 40.172478 deg.

2025-10-26T21:26:36.542Z,1761513996.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701142 target range: 345.501251 and range: 347.70 m.
2025-10-26T21:26:36.934Z,1761513996.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761316,-0.645999,-0.055522],[0.645405,0.746846,0.160228],[-0.062041,-0.157818,0.985517]]
2025-10-26T21:26:36.989Z,1761513996.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:36.991Z,1761513996.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.50 m.
2025-10-26T21:26:36.998Z,1761513996.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.501251 m,
      nav range: 343.462830 m,
      bearing: 38.666763 deg,
      approach rate: -0.592714 m/s,
      LOS rate: 0.012993 deg/s,
      cmd heading: 40.172478 deg,
      new cmd heading: 40.190115 deg.

2025-10-26T21:26:36.999Z,1761513996.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701450 target range: 345.501251 and range: 347.70 m.
2025-10-26T21:26:37.160Z,1761513997.160 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:26:37.160Z,1761513997.160 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:26:37.161Z,1761513997.161 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:26:37.331Z,1761513997.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762205,-0.644954,-0.055474],[0.644303,0.747559,0.161336],[-0.062584,-0.158714,0.985339]]
2025-10-26T21:26:37.350Z,1761513997.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.50 m.
2025-10-26T21:26:37.370Z,1761513997.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.501251 m,
      nav range: 343.227264 m,
      bearing: 38.671985 deg,
      approach rate: -0.656554 m/s,
      LOS rate: 0.014564 deg/s,
      cmd heading: 40.190114 deg,
      new cmd heading: 40.205790 deg.

2025-10-26T21:26:37.373Z,1761513997.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701723 target range: 345.501251 and range: 347.70 m.
2025-10-26T21:26:37.414Z,1761513997.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478108
2025-10-26T21:26:37.664Z,1761513997.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.729137
2025-10-26T21:26:37.812Z,1761513997.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763463,-0.643540,-0.054591],[0.642794,0.748916,0.161060],[-0.062764,-0.158054,0.985434]]
2025-10-26T21:26:37.843Z,1761513997.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.50 m.
2025-10-26T21:26:37.861Z,1761513997.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.501251 m,
      nav range: 342.921356 m,
      bearing: 38.678882 deg,
      approach rate: -0.620352 m/s,
      LOS rate: 0.013999 deg/s,
      cmd heading: 40.205789 deg,
      new cmd heading: 40.226498 deg.

2025-10-26T21:26:37.862Z,1761513997.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702085 target range: 345.501251 and range: 347.70 m.
2025-10-26T21:26:37.920Z,1761513997.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983858
2025-10-26T21:26:38.169Z,1761513998.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233547
2025-10-26T21:26:38.417Z,1761513998.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.50 m.
2025-10-26T21:26:38.421Z,1761513998.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485346
2025-10-26T21:26:38.421Z,1761513998.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.501251 m,
      nav range: 342.562500 m,
      bearing: 38.688573 deg,
      approach rate: -0.625110 m/s,
      LOS rate: 0.016899 deg/s,
      cmd heading: 40.226498 deg,
      new cmd heading: 40.255602 deg.

2025-10-26T21:26:38.422Z,1761513998.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702593 target range: 345.501251 and range: 347.70 m.
2025-10-26T21:26:38.672Z,1761513998.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737165
2025-10-26T21:26:38.864Z,1761513998.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766849,-0.639548,-0.054049],[0.638615,0.751885,0.163828],[-0.064138,-0.160148,0.985007]]
2025-10-26T21:26:38.928Z,1761513998.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992590
2025-10-26T21:26:38.932Z,1761513998.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.50 m.
2025-10-26T21:26:38.951Z,1761513998.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.501251 m,
      nav range: 342.269470 m,
      bearing: 38.696767 deg,
      approach rate: -0.598220 m/s,
      LOS rate: 0.016743 deg/s,
      cmd heading: 40.255602 deg,
      new cmd heading: 40.280205 deg.

2025-10-26T21:26:38.952Z,1761513998.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703022 target range: 345.501251 and range: 347.70 m.
2025-10-26T21:26:39.177Z,1761513999.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242163
2025-10-26T21:26:39.265Z,1761513999.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767951,-0.638213,-0.054184],[0.637325,0.752970,0.163868],[-0.063784,-0.160375,0.984993]]
2025-10-26T21:26:39.299Z,1761513999.299 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:39.301Z,1761513999.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.50 m.
2025-10-26T21:26:39.304Z,1761513999.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.501251 m,
      nav range: 342.004578 m,
      bearing: 38.703006 deg,
      approach rate: -0.670816 m/s,
      LOS rate: 0.015813 deg/s,
      cmd heading: 40.280204 deg,
      new cmd heading: 40.298936 deg.

2025-10-26T21:26:39.305Z,1761513999.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703349 target range: 345.501251 and range: 347.70 m.
2025-10-26T21:26:39.429Z,1761513999.429 [DAT](INFO): DAT read: Rx Time:21:26:38.0094

2025-10-26T21:26:39.430Z,1761513999.430 [DAT](INFO): Rx dataTimestamp_ set to:1761513999.429495
2025-10-26T21:26:39.431Z,1761513999.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495138
2025-10-26T21:26:39.680Z,1761513999.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.745085
2025-10-26T21:26:39.724Z,1761513999.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.50 m.
2025-10-26T21:26:39.733Z,1761513999.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.501251 m,
      nav range: 341.747192 m,
      bearing: 38.709079 deg,
      approach rate: -0.609124 m/s,
      LOS rate: 0.014383 deg/s,
      cmd heading: 40.298936 deg,
      new cmd heading: 40.317168 deg.

2025-10-26T21:26:39.733Z,1761513999.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703667 target range: 345.501251 and range: 347.70 m.
2025-10-26T21:26:39.978Z,1761513999.978 [DAT](INFO): DAT read: 21:26:38.0094 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 400, 0.22, 1.724, 0.371, 1.944, 1.581, PHS= 0.244,-1.165, 0.319, RAW= 152.5,   8.4, CAL= 152.1,   8.9, ROT= 357.9,  -8.9

2025-10-26T21:26:39.985Z,1761513999.985 [DAT](INFO): got valid direction response:
 21:26:38.0094 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 400, 0.22, 1.724, 0.371, 1.944, 1.581, PHS= 0.244,-1.165, 0.319, RAW= 152.5,   8.4, CAL= 152.1,   8.9, ROT= 357.9,  -8.9

2025-10-26T21:26:39.986Z,1761513999.986 [DAT](INFO): DAT read: Bearing 192.8,  -7.0 (Local)

2025-10-26T21:26:39.986Z,1761513999.986 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.8,  -7.0 (Local)

2025-10-26T21:26:40.009Z,1761514000.009 [DAT](INFO): DAT read: Range 11 to 50 : 344.8 m  (Round-trip  459.8 ms) speed  0.5 m/s

2025-10-26T21:26:40.010Z,1761514000.010 [DAT](INFO): DAT read: user:232>

2025-10-26T21:26:40.011Z,1761514000.011 [DAT](INFO): DAT read: Tx time:21:26:39.0955

2025-10-26T21:26:40.016Z,1761514000.016 [DAT](INFO): Ping request sent.
2025-10-26T21:26:40.016Z,1761514000.016 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:26:40.016Z,1761514000.016 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:26:40.017Z,1761514000.017 [DAT](INFO): direction in FSK: [0.987296,-0.036203,0.154710]
2025-10-26T21:26:40.017Z,1761514000.017 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:40.018Z,1761514000.018 [DAT](INFO): publishing direction and range info
2025-10-26T21:26:40.085Z,1761514000.085 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:40.085Z,1761514000.085 [DAT](INFO): publishing direction and range info
2025-10-26T21:26:40.128Z,1761514000.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769244,-0.636677,-0.053906],[0.635824,0.754404,0.163102],[-0.063177,-0.159740,0.985135]]
2025-10-26T21:26:40.196Z,1761514000.196 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:26:40.221Z,1761514000.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 344.799988 m,
      deltaT: 4.030490 s,
      deltaX: -2.900024 m,
      approachRate: -0.719522 m/s,
      rangeRepo size: 4

2025-10-26T21:26:40.223Z,1761514000.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 342.620056 m,
      bearing: 38.944054 deg,
      lat: 36.779391 deg,
      lon: -121.858933 deg,
      deltaT: 4.030490 s,
      deltaX: -2.881195 m,
      approachRate: -0.714850 m/s,
      posRepo size: 4

2025-10-26T21:26:40.228Z,1761514000.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.62 m.
2025-10-26T21:26:40.230Z,1761514000.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.620056 m,
      nav range: 341.942932 m,
      bearing: 38.820928 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014383 deg/s,
      cmd heading: 40.317169 deg,
      new cmd heading: 40.338579 deg.

2025-10-26T21:26:40.235Z,1761514000.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704041 target range: 342.620056 and range: 344.80 m.
2025-10-26T21:26:40.527Z,1761514000.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769806,-0.635971,-0.054215],[0.635169,0.754914,0.163297],[-0.062924,-0.160142,0.985086]]
2025-10-26T21:26:40.553Z,1761514000.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.62 m.
2025-10-26T21:26:40.556Z,1761514000.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.620056 m,
      nav range: 341.716614 m,
      bearing: 38.824645 deg,
      approach rate: -0.679829 m/s,
      LOS rate: 0.011173 deg/s,
      cmd heading: 40.338578 deg,
      new cmd heading: 40.349736 deg.

2025-10-26T21:26:40.557Z,1761514000.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704236 target range: 342.620056 and range: 344.80 m.
2025-10-26T21:26:40.984Z,1761514000.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769897,-0.635874,-0.054069],[0.635108,0.755162,0.162382],[-0.062424,-0.159357,0.985245]]
2025-10-26T21:26:41.043Z,1761514001.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.62 m.
2025-10-26T21:26:41.046Z,1761514001.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.620056 m,
      nav range: 341.404907 m,
      bearing: 38.826603 deg,
      approach rate: -0.636316 m/s,
      LOS rate: 0.004001 deg/s,
      cmd heading: 40.349735 deg,
      new cmd heading: 40.355615 deg.

2025-10-26T21:26:41.047Z,1761514001.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704338 target range: 342.620056 and range: 344.80 m.
2025-10-26T21:26:41.200Z,1761514001.200 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:26:41.336Z,1761514001.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769671,-0.636105,-0.054562],[0.635445,0.754985,0.161886],[-0.061783,-0.159271,0.985300]]
2025-10-26T21:26:41.353Z,1761514001.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:41.355Z,1761514001.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.62 m.
2025-10-26T21:26:41.357Z,1761514001.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.620056 m,
      nav range: 341.181915 m,
      bearing: 38.827991 deg,
      approach rate: -0.715566 m/s,
      LOS rate: 0.004457 deg/s,
      cmd heading: 40.355616 deg,
      new cmd heading: 40.359783 deg.

2025-10-26T21:26:41.358Z,1761514001.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704411 target range: 342.620056 and range: 344.80 m.
2025-10-26T21:26:41.444Z,1761514001.444 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:26:41.445Z,1761514001.445 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:26:41.445Z,1761514001.445 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:26:41.697Z,1761514001.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.681142
2025-10-26T21:26:41.748Z,1761514001.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769236,-0.636636,-0.054509],[0.636036,0.754759,0.160613],[-0.061111,-0.158219,0.985511]]
2025-10-26T21:26:41.765Z,1761514001.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.62 m.
2025-10-26T21:26:41.768Z,1761514001.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.620056 m,
      nav range: 340.907440 m,
      bearing: 38.829671 deg,
      approach rate: -0.668393 m/s,
      LOS rate: 0.004094 deg/s,
      cmd heading: 40.359782 deg,
      new cmd heading: 40.364826 deg.

2025-10-26T21:26:41.769Z,1761514001.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704499 target range: 342.620056 and range: 344.80 m.
2025-10-26T21:26:41.951Z,1761514001.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.934849
2025-10-26T21:26:42.142Z,1761514002.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768512,-0.637513,-0.054466],[0.637001,0.754326,0.158817],[-0.060163,-0.156748,0.985804]]
2025-10-26T21:26:42.184Z,1761514002.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.62 m.
2025-10-26T21:26:42.186Z,1761514002.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.620056 m,
      nav range: 340.617584 m,
      bearing: 38.828182 deg,
      approach rate: -0.692844 m/s,
      LOS rate: -0.003562 deg/s,
      cmd heading: 40.364827 deg,
      new cmd heading: 40.360356 deg.

2025-10-26T21:26:42.188Z,1761514002.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704421 target range: 342.620056 and range: 344.80 m.
2025-10-26T21:26:42.200Z,1761514002.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.184619
2025-10-26T21:26:42.453Z,1761514002.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.437275
2025-10-26T21:26:42.546Z,1761514002.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767174,-0.639141,-0.054244],[0.638700,0.753358,0.156568],[-0.059204,-0.154761,0.986176]]
2025-10-26T21:26:42.564Z,1761514002.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.62 m.
2025-10-26T21:26:42.569Z,1761514002.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.620056 m,
      nav range: 340.354065 m,
      bearing: 38.826732 deg,
      approach rate: -0.692546 m/s,
      LOS rate: -0.003812 deg/s,
      cmd heading: 40.360356 deg,
      new cmd heading: 40.356004 deg.

2025-10-26T21:26:42.571Z,1761514002.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704345 target range: 342.620056 and range: 344.80 m.
2025-10-26T21:26:42.705Z,1761514002.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.689049
2025-10-26T21:26:42.960Z,1761514002.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.943084
2025-10-26T21:26:42.984Z,1761514002.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766100,-0.640320,-0.055507],[0.640078,0.752275,0.156150],[-0.058229,-0.155155,0.986172]]
2025-10-26T21:26:43.050Z,1761514003.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.62 m.
2025-10-26T21:26:43.053Z,1761514003.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.620056 m,
      nav range: 340.012573 m,
      bearing: 38.822558 deg,
      approach rate: -0.702957 m/s,
      LOS rate: -0.008601 deg/s,
      cmd heading: 40.356005 deg,
      new cmd heading: 40.343471 deg.

2025-10-26T21:26:43.054Z,1761514003.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704126 target range: 342.620056 and range: 344.80 m.
2025-10-26T21:26:43.208Z,1761514003.208 [DAT](INFO): DAT read: Rx Time:21:26:41.9562

2025-10-26T21:26:43.209Z,1761514003.209 [DAT](INFO): Rx dataTimestamp_ set to:1761514003.208524
2025-10-26T21:26:43.209Z,1761514003.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.193594
2025-10-26T21:26:43.354Z,1761514003.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764608,-0.642073,-0.055836],[0.641938,0.750997,0.154657],[-0.057369,-0.154095,0.986389]]
2025-10-26T21:26:43.382Z,1761514003.382 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:43.384Z,1761514003.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.62 m.
2025-10-26T21:26:43.386Z,1761514003.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.620056 m,
      nav range: 339.778107 m,
      bearing: 38.819593 deg,
      approach rate: -0.702073 m/s,
      LOS rate: -0.008885 deg/s,
      cmd heading: 40.343472 deg,
      new cmd heading: 40.334570 deg.

2025-10-26T21:26:43.388Z,1761514003.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703971 target range: 342.620056 and range: 344.80 m.
2025-10-26T21:26:43.463Z,1761514003.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.446787
2025-10-26T21:26:43.720Z,1761514003.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.703466
2025-10-26T21:26:43.781Z,1761514003.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763434,-0.643441,-0.056145],[0.643417,0.750044,0.153127],[-0.056417,-0.153027,0.986610]]
2025-10-26T21:26:43.805Z,1761514003.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.62 m.
2025-10-26T21:26:43.808Z,1761514003.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.620056 m,
      nav range: 339.481720 m,
      bearing: 38.815744 deg,
      approach rate: -0.703831 m/s,
      LOS rate: -0.009147 deg/s,
      cmd heading: 40.334569 deg,
      new cmd heading: 40.323013 deg.

2025-10-26T21:26:43.809Z,1761514003.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703769 target range: 342.620056 and range: 344.80 m.
2025-10-26T21:26:43.976Z,1761514003.976 [DAT](INFO): DAT read: 21:26:41.9562 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 232,-0.07, 2.507, 1.106, 2.793, 2.648, PHS=-0.039,-1.497, 0.102, RAW= 154.6,  18.3, CAL= 155.8,  22.1, ROT= 354.2, -22.1

2025-10-26T21:26:43.981Z,1761514003.981 [DAT](INFO): got valid direction response:
 21:26:41.9562 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 232,-0.07, 2.507, 1.106, 2.793, 2.648, PHS=-0.039,-1.497, 0.102, RAW= 154.6,  18.3, CAL= 155.8,  22.1, ROT= 354.2, -22.1

2025-10-26T21:26:43.986Z,1761514003.986 [DAT](INFO): DAT read: Bearing 206.2, -11.6 (Local)

2025-10-26T21:26:43.988Z,1761514003.988 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.2, -11.6 (Local)

2025-10-26T21:26:43.993Z,1761514003.993 [DAT](INFO): DAT read: Range 11 to 50 : 342.4 m  (Round-trip  456.6 ms) speed  0.5 m/s

2025-10-26T21:26:43.997Z,1761514003.997 [DAT](INFO): DAT read: user:233>

2025-10-26T21:26:44.053Z,1761514004.053 [DAT](INFO): DAT read: Tx time:21:26:43.0455

2025-10-26T21:26:44.054Z,1761514004.054 [DAT](INFO): Ping request sent.
2025-10-26T21:26:44.054Z,1761514004.054 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:26:44.054Z,1761514004.054 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:26:44.059Z,1761514004.059 [DAT](INFO): direction in FSK: [0.921785,-0.093631,0.376224]
2025-10-26T21:26:44.060Z,1761514004.060 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:44.060Z,1761514004.060 [DAT](INFO): publishing direction and range info
2025-10-26T21:26:44.068Z,1761514004.068 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:44.068Z,1761514004.068 [DAT](INFO): publishing direction and range info
2025-10-26T21:26:44.248Z,1761514004.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 342.399994 m,
      deltaT: 4.034287 s,
      deltaX: -2.399994 m,
      approachRate: -0.594899 m/s,
      rangeRepo size: 4

2025-10-26T21:26:44.250Z,1761514004.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 340.235199 m,
      bearing: 38.004820 deg,
      lat: 36.779380 deg,
      lon: -121.858933 deg,
      deltaT: 4.034287 s,
      deltaX: -2.384857 m,
      approachRate: -0.591147 m/s,
      posRepo size: 4

2025-10-26T21:26:44.251Z,1761514004.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.24 m.
2025-10-26T21:26:44.257Z,1761514004.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.235199 m,
      nav range: 338.278748 m,
      bearing: 38.934531 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009147 deg/s,
      cmd heading: 40.323012 deg,
      new cmd heading: 40.311102 deg.

2025-10-26T21:26:44.258Z,1761514004.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703561 target range: 340.235199 and range: 342.40 m.
2025-10-26T21:26:44.604Z,1761514004.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760394,-0.646919,-0.057423],[0.647200,0.747403,0.150073],[-0.054167,-0.151279,0.987006]]
2025-10-26T21:26:44.622Z,1761514004.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.24 m.
2025-10-26T21:26:44.625Z,1761514004.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.235199 m,
      nav range: 337.995728 m,
      bearing: 38.930481 deg,
      approach rate: -0.738441 m/s,
      LOS rate: -0.010576 deg/s,
      cmd heading: 40.311104 deg,
      new cmd heading: 40.298943 deg.

2025-10-26T21:26:44.626Z,1761514004.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703349 target range: 340.235199 and range: 342.40 m.
2025-10-26T21:26:45.059Z,1761514005.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759202,-0.648272,-0.057926],[0.648686,0.746408,0.148598],[-0.053095,-0.150392,0.987200]]
2025-10-26T21:26:45.133Z,1761514005.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.24 m.
2025-10-26T21:26:45.136Z,1761514005.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.235199 m,
      nav range: 337.634033 m,
      bearing: 38.925862 deg,
      approach rate: -0.708467 m/s,
      LOS rate: -0.009056 deg/s,
      cmd heading: 40.298943 deg,
      new cmd heading: 40.285072 deg.

2025-10-26T21:26:45.137Z,1761514005.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703107 target range: 340.235199 and range: 342.40 m.
2025-10-26T21:26:45.444Z,1761514005.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758058,-0.649546,-0.058634],[0.650118,0.745436,0.147216],[-0.051916,-0.149717,0.987365]]
2025-10-26T21:26:45.460Z,1761514005.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:45.462Z,1761514005.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.24 m.
2025-10-26T21:26:45.465Z,1761514005.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.235199 m,
      nav range: 337.400757 m,
      bearing: 38.922804 deg,
      approach rate: -0.709172 m/s,
      LOS rate: -0.009303 deg/s,
      cmd heading: 40.285070 deg,
      new cmd heading: 40.275890 deg.

2025-10-26T21:26:45.465Z,1761514005.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702947 target range: 340.235199 and range: 342.40 m.
2025-10-26T21:26:45.483Z,1761514005.483 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:26:45.483Z,1761514005.483 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:26:45.483Z,1761514005.483 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:26:45.733Z,1761514005.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.678811
2025-10-26T21:26:45.834Z,1761514005.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756984,-0.650730,-0.059368],[0.651447,0.744484,0.146152],[-0.050907,-0.149310,0.987479]]
2025-10-26T21:26:45.857Z,1761514005.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.24 m.
2025-10-26T21:26:45.859Z,1761514005.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.235199 m,
      nav range: 337.120728 m,
      bearing: 38.919046 deg,
      approach rate: -0.709337 m/s,
      LOS rate: -0.009528 deg/s,
      cmd heading: 40.275891 deg,
      new cmd heading: 40.264606 deg.

2025-10-26T21:26:45.860Z,1761514005.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702750 target range: 340.235199 and range: 342.40 m.
2025-10-26T21:26:45.985Z,1761514005.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.931039
2025-10-26T21:26:46.236Z,1761514006.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.182479
2025-10-26T21:26:46.247Z,1761514006.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756309,-0.651313,-0.061549],[0.652311,0.743591,0.146843],[-0.049873,-0.151208,0.987243]]
2025-10-26T21:26:46.284Z,1761514006.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.24 m.
2025-10-26T21:26:46.286Z,1761514006.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.235199 m,
      nav range: 336.818024 m,
      bearing: 38.917757 deg,
      approach rate: -0.709143 m/s,
      LOS rate: -0.003023 deg/s,
      cmd heading: 40.264607 deg,
      new cmd heading: 40.260736 deg.

2025-10-26T21:26:46.287Z,1761514006.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702682 target range: 340.235199 and range: 342.40 m.
2025-10-26T21:26:46.490Z,1761514006.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.435575
2025-10-26T21:26:46.644Z,1761514006.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755787,-0.651815,-0.062632],[0.652988,0.743077,0.146438],[-0.048910,-0.151574,0.987235]]
2025-10-26T21:26:46.666Z,1761514006.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.24 m.
2025-10-26T21:26:46.669Z,1761514006.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.235199 m,
      nav range: 336.549438 m,
      bearing: 38.916572 deg,
      approach rate: -0.702207 m/s,
      LOS rate: -0.003099 deg/s,
      cmd heading: 40.260738 deg,
      new cmd heading: 40.257182 deg.

2025-10-26T21:26:46.670Z,1761514006.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702620 target range: 340.235199 and range: 342.40 m.
2025-10-26T21:26:46.741Z,1761514006.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.687299
2025-10-26T21:26:46.993Z,1761514006.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.939558
2025-10-26T21:26:47.086Z,1761514007.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755880,-0.651571,-0.064033],[0.652935,0.743021,0.146955],[-0.048174,-0.152889,0.987068]]
2025-10-26T21:26:47.154Z,1761514007.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.24 m.
2025-10-26T21:26:47.161Z,1761514007.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.235199 m,
      nav range: 336.219452 m,
      bearing: 38.916827 deg,
      approach rate: -0.675741 m/s,
      LOS rate: 0.000523 deg/s,
      cmd heading: 40.257183 deg,
      new cmd heading: 40.257948 deg.

2025-10-26T21:26:47.162Z,1761514007.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702634 target range: 340.235199 and range: 342.40 m.
2025-10-26T21:26:47.245Z,1761514007.245 [DAT](INFO): DAT read: Rx Time:21:26:45.9031

2025-10-26T21:26:47.246Z,1761514007.246 [DAT](INFO): Rx dataTimestamp_ set to:1761514007.245607
2025-10-26T21:26:47.247Z,1761514007.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.192814
2025-10-26T21:26:47.490Z,1761514007.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756285,-0.650963,-0.065418],[0.652539,0.743325,0.147176],[-0.047179,-0.153995,0.986945]]
2025-10-26T21:26:47.496Z,1761514007.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.442561
2025-10-26T21:26:47.509Z,1761514007.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:47.511Z,1761514007.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.24 m.
2025-10-26T21:26:47.542Z,1761514007.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.235199 m,
      nav range: 335.956573 m,
      bearing: 38.917056 deg,
      approach rate: -0.737370 m/s,
      LOS rate: 0.000643 deg/s,
      cmd heading: 40.257948 deg,
      new cmd heading: 40.258636 deg.

2025-10-26T21:26:47.543Z,1761514007.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702646 target range: 340.235199 and range: 342.40 m.
2025-10-26T21:26:47.754Z,1761514007.754 [DAT](INFO): DAT read: 21:26:45.9031 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 416, 0.13,-1.764, 2.960,-1.529,-2.218, PHS= 0.557,-1.060, 0.645, RAW= 152.6,  -1.7, CAL= 151.8,  -2.7, ROT= 358.2,   2.7

2025-10-26T21:26:47.755Z,1761514007.755 [DAT](INFO): got valid direction response:
 21:26:45.9031 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 416, 0.13,-1.764, 2.960,-1.529,-2.218, PHS= 0.557,-1.060, 0.645, RAW= 152.6,  -1.7, CAL= 151.8,  -2.7, ROT= 358.2,   2.7

2025-10-26T21:26:47.756Z,1761514007.756 [DAT](INFO): DAT read: Bearing 182.4,  -4.3 (Local)

2025-10-26T21:26:47.756Z,1761514007.756 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.4,  -4.3 (Local)

2025-10-26T21:26:47.758Z,1761514007.758 [DAT](INFO): DAT read: Range 11 to 50 : 340.1 m  (Round-trip  453.5 ms) speed  0.6 m/s

2025-10-26T21:26:47.759Z,1761514007.759 [DAT](INFO): DAT read: user:234>

2025-10-26T21:26:47.760Z,1761514007.760 [DAT](INFO): DAT read: Tx time:21:26:46.9955

2025-10-26T21:26:47.760Z,1761514007.760 [DAT](INFO): Ping request sent.
2025-10-26T21:26:47.760Z,1761514007.760 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:26:47.760Z,1761514007.760 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:26:47.761Z,1761514007.761 [DAT](INFO): direction in FSK: [0.998397,-0.031376,-0.047106]
2025-10-26T21:26:47.762Z,1761514007.762 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:47.762Z,1761514007.762 [DAT](INFO): publishing direction and range info
2025-10-26T21:26:47.765Z,1761514007.765 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:47.765Z,1761514007.765 [DAT](INFO): publishing direction and range info
2025-10-26T21:26:47.904Z,1761514007.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756863,-0.650111,-0.067189],[0.651946,0.743726,0.147778],[-0.046102,-0.155651,0.986736]]
2025-10-26T21:26:47.992Z,1761514007.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 340.100006 m,
      deltaT: 3.779982 s,
      deltaX: -2.299988 m,
      approachRate: -0.608465 m/s,
      rangeRepo size: 4

2025-10-26T21:26:47.994Z,1761514007.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 337.948792 m,
      bearing: 38.535626 deg,
      lat: 36.779380 deg,
      lon: -121.858945 deg,
      deltaT: 3.779982 s,
      deltaX: -2.286407 m,
      approachRate: -0.604873 m/s,
      posRepo size: 4

2025-10-26T21:26:47.994Z,1761514007.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.95 m.
2025-10-26T21:26:48.006Z,1761514008.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.948792 m,
      nav range: 334.935059 m,
      bearing: 38.768091 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000643 deg/s,
      cmd heading: 40.258638 deg,
      new cmd heading: 40.259556 deg.

2025-10-26T21:26:48.007Z,1761514008.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702662 target range: 337.948792 and range: 340.10 m.
2025-10-26T21:26:48.354Z,1761514008.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757535,-0.649187,-0.068537],[0.651231,0.744282,0.148130],[-0.045153,-0.156847,0.986590]]
2025-10-26T21:26:48.411Z,1761514008.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.95 m.
2025-10-26T21:26:48.418Z,1761514008.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.948792 m,
      nav range: 334.648376 m,
      bearing: 38.771856 deg,
      approach rate: -0.676277 m/s,
      LOS rate: 0.008887 deg/s,
      cmd heading: 40.259556 deg,
      new cmd heading: 40.270858 deg.

2025-10-26T21:26:48.418Z,1761514008.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702859 target range: 337.948792 and range: 340.10 m.
2025-10-26T21:26:48.762Z,1761514008.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758262,-0.648229,-0.069557],[0.650455,0.744985,0.148003],[-0.044121,-0.157469,0.986538]]
2025-10-26T21:26:48.788Z,1761514008.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.95 m.
2025-10-26T21:26:48.790Z,1761514008.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.948792 m,
      nav range: 334.381256 m,
      bearing: 38.775417 deg,
      approach rate: -0.709131 m/s,
      LOS rate: 0.009461 deg/s,
      cmd heading: 40.270857 deg,
      new cmd heading: 40.281549 deg.

2025-10-26T21:26:48.791Z,1761514008.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703046 target range: 337.948792 and range: 340.10 m.
2025-10-26T21:26:49.162Z,1761514009.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759135,-0.647086,-0.070666],[0.649481,0.745718,0.148593],[-0.043455,-0.158698,0.986370]]
2025-10-26T21:26:49.210Z,1761514009.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.95 m.
2025-10-26T21:26:49.213Z,1761514009.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.948792 m,
      nav range: 334.105103 m,
      bearing: 38.780056 deg,
      approach rate: -0.652640 m/s,
      LOS rate: 0.010974 deg/s,
      cmd heading: 40.281549 deg,
      new cmd heading: 40.295480 deg.

2025-10-26T21:26:49.214Z,1761514009.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703289 target range: 337.948792 and range: 340.10 m.
2025-10-26T21:26:49.573Z,1761514009.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760329,-0.645764,-0.069923],[0.648117,0.747140,0.147398],[-0.042942,-0.157389,0.986602]]
2025-10-26T21:26:49.620Z,1761514009.620 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:49.622Z,1761514009.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.95 m.
2025-10-26T21:26:49.626Z,1761514009.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.948792 m,
      nav range: 333.835175 m,
      bearing: 38.784686 deg,
      approach rate: -0.655259 m/s,
      LOS rate: 0.011247 deg/s,
      cmd heading: 40.295480 deg,
      new cmd heading: 40.309379 deg.

2025-10-26T21:26:49.634Z,1761514009.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703531 target range: 337.948792 and range: 340.10 m.
2025-10-26T21:26:49.764Z,1761514009.764 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:26:49.764Z,1761514009.764 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:26:49.764Z,1761514009.764 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:26:50.016Z,1761514010.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256199
2025-10-26T21:26:50.127Z,1761514010.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761775,-0.643924,-0.071139],[0.646490,0.748499,0.147647],[-0.041827,-0.158464,0.986478]]
2025-10-26T21:26:50.146Z,1761514010.146 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  78.08,  83.52,  86.91
2025-10-26T21:26:50.162Z,1761514010.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.95 m.
2025-10-26T21:26:50.164Z,1761514010.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.948792 m,
      nav range: 333.473419 m,
      bearing: 38.791036 deg,
      approach rate: -0.670839 m/s,
      LOS rate: 0.011788 deg/s,
      cmd heading: 40.309379 deg,
      new cmd heading: 40.328449 deg.

2025-10-26T21:26:50.165Z,1761514010.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703864 target range: 337.948792 and range: 340.10 m.
2025-10-26T21:26:50.270Z,1761514010.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509207
2025-10-26T21:26:50.443Z,1761514010.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762517,-0.643033,-0.071248],[0.645639,0.749267,0.147477],[-0.041449,-0.158454,0.986496]]
2025-10-26T21:26:50.467Z,1761514010.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.95 m.
2025-10-26T21:26:50.470Z,1761514010.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.948792 m,
      nav range: 333.271637 m,
      bearing: 38.794624 deg,
      approach rate: -0.660360 m/s,
      LOS rate: 0.011750 deg/s,
      cmd heading: 40.328449 deg,
      new cmd heading: 40.339220 deg.

2025-10-26T21:26:50.471Z,1761514010.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704052 target range: 337.948792 and range: 340.10 m.
2025-10-26T21:26:50.521Z,1761514010.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760456
2025-10-26T21:26:50.772Z,1761514010.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012185
2025-10-26T21:26:50.856Z,1761514010.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763416,-0.641999,-0.070948],[0.644619,0.750349,0.146434],[-0.040774,-0.157525,0.986673]]
2025-10-26T21:26:50.874Z,1761514010.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.95 m.
2025-10-26T21:26:50.877Z,1761514010.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.948792 m,
      nav range: 333.002838 m,
      bearing: 38.799475 deg,
      approach rate: -0.660263 m/s,
      LOS rate: 0.011927 deg/s,
      cmd heading: 40.339220 deg,
      new cmd heading: 40.353786 deg.

2025-10-26T21:26:50.878Z,1761514010.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704306 target range: 337.948792 and range: 340.10 m.
2025-10-26T21:26:51.025Z,1761514011.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264463
2025-10-26T21:26:51.256Z,1761514011.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763873,-0.641455,-0.070949],[0.644147,0.751052,0.144896],[-0.039658,-0.156383,0.986900]]
2025-10-26T21:26:51.276Z,1761514011.276 [DAT](INFO): DAT read: Rx Time:21:26:49.8491

2025-10-26T21:26:51.277Z,1761514011.277 [DAT](INFO): Rx dataTimestamp_ set to:1761514011.276685
2025-10-26T21:26:51.277Z,1761514011.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517396
2025-10-26T21:26:51.323Z,1761514011.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.95 m.
2025-10-26T21:26:51.326Z,1761514011.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.948792 m,
      nav range: 332.721741 m,
      bearing: 38.803263 deg,
      approach rate: -0.626876 m/s,
      LOS rate: 0.008455 deg/s,
      cmd heading: 40.353786 deg,
      new cmd heading: 40.365160 deg.

2025-10-26T21:26:51.326Z,1761514011.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704505 target range: 337.948792 and range: 340.10 m.
2025-10-26T21:26:51.528Z,1761514011.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768123
2025-10-26T21:26:51.689Z,1761514011.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763907,-0.641343,-0.071585],[0.644168,0.751188,0.144101],[-0.038644,-0.156192,0.986970]]
2025-10-26T21:26:51.741Z,1761514011.741 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:51.743Z,1761514011.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.95 m.
2025-10-26T21:26:51.746Z,1761514011.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.948792 m,
      nav range: 332.466492 m,
      bearing: 38.806710 deg,
      approach rate: -0.606947 m/s,
      LOS rate: 0.008201 deg/s,
      cmd heading: 40.365161 deg,
      new cmd heading: 40.375508 deg.

2025-10-26T21:26:51.747Z,1761514011.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704686 target range: 337.948792 and range: 340.10 m.
2025-10-26T21:26:51.786Z,1761514011.786 [DAT](INFO): DAT read: 21:26:49.8491 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 407,-0.03,-2.766, 1.946,-2.495, 2.993, PHS= 0.626,-1.002, 0.751, RAW= 153.7,  -4.5, CAL= 153.3,  -5.8, ROT= 356.7,   5.8

2025-10-26T21:26:51.787Z,1761514011.787 [DAT](INFO): got valid direction response:
 21:26:49.8491 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 407,-0.03,-2.766, 1.946,-2.495, 2.993, PHS= 0.626,-1.002, 0.751, RAW= 153.7,  -4.5, CAL= 153.3,  -5.8, ROT= 356.7,   5.8

2025-10-26T21:26:51.788Z,1761514011.788 [DAT](INFO): DAT read: Bearing 179.3,  -5.0 (Local)

2025-10-26T21:26:51.789Z,1761514011.789 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.3,  -5.0 (Local)

2025-10-26T21:26:51.790Z,1761514011.790 [DAT](INFO): DAT read: Range 11 to 50 : 337.1 m  (Round-trip  449.5 ms) speed  0.6 m/s

2025-10-26T21:26:51.791Z,1761514011.791 [DAT](INFO): DAT read: user:235>

2025-10-26T21:26:51.792Z,1761514011.792 [DAT](INFO): DAT read: Tx time:21:26:50.9455

2025-10-26T21:26:51.792Z,1761514011.792 [DAT](INFO): Ping request sent.
2025-10-26T21:26:51.792Z,1761514011.792 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:26:51.792Z,1761514011.792 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:26:51.793Z,1761514011.793 [DAT](INFO): direction in FSK: [0.993231,-0.057269,-0.101056]
2025-10-26T21:26:51.794Z,1761514011.794 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:51.794Z,1761514011.794 [DAT](INFO): publishing direction and range info
2025-10-26T21:26:51.809Z,1761514011.809 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:51.809Z,1761514011.809 [DAT](INFO): publishing direction and range info
2025-10-26T21:26:52.149Z,1761514012.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763936,-0.641065,-0.073741],[0.644261,0.751262,0.143291],[-0.036460,-0.156974,0.986929]]
2025-10-26T21:26:52.210Z,1761514012.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 337.100006 m,
      deltaT: 4.032119 s,
      deltaX: -3.000000 m,
      approachRate: -0.744026 m/s,
      rangeRepo size: 4

2025-10-26T21:26:52.213Z,1761514012.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 334.964355 m,
      bearing: 35.954806 deg,
      lat: 36.779400 deg,
      lon: -121.859072 deg,
      deltaT: 4.032119 s,
      deltaX: -2.984436 m,
      approachRate: -0.740166 m/s,
      posRepo size: 4

2025-10-26T21:26:52.213Z,1761514012.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.96 m.
2025-10-26T21:26:52.216Z,1761514012.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.964355 m,
      nav range: 326.946960 m,
      bearing: 37.025619 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008201 deg/s,
      cmd heading: 40.375509 deg,
      new cmd heading: 40.386983 deg.

2025-10-26T21:26:52.217Z,1761514012.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704886 target range: 334.964355 and range: 337.10 m.
2025-10-26T21:26:52.639Z,1761514012.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764042,-0.640762,-0.075257],[0.644232,0.751448,0.142450],[-0.034725,-0.157321,0.986937]]
2025-10-26T21:26:52.657Z,1761514012.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.96 m.
2025-10-26T21:26:52.660Z,1761514012.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.964355 m,
      nav range: 326.655121 m,
      bearing: 37.026180 deg,
      approach rate: -0.651806 m/s,
      LOS rate: 0.001255 deg/s,
      cmd heading: 40.386984 deg,
      new cmd heading: 40.388670 deg.

2025-10-26T21:26:52.661Z,1761514012.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704915 target range: 334.964355 and range: 337.10 m.
2025-10-26T21:26:53.164Z,1761514013.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763857,-0.640819,-0.076641],[0.644543,0.751398,0.141298],[-0.032959,-0.157330,0.986996]]
2025-10-26T21:26:53.232Z,1761514013.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.96 m.
2025-10-26T21:26:53.234Z,1761514013.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.964355 m,
      nav range: 326.289307 m,
      bearing: 37.025171 deg,
      approach rate: -0.636804 m/s,
      LOS rate: -0.001759 deg/s,
      cmd heading: 40.388671 deg,
      new cmd heading: 40.385639 deg.

2025-10-26T21:26:53.236Z,1761514013.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704862 target range: 334.964355 and range: 337.10 m.
2025-10-26T21:26:53.638Z,1761514013.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763148,-0.641009,-0.081924],[0.645587,0.750620,0.140667],[-0.028675,-0.160239,0.986662]]
2025-10-26T21:26:53.657Z,1761514013.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.96 m.
2025-10-26T21:26:53.660Z,1761514013.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.964355 m,
      nav range: 326.017487 m,
      bearing: 37.024354 deg,
      approach rate: -0.639125 m/s,
      LOS rate: -0.001921 deg/s,
      cmd heading: 40.385638 deg,
      new cmd heading: 40.383187 deg.

2025-10-26T21:26:53.661Z,1761514013.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704820 target range: 334.964355 and range: 337.10 m.
2025-10-26T21:26:54.039Z,1761514014.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762626,-0.641467,-0.083193],[0.646277,0.750268,0.139374],[-0.026987,-0.160056,0.986739]]
2025-10-26T21:26:54.056Z,1761514014.056 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:54.062Z,1761514014.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.96 m.
2025-10-26T21:26:54.088Z,1761514014.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.964355 m,
      nav range: 325.762268 m,
      bearing: 37.023548 deg,
      approach rate: -0.630519 m/s,
      LOS rate: -0.001994 deg/s,
      cmd heading: 40.383186 deg,
      new cmd heading: 40.380765 deg.

2025-10-26T21:26:54.090Z,1761514014.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704777 target range: 334.964355 and range: 337.10 m.
2025-10-26T21:26:54.300Z,1761514014.300 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:26:54.300Z,1761514014.300 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:26:54.300Z,1761514014.300 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:26:54.442Z,1761514014.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761916,-0.642094,-0.084849],[0.647201,0.749781,0.137696],[-0.024795,-0.159827,0.986834]]
2025-10-26T21:26:54.486Z,1761514014.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.96 m.
2025-10-26T21:26:54.489Z,1761514014.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.964355 m,
      nav range: 325.486877 m,
      bearing: 37.021124 deg,
      approach rate: -0.648741 m/s,
      LOS rate: -0.005714 deg/s,
      cmd heading: 40.380765 deg,
      new cmd heading: 40.373489 deg.

2025-10-26T21:26:54.490Z,1761514014.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704650 target range: 334.964355 and range: 337.10 m.
2025-10-26T21:26:54.553Z,1761514014.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760424
2025-10-26T21:26:54.807Z,1761514014.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014333
2025-10-26T21:26:54.852Z,1761514014.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761227,-0.642732,-0.086192],[0.648087,0.749347,0.135878],[-0.022745,-0.159294,0.986969]]
2025-10-26T21:26:54.870Z,1761514014.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.96 m.
2025-10-26T21:26:54.873Z,1761514014.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.964355 m,
      nav range: 325.240021 m,
      bearing: 37.018900 deg,
      approach rate: -0.642759 m/s,
      LOS rate: -0.005796 deg/s,
      cmd heading: 40.373487 deg,
      new cmd heading: 40.366809 deg.

2025-10-26T21:26:54.874Z,1761514014.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704534 target range: 334.964355 and range: 337.10 m.
2025-10-26T21:26:55.058Z,1761514015.058 [DAT](INFO): DAT read: Rx Time:21:26:53.7966

2025-10-26T21:26:55.060Z,1761514015.060 [DAT](INFO): Rx dataTimestamp_ set to:1761514015.058780
2025-10-26T21:26:55.061Z,1761514015.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268600
2025-10-26T21:26:55.250Z,1761514015.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760346,-0.643591,-0.087549],[0.649206,0.748868,0.133150],[-0.020131,-0.158077,0.987222]]
2025-10-26T21:26:55.300Z,1761514015.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.96 m.
2025-10-26T21:26:55.302Z,1761514015.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.964355 m,
      nav range: 324.961609 m,
      bearing: 37.016212 deg,
      approach rate: -0.648915 m/s,
      LOS rate: -0.006270 deg/s,
      cmd heading: 40.366811 deg,
      new cmd heading: 40.358741 deg.

2025-10-26T21:26:55.303Z,1761514015.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704393 target range: 334.964355 and range: 337.10 m.
2025-10-26T21:26:55.308Z,1761514015.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516339
2025-10-26T21:26:55.564Z,1761514015.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771575
2025-10-26T21:26:55.656Z,1761514015.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759672,-0.644143,-0.089320],[0.650057,0.748381,0.131726],[-0.018004,-0.158132,0.987254]]
2025-10-26T21:26:55.674Z,1761514015.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.96 m.
2025-10-26T21:26:55.677Z,1761514015.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.964355 m,
      nav range: 324.718384 m,
      bearing: 37.013814 deg,
      approach rate: -0.649177 m/s,
      LOS rate: -0.006406 deg/s,
      cmd heading: 40.358741 deg,
      new cmd heading: 40.351540 deg.

2025-10-26T21:26:55.678Z,1761514015.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704267 target range: 334.964355 and range: 337.10 m.
2025-10-26T21:26:55.818Z,1761514015.818 [DAT](INFO): DAT read: 21:26:53.7966 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 414, 0.09,-0.934,-2.432,-0.626,-1.443, PHS= 0.611,-0.944, 0.773, RAW= 154.9,  -5.4, CAL= 154.8,  -6.9, ROT= 355.2,   6.9

2025-10-26T21:26:55.819Z,1761514015.819 [DAT](INFO): got valid direction response:
 21:26:53.7966 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 414, 0.09,-0.934,-2.432,-0.626,-1.443, PHS= 0.611,-0.944, 0.773, RAW= 154.9,  -5.4, CAL= 154.8,  -6.9, ROT= 355.2,   6.9

2025-10-26T21:26:55.820Z,1761514015.820 [DAT](INFO): DAT read: Bearing 178.1,  -5.1 (Local)

2025-10-26T21:26:55.821Z,1761514015.821 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.1,  -5.1 (Local)

2025-10-26T21:26:55.822Z,1761514015.822 [DAT](INFO): DAT read: Range 11 to 50 : 335.2 m  (Round-trip  447.0 ms) speed  0.7 m/s

2025-10-26T21:26:55.823Z,1761514015.823 [DAT](INFO): DAT read: user:236>

2025-10-26T21:26:55.829Z,1761514015.829 [DAT](INFO): DAT read: Tx time:21:26:54.8955

2025-10-26T21:26:55.830Z,1761514015.830 [DAT](INFO): Ping request sent.
2025-10-26T21:26:55.830Z,1761514015.830 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:26:55.830Z,1761514015.830 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:26:55.831Z,1761514015.831 [DAT](INFO): direction in FSK: [0.989276,-0.083072,-0.120137]
2025-10-26T21:26:55.832Z,1761514015.832 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:55.832Z,1761514015.832 [DAT](INFO): publishing direction and range info
2025-10-26T21:26:55.835Z,1761514015.835 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:55.835Z,1761514015.835 [DAT](INFO): publishing direction and range info
2025-10-26T21:26:56.114Z,1761514016.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 335.200012 m,
      deltaT: 4.031921 s,
      deltaX: -1.899994 m,
      approachRate: -0.471238 m/s,
      rangeRepo size: 4

2025-10-26T21:26:56.117Z,1761514016.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 333.073792 m,
      bearing: 34.710790 deg,
      lat: 36.779400 deg,
      lon: -121.859092 deg,
      deltaT: 4.031921 s,
      deltaX: -1.890564 m,
      approachRate: -0.468899 m/s,
      posRepo size: 4

2025-10-26T21:26:56.117Z,1761514016.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.07 m.
2025-10-26T21:26:56.120Z,1761514016.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.073792 m,
      nav range: 323.353882 m,
      bearing: 36.755988 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006406 deg/s,
      cmd heading: 40.351542 deg,
      new cmd heading: 40.343097 deg.

2025-10-26T21:26:56.121Z,1761514016.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704120 target range: 333.073792 and range: 335.20 m.
2025-10-26T21:26:56.463Z,1761514016.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757911,-0.645564,-0.093909],[0.652221,0.746904,0.129395],[-0.013392,-0.159319,0.987136]]
2025-10-26T21:26:56.504Z,1761514016.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:56.506Z,1761514016.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.07 m.
2025-10-26T21:26:56.509Z,1761514016.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.073792 m,
      nav range: 323.100311 m,
      bearing: 36.753377 deg,
      approach rate: -0.646735 m/s,
      LOS rate: -0.006663 deg/s,
      cmd heading: 40.343096 deg,
      new cmd heading: 40.335259 deg.

2025-10-26T21:26:56.509Z,1761514016.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703983 target range: 333.073792 and range: 335.20 m.
2025-10-26T21:26:56.570Z,1761514016.570 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:26:56.570Z,1761514016.570 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:26:56.570Z,1761514016.570 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:26:56.820Z,1761514016.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990469
2025-10-26T21:26:56.866Z,1761514016.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757127,-0.646359,-0.094758],[0.653171,0.746515,0.126820],[-0.011233,-0.157913,0.987389]]
2025-10-26T21:26:56.900Z,1761514016.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.07 m.
2025-10-26T21:26:56.902Z,1761514016.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.073792 m,
      nav range: 322.847687 m,
      bearing: 36.750718 deg,
      approach rate: -0.641826 m/s,
      LOS rate: -0.006762 deg/s,
      cmd heading: 40.335259 deg,
      new cmd heading: 40.327274 deg.

2025-10-26T21:26:56.903Z,1761514016.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703844 target range: 333.073792 and range: 335.20 m.
2025-10-26T21:26:57.073Z,1761514017.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243330
2025-10-26T21:26:57.270Z,1761514017.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756566,-0.646784,-0.096321],[0.653850,0.746131,0.125574],[-0.009351,-0.157984,0.987397]]
2025-10-26T21:26:57.314Z,1761514017.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.07 m.
2025-10-26T21:26:57.317Z,1761514017.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.073792 m,
      nav range: 322.581970 m,
      bearing: 36.747923 deg,
      approach rate: -0.640736 m/s,
      LOS rate: -0.006744 deg/s,
      cmd heading: 40.327274 deg,
      new cmd heading: 40.318884 deg.

2025-10-26T21:26:57.318Z,1761514017.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703697 target range: 333.073792 and range: 335.20 m.
2025-10-26T21:26:57.324Z,1761514017.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494695
2025-10-26T21:26:57.577Z,1761514017.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747185
2025-10-26T21:26:57.674Z,1761514017.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756415,-0.646668,-0.098270],[0.654050,0.746085,0.124803],[-0.007388,-0.158677,0.987303]]
2025-10-26T21:26:57.692Z,1761514017.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.07 m.
2025-10-26T21:26:57.695Z,1761514017.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.073792 m,
      nav range: 322.339478 m,
      bearing: 36.745358 deg,
      approach rate: -0.641160 m/s,
      LOS rate: -0.006788 deg/s,
      cmd heading: 40.318883 deg,
      new cmd heading: 40.311182 deg.

2025-10-26T21:26:57.697Z,1761514017.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703563 target range: 333.073792 and range: 335.20 m.
2025-10-26T21:26:57.829Z,1761514017.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998904
2025-10-26T21:26:58.082Z,1761514018.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251882
2025-10-26T21:26:58.089Z,1761514018.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756380,-0.646478,-0.099780],[0.654109,0.746196,0.123823],[-0.005593,-0.158924,0.987275]]
2025-10-26T21:26:58.118Z,1761514018.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.07 m.
2025-10-26T21:26:58.121Z,1761514018.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.073792 m,
      nav range: 322.066406 m,
      bearing: 36.742461 deg,
      approach rate: -0.640734 m/s,
      LOS rate: -0.006803 deg/s,
      cmd heading: 40.311182 deg,
      new cmd heading: 40.302484 deg.

2025-10-26T21:26:58.122Z,1761514018.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703411 target range: 333.073792 and range: 335.20 m.
2025-10-26T21:26:58.334Z,1761514018.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503747
2025-10-26T21:26:58.482Z,1761514018.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756576,-0.646003,-0.101356],[0.653895,0.746529,0.122948],[-0.003760,-0.159295,0.987224]]
2025-10-26T21:26:58.523Z,1761514018.523 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:26:58.525Z,1761514018.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.07 m.
2025-10-26T21:26:58.528Z,1761514018.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.073792 m,
      nav range: 321.803802 m,
      bearing: 36.740015 deg,
      approach rate: -0.645669 m/s,
      LOS rate: -0.006021 deg/s,
      cmd heading: 40.302484 deg,
      new cmd heading: 40.295138 deg.

2025-10-26T21:26:58.529Z,1761514018.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703283 target range: 333.073792 and range: 335.20 m.
2025-10-26T21:26:58.586Z,1761514018.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755845
2025-10-26T21:26:58.836Z,1761514018.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006575
2025-10-26T21:26:58.886Z,1761514018.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756653,-0.645588,-0.103402],[0.653814,0.746699,0.122345],[-0.001774,-0.160178,0.987087]]
2025-10-26T21:26:58.904Z,1761514018.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.07 m.
2025-10-26T21:26:58.906Z,1761514018.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.073792 m,
      nav range: 321.559052 m,
      bearing: 36.737735 deg,
      approach rate: -0.646877 m/s,
      LOS rate: -0.006030 deg/s,
      cmd heading: 40.295138 deg,
      new cmd heading: 40.288294 deg.

2025-10-26T21:26:58.923Z,1761514018.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703163 target range: 333.073792 and range: 335.20 m.
2025-10-26T21:26:59.088Z,1761514019.088 [DAT](INFO): DAT read: Rx Time:21:26:57.7064

2025-10-26T21:26:59.089Z,1761514019.089 [DAT](INFO): Rx dataTimestamp_ set to:1761514019.088633
2025-10-26T21:26:59.089Z,1761514019.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259655
2025-10-26T21:26:59.292Z,1761514019.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756851,-0.645027,-0.105438],[0.653588,0.746997,0.121731],[0.000242,-0.161045,0.986947]]
2025-10-26T21:26:59.329Z,1761514019.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.07 m.
2025-10-26T21:26:59.332Z,1761514019.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.073792 m,
      nav range: 321.286835 m,
      bearing: 36.734920 deg,
      approach rate: -0.640081 m/s,
      LOS rate: -0.006625 deg/s,
      cmd heading: 40.288294 deg,
      new cmd heading: 40.279841 deg.

2025-10-26T21:26:59.333Z,1761514019.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703016 target range: 333.073792 and range: 335.20 m.
2025-10-26T21:26:59.340Z,1761514019.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510681
2025-10-26T21:26:59.598Z,1761514019.598 [DAT](INFO): DAT read: 21:26:57.7064 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX=  35,-0.10,-1.911, 2.972,-1.458,-1.962, PHS= 0.153,-1.304, 0.460, RAW= 159.4,   8.5, CAL= 159.1,   8.9, ROT= 350.9,  -8.9

2025-10-26T21:26:59.599Z,1761514019.599 [DAT](INFO): got valid direction response:
 21:26:57.7064 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX=  35,-0.10,-1.911, 2.972,-1.458,-1.962, PHS= 0.153,-1.304, 0.460, RAW= 159.4,   8.5, CAL= 159.1,   8.9, ROT= 350.9,  -8.9

2025-10-26T21:26:59.600Z,1761514019.600 [DAT](INFO): DAT read: Bearing 193.1, -10.4 (Local)

2025-10-26T21:26:59.601Z,1761514019.601 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.1, -10.4 (Local)

2025-10-26T21:26:59.602Z,1761514019.602 [DAT](INFO): DAT read: Range 11 to 50 : 305.1 m  (Round-trip  406.9 ms) speed  0.2 m/s

2025-10-26T21:26:59.603Z,1761514019.603 [DAT](INFO): DAT read: user:237>

2025-10-26T21:26:59.604Z,1761514019.604 [DAT](INFO): DAT read: Tx time:21:26:58.7954

2025-10-26T21:26:59.604Z,1761514019.604 [DAT](INFO): Ping request sent.
2025-10-26T21:26:59.604Z,1761514019.604 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:26:59.605Z,1761514019.605 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:26:59.605Z,1761514019.605 [DAT](INFO): direction in FSK: [0.975525,-0.156254,0.154710]
2025-10-26T21:26:59.606Z,1761514019.606 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:59.606Z,1761514019.606 [DAT](INFO): publishing direction and range info
2025-10-26T21:26:59.613Z,1761514019.613 [DAT](INFO): publishing transmit ping time
2025-10-26T21:26:59.614Z,1761514019.614 [DAT](INFO): publishing direction and range info
2025-10-26T21:26:59.695Z,1761514019.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757336,-0.644143,-0.107343],[0.653022,0.747544,0.121405],[0.002041,-0.162042,0.986782]]
2025-10-26T21:26:59.771Z,1761514019.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 305.100006 m,
 deltaT: 3.779987 s,
 deltaX: -30.100006 m,
 approachRate: -7.962992 m/s,
 rangeRepo size: 4
2025-10-26T21:26:59.776Z,1761514019.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.07 m.
2025-10-26T21:26:59.781Z,1761514019.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.073792 m,
      nav range: 321.019897 m,
      bearing: 36.732188 deg,
      approach rate: -0.604940 m/s,
      LOS rate: -0.006195 deg/s,
      cmd heading: 40.279842 deg,
      new cmd heading: 40.271642 deg.

2025-10-26T21:26:59.782Z,1761514019.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702873 target range: 333.073792 and range: 335.20 m.
2025-10-26T21:27:00.118Z,1761514020.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757865,-0.643180,-0.109363],[0.652399,0.748135,0.121116],[0.003919,-0.163138,0.986596]]
2025-10-26T21:27:00.136Z,1761514020.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.07 m.
2025-10-26T21:27:00.138Z,1761514020.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.073792 m,
      nav range: 320.770477 m,
      bearing: 36.729668 deg,
      approach rate: -0.682449 m/s,
      LOS rate: -0.006902 deg/s,
      cmd heading: 40.271642 deg,
      new cmd heading: 40.264075 deg.

2025-10-26T21:27:00.139Z,1761514020.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702741 target range: 333.073792 and range: 335.20 m.
2025-10-26T21:27:00.506Z,1761514020.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758105,-0.642543,-0.111422],[0.652106,0.748479,0.120572],[0.005925,-0.164065,0.986432]]
2025-10-26T21:27:00.573Z,1761514020.573 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:00.581Z,1761514020.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.07 m.
2025-10-26T21:27:00.591Z,1761514020.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.073792 m,
      nav range: 320.505890 m,
      bearing: 36.726266 deg,
      approach rate: -0.594604 m/s,
      LOS rate: -0.007653 deg/s,
      cmd heading: 40.264074 deg,
      new cmd heading: 40.253859 deg.

2025-10-26T21:27:00.600Z,1761514020.600 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:00.600Z,1761514020.600 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:00.601Z,1761514020.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:27:00.608Z,1761514020.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702562 target range: 333.073792 and range: 335.20 m.
2025-10-26T21:27:00.852Z,1761514020.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248041
2025-10-26T21:27:00.911Z,1761514020.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758165,-0.642138,-0.113337],[0.652015,0.748673,0.119853],[0.007890,-0.164766,0.986301]]
2025-10-26T21:27:00.936Z,1761514020.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.07 m.
2025-10-26T21:27:00.938Z,1761514020.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.073792 m,
      nav range: 320.251678 m,
      bearing: 36.722995 deg,
      approach rate: -0.716421 m/s,
      LOS rate: -0.009224 deg/s,
      cmd heading: 40.253860 deg,
      new cmd heading: 40.244040 deg.

2025-10-26T21:27:00.939Z,1761514020.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702391 target range: 333.073792 and range: 335.20 m.
2025-10-26T21:27:01.104Z,1761514021.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500114
2025-10-26T21:27:01.314Z,1761514021.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758215,-0.641723,-0.115336],[0.651929,0.748866,0.119114],[0.009933,-0.165505,0.986159]]
2025-10-26T21:27:01.356Z,1761514021.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752115
2025-10-26T21:27:01.373Z,1761514021.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.07 m.
2025-10-26T21:27:01.376Z,1761514021.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.073792 m,
      nav range: 319.963745 m,
      bearing: 36.718721 deg,
      approach rate: -0.657348 m/s,
      LOS rate: -0.009767 deg/s,
      cmd heading: 40.244041 deg,
      new cmd heading: 40.231207 deg.

2025-10-26T21:27:01.377Z,1761514021.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702167 target range: 333.073792 and range: 335.20 m.
2025-10-26T21:27:01.608Z,1761514021.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004155
2025-10-26T21:27:01.729Z,1761514021.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758190,-0.641417,-0.117188],[0.651926,0.748994,0.118324],[0.011878,-0.166109,0.986036]]
2025-10-26T21:27:01.751Z,1761514021.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.07 m.
2025-10-26T21:27:01.753Z,1761514021.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.073792 m,
      nav range: 319.715942 m,
      bearing: 36.715035 deg,
      approach rate: -0.656791 m/s,
      LOS rate: -0.009777 deg/s,
      cmd heading: 40.231208 deg,
      new cmd heading: 40.220141 deg.

2025-10-26T21:27:01.754Z,1761514021.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701974 target range: 333.073792 and range: 335.20 m.
2025-10-26T21:27:01.861Z,1761514021.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256559
2025-10-26T21:27:02.112Z,1761514022.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508123
2025-10-26T21:27:02.124Z,1761514022.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758074,-0.641233,-0.118932],[0.652021,0.749071,0.117305],[0.013869,-0.166472,0.985949]]
2025-10-26T21:27:02.166Z,1761514022.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.07 m.
2025-10-26T21:27:02.173Z,1761514022.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.073792 m,
      nav range: 319.448730 m,
      bearing: 36.711046 deg,
      approach rate: -0.643636 m/s,
      LOS rate: -0.009616 deg/s,
      cmd heading: 40.220139 deg,
      new cmd heading: 40.208163 deg.

2025-10-26T21:27:02.174Z,1761514022.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701765 target range: 333.073792 and range: 335.20 m.
2025-10-26T21:27:02.364Z,1761514022.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760064
2025-10-26T21:27:02.526Z,1761514022.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757432,-0.641798,-0.119968],[0.652719,0.748804,0.115106],[0.015958,-0.165490,0.986082]]
2025-10-26T21:27:02.599Z,1761514022.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:02.605Z,1761514022.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.07 m.
2025-10-26T21:27:02.612Z,1761514022.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.073792 m,
      nav range: 319.154480 m,
      bearing: 36.705004 deg,
      approach rate: -0.669349 m/s,
      LOS rate: -0.013756 deg/s,
      cmd heading: 40.208163 deg,
      new cmd heading: 40.190021 deg.

2025-10-26T21:27:02.613Z,1761514022.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701448 target range: 333.073792 and range: 335.20 m.
2025-10-26T21:27:02.616Z,1761514022.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012237
2025-10-26T21:27:02.868Z,1761514022.868 [DAT](INFO): DAT read: Rx Time:21:27:01.6215

2025-10-26T21:27:02.869Z,1761514022.869 [DAT](INFO): Rx dataTimestamp_ set to:1761514022.868652
2025-10-26T21:27:02.869Z,1761514022.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265210
2025-10-26T21:27:02.927Z,1761514022.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756825,-0.642254,-0.121355],[0.653369,0.748504,0.113357],[0.018030,-0.165081,0.986115]]
2025-10-26T21:27:02.961Z,1761514022.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.07 m.
2025-10-26T21:27:02.964Z,1761514022.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.073792 m,
      nav range: 318.920319 m,
      bearing: 36.700151 deg,
      approach rate: -0.658215 m/s,
      LOS rate: -0.013654 deg/s,
      cmd heading: 40.190022 deg,
      new cmd heading: 40.175450 deg.

2025-10-26T21:27:02.965Z,1761514022.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701194 target range: 333.073792 and range: 335.20 m.
2025-10-26T21:27:03.121Z,1761514023.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516327
2025-10-26T21:27:03.330Z,1761514023.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755908,-0.643041,-0.122887],[0.654367,0.747909,0.111518],[0.020198,-0.164710,0.986135]]
2025-10-26T21:27:03.376Z,1761514023.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770787
2025-10-26T21:27:03.434Z,1761514023.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.07 m.
2025-10-26T21:27:03.452Z,1761514023.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.073792 m,
      nav range: 318.615204 m,
      bearing: 36.693029 deg,
      approach rate: -0.644723 m/s,
      LOS rate: -0.015063 deg/s,
      cmd heading: 40.175449 deg,
      new cmd heading: 40.154064 deg.

2025-10-26T21:27:03.453Z,1761514023.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700821 target range: 333.073792 and range: 335.20 m.
2025-10-26T21:27:03.630Z,1761514023.630 [DAT](INFO): DAT read: 21:27:01.6215 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX=  78,-0.05, 0.281,-1.268, 0.813, 0.134, PHS= 0.249,-1.358, 0.635, RAW= 160.5,   5.2, CAL= 159.6,   4.5, ROT= 350.4,  -4.5

2025-10-26T21:27:03.635Z,1761514023.635 [DAT](INFO): got valid direction response:
 21:27:01.6215 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX=  78,-0.05, 0.281,-1.268, 0.813, 0.134, PHS= 0.249,-1.358, 0.635, RAW= 160.5,   5.2, CAL= 159.6,   4.5, ROT= 350.4,  -4.5

2025-10-26T21:27:03.636Z,1761514023.636 [DAT](INFO): DAT read: Bearing 188.8,  -9.3 (Local)

2025-10-26T21:27:03.637Z,1761514023.637 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.8,  -9.3 (Local)

2025-10-26T21:27:03.638Z,1761514023.638 [DAT](INFO): DAT read: Range 11 to 50 : 316.5 m  (Round-trip  422.0 ms) speed  0.4 m/s

2025-10-26T21:27:03.639Z,1761514023.639 [DAT](INFO): DAT read: user:238>

2025-10-26T21:27:03.640Z,1761514023.640 [DAT](INFO): DAT read: Tx time:21:27:02.7454

2025-10-26T21:27:03.640Z,1761514023.640 [DAT](INFO): Ping request sent.
2025-10-26T21:27:03.640Z,1761514023.640 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:27:03.641Z,1761514023.641 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:27:03.642Z,1761514023.642 [DAT](INFO): direction in FSK: [0.982957,-0.166255,0.078459]
2025-10-26T21:27:03.642Z,1761514023.642 [DAT](INFO): publishing transmit ping time
2025-10-26T21:27:03.642Z,1761514023.642 [DAT](INFO): publishing direction and range info
2025-10-26T21:27:03.650Z,1761514023.650 [DAT](INFO): publishing transmit ping time
2025-10-26T21:27:03.650Z,1761514023.650 [DAT](INFO): publishing direction and range info
2025-10-26T21:27:03.768Z,1761514023.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755212,-0.643557,-0.124456],[0.655101,0.747504,0.109906],[0.022301,-0.164534,0.986119]]
2025-10-26T21:27:03.815Z,1761514023.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 316.500000 m,
      deltaT: 7.811965 s,
      deltaX: -18.700012 m,
      approachRate: -2.393765 m/s,
      rangeRepo size: 4

2025-10-26T21:27:03.817Z,1761514023.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 314.492065 m,
      bearing: 32.179353 deg,
      lat: 36.779472 deg,
      lon: -121.859152 deg,
      deltaT: 7.811965 s,
      deltaX: -18.581726 m,
      approachRate: -2.378624 m/s,
      posRepo size: 4

2025-10-26T21:27:03.818Z,1761514023.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.49 m.
2025-10-26T21:27:03.825Z,1761514023.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.492065 m,
      nav range: 321.677979 m,
      bearing: 35.087442 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015063 deg/s,
      cmd heading: 40.154064 deg,
      new cmd heading: 40.137253 deg.

2025-10-26T21:27:03.826Z,1761514023.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700527 target range: 314.492065 and range: 316.50 m.
2025-10-26T21:27:04.170Z,1761514024.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754337,-0.644313,-0.125842],[0.656034,0.746960,0.108030],[0.024393,-0.164047,0.986151]]
2025-10-26T21:27:04.196Z,1761514024.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.49 m.
2025-10-26T21:27:04.199Z,1761514024.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.492065 m,
      nav range: 321.405365 m,
      bearing: 35.079623 deg,
      approach rate: -0.699368 m/s,
      LOS rate: -0.020076 deg/s,
      cmd heading: 40.137251 deg,
      new cmd heading: 40.113774 deg.

2025-10-26T21:27:04.200Z,1761514024.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700117 target range: 314.492065 and range: 316.50 m.
2025-10-26T21:27:04.584Z,1761514024.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753573,-0.644835,-0.127733],[0.656834,0.746419,0.106902],[0.026408,-0.164457,0.986031]]
2025-10-26T21:27:04.642Z,1761514024.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:04.644Z,1761514024.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.49 m.
2025-10-26T21:27:04.647Z,1761514024.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.492065 m,
      nav range: 321.122681 m,
      bearing: 35.072461 deg,
      approach rate: -0.631155 m/s,
      LOS rate: -0.016004 deg/s,
      cmd heading: 40.113773 deg,
      new cmd heading: 40.092268 deg.

2025-10-26T21:27:04.652Z,1761514024.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699742 target range: 314.492065 and range: 316.50 m.
2025-10-26T21:27:04.884Z,1761514024.884 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:04.884Z,1761514024.884 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:04.884Z,1761514024.884 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:27:05.122Z,1761514025.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752592,-0.645731,-0.128984],[0.657876,0.745764,0.105047],[0.028360,-0.163914,0.986067]]
2025-10-26T21:27:05.136Z,1761514025.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496075
2025-10-26T21:27:05.142Z,1761514025.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.49 m.
2025-10-26T21:27:05.145Z,1761514025.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.492065 m,
      nav range: 320.780304 m,
      bearing: 35.063681 deg,
      approach rate: -0.687174 m/s,
      LOS rate: -0.017641 deg/s,
      cmd heading: 40.092268 deg,
      new cmd heading: 40.065900 deg.

2025-10-26T21:27:05.146Z,1761514025.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699282 target range: 314.492065 and range: 316.50 m.
2025-10-26T21:27:05.390Z,1761514025.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748982
2025-10-26T21:27:05.514Z,1761514025.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751935,-0.646233,-0.130293],[0.658547,0.745376,0.103591],[0.030173,-0.163698,0.986049]]
2025-10-26T21:27:05.573Z,1761514025.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.49 m.
2025-10-26T21:27:05.593Z,1761514025.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.492065 m,
      nav range: 320.505249 m,
      bearing: 35.057769 deg,
      approach rate: -0.639269 m/s,
      LOS rate: -0.013751 deg/s,
      cmd heading: 40.065900 deg,
      new cmd heading: 40.048150 deg.

2025-10-26T21:27:05.594Z,1761514025.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698972 target range: 314.492065 and range: 316.50 m.
2025-10-26T21:27:05.641Z,1761514025.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000201
2025-10-26T21:27:05.892Z,1761514025.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251980
2025-10-26T21:27:06.033Z,1761514026.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751579,-0.645775,-0.134550],[0.658805,0.745118,0.103799],[0.033225,-0.166655,0.985455]]
2025-10-26T21:27:06.059Z,1761514026.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.49 m.
2025-10-26T21:27:06.064Z,1761514026.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.492065 m,
      nav range: 320.191223 m,
      bearing: 35.050987 deg,
      approach rate: -0.646204 m/s,
      LOS rate: -0.013971 deg/s,
      cmd heading: 40.048148 deg,
      new cmd heading: 40.027781 deg.

2025-10-26T21:27:06.065Z,1761514026.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698617 target range: 314.492065 and range: 316.50 m.
2025-10-26T21:27:06.145Z,1761514026.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504232
2025-10-26T21:27:06.396Z,1761514026.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756051
2025-10-26T21:27:06.431Z,1761514026.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751346,-0.645675,-0.136320],[0.658992,0.745004,0.103432],[0.034776,-0.167548,0.985250]]
2025-10-26T21:27:06.478Z,1761514026.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.49 m.
2025-10-26T21:27:06.481Z,1761514026.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.492065 m,
      nav range: 319.921143 m,
      bearing: 35.048441 deg,
      approach rate: -0.643469 m/s,
      LOS rate: -0.006070 deg/s,
      cmd heading: 40.027781 deg,
      new cmd heading: 40.020138 deg.

2025-10-26T21:27:06.482Z,1761514026.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698483 target range: 314.492065 and range: 316.50 m.
2025-10-26T21:27:06.648Z,1761514026.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007997
2025-10-26T21:27:06.870Z,1761514026.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751541,-0.645268,-0.137170],[0.658698,0.745392,0.102507],[0.036101,-0.167392,0.985229]]
2025-10-26T21:27:06.887Z,1761514026.887 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:06.889Z,1761514026.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.49 m.
2025-10-26T21:27:06.892Z,1761514026.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.492065 m,
      nav range: 319.661804 m,
      bearing: 35.046009 deg,
      approach rate: -0.631328 m/s,
      LOS rate: -0.005925 deg/s,
      cmd heading: 40.020138 deg,
      new cmd heading: 40.012836 deg.

2025-10-26T21:27:06.893Z,1761514026.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698356 target range: 314.492065 and range: 316.50 m.
2025-10-26T21:27:06.900Z,1761514026.900 [DAT](INFO): DAT read: Rx Time:21:27:05.5688

2025-10-26T21:27:06.901Z,1761514026.901 [DAT](INFO): Rx dataTimestamp_ set to:1761514026.900685
2025-10-26T21:27:06.901Z,1761514026.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261174
2025-10-26T21:27:07.153Z,1761514027.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512955
2025-10-26T21:27:07.270Z,1761514027.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752103,-0.644380,-0.138260],[0.658004,0.745994,0.102585],[0.037038,-0.168130,0.985069]]
2025-10-26T21:27:07.328Z,1761514027.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.49 m.
2025-10-26T21:27:07.371Z,1761514027.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.492065 m,
      nav range: 319.409271 m,
      bearing: 35.043678 deg,
      approach rate: -0.605727 m/s,
      LOS rate: -0.005596 deg/s,
      cmd heading: 40.012836 deg,
      new cmd heading: 40.005837 deg.

2025-10-26T21:27:07.384Z,1761514027.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698234 target range: 314.492065 and range: 316.50 m.
2025-10-26T21:27:07.410Z,1761514027.410 [DAT](INFO): DAT read: 21:27:05.5688 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 421,-0.45, 2.843, 1.551, 3.097, 2.468, PHS= 0.476,-0.872, 0.585, RAW= 153.8,  -2.7, CAL= 153.2,  -3.9, ROT= 356.8,   3.9

2025-10-26T21:27:07.411Z,1761514027.411 [DAT](INFO): got valid direction response:
 21:27:05.5688 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 421,-0.45, 2.843, 1.551, 3.097, 2.468, PHS= 0.476,-0.872, 0.585, RAW= 153.8,  -2.7, CAL= 153.2,  -3.9, ROT= 356.8,   3.9

2025-10-26T21:27:07.412Z,1761514027.412 [DAT](INFO): DAT read: Bearing 181.1,  -0.6 (Local)

2025-10-26T21:27:07.413Z,1761514027.413 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.1,  -0.6 (Local)

2025-10-26T21:27:07.414Z,1761514027.414 [DAT](INFO): DAT read: Range 11 to 50 : 314.4 m  (Round-trip  419.3 ms) speed  1.0 m/s

2025-10-26T21:27:07.415Z,1761514027.415 [DAT](INFO): DAT read: user:239>

2025-10-26T21:27:07.416Z,1761514027.416 [DAT](INFO): DAT read: Tx time:21:27:06.6954

2025-10-26T21:27:07.416Z,1761514027.416 [DAT](INFO): Ping request sent.
2025-10-26T21:27:07.416Z,1761514027.416 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:27:07.416Z,1761514027.416 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:27:07.417Z,1761514027.417 [DAT](INFO): direction in FSK: [0.996129,-0.055693,-0.068015]
2025-10-26T21:27:07.418Z,1761514027.418 [DAT](INFO): publishing transmit ping time
2025-10-26T21:27:07.418Z,1761514027.418 [DAT](INFO): publishing direction and range info
2025-10-26T21:27:07.421Z,1761514027.421 [DAT](INFO): publishing transmit ping time
2025-10-26T21:27:07.422Z,1761514027.422 [DAT](INFO): publishing direction and range info
2025-10-26T21:27:07.737Z,1761514027.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752927,-0.643310,-0.138755],[0.657012,0.746919,0.102210],[0.037886,-0.168120,0.985038]]
2025-10-26T21:27:07.802Z,1761514027.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 314.399994 m,
      deltaT: 3.780115 s,
      deltaX: -2.100006 m,
      approachRate: -0.555540 m/s,
      rangeRepo size: 4

2025-10-26T21:27:07.808Z,1761514027.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 312.402924 m,
      bearing: 37.303651 deg,
      lat: 36.779472 deg,
      lon: -121.859152 deg,
      deltaT: 3.780115 s,
      deltaX: -2.089142 m,
      approachRate: -0.552666 m/s,
      posRepo size: 4

2025-10-26T21:27:07.808Z,1761514027.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.40 m.
2025-10-26T21:27:07.811Z,1761514027.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.402924 m,
      nav range: 319.093811 m,
      bearing: 35.045100 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005596 deg/s,
      cmd heading: 40.005835 deg,
      new cmd heading: 39.997527 deg.

2025-10-26T21:27:07.816Z,1761514027.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698089 target range: 312.402924 and range: 314.40 m.
2025-10-26T21:27:08.161Z,1761514028.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754163,-0.641850,-0.138808],[0.655567,0.748210,0.102049],[0.038358,-0.167959,0.985047]]
2025-10-26T21:27:08.179Z,1761514028.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.40 m.
2025-10-26T21:27:08.182Z,1761514028.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.402924 m,
      nav range: 318.834167 m,
      bearing: 35.046361 deg,
      approach rate: -0.686292 m/s,
      LOS rate: 0.003337 deg/s,
      cmd heading: 39.997526 deg,
      new cmd heading: 40.001313 deg.

2025-10-26T21:27:08.183Z,1761514028.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698155 target range: 312.402924 and range: 314.40 m.
2025-10-26T21:27:08.574Z,1761514028.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755527,-0.639981,-0.140012],[0.653950,0.749509,0.102888],[0.039094,-0.169295,0.984790]]
2025-10-26T21:27:08.627Z,1761514028.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.40 m.
2025-10-26T21:27:08.630Z,1761514028.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.402924 m,
      nav range: 318.566071 m,
      bearing: 35.050005 deg,
      approach rate: -0.620707 m/s,
      LOS rate: 0.008444 deg/s,
      cmd heading: 40.001314 deg,
      new cmd heading: 40.012255 deg.

2025-10-26T21:27:08.631Z,1761514028.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698346 target range: 312.402924 and range: 314.40 m.
2025-10-26T21:27:08.962Z,1761514028.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757208,-0.638006,-0.139945],[0.651991,0.751176,0.103165],[0.039303,-0.169360,0.984770]]
2025-10-26T21:27:08.991Z,1761514028.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:08.993Z,1761514028.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.40 m.
2025-10-26T21:27:08.996Z,1761514028.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.402924 m,
      nav range: 318.329285 m,
      bearing: 35.053339 deg,
      approach rate: -0.619832 m/s,
      LOS rate: 0.008735 deg/s,
      cmd heading: 40.012256 deg,
      new cmd heading: 40.022266 deg.

2025-10-26T21:27:08.997Z,1761514028.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698520 target range: 312.402924 and range: 314.40 m.
2025-10-26T21:27:09.168Z,1761514029.168 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:09.168Z,1761514029.168 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:09.168Z,1761514029.168 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:27:09.403Z,1761514029.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758939,-0.635989,-0.139751],[0.649960,0.752919,0.103271],[0.039542,-0.169209,0.984787]]
2025-10-26T21:27:09.420Z,1761514029.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004323
2025-10-26T21:27:09.441Z,1761514029.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.40 m.
2025-10-26T21:27:09.464Z,1761514029.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.402924 m,
      nav range: 318.059814 m,
      bearing: 35.058200 deg,
      approach rate: -0.601980 m/s,
      LOS rate: 0.010867 deg/s,
      cmd heading: 40.022265 deg,
      new cmd heading: 40.036859 deg.

2025-10-26T21:27:09.465Z,1761514029.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698775 target range: 312.402924 and range: 314.40 m.
2025-10-26T21:27:09.677Z,1761514029.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261128
2025-10-26T21:27:09.789Z,1761514029.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760629,-0.633808,-0.140469],[0.647958,0.754513,0.104215],[0.039934,-0.170287,0.984585]]
2025-10-26T21:27:09.808Z,1761514029.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.40 m.
2025-10-26T21:27:09.810Z,1761514029.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.402924 m,
      nav range: 317.839569 m,
      bearing: 35.062281 deg,
      approach rate: -0.600623 m/s,
      LOS rate: 0.011137 deg/s,
      cmd heading: 40.036858 deg,
      new cmd heading: 40.049110 deg.

2025-10-26T21:27:09.811Z,1761514029.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698989 target range: 312.402924 and range: 314.40 m.
2025-10-26T21:27:09.929Z,1761514029.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512551
2025-10-26T21:27:10.180Z,1761514030.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764274
2025-10-26T21:27:10.188Z,1761514030.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762430,-0.631522,-0.140999],[0.645803,0.756284,0.104751],[0.040483,-0.170923,0.984452]]
2025-10-26T21:27:10.225Z,1761514030.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.40 m.
2025-10-26T21:27:10.228Z,1761514030.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.402924 m,
      nav range: 317.599854 m,
      bearing: 35.066851 deg,
      approach rate: -0.574406 m/s,
      LOS rate: 0.010959 deg/s,
      cmd heading: 40.049111 deg,
      new cmd heading: 40.062832 deg.

2025-10-26T21:27:10.229Z,1761514030.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699228 target range: 312.402924 and range: 314.40 m.
2025-10-26T21:27:10.434Z,1761514030.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018171
2025-10-26T21:27:10.590Z,1761514030.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764200,-0.629311,-0.141297],[0.643685,0.758012,0.105300],[0.040838,-0.171421,0.984351]]
2025-10-26T21:27:10.644Z,1761514030.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.40 m.
2025-10-26T21:27:10.646Z,1761514030.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.402924 m,
      nav range: 317.341187 m,
      bearing: 35.071014 deg,
      approach rate: -0.617621 m/s,
      LOS rate: 0.009947 deg/s,
      cmd heading: 40.062833 deg,
      new cmd heading: 40.075331 deg.

2025-10-26T21:27:10.648Z,1761514030.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699446 target range: 312.402924 and range: 314.40 m.
2025-10-26T21:27:10.685Z,1761514030.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269051
2025-10-26T21:27:10.936Z,1761514030.936 [DAT](INFO): DAT read: Rx Time:21:27:09.5333

2025-10-26T21:27:10.937Z,1761514030.937 [DAT](INFO): Rx dataTimestamp_ set to:1761514030.936615
2025-10-26T21:27:10.937Z,1761514030.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521330
2025-10-26T21:27:10.994Z,1761514030.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765913,-0.627210,-0.141368],[0.641625,0.759712,0.105619],[0.041154,-0.171600,0.984307]]
2025-10-26T21:27:11.037Z,1761514031.037 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:11.039Z,1761514031.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.40 m.
2025-10-26T21:27:11.053Z,1761514031.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.402924 m,
      nav range: 317.108154 m,
      bearing: 35.074883 deg,
      approach rate: -0.589494 m/s,
      LOS rate: 0.009796 deg/s,
      cmd heading: 40.075332 deg,
      new cmd heading: 40.086950 deg.

2025-10-26T21:27:11.054Z,1761514031.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699649 target range: 312.402924 and range: 314.40 m.
2025-10-26T21:27:11.188Z,1761514031.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772088
2025-10-26T21:27:11.345Z,1761514031.345 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:27:11.446Z,1761514031.446 [DAT](INFO): DAT read: 21:27:09.5333 LVL= 32752, 32753, 31634, 28403, AGC= 72, IDX=  71,-0.24, 2.057, 0.597, 2.321, 1.498, PHS= 0.661,-0.857, 0.779, RAW= 153.7,  -7.4, CAL= 153.9,  -9.0, ROT= 356.1,   9.0

2025-10-26T21:27:11.453Z,1761514031.453 [DAT](INFO): got valid direction response:
 21:27:09.5333 LVL= 32752, 32753, 31634, 28403, AGC= 72, IDX=  71,-0.24, 2.057, 0.597, 2.321, 1.498, PHS= 0.661,-0.857, 0.779, RAW= 153.7,  -7.4, CAL= 153.9,  -9.0, ROT= 356.1,   9.0

2025-10-26T21:27:11.454Z,1761514031.454 [DAT](INFO): DAT read: Bearing 175.1,   0.1 (Local)

2025-10-26T21:27:11.454Z,1761514031.454 [DAT](INFO): Local bearing/azimuth received:
 Bearing 175.1,   0.1 (Local)

2025-10-26T21:27:11.456Z,1761514031.456 [DAT](INFO): DAT read: Range 11 to 50 : 325.3 m  (Round-trip  433.8 ms) speed  0.4 m/s

2025-10-26T21:27:11.457Z,1761514031.457 [DAT](INFO): DAT read: user:240>

2025-10-26T21:27:11.458Z,1761514031.458 [DAT](INFO): DAT read: Tx time:21:27:10.6469

2025-10-26T21:27:11.458Z,1761514031.458 [DAT](INFO): Ping request sent.
2025-10-26T21:27:11.458Z,1761514031.458 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:27:11.459Z,1761514031.459 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:27:11.465Z,1761514031.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767670,-0.624915,-0.142003],[0.639494,0.761393,0.106439],[0.041605,-0.172520,0.984127]]
2025-10-26T21:27:11.468Z,1761514031.468 [DAT](INFO): direction in FSK: [0.985401,-0.067178,-0.156434]
2025-10-26T21:27:11.468Z,1761514031.468 [DAT](INFO): publishing transmit ping time
2025-10-26T21:27:11.468Z,1761514031.468 [DAT](INFO): publishing direction and range info
2025-10-26T21:27:11.484Z,1761514031.484 [DAT](INFO): publishing transmit ping time
2025-10-26T21:27:11.484Z,1761514031.484 [DAT](INFO): publishing direction and range info
2025-10-26T21:27:11.599Z,1761514031.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 325.299988 m,
      deltaT: 4.036275 s,
      deltaX: 10.899994 m,
      approachRate: 2.700508 m/s,
      rangeRepo size: 4

2025-10-26T21:27:11.605Z,1761514031.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 323.233063 m,
      bearing: 34.421022 deg,
      lat: 36.779479 deg,
      lon: -121.859155 deg,
      deltaT: 4.036275 s,
      deltaX: 10.830139 m,
      approachRate: 2.683202 m/s,
      posRepo size: 4

2025-10-26T21:27:11.606Z,1761514031.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.23 m.
2025-10-26T21:27:11.617Z,1761514031.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.233063 m,
      nav range: 317.288147 m,
      bearing: 34.951122 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009796 deg/s,
      cmd heading: 40.086951 deg,
      new cmd heading: 40.103383 deg.

2025-10-26T21:27:11.618Z,1761514031.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699936 target range: 323.233063 and range: 325.30 m.
2025-10-26T21:27:11.938Z,1761514031.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768951,-0.623349,-0.141950],[0.637936,0.762685,0.106533],[0.041856,-0.172474,0.984124]]
2025-10-26T21:27:11.957Z,1761514031.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.23 m.
2025-10-26T21:27:11.960Z,1761514031.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.233063 m,
      nav range: 317.052094 m,
      bearing: 34.952569 deg,
      approach rate: -0.657373 m/s,
      LOS rate: 0.004032 deg/s,
      cmd heading: 40.103384 deg,
      new cmd heading: 40.107728 deg.

2025-10-26T21:27:11.961Z,1761514031.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700012 target range: 323.233063 and range: 325.30 m.
2025-10-26T21:27:12.339Z,1761514032.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769737,-0.622430,-0.141725],[0.636964,0.763568,0.106027],[0.042222,-0.171887,0.984211]]
2025-10-26T21:27:12.348Z,1761514032.348 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:27:12.359Z,1761514032.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.23 m.
2025-10-26T21:27:12.361Z,1761514032.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.233063 m,
      nav range: 316.806091 m,
      bearing: 34.954137 deg,
      approach rate: -0.612954 m/s,
      LOS rate: 0.003910 deg/s,
      cmd heading: 40.107728 deg,
      new cmd heading: 40.112436 deg.

2025-10-26T21:27:12.362Z,1761514032.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700094 target range: 323.233063 and range: 325.30 m.
2025-10-26T21:27:12.813Z,1761514032.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.23 m.
2025-10-26T21:27:12.820Z,1761514032.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.233063 m,
      nav range: 316.532654 m,
      bearing: 34.951435 deg,
      approach rate: -0.601203 m/s,
      LOS rate: -0.005947 deg/s,
      cmd heading: 40.112437 deg,
      new cmd heading: 40.104324 deg.

2025-10-26T21:27:12.821Z,1761514032.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699952 target range: 323.233063 and range: 325.30 m.
2025-10-26T21:27:13.152Z,1761514033.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769709,-0.623128,-0.138779],[0.636997,0.764035,0.102402],[0.042223,-0.167221,0.985015]]
2025-10-26T21:27:13.173Z,1761514033.173 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:13.175Z,1761514033.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.23 m.
2025-10-26T21:27:13.177Z,1761514033.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.233063 m,
      nav range: 316.297729 m,
      bearing: 34.949120 deg,
      approach rate: -0.650225 m/s,
      LOS rate: -0.006412 deg/s,
      cmd heading: 40.104323 deg,
      new cmd heading: 40.097373 deg.

2025-10-26T21:27:13.178Z,1761514033.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699831 target range: 323.233063 and range: 325.30 m.
2025-10-26T21:27:13.204Z,1761514033.204 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:13.204Z,1761514033.204 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:13.205Z,1761514033.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:27:13.459Z,1761514033.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000492
2025-10-26T21:27:13.569Z,1761514033.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769287,-0.623945,-0.137439],[0.637515,0.763815,0.100797],[0.042086,-0.165161,0.985368]]
2025-10-26T21:27:13.623Z,1761514033.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.23 m.
2025-10-26T21:27:13.631Z,1761514033.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.233063 m,
      nav range: 316.018982 m,
      bearing: 34.942535 deg,
      approach rate: -0.622265 m/s,
      LOS rate: -0.014714 deg/s,
      cmd heading: 40.097373 deg,
      new cmd heading: 40.077600 deg.

2025-10-26T21:27:13.636Z,1761514033.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699486 target range: 323.233063 and range: 325.30 m.
2025-10-26T21:27:13.709Z,1761514033.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250660
2025-10-26T21:27:13.958Z,1761514033.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768295,-0.625425,-0.136257],[0.638708,0.763068,0.098892],[0.042124,-0.163007,0.985725]]
2025-10-26T21:27:13.960Z,1761514033.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502135
2025-10-26T21:27:13.993Z,1761514033.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.23 m.
2025-10-26T21:27:13.996Z,1761514033.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.233063 m,
      nav range: 315.769928 m,
      bearing: 34.936573 deg,
      approach rate: -0.672530 m/s,
      LOS rate: -0.016112 deg/s,
      cmd heading: 40.077600 deg,
      new cmd heading: 40.059700 deg.

2025-10-26T21:27:13.997Z,1761514033.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699174 target range: 323.233063 and range: 325.30 m.
2025-10-26T21:27:14.213Z,1761514034.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754650
2025-10-26T21:27:14.364Z,1761514034.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766900,-0.627439,-0.134851],[0.640381,0.761958,0.096597],[0.042142,-0.160437,0.986146]]
2025-10-26T21:27:14.382Z,1761514034.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.23 m.
2025-10-26T21:27:14.385Z,1761514034.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.233063 m,
      nav range: 315.519257 m,
      bearing: 34.930465 deg,
      approach rate: -0.644640 m/s,
      LOS rate: -0.015720 deg/s,
      cmd heading: 40.059698 deg,
      new cmd heading: 40.041360 deg.

2025-10-26T21:27:14.386Z,1761514034.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698854 target range: 323.233063 and range: 325.30 m.
2025-10-26T21:27:14.469Z,1761514034.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010227
2025-10-26T21:27:14.717Z,1761514034.717 [DAT](INFO): DAT read: Rx Time:21:27:13.4826

2025-10-26T21:27:14.718Z,1761514034.718 [DAT](INFO): Rx dataTimestamp_ set to:1761514034.717312
2025-10-26T21:27:14.719Z,1761514034.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260132
2025-10-26T21:27:14.822Z,1761514034.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.23 m.
2025-10-26T21:27:14.829Z,1761514034.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.233063 m,
      nav range: 315.219818 m,
      bearing: 34.919764 deg,
      approach rate: -0.680590 m/s,
      LOS rate: -0.024345 deg/s,
      cmd heading: 40.041359 deg,
      new cmd heading: 40.009226 deg.

2025-10-26T21:27:14.831Z,1761514034.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698293 target range: 323.233063 and range: 325.30 m.
2025-10-26T21:27:14.968Z,1761514034.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509946
2025-10-26T21:27:15.170Z,1761514035.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764295,-0.631004,-0.132993],[0.643502,0.759693,0.093659],[0.041935,-0.157165,0.986682]]
2025-10-26T21:27:15.196Z,1761514035.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:15.198Z,1761514035.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.23 m.
2025-10-26T21:27:15.201Z,1761514035.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.233063 m,
      nav range: 314.964233 m,
      bearing: 34.910415 deg,
      approach rate: -0.679477 m/s,
      LOS rate: -0.024874 deg/s,
      cmd heading: 40.009226 deg,
      new cmd heading: 39.981157 deg.

2025-10-26T21:27:15.202Z,1761514035.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697803 target range: 323.233063 and range: 325.30 m.
2025-10-26T21:27:15.220Z,1761514035.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762057
2025-10-26T21:27:15.495Z,1761514035.495 [DAT](INFO): DAT read: 21:27:13.4826 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 414, 0.31,-0.704,-2.007,-0.476,-1.218, PHS= 0.615,-0.745, 0.697, RAW= 152.9,  -8.1, CAL= 153.3,  -9.8, ROT= 356.7,   9.8

2025-10-26T21:27:15.496Z,1761514035.496 [DAT](INFO): got valid direction response:
 21:27:13.4826 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 414, 0.31,-0.704,-2.007,-0.476,-1.218, PHS= 0.615,-0.745, 0.697, RAW= 152.9,  -8.1, CAL= 153.3,  -9.8, ROT= 356.7,   9.8

2025-10-26T21:27:15.497Z,1761514035.497 [DAT](INFO): DAT read: Bearing 174.4,   0.9 (Local)

2025-10-26T21:27:15.497Z,1761514035.497 [DAT](INFO): Local bearing/azimuth received:
 Bearing 174.4,   0.9 (Local)

2025-10-26T21:27:15.499Z,1761514035.499 [DAT](INFO): DAT read: Range 11 to 50 : 323.6 m  (Round-trip  431.5 ms) speed  0.1 m/s

2025-10-26T21:27:15.501Z,1761514035.501 [DAT](INFO): DAT read: user:241>

2025-10-26T21:27:15.502Z,1761514035.502 [DAT](INFO): DAT read: Tx time:21:27:14.5954

2025-10-26T21:27:15.502Z,1761514035.502 [DAT](INFO): Ping request sent.
2025-10-26T21:27:15.502Z,1761514035.502 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:27:15.503Z,1761514035.503 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:27:15.504Z,1761514035.504 [DAT](INFO): direction in FSK: [0.983774,-0.056724,-0.170209]
2025-10-26T21:27:15.504Z,1761514035.504 [DAT](INFO): publishing transmit ping time
2025-10-26T21:27:15.504Z,1761514035.504 [DAT](INFO): publishing direction and range info
2025-10-26T21:27:15.508Z,1761514035.508 [DAT](INFO): publishing transmit ping time
2025-10-26T21:27:15.508Z,1761514035.508 [DAT](INFO): publishing direction and range info
2025-10-26T21:27:15.582Z,1761514035.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762344,-0.633539,-0.132133],[0.645810,0.757952,0.091854],[0.041957,-0.155358,0.986967]]
2025-10-26T21:27:15.733Z,1761514035.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 323.600006 m,
      deltaT: 4.033492 s,
      deltaX: -1.699982 m,
      approachRate: -0.421466 m/s,
      rangeRepo size: 4

2025-10-26T21:27:15.735Z,1761514035.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 321.542328 m,
      bearing: 35.503573 deg,
      lat: 36.779479 deg,
      lon: -121.859155 deg,
      deltaT: 4.033492 s,
      deltaX: -1.690735 m,
      approachRate: -0.419174 m/s,
      posRepo size: 4

2025-10-26T21:27:15.740Z,1761514035.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.54 m.
2025-10-26T21:27:15.743Z,1761514035.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.542328 m,
      nav range: 314.622162 m,
      bearing: 34.895848 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024874 deg/s,
      cmd heading: 39.981158 deg,
      new cmd heading: 39.941629 deg.

2025-10-26T21:27:15.748Z,1761514035.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697113 target range: 321.542328 and range: 323.60 m.
2025-10-26T21:27:16.068Z,1761514036.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759007,-0.637606,-0.131785],[0.649750,0.754719,0.090687],[0.041638,-0.154459,0.987121]]
2025-10-26T21:27:16.087Z,1761514036.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.54 m.
2025-10-26T21:27:16.089Z,1761514036.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.542328 m,
      nav range: 314.355164 m,
      bearing: 34.884191 deg,
      approach rate: -0.743713 m/s,
      LOS rate: -0.032500 deg/s,
      cmd heading: 39.941628 deg,
      new cmd heading: 39.906625 deg.

2025-10-26T21:27:16.090Z,1761514036.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696502 target range: 321.542328 and range: 323.60 m.
2025-10-26T21:27:16.459Z,1761514036.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757391,-0.639864,-0.130124],[0.651636,0.753384,0.088224],[0.041582,-0.151613,0.987565]]
2025-10-26T21:27:16.544Z,1761514036.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.54 m.
2025-10-26T21:27:16.553Z,1761514036.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.542328 m,
      nav range: 314.052429 m,
      bearing: 34.870794 deg,
      approach rate: -0.669060 m/s,
      LOS rate: -0.029635 deg/s,
      cmd heading: 39.906623 deg,
      new cmd heading: 39.866396 deg.

2025-10-26T21:27:16.555Z,1761514036.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695800 target range: 321.542328 and range: 323.60 m.
2025-10-26T21:27:16.854Z,1761514036.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755847,-0.641550,-0.130801],[0.653420,0.751826,0.088319],[0.041679,-0.152223,0.987467]]
2025-10-26T21:27:16.900Z,1761514036.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.54 m.
2025-10-26T21:27:16.903Z,1761514036.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.542328 m,
      nav range: 313.797363 m,
      bearing: 34.858621 deg,
      approach rate: -0.706335 m/s,
      LOS rate: -0.033738 deg/s,
      cmd heading: 39.866397 deg,
      new cmd heading: 39.829847 deg.

2025-10-26T21:27:16.904Z,1761514036.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695162 target range: 321.542328 and range: 323.60 m.
2025-10-26T21:27:17.258Z,1761514037.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754689,-0.642663,-0.132021],[0.654755,0.750552,0.089265],[0.041721,-0.153809,0.987219]]
2025-10-26T21:27:17.282Z,1761514037.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:17.284Z,1761514037.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.54 m.
2025-10-26T21:27:17.287Z,1761514037.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.542328 m,
      nav range: 313.533478 m,
      bearing: 34.845916 deg,
      approach rate: -0.686715 m/s,
      LOS rate: -0.033089 deg/s,
      cmd heading: 39.829849 deg,
      new cmd heading: 39.791703 deg.

2025-10-26T21:27:17.305Z,1761514037.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694496 target range: 321.542328 and range: 323.60 m.
2025-10-26T21:27:17.490Z,1761514037.490 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:17.491Z,1761514037.491 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:17.492Z,1761514037.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:27:17.664Z,1761514037.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754146,-0.643187,-0.132568],[0.655332,0.750129,0.088579],[0.042470,-0.153677,0.987208]]
2025-10-26T21:27:17.707Z,1761514037.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.54 m.
2025-10-26T21:27:17.711Z,1761514037.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.542328 m,
      nav range: 313.249176 m,
      bearing: 34.834746 deg,
      approach rate: -0.673900 m/s,
      LOS rate: -0.026501 deg/s,
      cmd heading: 39.791702 deg,
      new cmd heading: 39.758161 deg.

2025-10-26T21:27:17.728Z,1761514037.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693911 target range: 321.542328 and range: 323.60 m.
2025-10-26T21:27:17.741Z,1761514037.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238146
2025-10-26T21:27:17.993Z,1761514037.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490995
2025-10-26T21:27:18.072Z,1761514038.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753901,-0.643186,-0.133956],[0.655588,0.749795,0.089508],[0.042869,-0.155300,0.986937]]
2025-10-26T21:27:18.097Z,1761514038.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.54 m.
2025-10-26T21:27:18.099Z,1761514038.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.542328 m,
      nav range: 312.977478 m,
      bearing: 34.824039 deg,
      approach rate: -0.696164 m/s,
      LOS rate: -0.027459 deg/s,
      cmd heading: 39.758162 deg,
      new cmd heading: 39.726012 deg.

2025-10-26T21:27:18.100Z,1761514038.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693350 target range: 321.542328 and range: 323.60 m.
2025-10-26T21:27:18.245Z,1761514038.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742258
2025-10-26T21:27:18.474Z,1761514038.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753870,-0.642800,-0.135972],[0.655589,0.749608,0.091055],[0.043395,-0.157786,0.986519]]
2025-10-26T21:27:18.504Z,1761514038.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000364
2025-10-26T21:27:18.562Z,1761514038.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.54 m.
2025-10-26T21:27:18.569Z,1761514038.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.542328 m,
      nav range: 312.703918 m,
      bearing: 34.813245 deg,
      approach rate: -0.588313 m/s,
      LOS rate: -0.023235 deg/s,
      cmd heading: 39.726013 deg,
      new cmd heading: 39.693601 deg.

2025-10-26T21:27:18.570Z,1761514038.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692784 target range: 321.542328 and range: 323.60 m.
2025-10-26T21:27:18.752Z,1761514038.752 [DAT](INFO): DAT read: Rx Time:21:27:17.4288

2025-10-26T21:27:18.753Z,1761514038.753 [DAT](INFO): Rx dataTimestamp_ set to:1761514038.752562
2025-10-26T21:27:18.753Z,1761514038.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251039
2025-10-26T21:27:18.889Z,1761514038.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754240,-0.641766,-0.138775],[0.655103,0.749782,0.093101],[0.044301,-0.161132,0.985938]]
2025-10-26T21:27:18.941Z,1761514038.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.54 m.
2025-10-26T21:27:18.948Z,1761514038.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.542328 m,
      nav range: 312.417419 m,
      bearing: 34.804846 deg,
      approach rate: -0.754229 m/s,
      LOS rate: -0.022130 deg/s,
      cmd heading: 39.693600 deg,
      new cmd heading: 39.668381 deg.

2025-10-26T21:27:18.949Z,1761514038.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692344 target range: 321.542328 and range: 323.60 m.
2025-10-26T21:27:19.005Z,1761514039.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502872
2025-10-26T21:27:19.262Z,1761514039.262 [DAT](INFO): DAT read: 21:27:17.4288 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 223, 0.32,-2.898, 1.949,-2.444,-3.029, PHS= 0.232,-1.261, 0.541, RAW= 159.2,   5.9, CAL= 158.5,   5.5, ROT= 351.5,  -5.5

2025-10-26T21:27:19.263Z,1761514039.263 [DAT](INFO): got valid direction response:
 21:27:17.4288 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 223, 0.32,-2.898, 1.949,-2.444,-3.029, PHS= 0.232,-1.261, 0.541, RAW= 159.2,   5.9, CAL= 158.5,   5.5, ROT= 351.5,  -5.5

2025-10-26T21:27:19.264Z,1761514039.264 [DAT](INFO): DAT read: Bearing 188.8,  -6.7 (Local)

2025-10-26T21:27:19.265Z,1761514039.265 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.8,  -6.7 (Local)

2025-10-26T21:27:19.266Z,1761514039.266 [DAT](INFO): DAT read: Range 11 to 50 : 321.9 m  (Round-trip  429.2 ms) speed  0.7 m/s

2025-10-26T21:27:19.267Z,1761514039.267 [DAT](INFO): DAT read: user:242>

2025-10-26T21:27:19.268Z,1761514039.268 [DAT](INFO): DAT read: Tx time:21:27:18.5454

2025-10-26T21:27:19.268Z,1761514039.268 [DAT](INFO): Ping request sent.
2025-10-26T21:27:19.268Z,1761514039.268 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:27:19.268Z,1761514039.268 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:27:19.269Z,1761514039.269 [DAT](INFO): direction in FSK: [0.984463,-0.147129,0.095846]
2025-10-26T21:27:19.270Z,1761514039.270 [DAT](INFO): publishing transmit ping time
2025-10-26T21:27:19.270Z,1761514039.270 [DAT](INFO): publishing direction and range info
2025-10-26T21:27:19.301Z,1761514039.301 [DAT](INFO): publishing transmit ping time
2025-10-26T21:27:19.301Z,1761514039.301 [DAT](INFO): publishing direction and range info
2025-10-26T21:27:19.313Z,1761514039.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755107,-0.640219,-0.141184],[0.654057,0.750429,0.095220],[0.044987,-0.164243,0.985394]]
2025-10-26T21:27:19.361Z,1761514039.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 321.899994 m,
      deltaT: 3.782183 s,
      deltaX: -1.700012 m,
      approachRate: -0.449479 m/s,
      rangeRepo size: 4

2025-10-26T21:27:19.363Z,1761514039.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 319.855042 m,
      bearing: 33.364051 deg,
      lat: 36.779496 deg,
      lon: -121.859155 deg,
      deltaT: 3.782183 s,
      deltaX: -1.687286 m,
      approachRate: -0.446114 m/s,
      posRepo size: 4

2025-10-26T21:27:19.371Z,1761514039.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.86 m.
2025-10-26T21:27:19.374Z,1761514039.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.855042 m,
      nav range: 313.688477 m,
      bearing: 34.600111 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022130 deg/s,
      cmd heading: 39.668383 deg,
      new cmd heading: 39.640607 deg.

2025-10-26T21:27:19.375Z,1761514039.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691859 target range: 319.855042 and range: 321.90 m.
2025-10-26T21:27:19.694Z,1761514039.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755887,-0.638758,-0.143609],[0.653089,0.751051,0.096942],[0.045935,-0.167067,0.984875]]
2025-10-26T21:27:19.784Z,1761514039.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:19.786Z,1761514039.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.86 m.
2025-10-26T21:27:19.801Z,1761514039.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.855042 m,
      nav range: 313.400909 m,
      bearing: 34.594619 deg,
      approach rate: -0.675545 m/s,
      LOS rate: -0.012913 deg/s,
      cmd heading: 39.640608 deg,
      new cmd heading: 39.624117 deg.

2025-10-26T21:27:19.802Z,1761514039.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691571 target range: 319.855042 and range: 321.90 m.
2025-10-26T21:27:20.013Z,1761514040.013 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:20.013Z,1761514040.013 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:20.013Z,1761514040.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:27:20.112Z,1761514040.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756717,-0.637484,-0.144888],[0.652065,0.751870,0.097480],[0.046795,-0.168241,0.984635]]
2025-10-26T21:27:20.130Z,1761514040.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.86 m.
2025-10-26T21:27:20.133Z,1761514040.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.855042 m,
      nav range: 313.171295 m,
      bearing: 34.590285 deg,
      approach rate: -0.666652 m/s,
      LOS rate: -0.012594 deg/s,
      cmd heading: 39.624116 deg,
      new cmd heading: 39.611104 deg.

2025-10-26T21:27:20.134Z,1761514040.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691344 target range: 319.855042 and range: 321.90 m.
2025-10-26T21:27:20.264Z,1761514040.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996284
2025-10-26T21:27:20.506Z,1761514040.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758028,-0.635687,-0.145930],[0.650488,0.753152,0.098119],[0.047535,-0.169303,0.984417]]
2025-10-26T21:27:20.519Z,1761514040.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250709
2025-10-26T21:27:20.593Z,1761514040.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.86 m.
2025-10-26T21:27:20.600Z,1761514040.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.855042 m,
      nav range: 312.886444 m,
      bearing: 34.585009 deg,
      approach rate: -0.614662 m/s,
      LOS rate: -0.011394 deg/s,
      cmd heading: 39.611105 deg,
      new cmd heading: 39.595264 deg.

2025-10-26T21:27:20.601Z,1761514040.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691068 target range: 319.855042 and range: 321.90 m.
2025-10-26T21:27:20.768Z,1761514040.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500350
2025-10-26T21:27:20.906Z,1761514040.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759009,-0.634287,-0.146920],[0.649285,0.754141,0.098495],[0.048324,-0.170151,0.984232]]
2025-10-26T21:27:20.968Z,1761514040.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.86 m.
2025-10-26T21:27:20.970Z,1761514040.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.855042 m,
      nav range: 312.626862 m,
      bearing: 34.584065 deg,
      approach rate: -0.693620 m/s,
      LOS rate: -0.002525 deg/s,
      cmd heading: 39.595266 deg,
      new cmd heading: 39.592431 deg.

2025-10-26T21:27:20.972Z,1761514040.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691018 target range: 319.855042 and range: 321.90 m.
2025-10-26T21:27:21.021Z,1761514041.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753249
2025-10-26T21:27:21.272Z,1761514041.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004290
2025-10-26T21:27:21.310Z,1761514041.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760466,-0.632108,-0.148766],[0.647519,0.755443,0.100122],[0.049096,-0.172468,0.983791]]
2025-10-26T21:27:21.328Z,1761514041.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.86 m.
2025-10-26T21:27:21.331Z,1761514041.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.855042 m,
      nav range: 312.395416 m,
      bearing: 34.583320 deg,
      approach rate: -0.641667 m/s,
      LOS rate: -0.002068 deg/s,
      cmd heading: 39.592431 deg,
      new cmd heading: 39.590193 deg.

2025-10-26T21:27:21.332Z,1761514041.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690979 target range: 319.855042 and range: 321.90 m.
2025-10-26T21:27:21.530Z,1761514041.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261442
2025-10-26T21:27:21.776Z,1761514041.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508376
2025-10-26T21:27:21.785Z,1761514041.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:21.787Z,1761514041.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.86 m.
2025-10-26T21:27:21.790Z,1761514041.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.855042 m,
      nav range: 312.110199 m,
      bearing: 34.585432 deg,
      approach rate: -0.621601 m/s,
      LOS rate: 0.004608 deg/s,
      cmd heading: 39.590194 deg,
      new cmd heading: 39.596537 deg.

2025-10-26T21:27:21.791Z,1761514041.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691090 target range: 319.855042 and range: 321.90 m.
2025-10-26T21:27:22.029Z,1761514042.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761339
2025-10-26T21:27:22.156Z,1761514042.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.86 m.
2025-10-26T21:27:22.158Z,1761514042.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.855042 m,
      nav range: 311.879700 m,
      bearing: 34.587142 deg,
      approach rate: -0.625651 m/s,
      LOS rate: 0.004645 deg/s,
      cmd heading: 39.596536 deg,
      new cmd heading: 39.601670 deg.

2025-10-26T21:27:22.188Z,1761514042.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691180 target range: 319.855042 and range: 321.90 m.
2025-10-26T21:27:22.280Z,1761514042.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012343
2025-10-26T21:27:22.522Z,1761514042.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764942,-0.626448,-0.149755],[0.642100,0.759973,0.100740],[0.050701,-0.173218,0.983577]]
2025-10-26T21:27:22.534Z,1761514042.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265938
2025-10-26T21:27:22.617Z,1761514042.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.86 m.
2025-10-26T21:27:22.620Z,1761514042.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.855042 m,
      nav range: 311.597290 m,
      bearing: 34.589607 deg,
      approach rate: -0.612205 m/s,
      LOS rate: 0.005347 deg/s,
      cmd heading: 39.601669 deg,
      new cmd heading: 39.609069 deg.

2025-10-26T21:27:22.621Z,1761514042.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691309 target range: 319.855042 and range: 321.90 m.
2025-10-26T21:27:22.784Z,1761514042.784 [DAT](INFO): DAT read: Rx Time:21:27:21.3549

2025-10-26T21:27:22.785Z,1761514042.785 [DAT](INFO): Rx dataTimestamp_ set to:1761514042.784508
2025-10-26T21:27:22.785Z,1761514042.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517285
2025-10-26T21:27:22.932Z,1761514042.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766814,-0.624037,-0.150247],[0.639859,0.761686,0.102052],[0.050757,-0.174392,0.983367]]
2025-10-26T21:27:22.976Z,1761514042.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.86 m.
2025-10-26T21:27:22.979Z,1761514042.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.855042 m,
      nav range: 311.373383 m,
      bearing: 34.592717 deg,
      approach rate: -0.623026 m/s,
      LOS rate: 0.008661 deg/s,
      cmd heading: 39.609070 deg,
      new cmd heading: 39.618408 deg.

2025-10-26T21:27:22.980Z,1761514042.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691472 target range: 319.855042 and range: 321.90 m.
2025-10-26T21:27:23.038Z,1761514043.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770037
2025-10-26T21:27:23.294Z,1761514043.294 [DAT](INFO): DAT read: 21:27:21.3549 LVL= 31824, 32753, 29058, 32755, AGC= 76, IDX=   2,-0.10,-2.085, 2.777,-1.648,-2.208, PHS= 0.226,-1.252, 0.516, RAW= 158.8,   6.3, CAL= 158.1,   6.0, ROT= 351.9,  -6.0

2025-10-26T21:27:23.295Z,1761514043.295 [DAT](INFO): got valid direction response:
 21:27:21.3549 LVL= 31824, 32753, 29058, 32755, AGC= 76, IDX=   2,-0.10,-2.085, 2.777,-1.648,-2.208, PHS= 0.226,-1.252, 0.516, RAW= 158.8,   6.3, CAL= 158.1,   6.0, ROT= 351.9,  -6.0

2025-10-26T21:27:23.296Z,1761514043.296 [DAT](INFO): DAT read: Bearing 188.9,  -6.0 (Local)

2025-10-26T21:27:23.296Z,1761514043.296 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.9,  -6.0 (Local)

2025-10-26T21:27:23.298Z,1761514043.298 [DAT](INFO): DAT read: Range 11 to 50 : 304.1 m  (Round-trip  405.5 ms) speed  0.7 m/s

2025-10-26T21:27:23.298Z,1761514043.298 [DAT](INFO): DAT read: user:243>

2025-10-26T21:27:23.299Z,1761514043.299 [DAT](INFO): DAT read: Tx time:21:27:22.4453

2025-10-26T21:27:23.300Z,1761514043.300 [DAT](INFO): Ping request sent.
2025-10-26T21:27:23.300Z,1761514043.300 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:27:23.300Z,1761514043.300 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:27:23.301Z,1761514043.301 [DAT](INFO): direction in FSK: [0.984600,-0.140129,0.104528]
2025-10-26T21:27:23.301Z,1761514043.301 [DAT](INFO): publishing transmit ping time
2025-10-26T21:27:23.301Z,1761514043.301 [DAT](INFO): publishing direction and range info
2025-10-26T21:27:23.305Z,1761514043.305 [DAT](INFO): publishing transmit ping time
2025-10-26T21:27:23.305Z,1761514043.305 [DAT](INFO): publishing direction and range info
2025-10-26T21:27:23.350Z,1761514043.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768624,-0.621658,-0.150861],[0.637677,0.763325,0.103453],[0.050843,-0.175717,0.983127]]
2025-10-26T21:27:23.422Z,1761514043.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 304.100006 m,
      deltaT: 4.031817 s,
      deltaX: -17.799988 m,
      approachRate: -4.414880 m/s,
      rangeRepo size: 4

2025-10-26T21:27:23.428Z,1761514043.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 302.165802 m,
      bearing: 32.702758 deg,
      lat: 36.779496 deg,
      lon: -121.859155 deg,
      deltaT: 4.031817 s,
      deltaX: -17.689240 m,
      approachRate: -4.387411 m/s,
      posRepo size: 4

2025-10-26T21:27:23.429Z,1761514043.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.17 m.
2025-10-26T21:27:23.436Z,1761514043.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.165802 m,
      nav range: 311.111664 m,
      bearing: 34.596493 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008661 deg/s,
      cmd heading: 39.618406 deg,
      new cmd heading: 39.629972 deg.

2025-10-26T21:27:23.437Z,1761514043.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691674 target range: 302.165802 and range: 304.10 m.
2025-10-26T21:27:23.752Z,1761514043.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770424,-0.619541,-0.150384],[0.635523,0.765034,0.104083],[0.050565,-0.175761,0.983133]]
2025-10-26T21:27:23.807Z,1761514043.807 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:23.813Z,1761514043.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.17 m.
2025-10-26T21:27:23.820Z,1761514043.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.165802 m,
      nav range: 310.879791 m,
      bearing: 34.598907 deg,
      approach rate: -0.592235 m/s,
      LOS rate: 0.006169 deg/s,
      cmd heading: 39.629973 deg,
      new cmd heading: 39.637219 deg.

2025-10-26T21:27:23.824Z,1761514043.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691800 target range: 302.165802 and range: 304.10 m.
2025-10-26T21:27:24.045Z,1761514044.045 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:24.045Z,1761514044.045 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:24.045Z,1761514044.045 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:27:24.158Z,1761514044.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772188,-0.617292,-0.150586],[0.633386,0.766644,0.105254],[0.050474,-0.176655,0.982978]]
2025-10-26T21:27:24.176Z,1761514044.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.17 m.
2025-10-26T21:27:24.179Z,1761514044.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.165802 m,
      nav range: 310.645386 m,
      bearing: 34.601468 deg,
      approach rate: -0.646611 m/s,
      LOS rate: 0.007071 deg/s,
      cmd heading: 39.637220 deg,
      new cmd heading: 39.644910 deg.

2025-10-26T21:27:24.180Z,1761514044.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691934 target range: 302.165802 and range: 304.10 m.
2025-10-26T21:27:24.297Z,1761514044.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996926
2025-10-26T21:27:24.550Z,1761514044.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249804
2025-10-26T21:27:24.570Z,1761514044.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773810,-0.615296,-0.150429],[0.631434,0.768100,0.106368],[0.050097,-0.177295,0.982882]]
2025-10-26T21:27:24.657Z,1761514044.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.17 m.
2025-10-26T21:27:24.663Z,1761514044.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.165802 m,
      nav range: 310.359100 m,
      bearing: 34.604733 deg,
      approach rate: -0.594787 m/s,
      LOS rate: 0.006791 deg/s,
      cmd heading: 39.644911 deg,
      new cmd heading: 39.654717 deg.

2025-10-26T21:27:24.665Z,1761514044.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692105 target range: 302.165802 and range: 304.10 m.
2025-10-26T21:27:24.800Z,1761514044.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500610
2025-10-26T21:27:25.057Z,1761514045.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757129
2025-10-26T21:27:25.120Z,1761514045.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775154,-0.613784,-0.149681],[0.629836,0.769312,0.107082],[0.049426,-0.177279,0.982919]]
2025-10-26T21:27:25.167Z,1761514045.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.17 m.
2025-10-26T21:27:25.170Z,1761514045.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.165802 m,
      nav range: 310.028076 m,
      bearing: 34.605392 deg,
      approach rate: -0.648809 m/s,
      LOS rate: 0.001293 deg/s,
      cmd heading: 39.654716 deg,
      new cmd heading: 39.656695 deg.

2025-10-26T21:27:25.171Z,1761514045.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692140 target range: 302.165802 and range: 304.10 m.
2025-10-26T21:27:25.304Z,1761514045.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004649
2025-10-26T21:27:25.525Z,1761514045.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776230,-0.613043,-0.147121],[0.628575,0.770536,0.105677],[0.048578,-0.174506,0.983457]]
2025-10-26T21:27:25.557Z,1761514045.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257297
2025-10-26T21:27:25.597Z,1761514045.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.17 m.
2025-10-26T21:27:25.622Z,1761514045.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.165802 m,
      nav range: 309.780548 m,
      bearing: 34.605970 deg,
      approach rate: -0.576669 m/s,
      LOS rate: 0.001346 deg/s,
      cmd heading: 39.656693 deg,
      new cmd heading: 39.658426 deg.

2025-10-26T21:27:25.630Z,1761514045.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692170 target range: 302.165802 and range: 304.10 m.
2025-10-26T21:27:25.808Z,1761514045.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508670
2025-10-26T21:27:26.060Z,1761514046.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760759
2025-10-26T21:27:26.106Z,1761514046.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777012,-0.613029,-0.142995],[0.627730,0.771543,0.103326],[0.046985,-0.170048,0.984315]]
2025-10-26T21:27:26.141Z,1761514046.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:26.143Z,1761514046.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.17 m.
2025-10-26T21:27:26.145Z,1761514046.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.165802 m,
      nav range: 309.397919 m,
      bearing: 34.600893 deg,
      approach rate: -0.700375 m/s,
      LOS rate: -0.009304 deg/s,
      cmd heading: 39.658424 deg,
      new cmd heading: 39.643176 deg.

2025-10-26T21:27:26.146Z,1761514046.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691904 target range: 302.165802 and range: 304.10 m.
2025-10-26T21:27:26.312Z,1761514046.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012630
2025-10-26T21:27:26.501Z,1761514046.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776781,-0.613756,-0.141119],[0.628087,0.771378,0.102383],[0.046019,-0.168164,0.984684]]
2025-10-26T21:27:26.520Z,1761514046.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.17 m.
2025-10-26T21:27:26.522Z,1761514046.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.165802 m,
      nav range: 309.152252 m,
      bearing: 34.597612 deg,
      approach rate: -0.652106 m/s,
      LOS rate: -0.008717 deg/s,
      cmd heading: 39.643176 deg,
      new cmd heading: 39.633324 deg.

2025-10-26T21:27:26.523Z,1761514046.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691732 target range: 302.165802 and range: 304.10 m.
2025-10-26T21:27:26.565Z,1761514046.565 [DAT](INFO): DAT read: Rx Time:21:27:25.2713

2025-10-26T21:27:26.565Z,1761514046.565 [DAT](INFO): Rx dataTimestamp_ set to:1761514046.564912
2025-10-26T21:27:26.566Z,1761514046.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266043
2025-10-26T21:27:26.817Z,1761514046.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517240
2025-10-26T21:27:26.903Z,1761514046.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776318,-0.614513,-0.140372],[0.628720,0.770840,0.102551],[0.045185,-0.167867,0.984774]]
2025-10-26T21:27:26.939Z,1761514046.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.17 m.
2025-10-26T21:27:26.957Z,1761514046.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.165802 m,
      nav range: 308.866852 m,
      bearing: 34.589760 deg,
      approach rate: -0.680554 m/s,
      LOS rate: -0.018741 deg/s,
      cmd heading: 39.633324 deg,
      new cmd heading: 39.609746 deg.

2025-10-26T21:27:26.958Z,1761514046.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691320 target range: 302.165802 and range: 304.10 m.
2025-10-26T21:27:27.085Z,1761514047.085 [DAT](INFO): DAT read: 21:27:25.2713 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX=  93,-0.22,-1.621,-2.879,-1.381,-2.040, PHS= 0.520,-0.794, 0.615, RAW= 153.4,  -5.0, CAL= 153.2,  -6.4, ROT= 356.8,   6.4

2025-10-26T21:27:27.087Z,1761514047.087 [DAT](INFO): got valid direction response:
 21:27:25.2713 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX=  93,-0.22,-1.621,-2.879,-1.381,-2.040, PHS= 0.520,-0.794, 0.615, RAW= 153.4,  -5.0, CAL= 153.2,  -6.4, ROT= 356.8,   6.4

2025-10-26T21:27:27.088Z,1761514047.088 [DAT](INFO): DAT read: Bearing 176.8,   1.0 (Local)

2025-10-26T21:27:27.089Z,1761514047.089 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.8,   1.0 (Local)

2025-10-26T21:27:27.090Z,1761514047.090 [DAT](INFO): DAT read: Range 11 to 50 : 316.4 m  (Round-trip  421.9 ms) speed  0.4 m/s

2025-10-26T21:27:27.093Z,1761514047.093 [DAT](INFO): DAT read: user:244>

2025-10-26T21:27:27.095Z,1761514047.095 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:27:27.100Z,1761514047.100 [DAT](INFO): direction in FSK: [0.992218,-0.055474,-0.111469]
2025-10-26T21:27:27.100Z,1761514047.100 [DAT](INFO): publishing direction and range info
2025-10-26T21:27:27.112Z,1761514047.112 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:27.112Z,1761514047.112 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:27.112Z,1761514047.112 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:27:27.306Z,1761514047.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775124,-0.616431,-0.138548],[0.630267,0.769724,0.101433],[0.044117,-0.165946,0.985148]]
2025-10-26T21:27:27.320Z,1761514047.320 [DAT](INFO): DAT read: Tx time:21:27:26.3953

2025-10-26T21:27:27.321Z,1761514047.321 [DAT](INFO): Ping request sent.
2025-10-26T21:27:27.321Z,1761514047.321 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:27:27.321Z,1761514047.321 [DAT](INFO): publishing transmit ping time
2025-10-26T21:27:27.322Z,1761514047.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-10-26T21:27:27.332Z,1761514047.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 316.399994 m,
      deltaT: 3.781826 s,
      deltaX: 12.299988 m,
      approachRate: 3.252394 m/s,
      rangeRepo size: 4

2025-10-26T21:27:27.334Z,1761514047.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 314.389191 m,
      bearing: 34.909450 deg,
      lat: 36.779526 deg,
      lon: -121.859155 deg,
      deltaT: 3.781826 s,
      deltaX: 12.223389 m,
      approachRate: 3.232139 m/s,
      posRepo size: 4

2025-10-26T21:27:27.334Z,1761514047.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:27.385Z,1761514047.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 311.340820 m,
      bearing: 34.235942 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018741 deg/s,
      cmd heading: 39.609746 deg,
      new cmd heading: 39.587696 deg.

2025-10-26T21:27:27.386Z,1761514047.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690936 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:27.572Z,1761514047.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251435
2025-10-26T21:27:27.722Z,1761514047.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773685,-0.618636,-0.136753],[0.632086,0.768444,0.099802],[0.043346,-0.163655,0.985565]]
2025-10-26T21:27:27.762Z,1761514047.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:27.784Z,1761514047.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 311.034729 m,
      bearing: 34.223362 deg,
      approach rate: -0.710685 m/s,
      LOS rate: -0.029239 deg/s,
      cmd heading: 39.587694 deg,
      new cmd heading: 39.549915 deg.

2025-10-26T21:27:27.785Z,1761514047.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690276 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:27.824Z,1761514047.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503529
2025-10-26T21:27:28.077Z,1761514048.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755836
2025-10-26T21:27:28.114Z,1761514048.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771729,-0.621787,-0.133476],[0.634516,0.766932,0.095942],[0.042711,-0.158734,0.986397]]
2025-10-26T21:27:28.142Z,1761514048.142 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:28.144Z,1761514048.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:28.147Z,1761514048.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 310.767151 m,
      bearing: 34.212178 deg,
      approach rate: -0.699331 m/s,
      LOS rate: -0.029253 deg/s,
      cmd heading: 39.549913 deg,
      new cmd heading: 39.516335 deg.

2025-10-26T21:27:28.148Z,1761514048.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689690 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:28.329Z,1761514048.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007559
2025-10-26T21:27:28.518Z,1761514048.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769443,-0.625000,-0.131655],[0.637322,0.764885,0.093653],[0.042168,-0.155967,0.986862]]
2025-10-26T21:27:28.566Z,1761514048.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:28.573Z,1761514048.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 310.487549 m,
      bearing: 34.200274 deg,
      approach rate: -0.662996 m/s,
      LOS rate: -0.028254 deg/s,
      cmd heading: 39.516336 deg,
      new cmd heading: 39.480590 deg.

2025-10-26T21:27:28.576Z,1761514048.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689066 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:28.580Z,1761514048.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259486
2025-10-26T21:27:28.833Z,1761514048.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511877
2025-10-26T21:27:28.927Z,1761514048.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767244,-0.627971,-0.130345],[0.639997,0.762864,0.091888],[0.041732,-0.153921,0.987201]]
2025-10-26T21:27:28.979Z,1761514048.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:28.981Z,1761514048.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 310.174561 m,
      bearing: 34.185259 deg,
      approach rate: -0.758359 m/s,
      LOS rate: -0.036416 deg/s,
      cmd heading: 39.480590 deg,
      new cmd heading: 39.435501 deg.

2025-10-26T21:27:28.982Z,1761514048.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688279 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:29.084Z,1761514049.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763431
2025-10-26T21:27:29.337Z,1761514049.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015894
2025-10-26T21:27:29.411Z,1761514049.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764590,-0.631381,-0.129462],[0.643180,0.760384,0.090196],[0.041493,-0.152230,0.987474]]
2025-10-26T21:27:29.446Z,1761514049.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:29.452Z,1761514049.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 309.850250 m,
      bearing: 34.169398 deg,
      approach rate: -0.694483 m/s,
      LOS rate: -0.034002 deg/s,
      cmd heading: 39.435501 deg,
      new cmd heading: 39.387867 deg.

2025-10-26T21:27:29.453Z,1761514049.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687448 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:29.589Z,1761514049.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268096
2025-10-26T21:27:29.840Z,1761514049.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519384
2025-10-26T21:27:29.891Z,1761514049.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:29.893Z,1761514049.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 309.518005 m,
      bearing: 34.153580 deg,
      approach rate: -0.746492 m/s,
      LOS rate: -0.035579 deg/s,
      cmd heading: 39.387867 deg,
      new cmd heading: 39.340362 deg.

2025-10-26T21:27:29.894Z,1761514049.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.686619 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:30.096Z,1761514050.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775023
2025-10-26T21:27:30.316Z,1761514050.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760154,-0.636986,-0.128124],[0.648539,0.755845,0.089971],[0.039531,-0.151485,0.987669]]
2025-10-26T21:27:30.344Z,1761514050.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023521
2025-10-26T21:27:30.368Z,1761514050.368 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:30.370Z,1761514050.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:30.377Z,1761514050.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 309.199310 m,
      bearing: 34.137931 deg,
      approach rate: -0.664932 m/s,
      LOS rate: -0.032683 deg/s,
      cmd heading: 39.340363 deg,
      new cmd heading: 39.293369 deg.

2025-10-26T21:27:30.378Z,1761514050.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685799 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:30.596Z,1761514050.596 [DAT](INFO): DAT read: Rx Time:21:27:29.2187

2025-10-26T21:27:30.597Z,1761514050.597 [DAT](INFO): Rx dataTimestamp_ set to:1761514050.596606
2025-10-26T21:27:30.597Z,1761514050.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276465
2025-10-26T21:27:30.749Z,1761514050.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758446,-0.639341,-0.126499],[0.650645,0.754002,0.090235],[0.037690,-0.150745,0.987854]]
2025-10-26T21:27:30.802Z,1761514050.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:30.805Z,1761514050.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 308.868408 m,
      bearing: 34.123791 deg,
      approach rate: -0.770258 m/s,
      LOS rate: -0.032949 deg/s,
      cmd heading: 39.293368 deg,
      new cmd heading: 39.250903 deg.

2025-10-26T21:27:30.806Z,1761514050.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685057 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:30.849Z,1761514050.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528109
2025-10-26T21:27:31.106Z,1761514051.106 [DAT](INFO): DAT read: 21:27:29.2187 LVL= 32752, 32753, 31218, 32755, AGC= 76, IDX= 418,-0.26,-0.069,-1.471, 0.222,-0.661, PHS= 0.694,-0.765, 0.840, RAW= 154.7, -10.0, CAL= 155.5, -11.7, ROT= 354.5,  11.7

2025-10-26T21:27:31.107Z,1761514051.107 [DAT](INFO): got valid direction response:
 21:27:29.2187 LVL= 32752, 32753, 31218, 32755, AGC= 76, IDX= 418,-0.26,-0.069,-1.471, 0.222,-0.661, PHS= 0.694,-0.765, 0.840, RAW= 154.7, -10.0, CAL= 155.5, -11.7, ROT= 354.5,  11.7

2025-10-26T21:27:31.108Z,1761514051.108 [DAT](INFO): DAT read: $Error in header

2025-10-26T21:27:31.108Z,1761514051.108 [DAT](INFO): Received a bad header
2025-10-26T21:27:31.128Z,1761514051.128 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:27:31.129Z,1761514051.129 [DAT](INFO): direction in FSK: [0.974715,-0.093855,-0.202787]
2025-10-26T21:27:31.133Z,1761514051.133 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:31.133Z,1761514051.133 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:31.133Z,1761514051.133 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:31.173Z,1761514051.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756783,-0.641374,-0.126166],[0.652690,0.751988,0.092250],[0.035708,-0.152160,0.987711]]
2025-10-26T21:27:31.220Z,1761514051.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:31.222Z,1761514051.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 308.578827 m,
      bearing: 34.111248 deg,
      approach rate: -0.695998 m/s,
      LOS rate: -0.030177 deg/s,
      cmd heading: 39.250901 deg,
      new cmd heading: 39.213235 deg.

2025-10-26T21:27:31.228Z,1761514051.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684400 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:31.352Z,1761514051.352 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:31.352Z,1761514051.352 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:31.352Z,1761514051.352 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:31.566Z,1761514051.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755747,-0.642798,-0.125128],[0.653992,0.750689,0.093593],[0.033771,-0.152565,0.987716]]
2025-10-26T21:27:31.585Z,1761514051.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:31.588Z,1761514051.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 308.310822 m,
      bearing: 34.099531 deg,
      approach rate: -0.724546 m/s,
      LOS rate: -0.031703 deg/s,
      cmd heading: 39.213236 deg,
      new cmd heading: 39.178056 deg.

2025-10-26T21:27:31.589Z,1761514051.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683786 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:31.604Z,1761514051.604 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:31.604Z,1761514051.604 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:31.604Z,1761514051.604 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:31.856Z,1761514051.856 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:31.856Z,1761514051.856 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:31.857Z,1761514051.857 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:31.950Z,1761514051.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755462,-0.643271,-0.124417],[0.654424,0.750042,0.095739],[0.031732,-0.153749,0.987600]]
2025-10-26T21:27:32.012Z,1761514052.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:32.014Z,1761514052.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 308.020813 m,
      bearing: 34.091677 deg,
      approach rate: -0.687478 m/s,
      LOS rate: -0.018636 deg/s,
      cmd heading: 39.178057 deg,
      new cmd heading: 39.154473 deg.

2025-10-26T21:27:32.015Z,1761514052.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683374 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:32.109Z,1761514052.109 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:32.109Z,1761514052.109 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:32.109Z,1761514052.109 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:32.360Z,1761514052.360 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:32.360Z,1761514052.360 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:32.360Z,1761514052.360 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:32.362Z,1761514052.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755318,-0.643569,-0.123748],[0.654696,0.749465,0.098363],[0.029442,-0.155312,0.987427]]
2025-10-26T21:27:32.379Z,1761514052.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:32.382Z,1761514052.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:32.408Z,1761514052.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 307.753571 m,
      bearing: 34.084415 deg,
      approach rate: -0.713899 m/s,
      LOS rate: -0.019415 deg/s,
      cmd heading: 39.154473 deg,
      new cmd heading: 39.132669 deg.

2025-10-26T21:27:32.409Z,1761514052.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682994 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:32.613Z,1761514052.613 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:32.613Z,1761514052.613 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:32.613Z,1761514052.613 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:32.782Z,1761514052.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755752,-0.643304,-0.122473],[0.654301,0.749497,0.100720],[0.027000,-0.156254,0.987348]]
2025-10-26T21:27:32.852Z,1761514052.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:32.855Z,1761514052.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 307.459106 m,
      bearing: 34.082725 deg,
      approach rate: -0.625511 m/s,
      LOS rate: -0.003593 deg/s,
      cmd heading: 39.132671 deg,
      new cmd heading: 39.127596 deg.

2025-10-26T21:27:32.860Z,1761514052.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682905 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:32.864Z,1761514052.864 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:32.864Z,1761514052.864 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:32.864Z,1761514052.864 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:33.117Z,1761514053.117 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:33.117Z,1761514053.117 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:33.117Z,1761514053.117 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:33.184Z,1761514053.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756678,-0.642428,-0.121345],[0.653321,0.750014,0.103205],[0.024709,-0.157370,0.987231]]
2025-10-26T21:27:33.202Z,1761514053.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:33.205Z,1761514053.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 307.220917 m,
      bearing: 34.081417 deg,
      approach rate: -0.681001 m/s,
      LOS rate: -0.003744 deg/s,
      cmd heading: 39.127596 deg,
      new cmd heading: 39.123668 deg.

2025-10-26T21:27:33.206Z,1761514053.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682837 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:33.368Z,1761514053.368 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:33.368Z,1761514053.368 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:33.368Z,1761514053.368 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:33.606Z,1761514053.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758290,-0.640680,-0.120526],[0.651531,0.751142,0.106267],[0.022449,-0.159107,0.987006]]
2025-10-26T21:27:33.620Z,1761514053.620 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:33.620Z,1761514053.620 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:33.620Z,1761514053.620 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:33.652Z,1761514053.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:33.654Z,1761514053.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 306.938293 m,
      bearing: 34.079991 deg,
      approach rate: -0.628373 m/s,
      LOS rate: -0.003173 deg/s,
      cmd heading: 39.123668 deg,
      new cmd heading: 39.119387 deg.

2025-10-26T21:27:33.656Z,1761514053.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682762 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:33.872Z,1761514053.872 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:33.872Z,1761514053.872 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:33.872Z,1761514053.872 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:34.007Z,1761514054.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760344,-0.638521,-0.119032],[0.649205,0.752818,0.108620],[0.020253,-0.159864,0.986931]]
2025-10-26T21:27:34.078Z,1761514054.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:34.081Z,1761514054.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 306.659241 m,
      bearing: 34.082941 deg,
      approach rate: -0.655256 m/s,
      LOS rate: 0.006932 deg/s,
      cmd heading: 39.119386 deg,
      new cmd heading: 39.128243 deg.

2025-10-26T21:27:34.082Z,1761514054.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682917 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:34.125Z,1761514054.125 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:34.125Z,1761514054.125 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:34.126Z,1761514054.126 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:34.376Z,1761514054.376 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:34.376Z,1761514054.376 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:34.376Z,1761514054.376 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:34.450Z,1761514054.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:34.452Z,1761514054.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:34.455Z,1761514054.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 306.425110 m,
      bearing: 34.085420 deg,
      approach rate: -0.625583 m/s,
      LOS rate: 0.006628 deg/s,
      cmd heading: 39.128241 deg,
      new cmd heading: 39.135683 deg.

2025-10-26T21:27:34.456Z,1761514054.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683047 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:34.628Z,1761514054.628 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:34.628Z,1761514054.628 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:34.628Z,1761514054.628 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:34.821Z,1761514054.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765593,-0.632807,-0.115856],[0.643146,0.757114,0.114635],[0.015174,-0.162276,0.986629]]
2025-10-26T21:27:34.880Z,1761514054.880 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:34.880Z,1761514054.880 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:34.880Z,1761514054.880 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:34.893Z,1761514054.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:34.900Z,1761514054.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 306.156219 m,
      bearing: 34.092346 deg,
      approach rate: -0.609792 m/s,
      LOS rate: 0.015722 deg/s,
      cmd heading: 39.135683 deg,
      new cmd heading: 39.156480 deg.

2025-10-26T21:27:34.901Z,1761514054.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683410 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:35.132Z,1761514055.132 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:35.132Z,1761514055.132 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:35.132Z,1761514055.132 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:35.258Z,1761514055.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771263,-0.626533,-0.112293],[0.636439,0.761825,0.120700],[0.009925,-0.164559,0.986317]]
2025-10-26T21:27:35.277Z,1761514055.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:35.279Z,1761514055.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 305.916138 m,
      bearing: 34.098935 deg,
      approach rate: -0.626009 m/s,
      LOS rate: 0.017193 deg/s,
      cmd heading: 39.156481 deg,
      new cmd heading: 39.176262 deg.

2025-10-26T21:27:35.280Z,1761514055.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683755 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:35.384Z,1761514055.384 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:35.384Z,1761514055.384 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:35.384Z,1761514055.384 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:35.640Z,1761514055.640 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:35.640Z,1761514055.640 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:35.640Z,1761514055.640 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:35.656Z,1761514055.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774494,-0.622711,-0.111305],[0.632538,0.764395,0.124882],[0.007315,-0.167125,0.985908]]
2025-10-26T21:27:35.690Z,1761514055.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:35.698Z,1761514055.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 305.672760 m,
      bearing: 34.105853 deg,
      approach rate: -0.588470 m/s,
      LOS rate: 0.016741 deg/s,
      cmd heading: 39.176261 deg,
      new cmd heading: 39.197032 deg.

2025-10-26T21:27:35.703Z,1761514055.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684117 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:35.893Z,1761514055.893 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:35.893Z,1761514055.893 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:35.893Z,1761514055.893 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:36.061Z,1761514056.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777669,-0.618892,-0.110471],[0.628656,0.766870,0.129233],[0.004736,-0.169948,0.985442]]
2025-10-26T21:27:36.107Z,1761514056.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:36.110Z,1761514056.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 305.416229 m,
      bearing: 34.113547 deg,
      approach rate: -0.615787 m/s,
      LOS rate: 0.018484 deg/s,
      cmd heading: 39.197032 deg,
      new cmd heading: 39.220133 deg.

2025-10-26T21:27:36.110Z,1761514056.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684520 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:36.144Z,1761514056.144 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:36.144Z,1761514056.144 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:36.145Z,1761514056.145 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:36.396Z,1761514056.396 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:36.396Z,1761514056.396 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:36.396Z,1761514056.396 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:36.465Z,1761514056.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780916,-0.615076,-0.108866],[0.624633,0.769506,0.133019],[0.001956,-0.171878,0.985116]]
2025-10-26T21:27:36.482Z,1761514056.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:36.484Z,1761514056.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:36.486Z,1761514056.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 305.192993 m,
      bearing: 34.120465 deg,
      approach rate: -0.591765 m/s,
      LOS rate: 0.018353 deg/s,
      cmd heading: 39.220131 deg,
      new cmd heading: 39.240901 deg.

2025-10-26T21:27:36.488Z,1761514056.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684883 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:36.648Z,1761514056.648 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:36.648Z,1761514056.648 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:36.648Z,1761514056.648 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:36.873Z,1761514056.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783623,-0.612057,-0.106399],[0.621236,0.771902,0.135030],[-0.000517,-0.171912,0.985112]]
2025-10-26T21:27:36.900Z,1761514056.900 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:36.900Z,1761514056.900 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:36.900Z,1761514056.900 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:36.925Z,1761514056.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:36.928Z,1761514056.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 304.920990 m,
      bearing: 34.125528 deg,
      approach rate: -0.617008 m/s,
      LOS rate: 0.011494 deg/s,
      cmd heading: 39.240902 deg,
      new cmd heading: 39.256103 deg.

2025-10-26T21:27:36.929Z,1761514056.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685148 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:37.152Z,1761514057.152 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:37.152Z,1761514057.152 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:37.152Z,1761514057.152 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:37.267Z,1761514057.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785690,-0.609795,-0.104121],[0.618613,0.773651,0.137048],[-0.003019,-0.172088,0.985077]]
2025-10-26T21:27:37.308Z,1761514057.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:37.311Z,1761514057.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 304.694946 m,
      bearing: 34.129883 deg,
      approach rate: -0.589136 m/s,
      LOS rate: 0.011360 deg/s,
      cmd heading: 39.256102 deg,
      new cmd heading: 39.269178 deg.

2025-10-26T21:27:37.318Z,1761514057.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685376 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:37.404Z,1761514057.404 [DAT](INFO): Reached modem response timeout
2025-10-26T21:27:37.405Z,1761514057.405 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:27:37.405Z,1761514057.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:27:37.656Z,1761514057.656 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:27:37.677Z,1761514057.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787130,-0.608488,-0.100837],[0.616764,0.775109,0.137143],[-0.005290,-0.170142,0.985405]]
2025-10-26T21:27:37.695Z,1761514057.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:37.699Z,1761514057.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 304.446655 m,
      bearing: 34.134792 deg,
      approach rate: -0.643098 m/s,
      LOS rate: 0.012725 deg/s,
      cmd heading: 39.269179 deg,
      new cmd heading: 39.283918 deg.

2025-10-26T21:27:37.700Z,1761514057.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685634 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:37.908Z,1761514057.908 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:27:38.074Z,1761514058.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787913,-0.607953,-0.097907],[0.615737,0.775828,0.137688],[-0.007749,-0.168772,0.985625]]
2025-10-26T21:27:38.130Z,1761514058.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:38.137Z,1761514058.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 304.187469 m,
      bearing: 34.134361 deg,
      approach rate: -0.595623 m/s,
      LOS rate: -0.000992 deg/s,
      cmd heading: 39.283918 deg,
      new cmd heading: 39.282623 deg.

2025-10-26T21:27:38.138Z,1761514058.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685611 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:38.160Z,1761514058.160 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:27:38.413Z,1761514058.413 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:27:38.479Z,1761514058.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788149,-0.608118,-0.094941],[0.615407,0.776163,0.137278],[-0.009791,-0.166623,0.985972]]
2025-10-26T21:27:38.511Z,1761514058.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:38.513Z,1761514058.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:38.519Z,1761514058.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 303.945648 m,
      bearing: 34.133982 deg,
      approach rate: -0.630796 m/s,
      LOS rate: -0.000988 deg/s,
      cmd heading: 39.282624 deg,
      new cmd heading: 39.281488 deg.

2025-10-26T21:27:38.521Z,1761514058.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685591 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:38.664Z,1761514058.664 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:27:38.889Z,1761514058.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787817,-0.608982,-0.092122],[0.615792,0.775883,0.137130],[-0.012033,-0.164762,0.986260]]
2025-10-26T21:27:38.916Z,1761514058.916 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:27:38.958Z,1761514058.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:38.965Z,1761514058.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 303.644470 m,
      bearing: 34.127117 deg,
      approach rate: -0.676946 m/s,
      LOS rate: -0.015445 deg/s,
      cmd heading: 39.281487 deg,
      new cmd heading: 39.260872 deg.

2025-10-26T21:27:38.966Z,1761514058.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685231 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:39.168Z,1761514059.168 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:27:39.290Z,1761514059.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786882,-0.610756,-0.088286],[0.616944,0.775331,0.135064],[-0.014040,-0.160747,0.986896]]
2025-10-26T21:27:39.308Z,1761514059.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:39.310Z,1761514059.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 303.406464 m,
      bearing: 34.121619 deg,
      approach rate: -0.681083 m/s,
      LOS rate: -0.015745 deg/s,
      cmd heading: 39.260870 deg,
      new cmd heading: 39.244363 deg.

2025-10-26T21:27:39.311Z,1761514059.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684943 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:39.420Z,1761514059.420 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:27:39.672Z,1761514059.672 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:27:39.673Z,1761514059.673 [DAT](INFO): response not received
2025-10-26T21:27:39.673Z,1761514059.673 [DAT](INFO): DAT read: user:246>

2025-10-26T21:27:39.674Z,1761514059.674 [DAT](INFO): DAT read: Tx time:21:27:38.8453

2025-10-26T21:27:39.674Z,1761514059.674 [DAT](INFO): Ping request sent.
2025-10-26T21:27:39.674Z,1761514059.674 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:27:39.674Z,1761514059.674 [DAT](INFO): publishing transmit ping time
2025-10-26T21:27:39.675Z,1761514059.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729
2025-10-26T21:27:39.695Z,1761514059.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785351,-0.613143,-0.085322],[0.618843,0.774027,0.133849],[-0.016027,-0.157920,0.987322]]
2025-10-26T21:27:39.808Z,1761514059.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:39.826Z,1761514059.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 303.098145 m,
      bearing: 34.114345 deg,
      approach rate: -0.623514 m/s,
      LOS rate: -0.014727 deg/s,
      cmd heading: 39.244365 deg,
      new cmd heading: 39.222518 deg.

2025-10-26T21:27:39.833Z,1761514059.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684562 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:39.925Z,1761514059.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250737
2025-10-26T21:27:40.118Z,1761514060.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783655,-0.615683,-0.082582],[0.620934,0.772511,0.132917],[-0.018039,-0.155439,0.987681]]
2025-10-26T21:27:40.164Z,1761514060.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:40.166Z,1761514060.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 302.836548 m,
      bearing: 34.103360 deg,
      approach rate: -0.723308 m/s,
      LOS rate: -0.030397 deg/s,
      cmd heading: 39.222518 deg,
      new cmd heading: 39.189538 deg.

2025-10-26T21:27:40.168Z,1761514060.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683986 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:40.177Z,1761514060.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502426
2025-10-26T21:27:40.428Z,1761514060.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754123
2025-10-26T21:27:40.505Z,1761514060.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781795,-0.618505,-0.079043],[0.623211,0.770997,0.131040],[-0.020107,-0.151707,0.988221]]
2025-10-26T21:27:40.531Z,1761514060.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:40.534Z,1761514060.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:40.539Z,1761514060.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 302.594482 m,
      bearing: 34.093035 deg,
      approach rate: -0.654431 m/s,
      LOS rate: -0.027936 deg/s,
      cmd heading: 39.189539 deg,
      new cmd heading: 39.158539 deg.

2025-10-26T21:27:40.541Z,1761514060.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683445 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:40.680Z,1761514060.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005997
2025-10-26T21:27:40.932Z,1761514060.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258107
2025-10-26T21:27:41.066Z,1761514061.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:41.069Z,1761514061.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 302.229248 m,
      bearing: 34.073413 deg,
      approach rate: -0.685786 m/s,
      LOS rate: -0.036889 deg/s,
      cmd heading: 39.158540 deg,
      new cmd heading: 39.099600 deg.

2025-10-26T21:27:41.070Z,1761514061.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682417 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:41.185Z,1761514061.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510541
2025-10-26T21:27:41.394Z,1761514061.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777407,-0.624605,-0.074204],[0.628552,0.766991,0.129022],[-0.023674,-0.146944,0.988861]]
2025-10-26T21:27:41.431Z,1761514061.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:41.434Z,1761514061.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 301.981842 m,
      bearing: 34.059727 deg,
      approach rate: -0.677997 m/s,
      LOS rate: -0.037536 deg/s,
      cmd heading: 39.099599 deg,
      new cmd heading: 39.058508 deg.

2025-10-26T21:27:41.435Z,1761514061.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681700 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:41.436Z,1761514061.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762184
2025-10-26T21:27:41.688Z,1761514061.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014093
2025-10-26T21:27:41.794Z,1761514061.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775073,-0.627644,-0.072975],[0.631372,0.764686,0.128933],[-0.025121,-0.146007,0.988965]]
2025-10-26T21:27:41.850Z,1761514061.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:41.877Z,1761514061.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 301.721771 m,
      bearing: 34.045117 deg,
      approach rate: -0.622045 m/s,
      LOS rate: -0.034975 deg/s,
      cmd heading: 39.058508 deg,
      new cmd heading: 39.014640 deg.

2025-10-26T21:27:41.888Z,1761514061.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680934 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:41.941Z,1761514061.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267041
2025-10-26T21:27:42.192Z,1761514062.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518150
2025-10-26T21:27:42.200Z,1761514062.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772834,-0.630589,-0.071304],[0.634050,0.762557,0.128400],[-0.026594,-0.144442,0.989156]]
2025-10-26T21:27:42.247Z,1761514062.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:42.250Z,1761514062.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 301.427704 m,
      bearing: 34.027920 deg,
      approach rate: -0.738764 m/s,
      LOS rate: -0.043243 deg/s,
      cmd heading: 39.014638 deg,
      new cmd heading: 38.962999 deg.

2025-10-26T21:27:42.251Z,1761514062.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680033 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:42.444Z,1761514062.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770069
2025-10-26T21:27:42.484Z,1761514062.484 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:27:42.602Z,1761514062.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770714,-0.633242,-0.070749],[0.636574,0.760369,0.128890],[-0.027823,-0.144374,0.989132]]
2025-10-26T21:27:42.619Z,1761514062.619 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:42.621Z,1761514062.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:42.624Z,1761514062.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 301.173248 m,
      bearing: 34.012836 deg,
      approach rate: -0.680521 m/s,
      LOS rate: -0.040376 deg/s,
      cmd heading: 38.962999 deg,
      new cmd heading: 38.917707 deg.

2025-10-26T21:27:42.625Z,1761514062.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679242 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:42.697Z,1761514062.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022964
2025-10-26T21:27:42.948Z,1761514062.948 [DAT](INFO): DAT read: Rx Time:21:27:41.6595

2025-10-26T21:27:42.949Z,1761514062.949 [DAT](INFO): Rx dataTimestamp_ set to:1761514062.948556
2025-10-26T21:27:42.949Z,1761514062.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275123
2025-10-26T21:27:43.006Z,1761514063.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768700,-0.635749,-0.070172],[0.638966,0.758366,0.128855],[-0.028704,-0.143888,0.989178]]
2025-10-26T21:27:43.065Z,1761514063.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.39 m.
2025-10-26T21:27:43.068Z,1761514063.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.389191 m,
      nav range: 300.871277 m,
      bearing: 33.997404 deg,
      approach rate: -0.680697 m/s,
      LOS rate: -0.034820 deg/s,
      cmd heading: 38.917708 deg,
      new cmd heading: 38.871366 deg.

2025-10-26T21:27:43.069Z,1761514063.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678433 target range: 314.389191 and range: 316.40 m.
2025-10-26T21:27:43.200Z,1761514063.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526145
2025-10-26T21:27:43.444Z,1761514063.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766959,-0.637796,-0.070640],[0.641015,0.756421,0.130103],[-0.029546,-0.145065,0.988981]]
2025-10-26T21:27:43.470Z,1761514063.470 [DAT](INFO): DAT read: 21:27:41.6595 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 340, 0.33,-0.796,-2.234,-0.545,-1.233, PHS= 0.538,-0.956, 0.644, RAW= 153.4,  -2.9, CAL= 152.8,  -4.1, ROT= 357.2,   4.1

2025-10-26T21:27:43.488Z,1761514063.488 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:27:43.489Z,1761514063.489 [DAT](INFO): got valid direction response:
 21:27:41.6595 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 340, 0.33,-0.796,-2.234,-0.545,-1.233, PHS= 0.538,-0.956, 0.644, RAW= 153.4,  -2.9, CAL= 152.8,  -4.1, ROT= 357.2,   4.1

2025-10-26T21:27:43.490Z,1761514063.490 [DAT](INFO): DAT read: Bearing 179.3,  -3.7 (Local)

2025-10-26T21:27:43.490Z,1761514063.490 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.3,  -3.7 (Local)

2025-10-26T21:27:43.500Z,1761514063.500 [DAT](INFO): DAT read: Range 11 to 50 : 307.6 m  (Round-trip  410.2 ms) speed  0.3 m/s

2025-10-26T21:27:43.500Z,1761514063.500 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:27:43.501Z,1761514063.501 [DAT](INFO): direction in FSK: [0.996250,-0.048724,-0.071497]
2025-10-26T21:27:43.502Z,1761514063.502 [DAT](INFO): publishing direction and range info
2025-10-26T21:27:43.510Z,1761514063.510 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:43.510Z,1761514063.510 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:43.510Z,1761514063.510 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:27:43.540Z,1761514063.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 307.600006 m,
      deltaT: 16.383701 s,
      deltaX: -8.799988 m,
      approachRate: -0.537118 m/s,
      rangeRepo size: 4

2025-10-26T21:27:43.548Z,1761514063.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 305.638885 m,
      bearing: 36.515232 deg,
      lat: 36.779496 deg,
      lon: -121.859105 deg,
      deltaT: 16.383701 s,
      deltaX: -8.750305 m,
      approachRate: -0.534086 m/s,
      posRepo size: 4

2025-10-26T21:27:43.549Z,1761514063.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.64 m.
2025-10-26T21:27:43.564Z,1761514063.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.638885 m,
      nav range: 300.367096 m,
      bearing: 35.041385 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.034820 deg/s,
      cmd heading: 38.871365 deg,
      new cmd heading: 38.822318 deg.

2025-10-26T21:27:43.565Z,1761514063.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677577 target range: 305.638885 and range: 307.60 m.
2025-10-26T21:27:43.710Z,1761514063.710 [DAT](INFO): DAT read: user:247>

2025-10-26T21:27:43.711Z,1761514063.711 [DAT](INFO): DAT read: Tx time:21:27:42.8952

2025-10-26T21:27:43.711Z,1761514063.711 [DAT](INFO): Ping request sent.
2025-10-26T21:27:43.711Z,1761514063.711 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:27:43.713Z,1761514063.713 [DAT](INFO): publishing transmit ping time
2025-10-26T21:27:43.714Z,1761514063.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002190
2025-10-26T21:27:43.814Z,1761514063.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765577,-0.639477,-0.070433],[0.642622,0.754934,0.130812],[-0.030480,-0.145409,0.988902]]
2025-10-26T21:27:43.927Z,1761514063.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.64 m.
2025-10-26T21:27:43.938Z,1761514063.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.638885 m,
      nav range: 300.120239 m,
      bearing: 35.029404 deg,
      approach rate: -0.632382 m/s,
      LOS rate: -0.030716 deg/s,
      cmd heading: 38.822317 deg,
      new cmd heading: 38.786346 deg.

2025-10-26T21:27:43.939Z,1761514063.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676949 target range: 305.638885 and range: 307.60 m.
2025-10-26T21:27:43.961Z,1761514063.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249599
2025-10-26T21:27:44.212Z,1761514064.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501300
2025-10-26T21:27:44.235Z,1761514064.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764530,-0.640692,-0.070764],[0.643827,0.753681,0.132108],[-0.031307,-0.146560,0.988706]]
2025-10-26T21:27:44.285Z,1761514064.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.64 m.
2025-10-26T21:27:44.288Z,1761514064.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.638885 m,
      nav range: 299.839294 m,
      bearing: 35.019503 deg,
      approach rate: -0.778648 m/s,
      LOS rate: -0.027466 deg/s,
      cmd heading: 38.786346 deg,
      new cmd heading: 38.756615 deg.

2025-10-26T21:27:44.289Z,1761514064.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676431 target range: 305.638885 and range: 307.60 m.
2025-10-26T21:27:44.464Z,1761514064.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753278
2025-10-26T21:27:44.639Z,1761514064.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764177,-0.641077,-0.071089],[0.644194,0.753036,0.133981],[-0.032359,-0.148180,0.988431]]
2025-10-26T21:27:44.655Z,1761514064.655 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:44.657Z,1761514064.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.64 m.
2025-10-26T21:27:44.660Z,1761514064.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.638885 m,
      nav range: 299.589874 m,
      bearing: 35.010679 deg,
      approach rate: -0.670331 m/s,
      LOS rate: -0.023735 deg/s,
      cmd heading: 38.756614 deg,
      new cmd heading: 38.730120 deg.

2025-10-26T21:27:44.661Z,1761514064.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675968 target range: 305.638885 and range: 307.60 m.
2025-10-26T21:27:44.718Z,1761514064.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006277
2025-10-26T21:27:44.968Z,1761514064.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257272
2025-10-26T21:27:45.049Z,1761514065.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764619,-0.640367,-0.072712],[0.643608,0.752834,0.137874],[-0.033550,-0.152220,0.987777]]
2025-10-26T21:27:45.139Z,1761514065.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.64 m.
2025-10-26T21:27:45.142Z,1761514065.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.638885 m,
      nav range: 299.288910 m,
      bearing: 35.005568 deg,
      approach rate: -0.624952 m/s,
      LOS rate: -0.010624 deg/s,
      cmd heading: 38.730120 deg,
      new cmd heading: 38.714771 deg.

2025-10-26T21:27:45.143Z,1761514065.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675700 target range: 305.638885 and range: 307.60 m.
2025-10-26T21:27:45.221Z,1761514065.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509947
2025-10-26T21:27:45.448Z,1761514065.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765262,-0.639477,-0.073783],[0.642786,0.752947,0.141054],[-0.034646,-0.155370,0.987249]]
2025-10-26T21:27:45.466Z,1761514065.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.64 m.
2025-10-26T21:27:45.469Z,1761514065.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.638885 m,
      nav range: 299.063416 m,
      bearing: 35.001785 deg,
      approach rate: -0.690102 m/s,
      LOS rate: -0.011587 deg/s,
      cmd heading: 38.714769 deg,
      new cmd heading: 38.703410 deg.

2025-10-26T21:27:45.469Z,1761514065.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675502 target range: 305.638885 and range: 307.60 m.
2025-10-26T21:27:45.472Z,1761514065.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761357
2025-10-26T21:27:45.725Z,1761514065.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013752
2025-10-26T21:27:45.850Z,1761514065.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766618,-0.637715,-0.074945],[0.641105,0.753686,0.144709],[-0.035799,-0.158984,0.986632]]
2025-10-26T21:27:45.949Z,1761514065.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.64 m.
2025-10-26T21:27:45.956Z,1761514065.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.638885 m,
      nav range: 298.784271 m,
      bearing: 34.997219 deg,
      approach rate: -0.577795 m/s,
      LOS rate: -0.009458 deg/s,
      cmd heading: 38.703410 deg,
      new cmd heading: 38.689702 deg.

2025-10-26T21:27:45.957Z,1761514065.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675263 target range: 305.638885 and range: 307.60 m.
2025-10-26T21:27:45.976Z,1761514065.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265322
2025-10-26T21:27:46.229Z,1761514066.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518018
2025-10-26T21:27:46.271Z,1761514066.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768548,-0.635362,-0.075159],[0.638720,0.755149,0.147600],[-0.037023,-0.161444,0.986187]]
2025-10-26T21:27:46.316Z,1761514066.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.64 m.
2025-10-26T21:27:46.319Z,1761514066.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.638885 m,
      nav range: 298.531281 m,
      bearing: 34.998216 deg,
      approach rate: -0.688892 m/s,
      LOS rate: 0.002715 deg/s,
      cmd heading: 38.689702 deg,
      new cmd heading: 38.692694 deg.

2025-10-26T21:27:46.320Z,1761514066.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675315 target range: 305.638885 and range: 307.60 m.
2025-10-26T21:27:46.480Z,1761514066.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769291
2025-10-26T21:27:46.675Z,1761514066.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770898,-0.632513,-0.075127],[0.635797,0.757001,0.150705],[-0.038452,-0.163944,0.985720]]
2025-10-26T21:27:46.692Z,1761514066.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:46.694Z,1761514066.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.64 m.
2025-10-26T21:27:46.698Z,1761514066.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.638885 m,
      nav range: 298.304932 m,
      bearing: 34.999273 deg,
      approach rate: -0.598827 m/s,
      LOS rate: 0.002799 deg/s,
      cmd heading: 38.692694 deg,
      new cmd heading: 38.695868 deg.

2025-10-26T21:27:46.700Z,1761514066.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675370 target range: 305.638885 and range: 307.60 m.
2025-10-26T21:27:46.733Z,1761514066.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021607
2025-10-26T21:27:46.986Z,1761514066.986 [DAT](INFO): DAT read: Rx Time:21:27:45.7061

2025-10-26T21:27:46.986Z,1761514066.986 [DAT](INFO): Rx dataTimestamp_ set to:1761514066.986107
2025-10-26T21:27:46.988Z,1761514066.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276178
2025-10-26T21:27:47.078Z,1761514067.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773363,-0.629602,-0.074229],[0.632706,0.759151,0.152885],[-0.039906,-0.165201,0.985452]]
2025-10-26T21:27:47.128Z,1761514067.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.64 m.
2025-10-26T21:27:47.130Z,1761514067.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.638885 m,
      nav range: 298.045288 m,
      bearing: 35.004449 deg,
      approach rate: -0.599334 m/s,
      LOS rate: 0.011958 deg/s,
      cmd heading: 38.695870 deg,
      new cmd heading: 38.711411 deg.

2025-10-26T21:27:47.131Z,1761514067.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675642 target range: 305.638885 and range: 307.60 m.
2025-10-26T21:27:47.236Z,1761514067.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525382
2025-10-26T21:27:47.491Z,1761514067.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779527
2025-10-26T21:27:47.537Z,1761514067.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775833,-0.626560,-0.074199],[0.629581,0.761083,0.156145],[-0.041363,-0.167856,0.984943]]
2025-10-26T21:27:47.557Z,1761514067.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.64 m.
2025-10-26T21:27:47.560Z,1761514067.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.638885 m,
      nav range: 297.788818 m,
      bearing: 35.009764 deg,
      approach rate: -0.596495 m/s,
      LOS rate: 0.012373 deg/s,
      cmd heading: 38.711412 deg,
      new cmd heading: 38.727372 deg.

2025-10-26T21:27:47.561Z,1761514067.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675920 target range: 305.638885 and range: 307.60 m.
2025-10-26T21:27:47.746Z,1761514067.746 [DAT](INFO): DAT read: 21:27:45.7061 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 402, 0.19, 1.195,-0.291, 1.475, 0.679, PHS= 0.618,-0.925, 0.752, RAW= 154.1,  -5.6, CAL= 154.0,  -7.0, ROT= 356.0,   7.0

2025-10-26T21:27:47.747Z,1761514067.747 [DAT](INFO): got valid direction response:
 21:27:45.7061 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 402, 0.19, 1.195,-0.291, 1.475, 0.679, PHS= 0.618,-0.925, 0.752, RAW= 154.1,  -5.6, CAL= 154.0,  -7.0, ROT= 356.0,   7.0

2025-10-26T21:27:47.748Z,1761514067.748 [DAT](INFO): DAT read: Bearing 175.7,  -4.8 (Local)

2025-10-26T21:27:47.749Z,1761514067.749 [DAT](INFO): Local bearing/azimuth received:
 Bearing 175.7,  -4.8 (Local)

2025-10-26T21:27:47.750Z,1761514067.750 [DAT](INFO): DAT read: Range 11 to 50 : 305.1 m  (Round-trip  406.8 ms) speed  0.5 m/s

2025-10-26T21:27:47.751Z,1761514067.751 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:27:47.752Z,1761514067.752 [DAT](INFO): direction in FSK: [0.990128,-0.069236,-0.121869]
2025-10-26T21:27:47.752Z,1761514067.752 [DAT](INFO): publishing direction and range info
2025-10-26T21:27:47.756Z,1761514067.756 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:47.756Z,1761514067.756 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:47.756Z,1761514067.756 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:27:47.894Z,1761514067.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778318,-0.623576,-0.073309],[0.626417,0.763264,0.158208],[-0.042701,-0.169058,0.984681]]
2025-10-26T21:27:47.992Z,1761514067.992 [DAT](INFO): DAT read: user:248>

2025-10-26T21:27:47.993Z,1761514067.993 [DAT](INFO): DAT read: Tx time:21:27:47.1452

2025-10-26T21:27:47.993Z,1761514067.993 [DAT](INFO): Ping request sent.
2025-10-26T21:27:47.994Z,1761514067.994 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:27:47.994Z,1761514067.994 [DAT](INFO): publishing transmit ping time
2025-10-26T21:27:47.994Z,1761514067.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-10-26T21:27:47.996Z,1761514067.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 305.100006 m,
      deltaT: 4.287023 s,
      deltaX: -2.500000 m,
      approachRate: -0.583155 m/s,
      rangeRepo size: 4

2025-10-26T21:27:47.998Z,1761514067.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 303.154816 m,
      bearing: 33.671324 deg,
      lat: 36.779526 deg,
      lon: -121.859156 deg,
      deltaT: 4.287023 s,
      deltaX: -2.484070 m,
      approachRate: -0.579439 m/s,
      posRepo size: 4

2025-10-26T21:27:47.998Z,1761514067.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.15 m.
2025-10-26T21:27:48.006Z,1761514068.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.154816 m,
      nav range: 297.697662 m,
      bearing: 33.927114 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012373 deg/s,
      cmd heading: 38.727371 deg,
      new cmd heading: 38.743462 deg.

2025-10-26T21:27:48.013Z,1761514068.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676201 target range: 303.154816 and range: 305.10 m.
2025-10-26T21:27:48.244Z,1761514068.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250694
2025-10-26T21:27:48.290Z,1761514068.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780474,-0.621085,-0.071503],[0.623630,0.765351,0.159134],[-0.044111,-0.168792,0.984664]]
2025-10-26T21:27:48.337Z,1761514068.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.15 m.
2025-10-26T21:27:48.340Z,1761514068.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.154816 m,
      nav range: 297.480042 m,
      bearing: 33.932658 deg,
      approach rate: -0.628040 m/s,
      LOS rate: 0.016012 deg/s,
      cmd heading: 38.743463 deg,
      new cmd heading: 38.760107 deg.

2025-10-26T21:27:48.341Z,1761514068.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676491 target range: 303.154816 and range: 305.10 m.
2025-10-26T21:27:48.496Z,1761514068.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502693
2025-10-26T21:27:48.748Z,1761514068.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754819
2025-10-26T21:27:48.769Z,1761514068.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782466,-0.618831,-0.069248],[0.621014,0.767351,0.159732],[-0.045710,-0.167989,0.984729]]
2025-10-26T21:27:48.785Z,1761514068.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:48.788Z,1761514068.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.15 m.
2025-10-26T21:27:48.790Z,1761514068.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.154816 m,
      nav range: 297.216309 m,
      bearing: 33.939561 deg,
      approach rate: -0.585998 m/s,
      LOS rate: 0.015352 deg/s,
      cmd heading: 38.760108 deg,
      new cmd heading: 38.780835 deg.

2025-10-26T21:27:48.791Z,1761514068.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676853 target range: 303.154816 and range: 305.10 m.
2025-10-26T21:27:49.001Z,1761514069.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007431
2025-10-26T21:27:49.162Z,1761514069.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784416,-0.616477,-0.068165],[0.618437,0.769044,0.161580],[-0.047189,-0.168902,0.984503]]
2025-10-26T21:27:49.208Z,1761514069.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.15 m.
2025-10-26T21:27:49.211Z,1761514069.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.154816 m,
      nav range: 296.967316 m,
      bearing: 33.945612 deg,
      approach rate: -0.591950 m/s,
      LOS rate: 0.014397 deg/s,
      cmd heading: 38.780834 deg,
      new cmd heading: 38.799001 deg.

2025-10-26T21:27:49.212Z,1761514069.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677170 target range: 303.154816 and range: 305.10 m.
2025-10-26T21:27:49.253Z,1761514069.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259105
2025-10-26T21:27:49.510Z,1761514069.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515173
2025-10-26T21:27:49.623Z,1761514069.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786392,-0.614051,-0.067292],[0.615836,0.770801,0.163132],[-0.048303,-0.169726,0.984307]]
2025-10-26T21:27:49.643Z,1761514069.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.15 m.
2025-10-26T21:27:49.666Z,1761514069.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.154816 m,
      nav range: 296.710571 m,
      bearing: 33.952023 deg,
      approach rate: -0.590578 m/s,
      LOS rate: 0.014758 deg/s,
      cmd heading: 38.799002 deg,
      new cmd heading: 38.818250 deg.

2025-10-26T21:27:49.667Z,1761514069.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677506 target range: 303.154816 and range: 305.10 m.
2025-10-26T21:27:49.756Z,1761514069.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762792
2025-10-26T21:27:50.010Z,1761514070.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016394
2025-10-26T21:27:50.037Z,1761514070.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787975,-0.612037,-0.067125],[0.613763,0.772148,0.164564],[-0.048888,-0.170871,0.984080]]
2025-10-26T21:27:50.125Z,1761514070.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.15 m.
2025-10-26T21:27:50.132Z,1761514070.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.154816 m,
      nav range: 296.441437 m,
      bearing: 33.956051 deg,
      approach rate: -0.558108 m/s,
      LOS rate: 0.008362 deg/s,
      cmd heading: 38.818250 deg,
      new cmd heading: 38.830347 deg.

2025-10-26T21:27:50.133Z,1761514070.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677717 target range: 303.154816 and range: 305.10 m.
2025-10-26T21:27:50.260Z,1761514070.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266785
2025-10-26T21:27:50.492Z,1761514070.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789744,-0.610283,-0.062120],[0.611354,0.774680,0.161605],[-0.050502,-0.165604,0.984898]]
2025-10-26T21:27:50.513Z,1761514070.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519353
2025-10-26T21:27:50.535Z,1761514070.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.15 m.
2025-10-26T21:27:50.557Z,1761514070.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.154816 m,
      nav range: 296.189301 m,
      bearing: 33.960002 deg,
      approach rate: -0.616197 m/s,
      LOS rate: 0.009664 deg/s,
      cmd heading: 38.830346 deg,
      new cmd heading: 38.842209 deg.

2025-10-26T21:27:50.558Z,1761514070.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677924 target range: 303.154816 and range: 305.10 m.
2025-10-26T21:27:50.764Z,1761514070.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770671
2025-10-26T21:27:50.899Z,1761514070.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790322,-0.609786,-0.059607],[0.610551,0.775697,0.159757],[-0.051181,-0.162652,0.985355]]
2025-10-26T21:27:50.922Z,1761514070.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:50.925Z,1761514070.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.15 m.
2025-10-26T21:27:50.927Z,1761514070.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.154816 m,
      nav range: 295.944946 m,
      bearing: 33.963898 deg,
      approach rate: -0.625613 m/s,
      LOS rate: 0.009982 deg/s,
      cmd heading: 38.842210 deg,
      new cmd heading: 38.853907 deg.

2025-10-26T21:27:50.928Z,1761514070.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678129 target range: 303.154816 and range: 305.10 m.
2025-10-26T21:27:51.021Z,1761514071.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026155
2025-10-26T21:27:51.269Z,1761514071.269 [DAT](INFO): DAT read: Rx Time:21:27:49.9525

2025-10-26T21:27:51.269Z,1761514071.269 [DAT](INFO): Rx dataTimestamp_ set to:1761514071.269065
2025-10-26T21:27:51.270Z,1761514071.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276244
2025-10-26T21:27:51.299Z,1761514071.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790281,-0.609962,-0.058330],[0.610561,0.775859,0.158930],[-0.051685,-0.161213,0.985565]]
2025-10-26T21:27:51.357Z,1761514071.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.15 m.
2025-10-26T21:27:51.368Z,1761514071.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.154816 m,
      nav range: 295.680908 m,
      bearing: 33.964811 deg,
      approach rate: -0.610730 m/s,
      LOS rate: 0.002114 deg/s,
      cmd heading: 38.853907 deg,
      new cmd heading: 38.856648 deg.

2025-10-26T21:27:51.369Z,1761514071.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678176 target range: 303.154816 and range: 305.10 m.
2025-10-26T21:27:51.521Z,1761514071.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527808
2025-10-26T21:27:51.721Z,1761514071.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790088,-0.610294,-0.057459],[0.610776,0.775800,0.158388],[-0.052087,-0.160235,0.985704]]
2025-10-26T21:27:51.778Z,1761514071.778 [DAT](INFO): DAT read: 21:27:49.9525 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 397,-0.23, 0.676,-0.747, 0.939, 0.320, PHS= 0.458,-1.023, 0.575, RAW= 153.8,  -0.1, CAL= 152.6,  -1.1, ROT= 357.4,   1.1

2025-10-26T21:27:51.779Z,1761514071.779 [DAT](INFO): got valid direction response:
 21:27:49.9525 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 397,-0.23, 0.676,-0.747, 0.939, 0.320, PHS= 0.458,-1.023, 0.575, RAW= 153.8,  -0.1, CAL= 152.6,  -1.1, ROT= 357.4,   1.1

2025-10-26T21:27:51.780Z,1761514071.780 [DAT](INFO): DAT read: Bearing 181.3,  -5.3 (Local)

2025-10-26T21:27:51.781Z,1761514071.781 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.3,  -5.3 (Local)

2025-10-26T21:27:51.782Z,1761514071.782 [DAT](INFO): DAT read: Range 11 to 50 : 302.4 m  (Round-trip  403.2 ms) speed  0.0 m/s

2025-10-26T21:27:51.782Z,1761514071.782 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:27:51.784Z,1761514071.784 [DAT](INFO): direction in FSK: [0.998786,-0.045355,-0.019197]
2025-10-26T21:27:51.784Z,1761514071.784 [DAT](INFO): publishing direction and range info
2025-10-26T21:27:51.787Z,1761514071.787 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:51.787Z,1761514071.787 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:51.788Z,1761514071.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:27:51.837Z,1761514071.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 302.399994 m,
      deltaT: 4.031575 s,
      deltaX: -2.700012 m,
      approachRate: -0.669716 m/s,
      rangeRepo size: 4

2025-10-26T21:27:51.843Z,1761514071.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 300.471436 m,
      bearing: 34.957662 deg,
      lat: 36.779526 deg,
      lon: -121.859105 deg,
      deltaT: 4.031575 s,
      deltaX: -2.683380 m,
      approachRate: -0.665591 m/s,
      posRepo size: 4

2025-10-26T21:27:51.846Z,1761514071.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.47 m.
2025-10-26T21:27:51.861Z,1761514071.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.471436 m,
      nav range: 297.985626 m,
      bearing: 34.694821 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002114 deg/s,
      cmd heading: 38.856649 deg,
      new cmd heading: 38.859656 deg.

2025-10-26T21:27:51.862Z,1761514071.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678229 target range: 300.471436 and range: 302.40 m.
2025-10-26T21:27:52.030Z,1761514072.030 [DAT](INFO): DAT read: user:249>

2025-10-26T21:27:52.031Z,1761514072.031 [DAT](INFO): DAT read: Tx time:21:27:51.1452

2025-10-26T21:27:52.033Z,1761514072.033 [DAT](INFO): Ping request sent.
2025-10-26T21:27:52.033Z,1761514072.033 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:27:52.034Z,1761514072.034 [DAT](INFO): publishing transmit ping time
2025-10-26T21:27:52.035Z,1761514072.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001662
2025-10-26T21:27:52.184Z,1761514072.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789713,-0.610873,-0.056461],[0.611241,0.775643,0.157361],[-0.052334,-0.158782,0.985926]]
2025-10-26T21:27:52.231Z,1761514072.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.47 m.
2025-10-26T21:27:52.234Z,1761514072.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.471436 m,
      nav range: 297.717133 m,
      bearing: 34.693134 deg,
      approach rate: -0.671967 m/s,
      LOS rate: -0.004227 deg/s,
      cmd heading: 38.859654 deg,
      new cmd heading: 38.854588 deg.

2025-10-26T21:27:52.235Z,1761514072.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678140 target range: 300.471436 and range: 302.40 m.
2025-10-26T21:27:52.277Z,1761514072.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244057
2025-10-26T21:27:52.529Z,1761514072.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496290
2025-10-26T21:27:52.570Z,1761514072.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788852,-0.612056,-0.055682],[0.612357,0.775056,0.155904],[-0.052265,-0.157083,0.986201]]
2025-10-26T21:27:52.606Z,1761514072.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.47 m.
2025-10-26T21:27:52.609Z,1761514072.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.471436 m,
      nav range: 297.493011 m,
      bearing: 34.691666 deg,
      approach rate: -0.597463 m/s,
      LOS rate: -0.003916 deg/s,
      cmd heading: 38.854586 deg,
      new cmd heading: 38.850179 deg.

2025-10-26T21:27:52.610Z,1761514072.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678064 target range: 300.471436 and range: 302.40 m.
2025-10-26T21:27:52.780Z,1761514072.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747546
2025-10-26T21:27:52.973Z,1761514072.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787505,-0.613903,-0.054390],[0.614101,0.774163,0.153467],[-0.052107,-0.154257,0.986656]]
2025-10-26T21:27:53.036Z,1761514073.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002658
2025-10-26T21:27:53.050Z,1761514073.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:53.064Z,1761514073.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.47 m.
2025-10-26T21:27:53.067Z,1761514073.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.471436 m,
      nav range: 297.235504 m,
      bearing: 34.689874 deg,
      approach rate: -0.561938 m/s,
      LOS rate: -0.003913 deg/s,
      cmd heading: 38.850181 deg,
      new cmd heading: 38.844802 deg.

2025-10-26T21:27:53.072Z,1761514073.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677970 target range: 300.471436 and range: 302.40 m.
2025-10-26T21:27:53.285Z,1761514073.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252044
2025-10-26T21:27:53.377Z,1761514073.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786083,-0.615750,-0.054091],[0.615956,0.773006,0.151853],[-0.051691,-0.152687,0.986922]]
2025-10-26T21:27:53.419Z,1761514073.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.47 m.
2025-10-26T21:27:53.422Z,1761514073.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.471436 m,
      nav range: 296.960297 m,
      bearing: 34.683430 deg,
      approach rate: -0.775788 m/s,
      LOS rate: -0.018183 deg/s,
      cmd heading: 38.844802 deg,
      new cmd heading: 38.825451 deg.

2025-10-26T21:27:53.423Z,1761514073.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677632 target range: 300.471436 and range: 302.40 m.
2025-10-26T21:27:53.536Z,1761514073.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503667
2025-10-26T21:27:53.780Z,1761514073.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784525,-0.617806,-0.053267],[0.618014,0.771963,0.148768],[-0.050789,-0.149632,0.987436]]
2025-10-26T21:27:53.789Z,1761514073.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755941
2025-10-26T21:27:53.801Z,1761514073.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.47 m.
2025-10-26T21:27:53.805Z,1761514073.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.471436 m,
      nav range: 296.709991 m,
      bearing: 34.677433 deg,
      approach rate: -0.654553 m/s,
      LOS rate: -0.015695 deg/s,
      cmd heading: 38.825452 deg,
      new cmd heading: 38.807447 deg.

2025-10-26T21:27:53.806Z,1761514073.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677318 target range: 300.471436 and range: 302.40 m.
2025-10-26T21:27:54.044Z,1761514074.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009921
2025-10-26T21:27:54.236Z,1761514074.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.47 m.
2025-10-26T21:27:54.238Z,1761514074.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.471436 m,
      nav range: 296.414734 m,
      bearing: 34.669374 deg,
      approach rate: -0.679922 m/s,
      LOS rate: -0.018577 deg/s,
      cmd heading: 38.807448 deg,
      new cmd heading: 38.783246 deg.

2025-10-26T21:27:54.240Z,1761514074.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676895 target range: 300.471436 and range: 302.40 m.
2025-10-26T21:27:54.293Z,1761514074.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260322
2025-10-26T21:27:54.545Z,1761514074.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511880
2025-10-26T21:27:54.596Z,1761514074.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781821,-0.621244,-0.053025],[0.621555,0.769836,0.144988],[-0.049253,-0.146313,0.988012]]
2025-10-26T21:27:54.615Z,1761514074.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.47 m.
2025-10-26T21:27:54.618Z,1761514074.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.471436 m,
      nav range: 296.157379 m,
      bearing: 34.662107 deg,
      approach rate: -0.678530 m/s,
      LOS rate: -0.019178 deg/s,
      cmd heading: 38.783245 deg,
      new cmd heading: 38.761423 deg.

2025-10-26T21:27:54.619Z,1761514074.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676514 target range: 300.471436 and range: 302.40 m.
2025-10-26T21:27:54.796Z,1761514074.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763561
2025-10-26T21:27:55.051Z,1761514075.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017754
2025-10-26T21:27:55.122Z,1761514075.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:55.128Z,1761514075.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.47 m.
2025-10-26T21:27:55.131Z,1761514075.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.471436 m,
      nav range: 295.829468 m,
      bearing: 34.652828 deg,
      approach rate: -0.638626 m/s,
      LOS rate: -0.018090 deg/s,
      cmd heading: 38.761423 deg,
      new cmd heading: 38.733557 deg.

2025-10-26T21:27:55.136Z,1761514075.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676028 target range: 300.471436 and range: 302.40 m.
2025-10-26T21:27:55.300Z,1761514075.300 [DAT](INFO): DAT read: Rx Time:21:27:53.9499

2025-10-26T21:27:55.301Z,1761514075.301 [DAT](INFO): Rx dataTimestamp_ set to:1761514075.300557
2025-10-26T21:27:55.301Z,1761514075.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268632
2025-10-26T21:27:55.443Z,1761514075.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780120,-0.623340,-0.053483],[0.623771,0.768370,0.143235],[-0.048189,-0.145102,0.988243]]
2025-10-26T21:27:55.506Z,1761514075.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.47 m.
2025-10-26T21:27:55.515Z,1761514075.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.471436 m,
      nav range: 295.563568 m,
      bearing: 34.645701 deg,
      approach rate: -0.704614 m/s,
      LOS rate: -0.018905 deg/s,
      cmd heading: 38.733555 deg,
      new cmd heading: 38.712153 deg.

2025-10-26T21:27:55.522Z,1761514075.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675655 target range: 300.471436 and range: 302.40 m.
2025-10-26T21:27:55.552Z,1761514075.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519730
2025-10-26T21:27:55.812Z,1761514075.812 [DAT](INFO): DAT read: 21:27:53.9499 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 417, 0.19,-1.942, 2.975,-1.729,-2.170, PHS= 0.330,-1.093, 0.397, RAW= 152.3,   5.1, CAL= 151.5,   5.1, ROT= 358.5,  -5.1

2025-10-26T21:27:55.813Z,1761514075.813 [DAT](INFO): got valid direction response:
 21:27:53.9499 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 417, 0.19,-1.942, 2.975,-1.729,-2.170, PHS= 0.330,-1.093, 0.397, RAW= 152.3,   5.1, CAL= 151.5,   5.1, ROT= 358.5,  -5.1

2025-10-26T21:27:55.814Z,1761514075.814 [DAT](INFO): DAT read: Bearing 188.4,  -5.1 (Local)

2025-10-26T21:27:55.814Z,1761514075.814 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.4,  -5.1 (Local)

2025-10-26T21:27:55.817Z,1761514075.817 [DAT](INFO): DAT read: Range 11 to 50 : 300.3 m  (Round-trip  400.5 ms) speed  0.3 m/s

2025-10-26T21:27:55.817Z,1761514075.817 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:27:55.818Z,1761514075.818 [DAT](INFO): direction in FSK: [0.995700,-0.026073,0.088894]
2025-10-26T21:27:55.819Z,1761514075.819 [DAT](INFO): publishing direction and range info
2025-10-26T21:27:55.822Z,1761514075.822 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:55.822Z,1761514075.822 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:55.822Z,1761514075.822 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:27:55.872Z,1761514075.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778935,-0.624639,-0.055545],[0.625335,0.767035,0.143574],[-0.047076,-0.146569,0.988080]]
2025-10-26T21:27:55.946Z,1761514075.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 300.299988 m,
      deltaT: 4.032896 s,
      deltaX: -2.100006 m,
      approachRate: -0.520719 m/s,
      rangeRepo size: 4

2025-10-26T21:27:55.953Z,1761514075.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 298.387604 m,
      bearing: 38.026597 deg,
      lat: 36.779526 deg,
      lon: -121.859080 deg,
      deltaT: 4.032896 s,
      deltaX: -2.083832 m,
      approachRate: -0.516709 m/s,
      posRepo size: 4

2025-10-26T21:27:55.953Z,1761514075.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:27:55.964Z,1761514075.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 296.503662 m,
      bearing: 34.985738 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018905 deg/s,
      cmd heading: 38.712153 deg,
      new cmd heading: 38.687206 deg.

2025-10-26T21:27:55.965Z,1761514075.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675219 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:27:56.061Z,1761514076.061 [DAT](INFO): DAT read: user:250>

2025-10-26T21:27:56.064Z,1761514076.064 [DAT](INFO): DAT read: Tx time:21:27:55.1952

2025-10-26T21:27:56.065Z,1761514076.065 [DAT](INFO): Ping request sent.
2025-10-26T21:27:56.065Z,1761514076.065 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:27:56.066Z,1761514076.066 [DAT](INFO): publishing transmit ping time
2025-10-26T21:27:56.070Z,1761514076.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004727
2025-10-26T21:27:56.308Z,1761514076.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243845
2025-10-26T21:27:56.332Z,1761514076.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:27:56.335Z,1761514076.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 296.224701 m,
      bearing: 34.980409 deg,
      approach rate: -0.721663 m/s,
      LOS rate: -0.013798 deg/s,
      cmd heading: 38.687206 deg,
      new cmd heading: 38.671204 deg.

2025-10-26T21:27:56.336Z,1761514076.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.674940 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:27:56.561Z,1761514076.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495990
2025-10-26T21:27:56.741Z,1761514076.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:27:56.744Z,1761514076.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 295.956421 m,
      bearing: 34.975275 deg,
      approach rate: -0.655967 m/s,
      LOS rate: -0.012565 deg/s,
      cmd heading: 38.671206 deg,
      new cmd heading: 38.655789 deg.

2025-10-26T21:27:56.745Z,1761514076.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.674671 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:27:56.812Z,1761514076.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747843
2025-10-26T21:27:57.067Z,1761514077.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002046
2025-10-26T21:27:57.135Z,1761514077.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776523,-0.627170,-0.060574],[0.628477,0.764077,0.145613],[-0.045041,-0.151141,0.987486]]
2025-10-26T21:27:57.174Z,1761514077.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:57.176Z,1761514077.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:27:57.179Z,1761514077.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 295.645447 m,
      bearing: 34.970241 deg,
      approach rate: -0.714348 m/s,
      LOS rate: -0.011576 deg/s,
      cmd heading: 38.655790 deg,
      new cmd heading: 38.640672 deg.

2025-10-26T21:27:57.180Z,1761514077.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.674407 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:27:57.317Z,1761514077.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252030
2025-10-26T21:27:57.510Z,1761514077.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776180,-0.627532,-0.061221],[0.628923,0.763679,0.145773],[-0.044724,-0.151649,0.987422]]
2025-10-26T21:27:57.552Z,1761514077.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:27:57.555Z,1761514077.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 295.388031 m,
      bearing: 34.966038 deg,
      approach rate: -0.684933 m/s,
      LOS rate: -0.011192 deg/s,
      cmd heading: 38.640672 deg,
      new cmd heading: 38.628053 deg.

2025-10-26T21:27:57.556Z,1761514077.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.674187 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:27:57.568Z,1761514077.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503787
2025-10-26T21:27:57.820Z,1761514077.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755800
2025-10-26T21:27:57.907Z,1761514077.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775422,-0.628494,-0.060961],[0.629886,0.763120,0.144540],[-0.044322,-0.150478,0.987619]]
2025-10-26T21:27:57.925Z,1761514077.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:27:57.929Z,1761514077.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 295.130768 m,
      bearing: 34.961767 deg,
      approach rate: -0.689490 m/s,
      LOS rate: -0.011457 deg/s,
      cmd heading: 38.628053 deg,
      new cmd heading: 38.615229 deg.

2025-10-26T21:27:57.930Z,1761514077.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673963 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:27:58.076Z,1761514078.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010570
2025-10-26T21:27:58.324Z,1761514078.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259854
2025-10-26T21:27:58.368Z,1761514078.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:27:58.370Z,1761514078.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 294.827057 m,
      bearing: 34.958995 deg,
      approach rate: -0.687183 m/s,
      LOS rate: -0.006277 deg/s,
      cmd heading: 38.615229 deg,
      new cmd heading: 38.606906 deg.

2025-10-26T21:27:58.371Z,1761514078.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673818 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:27:58.577Z,1761514078.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512178
2025-10-26T21:27:58.722Z,1761514078.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774131,-0.630390,-0.057699],[0.631493,0.762705,0.139636],[-0.044017,-0.144533,0.988520]]
2025-10-26T21:27:58.748Z,1761514078.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:27:58.751Z,1761514078.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 294.565430 m,
      bearing: 34.956492 deg,
      approach rate: -0.687025 m/s,
      LOS rate: -0.006580 deg/s,
      cmd heading: 38.606907 deg,
      new cmd heading: 38.599389 deg.

2025-10-26T21:27:58.752Z,1761514078.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673686 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:27:58.828Z,1761514078.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763788
2025-10-26T21:27:59.080Z,1761514079.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015726
2025-10-26T21:27:59.156Z,1761514079.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774276,-0.630149,-0.058389],[0.631326,0.762722,0.140292],[-0.043870,-0.145487,0.988387]]
2025-10-26T21:27:59.190Z,1761514079.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:27:59.192Z,1761514079.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:27:59.195Z,1761514079.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 294.265625 m,
      bearing: 34.955797 deg,
      approach rate: -0.674797 m/s,
      LOS rate: -0.001564 deg/s,
      cmd heading: 38.599390 deg,
      new cmd heading: 38.597305 deg.

2025-10-26T21:27:59.213Z,1761514079.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673650 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:27:59.338Z,1761514079.338 [DAT](INFO): DAT read: 21:27:57.9969 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 187,-0.48, 2.364, 0.729, 2.699, 2.213, PHS= 0.253,-1.439, 0.442, RAW= 155.2,   8.3, CAL= 154.8,   8.8, ROT= 355.2,  -8.8

2025-10-26T21:27:59.339Z,1761514079.339 [DAT](INFO): got valid direction response:
 21:27:57.9969 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 187,-0.48, 2.364, 0.729, 2.699, 2.213, PHS= 0.253,-1.439, 0.442, RAW= 155.2,   8.3, CAL= 154.8,   8.8, ROT= 355.2,  -8.8

2025-10-26T21:27:59.340Z,1761514079.340 [DAT](INFO): DAT read: Rx Time:21:27:57.9969

2025-10-26T21:27:59.341Z,1761514079.341 [DAT](INFO): Rx dataTimestamp_ set to:1761514079.340310
2025-10-26T21:27:59.341Z,1761514079.341 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-26T21:27:59.341Z,1761514079.341 [DAT](INFO): Received low SNR in chirp
2025-10-26T21:27:59.356Z,1761514079.356 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:27:59.357Z,1761514079.357 [DAT](INFO): direction in FSK: [0.984763,-0.082693,0.152986]
2025-10-26T21:27:59.360Z,1761514079.360 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:59.360Z,1761514079.360 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:59.361Z,1761514079.361 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:59.536Z,1761514079.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774280,-0.630110,-0.058750],[0.631321,0.762649,0.140711],[-0.043857,-0.146040,0.988306]]
2025-10-26T21:27:59.555Z,1761514079.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:27:59.558Z,1761514079.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 294.020691 m,
      bearing: 34.955230 deg,
      approach rate: -0.675142 m/s,
      LOS rate: -0.001567 deg/s,
      cmd heading: 38.597303 deg,
      new cmd heading: 38.595598 deg.

2025-10-26T21:27:59.559Z,1761514079.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673620 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:27:59.584Z,1761514079.584 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:59.584Z,1761514079.584 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:59.584Z,1761514079.584 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:59.836Z,1761514079.836 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:27:59.836Z,1761514079.836 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:27:59.837Z,1761514079.837 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:27:59.926Z,1761514079.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775006,-0.629116,-0.059828],[0.630428,0.763087,0.142329],[-0.043887,-0.148023,0.988010]]
2025-10-26T21:27:59.956Z,1761514079.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:27:59.959Z,1761514079.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 293.751953 m,
      bearing: 34.954666 deg,
      approach rate: -0.670039 m/s,
      LOS rate: -0.001406 deg/s,
      cmd heading: 38.595599 deg,
      new cmd heading: 38.593908 deg.

2025-10-26T21:27:59.960Z,1761514079.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673591 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:00.090Z,1761514080.090 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:00.091Z,1761514080.091 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:00.091Z,1761514080.091 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:00.340Z,1761514080.340 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:00.340Z,1761514080.340 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:00.340Z,1761514080.340 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:00.370Z,1761514080.370 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3278,-32768,V
2025-10-26T21:28:00.385Z,1761514080.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:00.388Z,1761514080.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 293.459778 m,
      bearing: 34.954053 deg,
      approach rate: -0.681563 m/s,
      LOS rate: -0.001433 deg/s,
      cmd heading: 38.593909 deg,
      new cmd heading: 38.592066 deg.

2025-10-26T21:28:00.389Z,1761514080.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673559 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:00.593Z,1761514080.593 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:00.593Z,1761514080.593 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:00.593Z,1761514080.593 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:00.787Z,1761514080.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:00.790Z,1761514080.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 293.198486 m,
      bearing: 34.953503 deg,
      approach rate: -0.650065 m/s,
      LOS rate: -0.001369 deg/s,
      cmd heading: 38.592065 deg,
      new cmd heading: 38.590413 deg.

2025-10-26T21:28:00.791Z,1761514080.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673530 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:00.845Z,1761514080.845 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:00.845Z,1761514080.845 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:00.845Z,1761514080.845 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:01.096Z,1761514081.096 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:01.096Z,1761514081.096 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:01.096Z,1761514081.096 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:01.233Z,1761514081.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:01.236Z,1761514081.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:01.238Z,1761514081.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 292.904999 m,
      bearing: 34.954192 deg,
      approach rate: -0.654544 m/s,
      LOS rate: 0.001540 deg/s,
      cmd heading: 38.590415 deg,
      new cmd heading: 38.592487 deg.

2025-10-26T21:28:01.239Z,1761514081.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673566 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:01.349Z,1761514081.349 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:01.349Z,1761514081.349 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:01.349Z,1761514081.349 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:01.563Z,1761514081.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780390,-0.622093,-0.063183],[0.623662,0.767078,0.150453],[-0.045130,-0.156817,0.986596]]
2025-10-26T21:28:01.600Z,1761514081.600 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:01.600Z,1761514081.600 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:01.600Z,1761514081.600 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:01.607Z,1761514081.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:01.610Z,1761514081.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 292.681763 m,
      bearing: 34.955080 deg,
      approach rate: -0.634559 m/s,
      LOS rate: 0.002525 deg/s,
      cmd heading: 38.592488 deg,
      new cmd heading: 38.595153 deg.

2025-10-26T21:28:01.611Z,1761514081.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673612 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:01.852Z,1761514081.852 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:01.852Z,1761514081.852 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:01.853Z,1761514081.853 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:01.969Z,1761514081.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781617,-0.620278,-0.065807],[0.622111,0.767539,0.154471],[-0.045305,-0.161677,0.985803]]
2025-10-26T21:28:01.987Z,1761514081.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:01.990Z,1761514081.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 292.428467 m,
      bearing: 34.956177 deg,
      approach rate: -0.633834 m/s,
      LOS rate: 0.002747 deg/s,
      cmd heading: 38.595152 deg,
      new cmd heading: 38.598445 deg.

2025-10-26T21:28:01.990Z,1761514081.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673670 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:02.105Z,1761514082.105 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:02.105Z,1761514082.105 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:02.105Z,1761514082.105 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:02.356Z,1761514082.356 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:02.356Z,1761514082.356 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:02.356Z,1761514082.356 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:02.383Z,1761514082.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782788,-0.618672,-0.067000],[0.620622,0.768279,0.156766],[-0.045512,-0.164296,0.985361]]
2025-10-26T21:28:02.445Z,1761514082.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:02.448Z,1761514082.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 292.144409 m,
      bearing: 34.956726 deg,
      approach rate: -0.620397 m/s,
      LOS rate: 0.001201 deg/s,
      cmd heading: 38.598444 deg,
      new cmd heading: 38.600093 deg.

2025-10-26T21:28:02.449Z,1761514082.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673699 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:02.608Z,1761514082.608 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:02.608Z,1761514082.608 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:02.608Z,1761514082.608 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:02.770Z,1761514082.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783997,-0.617057,-0.067737],[0.619071,0.769136,0.158683],[-0.045818,-0.166341,0.985003]]
2025-10-26T21:28:02.804Z,1761514082.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:02.806Z,1761514082.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 291.909637 m,
      bearing: 34.957269 deg,
      approach rate: -0.654009 m/s,
      LOS rate: 0.001513 deg/s,
      cmd heading: 38.600094 deg,
      new cmd heading: 38.601723 deg.

2025-10-26T21:28:02.812Z,1761514082.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673727 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:02.860Z,1761514082.860 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:02.861Z,1761514082.861 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:02.861Z,1761514082.861 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:03.112Z,1761514083.112 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:03.112Z,1761514083.112 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:03.112Z,1761514083.112 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:03.211Z,1761514083.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784828,-0.616051,-0.067276],[0.618017,0.770028,0.158470],[-0.045821,-0.165949,0.985069]]
2025-10-26T21:28:03.253Z,1761514083.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:03.256Z,1761514083.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:03.258Z,1761514083.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 291.619598 m,
      bearing: 34.958098 deg,
      approach rate: -0.641999 m/s,
      LOS rate: 0.001837 deg/s,
      cmd heading: 38.601723 deg,
      new cmd heading: 38.604212 deg.

2025-10-26T21:28:03.259Z,1761514083.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673771 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:03.365Z,1761514083.365 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:03.365Z,1761514083.365 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:03.365Z,1761514083.365 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:03.588Z,1761514083.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785124,-0.615692,-0.067111],[0.617633,0.770314,0.158576],[-0.045937,-0.165951,0.985063]]
2025-10-26T21:28:03.607Z,1761514083.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:03.616Z,1761514083.616 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:03.616Z,1761514083.616 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:03.616Z,1761514083.616 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:03.626Z,1761514083.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 291.401276 m,
      bearing: 34.958744 deg,
      approach rate: -0.621084 m/s,
      LOS rate: 0.001839 deg/s,
      cmd heading: 38.604212 deg,
      new cmd heading: 38.606151 deg.

2025-10-26T21:28:03.627Z,1761514083.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673804 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:03.869Z,1761514083.869 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:03.869Z,1761514083.869 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:03.870Z,1761514083.870 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:04.002Z,1761514084.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785305,-0.615440,-0.067305],[0.617404,0.770438,0.158868],[-0.045919,-0.166314,0.985003]]
2025-10-26T21:28:04.030Z,1761514084.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:04.033Z,1761514084.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 291.139221 m,
      bearing: 34.959535 deg,
      approach rate: -0.618629 m/s,
      LOS rate: 0.001869 deg/s,
      cmd heading: 38.606152 deg,
      new cmd heading: 38.608527 deg.

2025-10-26T21:28:04.034Z,1761514084.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673846 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:04.120Z,1761514084.120 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:04.120Z,1761514084.120 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:04.120Z,1761514084.120 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:04.372Z,1761514084.372 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:04.372Z,1761514084.372 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:04.372Z,1761514084.372 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:04.394Z,1761514084.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785514,-0.615145,-0.067562],[0.617143,0.770584,0.159172],[-0.045852,-0.166728,0.984936]]
2025-10-26T21:28:04.455Z,1761514084.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:04.458Z,1761514084.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 290.869629 m,
      bearing: 34.959469 deg,
      approach rate: -0.635838 m/s,
      LOS rate: -0.000154 deg/s,
      cmd heading: 38.608525 deg,
      new cmd heading: 38.608329 deg.

2025-10-26T21:28:04.458Z,1761514084.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673842 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:04.624Z,1761514084.624 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:04.624Z,1761514084.624 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:04.624Z,1761514084.624 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:04.799Z,1761514084.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785324,-0.615346,-0.067941],[0.617422,0.770444,0.158765],[-0.045350,-0.166630,0.984976]]
2025-10-26T21:28:04.821Z,1761514084.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:04.824Z,1761514084.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 290.627960 m,
      bearing: 34.959395 deg,
      approach rate: -0.659400 m/s,
      LOS rate: -0.000204 deg/s,
      cmd heading: 38.608331 deg,
      new cmd heading: 38.608106 deg.

2025-10-26T21:28:04.825Z,1761514084.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673839 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:04.879Z,1761514084.879 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:04.880Z,1761514084.880 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:04.880Z,1761514084.880 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:05.128Z,1761514085.128 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:05.128Z,1761514085.128 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:05.128Z,1761514085.128 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:05.252Z,1761514085.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785623,-0.614938,-0.068170],[0.617039,0.770655,0.159230],[-0.045381,-0.167158,0.984885]]
2025-10-26T21:28:05.304Z,1761514085.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:05.306Z,1761514085.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:05.313Z,1761514085.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 290.327576 m,
      bearing: 34.958716 deg,
      approach rate: -0.619776 m/s,
      LOS rate: -0.001402 deg/s,
      cmd heading: 38.608105 deg,
      new cmd heading: 38.606067 deg.

2025-10-26T21:28:05.314Z,1761514085.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673803 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:05.381Z,1761514085.381 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:05.381Z,1761514085.381 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:05.381Z,1761514085.381 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:05.606Z,1761514085.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785833,-0.614781,-0.067164],[0.616768,0.771097,0.158134],[-0.045428,-0.165691,0.985131]]
2025-10-26T21:28:05.624Z,1761514085.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:05.627Z,1761514085.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 290.116882 m,
      bearing: 34.958254 deg,
      approach rate: -0.661341 m/s,
      LOS rate: -0.001451 deg/s,
      cmd heading: 38.606067 deg,
      new cmd heading: 38.604680 deg.

2025-10-26T21:28:05.628Z,1761514085.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673779 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:05.632Z,1761514085.632 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:05.632Z,1761514085.632 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:05.632Z,1761514085.632 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:05.884Z,1761514085.884 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:05.885Z,1761514085.885 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:05.885Z,1761514085.885 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:28:06.019Z,1761514086.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785541,-0.615277,-0.066033],[0.617159,0.771182,0.156186],[-0.045175,-0.163443,0.985518]]
2025-10-26T21:28:06.055Z,1761514086.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:06.058Z,1761514086.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 289.852875 m,
      bearing: 34.957650 deg,
      approach rate: -0.618395 m/s,
      LOS rate: -0.001415 deg/s,
      cmd heading: 38.604680 deg,
      new cmd heading: 38.602867 deg.

2025-10-26T21:28:06.059Z,1761514086.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673747 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:06.137Z,1761514086.137 [DAT](INFO): Reached modem response timeout
2025-10-26T21:28:06.137Z,1761514086.137 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:06.137Z,1761514086.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:28:06.388Z,1761514086.388 [DAT](INFO): DAT read: 

2025-10-26T21:28:06.389Z,1761514086.389 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:06.415Z,1761514086.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785513,-0.615323,-0.065937],[0.617216,0.771258,0.155580],[-0.044877,-0.162908,0.985620]]
2025-10-26T21:28:06.465Z,1761514086.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:06.484Z,1761514086.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 289.574524 m,
      bearing: 34.957403 deg,
      approach rate: -0.672217 m/s,
      LOS rate: -0.000597 deg/s,
      cmd heading: 38.602867 deg,
      new cmd heading: 38.602124 deg.

2025-10-26T21:28:06.485Z,1761514086.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673734 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:06.640Z,1761514086.640 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:06.818Z,1761514086.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785493,-0.615362,-0.065806],[0.617259,0.771338,0.155015],[-0.044631,-0.162382,0.985718]]
2025-10-26T21:28:06.853Z,1761514086.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:06.856Z,1761514086.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 289.331543 m,
      bearing: 34.957185 deg,
      approach rate: -0.626634 m/s,
      LOS rate: -0.000563 deg/s,
      cmd heading: 38.602125 deg,
      new cmd heading: 38.601470 deg.

2025-10-26T21:28:06.857Z,1761514086.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673723 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:06.892Z,1761514086.892 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:07.144Z,1761514087.144 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:07.262Z,1761514087.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785693,-0.615064,-0.066210],[0.617028,0.771507,0.155090],[-0.044309,-0.162707,0.985679]]
2025-10-26T21:28:07.312Z,1761514087.312 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:07.314Z,1761514087.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:07.317Z,1761514087.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 289.015778 m,
      bearing: 34.957062 deg,
      approach rate: -0.684693 m/s,
      LOS rate: -0.000266 deg/s,
      cmd heading: 38.601470 deg,
      new cmd heading: 38.601101 deg.

2025-10-26T21:28:07.318Z,1761514087.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673716 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:07.397Z,1761514087.397 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:07.626Z,1761514087.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785498,-0.615401,-0.065378],[0.617297,0.771613,0.153482],[-0.044007,-0.160918,0.985986]]
2025-10-26T21:28:07.648Z,1761514087.648 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:07.664Z,1761514087.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:07.666Z,1761514087.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 288.797150 m,
      bearing: 34.956963 deg,
      approach rate: -0.663913 m/s,
      LOS rate: -0.000300 deg/s,
      cmd heading: 38.601101 deg,
      new cmd heading: 38.600804 deg.

2025-10-26T21:28:07.671Z,1761514087.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673711 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:07.900Z,1761514087.900 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:08.033Z,1761514088.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785582,-0.615295,-0.065376],[0.617221,0.771802,0.152839],[-0.043583,-0.160419,0.986086]]
2025-10-26T21:28:08.067Z,1761514088.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:08.069Z,1761514088.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 288.524231 m,
      bearing: 34.956846 deg,
      approach rate: -0.644899 m/s,
      LOS rate: -0.000277 deg/s,
      cmd heading: 38.600804 deg,
      new cmd heading: 38.600452 deg.

2025-10-26T21:28:08.070Z,1761514088.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673705 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:08.153Z,1761514088.153 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:08.404Z,1761514088.404 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:28:08.405Z,1761514088.405 [DAT](INFO): response not received
2025-10-26T21:28:08.405Z,1761514088.405 [DAT](INFO): DAT read: user:252>Tx time:21:28:07.6452

2025-10-26T21:28:08.406Z,1761514088.406 [DAT](ERROR): No response from remote modem.
2025-10-26T21:28:08.406Z,1761514088.406 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:08.406Z,1761514088.406 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:28:08.451Z,1761514088.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785536,-0.615389,-0.065037],[0.617298,0.771912,0.151970],[-0.043317,-0.159525,0.986243]]
2025-10-26T21:28:08.534Z,1761514088.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:08.541Z,1761514088.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 288.226166 m,
      bearing: 34.955258 deg,
      approach rate: -0.637881 m/s,
      LOS rate: -0.003403 deg/s,
      cmd heading: 38.600452 deg,
      new cmd heading: 38.595682 deg.

2025-10-26T21:28:08.542Z,1761514088.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673622 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:08.656Z,1761514088.656 [DAT](INFO): DAT read: 

2025-10-26T21:28:08.657Z,1761514088.657 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:08.838Z,1761514088.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785512,-0.615396,-0.065256],[0.617351,0.771918,0.151727],[-0.043000,-0.159469,0.986266]]
2025-10-26T21:28:08.868Z,1761514088.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:08.870Z,1761514088.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 287.995972 m,
      bearing: 34.954026 deg,
      approach rate: -0.690496 m/s,
      LOS rate: -0.003698 deg/s,
      cmd heading: 38.595681 deg,
      new cmd heading: 38.591983 deg.

2025-10-26T21:28:08.871Z,1761514088.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673557 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:08.909Z,1761514088.909 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:09.160Z,1761514089.160 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:09.274Z,1761514089.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785442,-0.615462,-0.065469],[0.617462,0.771883,0.151453],[-0.042679,-0.159382,0.986294]]
2025-10-26T21:28:09.335Z,1761514089.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:09.337Z,1761514089.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:09.340Z,1761514089.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 287.681549 m,
      bearing: 34.951989 deg,
      approach rate: -0.669088 m/s,
      LOS rate: -0.004340 deg/s,
      cmd heading: 38.591983 deg,
      new cmd heading: 38.585864 deg.

2025-10-26T21:28:09.341Z,1761514089.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673450 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:09.412Z,1761514089.412 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:09.664Z,1761514089.664 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:09.686Z,1761514089.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:09.705Z,1761514089.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 287.451202 m,
      bearing: 34.950493 deg,
      approach rate: -0.661091 m/s,
      LOS rate: -0.004295 deg/s,
      cmd heading: 38.585863 deg,
      new cmd heading: 38.581373 deg.

2025-10-26T21:28:09.707Z,1761514089.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673372 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:09.916Z,1761514089.916 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:10.093Z,1761514090.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:10.096Z,1761514090.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 287.175018 m,
      bearing: 34.948697 deg,
      approach rate: -0.677689 m/s,
      LOS rate: -0.004411 deg/s,
      cmd heading: 38.581372 deg,
      new cmd heading: 38.575979 deg.

2025-10-26T21:28:10.097Z,1761514090.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673278 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:10.168Z,1761514090.168 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:10.420Z,1761514090.420 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:10.614Z,1761514090.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785119,-0.616054,-0.063768],[0.617987,0.772420,0.146489],[-0.040990,-0.154419,0.987155]]
2025-10-26T21:28:10.672Z,1761514090.672 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:10.680Z,1761514090.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:10.682Z,1761514090.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 286.783234 m,
      bearing: 34.945292 deg,
      approach rate: -0.673055 m/s,
      LOS rate: -0.005857 deg/s,
      cmd heading: 38.575980 deg,
      new cmd heading: 38.565751 deg.

2025-10-26T21:28:10.683Z,1761514090.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673099 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:10.925Z,1761514090.925 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:11.136Z,1761514091.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785151,-0.615808,-0.065713],[0.617980,0.772115,0.148120],[-0.040475,-0.156905,0.986784]]
2025-10-26T21:28:11.160Z,1761514091.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:11.162Z,1761514091.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 286.449860 m,
      bearing: 34.942388 deg,
      approach rate: -0.688660 m/s,
      LOS rate: -0.006007 deg/s,
      cmd heading: 38.565751 deg,
      new cmd heading: 38.557027 deg.

2025-10-26T21:28:11.163Z,1761514091.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.672947 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:11.176Z,1761514091.176 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:11.428Z,1761514091.428 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:11.596Z,1761514091.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785344,-0.615425,-0.066979],[0.617758,0.772083,0.149207],[-0.040112,-0.158555,0.986535]]
2025-10-26T21:28:11.631Z,1761514091.631 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:11.633Z,1761514091.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:11.636Z,1761514091.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 286.128815 m,
      bearing: 34.938011 deg,
      approach rate: -0.677249 m/s,
      LOS rate: -0.009243 deg/s,
      cmd heading: 38.557026 deg,
      new cmd heading: 38.543880 deg.

2025-10-26T21:28:11.637Z,1761514091.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.672718 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:11.685Z,1761514091.685 [DAT](INFO): DAT read: Rx Time:21:28:10.4359

2025-10-26T21:28:11.686Z,1761514091.686 [DAT](INFO): Rx dataTimestamp_ set to:1761514091.685921
2025-10-26T21:28:11.687Z,1761514091.687 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:11.932Z,1761514091.932 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:12.010Z,1761514092.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785593,-0.614999,-0.067978],[0.617465,0.772163,0.150002],[-0.039761,-0.159815,0.986346]]
2025-10-26T21:28:12.041Z,1761514092.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.39 m.
2025-10-26T21:28:12.044Z,1761514092.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.387604 m,
      nav range: 285.852173 m,
      bearing: 34.934253 deg,
      approach rate: -0.678986 m/s,
      LOS rate: -0.009233 deg/s,
      cmd heading: 38.543881 deg,
      new cmd heading: 38.532595 deg.

2025-10-26T21:28:12.045Z,1761514092.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.672521 target range: 298.387604 and range: 300.30 m.
2025-10-26T21:28:12.186Z,1761514092.186 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:12.442Z,1761514092.442 [DAT](INFO): DAT read: 21:28:10.4359 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 324,-0.39, 2.673, 1.226, 2.943, 2.041, PHS= 0.734,-0.770, 0.858, RAW= 153.9, -10.5, CAL= 154.8, -12.2, ROT= 355.2,  12.2

2025-10-26T21:28:12.444Z,1761514092.444 [DAT](INFO): got valid direction response:
 21:28:10.4359 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 324,-0.39, 2.673, 1.226, 2.943, 2.041, PHS= 0.734,-0.770, 0.858, RAW= 153.9, -10.5, CAL= 154.8, -12.2, ROT= 355.2,  12.2

2025-10-26T21:28:12.445Z,1761514092.445 [DAT](INFO): DAT read: Bearing 171.3,  -4.7 (Local)

2025-10-26T21:28:12.445Z,1761514092.445 [DAT](INFO): Local bearing/azimuth received:
 Bearing 171.3,  -4.7 (Local)

2025-10-26T21:28:12.447Z,1761514092.447 [DAT](INFO): DAT read: Range 11 to 50 : 290.0 m  (Round-trip  386.7 ms) speed  0.6 m/s

2025-10-26T21:28:12.448Z,1761514092.448 [DAT](INFO): DAT read: Tx time:21:28:11.4951

2025-10-26T21:28:12.448Z,1761514092.448 [DAT](INFO): Ping request sent.
2025-10-26T21:28:12.448Z,1761514092.448 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:28:12.449Z,1761514092.449 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:28:12.450Z,1761514092.450 [DAT](INFO): direction in FSK: [0.973988,-0.081788,-0.211325]
2025-10-26T21:28:12.450Z,1761514092.450 [DAT](INFO): publishing transmit ping time
2025-10-26T21:28:12.450Z,1761514092.450 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:12.453Z,1761514092.453 [DAT](INFO): publishing transmit ping time
2025-10-26T21:28:12.454Z,1761514092.454 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:12.591Z,1761514092.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 290.000000 m,
      deltaT: 16.631168 s,
      deltaX: -10.299988 m,
      approachRate: -0.619318 m/s,
      rangeRepo size: 4

2025-10-26T21:28:12.597Z,1761514092.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 288.155487 m,
      bearing: 31.401243 deg,
      lat: 36.779533 deg,
      lon: -121.859080 deg,
      deltaT: 16.631168 s,
      deltaX: -10.232117 m,
      approachRate: -0.615237 m/s,
      posRepo size: 4

2025-10-26T21:28:12.600Z,1761514092.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.16 m.
2025-10-26T21:28:12.602Z,1761514092.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.155487 m,
      nav range: 286.112305 m,
      bearing: 34.840574 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009233 deg/s,
      cmd heading: 38.532594 deg,
      new cmd heading: 38.517380 deg.

2025-10-26T21:28:12.604Z,1761514092.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.672255 target range: 288.155487 and range: 290.00 m.
2025-10-26T21:28:12.909Z,1761514092.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784656,-0.615806,-0.071393],[0.618792,0.771025,0.150394],[-0.037567,-0.162185,0.986045]]
2025-10-26T21:28:12.928Z,1761514092.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.16 m.
2025-10-26T21:28:12.931Z,1761514092.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.155487 m,
      nav range: 285.855011 m,
      bearing: 34.835644 deg,
      approach rate: -0.762451 m/s,
      LOS rate: -0.014622 deg/s,
      cmd heading: 38.517380 deg,
      new cmd heading: 38.502577 deg.

2025-10-26T21:28:12.932Z,1761514092.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.671997 target range: 288.155487 and range: 290.00 m.
2025-10-26T21:28:13.352Z,1761514093.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784154,-0.616386,-0.071907],[0.619462,0.770582,0.149901],[-0.036987,-0.162089,0.986083]]
2025-10-26T21:28:13.383Z,1761514093.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.16 m.
2025-10-26T21:28:13.386Z,1761514093.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.155487 m,
      nav range: 285.537598 m,
      bearing: 34.829496 deg,
      approach rate: -0.697034 m/s,
      LOS rate: -0.013516 deg/s,
      cmd heading: 38.502579 deg,
      new cmd heading: 38.484114 deg.

2025-10-26T21:28:13.387Z,1761514093.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.671674 target range: 288.155487 and range: 290.00 m.
2025-10-26T21:28:13.608Z,1761514093.608 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:28:13.733Z,1761514093.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783350,-0.617358,-0.072334],[0.620524,0.769924,0.148885],[-0.036224,-0.161514,0.986205]]
2025-10-26T21:28:13.756Z,1761514093.756 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:13.758Z,1761514093.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.16 m.
2025-10-26T21:28:13.761Z,1761514093.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.155487 m,
      nav range: 285.275177 m,
      bearing: 34.824331 deg,
      approach rate: -0.698985 m/s,
      LOS rate: -0.013769 deg/s,
      cmd heading: 38.484113 deg,
      new cmd heading: 38.468606 deg.

2025-10-26T21:28:13.762Z,1761514093.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.671404 target range: 288.155487 and range: 290.00 m.
2025-10-26T21:28:13.948Z,1761514093.948 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:13.948Z,1761514093.948 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:13.948Z,1761514093.948 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:28:14.118Z,1761514094.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782755,-0.618085,-0.072566],[0.621318,0.769503,0.147746],[-0.035480,-0.160736,0.986360]]
2025-10-26T21:28:14.152Z,1761514094.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.16 m.
2025-10-26T21:28:14.155Z,1761514094.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.155487 m,
      nav range: 285.010956 m,
      bearing: 34.819069 deg,
      approach rate: -0.670818 m/s,
      LOS rate: -0.013374 deg/s,
      cmd heading: 38.468606 deg,
      new cmd heading: 38.452803 deg.

2025-10-26T21:28:14.156Z,1761514094.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.671128 target range: 288.155487 and range: 290.00 m.
2025-10-26T21:28:14.200Z,1761514094.200 [DAT](INFO): DAT read: user:253>

2025-10-26T21:28:14.201Z,1761514094.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752786
2025-10-26T21:28:14.452Z,1761514094.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004008
2025-10-26T21:28:14.525Z,1761514094.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782023,-0.618964,-0.072962],[0.622279,0.768907,0.146800],[-0.034763,-0.160204,0.986472]]
2025-10-26T21:28:14.569Z,1761514094.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.16 m.
2025-10-26T21:28:14.571Z,1761514094.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.155487 m,
      nav range: 284.724213 m,
      bearing: 34.812417 deg,
      approach rate: -0.688692 m/s,
      LOS rate: -0.015991 deg/s,
      cmd heading: 38.452804 deg,
      new cmd heading: 38.432830 deg.

2025-10-26T21:28:14.572Z,1761514094.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670779 target range: 288.155487 and range: 290.00 m.
2025-10-26T21:28:14.612Z,1761514094.612 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:28:14.709Z,1761514094.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260639
2025-10-26T21:28:14.928Z,1761514094.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781189,-0.620000,-0.073103],[0.623359,0.768242,0.145698],[-0.034172,-0.159387,0.986624]]
2025-10-26T21:28:14.947Z,1761514094.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.16 m.
2025-10-26T21:28:14.949Z,1761514094.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.155487 m,
      nav range: 284.473785 m,
      bearing: 34.806527 deg,
      approach rate: -0.662599 m/s,
      LOS rate: -0.015598 deg/s,
      cmd heading: 38.432829 deg,
      new cmd heading: 38.415144 deg.

2025-10-26T21:28:14.950Z,1761514094.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670471 target range: 288.155487 and range: 290.00 m.
2025-10-26T21:28:14.960Z,1761514094.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512134
2025-10-26T21:28:15.212Z,1761514095.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764053
2025-10-26T21:28:15.348Z,1761514095.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780136,-0.621430,-0.072195],[0.624695,0.767550,0.143612],[-0.033832,-0.157137,0.986997]]
2025-10-26T21:28:15.428Z,1761514095.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.16 m.
2025-10-26T21:28:15.430Z,1761514095.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.155487 m,
      nav range: 284.150513 m,
      bearing: 34.800604 deg,
      approach rate: -0.672058 m/s,
      LOS rate: -0.012329 deg/s,
      cmd heading: 38.415142 deg,
      new cmd heading: 38.397351 deg.

2025-10-26T21:28:15.432Z,1761514095.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670160 target range: 288.155487 and range: 290.00 m.
2025-10-26T21:28:15.465Z,1761514095.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016682
2025-10-26T21:28:15.717Z,1761514095.717 [DAT](INFO): DAT read: Rx Time:21:28:14.2614

2025-10-26T21:28:15.718Z,1761514095.718 [DAT](INFO): Rx dataTimestamp_ set to:1761514095.717819
2025-10-26T21:28:15.719Z,1761514095.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270647
2025-10-26T21:28:15.738Z,1761514095.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779612,-0.622153,-0.071631],[0.625360,0.767242,0.142351],[-0.033606,-0.155774,0.987221]]
2025-10-26T21:28:15.788Z,1761514095.788 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:15.790Z,1761514095.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.16 m.
2025-10-26T21:28:15.793Z,1761514095.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.155487 m,
      nav range: 283.907654 m,
      bearing: 34.796100 deg,
      approach rate: -0.670490 m/s,
      LOS rate: -0.012445 deg/s,
      cmd heading: 38.397350 deg,
      new cmd heading: 38.383827 deg.

2025-10-26T21:28:15.794Z,1761514095.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.669924 target range: 288.155487 and range: 290.00 m.
2025-10-26T21:28:15.968Z,1761514095.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520074
2025-10-26T21:28:16.138Z,1761514096.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778890,-0.623262,-0.069818],[0.626264,0.766995,0.139685],[-0.033510,-0.152524,0.987732]]
2025-10-26T21:28:16.176Z,1761514096.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.16 m.
2025-10-26T21:28:16.179Z,1761514096.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.155487 m,
      nav range: 283.647919 m,
      bearing: 34.791207 deg,
      approach rate: -0.671756 m/s,
      LOS rate: -0.012665 deg/s,
      cmd heading: 38.383826 deg,
      new cmd heading: 38.369135 deg.

2025-10-26T21:28:16.180Z,1761514096.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.669668 target range: 288.155487 and range: 290.00 m.
2025-10-26T21:28:16.229Z,1761514096.229 [DAT](INFO): DAT read: 21:28:14.2614 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 441, 0.23,-1.221,-2.682,-0.825,-1.278, PHS= 0.159,-1.359, 0.410, RAW= 157.5,   9.6, CAL= 157.3,  10.3, ROT= 352.7, -10.3

2025-10-26T21:28:16.231Z,1761514096.231 [DAT](INFO): got valid direction response:
 21:28:14.2614 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 441, 0.23,-1.221,-2.682,-0.825,-1.278, PHS= 0.159,-1.359, 0.410, RAW= 157.5,   9.6, CAL= 157.3,  10.3, ROT= 352.7, -10.3

2025-10-26T21:28:16.232Z,1761514096.232 [DAT](INFO): DAT read: Bearing 193.9, -11.0 (Local)

2025-10-26T21:28:16.233Z,1761514096.233 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.9, -11.0 (Local)

2025-10-26T21:28:16.235Z,1761514096.235 [DAT](INFO): DAT read: Range 11 to 50 : 271.6 m  (Round-trip  362.2 ms) speed  0.4 m/s

2025-10-26T21:28:16.237Z,1761514096.237 [DAT](INFO): DAT read: user:254>Tx time:21:28:15.3451

2025-10-26T21:28:16.238Z,1761514096.238 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:28:16.240Z,1761514096.240 [DAT](INFO): direction in FSK: [0.975910,-0.125017,0.178802]
2025-10-26T21:28:16.240Z,1761514096.240 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:16.251Z,1761514096.251 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:16.252Z,1761514096.252 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:16.252Z,1761514096.252 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:28:16.472Z,1761514096.472 [DAT](INFO): DAT read: 

2025-10-26T21:28:16.473Z,1761514096.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.024831
2025-10-26T21:28:16.542Z,1761514096.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778072,-0.624275,-0.069896],[0.627312,0.766345,0.138545],[-0.032926,-0.151645,0.987886]]
2025-10-26T21:28:16.607Z,1761514096.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 271.600006 m,
      deltaT: 3.784760 s,
      deltaX: -18.399994 m,
      approachRate: -4.861601 m/s,
      rangeRepo size: 4

2025-10-26T21:28:16.613Z,1761514096.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 269.875305 m,
      bearing: 33.267212 deg,
      lat: 36.779533 deg,
      lon: -121.859156 deg,
      deltaT: 3.784760 s,
      deltaX: -18.280182 m,
      approachRate: -4.829945 m/s,
      posRepo size: 4

2025-10-26T21:28:16.614Z,1761514096.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.88 m.
2025-10-26T21:28:16.621Z,1761514096.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.875305 m,
      nav range: 279.583405 m,
      bearing: 33.649277 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012665 deg/s,
      cmd heading: 38.369134 deg,
      new cmd heading: 38.352809 deg.

2025-10-26T21:28:16.622Z,1761514096.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.669383 target range: 269.875305 and range: 271.60 m.
2025-10-26T21:28:16.725Z,1761514096.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.276975
2025-10-26T21:28:16.946Z,1761514096.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777814,-0.624579,-0.070047],[0.627648,0.766145,0.138130],[-0.032607,-0.151404,0.987934]]
2025-10-26T21:28:16.972Z,1761514096.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.88 m.
2025-10-26T21:28:16.974Z,1761514096.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.875305 m,
      nav range: 279.332245 m,
      bearing: 33.644829 deg,
      approach rate: -0.686718 m/s,
      LOS rate: -0.012172 deg/s,
      cmd heading: 38.352810 deg,
      new cmd heading: 38.339454 deg.

2025-10-26T21:28:16.976Z,1761514096.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.528137
2025-10-26T21:28:16.977Z,1761514096.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.669150 target range: 269.875305 and range: 271.60 m.
2025-10-26T21:28:17.228Z,1761514097.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.780080
2025-10-26T21:28:17.362Z,1761514097.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777834,-0.624539,-0.070175],[0.627635,0.766190,0.137938],[-0.032380,-0.151338,0.987952]]
2025-10-26T21:28:17.430Z,1761514097.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.88 m.
2025-10-26T21:28:17.442Z,1761514097.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.875305 m,
      nav range: 279.037750 m,
      bearing: 33.639605 deg,
      approach rate: -0.642414 m/s,
      LOS rate: -0.011409 deg/s,
      cmd heading: 38.339453 deg,
      new cmd heading: 38.323763 deg.

2025-10-26T21:28:17.443Z,1761514097.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668876 target range: 269.875305 and range: 271.60 m.
2025-10-26T21:28:17.482Z,1761514097.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.033866
2025-10-26T21:28:17.733Z,1761514097.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.284478
2025-10-26T21:28:17.755Z,1761514097.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778356,-0.623731,-0.071566],[0.627011,0.766486,0.139126],[-0.031923,-0.153162,0.987685]]
2025-10-26T21:28:17.803Z,1761514097.803 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:17.805Z,1761514097.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.88 m.
2025-10-26T21:28:17.808Z,1761514097.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.875305 m,
      nav range: 278.800629 m,
      bearing: 33.638067 deg,
      approach rate: -0.632778 m/s,
      LOS rate: -0.004109 deg/s,
      cmd heading: 38.323765 deg,
      new cmd heading: 38.319145 deg.

2025-10-26T21:28:17.809Z,1761514097.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668795 target range: 269.875305 and range: 271.60 m.
2025-10-26T21:28:17.985Z,1761514097.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.536848
2025-10-26T21:28:18.159Z,1761514098.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779043,-0.622766,-0.072483],[0.626186,0.767070,0.139622],[-0.031352,-0.154160,0.987548]]
2025-10-26T21:28:18.178Z,1761514098.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.88 m.
2025-10-26T21:28:18.181Z,1761514098.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.875305 m,
      nav range: 278.564056 m,
      bearing: 33.636581 deg,
      approach rate: -0.634300 m/s,
      LOS rate: -0.003985 deg/s,
      cmd heading: 38.319144 deg,
      new cmd heading: 38.314685 deg.

2025-10-26T21:28:18.182Z,1761514098.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668717 target range: 269.875305 and range: 271.60 m.
2025-10-26T21:28:18.237Z,1761514098.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.788930
2025-10-26T21:28:18.493Z,1761514098.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.043627
2025-10-26T21:28:18.562Z,1761514098.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779476,-0.622198,-0.072709],[0.625663,0.767508,0.139557],[-0.031028,-0.154273,0.987541]]
2025-10-26T21:28:18.618Z,1761514098.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.88 m.
2025-10-26T21:28:18.625Z,1761514098.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.875305 m,
      nav range: 278.290192 m,
      bearing: 33.635520 deg,
      approach rate: -0.621812 m/s,
      LOS rate: -0.002411 deg/s,
      cmd heading: 38.314684 deg,
      new cmd heading: 38.311498 deg.

2025-10-26T21:28:18.626Z,1761514098.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668662 target range: 269.875305 and range: 271.60 m.
2025-10-26T21:28:18.741Z,1761514098.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.292572
2025-10-26T21:28:18.968Z,1761514098.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780078,-0.621342,-0.073569],[0.624949,0.768067,0.139685],[-0.030286,-0.154942,0.987459]]
2025-10-26T21:28:18.993Z,1761514098.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.544721
2025-10-26T21:28:18.999Z,1761514098.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.88 m.
2025-10-26T21:28:19.024Z,1761514099.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.875305 m,
      nav range: 278.040588 m,
      bearing: 33.634599 deg,
      approach rate: -0.656707 m/s,
      LOS rate: -0.002426 deg/s,
      cmd heading: 38.311498 deg,
      new cmd heading: 38.308732 deg.

2025-10-26T21:28:19.025Z,1761514099.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668613 target range: 269.875305 and range: 271.60 m.
2025-10-26T21:28:19.245Z,1761514099.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.796220
2025-10-26T21:28:19.374Z,1761514099.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781339,-0.619589,-0.074961],[0.623408,0.769132,0.140707],[-0.029525,-0.156671,0.987209]]
2025-10-26T21:28:19.452Z,1761514099.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.88 m.
2025-10-26T21:28:19.455Z,1761514099.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.875305 m,
      nav range: 277.778900 m,
      bearing: 33.633738 deg,
      approach rate: -0.576829 m/s,
      LOS rate: -0.001900 deg/s,
      cmd heading: 38.308731 deg,
      new cmd heading: 38.306146 deg.

2025-10-26T21:28:19.460Z,1761514099.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668568 target range: 269.875305 and range: 271.60 m.
2025-10-26T21:28:19.498Z,1761514099.498 [DAT](INFO): DAT read: Rx Time:21:28:18.1088

2025-10-26T21:28:19.499Z,1761514099.499 [DAT](INFO): Rx dataTimestamp_ set to:1761514099.498376
2025-10-26T21:28:19.500Z,1761514099.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.050901
2025-10-26T21:28:19.748Z,1761514099.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.300013
2025-10-26T21:28:19.807Z,1761514099.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782322,-0.618236,-0.075869],[0.622210,0.770045,0.141017],[-0.028759,-0.157527,0.987096]]
2025-10-26T21:28:19.851Z,1761514099.851 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:19.853Z,1761514099.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.88 m.
2025-10-26T21:28:19.856Z,1761514099.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.875305 m,
      nav range: 277.485321 m,
      bearing: 33.633431 deg,
      approach rate: -0.732708 m/s,
      LOS rate: -0.000768 deg/s,
      cmd heading: 38.306146 deg,
      new cmd heading: 38.305223 deg.

2025-10-26T21:28:19.857Z,1761514099.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668552 target range: 269.875305 and range: 271.60 m.
2025-10-26T21:28:20.011Z,1761514100.011 [DAT](INFO): DAT read: 21:28:18.1088 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 415,-0.03, 0.028,-1.507, 0.493,-0.061, PHS= 0.191,-1.401, 0.510, RAW= 159.0,   8.0, CAL= 158.6,   8.2, ROT= 351.4,  -8.2

2025-10-26T21:28:20.012Z,1761514100.012 [DAT](INFO): got valid direction response:
 21:28:18.1088 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 415,-0.03, 0.028,-1.507, 0.493,-0.061, PHS= 0.191,-1.401, 0.510, RAW= 159.0,   8.0, CAL= 158.6,   8.2, ROT= 351.4,  -8.2

2025-10-26T21:28:20.013Z,1761514100.013 [DAT](INFO): DAT read: Bearing 191.2, -11.3 (Local)

2025-10-26T21:28:20.013Z,1761514100.013 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.2, -11.3 (Local)

2025-10-26T21:28:20.015Z,1761514100.015 [DAT](INFO): DAT read: Range 11 to 50 : 269.7 m  (Round-trip  359.6 ms) speed  1.1 m/s

2025-10-26T21:28:20.020Z,1761514100.020 [DAT](INFO): DAT read: user:255>Tx time:21:28:19.1951

2025-10-26T21:28:20.021Z,1761514100.021 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:28:20.022Z,1761514100.022 [DAT](INFO): direction in FSK: [0.978648,-0.148007,0.142629]
2025-10-26T21:28:20.022Z,1761514100.022 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:20.041Z,1761514100.041 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:20.042Z,1761514100.042 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:20.042Z,1761514100.042 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:28:20.210Z,1761514100.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783355,-0.616735,-0.077416],[0.620951,0.770896,0.141916],[-0.027845,-0.159242,0.986847]]
2025-10-26T21:28:20.250Z,1761514100.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 269.700012 m,
      deltaT: 3.780526 s,
      deltaX: -1.899994 m,
      approachRate: -0.502574 m/s,
      rangeRepo size: 4

2025-10-26T21:28:20.252Z,1761514100.252 [DAT](INFO): DAT read: 

2025-10-26T21:28:20.253Z,1761514100.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.804592
2025-10-26T21:28:20.256Z,1761514100.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 267.985138 m,
      bearing: 31.247202 deg,
      lat: 36.779498 deg,
      lon: -121.859256 deg,
      deltaT: 3.780526 s,
      deltaX: -1.890167 m,
      approachRate: -0.499975 m/s,
      posRepo size: 4

2025-10-26T21:28:20.257Z,1761514100.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.99 m.
2025-10-26T21:28:20.264Z,1761514100.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.985138 m,
      nav range: 269.144165 m,
      bearing: 32.517719 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000768 deg/s,
      cmd heading: 38.305224 deg,
      new cmd heading: 38.304310 deg.

2025-10-26T21:28:20.265Z,1761514100.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668536 target range: 267.985138 and range: 269.70 m.
2025-10-26T21:28:20.505Z,1761514100.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.056693
2025-10-26T21:28:20.756Z,1761514100.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.307977
2025-10-26T21:28:20.784Z,1761514100.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.99 m.
2025-10-26T21:28:20.786Z,1761514100.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.985138 m,
      nav range: 268.782440 m,
      bearing: 32.514875 deg,
      approach rate: -0.676997 m/s,
      LOS rate: -0.005331 deg/s,
      cmd heading: 38.304309 deg,
      new cmd heading: 38.295764 deg.

2025-10-26T21:28:20.788Z,1761514100.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668387 target range: 267.985138 and range: 269.70 m.
2025-10-26T21:28:21.009Z,1761514101.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.560303
2025-10-26T21:28:21.251Z,1761514101.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785229,-0.614067,-0.079606],[0.618640,0.772503,0.143261],[-0.026476,-0.161740,0.986478]]
2025-10-26T21:28:21.261Z,1761514101.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.812184
2025-10-26T21:28:21.270Z,1761514101.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.99 m.
2025-10-26T21:28:21.273Z,1761514101.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.985138 m,
      nav range: 268.462677 m,
      bearing: 32.512550 deg,
      approach rate: -0.656704 m/s,
      LOS rate: -0.004780 deg/s,
      cmd heading: 38.295764 deg,
      new cmd heading: 38.288781 deg.

2025-10-26T21:28:21.274Z,1761514101.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668265 target range: 267.985138 and range: 269.70 m.
2025-10-26T21:28:21.513Z,1761514101.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.064625
2025-10-26T21:28:21.731Z,1761514101.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787091,-0.611253,-0.082815],[0.616349,0.774007,0.145005],[-0.024535,-0.165175,0.985959]]
2025-10-26T21:28:21.773Z,1761514101.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324374
2025-10-26T21:28:21.790Z,1761514101.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.99 m.
2025-10-26T21:28:21.797Z,1761514101.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.985138 m,
      nav range: 268.132904 m,
      bearing: 32.509352 deg,
      approach rate: -0.634187 m/s,
      LOS rate: -0.006159 deg/s,
      cmd heading: 38.288780 deg,
      new cmd heading: 38.279173 deg.

2025-10-26T21:28:21.798Z,1761514101.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668098 target range: 267.985138 and range: 269.70 m.
2025-10-26T21:28:22.025Z,1761514102.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.576482
2025-10-26T21:28:22.118Z,1761514102.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787473,-0.610564,-0.084248],[0.615906,0.774342,0.145102],[-0.023357,-0.166152,0.985823]]
2025-10-26T21:28:22.152Z,1761514102.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:22.154Z,1761514102.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.99 m.
2025-10-26T21:28:22.161Z,1761514102.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.985138 m,
      nav range: 267.890747 m,
      bearing: 32.507026 deg,
      approach rate: -0.666712 m/s,
      LOS rate: -0.006409 deg/s,
      cmd heading: 38.279174 deg,
      new cmd heading: 38.272190 deg.

2025-10-26T21:28:22.162Z,1761514102.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.667976 target range: 267.985138 and range: 269.70 m.
2025-10-26T21:28:22.277Z,1761514102.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.828196
2025-10-26T21:28:22.522Z,1761514102.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787714,-0.610061,-0.085630],[0.615647,0.774596,0.144845],[-0.022036,-0.166814,0.985742]]
2025-10-26T21:28:22.528Z,1761514102.528 [DAT](INFO): Reached modem response timeout
2025-10-26T21:28:22.528Z,1761514102.528 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:22.529Z,1761514102.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:28:22.590Z,1761514102.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.99 m.
2025-10-26T21:28:22.596Z,1761514102.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.985138 m,
      nav range: 267.594879 m,
      bearing: 32.500967 deg,
      approach rate: -0.678778 m/s,
      LOS rate: -0.013915 deg/s,
      cmd heading: 38.272190 deg,
      new cmd heading: 38.253993 deg.

2025-10-26T21:28:22.597Z,1761514102.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.667658 target range: 267.985138 and range: 269.70 m.
2025-10-26T21:28:22.780Z,1761514102.780 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:22.929Z,1761514102.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787339,-0.610262,-0.087623],[0.616193,0.774309,0.144055],[-0.020064,-0.167413,0.985683]]
2025-10-26T21:28:22.947Z,1761514102.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.99 m.
2025-10-26T21:28:22.950Z,1761514102.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.985138 m,
      nav range: 267.346710 m,
      bearing: 32.495838 deg,
      approach rate: -0.694795 m/s,
      LOS rate: -0.014372 deg/s,
      cmd heading: 38.253994 deg,
      new cmd heading: 38.238593 deg.

2025-10-26T21:28:22.950Z,1761514102.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.667389 target range: 267.985138 and range: 269.70 m.
2025-10-26T21:28:23.032Z,1761514103.032 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:23.285Z,1761514103.285 [DAT](INFO): DAT read: Rx Time:21:28:21.9764

2025-10-26T21:28:23.285Z,1761514103.285 [DAT](INFO): Rx dataTimestamp_ set to:1761514103.284816
2025-10-26T21:28:23.285Z,1761514103.285 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:23.330Z,1761514103.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786862,-0.610759,-0.088432],[0.616872,0.774288,0.141232],[-0.017787,-0.165682,0.986019]]
2025-10-26T21:28:23.360Z,1761514103.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.99 m.
2025-10-26T21:28:23.362Z,1761514103.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.985138 m,
      nav range: 267.069000 m,
      bearing: 32.490040 deg,
      approach rate: -0.672014 m/s,
      LOS rate: -0.014045 deg/s,
      cmd heading: 38.238592 deg,
      new cmd heading: 38.221180 deg.

2025-10-26T21:28:23.364Z,1761514103.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.667085 target range: 267.985138 and range: 269.70 m.
2025-10-26T21:28:23.537Z,1761514103.537 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:28:23.798Z,1761514103.798 [DAT](INFO): DAT read: 21:28:21.9764 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 120,-0.21,-3.085, 1.920,-2.929, 2.737, PHS= 0.563,-0.772, 0.573, RAW= 150.4,  -5.5, CAL= 150.2,  -6.8, ROT= 359.8,   6.8

2025-10-26T21:28:23.800Z,1761514103.800 [DAT](INFO): got valid direction response:
 21:28:21.9764 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 120,-0.21,-3.085, 1.920,-2.929, 2.737, PHS= 0.563,-0.772, 0.573, RAW= 150.4,  -5.5, CAL= 150.2,  -6.8, ROT= 359.8,   6.8

2025-10-26T21:28:23.801Z,1761514103.801 [DAT](INFO): DAT read: Bearing 177.5,  -0.0 (Local)

2025-10-26T21:28:23.801Z,1761514103.801 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.5,  -0.0 (Local)

2025-10-26T21:28:23.802Z,1761514103.802 [DAT](INFO): DAT read: Range 11 to 50 : 282.9 m  (Round-trip  377.2 ms) speed  0.0 m/s

2025-10-26T21:28:23.803Z,1761514103.803 [DAT](INFO): DAT read: user:256>

2025-10-26T21:28:23.804Z,1761514103.804 [DAT](INFO): DAT read: Tx time:21:28:23.0451

2025-10-26T21:28:23.804Z,1761514103.804 [DAT](INFO): Ping request sent.
2025-10-26T21:28:23.804Z,1761514103.804 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:28:23.805Z,1761514103.805 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:28:23.806Z,1761514103.806 [DAT](INFO): direction in FSK: [0.992959,-0.003466,-0.118404]
2025-10-26T21:28:23.806Z,1761514103.806 [DAT](INFO): publishing transmit ping time
2025-10-26T21:28:23.806Z,1761514103.806 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:23.815Z,1761514103.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785817,-0.611957,-0.089443],[0.618266,0.773695,0.138362],[-0.015470,-0.164027,0.986335]]
2025-10-26T21:28:23.821Z,1761514103.821 [DAT](INFO): publishing transmit ping time
2025-10-26T21:28:23.822Z,1761514103.822 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:23.952Z,1761514103.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 282.899994 m,
      deltaT: 3.788228 s,
      deltaX: 13.199982 m,
      approachRate: 3.484474 m/s,
      rangeRepo size: 4

2025-10-26T21:28:23.954Z,1761514103.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 281.103241 m,
      bearing: 36.874595 deg,
      lat: 36.779479 deg,
      lon: -121.859256 deg,
      deltaT: 3.788228 s,
      deltaX: 13.118103 m,
      approachRate: 3.462860 m/s,
      posRepo size: 4

2025-10-26T21:28:23.955Z,1761514103.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.10 m.
2025-10-26T21:28:23.962Z,1761514103.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.103241 m,
      nav range: 264.958893 m,
      bearing: 32.720364 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014045 deg/s,
      cmd heading: 38.221179 deg,
      new cmd heading: 38.196432 deg.

2025-10-26T21:28:23.963Z,1761514103.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.666654 target range: 281.103241 and range: 282.90 m.
2025-10-26T21:28:24.306Z,1761514104.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784878,-0.612966,-0.090775],[0.619514,0.773161,0.135734],[-0.013016,-0.162771,0.986578]]
2025-10-26T21:28:24.322Z,1761514104.322 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:24.324Z,1761514104.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.10 m.
2025-10-26T21:28:24.327Z,1761514104.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.103241 m,
      nav range: 264.692169 m,
      bearing: 32.713397 deg,
      approach rate: -0.707899 m/s,
      LOS rate: -0.018509 deg/s,
      cmd heading: 38.196433 deg,
      new cmd heading: 38.175511 deg.

2025-10-26T21:28:24.340Z,1761514104.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.666288 target range: 281.103241 and range: 282.90 m.
2025-10-26T21:28:24.544Z,1761514104.544 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:24.544Z,1761514104.544 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:24.545Z,1761514104.545 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:28:24.759Z,1761514104.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.10 m.
2025-10-26T21:28:24.761Z,1761514104.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.103241 m,
      nav range: 264.414093 m,
      bearing: 32.704737 deg,
      approach rate: -0.640080 m/s,
      LOS rate: -0.019955 deg/s,
      cmd heading: 38.175512 deg,
      new cmd heading: 38.149504 deg.

2025-10-26T21:28:24.762Z,1761514104.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.665834 target range: 281.103241 and range: 282.90 m.
2025-10-26T21:28:24.797Z,1761514104.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992372
2025-10-26T21:28:25.049Z,1761514105.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244567
2025-10-26T21:28:25.119Z,1761514105.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782245,-0.616147,-0.091954],[0.622916,0.771646,0.128603],[-0.008282,-0.157878,0.987424]]
2025-10-26T21:28:25.166Z,1761514105.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.10 m.
2025-10-26T21:28:25.169Z,1761514105.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.103241 m,
      nav range: 264.153290 m,
      bearing: 32.696350 deg,
      approach rate: -0.639838 m/s,
      LOS rate: -0.020596 deg/s,
      cmd heading: 38.149503 deg,
      new cmd heading: 38.124317 deg.

2025-10-26T21:28:25.170Z,1761514105.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.665395 target range: 281.103241 and range: 282.90 m.
2025-10-26T21:28:25.305Z,1761514105.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500181
2025-10-26T21:28:25.543Z,1761514105.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780980,-0.617569,-0.093163],[0.624525,0.770723,0.126311],[-0.006203,-0.156830,0.987606]]
2025-10-26T21:28:25.556Z,1761514105.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752022
2025-10-26T21:28:25.592Z,1761514105.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.10 m.
2025-10-26T21:28:25.595Z,1761514105.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.103241 m,
      nav range: 263.883209 m,
      bearing: 32.688578 deg,
      approach rate: -0.634102 m/s,
      LOS rate: -0.018265 deg/s,
      cmd heading: 38.124316 deg,
      new cmd heading: 38.100977 deg.

2025-10-26T21:28:25.596Z,1761514105.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.664988 target range: 281.103241 and range: 282.90 m.
2025-10-26T21:28:25.808Z,1761514105.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004020
2025-10-26T21:28:25.956Z,1761514105.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.10 m.
2025-10-26T21:28:25.959Z,1761514105.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.103241 m,
      nav range: 263.652222 m,
      bearing: 32.681920 deg,
      approach rate: -0.633905 m/s,
      LOS rate: -0.018289 deg/s,
      cmd heading: 38.100977 deg,
      new cmd heading: 38.080984 deg.

2025-10-26T21:28:25.960Z,1761514105.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.664639 target range: 281.103241 and range: 282.90 m.
2025-10-26T21:28:26.061Z,1761514106.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256310
2025-10-26T21:28:26.312Z,1761514106.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507831
2025-10-26T21:28:26.335Z,1761514106.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779351,-0.619282,-0.095400],[0.626580,0.769541,0.123302],[-0.002945,-0.155871,0.987773]]
2025-10-26T21:28:26.352Z,1761514106.352 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:26.354Z,1761514106.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.10 m.
2025-10-26T21:28:26.356Z,1761514106.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.103241 m,
      nav range: 263.400940 m,
      bearing: 32.674515 deg,
      approach rate: -0.632684 m/s,
      LOS rate: -0.018661 deg/s,
      cmd heading: 38.080985 deg,
      new cmd heading: 38.058751 deg.

2025-10-26T21:28:26.357Z,1761514106.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.664250 target range: 281.103241 and range: 282.90 m.
2025-10-26T21:28:26.568Z,1761514106.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763101
2025-10-26T21:28:26.781Z,1761514106.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.10 m.
2025-10-26T21:28:26.784Z,1761514106.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.103241 m,
      nav range: 263.135895 m,
      bearing: 32.667282 deg,
      approach rate: -0.619777 m/s,
      LOS rate: -0.016932 deg/s,
      cmd heading: 38.058750 deg,
      new cmd heading: 38.037027 deg.

2025-10-26T21:28:26.785Z,1761514106.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663871 target range: 281.103241 and range: 282.90 m.
2025-10-26T21:28:26.816Z,1761514106.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011994
2025-10-26T21:28:27.069Z,1761514107.069 [DAT](INFO): DAT read: Rx Time:21:28:25.8251

2025-10-26T21:28:27.070Z,1761514107.070 [DAT](INFO): Rx dataTimestamp_ set to:1761514107.069641
2025-10-26T21:28:27.071Z,1761514107.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266372
2025-10-26T21:28:27.133Z,1761514107.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778324,-0.620036,-0.098828],[0.627862,0.768709,0.121965],[0.000347,-0.156979,0.987602]]
2025-10-26T21:28:27.151Z,1761514107.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.10 m.
2025-10-26T21:28:27.154Z,1761514107.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.103241 m,
      nav range: 262.906799 m,
      bearing: 32.660935 deg,
      approach rate: -0.619259 m/s,
      LOS rate: -0.017169 deg/s,
      cmd heading: 38.037026 deg,
      new cmd heading: 38.017971 deg.

2025-10-26T21:28:27.155Z,1761514107.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663539 target range: 281.103241 and range: 282.90 m.
2025-10-26T21:28:27.320Z,1761514107.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515929
2025-10-26T21:28:27.572Z,1761514107.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768045
2025-10-26T21:28:27.573Z,1761514107.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778198,-0.619967,-0.100243],[0.628017,0.768666,0.121437],[0.001766,-0.157456,0.987524]]
2025-10-26T21:28:27.675Z,1761514107.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.10 m.
2025-10-26T21:28:27.677Z,1761514107.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.103241 m,
      nav range: 262.577271 m,
      bearing: 32.654589 deg,
      approach rate: -0.629502 m/s,
      LOS rate: -0.012138 deg/s,
      cmd heading: 38.017970 deg,
      new cmd heading: 37.998908 deg.

2025-10-26T21:28:27.678Z,1761514107.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663206 target range: 281.103241 and range: 282.90 m.
2025-10-26T21:28:27.830Z,1761514107.830 [DAT](INFO): DAT read: 21:28:25.8251 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 188,-0.17, 1.229,-0.320, 1.640, 1.110, PHS= 0.221,-1.385, 0.486, RAW= 157.5,   7.8, CAL= 157.1,   8.0, ROT= 352.9,  -8.0

2025-10-26T21:28:27.831Z,1761514107.831 [DAT](INFO): got valid direction response:
 21:28:25.8251 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 188,-0.17, 1.229,-0.320, 1.640, 1.110, PHS= 0.221,-1.385, 0.486, RAW= 157.5,   7.8, CAL= 157.1,   8.0, ROT= 352.9,  -8.0

2025-10-26T21:28:27.832Z,1761514107.832 [DAT](INFO): DAT read: Bearing 191.7,  -8.4 (Local)

2025-10-26T21:28:27.832Z,1761514107.832 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.7,  -8.4 (Local)

2025-10-26T21:28:27.834Z,1761514107.834 [DAT](INFO): DAT read: Range 11 to 50 : 281.9 m  (Round-trip  375.9 ms) speed  0.4 m/s

2025-10-26T21:28:27.834Z,1761514107.834 [DAT](INFO): DAT read: user:257>

2025-10-26T21:28:27.835Z,1761514107.835 [DAT](INFO): DAT read: Tx time:21:28:26.8951

2025-10-26T21:28:27.836Z,1761514107.836 [DAT](INFO): Ping request sent.
2025-10-26T21:28:27.836Z,1761514107.836 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:28:27.836Z,1761514107.836 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:28:27.837Z,1761514107.837 [DAT](INFO): direction in FSK: [0.982675,-0.122399,0.139173]
2025-10-26T21:28:27.837Z,1761514107.837 [DAT](INFO): publishing transmit ping time
2025-10-26T21:28:27.837Z,1761514107.837 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:27.841Z,1761514107.841 [DAT](INFO): publishing transmit ping time
2025-10-26T21:28:27.841Z,1761514107.841 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:27.988Z,1761514107.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778420,-0.619340,-0.102371],[0.627734,0.768887,0.121500],[0.003461,-0.158840,0.987298]]
2025-10-26T21:28:28.042Z,1761514108.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 281.899994 m,
      deltaT: 4.034306 s,
      deltaX: -1.000000 m,
      approachRate: -0.247874 m/s,
      rangeRepo size: 4

2025-10-26T21:28:28.053Z,1761514108.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 280.109406 m,
      bearing: 33.142484 deg,
      lat: 36.779498 deg,
      lon: -121.859256 deg,
      deltaT: 4.034306 s,
      deltaX: -0.993835 m,
      approachRate: -0.246346 m/s,
      posRepo size: 4

2025-10-26T21:28:28.056Z,1761514108.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.11 m.
2025-10-26T21:28:28.058Z,1761514108.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.109406 m,
      nav range: 264.097137 m,
      bearing: 32.408322 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012138 deg/s,
      cmd heading: 37.998907 deg,
      new cmd heading: 37.985537 deg.

2025-10-26T21:28:28.059Z,1761514108.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662973 target range: 280.109406 and range: 281.90 m.
2025-10-26T21:28:28.374Z,1761514108.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778579,-0.618856,-0.104074],[0.627526,0.769108,0.121176],[0.005054,-0.159654,0.987160]]
2025-10-26T21:28:28.391Z,1761514108.391 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:28.393Z,1761514108.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.11 m.
2025-10-26T21:28:28.412Z,1761514108.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.109406 m,
      nav range: 263.868073 m,
      bearing: 32.403745 deg,
      approach rate: -0.652062 m/s,
      LOS rate: -0.013040 deg/s,
      cmd heading: 37.985537 deg,
      new cmd heading: 37.971794 deg.

2025-10-26T21:28:28.413Z,1761514108.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662733 target range: 280.109406 and range: 281.90 m.
2025-10-26T21:28:28.580Z,1761514108.580 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:28.581Z,1761514108.581 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:28.581Z,1761514108.581 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:28:28.780Z,1761514108.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779252,-0.617456,-0.107303],[0.626673,0.769569,0.122653],[0.006844,-0.162822,0.986632]]
2025-10-26T21:28:28.820Z,1761514108.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.11 m.
2025-10-26T21:28:28.822Z,1761514108.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.109406 m,
      nav range: 263.606018 m,
      bearing: 32.400760 deg,
      approach rate: -0.614666 m/s,
      LOS rate: -0.007008 deg/s,
      cmd heading: 37.971795 deg,
      new cmd heading: 37.962832 deg.

2025-10-26T21:28:28.823Z,1761514108.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662576 target range: 280.109406 and range: 281.90 m.
2025-10-26T21:28:28.833Z,1761514108.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996810
2025-10-26T21:28:29.084Z,1761514109.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248643
2025-10-26T21:28:29.184Z,1761514109.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779548,-0.616721,-0.109363],[0.626285,0.769861,0.122803],[0.008459,-0.164223,0.986387]]
2025-10-26T21:28:29.203Z,1761514109.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.11 m.
2025-10-26T21:28:29.206Z,1761514109.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.109406 m,
      nav range: 263.371063 m,
      bearing: 32.398104 deg,
      approach rate: -0.612955 m/s,
      LOS rate: -0.006936 deg/s,
      cmd heading: 37.962830 deg,
      new cmd heading: 37.954855 deg.

2025-10-26T21:28:29.207Z,1761514109.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662437 target range: 280.109406 and range: 281.90 m.
2025-10-26T21:28:29.336Z,1761514109.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500630
2025-10-26T21:28:29.591Z,1761514109.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755100
2025-10-26T21:28:29.614Z,1761514109.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781006,-0.614414,-0.111915],[0.624448,0.771044,0.124721],[0.009661,-0.167293,0.985860]]
2025-10-26T21:28:29.670Z,1761514109.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.11 m.
2025-10-26T21:28:29.677Z,1761514109.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.109406 m,
      nav range: 263.104126 m,
      bearing: 32.397203 deg,
      approach rate: -0.571731 m/s,
      LOS rate: -0.001932 deg/s,
      cmd heading: 37.954856 deg,
      new cmd heading: 37.952150 deg.

2025-10-26T21:28:29.678Z,1761514109.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662390 target range: 280.109406 and range: 281.90 m.
2025-10-26T21:28:29.840Z,1761514109.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004610
2025-10-26T21:28:30.038Z,1761514110.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782191,-0.612500,-0.114106],[0.622943,0.772043,0.126062],[0.010882,-0.169686,0.985438]]
2025-10-26T21:28:30.056Z,1761514110.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.11 m.
2025-10-26T21:28:30.058Z,1761514110.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.109406 m,
      nav range: 262.861847 m,
      bearing: 32.396481 deg,
      approach rate: -0.627820 m/s,
      LOS rate: -0.001872 deg/s,
      cmd heading: 37.952151 deg,
      new cmd heading: 37.949983 deg.

2025-10-26T21:28:30.060Z,1761514110.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662352 target range: 280.109406 and range: 281.90 m.
2025-10-26T21:28:30.093Z,1761514110.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256930
2025-10-26T21:28:30.345Z,1761514110.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509114
2025-10-26T21:28:30.434Z,1761514110.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783154,-0.610990,-0.115591],[0.621710,0.772982,0.126396],[0.012123,-0.170851,0.985222]]
2025-10-26T21:28:30.458Z,1761514110.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:30.460Z,1761514110.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.11 m.
2025-10-26T21:28:30.463Z,1761514110.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.109406 m,
      nav range: 262.620789 m,
      bearing: 32.395842 deg,
      approach rate: -0.595326 m/s,
      LOS rate: -0.001580 deg/s,
      cmd heading: 37.949982 deg,
      new cmd heading: 37.948063 deg.

2025-10-26T21:28:30.464Z,1761514110.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662319 target range: 280.109406 and range: 281.90 m.
2025-10-26T21:28:30.600Z,1761514110.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764152
2025-10-26T21:28:30.845Z,1761514110.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784503,-0.609185,-0.115965],[0.619985,0.774455,0.125849],[0.013144,-0.170626,0.985248]]
2025-10-26T21:28:30.848Z,1761514110.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012747
2025-10-26T21:28:30.912Z,1761514110.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.11 m.
2025-10-26T21:28:30.914Z,1761514110.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.109406 m,
      nav range: 262.362946 m,
      bearing: 32.395800 deg,
      approach rate: -0.571998 m/s,
      LOS rate: -0.000092 deg/s,
      cmd heading: 37.948063 deg,
      new cmd heading: 37.947939 deg.

2025-10-26T21:28:30.915Z,1761514110.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662317 target range: 280.109406 and range: 281.90 m.
2025-10-26T21:28:31.100Z,1761514111.100 [DAT](INFO): DAT read: Rx Time:21:28:29.6714

2025-10-26T21:28:31.101Z,1761514111.101 [DAT](INFO): Rx dataTimestamp_ set to:1761514111.100608
2025-10-26T21:28:31.101Z,1761514111.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265724
2025-10-26T21:28:31.278Z,1761514111.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.11 m.
2025-10-26T21:28:31.281Z,1761514111.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.109406 m,
      nav range: 262.122528 m,
      bearing: 32.395762 deg,
      approach rate: -0.656143 m/s,
      LOS rate: -0.000106 deg/s,
      cmd heading: 37.947940 deg,
      new cmd heading: 37.947824 deg.

2025-10-26T21:28:31.281Z,1761514111.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662314 target range: 280.109406 and range: 281.90 m.
2025-10-26T21:28:31.352Z,1761514111.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516753
2025-10-26T21:28:31.625Z,1761514111.625 [DAT](INFO): DAT read: 21:28:29.6714 LVL= 32752, 32753, 30130, 32755, AGC= 72, IDX= 400, 0.20,-2.966, 1.948,-2.725, 2.594, PHS= 0.825,-0.602, 0.920, RAW= 153.2, -15.3, CAL= 155.0, -17.3, ROT= 355.0,  17.3

2025-10-26T21:28:31.629Z,1761514111.629 [DAT](INFO): got valid direction response:
 21:28:29.6714 LVL= 32752, 32753, 30130, 32755, AGC= 72, IDX= 400, 0.20,-2.966, 1.948,-2.725, 2.594, PHS= 0.825,-0.602, 0.920, RAW= 153.2, -15.3, CAL= 155.0, -17.3, ROT= 355.0,  17.3

2025-10-26T21:28:31.630Z,1761514111.630 [DAT](INFO): DAT read: Bearing 166.2,  -0.8 (Local)

2025-10-26T21:28:31.630Z,1761514111.630 [DAT](INFO): Local bearing/azimuth received:
 Bearing 166.2,  -0.8 (Local)

2025-10-26T21:28:31.644Z,1761514111.644 [DAT](INFO): DAT read: Range 11 to 50 : 279.1 m  (Round-trip  372.2 ms) speed  0.6 m/s

2025-10-26T21:28:31.645Z,1761514111.645 [DAT](INFO): DAT read: user:258>

2025-10-26T21:28:31.646Z,1761514111.646 [DAT](INFO): DAT read: Tx time:21:28:30.7451

2025-10-26T21:28:31.646Z,1761514111.646 [DAT](INFO): Ping request sent.
2025-10-26T21:28:31.646Z,1761514111.646 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:28:31.646Z,1761514111.646 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:28:31.647Z,1761514111.647 [DAT](INFO): direction in FSK: [0.951128,-0.083213,-0.297375]
2025-10-26T21:28:31.648Z,1761514111.648 [DAT](INFO): publishing transmit ping time
2025-10-26T21:28:31.648Z,1761514111.648 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:31.675Z,1761514111.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786627,-0.606184,-0.117295],[0.617231,0.776859,0.124566],[0.015612,-0.170385,0.985254]]
2025-10-26T21:28:31.651Z,1761514111.651 [DAT](INFO): publishing transmit ping time
2025-10-26T21:28:31.676Z,1761514111.676 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:31.837Z,1761514111.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 279.100006 m,
      deltaT: 3.782231 s,
      deltaX: -2.799988 m,
      approachRate: -0.740301 m/s,
      rangeRepo size: 4

2025-10-26T21:28:31.839Z,1761514111.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 277.328766 m,
      bearing: 30.213653 deg,
      lat: 36.779498 deg,
      lon: -121.859256 deg,
      deltaT: 3.782231 s,
      deltaX: -2.780640 m,
      approachRate: -0.735185 m/s,
      posRepo size: 4

2025-10-26T21:28:31.848Z,1761514111.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.33 m.
2025-10-26T21:28:31.850Z,1761514111.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.328766 m,
      nav range: 261.809814 m,
      bearing: 32.395463 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000106 deg/s,
      cmd heading: 37.947824 deg,
      new cmd heading: 37.947647 deg.

2025-10-26T21:28:31.868Z,1761514111.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662311 target range: 277.328766 and range: 279.10 m.
2025-10-26T21:28:32.179Z,1761514112.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788377,-0.603720,-0.118253],[0.614920,0.779054,0.122265],[0.018311,-0.169107,0.985428]]
2025-10-26T21:28:32.206Z,1761514112.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.33 m.
2025-10-26T21:28:32.209Z,1761514112.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.328766 m,
      nav range: 261.561371 m,
      bearing: 32.395390 deg,
      approach rate: -0.671195 m/s,
      LOS rate: -0.000199 deg/s,
      cmd heading: 37.947647 deg,
      new cmd heading: 37.947425 deg.

2025-10-26T21:28:32.210Z,1761514112.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662308 target range: 277.328766 and range: 279.10 m.
2025-10-26T21:28:32.630Z,1761514112.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789303,-0.602335,-0.119138],[0.613684,0.780163,0.121399],[0.019824,-0.168934,0.985428]]
2025-10-26T21:28:32.675Z,1761514112.675 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:32.677Z,1761514112.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.33 m.
2025-10-26T21:28:32.680Z,1761514112.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.328766 m,
      nav range: 261.262024 m,
      bearing: 32.393602 deg,
      approach rate: -0.635719 m/s,
      LOS rate: -0.003802 deg/s,
      cmd heading: 37.947425 deg,
      new cmd heading: 37.942054 deg.

2025-10-26T21:28:32.681Z,1761514112.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662214 target range: 277.328766 and range: 279.10 m.
2025-10-26T21:28:32.864Z,1761514112.864 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:32.864Z,1761514112.864 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:32.865Z,1761514112.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:28:32.985Z,1761514112.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790082,-0.601023,-0.120587],[0.612631,0.781010,0.121270],[0.021294,-0.169688,0.985268]]
2025-10-26T21:28:33.016Z,1761514113.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.33 m.
2025-10-26T21:28:33.018Z,1761514113.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.328766 m,
      nav range: 261.046478 m,
      bearing: 32.392372 deg,
      approach rate: -0.637519 m/s,
      LOS rate: -0.003640 deg/s,
      cmd heading: 37.942053 deg,
      new cmd heading: 37.938361 deg.

2025-10-26T21:28:33.019Z,1761514113.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662149 target range: 277.328766 and range: 279.10 m.
2025-10-26T21:28:33.116Z,1761514113.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470347
2025-10-26T21:28:33.368Z,1761514113.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722245
2025-10-26T21:28:33.402Z,1761514113.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790794,-0.599771,-0.122143],[0.611654,0.781808,0.121059],[0.022885,-0.170442,0.985102]]
2025-10-26T21:28:33.432Z,1761514113.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.33 m.
2025-10-26T21:28:33.434Z,1761514113.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.328766 m,
      nav range: 260.789490 m,
      bearing: 32.390969 deg,
      approach rate: -0.623836 m/s,
      LOS rate: -0.003408 deg/s,
      cmd heading: 37.938361 deg,
      new cmd heading: 37.934149 deg.

2025-10-26T21:28:33.439Z,1761514113.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662076 target range: 277.328766 and range: 279.10 m.
2025-10-26T21:28:33.623Z,1761514113.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976358
2025-10-26T21:28:33.788Z,1761514113.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791185,-0.598819,-0.124267],[0.611077,0.782263,0.121038],[0.024729,-0.171700,0.984839]]
2025-10-26T21:28:33.841Z,1761514113.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.33 m.
2025-10-26T21:28:33.847Z,1761514113.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.328766 m,
      nav range: 260.514435 m,
      bearing: 32.388150 deg,
      approach rate: -0.665276 m/s,
      LOS rate: -0.006828 deg/s,
      cmd heading: 37.934150 deg,
      new cmd heading: 37.925681 deg.

2025-10-26T21:28:33.848Z,1761514113.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661928 target range: 277.328766 and range: 279.10 m.
2025-10-26T21:28:33.873Z,1761514113.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226548
2025-10-26T21:28:34.124Z,1761514114.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478247
2025-10-26T21:28:34.190Z,1761514114.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791452,-0.598129,-0.125876],[0.610648,0.782739,0.120120],[0.026681,-0.171935,0.984747]]
2025-10-26T21:28:34.214Z,1761514114.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.33 m.
2025-10-26T21:28:34.217Z,1761514114.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.328766 m,
      nav range: 260.270630 m,
      bearing: 32.385672 deg,
      approach rate: -0.653557 m/s,
      LOS rate: -0.006648 deg/s,
      cmd heading: 37.925681 deg,
      new cmd heading: 37.918240 deg.

2025-10-26T21:28:34.218Z,1761514114.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661798 target range: 277.328766 and range: 279.10 m.
2025-10-26T21:28:34.376Z,1761514114.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730270
2025-10-26T21:28:34.633Z,1761514114.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986114
2025-10-26T21:28:34.636Z,1761514114.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791303,-0.598040,-0.127233],[0.610752,0.782883,0.118642],[0.028656,-0.171590,0.984752]]
2025-10-26T21:28:34.682Z,1761514114.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:34.688Z,1761514114.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.33 m.
2025-10-26T21:28:34.690Z,1761514114.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.328766 m,
      nav range: 259.971924 m,
      bearing: 32.382620 deg,
      approach rate: -0.630096 m/s,
      LOS rate: -0.006446 deg/s,
      cmd heading: 37.918239 deg,
      new cmd heading: 37.909072 deg.

2025-10-26T21:28:34.696Z,1761514114.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661638 target range: 277.328766 and range: 279.10 m.
2025-10-26T21:28:34.880Z,1761514114.880 [DAT](INFO): DAT read: Rx Time:21:28:33.5182

2025-10-26T21:28:34.881Z,1761514114.881 [DAT](INFO): Rx dataTimestamp_ set to:1761514114.880555
2025-10-26T21:28:34.881Z,1761514114.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235258
2025-10-26T21:28:35.133Z,1761514115.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486622
2025-10-26T21:28:35.182Z,1761514115.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790859,-0.598358,-0.128491],[0.611235,0.782754,0.117001],[0.030568,-0.171069,0.984785]]
2025-10-26T21:28:35.224Z,1761514115.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.33 m.
2025-10-26T21:28:35.226Z,1761514115.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.328766 m,
      nav range: 259.610474 m,
      bearing: 32.375659 deg,
      approach rate: -0.674615 m/s,
      LOS rate: -0.013009 deg/s,
      cmd heading: 37.909073 deg,
      new cmd heading: 37.888162 deg.

2025-10-26T21:28:35.228Z,1761514115.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661273 target range: 277.328766 and range: 279.10 m.
2025-10-26T21:28:35.391Z,1761514115.391 [DAT](INFO): DAT read: 21:28:33.5182 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 416, 0.07, 2.661, 1.246, 2.904, 2.000, PHS= 0.763,-0.708, 0.860, RAW= 153.2, -12.0, CAL= 154.3, -13.8, ROT= 355.7,  13.8

2025-10-26T21:28:35.396Z,1761514115.396 [DAT](INFO): got valid direction response:
 21:28:33.5182 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 416, 0.07, 2.661, 1.246, 2.904, 2.000, PHS= 0.763,-0.708, 0.860, RAW= 153.2, -12.0, CAL= 154.3, -13.8, ROT= 355.7,  13.8

2025-10-26T21:28:35.397Z,1761514115.397 [DAT](INFO): DAT read: Bearing 169.1,   0.2 (Local)

2025-10-26T21:28:35.397Z,1761514115.397 [DAT](INFO): Local bearing/azimuth received:
 Bearing 169.1,   0.2 (Local)

2025-10-26T21:28:35.399Z,1761514115.399 [DAT](INFO): DAT read: Range 11 to 50 : 276.8 m  (Round-trip  369.1 ms) speed  0.4 m/s

2025-10-26T21:28:35.407Z,1761514115.407 [DAT](INFO): DAT read: user:259>

2025-10-26T21:28:35.408Z,1761514115.408 [DAT](INFO): DAT read: Tx time:21:28:34.5950

2025-10-26T21:28:35.409Z,1761514115.409 [DAT](INFO): Ping request sent.
2025-10-26T21:28:35.409Z,1761514115.409 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:28:35.409Z,1761514115.409 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:28:35.410Z,1761514115.410 [DAT](INFO): direction in FSK: [0.968401,-0.072814,-0.238533]
2025-10-26T21:28:35.410Z,1761514115.410 [DAT](INFO): publishing transmit ping time
2025-10-26T21:28:35.410Z,1761514115.410 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:35.432Z,1761514115.432 [DAT](INFO): publishing transmit ping time
2025-10-26T21:28:35.433Z,1761514115.433 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:35.710Z,1761514115.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790106,-0.598823,-0.130935],[0.612116,0.782068,0.116975],[0.032352,-0.172570,0.984466]]
2025-10-26T21:28:35.766Z,1761514115.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 276.799988 m,
      deltaT: 3.778388 s,
      deltaX: -2.300018 m,
      approachRate: -0.608730 m/s,
      rangeRepo size: 4

2025-10-26T21:28:35.769Z,1761514115.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 275.048126 m,
      bearing: 31.161014 deg,
      lat: 36.779575 deg,
      lon: -121.859245 deg,
      deltaT: 3.778388 s,
      deltaX: -2.280640 m,
      approachRate: -0.603601 m/s,
      posRepo size: 4

2025-10-26T21:28:35.769Z,1761514115.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.05 m.
2025-10-26T21:28:35.792Z,1761514115.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.048126 m,
      nav range: 266.979523 m,
      bearing: 31.551318 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013009 deg/s,
      cmd heading: 37.888162 deg,
      new cmd heading: 37.867009 deg.

2025-10-26T21:28:35.793Z,1761514115.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.660904 target range: 275.048126 and range: 276.80 m.
2025-10-26T21:28:36.237Z,1761514116.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788158,-0.601334,-0.131167],[0.614467,0.780973,0.111856],[0.035175,-0.168758,0.985030]]
2025-10-26T21:28:36.264Z,1761514116.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.05 m.
2025-10-26T21:28:36.266Z,1761514116.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.048126 m,
      nav range: 266.636993 m,
      bearing: 31.541699 deg,
      approach rate: -0.688237 m/s,
      LOS rate: -0.019352 deg/s,
      cmd heading: 37.867009 deg,
      new cmd heading: 37.838115 deg.

2025-10-26T21:28:36.267Z,1761514116.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.660400 target range: 275.048126 and range: 276.80 m.
2025-10-26T21:28:36.681Z,1761514116.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786910,-0.603316,-0.129545],[0.616009,0.780345,0.107681],[0.036124,-0.164536,0.985709]]
2025-10-26T21:28:36.754Z,1761514116.754 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:36.761Z,1761514116.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.05 m.
2025-10-26T21:28:36.768Z,1761514116.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.048126 m,
      nav range: 266.305969 m,
      bearing: 31.531813 deg,
      approach rate: -0.665549 m/s,
      LOS rate: -0.019901 deg/s,
      cmd heading: 37.838114 deg,
      new cmd heading: 37.808419 deg.

2025-10-26T21:28:36.769Z,1761514116.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659881 target range: 275.048126 and range: 276.80 m.
2025-10-26T21:28:36.896Z,1761514116.896 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:36.897Z,1761514116.897 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:36.897Z,1761514116.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:28:37.108Z,1761514117.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785279,-0.605714,-0.128248],[0.618065,0.779125,0.104692],[0.036508,-0.161478,0.986201]]
2025-10-26T21:28:37.126Z,1761514117.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.05 m.
2025-10-26T21:28:37.129Z,1761514117.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.048126 m,
      nav range: 266.052551 m,
      bearing: 31.524080 deg,
      approach rate: -0.693050 m/s,
      LOS rate: -0.021168 deg/s,
      cmd heading: 37.808420 deg,
      new cmd heading: 37.785199 deg.

2025-10-26T21:28:37.130Z,1761514117.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659476 target range: 275.048126 and range: 276.80 m.
2025-10-26T21:28:37.148Z,1761514117.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739813
2025-10-26T21:28:37.400Z,1761514117.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991714
2025-10-26T21:28:37.506Z,1761514117.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783637,-0.607868,-0.128103],[0.620138,0.777621,0.103605],[0.036637,-0.160630,0.986335]]
2025-10-26T21:28:37.541Z,1761514117.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.05 m.
2025-10-26T21:28:37.549Z,1761514117.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.048126 m,
      nav range: 265.782776 m,
      bearing: 31.515675 deg,
      approach rate: -0.650651 m/s,
      LOS rate: -0.020293 deg/s,
      cmd heading: 37.785197 deg,
      new cmd heading: 37.759956 deg.

2025-10-26T21:28:37.550Z,1761514117.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659036 target range: 275.048126 and range: 276.80 m.
2025-10-26T21:28:37.655Z,1761514117.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245932
2025-10-26T21:28:37.904Z,1761514117.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495809
2025-10-26T21:28:37.912Z,1761514117.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782254,-0.609770,-0.127512],[0.621880,0.776412,0.102224],[0.036669,-0.159262,0.986555]]
2025-10-26T21:28:37.982Z,1761514117.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.05 m.
2025-10-26T21:28:37.995Z,1761514117.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.048126 m,
      nav range: 265.499786 m,
      bearing: 31.506514 deg,
      approach rate: -0.641500 m/s,
      LOS rate: -0.020790 deg/s,
      cmd heading: 37.759956 deg,
      new cmd heading: 37.732443 deg.

2025-10-26T21:28:37.996Z,1761514117.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658555 target range: 275.048126 and range: 276.80 m.
2025-10-26T21:28:38.156Z,1761514118.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747640
2025-10-26T21:28:38.314Z,1761514118.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781013,-0.611681,-0.125959],[0.623444,0.775457,0.099919],[0.036558,-0.156566,0.986991]]
2025-10-26T21:28:38.345Z,1761514118.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.05 m.
2025-10-26T21:28:38.348Z,1761514118.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.048126 m,
      nav range: 265.255035 m,
      bearing: 31.498465 deg,
      approach rate: -0.674594 m/s,
      LOS rate: -0.022205 deg/s,
      cmd heading: 37.732444 deg,
      new cmd heading: 37.708276 deg.

2025-10-26T21:28:38.349Z,1761514118.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658134 target range: 275.048126 and range: 276.80 m.
2025-10-26T21:28:38.409Z,1761514118.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999938
2025-10-26T21:28:38.663Z,1761514118.663 [DAT](INFO): DAT read: Rx Time:21:28:37.3663

2025-10-26T21:28:38.665Z,1761514118.665 [DAT](INFO): Rx dataTimestamp_ set to:1761514118.663645
2025-10-26T21:28:38.667Z,1761514118.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257458
2025-10-26T21:28:38.744Z,1761514118.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779840,-0.613597,-0.123885],[0.624919,0.774633,0.097061],[0.036409,-0.153110,0.987538]]
2025-10-26T21:28:38.779Z,1761514118.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:38.781Z,1761514118.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.05 m.
2025-10-26T21:28:38.784Z,1761514118.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.048126 m,
      nav range: 264.957703 m,
      bearing: 31.489910 deg,
      approach rate: -0.681203 m/s,
      LOS rate: -0.019622 deg/s,
      cmd heading: 37.708276 deg,
      new cmd heading: 37.682582 deg.

2025-10-26T21:28:38.785Z,1761514118.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657685 target range: 275.048126 and range: 276.80 m.
2025-10-26T21:28:38.914Z,1761514118.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505116
2025-10-26T21:28:39.183Z,1761514119.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779096,-0.614770,-0.122749],[0.625854,0.774066,0.095544],[0.036278,-0.151261,0.987828]]
2025-10-26T21:28:39.185Z,1761514119.185 [DAT](INFO): DAT read: 21:28:37.3663 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 428,-0.07,-1.332,-2.700,-1.128,-2.077, PHS= 0.847,-0.578, 0.905, RAW= 152.0, -15.9, CAL= 153.8, -18.0, ROT= 356.2,  18.0

2025-10-26T21:28:39.186Z,1761514119.186 [DAT](INFO): got valid direction response:
 21:28:37.3663 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 428,-0.07,-1.332,-2.700,-1.128,-2.077, PHS= 0.847,-0.578, 0.905, RAW= 152.0, -15.9, CAL= 153.8, -18.0, ROT= 356.2,  18.0

2025-10-26T21:28:39.196Z,1761514119.196 [DAT](INFO): DAT read: Bearing 165.9,   1.4 (Local)

2025-10-26T21:28:39.196Z,1761514119.196 [DAT](INFO): Local bearing/azimuth received:
 Bearing 165.9,   1.4 (Local)

2025-10-26T21:28:39.197Z,1761514119.197 [DAT](INFO): DAT read: Range 11 to 50 : 275.3 m  (Round-trip  367.1 ms) speed  0.3 m/s

2025-10-26T21:28:39.198Z,1761514119.198 [DAT](INFO): DAT read: user:260>

2025-10-26T21:28:39.199Z,1761514119.199 [DAT](INFO): DAT read: Tx time:21:28:38.4450

2025-10-26T21:28:39.211Z,1761514119.211 [DAT](INFO): Ping request sent.
2025-10-26T21:28:39.212Z,1761514119.212 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:28:39.212Z,1761514119.212 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:28:39.213Z,1761514119.213 [DAT](INFO): direction in FSK: [0.948966,-0.063030,-0.309017]
2025-10-26T21:28:39.213Z,1761514119.213 [DAT](INFO): publishing transmit ping time
2025-10-26T21:28:39.213Z,1761514119.213 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:39.229Z,1761514119.229 [DAT](INFO): publishing transmit ping time
2025-10-26T21:28:39.229Z,1761514119.229 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:39.255Z,1761514119.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 275.299988 m,
      deltaT: 3.781437 s,
      deltaX: -1.500000 m,
      approachRate: -0.396675 m/s,
      rangeRepo size: 4

2025-10-26T21:28:39.265Z,1761514119.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 273.552979 m,
      bearing: 32.286731 deg,
      lat: 36.779575 deg,
      lon: -121.859214 deg,
      deltaT: 3.781437 s,
      deltaX: -1.495148 m,
      approachRate: -0.395391 m/s,
      posRepo size: 4

2025-10-26T21:28:39.266Z,1761514119.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.55 m.
2025-10-26T21:28:39.273Z,1761514119.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.552979 m,
      nav range: 266.141266 m,
      bearing: 32.001691 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019622 deg/s,
      cmd heading: 37.682581 deg,
      new cmd heading: 37.654759 deg.

2025-10-26T21:28:39.274Z,1761514119.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657200 target range: 273.552979 and range: 275.30 m.
2025-10-26T21:28:39.591Z,1761514119.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779022,-0.615205,-0.121025],[0.625940,0.774283,0.093192],[0.036375,-0.148353,0.988265]]
2025-10-26T21:28:39.610Z,1761514119.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.55 m.
2025-10-26T21:28:39.613Z,1761514119.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.552979 m,
      nav range: 265.884583 m,
      bearing: 31.994745 deg,
      approach rate: -0.721327 m/s,
      LOS rate: -0.019538 deg/s,
      cmd heading: 37.654758 deg,
      new cmd heading: 37.633900 deg.

2025-10-26T21:28:39.614Z,1761514119.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656835 target range: 273.552979 and range: 275.30 m.
2025-10-26T21:28:40.052Z,1761514120.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.55 m.
2025-10-26T21:28:40.054Z,1761514120.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.552979 m,
      nav range: 265.591064 m,
      bearing: 31.988755 deg,
      approach rate: -0.664018 m/s,
      LOS rate: -0.013565 deg/s,
      cmd heading: 37.633902 deg,
      new cmd heading: 37.615913 deg.

2025-10-26T21:28:40.056Z,1761514120.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656521 target range: 273.552979 and range: 275.30 m.
2025-10-26T21:28:40.406Z,1761514120.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780394,-0.613242,-0.122145],[0.624233,0.775412,0.095236],[0.036310,-0.150569,0.987933]]
2025-10-26T21:28:40.425Z,1761514120.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.55 m.
2025-10-26T21:28:40.427Z,1761514120.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.552979 m,
      nav range: 265.344543 m,
      bearing: 31.983834 deg,
      approach rate: -0.663510 m/s,
      LOS rate: -0.013257 deg/s,
      cmd heading: 37.615911 deg,
      new cmd heading: 37.601135 deg.

2025-10-26T21:28:40.428Z,1761514120.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656264 target range: 273.552979 and range: 275.30 m.
2025-10-26T21:28:40.803Z,1761514120.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781512,-0.611600,-0.123226],[0.622837,0.776296,0.097153],[0.036241,-0.152676,0.987612]]
2025-10-26T21:28:40.837Z,1761514120.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:40.860Z,1761514120.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.55 m.
2025-10-26T21:28:40.862Z,1761514120.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.552979 m,
      nav range: 265.076569 m,
      bearing: 31.980848 deg,
      approach rate: -0.644225 m/s,
      LOS rate: -0.007186 deg/s,
      cmd heading: 37.601134 deg,
      new cmd heading: 37.592166 deg.

2025-10-26T21:28:40.867Z,1761514120.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656107 target range: 273.552979 and range: 275.30 m.
2025-10-26T21:28:40.929Z,1761514120.929 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:40.929Z,1761514120.929 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:40.929Z,1761514120.929 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:28:41.180Z,1761514121.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968713
2025-10-26T21:28:41.213Z,1761514121.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783178,-0.608956,-0.125716],[0.620749,0.777448,0.101222],[0.036098,-0.157313,0.986889]]
2025-10-26T21:28:41.231Z,1761514121.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.55 m.
2025-10-26T21:28:41.234Z,1761514121.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.552979 m,
      nav range: 264.823547 m,
      bearing: 31.978170 deg,
      approach rate: -0.645871 m/s,
      LOS rate: -0.006842 deg/s,
      cmd heading: 37.592166 deg,
      new cmd heading: 37.584124 deg.

2025-10-26T21:28:41.235Z,1761514121.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655967 target range: 273.552979 and range: 275.30 m.
2025-10-26T21:28:41.432Z,1761514121.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220706
2025-10-26T21:28:41.610Z,1761514121.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784663,-0.606014,-0.130579],[0.618876,0.777997,0.108225],[0.036004,-0.165732,0.985513]]
2025-10-26T21:28:41.638Z,1761514121.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.55 m.
2025-10-26T21:28:41.641Z,1761514121.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.552979 m,
      nav range: 264.567810 m,
      bearing: 31.975592 deg,
      approach rate: -0.627997 m/s,
      LOS rate: -0.006336 deg/s,
      cmd heading: 37.584123 deg,
      new cmd heading: 37.576383 deg.

2025-10-26T21:28:41.642Z,1761514121.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655832 target range: 273.552979 and range: 275.30 m.
2025-10-26T21:28:41.685Z,1761514121.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473431
2025-10-26T21:28:41.936Z,1761514121.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724711
2025-10-26T21:28:42.014Z,1761514122.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786653,-0.602694,-0.133930],[0.616356,0.779209,0.113746],[0.035805,-0.172027,0.984441]]
2025-10-26T21:28:42.062Z,1761514122.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.55 m.
2025-10-26T21:28:42.065Z,1761514122.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.552979 m,
      nav range: 264.285950 m,
      bearing: 31.974810 deg,
      approach rate: -0.665481 m/s,
      LOS rate: -0.001849 deg/s,
      cmd heading: 37.576381 deg,
      new cmd heading: 37.574033 deg.

2025-10-26T21:28:42.066Z,1761514122.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655791 target range: 273.552979 and range: 275.30 m.
2025-10-26T21:28:42.189Z,1761514122.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977024
2025-10-26T21:28:42.422Z,1761514122.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788314,-0.600100,-0.135802],[0.614247,0.780333,0.117393],[0.035524,-0.175958,0.983756]]
2025-10-26T21:28:42.442Z,1761514122.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229691
2025-10-26T21:28:42.474Z,1761514122.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.55 m.
2025-10-26T21:28:42.483Z,1761514122.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.552979 m,
      nav range: 264.035797 m,
      bearing: 31.974256 deg,
      approach rate: -0.607009 m/s,
      LOS rate: -0.001346 deg/s,
      cmd heading: 37.574032 deg,
      new cmd heading: 37.572368 deg.

2025-10-26T21:28:42.488Z,1761514122.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655762 target range: 273.552979 and range: 275.30 m.
2025-10-26T21:28:42.692Z,1761514122.692 [DAT](INFO): DAT read: Rx Time:21:28:41.2128

2025-10-26T21:28:42.693Z,1761514122.693 [DAT](INFO): Rx dataTimestamp_ set to:1761514122.692627
2025-10-26T21:28:42.693Z,1761514122.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481852
2025-10-26T21:28:42.822Z,1761514122.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789842,-0.597679,-0.137585],[0.612285,0.781390,0.120565],[0.035448,-0.179469,0.983125]]
2025-10-26T21:28:42.866Z,1761514122.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:42.869Z,1761514122.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.55 m.
2025-10-26T21:28:42.871Z,1761514122.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.552979 m,
      nav range: 263.771393 m,
      bearing: 31.974911 deg,
      approach rate: -0.670089 m/s,
      LOS rate: 0.001662 deg/s,
      cmd heading: 37.572369 deg,
      new cmd heading: 37.574336 deg.

2025-10-26T21:28:42.872Z,1761514122.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655796 target range: 273.552979 and range: 275.30 m.
2025-10-26T21:28:42.945Z,1761514122.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.733631
2025-10-26T21:28:43.202Z,1761514123.202 [DAT](INFO): DAT read: 21:28:41.2128 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 418,-0.49, 2.071, 0.719, 2.254, 1.422, PHS= 0.751,-0.658, 0.788, RAW= 151.3, -12.3, CAL= 152.4, -14.2, ROT= 357.6,  14.2

2025-10-26T21:28:43.203Z,1761514123.203 [DAT](INFO): got valid direction response:
 21:28:41.2128 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 418,-0.49, 2.071, 0.719, 2.254, 1.422, PHS= 0.751,-0.658, 0.788, RAW= 151.3, -12.3, CAL= 152.4, -14.2, ROT= 357.6,  14.2

2025-10-26T21:28:43.204Z,1761514123.204 [DAT](INFO): DAT read: Bearing 169.1,   2.4 (Local)

2025-10-26T21:28:43.205Z,1761514123.205 [DAT](INFO): Local bearing/azimuth received:
 Bearing 169.1,   2.4 (Local)

2025-10-26T21:28:43.206Z,1761514123.206 [DAT](INFO): DAT read: Range 11 to 50 : 272.7 m  (Round-trip  363.7 ms) speed  0.8 m/s

2025-10-26T21:28:43.207Z,1761514123.207 [DAT](INFO): DAT read: user:261>

2025-10-26T21:28:43.208Z,1761514123.208 [DAT](INFO): DAT read: Tx time:21:28:42.2950

2025-10-26T21:28:43.208Z,1761514123.208 [DAT](INFO): Ping request sent.
2025-10-26T21:28:43.208Z,1761514123.208 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:28:43.209Z,1761514123.209 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:28:43.209Z,1761514123.209 [DAT](INFO): direction in FSK: [0.968595,-0.040596,-0.245307]
2025-10-26T21:28:43.210Z,1761514123.210 [DAT](INFO): publishing transmit ping time
2025-10-26T21:28:43.210Z,1761514123.210 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:43.237Z,1761514123.237 [DAT](INFO): publishing transmit ping time
2025-10-26T21:28:43.238Z,1761514123.238 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:43.250Z,1761514123.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791471,-0.595109,-0.139352],[0.610189,0.782495,0.123977],[0.035263,-0.183156,0.982451]]
2025-10-26T21:28:43.357Z,1761514123.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 272.700012 m,
      deltaT: 4.030119 s,
      deltaX: -2.599976 m,
      approachRate: -0.645136 m/s,
      rangeRepo size: 4

2025-10-26T21:28:43.359Z,1761514123.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 270.982727 m,
      bearing: 32.662316 deg,
      lat: 36.779575 deg,
      lon: -121.859214 deg,
      deltaT: 4.030119 s,
      deltaX: -2.570251 m,
      approachRate: -0.637761 m/s,
      posRepo size: 4

2025-10-26T21:28:43.364Z,1761514123.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.98 m.
2025-10-26T21:28:43.366Z,1761514123.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.982727 m,
      nav range: 263.522247 m,
      bearing: 31.970909 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001662 deg/s,
      cmd heading: 37.574336 deg,
      new cmd heading: 37.576766 deg.

2025-10-26T21:28:43.367Z,1761514123.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655838 target range: 270.982727 and range: 272.70 m.
2025-10-26T21:28:43.676Z,1761514123.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792918,-0.593150,-0.139480],[0.608324,0.783733,0.125323],[0.034980,-0.184220,0.982262]]
2025-10-26T21:28:43.694Z,1761514123.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.98 m.
2025-10-26T21:28:43.721Z,1761514123.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.982727 m,
      nav range: 263.288116 m,
      bearing: 31.971731 deg,
      approach rate: -0.692670 m/s,
      LOS rate: 0.002434 deg/s,
      cmd heading: 37.576767 deg,
      new cmd heading: 37.579235 deg.

2025-10-26T21:28:43.722Z,1761514123.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655881 target range: 270.982727 and range: 272.70 m.
2025-10-26T21:28:44.118Z,1761514124.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794268,-0.591490,-0.138846],[0.606567,0.785090,0.125344],[0.034867,-0.183776,0.982350]]
2025-10-26T21:28:44.175Z,1761514124.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.98 m.
2025-10-26T21:28:44.178Z,1761514124.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.982727 m,
      nav range: 262.978668 m,
      bearing: 31.972390 deg,
      approach rate: -0.643630 m/s,
      LOS rate: 0.001373 deg/s,
      cmd heading: 37.579236 deg,
      new cmd heading: 37.581216 deg.

2025-10-26T21:28:44.179Z,1761514124.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655916 target range: 270.982727 and range: 272.70 m.
2025-10-26T21:28:44.522Z,1761514124.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795366,-0.590505,-0.136734],[0.605137,0.786497,0.123414],[0.034664,-0.180902,0.982890]]
2025-10-26T21:28:44.541Z,1761514124.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.98 m.
2025-10-26T21:28:44.543Z,1761514124.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.982727 m,
      nav range: 262.743134 m,
      bearing: 31.972995 deg,
      approach rate: -0.643872 m/s,
      LOS rate: 0.001654 deg/s,
      cmd heading: 37.581217 deg,
      new cmd heading: 37.583032 deg.

2025-10-26T21:28:44.544Z,1761514124.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655948 target range: 270.982727 and range: 272.70 m.
2025-10-26T21:28:44.734Z,1761514124.734 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:28:44.924Z,1761514124.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796742,-0.589434,-0.133301],[0.603345,0.788387,0.120089],[0.034308,-0.176107,0.983773]]
2025-10-26T21:28:44.990Z,1761514124.990 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:45.008Z,1761514125.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.98 m.
2025-10-26T21:28:45.010Z,1761514125.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.982727 m,
      nav range: 262.449829 m,
      bearing: 31.972460 deg,
      approach rate: -0.650394 m/s,
      LOS rate: -0.001187 deg/s,
      cmd heading: 37.583031 deg,
      new cmd heading: 37.581424 deg.

2025-10-26T21:28:45.020Z,1761514125.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655920 target range: 270.982727 and range: 272.70 m.
2025-10-26T21:28:45.216Z,1761514125.216 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:45.216Z,1761514125.216 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:45.216Z,1761514125.216 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:28:45.329Z,1761514125.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797182,-0.589200,-0.131700],[0.602761,0.789137,0.118077],[0.034358,-0.173513,0.984232]]
2025-10-26T21:28:45.347Z,1761514125.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.98 m.
2025-10-26T21:28:45.349Z,1761514125.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.982727 m,
      nav range: 262.215729 m,
      bearing: 31.972078 deg,
      approach rate: -0.659347 m/s,
      LOS rate: -0.001076 deg/s,
      cmd heading: 37.581425 deg,
      new cmd heading: 37.580279 deg.

2025-10-26T21:28:45.350Z,1761514125.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655900 target range: 270.982727 and range: 272.70 m.
2025-10-26T21:28:45.469Z,1761514125.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260957
2025-10-26T21:28:45.721Z,1761514125.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512328
2025-10-26T21:28:45.736Z,1761514125.736 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:28:45.738Z,1761514125.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797573,-0.588875,-0.130783],[0.602228,0.789764,0.116594],[0.034628,-0.171753,0.984531]]
2025-10-26T21:28:45.786Z,1761514125.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.98 m.
2025-10-26T21:28:45.812Z,1761514125.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.982727 m,
      nav range: 261.936676 m,
      bearing: 31.971670 deg,
      approach rate: -0.636242 m/s,
      LOS rate: -0.000932 deg/s,
      cmd heading: 37.580278 deg,
      new cmd heading: 37.579051 deg.

2025-10-26T21:28:45.815Z,1761514125.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655878 target range: 270.982727 and range: 272.70 m.
2025-10-26T21:28:45.978Z,1761514125.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769774
2025-10-26T21:28:46.135Z,1761514126.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797554,-0.589116,-0.129808],[0.602238,0.790011,0.114853],[0.034888,-0.169777,0.984865]]
2025-10-26T21:28:46.177Z,1761514126.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.98 m.
2025-10-26T21:28:46.200Z,1761514126.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.982727 m,
      nav range: 261.674866 m,
      bearing: 31.969627 deg,
      approach rate: -0.668513 m/s,
      LOS rate: -0.005222 deg/s,
      cmd heading: 37.579052 deg,
      new cmd heading: 37.572917 deg.

2025-10-26T21:28:46.201Z,1761514126.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655771 target range: 270.982727 and range: 272.70 m.
2025-10-26T21:28:46.225Z,1761514126.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016389
2025-10-26T21:28:46.477Z,1761514126.477 [DAT](INFO): DAT read: Rx Time:21:28:45.0592

2025-10-26T21:28:46.478Z,1761514126.478 [DAT](INFO): Rx dataTimestamp_ set to:1761514126.477614
2025-10-26T21:28:46.480Z,1761514126.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270966
2025-10-26T21:28:46.540Z,1761514126.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797205,-0.589752,-0.129061],[0.602701,0.789820,0.113731],[0.034862,-0.168452,0.985093]]
2025-10-26T21:28:46.566Z,1761514126.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.98 m.
2025-10-26T21:28:46.568Z,1761514126.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.982727 m,
      nav range: 261.422638 m,
      bearing: 31.967628 deg,
      approach rate: -0.648821 m/s,
      LOS rate: -0.005148 deg/s,
      cmd heading: 37.572918 deg,
      new cmd heading: 37.566915 deg.

2025-10-26T21:28:46.569Z,1761514126.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655666 target range: 270.982727 and range: 272.70 m.
2025-10-26T21:28:46.729Z,1761514126.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520332
2025-10-26T21:28:46.938Z,1761514126.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796663,-0.590738,-0.127892],[0.603423,0.789504,0.112089],[0.034756,-0.166470,0.985434]]
2025-10-26T21:28:46.988Z,1761514126.988 [DAT](INFO): DAT read: 21:28:45.0592 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 404,-0.48,-1.426,-2.795,-1.233,-2.154, PHS= 0.831,-0.595, 0.878, RAW= 151.6, -15.2, CAL= 153.3, -17.3, ROT= 356.7,  17.3

2025-10-26T21:28:46.989Z,1761514126.989 [DAT](INFO): got valid direction response:
 21:28:45.0592 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 404,-0.48,-1.426,-2.795,-1.233,-2.154, PHS= 0.831,-0.595, 0.878, RAW= 151.6, -15.2, CAL= 153.3, -17.3, ROT= 356.7,  17.3

2025-10-26T21:28:46.990Z,1761514126.990 [DAT](INFO): DAT read: Bearing 165.0,   2.0 (Local)

2025-10-26T21:28:46.990Z,1761514126.990 [DAT](INFO): Local bearing/azimuth received:
 Bearing 165.0,   2.0 (Local)

2025-10-26T21:28:46.992Z,1761514126.992 [DAT](INFO): DAT read: Range 11 to 50 : 270.0 m  (Round-trip  360.1 ms) speed  0.4 m/s

2025-10-26T21:28:46.992Z,1761514126.992 [DAT](INFO): DAT read: user:262>

2025-10-26T21:28:46.993Z,1761514126.993 [DAT](INFO): DAT read: Tx time:21:28:46.1450

2025-10-26T21:28:46.993Z,1761514126.993 [DAT](INFO): Ping request sent.
2025-10-26T21:28:46.993Z,1761514126.993 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:28:46.994Z,1761514126.994 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:28:46.995Z,1761514126.995 [DAT](INFO): direction in FSK: [0.953178,-0.054960,-0.297375]
2025-10-26T21:28:46.995Z,1761514126.995 [DAT](INFO): publishing transmit ping time
2025-10-26T21:28:46.995Z,1761514126.995 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:46.998Z,1761514126.998 [DAT](INFO): publishing transmit ping time
2025-10-26T21:28:46.999Z,1761514126.999 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:47.078Z,1761514127.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 270.000000 m,
      deltaT: 3.784222 s,
      deltaX: -2.700012 m,
      approachRate: -0.713492 m/s,
      rangeRepo size: 4

2025-10-26T21:28:47.092Z,1761514127.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 268.302979 m,
      bearing: 30.990672 deg,
      lat: 36.779585 deg,
      lon: -121.859245 deg,
      deltaT: 3.784222 s,
      deltaX: -2.679749 m,
      approachRate: -0.708137 m/s,
      posRepo size: 4

2025-10-26T21:28:47.093Z,1761514127.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.30 m.
2025-10-26T21:28:47.119Z,1761514127.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.302979 m,
      nav range: 260.584259 m,
      bearing: 31.301479 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005148 deg/s,
      cmd heading: 37.566915 deg,
      new cmd heading: 37.559016 deg.

2025-10-26T21:28:47.128Z,1761514127.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655528 target range: 268.302979 and range: 270.00 m.
2025-10-26T21:28:47.447Z,1761514127.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795965,-0.592015,-0.126324],[0.604342,0.789147,0.109624],[0.034789,-0.163600,0.985913]]
2025-10-26T21:28:47.497Z,1761514127.497 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:47.499Z,1761514127.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.30 m.
2025-10-26T21:28:47.506Z,1761514127.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.302979 m,
      nav range: 260.296051 m,
      bearing: 31.296106 deg,
      approach rate: -0.683265 m/s,
      LOS rate: -0.012753 deg/s,
      cmd heading: 37.559016 deg,
      new cmd heading: 37.542877 deg.

2025-10-26T21:28:47.507Z,1761514127.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655247 target range: 268.302979 and range: 270.00 m.
2025-10-26T21:28:47.736Z,1761514127.736 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:47.736Z,1761514127.736 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:47.737Z,1761514127.737 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:28:47.878Z,1761514127.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795139,-0.593173,-0.126094],[0.605419,0.788451,0.108684],[0.034950,-0.162759,0.986047]]
2025-10-26T21:28:47.931Z,1761514127.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.30 m.
2025-10-26T21:28:47.934Z,1761514127.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.302979 m,
      nav range: 260.002411 m,
      bearing: 31.287794 deg,
      approach rate: -0.679664 m/s,
      LOS rate: -0.019260 deg/s,
      cmd heading: 37.542876 deg,
      new cmd heading: 37.517913 deg.

2025-10-26T21:28:47.935Z,1761514127.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.654811 target range: 268.302979 and range: 270.00 m.
2025-10-26T21:28:47.990Z,1761514127.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996025
2025-10-26T21:28:48.240Z,1761514128.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246902
2025-10-26T21:28:48.256Z,1761514128.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794410,-0.594210,-0.125805],[0.606354,0.787914,0.107365],[0.035326,-0.161574,0.986228]]
2025-10-26T21:28:48.274Z,1761514128.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.30 m.
2025-10-26T21:28:48.277Z,1761514128.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.302979 m,
      nav range: 259.773529 m,
      bearing: 31.281244 deg,
      approach rate: -0.666458 m/s,
      LOS rate: -0.019091 deg/s,
      cmd heading: 37.517912 deg,
      new cmd heading: 37.498242 deg.

2025-10-26T21:28:48.278Z,1761514128.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.654468 target range: 268.302979 and range: 270.00 m.
2025-10-26T21:28:48.492Z,1761514128.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499016
2025-10-26T21:28:48.744Z,1761514128.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750993
2025-10-26T21:28:48.755Z,1761514128.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793788,-0.595150,-0.125289],[0.607150,0.787499,0.105897],[0.035640,-0.160129,0.986453]]
2025-10-26T21:28:48.793Z,1761514128.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.30 m.
2025-10-26T21:28:48.800Z,1761514128.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.302979 m,
      nav range: 259.441620 m,
      bearing: 31.271651 deg,
      approach rate: -0.639633 m/s,
      LOS rate: -0.018510 deg/s,
      cmd heading: 37.498244 deg,
      new cmd heading: 37.469429 deg.

2025-10-26T21:28:48.807Z,1761514128.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.653965 target range: 268.302979 and range: 270.00 m.
2025-10-26T21:28:48.997Z,1761514128.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003236
2025-10-26T21:28:49.204Z,1761514129.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793033,-0.596171,-0.125212],[0.608115,0.786885,0.104918],[0.035979,-0.159346,0.986567]]
2025-10-26T21:28:49.249Z,1761514129.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255085
2025-10-26T21:28:49.250Z,1761514129.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.30 m.
2025-10-26T21:28:49.254Z,1761514129.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.302979 m,
      nav range: 259.121338 m,
      bearing: 31.261744 deg,
      approach rate: -0.701044 m/s,
      LOS rate: -0.021711 deg/s,
      cmd heading: 37.469431 deg,
      new cmd heading: 37.439674 deg.

2025-10-26T21:28:49.255Z,1761514129.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.653446 target range: 268.302979 and range: 270.00 m.
2025-10-26T21:28:49.500Z,1761514129.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506947
2025-10-26T21:28:49.718Z,1761514129.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:49.725Z,1761514129.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.30 m.
2025-10-26T21:28:49.730Z,1761514129.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.302979 m,
      nav range: 258.806274 m,
      bearing: 31.251975 deg,
      approach rate: -0.663033 m/s,
      LOS rate: -0.020584 deg/s,
      cmd heading: 37.439675 deg,
      new cmd heading: 37.410331 deg.

2025-10-26T21:28:49.731Z,1761514129.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.652933 target range: 268.302979 and range: 270.00 m.
2025-10-26T21:28:49.752Z,1761514129.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759017
2025-10-26T21:28:50.005Z,1761514130.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011260
2025-10-26T21:28:50.077Z,1761514130.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791640,-0.598276,-0.123981],[0.609918,0.785813,0.102454],[0.036130,-0.156725,0.986981]]
2025-10-26T21:28:50.113Z,1761514130.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.30 m.
2025-10-26T21:28:50.137Z,1761514130.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.302979 m,
      nav range: 258.537048 m,
      bearing: 31.243682 deg,
      approach rate: -0.694424 m/s,
      LOS rate: -0.021411 deg/s,
      cmd heading: 37.410333 deg,
      new cmd heading: 37.385429 deg.

2025-10-26T21:28:50.150Z,1761514130.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.652499 target range: 268.302979 and range: 270.00 m.
2025-10-26T21:28:50.258Z,1761514130.258 [DAT](INFO): DAT read: Rx Time:21:28:48.9077

2025-10-26T21:28:50.258Z,1761514130.258 [DAT](INFO): Rx dataTimestamp_ set to:1761514130.257881
2025-10-26T21:28:50.259Z,1761514130.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265292
2025-10-26T21:28:50.505Z,1761514130.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790859,-0.599245,-0.124287],[0.610934,0.785003,0.102614],[0.036074,-0.157084,0.986926]]
2025-10-26T21:28:50.509Z,1761514130.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515179
2025-10-26T21:28:50.529Z,1761514130.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.30 m.
2025-10-26T21:28:50.532Z,1761514130.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.302979 m,
      nav range: 258.258118 m,
      bearing: 31.234992 deg,
      approach rate: -0.670445 m/s,
      LOS rate: -0.020912 deg/s,
      cmd heading: 37.385430 deg,
      new cmd heading: 37.359329 deg.

2025-10-26T21:28:50.533Z,1761514130.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.652043 target range: 268.302979 and range: 270.00 m.
2025-10-26T21:28:50.770Z,1761514130.770 [DAT](INFO): DAT read: 21:28:48.9077 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 420, 0.44,-2.942, 1.991,-2.749, 2.483, PHS= 0.961,-0.447, 1.007, RAW= 151.6, -20.6, CAL= 153.6, -22.5, ROT= 356.4,  22.5

2025-10-26T21:28:50.771Z,1761514130.771 [DAT](INFO): got valid direction response:
 21:28:48.9077 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 420, 0.44,-2.942, 1.991,-2.749, 2.483, PHS= 0.961,-0.447, 1.007, RAW= 151.6, -20.6, CAL= 153.6, -22.5, ROT= 356.4,  22.5

2025-10-26T21:28:50.777Z,1761514130.777 [DAT](INFO): DAT read: Bearing 159.7,   2.4 (Local)

2025-10-26T21:28:50.777Z,1761514130.777 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.7,   2.4 (Local)

2025-10-26T21:28:50.779Z,1761514130.779 [DAT](INFO): DAT read: Range 11 to 50 : 268.8 m  (Round-trip  358.5 ms) speed  0.9 m/s

2025-10-26T21:28:50.791Z,1761514130.791 [DAT](INFO): DAT read: user:263>

2025-10-26T21:28:50.805Z,1761514130.805 [DAT](INFO): DAT read: Tx time:21:28:49.9950

2025-10-26T21:28:50.805Z,1761514130.805 [DAT](INFO): Ping request sent.
2025-10-26T21:28:50.805Z,1761514130.805 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:28:50.805Z,1761514130.805 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:28:50.806Z,1761514130.806 [DAT](INFO): direction in FSK: [0.922056,-0.058011,-0.382683]
2025-10-26T21:28:50.807Z,1761514130.807 [DAT](INFO): publishing transmit ping time
2025-10-26T21:28:50.807Z,1761514130.807 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:50.830Z,1761514130.830 [DAT](INFO): publishing transmit ping time
2025-10-26T21:28:50.830Z,1761514130.830 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:50.914Z,1761514130.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790058,-0.600444,-0.123592],[0.611970,0.784355,0.101388],[0.036062,-0.155737,0.987140]]
2025-10-26T21:28:51.046Z,1761514131.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 268.799988 m,
      deltaT: 3.780153 s,
      deltaX: -1.200012 m,
      approachRate: -0.317451 m/s,
      rangeRepo size: 4

2025-10-26T21:28:51.052Z,1761514131.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 267.109436 m,
      bearing: 30.630282 deg,
      lat: 36.779575 deg,
      lon: -121.859245 deg,
      deltaT: 3.780153 s,
      deltaX: -1.193542 m,
      approachRate: -0.315739 m/s,
      posRepo size: 4

2025-10-26T21:28:51.053Z,1761514131.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.11 m.
2025-10-26T21:28:51.060Z,1761514131.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.109436 m,
      nav range: 256.950714 m,
      bearing: 31.355996 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020912 deg/s,
      cmd heading: 37.359328 deg,
      new cmd heading: 37.326945 deg.

2025-10-26T21:28:51.061Z,1761514131.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.651478 target range: 267.109436 and range: 268.80 m.
2025-10-26T21:28:51.363Z,1761514131.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788784,-0.602459,-0.121912],[0.613671,0.783161,0.100331],[0.035031,-0.153953,0.987457]]
2025-10-26T21:28:51.382Z,1761514131.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.11 m.
2025-10-26T21:28:51.385Z,1761514131.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.109436 m,
      nav range: 256.713531 m,
      bearing: 31.348866 deg,
      approach rate: -0.703933 m/s,
      LOS rate: -0.021180 deg/s,
      cmd heading: 37.326946 deg,
      new cmd heading: 37.305537 deg.

2025-10-26T21:28:51.386Z,1761514131.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.651104 target range: 267.109436 and range: 268.80 m.
2025-10-26T21:28:51.762Z,1761514131.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788246,-0.603223,-0.121616],[0.614394,0.782554,0.100639],[0.034464,-0.154049,0.987462]]
2025-10-26T21:28:51.780Z,1761514131.780 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:51.782Z,1761514131.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.11 m.
2025-10-26T21:28:51.785Z,1761514131.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.109436 m,
      nav range: 256.445648 m,
      bearing: 31.340742 deg,
      approach rate: -0.670442 m/s,
      LOS rate: -0.020353 deg/s,
      cmd heading: 37.305537 deg,
      new cmd heading: 37.281140 deg.

2025-10-26T21:28:51.786Z,1761514131.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.650679 target range: 267.109436 and range: 268.80 m.
2025-10-26T21:28:52.020Z,1761514132.020 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:52.021Z,1761514132.021 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:52.021Z,1761514132.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:28:52.170Z,1761514132.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788107,-0.603428,-0.121501],[0.614608,0.782286,0.101420],[0.033849,-0.154605,0.987396]]
2025-10-26T21:28:52.230Z,1761514132.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.11 m.
2025-10-26T21:28:52.232Z,1761514132.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.109436 m,
      nav range: 256.152924 m,
      bearing: 31.332467 deg,
      approach rate: -0.653654 m/s,
      LOS rate: -0.018501 deg/s,
      cmd heading: 37.281140 deg,
      new cmd heading: 37.256284 deg.

2025-10-26T21:28:52.233Z,1761514132.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.650245 target range: 267.109436 and range: 268.80 m.
2025-10-26T21:28:52.273Z,1761514132.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467978
2025-10-26T21:28:52.527Z,1761514132.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721832
2025-10-26T21:28:52.571Z,1761514132.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788327,-0.603175,-0.121330],[0.614386,0.782240,0.103106],[0.032719,-0.155825,0.987243]]
2025-10-26T21:28:52.590Z,1761514132.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.11 m.
2025-10-26T21:28:52.592Z,1761514132.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.109436 m,
      nav range: 255.917755 m,
      bearing: 31.325820 deg,
      approach rate: -0.653255 m/s,
      LOS rate: -0.018480 deg/s,
      cmd heading: 37.256285 deg,
      new cmd heading: 37.236326 deg.

2025-10-26T21:28:52.593Z,1761514132.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.649897 target range: 267.109436 and range: 268.80 m.
2025-10-26T21:28:52.777Z,1761514132.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971473
2025-10-26T21:28:52.981Z,1761514132.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788558,-0.602879,-0.121293],[0.614140,0.782220,0.104712],[0.031749,-0.157063,0.987078]]
2025-10-26T21:28:53.029Z,1761514133.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223793
2025-10-26T21:28:53.034Z,1761514133.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.11 m.
2025-10-26T21:28:53.036Z,1761514133.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.109436 m,
      nav range: 255.639877 m,
      bearing: 31.319225 deg,
      approach rate: -0.625847 m/s,
      LOS rate: -0.014869 deg/s,
      cmd heading: 37.236327 deg,
      new cmd heading: 37.216521 deg.

2025-10-26T21:28:53.037Z,1761514133.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.649551 target range: 267.109436 and range: 268.80 m.
2025-10-26T21:28:53.280Z,1761514133.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475193
2025-10-26T21:28:53.381Z,1761514133.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788853,-0.602670,-0.120417],[0.613817,0.782376,0.105433],[0.030670,-0.157085,0.987109]]
2025-10-26T21:28:53.400Z,1761514133.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.11 m.
2025-10-26T21:28:53.402Z,1761514133.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.109436 m,
      nav range: 255.408218 m,
      bearing: 31.313740 deg,
      approach rate: -0.632913 m/s,
      LOS rate: -0.015001 deg/s,
      cmd heading: 37.216523 deg,
      new cmd heading: 37.200051 deg.

2025-10-26T21:28:53.404Z,1761514133.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.649263 target range: 267.109436 and range: 268.80 m.
2025-10-26T21:28:53.532Z,1761514133.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727255
2025-10-26T21:28:53.783Z,1761514133.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789494,-0.601813,-0.120503],[0.613040,0.782720,0.107384],[0.029695,-0.158653,0.986888]]
2025-10-26T21:28:53.785Z,1761514133.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979800
2025-10-26T21:28:53.802Z,1761514133.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:53.804Z,1761514133.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.11 m.
2025-10-26T21:28:53.806Z,1761514133.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.109436 m,
      nav range: 255.154572 m,
      bearing: 31.307779 deg,
      approach rate: -0.627801 m/s,
      LOS rate: -0.014769 deg/s,
      cmd heading: 37.200052 deg,
      new cmd heading: 37.182151 deg.

2025-10-26T21:28:53.808Z,1761514133.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648951 target range: 267.109436 and range: 268.80 m.
2025-10-26T21:28:54.036Z,1761514134.036 [DAT](INFO): DAT read: Rx Time:21:28:52.7543

2025-10-26T21:28:54.037Z,1761514134.037 [DAT](INFO): Rx dataTimestamp_ set to:1761514134.036621
2025-10-26T21:28:54.037Z,1761514134.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232265
2025-10-26T21:28:54.190Z,1761514134.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790492,-0.600526,-0.120378],[0.611800,0.783426,0.109286],[0.028678,-0.160037,0.986694]]
2025-10-26T21:28:54.237Z,1761514134.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.11 m.
2025-10-26T21:28:54.239Z,1761514134.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.109436 m,
      nav range: 254.876572 m,
      bearing: 31.304741 deg,
      approach rate: -0.642170 m/s,
      LOS rate: -0.007024 deg/s,
      cmd heading: 37.182150 deg,
      new cmd heading: 37.173028 deg.

2025-10-26T21:28:54.240Z,1761514134.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648792 target range: 267.109436 and range: 268.80 m.
2025-10-26T21:28:54.289Z,1761514134.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483966
2025-10-26T21:28:54.562Z,1761514134.562 [DAT](INFO): DAT read: 21:28:52.7543 LVL= 28656, 32753, 29634, 32755, AGC= 73, IDX= 402, 0.22,-0.613,-2.033,-0.398,-1.372, PHS= 0.862,-0.616, 0.930, RAW= 152.2, -15.4, CAL= 154.0, -17.4, ROT= 356.0,  17.4

2025-10-26T21:28:54.568Z,1761514134.568 [DAT](INFO): got valid direction response:
 21:28:52.7543 LVL= 28656, 32753, 29634, 32755, AGC= 73, IDX= 402, 0.22,-0.613,-2.033,-0.398,-1.372, PHS= 0.862,-0.616, 0.930, RAW= 152.2, -15.4, CAL= 154.0, -17.4, ROT= 356.0,  17.4

2025-10-26T21:28:54.569Z,1761514134.569 [DAT](INFO): DAT read: Bearing 164.5,   1.0 (Local)

2025-10-26T21:28:54.569Z,1761514134.569 [DAT](INFO): Local bearing/azimuth received:
 Bearing 164.5,   1.0 (Local)

2025-10-26T21:28:54.571Z,1761514134.571 [DAT](INFO): DAT read: Range 11 to 50 : 266.4 m  (Round-trip  355.2 ms) speed  0.3 m/s

2025-10-26T21:28:54.576Z,1761514134.576 [DAT](INFO): DAT read: user:264>

2025-10-26T21:28:54.577Z,1761514134.577 [DAT](INFO): DAT read: Tx time:21:28:53.8450

2025-10-26T21:28:54.577Z,1761514134.577 [DAT](INFO): Ping request sent.
2025-10-26T21:28:54.577Z,1761514134.577 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:28:54.577Z,1761514134.577 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:28:54.578Z,1761514134.578 [DAT](INFO): direction in FSK: [0.951916,-0.066564,-0.299041]
2025-10-26T21:28:54.579Z,1761514134.579 [DAT](INFO): publishing transmit ping time
2025-10-26T21:28:54.579Z,1761514134.579 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:54.594Z,1761514134.594 [DAT](INFO): publishing transmit ping time
2025-10-26T21:28:54.594Z,1761514134.594 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:54.628Z,1761514134.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791288,-0.599538,-0.120077],[0.610815,0.783988,0.110763],[0.027733,-0.160990,0.986566]]
2025-10-26T21:28:54.729Z,1761514134.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 266.399994 m,
      deltaT: 3.781280 s,
      deltaX: -2.399994 m,
      approachRate: -0.634704 m/s,
      rangeRepo size: 4

2025-10-26T21:28:54.744Z,1761514134.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 264.725006 m,
      bearing: 30.897807 deg,
      lat: 36.779575 deg,
      lon: -121.859256 deg,
      deltaT: 3.781280 s,
      deltaX: -2.384430 m,
      approachRate: -0.630588 m/s,
      posRepo size: 4

2025-10-26T21:28:54.744Z,1761514134.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.73 m.
2025-10-26T21:28:54.747Z,1761514134.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.725006 m,
      nav range: 254.097519 m,
      bearing: 31.122771 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007024 deg/s,
      cmd heading: 37.173028 deg,
      new cmd heading: 37.162670 deg.

2025-10-26T21:28:54.752Z,1761514134.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648611 target range: 264.725006 and range: 266.40 m.
2025-10-26T21:28:55.110Z,1761514135.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.73 m.
2025-10-26T21:28:55.113Z,1761514135.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.725006 m,
      nav range: 253.836533 m,
      bearing: 31.120213 deg,
      approach rate: -0.683509 m/s,
      LOS rate: -0.006706 deg/s,
      cmd heading: 37.162670 deg,
      new cmd heading: 37.154989 deg.

2025-10-26T21:28:55.114Z,1761514135.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648477 target range: 264.725006 and range: 266.40 m.
2025-10-26T21:28:55.466Z,1761514135.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793463,-0.596837,-0.119174],[0.608081,0.785646,0.114008],[0.025585,-0.162929,0.986306]]
2025-10-26T21:28:55.488Z,1761514135.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.73 m.
2025-10-26T21:28:55.491Z,1761514135.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.725006 m,
      nav range: 253.594452 m,
      bearing: 31.118024 deg,
      approach rate: -0.639905 m/s,
      LOS rate: -0.005791 deg/s,
      cmd heading: 37.154989 deg,
      new cmd heading: 37.148417 deg.

2025-10-26T21:28:55.492Z,1761514135.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648362 target range: 264.725006 and range: 266.40 m.
2025-10-26T21:28:55.858Z,1761514135.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794675,-0.595105,-0.119758],[0.606546,0.786350,0.117287],[0.024373,-0.165844,0.985851]]
2025-10-26T21:28:55.875Z,1761514135.875 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:55.878Z,1761514135.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.73 m.
2025-10-26T21:28:55.880Z,1761514135.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.725006 m,
      nav range: 253.346161 m,
      bearing: 31.115881 deg,
      approach rate: -0.637770 m/s,
      LOS rate: -0.005511 deg/s,
      cmd heading: 37.148419 deg,
      new cmd heading: 37.141983 deg.

2025-10-26T21:28:55.881Z,1761514135.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648250 target range: 264.725006 and range: 266.40 m.
2025-10-26T21:28:56.052Z,1761514136.052 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:28:56.052Z,1761514136.052 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:28:56.053Z,1761514136.053 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:28:56.262Z,1761514136.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795895,-0.593464,-0.119798],[0.604998,0.787106,0.120173],[0.022976,-0.168122,0.985498]]
2025-10-26T21:28:56.304Z,1761514136.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727436
2025-10-26T21:28:56.307Z,1761514136.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.73 m.
2025-10-26T21:28:56.309Z,1761514136.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.725006 m,
      nav range: 253.071533 m,
      bearing: 31.115827 deg,
      approach rate: -0.640164 m/s,
      LOS rate: -0.000127 deg/s,
      cmd heading: 37.141981 deg,
      new cmd heading: 37.141818 deg.

2025-10-26T21:28:56.310Z,1761514136.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648247 target range: 264.725006 and range: 266.40 m.
2025-10-26T21:28:56.562Z,1761514136.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984640
2025-10-26T21:28:56.667Z,1761514136.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797090,-0.591941,-0.119389],[0.603469,0.787965,0.122213],[0.021731,-0.169462,0.985297]]
2025-10-26T21:28:56.685Z,1761514136.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.73 m.
2025-10-26T21:28:56.688Z,1761514136.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.725006 m,
      nav range: 252.827957 m,
      bearing: 31.115882 deg,
      approach rate: -0.643623 m/s,
      LOS rate: 0.000146 deg/s,
      cmd heading: 37.141817 deg,
      new cmd heading: 37.141984 deg.

2025-10-26T21:28:56.689Z,1761514136.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648250 target range: 264.725006 and range: 266.40 m.
2025-10-26T21:28:56.808Z,1761514136.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231338
2025-10-26T21:28:57.060Z,1761514137.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483371
2025-10-26T21:28:57.071Z,1761514137.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797860,-0.591068,-0.118565],[0.602481,0.788616,0.122889],[0.020867,-0.169481,0.985312]]
2025-10-26T21:28:57.120Z,1761514137.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.73 m.
2025-10-26T21:28:57.122Z,1761514137.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.725006 m,
      nav range: 252.549622 m,
      bearing: 31.116458 deg,
      approach rate: -0.641091 m/s,
      LOS rate: 0.001327 deg/s,
      cmd heading: 37.141985 deg,
      new cmd heading: 37.143714 deg.

2025-10-26T21:28:57.123Z,1761514137.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648280 target range: 264.725006 and range: 266.40 m.
2025-10-26T21:28:57.312Z,1761514137.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735385
2025-10-26T21:28:57.481Z,1761514137.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798603,-0.590089,-0.118440],[0.601532,0.789037,0.124819],[0.019799,-0.170926,0.985085]]
2025-10-26T21:28:57.499Z,1761514137.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.73 m.
2025-10-26T21:28:57.502Z,1761514137.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.725006 m,
      nav range: 252.306046 m,
      bearing: 31.117025 deg,
      approach rate: -0.641532 m/s,
      LOS rate: 0.001496 deg/s,
      cmd heading: 37.143713 deg,
      new cmd heading: 37.145417 deg.

2025-10-26T21:28:57.503Z,1761514137.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648310 target range: 264.725006 and range: 266.40 m.
2025-10-26T21:28:57.565Z,1761514137.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988470
2025-10-26T21:28:57.816Z,1761514137.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239297
2025-10-26T21:28:57.878Z,1761514137.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799145,-0.589586,-0.117286],[0.600849,0.789462,0.125420],[0.018646,-0.170700,0.985147]]
2025-10-26T21:28:57.913Z,1761514137.913 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:57.915Z,1761514137.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.73 m.
2025-10-26T21:28:57.918Z,1761514137.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.725006 m,
      nav range: 252.046738 m,
      bearing: 31.117682 deg,
      approach rate: -0.623498 m/s,
      LOS rate: 0.001581 deg/s,
      cmd heading: 37.145417 deg,
      new cmd heading: 37.147389 deg.

2025-10-26T21:28:57.918Z,1761514137.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648344 target range: 264.725006 and range: 266.40 m.
2025-10-26T21:28:58.069Z,1761514138.069 [DAT](INFO): DAT read: Rx Time:21:28:56.6018

2025-10-26T21:28:58.069Z,1761514138.069 [DAT](INFO): Rx dataTimestamp_ set to:1761514138.068820
2025-10-26T21:28:58.070Z,1761514138.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492639
2025-10-26T21:28:58.283Z,1761514138.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799407,-0.589736,-0.114720],[0.600525,0.790024,0.123417],[0.017848,-0.167553,0.985702]]
2025-10-26T21:28:58.328Z,1761514138.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751458
2025-10-26T21:28:58.336Z,1761514138.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.73 m.
2025-10-26T21:28:58.338Z,1761514138.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.725006 m,
      nav range: 251.776367 m,
      bearing: 31.117966 deg,
      approach rate: -0.668539 m/s,
      LOS rate: 0.000704 deg/s,
      cmd heading: 37.147391 deg,
      new cmd heading: 37.148245 deg.

2025-10-26T21:28:58.339Z,1761514138.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648359 target range: 264.725006 and range: 266.40 m.
2025-10-26T21:28:58.591Z,1761514138.591 [DAT](INFO): DAT read: 21:28:56.6018 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 157, 0.47, 2.975, 1.457,-2.936, 2.866, PHS= 0.211,-1.364, 0.437, RAW= 156.6,   8.5, CAL= 156.3,   8.9, ROT= 353.7,  -8.9

2025-10-26T21:28:58.592Z,1761514138.592 [DAT](INFO): got valid direction response:
 21:28:56.6018 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 157, 0.47, 2.975, 1.457,-2.936, 2.866, PHS= 0.211,-1.364, 0.437, RAW= 156.6,   8.5, CAL= 156.3,   8.9, ROT= 353.7,  -8.9

2025-10-26T21:28:58.593Z,1761514138.593 [DAT](INFO): DAT read: Bearing 189.2,  -6.1 (Local)

2025-10-26T21:28:58.594Z,1761514138.594 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.2,  -6.1 (Local)

2025-10-26T21:28:58.595Z,1761514138.595 [DAT](INFO): DAT read: Range 11 to 50 : 264.5 m  (Round-trip  352.7 ms) speed  0.7 m/s

2025-10-26T21:28:58.596Z,1761514138.596 [DAT](INFO): DAT read: user:265>

2025-10-26T21:28:58.597Z,1761514138.597 [DAT](INFO): DAT read: Tx time:21:28:57.6950

2025-10-26T21:28:58.597Z,1761514138.597 [DAT](INFO): Ping request sent.
2025-10-26T21:28:58.597Z,1761514138.597 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:28:58.597Z,1761514138.597 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:28:58.598Z,1761514138.598 [DAT](INFO): direction in FSK: [0.981994,-0.108413,0.154710]
2025-10-26T21:28:58.598Z,1761514138.598 [DAT](INFO): publishing transmit ping time
2025-10-26T21:28:58.599Z,1761514138.599 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:58.602Z,1761514138.602 [DAT](INFO): publishing transmit ping time
2025-10-26T21:28:58.602Z,1761514138.602 [DAT](INFO): publishing direction and range info
2025-10-26T21:28:58.751Z,1761514138.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 264.500000 m,
      deltaT: 4.038238 s,
      deltaX: -1.899994 m,
      approachRate: -0.470501 m/s,
      rangeRepo size: 4

2025-10-26T21:28:58.754Z,1761514138.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 262.837677 m,
      bearing: 32.186331 deg,
      lat: 36.779585 deg,
      lon: -121.859256 deg,
      deltaT: 4.038238 s,
      deltaX: -1.887329 m,
      approachRate: -0.467364 m/s,
      posRepo size: 4

2025-10-26T21:28:58.754Z,1761514138.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.84 m.
2025-10-26T21:28:58.765Z,1761514138.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.837677 m,
      nav range: 252.481720 m,
      bearing: 30.985217 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000704 deg/s,
      cmd heading: 37.148245 deg,
      new cmd heading: 37.149156 deg.

2025-10-26T21:28:58.766Z,1761514138.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648375 target range: 262.837677 and range: 264.50 m.
2025-10-26T21:28:59.091Z,1761514139.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800107,-0.589933,-0.108665],[0.599657,0.791290,0.119465],[0.015509,-0.160746,0.986874]]
2025-10-26T21:28:59.149Z,1761514139.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.84 m.
2025-10-26T21:28:59.151Z,1761514139.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.837677 m,
      nav range: 252.215759 m,
      bearing: 30.985167 deg,
      approach rate: -0.667894 m/s,
      LOS rate: -0.000128 deg/s,
      cmd heading: 37.149156 deg,
      new cmd heading: 37.149004 deg.

2025-10-26T21:28:59.152Z,1761514139.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648372 target range: 262.837677 and range: 264.50 m.
2025-10-26T21:28:59.496Z,1761514139.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800235,-0.590224,-0.106107],[0.599514,0.791615,0.118017],[0.014339,-0.158054,0.987326]]
2025-10-26T21:28:59.514Z,1761514139.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.84 m.
2025-10-26T21:28:59.517Z,1761514139.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.837677 m,
      nav range: 251.984207 m,
      bearing: 30.985138 deg,
      approach rate: -0.634012 m/s,
      LOS rate: -0.000077 deg/s,
      cmd heading: 37.149003 deg,
      new cmd heading: 37.148918 deg.

2025-10-26T21:28:59.518Z,1761514139.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648371 target range: 262.837677 and range: 264.50 m.
2025-10-26T21:28:59.900Z,1761514139.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800411,-0.590328,-0.104187],[0.599301,0.791922,0.117038],[0.013417,-0.156118,0.987647]]
2025-10-26T21:28:59.916Z,1761514139.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:28:59.918Z,1761514139.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.84 m.
2025-10-26T21:28:59.921Z,1761514139.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.837677 m,
      nav range: 251.728256 m,
      bearing: 30.985128 deg,
      approach rate: -0.633202 m/s,
      LOS rate: -0.000026 deg/s,
      cmd heading: 37.148917 deg,
      new cmd heading: 37.148886 deg.

2025-10-26T21:28:59.922Z,1761514139.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648370 target range: 262.837677 and range: 264.50 m.
2025-10-26T21:29:00.092Z,1761514140.092 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:00.092Z,1761514140.092 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:00.093Z,1761514140.093 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:29:00.304Z,1761514140.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800642,-0.590437,-0.101764],[0.599010,0.792405,0.115245],[0.012593,-0.153228,0.988111]]
2025-10-26T21:29:00.340Z,1761514140.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.84 m.
2025-10-26T21:29:00.343Z,1761514140.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.837677 m,
      nav range: 251.449112 m,
      bearing: 30.983979 deg,
      approach rate: -0.661483 m/s,
      LOS rate: -0.002726 deg/s,
      cmd heading: 37.148887 deg,
      new cmd heading: 37.145435 deg.

2025-10-26T21:29:00.344Z,1761514140.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747501
2025-10-26T21:29:00.345Z,1761514140.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648310 target range: 262.837677 and range: 264.50 m.
2025-10-26T21:29:00.596Z,1761514140.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999294
2025-10-26T21:29:00.713Z,1761514140.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800811,-0.590407,-0.100607],[0.598804,0.792553,0.115295],[0.011665,-0.152573,0.988223]]
2025-10-26T21:29:00.737Z,1761514140.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.84 m.
2025-10-26T21:29:00.740Z,1761514140.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.837677 m,
      nav range: 251.187866 m,
      bearing: 30.982918 deg,
      approach rate: -0.657662 m/s,
      LOS rate: -0.002674 deg/s,
      cmd heading: 37.145434 deg,
      new cmd heading: 37.142247 deg.

2025-10-26T21:29:00.741Z,1761514140.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648255 target range: 262.837677 and range: 264.50 m.
2025-10-26T21:29:00.852Z,1761514140.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255107
2025-10-26T21:29:01.101Z,1761514141.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503672
2025-10-26T21:29:01.112Z,1761514141.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801192,-0.590069,-0.099554],[0.598310,0.792909,0.115414],[0.010835,-0.152032,0.988316]]
2025-10-26T21:29:01.160Z,1761514141.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.84 m.
2025-10-26T21:29:01.162Z,1761514141.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.837677 m,
      nav range: 250.915039 m,
      bearing: 30.979562 deg,
      approach rate: -0.646484 m/s,
      LOS rate: -0.007960 deg/s,
      cmd heading: 37.142248 deg,
      new cmd heading: 37.132170 deg.

2025-10-26T21:29:01.163Z,1761514141.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648079 target range: 262.837677 and range: 264.50 m.
2025-10-26T21:29:01.352Z,1761514141.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755357
2025-10-26T21:29:01.515Z,1761514141.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801469,-0.589935,-0.098103],[0.597946,0.793345,0.114302],[0.010399,-0.150270,0.988590]]
2025-10-26T21:29:01.533Z,1761514141.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.84 m.
2025-10-26T21:29:01.536Z,1761514141.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.837677 m,
      nav range: 250.674561 m,
      bearing: 30.976627 deg,
      approach rate: -0.643731 m/s,
      LOS rate: -0.007865 deg/s,
      cmd heading: 37.132170 deg,
      new cmd heading: 37.123355 deg.

2025-10-26T21:29:01.537Z,1761514141.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.647925 target range: 262.837677 and range: 264.50 m.
2025-10-26T21:29:01.606Z,1761514141.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009304
2025-10-26T21:29:01.861Z,1761514141.861 [DAT](INFO): DAT read: Rx Time:21:29:00.4477

2025-10-26T21:29:01.861Z,1761514141.861 [DAT](INFO): Rx dataTimestamp_ set to:1761514141.860831
2025-10-26T21:29:01.862Z,1761514141.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264673
2025-10-26T21:29:01.918Z,1761514141.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801695,-0.589650,-0.097965],[0.597649,0.793487,0.114865],[0.010004,-0.150635,0.988539]]
2025-10-26T21:29:01.934Z,1761514141.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:01.946Z,1761514141.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.84 m.
2025-10-26T21:29:01.960Z,1761514141.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.837677 m,
      nav range: 250.415100 m,
      bearing: 30.973475 deg,
      approach rate: -0.628638 m/s,
      LOS rate: -0.007645 deg/s,
      cmd heading: 37.123355 deg,
      new cmd heading: 37.113889 deg.

2025-10-26T21:29:01.962Z,1761514141.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.647760 target range: 262.837677 and range: 264.50 m.
2025-10-26T21:29:02.112Z,1761514142.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515478
2025-10-26T21:29:02.322Z,1761514142.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802020,-0.589134,-0.098413],[0.597209,0.793780,0.115129],[0.010292,-0.151109,0.988464]]
2025-10-26T21:29:02.371Z,1761514142.371 [DAT](INFO): DAT read: 21:29:00.4477 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 399, 0.20,-1.915, 2.972,-1.735,-2.680, PHS= 0.867,-0.587, 0.901, RAW= 151.2, -15.9, CAL= 153.0, -18.1, ROT= 357.0,  18.1

2025-10-26T21:29:02.372Z,1761514142.372 [DAT](INFO): got valid direction response:
 21:29:00.4477 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 399, 0.20,-1.915, 2.972,-1.735,-2.680, PHS= 0.867,-0.587, 0.901, RAW= 151.2, -15.9, CAL= 153.0, -18.1, ROT= 357.0,  18.1

2025-10-26T21:29:02.373Z,1761514142.373 [DAT](INFO): DAT read: Bearing 163.0,   0.7 (Local)

2025-10-26T21:29:02.373Z,1761514142.373 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.0,   0.7 (Local)

2025-10-26T21:29:02.375Z,1761514142.375 [DAT](INFO): DAT read: Range 11 to 50 : 261.5 m  (Round-trip  348.7 ms) speed  0.2 m/s

2025-10-26T21:29:02.376Z,1761514142.376 [DAT](INFO): DAT read: user:266>

2025-10-26T21:29:02.376Z,1761514142.376 [DAT](INFO): DAT read: Tx time:21:29:01.5449

2025-10-26T21:29:02.377Z,1761514142.377 [DAT](INFO): Ping request sent.
2025-10-26T21:29:02.377Z,1761514142.377 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:29:02.377Z,1761514142.377 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:29:02.378Z,1761514142.378 [DAT](INFO): direction in FSK: [0.949213,-0.049746,-0.310676]
2025-10-26T21:29:02.378Z,1761514142.378 [DAT](INFO): publishing transmit ping time
2025-10-26T21:29:02.379Z,1761514142.379 [DAT](INFO): publishing direction and range info
2025-10-26T21:29:02.382Z,1761514142.382 [DAT](INFO): publishing transmit ping time
2025-10-26T21:29:02.382Z,1761514142.382 [DAT](INFO): publishing direction and range info
2025-10-26T21:29:02.433Z,1761514142.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 261.500000 m,
      deltaT: 3.784103 s,
      deltaX: -3.000000 m,
      approachRate: -0.792790 m/s,
      rangeRepo size: 4

2025-10-26T21:29:02.440Z,1761514142.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 259.855286 m,
      bearing: 30.908393 deg,
      lat: 36.779585 deg,
      lon: -121.859264 deg,
      deltaT: 3.784103 s,
      deltaX: -2.982391 m,
      approachRate: -0.788137 m/s,
      posRepo size: 4

2025-10-26T21:29:02.442Z,1761514142.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.86 m.
2025-10-26T21:29:02.452Z,1761514142.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.855286 m,
      nav range: 249.747467 m,
      bearing: 30.823631 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007645 deg/s,
      cmd heading: 37.113889 deg,
      new cmd heading: 37.102720 deg.

2025-10-26T21:29:02.453Z,1761514142.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.647565 target range: 259.855286 and range: 261.50 m.
2025-10-26T21:29:02.779Z,1761514142.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802241,-0.588731,-0.099020],[0.596902,0.794010,0.115132],[0.010841,-0.151469,0.988403]]
2025-10-26T21:29:02.803Z,1761514142.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.86 m.
2025-10-26T21:29:02.807Z,1761514142.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.855286 m,
      nav range: 249.491241 m,
      bearing: 30.817232 deg,
      approach rate: -0.691690 m/s,
      LOS rate: -0.017293 deg/s,
      cmd heading: 37.102721 deg,
      new cmd heading: 37.083504 deg.

2025-10-26T21:29:02.808Z,1761514142.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.647229 target range: 259.855286 and range: 261.50 m.
2025-10-26T21:29:03.182Z,1761514143.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802338,-0.588536,-0.099392],[0.596767,0.794091,0.115274],[0.011083,-0.151803,0.988349]]
2025-10-26T21:29:03.243Z,1761514143.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.86 m.
2025-10-26T21:29:03.250Z,1761514143.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.855286 m,
      nav range: 249.211914 m,
      bearing: 30.807262 deg,
      approach rate: -0.635108 m/s,
      LOS rate: -0.022695 deg/s,
      cmd heading: 37.083505 deg,
      new cmd heading: 37.053560 deg.

2025-10-26T21:29:03.251Z,1761514143.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.646707 target range: 259.855286 and range: 261.50 m.
2025-10-26T21:29:03.592Z,1761514143.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802413,-0.588302,-0.100174],[0.596667,0.793999,0.116421],[0.011047,-0.153189,0.988135]]
2025-10-26T21:29:03.610Z,1761514143.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.86 m.
2025-10-26T21:29:03.613Z,1761514143.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.855286 m,
      nav range: 248.969299 m,
      bearing: 30.798590 deg,
      approach rate: -0.661326 m/s,
      LOS rate: -0.023660 deg/s,
      cmd heading: 37.053561 deg,
      new cmd heading: 37.027521 deg.

2025-10-26T21:29:03.613Z,1761514143.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.646252 target range: 259.855286 and range: 261.50 m.
2025-10-26T21:29:03.990Z,1761514143.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802244,-0.588505,-0.100335],[0.596894,0.793806,0.116573],[0.011043,-0.153410,0.988101]]
2025-10-26T21:29:04.014Z,1761514144.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:04.020Z,1761514144.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.86 m.
2025-10-26T21:29:04.023Z,1761514144.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.855286 m,
      nav range: 248.711746 m,
      bearing: 30.789349 deg,
      approach rate: -0.627250 m/s,
      LOS rate: -0.022530 deg/s,
      cmd heading: 37.027521 deg,
      new cmd heading: 36.999768 deg.

2025-10-26T21:29:04.037Z,1761514144.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.645768 target range: 259.855286 and range: 261.50 m.
2025-10-26T21:29:04.139Z,1761514144.139 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:04.139Z,1761514144.139 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:04.141Z,1761514144.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:29:04.388Z,1761514144.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011681
2025-10-26T21:29:04.401Z,1761514144.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801792,-0.589146,-0.100183],[0.597503,0.793390,0.116288],[0.010974,-0.153098,0.988150]]
2025-10-26T21:29:04.476Z,1761514144.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.86 m.
2025-10-26T21:29:04.479Z,1761514144.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.855286 m,
      nav range: 248.420715 m,
      bearing: 30.775727 deg,
      approach rate: -0.638559 m/s,
      LOS rate: -0.029923 deg/s,
      cmd heading: 36.999767 deg,
      new cmd heading: 36.958854 deg.

2025-10-26T21:29:04.484Z,1761514144.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.645054 target range: 259.855286 and range: 261.50 m.
2025-10-26T21:29:04.640Z,1761514144.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263527
2025-10-26T21:29:04.802Z,1761514144.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801713,-0.589221,-0.100373],[0.597610,0.793256,0.116653],[0.010887,-0.153506,0.988088]]
2025-10-26T21:29:04.821Z,1761514144.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.86 m.
2025-10-26T21:29:04.840Z,1761514144.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.855286 m,
      nav range: 248.187378 m,
      bearing: 30.764774 deg,
      approach rate: -0.676739 m/s,
      LOS rate: -0.031796 deg/s,
      cmd heading: 36.958854 deg,
      new cmd heading: 36.925964 deg.

2025-10-26T21:29:04.841Z,1761514144.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644480 target range: 259.855286 and range: 261.50 m.
2025-10-26T21:29:04.893Z,1761514144.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516150
2025-10-26T21:29:05.144Z,1761514145.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767635
2025-10-26T21:29:05.207Z,1761514145.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801115,-0.590056,-0.100243],[0.598414,0.792667,0.116531],[0.010699,-0.153342,0.988115]]
2025-10-26T21:29:05.269Z,1761514145.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.86 m.
2025-10-26T21:29:05.276Z,1761514145.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.855286 m,
      nav range: 247.911560 m,
      bearing: 30.750181 deg,
      approach rate: -0.615418 m/s,
      LOS rate: -0.032596 deg/s,
      cmd heading: 36.925963 deg,
      new cmd heading: 36.882136 deg.

2025-10-26T21:29:05.277Z,1761514145.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643715 target range: 259.855286 and range: 261.50 m.
2025-10-26T21:29:05.396Z,1761514145.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019542
2025-10-26T21:29:05.649Z,1761514145.649 [DAT](INFO): DAT read: Rx Time:21:29:04.2963

2025-10-26T21:29:05.649Z,1761514145.649 [DAT](INFO): Rx dataTimestamp_ set to:1761514145.648898
2025-10-26T21:29:05.650Z,1761514145.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272936
2025-10-26T21:29:05.672Z,1761514145.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.86 m.
2025-10-26T21:29:05.674Z,1761514145.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.855286 m,
      nav range: 247.659531 m,
      bearing: 30.736817 deg,
      approach rate: -0.632428 m/s,
      LOS rate: -0.033570 deg/s,
      cmd heading: 36.882137 deg,
      new cmd heading: 36.842004 deg.

2025-10-26T21:29:05.697Z,1761514145.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643014 target range: 259.855286 and range: 261.50 m.
2025-10-26T21:29:05.900Z,1761514145.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523547
2025-10-26T21:29:06.016Z,1761514146.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799572,-0.592666,-0.097119],[0.600504,0.791370,0.114581],[0.008948,-0.149936,0.988655]]
2025-10-26T21:29:06.033Z,1761514146.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:06.035Z,1761514146.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.86 m.
2025-10-26T21:29:06.038Z,1761514146.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.855286 m,
      nav range: 247.413223 m,
      bearing: 30.723571 deg,
      approach rate: -0.670306 m/s,
      LOS rate: -0.036084 deg/s,
      cmd heading: 36.842003 deg,
      new cmd heading: 36.802225 deg.

2025-10-26T21:29:06.039Z,1761514146.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.642320 target range: 259.855286 and range: 261.50 m.
2025-10-26T21:29:06.158Z,1761514146.158 [DAT](INFO): DAT read: 21:29:04.2963 LVL= 32752, 32753, 31922, 32755, AGC= 72, IDX= 433,-0.30, 0.645,-0.927, 0.865,-0.236, PHS= 0.983,-0.646, 1.057, RAW= 152.2, -16.5, CAL= 154.2, -18.6, ROT= 355.8,  18.6

2025-10-26T21:29:06.159Z,1761514146.159 [DAT](INFO): got valid direction response:
 21:29:04.2963 LVL= 32752, 32753, 31922, 32755, AGC= 72, IDX= 433,-0.30, 0.645,-0.927, 0.865,-0.236, PHS= 0.983,-0.646, 1.057, RAW= 152.2, -16.5, CAL= 154.2, -18.6, ROT= 355.8,  18.6

2025-10-26T21:29:06.160Z,1761514146.160 [DAT](INFO): DAT read: Bearing 162.4,  -0.4 (Local)

2025-10-26T21:29:06.161Z,1761514146.161 [DAT](INFO): Local bearing/azimuth received:
 Bearing 162.4,  -0.4 (Local)

2025-10-26T21:29:06.162Z,1761514146.162 [DAT](INFO): DAT read: Range 11 to 50 : 260.4 m  (Round-trip  347.3 ms) speed  0.4 m/s

2025-10-26T21:29:06.163Z,1761514146.163 [DAT](INFO): DAT read: user:267>

2025-10-26T21:29:06.164Z,1761514146.164 [DAT](INFO): DAT read: Tx time:21:29:05.3949

2025-10-26T21:29:06.164Z,1761514146.164 [DAT](INFO): Ping request sent.
2025-10-26T21:29:06.164Z,1761514146.164 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:29:06.164Z,1761514146.164 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:29:06.165Z,1761514146.165 [DAT](INFO): direction in FSK: [0.945223,-0.069413,-0.318959]
2025-10-26T21:29:06.166Z,1761514146.166 [DAT](INFO): publishing transmit ping time
2025-10-26T21:29:06.166Z,1761514146.166 [DAT](INFO): publishing direction and range info
2025-10-26T21:29:06.171Z,1761514146.171 [DAT](INFO): publishing transmit ping time
2025-10-26T21:29:06.174Z,1761514146.174 [DAT](INFO): publishing direction and range info
2025-10-26T21:29:06.419Z,1761514146.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798711,-0.593924,-0.096519],[0.601656,0.790533,0.114311],[0.008410,-0.149373,0.988745]]
2025-10-26T21:29:06.485Z,1761514146.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 260.399994 m,
      deltaT: 3.788069 s,
      deltaX: -1.100006 m,
      approachRate: -0.290387 m/s,
      rangeRepo size: 4

2025-10-26T21:29:06.488Z,1761514146.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 258.759125 m,
      bearing: 29.995512 deg,
      lat: 36.779592 deg,
      lon: -121.859267 deg,
      deltaT: 3.788069 s,
      deltaX: -1.096161 m,
      approachRate: -0.289372 m/s,
      posRepo size: 4

2025-10-26T21:29:06.488Z,1761514146.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.76 m.
2025-10-26T21:29:06.491Z,1761514146.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.759125 m,
      nav range: 247.702713 m,
      bearing: 30.566452 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.036084 deg/s,
      cmd heading: 36.802224 deg,
      new cmd heading: 36.753538 deg.

2025-10-26T21:29:06.510Z,1761514146.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.641470 target range: 258.759125 and range: 260.40 m.
2025-10-26T21:29:06.860Z,1761514146.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.76 m.
2025-10-26T21:29:06.863Z,1761514146.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.759125 m,
      nav range: 247.449188 m,
      bearing: 30.552183 deg,
      approach rate: -0.675540 m/s,
      LOS rate: -0.038061 deg/s,
      cmd heading: 36.753538 deg,
      new cmd heading: 36.710687 deg.

2025-10-26T21:29:06.864Z,1761514146.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.640722 target range: 258.759125 and range: 260.40 m.
2025-10-26T21:29:07.273Z,1761514147.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.76 m.
2025-10-26T21:29:07.276Z,1761514147.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.759125 m,
      nav range: 247.181442 m,
      bearing: 30.536876 deg,
      approach rate: -0.648029 m/s,
      LOS rate: -0.037087 deg/s,
      cmd heading: 36.710686 deg,
      new cmd heading: 36.664716 deg.

2025-10-26T21:29:07.277Z,1761514147.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.639920 target range: 258.759125 and range: 260.40 m.
2025-10-26T21:29:07.633Z,1761514147.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795582,-0.598382,-0.094810],[0.605806,0.787544,0.113026],[0.007034,-0.147358,0.989058]]
2025-10-26T21:29:07.652Z,1761514147.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.76 m.
2025-10-26T21:29:07.654Z,1761514147.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.759125 m,
      nav range: 246.936615 m,
      bearing: 30.522531 deg,
      approach rate: -0.647607 m/s,
      LOS rate: -0.037983 deg/s,
      cmd heading: 36.664715 deg,
      new cmd heading: 36.621637 deg.

2025-10-26T21:29:07.655Z,1761514147.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.639168 target range: 258.759125 and range: 260.40 m.
2025-10-26T21:29:08.035Z,1761514148.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794352,-0.600244,-0.093342],[0.607424,0.786500,0.111600],[0.006427,-0.145348,0.989360]]
2025-10-26T21:29:08.061Z,1761514148.061 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:08.063Z,1761514148.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.76 m.
2025-10-26T21:29:08.066Z,1761514148.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.759125 m,
      nav range: 246.670441 m,
      bearing: 30.506762 deg,
      approach rate: -0.646341 m/s,
      LOS rate: -0.038333 deg/s,
      cmd heading: 36.621637 deg,
      new cmd heading: 36.574279 deg.

2025-10-26T21:29:08.067Z,1761514148.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.638342 target range: 258.759125 and range: 260.40 m.
2025-10-26T21:29:08.176Z,1761514148.176 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:08.176Z,1761514148.176 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:08.177Z,1761514148.177 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:29:08.428Z,1761514148.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264292
2025-10-26T21:29:08.512Z,1761514148.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.76 m.
2025-10-26T21:29:08.514Z,1761514148.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.759125 m,
      nav range: 246.378677 m,
      bearing: 30.492304 deg,
      approach rate: -0.650809 m/s,
      LOS rate: -0.032290 deg/s,
      cmd heading: 36.574280 deg,
      new cmd heading: 36.530853 deg.

2025-10-26T21:29:08.515Z,1761514148.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.637584 target range: 258.759125 and range: 260.40 m.
2025-10-26T21:29:08.681Z,1761514148.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516506
2025-10-26T21:29:08.843Z,1761514148.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792557,-0.602624,-0.093264],[0.609772,0.784612,0.112081],[0.005633,-0.145700,0.989313]]
2025-10-26T21:29:08.861Z,1761514148.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.76 m.
2025-10-26T21:29:08.864Z,1761514148.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.759125 m,
      nav range: 246.150803 m,
      bearing: 30.480823 deg,
      approach rate: -0.651229 m/s,
      LOS rate: -0.032840 deg/s,
      cmd heading: 36.530854 deg,
      new cmd heading: 36.496380 deg.

2025-10-26T21:29:08.865Z,1761514148.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.636982 target range: 258.759125 and range: 260.40 m.
2025-10-26T21:29:08.935Z,1761514148.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770365
2025-10-26T21:29:09.184Z,1761514149.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020206
2025-10-26T21:29:09.251Z,1761514149.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791934,-0.603446,-0.093237],[0.610584,0.783922,0.112488],[0.005210,-0.146012,0.989269]]
2025-10-26T21:29:09.305Z,1761514149.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.76 m.
2025-10-26T21:29:09.307Z,1761514149.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.759125 m,
      nav range: 245.867462 m,
      bearing: 30.469928 deg,
      approach rate: -0.639325 m/s,
      LOS rate: -0.024611 deg/s,
      cmd heading: 36.496382 deg,
      new cmd heading: 36.463660 deg.

2025-10-26T21:29:09.308Z,1761514149.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.636411 target range: 258.759125 and range: 260.40 m.
2025-10-26T21:29:09.438Z,1761514149.438 [DAT](INFO): DAT read: Rx Time:21:29:08.1433

2025-10-26T21:29:09.438Z,1761514149.438 [DAT](INFO): Rx dataTimestamp_ set to:1761514149.438122
2025-10-26T21:29:09.440Z,1761514149.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274849
2025-10-26T21:29:09.662Z,1761514149.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791914,-0.603345,-0.094062],[0.610615,0.783629,0.114347],[0.004719,-0.147989,0.988978]]
2025-10-26T21:29:09.680Z,1761514149.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.76 m.
2025-10-26T21:29:09.682Z,1761514149.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.759125 m,
      nav range: 245.627487 m,
      bearing: 30.460683 deg,
      approach rate: -0.639209 m/s,
      LOS rate: -0.024650 deg/s,
      cmd heading: 36.463662 deg,
      new cmd heading: 36.435899 deg.

2025-10-26T21:29:09.684Z,1761514149.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.635926 target range: 258.759125 and range: 260.40 m.
2025-10-26T21:29:09.689Z,1761514149.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524400
2025-10-26T21:29:09.962Z,1761514149.962 [DAT](INFO): DAT read: 21:29:08.1433 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 163,-0.17, 2.298, 0.799, 2.670, 2.186, PHS= 0.215,-1.341, 0.441, RAW= 156.7,   8.2, CAL= 156.3,   8.6, ROT= 353.7,  -8.6

2025-10-26T21:29:09.970Z,1761514149.970 [DAT](INFO): got valid direction response:
 21:29:08.1433 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 163,-0.17, 2.298, 0.799, 2.670, 2.186, PHS= 0.215,-1.341, 0.441, RAW= 156.7,   8.2, CAL= 156.3,   8.6, ROT= 353.7,  -8.6

2025-10-26T21:29:09.971Z,1761514149.971 [DAT](INFO): DAT read: Bearing 189.2,  -7.1 (Local)

2025-10-26T21:29:09.971Z,1761514149.971 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.2,  -7.1 (Local)

2025-10-26T21:29:09.973Z,1761514149.973 [DAT](INFO): DAT read: Range 11 to 50 : 258.2 m  (Round-trip  344.3 ms) speed  1.3 m/s

2025-10-26T21:29:09.973Z,1761514149.973 [DAT](INFO): DAT read: user:268>

2025-10-26T21:29:09.974Z,1761514149.974 [DAT](INFO): DAT read: Tx time:21:29:09.2449

2025-10-26T21:29:09.974Z,1761514149.974 [DAT](INFO): Ping request sent.
2025-10-26T21:29:09.974Z,1761514149.974 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:29:09.975Z,1761514149.975 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:29:09.976Z,1761514149.976 [DAT](INFO): direction in FSK: [0.982785,-0.108500,0.149535]
2025-10-26T21:29:09.976Z,1761514149.976 [DAT](INFO): publishing transmit ping time
2025-10-26T21:29:09.976Z,1761514149.976 [DAT](INFO): publishing direction and range info
2025-10-26T21:29:09.980Z,1761514149.980 [DAT](INFO): publishing transmit ping time
2025-10-26T21:29:09.980Z,1761514149.980 [DAT](INFO): publishing direction and range info
2025-10-26T21:29:10.054Z,1761514150.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791810,-0.603317,-0.095109],[0.610750,0.783325,0.115700],[0.004697,-0.149700,0.988720]]
2025-10-26T21:29:10.131Z,1761514150.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 258.200012 m,
      deltaT: 3.789894 s,
      deltaX: -2.199982 m,
      approachRate: -0.580486 m/s,
      rangeRepo size: 4

2025-10-26T21:29:10.201Z,1761514150.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 256.571655 m,
      bearing: 32.703436 deg,
      lat: 36.779599 deg,
      lon: -121.859256 deg,
      deltaT: 3.789894 s,
      deltaX: -2.187469 m,
      approachRate: -0.577185 m/s,
      posRepo size: 4

2025-10-26T21:29:10.201Z,1761514150.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.57 m.
2025-10-26T21:29:10.208Z,1761514150.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.571655 m,
      nav range: 246.450714 m,
      bearing: 30.557172 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024650 deg/s,
      cmd heading: 36.435900 deg,
      new cmd heading: 36.402597 deg.

2025-10-26T21:29:10.209Z,1761514150.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.635345 target range: 256.571655 and range: 258.20 m.
2025-10-26T21:29:10.566Z,1761514150.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:10.569Z,1761514150.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.57 m.
2025-10-26T21:29:10.572Z,1761514150.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.571655 m,
      nav range: 246.148941 m,
      bearing: 30.545672 deg,
      approach rate: -0.688227 m/s,
      LOS rate: -0.026260 deg/s,
      cmd heading: 36.402596 deg,
      new cmd heading: 36.368053 deg.

2025-10-26T21:29:10.573Z,1761514150.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634742 target range: 256.571655 and range: 258.20 m.
2025-10-26T21:29:10.696Z,1761514150.696 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:10.696Z,1761514150.696 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:10.697Z,1761514150.697 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:29:10.911Z,1761514150.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793603,-0.600565,-0.097547],[0.608415,0.784652,0.118969],[0.005092,-0.153763,0.988095]]
2025-10-26T21:29:10.950Z,1761514150.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.975552
2025-10-26T21:29:10.951Z,1761514150.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.57 m.
2025-10-26T21:29:10.962Z,1761514150.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.571655 m,
      nav range: 245.918091 m,
      bearing: 30.537026 deg,
      approach rate: -0.609707 m/s,
      LOS rate: -0.022856 deg/s,
      cmd heading: 36.368053 deg,
      new cmd heading: 36.342091 deg.

2025-10-26T21:29:10.967Z,1761514150.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634289 target range: 256.571655 and range: 258.20 m.
2025-10-26T21:29:11.201Z,1761514151.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.226217
2025-10-26T21:29:11.317Z,1761514151.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795257,-0.598053,-0.099493],[0.606250,0.785855,0.122038],[0.005202,-0.157369,0.987526]]
2025-10-26T21:29:11.382Z,1761514151.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.57 m.
2025-10-26T21:29:11.389Z,1761514151.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.571655 m,
      nav range: 245.649887 m,
      bearing: 30.535579 deg,
      approach rate: -0.616548 m/s,
      LOS rate: -0.003330 deg/s,
      cmd heading: 36.342091 deg,
      new cmd heading: 36.337745 deg.

2025-10-26T21:29:11.390Z,1761514151.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634213 target range: 256.571655 and range: 258.20 m.
2025-10-26T21:29:11.454Z,1761514151.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479444
2025-10-26T21:29:11.705Z,1761514151.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730197
2025-10-26T21:29:11.737Z,1761514151.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797021,-0.595606,-0.100056],[0.603924,0.787544,0.122675],[0.005733,-0.158200,0.987390]]
2025-10-26T21:29:11.760Z,1761514151.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.57 m.
2025-10-26T21:29:11.762Z,1761514151.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.571655 m,
      nav range: 245.398941 m,
      bearing: 30.534393 deg,
      approach rate: -0.665244 m/s,
      LOS rate: -0.003148 deg/s,
      cmd heading: 36.337744 deg,
      new cmd heading: 36.334181 deg.

2025-10-26T21:29:11.764Z,1761514151.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634151 target range: 256.571655 and range: 258.20 m.
2025-10-26T21:29:11.957Z,1761514151.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982329
2025-10-26T21:29:12.122Z,1761514152.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798926,-0.592887,-0.101007],[0.601399,0.789233,0.124221],[0.006069,-0.159989,0.987100]]
2025-10-26T21:29:12.160Z,1761514152.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.57 m.
2025-10-26T21:29:12.193Z,1761514152.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.571655 m,
      nav range: 245.161423 m,
      bearing: 30.533442 deg,
      approach rate: -0.593019 m/s,
      LOS rate: -0.002376 deg/s,
      cmd heading: 36.334182 deg,
      new cmd heading: 36.331327 deg.

2025-10-26T21:29:12.201Z,1761514152.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634101 target range: 256.571655 and range: 258.20 m.
2025-10-26T21:29:12.211Z,1761514152.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236246
2025-10-26T21:29:12.460Z,1761514152.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485886
2025-10-26T21:29:12.533Z,1761514152.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801163,-0.589592,-0.102568],[0.598416,0.790989,0.127413],[0.006009,-0.163457,0.986532]]
2025-10-26T21:29:12.599Z,1761514152.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:12.601Z,1761514152.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.57 m.
2025-10-26T21:29:12.604Z,1761514152.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.571655 m,
      nav range: 244.876862 m,
      bearing: 30.535232 deg,
      approach rate: -0.645602 m/s,
      LOS rate: 0.004065 deg/s,
      cmd heading: 36.331327 deg,
      new cmd heading: 36.336702 deg.

2025-10-26T21:29:12.605Z,1761514152.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634195 target range: 256.571655 and range: 258.20 m.
2025-10-26T21:29:12.713Z,1761514152.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738789
2025-10-26T21:29:12.952Z,1761514152.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803429,-0.586271,-0.103864],[0.595371,0.792785,0.130476],[0.005848,-0.166667,0.985996]]
2025-10-26T21:29:12.964Z,1761514152.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990009
2025-10-26T21:29:12.975Z,1761514152.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.57 m.
2025-10-26T21:29:12.978Z,1761514152.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.571655 m,
      nav range: 244.645218 m,
      bearing: 30.536890 deg,
      approach rate: -0.619116 m/s,
      LOS rate: 0.004436 deg/s,
      cmd heading: 36.336702 deg,
      new cmd heading: 36.341681 deg.

2025-10-26T21:29:12.979Z,1761514152.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634282 target range: 256.571655 and range: 258.20 m.
2025-10-26T21:29:13.219Z,1761514153.219 [DAT](INFO): DAT read: Rx Time:21:29:11.9645

2025-10-26T21:29:13.221Z,1761514153.221 [DAT](INFO): Rx dataTimestamp_ set to:1761514153.219932
2025-10-26T21:29:13.223Z,1761514153.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247742
2025-10-26T21:29:13.340Z,1761514153.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805636,-0.582998,-0.105190],[0.592386,0.794439,0.133961],[0.005467,-0.170237,0.985388]]
2025-10-26T21:29:13.426Z,1761514153.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.57 m.
2025-10-26T21:29:13.435Z,1761514153.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.571655 m,
      nav range: 244.390701 m,
      bearing: 30.538300 deg,
      approach rate: -0.565515 m/s,
      LOS rate: 0.003135 deg/s,
      cmd heading: 36.341681 deg,
      new cmd heading: 36.345914 deg.

2025-10-26T21:29:13.445Z,1761514153.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634356 target range: 256.571655 and range: 258.20 m.
2025-10-26T21:29:13.468Z,1761514153.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493948
2025-10-26T21:29:13.723Z,1761514153.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.748153
2025-10-26T21:29:13.853Z,1761514153.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.57 m.
2025-10-26T21:29:13.856Z,1761514153.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.571655 m,
      nav range: 244.102142 m,
      bearing: 30.539901 deg,
      approach rate: -0.674523 m/s,
      LOS rate: 0.003748 deg/s,
      cmd heading: 36.345913 deg,
      new cmd heading: 36.350723 deg.

2025-10-26T21:29:13.857Z,1761514153.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634440 target range: 256.571655 and range: 258.20 m.
2025-10-26T21:29:13.978Z,1761514153.978 [DAT](INFO): DAT read: 21:29:11.9645 LVL= 32752, 32753, 32754, 30547, AGC= 72, IDX= 139, 0.12,-1.915, 2.935,-1.763,-2.689, PHS= 0.875,-0.615, 0.881, RAW= 150.2, -15.1, CAL= 151.8, -17.4, ROT= 358.2,  17.4

2025-10-26T21:29:13.980Z,1761514153.980 [DAT](INFO): got valid direction response:
 21:29:11.9645 LVL= 32752, 32753, 32754, 30547, AGC= 72, IDX= 139, 0.12,-1.915, 2.935,-1.763,-2.689, PHS= 0.875,-0.615, 0.881, RAW= 150.2, -15.1, CAL= 151.8, -17.4, ROT= 358.2,  17.4

2025-10-26T21:29:13.981Z,1761514153.981 [DAT](INFO): DAT read: Bearing 163.3,   1.7 (Local)

2025-10-26T21:29:13.981Z,1761514153.981 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.3,   1.7 (Local)

2025-10-26T21:29:13.982Z,1761514153.982 [DAT](INFO): DAT read: Range 11 to 50 : 236.6 m  (Round-trip  315.5 ms) speed -0.6 m/s

2025-10-26T21:29:13.983Z,1761514153.983 [DAT](INFO): DAT read: user:269>

2025-10-26T21:29:13.987Z,1761514153.987 [DAT](INFO): DAT read: Tx time:21:29:13.0949

2025-10-26T21:29:13.989Z,1761514153.989 [DAT](INFO): Ping request sent.
2025-10-26T21:29:13.989Z,1761514153.989 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:29:13.990Z,1761514153.990 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:29:13.992Z,1761514153.992 [DAT](INFO): direction in FSK: [0.953769,-0.029973,-0.299041]
2025-10-26T21:29:13.992Z,1761514153.992 [DAT](INFO): publishing transmit ping time
2025-10-26T21:29:13.993Z,1761514153.993 [DAT](INFO): publishing direction and range info
2025-10-26T21:29:14.033Z,1761514154.033 [DAT](INFO): publishing transmit ping time
2025-10-26T21:29:14.033Z,1761514154.033 [DAT](INFO): publishing direction and range info
2025-10-26T21:29:14.264Z,1761514154.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810849,-0.575754,-0.105027],[0.585242,0.798857,0.138994],[0.003875,-0.174170,0.984708]]
2025-10-26T21:29:14.322Z,1761514154.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 236.600006 m,
 deltaT: 4.030291 s,
 deltaX: -21.600006 m,
 approachRate: -5.359416 m/s,
 rangeRepo size: 4
2025-10-26T21:29:14.322Z,1761514154.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.57 m.
2025-10-26T21:29:14.325Z,1761514154.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.571655 m,
      nav range: 243.814346 m,
      bearing: 30.539776 deg,
      approach rate: -0.614862 m/s,
      LOS rate: -0.000267 deg/s,
      cmd heading: 36.350724 deg,
      new cmd heading: 36.350349 deg.

2025-10-26T21:29:14.326Z,1761514154.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634433 target range: 256.571655 and range: 258.20 m.
2025-10-26T21:29:14.602Z,1761514154.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811812,-0.574730,-0.103187],[0.583911,0.799958,0.138257],[0.003085,-0.172491,0.985006]]
2025-10-26T21:29:14.619Z,1761514154.619 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:14.621Z,1761514154.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.57 m.
2025-10-26T21:29:14.624Z,1761514154.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.571655 m,
      nav range: 243.630661 m,
      bearing: 30.539772 deg,
      approach rate: -0.611878 m/s,
      LOS rate: -0.000013 deg/s,
      cmd heading: 36.350349 deg,
      new cmd heading: 36.350337 deg.

2025-10-26T21:29:14.625Z,1761514154.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634433 target range: 256.571655 and range: 258.20 m.
2025-10-26T21:29:14.729Z,1761514154.729 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:14.729Z,1761514154.729 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:14.729Z,1761514154.729 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:29:14.980Z,1761514154.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991591
2025-10-26T21:29:15.019Z,1761514155.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812376,-0.574118,-0.102149],[0.583129,0.800554,0.138108],[0.002486,-0.171762,0.985135]]
2025-10-26T21:29:15.056Z,1761514155.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.57 m.
2025-10-26T21:29:15.058Z,1761514155.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.571655 m,
      nav range: 243.377182 m,
      bearing: 30.539827 deg,
      approach rate: -0.583619 m/s,
      LOS rate: 0.000126 deg/s,
      cmd heading: 36.350335 deg,
      new cmd heading: 36.350500 deg.

2025-10-26T21:29:15.059Z,1761514155.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634436 target range: 256.571655 and range: 258.20 m.
2025-10-26T21:29:15.238Z,1761514155.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248921
2025-10-26T21:29:15.429Z,1761514155.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812852,-0.573627,-0.101108],[0.582465,0.801202,0.137149],[0.002336,-0.170374,0.985377]]
2025-10-26T21:29:15.485Z,1761514155.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495839
2025-10-26T21:29:15.511Z,1761514155.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.57 m.
2025-10-26T21:29:15.514Z,1761514155.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.571655 m,
      nav range: 243.082413 m,
      bearing: 30.535033 deg,
      approach rate: -0.647524 m/s,
      LOS rate: -0.010544 deg/s,
      cmd heading: 36.350499 deg,
      new cmd heading: 36.336100 deg.

2025-10-26T21:29:15.514Z,1761514155.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634185 target range: 256.571655 and range: 258.20 m.
2025-10-26T21:29:15.737Z,1761514155.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747779
2025-10-26T21:29:15.854Z,1761514155.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812842,-0.573927,-0.099474],[0.582479,0.801575,0.134891],[0.002318,-0.167587,0.985855]]
2025-10-26T21:29:15.856Z,1761514155.856 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:29:15.873Z,1761514155.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.57 m.
2025-10-26T21:29:15.876Z,1761514155.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.571655 m,
      nav range: 242.855148 m,
      bearing: 30.531336 deg,
      approach rate: -0.626687 m/s,
      LOS rate: -0.010204 deg/s,
      cmd heading: 36.336101 deg,
      new cmd heading: 36.325000 deg.

2025-10-26T21:29:15.877Z,1761514155.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.633991 target range: 256.571655 and range: 258.20 m.
2025-10-26T21:29:15.988Z,1761514155.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999624
2025-10-26T21:29:16.243Z,1761514156.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253172
2025-10-26T21:29:16.311Z,1761514156.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812272,-0.575056,-0.097595],[0.583273,0.801519,0.131755],[0.002458,-0.163945,0.986466]]
2025-10-26T21:29:16.372Z,1761514156.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.57 m.
2025-10-26T21:29:16.374Z,1761514156.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.571655 m,
      nav range: 242.558304 m,
      bearing: 30.521447 deg,
      approach rate: -0.600635 m/s,
      LOS rate: -0.020035 deg/s,
      cmd heading: 36.324998 deg,
      new cmd heading: 36.295294 deg.

2025-10-26T21:29:16.380Z,1761514156.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.633472 target range: 256.571655 and range: 258.20 m.
2025-10-26T21:29:16.492Z,1761514156.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503659
2025-10-26T21:29:16.733Z,1761514156.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811600,-0.576173,-0.096590],[0.584208,0.801094,0.130186],[0.002368,-0.162087,0.986774]]
2025-10-26T21:29:16.744Z,1761514156.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755616
2025-10-26T21:29:16.755Z,1761514156.755 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:16.757Z,1761514156.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.57 m.
2025-10-26T21:29:16.760Z,1761514156.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.571655 m,
      nav range: 242.314667 m,
      bearing: 30.513247 deg,
      approach rate: -0.625431 m/s,
      LOS rate: -0.021070 deg/s,
      cmd heading: 36.295294 deg,
      new cmd heading: 36.270670 deg.

2025-10-26T21:29:16.761Z,1761514156.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.633043 target range: 256.571655 and range: 258.20 m.
2025-10-26T21:29:16.860Z,1761514156.860 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:29:16.996Z,1761514156.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007630
2025-10-26T21:29:17.122Z,1761514157.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810614,-0.577663,-0.095966],[0.585576,0.800314,0.128837],[0.002379,-0.160632,0.987011]]
2025-10-26T21:29:17.151Z,1761514157.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.57 m.
2025-10-26T21:29:17.153Z,1761514157.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.571655 m,
      nav range: 242.069107 m,
      bearing: 30.504868 deg,
      approach rate: -0.624183 m/s,
      LOS rate: -0.021320 deg/s,
      cmd heading: 36.270671 deg,
      new cmd heading: 36.245509 deg.

2025-10-26T21:29:17.154Z,1761514157.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.632603 target range: 256.571655 and range: 258.20 m.
2025-10-26T21:29:17.253Z,1761514157.253 [DAT](INFO): DAT read: Rx Time:21:29:15.8375

2025-10-26T21:29:17.254Z,1761514157.254 [DAT](INFO): Rx dataTimestamp_ set to:1761514157.253310
2025-10-26T21:29:17.282Z,1761514157.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.293176
2025-10-26T21:29:17.500Z,1761514157.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511399
2025-10-26T21:29:17.526Z,1761514157.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810040,-0.578581,-0.095290],[0.586372,0.799806,0.128365],[0.001944,-0.159856,0.987138]]
2025-10-26T21:29:17.576Z,1761514157.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.57 m.
2025-10-26T21:29:17.579Z,1761514157.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.571655 m,
      nav range: 241.803802 m,
      bearing: 30.492814 deg,
      approach rate: -0.624543 m/s,
      LOS rate: -0.028407 deg/s,
      cmd heading: 36.245509 deg,
      new cmd heading: 36.209307 deg.

2025-10-26T21:29:17.580Z,1761514157.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.631972 target range: 256.571655 and range: 258.20 m.
2025-10-26T21:29:17.758Z,1761514157.758 [DAT](INFO): DAT read: 21:29:15.8375 LVL= 32752, 27985, 29762, 27683, AGC= 70, IDX= 150, 0.42, 1.692, 0.333, 1.848, 0.890, PHS= 0.904,-0.512, 0.914, RAW= 150.4, -18.0, CAL= 152.4, -20.4, ROT= 357.6,  20.4

2025-10-26T21:29:17.763Z,1761514157.763 [DAT](INFO): got valid direction response:
 21:29:15.8375 LVL= 32752, 27985, 29762, 27683, AGC= 70, IDX= 150, 0.42, 1.692, 0.333, 1.848, 0.890, PHS= 0.904,-0.512, 0.914, RAW= 150.4, -18.0, CAL= 152.4, -20.4, ROT= 357.6,  20.4

2025-10-26T21:29:17.764Z,1761514157.764 [DAT](INFO): DAT read: Bearing 159.8,   1.4 (Local)

2025-10-26T21:29:17.765Z,1761514157.765 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.8,   1.4 (Local)

2025-10-26T21:29:17.766Z,1761514157.766 [DAT](INFO): DAT read: Range 11 to 50 : 253.8 m  (Round-trip  338.4 ms) speed  0.4 m/s

2025-10-26T21:29:17.767Z,1761514157.767 [DAT](INFO): DAT read: user:270>

2025-10-26T21:29:17.770Z,1761514157.770 [DAT](INFO): DAT read: Tx time:21:29:16.9449

2025-10-26T21:29:17.771Z,1761514157.771 [DAT](INFO): Ping request sent.
2025-10-26T21:29:17.771Z,1761514157.771 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:29:17.779Z,1761514157.779 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:29:17.780Z,1761514157.780 [DAT](INFO): direction in FSK: [0.936460,-0.039249,-0.348572]
2025-10-26T21:29:17.781Z,1761514157.781 [DAT](INFO): publishing transmit ping time
2025-10-26T21:29:17.781Z,1761514157.781 [DAT](INFO): publishing direction and range info
2025-10-26T21:29:17.790Z,1761514157.790 [DAT](INFO): publishing transmit ping time
2025-10-26T21:29:17.791Z,1761514157.791 [DAT](INFO): publishing direction and range info
2025-10-26T21:29:17.953Z,1761514157.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809326,-0.579684,-0.094645],[0.587357,0.799210,0.127573],[0.001689,-0.158839,0.987303]]
2025-10-26T21:29:18.001Z,1761514158.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 253.800003 m,
      deltaT: 7.810264 s,
      deltaX: -4.400009 m,
      approachRate: -0.563362 m/s,
      rangeRepo size: 4

2025-10-26T21:29:18.003Z,1761514158.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 252.196014 m,
      bearing: 30.234058 deg,
      lat: 36.779575 deg,
      lon: -121.859289 deg,
      deltaT: 7.810264 s,
      deltaX: -4.375641 m,
      approachRate: -0.560242 m/s,
      posRepo size: 4

2025-10-26T21:29:18.008Z,1761514158.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:18.010Z,1761514158.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 237.818375 m,
      bearing: 30.189138 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028407 deg/s,
      cmd heading: 36.209309 deg,
      new cmd heading: 36.173083 deg.

2025-10-26T21:29:18.016Z,1761514158.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.631339 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:18.342Z,1761514158.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807928,-0.581980,-0.092477],[0.589279,0.798366,0.123944],[0.001698,-0.154632,0.987971]]
2025-10-26T21:29:18.378Z,1761514158.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:18.381Z,1761514158.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 237.567154 m,
      bearing: 30.174763 deg,
      approach rate: -0.664890 m/s,
      LOS rate: -0.038084 deg/s,
      cmd heading: 36.173085 deg,
      new cmd heading: 36.129916 deg.

2025-10-26T21:29:18.382Z,1761514158.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.630586 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:18.740Z,1761514158.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806559,-0.584197,-0.090424],[0.591152,0.797457,0.120834],[0.001519,-0.150914,0.988546]]
2025-10-26T21:29:18.756Z,1761514158.756 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:18.758Z,1761514158.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:18.760Z,1761514158.760 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:18.760Z,1761514158.760 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:18.761Z,1761514158.761 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:29:18.765Z,1761514158.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 237.328049 m,
      bearing: 30.160904 deg,
      approach rate: -0.629080 m/s,
      LOS rate: -0.036499 deg/s,
      cmd heading: 36.129915 deg,
      new cmd heading: 36.088296 deg.

2025-10-26T21:29:18.766Z,1761514158.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.629860 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:19.012Z,1761514159.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241410
2025-10-26T21:29:19.138Z,1761514159.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805435,-0.585937,-0.089174],[0.592683,0.796520,0.119512],[0.001002,-0.149111,0.988820]]
2025-10-26T21:29:19.165Z,1761514159.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:19.168Z,1761514159.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 237.071655 m,
      bearing: 30.145883 deg,
      approach rate: -0.629860 m/s,
      LOS rate: -0.036941 deg/s,
      cmd heading: 36.088295 deg,
      new cmd heading: 36.043183 deg.

2025-10-26T21:29:19.169Z,1761514159.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.629072 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:19.268Z,1761514159.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497124
2025-10-26T21:29:19.516Z,1761514159.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745398
2025-10-26T21:29:19.542Z,1761514159.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804761,-0.586972,-0.088454],[0.593599,0.795900,0.119091],[0.000498,-0.148346,0.988935]]
2025-10-26T21:29:19.593Z,1761514159.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:19.596Z,1761514159.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 236.800674 m,
      bearing: 30.130858 deg,
      approach rate: -0.633818 m/s,
      LOS rate: -0.035184 deg/s,
      cmd heading: 36.043185 deg,
      new cmd heading: 35.998058 deg.

2025-10-26T21:29:19.597Z,1761514159.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.628285 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:19.768Z,1761514159.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997414
2025-10-26T21:29:19.955Z,1761514159.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804107,-0.587985,-0.087664],[0.594484,0.795287,0.118778],[-0.000122,-0.147625,0.989043]]
2025-10-26T21:29:19.974Z,1761514159.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:19.977Z,1761514159.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 236.559692 m,
      bearing: 30.117398 deg,
      approach rate: -0.632804 m/s,
      LOS rate: -0.035382 deg/s,
      cmd heading: 35.998058 deg,
      new cmd heading: 35.957636 deg.

2025-10-26T21:29:19.978Z,1761514159.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.627579 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:20.021Z,1761514160.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250325
2025-10-26T21:29:20.273Z,1761514160.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501571
2025-10-26T21:29:20.366Z,1761514160.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803421,-0.588989,-0.087216],[0.595411,0.794653,0.118370],[-0.000412,-0.147030,0.989132]]
2025-10-26T21:29:20.410Z,1761514160.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:20.413Z,1761514160.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 236.292252 m,
      bearing: 30.102699 deg,
      approach rate: -0.612984 m/s,
      LOS rate: -0.033730 deg/s,
      cmd heading: 35.957637 deg,
      new cmd heading: 35.913488 deg.

2025-10-26T21:29:20.414Z,1761514160.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.626809 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:20.525Z,1761514160.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753674
2025-10-26T21:29:20.754Z,1761514160.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803089,-0.589264,-0.088415],[0.595859,0.794058,0.120096],[-0.000562,-0.149131,0.988817]]
2025-10-26T21:29:20.776Z,1761514160.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005485
2025-10-26T21:29:20.781Z,1761514160.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:20.783Z,1761514160.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:20.785Z,1761514160.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 236.065308 m,
      bearing: 30.090172 deg,
      approach rate: -0.609262 m/s,
      LOS rate: -0.033663 deg/s,
      cmd heading: 35.913490 deg,
      new cmd heading: 35.875873 deg.

2025-10-26T21:29:20.786Z,1761514160.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.626152 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:21.030Z,1761514161.030 [DAT](INFO): DAT read: Rx Time:21:29:19.6333

2025-10-26T21:29:21.031Z,1761514161.031 [DAT](INFO): Rx dataTimestamp_ set to:1761514161.030034
2025-10-26T21:29:21.032Z,1761514161.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260233
2025-10-26T21:29:21.158Z,1761514161.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803167,-0.588930,-0.089910],[0.595754,0.793832,0.122098],[-0.000533,-0.151629,0.988437]]
2025-10-26T21:29:21.194Z,1761514161.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:21.197Z,1761514161.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 235.818924 m,
      bearing: 30.076560 deg,
      approach rate: -0.598786 m/s,
      LOS rate: -0.033115 deg/s,
      cmd heading: 35.875873 deg,
      new cmd heading: 35.834995 deg.

2025-10-26T21:29:21.198Z,1761514161.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.625439 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:21.281Z,1761514161.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509884
2025-10-26T21:29:21.538Z,1761514161.538 [DAT](INFO): DAT read: 21:29:19.6333 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 395, 0.05, 2.701, 1.152, 3.094, 2.611, PHS= 0.192,-1.414, 0.439, RAW= 157.0,   9.0, CAL= 156.8,   9.6, ROT= 353.2,  -9.6

2025-10-26T21:29:21.539Z,1761514161.539 [DAT](INFO): got valid direction response:
 21:29:19.6333 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 395, 0.05, 2.701, 1.152, 3.094, 2.611, PHS= 0.192,-1.414, 0.439, RAW= 157.0,   9.0, CAL= 156.8,   9.6, ROT= 353.2,  -9.6

2025-10-26T21:29:21.540Z,1761514161.540 [DAT](INFO): DAT read: Bearing 188.7,  -8.0 (Local)

2025-10-26T21:29:21.540Z,1761514161.540 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.7,  -8.0 (Local)

2025-10-26T21:29:21.542Z,1761514161.542 [DAT](INFO): DAT read: Range 11 to 50 : 213.1 m  (Round-trip  284.2 ms) speed  0.4 m/s

2025-10-26T21:29:21.543Z,1761514161.543 [DAT](INFO): DAT read: user:271>

2025-10-26T21:29:21.543Z,1761514161.543 [DAT](INFO): DAT read: Tx time:21:29:20.7464

2025-10-26T21:29:21.544Z,1761514161.544 [DAT](INFO): Ping request sent.
2025-10-26T21:29:21.544Z,1761514161.544 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:29:21.544Z,1761514161.544 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:29:21.545Z,1761514161.545 [DAT](INFO): direction in FSK: [0.979060,-0.116746,0.166769]
2025-10-26T21:29:21.545Z,1761514161.545 [DAT](INFO): publishing transmit ping time
2025-10-26T21:29:21.546Z,1761514161.546 [DAT](INFO): publishing direction and range info
2025-10-26T21:29:21.553Z,1761514161.553 [DAT](INFO): publishing transmit ping time
2025-10-26T21:29:21.553Z,1761514161.553 [DAT](INFO): publishing direction and range info
2025-10-26T21:29:21.568Z,1761514161.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803759,-0.587875,-0.091513],[0.594955,0.794063,0.124471],[-0.000506,-0.154491,0.987994]]
2025-10-26T21:29:21.683Z,1761514161.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 213.100006 m,
 deltaT: 3.779677 s,
 deltaX: -40.699997 m,
 approachRate: -10.768115 m/s,
 rangeRepo size: 4
2025-10-26T21:29:21.688Z,1761514161.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:21.690Z,1761514161.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 235.522736 m,
      bearing: 30.063921 deg,
      approach rate: -0.606896 m/s,
      LOS rate: -0.025930 deg/s,
      cmd heading: 35.834994 deg,
      new cmd heading: 35.797030 deg.

2025-10-26T21:29:21.691Z,1761514161.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.624776 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:22.015Z,1761514162.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804071,-0.587315,-0.092357],[0.594533,0.794245,0.125323],[-0.000250,-0.155678,0.987808]]
2025-10-26T21:29:22.033Z,1761514162.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:22.037Z,1761514162.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 235.286423 m,
      bearing: 30.053848 deg,
      approach rate: -0.672538 m/s,
      LOS rate: -0.028697 deg/s,
      cmd heading: 35.797028 deg,
      new cmd heading: 35.766778 deg.

2025-10-26T21:29:22.038Z,1761514162.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.624248 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:22.414Z,1761514162.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804639,-0.586362,-0.093466],[0.593765,0.794586,0.126791],[-0.000079,-0.157518,0.987516]]
2025-10-26T21:29:22.474Z,1761514162.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:22.493Z,1761514162.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 235.022171 m,
      bearing: 30.044887 deg,
      approach rate: -0.599957 m/s,
      LOS rate: -0.020367 deg/s,
      cmd heading: 35.766777 deg,
      new cmd heading: 35.739865 deg.

2025-10-26T21:29:22.494Z,1761514162.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.623778 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:22.862Z,1761514162.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:22.864Z,1761514162.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:22.866Z,1761514162.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 234.788651 m,
      bearing: 30.036952 deg,
      approach rate: -0.599148 m/s,
      LOS rate: -0.020381 deg/s,
      cmd heading: 35.739866 deg,
      new cmd heading: 35.716036 deg.

2025-10-26T21:29:22.868Z,1761514162.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.623362 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:23.045Z,1761514163.045 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:23.045Z,1761514163.045 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:23.045Z,1761514163.045 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:29:23.222Z,1761514163.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806003,-0.583935,-0.096846],[0.591911,0.795291,0.130972],[0.000542,-0.162888,0.986644]]
2025-10-26T21:29:23.253Z,1761514163.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:23.256Z,1761514163.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 234.554749 m,
      bearing: 30.029127 deg,
      approach rate: -0.600109 m/s,
      LOS rate: -0.020094 deg/s,
      cmd heading: 35.716036 deg,
      new cmd heading: 35.692540 deg.

2025-10-26T21:29:23.257Z,1761514163.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.622952 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:23.301Z,1761514163.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756979
2025-10-26T21:29:23.548Z,1761514163.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004540
2025-10-26T21:29:23.694Z,1761514163.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:23.698Z,1761514163.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 234.288193 m,
      bearing: 30.022437 deg,
      approach rate: -0.605275 m/s,
      LOS rate: -0.015210 deg/s,
      cmd heading: 35.692540 deg,
      new cmd heading: 35.672445 deg.

2025-10-26T21:29:23.700Z,1761514163.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.622602 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:23.800Z,1761514163.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256575
2025-10-26T21:29:24.032Z,1761514164.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808600,-0.580045,-0.098559],[0.588358,0.797286,0.134794],[0.000394,-0.166983,0.985960]]
2025-10-26T21:29:24.053Z,1761514164.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508716
2025-10-26T21:29:24.060Z,1761514164.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:24.063Z,1761514164.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 234.048920 m,
      bearing: 30.016678 deg,
      approach rate: -0.653320 m/s,
      LOS rate: -0.015739 deg/s,
      cmd heading: 35.672446 deg,
      new cmd heading: 35.655153 deg.

2025-10-26T21:29:24.064Z,1761514164.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.622300 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:24.305Z,1761514164.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760831
2025-10-26T21:29:24.504Z,1761514164.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:24.507Z,1761514164.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 233.767166 m,
      bearing: 30.012552 deg,
      approach rate: -0.634640 m/s,
      LOS rate: -0.009304 deg/s,
      cmd heading: 35.655152 deg,
      new cmd heading: 35.642759 deg.

2025-10-26T21:29:24.508Z,1761514164.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.622083 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:24.559Z,1761514164.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014942
2025-10-26T21:29:24.808Z,1761514164.808 [DAT](INFO): DAT read: Rx Time:21:29:23.4316

2025-10-26T21:29:24.809Z,1761514164.809 [DAT](INFO): Rx dataTimestamp_ set to:1761514164.808602
2025-10-26T21:29:24.809Z,1761514164.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265633
2025-10-26T21:29:24.856Z,1761514164.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810526,-0.577154,-0.099708],[0.585702,0.799076,0.135763],[0.001318,-0.168439,0.985711]]
2025-10-26T21:29:24.885Z,1761514164.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:24.892Z,1761514164.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:24.895Z,1761514164.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 233.533340 m,
      bearing: 30.009309 deg,
      approach rate: -0.610020 m/s,
      LOS rate: -0.008471 deg/s,
      cmd heading: 35.642758 deg,
      new cmd heading: 35.633017 deg.

2025-10-26T21:29:24.900Z,1761514164.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.621913 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:25.060Z,1761514165.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516522
2025-10-26T21:29:25.264Z,1761514165.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811693,-0.575333,-0.100731],[0.584083,0.799931,0.137687],[0.001362,-0.170595,0.985340]]
2025-10-26T21:29:25.282Z,1761514165.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:25.285Z,1761514165.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 233.275726 m,
      bearing: 30.005852 deg,
      approach rate: -0.652746 m/s,
      LOS rate: -0.008769 deg/s,
      cmd heading: 35.633018 deg,
      new cmd heading: 35.622636 deg.

2025-10-26T21:29:25.286Z,1761514165.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.621732 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:25.350Z,1761514165.350 [DAT](INFO): DAT read: 21:29:23.4316 LVL= 32752, 32753, 32546, 32755, AGC= 72, IDX= 410, 0.41, 0.157,-1.389, 0.539,-0.006, PHS= 0.264,-1.338, 0.501, RAW= 156.8,   6.7, CAL= 156.2,   6.7, ROT= 353.8,  -6.7

2025-10-26T21:29:25.375Z,1761514165.375 [DAT](INFO): got valid direction response:
 21:29:23.4316 LVL= 32752, 32753, 32546, 32755, AGC= 72, IDX= 410, 0.41, 0.157,-1.389, 0.539,-0.006, PHS= 0.264,-1.338, 0.501, RAW= 156.8,   6.7, CAL= 156.2,   6.7, ROT= 353.8,  -6.7

2025-10-26T21:29:25.383Z,1761514165.383 [DAT](INFO): DAT read: Bearing 185.2,  -7.1 (Local)

2025-10-26T21:29:25.389Z,1761514165.389 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.2,  -7.1 (Local)

2025-10-26T21:29:25.399Z,1761514165.399 [DAT](INFO): DAT read: Range 11 to 50 : 210.7 m  (Round-trip  281.0 ms) speed  0.4 m/s

2025-10-26T21:29:25.412Z,1761514165.412 [DAT](INFO): DAT read: user:272>

2025-10-26T21:29:25.412Z,1761514165.412 [DAT](INFO): DAT read: Tx time:21:29:24.5449

2025-10-26T21:29:25.413Z,1761514165.413 [DAT](INFO): Ping request sent.
2025-10-26T21:29:25.413Z,1761514165.413 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:29:25.414Z,1761514165.414 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:29:25.420Z,1761514165.420 [DAT](INFO): direction in FSK: [0.987362,-0.107262,0.116671]
2025-10-26T21:29:25.421Z,1761514165.421 [DAT](INFO): publishing transmit ping time
2025-10-26T21:29:25.421Z,1761514165.421 [DAT](INFO): publishing direction and range info
2025-10-26T21:29:25.431Z,1761514165.431 [DAT](INFO): publishing transmit ping time
2025-10-26T21:29:25.436Z,1761514165.436 [DAT](INFO): publishing direction and range info
2025-10-26T21:29:25.740Z,1761514165.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 210.699997 m,
 deltaT: 7.584156 s,
 deltaX: -43.100006 m,
 approachRate: -5.682901 m/s,
 rangeRepo size: 4
2025-10-26T21:29:25.740Z,1761514165.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:25.743Z,1761514165.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 233.011383 m,
      bearing: 30.001361 deg,
      approach rate: -0.583707 m/s,
      LOS rate: -0.009928 deg/s,
      cmd heading: 35.622636 deg,
      new cmd heading: 35.609148 deg.

2025-10-26T21:29:25.748Z,1761514165.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.621497 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:26.063Z,1761514166.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813710,-0.572126,-0.102699],[0.581269,0.801355,0.141270],[0.001475,-0.174649,0.984630]]
2025-10-26T21:29:26.081Z,1761514166.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:26.100Z,1761514166.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 232.771561 m,
      bearing: 29.997477 deg,
      approach rate: -0.692534 m/s,
      LOS rate: -0.011228 deg/s,
      cmd heading: 35.609147 deg,
      new cmd heading: 35.597483 deg.

2025-10-26T21:29:26.101Z,1761514166.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.621293 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:26.466Z,1761514166.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814212,-0.571459,-0.102439],[0.580566,0.801878,0.141187],[0.001461,-0.174429,0.984669]]
2025-10-26T21:29:26.515Z,1761514166.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:26.518Z,1761514166.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 232.504745 m,
      bearing: 29.992286 deg,
      approach rate: -0.615003 m/s,
      LOS rate: -0.011978 deg/s,
      cmd heading: 35.597484 deg,
      new cmd heading: 35.581894 deg.

2025-10-26T21:29:26.519Z,1761514166.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.621021 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:26.877Z,1761514166.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814449,-0.571154,-0.102251],[0.580233,0.802052,0.141569],[0.001153,-0.174631,0.984633]]
2025-10-26T21:29:26.904Z,1761514166.904 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:26.906Z,1761514166.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:26.908Z,1761514166.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 232.265091 m,
      bearing: 29.987637 deg,
      approach rate: -0.613582 m/s,
      LOS rate: -0.011914 deg/s,
      cmd heading: 35.581894 deg,
      new cmd heading: 35.567934 deg.

2025-10-26T21:29:26.909Z,1761514166.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.620778 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:27.100Z,1761514167.100 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:27.100Z,1761514167.100 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:27.100Z,1761514167.100 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:29:27.308Z,1761514167.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:27.310Z,1761514167.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 232.017227 m,
      bearing: 29.982819 deg,
      approach rate: -0.617019 m/s,
      LOS rate: -0.012007 deg/s,
      cmd heading: 35.567933 deg,
      new cmd heading: 35.553464 deg.

2025-10-26T21:29:27.311Z,1761514167.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.620525 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:27.353Z,1761514167.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.939949
2025-10-26T21:29:27.606Z,1761514167.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.193194
2025-10-26T21:29:27.741Z,1761514167.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:27.744Z,1761514167.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 231.749756 m,
      bearing: 29.976908 deg,
      approach rate: -0.616264 m/s,
      LOS rate: -0.013636 deg/s,
      cmd heading: 35.553464 deg,
      new cmd heading: 35.535708 deg.

2025-10-26T21:29:27.745Z,1761514167.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.620215 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:27.857Z,1761514167.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.444094
2025-10-26T21:29:28.082Z,1761514168.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813863,-0.572468,-0.099535],[0.581056,0.801928,0.138872],[0.000320,-0.170859,0.985295]]
2025-10-26T21:29:28.108Z,1761514168.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.695450
2025-10-26T21:29:28.118Z,1761514168.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:28.121Z,1761514168.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 231.517197 m,
      bearing: 29.971700 deg,
      approach rate: -0.616577 m/s,
      LOS rate: -0.013821 deg/s,
      cmd heading: 35.535709 deg,
      new cmd heading: 35.520070 deg.

2025-10-26T21:29:28.122Z,1761514168.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.619942 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:28.360Z,1761514168.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.947304
2025-10-26T21:29:28.486Z,1761514168.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813357,-0.573577,-0.097267],[0.581765,0.801867,0.136231],[-0.000144,-0.167391,0.985891]]
2025-10-26T21:29:28.541Z,1761514168.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:28.544Z,1761514168.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 231.261917 m,
      bearing: 29.964612 deg,
      approach rate: -0.604233 m/s,
      LOS rate: -0.016795 deg/s,
      cmd heading: 35.520071 deg,
      new cmd heading: 35.498784 deg.

2025-10-26T21:29:28.545Z,1761514168.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.619571 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:28.613Z,1761514168.613 [DAT](INFO): DAT read: Rx Time:21:29:27.2786

2025-10-26T21:29:28.613Z,1761514168.613 [DAT](INFO): Rx dataTimestamp_ set to:1761514168.612852
2025-10-26T21:29:28.614Z,1761514168.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.200703
2025-10-26T21:29:28.864Z,1761514168.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.451353
2025-10-26T21:29:28.899Z,1761514168.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812864,-0.574647,-0.095044],[0.582454,0.801811,0.133593],[-0.000562,-0.163952,0.986468]]
2025-10-26T21:29:28.930Z,1761514168.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:28.934Z,1761514168.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.20 m.
2025-10-26T21:29:28.953Z,1761514168.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.196014 m,
      nav range: 231.028793 m,
      bearing: 29.958078 deg,
      approach rate: -0.593411 m/s,
      LOS rate: -0.016648 deg/s,
      cmd heading: 35.498785 deg,
      new cmd heading: 35.479164 deg.

2025-10-26T21:29:28.954Z,1761514168.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.619228 target range: 252.196014 and range: 253.80 m.
2025-10-26T21:29:29.122Z,1761514169.122 [DAT](INFO): DAT read: 21:29:27.2786 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 427, 0.31,-1.559,-2.975,-1.389,-2.332, PHS= 0.875,-0.597, 0.900, RAW= 150.8, -15.7, CAL= 152.5, -17.9, ROT= 357.5,  17.9

2025-10-26T21:29:29.124Z,1761514169.124 [DAT](INFO): got valid direction response:
 21:29:27.2786 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 427, 0.31,-1.559,-2.975,-1.389,-2.332, PHS= 0.875,-0.597, 0.900, RAW= 150.8, -15.7, CAL= 152.5, -17.9, ROT= 357.5,  17.9

2025-10-26T21:29:29.125Z,1761514169.125 [DAT](INFO): DAT read: Bearing 161.1,   0.6 (Local)

2025-10-26T21:29:29.125Z,1761514169.125 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.1,   0.6 (Local)

2025-10-26T21:29:29.126Z,1761514169.126 [DAT](INFO): DAT read: Range 11 to 50 : 247.2 m  (Round-trip  329.6 ms) speed  0.2 m/s

2025-10-26T21:29:29.127Z,1761514169.127 [DAT](INFO): DAT read: user:273>

2025-10-26T21:29:29.128Z,1761514169.128 [DAT](INFO): DAT read: Tx time:21:29:28.3948

2025-10-26T21:29:29.128Z,1761514169.128 [DAT](INFO): Ping request sent.
2025-10-26T21:29:29.128Z,1761514169.128 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:29:29.129Z,1761514169.129 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:29:29.129Z,1761514169.129 [DAT](INFO): direction in FSK: [0.950689,-0.041508,-0.307357]
2025-10-26T21:29:29.130Z,1761514169.130 [DAT](INFO): publishing transmit ping time
2025-10-26T21:29:29.130Z,1761514169.130 [DAT](INFO): publishing direction and range info
2025-10-26T21:29:29.133Z,1761514169.133 [DAT](INFO): publishing transmit ping time
2025-10-26T21:29:29.133Z,1761514169.133 [DAT](INFO): publishing direction and range info
2025-10-26T21:29:29.300Z,1761514169.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812431,-0.575624,-0.092806],[0.583057,0.801854,0.130671],[-0.000801,-0.160273,0.987072]]
2025-10-26T21:29:29.347Z,1761514169.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 247.199997 m,
      deltaT: 11.364199 s,
      deltaX: -6.600006 m,
      approachRate: -0.580772 m/s,
      rangeRepo size: 4

2025-10-26T21:29:29.353Z,1761514169.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 245.637543 m,
      bearing: 30.242630 deg,
      lat: 36.779448 deg,
      lon: -121.859346 deg,
      deltaT: 11.364199 s,
      deltaX: -6.558472 m,
      approachRate: -0.577117 m/s,
      posRepo size: 4

2025-10-26T21:29:29.354Z,1761514169.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:29.372Z,1761514169.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 216.012009 m,
      bearing: 30.644334 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016648 deg/s,
      cmd heading: 35.479165 deg,
      new cmd heading: 35.458583 deg.

2025-10-26T21:29:29.373Z,1761514169.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.618869 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:29.698Z,1761514169.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812146,-0.576467,-0.090023],[0.583453,0.802150,0.127034],[-0.001019,-0.155694,0.987805]]
2025-10-26T21:29:29.767Z,1761514169.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:29.774Z,1761514169.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 215.757980 m,
      bearing: 30.635948 deg,
      approach rate: -0.603916 m/s,
      LOS rate: -0.019959 deg/s,
      cmd heading: 35.458582 deg,
      new cmd heading: 35.433395 deg.

2025-10-26T21:29:29.775Z,1761514169.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.618429 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:30.098Z,1761514170.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811879,-0.576999,-0.089014],[0.583824,0.802104,0.125615],[-0.001082,-0.153953,0.988078]]
2025-10-26T21:29:30.117Z,1761514170.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:30.119Z,1761514170.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 215.534607 m,
      bearing: 30.628531 deg,
      approach rate: -0.638006 m/s,
      LOS rate: -0.021208 deg/s,
      cmd heading: 35.433396 deg,
      new cmd heading: 35.411120 deg.

2025-10-26T21:29:30.120Z,1761514170.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.618041 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:30.510Z,1761514170.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811938,-0.576759,-0.090032],[0.583744,0.802193,0.125414],[-0.000111,-0.154384,0.988011]]
2025-10-26T21:29:30.566Z,1761514170.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:30.569Z,1761514170.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 215.268799 m,
      bearing: 30.619594 deg,
      approach rate: -0.592108 m/s,
      LOS rate: -0.019932 deg/s,
      cmd heading: 35.411119 deg,
      new cmd heading: 35.384276 deg.

2025-10-26T21:29:30.570Z,1761514170.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.617572 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:30.919Z,1761514170.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812286,-0.575929,-0.092183],[0.583259,0.802326,0.126817],[0.000923,-0.156778,0.987633]]
2025-10-26T21:29:30.945Z,1761514170.945 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:30.948Z,1761514170.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:30.950Z,1761514170.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 215.039139 m,
      bearing: 30.611894 deg,
      approach rate: -0.601672 m/s,
      LOS rate: -0.020195 deg/s,
      cmd heading: 35.384277 deg,
      new cmd heading: 35.361151 deg.

2025-10-26T21:29:30.951Z,1761514170.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.617168 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:31.133Z,1761514171.133 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:31.133Z,1761514171.133 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:31.133Z,1761514171.133 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:29:31.310Z,1761514171.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813184,-0.574270,-0.094583],[0.582004,0.802867,0.129133],[0.001780,-0.160056,0.987106]]
2025-10-26T21:29:31.328Z,1761514171.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:31.331Z,1761514171.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 214.809219 m,
      bearing: 30.604267 deg,
      approach rate: -0.603859 m/s,
      LOS rate: -0.020053 deg/s,
      cmd heading: 35.361150 deg,
      new cmd heading: 35.338244 deg.

2025-10-26T21:29:31.333Z,1761514171.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.616769 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:31.386Z,1761514171.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257973
2025-10-26T21:29:31.636Z,1761514171.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508116
2025-10-26T21:29:31.777Z,1761514171.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:31.780Z,1761514171.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 214.542023 m,
      bearing: 30.595822 deg,
      approach rate: -0.594959 m/s,
      LOS rate: -0.018828 deg/s,
      cmd heading: 35.338244 deg,
      new cmd heading: 35.312878 deg.

2025-10-26T21:29:31.781Z,1761514171.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.616326 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:31.889Z,1761514171.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760470
2025-10-26T21:29:32.119Z,1761514172.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815534,-0.570043,-0.099773],[0.578698,0.804371,0.134524],[0.003570,-0.167447,0.985875]]
2025-10-26T21:29:32.137Z,1761514172.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:32.140Z,1761514172.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012205
2025-10-26T21:29:32.141Z,1761514172.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 214.327652 m,
      bearing: 30.589270 deg,
      approach rate: -0.595549 m/s,
      LOS rate: -0.018220 deg/s,
      cmd heading: 35.312877 deg,
      new cmd heading: 35.293202 deg.

2025-10-26T21:29:32.142Z,1761514172.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.615983 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:32.392Z,1761514172.392 [DAT](INFO): DAT read: Rx Time:21:29:31.1270

2025-10-26T21:29:32.393Z,1761514172.393 [DAT](INFO): Rx dataTimestamp_ set to:1761514172.392616
2025-10-26T21:29:32.393Z,1761514172.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265168
2025-10-26T21:29:32.538Z,1761514172.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816889,-0.567638,-0.102370],[0.576778,0.805278,0.137311],[0.004493,-0.171213,0.985224]]
2025-10-26T21:29:32.580Z,1761514172.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:32.583Z,1761514172.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 214.066040 m,
      bearing: 30.582540 deg,
      approach rate: -0.591204 m/s,
      LOS rate: -0.015227 deg/s,
      cmd heading: 35.293203 deg,
      new cmd heading: 35.272989 deg.

2025-10-26T21:29:32.584Z,1761514172.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.615630 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:32.645Z,1761514172.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516853
2025-10-26T21:29:32.900Z,1761514172.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770650
2025-10-26T21:29:32.959Z,1761514172.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818158,-0.565285,-0.105221],[0.574974,0.805838,0.141528],[0.004787,-0.176291,0.984326]]
2025-10-26T21:29:32.990Z,1761514172.990 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:32.996Z,1761514172.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:33.004Z,1761514173.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 213.822128 m,
      bearing: 30.576397 deg,
      approach rate: -0.585246 m/s,
      LOS rate: -0.014756 deg/s,
      cmd heading: 35.272989 deg,
      new cmd heading: 35.254539 deg.

2025-10-26T21:29:33.005Z,1761514173.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.615308 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:33.154Z,1761514173.154 [DAT](INFO): DAT read: 21:29:31.1270 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 428,-0.02, 1.710, 0.379, 1.853, 0.804, PHS= 1.008,-0.380, 1.005, RAW= 149.9, -22.6, CAL= 151.6, -24.4, ROT= 358.4,  24.4

2025-10-26T21:29:33.155Z,1761514173.155 [DAT](INFO): got valid direction response:
 21:29:31.1270 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 428,-0.02, 1.710, 0.379, 1.853, 0.804, PHS= 1.008,-0.380, 1.005, RAW= 149.9, -22.6, CAL= 151.6, -24.4, ROT= 358.4,  24.4

2025-10-26T21:29:33.156Z,1761514173.156 [DAT](INFO): DAT read: $Error in header

2025-10-26T21:29:33.156Z,1761514173.156 [DAT](INFO): Received a bad header
2025-10-26T21:29:33.168Z,1761514173.168 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:29:33.169Z,1761514173.169 [DAT](INFO): direction in FSK: [0.910329,-0.025428,-0.413104]
2025-10-26T21:29:33.172Z,1761514173.172 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:33.172Z,1761514173.172 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:33.172Z,1761514173.172 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:33.372Z,1761514173.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:33.375Z,1761514173.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 213.600250 m,
      bearing: 30.570797 deg,
      approach rate: -0.590583 m/s,
      LOS rate: -0.014922 deg/s,
      cmd heading: 35.254540 deg,
      new cmd heading: 35.237723 deg.

2025-10-26T21:29:33.376Z,1761514173.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.615014 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:33.400Z,1761514173.400 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:33.400Z,1761514173.400 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:33.400Z,1761514173.400 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:33.652Z,1761514173.652 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:33.652Z,1761514173.652 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:33.653Z,1761514173.653 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:33.740Z,1761514173.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820714,-0.561085,-0.107759],[0.571323,0.807405,0.147266],[0.004376,-0.182428,0.983209]]
2025-10-26T21:29:33.807Z,1761514173.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:33.810Z,1761514173.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 213.347427 m,
      bearing: 30.565413 deg,
      approach rate: -0.586626 m/s,
      LOS rate: -0.012507 deg/s,
      cmd heading: 35.237721 deg,
      new cmd heading: 35.221550 deg.

2025-10-26T21:29:33.811Z,1761514173.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.614732 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:33.912Z,1761514173.912 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:33.913Z,1761514173.913 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:33.913Z,1761514173.913 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:34.147Z,1761514174.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821670,-0.559880,-0.106738],[0.569952,0.808343,0.147432],[0.003737,-0.181976,0.983296]]
2025-10-26T21:29:34.160Z,1761514174.160 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:34.160Z,1761514174.160 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:34.160Z,1761514174.160 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:34.185Z,1761514174.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:34.204Z,1761514174.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 213.119080 m,
      bearing: 30.560643 deg,
      approach rate: -0.597472 m/s,
      LOS rate: -0.012496 deg/s,
      cmd heading: 35.221551 deg,
      new cmd heading: 35.207223 deg.

2025-10-26T21:29:34.205Z,1761514174.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.614482 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:34.414Z,1761514174.414 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:34.414Z,1761514174.414 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:34.414Z,1761514174.414 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:34.573Z,1761514174.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822045,-0.559674,-0.104914],[0.569417,0.808771,0.147152],[0.002494,-0.180705,0.983534]]
2025-10-26T21:29:34.616Z,1761514174.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:34.619Z,1761514174.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 212.853424 m,
      bearing: 30.556960 deg,
      approach rate: -0.617387 m/s,
      LOS rate: -0.008568 deg/s,
      cmd heading: 35.207224 deg,
      new cmd heading: 35.196164 deg.

2025-10-26T21:29:34.620Z,1761514174.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.614289 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:34.665Z,1761514174.665 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:34.666Z,1761514174.666 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:34.666Z,1761514174.666 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:34.917Z,1761514174.917 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:34.917Z,1761514174.917 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:34.917Z,1761514174.917 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:35.008Z,1761514175.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:35.010Z,1761514175.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:35.013Z,1761514175.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 212.620331 m,
      bearing: 30.553722 deg,
      approach rate: -0.590926 m/s,
      LOS rate: -0.008220 deg/s,
      cmd heading: 35.196163 deg,
      new cmd heading: 35.186436 deg.

2025-10-26T21:29:35.014Z,1761514175.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.614119 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:35.168Z,1761514175.168 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:35.168Z,1761514175.168 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:35.168Z,1761514175.168 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:35.368Z,1761514175.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821994,-0.560212,-0.102408],[0.569494,0.809034,0.145397],[0.001398,-0.177836,0.984059]]
2025-10-26T21:29:35.387Z,1761514175.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:35.390Z,1761514175.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 212.397278 m,
      bearing: 30.550615 deg,
      approach rate: -0.591292 m/s,
      LOS rate: -0.008244 deg/s,
      cmd heading: 35.186437 deg,
      new cmd heading: 35.177107 deg.

2025-10-26T21:29:35.391Z,1761514175.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613956 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:35.421Z,1761514175.421 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:35.422Z,1761514175.422 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:35.422Z,1761514175.422 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:35.673Z,1761514175.673 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:35.673Z,1761514175.673 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:35.673Z,1761514175.673 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:35.762Z,1761514175.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821495,-0.561288,-0.100506],[0.570215,0.808831,0.143692],[0.000640,-0.175352,0.984506]]
2025-10-26T21:29:35.813Z,1761514175.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:35.816Z,1761514175.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 212.131454 m,
      bearing: 30.547453 deg,
      approach rate: -0.624092 m/s,
      LOS rate: -0.007433 deg/s,
      cmd heading: 35.177107 deg,
      new cmd heading: 35.167608 deg.

2025-10-26T21:29:35.817Z,1761514175.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613791 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:35.925Z,1761514175.925 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:35.925Z,1761514175.925 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:35.925Z,1761514175.925 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:36.174Z,1761514176.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819592,-0.565029,-0.094927],[0.572947,0.808077,0.136904],[-0.000647,-0.166593,0.986026]]
2025-10-26T21:29:36.176Z,1761514176.176 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:36.176Z,1761514176.176 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:36.176Z,1761514176.176 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:36.194Z,1761514176.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:36.197Z,1761514176.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 211.893311 m,
      bearing: 30.544408 deg,
      approach rate: -0.625850 m/s,
      LOS rate: -0.008011 deg/s,
      cmd heading: 35.167609 deg,
      new cmd heading: 35.158464 deg.

2025-10-26T21:29:36.198Z,1761514176.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613631 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:36.430Z,1761514176.430 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:36.431Z,1761514176.431 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:36.431Z,1761514176.431 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:36.596Z,1761514176.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818802,-0.566604,-0.092319],[0.574074,0.807838,0.133553],[-0.001093,-0.162351,0.986732]]
2025-10-26T21:29:36.633Z,1761514176.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:36.636Z,1761514176.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 211.623077 m,
      bearing: 30.542956 deg,
      approach rate: -0.615770 m/s,
      LOS rate: -0.003312 deg/s,
      cmd heading: 35.158464 deg,
      new cmd heading: 35.154104 deg.

2025-10-26T21:29:36.637Z,1761514176.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613555 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:36.680Z,1761514176.680 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:36.680Z,1761514176.680 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:36.681Z,1761514176.681 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:36.933Z,1761514176.933 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:36.934Z,1761514176.934 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:36.934Z,1761514176.934 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:36.988Z,1761514176.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818100,-0.568209,-0.088606],[0.575074,0.807965,0.128384],[-0.001358,-0.155986,0.987758]]
2025-10-26T21:29:37.021Z,1761514177.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:37.025Z,1761514177.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:37.036Z,1761514177.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 211.387726 m,
      bearing: 30.541621 deg,
      approach rate: -0.602011 m/s,
      LOS rate: -0.003419 deg/s,
      cmd heading: 35.154103 deg,
      new cmd heading: 35.150093 deg.

2025-10-26T21:29:37.037Z,1761514177.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613485 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:37.184Z,1761514177.184 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:37.184Z,1761514177.184 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:37.184Z,1761514177.184 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:37.388Z,1761514177.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817269,-0.569973,-0.084868],[0.576255,0.808027,0.122569],[-0.001286,-0.149078,0.988825]]
2025-10-26T21:29:37.437Z,1761514177.437 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:37.437Z,1761514177.437 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:37.437Z,1761514177.437 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:37.443Z,1761514177.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:37.450Z,1761514177.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 211.146927 m,
      bearing: 30.540168 deg,
      approach rate: -0.574311 m/s,
      LOS rate: -0.003468 deg/s,
      cmd heading: 35.150093 deg,
      new cmd heading: 35.145730 deg.

2025-10-26T21:29:37.451Z,1761514177.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613409 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:37.689Z,1761514177.689 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:37.689Z,1761514177.689 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:37.689Z,1761514177.689 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:37.786Z,1761514177.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816976,-0.570646,-0.083149],[0.576671,0.808133,0.119883],[-0.001215,-0.145892,0.989300]]
2025-10-26T21:29:37.879Z,1761514177.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:37.882Z,1761514177.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 210.847916 m,
      bearing: 30.537897 deg,
      approach rate: -0.685567 m/s,
      LOS rate: -0.005214 deg/s,
      cmd heading: 35.145729 deg,
      new cmd heading: 35.138906 deg.

2025-10-26T21:29:37.883Z,1761514177.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613290 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:37.941Z,1761514177.941 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:37.941Z,1761514177.941 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:37.941Z,1761514177.941 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:38.190Z,1761514178.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817134,-0.570712,-0.081120],[0.576447,0.808676,0.117270],[-0.001327,-0.142587,0.989781]]
2025-10-26T21:29:38.192Z,1761514178.192 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:38.193Z,1761514178.193 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:38.193Z,1761514178.193 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:38.210Z,1761514178.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:38.213Z,1761514178.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 210.639053 m,
      bearing: 30.536326 deg,
      approach rate: -0.631695 m/s,
      LOS rate: -0.004758 deg/s,
      cmd heading: 35.138905 deg,
      new cmd heading: 35.134186 deg.

2025-10-26T21:29:38.214Z,1761514178.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613207 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:38.444Z,1761514178.444 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:38.444Z,1761514178.444 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:38.444Z,1761514178.444 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:38.623Z,1761514178.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817253,-0.570548,-0.081071],[0.576278,0.808804,0.117219],[-0.001309,-0.142517,0.989792]]
2025-10-26T21:29:38.660Z,1761514178.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:38.663Z,1761514178.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 210.350937 m,
      bearing: 30.537042 deg,
      approach rate: -0.639579 m/s,
      LOS rate: 0.001592 deg/s,
      cmd heading: 35.134186 deg,
      new cmd heading: 35.136337 deg.

2025-10-26T21:29:38.664Z,1761514178.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613245 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:38.697Z,1761514178.697 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:38.697Z,1761514178.697 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:38.697Z,1761514178.697 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:38.949Z,1761514178.949 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:38.949Z,1761514178.949 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:38.949Z,1761514178.949 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:38.000Z,1761514179.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817945,-0.569160,-0.083807],[0.575296,0.809020,0.120501],[-0.000783,-0.146777,0.989169]]
2025-10-26T21:29:39.022Z,1761514179.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:39.024Z,1761514179.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:39.027Z,1761514179.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 210.118423 m,
      bearing: 30.537695 deg,
      approach rate: -0.638494 m/s,
      LOS rate: 0.001795 deg/s,
      cmd heading: 35.136337 deg,
      new cmd heading: 35.138298 deg.

2025-10-26T21:29:39.029Z,1761514179.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613279 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:39.200Z,1761514179.200 [DAT](INFO): Reached modem response timeout
2025-10-26T21:29:39.200Z,1761514179.200 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:39.200Z,1761514179.200 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:29:39.398Z,1761514179.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818758,-0.567457,-0.087335],[0.574139,0.809220,0.124610],[-0.000038,-0.152168,0.988355]]
2025-10-26T21:29:39.452Z,1761514179.452 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:39.456Z,1761514179.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:39.458Z,1761514179.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 209.861984 m,
      bearing: 30.538512 deg,
      approach rate: -0.630080 m/s,
      LOS rate: 0.002010 deg/s,
      cmd heading: 35.138298 deg,
      new cmd heading: 35.140751 deg.

2025-10-26T21:29:39.463Z,1761514179.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613322 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:39.705Z,1761514179.705 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:39.937Z,1761514179.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819775,-0.565458,-0.090693],[0.572685,0.809620,0.128634],[0.000689,-0.157390,0.987536]]
2025-10-26T21:29:39.956Z,1761514179.956 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:39.998Z,1761514179.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:40.002Z,1761514180.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 209.508896 m,
      bearing: 30.538283 deg,
      approach rate: -0.622414 m/s,
      LOS rate: -0.000405 deg/s,
      cmd heading: 35.140750 deg,
      new cmd heading: 35.140061 deg.

2025-10-26T21:29:40.003Z,1761514180.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613310 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:40.210Z,1761514180.210 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:40.461Z,1761514180.461 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:40.520Z,1761514180.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:40.523Z,1761514180.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 209.162933 m,
      bearing: 30.538057 deg,
      approach rate: -0.662720 m/s,
      LOS rate: -0.000432 deg/s,
      cmd heading: 35.140060 deg,
      new cmd heading: 35.139383 deg.

2025-10-26T21:29:40.524Z,1761514180.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613298 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:40.713Z,1761514180.713 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:40.964Z,1761514180.964 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:41.003Z,1761514181.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:41.006Z,1761514181.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 208.859711 m,
      bearing: 30.536594 deg,
      approach rate: -0.628628 m/s,
      LOS rate: -0.003038 deg/s,
      cmd heading: 35.139384 deg,
      new cmd heading: 35.134987 deg.

2025-10-26T21:29:41.007Z,1761514181.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613221 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:41.216Z,1761514181.216 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:41.374Z,1761514181.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:41.377Z,1761514181.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:41.380Z,1761514181.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 208.627747 m,
      bearing: 30.535472 deg,
      approach rate: -0.620028 m/s,
      LOS rate: -0.003003 deg/s,
      cmd heading: 35.134988 deg,
      new cmd heading: 35.131618 deg.

2025-10-26T21:29:41.381Z,1761514181.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613162 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:41.468Z,1761514181.468 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:41.721Z,1761514181.721 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:29:41.721Z,1761514181.721 [DAT](INFO): response not received
2025-10-26T21:29:41.722Z,1761514181.722 [DAT](INFO): DAT read: user:275>

2025-10-26T21:29:41.723Z,1761514181.723 [DAT](INFO): DAT read: Tx time:21:29:40.8448

2025-10-26T21:29:41.724Z,1761514181.724 [DAT](INFO): Ping request sent.
2025-10-26T21:29:41.724Z,1761514181.724 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:29:41.724Z,1761514181.724 [DAT](INFO): publishing transmit ping time
2025-10-26T21:29:41.725Z,1761514181.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001088
2025-10-26T21:29:41.778Z,1761514181.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823046,-0.560225,-0.093508],[0.567975,0.811944,0.134730],[0.000444,-0.163999,0.986460]]
2025-10-26T21:29:41.829Z,1761514181.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:41.832Z,1761514181.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 208.340973 m,
      bearing: 30.533488 deg,
      approach rate: -0.634033 m/s,
      LOS rate: -0.004393 deg/s,
      cmd heading: 35.131618 deg,
      new cmd heading: 35.125657 deg.

2025-10-26T21:29:41.833Z,1761514181.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613058 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:41.972Z,1761514181.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248603
2025-10-26T21:29:42.196Z,1761514182.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:42.199Z,1761514182.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 208.110870 m,
      bearing: 30.531892 deg,
      approach rate: -0.626740 m/s,
      LOS rate: -0.004352 deg/s,
      cmd heading: 35.125658 deg,
      new cmd heading: 35.120865 deg.

2025-10-26T21:29:42.200Z,1761514182.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.612975 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:42.224Z,1761514182.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500740
2025-10-26T21:29:42.476Z,1761514182.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752567
2025-10-26T21:29:42.554Z,1761514182.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824240,-0.558310,-0.094442],[0.566236,0.811997,0.141556],[-0.002346,-0.170152,0.985415]]
2025-10-26T21:29:42.585Z,1761514182.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:42.608Z,1761514182.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 207.867706 m,
      bearing: 30.530336 deg,
      approach rate: -0.625231 m/s,
      LOS rate: -0.004005 deg/s,
      cmd heading: 35.120863 deg,
      new cmd heading: 35.116191 deg.

2025-10-26T21:29:42.609Z,1761514182.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.612893 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:42.729Z,1761514182.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005221
2025-10-26T21:29:42.981Z,1761514182.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256792
2025-10-26T21:29:43.056Z,1761514183.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:43.058Z,1761514183.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 207.566711 m,
      bearing: 30.524588 deg,
      approach rate: -0.640428 m/s,
      LOS rate: -0.012247 deg/s,
      cmd heading: 35.116192 deg,
      new cmd heading: 35.098924 deg.

2025-10-26T21:29:43.059Z,1761514183.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.612592 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:43.232Z,1761514183.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508527
2025-10-26T21:29:43.401Z,1761514183.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823133,-0.561017,-0.087821],[0.567797,0.811068,0.140623],[-0.007663,-0.165616,0.986161]]
2025-10-26T21:29:43.442Z,1761514183.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:43.444Z,1761514183.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:43.447Z,1761514183.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 207.318649 m,
      bearing: 30.519707 deg,
      approach rate: -0.638319 m/s,
      LOS rate: -0.012575 deg/s,
      cmd heading: 35.098925 deg,
      new cmd heading: 35.084264 deg.

2025-10-26T21:29:43.448Z,1761514183.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.612336 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:43.484Z,1761514183.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760710
2025-10-26T21:29:43.736Z,1761514183.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012746
2025-10-26T21:29:43.799Z,1761514183.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822068,-0.563211,-0.083652],[0.569311,0.810600,0.137159],[-0.009441,-0.160378,0.987011]]
2025-10-26T21:29:43.856Z,1761514183.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:43.859Z,1761514183.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 207.066788 m,
      bearing: 30.511547 deg,
      approach rate: -0.617809 m/s,
      LOS rate: -0.020041 deg/s,
      cmd heading: 35.084264 deg,
      new cmd heading: 35.059754 deg.

2025-10-26T21:29:43.864Z,1761514183.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.611908 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:43.989Z,1761514183.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264929
2025-10-26T21:29:44.202Z,1761514184.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820804,-0.565761,-0.078712],[0.571099,0.810103,0.132588],[-0.011249,-0.153781,0.988041]]
2025-10-26T21:29:44.220Z,1761514184.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:44.223Z,1761514184.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 206.819794 m,
      bearing: 30.503368 deg,
      approach rate: -0.669883 m/s,
      LOS rate: -0.022210 deg/s,
      cmd heading: 35.059754 deg,
      new cmd heading: 35.035186 deg.

2025-10-26T21:29:44.224Z,1761514184.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.611479 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:44.240Z,1761514184.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516751
2025-10-26T21:29:44.493Z,1761514184.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769113
2025-10-26T21:29:44.606Z,1761514184.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819129,-0.568863,-0.073645],[0.573474,0.809359,0.126754],[-0.012501,-0.146061,0.989197]]
2025-10-26T21:29:44.635Z,1761514184.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:44.638Z,1761514184.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 206.556458 m,
      bearing: 30.494404 deg,
      approach rate: -0.635396 m/s,
      LOS rate: -0.021657 deg/s,
      cmd heading: 35.035186 deg,
      new cmd heading: 35.008259 deg.

2025-10-26T21:29:44.639Z,1761514184.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.611009 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:44.745Z,1761514184.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021238
2025-10-26T21:29:44.996Z,1761514184.996 [DAT](INFO): DAT read: Rx Time:21:29:43.5677

2025-10-26T21:29:44.997Z,1761514184.997 [DAT](INFO): Rx dataTimestamp_ set to:1761514184.996641
2025-10-26T21:29:44.997Z,1761514184.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273756
2025-10-26T21:29:45.014Z,1761514185.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817387,-0.571853,-0.069726],[0.575917,0.808185,0.123114],[-0.014052,-0.140789,0.989940]]
2025-10-26T21:29:45.095Z,1761514185.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:45.098Z,1761514185.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 206.263885 m,
      bearing: 30.482978 deg,
      approach rate: -0.635892 m/s,
      LOS rate: -0.024868 deg/s,
      cmd heading: 35.008258 deg,
      new cmd heading: 34.973933 deg.

2025-10-26T21:29:45.099Z,1761514185.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.610410 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:45.248Z,1761514185.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524672
2025-10-26T21:29:45.438Z,1761514185.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815636,-0.574716,-0.066636],[0.578357,0.806822,0.120584],[-0.015538,-0.136892,0.990464]]
2025-10-26T21:29:45.454Z,1761514185.454 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:45.456Z,1761514185.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.64 m.
2025-10-26T21:29:45.459Z,1761514185.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.637543 m,
      nav range: 206.027084 m,
      bearing: 30.473500 deg,
      approach rate: -0.654840 m/s,
      LOS rate: -0.026240 deg/s,
      cmd heading: 34.973932 deg,
      new cmd heading: 34.945466 deg.

2025-10-26T21:29:45.476Z,1761514185.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.609913 target range: 245.637543 and range: 247.20 m.
2025-10-26T21:29:45.506Z,1761514185.506 [DAT](INFO): DAT read: 21:29:43.5677 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX=  69,-0.11, 0.301,-1.258, 0.709, 0.221, PHS= 0.182,-1.434, 0.444, RAW= 157.4,   9.2, CAL= 157.2,   9.8, ROT= 352.8,  -9.8

2025-10-26T21:29:45.507Z,1761514185.507 [DAT](INFO): got valid direction response:
 21:29:43.5677 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX=  69,-0.11, 0.301,-1.258, 0.709, 0.221, PHS= 0.182,-1.434, 0.444, RAW= 157.4,   9.2, CAL= 157.2,   9.8, ROT= 352.8,  -9.8

2025-10-26T21:29:45.508Z,1761514185.508 [DAT](INFO): DAT read: Bearing 188.1,  -9.3 (Local)

2025-10-26T21:29:45.508Z,1761514185.508 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.1,  -9.3 (Local)

2025-10-26T21:29:45.510Z,1761514185.510 [DAT](INFO): DAT read: Range 11 to 50 : 239.1 m  (Round-trip  318.8 ms) speed  0.3 m/s

2025-10-26T21:29:45.510Z,1761514185.510 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:29:45.511Z,1761514185.511 [DAT](INFO): direction in FSK: [0.977638,-0.123505,0.170209]
2025-10-26T21:29:45.512Z,1761514185.512 [DAT](INFO): publishing direction and range info
2025-10-26T21:29:45.515Z,1761514185.515 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:45.515Z,1761514185.515 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:45.520Z,1761514185.520 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:29:45.756Z,1761514185.756 [DAT](INFO): DAT read: user:276>

2025-10-26T21:29:45.757Z,1761514185.757 [DAT](INFO): DAT read: Tx time:21:29:44.8948

2025-10-26T21:29:45.757Z,1761514185.757 [DAT](INFO): Ping request sent.
2025-10-26T21:29:45.758Z,1761514185.758 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:29:45.758Z,1761514185.758 [DAT](INFO): publishing transmit ping time
2025-10-26T21:29:45.759Z,1761514185.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001047
2025-10-26T21:29:45.840Z,1761514185.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814201,-0.576997,-0.064421],[0.580337,0.805608,0.119182],[-0.016870,-0.134424,0.990780]]
2025-10-26T21:29:45.910Z,1761514185.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 239.100006 m,
      deltaT: 16.383615 s,
      deltaX: -8.099991 m,
      approachRate: -0.494396 m/s,
      rangeRepo size: 4

2025-10-26T21:29:45.923Z,1761514185.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 237.590683 m,
      bearing: 29.686347 deg,
      lat: 36.779572 deg,
      lon: -121.859289 deg,
      deltaT: 16.383615 s,
      deltaX: -8.046860 m,
      approachRate: -0.491153 m/s,
      posRepo size: 4

2025-10-26T21:29:45.925Z,1761514185.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:45.933Z,1761514185.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 220.224319 m,
      bearing: 29.796880 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026240 deg/s,
      cmd heading: 34.945468 deg,
      new cmd heading: 34.910323 deg.

2025-10-26T21:29:45.934Z,1761514185.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.609300 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:46.006Z,1761514186.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247842
2025-10-26T21:29:46.249Z,1761514186.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813016,-0.578923,-0.062082],[0.581953,0.804621,0.117964],[-0.018340,-0.132035,0.991075]]
2025-10-26T21:29:46.256Z,1761514186.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498819
2025-10-26T21:29:46.268Z,1761514186.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:46.271Z,1761514186.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 219.975876 m,
      bearing: 29.786934 deg,
      approach rate: -0.679941 m/s,
      LOS rate: -0.027250 deg/s,
      cmd heading: 34.910323 deg,
      new cmd heading: 34.880452 deg.

2025-10-26T21:29:46.272Z,1761514186.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.608779 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:46.509Z,1761514186.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751372
2025-10-26T21:29:46.651Z,1761514186.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812359,-0.579956,-0.061027],[0.582824,0.803893,0.118629],[-0.019740,-0.131937,0.991062]]
2025-10-26T21:29:46.700Z,1761514186.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:46.729Z,1761514186.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 219.716034 m,
      bearing: 29.776432 deg,
      approach rate: -0.609424 m/s,
      LOS rate: -0.024660 deg/s,
      cmd heading: 34.880451 deg,
      new cmd heading: 34.848908 deg.

2025-10-26T21:29:46.737Z,1761514186.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.608228 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:46.761Z,1761514186.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003022
2025-10-26T21:29:46.981Z,1761514186.981 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:29:47.013Z,1761514187.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255380
2025-10-26T21:29:47.055Z,1761514187.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811996,-0.580385,-0.061770],[0.583276,0.803048,0.122076],[-0.021247,-0.135154,0.990597]]
2025-10-26T21:29:47.100Z,1761514187.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:47.102Z,1761514187.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 219.441238 m,
      bearing: 29.767183 deg,
      approach rate: -0.679177 m/s,
      LOS rate: -0.022888 deg/s,
      cmd heading: 34.848909 deg,
      new cmd heading: 34.821127 deg.

2025-10-26T21:29:47.103Z,1761514187.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607743 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:47.264Z,1761514187.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506688
2025-10-26T21:29:47.458Z,1761514187.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812483,-0.579572,-0.062989],[0.582554,0.802976,0.125934],[-0.022409,-0.139014,0.990037]]
2025-10-26T21:29:47.498Z,1761514187.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:47.509Z,1761514187.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:47.517Z,1761514187.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758938
2025-10-26T21:29:47.517Z,1761514187.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 219.192749 m,
      bearing: 29.758866 deg,
      approach rate: -0.606729 m/s,
      LOS rate: -0.020331 deg/s,
      cmd heading: 34.821127 deg,
      new cmd heading: 34.796147 deg.

2025-10-26T21:29:47.518Z,1761514187.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607307 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:47.769Z,1761514187.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011100
2025-10-26T21:29:47.864Z,1761514187.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813375,-0.578071,-0.065229],[0.581251,0.802974,0.131832],[-0.023831,-0.145144,0.989124]]
2025-10-26T21:29:47.933Z,1761514187.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:47.940Z,1761514187.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 218.929031 m,
      bearing: 29.753633 deg,
      approach rate: -0.621955 m/s,
      LOS rate: -0.012357 deg/s,
      cmd heading: 34.796146 deg,
      new cmd heading: 34.780428 deg.

2025-10-26T21:29:47.941Z,1761514187.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607033 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:47.985Z,1761514187.985 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:29:48.021Z,1761514188.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263186
2025-10-26T21:29:48.269Z,1761514188.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814578,-0.576166,-0.067049],[0.579511,0.803355,0.137069],[-0.025111,-0.150509,0.988290]]
2025-10-26T21:29:48.272Z,1761514188.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514891
2025-10-26T21:29:48.289Z,1761514188.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:48.292Z,1761514188.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 218.685303 m,
      bearing: 29.748932 deg,
      approach rate: -0.684846 m/s,
      LOS rate: -0.013223 deg/s,
      cmd heading: 34.780426 deg,
      new cmd heading: 34.766308 deg.

2025-10-26T21:29:48.293Z,1761514188.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606787 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:48.525Z,1761514188.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767779
2025-10-26T21:29:48.670Z,1761514188.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815929,-0.574088,-0.068433],[0.577551,0.803949,0.141778],[-0.026376,-0.155204,0.987530]]
2025-10-26T21:29:48.775Z,1761514188.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:48.776Z,1761514188.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018889
2025-10-26T21:29:48.782Z,1761514188.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 218.394073 m,
      bearing: 29.743495 deg,
      approach rate: -0.599359 m/s,
      LOS rate: -0.011203 deg/s,
      cmd heading: 34.766308 deg,
      new cmd heading: 34.749977 deg.

2025-10-26T21:29:48.783Z,1761514188.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606502 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:49.035Z,1761514189.035 [DAT](INFO): DAT read: 21:29:47.5599 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 366, 0.29,-0.433,-1.908,-0.050,-0.440, PHS= 0.109,-1.423, 0.346, RAW= 157.1,  11.6, CAL= 157.2,  12.9, ROT= 352.8, -12.9

2025-10-26T21:29:49.036Z,1761514189.036 [DAT](INFO): got valid direction response:
 21:29:47.5599 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 366, 0.29,-0.433,-1.908,-0.050,-0.440, PHS= 0.109,-1.423, 0.346, RAW= 157.1,  11.6, CAL= 157.2,  12.9, ROT= 352.8, -12.9

2025-10-26T21:29:49.037Z,1761514189.037 [DAT](INFO): DAT read: Rx Time:21:29:47.5599

2025-10-26T21:29:49.037Z,1761514189.037 [DAT](INFO): Rx dataTimestamp_ set to:1761514189.036772
2025-10-26T21:29:49.038Z,1761514189.038 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-26T21:29:49.038Z,1761514189.038 [DAT](INFO): Received low SNR in chirp
2025-10-26T21:29:49.052Z,1761514189.052 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:29:49.054Z,1761514189.054 [DAT](INFO): direction in FSK: [0.967075,-0.122170,0.223250]
2025-10-26T21:29:49.058Z,1761514189.058 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:49.058Z,1761514189.058 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:49.059Z,1761514189.059 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:49.117Z,1761514189.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817637,-0.571487,-0.069801],[0.575064,0.804819,0.146857],[-0.027750,-0.160216,0.986692]]
2025-10-26T21:29:49.159Z,1761514189.159 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  88.95,  79.44,  81.48
2025-10-26T21:29:49.195Z,1761514189.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:49.198Z,1761514189.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 218.121033 m,
      bearing: 29.738615 deg,
      approach rate: -0.655322 m/s,
      LOS rate: -0.011729 deg/s,
      cmd heading: 34.749977 deg,
      new cmd heading: 34.735316 deg.

2025-10-26T21:29:49.199Z,1761514189.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606246 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:49.281Z,1761514189.281 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:49.281Z,1761514189.281 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:49.281Z,1761514189.281 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:49.532Z,1761514189.532 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:49.532Z,1761514189.532 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:49.532Z,1761514189.532 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:49.537Z,1761514189.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819355,-0.568851,-0.071172],[0.572553,0.805701,0.151751],[-0.028981,-0.165087,0.985853]]
2025-10-26T21:29:49.565Z,1761514189.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:49.572Z,1761514189.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:49.574Z,1761514189.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 217.883987 m,
      bearing: 29.734567 deg,
      approach rate: -0.630133 m/s,
      LOS rate: -0.010771 deg/s,
      cmd heading: 34.735316 deg,
      new cmd heading: 34.723161 deg.

2025-10-26T21:29:49.584Z,1761514189.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606034 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:49.785Z,1761514189.785 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:49.786Z,1761514189.786 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:49.786Z,1761514189.786 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:50.036Z,1761514190.036 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:50.036Z,1761514190.036 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:50.036Z,1761514190.036 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:50.048Z,1761514190.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821191,-0.566301,-0.070355],[0.569848,0.807221,0.153842],[-0.030329,-0.166425,0.985588]]
2025-10-26T21:29:50.122Z,1761514190.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:50.129Z,1761514190.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 217.544724 m,
      bearing: 29.738144 deg,
      approach rate: -0.611453 m/s,
      LOS rate: 0.006456 deg/s,
      cmd heading: 34.723162 deg,
      new cmd heading: 34.733908 deg.

2025-10-26T21:29:50.130Z,1761514190.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606221 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:50.288Z,1761514190.288 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:50.288Z,1761514190.288 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:50.288Z,1761514190.288 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:50.541Z,1761514190.541 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:50.541Z,1761514190.541 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:50.541Z,1761514190.541 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:50.633Z,1761514190.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:50.640Z,1761514190.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 217.232254 m,
      bearing: 29.741448 deg,
      approach rate: -0.612221 m/s,
      LOS rate: 0.006483 deg/s,
      cmd heading: 34.733909 deg,
      new cmd heading: 34.743836 deg.

2025-10-26T21:29:50.641Z,1761514190.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606394 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:50.794Z,1761514190.794 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:50.795Z,1761514190.795 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:50.795Z,1761514190.795 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:51.045Z,1761514191.045 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:51.045Z,1761514191.045 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:51.045Z,1761514191.045 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:51.093Z,1761514191.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826198,-0.559456,-0.066381],[0.562338,0.811761,0.157541],[-0.034252,-0.167488,0.985279]]
2025-10-26T21:29:51.136Z,1761514191.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:51.138Z,1761514191.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 216.910202 m,
      bearing: 29.747523 deg,
      approach rate: -0.640546 m/s,
      LOS rate: 0.012102 deg/s,
      cmd heading: 34.743837 deg,
      new cmd heading: 34.762091 deg.

2025-10-26T21:29:51.140Z,1761514191.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606713 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:51.296Z,1761514191.296 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:51.296Z,1761514191.296 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:51.296Z,1761514191.296 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:51.495Z,1761514191.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828054,-0.556730,-0.066165],[0.559532,0.813189,0.160148],[-0.035354,-0.169633,0.984873]]
2025-10-26T21:29:51.514Z,1761514191.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:51.516Z,1761514191.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 216.671310 m,
      bearing: 29.752249 deg,
      approach rate: -0.631806 m/s,
      LOS rate: 0.012512 deg/s,
      cmd heading: 34.762091 deg,
      new cmd heading: 34.776284 deg.

2025-10-26T21:29:51.517Z,1761514191.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606961 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:51.548Z,1761514191.548 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:51.548Z,1761514191.548 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:51.549Z,1761514191.549 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:51.800Z,1761514191.800 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:51.800Z,1761514191.800 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:51.800Z,1761514191.800 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:51.902Z,1761514191.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829764,-0.554349,-0.064720],[0.556944,0.814931,0.160316],[-0.036128,-0.169070,0.984942]]
2025-10-26T21:29:51.964Z,1761514191.964 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:51.966Z,1761514191.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:51.973Z,1761514191.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 216.400421 m,
      bearing: 29.756655 deg,
      approach rate: -0.598942 m/s,
      LOS rate: 0.009754 deg/s,
      cmd heading: 34.776284 deg,
      new cmd heading: 34.789519 deg.

2025-10-26T21:29:51.974Z,1761514191.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607192 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:52.053Z,1761514192.053 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:52.053Z,1761514192.053 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:52.053Z,1761514192.053 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:52.298Z,1761514192.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831093,-0.552453,-0.063870],[0.554913,0.816180,0.161000],[-0.036815,-0.169249,0.984885]]
2025-10-26T21:29:52.304Z,1761514192.304 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:52.304Z,1761514192.304 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:52.304Z,1761514192.304 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:52.318Z,1761514192.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:52.321Z,1761514192.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 216.166779 m,
      bearing: 29.760615 deg,
      approach rate: -0.663916 m/s,
      LOS rate: 0.011263 deg/s,
      cmd heading: 34.789517 deg,
      new cmd heading: 34.801408 deg.

2025-10-26T21:29:52.322Z,1761514192.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607399 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:52.556Z,1761514192.556 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:52.556Z,1761514192.556 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:52.557Z,1761514192.557 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:52.700Z,1761514192.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832295,-0.550733,-0.063072],[0.553074,0.817346,0.161416],[-0.037346,-0.169229,0.984869]]
2025-10-26T21:29:52.811Z,1761514192.811 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:52.811Z,1761514192.811 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:52.811Z,1761514192.811 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:52.841Z,1761514192.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:52.848Z,1761514192.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 215.859955 m,
      bearing: 29.766007 deg,
      approach rate: -0.586030 m/s,
      LOS rate: 0.010313 deg/s,
      cmd heading: 34.801409 deg,
      new cmd heading: 34.817608 deg.

2025-10-26T21:29:52.849Z,1761514192.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607682 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:53.060Z,1761514193.060 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:53.060Z,1761514193.060 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:53.060Z,1761514193.060 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:53.159Z,1761514193.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833630,-0.548811,-0.062194],[0.551032,0.818693,0.161571],[-0.037755,-0.168961,0.984899]]
2025-10-26T21:29:53.220Z,1761514193.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:53.222Z,1761514193.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 215.607010 m,
      bearing: 29.768902 deg,
      approach rate: -0.676182 m/s,
      LOS rate: 0.007749 deg/s,
      cmd heading: 34.817606 deg,
      new cmd heading: 34.826303 deg.

2025-10-26T21:29:53.223Z,1761514193.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607834 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:53.313Z,1761514193.313 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:53.313Z,1761514193.313 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:53.313Z,1761514193.313 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:53.564Z,1761514193.564 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:53.564Z,1761514193.564 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:53.564Z,1761514193.564 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:53.580Z,1761514193.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834810,-0.547263,-0.059967],[0.549235,0.820387,0.159078],[-0.037862,-0.165736,0.985443]]
2025-10-26T21:29:53.607Z,1761514193.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:53.614Z,1761514193.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 215.344604 m,
      bearing: 29.772078 deg,
      approach rate: -0.670858 m/s,
      LOS rate: 0.008129 deg/s,
      cmd heading: 34.826301 deg,
      new cmd heading: 34.835841 deg.

2025-10-26T21:29:53.615Z,1761514193.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.608000 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:53.819Z,1761514193.819 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:53.819Z,1761514193.819 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:53.820Z,1761514193.820 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:54.019Z,1761514194.019 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:54.021Z,1761514194.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:54.024Z,1761514194.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 215.058975 m,
      bearing: 29.770792 deg,
      approach rate: -0.689173 m/s,
      LOS rate: -0.003108 deg/s,
      cmd heading: 34.835840 deg,
      new cmd heading: 34.831975 deg.

2025-10-26T21:29:54.025Z,1761514194.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607933 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:54.068Z,1761514194.068 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:54.068Z,1761514194.068 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:54.068Z,1761514194.068 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:54.320Z,1761514194.320 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:54.321Z,1761514194.321 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:54.321Z,1761514194.321 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:54.386Z,1761514194.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835956,-0.545360,-0.061318],[0.547494,0.821054,0.161618],[-0.037795,-0.168677,0.984946]]
2025-10-26T21:29:54.433Z,1761514194.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:54.439Z,1761514194.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 214.792725 m,
      bearing: 29.769727 deg,
      approach rate: -0.646896 m/s,
      LOS rate: -0.002591 deg/s,
      cmd heading: 34.831974 deg,
      new cmd heading: 34.828775 deg.

2025-10-26T21:29:54.440Z,1761514194.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607877 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:54.572Z,1761514194.572 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:54.572Z,1761514194.572 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:54.572Z,1761514194.572 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:54.783Z,1761514194.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835964,-0.545118,-0.063329],[0.547481,0.820461,0.164647],[-0.037793,-0.172310,0.984318]]
2025-10-26T21:29:54.835Z,1761514194.835 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:54.835Z,1761514194.835 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:54.836Z,1761514194.836 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:54.863Z,1761514194.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:54.866Z,1761514194.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 214.526642 m,
      bearing: 29.768647 deg,
      approach rate: -0.623793 m/s,
      LOS rate: -0.002533 deg/s,
      cmd heading: 34.828774 deg,
      new cmd heading: 34.825532 deg.

2025-10-26T21:29:54.867Z,1761514194.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607820 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:55.084Z,1761514195.084 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:55.084Z,1761514195.084 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:55.084Z,1761514195.084 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:55.182Z,1761514195.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835627,-0.545544,-0.064103],[0.547981,0.819850,0.166021],[-0.038017,-0.173859,0.984037]]
2025-10-26T21:29:55.258Z,1761514195.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:55.261Z,1761514195.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 214.206375 m,
      bearing: 29.760244 deg,
      approach rate: -0.804018 m/s,
      LOS rate: -0.021128 deg/s,
      cmd heading: 34.825533 deg,
      new cmd heading: 34.800285 deg.

2025-10-26T21:29:55.262Z,1761514195.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607380 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:55.337Z,1761514195.337 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:55.337Z,1761514195.337 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:55.337Z,1761514195.337 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:55.586Z,1761514195.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834580,-0.547453,-0.061412],[0.549531,0.819517,0.162504],[-0.038635,-0.169370,0.984795]]
2025-10-26T21:29:55.588Z,1761514195.588 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:29:55.589Z,1761514195.589 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:29:55.589Z,1761514195.589 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:29:55.638Z,1761514195.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:55.650Z,1761514195.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 213.940689 m,
      bearing: 29.753125 deg,
      approach rate: -0.697830 m/s,
      LOS rate: -0.018723 deg/s,
      cmd heading: 34.800285 deg,
      new cmd heading: 34.778900 deg.

2025-10-26T21:29:55.651Z,1761514195.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607006 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:55.843Z,1761514195.843 [DAT](INFO): Reached modem response timeout
2025-10-26T21:29:55.844Z,1761514195.844 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:55.845Z,1761514195.845 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:29:55.990Z,1761514195.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832677,-0.550416,-0.060749],[0.552376,0.817840,0.161303],[-0.039101,-0.167870,0.985033]]
2025-10-26T21:29:56.032Z,1761514196.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:56.034Z,1761514196.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:56.038Z,1761514196.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 213.654388 m,
      bearing: 29.741586 deg,
      approach rate: -0.723234 m/s,
      LOS rate: -0.029188 deg/s,
      cmd heading: 34.778900 deg,
      new cmd heading: 34.744237 deg.

2025-10-26T21:29:56.039Z,1761514196.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606401 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:56.093Z,1761514196.093 [DAT](INFO): DAT read: 

2025-10-26T21:29:56.094Z,1761514196.094 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:56.344Z,1761514196.344 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:56.408Z,1761514196.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830635,-0.553481,-0.060866],[0.555414,0.815822,0.161088],[-0.039503,-0.167611,0.985061]]
2025-10-26T21:29:56.430Z,1761514196.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:56.433Z,1761514196.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 213.371964 m,
      bearing: 29.729888 deg,
      approach rate: -0.712514 m/s,
      LOS rate: -0.029550 deg/s,
      cmd heading: 34.744237 deg,
      new cmd heading: 34.709097 deg.

2025-10-26T21:29:56.434Z,1761514196.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605788 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:56.596Z,1761514196.596 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:56.798Z,1761514196.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827970,-0.557618,-0.059399],[0.559352,0.813689,0.158226],[-0.039897,-0.164231,0.985615]]
2025-10-26T21:29:56.820Z,1761514196.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:56.846Z,1761514196.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 213.095001 m,
      bearing: 29.718018 deg,
      approach rate: -0.710728 m/s,
      LOS rate: -0.030501 deg/s,
      cmd heading: 34.709099 deg,
      new cmd heading: 34.673441 deg.

2025-10-26T21:29:56.851Z,1761514196.851 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:56.862Z,1761514196.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605166 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:57.100Z,1761514197.100 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:57.202Z,1761514197.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825164,-0.562040,-0.056698],[0.563463,0.811782,0.153359],[-0.040168,-0.158494,0.986543]]
2025-10-26T21:29:57.246Z,1761514197.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:57.249Z,1761514197.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 212.794449 m,
      bearing: 29.703274 deg,
      approach rate: -0.705974 m/s,
      LOS rate: -0.034681 deg/s,
      cmd heading: 34.673442 deg,
      new cmd heading: 34.629148 deg.

2025-10-26T21:29:57.250Z,1761514197.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604393 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:57.353Z,1761514197.353 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:57.604Z,1761514197.604 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:57.618Z,1761514197.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822483,-0.566444,-0.051608],[0.567343,0.810537,0.145436],[-0.040552,-0.148898,0.988021]]
2025-10-26T21:29:57.637Z,1761514197.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:57.640Z,1761514197.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 212.518768 m,
      bearing: 29.689322 deg,
      approach rate: -0.705544 m/s,
      LOS rate: -0.035753 deg/s,
      cmd heading: 34.629148 deg,
      new cmd heading: 34.587238 deg.

2025-10-26T21:29:57.641Z,1761514197.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603661 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:57.859Z,1761514197.859 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:58.062Z,1761514198.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:29:58.064Z,1761514198.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:58.067Z,1761514198.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 212.226440 m,
      bearing: 29.674872 deg,
      approach rate: -0.683846 m/s,
      LOS rate: -0.033850 deg/s,
      cmd heading: 34.587238 deg,
      new cmd heading: 34.543827 deg.

2025-10-26T21:29:58.068Z,1761514198.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602904 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:58.110Z,1761514198.110 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:29:58.111Z,1761514198.111 [DAT](INFO): response not received
2025-10-26T21:29:58.111Z,1761514198.111 [DAT](INFO): DAT read: user:278>Tx time:21:29:57.3447

2025-10-26T21:29:58.112Z,1761514198.112 [DAT](ERROR): No response from remote modem.
2025-10-26T21:29:58.112Z,1761514198.112 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:58.112Z,1761514198.112 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:29:58.360Z,1761514198.360 [DAT](INFO): DAT read: 

2025-10-26T21:29:58.361Z,1761514198.361 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:58.420Z,1761514198.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817160,-0.574774,-0.043416],[0.574914,0.807297,0.133213],[-0.041518,-0.133817,0.990136]]
2025-10-26T21:29:58.449Z,1761514198.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:58.452Z,1761514198.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 211.963043 m,
      bearing: 29.661076 deg,
      approach rate: -0.684397 m/s,
      LOS rate: -0.035891 deg/s,
      cmd heading: 34.543829 deg,
      new cmd heading: 34.502390 deg.

2025-10-26T21:29:58.453Z,1761514198.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602180 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:58.612Z,1761514198.612 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:58.818Z,1761514198.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815100,-0.577772,-0.042328],[0.577824,0.805573,0.131038],[-0.041612,-0.131267,0.990473]]
2025-10-26T21:29:58.866Z,1761514198.866 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:58.869Z,1761514198.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:58.893Z,1761514198.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 211.696259 m,
      bearing: 29.646791 deg,
      approach rate: -0.636157 m/s,
      LOS rate: -0.034106 deg/s,
      cmd heading: 34.502390 deg,
      new cmd heading: 34.459481 deg.

2025-10-26T21:29:58.908Z,1761514198.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.601431 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:59.116Z,1761514199.116 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:59.222Z,1761514199.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813208,-0.580405,-0.042702],[0.580471,0.803652,0.131141],[-0.041797,-0.131432,0.990444]]
2025-10-26T21:29:59.264Z,1761514199.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:59.266Z,1761514199.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 211.407944 m,
      bearing: 29.634624 deg,
      approach rate: -0.729955 m/s,
      LOS rate: -0.030846 deg/s,
      cmd heading: 34.459479 deg,
      new cmd heading: 34.422929 deg.

2025-10-26T21:29:59.267Z,1761514199.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600793 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:59.368Z,1761514199.368 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:59.620Z,1761514199.620 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:29:59.627Z,1761514199.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811754,-0.582384,-0.043405],[0.582478,0.802037,0.132119],[-0.042132,-0.132530,0.990283]]
2025-10-26T21:29:59.645Z,1761514199.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:29:59.664Z,1761514199.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 211.148239 m,
      bearing: 29.623462 deg,
      approach rate: -0.680019 m/s,
      LOS rate: -0.029264 deg/s,
      cmd heading: 34.422927 deg,
      new cmd heading: 34.389399 deg.

2025-10-26T21:29:59.665Z,1761514199.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600208 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:29:59.874Z,1761514199.874 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:00.032Z,1761514200.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811171,-0.583035,-0.045514],[0.583267,0.800931,0.135309],[-0.042436,-0.136306,0.989758]]
2025-10-26T21:30:00.092Z,1761514200.092 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:00.094Z,1761514200.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:30:00.102Z,1761514200.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 210.862244 m,
      bearing: 29.616964 deg,
      approach rate: -0.637134 m/s,
      LOS rate: -0.014495 deg/s,
      cmd heading: 34.389398 deg,
      new cmd heading: 34.369879 deg.

2025-10-26T21:30:00.103Z,1761514200.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599868 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:30:00.124Z,1761514200.124 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:00.377Z,1761514200.377 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:00.455Z,1761514200.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811709,-0.582073,-0.048158],[0.582499,0.800754,0.139598],[-0.042694,-0.141365,0.989037]]
2025-10-26T21:30:00.477Z,1761514200.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:30:00.480Z,1761514200.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 210.595261 m,
      bearing: 29.610972 deg,
      approach rate: -0.696889 m/s,
      LOS rate: -0.015659 deg/s,
      cmd heading: 34.369877 deg,
      new cmd heading: 34.351880 deg.

2025-10-26T21:30:00.481Z,1761514200.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599553 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:30:00.628Z,1761514200.628 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:00.858Z,1761514200.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812426,-0.580902,-0.050176],[0.581504,0.800954,0.142565],[-0.042628,-0.145001,0.988513]]
2025-10-26T21:30:00.881Z,1761514200.881 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:00.969Z,1761514200.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:30:00.988Z,1761514200.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 210.317047 m,
      bearing: 29.604822 deg,
      approach rate: -0.566101 m/s,
      LOS rate: -0.012531 deg/s,
      cmd heading: 34.351880 deg,
      new cmd heading: 34.333405 deg.

2025-10-26T21:30:00.991Z,1761514200.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599231 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:30:01.132Z,1761514201.132 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:01.386Z,1761514201.386 [DAT](INFO): DAT read: Rx Time:21:29:59.9990

2025-10-26T21:30:01.387Z,1761514201.387 [DAT](INFO): Rx dataTimestamp_ set to:1761514201.386263
2025-10-26T21:30:01.388Z,1761514201.388 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:01.448Z,1761514201.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815452,-0.576039,-0.056722],[0.577247,0.802084,0.153126],[-0.042711,-0.157610,0.986577]]
2025-10-26T21:30:01.495Z,1761514201.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.59 m.
2025-10-26T21:30:01.513Z,1761514201.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.590683 m,
      nav range: 209.936111 m,
      bearing: 29.607283 deg,
      approach rate: -0.724466 m/s,
      LOS rate: 0.004689 deg/s,
      cmd heading: 34.333404 deg,
      new cmd heading: 34.340801 deg.

2025-10-26T21:30:01.514Z,1761514201.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599360 target range: 237.590683 and range: 239.10 m.
2025-10-26T21:30:01.636Z,1761514201.636 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:01.925Z,1761514201.925 [DAT](INFO): DAT read: 21:29:59.9990 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 334, 0.16,-0.882,-2.439,-0.511,-0.947, PHS= 0.167,-1.447, 0.392, RAW= 156.4,  10.2, CAL= 156.3,  11.1, ROT= 353.7, -11.1

2025-10-26T21:30:01.930Z,1761514201.930 [DAT](INFO): got valid direction response:
 21:29:59.9990 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 334, 0.16,-0.882,-2.439,-0.511,-0.947, PHS= 0.167,-1.447, 0.392, RAW= 156.4,  10.2, CAL= 156.3,  11.1, ROT= 353.7, -11.1

2025-10-26T21:30:01.934Z,1761514201.934 [DAT](INFO): DAT read: Bearing 190.0, -10.8 (Local)

2025-10-26T21:30:01.936Z,1761514201.936 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.0, -10.8 (Local)

2025-10-26T21:30:01.942Z,1761514201.942 [DAT](INFO): DAT read: Range 11 to 50 : 187.5 m  (Round-trip  250.1 ms) speed  1.1 m/s

2025-10-26T21:30:01.946Z,1761514201.946 [DAT](INFO): DAT read: user:279>Tx time:21:30:01.0947

2025-10-26T21:30:01.948Z,1761514201.948 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:30:01.950Z,1761514201.950 [DAT](INFO): direction in FSK: [0.975367,-0.107681,0.192522]
2025-10-26T21:30:01.950Z,1761514201.950 [DAT](INFO): publishing direction and range info
2025-10-26T21:30:02.014Z,1761514202.014 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:02.014Z,1761514202.014 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:30:02.026Z,1761514202.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817493,-0.572976,-0.058343],[0.574294,0.803312,0.157723],[-0.043504,-0.162443,0.985758]]
2025-10-26T21:30:02.117Z,1761514202.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 187.500000 m,
      deltaT: 16.389939 s,
      deltaX: -51.600006 m,
      approachRate: -3.148273 m/s,
      rangeRepo size: 4

2025-10-26T21:30:02.119Z,1761514202.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 186.314682 m,
      bearing: 30.730508 deg,
      lat: 36.779364 deg,
      lon: -121.859397 deg,
      deltaT: 16.389939 s,
      deltaX: -51.276001 m,
      approachRate: -3.128505 m/s,
      posRepo size: 4

2025-10-26T21:30:02.124Z,1761514202.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.31 m.
2025-10-26T21:30:02.127Z,1761514202.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.314682 m,
      nav range: 184.664047 m,
      bearing: 30.564364 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004689 deg/s,
      cmd heading: 34.340801 deg,
      new cmd heading: 34.349549 deg.

2025-10-26T21:30:02.132Z,1761514202.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599513 target range: 186.314682 and range: 187.50 m.
2025-10-26T21:30:02.140Z,1761514202.140 [DAT](INFO): DAT read: 

2025-10-26T21:30:02.141Z,1761514202.141 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:02.392Z,1761514202.392 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:02.555Z,1761514202.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819306,-0.570315,-0.058975],[0.571617,0.804483,0.161436],[-0.044625,-0.165977,0.985119]]
2025-10-26T21:30:02.578Z,1761514202.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:02.580Z,1761514202.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.31 m.
2025-10-26T21:30:02.583Z,1761514202.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.314682 m,
      nav range: 184.366211 m,
      bearing: 30.575675 deg,
      approach rate: -0.642089 m/s,
      LOS rate: 0.024423 deg/s,
      cmd heading: 34.349547 deg,
      new cmd heading: 34.383533 deg.

2025-10-26T21:30:02.584Z,1761514202.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600106 target range: 186.314682 and range: 187.50 m.
2025-10-26T21:30:02.645Z,1761514202.645 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:02.898Z,1761514202.898 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:02.983Z,1761514202.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821109,-0.567549,-0.060562],[0.568923,0.805296,0.166806],[-0.045900,-0.171421,0.984128]]
2025-10-26T21:30:03.031Z,1761514203.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.31 m.
2025-10-26T21:30:03.034Z,1761514203.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.314682 m,
      nav range: 184.096893 m,
      bearing: 30.589659 deg,
      approach rate: -0.597353 m/s,
      LOS rate: 0.031063 deg/s,
      cmd heading: 34.383534 deg,
      new cmd heading: 34.425549 deg.

2025-10-26T21:30:03.035Z,1761514203.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600839 target range: 186.314682 and range: 187.50 m.
2025-10-26T21:30:03.148Z,1761514203.148 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:03.364Z,1761514203.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823062,-0.564720,-0.060501],[0.566002,0.806747,0.169709],[-0.047029,-0.173925,0.983635]]
2025-10-26T21:30:03.388Z,1761514203.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.31 m.
2025-10-26T21:30:03.397Z,1761514203.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.314682 m,
      nav range: 183.887650 m,
      bearing: 30.600774 deg,
      approach rate: -0.588456 m/s,
      LOS rate: 0.031295 deg/s,
      cmd heading: 34.425550 deg,
      new cmd heading: 34.458934 deg.

2025-10-26T21:30:03.398Z,1761514203.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.601422 target range: 186.314682 and range: 187.50 m.
2025-10-26T21:30:03.401Z,1761514203.401 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:03.652Z,1761514203.652 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:03.766Z,1761514203.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825254,-0.561612,-0.059560],[0.562728,0.808755,0.171035],[-0.047886,-0.174663,0.983463]]
2025-10-26T21:30:03.808Z,1761514203.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.31 m.
2025-10-26T21:30:03.811Z,1761514203.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.314682 m,
      nav range: 183.643372 m,
      bearing: 30.614086 deg,
      approach rate: -0.579820 m/s,
      LOS rate: 0.031638 deg/s,
      cmd heading: 34.458933 deg,
      new cmd heading: 34.498920 deg.

2025-10-26T21:30:03.816Z,1761514203.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602120 target range: 186.314682 and range: 187.50 m.
2025-10-26T21:30:03.907Z,1761514203.907 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:04.156Z,1761514204.156 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:04.233Z,1761514204.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.31 m.
2025-10-26T21:30:04.236Z,1761514204.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.314682 m,
      nav range: 183.381180 m,
      bearing: 30.626921 deg,
      approach rate: -0.616297 m/s,
      LOS rate: 0.030213 deg/s,
      cmd heading: 34.498920 deg,
      new cmd heading: 34.537480 deg.

2025-10-26T21:30:04.237Z,1761514204.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602793 target range: 186.314682 and range: 187.50 m.
2025-10-26T21:30:04.409Z,1761514204.409 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:04.575Z,1761514204.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830694,-0.554228,-0.052722],[0.554608,0.815550,0.165192],[-0.048557,-0.166464,0.984851]]
2025-10-26T21:30:04.591Z,1761514204.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:04.598Z,1761514204.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.31 m.
2025-10-26T21:30:04.617Z,1761514204.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.314682 m,
      nav range: 183.168320 m,
      bearing: 30.638096 deg,
      approach rate: -0.586624 m/s,
      LOS rate: 0.030833 deg/s,
      cmd heading: 34.537480 deg,
      new cmd heading: 34.571044 deg.

2025-10-26T21:30:04.618Z,1761514204.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603379 target range: 186.314682 and range: 187.50 m.
2025-10-26T21:30:04.660Z,1761514204.660 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:04.912Z,1761514204.912 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:05.163Z,1761514205.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.31 m.
2025-10-26T21:30:05.164Z,1761514205.164 [DAT](INFO): DAT read: Rx Time:21:30:03.7741

2025-10-26T21:30:05.165Z,1761514205.165 [DAT](INFO): Rx dataTimestamp_ set to:1761514205.164688
2025-10-26T21:30:05.165Z,1761514205.165 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:05.168Z,1761514205.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.314682 m,
      nav range: 182.803253 m,
      bearing: 30.654508 deg,
      approach rate: -0.644625 m/s,
      LOS rate: 0.029038 deg/s,
      cmd heading: 34.571043 deg,
      new cmd heading: 34.620379 deg.

2025-10-26T21:30:05.169Z,1761514205.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604240 target range: 186.314682 and range: 187.50 m.
2025-10-26T21:30:05.416Z,1761514205.416 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:05.508Z,1761514205.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838926,-0.541491,-0.054689],[0.542173,0.822742,0.170714],[-0.047445,-0.172867,0.983802]]
2025-10-26T21:30:05.591Z,1761514205.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.31 m.
2025-10-26T21:30:05.598Z,1761514205.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.314682 m,
      nav range: 182.560379 m,
      bearing: 30.666575 deg,
      approach rate: -0.566802 m/s,
      LOS rate: 0.028199 deg/s,
      cmd heading: 34.620378 deg,
      new cmd heading: 34.656627 deg.

2025-10-26T21:30:05.599Z,1761514205.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604872 target range: 186.314682 and range: 187.50 m.
2025-10-26T21:30:05.674Z,1761514205.674 [DAT](INFO): DAT read: 21:30:03.7741 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 186,-0.08, 3.023, 1.729, 3.140, 2.343, PHS= 0.782,-0.569, 0.753, RAW= 148.9, -14.3, CAL= 150.3, -16.6, ROT= 359.7,  16.6

2025-10-26T21:30:05.675Z,1761514205.675 [DAT](INFO): got valid direction response:
 21:30:03.7741 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 186,-0.08, 3.023, 1.729, 3.140, 2.343, PHS= 0.782,-0.569, 0.753, RAW= 148.9, -14.3, CAL= 150.3, -16.6, ROT= 359.7,  16.6

2025-10-26T21:30:05.676Z,1761514205.676 [DAT](INFO): DAT read: Bearing 162.2,  -0.1 (Local)

2025-10-26T21:30:05.677Z,1761514205.677 [DAT](INFO): Local bearing/azimuth received:
 Bearing 162.2,  -0.1 (Local)

2025-10-26T21:30:05.678Z,1761514205.678 [DAT](INFO): DAT read: Range 11 to 50 : 206.4 m  (Round-trip  275.2 ms) speed  0.4 m/s

2025-10-26T21:30:05.679Z,1761514205.679 [DAT](INFO): DAT read: user:280>Tx time:21:30:04.8447

2025-10-26T21:30:05.680Z,1761514205.680 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:30:05.681Z,1761514205.681 [DAT](INFO): direction in FSK: [0.958309,-0.005018,-0.285688]
2025-10-26T21:30:05.681Z,1761514205.681 [DAT](INFO): publishing direction and range info
2025-10-26T21:30:05.684Z,1761514205.684 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:05.685Z,1761514205.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:30:05.920Z,1761514205.920 [DAT](INFO): DAT read: 

2025-10-26T21:30:05.920Z,1761514205.920 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:06.046Z,1761514206.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841078,-0.537539,-0.060332],[0.538914,0.823154,0.178855],[-0.046479,-0.182945,0.982024]]
2025-10-26T21:30:06.088Z,1761514206.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 206.399994 m,
 deltaT: 3.778061 s,
 deltaX: 18.899994 m,
 approachRate: 5.002564 m/s,
 rangeRepo size: 4
2025-10-26T21:30:06.088Z,1761514206.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.31 m.
2025-10-26T21:30:06.091Z,1761514206.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.314682 m,
      nav range: 182.216782 m,
      bearing: 30.670539 deg,
      approach rate: -0.693068 m/s,
      LOS rate: 0.008010 deg/s,
      cmd heading: 34.656629 deg,
      new cmd heading: 34.668542 deg.

2025-10-26T21:30:06.108Z,1761514206.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605080 target range: 186.314682 and range: 187.50 m.
2025-10-26T21:30:06.173Z,1761514206.173 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:06.424Z,1761514206.424 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:06.480Z,1761514206.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.31 m.
2025-10-26T21:30:06.482Z,1761514206.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.314682 m,
      nav range: 181.964218 m,
      bearing: 30.673462 deg,
      approach rate: -0.643474 m/s,
      LOS rate: 0.007458 deg/s,
      cmd heading: 34.668541 deg,
      new cmd heading: 34.677323 deg.

2025-10-26T21:30:06.483Z,1761514206.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605233 target range: 186.314682 and range: 187.50 m.
2025-10-26T21:30:06.676Z,1761514206.676 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:06.846Z,1761514206.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843637,-0.532924,-0.065332],[0.535040,0.824288,0.185151],[-0.044819,-0.191156,0.980536]]
2025-10-26T21:30:06.871Z,1761514206.871 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:06.873Z,1761514206.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.31 m.
2025-10-26T21:30:06.879Z,1761514206.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.314682 m,
      nav range: 181.713959 m,
      bearing: 30.676669 deg,
      approach rate: -0.635423 m/s,
      LOS rate: 0.008154 deg/s,
      cmd heading: 34.677321 deg,
      new cmd heading: 34.686956 deg.

2025-10-26T21:30:06.881Z,1761514206.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605402 target range: 186.314682 and range: 187.50 m.
2025-10-26T21:30:06.928Z,1761514206.928 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:07.181Z,1761514207.181 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:07.250Z,1761514207.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843312,-0.533514,-0.064712],[0.535601,0.824426,0.182901],[-0.044230,-0.188902,0.980999]]
2025-10-26T21:30:07.263Z,1761514207.263 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,32768,V
2025-10-26T21:30:07.279Z,1761514207.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.31 m.
2025-10-26T21:30:07.282Z,1761514207.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.314682 m,
      nav range: 181.455856 m,
      bearing: 30.679952 deg,
      approach rate: -0.635780 m/s,
      LOS rate: 0.008098 deg/s,
      cmd heading: 34.686955 deg,
      new cmd heading: 34.696818 deg.

2025-10-26T21:30:07.283Z,1761514207.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605574 target range: 186.314682 and range: 187.50 m.
2025-10-26T21:30:07.432Z,1761514207.432 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:07.654Z,1761514207.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841743,-0.536296,-0.062085],[0.538102,0.824089,0.176983],[-0.043752,-0.182383,0.982254]]
2025-10-26T21:30:07.684Z,1761514207.684 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:07.703Z,1761514207.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.31 m.
2025-10-26T21:30:07.707Z,1761514207.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.314682 m,
      nav range: 181.188080 m,
      bearing: 30.683172 deg,
      approach rate: -0.631942 m/s,
      LOS rate: 0.007612 deg/s,
      cmd heading: 34.696818 deg,
      new cmd heading: 34.706494 deg.

2025-10-26T21:30:07.709Z,1761514207.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605743 target range: 186.314682 and range: 187.50 m.
2025-10-26T21:30:07.936Z,1761514207.936 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:08.113Z,1761514208.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.31 m.
2025-10-26T21:30:08.116Z,1761514208.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.314682 m,
      nav range: 180.901718 m,
      bearing: 30.668535 deg,
      approach rate: -0.697370 m/s,
      LOS rate: -0.035703 deg/s,
      cmd heading: 34.706493 deg,
      new cmd heading: 34.662511 deg.

2025-10-26T21:30:08.117Z,1761514208.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604975 target range: 186.314682 and range: 187.50 m.
2025-10-26T21:30:08.190Z,1761514208.190 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:08.444Z,1761514208.444 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:08.462Z,1761514208.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836518,-0.544851,-0.058094],[0.546298,0.821113,0.165325],[-0.042376,-0.170034,0.984527]]
2025-10-26T21:30:08.501Z,1761514208.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.31 m.
2025-10-26T21:30:08.507Z,1761514208.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.314682 m,
      nav range: 180.647217 m,
      bearing: 30.654674 deg,
      approach rate: -0.657460 m/s,
      LOS rate: -0.035857 deg/s,
      cmd heading: 34.662510 deg,
      new cmd heading: 34.620869 deg.

2025-10-26T21:30:08.508Z,1761514208.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604248 target range: 186.314682 and range: 187.50 m.
2025-10-26T21:30:08.699Z,1761514208.699 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:08.866Z,1761514208.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833399,-0.549734,-0.056910],[0.551126,0.818953,0.159921],[-0.041307,-0.164643,0.985488]]
2025-10-26T21:30:08.892Z,1761514208.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:08.915Z,1761514208.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.31 m.
2025-10-26T21:30:08.918Z,1761514208.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.314682 m,
      nav range: 180.364990 m,
      bearing: 30.638725 deg,
      approach rate: -0.715948 m/s,
      LOS rate: -0.040522 deg/s,
      cmd heading: 34.620870 deg,
      new cmd heading: 34.572948 deg.

2025-10-26T21:30:08.925Z,1761514208.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603412 target range: 186.314682 and range: 187.50 m.
2025-10-26T21:30:08.949Z,1761514208.949 [DAT](INFO): DAT read: Rx Time:21:30:07.5226

2025-10-26T21:30:08.949Z,1761514208.949 [DAT](INFO): Rx dataTimestamp_ set to:1761514208.948717
2025-10-26T21:30:08.949Z,1761514208.949 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:09.200Z,1761514209.200 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:09.283Z,1761514209.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830126,-0.554724,-0.056320],[0.556138,0.816503,0.155026],[-0.040012,-0.160013,0.986304]]
2025-10-26T21:30:09.361Z,1761514209.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.31 m.
2025-10-26T21:30:09.364Z,1761514209.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.314682 m,
      nav range: 180.035736 m,
      bearing: 30.615329 deg,
      approach rate: -0.706959 m/s,
      LOS rate: -0.050326 deg/s,
      cmd heading: 34.572949 deg,
      new cmd heading: 34.502633 deg.

2025-10-26T21:30:09.365Z,1761514209.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602185 target range: 186.314682 and range: 187.50 m.
2025-10-26T21:30:09.460Z,1761514209.460 [DAT](INFO): DAT read: 21:30:07.5226 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 433, 0.07, 0.502,-0.814, 0.603,-0.337, PHS= 0.941,-0.432, 0.896, RAW= 148.3, -20.2, CAL= 150.1, -22.5, ROT= 359.9,  22.5

2025-10-26T21:30:09.461Z,1761514209.461 [DAT](INFO): got valid direction response:
 21:30:07.5226 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 433, 0.07, 0.502,-0.814, 0.603,-0.337, PHS= 0.941,-0.432, 0.896, RAW= 148.3, -20.2, CAL= 150.1, -22.5, ROT= 359.9,  22.5

2025-10-26T21:30:09.462Z,1761514209.462 [DAT](INFO): DAT read: Bearing 157.0,   1.4 (Local)

2025-10-26T21:30:09.463Z,1761514209.463 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.0,   1.4 (Local)

2025-10-26T21:30:09.465Z,1761514209.465 [DAT](INFO): DAT read: Range 11 to 50 : 205.4 m  (Round-trip  273.9 ms) speed  0.0 m/s

2025-10-26T21:30:09.466Z,1761514209.466 [DAT](INFO): DAT read: user:281>Tx time:21:30:08.5946

2025-10-26T21:30:09.466Z,1761514209.466 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:30:09.467Z,1761514209.467 [DAT](INFO): direction in FSK: [0.923878,-0.001613,-0.382683]
2025-10-26T21:30:09.468Z,1761514209.468 [DAT](INFO): publishing direction and range info
2025-10-26T21:30:09.471Z,1761514209.471 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:09.471Z,1761514209.471 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:30:09.705Z,1761514209.705 [DAT](INFO): DAT read: 

2025-10-26T21:30:09.705Z,1761514209.705 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:09.735Z,1761514209.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 205.399994 m,
      deltaT: 7.562532 s,
      deltaX: 17.899994 m,
      approachRate: 2.366931 m/s,
      rangeRepo size: 4

2025-10-26T21:30:09.741Z,1761514209.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 204.103790 m,
      bearing: 29.858874 deg,
      lat: 36.779478 deg,
      lon: -121.859379 deg,
      deltaT: 7.562532 s,
      deltaX: 17.789108 m,
      approachRate: 2.352269 m/s,
      posRepo size: 4

2025-10-26T21:30:09.742Z,1761514209.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.10 m.
2025-10-26T21:30:09.749Z,1761514209.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.103790 m,
      nav range: 191.607788 m,
      bearing: 29.092406 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.050326 deg/s,
      cmd heading: 34.502632 deg,
      new cmd heading: 34.446232 deg.

2025-10-26T21:30:09.750Z,1761514209.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.601200 target range: 204.103790 and range: 205.40 m.
2025-10-26T21:30:09.956Z,1761514209.956 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:10.082Z,1761514210.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823829,-0.564265,-0.053951],[0.565607,0.812038,0.143814],[-0.037339,-0.148993,0.988133]]
2025-10-26T21:30:10.125Z,1761514210.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.10 m.
2025-10-26T21:30:10.129Z,1761514210.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.103790 m,
      nav range: 191.316498 m,
      bearing: 29.069971 deg,
      approach rate: -0.744442 m/s,
      LOS rate: -0.057425 deg/s,
      cmd heading: 34.446232 deg,
      new cmd heading: 34.378823 deg.

2025-10-26T21:30:10.130Z,1761514210.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600024 target range: 204.103790 and range: 205.40 m.
2025-10-26T21:30:10.210Z,1761514210.210 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:10.460Z,1761514210.460 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:10.482Z,1761514210.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820799,-0.568720,-0.053358],[0.570104,0.809790,0.138643],[-0.035641,-0.144218,0.988904]]
2025-10-26T21:30:10.516Z,1761514210.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.10 m.
2025-10-26T21:30:10.518Z,1761514210.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.103790 m,
      nav range: 191.051849 m,
      bearing: 29.049046 deg,
      approach rate: -0.677576 m/s,
      LOS rate: -0.053647 deg/s,
      cmd heading: 34.378821 deg,
      new cmd heading: 34.315961 deg.

2025-10-26T21:30:10.520Z,1761514210.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598926 target range: 204.103790 and range: 205.40 m.
2025-10-26T21:30:10.713Z,1761514210.713 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:10.897Z,1761514210.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818045,-0.572583,-0.054325],[0.574166,0.807456,0.135451],[-0.033692,-0.141997,0.989294]]
2025-10-26T21:30:10.926Z,1761514210.926 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:10.928Z,1761514210.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.10 m.
2025-10-26T21:30:10.931Z,1761514210.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.103790 m,
      nav range: 190.767319 m,
      bearing: 29.026025 deg,
      approach rate: -0.690439 m/s,
      LOS rate: -0.055947 deg/s,
      cmd heading: 34.315960 deg,
      new cmd heading: 34.246792 deg.

2025-10-26T21:30:10.932Z,1761514210.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597719 target range: 204.103790 and range: 205.40 m.
2025-10-26T21:30:10.965Z,1761514210.965 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:11.216Z,1761514211.216 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:11.291Z,1761514211.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815249,-0.576372,-0.056247],[0.578237,0.804839,0.133701],[-0.031792,-0.141524,0.989424]]
2025-10-26T21:30:11.333Z,1761514211.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.10 m.
2025-10-26T21:30:11.337Z,1761514211.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.103790 m,
      nav range: 190.497116 m,
      bearing: 29.008760 deg,
      approach rate: -0.666459 m/s,
      LOS rate: -0.042643 deg/s,
      cmd heading: 34.246790 deg,
      new cmd heading: 34.194925 deg.

2025-10-26T21:30:11.338Z,1761514211.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.596814 target range: 204.103790 and range: 205.40 m.
2025-10-26T21:30:11.469Z,1761514211.469 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:11.702Z,1761514211.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813254,-0.578794,-0.060130],[0.581158,0.802606,0.134458],[-0.029563,-0.144294,0.989093]]
2025-10-26T21:30:11.721Z,1761514211.721 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:11.731Z,1761514211.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.10 m.
2025-10-26T21:30:11.735Z,1761514211.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.103790 m,
      nav range: 190.237152 m,
      bearing: 28.991831 deg,
      approach rate: -0.654001 m/s,
      LOS rate: -0.042648 deg/s,
      cmd heading: 34.194925 deg,
      new cmd heading: 34.144068 deg.

2025-10-26T21:30:11.736Z,1761514211.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595926 target range: 204.103790 and range: 205.40 m.
2025-10-26T21:30:11.973Z,1761514211.973 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:12.110Z,1761514212.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811869,-0.580451,-0.062812],[0.583203,0.801256,0.133657],[-0.027253,-0.145144,0.989035]]
2025-10-26T21:30:12.163Z,1761514212.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.10 m.
2025-10-26T21:30:12.165Z,1761514212.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.103790 m,
      nav range: 189.970703 m,
      bearing: 28.981574 deg,
      approach rate: -0.617131 m/s,
      LOS rate: -0.023789 deg/s,
      cmd heading: 34.144068 deg,
      new cmd heading: 34.113255 deg.

2025-10-26T21:30:12.166Z,1761514212.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595389 target range: 204.103790 and range: 205.40 m.
2025-10-26T21:30:12.225Z,1761514212.225 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:12.476Z,1761514212.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:12.502Z,1761514212.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811173,-0.581149,-0.065304],[0.584258,0.800505,0.133548],[-0.025336,-0.146485,0.988888]]
2025-10-26T21:30:12.533Z,1761514212.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.10 m.
2025-10-26T21:30:12.537Z,1761514212.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.103790 m,
      nav range: 189.726425 m,
      bearing: 28.972057 deg,
      approach rate: -0.659524 m/s,
      LOS rate: -0.025731 deg/s,
      cmd heading: 34.113253 deg,
      new cmd heading: 34.084663 deg.

2025-10-26T21:30:12.538Z,1761514212.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594890 target range: 204.103790 and range: 205.40 m.
2025-10-26T21:30:12.729Z,1761514212.729 [DAT](INFO): DAT read: Rx Time:21:30:11.2990

2025-10-26T21:30:12.729Z,1761514212.729 [DAT](INFO): Rx dataTimestamp_ set to:1761514212.728703
2025-10-26T21:30:12.730Z,1761514212.730 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:12.911Z,1761514212.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811436,-0.580580,-0.067067],[0.583961,0.800767,0.133268],[-0.023668,-0.147303,0.988808]]
2025-10-26T21:30:12.930Z,1761514212.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:12.932Z,1761514212.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.10 m.
2025-10-26T21:30:12.951Z,1761514212.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.103790 m,
      nav range: 189.474808 m,
      bearing: 28.962261 deg,
      approach rate: -0.630107 m/s,
      LOS rate: -0.024563 deg/s,
      cmd heading: 34.084662 deg,
      new cmd heading: 34.055236 deg.

2025-10-26T21:30:12.952Z,1761514212.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594376 target range: 204.103790 and range: 205.40 m.
2025-10-26T21:30:12.980Z,1761514212.980 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:13.238Z,1761514213.238 [DAT](INFO): DAT read: 21:30:11.2990 LVL= 32752, 32753, 32754, 32243, AGC= 74, IDX= 207, 0.17, 2.488, 1.164, 2.655, 1.539, PHS= 1.051,-0.330, 1.072, RAW= 150.7, -24.5, CAL= 152.4, -26.0, ROT= 357.6,  26.0

2025-10-26T21:30:13.239Z,1761514213.239 [DAT](INFO): got valid direction response:
 21:30:11.2990 LVL= 32752, 32753, 32754, 32243, AGC= 74, IDX= 207, 0.17, 2.488, 1.164, 2.655, 1.539, PHS= 1.051,-0.330, 1.072, RAW= 150.7, -24.5, CAL= 152.4, -26.0, ROT= 357.6,  26.0

2025-10-26T21:30:13.240Z,1761514213.240 [DAT](INFO): DAT read: Bearing 154.7,   0.3 (Local)

2025-10-26T21:30:13.241Z,1761514213.241 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.7,   0.3 (Local)

2025-10-26T21:30:13.242Z,1761514213.242 [DAT](INFO): DAT read: Range 11 to 50 : 225.1 m  (Round-trip  300.2 ms) speed  0.8 m/s

2025-10-26T21:30:13.243Z,1761514213.243 [DAT](INFO): DAT read: user:282>Tx time:21:30:12.3946

2025-10-26T21:30:13.244Z,1761514213.244 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:30:13.245Z,1761514213.245 [DAT](INFO): direction in FSK: [0.898006,-0.037637,-0.438371]
2025-10-26T21:30:13.245Z,1761514213.245 [DAT](INFO): publishing direction and range info
2025-10-26T21:30:13.249Z,1761514213.249 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:13.249Z,1761514213.249 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:30:13.328Z,1761514213.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812157,-0.579350,-0.068948],[0.583016,0.801385,0.133699],[-0.022204,-0.148782,0.988621]]
2025-10-26T21:30:13.434Z,1761514213.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 225.100006 m,
 deltaT: 3.779516 s,
 deltaX: 19.700012 m,
 approachRate: 5.212311 m/s,
 rangeRepo size: 4
2025-10-26T21:30:13.435Z,1761514213.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.10 m.
2025-10-26T21:30:13.442Z,1761514213.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.103790 m,
      nav range: 189.166885 m,
      bearing: 28.962896 deg,
      approach rate: -0.614159 m/s,
      LOS rate: 0.001269 deg/s,
      cmd heading: 34.055238 deg,
      new cmd heading: 34.057147 deg.

2025-10-26T21:30:13.443Z,1761514213.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594409 target range: 204.103790 and range: 205.40 m.
2025-10-26T21:30:13.484Z,1761514213.484 [DAT](INFO): DAT read: 

2025-10-26T21:30:13.485Z,1761514213.485 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:13.736Z,1761514213.736 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:13.754Z,1761514213.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813632,-0.576819,-0.072691],[0.580996,0.802167,0.137738],[-0.021139,-0.154301,0.987798]]
2025-10-26T21:30:13.772Z,1761514213.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.10 m.
2025-10-26T21:30:13.774Z,1761514213.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.103790 m,
      nav range: 188.941803 m,
      bearing: 28.963538 deg,
      approach rate: -0.666790 m/s,
      LOS rate: 0.001904 deg/s,
      cmd heading: 34.057147 deg,
      new cmd heading: 34.059075 deg.

2025-10-26T21:30:13.775Z,1761514213.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594443 target range: 204.103790 and range: 205.40 m.
2025-10-26T21:30:13.988Z,1761514213.988 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:14.144Z,1761514214.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815986,-0.572835,-0.077634],[0.577724,0.803451,0.143878],[-0.020043,-0.162254,0.986546]]
2025-10-26T21:30:14.187Z,1761514214.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.10 m.
2025-10-26T21:30:14.190Z,1761514214.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.103790 m,
      nav range: 188.688629 m,
      bearing: 28.974712 deg,
      approach rate: -0.609778 m/s,
      LOS rate: 0.026948 deg/s,
      cmd heading: 34.059076 deg,
      new cmd heading: 34.092642 deg.

2025-10-26T21:30:14.190Z,1761514214.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595029 target range: 204.103790 and range: 205.40 m.
2025-10-26T21:30:14.241Z,1761514214.241 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:14.492Z,1761514214.492 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:14.546Z,1761514214.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818481,-0.568750,-0.081315],[0.574209,0.805031,0.149028],[-0.019299,-0.168669,0.985484]]
2025-10-26T21:30:14.577Z,1761514214.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.10 m.
2025-10-26T21:30:14.580Z,1761514214.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.103790 m,
      nav range: 188.450333 m,
      bearing: 28.985554 deg,
      approach rate: -0.609689 m/s,
      LOS rate: 0.027776 deg/s,
      cmd heading: 34.092643 deg,
      new cmd heading: 34.125212 deg.

2025-10-26T21:30:14.581Z,1761514214.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595597 target range: 204.103790 and range: 205.40 m.
2025-10-26T21:30:14.744Z,1761514214.744 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:14.950Z,1761514214.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820985,-0.564717,-0.084138],[0.570642,0.806741,0.153418],[-0.018760,-0.173966,0.984573]]
2025-10-26T21:30:14.967Z,1761514214.967 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:14.969Z,1761514214.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.10 m.
2025-10-26T21:30:14.972Z,1761514214.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.103790 m,
      nav range: 188.212097 m,
      bearing: 28.996726 deg,
      approach rate: -0.608464 m/s,
      LOS rate: 0.028570 deg/s,
      cmd heading: 34.125213 deg,
      new cmd heading: 34.158772 deg.

2025-10-26T21:30:14.973Z,1761514214.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.596183 target range: 204.103790 and range: 205.40 m.
2025-10-26T21:30:14.996Z,1761514214.996 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:15.248Z,1761514215.248 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:15.354Z,1761514215.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823677,-0.560499,-0.086003],[0.566756,0.808757,0.157161],[-0.018533,-0.178192,0.983821]]
2025-10-26T21:30:15.417Z,1761514215.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.10 m.
2025-10-26T21:30:15.420Z,1761514215.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.103790 m,
      nav range: 187.949585 m,
      bearing: 29.015119 deg,
      approach rate: -0.586367 m/s,
      LOS rate: 0.041141 deg/s,
      cmd heading: 34.158773 deg,
      new cmd heading: 34.214029 deg.

2025-10-26T21:30:15.421Z,1761514215.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597147 target range: 204.103790 and range: 205.40 m.
2025-10-26T21:30:15.501Z,1761514215.501 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:15.752Z,1761514215.752 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:15.770Z,1761514215.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826300,-0.556669,-0.085721],[0.562923,0.811197,0.158356],[-0.018615,-0.179104,0.983654]]
2025-10-26T21:30:15.788Z,1761514215.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.10 m.
2025-10-26T21:30:15.791Z,1761514215.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.103790 m,
      nav range: 187.729431 m,
      bearing: 29.030907 deg,
      approach rate: -0.592093 m/s,
      LOS rate: 0.042510 deg/s,
      cmd heading: 34.214029 deg,
      new cmd heading: 34.261448 deg.

2025-10-26T21:30:15.792Z,1761514215.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597975 target range: 204.103790 and range: 205.40 m.
2025-10-26T21:30:16.004Z,1761514216.004 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:16.171Z,1761514216.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828773,-0.552990,-0.085655],[0.559296,0.813664,0.158554],[-0.017984,-0.179311,0.983628]]
2025-10-26T21:30:16.219Z,1761514216.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.10 m.
2025-10-26T21:30:16.222Z,1761514216.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.103790 m,
      nav range: 187.485626 m,
      bearing: 29.048235 deg,
      approach rate: -0.566082 m/s,
      LOS rate: 0.040285 deg/s,
      cmd heading: 34.261448 deg,
      new cmd heading: 34.313499 deg.

2025-10-26T21:30:16.224Z,1761514216.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598884 target range: 204.103790 and range: 205.40 m.
2025-10-26T21:30:16.256Z,1761514216.256 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:16.508Z,1761514216.508 [DAT](INFO): DAT read: Rx Time:21:30:15.0645

2025-10-26T21:30:16.509Z,1761514216.509 [DAT](INFO): Rx dataTimestamp_ set to:1761514216.508559
2025-10-26T21:30:16.509Z,1761514216.509 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:16.585Z,1761514216.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831200,-0.549465,-0.084820],[0.555707,0.816353,0.157345],[-0.017213,-0.177921,0.983894]]
2025-10-26T21:30:16.622Z,1761514216.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.10 m.
2025-10-26T21:30:16.632Z,1761514216.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.103790 m,
      nav range: 187.268326 m,
      bearing: 29.064040 deg,
      approach rate: -0.538907 m/s,
      LOS rate: 0.039243 deg/s,
      cmd heading: 34.313498 deg,
      new cmd heading: 34.360969 deg.

2025-10-26T21:30:16.633Z,1761514216.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599712 target range: 204.103790 and range: 205.40 m.
2025-10-26T21:30:16.761Z,1761514216.761 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:16.975Z,1761514216.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833464,-0.546164,-0.083924],[0.552341,0.819038,0.155227],[-0.016042,-0.175731,0.984308]]
2025-10-26T21:30:16.992Z,1761514216.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:16.994Z,1761514216.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.10 m.
2025-10-26T21:30:16.997Z,1761514216.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.103790 m,
      nav range: 187.048035 m,
      bearing: 29.080421 deg,
      approach rate: -0.593233 m/s,
      LOS rate: 0.044163 deg/s,
      cmd heading: 34.360971 deg,
      new cmd heading: 34.410170 deg.

2025-10-26T21:30:16.998Z,1761514216.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600571 target range: 204.103790 and range: 205.40 m.
2025-10-26T21:30:17.018Z,1761514217.018 [DAT](INFO): DAT read: 21:30:15.0645 LVL= 30512, 32753, 28370, 26419, AGC= 77, IDX=  94, 0.24, 1.732, 0.355, 1.801, 0.787, PHS= 1.047,-0.387, 0.970, RAW= 147.2, -22.4, CAL= 148.7, -24.4, ROT=   1.3,  24.4

2025-10-26T21:30:17.020Z,1761514217.020 [DAT](INFO): got valid direction response:
 21:30:15.0645 LVL= 30512, 32753, 28370, 26419, AGC= 77, IDX=  94, 0.24, 1.732, 0.355, 1.801, 0.787, PHS= 1.047,-0.387, 0.970, RAW= 147.2, -22.4, CAL= 148.7, -24.4, ROT=   1.3,  24.4

2025-10-26T21:30:17.020Z,1761514217.020 [DAT](INFO): DAT read: Bearing 156.5,   4.3 (Local)

2025-10-26T21:30:17.021Z,1761514217.021 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.5,   4.3 (Local)

2025-10-26T21:30:17.022Z,1761514217.022 [DAT](INFO): DAT read: Range 11 to 50 : 199.3 m  (Round-trip  265.8 ms) speed  0.0 m/s

2025-10-26T21:30:17.023Z,1761514217.023 [DAT](INFO): DAT read: user:283>Tx time:21:30:16.1446

2025-10-26T21:30:17.024Z,1761514217.024 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:30:17.025Z,1761514217.025 [DAT](INFO): direction in FSK: [0.910449,0.020661,-0.413104]
2025-10-26T21:30:17.025Z,1761514217.025 [DAT](INFO): publishing direction and range info
2025-10-26T21:30:17.036Z,1761514217.036 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:17.037Z,1761514217.037 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:30:17.265Z,1761514217.265 [DAT](INFO): DAT read: 

2025-10-26T21:30:17.265Z,1761514217.265 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:17.456Z,1761514217.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836428,-0.541851,-0.082376],[0.547906,0.822912,0.150383],[-0.013697,-0.170918,0.985190]]
2025-10-26T21:30:17.512Z,1761514217.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 199.300003 m,
      deltaT: 7.559598 s,
      deltaX: -6.099991 m,
      approachRate: -0.806920 m/s,
      rangeRepo size: 4

2025-10-26T21:30:17.514Z,1761514217.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 198.052078 m,
      bearing: 30.047551 deg,
      lat: 36.779421 deg,
      lon: -121.859387 deg,
      deltaT: 7.559598 s,
      deltaX: -6.051712 m,
      approachRate: -0.800534 m/s,
      posRepo size: 4

2025-10-26T21:30:17.515Z,1761514217.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.05 m.
2025-10-26T21:30:17.516Z,1761514217.516 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:17.519Z,1761514217.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.052078 m,
      nav range: 180.930145 m,
      bearing: 29.883787 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.044163 deg/s,
      cmd heading: 34.410169 deg,
      new cmd heading: 34.478732 deg.

2025-10-26T21:30:17.520Z,1761514217.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.601767 target range: 198.052078 and range: 199.30 m.
2025-10-26T21:30:17.768Z,1761514217.768 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:17.858Z,1761514217.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837132,-0.540751,-0.082456],[0.546870,0.824068,0.147801],[-0.011974,-0.168822,0.985574]]
2025-10-26T21:30:17.915Z,1761514217.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.05 m.
2025-10-26T21:30:17.921Z,1761514217.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.052078 m,
      nav range: 180.707336 m,
      bearing: 29.898383 deg,
      approach rate: -0.552411 m/s,
      LOS rate: 0.036232 deg/s,
      cmd heading: 34.478733 deg,
      new cmd heading: 34.522575 deg.

2025-10-26T21:30:17.922Z,1761514217.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602533 target range: 198.052078 and range: 199.30 m.
2025-10-26T21:30:18.020Z,1761514218.020 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:18.104Z,1761514218.104 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:30:18.272Z,1761514218.272 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:18.346Z,1761514218.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837701,-0.539634,-0.083979],[0.546038,0.824789,0.146849],[-0.009980,-0.168872,0.985587]]
2025-10-26T21:30:18.419Z,1761514218.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.05 m.
2025-10-26T21:30:18.422Z,1761514218.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.052078 m,
      nav range: 180.420685 m,
      bearing: 29.905997 deg,
      approach rate: -0.572590 m/s,
      LOS rate: 0.015232 deg/s,
      cmd heading: 34.522576 deg,
      new cmd heading: 34.545453 deg.

2025-10-26T21:30:18.423Z,1761514218.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602932 target range: 198.052078 and range: 199.30 m.
2025-10-26T21:30:18.524Z,1761514218.524 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:18.776Z,1761514218.776 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:18.823Z,1761514218.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837604,-0.539695,-0.084550],[0.546227,0.825329,0.143064],[-0.007429,-0.166015,0.986095]]
2025-10-26T21:30:18.857Z,1761514218.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.05 m.
2025-10-26T21:30:18.860Z,1761514218.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.052078 m,
      nav range: 180.146896 m,
      bearing: 29.913315 deg,
      approach rate: -0.619354 m/s,
      LOS rate: 0.016581 deg/s,
      cmd heading: 34.545454 deg,
      new cmd heading: 34.567443 deg.

2025-10-26T21:30:18.861Z,1761514218.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603316 target range: 198.052078 and range: 199.30 m.
2025-10-26T21:30:19.029Z,1761514219.029 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:19.108Z,1761514219.108 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:30:19.232Z,1761514219.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837150,-0.540459,-0.084163],[0.546953,0.825817,0.137365],[-0.004736,-0.161028,0.986938]]
2025-10-26T21:30:19.280Z,1761514219.280 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:19.286Z,1761514219.286 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:19.289Z,1761514219.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.05 m.
2025-10-26T21:30:19.292Z,1761514219.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.052078 m,
      nav range: 179.899979 m,
      bearing: 29.909312 deg,
      approach rate: -0.572191 m/s,
      LOS rate: -0.009289 deg/s,
      cmd heading: 34.567444 deg,
      new cmd heading: 34.555419 deg.

2025-10-26T21:30:19.293Z,1761514219.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603106 target range: 198.052078 and range: 199.30 m.
2025-10-26T21:30:19.536Z,1761514219.536 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:19.630Z,1761514219.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835849,-0.542471,-0.084153],[0.548957,0.825558,0.130769],[-0.001465,-0.155499,0.987835]]
2025-10-26T21:30:19.658Z,1761514219.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.05 m.
2025-10-26T21:30:19.665Z,1761514219.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.052078 m,
      nav range: 179.688553 m,
      bearing: 29.905758 deg,
      approach rate: -0.572631 m/s,
      LOS rate: -0.009637 deg/s,
      cmd heading: 34.555419 deg,
      new cmd heading: 34.544745 deg.

2025-10-26T21:30:19.666Z,1761514219.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602920 target range: 198.052078 and range: 199.30 m.
2025-10-26T21:30:19.785Z,1761514219.785 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:20.034Z,1761514220.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834443,-0.544348,-0.085967],[0.551090,0.824851,0.126177],[0.002225,-0.152663,0.988276]]
2025-10-26T21:30:20.036Z,1761514220.036 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:20.115Z,1761514220.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.05 m.
2025-10-26T21:30:20.118Z,1761514220.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.052078 m,
      nav range: 179.424332 m,
      bearing: 29.901116 deg,
      approach rate: -0.578028 m/s,
      LOS rate: -0.010170 deg/s,
      cmd heading: 34.544744 deg,
      new cmd heading: 34.530798 deg.

2025-10-26T21:30:20.119Z,1761514220.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602676 target range: 198.052078 and range: 199.30 m.
2025-10-26T21:30:20.292Z,1761514220.292 [DAT](INFO): DAT read: Rx Time:21:30:18.8129

2025-10-26T21:30:20.292Z,1761514220.292 [DAT](INFO): Rx dataTimestamp_ set to:1761514220.291803
2025-10-26T21:30:20.292Z,1761514220.292 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:20.438Z,1761514220.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832924,-0.546336,-0.088058],[0.553354,0.824010,0.121682],[0.006082,-0.150079,0.988655]]
2025-10-26T21:30:20.489Z,1761514220.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.05 m.
2025-10-26T21:30:20.492Z,1761514220.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.052078 m,
      nav range: 179.192703 m,
      bearing: 29.889652 deg,
      approach rate: -0.619881 m/s,
      LOS rate: -0.030720 deg/s,
      cmd heading: 34.530797 deg,
      new cmd heading: 34.496360 deg.

2025-10-26T21:30:20.493Z,1761514220.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602075 target range: 198.052078 and range: 199.30 m.
2025-10-26T21:30:20.541Z,1761514220.541 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:20.798Z,1761514220.798 [DAT](INFO): DAT read: 21:30:18.8129 LVL= 25552, 32753, 25138, 32339, AGC= 71, IDX= 120, 0.30,-0.423,-1.984,-0.031,-0.535, PHS= 0.214,-1.404, 0.460, RAW= 157.0,   8.4, CAL= 156.6,   8.8, ROT= 353.4,  -8.8

2025-10-26T21:30:20.799Z,1761514220.799 [DAT](INFO): got valid direction response:
 21:30:18.8129 LVL= 25552, 32753, 25138, 32339, AGC= 71, IDX= 120, 0.30,-0.423,-1.984,-0.031,-0.535, PHS= 0.214,-1.404, 0.460, RAW= 157.0,   8.4, CAL= 156.6,   8.8, ROT= 353.4,  -8.8

2025-10-26T21:30:20.800Z,1761514220.800 [DAT](INFO): DAT read: Bearing 188.0,  -7.7 (Local)

2025-10-26T21:30:20.800Z,1761514220.800 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.0,  -7.7 (Local)

2025-10-26T21:30:20.802Z,1761514220.802 [DAT](INFO): DAT read: Range 11 to 50 : 198.1 m  (Round-trip  264.2 ms) speed  0.2 m/s

2025-10-26T21:30:20.803Z,1761514220.803 [DAT](INFO): DAT read: user:284>Tx time:21:30:19.8946

2025-10-26T21:30:20.803Z,1761514220.803 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:30:20.804Z,1761514220.804 [DAT](INFO): direction in FSK: [0.981679,-0.113584,0.152986]
2025-10-26T21:30:20.805Z,1761514220.805 [DAT](INFO): publishing direction and range info
2025-10-26T21:30:20.808Z,1761514220.808 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:20.809Z,1761514220.809 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:30:20.937Z,1761514220.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 198.100006 m,
      deltaT: 3.779866 s,
      deltaX: -1.199997 m,
      approachRate: -0.317471 m/s,
      rangeRepo size: 4

2025-10-26T21:30:20.939Z,1761514220.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 196.860840 m,
      bearing: 28.392746 deg,
      lat: 36.779478 deg,
      lon: -121.859379 deg,
      deltaT: 3.779866 s,
      deltaX: -1.191238 m,
      approachRate: -0.315154 m/s,
      posRepo size: 4

2025-10-26T21:30:20.940Z,1761514220.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.86 m.
2025-10-26T21:30:20.943Z,1761514220.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.860840 m,
      nav range: 184.768204 m,
      bearing: 29.082111 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.030720 deg/s,
      cmd heading: 34.496359 deg,
      new cmd heading: 34.455542 deg.

2025-10-26T21:30:20.952Z,1761514220.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.601363 target range: 196.860840 and range: 198.10 m.
2025-10-26T21:30:21.045Z,1761514221.045 [DAT](INFO): DAT read: 

2025-10-26T21:30:21.046Z,1761514221.046 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:21.274Z,1761514221.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829563,-0.550359,-0.094499],[0.558223,0.821743,0.114571],[0.014599,-0.147795,0.988910]]
2025-10-26T21:30:21.296Z,1761514221.296 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:21.327Z,1761514221.327 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:21.329Z,1761514221.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.86 m.
2025-10-26T21:30:21.332Z,1761514221.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.860840 m,
      nav range: 184.507339 m,
      bearing: 29.062222 deg,
      approach rate: -0.656479 m/s,
      LOS rate: -0.050123 deg/s,
      cmd heading: 34.455542 deg,
      new cmd heading: 34.395789 deg.

2025-10-26T21:30:21.333Z,1761514221.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600320 target range: 196.860840 and range: 198.10 m.
2025-10-26T21:30:21.548Z,1761514221.548 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:21.768Z,1761514221.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827895,-0.552236,-0.098111],[0.560553,0.820654,0.110939],[0.019251,-0.146842,0.988973]]
2025-10-26T21:30:21.786Z,1761514221.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.86 m.
2025-10-26T21:30:21.800Z,1761514221.800 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:21.809Z,1761514221.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.860840 m,
      nav range: 184.221725 m,
      bearing: 29.040107 deg,
      approach rate: -0.625128 m/s,
      LOS rate: -0.048478 deg/s,
      cmd heading: 34.395788 deg,
      new cmd heading: 34.329341 deg.

2025-10-26T21:30:21.815Z,1761514221.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599160 target range: 196.860840 and range: 198.10 m.
2025-10-26T21:30:22.053Z,1761514222.053 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:22.304Z,1761514222.304 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:22.343Z,1761514222.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.86 m.
2025-10-26T21:30:22.346Z,1761514222.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.860840 m,
      nav range: 183.861694 m,
      bearing: 29.010879 deg,
      approach rate: -0.646655 m/s,
      LOS rate: -0.052599 deg/s,
      cmd heading: 34.329340 deg,
      new cmd heading: 34.241485 deg.

2025-10-26T21:30:22.347Z,1761514222.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597627 target range: 196.860840 and range: 198.10 m.
2025-10-26T21:30:22.557Z,1761514222.557 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:22.746Z,1761514222.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822499,-0.557524,-0.112523],[0.567855,0.816141,0.107020],[0.032169,-0.151921,0.987869]]
2025-10-26T21:30:22.764Z,1761514222.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.86 m.
2025-10-26T21:30:22.767Z,1761514222.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.860840 m,
      nav range: 183.589691 m,
      bearing: 28.987906 deg,
      approach rate: -0.645480 m/s,
      LOS rate: -0.054597 deg/s,
      cmd heading: 34.241487 deg,
      new cmd heading: 34.172466 deg.

2025-10-26T21:30:22.768Z,1761514222.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.596422 target range: 196.860840 and range: 198.10 m.
2025-10-26T21:30:22.809Z,1761514222.809 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:23.060Z,1761514223.060 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:23.142Z,1761514223.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820770,-0.558810,-0.118610],[0.570135,0.814324,0.108730],[0.035828,-0.156866,0.986970]]
2025-10-26T21:30:23.160Z,1761514223.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.86 m.
2025-10-26T21:30:23.162Z,1761514223.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.860840 m,
      nav range: 183.334763 m,
      bearing: 28.966078 deg,
      approach rate: -0.644728 m/s,
      LOS rate: -0.055283 deg/s,
      cmd heading: 34.172468 deg,
      new cmd heading: 34.106890 deg.

2025-10-26T21:30:23.164Z,1761514223.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595278 target range: 196.860840 and range: 198.10 m.
2025-10-26T21:30:23.312Z,1761514223.312 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:23.547Z,1761514223.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819168,-0.560128,-0.123373],[0.572200,0.812874,0.108734],[0.039382,-0.159666,0.986385]]
2025-10-26T21:30:23.564Z,1761514223.564 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:23.599Z,1761514223.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:23.601Z,1761514223.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.86 m.
2025-10-26T21:30:23.604Z,1761514223.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.860840 m,
      nav range: 183.048141 m,
      bearing: 28.944216 deg,
      approach rate: -0.648639 m/s,
      LOS rate: -0.049551 deg/s,
      cmd heading: 34.106891 deg,
      new cmd heading: 34.041204 deg.

2025-10-26T21:30:23.605Z,1761514223.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594131 target range: 196.860840 and range: 198.10 m.
2025-10-26T21:30:23.872Z,1761514223.872 [DAT](INFO): DAT read: Rx Time:21:30:22.5603

2025-10-26T21:30:23.872Z,1761514223.872 [DAT](INFO): Rx dataTimestamp_ set to:1761514223.872063
2025-10-26T21:30:23.873Z,1761514223.873 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:24.041Z,1761514224.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.86 m.
2025-10-26T21:30:24.044Z,1761514224.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.860840 m,
      nav range: 182.771072 m,
      bearing: 28.923016 deg,
      approach rate: -0.630161 m/s,
      LOS rate: -0.048291 deg/s,
      cmd heading: 34.041205 deg,
      new cmd heading: 33.977508 deg.

2025-10-26T21:30:24.045Z,1761514224.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593019 target range: 196.860840 and range: 198.10 m.
2025-10-26T21:30:24.068Z,1761514224.068 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:24.323Z,1761514224.323 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:24.403Z,1761514224.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816130,-0.562607,-0.131932],[0.575905,0.810680,0.105506],[0.047596,-0.162087,0.985628]]
2025-10-26T21:30:24.446Z,1761514224.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.86 m.
2025-10-26T21:30:24.449Z,1761514224.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.860840 m,
      nav range: 182.509521 m,
      bearing: 28.908819 deg,
      approach rate: -0.646152 m/s,
      LOS rate: -0.035124 deg/s,
      cmd heading: 33.977507 deg,
      new cmd heading: 33.934854 deg.

2025-10-26T21:30:24.450Z,1761514224.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592275 target range: 196.860840 and range: 198.10 m.
2025-10-26T21:30:24.584Z,1761514224.584 [DAT](INFO): DAT read: 21:30:22.5603 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 420,-0.47,-0.567,-2.022,-0.183,-0.593, PHS= 0.129,-1.383, 0.366, RAW= 157.2,  10.8, CAL= 157.2,  11.9, ROT= 352.8, -11.9

2025-10-26T21:30:24.585Z,1761514224.585 [DAT](INFO): got valid direction response:
 21:30:22.5603 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 420,-0.47,-0.567,-2.022,-0.183,-0.593, PHS= 0.129,-1.383, 0.366, RAW= 157.2,  10.8, CAL= 157.2,  11.9, ROT= 352.8, -11.9

2025-10-26T21:30:24.586Z,1761514224.586 [DAT](INFO): DAT read: Bearing 190.7,  -7.0 (Local)

2025-10-26T21:30:24.586Z,1761514224.586 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.7,  -7.0 (Local)

2025-10-26T21:30:24.589Z,1761514224.589 [DAT](INFO): DAT read: Range 11 to 50 : 196.2 m  (Round-trip  261.6 ms) speed  0.5 m/s

2025-10-26T21:30:24.590Z,1761514224.590 [DAT](INFO): DAT read: user:285>Tx time:21:30:23.6446

2025-10-26T21:30:24.591Z,1761514224.591 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:30:24.596Z,1761514224.596 [DAT](INFO): direction in FSK: [0.970793,-0.122640,0.206204]
2025-10-26T21:30:24.596Z,1761514224.596 [DAT](INFO): publishing direction and range info
2025-10-26T21:30:24.605Z,1761514224.605 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:24.606Z,1761514224.606 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:30:24.805Z,1761514224.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814908,-0.563391,-0.136075],[0.577279,0.809919,0.103827],[0.051714,-0.163163,0.985243]]
2025-10-26T21:30:24.824Z,1761514224.824 [DAT](INFO): DAT read: 

2025-10-26T21:30:24.825Z,1761514224.825 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:24.834Z,1761514224.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 196.199997 m,
      deltaT: 3.780062 s,
      deltaX: -1.900009 m,
      approachRate: -0.502640 m/s,
      rangeRepo size: 4

2025-10-26T21:30:24.836Z,1761514224.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 194.974335 m,
      bearing: 30.106382 deg,
      lat: 36.779502 deg,
      lon: -121.859352 deg,
      deltaT: 3.780062 s,
      deltaX: -1.886505 m,
      approachRate: -0.499067 m/s,
      posRepo size: 4

2025-10-26T21:30:24.836Z,1761514224.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.97 m.
2025-10-26T21:30:24.855Z,1761514224.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.974335 m,
      nav range: 185.753311 m,
      bearing: 29.137590 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.035124 deg/s,
      cmd heading: 33.934856 deg,
      new cmd heading: 33.894065 deg.

2025-10-26T21:30:24.856Z,1761514224.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591563 target range: 194.974335 and range: 196.20 m.
2025-10-26T21:30:25.076Z,1761514225.076 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:25.206Z,1761514225.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814043,-0.564038,-0.138549],[0.578150,0.809711,0.100554],[0.055469,-0.161957,0.985238]]
2025-10-26T21:30:25.328Z,1761514225.328 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:25.338Z,1761514225.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.97 m.
2025-10-26T21:30:25.349Z,1761514225.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.974335 m,
      nav range: 185.498901 m,
      bearing: 29.124058 deg,
      approach rate: -0.504035 m/s,
      LOS rate: -0.026846 deg/s,
      cmd heading: 33.894066 deg,
      new cmd heading: 33.853414 deg.

2025-10-26T21:30:25.350Z,1761514225.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590854 target range: 194.974335 and range: 196.20 m.
2025-10-26T21:30:25.581Z,1761514225.581 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:25.681Z,1761514225.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813061,-0.564502,-0.142370],[0.579151,0.809180,0.099055],[0.059286,-0.162991,0.984845]]
2025-10-26T21:30:25.717Z,1761514225.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:25.732Z,1761514225.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.97 m.
2025-10-26T21:30:25.735Z,1761514225.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.974335 m,
      nav range: 185.203384 m,
      bearing: 29.108166 deg,
      approach rate: -0.761083 m/s,
      LOS rate: -0.040994 deg/s,
      cmd heading: 33.853413 deg,
      new cmd heading: 33.805660 deg.

2025-10-26T21:30:25.740Z,1761514225.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590020 target range: 194.974335 and range: 196.20 m.
2025-10-26T21:30:25.832Z,1761514225.832 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:26.085Z,1761514226.085 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:26.188Z,1761514226.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812711,-0.564026,-0.146203],[0.579249,0.809233,0.098041],[0.063015,-0.164367,0.984384]]
2025-10-26T21:30:26.206Z,1761514226.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.97 m.
2025-10-26T21:30:26.225Z,1761514226.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.974335 m,
      nav range: 184.889023 m,
      bearing: 29.091179 deg,
      approach rate: -0.654919 m/s,
      LOS rate: -0.035450 deg/s,
      cmd heading: 33.805659 deg,
      new cmd heading: 33.754611 deg.

2025-10-26T21:30:26.232Z,1761514226.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589129 target range: 194.974335 and range: 196.20 m.
2025-10-26T21:30:26.336Z,1761514226.336 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:26.589Z,1761514226.589 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:26.636Z,1761514226.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813911,-0.561459,-0.149375],[0.576959,0.811326,0.094176],[0.068316,-0.162834,0.984286]]
2025-10-26T21:30:26.694Z,1761514226.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.97 m.
2025-10-26T21:30:26.699Z,1761514226.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.974335 m,
      nav range: 184.577118 m,
      bearing: 29.081817 deg,
      approach rate: -0.638617 m/s,
      LOS rate: -0.019199 deg/s,
      cmd heading: 33.754610 deg,
      new cmd heading: 33.726479 deg.

2025-10-26T21:30:26.701Z,1761514226.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588638 target range: 194.974335 and range: 196.20 m.
2025-10-26T21:30:26.840Z,1761514226.840 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:27.092Z,1761514227.092 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:27.152Z,1761514227.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815027,-0.559981,-0.148836],[0.575158,0.812990,0.090774],[0.070170,-0.159588,0.984687]]
2025-10-26T21:30:27.171Z,1761514227.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.97 m.
2025-10-26T21:30:27.174Z,1761514227.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.974335 m,
      nav range: 184.272781 m,
      bearing: 29.072846 deg,
      approach rate: -0.639067 m/s,
      LOS rate: -0.018870 deg/s,
      cmd heading: 33.726480 deg,
      new cmd heading: 33.699521 deg.

2025-10-26T21:30:27.174Z,1761514227.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588168 target range: 194.974335 and range: 196.20 m.
2025-10-26T21:30:27.344Z,1761514227.344 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:27.553Z,1761514227.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816116,-0.558156,-0.149721],[0.573429,0.814290,0.090058],[0.071650,-0.159352,0.984618]]
2025-10-26T21:30:27.596Z,1761514227.596 [DAT](INFO): DAT read: Rx Time:21:30:26.3073

2025-10-26T21:30:27.597Z,1761514227.597 [DAT](INFO): Rx dataTimestamp_ set to:1761514227.596660
2025-10-26T21:30:27.597Z,1761514227.597 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:27.602Z,1761514227.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.97 m.
2025-10-26T21:30:27.605Z,1761514227.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.974335 m,
      nav range: 184.010422 m,
      bearing: 29.081263 deg,
      approach rate: -0.607719 m/s,
      LOS rate: 0.019525 deg/s,
      cmd heading: 33.699522 deg,
      new cmd heading: 33.724809 deg.

2025-10-26T21:30:27.606Z,1761514227.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588609 target range: 194.974335 and range: 196.20 m.
2025-10-26T21:30:27.852Z,1761514227.852 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:27.958Z,1761514227.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817798,-0.554741,-0.153193],[0.570862,0.815676,0.093747],[0.072950,-0.164118,0.983739]]
2025-10-26T21:30:27.974Z,1761514227.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:27.976Z,1761514227.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.97 m.
2025-10-26T21:30:27.979Z,1761514227.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.974335 m,
      nav range: 183.780914 m,
      bearing: 29.088855 deg,
      approach rate: -0.613689 m/s,
      LOS rate: 0.020326 deg/s,
      cmd heading: 33.724810 deg,
      new cmd heading: 33.747615 deg.

2025-10-26T21:30:27.980Z,1761514227.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589007 target range: 194.974335 and range: 196.20 m.
2025-10-26T21:30:28.121Z,1761514228.121 [DAT](INFO): DAT read: 21:30:26.3073 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 404, 0.45, 1.538, 0.042, 1.955, 1.354, PHS= 0.286,-1.267, 0.557, RAW= 157.9,   5.0, CAL= 157.0,   4.5, ROT= 353.0,  -4.5

2025-10-26T21:30:28.122Z,1761514228.122 [DAT](INFO): got valid direction response:
 21:30:26.3073 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 404, 0.45, 1.538, 0.042, 1.955, 1.354, PHS= 0.286,-1.267, 0.557, RAW= 157.9,   5.0, CAL= 157.0,   4.5, ROT= 353.0,  -4.5

2025-10-26T21:30:28.123Z,1761514228.123 [DAT](INFO): DAT read: Bearing 183.6,  -4.0 (Local)

2025-10-26T21:30:28.124Z,1761514228.124 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.6,  -4.0 (Local)

2025-10-26T21:30:28.125Z,1761514228.125 [DAT](INFO): DAT read: Range 11 to 50 : 193.8 m  (Round-trip  258.5 ms) speed  0.7 m/s

2025-10-26T21:30:28.126Z,1761514228.126 [DAT](INFO): DAT read: user:286>Tx time:21:30:27.3946

2025-10-26T21:30:28.127Z,1761514228.127 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:30:28.150Z,1761514228.150 [DAT](INFO): direction in FSK: [0.989486,-0.121494,0.078459]
2025-10-26T21:30:28.150Z,1761514228.150 [DAT](INFO): publishing direction and range info
2025-10-26T21:30:28.158Z,1761514228.158 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:28.158Z,1761514228.158 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:30:28.352Z,1761514228.352 [DAT](INFO): DAT read: 

2025-10-26T21:30:28.353Z,1761514228.353 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:28.374Z,1761514228.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819593,-0.551127,-0.156609],[0.568092,0.817208,0.097178],[0.074425,-0.168615,0.982868]]
2025-10-26T21:30:28.440Z,1761514228.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 193.800003 m,
      deltaT: 3.529704 s,
      deltaX: -2.399994 m,
      approachRate: -0.679942 m/s,
      rangeRepo size: 4

2025-10-26T21:30:28.442Z,1761514228.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 192.586731 m,
      bearing: 28.522994 deg,
      lat: 36.779559 deg,
      lon: -121.859337 deg,
      deltaT: 3.529704 s,
      deltaX: -2.387604 m,
      approachRate: -0.676432 m/s,
      posRepo size: 4

2025-10-26T21:30:28.443Z,1761514228.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.59 m.
2025-10-26T21:30:28.446Z,1761514228.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.586731 m,
      nav range: 189.741592 m,
      bearing: 28.522457 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.020326 deg/s,
      cmd heading: 33.747616 deg,
      new cmd heading: 33.775852 deg.

2025-10-26T21:30:28.447Z,1761514228.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589500 target range: 192.586731 and range: 193.80 m.
2025-10-26T21:30:28.604Z,1761514228.604 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:28.764Z,1761514228.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821352,-0.547967,-0.158470],[0.565315,0.819046,0.097892],[0.076153,-0.169989,0.982499]]
2025-10-26T21:30:28.783Z,1761514228.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.59 m.
2025-10-26T21:30:28.786Z,1761514228.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.586731 m,
      nav range: 189.535446 m,
      bearing: 28.531049 deg,
      approach rate: -0.600136 m/s,
      LOS rate: 0.025043 deg/s,
      cmd heading: 33.775852 deg,
      new cmd heading: 33.801659 deg.

2025-10-26T21:30:28.787Z,1761514228.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589950 target range: 192.586731 and range: 193.80 m.
2025-10-26T21:30:28.859Z,1761514228.859 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:29.108Z,1761514229.108 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:29.166Z,1761514229.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823027,-0.545030,-0.159902],[0.562633,0.820891,0.097886],[0.077911,-0.170529,0.982268]]
2025-10-26T21:30:29.197Z,1761514229.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.59 m.
2025-10-26T21:30:29.203Z,1761514229.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.586731 m,
      nav range: 189.292801 m,
      bearing: 28.541427 deg,
      approach rate: -0.586374 m/s,
      LOS rate: 0.025110 deg/s,
      cmd heading: 33.801660 deg,
      new cmd heading: 33.832833 deg.

2025-10-26T21:30:29.204Z,1761514229.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590494 target range: 192.586731 and range: 193.80 m.
2025-10-26T21:30:29.364Z,1761514229.364 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:29.571Z,1761514229.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824868,-0.541454,-0.162543],[0.559671,0.822699,0.099673],[0.079756,-0.173188,0.981654]]
2025-10-26T21:30:29.612Z,1761514229.612 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:29.613Z,1761514229.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.59 m.
2025-10-26T21:30:29.632Z,1761514229.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.586731 m,
      nav range: 189.046555 m,
      bearing: 28.554588 deg,
      approach rate: -0.593342 m/s,
      LOS rate: 0.031754 deg/s,
      cmd heading: 33.832833 deg,
      new cmd heading: 33.872369 deg.

2025-10-26T21:30:29.633Z,1761514229.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591184 target range: 192.586731 and range: 193.80 m.
2025-10-26T21:30:29.864Z,1761514229.864 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:29.974Z,1761514229.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826945,-0.538231,-0.162694],[0.556421,0.824993,0.098911],[0.080985,-0.172320,0.981706]]
2025-10-26T21:30:29.998Z,1761514229.998 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:29.000Z,1761514230.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.59 m.
2025-10-26T21:30:30.003Z,1761514230.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.586731 m,
      nav range: 188.818573 m,
      bearing: 28.567091 deg,
      approach rate: -0.587604 m/s,
      LOS rate: 0.032264 deg/s,
      cmd heading: 33.872370 deg,
      new cmd heading: 33.909923 deg.

2025-10-26T21:30:30.004Z,1761514230.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591840 target range: 192.586731 and range: 193.80 m.
2025-10-26T21:30:30.116Z,1761514230.116 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:30.370Z,1761514230.370 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:30.395Z,1761514230.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828946,-0.535437,-0.161727],[0.553347,0.827224,0.097503],[0.081578,-0.170316,0.982007]]
2025-10-26T21:30:30.444Z,1761514230.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.59 m.
2025-10-26T21:30:30.447Z,1761514230.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.586731 m,
      nav range: 188.558640 m,
      bearing: 28.579684 deg,
      approach rate: -0.584387 m/s,
      LOS rate: 0.028350 deg/s,
      cmd heading: 33.909922 deg,
      new cmd heading: 33.947753 deg.

2025-10-26T21:30:30.448Z,1761514230.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592500 target range: 192.586731 and range: 193.80 m.
2025-10-26T21:30:30.623Z,1761514230.623 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:30.782Z,1761514230.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831127,-0.531994,-0.161898],[0.550024,0.829321,0.098492],[0.081869,-0.170907,0.981880]]
2025-10-26T21:30:30.806Z,1761514230.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.59 m.
2025-10-26T21:30:30.809Z,1761514230.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.586731 m,
      nav range: 188.346466 m,
      bearing: 28.590251 deg,
      approach rate: -0.586487 m/s,
      LOS rate: 0.029241 deg/s,
      cmd heading: 33.947751 deg,
      new cmd heading: 33.979487 deg.

2025-10-26T21:30:30.810Z,1761514230.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593054 target range: 192.586731 and range: 193.80 m.
2025-10-26T21:30:30.873Z,1761514230.873 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:31.124Z,1761514231.124 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:31.188Z,1761514231.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832634,-0.529740,-0.161543],[0.547733,0.830808,0.098729],[0.081911,-0.170688,0.981915]]
2025-10-26T21:30:31.206Z,1761514231.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.59 m.
2025-10-26T21:30:31.209Z,1761514231.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.586731 m,
      nav range: 188.112625 m,
      bearing: 28.602127 deg,
      approach rate: -0.584576 m/s,
      LOS rate: 0.029726 deg/s,
      cmd heading: 33.979488 deg,
      new cmd heading: 34.015161 deg.

2025-10-26T21:30:31.210Z,1761514231.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593677 target range: 192.586731 and range: 193.80 m.
2025-10-26T21:30:31.380Z,1761514231.380 [DAT](INFO): DAT read: Rx Time:21:30:30.0535

2025-10-26T21:30:31.382Z,1761514231.382 [DAT](INFO): Rx dataTimestamp_ set to:1761514231.380807
2025-10-26T21:30:31.385Z,1761514231.385 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:31.591Z,1761514231.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833577,-0.528361,-0.161193],[0.546315,0.831714,0.098955],[0.081783,-0.170549,0.981949]]
2025-10-26T21:30:31.628Z,1761514231.628 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:31.647Z,1761514231.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.59 m.
2025-10-26T21:30:31.650Z,1761514231.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.586731 m,
      nav range: 187.851379 m,
      bearing: 28.609166 deg,
      approach rate: -0.593157 m/s,
      LOS rate: 0.016003 deg/s,
      cmd heading: 34.015162 deg,
      new cmd heading: 34.036307 deg.

2025-10-26T21:30:31.651Z,1761514231.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594046 target range: 192.586731 and range: 193.80 m.
2025-10-26T21:30:31.898Z,1761514231.898 [DAT](INFO): DAT read: 21:30:30.0535 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 398, 0.17,-3.030, 1.691,-2.655, 3.069, PHS= 0.286,-1.333, 0.515, RAW= 156.5,   6.1, CAL= 155.8,   6.1, ROT= 354.2,  -6.1

2025-10-26T21:30:31.900Z,1761514231.900 [DAT](INFO): got valid direction response:
 21:30:30.0535 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 398, 0.17,-3.030, 1.691,-2.655, 3.069, PHS= 0.286,-1.333, 0.515, RAW= 156.5,   6.1, CAL= 155.8,   6.1, ROT= 354.2,  -6.1

2025-10-26T21:30:31.902Z,1761514231.902 [DAT](INFO): DAT read: Bearing 184.0,  -2.2 (Local)

2025-10-26T21:30:31.902Z,1761514231.902 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.0,  -2.2 (Local)

2025-10-26T21:30:31.905Z,1761514231.905 [DAT](INFO): DAT read: Range 11 to 50 : 191.1 m  (Round-trip  254.8 ms) speed  0.6 m/s

2025-10-26T21:30:31.906Z,1761514231.906 [DAT](INFO): DAT read: user:287>Tx time:21:30:31.1445

2025-10-26T21:30:31.907Z,1761514231.907 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:30:31.909Z,1761514231.909 [DAT](INFO): direction in FSK: [0.989248,-0.100484,0.106264]
2025-10-26T21:30:31.909Z,1761514231.909 [DAT](INFO): publishing direction and range info
2025-10-26T21:30:31.913Z,1761514231.913 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:31.913Z,1761514231.913 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:30:32.012Z,1761514232.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834508,-0.526659,-0.161948],[0.544953,0.832312,0.101408],[0.081384,-0.172880,0.981575]]
2025-10-26T21:30:32.061Z,1761514232.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 191.100006 m,
      deltaT: 3.780753 s,
      deltaX: -2.699997 m,
      approachRate: -0.714143 m/s,
      rangeRepo size: 4

2025-10-26T21:30:32.063Z,1761514232.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 189.903244 m,
      bearing: 28.428856 deg,
      lat: 36.779549 deg,
      lon: -121.859352 deg,
      deltaT: 3.780753 s,
      deltaX: -2.683487 m,
      approachRate: -0.709776 m/s,
      posRepo size: 4

2025-10-26T21:30:32.068Z,1761514232.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.90 m.
2025-10-26T21:30:32.071Z,1761514232.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.903244 m,
      nav range: 185.980789 m,
      bearing: 28.428328 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016003 deg/s,
      cmd heading: 34.036308 deg,
      new cmd heading: 34.056166 deg.

2025-10-26T21:30:32.076Z,1761514232.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594392 target range: 189.903244 and range: 191.10 m.
2025-10-26T21:30:32.133Z,1761514232.133 [DAT](INFO): DAT read: 

2025-10-26T21:30:32.134Z,1761514232.134 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:32.388Z,1761514232.388 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:32.413Z,1761514232.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835044,-0.525422,-0.163197],[0.544141,0.832545,0.103824],[0.081318,-0.175500,0.981115]]
2025-10-26T21:30:32.461Z,1761514232.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:32.464Z,1761514232.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.90 m.
2025-10-26T21:30:32.466Z,1761514232.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.903244 m,
      nav range: 185.723450 m,
      bearing: 28.428061 deg,
      approach rate: -0.638358 m/s,
      LOS rate: -0.000663 deg/s,
      cmd heading: 34.056167 deg,
      new cmd heading: 34.055365 deg.

2025-10-26T21:30:32.483Z,1761514232.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594378 target range: 189.903244 and range: 191.10 m.
2025-10-26T21:30:32.636Z,1761514232.636 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:32.808Z,1761514232.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835054,-0.525646,-0.162423],[0.544184,0.832582,0.103306],[0.080928,-0.174654,0.981298]]
2025-10-26T21:30:32.827Z,1761514232.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.90 m.
2025-10-26T21:30:32.829Z,1761514232.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.903244 m,
      nav range: 185.497757 m,
      bearing: 28.427828 deg,
      approach rate: -0.621385 m/s,
      LOS rate: -0.000642 deg/s,
      cmd heading: 34.055364 deg,
      new cmd heading: 34.054664 deg.

2025-10-26T21:30:32.830Z,1761514232.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594366 target range: 189.903244 and range: 191.10 m.
2025-10-26T21:30:32.889Z,1761514232.889 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:33.140Z,1761514233.140 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:33.210Z,1761514233.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834561,-0.526917,-0.160830],[0.544999,0.832303,0.101230],[0.080520,-0.172135,0.981777]]
2025-10-26T21:30:33.236Z,1761514233.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.90 m.
2025-10-26T21:30:33.239Z,1761514233.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.903244 m,
      nav range: 185.243576 m,
      bearing: 28.427503 deg,
      approach rate: -0.620462 m/s,
      LOS rate: -0.000795 deg/s,
      cmd heading: 34.054664 deg,
      new cmd heading: 34.053688 deg.

2025-10-26T21:30:33.240Z,1761514233.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594349 target range: 189.903244 and range: 191.10 m.
2025-10-26T21:30:33.395Z,1761514233.395 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:33.644Z,1761514233.644 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:33.676Z,1761514233.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.90 m.
2025-10-26T21:30:33.678Z,1761514233.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.903244 m,
      nav range: 184.967987 m,
      bearing: 28.422017 deg,
      approach rate: -0.627508 m/s,
      LOS rate: -0.012510 deg/s,
      cmd heading: 34.053687 deg,
      new cmd heading: 34.037205 deg.

2025-10-26T21:30:33.679Z,1761514233.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594061 target range: 189.903244 and range: 191.10 m.
2025-10-26T21:30:33.897Z,1761514233.897 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:34.018Z,1761514234.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832508,-0.531604,-0.155972],[0.548148,0.831234,0.092651],[0.080396,-0.162629,0.983407]]
2025-10-26T21:30:34.044Z,1761514234.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.90 m.
2025-10-26T21:30:34.047Z,1761514234.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.903244 m,
      nav range: 184.735626 m,
      bearing: 28.417137 deg,
      approach rate: -0.629629 m/s,
      LOS rate: -0.013241 deg/s,
      cmd heading: 34.037206 deg,
      new cmd heading: 34.022546 deg.

2025-10-26T21:30:34.048Z,1761514234.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593805 target range: 189.903244 and range: 191.10 m.
2025-10-26T21:30:34.148Z,1761514234.148 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:34.414Z,1761514234.414 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:34.451Z,1761514234.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831384,-0.534068,-0.153534],[0.549899,0.830494,0.088823],[0.080072,-0.158274,0.984143]]
2025-10-26T21:30:34.485Z,1761514234.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:34.488Z,1761514234.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.90 m.
2025-10-26T21:30:34.490Z,1761514234.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.903244 m,
      nav range: 184.451859 m,
      bearing: 28.404115 deg,
      approach rate: -0.640663 m/s,
      LOS rate: -0.029444 deg/s,
      cmd heading: 34.022545 deg,
      new cmd heading: 33.983420 deg.

2025-10-26T21:30:34.512Z,1761514234.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593123 target range: 189.903244 and range: 191.10 m.
2025-10-26T21:30:34.664Z,1761514234.664 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:34.842Z,1761514234.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830542,-0.536122,-0.150904],[0.551224,0.830019,0.084977],[0.079696,-0.153759,0.984889]]
2025-10-26T21:30:34.892Z,1761514234.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.90 m.
2025-10-26T21:30:34.895Z,1761514234.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.903244 m,
      nav range: 184.210403 m,
      bearing: 28.392887 deg,
      approach rate: -0.596782 m/s,
      LOS rate: -0.027788 deg/s,
      cmd heading: 33.983422 deg,
      new cmd heading: 33.949693 deg.

2025-10-26T21:30:34.908Z,1761514234.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592534 target range: 189.903244 and range: 191.10 m.
2025-10-26T21:30:34.916Z,1761514234.916 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:35.168Z,1761514235.168 [DAT](INFO): DAT read: Rx Time:21:30:33.8025

2025-10-26T21:30:35.169Z,1761514235.169 [DAT](INFO): Rx dataTimestamp_ set to:1761514235.168530
2025-10-26T21:30:35.169Z,1761514235.169 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:35.337Z,1761514235.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829659,-0.538279,-0.148057],[0.552660,0.829414,0.081477],[0.078943,-0.149423,0.985617]]
2025-10-26T21:30:35.365Z,1761514235.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.90 m.
2025-10-26T21:30:35.370Z,1761514235.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.903244 m,
      nav range: 183.894684 m,
      bearing: 28.377996 deg,
      approach rate: -0.669378 m/s,
      LOS rate: -0.031624 deg/s,
      cmd heading: 33.949691 deg,
      new cmd heading: 33.904943 deg.

2025-10-26T21:30:35.372Z,1761514235.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591753 target range: 189.903244 and range: 191.10 m.
2025-10-26T21:30:35.423Z,1761514235.423 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:35.678Z,1761514235.678 [DAT](INFO): DAT read: 21:30:33.8025 LVL= 32560, 32753, 30642, 32755, AGC= 61, IDX= 106, 0.15, 2.080, 0.573, 2.421, 1.968, PHS= 0.214,-1.351, 0.408, RAW= 155.8,   8.8, CAL= 155.4,   9.3, ROT= 354.6,  -9.3

2025-10-26T21:30:35.680Z,1761514235.680 [DAT](INFO): got valid direction response:
 21:30:33.8025 LVL= 32560, 32753, 30642, 32755, AGC= 61, IDX= 106, 0.15, 2.080, 0.573, 2.421, 1.968, PHS= 0.214,-1.351, 0.408, RAW= 155.8,   8.8, CAL= 155.4,   9.3, ROT= 354.6,  -9.3

2025-10-26T21:30:35.681Z,1761514235.681 [DAT](INFO): DAT read: Bearing 187.1,  -2.4 (Local)

2025-10-26T21:30:35.681Z,1761514235.681 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.1,  -2.4 (Local)

2025-10-26T21:30:35.683Z,1761514235.683 [DAT](INFO): DAT read: Range 11 to 50 : 190.4 m  (Round-trip  253.9 ms) speed  0.0 m/s

2025-10-26T21:30:35.684Z,1761514235.684 [DAT](INFO): DAT read: user:288>Tx time:21:30:34.8945

2025-10-26T21:30:35.685Z,1761514235.685 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:30:35.686Z,1761514235.686 [DAT](INFO): direction in FSK: [0.982476,-0.092871,0.161604]
2025-10-26T21:30:35.686Z,1761514235.686 [DAT](INFO): publishing direction and range info
2025-10-26T21:30:35.690Z,1761514235.690 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:35.690Z,1761514235.690 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:30:35.858Z,1761514235.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828799,-0.540369,-0.145239],[0.554230,0.828484,0.080271],[0.076952,-0.147024,0.986135]]
2025-10-26T21:30:35.924Z,1761514235.924 [DAT](INFO): DAT read: 

2025-10-26T21:30:35.925Z,1761514235.925 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:35.987Z,1761514235.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 190.399994 m,
      deltaT: 3.789872 s,
      deltaX: -0.700012 m,
      approachRate: -0.184706 m/s,
      rangeRepo size: 4

2025-10-26T21:30:35.989Z,1761514235.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 189.207962 m,
      bearing: 29.744000 deg,
      lat: 36.779549 deg,
      lon: -121.859337 deg,
      deltaT: 3.789872 s,
      deltaX: -0.695282 m,
      approachRate: -0.183458 m/s,
      posRepo size: 4

2025-10-26T21:30:35.990Z,1761514235.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.21 m.
2025-10-26T21:30:35.994Z,1761514235.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.207962 m,
      nav range: 184.125854 m,
      bearing: 28.717953 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.031624 deg/s,
      cmd heading: 33.904943 deg,
      new cmd heading: 33.845873 deg.

2025-10-26T21:30:35.995Z,1761514235.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590722 target range: 189.207962 and range: 190.40 m.
2025-10-26T21:30:36.176Z,1761514236.176 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:36.304Z,1761514236.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.21 m.
2025-10-26T21:30:36.307Z,1761514236.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.207962 m,
      nav range: 183.885941 m,
      bearing: 28.706082 deg,
      approach rate: -0.755140 m/s,
      LOS rate: -0.037414 deg/s,
      cmd heading: 33.845872 deg,
      new cmd heading: 33.810212 deg.

2025-10-26T21:30:36.308Z,1761514236.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590100 target range: 189.207962 and range: 190.40 m.
2025-10-26T21:30:36.430Z,1761514236.430 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:36.674Z,1761514236.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828168,-0.542082,-0.142426],[0.555525,0.827617,0.080262],[0.074365,-0.145592,0.986546]]
2025-10-26T21:30:36.680Z,1761514236.680 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:36.742Z,1761514236.742 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:36.744Z,1761514236.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.21 m.
2025-10-26T21:30:36.747Z,1761514236.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.207962 m,
      nav range: 183.588776 m,
      bearing: 28.691720 deg,
      approach rate: -0.675134 m/s,
      LOS rate: -0.032681 deg/s,
      cmd heading: 33.810212 deg,
      new cmd heading: 33.767057 deg.

2025-10-26T21:30:36.748Z,1761514236.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589346 target range: 189.207962 and range: 190.40 m.
2025-10-26T21:30:36.933Z,1761514236.933 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:37.074Z,1761514237.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828017,-0.542663,-0.141088],[0.555960,0.827256,0.080964],[0.072780,-0.145479,0.986681]]
2025-10-26T21:30:37.093Z,1761514237.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.21 m.
2025-10-26T21:30:37.096Z,1761514237.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.207962 m,
      nav range: 183.352417 m,
      bearing: 28.680231 deg,
      approach rate: -0.677752 m/s,
      LOS rate: -0.032989 deg/s,
      cmd heading: 33.767058 deg,
      new cmd heading: 33.732545 deg.

2025-10-26T21:30:37.097Z,1761514237.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588744 target range: 189.207962 and range: 190.40 m.
2025-10-26T21:30:37.184Z,1761514237.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:37.450Z,1761514237.450 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:37.506Z,1761514237.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827787,-0.543131,-0.140633],[0.556514,0.826675,0.083073],[0.071138,-0.147030,0.986570]]
2025-10-26T21:30:37.556Z,1761514237.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.21 m.
2025-10-26T21:30:37.558Z,1761514237.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.207962 m,
      nav range: 183.040237 m,
      bearing: 28.665813 deg,
      approach rate: -0.674932 m/s,
      LOS rate: -0.031224 deg/s,
      cmd heading: 33.732546 deg,
      new cmd heading: 33.689219 deg.

2025-10-26T21:30:37.559Z,1761514237.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587988 target range: 189.207962 and range: 190.40 m.
2025-10-26T21:30:37.700Z,1761514237.700 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:37.888Z,1761514237.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827799,-0.543350,-0.139714],[0.556669,0.826467,0.084099],[0.069774,-0.147391,0.986614]]
2025-10-26T21:30:37.918Z,1761514237.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.21 m.
2025-10-26T21:30:37.925Z,1761514237.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.207962 m,
      nav range: 182.803467 m,
      bearing: 28.654836 deg,
      approach rate: -0.653342 m/s,
      LOS rate: -0.030328 deg/s,
      cmd heading: 33.689218 deg,
      new cmd heading: 33.656246 deg.

2025-10-26T21:30:37.929Z,1761514237.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587412 target range: 189.207962 and range: 190.40 m.
2025-10-26T21:30:37.952Z,1761514237.952 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:38.204Z,1761514238.204 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:38.286Z,1761514238.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828153,-0.543066,-0.138719],[0.556375,0.826461,0.086076],[0.067901,-0.148464,0.986584]]
2025-10-26T21:30:38.312Z,1761514238.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.21 m.
2025-10-26T21:30:38.315Z,1761514238.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.207962 m,
      nav range: 182.529022 m,
      bearing: 28.642119 deg,
      approach rate: -0.696166 m/s,
      LOS rate: -0.032308 deg/s,
      cmd heading: 33.656245 deg,
      new cmd heading: 33.618036 deg.

2025-10-26T21:30:38.316Z,1761514238.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586745 target range: 189.207962 and range: 190.40 m.
2025-10-26T21:30:38.462Z,1761514238.462 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:38.690Z,1761514238.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828739,-0.542407,-0.137792],[0.555774,0.826559,0.088973],[0.065633,-0.150316,0.986457]]
2025-10-26T21:30:38.709Z,1761514238.709 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:38.757Z,1761514238.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:38.759Z,1761514238.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.21 m.
2025-10-26T21:30:38.762Z,1761514238.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.207962 m,
      nav range: 182.229660 m,
      bearing: 28.630544 deg,
      approach rate: -0.669955 m/s,
      LOS rate: -0.025946 deg/s,
      cmd heading: 33.618034 deg,
      new cmd heading: 33.583253 deg.

2025-10-26T21:30:38.763Z,1761514238.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586138 target range: 189.207962 and range: 190.40 m.
2025-10-26T21:30:38.963Z,1761514238.963 [DAT](INFO): DAT read: Rx Time:21:30:37.5170

2025-10-26T21:30:38.964Z,1761514238.964 [DAT](INFO): Rx dataTimestamp_ set to:1761514238.963541
2025-10-26T21:30:38.964Z,1761514238.964 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:39.097Z,1761514239.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830012,-0.541079,-0.135324],[0.554208,0.827387,0.091020],[0.062717,-0.150545,0.986612]]
2025-10-26T21:30:39.114Z,1761514239.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.21 m.
2025-10-26T21:30:39.117Z,1761514239.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.207962 m,
      nav range: 181.990540 m,
      bearing: 28.621425 deg,
      approach rate: -0.672609 m/s,
      LOS rate: -0.025683 deg/s,
      cmd heading: 33.583251 deg,
      new cmd heading: 33.555860 deg.

2025-10-26T21:30:39.118Z,1761514239.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585660 target range: 189.207962 and range: 190.40 m.
2025-10-26T21:30:39.213Z,1761514239.213 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:39.507Z,1761514239.507 [DAT](INFO): DAT read: 21:30:37.5170 LVL= 29088, 32753, 32754, 32755, AGC= 72, IDX=  58,-0.39,-1.841, 2.992,-1.510,-1.912, PHS= 0.173,-1.334, 0.358, RAW= 155.7,  10.0, CAL= 155.6,  10.9, ROT= 354.4, -10.9

2025-10-26T21:30:39.524Z,1761514239.524 [DAT](INFO): got valid direction response:
 21:30:37.5170 LVL= 29088, 32753, 32754, 32755, AGC= 72, IDX=  58,-0.39,-1.841, 2.992,-1.510,-1.912, PHS= 0.173,-1.334, 0.358, RAW= 155.7,  10.0, CAL= 155.6,  10.9, ROT= 354.4, -10.9

2025-10-26T21:30:39.525Z,1761514239.525 [DAT](INFO): DAT read: Bearing 188.6,  -3.8 (Local)

2025-10-26T21:30:39.526Z,1761514239.526 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.6,  -3.8 (Local)

2025-10-26T21:30:39.547Z,1761514239.547 [DAT](INFO): DAT read: Range 11 to 50 : 163.8 m  (Round-trip  218.4 ms) speed  0.8 m/s

2025-10-26T21:30:39.548Z,1761514239.548 [DAT](INFO): DAT read: user:289>Tx time:21:30:38.5945

2025-10-26T21:30:39.549Z,1761514239.549 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:30:39.550Z,1761514239.550 [DAT](INFO): direction in FSK: [0.977272,-0.095823,0.189095]
2025-10-26T21:30:39.550Z,1761514239.550 [DAT](INFO): publishing direction and range info
2025-10-26T21:30:39.574Z,1761514239.574 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:39.574Z,1761514239.574 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:30:39.585Z,1761514239.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830993,-0.540342,-0.132215],[0.553077,0.828007,0.092249],[0.059629,-0.149783,0.986919]]
2025-10-26T21:30:39.675Z,1761514239.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 163.800003 m,
 deltaT: 3.792768 s,
 deltaX: -26.599991 m,
 approachRate: -7.013345 m/s,
 rangeRepo size: 4
2025-10-26T21:30:39.676Z,1761514239.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.21 m.
2025-10-26T21:30:39.679Z,1761514239.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.207962 m,
      nav range: 181.631027 m,
      bearing: 28.615257 deg,
      approach rate: -0.641977 m/s,
      LOS rate: -0.011036 deg/s,
      cmd heading: 33.555859 deg,
      new cmd heading: 33.537318 deg.

2025-10-26T21:30:39.688Z,1761514239.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585337 target range: 189.207962 and range: 190.40 m.
2025-10-26T21:30:39.717Z,1761514239.717 [DAT](INFO): DAT read: 

2025-10-26T21:30:39.717Z,1761514239.717 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:39.939Z,1761514239.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832388,-0.538495,-0.130972],[0.551352,0.828564,0.097428],[0.056054,-0.153309,0.986587]]
2025-10-26T21:30:39.961Z,1761514239.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.21 m.
2025-10-26T21:30:39.964Z,1761514239.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.207962 m,
      nav range: 181.426163 m,
      bearing: 28.611877 deg,
      approach rate: -0.715009 m/s,
      LOS rate: -0.011811 deg/s,
      cmd heading: 33.537318 deg,
      new cmd heading: 33.527166 deg.

2025-10-26T21:30:39.965Z,1761514239.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585159 target range: 189.207962 and range: 190.40 m.
2025-10-26T21:30:39.969Z,1761514239.969 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:40.220Z,1761514240.220 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:40.386Z,1761514240.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.21 m.
2025-10-26T21:30:40.389Z,1761514240.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.207962 m,
      nav range: 181.143585 m,
      bearing: 28.607202 deg,
      approach rate: -0.665320 m/s,
      LOS rate: -0.011024 deg/s,
      cmd heading: 33.527165 deg,
      new cmd heading: 33.513118 deg.

2025-10-26T21:30:40.390Z,1761514240.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584914 target range: 189.207962 and range: 190.40 m.
2025-10-26T21:30:40.476Z,1761514240.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:40.724Z,1761514240.724 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:40.746Z,1761514240.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834799,-0.535451,-0.128069],[0.548323,0.829530,0.105934],[0.049515,-0.158656,0.986091]]
2025-10-26T21:30:40.792Z,1761514240.792 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:40.794Z,1761514240.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.21 m.
2025-10-26T21:30:40.797Z,1761514240.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.207962 m,
      nav range: 180.879730 m,
      bearing: 28.606009 deg,
      approach rate: -0.646634 m/s,
      LOS rate: -0.002928 deg/s,
      cmd heading: 33.513119 deg,
      new cmd heading: 33.509534 deg.

2025-10-26T21:30:40.798Z,1761514240.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584852 target range: 189.207962 and range: 190.40 m.
2025-10-26T21:30:40.979Z,1761514240.979 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:41.150Z,1761514241.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835884,-0.533989,-0.127096],[0.546931,0.829866,0.110403],[0.046519,-0.161797,0.985727]]
2025-10-26T21:30:41.180Z,1761514241.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.21 m.
2025-10-26T21:30:41.182Z,1761514241.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.207962 m,
      nav range: 180.630173 m,
      bearing: 28.605011 deg,
      approach rate: -0.647063 m/s,
      LOS rate: -0.002591 deg/s,
      cmd heading: 33.509533 deg,
      new cmd heading: 33.506535 deg.

2025-10-26T21:30:41.183Z,1761514241.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584799 target range: 189.207962 and range: 190.40 m.
2025-10-26T21:30:41.229Z,1761514241.229 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:41.480Z,1761514241.480 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:41.560Z,1761514241.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836996,-0.532387,-0.126497],[0.545451,0.830222,0.114954],[0.043821,-0.165214,0.985284]]
2025-10-26T21:30:41.626Z,1761514241.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.21 m.
2025-10-26T21:30:41.629Z,1761514241.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.207962 m,
      nav range: 180.345703 m,
      bearing: 28.609600 deg,
      approach rate: -0.637573 m/s,
      LOS rate: 0.010302 deg/s,
      cmd heading: 33.506535 deg,
      new cmd heading: 33.520324 deg.

2025-10-26T21:30:41.630Z,1761514241.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585040 target range: 189.207962 and range: 190.40 m.
2025-10-26T21:30:41.733Z,1761514241.733 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:41.958Z,1761514241.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837553,-0.531717,-0.125627],[0.544763,0.830281,0.117757],[0.041692,-0.167064,0.985064]]
2025-10-26T21:30:41.984Z,1761514241.984 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:41.997Z,1761514241.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.21 m.
2025-10-26T21:30:42.005Z,1761514242.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.207962 m,
      nav range: 180.111069 m,
      bearing: 28.613455 deg,
      approach rate: -0.631084 m/s,
      LOS rate: 0.010383 deg/s,
      cmd heading: 33.520325 deg,
      new cmd heading: 33.531906 deg.

2025-10-26T21:30:42.006Z,1761514242.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585242 target range: 189.207962 and range: 190.40 m.
2025-10-26T21:30:42.237Z,1761514242.237 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:42.372Z,1761514242.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838193,-0.531358,-0.122844],[0.543931,0.830866,0.117478],[0.039644,-0.165288,0.985448]]
2025-10-26T21:30:42.397Z,1761514242.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.21 m.
2025-10-26T21:30:42.400Z,1761514242.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.207962 m,
      nav range: 179.853226 m,
      bearing: 28.617794 deg,
      approach rate: -0.644580 m/s,
      LOS rate: 0.010861 deg/s,
      cmd heading: 33.531905 deg,
      new cmd heading: 33.544939 deg.

2025-10-26T21:30:42.401Z,1761514242.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585470 target range: 189.207962 and range: 190.40 m.
2025-10-26T21:30:42.491Z,1761514242.491 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:42.740Z,1761514242.740 [DAT](INFO): DAT read: Rx Time:21:30:41.2461

2025-10-26T21:30:42.741Z,1761514242.741 [DAT](INFO): Rx dataTimestamp_ set to:1761514242.740580
2025-10-26T21:30:42.741Z,1761514242.741 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:42.779Z,1761514242.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838550,-0.531397,-0.120218],[0.543529,0.831147,0.117351],[0.037559,-0.163747,0.985787]]
2025-10-26T21:30:42.829Z,1761514242.829 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:42.836Z,1761514242.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.21 m.
2025-10-26T21:30:42.838Z,1761514242.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.207962 m,
      nav range: 179.587524 m,
      bearing: 28.623671 deg,
      approach rate: -0.612290 m/s,
      LOS rate: 0.013562 deg/s,
      cmd heading: 33.544941 deg,
      new cmd heading: 33.562597 deg.

2025-10-26T21:30:42.844Z,1761514242.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585778 target range: 189.207962 and range: 190.40 m.
2025-10-26T21:30:42.993Z,1761514242.993 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:43.179Z,1761514243.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839185,-0.531090,-0.117103],[0.542718,0.831663,0.117448],[0.035015,-0.162114,0.986151]]
2025-10-26T21:30:43.206Z,1761514243.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.21 m.
2025-10-26T21:30:43.209Z,1761514243.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.207962 m,
      nav range: 179.339127 m,
      bearing: 28.629266 deg,
      approach rate: -0.663537 m/s,
      LOS rate: 0.014967 deg/s,
      cmd heading: 33.562597 deg,
      new cmd heading: 33.579406 deg.

2025-10-26T21:30:43.210Z,1761514243.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586071 target range: 189.207962 and range: 190.40 m.
2025-10-26T21:30:43.253Z,1761514243.253 [DAT](INFO): DAT read: 21:30:41.2461 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 228,-0.21, 0.142,-1.340, 0.465, 0.104, PHS= 0.140,-1.399, 0.316, RAW= 155.4,  11.5, CAL= 155.4,  12.8, ROT= 354.6, -12.8

2025-10-26T21:30:43.255Z,1761514243.255 [DAT](INFO): got valid direction response:
 21:30:41.2461 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 228,-0.21, 0.142,-1.340, 0.465, 0.104, PHS= 0.140,-1.399, 0.316, RAW= 155.4,  11.5, CAL= 155.4,  12.8, ROT= 354.6, -12.8

2025-10-26T21:30:43.257Z,1761514243.257 [DAT](INFO): DAT read: Bearing 190.3,  -5.5 (Local)

2025-10-26T21:30:43.258Z,1761514243.258 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.3,  -5.5 (Local)

2025-10-26T21:30:43.260Z,1761514243.260 [DAT](INFO): DAT read: Range 11 to 50 : 185.6 m  (Round-trip  247.5 ms) speed  0.8 m/s

2025-10-26T21:30:43.261Z,1761514243.261 [DAT](INFO): DAT read: user:290>Tx time:21:30:42.3445

2025-10-26T21:30:43.262Z,1761514243.262 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:30:43.273Z,1761514243.273 [DAT](INFO): direction in FSK: [0.970822,-0.091770,0.221548]
2025-10-26T21:30:43.273Z,1761514243.273 [DAT](INFO): publishing direction and range info
2025-10-26T21:30:43.286Z,1761514243.286 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:43.286Z,1761514243.286 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:30:43.498Z,1761514243.498 [DAT](INFO): DAT read: 

2025-10-26T21:30:43.499Z,1761514243.499 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:43.590Z,1761514243.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839545,-0.531380,-0.113138],[0.542305,0.832186,0.115638],[0.032704,-0.158439,0.986827]]
2025-10-26T21:30:43.643Z,1761514243.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 185.600006 m,
      deltaT: 7.571953 s,
      deltaX: -4.799988 m,
      approachRate: -0.633917 m/s,
      rangeRepo size: 4

2025-10-26T21:30:43.649Z,1761514243.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 184.442322 m,
      bearing: 29.561632 deg,
      lat: 36.779527 deg,
      lon: -121.859337 deg,
      deltaT: 7.571953 s,
      deltaX: -4.765640 m,
      approachRate: -0.629381 m/s,
      posRepo size: 4

2025-10-26T21:30:43.650Z,1761514243.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.44 m.
2025-10-26T21:30:43.652Z,1761514243.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.442322 m,
      nav range: 176.999374 m,
      bearing: 29.002355 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014967 deg/s,
      cmd heading: 33.579406 deg,
      new cmd heading: 33.599004 deg.

2025-10-26T21:30:43.653Z,1761514243.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586413 target range: 184.442322 and range: 185.60 m.
2025-10-26T21:30:43.748Z,1761514243.748 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:43.989Z,1761514243.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839957,-0.531805,-0.107961],[0.541808,0.832980,0.112195],[0.030264,-0.152733,0.987804]]
2025-10-26T21:30:44.000Z,1761514244.000 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:44.025Z,1761514244.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.44 m.
2025-10-26T21:30:44.032Z,1761514244.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.442322 m,
      nav range: 176.763611 m,
      bearing: 29.009561 deg,
      approach rate: -0.615105 m/s,
      LOS rate: 0.018824 deg/s,
      cmd heading: 33.599005 deg,
      new cmd heading: 33.620650 deg.

2025-10-26T21:30:44.036Z,1761514244.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586791 target range: 184.442322 and range: 185.60 m.
2025-10-26T21:30:44.252Z,1761514244.252 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:44.390Z,1761514244.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840166,-0.532518,-0.102691],[0.541586,0.833745,0.107490],[0.028378,-0.145926,0.988888]]
2025-10-26T21:30:44.425Z,1761514244.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.44 m.
2025-10-26T21:30:44.432Z,1761514244.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.442322 m,
      nav range: 176.502548 m,
      bearing: 29.017617 deg,
      approach rate: -0.653699 m/s,
      LOS rate: 0.020204 deg/s,
      cmd heading: 33.620650 deg,
      new cmd heading: 33.644856 deg.

2025-10-26T21:30:44.433Z,1761514244.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587214 target range: 184.442322 and range: 185.60 m.
2025-10-26T21:30:44.505Z,1761514244.505 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:44.756Z,1761514244.756 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:44.798Z,1761514244.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840194,-0.533488,-0.097283],[0.541628,0.834396,0.102094],[0.026707,-0.138470,0.990007]]
2025-10-26T21:30:44.849Z,1761514244.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:44.857Z,1761514244.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.44 m.
2025-10-26T21:30:44.866Z,1761514244.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.442322 m,
      nav range: 176.240158 m,
      bearing: 29.025194 deg,
      approach rate: -0.608073 m/s,
      LOS rate: 0.017584 deg/s,
      cmd heading: 33.644856 deg,
      new cmd heading: 33.667620 deg.

2025-10-26T21:30:44.872Z,1761514244.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587611 target range: 184.442322 and range: 185.60 m.
2025-10-26T21:30:45.008Z,1761514245.008 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:45.239Z,1761514245.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.44 m.
2025-10-26T21:30:45.260Z,1761514245.260 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:45.277Z,1761514245.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.442322 m,
      nav range: 175.989304 m,
      bearing: 29.032458 deg,
      approach rate: -0.662058 m/s,
      LOS rate: 0.019199 deg/s,
      cmd heading: 33.667621 deg,
      new cmd heading: 33.689445 deg.

2025-10-26T21:30:45.278Z,1761514245.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587992 target range: 184.442322 and range: 185.60 m.
2025-10-26T21:30:45.513Z,1761514245.513 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:45.620Z,1761514245.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839474,-0.535157,-0.094283],[0.542838,0.833772,0.100755],[0.024691,-0.135762,0.990434]]
2025-10-26T21:30:45.668Z,1761514245.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.44 m.
2025-10-26T21:30:45.672Z,1761514245.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.442322 m,
      nav range: 175.715347 m,
      bearing: 29.037038 deg,
      approach rate: -0.632346 m/s,
      LOS rate: 0.010589 deg/s,
      cmd heading: 33.689444 deg,
      new cmd heading: 33.703206 deg.

2025-10-26T21:30:45.673Z,1761514245.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588232 target range: 184.442322 and range: 185.60 m.
2025-10-26T21:30:45.765Z,1761514245.765 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:46.016Z,1761514246.016 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:46.019Z,1761514246.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839107,-0.535736,-0.094270],[0.543430,0.833295,0.101510],[0.024172,-0.136407,0.990358]]
2025-10-26T21:30:46.052Z,1761514246.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.44 m.
2025-10-26T21:30:46.055Z,1761514246.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.442322 m,
      nav range: 175.474228 m,
      bearing: 29.041024 deg,
      approach rate: -0.628540 m/s,
      LOS rate: 0.010403 deg/s,
      cmd heading: 33.703206 deg,
      new cmd heading: 33.715179 deg.

2025-10-26T21:30:46.056Z,1761514246.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588441 target range: 184.442322 and range: 185.60 m.
2025-10-26T21:30:46.270Z,1761514246.270 [DAT](INFO): DAT read: Rx Time:21:30:44.9924

2025-10-26T21:30:46.271Z,1761514246.271 [DAT](INFO): Rx dataTimestamp_ set to:1761514246.270148
2025-10-26T21:30:46.271Z,1761514246.271 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:46.419Z,1761514246.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838606,-0.536514,-0.094299],[0.544192,0.832865,0.100951],[0.024377,-0.135975,0.990412]]
2025-10-26T21:30:46.437Z,1761514246.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.44 m.
2025-10-26T21:30:46.462Z,1761514246.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.442322 m,
      nav range: 175.232391 m,
      bearing: 29.044961 deg,
      approach rate: -0.628995 m/s,
      LOS rate: 0.010255 deg/s,
      cmd heading: 33.715180 deg,
      new cmd heading: 33.727009 deg.

2025-10-26T21:30:46.463Z,1761514246.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588647 target range: 184.442322 and range: 185.60 m.
2025-10-26T21:30:46.521Z,1761514246.521 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:46.775Z,1761514246.775 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:46.825Z,1761514246.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837889,-0.537886,-0.092843],[0.545280,0.832536,0.097739],[0.024722,-0.132520,0.990872]]
2025-10-26T21:30:46.893Z,1761514246.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:46.895Z,1761514246.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.44 m.
2025-10-26T21:30:46.902Z,1761514246.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.442322 m,
      nav range: 174.959229 m,
      bearing: 29.045932 deg,
      approach rate: -0.595780 m/s,
      LOS rate: 0.002121 deg/s,
      cmd heading: 33.727010 deg,
      new cmd heading: 33.729926 deg.

2025-10-26T21:30:46.903Z,1761514246.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588698 target range: 184.442322 and range: 185.60 m.
2025-10-26T21:30:47.030Z,1761514247.030 [DAT](INFO): DAT read: 21:30:44.9924 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 399,-0.38,-2.879, 1.887,-2.555,-2.963, PHS= 0.186,-1.388, 0.364, RAW= 155.3,  10.1, CAL= 155.1,  10.9, ROT= 354.9, -10.9

2025-10-26T21:30:47.032Z,1761514247.032 [DAT](INFO): got valid direction response:
 21:30:44.9924 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 399,-0.38,-2.879, 1.887,-2.555,-2.963, PHS= 0.186,-1.388, 0.364, RAW= 155.3,  10.1, CAL= 155.1,  10.9, ROT= 354.9, -10.9

2025-10-26T21:30:47.033Z,1761514247.033 [DAT](INFO): DAT read: Bearing 189.0,  -5.2 (Local)

2025-10-26T21:30:47.033Z,1761514247.033 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.0,  -5.2 (Local)

2025-10-26T21:30:47.040Z,1761514247.040 [DAT](INFO): DAT read: Range 11 to 50 : 182.9 m  (Round-trip  243.9 ms) speed  0.3 m/s

2025-10-26T21:30:47.041Z,1761514247.041 [DAT](INFO): DAT read: user:291>Tx time:21:30:46.0944

2025-10-26T21:30:47.041Z,1761514247.041 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:30:47.042Z,1761514247.042 [DAT](INFO): direction in FSK: [0.978071,-0.087291,0.189095]
2025-10-26T21:30:47.043Z,1761514247.043 [DAT](INFO): publishing direction and range info
2025-10-26T21:30:47.046Z,1761514247.046 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:47.046Z,1761514247.046 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:30:47.227Z,1761514247.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837067,-0.539288,-0.092129],[0.546506,0.832065,0.094866],[0.025497,-0.129758,0.991218]]
2025-10-26T21:30:47.250Z,1761514247.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 182.899994 m,
      deltaT: 3.779669 s,
      deltaX: -2.700012 m,
      approachRate: -0.714351 m/s,
      rangeRepo size: 4

2025-10-26T21:30:47.252Z,1761514247.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 181.759232 m,
      bearing: 29.492201 deg,
      lat: 36.779527 deg,
      lon: -121.859316 deg,
      deltaT: 3.779669 s,
      deltaX: -2.683090 m,
      approachRate: -0.709874 m/s,
      posRepo size: 4

2025-10-26T21:30:47.253Z,1761514247.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.76 m.
2025-10-26T21:30:47.256Z,1761514247.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.759232 m,
      nav range: 175.670380 m,
      bearing: 29.595869 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002121 deg/s,
      cmd heading: 33.729926 deg,
      new cmd heading: 33.732181 deg.

2025-10-26T21:30:47.257Z,1761514247.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588738 target range: 181.759232 and range: 182.90 m.
2025-10-26T21:30:47.276Z,1761514247.276 [DAT](INFO): DAT read: 

2025-10-26T21:30:47.277Z,1761514247.277 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:47.528Z,1761514247.528 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:47.647Z,1761514247.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836535,-0.540037,-0.092565],[0.547284,0.831659,0.093933],[0.026255,-0.129238,0.991266]]
2025-10-26T21:30:47.717Z,1761514247.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.76 m.
2025-10-26T21:30:47.725Z,1761514247.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.759232 m,
      nav range: 175.381287 m,
      bearing: 29.592847 deg,
      approach rate: -0.618696 m/s,
      LOS rate: -0.006476 deg/s,
      cmd heading: 33.732180 deg,
      new cmd heading: 33.723102 deg.

2025-10-26T21:30:47.727Z,1761514247.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588579 target range: 181.759232 and range: 182.90 m.
2025-10-26T21:30:47.781Z,1761514247.781 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:48.032Z,1761514248.032 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:48.045Z,1761514248.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836030,-0.540644,-0.093580],[0.548038,0.831081,0.094650],[0.026601,-0.130416,0.991102]]
2025-10-26T21:30:48.081Z,1761514248.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.76 m.
2025-10-26T21:30:48.088Z,1761514248.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.759232 m,
      nav range: 175.136047 m,
      bearing: 29.590202 deg,
      approach rate: -0.672518 m/s,
      LOS rate: -0.007266 deg/s,
      cmd heading: 33.723103 deg,
      new cmd heading: 33.715154 deg.

2025-10-26T21:30:48.089Z,1761514248.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588440 target range: 181.759232 and range: 182.90 m.
2025-10-26T21:30:48.284Z,1761514248.284 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:48.446Z,1761514248.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835872,-0.540525,-0.095661],[0.548265,0.830634,0.097228],[0.026905,-0.133718,0.990654]]
2025-10-26T21:30:48.471Z,1761514248.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.76 m.
2025-10-26T21:30:48.474Z,1761514248.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.759232 m,
      nav range: 174.869446 m,
      bearing: 29.587286 deg,
      approach rate: -0.684206 m/s,
      LOS rate: -0.007495 deg/s,
      cmd heading: 33.715152 deg,
      new cmd heading: 33.706392 deg.

2025-10-26T21:30:48.475Z,1761514248.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588288 target range: 181.759232 and range: 182.90 m.
2025-10-26T21:30:48.536Z,1761514248.536 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:48.788Z,1761514248.788 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:48.858Z,1761514248.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835684,-0.540628,-0.096717],[0.548559,0.830227,0.099032],[0.026758,-0.135815,0.990373]]
2025-10-26T21:30:48.903Z,1761514248.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:48.905Z,1761514248.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.76 m.
2025-10-26T21:30:48.909Z,1761514248.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.759232 m,
      nav range: 174.589539 m,
      bearing: 29.578880 deg,
      approach rate: -0.644481 m/s,
      LOS rate: -0.019384 deg/s,
      cmd heading: 33.706393 deg,
      new cmd heading: 33.681136 deg.

2025-10-26T21:30:48.910Z,1761514248.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587847 target range: 181.759232 and range: 182.90 m.
2025-10-26T21:30:49.042Z,1761514249.042 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:49.228Z,1761514249.228 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:30:49.254Z,1761514249.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835528,-0.540596,-0.098230],[0.548818,0.829684,0.102097],[0.026307,-0.139215,0.989913]]
2025-10-26T21:30:49.292Z,1761514249.292 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:49.293Z,1761514249.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.76 m.
2025-10-26T21:30:49.296Z,1761514249.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.759232 m,
      nav range: 174.340225 m,
      bearing: 29.571342 deg,
      approach rate: -0.645903 m/s,
      LOS rate: -0.019558 deg/s,
      cmd heading: 33.681135 deg,
      new cmd heading: 33.658487 deg.

2025-10-26T21:30:49.297Z,1761514249.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587451 target range: 181.759232 and range: 182.90 m.
2025-10-26T21:30:49.544Z,1761514249.544 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:49.679Z,1761514249.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835658,-0.540243,-0.099062],[0.548667,0.829388,0.105262],[0.025294,-0.142315,0.989498]]
2025-10-26T21:30:49.755Z,1761514249.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.76 m.
2025-10-26T21:30:49.758Z,1761514249.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.759232 m,
      nav range: 174.043625 m,
      bearing: 29.560447 deg,
      approach rate: -0.639455 m/s,
      LOS rate: -0.023530 deg/s,
      cmd heading: 33.658486 deg,
      new cmd heading: 33.625744 deg.

2025-10-26T21:30:49.759Z,1761514249.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586880 target range: 181.759232 and range: 182.90 m.
2025-10-26T21:30:49.796Z,1761514249.796 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:50.048Z,1761514250.048 [DAT](INFO): DAT read: Rx Time:21:30:48.7404

2025-10-26T21:30:50.049Z,1761514250.049 [DAT](INFO): Rx dataTimestamp_ set to:1761514250.048570
2025-10-26T21:30:50.049Z,1761514250.049 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:50.116Z,1761514250.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.76 m.
2025-10-26T21:30:50.118Z,1761514250.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.759232 m,
      nav range: 173.794632 m,
      bearing: 29.551271 deg,
      approach rate: -0.706465 m/s,
      LOS rate: -0.026072 deg/s,
      cmd heading: 33.625745 deg,
      new cmd heading: 33.598179 deg.

2025-10-26T21:30:50.124Z,1761514250.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586399 target range: 181.759232 and range: 182.90 m.
2025-10-26T21:30:50.232Z,1761514250.232 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:30:50.300Z,1761514250.300 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:50.518Z,1761514250.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.76 m.
2025-10-26T21:30:50.563Z,1761514250.563 [DAT](INFO): DAT read: 21:30:48.7404 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 425, 0.18, 0.608,-0.825, 0.944, 0.566, PHS= 0.144,-1.345, 0.334, RAW= 155.9,  10.9, CAL= 155.9,  12.0, ROT= 354.1, -12.0

2025-10-26T21:30:50.564Z,1761514250.564 [DAT](INFO): got valid direction response:
 21:30:48.7404 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 425, 0.18, 0.608,-0.825, 0.944, 0.566, PHS= 0.144,-1.345, 0.334, RAW= 155.9,  10.9, CAL= 155.9,  12.0, ROT= 354.1, -12.0

2025-10-26T21:30:50.565Z,1761514250.565 [DAT](INFO): DAT read: Bearing 191.5,  -5.9 (Local)

2025-10-26T21:30:50.566Z,1761514250.566 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.5,  -5.9 (Local)

2025-10-26T21:30:50.572Z,1761514250.572 [DAT](INFO): DAT read: Range 11 to 50 : 181.3 m  (Round-trip  241.8 ms) speed  0.4 m/s

2025-10-26T21:30:50.573Z,1761514250.573 [DAT](INFO): DAT read: user:292>Tx time:21:30:49.8444

2025-10-26T21:30:50.574Z,1761514250.574 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:30:50.575Z,1761514250.575 [DAT](INFO): direction in FSK: [0.972966,-0.100546,0.207912]
2025-10-26T21:30:50.575Z,1761514250.575 [DAT](INFO): publishing direction and range info
2025-10-26T21:30:50.577Z,1761514250.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.759232 m,
      nav range: 173.532715 m,
      bearing: 29.541591 deg,
      approach rate: -0.641130 m/s,
      LOS rate: -0.023731 deg/s,
      cmd heading: 33.598179 deg,
      new cmd heading: 33.569094 deg.

2025-10-26T21:30:50.578Z,1761514250.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585891 target range: 181.759232 and range: 182.90 m.
2025-10-26T21:30:50.603Z,1761514250.603 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:50.612Z,1761514250.612 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:30:50.804Z,1761514250.804 [DAT](INFO): DAT read: 

2025-10-26T21:30:50.805Z,1761514250.805 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:50.986Z,1761514250.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 181.300003 m,
      deltaT: 3.530575 s,
      deltaX: -1.599991 m,
      approachRate: -0.453181 m/s,
      rangeRepo size: 4

2025-10-26T21:30:50.989Z,1761514250.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 180.166855 m,
      bearing: 29.152210 deg,
      lat: 36.779527 deg,
      lon: -121.859316 deg,
      deltaT: 3.530575 s,
      deltaX: -1.592377 m,
      approachRate: -0.451025 m/s,
      posRepo size: 4

2025-10-26T21:30:50.990Z,1761514250.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.17 m.
2025-10-26T21:30:50.993Z,1761514250.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.166855 m,
      nav range: 173.215454 m,
      bearing: 29.529104 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023731 deg/s,
      cmd heading: 33.569096 deg,
      new cmd heading: 33.535684 deg.

2025-10-26T21:30:50.994Z,1761514250.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585308 target range: 180.166855 and range: 181.30 m.
2025-10-26T21:30:51.057Z,1761514251.057 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:51.308Z,1761514251.308 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:51.326Z,1761514251.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836072,-0.539293,-0.100732],[0.548266,0.827924,0.118095],[0.019711,-0.153964,0.987880]]
2025-10-26T21:30:51.367Z,1761514251.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:51.373Z,1761514251.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.17 m.
2025-10-26T21:30:51.380Z,1761514251.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.166855 m,
      nav range: 172.974960 m,
      bearing: 29.519666 deg,
      approach rate: -0.620045 m/s,
      LOS rate: -0.024367 deg/s,
      cmd heading: 33.535686 deg,
      new cmd heading: 33.507332 deg.

2025-10-26T21:30:51.381Z,1761514251.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584813 target range: 180.166855 and range: 181.30 m.
2025-10-26T21:30:51.560Z,1761514251.560 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:51.740Z,1761514251.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836328,-0.539035,-0.099979],[0.547939,0.827795,0.120488],[0.017815,-0.155550,0.987667]]
2025-10-26T21:30:51.781Z,1761514251.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.17 m.
2025-10-26T21:30:51.784Z,1761514251.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.166855 m,
      nav range: 172.681091 m,
      bearing: 29.509194 deg,
      approach rate: -0.720960 m/s,
      LOS rate: -0.025736 deg/s,
      cmd heading: 33.507334 deg,
      new cmd heading: 33.475863 deg.

2025-10-26T21:30:51.785Z,1761514251.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584264 target range: 180.166855 and range: 181.30 m.
2025-10-26T21:30:51.820Z,1761514251.820 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:52.072Z,1761514252.072 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:52.135Z,1761514252.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837169,-0.537645,-0.100425],[0.546727,0.827782,0.125963],[0.015407,-0.160357,0.986939]]
2025-10-26T21:30:52.154Z,1761514252.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.17 m.
2025-10-26T21:30:52.157Z,1761514252.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.166855 m,
      nav range: 172.429230 m,
      bearing: 29.500328 deg,
      approach rate: -0.674867 m/s,
      LOS rate: -0.023789 deg/s,
      cmd heading: 33.475864 deg,
      new cmd heading: 33.449229 deg.

2025-10-26T21:30:52.158Z,1761514252.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583799 target range: 180.166855 and range: 181.30 m.
2025-10-26T21:30:52.325Z,1761514252.325 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:52.578Z,1761514252.578 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:52.588Z,1761514252.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838829,-0.535227,-0.099492],[0.544249,0.828715,0.130474],[0.012617,-0.163593,0.986447]]
2025-10-26T21:30:52.626Z,1761514252.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.17 m.
2025-10-26T21:30:52.648Z,1761514252.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.166855 m,
      nav range: 172.118240 m,
      bearing: 29.489670 deg,
      approach rate: -0.658812 m/s,
      LOS rate: -0.022620 deg/s,
      cmd heading: 33.449229 deg,
      new cmd heading: 33.417197 deg.

2025-10-26T21:30:52.657Z,1761514252.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583240 target range: 180.166855 and range: 181.30 m.
2025-10-26T21:30:52.832Z,1761514252.832 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:53.084Z,1761514253.084 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:53.222Z,1761514253.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.17 m.
2025-10-26T21:30:53.226Z,1761514253.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.166855 m,
      nav range: 171.713547 m,
      bearing: 29.482377 deg,
      approach rate: -0.679122 m/s,
      LOS rate: -0.012267 deg/s,
      cmd heading: 33.417196 deg,
      new cmd heading: 33.395266 deg.

2025-10-26T21:30:53.227Z,1761514253.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582857 target range: 180.166855 and range: 181.30 m.
2025-10-26T21:30:53.337Z,1761514253.337 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:53.588Z,1761514253.588 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:53.754Z,1761514253.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845525,-0.525922,-0.092157],[0.533928,0.833710,0.140882],[0.002739,-0.168324,0.985728]]
2025-10-26T21:30:53.789Z,1761514253.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:53.791Z,1761514253.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.17 m.
2025-10-26T21:30:53.794Z,1761514253.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.166855 m,
      nav range: 171.332214 m,
      bearing: 29.482860 deg,
      approach rate: -0.670384 m/s,
      LOS rate: 0.000850 deg/s,
      cmd heading: 33.395267 deg,
      new cmd heading: 33.396718 deg.

2025-10-26T21:30:53.795Z,1761514253.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582883 target range: 180.166855 and range: 181.30 m.
2025-10-26T21:30:53.846Z,1761514253.846 [DAT](INFO): DAT read: Rx Time:21:30:52.4877

2025-10-26T21:30:53.847Z,1761514253.847 [DAT](INFO): Rx dataTimestamp_ set to:1761514253.846503
2025-10-26T21:30:53.849Z,1761514253.849 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:54.092Z,1761514254.092 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:30:54.192Z,1761514254.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.17 m.
2025-10-26T21:30:54.194Z,1761514254.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.166855 m,
      nav range: 171.071350 m,
      bearing: 29.483191 deg,
      approach rate: -0.651363 m/s,
      LOS rate: 0.000828 deg/s,
      cmd heading: 33.396719 deg,
      new cmd heading: 33.397714 deg.

2025-10-26T21:30:54.195Z,1761514254.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582900 target range: 180.166855 and range: 181.30 m.
2025-10-26T21:30:54.354Z,1761514254.354 [DAT](INFO): DAT read: 21:30:52.4877 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415,-0.21, 2.535, 0.964, 2.859, 2.464, PHS= 0.173,-1.455, 0.352, RAW= 155.1,  10.8, CAL= 155.1,  11.9, ROT= 354.9, -11.9

2025-10-26T21:30:54.356Z,1761514254.356 [DAT](INFO): got valid direction response:
 21:30:52.4877 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415,-0.21, 2.535, 0.964, 2.859, 2.464, PHS= 0.173,-1.455, 0.352, RAW= 155.1,  10.8, CAL= 155.1,  11.9, ROT= 354.9, -11.9

2025-10-26T21:30:54.357Z,1761514254.357 [DAT](INFO): DAT read: Bearing 191.4,  -6.7 (Local)

2025-10-26T21:30:54.358Z,1761514254.358 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.4,  -6.7 (Local)

2025-10-26T21:30:54.365Z,1761514254.365 [DAT](INFO): DAT read: Range 11 to 50 : 179.4 m  (Round-trip  239.2 ms) speed  0.5 m/s

2025-10-26T21:30:54.366Z,1761514254.366 [DAT](INFO): DAT read: Tx time:21:30:53.5475

2025-10-26T21:30:54.366Z,1761514254.366 [DAT](INFO): Ping request sent.
2025-10-26T21:30:54.366Z,1761514254.366 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:30:54.367Z,1761514254.367 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:30:54.368Z,1761514254.368 [DAT](INFO): direction in FSK: [0.974635,-0.086984,0.206204]
2025-10-26T21:30:54.368Z,1761514254.368 [DAT](INFO): publishing transmit ping time
2025-10-26T21:30:54.369Z,1761514254.369 [DAT](INFO): publishing direction and range info
2025-10-26T21:30:54.372Z,1761514254.372 [DAT](INFO): publishing transmit ping time
2025-10-26T21:30:54.372Z,1761514254.372 [DAT](INFO): publishing direction and range info
2025-10-26T21:30:54.551Z,1761514254.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850177,-0.518190,-0.093157],[0.526461,0.834653,0.161841],[-0.006111,-0.186637,0.982410]]
2025-10-26T21:30:54.609Z,1761514254.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 179.399994 m,
      deltaT: 3.790032 s,
      deltaX: -1.900009 m,
      approachRate: -0.501317 m/s,
      rangeRepo size: 4

2025-10-26T21:30:54.615Z,1761514254.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 178.280823 m,
      bearing: 29.011980 deg,
      lat: 36.779540 deg,
      lon: -121.859316 deg,
      deltaT: 3.790032 s,
      deltaX: -1.886032 m,
      approachRate: -0.497630 m/s,
      posRepo size: 4

2025-10-26T21:30:54.616Z,1761514254.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:30:54.619Z,1761514254.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 172.055771 m,
      bearing: 29.247058 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000828 deg/s,
      cmd heading: 33.397713 deg,
      new cmd heading: 33.398750 deg.

2025-10-26T21:30:54.624Z,1761514254.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582918 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:30:55.014Z,1761514255.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851767,-0.516156,-0.089864],[0.523817,0.835569,0.165652],[-0.010414,-0.188169,0.982081]]
2025-10-26T21:30:55.056Z,1761514255.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:30:55.059Z,1761514255.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 171.763580 m,
      bearing: 29.252961 deg,
      approach rate: -0.652737 m/s,
      LOS rate: 0.013209 deg/s,
      cmd heading: 33.398751 deg,
      new cmd heading: 33.416490 deg.

2025-10-26T21:30:55.081Z,1761514255.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583228 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:30:55.414Z,1761514255.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852299,-0.516128,-0.084840],[0.522861,0.836297,0.164997],[-0.014208,-0.184986,0.982638]]
2025-10-26T21:30:55.432Z,1761514255.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:30:55.434Z,1761514255.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 171.524994 m,
      bearing: 29.257891 deg,
      approach rate: -0.635180 m/s,
      LOS rate: 0.013144 deg/s,
      cmd heading: 33.416489 deg,
      new cmd heading: 33.431300 deg.

2025-10-26T21:30:55.436Z,1761514255.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583486 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:30:55.818Z,1761514255.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852919,-0.515992,-0.079252],[0.521733,0.837296,0.163494],[-0.018004,-0.180795,0.983356]]
2025-10-26T21:30:55.892Z,1761514255.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:55.894Z,1761514255.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:30:55.897Z,1761514255.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 171.233185 m,
      bearing: 29.266084 deg,
      approach rate: -0.632088 m/s,
      LOS rate: 0.017777 deg/s,
      cmd heading: 33.431300 deg,
      new cmd heading: 33.455921 deg.

2025-10-26T21:30:55.898Z,1761514255.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583916 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:30:56.109Z,1761514256.109 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:30:56.109Z,1761514256.109 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:30:56.109Z,1761514256.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:30:56.264Z,1761514256.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853531,-0.517379,-0.061670],[0.520448,0.840915,0.148310],[-0.024873,-0.158683,0.987016]]
2025-10-26T21:30:56.282Z,1761514256.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:30:56.284Z,1761514256.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 170.987228 m,
      bearing: 29.273205 deg,
      approach rate: -0.633717 m/s,
      LOS rate: 0.018375 deg/s,
      cmd heading: 33.455919 deg,
      new cmd heading: 33.477314 deg.

2025-10-26T21:30:56.285Z,1761514256.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584289 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:30:56.361Z,1761514256.361 [DAT](INFO): DAT read: user:293>

2025-10-26T21:30:56.363Z,1761514256.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995931
2025-10-26T21:30:56.613Z,1761514256.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246020
2025-10-26T21:30:56.663Z,1761514256.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853086,-0.518987,-0.053810],[0.521035,0.841871,0.140627],[-0.027682,-0.148004,0.988599]]
2025-10-26T21:30:56.758Z,1761514256.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:30:56.765Z,1761514256.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 170.734695 m,
      bearing: 29.280512 deg,
      approach rate: -0.531250 m/s,
      LOS rate: 0.015394 deg/s,
      cmd heading: 33.477315 deg,
      new cmd heading: 33.499268 deg.

2025-10-26T21:30:56.766Z,1761514256.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584673 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:30:56.864Z,1761514256.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497875
2025-10-26T21:30:57.116Z,1761514257.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749868
2025-10-26T21:30:57.137Z,1761514257.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852663,-0.520322,-0.047234],[0.521592,0.842544,0.134394],[-0.030131,-0.139230,0.989802]]
2025-10-26T21:30:57.194Z,1761514257.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:30:57.198Z,1761514257.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 170.404541 m,
      bearing: 29.293388 deg,
      approach rate: -0.754661 m/s,
      LOS rate: 0.029488 deg/s,
      cmd heading: 33.499267 deg,
      new cmd heading: 33.537969 deg.

2025-10-26T21:30:57.198Z,1761514257.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585348 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:30:57.370Z,1761514257.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002990
2025-10-26T21:30:57.530Z,1761514257.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852416,-0.521126,-0.042588],[0.521894,0.843051,0.129968],[-0.031826,-0.133013,0.990603]]
2025-10-26T21:30:57.566Z,1761514257.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:30:57.569Z,1761514257.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 170.176453 m,
      bearing: 29.302308 deg,
      approach rate: -0.613738 m/s,
      LOS rate: 0.024036 deg/s,
      cmd heading: 33.537971 deg,
      new cmd heading: 33.564769 deg.

2025-10-26T21:30:57.570Z,1761514257.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585816 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:30:57.622Z,1761514257.622 [DAT](INFO): DAT read: Rx Time:21:30:56.1539

2025-10-26T21:30:57.622Z,1761514257.622 [DAT](INFO): Rx dataTimestamp_ set to:1761514257.621733
2025-10-26T21:30:57.623Z,1761514257.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256375
2025-10-26T21:30:57.872Z,1761514257.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505755
2025-10-26T21:30:57.973Z,1761514257.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851782,-0.522282,-0.041107],[0.522889,0.842656,0.128521],[-0.032485,-0.130966,0.990855]]
2025-10-26T21:30:58.008Z,1761514258.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:30:58.010Z,1761514258.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:30:58.013Z,1761514258.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 169.877960 m,
      bearing: 29.311234 deg,
      approach rate: -0.672235 m/s,
      LOS rate: 0.020137 deg/s,
      cmd heading: 33.564769 deg,
      new cmd heading: 33.591594 deg.

2025-10-26T21:30:58.014Z,1761514258.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586284 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:30:58.132Z,1761514258.132 [DAT](INFO): DAT read: 21:30:56.1539 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 323, 0.24, 2.289, 0.662, 2.574, 2.195, PHS= 0.196,-1.488, 0.335, RAW= 153.9,  10.9, CAL= 153.8,  12.0, ROT= 356.2, -12.0

2025-10-26T21:30:58.133Z,1761514258.133 [DAT](INFO): got valid direction response:
 21:30:56.1539 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 323, 0.24, 2.289, 0.662, 2.574, 2.195, PHS= 0.196,-1.488, 0.335, RAW= 153.9,  10.9, CAL= 153.8,  12.0, ROT= 356.2, -12.0

2025-10-26T21:30:58.134Z,1761514258.134 [DAT](INFO): DAT read: Bearing 191.6,  -7.0 (Local)

2025-10-26T21:30:58.134Z,1761514258.134 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.6,  -7.0 (Local)

2025-10-26T21:30:58.137Z,1761514258.137 [DAT](INFO): DAT read: Range 11 to 50 : 151.6 m  (Round-trip  202.2 ms) speed  0.4 m/s

2025-10-26T21:30:58.138Z,1761514258.138 [DAT](INFO): DAT read: user:294>Tx time:21:30:57.2444

2025-10-26T21:30:58.139Z,1761514258.139 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:30:58.141Z,1761514258.141 [DAT](INFO): direction in FSK: [0.975997,-0.064825,0.207912]
2025-10-26T21:30:58.141Z,1761514258.141 [DAT](INFO): publishing direction and range info
2025-10-26T21:30:58.150Z,1761514258.150 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:30:58.150Z,1761514258.150 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:30:58.150Z,1761514258.150 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:30:58.365Z,1761514258.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850533,-0.524235,-0.042089],[0.524911,0.841213,0.129732],[-0.032604,-0.132434,0.990655]]
2025-10-26T21:30:58.376Z,1761514258.376 [DAT](INFO): DAT read: 

2025-10-26T21:30:58.377Z,1761514258.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.010426
2025-10-26T21:30:58.390Z,1761514258.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 151.600006 m,
 deltaT: 3.780531 s,
 deltaX: -27.799988 m,
 approachRate: -7.353461 m/s,
 rangeRepo size: 4
2025-10-26T21:30:58.391Z,1761514258.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:30:58.394Z,1761514258.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 169.636124 m,
      bearing: 29.318286 deg,
      approach rate: -0.637771 m/s,
      LOS rate: 0.018623 deg/s,
      cmd heading: 33.591594 deg,
      new cmd heading: 33.612780 deg.

2025-10-26T21:30:58.395Z,1761514258.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586654 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:30:58.629Z,1761514258.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.262265
2025-10-26T21:30:58.800Z,1761514258.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849151,-0.526232,-0.044963],[0.527137,0.839177,0.133824],[-0.032690,-0.137339,0.989985]]
2025-10-26T21:30:58.845Z,1761514258.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:30:58.869Z,1761514258.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 169.344406 m,
      bearing: 29.322955 deg,
      approach rate: -0.640184 m/s,
      LOS rate: 0.010264 deg/s,
      cmd heading: 33.612778 deg,
      new cmd heading: 33.626809 deg.

2025-10-26T21:30:58.870Z,1761514258.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586899 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:30:58.880Z,1761514258.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.513851
2025-10-26T21:30:59.135Z,1761514259.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.768453
2025-10-26T21:30:59.189Z,1761514259.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848099,-0.527765,-0.046809],[0.528818,0.837683,0.136523],[-0.032841,-0.140539,0.989530]]
2025-10-26T21:30:59.219Z,1761514259.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:30:59.227Z,1761514259.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 169.103943 m,
      bearing: 29.326639 deg,
      approach rate: -0.643103 m/s,
      LOS rate: 0.009865 deg/s,
      cmd heading: 33.626811 deg,
      new cmd heading: 33.637877 deg.

2025-10-26T21:30:59.232Z,1761514259.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587092 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:30:59.384Z,1761514259.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.017730
2025-10-26T21:30:59.590Z,1761514259.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846573,-0.530218,-0.046723],[0.531274,0.836346,0.135183],[-0.032600,-0.139265,0.989718]]
2025-10-26T21:30:59.622Z,1761514259.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:30:59.625Z,1761514259.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 168.841858 m,
      bearing: 29.330414 deg,
      approach rate: -0.650800 m/s,
      LOS rate: 0.009390 deg/s,
      cmd heading: 33.637876 deg,
      new cmd heading: 33.649220 deg.

2025-10-26T21:30:59.626Z,1761514259.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587290 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:30:59.636Z,1761514259.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.269944
2025-10-26T21:30:59.889Z,1761514259.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.522012
2025-10-26T21:31:00.051Z,1761514260.051 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:00.053Z,1761514260.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:00.057Z,1761514260.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 168.557785 m,
      bearing: 29.330477 deg,
      approach rate: -0.658274 m/s,
      LOS rate: 0.000146 deg/s,
      cmd heading: 33.649221 deg,
      new cmd heading: 33.649410 deg.

2025-10-26T21:31:00.058Z,1761514260.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587293 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:00.141Z,1761514260.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.774540
2025-10-26T21:31:00.392Z,1761514260.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.025935
2025-10-26T21:31:00.441Z,1761514260.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:00.444Z,1761514260.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 168.303909 m,
      bearing: 29.330533 deg,
      approach rate: -0.655070 m/s,
      LOS rate: 0.000146 deg/s,
      cmd heading: 33.649408 deg,
      new cmd heading: 33.649578 deg.

2025-10-26T21:31:00.445Z,1761514260.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587296 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:00.644Z,1761514260.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.277837
2025-10-26T21:31:00.826Z,1761514260.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840496,-0.540167,-0.042270],[0.540740,0.831348,0.128298],[-0.034161,-0.130691,0.990834]]
2025-10-26T21:31:00.886Z,1761514260.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:00.889Z,1761514260.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 168.007797 m,
      bearing: 29.327328 deg,
      approach rate: -0.664660 m/s,
      LOS rate: -0.007207 deg/s,
      cmd heading: 33.649579 deg,
      new cmd heading: 33.639947 deg.

2025-10-26T21:31:00.890Z,1761514260.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587128 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:00.896Z,1761514260.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.529922
2025-10-26T21:31:01.149Z,1761514261.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.782589
2025-10-26T21:31:01.206Z,1761514261.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838050,-0.544078,-0.040641],[0.544464,0.829200,0.126437],[-0.035092,-0.128088,0.991142]]
2025-10-26T21:31:01.233Z,1761514261.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:01.240Z,1761514261.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 167.782288 m,
      bearing: 29.324540 deg,
      approach rate: -0.649801 m/s,
      LOS rate: -0.008046 deg/s,
      cmd heading: 33.639949 deg,
      new cmd heading: 33.631571 deg.

2025-10-26T21:31:01.241Z,1761514261.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586982 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:01.400Z,1761514261.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.033938
2025-10-26T21:31:01.610Z,1761514261.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835371,-0.548173,-0.040753],[0.548531,0.826519,0.126411],[-0.035612,-0.127955,0.991140]]
2025-10-26T21:31:01.639Z,1761514261.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:01.642Z,1761514261.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 167.509888 m,
      bearing: 29.320707 deg,
      approach rate: -0.671969 m/s,
      LOS rate: -0.009471 deg/s,
      cmd heading: 33.631571 deg,
      new cmd heading: 33.620054 deg.

2025-10-26T21:31:01.643Z,1761514261.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586781 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:01.652Z,1761514261.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.285911
2025-10-26T21:31:01.906Z,1761514261.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.539595
2025-10-26T21:31:02.015Z,1761514262.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832795,-0.552161,-0.039630],[0.552433,0.824325,0.123721],[-0.035646,-0.124927,0.991525]]
2025-10-26T21:31:02.053Z,1761514262.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:02.056Z,1761514262.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 167.241577 m,
      bearing: 29.314020 deg,
      approach rate: -0.648016 m/s,
      LOS rate: -0.016175 deg/s,
      cmd heading: 33.620052 deg,
      new cmd heading: 33.599960 deg.

2025-10-26T21:31:02.057Z,1761514262.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586430 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:02.156Z,1761514262.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.789961
2025-10-26T21:31:02.408Z,1761514262.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.041863
2025-10-26T21:31:02.420Z,1761514262.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830330,-0.556047,-0.036935],[0.556164,0.822676,0.117838],[-0.035138,-0.118386,0.992346]]
2025-10-26T21:31:02.436Z,1761514262.436 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:02.438Z,1761514262.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:02.469Z,1761514262.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 166.994583 m,
      bearing: 29.307473 deg,
      approach rate: -0.640254 m/s,
      LOS rate: -0.016997 deg/s,
      cmd heading: 33.599961 deg,
      new cmd heading: 33.580290 deg.

2025-10-26T21:31:02.470Z,1761514262.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586087 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:02.660Z,1761514262.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.293963
2025-10-26T21:31:02.858Z,1761514262.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828107,-0.559341,-0.037091],[0.559502,0.820636,0.116253],[-0.034587,-0.117022,0.992527]]
2025-10-26T21:31:02.902Z,1761514262.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:02.905Z,1761514262.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 166.693909 m,
      bearing: 29.300436 deg,
      approach rate: -0.648040 m/s,
      LOS rate: -0.015193 deg/s,
      cmd heading: 33.580290 deg,
      new cmd heading: 33.559142 deg.

2025-10-26T21:31:02.906Z,1761514262.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585718 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:02.913Z,1761514262.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.545987
2025-10-26T21:31:03.164Z,1761514263.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.797950
2025-10-26T21:31:03.226Z,1761514263.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826466,-0.561547,-0.040232],[0.561969,0.818571,0.118880],[-0.033823,-0.120859,0.992093]]
2025-10-26T21:31:03.271Z,1761514263.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:03.274Z,1761514263.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 166.467651 m,
      bearing: 29.294894 deg,
      approach rate: -0.613701 m/s,
      LOS rate: -0.015053 deg/s,
      cmd heading: 33.559144 deg,
      new cmd heading: 33.542495 deg.

2025-10-26T21:31:03.275Z,1761514263.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585427 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:03.416Z,1761514263.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.049803
2025-10-26T21:31:03.631Z,1761514263.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825227,-0.563094,-0.043879],[0.563822,0.816736,0.122668],[-0.033237,-0.125969,0.991477]]
2025-10-26T21:31:03.652Z,1761514263.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:03.655Z,1761514263.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 166.210922 m,
      bearing: 29.288392 deg,
      approach rate: -0.674724 m/s,
      LOS rate: -0.017115 deg/s,
      cmd heading: 33.542496 deg,
      new cmd heading: 33.522959 deg.

2025-10-26T21:31:03.656Z,1761514263.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585086 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:03.676Z,1761514263.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.309969
2025-10-26T21:31:03.928Z,1761514263.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.561799
2025-10-26T21:31:04.083Z,1761514264.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:04.086Z,1761514264.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 165.927475 m,
      bearing: 29.282913 deg,
      approach rate: -0.656721 m/s,
      LOS rate: -0.012714 deg/s,
      cmd heading: 33.522958 deg,
      new cmd heading: 33.506495 deg.

2025-10-26T21:31:04.087Z,1761514264.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584799 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:04.181Z,1761514264.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.813986
2025-10-26T21:31:04.432Z,1761514264.432 [DAT](INFO): Reached modem response timeout
2025-10-26T21:31:04.432Z,1761514264.432 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:04.433Z,1761514264.433 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:31:04.451Z,1761514264.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823797,-0.564741,-0.049254],[0.565952,0.814350,0.128574],[-0.032501,-0.133795,0.990476]]
2025-10-26T21:31:04.473Z,1761514264.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:04.475Z,1761514264.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:04.478Z,1761514264.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 165.672592 m,
      bearing: 29.277752 deg,
      approach rate: -0.650935 m/s,
      LOS rate: -0.013202 deg/s,
      cmd heading: 33.506494 deg,
      new cmd heading: 33.490985 deg.

2025-10-26T21:31:04.479Z,1761514264.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584528 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:04.684Z,1761514264.684 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:04.881Z,1761514264.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823674,-0.564820,-0.050387],[0.566110,0.813887,0.130794],[-0.032865,-0.136256,0.990128]]
2025-10-26T21:31:04.936Z,1761514264.936 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:04.961Z,1761514264.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:04.966Z,1761514264.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 165.390137 m,
      bearing: 29.273256 deg,
      approach rate: -0.583992 m/s,
      LOS rate: -0.009312 deg/s,
      cmd heading: 33.490986 deg,
      new cmd heading: 33.477475 deg.

2025-10-26T21:31:04.971Z,1761514264.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584292 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:05.190Z,1761514265.190 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:05.290Z,1761514265.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823784,-0.564729,-0.049621],[0.565929,0.814077,0.130394],[-0.033242,-0.135498,0.990220]]
2025-10-26T21:31:05.321Z,1761514265.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:05.328Z,1761514265.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 165.133881 m,
      bearing: 29.269183 deg,
      approach rate: -0.706660 m/s,
      LOS rate: -0.011250 deg/s,
      cmd heading: 33.477476 deg,
      new cmd heading: 33.465237 deg.

2025-10-26T21:31:05.330Z,1761514265.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584079 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:05.441Z,1761514265.441 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:05.692Z,1761514265.692 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:05.694Z,1761514265.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823848,-0.564701,-0.048846],[0.565801,0.814183,0.130286],[-0.033802,-0.134973,0.990273]]
2025-10-26T21:31:05.739Z,1761514265.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:05.746Z,1761514265.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 164.878250 m,
      bearing: 29.265120 deg,
      approach rate: -0.611836 m/s,
      LOS rate: -0.009740 deg/s,
      cmd heading: 33.465236 deg,
      new cmd heading: 33.453028 deg.

2025-10-26T21:31:05.747Z,1761514265.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583865 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:05.944Z,1761514265.944 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:06.169Z,1761514266.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:06.172Z,1761514266.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 164.602249 m,
      bearing: 29.263651 deg,
      approach rate: -0.641299 m/s,
      LOS rate: -0.003417 deg/s,
      cmd heading: 33.453027 deg,
      new cmd heading: 33.448615 deg.

2025-10-26T21:31:06.173Z,1761514266.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583788 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:06.205Z,1761514266.205 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:06.456Z,1761514266.456 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:06.498Z,1761514266.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825761,-0.561933,-0.048477],[0.562917,0.815724,0.133112],[-0.035256,-0.137207,0.989915]]
2025-10-26T21:31:06.525Z,1761514266.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:06.527Z,1761514266.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:06.538Z,1761514266.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 164.360291 m,
      bearing: 29.262650 deg,
      approach rate: -0.676312 m/s,
      LOS rate: -0.002802 deg/s,
      cmd heading: 33.448615 deg,
      new cmd heading: 33.445607 deg.

2025-10-26T21:31:06.539Z,1761514266.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583736 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:06.709Z,1761514266.709 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:06.917Z,1761514266.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827222,-0.559723,-0.049132],[0.560725,0.816775,0.135891],[-0.035932,-0.139962,0.989505]]
2025-10-26T21:31:06.960Z,1761514266.960 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:06.965Z,1761514266.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:06.968Z,1761514266.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 164.075211 m,
      bearing: 29.260793 deg,
      approach rate: -0.650808 m/s,
      LOS rate: -0.004247 deg/s,
      cmd heading: 33.445606 deg,
      new cmd heading: 33.440024 deg.

2025-10-26T21:31:06.969Z,1761514266.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583639 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:07.212Z,1761514267.212 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:07.309Z,1761514267.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828690,-0.557306,-0.051801],[0.558527,0.817379,0.141205],[-0.036353,-0.145947,0.988624]]
2025-10-26T21:31:07.339Z,1761514267.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:07.345Z,1761514267.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 163.837250 m,
      bearing: 29.259452 deg,
      approach rate: -0.643023 m/s,
      LOS rate: -0.003630 deg/s,
      cmd heading: 33.440026 deg,
      new cmd heading: 33.435995 deg.

2025-10-26T21:31:07.347Z,1761514267.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583568 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:07.465Z,1761514267.465 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:07.717Z,1761514267.717 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:07.719Z,1761514267.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830482,-0.554461,-0.053588],[0.555811,0.818401,0.145923],[-0.037052,-0.150972,0.987843]]
2025-10-26T21:31:07.773Z,1761514267.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:07.780Z,1761514267.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 163.551147 m,
      bearing: 29.258154 deg,
      approach rate: -0.652926 m/s,
      LOS rate: -0.002968 deg/s,
      cmd heading: 33.435996 deg,
      new cmd heading: 33.432094 deg.

2025-10-26T21:31:07.781Z,1761514267.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583500 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:07.969Z,1761514267.969 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:08.176Z,1761514268.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832382,-0.551354,-0.056106],[0.552895,0.819205,0.152352],[-0.038037,-0.157836,0.986732]]
2025-10-26T21:31:08.220Z,1761514268.220 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:08.237Z,1761514268.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:08.244Z,1761514268.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 163.245529 m,
      bearing: 29.258636 deg,
      approach rate: -0.658795 m/s,
      LOS rate: 0.001041 deg/s,
      cmd heading: 33.432096 deg,
      new cmd heading: 33.433545 deg.

2025-10-26T21:31:08.245Z,1761514268.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583525 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:08.472Z,1761514268.472 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:08.640Z,1761514268.640 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:08.642Z,1761514268.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:08.645Z,1761514268.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 162.982559 m,
      bearing: 29.259052 deg,
      approach rate: -0.650422 m/s,
      LOS rate: 0.001031 deg/s,
      cmd heading: 33.433544 deg,
      new cmd heading: 33.434794 deg.

2025-10-26T21:31:08.645Z,1761514268.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583547 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:08.725Z,1761514268.725 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:08.979Z,1761514268.979 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:09.032Z,1761514269.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836098,-0.545219,-0.060630],[0.547118,0.820699,0.164667],[-0.040021,-0.170850,0.984484]]
2025-10-26T21:31:09.082Z,1761514269.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:09.084Z,1761514269.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 162.692764 m,
      bearing: 29.259143 deg,
      approach rate: -0.658495 m/s,
      LOS rate: 0.000207 deg/s,
      cmd heading: 33.434794 deg,
      new cmd heading: 33.435068 deg.

2025-10-26T21:31:09.085Z,1761514269.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583552 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:09.228Z,1761514269.228 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:09.480Z,1761514269.480 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:09.498Z,1761514269.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839159,-0.540396,-0.061510],[0.542246,0.822486,0.171718],[-0.042205,-0.177452,0.983224]]
2025-10-26T21:31:09.516Z,1761514269.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:09.519Z,1761514269.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 162.414383 m,
      bearing: 29.259778 deg,
      approach rate: -0.640947 m/s,
      LOS rate: 0.001464 deg/s,
      cmd heading: 33.435067 deg,
      new cmd heading: 33.436975 deg.

2025-10-26T21:31:09.520Z,1761514269.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583585 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:09.733Z,1761514269.733 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:09.918Z,1761514269.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840129,-0.538940,-0.061049],[0.540702,0.823332,0.172531],[-0.042720,-0.177958,0.983110]]
2025-10-26T21:31:09.982Z,1761514269.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:09.984Z,1761514269.984 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:09.989Z,1761514269.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 162.129730 m,
      bearing: 29.260611 deg,
      approach rate: -0.610862 m/s,
      LOS rate: 0.001792 deg/s,
      cmd heading: 33.436976 deg,
      new cmd heading: 33.439481 deg.

2025-10-26T21:31:09.990Z,1761514269.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583629 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:10.236Z,1761514270.236 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:10.375Z,1761514270.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:10.378Z,1761514270.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 161.859207 m,
      bearing: 29.261049 deg,
      approach rate: -0.688356 m/s,
      LOS rate: 0.001116 deg/s,
      cmd heading: 33.439483 deg,
      new cmd heading: 33.440798 deg.

2025-10-26T21:31:10.379Z,1761514270.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583652 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:10.488Z,1761514270.488 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:31:10.489Z,1761514270.489 [DAT](INFO): response not received
2025-10-26T21:31:10.489Z,1761514270.489 [DAT](INFO): DAT read: user:295>

2025-10-26T21:31:10.491Z,1761514270.491 [DAT](INFO): DAT read: Tx time:21:31:09.6943

2025-10-26T21:31:10.491Z,1761514270.491 [DAT](INFO): Ping request sent.
2025-10-26T21:31:10.491Z,1761514270.491 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:31:10.491Z,1761514270.491 [DAT](INFO): publishing transmit ping time
2025-10-26T21:31:10.492Z,1761514270.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001160
2025-10-26T21:31:10.728Z,1761514270.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840834,-0.538018,-0.059446],[0.539520,0.824133,0.172405],[-0.043766,-0.177036,0.983231]]
2025-10-26T21:31:10.740Z,1761514270.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249428
2025-10-26T21:31:10.755Z,1761514270.755 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:10.757Z,1761514270.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:10.764Z,1761514270.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 161.610413 m,
      bearing: 29.261577 deg,
      approach rate: -0.651511 m/s,
      LOS rate: 0.001383 deg/s,
      cmd heading: 33.440797 deg,
      new cmd heading: 33.442382 deg.

2025-10-26T21:31:10.765Z,1761514270.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583680 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:10.992Z,1761514270.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501369
2025-10-26T21:31:11.112Z,1761514271.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841246,-0.537501,-0.058302],[0.538841,0.824714,0.171746],[-0.044231,-0.175896,0.983415]]
2025-10-26T21:31:11.149Z,1761514271.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:11.168Z,1761514271.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 161.355362 m,
      bearing: 29.259747 deg,
      approach rate: -0.650149 m/s,
      LOS rate: -0.004671 deg/s,
      cmd heading: 33.442382 deg,
      new cmd heading: 33.436884 deg.

2025-10-26T21:31:11.169Z,1761514271.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583584 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:11.245Z,1761514271.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754237
2025-10-26T21:31:11.496Z,1761514271.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005291
2025-10-26T21:31:11.517Z,1761514271.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841403,-0.537412,-0.056836],[0.538551,0.825148,0.170568],[-0.044767,-0.174126,0.983705]]
2025-10-26T21:31:11.535Z,1761514271.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:11.537Z,1761514271.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 161.105087 m,
      bearing: 29.257978 deg,
      approach rate: -0.649408 m/s,
      LOS rate: -0.004596 deg/s,
      cmd heading: 33.436884 deg,
      new cmd heading: 33.431570 deg.

2025-10-26T21:31:11.538Z,1761514271.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583491 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:11.752Z,1761514271.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260620
2025-10-26T21:31:11.923Z,1761514271.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840984,-0.538314,-0.054439],[0.539190,0.825468,0.166963],[-0.044941,-0.169766,0.984459]]
2025-10-26T21:31:12.000Z,1761514272.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509529
2025-10-26T21:31:12.002Z,1761514272.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:12.009Z,1761514272.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 160.833588 m,
      bearing: 29.255988 deg,
      approach rate: -0.580932 m/s,
      LOS rate: -0.004266 deg/s,
      cmd heading: 33.431570 deg,
      new cmd heading: 33.425588 deg.

2025-10-26T21:31:12.010Z,1761514272.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583387 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:12.252Z,1761514272.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761333
2025-10-26T21:31:12.329Z,1761514272.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840770,-0.538883,-0.052062],[0.539473,0.825815,0.164312],[-0.045551,-0.166235,0.985034]]
2025-10-26T21:31:12.381Z,1761514272.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:12.383Z,1761514272.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 160.548340 m,
      bearing: 29.255744 deg,
      approach rate: -0.753136 m/s,
      LOS rate: -0.000645 deg/s,
      cmd heading: 33.425590 deg,
      new cmd heading: 33.424857 deg.

2025-10-26T21:31:12.384Z,1761514272.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583374 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:12.505Z,1761514272.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014008
2025-10-26T21:31:12.736Z,1761514272.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840860,-0.538908,-0.050325],[0.539268,0.826189,0.163100],[-0.046318,-0.164283,0.985325]]
2025-10-26T21:31:12.753Z,1761514272.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:12.757Z,1761514272.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265570
2025-10-26T21:31:12.758Z,1761514272.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 160.299728 m,
      bearing: 29.255553 deg,
      approach rate: -0.666864 m/s,
      LOS rate: -0.000514 deg/s,
      cmd heading: 33.424856 deg,
      new cmd heading: 33.424281 deg.

2025-10-26T21:31:12.759Z,1761514272.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583364 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:13.008Z,1761514273.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517402
2025-10-26T21:31:13.132Z,1761514273.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841026,-0.538856,-0.048059],[0.538934,0.826761,0.161294],[-0.047181,-0.161553,0.985735]]
2025-10-26T21:31:13.167Z,1761514273.167 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:13.169Z,1761514273.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:13.172Z,1761514273.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 160.017044 m,
      bearing: 29.254865 deg,
      approach rate: -0.679883 m/s,
      LOS rate: -0.001657 deg/s,
      cmd heading: 33.424282 deg,
      new cmd heading: 33.422216 deg.

2025-10-26T21:31:13.173Z,1761514273.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583328 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:13.261Z,1761514273.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769583
2025-10-26T21:31:13.512Z,1761514273.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021401
2025-10-26T21:31:13.534Z,1761514273.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841222,-0.538845,-0.044624],[0.538524,0.827615,0.158257],[-0.048345,-0.157160,0.986389]]
2025-10-26T21:31:13.573Z,1761514273.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:13.582Z,1761514273.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 159.747314 m,
      bearing: 29.254258 deg,
      approach rate: -0.667897 m/s,
      LOS rate: -0.001507 deg/s,
      cmd heading: 33.422216 deg,
      new cmd heading: 33.420390 deg.

2025-10-26T21:31:13.584Z,1761514273.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583296 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:13.764Z,1761514273.764 [DAT](INFO): DAT read: Rx Time:21:31:12.3577

2025-10-26T21:31:13.765Z,1761514273.765 [DAT](INFO): Rx dataTimestamp_ set to:1761514273.764564
2025-10-26T21:31:13.765Z,1761514273.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274422
2025-10-26T21:31:13.938Z,1761514273.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841388,-0.538672,-0.043586],[0.538211,0.827893,0.157867],[-0.048954,-0.156286,0.986498]]
2025-10-26T21:31:13.985Z,1761514273.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.28 m.
2025-10-26T21:31:14.009Z,1761514274.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.280823 m,
      nav range: 159.477921 m,
      bearing: 29.253685 deg,
      approach rate: -0.662637 m/s,
      LOS rate: -0.001412 deg/s,
      cmd heading: 33.420389 deg,
      new cmd heading: 33.418666 deg.

2025-10-26T21:31:14.019Z,1761514274.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527746
2025-10-26T21:31:14.023Z,1761514274.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583266 target range: 178.280823 and range: 179.40 m.
2025-10-26T21:31:14.280Z,1761514274.280 [DAT](INFO): DAT read: 21:31:12.3577 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 473, 0.12,-2.270, 2.770,-2.198, 2.634, PHS= 1.482, 0.181, 1.408, RAW= 147.1, -40.6, CAL= 148.1, -39.6, ROT=   1.9,  39.6

2025-10-26T21:31:14.282Z,1761514274.282 [DAT](INFO): got valid direction response:
 21:31:12.3577 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 473, 0.12,-2.270, 2.770,-2.198, 2.634, PHS= 1.482, 0.181, 1.408, RAW= 147.1, -40.6, CAL= 148.1, -39.6, ROT=   1.9,  39.6

2025-10-26T21:31:14.284Z,1761514274.284 [DAT](INFO): DAT read: Bearing 143.8,   5.6 (Local)

2025-10-26T21:31:14.285Z,1761514274.285 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.8,   5.6 (Local)

2025-10-26T21:31:14.286Z,1761514274.286 [DAT](INFO): DAT read: Range 11 to 50 : 194.4 m  (Round-trip  259.2 ms) speed  0.3 m/s

2025-10-26T21:31:14.287Z,1761514274.287 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:31:14.288Z,1761514274.288 [DAT](INFO): direction in FSK: [0.770090,0.025547,-0.637424]
2025-10-26T21:31:14.288Z,1761514274.288 [DAT](INFO): publishing direction and range info
2025-10-26T21:31:14.292Z,1761514274.292 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:31:14.292Z,1761514274.292 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:31:14.292Z,1761514274.292 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:31:14.378Z,1761514274.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842058,-0.537723,-0.042337],[0.537069,0.828582,0.158139],[-0.049955,-0.155900,0.986509]]
2025-10-26T21:31:14.464Z,1761514274.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 194.399994 m,
      deltaT: 19.925983 s,
      deltaX: 15.000000 m,
      approachRate: 0.752786 m/s,
      rangeRepo size: 4

2025-10-26T21:31:14.466Z,1761514274.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 193.186234 m,
      bearing: 26.779534 deg,
      lat: 36.779540 deg,
      lon: -121.859319 deg,
      deltaT: 19.925983 s,
      deltaX: 14.905411 m,
      approachRate: 0.748039 m/s,
      posRepo size: 4

2025-10-26T21:31:14.467Z,1761514274.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:14.474Z,1761514274.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 159.015823 m,
      bearing: 29.168100 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001412 deg/s,
      cmd heading: 33.418668 deg,
      new cmd heading: 33.416636 deg.

2025-10-26T21:31:14.479Z,1761514274.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583230 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:14.521Z,1761514274.521 [DAT](INFO): DAT read: user:296>

2025-10-26T21:31:14.522Z,1761514274.522 [DAT](INFO): DAT read: Tx time:21:31:13.6443

2025-10-26T21:31:14.523Z,1761514274.523 [DAT](INFO): Ping request sent.
2025-10-26T21:31:14.523Z,1761514274.523 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:31:14.523Z,1761514274.523 [DAT](INFO): publishing transmit ping time
2025-10-26T21:31:14.524Z,1761514274.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001628
2025-10-26T21:31:14.772Z,1761514274.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249592
2025-10-26T21:31:14.920Z,1761514274.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842706,-0.536742,-0.041893],[0.535949,0.828989,0.159798],[-0.051042,-0.157115,0.986260]]
2025-10-26T21:31:14.938Z,1761514274.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:14.941Z,1761514274.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 158.679443 m,
      bearing: 29.169124 deg,
      approach rate: -0.702626 m/s,
      LOS rate: 0.002144 deg/s,
      cmd heading: 33.416636 deg,
      new cmd heading: 33.419715 deg.

2025-10-26T21:31:14.942Z,1761514274.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583284 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:15.028Z,1761514275.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504161
2025-10-26T21:31:15.277Z,1761514275.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754020
2025-10-26T21:31:15.380Z,1761514275.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:15.382Z,1761514275.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:15.385Z,1761514275.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 158.376022 m,
      bearing: 29.170392 deg,
      approach rate: -0.683739 m/s,
      LOS rate: 0.002863 deg/s,
      cmd heading: 33.419716 deg,
      new cmd heading: 33.423528 deg.

2025-10-26T21:31:15.386Z,1761514275.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583351 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:15.528Z,1761514275.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005605
2025-10-26T21:31:15.775Z,1761514275.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843815,-0.535060,-0.041068],[0.534104,0.829953,0.160968],[-0.052043,-0.157761,0.986105]]
2025-10-26T21:31:15.784Z,1761514275.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261268
2025-10-26T21:31:15.801Z,1761514275.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:15.804Z,1761514275.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 158.088501 m,
      bearing: 29.171822 deg,
      approach rate: -0.685350 m/s,
      LOS rate: 0.003413 deg/s,
      cmd heading: 33.423527 deg,
      new cmd heading: 33.427823 deg.

2025-10-26T21:31:15.805Z,1761514275.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583426 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:16.039Z,1761514276.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515892
2025-10-26T21:31:16.170Z,1761514276.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843939,-0.534632,-0.044004],[0.533964,0.829342,0.164541],[-0.051475,-0.162359,0.985388]]
2025-10-26T21:31:16.213Z,1761514276.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:16.216Z,1761514276.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 157.810165 m,
      bearing: 29.172638 deg,
      approach rate: -0.676099 m/s,
      LOS rate: 0.001986 deg/s,
      cmd heading: 33.427823 deg,
      new cmd heading: 33.430276 deg.

2025-10-26T21:31:16.217Z,1761514276.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583468 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:16.289Z,1761514276.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766099
2025-10-26T21:31:16.540Z,1761514276.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017620
2025-10-26T21:31:16.580Z,1761514276.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844053,-0.534158,-0.047436],[0.533901,0.828759,0.167656],[-0.050242,-0.166837,0.984704]]
2025-10-26T21:31:16.598Z,1761514276.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:16.600Z,1761514276.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 157.549927 m,
      bearing: 29.173403 deg,
      approach rate: -0.676597 m/s,
      LOS rate: 0.001991 deg/s,
      cmd heading: 33.430276 deg,
      new cmd heading: 33.432573 deg.

2025-10-26T21:31:16.601Z,1761514276.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583508 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:16.793Z,1761514276.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270163
2025-10-26T21:31:17.047Z,1761514277.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523755
2025-10-26T21:31:17.082Z,1761514277.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:17.085Z,1761514277.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 157.236786 m,
      bearing: 29.174326 deg,
      approach rate: -0.646722 m/s,
      LOS rate: 0.001911 deg/s,
      cmd heading: 33.432574 deg,
      new cmd heading: 33.435350 deg.

2025-10-26T21:31:17.086Z,1761514277.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583557 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:17.296Z,1761514277.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773626
2025-10-26T21:31:17.393Z,1761514277.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842886,-0.535669,-0.051014],[0.536075,0.827743,0.165723],[-0.046546,-0.167033,0.984852]]
2025-10-26T21:31:17.447Z,1761514277.447 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:17.449Z,1761514277.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:17.456Z,1761514277.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 156.992355 m,
      bearing: 29.176368 deg,
      approach rate: -0.665430 m/s,
      LOS rate: 0.005569 deg/s,
      cmd heading: 33.435350 deg,
      new cmd heading: 33.441487 deg.

2025-10-26T21:31:17.457Z,1761514277.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583664 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:17.548Z,1761514277.548 [DAT](INFO): DAT read: Rx Time:21:31:16.2687

2025-10-26T21:31:17.549Z,1761514277.549 [DAT](INFO): Rx dataTimestamp_ set to:1761514277.548636
2025-10-26T21:31:17.549Z,1761514277.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026723
2025-10-26T21:31:17.800Z,1761514277.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277611
2025-10-26T21:31:17.808Z,1761514277.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841857,-0.537060,-0.053324],[0.537910,0.826919,0.163883],[-0.043920,-0.166650,0.985038]]
2025-10-26T21:31:17.860Z,1761514277.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:17.862Z,1761514277.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 156.718292 m,
      bearing: 29.178456 deg,
      approach rate: -0.671320 m/s,
      LOS rate: 0.005123 deg/s,
      cmd heading: 33.441487 deg,
      new cmd heading: 33.447762 deg.

2025-10-26T21:31:17.863Z,1761514277.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583774 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:18.090Z,1761514278.090 [DAT](INFO): DAT read: 21:31:16.2687 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX=  44, 0.46,-0.543,-2.116,-0.232,-0.611, PHS= 0.171,-1.459, 0.336, RAW= 154.8,  11.1, CAL= 154.8,  12.2, ROT= 355.2, -12.2

2025-10-26T21:31:18.092Z,1761514278.092 [DAT](INFO): got valid direction response:
 21:31:16.2687 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX=  44, 0.46,-0.543,-2.116,-0.232,-0.611, PHS= 0.171,-1.459, 0.336, RAW= 154.8,  11.1, CAL= 154.8,  12.2, ROT= 355.2, -12.2

2025-10-26T21:31:18.093Z,1761514278.093 [DAT](INFO): DAT read: Bearing 194.0,  -9.7 (Local)

2025-10-26T21:31:18.093Z,1761514278.093 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.0,  -9.7 (Local)

2025-10-26T21:31:18.094Z,1761514278.094 [DAT](INFO): DAT read: Range 11 to 50 : 165.2 m  (Round-trip  220.3 ms) speed  0.6 m/s

2025-10-26T21:31:18.095Z,1761514278.095 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:31:18.096Z,1761514278.096 [DAT](INFO): direction in FSK: [0.973988,-0.081788,0.211325]
2025-10-26T21:31:18.096Z,1761514278.096 [DAT](INFO): publishing direction and range info
2025-10-26T21:31:18.109Z,1761514278.109 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:31:18.109Z,1761514278.109 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:31:18.110Z,1761514278.110 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:31:18.232Z,1761514278.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840358,-0.539246,-0.054893],[0.540510,0.826104,0.159380],[-0.040598,-0.163606,0.985690]]
2025-10-26T21:31:18.329Z,1761514278.329 [DAT](INFO): DAT read: user:297>

2025-10-26T21:31:18.330Z,1761514278.330 [DAT](INFO): DAT read: Tx time:21:31:17.4943

2025-10-26T21:31:18.331Z,1761514278.331 [DAT](INFO): Ping request sent.
2025-10-26T21:31:18.331Z,1761514278.331 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:31:18.331Z,1761514278.331 [DAT](INFO): publishing transmit ping time
2025-10-26T21:31:18.332Z,1761514278.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001449
2025-10-26T21:31:18.341Z,1761514278.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 165.199997 m,
 deltaT: 3.806480 s,
 deltaX: -29.199997 m,
 approachRate: -7.671128 m/s,
 rangeRepo size: 4
2025-10-26T21:31:18.345Z,1761514278.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:18.348Z,1761514278.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 156.415222 m,
      bearing: 29.181955 deg,
      approach rate: -0.627678 m/s,
      LOS rate: 0.007261 deg/s,
      cmd heading: 33.447761 deg,
      new cmd heading: 33.458278 deg.

2025-10-26T21:31:18.348Z,1761514278.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583957 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:18.581Z,1761514278.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249971
2025-10-26T21:31:18.718Z,1761514278.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:18.722Z,1761514278.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 156.150101 m,
      bearing: 29.185027 deg,
      approach rate: -0.701873 m/s,
      LOS rate: 0.008146 deg/s,
      cmd heading: 33.458279 deg,
      new cmd heading: 33.467511 deg.

2025-10-26T21:31:18.724Z,1761514278.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584118 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:18.834Z,1761514278.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502975
2025-10-26T21:31:19.087Z,1761514279.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755697
2025-10-26T21:31:19.118Z,1761514279.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835439,-0.546606,-0.057130],[0.548691,0.823643,0.143356],[-0.031304,-0.151112,0.988021]]
2025-10-26T21:31:19.184Z,1761514279.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:19.187Z,1761514279.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 155.844147 m,
      bearing: 29.189572 deg,
      approach rate: -0.656594 m/s,
      LOS rate: 0.009772 deg/s,
      cmd heading: 33.467510 deg,
      new cmd heading: 33.481170 deg.

2025-10-26T21:31:19.188Z,1761514279.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584357 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:19.337Z,1761514279.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006138
2025-10-26T21:31:19.504Z,1761514279.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834439,-0.548269,-0.055796],[0.550361,0.823792,0.135906],[-0.028549,-0.144113,0.989149]]
2025-10-26T21:31:19.536Z,1761514279.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:19.538Z,1761514279.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:19.549Z,1761514279.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 155.623383 m,
      bearing: 29.192726 deg,
      approach rate: -0.623001 m/s,
      LOS rate: 0.008914 deg/s,
      cmd heading: 33.481171 deg,
      new cmd heading: 33.490647 deg.

2025-10-26T21:31:19.550Z,1761514279.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584522 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:19.589Z,1761514279.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257765
2025-10-26T21:31:19.841Z,1761514279.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509856
2025-10-26T21:31:19.908Z,1761514279.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834070,-0.549069,-0.053393],[0.551046,0.824668,0.127556],[-0.026005,-0.135812,0.990393]]
2025-10-26T21:31:19.926Z,1761514279.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:19.929Z,1761514279.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 155.359818 m,
      bearing: 29.196459 deg,
      approach rate: -0.679388 m/s,
      LOS rate: 0.009639 deg/s,
      cmd heading: 33.490648 deg,
      new cmd heading: 33.501866 deg.

2025-10-26T21:31:19.930Z,1761514279.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584718 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:20.096Z,1761514280.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764521
2025-10-26T21:31:20.326Z,1761514280.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833878,-0.549499,-0.051947],[0.551441,0.825374,0.121125],[-0.023682,-0.129649,0.991277]]
2025-10-26T21:31:20.345Z,1761514280.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013809
2025-10-26T21:31:20.352Z,1761514280.352 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:31:20.402Z,1761514280.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:20.409Z,1761514280.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 155.063202 m,
      bearing: 29.202288 deg,
      approach rate: -0.623876 m/s,
      LOS rate: 0.012284 deg/s,
      cmd heading: 33.501866 deg,
      new cmd heading: 33.519388 deg.

2025-10-26T21:31:20.412Z,1761514280.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585024 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:20.596Z,1761514280.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265650
2025-10-26T21:31:20.737Z,1761514280.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834401,-0.548690,-0.052092],[0.550701,0.826136,0.119277],[-0.022411,-0.128212,0.991494]]
2025-10-26T21:31:20.758Z,1761514280.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:20.761Z,1761514280.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 154.827255 m,
      bearing: 29.207027 deg,
      approach rate: -0.661578 m/s,
      LOS rate: 0.013308 deg/s,
      cmd heading: 33.519389 deg,
      new cmd heading: 33.533627 deg.

2025-10-26T21:31:20.762Z,1761514280.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585272 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:20.851Z,1761514280.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520251
2025-10-26T21:31:21.109Z,1761514281.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775748
2025-10-26T21:31:21.135Z,1761514281.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835710,-0.546350,-0.055595],[0.548739,0.826743,0.124022],[-0.021797,-0.134153,0.990721]]
2025-10-26T21:31:21.187Z,1761514281.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:21.190Z,1761514281.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 154.565445 m,
      bearing: 29.209082 deg,
      approach rate: -0.634144 m/s,
      LOS rate: 0.004985 deg/s,
      cmd heading: 33.533627 deg,
      new cmd heading: 33.539801 deg.

2025-10-26T21:31:21.191Z,1761514281.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585380 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:21.356Z,1761514281.356 [DAT](INFO): DAT read: Rx Time:21:31:20.0795

2025-10-26T21:31:21.357Z,1761514281.357 [DAT](INFO): Rx dataTimestamp_ set to:1761514281.356507
2025-10-26T21:31:21.357Z,1761514281.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026583
2025-10-26T21:31:21.358Z,1761514281.358 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:31:21.526Z,1761514281.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837156,-0.543648,-0.060134],[0.546534,0.827075,0.131326],[-0.021660,-0.142805,0.989514]]
2025-10-26T21:31:21.542Z,1761514281.542 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:21.545Z,1761514281.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:21.547Z,1761514281.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 154.328796 m,
      bearing: 29.211131 deg,
      approach rate: -0.633679 m/s,
      LOS rate: 0.005497 deg/s,
      cmd heading: 33.539801 deg,
      new cmd heading: 33.545960 deg.

2025-10-26T21:31:21.548Z,1761514281.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585487 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:21.609Z,1761514281.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278249
2025-10-26T21:31:21.863Z,1761514281.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531941
2025-10-26T21:31:21.930Z,1761514281.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838945,-0.540303,-0.065137],[0.543775,0.827423,0.140287],[-0.021902,-0.153113,0.987966]]
2025-10-26T21:31:21.964Z,1761514281.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:21.966Z,1761514281.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 154.062988 m,
      bearing: 29.213705 deg,
      approach rate: -0.634685 m/s,
      LOS rate: 0.006155 deg/s,
      cmd heading: 33.545958 deg,
      new cmd heading: 33.553692 deg.

2025-10-26T21:31:21.968Z,1761514281.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585622 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:22.133Z,1761514282.133 [DAT](INFO): DAT read: 21:31:20.0795 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX=  43, 0.06, 3.113, 1.482,-2.784, 3.001, PHS= 0.214,-1.474, 0.454, RAW= 156.6,   8.9, CAL= 156.3,   9.5, ROT= 353.7,  -9.5

2025-10-26T21:31:22.139Z,1761514282.139 [DAT](INFO): got valid direction response:
 21:31:20.0795 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX=  43, 0.06, 3.113, 1.482,-2.784, 3.001, PHS= 0.214,-1.474, 0.454, RAW= 156.6,   8.9, CAL= 156.3,   9.5, ROT= 353.7,  -9.5

2025-10-26T21:31:22.144Z,1761514282.144 [DAT](INFO): DAT read: Bearing 192.8,  -8.9 (Local)

2025-10-26T21:31:22.145Z,1761514282.145 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.8,  -8.9 (Local)

2025-10-26T21:31:22.149Z,1761514282.149 [DAT](INFO): DAT read: Range 11 to 50 : 135.8 m  (Round-trip  181.1 ms) speed  0.4 m/s

2025-10-26T21:31:22.150Z,1761514282.150 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:31:22.151Z,1761514282.151 [DAT](INFO): direction in FSK: [0.980329,-0.108229,0.165048]
2025-10-26T21:31:22.151Z,1761514282.151 [DAT](INFO): publishing direction and range info
2025-10-26T21:31:22.196Z,1761514282.196 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:31:22.196Z,1761514282.196 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:31:22.196Z,1761514282.196 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:31:22.346Z,1761514282.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840494,-0.537482,-0.068430],[0.541380,0.827990,0.146082],[-0.021857,-0.159828,0.986903]]
2025-10-26T21:31:22.370Z,1761514282.370 [DAT](INFO): DAT read: user:298>

2025-10-26T21:31:22.371Z,1761514282.371 [DAT](INFO): DAT read: Tx time:21:31:21.5443

2025-10-26T21:31:22.371Z,1761514282.371 [DAT](INFO): Ping request sent.
2025-10-26T21:31:22.371Z,1761514282.371 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:31:22.371Z,1761514282.371 [DAT](INFO): publishing transmit ping time
2025-10-26T21:31:22.372Z,1761514282.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000857
2025-10-26T21:31:22.397Z,1761514282.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 135.800003 m,
 deltaT: 7.842801 s,
 deltaX: -58.599991 m,
 approachRate: -7.471819 m/s,
 rangeRepo size: 4
2025-10-26T21:31:22.398Z,1761514282.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:22.401Z,1761514282.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 153.787811 m,
      bearing: 29.214183 deg,
      approach rate: -0.635199 m/s,
      LOS rate: 0.001106 deg/s,
      cmd heading: 33.553694 deg,
      new cmd heading: 33.555130 deg.

2025-10-26T21:31:22.402Z,1761514282.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585648 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:22.620Z,1761514282.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249323
2025-10-26T21:31:22.745Z,1761514282.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842063,-0.534640,-0.071342],[0.538962,0.828818,0.150269],[-0.021211,-0.164987,0.986068]]
2025-10-26T21:31:22.787Z,1761514282.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:22.789Z,1761514282.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 153.542496 m,
      bearing: 29.214844 deg,
      approach rate: -0.634738 m/s,
      LOS rate: 0.001713 deg/s,
      cmd heading: 33.555131 deg,
      new cmd heading: 33.557117 deg.

2025-10-26T21:31:22.790Z,1761514282.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585682 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:22.872Z,1761514282.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501363
2025-10-26T21:31:23.128Z,1761514283.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755695
2025-10-26T21:31:23.168Z,1761514283.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842996,-0.532973,-0.072777],[0.537536,0.829544,0.151363],[-0.020301,-0.166719,0.985795]]
2025-10-26T21:31:23.213Z,1761514283.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:23.216Z,1761514283.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 153.254181 m,
      bearing: 29.209568 deg,
      approach rate: -0.670840 m/s,
      LOS rate: -0.012298 deg/s,
      cmd heading: 33.557116 deg,
      new cmd heading: 33.541260 deg.

2025-10-26T21:31:23.217Z,1761514283.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585405 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:23.376Z,1761514283.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005211
2025-10-26T21:31:23.572Z,1761514283.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843157,-0.532505,-0.074328],[0.537340,0.829731,0.151036],[-0.018755,-0.167286,0.985730]]
2025-10-26T21:31:23.589Z,1761514283.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:23.591Z,1761514283.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:23.593Z,1761514283.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 153.005676 m,
      bearing: 29.205026 deg,
      approach rate: -0.657815 m/s,
      LOS rate: -0.012044 deg/s,
      cmd heading: 33.541259 deg,
      new cmd heading: 33.527609 deg.

2025-10-26T21:31:23.594Z,1761514283.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585167 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:23.629Z,1761514283.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257836
2025-10-26T21:31:23.881Z,1761514283.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509577
2025-10-26T21:31:23.974Z,1761514283.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842483,-0.533533,-0.074593],[0.538479,0.829835,0.146334],[-0.016175,-0.163451,0.986419]]
2025-10-26T21:31:23.996Z,1761514283.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:23.998Z,1761514283.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 152.738266 m,
      bearing: 29.200011 deg,
      approach rate: -0.659867 m/s,
      LOS rate: -0.012397 deg/s,
      cmd heading: 33.527609 deg,
      new cmd heading: 33.512537 deg.

2025-10-26T21:31:24.016Z,1761514284.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584904 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:24.136Z,1761514284.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763984
2025-10-26T21:31:24.379Z,1761514284.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841317,-0.535109,-0.076445],[0.540389,0.829269,0.142452],[-0.012834,-0.161157,0.986845]]
2025-10-26T21:31:24.384Z,1761514284.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013294
2025-10-26T21:31:24.450Z,1761514284.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:24.453Z,1761514284.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 152.453384 m,
      bearing: 29.190876 deg,
      approach rate: -0.626826 m/s,
      LOS rate: -0.020137 deg/s,
      cmd heading: 33.512538 deg,
      new cmd heading: 33.485083 deg.

2025-10-26T21:31:24.454Z,1761514284.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584425 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:24.637Z,1761514284.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265520
2025-10-26T21:31:24.785Z,1761514284.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839963,-0.536265,-0.082952],[0.542568,0.827424,0.144881],[-0.009058,-0.166702,0.985966]]
2025-10-26T21:31:24.803Z,1761514284.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:24.809Z,1761514284.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 152.213669 m,
      bearing: 29.182908 deg,
      approach rate: -0.679751 m/s,
      LOS rate: -0.022628 deg/s,
      cmd heading: 33.485081 deg,
      new cmd heading: 33.461142 deg.

2025-10-26T21:31:24.811Z,1761514284.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584007 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:24.889Z,1761514284.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518084
2025-10-26T21:31:25.143Z,1761514285.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771327
2025-10-26T21:31:25.195Z,1761514285.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838277,-0.537976,-0.088738],[0.545223,0.825611,0.145254],[-0.004880,-0.170145,0.985407]]
2025-10-26T21:31:25.238Z,1761514285.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:25.241Z,1761514285.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 151.922577 m,
      bearing: 29.175881 deg,
      approach rate: -0.669482 m/s,
      LOS rate: -0.016193 deg/s,
      cmd heading: 33.461141 deg,
      new cmd heading: 33.440019 deg.

2025-10-26T21:31:25.242Z,1761514285.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583638 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:25.392Z,1761514285.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021187
2025-10-26T21:31:25.598Z,1761514285.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836431,-0.540180,-0.092675],[0.548072,0.824122,0.142970],[-0.000854,-0.170377,0.985379]]
2025-10-26T21:31:25.614Z,1761514285.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:25.616Z,1761514285.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:25.619Z,1761514285.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 151.669403 m,
      bearing: 29.169421 deg,
      approach rate: -0.668970 m/s,
      LOS rate: -0.017098 deg/s,
      cmd heading: 33.440019 deg,
      new cmd heading: 33.420606 deg.

2025-10-26T21:31:25.620Z,1761514285.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583300 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:25.645Z,1761514285.645 [DAT](INFO): DAT read: Rx Time:21:31:24.1627

2025-10-26T21:31:25.645Z,1761514285.645 [DAT](INFO): Rx dataTimestamp_ set to:1761514285.644707
2025-10-26T21:31:25.646Z,1761514285.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274434
2025-10-26T21:31:25.896Z,1761514285.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525206
2025-10-26T21:31:26.002Z,1761514286.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834337,-0.542995,-0.095065],[0.551247,0.822687,0.138970],[0.002749,-0.168352,0.985723]]
2025-10-26T21:31:26.032Z,1761514286.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.19 m.
2025-10-26T21:31:26.034Z,1761514286.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.186234 m,
      nav range: 151.391663 m,
      bearing: 29.161909 deg,
      approach rate: -0.669199 m/s,
      LOS rate: -0.018134 deg/s,
      cmd heading: 33.420607 deg,
      new cmd heading: 33.398029 deg.

2025-10-26T21:31:26.035Z,1761514286.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582906 target range: 193.186234 and range: 194.40 m.
2025-10-26T21:31:26.174Z,1761514286.174 [DAT](INFO): DAT read: 21:31:24.1627 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 272,-0.32,-2.604, 2.159,-2.297,-2.687, PHS= 0.186,-1.391, 0.347, RAW= 154.8,  10.3, CAL= 154.7,  11.3, ROT= 355.3, -11.3

2025-10-26T21:31:26.182Z,1761514286.182 [DAT](INFO): got valid direction response:
 21:31:24.1627 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 272,-0.32,-2.604, 2.159,-2.297,-2.687, PHS= 0.186,-1.391, 0.347, RAW= 154.8,  10.3, CAL= 154.7,  11.3, ROT= 355.3, -11.3

2025-10-26T21:31:26.190Z,1761514286.190 [DAT](INFO): DAT read: Bearing 193.7,  -6.8 (Local)

2025-10-26T21:31:26.191Z,1761514286.191 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.7,  -6.8 (Local)

2025-10-26T21:31:26.204Z,1761514286.204 [DAT](INFO): DAT read: Range 11 to 50 : 160.7 m  (Round-trip  214.3 ms) speed  0.4 m/s

2025-10-26T21:31:26.206Z,1761514286.206 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:31:26.231Z,1761514286.231 [DAT](INFO): direction in FSK: [0.977317,-0.080350,0.195946]
2025-10-26T21:31:26.231Z,1761514286.231 [DAT](INFO): publishing direction and range info
2025-10-26T21:31:26.244Z,1761514286.244 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:31:26.244Z,1761514286.244 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:31:26.244Z,1761514286.244 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:31:26.400Z,1761514286.400 [DAT](INFO): DAT read: user:299>

2025-10-26T21:31:26.401Z,1761514286.401 [DAT](INFO): DAT read: Tx time:21:31:25.5943

2025-10-26T21:31:26.401Z,1761514286.401 [DAT](INFO): Ping request sent.
2025-10-26T21:31:26.401Z,1761514286.401 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:31:26.402Z,1761514286.402 [DAT](INFO): publishing transmit ping time
2025-10-26T21:31:26.402Z,1761514286.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-10-26T21:31:26.410Z,1761514286.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832333,-0.545748,-0.096854],[0.554242,0.821410,0.134545],[0.006130,-0.165667,0.986163]]
2025-10-26T21:31:26.508Z,1761514286.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 160.699997 m,
      deltaT: 11.880236 s,
      deltaX: -33.699997 m,
      approachRate: -2.836644 m/s,
      rangeRepo size: 4

2025-10-26T21:31:26.510Z,1761514286.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 159.699310 m,
      bearing: 30.915350 deg,
      lat: 36.779441 deg,
      lon: -121.859428 deg,
      deltaT: 11.880236 s,
      deltaX: -33.486923 m,
      approachRate: -2.818709 m/s,
      posRepo size: 4

2025-10-26T21:31:26.511Z,1761514286.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.70 m.
2025-10-26T21:31:26.518Z,1761514286.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.699310 m,
      nav range: 136.751678 m,
      bearing: 27.836236 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018134 deg/s,
      cmd heading: 33.398030 deg,
      new cmd heading: 33.372345 deg.

2025-10-26T21:31:26.519Z,1761514286.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582457 target range: 159.699310 and range: 160.70 m.
2025-10-26T21:31:26.652Z,1761514286.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250816
2025-10-26T21:31:26.818Z,1761514286.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830558,-0.548006,-0.099313],[0.556860,0.820004,0.132290],[0.008941,-0.165177,0.986223]]
2025-10-26T21:31:26.875Z,1761514286.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.70 m.
2025-10-26T21:31:26.878Z,1761514286.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.699310 m,
      nav range: 136.497589 m,
      bearing: 27.829807 deg,
      approach rate: -0.683885 m/s,
      LOS rate: -0.017336 deg/s,
      cmd heading: 33.372345 deg,
      new cmd heading: 33.353022 deg.

2025-10-26T21:31:26.879Z,1761514286.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582120 target range: 159.699310 and range: 160.70 m.
2025-10-26T21:31:26.905Z,1761514286.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503947
2025-10-26T21:31:27.160Z,1761514287.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757254
2025-10-26T21:31:27.221Z,1761514287.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828930,-0.550358,-0.099906],[0.559241,0.819007,0.128365],[0.011177,-0.162278,0.986682]]
2025-10-26T21:31:27.258Z,1761514287.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.70 m.
2025-10-26T21:31:27.261Z,1761514287.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.699310 m,
      nav range: 136.241013 m,
      bearing: 27.830008 deg,
      approach rate: -0.670070 m/s,
      LOS rate: 0.000527 deg/s,
      cmd heading: 33.353023 deg,
      new cmd heading: 33.353628 deg.

2025-10-26T21:31:27.262Z,1761514287.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582131 target range: 159.699310 and range: 160.70 m.
2025-10-26T21:31:27.408Z,1761514287.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006778
2025-10-26T21:31:27.654Z,1761514287.654 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:27.656Z,1761514287.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.70 m.
2025-10-26T21:31:27.659Z,1761514287.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.699310 m,
      nav range: 135.974213 m,
      bearing: 27.830219 deg,
      approach rate: -0.669631 m/s,
      LOS rate: 0.000528 deg/s,
      cmd heading: 33.353627 deg,
      new cmd heading: 33.354259 deg.

2025-10-26T21:31:27.660Z,1761514287.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258995
2025-10-26T21:31:27.662Z,1761514287.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582142 target range: 159.699310 and range: 160.70 m.
2025-10-26T21:31:27.913Z,1761514287.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511797
2025-10-26T21:31:28.022Z,1761514288.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826858,-0.553681,-0.098701],[0.562259,0.817870,0.122284],[0.013018,-0.156607,0.987575]]
2025-10-26T21:31:28.041Z,1761514288.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.70 m.
2025-10-26T21:31:28.060Z,1761514288.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.699310 m,
      nav range: 135.716324 m,
      bearing: 27.830022 deg,
      approach rate: -0.670562 m/s,
      LOS rate: -0.000513 deg/s,
      cmd heading: 33.354259 deg,
      new cmd heading: 33.353667 deg.

2025-10-26T21:31:28.061Z,1761514288.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582131 target range: 159.699310 and range: 160.70 m.
2025-10-26T21:31:28.164Z,1761514288.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762781
2025-10-26T21:31:28.416Z,1761514288.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014899
2025-10-26T21:31:28.435Z,1761514288.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826906,-0.553726,-0.098052],[0.562183,0.818135,0.120851],[0.013302,-0.155055,0.987816]]
2025-10-26T21:31:28.471Z,1761514288.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.70 m.
2025-10-26T21:31:28.473Z,1761514288.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.699310 m,
      nav range: 135.449478 m,
      bearing: 27.844259 deg,
      approach rate: -0.621022 m/s,
      LOS rate: 0.033199 deg/s,
      cmd heading: 33.353668 deg,
      new cmd heading: 33.396464 deg.

2025-10-26T21:31:28.474Z,1761514288.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582878 target range: 159.699310 and range: 160.70 m.
2025-10-26T21:31:28.668Z,1761514288.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266819
2025-10-26T21:31:28.889Z,1761514288.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.70 m.
2025-10-26T21:31:28.892Z,1761514288.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.699310 m,
      nav range: 135.189713 m,
      bearing: 27.858173 deg,
      approach rate: -0.621101 m/s,
      LOS rate: 0.033334 deg/s,
      cmd heading: 33.396463 deg,
      new cmd heading: 33.438287 deg.

2025-10-26T21:31:28.893Z,1761514288.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583608 target range: 159.699310 and range: 160.70 m.
2025-10-26T21:31:28.920Z,1761514288.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518906
2025-10-26T21:31:29.176Z,1761514289.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774059
2025-10-26T21:31:29.248Z,1761514289.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828738,-0.551171,-0.096976],[0.559490,0.819955,0.121013],[0.012817,-0.154546,0.987903]]
2025-10-26T21:31:29.317Z,1761514289.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.70 m.
2025-10-26T21:31:29.322Z,1761514289.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.699310 m,
      nav range: 134.945114 m,
      bearing: 27.879594 deg,
      approach rate: -0.571138 m/s,
      LOS rate: 0.050107 deg/s,
      cmd heading: 33.438287 deg,
      new cmd heading: 33.502665 deg.

2025-10-26T21:31:29.324Z,1761514289.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584732 target range: 159.699310 and range: 160.70 m.
2025-10-26T21:31:29.429Z,1761514289.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027473
2025-10-26T21:31:29.655Z,1761514289.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830295,-0.548796,-0.097125],[0.557167,0.821499,0.121265],[0.013239,-0.154801,0.987857]]
2025-10-26T21:31:29.671Z,1761514289.671 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:29.673Z,1761514289.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.70 m.
2025-10-26T21:31:29.676Z,1761514289.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.699310 m,
      nav range: 134.704758 m,
      bearing: 27.901018 deg,
      approach rate: -0.674899 m/s,
      LOS rate: 0.060264 deg/s,
      cmd heading: 33.502665 deg,
      new cmd heading: 33.567052 deg.

2025-10-26T21:31:29.677Z,1761514289.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585856 target range: 159.699310 and range: 160.70 m.
2025-10-26T21:31:29.680Z,1761514289.680 [DAT](INFO): DAT read: Rx Time:21:31:28.2094

2025-10-26T21:31:29.681Z,1761514289.681 [DAT](INFO): Rx dataTimestamp_ set to:1761514289.680674
2025-10-26T21:31:29.681Z,1761514289.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280005
2025-10-26T21:31:29.932Z,1761514289.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530778
2025-10-26T21:31:30.055Z,1761514290.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832106,-0.545769,-0.098672],[0.554412,0.823369,0.121209],[0.015092,-0.155564,0.987711]]
2025-10-26T21:31:30.080Z,1761514290.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.70 m.
2025-10-26T21:31:30.083Z,1761514290.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.699310 m,
      nav range: 134.453079 m,
      bearing: 27.923906 deg,
      approach rate: -0.618135 m/s,
      LOS rate: 0.056319 deg/s,
      cmd heading: 33.567050 deg,
      new cmd heading: 33.635842 deg.

2025-10-26T21:31:30.084Z,1761514290.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587056 target range: 159.699310 and range: 160.70 m.
2025-10-26T21:31:30.195Z,1761514290.195 [DAT](INFO): DAT read: 21:31:28.2094 LVL= 32016, 31169, 31010, 30707, AGC= 75, IDX=  35,-0.34,-1.114,-2.692,-0.778,-1.270, PHS= 0.258,-1.377, 0.448, RAW= 155.4,   7.8, CAL= 154.9,   8.1, ROT= 355.1,  -8.1

2025-10-26T21:31:30.197Z,1761514290.197 [DAT](INFO): got valid direction response:
 21:31:28.2094 LVL= 32016, 31169, 31010, 30707, AGC= 75, IDX=  35,-0.34,-1.114,-2.692,-0.778,-1.270, PHS= 0.258,-1.377, 0.448, RAW= 155.4,   7.8, CAL= 154.9,   8.1, ROT= 355.1,  -8.1

2025-10-26T21:31:30.198Z,1761514290.198 [DAT](INFO): DAT read: Bearing 191.5,  -5.4 (Local)

2025-10-26T21:31:30.198Z,1761514290.198 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.5,  -5.4 (Local)

2025-10-26T21:31:30.212Z,1761514290.212 [DAT](INFO): DAT read: Range 11 to 50 : 158.3 m  (Round-trip  211.1 ms) speed  0.9 m/s

2025-10-26T21:31:30.215Z,1761514290.215 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:31:30.223Z,1761514290.223 [DAT](INFO): direction in FSK: [0.986405,-0.084565,0.140901]
2025-10-26T21:31:30.228Z,1761514290.228 [DAT](INFO): publishing direction and range info
2025-10-26T21:31:30.272Z,1761514290.272 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:31:30.272Z,1761514290.272 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:31:30.272Z,1761514290.272 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:31:30.436Z,1761514290.436 [DAT](INFO): DAT read: user:300>

2025-10-26T21:31:30.437Z,1761514290.437 [DAT](INFO): DAT read: Tx time:21:31:29.6442

2025-10-26T21:31:30.437Z,1761514290.437 [DAT](INFO): Ping request sent.
2025-10-26T21:31:30.437Z,1761514290.437 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:31:30.438Z,1761514290.438 [DAT](INFO): publishing transmit ping time
2025-10-26T21:31:30.438Z,1761514290.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-10-26T21:31:30.468Z,1761514290.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834368,-0.542091,-0.099833],[0.550935,0.825856,0.120133],[0.017325,-0.155237,0.987725]]
2025-10-26T21:31:30.541Z,1761514290.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 158.300003 m,
      deltaT: 4.035193 s,
      deltaX: -2.399994 m,
      approachRate: -0.594766 m/s,
      rangeRepo size: 4

2025-10-26T21:31:30.543Z,1761514290.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 157.314819 m,
      bearing: 29.849683 deg,
      lat: 36.779558 deg,
      lon: -121.859268 deg,
      deltaT: 4.035193 s,
      deltaX: -2.384491 m,
      approachRate: -0.590924 m/s,
      posRepo size: 4

2025-10-26T21:31:30.544Z,1761514290.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:30.547Z,1761514290.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 152.449265 m,
      bearing: 30.409832 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.056319 deg/s,
      cmd heading: 33.635844 deg,
      new cmd heading: 33.713585 deg.

2025-10-26T21:31:30.548Z,1761514290.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588413 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:30.689Z,1761514290.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251415
2025-10-26T21:31:30.862Z,1761514290.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836363,-0.538602,-0.102004],[0.547799,0.828093,0.119072],[0.020337,-0.155465,0.987632]]
2025-10-26T21:31:30.886Z,1761514290.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:30.888Z,1761514290.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 152.246887 m,
      bearing: 30.434478 deg,
      approach rate: -0.586529 m/s,
      LOS rate: 0.071524 deg/s,
      cmd heading: 33.713585 deg,
      new cmd heading: 33.787621 deg.

2025-10-26T21:31:30.889Z,1761514290.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589705 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:30.941Z,1761514290.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503071
2025-10-26T21:31:31.192Z,1761514291.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754955
2025-10-26T21:31:31.278Z,1761514291.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838293,-0.534670,-0.106736],[0.544725,0.829668,0.122173],[0.023234,-0.160558,0.986753]]
2025-10-26T21:31:31.336Z,1761514291.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:31.339Z,1761514291.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 151.975494 m,
      bearing: 30.466158 deg,
      approach rate: -0.602324 m/s,
      LOS rate: 0.070435 deg/s,
      cmd heading: 33.787621 deg,
      new cmd heading: 33.882829 deg.

2025-10-26T21:31:31.360Z,1761514291.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591367 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:31.445Z,1761514291.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007131
2025-10-26T21:31:31.671Z,1761514291.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839597,-0.531990,-0.109832],[0.542579,0.831044,0.122372],[0.026175,-0.162336,0.986388]]
2025-10-26T21:31:31.697Z,1761514291.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259747
2025-10-26T21:31:31.701Z,1761514291.701 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:31.704Z,1761514291.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:31.710Z,1761514291.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 151.756470 m,
      bearing: 30.492034 deg,
      approach rate: -0.596377 m/s,
      LOS rate: 0.070559 deg/s,
      cmd heading: 33.882830 deg,
      new cmd heading: 33.960571 deg.

2025-10-26T21:31:31.712Z,1761514291.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592724 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:31.948Z,1761514291.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510862
2025-10-26T21:31:32.074Z,1761514292.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840553,-0.530289,-0.110743],[0.540948,0.832593,0.119013],[0.029092,-0.159943,0.986697]]
2025-10-26T21:31:32.100Z,1761514292.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:32.102Z,1761514292.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 151.516647 m,
      bearing: 30.520689 deg,
      approach rate: -0.605725 m/s,
      LOS rate: 0.072488 deg/s,
      cmd heading: 33.960571 deg,
      new cmd heading: 34.046672 deg.

2025-10-26T21:31:32.103Z,1761514292.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594227 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:32.200Z,1761514292.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762850
2025-10-26T21:31:32.452Z,1761514292.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014922
2025-10-26T21:31:32.484Z,1761514292.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840822,-0.529840,-0.110848],[0.540396,0.833517,0.114990],[0.031467,-0.156587,0.987163]]
2025-10-26T21:31:32.520Z,1761514292.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:32.522Z,1761514292.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 151.259277 m,
      bearing: 30.541603 deg,
      approach rate: -0.612535 m/s,
      LOS rate: 0.049860 deg/s,
      cmd heading: 34.046673 deg,
      new cmd heading: 34.109522 deg.

2025-10-26T21:31:32.523Z,1761514292.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595323 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:32.705Z,1761514292.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267553
2025-10-26T21:31:32.882Z,1761514292.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841545,-0.528290,-0.112745],[0.539185,0.834188,0.115803],[0.032873,-0.158244,0.986853]]
2025-10-26T21:31:32.924Z,1761514292.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:32.927Z,1761514292.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 151.023758 m,
      bearing: 30.560924 deg,
      approach rate: -0.582181 m/s,
      LOS rate: 0.047833 deg/s,
      cmd heading: 34.109521 deg,
      new cmd heading: 34.167573 deg.

2025-10-26T21:31:32.932Z,1761514292.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.596337 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:32.957Z,1761514292.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519937
2025-10-26T21:31:33.208Z,1761514293.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770930
2025-10-26T21:31:33.316Z,1761514293.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842280,-0.527182,-0.112448],[0.538005,0.835091,0.114776],[0.033397,-0.157171,0.987006]]
2025-10-26T21:31:33.374Z,1761514293.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:33.381Z,1761514293.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 150.749207 m,
      bearing: 30.571733 deg,
      approach rate: -0.610377 m/s,
      LOS rate: 0.024075 deg/s,
      cmd heading: 34.167574 deg,
      new cmd heading: 34.200061 deg.

2025-10-26T21:31:33.382Z,1761514293.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.596904 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:33.461Z,1761514293.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023871
2025-10-26T21:31:33.690Z,1761514293.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842923,-0.526539,-0.110626],[0.536978,0.836173,0.111666],[0.033706,-0.153530,0.987569]]
2025-10-26T21:31:33.714Z,1761514293.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275920
2025-10-26T21:31:33.733Z,1761514293.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:33.735Z,1761514293.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:33.737Z,1761514293.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 150.523224 m,
      bearing: 30.580806 deg,
      approach rate: -0.626437 m/s,
      LOS rate: 0.025189 deg/s,
      cmd heading: 34.200062 deg,
      new cmd heading: 34.227322 deg.

2025-10-26T21:31:33.738Z,1761514293.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597379 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:33.964Z,1761514293.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526992
2025-10-26T21:31:34.094Z,1761514294.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843272,-0.526264,-0.109265],[0.536437,0.836754,0.109900],[0.033592,-0.151290,0.987918]]
2025-10-26T21:31:34.116Z,1761514294.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:34.119Z,1761514294.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 150.289444 m,
      bearing: 30.590304 deg,
      approach rate: -0.612255 m/s,
      LOS rate: 0.024912 deg/s,
      cmd heading: 34.227321 deg,
      new cmd heading: 34.255858 deg.

2025-10-26T21:31:34.120Z,1761514294.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597878 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:34.217Z,1761514294.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779886
2025-10-26T21:31:34.468Z,1761514294.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030872
2025-10-26T21:31:34.567Z,1761514294.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:34.570Z,1761514294.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 149.987625 m,
      bearing: 30.587381 deg,
      approach rate: -0.669775 m/s,
      LOS rate: -0.006500 deg/s,
      cmd heading: 34.255858 deg,
      new cmd heading: 34.247071 deg.

2025-10-26T21:31:34.571Z,1761514294.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597724 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:34.721Z,1761514294.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283492
2025-10-26T21:31:34.902Z,1761514294.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843027,-0.526832,-0.108417],[0.536819,0.836714,0.108333],[0.033640,-0.149528,0.988185]]
2025-10-26T21:31:34.946Z,1761514294.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:34.953Z,1761514294.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 149.739059 m,
      bearing: 30.584934 deg,
      approach rate: -0.655498 m/s,
      LOS rate: -0.006465 deg/s,
      cmd heading: 34.247071 deg,
      new cmd heading: 34.239716 deg.

2025-10-26T21:31:34.954Z,1761514294.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597596 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:34.972Z,1761514294.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535037
2025-10-26T21:31:35.225Z,1761514295.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787407
2025-10-26T21:31:35.353Z,1761514295.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842645,-0.526988,-0.110603],[0.537419,0.835891,0.111653],[0.033613,-0.153524,0.987573]]
2025-10-26T21:31:35.397Z,1761514295.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:35.400Z,1761514295.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 149.430496 m,
      bearing: 30.566121 deg,
      approach rate: -0.684142 m/s,
      LOS rate: -0.041796 deg/s,
      cmd heading: 34.239718 deg,
      new cmd heading: 34.183165 deg.

2025-10-26T21:31:35.401Z,1761514295.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.596609 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:35.477Z,1761514295.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039489
2025-10-26T21:31:35.716Z,1761514295.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841970,-0.527444,-0.113535],[0.538450,0.834752,0.115154],[0.034036,-0.158090,0.986838]]
2025-10-26T21:31:35.729Z,1761514295.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291351
2025-10-26T21:31:35.753Z,1761514295.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:35.756Z,1761514295.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:35.758Z,1761514295.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 149.190414 m,
      bearing: 30.551301 deg,
      approach rate: -0.670327 m/s,
      LOS rate: -0.041447 deg/s,
      cmd heading: 34.183164 deg,
      new cmd heading: 34.138630 deg.

2025-10-26T21:31:35.759Z,1761514295.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595832 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:35.980Z,1761514295.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542895
2025-10-26T21:31:36.114Z,1761514296.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840742,-0.529018,-0.115297],[0.540325,0.833410,0.116090],[0.034676,-0.159899,0.986524]]
2025-10-26T21:31:36.142Z,1761514296.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:36.145Z,1761514296.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 148.930435 m,
      bearing: 30.534962 deg,
      approach rate: -0.672022 m/s,
      LOS rate: -0.042308 deg/s,
      cmd heading: 34.138631 deg,
      new cmd heading: 34.089530 deg.

2025-10-26T21:31:36.146Z,1761514296.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594975 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:36.233Z,1761514296.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795247
2025-10-26T21:31:36.484Z,1761514296.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046868
2025-10-26T21:31:36.518Z,1761514296.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838685,-0.531992,-0.116587],[0.543432,0.831575,0.114736],[0.035912,-0.159584,0.986531]]
2025-10-26T21:31:36.565Z,1761514296.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:36.567Z,1761514296.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 148.648392 m,
      bearing: 30.514404 deg,
      approach rate: -0.667902 m/s,
      LOS rate: -0.048775 deg/s,
      cmd heading: 34.089529 deg,
      new cmd heading: 34.027738 deg.

2025-10-26T21:31:36.568Z,1761514296.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593896 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:36.736Z,1761514296.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298874
2025-10-26T21:31:36.930Z,1761514296.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836471,-0.535172,-0.117930],[0.546752,0.829576,0.113429],[0.037128,-0.159358,0.986522]]
2025-10-26T21:31:36.952Z,1761514296.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:36.955Z,1761514296.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 148.389679 m,
      bearing: 30.495062 deg,
      approach rate: -0.667701 m/s,
      LOS rate: -0.050008 deg/s,
      cmd heading: 34.027739 deg,
      new cmd heading: 33.969610 deg.

2025-10-26T21:31:36.956Z,1761514296.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592882 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:36.990Z,1761514296.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552444
2025-10-26T21:31:37.240Z,1761514297.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802748
2025-10-26T21:31:37.424Z,1761514297.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:37.426Z,1761514297.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 148.066910 m,
      bearing: 30.469690 deg,
      approach rate: -0.684984 m/s,
      LOS rate: -0.053961 deg/s,
      cmd heading: 33.969611 deg,
      new cmd heading: 33.893331 deg.

2025-10-26T21:31:37.427Z,1761514297.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591550 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:37.493Z,1761514297.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055076
2025-10-26T21:31:37.738Z,1761514297.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831572,-0.542763,-0.117879],[0.553974,0.825802,0.105658],[0.039997,-0.153164,0.987391]]
2025-10-26T21:31:37.745Z,1761514297.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307197
2025-10-26T21:31:37.757Z,1761514297.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:37.759Z,1761514297.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:37.762Z,1761514297.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 147.837830 m,
      bearing: 30.450779 deg,
      approach rate: -0.681851 m/s,
      LOS rate: -0.056377 deg/s,
      cmd heading: 33.893332 deg,
      new cmd heading: 33.836509 deg.

2025-10-26T21:31:37.763Z,1761514297.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590558 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:37.996Z,1761514297.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558882
2025-10-26T21:31:38.134Z,1761514298.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829133,-0.546525,-0.117683],[0.557516,0.823918,0.101657],[0.041403,-0.149897,0.987834]]
2025-10-26T21:31:38.162Z,1761514298.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:38.165Z,1761514298.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 147.562653 m,
      bearing: 30.427484 deg,
      approach rate: -0.683503 m/s,
      LOS rate: -0.057969 deg/s,
      cmd heading: 33.836508 deg,
      new cmd heading: 33.766493 deg.

2025-10-26T21:31:38.166Z,1761514298.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589337 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:38.249Z,1761514298.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811590
2025-10-26T21:31:38.500Z,1761514298.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062947
2025-10-26T21:31:38.538Z,1761514298.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826532,-0.549988,-0.119822],[0.561244,0.821493,0.100775],[0.043008,-0.150543,0.987667]]
2025-10-26T21:31:38.593Z,1761514298.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:38.600Z,1761514298.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 147.278229 m,
      bearing: 30.410809 deg,
      approach rate: -0.659292 m/s,
      LOS rate: -0.038727 deg/s,
      cmd heading: 33.766495 deg,
      new cmd heading: 33.716374 deg.

2025-10-26T21:31:38.601Z,1761514298.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588462 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:38.752Z,1761514298.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314942
2025-10-26T21:31:38.942Z,1761514298.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824220,-0.552869,-0.122467],[0.564512,0.819244,0.100827],[0.044586,-0.152238,0.987338]]
2025-10-26T21:31:38.977Z,1761514298.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:38.981Z,1761514298.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 147.016266 m,
      bearing: 30.394984 deg,
      approach rate: -0.682234 m/s,
      LOS rate: -0.041288 deg/s,
      cmd heading: 33.716375 deg,
      new cmd heading: 33.668814 deg.

2025-10-26T21:31:38.982Z,1761514298.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587632 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:39.004Z,1761514299.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566853
2025-10-26T21:31:39.257Z,1761514299.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819202
2025-10-26T21:31:39.389Z,1761514299.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822465,-0.555295,-0.123287],[0.566976,0.817736,0.099226],[0.045717,-0.151510,0.987398]]
2025-10-26T21:31:39.426Z,1761514299.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:39.429Z,1761514299.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 146.723343 m,
      bearing: 30.387171 deg,
      approach rate: -0.653005 m/s,
      LOS rate: -0.017451 deg/s,
      cmd heading: 33.668813 deg,
      new cmd heading: 33.645329 deg.

2025-10-26T21:31:39.430Z,1761514299.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587222 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:39.509Z,1761514299.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071328
2025-10-26T21:31:39.750Z,1761514299.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820840,-0.557391,-0.124648],[0.569223,0.816292,0.098252],[0.046984,-0.151602,0.987324]]
2025-10-26T21:31:39.760Z,1761514299.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323012
2025-10-26T21:31:39.768Z,1761514299.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:39.770Z,1761514299.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:39.773Z,1761514299.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 146.498688 m,
      bearing: 30.380914 deg,
      approach rate: -0.652817 m/s,
      LOS rate: -0.018211 deg/s,
      cmd heading: 33.645327 deg,
      new cmd heading: 33.626527 deg.

2025-10-26T21:31:39.774Z,1761514299.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586894 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:40.012Z,1761514300.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574981
2025-10-26T21:31:40.156Z,1761514300.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820069,-0.558185,-0.126158],[0.570237,0.815599,0.098120],[0.048125,-0.152405,0.987146]]
2025-10-26T21:31:40.175Z,1761514300.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:40.177Z,1761514300.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 146.234131 m,
      bearing: 30.373392 deg,
      approach rate: -0.653879 m/s,
      LOS rate: -0.018625 deg/s,
      cmd heading: 33.626527 deg,
      new cmd heading: 33.603920 deg.

2025-10-26T21:31:40.178Z,1761514300.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586499 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:40.265Z,1761514300.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827187
2025-10-26T21:31:40.516Z,1761514300.516 [DAT](INFO): Reached modem response timeout
2025-10-26T21:31:40.516Z,1761514300.516 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:40.516Z,1761514300.516 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:31:40.559Z,1761514300.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820048,-0.557784,-0.128056],[0.570198,0.815463,0.099466],[0.048944,-0.154584,0.986767]]
2025-10-26T21:31:40.618Z,1761514300.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:40.625Z,1761514300.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 145.961746 m,
      bearing: 30.381507 deg,
      approach rate: -0.614028 m/s,
      LOS rate: 0.018327 deg/s,
      cmd heading: 33.603919 deg,
      new cmd heading: 33.628309 deg.

2025-10-26T21:31:40.626Z,1761514300.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586925 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:40.768Z,1761514300.768 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:40.962Z,1761514300.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820452,-0.556581,-0.130675],[0.569557,0.815561,0.102298],[0.049636,-0.158358,0.986133]]
2025-10-26T21:31:40.985Z,1761514300.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:40.988Z,1761514300.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 145.729385 m,
      bearing: 30.388525 deg,
      approach rate: -0.633039 m/s,
      LOS rate: 0.019152 deg/s,
      cmd heading: 33.628310 deg,
      new cmd heading: 33.649400 deg.

2025-10-26T21:31:40.989Z,1761514300.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587293 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:41.023Z,1761514301.023 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:41.272Z,1761514301.272 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:41.462Z,1761514301.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:41.465Z,1761514301.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 145.442291 m,
      bearing: 30.411489 deg,
      approach rate: -0.601871 m/s,
      LOS rate: 0.048237 deg/s,
      cmd heading: 33.649402 deg,
      new cmd heading: 33.718430 deg.

2025-10-26T21:31:41.466Z,1761514301.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588498 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:41.525Z,1761514301.525 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:41.773Z,1761514301.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822763,-0.552383,-0.133918],[0.566124,0.817412,0.106492],[0.050642,-0.163432,0.985254]]
2025-10-26T21:31:41.776Z,1761514301.776 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:41.798Z,1761514301.798 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:41.802Z,1761514301.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:41.807Z,1761514301.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 145.244690 m,
      bearing: 30.427669 deg,
      approach rate: -0.582062 m/s,
      LOS rate: 0.047723 deg/s,
      cmd heading: 33.718431 deg,
      new cmd heading: 33.767034 deg.

2025-10-26T21:31:41.824Z,1761514301.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589346 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:42.030Z,1761514302.030 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:42.176Z,1761514302.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824208,-0.549862,-0.135399],[0.563986,0.818583,0.108819],[0.051000,-0.166052,0.984797]]
2025-10-26T21:31:42.194Z,1761514302.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:42.196Z,1761514302.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 145.006332 m,
      bearing: 30.447488 deg,
      approach rate: -0.608236 m/s,
      LOS rate: 0.050659 deg/s,
      cmd heading: 33.767035 deg,
      new cmd heading: 33.826592 deg.

2025-10-26T21:31:42.197Z,1761514302.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590385 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:42.281Z,1761514302.281 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:42.532Z,1761514302.532 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:42.581Z,1761514302.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826271,-0.546754,-0.135409],[0.560990,0.820410,0.110534],[0.050655,-0.167294,0.984605]]
2025-10-26T21:31:42.617Z,1761514302.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:42.620Z,1761514302.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 144.755005 m,
      bearing: 30.478545 deg,
      approach rate: -0.593028 m/s,
      LOS rate: 0.073409 deg/s,
      cmd heading: 33.826590 deg,
      new cmd heading: 33.919923 deg.

2025-10-26T21:31:42.621Z,1761514302.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592014 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:42.786Z,1761514302.786 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:31:42.786Z,1761514302.786 [DAT](INFO): response not received
2025-10-26T21:31:42.788Z,1761514302.788 [DAT](INFO): DAT read: user:301>

2025-10-26T21:31:42.788Z,1761514302.788 [DAT](ERROR): No response from remote modem.
2025-10-26T21:31:42.789Z,1761514302.789 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:42.790Z,1761514302.790 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:31:42.982Z,1761514302.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828178,-0.543830,-0.135537],[0.558166,0.822181,0.111666],[0.050709,-0.168132,0.984459]]
2025-10-26T21:31:43.004Z,1761514303.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:43.007Z,1761514303.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 144.525864 m,
      bearing: 30.507294 deg,
      approach rate: -0.592583 m/s,
      LOS rate: 0.074464 deg/s,
      cmd heading: 33.919922 deg,
      new cmd heading: 34.006303 deg.

2025-10-26T21:31:43.008Z,1761514303.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593522 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:43.036Z,1761514303.036 [DAT](INFO): DAT read: Tx time:2114.0941

2025-10-26T21:31:43.037Z,1761514303.037 [DAT](INFO): unknown deviceResponse_: Tx time:2114.0941

2025-10-26T21:31:43.037Z,1761514303.037 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:43.289Z,1761514303.289 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:43.463Z,1761514303.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:43.465Z,1761514303.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 144.260590 m,
      bearing: 30.540695 deg,
      approach rate: -0.578653 m/s,
      LOS rate: 0.072994 deg/s,
      cmd heading: 34.006303 deg,
      new cmd heading: 34.106691 deg.

2025-10-26T21:31:43.466Z,1761514303.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595274 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:43.540Z,1761514303.540 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:43.793Z,1761514303.793 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:43.802Z,1761514303.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832283,-0.537181,-0.136896],[0.551964,0.825924,0.114830],[0.051381,-0.171133,0.983907]]
2025-10-26T21:31:43.850Z,1761514303.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:43.852Z,1761514303.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:43.854Z,1761514303.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 144.023407 m,
      bearing: 30.573564 deg,
      approach rate: -0.609679 m/s,
      LOS rate: 0.084628 deg/s,
      cmd heading: 34.106693 deg,
      new cmd heading: 34.205461 deg.

2025-10-26T21:31:43.855Z,1761514303.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.596998 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:44.047Z,1761514304.047 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:44.197Z,1761514304.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834127,-0.534146,-0.137551],[0.549133,0.827629,0.116119],[0.051816,-0.172392,0.983665]]
2025-10-26T21:31:44.216Z,1761514304.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:44.219Z,1761514304.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 143.807281 m,
      bearing: 30.603928 deg,
      approach rate: -0.592885 m/s,
      LOS rate: 0.083423 deg/s,
      cmd heading: 34.205461 deg,
      new cmd heading: 34.296691 deg.

2025-10-26T21:31:44.220Z,1761514304.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598590 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:44.299Z,1761514304.299 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:44.548Z,1761514304.548 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:44.598Z,1761514304.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836017,-0.531065,-0.138003],[0.546216,0.829396,0.117261],[0.052186,-0.173412,0.983466]]
2025-10-26T21:31:44.654Z,1761514304.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:44.656Z,1761514304.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 143.535568 m,
      bearing: 30.635339 deg,
      approach rate: -0.621005 m/s,
      LOS rate: 0.071926 deg/s,
      cmd heading: 34.296692 deg,
      new cmd heading: 34.391103 deg.

2025-10-26T21:31:44.657Z,1761514304.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600238 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:44.802Z,1761514304.802 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:45.002Z,1761514305.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837090,-0.529258,-0.138440],[0.544459,0.830657,0.116503],[0.053336,-0.172898,0.983495]]
2025-10-26T21:31:45.039Z,1761514305.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:45.042Z,1761514305.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 143.296112 m,
      bearing: 30.663351 deg,
      approach rate: -0.620951 m/s,
      LOS rate: 0.072760 deg/s,
      cmd heading: 34.391102 deg,
      new cmd heading: 34.475277 deg.

2025-10-26T21:31:45.043Z,1761514305.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.601707 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:45.052Z,1761514305.052 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:45.306Z,1761514305.306 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:45.410Z,1761514305.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837768,-0.528167,-0.138509],[0.543320,0.831574,0.115275],[0.054296,-0.171829,0.983629]]
2025-10-26T21:31:45.502Z,1761514305.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:45.505Z,1761514305.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 143.018967 m,
      bearing: 30.696081 deg,
      approach rate: -0.598900 m/s,
      LOS rate: 0.070865 deg/s,
      cmd heading: 34.475277 deg,
      new cmd heading: 34.573657 deg.

2025-10-26T21:31:45.506Z,1761514305.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603424 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:45.557Z,1761514305.557 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:45.809Z,1761514305.809 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:45.821Z,1761514305.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837942,-0.528042,-0.137930],[0.542962,0.832141,0.112845],[0.055190,-0.169448,0.983993]]
2025-10-26T21:31:45.869Z,1761514305.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:45.871Z,1761514305.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:45.874Z,1761514305.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 142.787292 m,
      bearing: 30.717631 deg,
      approach rate: -0.627519 m/s,
      LOS rate: 0.058465 deg/s,
      cmd heading: 34.573656 deg,
      new cmd heading: 34.638410 deg.

2025-10-26T21:31:45.875Z,1761514305.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604554 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:46.060Z,1761514306.060 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:46.218Z,1761514306.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837331,-0.529406,-0.136402],[0.543785,0.832246,0.108003],[0.056343,-0.164607,0.984749]]
2025-10-26T21:31:46.248Z,1761514306.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:46.250Z,1761514306.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 142.560028 m,
      bearing: 30.738824 deg,
      approach rate: -0.604054 m/s,
      LOS rate: 0.056421 deg/s,
      cmd heading: 34.638410 deg,
      new cmd heading: 34.702091 deg.

2025-10-26T21:31:46.251Z,1761514306.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605666 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:46.312Z,1761514306.312 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:46.564Z,1761514306.564 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:46.623Z,1761514306.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836553,-0.531215,-0.134125],[0.544870,0.832286,0.102063],[0.057413,-0.158461,0.985695]]
2025-10-26T21:31:46.679Z,1761514306.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:46.685Z,1761514306.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 142.295273 m,
      bearing: 30.751260 deg,
      approach rate: -0.614019 m/s,
      LOS rate: 0.028896 deg/s,
      cmd heading: 34.702091 deg,
      new cmd heading: 34.739470 deg.

2025-10-26T21:31:46.686Z,1761514306.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606318 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:46.816Z,1761514306.816 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:47.068Z,1761514307.068 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:47.160Z,1761514307.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833761,-0.536041,-0.132294],[0.548838,0.830761,0.092803],[0.060159,-0.149983,0.986857]]
2025-10-26T21:31:47.178Z,1761514307.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:47.181Z,1761514307.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 141.960709 m,
      bearing: 30.766520 deg,
      approach rate: -0.670361 m/s,
      LOS rate: 0.030647 deg/s,
      cmd heading: 34.739469 deg,
      new cmd heading: 34.785355 deg.

2025-10-26T21:31:47.182Z,1761514307.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607119 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:47.320Z,1761514307.320 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:47.559Z,1761514307.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832018,-0.538688,-0.132518],[0.551372,0.829329,0.090570],[0.061112,-0.148423,0.987034]]
2025-10-26T21:31:47.572Z,1761514307.572 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:47.610Z,1761514307.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:47.613Z,1761514307.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 141.672455 m,
      bearing: 30.766894 deg,
      approach rate: -0.666455 m/s,
      LOS rate: 0.000866 deg/s,
      cmd heading: 34.785354 deg,
      new cmd heading: 34.786478 deg.

2025-10-26T21:31:47.614Z,1761514307.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607139 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:47.825Z,1761514307.825 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:47.977Z,1761514307.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830347,-0.541546,-0.131343],[0.553807,0.828119,0.086698],[0.061816,-0.144728,0.987539]]
2025-10-26T21:31:47.993Z,1761514307.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:47.995Z,1761514307.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:47.998Z,1761514307.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 141.416016 m,
      bearing: 30.766948 deg,
      approach rate: -0.666266 m/s,
      LOS rate: 0.000142 deg/s,
      cmd heading: 34.786478 deg,
      new cmd heading: 34.786642 deg.

2025-10-26T21:31:47.999Z,1761514307.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607141 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:48.077Z,1761514308.077 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:48.328Z,1761514308.328 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:48.412Z,1761514308.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:48.415Z,1761514308.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 141.137573 m,
      bearing: 30.767008 deg,
      approach rate: -0.667449 m/s,
      LOS rate: 0.000143 deg/s,
      cmd heading: 34.786642 deg,
      new cmd heading: 34.786821 deg.

2025-10-26T21:31:48.416Z,1761514308.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607145 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:48.580Z,1761514308.580 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:48.808Z,1761514308.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826986,-0.547527,-0.127700],[0.558738,0.825628,0.078422],[0.062495,-0.136205,0.988708]]
2025-10-26T21:31:48.832Z,1761514308.832 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:48.852Z,1761514308.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:48.855Z,1761514308.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 140.843811 m,
      bearing: 30.755416 deg,
      approach rate: -0.667743 m/s,
      LOS rate: -0.026402 deg/s,
      cmd heading: 34.786819 deg,
      new cmd heading: 34.751973 deg.

2025-10-26T21:31:48.856Z,1761514308.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606536 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:49.085Z,1761514309.085 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:49.186Z,1761514309.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825246,-0.550078,-0.127996],[0.561306,0.823912,0.078132],[0.062479,-0.136323,0.988692]]
2025-10-26T21:31:49.220Z,1761514309.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:49.223Z,1761514309.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 140.608658 m,
      bearing: 30.745802 deg,
      approach rate: -0.639017 m/s,
      LOS rate: -0.026171 deg/s,
      cmd heading: 34.751972 deg,
      new cmd heading: 34.723080 deg.

2025-10-26T21:31:49.228Z,1761514309.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606032 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:49.336Z,1761514309.336 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:49.589Z,1761514309.589 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:49.754Z,1761514309.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:49.759Z,1761514309.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 140.246078 m,
      bearing: 30.724771 deg,
      approach rate: -0.679167 m/s,
      LOS rate: -0.039497 deg/s,
      cmd heading: 34.723080 deg,
      new cmd heading: 34.659823 deg.

2025-10-26T21:31:49.760Z,1761514309.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604928 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:49.841Z,1761514309.841 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:50.091Z,1761514310.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822383,-0.553585,-0.131261],[0.565560,0.820539,0.082807],[0.061864,-0.142335,0.987883]]
2025-10-26T21:31:50.092Z,1761514310.092 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:50.109Z,1761514310.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:50.111Z,1761514310.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:50.113Z,1761514310.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 140.011124 m,
      bearing: 30.710586 deg,
      approach rate: -0.658805 m/s,
      LOS rate: -0.039841 deg/s,
      cmd heading: 34.659822 deg,
      new cmd heading: 34.617196 deg.

2025-10-26T21:31:50.114Z,1761514310.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604184 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:50.344Z,1761514310.344 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:50.593Z,1761514310.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821095,-0.555105,-0.132898],[0.567537,0.818803,0.086385],[0.060865,-0.146355,0.987358]]
2025-10-26T21:31:50.596Z,1761514310.596 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:50.639Z,1761514310.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:50.641Z,1761514310.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 139.670898 m,
      bearing: 30.689847 deg,
      approach rate: -0.644481 m/s,
      LOS rate: -0.039381 deg/s,
      cmd heading: 34.617195 deg,
      new cmd heading: 34.554827 deg.

2025-10-26T21:31:50.642Z,1761514310.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603095 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:50.848Z,1761514310.848 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:50.994Z,1761514310.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819876,-0.556635,-0.134017],[0.569455,0.817073,0.090068],[0.059366,-0.150161,0.986878]]
2025-10-26T21:31:51.012Z,1761514311.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:51.015Z,1761514311.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 139.430420 m,
      bearing: 30.674910 deg,
      approach rate: -0.643872 m/s,
      LOS rate: -0.040060 deg/s,
      cmd heading: 34.554825 deg,
      new cmd heading: 34.509939 deg.

2025-10-26T21:31:51.016Z,1761514311.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602312 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:51.104Z,1761514311.104 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:51.352Z,1761514311.352 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:51.363Z,1761514311.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819056,-0.557696,-0.134617],[0.570822,0.815704,0.093753],[0.057522,-0.153631,0.986453]]
2025-10-26T21:31:51.414Z,1761514311.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:51.421Z,1761514311.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 139.174469 m,
      bearing: 30.658798 deg,
      approach rate: -0.636526 m/s,
      LOS rate: -0.040144 deg/s,
      cmd heading: 34.509941 deg,
      new cmd heading: 34.461514 deg.

2025-10-26T21:31:51.422Z,1761514311.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.601467 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:51.484Z,1761514311.484 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:31:51.604Z,1761514311.604 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:51.790Z,1761514311.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818212,-0.559185,-0.133567],[0.572173,0.814694,0.094294],[0.056089,-0.153576,0.986544]]
2025-10-26T21:31:51.831Z,1761514311.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:51.857Z,1761514311.857 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:51.864Z,1761514311.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 138.915344 m,
      bearing: 30.647657 deg,
      approach rate: -0.621780 m/s,
      LOS rate: -0.026782 deg/s,
      cmd heading: 34.461515 deg,
      new cmd heading: 34.428031 deg.

2025-10-26T21:31:51.865Z,1761514311.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600882 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:52.109Z,1761514312.109 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:52.178Z,1761514312.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817668,-0.560255,-0.132414],[0.573091,0.813986,0.094839],[0.054649,-0.153432,0.986647]]
2025-10-26T21:31:52.214Z,1761514312.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:52.216Z,1761514312.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:52.219Z,1761514312.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 138.679306 m,
      bearing: 30.637367 deg,
      approach rate: -0.612894 m/s,
      LOS rate: -0.026764 deg/s,
      cmd heading: 34.428030 deg,
      new cmd heading: 34.397107 deg.

2025-10-26T21:31:52.220Z,1761514312.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600343 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:52.360Z,1761514312.360 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:52.488Z,1761514312.488 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:31:52.613Z,1761514312.613 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:52.631Z,1761514312.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817536,-0.560829,-0.130791],[0.573412,0.813756,0.094864],[0.053229,-0.152552,0.986861]]
2025-10-26T21:31:52.675Z,1761514312.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:52.677Z,1761514312.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 138.391602 m,
      bearing: 30.634132 deg,
      approach rate: -0.627478 m/s,
      LOS rate: -0.007072 deg/s,
      cmd heading: 34.397106 deg,
      new cmd heading: 34.387378 deg.

2025-10-26T21:31:52.678Z,1761514312.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600173 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:52.864Z,1761514312.864 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:53.030Z,1761514313.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817722,-0.560932,-0.129171],[0.573329,0.813677,0.096040],[0.051231,-0.152591,0.986961]]
2025-10-26T21:31:53.054Z,1761514313.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:53.057Z,1761514313.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 138.153671 m,
      bearing: 30.631463 deg,
      approach rate: -0.626847 m/s,
      LOS rate: -0.007044 deg/s,
      cmd heading: 34.387380 deg,
      new cmd heading: 34.379359 deg.

2025-10-26T21:31:53.058Z,1761514313.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600033 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:53.117Z,1761514313.117 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:53.368Z,1761514313.368 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:53.420Z,1761514313.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817954,-0.560805,-0.128257],[0.573161,0.813561,0.098006],[0.049383,-0.153676,0.986886]]
2025-10-26T21:31:53.444Z,1761514313.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:53.447Z,1761514313.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 137.909241 m,
      bearing: 30.628742 deg,
      approach rate: -0.626808 m/s,
      LOS rate: -0.006990 deg/s,
      cmd heading: 34.379358 deg,
      new cmd heading: 34.371180 deg.

2025-10-26T21:31:53.448Z,1761514313.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599890 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:53.620Z,1761514313.620 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:53.819Z,1761514313.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818208,-0.560484,-0.128040],[0.572938,0.813396,0.100643],[0.047738,-0.155706,0.986649]]
2025-10-26T21:31:53.855Z,1761514313.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:53.858Z,1761514313.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 137.658997 m,
      bearing: 30.631157 deg,
      approach rate: -0.608890 m/s,
      LOS rate: 0.005888 deg/s,
      cmd heading: 34.371182 deg,
      new cmd heading: 34.378441 deg.

2025-10-26T21:31:53.859Z,1761514313.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600017 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:53.873Z,1761514313.873 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:54.124Z,1761514314.124 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:54.250Z,1761514314.250 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:54.252Z,1761514314.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:54.254Z,1761514314.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 137.417587 m,
      bearing: 30.633495 deg,
      approach rate: -0.608248 m/s,
      LOS rate: 0.005902 deg/s,
      cmd heading: 34.378442 deg,
      new cmd heading: 34.385469 deg.

2025-10-26T21:31:54.256Z,1761514314.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600140 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:54.376Z,1761514314.376 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:54.629Z,1761514314.629 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:54.708Z,1761514314.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:54.712Z,1761514314.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 137.140137 m,
      bearing: 30.643262 deg,
      approach rate: -0.609345 m/s,
      LOS rate: 0.021492 deg/s,
      cmd heading: 34.385471 deg,
      new cmd heading: 34.414829 deg.

2025-10-26T21:31:54.713Z,1761514314.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600652 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:54.880Z,1761514314.880 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:55.032Z,1761514315.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818548,-0.560764,-0.124591],[0.572882,0.812852,0.105253],[0.042251,-0.157531,0.986610]]
2025-10-26T21:31:55.050Z,1761514315.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:55.053Z,1761514315.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 136.923691 m,
      bearing: 30.650919 deg,
      approach rate: -0.631060 m/s,
      LOS rate: 0.022360 deg/s,
      cmd heading: 34.414830 deg,
      new cmd heading: 34.437838 deg.

2025-10-26T21:31:55.054Z,1761514315.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.601054 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:55.134Z,1761514315.134 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:31:55.384Z,1761514315.384 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:31:55.385Z,1761514315.385 [DAT](INFO): response not received
2025-10-26T21:31:55.385Z,1761514315.385 [DAT](INFO): DAT read: user:302>

2025-10-26T21:31:55.386Z,1761514315.386 [DAT](INFO): DAT read: Tx time:21:31:54.5441

2025-10-26T21:31:55.386Z,1761514315.386 [DAT](INFO): Ping request sent.
2025-10-26T21:31:55.386Z,1761514315.386 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:31:55.386Z,1761514315.386 [DAT](INFO): publishing transmit ping time
2025-10-26T21:31:55.387Z,1761514315.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-10-26T21:31:55.453Z,1761514315.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818491,-0.561384,-0.122150],[0.573084,0.812801,0.104541],[0.040595,-0.155568,0.986991]]
2025-10-26T21:31:55.478Z,1761514315.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:55.480Z,1761514315.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 136.659851 m,
      bearing: 30.660267 deg,
      approach rate: -0.617500 m/s,
      LOS rate: 0.021923 deg/s,
      cmd heading: 34.437838 deg,
      new cmd heading: 34.465938 deg.

2025-10-26T21:31:55.481Z,1761514315.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.601544 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:55.637Z,1761514315.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250538
2025-10-26T21:31:55.888Z,1761514315.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502275
2025-10-26T21:31:55.892Z,1761514315.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:55.895Z,1761514315.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 136.413635 m,
      bearing: 30.672042 deg,
      approach rate: -0.595347 m/s,
      LOS rate: 0.028522 deg/s,
      cmd heading: 34.465937 deg,
      new cmd heading: 34.501324 deg.

2025-10-26T21:31:55.896Z,1761514315.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602162 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:56.141Z,1761514316.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754357
2025-10-26T21:31:56.242Z,1761514316.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818474,-0.562685,-0.116129],[0.573308,0.813105,0.100884],[0.037659,-0.149149,0.988097]]
2025-10-26T21:31:56.280Z,1761514316.280 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:56.288Z,1761514316.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:56.297Z,1761514316.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 136.190369 m,
      bearing: 30.682768 deg,
      approach rate: -0.569957 m/s,
      LOS rate: 0.027426 deg/s,
      cmd heading: 34.501324 deg,
      new cmd heading: 34.533554 deg.

2025-10-26T21:31:56.298Z,1761514316.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602724 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:56.392Z,1761514316.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006175
2025-10-26T21:31:56.647Z,1761514316.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260371
2025-10-26T21:31:56.677Z,1761514316.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818537,-0.563029,-0.113995],[0.573281,0.813295,0.099500],[0.036690,-0.146796,0.988486]]
2025-10-26T21:31:56.745Z,1761514316.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:56.752Z,1761514316.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 135.909119 m,
      bearing: 30.696950 deg,
      approach rate: -0.608607 m/s,
      LOS rate: 0.030753 deg/s,
      cmd heading: 34.533553 deg,
      new cmd heading: 34.576187 deg.

2025-10-26T21:31:56.753Z,1761514316.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603468 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:56.896Z,1761514316.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510044
2025-10-26T21:31:57.124Z,1761514317.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:57.127Z,1761514317.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 135.663940 m,
      bearing: 30.709361 deg,
      approach rate: -0.646010 m/s,
      LOS rate: 0.032760 deg/s,
      cmd heading: 34.576187 deg,
      new cmd heading: 34.613487 deg.

2025-10-26T21:31:57.128Z,1761514317.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604119 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:57.148Z,1761514317.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762258
2025-10-26T21:31:57.401Z,1761514317.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014617
2025-10-26T21:31:57.488Z,1761514317.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817976,-0.564257,-0.111934],[0.574137,0.812895,0.097814],[0.035798,-0.144275,0.988890]]
2025-10-26T21:31:57.512Z,1761514317.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:57.514Z,1761514317.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 135.431137 m,
      bearing: 30.721100 deg,
      approach rate: -0.601693 m/s,
      LOS rate: 0.030393 deg/s,
      cmd heading: 34.613486 deg,
      new cmd heading: 34.648765 deg.

2025-10-26T21:31:57.515Z,1761514317.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604735 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:57.655Z,1761514317.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268379
2025-10-26T21:31:57.892Z,1761514317.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817947,-0.564197,-0.112446],[0.574198,0.812696,0.099104],[0.035470,-0.145629,0.988703]]
2025-10-26T21:31:57.909Z,1761514317.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522243
2025-10-26T21:31:57.936Z,1761514317.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:57.939Z,1761514317.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 135.163635 m,
      bearing: 30.733210 deg,
      approach rate: -0.629804 m/s,
      LOS rate: 0.028568 deg/s,
      cmd heading: 34.648764 deg,
      new cmd heading: 34.685166 deg.

2025-10-26T21:31:57.960Z,1761514317.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605370 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:58.159Z,1761514318.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773162
2025-10-26T21:31:58.300Z,1761514318.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818038,-0.563784,-0.113850],[0.574097,0.812416,0.101942],[0.035020,-0.148754,0.988254]]
2025-10-26T21:31:58.329Z,1761514318.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:31:58.331Z,1761514318.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:58.334Z,1761514318.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 134.917892 m,
      bearing: 30.744371 deg,
      approach rate: -0.622383 m/s,
      LOS rate: 0.028318 deg/s,
      cmd heading: 34.685166 deg,
      new cmd heading: 34.718709 deg.

2025-10-26T21:31:58.335Z,1761514318.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605956 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:58.409Z,1761514318.409 [DAT](INFO): DAT read: Rx Time:21:31:57.0974

2025-10-26T21:31:58.409Z,1761514318.409 [DAT](INFO): Rx dataTimestamp_ set to:1761514318.408787
2025-10-26T21:31:58.410Z,1761514318.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023407
2025-10-26T21:31:58.663Z,1761514318.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276651
2025-10-26T21:31:58.716Z,1761514318.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818253,-0.563458,-0.113913],[0.573828,0.812444,0.103223],[0.034386,-0.149829,0.988114]]
2025-10-26T21:31:58.845Z,1761514318.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.31 m.
2025-10-26T21:31:58.847Z,1761514318.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.314819 m,
      nav range: 134.598724 m,
      bearing: 30.755107 deg,
      approach rate: -0.621290 m/s,
      LOS rate: 0.020948 deg/s,
      cmd heading: 34.718709 deg,
      new cmd heading: 34.750993 deg.

2025-10-26T21:31:58.848Z,1761514318.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606519 target range: 157.314819 and range: 158.30 m.
2025-10-26T21:31:58.918Z,1761514318.918 [DAT](INFO): DAT read: 21:31:57.0974 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 260,-0.12,-2.574, 2.232,-2.155,-2.627, PHS= 0.155,-1.379, 0.428, RAW= 158.1,   9.5, CAL= 157.9,  10.1, ROT= 352.1, -10.1

2025-10-26T21:31:58.919Z,1761514318.919 [DAT](INFO): got valid direction response:
 21:31:57.0974 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 260,-0.12,-2.574, 2.232,-2.155,-2.627, PHS= 0.155,-1.379, 0.428, RAW= 158.1,   9.5, CAL= 157.9,  10.1, ROT= 352.1, -10.1

2025-10-26T21:31:58.920Z,1761514318.920 [DAT](INFO): DAT read: Bearing 191.6,  -7.0 (Local)

2025-10-26T21:31:58.920Z,1761514318.920 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.6,  -7.0 (Local)

2025-10-26T21:31:58.922Z,1761514318.922 [DAT](INFO): DAT read: Range 11 to 50 : 111.9 m  (Round-trip  149.2 ms) speed  0.4 m/s

2025-10-26T21:31:58.922Z,1761514318.922 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:31:58.923Z,1761514318.923 [DAT](INFO): direction in FSK: [0.975160,-0.135315,0.175367]
2025-10-26T21:31:58.924Z,1761514318.924 [DAT](INFO): publishing direction and range info
2025-10-26T21:31:58.927Z,1761514318.927 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:31:58.927Z,1761514318.927 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:31:58.927Z,1761514318.927 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:31:59.157Z,1761514319.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818275,-0.564670,-0.107576],[0.573938,0.812975,0.098317],[0.031940,-0.142192,0.989324]]
2025-10-26T21:31:59.164Z,1761514319.164 [DAT](INFO): DAT read: user:303>

2025-10-26T21:31:59.165Z,1761514319.165 [DAT](INFO): DAT read: Tx time:21:31:58.2941

2025-10-26T21:31:59.165Z,1761514319.165 [DAT](INFO): Ping request sent.
2025-10-26T21:31:59.165Z,1761514319.165 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:31:59.166Z,1761514319.166 [DAT](INFO): publishing transmit ping time
2025-10-26T21:31:59.166Z,1761514319.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726
2025-10-26T21:31:59.220Z,1761514319.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 111.900002 m,
      deltaT: 28.726031 s,
      deltaX: -46.400002 m,
      approachRate: -1.615260 m/s,
      rangeRepo size: 4

2025-10-26T21:31:59.222Z,1761514319.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 111.203461 m,
      bearing: 28.625087 deg,
      lat: 36.779558 deg,
      lon: -121.859268 deg,
      deltaT: 28.726031 s,
      deltaX: -46.111359 m,
      approachRate: -1.605212 m/s,
      posRepo size: 4

2025-10-26T21:31:59.223Z,1761514319.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m.
2025-10-26T21:31:59.234Z,1761514319.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.203461 m,
      nav range: 134.383820 m,
      bearing: 30.762396 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.020948 deg/s,
      cmd heading: 34.750992 deg,
      new cmd heading: 34.773779 deg.

2025-10-26T21:31:59.235Z,1761514319.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606917 target range: 111.203461 and range: 111.90 m.
2025-10-26T21:31:59.416Z,1761514319.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250927
2025-10-26T21:31:59.592Z,1761514319.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m.
2025-10-26T21:31:59.595Z,1761514319.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.203461 m,
      nav range: 134.134354 m,
      bearing: 30.770886 deg,
      approach rate: -0.647716 m/s,
      LOS rate: 0.022087 deg/s,
      cmd heading: 34.773781 deg,
      new cmd heading: 34.799300 deg.

2025-10-26T21:31:59.596Z,1761514319.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607362 target range: 111.203461 and range: 111.90 m.
2025-10-26T21:31:59.671Z,1761514319.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505251
2025-10-26T21:31:59.921Z,1761514319.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755419
2025-10-26T21:31:59.971Z,1761514319.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817668,-0.566099,-0.104642],[0.574967,0.812140,0.099204],[0.028825,-0.141281,0.989550]]
2025-10-26T21:32:00.020Z,1761514320.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m.
2025-10-26T21:32:00.022Z,1761514320.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.203461 m,
      nav range: 133.858871 m,
      bearing: 30.778525 deg,
      approach rate: -0.644962 m/s,
      LOS rate: 0.017920 deg/s,
      cmd heading: 34.799302 deg,
      new cmd heading: 34.822263 deg.

2025-10-26T21:32:00.024Z,1761514320.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607763 target range: 111.203461 and range: 111.90 m.
2025-10-26T21:32:00.173Z,1761514320.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007147
2025-10-26T21:32:00.373Z,1761514320.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817259,-0.566694,-0.104623],[0.575619,0.811401,0.101442],[0.027404,-0.143128,0.989325]]
2025-10-26T21:32:00.390Z,1761514320.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:00.393Z,1761514320.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m.
2025-10-26T21:32:00.396Z,1761514320.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.203461 m,
      nav range: 133.618378 m,
      bearing: 30.785131 deg,
      approach rate: -0.643487 m/s,
      LOS rate: 0.017708 deg/s,
      cmd heading: 34.822265 deg,
      new cmd heading: 34.842118 deg.

2025-10-26T21:32:00.397Z,1761514320.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.608110 target range: 111.203461 and range: 111.90 m.
2025-10-26T21:32:00.424Z,1761514320.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259003
2025-10-26T21:32:00.680Z,1761514320.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513348
2025-10-26T21:32:00.835Z,1761514320.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m.
2025-10-26T21:32:00.838Z,1761514320.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.203461 m,
      nav range: 133.338455 m,
      bearing: 30.787990 deg,
      approach rate: -0.633419 m/s,
      LOS rate: 0.006484 deg/s,
      cmd heading: 34.842120 deg,
      new cmd heading: 34.850716 deg.

2025-10-26T21:32:00.839Z,1761514320.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.608260 target range: 111.203461 and range: 111.90 m.
2025-10-26T21:32:00.930Z,1761514320.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764290
2025-10-26T21:32:01.180Z,1761514321.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014930
2025-10-26T21:32:01.189Z,1761514321.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816839,-0.566869,-0.106925],[0.576376,0.809640,0.110787],[0.023769,-0.152124,0.988076]]
2025-10-26T21:32:01.215Z,1761514321.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m.
2025-10-26T21:32:01.218Z,1761514321.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.203461 m,
      nav range: 133.098450 m,
      bearing: 30.790324 deg,
      approach rate: -0.632322 m/s,
      LOS rate: 0.006159 deg/s,
      cmd heading: 34.850716 deg,
      new cmd heading: 34.857730 deg.

2025-10-26T21:32:01.218Z,1761514321.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.608382 target range: 111.203461 and range: 111.90 m.
2025-10-26T21:32:01.432Z,1761514321.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266860
2025-10-26T21:32:01.582Z,1761514321.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816461,-0.567370,-0.107154],[0.576980,0.808774,0.113927],[0.022024,-0.154843,0.987694]]
2025-10-26T21:32:01.616Z,1761514321.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m.
2025-10-26T21:32:01.619Z,1761514321.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.203461 m,
      nav range: 132.854630 m,
      bearing: 30.792616 deg,
      approach rate: -0.607025 m/s,
      LOS rate: 0.005717 deg/s,
      cmd heading: 34.857730 deg,
      new cmd heading: 34.864619 deg.

2025-10-26T21:32:01.620Z,1761514321.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.608502 target range: 111.203461 and range: 111.90 m.
2025-10-26T21:32:01.688Z,1761514321.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522386
2025-10-26T21:32:01.936Z,1761514321.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771022
2025-10-26T21:32:01.987Z,1761514321.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816299,-0.567996,-0.105051],[0.577275,0.808561,0.113939],[0.020224,-0.153652,0.987918]]
2025-10-26T21:32:02.042Z,1761514322.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m.
2025-10-26T21:32:02.045Z,1761514322.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.203461 m,
      nav range: 132.577042 m,
      bearing: 30.793495 deg,
      approach rate: -0.652273 m/s,
      LOS rate: 0.002070 deg/s,
      cmd heading: 34.864619 deg,
      new cmd heading: 34.867262 deg.

2025-10-26T21:32:02.046Z,1761514322.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.608549 target range: 111.203461 and range: 111.90 m.
2025-10-26T21:32:02.188Z,1761514322.188 [DAT](INFO): DAT read: Rx Time:21:32:00.8443

2025-10-26T21:32:02.189Z,1761514322.189 [DAT](INFO): Rx dataTimestamp_ set to:1761514322.188666
2025-10-26T21:32:02.189Z,1761514322.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024091
2025-10-26T21:32:02.393Z,1761514322.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815931,-0.568900,-0.103003],[0.577851,0.808184,0.113692],[0.018566,-0.152286,0.988162]]
2025-10-26T21:32:02.410Z,1761514322.410 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:02.412Z,1761514322.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m.
2025-10-26T21:32:02.414Z,1761514322.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.203461 m,
      nav range: 132.344849 m,
      bearing: 30.794168 deg,
      approach rate: -0.628190 m/s,
      LOS rate: 0.001824 deg/s,
      cmd heading: 34.867262 deg,
      new cmd heading: 34.869285 deg.

2025-10-26T21:32:02.416Z,1761514322.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.608584 target range: 111.203461 and range: 111.90 m.
2025-10-26T21:32:02.440Z,1761514322.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275055
2025-10-26T21:32:02.728Z,1761514322.728 [DAT](INFO): DAT read: 21:32:00.8443 LVL= 32752, 32753, 30834, 32755, AGC= 73, IDX= 405, 0.28,-0.185,-1.698, 0.260,-0.275, PHS= 0.192,-1.377, 0.491, RAW= 158.6,   8.0, CAL= 158.1,   8.3, ROT= 351.9,  -8.3

2025-10-26T21:32:02.740Z,1761514322.740 [DAT](INFO): got valid direction response:
 21:32:00.8443 LVL= 32752, 32753, 30834, 32755, AGC= 73, IDX= 405, 0.28,-0.185,-1.698, 0.260,-0.275, PHS= 0.192,-1.377, 0.491, RAW= 158.6,   8.0, CAL= 158.1,   8.3, ROT= 351.9,  -8.3

2025-10-26T21:32:02.776Z,1761514322.776 [DAT](INFO): DAT read: Bearing 189.4,  -7.7 (Local)

2025-10-26T21:32:02.777Z,1761514322.777 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.4,  -7.7 (Local)

2025-10-26T21:32:02.795Z,1761514322.795 [DAT](INFO): DAT read: Range 11 to 50 : 109.5 m  (Round-trip  146.1 ms) speed  0.4 m/s

2025-10-26T21:32:02.796Z,1761514322.796 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:32:02.797Z,1761514322.797 [DAT](INFO): direction in FSK: [0.979654,-0.139425,0.144356]
2025-10-26T21:32:02.797Z,1761514322.797 [DAT](INFO): publishing direction and range info
2025-10-26T21:32:02.821Z,1761514322.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815274,-0.570204,-0.100970],[0.578822,0.807590,0.112973],[0.017125,-0.150548,0.988454]]
2025-10-26T21:32:02.833Z,1761514322.833 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:32:02.833Z,1761514322.833 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:32:02.833Z,1761514322.833 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:32:02.917Z,1761514322.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 109.500000 m,
      deltaT: 3.781576 s,
      deltaX: -2.400002 m,
      approachRate: -0.634656 m/s,
      rangeRepo size: 4

2025-10-26T21:32:02.919Z,1761514322.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 108.819481 m,
      bearing: 28.594805 deg,
      lat: 36.779390 deg,
      lon: -121.859452 deg,
      deltaT: 3.781576 s,
      deltaX: -2.383980 m,
      approachRate: -0.630420 m/s,
      posRepo size: 4

2025-10-26T21:32:02.924Z,1761514322.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.82 m.
2025-10-26T21:32:02.927Z,1761514322.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.819481 m,
      nav range: 107.747299 m,
      bearing: 28.387616 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001824 deg/s,
      cmd heading: 34.869284 deg,
      new cmd heading: 34.872046 deg.

2025-10-26T21:32:02.932Z,1761514322.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.608632 target range: 108.819481 and range: 109.50 m.
2025-10-26T21:32:02.944Z,1761514322.944 [DAT](INFO): DAT read: user:304>

2025-10-26T21:32:02.945Z,1761514322.945 [DAT](INFO): DAT read: Tx time:21:32:02.1940

2025-10-26T21:32:02.945Z,1761514322.945 [DAT](INFO): Ping request sent.
2025-10-26T21:32:02.945Z,1761514322.945 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:32:02.946Z,1761514322.946 [DAT](INFO): publishing transmit ping time
2025-10-26T21:32:02.946Z,1761514322.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726
2025-10-26T21:32:03.197Z,1761514323.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251175
2025-10-26T21:32:03.224Z,1761514323.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814823,-0.571202,-0.098954],[0.579495,0.807208,0.112249],[0.015760,-0.148807,0.988741]]
2025-10-26T21:32:03.265Z,1761514323.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.82 m.
2025-10-26T21:32:03.274Z,1761514323.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.819481 m,
      nav range: 107.530579 m,
      bearing: 28.380840 deg,
      approach rate: -0.622510 m/s,
      LOS rate: -0.019503 deg/s,
      cmd heading: 34.872046 deg,
      new cmd heading: 34.851677 deg.

2025-10-26T21:32:03.280Z,1761514323.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.608276 target range: 108.819481 and range: 109.50 m.
2025-10-26T21:32:03.448Z,1761514323.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502882
2025-10-26T21:32:03.678Z,1761514323.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.82 m.
2025-10-26T21:32:03.685Z,1761514323.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.819481 m,
      nav range: 107.258141 m,
      bearing: 28.372282 deg,
      approach rate: -0.658281 m/s,
      LOS rate: -0.020730 deg/s,
      cmd heading: 34.851675 deg,
      new cmd heading: 34.825938 deg.

2025-10-26T21:32:03.689Z,1761514323.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607827 target range: 108.819481 and range: 109.50 m.
2025-10-26T21:32:03.704Z,1761514323.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757419
2025-10-26T21:32:03.953Z,1761514323.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007292
2025-10-26T21:32:04.055Z,1761514324.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814272,-0.572482,-0.096051],[0.580332,0.806619,0.112161],[0.013266,-0.147071,0.989037]]
2025-10-26T21:32:04.116Z,1761514324.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.82 m.
2025-10-26T21:32:04.118Z,1761514324.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.819481 m,
      nav range: 107.000687 m,
      bearing: 28.361254 deg,
      approach rate: -0.594645 m/s,
      LOS rate: -0.025534 deg/s,
      cmd heading: 34.825939 deg,
      new cmd heading: 34.792775 deg.

2025-10-26T21:32:04.119Z,1761514324.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607248 target range: 108.819481 and range: 109.50 m.
2025-10-26T21:32:04.205Z,1761514324.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259550
2025-10-26T21:32:04.456Z,1761514324.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510861
2025-10-26T21:32:04.460Z,1761514324.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814104,-0.572865,-0.095182],[0.580587,0.806403,0.112396],[0.012368,-0.146763,0.989094]]
2025-10-26T21:32:04.504Z,1761514324.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:04.506Z,1761514324.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.82 m.
2025-10-26T21:32:04.517Z,1761514324.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.819481 m,
      nav range: 106.759613 m,
      bearing: 28.350840 deg,
      approach rate: -0.611049 m/s,
      LOS rate: -0.026456 deg/s,
      cmd heading: 34.792775 deg,
      new cmd heading: 34.761463 deg.

2025-10-26T21:32:04.518Z,1761514324.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606702 target range: 108.819481 and range: 109.50 m.
2025-10-26T21:32:04.709Z,1761514324.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763243
2025-10-26T21:32:04.862Z,1761514324.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813892,-0.573221,-0.094850],[0.580905,0.806005,0.113597],[0.011334,-0.147555,0.988989]]
2025-10-26T21:32:04.912Z,1761514324.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.82 m.
2025-10-26T21:32:04.915Z,1761514324.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.819481 m,
      nav range: 106.485252 m,
      bearing: 28.334667 deg,
      approach rate: -0.675388 m/s,
      LOS rate: -0.039914 deg/s,
      cmd heading: 34.761462 deg,
      new cmd heading: 34.712820 deg.

2025-10-26T21:32:04.916Z,1761514324.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605853 target range: 108.819481 and range: 109.50 m.
2025-10-26T21:32:04.961Z,1761514324.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015617
2025-10-26T21:32:05.216Z,1761514325.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270757
2025-10-26T21:32:05.278Z,1761514325.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814063,-0.572999,-0.094731],[0.580686,0.805921,0.115303],[0.010277,-0.148873,0.988803]]
2025-10-26T21:32:05.299Z,1761514325.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.82 m.
2025-10-26T21:32:05.301Z,1761514325.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.819481 m,
      nav range: 106.240791 m,
      bearing: 28.320222 deg,
      approach rate: -0.632378 m/s,
      LOS rate: -0.037454 deg/s,
      cmd heading: 34.712821 deg,
      new cmd heading: 34.669385 deg.

2025-10-26T21:32:05.302Z,1761514325.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605095 target range: 108.819481 and range: 109.50 m.
2025-10-26T21:32:05.465Z,1761514325.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519090
2025-10-26T21:32:05.671Z,1761514325.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814312,-0.572714,-0.094312],[0.580353,0.805998,0.116438],[0.009329,-0.149551,0.988710]]
2025-10-26T21:32:05.692Z,1761514325.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.82 m.
2025-10-26T21:32:05.700Z,1761514325.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.819481 m,
      nav range: 105.992035 m,
      bearing: 28.305509 deg,
      approach rate: -0.632181 m/s,
      LOS rate: -0.037479 deg/s,
      cmd heading: 34.669385 deg,
      new cmd heading: 34.625142 deg.

2025-10-26T21:32:05.701Z,1761514325.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604323 target range: 108.819481 and range: 109.50 m.
2025-10-26T21:32:05.735Z,1761514325.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.788930
2025-10-26T21:32:05.985Z,1761514325.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039254
2025-10-26T21:32:06.129Z,1761514326.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.82 m.
2025-10-26T21:32:06.131Z,1761514326.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.819481 m,
      nav range: 105.712906 m,
      bearing: 28.286696 deg,
      approach rate: -0.639801 m/s,
      LOS rate: -0.043236 deg/s,
      cmd heading: 34.625142 deg,
      new cmd heading: 34.568554 deg.

2025-10-26T21:32:06.132Z,1761514326.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603335 target range: 108.819481 and range: 109.50 m.
2025-10-26T21:32:06.237Z,1761514326.237 [DAT](INFO): DAT read: Rx Time:21:32:04.7411

2025-10-26T21:32:06.237Z,1761514326.237 [DAT](INFO): Rx dataTimestamp_ set to:1761514326.236957
2025-10-26T21:32:06.238Z,1761514326.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.292263
2025-10-26T21:32:06.478Z,1761514326.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814467,-0.572379,-0.095009],[0.580139,0.805940,0.117892],[0.009092,-0.151138,0.988471]]
2025-10-26T21:32:06.488Z,1761514326.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542917
2025-10-26T21:32:06.560Z,1761514326.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:06.562Z,1761514326.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.82 m.
2025-10-26T21:32:06.569Z,1761514326.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.819481 m,
      nav range: 105.465988 m,
      bearing: 28.270003 deg,
      approach rate: -0.569943 m/s,
      LOS rate: -0.038620 deg/s,
      cmd heading: 34.568554 deg,
      new cmd heading: 34.518359 deg.

2025-10-26T21:32:06.569Z,1761514326.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602459 target range: 108.819481 and range: 109.50 m.
2025-10-26T21:32:06.766Z,1761514326.766 [DAT](INFO): DAT read: 21:32:04.7411 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 405,-0.27, 0.559,-0.907, 0.937, 0.547, PHS= 0.114,-1.409, 0.346, RAW= 157.0,  11.5, CAL= 157.1,  12.7, ROT= 352.9, -12.7

2025-10-26T21:32:06.770Z,1761514326.770 [DAT](INFO): got valid direction response:
 21:32:04.7411 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 405,-0.27, 0.559,-0.907, 0.937, 0.547, PHS= 0.114,-1.409, 0.346, RAW= 157.0,  11.5, CAL= 157.1,  12.7, ROT= 352.9, -12.7

2025-10-26T21:32:06.786Z,1761514326.786 [DAT](INFO): DAT read: Bearing 194.5,  -7.8 (Local)

2025-10-26T21:32:06.787Z,1761514326.787 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.5,  -7.8 (Local)

2025-10-26T21:32:06.796Z,1761514326.796 [DAT](INFO): DAT read: Range 11 to 50 : 107.1 m  (Round-trip  142.9 ms) speed  0.6 m/s

2025-10-26T21:32:06.798Z,1761514326.798 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:32:06.808Z,1761514326.808 [DAT](INFO): direction in FSK: [0.968054,-0.120577,0.219846]
2025-10-26T21:32:06.808Z,1761514326.808 [DAT](INFO): publishing direction and range info
2025-10-26T21:32:06.850Z,1761514326.850 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:32:06.850Z,1761514326.850 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:32:06.850Z,1761514326.850 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:32:06.907Z,1761514326.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814439,-0.572297,-0.095736],[0.580176,0.805790,0.118737],[0.009190,-0.152248,0.988300]]
2025-10-26T21:32:06.992Z,1761514326.992 [DAT](INFO): DAT read: user:305>

2025-10-26T21:32:06.993Z,1761514326.993 [DAT](INFO): DAT read: Tx time:21:32:06.1940

2025-10-26T21:32:06.993Z,1761514326.993 [DAT](INFO): Ping request sent.
2025-10-26T21:32:06.993Z,1761514326.993 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:32:06.994Z,1761514326.994 [DAT](INFO): publishing transmit ping time
2025-10-26T21:32:06.994Z,1761514326.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-10-26T21:32:07.001Z,1761514327.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 107.099998 m,
      deltaT: 4.046203 s,
      deltaX: -2.400002 m,
      approachRate: -0.593149 m/s,
      rangeRepo size: 4

2025-10-26T21:32:07.008Z,1761514327.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 106.431847 m,
      bearing: 30.394109 deg,
      lat: 36.779383 deg,
      lon: -121.859425 deg,
      deltaT: 4.046203 s,
      deltaX: -2.387634 m,
      approachRate: -0.590093 m/s,
      posRepo size: 4

2025-10-26T21:32:07.008Z,1761514327.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.43 m.
2025-10-26T21:32:07.011Z,1761514327.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.431847 m,
      nav range: 105.635941 m,
      bearing: 29.622063 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.038620 deg/s,
      cmd heading: 34.518359 deg,
      new cmd heading: 34.467500 deg.

2025-10-26T21:32:07.016Z,1761514327.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.601571 target range: 106.431847 and range: 107.10 m.
2025-10-26T21:32:07.245Z,1761514327.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251213
2025-10-26T21:32:07.327Z,1761514327.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814647,-0.571800,-0.096930],[0.579878,0.805843,0.119826],[0.009594,-0.153823,0.988052]]
2025-10-26T21:32:07.363Z,1761514327.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.43 m.
2025-10-26T21:32:07.366Z,1761514327.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.431847 m,
      nav range: 105.397453 m,
      bearing: 29.608203 deg,
      approach rate: -0.658268 m/s,
      LOS rate: -0.038342 deg/s,
      cmd heading: 34.467501 deg,
      new cmd heading: 34.425828 deg.

2025-10-26T21:32:07.367Z,1761514327.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600844 target range: 106.431847 and range: 107.10 m.
2025-10-26T21:32:07.497Z,1761514327.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503676
2025-10-26T21:32:07.737Z,1761514327.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814918,-0.571022,-0.099208],[0.579489,0.805742,0.122365],[0.010063,-0.157208,0.987514]]
2025-10-26T21:32:07.754Z,1761514327.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760070
2025-10-26T21:32:07.824Z,1761514327.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.43 m.
2025-10-26T21:32:07.826Z,1761514327.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.431847 m,
      nav range: 105.097176 m,
      bearing: 29.590746 deg,
      approach rate: -0.658016 m/s,
      LOS rate: -0.038364 deg/s,
      cmd heading: 34.425827 deg,
      new cmd heading: 34.373306 deg.

2025-10-26T21:32:07.827Z,1761514327.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599927 target range: 106.431847 and range: 107.10 m.
2025-10-26T21:32:08.000Z,1761514328.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006857
2025-10-26T21:32:08.134Z,1761514328.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815112,-0.570395,-0.101204],[0.579206,0.805646,0.124316],[0.010625,-0.159949,0.987068]]
2025-10-26T21:32:08.185Z,1761514328.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.43 m.
2025-10-26T21:32:08.188Z,1761514328.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.431847 m,
      nav range: 104.857101 m,
      bearing: 29.579640 deg,
      approach rate: -0.655768 m/s,
      LOS rate: -0.030407 deg/s,
      cmd heading: 34.373306 deg,
      new cmd heading: 34.339911 deg.

2025-10-26T21:32:08.189Z,1761514328.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599344 target range: 106.431847 and range: 107.10 m.
2025-10-26T21:32:08.254Z,1761514328.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260324
2025-10-26T21:32:08.504Z,1761514328.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510759
2025-10-26T21:32:08.544Z,1761514328.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815100,-0.569977,-0.103629],[0.579208,0.805326,0.126364],[0.011430,-0.163022,0.986556]]
2025-10-26T21:32:08.561Z,1761514328.561 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:08.563Z,1761514328.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.43 m.
2025-10-26T21:32:08.566Z,1761514328.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.431847 m,
      nav range: 104.615807 m,
      bearing: 29.568427 deg,
      approach rate: -0.639276 m/s,
      LOS rate: -0.029775 deg/s,
      cmd heading: 34.339910 deg,
      new cmd heading: 34.306194 deg.

2025-10-26T21:32:08.567Z,1761514328.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598756 target range: 106.431847 and range: 107.10 m.
2025-10-26T21:32:08.759Z,1761514328.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764937
2025-10-26T21:32:08.942Z,1761514328.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815042,-0.569873,-0.104645],[0.579278,0.805204,0.126823],[0.011987,-0.163985,0.986390]]
2025-10-26T21:32:09.006Z,1761514329.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.43 m.
2025-10-26T21:32:09.008Z,1761514329.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014946
2025-10-26T21:32:09.013Z,1761514329.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.431847 m,
      nav range: 104.339401 m,
      bearing: 29.560198 deg,
      approach rate: -0.623359 m/s,
      LOS rate: -0.018607 deg/s,
      cmd heading: 34.306193 deg,
      new cmd heading: 34.281441 deg.

2025-10-26T21:32:09.014Z,1761514329.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598324 target range: 106.431847 and range: 107.10 m.
2025-10-26T21:32:09.262Z,1761514329.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267881
2025-10-26T21:32:09.349Z,1761514329.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815161,-0.569502,-0.105736],[0.579104,0.805154,0.127927],[0.012279,-0.165513,0.986131]]
2025-10-26T21:32:09.368Z,1761514329.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.43 m.
2025-10-26T21:32:09.370Z,1761514329.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.431847 m,
      nav range: 104.080574 m,
      bearing: 29.552488 deg,
      approach rate: -0.716747 m/s,
      LOS rate: -0.021404 deg/s,
      cmd heading: 34.281440 deg,
      new cmd heading: 34.258252 deg.

2025-10-26T21:32:09.371Z,1761514329.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597919 target range: 106.431847 and range: 107.10 m.
2025-10-26T21:32:09.513Z,1761514329.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519471
2025-10-26T21:32:09.765Z,1761514329.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771716
2025-10-26T21:32:09.900Z,1761514329.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.43 m.
2025-10-26T21:32:09.903Z,1761514329.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.431847 m,
      nav range: 103.729935 m,
      bearing: 29.550085 deg,
      approach rate: -0.658441 m/s,
      LOS rate: -0.004527 deg/s,
      cmd heading: 34.258252 deg,
      new cmd heading: 34.251020 deg.

2025-10-26T21:32:09.904Z,1761514329.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597793 target range: 106.431847 and range: 107.10 m.
2025-10-26T21:32:10.016Z,1761514330.016 [DAT](INFO): DAT read: Rx Time:21:32:08.7376

2025-10-26T21:32:10.017Z,1761514330.017 [DAT](INFO): Rx dataTimestamp_ set to:1761514330.016687
2025-10-26T21:32:10.017Z,1761514330.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024014
2025-10-26T21:32:10.235Z,1761514330.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815197,-0.569212,-0.107012],[0.579043,0.805040,0.128918],[0.012768,-0.167058,0.985864]]
2025-10-26T21:32:10.270Z,1761514330.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276280
2025-10-26T21:32:10.285Z,1761514330.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.43 m.
2025-10-26T21:32:10.292Z,1761514330.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.431847 m,
      nav range: 103.493492 m,
      bearing: 29.548466 deg,
      approach rate: -0.613926 m/s,
      LOS rate: -0.004215 deg/s,
      cmd heading: 34.251018 deg,
      new cmd heading: 34.246148 deg.

2025-10-26T21:32:10.293Z,1761514330.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597708 target range: 106.431847 and range: 107.10 m.
2025-10-26T21:32:10.548Z,1761514330.548 [DAT](INFO): DAT read: 21:32:08.7376 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 401, 0.09, 2.317, 0.778, 2.739, 2.250, PHS= 0.169,-1.427, 0.445, RAW= 157.9,   9.3, CAL= 157.6,  10.0, ROT= 352.4, -10.0

2025-10-26T21:32:10.550Z,1761514330.550 [DAT](INFO): got valid direction response:
 21:32:08.7376 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 401, 0.09, 2.317, 0.778, 2.739, 2.250, PHS= 0.169,-1.427, 0.445, RAW= 157.9,   9.3, CAL= 157.6,  10.0, ROT= 352.4, -10.0

2025-10-26T21:32:10.550Z,1761514330.550 [DAT](INFO): DAT read: Bearing 191.1,  -8.4 (Local)

2025-10-26T21:32:10.551Z,1761514330.551 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.1,  -8.4 (Local)

2025-10-26T21:32:10.552Z,1761514330.552 [DAT](INFO): DAT read: Range 11 to 50 : 104.6 m  (Round-trip  139.5 ms) speed  0.9 m/s

2025-10-26T21:32:10.553Z,1761514330.553 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:32:10.554Z,1761514330.554 [DAT](INFO): direction in FSK: [0.976157,-0.130247,0.173648]
2025-10-26T21:32:10.554Z,1761514330.554 [DAT](INFO): publishing direction and range info
2025-10-26T21:32:10.558Z,1761514330.558 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:32:10.559Z,1761514330.559 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:32:10.559Z,1761514330.559 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:32:10.773Z,1761514330.773 [DAT](INFO): DAT read: user:306>

2025-10-26T21:32:10.774Z,1761514330.774 [DAT](INFO): DAT read: Tx time:21:32:09.9440

2025-10-26T21:32:10.774Z,1761514330.774 [DAT](INFO): Ping request sent.
2025-10-26T21:32:10.774Z,1761514330.774 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:32:10.774Z,1761514330.774 [DAT](INFO): publishing transmit ping time
2025-10-26T21:32:10.775Z,1761514330.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-10-26T21:32:10.796Z,1761514330.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815722,-0.568430,-0.107165],[0.578317,0.805299,0.130544],[0.012094,-0.168463,0.985634]]
2025-10-26T21:32:10.886Z,1761514330.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 104.599998 m,
      deltaT: 3.785807 s,
      deltaX: -2.500000 m,
      approachRate: -0.660361 m/s,
      rangeRepo size: 4

2025-10-26T21:32:10.904Z,1761514330.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 103.947639 m,
      bearing: 29.522440 deg,
      lat: 36.779375 deg,
      lon: -121.859432 deg,
      deltaT: 3.785807 s,
      deltaX: -2.484207 m,
      approachRate: -0.656190 m/s,
      posRepo size: 4

2025-10-26T21:32:10.905Z,1761514330.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.95 m.
2025-10-26T21:32:10.907Z,1761514330.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.947639 m,
      nav range: 101.966278 m,
      bearing: 29.450808 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004215 deg/s,
      cmd heading: 34.246148 deg,
      new cmd heading: 34.238556 deg.

2025-10-26T21:32:10.908Z,1761514330.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597576 target range: 103.947639 and range: 104.60 m.
2025-10-26T21:32:11.025Z,1761514331.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250376
2025-10-26T21:32:11.158Z,1761514331.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815993,-0.568396,-0.105266],[0.577959,0.805640,0.130030],[0.010898,-0.166943,0.985906]]
2025-10-26T21:32:11.209Z,1761514331.209 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:11.211Z,1761514331.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.95 m.
2025-10-26T21:32:11.214Z,1761514331.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.947639 m,
      nav range: 101.752647 m,
      bearing: 29.455593 deg,
      approach rate: -0.656094 m/s,
      LOS rate: 0.014725 deg/s,
      cmd heading: 34.238557 deg,
      new cmd heading: 34.252941 deg.

2025-10-26T21:32:11.215Z,1761514331.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597827 target range: 103.947639 and range: 104.60 m.
2025-10-26T21:32:11.276Z,1761514331.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502066
2025-10-26T21:32:11.528Z,1761514331.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754058
2025-10-26T21:32:11.562Z,1761514331.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816158,-0.568730,-0.102138],[0.577755,0.806016,0.128594],[0.009189,-0.163964,0.986424]]
2025-10-26T21:32:11.583Z,1761514331.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.95 m.
2025-10-26T21:32:11.586Z,1761514331.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.947639 m,
      nav range: 101.514610 m,
      bearing: 29.460991 deg,
      approach rate: -0.640653 m/s,
      LOS rate: 0.014561 deg/s,
      cmd heading: 34.252941 deg,
      new cmd heading: 34.269172 deg.

2025-10-26T21:32:11.586Z,1761514331.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598110 target range: 103.947639 and range: 104.60 m.
2025-10-26T21:32:11.780Z,1761514331.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006113
2025-10-26T21:32:11.967Z,1761514331.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816529,-0.568921,-0.098026],[0.577260,0.806700,0.126514],[0.007101,-0.159889,0.987109]]
2025-10-26T21:32:12.032Z,1761514332.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258160
2025-10-26T21:32:12.041Z,1761514332.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.95 m.
2025-10-26T21:32:12.047Z,1761514332.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.947639 m,
      nav range: 101.239677 m,
      bearing: 29.472207 deg,
      approach rate: -0.600175 m/s,
      LOS rate: 0.024552 deg/s,
      cmd heading: 34.269173 deg,
      new cmd heading: 34.302914 deg.

2025-10-26T21:32:12.048Z,1761514332.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598699 target range: 103.947639 and range: 104.60 m.
2025-10-26T21:32:12.284Z,1761514332.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510056
2025-10-26T21:32:12.371Z,1761514332.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816882,-0.568969,-0.094757],[0.576786,0.807084,0.126223],[0.004660,-0.157763,0.987466]]
2025-10-26T21:32:12.406Z,1761514332.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.95 m.
2025-10-26T21:32:12.413Z,1761514332.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.947639 m,
      nav range: 101.003433 m,
      bearing: 29.481982 deg,
      approach rate: -0.645771 m/s,
      LOS rate: 0.026783 deg/s,
      cmd heading: 34.302914 deg,
      new cmd heading: 34.332308 deg.

2025-10-26T21:32:12.414Z,1761514332.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599212 target range: 103.947639 and range: 104.60 m.
2025-10-26T21:32:12.537Z,1761514332.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763018
2025-10-26T21:32:12.784Z,1761514332.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817470,-0.568603,-0.091831],[0.575968,0.807488,0.127371],[0.001729,-0.157014,0.987595]]
2025-10-26T21:32:12.789Z,1761514332.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014323
2025-10-26T21:32:12.805Z,1761514332.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.95 m.
2025-10-26T21:32:12.808Z,1761514332.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.947639 m,
      nav range: 100.740021 m,
      bearing: 29.493089 deg,
      approach rate: -0.660801 m/s,
      LOS rate: 0.027935 deg/s,
      cmd heading: 34.332308 deg,
      new cmd heading: 34.365715 deg.

2025-10-26T21:32:12.809Z,1761514332.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599795 target range: 103.947639 and range: 104.60 m.
2025-10-26T21:32:13.040Z,1761514333.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266175
2025-10-26T21:32:13.233Z,1761514333.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:13.236Z,1761514333.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.95 m.
2025-10-26T21:32:13.242Z,1761514333.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.947639 m,
      nav range: 100.464417 m,
      bearing: 29.506281 deg,
      approach rate: -0.640626 m/s,
      LOS rate: 0.030749 deg/s,
      cmd heading: 34.365714 deg,
      new cmd heading: 34.405400 deg.

2025-10-26T21:32:13.245Z,1761514333.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600488 target range: 103.947639 and range: 104.60 m.
2025-10-26T21:32:13.294Z,1761514333.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519707
2025-10-26T21:32:13.544Z,1761514333.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770070
2025-10-26T21:32:13.624Z,1761514333.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.95 m.
2025-10-26T21:32:13.627Z,1761514333.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.947639 m,
      nav range: 100.215164 m,
      bearing: 29.518275 deg,
      approach rate: -0.640995 m/s,
      LOS rate: 0.030921 deg/s,
      cmd heading: 34.405401 deg,
      new cmd heading: 34.441472 deg.

2025-10-26T21:32:13.628Z,1761514333.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.601117 target range: 103.947639 and range: 104.60 m.
2025-10-26T21:32:13.797Z,1761514333.797 [DAT](INFO): DAT read: Rx Time:21:32:12.4844

2025-10-26T21:32:13.797Z,1761514333.797 [DAT](INFO): Rx dataTimestamp_ set to:1761514333.796710
2025-10-26T21:32:13.798Z,1761514333.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023260
2025-10-26T21:32:13.994Z,1761514333.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819594,-0.567071,-0.081827],[0.572888,0.809105,0.130953],[-0.008053,-0.154207,0.988006]]
2025-10-26T21:32:14.046Z,1761514334.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.95 m.
2025-10-26T21:32:14.049Z,1761514334.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274257
2025-10-26T21:32:14.065Z,1761514334.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.947639 m,
      nav range: 99.952660 m,
      bearing: 29.530916 deg,
      approach rate: -0.621862 m/s,
      LOS rate: 0.030024 deg/s,
      cmd heading: 34.441471 deg,
      new cmd heading: 34.479493 deg.

2025-10-26T21:32:14.066Z,1761514334.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.601781 target range: 103.947639 and range: 104.60 m.
2025-10-26T21:32:14.306Z,1761514334.306 [DAT](INFO): DAT read: 21:32:12.4844 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 416,-0.05, 1.051,-0.474, 1.484, 1.008, PHS= 0.145,-1.438, 0.432, RAW= 158.2,   9.9, CAL= 158.1,  10.7, ROT= 351.9, -10.7

2025-10-26T21:32:14.308Z,1761514334.308 [DAT](INFO): got valid direction response:
 21:32:12.4844 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 416,-0.05, 1.051,-0.474, 1.484, 1.008, PHS= 0.145,-1.438, 0.432, RAW= 158.2,   9.9, CAL= 158.1,  10.7, ROT= 351.9, -10.7

2025-10-26T21:32:14.309Z,1761514334.309 [DAT](INFO): DAT read: Bearing 192.5,  -9.7 (Local)

2025-10-26T21:32:14.309Z,1761514334.309 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.5,  -9.7 (Local)

2025-10-26T21:32:14.310Z,1761514334.310 [DAT](INFO): DAT read: Range 11 to 50 : 102.2 m  (Round-trip  136.3 ms) speed  0.7 m/s

2025-10-26T21:32:14.311Z,1761514334.311 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:32:14.312Z,1761514334.312 [DAT](INFO): direction in FSK: [0.972810,-0.138451,0.185667]
2025-10-26T21:32:14.312Z,1761514334.312 [DAT](INFO): publishing direction and range info
2025-10-26T21:32:14.330Z,1761514334.330 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:32:14.331Z,1761514334.331 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:32:14.336Z,1761514334.336 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:32:14.416Z,1761514334.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820399,-0.566534,-0.077369],[0.571675,0.809944,0.131068],[-0.011590,-0.151758,0.988350]]
2025-10-26T21:32:14.464Z,1761514334.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 102.199997 m,
      deltaT: 3.774870 s,
      deltaX: -2.400002 m,
      approachRate: -0.635784 m/s,
      rangeRepo size: 4

2025-10-26T21:32:14.466Z,1761514334.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 101.564713 m,
      bearing: 28.510827 deg,
      lat: 36.779375 deg,
      lon: -121.859450 deg,
      deltaT: 3.774870 s,
      deltaX: -2.382927 m,
      approachRate: -0.631261 m/s,
      posRepo size: 4

2025-10-26T21:32:14.467Z,1761514334.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.56 m.
2025-10-26T21:32:14.478Z,1761514334.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.564713 m,
      nav range: 98.928482 m,
      bearing: 28.737867 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.030024 deg/s,
      cmd heading: 34.479492 deg,
      new cmd heading: 34.516673 deg.

2025-10-26T21:32:14.479Z,1761514334.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602430 target range: 101.564713 and range: 102.20 m.
2025-10-26T21:32:14.552Z,1761514334.552 [DAT](INFO): DAT read: user:307>

2025-10-26T21:32:14.553Z,1761514334.553 [DAT](INFO): DAT read: Tx time:21:32:13.6940

2025-10-26T21:32:14.553Z,1761514334.553 [DAT](INFO): Ping request sent.
2025-10-26T21:32:14.554Z,1761514334.554 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:32:14.554Z,1761514334.554 [DAT](INFO): publishing transmit ping time
2025-10-26T21:32:14.554Z,1761514334.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-10-26T21:32:14.802Z,1761514334.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820985,-0.566234,-0.073236],[0.570761,0.810635,0.130776],[-0.014682,-0.149165,0.988703]]
2025-10-26T21:32:14.804Z,1761514334.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250839
2025-10-26T21:32:14.844Z,1761514334.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.56 m.
2025-10-26T21:32:14.853Z,1761514334.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.564713 m,
      nav range: 98.691376 m,
      bearing: 28.747934 deg,
      approach rate: -0.616883 m/s,
      LOS rate: 0.026254 deg/s,
      cmd heading: 34.516672 deg,
      new cmd heading: 34.546945 deg.

2025-10-26T21:32:14.854Z,1761514334.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602958 target range: 101.564713 and range: 102.20 m.
2025-10-26T21:32:15.056Z,1761514335.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502685
2025-10-26T21:32:15.208Z,1761514335.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821498,-0.565941,-0.069656],[0.569942,0.811208,0.130796],[-0.017518,-0.147149,0.988959]]
2025-10-26T21:32:15.253Z,1761514335.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:15.277Z,1761514335.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.56 m.
2025-10-26T21:32:15.284Z,1761514335.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.564713 m,
      nav range: 98.418060 m,
      bearing: 28.755282 deg,
      approach rate: -0.631012 m/s,
      LOS rate: 0.017014 deg/s,
      cmd heading: 34.546947 deg,
      new cmd heading: 34.569055 deg.

2025-10-26T21:32:15.285Z,1761514335.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603344 target range: 101.564713 and range: 102.20 m.
2025-10-26T21:32:15.308Z,1761514335.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754834
2025-10-26T21:32:15.560Z,1761514335.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006754
2025-10-26T21:32:15.617Z,1761514335.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821937,-0.565571,-0.067443],[0.569220,0.811442,0.132479],[-0.020200,-0.147279,0.988889]]
2025-10-26T21:32:15.636Z,1761514335.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.56 m.
2025-10-26T21:32:15.639Z,1761514335.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.564713 m,
      nav range: 98.171211 m,
      bearing: 28.762073 deg,
      approach rate: -0.686602 m/s,
      LOS rate: 0.018936 deg/s,
      cmd heading: 34.569056 deg,
      new cmd heading: 34.589479 deg.

2025-10-26T21:32:15.640Z,1761514335.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603700 target range: 101.564713 and range: 102.20 m.
2025-10-26T21:32:15.812Z,1761514335.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258833
2025-10-26T21:32:16.015Z,1761514336.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822173,-0.565392,-0.066057],[0.568788,0.811357,0.134832],[-0.022637,-0.148427,0.988664]]
2025-10-26T21:32:16.064Z,1761514336.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510789
2025-10-26T21:32:16.069Z,1761514336.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.56 m.
2025-10-26T21:32:16.072Z,1761514336.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.564713 m,
      nav range: 97.899788 m,
      bearing: 28.761258 deg,
      approach rate: -0.626486 m/s,
      LOS rate: -0.001887 deg/s,
      cmd heading: 34.589478 deg,
      new cmd heading: 34.587025 deg.

2025-10-26T21:32:16.073Z,1761514336.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603657 target range: 101.564713 and range: 102.20 m.
2025-10-26T21:32:16.317Z,1761514336.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763325
2025-10-26T21:32:16.418Z,1761514336.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822408,-0.565125,-0.065407],[0.568354,0.811151,0.137867],[-0.024857,-0.150558,0.988289]]
2025-10-26T21:32:16.450Z,1761514336.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.56 m.
2025-10-26T21:32:16.453Z,1761514336.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.564713 m,
      nav range: 97.659485 m,
      bearing: 28.760584 deg,
      approach rate: -0.631308 m/s,
      LOS rate: -0.001775 deg/s,
      cmd heading: 34.587026 deg,
      new cmd heading: 34.584999 deg.

2025-10-26T21:32:16.454Z,1761514336.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603622 target range: 101.564713 and range: 102.20 m.
2025-10-26T21:32:16.568Z,1761514336.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014788
2025-10-26T21:32:16.820Z,1761514336.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266801
2025-10-26T21:32:16.824Z,1761514336.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822837,-0.564710,-0.063573],[0.567638,0.811447,0.139070],[-0.026948,-0.150519,0.988240]]
2025-10-26T21:32:16.950Z,1761514336.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.56 m.
2025-10-26T21:32:16.962Z,1761514336.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.564713 m,
      nav range: 97.381813 m,
      bearing: 28.759936 deg,
      approach rate: -0.557756 m/s,
      LOS rate: -0.001305 deg/s,
      cmd heading: 34.584998 deg,
      new cmd heading: 34.583049 deg.

2025-10-26T21:32:16.963Z,1761514336.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603588 target range: 101.564713 and range: 102.20 m.
2025-10-26T21:32:17.073Z,1761514337.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519613
2025-10-26T21:32:17.295Z,1761514337.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822738,-0.565158,-0.060818],[0.567676,0.811465,0.138809],[-0.029098,-0.148729,0.988450]]
2025-10-26T21:32:17.324Z,1761514337.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770840
2025-10-26T21:32:17.333Z,1761514337.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:17.360Z,1761514337.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.56 m.
2025-10-26T21:32:17.362Z,1761514337.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.564713 m,
      nav range: 97.102051 m,
      bearing: 28.748157 deg,
      approach rate: -0.721857 m/s,
      LOS rate: -0.030481 deg/s,
      cmd heading: 34.583048 deg,
      new cmd heading: 34.547608 deg.

2025-10-26T21:32:17.369Z,1761514337.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602970 target range: 101.564713 and range: 102.20 m.
2025-10-26T21:32:17.576Z,1761514337.576 [DAT](INFO): DAT read: Rx Time:21:32:16.2311

2025-10-26T21:32:17.577Z,1761514337.577 [DAT](INFO): Rx dataTimestamp_ set to:1761514337.576523
2025-10-26T21:32:17.577Z,1761514337.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023735
2025-10-26T21:32:17.687Z,1761514337.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823117,-0.564731,-0.059645],[0.567020,0.811586,0.140769],[-0.031090,-0.149689,0.988244]]
2025-10-26T21:32:17.711Z,1761514337.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.56 m.
2025-10-26T21:32:17.716Z,1761514337.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.564713 m,
      nav range: 96.868095 m,
      bearing: 28.738353 deg,
      approach rate: -0.623923 m/s,
      LOS rate: -0.026208 deg/s,
      cmd heading: 34.547609 deg,
      new cmd heading: 34.518127 deg.

2025-10-26T21:32:17.717Z,1761514337.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602455 target range: 101.564713 and range: 102.20 m.
2025-10-26T21:32:17.829Z,1761514337.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275470
2025-10-26T21:32:18.086Z,1761514338.086 [DAT](INFO): DAT read: 21:32:16.2311 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 414, 0.36,-0.526,-2.071,-0.067,-0.541, PHS= 0.117,-1.485, 0.431, RAW= 158.8,  10.5, CAL= 158.8,  11.5, ROT= 351.2, -11.5

2025-10-26T21:32:18.087Z,1761514338.087 [DAT](INFO): got valid direction response:
 21:32:16.2311 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 414, 0.36,-0.526,-2.071,-0.067,-0.541, PHS= 0.117,-1.485, 0.431, RAW= 158.8,  10.5, CAL= 158.8,  11.5, ROT= 351.2, -11.5

2025-10-26T21:32:18.088Z,1761514338.088 [DAT](INFO): DAT read: Bearing 193.5, -12.0 (Local)

2025-10-26T21:32:18.088Z,1761514338.088 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.5, -12.0 (Local)

2025-10-26T21:32:18.090Z,1761514338.090 [DAT](INFO): DAT read: Range 11 to 50 : 99.7 m  (Round-trip  133.0 ms) speed  0.5 m/s

2025-10-26T21:32:18.090Z,1761514338.090 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:32:18.091Z,1761514338.091 [DAT](INFO): direction in FSK: [0.968389,-0.149914,0.199368]
2025-10-26T21:32:18.091Z,1761514338.091 [DAT](INFO): publishing direction and range info
2025-10-26T21:32:18.095Z,1761514338.095 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:32:18.095Z,1761514338.095 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:32:18.095Z,1761514338.095 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:32:18.110Z,1761514338.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823574,-0.564152,-0.058811],[0.566273,0.811829,0.142366],[-0.032572,-0.150552,0.988065]]
2025-10-26T21:32:18.205Z,1761514338.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 99.699997 m,
      deltaT: 3.779486 s,
      deltaX: -2.500000 m,
      approachRate: -0.661466 m/s,
      rangeRepo size: 4

2025-10-26T21:32:18.207Z,1761514338.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 99.080467 m,
      bearing: 27.601160 deg,
      lat: 36.779382 deg,
      lon: -121.859450 deg,
      deltaT: 3.779486 s,
      deltaX: -2.484245 m,
      approachRate: -0.657297 m/s,
      posRepo size: 4

2025-10-26T21:32:18.216Z,1761514338.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.08 m.
2025-10-26T21:32:18.218Z,1761514338.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.080467 m,
      nav range: 97.286766 m,
      bearing: 28.488833 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026208 deg/s,
      cmd heading: 34.518127 deg,
      new cmd heading: 34.479295 deg.

2025-10-26T21:32:18.220Z,1761514338.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.601777 target range: 99.080467 and range: 99.70 m.
2025-10-26T21:32:18.332Z,1761514338.332 [DAT](INFO): DAT read: user:308>

2025-10-26T21:32:18.333Z,1761514338.333 [DAT](INFO): DAT read: Tx time:21:32:17.4440

2025-10-26T21:32:18.334Z,1761514338.334 [DAT](INFO): Ping request sent.
2025-10-26T21:32:18.334Z,1761514338.334 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:32:18.334Z,1761514338.334 [DAT](INFO): publishing transmit ping time
2025-10-26T21:32:18.335Z,1761514338.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000769
2025-10-26T21:32:18.548Z,1761514338.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824159,-0.563296,-0.058824],[0.565356,0.812069,0.144627],[-0.033699,-0.152452,0.987736]]
2025-10-26T21:32:18.566Z,1761514338.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.08 m.
2025-10-26T21:32:18.584Z,1761514338.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250533
2025-10-26T21:32:18.586Z,1761514338.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.080467 m,
      nav range: 97.053833 m,
      bearing: 28.475538 deg,
      approach rate: -0.644444 m/s,
      LOS rate: -0.036872 deg/s,
      cmd heading: 34.479297 deg,
      new cmd heading: 34.439315 deg.

2025-10-26T21:32:18.587Z,1761514338.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.601079 target range: 99.080467 and range: 99.70 m.
2025-10-26T21:32:18.837Z,1761514338.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503002
2025-10-26T21:32:18.989Z,1761514338.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825021,-0.562003,-0.059106],[0.564023,0.812467,0.147566],[-0.034911,-0.155082,0.987285]]
2025-10-26T21:32:19.042Z,1761514339.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.08 m.
2025-10-26T21:32:19.045Z,1761514339.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.080467 m,
      nav range: 96.751709 m,
      bearing: 28.453331 deg,
      approach rate: -0.634517 m/s,
      LOS rate: -0.046785 deg/s,
      cmd heading: 34.439316 deg,
      new cmd heading: 34.372487 deg.

2025-10-26T21:32:19.046Z,1761514339.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599913 target range: 99.080467 and range: 99.70 m.
2025-10-26T21:32:19.089Z,1761514339.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755118
2025-10-26T21:32:19.340Z,1761514339.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006693
2025-10-26T21:32:19.356Z,1761514339.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825914,-0.560832,-0.057731],[0.562629,0.813287,0.148365],[-0.036256,-0.155018,0.987246]]
2025-10-26T21:32:19.373Z,1761514339.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:19.375Z,1761514339.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.08 m.
2025-10-26T21:32:19.378Z,1761514339.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.080467 m,
      nav range: 96.534752 m,
      bearing: 28.437514 deg,
      approach rate: -0.651660 m/s,
      LOS rate: -0.047614 deg/s,
      cmd heading: 34.372486 deg,
      new cmd heading: 34.324930 deg.

2025-10-26T21:32:19.378Z,1761514339.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599083 target range: 99.080467 and range: 99.70 m.
2025-10-26T21:32:19.592Z,1761514339.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258521
2025-10-26T21:32:19.768Z,1761514339.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826205,-0.560483,-0.056949],[0.562138,0.813497,0.149079],[-0.037228,-0.155183,0.987184]]
2025-10-26T21:32:19.792Z,1761514339.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.08 m.
2025-10-26T21:32:19.794Z,1761514339.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.080467 m,
      nav range: 96.267075 m,
      bearing: 28.417993 deg,
      approach rate: -0.642646 m/s,
      LOS rate: -0.046998 deg/s,
      cmd heading: 34.324931 deg,
      new cmd heading: 34.266204 deg.

2025-10-26T21:32:19.795Z,1761514339.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598058 target range: 99.080467 and range: 99.70 m.
2025-10-26T21:32:19.845Z,1761514339.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511504
2025-10-26T21:32:20.096Z,1761514340.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762639
2025-10-26T21:32:20.162Z,1761514340.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826180,-0.560374,-0.058375],[0.562117,0.812849,0.152645],[-0.038088,-0.158926,0.986556]]
2025-10-26T21:32:20.205Z,1761514340.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.08 m.
2025-10-26T21:32:20.208Z,1761514340.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.080467 m,
      nav range: 95.999580 m,
      bearing: 28.399977 deg,
      approach rate: -0.646084 m/s,
      LOS rate: -0.043634 deg/s,
      cmd heading: 34.266205 deg,
      new cmd heading: 34.212008 deg.

2025-10-26T21:32:20.209Z,1761514340.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597112 target range: 99.080467 and range: 99.70 m.
2025-10-26T21:32:20.349Z,1761514340.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015412
2025-10-26T21:32:20.567Z,1761514340.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826125,-0.560224,-0.060550],[0.562155,0.812015,0.156888],[-0.038725,-0.163647,0.985759]]
2025-10-26T21:32:20.585Z,1761514340.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.08 m.
2025-10-26T21:32:20.588Z,1761514340.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.080467 m,
      nav range: 95.754036 m,
      bearing: 28.383349 deg,
      approach rate: -0.646127 m/s,
      LOS rate: -0.043869 deg/s,
      cmd heading: 34.212008 deg,
      new cmd heading: 34.161994 deg.

2025-10-26T21:32:20.589Z,1761514340.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.596239 target range: 99.080467 and range: 99.70 m.
2025-10-26T21:32:20.600Z,1761514340.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266665
2025-10-26T21:32:20.852Z,1761514340.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518613
2025-10-26T21:32:21.068Z,1761514341.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.08 m.
2025-10-26T21:32:21.070Z,1761514341.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.080467 m,
      nav range: 95.443375 m,
      bearing: 28.366294 deg,
      approach rate: -0.644531 m/s,
      LOS rate: -0.035499 deg/s,
      cmd heading: 34.161994 deg,
      new cmd heading: 34.110663 deg.

2025-10-26T21:32:21.071Z,1761514341.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595343 target range: 99.080467 and range: 99.70 m.
2025-10-26T21:32:21.105Z,1761514341.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770733
2025-10-26T21:32:21.356Z,1761514341.356 [DAT](INFO): DAT read: Rx Time:21:32:19.9781

2025-10-26T21:32:21.357Z,1761514341.357 [DAT](INFO): Rx dataTimestamp_ set to:1761514341.356568
2025-10-26T21:32:21.357Z,1761514341.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023605
2025-10-26T21:32:21.394Z,1761514341.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825593,-0.560769,-0.062727],[0.562811,0.810379,0.162876],[-0.040503,-0.169773,0.984650]]
2025-10-26T21:32:21.432Z,1761514341.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:21.434Z,1761514341.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.08 m.
2025-10-26T21:32:21.441Z,1761514341.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.080467 m,
      nav range: 95.213104 m,
      bearing: 28.353471 deg,
      approach rate: -0.628805 m/s,
      LOS rate: -0.035102 deg/s,
      cmd heading: 34.110661 deg,
      new cmd heading: 34.072099 deg.

2025-10-26T21:32:21.442Z,1761514341.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594670 target range: 99.080467 and range: 99.70 m.
2025-10-26T21:32:21.608Z,1761514341.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274631
2025-10-26T21:32:21.798Z,1761514341.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825566,-0.561084,-0.060212],[0.562763,0.810724,0.161321],[-0.041699,-0.167066,0.985063]]
2025-10-26T21:32:21.832Z,1761514341.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.08 m.
2025-10-26T21:32:21.835Z,1761514341.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.080467 m,
      nav range: 94.960732 m,
      bearing: 28.339345 deg,
      approach rate: -0.633248 m/s,
      LOS rate: -0.035539 deg/s,
      cmd heading: 34.072098 deg,
      new cmd heading: 34.029608 deg.

2025-10-26T21:32:21.840Z,1761514341.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593929 target range: 99.080467 and range: 99.70 m.
2025-10-26T21:32:21.866Z,1761514341.866 [DAT](INFO): DAT read: 21:32:19.9781 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 415, 0.15,-2.305, 2.483,-1.924,-2.305, PHS= 0.102,-1.450, 0.337, RAW= 156.9,  12.0, CAL= 157.2,  13.4, ROT= 352.8, -13.4

2025-10-26T21:32:21.867Z,1761514341.867 [DAT](INFO): got valid direction response:
 21:32:19.9781 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 415, 0.15,-2.305, 2.483,-1.924,-2.305, PHS= 0.102,-1.450, 0.337, RAW= 156.9,  12.0, CAL= 157.2,  13.4, ROT= 352.8, -13.4

2025-10-26T21:32:21.868Z,1761514341.868 [DAT](INFO): DAT read: Bearing 195.0, -11.5 (Local)

2025-10-26T21:32:21.868Z,1761514341.868 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.0, -11.5 (Local)

2025-10-26T21:32:21.870Z,1761514341.870 [DAT](INFO): DAT read: Range 11 to 50 : 97.4 m  (Round-trip  129.9 ms) speed  0.6 m/s

2025-10-26T21:32:21.870Z,1761514341.870 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:32:21.871Z,1761514341.871 [DAT](INFO): direction in FSK: [0.965105,-0.121921,0.231748]
2025-10-26T21:32:21.872Z,1761514341.872 [DAT](INFO): publishing direction and range info
2025-10-26T21:32:21.875Z,1761514341.875 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:32:21.875Z,1761514341.875 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:32:21.880Z,1761514341.880 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:32:22.116Z,1761514342.116 [DAT](INFO): DAT read: user:309>

2025-10-26T21:32:22.117Z,1761514342.117 [DAT](INFO): DAT read: Tx time:21:32:21.2440

2025-10-26T21:32:22.118Z,1761514342.118 [DAT](INFO): Ping request sent.
2025-10-26T21:32:22.118Z,1761514342.118 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:32:22.118Z,1761514342.118 [DAT](INFO): publishing transmit ping time
2025-10-26T21:32:22.119Z,1761514342.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001051
2025-10-26T21:32:22.276Z,1761514342.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 97.400002 m,
      deltaT: 3.780067 s,
      deltaX: -2.299995 m,
      approachRate: -0.608454 m/s,
      rangeRepo size: 4

2025-10-26T21:32:22.278Z,1761514342.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 96.794228 m,
      bearing: 29.503750 deg,
      lat: 36.779374 deg,
      lon: -121.859432 deg,
      deltaT: 3.780067 s,
      deltaX: -2.286240 m,
      approachRate: -0.604815 m/s,
      posRepo size: 4

2025-10-26T21:32:22.279Z,1761514342.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.79 m.
2025-10-26T21:32:22.286Z,1761514342.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.794228 m,
      nav range: 94.626907 m,
      bearing: 29.458799 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.035539 deg/s,
      cmd heading: 34.029608 deg,
      new cmd heading: 33.984034 deg.

2025-10-26T21:32:22.287Z,1761514342.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593133 target range: 96.794228 and range: 97.40 m.
2025-10-26T21:32:22.365Z,1761514342.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247338
2025-10-26T21:32:22.608Z,1761514342.608 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:32:22.616Z,1761514342.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498756
2025-10-26T21:32:22.630Z,1761514342.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826834,-0.560511,-0.046615],[0.560660,0.814772,0.147675],[-0.044793,-0.148237,0.987937]]
2025-10-26T21:32:22.648Z,1761514342.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.79 m.
2025-10-26T21:32:22.650Z,1761514342.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.794228 m,
      nav range: 94.378098 m,
      bearing: 29.455540 deg,
      approach rate: -0.641634 m/s,
      LOS rate: -0.008424 deg/s,
      cmd heading: 33.984033 deg,
      new cmd heading: 33.974233 deg.

2025-10-26T21:32:22.651Z,1761514342.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592962 target range: 96.794228 and range: 97.40 m.
2025-10-26T21:32:22.869Z,1761514342.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751144
2025-10-26T21:32:23.054Z,1761514343.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827912,-0.559287,-0.041952],[0.558985,0.816725,0.143161],[-0.045805,-0.141975,0.988810]]
2025-10-26T21:32:23.105Z,1761514343.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.79 m.
2025-10-26T21:32:23.107Z,1761514343.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.794228 m,
      nav range: 94.091393 m,
      bearing: 29.463301 deg,
      approach rate: -0.627049 m/s,
      LOS rate: 0.017025 deg/s,
      cmd heading: 33.974232 deg,
      new cmd heading: 33.997585 deg.

2025-10-26T21:32:23.108Z,1761514343.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593370 target range: 96.794228 and range: 97.40 m.
2025-10-26T21:32:23.120Z,1761514343.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002816
2025-10-26T21:32:23.376Z,1761514343.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258538
2025-10-26T21:32:23.433Z,1761514343.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830044,-0.556093,-0.042281],[0.555749,0.818429,0.146002],[-0.046587,-0.144686,0.988380]]
2025-10-26T21:32:23.449Z,1761514343.449 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:23.451Z,1761514343.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.79 m.
2025-10-26T21:32:23.454Z,1761514343.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.794228 m,
      nav range: 93.874161 m,
      bearing: 29.469720 deg,
      approach rate: -0.626593 m/s,
      LOS rate: 0.018559 deg/s,
      cmd heading: 33.997584 deg,
      new cmd heading: 34.016886 deg.

2025-10-26T21:32:23.455Z,1761514343.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593707 target range: 96.794228 and range: 97.40 m.
2025-10-26T21:32:23.612Z,1761514343.612 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:32:23.625Z,1761514343.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506865
2025-10-26T21:32:23.838Z,1761514343.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832521,-0.552263,-0.043754],[0.551965,0.820128,0.150746],[-0.047368,-0.149649,0.987604]]
2025-10-26T21:32:23.876Z,1761514343.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758817
2025-10-26T21:32:23.877Z,1761514343.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.79 m.
2025-10-26T21:32:23.881Z,1761514343.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.794228 m,
      nav range: 93.620560 m,
      bearing: 29.477938 deg,
      approach rate: -0.603670 m/s,
      LOS rate: 0.019615 deg/s,
      cmd heading: 34.016886 deg,
      new cmd heading: 34.041606 deg.

2025-10-26T21:32:23.882Z,1761514343.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594138 target range: 96.794228 and range: 97.40 m.
2025-10-26T21:32:24.130Z,1761514344.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012057
2025-10-26T21:32:24.361Z,1761514344.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837265,-0.544596,-0.049013],[0.544650,0.822685,0.162927],[-0.048407,-0.163108,0.985420]]
2025-10-26T21:32:24.381Z,1761514344.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262897
2025-10-26T21:32:24.434Z,1761514344.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.79 m.
2025-10-26T21:32:24.442Z,1761514344.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.794228 m,
      nav range: 93.266792 m,
      bearing: 29.504209 deg,
      approach rate: -0.628303 m/s,
      LOS rate: 0.046835 deg/s,
      cmd heading: 34.041605 deg,
      new cmd heading: 34.120716 deg.

2025-10-26T21:32:24.443Z,1761514344.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595519 target range: 96.794228 and range: 97.40 m.
2025-10-26T21:32:24.634Z,1761514344.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516017
2025-10-26T21:32:24.884Z,1761514344.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766689
2025-10-26T21:32:24.922Z,1761514344.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839571,-0.540759,-0.051961],[0.541098,0.823910,0.168480],[-0.048296,-0.169567,0.984335]]
2025-10-26T21:32:24.940Z,1761514344.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.79 m.
2025-10-26T21:32:24.943Z,1761514344.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.794228 m,
      nav range: 92.948318 m,
      bearing: 29.528807 deg,
      approach rate: -0.629285 m/s,
      LOS rate: 0.048771 deg/s,
      cmd heading: 34.120715 deg,
      new cmd heading: 34.194763 deg.

2025-10-26T21:32:24.944Z,1761514344.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.596811 target range: 96.794228 and range: 97.40 m.
2025-10-26T21:32:25.138Z,1761514345.138 [DAT](INFO): DAT read: Rx Time:21:32:23.7749

2025-10-26T21:32:25.138Z,1761514345.138 [DAT](INFO): Rx dataTimestamp_ set to:1761514345.137908
2025-10-26T21:32:25.139Z,1761514345.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021071
2025-10-26T21:32:25.317Z,1761514345.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841155,-0.538399,-0.050841],[0.538664,0.825796,0.167040],[-0.047950,-0.167892,0.984639]]
2025-10-26T21:32:25.388Z,1761514345.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270769
2025-10-26T21:32:25.403Z,1761514345.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.79 m.
2025-10-26T21:32:25.406Z,1761514345.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.794228 m,
      nav range: 92.662201 m,
      bearing: 29.553752 deg,
      approach rate: -0.618877 m/s,
      LOS rate: 0.054124 deg/s,
      cmd heading: 34.194762 deg,
      new cmd heading: 34.269828 deg.

2025-10-26T21:32:25.407Z,1761514345.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598121 target range: 96.794228 and range: 97.40 m.
2025-10-26T21:32:25.646Z,1761514345.646 [DAT](INFO): DAT read: 21:32:23.7749 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 415,-0.34, 2.618, 1.037, 2.981, 2.618, PHS= 0.102,-1.535, 0.320, RAW= 156.2,  12.6, CAL= 156.4,  14.2, ROT= 353.6, -14.2

2025-10-26T21:32:25.647Z,1761514345.647 [DAT](INFO): got valid direction response:
 21:32:23.7749 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 415,-0.34, 2.618, 1.037, 2.981, 2.618, PHS= 0.102,-1.535, 0.320, RAW= 156.2,  12.6, CAL= 156.4,  14.2, ROT= 353.6, -14.2

2025-10-26T21:32:25.648Z,1761514345.648 [DAT](INFO): DAT read: Bearing 194.2, -11.4 (Local)

2025-10-26T21:32:25.648Z,1761514345.648 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.2, -11.4 (Local)

2025-10-26T21:32:25.649Z,1761514345.649 [DAT](INFO): DAT read: Range 11 to 50 : 95.0 m  (Round-trip  126.7 ms) speed  0.6 m/s

2025-10-26T21:32:25.650Z,1761514345.650 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:32:25.651Z,1761514345.651 [DAT](INFO): direction in FSK: [0.963404,-0.108063,0.245307]
2025-10-26T21:32:25.651Z,1761514345.651 [DAT](INFO): publishing direction and range info
2025-10-26T21:32:25.655Z,1761514345.655 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:32:25.655Z,1761514345.655 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:32:25.655Z,1761514345.655 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:32:25.748Z,1761514345.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842022,-0.537271,-0.048356],[0.537331,0.827427,0.163218],[-0.047681,-0.163417,0.985404]]
2025-10-26T21:32:25.798Z,1761514345.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 95.000000 m,
      deltaT: 3.779890 s,
      deltaX: -2.400002 m,
      approachRate: -0.634939 m/s,
      rangeRepo size: 4

2025-10-26T21:32:25.804Z,1761514345.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 94.408203 m,
      bearing: 28.642185 deg,
      lat: 36.779379 deg,
      lon: -121.859448 deg,
      deltaT: 3.779890 s,
      deltaX: -2.386024 m,
      approachRate: -0.631242 m/s,
      posRepo size: 4

2025-10-26T21:32:25.805Z,1761514345.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.41 m.
2025-10-26T21:32:25.812Z,1761514345.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.408203 m,
      nav range: 92.232376 m,
      bearing: 28.641922 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.054124 deg/s,
      cmd heading: 34.269829 deg,
      new cmd heading: 34.333898 deg.

2025-10-26T21:32:25.813Z,1761514345.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599240 target range: 94.408203 and range: 95.00 m.
2025-10-26T21:32:25.892Z,1761514345.892 [DAT](INFO): DAT read: user:310>

2025-10-26T21:32:25.893Z,1761514345.893 [DAT](INFO): DAT read: Tx time:21:32:25.0440

2025-10-26T21:32:25.893Z,1761514345.893 [DAT](INFO): Ping request sent.
2025-10-26T21:32:25.894Z,1761514345.894 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:32:25.894Z,1761514345.894 [DAT](INFO): publishing transmit ping time
2025-10-26T21:32:25.894Z,1761514345.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-10-26T21:32:26.118Z,1761514346.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842683,-0.536414,-0.046314],[0.536220,0.828398,0.161942],[-0.048501,-0.161300,0.985713]]
2025-10-26T21:32:26.144Z,1761514346.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250823
2025-10-26T21:32:26.165Z,1761514346.165 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:26.167Z,1761514346.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.41 m.
2025-10-26T21:32:26.169Z,1761514346.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.408203 m,
      nav range: 91.996864 m,
      bearing: 28.664603 deg,
      approach rate: -0.637882 m/s,
      LOS rate: 0.061588 deg/s,
      cmd heading: 34.333899 deg,
      new cmd heading: 34.402116 deg.

2025-10-26T21:32:26.170Z,1761514346.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600430 target range: 94.408203 and range: 95.00 m.
2025-10-26T21:32:26.397Z,1761514346.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503053
2025-10-26T21:32:26.522Z,1761514346.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842463,-0.536977,-0.043725],[0.536473,0.828668,0.159706],[-0.049525,-0.158003,0.986196]]
2025-10-26T21:32:26.549Z,1761514346.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.41 m.
2025-10-26T21:32:26.552Z,1761514346.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.408203 m,
      nav range: 91.762856 m,
      bearing: 28.687244 deg,
      approach rate: -0.612156 m/s,
      LOS rate: 0.059379 deg/s,
      cmd heading: 34.402116 deg,
      new cmd heading: 34.470212 deg.

2025-10-26T21:32:26.553Z,1761514346.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.601619 target range: 94.408203 and range: 95.00 m.
2025-10-26T21:32:26.653Z,1761514346.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759802
2025-10-26T21:32:26.904Z,1761514346.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010659
2025-10-26T21:32:26.926Z,1761514346.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841898,-0.538229,-0.038949],[0.537239,0.829176,0.154407],[-0.050811,-0.150919,0.987239]]
2025-10-26T21:32:26.946Z,1761514346.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.41 m.
2025-10-26T21:32:26.949Z,1761514346.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.408203 m,
      nav range: 91.519974 m,
      bearing: 28.710802 deg,
      approach rate: -0.611256 m/s,
      LOS rate: 0.059447 deg/s,
      cmd heading: 34.470213 deg,
      new cmd heading: 34.541076 deg.

2025-10-26T21:32:26.950Z,1761514346.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602856 target range: 94.408203 and range: 95.00 m.
2025-10-26T21:32:27.156Z,1761514347.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262650
2025-10-26T21:32:27.334Z,1761514347.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840680,-0.540448,-0.034259],[0.538979,0.828902,0.149744],[-0.052531,-0.144351,0.988131]]
2025-10-26T21:32:27.393Z,1761514347.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.41 m.
2025-10-26T21:32:27.400Z,1761514347.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.408203 m,
      nav range: 91.251801 m,
      bearing: 28.729304 deg,
      approach rate: -0.599725 m/s,
      LOS rate: 0.041499 deg/s,
      cmd heading: 34.541076 deg,
      new cmd heading: 34.596746 deg.

2025-10-26T21:32:27.401Z,1761514347.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603827 target range: 94.408203 and range: 95.00 m.
2025-10-26T21:32:27.409Z,1761514347.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514995
2025-10-26T21:32:27.660Z,1761514347.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766758
2025-10-26T21:32:27.748Z,1761514347.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838822,-0.543520,-0.031058],[0.541744,0.827725,0.146235],[-0.053774,-0.139490,0.988762]]
2025-10-26T21:32:27.766Z,1761514347.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.41 m.
2025-10-26T21:32:27.785Z,1761514347.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.408203 m,
      nav range: 91.005035 m,
      bearing: 28.745961 deg,
      approach rate: -0.661991 m/s,
      LOS rate: 0.044806 deg/s,
      cmd heading: 34.596745 deg,
      new cmd heading: 34.646851 deg.

2025-10-26T21:32:27.786Z,1761514347.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604702 target range: 94.408203 and range: 95.00 m.
2025-10-26T21:32:27.912Z,1761514347.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018734
2025-10-26T21:32:28.138Z,1761514348.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836573,-0.547075,-0.029227],[0.545105,0.825849,0.144340],[-0.054828,-0.136683,0.989096]]
2025-10-26T21:32:28.164Z,1761514348.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270791
2025-10-26T21:32:28.187Z,1761514348.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:28.189Z,1761514348.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.41 m.
2025-10-26T21:32:28.208Z,1761514348.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.408203 m,
      nav range: 90.742416 m,
      bearing: 28.760524 deg,
      approach rate: -0.621400 m/s,
      LOS rate: 0.034557 deg/s,
      cmd heading: 34.646852 deg,
      new cmd heading: 34.690665 deg.

2025-10-26T21:32:28.209Z,1761514348.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605466 target range: 94.408203 and range: 95.00 m.
2025-10-26T21:32:28.416Z,1761514348.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522738
2025-10-26T21:32:28.542Z,1761514348.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833977,-0.551120,-0.027377],[0.548994,0.823718,0.141754],[-0.055573,-0.133249,0.989523]]
2025-10-26T21:32:28.576Z,1761514348.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.41 m.
2025-10-26T21:32:28.578Z,1761514348.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.408203 m,
      nav range: 90.509720 m,
      bearing: 28.772835 deg,
      approach rate: -0.601936 m/s,
      LOS rate: 0.031928 deg/s,
      cmd heading: 34.690664 deg,
      new cmd heading: 34.727693 deg.

2025-10-26T21:32:28.579Z,1761514348.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606113 target range: 94.408203 and range: 95.00 m.
2025-10-26T21:32:28.669Z,1761514348.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775353
2025-10-26T21:32:28.920Z,1761514348.920 [DAT](INFO): DAT read: Rx Time:21:32:27.5714

2025-10-26T21:32:28.921Z,1761514348.921 [DAT](INFO): Rx dataTimestamp_ set to:1761514348.920566
2025-10-26T21:32:28.921Z,1761514348.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027784
2025-10-26T21:32:28.961Z,1761514348.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831562,-0.554924,-0.023745],[0.552576,0.822201,0.136545],[-0.056249,-0.126666,0.990349]]
2025-10-26T21:32:28.991Z,1761514348.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.41 m.
2025-10-26T21:32:28.997Z,1761514348.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.408203 m,
      nav range: 90.247932 m,
      bearing: 28.786107 deg,
      approach rate: -0.630322 m/s,
      LOS rate: 0.032049 deg/s,
      cmd heading: 34.727694 deg,
      new cmd heading: 34.767626 deg.

2025-10-26T21:32:28.998Z,1761514348.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606810 target range: 94.408203 and range: 95.00 m.
2025-10-26T21:32:29.173Z,1761514349.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278895
2025-10-26T21:32:29.399Z,1761514349.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829690,-0.557843,-0.020619],[0.555296,0.820998,0.132696],[-0.057095,-0.121547,0.990942]]
2025-10-26T21:32:29.430Z,1761514349.430 [DAT](INFO): DAT read: 21:32:27.5714 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 413,-0.40,-1.029,-2.580,-0.629,-1.030, PHS= 0.102,-1.505, 0.356, RAW= 157.2,  11.9, CAL= 157.4,  13.3, ROT= 352.6, -13.3

2025-10-26T21:32:29.431Z,1761514349.431 [DAT](INFO): got valid direction response:
 21:32:27.5714 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 413,-0.40,-1.029,-2.580,-0.629,-1.030, PHS= 0.102,-1.505, 0.356, RAW= 157.2,  11.9, CAL= 157.4,  13.3, ROT= 352.6, -13.3

2025-10-26T21:32:29.432Z,1761514349.432 [DAT](INFO): DAT read: Bearing 194.6, -12.1 (Local)

2025-10-26T21:32:29.432Z,1761514349.432 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.6, -12.1 (Local)

2025-10-26T21:32:29.434Z,1761514349.434 [DAT](INFO): DAT read: Range 11 to 50 : 92.5 m  (Round-trip  123.4 ms) speed  0.4 m/s

2025-10-26T21:32:29.434Z,1761514349.434 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:32:29.435Z,1761514349.435 [DAT](INFO): direction in FSK: [0.965073,-0.125341,0.230050]
2025-10-26T21:32:29.435Z,1761514349.435 [DAT](INFO): publishing direction and range info
2025-10-26T21:32:29.439Z,1761514349.439 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:32:29.439Z,1761514349.439 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:32:29.439Z,1761514349.439 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:32:29.513Z,1761514349.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 92.500000 m,
      deltaT: 3.784071 s,
      deltaX: -2.500000 m,
      approachRate: -0.660664 m/s,
      rangeRepo size: 4

2025-10-26T21:32:29.515Z,1761514349.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 91.923927 m,
      bearing: 28.160847 deg,
      lat: 36.779382 deg,
      lon: -121.859450 deg,
      deltaT: 3.784071 s,
      deltaX: -2.484276 m,
      approachRate: -0.656509 m/s,
      posRepo size: 4

2025-10-26T21:32:29.527Z,1761514349.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.92 m.
2025-10-26T21:32:29.530Z,1761514349.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.923927 m,
      nav range: 90.205147 m,
      bearing: 28.563640 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.032049 deg/s,
      cmd heading: 34.767627 deg,
      new cmd heading: 34.817670 deg.

2025-10-26T21:32:29.531Z,1761514349.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607683 target range: 91.923927 and range: 92.50 m.
2025-10-26T21:32:29.676Z,1761514349.676 [DAT](INFO): DAT read: user:311>

2025-10-26T21:32:29.677Z,1761514349.677 [DAT](INFO): DAT read: Tx time:21:32:28.7939

2025-10-26T21:32:29.677Z,1761514349.677 [DAT](INFO): Ping request sent.
2025-10-26T21:32:29.677Z,1761514349.677 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:32:29.678Z,1761514349.678 [DAT](INFO): publishing transmit ping time
2025-10-26T21:32:29.678Z,1761514349.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-10-26T21:32:29.895Z,1761514349.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.92 m.
2025-10-26T21:32:29.898Z,1761514349.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.923927 m,
      nav range: 89.935127 m,
      bearing: 28.566924 deg,
      approach rate: -0.703370 m/s,
      LOS rate: 0.008580 deg/s,
      cmd heading: 34.817671 deg,
      new cmd heading: 34.827553 deg.

2025-10-26T21:32:29.899Z,1761514349.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607855 target range: 91.923927 and range: 92.50 m.
2025-10-26T21:32:29.929Z,1761514349.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251047
2025-10-26T21:32:30.181Z,1761514350.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503238
2025-10-26T21:32:30.259Z,1761514350.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827201,-0.561653,-0.016875],[0.558850,0.819202,0.128816],[-0.058526,-0.115987,0.991525]]
2025-10-26T21:32:30.302Z,1761514350.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:30.304Z,1761514350.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.92 m.
2025-10-26T21:32:30.307Z,1761514350.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.923927 m,
      nav range: 89.672455 m,
      bearing: 28.563355 deg,
      approach rate: -0.641558 m/s,
      LOS rate: -0.008743 deg/s,
      cmd heading: 34.827551 deg,
      new cmd heading: 34.816812 deg.

2025-10-26T21:32:30.308Z,1761514350.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607668 target range: 91.923927 and range: 92.50 m.
2025-10-26T21:32:30.433Z,1761514350.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754993
2025-10-26T21:32:30.662Z,1761514350.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826868,-0.562091,-0.018506],[0.559198,0.818218,0.133479],[-0.059885,-0.120718,0.990879]]
2025-10-26T21:32:30.681Z,1761514350.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.92 m.
2025-10-26T21:32:30.685Z,1761514350.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007034
2025-10-26T21:32:30.686Z,1761514350.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.923927 m,
      nav range: 89.429169 m,
      bearing: 28.559932 deg,
      approach rate: -0.645633 m/s,
      LOS rate: -0.009110 deg/s,
      cmd heading: 34.816811 deg,
      new cmd heading: 34.806512 deg.

2025-10-26T21:32:30.687Z,1761514350.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607488 target range: 91.923927 and range: 92.50 m.
2025-10-26T21:32:30.937Z,1761514350.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259482
2025-10-26T21:32:31.068Z,1761514351.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827205,-0.561516,-0.020789],[0.558500,0.817573,0.140184],[-0.061719,-0.127571,0.989907]]
2025-10-26T21:32:31.095Z,1761514351.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.92 m.
2025-10-26T21:32:31.098Z,1761514351.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.923927 m,
      nav range: 89.168083 m,
      bearing: 28.556326 deg,
      approach rate: -0.636960 m/s,
      LOS rate: -0.008822 deg/s,
      cmd heading: 34.806511 deg,
      new cmd heading: 34.795663 deg.

2025-10-26T21:32:31.099Z,1761514351.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607299 target range: 91.923927 and range: 92.50 m.
2025-10-26T21:32:31.188Z,1761514351.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510895
2025-10-26T21:32:31.440Z,1761514351.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762835
2025-10-26T21:32:31.547Z,1761514351.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.92 m.
2025-10-26T21:32:31.566Z,1761514351.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.923927 m,
      nav range: 88.876984 m,
      bearing: 28.549659 deg,
      approach rate: -0.638920 m/s,
      LOS rate: -0.014680 deg/s,
      cmd heading: 34.795661 deg,
      new cmd heading: 34.775595 deg.

2025-10-26T21:32:31.567Z,1761514351.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606949 target range: 91.923927 and range: 92.50 m.
2025-10-26T21:32:31.692Z,1761514351.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014813
2025-10-26T21:32:31.914Z,1761514351.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827364,-0.561168,-0.023674],[0.557923,0.816260,0.149807],[-0.064743,-0.137153,0.988432]]
2025-10-26T21:32:31.945Z,1761514351.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267267
2025-10-26T21:32:31.951Z,1761514351.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.92 m.
2025-10-26T21:32:31.954Z,1761514351.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.923927 m,
      nav range: 88.618736 m,
      bearing: 28.543766 deg,
      approach rate: -0.638494 m/s,
      LOS rate: -0.014614 deg/s,
      cmd heading: 34.775594 deg,
      new cmd heading: 34.757861 deg.

2025-10-26T21:32:31.955Z,1761514351.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606639 target range: 91.923927 and range: 92.50 m.
2025-10-26T21:32:32.196Z,1761514352.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518941
2025-10-26T21:32:32.420Z,1761514352.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827143,-0.561443,-0.024814],[0.558096,0.815419,0.153688],[-0.066053,-0.140970,0.987808]]
2025-10-26T21:32:32.448Z,1761514352.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770796
2025-10-26T21:32:32.488Z,1761514352.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:32.490Z,1761514352.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.92 m.
2025-10-26T21:32:32.497Z,1761514352.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.923927 m,
      nav range: 88.273026 m,
      bearing: 28.537085 deg,
      approach rate: -0.641745 m/s,
      LOS rate: -0.012450 deg/s,
      cmd heading: 34.757863 deg,
      new cmd heading: 34.737742 deg.

2025-10-26T21:32:32.498Z,1761514352.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606288 target range: 91.923927 and range: 92.50 m.
2025-10-26T21:32:32.701Z,1761514352.701 [DAT](INFO): DAT read: Rx Time:21:32:31.3183

2025-10-26T21:32:32.702Z,1761514352.702 [DAT](INFO): Rx dataTimestamp_ set to:1761514352.701609
2025-10-26T21:32:32.703Z,1761514352.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025299
2025-10-26T21:32:32.952Z,1761514352.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274909
2025-10-26T21:32:32.982Z,1761514352.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826583,-0.562274,-0.024661],[0.558924,0.814938,0.153232],[-0.066061,-0.140442,0.987882]]
2025-10-26T21:32:33.008Z,1761514353.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.92 m.
2025-10-26T21:32:33.011Z,1761514353.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.923927 m,
      nav range: 87.933449 m,
      bearing: 28.530252 deg,
      approach rate: -0.655356 m/s,
      LOS rate: -0.013237 deg/s,
      cmd heading: 34.737741 deg,
      new cmd heading: 34.717164 deg.

2025-10-26T21:32:33.012Z,1761514353.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605929 target range: 91.923927 and range: 92.50 m.
2025-10-26T21:32:33.217Z,1761514353.217 [DAT](INFO): DAT read: 21:32:31.3183 LVL= 32752, 32753, 31026, 32755, AGC= 75, IDX= 412, 0.38,-2.450, 2.262,-2.030,-2.524, PHS= 0.176,-1.452, 0.450, RAW= 157.7,   9.3, CAL= 157.4,   9.9, ROT= 352.6,  -9.9

2025-10-26T21:32:33.219Z,1761514353.219 [DAT](INFO): got valid direction response:
 21:32:31.3183 LVL= 32752, 32753, 31026, 32755, AGC= 75, IDX= 412, 0.38,-2.450, 2.262,-2.030,-2.524, PHS= 0.176,-1.452, 0.450, RAW= 157.7,   9.3, CAL= 157.4,   9.9, ROT= 352.6,  -9.9

2025-10-26T21:32:33.220Z,1761514353.220 [DAT](INFO): DAT read: Bearing 191.3, -12.4 (Local)

2025-10-26T21:32:33.221Z,1761514353.221 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.3, -12.4 (Local)

2025-10-26T21:32:33.223Z,1761514353.223 [DAT](INFO): DAT read: Range 11 to 50 : 90.2 m  (Round-trip  120.3 ms) speed  0.6 m/s

2025-10-26T21:32:33.224Z,1761514353.224 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:32:33.226Z,1761514353.226 [DAT](INFO): direction in FSK: [0.976905,-0.126877,0.171929]
2025-10-26T21:32:33.226Z,1761514353.226 [DAT](INFO): publishing direction and range info
2025-10-26T21:32:33.238Z,1761514353.238 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:32:33.239Z,1761514353.239 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:32:33.264Z,1761514353.264 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:32:33.456Z,1761514353.456 [DAT](INFO): DAT read: user:312>

2025-10-26T21:32:33.457Z,1761514353.457 [DAT](INFO): DAT read: Tx time:21:32:32.6439

2025-10-26T21:32:33.457Z,1761514353.457 [DAT](INFO): Ping request sent.
2025-10-26T21:32:33.458Z,1761514353.458 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:32:33.458Z,1761514353.458 [DAT](INFO): publishing transmit ping time
2025-10-26T21:32:33.458Z,1761514353.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-10-26T21:32:33.484Z,1761514353.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825839,-0.563348,-0.025073],[0.560057,0.814205,0.152992],[-0.065773,-0.140389,0.987909]]
2025-10-26T21:32:33.571Z,1761514353.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 90.199997 m,
      deltaT: 3.780367 s,
      deltaX: -2.300003 m,
      approachRate: -0.608407 m/s,
      rangeRepo size: 4

2025-10-26T21:32:33.573Z,1761514353.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 89.637474 m,
      bearing: 28.277524 deg,
      lat: 36.779386 deg,
      lon: -121.859448 deg,
      deltaT: 3.780367 s,
      deltaX: -2.286453 m,
      approachRate: -0.604823 m/s,
      posRepo size: 4

2025-10-26T21:32:33.574Z,1761514353.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.64 m.
2025-10-26T21:32:33.580Z,1761514353.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.637474 m,
      nav range: 88.008080 m,
      bearing: 28.518969 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013237 deg/s,
      cmd heading: 34.717165 deg,
      new cmd heading: 34.694852 deg.

2025-10-26T21:32:33.581Z,1761514353.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605539 target range: 89.637474 and range: 90.20 m.
2025-10-26T21:32:33.710Z,1761514353.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252304
2025-10-26T21:32:33.918Z,1761514353.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825317,-0.564096,-0.025450],[0.560901,0.813776,0.152176],[-0.065131,-0.139869,0.988026]]
2025-10-26T21:32:33.952Z,1761514353.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.64 m.
2025-10-26T21:32:33.954Z,1761514353.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.637474 m,
      nav range: 87.760277 m,
      bearing: 28.515386 deg,
      approach rate: -0.677694 m/s,
      LOS rate: -0.009827 deg/s,
      cmd heading: 34.694851 deg,
      new cmd heading: 34.684072 deg.

2025-10-26T21:32:33.960Z,1761514353.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502839
2025-10-26T21:32:33.961Z,1761514353.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605351 target range: 89.637474 and range: 90.20 m.
2025-10-26T21:32:34.214Z,1761514354.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755871
2025-10-26T21:32:34.318Z,1761514354.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825056,-0.564398,-0.027151],[0.561431,0.813394,0.152267],[-0.063855,-0.140872,0.987966]]
2025-10-26T21:32:34.373Z,1761514354.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.64 m.
2025-10-26T21:32:34.376Z,1761514354.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.637474 m,
      nav range: 87.481621 m,
      bearing: 28.511397 deg,
      approach rate: -0.637262 m/s,
      LOS rate: -0.009153 deg/s,
      cmd heading: 34.684073 deg,
      new cmd heading: 34.672066 deg.

2025-10-26T21:32:34.377Z,1761514354.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605142 target range: 89.637474 and range: 90.20 m.
2025-10-26T21:32:34.465Z,1761514354.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007291
2025-10-26T21:32:34.717Z,1761514354.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259332
2025-10-26T21:32:34.749Z,1761514354.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824414,-0.565463,-0.024340],[0.562663,0.814161,0.143362],[-0.061249,-0.131885,0.989371]]
2025-10-26T21:32:34.766Z,1761514354.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:34.768Z,1761514354.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.64 m.
2025-10-26T21:32:34.771Z,1761514354.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.637474 m,
      nav range: 87.230522 m,
      bearing: 28.507581 deg,
      approach rate: -0.635281 m/s,
      LOS rate: -0.009681 deg/s,
      cmd heading: 34.672065 deg,
      new cmd heading: 34.660586 deg.

2025-10-26T21:32:34.800Z,1761514354.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604941 target range: 89.637474 and range: 90.20 m.
2025-10-26T21:32:34.968Z,1761514354.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510688
2025-10-26T21:32:35.224Z,1761514355.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765820
2025-10-26T21:32:35.229Z,1761514355.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.64 m.
2025-10-26T21:32:35.237Z,1761514355.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.637474 m,
      nav range: 86.967773 m,
      bearing: 28.503565 deg,
      approach rate: -0.570103 m/s,
      LOS rate: -0.008740 deg/s,
      cmd heading: 34.660587 deg,
      new cmd heading: 34.648502 deg.

2025-10-26T21:32:35.238Z,1761514355.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604730 target range: 89.637474 and range: 90.20 m.
2025-10-26T21:32:35.472Z,1761514355.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014846
2025-10-26T21:32:35.536Z,1761514355.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824037,-0.566027,-0.024032],[0.563300,0.814063,0.141403],[-0.060474,-0.130058,0.989660]]
2025-10-26T21:32:35.594Z,1761514355.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.64 m.
2025-10-26T21:32:35.597Z,1761514355.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.637474 m,
      nav range: 86.704819 m,
      bearing: 28.501194 deg,
      approach rate: -0.720578 m/s,
      LOS rate: -0.006516 deg/s,
      cmd heading: 34.648501 deg,
      new cmd heading: 34.641367 deg.

2025-10-26T21:32:35.598Z,1761514355.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604606 target range: 89.637474 and range: 90.20 m.
2025-10-26T21:32:35.725Z,1761514355.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267854
2025-10-26T21:32:35.953Z,1761514355.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824455,-0.565171,-0.029252],[0.562970,0.813773,0.144350],[-0.057778,-0.135478,0.989094]]
2025-10-26T21:32:35.971Z,1761514355.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.64 m.
2025-10-26T21:32:35.974Z,1761514355.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.637474 m,
      nav range: 86.465340 m,
      bearing: 28.499076 deg,
      approach rate: -0.634728 m/s,
      LOS rate: -0.005629 deg/s,
      cmd heading: 34.641367 deg,
      new cmd heading: 34.634996 deg.

2025-10-26T21:32:35.975Z,1761514355.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604495 target range: 89.637474 and range: 90.20 m.
2025-10-26T21:32:35.977Z,1761514355.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518940
2025-10-26T21:32:36.229Z,1761514356.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770893
2025-10-26T21:32:36.398Z,1761514356.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.64 m.
2025-10-26T21:32:36.401Z,1761514356.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.637474 m,
      nav range: 86.192101 m,
      bearing: 28.496889 deg,
      approach rate: -0.639975 m/s,
      LOS rate: -0.005140 deg/s,
      cmd heading: 34.634995 deg,
      new cmd heading: 34.628411 deg.

2025-10-26T21:32:36.402Z,1761514356.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604380 target range: 89.637474 and range: 90.20 m.
2025-10-26T21:32:36.481Z,1761514356.481 [DAT](INFO): DAT read: Rx Time:21:32:35.1651

2025-10-26T21:32:36.482Z,1761514356.482 [DAT](INFO): Rx dataTimestamp_ set to:1761514356.481361
2025-10-26T21:32:36.482Z,1761514356.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024587
2025-10-26T21:32:36.734Z,1761514356.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275785
2025-10-26T21:32:36.760Z,1761514356.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824978,-0.563914,-0.037569],[0.562627,0.813167,0.149028],[-0.053489,-0.144082,0.988119]]
2025-10-26T21:32:36.777Z,1761514356.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:36.779Z,1761514356.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.64 m.
2025-10-26T21:32:36.782Z,1761514356.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.637474 m,
      nav range: 85.943954 m,
      bearing: 28.494939 deg,
      approach rate: -0.651309 m/s,
      LOS rate: -0.005133 deg/s,
      cmd heading: 34.628410 deg,
      new cmd heading: 34.622543 deg.

2025-10-26T21:32:36.783Z,1761514356.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604277 target range: 89.637474 and range: 90.20 m.
2025-10-26T21:32:36.990Z,1761514356.990 [DAT](INFO): DAT read: 21:32:35.1651 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 412,-0.21, 2.166, 0.662, 2.573, 2.231, PHS= 0.037,-1.524, 0.298, RAW= 157.6,  13.8, CAL= 158.2,  15.8, ROT= 351.8, -15.8

2025-10-26T21:32:36.991Z,1761514356.991 [DAT](INFO): got valid direction response:
 21:32:35.1651 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 412,-0.21, 2.166, 0.662, 2.573, 2.231, PHS= 0.037,-1.524, 0.298, RAW= 157.6,  13.8, CAL= 158.2,  15.8, ROT= 351.8, -15.8

2025-10-26T21:32:36.992Z,1761514356.992 [DAT](INFO): DAT read: Bearing 197.2, -13.1 (Local)

2025-10-26T21:32:36.992Z,1761514356.992 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.2, -13.1 (Local)

2025-10-26T21:32:36.993Z,1761514356.993 [DAT](INFO): DAT read: Range 11 to 50 : 87.7 m  (Round-trip  117.0 ms) speed  0.7 m/s

2025-10-26T21:32:36.994Z,1761514356.994 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:32:36.995Z,1761514356.995 [DAT](INFO): direction in FSK: [0.952380,-0.137240,0.272280]
2025-10-26T21:32:36.995Z,1761514356.995 [DAT](INFO): publishing direction and range info
2025-10-26T21:32:36.999Z,1761514356.999 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:32:36.999Z,1761514356.999 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:32:36.999Z,1761514356.999 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:32:37.154Z,1761514357.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824684,-0.564093,-0.041173],[0.563295,0.812599,0.149603],[-0.050933,-0.146568,0.987889]]
2025-10-26T21:32:37.239Z,1761514357.239 [DAT](INFO): DAT read: user:313>

2025-10-26T21:32:37.242Z,1761514357.242 [DAT](INFO): DAT read: Tx time:21:32:36.3439

2025-10-26T21:32:37.244Z,1761514357.244 [DAT](INFO): Ping request sent.
2025-10-26T21:32:37.244Z,1761514357.244 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:32:37.245Z,1761514357.245 [DAT](INFO): publishing transmit ping time
2025-10-26T21:32:37.246Z,1761514357.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002945
2025-10-26T21:32:37.266Z,1761514357.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 87.699997 m,
      deltaT: 3.779572 s,
      deltaX: -2.500000 m,
      approachRate: -0.661451 m/s,
      rangeRepo size: 4

2025-10-26T21:32:37.276Z,1761514357.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 87.153343 m,
      bearing: 28.670816 deg,
      lat: 36.779379 deg,
      lon: -121.859448 deg,
      deltaT: 3.779572 s,
      deltaX: -2.484131 m,
      approachRate: -0.657252 m/s,
      posRepo size: 4

2025-10-26T21:32:37.277Z,1761514357.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.15 m.
2025-10-26T21:32:37.284Z,1761514357.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.153343 m,
      nav range: 85.001282 m,
      bearing: 28.739181 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005133 deg/s,
      cmd heading: 34.622543 deg,
      new cmd heading: 34.615060 deg.

2025-10-26T21:32:37.285Z,1761514357.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604147 target range: 87.153343 and range: 87.70 m.
2025-10-26T21:32:37.488Z,1761514357.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245270
2025-10-26T21:32:37.559Z,1761514357.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824062,-0.564738,-0.044638],[0.564434,0.811782,0.149744],[-0.048330,-0.148594,0.987717]]
2025-10-26T21:32:37.614Z,1761514357.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.15 m.
2025-10-26T21:32:37.617Z,1761514357.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.153343 m,
      nav range: 84.734474 m,
      bearing: 28.738436 deg,
      approach rate: -0.764380 m/s,
      LOS rate: -0.002141 deg/s,
      cmd heading: 34.615061 deg,
      new cmd heading: 34.612818 deg.

2025-10-26T21:32:37.618Z,1761514357.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604108 target range: 87.153343 and range: 87.70 m.
2025-10-26T21:32:37.741Z,1761514357.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497535
2025-10-26T21:32:37.971Z,1761514357.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823288,-0.565594,-0.047959],[0.565773,0.810852,0.149737],[-0.045803,-0.150410,0.987562]]
2025-10-26T21:32:37.989Z,1761514357.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.15 m.
2025-10-26T21:32:37.993Z,1761514357.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749639
2025-10-26T21:32:37.993Z,1761514357.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.153343 m,
      nav range: 84.494774 m,
      bearing: 28.737501 deg,
      approach rate: -0.639690 m/s,
      LOS rate: -0.002502 deg/s,
      cmd heading: 34.612817 deg,
      new cmd heading: 34.610005 deg.

2025-10-26T21:32:37.994Z,1761514357.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604059 target range: 87.153343 and range: 87.70 m.
2025-10-26T21:32:38.248Z,1761514358.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003763
2025-10-26T21:32:38.365Z,1761514358.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821971,-0.567253,-0.050878],[0.567883,0.809527,0.148912],[-0.043283,-0.151294,0.987541]]
2025-10-26T21:32:38.401Z,1761514358.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.15 m.
2025-10-26T21:32:38.404Z,1761514358.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.153343 m,
      nav range: 84.227280 m,
      bearing: 28.735177 deg,
      approach rate: -0.648733 m/s,
      LOS rate: -0.005655 deg/s,
      cmd heading: 34.610006 deg,
      new cmd heading: 34.603011 deg.

2025-10-26T21:32:38.405Z,1761514358.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603936 target range: 87.153343 and range: 87.70 m.
2025-10-26T21:32:38.498Z,1761514358.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254597
2025-10-26T21:32:38.750Z,1761514358.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507332
2025-10-26T21:32:38.772Z,1761514358.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820845,-0.568843,-0.051299],[0.569637,0.808827,0.145988],[-0.041552,-0.149055,0.987955]]
2025-10-26T21:32:38.788Z,1761514358.788 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:38.790Z,1761514358.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.15 m.
2025-10-26T21:32:38.793Z,1761514358.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.153343 m,
      nav range: 83.975327 m,
      bearing: 28.732628 deg,
      approach rate: -0.648314 m/s,
      LOS rate: -0.006578 deg/s,
      cmd heading: 34.603012 deg,
      new cmd heading: 34.595343 deg.

2025-10-26T21:32:38.794Z,1761514358.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603803 target range: 87.153343 and range: 87.70 m.
2025-10-26T21:32:39.004Z,1761514359.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761359
2025-10-26T21:32:39.170Z,1761514359.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819434,-0.570858,-0.051467],[0.571767,0.807835,0.143130],[-0.040130,-0.146713,0.988365]]
2025-10-26T21:32:39.189Z,1761514359.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.15 m.
2025-10-26T21:32:39.209Z,1761514359.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.153343 m,
      nav range: 83.716202 m,
      bearing: 28.729550 deg,
      approach rate: -0.649587 m/s,
      LOS rate: -0.007739 deg/s,
      cmd heading: 34.595342 deg,
      new cmd heading: 34.586081 deg.

2025-10-26T21:32:39.210Z,1761514359.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603641 target range: 87.153343 and range: 87.70 m.
2025-10-26T21:32:39.261Z,1761514359.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015855
2025-10-26T21:32:39.512Z,1761514359.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269298
2025-10-26T21:32:39.574Z,1761514359.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818601,-0.572133,-0.050559],[0.573035,0.807558,0.139573],[-0.039025,-0.143226,0.988920]]
2025-10-26T21:32:39.637Z,1761514359.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.15 m.
2025-10-26T21:32:39.644Z,1761514359.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.153343 m,
      nav range: 83.439240 m,
      bearing: 28.729386 deg,
      approach rate: -0.617241 m/s,
      LOS rate: -0.000368 deg/s,
      cmd heading: 34.586080 deg,
      new cmd heading: 34.585585 deg.

2025-10-26T21:32:39.645Z,1761514359.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603632 target range: 87.153343 and range: 87.70 m.
2025-10-26T21:32:39.764Z,1761514359.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521304
2025-10-26T21:32:39.981Z,1761514359.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817882,-0.573460,-0.047034],[0.574145,0.808024,0.132117],[-0.037760,-0.135061,0.990118]]
2025-10-26T21:32:40.016Z,1761514360.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773338
2025-10-26T21:32:40.019Z,1761514360.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.15 m.
2025-10-26T21:32:40.022Z,1761514360.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.153343 m,
      nav range: 83.192848 m,
      bearing: 28.729071 deg,
      approach rate: -0.652362 m/s,
      LOS rate: -0.000836 deg/s,
      cmd heading: 34.585585 deg,
      new cmd heading: 34.584637 deg.

2025-10-26T21:32:40.023Z,1761514360.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603616 target range: 87.153343 and range: 87.70 m.
2025-10-26T21:32:40.272Z,1761514360.272 [DAT](INFO): DAT read: Rx Time:21:32:38.8619

2025-10-26T21:32:40.273Z,1761514360.273 [DAT](INFO): Rx dataTimestamp_ set to:1761514360.272551
2025-10-26T21:32:40.281Z,1761514360.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031590
2025-10-26T21:32:40.393Z,1761514360.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817190,-0.574675,-0.044151],[0.575191,0.808229,0.126177],[-0.036827,-0.128506,0.991025]]
2025-10-26T21:32:40.430Z,1761514360.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.15 m.
2025-10-26T21:32:40.449Z,1761514360.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.153343 m,
      nav range: 82.907326 m,
      bearing: 28.729941 deg,
      approach rate: -0.687950 m/s,
      LOS rate: 0.002104 deg/s,
      cmd heading: 34.584636 deg,
      new cmd heading: 34.587255 deg.

2025-10-26T21:32:40.450Z,1761514360.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603661 target range: 87.153343 and range: 87.70 m.
2025-10-26T21:32:40.521Z,1761514360.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278075
2025-10-26T21:32:40.778Z,1761514360.778 [DAT](INFO): DAT read: 21:32:38.8619 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 410, 0.07,-0.022,-1.559, 0.436,-0.028, PHS= 0.108,-1.486, 0.420, RAW= 158.8,  10.8, CAL= 158.9,  11.9, ROT= 351.1, -11.9

2025-10-26T21:32:40.779Z,1761514360.779 [DAT](INFO): got valid direction response:
 21:32:38.8619 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 410, 0.07,-0.022,-1.559, 0.436,-0.028, PHS= 0.108,-1.486, 0.420, RAW= 158.8,  10.8, CAL= 158.9,  11.9, ROT= 351.1, -11.9

2025-10-26T21:32:40.780Z,1761514360.780 [DAT](INFO): DAT read: Bearing 194.2, -12.4 (Local)

2025-10-26T21:32:40.780Z,1761514360.780 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.2, -12.4 (Local)

2025-10-26T21:32:40.781Z,1761514360.781 [DAT](INFO): DAT read: Range 11 to 50 : 85.3 m  (Round-trip  113.8 ms) speed  0.6 m/s

2025-10-26T21:32:40.782Z,1761514360.782 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:32:40.783Z,1761514360.783 [DAT](INFO): direction in FSK: [0.966728,-0.151385,0.206204]
2025-10-26T21:32:40.783Z,1761514360.783 [DAT](INFO): publishing direction and range info
2025-10-26T21:32:40.787Z,1761514360.787 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:32:40.787Z,1761514360.787 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:32:40.787Z,1761514360.787 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:32:40.804Z,1761514360.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816790,-0.575261,-0.043922],[0.575792,0.808015,0.124799],[-0.036302,-0.127224,0.991209]]
2025-10-26T21:32:40.873Z,1761514360.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 85.300003 m,
      deltaT: 3.787934 s,
      deltaX: -2.399994 m,
      approachRate: -0.633589 m/s,
      rangeRepo size: 4

2025-10-26T21:32:40.875Z,1761514360.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.769638 m,
      bearing: 27.933676 deg,
      lat: 36.779386 deg,
      lon: -121.859451 deg,
      deltaT: 3.787934 s,
      deltaX: -2.383705 m,
      approachRate: -0.629289 m/s,
      posRepo size: 4

2025-10-26T21:32:40.880Z,1761514360.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.77 m.
2025-10-26T21:32:40.882Z,1761514360.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.769638 m,
      nav range: 83.184845 m,
      bearing: 28.304639 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002104 deg/s,
      cmd heading: 34.587255 deg,
      new cmd heading: 34.589937 deg.

2025-10-26T21:32:40.887Z,1761514360.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603708 target range: 84.769638 and range: 85.30 m.
2025-10-26T21:32:41.025Z,1761514361.025 [DAT](INFO): DAT read: user:314>

2025-10-26T21:32:41.025Z,1761514361.025 [DAT](INFO): DAT read: Tx time:21:32:40.1439

2025-10-26T21:32:41.026Z,1761514361.026 [DAT](INFO): Ping request sent.
2025-10-26T21:32:41.026Z,1761514361.026 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:32:41.026Z,1761514361.026 [DAT](INFO): publishing transmit ping time
2025-10-26T21:32:41.027Z,1761514361.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000719
2025-10-26T21:32:41.217Z,1761514361.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817356,-0.574294,-0.045986],[0.575011,0.808185,0.127278],[-0.035930,-0.130474,0.990800]]
2025-10-26T21:32:41.242Z,1761514361.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:41.245Z,1761514361.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.77 m.
2025-10-26T21:32:41.248Z,1761514361.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.769638 m,
      nav range: 82.908798 m,
      bearing: 28.304101 deg,
      approach rate: -0.707533 m/s,
      LOS rate: -0.001384 deg/s,
      cmd heading: 34.589936 deg,
      new cmd heading: 34.588316 deg.

2025-10-26T21:32:41.249Z,1761514361.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603680 target range: 84.769638 and range: 85.30 m.
2025-10-26T21:32:41.280Z,1761514361.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253206
2025-10-26T21:32:41.529Z,1761514361.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502722
2025-10-26T21:32:41.610Z,1761514361.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818421,-0.572465,-0.049697],[0.573502,0.808382,0.132715],[-0.035800,-0.137118,0.989908]]
2025-10-26T21:32:41.666Z,1761514361.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.77 m.
2025-10-26T21:32:41.673Z,1761514361.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.769638 m,
      nav range: 82.636520 m,
      bearing: 28.309847 deg,
      approach rate: -0.646655 m/s,
      LOS rate: 0.013692 deg/s,
      cmd heading: 34.588317 deg,
      new cmd heading: 34.605613 deg.

2025-10-26T21:32:41.674Z,1761514361.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603982 target range: 84.769638 and range: 85.30 m.
2025-10-26T21:32:41.781Z,1761514361.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755455
2025-10-26T21:32:42.017Z,1761514362.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819927,-0.569940,-0.053744],[0.571348,0.808838,0.139077],[-0.035795,-0.144739,0.988822]]
2025-10-26T21:32:42.032Z,1761514362.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006637
2025-10-26T21:32:42.037Z,1761514362.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.77 m.
2025-10-26T21:32:42.040Z,1761514362.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.769638 m,
      nav range: 82.375893 m,
      bearing: 28.315810 deg,
      approach rate: -0.703020 m/s,
      LOS rate: 0.016135 deg/s,
      cmd heading: 34.605614 deg,
      new cmd heading: 34.623559 deg.

2025-10-26T21:32:42.041Z,1761514362.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604295 target range: 84.769638 and range: 85.30 m.
2025-10-26T21:32:42.288Z,1761514362.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261141
2025-10-26T21:32:42.418Z,1761514362.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821288,-0.567612,-0.057473],[0.569395,0.809200,0.144864],[-0.035720,-0.151700,0.987781]]
2025-10-26T21:32:42.463Z,1761514362.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.77 m.
2025-10-26T21:32:42.466Z,1761514362.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.769638 m,
      nav range: 82.089294 m,
      bearing: 28.323110 deg,
      approach rate: -0.672390 m/s,
      LOS rate: 0.017188 deg/s,
      cmd heading: 34.623557 deg,
      new cmd heading: 34.645536 deg.

2025-10-26T21:32:42.467Z,1761514362.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604679 target range: 84.769638 and range: 85.30 m.
2025-10-26T21:32:42.536Z,1761514362.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510581
2025-10-26T21:32:42.788Z,1761514362.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762619
2025-10-26T21:32:42.823Z,1761514362.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822741,-0.565057,-0.061711],[0.567301,0.809471,0.151415],[-0.035605,-0.159584,0.986542]]
2025-10-26T21:32:42.841Z,1761514362.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.77 m.
2025-10-26T21:32:42.844Z,1761514362.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.769638 m,
      nav range: 81.836304 m,
      bearing: 28.330006 deg,
      approach rate: -0.669415 m/s,
      LOS rate: 0.018301 deg/s,
      cmd heading: 34.645537 deg,
      new cmd heading: 34.666287 deg.

2025-10-26T21:32:42.845Z,1761514362.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605041 target range: 84.769638 and range: 85.30 m.
2025-10-26T21:32:43.040Z,1761514363.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014550
2025-10-26T21:32:43.234Z,1761514363.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824014,-0.562985,-0.063628],[0.565427,0.810022,0.155422],[-0.035960,-0.164047,0.985797]]
2025-10-26T21:32:43.258Z,1761514363.258 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:43.260Z,1761514363.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.77 m.
2025-10-26T21:32:43.263Z,1761514363.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.769638 m,
      nav range: 81.556358 m,
      bearing: 28.338103 deg,
      approach rate: -0.668145 m/s,
      LOS rate: 0.019393 deg/s,
      cmd heading: 34.666287 deg,
      new cmd heading: 34.690663 deg.

2025-10-26T21:32:43.264Z,1761514363.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605466 target range: 84.769638 and range: 85.30 m.
2025-10-26T21:32:43.295Z,1761514363.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268856
2025-10-26T21:32:43.544Z,1761514363.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518513
2025-10-26T21:32:43.740Z,1761514363.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825031,-0.561167,-0.066445],[0.563894,0.809942,0.161302],[-0.036701,-0.170547,0.984666]]
2025-10-26T21:32:43.785Z,1761514363.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.77 m.
2025-10-26T21:32:43.788Z,1761514363.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.769638 m,
      nav range: 81.207748 m,
      bearing: 28.353254 deg,
      approach rate: -0.664149 m/s,
      LOS rate: 0.028988 deg/s,
      cmd heading: 34.690664 deg,
      new cmd heading: 34.736312 deg.

2025-10-26T21:32:43.789Z,1761514363.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606263 target range: 84.769638 and range: 85.30 m.
2025-10-26T21:32:43.796Z,1761514363.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770601
2025-10-26T21:32:44.048Z,1761514364.048 [DAT](INFO): DAT read: Rx Time:21:32:42.6584

2025-10-26T21:32:44.049Z,1761514364.049 [DAT](INFO): Rx dataTimestamp_ set to:1761514364.048551
2025-10-26T21:32:44.049Z,1761514364.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023542
2025-10-26T21:32:44.140Z,1761514364.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825971,-0.559516,-0.068664],[0.562481,0.809980,0.165976],[-0.037250,-0.175713,0.983736]]
2025-10-26T21:32:44.163Z,1761514364.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.77 m.
2025-10-26T21:32:44.166Z,1761514364.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.769638 m,
      nav range: 80.957680 m,
      bearing: 28.364466 deg,
      approach rate: -0.661319 m/s,
      LOS rate: 0.029743 deg/s,
      cmd heading: 34.736310 deg,
      new cmd heading: 34.770051 deg.

2025-10-26T21:32:44.167Z,1761514364.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606852 target range: 84.769638 and range: 85.30 m.
2025-10-26T21:32:44.303Z,1761514364.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276610
2025-10-26T21:32:44.558Z,1761514364.558 [DAT](INFO): DAT read: 21:32:42.6584 LVL= 32752, 32753, 30898, 32755, AGC= 74, IDX= 409,-0.42,-2.084, 2.674,-1.657,-2.112, PHS= 0.130,-1.451, 0.412, RAW= 158.1,  10.5, CAL= 158.0,  11.4, ROT= 352.0, -11.4

2025-10-26T21:32:44.559Z,1761514364.559 [DAT](INFO): got valid direction response:
 21:32:42.6584 LVL= 32752, 32753, 30898, 32755, AGC= 74, IDX= 409,-0.42,-2.084, 2.674,-1.657,-2.112, PHS= 0.130,-1.451, 0.412, RAW= 158.1,  10.5, CAL= 158.0,  11.4, ROT= 352.0, -11.4

2025-10-26T21:32:44.560Z,1761514364.560 [DAT](INFO): DAT read: Bearing 192.6, -11.6 (Local)

2025-10-26T21:32:44.560Z,1761514364.560 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.6, -11.6 (Local)

2025-10-26T21:32:44.562Z,1761514364.562 [DAT](INFO): DAT read: Range 11 to 50 : 82.8 m  (Round-trip  110.5 ms) speed  0.6 m/s

2025-10-26T21:32:44.562Z,1761514364.562 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:32:44.568Z,1761514364.568 [DAT](INFO): direction in FSK: [0.970731,-0.136427,0.197657]
2025-10-26T21:32:44.568Z,1761514364.568 [DAT](INFO): publishing direction and range info
2025-10-26T21:32:44.588Z,1761514364.588 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:32:44.589Z,1761514364.589 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:32:44.589Z,1761514364.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:32:44.633Z,1761514364.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826826,-0.558195,-0.069112],[0.561218,0.810600,0.167218],[-0.037318,-0.177047,0.983495]]
2025-10-26T21:32:44.780Z,1761514364.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 82.800003 m,
      deltaT: 3.780117 s,
      deltaX: -2.500000 m,
      approachRate: -0.661355 m/s,
      rangeRepo size: 4

2025-10-26T21:32:44.782Z,1761514364.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 82.283585 m,
      bearing: 28.373727 deg,
      lat: 36.779388 deg,
      lon: -121.859451 deg,
      deltaT: 3.780117 s,
      deltaX: -2.486053 m,
      approachRate: -0.657666 m/s,
      posRepo size: 4

2025-10-26T21:32:44.782Z,1761514364.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.28 m.
2025-10-26T21:32:44.789Z,1761514364.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.283585 m,
      nav range: 80.830078 m,
      bearing: 28.275922 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.029743 deg/s,
      cmd heading: 34.770051 deg,
      new cmd heading: 34.824629 deg.

2025-10-26T21:32:44.790Z,1761514364.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607804 target range: 82.283585 and range: 82.80 m.
2025-10-26T21:32:44.805Z,1761514364.805 [DAT](INFO): DAT read: user:315>

2025-10-26T21:32:44.806Z,1761514364.806 [DAT](INFO): DAT read: Tx time:21:32:43.9438

2025-10-26T21:32:44.806Z,1761514364.806 [DAT](INFO): Ping request sent.
2025-10-26T21:32:44.806Z,1761514364.806 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:32:44.806Z,1761514364.806 [DAT](INFO): publishing transmit ping time
2025-10-26T21:32:44.807Z,1761514364.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000714
2025-10-26T21:32:45.056Z,1761514365.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250477
2025-10-26T21:32:45.074Z,1761514365.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826920,-0.558134,-0.068476],[0.561115,0.811045,0.165397],[-0.036777,-0.175193,0.983847]]
2025-10-26T21:32:45.092Z,1761514365.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.28 m.
2025-10-26T21:32:45.095Z,1761514365.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.283585 m,
      nav range: 80.608002 m,
      bearing: 28.283141 deg,
      approach rate: -0.699658 m/s,
      LOS rate: 0.022805 deg/s,
      cmd heading: 34.824628 deg,
      new cmd heading: 34.846343 deg.

2025-10-26T21:32:45.097Z,1761514365.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.608183 target range: 82.283585 and range: 82.80 m.
2025-10-26T21:32:45.308Z,1761514365.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502368
2025-10-26T21:32:45.462Z,1761514365.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826519,-0.558894,-0.067112],[0.561750,0.811289,0.162009],[-0.036098,-0.171604,0.984504]]
2025-10-26T21:32:45.495Z,1761514365.495 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-10-26T21:32:45.496Z,1761514365.496 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-10-26T21:32:45.496Z,1761514365.496 [RDI_Pathfinder](ERROR): Communications Fault
2025-10-26T21:32:45.510Z,1761514365.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:45.537Z,1761514365.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.28 m.
2025-10-26T21:32:45.556Z,1761514365.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.283585 m,
      nav range: 80.330894 m,
      bearing: 28.292097 deg,
      approach rate: -0.660725 m/s,
      LOS rate: 0.021428 deg/s,
      cmd heading: 34.846344 deg,
      new cmd heading: 34.873306 deg.

2025-10-26T21:32:45.557Z,1761514365.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.608654 target range: 82.283585 and range: 82.80 m.
2025-10-26T21:32:45.560Z,1761514365.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754531
2025-10-26T21:32:45.783Z,1761514365.783 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-10-26T21:32:45.812Z,1761514365.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006483
2025-10-26T21:32:45.870Z,1761514365.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825776,-0.560301,-0.064468],[0.562903,0.811653,0.156075],[-0.035123,-0.165172,0.985639]]
2025-10-26T21:32:45.944Z,1761514365.944 [RDI_Pathfinder](INFO): Powering down
2025-10-26T21:32:45.986Z,1761514365.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.28 m.
2025-10-26T21:32:45.995Z,1761514365.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.283585 m,
      nav range: 80.022507 m,
      bearing: 28.301915 deg,
      approach rate: -0.650619 m/s,
      LOS rate: 0.020794 deg/s,
      cmd heading: 34.873307 deg,
      new cmd heading: 34.902875 deg.

2025-10-26T21:32:46.020Z,1761514366.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.609170 target range: 82.283585 and range: 82.80 m.
2025-10-26T21:32:46.065Z,1761514366.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258671
2025-10-26T21:32:46.320Z,1761514366.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514386
2025-10-26T21:32:46.328Z,1761514366.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824378,-0.562645,-0.061895],[0.565044,0.811513,0.148901],[-0.033550,-0.157724,0.986913]]
2025-10-26T21:32:46.366Z,1761514366.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.28 m.
2025-10-26T21:32:46.369Z,1761514366.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.283585 m,
      nav range: 79.765793 m,
      bearing: 28.309752 deg,
      approach rate: -0.675168 m/s,
      LOS rate: 0.020676 deg/s,
      cmd heading: 34.902875 deg,
      new cmd heading: 34.926459 deg.

2025-10-26T21:32:46.370Z,1761514366.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.609582 target range: 82.283585 and range: 82.80 m.
2025-10-26T21:32:46.574Z,1761514366.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767602
2025-10-26T21:32:46.740Z,1761514366.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822514,-0.565507,-0.060606],[0.567851,0.810571,0.143247],[-0.031882,-0.152237,0.987830]]
2025-10-26T21:32:46.777Z,1761514366.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.28 m.
2025-10-26T21:32:46.784Z,1761514366.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.283585 m,
      nav range: 79.506157 m,
      bearing: 28.317154 deg,
      approach rate: -0.631584 m/s,
      LOS rate: 0.018067 deg/s,
      cmd heading: 34.926459 deg,
      new cmd heading: 34.948740 deg.

2025-10-26T21:32:46.785Z,1761514366.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.609971 target range: 82.283585 and range: 82.80 m.
2025-10-26T21:32:46.827Z,1761514366.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021054
2025-10-26T21:32:47.075Z,1761514367.075 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-10-26T21:32:47.075Z,1761514367.075 [RDI_Pathfinder] No Fault, FailCount= 1
2025-10-26T21:32:47.077Z,1761514367.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270736
2025-10-26T21:32:47.130Z,1761514367.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821076,-0.567570,-0.060818],[0.570029,0.809666,0.139673],[-0.030032,-0.149351,0.988328]]
2025-10-26T21:32:47.141Z,1761514367.141 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-10-26T21:32:47.209Z,1761514367.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.28 m.
2025-10-26T21:32:47.224Z,1761514367.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.283585 m,
      nav range: 79.222206 m,
      bearing: 28.324803 deg,
      approach rate: -0.656493 m/s,
      LOS rate: 0.017746 deg/s,
      cmd heading: 34.948739 deg,
      new cmd heading: 34.971766 deg.

2025-10-26T21:32:47.225Z,1761514367.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.610372 target range: 82.283585 and range: 82.80 m.
2025-10-26T21:32:47.328Z,1761514367.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522488
2025-10-26T21:32:47.554Z,1761514367.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819856,-0.569242,-0.061641],[0.571873,0.808790,0.137183],[-0.028236,-0.147721,0.988626]]
2025-10-26T21:32:47.580Z,1761514367.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774337
2025-10-26T21:32:47.590Z,1761514367.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:47.592Z,1761514367.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.28 m.
2025-10-26T21:32:47.595Z,1761514367.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.283585 m,
      nav range: 78.965149 m,
      bearing: 28.331378 deg,
      approach rate: -0.671794 m/s,
      LOS rate: 0.017241 deg/s,
      cmd heading: 34.971767 deg,
      new cmd heading: 34.991559 deg.

2025-10-26T21:32:47.600Z,1761514367.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.610718 target range: 82.283585 and range: 82.80 m.
2025-10-26T21:32:47.833Z,1761514367.833 [DAT](INFO): DAT read: Rx Time:21:32:46.4551

2025-10-26T21:32:47.834Z,1761514367.834 [DAT](INFO): Rx dataTimestamp_ set to:1761514367.833230
2025-10-26T21:32:47.834Z,1761514367.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028106
2025-10-26T21:32:47.971Z,1761514367.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818529,-0.571345,-0.059794],[0.573916,0.808752,0.128609],[-0.025122,-0.139587,0.989891]]
2025-10-26T21:32:47.989Z,1761514367.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.28 m.
2025-10-26T21:32:47.991Z,1761514367.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.283585 m,
      nav range: 78.691658 m,
      bearing: 28.338025 deg,
      approach rate: -0.689749 m/s,
      LOS rate: 0.016820 deg/s,
      cmd heading: 34.991558 deg,
      new cmd heading: 35.011565 deg.

2025-10-26T21:32:47.992Z,1761514367.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.611067 target range: 82.283585 and range: 82.80 m.
2025-10-26T21:32:48.084Z,1761514368.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278528
2025-10-26T21:32:48.342Z,1761514368.342 [DAT](INFO): DAT read: 21:32:46.4551 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 406, 0.18,-1.440,-2.936,-0.985,-1.424, PHS= 0.086,-1.467, 0.396, RAW= 158.9,  11.4, CAL= 159.1,  12.6, ROT= 350.9, -12.6

2025-10-26T21:32:48.343Z,1761514368.343 [DAT](INFO): got valid direction response:
 21:32:46.4551 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 406, 0.18,-1.440,-2.936,-0.985,-1.424, PHS= 0.086,-1.467, 0.396, RAW= 158.9,  11.4, CAL= 159.1,  12.6, ROT= 350.9, -12.6

2025-10-26T21:32:48.362Z,1761514368.362 [DAT](INFO): DAT read: Bearing 194.2, -12.0 (Local)

2025-10-26T21:32:48.363Z,1761514368.363 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.2, -12.0 (Local)

2025-10-26T21:32:48.364Z,1761514368.364 [DAT](INFO): DAT read: Range 11 to 50 : 80.4 m  (Round-trip  107.2 ms) speed  0.6 m/s

2025-10-26T21:32:48.365Z,1761514368.365 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:32:48.366Z,1761514368.366 [DAT](INFO): direction in FSK: [0.963634,-0.154349,0.218143]
2025-10-26T21:32:48.366Z,1761514368.366 [DAT](INFO): publishing direction and range info
2025-10-26T21:32:48.370Z,1761514368.370 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:32:48.370Z,1761514368.370 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:32:48.370Z,1761514368.370 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:32:48.416Z,1761514368.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818282,-0.571794,-0.058871],[0.574330,0.809078,0.124649],[-0.023642,-0.135809,0.990453]]
2025-10-26T21:32:48.460Z,1761514368.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 80.400002 m,
      deltaT: 3.783930 s,
      deltaX: -2.400002 m,
      approachRate: -0.634262 m/s,
      rangeRepo size: 4

2025-10-26T21:32:48.462Z,1761514368.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 79.898376 m,
      bearing: 27.813050 deg,
      lat: 36.779388 deg,
      lon: -121.859451 deg,
      deltaT: 3.783930 s,
      deltaX: -2.385208 m,
      approachRate: -0.630352 m/s,
      posRepo size: 4

2025-10-26T21:32:48.462Z,1761514368.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.90 m.
2025-10-26T21:32:48.469Z,1761514368.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.898376 m,
      nav range: 78.404762 m,
      bearing: 28.342123 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016820 deg/s,
      cmd heading: 35.011567 deg,
      new cmd heading: 35.035083 deg.

2025-10-26T21:32:48.470Z,1761514368.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.611478 target range: 79.898376 and range: 80.40 m.
2025-10-26T21:32:48.589Z,1761514368.589 [DAT](INFO): DAT read: user:316>

2025-10-26T21:32:48.590Z,1761514368.590 [DAT](INFO): DAT read: Tx time:21:32:47.7438

2025-10-26T21:32:48.590Z,1761514368.590 [DAT](INFO): Ping request sent.
2025-10-26T21:32:48.590Z,1761514368.590 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:32:48.590Z,1761514368.590 [DAT](INFO): publishing transmit ping time
2025-10-26T21:32:48.591Z,1761514368.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000715
2025-10-26T21:32:48.793Z,1761514368.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818326,-0.571597,-0.060162],[0.574327,0.809192,0.123925],[-0.022152,-0.135964,0.990466]]
2025-10-26T21:32:48.841Z,1761514368.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250527
2025-10-26T21:32:48.844Z,1761514368.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.90 m.
2025-10-26T21:32:48.847Z,1761514368.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.898376 m,
      nav range: 78.152611 m,
      bearing: 28.348281 deg,
      approach rate: -0.654980 m/s,
      LOS rate: 0.016047 deg/s,
      cmd heading: 35.035083 deg,
      new cmd heading: 35.053616 deg.

2025-10-26T21:32:48.853Z,1761514368.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.611801 target range: 79.898376 and range: 80.40 m.
2025-10-26T21:32:49.094Z,1761514369.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503644
2025-10-26T21:32:49.198Z,1761514369.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819078,-0.570306,-0.062144],[0.573298,0.809752,0.125023],[-0.020980,-0.138031,0.990206]]
2025-10-26T21:32:49.234Z,1761514369.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.90 m.
2025-10-26T21:32:49.245Z,1761514369.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.898376 m,
      nav range: 77.875526 m,
      bearing: 28.355333 deg,
      approach rate: -0.703135 m/s,
      LOS rate: 0.017959 deg/s,
      cmd heading: 35.053617 deg,
      new cmd heading: 35.074849 deg.

2025-10-26T21:32:49.245Z,1761514369.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.612172 target range: 79.898376 and range: 80.40 m.
2025-10-26T21:32:49.345Z,1761514369.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754738
2025-10-26T21:32:49.595Z,1761514369.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819548,-0.569186,-0.066097],[0.572677,0.809671,0.128352],[-0.019540,-0.143043,0.989524]]
2025-10-26T21:32:49.596Z,1761514369.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006510
2025-10-26T21:32:49.629Z,1761514369.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:49.631Z,1761514369.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.90 m.
2025-10-26T21:32:49.638Z,1761514369.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.898376 m,
      nav range: 77.623589 m,
      bearing: 28.361886 deg,
      approach rate: -0.634060 m/s,
      LOS rate: 0.016546 deg/s,
      cmd heading: 35.074848 deg,
      new cmd heading: 35.094572 deg.

2025-10-26T21:32:49.639Z,1761514369.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.612516 target range: 79.898376 and range: 80.40 m.
2025-10-26T21:32:49.849Z,1761514369.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258781
2025-10-26T21:32:49.995Z,1761514369.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819794,-0.568260,-0.070848],[0.572391,0.809334,0.131709],[-0.017505,-0.148527,0.988753]]
2025-10-26T21:32:50.013Z,1761514370.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.90 m.
2025-10-26T21:32:50.016Z,1761514370.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.898376 m,
      nav range: 77.359833 m,
      bearing: 28.368812 deg,
      approach rate: -0.690187 m/s,
      LOS rate: 0.018183 deg/s,
      cmd heading: 35.094571 deg,
      new cmd heading: 35.115417 deg.

2025-10-26T21:32:50.017Z,1761514370.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.612880 target range: 79.898376 and range: 80.40 m.
2025-10-26T21:32:50.101Z,1761514370.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511112
2025-10-26T21:32:50.352Z,1761514370.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762393
2025-10-26T21:32:50.441Z,1761514370.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819828,-0.567534,-0.076074],[0.572403,0.808696,0.135523],[-0.015393,-0.154650,0.987849]]
2025-10-26T21:32:50.469Z,1761514370.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.90 m.
2025-10-26T21:32:50.472Z,1761514370.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.898376 m,
      nav range: 77.058151 m,
      bearing: 28.376722 deg,
      approach rate: -0.661407 m/s,
      LOS rate: 0.017410 deg/s,
      cmd heading: 35.115416 deg,
      new cmd heading: 35.139240 deg.

2025-10-26T21:32:50.473Z,1761514370.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613295 target range: 79.898376 and range: 80.40 m.
2025-10-26T21:32:50.604Z,1761514370.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014421
2025-10-26T21:32:50.798Z,1761514370.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819587,-0.567190,-0.081073],[0.572800,0.807841,0.138898],[-0.013288,-0.160278,0.986982]]
2025-10-26T21:32:50.816Z,1761514370.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.90 m.
2025-10-26T21:32:50.819Z,1761514370.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.898376 m,
      nav range: 76.828781 m,
      bearing: 28.382647 deg,
      approach rate: -0.661476 m/s,
      LOS rate: 0.017140 deg/s,
      cmd heading: 35.139240 deg,
      new cmd heading: 35.157070 deg.

2025-10-26T21:32:50.820Z,1761514370.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613607 target range: 79.898376 and range: 80.40 m.
2025-10-26T21:32:50.857Z,1761514370.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267369
2025-10-26T21:32:51.108Z,1761514371.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518420
2025-10-26T21:32:51.220Z,1761514371.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818925,-0.567414,-0.086038],[0.573790,0.806580,0.142106],[-0.011236,-0.165742,0.986105]]
2025-10-26T21:32:51.238Z,1761514371.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.90 m.
2025-10-26T21:32:51.241Z,1761514371.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.898376 m,
      nav range: 76.549568 m,
      bearing: 28.389599 deg,
      approach rate: -0.661247 m/s,
      LOS rate: 0.016523 deg/s,
      cmd heading: 35.157070 deg,
      new cmd heading: 35.178000 deg.

2025-10-26T21:32:51.242Z,1761514371.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613972 target range: 79.898376 and range: 80.40 m.
2025-10-26T21:32:51.360Z,1761514371.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770368
2025-10-26T21:32:51.606Z,1761514371.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817717,-0.568710,-0.088931],[0.575550,0.805384,0.141765],[-0.009000,-0.167108,0.985898]]
2025-10-26T21:32:51.612Z,1761514371.612 [DAT](INFO): DAT read: Rx Time:21:32:50.2517

2025-10-26T21:32:51.613Z,1761514371.613 [DAT](INFO): Rx dataTimestamp_ set to:1761514371.612683
2025-10-26T21:32:51.613Z,1761514371.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023521
2025-10-26T21:32:51.653Z,1761514371.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:51.660Z,1761514371.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.90 m.
2025-10-26T21:32:51.663Z,1761514371.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.898376 m,
      nav range: 76.292847 m,
      bearing: 28.395611 deg,
      approach rate: -0.615871 m/s,
      LOS rate: 0.014472 deg/s,
      cmd heading: 35.178001 deg,
      new cmd heading: 35.196099 deg.

2025-10-26T21:32:51.672Z,1761514371.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.614288 target range: 79.898376 and range: 80.40 m.
2025-10-26T21:32:51.864Z,1761514371.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274389
2025-10-26T21:32:52.066Z,1761514372.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816059,-0.570854,-0.090402],[0.577931,0.804189,0.138837],[-0.006555,-0.165546,0.986180]]
2025-10-26T21:32:52.085Z,1761514372.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.90 m.
2025-10-26T21:32:52.088Z,1761514372.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.898376 m,
      nav range: 75.989418 m,
      bearing: 28.402130 deg,
      approach rate: -0.705313 m/s,
      LOS rate: 0.015213 deg/s,
      cmd heading: 35.196098 deg,
      new cmd heading: 35.215732 deg.

2025-10-26T21:32:52.089Z,1761514372.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.614630 target range: 79.898376 and range: 80.40 m.
2025-10-26T21:32:52.124Z,1761514372.124 [DAT](INFO): DAT read: 21:32:50.2517 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 403, 0.47,-0.020,-1.529, 0.472, 0.017, PHS= 0.064,-1.501, 0.410, RAW= 159.8,  11.6, CAL= 160.0,  13.0, ROT= 350.0, -13.0

2025-10-26T21:32:52.126Z,1761514372.126 [DAT](INFO): got valid direction response:
 21:32:50.2517 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 403, 0.47,-0.020,-1.529, 0.472, 0.017, PHS= 0.064,-1.501, 0.410, RAW= 159.8,  11.6, CAL= 160.0,  13.0, ROT= 350.0, -13.0

2025-10-26T21:32:52.128Z,1761514372.128 [DAT](INFO): DAT read: Bearing 193.7, -12.5 (Local)

2025-10-26T21:32:52.128Z,1761514372.128 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.7, -12.5 (Local)

2025-10-26T21:32:52.130Z,1761514372.130 [DAT](INFO): DAT read: Range 11 to 50 : 77.8 m  (Round-trip  103.8 ms) speed  0.4 m/s

2025-10-26T21:32:52.131Z,1761514372.131 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:32:52.133Z,1761514372.133 [DAT](INFO): direction in FSK: [0.959567,-0.169197,0.224951]
2025-10-26T21:32:52.134Z,1761514372.134 [DAT](INFO): publishing direction and range info
2025-10-26T21:32:52.139Z,1761514372.139 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:32:52.139Z,1761514372.139 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:32:52.139Z,1761514372.139 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:32:52.368Z,1761514372.368 [DAT](INFO): DAT read: user:317>

2025-10-26T21:32:52.369Z,1761514372.369 [DAT](INFO): DAT read: Tx time:21:32:51.4938

2025-10-26T21:32:52.369Z,1761514372.369 [DAT](INFO): Ping request sent.
2025-10-26T21:32:52.369Z,1761514372.369 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:32:52.370Z,1761514372.370 [DAT](INFO): publishing transmit ping time
2025-10-26T21:32:52.370Z,1761514372.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723
2025-10-26T21:32:52.423Z,1761514372.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814239,-0.573081,-0.092700],[0.580516,0.802694,0.136686],[-0.003922,-0.165109,0.986268]]
2025-10-26T21:32:52.450Z,1761514372.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 77.800003 m,
      deltaT: 3.780122 s,
      deltaX: -2.599998 m,
      approachRate: -0.687808 m/s,
      rangeRepo size: 4

2025-10-26T21:32:52.452Z,1761514372.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 77.313866 m,
      bearing: 27.795191 deg,
      lat: 36.779388 deg,
      lon: -121.859456 deg,
      deltaT: 3.780122 s,
      deltaX: -2.584511 m,
      approachRate: -0.683711 m/s,
      posRepo size: 4

2025-10-26T21:32:52.453Z,1761514372.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.31 m.
2025-10-26T21:32:52.456Z,1761514372.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.313866 m,
      nav range: 75.532791 m,
      bearing: 28.112804 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015213 deg/s,
      cmd heading: 35.215731 deg,
      new cmd heading: 35.232345 deg.

2025-10-26T21:32:52.457Z,1761514372.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.614920 target range: 77.313866 and range: 77.80 m.
2025-10-26T21:32:52.620Z,1761514372.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250996
2025-10-26T21:32:52.822Z,1761514372.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812741,-0.575130,-0.093149],[0.582623,0.801885,0.132403],[-0.001454,-0.161880,0.986809]]
2025-10-26T21:32:52.841Z,1761514372.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.31 m.
2025-10-26T21:32:52.843Z,1761514372.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.313866 m,
      nav range: 75.271454 m,
      bearing: 28.116394 deg,
      approach rate: -0.667924 m/s,
      LOS rate: 0.009207 deg/s,
      cmd heading: 35.232346 deg,
      new cmd heading: 35.243153 deg.

2025-10-26T21:32:52.844Z,1761514372.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.615109 target range: 77.313866 and range: 77.80 m.
2025-10-26T21:32:52.873Z,1761514372.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503095
2025-10-26T21:32:53.125Z,1761514373.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755512
2025-10-26T21:32:53.232Z,1761514373.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811235,-0.577231,-0.093284],[0.584719,0.801023,0.128316],[0.000654,-0.158640,0.987336]]
2025-10-26T21:32:53.250Z,1761514373.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.31 m.
2025-10-26T21:32:53.253Z,1761514373.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.313866 m,
      nav range: 75.000778 m,
      bearing: 28.119645 deg,
      approach rate: -0.661285 m/s,
      LOS rate: 0.007971 deg/s,
      cmd heading: 35.243155 deg,
      new cmd heading: 35.252943 deg.

2025-10-26T21:32:53.254Z,1761514373.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.615280 target range: 77.313866 and range: 77.80 m.
2025-10-26T21:32:53.376Z,1761514373.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006856
2025-10-26T21:32:53.628Z,1761514373.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258951
2025-10-26T21:32:53.671Z,1761514373.671 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:53.673Z,1761514373.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.31 m.
2025-10-26T21:32:53.677Z,1761514373.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.313866 m,
      nav range: 74.720894 m,
      bearing: 28.123031 deg,
      approach rate: -0.660982 m/s,
      LOS rate: 0.008027 deg/s,
      cmd heading: 35.252942 deg,
      new cmd heading: 35.263139 deg.

2025-10-26T21:32:53.680Z,1761514373.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.615458 target range: 77.313866 and range: 77.80 m.
2025-10-26T21:32:53.736Z,1761514373.736 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:32:53.880Z,1761514373.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510856
2025-10-26T21:32:54.034Z,1761514374.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808592,-0.580937,-0.093224],[0.588344,0.799815,0.118942],[0.005464,-0.151023,0.988515]]
2025-10-26T21:32:54.061Z,1761514374.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.31 m.
2025-10-26T21:32:54.064Z,1761514374.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.313866 m,
      nav range: 74.465012 m,
      bearing: 28.125355 deg,
      approach rate: -0.660696 m/s,
      LOS rate: 0.006021 deg/s,
      cmd heading: 35.263140 deg,
      new cmd heading: 35.270135 deg.

2025-10-26T21:32:54.065Z,1761514374.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.615580 target range: 77.313866 and range: 77.80 m.
2025-10-26T21:32:54.133Z,1761514374.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763068
2025-10-26T21:32:54.384Z,1761514374.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014843
2025-10-26T21:32:54.438Z,1761514374.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807463,-0.582598,-0.092649],[0.589864,0.799503,0.113381],[0.008018,-0.146202,0.989222]]
2025-10-26T21:32:54.456Z,1761514374.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.31 m.
2025-10-26T21:32:54.459Z,1761514374.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.313866 m,
      nav range: 74.202995 m,
      bearing: 28.127424 deg,
      approach rate: -0.662052 m/s,
      LOS rate: 0.005247 deg/s,
      cmd heading: 35.270134 deg,
      new cmd heading: 35.276363 deg.

2025-10-26T21:32:54.480Z,1761514374.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.615689 target range: 77.313866 and range: 77.80 m.
2025-10-26T21:32:54.637Z,1761514374.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267122
2025-10-26T21:32:54.741Z,1761514374.741 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:32:54.844Z,1761514374.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806815,-0.583471,-0.092795],[0.590710,0.799482,0.109043],[0.010564,-0.142792,0.989696]]
2025-10-26T21:32:54.862Z,1761514374.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.31 m.
2025-10-26T21:32:54.865Z,1761514374.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.313866 m,
      nav range: 73.934891 m,
      bearing: 28.129377 deg,
      approach rate: -0.661094 m/s,
      LOS rate: 0.004833 deg/s,
      cmd heading: 35.276363 deg,
      new cmd heading: 35.282243 deg.

2025-10-26T21:32:54.866Z,1761514374.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.615791 target range: 77.313866 and range: 77.80 m.
2025-10-26T21:32:54.888Z,1761514374.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518917
2025-10-26T21:32:55.140Z,1761514375.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770838
2025-10-26T21:32:55.249Z,1761514375.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806141,-0.584338,-0.093195],[0.591578,0.799372,0.105073],[0.013100,-0.139836,0.990088]]
2025-10-26T21:32:55.278Z,1761514375.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.31 m.
2025-10-26T21:32:55.281Z,1761514375.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.313866 m,
      nav range: 73.667152 m,
      bearing: 28.131150 deg,
      approach rate: -0.643876 m/s,
      LOS rate: 0.004278 deg/s,
      cmd heading: 35.282244 deg,
      new cmd heading: 35.287580 deg.

2025-10-26T21:32:55.282Z,1761514375.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.615884 target range: 77.313866 and range: 77.80 m.
2025-10-26T21:32:55.393Z,1761514375.393 [DAT](INFO): DAT read: Rx Time:21:32:53.9986

2025-10-26T21:32:55.393Z,1761514375.393 [DAT](INFO): Rx dataTimestamp_ set to:1761514375.392913
2025-10-26T21:32:55.394Z,1761514375.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024271
2025-10-26T21:32:55.644Z,1761514375.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275016
2025-10-26T21:32:55.658Z,1761514375.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805901,-0.584474,-0.094407],[0.591853,0.799439,0.102991],[0.015277,-0.138875,0.990192]]
2025-10-26T21:32:55.709Z,1761514375.709 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:55.716Z,1761514375.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.31 m.
2025-10-26T21:32:55.725Z,1761514375.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.313866 m,
      nav range: 73.383194 m,
      bearing: 28.132979 deg,
      approach rate: -0.647763 m/s,
      LOS rate: 0.004189 deg/s,
      cmd heading: 35.287582 deg,
      new cmd heading: 35.293090 deg.

2025-10-26T21:32:55.727Z,1761514375.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.615981 target range: 77.313866 and range: 77.80 m.
2025-10-26T21:32:55.903Z,1761514375.903 [DAT](INFO): DAT read: 21:32:53.9986 LVL= 32752, 32753, 28226, 32755, AGC= 70, IDX= 404,-0.31, 2.517, 1.068, 2.970, 2.434, PHS= 0.185,-1.320, 0.492, RAW= 159.1,   7.7, CAL= 158.7,   7.9, ROT= 351.3,  -7.9

2025-10-26T21:32:55.904Z,1761514375.904 [DAT](INFO): got valid direction response:
 21:32:53.9986 LVL= 32752, 32753, 28226, 32755, AGC= 70, IDX= 404,-0.31, 2.517, 1.068, 2.970, 2.434, PHS= 0.185,-1.320, 0.492, RAW= 159.1,   7.7, CAL= 158.7,   7.9, ROT= 351.3,  -7.9

2025-10-26T21:32:55.905Z,1761514375.905 [DAT](INFO): DAT read: Bearing 189.6,  -8.9 (Local)

2025-10-26T21:32:55.905Z,1761514375.905 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.6,  -8.9 (Local)

2025-10-26T21:32:55.907Z,1761514375.907 [DAT](INFO): DAT read: Range 11 to 50 : 75.4 m  (Round-trip  100.6 ms) speed  0.4 m/s

2025-10-26T21:32:55.908Z,1761514375.908 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:32:55.909Z,1761514375.909 [DAT](INFO): direction in FSK: [0.979113,-0.149825,0.137445]
2025-10-26T21:32:55.909Z,1761514375.909 [DAT](INFO): publishing direction and range info
2025-10-26T21:32:55.913Z,1761514375.913 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:32:55.913Z,1761514375.913 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:32:55.913Z,1761514375.913 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:32:56.054Z,1761514376.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805792,-0.584499,-0.095179],[0.591960,0.799554,0.101474],[0.016789,-0.138109,0.990275]]
2025-10-26T21:32:56.077Z,1761514376.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 75.400002 m,
      deltaT: 3.780233 s,
      deltaX: -2.400002 m,
      approachRate: -0.634882 m/s,
      rangeRepo size: 4

2025-10-26T21:32:56.079Z,1761514376.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 74.929718 m,
      bearing: 28.752183 deg,
      lat: 36.779388 deg,
      lon: -121.859456 deg,
      deltaT: 3.780233 s,
      deltaX: -2.384148 m,
      approachRate: -0.630688 m/s,
      posRepo size: 4

2025-10-26T21:32:56.098Z,1761514376.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.93 m.
2025-10-26T21:32:56.105Z,1761514376.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.929718 m,
      nav range: 73.143082 m,
      bearing: 28.131318 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004189 deg/s,
      cmd heading: 35.293090 deg,
      new cmd heading: 35.297611 deg.

2025-10-26T21:32:56.106Z,1761514376.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.616060 target range: 74.929718 and range: 75.40 m.
2025-10-26T21:32:56.149Z,1761514376.149 [DAT](INFO): DAT read: user:318>

2025-10-26T21:32:56.150Z,1761514376.150 [DAT](INFO): DAT read: Tx time:21:32:55.2938

2025-10-26T21:32:56.150Z,1761514376.150 [DAT](INFO): Ping request sent.
2025-10-26T21:32:56.150Z,1761514376.150 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:32:56.150Z,1761514376.150 [DAT](INFO): publishing transmit ping time
2025-10-26T21:32:56.151Z,1761514376.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-10-26T21:32:56.400Z,1761514376.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250290
2025-10-26T21:32:56.459Z,1761514376.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806025,-0.584029,-0.096089],[0.591625,0.799765,0.101767],[0.017413,-0.138876,0.990157]]
2025-10-26T21:32:56.488Z,1761514376.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.93 m.
2025-10-26T21:32:56.491Z,1761514376.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.929718 m,
      nav range: 72.867889 m,
      bearing: 28.133164 deg,
      approach rate: -0.667320 m/s,
      LOS rate: 0.004493 deg/s,
      cmd heading: 35.297612 deg,
      new cmd heading: 35.303171 deg.

2025-10-26T21:32:56.492Z,1761514376.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.616157 target range: 74.929718 and range: 75.40 m.
2025-10-26T21:32:56.652Z,1761514376.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502237
2025-10-26T21:32:56.862Z,1761514376.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806700,-0.582634,-0.098858],[0.590671,0.800184,0.103985],[0.018519,-0.142277,0.989654]]
2025-10-26T21:32:56.881Z,1761514376.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.93 m.
2025-10-26T21:32:56.884Z,1761514376.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.929718 m,
      nav range: 72.608551 m,
      bearing: 28.135122 deg,
      approach rate: -0.660481 m/s,
      LOS rate: 0.005005 deg/s,
      cmd heading: 35.303171 deg,
      new cmd heading: 35.309067 deg.

2025-10-26T21:32:56.885Z,1761514376.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.616259 target range: 74.929718 and range: 75.40 m.
2025-10-26T21:32:56.904Z,1761514376.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754249
2025-10-26T21:32:57.157Z,1761514377.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006652
2025-10-26T21:32:57.266Z,1761514377.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807816,-0.580693,-0.101137],[0.589124,0.800991,0.106517],[0.019156,-0.145629,0.989154]]
2025-10-26T21:32:57.292Z,1761514377.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.93 m.
2025-10-26T21:32:57.295Z,1761514377.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.929718 m,
      nav range: 72.337326 m,
      bearing: 28.137559 deg,
      approach rate: -0.659547 m/s,
      LOS rate: 0.005948 deg/s,
      cmd heading: 35.309066 deg,
      new cmd heading: 35.316404 deg.

2025-10-26T21:32:57.296Z,1761514377.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.616388 target range: 74.929718 and range: 75.40 m.
2025-10-26T21:32:57.408Z,1761514377.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258310
2025-10-26T21:32:57.664Z,1761514377.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514239
2025-10-26T21:32:57.674Z,1761514377.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808908,-0.578869,-0.102853],[0.587609,0.801819,0.108637],[0.019583,-0.148315,0.988746]]
2025-10-26T21:32:57.723Z,1761514377.723 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:32:57.730Z,1761514377.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.93 m.
2025-10-26T21:32:57.734Z,1761514377.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.929718 m,
      nav range: 72.058945 m,
      bearing: 28.140462 deg,
      approach rate: -0.635883 m/s,
      LOS rate: 0.006658 deg/s,
      cmd heading: 35.316405 deg,
      new cmd heading: 35.325150 deg.

2025-10-26T21:32:57.735Z,1761514377.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.616540 target range: 74.929718 and range: 75.40 m.
2025-10-26T21:32:57.916Z,1761514377.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766292
2025-10-26T21:32:58.079Z,1761514378.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810255,-0.576669,-0.104594],[0.585749,0.802774,0.111588],[0.019616,-0.151681,0.988235]]
2025-10-26T21:32:58.097Z,1761514378.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.93 m.
2025-10-26T21:32:58.117Z,1761514378.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.929718 m,
      nav range: 71.805115 m,
      bearing: 28.143559 deg,
      approach rate: -0.691490 m/s,
      LOS rate: 0.008465 deg/s,
      cmd heading: 35.325151 deg,
      new cmd heading: 35.334473 deg.

2025-10-26T21:32:58.118Z,1761514378.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.616703 target range: 74.929718 and range: 75.40 m.
2025-10-26T21:32:58.169Z,1761514378.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019198
2025-10-26T21:32:58.421Z,1761514378.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270632
2025-10-26T21:32:58.494Z,1761514378.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811595,-0.574498,-0.106137],[0.583893,0.803721,0.114463],[0.019546,-0.154870,0.987741]]
2025-10-26T21:32:58.513Z,1761514378.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.93 m.
2025-10-26T21:32:58.515Z,1761514378.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.929718 m,
      nav range: 71.530708 m,
      bearing: 28.147397 deg,
      approach rate: -0.660431 m/s,
      LOS rate: 0.009273 deg/s,
      cmd heading: 35.334474 deg,
      new cmd heading: 35.346032 deg.

2025-10-26T21:32:58.516Z,1761514378.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.616905 target range: 74.929718 and range: 75.40 m.
2025-10-26T21:32:58.674Z,1761514378.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523558
2025-10-26T21:32:58.893Z,1761514378.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813112,-0.571966,-0.108182],[0.581774,0.804775,0.117800],[0.019685,-0.158722,0.987127]]
2025-10-26T21:32:58.911Z,1761514378.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.93 m.
2025-10-26T21:32:58.914Z,1761514378.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.929718 m,
      nav range: 71.267532 m,
      bearing: 28.151614 deg,
      approach rate: -0.660917 m/s,
      LOS rate: 0.010628 deg/s,
      cmd heading: 35.346031 deg,
      new cmd heading: 35.358728 deg.

2025-10-26T21:32:58.914Z,1761514378.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.617126 target range: 74.929718 and range: 75.40 m.
2025-10-26T21:32:58.924Z,1761514378.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774352
2025-10-26T21:32:59.178Z,1761514379.178 [DAT](INFO): DAT read: Rx Time:21:32:57.7953

2025-10-26T21:32:59.179Z,1761514379.179 [DAT](INFO): Rx dataTimestamp_ set to:1761514379.178073
2025-10-26T21:32:59.180Z,1761514379.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029648
2025-10-26T21:32:59.294Z,1761514379.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814047,-0.570184,-0.110535],[0.580443,0.805349,0.120417],[0.020359,-0.162184,0.986550]]
2025-10-26T21:32:59.350Z,1761514379.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.93 m.
2025-10-26T21:32:59.353Z,1761514379.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.929718 m,
      nav range: 70.990204 m,
      bearing: 28.156415 deg,
      approach rate: -0.631511 m/s,
      LOS rate: 0.010975 deg/s,
      cmd heading: 35.358728 deg,
      new cmd heading: 35.373187 deg.

2025-10-26T21:32:59.354Z,1761514379.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.617379 target range: 74.929718 and range: 75.40 m.
2025-10-26T21:32:59.428Z,1761514379.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278401
2025-10-26T21:32:59.694Z,1761514379.694 [DAT](INFO): DAT read: 21:32:57.7953 LVL= 32752, 32753, 30802, 32755, AGC= 72, IDX= 402,-0.31, 0.823,-0.640, 1.315, 0.753, PHS= 0.172,-1.348, 0.518, RAW= 160.0,   7.7, CAL= 159.6,   7.8, ROT= 350.4,  -7.8

2025-10-26T21:32:59.696Z,1761514379.696 [DAT](INFO): got valid direction response:
 21:32:57.7953 LVL= 32752, 32753, 30802, 32755, AGC= 72, IDX= 402,-0.31, 0.823,-0.640, 1.315, 0.753, PHS= 0.172,-1.348, 0.518, RAW= 160.0,   7.7, CAL= 159.6,   7.8, ROT= 350.4,  -7.8

2025-10-26T21:32:59.698Z,1761514379.698 [DAT](INFO): DAT read: Bearing 189.0,  -9.3 (Local)

2025-10-26T21:32:59.698Z,1761514379.698 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.0,  -9.3 (Local)

2025-10-26T21:32:59.702Z,1761514379.702 [DAT](INFO): DAT read: Range 11 to 50 : 72.9 m  (Round-trip  97.3 ms) speed  0.8 m/s

2025-10-26T21:32:59.703Z,1761514379.703 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:32:59.704Z,1761514379.704 [DAT](INFO): direction in FSK: [0.976873,-0.165226,0.135716]
2025-10-26T21:32:59.704Z,1761514379.704 [DAT](INFO): publishing direction and range info
2025-10-26T21:32:59.734Z,1761514379.734 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:32:59.734Z,1761514379.734 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:32:59.734Z,1761514379.734 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:32:59.765Z,1761514379.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814929,-0.568355,-0.113416],[0.579166,0.805847,0.123197],[0.021376,-0.166084,0.985880]]
2025-10-26T21:32:59.843Z,1761514379.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 72.900002 m,
      deltaT: 3.784088 s,
      deltaX: -2.500000 m,
      approachRate: -0.660661 m/s,
      rangeRepo size: 4

2025-10-26T21:32:59.849Z,1761514379.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 72.445526 m,
      bearing: 27.192883 deg,
      lat: 36.779389 deg,
      lon: -121.859460 deg,
      deltaT: 3.784088 s,
      deltaX: -2.484192 m,
      approachRate: -0.656484 m/s,
      posRepo size: 4

2025-10-26T21:32:59.849Z,1761514379.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.45 m.
2025-10-26T21:32:59.856Z,1761514379.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.445526 m,
      nav range: 70.517212 m,
      bearing: 27.894625 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010975 deg/s,
      cmd heading: 35.373188 deg,
      new cmd heading: 35.389386 deg.

2025-10-26T21:32:59.857Z,1761514379.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.617661 target range: 72.445526 and range: 72.90 m.
2025-10-26T21:32:59.932Z,1761514379.932 [DAT](INFO): DAT read: user:319>

2025-10-26T21:32:59.933Z,1761514379.933 [DAT](INFO): DAT read: Tx time:21:32:59.0938

2025-10-26T21:32:59.934Z,1761514379.934 [DAT](INFO): Ping request sent.
2025-10-26T21:32:59.934Z,1761514379.934 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:32:59.934Z,1761514379.934 [DAT](INFO): publishing transmit ping time
2025-10-26T21:32:59.934Z,1761514379.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000724
2025-10-26T21:33:00.173Z,1761514380.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815748,-0.566577,-0.116389],[0.577957,0.806380,0.125365],[0.022825,-0.169534,0.985260]]
2025-10-26T21:33:00.185Z,1761514380.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251441
2025-10-26T21:33:00.229Z,1761514380.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:00.231Z,1761514380.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.45 m.
2025-10-26T21:33:00.234Z,1761514380.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.445526 m,
      nav range: 70.249649 m,
      bearing: 27.898901 deg,
      approach rate: -0.687536 m/s,
      LOS rate: 0.011030 deg/s,
      cmd heading: 35.389386 deg,
      new cmd heading: 35.402263 deg.

2025-10-26T21:33:00.235Z,1761514380.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.617886 target range: 72.445526 and range: 72.90 m.
2025-10-26T21:33:00.436Z,1761514380.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502603
2025-10-26T21:33:00.625Z,1761514380.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.45 m.
2025-10-26T21:33:00.627Z,1761514380.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.445526 m,
      nav range: 70.003174 m,
      bearing: 27.880270 deg,
      approach rate: -0.626489 m/s,
      LOS rate: -0.047524 deg/s,
      cmd heading: 35.402264 deg,
      new cmd heading: 35.346173 deg.

2025-10-26T21:33:00.628Z,1761514380.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.616907 target range: 72.445526 and range: 72.90 m.
2025-10-26T21:33:00.691Z,1761514380.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756548
2025-10-26T21:33:00.940Z,1761514380.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006712
2025-10-26T21:33:00.971Z,1761514380.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815967,-0.565918,-0.118045],[0.577568,0.806786,0.124543],[0.024757,-0.169802,0.985167]]
2025-10-26T21:33:01.001Z,1761514381.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.45 m.
2025-10-26T21:33:01.008Z,1761514381.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.445526 m,
      nav range: 69.779358 m,
      bearing: 27.863318 deg,
      approach rate: -0.594803 m/s,
      LOS rate: -0.045195 deg/s,
      cmd heading: 35.346174 deg,
      new cmd heading: 35.295156 deg.

2025-10-26T21:33:01.009Z,1761514381.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.616017 target range: 72.445526 and range: 72.90 m.
2025-10-26T21:33:01.193Z,1761514381.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259007
2025-10-26T21:33:01.376Z,1761514381.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816215,-0.565441,-0.118612],[0.577172,0.807200,0.123699],[0.025799,-0.169424,0.985205]]
2025-10-26T21:33:01.394Z,1761514381.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.45 m.
2025-10-26T21:33:01.397Z,1761514381.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.445526 m,
      nav range: 69.530304 m,
      bearing: 27.844426 deg,
      approach rate: -0.632786 m/s,
      LOS rate: -0.048172 deg/s,
      cmd heading: 35.295156 deg,
      new cmd heading: 35.238278 deg.

2025-10-26T21:33:01.398Z,1761514381.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.615024 target range: 72.445526 and range: 72.90 m.
2025-10-26T21:33:01.445Z,1761514381.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511290
2025-10-26T21:33:01.698Z,1761514381.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763944
2025-10-26T21:33:01.780Z,1761514381.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816184,-0.565534,-0.118385],[0.577149,0.807640,0.120898],[0.027241,-0.167000,0.985580]]
2025-10-26T21:33:01.836Z,1761514381.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.45 m.
2025-10-26T21:33:01.839Z,1761514381.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.445526 m,
      nav range: 69.262901 m,
      bearing: 27.821553 deg,
      approach rate: -0.605122 m/s,
      LOS rate: -0.051960 deg/s,
      cmd heading: 35.238278 deg,
      new cmd heading: 35.169395 deg.

2025-10-26T21:33:01.844Z,1761514381.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613822 target range: 72.445526 and range: 72.90 m.
2025-10-26T21:33:01.949Z,1761514381.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015247
2025-10-26T21:33:02.194Z,1761514382.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816166,-0.565515,-0.118601],[0.577109,0.807973,0.118850],[0.028615,-0.165447,0.985803]]
2025-10-26T21:33:02.207Z,1761514382.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273035
2025-10-26T21:33:02.227Z,1761514382.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.45 m.
2025-10-26T21:33:02.229Z,1761514382.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.445526 m,
      nav range: 69.005753 m,
      bearing: 27.799406 deg,
      approach rate: -0.658910 m/s,
      LOS rate: -0.056961 deg/s,
      cmd heading: 35.169395 deg,
      new cmd heading: 35.102706 deg.

2025-10-26T21:33:02.230Z,1761514382.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.612658 target range: 72.445526 and range: 72.90 m.
2025-10-26T21:33:02.460Z,1761514382.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526722
2025-10-26T21:33:02.597Z,1761514382.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815886,-0.566058,-0.117934],[0.577441,0.808201,0.115640],[0.029856,-0.162449,0.986265]]
2025-10-26T21:33:02.644Z,1761514382.644 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:02.646Z,1761514382.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.45 m.
2025-10-26T21:33:02.653Z,1761514382.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.445526 m,
      nav range: 68.730934 m,
      bearing: 27.770534 deg,
      approach rate: -0.654556 m/s,
      LOS rate: -0.069041 deg/s,
      cmd heading: 35.102705 deg,
      new cmd heading: 35.015744 deg.

2025-10-26T21:33:02.654Z,1761514382.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.611140 target range: 72.445526 and range: 72.90 m.
2025-10-26T21:33:02.713Z,1761514382.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779331
2025-10-26T21:33:02.965Z,1761514382.965 [DAT](INFO): DAT read: Rx Time:21:33:01.5921

2025-10-26T21:33:02.965Z,1761514382.965 [DAT](INFO): Rx dataTimestamp_ set to:1761514382.964828
2025-10-26T21:33:02.966Z,1761514382.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031989
2025-10-26T21:33:03.009Z,1761514383.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815790,-0.566055,-0.118611],[0.577513,0.808314,0.114485],[0.031071,-0.161895,0.986319]]
2025-10-26T21:33:03.028Z,1761514383.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.45 m.
2025-10-26T21:33:03.031Z,1761514383.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.445526 m,
      nav range: 68.483772 m,
      bearing: 27.744349 deg,
      approach rate: -0.648894 m/s,
      LOS rate: -0.068995 deg/s,
      cmd heading: 35.015743 deg,
      new cmd heading: 34.936904 deg.

2025-10-26T21:33:03.032Z,1761514383.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.609764 target range: 72.445526 and range: 72.90 m.
2025-10-26T21:33:03.216Z,1761514383.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282708
2025-10-26T21:33:03.418Z,1761514383.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815825,-0.566202,-0.117665],[0.577435,0.808683,0.112251],[0.031597,-0.159521,0.986689]]
2025-10-26T21:33:03.442Z,1761514383.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.45 m.
2025-10-26T21:33:03.445Z,1761514383.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.445526 m,
      nav range: 68.215111 m,
      bearing: 27.715705 deg,
      approach rate: -0.647621 m/s,
      LOS rate: -0.069319 deg/s,
      cmd heading: 34.936903 deg,
      new cmd heading: 34.850633 deg.

2025-10-26T21:33:03.446Z,1761514383.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.608258 target range: 72.445526 and range: 72.90 m.
2025-10-26T21:33:03.474Z,1761514383.474 [DAT](INFO): DAT read: 21:33:01.5921 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 417, 0.18,-1.746, 3.085,-1.263,-1.756, PHS= 0.112,-1.397, 0.449, RAW= 159.9,   9.9, CAL= 159.8,  10.6, ROT= 350.2, -10.6

2025-10-26T21:33:03.480Z,1761514383.480 [DAT](INFO): got valid direction response:
 21:33:01.5921 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 417, 0.18,-1.746, 3.085,-1.263,-1.756, PHS= 0.112,-1.397, 0.449, RAW= 159.9,   9.9, CAL= 159.8,  10.6, ROT= 350.2, -10.6

2025-10-26T21:33:03.481Z,1761514383.481 [DAT](INFO): DAT read: Bearing 192.1,  -9.1 (Local)

2025-10-26T21:33:03.481Z,1761514383.481 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.1,  -9.1 (Local)

2025-10-26T21:33:03.483Z,1761514383.483 [DAT](INFO): DAT read: Range 11 to 50 : 70.6 m  (Round-trip  94.2 ms) speed  0.5 m/s

2025-10-26T21:33:03.484Z,1761514383.484 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:33:03.486Z,1761514383.486 [DAT](INFO): direction in FSK: [0.968592,-0.167305,0.183951]
2025-10-26T21:33:03.486Z,1761514383.486 [DAT](INFO): publishing direction and range info
2025-10-26T21:33:03.504Z,1761514383.504 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:33:03.504Z,1761514383.504 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:33:03.505Z,1761514383.505 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:33:03.720Z,1761514383.720 [DAT](INFO): DAT read: user:320>

2025-10-26T21:33:03.722Z,1761514383.722 [DAT](INFO): DAT read: Tx time:21:33:02.8938

2025-10-26T21:33:03.722Z,1761514383.722 [DAT](INFO): Ping request sent.
2025-10-26T21:33:03.722Z,1761514383.722 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:33:03.722Z,1761514383.722 [DAT](INFO): publishing transmit ping time
2025-10-26T21:33:03.723Z,1761514383.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001157
2025-10-26T21:33:03.847Z,1761514383.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 70.599998 m,
      deltaT: 3.787531 s,
      deltaX: -2.300003 m,
      approachRate: -0.607257 m/s,
      rangeRepo size: 4

2025-10-26T21:33:03.850Z,1761514383.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 70.160339 m,
      bearing: 27.251600 deg,
      lat: 36.779390 deg,
      lon: -121.859464 deg,
      deltaT: 3.787531 s,
      deltaX: -2.285187 m,
      approachRate: -0.603345 m/s,
      posRepo size: 4

2025-10-26T21:33:03.851Z,1761514383.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.16 m.
2025-10-26T21:33:03.854Z,1761514383.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.160339 m,
      nav range: 67.985054 m,
      bearing: 27.397863 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.069319 deg/s,
      cmd heading: 34.850634 deg,
      new cmd heading: 34.766556 deg.

2025-10-26T21:33:03.854Z,1761514383.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606791 target range: 70.160339 and range: 70.60 m.
2025-10-26T21:33:03.976Z,1761514383.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253244
2025-10-26T21:33:04.216Z,1761514384.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816714,-0.564608,-0.119148],[0.576175,0.809232,0.114744],[0.031633,-0.162363,0.986224]]
2025-10-26T21:33:04.224Z,1761514384.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502159
2025-10-26T21:33:04.239Z,1761514384.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.16 m.
2025-10-26T21:33:04.242Z,1761514384.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.160339 m,
      nav range: 67.734360 m,
      bearing: 27.360623 deg,
      approach rate: -0.638718 m/s,
      LOS rate: -0.095231 deg/s,
      cmd heading: 34.766554 deg,
      new cmd heading: 34.654421 deg.

2025-10-26T21:33:04.243Z,1761514384.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604834 target range: 70.160339 and range: 70.60 m.
2025-10-26T21:33:04.477Z,1761514384.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754373
2025-10-26T21:33:04.625Z,1761514384.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817412,-0.563529,-0.119471],[0.575167,0.809912,0.115001],[0.031954,-0.162719,0.986155]]
2025-10-26T21:33:04.674Z,1761514384.674 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:04.679Z,1761514384.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.16 m.
2025-10-26T21:33:04.685Z,1761514384.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.160339 m,
      nav range: 67.454498 m,
      bearing: 27.321430 deg,
      approach rate: -0.637093 m/s,
      LOS rate: -0.089590 deg/s,
      cmd heading: 34.654420 deg,
      new cmd heading: 34.536355 deg.

2025-10-26T21:33:04.686Z,1761514384.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602773 target range: 70.160339 and range: 70.60 m.
2025-10-26T21:33:04.729Z,1761514384.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006668
2025-10-26T21:33:04.981Z,1761514384.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258389
2025-10-26T21:33:05.040Z,1761514385.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818028,-0.562445,-0.120357],[0.574249,0.810516,0.115336],[0.032681,-0.163463,0.986008]]
2025-10-26T21:33:05.073Z,1761514385.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.16 m.
2025-10-26T21:33:05.076Z,1761514385.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.160339 m,
      nav range: 67.199326 m,
      bearing: 27.285650 deg,
      approach rate: -0.645634 m/s,
      LOS rate: -0.090875 deg/s,
      cmd heading: 34.536356 deg,
      new cmd heading: 34.428608 deg.

2025-10-26T21:33:05.077Z,1761514385.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600893 target range: 70.160339 and range: 70.60 m.
2025-10-26T21:33:05.232Z,1761514385.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510156
2025-10-26T21:33:05.442Z,1761514385.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818668,-0.560859,-0.123368],[0.573250,0.810917,0.117463],[0.034161,-0.166884,0.985385]]
2025-10-26T21:33:05.460Z,1761514385.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.16 m.
2025-10-26T21:33:05.463Z,1761514385.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.160339 m,
      nav range: 66.935944 m,
      bearing: 27.248687 deg,
      approach rate: -0.680619 m/s,
      LOS rate: -0.095893 deg/s,
      cmd heading: 34.428607 deg,
      new cmd heading: 34.317283 deg.

2025-10-26T21:33:05.464Z,1761514385.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598950 target range: 70.160339 and range: 70.60 m.
2025-10-26T21:33:05.484Z,1761514385.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762208
2025-10-26T21:33:05.736Z,1761514385.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014086
2025-10-26T21:33:05.898Z,1761514385.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.16 m.
2025-10-26T21:33:05.920Z,1761514385.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.160339 m,
      nav range: 66.653732 m,
      bearing: 27.211723 deg,
      approach rate: -0.645572 m/s,
      LOS rate: -0.084916 deg/s,
      cmd heading: 34.317281 deg,
      new cmd heading: 34.205919 deg.

2025-10-26T21:33:05.921Z,1761514385.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597006 target range: 70.160339 and range: 70.60 m.
2025-10-26T21:33:05.989Z,1761514385.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266529
2025-10-26T21:33:06.240Z,1761514386.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518204
2025-10-26T21:33:06.252Z,1761514386.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819842,-0.558179,-0.127653],[0.571362,0.812087,0.118577],[0.037478,-0.170151,0.984705]]
2025-10-26T21:33:06.270Z,1761514386.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.16 m.
2025-10-26T21:33:06.273Z,1761514386.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.160339 m,
      nav range: 66.413055 m,
      bearing: 27.180405 deg,
      approach rate: -0.646010 m/s,
      LOS rate: -0.084365 deg/s,
      cmd heading: 34.205919 deg,
      new cmd heading: 34.111625 deg.

2025-10-26T21:33:06.274Z,1761514386.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595360 target range: 70.160339 and range: 70.60 m.
2025-10-26T21:33:06.492Z,1761514386.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770105
2025-10-26T21:33:06.669Z,1761514386.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819716,-0.558025,-0.129127],[0.571460,0.812027,0.118517],[0.038719,-0.170941,0.984520]]
2025-10-26T21:33:06.745Z,1761514386.745 [DAT](INFO): DAT read: Rx Time:21:33:05.3889

2025-10-26T21:33:06.745Z,1761514386.745 [DAT](INFO): Rx dataTimestamp_ set to:1761514386.744906
2025-10-26T21:33:06.746Z,1761514386.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023465
2025-10-26T21:33:06.750Z,1761514386.750 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:06.756Z,1761514386.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.16 m.
2025-10-26T21:33:06.759Z,1761514386.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.160339 m,
      nav range: 66.103439 m,
      bearing: 27.148494 deg,
      approach rate: -0.637171 m/s,
      LOS rate: -0.065980 deg/s,
      cmd heading: 34.111624 deg,
      new cmd heading: 34.015441 deg.

2025-10-26T21:33:06.764Z,1761514386.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593681 target range: 70.160339 and range: 70.60 m.
2025-10-26T21:33:06.997Z,1761514386.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275094
2025-10-26T21:33:07.081Z,1761514387.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819942,-0.557626,-0.129415],[0.571065,0.812484,0.117280],[0.039749,-0.170067,0.984630]]
2025-10-26T21:33:07.098Z,1761514387.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.16 m.
2025-10-26T21:33:07.101Z,1761514387.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.160339 m,
      nav range: 65.871033 m,
      bearing: 27.124438 deg,
      approach rate: -0.678657 m/s,
      LOS rate: -0.070492 deg/s,
      cmd heading: 34.015442 deg,
      new cmd heading: 33.943022 deg.

2025-10-26T21:33:07.102Z,1761514387.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592417 target range: 70.160339 and range: 70.60 m.
2025-10-26T21:33:07.254Z,1761514387.254 [DAT](INFO): DAT read: 21:33:05.3889 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417, 0.29,-1.433,-2.901,-0.948,-1.471, PHS= 0.140,-1.385, 0.479, RAW= 159.8,   8.9, CAL= 159.6,   9.4, ROT= 350.4,  -9.4

2025-10-26T21:33:07.255Z,1761514387.255 [DAT](INFO): got valid direction response:
 21:33:05.3889 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417, 0.29,-1.433,-2.901,-0.948,-1.471, PHS= 0.140,-1.385, 0.479, RAW= 159.8,   8.9, CAL= 159.6,   9.4, ROT= 350.4,  -9.4

2025-10-26T21:33:07.256Z,1761514387.256 [DAT](INFO): DAT read: Bearing 190.1,  -8.7 (Local)

2025-10-26T21:33:07.257Z,1761514387.257 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.1,  -8.7 (Local)

2025-10-26T21:33:07.258Z,1761514387.258 [DAT](INFO): DAT read: Range 11 to 50 : 68.3 m  (Round-trip  91.1 ms) speed  0.5 m/s

2025-10-26T21:33:07.259Z,1761514387.259 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:33:07.260Z,1761514387.260 [DAT](INFO): direction in FSK: [0.972756,-0.164530,0.163326]
2025-10-26T21:33:07.260Z,1761514387.260 [DAT](INFO): publishing direction and range info
2025-10-26T21:33:07.264Z,1761514387.264 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:33:07.264Z,1761514387.264 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:33:07.264Z,1761514387.264 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:33:07.500Z,1761514387.500 [DAT](INFO): DAT read: user:321>

2025-10-26T21:33:07.501Z,1761514387.501 [DAT](INFO): DAT read: Tx time:21:33:06.6437

2025-10-26T21:33:07.501Z,1761514387.501 [DAT](INFO): Ping request sent.
2025-10-26T21:33:07.501Z,1761514387.501 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:33:07.501Z,1761514387.501 [DAT](INFO): publishing transmit ping time
2025-10-26T21:33:07.502Z,1761514387.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722
2025-10-26T21:33:07.520Z,1761514387.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 68.300003 m,
      deltaT: 3.780085 s,
      deltaX: -2.299995 m,
      approachRate: -0.608451 m/s,
      rangeRepo size: 4

2025-10-26T21:33:07.522Z,1761514387.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 67.874153 m,
      bearing: 26.927011 deg,
      lat: 36.779392 deg,
      lon: -121.859464 deg,
      deltaT: 3.780085 s,
      deltaX: -2.286186 m,
      approachRate: -0.604798 m/s,
      posRepo size: 4

2025-10-26T21:33:07.523Z,1761514387.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.87 m.
2025-10-26T21:33:07.526Z,1761514387.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.874153 m,
      nav range: 65.784172 m,
      bearing: 27.013001 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.070492 deg/s,
      cmd heading: 33.943021 deg,
      new cmd heading: 33.854000 deg.

2025-10-26T21:33:07.527Z,1761514387.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590864 target range: 67.874153 and range: 68.30 m.
2025-10-26T21:33:07.753Z,1761514387.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251397
2025-10-26T21:33:07.908Z,1761514387.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819526,-0.558494,-0.128300],[0.571523,0.812895,0.112086],[0.041695,-0.165183,0.985381]]
2025-10-26T21:33:07.954Z,1761514387.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.87 m.
2025-10-26T21:33:07.956Z,1761514387.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.874153 m,
      nav range: 65.504517 m,
      bearing: 26.993446 deg,
      approach rate: -0.643985 m/s,
      LOS rate: -0.045221 deg/s,
      cmd heading: 33.854000 deg,
      new cmd heading: 33.795087 deg.

2025-10-26T21:33:07.957Z,1761514387.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589836 target range: 67.874153 and range: 68.30 m.
2025-10-26T21:33:08.005Z,1761514388.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503973
2025-10-26T21:33:08.256Z,1761514388.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754996
2025-10-26T21:33:08.311Z,1761514388.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818733,-0.559158,-0.130455],[0.572635,0.811807,0.114272],[0.042008,-0.168261,0.984847]]
2025-10-26T21:33:08.336Z,1761514388.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.87 m.
2025-10-26T21:33:08.339Z,1761514388.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.874153 m,
      nav range: 65.260139 m,
      bearing: 26.975910 deg,
      approach rate: -0.638953 m/s,
      LOS rate: -0.046023 deg/s,
      cmd heading: 33.795086 deg,
      new cmd heading: 33.742280 deg.

2025-10-26T21:33:08.340Z,1761514388.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588914 target range: 67.874153 and range: 68.30 m.
2025-10-26T21:33:08.508Z,1761514388.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007184
2025-10-26T21:33:08.722Z,1761514388.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818009,-0.560058,-0.131136],[0.573682,0.810939,0.115182],[0.041835,-0.169450,0.984650]]
2025-10-26T21:33:08.760Z,1761514388.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259141
2025-10-26T21:33:08.780Z,1761514388.780 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:08.782Z,1761514388.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.87 m.
2025-10-26T21:33:08.784Z,1761514388.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.874153 m,
      nav range: 64.976295 m,
      bearing: 26.968604 deg,
      approach rate: -0.637226 m/s,
      LOS rate: -0.016474 deg/s,
      cmd heading: 33.742279 deg,
      new cmd heading: 33.720264 deg.

2025-10-26T21:33:08.785Z,1761514388.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588530 target range: 67.874153 and range: 68.30 m.
2025-10-26T21:33:09.013Z,1761514389.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511831
2025-10-26T21:33:09.118Z,1761514389.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817351,-0.561271,-0.130048],[0.574652,0.810415,0.114033],[0.041389,-0.167937,0.984928]]
2025-10-26T21:33:09.151Z,1761514389.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.87 m.
2025-10-26T21:33:09.157Z,1761514389.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.874153 m,
      nav range: 64.734459 m,
      bearing: 26.962085 deg,
      approach rate: -0.655259 m/s,
      LOS rate: -0.017728 deg/s,
      cmd heading: 33.720265 deg,
      new cmd heading: 33.700636 deg.

2025-10-26T21:33:09.159Z,1761514389.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588187 target range: 67.874153 and range: 68.30 m.
2025-10-26T21:33:09.265Z,1761514389.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763945
2025-10-26T21:33:09.516Z,1761514389.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015152
2025-10-26T21:33:09.530Z,1761514389.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816760,-0.562238,-0.129583],[0.575502,0.809910,0.113324],[0.041236,-0.167134,0.985071]]
2025-10-26T21:33:09.555Z,1761514389.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.87 m.
2025-10-26T21:33:09.558Z,1761514389.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.874153 m,
      nav range: 64.473335 m,
      bearing: 26.954756 deg,
      approach rate: -0.645379 m/s,
      LOS rate: -0.018188 deg/s,
      cmd heading: 33.700635 deg,
      new cmd heading: 33.678558 deg.

2025-10-26T21:33:09.559Z,1761514389.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587802 target range: 67.874153 and range: 68.30 m.
2025-10-26T21:33:09.768Z,1761514389.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267079
2025-10-26T21:33:09.926Z,1761514389.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816615,-0.562413,-0.129739],[0.575743,0.809599,0.114322],[0.040741,-0.168053,0.984936]]
2025-10-26T21:33:09.969Z,1761514389.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.87 m.
2025-10-26T21:33:09.972Z,1761514389.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.874153 m,
      nav range: 64.202415 m,
      bearing: 26.957322 deg,
      approach rate: -0.654820 m/s,
      LOS rate: 0.006229 deg/s,
      cmd heading: 33.678560 deg,
      new cmd heading: 33.686291 deg.

2025-10-26T21:33:09.973Z,1761514389.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587937 target range: 67.874153 and range: 68.30 m.
2025-10-26T21:33:10.021Z,1761514390.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520113
2025-10-26T21:33:10.272Z,1761514390.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771067
2025-10-26T21:33:10.408Z,1761514390.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.87 m.
2025-10-26T21:33:10.411Z,1761514390.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.874153 m,
      nav range: 63.941063 m,
      bearing: 26.959819 deg,
      approach rate: -0.596000 m/s,
      LOS rate: 0.005716 deg/s,
      cmd heading: 33.686291 deg,
      new cmd heading: 33.693811 deg.

2025-10-26T21:33:10.412Z,1761514390.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588068 target range: 67.874153 and range: 68.30 m.
2025-10-26T21:33:10.524Z,1761514390.524 [DAT](INFO): DAT read: Rx Time:21:33:09.1356

2025-10-26T21:33:10.525Z,1761514390.525 [DAT](INFO): Rx dataTimestamp_ set to:1761514390.524531
2025-10-26T21:33:10.525Z,1761514390.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024096
2025-10-26T21:33:10.754Z,1761514390.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817641,-0.562044,-0.124780],[0.574365,0.811223,0.109645],[0.039599,-0.161319,0.986108]]
2025-10-26T21:33:10.781Z,1761514390.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278932
2025-10-26T21:33:10.812Z,1761514390.812 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:10.814Z,1761514390.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.87 m.
2025-10-26T21:33:10.817Z,1761514390.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.874153 m,
      nav range: 63.660667 m,
      bearing: 26.973452 deg,
      approach rate: -0.690211 m/s,
      LOS rate: 0.033708 deg/s,
      cmd heading: 33.693812 deg,
      new cmd heading: 33.734893 deg.

2025-10-26T21:33:10.817Z,1761514390.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588785 target range: 67.874153 and range: 68.30 m.
2025-10-26T21:33:11.035Z,1761514391.035 [DAT](INFO): DAT read: 21:33:09.1356 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 415, 0.25,-3.111, 1.724,-2.609,-3.101, PHS= 0.092,-1.413, 0.448, RAW= 160.4,  10.2, CAL= 160.4,  11.1, ROT= 349.6, -11.1

2025-10-26T21:33:11.037Z,1761514391.037 [DAT](INFO): got valid direction response:
 21:33:09.1356 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 415, 0.25,-3.111, 1.724,-2.609,-3.101, PHS= 0.092,-1.413, 0.448, RAW= 160.4,  10.2, CAL= 160.4,  11.1, ROT= 349.6, -11.1

2025-10-26T21:33:11.037Z,1761514391.037 [DAT](INFO): DAT read: Bearing 192.1,  -9.9 (Local)

2025-10-26T21:33:11.038Z,1761514391.038 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.1,  -9.9 (Local)

2025-10-26T21:33:11.039Z,1761514391.039 [DAT](INFO): DAT read: Range 11 to 50 : 65.7 m  (Round-trip  87.7 ms) speed  0.7 m/s

2025-10-26T21:33:11.040Z,1761514391.040 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:33:11.041Z,1761514391.041 [DAT](INFO): direction in FSK: [0.965171,-0.177142,0.192522]
2025-10-26T21:33:11.042Z,1761514391.042 [DAT](INFO): publishing direction and range info
2025-10-26T21:33:11.045Z,1761514391.045 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:33:11.045Z,1761514391.045 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:33:11.045Z,1761514391.045 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:33:11.147Z,1761514391.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818811,-0.561118,-0.121222],[0.572779,0.812672,0.107188],[0.038368,-0.157200,0.986821]]
2025-10-26T21:33:11.225Z,1761514391.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 65.699997 m,
      deltaT: 3.780079 s,
      deltaX: -2.600006 m,
      approachRate: -0.687818 m/s,
      rangeRepo size: 4

2025-10-26T21:33:11.227Z,1761514391.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 65.290573 m,
      bearing: 26.370605 deg,
      lat: 36.779393 deg,
      lon: -121.859465 deg,
      deltaT: 3.780079 s,
      deltaX: -2.583580 m,
      approachRate: -0.683473 m/s,
      posRepo size: 4

2025-10-26T21:33:11.232Z,1761514391.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.29 m.
2025-10-26T21:33:11.234Z,1761514391.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.290573 m,
      nav range: 63.424129 m,
      bearing: 26.893491 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033708 deg/s,
      cmd heading: 33.734892 deg,
      new cmd heading: 33.776403 deg.

2025-10-26T21:33:11.239Z,1761514391.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589509 target range: 65.290573 and range: 65.70 m.
2025-10-26T21:33:11.280Z,1761514391.280 [DAT](INFO): DAT read: user:322>

2025-10-26T21:33:11.281Z,1761514391.281 [DAT](INFO): DAT read: Tx time:21:33:10.3937

2025-10-26T21:33:11.282Z,1761514391.282 [DAT](INFO): Ping request sent.
2025-10-26T21:33:11.282Z,1761514391.282 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:33:11.282Z,1761514391.282 [DAT](INFO): publishing transmit ping time
2025-10-26T21:33:11.282Z,1761514391.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-10-26T21:33:11.532Z,1761514391.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250656
2025-10-26T21:33:11.557Z,1761514391.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820725,-0.559166,-0.117235],[0.570135,0.814818,0.104966],[0.036832,-0.152988,0.987541]]
2025-10-26T21:33:11.576Z,1761514391.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.29 m.
2025-10-26T21:33:11.583Z,1761514391.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.290573 m,
      nav range: 63.188560 m,
      bearing: 26.905995 deg,
      approach rate: -0.670730 m/s,
      LOS rate: 0.035735 deg/s,
      cmd heading: 33.776402 deg,
      new cmd heading: 33.814054 deg.

2025-10-26T21:33:11.584Z,1761514391.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590167 target range: 65.290573 and range: 65.70 m.
2025-10-26T21:33:11.784Z,1761514391.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502681
2025-10-26T21:33:11.954Z,1761514391.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822679,-0.556642,-0.115535],[0.567388,0.816666,0.105488],[0.035635,-0.152336,0.987686]]
2025-10-26T21:33:12.003Z,1761514392.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.29 m.
2025-10-26T21:33:12.006Z,1761514392.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.290573 m,
      nav range: 62.920971 m,
      bearing: 26.927621 deg,
      approach rate: -0.625819 m/s,
      LOS rate: 0.050791 deg/s,
      cmd heading: 33.814054 deg,
      new cmd heading: 33.879206 deg.

2025-10-26T21:33:12.007Z,1761514392.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591304 target range: 65.290573 and range: 65.70 m.
2025-10-26T21:33:12.037Z,1761514392.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754864
2025-10-26T21:33:12.288Z,1761514392.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006701
2025-10-26T21:33:12.360Z,1761514392.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824776,-0.553311,-0.116583],[0.564409,0.818117,0.110118],[0.034449,-0.156624,0.987057]]
2025-10-26T21:33:12.388Z,1761514392.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.29 m.
2025-10-26T21:33:12.391Z,1761514392.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.290573 m,
      nav range: 62.682945 m,
      bearing: 26.947741 deg,
      approach rate: -0.617597 m/s,
      LOS rate: 0.052404 deg/s,
      cmd heading: 33.879207 deg,
      new cmd heading: 33.939798 deg.

2025-10-26T21:33:12.392Z,1761514392.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592361 target range: 65.290573 and range: 65.70 m.
2025-10-26T21:33:12.540Z,1761514392.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258621
2025-10-26T21:33:12.762Z,1761514392.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827133,-0.549444,-0.118161],[0.561016,0.819697,0.115577],[0.033353,-0.161888,0.986245]]
2025-10-26T21:33:12.793Z,1761514392.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511025
2025-10-26T21:33:12.823Z,1761514392.823 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:12.825Z,1761514392.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.29 m.
2025-10-26T21:33:12.828Z,1761514392.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.290573 m,
      nav range: 62.407383 m,
      bearing: 26.970184 deg,
      approach rate: -0.631404 m/s,
      LOS rate: 0.051652 deg/s,
      cmd heading: 33.939797 deg,
      new cmd heading: 34.007424 deg.

2025-10-26T21:33:12.829Z,1761514392.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593542 target range: 65.290573 and range: 65.70 m.
2025-10-26T21:33:13.045Z,1761514393.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762828
2025-10-26T21:33:13.184Z,1761514393.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829416,-0.545738,-0.119330],[0.557664,0.821434,0.119402],[0.032859,-0.165580,0.985649]]
2025-10-26T21:33:13.202Z,1761514393.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.29 m.
2025-10-26T21:33:13.205Z,1761514393.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.290573 m,
      nav range: 62.171516 m,
      bearing: 26.990374 deg,
      approach rate: -0.625463 m/s,
      LOS rate: 0.053741 deg/s,
      cmd heading: 34.007423 deg,
      new cmd heading: 34.068221 deg.

2025-10-26T21:33:13.206Z,1761514393.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594603 target range: 65.290573 and range: 65.70 m.
2025-10-26T21:33:13.296Z,1761514393.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014729
2025-10-26T21:33:13.548Z,1761514393.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266630
2025-10-26T21:33:13.570Z,1761514393.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831018,-0.543149,-0.119993],[0.555262,0.822841,0.120904],[0.033066,-0.167101,0.985385]]
2025-10-26T21:33:13.610Z,1761514393.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.29 m.
2025-10-26T21:33:13.617Z,1761514393.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.290573 m,
      nav range: 61.927036 m,
      bearing: 27.012096 deg,
      approach rate: -0.599608 m/s,
      LOS rate: 0.053486 deg/s,
      cmd heading: 34.068222 deg,
      new cmd heading: 34.133646 deg.

2025-10-26T21:33:13.617Z,1761514393.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595744 target range: 65.290573 and range: 65.70 m.
2025-10-26T21:33:13.801Z,1761514393.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519031
2025-10-26T21:33:13.974Z,1761514393.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832250,-0.541158,-0.120451],[0.553382,0.824047,0.121308],[0.033611,-0.167614,0.985280]]
2025-10-26T21:33:14.023Z,1761514394.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.29 m.
2025-10-26T21:33:14.026Z,1761514394.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.290573 m,
      nav range: 61.661308 m,
      bearing: 27.026067 deg,
      approach rate: -0.642931 m/s,
      LOS rate: 0.033949 deg/s,
      cmd heading: 34.133645 deg,
      new cmd heading: 34.175739 deg.

2025-10-26T21:33:14.027Z,1761514394.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.596479 target range: 65.290573 and range: 65.70 m.
2025-10-26T21:33:14.052Z,1761514394.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770725
2025-10-26T21:33:14.305Z,1761514394.305 [DAT](INFO): DAT read: Rx Time:21:33:12.8823

2025-10-26T21:33:14.305Z,1761514394.305 [DAT](INFO): Rx dataTimestamp_ set to:1761514394.305137
2025-10-26T21:33:14.306Z,1761514394.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024273
2025-10-26T21:33:14.379Z,1761514394.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833197,-0.539687,-0.120505],[0.551903,0.825168,0.120422],[0.034447,-0.166842,0.985382]]
2025-10-26T21:33:14.408Z,1761514394.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.29 m.
2025-10-26T21:33:14.411Z,1761514394.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.290573 m,
      nav range: 61.422775 m,
      bearing: 27.039124 deg,
      approach rate: -0.618890 m/s,
      LOS rate: 0.034007 deg/s,
      cmd heading: 34.175739 deg,
      new cmd heading: 34.215061 deg.

2025-10-26T21:33:14.412Z,1761514394.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597165 target range: 65.290573 and range: 65.70 m.
2025-10-26T21:33:14.557Z,1761514394.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275194
2025-10-26T21:33:14.803Z,1761514394.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833049,-0.540310,-0.118720],[0.551935,0.826280,0.112375],[0.037378,-0.159140,0.986548]]
2025-10-26T21:33:14.814Z,1761514394.814 [DAT](INFO): DAT read: 21:33:12.8823 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 413, 0.14, 0.498,-1.003, 0.977, 0.496, PHS= 0.103,-1.455, 0.437, RAW= 159.5,  10.5, CAL= 159.5,  11.4, ROT= 350.5, -11.4

2025-10-26T21:33:14.815Z,1761514394.815 [DAT](INFO): got valid direction response:
 21:33:12.8823 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 413, 0.14, 0.498,-1.003, 0.977, 0.496, PHS= 0.103,-1.455, 0.437, RAW= 159.5,  10.5, CAL= 159.5,  11.4, ROT= 350.5, -11.4

2025-10-26T21:33:14.816Z,1761514394.816 [DAT](INFO): DAT read: Bearing 191.5,  -9.2 (Local)

2025-10-26T21:33:14.816Z,1761514394.816 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.5,  -9.2 (Local)

2025-10-26T21:33:14.818Z,1761514394.818 [DAT](INFO): DAT read: Range 11 to 50 : 63.3 m  (Round-trip  84.4 ms) speed  0.5 m/s

2025-10-26T21:33:14.818Z,1761514394.818 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:33:14.820Z,1761514394.820 [DAT](INFO): direction in FSK: [0.966827,-0.161791,0.197657]
2025-10-26T21:33:14.820Z,1761514394.820 [DAT](INFO): publishing direction and range info
2025-10-26T21:33:14.824Z,1761514394.824 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:33:14.824Z,1761514394.824 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:33:14.824Z,1761514394.824 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:33:14.939Z,1761514394.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.299999 m,
      deltaT: 3.780020 s,
      deltaX: -2.399998 m,
      approachRate: -0.634917 m/s,
      rangeRepo size: 4

2025-10-26T21:33:14.945Z,1761514394.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.905197 m,
      bearing: 25.900618 deg,
      lat: 36.779395 deg,
      lon: -121.859465 deg,
      deltaT: 3.780020 s,
      deltaX: -2.385376 m,
      approachRate: -0.631049 m/s,
      posRepo size: 4

2025-10-26T21:33:14.946Z,1761514394.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.91 m.
2025-10-26T21:33:14.948Z,1761514394.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.905197 m,
      nav range: 61.308048 m,
      bearing: 26.872462 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.034007 deg/s,
      cmd heading: 34.215061 deg,
      new cmd heading: 34.269076 deg.

2025-10-26T21:33:14.949Z,1761514394.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598108 target range: 62.905197 and range: 63.30 m.
2025-10-26T21:33:15.061Z,1761514395.061 [DAT](INFO): DAT read: user:323>

2025-10-26T21:33:15.061Z,1761514395.061 [DAT](INFO): DAT read: Tx time:21:33:14.1953

2025-10-26T21:33:15.062Z,1761514395.062 [DAT](INFO): Ping request sent.
2025-10-26T21:33:15.062Z,1761514395.062 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:33:15.062Z,1761514395.062 [DAT](INFO): publishing transmit ping time
2025-10-26T21:33:15.063Z,1761514395.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-10-26T21:33:15.262Z,1761514395.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832461,-0.541529,-0.117278],[0.552672,0.826626,0.106033],[0.039525,-0.153084,0.987422]]
2025-10-26T21:33:15.282Z,1761514395.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:15.284Z,1761514395.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.91 m.
2025-10-26T21:33:15.287Z,1761514395.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.905197 m,
      nav range: 61.074924 m,
      bearing: 26.873080 deg,
      approach rate: -0.673342 m/s,
      LOS rate: 0.001789 deg/s,
      cmd heading: 34.269077 deg,
      new cmd heading: 34.270936 deg.

2025-10-26T21:33:15.288Z,1761514395.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598141 target range: 62.905197 and range: 63.30 m.
2025-10-26T21:33:15.313Z,1761514395.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250600
2025-10-26T21:33:15.564Z,1761514395.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502455
2025-10-26T21:33:15.666Z,1761514395.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831411,-0.543320,-0.116445],[0.554048,0.826537,0.099340],[0.042273,-0.147109,0.988217]]
2025-10-26T21:33:15.693Z,1761514395.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.91 m.
2025-10-26T21:33:15.696Z,1761514395.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.905197 m,
      nav range: 60.816750 m,
      bearing: 26.873471 deg,
      approach rate: -0.631315 m/s,
      LOS rate: 0.000962 deg/s,
      cmd heading: 34.270935 deg,
      new cmd heading: 34.272115 deg.

2025-10-26T21:33:15.698Z,1761514395.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598161 target range: 62.905197 and range: 63.30 m.
2025-10-26T21:33:15.817Z,1761514395.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755318
2025-10-26T21:33:16.060Z,1761514396.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830353,-0.544744,-0.117338],[0.555402,0.826140,0.094980],[0.045198,-0.144037,0.988540]]
2025-10-26T21:33:16.068Z,1761514396.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006492
2025-10-26T21:33:16.113Z,1761514396.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.91 m.
2025-10-26T21:33:16.120Z,1761514396.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.905197 m,
      nav range: 60.548626 m,
      bearing: 26.853795 deg,
      approach rate: -0.638321 m/s,
      LOS rate: -0.047050 deg/s,
      cmd heading: 34.272113 deg,
      new cmd heading: 34.212824 deg.

2025-10-26T21:33:16.121Z,1761514396.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597126 target range: 62.905197 and range: 63.30 m.
2025-10-26T21:33:16.321Z,1761514396.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259066
2025-10-26T21:33:16.463Z,1761514396.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829816,-0.545066,-0.119616],[0.556011,0.825836,0.094061],[0.047514,-0.144561,0.988355]]
2025-10-26T21:33:16.489Z,1761514396.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.91 m.
2025-10-26T21:33:16.492Z,1761514396.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.905197 m,
      nav range: 60.311138 m,
      bearing: 26.836032 deg,
      approach rate: -0.632163 m/s,
      LOS rate: -0.047468 deg/s,
      cmd heading: 34.212824 deg,
      new cmd heading: 34.159326 deg.

2025-10-26T21:33:16.493Z,1761514396.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.596193 target range: 62.905197 and range: 63.30 m.
2025-10-26T21:33:16.573Z,1761514396.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510655
2025-10-26T21:33:16.824Z,1761514396.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762450
2025-10-26T21:33:16.866Z,1761514396.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829633,-0.545148,-0.120515],[0.556120,0.825997,0.091975],[0.049405,-0.143326,0.988442]]
2025-10-26T21:33:16.920Z,1761514396.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.91 m.
2025-10-26T21:33:16.923Z,1761514396.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.905197 m,
      nav range: 60.046551 m,
      bearing: 26.800342 deg,
      approach rate: -0.613070 m/s,
      LOS rate: -0.083061 deg/s,
      cmd heading: 34.159326 deg,
      new cmd heading: 34.051785 deg.

2025-10-26T21:33:16.924Z,1761514396.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594316 target range: 62.905197 and range: 63.30 m.
2025-10-26T21:33:17.076Z,1761514397.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014431
2025-10-26T21:33:17.284Z,1761514397.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829269,-0.545521,-0.121326],[0.556531,0.825887,0.090461],[0.050853,-0.142538,0.988482]]
2025-10-26T21:33:17.306Z,1761514397.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:17.309Z,1761514397.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.91 m.
2025-10-26T21:33:17.311Z,1761514397.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.905197 m,
      nav range: 59.787884 m,
      bearing: 26.765012 deg,
      approach rate: -0.666312 m/s,
      LOS rate: -0.091402 deg/s,
      cmd heading: 34.051785 deg,
      new cmd heading: 33.945336 deg.

2025-10-26T21:33:17.312Z,1761514397.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592458 target range: 62.905197 and range: 63.30 m.
2025-10-26T21:33:17.328Z,1761514397.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266357
2025-10-26T21:33:17.580Z,1761514397.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518428
2025-10-26T21:33:17.805Z,1761514397.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829401,-0.544733,-0.123933],[0.556159,0.826065,0.091131],[0.052734,-0.144511,0.988097]]
2025-10-26T21:33:17.832Z,1761514397.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770469
2025-10-26T21:33:17.856Z,1761514397.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.91 m.
2025-10-26T21:33:17.859Z,1761514397.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.905197 m,
      nav range: 59.438290 m,
      bearing: 26.704159 deg,
      approach rate: -0.638188 m/s,
      LOS rate: -0.111741 deg/s,
      cmd heading: 33.945337 deg,
      new cmd heading: 33.761705 deg.

2025-10-26T21:33:17.876Z,1761514397.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589253 target range: 62.905197 and range: 63.30 m.
2025-10-26T21:33:18.086Z,1761514398.086 [DAT](INFO): DAT read: Rx Time:21:33:16.6806

2025-10-26T21:33:18.086Z,1761514398.086 [DAT](INFO): Rx dataTimestamp_ set to:1761514398.085934
2025-10-26T21:33:18.087Z,1761514398.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025202
2025-10-26T21:33:18.336Z,1761514398.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274398
2025-10-26T21:33:18.341Z,1761514398.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829813,-0.543596,-0.126148],[0.555422,0.826413,0.092449],[0.053996,-0.146781,0.987694]]
2025-10-26T21:33:18.373Z,1761514398.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.91 m.
2025-10-26T21:33:18.375Z,1761514398.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.905197 m,
      nav range: 59.109016 m,
      bearing: 26.646431 deg,
      approach rate: -0.637887 m/s,
      LOS rate: -0.112457 deg/s,
      cmd heading: 33.761704 deg,
      new cmd heading: 33.587555 deg.

2025-10-26T21:33:18.376Z,1761514398.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586213 target range: 62.905197 and range: 63.30 m.
2025-10-26T21:33:18.594Z,1761514398.594 [DAT](INFO): DAT read: 21:33:16.6806 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 412, 0.33,-2.173, 2.638,-1.699,-2.198, PHS= 0.127,-1.403, 0.455, RAW= 159.5,   9.6, CAL= 159.4,  10.3, ROT= 350.6, -10.3

2025-10-26T21:33:18.595Z,1761514398.595 [DAT](INFO): got valid direction response:
 21:33:16.6806 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 412, 0.33,-2.173, 2.638,-1.699,-2.198, PHS= 0.127,-1.403, 0.455, RAW= 159.5,   9.6, CAL= 159.4,  10.3, ROT= 350.6, -10.3

2025-10-26T21:33:18.596Z,1761514398.596 [DAT](INFO): DAT read: Bearing 190.5,  -7.5 (Local)

2025-10-26T21:33:18.596Z,1761514398.596 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.5,  -7.5 (Local)

2025-10-26T21:33:18.598Z,1761514398.598 [DAT](INFO): DAT read: Range 11 to 50 : 60.9 m  (Round-trip  81.2 ms) speed  0.4 m/s

2025-10-26T21:33:18.598Z,1761514398.598 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:33:18.600Z,1761514398.600 [DAT](INFO): direction in FSK: [0.970674,-0.160694,0.178802]
2025-10-26T21:33:18.600Z,1761514398.600 [DAT](INFO): publishing direction and range info
2025-10-26T21:33:18.603Z,1761514398.603 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:33:18.603Z,1761514398.603 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:33:18.604Z,1761514398.604 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:33:18.749Z,1761514398.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830368,-0.541967,-0.129463],[0.554530,0.826536,0.096622],[0.054640,-0.152023,0.986866]]
2025-10-26T21:33:18.841Z,1761514398.841 [DAT](INFO): DAT read: user:324>

2025-10-26T21:33:18.842Z,1761514398.842 [DAT](INFO): DAT read: Tx time:21:33:17.9437

2025-10-26T21:33:18.842Z,1761514398.842 [DAT](INFO): Ping request sent.
2025-10-26T21:33:18.842Z,1761514398.842 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:33:18.842Z,1761514398.842 [DAT](INFO): publishing transmit ping time
2025-10-26T21:33:18.843Z,1761514398.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-10-26T21:33:18.863Z,1761514398.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.900002 m,
      deltaT: 3.780258 s,
      deltaX: -2.399998 m,
      approachRate: -0.634877 m/s,
      rangeRepo size: 4

2025-10-26T21:33:18.869Z,1761514398.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 60.520561 m,
      bearing: 25.915708 deg,
      lat: 36.779395 deg,
      lon: -121.859472 deg,
      deltaT: 3.780258 s,
      deltaX: -2.384636 m,
      approachRate: -0.630813 m/s,
      posRepo size: 4

2025-10-26T21:33:18.870Z,1761514398.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.52 m.
2025-10-26T21:33:18.877Z,1761514398.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.520561 m,
      nav range: 58.573124 m,
      bearing: 26.089374 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.112457 deg/s,
      cmd heading: 33.587554 deg,
      new cmd heading: 33.422348 deg.

2025-10-26T21:33:18.878Z,1761514398.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583330 target range: 60.520561 and range: 60.90 m.
2025-10-26T21:33:19.093Z,1761514399.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251082
2025-10-26T21:33:19.220Z,1761514399.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.52 m.
2025-10-26T21:33:19.222Z,1761514399.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.520561 m,
      nav range: 58.307678 m,
      bearing: 26.033737 deg,
      approach rate: -0.743006 m/s,
      LOS rate: -0.156443 deg/s,
      cmd heading: 33.422349 deg,
      new cmd heading: 33.254678 deg.

2025-10-26T21:33:19.223Z,1761514399.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.580404 target range: 60.520561 and range: 60.90 m.
2025-10-26T21:33:19.344Z,1761514399.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502301
2025-10-26T21:33:19.550Z,1761514399.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831576,-0.538214,-0.137140],[0.552642,0.826436,0.107656],[0.055396,-0.165313,0.984684]]
2025-10-26T21:33:19.567Z,1761514399.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:19.569Z,1761514399.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.52 m.
2025-10-26T21:33:19.572Z,1761514399.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.520561 m,
      nav range: 58.081669 m,
      bearing: 25.986479 deg,
      approach rate: -0.646016 m/s,
      LOS rate: -0.135605 deg/s,
      cmd heading: 33.254678 deg,
      new cmd heading: 33.112353 deg.

2025-10-26T21:33:19.573Z,1761514399.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.577920 target range: 60.520561 and range: 60.90 m.
2025-10-26T21:33:19.596Z,1761514399.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754371
2025-10-26T21:33:19.848Z,1761514399.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006285
2025-10-26T21:33:19.954Z,1761514399.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832380,-0.535956,-0.141047],[0.551413,0.826431,0.113825],[0.055560,-0.172521,0.983438]]
2025-10-26T21:33:20.006Z,1761514400.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.52 m.
2025-10-26T21:33:20.008Z,1761514400.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.520561 m,
      nav range: 57.797234 m,
      bearing: 25.935721 deg,
      approach rate: -0.652161 m/s,
      LOS rate: -0.116953 deg/s,
      cmd heading: 33.112354 deg,
      new cmd heading: 32.959329 deg.

2025-10-26T21:33:20.009Z,1761514400.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575249 target range: 60.520561 and range: 60.90 m.
2025-10-26T21:33:20.100Z,1761514400.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258333
2025-10-26T21:33:20.352Z,1761514400.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510169
2025-10-26T21:33:20.362Z,1761514400.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833225,-0.533711,-0.144530],[0.550124,0.826490,0.119487],[0.055681,-0.179069,0.982260]]
2025-10-26T21:33:20.430Z,1761514400.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.52 m.
2025-10-26T21:33:20.438Z,1761514400.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.520561 m,
      nav range: 57.544807 m,
      bearing: 25.890672 deg,
      approach rate: -0.594583 m/s,
      LOS rate: -0.106576 deg/s,
      cmd heading: 32.959331 deg,
      new cmd heading: 32.823593 deg.

2025-10-26T21:33:20.439Z,1761514400.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.572880 target range: 60.520561 and range: 60.90 m.
2025-10-26T21:33:20.604Z,1761514400.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762297
2025-10-26T21:33:20.858Z,1761514400.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015497
2025-10-26T21:33:20.875Z,1761514400.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.52 m.
2025-10-26T21:33:20.878Z,1761514400.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.520561 m,
      nav range: 57.243221 m,
      bearing: 25.836322 deg,
      approach rate: -0.677624 m/s,
      LOS rate: -0.122762 deg/s,
      cmd heading: 32.823594 deg,
      new cmd heading: 32.659684 deg.

2025-10-26T21:33:20.879Z,1761514400.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.570019 target range: 60.520561 and range: 60.90 m.
2025-10-26T21:33:21.109Z,1761514401.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266542
2025-10-26T21:33:21.199Z,1761514401.199 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,  20.00, 21.33
2025-10-26T21:33:21.214Z,1761514401.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.52 m.
2025-10-26T21:33:21.217Z,1761514401.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.520561 m,
      nav range: 57.009537 m,
      bearing: 25.793806 deg,
      approach rate: -0.689313 m/s,
      LOS rate: -0.125924 deg/s,
      cmd heading: 32.659683 deg,
      new cmd heading: 32.531615 deg.

2025-10-26T21:33:21.218Z,1761514401.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.567784 target range: 60.520561 and range: 60.90 m.
2025-10-26T21:33:21.360Z,1761514401.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518286
2025-10-26T21:33:21.574Z,1761514401.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835173,-0.529850,-0.147460],[0.547126,0.827720,0.124626],[0.056022,-0.184764,0.981185]]
2025-10-26T21:33:21.612Z,1761514401.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770247
2025-10-26T21:33:21.615Z,1761514401.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:21.621Z,1761514401.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.52 m.
2025-10-26T21:33:21.626Z,1761514401.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.520561 m,
      nav range: 56.761967 m,
      bearing: 25.749322 deg,
      approach rate: -0.608102 m/s,
      LOS rate: -0.109742 deg/s,
      cmd heading: 32.531614 deg,
      new cmd heading: 32.397580 deg.

2025-10-26T21:33:21.637Z,1761514401.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.565444 target range: 60.520561 and range: 60.90 m.
2025-10-26T21:33:21.865Z,1761514401.865 [DAT](INFO): DAT read: Rx Time:21:33:20.4259

2025-10-26T21:33:21.865Z,1761514401.865 [DAT](INFO): Rx dataTimestamp_ set to:1761514401.865088
2025-10-26T21:33:21.866Z,1761514401.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023842
2025-10-26T21:33:21.978Z,1761514401.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835699,-0.529380,-0.146160],[0.546353,0.828404,0.123468],[0.055718,-0.183038,0.981526]]
2025-10-26T21:33:22.047Z,1761514402.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.52 m.
2025-10-26T21:33:22.053Z,1761514402.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.520561 m,
      nav range: 56.480377 m,
      bearing: 25.737346 deg,
      approach rate: -0.661827 m/s,
      LOS rate: -0.028290 deg/s,
      cmd heading: 32.397578 deg,
      new cmd heading: 32.361469 deg.

2025-10-26T21:33:22.054Z,1761514402.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564814 target range: 60.520561 and range: 60.90 m.
2025-10-26T21:33:22.117Z,1761514402.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275087
2025-10-26T21:33:22.374Z,1761514402.374 [DAT](INFO): DAT read: 21:33:20.4259 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 413,-0.49, 2.593, 1.105, 3.040, 2.521, PHS= 0.174,-1.371, 0.475, RAW= 158.8,   8.5, CAL= 158.4,   8.8, ROT= 351.6,  -8.8

2025-10-26T21:33:22.375Z,1761514402.375 [DAT](INFO): got valid direction response:
 21:33:20.4259 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 413,-0.49, 2.593, 1.105, 3.040, 2.521, PHS= 0.174,-1.371, 0.475, RAW= 158.8,   8.5, CAL= 158.4,   8.8, ROT= 351.6,  -8.8

2025-10-26T21:33:22.376Z,1761514402.376 [DAT](INFO): DAT read: Bearing 186.8,  -6.6 (Local)

2025-10-26T21:33:22.376Z,1761514402.376 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.8,  -6.6 (Local)

2025-10-26T21:33:22.378Z,1761514402.378 [DAT](INFO): DAT read: Range 11 to 50 : 58.5 m  (Round-trip  78.1 ms) speed  0.7 m/s

2025-10-26T21:33:22.378Z,1761514402.378 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:33:22.380Z,1761514402.380 [DAT](INFO): direction in FSK: [0.977627,-0.144363,0.152986]
2025-10-26T21:33:22.380Z,1761514402.380 [DAT](INFO): publishing direction and range info
2025-10-26T21:33:22.384Z,1761514402.384 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:33:22.384Z,1761514402.384 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:33:22.384Z,1761514402.384 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:33:22.400Z,1761514402.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836849,-0.528237,-0.143696],[0.544717,0.829614,0.122571],[0.054465,-0.180847,0.982002]]
2025-10-26T21:33:22.491Z,1761514402.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.500000 m,
      deltaT: 3.779673 s,
      deltaX: -2.400002 m,
      approachRate: -0.634976 m/s,
      rangeRepo size: 4

2025-10-26T21:33:22.497Z,1761514402.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.135609 m,
      bearing: 26.318378 deg,
      lat: 36.779395 deg,
      lon: -121.859472 deg,
      deltaT: 3.779673 s,
      deltaX: -2.384953 m,
      approachRate: -0.630994 m/s,
      posRepo size: 4

2025-10-26T21:33:22.497Z,1761514402.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.14 m.
2025-10-26T21:33:22.498Z,1761514402.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-10-26T21:33:22.505Z,1761514402.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.135609 m,
      nav range: 56.189491 m,
      bearing: 25.725280 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028290 deg/s,
      cmd heading: 32.361467 deg,
      new cmd heading: 32.323857 deg.

2025-10-26T21:33:22.506Z,1761514402.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564158 target range: 58.135609 and range: 58.50 m.
2025-10-26T21:33:22.536Z,1761514402.536 [DockingStepper](INFO): Changing to mode: 2
2025-10-26T21:33:22.621Z,1761514402.621 [DAT](INFO): DAT read: user:325>

2025-10-26T21:33:22.622Z,1761514402.622 [DAT](INFO): DAT read: Tx time:21:33:21.7437

2025-10-26T21:33:22.622Z,1761514402.622 [DAT](INFO): Ping request sent.
2025-10-26T21:33:22.623Z,1761514402.623 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:33:22.623Z,1761514402.623 [DAT](INFO): publishing transmit ping time
2025-10-26T21:33:22.624Z,1761514402.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001904
2025-10-26T21:33:22.875Z,1761514402.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251946
2025-10-26T21:33:22.904Z,1761514402.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837986,-0.526693,-0.142736],[0.543063,0.830559,0.123508],[0.053500,-0.181013,0.982024]]
2025-10-26T21:33:22.961Z,1761514402.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.14 m.
2025-10-26T21:33:22.961Z,1761514402.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-10-26T21:33:22.968Z,1761514402.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.135609 m,
      nav range: 55.890034 m,
      bearing: 25.741154 deg,
      approach rate: -0.636230 m/s,
      LOS rate: 0.033906 deg/s,
      cmd heading: 32.323857 deg,
      new cmd heading: 32.371733 deg.

2025-10-26T21:33:22.969Z,1761514402.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564993 target range: 58.135609 and range: 58.50 m.
2025-10-26T21:33:23.124Z,1761514403.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501703
2025-10-26T21:33:23.276Z,1761514403.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838503,-0.526812,-0.139221],[0.542318,0.831665,0.119264],[0.052956,-0.175505,0.983053]]
2025-10-26T21:33:23.294Z,1761514403.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.14 m.
2025-10-26T21:33:23.294Z,1761514403.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-10-26T21:33:23.297Z,1761514403.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.135609 m,
      nav range: 55.663334 m,
      bearing: 25.753518 deg,
      approach rate: -0.680580 m/s,
      LOS rate: 0.037271 deg/s,
      cmd heading: 32.371733 deg,
      new cmd heading: 32.408977 deg.

2025-10-26T21:33:23.298Z,1761514403.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.565643 target range: 58.135609 and range: 58.50 m.
2025-10-26T21:33:23.378Z,1761514403.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755095
2025-10-26T21:33:23.628Z,1761514403.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005800
2025-10-26T21:33:23.682Z,1761514403.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839682,-0.525716,-0.136224],[0.540530,0.833294,0.115964],[0.052550,-0.171006,0.983868]]
2025-10-26T21:33:23.700Z,1761514403.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:23.703Z,1761514403.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.14 m.
2025-10-26T21:33:23.704Z,1761514403.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-10-26T21:33:23.709Z,1761514403.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.135609 m,
      nav range: 55.402740 m,
      bearing: 25.768455 deg,
      approach rate: -0.636712 m/s,
      LOS rate: 0.036667 deg/s,
      cmd heading: 32.408978 deg,
      new cmd heading: 32.453999 deg.

2025-10-26T21:33:23.710Z,1761514403.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566429 target range: 58.135609 and range: 58.50 m.
2025-10-26T21:33:23.883Z,1761514403.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260112
2025-10-26T21:33:24.085Z,1761514404.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841306,-0.523660,-0.134110],[0.538016,0.835209,0.113866],[0.052383,-0.167949,0.984403]]
2025-10-26T21:33:24.121Z,1761514404.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.14 m.
2025-10-26T21:33:24.122Z,1761514404.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-10-26T21:33:24.125Z,1761514404.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.135609 m,
      nav range: 55.143612 m,
      bearing: 25.804484 deg,
      approach rate: -0.619497 m/s,
      LOS rate: 0.086539 deg/s,
      cmd heading: 32.453999 deg,
      new cmd heading: 32.562594 deg.

2025-10-26T21:33:24.126Z,1761514404.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.568325 target range: 58.135609 and range: 58.50 m.
2025-10-26T21:33:24.134Z,1761514404.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511187
2025-10-26T21:33:24.384Z,1761514404.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761774
2025-10-26T21:33:24.486Z,1761514404.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843303,-0.520958,-0.132072],[0.534879,0.837507,0.111743],[0.052398,-0.164876,0.984922]]
2025-10-26T21:33:24.515Z,1761514404.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.14 m.
2025-10-26T21:33:24.516Z,1761514404.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-10-26T21:33:24.519Z,1761514404.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.135609 m,
      nav range: 54.901695 m,
      bearing: 25.839440 deg,
      approach rate: -0.613977 m/s,
      LOS rate: 0.089108 deg/s,
      cmd heading: 32.562596 deg,
      new cmd heading: 32.667926 deg.

2025-10-26T21:33:24.520Z,1761514404.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.570163 target range: 58.135609 and range: 58.50 m.
2025-10-26T21:33:24.638Z,1761514404.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015031
2025-10-26T21:33:24.861Z,1761514404.861 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:33:24.891Z,1761514404.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267990
2025-10-26T21:33:24.986Z,1761514404.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844564,-0.518801,-0.132501],[0.532834,0.838743,0.112239],[0.052904,-0.165394,0.984807]]
2025-10-26T21:33:25.026Z,1761514405.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.14 m.
2025-10-26T21:33:25.027Z,1761514405.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-10-26T21:33:25.032Z,1761514405.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.135609 m,
      nav range: 54.582733 m,
      bearing: 25.893048 deg,
      approach rate: -0.623895 m/s,
      LOS rate: 0.105471 deg/s,
      cmd heading: 32.667927 deg,
      new cmd heading: 32.829690 deg.

2025-10-26T21:33:25.033Z,1761514405.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.572986 target range: 58.135609 and range: 58.50 m.
2025-10-26T21:33:25.141Z,1761514405.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518437
2025-10-26T21:33:25.372Z,1761514405.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846065,-0.516271,-0.132808],[0.530417,0.840164,0.113061],[0.053210,-0.166101,0.984672]]
2025-10-26T21:33:25.393Z,1761514405.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770481
2025-10-26T21:33:25.436Z,1761514405.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.14 m.
2025-10-26T21:33:25.436Z,1761514405.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-10-26T21:33:25.452Z,1761514405.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.135609 m,
      nav range: 54.355953 m,
      bearing: 25.932239 deg,
      approach rate: -0.564940 m/s,
      LOS rate: 0.098038 deg/s,
      cmd heading: 32.829690 deg,
      new cmd heading: 32.947754 deg.

2025-10-26T21:33:25.453Z,1761514405.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575047 target range: 58.135609 and range: 58.50 m.
2025-10-26T21:33:25.645Z,1761514405.645 [DAT](INFO): DAT read: Rx Time:21:33:24.2226

2025-10-26T21:33:25.646Z,1761514405.646 [DAT](INFO): Rx dataTimestamp_ set to:1761514405.645676
2025-10-26T21:33:25.647Z,1761514405.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024260
2025-10-26T21:33:25.764Z,1761514405.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846837,-0.515353,-0.131444],[0.529245,0.840985,0.112446],[0.052593,-0.164790,0.984926]]
2025-10-26T21:33:25.786Z,1761514405.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:25.788Z,1761514405.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.14 m.
2025-10-26T21:33:25.788Z,1761514405.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-10-26T21:33:25.791Z,1761514405.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.135609 m,
      nav range: 54.108799 m,
      bearing: 25.975729 deg,
      approach rate: -0.687200 m/s,
      LOS rate: 0.121475 deg/s,
      cmd heading: 32.947753 deg,
      new cmd heading: 33.078820 deg.

2025-10-26T21:33:25.792Z,1761514405.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.577334 target range: 58.135609 and range: 58.50 m.
2025-10-26T21:33:25.865Z,1761514405.865 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:33:25.901Z,1761514405.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277558
2025-10-26T21:33:26.164Z,1761514406.164 [DAT](INFO): DAT read: 21:33:24.2226 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410, 0.26, 0.444,-1.089, 0.807, 0.371, PHS= 0.175,-1.415, 0.392, RAW= 156.3,  10.0, CAL= 156.2,  10.8, ROT= 353.8, -10.8

2025-10-26T21:33:26.165Z,1761514406.165 [DAT](INFO): got valid direction response:
 21:33:24.2226 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410, 0.26, 0.444,-1.089, 0.807, 0.371, PHS= 0.175,-1.415, 0.392, RAW= 156.3,  10.0, CAL= 156.2,  10.8, ROT= 353.8, -10.8

2025-10-26T21:33:26.166Z,1761514406.166 [DAT](INFO): DAT read: Bearing 188.0,  -4.7 (Local)

2025-10-26T21:33:26.166Z,1761514406.166 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.0,  -4.7 (Local)

2025-10-26T21:33:26.168Z,1761514406.168 [DAT](INFO): DAT read: Range 11 to 50 : 56.1 m  (Round-trip  74.8 ms) speed  0.7 m/s

2025-10-26T21:33:26.168Z,1761514406.168 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:33:26.169Z,1761514406.169 [DAT](INFO): direction in FSK: [0.976542,-0.106086,0.187381]
2025-10-26T21:33:26.169Z,1761514406.169 [DAT](INFO): publishing direction and range info
2025-10-26T21:33:26.173Z,1761514406.173 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:33:26.173Z,1761514406.173 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:33:26.173Z,1761514406.173 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:33:26.186Z,1761514406.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847170,-0.515258,-0.129660],[0.528816,0.841354,0.111697],[0.051537,-0.163193,0.985247]]
2025-10-26T21:33:26.316Z,1761514406.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.099998 m,
      deltaT: 3.780810 s,
      deltaX: -2.400002 m,
      approachRate: -0.634785 m/s,
      rangeRepo size: 4

2025-10-26T21:33:26.318Z,1761514406.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.750465 m,
      bearing: 27.584762 deg,
      lat: 36.779395 deg,
      lon: -121.859472 deg,
      deltaT: 3.780810 s,
      deltaX: -2.385143 m,
      approachRate: -0.630855 m/s,
      posRepo size: 4

2025-10-26T21:33:26.318Z,1761514406.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m.
2025-10-26T21:33:26.319Z,1761514406.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m.
2025-10-26T21:33:26.322Z,1761514406.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.750465 m,
      nav range: 53.801853 m,
      bearing: 26.013670 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.121475 deg/s,
      cmd heading: 33.078821 deg,
      new cmd heading: 33.268071 deg.

2025-10-26T21:33:26.331Z,1761514406.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.580637 target range: 55.750465 and range: 56.10 m.
2025-10-26T21:33:26.401Z,1761514406.401 [DAT](INFO): DAT read: user:326>

2025-10-26T21:33:26.402Z,1761514406.402 [DAT](INFO): DAT read: Tx time:21:33:25.5437

2025-10-26T21:33:26.402Z,1761514406.402 [DAT](INFO): Ping request sent.
2025-10-26T21:33:26.403Z,1761514406.403 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:33:26.403Z,1761514406.403 [DAT](INFO): publishing transmit ping time
2025-10-26T21:33:26.403Z,1761514406.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000845
2025-10-26T21:33:26.570Z,1761514406.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846950,-0.516135,-0.127593],[0.529275,0.841257,0.110250],[0.050434,-0.160908,0.985680]]
2025-10-26T21:33:26.601Z,1761514406.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m.
2025-10-26T21:33:26.602Z,1761514406.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m.
2025-10-26T21:33:26.604Z,1761514406.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.750465 m,
      nav range: 53.613140 m,
      bearing: 26.037071 deg,
      approach rate: -0.641327 m/s,
      LOS rate: 0.079807 deg/s,
      cmd heading: 33.268072 deg,
      new cmd heading: 33.338522 deg.

2025-10-26T21:33:26.605Z,1761514406.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.581867 target range: 55.750465 and range: 56.10 m.
2025-10-26T21:33:26.654Z,1761514406.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251095
2025-10-26T21:33:26.907Z,1761514406.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504042
2025-10-26T21:33:26.975Z,1761514406.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846675,-0.517227,-0.124967],[0.529877,0.841034,0.109056],[0.048695,-0.158552,0.986149]]
2025-10-26T21:33:27.014Z,1761514407.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m.
2025-10-26T21:33:27.015Z,1761514407.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m.
2025-10-26T21:33:27.018Z,1761514407.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.750465 m,
      nav range: 53.361549 m,
      bearing: 26.056617 deg,
      approach rate: -0.609053 m/s,
      LOS rate: 0.047540 deg/s,
      cmd heading: 33.338522 deg,
      new cmd heading: 33.397436 deg.

2025-10-26T21:33:27.019Z,1761514407.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582895 target range: 55.750465 and range: 56.10 m.
2025-10-26T21:33:27.158Z,1761514407.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755400
2025-10-26T21:33:27.409Z,1761514407.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005897
2025-10-26T21:33:27.410Z,1761514407.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m.
2025-10-26T21:33:27.411Z,1761514407.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m.
2025-10-26T21:33:27.414Z,1761514407.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.750465 m,
      nav range: 53.120773 m,
      bearing: 26.075497 deg,
      approach rate: -0.608060 m/s,
      LOS rate: 0.047895 deg/s,
      cmd heading: 33.397436 deg,
      new cmd heading: 33.454331 deg.

2025-10-26T21:33:27.414Z,1761514407.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583888 target range: 55.750465 and range: 56.10 m.
2025-10-26T21:33:27.660Z,1761514407.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257782
2025-10-26T21:33:27.782Z,1761514407.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845487,-0.521657,-0.114130],[0.532174,0.840773,0.099454],[0.044077,-0.144825,0.988475]]
2025-10-26T21:33:27.799Z,1761514407.799 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:27.801Z,1761514407.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m.
2025-10-26T21:33:27.801Z,1761514407.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m.
2025-10-26T21:33:27.805Z,1761514407.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.750465 m,
      nav range: 52.881836 m,
      bearing: 26.094052 deg,
      approach rate: -0.611387 m/s,
      LOS rate: 0.047693 deg/s,
      cmd heading: 33.454331 deg,
      new cmd heading: 33.510249 deg.

2025-10-26T21:33:27.805Z,1761514407.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584864 target range: 55.750465 and range: 56.10 m.
2025-10-26T21:33:27.916Z,1761514407.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512285
2025-10-26T21:33:28.164Z,1761514408.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761790
2025-10-26T21:33:28.191Z,1761514408.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844372,-0.524799,-0.107804],[0.534124,0.840281,0.092947],[0.041807,-0.136063,0.989818]]
2025-10-26T21:33:28.243Z,1761514408.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m.
2025-10-26T21:33:28.247Z,1761514408.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m.
2025-10-26T21:33:28.250Z,1761514408.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.750465 m,
      nav range: 52.620888 m,
      bearing: 26.087497 deg,
      approach rate: -0.590729 m/s,
      LOS rate: -0.014912 deg/s,
      cmd heading: 33.510250 deg,
      new cmd heading: 33.490488 deg.

2025-10-26T21:33:28.251Z,1761514408.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584519 target range: 55.750465 and range: 56.10 m.
2025-10-26T21:33:28.416Z,1761514408.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013703
2025-10-26T21:33:28.590Z,1761514408.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843361,-0.527562,-0.102083],[0.535875,0.839790,0.087130],[0.039762,-0.128186,0.990953]]
2025-10-26T21:33:28.608Z,1761514408.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m.
2025-10-26T21:33:28.609Z,1761514408.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m.
2025-10-26T21:33:28.609Z,1761514408.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 56.10 m.
2025-10-26T21:33:28.609Z,1761514408.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-10-26T21:33:28.612Z,1761514408.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.750465 m,
      nav range: 52.387157 m,
      bearing: 26.081221 deg,
      approach rate: -0.639334 m/s,
      LOS rate: -0.017245 deg/s,
      cmd heading: 33.490487 deg,
      new cmd heading: 33.471573 deg.

2025-10-26T21:33:28.613Z,1761514408.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584189 target range: 55.750465 and range: 56.10 m.
2025-10-26T21:33:28.669Z,1761514408.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266009
2025-10-26T21:33:28.924Z,1761514408.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520279
2025-10-26T21:33:28.995Z,1761514408.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842487,-0.529524,-0.099099],[0.537363,0.839064,0.084928],[0.038179,-0.124803,0.991447]]
2025-10-26T21:33:29.037Z,1761514409.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m.
2025-10-26T21:33:29.040Z,1761514409.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.750465 m,
      nav range: 52.112862 m,
      bearing: 26.051180 deg,
      approach rate: -0.639296 m/s,
      LOS rate: -0.070384 deg/s,
      cmd heading: 33.471574 deg,
      new cmd heading: 33.380978 deg.

2025-10-26T21:33:29.041Z,1761514409.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582608 target range: 55.750465 and range: 56.10 m.
2025-10-26T21:33:29.172Z,1761514409.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769666
2025-10-26T21:33:29.402Z,1761514409.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841105,-0.531772,-0.098796],[0.539583,0.837585,0.085453],[0.037308,-0.125184,0.991432]]
2025-10-26T21:33:29.420Z,1761514409.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m.
2025-10-26T21:33:29.423Z,1761514409.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.750465 m,
      nav range: 51.868179 m,
      bearing: 26.023393 deg,
      approach rate: -0.639365 m/s,
      LOS rate: -0.072950 deg/s,
      cmd heading: 33.380979 deg,
      new cmd heading: 33.297225 deg.

2025-10-26T21:33:29.425Z,1761514409.425 [DAT](INFO): DAT read: Rx Time:21:33:28.0194

2025-10-26T21:33:29.425Z,1761514409.425 [DAT](INFO): Rx dataTimestamp_ set to:1761514409.424701
2025-10-26T21:33:29.425Z,1761514409.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022908
2025-10-26T21:33:29.426Z,1761514409.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.581146 target range: 55.750465 and range: 56.10 m.
2025-10-26T21:33:29.676Z,1761514409.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273859
2025-10-26T21:33:29.833Z,1761514409.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839346,-0.534430,-0.099415],[0.542350,0.835682,0.086557],[0.036821,-0.126569,0.991274]]
2025-10-26T21:33:29.850Z,1761514409.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:29.852Z,1761514409.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m.
2025-10-26T21:33:29.855Z,1761514409.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.750465 m,
      nav range: 51.592487 m,
      bearing: 25.990733 deg,
      approach rate: -0.637848 m/s,
      LOS rate: -0.075968 deg/s,
      cmd heading: 33.297227 deg,
      new cmd heading: 33.198722 deg.

2025-10-26T21:33:29.872Z,1761514409.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.579427 target range: 55.750465 and range: 56.10 m.
2025-10-26T21:33:29.978Z,1761514409.978 [DAT](INFO): DAT read: 21:33:28.0194 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409, 0.13,-3.014, 1.775,-2.599,-3.079, PHS= 0.167,-1.384, 0.436, RAW= 157.9,   9.2, CAL= 157.6,   9.8, ROT= 352.4,  -9.8

2025-10-26T21:33:30.004Z,1761514410.004 [DAT](INFO): got valid direction response:
 21:33:28.0194 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409, 0.13,-3.014, 1.775,-2.599,-3.079, PHS= 0.167,-1.384, 0.436, RAW= 157.9,   9.2, CAL= 157.6,   9.8, ROT= 352.4,  -9.8

2025-10-26T21:33:30.004Z,1761514410.004 [DAT](INFO): DAT read: Bearing 187.6,  -6.6 (Local)

2025-10-26T21:33:30.005Z,1761514410.005 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.6,  -6.6 (Local)

2025-10-26T21:33:30.006Z,1761514410.006 [DAT](INFO): DAT read: Range 11 to 50 : 53.6 m  (Round-trip  71.5 ms) speed  0.6 m/s

2025-10-26T21:33:30.007Z,1761514410.007 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:33:30.012Z,1761514410.012 [DAT](INFO): direction in FSK: [0.976752,-0.130326,0.170209]
2025-10-26T21:33:30.020Z,1761514410.020 [DAT](INFO): publishing direction and range info
2025-10-26T21:33:30.027Z,1761514410.027 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:33:30.027Z,1761514410.027 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:33:30.027Z,1761514410.027 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:33:30.180Z,1761514410.180 [DAT](INFO): DAT read: user:327>

2025-10-26T21:33:30.181Z,1761514410.181 [DAT](INFO): DAT read: Tx time:21:33:29.3936

2025-10-26T21:33:30.181Z,1761514410.181 [DAT](INFO): Ping request sent.
2025-10-26T21:33:30.182Z,1761514410.182 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:33:30.182Z,1761514410.182 [DAT](INFO): publishing transmit ping time
2025-10-26T21:33:30.182Z,1761514410.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-10-26T21:33:30.206Z,1761514410.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837256,-0.537440,-0.100804],[0.545586,0.833398,0.088224],[0.036595,-0.128863,0.990987]]
2025-10-26T21:33:30.312Z,1761514410.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.599998 m,
      deltaT: 3.781200 s,
      deltaX: -2.500000 m,
      approachRate: -0.661166 m/s,
      rangeRepo size: 4

2025-10-26T21:33:30.314Z,1761514410.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.265980 m,
      bearing: 26.773484 deg,
      lat: 36.779395 deg,
      lon: -121.859464 deg,
      deltaT: 3.781200 s,
      deltaX: -2.484486 m,
      approachRate: -0.657063 m/s,
      posRepo size: 4

2025-10-26T21:33:30.314Z,1761514410.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.27 m.
2025-10-26T21:33:30.321Z,1761514410.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.265980 m,
      nav range: 51.669350 m,
      bearing: 26.602538 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.075968 deg/s,
      cmd heading: 33.198722 deg,
      new cmd heading: 33.095140 deg.

2025-10-26T21:33:30.322Z,1761514410.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.577619 target range: 53.265980 and range: 53.60 m.
2025-10-26T21:33:30.432Z,1761514410.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250807
2025-10-26T21:33:30.657Z,1761514410.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.27 m.
2025-10-26T21:33:30.678Z,1761514410.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.265980 m,
      nav range: 51.443966 m,
      bearing: 26.554810 deg,
      approach rate: -0.642751 m/s,
      LOS rate: -0.136708 deg/s,
      cmd heading: 33.095142 deg,
      new cmd heading: 32.951330 deg.

2025-10-26T21:33:30.679Z,1761514410.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575109 target range: 53.265980 and range: 53.60 m.
2025-10-26T21:33:30.684Z,1761514410.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502841
2025-10-26T21:33:30.936Z,1761514410.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754746
2025-10-26T21:33:31.019Z,1761514411.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832060,-0.545170,-0.102304],[0.553510,0.828055,0.089173],[0.036099,-0.130823,0.990748]]
2025-10-26T21:33:31.065Z,1761514411.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.27 m.
2025-10-26T21:33:31.068Z,1761514411.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.265980 m,
      nav range: 51.184258 m,
      bearing: 26.493676 deg,
      approach rate: -0.637828 m/s,
      LOS rate: -0.150904 deg/s,
      cmd heading: 32.951329 deg,
      new cmd heading: 32.766996 deg.

2025-10-26T21:33:31.069Z,1761514411.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.571892 target range: 53.265980 and range: 53.60 m.
2025-10-26T21:33:31.188Z,1761514411.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006873
2025-10-26T21:33:31.422Z,1761514411.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829309,-0.549165,-0.103272],[0.557632,0.825227,0.089701],[0.035962,-0.131977,0.990600]]
2025-10-26T21:33:31.440Z,1761514411.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258820
2025-10-26T21:33:31.461Z,1761514411.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.27 m.
2025-10-26T21:33:31.468Z,1761514411.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.265980 m,
      nav range: 50.939693 m,
      bearing: 26.434100 deg,
      approach rate: -0.617307 m/s,
      LOS rate: -0.151098 deg/s,
      cmd heading: 32.766996 deg,
      new cmd heading: 32.587410 deg.

2025-10-26T21:33:31.469Z,1761514411.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.568758 target range: 53.265980 and range: 53.60 m.
2025-10-26T21:33:31.693Z,1761514411.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510947
2025-10-26T21:33:31.822Z,1761514411.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826729,-0.553077,-0.103076],[0.561421,0.822885,0.087558],[0.036393,-0.130256,0.990812]]
2025-10-26T21:33:31.854Z,1761514411.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:31.856Z,1761514411.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.27 m.
2025-10-26T21:33:31.858Z,1761514411.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.265980 m,
      nav range: 50.686230 m,
      bearing: 26.370352 deg,
      approach rate: -0.642080 m/s,
      LOS rate: -0.162294 deg/s,
      cmd heading: 32.587410 deg,
      new cmd heading: 32.395212 deg.

2025-10-26T21:33:31.860Z,1761514411.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.565403 target range: 53.265980 and range: 53.60 m.
2025-10-26T21:33:31.949Z,1761514411.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766507
2025-10-26T21:33:32.196Z,1761514412.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014714
2025-10-26T21:33:32.232Z,1761514412.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824156,-0.556783,-0.103727],[0.565139,0.820499,0.086018],[0.037215,-0.129512,0.990879]]
2025-10-26T21:33:32.284Z,1761514412.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.27 m.
2025-10-26T21:33:32.286Z,1761514412.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.265980 m,
      nav range: 50.434204 m,
      bearing: 26.308493 deg,
      approach rate: -0.611932 m/s,
      LOS rate: -0.150949 deg/s,
      cmd heading: 32.395212 deg,
      new cmd heading: 32.208706 deg.

2025-10-26T21:33:32.291Z,1761514412.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.562148 target range: 53.265980 and range: 53.60 m.
2025-10-26T21:33:32.449Z,1761514412.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267870
2025-10-26T21:33:32.644Z,1761514412.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822472,-0.558782,-0.106316],[0.567550,0.818606,0.088152],[0.037773,-0.132843,0.990417]]
2025-10-26T21:33:32.665Z,1761514412.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.27 m.
2025-10-26T21:33:32.668Z,1761514412.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.265980 m,
      nav range: 50.191433 m,
      bearing: 26.247466 deg,
      approach rate: -0.610965 m/s,
      LOS rate: -0.154325 deg/s,
      cmd heading: 32.208706 deg,
      new cmd heading: 32.024740 deg.

2025-10-26T21:33:32.669Z,1761514412.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.558937 target range: 53.265980 and range: 53.60 m.
2025-10-26T21:33:32.701Z,1761514412.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519776
2025-10-26T21:33:32.952Z,1761514412.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770673
2025-10-26T21:33:33.048Z,1761514413.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820879,-0.560732,-0.108339],[0.569807,0.816914,0.089284],[0.038439,-0.135023,0.990097]]
2025-10-26T21:33:33.094Z,1761514413.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.27 m.
2025-10-26T21:33:33.097Z,1761514413.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.265980 m,
      nav range: 49.928921 m,
      bearing: 26.189586 deg,
      approach rate: -0.611864 m/s,
      LOS rate: -0.135615 deg/s,
      cmd heading: 32.024739 deg,
      new cmd heading: 31.850188 deg.

2025-10-26T21:33:33.098Z,1761514413.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.555891 target range: 53.265980 and range: 53.60 m.
2025-10-26T21:33:33.205Z,1761514413.205 [DAT](INFO): DAT read: Rx Time:21:33:31.8662

2025-10-26T21:33:33.205Z,1761514413.205 [DAT](INFO): Rx dataTimestamp_ set to:1761514413.205052
2025-10-26T21:33:33.206Z,1761514413.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024612
2025-10-26T21:33:33.438Z,1761514413.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819574,-0.562219,-0.110490],[0.571631,0.815500,0.090543],[0.039200,-0.137366,0.989744]]
2025-10-26T21:33:33.457Z,1761514413.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274906
2025-10-26T21:33:33.489Z,1761514413.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.27 m.
2025-10-26T21:33:33.496Z,1761514413.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.265980 m,
      nav range: 49.687805 m,
      bearing: 26.135247 deg,
      approach rate: -0.610198 m/s,
      LOS rate: -0.138185 deg/s,
      cmd heading: 31.850186 deg,
      new cmd heading: 31.686378 deg.

2025-10-26T21:33:33.497Z,1761514413.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.553032 target range: 53.265980 and range: 53.60 m.
2025-10-26T21:33:33.716Z,1761514413.716 [DAT](INFO): DAT read: 21:33:31.8662 LVL= 32752, 32753, 29554, 32755, AGC= 69, IDX= 410,-0.27, 2.003, 0.562, 2.508, 1.981, PHS= 0.124,-1.374, 0.483, RAW= 160.5,   9.0, CAL= 160.3,   9.5, ROT= 349.7,  -9.5

2025-10-26T21:33:33.718Z,1761514413.718 [DAT](INFO): got valid direction response:
 21:33:31.8662 LVL= 32752, 32753, 29554, 32755, AGC= 69, IDX= 410,-0.27, 2.003, 0.562, 2.508, 1.981, PHS= 0.124,-1.374, 0.483, RAW= 160.5,   9.0, CAL= 160.3,   9.5, ROT= 349.7,  -9.5

2025-10-26T21:33:33.719Z,1761514413.719 [DAT](INFO): DAT read: Bearing 188.5,  -9.4 (Local)

2025-10-26T21:33:33.719Z,1761514413.719 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.5,  -9.4 (Local)

2025-10-26T21:33:33.721Z,1761514413.721 [DAT](INFO): DAT read: Range 11 to 50 : 51.3 m  (Round-trip  68.4 ms) speed  0.5 m/s

2025-10-26T21:33:33.722Z,1761514413.722 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:33:33.729Z,1761514413.729 [DAT](INFO): direction in FSK: [0.970392,-0.176350,0.165048]
2025-10-26T21:33:33.730Z,1761514413.730 [DAT](INFO): publishing direction and range info
2025-10-26T21:33:33.757Z,1761514413.757 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:33:33.757Z,1761514413.757 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:33:33.757Z,1761514413.757 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:33:33.867Z,1761514413.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818768,-0.562913,-0.112911],[0.572721,0.814559,0.092110],[0.040123,-0.140083,0.989326]]
2025-10-26T21:33:33.915Z,1761514413.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.299999 m,
      deltaT: 3.778051 s,
      deltaX: -2.299999 m,
      approachRate: -0.608779 m/s,
      rangeRepo size: 4

2025-10-26T21:33:33.921Z,1761514413.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 50.980606 m,
      bearing: 26.025142 deg,
      lat: 36.779396 deg,
      lon: -121.859463 deg,
      deltaT: 3.778051 s,
      deltaX: -2.285374 m,
      approachRate: -0.604908 m/s,
      posRepo size: 4

2025-10-26T21:33:33.922Z,1761514413.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.98 m.
2025-10-26T21:33:33.929Z,1761514413.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.980606 m,
      nav range: 49.505810 m,
      bearing: 26.106871 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.138185 deg/s,
      cmd heading: 31.686378 deg,
      new cmd heading: 31.513219 deg.

2025-10-26T21:33:33.930Z,1761514413.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.550009 target range: 50.980606 and range: 51.30 m.
2025-10-26T21:33:33.960Z,1761514413.960 [DAT](INFO): DAT read: user:328>

2025-10-26T21:33:33.961Z,1761514413.961 [DAT](INFO): DAT read: Tx time:21:33:33.1436

2025-10-26T21:33:33.961Z,1761514413.961 [DAT](INFO): Ping request sent.
2025-10-26T21:33:33.962Z,1761514413.962 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:33:33.962Z,1761514413.962 [DAT](INFO): publishing transmit ping time
2025-10-26T21:33:33.962Z,1761514413.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757
2025-10-26T21:33:34.212Z,1761514414.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250819
2025-10-26T21:33:34.254Z,1761514414.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818322,-0.562293,-0.119058],[0.573279,0.813369,0.098901],[0.041227,-0.149186,0.987949]]
2025-10-26T21:33:34.299Z,1761514414.299 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:34.301Z,1761514414.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.98 m.
2025-10-26T21:33:34.304Z,1761514414.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.980606 m,
      nav range: 49.260979 m,
      bearing: 26.070017 deg,
      approach rate: -0.621068 m/s,
      LOS rate: -0.093954 deg/s,
      cmd heading: 31.513219 deg,
      new cmd heading: 31.402107 deg.

2025-10-26T21:33:34.305Z,1761514414.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.548070 target range: 50.980606 and range: 51.30 m.
2025-10-26T21:33:34.466Z,1761514414.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503929
2025-10-26T21:33:34.717Z,1761514414.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755599
2025-10-26T21:33:34.740Z,1761514414.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818489,-0.560437,-0.126435],[0.572917,0.812631,0.106759],[0.042913,-0.159817,0.986213]]
2025-10-26T21:33:34.771Z,1761514414.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.98 m.
2025-10-26T21:33:34.774Z,1761514414.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.980606 m,
      nav range: 48.978970 m,
      bearing: 26.027357 deg,
      approach rate: -0.600036 m/s,
      LOS rate: -0.091292 deg/s,
      cmd heading: 31.402105 deg,
      new cmd heading: 31.273388 deg.

2025-10-26T21:33:34.775Z,1761514414.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.545824 target range: 50.980606 and range: 51.30 m.
2025-10-26T21:33:34.969Z,1761514414.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006927
2025-10-26T21:33:35.149Z,1761514415.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819065,-0.558549,-0.130978],[0.571976,0.812726,0.111000],[0.044450,-0.165832,0.985152]]
2025-10-26T21:33:35.186Z,1761514415.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.98 m.
2025-10-26T21:33:35.206Z,1761514415.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.980606 m,
      nav range: 48.726944 m,
      bearing: 26.011471 deg,
      approach rate: -0.607488 m/s,
      LOS rate: -0.038490 deg/s,
      cmd heading: 31.273387 deg,
      new cmd heading: 31.225482 deg.

2025-10-26T21:33:35.211Z,1761514415.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.544987 target range: 50.980606 and range: 51.30 m.
2025-10-26T21:33:35.220Z,1761514415.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258773
2025-10-26T21:33:35.472Z,1761514415.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510803
2025-10-26T21:33:35.655Z,1761514415.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820646,-0.554433,-0.138366],[0.569585,0.813123,0.120016],[0.045968,-0.177302,0.983082]]
2025-10-26T21:33:35.680Z,1761514415.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.98 m.
2025-10-26T21:33:35.683Z,1761514415.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.980606 m,
      nav range: 48.426445 m,
      bearing: 25.993294 deg,
      approach rate: -0.607456 m/s,
      LOS rate: -0.036971 deg/s,
      cmd heading: 31.225484 deg,
      new cmd heading: 31.170617 deg.

2025-10-26T21:33:35.684Z,1761514415.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.544030 target range: 50.980606 and range: 51.30 m.
2025-10-26T21:33:35.725Z,1761514415.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763201
2025-10-26T21:33:35.977Z,1761514415.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015174
2025-10-26T21:33:36.165Z,1761514416.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.98 m.
2025-10-26T21:33:36.172Z,1761514416.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.980606 m,
      nav range: 48.148827 m,
      bearing: 25.994766 deg,
      approach rate: -0.573435 m/s,
      LOS rate: 0.003057 deg/s,
      cmd heading: 31.170617 deg,
      new cmd heading: 31.175057 deg.

2025-10-26T21:33:36.173Z,1761514416.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.544107 target range: 50.980606 and range: 51.30 m.
2025-10-26T21:33:36.229Z,1761514416.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267675
2025-10-26T21:33:36.481Z,1761514416.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518922
2025-10-26T21:33:36.489Z,1761514416.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822797,-0.550638,-0.140727],[0.566528,0.814373,0.125864],[0.045299,-0.183287,0.982015]]
2025-10-26T21:33:36.517Z,1761514416.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:36.519Z,1761514416.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.98 m.
2025-10-26T21:33:36.522Z,1761514416.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.980606 m,
      nav range: 47.924362 m,
      bearing: 25.996918 deg,
      approach rate: -0.632911 m/s,
      LOS rate: 0.006095 deg/s,
      cmd heading: 31.175056 deg,
      new cmd heading: 31.181541 deg.

2025-10-26T21:33:36.523Z,1761514416.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.544221 target range: 50.980606 and range: 51.30 m.
2025-10-26T21:33:36.733Z,1761514416.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771362
2025-10-26T21:33:36.890Z,1761514416.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823879,-0.548991,-0.140825],[0.564996,0.815168,0.127593],[0.044749,-0.184687,0.981778]]
2025-10-26T21:33:36.909Z,1761514416.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.98 m.
2025-10-26T21:33:36.912Z,1761514416.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.980606 m,
      nav range: 47.690609 m,
      bearing: 25.999692 deg,
      approach rate: -0.599475 m/s,
      LOS rate: 0.007150 deg/s,
      cmd heading: 31.181542 deg,
      new cmd heading: 31.189906 deg.

2025-10-26T21:33:36.913Z,1761514416.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.544367 target range: 50.980606 and range: 51.30 m.
2025-10-26T21:33:36.985Z,1761514416.985 [DAT](INFO): DAT read: Rx Time:21:33:35.6131

2025-10-26T21:33:36.986Z,1761514416.986 [DAT](INFO): Rx dataTimestamp_ set to:1761514416.985662
2025-10-26T21:33:36.987Z,1761514416.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025262
2025-10-26T21:33:37.236Z,1761514417.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274750
2025-10-26T21:33:37.294Z,1761514417.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825332,-0.546929,-0.140340],[0.562908,0.816467,0.128517],[0.044293,-0.185068,0.981727]]
2025-10-26T21:33:37.338Z,1761514417.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.98 m.
2025-10-26T21:33:37.341Z,1761514417.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.980606 m,
      nav range: 47.437588 m,
      bearing: 26.012769 deg,
      approach rate: -0.589716 m/s,
      LOS rate: 0.030641 deg/s,
      cmd heading: 31.189905 deg,
      new cmd heading: 31.229345 deg.

2025-10-26T21:33:37.342Z,1761514417.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.545055 target range: 50.980606 and range: 51.30 m.
2025-10-26T21:33:37.494Z,1761514417.494 [DAT](INFO): DAT read: 21:33:35.6131 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 410, 0.41, 1.241,-0.212, 1.774, 1.208, PHS= 0.136,-1.375, 0.523, RAW= 161.1,   8.3, CAL= 160.8,   8.6, ROT= 349.2,  -8.6

2025-10-26T21:33:37.495Z,1761514417.495 [DAT](INFO): got valid direction response:
 21:33:35.6131 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 410, 0.41, 1.241,-0.212, 1.774, 1.208, PHS= 0.136,-1.375, 0.523, RAW= 161.1,   8.3, CAL= 160.8,   8.6, ROT= 349.2,  -8.6

2025-10-26T21:33:37.496Z,1761514417.496 [DAT](INFO): DAT read: Bearing 186.9,  -9.7 (Local)

2025-10-26T21:33:37.496Z,1761514417.496 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.9,  -9.7 (Local)

2025-10-26T21:33:37.498Z,1761514417.498 [DAT](INFO): DAT read: Range 11 to 50 : 49.0 m  (Round-trip  65.4 ms) speed  0.5 m/s

2025-10-26T21:33:37.498Z,1761514417.498 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:33:37.499Z,1761514417.499 [DAT](INFO): direction in FSK: [0.971243,-0.185274,0.149535]
2025-10-26T21:33:37.500Z,1761514417.500 [DAT](INFO): publishing direction and range info
2025-10-26T21:33:37.503Z,1761514417.503 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:33:37.503Z,1761514417.503 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:33:37.512Z,1761514417.512 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:33:37.701Z,1761514417.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826553,-0.545458,-0.138873],[0.561176,0.817670,0.128441],[0.043493,-0.184096,0.981946]]
2025-10-26T21:33:37.740Z,1761514417.740 [DAT](INFO): DAT read: user:329>

2025-10-26T21:33:37.741Z,1761514417.741 [DAT](INFO): DAT read: Tx time:21:33:36.8936

2025-10-26T21:33:37.741Z,1761514417.741 [DAT](INFO): Ping request sent.
2025-10-26T21:33:37.742Z,1761514417.742 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:33:37.742Z,1761514417.742 [DAT](INFO): publishing transmit ping time
2025-10-26T21:33:37.742Z,1761514417.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-10-26T21:33:37.745Z,1761514417.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.000000 m,
      deltaT: 3.779906 s,
      deltaX: -2.299999 m,
      approachRate: -0.608481 m/s,
      rangeRepo size: 4

2025-10-26T21:33:37.764Z,1761514417.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.695126 m,
      bearing: 25.051474 deg,
      lat: 36.779397 deg,
      lon: -121.859463 deg,
      deltaT: 3.779906 s,
      deltaX: -2.285480 m,
      approachRate: -0.604640 m/s,
      posRepo size: 4

2025-10-26T21:33:37.764Z,1761514417.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.70 m.
2025-10-26T21:33:37.767Z,1761514417.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.695126 m,
      nav range: 47.317150 m,
      bearing: 25.958725 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.030641 deg/s,
      cmd heading: 31.229346 deg,
      new cmd heading: 31.266720 deg.

2025-10-26T21:33:37.772Z,1761514417.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.545707 target range: 48.695126 and range: 49.00 m.
2025-10-26T21:33:37.992Z,1761514417.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250810
2025-10-26T21:33:38.108Z,1761514418.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827528,-0.544269,-0.137722],[0.559779,0.818656,0.128256],[0.042942,-0.183229,0.982132]]
2025-10-26T21:33:38.169Z,1761514418.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.70 m.
2025-10-26T21:33:38.188Z,1761514418.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.695126 m,
      nav range: 47.061760 m,
      bearing: 25.973780 deg,
      approach rate: -0.601372 m/s,
      LOS rate: 0.035644 deg/s,
      cmd heading: 31.266721 deg,
      new cmd heading: 31.312133 deg.

2025-10-26T21:33:38.189Z,1761514418.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.546500 target range: 48.695126 and range: 49.00 m.
2025-10-26T21:33:38.245Z,1761514418.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503515
2025-10-26T21:33:38.496Z,1761514418.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754837
2025-10-26T21:33:38.512Z,1761514418.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828835,-0.542858,-0.135417],[0.557913,0.820098,0.127173],[0.042018,-0.180956,0.982593]]
2025-10-26T21:33:38.541Z,1761514418.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:38.543Z,1761514418.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.70 m.
2025-10-26T21:33:38.546Z,1761514418.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.695126 m,
      nav range: 46.843590 m,
      bearing: 25.987427 deg,
      approach rate: -0.583942 m/s,
      LOS rate: 0.036697 deg/s,
      cmd heading: 31.312135 deg,
      new cmd heading: 31.353267 deg.

2025-10-26T21:33:38.547Z,1761514418.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.547218 target range: 48.695126 and range: 49.00 m.
2025-10-26T21:33:38.748Z,1761514418.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006857
2025-10-26T21:33:38.906Z,1761514418.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830473,-0.541091,-0.132418],[0.555549,0.821971,0.125414],[0.040983,-0.177718,0.983228]]
2025-10-26T21:33:38.924Z,1761514418.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.70 m.
2025-10-26T21:33:38.927Z,1761514418.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.695126 m,
      nav range: 46.620033 m,
      bearing: 26.002405 deg,
      approach rate: -0.586581 m/s,
      LOS rate: 0.039486 deg/s,
      cmd heading: 31.353266 deg,
      new cmd heading: 31.398413 deg.

2025-10-26T21:33:38.928Z,1761514418.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.548006 target range: 48.695126 and range: 49.00 m.
2025-10-26T21:33:39.001Z,1761514419.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259691
2025-10-26T21:33:39.253Z,1761514419.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511024
2025-10-26T21:33:39.311Z,1761514419.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832300,-0.539009,-0.129406],[0.552864,0.824112,0.123209],[0.040235,-0.174091,0.983907]]
2025-10-26T21:33:39.356Z,1761514419.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.70 m.
2025-10-26T21:33:39.359Z,1761514419.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.695126 m,
      nav range: 46.366322 m,
      bearing: 26.012167 deg,
      approach rate: -0.588408 m/s,
      LOS rate: 0.022764 deg/s,
      cmd heading: 31.398414 deg,
      new cmd heading: 31.427860 deg.

2025-10-26T21:33:39.360Z,1761514419.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.548520 target range: 48.695126 and range: 49.00 m.
2025-10-26T21:33:39.505Z,1761514419.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763413
2025-10-26T21:33:39.721Z,1761514419.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833891,-0.536978,-0.127595],[0.550506,0.825801,0.122455],[0.039612,-0.172356,0.984238]]
2025-10-26T21:33:39.754Z,1761514419.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.70 m.
2025-10-26T21:33:39.756Z,1761514419.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014898
2025-10-26T21:33:39.759Z,1761514419.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.695126 m,
      nav range: 46.137497 m,
      bearing: 26.021910 deg,
      approach rate: -0.573273 m/s,
      LOS rate: 0.024530 deg/s,
      cmd heading: 31.427859 deg,
      new cmd heading: 31.457233 deg.

2025-10-26T21:33:39.761Z,1761514419.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.549032 target range: 48.695126 and range: 49.00 m.
2025-10-26T21:33:40.011Z,1761514420.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268925
2025-10-26T21:33:40.142Z,1761514420.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835883,-0.533827,-0.127780],[0.547535,0.827337,0.125374],[0.038789,-0.174762,0.983846]]
2025-10-26T21:33:40.192Z,1761514420.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.70 m.
2025-10-26T21:33:40.194Z,1761514420.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.695126 m,
      nav range: 45.868572 m,
      bearing: 26.022453 deg,
      approach rate: -0.615374 m/s,
      LOS rate: 0.001250 deg/s,
      cmd heading: 31.457232 deg,
      new cmd heading: 31.458871 deg.

2025-10-26T21:33:40.196Z,1761514420.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.549061 target range: 48.695126 and range: 49.00 m.
2025-10-26T21:33:40.263Z,1761514420.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521125
2025-10-26T21:33:40.516Z,1761514420.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774850
2025-10-26T21:33:40.561Z,1761514420.561 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:40.563Z,1761514420.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.70 m.
2025-10-26T21:33:40.566Z,1761514420.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.695126 m,
      nav range: 45.646019 m,
      bearing: 26.022907 deg,
      approach rate: -0.599268 m/s,
      LOS rate: 0.001229 deg/s,
      cmd heading: 31.458871 deg,
      new cmd heading: 31.460241 deg.

2025-10-26T21:33:40.567Z,1761514420.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.549085 target range: 48.695126 and range: 49.00 m.
2025-10-26T21:33:40.768Z,1761514420.768 [DAT](INFO): DAT read: Rx Time:21:33:39.3600

2025-10-26T21:33:40.769Z,1761514420.769 [DAT](INFO): Rx dataTimestamp_ set to:1761514420.768568
2025-10-26T21:33:40.769Z,1761514420.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027829
2025-10-26T21:33:40.926Z,1761514420.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840234,-0.526956,-0.127763],[0.540984,0.830633,0.131853],[0.036643,-0.179905,0.983001]]
2025-10-26T21:33:40.958Z,1761514420.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.70 m.
2025-10-26T21:33:40.961Z,1761514420.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.695126 m,
      nav range: 45.408920 m,
      bearing: 26.025640 deg,
      approach rate: -0.600493 m/s,
      LOS rate: 0.006956 deg/s,
      cmd heading: 31.460241 deg,
      new cmd heading: 31.468480 deg.

2025-10-26T21:33:40.962Z,1761514420.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.549229 target range: 48.695126 and range: 49.00 m.
2025-10-26T21:33:41.021Z,1761514421.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279590
2025-10-26T21:33:41.279Z,1761514421.279 [DAT](INFO): DAT read: 21:33:39.3600 LVL= 32752, 32753, 32434, 32755, AGC= 66, IDX= 411,-0.27, 0.976,-0.492, 1.485, 0.942, PHS= 0.136,-1.389, 0.499, RAW= 160.4,   8.7, CAL= 160.2,   9.1, ROT= 349.8,  -9.1

2025-10-26T21:33:41.280Z,1761514421.280 [DAT](INFO): got valid direction response:
 21:33:39.3600 LVL= 32752, 32753, 32434, 32755, AGC= 66, IDX= 411,-0.27, 0.976,-0.492, 1.485, 0.942, PHS= 0.136,-1.389, 0.499, RAW= 160.4,   8.7, CAL= 160.2,   9.1, ROT= 349.8,  -9.1

2025-10-26T21:33:41.281Z,1761514421.281 [DAT](INFO): DAT read: Bearing 186.0,  -9.3 (Local)

2025-10-26T21:33:41.282Z,1761514421.282 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.0,  -9.3 (Local)

2025-10-26T21:33:41.283Z,1761514421.283 [DAT](INFO): DAT read: Range 11 to 50 : 46.7 m  (Round-trip  62.3 ms) speed  0.5 m/s

2025-10-26T21:33:41.284Z,1761514421.284 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:33:41.285Z,1761514421.285 [DAT](INFO): direction in FSK: [0.971808,-0.174856,0.158158]
2025-10-26T21:33:41.285Z,1761514421.285 [DAT](INFO): publishing direction and range info
2025-10-26T21:33:41.288Z,1761514421.288 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:33:41.288Z,1761514421.288 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:33:41.289Z,1761514421.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:33:41.354Z,1761514421.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842135,-0.524095,-0.127018],[0.538108,0.832114,0.134258],[0.035330,-0.181413,0.982772]]
2025-10-26T21:33:41.457Z,1761514421.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.700001 m,
      deltaT: 3.783888 s,
      deltaX: -2.299999 m,
      approachRate: -0.607840 m/s,
      rangeRepo size: 4

2025-10-26T21:33:41.459Z,1761514421.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.409344 m,
      bearing: 24.131092 deg,
      lat: 36.779397 deg,
      lon: -121.859463 deg,
      deltaT: 3.783888 s,
      deltaX: -2.285782 m,
      approachRate: -0.604083 m/s,
      posRepo size: 4

2025-10-26T21:33:41.467Z,1761514421.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.41 m.
2025-10-26T21:33:41.470Z,1761514421.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.409344 m,
      nav range: 45.156601 m,
      bearing: 25.991943 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006956 deg/s,
      cmd heading: 31.468481 deg,
      new cmd heading: 31.478858 deg.

2025-10-26T21:33:41.471Z,1761514421.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.549410 target range: 46.409344 and range: 46.70 m.
2025-10-26T21:33:41.525Z,1761514421.525 [DAT](INFO): DAT read: user:330>

2025-10-26T21:33:41.526Z,1761514421.526 [DAT](INFO): DAT read: Tx time:21:33:40.6436

2025-10-26T21:33:41.526Z,1761514421.526 [DAT](INFO): Ping request sent.
2025-10-26T21:33:41.527Z,1761514421.527 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:33:41.527Z,1761514421.527 [DAT](INFO): publishing transmit ping time
2025-10-26T21:33:41.528Z,1761514421.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001148
2025-10-26T21:33:41.776Z,1761514421.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249872
2025-10-26T21:33:41.786Z,1761514421.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843550,-0.522050,-0.126041],[0.535971,0.833212,0.135990],[0.034025,-0.182269,0.982660]]
2025-10-26T21:33:41.804Z,1761514421.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.41 m.
2025-10-26T21:33:41.807Z,1761514421.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.409344 m,
      nav range: 44.936371 m,
      bearing: 25.981579 deg,
      approach rate: -0.630634 m/s,
      LOS rate: -0.029824 deg/s,
      cmd heading: 31.478860 deg,
      new cmd heading: 31.447614 deg.

2025-10-26T21:33:41.809Z,1761514421.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.548864 target range: 46.409344 and range: 46.70 m.
2025-10-26T21:33:42.029Z,1761514422.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502311
2025-10-26T21:33:42.178Z,1761514422.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844654,-0.520623,-0.124544],[0.534331,0.834055,0.137269],[0.032412,-0.182492,0.982673]]
2025-10-26T21:33:42.222Z,1761514422.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.41 m.
2025-10-26T21:33:42.225Z,1761514422.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.409344 m,
      nav range: 44.687122 m,
      bearing: 25.948987 deg,
      approach rate: -0.597098 m/s,
      LOS rate: -0.078513 deg/s,
      cmd heading: 31.447615 deg,
      new cmd heading: 31.349294 deg.

2025-10-26T21:33:42.226Z,1761514422.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.547148 target range: 46.409344 and range: 46.70 m.
2025-10-26T21:33:42.281Z,1761514422.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754500
2025-10-26T21:33:42.532Z,1761514422.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005849
2025-10-26T21:33:42.588Z,1761514422.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845608,-0.519541,-0.122577],[0.532955,0.834653,0.138973],[0.030107,-0.182845,0.982681]]
2025-10-26T21:33:42.618Z,1761514422.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:42.622Z,1761514422.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.41 m.
2025-10-26T21:33:42.658Z,1761514422.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.409344 m,
      nav range: 44.452324 m,
      bearing: 25.918456 deg,
      approach rate: -0.587532 m/s,
      LOS rate: -0.076800 deg/s,
      cmd heading: 31.349294 deg,
      new cmd heading: 31.257219 deg.

2025-10-26T21:33:42.660Z,1761514422.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.545541 target range: 46.409344 and range: 46.70 m.
2025-10-26T21:33:42.784Z,1761514422.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257719
2025-10-26T21:33:42.998Z,1761514422.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846336,-0.518692,-0.121134],[0.531950,0.834721,0.142370],[0.027267,-0.184931,0.982373]]
2025-10-26T21:33:43.016Z,1761514423.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.41 m.
2025-10-26T21:33:43.019Z,1761514423.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.409344 m,
      nav range: 44.211658 m,
      bearing: 25.887191 deg,
      approach rate: -0.610163 m/s,
      LOS rate: -0.079697 deg/s,
      cmd heading: 31.257220 deg,
      new cmd heading: 31.162916 deg.

2025-10-26T21:33:43.020Z,1761514423.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543895 target range: 46.409344 and range: 46.70 m.
2025-10-26T21:33:43.039Z,1761514423.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511931
2025-10-26T21:33:43.288Z,1761514423.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761756
2025-10-26T21:33:43.394Z,1761514423.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847024,-0.518106,-0.118810],[0.530990,0.835012,0.144237],[0.024478,-0.185259,0.982385]]
2025-10-26T21:33:43.445Z,1761514423.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.41 m.
2025-10-26T21:33:43.448Z,1761514423.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.409344 m,
      nav range: 43.949818 m,
      bearing: 25.847536 deg,
      approach rate: -0.610046 m/s,
      LOS rate: -0.092940 deg/s,
      cmd heading: 31.162916 deg,
      new cmd heading: 31.043242 deg.

2025-10-26T21:33:43.449Z,1761514423.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.541807 target range: 46.409344 and range: 46.70 m.
2025-10-26T21:33:43.540Z,1761514423.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013785
2025-10-26T21:33:43.792Z,1761514423.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265584
2025-10-26T21:33:43.797Z,1761514423.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847066,-0.518931,-0.114845],[0.531058,0.835068,0.143661],[0.021353,-0.182680,0.982940]]
2025-10-26T21:33:43.816Z,1761514423.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.41 m.
2025-10-26T21:33:43.818Z,1761514423.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.409344 m,
      nav range: 43.723484 m,
      bearing: 25.812874 deg,
      approach rate: -0.610740 m/s,
      LOS rate: -0.094018 deg/s,
      cmd heading: 31.043241 deg,
      new cmd heading: 30.938714 deg.

2025-10-26T21:33:43.820Z,1761514423.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.539982 target range: 46.409344 and range: 46.70 m.
2025-10-26T21:33:44.044Z,1761514424.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517794
2025-10-26T21:33:44.200Z,1761514424.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846861,-0.520087,-0.111071],[0.531521,0.834666,0.144284],[0.017667,-0.181225,0.983283]]
2025-10-26T21:33:44.244Z,1761514424.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.41 m.
2025-10-26T21:33:44.247Z,1761514424.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.409344 m,
      nav range: 43.463371 m,
      bearing: 25.757618 deg,
      approach rate: -0.606444 m/s,
      LOS rate: -0.129599 deg/s,
      cmd heading: 30.938715 deg,
      new cmd heading: 30.771955 deg.

2025-10-26T21:33:44.248Z,1761514424.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.537072 target range: 46.409344 and range: 46.70 m.
2025-10-26T21:33:44.297Z,1761514424.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769937
2025-10-26T21:33:44.549Z,1761514424.549 [DAT](INFO): DAT read: Rx Time:21:33:43.1072

2025-10-26T21:33:44.549Z,1761514424.549 [DAT](INFO): Rx dataTimestamp_ set to:1761514424.548776
2025-10-26T21:33:44.550Z,1761514424.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022978
2025-10-26T21:33:44.671Z,1761514424.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846509,-0.521517,-0.106966],[0.532182,0.834342,0.143723],[0.014292,-0.178588,0.983820]]
2025-10-26T21:33:44.688Z,1761514424.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:44.690Z,1761514424.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.41 m.
2025-10-26T21:33:44.710Z,1761514424.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.409344 m,
      nav range: 43.193386 m,
      bearing: 25.699279 deg,
      approach rate: -0.605761 m/s,
      LOS rate: -0.131712 deg/s,
      cmd heading: 30.771956 deg,
      new cmd heading: 30.595845 deg.

2025-10-26T21:33:44.716Z,1761514424.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.533998 target range: 46.409344 and range: 46.70 m.
2025-10-26T21:33:44.801Z,1761514424.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274472
2025-10-26T21:33:45.058Z,1761514425.058 [DAT](INFO): DAT read: 21:33:43.1072 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413,-0.01,-1.197,-2.631,-0.780,-1.178, PHS= 0.083,-1.408, 0.354, RAW= 158.2,  11.8, CAL= 158.4,  13.2, ROT= 351.6, -13.2

2025-10-26T21:33:45.059Z,1761514425.059 [DAT](INFO): got valid direction response:
 21:33:43.1072 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413,-0.01,-1.197,-2.631,-0.780,-1.178, PHS= 0.083,-1.408, 0.354, RAW= 158.2,  11.8, CAL= 158.4,  13.2, ROT= 351.6, -13.2

2025-10-26T21:33:45.064Z,1761514425.064 [DAT](INFO): DAT read: Bearing 189.3,  -9.5 (Local)

2025-10-26T21:33:45.064Z,1761514425.064 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.3,  -9.5 (Local)

2025-10-26T21:33:45.065Z,1761514425.065 [DAT](INFO): DAT read: Range 11 to 50 : 44.5 m  (Round-trip  59.4 ms) speed  0.8 m/s

2025-10-26T21:33:45.066Z,1761514425.066 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:33:45.067Z,1761514425.067 [DAT](INFO): direction in FSK: [0.963135,-0.142223,0.228351]
2025-10-26T21:33:45.072Z,1761514425.072 [DAT](INFO): publishing direction and range info
2025-10-26T21:33:45.080Z,1761514425.080 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:33:45.080Z,1761514425.080 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:33:45.080Z,1761514425.080 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:33:45.125Z,1761514425.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845648,-0.523869,-0.102176],[0.533613,0.833993,0.140400],[0.011663,-0.173251,0.984809]]
2025-10-26T21:33:45.246Z,1761514425.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 44.500000 m,
      deltaT: 3.780045 s,
      deltaX: -2.200001 m,
      approachRate: -0.582004 m/s,
      rangeRepo size: 4

2025-10-26T21:33:45.252Z,1761514425.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 44.223110 m,
      bearing: 26.276515 deg,
      lat: 36.779397 deg,
      lon: -121.859463 deg,
      deltaT: 3.780045 s,
      deltaX: -2.186234 m,
      approachRate: -0.578362 m/s,
      posRepo size: 4

2025-10-26T21:33:45.253Z,1761514425.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.22 m.
2025-10-26T21:33:45.259Z,1761514425.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.223110 m,
      nav range: 42.874859 m,
      bearing: 25.628766 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.131712 deg/s,
      cmd heading: 30.595846 deg,
      new cmd heading: 30.376588 deg.

2025-10-26T21:33:45.260Z,1761514425.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.530171 target range: 44.223110 and range: 44.50 m.
2025-10-26T21:33:45.304Z,1761514425.304 [DAT](INFO): DAT read: user:331>

2025-10-26T21:33:45.305Z,1761514425.305 [DAT](INFO): DAT read: Tx time:21:33:44.4436

2025-10-26T21:33:45.305Z,1761514425.305 [DAT](INFO): Ping request sent.
2025-10-26T21:33:45.305Z,1761514425.305 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:33:45.306Z,1761514425.306 [DAT](INFO): publishing transmit ping time
2025-10-26T21:33:45.306Z,1761514425.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-10-26T21:33:45.557Z,1761514425.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251343
2025-10-26T21:33:45.677Z,1761514425.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842751,-0.530057,-0.093869],[0.538266,0.831847,0.135276],[0.006381,-0.164530,0.986351]]
2025-10-26T21:33:45.753Z,1761514425.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.22 m.
2025-10-26T21:33:45.756Z,1761514425.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.223110 m,
      nav range: 42.551109 m,
      bearing: 25.551226 deg,
      approach rate: -0.637113 m/s,
      LOS rate: -0.153753 deg/s,
      cmd heading: 30.376587 deg,
      new cmd heading: 30.142199 deg.

2025-10-26T21:33:45.757Z,1761514425.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526081 target range: 44.223110 and range: 44.50 m.
2025-10-26T21:33:45.809Z,1761514425.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503531
2025-10-26T21:33:46.060Z,1761514426.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754826
2025-10-26T21:33:46.079Z,1761514426.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841207,-0.532943,-0.091330],[0.540698,0.830324,0.134938],[0.003919,-0.162893,0.986636]]
2025-10-26T21:33:46.098Z,1761514426.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.22 m.
2025-10-26T21:33:46.140Z,1761514426.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.223110 m,
      nav range: 42.344440 m,
      bearing: 25.500267 deg,
      approach rate: -0.600874 m/s,
      LOS rate: -0.148884 deg/s,
      cmd heading: 30.142199 deg,
      new cmd heading: 29.988575 deg.

2025-10-26T21:33:46.141Z,1761514426.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.523399 target range: 44.223110 and range: 44.50 m.
2025-10-26T21:33:46.312Z,1761514426.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006919
2025-10-26T21:33:46.519Z,1761514426.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840210,-0.535007,-0.088395],[0.542259,0.829330,0.134783],[0.001199,-0.161179,0.986924]]
2025-10-26T21:33:46.564Z,1761514426.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258730
2025-10-26T21:33:46.678Z,1761514426.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.22 m.
2025-10-26T21:33:46.681Z,1761514426.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.223110 m,
      nav range: 42.003819 m,
      bearing: 25.427053 deg,
      approach rate: -0.585980 m/s,
      LOS rate: -0.126973 deg/s,
      cmd heading: 29.988574 deg,
      new cmd heading: 29.767152 deg.

2025-10-26T21:33:46.682Z,1761514426.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.519535 target range: 44.223110 and range: 44.50 m.
2025-10-26T21:33:46.817Z,1761514426.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511907
2025-10-26T21:33:46.922Z,1761514426.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839777,-0.536285,-0.084696],[0.542929,0.829016,0.134017],[-0.001657,-0.158528,0.987353]]
2025-10-26T21:33:46.950Z,1761514426.950 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:46.952Z,1761514426.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.22 m.
2025-10-26T21:33:46.955Z,1761514426.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.223110 m,
      nav range: 41.829895 m,
      bearing: 25.389004 deg,
      approach rate: -0.634690 m/s,
      LOS rate: -0.139426 deg/s,
      cmd heading: 29.767153 deg,
      new cmd heading: 29.652532 deg.

2025-10-26T21:33:46.956Z,1761514426.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.517534 target range: 44.223110 and range: 44.50 m.
2025-10-26T21:33:47.068Z,1761514427.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762951
2025-10-26T21:33:47.320Z,1761514427.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014683
2025-10-26T21:33:47.324Z,1761514427.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839198,-0.537616,-0.081949],[0.543814,0.828593,0.133042],[-0.003623,-0.156213,0.987717]]
2025-10-26T21:33:47.387Z,1761514427.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.22 m.
2025-10-26T21:33:47.389Z,1761514427.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.223110 m,
      nav range: 41.550674 m,
      bearing: 25.338908 deg,
      approach rate: -0.643065 m/s,
      LOS rate: -0.116150 deg/s,
      cmd heading: 29.652532 deg,
      new cmd heading: 29.501234 deg.

2025-10-26T21:33:47.390Z,1761514427.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.514894 target range: 44.223110 and range: 44.50 m.
2025-10-26T21:33:47.572Z,1761514427.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266776
2025-10-26T21:33:47.734Z,1761514427.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839485,-0.537605,-0.079026],[0.543359,0.829180,0.131233],[-0.005025,-0.153107,0.988197]]
2025-10-26T21:33:47.807Z,1761514427.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.22 m.
2025-10-26T21:33:47.809Z,1761514427.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.223110 m,
      nav range: 41.302372 m,
      bearing: 25.293957 deg,
      approach rate: -0.591278 m/s,
      LOS rate: -0.107685 deg/s,
      cmd heading: 29.501233 deg,
      new cmd heading: 29.365569 deg.

2025-10-26T21:33:47.810Z,1761514427.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.512526 target range: 44.223110 and range: 44.50 m.
2025-10-26T21:33:47.824Z,1761514427.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518929
2025-10-26T21:33:48.076Z,1761514428.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770749
2025-10-26T21:33:48.134Z,1761514428.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840389,-0.536355,-0.077908],[0.541939,0.829755,0.133447],[-0.006930,-0.154369,0.987989]]
2025-10-26T21:33:48.223Z,1761514428.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.22 m.
2025-10-26T21:33:48.234Z,1761514428.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.223110 m,
      nav range: 41.054623 m,
      bearing: 25.249158 deg,
      approach rate: -0.596932 m/s,
      LOS rate: -0.108590 deg/s,
      cmd heading: 29.365568 deg,
      new cmd heading: 29.230362 deg.

2025-10-26T21:33:48.238Z,1761514428.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.510166 target range: 44.223110 and range: 44.50 m.
2025-10-26T21:33:48.329Z,1761514428.329 [DAT](INFO): DAT read: Rx Time:21:33:46.9040

2025-10-26T21:33:48.330Z,1761514428.330 [DAT](INFO): Rx dataTimestamp_ set to:1761514428.329519
2025-10-26T21:33:48.331Z,1761514428.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025143
2025-10-26T21:33:48.580Z,1761514428.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274838
2025-10-26T21:33:48.581Z,1761514428.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841586,-0.534376,-0.078582],[0.540047,0.830078,0.138992],[-0.009045,-0.159412,0.987171]]
2025-10-26T21:33:48.648Z,1761514428.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.22 m.
2025-10-26T21:33:48.655Z,1761514428.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.223110 m,
      nav range: 40.768143 m,
      bearing: 25.222789 deg,
      approach rate: -0.672862 m/s,
      LOS rate: -0.062369 deg/s,
      cmd heading: 29.230361 deg,
      new cmd heading: 29.150698 deg.

2025-10-26T21:33:48.658Z,1761514428.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.508776 target range: 44.223110 and range: 44.50 m.
2025-10-26T21:33:48.838Z,1761514428.838 [DAT](INFO): DAT read: 21:33:46.9040 LVL= 31984, 32753, 29426, 32755, AGC= 69, IDX= 414,-0.35,-1.194,-2.620,-0.697,-1.186, PHS= 0.094,-1.389, 0.444, RAW= 160.4,  10.1, CAL= 160.3,  11.0, ROT= 349.7, -11.0

2025-10-26T21:33:48.839Z,1761514428.839 [DAT](INFO): got valid direction response:
 21:33:46.9040 LVL= 31984, 32753, 29426, 32755, AGC= 69, IDX= 414,-0.35,-1.194,-2.620,-0.697,-1.186, PHS= 0.094,-1.389, 0.444, RAW= 160.4,  10.1, CAL= 160.3,  11.0, ROT= 349.7, -11.0

2025-10-26T21:33:48.840Z,1761514428.840 [DAT](INFO): DAT read: Bearing 187.7, -12.1 (Local)

2025-10-26T21:33:48.840Z,1761514428.840 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.7, -12.1 (Local)

2025-10-26T21:33:48.841Z,1761514428.841 [DAT](INFO): DAT read: Range 11 to 50 : 42.2 m  (Round-trip  56.3 ms) speed  0.5 m/s

2025-10-26T21:33:48.842Z,1761514428.842 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:33:48.843Z,1761514428.843 [DAT](INFO): direction in FSK: [0.965808,-0.175517,0.190809]
2025-10-26T21:33:48.843Z,1761514428.843 [DAT](INFO): publishing direction and range info
2025-10-26T21:33:48.847Z,1761514428.847 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:33:48.847Z,1761514428.847 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:33:48.847Z,1761514428.847 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:33:49.011Z,1761514429.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843599,-0.531045,-0.079571],[0.536845,0.830844,0.146614],[-0.011748,-0.166400,0.985988]]
2025-10-26T21:33:49.044Z,1761514429.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 42.200001 m,
      deltaT: 3.779983 s,
      deltaX: -2.299999 m,
      approachRate: -0.608468 m/s,
      rangeRepo size: 4

2025-10-26T21:33:49.046Z,1761514429.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 41.937378 m,
      bearing: 24.168274 deg,
      lat: 36.779401 deg,
      lon: -121.859469 deg,
      deltaT: 3.779983 s,
      deltaX: -2.285732 m,
      approachRate: -0.604694 m/s,
      posRepo size: 4

2025-10-26T21:33:49.046Z,1761514429.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.94 m.
2025-10-26T21:33:49.049Z,1761514429.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.937378 m,
      nav range: 40.722504 m,
      bearing: 24.367483 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.062369 deg/s,
      cmd heading: 29.150698 deg,
      new cmd heading: 29.076713 deg.

2025-10-26T21:33:49.050Z,1761514429.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.507484 target range: 41.937378 and range: 42.20 m.
2025-10-26T21:33:49.085Z,1761514429.085 [DAT](INFO): DAT read: user:332>

2025-10-26T21:33:49.086Z,1761514429.086 [DAT](INFO): DAT read: Tx time:21:33:48.2435

2025-10-26T21:33:49.086Z,1761514429.086 [DAT](INFO): Ping request sent.
2025-10-26T21:33:49.086Z,1761514429.086 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:33:49.086Z,1761514429.086 [DAT](INFO): publishing transmit ping time
2025-10-26T21:33:49.087Z,1761514429.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000913
2025-10-26T21:33:49.336Z,1761514429.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250270
2025-10-26T21:33:49.472Z,1761514429.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:49.474Z,1761514429.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.94 m.
2025-10-26T21:33:49.478Z,1761514429.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.937378 m,
      nav range: 40.443012 m,
      bearing: 24.362073 deg,
      approach rate: -0.647377 m/s,
      LOS rate: -0.012618 deg/s,
      cmd heading: 29.076713 deg,
      new cmd heading: 29.060370 deg.

2025-10-26T21:33:49.478Z,1761514429.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.507199 target range: 41.937378 and range: 42.20 m.
2025-10-26T21:33:49.589Z,1761514429.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502552
2025-10-26T21:33:49.818Z,1761514429.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849205,-0.521855,-0.080739],[0.527767,0.833628,0.162868],[-0.017688,-0.180920,0.983339]]
2025-10-26T21:33:49.841Z,1761514429.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754503
2025-10-26T21:33:49.846Z,1761514429.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.94 m.
2025-10-26T21:33:49.849Z,1761514429.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.937378 m,
      nav range: 40.206921 m,
      bearing: 24.360986 deg,
      approach rate: -0.634984 m/s,
      LOS rate: -0.002939 deg/s,
      cmd heading: 29.060372 deg,
      new cmd heading: 29.057094 deg.

2025-10-26T21:33:49.850Z,1761514429.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.507142 target range: 41.937378 and range: 42.20 m.
2025-10-26T21:33:50.094Z,1761514430.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007730
2025-10-26T21:33:50.251Z,1761514430.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851666,-0.518012,-0.079550],[0.523714,0.835494,0.166354],[-0.019710,-0.183339,0.982852]]
2025-10-26T21:33:50.322Z,1761514430.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.94 m.
2025-10-26T21:33:50.325Z,1761514430.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.937378 m,
      nav range: 39.914959 m,
      bearing: 24.402402 deg,
      approach rate: -0.613297 m/s,
      LOS rate: 0.087634 deg/s,
      cmd heading: 29.057093 deg,
      new cmd heading: 29.182248 deg.

2025-10-26T21:33:50.326Z,1761514430.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.509326 target range: 41.937378 and range: 42.20 m.
2025-10-26T21:33:50.345Z,1761514430.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259186
2025-10-26T21:33:50.599Z,1761514430.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512047
2025-10-26T21:33:50.670Z,1761514430.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.94 m.
2025-10-26T21:33:50.673Z,1761514430.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.937378 m,
      nav range: 39.702572 m,
      bearing: 24.432914 deg,
      approach rate: -0.610288 m/s,
      LOS rate: 0.088144 deg/s,
      cmd heading: 29.182250 deg,
      new cmd heading: 29.274274 deg.

2025-10-26T21:33:50.674Z,1761514430.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.510932 target range: 41.937378 and range: 42.20 m.
2025-10-26T21:33:50.850Z,1761514430.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763421
2025-10-26T21:33:51.032Z,1761514431.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856719,-0.509842,-0.078059],[0.515282,0.839352,0.173126],[-0.022748,-0.188543,0.981801]]
2025-10-26T21:33:51.053Z,1761514431.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.94 m.
2025-10-26T21:33:51.056Z,1761514431.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.937378 m,
      nav range: 39.470261 m,
      bearing: 24.469905 deg,
      approach rate: -0.606326 m/s,
      LOS rate: 0.097114 deg/s,
      cmd heading: 29.274273 deg,
      new cmd heading: 29.385899 deg.

2025-10-26T21:33:51.057Z,1761514431.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.512881 target range: 41.937378 and range: 42.20 m.
2025-10-26T21:33:51.102Z,1761514431.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015230
2025-10-26T21:33:51.352Z,1761514431.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266114
2025-10-26T21:33:51.484Z,1761514431.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859176,-0.505968,-0.076243],[0.511092,0.841461,0.175294],[-0.024538,-0.189576,0.981559]]
2025-10-26T21:33:51.534Z,1761514431.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:51.536Z,1761514431.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.94 m.
2025-10-26T21:33:51.539Z,1761514431.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.937378 m,
      nav range: 39.176659 m,
      bearing: 24.546475 deg,
      approach rate: -0.608118 m/s,
      LOS rate: 0.159784 deg/s,
      cmd heading: 29.385899 deg,
      new cmd heading: 29.617330 deg.

2025-10-26T21:33:51.544Z,1761514431.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.516920 target range: 41.937378 and range: 42.20 m.
2025-10-26T21:33:51.605Z,1761514431.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519170
2025-10-26T21:33:51.856Z,1761514431.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770055
2025-10-26T21:33:51.887Z,1761514431.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861642,-0.502096,-0.073984],[0.506817,0.843606,0.177383],[-0.026650,-0.190337,0.981357]]
2025-10-26T21:33:52.006Z,1761514432.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.94 m.
2025-10-26T21:33:52.009Z,1761514432.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.937378 m,
      nav range: 38.883377 m,
      bearing: 24.626301 deg,
      approach rate: -0.648319 m/s,
      LOS rate: 0.177791 deg/s,
      cmd heading: 29.617329 deg,
      new cmd heading: 29.858611 deg.

2025-10-26T21:33:52.010Z,1761514432.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.521131 target range: 41.937378 and range: 42.20 m.
2025-10-26T21:33:52.109Z,1761514432.109 [DAT](INFO): DAT read: Rx Time:21:33:50.7008

2025-10-26T21:33:52.110Z,1761514432.110 [DAT](INFO): Rx dataTimestamp_ set to:1761514432.109664
2025-10-26T21:33:52.111Z,1761514432.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024891
2025-10-26T21:33:52.360Z,1761514432.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274270
2025-10-26T21:33:52.369Z,1761514432.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864434,-0.497637,-0.071493],[0.501924,0.846120,0.179315],[-0.028742,-0.190890,0.981191]]
2025-10-26T21:33:52.405Z,1761514432.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.94 m.
2025-10-26T21:33:52.436Z,1761514432.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.937378 m,
      nav range: 38.629372 m,
      bearing: 24.713543 deg,
      approach rate: -0.609497 m/s,
      LOS rate: 0.210717 deg/s,
      cmd heading: 29.858613 deg,
      new cmd heading: 30.122057 deg.

2025-10-26T21:33:52.437Z,1761514432.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.525729 target range: 41.937378 and range: 42.20 m.
2025-10-26T21:33:52.622Z,1761514432.622 [DAT](INFO): DAT read: 21:33:50.7008 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413, 0.20,-1.083,-2.551,-0.675,-1.035, PHS= 0.054,-1.471, 0.316, RAW= 157.8,  13.1, CAL= 158.2,  14.9, ROT= 351.8, -14.9

2025-10-26T21:33:52.623Z,1761514432.623 [DAT](INFO): got valid direction response:
 21:33:50.7008 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413, 0.20,-1.083,-2.551,-0.675,-1.035, PHS= 0.054,-1.471, 0.316, RAW= 157.8,  13.1, CAL= 158.2,  14.9, ROT= 351.8, -14.9

2025-10-26T21:33:52.627Z,1761514432.627 [DAT](INFO): DAT read: Bearing 189.7, -12.2 (Local)

2025-10-26T21:33:52.628Z,1761514432.628 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.7, -12.2 (Local)

2025-10-26T21:33:52.629Z,1761514432.629 [DAT](INFO): DAT read: Range 11 to 50 : 39.9 m  (Round-trip  53.2 ms) speed  0.6 m/s

2025-10-26T21:33:52.630Z,1761514432.630 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:33:52.631Z,1761514432.631 [DAT](INFO): direction in FSK: [0.956496,-0.137833,0.257133]
2025-10-26T21:33:52.631Z,1761514432.631 [DAT](INFO): publishing direction and range info
2025-10-26T21:33:52.646Z,1761514432.646 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:33:52.647Z,1761514432.647 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:33:52.647Z,1761514432.647 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:33:52.766Z,1761514432.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867078,-0.493567,-0.067588],[0.497218,0.849016,0.178734],[-0.030834,-0.188582,0.981573]]
2025-10-26T21:33:52.804Z,1761514432.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.900002 m,
      deltaT: 3.781181 s,
      deltaX: -2.299999 m,
      approachRate: -0.608275 m/s,
      rangeRepo size: 4

2025-10-26T21:33:52.806Z,1761514432.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 39.651619 m,
      bearing: 24.687310 deg,
      lat: 36.779402 deg,
      lon: -121.859469 deg,
      deltaT: 3.781181 s,
      deltaX: -2.285759 m,
      approachRate: -0.604509 m/s,
      posRepo size: 4

2025-10-26T21:33:52.807Z,1761514432.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.65 m.
2025-10-26T21:33:52.810Z,1761514432.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.651619 m,
      nav range: 38.403786 m,
      bearing: 24.687212 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.210717 deg/s,
      cmd heading: 30.122056 deg,
      new cmd heading: 30.373602 deg.

2025-10-26T21:33:52.811Z,1761514432.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.530119 target range: 39.651619 and range: 39.90 m.
2025-10-26T21:33:52.865Z,1761514432.865 [DAT](INFO): DAT read: user:333>

2025-10-26T21:33:52.866Z,1761514432.866 [DAT](INFO): DAT read: Tx time:21:33:52.0435

2025-10-26T21:33:52.867Z,1761514432.867 [DAT](INFO): Ping request sent.
2025-10-26T21:33:52.867Z,1761514432.867 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:33:52.867Z,1761514432.867 [DAT](INFO): publishing transmit ping time
2025-10-26T21:33:52.868Z,1761514432.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001504
2025-10-26T21:33:53.117Z,1761514433.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249714
2025-10-26T21:33:53.171Z,1761514433.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869286,-0.490134,-0.064106],[0.493225,0.851471,0.178117],[-0.032717,-0.186454,0.981919]]
2025-10-26T21:33:53.195Z,1761514433.195 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-10-26T21:33:53.195Z,1761514433.195 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T21:33:53.195Z,1761514433.195 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-10-26T21:33:53.196Z,1761514433.196 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  39.900002 m (mode  2.000000 count ).
2025-10-26T21:33:53.197Z,1761514433.197 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-10-26T21:33:53.197Z,1761514433.197 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-10-26T21:33:53.199Z,1761514433.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.65 m.
2025-10-26T21:33:53.202Z,1761514433.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.651619 m,
      nav range: 38.161983 m,
      bearing: 24.775647 deg,
      approach rate: -0.611367 m/s,
      LOS rate: 0.225014 deg/s,
      cmd heading: 30.373602 deg,
      new cmd heading: 30.640587 deg.

2025-10-26T21:33:53.203Z,1761514433.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.534779 target range: 39.651619 and range: 39.90 m.
2025-10-26T21:33:53.369Z,1761514433.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502444
2025-10-26T21:33:53.578Z,1761514433.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871298,-0.487011,-0.060504],[0.489547,0.853881,0.176722],[-0.034403,-0.183597,0.982399]]
2025-10-26T21:33:53.624Z,1761514433.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756646
2025-10-26T21:33:53.654Z,1761514433.654 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-10-26T21:33:53.654Z,1761514433.654 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-10-26T21:33:53.655Z,1761514433.655 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:53.661Z,1761514433.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.65 m.
2025-10-26T21:33:53.668Z,1761514433.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.651619 m,
      nav range: 37.885109 m,
      bearing: 24.887288 deg,
      approach rate: -0.599052 m/s,
      LOS rate: 0.243314 deg/s,
      cmd heading: 30.640587 deg,
      new cmd heading: 30.977953 deg.

2025-10-26T21:33:53.669Z,1761514433.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.540667 target range: 39.651619 and range: 39.90 m.
2025-10-26T21:33:53.873Z,1761514433.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005606
2025-10-26T21:33:53.982Z,1761514433.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873244,-0.483970,-0.056736],[0.485917,0.856155,0.175739],[-0.036478,-0.181032,0.982800]]
2025-10-26T21:33:53.998Z,1761514433.998 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-10-26T21:33:53.998Z,1761514433.998 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-10-26T21:33:54.000Z,1761514434.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.65 m.
2025-10-26T21:33:54.003Z,1761514434.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.651619 m,
      nav range: 37.673801 m,
      bearing: 24.975146 deg,
      approach rate: -0.622566 m/s,
      LOS rate: 0.260305 deg/s,
      cmd heading: 30.977954 deg,
      new cmd heading: 31.243005 deg.

2025-10-26T21:33:54.004Z,1761514434.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.545293 target range: 39.651619 and range: 39.90 m.
2025-10-26T21:33:54.126Z,1761514434.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258686
2025-10-26T21:33:54.376Z,1761514434.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509451
2025-10-26T21:33:54.384Z,1761514434.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874553,-0.482134,-0.052003],[0.483381,0.858164,0.172911],[-0.038739,-0.176357,0.983564]]
2025-10-26T21:33:54.438Z,1761514434.438 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-10-26T21:33:54.439Z,1761514434.439 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T21:33:54.439Z,1761514434.439 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-10-26T21:33:54.439Z,1761514434.439 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T21:33:54.453Z,1761514434.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.65 m.
2025-10-26T21:33:54.460Z,1761514434.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.651619 m,
      nav range: 37.413628 m,
      bearing: 25.070951 deg,
      approach rate: -0.574695 m/s,
      LOS rate: 0.213095 deg/s,
      cmd heading: 31.243006 deg,
      new cmd heading: 31.532419 deg.

2025-10-26T21:33:54.461Z,1761514434.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.550345 target range: 39.651619 and range: 39.90 m.
2025-10-26T21:33:54.628Z,1761514434.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761442
2025-10-26T21:33:54.786Z,1761514434.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875340,-0.481189,-0.047295],[0.481737,0.859586,0.170419],[-0.041350,-0.171958,0.984236]]
2025-10-26T21:33:54.824Z,1761514434.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.65 m.
2025-10-26T21:33:54.827Z,1761514434.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.651619 m,
      nav range: 37.198868 m,
      bearing: 25.151889 deg,
      approach rate: -0.583173 m/s,
      LOS rate: 0.221052 deg/s,
      cmd heading: 31.532419 deg,
      new cmd heading: 31.776632 deg.

2025-10-26T21:33:54.836Z,1761514434.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.554607 target range: 39.651619 and range: 39.90 m.
2025-10-26T21:33:54.880Z,1761514434.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013550
2025-10-26T21:33:55.133Z,1761514435.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265676
2025-10-26T21:33:55.192Z,1761514435.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875443,-0.481448,-0.042525],[0.481341,0.860515,0.166809],[-0.043716,-0.166501,0.985072]]
2025-10-26T21:33:55.216Z,1761514435.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.65 m.
2025-10-26T21:33:55.218Z,1761514435.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.651619 m,
      nav range: 36.956188 m,
      bearing: 25.244934 deg,
      approach rate: -0.615976 m/s,
      LOS rate: 0.237721 deg/s,
      cmd heading: 31.776632 deg,
      new cmd heading: 32.057599 deg.

2025-10-26T21:33:55.222Z,1761514435.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.559511 target range: 39.651619 and range: 39.90 m.
2025-10-26T21:33:55.384Z,1761514435.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517475
2025-10-26T21:33:55.606Z,1761514435.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874494,-0.483525,-0.038254],[0.482862,0.860402,0.162950],[-0.045877,-0.160971,0.985892]]
2025-10-26T21:33:55.636Z,1761514435.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769406
2025-10-26T21:33:55.689Z,1761514435.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:55.691Z,1761514435.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.65 m.
2025-10-26T21:33:55.704Z,1761514435.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.651619 m,
      nav range: 36.674068 m,
      bearing: 25.309159 deg,
      approach rate: -0.593353 m/s,
      LOS rate: 0.136116 deg/s,
      cmd heading: 32.057599 deg,
      new cmd heading: 32.251753 deg.

2025-10-26T21:33:55.705Z,1761514435.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.562899 target range: 39.651619 and range: 39.90 m.
2025-10-26T21:33:55.888Z,1761514435.888 [DAT](INFO): DAT read: Rx Time:21:33:54.4976

2025-10-26T21:33:55.889Z,1761514435.889 [DAT](INFO): Rx dataTimestamp_ set to:1761514435.888500
2025-10-26T21:33:55.889Z,1761514435.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022432
2025-10-26T21:33:56.016Z,1761514436.016 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:33:56.053Z,1761514436.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871123,-0.490310,-0.027212],[0.488489,0.859554,0.150149],[-0.050230,-0.144091,0.988289]]
2025-10-26T21:33:56.071Z,1761514436.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.65 m.
2025-10-26T21:33:56.074Z,1761514436.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.651619 m,
      nav range: 36.429489 m,
      bearing: 25.363766 deg,
      approach rate: -0.643870 m/s,
      LOS rate: 0.144722 deg/s,
      cmd heading: 32.251754 deg,
      new cmd heading: 32.416674 deg.

2025-10-26T21:33:56.075Z,1761514436.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.565778 target range: 39.651619 and range: 39.90 m.
2025-10-26T21:33:56.141Z,1761514436.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274351
2025-10-26T21:33:56.399Z,1761514436.399 [DAT](INFO): DAT read: 21:33:54.4976 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412,-0.03, 2.773, 1.259,-3.086, 2.882, PHS=-0.006,-1.578, 0.271, RAW= 158.0,  15.0, CAL= 158.8,  17.4, ROT= 351.2, -17.4

2025-10-26T21:33:56.400Z,1761514436.400 [DAT](INFO): got valid direction response:
 21:33:54.4976 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412,-0.03, 2.773, 1.259,-3.086, 2.882, PHS=-0.006,-1.578, 0.271, RAW= 158.0,  15.0, CAL= 158.8,  17.4, ROT= 351.2, -17.4

2025-10-26T21:33:56.401Z,1761514436.401 [DAT](INFO): DAT read: Bearing 192.6, -13.3 (Local)

2025-10-26T21:33:56.402Z,1761514436.402 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.6, -13.3 (Local)

2025-10-26T21:33:56.403Z,1761514436.403 [DAT](INFO): DAT read: Range 11 to 50 : 37.5 m  (Round-trip  50.0 ms) speed  0.4 m/s

2025-10-26T21:33:56.404Z,1761514436.404 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:33:56.404Z,1761514436.404 [DAT](INFO): direction in FSK: [0.943007,-0.145985,0.299041]
2025-10-26T21:33:56.405Z,1761514436.405 [DAT](INFO): publishing direction and range info
2025-10-26T21:33:56.409Z,1761514436.409 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:33:56.409Z,1761514436.409 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:33:56.409Z,1761514436.409 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:33:56.480Z,1761514436.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868270,-0.495618,-0.021668],[0.493346,0.858054,0.142664],[-0.052114,-0.134561,0.989534]]
2025-10-26T21:33:56.571Z,1761514436.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.500000 m,
      deltaT: 3.780372 s,
      deltaX: -2.400002 m,
      approachRate: -0.634859 m/s,
      rangeRepo size: 4

2025-10-26T21:33:56.577Z,1761514436.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.266727 m,
      bearing: 23.389229 deg,
      lat: 36.779404 deg,
      lon: -121.859469 deg,
      deltaT: 3.780372 s,
      deltaX: -2.384892 m,
      approachRate: -0.630862 m/s,
      posRepo size: 4

2025-10-26T21:33:56.578Z,1761514436.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:33:56.586Z,1761514436.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.266727 m,
      nav range: 36.352676 m,
      bearing: 25.214602 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.144722 deg/s,
      cmd heading: 32.416675 deg,
      new cmd heading: 32.633394 deg.

2025-10-26T21:33:56.594Z,1761514436.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569560 target range: 37.266727 and range: 37.50 m.
2025-10-26T21:33:56.644Z,1761514436.644 [DAT](INFO): DAT read: user:334>

2025-10-26T21:33:56.645Z,1761514436.645 [DAT](INFO): DAT read: Tx time:21:33:55.7935

2025-10-26T21:33:56.645Z,1761514436.645 [DAT](INFO): Ping request sent.
2025-10-26T21:33:56.645Z,1761514436.645 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:33:56.645Z,1761514436.645 [DAT](INFO): publishing transmit ping time
2025-10-26T21:33:56.646Z,1761514436.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-10-26T21:33:56.897Z,1761514436.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251165
2025-10-26T21:33:56.897Z,1761514436.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865042,-0.501406,-0.017170],[0.498837,0.855950,0.136059],[-0.053524,-0.126262,0.990552]]
2025-10-26T21:33:56.927Z,1761514436.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:33:56.934Z,1761514436.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.266727 m,
      nav range: 36.124226 m,
      bearing: 25.224190 deg,
      approach rate: -0.639773 m/s,
      LOS rate: 0.027019 deg/s,
      cmd heading: 32.633394 deg,
      new cmd heading: 32.662338 deg.

2025-10-26T21:33:56.935Z,1761514436.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.570065 target range: 37.266727 and range: 37.50 m.
2025-10-26T21:33:57.020Z,1761514437.020 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:33:57.148Z,1761514437.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502993
2025-10-26T21:33:57.298Z,1761514437.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861375,-0.507803,-0.013026],[0.505016,0.853321,0.129624],[-0.054709,-0.118233,0.991478]]
2025-10-26T21:33:57.320Z,1761514437.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:33:57.323Z,1761514437.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.266727 m,
      nav range: 35.873665 m,
      bearing: 25.232221 deg,
      approach rate: -0.636790 m/s,
      LOS rate: 0.020555 deg/s,
      cmd heading: 32.662337 deg,
      new cmd heading: 32.686601 deg.

2025-10-26T21:33:57.324Z,1761514437.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.570489 target range: 37.266727 and range: 37.50 m.
2025-10-26T21:33:57.401Z,1761514437.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755404
2025-10-26T21:33:57.653Z,1761514437.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007180
2025-10-26T21:33:57.705Z,1761514437.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857364,-0.514618,-0.009737],[0.511691,0.850136,0.124262],[-0.055670,-0.111520,0.992202]]
2025-10-26T21:33:57.762Z,1761514437.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:33:57.764Z,1761514437.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:33:57.767Z,1761514437.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.266727 m,
      nav range: 35.597099 m,
      bearing: 25.190159 deg,
      approach rate: -0.623266 m/s,
      LOS rate: -0.095529 deg/s,
      cmd heading: 32.686601 deg,
      new cmd heading: 32.559432 deg.

2025-10-26T21:33:57.768Z,1761514437.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.568269 target range: 37.266727 and range: 37.50 m.
2025-10-26T21:33:57.904Z,1761514437.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259017
2025-10-26T21:33:58.117Z,1761514438.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853626,-0.520828,-0.007783],[0.517796,0.846844,0.121418],[-0.056647,-0.107675,0.992571]]
2025-10-26T21:33:58.137Z,1761514438.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:33:58.140Z,1761514438.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.266727 m,
      nav range: 35.365414 m,
      bearing: 25.151776 deg,
      approach rate: -0.621021 m/s,
      LOS rate: -0.103556 deg/s,
      cmd heading: 32.559433 deg,
      new cmd heading: 32.443532 deg.

2025-10-26T21:33:58.141Z,1761514438.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566246 target range: 37.266727 and range: 37.50 m.
2025-10-26T21:33:58.167Z,1761514438.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513877
2025-10-26T21:33:58.408Z,1761514438.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763051
2025-10-26T21:33:58.510Z,1761514438.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849388,-0.527699,-0.008568],[0.524693,0.842576,0.121504],[-0.056898,-0.107700,0.992554]]
2025-10-26T21:33:58.569Z,1761514438.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:33:58.572Z,1761514438.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.266727 m,
      nav range: 35.086582 m,
      bearing: 25.070199 deg,
      approach rate: -0.646158 m/s,
      LOS rate: -0.190548 deg/s,
      cmd heading: 32.443532 deg,
      new cmd heading: 32.196857 deg.

2025-10-26T21:33:58.573Z,1761514438.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.561941 target range: 37.266727 and range: 37.50 m.
2025-10-26T21:33:58.660Z,1761514438.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015142
2025-10-26T21:33:58.912Z,1761514438.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266896
2025-10-26T21:33:58.916Z,1761514438.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845448,-0.533955,-0.010474],[0.530992,0.838333,0.123472],[-0.057148,-0.109951,0.992293]]
2025-10-26T21:33:58.947Z,1761514438.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:33:58.950Z,1761514438.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.266727 m,
      nav range: 34.842827 m,
      bearing: 24.994697 deg,
      approach rate: -0.644808 m/s,
      LOS rate: -0.201124 deg/s,
      cmd heading: 32.196856 deg,
      new cmd heading: 31.968765 deg.

2025-10-26T21:33:58.951Z,1761514438.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.557960 target range: 37.266727 and range: 37.50 m.
2025-10-26T21:33:59.166Z,1761514439.166 [DAT](INFO): DAT read: Rx Time:21:33:57.9698 

2025-10-26T21:33:59.167Z,1761514439.167 [DAT](INFO): Rx dataTimestamp_ set to:1761514439.166287
2025-10-26T21:33:59.169Z,1761514439.169 [DAT](INFO): DAT read: Bearing 191.8, -14.4 (Local)

2025-10-26T21:33:59.169Z,1761514439.169 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.8, -14.4 (Local)

2025-10-26T21:33:59.172Z,1761514439.172 [DAT](INFO): DAT read: Range 11 to 50 :    35.4 m (trip time 23.6 ms) speed 0.5

2025-10-26T21:33:59.177Z,1761514439.177 [DAT](INFO): DAT read: 21:33:57.9698 LVL= 32752, 32753, 27570, 32755, AGC= 70, IDX= 416,-0.26, 1.530, 0.011, 2.027, 1.598, PHS= 0.033,-1.542, 0.385, RAW= 159.9,  12.6, CAL= 160.3,  14.3, ROT= 349.7, -14.3

2025-10-26T21:33:59.178Z,1761514439.178 [DAT](INFO): got valid direction response:
 21:33:57.9698 LVL= 32752, 32753, 27570, 32755, AGC= 70, IDX= 416,-0.26, 1.530, 0.011, 2.027, 1.598, PHS= 0.033,-1.542, 0.385, RAW= 159.9,  12.6, CAL= 160.3,  14.3, ROT= 349.7, -14.3

2025-10-26T21:33:59.179Z,1761514439.179 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:33:59.180Z,1761514439.180 [DAT](INFO): direction in FSK: [0.953400,-0.173262,0.246999]
2025-10-26T21:33:59.180Z,1761514439.180 [DAT](INFO): publishing direction and range info
2025-10-26T21:33:59.184Z,1761514439.184 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.538869
2025-10-26T21:33:59.421Z,1761514439.421 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.773273
2025-10-26T21:33:59.429Z,1761514439.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.400002 m,
      deltaT: 2.772977 s,
      deltaX: -2.099998 m,
      approachRate: -0.757308 m/s,
      rangeRepo size: 4

2025-10-26T21:33:59.431Z,1761514439.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.179871 m,
      bearing: 23.602727 deg,
      lat: 36.779404 deg,
      lon: -121.859469 deg,
      deltaT: 2.772977 s,
      deltaX: -2.086857 m,
      approachRate: -0.752569 m/s,
      posRepo size: 4

2025-10-26T21:33:59.436Z,1761514439.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.18 m.
2025-10-26T21:33:59.438Z,1761514439.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.179871 m,
      nav range: 34.632538 m,
      bearing: 24.873309 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.201124 deg/s,
      cmd heading: 31.968765 deg,
      new cmd heading: 31.678387 deg.

2025-10-26T21:33:59.447Z,1761514439.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.552892 target range: 35.179871 and range: 35.40 m.
2025-10-26T21:33:59.669Z,1761514439.669 [DAT](INFO): DAT read: Rx Time:21:33:58.4695 

2025-10-26T21:33:59.670Z,1761514439.670 [DAT](INFO): Rx dataTimestamp_ set to:1761514439.669405
2025-10-26T21:33:59.671Z,1761514439.671 [DAT](INFO): DAT read: Bearing 193.5, -13.9 (Local)

2025-10-26T21:33:59.671Z,1761514439.671 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.5, -13.9 (Local)

2025-10-26T21:33:59.673Z,1761514439.673 [DAT](INFO): DAT read: Range 11 to 50 :    35.0 m (trip time 23.3 ms) speed 0.5

2025-10-26T21:33:59.678Z,1761514439.678 [DAT](INFO): DAT read: 21:33:58.4695 LVL= 32752, 32753, 31634, 32755, AGC= 68, IDX= 508,-0.12,-1.334,-2.810,-0.877,-1.249, PHS= 0.017,-1.516, 0.328, RAW= 159.1,  13.6, CAL= 159.6,  15.6, ROT= 350.4, -15.6

2025-10-26T21:33:59.679Z,1761514439.679 [DAT](INFO): got valid direction response:
 21:33:58.4695 LVL= 32752, 32753, 31634, 32755, AGC= 68, IDX= 508,-0.12,-1.334,-2.810,-0.877,-1.249, PHS= 0.017,-1.516, 0.328, RAW= 159.1,  13.6, CAL= 159.6,  15.6, ROT= 350.4, -15.6

2025-10-26T21:33:59.685Z,1761514439.685 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T21:33:59.686Z,1761514439.686 [DAT](INFO): direction in FSK: [0.949674,-0.160626,0.268920]
2025-10-26T21:33:59.687Z,1761514439.687 [DAT](INFO): publishing direction and range info
2025-10-26T21:33:59.690Z,1761514439.690 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.045064
2025-10-26T21:33:59.753Z,1761514439.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838536,-0.544692,-0.012958],[0.541860,0.831216,0.124369],[-0.056972,-0.111309,0.992151]]
2025-10-26T21:33:59.841Z,1761514439.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.000000 m,
      deltaT: 0.503118 s,
      deltaX: -0.400002 m,
      approachRate: -0.795045 m/s,
      rangeRepo size: 4

2025-10-26T21:33:59.843Z,1761514439.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.782360 m,
      bearing: 25.214008 deg,
      lat: 36.779404 deg,
      lon: -121.859469 deg,
      deltaT: 0.503118 s,
      deltaX: -0.397511 m,
      approachRate: -0.790094 m/s,
      posRepo size: 4

2025-10-26T21:33:59.852Z,1761514439.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.78 m.
2025-10-26T21:33:59.854Z,1761514439.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.782360 m,
      nav range: 34.333683 m,
      bearing: 24.748834 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.201124 deg/s,
      cmd heading: 31.678387 deg,
      new cmd heading: 31.430252 deg.

2025-10-26T21:33:59.860Z,1761514439.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.548561 target range: 34.782360 and range: 35.00 m.
2025-10-26T21:33:59.922Z,1761514439.922 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.276482
2025-10-26T21:34:00.156Z,1761514440.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834980,-0.550059,-0.015600],[0.547374,0.827326,0.126146],[-0.056481,-0.113868,0.991889]]
2025-10-26T21:34:00.173Z,1761514440.173 [DAT](INFO): DAT read: Rx Time:21:33:58.9694 

2025-10-26T21:34:00.173Z,1761514440.173 [DAT](INFO): Rx dataTimestamp_ set to:1761514440.173214
2025-10-26T21:34:00.175Z,1761514440.175 [DAT](INFO): DAT read: Bearing 193.1, -14.9 (Local)

2025-10-26T21:34:00.175Z,1761514440.175 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.1, -14.9 (Local)

2025-10-26T21:34:00.177Z,1761514440.177 [DAT](INFO): DAT read: Range 11 to 50 :    34.8 m (trip time 23.2 ms) speed 0.5

2025-10-26T21:34:00.186Z,1761514440.186 [DAT](INFO): DAT read: 21:33:58.9694 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 507,-0.01, 0.205,-1.271, 0.705, 0.295, PHS= 0.012,-1.521, 0.366, RAW= 160.2,  13.1, CAL= 160.6,  15.0, ROT= 349.4, -15.0

2025-10-26T21:34:00.187Z,1761514440.187 [DAT](INFO): got valid direction response:
 21:33:58.9694 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 507,-0.01, 0.205,-1.271, 0.705, 0.295, PHS= 0.012,-1.521, 0.366, RAW= 160.2,  13.1, CAL= 160.6,  15.0, ROT= 349.4, -15.0

2025-10-26T21:34:00.188Z,1761514440.188 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-10-26T21:34:00.189Z,1761514440.189 [DAT](INFO): direction in FSK: [0.949443,-0.177683,0.258819]
2025-10-26T21:34:00.189Z,1761514440.189 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:00.201Z,1761514440.201 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.555506
2025-10-26T21:34:00.211Z,1761514440.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.799999 m,
      deltaT: 0.503809 s,
      deltaX: -0.200001 m,
      approachRate: -0.396977 m/s,
      rangeRepo size: 4

2025-10-26T21:34:00.213Z,1761514440.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.583603 m,
      bearing: 24.572833 deg,
      lat: 36.779402 deg,
      lon: -121.859472 deg,
      deltaT: 0.503809 s,
      deltaX: -0.198757 m,
      approachRate: -0.394509 m/s,
      posRepo size: 4

2025-10-26T21:34:00.214Z,1761514440.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-10-26T21:34:00.221Z,1761514440.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.583603 m,
      nav range: 33.753025 m,
      bearing: 24.539461 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.201124 deg/s,
      cmd heading: 31.430253 deg,
      new cmd heading: 31.208659 deg.

2025-10-26T21:34:00.222Z,1761514440.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.544694 target range: 34.583603 and range: 34.80 m.
2025-10-26T21:34:00.430Z,1761514440.430 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.783818
2025-10-26T21:34:00.614Z,1761514440.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832302,-0.553954,-0.020195],[0.551495,0.823832,0.130975],[-0.055916,-0.120148,0.991180]]
2025-10-26T21:34:00.677Z,1761514440.677 [DAT](INFO): DAT read: Rx Time:21:33:59.4691 

2025-10-26T21:34:00.677Z,1761514440.677 [DAT](INFO): Rx dataTimestamp_ set to:1761514440.677191
2025-10-26T21:34:00.679Z,1761514440.679 [DAT](INFO): DAT read: Bearing 193.4, -16.0 (Local)

2025-10-26T21:34:00.679Z,1761514440.679 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.4, -16.0 (Local)

2025-10-26T21:34:00.681Z,1761514440.681 [DAT](INFO): DAT read: Range 11 to 50 :    34.4 m (trip time 22.9 ms) speed 0.5

2025-10-26T21:34:00.686Z,1761514440.686 [DAT](INFO): DAT read: 21:33:59.4691 LVL= 32752, 32753, 28466, 32755, AGC= 67, IDX= 504,-0.02,-0.453,-1.911, 0.081,-0.342, PHS=-0.010,-1.524, 0.379, RAW= 161.1,  13.2, CAL= 161.6,  15.2, ROT= 348.4, -15.2

2025-10-26T21:34:00.687Z,1761514440.687 [DAT](INFO): got valid direction response:
 21:33:59.4691 LVL= 32752, 32753, 28466, 32755, AGC= 67, IDX= 504,-0.02,-0.453,-1.911, 0.081,-0.342, PHS=-0.010,-1.524, 0.379, RAW= 161.1,  13.2, CAL= 161.6,  15.2, ROT= 348.4, -15.2

2025-10-26T21:34:00.687Z,1761514440.687 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-26T21:34:00.688Z,1761514440.688 [DAT](INFO): direction in FSK: [0.945306,-0.194044,0.262189]
2025-10-26T21:34:00.689Z,1761514440.689 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:00.692Z,1761514440.692 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.046896
2025-10-26T21:34:00.747Z,1761514440.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.400002 m,
      deltaT: 0.503977 s,
      deltaX: -0.399998 m,
      approachRate: -0.793682 m/s,
      rangeRepo size: 4

2025-10-26T21:34:00.753Z,1761514440.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.186153 m,
      bearing: 24.000802 deg,
      lat: 36.779401 deg,
      lon: -121.859475 deg,
      deltaT: 0.503977 s,
      deltaX: -0.397449 m,
      approachRate: -0.788626 m/s,
      posRepo size: 4

2025-10-26T21:34:00.754Z,1761514440.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.19 m.
2025-10-26T21:34:00.761Z,1761514440.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.186153 m,
      nav range: 33.266945 m,
      bearing: 24.000718 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.201124 deg/s,
      cmd heading: 31.208657 deg,
      new cmd heading: 30.883015 deg.

2025-10-26T21:34:00.762Z,1761514440.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.539010 target range: 34.186153 and range: 34.40 m.
2025-10-26T21:34:00.928Z,1761514440.928 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.283147
2025-10-26T21:34:01.125Z,1761514441.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829947,-0.557341,-0.023631],[0.555076,0.820877,0.134353],[-0.055483,-0.124623,0.990652]]
2025-10-26T21:34:01.161Z,1761514441.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:34:01.163Z,1761514441.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.19 m.
2025-10-26T21:34:01.166Z,1761514441.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.186153 m,
      nav range: 32.983776 m,
      bearing: 23.881275 deg,
      approach rate: -0.679347 m/s,
      LOS rate: -0.289015 deg/s,
      cmd heading: 30.883015 deg,
      new cmd heading: 30.521614 deg.

2025-10-26T21:34:01.167Z,1761514441.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.532703 target range: 34.186153 and range: 34.40 m.
2025-10-26T21:34:01.181Z,1761514441.181 [DAT](INFO): DAT read: Rx Time:21:33:59.9690 

2025-10-26T21:34:01.181Z,1761514441.181 [DAT](INFO): Rx dataTimestamp_ set to:1761514441.181188
2025-10-26T21:34:01.183Z,1761514441.183 [DAT](INFO): DAT read: Bearing 189.7, -15.4 (Local)

2025-10-26T21:34:01.183Z,1761514441.183 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.7, -15.4 (Local)

2025-10-26T21:34:01.194Z,1761514441.194 [DAT](INFO): DAT read: Range 11 to 50 :    34.2 m (trip time 22.8 ms) speed 0.5

2025-10-26T21:34:01.198Z,1761514441.198 [DAT](INFO): DAT read: 21:33:59.9690 LVL= 32752, 32753, 25778, 32755, AGC= 67, IDX= 503,-0.00, 0.809,-0.681, 1.350, 0.838, PHS= 0.073,-1.474, 0.467, RAW= 161.1,  10.5, CAL= 161.1,  11.5, ROT= 348.9, -11.5

2025-10-26T21:34:01.200Z,1761514441.200 [DAT](INFO): got valid direction response:
 21:33:59.9690 LVL= 32752, 32753, 25778, 32755, AGC= 67, IDX= 503,-0.00, 0.809,-0.681, 1.350, 0.838, PHS= 0.073,-1.474, 0.467, RAW= 161.1,  10.5, CAL= 161.1,  11.5, ROT= 348.9, -11.5

2025-10-26T21:34:01.200Z,1761514441.200 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-10-26T21:34:01.201Z,1761514441.201 [DAT](INFO): direction in FSK: [0.961593,-0.188657,0.199368]
2025-10-26T21:34:01.201Z,1761514441.201 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:01.211Z,1761514441.211 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.565250
2025-10-26T21:34:01.438Z,1761514441.438 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.792582
2025-10-26T21:34:01.527Z,1761514441.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827907,-0.560245,-0.026379],[0.558150,0.818366,0.136916],[-0.055119,-0.128077,0.990231]]
2025-10-26T21:34:01.637Z,1761514441.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.200001 m,
      deltaT: 0.503997 s,
      deltaX: -0.200001 m,
      approachRate: -0.396829 m/s,
      rangeRepo size: 4

2025-10-26T21:34:01.655Z,1761514441.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.987434 m,
      bearing: 24.555052 deg,
      lat: 36.779401 deg,
      lon: -121.859472 deg,
      deltaT: 0.503997 s,
      deltaX: -0.198719 m,
      approachRate: -0.394286 m/s,
      posRepo size: 4

2025-10-26T21:34:01.656Z,1761514441.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.99 m.
2025-10-26T21:34:01.659Z,1761514441.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.987434 m,
      nav range: 32.805096 m,
      bearing: 24.217419 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.289015 deg/s,
      cmd heading: 30.521612 deg,
      new cmd heading: 30.111106 deg.

2025-10-26T21:34:01.664Z,1761514441.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.525538 target range: 33.987434 and range: 34.20 m.
2025-10-26T21:34:01.689Z,1761514441.689 [DAT](INFO): DAT read: Rx Time:21:34:00.4687 

2025-10-26T21:34:01.690Z,1761514441.690 [DAT](INFO): Rx dataTimestamp_ set to:1761514441.689248
2025-10-26T21:34:01.691Z,1761514441.691 [DAT](INFO): DAT read: Bearing 192.3, -15.8 (Local)

2025-10-26T21:34:01.691Z,1761514441.691 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.3, -15.8 (Local)

2025-10-26T21:34:01.693Z,1761514441.693 [DAT](INFO): DAT read: Range 11 to 50 :    33.8 m (trip time 22.5 ms) speed 0.8

2025-10-26T21:34:01.699Z,1761514441.699 [DAT](INFO): DAT read: 21:34:00.4687 LVL= 32752, 32753, 31602, 32755, AGC= 66, IDX= 500,-0.09, 0.008,-1.440, 0.532, 0.089, PHS= 0.021,-1.484, 0.399, RAW= 160.9,  12.3, CAL= 161.3,  13.9, ROT= 348.7, -13.9

2025-10-26T21:34:01.701Z,1761514441.701 [DAT](INFO): got valid direction response:
 21:34:00.4687 LVL= 32752, 32753, 31602, 32755, AGC= 66, IDX= 500,-0.09, 0.008,-1.440, 0.532, 0.089, PHS= 0.021,-1.484, 0.399, RAW= 160.9,  12.3, CAL= 161.3,  13.9, ROT= 348.7, -13.9

2025-10-26T21:34:01.701Z,1761514441.701 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-26T21:34:01.703Z,1761514441.703 [DAT](INFO): direction in FSK: [0.951899,-0.190208,0.240228]
2025-10-26T21:34:01.709Z,1761514441.709 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:01.746Z,1761514441.746 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.100727
2025-10-26T21:34:01.942Z,1761514441.942 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.295974
2025-10-26T21:34:01.994Z,1761514441.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826451,-0.562210,-0.029966],[0.560337,0.816186,0.140938],[-0.054779,-0.133269,0.989565]]
2025-10-26T21:34:02.017Z,1761514442.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.799999 m,
      deltaT: 0.508060 s,
      deltaX: -0.400002 m,
      approachRate: -0.787312 m/s,
      rangeRepo size: 4

2025-10-26T21:34:02.019Z,1761514442.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.589920 m,
      bearing: 24.927983 deg,
      lat: 36.779401 deg,
      lon: -121.859469 deg,
      deltaT: 0.508060 s,
      deltaX: -0.397514 m,
      approachRate: -0.782416 m/s,
      posRepo size: 4

2025-10-26T21:34:02.020Z,1761514442.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.59 m.
2025-10-26T21:34:02.022Z,1761514442.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.589920 m,
      nav range: 32.668034 m,
      bearing: 24.554710 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.289015 deg/s,
      cmd heading: 30.111108 deg,
      new cmd heading: 29.781974 deg.

2025-10-26T21:34:02.023Z,1761514442.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.519794 target range: 33.589920 and range: 33.80 m.
2025-10-26T21:34:02.194Z,1761514442.194 [DAT](INFO): DAT read: Rx Time:21:34:00.9685 

2025-10-26T21:34:02.194Z,1761514442.194 [DAT](INFO): Rx dataTimestamp_ set to:1761514442.194198
2025-10-26T21:34:02.200Z,1761514442.200 [DAT](INFO): DAT read: Bearing 191.9, -16.4 (Local)

2025-10-26T21:34:02.201Z,1761514442.201 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.9, -16.4 (Local)

2025-10-26T21:34:02.204Z,1761514442.204 [DAT](INFO): DAT read: Range 11 to 50 :    33.5 m (trip time 22.3 ms) speed 0.5

2025-10-26T21:34:02.225Z,1761514442.225 [DAT](INFO): DAT read: 21:34:00.9685 LVL= 32752, 32753, 26930, 32755, AGC= 66, IDX= 498,-0.13, 0.170,-1.270, 0.714, 0.255, PHS= 0.017,-1.480, 0.415, RAW= 161.5,  12.1, CAL= 161.8,  13.7, ROT= 348.2, -13.7

2025-10-26T21:34:02.226Z,1761514442.226 [DAT](INFO): got valid direction response:
 21:34:00.9685 LVL= 32752, 32753, 26930, 32755, AGC= 66, IDX= 498,-0.13, 0.170,-1.270, 0.714, 0.255, PHS= 0.017,-1.480, 0.415, RAW= 161.5,  12.1, CAL= 161.8,  13.7, ROT= 348.2, -13.7

2025-10-26T21:34:02.226Z,1761514442.226 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-26T21:34:02.233Z,1761514442.233 [DAT](INFO): direction in FSK: [0.951018,-0.198678,0.236838]
2025-10-26T21:34:02.234Z,1761514442.234 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:02.250Z,1761514442.250 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.604430
2025-10-26T21:34:02.400Z,1761514442.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825977,-0.562733,-0.033079],[0.561039,0.814956,0.145198],[-0.054750,-0.138489,0.988849]]
2025-10-26T21:34:02.447Z,1761514442.447 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.801370
2025-10-26T21:34:02.486Z,1761514442.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.500000 m,
      deltaT: 0.504950 s,
      deltaX: -0.299999 m,
      approachRate: -0.594117 m/s,
      rangeRepo size: 4

2025-10-26T21:34:02.489Z,1761514442.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.291752 m,
      bearing: 24.535756 deg,
      lat: 36.779402 deg,
      lon: -121.859468 deg,
      deltaT: 0.504950 s,
      deltaX: -0.298168 m,
      approachRate: -0.590491 m/s,
      posRepo size: 4

2025-10-26T21:34:02.490Z,1761514442.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.29 m.
2025-10-26T21:34:02.501Z,1761514442.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.291752 m,
      nav range: 32.480049 m,
      bearing: 24.593568 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.289015 deg/s,
      cmd heading: 29.781974 deg,
      new cmd heading: 29.375364 deg.

2025-10-26T21:34:02.501Z,1761514442.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.512697 target range: 33.291752 and range: 33.50 m.
2025-10-26T21:34:02.698Z,1761514442.698 [DAT](INFO): DAT read: Rx Time:21:34:01.4682 

2025-10-26T21:34:02.698Z,1761514442.698 [DAT](INFO): Rx dataTimestamp_ set to:1761514442.697942
2025-10-26T21:34:02.700Z,1761514442.700 [DAT](INFO): DAT read: Bearing 191.0, -15.9 (Local)

2025-10-26T21:34:02.701Z,1761514442.701 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.0, -15.9 (Local)

2025-10-26T21:34:02.704Z,1761514442.704 [DAT](INFO): DAT read: Range 11 to 50 :    33.0 m (trip time 22.0 ms) speed 0.7

2025-10-26T21:34:02.710Z,1761514442.710 [DAT](INFO): DAT read: 21:34:01.4682 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 495,-0.09,-2.183, 2.655,-1.659,-2.124, PHS= 0.043,-1.458, 0.421, RAW= 161.0,  11.5, CAL= 161.2,  12.9, ROT= 348.8, -12.9

2025-10-26T21:34:02.728Z,1761514442.728 [DAT](INFO): got valid direction response:
 21:34:01.4682 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 495,-0.09,-2.183, 2.655,-1.659,-2.124, PHS= 0.043,-1.458, 0.421, RAW= 161.0,  11.5, CAL= 161.2,  12.9, ROT= 348.8, -12.9

2025-10-26T21:34:02.728Z,1761514442.728 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-10-26T21:34:02.730Z,1761514442.730 [DAT](INFO): direction in FSK: [0.956197,-0.189333,0.223250]
2025-10-26T21:34:02.730Z,1761514442.730 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:02.735Z,1761514442.735 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.089541
2025-10-26T21:34:02.873Z,1761514442.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827650,-0.559860,-0.039399],[0.558578,0.814848,0.154963],[-0.054653,-0.150263,0.987134]]
2025-10-26T21:34:02.922Z,1761514442.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.000000 m,
      deltaT: 0.503744 s,
      deltaX: -0.500000 m,
      approachRate: -0.992568 m/s,
      rangeRepo size: 4

2025-10-26T21:34:02.924Z,1761514442.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.794861 m,
      bearing: 25.003570 deg,
      lat: 36.779402 deg,
      lon: -121.859466 deg,
      deltaT: 0.503744 s,
      deltaX: -0.496891 m,
      approachRate: -0.986396 m/s,
      posRepo size: 4

2025-10-26T21:34:02.925Z,1761514442.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.79 m.
2025-10-26T21:34:02.928Z,1761514442.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.794861 m,
      nav range: 32.250229 m,
      bearing: 24.724275 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.289015 deg/s,
      cmd heading: 29.375363 deg,
      new cmd heading: 28.997233 deg.

2025-10-26T21:34:02.929Z,1761514442.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.506097 target range: 32.794861 and range: 33.00 m.
2025-10-26T21:34:02.948Z,1761514442.948 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.302971
2025-10-26T21:34:03.202Z,1761514443.202 [DAT](INFO): DAT read: Rx Time:21:34:01.9681 

2025-10-26T21:34:03.202Z,1761514443.202 [DAT](INFO): Rx dataTimestamp_ set to:1761514443.202005
2025-10-26T21:34:03.204Z,1761514443.204 [DAT](INFO): DAT read: Bearing 189.8, -16.1 (Local)

2025-10-26T21:34:03.204Z,1761514443.204 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.8, -16.1 (Local)

2025-10-26T21:34:03.206Z,1761514443.206 [DAT](INFO): DAT read: Range 11 to 50 :    32.9 m (trip time 21.9 ms) speed 0.6

2025-10-26T21:34:03.211Z,1761514443.211 [DAT](INFO): DAT read: 21:34:01.9681 LVL= 32752, 32753, 27682, 32755, AGC= 66, IDX= 510,-0.10,-1.354,-2.775,-0.821,-1.308, PHS= 0.056,-1.422, 0.443, RAW= 161.3,  10.8, CAL= 161.4,  12.0, ROT= 348.6, -12.0

2025-10-26T21:34:03.212Z,1761514443.212 [DAT](INFO): got valid direction response:
 21:34:01.9681 LVL= 32752, 32753, 27682, 32755, AGC= 66, IDX= 510,-0.10,-1.354,-2.775,-0.821,-1.308, PHS= 0.056,-1.422, 0.443, RAW= 161.3,  10.8, CAL= 161.4,  12.0, ROT= 348.6, -12.0

2025-10-26T21:34:03.212Z,1761514443.212 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-10-26T21:34:03.213Z,1761514443.213 [DAT](INFO): direction in FSK: [0.958850,-0.193338,0.207912]
2025-10-26T21:34:03.213Z,1761514443.213 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:03.238Z,1761514443.238 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.592224
2025-10-26T21:34:03.303Z,1761514443.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829271,-0.557106,-0.044083],[0.556174,0.815027,0.162485],[-0.054593,-0.159262,0.985726]]
2025-10-26T21:34:03.354Z,1761514443.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.900002 m,
      deltaT: 0.504063 s,
      deltaX: -0.099998 m,
      approachRate: -0.198385 m/s,
      rangeRepo size: 4

2025-10-26T21:34:03.361Z,1761514443.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.695484 m,
      bearing: 24.617544 deg,
      lat: 36.779403 deg,
      lon: -121.859466 deg,
      deltaT: 0.504063 s,
      deltaX: -0.099377 m,
      approachRate: -0.197151 m/s,
      posRepo size: 4

2025-10-26T21:34:03.361Z,1761514443.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-10-26T21:34:03.368Z,1761514443.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.695484 m,
      nav range: 32.073566 m,
      bearing: 24.672646 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.289015 deg/s,
      cmd heading: 28.997233 deg,
      new cmd heading: 28.622230 deg.

2025-10-26T21:34:03.369Z,1761514443.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.499552 target range: 32.695484 and range: 32.90 m.
2025-10-26T21:34:03.458Z,1761514443.458 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.811686
2025-10-26T21:34:03.696Z,1761514443.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831388,-0.553540,-0.048851],[0.552994,0.815497,0.170769],[-0.054690,-0.168989,0.984099]]
2025-10-26T21:34:03.706Z,1761514443.706 [DAT](INFO): DAT read: Rx Time:21:34:02.4678 

2025-10-26T21:34:03.707Z,1761514443.707 [DAT](INFO): Rx dataTimestamp_ set to:1761514443.705992
2025-10-26T21:34:03.709Z,1761514443.709 [DAT](INFO): DAT read: Bearing 189.3, -16.1 (Local)

2025-10-26T21:34:03.709Z,1761514443.709 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.3, -16.1 (Local)

2025-10-26T21:34:03.712Z,1761514443.712 [DAT](INFO): DAT read: Range 11 to 50 :    32.4 m (trip time 21.6 ms) speed 0.4

2025-10-26T21:34:03.718Z,1761514443.718 [DAT](INFO): DAT read: 21:34:02.4678 LVL= 32752, 32753, 24962, 32755, AGC= 67, IDX= 507,-0.17,-1.902, 2.960,-1.374,-1.860, PHS= 0.060,-1.418, 0.442, RAW= 161.2,  10.8, CAL= 161.3,  11.9, ROT= 348.7, -11.9

2025-10-26T21:34:03.721Z,1761514443.721 [DAT](INFO): got valid direction response:
 21:34:02.4678 LVL= 32752, 32753, 24962, 32755, AGC= 67, IDX= 507,-0.17,-1.902, 2.960,-1.374,-1.860, PHS= 0.060,-1.418, 0.442, RAW= 161.2,  10.8, CAL= 161.3,  11.9, ROT= 348.7, -11.9

2025-10-26T21:34:03.721Z,1761514443.721 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-26T21:34:03.723Z,1761514443.723 [DAT](INFO): direction in FSK: [0.959540,-0.191735,0.206204]
2025-10-26T21:34:03.723Z,1761514443.723 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:03.733Z,1761514443.733 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.087524
2025-10-26T21:34:03.848Z,1761514443.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.400002 m,
      deltaT: 0.503987 s,
      deltaX: -0.500000 m,
      approachRate: -0.992089 m/s,
      rangeRepo size: 4

2025-10-26T21:34:03.850Z,1761514443.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.198624 m,
      bearing: 24.613533 deg,
      lat: 36.779402 deg,
      lon: -121.859466 deg,
      deltaT: 0.503987 s,
      deltaX: -0.496861 m,
      approachRate: -0.985860 m/s,
      posRepo size: 4

2025-10-26T21:34:03.851Z,1761514443.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.20 m.
2025-10-26T21:34:03.858Z,1761514443.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.198624 m,
      nav range: 31.716755 m,
      bearing: 24.739344 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.289015 deg/s,
      cmd heading: 28.622230 deg,
      new cmd heading: 28.197739 deg.

2025-10-26T21:34:03.859Z,1761514443.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.492143 target range: 32.198624 and range: 32.40 m.
2025-10-26T21:34:03.956Z,1761514443.956 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.311132
2025-10-26T21:34:04.210Z,1761514444.210 [DAT](INFO): DAT read: Rx Time:21:34:02.9677 

2025-10-26T21:34:04.210Z,1761514444.210 [DAT](INFO): Rx dataTimestamp_ set to:1761514444.209876
2025-10-26T21:34:04.213Z,1761514444.213 [DAT](INFO): DAT read: Bearing 186.3, -16.0 (Local)

2025-10-26T21:34:04.213Z,1761514444.213 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.3, -16.0 (Local)

2025-10-26T21:34:04.216Z,1761514444.216 [DAT](INFO): DAT read: Range 11 to 50 :    32.3 m (trip time 21.5 ms) speed 0.5

2025-10-26T21:34:04.221Z,1761514444.221 [DAT](INFO): DAT read: 21:34:02.9677 LVL= 32752, 32753, 26098, 32755, AGC= 67, IDX= 506,-0.19,-0.637,-2.069,-0.086,-0.642, PHS= 0.107,-1.382, 0.512, RAW= 161.7,   8.9, CAL= 161.5,   9.3, ROT= 348.5,  -9.3

2025-10-26T21:34:04.222Z,1761514444.222 [DAT](INFO): got valid direction response:
 21:34:02.9677 LVL= 32752, 32753, 26098, 32755, AGC= 67, IDX= 506,-0.19,-0.637,-2.069,-0.086,-0.642, PHS= 0.107,-1.382, 0.512, RAW= 161.7,   8.9, CAL= 161.5,   9.3, ROT= 348.5,  -9.3

2025-10-26T21:34:04.223Z,1761514444.223 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-10-26T21:34:04.248Z,1761514444.248 [DAT](INFO): direction in FSK: [0.967044,-0.196748,0.161604]
2025-10-26T21:34:04.248Z,1761514444.248 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:04.258Z,1761514444.258 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.612824
2025-10-26T21:34:04.373Z,1761514444.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.299999 m,
      deltaT: 0.503884 s,
      deltaX: -0.100002 m,
      approachRate: -0.198463 m/s,
      rangeRepo size: 4

2025-10-26T21:34:04.380Z,1761514444.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.099243 m,
      bearing: 23.946413 deg,
      lat: 36.779403 deg,
      lon: -121.859467 deg,
      deltaT: 0.503884 s,
      deltaX: -0.099380 m,
      approachRate: -0.197229 m/s,
      posRepo size: 4

2025-10-26T21:34:04.380Z,1761514444.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.10 m.
2025-10-26T21:34:04.383Z,1761514444.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.099243 m,
      nav range: 31.425655 m,
      bearing: 24.541011 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.289015 deg/s,
      cmd heading: 28.197739 deg,
      new cmd heading: 27.738727 deg.

2025-10-26T21:34:04.388Z,1761514444.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.484132 target range: 32.099243 and range: 32.30 m.
2025-10-26T21:34:04.463Z,1761514444.463 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.817106
2025-10-26T21:34:04.714Z,1761514444.714 [DAT](INFO): DAT read: Rx Time:21:34:03.4674 

2025-10-26T21:34:04.714Z,1761514444.714 [DAT](INFO): Rx dataTimestamp_ set to:1761514444.713937
2025-10-26T21:34:04.716Z,1761514444.716 [DAT](INFO): DAT read: Bearing 187.3, -16.6 (Local)

2025-10-26T21:34:04.717Z,1761514444.717 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.3, -16.6 (Local)

2025-10-26T21:34:04.719Z,1761514444.719 [DAT](INFO): DAT read: Range 11 to 50 :    31.8 m (trip time 21.2 ms) speed 0.4

2025-10-26T21:34:04.726Z,1761514444.726 [DAT](INFO): DAT read: 21:34:03.4674 LVL= 32752, 32753, 32322, 32755, AGC= 67, IDX= 503,-0.22,-1.147,-2.575,-0.591,-1.119, PHS= 0.074,-1.410, 0.485, RAW= 161.9,   9.9, CAL= 161.8,  10.7, ROT= 348.2, -10.7

2025-10-26T21:34:04.746Z,1761514444.746 [DAT](INFO): got valid direction response:
 21:34:03.4674 LVL= 32752, 32753, 32322, 32755, AGC= 67, IDX= 503,-0.22,-1.147,-2.575,-0.591,-1.119, PHS= 0.074,-1.410, 0.485, RAW= 161.9,   9.9, CAL= 161.8,  10.7, ROT= 348.2, -10.7

2025-10-26T21:34:04.746Z,1761514444.746 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-26T21:34:04.754Z,1761514444.754 [DAT](INFO): direction in FSK: [0.961848,-0.200940,0.185667]
2025-10-26T21:34:04.755Z,1761514444.755 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:04.767Z,1761514444.767 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.121600
2025-10-26T21:34:04.893Z,1761514444.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840153,-0.539305,-0.057384],[0.539648,0.820729,0.187577],[-0.054065,-0.188560,0.980572]]
2025-10-26T21:34:04.934Z,1761514444.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.799999 m,
      deltaT: 0.504061 s,
      deltaX: -0.500000 m,
      approachRate: -0.991943 m/s,
      rangeRepo size: 4

2025-10-26T21:34:04.936Z,1761514444.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.602348 m,
      bearing: 23.239323 deg,
      lat: 36.779403 deg,
      lon: -121.859467 deg,
      deltaT: 0.504061 s,
      deltaX: -0.496895 m,
      approachRate: -0.985783 m/s,
      posRepo size: 4

2025-10-26T21:34:04.937Z,1761514444.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.60 m.
2025-10-26T21:34:04.956Z,1761514444.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.602348 m,
      nav range: 31.147030 m,
      bearing: 24.555551 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.289015 deg/s,
      cmd heading: 27.738727 deg,
      new cmd heading: 27.252846 deg.

2025-10-26T21:34:04.957Z,1761514444.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.475652 target range: 31.602348 and range: 31.80 m.
2025-10-26T21:34:04.964Z,1761514444.964 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.319109
2025-10-26T21:34:05.217Z,1761514445.217 [DAT](INFO): DAT read: Rx Time:21:34:03.9673 

2025-10-26T21:34:05.217Z,1761514445.217 [DAT](INFO): Rx dataTimestamp_ set to:1761514445.217185
2025-10-26T21:34:05.219Z,1761514445.219 [DAT](INFO): DAT read: Bearing 189.7, -16.9 (Local)

2025-10-26T21:34:05.219Z,1761514445.219 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.7, -16.9 (Local)

2025-10-26T21:34:05.221Z,1761514445.221 [DAT](INFO): DAT read: Range 11 to 50 :    31.7 m (trip time 21.1 ms) speed 0.5

2025-10-26T21:34:05.226Z,1761514445.226 [DAT](INFO): DAT read: 21:34:03.9673 LVL= 32752, 32753, 30690, 32755, AGC= 68, IDX= 502,-0.19,-0.098,-1.523, 0.441,-0.021, PHS= 0.025,-1.457, 0.418, RAW= 161.5,  11.8, CAL= 161.7,  13.3, ROT= 348.3, -13.3

2025-10-26T21:34:05.227Z,1761514445.227 [DAT](INFO): got valid direction response:
 21:34:03.9673 LVL= 32752, 32753, 30690, 32755, AGC= 68, IDX= 502,-0.19,-0.098,-1.523, 0.441,-0.021, PHS= 0.025,-1.457, 0.418, RAW= 161.5,  11.8, CAL= 161.7,  13.3, ROT= 348.3, -13.3

2025-10-26T21:34:05.227Z,1761514445.227 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-26T21:34:05.228Z,1761514445.228 [DAT](INFO): direction in FSK: [0.952959,-0.197349,0.230050]
2025-10-26T21:34:05.229Z,1761514445.229 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:05.237Z,1761514445.237 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.591919
2025-10-26T21:34:05.291Z,1761514445.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843712,-0.533603,-0.058465],[0.534123,0.823662,0.190508],[-0.053501,-0.191961,0.979943]]
2025-10-26T21:34:05.370Z,1761514445.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.700001 m,
      deltaT: 0.503248 s,
      deltaX: -0.099998 m,
      approachRate: -0.198706 m/s,
      rangeRepo size: 4

2025-10-26T21:34:05.376Z,1761514445.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.502972 m,
      bearing: 23.539586 deg,
      lat: 36.779404 deg,
      lon: -121.859469 deg,
      deltaT: 0.503248 s,
      deltaX: -0.099377 m,
      approachRate: -0.197471 m/s,
      posRepo size: 4

2025-10-26T21:34:05.377Z,1761514445.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-10-26T21:34:05.384Z,1761514445.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.502972 m,
      nav range: 30.954912 m,
      bearing: 24.252972 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.289015 deg/s,
      cmd heading: 27.252846 deg,
      new cmd heading: 26.874658 deg.

2025-10-26T21:34:05.385Z,1761514445.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.469051 target range: 31.502972 and range: 31.70 m.
2025-10-26T21:34:05.472Z,1761514445.472 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.825792
2025-10-26T21:34:05.722Z,1761514445.722 [DAT](INFO): DAT read: Rx Time:21:34:04.4670 

2025-10-26T21:34:05.723Z,1761514445.723 [DAT](INFO): Rx dataTimestamp_ set to:1761514445.722450
2025-10-26T21:34:05.725Z,1761514445.725 [DAT](INFO): DAT read: Bearing 189.0, -16.3 (Local)

2025-10-26T21:34:05.725Z,1761514445.725 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.0, -16.3 (Local)

2025-10-26T21:34:05.729Z,1761514445.729 [DAT](INFO): DAT read: Range 11 to 50 :    31.2 m (trip time 20.8 ms) speed 0.5

2025-10-26T21:34:05.735Z,1761514445.735 [DAT](INFO): DAT read: 21:34:04.4670 LVL= 32752, 32753, 28466, 32755, AGC= 67, IDX= 499,-0.09, 3.105, 1.661,-2.656,-3.119, PHS= 0.043,-1.459, 0.419, RAW= 160.9,  11.6, CAL= 161.1,  13.0, ROT= 348.9, -13.0

2025-10-26T21:34:05.736Z,1761514445.736 [DAT](INFO): got valid direction response:
 21:34:04.4670 LVL= 32752, 32753, 28466, 32755, AGC= 67, IDX= 499,-0.09, 3.105, 1.661,-2.656,-3.119, PHS= 0.043,-1.459, 0.419, RAW= 160.9,  11.6, CAL= 161.1,  13.0, ROT= 348.9, -13.0

2025-10-26T21:34:05.737Z,1761514445.737 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-10-26T21:34:05.737Z,1761514445.737 [DAT](INFO): direction in FSK: [0.956142,-0.187588,0.224951]
2025-10-26T21:34:05.738Z,1761514445.738 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:05.785Z,1761514445.785 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.117866
2025-10-26T21:34:05.799Z,1761514445.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847506,-0.527399,-0.059862],[0.528134,0.826631,0.194311],[-0.052996,-0.196295,0.979112]]
2025-10-26T21:34:05.857Z,1761514445.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.200001 m,
      deltaT: 0.505265 s,
      deltaX: -0.500000 m,
      approachRate: -0.989580 m/s,
      rangeRepo size: 4

2025-10-26T21:34:05.863Z,1761514445.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.006060 m,
      bearing: 23.720659 deg,
      lat: 36.779404 deg,
      lon: -121.859474 deg,
      deltaT: 0.505265 s,
      deltaX: -0.496912 m,
      approachRate: -0.983468 m/s,
      posRepo size: 4

2025-10-26T21:34:05.864Z,1761514445.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.01 m.
2025-10-26T21:34:05.867Z,1761514445.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.006060 m,
      nav range: 30.489298 m,
      bearing: 23.599203 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.289015 deg/s,
      cmd heading: 26.874658 deg,
      new cmd heading: 26.452304 deg.

2025-10-26T21:34:05.872Z,1761514445.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.461680 target range: 31.006060 and range: 31.20 m.
2025-10-26T21:34:05.973Z,1761514445.973 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.327653
2025-10-26T21:34:06.205Z,1761514446.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:34:06.207Z,1761514446.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.01 m.
2025-10-26T21:34:06.210Z,1761514446.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.006060 m,
      nav range: 30.269253 m,
      bearing: 23.644445 deg,
      approach rate: -0.627812 m/s,
      LOS rate: 0.130018 deg/s,
      cmd heading: 26.452303 deg,
      new cmd heading: 26.589015 deg.

2025-10-26T21:34:06.211Z,1761514446.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.464066 target range: 31.006060 and range: 31.20 m.
2025-10-26T21:34:06.225Z,1761514446.225 [DAT](INFO): DAT read: Rx Time:21:34:04.9668 

2025-10-26T21:34:06.225Z,1761514446.225 [DAT](INFO): Rx dataTimestamp_ set to:1761514446.225193
2025-10-26T21:34:06.227Z,1761514446.227 [DAT](INFO): DAT read: Bearing 186.5, -14.9 (Local)

2025-10-26T21:34:06.227Z,1761514446.227 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.5, -14.9 (Local)

2025-10-26T21:34:06.229Z,1761514446.229 [DAT](INFO): DAT read: Range 11 to 50 :    31.1 m (trip time 20.7 ms) speed 0.7

2025-10-26T21:34:06.234Z,1761514446.234 [DAT](INFO): DAT read: 21:34:04.9668 LVL= 32752, 32753, 28370, 32755, AGC= 65, IDX= 497,-0.08, 2.420, 0.953, 2.919, 2.416, PHS= 0.106,-1.419, 0.458, RAW= 160.2,   9.9, CAL= 160.1,  10.7, ROT= 349.9, -10.7

2025-10-26T21:34:06.235Z,1761514446.235 [DAT](INFO): got valid direction response:
 21:34:04.9668 LVL= 32752, 32753, 28370, 32755, AGC= 65, IDX= 497,-0.08, 2.420, 0.953, 2.919, 2.416, PHS= 0.106,-1.419, 0.458, RAW= 160.2,   9.9, CAL= 160.1,  10.7, ROT= 349.9, -10.7

2025-10-26T21:34:06.243Z,1761514446.243 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-26T21:34:06.244Z,1761514446.244 [DAT](INFO): direction in FSK: [0.967385,-0.172318,0.185667]
2025-10-26T21:34:06.245Z,1761514446.245 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:06.248Z,1761514446.248 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.602948
2025-10-26T21:34:06.494Z,1761514446.494 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.848360
2025-10-26T21:34:06.691Z,1761514446.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855530,-0.514020,-0.062068],[0.515183,0.833212,0.200859],[-0.051530,-0.203817,0.977652]]
2025-10-26T21:34:06.745Z,1761514446.745 [DAT](INFO): DAT read: Rx Time:21:34:05.4664 

2025-10-26T21:34:06.746Z,1761514446.746 [DAT](INFO): Rx dataTimestamp_ set to:1761514446.745236
2025-10-26T21:34:06.747Z,1761514446.747 [DAT](INFO): DAT read: Bearing 189.1, -15.1 (Local)

2025-10-26T21:34:06.747Z,1761514446.747 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.1, -15.1 (Local)

2025-10-26T21:34:06.749Z,1761514446.749 [DAT](INFO): DAT read: Range 11 to 50 :    30.3 m (trip time 20.2 ms) speed 0.4

2025-10-26T21:34:06.756Z,1761514446.756 [DAT](INFO): DAT read: 21:34:05.4664 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510,-0.35,-2.661, 2.175,-2.190,-2.609, PHS= 0.050,-1.454, 0.375, RAW= 159.6,  12.1, CAL= 159.9,  13.7, ROT= 350.1, -13.7

2025-10-26T21:34:06.757Z,1761514446.757 [DAT](INFO): got valid direction response:
 21:34:05.4664 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510,-0.35,-2.661, 2.175,-2.190,-2.609, PHS= 0.050,-1.454, 0.375, RAW= 159.6,  12.1, CAL= 159.9,  13.7, ROT= 350.1, -13.7

2025-10-26T21:34:06.757Z,1761514446.757 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-10-26T21:34:06.758Z,1761514446.758 [DAT](INFO): direction in FSK: [0.957082,-0.167037,0.236838]
2025-10-26T21:34:06.759Z,1761514446.759 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:06.762Z,1761514446.762 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.116959
2025-10-26T21:34:06.871Z,1761514446.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.299999 m,
      deltaT: 1.022786 s,
      deltaX: -0.900002 m,
      approachRate: -0.879951 m/s,
      rangeRepo size: 4

2025-10-26T21:34:06.874Z,1761514446.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.111540 m,
      bearing: 24.280098 deg,
      lat: 36.779404 deg,
      lon: -121.859474 deg,
      deltaT: 1.022786 s,
      deltaX: -0.894520 m,
      approachRate: -0.874591 m/s,
      posRepo size: 4

2025-10-26T21:34:06.874Z,1761514446.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.11 m.
2025-10-26T21:34:06.881Z,1761514446.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.111540 m,
      nav range: 29.896521 m,
      bearing: 23.761167 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.130018 deg/s,
      cmd heading: 26.589015 deg,
      new cmd heading: 26.846287 deg.

2025-10-26T21:34:06.882Z,1761514446.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.468556 target range: 30.111540 and range: 30.30 m.
2025-10-26T21:34:06.997Z,1761514446.997 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.351188
2025-10-26T21:34:07.250Z,1761514447.250 [DAT](INFO): DAT read: Rx Time:21:34:05.9663 

2025-10-26T21:34:07.250Z,1761514447.250 [DAT](INFO): Rx dataTimestamp_ set to:1761514447.249859
2025-10-26T21:34:07.252Z,1761514447.252 [DAT](INFO): DAT read: Bearing 185.4, -14.5 (Local)

2025-10-26T21:34:07.253Z,1761514447.253 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.4, -14.5 (Local)

2025-10-26T21:34:07.259Z,1761514447.259 [DAT](INFO): DAT read: Range 11 to 50 :    30.2 m (trip time 20.1 ms) speed 0.4

2025-10-26T21:34:07.298Z,1761514447.298 [DAT](INFO): DAT read: 21:34:05.9663 LVL= 32096, 32753, 28050, 32755, AGC= 65, IDX= 509,-0.26,-1.920, 2.880,-1.427,-1.935, PHS= 0.117,-1.423, 0.464, RAW= 160.0,   9.7, CAL= 159.9,  10.4, ROT= 350.1, -10.4

2025-10-26T21:34:07.300Z,1761514447.300 [DAT](INFO): got valid direction response:
 21:34:05.9663 LVL= 32096, 32753, 28050, 32755, AGC= 65, IDX= 509,-0.26,-1.920, 2.880,-1.427,-1.935, PHS= 0.117,-1.423, 0.464, RAW= 160.0,   9.7, CAL= 159.9,  10.4, ROT= 350.1, -10.4

2025-10-26T21:34:07.301Z,1761514447.301 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-26T21:34:07.302Z,1761514447.302 [DAT](INFO): direction in FSK: [0.968925,-0.169104,0.180519]
2025-10-26T21:34:07.302Z,1761514447.302 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:07.306Z,1761514447.306 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.660516
2025-10-26T21:34:07.346Z,1761514447.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863668,-0.500183,-0.062402],[0.501585,0.840561,0.204621],[-0.049895,-0.208024,0.976850]]
2025-10-26T21:34:07.392Z,1761514447.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.200001 m,
      deltaT: 0.504623 s,
      deltaX: -0.099998 m,
      approachRate: -0.198165 m/s,
      rangeRepo size: 4

2025-10-26T21:34:07.394Z,1761514447.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.012163 m,
      bearing: 22.703797 deg,
      lat: 36.779404 deg,
      lon: -121.859474 deg,
      deltaT: 0.504623 s,
      deltaX: -0.099377 m,
      approachRate: -0.196933 m/s,
      posRepo size: 4

2025-10-26T21:34:07.395Z,1761514447.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.01 m.
2025-10-26T21:34:07.402Z,1761514447.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.012163 m,
      nav range: 29.593925 m,
      bearing: 23.864501 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.130018 deg/s,
      cmd heading: 26.846287 deg,
      new cmd heading: 27.049458 deg.

2025-10-26T21:34:07.403Z,1761514447.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.472102 target range: 30.012163 and range: 30.20 m.
2025-10-26T21:34:07.504Z,1761514447.504 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.857644
2025-10-26T21:34:07.741Z,1761514447.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867160,-0.494039,-0.062925],[0.495665,0.843828,0.205598],[-0.048476,-0.209476,0.976611]]
2025-10-26T21:34:07.753Z,1761514447.753 [DAT](INFO): DAT read: Rx Time:21:34:06.4660 

2025-10-26T21:34:07.753Z,1761514447.753 [DAT](INFO): Rx dataTimestamp_ set to:1761514447.753190
2025-10-26T21:34:07.755Z,1761514447.755 [DAT](INFO): DAT read: Bearing 186.9, -15.0 (Local)

2025-10-26T21:34:07.755Z,1761514447.755 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.9, -15.0 (Local)

2025-10-26T21:34:07.757Z,1761514447.757 [DAT](INFO): DAT read: Range 11 to 50 :    29.7 m (trip time 19.8 ms) speed 0.5

2025-10-26T21:34:07.770Z,1761514447.770 [DAT](INFO): DAT read: 21:34:06.4660 LVL= 32752, 32753, 27474, 32755, AGC= 65, IDX= 506,-0.26,-2.218, 2.577,-1.722,-2.190, PHS= 0.074,-1.471, 0.425, RAW= 160.0,  11.1, CAL= 160.1,  12.3, ROT= 349.9, -12.3

2025-10-26T21:34:07.771Z,1761514447.771 [DAT](INFO): got valid direction response:
 21:34:06.4660 LVL= 32752, 32753, 27474, 32755, AGC= 65, IDX= 506,-0.26,-2.218, 2.577,-1.722,-2.190, PHS= 0.074,-1.471, 0.425, RAW= 160.0,  11.1, CAL= 160.1,  12.3, ROT= 349.9, -12.3

2025-10-26T21:34:07.803Z,1761514447.803 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-26T21:34:07.804Z,1761514447.804 [DAT](INFO): direction in FSK: [0.961904,-0.171341,0.213030]
2025-10-26T21:34:07.805Z,1761514447.805 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:07.825Z,1761514447.825 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.179207
2025-10-26T21:34:07.867Z,1761514447.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.503331 s,
      deltaX: -0.500000 m,
      approachRate: -0.993382 m/s,
      rangeRepo size: 4

2025-10-26T21:34:07.873Z,1761514447.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.515165 m,
      bearing: 22.553041 deg,
      lat: 36.779404 deg,
      lon: -121.859474 deg,
      deltaT: 0.503331 s,
      deltaX: -0.496998 m,
      approachRate: -0.987418 m/s,
      posRepo size: 4

2025-10-26T21:34:07.874Z,1761514447.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.52 m.
2025-10-26T21:34:07.881Z,1761514447.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.515165 m,
      nav range: 29.253277 m,
      bearing: 24.009940 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.130018 deg/s,
      cmd heading: 27.049458 deg,
      new cmd heading: 27.236173 deg.

2025-10-26T21:34:07.882Z,1761514447.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.475361 target range: 29.515165 and range: 29.70 m.
2025-10-26T21:34:08.005Z,1761514448.005 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.359354
2025-10-26T21:34:08.186Z,1761514448.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870826,-0.487397,-0.064075],[0.489340,0.846988,0.207745],[-0.046983,-0.212265,0.976082]]
2025-10-26T21:34:08.205Z,1761514448.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.52 m.
2025-10-26T21:34:08.208Z,1761514448.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.515165 m,
      nav range: 29.047691 m,
      bearing: 24.074283 deg,
      approach rate: -0.606785 m/s,
      LOS rate: 0.191250 deg/s,
      cmd heading: 27.236173 deg,
      new cmd heading: 27.430566 deg.

2025-10-26T21:34:08.209Z,1761514448.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.478754 target range: 29.515165 and range: 29.70 m.
2025-10-26T21:34:08.258Z,1761514448.258 [DAT](INFO): DAT read: Rx Time:21:34:06.9660 

2025-10-26T21:34:08.259Z,1761514448.259 [DAT](INFO): Rx dataTimestamp_ set to:1761514448.258605
2025-10-26T21:34:08.261Z,1761514448.261 [DAT](INFO): DAT read: Bearing 183.9, -13.6 (Local)

2025-10-26T21:34:08.261Z,1761514448.261 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.9, -13.6 (Local)

2025-10-26T21:34:08.265Z,1761514448.265 [DAT](INFO): DAT read: Range 11 to 50 :    29.7 m (trip time 19.8 ms) speed 0.4

2025-10-26T21:34:08.270Z,1761514448.270 [DAT](INFO): DAT read: 21:34:06.9660 LVL= 28976, 29809, 26258, 32755, AGC= 64, IDX= 505,-0.08,-1.581,-3.094,-1.104,-1.628, PHS= 0.148,-1.421, 0.479, RAW= 159.4,   9.1, CAL= 159.2,   9.6, ROT= 350.8,  -9.6

2025-10-26T21:34:08.271Z,1761514448.271 [DAT](INFO): got valid direction response:
 21:34:06.9660 LVL= 28976, 29809, 26258, 32755, AGC= 64, IDX= 505,-0.08,-1.581,-3.094,-1.104,-1.628, PHS= 0.148,-1.421, 0.479, RAW= 159.4,   9.1, CAL= 159.2,   9.6, ROT= 350.8,  -9.6

2025-10-26T21:34:08.309Z,1761514448.309 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-10-26T21:34:08.311Z,1761514448.311 [DAT](INFO): direction in FSK: [0.973312,-0.157642,0.166769]
2025-10-26T21:34:08.324Z,1761514448.324 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:08.328Z,1761514448.328 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.682953
2025-10-26T21:34:08.511Z,1761514448.511 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.865486
2025-10-26T21:34:08.602Z,1761514448.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874315,-0.480989,-0.064980],[0.483224,0.850093,0.209372],[-0.045467,-0.214457,0.975675]]
2025-10-26T21:34:08.650Z,1761514448.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.505415 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:34:08.652Z,1761514448.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.515198 m,
      bearing: 22.062264 deg,
      lat: 36.779404 deg,
      lon: -121.859480 deg,
      deltaT: 0.505415 s,
      deltaX: 0.000032 m,
      approachRate: 0.000064 m/s,
      posRepo size: 4

2025-10-26T21:34:08.652Z,1761514448.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.52 m.
2025-10-26T21:34:08.655Z,1761514448.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.515198 m,
      nav range: 28.578451 m,
      bearing: 23.117894 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.191250 deg/s,
      cmd heading: 27.430566 deg,
      new cmd heading: 27.685271 deg.

2025-10-26T21:34:08.672Z,1761514448.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.483199 target range: 29.515198 and range: 29.70 m.
2025-10-26T21:34:08.761Z,1761514448.761 [DAT](INFO): DAT read: Rx Time:21:34:07.4657 

2025-10-26T21:34:08.762Z,1761514448.762 [DAT](INFO): Rx dataTimestamp_ set to:1761514448.761282
2025-10-26T21:34:08.763Z,1761514448.763 [DAT](INFO): DAT read: Bearing 188.1, -14.6 (Local)

2025-10-26T21:34:08.763Z,1761514448.763 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.1, -14.6 (Local)

2025-10-26T21:34:08.765Z,1761514448.765 [DAT](INFO): DAT read: Range 11 to 50 :    29.3 m (trip time 19.5 ms) speed 0.4

2025-10-26T21:34:08.770Z,1761514448.770 [DAT](INFO): DAT read: 21:34:07.4657 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 502, 0.07,-1.874, 2.900,-1.403,-1.822, PHS= 0.050,-1.517, 0.375, RAW= 159.2,  12.4, CAL= 159.6,  14.0, ROT= 350.4, -14.0

2025-10-26T21:34:08.773Z,1761514448.773 [DAT](INFO): got valid direction response:
 21:34:07.4657 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 502, 0.07,-1.874, 2.900,-1.403,-1.822, PHS= 0.050,-1.517, 0.375, RAW= 159.2,  12.4, CAL= 159.6,  14.0, ROT= 350.4, -14.0

2025-10-26T21:34:08.773Z,1761514448.773 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-10-26T21:34:08.774Z,1761514448.774 [DAT](INFO): direction in FSK: [0.956708,-0.161815,0.241922]
2025-10-26T21:34:08.775Z,1761514448.775 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:08.778Z,1761514448.778 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.132957
2025-10-26T21:34:09.003Z,1761514449.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876883,-0.476168,-0.065879],[0.478749,0.852733,0.208917],[-0.043302,-0.214735,0.975712]]
2025-10-26T21:34:09.013Z,1761514449.013 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.367211
2025-10-26T21:34:09.105Z,1761514449.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.299999 m,
      deltaT: 0.502677 s,
      deltaX: -0.400002 m,
      approachRate: -0.795743 m/s,
      rangeRepo size: 4

2025-10-26T21:34:09.107Z,1761514449.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.117685 m,
      bearing: 22.378876 deg,
      lat: 36.779405 deg,
      lon: -121.859483 deg,
      deltaT: 0.502677 s,
      deltaX: -0.397512 m,
      approachRate: -0.790791 m/s,
      posRepo size: 4

2025-10-26T21:34:09.111Z,1761514449.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.12 m.
2025-10-26T21:34:09.114Z,1761514449.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.117685 m,
      nav range: 28.377281 m,
      bearing: 22.554060 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.191250 deg/s,
      cmd heading: 27.685272 deg,
      new cmd heading: 27.946394 deg.

2025-10-26T21:34:09.115Z,1761514449.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.487757 target range: 29.117685 and range: 29.30 m.
2025-10-26T21:34:09.266Z,1761514449.266 [DAT](INFO): DAT read: Rx Time:21:34:07.9656 

2025-10-26T21:34:09.267Z,1761514449.267 [DAT](INFO): Rx dataTimestamp_ set to:1761514449.266611
2025-10-26T21:34:09.269Z,1761514449.269 [DAT](INFO): DAT read: Bearing 185.2, -13.8 (Local)

2025-10-26T21:34:09.269Z,1761514449.269 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.2, -13.8 (Local)

2025-10-26T21:34:09.272Z,1761514449.272 [DAT](INFO): DAT read: Range 11 to 50 :    29.1 m (trip time 19.4 ms) speed 0.4

2025-10-26T21:34:09.277Z,1761514449.277 [DAT](INFO): DAT read: 21:34:07.9656 LVL= 31904, 32753, 29314, 32755, AGC= 65, IDX= 501, 0.47,-1.956, 2.797,-1.480,-1.965, PHS= 0.111,-1.477, 0.441, RAW= 159.3,  10.4, CAL= 159.3,  11.4, ROT= 350.7, -11.4

2025-10-26T21:34:09.278Z,1761514449.278 [DAT](INFO): got valid direction response:
 21:34:07.9656 LVL= 31904, 32753, 29314, 32755, AGC= 65, IDX= 501, 0.47,-1.956, 2.797,-1.480,-1.965, PHS= 0.111,-1.477, 0.441, RAW= 159.3,  10.4, CAL= 159.3,  11.4, ROT= 350.7, -11.4

2025-10-26T21:34:09.278Z,1761514449.278 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-10-26T21:34:09.279Z,1761514449.279 [DAT](INFO): direction in FSK: [0.967386,-0.158415,0.197657]
2025-10-26T21:34:09.279Z,1761514449.279 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:09.283Z,1761514449.283 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.637548
2025-10-26T21:34:09.406Z,1761514449.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878936,-0.472414,-0.065545],[0.475177,0.855576,0.205419],[-0.040964,-0.211695,0.976477]]
2025-10-26T21:34:09.440Z,1761514449.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.100000 m,
      deltaT: 0.505329 s,
      deltaX: -0.199999 m,
      approachRate: -0.395779 m/s,
      rangeRepo size: 4

2025-10-26T21:34:09.442Z,1761514449.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.918930 m,
      bearing: 21.795171 deg,
      lat: 36.779407 deg,
      lon: -121.859483 deg,
      deltaT: 0.505329 s,
      deltaX: -0.198755 m,
      approachRate: -0.393319 m/s,
      posRepo size: 4

2025-10-26T21:34:09.443Z,1761514449.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:34:09.446Z,1761514449.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.918930 m,
      nav range: 28.337399 m,
      bearing: 22.423191 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.191250 deg/s,
      cmd heading: 27.946393 deg,
      new cmd heading: 28.138890 deg.

2025-10-26T21:34:09.447Z,1761514449.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.491116 target range: 28.918930 and range: 29.10 m.
2025-10-26T21:34:09.520Z,1761514449.520 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.873809
2025-10-26T21:34:09.769Z,1761514449.769 [DAT](INFO): DAT read: Rx Time:21:34:08.4654 

2025-10-26T21:34:09.769Z,1761514449.769 [DAT](INFO): Rx dataTimestamp_ set to:1761514449.769174
2025-10-26T21:34:09.771Z,1761514449.771 [DAT](INFO): DAT read: Bearing 189.3, -13.8 (Local)

2025-10-26T21:34:09.771Z,1761514449.771 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.3, -13.8 (Local)

2025-10-26T21:34:09.773Z,1761514449.773 [DAT](INFO): DAT read: Range 11 to 50 :    28.8 m (trip time 19.2 ms) speed 0.5

2025-10-26T21:34:09.792Z,1761514449.792 [DAT](INFO): DAT read: 21:34:08.4654 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 499,-0.16, 1.734, 0.213, 2.170, 1.798, PHS= 0.038,-1.540, 0.329, RAW= 158.3,  13.4, CAL= 158.8,  15.3, ROT= 351.2, -15.3

2025-10-26T21:34:09.793Z,1761514449.793 [DAT](INFO): got valid direction response:
 21:34:08.4654 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 499,-0.16, 1.734, 0.213, 2.170, 1.798, PHS= 0.038,-1.540, 0.329, RAW= 158.3,  13.4, CAL= 158.8,  15.3, ROT= 351.2, -15.3

2025-10-26T21:34:09.793Z,1761514449.793 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-10-26T21:34:09.794Z,1761514449.794 [DAT](INFO): direction in FSK: [0.953203,-0.147563,0.263873]
2025-10-26T21:34:09.794Z,1761514449.794 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:09.810Z,1761514449.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880205,-0.470102,-0.065138],[0.473030,0.857872,0.200744],[-0.038490,-0.207508,0.977476]]
2025-10-26T21:34:09.846Z,1761514449.846 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.200861
2025-10-26T21:34:09.931Z,1761514449.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.799999 m,
      deltaT: 0.502563 s,
      deltaX: -0.300001 m,
      approachRate: -0.596942 m/s,
      rangeRepo size: 4

2025-10-26T21:34:09.934Z,1761514449.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.620874 m,
      bearing: 22.944663 deg,
      lat: 36.779405 deg,
      lon: -121.859483 deg,
      deltaT: 0.502563 s,
      deltaX: -0.298056 m,
      approachRate: -0.593071 m/s,
      posRepo size: 4

2025-10-26T21:34:09.934Z,1761514449.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.62 m.
2025-10-26T21:34:09.941Z,1761514449.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.620874 m,
      nav range: 27.872023 m,
      bearing: 22.557446 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.191250 deg/s,
      cmd heading: 28.138890 deg,
      new cmd heading: 28.413754 deg.

2025-10-26T21:34:09.942Z,1761514449.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.495914 target range: 28.620874 and range: 28.80 m.
2025-10-26T21:34:10.020Z,1761514450.020 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.375109
2025-10-26T21:34:10.218Z,1761514450.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880979,-0.468748,-0.064428],[0.471785,0.859897,0.194926],[-0.035969,-0.202122,0.978699]]
2025-10-26T21:34:10.234Z,1761514450.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:34:10.237Z,1761514450.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.62 m.
2025-10-26T21:34:10.240Z,1761514450.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.620874 m,
      nav range: 27.674261 m,
      bearing: 22.543801 deg,
      approach rate: -0.621700 m/s,
      LOS rate: -0.043204 deg/s,
      cmd heading: 28.413754 deg,
      new cmd heading: 28.372525 deg.

2025-10-26T21:34:10.241Z,1761514450.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.495194 target range: 28.620874 and range: 28.80 m.
2025-10-26T21:34:10.274Z,1761514450.274 [DAT](INFO): DAT read: Rx Time:21:34:08.9652 

2025-10-26T21:34:10.274Z,1761514450.274 [DAT](INFO): Rx dataTimestamp_ set to:1761514450.273944
2025-10-26T21:34:10.276Z,1761514450.276 [DAT](INFO): DAT read: Bearing 185.0, -12.9 (Local)

2025-10-26T21:34:10.277Z,1761514450.277 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.0, -12.9 (Local)

2025-10-26T21:34:10.280Z,1761514450.280 [DAT](INFO): DAT read: Range 11 to 50 :    28.5 m (trip time 19.0 ms) speed 0.4

2025-10-26T21:34:10.286Z,1761514450.286 [DAT](INFO): DAT read: 21:34:08.9652 LVL= 32752, 32753, 29410, 32755, AGC= 65, IDX= 497, 0.22, 1.770, 0.204, 2.237, 1.744, PHS= 0.129,-1.495, 0.450, RAW= 158.8,  10.2, CAL= 158.8,  11.0, ROT= 351.2, -11.0

2025-10-26T21:34:10.288Z,1761514450.288 [DAT](INFO): got valid direction response:
 21:34:08.9652 LVL= 32752, 32753, 29410, 32755, AGC= 65, IDX= 497, 0.22, 1.770, 0.204, 2.237, 1.744, PHS= 0.129,-1.495, 0.450, RAW= 158.8,  10.2, CAL= 158.8,  11.0, ROT= 351.2, -11.0

2025-10-26T21:34:10.289Z,1761514450.289 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-10-26T21:34:10.290Z,1761514450.290 [DAT](INFO): direction in FSK: [0.970072,-0.150175,0.190809]
2025-10-26T21:34:10.291Z,1761514450.291 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:10.306Z,1761514450.306 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.660211
2025-10-26T21:34:10.527Z,1761514450.527 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.881134
2025-10-26T21:34:10.679Z,1761514450.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.500000 m,
      deltaT: 0.504770 s,
      deltaX: -0.299999 m,
      approachRate: -0.594329 m/s,
      rangeRepo size: 4

2025-10-26T21:34:10.681Z,1761514450.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.322811 m,
      bearing: 21.835997 deg,
      lat: 36.779408 deg,
      lon: -121.859484 deg,
      deltaT: 0.504770 s,
      deltaX: -0.298063 m,
      approachRate: -0.590493 m/s,
      posRepo size: 4

2025-10-26T21:34:10.682Z,1761514450.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.32 m.
2025-10-26T21:34:10.685Z,1761514450.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.322811 m,
      nav range: 27.735235 m,
      bearing: 22.017228 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.043204 deg/s,
      cmd heading: 28.372524 deg,
      new cmd heading: 28.315294 deg.

2025-10-26T21:34:10.686Z,1761514450.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.494195 target range: 28.322811 and range: 28.50 m.
2025-10-26T21:34:10.777Z,1761514450.777 [DAT](INFO): DAT read: Rx Time:21:34:09.4649 

2025-10-26T21:34:10.778Z,1761514450.778 [DAT](INFO): Rx dataTimestamp_ set to:1761514450.777280
2025-10-26T21:34:10.779Z,1761514450.779 [DAT](INFO): DAT read: Bearing 191.4, -12.8 (Local)

2025-10-26T21:34:10.779Z,1761514450.779 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.4, -12.8 (Local)

2025-10-26T21:34:10.781Z,1761514450.781 [DAT](INFO): DAT read: Range 11 to 50 :    28.1 m (trip time 18.7 ms) speed 0.4

2025-10-26T21:34:10.791Z,1761514450.791 [DAT](INFO): DAT read: 21:34:09.4649 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 511,-0.35,-1.130,-2.657,-0.734,-1.040, PHS= 0.012,-1.572, 0.262, RAW= 157.2,  14.9, CAL= 157.9,  17.2, ROT= 352.1, -17.2

2025-10-26T21:34:10.833Z,1761514450.833 [DAT](INFO): got valid direction response:
 21:34:09.4649 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 511,-0.35,-1.130,-2.657,-0.734,-1.040, PHS= 0.012,-1.572, 0.262, RAW= 157.2,  14.9, CAL= 157.9,  17.2, ROT= 352.1, -17.2

2025-10-26T21:34:10.834Z,1761514450.834 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-10-26T21:34:10.853Z,1761514450.853 [DAT](INFO): direction in FSK: [0.946212,-0.131298,0.295708]
2025-10-26T21:34:10.855Z,1761514450.855 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:10.885Z,1761514450.885 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.239933
2025-10-26T21:34:11.023Z,1761514451.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880095,-0.470499,-0.063741],[0.473765,0.861386,0.183195],[-0.031288,-0.191428,0.981008]]
2025-10-26T21:34:11.029Z,1761514451.029 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.383351
2025-10-26T21:34:11.125Z,1761514451.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.100000 m,
      deltaT: 0.503336 s,
      deltaX: -0.400000 m,
      approachRate: -0.794697 m/s,
      rangeRepo size: 4

2025-10-26T21:34:11.127Z,1761514451.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.925299 m,
      bearing: 23.971459 deg,
      lat: 36.779405 deg,
      lon: -121.859484 deg,
      deltaT: 0.503336 s,
      deltaX: -0.397512 m,
      approachRate: -0.789756 m/s,
      posRepo size: 4

2025-10-26T21:34:11.132Z,1761514451.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.93 m.
2025-10-26T21:34:11.135Z,1761514451.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.925299 m,
      nav range: 27.133732 m,
      bearing: 22.266036 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.043204 deg/s,
      cmd heading: 28.315294 deg,
      new cmd heading: 28.257473 deg.

2025-10-26T21:34:11.140Z,1761514451.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.493186 target range: 27.925299 and range: 28.10 m.
2025-10-26T21:34:11.281Z,1761514451.281 [DAT](INFO): DAT read: Rx Time:21:34:09.9649 

2025-10-26T21:34:11.282Z,1761514451.282 [DAT](INFO): Rx dataTimestamp_ set to:1761514451.281338
2025-10-26T21:34:11.283Z,1761514451.283 [DAT](INFO): DAT read: Bearing 188.9, -13.2 (Local)

2025-10-26T21:34:11.284Z,1761514451.284 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.9, -13.2 (Local)

2025-10-26T21:34:11.286Z,1761514451.286 [DAT](INFO): DAT read: Range 11 to 50 :    28.1 m (trip time 18.7 ms) speed 0.4

2025-10-26T21:34:11.290Z,1761514451.290 [DAT](INFO): DAT read: 21:34:09.9649 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 510,-0.06, 0.924,-0.628, 1.375, 0.979, PHS= 0.048,-1.562, 0.352, RAW= 158.5,  13.0, CAL= 159.0,  14.7, ROT= 351.0, -14.7

2025-10-26T21:34:11.292Z,1761514451.292 [DAT](INFO): got valid direction response:
 21:34:09.9649 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 510,-0.06, 0.924,-0.628, 1.375, 0.979, PHS= 0.048,-1.562, 0.352, RAW= 158.5,  13.0, CAL= 159.0,  14.7, ROT= 351.0, -14.7

2025-10-26T21:34:11.292Z,1761514451.292 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-10-26T21:34:11.293Z,1761514451.293 [DAT](INFO): direction in FSK: [0.955359,-0.151314,0.253758]
2025-10-26T21:34:11.293Z,1761514451.293 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:11.301Z,1761514451.301 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.656008
2025-10-26T21:34:11.444Z,1761514451.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879088,-0.472516,-0.062719],[0.475743,0.861608,0.176919],[-0.029558,-0.185365,0.982225]]
2025-10-26T21:34:11.500Z,1761514451.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.100000 m,
      deltaT: 0.504058 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:34:11.502Z,1761514451.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.925299 m,
      bearing: 22.397722 deg,
      lat: 36.779406 deg,
      lon: -121.859482 deg,
      deltaT: 0.504058 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:34:11.503Z,1761514451.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.93 m.
2025-10-26T21:34:11.514Z,1761514451.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.925299 m,
      nav range: 27.045332 m,
      bearing: 22.397657 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.043204 deg/s,
      cmd heading: 28.257473 deg,
      new cmd heading: 28.209984 deg.

2025-10-26T21:34:11.515Z,1761514451.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.492357 target range: 27.925299 and range: 28.10 m.
2025-10-26T21:34:11.538Z,1761514451.538 [DAT](INFO): DAT read: Rx Time:21:34:10.4646 

2025-10-26T21:34:11.540Z,1761514451.540 [DAT](INFO): Rx dataTimestamp_ set to:1761514451.538949
2025-10-26T21:34:11.545Z,1761514451.545 [DAT](INFO): DAT read: Bearing 190.1, -13.5 (Local)

2025-10-26T21:34:11.547Z,1761514451.547 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.1, -13.5 (Local)

2025-10-26T21:34:11.550Z,1761514451.550 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.904013
2025-10-26T21:34:11.786Z,1761514451.786 [DAT](INFO): DAT read: Range 11 to 50 :    27.6 m (trip time 18.4 ms) speed 0.4

2025-10-26T21:34:11.790Z,1761514451.790 [DAT](INFO): DAT read: 21:34:10.4646 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 507,-0.05, 2.231, 0.708, 2.683, 2.315, PHS= 0.018,-1.563, 0.324, RAW= 158.7,  13.8, CAL= 159.3,  15.9, ROT= 350.7, -15.9

2025-10-26T21:34:11.792Z,1761514451.792 [DAT](INFO): got valid direction response:
 21:34:10.4646 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 507,-0.05, 2.231, 0.708, 2.683, 2.315, PHS= 0.018,-1.563, 0.324, RAW= 158.7,  13.8, CAL= 159.3,  15.9, ROT= 350.7, -15.9

2025-10-26T21:34:11.792Z,1761514451.792 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-10-26T21:34:11.793Z,1761514451.793 [DAT](INFO): direction in FSK: [0.949100,-0.155421,0.273959]
2025-10-26T21:34:11.793Z,1761514451.793 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:11.797Z,1761514451.797 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.151392
2025-10-26T21:34:11.912Z,1761514451.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877797,-0.475048,-0.061658],[0.478260,0.861783,0.169108],[-0.027199,-0.177931,0.983667]]
2025-10-26T21:34:11.962Z,1761514451.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.600000 m,
      deltaT: 0.502411 s,
      deltaX: -0.500000 m,
      approachRate: -0.995201 m/s,
      rangeRepo size: 4

2025-10-26T21:34:11.965Z,1761514451.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.428305 m,
      bearing: 22.369812 deg,
      lat: 36.779403 deg,
      lon: -121.859482 deg,
      deltaT: 0.502411 s,
      deltaX: -0.496994 m,
      approachRate: -0.989218 m/s,
      posRepo size: 4

2025-10-26T21:34:11.965Z,1761514451.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.43 m.
2025-10-26T21:34:11.968Z,1761514451.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.428305 m,
      nav range: 26.446110 m,
      bearing: 22.562677 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.043204 deg/s,
      cmd heading: 28.209984 deg,
      new cmd heading: 28.148937 deg.

2025-10-26T21:34:11.969Z,1761514451.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.491292 target range: 27.428305 and range: 27.60 m.
2025-10-26T21:34:12.043Z,1761514452.043 [DAT](INFO): DAT read: Rx Time:21:34:10.9645 

2025-10-26T21:34:12.044Z,1761514452.044 [DAT](INFO): Rx dataTimestamp_ set to:1761514452.043451
2025-10-26T21:34:12.048Z,1761514452.048 [DAT](INFO): DAT read: Bearing 184.0, -11.8 (Local)

2025-10-26T21:34:12.049Z,1761514452.049 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.0, -11.8 (Local)

2025-10-26T21:34:12.054Z,1761514452.054 [DAT](INFO): DAT read: Range 11 to 50 :    27.5 m (trip time 18.3 ms) speed 0.6

2025-10-26T21:34:12.059Z,1761514452.059 [DAT](ERROR): #Rx 27: Read range message, but no direction.
2025-10-26T21:34:12.063Z,1761514452.063 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.416291
2025-10-26T21:34:12.292Z,1761514452.292 [DAT](INFO): DAT read: 21:34:10.9645 LVL= 29280, 31217, 23922, 32755, AGC= 65, IDX= 506, 0.22,-2.468, 2.277,-2.004,-2.527, PHS= 0.161,-1.434, 0.479, RAW= 158.9,   9.0, CAL= 158.7,   9.5, ROT= 351.3,  -9.5

2025-10-26T21:34:12.293Z,1761514452.293 [DAT](INFO): got valid direction response:
 21:34:10.9645 LVL= 29280, 31217, 23922, 32755, AGC= 65, IDX= 506, 0.22,-2.468, 2.277,-2.004,-2.527, PHS= 0.161,-1.434, 0.479, RAW= 158.9,   9.0, CAL= 158.7,   9.5, ROT= 351.3,  -9.5

2025-10-26T21:34:12.293Z,1761514452.293 [DAT](INFO): #Rx 28: Read direction message, but no range.
2025-10-26T21:34:12.294Z,1761514452.294 [DAT](INFO): direction in FSK: [0.974937,-0.149187,0.165048]
2025-10-26T21:34:12.298Z,1761514452.298 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.652632
2025-10-26T21:34:12.386Z,1761514452.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.500000 m,
      deltaT: 0.259702 s,
      deltaX: -0.100000 m,
      approachRate: -0.385058 m/s,
      rangeRepo size: 4

2025-10-26T21:34:12.388Z,1761514452.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.328926 m,
      bearing: 21.748672 deg,
      lat: 36.779406 deg,
      lon: -121.859482 deg,
      deltaT: 0.259702 s,
      deltaX: -0.099379 m,
      approachRate: -0.382664 m/s,
      posRepo size: 4

2025-10-26T21:34:12.389Z,1761514452.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.33 m.
2025-10-26T21:34:12.391Z,1761514452.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.328926 m,
      nav range: 26.480473 m,
      bearing: 22.168509 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.043204 deg/s,
      cmd heading: 28.148938 deg,
      new cmd heading: 28.094077 deg.

2025-10-26T21:34:12.392Z,1761514452.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.490334 target range: 27.328926 and range: 27.50 m.
2025-10-26T21:34:12.560Z,1761514452.560 [DAT](INFO): DAT read: Rx Time:21:34:11.4642 

2025-10-26T21:34:12.562Z,1761514452.562 [DAT](INFO): Rx dataTimestamp_ set to:1761514452.560876
2025-10-26T21:34:12.568Z,1761514452.568 [DAT](INFO): DAT read: Bearing 190.7, -12.8 (Local)

2025-10-26T21:34:12.569Z,1761514452.569 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.7, -12.8 (Local)

2025-10-26T21:34:12.582Z,1761514452.582 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.5

2025-10-26T21:34:12.620Z,1761514452.620 [DAT](INFO): DAT read: 21:34:11.4642 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 503, 0.42, 2.583, 1.065, 3.024, 2.665, PHS= 0.020,-1.555, 0.315, RAW= 158.4,  13.9, CAL= 159.1,  16.0, ROT= 350.9, -16.0

2025-10-26T21:34:12.621Z,1761514452.621 [DAT](INFO): got valid direction response:
 21:34:11.4642 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 503, 0.42, 2.583, 1.065, 3.024, 2.665, PHS= 0.020,-1.555, 0.315, RAW= 158.4,  13.9, CAL= 159.1,  16.0, ROT= 350.9, -16.0

2025-10-26T21:34:12.621Z,1761514452.621 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-10-26T21:34:12.622Z,1761514452.622 [DAT](INFO): direction in FSK: [0.949163,-0.152032,0.275637]
2025-10-26T21:34:12.623Z,1761514452.623 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:12.640Z,1761514452.640 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.994239
2025-10-26T21:34:12.725Z,1761514452.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874445,-0.481237,-0.061294],[0.484611,0.860710,0.155980],[-0.022307,-0.166100,0.985857]]
2025-10-26T21:34:12.805Z,1761514452.805 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.159185
2025-10-26T21:34:12.821Z,1761514452.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.517425 s,
      deltaX: -0.500000 m,
      approachRate: -0.966324 m/s,
      rangeRepo size: 4

2025-10-26T21:34:12.823Z,1761514452.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.832022 m,
      bearing: 22.776084 deg,
      lat: 36.779403 deg,
      lon: -121.859482 deg,
      deltaT: 0.517425 s,
      deltaX: -0.496904 m,
      approachRate: -0.960341 m/s,
      posRepo size: 4

2025-10-26T21:34:12.827Z,1761514452.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-10-26T21:34:12.830Z,1761514452.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.832022 m,
      nav range: 25.933437 m,
      bearing: 22.373731 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.043204 deg/s,
      cmd heading: 28.094078 deg,
      new cmd heading: 28.037694 deg.

2025-10-26T21:34:12.831Z,1761514452.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.489350 target range: 26.832022 and range: 27.00 m.
2025-10-26T21:34:13.061Z,1761514453.061 [DAT](INFO): DAT read: Rx Time:21:34:11.9641 

2025-10-26T21:34:13.064Z,1761514453.064 [DAT](INFO): Rx dataTimestamp_ set to:1761514453.062124
2025-10-26T21:34:13.067Z,1761514453.067 [DAT](INFO): DAT read: Bearing 184.9, -11.0 (Local)

2025-10-26T21:34:13.069Z,1761514453.069 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.9, -11.0 (Local)

2025-10-26T21:34:13.081Z,1761514453.081 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed 0.5

2025-10-26T21:34:13.103Z,1761514453.103 [DAT](ERROR): #Rx 30: Read range message, but no direction.
2025-10-26T21:34:13.104Z,1761514453.104 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.459044
2025-10-26T21:34:13.135Z,1761514453.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872835,-0.484076,-0.061887],[0.487616,0.859949,0.150725],[-0.019743,-0.161735,0.986637]]
2025-10-26T21:34:13.180Z,1761514453.180 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:34:13.183Z,1761514453.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.501248 s,
      deltaX: -0.100000 m,
      approachRate: -0.199503 m/s,
      rangeRepo size: 4

2025-10-26T21:34:13.184Z,1761514453.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-10-26T21:34:13.186Z,1761514453.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.832022 m,
      nav range: 25.701178 m,
      bearing: 22.268286 deg,
      approach rate: -0.641260 m/s,
      LOS rate: -0.293761 deg/s,
      cmd heading: 28.037694 deg,
      new cmd heading: 27.718504 deg.

2025-10-26T21:34:13.200Z,1761514453.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.483779 target range: 26.832022 and range: 26.90 m.
2025-10-26T21:34:13.314Z,1761514453.314 [DAT](INFO): DAT read: 21:34:11.9641 LVL= 29040, 31729, 26178, 32755, AGC= 65, IDX= 503,-0.43, 2.316, 0.768, 2.764, 2.259, PHS= 0.159,-1.446, 0.460, RAW= 158.5,   9.4, CAL= 158.3,  10.0, ROT= 351.7, -10.0

2025-10-26T21:34:13.315Z,1761514453.315 [DAT](INFO): got valid direction response:
 21:34:11.9641 LVL= 29040, 31729, 26178, 32755, AGC= 65, IDX= 503,-0.43, 2.316, 0.768, 2.764, 2.259, PHS= 0.159,-1.446, 0.460, RAW= 158.5,   9.4, CAL= 158.3,  10.0, ROT= 351.7, -10.0

2025-10-26T21:34:13.316Z,1761514453.316 [DAT](INFO): #Rx 31: Read direction message, but no range.
2025-10-26T21:34:13.317Z,1761514453.317 [DAT](INFO): direction in FSK: [0.974493,-0.142163,0.173648]
2025-10-26T21:34:13.322Z,1761514453.322 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.676411
2025-10-26T21:34:13.552Z,1761514453.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871468,-0.486448,-0.062538],[0.490162,0.859461,0.145150],[-0.016859,-0.157148,0.987431]]
2025-10-26T21:34:13.566Z,1761514453.566 [DAT](INFO): DAT read: Rx Time:21:34:12.4638 

2025-10-26T21:34:13.576Z,1761514453.576 [DAT](INFO): Rx dataTimestamp_ set to:1761514453.566606
2025-10-26T21:34:13.586Z,1761514453.586 [DAT](INFO): DAT read: Bearing 190.5, -12.4 (Local)

2025-10-26T21:34:13.596Z,1761514453.596 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.5, -12.4 (Local)

2025-10-26T21:34:13.611Z,1761514453.611 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.4

2025-10-26T21:34:13.659Z,1761514453.659 [DAT](INFO): DAT read: 21:34:12.4638 LVL= 32752, 32753, 31586, 32755, AGC= 66, IDX= 499, 0.38,-1.748, 3.029,-1.299,-1.674, PHS= 0.028,-1.535, 0.331, RAW= 158.7,  13.5, CAL= 159.2,  15.4, ROT= 350.8, -15.4

2025-10-26T21:34:13.668Z,1761514453.668 [DAT](INFO): got valid direction response:
 21:34:12.4638 LVL= 32752, 32753, 31586, 32755, AGC= 66, IDX= 499, 0.38,-1.748, 3.029,-1.299,-1.674, PHS= 0.028,-1.535, 0.331, RAW= 158.7,  13.5, CAL= 159.2,  15.4, ROT= 350.8, -15.4

2025-10-26T21:34:13.669Z,1761514453.669 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-10-26T21:34:13.670Z,1761514453.670 [DAT](INFO): direction in FSK: [0.951694,-0.154141,0.265556]
2025-10-26T21:34:13.670Z,1761514453.670 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:13.686Z,1761514453.686 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.040415
2025-10-26T21:34:13.749Z,1761514453.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.504482 s,
      deltaX: -0.500000 m,
      approachRate: -0.991116 m/s,
      rangeRepo size: 4

2025-10-26T21:34:13.762Z,1761514453.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.235605 m,
      bearing: 22.765852 deg,
      lat: 36.779403 deg,
      lon: -121.859482 deg,
      deltaT: 1.005730 s,
      deltaX: -0.596416 m,
      approachRate: -0.593018 m/s,
      posRepo size: 4

2025-10-26T21:34:13.762Z,1761514453.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.24 m.
2025-10-26T21:34:13.785Z,1761514453.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.235605 m,
      nav range: 25.411024 m,
      bearing: 22.131822 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.293761 deg/s,
      cmd heading: 27.718504 deg,
      new cmd heading: 27.219430 deg.

2025-10-26T21:34:13.786Z,1761514453.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.475069 target range: 26.235605 and range: 26.40 m.
2025-10-26T21:34:13.812Z,1761514453.812 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.167061
2025-10-26T21:34:14.069Z,1761514454.069 [DAT](INFO): DAT read: Rx Time:21:34:12.9636 

2025-10-26T21:34:14.073Z,1761514454.073 [DAT](INFO): Rx dataTimestamp_ set to:1761514454.070264
2025-10-26T21:34:14.078Z,1761514454.078 [DAT](INFO): DAT read: Bearing 188.2, -11.3 (Local)

2025-10-26T21:34:14.092Z,1761514454.092 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.2, -11.3 (Local)

2025-10-26T21:34:14.094Z,1761514454.094 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed 0.5

2025-10-26T21:34:14.119Z,1761514454.119 [DAT](INFO): DAT read: 21:34:12.9636 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 498,-0.42, 1.886, 0.364, 2.330, 1.900, PHS= 0.088,-1.491, 0.386, RAW= 158.5,  11.6, CAL= 158.7,  13.0, ROT= 351.3, -13.0

2025-10-26T21:34:14.128Z,1761514454.128 [DAT](INFO): got valid direction response:
 21:34:12.9636 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 498,-0.42, 1.886, 0.364, 2.330, 1.900, PHS= 0.088,-1.491, 0.386, RAW= 158.5,  11.6, CAL= 158.7,  13.0, ROT= 351.3, -13.0

2025-10-26T21:34:14.129Z,1761514454.129 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-10-26T21:34:14.130Z,1761514454.130 [DAT](INFO): direction in FSK: [0.963159,-0.147384,0.224951]
2025-10-26T21:34:14.130Z,1761514454.130 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:14.142Z,1761514454.142 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.497070
2025-10-26T21:34:14.255Z,1761514454.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.503658 s,
      deltaX: -0.299999 m,
      approachRate: -0.595641 m/s,
      rangeRepo size: 4

2025-10-26T21:34:14.257Z,1761514454.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.937475 m,
      bearing: 22.855604 deg,
      lat: 36.779403 deg,
      lon: -121.859481 deg,
      deltaT: 0.503658 s,
      deltaX: -0.298130 m,
      approachRate: -0.591929 m/s,
      posRepo size: 4

2025-10-26T21:34:14.258Z,1761514454.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-10-26T21:34:14.265Z,1761514454.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.937475 m,
      nav range: 25.112286 m,
      bearing: 22.214157 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.293761 deg/s,
      cmd heading: 27.219431 deg,
      new cmd heading: 26.776953 deg.

2025-10-26T21:34:14.266Z,1761514454.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.467346 target range: 25.937475 and range: 26.10 m.
2025-10-26T21:34:14.318Z,1761514454.318 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.671892
2025-10-26T21:34:14.506Z,1761514454.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868402,-0.491319,-0.066960],[0.495792,0.858074,0.133792],[-0.008278,-0.149383,0.988745]]
2025-10-26T21:34:14.576Z,1761514454.576 [DAT](INFO): DAT read: Rx Time:21:34:13.4633 

2025-10-26T21:34:14.578Z,1761514454.578 [DAT](INFO): Rx dataTimestamp_ set to:1761514454.576774
2025-10-26T21:34:14.592Z,1761514454.592 [DAT](INFO): DAT read: Bearing 190.3, -11.3 (Local)

2025-10-26T21:34:14.594Z,1761514454.594 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.3, -11.3 (Local)

2025-10-26T21:34:14.609Z,1761514454.609 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed 0.5

2025-10-26T21:34:14.638Z,1761514454.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-10-26T21:34:14.645Z,1761514454.645 [DAT](INFO): DAT read: 21:34:13.4633 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 510, 0.45, 2.626, 1.127, 3.052, 2.679, PHS= 0.049,-1.507, 0.328, RAW= 158.1,  13.1, CAL= 158.6,  14.9, ROT= 351.4, -14.9

2025-10-26T21:34:14.646Z,1761514454.646 [DAT](INFO): got valid direction response:
 21:34:13.4633 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 510, 0.45, 2.626, 1.127, 3.052, 2.679, PHS= 0.049,-1.507, 0.328, RAW= 158.1,  13.1, CAL= 158.6,  14.9, ROT= 351.4, -14.9

2025-10-26T21:34:14.647Z,1761514454.647 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-10-26T21:34:14.649Z,1761514454.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.937475 m,
      nav range: 24.914242 m,
      bearing: 22.120103 deg,
      approach rate: -0.510550 m/s,
      LOS rate: -0.244396 deg/s,
      cmd heading: 26.776954 deg,
      new cmd heading: 26.492550 deg.

2025-10-26T21:34:14.650Z,1761514454.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.462382 target range: 25.937475 and range: 26.10 m.
2025-10-26T21:34:14.669Z,1761514454.669 [DAT](INFO): direction in FSK: [0.955510,-0.144508,0.257133]
2025-10-26T21:34:14.669Z,1761514454.669 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:14.685Z,1761514454.685 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.039385
2025-10-26T21:34:14.820Z,1761514454.820 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.175081
2025-10-26T21:34:14.980Z,1761514454.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868015,-0.491829,-0.068220],[0.496498,0.857979,0.131766],[-0.006275,-0.148246,0.988931]]
2025-10-26T21:34:15.077Z,1761514455.077 [DAT](INFO): DAT read: Rx Time:21:34:13.9632 

2025-10-26T21:34:15.080Z,1761514455.080 [DAT](INFO): Rx dataTimestamp_ set to:1761514455.078200
2025-10-26T21:34:15.084Z,1761514455.084 [DAT](INFO): DAT read: Bearing 185.1, -10.9 (Local)

2025-10-26T21:34:15.084Z,1761514455.084 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.1, -10.9 (Local)

2025-10-26T21:34:15.088Z,1761514455.088 [DAT](INFO): DAT read: Range 11 to 50 :    25.5 m (trip time 17.0 ms) speed 0.7

2025-10-26T21:34:15.092Z,1761514455.092 [DAT](INFO): DAT read: 21:34:13.9632 LVL= 30288, 31713, 27330, 32755, AGC= 65, IDX= 509, 0.44,-2.817, 1.957,-2.348,-2.860, PHS= 0.145,-1.420, 0.468, RAW= 159.2,   9.3, CAL= 159.0,   9.8, ROT= 351.0,  -9.8

2025-10-26T21:34:15.093Z,1761514455.093 [DAT](INFO): got valid direction response:
 21:34:13.9632 LVL= 30288, 31713, 27330, 32755, AGC= 65, IDX= 509, 0.44,-2.817, 1.957,-2.348,-2.860, PHS= 0.145,-1.420, 0.468, RAW= 159.2,   9.3, CAL= 159.0,   9.8, ROT= 351.0,  -9.8

2025-10-26T21:34:15.094Z,1761514455.094 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-10-26T21:34:15.095Z,1761514455.095 [DAT](INFO): direction in FSK: [0.973276,-0.154152,0.170209]
2025-10-26T21:34:15.095Z,1761514455.095 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:15.100Z,1761514455.100 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.454557
2025-10-26T21:34:15.120Z,1761514455.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 1.007936 s,
      deltaX: -0.600000 m,
      approachRate: -0.595276 m/s,
      rangeRepo size: 4

2025-10-26T21:34:15.122Z,1761514455.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.341267 m,
      bearing: 22.331359 deg,
      lat: 36.779403 deg,
      lon: -121.859480 deg,
      deltaT: 1.007936 s,
      deltaX: -0.596209 m,
      approachRate: -0.591514 m/s,
      posRepo size: 4

2025-10-26T21:34:15.122Z,1761514455.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-10-26T21:34:15.129Z,1761514455.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.341267 m,
      nav range: 24.679646 m,
      bearing: 22.191306 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.244396 deg/s,
      cmd heading: 26.492550 deg,
      new cmd heading: 26.146277 deg.

2025-10-26T21:34:15.130Z,1761514455.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.456339 target range: 25.341267 and range: 25.50 m.
2025-10-26T21:34:15.324Z,1761514455.324 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.679117
2025-10-26T21:34:15.382Z,1761514455.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868327,-0.490962,-0.070456],[0.495970,0.858153,0.132615],[-0.004647,-0.150097,0.988660]]
2025-10-26T21:34:15.419Z,1761514455.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:34:15.425Z,1761514455.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-10-26T21:34:15.449Z,1761514455.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.341267 m,
      nav range: 24.432545 m,
      bearing: 22.102402 deg,
      approach rate: -0.785764 m/s,
      LOS rate: -0.285567 deg/s,
      cmd heading: 26.146277 deg,
      new cmd heading: 25.876870 deg.

2025-10-26T21:34:15.455Z,1761514455.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.451637 target range: 25.341267 and range: 25.50 m.
2025-10-26T21:34:15.584Z,1761514455.584 [DAT](INFO): DAT read: Rx Time:21:34:14.4629 

2025-10-26T21:34:15.586Z,1761514455.586 [DAT](INFO): Rx dataTimestamp_ set to:1761514455.585170
2025-10-26T21:34:15.589Z,1761514455.589 [DAT](INFO): DAT read: Bearing 188.5, -11.7 (Local)

2025-10-26T21:34:15.590Z,1761514455.590 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.5, -11.7 (Local)

2025-10-26T21:34:15.592Z,1761514455.592 [DAT](INFO): DAT read: Range 11 to 50 :    25.1 m (trip time 16.7 ms) speed 0.5

2025-10-26T21:34:15.610Z,1761514455.610 [DAT](INFO): DAT read: 21:34:14.4629 LVL= 32752, 32753, 31442, 32755, AGC= 64, IDX= 507,-0.49, 1.008,-0.496, 1.476, 1.043, PHS= 0.067,-1.493, 0.389, RAW= 159.2,  11.9, CAL= 159.5,  13.3, ROT= 350.5, -13.3

2025-10-26T21:34:15.625Z,1761514455.625 [DAT](INFO): got valid direction response:
 21:34:14.4629 LVL= 32752, 32753, 31442, 32755, AGC= 64, IDX= 507,-0.49, 1.008,-0.496, 1.476, 1.043, PHS= 0.067,-1.493, 0.389, RAW= 159.2,  11.9, CAL= 159.5,  13.3, ROT= 350.5, -13.3

2025-10-26T21:34:15.626Z,1761514455.626 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-10-26T21:34:15.634Z,1761514455.634 [DAT](INFO): direction in FSK: [0.959832,-0.160621,0.230050]
2025-10-26T21:34:15.635Z,1761514455.635 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:15.671Z,1761514455.671 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.025627
2025-10-26T21:34:15.829Z,1761514455.829 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.183224
2025-10-26T21:34:15.885Z,1761514455.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.506970 s,
      deltaX: -0.400000 m,
      approachRate: -0.789001 m/s,
      rangeRepo size: 4

2025-10-26T21:34:15.892Z,1761514455.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.943867 m,
      bearing: 22.365765 deg,
      lat: 36.779403 deg,
      lon: -121.859478 deg,
      deltaT: 0.506970 s,
      deltaX: -0.397400 m,
      approachRate: -0.783873 m/s,
      posRepo size: 4

2025-10-26T21:34:15.892Z,1761514455.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.94 m.
2025-10-26T21:34:15.895Z,1761514455.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.943867 m,
      nav range: 24.170422 m,
      bearing: 22.365709 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.285567 deg/s,
      cmd heading: 25.876870 deg,
      new cmd heading: 25.483316 deg.

2025-10-26T21:34:15.900Z,1761514455.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.444768 target range: 24.943867 and range: 25.10 m.
2025-10-26T21:34:16.085Z,1761514456.085 [DAT](INFO): DAT read: Rx Time:21:34:14.9628 

2025-10-26T21:34:16.085Z,1761514456.085 [DAT](INFO): Rx dataTimestamp_ set to:1761514456.084917
2025-10-26T21:34:16.087Z,1761514456.087 [DAT](INFO): DAT read: Bearing 187.4, -10.9 (Local)

2025-10-26T21:34:16.087Z,1761514456.087 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.4, -10.9 (Local)

2025-10-26T21:34:16.089Z,1761514456.089 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed 0.4

2025-10-26T21:34:16.094Z,1761514456.094 [DAT](INFO): DAT read: 21:34:14.9628 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 506,-0.34, 0.843,-0.647, 1.286, 0.847, PHS= 0.099,-1.449, 0.396, RAW= 158.6,  11.1, CAL= 158.7,  12.3, ROT= 351.3, -12.3

2025-10-26T21:34:16.095Z,1761514456.095 [DAT](INFO): got valid direction response:
 21:34:14.9628 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 506,-0.34, 0.843,-0.647, 1.286, 0.847, PHS= 0.099,-1.449, 0.396, RAW= 158.6,  11.1, CAL= 158.7,  12.3, ROT= 351.3, -12.3

2025-10-26T21:34:16.095Z,1761514456.095 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-10-26T21:34:16.096Z,1761514456.096 [DAT](INFO): direction in FSK: [0.965804,-0.147789,0.213030]
2025-10-26T21:34:16.097Z,1761514456.097 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:16.105Z,1761514456.105 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.459620
2025-10-26T21:34:16.332Z,1761514456.332 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.686888
2025-10-26T21:34:16.336Z,1761514456.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869801,-0.487244,-0.077711],[0.493397,0.858227,0.141440],[-0.002222,-0.161368,0.986892]]
2025-10-26T21:34:16.359Z,1761514456.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.499747 s,
      deltaX: -0.200001 m,
      approachRate: -0.400204 m/s,
      rangeRepo size: 4

2025-10-26T21:34:16.361Z,1761514456.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.745110 m,
      bearing: 22.983567 deg,
      lat: 36.779403 deg,
      lon: -121.859478 deg,
      deltaT: 0.499747 s,
      deltaX: -0.198757 m,
      approachRate: -0.397716 m/s,
      posRepo size: 4

2025-10-26T21:34:16.362Z,1761514456.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-10-26T21:34:16.365Z,1761514456.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.745110 m,
      nav range: 23.906376 m,
      bearing: 22.272016 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.285567 deg/s,
      cmd heading: 25.483316 deg,
      new cmd heading: 25.077658 deg.

2025-10-26T21:34:16.365Z,1761514456.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437688 target range: 24.745110 and range: 24.90 m.
2025-10-26T21:34:16.589Z,1761514456.589 [DAT](INFO): DAT read: Rx Time:21:34:15.4625 

2025-10-26T21:34:16.590Z,1761514456.590 [DAT](INFO): Rx dataTimestamp_ set to:1761514456.589601
2025-10-26T21:34:16.591Z,1761514456.591 [DAT](INFO): DAT read: Bearing 187.2, -11.8 (Local)

2025-10-26T21:34:16.592Z,1761514456.592 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.2, -11.8 (Local)

2025-10-26T21:34:16.594Z,1761514456.594 [DAT](INFO): DAT read: Range 11 to 50 :    24.6 m (trip time 16.4 ms) speed 0.4

2025-10-26T21:34:16.598Z,1761514456.598 [DAT](INFO): DAT read: 21:34:15.4625 LVL= 32752, 32753, 27234, 32755, AGC= 65, IDX= 502, 0.41,-3.112, 1.693,-2.640,-3.090, PHS= 0.080,-1.455, 0.406, RAW= 159.5,  11.3, CAL= 159.6,  12.5, ROT= 350.4, -12.5

2025-10-26T21:34:16.602Z,1761514456.602 [DAT](INFO): got valid direction response:
 21:34:15.4625 LVL= 32752, 32753, 27234, 32755, AGC= 65, IDX= 502, 0.41,-3.112, 1.693,-2.640,-3.090, PHS= 0.080,-1.455, 0.406, RAW= 159.5,  11.3, CAL= 159.6,  12.5, ROT= 350.4, -12.5

2025-10-26T21:34:16.603Z,1761514456.603 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-10-26T21:34:16.625Z,1761514456.625 [DAT](INFO): direction in FSK: [0.962624,-0.162816,0.216440]
2025-10-26T21:34:16.626Z,1761514456.626 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:16.656Z,1761514456.656 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.005779
2025-10-26T21:34:16.738Z,1761514456.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871007,-0.484402,-0.081858],[0.491268,0.858425,0.147516],[-0.001188,-0.168702,0.985666]]
2025-10-26T21:34:16.828Z,1761514456.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.600000 m,
      deltaT: 0.504684 s,
      deltaX: -0.299999 m,
      approachRate: -0.594430 m/s,
      rangeRepo size: 4

2025-10-26T21:34:16.830Z,1761514456.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.446917 m,
      bearing: 22.087903 deg,
      lat: 36.779403 deg,
      lon: -121.859478 deg,
      deltaT: 0.504684 s,
      deltaX: -0.298193 m,
      approachRate: -0.590851 m/s,
      posRepo size: 4

2025-10-26T21:34:16.831Z,1761514456.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.45 m.
2025-10-26T21:34:16.837Z,1761514456.837 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.191158
2025-10-26T21:34:16.839Z,1761514456.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.446917 m,
      nav range: 23.670527 m,
      bearing: 22.220428 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.285567 deg/s,
      cmd heading: 25.077658 deg,
      new cmd heading: 24.679521 deg.

2025-10-26T21:34:16.867Z,1761514456.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430739 target range: 24.446917 and range: 24.60 m.
2025-10-26T21:34:17.090Z,1761514457.090 [DAT](INFO): DAT read: Rx Time:21:34:15.9625 

2025-10-26T21:34:17.091Z,1761514457.091 [DAT](INFO): Rx dataTimestamp_ set to:1761514457.090440
2025-10-26T21:34:17.093Z,1761514457.093 [DAT](INFO): DAT read: Bearing 185.7, -11.8 (Local)

2025-10-26T21:34:17.093Z,1761514457.093 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.7, -11.8 (Local)

2025-10-26T21:34:17.095Z,1761514457.095 [DAT](INFO): DAT read: Range 11 to 50 :    24.5 m (trip time 16.3 ms) speed 0.5

2025-10-26T21:34:17.100Z,1761514457.100 [DAT](INFO): DAT read: 21:34:15.9625 LVL= 32752, 32753, 30818, 32755, AGC= 64, IDX= 501, 0.48,-2.631, 2.170,-2.147,-2.629, PHS= 0.100,-1.439, 0.438, RAW= 159.7,  10.4, CAL= 159.7,  11.4, ROT= 350.3, -11.4

2025-10-26T21:34:17.101Z,1761514457.101 [DAT](INFO): got valid direction response:
 21:34:15.9625 LVL= 32752, 32753, 30818, 32755, AGC= 64, IDX= 501, 0.48,-2.631, 2.170,-2.147,-2.629, PHS= 0.100,-1.439, 0.438, RAW= 159.7,  10.4, CAL= 159.7,  11.4, ROT= 350.3, -11.4

2025-10-26T21:34:17.102Z,1761514457.102 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-10-26T21:34:17.102Z,1761514457.102 [DAT](INFO): direction in FSK: [0.966257,-0.165165,0.197657]
2025-10-26T21:34:17.103Z,1761514457.103 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:17.107Z,1761514457.107 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.461889
2025-10-26T21:34:17.188Z,1761514457.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872617,-0.480773,-0.086009],[0.488405,0.858823,0.154542],[-0.000433,-0.176863,0.984235]]
2025-10-26T21:34:17.247Z,1761514457.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.500000 m,
      deltaT: 0.500839 s,
      deltaX: -0.100000 m,
      approachRate: -0.199666 m/s,
      rangeRepo size: 4

2025-10-26T21:34:17.272Z,1761514457.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.347538 m,
      bearing: 21.713651 deg,
      lat: 36.779404 deg,
      lon: -121.859478 deg,
      deltaT: 0.500839 s,
      deltaX: -0.099379 m,
      approachRate: -0.198424 m/s,
      posRepo size: 4

2025-10-26T21:34:17.273Z,1761514457.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T21:34:17.280Z,1761514457.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.347538 m,
      nav range: 23.493185 m,
      bearing: 22.118042 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.285567 deg/s,
      cmd heading: 24.679521 deg,
      new cmd heading: 24.321873 deg.

2025-10-26T21:34:17.281Z,1761514457.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.424497 target range: 24.347538 and range: 24.50 m.
2025-10-26T21:34:17.341Z,1761514457.341 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.695955
2025-10-26T21:34:17.593Z,1761514457.593 [DAT](INFO): DAT read: Rx Time:21:34:16.4622 

2025-10-26T21:34:17.593Z,1761514457.593 [DAT](INFO): Rx dataTimestamp_ set to:1761514457.593007
2025-10-26T21:34:17.595Z,1761514457.595 [DAT](INFO): DAT read: Bearing 188.8, -11.7 (Local)

2025-10-26T21:34:17.595Z,1761514457.595 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.8, -11.7 (Local)

2025-10-26T21:34:17.597Z,1761514457.597 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed 0.5

2025-10-26T21:34:17.602Z,1761514457.602 [DAT](INFO): DAT read: 21:34:16.4622 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 499,-0.31,-0.738,-2.202,-0.299,-0.683, PHS= 0.047,-1.475, 0.339, RAW= 158.6,  12.9, CAL= 159.1,  14.6, ROT= 350.9, -14.6

2025-10-26T21:34:17.603Z,1761514457.603 [DAT](INFO): got valid direction response:
 21:34:16.4622 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 499,-0.31,-0.738,-2.202,-0.299,-0.683, PHS= 0.047,-1.475, 0.339, RAW= 158.6,  12.9, CAL= 159.1,  14.6, ROT= 350.9, -14.6

2025-10-26T21:34:17.603Z,1761514457.603 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-10-26T21:34:17.604Z,1761514457.604 [DAT](INFO): direction in FSK: [0.955529,-0.153051,0.252069]
2025-10-26T21:34:17.604Z,1761514457.604 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:17.609Z,1761514457.609 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.963409
2025-10-26T21:34:17.814Z,1761514457.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.502567 s,
      deltaX: -0.500000 m,
      approachRate: -0.994892 m/s,
      rangeRepo size: 4

2025-10-26T21:34:17.821Z,1761514457.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.850544 m,
      bearing: 22.903123 deg,
      lat: 36.779403 deg,
      lon: -121.859478 deg,
      deltaT: 0.502567 s,
      deltaX: -0.496994 m,
      approachRate: -0.988911 m/s,
      posRepo size: 4

2025-10-26T21:34:17.821Z,1761514457.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-10-26T21:34:17.828Z,1761514457.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.850544 m,
      nav range: 23.062082 m,
      bearing: 22.202892 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.285567 deg/s,
      cmd heading: 24.321873 deg,
      new cmd heading: 23.830733 deg.

2025-10-26T21:34:17.829Z,1761514457.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415925 target range: 23.850544 and range: 24.00 m.
2025-10-26T21:34:17.845Z,1761514457.845 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.199373
2025-10-26T21:34:18.099Z,1761514458.099 [DAT](INFO): DAT read: Rx Time:21:34:16.9621 

2025-10-26T21:34:18.100Z,1761514458.100 [DAT](INFO): Rx dataTimestamp_ set to:1761514458.099553
2025-10-26T21:34:18.102Z,1761514458.102 [DAT](INFO): DAT read: Bearing 189.2, -11.0 (Local)

2025-10-26T21:34:18.102Z,1761514458.102 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.2, -11.0 (Local)

2025-10-26T21:34:18.106Z,1761514458.106 [DAT](INFO): DAT read: Range 11 to 50 :    23.9 m (trip time 15.9 ms) speed 0.5

2025-10-26T21:34:18.113Z,1761514458.113 [DAT](INFO): DAT read: 21:34:16.9621 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 497,-0.23,-1.091,-2.563,-0.684,-1.036, PHS= 0.047,-1.482, 0.308, RAW= 157.8,  13.4, CAL= 158.3,  15.2, ROT= 351.7, -15.2

2025-10-26T21:34:18.114Z,1761514458.114 [DAT](INFO): got valid direction response:
 21:34:16.9621 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 497,-0.23,-1.091,-2.563,-0.684,-1.036, PHS= 0.047,-1.482, 0.308, RAW= 157.8,  13.4, CAL= 158.3,  15.2, ROT= 351.7, -15.2

2025-10-26T21:34:18.114Z,1761514458.114 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-10-26T21:34:18.115Z,1761514458.115 [DAT](INFO): direction in FSK: [0.954909,-0.139306,0.262189]
2025-10-26T21:34:18.116Z,1761514458.116 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:18.120Z,1761514458.120 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.474207
2025-10-26T21:34:18.180Z,1761514458.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879042,-0.467593,-0.092957],[0.476738,0.863098,0.166681],[0.002292,-0.190836,0.981619]]
2025-10-26T21:34:18.224Z,1761514458.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.900000 m,
      deltaT: 0.506546 s,
      deltaX: -0.100000 m,
      approachRate: -0.197416 m/s,
      rangeRepo size: 4

2025-10-26T21:34:18.226Z,1761514458.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.751167 m,
      bearing: 23.280623 deg,
      lat: 36.779403 deg,
      lon: -121.859476 deg,
      deltaT: 0.506546 s,
      deltaX: -0.099377 m,
      approachRate: -0.196185 m/s,
      posRepo size: 4

2025-10-26T21:34:18.226Z,1761514458.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-10-26T21:34:18.229Z,1761514458.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.751167 m,
      nav range: 22.894424 m,
      bearing: 22.705305 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.285567 deg/s,
      cmd heading: 23.830733 deg,
      new cmd heading: 23.483773 deg.

2025-10-26T21:34:18.230Z,1761514458.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.409869 target range: 23.751167 and range: 23.90 m.
2025-10-26T21:34:18.349Z,1761514458.349 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.703781
2025-10-26T21:34:18.594Z,1761514458.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881682,-0.462243,-0.094704],[0.471832,0.865185,0.169792],[0.003451,-0.194387,0.980919]]
2025-10-26T21:34:18.601Z,1761514458.601 [DAT](INFO): DAT read: Rx Time:21:34:17.4618 

2025-10-26T21:34:18.602Z,1761514458.602 [DAT](INFO): Rx dataTimestamp_ set to:1761514458.601231
2025-10-26T21:34:18.603Z,1761514458.603 [DAT](INFO): DAT read: Bearing 188.3, -10.8 (Local)

2025-10-26T21:34:18.603Z,1761514458.603 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.3, -10.8 (Local)

2025-10-26T21:34:18.605Z,1761514458.605 [DAT](INFO): DAT read: Range 11 to 50 :    23.4 m (trip time 15.6 ms) speed 0.5

2025-10-26T21:34:18.610Z,1761514458.610 [DAT](INFO): DAT read: 21:34:17.4618 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 510,-0.21,-2.198, 2.615,-1.789,-2.155, PHS= 0.060,-1.467, 0.323, RAW= 157.8,  12.9, CAL= 158.2,  14.6, ROT= 351.8, -14.6

2025-10-26T21:34:18.611Z,1761514458.611 [DAT](INFO): got valid direction response:
 21:34:17.4618 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 510,-0.21,-2.198, 2.615,-1.789,-2.155, PHS= 0.060,-1.467, 0.323, RAW= 157.8,  12.9, CAL= 158.2,  14.6, ROT= 351.8, -14.6

2025-10-26T21:34:18.611Z,1761514458.611 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-10-26T21:34:18.612Z,1761514458.612 [DAT](INFO): direction in FSK: [0.957815,-0.138024,0.252069]
2025-10-26T21:34:18.613Z,1761514458.613 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:18.669Z,1761514458.669 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.022921
2025-10-26T21:34:18.725Z,1761514458.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 0.501678 s,
      deltaX: -0.500000 m,
      approachRate: -0.996655 m/s,
      rangeRepo size: 4

2025-10-26T21:34:18.736Z,1761514458.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.254257 m,
      bearing: 22.994446 deg,
      lat: 36.779401 deg,
      lon: -121.859476 deg,
      deltaT: 0.501678 s,
      deltaX: -0.496910 m,
      approachRate: -0.990496 m/s,
      posRepo size: 4

2025-10-26T21:34:18.737Z,1761514458.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.25 m.
2025-10-26T21:34:18.748Z,1761514458.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.254257 m,
      nav range: 22.401360 m,
      bearing: 22.929614 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.285567 deg/s,
      cmd heading: 23.483773 deg,
      new cmd heading: 23.058073 deg.

2025-10-26T21:34:18.749Z,1761514458.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.402439 target range: 23.254257 and range: 23.40 m.
2025-10-26T21:34:18.853Z,1761514458.853 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.207245
2025-10-26T21:34:19.105Z,1761514459.105 [DAT](INFO): DAT read: Rx Time:21:34:17.9616 

2025-10-26T21:34:19.105Z,1761514459.105 [DAT](INFO): Rx dataTimestamp_ set to:1761514459.105116
2025-10-26T21:34:19.107Z,1761514459.107 [DAT](INFO): DAT read: Bearing 187.5, -10.9 (Local)

2025-10-26T21:34:19.107Z,1761514459.107 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.5, -10.9 (Local)

2025-10-26T21:34:19.109Z,1761514459.109 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed 0.5

2025-10-26T21:34:19.114Z,1761514459.114 [DAT](INFO): DAT read: 21:34:17.9616 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509,-0.30,-0.370,-1.853, 0.049,-0.332, PHS= 0.064,-1.475, 0.337, RAW= 158.0,  12.6, CAL= 158.4,  14.3, ROT= 351.6, -14.3

2025-10-26T21:34:19.120Z,1761514459.120 [DAT](INFO): got valid direction response:
 21:34:17.9616 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509,-0.30,-0.370,-1.853, 0.049,-0.332, PHS= 0.064,-1.475, 0.337, RAW= 158.0,  12.6, CAL= 158.4,  14.3, ROT= 351.6, -14.3

2025-10-26T21:34:19.120Z,1761514459.120 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-10-26T21:34:19.121Z,1761514459.121 [DAT](INFO): direction in FSK: [0.958620,-0.141557,0.246999]
2025-10-26T21:34:19.121Z,1761514459.121 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:19.125Z,1761514459.125 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.479679
2025-10-26T21:34:19.250Z,1761514459.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.503885 s,
      deltaX: -0.299999 m,
      approachRate: -0.595372 m/s,
      rangeRepo size: 4

2025-10-26T21:34:19.256Z,1761514459.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.956127 m,
      bearing: 22.734781 deg,
      lat: 36.779401 deg,
      lon: -121.859476 deg,
      deltaT: 0.503885 s,
      deltaX: -0.298130 m,
      approachRate: -0.591663 m/s,
      posRepo size: 4

2025-10-26T21:34:19.257Z,1761514459.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m.
2025-10-26T21:34:19.260Z,1761514459.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.956127 m,
      nav range: 22.063114 m,
      bearing: 23.015338 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.285567 deg/s,
      cmd heading: 23.058073 deg,
      new cmd heading: 22.600835 deg.

2025-10-26T21:34:19.261Z,1761514459.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.394459 target range: 22.956127 and range: 23.10 m.
2025-10-26T21:34:19.357Z,1761514459.357 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.711420
2025-10-26T21:34:19.603Z,1761514459.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887879,-0.449661,-0.097344],[0.460037,0.870507,0.174880],[0.006102,-0.200055,0.979766]]
2025-10-26T21:34:19.609Z,1761514459.609 [DAT](INFO): DAT read: Rx Time:21:34:18.4613 

2025-10-26T21:34:19.609Z,1761514459.609 [DAT](INFO): Rx dataTimestamp_ set to:1761514459.609215
2025-10-26T21:34:19.611Z,1761514459.611 [DAT](INFO): DAT read: Bearing 184.3, -10.3 (Local)

2025-10-26T21:34:19.611Z,1761514459.611 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.3, -10.3 (Local)

2025-10-26T21:34:19.613Z,1761514459.613 [DAT](INFO): DAT read: Range 11 to 50 :    22.7 m (trip time 15.1 ms) speed 0.5

2025-10-26T21:34:19.618Z,1761514459.618 [DAT](INFO): DAT read: 21:34:18.4613 LVL= 32752, 32753, 31826, 32755, AGC= 62, IDX= 506,-0.31,-1.552,-3.057,-1.116,-1.574, PHS= 0.124,-1.438, 0.414, RAW= 158.4,  10.4, CAL= 158.4,  11.4, ROT= 351.6, -11.4

2025-10-26T21:34:19.619Z,1761514459.619 [DAT](INFO): got valid direction response:
 21:34:18.4613 LVL= 32752, 32753, 31826, 32755, AGC= 62, IDX= 506,-0.31,-1.552,-3.057,-1.116,-1.574, PHS= 0.124,-1.438, 0.414, RAW= 158.4,  10.4, CAL= 158.4,  11.4, ROT= 351.6, -11.4

2025-10-26T21:34:19.623Z,1761514459.623 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-26T21:34:19.624Z,1761514459.624 [DAT](INFO): direction in FSK: [0.969755,-0.143201,0.197657]
2025-10-26T21:34:19.625Z,1761514459.625 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:19.628Z,1761514459.628 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.982958
2025-10-26T21:34:19.756Z,1761514459.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.700001 m,
      deltaT: 0.504099 s,
      deltaX: -0.400000 m,
      approachRate: -0.793494 m/s,
      rangeRepo size: 4

2025-10-26T21:34:19.758Z,1761514459.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.558603 m,
      bearing: 21.449621 deg,
      lat: 36.779401 deg,
      lon: -121.859476 deg,
      deltaT: 0.504099 s,
      deltaX: -0.397524 m,
      approachRate: -0.788583 m/s,
      posRepo size: 4

2025-10-26T21:34:19.759Z,1761514459.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m.
2025-10-26T21:34:19.783Z,1761514459.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.558603 m,
      nav range: 21.795492 m,
      bearing: 23.094284 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.285567 deg/s,
      cmd heading: 22.600835 deg,
      new cmd heading: 22.171214 deg.

2025-10-26T21:34:19.796Z,1761514459.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.386961 target range: 22.558603 and range: 22.70 m.
2025-10-26T21:34:19.861Z,1761514459.861 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.215519
2025-10-26T21:34:20.109Z,1761514460.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894020,-0.436568,-0.100679],[0.447935,0.875519,0.181166],[0.009056,-0.207064,0.978286]]
2025-10-26T21:34:20.113Z,1761514460.113 [DAT](INFO): DAT read: Rx Time:21:34:18.9612 

2025-10-26T21:34:20.113Z,1761514460.113 [DAT](INFO): Rx dataTimestamp_ set to:1761514460.113168
2025-10-26T21:34:20.115Z,1761514460.115 [DAT](INFO): DAT read: Bearing 187.1, -10.2 (Local)

2025-10-26T21:34:20.115Z,1761514460.115 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.1, -10.2 (Local)

2025-10-26T21:34:20.117Z,1761514460.117 [DAT](INFO): DAT read: Range 11 to 50 :    22.5 m (trip time 15.0 ms) speed 0.5

2025-10-26T21:34:20.122Z,1761514460.122 [DAT](INFO): DAT read: 21:34:18.9612 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 505,-0.48, 2.129, 0.631, 2.526, 2.160, PHS= 0.072,-1.483, 0.323, RAW= 157.4,  12.8, CAL= 157.7,  14.4, ROT= 352.3, -14.4

2025-10-26T21:34:20.124Z,1761514460.124 [DAT](INFO): got valid direction response:
 21:34:18.9612 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 505,-0.48, 2.129, 0.631, 2.526, 2.160, PHS= 0.072,-1.483, 0.323, RAW= 157.4,  12.8, CAL= 157.7,  14.4, ROT= 352.3, -14.4

2025-10-26T21:34:20.124Z,1761514460.124 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-10-26T21:34:20.125Z,1761514460.125 [DAT](INFO): direction in FSK: [0.959850,-0.129777,0.248690]
2025-10-26T21:34:20.125Z,1761514460.125 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:20.129Z,1761514460.129 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.483601
2025-10-26T21:34:20.250Z,1761514460.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 0.503953 s,
      deltaX: -0.200001 m,
      approachRate: -0.396864 m/s,
      rangeRepo size: 4

2025-10-26T21:34:20.256Z,1761514460.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.359848 m,
      bearing: 22.105235 deg,
      lat: 36.779402 deg,
      lon: -121.859477 deg,
      deltaT: 0.503953 s,
      deltaX: -0.198755 m,
      approachRate: -0.394392 m/s,
      posRepo size: 4

2025-10-26T21:34:20.256Z,1761514460.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-10-26T21:34:20.259Z,1761514460.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.359848 m,
      nav range: 21.472122 m,
      bearing: 22.911121 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.285567 deg/s,
      cmd heading: 22.171214 deg,
      new cmd heading: 21.744549 deg.

2025-10-26T21:34:20.264Z,1761514460.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.379514 target range: 22.359848 and range: 22.50 m.
2025-10-26T21:34:20.365Z,1761514460.365 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.719576
2025-10-26T21:34:20.617Z,1761514460.617 [DAT](INFO): DAT read: Rx Time:21:34:19.4609 

2025-10-26T21:34:20.617Z,1761514460.617 [DAT](INFO): Rx dataTimestamp_ set to:1761514460.617054
2025-10-26T21:34:20.619Z,1761514460.619 [DAT](INFO): DAT read: Bearing 184.3, -10.3 (Local)

2025-10-26T21:34:20.619Z,1761514460.619 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.3, -10.3 (Local)

2025-10-26T21:34:20.621Z,1761514460.621 [DAT](INFO): DAT read: Range 11 to 50 :    22.1 m (trip time 14.7 ms) speed 0.5

2025-10-26T21:34:20.626Z,1761514460.626 [DAT](INFO): DAT read: 21:34:19.4609 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 502,-0.32,-0.163,-1.698, 0.275,-0.171, PHS= 0.109,-1.482, 0.402, RAW= 158.3,  11.1, CAL= 158.4,  12.2, ROT= 351.6, -12.2

2025-10-26T21:34:20.627Z,1761514460.627 [DAT](INFO): got valid direction response:
 21:34:19.4609 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 502,-0.32,-0.163,-1.698, 0.275,-0.171, PHS= 0.109,-1.482, 0.402, RAW= 158.3,  11.1, CAL= 158.4,  12.2, ROT= 351.6, -12.2

2025-10-26T21:34:20.627Z,1761514460.627 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-10-26T21:34:20.636Z,1761514460.636 [DAT](INFO): direction in FSK: [0.966930,-0.142784,0.211325]
2025-10-26T21:34:20.636Z,1761514460.636 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:20.650Z,1761514460.650 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.004354
2025-10-26T21:34:20.761Z,1761514460.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.503886 s,
      deltaX: -0.400000 m,
      approachRate: -0.793830 m/s,
      rangeRepo size: 4

2025-10-26T21:34:20.763Z,1761514460.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.962303 m,
      bearing: 20.933930 deg,
      lat: 36.779403 deg,
      lon: -121.859480 deg,
      deltaT: 0.503886 s,
      deltaX: -0.397545 m,
      approachRate: -0.788958 m/s,
      posRepo size: 4

2025-10-26T21:34:20.764Z,1761514460.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.96 m.
2025-10-26T21:34:20.766Z,1761514460.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.962303 m,
      nav range: 21.151194 m,
      bearing: 22.190339 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.285567 deg/s,
      cmd heading: 21.744549 deg,
      new cmd heading: 21.306389 deg.

2025-10-26T21:34:20.784Z,1761514460.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.371867 target range: 21.962303 and range: 22.10 m.
2025-10-26T21:34:20.869Z,1761514460.869 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.223183
2025-10-26T21:34:21.104Z,1761514461.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899661,-0.423841,-0.104735],[0.436400,0.880084,0.187103],[0.012873,-0.214036,0.976741]]
2025-10-26T21:34:21.121Z,1761514461.121 [DAT](INFO): DAT read: Rx Time:21:34:19.9608 

2025-10-26T21:34:21.121Z,1761514461.121 [DAT](INFO): Rx dataTimestamp_ set to:1761514461.121220
2025-10-26T21:34:21.123Z,1761514461.123 [DAT](INFO): DAT read: Bearing 186.9,  -9.7 (Local)

2025-10-26T21:34:21.123Z,1761514461.123 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.9,  -9.7 (Local)

2025-10-26T21:34:21.126Z,1761514461.126 [DAT](INFO): DAT read: Range 11 to 50 :    21.9 m (trip time 14.6 ms) speed 0.5

2025-10-26T21:34:21.131Z,1761514461.131 [DAT](INFO): DAT read: 21:34:19.9608 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 501,-0.45, 2.687, 1.170, 3.071, 2.722, PHS= 0.067,-1.507, 0.306, RAW= 157.0,  13.2, CAL= 157.4,  15.0, ROT= 352.6, -15.0

2025-10-26T21:34:21.132Z,1761514461.132 [DAT](INFO): got valid direction response:
 21:34:19.9608 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 501,-0.45, 2.687, 1.170, 3.071, 2.722, PHS= 0.067,-1.507, 0.306, RAW= 157.0,  13.2, CAL= 157.4,  15.0, ROT= 352.6, -15.0

2025-10-26T21:34:21.132Z,1761514461.132 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-10-26T21:34:21.133Z,1761514461.133 [DAT](INFO): direction in FSK: [0.957881,-0.124407,0.258819]
2025-10-26T21:34:21.133Z,1761514461.133 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:21.137Z,1761514461.137 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.491831
2025-10-26T21:34:21.216Z,1761514461.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.900000 m,
      deltaT: 0.504166 s,
      deltaX: -0.200001 m,
      approachRate: -0.396696 m/s,
      rangeRepo size: 4

2025-10-26T21:34:21.218Z,1761514461.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.763548 m,
      bearing: 21.912723 deg,
      lat: 36.779403 deg,
      lon: -121.859482 deg,
      deltaT: 0.504166 s,
      deltaX: -0.198755 m,
      approachRate: -0.394226 m/s,
      posRepo size: 4

2025-10-26T21:34:21.219Z,1761514461.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.76 m.
2025-10-26T21:34:21.225Z,1761514461.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.763548 m,
      nav range: 20.836082 m,
      bearing: 21.891197 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.285567 deg/s,
      cmd heading: 21.306389 deg,
      new cmd heading: 20.920464 deg.

2025-10-26T21:34:21.226Z,1761514461.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.365131 target range: 21.763548 and range: 21.90 m.
2025-10-26T21:34:21.377Z,1761514461.377 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.730953
2025-10-26T21:34:21.504Z,1761514461.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901844,-0.418881,-0.105909],[0.431806,0.882250,0.187558],[0.014874,-0.214880,0.976527]]
2025-10-26T21:34:21.534Z,1761514461.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:34:21.578Z,1761514461.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.76 m.
2025-10-26T21:34:21.592Z,1761514461.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.763548 m,
      nav range: 20.605215 m,
      bearing: 21.940361 deg,
      approach rate: -0.639922 m/s,
      LOS rate: 0.137800 deg/s,
      cmd heading: 20.920463 deg,
      new cmd heading: 21.069607 deg.

2025-10-26T21:34:21.593Z,1761514461.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.367734 target range: 21.763548 and range: 21.90 m.
2025-10-26T21:34:21.629Z,1761514461.629 [DAT](INFO): DAT read: Rx Time:21:34:20.4605 

2025-10-26T21:34:21.630Z,1761514461.630 [DAT](INFO): Rx dataTimestamp_ set to:1761514461.629248
2025-10-26T21:34:21.631Z,1761514461.631 [DAT](INFO): DAT read: Bearing 183.4,  -9.3 (Local)

2025-10-26T21:34:21.631Z,1761514461.631 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.4,  -9.3 (Local)

2025-10-26T21:34:21.634Z,1761514461.634 [DAT](INFO): DAT read: Range 11 to 50 :    21.5 m (trip time 14.3 ms) speed 0.5

2025-10-26T21:34:21.640Z,1761514461.640 [DAT](INFO): DAT read: 21:34:20.4605 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498,-0.30,-0.628,-2.175,-0.209,-0.656, PHS= 0.130,-1.474, 0.403, RAW= 157.7,  10.7, CAL= 157.7,  11.8, ROT= 352.3, -11.8

2025-10-26T21:34:21.642Z,1761514461.642 [DAT](INFO): got valid direction response:
 21:34:20.4605 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498,-0.30,-0.628,-2.175,-0.209,-0.656, PHS= 0.130,-1.474, 0.403, RAW= 157.7,  10.7, CAL= 157.7,  11.8, ROT= 352.3, -11.8

2025-10-26T21:34:21.642Z,1761514461.642 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-10-26T21:34:21.680Z,1761514461.680 [DAT](INFO): direction in FSK: [0.970041,-0.131155,0.204496]
2025-10-26T21:34:21.680Z,1761514461.680 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:21.719Z,1761514461.719 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.072765
2025-10-26T21:34:21.880Z,1761514461.880 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.235077
2025-10-26T21:34:21.907Z,1761514461.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903716,-0.414446,-0.107381],[0.427767,0.884433,0.186529],[0.017666,-0.214503,0.976563]]
2025-10-26T21:34:21.961Z,1761514461.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.500000 m,
      deltaT: 0.508028 s,
      deltaX: -0.400000 m,
      approachRate: -0.787357 m/s,
      rangeRepo size: 4

2025-10-26T21:34:21.964Z,1761514461.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.366030 m,
      bearing: 20.346235 deg,
      lat: 36.779405 deg,
      lon: -121.859482 deg,
      deltaT: 0.508028 s,
      deltaX: -0.397518 m,
      approachRate: -0.782473 m/s,
      posRepo size: 4

2025-10-26T21:34:21.964Z,1761514461.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.37 m.
2025-10-26T21:34:21.967Z,1761514461.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.366030 m,
      nav range: 20.534985 m,
      bearing: 21.727301 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.137800 deg/s,
      cmd heading: 21.069607 deg,
      new cmd heading: 21.230433 deg.

2025-10-26T21:34:21.968Z,1761514461.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.370541 target range: 21.366030 and range: 21.50 m.
2025-10-26T21:34:22.133Z,1761514462.133 [DAT](INFO): DAT read: Rx Time:21:34:20.9603 

2025-10-26T21:34:22.133Z,1761514462.134 [DAT](INFO): Rx dataTimestamp_ set to:1761514462.133225
2025-10-26T21:34:22.135Z,1761514462.135 [DAT](INFO): DAT read: Bearing 190.2,  -9.0 (Local)

2025-10-26T21:34:22.135Z,1761514462.135 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.2,  -9.0 (Local)

2025-10-26T21:34:22.137Z,1761514462.137 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed 0.5

2025-10-26T21:34:22.142Z,1761514462.142 [DAT](INFO): DAT read: 21:34:20.9603 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 512,-0.31,-0.080,-1.584, 0.247, 0.016, PHS= 0.007,-1.554, 0.188, RAW= 155.4,  16.2, CAL= 156.2,  18.6, ROT= 353.8, -18.6

2025-10-26T21:34:22.143Z,1761514462.143 [DAT](INFO): got valid direction response:
 21:34:20.9603 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 512,-0.31,-0.080,-1.584, 0.247, 0.016, PHS= 0.007,-1.554, 0.188, RAW= 155.4,  16.2, CAL= 156.2,  18.6, ROT= 353.8, -18.6

2025-10-26T21:34:22.144Z,1761514462.144 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-10-26T21:34:22.145Z,1761514462.145 [DAT](INFO): direction in FSK: [0.942225,-0.102358,0.318959]
2025-10-26T21:34:22.145Z,1761514462.145 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:22.149Z,1761514462.149 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.503540
2025-10-26T21:34:22.361Z,1761514462.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.503977 s,
      deltaX: -0.299999 m,
      approachRate: -0.595264 m/s,
      rangeRepo size: 4

2025-10-26T21:34:22.362Z,1761514462.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.067900 m,
      bearing: 23.400212 deg,
      lat: 36.779403 deg,
      lon: -121.859482 deg,
      deltaT: 0.503977 s,
      deltaX: -0.298130 m,
      approachRate: -0.591555 m/s,
      posRepo size: 4

2025-10-26T21:34:22.363Z,1761514462.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-10-26T21:34:22.366Z,1761514462.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.067900 m,
      nav range: 20.087772 m,
      bearing: 22.005011 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.137800 deg/s,
      cmd heading: 21.230432 deg,
      new cmd heading: 21.395466 deg.

2025-10-26T21:34:22.367Z,1761514462.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.373421 target range: 21.067900 and range: 21.20 m.
2025-10-26T21:34:22.385Z,1761514462.385 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.740030
2025-10-26T21:34:22.637Z,1761514462.637 [DAT](INFO): DAT read: Rx Time:21:34:21.4600 

2025-10-26T21:34:22.637Z,1761514462.637 [DAT](INFO): Rx dataTimestamp_ set to:1761514462.637171
2025-10-26T21:34:22.639Z,1761514462.639 [DAT](INFO): DAT read: Bearing 182.7,  -8.6 (Local)

2025-10-26T21:34:22.639Z,1761514462.639 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.7,  -8.6 (Local)

2025-10-26T21:34:22.641Z,1761514462.641 [DAT](INFO): DAT read: Range 11 to 50 :    20.7 m (trip time 13.8 ms) speed 0.5

2025-10-26T21:34:22.646Z,1761514462.646 [DAT](INFO): DAT read: 21:34:21.4600 LVL= 32112, 32753, 31858, 32755, AGC= 62, IDX= 509,-0.36,-2.048, 2.673,-1.637,-2.088, PHS= 0.142,-1.478, 0.407, RAW= 157.5,  10.5, CAL= 157.4,  11.5, ROT= 352.6, -11.5

2025-10-26T21:34:22.647Z,1761514462.647 [DAT](INFO): got valid direction response:
 21:34:21.4600 LVL= 32112, 32753, 31858, 32755, AGC= 62, IDX= 509,-0.36,-2.048, 2.673,-1.637,-2.088, PHS= 0.142,-1.478, 0.407, RAW= 157.5,  10.5, CAL= 157.4,  11.5, ROT= 352.6, -11.5

2025-10-26T21:34:22.647Z,1761514462.647 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-10-26T21:34:22.648Z,1761514462.648 [DAT](INFO): direction in FSK: [0.971763,-0.126210,0.199368]
2025-10-26T21:34:22.649Z,1761514462.649 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:22.686Z,1761514462.686 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.040476
2025-10-26T21:34:22.776Z,1761514462.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906460,-0.407712,-0.110008],[0.421663,0.888074,0.183096],[0.023044,-0.212356,0.976921]]
2025-10-26T21:34:22.868Z,1761514462.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.700001 m,
      deltaT: 0.503946 s,
      deltaX: -0.500000 m,
      approachRate: -0.992170 m/s,
      rangeRepo size: 4

2025-10-26T21:34:22.870Z,1761514462.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.570990 m,
      bearing: 20.156681 deg,
      lat: 36.779406 deg,
      lon: -121.859485 deg,
      deltaT: 0.503946 s,
      deltaX: -0.496910 m,
      approachRate: -0.986038 m/s,
      posRepo size: 4

2025-10-26T21:34:22.870Z,1761514462.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.57 m.
2025-10-26T21:34:22.877Z,1761514462.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.570990 m,
      nav range: 19.963533 m,
      bearing: 21.016325 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.137800 deg/s,
      cmd heading: 21.395467 deg,
      new cmd heading: 21.603367 deg.

2025-10-26T21:34:22.878Z,1761514462.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.377050 target range: 20.570990 and range: 20.70 m.
2025-10-26T21:34:22.888Z,1761514462.888 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.243069
2025-10-26T21:34:23.118Z,1761514463.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907646,-0.404940,-0.110462],[0.418965,0.889992,0.179952],[0.025441,-0.209612,0.977454]]
2025-10-26T21:34:23.141Z,1761514463.141 [DAT](INFO): DAT read: Rx Time:21:34:21.9599 

2025-10-26T21:34:23.142Z,1761514463.142 [DAT](INFO): Rx dataTimestamp_ set to:1761514463.141243
2025-10-26T21:34:23.143Z,1761514463.143 [DAT](INFO): DAT read: Bearing 183.8,  -9.1 (Local)

2025-10-26T21:34:23.144Z,1761514463.144 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.8,  -9.1 (Local)

2025-10-26T21:34:23.146Z,1761514463.146 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed 0.5

2025-10-26T21:34:23.151Z,1761514463.151 [DAT](INFO): DAT read: 21:34:21.9599 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508,-0.42,-1.122,-2.684,-0.706,-1.124, PHS= 0.104,-1.515, 0.375, RAW= 157.6,  11.7, CAL= 157.8,  13.0, ROT= 352.2, -13.0

2025-10-26T21:34:23.152Z,1761514463.152 [DAT](INFO): got valid direction response:
 21:34:21.9599 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508,-0.42,-1.122,-2.684,-0.706,-1.124, PHS= 0.104,-1.515, 0.375, RAW= 157.6,  11.7, CAL= 157.8,  13.0, ROT= 352.2, -13.0

2025-10-26T21:34:23.152Z,1761514463.152 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-10-26T21:34:23.153Z,1761514463.153 [DAT](INFO): direction in FSK: [0.965355,-0.132237,0.224951]
2025-10-26T21:34:23.153Z,1761514463.153 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:23.157Z,1761514463.157 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.511911
2025-10-26T21:34:23.173Z,1761514463.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.504072 s,
      deltaX: -0.100000 m,
      approachRate: -0.198385 m/s,
      rangeRepo size: 4

2025-10-26T21:34:23.176Z,1761514463.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.471613 m,
      bearing: 19.881564 deg,
      lat: 36.779406 deg,
      lon: -121.859487 deg,
      deltaT: 0.504072 s,
      deltaX: -0.099377 m,
      approachRate: -0.197148 m/s,
      posRepo size: 4

2025-10-26T21:34:23.176Z,1761514463.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.47 m.
2025-10-26T21:34:23.179Z,1761514463.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.471613 m,
      nav range: 19.771608 m,
      bearing: 20.456458 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.137800 deg/s,
      cmd heading: 21.603368 deg,
      new cmd heading: 21.731467 deg.

2025-10-26T21:34:23.232Z,1761514463.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.379286 target range: 20.471613 and range: 20.60 m.
2025-10-26T21:34:23.393Z,1761514463.393 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.747206
2025-10-26T21:34:23.601Z,1761514463.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908793,-0.402210,-0.111002],[0.416351,0.891579,0.178152],[0.027312,-0.208119,0.977722]]
2025-10-26T21:34:23.622Z,1761514463.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:34:23.625Z,1761514463.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.47 m.
2025-10-26T21:34:23.628Z,1761514463.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.471613 m,
      nav range: 19.474197 m,
      bearing: 20.418366 deg,
      approach rate: -0.657798 m/s,
      LOS rate: -0.085536 deg/s,
      cmd heading: 21.731466 deg,
      new cmd heading: 21.615445 deg.

2025-10-26T21:34:23.629Z,1761514463.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.377261 target range: 20.471613 and range: 20.60 m.
2025-10-26T21:34:23.649Z,1761514463.649 [DAT](INFO): DAT read: Rx Time:21:34:22.4596 

2025-10-26T21:34:23.651Z,1761514463.651 [DAT](INFO): Rx dataTimestamp_ set to:1761514463.649778
2025-10-26T21:34:23.654Z,1761514463.654 [DAT](INFO): DAT read: Bearing 181.6,  -8.2 (Local)

2025-10-26T21:34:23.654Z,1761514463.654 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.6,  -8.2 (Local)

2025-10-26T21:34:23.665Z,1761514463.665 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed 0.6

2025-10-26T21:34:23.684Z,1761514463.684 [DAT](INFO): DAT read: 21:34:22.4596 LVL= 32624, 32753, 32754, 32755, AGC= 62, IDX= 504, 0.48,-1.278,-2.850,-0.862,-1.330, PHS= 0.154,-1.476, 0.424, RAW= 157.5,  10.1, CAL= 157.5,  11.0, ROT= 352.5, -11.0

2025-10-26T21:34:23.685Z,1761514463.685 [DAT](INFO): got valid direction response:
 21:34:22.4596 LVL= 32624, 32753, 32754, 32755, AGC= 62, IDX= 504, 0.48,-1.278,-2.850,-0.862,-1.330, PHS= 0.154,-1.476, 0.424, RAW= 157.5,  10.1, CAL= 157.5,  11.0, ROT= 352.5, -11.0

2025-10-26T21:34:23.686Z,1761514463.686 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-10-26T21:34:23.687Z,1761514463.687 [DAT](INFO): direction in FSK: [0.973229,-0.128128,0.190809]
2025-10-26T21:34:23.687Z,1761514463.687 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:23.710Z,1761514463.710 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.064175
2025-10-26T21:34:23.897Z,1761514463.897 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.251268
2025-10-26T21:34:23.987Z,1761514463.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909920,-0.399712,-0.110793],[0.413774,0.893352,0.175255],[0.028926,-0.205312,0.978269]]
2025-10-26T21:34:24.097Z,1761514464.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.508535 s,
      deltaX: -0.500000 m,
      approachRate: -0.983217 m/s,
      rangeRepo size: 4

2025-10-26T21:34:24.104Z,1761514464.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.974712 m,
      bearing: 19.356976 deg,
      lat: 36.779406 deg,
      lon: -121.859488 deg,
      deltaT: 0.508535 s,
      deltaX: -0.496901 m,
      approachRate: -0.977122 m/s,
      posRepo size: 4

2025-10-26T21:34:24.104Z,1761514464.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.97 m.
2025-10-26T21:34:24.107Z,1761514464.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.974712 m,
      nav range: 19.174734 m,
      bearing: 20.000678 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.085536 deg/s,
      cmd heading: 21.615445 deg,
      new cmd heading: 21.494301 deg.

2025-10-26T21:34:24.112Z,1761514464.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.375146 target range: 19.974712 and range: 20.10 m.
2025-10-26T21:34:24.149Z,1761514464.149 [DAT](INFO): DAT read: Rx Time:21:34:22.9595 

2025-10-26T21:34:24.150Z,1761514464.150 [DAT](INFO): Rx dataTimestamp_ set to:1761514464.149302
2025-10-26T21:34:24.151Z,1761514464.151 [DAT](INFO): DAT read: Bearing 183.3,  -8.7 (Local)

2025-10-26T21:34:24.151Z,1761514464.151 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.3,  -8.7 (Local)

2025-10-26T21:34:24.153Z,1761514464.153 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed 0.5

2025-10-26T21:34:24.158Z,1761514464.158 [DAT](INFO): DAT read: 21:34:22.9595 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 504,-0.40, 3.139, 1.566,-2.728, 3.133, PHS= 0.109,-1.521, 0.378, RAW= 157.5,  11.6, CAL= 157.7,  12.9, ROT= 352.3, -12.9

2025-10-26T21:34:24.159Z,1761514464.159 [DAT](INFO): got valid direction response:
 21:34:22.9595 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 504,-0.40, 3.139, 1.566,-2.728, 3.133, PHS= 0.109,-1.521, 0.378, RAW= 157.5,  11.6, CAL= 157.7,  12.9, ROT= 352.3, -12.9

2025-10-26T21:34:24.159Z,1761514464.159 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-10-26T21:34:24.160Z,1761514464.160 [DAT](INFO): direction in FSK: [0.965972,-0.130605,0.223250]
2025-10-26T21:34:24.161Z,1761514464.161 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:24.171Z,1761514464.171 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.525337
2025-10-26T21:34:24.400Z,1761514464.400 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.755022
2025-10-26T21:34:24.604Z,1761514464.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911645,-0.396090,-0.109618],[0.409768,0.896486,0.168531],[0.031517,-0.198558,0.979582]]
2025-10-26T21:34:24.640Z,1761514464.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.499524 s,
      deltaX: -0.100000 m,
      approachRate: -0.200191 m/s,
      rangeRepo size: 4

2025-10-26T21:34:24.642Z,1761514464.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.875404 m,
      bearing: 19.211561 deg,
      lat: 36.779406 deg,
      lon: -121.859489 deg,
      deltaT: 0.499524 s,
      deltaX: -0.099308 m,
      approachRate: -0.198805 m/s,
      posRepo size: 4

2025-10-26T21:34:24.643Z,1761514464.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.88 m.
2025-10-26T21:34:24.646Z,1761514464.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.875404 m,
      nav range: 18.758335 m,
      bearing: 19.621690 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.085536 deg/s,
      cmd heading: 21.494301 deg,
      new cmd heading: 21.355140 deg.

2025-10-26T21:34:24.647Z,1761514464.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.372717 target range: 19.875404 and range: 20.00 m.
2025-10-26T21:34:24.653Z,1761514464.653 [DAT](INFO): DAT read: Rx Time:21:34:23.4592 

2025-10-26T21:34:24.654Z,1761514464.654 [DAT](INFO): Rx dataTimestamp_ set to:1761514464.653510
2025-10-26T21:34:24.655Z,1761514464.655 [DAT](INFO): DAT read: Bearing 185.2,  -8.7 (Local)

2025-10-26T21:34:24.655Z,1761514464.655 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.2,  -8.7 (Local)

2025-10-26T21:34:24.658Z,1761514464.658 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed 0.4

2025-10-26T21:34:24.666Z,1761514464.666 [DAT](INFO): DAT read: 21:34:23.4592 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.40,-1.846, 2.866,-1.451,-1.812, PHS= 0.068,-1.560, 0.316, RAW= 157.0,  13.3, CAL= 157.4,  15.0, ROT= 352.6, -15.0

2025-10-26T21:34:24.667Z,1761514464.667 [DAT](INFO): got valid direction response:
 21:34:23.4592 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.40,-1.846, 2.866,-1.451,-1.812, PHS= 0.068,-1.560, 0.316, RAW= 157.0,  13.3, CAL= 157.4,  15.0, ROT= 352.6, -15.0

2025-10-26T21:34:24.668Z,1761514464.668 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-10-26T21:34:24.669Z,1761514464.669 [DAT](INFO): direction in FSK: [0.957881,-0.124407,0.258819]
2025-10-26T21:34:24.669Z,1761514464.669 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:24.692Z,1761514464.693 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.047123
2025-10-26T21:34:24.905Z,1761514464.905 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.259201
2025-10-26T21:34:25.100Z,1761514465.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912620,-0.394057,-0.108827],[0.407540,0.897910,0.166337],[0.032171,-0.196154,0.980045]]
2025-10-26T21:34:25.142Z,1761514465.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.504208 s,
      deltaX: -0.500000 m,
      approachRate: -0.991654 m/s,
      rangeRepo size: 4

2025-10-26T21:34:25.145Z,1761514465.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.378519 m,
      bearing: 19.770908 deg,
      lat: 36.779406 deg,
      lon: -121.859489 deg,
      deltaT: 0.504208 s,
      deltaX: -0.496885 m,
      approachRate: -0.985477 m/s,
      posRepo size: 4

2025-10-26T21:34:25.145Z,1761514465.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m.
2025-10-26T21:34:25.157Z,1761514465.157 [DAT](INFO): DAT read: Rx Time:21:34:23.9590 

2025-10-26T21:34:25.157Z,1761514465.157 [DAT](INFO): Rx dataTimestamp_ set to:1761514465.157136
2025-10-26T21:34:25.159Z,1761514465.159 [DAT](INFO): DAT read: Bearing 181.3,  -8.2 (Local)

2025-10-26T21:34:25.159Z,1761514465.159 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.3,  -8.2 (Local)

2025-10-26T21:34:25.161Z,1761514465.161 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed 0.6

2025-10-26T21:34:25.166Z,1761514465.166 [DAT](INFO): DAT read: 21:34:23.9590 LVL= 32752, 32753, 31730, 32755, AGC= 65, IDX= 498, 0.20,-0.035,-1.634, 0.391,-0.075, PHS= 0.142,-1.514, 0.422, RAW= 157.7,  10.5, CAL= 157.7,  11.5, ROT= 352.3, -11.5

2025-10-26T21:34:25.167Z,1761514465.167 [DAT](INFO): got valid direction response:
 21:34:23.9590 LVL= 32752, 32753, 31730, 32755, AGC= 65, IDX= 498, 0.20,-0.035,-1.634, 0.391,-0.075, PHS= 0.142,-1.514, 0.422, RAW= 157.7,  10.5, CAL= 157.7,  11.5, ROT= 352.3, -11.5

2025-10-26T21:34:25.168Z,1761514465.168 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-10-26T21:34:25.169Z,1761514465.168 [DAT](INFO): direction in FSK: [0.971089,-0.131297,0.199368]
2025-10-26T21:34:25.169Z,1761514465.169 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:25.173Z,1761514465.173 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.527149
2025-10-26T21:34:25.184Z,1761514465.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.378519 m,
      nav range: 18.442785 m,
      bearing: 19.473149 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.085536 deg/s,
      cmd heading: 21.355140 deg,
      new cmd heading: 21.226204 deg.

2025-10-26T21:34:25.185Z,1761514465.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.370467 target range: 19.378519 and range: 19.50 m.
2025-10-26T21:34:25.409Z,1761514465.409 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.763130
2025-10-26T21:34:25.600Z,1761514465.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913511,-0.392046,-0.108616],[0.405515,0.898860,0.166160],[0.032488,-0.195835,0.980099]]
2025-10-26T21:34:25.653Z,1761514465.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.503626 s,
      deltaX: -0.299999 m,
      approachRate: -0.595679 m/s,
      rangeRepo size: 4

2025-10-26T21:34:25.661Z,1761514465.661 [DAT](INFO): DAT read: Rx Time:21:34:24.4587 

2025-10-26T21:34:25.662Z,1761514465.662 [DAT](INFO): Rx dataTimestamp_ set to:1761514465.661263
2025-10-26T21:34:25.663Z,1761514465.663 [DAT](INFO): DAT read: Bearing 182.8,  -8.7 (Local)

2025-10-26T21:34:25.663Z,1761514465.663 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.8,  -8.7 (Local)

2025-10-26T21:34:25.666Z,1761514465.666 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.6

2025-10-26T21:34:25.670Z,1761514465.670 [DAT](INFO): DAT read: 21:34:24.4587 LVL= 28992, 32753, 26962, 32755, AGC= 62, IDX= 495, 0.11, 0.004,-1.577, 0.426, 0.008, PHS= 0.098,-1.540, 0.374, RAW= 157.7,  11.9, CAL= 157.9,  13.3, ROT= 352.1, -13.3

2025-10-26T21:34:25.671Z,1761514465.671 [DAT](INFO): got valid direction response:
 21:34:24.4587 LVL= 28992, 32753, 26962, 32755, AGC= 62, IDX= 495, 0.11, 0.004,-1.577, 0.426, 0.008, PHS= 0.098,-1.540, 0.374, RAW= 157.7,  11.9, CAL= 157.9,  13.3, ROT= 352.1, -13.3

2025-10-26T21:34:25.672Z,1761514465.672 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-10-26T21:34:25.673Z,1761514465.673 [DAT](INFO): direction in FSK: [0.963943,-0.133758,0.230050]
2025-10-26T21:34:25.673Z,1761514465.673 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:25.677Z,1761514465.677 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.031261
2025-10-26T21:34:25.679Z,1761514465.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.080454 m,
      bearing: 18.618120 deg,
      lat: 36.779409 deg,
      lon: -121.859489 deg,
      deltaT: 0.503626 s,
      deltaX: -0.298065 m,
      approachRate: -0.591838 m/s,
      posRepo size: 4

2025-10-26T21:34:25.699Z,1761514465.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.08 m.
2025-10-26T21:34:25.712Z,1761514465.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.080454 m,
      nav range: 18.392540 m,
      bearing: 19.014807 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.085536 deg/s,
      cmd heading: 21.226204 deg,
      new cmd heading: 21.097623 deg.

2025-10-26T21:34:25.714Z,1761514465.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.368223 target range: 19.080454 and range: 19.20 m.
2025-10-26T21:34:25.913Z,1761514465.913 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.267214
2025-10-26T21:34:26.165Z,1761514466.165 [DAT](INFO): DAT read: Rx Time:21:34:24.9586 

2025-10-26T21:34:26.165Z,1761514466.165 [DAT](INFO): Rx dataTimestamp_ set to:1761514466.165004
2025-10-26T21:34:26.167Z,1761514466.167 [DAT](INFO): DAT read: Bearing 183.0,  -9.0 (Local)

2025-10-26T21:34:26.167Z,1761514466.167 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.0,  -9.0 (Local)

2025-10-26T21:34:26.169Z,1761514466.169 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.4

2025-10-26T21:34:26.174Z,1761514466.174 [DAT](INFO): DAT read: 21:34:24.9586 LVL= 31440, 32753, 25906, 32755, AGC= 63, IDX= 510, 0.09, 1.319,-0.265, 1.746, 1.336, PHS= 0.084,-1.557, 0.365, RAW= 157.8,  12.3, CAL= 158.1,  13.8, ROT= 351.9, -13.8

2025-10-26T21:34:26.175Z,1761514466.175 [DAT](INFO): got valid direction response:
 21:34:24.9586 LVL= 31440, 32753, 25906, 32755, AGC= 63, IDX= 510, 0.09, 1.319,-0.265, 1.746, 1.336, PHS= 0.084,-1.557, 0.365, RAW= 157.8,  12.3, CAL= 158.1,  13.8, ROT= 351.9, -13.8

2025-10-26T21:34:26.175Z,1761514466.175 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-10-26T21:34:26.176Z,1761514466.176 [DAT](INFO): direction in FSK: [0.961446,-0.136834,0.238533]
2025-10-26T21:34:26.176Z,1761514466.176 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:26.180Z,1761514466.180 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.535042
2025-10-26T21:34:26.229Z,1761514466.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 1.007868 s,
      deltaX: -0.400002 m,
      approachRate: -0.396879 m/s,
      rangeRepo size: 4

2025-10-26T21:34:26.231Z,1761514466.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.682943 m,
      bearing: 18.691330 deg,
      lat: 36.779409 deg,
      lon: -121.859489 deg,
      deltaT: 1.007868 s,
      deltaX: -0.397511 m,
      approachRate: -0.394407 m/s,
      posRepo size: 4

2025-10-26T21:34:26.240Z,1761514466.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.68 m.
2025-10-26T21:34:26.242Z,1761514466.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.682943 m,
      nav range: 18.004917 m,
      bearing: 18.716217 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.085536 deg/s,
      cmd heading: 21.097623 deg,
      new cmd heading: 20.948625 deg.

2025-10-26T21:34:26.252Z,1761514466.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.365622 target range: 18.682943 and range: 18.80 m.
2025-10-26T21:34:26.417Z,1761514466.417 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.771162
2025-10-26T21:34:26.598Z,1761514466.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916012,-0.386023,-0.109121],[0.399710,0.901338,0.166798],[0.033967,-0.196406,0.979934]]
2025-10-26T21:34:26.615Z,1761514466.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:34:26.617Z,1761514466.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.68 m.
2025-10-26T21:34:26.620Z,1761514466.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.682943 m,
      nav range: 17.742205 m,
      bearing: 18.570747 deg,
      approach rate: -0.667637 m/s,
      LOS rate: -0.375161 deg/s,
      cmd heading: 20.948626 deg,
      new cmd heading: 20.505762 deg.

2025-10-26T21:34:26.621Z,1761514466.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.357893 target range: 18.682943 and range: 18.80 m.
2025-10-26T21:34:26.669Z,1761514466.669 [DAT](INFO): DAT read: Rx Time:21:34:25.4583 

2025-10-26T21:34:26.670Z,1761514466.670 [DAT](INFO): Rx dataTimestamp_ set to:1761514466.669261
2025-10-26T21:34:26.671Z,1761514466.671 [DAT](INFO): DAT read: Bearing 183.3,  -9.0 (Local)

2025-10-26T21:34:26.671Z,1761514466.671 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.3,  -9.0 (Local)

2025-10-26T21:34:26.674Z,1761514466.674 [DAT](INFO): DAT read: Range 11 to 50 :    18.3 m (trip time 12.2 ms) speed 0.6

2025-10-26T21:34:26.680Z,1761514466.680 [DAT](INFO): DAT read: 21:34:25.4583 LVL= 30432, 32753, 27506, 32755, AGC= 62, IDX= 507, 0.24,-0.615,-2.201,-0.192,-0.585, PHS= 0.072,-1.571, 0.349, RAW= 157.7,  12.8, CAL= 158.0,  14.4, ROT= 352.0, -14.4

2025-10-26T21:34:26.682Z,1761514466.682 [DAT](INFO): got valid direction response:
 21:34:25.4583 LVL= 30432, 32753, 27506, 32755, AGC= 62, IDX= 507, 0.24,-0.615,-2.201,-0.192,-0.585, PHS= 0.072,-1.571, 0.349, RAW= 157.7,  12.8, CAL= 158.0,  14.4, ROT= 352.0, -14.4

2025-10-26T21:34:26.682Z,1761514466.682 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-10-26T21:34:26.720Z,1761514466.720 [DAT](INFO): direction in FSK: [0.959157,-0.134801,0.248690]
2025-10-26T21:34:26.721Z,1761514466.721 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:26.741Z,1761514466.741 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.095362
2025-10-26T21:34:26.920Z,1761514466.920 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.275061
2025-10-26T21:34:27.101Z,1761514467.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 0.504257 s,
      deltaX: -0.500000 m,
      approachRate: -0.991558 m/s,
      rangeRepo size: 4

2025-10-26T21:34:27.103Z,1761514467.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.186018 m,
      bearing: 18.560300 deg,
      lat: 36.779408 deg,
      lon: -121.859489 deg,
      deltaT: 0.504257 s,
      deltaX: -0.496925 m,
      approachRate: -0.985461 m/s,
      posRepo size: 4

2025-10-26T21:34:27.103Z,1761514467.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-10-26T21:34:27.106Z,1761514467.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.186018 m,
      nav range: 17.332518 m,
      bearing: 18.560265 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.375161 deg/s,
      cmd heading: 20.505761 deg,
      new cmd heading: 19.962142 deg.

2025-10-26T21:34:27.107Z,1761514467.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.348405 target range: 18.186018 and range: 18.30 m.
2025-10-26T21:34:27.148Z,1761514467.148 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:34:27.173Z,1761514467.173 [DAT](INFO): DAT read: Rx Time:21:34:25.9583 

2025-10-26T21:34:27.174Z,1761514467.174 [DAT](INFO): Rx dataTimestamp_ set to:1761514467.173306
2025-10-26T21:34:27.175Z,1761514467.175 [DAT](INFO): DAT read: Bearing 182.5,  -8.9 (Local)

2025-10-26T21:34:27.175Z,1761514467.175 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.5,  -8.9 (Local)

2025-10-26T21:34:27.177Z,1761514467.177 [DAT](INFO): DAT read: Range 11 to 50 :    18.2 m (trip time 12.1 ms) speed 0.5

2025-10-26T21:34:27.185Z,1761514467.185 [DAT](INFO): DAT read: 21:34:25.9583 LVL= 32752, 32753, 26162, 32755, AGC= 63, IDX= 506, 0.35, 0.481,-1.101, 0.909, 0.499, PHS= 0.084,-1.556, 0.366, RAW= 157.8,  12.3, CAL= 158.1,  13.8, ROT= 351.9, -13.8

2025-10-26T21:34:27.187Z,1761514467.187 [DAT](INFO): got valid direction response:
 21:34:25.9583 LVL= 32752, 32753, 26162, 32755, AGC= 63, IDX= 506, 0.35, 0.481,-1.101, 0.909, 0.499, PHS= 0.084,-1.556, 0.366, RAW= 157.8,  12.3, CAL= 158.1,  13.8, ROT= 351.9, -13.8

2025-10-26T21:34:27.188Z,1761514467.188 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-26T21:34:27.189Z,1761514467.189 [DAT](INFO): direction in FSK: [0.961446,-0.136834,0.238533]
2025-10-26T21:34:27.189Z,1761514467.189 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:27.197Z,1761514467.197 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.551882
2025-10-26T21:34:27.406Z,1761514467.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917398,-0.383028,-0.108033],[0.396475,0.903152,0.164695],[0.034487,-0.193923,0.980410]]
2025-10-26T21:34:27.424Z,1761514467.424 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.778879
2025-10-26T21:34:27.461Z,1761514467.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.200001 m,
      deltaT: 0.504045 s,
      deltaX: -0.099998 m,
      approachRate: -0.198392 m/s,
      rangeRepo size: 4

2025-10-26T21:34:27.471Z,1761514467.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.086643 m,
      bearing: 18.093921 deg,
      lat: 36.779408 deg,
      lon: -121.859490 deg,
      deltaT: 0.504045 s,
      deltaX: -0.099375 m,
      approachRate: -0.197155 m/s,
      posRepo size: 4

2025-10-26T21:34:27.472Z,1761514467.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.09 m.
2025-10-26T21:34:27.475Z,1761514467.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.086643 m,
      nav range: 17.097408 m,
      bearing: 18.304660 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.375161 deg/s,
      cmd heading: 19.962141 deg,
      new cmd heading: 19.556179 deg.

2025-10-26T21:34:27.480Z,1761514467.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.341320 target range: 18.086643 and range: 18.20 m.
2025-10-26T21:34:27.677Z,1761514467.677 [DAT](INFO): DAT read: Rx Time:21:34:26.4580 

2025-10-26T21:34:27.677Z,1761514467.677 [DAT](INFO): Rx dataTimestamp_ set to:1761514467.677139
2025-10-26T21:34:27.679Z,1761514467.679 [DAT](INFO): DAT read: Bearing 183.9,  -9.0 (Local)

2025-10-26T21:34:27.679Z,1761514467.679 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.9,  -9.0 (Local)

2025-10-26T21:34:27.681Z,1761514467.681 [DAT](INFO): DAT read: Range 11 to 50 :    17.7 m (trip time 11.8 ms) speed 0.4

2025-10-26T21:34:27.686Z,1761514467.686 [DAT](INFO): DAT read: 21:34:26.4580 LVL= 32224, 32753, 28466, 32755, AGC= 62, IDX= 504,-0.39,-2.723, 1.973,-2.311,-2.673, PHS= 0.052,-1.592, 0.318, RAW= 157.4,  13.6, CAL= 157.9,  15.4, ROT= 352.1, -15.4

2025-10-26T21:34:27.687Z,1761514467.687 [DAT](INFO): got valid direction response:
 21:34:26.4580 LVL= 32224, 32753, 28466, 32755, AGC= 62, IDX= 504,-0.39,-2.723, 1.973,-2.311,-2.673, PHS= 0.052,-1.592, 0.318, RAW= 157.4,  13.6, CAL= 157.9,  15.4, ROT= 352.1, -15.4

2025-10-26T21:34:27.687Z,1761514467.687 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-26T21:34:27.688Z,1761514467.688 [DAT](INFO): direction in FSK: [0.954946,-0.132510,0.265556]
2025-10-26T21:34:27.688Z,1761514467.688 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:27.713Z,1761514467.713 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.067856
2025-10-26T21:34:27.850Z,1761514467.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918359,-0.380700,-0.108096],[0.394202,0.904111,0.164890],[0.034957,-0.194040,0.980371]]
2025-10-26T21:34:27.929Z,1761514467.929 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.283560
2025-10-26T21:34:27.937Z,1761514467.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.700001 m,
      deltaT: 0.503833 s,
      deltaX: -0.500000 m,
      approachRate: -0.992392 m/s,
      rangeRepo size: 4

2025-10-26T21:34:27.944Z,1761514467.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.589756 m,
      bearing: 18.483759 deg,
      lat: 36.779408 deg,
      lon: -121.859490 deg,
      deltaT: 0.503833 s,
      deltaX: -0.496887 m,
      approachRate: -0.986214 m/s,
      posRepo size: 4

2025-10-26T21:34:27.944Z,1761514467.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-10-26T21:34:27.947Z,1761514467.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.589756 m,
      nav range: 16.812752 m,
      bearing: 18.186951 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.375161 deg/s,
      cmd heading: 19.556179 deg,
      new cmd heading: 19.020178 deg.

2025-10-26T21:34:27.949Z,1761514467.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.331965 target range: 17.589756 and range: 17.70 m.
2025-10-26T21:34:28.152Z,1761514468.152 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:34:28.182Z,1761514468.182 [DAT](INFO): DAT read: Rx Time:21:34:26.9579 

2025-10-26T21:34:28.182Z,1761514468.182 [DAT](INFO): Rx dataTimestamp_ set to:1761514468.181705
2025-10-26T21:34:28.184Z,1761514468.184 [DAT](INFO): DAT read: Bearing 179.9,  -8.1 (Local)

2025-10-26T21:34:28.185Z,1761514468.185 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.9,  -8.1 (Local)

2025-10-26T21:34:28.187Z,1761514468.187 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed 0.4

2025-10-26T21:34:28.196Z,1761514468.196 [DAT](INFO): DAT read: 21:34:26.9579 LVL= 30784, 32753, 28786, 32755, AGC= 63, IDX= 503,-0.28,-1.539,-3.120,-1.115,-1.574, PHS= 0.137,-1.501, 0.415, RAW= 157.7,  10.6, CAL= 157.7,  11.6, ROT= 352.3, -11.6

2025-10-26T21:34:28.198Z,1761514468.198 [DAT](INFO): got valid direction response:
 21:34:26.9579 LVL= 30784, 32753, 28786, 32755, AGC= 63, IDX= 503,-0.28,-1.539,-3.120,-1.115,-1.574, PHS= 0.137,-1.501, 0.415, RAW= 157.7,  10.6, CAL= 157.7,  11.6, ROT= 352.3, -11.6

2025-10-26T21:34:28.198Z,1761514468.198 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-10-26T21:34:28.228Z,1761514468.228 [DAT](INFO): direction in FSK: [0.970743,-0.131250,0.201078]
2025-10-26T21:34:28.228Z,1761514468.228 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:28.245Z,1761514468.245 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.599363
2025-10-26T21:34:28.353Z,1761514468.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.504566 s,
      deltaX: -0.100000 m,
      approachRate: -0.198191 m/s,
      rangeRepo size: 4

2025-10-26T21:34:28.355Z,1761514468.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.490379 m,
      bearing: 17.905534 deg,
      lat: 36.779408 deg,
      lon: -121.859489 deg,
      deltaT: 0.504566 s,
      deltaX: -0.099377 m,
      approachRate: -0.196955 m/s,
      posRepo size: 4

2025-10-26T21:34:28.364Z,1761514468.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-10-26T21:34:28.367Z,1761514468.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.490379 m,
      nav range: 16.566151 m,
      bearing: 18.197802 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.375161 deg/s,
      cmd heading: 19.020178 deg,
      new cmd heading: 18.552786 deg.

2025-10-26T21:34:28.368Z,1761514468.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.323807 target range: 17.490379 and range: 17.60 m.
2025-10-26T21:34:28.433Z,1761514468.433 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.787750
2025-10-26T21:34:28.685Z,1761514468.685 [DAT](INFO): DAT read: Rx Time:21:34:27.4576 

2025-10-26T21:34:28.686Z,1761514468.686 [DAT](INFO): Rx dataTimestamp_ set to:1761514468.685278
2025-10-26T21:34:28.687Z,1761514468.687 [DAT](INFO): DAT read: Bearing 184.0,  -9.2 (Local)

2025-10-26T21:34:28.687Z,1761514468.687 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.0,  -9.2 (Local)

2025-10-26T21:34:28.689Z,1761514468.689 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed 0.5

2025-10-26T21:34:28.694Z,1761514468.694 [DAT](INFO): DAT read: 21:34:27.4576 LVL= 30704, 32753, 28514, 32755, AGC= 62, IDX= 500,-0.25,-1.643, 3.070,-1.226,-1.572, PHS= 0.031,-1.596, 0.302, RAW= 157.6,  14.1, CAL= 158.2,  16.1, ROT= 351.8, -16.1

2025-10-26T21:34:28.696Z,1761514468.696 [DAT](INFO): got valid direction response:
 21:34:27.4576 LVL= 30704, 32753, 28514, 32755, AGC= 62, IDX= 500,-0.25,-1.643, 3.070,-1.226,-1.572, PHS= 0.031,-1.596, 0.302, RAW= 157.6,  14.1, CAL= 158.2,  16.1, ROT= 351.8, -16.1

2025-10-26T21:34:28.696Z,1761514468.696 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-10-26T21:34:28.698Z,1761514468.698 [DAT](INFO): direction in FSK: [0.950956,-0.137035,0.277315]
2025-10-26T21:34:28.698Z,1761514468.698 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:28.712Z,1761514468.712 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.057777
2025-10-26T21:34:28.722Z,1761514468.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920446,-0.375338,-0.109089],[0.389098,0.906410,0.164390],[0.037177,-0.193759,0.980345]]
2025-10-26T21:34:28.869Z,1761514468.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.503573 s,
      deltaX: -0.500000 m,
      approachRate: -0.992905 m/s,
      rangeRepo size: 4

2025-10-26T21:34:28.871Z,1761514468.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.993450 m,
      bearing: 18.006162 deg,
      lat: 36.779408 deg,
      lon: -121.859489 deg,
      deltaT: 0.503573 s,
      deltaX: -0.496929 m,
      approachRate: -0.986807 m/s,
      posRepo size: 4

2025-10-26T21:34:28.879Z,1761514468.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-10-26T21:34:28.882Z,1761514468.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.993450 m,
      nav range: 16.301235 m,
      bearing: 18.088263 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.375161 deg/s,
      cmd heading: 18.552786 deg,
      new cmd heading: 17.977109 deg.

2025-10-26T21:34:28.883Z,1761514468.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.313760 target range: 16.993450 and range: 17.10 m.
2025-10-26T21:34:28.937Z,1761514468.937 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.291557
2025-10-26T21:34:29.187Z,1761514469.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921701,-0.371842,-0.110453],[0.385970,0.907522,0.165621],[0.038654,-0.195285,0.979985]]
2025-10-26T21:34:29.189Z,1761514469.189 [DAT](INFO): DAT read: Rx Time:21:34:27.9574 

2025-10-26T21:34:29.190Z,1761514469.190 [DAT](INFO): Rx dataTimestamp_ set to:1761514469.189233
2025-10-26T21:34:29.191Z,1761514469.191 [DAT](INFO): DAT read: Bearing 183.5,  -9.1 (Local)

2025-10-26T21:34:29.191Z,1761514469.191 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.5,  -9.1 (Local)

2025-10-26T21:34:29.193Z,1761514469.193 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed 0.4

2025-10-26T21:34:29.198Z,1761514469.198 [DAT](INFO): DAT read: 21:34:27.9574 LVL= 32464, 32753, 29570, 32755, AGC= 62, IDX= 498,-0.19,-1.475,-3.044,-1.056,-1.409, PHS= 0.036,-1.590, 0.309, RAW= 157.6,  13.9, CAL= 158.2,  15.9, ROT= 351.8, -15.9

2025-10-26T21:34:29.199Z,1761514469.199 [DAT](INFO): got valid direction response:
 21:34:27.9574 LVL= 32464, 32753, 29570, 32755, AGC= 62, IDX= 498,-0.19,-1.475,-3.044,-1.056,-1.409, PHS= 0.036,-1.590, 0.309, RAW= 157.6,  13.9, CAL= 158.2,  15.9, ROT= 351.8, -15.9

2025-10-26T21:34:29.200Z,1761514469.200 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-10-26T21:34:29.201Z,1761514469.201 [DAT](INFO): direction in FSK: [0.951909,-0.137172,0.273959]
2025-10-26T21:34:29.201Z,1761514469.201 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:29.205Z,1761514469.205 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.559586
2025-10-26T21:34:29.360Z,1761514469.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.503955 s,
      deltaX: -0.300001 m,
      approachRate: -0.595294 m/s,
      rangeRepo size: 4

2025-10-26T21:34:29.362Z,1761514469.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.695318 m,
      bearing: 17.796454 deg,
      lat: 36.779406 deg,
      lon: -121.859490 deg,
      deltaT: 0.503955 s,
      deltaX: -0.298132 m,
      approachRate: -0.591584 m/s,
      posRepo size: 4

2025-10-26T21:34:29.363Z,1761514469.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-10-26T21:34:29.370Z,1761514469.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.695318 m,
      nav range: 15.792570 m,
      bearing: 18.112541 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.375161 deg/s,
      cmd heading: 17.977109 deg,
      new cmd heading: 17.423658 deg.

2025-10-26T21:34:29.371Z,1761514469.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.304100 target range: 16.695318 and range: 16.80 m.
2025-10-26T21:34:29.441Z,1761514469.441 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.795601
2025-10-26T21:34:29.611Z,1761514469.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923583,-0.366932,-0.111150],[0.381331,0.909217,0.167068],[0.039756,-0.196686,0.979660]]
2025-10-26T21:34:29.650Z,1761514469.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:34:29.659Z,1761514469.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-10-26T21:34:29.666Z,1761514469.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.695318 m,
      nav range: 15.605546 m,
      bearing: 18.097393 deg,
      approach rate: -0.618589 m/s,
      LOS rate: -0.050703 deg/s,
      cmd heading: 17.423659 deg,
      new cmd heading: 17.377670 deg.

2025-10-26T21:34:29.667Z,1761514469.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.303298 target range: 16.695318 and range: 16.80 m.
2025-10-26T21:34:29.693Z,1761514469.693 [DAT](INFO): DAT read: Rx Time:21:34:28.4571 

2025-10-26T21:34:29.694Z,1761514469.694 [DAT](INFO): Rx dataTimestamp_ set to:1761514469.693230
2025-10-26T21:34:29.695Z,1761514469.695 [DAT](INFO): DAT read: Bearing 180.6,  -8.4 (Local)

2025-10-26T21:34:29.695Z,1761514469.695 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.6,  -8.4 (Local)

2025-10-26T21:34:29.698Z,1761514469.698 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed 0.5

2025-10-26T21:34:29.705Z,1761514469.705 [DAT](INFO): DAT read: 21:34:28.4571 LVL= 29216, 31329, 27762, 32755, AGC= 63, IDX= 511,-0.10, 2.916, 1.331,-2.941, 2.922, PHS= 0.096,-1.546, 0.376, RAW= 157.8,  11.9, CAL= 158.0,  13.3, ROT= 352.0, -13.3

2025-10-26T21:34:29.706Z,1761514469.706 [DAT](INFO): got valid direction response:
 21:34:28.4571 LVL= 29216, 31329, 27762, 32755, AGC= 63, IDX= 511,-0.10, 2.916, 1.331,-2.941, 2.922, PHS= 0.096,-1.546, 0.376, RAW= 157.8,  11.9, CAL= 158.0,  13.3, ROT= 352.0, -13.3

2025-10-26T21:34:29.707Z,1761514469.707 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-26T21:34:29.713Z,1761514469.713 [DAT](INFO): direction in FSK: [0.963708,-0.135440,0.230050]
2025-10-26T21:34:29.714Z,1761514469.714 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:29.738Z,1761514469.738 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.092625
2025-10-26T21:34:29.945Z,1761514469.945 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.299164
2025-10-26T21:34:30.135Z,1761514470.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.503997 s,
      deltaX: -0.400000 m,
      approachRate: -0.793655 m/s,
      rangeRepo size: 4

2025-10-26T21:34:30.138Z,1761514470.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.297876 m,
      bearing: 17.188052 deg,
      lat: 36.779406 deg,
      lon: -121.859491 deg,
      deltaT: 0.503997 s,
      deltaX: -0.397442 m,
      approachRate: -0.788580 m/s,
      posRepo size: 4

2025-10-26T21:34:30.138Z,1761514470.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-10-26T21:34:30.141Z,1761514470.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.297876 m,
      nav range: 15.286621 m,
      bearing: 17.890081 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.050703 deg/s,
      cmd heading: 17.377671 deg,
      new cmd heading: 17.305231 deg.

2025-10-26T21:34:30.142Z,1761514470.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.302033 target range: 16.297876 and range: 16.40 m.
2025-10-26T21:34:30.198Z,1761514470.198 [DAT](INFO): DAT read: Rx Time:21:34:28.9570 

2025-10-26T21:34:30.199Z,1761514470.199 [DAT](INFO): Rx dataTimestamp_ set to:1761514470.198629
2025-10-26T21:34:30.200Z,1761514470.200 [DAT](INFO): DAT read: Bearing 179.6,  -7.6 (Local)

2025-10-26T21:34:30.201Z,1761514470.201 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.6,  -7.6 (Local)

2025-10-26T21:34:30.203Z,1761514470.203 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed 0.6

2025-10-26T21:34:30.207Z,1761514470.207 [DAT](INFO): DAT read: 21:34:28.9570 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 510, 014, 1.518,-2.762, 3.093, PHS= 0.123,-1.530, 0.384, RAW= 157.2,  11.4, CAL= 157.3,  12.6, ROT= 352.7, -12.6

2025-10-26T21:34:30.208Z,1761514470.208 [DAT](INFO): unknown deviceResponse_: 21:34:28.9570 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 510, 014, 1.518,-2.762, 3.093, PHS= 0.123,-1.530, 0.384, RAW= 157.2,  11.4, CAL= 157.3,  12.6, ROT= 352.7, -12.6

2025-10-26T21:34:30.209Z,1761514470.209 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-10-26T21:34:30.209Z,1761514470.209 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.564121
2025-10-26T21:34:30.439Z,1761514470.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927478,-0.356194,-0.113620],[0.371446,0.912466,0.171561],[0.042566,-0.201323,0.978600]]
2025-10-26T21:34:30.449Z,1761514470.449 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.803986
2025-10-26T21:34:30.516Z,1761514470.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.505399 s,
      deltaX: -0.199999 m,
      approachRate: -0.395725 m/s,
      rangeRepo size: 4

2025-10-26T21:34:30.517Z,1761514470.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-10-26T21:34:30.525Z,1761514470.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.297876 m,
      nav range: 15.050126 m,
      bearing: 17.938045 deg,
      approach rate: -0.621012 m/s,
      LOS rate: 0.127927 deg/s,
      cmd heading: 17.305232 deg,
      new cmd heading: 17.451384 deg.

2025-10-26T21:34:30.529Z,1761514470.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.304584 target range: 16.297876 and range: 16.20 m.
2025-10-26T21:34:30.702Z,1761514470.702 [DAT](INFO): DAT read: Rx Time:21:34:29.4567 

2025-10-26T21:34:30.703Z,1761514470.703 [DAT](INFO): Rx dataTimestamp_ set to:1761514470.702563
2025-10-26T21:34:30.705Z,1761514470.705 [DAT](INFO): DAT read: Bearing 179.4,  -7.6 (Local)

2025-10-26T21:34:30.705Z,1761514470.705 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.4,  -7.6 (Local)

2025-10-26T21:34:30.709Z,1761514470.709 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed 0.5

2025-10-26T21:34:30.715Z,1761514470.715 [DAT](INFO): DAT read: 21:34:29.4567 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 507, 0.12, 1.980, 0.392, 2.389, 1.966, PHS= 0.116,-1.528, 0.379, RAW= 157.3,  11.5, CAL= 157.4,  12.8, ROT= 352.6, -12.8

2025-10-26T21:34:30.721Z,1761514470.721 [DAT](INFO): got valid direction response:
 21:34:29.4567 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 507, 0.12, 1.980, 0.392, 2.389, 1.966, PHS= 0.116,-1.528, 0.379, RAW= 157.3,  11.5, CAL= 157.4,  12.8, ROT= 352.6, -12.8

2025-10-26T21:34:30.721Z,1761514470.721 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-26T21:34:30.723Z,1761514470.723 [DAT](INFO): direction in FSK: [0.967028,-0.125595,0.221548]
2025-10-26T21:34:30.728Z,1761514470.728 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:30.736Z,1761514470.736 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.091106
2025-10-26T21:34:30.914Z,1761514470.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932187,-0.343012,-0.115628],[0.359188,0.916119,0.178073],[0.044848,-0.207530,0.977200]]
2025-10-26T21:34:30.952Z,1761514470.952 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.307053
2025-10-26T21:34:30.977Z,1761514470.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.503934 s,
      deltaX: -0.400001 m,
      approachRate: -0.793756 m/s,
      rangeRepo size: 4

2025-10-26T21:34:30.980Z,1761514470.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.701636 m,
      bearing: 16.473731 deg,
      lat: 36.779410 deg,
      lon: -121.859491 deg,
      deltaT: 1.009333 s,
      deltaX: -0.596240 m,
      approachRate: -0.590727 m/s,
      posRepo size: 4

2025-10-26T21:34:30.980Z,1761514470.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-10-26T21:34:30.983Z,1761514470.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.701636 m,
      nav range: 15.097610 m,
      bearing: 17.544547 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.127927 deg/s,
      cmd heading: 17.451384 deg,
      new cmd heading: 17.628645 deg.

2025-10-26T21:34:30.984Z,1761514470.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.307678 target range: 15.701636 and range: 15.80 m.
2025-10-26T21:34:31.205Z,1761514471.205 [DAT](INFO): DAT read: Rx Time:21:34:29.9566 

2025-10-26T21:34:31.205Z,1761514471.205 [DAT](INFO): Rx dataTimestamp_ set to:1761514471.205172
2025-10-26T21:34:31.207Z,1761514471.207 [DAT](INFO): DAT read: Bearing 181.1,  -8.6 (Local)

2025-10-26T21:34:31.207Z,1761514471.207 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.1,  -8.6 (Local)

2025-10-26T21:34:31.209Z,1761514471.209 [DAT](INFO): DAT read: Range 11 to 50 :    15.6 m (trip time 10.4 ms) speed 0.5

2025-10-26T21:34:31.214Z,1761514471.214 [DAT](INFO): DAT read: 21:34:29.9566 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 506, 0.06,-2.837, 1.861,-2.416,-2.790, PHS= 0.055,-1.587, 0.330, RAW= 157.6,  13.3, CAL= 158.1,  15.1, ROT= 351.9, -15.1

2025-10-26T21:34:31.215Z,1761514471.215 [DAT](INFO): got valid direction response:
 21:34:29.9566 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 506, 0.06,-2.837, 1.861,-2.416,-2.790, PHS= 0.055,-1.587, 0.330, RAW= 157.6,  13.3, CAL= 158.1,  15.1, ROT= 351.9, -15.1

2025-10-26T21:34:31.215Z,1761514471.215 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-10-26T21:34:31.216Z,1761514471.216 [DAT](INFO): direction in FSK: [0.955841,-0.136036,0.260505]
2025-10-26T21:34:31.217Z,1761514471.217 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:31.220Z,1761514471.220 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.575069
2025-10-26T21:34:31.299Z,1761514471.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934469,-0.336454,-0.116480],[0.353043,0.917996,0.180676],[0.046139,-0.209958,0.976621]]
2025-10-26T21:34:31.361Z,1761514471.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.502609 s,
      deltaX: -0.200000 m,
      approachRate: -0.397923 m/s,
      rangeRepo size: 4

2025-10-26T21:34:31.367Z,1761514471.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.502881 m,
      bearing: 15.947207 deg,
      lat: 36.779409 deg,
      lon: -121.859492 deg,
      deltaT: 0.502609 s,
      deltaX: -0.198755 m,
      approachRate: -0.395447 m/s,
      posRepo size: 4

2025-10-26T21:34:31.368Z,1761514471.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:34:31.371Z,1761514471.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.502881 m,
      nav range: 14.769601 m,
      bearing: 17.495377 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.127927 deg/s,
      cmd heading: 17.628645 deg,
      new cmd heading: 17.775995 deg.

2025-10-26T21:34:31.376Z,1761514471.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.310250 target range: 15.502881 and range: 15.60 m.
2025-10-26T21:34:31.457Z,1761514471.457 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.811722
2025-10-26T21:34:31.710Z,1761514471.710 [DAT](INFO): DAT read: Rx Time:21:34:30.4563 

2025-10-26T21:34:31.711Z,1761514471.711 [DAT](INFO): Rx dataTimestamp_ set to:1761514471.709914
2025-10-26T21:34:31.712Z,1761514471.712 [DAT](INFO): DAT read: Bearing 181.6,  -8.7 (Local)

2025-10-26T21:34:31.713Z,1761514471.713 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.6,  -8.7 (Local)

2025-10-26T21:34:31.716Z,1761514471.716 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed 0.5

2025-10-26T21:34:31.722Z,1761514471.722 [DAT](INFO): DAT read: 21:34:30.4563 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503,-0.04, 1.402,-0.180, 1.820, 1.469, PHS= 0.035,-1.604, 0.306, RAW= 157.5,  14.0, CAL= 158.1,  16.0, ROT= 351.9, -16.0

2025-10-26T21:34:31.723Z,1761514471.723 [DAT](INFO): got valid direction response:
 21:34:30.4563 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503,-0.04, 1.402,-0.180, 1.820, 1.469, PHS= 0.035,-1.604, 0.306, RAW= 157.5,  14.0, CAL= 158.1,  16.0, ROT= 351.9, -16.0

2025-10-26T21:34:31.724Z,1761514471.724 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-10-26T21:34:31.725Z,1761514471.725 [DAT](INFO): direction in FSK: [0.951672,-0.135443,0.275637]
2025-10-26T21:34:31.726Z,1761514471.726 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:31.731Z,1761514471.731 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.085457
2025-10-26T21:34:31.734Z,1761514471.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936953,-0.329313,-0.116928],[0.346251,0.920060,0.183303],[0.047217,-0.212232,0.976078]]
2025-10-26T21:34:31.820Z,1761514471.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.504742 s,
      deltaX: -0.400001 m,
      approachRate: -0.792485 m/s,
      rangeRepo size: 4

2025-10-26T21:34:31.822Z,1761514471.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.105391 m,
      bearing: 15.776991 deg,
      lat: 36.779409 deg,
      lon: -121.859494 deg,
      deltaT: 0.504742 s,
      deltaX: -0.397491 m,
      approachRate: -0.787512 m/s,
      posRepo size: 4

2025-10-26T21:34:31.823Z,1761514471.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m.
2025-10-26T21:34:31.831Z,1761514471.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.105391 m,
      nav range: 14.435796 m,
      bearing: 16.768929 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.127927 deg/s,
      cmd heading: 17.775994 deg,
      new cmd heading: 17.950490 deg.

2025-10-26T21:34:31.836Z,1761514471.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.313295 target range: 15.105391 and range: 15.20 m.
2025-10-26T21:34:31.960Z,1761514471.960 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.315113
2025-10-26T21:34:32.120Z,1761514472.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939181,-0.323149,-0.116245],[0.340061,0.922332,0.183472],[0.047927,-0.211844,0.976128]]
2025-10-26T21:34:32.196Z,1761514472.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:34:32.198Z,1761514472.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m.
2025-10-26T21:34:32.201Z,1761514472.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.105391 m,
      nav range: 14.190022 m,
      bearing: 16.897485 deg,
      approach rate: -0.642941 m/s,
      LOS rate: 0.342128 deg/s,
      cmd heading: 17.950490 deg,
      new cmd heading: 18.342833 deg.

2025-10-26T21:34:32.202Z,1761514472.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.320143 target range: 15.105391 and range: 15.20 m.
2025-10-26T21:34:32.213Z,1761514472.213 [DAT](INFO): DAT read: Rx Time:21:34:30.9561 

2025-10-26T21:34:32.214Z,1761514472.214 [DAT](INFO): Rx dataTimestamp_ set to:1761514472.213394
2025-10-26T21:34:32.215Z,1761514472.215 [DAT](INFO): DAT read: Bearing 182.0,  -8.8 (Local)

2025-10-26T21:34:32.216Z,1761514472.216 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.0,  -8.8 (Local)

2025-10-26T21:34:32.218Z,1761514472.218 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed 0.6

2025-10-26T21:34:32.223Z,1761514472.223 [DAT](INFO): DAT read: 21:34:30.9561 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 502,-0.21,-2.703, 1.996,-2.287,-2.619, PHS= 0.017,-1.624, 0.288, RAW= 157.5,  14.6, CAL= 158.2,  16.8, ROT= 351.8, -16.8

2025-10-26T21:34:32.224Z,1761514472.224 [DAT](INFO): got valid direction response:
 21:34:30.9561 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 502,-0.21,-2.703, 1.996,-2.287,-2.619, PHS= 0.017,-1.624, 0.288, RAW= 157.5,  14.6, CAL= 158.2,  16.8, ROT= 351.8, -16.8

2025-10-26T21:34:32.224Z,1761514472.224 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-10-26T21:34:32.225Z,1761514472.225 [DAT](INFO): direction in FSK: [0.947532,-0.136542,0.289032]
2025-10-26T21:34:32.226Z,1761514472.226 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:32.229Z,1761514472.229 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.584030
2025-10-26T21:34:32.465Z,1761514472.465 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.819244
2025-10-26T21:34:32.592Z,1761514472.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940950,-0.318306,-0.115304],[0.335055,0.924357,0.182487],[0.048496,-0.210344,0.976424]]
2025-10-26T21:34:32.643Z,1761514472.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.503480 s,
      deltaX: -0.300000 m,
      approachRate: -0.595853 m/s,
      rangeRepo size: 4

2025-10-26T21:34:32.649Z,1761514472.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.807191 m,
      bearing: 15.141745 deg,
      lat: 36.779409 deg,
      lon: -121.859496 deg,
      deltaT: 0.503480 s,
      deltaX: -0.298200 m,
      approachRate: -0.592277 m/s,
      posRepo size: 4

2025-10-26T21:34:32.650Z,1761514472.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-10-26T21:34:32.657Z,1761514472.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.807191 m,
      nav range: 13.907005 m,
      bearing: 16.243288 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.342128 deg/s,
      cmd heading: 18.342833 deg,
      new cmd heading: 18.799215 deg.

2025-10-26T21:34:32.658Z,1761514472.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.328108 target range: 14.807191 and range: 14.90 m.
2025-10-26T21:34:32.718Z,1761514472.718 [DAT](INFO): DAT read: Rx Time:21:34:31.4558 

2025-10-26T21:34:32.718Z,1761514472.718 [DAT](INFO): Rx dataTimestamp_ set to:1761514472.718209
2025-10-26T21:34:32.721Z,1761514472.721 [DAT](INFO): DAT read: Bearing 181.9,  -8.7 (Local)

2025-10-26T21:34:32.722Z,1761514472.722 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.9,  -8.7 (Local)

2025-10-26T21:34:32.725Z,1761514472.725 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed 0.5

2025-10-26T21:34:32.738Z,1761514472.738 [DAT](INFO): DAT read: 21:34:31.4558 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499,-0.42,-2.867, 1.816,-2.451,-2.779, PHS= 0.013,-1.644, 0.283, RAW= 157.4,  14.8, CAL= 158.1,  17.0, ROT= 351.9, -17.0

2025-10-26T21:34:32.739Z,1761514472.739 [DAT](INFO): got valid direction response:
 21:34:31.4558 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499,-0.42,-2.867, 1.816,-2.451,-2.779, PHS= 0.013,-1.644, 0.283, RAW= 157.4,  14.8, CAL= 158.1,  17.0, ROT= 351.9, -17.0

2025-10-26T21:34:32.745Z,1761514472.745 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-10-26T21:34:32.746Z,1761514472.746 [DAT](INFO): direction in FSK: [0.946764,-0.134744,0.292372]
2025-10-26T21:34:32.747Z,1761514472.747 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:32.768Z,1761514472.768 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.113800
2025-10-26T21:34:32.959Z,1761514472.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942634,-0.313576,-0.114507],[0.330208,0.926225,0.181851],[0.049035,-0.209230,0.976636]]
2025-10-26T21:34:32.968Z,1761514472.968 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.323074
2025-10-26T21:34:33.102Z,1761514473.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.504815 s,
      deltaX: -0.500000 m,
      approachRate: -0.990462 m/s,
      rangeRepo size: 4

2025-10-26T21:34:33.108Z,1761514473.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.310306 m,
      bearing: 14.970975 deg,
      lat: 36.779409 deg,
      lon: -121.859497 deg,
      deltaT: 0.504815 s,
      deltaX: -0.496885 m,
      approachRate: -0.984292 m/s,
      posRepo size: 4

2025-10-26T21:34:33.108Z,1761514473.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m.
2025-10-26T21:34:33.111Z,1761514473.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.310306 m,
      nav range: 13.571986 m,
      bearing: 15.973363 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.342128 deg/s,
      cmd heading: 18.799215 deg,
      new cmd heading: 19.269964 deg.

2025-10-26T21:34:33.117Z,1761514473.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.336324 target range: 14.310306 and range: 14.40 m.
2025-10-26T21:34:33.222Z,1761514473.222 [DAT](INFO): DAT read: Rx Time:21:34:31.9556 

2025-10-26T21:34:33.222Z,1761514473.222 [DAT](INFO): Rx dataTimestamp_ set to:1761514473.221865
2025-10-26T21:34:33.224Z,1761514473.224 [DAT](INFO): DAT read: Bearing 179.9,  -7.7 (Local)

2025-10-26T21:34:33.224Z,1761514473.224 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.9,  -7.7 (Local)

2025-10-26T21:34:33.226Z,1761514473.226 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed 0.5

2025-10-26T21:34:33.231Z,1761514473.231 [DAT](INFO): DAT read: 21:34:31.9556 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496, 0.35,-0.385,-2.026, 0.021,-0.349, PHS= 0.066,-1.632, 0.326, RAW= 157.0,  13.4, CAL= 157.5,  15.2, ROT= 352.5, -15.2

2025-10-26T21:34:33.232Z,1761514473.232 [DAT](INFO): got valid direction response:
 21:34:31.9556 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496, 0.35,-0.385,-2.026, 0.021,-0.349, PHS= 0.066,-1.632, 0.326, RAW= 157.0,  13.4, CAL= 157.5,  15.2, ROT= 352.5, -15.2

2025-10-26T21:34:33.232Z,1761514473.232 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-10-26T21:34:33.233Z,1761514473.233 [DAT](INFO): direction in FSK: [0.956761,-0.125960,0.262189]
2025-10-26T21:34:33.233Z,1761514473.233 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:33.250Z,1761514473.250 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.604794
2025-10-26T21:34:33.438Z,1761514473.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944208,-0.309194,-0.113449],[0.325685,0.927806,0.181948],[0.049001,-0.208746,0.976742]]
2025-10-26T21:34:33.472Z,1761514473.472 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.827095
2025-10-26T21:34:33.475Z,1761514473.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.503656 s,
      deltaX: -0.299999 m,
      approachRate: -0.595643 m/s,
      rangeRepo size: 4

2025-10-26T21:34:33.481Z,1761514473.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.012175 m,
      bearing: 14.877821 deg,
      lat: 36.779409 deg,
      lon: -121.859499 deg,
      deltaT: 0.503656 s,
      deltaX: -0.298131 m,
      approachRate: -0.591934 m/s,
      posRepo size: 4

2025-10-26T21:34:33.482Z,1761514473.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:34:33.489Z,1761514473.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.012175 m,
      nav range: 13.266854 m,
      bearing: 15.452847 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.342128 deg/s,
      cmd heading: 19.269963 deg,
      new cmd heading: 19.653026 deg.

2025-10-26T21:34:33.492Z,1761514473.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.343010 target range: 14.012175 and range: 14.10 m.
2025-10-26T21:34:33.725Z,1761514473.725 [DAT](INFO): DAT read: Rx Time:21:34:32.4553 

2025-10-26T21:34:33.726Z,1761514473.726 [DAT](INFO): Rx dataTimestamp_ set to:1761514473.725673
2025-10-26T21:34:33.728Z,1761514473.728 [DAT](INFO): DAT read: Bearing 179.6,  -7.4 (Local)

2025-10-26T21:34:33.729Z,1761514473.729 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.6,  -7.4 (Local)

2025-10-26T21:34:33.731Z,1761514473.731 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.6

2025-10-26T21:34:33.736Z,1761514473.736 [DAT](INFO): DAT read: 21:34:32.4553 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.28,-1.404,-3.049,-1.002,-1.374, PHS= 0.072,-1.629, 0.328, RAW= 156.9,  13.3, CAL= 157.3,  15.0, ROT= 352.7, -15.0

2025-10-26T21:34:33.737Z,1761514473.737 [DAT](INFO): got valid direction response:
 21:34:32.4553 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.28,-1.404,-3.049,-1.002,-1.374, PHS= 0.072,-1.629, 0.328, RAW= 156.9,  13.3, CAL= 157.3,  15.0, ROT= 352.7, -15.0

2025-10-26T21:34:33.738Z,1761514473.738 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-10-26T21:34:33.739Z,1761514473.739 [DAT](INFO): direction in FSK: [0.958096,-0.122735,0.258819]
2025-10-26T21:34:33.739Z,1761514473.739 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:33.743Z,1761514473.743 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.097721
2025-10-26T21:34:33.842Z,1761514473.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945423,-0.305902,-0.112249],[0.322103,0.929424,0.180056],[0.049247,-0.206385,0.977231]]
2025-10-26T21:34:33.944Z,1761514473.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.503808 s,
      deltaX: -0.400001 m,
      approachRate: -0.793954 m/s,
      rangeRepo size: 4

2025-10-26T21:34:33.946Z,1761514473.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.614608 m,
      bearing: 14.774611 deg,
      lat: 36.779408 deg,
      lon: -121.859501 deg,
      deltaT: 0.503808 s,
      deltaX: -0.397567 m,
      approachRate: -0.789124 m/s,
      posRepo size: 4

2025-10-26T21:34:33.947Z,1761514473.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.61 m.
2025-10-26T21:34:33.957Z,1761514473.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.614608 m,
      nav range: 12.897498 m,
      bearing: 15.174122 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.342128 deg/s,
      cmd heading: 19.653026 deg,
      new cmd heading: 20.129883 deg.

2025-10-26T21:34:33.958Z,1761514473.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.351333 target range: 13.614608 and range: 13.70 m.
2025-10-26T21:34:33.977Z,1761514473.977 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.331150
2025-10-26T21:34:34.229Z,1761514474.229 [DAT](INFO): DAT read: Rx Time:21:34:32.9552 

2025-10-26T21:34:34.230Z,1761514474.230 [DAT](INFO): Rx dataTimestamp_ set to:1761514474.229608
2025-10-26T21:34:34.232Z,1761514474.232 [DAT](INFO): DAT read: Bearing 179.5,  -7.3 (Local)

2025-10-26T21:34:34.232Z,1761514474.232 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.5,  -7.3 (Local)

2025-10-26T21:34:34.235Z,1761514474.235 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.7

2025-10-26T21:34:34.240Z,1761514474.240 [DAT](INFO): DAT read: 21:34:32.9552 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.29,-0.301,-1.95,-0.271, PHS= 0.072,-1.638, 0.326, RAW= 156.8,  13.3, CAL= 157.2,  15.1, ROT= 352.8, -15.1

2025-10-26T21:34:34.241Z,1761514474.241 [DAT](INFO): unknown deviceResponse_: 21:34:32.9552 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.29,-0.301,-1.95,-0.271, PHS= 0.072,-1.638, 0.326, RAW= 156.8,  13.3, CAL= 157.2,  15.1, ROT= 352.8, -15.1

2025-10-26T21:34:34.241Z,1761514474.241 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-10-26T21:34:34.242Z,1761514474.242 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.596756
2025-10-26T21:34:34.301Z,1761514474.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946095,-0.304511,-0.110351],[0.320125,0.930947,0.175662],[0.049240,-0.201519,0.978246]]
2025-10-26T21:34:34.372Z,1761514474.372 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:34:34.375Z,1761514474.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.503935 s,
      deltaX: -0.200000 m,
      approachRate: -0.396876 m/s,
      rangeRepo size: 4

2025-10-26T21:34:34.380Z,1761514474.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.61 m.
2025-10-26T21:34:34.383Z,1761514474.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.614608 m,
      nav range: 12.588030 m,
      bearing: 15.252781 deg,
      approach rate: -0.710290 m/s,
      LOS rate: 0.184975 deg/s,
      cmd heading: 20.129884 deg,
      new cmd heading: 20.371660 deg.

2025-10-26T21:34:34.388Z,1761514474.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.355553 target range: 13.614608 and range: 13.50 m.
2025-10-26T21:34:34.481Z,1761514474.481 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.835407
2025-10-26T21:34:34.678Z,1761514474.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946222,-0.304949,-0.108027],[0.319774,0.932242,0.169318],[0.049075,-0.194757,0.979623]]
2025-10-26T21:34:34.698Z,1761514474.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.61 m.
2025-10-26T21:34:34.734Z,1761514474.734 [DAT](INFO): DAT read: Rx Time:21:34:33.4549 

2025-10-26T21:34:34.734Z,1761514474.734 [DAT](INFO): Rx dataTimestamp_ set to:1761514474.733819
2025-10-26T21:34:34.736Z,1761514474.736 [DAT](INFO): DAT read: Bearing 178.2,  -6.3 (Local)

2025-10-26T21:34:34.736Z,1761514474.736 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.2,  -6.3 (Local)

2025-10-26T21:34:34.738Z,1761514474.738 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed 0.5

2025-10-26T21:34:34.743Z,1761514474.743 [DAT](INFO): DAT read: 21:34:33.4549 LVL= 30672, 32753, 32754, 32755, AGC= 58, IDX= 505, 0.33,-1.942, 2.659,-1.556,-1.959, PHS= 0.119,-1.620, 0.358, RAW= 156.4,  12.2, CAL= 156.6,  13.6, ROT= 353.4, -13.6

2025-10-26T21:34:34.744Z,1761514474.744 [DAT](INFO): got valid direction response:
 21:34:33.4549 LVL= 30672, 32753, 32754, 32755, AGC= 58, IDX= 505, 0.33,-1.942, 2.659,-1.556,-1.959, PHS= 0.119,-1.620, 0.358, RAW= 156.4,  12.2, CAL= 156.6,  13.6, ROT= 353.4, -13.6

2025-10-26T21:34:34.744Z,1761514474.744 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-10-26T21:34:34.745Z,1761514474.745 [DAT](INFO): direction in FSK: [0.965520,-0.111714,0.235142]
2025-10-26T21:34:34.745Z,1761514474.745 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:34.749Z,1761514474.749 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.103832
2025-10-26T21:34:34.751Z,1761514474.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.614608 m,
      nav range: 12.378849 m,
      bearing: 15.309081 deg,
      approach rate: -0.646800 m/s,
      LOS rate: 0.177027 deg/s,
      cmd heading: 20.371659 deg,
      new cmd heading: 20.543415 deg.

2025-10-26T21:34:34.756Z,1761514474.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.358550 target range: 13.614608 and range: 13.50 m.
2025-10-26T21:34:34.985Z,1761514474.985 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.339245
2025-10-26T21:34:35.094Z,1761514475.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946074,-0.306234,-0.105659],[0.320283,0.933150,0.163251],[0.048603,-0.188289,0.980910]]
2025-10-26T21:34:35.136Z,1761514475.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.504211 s,
      deltaX: -0.400000 m,
      approachRate: -0.793318 m/s,
      rangeRepo size: 4

2025-10-26T21:34:35.138Z,1761514475.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.018344 m,
      bearing: 14.774511 deg,
      lat: 36.779409 deg,
      lon: -121.859501 deg,
      deltaT: 1.008146 s,
      deltaX: -0.596264 m,
      approachRate: -0.591446 m/s,
      posRepo size: 4

2025-10-26T21:34:35.139Z,1761514475.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-10-26T21:34:35.157Z,1761514475.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.018344 m,
      nav range: 12.182742 m,
      bearing: 15.137910 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.177027 deg/s,
      cmd heading: 20.543414 deg,
      new cmd heading: 20.775620 deg.

2025-10-26T21:34:35.158Z,1761514475.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.362603 target range: 13.018344 and range: 13.10 m.
2025-10-26T21:34:35.237Z,1761514475.237 [DAT](INFO): DAT read: Rx Time:21:34:33.9548 

2025-10-26T21:34:35.238Z,1761514475.238 [DAT](INFO): Rx dataTimestamp_ set to:1761514475.237398
2025-10-26T21:34:35.239Z,1761514475.239 [DAT](INFO): DAT read: Bearing 178.7,  -5.9 (Local)

2025-10-26T21:34:35.239Z,1761514475.239 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.7,  -5.9 (Local)

2025-10-26T21:34:35.241Z,1761514475.241 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed 0.8

2025-10-26T21:34:35.246Z,1761514475.246 [DAT](INFO): DAT read: 21:34:33.9548 LVL= 29392, 32753, 32754, 32755, AGC= 58, IDX= 504, 0.32,-0.571,-2.268,-0.200,-0.587, PHS= 0.118,-1.636, 0.343, RAW= 156.0,  12.5, CAL= 156.2,  14.0, ROT= 353.8, -14.0

2025-10-26T21:34:35.247Z,1761514475.247 [DAT](INFO): got valid direction response:
 21:34:33.9548 LVL= 29392, 32753, 32754, 32755, AGC= 58, IDX= 504, 0.32,-0.571,-2.268,-0.200,-0.587, PHS= 0.118,-1.636, 0.343, RAW= 156.0,  12.5, CAL= 156.2,  14.0, ROT= 353.8, -14.0

2025-10-26T21:34:35.248Z,1761514475.248 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-10-26T21:34:35.249Z,1761514475.249 [DAT](INFO): direction in FSK: [0.964620,-0.104791,0.241922]
2025-10-26T21:34:35.249Z,1761514475.249 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:35.253Z,1761514475.253 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.607464
2025-10-26T21:34:35.486Z,1761514475.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945489,-0.308909,-0.103080],[0.322104,0.933705,0.156344],[0.047950,-0.181024,0.982309]]
2025-10-26T21:34:35.488Z,1761514475.488 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.843048
2025-10-26T21:34:35.603Z,1761514475.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.503579 s,
      deltaX: -0.200001 m,
      approachRate: -0.397159 m/s,
      rangeRepo size: 4

2025-10-26T21:34:35.609Z,1761514475.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.819590 m,
      bearing: 15.250600 deg,
      lat: 36.779409 deg,
      lon: -121.859501 deg,
      deltaT: 0.503579 s,
      deltaX: -0.198754 m,
      approachRate: -0.394683 m/s,
      posRepo size: 4

2025-10-26T21:34:35.610Z,1761514475.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-10-26T21:34:35.617Z,1761514475.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.819590 m,
      nav range: 11.923234 m,
      bearing: 15.137395 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.177027 deg/s,
      cmd heading: 20.775620 deg,
      new cmd heading: 21.023714 deg.

2025-10-26T21:34:35.618Z,1761514475.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.366933 target range: 12.819590 and range: 12.90 m.
2025-10-26T21:34:35.741Z,1761514475.741 [DAT](INFO): DAT read: Rx Time:21:34:34.4545 

2025-10-26T21:34:35.742Z,1761514475.742 [DAT](INFO): Rx dataTimestamp_ set to:1761514475.741353
2025-10-26T21:34:35.743Z,1761514475.743 [DAT](INFO): DAT read: Bearing 176.3,  -4.9 (Local)

2025-10-26T21:34:35.743Z,1761514475.743 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.3,  -4.9 (Local)

2025-10-26T21:34:35.745Z,1761514475.745 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.5

2025-10-26T21:34:35.750Z,1761514475.750 [DAT](INFO): DAT read: 21:34:34.4545 LVL= 25104, 32753, 27170, 32755, AGC= 56, IDX= 501, 0.44,-3.027, 1.551,-2.661,-3.117, PHS= 0.192,-1.570, 0.412, RAW= 155.8,  10.3, CAL= 155.7,  11.2, ROT= 354.3, -11.2

2025-10-26T21:34:35.751Z,1761514475.751 [DAT](INFO): got valid direction response:
 21:34:34.4545 LVL= 25104, 32753, 27170, 32755, AGC= 56, IDX= 501, 0.44,-3.027, 1.551,-2.661,-3.117, PHS= 0.192,-1.570, 0.412, RAW= 155.8,  10.3, CAL= 155.7,  11.2, ROT= 354.3, -11.2

2025-10-26T21:34:35.752Z,1761514475.752 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-10-26T21:34:35.753Z,1761514475.753 [DAT](INFO): direction in FSK: [0.976105,-0.097428,0.194234]
2025-10-26T21:34:35.753Z,1761514475.753 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:35.757Z,1761514475.757 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.111504
2025-10-26T21:34:35.988Z,1761514475.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944484,-0.312739,-0.100719],[0.325135,0.933778,0.149484],[0.047300,-0.173933,0.983621]]
2025-10-26T21:34:35.993Z,1761514475.993 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.347260
2025-10-26T21:34:36.099Z,1761514476.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.503955 s,
      deltaX: -0.400000 m,
      approachRate: -0.793721 m/s,
      rangeRepo size: 4

2025-10-26T21:34:36.101Z,1761514476.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.422082 m,
      bearing: 15.313308 deg,
      lat: 36.779411 deg,
      lon: -121.859501 deg,
      deltaT: 0.503955 s,
      deltaX: -0.397508 m,
      approachRate: -0.788776 m/s,
      posRepo size: 4

2025-10-26T21:34:36.102Z,1761514476.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:34:36.109Z,1761514476.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.422082 m,
      nav range: 11.870943 m,
      bearing: 14.722322 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.177027 deg/s,
      cmd heading: 21.023715 deg,
      new cmd heading: 21.285149 deg.

2025-10-26T21:34:36.110Z,1761514476.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.371496 target range: 12.422082 and range: 12.50 m.
2025-10-26T21:34:36.245Z,1761514476.245 [DAT](INFO): DAT read: Rx Time:21:34:34.9544 

2025-10-26T21:34:36.246Z,1761514476.246 [DAT](INFO): Rx dataTimestamp_ set to:1761514476.245246
2025-10-26T21:34:36.247Z,1761514476.247 [DAT](INFO): DAT read: Bearing 180.7,  -6.4 (Local)

2025-10-26T21:34:36.247Z,1761514476.247 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.7,  -6.4 (Local)

2025-10-26T21:34:36.249Z,1761514476.249 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.5

2025-10-26T21:34:36.254Z,1761514476.254 [DAT](INFO): DAT read: 21:34:34.9544 LVL= 32624, 32753, 32754, 32755, AGC= 57, IDX= 501,-0.49,-3.098, 1.494,-2.721,-3.073, PHS= 0.077,-1.671, 0.308, RAW= 156.1,  13.6, CAL= 156.6,  15.5, ROT= 353.4, -15.5

2025-10-26T21:34:36.255Z,1761514476.255 [DAT](INFO): got valid direction response:
 21:34:34.9544 LVL= 32624, 32753, 32754, 32755, AGC= 57, IDX= 501,-0.49,-3.098, 1.494,-2.721,-3.073, PHS= 0.077,-1.671, 0.308, RAW= 156.1,  13.6, CAL= 156.6,  15.5, ROT= 353.4, -15.5

2025-10-26T21:34:36.256Z,1761514476.256 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-10-26T21:34:36.256Z,1761514476.256 [DAT](INFO): direction in FSK: [0.957244,-0.110757,0.267238]
2025-10-26T21:34:36.257Z,1761514476.257 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:36.265Z,1761514476.265 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.619274
2025-10-26T21:34:36.416Z,1761514476.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943234,-0.317333,-0.098026],[0.328859,0.933654,0.141919],[0.046487,-0.166100,0.985013]]
2025-10-26T21:34:36.450Z,1761514476.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.503893 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:34:36.452Z,1761514476.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.422082 m,
      bearing: 15.291854 deg,
      lat: 36.779411 deg,
      lon: -121.859500 deg,
      deltaT: 0.503893 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:34:36.453Z,1761514476.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:34:36.455Z,1761514476.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.422082 m,
      nav range: 11.662833 m,
      bearing: 15.070154 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.177027 deg/s,
      cmd heading: 21.285149 deg,
      new cmd heading: 21.473528 deg.

2025-10-26T21:34:36.456Z,1761514476.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.374784 target range: 12.422082 and range: 12.50 m.
2025-10-26T21:34:36.497Z,1761514476.497 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.851223
2025-10-26T21:34:36.749Z,1761514476.749 [DAT](INFO): DAT read: Rx Time:21:34:35.4541 

2025-10-26T21:34:36.749Z,1761514476.749 [DAT](INFO): Rx dataTimestamp_ set to:1761514476.749055
2025-10-26T21:34:36.751Z,1761514476.751 [DAT](INFO): DAT read: Bearing 177.6,  -5.5 (Local)

2025-10-26T21:34:36.751Z,1761514476.751 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.6,  -5.5 (Local)

2025-10-26T21:34:36.753Z,1761514476.753 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed 0.5

2025-10-26T21:34:36.758Z,1761514476.758 [DAT](INFO): DAT read: 21:34:35.4541 LVL= 26096, 32753, 28786, 32755, AGC= 55, IDX= 498,-0.36, 0.593,-1.127, 0.979, 0.528, PHS= 0.167,-1.610, 0.407, RAW= 156.3,  10.9, CAL= 156.2,  11.9, ROT= 353.8, -11.9

2025-10-26T21:34:36.759Z,1761514476.759 [DAT](INFO): got valid direction response:
 21:34:35.4541 LVL= 26096, 32753, 28786, 32755, AGC= 55, IDX= 498,-0.36, 0.593,-1.127, 0.979, 0.528, PHS= 0.167,-1.610, 0.407, RAW= 156.3,  10.9, CAL= 156.2,  11.9, ROT= 353.8, -11.9

2025-10-26T21:34:36.759Z,1761514476.759 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-10-26T21:34:36.760Z,1761514476.760 [DAT](INFO): direction in FSK: [0.972786,-0.105678,0.206204]
2025-10-26T21:34:36.760Z,1761514476.760 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:36.764Z,1761514476.764 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.118538
2025-10-26T21:34:36.835Z,1761514476.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941450,-0.323382,-0.095373],[0.333976,0.933229,0.132451],[0.046173,-0.156549,0.986590]]
2025-10-26T21:34:36.881Z,1761514476.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.503809 s,
      deltaX: -0.500000 m,
      approachRate: -0.992440 m/s,
      rangeRepo size: 4

2025-10-26T21:34:36.888Z,1761514476.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.925190 m,
      bearing: 15.246428 deg,
      lat: 36.779412 deg,
      lon: -121.859499 deg,
      deltaT: 0.503809 s,
      deltaX: -0.496892 m,
      approachRate: -0.986271 m/s,
      posRepo size: 4

2025-10-26T21:34:36.889Z,1761514476.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-10-26T21:34:36.896Z,1761514476.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.925190 m,
      nav range: 11.485049 m,
      bearing: 15.157446 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.177027 deg/s,
      cmd heading: 21.473527 deg,
      new cmd heading: 21.702382 deg.

2025-10-26T21:34:36.897Z,1761514476.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.378778 target range: 11.925190 and range: 12.00 m.
2025-10-26T21:34:37.001Z,1761514477.001 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.355843
2025-10-26T21:34:37.252Z,1761514477.252 [DAT](INFO): DAT read: Rx Time:21:34:35.9540 

2025-10-26T21:34:37.253Z,1761514477.253 [DAT](INFO): Rx dataTimestamp_ set to:1761514477.252590
2025-10-26T21:34:37.254Z,1761514477.254 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed 0.4

2025-10-26T21:34:37.255Z,1761514477.255 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-10-26T21:34:37.256Z,1761514477.256 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.610390
2025-10-26T21:34:37.262Z,1761514477.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939377,-0.330271,-0.092150],[0.339841,0.932517,0.122148],[0.045589,-0.146059,0.988225]]
2025-10-26T21:34:37.340Z,1761514477.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:34:37.342Z,1761514477.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.503535 s,
      deltaX: -0.300000 m,
      approachRate: -0.595788 m/s,
      rangeRepo size: 4

2025-10-26T21:34:37.343Z,1761514477.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-10-26T21:34:37.346Z,1761514477.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.925190 m,
      nav range: 11.179449 m,
      bearing: 14.961876 deg,
      approach rate: -0.662030 m/s,
      LOS rate: -0.435249 deg/s,
      cmd heading: 21.702381 deg,
      new cmd heading: 21.099657 deg.

2025-10-26T21:34:37.347Z,1761514477.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.368258 target range: 11.925190 and range: 11.70 m.
2025-10-26T21:34:37.504Z,1761514477.504 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.859020
2025-10-26T21:34:37.658Z,1761514477.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937215,-0.337036,-0.089639],[0.345793,0.931456,0.113211],[0.045338,-0.137099,0.989519]]
2025-10-26T21:34:37.682Z,1761514477.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-10-26T21:34:37.701Z,1761514477.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.925190 m,
      nav range: 10.962633 m,
      bearing: 14.809197 deg,
      approach rate: -0.637831 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 21.099656 deg,
      new cmd heading: 20.632571 deg.

2025-10-26T21:34:37.703Z,1761514477.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.360106 target range: 11.925190 and range: 11.70 m.
2025-10-26T21:34:37.759Z,1761514477.759 [DAT](INFO): DAT read: Rx Time:21:34:36.4538 

2025-10-26T21:34:37.759Z,1761514477.759 [DAT](INFO): Rx dataTimestamp_ set to:1761514477.758707
2025-10-26T21:34:37.761Z,1761514477.761 [DAT](INFO): DAT read: Bearing 182.5,  -7.2 (Local)

2025-10-26T21:34:37.762Z,1761514477.762 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.5,  -7.2 (Local)

2025-10-26T21:34:37.765Z,1761514477.765 [DAT](INFO): DAT read: Range 11 to 50 :    11.4 m (trip time 7.6 ms) speed 0.5

2025-10-26T21:34:37.771Z,1761514477.771 [DAT](INFO): DAT read: 21:34:36.4538 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.16,-1.432,-3.099,-1.014,-1.373, PHS= 0.043,-1.681, 0.314, RAW= 157.2,  14.0, CAL= 157.8,  16.0, ROT= 352.2, -16.0

2025-10-26T21:34:37.773Z,1761514477.773 [DAT](INFO): got valid direction response:
 21:34:36.4538 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.16,-1.432,-3.099,-1.014,-1.373, PHS= 0.043,-1.681, 0.314, RAW= 157.2,  14.0, CAL= 157.8,  16.0, ROT= 352.2, -16.0

2025-10-26T21:34:37.774Z,1761514477.774 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-10-26T21:34:37.776Z,1761514477.776 [DAT](INFO): direction in FSK: [0.952368,-0.130458,0.275637]
2025-10-26T21:34:37.776Z,1761514477.776 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:37.797Z,1761514477.797 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.151291
2025-10-26T21:34:38.008Z,1761514478.008 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.362980
2025-10-26T21:34:38.085Z,1761514478.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932777,-0.350138,-0.085625],[0.357687,0.928502,0.099718],[0.044588,-0.123641,0.991325]]
2025-10-26T21:34:38.125Z,1761514478.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.400000 m,
      deltaT: 0.506117 s,
      deltaX: -0.300000 m,
      approachRate: -0.592749 m/s,
      rangeRepo size: 4

2025-10-26T21:34:38.127Z,1761514478.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.328934 m,
      bearing: 15.179390 deg,
      lat: 36.779412 deg,
      lon: -121.859499 deg,
      deltaT: 1.009652 s,
      deltaX: -0.596256 m,
      approachRate: -0.590556 m/s,
      posRepo size: 4

2025-10-26T21:34:38.144Z,1761514478.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-10-26T21:34:38.146Z,1761514478.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.328934 m,
      nav range: 10.698101 m,
      bearing: 14.590208 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 20.632571 deg,
      new cmd heading: 20.024248 deg.

2025-10-26T21:34:38.152Z,1761514478.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.349489 target range: 11.328934 and range: 11.40 m.
2025-10-26T21:34:38.261Z,1761514478.261 [DAT](INFO): DAT read: Rx Time:21:34:36.9536 

2025-10-26T21:34:38.262Z,1761514478.262 [DAT](INFO): Rx dataTimestamp_ set to:1761514478.261522
2025-10-26T21:34:38.263Z,1761514478.263 [DAT](INFO): DAT read: Bearing 177.0,  -5.7 (Local)

2025-10-26T21:34:38.264Z,1761514478.264 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.0,  -5.7 (Local)

2025-10-26T21:34:38.266Z,1761514478.266 [DAT](INFO): DAT read: Range 11 to 50 :    11.1 m (trip time 7.4 ms) speed 0.4

2025-10-26T21:34:38.270Z,1761514478.270 [DAT](INFO): DAT read: 21:34:36.9536 LVL= 24752, 32753, 25986, 32755, AGC= 57, IDX= 508,-0.20, 1.739, 0.045, 2.163, 1.644, PHS= 0.197,-1.554, 0.475, RAW= 157.3,   9.3, CAL= 157.0,   9.9, ROT= 353.0,  -9.9

2025-10-26T21:34:38.272Z,1761514478.272 [DAT](INFO): got valid direction response:
 21:34:36.9536 LVL= 24752, 32753, 25986, 32755, AGC= 57, IDX= 508,-0.20, 1.739, 0.045, 2.163, 1.644, PHS= 0.197,-1.554, 0.475, RAW= 157.3,   9.3, CAL= 157.0,   9.9, ROT= 353.0,  -9.9

2025-10-26T21:34:38.273Z,1761514478.273 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-26T21:34:38.274Z,1761514478.274 [DAT](INFO): direction in FSK: [0.977766,-0.120055,0.171929]
2025-10-26T21:34:38.274Z,1761514478.274 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:38.278Z,1761514478.278 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.632576
2025-10-26T21:34:38.516Z,1761514478.516 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.869869
2025-10-26T21:34:38.633Z,1761514478.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930567,-0.355993,-0.085517],[0.363413,0.926491,0.097702],[0.044450,-0.121996,0.991535]]
2025-10-26T21:34:38.657Z,1761514478.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.502815 s,
      deltaX: -0.299999 m,
      approachRate: -0.596639 m/s,
      rangeRepo size: 4

2025-10-26T21:34:38.660Z,1761514478.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.030793 m,
      bearing: 15.545058 deg,
      lat: 36.779412 deg,
      lon: -121.859499 deg,
      deltaT: 0.502815 s,
      deltaX: -0.298141 m,
      approachRate: -0.592943 m/s,
      posRepo size: 4

2025-10-26T21:34:38.660Z,1761514478.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m.
2025-10-26T21:34:38.663Z,1761514478.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.030793 m,
      nav range: 10.386868 m,
      bearing: 14.294995 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 20.024248 deg,
      new cmd heading: 19.292869 deg.

2025-10-26T21:34:38.664Z,1761514478.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.336724 target range: 11.030793 and range: 11.10 m.
2025-10-26T21:34:38.766Z,1761514478.766 [DAT](INFO): DAT read: Rx Time:21:34:37.4534 

2025-10-26T21:34:38.767Z,1761514478.767 [DAT](INFO): Rx dataTimestamp_ set to:1761514478.766313
2025-10-26T21:34:38.769Z,1761514478.769 [DAT](INFO): DAT read: Bearing 176.6,  -6.0 (Local)

2025-10-26T21:34:38.769Z,1761514478.769 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.6,  -6.0 (Local)

2025-10-26T21:34:38.772Z,1761514478.772 [DAT](INFO): DAT read: Range 11 to 50 :    10.8 m (trip time 7.2 ms) speed 0.4

2025-10-26T21:34:38.776Z,1761514478.776 [DAT](INFO): DAT read: 21:34:37.4534 LVL= 22000, 32753, 21282, 32755, AGC= 56, IDX= 505,-0.14, 1.351,-0.309, 1.789, 1.248, PHS= 0.204,-1.512, 0.497, RAW= 157.8,   8.7, CAL= 157.4,   9.1, ROT= 352.6,  -9.1

2025-10-26T21:34:38.777Z,1761514478.777 [DAT](INFO): got valid direction response:
 21:34:37.4534 LVL= 22000, 32753, 21282, 32755, AGC= 56, IDX= 505,-0.14, 1.351,-0.309, 1.789, 1.248, PHS= 0.204,-1.512, 0.497, RAW= 157.8,   8.7, CAL= 157.4,   9.1, ROT= 352.6,  -9.1

2025-10-26T21:34:38.778Z,1761514478.778 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-10-26T21:34:38.779Z,1761514478.779 [DAT](INFO): direction in FSK: [0.979190,-0.127174,0.158158]
2025-10-26T21:34:38.779Z,1761514478.779 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:38.783Z,1761514478.783 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.137283
2025-10-26T21:34:39.021Z,1761514479.021 [DAT](INFO): DAT read: Rx Time:21:34:37.9533 

2025-10-26T21:34:39.023Z,1761514479.023 [DAT](INFO): Rx dataTimestamp_ set to:1761514479.021430
2025-10-26T21:34:39.026Z,1761514479.026 [DAT](INFO): DAT read: Bearing 176.9,  -6.7 (Local)

2025-10-26T21:34:39.027Z,1761514479.027 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.9,  -6.7 (Local)

2025-10-26T21:34:39.031Z,1761514479.031 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.385036
2025-10-26T21:34:39.092Z,1761514479.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928653,-0.361048,-0.085140],[0.368303,0.924785,0.095532],[0.044244,-0.120073,0.991779]]
2025-10-26T21:34:39.162Z,1761514479.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.504791 s,
      deltaX: -0.300000 m,
      approachRate: -0.594306 m/s,
      rangeRepo size: 4

2025-10-26T21:34:39.165Z,1761514479.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.732664 m,
      bearing: 15.328151 deg,
      lat: 36.779412 deg,
      lon: -121.859498 deg,
      deltaT: 0.504791 s,
      deltaX: -0.298129 m,
      approachRate: -0.590599 m/s,
      posRepo size: 4

2025-10-26T21:34:39.166Z,1761514479.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-10-26T21:34:39.169Z,1761514479.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.732664 m,
      nav range: 10.105101 m,
      bearing: 14.435591 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 19.292870 deg,
      new cmd heading: 18.599209 deg.

2025-10-26T21:34:39.169Z,1761514479.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.324617 target range: 10.732664 and range: 10.80 m.
2025-10-26T21:34:39.271Z,1761514479.271 [DAT](INFO): DAT read: Range 11 to 50 :    10.7 m (trip time 7.1 ms) speed 0.4

2025-10-26T21:34:39.276Z,1761514479.276 [DAT](INFO): DAT read: 21:34:37.9533 LVL= 25104, 32753, 24770, 32755, AGC= 54, IDX= 504,-0.04, 2.585, 0.952, 3.046, 2.498, PHS= 0.189,-1.501, 0.504, RAW= 158.4,   8.7, CAL= 158.1,   9.1, ROT= 351.9,  -9.1

2025-10-26T21:34:39.277Z,1761514479.277 [DAT](INFO): got valid direction response:
 21:34:37.9533 LVL= 25104, 32753, 24770, 32755, AGC= 54, IDX= 504,-0.04, 2.585, 0.952, 3.046, 2.498, PHS= 0.189,-1.501, 0.504, RAW= 158.4,   8.7, CAL= 158.1,   9.1, ROT= 351.9,  -9.1

2025-10-26T21:34:39.277Z,1761514479.277 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-10-26T21:34:39.278Z,1761514479.278 [DAT](INFO): direction in FSK: [0.977563,-0.139128,0.158158]
2025-10-26T21:34:39.279Z,1761514479.279 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:39.282Z,1761514479.282 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.636948
2025-10-26T21:34:39.525Z,1761514479.525 [DAT](INFO): DAT read: Rx Time:21:34:38.4530 

2025-10-26T21:34:39.527Z,1761514479.527 [DAT](INFO): Rx dataTimestamp_ set to:1761514479.525765
2025-10-26T21:34:39.530Z,1761514479.530 [DAT](INFO): DAT read: Bearing 176.6,  -7.3 (Local)

2025-10-26T21:34:39.532Z,1761514479.532 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.6,  -7.3 (Local)

2025-10-26T21:34:39.534Z,1761514479.534 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.888176
2025-10-26T21:34:39.632Z,1761514479.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927004,-0.365225,-0.085293],[0.372480,0.923111,0.095521],[0.043848,-0.120318,0.991767]]
2025-10-26T21:34:39.669Z,1761514479.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.502644 s,
      deltaX: -0.100000 m,
      approachRate: -0.198949 m/s,
      rangeRepo size: 4

2025-10-26T21:34:39.676Z,1761514479.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.633275 m,
      bearing: 14.885630 deg,
      lat: 36.779414 deg,
      lon: -121.859495 deg,
      deltaT: 0.502644 s,
      deltaX: -0.099389 m,
      approachRate: -0.197733 m/s,
      posRepo size: 4

2025-10-26T21:34:39.676Z,1761514479.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-10-26T21:34:39.679Z,1761514479.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.633275 m,
      nav range: 10.133314 m,
      bearing: 14.898789 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 18.599208 deg,
      new cmd heading: 17.910575 deg.

2025-10-26T21:34:39.680Z,1761514479.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.312598 target range: 10.633275 and range: 10.70 m.
2025-10-26T21:34:39.774Z,1761514479.774 [DAT](INFO): DAT read: Range 11 to 50 :    10.2 m (trip time 6.8 ms) speed 0.4

2025-10-26T21:34:39.779Z,1761514479.779 [DAT](INFO): DAT read: 21:34:38.4530 LVL= 23232, 32753, 22866, 32755, AGC= 56, IDX= 501, 0.09, 2.443, 0.820, 2.931, 2.358, PHS= 0.187,-1.494, 0.529, RAW= 159.1,   8.3, CAL= 158.7,   8.7, ROT= 351.3,  -8.7

2025-10-26T21:34:39.780Z,1761514479.780 [DAT](INFO): got valid direction response:
 21:34:38.4530 LVL= 23232, 32753, 22866, 32755, AGC= 56, IDX= 501, 0.09, 2.443, 0.820, 2.931, 2.358, PHS= 0.187,-1.494, 0.529, RAW= 159.1,   8.3, CAL= 158.7,   8.7, ROT= 351.3,  -8.7

2025-10-26T21:34:39.781Z,1761514479.781 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-10-26T21:34:39.782Z,1761514479.782 [DAT](INFO): direction in FSK: [0.977120,-0.149521,0.151261]
2025-10-26T21:34:39.782Z,1761514479.782 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:39.786Z,1761514479.786 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.140388
2025-10-26T21:34:40.032Z,1761514480.032 [DAT](INFO): DAT read: Rx Time:21:34:38.9529 

2025-10-26T21:34:40.033Z,1761514480.033 [DAT](INFO): Rx dataTimestamp_ set to:1761514480.032534
2025-10-26T21:34:40.037Z,1761514480.037 [DAT](INFO): DAT read: Bearing 176.6,  -8.0 (Local)

2025-10-26T21:34:40.039Z,1761514480.039 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.6,  -8.0 (Local)

2025-10-26T21:34:40.052Z,1761514480.052 [DAT](INFO): DAT read: Range 11 to 50 :    10.1 m (trip time 6.7 ms) speed 0.4

2025-10-26T21:34:40.055Z,1761514480.055 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-10-26T21:34:40.079Z,1761514480.079 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.421555
2025-10-26T21:34:40.085Z,1761514480.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925033,-0.369751,-0.087169],[0.377466,0.920478,0.101192],[0.042821,-0.126510,0.991041]]
2025-10-26T21:34:40.198Z,1761514480.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.100000 m,
      deltaT: 0.763577 s,
      deltaX: -0.599999 m,
      approachRate: -0.785775 m/s,
      rangeRepo size: 4

2025-10-26T21:34:40.201Z,1761514480.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.037018 m,
      bearing: 14.605635 deg,
      lat: 36.779414 deg,
      lon: -121.859495 deg,
      deltaT: 0.763577 s,
      deltaX: -0.596257 m,
      approachRate: -0.780874 m/s,
      posRepo size: 4

2025-10-26T21:34:40.202Z,1761514480.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m.
2025-10-26T21:34:40.213Z,1761514480.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.037018 m,
      nav range: 9.828159 m,
      bearing: 14.580730 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 17.910575 deg,
      new cmd heading: 17.200599 deg.

2025-10-26T21:34:40.214Z,1761514480.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.300207 target range: 10.037018 and range: 10.10 m.
2025-10-26T21:34:40.281Z,1761514480.281 [DAT](INFO): DAT read: 21:34:38.9529 LVL= 25424, 32753, 23714, 32755, AGC= 56, IDX= 500, 0.27,-2.747, 1.933,-2.235,-2.819, PHS= 0.174,-1.486, 0.541, RAW= 159.8,   8.3, CAL= 159.4,   8.6, ROT= 350.6,  -8.6

2025-10-26T21:34:40.283Z,1761514480.283 [DAT](INFO): got valid direction response:
 21:34:38.9529 LVL= 25424, 32753, 23714, 32755, AGC= 56, IDX= 500, 0.27,-2.747, 1.933,-2.235,-2.819, PHS= 0.174,-1.486, 0.541, RAW= 159.8,   8.3, CAL= 159.4,   8.6, ROT= 350.6,  -8.6

2025-10-26T21:34:40.283Z,1761514480.283 [DAT](INFO): #Rx 86: Read direction message, but no range.
2025-10-26T21:34:40.285Z,1761514480.285 [DAT](INFO): direction in FSK: [0.975480,-0.161490,0.149535]
2025-10-26T21:34:40.291Z,1761514480.291 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.645054
2025-10-26T21:34:40.534Z,1761514480.534 [DAT](INFO): DAT read: Rx Time:21:34:39.4526 

2025-10-26T21:34:40.540Z,1761514480.540 [DAT](INFO): Rx dataTimestamp_ set to:1761514480.534858
2025-10-26T21:34:40.552Z,1761514480.552 [DAT](INFO): DAT read: Bearing 176.5,  -8.4 (Local)

2025-10-26T21:34:40.553Z,1761514480.553 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.5,  -8.4 (Local)

2025-10-26T21:34:40.571Z,1761514480.571 [DAT](INFO): DAT read: Range 11 to 50 :     9.6 m (trip time 6.4 ms) speed 0.6

2025-10-26T21:34:40.585Z,1761514480.585 [DAT](INFO): DAT read: 21:34:39.4526 LVL= 24336, 32753, 23026, 32755, AGC= 56, IDX= 498,-0.41, 0.543,-1.058, 1.069, 0.478, PHS= 0.168,-1.491, 0.547, RAW= 160.1,   8.3, CAL= 159.7,   8.6, ROT= 350.3,  -8.6

2025-10-26T21:34:40.586Z,1761514480.586 [DAT](INFO): got valid direction response:
 21:34:39.4526 LVL= 24336, 32753, 23026, 32755, AGC= 56, IDX= 498,-0.41, 0.543,-1.058, 1.069, 0.478, PHS= 0.168,-1.491, 0.547, RAW= 160.1,   8.3, CAL= 159.7,   8.6, ROT= 350.3,  -8.6

2025-10-26T21:34:40.587Z,1761514480.587 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-10-26T21:34:40.600Z,1761514480.600 [DAT](INFO): direction in FSK: [0.974621,-0.166595,0.149535]
2025-10-26T21:34:40.600Z,1761514480.600 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:40.636Z,1761514480.636 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.990364
2025-10-26T21:34:40.637Z,1761514480.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925133,-0.369159,-0.088610],[0.377301,0.919920,0.106731],[0.042113,-0.132173,0.990332]]
2025-10-26T21:34:40.702Z,1761514480.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.502324 s,
      deltaX: -0.500000 m,
      approachRate: -0.995373 m/s,
      rangeRepo size: 4

2025-10-26T21:34:40.729Z,1761514480.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.540147 m,
      bearing: 13.635659 deg,
      lat: 36.779414 deg,
      lon: -121.859495 deg,
      deltaT: 0.502324 s,
      deltaX: -0.496871 m,
      approachRate: -0.989144 m/s,
      posRepo size: 4

2025-10-26T21:34:40.730Z,1761514480.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T21:34:40.731Z,1761514480.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.60 m.
2025-10-26T21:34:40.735Z,1761514480.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-10-26T21:34:40.738Z,1761514480.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 9.516941 m,
      bearing: 14.213430 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 17.200600 deg,
      new cmd heading: 16.483818 deg.

2025-10-26T21:34:40.739Z,1761514480.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.287697 target range: 9.540147 and range: 9.60 m.
2025-10-26T21:34:40.780Z,1761514480.780 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.135098
2025-10-26T21:34:41.034Z,1761514481.034 [DAT](INFO): DAT read: Rx Time:21:34:39.9524 

2025-10-26T21:34:41.035Z,1761514481.035 [DAT](INFO): Rx dataTimestamp_ set to:1761514481.034364
2025-10-26T21:34:41.037Z,1761514481.037 [DAT](INFO): DAT read: Range 11 to 50 :     9.3 m (trip time 6.2 ms) speed 0.5

2025-10-26T21:34:41.038Z,1761514481.038 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-10-26T21:34:41.039Z,1761514481.039 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.393646
2025-10-26T21:34:41.060Z,1761514481.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925768,-0.367240,-0.089936],[0.375890,0.919593,0.114261],[0.040743,-0.139585,0.989372]]
2025-10-26T21:34:41.124Z,1761514481.124 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:34:41.127Z,1761514481.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 0.499506 s,
      deltaX: -0.300000 m,
      approachRate: -0.600594 m/s,
      rangeRepo size: 4

2025-10-26T21:34:41.128Z,1761514481.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-10-26T21:34:41.131Z,1761514481.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 9.248060 m,
      bearing: 13.946304 deg,
      approach rate: -0.632001 m/s,
      LOS rate: -0.646129 deg/s,
      cmd heading: 16.483818 deg,
      new cmd heading: 15.659200 deg.

2025-10-26T21:34:41.140Z,1761514481.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.273305 target range: 9.540147 and range: 9.30 m.
2025-10-26T21:34:41.284Z,1761514481.284 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.639015
2025-10-26T21:34:41.435Z,1761514481.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926960,-0.363704,-0.091999],[0.373056,0.919550,0.123522],[0.039672,-0.148821,0.988068]]
2025-10-26T21:34:41.454Z,1761514481.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-10-26T21:34:41.475Z,1761514481.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 9.050591 m,
      bearing: 13.743986 deg,
      approach rate: -0.603908 m/s,
      LOS rate: -0.632237 deg/s,
      cmd heading: 15.659201 deg,
      new cmd heading: 15.039029 deg.

2025-10-26T21:34:41.476Z,1761514481.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.262481 target range: 9.540147 and range: 9.30 m.
2025-10-26T21:34:41.542Z,1761514481.542 [DAT](INFO): DAT read: Rx Time:21:34:40.4522 

2025-10-26T21:34:41.548Z,1761514481.548 [DAT](INFO): Rx dataTimestamp_ set to:1761514481.543001
2025-10-26T21:34:41.552Z,1761514481.552 [DAT](INFO): DAT read: Bearing 178.0, -10.0 (Local)

2025-10-26T21:34:41.553Z,1761514481.553 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.0, -10.0 (Local)

2025-10-26T21:34:41.564Z,1761514481.564 [DAT](INFO): DAT read: Range 11 to 50 :     9.0 m (trip time 6.0 ms) speed 0.5

2025-10-26T21:34:41.566Z,1761514481.566 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-10-26T21:34:41.584Z,1761514481.584 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.938736
2025-10-26T21:34:41.792Z,1761514481.792 [DAT](INFO): DAT read: 21:34:40.4522 LVL= 27632, 32753, 21810, 32755, AGC= 57, IDX= 509,-0.03,-0.073,-1.651, 0.482,-0.074, PHS= 0.104,-1.532, 0.512, RAW= 160.9,   9.8, CAL= 160.8,  10.6, ROT= 349.2, -10.6

2025-10-26T21:34:41.793Z,1761514481.793 [DAT](INFO): got valid direction response:
 21:34:40.4522 LVL= 27632, 32753, 21810, 32755, AGC= 57, IDX= 509,-0.03,-0.073,-1.651, 0.482,-0.074, PHS= 0.104,-1.532, 0.512, RAW= 160.9,   9.8, CAL= 160.8,  10.6, ROT= 349.2, -10.6

2025-10-26T21:34:41.793Z,1761514481.793 [DAT](INFO): #Rx 90: Read direction message, but no range.
2025-10-26T21:34:41.794Z,1761514481.794 [DAT](INFO): direction in FSK: [0.965525,-0.184184,0.183951]
2025-10-26T21:34:41.798Z,1761514481.798 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.152565
2025-10-26T21:34:41.838Z,1761514481.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928366,-0.359311,-0.095040],[0.369648,0.919244,0.135463],[0.038691,-0.160891,0.986214]]
2025-10-26T21:34:41.881Z,1761514481.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.000000 m,
      deltaT: 0.508637 s,
      deltaX: -0.300000 m,
      approachRate: -0.589812 m/s,
      rangeRepo size: 4

2025-10-26T21:34:41.883Z,1761514481.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.943895 m,
      bearing: 12.673197 deg,
      lat: 36.779414 deg,
      lon: -121.859495 deg,
      deltaT: 1.008143 s,
      deltaX: -0.596251 m,
      approachRate: -0.591435 m/s,
      posRepo size: 4

2025-10-26T21:34:41.888Z,1761514481.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 9.54 m.
2025-10-26T21:34:41.890Z,1761514481.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 8.800599 m,
      bearing: 13.481090 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 15.039030 deg,
      new cmd heading: 14.452531 deg.

2025-10-26T21:34:41.896Z,1761514481.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.252244 target range: 9.540147 and range: 9.00 m.
2025-10-26T21:34:42.063Z,1761514482.063 [DAT](INFO): DAT read: Rx Time:21:34:40.9521 

2025-10-26T21:34:42.068Z,1761514482.068 [DAT](INFO): Rx dataTimestamp_ set to:1761514482.065863
2025-10-26T21:34:42.073Z,1761514482.073 [DAT](INFO): DAT read: Bearing 180.7, -11.4 (Local)

2025-10-26T21:34:42.074Z,1761514482.074 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.7, -11.4 (Local)

2025-10-26T21:34:42.076Z,1761514482.076 [DAT](INFO): DAT read: Range 11 to 50 :     8.9 m (trip time 5.9 ms) speed 0.5

2025-10-26T21:34:42.090Z,1761514482.090 [DAT](INFO): DAT read: 21:34:40.9521 LVL= 32752, 32753, 24898, 32755, AGC= 58, IDX= 508, 0.12, 2.332, 0.755, 2.903, 2.408, PHS= 0.026,-1.608, 0.451, RAW= 161.3,  12.0, CAL= 161.6,  13.6, ROT= 348.4, -13.6

2025-10-26T21:34:42.091Z,1761514482.091 [DAT](INFO): got valid direction response:
 21:34:40.9521 LVL= 32752, 32753, 24898, 32755, AGC= 58, IDX= 508, 0.12, 2.332, 0.755, 2.903, 2.408, PHS= 0.026,-1.608, 0.451, RAW= 161.3,  12.0, CAL= 161.6,  13.6, ROT= 348.4, -13.6

2025-10-26T21:34:42.100Z,1761514482.100 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-10-26T21:34:42.101Z,1761514482.101 [DAT](INFO): direction in FSK: [0.952109,-0.195440,0.235142]
2025-10-26T21:34:42.101Z,1761514482.101 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:42.117Z,1761514482.117 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.471218
2025-10-26T21:34:42.242Z,1761514482.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930506,-0.353086,-0.097414],[0.364329,0.919621,0.146840],[0.037737,-0.172126,0.984352]]
2025-10-26T21:34:42.309Z,1761514482.309 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.663181
2025-10-26T21:34:42.330Z,1761514482.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.522862 s,
      deltaX: -0.100000 m,
      approachRate: -0.191256 m/s,
      rangeRepo size: 4

2025-10-26T21:34:42.336Z,1761514482.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.844519 m,
      bearing: 12.209576 deg,
      lat: 36.779414 deg,
      lon: -121.859497 deg,
      deltaT: 1.531005 s,
      deltaX: -0.695628 m,
      approachRate: -0.454360 m/s,
      posRepo size: 4

2025-10-26T21:34:42.337Z,1761514482.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 9.54 m.
2025-10-26T21:34:42.344Z,1761514482.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 8.540804 m,
      bearing: 13.273987 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 14.452532 deg,
      new cmd heading: 13.835864 deg.

2025-10-26T21:34:42.345Z,1761514482.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.241481 target range: 9.540147 and range: 8.90 m.
2025-10-26T21:34:42.566Z,1761514482.566 [DAT](INFO): DAT read: Rx Time:21:34:41.4518 

2025-10-26T21:34:42.567Z,1761514482.567 [DAT](INFO): Rx dataTimestamp_ set to:1761514482.566256
2025-10-26T21:34:42.571Z,1761514482.571 [DAT](INFO): DAT read: Bearing 181.4, -12.0 (Local)

2025-10-26T21:34:42.573Z,1761514482.573 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.4, -12.0 (Local)

2025-10-26T21:34:42.575Z,1761514482.575 [DAT](INFO): DAT read: Range 11 to 50 :     8.4 m (trip time 5.6 ms) speed 0.5

2025-10-26T21:34:42.600Z,1761514482.600 [DAT](INFO): DAT read: 21:34:41.4518 LVL= 32752, 32753, 29794, 32755, AGC= 58, IDX= 505, 0.42,-0.603,-2.158,-0.030,-0.498, PHS=-0.003,-1.616, 0.423, RAW= 161.4,  12.8, CAL= 161.9,  14.6, ROT= 348.1, -14.6

2025-10-26T21:34:42.601Z,1761514482.601 [DAT](INFO): got valid direction response:
 21:34:41.4518 LVL= 32752, 32753, 29794, 32755, AGC= 58, IDX= 505, 0.42,-0.603,-2.158,-0.030,-0.498, PHS=-0.003,-1.616, 0.423, RAW= 161.4,  12.8, CAL= 161.9,  14.6, ROT= 348.1, -14.6

2025-10-26T21:34:42.601Z,1761514482.601 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-10-26T21:34:42.602Z,1761514482.602 [DAT](INFO): direction in FSK: [0.946912,-0.199545,0.252069]
2025-10-26T21:34:42.602Z,1761514482.602 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:42.631Z,1761514482.631 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.985371
2025-10-26T21:34:42.658Z,1761514482.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932947,-0.346051,-0.099290],[0.358127,0.920263,0.157673],[0.036810,-0.182659,0.982487]]
2025-10-26T21:34:42.722Z,1761514482.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.400000 m,
      deltaT: 0.500393 s,
      deltaX: -0.500000 m,
      approachRate: -0.999215 m/s,
      rangeRepo size: 4

2025-10-26T21:34:42.730Z,1761514482.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.347616 m,
      bearing: 11.887079 deg,
      lat: 36.779413 deg,
      lon: -121.859497 deg,
      deltaT: 2.031398 s,
      deltaX: -1.192531 m,
      approachRate: -0.587049 m/s,
      posRepo size: 4

2025-10-26T21:34:42.731Z,1761514482.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.35 m. 9.54 m.
2025-10-26T21:34:42.742Z,1761514482.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 8.305711 m,
      bearing: 13.086237 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 13.835864 deg,
      new cmd heading: 13.297456 deg.

2025-10-26T21:34:42.743Z,1761514482.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.232084 target range: 9.540147 and range: 8.40 m.
2025-10-26T21:34:42.813Z,1761514482.813 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.167709
2025-10-26T21:34:43.070Z,1761514483.070 [DAT](INFO): DAT read: Rx Time:21:34:41.9517 

2025-10-26T21:34:43.072Z,1761514483.072 [DAT](INFO): Rx dataTimestamp_ set to:1761514483.070218
2025-10-26T21:34:43.074Z,1761514483.074 [DAT](INFO): DAT read: Bearing 183.5, -11.1 (Local)

2025-10-26T21:34:43.074Z,1761514483.074 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.5, -11.1 (Local)

2025-10-26T21:34:43.076Z,1761514483.076 [DAT](INFO): DAT read: Range 11 to 50 :     8.3 m (trip time 5.5 ms) speed 0.5

2025-10-26T21:34:43.081Z,1761514483.081 [DAT](INFO): DAT read: 21:34:41.9517 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 505,-0.31,-1.980, 2.739,-1.484,-1.858, PHS=-0.021,-1.642, 0.329, RAW= 159.6,  14.5, CAL= 160.3,  16.8, ROT= 349.7, -16.8

2025-10-26T21:34:43.082Z,1761514483.082 [DAT](INFO): got valid direction response:
 21:34:41.9517 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 505,-0.31,-1.980, 2.739,-1.484,-1.858, PHS=-0.021,-1.642, 0.329, RAW= 159.6,  14.5, CAL= 160.3,  16.8, ROT= 349.7, -16.8

2025-10-26T21:34:43.083Z,1761514483.083 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-10-26T21:34:43.084Z,1761514483.084 [DAT](INFO): direction in FSK: [0.941892,-0.171171,0.289032]
2025-10-26T21:34:43.084Z,1761514483.084 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:43.100Z,1761514483.100 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.454262
2025-10-26T21:34:43.137Z,1761514483.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935704,-0.338022,-0.100987],[0.350949,0.921050,0.168824],[0.035947,-0.193411,0.980459]]
2025-10-26T21:34:43.247Z,1761514483.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.300000 m,
      deltaT: 0.503962 s,
      deltaX: -0.099999 m,
      approachRate: -0.198427 m/s,
      rangeRepo size: 4

2025-10-26T21:34:43.253Z,1761514483.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.248240 m,
      bearing: 13.691668 deg,
      lat: 36.779413 deg,
      lon: -121.859497 deg,
      deltaT: 2.535360 s,
      deltaX: -1.291906 m,
      approachRate: -0.509555 m/s,
      posRepo size: 4

2025-10-26T21:34:43.254Z,1761514483.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.25 m. 9.54 m.
2025-10-26T21:34:43.261Z,1761514483.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 7.991479 m,
      bearing: 12.889923 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 13.297455 deg,
      new cmd heading: 12.575883 deg.

2025-10-26T21:34:43.262Z,1761514483.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.219491 target range: 9.540147 and range: 8.30 m.
2025-10-26T21:34:43.317Z,1761514483.317 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.671890
2025-10-26T21:34:43.574Z,1761514483.574 [DAT](INFO): DAT read: Rx Time:21:34:42.4515 

2025-10-26T21:34:43.574Z,1761514483.574 [DAT](INFO): Rx dataTimestamp_ set to:1761514483.573897
2025-10-26T21:34:43.576Z,1761514483.576 [DAT](INFO): DAT read: Bearing 180.8, -12.1 (Local)

2025-10-26T21:34:43.576Z,1761514483.576 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.8, -12.1 (Local)

2025-10-26T21:34:43.578Z,1761514483.578 [DAT](INFO): DAT read: Range 11 to 50 :     8.0 m (trip time 5.3 ms) speed 0.5

2025-10-26T21:34:43.583Z,1761514483.583 [DAT](INFO): DAT read: 21:34:42.4515 LVL= 32752, 32753, 30898, 32755, AGC= 54, IDX= 502,-0.13, 3.055, 1.484,-2.671,-3.125, PHS=-0.001,-1.629, 0.411, RAW= 161.0,  13.0, CAL= 161.4,  14.9, ROT= 348.6, -14.9

2025-10-26T21:34:43.584Z,1761514483.584 [DAT](INFO): got valid direction response:
 21:34:42.4515 LVL= 32752, 32753, 30898, 32755, AGC= 54, IDX= 502,-0.13, 3.055, 1.484,-2.671,-3.125, PHS=-0.001,-1.629, 0.411, RAW= 161.0,  13.0, CAL= 161.4,  14.9, ROT= 348.6, -14.9

2025-10-26T21:34:43.584Z,1761514483.584 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-10-26T21:34:43.585Z,1761514483.585 [DAT](INFO): direction in FSK: [0.947311,-0.191011,0.257133]
2025-10-26T21:34:43.586Z,1761514483.586 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:43.589Z,1761514483.589 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.943787
2025-10-26T21:34:43.621Z,1761514483.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938731,-0.328988,-0.102722],[0.342817,0.922006,0.179947],[0.035510,-0.204137,0.978298]]
2025-10-26T21:34:43.689Z,1761514483.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.000000 m,
      deltaT: 0.503679 s,
      deltaX: -0.300000 m,
      approachRate: -0.595618 m/s,
      rangeRepo size: 4

2025-10-26T21:34:43.691Z,1761514483.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.950112 m,
      bearing: 11.890320 deg,
      lat: 36.779413 deg,
      lon: -121.859497 deg,
      deltaT: 3.039039 s,
      deltaX: -1.590035 m,
      approachRate: -0.523203 m/s,
      posRepo size: 4

2025-10-26T21:34:43.696Z,1761514483.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.95 m. 9.54 m.
2025-10-26T21:34:43.709Z,1761514483.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 7.732423 m,
      bearing: 12.732568 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 12.575883 deg,
      new cmd heading: 11.968628 deg.

2025-10-26T21:34:43.710Z,1761514483.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.208892 target range: 9.540147 and range: 8.00 m.
2025-10-26T21:34:43.821Z,1761514483.821 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.175991
2025-10-26T21:34:44.077Z,1761514484.077 [DAT](INFO): DAT read: Rx Time:21:34:42.9513 

2025-10-26T21:34:44.079Z,1761514484.079 [DAT](INFO): Rx dataTimestamp_ set to:1761514484.078085
2025-10-26T21:34:44.084Z,1761514484.084 [DAT](INFO): DAT read: Bearing 180.3, -12.7 (Local)

2025-10-26T21:34:44.085Z,1761514484.085 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.3, -12.7 (Local)

2025-10-26T21:34:44.092Z,1761514484.092 [DAT](INFO): DAT read: Range 11 to 50 :     7.7 m (trip time 5.1 ms) speed 0.5

2025-10-26T21:34:44.105Z,1761514484.105 [DAT](INFO): DAT read: 21:34:42.9513 LVL= 32752, 32753, 30562, 32755, AGC= 56, IDX= 500,-0.07,-2.803, 1.912,-2.222,-2.693, PHS=-0.008,-1.633, 0.427, RAW= 161.6,  12.9, CAL= 162.0,  14.8, ROT= 348.0, -14.8

2025-10-26T21:34:44.106Z,1761514484.106 [DAT](INFO): got valid direction response:
 21:34:42.9513 LVL= 32752, 32753, 30562, 32755, AGC= 56, IDX= 500,-0.07,-2.803, 1.912,-2.222,-2.693, PHS=-0.008,-1.633, 0.427, RAW= 161.6,  12.9, CAL= 162.0,  14.8, ROT= 348.0, -14.8

2025-10-26T21:34:44.106Z,1761514484.106 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-10-26T21:34:44.107Z,1761514484.107 [DAT](INFO): direction in FSK: [0.945696,-0.201014,0.255446]
2025-10-26T21:34:44.115Z,1761514484.115 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:44.122Z,1761514484.122 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.477043
2025-10-26T21:34:44.237Z,1761514484.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.700000 m,
      deltaT: 0.504188 s,
      deltaX: -0.300000 m,
      approachRate: -0.595017 m/s,
      rangeRepo size: 4

2025-10-26T21:34:44.239Z,1761514484.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.651983 m,
      bearing: 11.268516 deg,
      lat: 36.779413 deg,
      lon: -121.859497 deg,
      deltaT: 3.543227 s,
      deltaX: -1.888164 m,
      approachRate: -0.532894 m/s,
      posRepo size: 4

2025-10-26T21:34:44.245Z,1761514484.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.65 m. 9.54 m.
2025-10-26T21:34:44.252Z,1761514484.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 7.403214 m,
      bearing: 12.603689 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 11.968628 deg,
      new cmd heading: 11.215111 deg.

2025-10-26T21:34:44.253Z,1761514484.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.195741 target range: 9.540147 and range: 7.70 m.
2025-10-26T21:34:44.325Z,1761514484.325 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.679340
2025-10-26T21:34:44.577Z,1761514484.577 [DAT](INFO): DAT read: Rx Time:21:34:43.4510 

2025-10-26T21:34:44.578Z,1761514484.578 [DAT](INFO): Rx dataTimestamp_ set to:1761514484.577267
2025-10-26T21:34:44.579Z,1761514484.579 [DAT](INFO): DAT read: Bearing 178.0, -13.5 (Local)

2025-10-26T21:34:44.579Z,1761514484.579 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.0, -13.5 (Local)

2025-10-26T21:34:44.581Z,1761514484.581 [DAT](INFO): DAT read: Range 11 to 50 :     7.2 m (trip time 4.8 ms) speed 0.5

2025-10-26T21:34:44.586Z,1761514484.586 [DAT](INFO): DAT read: 21:34:43.4510 LVL= 32752, 32753, 27282, 32755, AGC= 54, IDX= 497,-0.03, 2.506, 0.931,-3.136, 2.602, PHS= 0.005,-1.626, 0.501, RAW= 162.9,  11.6, CAL= 163.1,  13.1, ROT= 346.9, -13.1

2025-10-26T21:34:44.588Z,1761514484.588 [DAT](INFO): got valid direction response:
 21:34:43.4510 LVL= 32752, 32753, 27282, 32755, AGC= 54, IDX= 497,-0.03, 2.506, 0.931,-3.136, 2.602, PHS= 0.005,-1.626, 0.501, RAW= 162.9,  11.6, CAL= 163.1,  13.1, ROT= 346.9, -13.1

2025-10-26T21:34:44.588Z,1761514484.588 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-10-26T21:34:44.589Z,1761514484.589 [DAT](INFO): direction in FSK: [0.948629,-0.220753,0.226651]
2025-10-26T21:34:44.589Z,1761514484.589 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:44.597Z,1761514484.597 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.951786
2025-10-26T21:34:44.622Z,1761514484.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948032,-0.301209,-0.102512],[0.316228,0.927578,0.198993],[0.035150,-0.221069,0.974625]]
2025-10-26T21:34:44.674Z,1761514484.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.200000 m,
      deltaT: 0.499182 s,
      deltaX: -0.500000 m,
      approachRate: -1.001639 m/s,
      rangeRepo size: 4

2025-10-26T21:34:44.681Z,1761514484.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.155098 m,
      bearing: 8.467179 deg,
      lat: 36.779412 deg,
      lon: -121.859498 deg,
      deltaT: 4.042409 s,
      deltaX: -2.385048 m,
      approachRate: -0.590007 m/s,
      posRepo size: 4

2025-10-26T21:34:44.682Z,1761514484.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.16 m. 9.54 m.
2025-10-26T21:34:44.701Z,1761514484.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 7.141313 m,
      bearing: 12.550444 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 11.215111 deg,
      new cmd heading: 10.614399 deg.

2025-10-26T21:34:44.702Z,1761514484.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.185256 target range: 9.540147 and range: 7.20 m.
2025-10-26T21:34:44.828Z,1761514484.828 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=48.183090
2025-10-26T21:34:44.987Z,1761514484.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950881,-0.292171,-0.102277],[0.307553,0.929196,0.204954],[0.035154,-0.226343,0.973413]]
2025-10-26T21:34:45.085Z,1761514485.085 [DAT](INFO): DAT read: Rx Time:21:34:43.9509 

2025-10-26T21:34:45.086Z,1761514485.086 [DAT](INFO): Rx dataTimestamp_ set to:1761514485.085553
2025-10-26T21:34:45.088Z,1761514485.088 [DAT](INFO): DAT read: Bearing 173.8, -12.4 (Local)

2025-10-26T21:34:45.088Z,1761514485.088 [DAT](INFO): Local bearing/azimuth received:
 Bearing 173.8, -12.4 (Local)

2025-10-26T21:34:45.090Z,1761514485.090 [DAT](INFO): DAT read: Range 11 to 50 :     7.1 m (trip time 4.7 ms) speed 0.5

2025-10-26T21:34:45.095Z,1761514485.095 [DAT](INFO): DAT read: 21:34:43.9509 LVL= 32752, 32753, 25634, 32755, AGC= 53, IDX= 512,-0.01,-0.730,-2.493,-0.025,-0.733, PHS= 0.105,-1.715, 0.664, RAW= 163.0,   8.8, CAL= 162.7,   9.3, ROT= 347.3,  -9.3

2025-10-26T21:34:45.096Z,1761514485.096 [DAT](INFO): got valid direction response:
 21:34:43.9509 LVL= 32752, 32753, 25634, 32755, AGC= 53, IDX= 512,-0.01,-0.730,-2.493,-0.025,-0.733, PHS= 0.105,-1.715, 0.664, RAW= 163.0,   8.8, CAL= 162.7,   9.3, ROT= 347.3,  -9.3

2025-10-26T21:34:45.097Z,1761514485.097 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-10-26T21:34:45.098Z,1761514485.098 [DAT](INFO): direction in FSK: [0.962712,-0.216957,0.161604]
2025-10-26T21:34:45.098Z,1761514485.098 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:45.158Z,1761514485.158 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.512535
2025-10-26T21:34:45.191Z,1761514485.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.100000 m,
      deltaT: 0.508286 s,
      deltaX: -0.100000 m,
      approachRate: -0.196739 m/s,
      rangeRepo size: 4

2025-10-26T21:34:45.197Z,1761514485.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.055722 m,
      bearing: 7.554056 deg,
      lat: 36.779413 deg,
      lon: -121.859498 deg,
      deltaT: 4.550695 s,
      deltaX: -2.484425 m,
      approachRate: -0.545944 m/s,
      posRepo size: 4

2025-10-26T21:34:45.198Z,1761514485.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.06 m. 9.54 m.
2025-10-26T21:34:45.205Z,1761514485.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 6.870847 m,
      bearing: 12.511285 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 10.614398 deg,
      new cmd heading: 9.904980 deg.

2025-10-26T21:34:45.206Z,1761514485.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.172875 target range: 9.540147 and range: 7.10 m.
2025-10-26T21:34:45.333Z,1761514485.333 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.687321
2025-10-26T21:34:45.585Z,1761514485.585 [DAT](INFO): DAT read: Rx Time:21:34:44.4506 

2025-10-26T21:34:45.585Z,1761514485.585 [DAT](INFO): Rx dataTimestamp_ set to:1761514485.585099
2025-10-26T21:34:45.587Z,1761514485.587 [DAT](INFO): DAT read: Bearing 174.8, -13.4 (Local)

2025-10-26T21:34:45.587Z,1761514485.587 [DAT](INFO): Local bearing/azimuth received:
 Bearing 174.8, -13.4 (Local)

2025-10-26T21:34:45.589Z,1761514485.589 [DAT](INFO): DAT read: Range 11 to 50 :     6.6 m (trip time 4.4 ms) speed 0.5

2025-10-26T21:34:45.594Z,1761514485.594 [DAT](INFO): DAT read: 21:34:44.4506 LVL= 31440, 32753, 26962, 32755, AGC= 52, IDX= 509, 0.02,-2.130, 2.577,-1.466,-2.073, PHS= 0.045,-1.588, 0.563, RAW= 163.3,  10.1, CAL= 163.3,  11.1, ROT= 346.7, -11.1

2025-10-26T21:34:45.595Z,1761514485.595 [DAT](INFO): got valid direction response:
 21:34:44.4506 LVL= 31440, 32753, 26962, 32755, AGC= 52, IDX= 509, 0.02,-2.130, 2.577,-1.466,-2.073, PHS= 0.045,-1.588, 0.563, RAW= 163.3,  10.1, CAL= 163.3,  11.1, ROT= 346.7, -11.1

2025-10-26T21:34:45.595Z,1761514485.595 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-10-26T21:34:45.596Z,1761514485.596 [DAT](INFO): direction in FSK: [0.954973,-0.225746,0.192522]
2025-10-26T21:34:45.596Z,1761514485.596 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:45.600Z,1761514485.600 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.954861
2025-10-26T21:34:45.606Z,1761514485.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954017,-0.282005,-0.101610],[0.297653,0.931298,0.209970],[0.035417,-0.230560,0.972413]]
2025-10-26T21:34:45.744Z,1761514485.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.600000 m,
      deltaT: 0.499546 s,
      deltaX: -0.500000 m,
      approachRate: -1.000909 m/s,
      rangeRepo size: 4

2025-10-26T21:34:45.746Z,1761514485.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.558841 m,
      bearing: 6.832043 deg,
      lat: 36.779413 deg,
      lon: -121.859501 deg,
      deltaT: 5.050241 s,
      deltaX: -2.981306 m,
      approachRate: -0.590329 m/s,
      posRepo size: 4

2025-10-26T21:34:45.752Z,1761514485.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.56 m. 9.54 m.
2025-10-26T21:34:45.754Z,1761514485.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 6.513473 m,
      bearing: 12.530278 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 9.904980 deg,
      new cmd heading: 9.144581 deg.

2025-10-26T21:34:45.755Z,1761514485.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.159603 target range: 9.540147 and range: 6.60 m.
2025-10-26T21:34:45.838Z,1761514485.838 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=49.192883
2025-10-26T21:34:45.955Z,1761514485.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957081,-0.271775,-0.100674],[0.287620,0.933405,0.214547],[0.035662,-0.234294,0.971511]]
2025-10-26T21:34:45.992Z,1761514485.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:34:45.995Z,1761514485.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-10-26T21:34:46.001Z,1761514486.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 6.362368 m,
      bearing: 12.552879 deg,
      approach rate: -0.601894 m/s,
      LOS rate: 0.092165 deg/s,
      cmd heading: 9.144581 deg,
      new cmd heading: 9.213995 deg.

2025-10-26T21:34:46.002Z,1761514486.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.160815 target range: 9.540147 and range: 6.60 m.
2025-10-26T21:34:46.093Z,1761514486.093 [DAT](INFO): DAT read: Rx Time:21:34:44.9505 

2025-10-26T21:34:46.094Z,1761514486.094 [DAT](INFO): Rx dataTimestamp_ set to:1761514486.093421
2025-10-26T21:34:46.099Z,1761514486.099 [DAT](INFO): DAT read: Bearing 172.9, -12.5 (Local)

2025-10-26T21:34:46.100Z,1761514486.100 [DAT](INFO): Local bearing/azimuth received:
 Bearing 172.9, -12.5 (Local)

2025-10-26T21:34:46.114Z,1761514486.114 [DAT](INFO): DAT read: Range 11 to 50 :     6.5 m (trip time 4.3 ms) speed 0.5

2025-10-26T21:34:46.141Z,1761514486.141 [DAT](INFO): DAT read: 21:34:44.9505 LVL= 27360, 32753, 25138, 32755, AGC= 51, IDX= 508, 0.08,-0.587,-2.166, 0.063,-0.574, PHS= 0.090,-1.547, 0.593, RAW= 163.0,   9.0, CAL= 162.8,   9.5, ROT= 347.2,  -9.5

2025-10-26T21:34:46.142Z,1761514486.142 [DAT](INFO): got valid direction response:
 21:34:44.9505 LVL= 27360, 32753, 25138, 32755, AGC= 51, IDX= 508, 0.08,-0.587,-2.166, 0.063,-0.574, PHS= 0.090,-1.547, 0.593, RAW= 163.0,   9.0, CAL= 162.8,   9.5, ROT= 347.2,  -9.5

2025-10-26T21:34:46.142Z,1761514486.142 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-10-26T21:34:46.143Z,1761514486.143 [DAT](INFO): direction in FSK: [0.961776,-0.218510,0.165048]
2025-10-26T21:34:46.148Z,1761514486.148 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:46.156Z,1761514486.156 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.510925
2025-10-26T21:34:46.340Z,1761514486.340 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.695076
2025-10-26T21:34:46.483Z,1761514486.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.500000 m,
      deltaT: 0.508322 s,
      deltaX: -0.100000 m,
      approachRate: -0.196726 m/s,
      rangeRepo size: 4

2025-10-26T21:34:46.493Z,1761514486.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.459465 m,
      bearing: 6.401786 deg,
      lat: 36.779413 deg,
      lon: -121.859502 deg,
      deltaT: 5.558563 s,
      deltaX: -3.080682 m,
      approachRate: -0.554223 m/s,
      posRepo size: 4

2025-10-26T21:34:46.494Z,1761514486.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.46 m. 9.54 m.
2025-10-26T21:34:46.504Z,1761514486.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 6.070501 m,
      bearing: 12.610411 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 9.213995 deg,
      new cmd heading: 8.543947 deg.

2025-10-26T21:34:46.505Z,1761514486.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.149120 target range: 9.540147 and range: 6.50 m.
2025-10-26T21:34:46.593Z,1761514486.593 [DAT](INFO): DAT read: Rx Time:21:34:45.4502 

2025-10-26T21:34:46.594Z,1761514486.594 [DAT](INFO): Rx dataTimestamp_ set to:1761514486.593509
2025-10-26T21:34:46.595Z,1761514486.595 [DAT](INFO): DAT read: Bearing 172.1, -11.4 (Local)

2025-10-26T21:34:46.595Z,1761514486.595 [DAT](INFO): Local bearing/azimuth received:
 Bearing 172.1, -11.4 (Local)

2025-10-26T21:34:46.597Z,1761514486.597 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed 0.6

2025-10-26T21:34:46.604Z,1761514486.604 [DAT](INFO): DAT read: 21:34:45.4502 LVL= 28096, 32753, 25138, 32755, AGC= 50, IDX= 505, 0.15,-1.232,-2.809,-0.630,-1.251, PHS= 0.121,-1.513, 0.577, RAW= 162.0,   8.6, CAL= 161.7,   9.0, ROT= 348.3,  -9.0

2025-10-26T21:34:46.605Z,1761514486.605 [DAT](INFO): got valid direction response:
 21:34:45.4502 LVL= 28096, 32753, 25138, 32755, AGC= 50, IDX= 505, 0.15,-1.232,-2.809,-0.630,-1.251, PHS= 0.121,-1.513, 0.577, RAW= 162.0,   8.6, CAL= 161.7,   9.0, ROT= 348.3,  -9.0

2025-10-26T21:34:46.606Z,1761514486.606 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-10-26T21:34:46.608Z,1761514486.608 [DAT](INFO): direction in FSK: [0.967167,-0.200291,0.156434]
2025-10-26T21:34:46.608Z,1761514486.608 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:46.614Z,1761514486.614 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.968262
2025-10-26T21:34:46.806Z,1761514486.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962910,-0.251488,-0.097762],[0.267446,0.937553,0.222410],[0.035724,-0.240307,0.970039]]
2025-10-26T21:34:46.844Z,1761514486.844 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=50.199104
2025-10-26T21:34:46.896Z,1761514486.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.500088 s,
      deltaX: -0.300000 m,
      approachRate: -0.599895 m/s,
      rangeRepo size: 4

2025-10-26T21:34:46.898Z,1761514486.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.161351 m,
      bearing: 6.240575 deg,
      lat: 36.779415 deg,
      lon: -121.859502 deg,
      deltaT: 6.058651 s,
      deltaX: -3.378796 m,
      approachRate: -0.557681 m/s,
      posRepo size: 4

2025-10-26T21:34:46.899Z,1761514486.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.16 m. 9.54 m.
2025-10-26T21:34:46.905Z,1761514486.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 5.820848 m,
      bearing: 12.715130 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 8.543947 deg,
      new cmd heading: 7.982239 deg.

2025-10-26T21:34:46.906Z,1761514486.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.139316 target range: 9.540147 and range: 6.20 m.
2025-10-26T21:34:47.105Z,1761514487.105 [DAT](INFO): DAT read: Rx Time:21:34:45.9501 

2025-10-26T21:34:47.107Z,1761514487.107 [DAT](INFO): Rx dataTimestamp_ set to:1761514487.106027
2025-10-26T21:34:47.112Z,1761514487.112 [DAT](INFO): DAT read: Bearing 174.8, -10.6 (Local)

2025-10-26T21:34:47.113Z,1761514487.113 [DAT](INFO): Local bearing/azimuth received:
 Bearing 174.8, -10.6 (Local)

2025-10-26T21:34:47.139Z,1761514487.139 [DAT](INFO): DAT read: Range 11 to 50 :     6.0 m (trip time 4.0 ms) speed 0.5

2025-10-26T21:34:47.148Z,1761514487.148 [DAT](INFO): DAT read: 21:34:45.9501 LVL= 29296, 32753, 31506, 32755, AGC= 51, IDX= 504, 0.25, 0.531,-1.066, 1.060, 0.544, PHS= 0.089,-1.565, 0.472, RAW= 160.2,  10.7, CAL= 160.3,  11.8, ROT= 349.7, -11.8

2025-10-26T21:34:47.149Z,1761514487.149 [DAT](INFO): got valid direction response:
 21:34:45.9501 LVL= 29296, 32753, 31506, 32755, AGC= 51, IDX= 504, 0.25, 0.531,-1.066, 1.060, 0.544, PHS= 0.089,-1.565, 0.472, RAW= 160.2,  10.7, CAL= 160.3,  11.8, ROT= 349.7, -11.8

2025-10-26T21:34:47.149Z,1761514487.149 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-10-26T21:34:47.150Z,1761514487.150 [DAT](INFO): direction in FSK: [0.963093,-0.175024,0.204496]
2025-10-26T21:34:47.150Z,1761514487.150 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:47.164Z,1761514487.164 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.518673
2025-10-26T21:34:47.223Z,1761514487.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965694,-0.241395,-0.095722],[0.257218,0.939830,0.224854],[0.035684,-0.241762,0.969679]]
2025-10-26T21:34:47.334Z,1761514487.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.000000 m,
      deltaT: 0.512518 s,
      deltaX: -0.200000 m,
      approachRate: -0.390230 m/s,
      rangeRepo size: 4

2025-10-26T21:34:47.340Z,1761514487.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.962598 m,
      bearing: 7.723629 deg,
      lat: 36.779417 deg,
      lon: -121.859502 deg,
      deltaT: 6.571169 s,
      deltaX: -3.577549 m,
      approachRate: -0.544431 m/s,
      posRepo size: 4

2025-10-26T21:34:47.341Z,1761514487.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.96 m. 9.54 m.
2025-10-26T21:34:47.349Z,1761514487.349 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.703392
2025-10-26T21:34:47.350Z,1761514487.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 5.533734 m,
      bearing: 12.871975 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 7.982239 deg,
      new cmd heading: 7.374217 deg.

2025-10-26T21:34:47.351Z,1761514487.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.128704 target range: 9.540147 and range: 6.00 m.
2025-10-26T21:34:47.601Z,1761514487.601 [DAT](INFO): DAT read: Rx Time:21:34:46.4499 

2025-10-26T21:34:47.601Z,1761514487.601 [DAT](INFO): Rx dataTimestamp_ set to:1761514487.601175
2025-10-26T21:34:47.603Z,1761514487.603 [DAT](INFO): DAT read: Bearing 175.4,  -8.3 (Local)

2025-10-26T21:34:47.603Z,1761514487.603 [DAT](INFO): Local bearing/azimuth received:
 Bearing 175.4,  -8.3 (Local)

2025-10-26T21:34:47.605Z,1761514487.605 [DAT](INFO): DAT read: Range 11 to 50 :     5.6 m (trip time 3.7 ms) speed 0.5

2025-10-26T21:34:47.610Z,1761514487.610 [DAT](INFO): DAT read: 21:34:46.4499 LVL= 31024, 32753, 31698, 32755, AGC= 50, IDX= 501, 0.41,-1.590, 3.093,-1.169,-1.610, PHS= 0.123,-1.535, 0.397, RAW= 157.5,  11.2, CAL= 157.6,  12.4, ROT= 352.4, -12.4

2025-10-26T21:34:47.611Z,1761514487.611 [DAT](INFO): got valid direction response:
 21:34:46.4499 LVL= 31024, 32753, 31698, 32755, AGC= 50, IDX= 501, 0.41,-1.590, 3.093,-1.169,-1.610, PHS= 0.123,-1.535, 0.397, RAW= 157.5,  11.2, CAL= 157.6,  12.4, ROT= 352.4, -12.4

2025-10-26T21:34:47.612Z,1761514487.612 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-10-26T21:34:47.616Z,1761514487.616 [DAT](INFO): direction in FSK: [0.968093,-0.129171,0.214735]
2025-10-26T21:34:47.617Z,1761514487.617 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:47.622Z,1761514487.622 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.976532
2025-10-26T21:34:47.705Z,1761514487.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970518,-0.222950,-0.091591],[0.238388,0.943984,0.228176],[0.035589,-0.243283,0.969302]]
2025-10-26T21:34:47.768Z,1761514487.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.600000 m,
      deltaT: 0.495148 s,
      deltaX: -0.400000 m,
      approachRate: -0.807839 m/s,
      rangeRepo size: 4

2025-10-26T21:34:47.770Z,1761514487.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.565087 m,
      bearing: 9.446484 deg,
      lat: 36.779417 deg,
      lon: -121.859502 deg,
      deltaT: 7.066317 s,
      deltaX: -3.975060 m,
      approachRate: -0.562536 m/s,
      posRepo size: 4

2025-10-26T21:34:47.772Z,1761514487.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.57 m. 9.54 m.
2025-10-26T21:34:47.774Z,1761514487.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 5.270798 m,
      bearing: 13.086192 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 7.374217 deg,
      new cmd heading: 6.783121 deg.

2025-10-26T21:34:47.783Z,1761514487.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.118388 target range: 9.540147 and range: 5.60 m.
2025-10-26T21:34:47.853Z,1761514487.853 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=51.207706
2025-10-26T21:34:48.109Z,1761514488.109 [DAT](INFO): DAT read: Rx Time:21:34:46.9497 

2025-10-26T21:34:48.110Z,1761514488.110 [DAT](INFO): Rx dataTimestamp_ set to:1761514488.109047
2025-10-26T21:34:48.119Z,1761514488.119 [DAT](INFO): DAT read: Bearing 182.1,  -7.8 (Locge 11 to 50 :     5.3 m (trip time 3.5 ms) speed 0.5

2025-10-26T21:34:48.121Z,1761514488.121 [DAT](INFO): unknown deviceResponse_: Bearing 182.1,  -7.8 (Locge 11 to 50 :     5.3 m (trip time 3.5 ms) speed 0.5

2025-10-26T21:34:48.148Z,1761514488.148 [DAT](INFO): DAT read: 21:34:46.9497 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 499, 0.43,-0.500,-2.173,-0.184,-0.399, PHS= 0.002,-1.729, 0.171, RAW= 154.6,  16.8, CAL= 155.4,  19.3, ROT= 354.6, -19.3

2025-10-26T21:34:48.149Z,1761514488.149 [DAT](INFO): got valid direction response:
 21:34:46.9497 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 499, 0.43,-0.500,-2.173,-0.184,-0.399, PHS= 0.002,-1.729, 0.171, RAW= 154.6,  16.8, CAL= 155.4,  19.3, ROT= 354.6, -19.3

2025-10-26T21:34:48.149Z,1761514488.149 [DAT](INFO): #Rx 103: Read direction message, but no range.
2025-10-26T21:34:48.150Z,1761514488.150 [DAT](INFO): direction in FSK: [0.939612,-0.088819,0.330514]
2025-10-26T21:34:48.166Z,1761514488.166 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.520481
2025-10-26T21:34:48.200Z,1761514488.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972822,-0.213617,-0.089354],[0.228810,0.946057,0.229397],[0.035530,-0.243607,0.969223]]
2025-10-26T21:34:48.281Z,1761514488.281 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:34:48.288Z,1761514488.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-10-26T21:34:48.290Z,1761514488.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 4.941441 m,
      bearing: 13.405268 deg,
      approach rate: -0.633497 m/s,
      LOS rate: 0.654625 deg/s,
      cmd heading: 6.783121 deg,
      new cmd heading: 7.804037 deg.

2025-10-26T21:34:48.295Z,1761514488.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.136206 target range: 9.540147 and range: 5.60 m.
2025-10-26T21:34:48.357Z,1761514488.357 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.711658
2025-10-26T21:34:48.597Z,1761514488.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974958,-0.204815,-0.086644],[0.219561,0.948424,0.228659],[0.035342,-0.241957,0.969643]]
2025-10-26T21:34:48.609Z,1761514488.609 [DAT](INFO): DAT read: Rx Time:21:34:47.4495 

2025-10-26T21:34:48.610Z,1761514488.610 [DAT](INFO): Rx dataTimestamp_ set to:1761514488.609227
2025-10-26T21:34:48.611Z,1761514488.611 [DAT](INFO): DAT read: Bearing 190.5,  -9.8 (Local)

2025-10-26T21:34:48.611Z,1761514488.611 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.5,  -9.8 (Local)

2025-10-26T21:34:48.613Z,1761514488.613 [DAT](INFO): DAT read: Range 11 to 50 :     5.0 m (trip time 3.3 ms) speed 0.5

2025-10-26T21:34:48.618Z,1761514488.618 [DAT](INFO): DAT read: 21:34:47.4495 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 497,-0.45,-2.830, 1.863,-2.585,-2.621, PHS=-0.107,-1.755,-0.009, RAW= 152.9,  21.3, CAL= 155.5,  28.4, ROT= 354.5, -28.4

2025-10-26T21:34:48.619Z,1761514488.619 [DAT](INFO): got valid direction response:
 21:34:47.4495 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 497,-0.45,-2.830, 1.863,-2.585,-2.621, PHS=-0.107,-1.755,-0.009, RAW= 152.9,  21.3, CAL= 155.5,  28.4, ROT= 354.5, -28.4

2025-10-26T21:34:48.619Z,1761514488.619 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-10-26T21:34:48.620Z,1761514488.620 [DAT](INFO): direction in FSK: [0.875599,-0.084311,0.475624]
2025-10-26T21:34:48.621Z,1761514488.621 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:48.628Z,1761514488.628 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.983017
2025-10-26T21:34:48.682Z,1761514488.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.000000 m,
      deltaT: 1.008052 s,
      deltaX: -0.600000 m,
      approachRate: -0.595207 m/s,
      rangeRepo size: 4

2025-10-26T21:34:48.692Z,1761514488.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.968793 m,
      bearing: 14.917211 deg,
      lat: 36.779417 deg,
      lon: -121.859500 deg,
      deltaT: 8.074369 s,
      deltaX: -4.571353 m,
      approachRate: -0.566156 m/s,
      posRepo size: 4

2025-10-26T21:34:48.693Z,1761514488.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.97 m. 9.54 m.
2025-10-26T21:34:48.701Z,1761514488.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 4.728981 m,
      bearing: 13.659678 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 7.804038 deg,
      new cmd heading: 7.257107 deg.

2025-10-26T21:34:48.703Z,1761514488.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.126660 target range: 9.540147 and range: 5.00 m.
2025-10-26T21:34:48.861Z,1761514488.861 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=52.215328
2025-10-26T21:34:48.994Z,1761514488.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976870,-0.196600,-0.084106],[0.210930,0.950546,0.227973],[0.035127,-0.240440,0.970028]]
2025-10-26T21:34:49.117Z,1761514489.117 [DAT](INFO): DAT read: Rx Time:21:34:47.9495 

2025-10-26T21:34:49.118Z,1761514489.118 [DAT](INFO): Rx dataTimestamp_ set to:1761514489.117253
2025-10-26T21:34:49.123Z,1761514489.123 [DAT](INFO): DAT read: Bearing 192.2, -12.1 (Local)

2025-10-26T21:34:49.124Z,1761514489.124 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.2, -12.1 (Local)

2025-10-26T21:34:49.134Z,1761514489.134 [DAT](INFO): DAT read: Range 11 to 50 :     5.0 m (trip time 3.3 ms) speed 0.5

2025-10-26T21:34:49.152Z,1761514489.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-10-26T21:34:49.155Z,1761514489.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 4.470737 m,
      bearing: 14.031561 deg,
      approach rate: -0.548692 m/s,
      LOS rate: 0.835777 deg/s,
      cmd heading: 7.257107 deg,
      new cmd heading: 8.437025 deg.

2025-10-26T21:34:49.157Z,1761514489.157 [DAT](INFO): DAT read: 21:34:47.9495 LVL= 32752, 32753, 27202, 32755, AGC= 50, IDX= 496,-0.12, 1.345,-0.103, 1.644, 1.612, PHS=-0.165,-1.670,-0.012, RAW= 154.8,  22.4, CAL= 157.7,  31.1, ROT= 352.3, -31.1

2025-10-26T21:34:49.159Z,1761514489.159 [DAT](INFO): got valid direction response:
 21:34:47.9495 LVL= 32752, 32753, 27202, 32755, AGC= 50, IDX= 496,-0.12, 1.345,-0.103, 1.644, 1.612, PHS=-0.165,-1.670,-0.012, RAW= 154.8,  22.4, CAL= 157.7,  31.1, ROT= 352.3, -31.1

2025-10-26T21:34:49.159Z,1761514489.159 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-10-26T21:34:49.164Z,1761514489.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.147254 target range: 9.540147 and range: 5.00 m.
2025-10-26T21:34:49.169Z,1761514489.169 [DAT](INFO): direction in FSK: [0.848546,-0.114728,0.516533]
2025-10-26T21:34:49.169Z,1761514489.169 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:49.197Z,1761514489.197 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.551388
2025-10-26T21:34:49.364Z,1761514489.364 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.719002
2025-10-26T21:34:49.451Z,1761514489.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978601,-0.188944,-0.081492],[0.202810,0.952586,0.226823],[0.034772,-0.238497,0.970521]]
2025-10-26T21:34:49.502Z,1761514489.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.000000 m,
      deltaT: 0.508026 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:34:49.505Z,1761514489.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.968793 m,
      bearing: 12.527000 deg,
      lat: 36.779416 deg,
      lon: -121.859499 deg,
      deltaT: 8.582395 s,
      deltaX: -4.571353 m,
      approachRate: -0.532643 m/s,
      posRepo size: 4

2025-10-26T21:34:49.508Z,1761514489.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.97 m. 9.54 m.
2025-10-26T21:34:49.513Z,1761514489.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 4.182953 m,
      bearing: 14.501006 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 8.437025 deg,
      new cmd heading: 7.957534 deg.

2025-10-26T21:34:49.533Z,1761514489.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.138885 target range: 9.540147 and range: 5.00 m.
2025-10-26T21:34:49.618Z,1761514489.618 [DAT](INFO): DAT read: Rx Time:21:34:48.4492 

2025-10-26T21:34:49.619Z,1761514489.619 [DAT](INFO): Rx dataTimestamp_ set to:1761514489.618743
2025-10-26T21:34:49.621Z,1761514489.621 [DAT](INFO): DAT read: Bearing 189.1, -16.1 (Local)

2025-10-26T21:34:49.621Z,1761514489.621 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.1, -16.1 (Local)

2025-10-26T21:34:49.625Z,1761514489.625 [DAT](INFO): DAT read: Range 11 to 50 :     4.5 m (trip time 3.0 ms) speed 0.5

2025-10-26T21:34:49.636Z,1761514489.636 [DAT](INFO): DAT read: 21:34:48.4492 LVL= 32752, 32753, 24098, 32755, AGC= 50, IDX= 493, 0.22,-1.360,-2.553,-0.909,-1.052, PHS=-0.206,-1.456, 0.099, RAW= 160.7,  21.2, CAL= 162.7,  29.3, ROT= 347.3, -29.3

2025-10-26T21:34:49.638Z,1761514489.638 [DAT](INFO): got valid direction response:
 21:34:48.4492 LVL= 32752, 32753, 24098, 32755, AGC= 50, IDX= 493, 0.22,-1.360,-2.553,-0.909,-1.052, PHS=-0.206,-1.456, 0.099, RAW= 160.7,  21.2, CAL= 162.7,  29.3, ROT= 347.3, -29.3

2025-10-26T21:34:49.638Z,1761514489.638 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-10-26T21:34:49.648Z,1761514489.648 [DAT](INFO): direction in FSK: [0.850734,-0.191721,0.489382]
2025-10-26T21:34:49.649Z,1761514489.649 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:49.671Z,1761514489.671 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=53.017746
2025-10-26T21:34:49.854Z,1761514489.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980222,-0.181581,-0.078694],[0.194908,0.954675,0.224959],[0.034278,-0.235848,0.971185]]
2025-10-26T21:34:49.869Z,1761514489.869 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=53.223186
2025-10-26T21:34:49.902Z,1761514489.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.500000 m,
      deltaT: 0.501490 s,
      deltaX: -0.500000 m,
      approachRate: -0.997029 m/s,
      rangeRepo size: 4

2025-10-26T21:34:49.909Z,1761514489.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.471910 m,
      bearing: 6.383084 deg,
      lat: 36.779414 deg,
      lon: -121.859499 deg,
      deltaT: 9.083885 s,
      deltaX: -5.068237 m,
      approachRate: -0.557937 m/s,
      posRepo size: 4

2025-10-26T21:34:49.910Z,1761514489.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.47 m. 9.54 m.
2025-10-26T21:34:49.916Z,1761514489.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 3.946628 m,
      bearing: 14.966795 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 7.957534 deg,
      new cmd heading: 7.407358 deg.

2025-10-26T21:34:49.917Z,1761514489.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.129283 target range: 9.540147 and range: 4.50 m.
2025-10-26T21:34:50.125Z,1761514490.125 [DAT](INFO): DAT read: Rx Time:21:34:48.9491 

2025-10-26T21:34:50.126Z,1761514490.126 [DAT](INFO): Rx dataTimestamp_ set to:1761514490.125377
2025-10-26T21:34:50.131Z,1761514490.131 [DAT](INFO): DAT read: Bearing 162.0, -31.9 (Local)

2025-10-26T21:34:50.132Z,1761514490.132 [DAT](INFO): Local bearing/azimuth received:
 Bearing 162.0, -31.9 (Local)

2025-10-26T21:34:50.142Z,1761514490.142 [DAT](INFO): DAT read: Range 11 to 50 :     4.4 m (trip time 2.9 ms) speed 0.4

2025-10-26T21:34:50.175Z,1761514490.175 [DAT](INFO): DAT read: 21:34:48.9491 LVL= 24944, 28257, 18802, 32755, AGC= 49, IDX= 509,-0.36, 2.358, 1.680,-2.884, 2.691, PHS=-0.231,-0.966, 0.665, RAW= 183.3,   7.6, CAL= 183.1,   7.6, ROT= 326.9,  -7.6

2025-10-26T21:34:50.180Z,1761514490.180 [DAT](INFO): got valid direction response:
 21:34:48.9491 LVL= 24944, 28257, 18802, 32755, AGC= 49, IDX= 509,-0.36, 2.358, 1.680,-2.884, 2.691, PHS=-0.231,-0.966, 0.665, RAW= 183.3,   7.6, CAL= 183.1,   7.6, ROT= 326.9,  -7.6

2025-10-26T21:34:50.181Z,1761514490.181 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-10-26T21:34:50.182Z,1761514490.182 [DAT](INFO): direction in FSK: [0.830360,-0.541305,0.132256]
2025-10-26T21:34:50.182Z,1761514490.182 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:50.190Z,1761514490.190 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.544323
2025-10-26T21:34:50.259Z,1761514490.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981637,-0.174923,-0.076099],[0.187727,0.956682,0.222527],[0.033877,-0.232727,0.971952]]
2025-10-26T21:34:50.336Z,1761514490.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.400000 m,
      deltaT: 0.506634 s,
      deltaX: -0.100000 m,
      approachRate: -0.197381 m/s,
      rangeRepo size: 4

2025-10-26T21:34:50.338Z,1761514490.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.372534 m,
      bearing: 339.715493 deg,
      lat: 36.779414 deg,
      lon: -121.859499 deg,
      deltaT: 9.590519 s,
      deltaX: -5.167613 m,
      approachRate: -0.538825 m/s,
      posRepo size: 4

2025-10-26T21:34:50.340Z,1761514490.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.37 m. 9.54 m.
2025-10-26T21:34:50.343Z,1761514490.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 3.674417 m,
      bearing: 15.608115 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 7.407358 deg,
      new cmd heading: 6.816742 deg.

2025-10-26T21:34:50.352Z,1761514490.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.118975 target range: 9.540147 and range: 4.40 m.
2025-10-26T21:34:50.372Z,1761514490.372 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.727104
2025-10-26T21:34:50.626Z,1761514490.626 [DAT](INFO): DAT read: Rx Time:21:34:49.4488 

2025-10-26T21:34:50.627Z,1761514490.627 [DAT](INFO): Rx dataTimestamp_ set to:1761514490.626301
2025-10-26T21:34:50.629Z,1761514490.629 [DAT](INFO): DAT read: Bearing 150.7,  -7.0 (Local)

2025-10-26T21:34:50.629Z,1761514490.629 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.7,  -7.0 (Local)

2025-10-26T21:34:50.632Z,1761514490.632 [DAT](INFO): DAT read: Range 11 to 50 :     3.9 m (trip time 2.6 ms) speed 0.4

2025-10-26T21:34:50.637Z,1761514490.637 [DAT](INFO): DAT read: 21:34:49.4488 LVL= 16240, 21825, 18146, 25827, AGC= 46, IDX= 506,-0.29,-2.248, 2.228,-1.623,-2.853, PHS= 0.706,-1.158, 1.186, RAW= 161.2,  -6.9, CAL= 161.5,  -8.6, ROT= 348.5,   8.6

2025-10-26T21:34:50.638Z,1761514490.638 [DAT](INFO): got valid direction response:
 21:34:49.4488 LVL= 16240, 21825, 18146, 25827, AGC= 46, IDX= 506,-0.29,-2.248, 2.228,-1.623,-2.853, PHS= 0.706,-1.158, 1.186, RAW= 161.2,  -6.9, CAL= 161.5,  -8.6, ROT= 348.5,   8.6

2025-10-26T21:34:50.639Z,1761514490.639 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-10-26T21:34:50.640Z,1761514490.640 [DAT](INFO): direction in FSK: [0.968907,-0.197126,-0.149535]
2025-10-26T21:34:50.640Z,1761514490.640 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:50.645Z,1761514490.645 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.999222
2025-10-26T21:34:50.683Z,1761514490.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982741,-0.169896,-0.073179],[0.182042,0.958509,0.219367],[0.032873,-0.228902,0.972894]]
2025-10-26T21:34:50.772Z,1761514490.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.900000 m,
      deltaT: 0.500924 s,
      deltaX: -0.500000 m,
      approachRate: -0.998155 m/s,
      rangeRepo size: 4

2025-10-26T21:34:50.774Z,1761514490.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.875670 m,
      bearing: 357.393530 deg,
      lat: 36.779414 deg,
      lon: -121.859502 deg,
      deltaT: 10.091443 s,
      deltaX: -5.664476 m,
      approachRate: -0.561315 m/s,
      posRepo size: 4

2025-10-26T21:34:50.775Z,1761514490.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.54 m.
2025-10-26T21:34:50.781Z,1761514490.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 3.399931 m,
      bearing: 16.388637 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 6.816742 deg,
      new cmd heading: 6.218240 deg.

2025-10-26T21:34:50.782Z,1761514490.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108529 target range: 9.540147 and range: 3.90 m.
2025-10-26T21:34:50.880Z,1761514490.880 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=54.235027
2025-10-26T21:34:51.086Z,1761514491.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983718,-0.165326,-0.070472],[0.176864,0.960173,0.216304],[0.031905,-0.225246,0.973779]]
2025-10-26T21:34:51.133Z,1761514491.133 [DAT](INFO): DAT read: Rx Time:21:34:49.9488 

2025-10-26T21:34:51.135Z,1761514491.135 [DAT](INFO): Rx dataTimestamp_ set to:1761514491.134193
2025-10-26T21:34:51.140Z,1761514491.140 [DAT](INFO): DAT read: Range 11 to 50 :     3.9 m (trip time 2.6 ms) speed 0.4

2025-10-26T21:34:51.142Z,1761514491.142 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-10-26T21:34:51.146Z,1761514491.146 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.500069
2025-10-26T21:34:51.176Z,1761514491.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:34:51.179Z,1761514491.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.900000 m,
      deltaT: 0.507892 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:34:51.188Z,1761514491.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-10-26T21:34:51.190Z,1761514491.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 3.171498 m,
      bearing: 17.166268 deg,
      approach rate: -0.555332 m/s,
      LOS rate: 2.026559 deg/s,
      cmd heading: 6.218240 deg,
      new cmd heading: 8.717499 deg.

2025-10-26T21:34:51.196Z,1761514491.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.152149 target range: 9.540147 and range: 3.90 m.
2025-10-26T21:34:51.380Z,1761514491.380 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.735062
2025-10-26T21:34:51.566Z,1761514491.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-10-26T21:34:51.569Z,1761514491.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 2.903831 m,
      bearing: 18.347970 deg,
      approach rate: -0.690612 m/s,
      LOS rate: 3.329738 deg/s,
      cmd heading: 8.717499 deg,
      new cmd heading: 12.583231 deg.

2025-10-26T21:34:51.570Z,1761514491.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.219619 target range: 9.540147 and range: 3.90 m.
2025-10-26T21:34:51.633Z,1761514491.633 [DAT](INFO): DAT read: Rx Time:21:34:50.4486 

2025-10-26T21:34:51.634Z,1761514491.634 [DAT](INFO): Rx dataTimestamp_ set to:1761514491.633658
2025-10-26T21:34:51.636Z,1761514491.636 [DAT](INFO): DAT read: Range 11 to 50 :     3.6 m (trip time 2.4 ms) speed 0.4

2025-10-26T21:34:51.637Z,1761514491.637 [DAT](ERROR): #Rx 110: Read range message, but no direction.
2025-10-26T21:34:51.638Z,1761514491.638 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.992611
2025-10-26T21:34:51.885Z,1761514491.885 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=55.239361
2025-10-26T21:34:51.897Z,1761514491.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985495,-0.156780,-0.064958],[0.167105,0.963238,0.210353],[0.029591,-0.218157,0.975465]]
2025-10-26T21:34:51.942Z,1761514491.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 0.499465 s,
      deltaX: -0.300000 m,
      approachRate: -0.600643 m/s,
      rangeRepo size: 4

2025-10-26T21:34:51.943Z,1761514491.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-10-26T21:34:51.946Z,1761514491.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 2.693605 m,
      bearing: 19.494865 deg,
      approach rate: -0.594475 m/s,
      LOS rate: 3.496054 deg/s,
      cmd heading: 12.583231 deg,
      new cmd heading: 16.287034 deg.

2025-10-26T21:34:51.947Z,1761514491.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.284262 target range: 9.540147 and range: 3.60 m.
2025-10-26T21:34:52.138Z,1761514492.138 [DAT](INFO): DAT read: Rx Time:21:34:50.9483 

2025-10-26T21:34:52.140Z,1761514492.140 [DAT](INFO): Rx dataTimestamp_ set to:1761514492.138825
2025-10-26T21:34:52.144Z,1761514492.144 [DAT](INFO): DAT read: Bearing 313.4,  -8.8 (Local)

2025-10-26T21:34:52.145Z,1761514492.145 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.4,  -8.8 (Local)

2025-10-26T21:34:52.154Z,1761514492.154 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.4

2025-10-26T21:34:52.182Z,1761514492.182 [DAT](INFO): DAT read: 21:34:50.9483 LVL= 21040, 16113, 19122, 25587, AGC= 46, IDX= 503, 0.24, 0.797, 2.877, 0.985, 2.405, PHS=-1.505, 0.517,-1.464, RAW= 329.0,  23.4, CAL= 328.6,  28.3, ROT= 181.4, -28.3

2025-10-26T21:34:52.203Z,1761514492.203 [DAT](INFO): got valid direction response:
 21:34:50.9483 LVL= 21040, 16113, 19122, 25587, AGC= 46, IDX= 503, 0.24, 0.797, 2.877, 0.985, 2.405, PHS=-1.505, 0.517,-1.464, RAW= 329.0,  23.4, CAL= 328.6,  28.3, ROT= 181.4, -28.3

2025-10-26T21:34:52.208Z,1761514492.208 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-10-26T21:34:52.209Z,1761514492.209 [DAT](INFO): direction in FSK: [-0.880215,-0.021512,0.474088]
2025-10-26T21:34:52.209Z,1761514492.209 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:52.217Z,1761514492.217 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.571976
2025-10-26T21:34:52.298Z,1761514492.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986336,-0.152572,-0.062150],[0.162302,0.964635,0.207693],[0.028264,-0.214943,0.976218]]
2025-10-26T21:34:52.353Z,1761514492.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 0.505167 s,
      deltaX: -0.400000 m,
      approachRate: -0.791817 m/s,
      rangeRepo size: 4

2025-10-26T21:34:52.355Z,1761514492.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.180029 m,
      bearing: 184.166140 deg,
      lat: 36.779414 deg,
      lon: -121.859507 deg,
      deltaT: 11.603967 s,
      deltaX: -6.360118 m,
      approachRate: -0.548099 m/s,
      posRepo size: 4

2025-10-26T21:34:52.356Z,1761514492.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.18 m. 9.54 m.
2025-10-26T21:34:52.359Z,1761514492.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.540147 m,
      nav range: 2.439827 m,
      bearing: 20.967709 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.458035 deg/s,
      cmd heading: 16.287033 deg,
      new cmd heading: 15.691810 deg.

2025-10-26T21:34:52.360Z,1761514492.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.273874 target range: 9.540147 and range: 3.20 m.
2025-10-26T21:34:52.388Z,1761514492.388 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.743084
2025-10-26T21:34:52.641Z,1761514492.641 [DAT](INFO): DAT read: Rx Time:21:34:51.4481 

2025-10-26T21:34:52.641Z,1761514492.641 [DAT](INFO): Rx dataTimestamp_ set to:1761514492.641116
2025-10-26T21:34:52.643Z,1761514492.643 [DAT](INFO): DAT read: Bearing 310.7, -16.9 (Local)

2025-10-26T21:34:52.643Z,1761514492.643 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.7, -16.9 (Local)

2025-10-26T21:34:52.645Z,1761514492.645 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed 0.4

2025-10-26T21:34:52.650Z,1761514492.650 [DAT](INFO): DAT read: 21:34:51.4481 LVL= 18896, 11217, 10866, 30067, AGC= 41, IDX= 500, 0.13,-1.817, 0.131,-1.311,-0.143, PHS=-1.573, 0.319,-1.213, RAW= 319.7,  26.6, CAL= 319.5,  31.8, ROT= 190.5, -31.8

2025-10-26T21:34:52.651Z,1761514492.651 [DAT](INFO): got valid direction response:
 21:34:51.4481 LVL= 18896, 11217, 10866, 30067, AGC= 41, IDX= 500, 0.13,-1.817, 0.131,-1.311,-0.143, PHS=-1.573, 0.319,-1.213, RAW= 319.7,  26.6, CAL= 319.5,  31.8, ROT= 190.5, -31.8

2025-10-26T21:34:52.651Z,1761514492.651 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-10-26T21:34:52.662Z,1761514492.662 [DAT](INFO): direction in FSK: [-0.835661,-0.154881,0.526956]
2025-10-26T21:34:52.662Z,1761514492.662 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:52.680Z,1761514492.680 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=56.029869
2025-10-26T21:34:52.705Z,1761514492.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987022,-0.149132,-0.059559],[0.158295,0.965975,0.204538],[0.027030,-0.211311,0.977045]]
2025-10-26T21:34:52.779Z,1761514492.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.502291 s,
      deltaX: -0.300000 m,
      approachRate: -0.597263 m/s,
      rangeRepo size: 4

2025-10-26T21:34:52.785Z,1761514492.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.881903 m,
      bearing: 191.804264 deg,
      lat: 36.779413 deg,
      lon: -121.859508 deg,
      deltaT: 12.106258 s,
      deltaX: -6.658244 m,
      approachRate: -0.549984 m/s,
      posRepo size: 4

2025-10-26T21:34:52.786Z,1761514492.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.90 m.
2025-10-26T21:34:52.786Z,1761514492.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-10-26T21:34:52.893Z,1761514492.893 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=56.247303
2025-10-26T21:34:53.110Z,1761514493.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987677,-0.145848,-0.056769],[0.154416,0.967201,0.201688],[0.025491,-0.207969,0.977803]]
2025-10-26T21:34:53.148Z,1761514493.148 [DAT](INFO): DAT read: Rx Time:21:34:51.9481 

2025-10-26T21:34:53.149Z,1761514493.149 [DAT](INFO): Rx dataTimestamp_ set to:1761514493.148388
2025-10-26T21:34:53.155Z,1761514493.155 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed 0.4

2025-10-26T21:34:53.158Z,1761514493.158 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-10-26T21:34:53.165Z,1761514493.165 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.519344
2025-10-26T21:34:53.210Z,1761514493.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:34:53.217Z,1761514493.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.507272 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:34:53.397Z,1761514493.397 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.751244
2025-10-26T21:34:53.545Z,1761514493.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988131,-0.143802,-0.054017],[0.151770,0.968226,0.198757],[0.023719,-0.204596,0.978559]]
2025-10-26T21:34:53.650Z,1761514493.650 [DAT](INFO): DAT read: Rx Time:21:34:52.4478 

2025-10-26T21:34:53.650Z,1761514493.650 [DAT](INFO): Rx dataTimestamp_ set to:1761514493.649865
2025-10-26T21:34:53.652Z,1761514493.652 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.4

2025-10-26T21:34:53.653Z,1761514493.653 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-10-26T21:34:53.655Z,1761514493.655 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=57.008831
2025-10-26T21:34:53.900Z,1761514493.900 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=57.255028
2025-10-26T21:34:53.952Z,1761514493.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988310,-0.143957,-0.050205],[0.150988,0.969836,0.191364],[0.021142,-0.196707,0.980234]]
2025-10-26T21:34:53.971Z,1761514493.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.501477 s,
      deltaX: -0.500000 m,
      approachRate: -0.997055 m/s,
      rangeRepo size: 4

2025-10-26T21:34:54.153Z,1761514494.153 [DAT](INFO): DAT read: Rx Time:21:34:52.9478 

2025-10-26T21:34:54.155Z,1761514494.155 [DAT](INFO): Rx dataTimestamp_ set to:1761514494.153810
2025-10-26T21:34:54.158Z,1761514494.158 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.3

2025-10-26T21:34:54.159Z,1761514494.159 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-10-26T21:34:54.160Z,1761514494.160 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.514671
2025-10-26T21:34:54.350Z,1761514494.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988144,-0.146207,-0.046851],[0.152367,0.971381,0.182218],[0.018869,-0.187196,0.982141]]
2025-10-26T21:34:54.405Z,1761514494.405 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.759174
2025-10-26T21:34:54.411Z,1761514494.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.503945 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:34:54.657Z,1761514494.657 [DAT](INFO): DAT read: Rx Time:21:34:53.4478 

2025-10-26T21:34:54.657Z,1761514494.657 [DAT](INFO): Rx dataTimestamp_ set to:1761514494.656704
2025-10-26T21:34:54.658Z,1761514494.658 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.2

2025-10-26T21:34:54.659Z,1761514494.659 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-10-26T21:34:54.660Z,1761514494.660 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=58.014439
2025-10-26T21:34:54.762Z,1761514494.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987588,-0.150788,-0.043975],[0.156127,0.973023,0.169856],[0.017176,-0.174613,0.984487]]
2025-10-26T21:34:54.781Z,1761514494.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.502894 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:34:54.909Z,1761514494.909 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=58.263309
2025-10-26T21:34:55.161Z,1761514495.161 [DAT](INFO): DAT read: Rx Time:21:34:53.9476 

2025-10-26T21:34:55.161Z,1761514495.161 [DAT](INFO): Rx dataTimestamp_ set to:1761514495.160887
2025-10-26T21:34:55.162Z,1761514495.162 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-26T21:34:55.163Z,1761514495.163 [DAT](ERROR): #Rx 117: Read range message, but no direction.
2025-10-26T21:34:55.164Z,1761514495.164 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.518612
2025-10-26T21:34:55.168Z,1761514495.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986343,-0.159814,-0.039830],[0.164056,0.974726,0.151644],[0.014588,-0.156107,0.987632]]
2025-10-26T21:34:55.273Z,1761514495.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:34:55.283Z,1761514495.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504183 s,
      deltaX: -0.300000 m,
      approachRate: -0.595022 m/s,
      rangeRepo size: 4

2025-10-26T21:34:55.412Z,1761514495.412 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.767002
2025-10-26T21:34:55.607Z,1761514495.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984885,-0.169456,-0.035855],[0.172749,0.976056,0.132187],[0.012597,-0.136383,0.990576]]
2025-10-26T21:34:55.665Z,1761514495.665 [DAT](INFO): DAT read: Rx Time:21:34:54.4476 

2025-10-26T21:34:55.665Z,1761514495.665 [DAT](INFO): Rx dataTimestamp_ set to:1761514495.665021
2025-10-26T21:34:55.667Z,1761514495.667 [DAT](INFO): DAT read: Bearing 285.6,   2.1 (Local)

2025-10-26T21:34:55.667Z,1761514495.667 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.6,   2.1 (Local)

2025-10-26T21:34:55.669Z,1761514495.669 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-26T21:34:55.674Z,1761514495.674 [DAT](INFO): DAT read: 21:34:54.4476 LVL= 19392, 19857, 24562, 32579, AGC= 49, IDX= 511,-0.05,-0.943,-0.038,-1.172, 0.588, PHS=-1.429,-0.581,-1.804, RAW= 347.4,  51.2, CAL= 346.3,  54.9, ROT= 163.7, -54.9

2025-10-26T21:34:55.675Z,1761514495.675 [DAT](INFO): got valid direction response:
 21:34:54.4476 LVL= 19392, 19857, 24562, 32579, AGC= 49, IDX= 511,-0.05,-0.943,-0.038,-1.172, 0.588, PHS=-1.429,-0.581,-1.804, RAW= 347.4,  51.2, CAL= 346.3,  54.9, ROT= 163.7, -54.9

2025-10-26T21:34:55.675Z,1761514495.675 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-10-26T21:34:55.677Z,1761514495.677 [DAT](INFO): direction in FSK: [-0.551893,0.161385,0.818150]
2025-10-26T21:34:55.677Z,1761514495.677 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:55.694Z,1761514495.694 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=59.048222
2025-10-26T21:34:55.736Z,1761514495.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504134 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:34:55.738Z,1761514495.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.086895 m,
      bearing: 164.157484 deg,
      lat: 36.779401 deg,
      lon: -121.859508 deg,
      deltaT: 3.023905 s,
      deltaX: -0.795008 m,
      approachRate: -0.262908 m/s,
      posRepo size: 4

2025-10-26T21:34:55.917Z,1761514495.917 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=59.271160
2025-10-26T21:34:56.110Z,1761514496.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980746,-0.193321,-0.027645],[0.195096,0.976181,0.094914],[0.008638,-0.098480,0.995102]]
2025-10-26T21:34:56.128Z,1761514496.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.10 m.
2025-10-26T21:34:56.169Z,1761514496.169 [DAT](INFO): DAT read: Rx Time:21:34:54.9475 

2025-10-26T21:34:56.169Z,1761514496.169 [DAT](INFO): Rx dataTimestamp_ set to:1761514496.168849
2025-10-26T21:34:56.170Z,1761514496.170 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-26T21:34:56.171Z,1761514496.171 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-10-26T21:34:56.172Z,1761514496.172 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.526585
2025-10-26T21:34:56.420Z,1761514496.420 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.775028
2025-10-26T21:34:56.532Z,1761514496.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978261,-0.205867,-0.024979],[0.207266,0.974563,0.085256],[0.006793,-0.088580,0.996046]]
2025-10-26T21:34:56.589Z,1761514496.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503828 s,
      deltaX: -0.100000 m,
      approachRate: -0.198480 m/s,
      rangeRepo size: 4

2025-10-26T21:34:56.590Z,1761514496.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.00 m.
2025-10-26T21:34:56.674Z,1761514496.674 [DAT](INFO): DAT read: Rx Time:21:34:55.4477 

2025-10-26T21:34:56.674Z,1761514496.674 [DAT](INFO): Rx dataTimestamp_ set to:1761514496.673999
2025-10-26T21:34:56.676Z,1761514496.676 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed -0.5

2025-10-26T21:34:56.677Z,1761514496.677 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-10-26T21:34:56.678Z,1761514496.678 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:34:56.678Z,1761514496.678 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:34:56.679Z,1761514496.679 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:34:56.919Z,1761514496.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975913,-0.216933,-0.023118],[0.218105,0.972578,0.080763],[0.004964,-0.083860,0.996465]]
2025-10-26T21:34:56.924Z,1761514496.924 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:34:56.940Z,1761514496.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.505150 s,
      deltaX: 0.300000 m,
      approachRate: 0.593883 m/s,
      rangeRepo size: 4

2025-10-26T21:34:56.941Z,1761514496.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.30 m.
2025-10-26T21:34:57.177Z,1761514497.177 [DAT](INFO): DAT read: Rx Time:21:34:55.9480 

2025-10-26T21:34:57.178Z,1761514497.178 [DAT](INFO): Rx dataTimestamp_ set to:1761514497.177451
2025-10-26T21:34:57.179Z,1761514497.179 [DAT](INFO): DAT read: Bearing 260.6,  21.1 (Local)

2025-10-26T21:34:57.179Z,1761514497.179 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.6,  21.1 (Local)

2025-10-26T21:34:57.181Z,1761514497.181 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed -0.4

2025-10-26T21:34:57.190Z,1761514497.190 [DAT](INFO): DAT read: 21:34:55.9480 LVL= 14496, 11105,  8946, 14419, AGC= 51, IDX=   2,-0.07,-2.879,-3.122, 2.679,-1.930, PHS=-0.847,-1.147,-1.718, RAW=  49.8,  59.7, CAL=  47.9,  63.2, ROT= 102.1, -63.2

2025-10-26T21:34:57.191Z,1761514497.191 [DAT](INFO): got valid direction response:
 21:34:55.9480 LVL= 14496, 11105,  8946, 14419, AGC= 51, IDX=   2,-0.07,-2.879,-3.122, 2.679,-1.930, PHS=-0.847,-1.147,-1.718, RAW=  49.8,  59.7, CAL=  47.9,  63.2, ROT= 102.1, -63.2

2025-10-26T21:34:57.192Z,1761514497.192 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:34:57.193Z,1761514497.193 [DAT](INFO): direction in FSK: [-0.094512,0.440861,0.892586]
2025-10-26T21:34:57.193Z,1761514497.193 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:57.196Z,1761514497.196 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:34:57.197Z,1761514497.197 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:34:57.322Z,1761514497.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973333,-0.228389,-0.021463],[0.229370,0.970361,0.076084],[0.003450,-0.078978,0.996870]]
2025-10-26T21:34:57.424Z,1761514497.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503452 s,
      deltaX: 0.400000 m,
      approachRate: 0.794515 m/s,
      rangeRepo size: 4

2025-10-26T21:34:57.426Z,1761514497.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.683147 m,
      bearing: 114.079340 deg,
      lat: 36.779401 deg,
      lon: -121.859507 deg,
      deltaT: 1.512430 s,
      deltaX: 0.596251 m,
      approachRate: 0.394234 m/s,
      posRepo size: 4

2025-10-26T21:34:57.426Z,1761514497.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.70 m.
2025-10-26T21:34:57.428Z,1761514497.428 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:34:57.686Z,1761514497.686 [DAT](INFO): DAT read: Rx Time:21:34:56.4478 

2025-10-26T21:34:57.687Z,1761514497.687 [DAT](INFO): Rx dataTimestamp_ set to:1761514497.686475
2025-10-26T21:34:57.695Z,1761514497.695 [DAT](INFO): DAT read: Bearing 285.4,  21.8 (Local)

2025-10-26T21:34:57.696Z,1761514497.696 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.4,  21.8 (Local)

2025-10-26T21:34:57.699Z,1761514497.699 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed -0.4

2025-10-26T21:34:57.706Z,1761514497.706 [DAT](INFO): DAT read: 21:34:56.4478 LVL= 20320, 32753, 32754, 32755, AGC= 44, IDX= 498,-0.13, 1.441, 1.869, 0.581, 2.523, PHS=-0.980,-0.609,-1.986, RAW=  14.9,  45.7, CAL=  13.5,  50.5, ROT= 136.5, -50.5

2025-10-26T21:34:57.708Z,1761514497.708 [DAT](INFO): got valid direction response:
 21:34:56.4478 LVL= 20320, 32753, 32754, 32755, AGC= 44, IDX= 498,-0.13, 1.441, 1.869, 0.581, 2.523, PHS=-0.980,-0.609,-1.986, RAW=  14.9,  45.7, CAL=  13.5,  50.5, ROT= 136.5, -50.5

2025-10-26T21:34:57.709Z,1761514497.709 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:34:57.710Z,1761514497.710 [DAT](INFO): direction in FSK: [-0.461395,0.437847,0.771625]
2025-10-26T21:34:57.710Z,1761514497.710 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:57.748Z,1761514497.748 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:34:57.748Z,1761514497.748 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:34:57.788Z,1761514497.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970819,-0.239019,-0.019492],[0.239807,0.968137,0.072139],[0.001629,-0.074708,0.997204]]
2025-10-26T21:34:57.827Z,1761514497.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.509024 s,
      deltaX: -0.300000 m,
      approachRate: -0.589363 m/s,
      rangeRepo size: 4

2025-10-26T21:34:57.833Z,1761514497.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.385025 m,
      bearing: 146.979116 deg,
      lat: 36.779401 deg,
      lon: -121.859499 deg,
      deltaT: 0.509024 s,
      deltaX: -0.298122 m,
      approachRate: -0.585673 m/s,
      posRepo size: 4

2025-10-26T21:34:57.834Z,1761514497.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.40 m.
2025-10-26T21:34:57.933Z,1761514497.933 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:34:58.145Z,1761514498.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968282,-0.249159,-0.018691],[0.249858,0.965646,0.071403],[0.000258,-0.073809,0.997272]]
2025-10-26T21:34:58.162Z,1761514498.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:34:58.185Z,1761514498.185 [DAT](INFO): DAT read: Rx Time:21:34:56.9481 

2025-10-26T21:34:58.186Z,1761514498.186 [DAT](INFO): Rx dataTimestamp_ set to:1761514498.185284
2025-10-26T21:34:58.187Z,1761514498.187 [DAT](INFO): DAT read: Bearing 290.0,  17.5 (Local)

2025-10-26T21:34:58.187Z,1761514498.187 [DAT](INFO): Local bearing/azimuth received:
 Bearing 290.0,  17.5 (Local)

2025-10-26T21:34:58.189Z,1761514498.189 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed -0.4

2025-10-26T21:34:58.195Z,1761514498.195 [DAT](INFO): DAT read: 21:34:56.9481 LVL= 11888, 22593, 22962, 32755, AGC= 49, IDX=   5,-0.23,-0.710,-0.093,-1.366, 0.454, PHS=-1.062,-0.501,-1.864, RAW=   5.8,  45.6, CAL=   4.4,  50.2, ROT= 145.6, -50.2

2025-10-26T21:34:58.197Z,1761514498.197 [DAT](INFO): got valid direction response:
 21:34:56.9481 LVL= 11888, 22593, 22962, 32755, AGC= 49, IDX=   5,-0.23,-0.710,-0.093,-1.366, 0.454, PHS=-1.062,-0.501,-1.864, RAW=   5.8,  45.6, CAL=   4.4,  50.2, ROT= 145.6, -50.2

2025-10-26T21:34:58.197Z,1761514498.197 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:34:58.199Z,1761514498.199 [DAT](INFO): direction in FSK: [-0.528163,0.361641,0.768284]
2025-10-26T21:34:58.199Z,1761514498.199 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:58.219Z,1761514498.219 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:34:58.219Z,1761514498.219 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:34:58.285Z,1761514498.285 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:34:58.436Z,1761514498.436 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:34:58.572Z,1761514498.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966132,-0.257374,-0.018645],[0.258046,0.963276,0.074238],[-0.001146,-0.076535,0.997066]]
2025-10-26T21:34:58.640Z,1761514498.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.498809 s,
      deltaX: 0.500000 m,
      approachRate: 1.002388 m/s,
      rangeRepo size: 4

2025-10-26T21:34:58.642Z,1761514498.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.881906 m,
      bearing: 156.458573 deg,
      lat: 36.779412 deg,
      lon: -121.859490 deg,
      deltaT: 0.498809 s,
      deltaX: 0.496880 m,
      approachRate: 0.996133 m/s,
      posRepo size: 4

2025-10-26T21:34:58.643Z,1761514498.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.90 m.
2025-10-26T21:34:58.690Z,1761514498.690 [DAT](INFO): DAT read: Rx Time:21:34:57.4483 

2025-10-26T21:34:58.691Z,1761514498.691 [DAT](INFO): Rx dataTimestamp_ set to:1761514498.690258
2025-10-26T21:34:58.700Z,1761514498.700 [DAT](INFO): DAT read: Bearing 301.6,   5.1 (Local)

2025-10-26T21:34:58.701Z,1761514498.701 [DAT](INFO): Local bearing/azimuth received:
 Bearing 301.6,   5.1 (Local)

2025-10-26T21:34:58.704Z,1761514498.704 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed -0.5

2025-10-26T21:34:58.711Z,1761514498.711 [DAT](INFO): DAT read: 21:34:57.4483 LVL= 19536, 21057, 31890, 29523, AGC= 43, IDX= 502,-0.12, 0.310, 1.415, 0.138, 1.619, PHS=-1.207,-0.159,-1.526, RAW= 342.9,  39.6, CAL= 341.6,  44.4, ROT= 168.4, -44.4

2025-10-26T21:34:58.718Z,1761514498.718 [DAT](INFO): got valid direction response:
 21:34:57.4483 LVL= 19536, 21057, 31890, 29523, AGC= 43, IDX= 502,-0.12, 0.310, 1.415, 0.138, 1.619, PHS=-1.207,-0.159,-1.526, RAW= 342.9,  39.6, CAL= 341.6,  44.4, ROT= 168.4, -44.4

2025-10-26T21:34:58.719Z,1761514498.719 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:34:58.725Z,1761514498.725 [DAT](INFO): direction in FSK: [-0.699880,0.143665,0.699663]
2025-10-26T21:34:58.725Z,1761514498.725 [DAT](INFO): publishing direction and range info
2025-10-26T21:34:58.757Z,1761514498.757 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:34:58.758Z,1761514498.758 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:34:58.940Z,1761514498.940 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:34:58.947Z,1761514498.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964238,-0.264355,-0.019015],[0.265027,0.961061,0.078242],[-0.002409,-0.080484,0.996753]]
2025-10-26T21:34:58.981Z,1761514498.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 0.504974 s,
      deltaX: 0.300000 m,
      approachRate: 0.594090 m/s,
      rangeRepo size: 4

2025-10-26T21:34:58.984Z,1761514498.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.180041 m,
      bearing: 179.421883 deg,
      lat: 36.779412 deg,
      lon: -121.859490 deg,
      deltaT: 0.504974 s,
      deltaX: 0.298135 m,
      approachRate: 0.590397 m/s,
      posRepo size: 4

2025-10-26T21:34:59.192Z,1761514499.192 [DAT](INFO): DAT read: user:335>

2025-10-26T21:34:59.193Z,1761514499.193 [DAT](INFO): DAT read: user:335>

2025-10-26T21:34:59.194Z,1761514499.194 [DAT](INFO): DAT read: Tx time:21:34:58.3432

2025-10-26T21:34:59.194Z,1761514499.194 [DAT](INFO): Ping request sent.
2025-10-26T21:34:59.194Z,1761514499.194 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:34:59.194Z,1761514499.194 [DAT](INFO): publishing transmit ping time
2025-10-26T21:34:59.195Z,1761514499.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722
2025-10-26T21:34:59.289Z,1761514499.289 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:34:59.366Z,1761514499.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962627,-0.270063,-0.020370],[0.270806,0.958821,0.085593],[-0.003584,-0.087910,0.996122]]
2025-10-26T21:34:59.445Z,1761514499.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250658
2025-10-26T21:34:59.697Z,1761514499.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502643
2025-10-26T21:34:59.754Z,1761514499.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961245,-0.274805,-0.022118],[0.275658,0.956724,0.093236],[-0.004461,-0.095719,0.995398]]
2025-10-26T21:34:59.948Z,1761514499.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754274
2025-10-26T21:35:00.199Z,1761514500.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:35:00.208Z,1761514500.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014317
2025-10-26T21:35:00.461Z,1761514500.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266684
2025-10-26T21:35:00.713Z,1761514500.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519289
2025-10-26T21:35:00.964Z,1761514500.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770351
2025-10-26T21:35:00.969Z,1761514500.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958586,-0.283450,-0.027742],[0.284715,0.951275,0.118378],[-0.007164,-0.121374,0.992581]]
2025-10-26T21:35:01.217Z,1761514501.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022881
2025-10-26T21:35:01.370Z,1761514501.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958239,-0.284460,-0.029346],[0.285864,0.950031,0.125395],[-0.007791,-0.128547,0.991673]]
2025-10-26T21:35:01.469Z,1761514501.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274505
2025-10-26T21:35:01.721Z,1761514501.721 [DAT](INFO): DAT read: Rx Time:21:35:00.4781 

2025-10-26T21:35:01.722Z,1761514501.722 [DAT](INFO): Rx dataTimestamp_ set to:1761514501.721316
2025-10-26T21:35:01.723Z,1761514501.723 [DAT](INFO): DAT read: Range 11 to 50 :     4.4 m (trip time 2.9 ms) speed -0.6

2025-10-26T21:35:01.724Z,1761514501.724 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-26T21:35:01.726Z,1761514501.726 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.531535
2025-10-26T21:35:01.792Z,1761514501.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957857,-0.285684,-0.029900],[0.287118,0.949142,0.129197],[-0.008530,-0.132337,0.991168]]
2025-10-26T21:35:01.823Z,1761514501.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.400000 m,
      deltaT: 3.031058 s,
      deltaX: 1.200000 m,
      approachRate: 0.395901 m/s,
      rangeRepo size: 4

2025-10-26T21:35:01.972Z,1761514501.972 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.778319
2025-10-26T21:35:02.178Z,1761514502.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957582,-0.286511,-0.030782],[0.288013,0.948220,0.133892],[-0.009173,-0.137078,0.990518]]
2025-10-26T21:35:02.227Z,1761514502.227 [DAT](INFO): DAT read: Rx Time:21:35:00.9783 

2025-10-26T21:35:02.228Z,1761514502.228 [DAT](INFO): Rx dataTimestamp_ set to:1761514502.227278
2025-10-26T21:35:02.229Z,1761514502.229 [DAT](INFO): DAT read: Bearing 325.1, -14.4 (Local)

2025-10-26T21:35:02.229Z,1761514502.229 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.1, -14.4 (Local)

2025-10-26T21:35:02.232Z,1761514502.232 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed -0.7

2025-10-26T21:35:02.236Z,1761514502.236 [DAT](INFO): DAT read: 21:35:00.9783 LVL= 23440, 25361, 32754, 32755, AGC= 56, IDX= 501,-0.38, 0.897, 3.048, 1.498, 2.482, PHS=-1.483, 0.610,-1.028, RAW= 318.1,  19.4, CAL= 317.4,  24.3, ROT= 192.6, -24.3

2025-10-26T21:35:02.238Z,1761514502.238 [DAT](INFO): got valid direction response:
 21:35:00.9783 LVL= 23440, 25361, 32754, 32755, AGC= 56, IDX= 501,-0.38, 0.897, 3.048, 1.498, 2.482, PHS=-1.483, 0.610,-1.028, RAW= 318.1,  19.4, CAL= 317.4,  24.3, ROT= 192.6, -24.3

2025-10-26T21:35:02.239Z,1761514502.239 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T21:35:02.248Z,1761514502.248 [DAT](INFO): direction in FSK: [-0.889454,-0.198817,0.411514]
2025-10-26T21:35:02.249Z,1761514502.249 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:02.258Z,1761514502.258 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.064032
2025-10-26T21:35:02.476Z,1761514502.476 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.282251
2025-10-26T21:35:02.609Z,1761514502.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957365,-0.287180,-0.031318],[0.288720,0.947551,0.137068],[-0.009688,-0.140266,0.990066]]
2025-10-26T21:35:02.670Z,1761514502.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.505962 s,
      deltaX: 0.300000 m,
      approachRate: 0.592929 m/s,
      rangeRepo size: 4

2025-10-26T21:35:02.673Z,1761514502.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.670646 m,
      bearing: 205.714305 deg,
      lat: 36.779413 deg,
      lon: -121.859490 deg,
      deltaT: 3.537020 s,
      deltaX: 1.490606 m,
      approachRate: 0.421430 m/s,
      posRepo size: 4

2025-10-26T21:35:02.673Z,1761514502.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 4.70 m. Rolling out.
2025-10-26T21:35:02.674Z,1761514502.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-10-26T21:35:02.706Z,1761514502.706 [DockingStepper](INFO): Changing to mode: 1
2025-10-26T21:35:02.730Z,1761514502.730 [DAT](INFO): DAT read: Rx Time:21:35:01.4780 

2025-10-26T21:35:02.731Z,1761514502.731 [DAT](INFO): Rx dataTimestamp_ set to:1761514502.730496
2025-10-26T21:35:02.733Z,1761514502.733 [DAT](INFO): DAT read: Bearing 329.1,  -7.5 (Local)

2025-10-26T21:35:02.733Z,1761514502.733 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.1,  -7.5 (Local)

2025-10-26T21:35:02.743Z,1761514502.743 [DAT](INFO): DAT read: Range 11 to 50 :     4.2 m (trip time 2.8 ms) speed -0.4

2025-10-26T21:35:02.776Z,1761514502.776 [DAT](INFO): DAT read: 21:35:01.4780 LVL= 19280, 21569, 31922, 32755, AGC= 57, IDX= 501, 0.35,-0.188, 1.812, 0.143, 1.108, PHS=-1.193, 0.749,-1.009, RAW= 325.1,  15.5, CAL= 324.6,  19.9, ROT= 185.4, -19.9

2025-10-26T21:35:02.777Z,1761514502.777 [DAT](INFO): got valid direction response:
 21:35:01.4780 LVL= 19280, 21569, 31922, 32755, AGC= 57, IDX= 501, 0.35,-0.188, 1.812, 0.143, 1.108, PHS=-1.193, 0.749,-1.009, RAW= 325.1,  15.5, CAL= 324.6,  19.9, ROT= 185.4, -19.9

2025-10-26T21:35:02.778Z,1761514502.778 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-10-26T21:35:02.779Z,1761514502.779 [DAT](INFO): direction in FSK: [-0.936115,-0.088489,0.340380]
2025-10-26T21:35:02.779Z,1761514502.779 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:02.797Z,1761514502.797 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.602574
2025-10-26T21:35:02.980Z,1761514502.980 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.786322
2025-10-26T21:35:03.114Z,1761514503.114 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-10-26T21:35:03.114Z,1761514503.114 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T21:35:03.114Z,1761514503.114 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-10-26T21:35:03.120Z,1761514503.120 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 4.700000 m (mode  5.000000 count ).
2025-10-26T21:35:03.120Z,1761514503.120 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-10-26T21:35:03.120Z,1761514503.120 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-10-26T21:35:03.121Z,1761514503.121 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-10-26T21:35:03.121Z,1761514503.121 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T21:35:03.121Z,1761514503.121 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-10-26T21:35:03.122Z,1761514503.122 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with  1.000000 count pings  4.700000 m (mode  5.000000 count ).
2025-10-26T21:35:03.122Z,1761514503.122 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-10-26T21:35:03.123Z,1761514503.123 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-10-26T21:35:03.138Z,1761514503.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 0.503218 s,
      deltaX: -0.500000 m,
      approachRate: -0.993605 m/s,
      rangeRepo size: 4

2025-10-26T21:35:03.149Z,1761514503.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.173736 m,
      bearing: 199.229792 deg,
      lat: 36.779413 deg,
      lon: -121.859498 deg,
      deltaT: 0.503218 s,
      deltaX: -0.496911 m,
      approachRate: -0.987466 m/s,
      posRepo size: 4

2025-10-26T21:35:03.149Z,1761514503.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.17 m.
2025-10-26T21:35:03.163Z,1761514503.163 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-10-26T21:35:03.164Z,1761514503.164 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-26T21:35:03.164Z,1761514503.164 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-10-26T21:35:03.164Z,1761514503.164 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-10-26T21:35:03.234Z,1761514503.234 [DAT](INFO): DAT read: Rx Time:21:35:01.9779 

2025-10-26T21:35:03.235Z,1761514503.235 [DAT](INFO): Rx dataTimestamp_ set to:1761514503.234393
2025-10-26T21:35:03.237Z,1761514503.237 [DAT](INFO): DAT read: Bearing 331.6,   4.5 (Local)

2025-10-26T21:35:03.238Z,1761514503.238 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.6,   4.5 (Local)

2025-10-26T21:35:03.241Z,1761514503.241 [DAT](INFO): DAT read: Range 11 to 50 :     4.1 m (trip time 2.7 ms) speed -0.5

2025-10-26T21:35:03.248Z,1761514503.248 [DAT](INFO): DAT read: 21:35:01.9779 LVL= 24016, 23425, 32322, 32083, AGC= 59, IDX= 505,-0.29,-0.521, 1.056,-0.597, 0.369, PHS=-0.788, 0.732,-1.010, RAW= 336.7,  12.9, CAL= 336.8,  15.8, ROT= 173.2, -15.8

2025-10-26T21:35:03.249Z,1761514503.249 [DAT](INFO): got valid direction response:
 21:35:01.9779 LVL= 24016, 23425, 32322, 32083, AGC= 59, IDX= 505,-0.29,-0.521, 1.056,-0.597, 0.369, PHS=-0.788, 0.732,-1.010, RAW= 336.7,  12.9, CAL= 336.8,  15.8, ROT= 173.2, -15.8

2025-10-26T21:35:03.249Z,1761514503.249 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-26T21:35:03.250Z,1761514503.250 [DAT](INFO): direction in FSK: [-0.955449,0.113931,0.272280]
2025-10-26T21:35:03.250Z,1761514503.250 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:03.255Z,1761514503.255 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.060514
2025-10-26T21:35:03.485Z,1761514503.485 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.290521
2025-10-26T21:35:03.532Z,1761514503.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956793,-0.288995,-0.032071],[0.290575,0.946287,0.141797],[-0.010630,-0.144990,0.989376]]
2025-10-26T21:35:03.620Z,1761514503.620 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-10-26T21:35:03.620Z,1761514503.620 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-10-26T21:35:03.621Z,1761514503.621 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-10-26T21:35:03.621Z,1761514503.621 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-10-26T21:35:03.628Z,1761514503.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.503897 s,
      deltaX: -0.100000 m,
      approachRate: -0.198453 m/s,
      rangeRepo size: 4

2025-10-26T21:35:03.630Z,1761514503.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.074361 m,
      bearing: 187.816354 deg,
      lat: 36.779418 deg,
      lon: -121.859498 deg,
      deltaT: 0.503897 s,
      deltaX: -0.099375 m,
      approachRate: -0.197212 m/s,
      posRepo size: 4

2025-10-26T21:35:03.630Z,1761514503.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-10-26T21:35:03.739Z,1761514503.739 [DAT](INFO): DAT read: Rx Time:21:35:02.4784 

2025-10-26T21:35:03.740Z,1761514503.740 [DAT](INFO): Rx dataTimestamp_ set to:1761514503.739596
2025-10-26T21:35:03.741Z,1761514503.741 [DAT](INFO): DAT read: Bearing 339.6,  11.9 (Local)

2025-10-26T21:35:03.741Z,1761514503.741 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.6,  11.9 (Local)

2025-10-26T21:35:03.744Z,1761514503.744 [DAT](INFO): DAT read: Range 11 to 50 :     4.8 m (trip time 3.2 ms) speed -0.5

2025-10-26T21:35:03.748Z,1761514503.748 [DAT](INFO): DAT read: 21:35:02.4784 LVL= 21232, 27697, 30354, 31603, AGC= 60, IDX= 506, 0.04,-1.196, 0.265,-1.475,-0.571, PHS=-0.524, 0.880,-0.949, RAW= 342.8,   7.2, CAL= 342.7,   6.8, ROT= 167.3,  -6.8

2025-10-26T21:35:03.749Z,1761514503.749 [DAT](INFO): got valid direction response:
 21:35:02.4784 LVL= 21232, 27697, 30354, 31603, AGC= 60, IDX= 506, 0.04,-1.196, 0.265,-1.475,-0.571, PHS=-0.524, 0.880,-0.949, RAW= 342.8,   7.2, CAL= 342.7,   6.8, ROT= 167.3,  -6.8

2025-10-26T21:35:03.750Z,1761514503.750 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-10-26T21:35:03.751Z,1761514503.751 [DAT](INFO): direction in FSK: [-0.968672,0.218300,0.118404]
2025-10-26T21:35:03.751Z,1761514503.751 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:03.754Z,1761514503.754 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.560307
2025-10-26T21:35:03.936Z,1761514503.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956547,-0.289687,-0.033158],[0.291397,0.945745,0.143715],[-0.010273,-0.147133,0.989063]]
2025-10-26T21:35:03.957Z,1761514503.957 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-10-26T21:35:03.957Z,1761514503.957 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-10-26T21:35:03.958Z,1761514503.958 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-10-26T21:35:03.958Z,1761514503.958 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-10-26T21:35:03.965Z,1761514503.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 0.505203 s,
      deltaX: 0.700000 m,
      approachRate: 1.385582 m/s,
      rangeRepo size: 4

2025-10-26T21:35:03.967Z,1761514503.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.769964 m,
      bearing: 183.386030 deg,
      lat: 36.779418 deg,
      lon: -121.859498 deg,
      deltaT: 0.505203 s,
      deltaX: 0.695603 m,
      approachRate: 1.376878 m/s,
      posRepo size: 4

2025-10-26T21:35:03.968Z,1761514503.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.77 m.
2025-10-26T21:35:03.990Z,1761514503.990 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.795492
2025-10-26T21:35:04.241Z,1761514504.241 [DAT](INFO): DAT read: Rx Time:21:35:02.9786 

2025-10-26T21:35:04.241Z,1761514504.241 [DAT](INFO): Rx dataTimestamp_ set to:1761514504.241151
2025-10-26T21:35:04.243Z,1761514504.243 [DAT](INFO): DAT read: Bearing 335.9,  13.1 (Local)

2025-10-26T21:35:04.243Z,1761514504.243 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.9,  13.1 (Local)

2025-10-26T21:35:04.246Z,1761514504.246 [DAT](INFO): DAT read: Range 11 to 50 :     5.1 m (trip time 3.4 ms) speed -0.7

2025-10-26T21:35:04.250Z,1761514504.250 [DAT](INFO): DAT read: 21:35:02.9786 LVL= 25536, 27825, 32754, 32755, AGC= 59, IDX= 508, 0.15, 0.500, 1.775, 0.219, 1.095, PHS=-0.493, 0.724,-0.921, RAW= 344.5,   9.4, CAL= 344.5,  10.1, ROT= 165.5, -10.1

2025-10-26T21:35:04.252Z,1761514504.252 [DAT](INFO): got valid direction response:
 21:35:02.9786 LVL= 25536, 27825, 32754, 32755, AGC= 59, IDX= 508, 0.15, 0.500, 1.775, 0.219, 1.095, PHS=-0.493, 0.724,-0.921, RAW= 344.5,   9.4, CAL= 344.5,  10.1, ROT= 165.5, -10.1

2025-10-26T21:35:04.252Z,1761514504.252 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-26T21:35:04.253Z,1761514504.253 [DAT](INFO): direction in FSK: [-0.953144,0.246500,0.175367]
2025-10-26T21:35:04.253Z,1761514504.253 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:04.257Z,1761514504.257 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.063005
2025-10-26T21:35:04.403Z,1761514504.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956298,-0.290637,-0.032014],[0.292239,0.946465,0.137112],[-0.009549,-0.140475,0.990038]]
2025-10-26T21:35:04.472Z,1761514504.472 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-10-26T21:35:04.473Z,1761514504.473 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T21:35:04.473Z,1761514504.473 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-10-26T21:35:04.473Z,1761514504.473 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T21:35:04.473Z,1761514504.473 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-10-26T21:35:04.474Z,1761514504.474 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T21:35:04.474Z,1761514504.474 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-10-26T21:35:04.474Z,1761514504.474 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T21:35:04.494Z,1761514504.494 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.299421
2025-10-26T21:35:04.497Z,1761514504.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 0.501555 s,
      deltaX: 0.300000 m,
      approachRate: 0.598139 m/s,
      rangeRepo size: 4

2025-10-26T21:35:04.510Z,1761514504.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.068086 m,
      bearing: 181.228150 deg,
      lat: 36.779418 deg,
      lon: -121.859497 deg,
      deltaT: 0.501555 s,
      deltaX: 0.298122 m,
      approachRate: 0.594396 m/s,
      posRepo size: 4

2025-10-26T21:35:04.516Z,1761514504.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.07 m.
2025-10-26T21:35:04.745Z,1761514504.745 [DAT](INFO): DAT read: Rx Time:21:35:03.4788 

2025-10-26T21:35:04.746Z,1761514504.746 [DAT](INFO): Rx dataTimestamp_ set to:1761514504.745432
2025-10-26T21:35:04.747Z,1761514504.747 [DAT](INFO): DAT read: Bearing 337.2,  10.7 (Local)

2025-10-26T21:35:04.747Z,1761514504.747 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.2,  10.7 (Local)

2025-10-26T21:35:04.749Z,1761514504.749 [DAT](INFO): DAT read: Range 11 to 50 :     5.4 m (trip time 3.6 ms) speed -0.5

2025-10-26T21:35:04.754Z,1761514504.754 [DAT](INFO): DAT read: 21:35:03.4788 LVL= 20688, 28913, 29906, 32627, AGC= 60, IDX= 509, 0.26, 0.502, 1.887, 0.282, 1.156, PHS=-0.552, 0.776,-0.918, RAW= 341.9,   9.0, CAL= 341.8,   9.7, ROT= 168.2,  -9.7

2025-10-26T21:35:04.755Z,1761514504.755 [DAT](INFO): got valid direction response:
 21:35:03.4788 LVL= 20688, 28913, 29906, 32627, AGC= 60, IDX= 509, 0.26, 0.502, 1.887, 0.282, 1.156, PHS=-0.552, 0.776,-0.918, RAW= 341.9,   9.0, CAL= 341.8,   9.7, ROT= 168.2,  -9.7

2025-10-26T21:35:04.756Z,1761514504.756 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-26T21:35:04.757Z,1761514504.757 [DAT](INFO): direction in FSK: [-0.964873,0.201573,0.168489]
2025-10-26T21:35:04.757Z,1761514504.757 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:04.768Z,1761514504.768 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.573894
2025-10-26T21:35:04.838Z,1761514504.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956063,-0.291529,-0.030904],[0.293003,0.946744,0.133508],[-0.009663,-0.136697,0.990566]]
2025-10-26T21:35:04.900Z,1761514504.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.400000 m,
      deltaT: 0.504281 s,
      deltaX: 0.300000 m,
      approachRate: 0.594907 m/s,
      rangeRepo size: 4

2025-10-26T21:35:04.902Z,1761514504.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.366202 m,
      bearing: 184.023065 deg,
      lat: 36.779417 deg,
      lon: -121.859495 deg,
      deltaT: 0.504281 s,
      deltaX: 0.298116 m,
      approachRate: 0.591170 m/s,
      posRepo size: 4

2025-10-26T21:35:04.902Z,1761514504.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.37 m.
2025-10-26T21:35:04.998Z,1761514504.998 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.803324
2025-10-26T21:35:05.249Z,1761514505.249 [DAT](INFO): DAT read: Rx Time:21:35:03.9791 

2025-10-26T21:35:05.249Z,1761514505.249 [DAT](INFO): Rx dataTimestamp_ set to:1761514505.249054
2025-10-26T21:35:05.251Z,1761514505.251 [DAT](INFO): DAT read: Bearing 338.7,  11.7 (Local)

2025-10-26T21:35:05.251Z,1761514505.251 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.7,  11.7 (Local)

2025-10-26T21:35:05.253Z,1761514505.253 [DAT](INFO): DAT read: Range 11 to 50 :     5.9 m (trip time 3.9 ms) speed -0.5

2025-10-26T21:35:05.260Z,1761514505.260 [DAT](INFO): DAT read: 21:35:03.9791 LVL= 16832, 22081, 24546, 32755, AGC= 63, IDX=   0, 0.50, 1.025, 2.403, 0.780, 1.648, PHS=-0.521, 0.800,-0.911, RAW= 342.6,   8.2, CAL= 342.5,   8.3, ROT= 167.5,  -8.3

2025-10-26T21:35:05.262Z,1761514505.262 [DAT](INFO): got valid direction response:
 21:35:03.9791 LVL= 16832, 22081, 24546, 32755, AGC= 63, IDX=   0, 0.50, 1.025, 2.403, 0.780, 1.648, PHS=-0.521, 0.800,-0.911, RAW= 342.6,   8.2, CAL= 342.5,   8.3, ROT= 167.5,  -8.3

2025-10-26T21:35:05.262Z,1761514505.262 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-10-26T21:35:05.263Z,1761514505.263 [DAT](INFO): direction in FSK: [-0.966070,0.214173,0.144356]
2025-10-26T21:35:05.263Z,1761514505.263 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:05.267Z,1761514505.267 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.072769
2025-10-26T21:35:05.429Z,1761514505.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955634,-0.293305,-0.027121],[0.294378,0.947792,0.122608],[-0.010256,-0.125152,0.992085]]
2025-10-26T21:35:05.502Z,1761514505.502 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.308147
2025-10-26T21:35:05.539Z,1761514505.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.900000 m,
      deltaT: 0.503622 s,
      deltaX: 0.500000 m,
      approachRate: 0.992808 m/s,
      rangeRepo size: 4

2025-10-26T21:35:05.541Z,1761514505.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.863072 m,
      bearing: 183.681697 deg,
      lat: 36.779417 deg,
      lon: -121.859494 deg,
      deltaT: 0.503622 s,
      deltaX: 0.496871 m,
      approachRate: 0.986594 m/s,
      posRepo size: 4

2025-10-26T21:35:05.542Z,1761514505.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.86 m.
2025-10-26T21:35:05.754Z,1761514505.754 [DAT](INFO): DAT read: Rx Time:21:35:04.4791 

2025-10-26T21:35:05.754Z,1761514505.754 [DAT](INFO): Rx dataTimestamp_ set to:1761514505.753721
2025-10-26T21:35:05.756Z,1761514505.756 [DAT](INFO): DAT read: Bearing 337.6,   9.9 (Local)

2025-10-26T21:35:05.757Z,1761514505.757 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.6,   9.9 (Local)

2025-10-26T21:35:05.759Z,1761514505.759 [DAT](INFO): DAT read: Range 11 to 50 :     6.0 m (trip time 4.0 ms) speed -0.5

2025-10-26T21:35:05.764Z,1761514505.764 [DAT](INFO): DAT read: 21:35:04.4791 LVL= 20912, 28273, 29810, 32755, AGC= 59, IDX= 498,-0.35,-0.836, 0.600,-1.035,-0.150, PHS=-0.584, 0.795,-0.930, RAW= 340.9,   9.1, CAL= 340.9,   9.9, ROT= 169.1,  -9.9

2025-10-26T21:35:05.765Z,1761514505.765 [DAT](INFO): got valid direction response:
 21:35:04.4791 LVL= 20912, 28273, 29810, 32755, AGC= 59, IDX= 498,-0.35,-0.836, 0.600,-1.035,-0.150, PHS=-0.584, 0.795,-0.930, RAW= 340.9,   9.1, CAL= 340.9,   9.9, ROT= 169.1,  -9.9

2025-10-26T21:35:05.765Z,1761514505.765 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-10-26T21:35:05.766Z,1761514505.766 [DAT](INFO): direction in FSK: [-0.967337,0.186280,0.171929]
2025-10-26T21:35:05.766Z,1761514505.766 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:05.770Z,1761514505.770 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.575702
2025-10-26T21:35:06.005Z,1761514506.005 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.810715
2025-10-26T21:35:06.032Z,1761514506.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.000000 m,
      deltaT: 0.504667 s,
      deltaX: 0.100000 m,
      approachRate: 0.198150 m/s,
      rangeRepo size: 4

2025-10-26T21:35:06.034Z,1761514506.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.962502 m,
      bearing: 185.061492 deg,
      lat: 36.779417 deg,
      lon: -121.859494 deg,
      deltaT: 0.504667 s,
      deltaX: 0.099430 m,
      approachRate: 0.197020 m/s,
      posRepo size: 4

2025-10-26T21:35:06.035Z,1761514506.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.96 m.
2025-10-26T21:35:06.257Z,1761514506.257 [DAT](INFO): DAT read: Rx Time:21:35:04.9794 

2025-10-26T21:35:06.257Z,1761514506.257 [DAT](INFO): Rx dataTimestamp_ set to:1761514506.257124
2025-10-26T21:35:06.259Z,1761514506.259 [DAT](INFO): DAT read: Bearing 343.0,   9.6 (Local)

2025-10-26T21:35:06.259Z,1761514506.259 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.0,   9.6 (Local)

2025-10-26T21:35:06.261Z,1761514506.261 [DAT](INFO): DAT read: Range 11 to 50 :     6.3 m (trip time 4.2 ms) speed -0.7

2025-10-26T21:35:06.293Z,1761514506.293 [DAT](INFO): DAT read: 21:35:04.9794 LVL= 25312, 27185, 31858, 32755, AGC= 59, IDX= 501,-0.21,-0.185, 1.443,-0.395, 0.496, PHS=-0.578, 0.992,-0.935, RAW= 340.0,   5.9, CAL= 339.7,   4.8, ROT= 170.3,  -4.8

2025-10-26T21:35:06.294Z,1761514506.294 [DAT](INFO): got valid direction response:
 21:35:04.9794 LVL= 25312, 27185, 31858, 32755, AGC= 59, IDX= 501,-0.21,-0.185, 1.443,-0.395, 0.496, PHS=-0.578, 0.992,-0.935, RAW= 340.0,   5.9, CAL= 339.7,   4.8, ROT= 170.3,  -4.8

2025-10-26T21:35:06.295Z,1761514506.295 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-26T21:35:06.296Z,1761514506.296 [DAT](INFO): direction in FSK: [-0.982246,0.167898,0.083678]
2025-10-26T21:35:06.296Z,1761514506.296 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:06.332Z,1761514506.332 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.137734
2025-10-26T21:35:06.486Z,1761514506.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.300000 m,
      deltaT: 0.503403 s,
      deltaX: 0.300000 m,
      approachRate: 0.595944 m/s,
      rangeRepo size: 4

2025-10-26T21:35:06.495Z,1761514506.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.260627 m,
      bearing: 186.896225 deg,
      lat: 36.779417 deg,
      lon: -121.859495 deg,
      deltaT: 0.503403 s,
      deltaX: 0.298125 m,
      approachRate: 0.592220 m/s,
      posRepo size: 4

2025-10-26T21:35:06.510Z,1761514506.510 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.315648
2025-10-26T21:35:06.516Z,1761514506.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.26 m.
2025-10-26T21:35:06.761Z,1761514506.761 [DAT](INFO): DAT read: Rx Time:21:35:05.4795 

2025-10-26T21:35:06.761Z,1761514506.761 [DAT](INFO): Rx dataTimestamp_ set to:1761514506.761100
2025-10-26T21:35:06.763Z,1761514506.763 [DAT](INFO): DAT read: Bearing 343.0,  10.1 (Local)

2025-10-26T21:35:06.763Z,1761514506.763 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.0,  10.1 (Local)

2025-10-26T21:35:06.765Z,1761514506.765 [DAT](INFO): DAT read: Range 11 to 50 :     6.5 m (trip time 4.3 ms) speed -0.5

2025-10-26T21:35:06.770Z,1761514506.770 [DAT](INFO): DAT read: 21:35:05.4795 LVL= 26832, 31057, 32754, 32755, AGC= 60, IDX= 502,-0.20,-1.185, 0.425,-1.411,-0.516, PHS=-0.567, 0.986,-0.940, RAW= 340.5,   5.9, CAL= 340.2,   4.9, ROT= 169.8,  -4.9

2025-10-26T21:35:06.771Z,1761514506.771 [DAT](INFO): got valid direction response:
 21:35:05.4795 LVL= 26832, 31057, 32754, 32755, AGC= 60, IDX= 502,-0.20,-1.185, 0.425,-1.411,-0.516, PHS=-0.567, 0.986,-0.940, RAW= 340.5,   5.9, CAL= 340.2,   4.9, ROT= 169.8,  -4.9

2025-10-26T21:35:06.771Z,1761514506.771 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-10-26T21:35:06.772Z,1761514506.772 [DAT](INFO): direction in FSK: [-0.980599,0.176437,0.085417]
2025-10-26T21:35:06.772Z,1761514506.772 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:06.780Z,1761514506.780 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.586161
2025-10-26T21:35:06.847Z,1761514506.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954976,-0.295762,-0.023340],[0.296527,0.948977,0.107304],[-0.009587,-0.109394,0.993952]]
2025-10-26T21:35:06.921Z,1761514506.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.500000 m,
      deltaT: 0.503976 s,
      deltaX: 0.200000 m,
      approachRate: 0.396844 m/s,
      rangeRepo size: 4

2025-10-26T21:35:06.923Z,1761514506.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.459439 m,
      bearing: 186.574541 deg,
      lat: 36.779417 deg,
      lon: -121.859495 deg,
      deltaT: 0.503976 s,
      deltaX: 0.198812 m,
      approachRate: 0.394486 m/s,
      posRepo size: 4

2025-10-26T21:35:06.927Z,1761514506.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.46 m.
2025-10-26T21:35:07.013Z,1761514507.013 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.819418
2025-10-26T21:35:07.194Z,1761514507.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954795,-0.296433,-0.022221],[0.297122,0.949355,0.102189],[-0.009197,-0.104172,0.994517]]
2025-10-26T21:35:07.231Z,1761514507.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.46 m.
2025-10-26T21:35:07.266Z,1761514507.266 [DAT](INFO): DAT read: Rx Time:21:35:05.9798 

2025-10-26T21:35:07.267Z,1761514507.267 [DAT](INFO): Rx dataTimestamp_ set to:1761514507.266489
2025-10-26T21:35:07.269Z,1761514507.269 [DAT](INFO): DAT read: Bearing 346.0,  10.3 (Local)

2025-10-26T21:35:07.270Z,1761514507.270 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.0,  10.3 (Local)

2025-10-26T21:35:07.273Z,1761514507.273 [DAT](INFO): DAT read: Range 11 to 50 :     6.9 m (trip time 4.6 ms) speed -0.5

2025-10-26T21:35:07.279Z,1761514507.279 [DAT](INFO): DAT read: 21:35:05.9798 LVL= 24928, 32753, 32754, 32755, AGC= 61, IDX= 505,-0.16,-1.119, 0.579,-1.366,-0.473, PHS=-0.544, 1.097,-0.937, RAW= 340.5,   4.1, CAL= 340.1,   2.0, ROT= 169.9,  -2.0

2025-10-26T21:35:07.281Z,1761514507.281 [DAT](INFO): got valid direction response:
 21:35:05.9798 LVL= 24928, 32753, 32754, 32755, AGC= 61, IDX= 505,-0.16,-1.119, 0.579,-1.366,-0.473, PHS=-0.544, 1.097,-0.937, RAW= 340.5,   4.1, CAL= 340.1,   2.0, ROT= 169.9,  -2.0

2025-10-26T21:35:07.281Z,1761514507.281 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-26T21:35:07.282Z,1761514507.282 [DAT](INFO): direction in FSK: [-0.983903,0.175260,0.034899]
2025-10-26T21:35:07.283Z,1761514507.283 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:07.301Z,1761514507.301 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.107151
2025-10-26T21:35:07.516Z,1761514507.516 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.322331
2025-10-26T21:35:07.612Z,1761514507.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954513,-0.297353,-0.022044],[0.298029,0.949188,0.101096],[-0.009137,-0.103067,0.994632]]
2025-10-26T21:35:07.665Z,1761514507.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.900000 m,
      deltaT: 0.505389 s,
      deltaX: 0.400000 m,
      approachRate: 0.791470 m/s,
      rangeRepo size: 4

2025-10-26T21:35:07.668Z,1761514507.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.856943 m,
      bearing: 187.087753 deg,
      lat: 36.779417 deg,
      lon: -121.859497 deg,
      deltaT: 0.505389 s,
      deltaX: 0.397504 m,
      approachRate: 0.786531 m/s,
      posRepo size: 4

2025-10-26T21:35:07.668Z,1761514507.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.86 m.
2025-10-26T21:35:07.769Z,1761514507.769 [DAT](INFO): DAT read: Rx Time:21:35:06.4799 

2025-10-26T21:35:07.770Z,1761514507.770 [DAT](INFO): Rx dataTimestamp_ set to:1761514507.769309
2025-10-26T21:35:07.771Z,1761514507.771 [DAT](INFO): DAT read: Bearing 344.3,  10.4 (Local)

2025-10-26T21:35:07.771Z,1761514507.771 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.3,  10.4 (Local)

2025-10-26T21:35:07.773Z,1761514507.773 [DAT](INFO): DAT read: Range 11 to 50 :     7.1 m (trip time 4.7 ms) speed -0.5

2025-10-26T21:35:07.778Z,1761514507.778 [DAT](INFO): DAT read: 21:35:06.4799 LVL= 23264, 28785, 32754, 32755, AGC= 60, IDX= 506,-0.22,-2.507,-0.868,-2.749,-1.850, PHS=-0.555, 1.027,-0.943, RAW= 340.7,   5.3, CAL= 340.4,   3.8, ROT= 169.6,  -3.8

2025-10-26T21:35:07.779Z,1761514507.779 [DAT](INFO): got valid direction response:
 21:35:06.4799 LVL= 23264, 28785, 32754, 32755, AGC= 60, IDX= 506,-0.22,-2.507,-0.868,-2.749,-1.850, PHS=-0.555, 1.027,-0.943, RAW= 340.7,   5.3, CAL= 340.4,   3.8, ROT= 169.6,  -3.8

2025-10-26T21:35:07.780Z,1761514507.780 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-26T21:35:07.781Z,1761514507.781 [DAT](INFO): direction in FSK: [-0.981409,0.180122,0.066274]
2025-10-26T21:35:07.781Z,1761514507.781 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:07.785Z,1761514507.785 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.591141
2025-10-26T21:35:08.021Z,1761514508.021 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.826432
2025-10-26T21:35:08.037Z,1761514508.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954392,-0.297715,-0.022395],[0.298429,0.949100,0.100748],[-0.008739,-0.102837,0.994660]]
2025-10-26T21:35:08.113Z,1761514508.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.100000 m,
      deltaT: 0.502820 s,
      deltaX: 0.200000 m,
      approachRate: 0.397756 m/s,
      rangeRepo size: 4

2025-10-26T21:35:08.114Z,1761514508.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.055706 m,
      bearing: 186.628458 deg,
      lat: 36.779417 deg,
      lon: -121.859497 deg,
      deltaT: 0.502820 s,
      deltaX: 0.198763 m,
      approachRate: 0.395296 m/s,
      posRepo size: 4

2025-10-26T21:35:08.115Z,1761514508.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.06 m.
2025-10-26T21:35:08.273Z,1761514508.273 [DAT](INFO): DAT read: Rx Time:21:35:06.9800 

2025-10-26T21:35:08.273Z,1761514508.273 [DAT](INFO): Rx dataTimestamp_ set to:1761514508.273125
2025-10-26T21:35:08.275Z,1761514508.275 [DAT](INFO): DAT read: Bearing 344.3,  10.6 (Local)

2025-10-26T21:35:08.275Z,1761514508.275 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.3,  10.6 (Local)

2025-10-26T21:35:08.277Z,1761514508.277 [DAT](INFO): DAT read: Range 11 to 50 :     7.2 m (trip time 4.8 ms) speed -0.5

2025-10-26T21:35:08.301Z,1761514508.301 [DAT](INFO): DAT read: 21:35:06.9800 LVL= 24672, 30753, 31426, 32755, AGC= 60, IDX= 508,-0.32,-2.381,-0.789,-2.621,-1.743, PHS=-0.536, 0.999,-0.922, RAW= 341.0,   5.3, CAL= 340.6,   3.8, ROT= 169.4,  -3.8

2025-10-26T21:35:08.302Z,1761514508.302 [DAT](INFO): got valid direction response:
 21:35:06.9800 LVL= 24672, 30753, 31426, 32755, AGC= 60, IDX= 508,-0.32,-2.381,-0.789,-2.621,-1.743, PHS=-0.536, 0.999,-0.922, RAW= 341.0,   5.3, CAL= 340.6,   3.8, ROT= 169.4,  -3.8

2025-10-26T21:35:08.303Z,1761514508.303 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-10-26T21:35:08.328Z,1761514508.328 [DAT](INFO): direction in FSK: [-0.980774,0.183547,0.066274]
2025-10-26T21:35:08.329Z,1761514508.329 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:08.343Z,1761514508.343 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.148745
2025-10-26T21:35:08.458Z,1761514508.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954340,-0.297887,-0.022345],[0.298620,0.949372,0.097559],[-0.007848,-0.099777,0.994979]]
2025-10-26T21:35:08.524Z,1761514508.524 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.330358
2025-10-26T21:35:08.549Z,1761514508.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.200000 m,
      deltaT: 0.503816 s,
      deltaX: 0.100000 m,
      approachRate: 0.198485 m/s,
      rangeRepo size: 4

2025-10-26T21:35:08.568Z,1761514508.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.155082 m,
      bearing: 186.449711 deg,
      lat: 36.779417 deg,
      lon: -121.859497 deg,
      deltaT: 0.503816 s,
      deltaX: 0.099376 m,
      approachRate: 0.197246 m/s,
      posRepo size: 4

2025-10-26T21:35:08.570Z,1761514508.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.16 m.
2025-10-26T21:35:08.777Z,1761514508.777 [DAT](INFO): DAT read: Rx Time:21:35:07.4801 

2025-10-26T21:35:08.777Z,1761514508.777 [DAT](INFO): Rx dataTimestamp_ set to:1761514508.777193
2025-10-26T21:35:08.779Z,1761514508.779 [DAT](INFO): DAT read: Bearing 345.3,  10.2 (Local)

2025-10-26T21:35:08.779Z,1761514508.779 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.3,  10.2 (Local)

2025-10-26T21:35:08.781Z,1761514508.781 [DAT](INFO): DAT read: Range 11 to 50 :     7.4 m (trip time 4.9 ms) speed -0.4

2025-10-26T21:35:08.786Z,1761514508.786 [DAT](INFO): DAT read: 21:35:07.4801 LVL= 23104, 19217, 27890, 28515, AGC= 63, IDX= 509,-0.32, 0.955, 2.587, 0.722, 1.593, PHS=-0.536, 1.039,-0.915, RAW= 340.5,   4.6, CAL= 340.2,   2.8, ROT= 169.8,  -2.8

2025-10-26T21:35:08.787Z,1761514508.787 [DAT](INFO): got valid direction response:
 21:35:07.4801 LVL= 23104, 19217, 27890, 28515, AGC= 63, IDX= 509,-0.32, 0.955, 2.587, 0.722, 1.593, PHS=-0.536, 1.039,-0.915, RAW= 340.5,   4.6, CAL= 340.2,   2.8, ROT= 169.8,  -2.8

2025-10-26T21:35:08.787Z,1761514508.787 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-26T21:35:08.788Z,1761514508.788 [DAT](INFO): direction in FSK: [-0.983021,0.176873,0.048850]
2025-10-26T21:35:08.789Z,1761514508.789 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:08.792Z,1761514508.792 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.598234
2025-10-26T21:35:08.904Z,1761514508.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954487,-0.297395,-0.022607],[0.298164,0.949598,0.096755],[-0.007307,-0.099092,0.995051]]
2025-10-26T21:35:08.948Z,1761514508.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.400000 m,
      deltaT: 0.504068 s,
      deltaX: 0.200000 m,
      approachRate: 0.396772 m/s,
      rangeRepo size: 4

2025-10-26T21:35:08.950Z,1761514508.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.353852 m,
      bearing: 186.921220 deg,
      lat: 36.779418 deg,
      lon: -121.859496 deg,
      deltaT: 0.504068 s,
      deltaX: 0.198770 m,
      approachRate: 0.394332 m/s,
      posRepo size: 4

2025-10-26T21:35:08.950Z,1761514508.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.35 m.
2025-10-26T21:35:09.029Z,1761514509.029 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.834886
2025-10-26T21:35:09.251Z,1761514509.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954544,-0.297200,-0.022758],[0.297998,0.949855,0.094727],[-0.006536,-0.097203,0.995243]]
2025-10-26T21:35:09.281Z,1761514509.281 [DAT](INFO): DAT read: Rx Time:21:35:07.9804 

2025-10-26T21:35:09.282Z,1761514509.282 [DAT](INFO): Rx dataTimestamp_ set to:1761514509.281377
2025-10-26T21:35:09.283Z,1761514509.283 [DAT](INFO): DAT read: Bearing 345.3,   9.6 (Local)

2025-10-26T21:35:09.283Z,1761514509.283 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.3,   9.6 (Local)

2025-10-26T21:35:09.285Z,1761514509.285 [DAT](INFO): DAT read: Range 11 to 50 :     7.8 m (trip time 5.2 ms) speed -0.6

2025-10-26T21:35:09.290Z,1761514509.290 [DAT](INFO): DAT read: 21:35:07.9804 LVL= 27376, 20337, 30370, 32755, AGC= 60, IDX= 511, 0.39,-2.975,-1.339, 3.096,-2.329, PHS=-0.544, 1.036,-0.902, RAW= 340.0,   4.6, CAL= 339.6,   2.8, ROT= 170.4,  -2.8

2025-10-26T21:35:09.291Z,1761514509.291 [DAT](INFO): got valid direction response:
 21:35:07.9804 LVL= 27376, 20337, 30370, 32755, AGC= 60, IDX= 511, 0.39,-2.975,-1.339, 3.096,-2.329, PHS=-0.544, 1.036,-0.902, RAW= 340.0,   4.6, CAL= 339.6,   2.8, ROT= 170.4,  -2.8

2025-10-26T21:35:09.292Z,1761514509.292 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-10-26T21:35:09.297Z,1761514509.297 [DAT](INFO): direction in FSK: [-0.984819,0.166570,0.048850]
2025-10-26T21:35:09.297Z,1761514509.297 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:09.301Z,1761514509.301 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.106974
2025-10-26T21:35:09.304Z,1761514509.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.800000 m,
      deltaT: 0.504184 s,
      deltaX: 0.400000 m,
      approachRate: 0.793361 m/s,
      rangeRepo size: 4

2025-10-26T21:35:09.304Z,1761514509.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.35 m.
2025-10-26T21:35:09.532Z,1761514509.532 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.338355
2025-10-26T21:35:09.654Z,1761514509.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954574,-0.297038,-0.023586],[0.297918,0.949886,0.094662],[-0.005714,-0.097388,0.995230]]
2025-10-26T21:35:09.742Z,1761514509.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.35 m.
2025-10-26T21:35:09.785Z,1761514509.785 [DAT](INFO): DAT read: Rx Time:21:35:08.4805 

2025-10-26T21:35:09.786Z,1761514509.786 [DAT](INFO): Rx dataTimestamp_ set to:1761514509.785261
2025-10-26T21:35:09.787Z,1761514509.787 [DAT](INFO): DAT read: Bearing   6.5,  24.3 (Local)

2025-10-26T21:35:09.788Z,1761514509.788 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.5,  24.3 (Local)

2025-10-26T21:35:09.790Z,1761514509.790 [DAT](INFO): DAT read: Range 11 to 50 :     8.0 m (trip time 5.3 ms) speed -0.5

2025-10-26T21:35:09.796Z,1761514509.796 [DAT](INFO): DAT read: 21:35:08.4805 LVL= 22832, 18241, 28066, 29411, AGC= 59, IDX= 512, 0.08, 0.456, 1.660,-0.176, 0.245, PHS= 0.313, 1.460,-0.465, RAW= 353.7, -15.4, CAL= 353.4, -18.3, ROT= 156.6,  18.3

2025-10-26T21:35:09.798Z,1761514509.798 [DAT](INFO): got valid direction response:
 21:35:08.4805 LVL= 22832, 18241, 28066, 29411, AGC= 59, IDX= 512, 0.08, 0.456, 1.660,-0.176, 0.245, PHS= 0.313, 1.460,-0.465, RAW= 353.7, -15.4, CAL= 353.4, -18.3, ROT= 156.6,  18.3

2025-10-26T21:35:09.798Z,1761514509.798 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-26T21:35:09.800Z,1761514509.800 [DAT](INFO): direction in FSK: [-0.871340,0.377062,-0.313992]
2025-10-26T21:35:09.801Z,1761514509.801 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:09.837Z,1761514509.837 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.642499
2025-10-26T21:35:10.037Z,1761514510.037 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.842705
2025-10-26T21:35:10.106Z,1761514510.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954710,-0.296461,-0.025273],[0.297512,0.950107,0.093720],[-0.003773,-0.096995,0.995278]]
2025-10-26T21:35:10.129Z,1761514510.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.000000 m,
      deltaT: 0.503884 s,
      deltaX: 0.200000 m,
      approachRate: 0.396916 m/s,
      rangeRepo size: 4

2025-10-26T21:35:10.131Z,1761514510.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.950104 m,
      bearing: 175.746895 deg,
      lat: 36.779419 deg,
      lon: -121.859496 deg,
      deltaT: 1.008068 s,
      deltaX: 0.596252 m,
      approachRate: 0.591480 m/s,
      posRepo size: 4

2025-10-26T21:35:10.132Z,1761514510.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.95 m.
2025-10-26T21:35:10.289Z,1761514510.289 [DAT](INFO): DAT read: Rx Time:21:35:08.9808 

2025-10-26T21:35:10.289Z,1761514510.289 [DAT](INFO): Rx dataTimestamp_ set to:1761514510.289123
2025-10-26T21:35:10.291Z,1761514510.291 [DAT](INFO): DAT read: Bearing 347.8,  10.0 (Local)

2025-10-26T21:35:10.291Z,1761514510.291 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.8,  10.0 (Local)

2025-10-26T21:35:10.293Z,1761514510.293 [DAT](INFO): DAT read: Range 11 to 50 :     8.4 m (trip time 5.6 ms) speed -0.4

2025-10-26T21:35:10.298Z,1761514510.298 [DAT](INFO): DAT read: 21:35:08.9808 LVL= 12976, 10209, 16178, 28147, AGC= 61, IDX=   3,-0.14,-3.139,-1.505, 2.916,-2.551, PHS=-0.486, 1.090,-0.860, RAW= 340.4,   2.9, CAL= 339.9,   0.1, ROT= 170.1,  -0.1

2025-10-26T21:35:10.299Z,1761514510.299 [DAT](INFO): got valid direction response:
 21:35:08.9808 LVL= 12976, 10209, 16178, 28147, AGC= 61, IDX=   3,-0.14,-3.139,-1.505, 2.916,-2.551, PHS=-0.486, 1.090,-0.860, RAW= 340.4,   2.9, CAL= 339.9,   0.1, ROT= 170.1,  -0.1

2025-10-26T21:35:10.300Z,1761514510.300 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-26T21:35:10.301Z,1761514510.301 [DAT](INFO): direction in FSK: [-0.985108,0.171929,0.001745]
2025-10-26T21:35:10.301Z,1761514510.301 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:10.305Z,1761514510.305 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.110503
2025-10-26T21:35:10.540Z,1761514510.540 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.346120
2025-10-26T21:35:10.644Z,1761514510.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.400000 m,
      deltaT: 0.503862 s,
      deltaX: 0.400000 m,
      approachRate: 0.793867 m/s,
      rangeRepo size: 4

2025-10-26T21:35:10.646Z,1761514510.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.347609 m,
      bearing: 187.445073 deg,
      lat: 36.779419 deg,
      lon: -121.859496 deg,
      deltaT: 0.503862 s,
      deltaX: 0.397504 m,
      approachRate: 0.788915 m/s,
      posRepo size: 4

2025-10-26T21:35:10.646Z,1761514510.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-10-26T21:35:10.793Z,1761514510.793 [DAT](INFO): DAT read: Rx Time:21:35:09.4808 

2025-10-26T21:35:10.793Z,1761514510.793 [DAT](INFO): Rx dataTimestamp_ set to:1761514510.793120
2025-10-26T21:35:10.795Z,1761514510.795 [DAT](INFO): DAT read: Bearing 347.4,   9.8 (Local)

2025-10-26T21:35:10.795Z,1761514510.795 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.4,   9.8 (Local)

2025-10-26T21:35:10.797Z,1761514510.797 [DAT](INFO): DAT read: Range 11 to 50 :     8.4 m (trip time 5.6 ms) speed -0.4

2025-10-26T21:35:10.802Z,1761514510.802 [DAT](INFO): DAT read: 21:35:09.4808 LVL= 30032, 19217, 32754, 32755, AGC= 60, IDX= 500,-0.47, 2.114,-2.534, 1.890, 2.710, PHS=-0.494, 1.084,-0.864, RAW= 340.3,   3.1, CAL= 339.8,   0.4, ROT= 170.2,  -0.4

2025-10-26T21:35:10.804Z,1761514510.804 [DAT](INFO): got valid direction response:
 21:35:09.4808 LVL= 30032, 19217, 32754, 32755, AGC= 60, IDX= 500,-0.47, 2.114,-2.534, 1.890, 2.710, PHS=-0.494, 1.084,-0.864, RAW= 340.3,   3.1, CAL= 339.8,   0.4, ROT= 170.2,  -0.4

2025-10-26T21:35:10.804Z,1761514510.804 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-10-26T21:35:10.805Z,1761514510.805 [DAT](INFO): direction in FSK: [-0.985384,0.170205,0.006981]
2025-10-26T21:35:10.805Z,1761514510.805 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:10.818Z,1761514510.818 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.624251
2025-10-26T21:35:10.929Z,1761514510.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.400000 m,
      deltaT: 0.503997 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:10.931Z,1761514510.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.347594 m,
      bearing: 187.515740 deg,
      lat: 36.779419 deg,
      lon: -121.859495 deg,
      deltaT: 0.503997 s,
      deltaX: -0.000014 m,
      approachRate: -0.000028 m/s,
      posRepo size: 4

2025-10-26T21:35:10.936Z,1761514510.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-10-26T21:35:11.047Z,1761514511.047 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.852401
2025-10-26T21:35:11.271Z,1761514511.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955048,-0.295192,-0.027293],[0.296446,0.950429,0.093833],[-0.001759,-0.097706,0.995214]]
2025-10-26T21:35:11.300Z,1761514511.300 [DAT](INFO): DAT read: Rx Time:21:35:09.9810 

2025-10-26T21:35:11.301Z,1761514511.301 [DAT](INFO): Rx dataTimestamp_ set to:1761514511.300351
2025-10-26T21:35:11.302Z,1761514511.302 [DAT](INFO): DAT read: Bearing 347.7,  10.3 (Local)

2025-10-26T21:35:11.302Z,1761514511.302 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.7,  10.3 (Local)

2025-10-26T21:35:11.305Z,1761514511.305 [DAT](INFO): DAT read: Range 11 to 50 :     8.7 m (trip time 5.8 ms) speed -0.4

2025-10-26T21:35:11.309Z,1761514511.309 [DAT](INFO): DAT read: 21:35:09.9810 LVL= 25072, 16225, 29074, 32755, AGC= 60, IDX= 501, 0.06,-1.568, 0.041,-1.805,-0.993, PHS=-0.474, 1.079,-0.856, RAW= 340.8,   2.9, CAL= 340.2,   0.0, ROT= 169.8,  -0.0

2025-10-26T21:35:11.310Z,1761514511.310 [DAT](INFO): got valid direction response:
 21:35:09.9810 LVL= 25072, 16225, 29074, 32755, AGC= 60, IDX= 501, 0.06,-1.568, 0.041,-1.805,-0.993, PHS=-0.474, 1.079,-0.856, RAW= 340.8,   2.9, CAL= 340.2,   0.0, ROT= 169.8,  -0.0

2025-10-26T21:35:11.310Z,1761514511.310 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-10-26T21:35:11.313Z,1761514511.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-10-26T21:35:11.316Z,1761514511.316 [DAT](INFO): direction in FSK: [-0.984196,0.177085,0.000000]
2025-10-26T21:35:11.316Z,1761514511.316 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:11.348Z,1761514511.348 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.153600
2025-10-26T21:35:11.551Z,1761514511.551 [DAT](INFO): DAT read: Rx Time:21:35:10.4811 

2025-10-26T21:35:11.553Z,1761514511.553 [DAT](INFO): Rx dataTimestamp_ set to:1761514511.551683
2025-10-26T21:35:11.554Z,1761514511.554 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.359824
2025-10-26T21:35:11.674Z,1761514511.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955183,-0.294750,-0.027349],[0.296015,0.950800,0.091405],[-0.000938,-0.095404,0.995438]]
2025-10-26T21:35:11.760Z,1761514511.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 0.507231 s,
      deltaX: 0.300000 m,
      approachRate: 0.591447 m/s,
      rangeRepo size: 4

2025-10-26T21:35:11.762Z,1761514511.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.645722 m,
      bearing: 187.064126 deg,
      lat: 36.779419 deg,
      lon: -121.859495 deg,
      deltaT: 0.507231 s,
      deltaX: 0.298128 m,
      approachRate: 0.587756 m/s,
      posRepo size: 4

2025-10-26T21:35:11.763Z,1761514511.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.65 m.
2025-10-26T21:35:11.801Z,1761514511.801 [DAT](INFO): DAT read: Bearing 348.8,  11.1 (Local)

2025-10-26T21:35:11.802Z,1761514511.802 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.8,  11.1 (Local)

2025-10-26T21:35:11.804Z,1761514511.804 [DAT](INFO): DAT read: Range 11 to 50 :     8.9 m (trip time 5.9 ms) speed -0.5

2025-10-26T21:35:11.809Z,1761514511.809 [DAT](INFO): DAT read: 21:35:10.4811 LVL= 25360, 17297, 30706, 31443, AGC= 62, IDX= 502,-0.27, 2.461,-2.207, 2.192, 2.993, PHS=-0.430, 1.128,-0.845, RAW= 341.5,   1.7, CAL= 341.0,  -1.2, ROT= 169.0,   1.2

2025-10-26T21:35:11.811Z,1761514511.811 [DAT](INFO): got valid direction response:
 21:35:10.4811 LVL= 25360, 17297, 30706, 31443, AGC= 62, IDX= 502,-0.27, 2.461,-2.207, 2.192, 2.993, PHS=-0.430, 1.128,-0.845, RAW= 341.5,   1.7, CAL= 341.0,  -1.2, ROT= 169.0,   1.2

2025-10-26T21:35:11.811Z,1761514511.811 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-10-26T21:35:11.813Z,1761514511.813 [DAT](INFO): direction in FSK: [-0.981412,0.190767,-0.020942]
2025-10-26T21:35:11.813Z,1761514511.813 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:11.826Z,1761514511.826 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.632353
2025-10-26T21:35:12.055Z,1761514512.055 [DAT](INFO): DAT read: Rx Time:21:35:10.9813 

2025-10-26T21:35:12.057Z,1761514512.057 [DAT](INFO): Rx dataTimestamp_ set to:1761514512.055875
2025-10-26T21:35:12.059Z,1761514512.059 [DAT](INFO): DAT read: Bearing 348.3,  13.4 (Local)

2025-10-26T21:35:12.060Z,1761514512.060 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.3,  13.4 (Local)

2025-10-26T21:35:12.062Z,1761514512.062 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.867482
2025-10-26T21:35:12.137Z,1761514512.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955421,-0.293878,-0.028397],[0.295246,0.951178,0.089947],[0.000577,-0.094321,0.995542]]
2025-10-26T21:35:12.172Z,1761514512.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.499657 s,
      deltaX: 0.200000 m,
      approachRate: 0.400274 m/s,
      rangeRepo size: 4

2025-10-26T21:35:12.174Z,1761514512.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.844455 m,
      bearing: 186.331082 deg,
      lat: 36.779419 deg,
      lon: -121.859493 deg,
      deltaT: 0.499657 s,
      deltaX: 0.198732 m,
      approachRate: 0.397738 m/s,
      posRepo size: 4

2025-10-26T21:35:12.174Z,1761514512.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.84 m.
2025-10-26T21:35:12.306Z,1761514512.306 [DAT](INFO): DAT read: Range 11 to 50 :     9.2 m (trip time 6.1 ms) speed -0.4

2025-10-26T21:35:12.311Z,1761514512.311 [DAT](INFO): DAT read: 21:35:10.9813 LVL= 24784, 16529, 29586, 32755, AGC= 63, IDX= 504, 0.23,-0.391, 1.135,-0.733, 0.094, PHS=-0.384, 1.086,-0.871, RAW= 343.8,   1.9, CAL= 343.4,  -1.0, ROT= 166.6,   1.0

2025-10-26T21:35:12.312Z,1761514512.312 [DAT](INFO): got valid direction response:
 21:35:10.9813 LVL= 24784, 16529, 29586, 32755, AGC= 63, IDX= 504, 0.23,-0.391, 1.135,-0.733, 0.094, PHS=-0.384, 1.086,-0.871, RAW= 343.8,   1.9, CAL= 343.4,  -1.0, ROT= 166.6,   1.0

2025-10-26T21:35:12.312Z,1761514512.312 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-10-26T21:35:12.313Z,1761514512.313 [DAT](INFO): direction in FSK: [-0.972628,0.231712,-0.017452]
2025-10-26T21:35:12.314Z,1761514512.314 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:12.317Z,1761514512.317 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.123275
2025-10-26T21:35:12.559Z,1761514512.559 [DAT](INFO): DAT read: Rx Time:21:35:11.4814 

2025-10-26T21:35:12.561Z,1761514512.561 [DAT](INFO): Rx dataTimestamp_ set to:1761514512.559784
2025-10-26T21:35:12.563Z,1761514512.563 [DAT](INFO): DAT read: Bearing 349.2,  14.1 (Local)

2025-10-26T21:35:12.564Z,1761514512.564 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.2,  14.1 (Local)

2025-10-26T21:35:12.566Z,1761514512.566 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.371312
2025-10-26T21:35:12.666Z,1761514512.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 0.503853 s,
      deltaX: 0.300000 m,
      approachRate: 0.595412 m/s,
      rangeRepo size: 4

2025-10-26T21:35:12.673Z,1761514512.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.142583 m,
      bearing: 183.921423 deg,
      lat: 36.779418 deg,
      lon: -121.859493 deg,
      deltaT: 0.503853 s,
      deltaX: 0.298128 m,
      approachRate: 0.591697 m/s,
      posRepo size: 4

2025-10-26T21:35:12.673Z,1761514512.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.14 m.
2025-10-26T21:35:12.810Z,1761514512.810 [DAT](INFO): DAT read: Range 11 to 50 :     9.3 m (trip time 6.2 ms) speed -0.4

2025-10-26T21:35:12.814Z,1761514512.814 [DAT](INFO): DAT read: 21:35:11.4814 LVL= 32752, 17073, 32754, 32755, AGC= 63, IDX= 505,-0.07,-2.888,-1.362, 3.026,-2.439, PHS=-0.347, 1.122,-0.862, RAW= 344.5,   1.0, CAL= 344.0,  -2.0, ROT= 166.0,   2.0

2025-10-26T21:35:12.816Z,1761514512.816 [DAT](INFO): got valid direction response:
 21:35:11.4814 LVL= 32752, 17073, 32754, 32755, AGC= 63, IDX= 505,-0.07,-2.888,-1.362, 3.026,-2.439, PHS=-0.347, 1.122,-0.862, RAW= 344.5,   1.0, CAL= 344.0,  -2.0, ROT= 166.0,   2.0

2025-10-26T21:35:12.816Z,1761514512.816 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-10-26T21:35:12.817Z,1761514512.817 [DAT](INFO): direction in FSK: [-0.969705,0.241774,-0.034899]
2025-10-26T21:35:12.817Z,1761514512.817 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:12.821Z,1761514512.821 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.627021
2025-10-26T21:35:12.915Z,1761514512.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955819,-0.292605,-0.028139],[0.293953,0.951800,0.087571],[0.001159,-0.091974,0.995761]]
2025-10-26T21:35:12.978Z,1761514512.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 0.503922 s,
      deltaX: 0.100000 m,
      approachRate: 0.198444 m/s,
      rangeRepo size: 4

2025-10-26T21:35:12.987Z,1761514512.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.241949 m,
      bearing: 183.329651 deg,
      lat: 36.779418 deg,
      lon: -121.859492 deg,
      deltaT: 0.503922 s,
      deltaX: 0.099366 m,
      approachRate: 0.197186 m/s,
      posRepo size: 4

2025-10-26T21:35:12.992Z,1761514512.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m.
2025-10-26T21:35:13.064Z,1761514513.064 [DAT](INFO): DAT read: Rx Time:21:35:11.9816 

2025-10-26T21:35:13.065Z,1761514513.065 [DAT](INFO): Rx dataTimestamp_ set to:1761514513.064415
2025-10-26T21:35:13.068Z,1761514513.068 [DAT](INFO): DAT read: Bearing 350.0,  15.1 (Local)

2025-10-26T21:35:13.069Z,1761514513.069 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.0,  15.1 (Local)

2025-10-26T21:35:13.073Z,1761514513.073 [DAT](INFO): DAT read: Range 11 to 50 :     9.6 m (trip time 6.4 ms) speed -0.4

2025-10-26T21:35:13.075Z,1761514513.075 [DAT](ERROR): #Rx 24: Read range message, but no direction.
2025-10-26T21:35:13.078Z,1761514513.078 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.883518
2025-10-26T21:35:13.316Z,1761514513.316 [DAT](INFO): DAT read: 21:35:11.9816 LVL= 25584, 16817, 28994, 30947, AGC= 63, IDX= 508,-0.43,-2.483,-0.955,-2.893,-2.074, PHS=-0.307, 1.164,-0.863, RAW= 345.4,   0.1, CAL= 344.9,  -2.9, ROT= 165.1,   2.9

2025-10-26T21:35:13.317Z,1761514513.317 [DAT](INFO): got valid direction response:
 21:35:11.9816 LVL= 25584, 16817, 28994, 30947, AGC= 63, IDX= 508,-0.43,-2.483,-0.955,-2.893,-2.074, PHS=-0.307, 1.164,-0.863, RAW= 345.4,   0.1, CAL= 344.9,  -2.9, ROT= 165.1,   2.9

2025-10-26T21:35:13.317Z,1761514513.317 [DAT](INFO): #Rx 25: Read direction message, but no range.
2025-10-26T21:35:13.318Z,1761514513.318 [DAT](INFO): direction in FSK: [-0.965139,0.256803,-0.050593]
2025-10-26T21:35:13.322Z,1761514513.322 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.127694
2025-10-26T21:35:13.352Z,1761514513.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956183,-0.291437,-0.027888],[0.292765,0.952268,0.086453],[0.001361,-0.090830,0.995865]]
2025-10-26T21:35:13.417Z,1761514513.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.256632 s,
      deltaX: 0.300000 m,
      approachRate: 1.168990 m/s,
      rangeRepo size: 4

2025-10-26T21:35:13.424Z,1761514513.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.540077 m,
      bearing: 182.436186 deg,
      lat: 36.779418 deg,
      lon: -121.859487 deg,
      deltaT: 0.256632 s,
      deltaX: 0.298128 m,
      approachRate: 1.161695 m/s,
      posRepo size: 4

2025-10-26T21:35:13.426Z,1761514513.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T21:35:13.570Z,1761514513.570 [DAT](INFO): DAT read: Rx Time:21:35:12.4817 

2025-10-26T21:35:13.572Z,1761514513.572 [DAT](INFO): Rx dataTimestamp_ set to:1761514513.570469
2025-10-26T21:35:13.575Z,1761514513.575 [DAT](INFO): DAT read: Bearing 349.0,  17.3 (Local)

2025-10-26T21:35:13.576Z,1761514513.576 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.0,  17.3 (Local)

2025-10-26T21:35:13.581Z,1761514513.581 [DAT](INFO): DAT read: Range 11 to 50 :     9.8 m (trip time 6.5 ms) speed -0.4

2025-10-26T21:35:13.584Z,1761514513.584 [DAT](ERROR): #Rx 26: Read range message, but no direction.
2025-10-26T21:35:13.587Z,1761514513.587 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.392346
2025-10-26T21:35:13.780Z,1761514513.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956597,-0.290100,-0.027658],[0.291412,0.952764,0.085559],[0.001530,-0.089906,0.995949]]
2025-10-26T21:35:13.820Z,1761514513.820 [DAT](INFO): DAT read: 21:35:12.4817 LVL= 26032, 17025, 30386, 32755, AGC= 64, IDX= 508, 0.12,-1.855,-0.418,-2.333,-1.477, PHS=-0.276, 1.104,-0.900, RAW= 347.7,   0.8, CAL= 347.3,  -2.2, ROT= 162.7,   2.2

2025-10-26T21:35:13.821Z,1761514513.821 [DAT](INFO): got valid direction response:
 21:35:12.4817 LVL= 26032, 17025, 30386, 32755, AGC= 64, IDX= 508, 0.12,-1.855,-0.418,-2.333,-1.477, PHS=-0.276, 1.104,-0.900, RAW= 347.7,   0.8, CAL= 347.3,  -2.2, ROT= 162.7,   2.2

2025-10-26T21:35:13.822Z,1761514513.822 [DAT](INFO): #Rx 27: Read direction message, but no range.
2025-10-26T21:35:13.823Z,1761514513.823 [DAT](INFO): direction in FSK: [-0.954057,0.297156,-0.038388]
2025-10-26T21:35:13.826Z,1761514513.826 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.632193
2025-10-26T21:35:13.853Z,1761514513.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.506054 s,
      deltaX: 0.200000 m,
      approachRate: 0.395214 m/s,
      rangeRepo size: 4

2025-10-26T21:35:13.855Z,1761514513.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.738840 m,
      bearing: 179.895976 deg,
      lat: 36.779418 deg,
      lon: -121.859486 deg,
      deltaT: 0.506054 s,
      deltaX: 0.198763 m,
      approachRate: 0.392770 m/s,
      posRepo size: 4

2025-10-26T21:35:13.860Z,1761514513.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.74 m.
2025-10-26T21:35:14.072Z,1761514514.072 [DAT](INFO): DAT read: Rx Time:21:35:12.9820 

2025-10-26T21:35:14.073Z,1761514514.073 [DAT](INFO): Rx dataTimestamp_ set to:1761514514.072347
2025-10-26T21:35:14.077Z,1761514514.077 [DAT](INFO): DAT read: Bearing 349.9,  17.0 (Local)

2025-10-26T21:35:14.078Z,1761514514.078 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.9,  17.0 (Local)

2025-10-26T21:35:14.082Z,1761514514.082 [DAT](INFO): DAT read: Range 11 to 50 :    10.2 m (trip time 6.8 ms) speed -0.5

2025-10-26T21:35:14.092Z,1761514514.092 [DAT](ERROR): #Rx 28: Read range message, but no direction.
2025-10-26T21:35:14.095Z,1761514514.095 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.900752
2025-10-26T21:35:14.166Z,1761514514.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957195,-0.288230,-0.026494],[0.289442,0.953595,0.082949],[0.001356,-0.087067,0.996202]]
2025-10-26T21:35:14.186Z,1761514514.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.501878 s,
      deltaX: 0.400000 m,
      approachRate: 0.797006 m/s,
      rangeRepo size: 4

2025-10-26T21:35:14.186Z,1761514514.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.74 m.
2025-10-26T21:35:14.324Z,1761514514.324 [DAT](INFO): DAT read: 21:35:12.9820 LVL= 23984, 16321, 28402, 32755, AGC= 64, IDX= 511,-0.16, 2.846,-1.960, 2.370,-3.068, PHS=-0.267, 1.154,-0.889, RAW= 347.3,   0.0, CAL= 346.8,  -3.0, ROT= 163.2,   3.0

2025-10-26T21:35:14.325Z,1761514514.325 [DAT](INFO): got valid direction response:
 21:35:12.9820 LVL= 23984, 16321, 28402, 32755, AGC= 64, IDX= 511,-0.16, 2.846,-1.960, 2.370,-3.068, PHS=-0.267, 1.154,-0.889, RAW= 347.3,   0.0, CAL= 346.8,  -3.0, ROT= 163.2,   3.0

2025-10-26T21:35:14.325Z,1761514514.325 [DAT](INFO): #Rx 29: Read direction message, but no range.
2025-10-26T21:35:14.326Z,1761514514.326 [DAT](INFO): direction in FSK: [-0.956007,0.288636,-0.052336]
2025-10-26T21:35:14.335Z,1761514514.335 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.140570
2025-10-26T21:35:14.576Z,1761514514.576 [DAT](INFO): DAT read: Rx Time:21:35:13.4820 

2025-10-26T21:35:14.577Z,1761514514.577 [DAT](INFO): Rx dataTimestamp_ set to:1761514514.576431
2025-10-26T21:35:14.580Z,1761514514.580 [DAT](INFO): DAT read: Bearing 349.6,  16.6 (Local)

2025-10-26T21:35:14.582Z,1761514514.582 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.6,  16.6 (Local)

2025-10-26T21:35:14.586Z,1761514514.586 [DAT](INFO): DAT read: Range 11 to 50 :    10.2 m (trip time 6.8 ms) speed -0.4

2025-10-26T21:35:14.605Z,1761514514.605 [DAT](ERROR): #Rx 30: Read range message, but no direction.
2025-10-26T21:35:14.606Z,1761514514.606 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.411812
2025-10-26T21:35:14.618Z,1761514514.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957701,-0.286579,-0.026091],[0.287761,0.954176,0.082104],[0.001366,-0.086139,0.996282]]
2025-10-26T21:35:14.749Z,1761514514.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.504084 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:14.751Z,1761514514.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.136344 m,
      bearing: 180.229246 deg,
      lat: 36.779417 deg,
      lon: -121.859484 deg,
      deltaT: 1.005962 s,
      deltaX: 0.397504 m,
      approachRate: 0.395148 m/s,
      posRepo size: 4

2025-10-26T21:35:14.763Z,1761514514.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:35:14.832Z,1761514514.832 [DAT](INFO): DAT read: 21:35:13.4820 LVL= 24336, 16209, 31730, 32755, AGC= 64, IDX= 511, 0.26,-2.975,-1.492, 2.847,-2.591, PHS=-0.282, 1.144,-0.889, RAW= 346.9,   0.3, CAL= 346.5,  -2.7, ROT= 163.5,   2.7

2025-10-26T21:35:14.833Z,1761514514.833 [DAT](INFO): got valid direction response:
 21:35:13.4820 LVL= 24336, 16209, 31730, 32755, AGC= 64, IDX= 511, 0.26,-2.975,-1.492, 2.847,-2.591, PHS=-0.282, 1.144,-0.889, RAW= 346.9,   0.3, CAL= 346.5,  -2.7, ROT= 163.5,   2.7

2025-10-26T21:35:14.833Z,1761514514.833 [DAT](INFO): #Rx 31: Read direction message, but no range.
2025-10-26T21:35:14.834Z,1761514514.834 [DAT](INFO): direction in FSK: [-0.957755,0.283700,-0.047106]
2025-10-26T21:35:14.838Z,1761514514.838 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=15.643661
2025-10-26T21:35:15.035Z,1761514515.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958493,-0.283929,-0.025989],[0.285113,0.954941,0.082447],[0.001408,-0.086435,0.996256]]
2025-10-26T21:35:15.094Z,1761514515.094 [DAT](INFO): DAT read: Rx Time:21:35:13.9823 

2025-10-26T21:35:15.096Z,1761514515.096 [DAT](INFO): Rx dataTimestamp_ set to:1761514515.094683
2025-10-26T21:35:15.100Z,1761514515.100 [DAT](INFO): DAT read: Bearing 349.8,  14.8 (Local)

2025-10-26T21:35:15.101Z,1761514515.101 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.8,  14.8 (Local)

2025-10-26T21:35:15.106Z,1761514515.106 [DAT](INFO): DAT read: Range 11 to 50 :    10.7 m (trip time 7.1 ms) speed -0.3

2025-10-26T21:35:15.115Z,1761514515.115 [DAT](INFO): DAT read: 21:35:13.9823 LVL= 22320, 16209, 20898, 26771, AGC= 68, IDX=   2,-0.09, 2.435,-2.287, 2.025, 2.857, PHS=-0.320, 1.184,-0.876, RAW= 345.1,   0.1, CAL= 344.7,  -2.8, ROT= 165.3,   2.8

2025-10-26T21:35:15.127Z,1761514515.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:35:15.128Z,1761514515.128 [DAT](INFO): got valid direction response:
 21:35:13.9823 LVL= 22320, 16209, 20898, 26771, AGC= 68, IDX=   2,-0.09, 2.435,-2.287, 2.025, 2.857, PHS=-0.320, 1.184,-0.876, RAW= 345.1,   0.1, CAL= 344.7,  -2.8, ROT= 165.3,   2.8

2025-10-26T21:35:15.128Z,1761514515.128 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-10-26T21:35:15.129Z,1761514515.129 [DAT](INFO): direction in FSK: [-0.966113,0.253455,-0.048850]
2025-10-26T21:35:15.130Z,1761514515.130 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:15.135Z,1761514515.135 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=15.940693
2025-10-26T21:35:15.345Z,1761514515.345 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.150560
2025-10-26T21:35:15.434Z,1761514515.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959184,-0.281633,-0.025476],[0.282780,0.955690,0.081800],[0.001309,-0.085665,0.996323]]
2025-10-26T21:35:15.462Z,1761514515.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.518252 s,
      deltaX: 0.500000 m,
      approachRate: 0.964782 m/s,
      rangeRepo size: 4

2025-10-26T21:35:15.529Z,1761514515.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.633234 m,
      bearing: 182.009149 deg,
      lat: 36.779417 deg,
      lon: -121.859483 deg,
      deltaT: 0.518252 s,
      deltaX: 0.496890 m,
      approachRate: 0.958781 m/s,
      posRepo size: 4

2025-10-26T21:35:15.531Z,1761514515.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-10-26T21:35:15.602Z,1761514515.602 [DAT](INFO): DAT read: Rx Time:21:35:14.4823 

2025-10-26T21:35:15.603Z,1761514515.603 [DAT](INFO): Rx dataTimestamp_ set to:1761514515.602241
2025-10-26T21:35:15.606Z,1761514515.606 [DAT](INFO): DAT read: Bearing 349.0,  13.9 (Local)

2025-10-26T21:35:15.606Z,1761514515.606 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.0,  13.9 (Local)

2025-10-26T21:35:15.610Z,1761514515.610 [DAT](INFO): DAT read: Range 11 to 50 :    10.7 m (trip time 7.1 ms) speed -0.4

2025-10-26T21:35:15.621Z,1761514515.621 [DAT](INFO): DAT read: 21:35:14.4823 LVL= 26736, 19537, 30386, 32755, AGC= 68, IDX= 498, 0.47, 1.142, 2.725, 0.763, 1.604, PHS=-0.359, 1.166,-0.885, RAW= 344.3,   0.9, CAL= 343.8,  -2.1, ROT= 166.2,   2.1

2025-10-26T21:35:15.623Z,1761514515.623 [DAT](INFO): got valid direction response:
 21:35:14.4823 LVL= 26736, 19537, 30386, 32755, AGC= 68, IDX= 498, 0.47, 1.142, 2.725, 0.763, 1.604, PHS=-0.359, 1.166,-0.885, RAW= 344.3,   0.9, CAL= 343.8,  -2.1, ROT= 166.2,   2.1

2025-10-26T21:35:15.628Z,1761514515.628 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-10-26T21:35:15.629Z,1761514515.629 [DAT](INFO): direction in FSK: [-0.970482,0.238373,-0.036644]
2025-10-26T21:35:15.629Z,1761514515.629 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:15.639Z,1761514515.639 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.444853
2025-10-26T21:35:15.838Z,1761514515.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959702,-0.279895,-0.025126],[0.281017,0.956239,0.081463],[0.001225,-0.085241,0.996360]]
2025-10-26T21:35:15.849Z,1761514515.849 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.654413
2025-10-26T21:35:15.865Z,1761514515.865 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  84.87,  81.14,  80.80
2025-10-26T21:35:15.892Z,1761514515.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.507558 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:15.894Z,1761514515.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.633225 m,
      bearing: 182.742423 deg,
      lat: 36.779417 deg,
      lon: -121.859483 deg,
      deltaT: 0.507558 s,
      deltaX: -0.000009 m,
      approachRate: -0.000017 m/s,
      posRepo size: 4

2025-10-26T21:35:15.895Z,1761514515.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-10-26T21:35:16.106Z,1761514516.106 [DAT](INFO): DAT read: Rx Time:21:35:14.9825 

2025-10-26T21:35:16.107Z,1761514516.107 [DAT](INFO): Rx dataTimestamp_ set to:1761514516.106347
2025-10-26T21:35:16.108Z,1761514516.108 [DAT](INFO): DAT read: Bearing 349.1,  14.7 (Local)

2025-10-26T21:35:16.108Z,1761514516.108 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.1,  14.7 (Local)

2025-10-26T21:35:16.110Z,1761514516.110 [DAT](INFO): DAT read: Range 11 to 50 :    11.0 m (trip time 7.3 ms) speed -0.4

2025-10-26T21:35:16.115Z,1761514516.115 [DAT](INFO): DAT read: 21:35:14.9825 LVL= 27888, 22913, 32754, 32755, AGC= 69, IDX= 500,-0.00, 0.252, 1.810,-0.161, 0.689, PHS=-0.335, 1.166,-0.894, RAW= 345.2,   0.7, CAL= 344.7,  -2.3, ROT= 165.3,   2.3

2025-10-26T21:35:16.116Z,1761514516.116 [DAT](INFO): got valid direction response:
 21:35:14.9825 LVL= 27888, 22913, 32754, 32755, AGC= 69, IDX= 500,-0.00, 0.252, 1.810,-0.161, 0.689, PHS=-0.335, 1.166,-0.894, RAW= 345.2,   0.7, CAL= 344.7,  -2.3, ROT= 165.3,   2.3

2025-10-26T21:35:16.117Z,1761514516.117 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-10-26T21:35:16.118Z,1761514516.118 [DAT](INFO): direction in FSK: [-0.966489,0.253553,-0.040132]
2025-10-26T21:35:16.118Z,1761514516.118 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:16.122Z,1761514516.122 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=16.927721
2025-10-26T21:35:16.244Z,1761514516.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960125,-0.278460,-0.024914],[0.279569,0.956724,0.080751],[0.001350,-0.084496,0.996423]]
2025-10-26T21:35:16.283Z,1761514516.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 0.504106 s,
      deltaX: 0.300000 m,
      approachRate: 0.595113 m/s,
      rangeRepo size: 4

2025-10-26T21:35:16.285Z,1761514516.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.931354 m,
      bearing: 181.771959 deg,
      lat: 36.779416 deg,
      lon: -121.859482 deg,
      deltaT: 0.504106 s,
      deltaX: 0.298128 m,
      approachRate: 0.591400 m/s,
      posRepo size: 4

2025-10-26T21:35:16.286Z,1761514516.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.93 m.
2025-10-26T21:35:16.353Z,1761514516.353 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.159128
2025-10-26T21:35:16.607Z,1761514516.607 [DAT](INFO): DAT read: Rx Time:21:35:15.4825 

2025-10-26T21:35:16.607Z,1761514516.607 [DAT](INFO): Rx dataTimestamp_ set to:1761514516.606756
2025-10-26T21:35:16.608Z,1761514516.608 [DAT](INFO): DAT read: Bearing 349.0,  15.4 (Local)

2025-10-26T21:35:16.609Z,1761514516.609 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.0,  15.4 (Local)

2025-10-26T21:35:16.611Z,1761514516.611 [DAT](INFO): DAT read: Range 11 to 50 :    11.0 m (trip time 7.3 ms) speed -0.5

2025-10-26T21:35:16.615Z,1761514516.615 [DAT](INFO): DAT read: 21:35:15.4825 LVL= 28656, 19697, 32754, 32755, AGC= 68, IDX= 500, 0.20, 1.892,-2.862, 1.461, 2.314, PHS=-0.320, 1.152,-0.898, RAW= 345.9,   0.7, CAL= 345.4,  -2.2, ROT= 164.6,   2.2

2025-10-26T21:35:16.617Z,1761514516.617 [DAT](INFO): got valid direction response:
 21:35:15.4825 LVL= 28656, 19697, 32754, 32755, AGC= 68, IDX= 500, 0.20, 1.892,-2.862, 1.461, 2.314, PHS=-0.320, 1.152,-0.898, RAW= 345.9,   0.7, CAL= 345.4,  -2.2, ROT= 164.6,   2.2

2025-10-26T21:35:16.617Z,1761514516.617 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-10-26T21:35:16.618Z,1761514516.618 [DAT](INFO): direction in FSK: [-0.963385,0.265360,-0.038388]
2025-10-26T21:35:16.618Z,1761514516.618 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:16.622Z,1761514516.622 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.428019
2025-10-26T21:35:16.690Z,1761514516.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960368,-0.277657,-0.024479],[0.278731,0.957076,0.079462],[0.001365,-0.083136,0.996537]]
2025-10-26T21:35:16.802Z,1761514516.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 0.500409 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:16.816Z,1761514516.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.931351 m,
      bearing: 181.010705 deg,
      lat: 36.779416 deg,
      lon: -121.859482 deg,
      deltaT: 0.500409 s,
      deltaX: -0.000003 m,
      approachRate: -0.000006 m/s,
      posRepo size: 4

2025-10-26T21:35:16.816Z,1761514516.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.93 m.
2025-10-26T21:35:16.857Z,1761514516.857 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.662937
2025-10-26T21:35:17.062Z,1761514517.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960686,-0.276578,-0.024225],[0.277632,0.957495,0.078252],[0.001553,-0.081902,0.996639]]
2025-10-26T21:35:17.109Z,1761514517.109 [DAT](INFO): DAT read: Rx Time:21:35:15.9827 

2025-10-26T21:35:17.109Z,1761514517.109 [DAT](INFO): Rx dataTimestamp_ set to:1761514517.109224
2025-10-26T21:35:17.111Z,1761514517.111 [DAT](INFO): DAT read: Bearing 349.3,  16.2 (Local)

2025-10-26T21:35:17.111Z,1761514517.111 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.3,  16.2 (Local)

2025-10-26T21:35:17.113Z,1761514517.113 [DAT](INFO): DAT read: Range 11 to 50 :    11.3 m (trip time 7.5 ms) speed -0.5

2025-10-26T21:35:17.118Z,1761514517.118 [DAT](INFO): DAT read: 21:35:15.9827 LVL= 32032, 21153, 32754, 32755, AGC= 68, IDX= 502, 0.47,-1.517,-0.017,-1.976,-1.125, PHS=-0.290, 1.153,-0.895, RAW= 346.7,   0.3, CAL= 346.3,  -2.6, ROT= 163.7,   2.6

2025-10-26T21:35:17.119Z,1761514517.119 [DAT](INFO): got valid direction response:
 21:35:15.9827 LVL= 32032, 21153, 32754, 32755, AGC= 68, IDX= 502, 0.47,-1.517,-0.017,-1.976,-1.125, PHS=-0.290, 1.153,-0.895, RAW= 346.7,   0.3, CAL= 346.3,  -2.6, ROT= 163.7,   2.6

2025-10-26T21:35:17.119Z,1761514517.119 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-10-26T21:35:17.120Z,1761514517.120 [DAT](INFO): direction in FSK: [-0.958817,0.280378,-0.045363]
2025-10-26T21:35:17.121Z,1761514517.121 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:17.132Z,1761514517.132 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=17.938362
2025-10-26T21:35:17.165Z,1761514517.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.502468 s,
      deltaX: 0.300000 m,
      approachRate: 0.597053 m/s,
      rangeRepo size: 4

2025-10-26T21:35:17.166Z,1761514517.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.229478 m,
      bearing: 180.073959 deg,
      lat: 36.779415 deg,
      lon: -121.859482 deg,
      deltaT: 0.502468 s,
      deltaX: 0.298127 m,
      approachRate: 0.593326 m/s,
      posRepo size: 4

2025-10-26T21:35:17.167Z,1761514517.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-10-26T21:35:17.360Z,1761514517.360 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.166250
2025-10-26T21:35:17.457Z,1761514517.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961178,-0.274864,-0.024202],[0.275921,0.958043,0.077594],[0.001859,-0.081259,0.996691]]
2025-10-26T21:35:17.482Z,1761514517.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-10-26T21:35:17.614Z,1761514517.614 [DAT](INFO): DAT read: Rx Time:21:35:16.4827 

2025-10-26T21:35:17.615Z,1761514517.615 [DAT](INFO): Rx dataTimestamp_ set to:1761514517.614156
2025-10-26T21:35:17.617Z,1761514517.617 [DAT](INFO): DAT read: Bearing 349.1,  16.3 (Local)

2025-10-26T21:35:17.617Z,1761514517.617 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.1,  16.3 (Local)

2025-10-26T21:35:17.620Z,1761514517.620 [DAT](INFO): DAT read: Range 11 to 50 :    11.3 m (trip time 7.5 ms) speed -0.6

2025-10-26T21:35:17.626Z,1761514517.626 [DAT](INFO): DAT read: 21:35:16.4827 LVL= 31264, 23713, 32754, 32755, AGC= 67, IDX= 503,-0.22,-2.962,-1.479, 2.861,-2.572, PHS=-0.288, 1.138,-0.894, RAW= 346.9,   0.5, CAL= 346.4,  -2.5, ROT= 163.6,   2.5

2025-10-26T21:35:17.628Z,1761514517.628 [DAT](INFO): got valid direction response:
 21:35:16.4827 LVL= 31264, 23713, 32754, 32755, AGC= 67, IDX= 503,-0.22,-2.962,-1.479, 2.861,-2.572, PHS=-0.288, 1.138,-0.894, RAW= 346.9,   0.5, CAL= 346.4,  -2.5, ROT= 163.6,   2.5

2025-10-26T21:35:17.629Z,1761514517.629 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-10-26T21:35:17.630Z,1761514517.630 [DAT](INFO): direction in FSK: [-0.958401,0.282073,-0.043619]
2025-10-26T21:35:17.631Z,1761514517.631 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:17.637Z,1761514517.637 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.442902
2025-10-26T21:35:17.858Z,1761514517.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961569,-0.273501,-0.024130],[0.274554,0.958511,0.076655],[0.002164,-0.080334,0.996766]]
2025-10-26T21:35:17.864Z,1761514517.864 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.670221
2025-10-26T21:35:17.935Z,1761514517.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.504932 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:17.937Z,1761514517.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.229484 m,
      bearing: 179.776433 deg,
      lat: 36.779416 deg,
      lon: -121.859481 deg,
      deltaT: 0.504932 s,
      deltaX: 0.000006 m,
      approachRate: 0.000011 m/s,
      posRepo size: 4

2025-10-26T21:35:17.938Z,1761514517.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-10-26T21:35:18.117Z,1761514518.117 [DAT](INFO): DAT read: Rx Time:21:35:16.9829 

2025-10-26T21:35:18.117Z,1761514518.117 [DAT](INFO): Rx dataTimestamp_ set to:1761514518.117119
2025-10-26T21:35:18.119Z,1761514518.119 [DAT](INFO): DAT read: Bearing 348.1,  15.8 (Local)

2025-10-26T21:35:18.119Z,1761514518.119 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.1,  15.8 (Local)

2025-10-26T21:35:18.121Z,1761514518.121 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed -0.3

2025-10-26T21:35:18.126Z,1761514518.126 [DAT](INFO): DAT read: 21:35:16.9829 LVL= 32752, 25681, 32754, 32755, AGC= 68, IDX= 505,-0.01,-0.613, 0.884,-1.058,-0.185, PHS=-0.326, 1.114,-0.917, RAW= 346.4,   1.4, CAL= 346.0,  -1.5, ROT= 164.0,   1.5

2025-10-26T21:35:18.127Z,1761514518.127 [DAT](INFO): got valid direction response:
 21:35:16.9829 LVL= 32752, 25681, 32754, 32755, AGC= 68, IDX= 505,-0.01,-0.613, 0.884,-1.058,-0.185, PHS=-0.326, 1.114,-0.917, RAW= 346.4,   1.4, CAL= 346.0,  -1.5, ROT= 164.0,   1.5

2025-10-26T21:35:18.128Z,1761514518.128 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-10-26T21:35:18.133Z,1761514518.133 [DAT](INFO): direction in FSK: [-0.960932,0.275543,-0.026177]
2025-10-26T21:35:18.134Z,1761514518.134 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:18.139Z,1761514518.139 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.944641
2025-10-26T21:35:18.268Z,1761514518.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961652,-0.273224,-0.023976],[0.274262,0.958725,0.075008],[0.002492,-0.078707,0.996895]]
2025-10-26T21:35:18.296Z,1761514518.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.502963 s,
      deltaX: 0.300000 m,
      approachRate: 0.596466 m/s,
      rangeRepo size: 4

2025-10-26T21:35:18.298Z,1761514518.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.527612 m,
      bearing: 180.076933 deg,
      lat: 36.779416 deg,
      lon: -121.859479 deg,
      deltaT: 0.502963 s,
      deltaX: 0.298128 m,
      approachRate: 0.592744 m/s,
      posRepo size: 4

2025-10-26T21:35:18.299Z,1761514518.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-10-26T21:35:18.369Z,1761514518.369 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.174738
2025-10-26T21:35:18.621Z,1761514518.621 [DAT](INFO): DAT read: Rx Time:21:35:17.4830 

2025-10-26T21:35:18.621Z,1761514518.621 [DAT](INFO): Rx dataTimestamp_ set to:1761514518.621163
2025-10-26T21:35:18.623Z,1761514518.623 [DAT](INFO): DAT read: Bearing 348.4,  15.2 (Local)

2025-10-26T21:35:18.623Z,1761514518.623 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.4,  15.2 (Local)

2025-10-26T21:35:18.625Z,1761514518.625 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed -0.2

2025-10-26T21:35:18.630Z,1761514518.630 [DAT](INFO): DAT read: 21:35:17.4830 LVL= 30176, 22081, 32754, 32755, AGC= 68, IDX= 505, 0.20,-0.962, 0.556,-1.393,-0.529, PHS=-0.331, 1.130,-0.908, RAW= 345.9,   1.2, CAL= 345.5,  -1.8, ROT= 164.5,   1.8

2025-10-26T21:35:18.631Z,1761514518.631 [DAT](INFO): got valid direction response:
 21:35:17.4830 LVL= 30176, 22081, 32754, 32755, AGC= 68, IDX= 505, 0.20,-0.962, 0.556,-1.393,-0.529, PHS=-0.331, 1.130,-0.908, RAW= 345.9,   1.2, CAL= 345.5,  -1.8, ROT= 164.5,   1.8

2025-10-26T21:35:18.631Z,1761514518.631 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-10-26T21:35:18.632Z,1761514518.632 [DAT](INFO): direction in FSK: [-0.963155,0.267107,-0.031411]
2025-10-26T21:35:18.633Z,1761514518.633 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:18.640Z,1761514518.640 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.446299
2025-10-26T21:35:18.670Z,1761514518.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961999,-0.271996,-0.024011],[0.273038,0.959153,0.073999],[0.002903,-0.077743,0.996969]]
2025-10-26T21:35:18.779Z,1761514518.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.504044 s,
      deltaX: 0.099999 m,
      approachRate: 0.198394 m/s,
      rangeRepo size: 4

2025-10-26T21:35:18.785Z,1761514518.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.626987 m,
      bearing: 180.522557 deg,
      lat: 36.779416 deg,
      lon: -121.859479 deg,
      deltaT: 0.504044 s,
      deltaX: 0.099376 m,
      approachRate: 0.197157 m/s,
      posRepo size: 4

2025-10-26T21:35:18.786Z,1761514518.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:35:18.873Z,1761514518.873 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.678566
2025-10-26T21:35:19.107Z,1761514519.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962407,-0.270517,-0.024374],[0.271590,0.959623,0.073238],[0.003578,-0.077105,0.997017]]
2025-10-26T21:35:19.125Z,1761514519.125 [DAT](INFO): DAT read: Rx Time:21:35:17.9831 

2025-10-26T21:35:19.126Z,1761514519.126 [DAT](INFO): Rx dataTimestamp_ set to:1761514519.125508
2025-10-26T21:35:19.127Z,1761514519.127 [DAT](INFO): DAT read: Bearing 348.4,  15.4 (Local)

2025-10-26T21:35:19.127Z,1761514519.127 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.4,  15.4 (Local)

2025-10-26T21:35:19.129Z,1761514519.129 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed -0.3

2025-10-26T21:35:19.134Z,1761514519.134 [DAT](INFO): DAT read: 21:35:17.9831 LVL= 29120, 21793, 32754, 32755, AGC= 70, IDX= 507,-0.38, 2.950,-1.842, 2.522,-2.912, PHS=-0.319, 1.115,-0.892, RAW= 346.1,   1.1, CAL= 345.6,  -1.9, ROT= 164.4,   1.9

2025-10-26T21:35:19.135Z,1761514519.135 [DAT](INFO): got valid direction response:
 21:35:17.9831 LVL= 29120, 21793, 32754, 32755, AGC= 70, IDX= 507,-0.38, 2.950,-1.842, 2.522,-2.912, PHS=-0.319, 1.115,-0.892, RAW= 346.1,   1.1, CAL= 345.6,  -1.9, ROT= 164.4,   1.9

2025-10-26T21:35:19.136Z,1761514519.136 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-10-26T21:35:19.137Z,1761514519.137 [DAT](INFO): direction in FSK: [-0.962633,0.268772,-0.033155]
2025-10-26T21:35:19.137Z,1761514519.137 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:19.153Z,1761514519.153 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.958647
2025-10-26T21:35:19.165Z,1761514519.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.504345 s,
      deltaX: 0.200000 m,
      approachRate: 0.396554 m/s,
      rangeRepo size: 4

2025-10-26T21:35:19.180Z,1761514519.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.825761 m,
      bearing: 180.341440 deg,
      lat: 36.779416 deg,
      lon: -121.859479 deg,
      deltaT: 0.504345 s,
      deltaX: 0.198773 m,
      approachRate: 0.394122 m/s,
      posRepo size: 4

2025-10-26T21:35:19.180Z,1761514519.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-10-26T21:35:19.376Z,1761514519.376 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.182304
2025-10-26T21:35:19.482Z,1761514519.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962714,-0.269405,-0.024548],[0.270490,0.959999,0.072361],[0.004072,-0.076303,0.997076]]
2025-10-26T21:35:19.520Z,1761514519.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-10-26T21:35:19.630Z,1761514519.630 [DAT](INFO): DAT read: Rx Time:21:35:18.4830 

2025-10-26T21:35:19.631Z,1761514519.631 [DAT](INFO): Rx dataTimestamp_ set to:1761514519.630415
2025-10-26T21:35:19.632Z,1761514519.632 [DAT](INFO): DAT read: Bearing 348.6,  13.0 (Local)

2025-10-26T21:35:19.632Z,1761514519.632 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.6,  13.0 (Local)

2025-10-26T21:35:19.634Z,1761514519.634 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed 0.0

2025-10-26T21:35:19.640Z,1761514519.640 [DAT](INFO): DAT read: 21:35:18.4830 LVL= 29872, 22897, 32754, 32755, AGC= 70, IDX= 507,-0.03,-0.270, 1.333,-0.631, 0.211, PHS=-0.379, 1.167,-0.887, RAW= 343.7,   1.1, CAL= 343.3,  -1.9, ROT= 166.7,   1.9

2025-10-26T21:35:19.642Z,1761514519.642 [DAT](INFO): got valid direction response:
 21:35:18.4830 LVL= 29872, 22897, 32754, 32755, AGC= 70, IDX= 507,-0.03,-0.270, 1.333,-0.631, 0.211, PHS=-0.379, 1.167,-0.887, RAW= 343.7,   1.1, CAL= 343.3,  -1.9, ROT= 166.7,   1.9

2025-10-26T21:35:19.642Z,1761514519.642 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-10-26T21:35:19.644Z,1761514519.644 [DAT](INFO): direction in FSK: [-0.972644,0.229923,-0.033155]
2025-10-26T21:35:19.644Z,1761514519.644 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:19.653Z,1761514519.653 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.459316
2025-10-26T21:35:19.879Z,1761514519.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962799,-0.269103,-0.024546],[0.270183,0.960185,0.071039],[0.004452,-0.075028,0.997171]]
2025-10-26T21:35:19.881Z,1761514519.881 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.686802
2025-10-26T21:35:19.960Z,1761514519.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.504907 s,
      deltaX: -0.200000 m,
      approachRate: -0.396112 m/s,
      rangeRepo size: 4

2025-10-26T21:35:19.963Z,1761514519.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.627004 m,
      bearing: 182.547343 deg,
      lat: 36.779416 deg,
      lon: -121.859479 deg,
      deltaT: 0.504907 s,
      deltaX: -0.198757 m,
      approachRate: -0.393651 m/s,
      posRepo size: 4

2025-10-26T21:35:19.966Z,1761514519.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:35:20.134Z,1761514520.134 [DAT](INFO): DAT read: Rx Time:21:35:18.9833 

2025-10-26T21:35:20.134Z,1761514520.134 [DAT](INFO): Rx dataTimestamp_ set to:1761514520.133752
2025-10-26T21:35:20.135Z,1761514520.135 [DAT](INFO): DAT read: Bearing 347.2,  11.6 (Local)

2025-10-26T21:35:20.136Z,1761514520.136 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.2,  11.6 (Local)

2025-10-26T21:35:20.138Z,1761514520.138 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed -0.3

2025-10-26T21:35:20.142Z,1761514520.142 [DAT](INFO): DAT read: 21:35:18.9833 LVL= 29296, 22945, 32754, 32755, AGC= 70, IDX= 509, 0.19, 0.648, 2.265, 0.335, 1.192, PHS=-0.442, 1.119,-0.900, RAW= 342.5,   2.5, CAL= 342.0,  -0.4, ROT= 168.0,   0.4

2025-10-26T21:35:20.144Z,1761514520.144 [DAT](INFO): got valid direction response:
 21:35:18.9833 LVL= 29296, 22945, 32754, 32755, AGC= 70, IDX= 509, 0.19, 0.648, 2.265, 0.335, 1.192, PHS=-0.442, 1.119,-0.900, RAW= 342.5,   2.5, CAL= 342.0,  -0.4, ROT= 168.0,   0.4

2025-10-26T21:35:20.144Z,1761514520.144 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-10-26T21:35:20.145Z,1761514520.145 [DAT](INFO): direction in FSK: [-0.978124,0.207907,-0.006981]
2025-10-26T21:35:20.145Z,1761514520.145 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:20.149Z,1761514520.149 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.954813
2025-10-26T21:35:20.285Z,1761514520.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963049,-0.268189,-0.024745],[0.269282,0.960504,0.070142],[0.004956,-0.074214,0.997230]]
2025-10-26T21:35:20.315Z,1761514520.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.503337 s,
      deltaX: 0.500000 m,
      approachRate: 0.993370 m/s,
      rangeRepo size: 4

2025-10-26T21:35:20.337Z,1761514520.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.123884 m,
      bearing: 183.681494 deg,
      lat: 36.779416 deg,
      lon: -121.859479 deg,
      deltaT: 0.503337 s,
      deltaX: 0.496881 m,
      approachRate: 0.987173 m/s,
      posRepo size: 4

2025-10-26T21:35:20.337Z,1761514520.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-10-26T21:35:20.384Z,1761514520.384 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.190405
2025-10-26T21:35:20.637Z,1761514520.637 [DAT](INFO): DAT read: Rx Time:21:35:19.4833 

2025-10-26T21:35:20.637Z,1761514520.637 [DAT](INFO): Rx dataTimestamp_ set to:1761514520.637131
2025-10-26T21:35:20.639Z,1761514520.639 [DAT](INFO): DAT read: Bearing 348.2,  11.8 (Local)

2025-10-26T21:35:20.639Z,1761514520.639 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.2,  11.8 (Local)

2025-10-26T21:35:20.641Z,1761514520.641 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed 0.0

2025-10-26T21:35:20.646Z,1761514520.646 [DAT](INFO): DAT read: 21:35:19.4833 LVL= 23056, 20865, 30706, 32755, AGC= 66, IDX= 509, 0.22, 1.081, 2.695, 0.767, 1.590, PHS=-0.407, 1.150,-0.867, RAW= 342.6,   1.4, CAL= 342.1,  -1.5, ROT= 167.9,   1.5

2025-10-26T21:35:20.647Z,1761514520.647 [DAT](INFO): got valid direction response:
 21:35:19.4833 LVL= 23056, 20865, 30706, 32755, AGC= 66, IDX= 509, 0.22, 1.081, 2.695, 0.767, 1.590, PHS=-0.407, 1.150,-0.867, RAW= 342.6,   1.4, CAL= 342.1,  -1.5, ROT= 167.9,   1.5

2025-10-26T21:35:20.647Z,1761514520.647 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-10-26T21:35:20.656Z,1761514520.656 [DAT](INFO): direction in FSK: [-0.977448,0.209547,-0.026177]
2025-10-26T21:35:20.657Z,1761514520.657 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:20.660Z,1761514520.660 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.466057
2025-10-26T21:35:20.703Z,1761514520.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963245,-0.267459,-0.025006],[0.268569,0.960766,0.069279],[0.005495,-0.073449,0.997284]]
2025-10-26T21:35:20.825Z,1761514520.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.503379 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:20.832Z,1761514520.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.123896 m,
      bearing: 183.616046 deg,
      lat: 36.779417 deg,
      lon: -121.859483 deg,
      deltaT: 0.503379 s,
      deltaX: 0.000011 m,
      approachRate: 0.000023 m/s,
      posRepo size: 4

2025-10-26T21:35:20.832Z,1761514520.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-10-26T21:35:20.889Z,1761514520.889 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.695156
2025-10-26T21:35:21.114Z,1761514521.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963335,-0.267110,-0.025276],[0.268235,0.960932,0.068265],[0.006055,-0.072542,0.997347]]
2025-10-26T21:35:21.133Z,1761514521.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-10-26T21:35:21.149Z,1761514521.149 [DAT](INFO): DAT read: Rx Time:21:35:19.9834 

2025-10-26T21:35:21.149Z,1761514521.149 [DAT](INFO): Rx dataTimestamp_ set to:1761514521.149173
2025-10-26T21:35:21.151Z,1761514521.151 [DAT](INFO): DAT read: Bearing 348.2,  13.4 (Local)

2025-10-26T21:35:21.151Z,1761514521.151 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.2,  13.4 (Local)

2025-10-26T21:35:21.153Z,1761514521.153 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.1

2025-10-26T21:35:21.158Z,1761514521.158 [DAT](INFO): DAT read: 21:35:19.9834 LVL= 24752, 19217, 30514, 32755, AGC= 65, IDX= 511, 0.28,-3.045,-1.491, 2.870,-2.576, PHS=-0.366, 1.131,-0.880, RAW= 344.2,   1.3, CAL= 343.8,  -1.6, ROT= 166.2,   1.6

2025-10-26T21:35:21.159Z,1761514521.159 [DAT](INFO): got valid direction response:
 21:35:19.9834 LVL= 24752, 19217, 30514, 32755, AGC= 65, IDX= 511, 0.28,-3.045,-1.491, 2.870,-2.576, PHS=-0.366, 1.131,-0.880, RAW= 344.2,   1.3, CAL= 343.8,  -1.6, ROT= 166.2,   1.6

2025-10-26T21:35:21.159Z,1761514521.159 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-26T21:35:21.160Z,1761514521.160 [DAT](INFO): direction in FSK: [-0.970756,0.238441,-0.027922]
2025-10-26T21:35:21.161Z,1761514521.161 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:21.168Z,1761514521.168 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.974380
2025-10-26T21:35:21.400Z,1761514521.400 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.206238
2025-10-26T21:35:21.500Z,1761514521.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963436,-0.266719,-0.025532],[0.267857,0.961115,0.067164],[0.006625,-0.071548,0.997415]]
2025-10-26T21:35:21.532Z,1761514521.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.512042 s,
      deltaX: 0.300000 m,
      approachRate: 0.585890 m/s,
      rangeRepo size: 4

2025-10-26T21:35:21.534Z,1761514521.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.422025 m,
      bearing: 181.878093 deg,
      lat: 36.779417 deg,
      lon: -121.859483 deg,
      deltaT: 0.512042 s,
      deltaX: 0.298129 m,
      approachRate: 0.582236 m/s,
      posRepo size: 4

2025-10-26T21:35:21.535Z,1761514521.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:35:21.655Z,1761514521.655 [DAT](INFO): DAT read: Rx Time:21:35:20.4834 

2025-10-26T21:35:21.655Z,1761514521.655 [DAT](INFO): Rx dataTimestamp_ set to:1761514521.655019
2025-10-26T21:35:21.657Z,1761514521.657 [DAT](INFO): DAT read: Bearing 347.4,  14.4 (Local)

2025-10-26T21:35:21.657Z,1761514521.657 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.4,  14.4 (Local)

2025-10-26T21:35:21.659Z,1761514521.659 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.3

2025-10-26T21:35:21.665Z,1761514521.665 [DAT](INFO): DAT read: 21:35:20.4834 LVL= 29088, 18929, 32754, 32755, AGC= 66, IDX= 511, 0.45, 1.586, 3.101, 1.184, 2.049, PHS=-0.360, 1.097,-0.908, RAW= 345.3,   1.9, CAL= 344.9,  -1.0, ROT= 165.1,   1.0

2025-10-26T21:35:21.666Z,1761514521.666 [DAT](INFO): got valid direction response:
 21:35:20.4834 LVL= 29088, 18929, 32754, 32755, AGC= 66, IDX= 511, 0.45, 1.586, 3.101, 1.184, 2.049, PHS=-0.360, 1.097,-0.908, RAW= 345.3,   1.9, CAL= 344.9,  -1.0, ROT= 165.1,   1.0

2025-10-26T21:35:21.667Z,1761514521.667 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-10-26T21:35:21.669Z,1761514521.669 [DAT](INFO): direction in FSK: [-0.966229,0.257094,-0.017452]
2025-10-26T21:35:21.669Z,1761514521.669 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:21.674Z,1761514521.674 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.479935
2025-10-26T21:35:21.898Z,1761514521.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963518,-0.266376,-0.026020],[0.267548,0.961215,0.066964],[0.007173,-0.071483,0.997416]]
2025-10-26T21:35:21.904Z,1761514521.904 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.710152
2025-10-26T21:35:21.973Z,1761514521.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.505846 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:21.980Z,1761514521.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.422046 m,
      bearing: 180.720232 deg,
      lat: 36.779418 deg,
      lon: -121.859483 deg,
      deltaT: 0.505846 s,
      deltaX: 0.000021 m,
      approachRate: 0.000041 m/s,
      posRepo size: 4

2025-10-26T21:35:21.981Z,1761514521.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:35:22.157Z,1761514522.157 [DAT](INFO): DAT read: Rx Time:21:35:20.9836 

2025-10-26T21:35:22.157Z,1761514522.157 [DAT](INFO): Rx dataTimestamp_ set to:1761514522.157101
2025-10-26T21:35:22.159Z,1761514522.159 [DAT](INFO): DAT read: Bearing 347.5,  13.3 (Local)

2025-10-26T21:35:22.159Z,1761514522.159 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.5,  13.3 (Local)

2025-10-26T21:35:22.161Z,1761514522.161 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed -0.3

2025-10-26T21:35:22.170Z,1761514522.170 [DAT](INFO): DAT read: 21:35:20.9836 LVL= 17136, 15089, 19026, 26035, AGC= 66, IDX=   2,-0.43, 2.287,-2.441, 1.918, 2.772, PHS=-0.383, 1.114,-0.899, RAW= 344.3,   1.9, CAL= 343.8,  -1.1, ROT= 166.2,   1.1

2025-10-26T21:35:22.172Z,1761514522.172 [DAT](INFO): got valid direction response:
 21:35:20.9836 LVL= 17136, 15089, 19026, 26035, AGC= 66, IDX=   2,-0.43, 2.287,-2.441, 1.918, 2.772, PHS=-0.383, 1.114,-0.899, RAW= 344.3,   1.9, CAL= 343.8,  -1.1, ROT= 166.2,   1.1

2025-10-26T21:35:22.172Z,1761514522.172 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-10-26T21:35:22.173Z,1761514522.173 [DAT](INFO): direction in FSK: [-0.970955,0.238490,-0.019197]
2025-10-26T21:35:22.173Z,1761514522.173 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:22.177Z,1761514522.177 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.983162
2025-10-26T21:35:22.305Z,1761514522.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963694,-0.265700,-0.026403],[0.266899,0.961404,0.066835],[0.007626,-0.071455,0.997415]]
2025-10-26T21:35:22.354Z,1761514522.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.502082 s,
      deltaX: 0.100000 m,
      approachRate: 0.199171 m/s,
      rangeRepo size: 4

2025-10-26T21:35:22.361Z,1761514522.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.521422 m,
      bearing: 181.786479 deg,
      lat: 36.779418 deg,
      lon: -121.859481 deg,
      deltaT: 0.502082 s,
      deltaX: 0.099377 m,
      approachRate: 0.197929 m/s,
      posRepo size: 4

2025-10-26T21:35:22.361Z,1761514522.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-10-26T21:35:22.409Z,1761514522.409 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.214571
2025-10-26T21:35:22.661Z,1761514522.661 [DAT](INFO): DAT read: Rx Time:21:35:21.4836 

2025-10-26T21:35:22.661Z,1761514522.661 [DAT](INFO): Rx dataTimestamp_ set to:1761514522.661157
2025-10-26T21:35:22.663Z,1761514522.663 [DAT](INFO): DAT read: Bearing 347.8,  14.5 (Local)

2025-10-26T21:35:22.663Z,1761514522.663 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.8,  14.5 (Local)

2025-10-26T21:35:22.665Z,1761514522.665 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed -0.2

2025-10-26T21:35:22.670Z,1761514522.670 [DAT](INFO): DAT read: 21:35:21.4836 LVL= 31776, 25185, 32754, 32755, AGC= 66, IDX= 498,-0.36, 1.891,-2.865, 1.479, 2.342, PHS=-0.349, 1.120,-0.908, RAW= 345.5,   1.5, CAL= 345.0,  -1.4, ROT= 165.0,   1.4

2025-10-26T21:35:22.671Z,1761514522.671 [DAT](INFO): got valid direction response:
 21:35:21.4836 LVL= 31776, 25185, 32754, 32755, AGC= 66, IDX= 498,-0.36, 1.891,-2.865, 1.479, 2.342, PHS=-0.349, 1.120,-0.908, RAW= 345.5,   1.5, CAL= 345.0,  -1.4, ROT= 165.0,   1.4

2025-10-26T21:35:22.671Z,1761514522.671 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-10-26T21:35:22.672Z,1761514522.672 [DAT](INFO): direction in FSK: [-0.965637,0.258742,-0.024432]
2025-10-26T21:35:22.672Z,1761514522.672 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:22.676Z,1761514522.676 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.482168
2025-10-26T21:35:22.761Z,1761514522.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963890,-0.264949,-0.026795],[0.266173,0.961652,0.066156],[0.008239,-0.070899,0.997449]]
2025-10-26T21:35:22.876Z,1761514522.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.504056 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:22.878Z,1761514522.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.521391 m,
      bearing: 180.563549 deg,
      lat: 36.779418 deg,
      lon: -121.859480 deg,
      deltaT: 0.504056 s,
      deltaX: -0.000031 m,
      approachRate: -0.000062 m/s,
      posRepo size: 4

2025-10-26T21:35:22.879Z,1761514522.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-10-26T21:35:22.912Z,1761514522.912 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.718395
2025-10-26T21:35:23.129Z,1761514523.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963876,-0.264987,-0.026918],[0.266210,0.961724,0.064952],[0.008676,-0.069771,0.997525]]
2025-10-26T21:35:23.149Z,1761514523.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-10-26T21:35:23.165Z,1761514523.165 [DAT](INFO): DAT read: Rx Time:21:35:21.9837 

2025-10-26T21:35:23.166Z,1761514523.166 [DAT](INFO): Rx dataTimestamp_ set to:1761514523.165256
2025-10-26T21:35:23.167Z,1761514523.167 [DAT](INFO): DAT read: Bearing 348.4,  14.1 (Local)

2025-10-26T21:35:23.167Z,1761514523.167 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.4,  14.1 (Local)

2025-10-26T21:35:23.169Z,1761514523.169 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed -0.3

2025-10-26T21:35:23.174Z,1761514523.174 [DAT](INFO): DAT read: 21:35:21.9837 LVL= 30192, 19025, 32754, 32755, AGC= 65, IDX= 499,-0.20, 2.158,-2.583, 1.758, 2.600, PHS=-0.341, 1.145,-0.887, RAW= 345.0,   0.9, CAL= 344.6,  -2.0, ROT= 165.4,   2.0

2025-10-26T21:35:23.175Z,1761514523.175 [DAT](INFO): got valid direction response:
 21:35:21.9837 LVL= 30192, 19025, 32754, 32755, AGC= 65, IDX= 499,-0.20, 2.158,-2.583, 1.758, 2.600, PHS=-0.341, 1.145,-0.887, RAW= 345.0,   0.9, CAL= 344.6,  -2.0, ROT= 165.4,   2.0

2025-10-26T21:35:23.192Z,1761514523.192 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-10-26T21:35:23.193Z,1761514523.193 [DAT](INFO): direction in FSK: [-0.967120,0.251916,-0.034899]
2025-10-26T21:35:23.193Z,1761514523.193 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:23.197Z,1761514523.197 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.002724
2025-10-26T21:35:23.416Z,1761514523.416 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.222204
2025-10-26T21:35:23.530Z,1761514523.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964032,-0.264383,-0.027277],[0.265632,0.961878,0.065043],[0.009041,-0.069949,0.997510]]
2025-10-26T21:35:23.666Z,1761514523.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.504099 s,
      deltaX: 0.200000 m,
      approachRate: 0.396747 m/s,
      rangeRepo size: 4

2025-10-26T21:35:23.669Z,1761514523.669 [DAT](INFO): DAT read: Rx Time:21:35:22.4837 

2025-10-26T21:35:23.670Z,1761514523.670 [DAT](INFO): Rx dataTimestamp_ set to:1761514523.669260
2025-10-26T21:35:23.671Z,1761514523.671 [DAT](INFO): DAT read: Bearing 347.8,  14.9 (Local)

2025-10-26T21:35:23.672Z,1761514523.672 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.8,  14.9 (Local)

2025-10-26T21:35:23.674Z,1761514523.674 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed -0.3

2025-10-26T21:35:23.679Z,1761514523.679 [DAT](INFO): DAT read: 21:35:22.4837 LVL= 32624, 24785, 32754, 32755, AGC= 67, IDX= 499,-0.07, 1.415, 2.928, 0.989, 1.854, PHS=-0.336, 1.120,-0.909, RAW= 345.9,   1.4, CAL= 345.4,  -1.6, ROT= 164.6,   1.6

2025-10-26T21:35:23.680Z,1761514523.680 [DAT](INFO): got valid direction response:
 21:35:22.4837 LVL= 32624, 24785, 32754, 32755, AGC= 67, IDX= 499,-0.07, 1.415, 2.928, 0.989, 1.854, PHS=-0.336, 1.120,-0.909, RAW= 345.9,   1.4, CAL= 345.4,  -1.6, ROT= 164.6,   1.6

2025-10-26T21:35:23.680Z,1761514523.680 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-10-26T21:35:23.681Z,1761514523.681 [DAT](INFO): direction in FSK: [-0.963720,0.265453,-0.027922]
2025-10-26T21:35:23.681Z,1761514523.681 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:23.685Z,1761514523.685 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.491205
2025-10-26T21:35:23.688Z,1761514523.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.720143 m,
      bearing: 180.967627 deg,
      lat: 36.779419 deg,
      lon: -121.859478 deg,
      deltaT: 0.504099 s,
      deltaX: 0.198752 m,
      approachRate: 0.394273 m/s,
      posRepo size: 4

2025-10-26T21:35:23.689Z,1761514523.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.72 m.
2025-10-26T21:35:23.920Z,1761514523.920 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.726345
2025-10-26T21:35:24.013Z,1761514524.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.504004 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:24.016Z,1761514524.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.720115 m,
      bearing: 180.142206 deg,
      lat: 36.779420 deg,
      lon: -121.859477 deg,
      deltaT: 0.504004 s,
      deltaX: -0.000029 m,
      approachRate: -0.000057 m/s,
      posRepo size: 4

2025-10-26T21:35:24.016Z,1761514524.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.72 m.
2025-10-26T21:35:24.173Z,1761514524.173 [DAT](INFO): DAT read: Rx Time:21:35:22.9840 

2025-10-26T21:35:24.173Z,1761514524.173 [DAT](INFO): Rx dataTimestamp_ set to:1761514524.173192
2025-10-26T21:35:24.175Z,1761514524.175 [DAT](INFO): DAT read: Bearing 347.9,  14.8 (Local)

2025-10-26T21:35:24.175Z,1761514524.175 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.9,  14.8 (Local)

2025-10-26T21:35:24.177Z,1761514524.177 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed -0.1

2025-10-26T21:35:24.182Z,1761514524.182 [DAT](INFO): DAT read: 21:35:22.9840 LVL= 31904, 20657, 32754, 32755, AGC= 67, IDX= 501, 0.05,-2.576,-1.061,-3.000,-2.139, PHS=-0.335, 1.122,-0.906, RAW= 345.8,   1.3, CAL= 345.4,  -1.6, ROT= 164.6,   1.6

2025-10-26T21:35:24.183Z,1761514524.183 [DAT](INFO): got valid direction response:
 21:35:22.9840 LVL= 31904, 20657, 32754, 32755, AGC= 67, IDX= 501, 0.05,-2.576,-1.061,-3.000,-2.139, PHS=-0.335, 1.122,-0.906, RAW= 345.8,   1.3, CAL= 345.4,  -1.6, ROT= 164.6,   1.6

2025-10-26T21:35:24.184Z,1761514524.184 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-10-26T21:35:24.185Z,1761514524.185 [DAT](INFO): direction in FSK: [-0.963720,0.265453,-0.027922]
2025-10-26T21:35:24.185Z,1761514524.185 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:24.189Z,1761514524.189 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.994699
2025-10-26T21:35:24.350Z,1761514524.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964511,-0.262578,-0.027790],[0.263861,0.962410,0.064375],[0.009842,-0.069423,0.997539]]
2025-10-26T21:35:24.425Z,1761514524.425 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.230417
2025-10-26T21:35:24.446Z,1761514524.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.503932 s,
      deltaX: 0.400000 m,
      approachRate: 0.793757 m/s,
      rangeRepo size: 4

2025-10-26T21:35:24.452Z,1761514524.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.117618 m,
      bearing: 180.035069 deg,
      lat: 36.779420 deg,
      lon: -121.859476 deg,
      deltaT: 0.503932 s,
      deltaX: 0.397503 m,
      approachRate: 0.788803 m/s,
      posRepo size: 4

2025-10-26T21:35:24.453Z,1761514524.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m.
2025-10-26T21:35:24.681Z,1761514524.681 [DAT](INFO): DAT read: Rx Time:21:35:23.4840 

2025-10-26T21:35:24.682Z,1761514524.682 [DAT](INFO): Rx dataTimestamp_ set to:1761514524.681271
2025-10-26T21:35:24.686Z,1761514524.686 [DAT](INFO): DAT read: Bearing 347.4,  14.3 (Local)

2025-10-26T21:35:24.686Z,1761514524.686 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.4,  14.3 (Local)

2025-10-26T21:35:24.688Z,1761514524.688 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed -0.3

2025-10-26T21:35:24.715Z,1761514524.715 [DAT](INFO): DAT read: 21:35:23.4840 LVL= 31408, 20785, 32754, 32755, AGC= 66, IDX= 501, 0.21, 2.288,-2.470, 1.879, 2.748, PHS=-0.358, 1.110,-0.914, RAW= 345.4,   1.8, CAL= 344.9,  -1.1, ROT= 165.1,   1.1

2025-10-26T21:35:24.736Z,1761514524.736 [DAT](INFO): got valid direction response:
 21:35:23.4840 LVL= 31408, 20785, 32754, 32755, AGC= 66, IDX= 501, 0.21, 2.288,-2.470, 1.879, 2.748, PHS=-0.358, 1.110,-0.914, RAW= 345.4,   1.8, CAL= 344.9,  -1.1, ROT= 165.1,   1.1

2025-10-26T21:35:24.737Z,1761514524.737 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-10-26T21:35:24.738Z,1761514524.738 [DAT](INFO): direction in FSK: [-0.966198,0.257085,-0.019197]
2025-10-26T21:35:24.738Z,1761514524.738 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:24.778Z,1761514524.778 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.583626
2025-10-26T21:35:24.786Z,1761514524.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964629,-0.262130,-0.027899],[0.263414,0.962580,0.063656],[0.010169,-0.068753,0.997582]]
2025-10-26T21:35:24.890Z,1761514524.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.508079 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:24.896Z,1761514524.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.117639 m,
      bearing: 180.474166 deg,
      lat: 36.779420 deg,
      lon: -121.859475 deg,
      deltaT: 0.508079 s,
      deltaX: 0.000021 m,
      approachRate: 0.000041 m/s,
      posRepo size: 4

2025-10-26T21:35:24.897Z,1761514524.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m.
2025-10-26T21:35:24.928Z,1761514524.928 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.734350
2025-10-26T21:35:25.158Z,1761514525.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964752,-0.261686,-0.027815],[0.262957,0.962758,0.062859],[0.010330,-0.067958,0.997635]]
2025-10-26T21:35:25.181Z,1761514525.181 [DAT](INFO): DAT read: Rx Time:21:35:23.9842 

2025-10-26T21:35:25.182Z,1761514525.182 [DAT](INFO): Rx dataTimestamp_ set to:1761514525.181490
2025-10-26T21:35:25.183Z,1761514525.183 [DAT](INFO): DAT read: Bearing 348.8,  13.4 (Local)

2025-10-26T21:35:25.183Z,1761514525.183 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.8,  13.4 (Local)

2025-10-26T21:35:25.185Z,1761514525.185 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed -0.3

2025-10-26T21:35:25.190Z,1761514525.190 [DAT](INFO): DAT read: 21:35:23.9842 LVL= 29904, 20209, 32754, 32755, AGC= 66, IDX= 504,-0.43, 0.352, 1.925,-0.029, 0.798, PHS=-0.344, 1.172,-0.872, RAW= 344.4,   0.5, CAL= 343.9,  -2.5, ROT= 166.1,   2.5

2025-10-26T21:35:25.204Z,1761514525.204 [DAT](INFO): got valid direction response:
 21:35:23.9842 LVL= 29904, 20209, 32754, 32755, AGC= 66, IDX= 504,-0.43, 0.352, 1.925,-0.029, 0.798, PHS=-0.344, 1.172,-0.872, RAW= 344.4,   0.5, CAL= 343.9,  -2.5, ROT= 166.1,   2.5

2025-10-26T21:35:25.204Z,1761514525.204 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-10-26T21:35:25.205Z,1761514525.205 [DAT](INFO): direction in FSK: [-0.969793,0.239999,-0.043619]
2025-10-26T21:35:25.205Z,1761514525.205 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:25.213Z,1761514525.213 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.019196
2025-10-26T21:35:25.220Z,1761514525.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.500219 s,
      deltaX: 0.300000 m,
      approachRate: 0.599738 m/s,
      rangeRepo size: 4

2025-10-26T21:35:25.220Z,1761514525.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m.
2025-10-26T21:35:25.433Z,1761514525.433 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.238457
2025-10-26T21:35:25.604Z,1761514525.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964997,-0.260793,-0.027720],[0.262055,0.963035,0.062382],[0.010427,-0.067463,0.997667]]
2025-10-26T21:35:25.686Z,1761514525.686 [DAT](INFO): DAT read: Rx Time:21:35:24.4842 

2025-10-26T21:35:25.687Z,1761514525.687 [DAT](INFO): Rx dataTimestamp_ set to:1761514525.686670
2025-10-26T21:35:25.688Z,1761514525.688 [DAT](INFO): DAT read: Bearing 348.3,  13.5 (Local)

2025-10-26T21:35:25.689Z,1761514525.689 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.3,  13.5 (Local)

2025-10-26T21:35:25.691Z,1761514525.691 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed -0.2

2025-10-26T21:35:25.696Z,1761514525.696 [DAT](INFO): DAT read: 21:35:24.4842 LVL= 31632, 20289, 32754, 32755, AGC= 67, IDX= 504,-0.23,-1.301, 0.256,-1.683,-0.849, PHS=-0.350, 1.150,-0.878, RAW= 344.5,   0.9, CAL= 344.1,  -2.1, ROT= 165.9,   2.1

2025-10-26T21:35:25.697Z,1761514525.697 [DAT](INFO): got valid direction response:
 21:35:24.4842 LVL= 31632, 20289, 32754, 32755, AGC= 67, IDX= 504,-0.23,-1.301, 0.256,-1.683,-0.849, PHS=-0.350, 1.150,-0.878, RAW= 344.5,   0.9, CAL= 344.1,  -2.1, ROT= 165.9,   2.1

2025-10-26T21:35:25.698Z,1761514525.698 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-10-26T21:35:25.703Z,1761514525.703 [DAT](INFO): direction in FSK: [-0.969221,0.243451,-0.036644]
2025-10-26T21:35:25.704Z,1761514525.704 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:25.717Z,1761514525.717 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.523153
2025-10-26T21:35:25.742Z,1761514525.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.505180 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:25.753Z,1761514525.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.415767 m,
      bearing: 181.478121 deg,
      lat: 36.779420 deg,
      lon: -121.859475 deg,
      deltaT: 0.500219 s,
      deltaX: 0.298128 m,
      approachRate: 0.595995 m/s,
      posRepo size: 4

2025-10-26T21:35:25.753Z,1761514525.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-10-26T21:35:25.937Z,1761514525.937 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.742462
2025-10-26T21:35:26.002Z,1761514526.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965204,-0.260020,-0.027769],[0.261281,0.963283,0.061794],[0.010681,-0.066900,0.997703]]
2025-10-26T21:35:26.084Z,1761514526.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-10-26T21:35:26.189Z,1761514526.189 [DAT](INFO): DAT read: Rx Time:21:35:24.9844 

2025-10-26T21:35:26.189Z,1761514526.189 [DAT](INFO): Rx dataTimestamp_ set to:1761514526.189222
2025-10-26T21:35:26.191Z,1761514526.191 [DAT](INFO): DAT read: Bearing 348.9,  13.0 (Local)

2025-10-26T21:35:26.191Z,1761514526.191 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.9,  13.0 (Local)

2025-10-26T21:35:26.194Z,1761514526.194 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed -0.4

2025-10-26T21:35:26.200Z,1761514526.200 [DAT](INFO): DAT read: 21:35:24.9844 LVL= 28432, 23153, 32754, 32755, AGC= 67, IDX= 506,-0.12,-0.104, 1.480,-0.472, 0.344, PHS=-0.347, 1.181,-0.860, RAW= 344.0,   0.3, CAL= 343.5,  -2.7, ROT= 166.5,   2.7

2025-10-26T21:35:26.202Z,1761514526.202 [DAT](INFO): got valid direction response:
 21:35:24.9844 LVL= 28432, 23153, 32754, 32755, AGC= 67, IDX= 506,-0.12,-0.104, 1.480,-0.472, 0.344, PHS=-0.347, 1.181,-0.860, RAW= 344.0,   0.3, CAL= 343.5,  -2.7, ROT= 166.5,   2.7

2025-10-26T21:35:26.202Z,1761514526.202 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-10-26T21:35:26.204Z,1761514526.204 [DAT](INFO): direction in FSK: [-0.971290,0.233186,-0.047106]
2025-10-26T21:35:26.204Z,1761514526.204 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:26.208Z,1761514526.208 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.013636
2025-10-26T21:35:26.402Z,1761514526.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965269,-0.259795,-0.027599],[0.261034,0.963412,0.060818],[0.010789,-0.065910,0.997767]]
2025-10-26T21:35:26.426Z,1761514526.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.502552 s,
      deltaX: 0.300000 m,
      approachRate: 0.596954 m/s,
      rangeRepo size: 4

2025-10-26T21:35:26.441Z,1761514526.441 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.246538
2025-10-26T21:35:26.444Z,1761514526.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.713855 m,
      bearing: 181.824292 deg,
      lat: 36.779419 deg,
      lon: -121.859477 deg,
      deltaT: 1.007732 s,
      deltaX: 0.298088 m,
      approachRate: 0.295801 m/s,
      posRepo size: 4

2025-10-26T21:35:26.444Z,1761514526.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-10-26T21:35:26.698Z,1761514526.698 [DAT](INFO): DAT read: Rx Time:21:35:25.4845 

2025-10-26T21:35:26.700Z,1761514526.700 [DAT](INFO): Rx dataTimestamp_ set to:1761514526.698541
2025-10-26T21:35:26.705Z,1761514526.705 [DAT](INFO): DAT read: Bearing 349.1,  12.0 (Local)

2025-10-26T21:35:26.706Z,1761514526.706 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.1,  12.0 (Local)

2025-10-26T21:35:26.713Z,1761514526.713 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed -0.1

2025-10-26T21:35:26.721Z,1761514526.721 [DAT](INFO): DAT read: 21:35:25.4845 LVL= 30112, 21793, 32754, 32755, AGC= 68, IDX= 506,-0.01,-0.744, 0.894,-1.078,-0.270, PHS=-0.372, 1.209,-0.852, RAW= 342.8,   0.2, CAL= 342.4,  -2.8, ROT= 167.6,   2.8

2025-10-26T21:35:26.722Z,1761514526.722 [DAT](INFO): got valid direction response:
 21:35:25.4845 LVL= 30112, 21793, 32754, 32755, AGC= 68, IDX= 506,-0.01,-0.744, 0.894,-1.078,-0.270, PHS=-0.372, 1.209,-0.852, RAW= 342.8,   0.2, CAL= 342.4,  -2.8, ROT= 167.6,   2.8

2025-10-26T21:35:26.723Z,1761514526.723 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-10-26T21:35:26.725Z,1761514526.725 [DAT](INFO): direction in FSK: [-0.975506,0.214479,-0.048850]
2025-10-26T21:35:26.725Z,1761514526.725 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:26.742Z,1761514526.742 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.547497
2025-10-26T21:35:26.810Z,1761514526.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965418,-0.259239,-0.027608],[0.260486,0.963524,0.061391],[0.010686,-0.066460,0.997732]]
2025-10-26T21:35:26.904Z,1761514526.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.509319 s,
      deltaX: 0.200000 m,
      approachRate: 0.392681 m/s,
      rangeRepo size: 4

2025-10-26T21:35:26.906Z,1761514526.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.912536 m,
      bearing: 182.899582 deg,
      lat: 36.779419 deg,
      lon: -121.859478 deg,
      deltaT: 0.509319 s,
      deltaX: 0.198681 m,
      approachRate: 0.390091 m/s,
      posRepo size: 4

2025-10-26T21:35:26.907Z,1761514526.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m.
2025-10-26T21:35:26.945Z,1761514526.945 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.750443
2025-10-26T21:35:27.197Z,1761514527.197 [DAT](INFO): DAT read: Rx Time:21:35:25.9846 

2025-10-26T21:35:27.197Z,1761514527.197 [DAT](INFO): Rx dataTimestamp_ set to:1761514527.197078
2025-10-26T21:35:27.199Z,1761514527.199 [DAT](INFO): DAT read: Bearing 348.5,  12.1 (Local)

2025-10-26T21:35:27.199Z,1761514527.199 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.5,  12.1 (Local)

2025-10-26T21:35:27.201Z,1761514527.201 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed -0.3

2025-10-26T21:35:27.206Z,1761514527.206 [DAT](INFO): DAT read: 21:35:25.9846 LVL= 31504, 17633, 32482, 32755, AGC= 71, IDX= 507, 0.11,-0.455, 1.142,-0.782, 0.025, PHS=-0.378, 1.162,-0.851, RAW= 343.0,   0.7, CAL= 342.5,  -2.2, ROT= 167.5,   2.2

2025-10-26T21:35:27.207Z,1761514527.207 [DAT](INFO): got valid direction response:
 21:35:25.9846 LVL= 31504, 17633, 32482, 32755, AGC= 71, IDX= 507, 0.11,-0.455, 1.142,-0.782, 0.025, PHS=-0.378, 1.162,-0.851, RAW= 343.0,   0.7, CAL= 342.5,  -2.2, ROT= 167.5,   2.2

2025-10-26T21:35:27.207Z,1761514527.207 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-10-26T21:35:27.209Z,1761514527.209 [DAT](INFO): direction in FSK: [-0.975576,0.216280,-0.038388]
2025-10-26T21:35:27.209Z,1761514527.209 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:27.213Z,1761514527.213 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.018524
2025-10-26T21:35:27.239Z,1761514527.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965708,-0.258155,-0.027644],[0.259411,0.963789,0.061784],[0.010693,-0.066836,0.997707]]
2025-10-26T21:35:27.315Z,1761514527.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.498537 s,
      deltaX: 0.100000 m,
      approachRate: 0.200588 m/s,
      rangeRepo size: 4

2025-10-26T21:35:27.321Z,1761514527.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.011911 m,
      bearing: 182.699183 deg,
      lat: 36.779418 deg,
      lon: -121.859478 deg,
      deltaT: 0.498537 s,
      deltaX: 0.099376 m,
      approachRate: 0.199335 m/s,
      posRepo size: 4

2025-10-26T21:35:27.322Z,1761514527.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:35:27.449Z,1761514527.449 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.254993
2025-10-26T21:35:27.706Z,1761514527.706 [DAT](INFO): DAT read: Rx Time:21:35:26.4846 

2025-10-26T21:35:27.707Z,1761514527.707 [DAT](INFO): Rx dataTimestamp_ set to:1761514527.705865
2025-10-26T21:35:27.717Z,1761514527.717 [DAT](INFO): DAT read: Bearing 348.7,  11.9 (Local)

2025-10-26T21:35:27.717Z,1761514527.717 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.7,  11.9 (Local)

2025-10-26T21:35:27.724Z,1761514527.724 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed -0.3

2025-10-26T21:35:27.738Z,1761514527.738 [DAT](INFO): DAT read: 21:35:26.4846 LVL= 31056, 21185, 32754, 32755, AGC= 71, IDX= 507, 0.26,-2.809,-1.176, 3.142,-2.324, PHS=-0.382, 1.193,-0.861, RAW= 342.9,   0.5, CAL= 342.4,  -2.4, ROT= 167.6,   2.4

2025-10-26T21:35:27.739Z,1761514527.739 [DAT](INFO): got valid direction response:
 21:35:26.4846 LVL= 31056, 21185, 32754, 32755, AGC= 71, IDX= 507, 0.26,-2.809,-1.176, 3.142,-2.324, PHS=-0.382, 1.193,-0.861, RAW= 342.9,   0.5, CAL= 342.4,  -2.4, ROT= 167.6,   2.4

2025-10-26T21:35:27.749Z,1761514527.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:35:27.752Z,1761514527.752 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-10-26T21:35:27.753Z,1761514527.753 [DAT](INFO): direction in FSK: [-0.975816,0.214547,-0.041876]
2025-10-26T21:35:27.753Z,1761514527.753 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:27.761Z,1761514527.761 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.566896
2025-10-26T21:35:27.953Z,1761514527.953 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.758266
2025-10-26T21:35:28.042Z,1761514528.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966069,-0.256810,-0.027548],[0.258054,0.964198,0.061081],[0.010876,-0.066117,0.997753]]
2025-10-26T21:35:28.152Z,1761514528.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.508787 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:28.154Z,1761514528.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.011915 m,
      bearing: 182.728941 deg,
      lat: 36.779418 deg,
      lon: -121.859481 deg,
      deltaT: 0.508787 s,
      deltaX: 0.000004 m,
      approachRate: 0.000007 m/s,
      posRepo size: 4

2025-10-26T21:35:28.155Z,1761514528.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:35:28.206Z,1761514528.206 [DAT](INFO): DAT read: Rx Time:21:35:26.9848 

2025-10-26T21:35:28.207Z,1761514528.207 [DAT](INFO): Rx dataTimestamp_ set to:1761514528.206439
2025-10-26T21:35:28.209Z,1761514528.209 [DAT](INFO): DAT read: Bearing 348.4,  11.2 (Local)

2025-10-26T21:35:28.209Z,1761514528.209 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.4,  11.2 (Local)

2025-10-26T21:35:28.213Z,1761514528.213 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed -0.3

2025-10-26T21:35:28.217Z,1761514528.217 [DAT](INFO): DAT read: 21:35:26.9848 LVL= 32384, 22353, 32754, 32755, AGC= 71, IDX= 509, 0.40,-2.364,-0.722,-2.670,-1.860, PHS=-0.402, 1.183,-0.854, RAW= 342.2,   0.8, CAL= 341.7,  -2.1, ROT= 168.3,   2.1

2025-10-26T21:35:28.219Z,1761514528.219 [DAT](INFO): got valid direction response:
 21:35:26.9848 LVL= 32384, 22353, 32754, 32755, AGC= 71, IDX= 509, 0.40,-2.364,-0.722,-2.670,-1.860, PHS=-0.402, 1.183,-0.854, RAW= 342.2,   0.8, CAL= 341.7,  -2.1, ROT= 168.3,   2.1

2025-10-26T21:35:28.219Z,1761514528.219 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-10-26T21:35:28.229Z,1761514528.229 [DAT](INFO): direction in FSK: [-0.978565,0.202651,-0.036644]
2025-10-26T21:35:28.230Z,1761514528.230 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:28.238Z,1761514528.238 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.043421
2025-10-26T21:35:28.438Z,1761514528.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966250,-0.256144,-0.027406],[0.257376,0.964404,0.060689],[0.010886,-0.065695,0.997780]]
2025-10-26T21:35:28.458Z,1761514528.458 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.263462
2025-10-26T21:35:28.565Z,1761514528.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.500574 s,
      deltaX: 0.299999 m,
      approachRate: 0.599310 m/s,
      rangeRepo size: 4

2025-10-26T21:35:28.580Z,1761514528.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.310040 m,
      bearing: 183.368271 deg,
      lat: 36.779418 deg,
      lon: -121.859481 deg,
      deltaT: 0.500574 s,
      deltaX: 0.298125 m,
      approachRate: 0.595567 m/s,
      posRepo size: 4

2025-10-26T21:35:28.582Z,1761514528.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m.
2025-10-26T21:35:28.715Z,1761514528.715 [DAT](INFO): DAT read: Rx Time:21:35:27.4848 

2025-10-26T21:35:28.717Z,1761514528.717 [DAT](INFO): Rx dataTimestamp_ set to:1761514528.715580
2025-10-26T21:35:28.720Z,1761514528.720 [DAT](INFO): DAT read: Bearing 347.9,  11.8 (Local)

2025-10-26T21:35:28.722Z,1761514528.722 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.9,  11.8 (Local)

2025-10-26T21:35:28.729Z,1761514528.729 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed -0.4

2025-10-26T21:35:28.754Z,1761514528.754 [DAT](INFO): DAT read: 21:35:27.4848 LVL= 31408, 21553, 32754, 32755, AGC= 72, IDX= 509, 0.45, 2.504,-2.182, 2.185, 3.004, PHS=-0.399, 1.142,-0.864, RAW= 342.8,   1.3, CAL= 342.3,  -1.6, ROT= 167.7,   1.6

2025-10-26T21:35:28.760Z,1761514528.760 [DAT](INFO): got valid direction response:
 21:35:27.4848 LVL= 31408, 21553, 32754, 32755, AGC= 72, IDX= 509, 0.45, 2.504,-2.182, 2.185, 3.004, PHS=-0.399, 1.142,-0.864, RAW= 342.8,   1.3, CAL= 342.3,  -1.6, ROT= 167.7,   1.6

2025-10-26T21:35:28.760Z,1761514528.760 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-26T21:35:28.761Z,1761514528.761 [DAT](INFO): direction in FSK: [-0.976665,0.212947,-0.027922]
2025-10-26T21:35:28.761Z,1761514528.761 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:28.765Z,1761514528.765 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.571144
2025-10-26T21:35:28.881Z,1761514528.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966408,-0.255572,-0.027177],[0.256786,0.964586,0.060297],[0.010805,-0.065250,0.997810]]
2025-10-26T21:35:28.961Z,1761514528.961 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.767189
2025-10-26T21:35:28.988Z,1761514528.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.509141 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:28.990Z,1761514528.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.310097 m,
      bearing: 182.701682 deg,
      lat: 36.779418 deg,
      lon: -121.859481 deg,
      deltaT: 0.509141 s,
      deltaX: 0.000056 m,
      approachRate: 0.000111 m/s,
      posRepo size: 4

2025-10-26T21:35:28.990Z,1761514528.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m.
2025-10-26T21:35:29.213Z,1761514529.213 [DAT](INFO): DAT read: Rx Time:21:35:27.9850 

2025-10-26T21:35:29.213Z,1761514529.213 [DAT](INFO): Rx dataTimestamp_ set to:1761514529.213076
2025-10-26T21:35:29.215Z,1761514529.215 [DAT](INFO): DAT read: Bearing 347.7,   2.4 (Local)

2025-10-26T21:35:29.215Z,1761514529.215 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.7,   2.4 (Local)

2025-10-26T21:35:29.217Z,1761514529.217 [DAT](INFO): DAT read: Range 11 to 50 :    14.7 m (trip time 9.8 ms) speed 0.0

2025-10-26T21:35:29.222Z,1761514529.222 [DAT](INFO): DAT read: 21:35:27.9850 LVL= 31728, 23713, 32754, 32755, AGC= 71, IDX= 512,-0.47, 0.298, 1.698, 0.336, 0.860, PHS=-0.460, 0.883,-0.568, RAW= 333.9,   2.1, CAL= 332.9,  -0.7, ROT= 177.1,   0.7

2025-10-26T21:35:29.223Z,1761514529.223 [DAT](INFO): got valid direction response:
 21:35:27.9850 LVL= 31728, 23713, 32754, 32755, AGC= 71, IDX= 512,-0.47, 0.298, 1.698, 0.336, 0.860, PHS=-0.460, 0.883,-0.568, RAW= 333.9,   2.1, CAL= 332.9,  -0.7, ROT= 177.1,   0.7

2025-10-26T21:35:29.223Z,1761514529.223 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-26T21:35:29.224Z,1761514529.224 [DAT](INFO): direction in FSK: [-0.998645,0.050589,-0.012217]
2025-10-26T21:35:29.224Z,1761514529.224 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:29.228Z,1761514529.228 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.033741
2025-10-26T21:35:29.295Z,1761514529.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966624,-0.254756,-0.027161],[0.255968,0.964817,0.060080],[0.010900,-0.065027,0.997824]]
2025-10-26T21:35:29.356Z,1761514529.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.700000 m,
      deltaT: 0.497496 s,
      deltaX: 0.300000 m,
      approachRate: 0.603020 m/s,
      rangeRepo size: 4

2025-10-26T21:35:29.358Z,1761514529.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.608224 m,
      bearing: 191.982787 deg,
      lat: 36.779419 deg,
      lon: -121.859481 deg,
      deltaT: 0.497496 s,
      deltaX: 0.298127 m,
      approachRate: 0.599255 m/s,
      posRepo size: 4

2025-10-26T21:35:29.359Z,1761514529.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-10-26T21:35:29.408Z,1761514529.408 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:35:29.465Z,1761514529.465 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.271202
2025-10-26T21:35:29.678Z,1761514529.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966756,-0.254271,-0.027006],[0.255470,0.964968,0.059773],[0.010861,-0.064685,0.997847]]
2025-10-26T21:35:29.723Z,1761514529.723 [DAT](INFO): DAT read: Rx Time:21:35:28.4850 

2025-10-26T21:35:29.725Z,1761514529.725 [DAT](INFO): Rx dataTimestamp_ set to:1761514529.724128
2025-10-26T21:35:29.730Z,1761514529.730 [DAT](INFO): DAT read: Bearing 346.9,  11.9 (Local)

2025-10-26T21:35:29.731Z,1761514529.731 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.9,  11.9 (Local)

2025-10-26T21:35:29.746Z,1761514529.746 [DAT](INFO): DAT read: Range 11 to 50 :    14.7 m (trip time 9.8 ms) speed -0.2

2025-10-26T21:35:29.758Z,1761514529.758 [DAT](INFO): DAT read: 21:35:28.4850 LVL= 32752, 23105, 32754, 32755, AGC= 71, IDX= 511, 0.47, 2.940,-1.748, 2.616,-2.816, PHS=-0.425, 1.114,-0.895, RAW= 342.9,   2.3, CAL= 342.5,  -0.6, ROT= 167.5,   0.6

2025-10-26T21:35:29.772Z,1761514529.772 [DAT](INFO): got valid direction response:
 21:35:28.4850 LVL= 32752, 23105, 32754, 32755, AGC= 71, IDX= 511, 0.47, 2.940,-1.748, 2.616,-2.816, PHS=-0.425, 1.114,-0.895, RAW= 342.9,   2.3, CAL= 342.5,  -0.6, ROT= 167.5,   0.6

2025-10-26T21:35:29.772Z,1761514529.772 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-10-26T21:35:29.773Z,1761514529.773 [DAT](INFO): direction in FSK: [-0.976242,0.216428,-0.010472]
2025-10-26T21:35:29.773Z,1761514529.773 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:29.785Z,1761514529.785 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.591202
2025-10-26T21:35:29.790Z,1761514529.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.700000 m,
      deltaT: 0.511052 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:29.801Z,1761514529.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.608224 m,
      bearing: 182.361599 deg,
      lat: 36.779419 deg,
      lon: -121.859481 deg,
      deltaT: 0.511052 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:35:29.801Z,1761514529.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-10-26T21:35:29.970Z,1761514529.970 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.775738
2025-10-26T21:35:30.165Z,1761514530.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-10-26T21:35:30.222Z,1761514530.222 [DAT](INFO): DAT read: Rx Time:21:35:28.9852 

2025-10-26T21:35:30.222Z,1761514530.222 [DAT](INFO): Rx dataTimestamp_ set to:1761514530.222053
2025-10-26T21:35:30.224Z,1761514530.224 [DAT](INFO): DAT read: Bearing 349.0,  11.4 (Local)

2025-10-26T21:35:30.224Z,1761514530.224 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.0,  11.4 (Local)

2025-10-26T21:35:30.226Z,1761514530.226 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed 0.0

2025-10-26T21:35:30.237Z,1761514530.237 [DAT](INFO): DAT read: 21:35:28.9852 LVL= 32752, 29553, 27122, 31859, AGC= 73, IDX=   2,-0.49, 2.602,-2.061, 2.298, 3.085, PHS=-0.381, 1.182,-0.831, RAW= 342.3,   0.3, CAL= 341.8,  -2.6, ROT= 168.2,   2.6

2025-10-26T21:35:30.238Z,1761514530.238 [DAT](INFO): got valid direction response:
 21:35:28.9852 LVL= 32752, 29553, 27122, 31859, AGC= 73, IDX=   2,-0.49, 2.602,-2.061, 2.298, 3.085, PHS=-0.381, 1.182,-0.831, RAW= 342.3,   0.3, CAL= 341.8,  -2.6, ROT= 168.2,   2.6

2025-10-26T21:35:30.238Z,1761514530.238 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-10-26T21:35:30.239Z,1761514530.239 [DAT](INFO): direction in FSK: [-0.977860,0.204286,-0.045363]
2025-10-26T21:35:30.244Z,1761514530.244 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:30.253Z,1761514530.253 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.058950
2025-10-26T21:35:30.412Z,1761514530.412 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:35:30.473Z,1761514530.473 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.279051
2025-10-26T21:35:30.533Z,1761514530.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967008,-0.253373,-0.026429],[0.254528,0.965266,0.058960],[0.010572,-0.063742,0.997910]]
2025-10-26T21:35:30.628Z,1761514530.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.497925 s,
      deltaX: 0.300000 m,
      approachRate: 0.602501 m/s,
      rangeRepo size: 4

2025-10-26T21:35:30.630Z,1761514530.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.906337 m,
      bearing: 183.124482 deg,
      lat: 36.779418 deg,
      lon: -121.859482 deg,
      deltaT: 0.497925 s,
      deltaX: 0.298113 m,
      approachRate: 0.598710 m/s,
      posRepo size: 4

2025-10-26T21:35:30.630Z,1761514530.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m.
2025-10-26T21:35:30.737Z,1761514530.737 [DAT](INFO): DAT read: Rx Time:21:35:29.4852 

2025-10-26T21:35:30.738Z,1761514530.738 [DAT](INFO): Rx dataTimestamp_ set to:1761514530.737490
2025-10-26T21:35:30.742Z,1761514530.742 [DAT](INFO): DAT read: Bearing 348.4,  10.6 (Local)

2025-10-26T21:35:30.744Z,1761514530.744 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.4,  10.6 (Local)

2025-10-26T21:35:30.750Z,1761514530.750 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed -0.2

2025-10-26T21:35:30.776Z,1761514530.776 [DAT](INFO): DAT read: 21:35:29.4852 LVL= 30416, 21025, 32754, 32755, AGC= 70, IDX= 497, 0.40, 3.117,-1.495, 2.834,-2.638, PHS=-0.426, 1.188,-0.856, RAW= 341.5,   1.0, CAL= 341.0,  -1.9, ROT= 169.0,   1.9

2025-10-26T21:35:30.778Z,1761514530.778 [DAT](INFO): got valid direction response:
 21:35:29.4852 LVL= 30416, 21025, 32754, 32755, AGC= 70, IDX= 497, 0.40, 3.117,-1.495, 2.834,-2.638, PHS=-0.426, 1.188,-0.856, RAW= 341.5,   1.0, CAL= 341.0,  -1.9, ROT= 169.0,   1.9

2025-10-26T21:35:30.778Z,1761514530.778 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-10-26T21:35:30.784Z,1761514530.784 [DAT](INFO): direction in FSK: [-0.981087,0.190704,-0.033155]
2025-10-26T21:35:30.784Z,1761514530.784 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:30.790Z,1761514530.790 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.596375
2025-10-26T21:35:30.928Z,1761514530.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967138,-0.252943,-0.025775],[0.254049,0.965439,0.058200],[0.010163,-0.062835,0.997972]]
2025-10-26T21:35:30.984Z,1761514530.984 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.790382
2025-10-26T21:35:31.010Z,1761514531.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.515437 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:31.016Z,1761514531.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.906356 m,
      bearing: 183.851050 deg,
      lat: 36.779419 deg,
      lon: -121.859482 deg,
      deltaT: 0.515437 s,
      deltaX: 0.000019 m,
      approachRate: 0.000037 m/s,
      posRepo size: 4

2025-10-26T21:35:31.017Z,1761514531.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m.
2025-10-26T21:35:31.237Z,1761514531.237 [DAT](INFO): DAT read: Rx Time:21:35:29.9853 

2025-10-26T21:35:31.238Z,1761514531.238 [DAT](INFO): Rx dataTimestamp_ set to:1761514531.237230
2025-10-26T21:35:31.239Z,1761514531.239 [DAT](INFO): DAT read: Bearing 347.4,  11.6 (Local)

2025-10-26T21:35:31.239Z,1761514531.239 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.4,  11.6 (Local)

2025-10-26T21:35:31.241Z,1761514531.241 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed -0.2

2025-10-26T21:35:31.246Z,1761514531.246 [DAT](INFO): DAT read: 21:35:29.9853 LVL= 32752, 26513, 32754, 32755, AGC= 71, IDX= 498, 0.27,-2.203,-0.603,-2.514,-1.681, PHS=-0.420, 1.124,-0.877, RAW= 342.6,   1.9, CAL= 342.1,  -1.0, ROT= 167.9,   1.0

2025-10-26T21:35:31.247Z,1761514531.247 [DAT](INFO): got valid direction response:
 21:35:29.9853 LVL= 32752, 26513, 32754, 32755, AGC= 71, IDX= 498, 0.27,-2.203,-0.603,-2.514,-1.681, PHS=-0.420, 1.124,-0.877, RAW= 342.6,   1.9, CAL= 342.1,  -1.0, ROT= 167.9,   1.0

2025-10-26T21:35:31.247Z,1761514531.247 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-26T21:35:31.248Z,1761514531.248 [DAT](INFO): direction in FSK: [-0.977634,0.209587,-0.017452]
2025-10-26T21:35:31.249Z,1761514531.249 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:31.254Z,1761514531.254 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.060352
2025-10-26T21:35:31.382Z,1761514531.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.499740 s,
      deltaX: 0.200000 m,
      approachRate: 0.400208 m/s,
      rangeRepo size: 4

2025-10-26T21:35:31.388Z,1761514531.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.105107 m,
      bearing: 182.698403 deg,
      lat: 36.779418 deg,
      lon: -121.859482 deg,
      deltaT: 0.499740 s,
      deltaX: 0.198751 m,
      approachRate: 0.397710 m/s,
      posRepo size: 4

2025-10-26T21:35:31.389Z,1761514531.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m.
2025-10-26T21:35:31.489Z,1761514531.489 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.295135
2025-10-26T21:35:31.745Z,1761514531.745 [DAT](INFO): DAT read: Rx Time:21:35:30.4853 

2025-10-26T21:35:31.746Z,1761514531.746 [DAT](INFO): Rx dataTimestamp_ set to:1761514531.745367
2025-10-26T21:35:31.751Z,1761514531.751 [DAT](INFO): DAT read: Bearing 347.8,  11.6 (Local)

2025-10-26T21:35:31.752Z,1761514531.752 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.8,  11.6 (Local)

2025-10-26T21:35:31.761Z,1761514531.761 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed -0.2

2025-10-26T21:35:31.793Z,1761514531.793 [DAT](INFO): DAT read: 21:35:30.4853 LVL= 30768, 19121, 32754, 32755, AGC= 70, IDX= 498, 0.14,-2.581,-0.976,-2.890,-2.069, PHS=-0.409, 1.139,-0.865, RAW= 342.5,   1.5, CAL= 342.0,  -1.4, ROT= 168.0,   1.4

2025-10-26T21:35:31.794Z,1761514531.794 [DAT](INFO): got valid direction response:
 21:35:30.4853 LVL= 30768, 19121, 32754, 32755, AGC= 70, IDX= 498, 0.14,-2.581,-0.976,-2.890,-2.069, PHS=-0.409, 1.139,-0.865, RAW= 342.5,   1.5, CAL= 342.0,  -1.4, ROT= 168.0,   1.4

2025-10-26T21:35:31.795Z,1761514531.795 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-10-26T21:35:31.804Z,1761514531.804 [DAT](INFO): direction in FSK: [-0.977856,0.207850,-0.024432]
2025-10-26T21:35:31.805Z,1761514531.805 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:31.816Z,1761514531.816 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.622398
2025-10-26T21:35:31.919Z,1761514531.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.508137 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:31.925Z,1761514531.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.105129 m,
      bearing: 182.822086 deg,
      lat: 36.779418 deg,
      lon: -121.859481 deg,
      deltaT: 0.508137 s,
      deltaX: 0.000022 m,
      approachRate: 0.000043 m/s,
      posRepo size: 4

2025-10-26T21:35:31.926Z,1761514531.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m.
2025-10-26T21:35:31.994Z,1761514531.994 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.799545
2025-10-26T21:35:32.183Z,1761514532.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967344,-0.252274,-0.024566],[0.253308,0.965621,0.058401],[0.008988,-0.062717,0.997991]]
2025-10-26T21:35:32.201Z,1761514532.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m.
2025-10-26T21:35:32.246Z,1761514532.246 [DAT](INFO): DAT read: Rx Time:21:35:30.9854 

2025-10-26T21:35:32.246Z,1761514532.246 [DAT](INFO): Rx dataTimestamp_ set to:1761514532.246132
2025-10-26T21:35:32.248Z,1761514532.248 [DAT](INFO): DAT read: Bearing 347.7,  11.3 (Local)

2025-10-26T21:35:32.249Z,1761514532.249 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.7,  11.3 (Local)

2025-10-26T21:35:32.252Z,1761514532.252 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed -0.1

2025-10-26T21:35:32.258Z,1761514532.258 [DAT](INFO): DAT read: 21:35:30.9854 LVL= 32752, 22945, 32754, 32755, AGC= 69, IDX= 500, 0.05,-0.680, 0.947,-0.983,-0.154, PHS=-0.423, 1.146,-0.873, RAW= 342.2,   1.7, CAL= 341.8,  -1.2, ROT= 168.2,   1.2

2025-10-26T21:35:32.269Z,1761514532.269 [DAT](INFO): got valid direction response:
 21:35:30.9854 LVL= 32752, 22945, 32754, 32755, AGC= 69, IDX= 500, 0.05,-0.680, 0.947,-0.983,-0.154, PHS=-0.423, 1.146,-0.873, RAW= 342.2,   1.7, CAL= 341.8,  -1.2, ROT= 168.2,   1.2

2025-10-26T21:35:32.270Z,1761514532.270 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-26T21:35:32.271Z,1761514532.271 [DAT](INFO): direction in FSK: [-0.978653,0.204451,-0.020942]
2025-10-26T21:35:32.271Z,1761514532.271 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:32.284Z,1761514532.284 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.085194
2025-10-26T21:35:32.496Z,1761514532.496 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.302254
2025-10-26T21:35:32.611Z,1761514532.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967174,-0.252966,-0.024130],[0.253965,0.965496,0.057613],[0.008723,-0.061850,0.998047]]
2025-10-26T21:35:32.635Z,1761514532.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.500765 s,
      deltaX: 0.100000 m,
      approachRate: 0.199695 m/s,
      rangeRepo size: 4

2025-10-26T21:35:32.653Z,1761514532.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.204506 m,
      bearing: 183.003621 deg,
      lat: 36.779419 deg,
      lon: -121.859482 deg,
      deltaT: 0.500765 s,
      deltaX: 0.099377 m,
      approachRate: 0.198450 m/s,
      posRepo size: 4

2025-10-26T21:35:32.653Z,1761514532.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-10-26T21:35:32.753Z,1761514532.753 [DAT](INFO): DAT read: Rx Time:21:35:31.4854 

2025-10-26T21:35:32.755Z,1761514532.755 [DAT](INFO): Rx dataTimestamp_ set to:1761514532.754039
2025-10-26T21:35:32.759Z,1761514532.759 [DAT](INFO): DAT read: Bearing 347.7,  11.5 (Local)

2025-10-26T21:35:32.760Z,1761514532.760 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.7,  11.5 (Local)

2025-10-26T21:35:32.772Z,1761514532.772 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-26T21:35:32.817Z,1761514532.817 [DAT](INFO): DAT read: 21:35:31.4854 LVL= 32160, 20865, 32754, 32755, AGC= 69, IDX= 500,-0.01,-2.491,-0.883,-2.794,-1.972, PHS=-0.418, 1.134,-0.867, RAW= 342.4,   1.7, CAL= 341.9,  -1.2, ROT= 168.1,   1.2

2025-10-26T21:35:32.818Z,1761514532.818 [DAT](INFO): got valid direction response:
 21:35:31.4854 LVL= 32160, 20865, 32754, 32755, AGC= 69, IDX= 500,-0.01,-2.491,-0.883,-2.794,-1.972, PHS=-0.418, 1.134,-0.867, RAW= 342.4,   1.7, CAL= 341.9,  -1.2, ROT= 168.1,   1.2

2025-10-26T21:35:32.819Z,1761514532.819 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-10-26T21:35:32.833Z,1761514532.833 [DAT](INFO): direction in FSK: [-0.978294,0.206159,-0.020942]
2025-10-26T21:35:32.834Z,1761514532.834 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:32.856Z,1761514532.856 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.662338
2025-10-26T21:35:32.989Z,1761514532.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967046,-0.253500,-0.023640],[0.254463,0.965403,0.056981],[0.008378,-0.061119,0.998095]]
2025-10-26T21:35:33.000Z,1761514533.000 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.806232
2025-10-26T21:35:33.044Z,1761514533.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.507907 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:33.046Z,1761514533.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.204534 m,
      bearing: 182.932009 deg,
      lat: 36.779419 deg,
      lon: -121.859482 deg,
      deltaT: 0.507907 s,
      deltaX: 0.000028 m,
      approachRate: 0.000054 m/s,
      posRepo size: 4

2025-10-26T21:35:33.047Z,1761514533.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-10-26T21:35:33.253Z,1761514533.253 [DAT](INFO): DAT read: Rx Time:21:35:31.9856 

2025-10-26T21:35:33.253Z,1761514533.253 [DAT](INFO): Rx dataTimestamp_ set to:1761514533.253161
2025-10-26T21:35:33.255Z,1761514533.255 [DAT](INFO): DAT read: Bearing 348.1,  11.3 (Local)

2025-10-26T21:35:33.255Z,1761514533.255 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.1,  11.3 (Local)

2025-10-26T21:35:33.257Z,1761514533.257 [DAT](INFO): DAT read: Range 11 to 50 :    15.6 m (trip time 10.4 ms) speed 0.0

2025-10-26T21:35:33.262Z,1761514533.262 [DAT](INFO): DAT read: 21:35:31.9856 LVL= 29616, 21105, 32754, 32755, AGC= 68, IDX= 502,-0.10,-1.618, 0.009,-1.917,-1.100, PHS=-0.416, 1.154,-0.861, RAW= 342.1,   1.4, CAL= 341.6,  -1.5, ROT= 168.4,   1.5

2025-10-26T21:35:33.263Z,1761514533.263 [DAT](INFO): got valid direction response:
 21:35:31.9856 LVL= 29616, 21105, 32754, 32755, AGC= 68, IDX= 502,-0.10,-1.618, 0.009,-1.917,-1.100, PHS=-0.416, 1.154,-0.861, RAW= 342.1,   1.4, CAL= 341.6,  -1.5, ROT= 168.4,   1.5

2025-10-26T21:35:33.263Z,1761514533.263 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-10-26T21:35:33.264Z,1761514533.264 [DAT](INFO): direction in FSK: [-0.979240,0.201009,-0.026177]
2025-10-26T21:35:33.265Z,1761514533.265 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:33.299Z,1761514533.299 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.104458
2025-10-26T21:35:33.394Z,1761514533.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967003,-0.253704,-0.023244],[0.254639,0.965373,0.056684],[0.008058,-0.060732,0.998122]]
2025-10-26T21:35:33.417Z,1761514533.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.499122 s,
      deltaX: 0.300000 m,
      approachRate: 0.601056 m/s,
      rangeRepo size: 4

2025-10-26T21:35:33.419Z,1761514533.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.502662 m,
      bearing: 183.258943 deg,
      lat: 36.779419 deg,
      lon: -121.859482 deg,
      deltaT: 0.499122 s,
      deltaX: 0.298128 m,
      approachRate: 0.597305 m/s,
      posRepo size: 4

2025-10-26T21:35:33.419Z,1761514533.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:35:33.505Z,1761514533.505 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.310577
2025-10-26T21:35:33.761Z,1761514533.761 [DAT](INFO): DAT read: Rx Time:21:35:32.4856 

2025-10-26T21:35:33.763Z,1761514533.763 [DAT](INFO): Rx dataTimestamp_ set to:1761514533.761842
2025-10-26T21:35:33.767Z,1761514533.767 [DAT](INFO): DAT read: Bearing 347.9,  11.8 (Local)

2025-10-26T21:35:33.768Z,1761514533.768 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.9,  11.8 (Local)

2025-10-26T21:35:33.777Z,1761514533.777 [DAT](INFO): DAT read: Range 11 to 50 :    15.6 m (trip time 10.4 ms) speed -0.3

2025-10-26T21:35:33.818Z,1761514533.818 [DAT](INFO): DAT read: 21:35:32.4856 LVL= 27568, 21985, 32754, 32755, AGC= 69, IDX= 502,-0.20,-2.625,-1.042,-2.937,-2.124, PHS=-0.399, 1.127,-0.858, RAW= 342.7,   1.5, CAL= 342.3,  -1.4, ROT= 167.7,   1.4

2025-10-26T21:35:33.843Z,1761514533.843 [DAT](INFO): got valid direction response:
 21:35:32.4856 LVL= 27568, 21985, 32754, 32755, AGC= 69, IDX= 502,-0.20,-2.625,-1.042,-2.937,-2.124, PHS=-0.399, 1.127,-0.858, RAW= 342.7,   1.5, CAL= 342.3,  -1.4, ROT= 167.7,   1.4

2025-10-26T21:35:33.844Z,1761514533.844 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-10-26T21:35:33.845Z,1761514533.845 [DAT](INFO): direction in FSK: [-0.976754,0.212967,-0.024432]
2025-10-26T21:35:33.845Z,1761514533.845 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:33.848Z,1761514533.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966922,-0.254037,-0.022971],[0.254954,0.965298,0.056559],[0.007806,-0.060545,0.998135]]
2025-10-26T21:35:33.857Z,1761514533.857 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.662823
2025-10-26T21:35:33.993Z,1761514533.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.508681 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:33.995Z,1761514533.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.502644 m,
      bearing: 182.572167 deg,
      lat: 36.779419 deg,
      lon: -121.859482 deg,
      deltaT: 0.508681 s,
      deltaX: -0.000018 m,
      approachRate: -0.000036 m/s,
      posRepo size: 4

2025-10-26T21:35:33.000Z,1761514534.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:35:34.008Z,1761514534.008 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.814350
2025-10-26T21:35:34.240Z,1761514534.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966808,-0.254503,-0.022588],[0.255394,0.965196,0.056304],[0.007472,-0.060204,0.998158]]
2025-10-26T21:35:34.261Z,1761514534.261 [DAT](INFO): DAT read: Rx Time:21:35:32.9858 

2025-10-26T21:35:34.262Z,1761514534.262 [DAT](INFO): Rx dataTimestamp_ set to:1761514534.261517
2025-10-26T21:35:34.263Z,1761514534.263 [DAT](INFO): DAT read: Bearing 347.7,  11.7 (Local)

2025-10-26T21:35:34.263Z,1761514534.263 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.7,  11.7 (Local)

2025-10-26T21:35:34.266Z,1761514534.266 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.0

2025-10-26T21:35:34.270Z,1761514534.270 [DAT](INFO): DAT read: 21:35:32.9858 LVL= 30704, 18417, 32754, 32755, AGC= 68, IDX= 504,-0.42,-1.032, 0.574,-1.347,-0.516, PHS=-0.414, 1.135,-0.876, RAW= 342.7,   1.7, CAL= 342.2,  -1.2, ROT= 167.8,   1.2

2025-10-26T21:35:34.271Z,1761514534.271 [DAT](INFO): got valid direction response:
 21:35:32.9858 LVL= 30704, 18417, 32754, 32755, AGC= 68, IDX= 504,-0.42,-1.032, 0.574,-1.347,-0.516, PHS=-0.414, 1.135,-0.876, RAW= 342.7,   1.7, CAL= 342.2,  -1.2, ROT= 167.8,   1.2

2025-10-26T21:35:34.272Z,1761514534.272 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-10-26T21:35:34.273Z,1761514534.273 [DAT](INFO): direction in FSK: [-0.977202,0.211278,-0.020942]
2025-10-26T21:35:34.273Z,1761514534.273 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:34.281Z,1761514534.281 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.086704
2025-10-26T21:35:34.289Z,1761514534.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.499675 s,
      deltaX: 0.299999 m,
      approachRate: 0.600389 m/s,
      rangeRepo size: 4

2025-10-26T21:35:34.291Z,1761514534.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.800771 m,
      bearing: 182.686152 deg,
      lat: 36.779419 deg,
      lon: -121.859482 deg,
      deltaT: 0.499675 s,
      deltaX: 0.298127 m,
      approachRate: 0.596642 m/s,
      posRepo size: 4

2025-10-26T21:35:34.292Z,1761514534.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-10-26T21:35:34.512Z,1761514534.512 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.318333
2025-10-26T21:35:34.642Z,1761514534.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966540,-0.255550,-0.022221],[0.256412,0.964969,0.055570],[0.007242,-0.059408,0.998208]]
2025-10-26T21:35:34.683Z,1761514534.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-10-26T21:35:34.766Z,1761514534.766 [DAT](INFO): DAT read: Rx Time:21:35:33.4857 

2025-10-26T21:35:34.766Z,1761514534.766 [DAT](INFO): Rx dataTimestamp_ set to:1761514534.765946
2025-10-26T21:35:34.769Z,1761514534.769 [DAT](INFO): DAT read: Bearing 347.9,  12.0 (Local)

2025-10-26T21:35:34.770Z,1761514534.770 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.9,  12.0 (Local)

2025-10-26T21:35:34.777Z,1761514534.777 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed -0.2

2025-10-26T21:35:34.826Z,1761514534.826 [DAT](INFO): DAT read: 21:35:33.4857 LVL= 30336, 22001, 32754, 32755, AGC= 68, IDX= 503, 0.33,-0.719, 0.886,-1.048,-0.212, PHS=-0.405, 1.143,-0.880, RAW= 343.0,   1.6, CAL= 342.5,  -1.3, ROT= 167.5,   1.3

2025-10-26T21:35:34.841Z,1761514534.841 [DAT](INFO): got valid direction response:
 21:35:33.4857 LVL= 30336, 22001, 32754, 32755, AGC= 68, IDX= 503, 0.33,-0.719, 0.886,-1.048,-0.212, PHS=-0.405, 1.143,-0.880, RAW= 343.0,   1.6, CAL= 342.5,  -1.3, ROT= 167.5,   1.3

2025-10-26T21:35:34.842Z,1761514534.842 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-10-26T21:35:34.843Z,1761514534.843 [DAT](INFO): direction in FSK: [-0.976045,0.216384,-0.022687]
2025-10-26T21:35:34.843Z,1761514534.843 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:34.851Z,1761514534.851 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.656929
2025-10-26T21:35:35.016Z,1761514535.016 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.822300
2025-10-26T21:35:35.046Z,1761514535.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966485,-0.255785,-0.021932],[0.256630,0.964908,0.055615],[0.006937,-0.059379,0.998211]]
2025-10-26T21:35:35.142Z,1761514535.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.504429 s,
      deltaX: -0.099999 m,
      approachRate: -0.198243 m/s,
      rangeRepo size: 4

2025-10-26T21:35:35.144Z,1761514535.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.701407 m,
      bearing: 182.464025 deg,
      lat: 36.779419 deg,
      lon: -121.859481 deg,
      deltaT: 0.504429 s,
      deltaX: -0.099363 m,
      approachRate: -0.196982 m/s,
      posRepo size: 4

2025-10-26T21:35:35.144Z,1761514535.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-10-26T21:35:35.269Z,1761514535.269 [DAT](INFO): DAT read: Rx Time:21:35:33.9858 

2025-10-26T21:35:35.269Z,1761514535.269 [DAT](INFO): Rx dataTimestamp_ set to:1761514535.269136
2025-10-26T21:35:35.271Z,1761514535.271 [DAT](INFO): DAT read: Bearing 347.6,  12.1 (Local)

2025-10-26T21:35:35.271Z,1761514535.271 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.6,  12.1 (Local)

2025-10-26T21:35:35.273Z,1761514535.273 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed -0.3

2025-10-26T21:35:35.278Z,1761514535.278 [DAT](INFO): DAT read: 21:35:33.9858 LVL= 28000, 21665, 32754, 32755, AGC= 68, IDX= 504, 0.12,-0.184, 1.411,-0.512, 0.327, PHS=-0.410, 1.129,-0.883, RAW= 343.0,   1.8, CAL= 342.5,  -1.1, ROT= 167.5,   1.1

2025-10-26T21:35:35.279Z,1761514535.279 [DAT](INFO): got valid direction response:
 21:35:33.9858 LVL= 28000, 21665, 32754, 32755, AGC= 68, IDX= 504, 0.12,-0.184, 1.411,-0.512, 0.327, PHS=-0.410, 1.129,-0.883, RAW= 343.0,   1.8, CAL= 342.5,  -1.1, ROT= 167.5,   1.1

2025-10-26T21:35:35.280Z,1761514535.280 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-10-26T21:35:35.280Z,1761514535.280 [DAT](INFO): direction in FSK: [-0.976116,0.216400,-0.019197]
2025-10-26T21:35:35.281Z,1761514535.281 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:35.287Z,1761514535.287 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.092525
2025-10-26T21:35:35.465Z,1761514535.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966422,-0.256027,-0.021874],[0.256868,0.964840,0.055702],[0.006843,-0.059451,0.998208]]
2025-10-26T21:35:35.520Z,1761514535.520 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.326260
2025-10-26T21:35:35.533Z,1761514535.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.503190 s,
      deltaX: 0.099999 m,
      approachRate: 0.198731 m/s,
      rangeRepo size: 4

2025-10-26T21:35:35.535Z,1761514535.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.800782 m,
      bearing: 182.466974 deg,
      lat: 36.779419 deg,
      lon: -121.859481 deg,
      deltaT: 0.503190 s,
      deltaX: 0.099375 m,
      approachRate: 0.197490 m/s,
      posRepo size: 4

2025-10-26T21:35:35.540Z,1761514535.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-10-26T21:35:35.782Z,1761514535.782 [DAT](INFO): DAT read: Rx Time:21:35:34.4858 

2025-10-26T21:35:35.784Z,1761514535.784 [DAT](INFO): Rx dataTimestamp_ set to:1761514535.782471
2025-10-26T21:35:35.790Z,1761514535.790 [DAT](INFO): DAT read: Bearing 347.6,  11.8 (Local)

2025-10-26T21:35:35.792Z,1761514535.792 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.6,  11.8 (Local)

2025-10-26T21:35:35.799Z,1761514535.799 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed -0.1

2025-10-26T21:35:35.868Z,1761514535.868 [DAT](INFO): DAT read: 21:35:34.4858 LVL= 27984, 19585, 32754, 32755, AGC= 69, IDX= 504,-0.05, 3.102,-1.583, 2.784,-2.665, PHS=-0.414, 1.127,-0.878, RAW= 342.8,   1.8, CAL= 342.3,  -1.1, ROT= 167.7,   1.1

2025-10-26T21:35:35.870Z,1761514535.870 [DAT](INFO): got valid direction response:
 21:35:34.4858 LVL= 27984, 19585, 32754, 32755, AGC= 69, IDX= 504,-0.05, 3.102,-1.583, 2.784,-2.665, PHS=-0.414, 1.127,-0.878, RAW= 342.8,   1.8, CAL= 342.3,  -1.1, ROT= 167.7,   1.1

2025-10-26T21:35:35.870Z,1761514535.870 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-10-26T21:35:35.871Z,1761514535.871 [DAT](INFO): direction in FSK: [-0.976865,0.212991,-0.019197]
2025-10-26T21:35:35.883Z,1761514535.883 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:35.887Z,1761514535.887 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.692871
2025-10-26T21:35:35.875Z,1761514535.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966404,-0.256106,-0.021724],[0.256941,0.964806,0.055950],[0.006631,-0.059652,0.998197]]
2025-10-26T21:35:35.992Z,1761514535.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.513335 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:35.994Z,1761514535.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.800778 m,
      bearing: 182.671494 deg,
      lat: 36.779419 deg,
      lon: -121.859481 deg,
      deltaT: 0.513335 s,
      deltaX: -0.000004 m,
      approachRate: -0.000007 m/s,
      posRepo size: 4

2025-10-26T21:35:35.995Z,1761514535.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-10-26T21:35:36.026Z,1761514536.026 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.832386
2025-10-26T21:35:36.262Z,1761514536.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966274,-0.256615,-0.021497],[0.257435,0.964675,0.055946],[0.006382,-0.059593,0.998202]]
2025-10-26T21:35:36.281Z,1761514536.281 [DAT](INFO): DAT read: Rx Time:21:35:34.9860 

2025-10-26T21:35:36.281Z,1761514536.281 [DAT](INFO): Rx dataTimestamp_ set to:1761514536.281039
2025-10-26T21:35:36.283Z,1761514536.283 [DAT](INFO): DAT read: Bearing 348.1,  11.6 (Local)

2025-10-26T21:35:36.283Z,1761514536.283 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.1,  11.6 (Local)

2025-10-26T21:35:36.285Z,1761514536.285 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed -0.2

2025-10-26T21:35:36.290Z,1761514536.290 [DAT](INFO): DAT read: 21:35:34.9860 LVL= 28912, 19361, 32754, 32755, AGC= 68, IDX= 506,-0.25,-2.634,-1.027,-2.945,-2.127, PHS=-0.405, 1.145,-0.862, RAW= 342.5,   1.3, CAL= 342.1,  -1.6, ROT= 167.9,   1.6

2025-10-26T21:35:36.291Z,1761514536.291 [DAT](INFO): got valid direction response:
 21:35:34.9860 LVL= 28912, 19361, 32754, 32755, AGC= 68, IDX= 506,-0.25,-2.634,-1.027,-2.945,-2.127, PHS=-0.405, 1.145,-0.862, RAW= 342.5,   1.3, CAL= 342.1,  -1.6, ROT= 167.9,   1.6

2025-10-26T21:35:36.291Z,1761514536.291 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-10-26T21:35:36.292Z,1761514536.292 [DAT](INFO): direction in FSK: [-0.977402,0.209537,-0.027922]
2025-10-26T21:35:36.292Z,1761514536.292 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:36.296Z,1761514536.296 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.102341
2025-10-26T21:35:36.356Z,1761514536.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.498568 s,
      deltaX: 0.300001 m,
      approachRate: 0.601726 m/s,
      rangeRepo size: 4

2025-10-26T21:35:36.358Z,1761514536.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.098907 m,
      bearing: 182.929111 deg,
      lat: 36.779419 deg,
      lon: -121.859481 deg,
      deltaT: 0.498568 s,
      deltaX: 0.298129 m,
      approachRate: 0.597971 m/s,
      posRepo size: 4

2025-10-26T21:35:36.358Z,1761514536.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-10-26T21:35:36.532Z,1761514536.532 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.338242
2025-10-26T21:35:36.666Z,1761514536.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966254,-0.256706,-0.021335],[0.257518,0.964638,0.056202],[0.006154,-0.059800,0.998191]]
2025-10-26T21:35:36.685Z,1761514536.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-10-26T21:35:36.789Z,1761514536.789 [DAT](INFO): DAT read: Rx Time:21:35:35.4859 

2025-10-26T21:35:36.790Z,1761514536.790 [DAT](INFO): Rx dataTimestamp_ set to:1761514536.789322
2025-10-26T21:35:36.792Z,1761514536.792 [DAT](INFO): DAT read: Bearing 347.5,  12.1 (Local)

2025-10-26T21:35:36.792Z,1761514536.792 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.5,  12.1 (Local)

2025-10-26T21:35:36.795Z,1761514536.795 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed -0.1

2025-10-26T21:35:36.829Z,1761514536.829 [DAT](INFO): DAT read: 21:35:35.4859 LVL= 27616, 20641, 32754, 32755, AGC= 68, IDX= 505, 0.37,-1.146, 0.446,-1.474,-0.633, PHS=-0.412, 1.124,-0.885, RAW= 343.0,   1.9, CAL= 342.5,  -1.0, ROT= 167.5,   1.0

2025-10-26T21:35:36.838Z,1761514536.838 [DAT](INFO): got valid direction response:
 21:35:35.4859 LVL= 27616, 20641, 32754, 32755, AGC= 68, IDX= 505, 0.37,-1.146, 0.446,-1.474,-0.633, PHS=-0.412, 1.124,-0.885, RAW= 343.0,   1.9, CAL= 342.5,  -1.0, ROT= 167.5,   1.0

2025-10-26T21:35:36.839Z,1761514536.839 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-10-26T21:35:36.868Z,1761514536.868 [DAT](INFO): direction in FSK: [-0.976147,0.216407,-0.017452]
2025-10-26T21:35:36.868Z,1761514536.868 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:36.876Z,1761514536.876 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.682201
2025-10-26T21:35:37.036Z,1761514537.036 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.842281
2025-10-26T21:35:37.113Z,1761514537.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966259,-0.256694,-0.021257],[0.257504,0.964621,0.056557],[0.005987,-0.060123,0.998173]]
2025-10-26T21:35:37.160Z,1761514537.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.508283 s,
      deltaX: -0.100000 m,
      approachRate: -0.196742 m/s,
      rangeRepo size: 4

2025-10-26T21:35:37.162Z,1761514537.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.999512 m,
      bearing: 182.500420 deg,
      lat: 36.779419 deg,
      lon: -121.859480 deg,
      deltaT: 0.508283 s,
      deltaX: -0.099396 m,
      approachRate: -0.195552 m/s,
      posRepo size: 4

2025-10-26T21:35:37.162Z,1761514537.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-10-26T21:35:37.289Z,1761514537.289 [DAT](INFO): DAT read: Rx Time:21:35:35.9861 

2025-10-26T21:35:37.290Z,1761514537.290 [DAT](INFO): Rx dataTimestamp_ set to:1761514537.289278
2025-10-26T21:35:37.291Z,1761514537.291 [DAT](INFO): DAT read: Bearing 347.6,  11.8 (Local)

2025-10-26T21:35:37.291Z,1761514537.291 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.6,  11.8 (Local)

2025-10-26T21:35:37.293Z,1761514537.293 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed -0.3

2025-10-26T21:35:37.298Z,1761514537.298 [DAT](INFO): DAT read: 21:35:35.9861 LVL= 28864, 19793, 32754, 32755, AGC= 68, IDX= 507, 0.14,-0.701, 0.910,-1.020,-0.181, PHS=-0.418, 1.136,-0.883, RAW= 342.7,   1.8, CAL= 342.2,  -1.1, ROT= 167.8,   1.1

2025-10-26T21:35:37.299Z,1761514537.299 [DAT](INFO): got valid direction response:
 21:35:35.9861 LVL= 28864, 19793, 32754, 32755, AGC= 68, IDX= 507, 0.14,-0.701, 0.910,-1.020,-0.181, PHS=-0.418, 1.136,-0.883, RAW= 342.7,   1.8, CAL= 342.2,  -1.1, ROT= 167.8,   1.1

2025-10-26T21:35:37.300Z,1761514537.300 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-10-26T21:35:37.301Z,1761514537.301 [DAT](INFO): direction in FSK: [-0.977236,0.211286,-0.019197]
2025-10-26T21:35:37.301Z,1761514537.301 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:37.305Z,1761514537.305 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.110622
2025-10-26T21:35:37.482Z,1761514537.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966172,-0.257022,-0.021228],[0.257829,0.964531,0.056606],[0.005926,-0.060164,0.998171]]
2025-10-26T21:35:37.512Z,1761514537.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.499956 s,
      deltaX: 0.299999 m,
      approachRate: 0.600051 m/s,
      rangeRepo size: 4

2025-10-26T21:35:37.514Z,1761514537.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.297638 m,
      bearing: 182.825265 deg,
      lat: 36.779419 deg,
      lon: -121.859481 deg,
      deltaT: 0.499956 s,
      deltaX: 0.298126 m,
      approachRate: 0.596305 m/s,
      posRepo size: 4

2025-10-26T21:35:37.514Z,1761514537.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-10-26T21:35:37.541Z,1761514537.541 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.346416
2025-10-26T21:35:37.793Z,1761514537.793 [DAT](INFO): DAT read: Rx Time:21:35:36.4861 

2025-10-26T21:35:37.793Z,1761514537.793 [DAT](INFO): Rx dataTimestamp_ set to:1761514537.793036
2025-10-26T21:35:37.795Z,1761514537.795 [DAT](INFO): DAT read: Bearing 348.2,  11.5 (Local)

2025-10-26T21:35:37.795Z,1761514537.795 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.2,  11.5 (Local)

2025-10-26T21:35:37.797Z,1761514537.797 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed -0.3

2025-10-26T21:35:37.810Z,1761514537.810 [DAT](INFO): DAT read: 21:35:36.4861 LVL= 27744, 19697, 32754, 32755, AGC= 68, IDX= 507,-0.03, 3.068,-1.602, 2.762,-2.706, PHS=-0.407, 1.150,-0.858, RAW= 342.4,   1.3, CAL= 341.9,  -1.6, ROT= 168.1,   1.6

2025-10-26T21:35:37.840Z,1761514537.840 [DAT](INFO): got valid direction response:
 21:35:36.4861 LVL= 27744, 19697, 32754, 32755, AGC= 68, IDX= 507,-0.03, 3.068,-1.602, 2.762,-2.706, PHS=-0.407, 1.150,-0.858, RAW= 342.4,   1.3, CAL= 341.9,  -1.6, ROT= 168.1,   1.6

2025-10-26T21:35:37.841Z,1761514537.841 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-10-26T21:35:37.845Z,1761514537.845 [DAT](INFO): direction in FSK: [-0.978128,0.206124,-0.027922]
2025-10-26T21:35:37.846Z,1761514537.846 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:37.882Z,1761514537.882 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.688324
2025-10-26T21:35:37.932Z,1761514537.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966103,-0.257281,-0.021266],[0.258089,0.964467,0.056504],[0.005973,-0.060077,0.998176]]
2025-10-26T21:35:38.024Z,1761514538.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.503758 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:38.026Z,1761514538.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.297642 m,
      bearing: 183.169008 deg,
      lat: 36.779420 deg,
      lon: -121.859481 deg,
      deltaT: 0.503758 s,
      deltaX: 0.000004 m,
      approachRate: 0.000008 m/s,
      posRepo size: 4

2025-10-26T21:35:38.027Z,1761514538.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-10-26T21:35:38.044Z,1761514538.044 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.850380
2025-10-26T21:35:38.288Z,1761514538.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966129,-0.257177,-0.021322],[0.257989,0.964497,0.056450],[0.006047,-0.060039,0.998178]]
2025-10-26T21:35:38.297Z,1761514538.297 [DAT](INFO): DAT read: Rx Time:21:35:36.9863 

2025-10-26T21:35:38.298Z,1761514538.298 [DAT](INFO): Rx dataTimestamp_ set to:1761514538.297294
2025-10-26T21:35:38.299Z,1761514538.299 [DAT](INFO): DAT read: Bearing 348.0,  11.1 (Local)

2025-10-26T21:35:38.299Z,1761514538.299 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.0,  11.1 (Local)

2025-10-26T21:35:38.301Z,1761514538.301 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed -0.2

2025-10-26T21:35:38.306Z,1761514538.306 [DAT](INFO): DAT read: 21:35:36.9863 LVL= 29552, 18929, 32754, 32755, AGC= 68, IDX= 509,-0.22,-2.566,-0.948,-2.856,-2.043, PHS=-0.421, 1.140,-0.857, RAW= 342.0,   1.5, CAL= 341.5,  -1.4, ROT= 168.5,   1.4

2025-10-26T21:35:38.307Z,1761514538.307 [DAT](INFO): got valid direction response:
 21:35:36.9863 LVL= 29552, 18929, 32754, 32755, AGC= 68, IDX= 509,-0.22,-2.566,-0.948,-2.856,-2.043, PHS=-0.421, 1.140,-0.857, RAW= 342.0,   1.5, CAL= 341.5,  -1.4, ROT= 168.5,   1.4

2025-10-26T21:35:38.308Z,1761514538.308 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-10-26T21:35:38.308Z,1761514538.308 [DAT](INFO): direction in FSK: [-0.979632,0.199308,-0.024432]
2025-10-26T21:35:38.309Z,1761514538.309 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:38.317Z,1761514538.317 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.122536
2025-10-26T21:35:38.356Z,1761514538.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.504258 s,
      deltaX: 0.300001 m,
      approachRate: 0.594936 m/s,
      rangeRepo size: 4

2025-10-26T21:35:38.358Z,1761514538.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.595772 m,
      bearing: 183.550956 deg,
      lat: 36.779418 deg,
      lon: -121.859482 deg,
      deltaT: 0.504258 s,
      deltaX: 0.298130 m,
      approachRate: 0.591225 m/s,
      posRepo size: 4

2025-10-26T21:35:38.358Z,1761514538.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m.
2025-10-26T21:35:38.549Z,1761514538.549 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.354481
2025-10-26T21:35:38.692Z,1761514538.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966150,-0.257105,-0.021260],[0.257912,0.964525,0.056332],[0.006022,-0.059908,0.998186]]
2025-10-26T21:35:38.724Z,1761514538.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m.
2025-10-26T21:35:38.802Z,1761514538.802 [DAT](INFO): DAT read: Rx Time:21:35:37.4862 

2025-10-26T21:35:38.803Z,1761514538.803 [DAT](INFO): Rx dataTimestamp_ set to:1761514538.802260
2025-10-26T21:35:38.805Z,1761514538.805 [DAT](INFO): DAT read: Bearing 347.6,  11.3 (Local)

2025-10-26T21:35:38.805Z,1761514538.805 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.6,  11.3 (Local)

2025-10-26T21:35:38.807Z,1761514538.807 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed -0.1

2025-10-26T21:35:38.817Z,1761514538.817 [DAT](INFO): DAT read: 21:35:37.4862 LVL= 29680, 19569, 32754, 32755, AGC= 68, IDX= 509,-0.48, 2.985,-1.685, 2.684,-2.771, PHS=-0.425, 1.131,-0.872, RAW= 342.3,   1.8, CAL= 341.8,  -1.1, ROT= 168.2,   1.1

2025-10-26T21:35:38.819Z,1761514538.819 [DAT](INFO): got valid direction response:
 21:35:37.4862 LVL= 29680, 19569, 32754, 32755, AGC= 68, IDX= 509,-0.48, 2.985,-1.685, 2.684,-2.771, PHS=-0.425, 1.131,-0.872, RAW= 342.3,   1.8, CAL= 341.8,  -1.1, ROT= 168.2,   1.1

2025-10-26T21:35:38.820Z,1761514538.820 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-10-26T21:35:38.821Z,1761514538.821 [DAT](INFO): direction in FSK: [-0.978687,0.204458,-0.019197]
2025-10-26T21:35:38.821Z,1761514538.821 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:38.824Z,1761514538.824 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.630413
2025-10-26T21:35:39.057Z,1761514539.057 [DAT](INFO): DAT read: Rx Time:21:35:37.9863 

2025-10-26T21:35:39.058Z,1761514539.058 [DAT](INFO): Rx dataTimestamp_ set to:1761514539.057453
2025-10-26T21:35:39.060Z,1761514539.060 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.865589
2025-10-26T21:35:39.117Z,1761514539.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966167,-0.257028,-0.021382],[0.257841,0.964558,0.056088],[0.006208,-0.059704,0.998197]]
2025-10-26T21:35:39.181Z,1761514539.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.504966 s,
      deltaX: -0.200001 m,
      approachRate: -0.396068 m/s,
      rangeRepo size: 4

2025-10-26T21:35:39.183Z,1761514539.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.397085 m,
      bearing: 183.224575 deg,
      lat: 36.779420 deg,
      lon: -121.859483 deg,
      deltaT: 0.504966 s,
      deltaX: -0.198687 m,
      approachRate: -0.393465 m/s,
      posRepo size: 4

2025-10-26T21:35:39.183Z,1761514539.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-10-26T21:35:39.305Z,1761514539.305 [DAT](INFO): DAT read: Bearing 348.2,  11.2 (Local)

2025-10-26T21:35:39.306Z,1761514539.306 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.2,  11.2 (Local)

2025-10-26T21:35:39.308Z,1761514539.308 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed -0.8

2025-10-26T21:35:39.312Z,1761514539.312 [DAT](INFO): DAT read: 21:35:37.9863 LVL= 28512, 21153, 32754, 32755, AGC= 68, IDX= 509, 0.34,-2.438,-0.815,-2.735,-1.920, PHS=-0.416, 1.150,-0.858, RAW= 342.1,   1.4, CAL= 341.6,  -1.5, ROT= 168.4,   1.5

2025-10-26T21:35:39.314Z,1761514539.314 [DAT](INFO): got valid direction response:
 21:35:37.9863 LVL= 28512, 21153, 32754, 32755, AGC= 68, IDX= 509, 0.34,-2.438,-0.815,-2.735,-1.920, PHS=-0.416, 1.150,-0.858, RAW= 342.1,   1.4, CAL= 341.6,  -1.5, ROT= 168.4,   1.5

2025-10-26T21:35:39.314Z,1761514539.314 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-10-26T21:35:39.315Z,1761514539.315 [DAT](INFO): direction in FSK: [-0.979240,0.201009,-0.026177]
2025-10-26T21:35:39.315Z,1761514539.315 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:39.319Z,1761514539.319 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.124592
2025-10-26T21:35:39.503Z,1761514539.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966243,-0.256740,-0.021442],[0.257556,0.964640,0.055993],[0.006308,-0.059625,0.998201]]
2025-10-26T21:35:39.550Z,1761514539.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.501665 s,
      deltaX: 0.200001 m,
      approachRate: 0.398674 m/s,
      rangeRepo size: 4

2025-10-26T21:35:39.559Z,1761514539.559 [DAT](INFO): DAT read: Rx Time:21:35:38.4863 

2025-10-26T21:35:39.560Z,1761514539.560 [DAT](INFO): Rx dataTimestamp_ set to:1761514539.559042
2025-10-26T21:35:39.562Z,1761514539.562 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.367142
2025-10-26T21:35:39.577Z,1761514539.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.595839 m,
      bearing: 183.430190 deg,
      lat: 36.779420 deg,
      lon: -121.859483 deg,
      deltaT: 0.501665 s,
      deltaX: 0.198753 m,
      approachRate: 0.396187 m/s,
      posRepo size: 4

2025-10-26T21:35:39.579Z,1761514539.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m.
2025-10-26T21:35:39.809Z,1761514539.809 [DAT](INFO): DAT read: Bearing 347.4,  11.6 (Local)

2025-10-26T21:35:39.810Z,1761514539.810 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.4,  11.6 (Local)

2025-10-26T21:35:39.812Z,1761514539.812 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed -0.1

2025-10-26T21:35:39.820Z,1761514539.820 [DAT](INFO): DAT read: 21:35:38.4863 LVL= 31632, 21793, 32754, 32755, AGC= 69, IDX= 493, 0.21, 2.591,-2.082, 2.281, 3.121, PHS=-0.428, 1.125,-0.885, RAW= 342.5,   2.1, CAL= 342.0,  -0.8, ROT= 168.0,   0.8

2025-10-26T21:35:39.821Z,1761514539.821 [DAT](INFO): got valid direction response:
 21:35:38.4863 LVL= 31632, 21793, 32754, 32755, AGC= 69, IDX= 493, 0.21, 2.591,-2.082, 2.281, 3.121, PHS=-0.428, 1.125,-0.885, RAW= 342.5,   2.1, CAL= 342.0,  -0.8, ROT= 168.0,   0.8

2025-10-26T21:35:39.822Z,1761514539.822 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-26T21:35:39.822Z,1761514539.822 [DAT](INFO): direction in FSK: [-0.978052,0.207891,-0.013962]
2025-10-26T21:35:39.823Z,1761514539.823 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:39.827Z,1761514539.827 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.632477
2025-10-26T21:35:39.910Z,1761514539.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966237,-0.256753,-0.021521],[0.257572,0.964654,0.055672],[0.006467,-0.059335,0.998217]]
2025-10-26T21:35:40.047Z,1761514540.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.503925 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:40.050Z,1761514540.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.595894 m,
      bearing: 182.991110 deg,
      lat: 36.779420 deg,
      lon: -121.859483 deg,
      deltaT: 0.503925 s,
      deltaX: 0.000055 m,
      approachRate: 0.000110 m/s,
      posRepo size: 4

2025-10-26T21:35:40.055Z,1761514540.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m.
2025-10-26T21:35:40.063Z,1761514540.063 [DAT](INFO): DAT read: Rx Time:21:35:38.9865 

2025-10-26T21:35:40.065Z,1761514540.065 [DAT](INFO): Rx dataTimestamp_ set to:1761514540.064051
2025-10-26T21:35:40.068Z,1761514540.068 [DAT](INFO): DAT read: Bearing 346.6,  11.3 (Local)

2025-10-26T21:35:40.069Z,1761514540.069 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.6,  11.3 (Local)

2025-10-26T21:35:40.071Z,1761514540.071 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.876556
2025-10-26T21:35:40.310Z,1761514540.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966283,-0.256570,-0.021650],[0.257397,0.964709,0.055527],[0.006639,-0.059227,0.998222]]
2025-10-26T21:35:40.314Z,1761514540.314 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed -0.4

2025-10-26T21:35:40.319Z,1761514540.319 [DAT](INFO): DAT read: 21:35:38.9865 LVL= 32480, 20721, 32754, 32755, AGC= 70, IDX= 511, 0.16,-2.886,-1.285, 3.098,-2.332, PHS=-0.452, 1.092,-0.897, RAW= 342.3,   2.9, CAL= 341.8,  -0.0, ROT= 168.2,   0.0

2025-10-26T21:35:40.324Z,1761514540.324 [DAT](INFO): got valid direction response:
 21:35:38.9865 LVL= 32480, 20721, 32754, 32755, AGC= 70, IDX= 511, 0.16,-2.886,-1.285, 3.098,-2.332, PHS=-0.452, 1.092,-0.897, RAW= 342.3,   2.9, CAL= 341.8,  -0.0, ROT= 168.2,   0.0

2025-10-26T21:35:40.325Z,1761514540.325 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-10-26T21:35:40.326Z,1761514540.326 [DAT](INFO): direction in FSK: [-0.978867,0.204496,-0.000000]
2025-10-26T21:35:40.326Z,1761514540.326 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:40.329Z,1761514540.329 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.135376
2025-10-26T21:35:40.375Z,1761514540.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.504029 s,
      deltaX: 0.299999 m,
      approachRate: 0.595202 m/s,
      rangeRepo size: 4

2025-10-26T21:35:40.381Z,1761514540.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.894022 m,
      bearing: 183.134918 deg,
      lat: 36.779420 deg,
      lon: -121.859483 deg,
      deltaT: 0.504029 s,
      deltaX: 0.298128 m,
      approachRate: 0.591490 m/s,
      posRepo size: 4

2025-10-26T21:35:40.382Z,1761514540.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-10-26T21:35:40.568Z,1761514540.568 [DAT](INFO): DAT read: Rx Time:21:35:39.4865 

2025-10-26T21:35:40.569Z,1761514540.569 [DAT](INFO): Rx dataTimestamp_ set to:1761514540.568406
2025-10-26T21:35:40.574Z,1761514540.574 [DAT](INFO): DAT read: Bearing 347.6,  10.5 (Local)

2025-10-26T21:35:40.576Z,1761514540.576 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.6,  10.5 (Local)

2025-10-26T21:35:40.590Z,1761514540.590 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed -0.2

2025-10-26T21:35:40.621Z,1761514540.621 [DAT](INFO): DAT read: 21:35:39.4865 LVL= 30704, 18721, 32754, 32755, AGC= 69, IDX= 511, 0.19, 0.904, 2.563, 0.626, 1.457, PHS=-0.450, 1.151,-0.874, RAW= 341.4,   1.9, CAL= 341.0,  -1.0, ROT= 169.0,   1.0

2025-10-26T21:35:40.622Z,1761514540.622 [DAT](INFO): got valid direction response:
 21:35:39.4865 LVL= 30704, 18721, 32754, 32755, AGC= 69, IDX= 511, 0.19, 0.904, 2.563, 0.626, 1.457, PHS=-0.450, 1.151,-0.874, RAW= 341.4,   1.9, CAL= 341.0,  -1.0, ROT= 169.0,   1.0

2025-10-26T21:35:40.622Z,1761514540.622 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-10-26T21:35:40.623Z,1761514540.623 [DAT](INFO): direction in FSK: [-0.981478,0.190780,-0.017452]
2025-10-26T21:35:40.627Z,1761514540.627 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:40.631Z,1761514540.631 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.436932
2025-10-26T21:35:40.771Z,1761514540.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.256527 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:40.781Z,1761514540.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.894022 m,
      bearing: 183.990681 deg,
      lat: 36.779420 deg,
      lon: -121.859483 deg,
      deltaT: 0.256527 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:35:40.781Z,1761514540.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-10-26T21:35:40.816Z,1761514540.816 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.622402
2025-10-26T21:35:41.069Z,1761514541.069 [DAT](INFO): DAT read: Rx Time:21:35:39.9867 

2025-10-26T21:35:41.069Z,1761514541.069 [DAT](INFO): Rx dataTimestamp_ set to:1761514541.069005
2025-10-26T21:35:41.070Z,1761514541.070 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed -0.4

2025-10-26T21:35:41.071Z,1761514541.071 [DAT](ERROR): #Rx 84: Read range message, but no direction.
2025-10-26T21:35:41.072Z,1761514541.072 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.877998
2025-10-26T21:35:41.184Z,1761514541.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.500599 s,
      deltaX: 0.299999 m,
      approachRate: 0.599281 m/s,
      rangeRepo size: 4

2025-10-26T21:35:41.184Z,1761514541.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-10-26T21:35:41.320Z,1761514541.320 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.126366
2025-10-26T21:35:41.524Z,1761514541.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966437,-0.255953,-0.022065],[0.256803,0.964880,0.055300],[0.007136,-0.059110,0.998226]]
2025-10-26T21:35:41.542Z,1761514541.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-10-26T21:35:41.573Z,1761514541.573 [DAT](INFO): DAT read: Rx Time:21:35:40.4867 

2025-10-26T21:35:41.573Z,1761514541.573 [DAT](INFO): Rx dataTimestamp_ set to:1761514541.572717
2025-10-26T21:35:41.574Z,1761514541.574 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed -0.4

2025-10-26T21:35:41.575Z,1761514541.575 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-10-26T21:35:41.576Z,1761514541.576 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.381767
2025-10-26T21:35:41.825Z,1761514541.825 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.630566
2025-10-26T21:35:41.942Z,1761514541.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966383,-0.256161,-0.022055],[0.257007,0.964848,0.054910],[0.007214,-0.058733,0.998248]]
2025-10-26T21:35:41.999Z,1761514541.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.503712 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:41.999Z,1761514541.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-10-26T21:35:42.080Z,1761514542.080 [DAT](INFO): DAT read: Rx Time:21:35:40.9869 

2025-10-26T21:35:42.082Z,1761514542.082 [DAT](INFO): Rx dataTimestamp_ set to:1761514542.080668
2025-10-26T21:35:42.086Z,1761514542.086 [DAT](INFO): DAT read: Bearing 346.9,  10.9 (Local)

2025-10-26T21:35:42.087Z,1761514542.087 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.9,  10.9 (Local)

2025-10-26T21:35:42.125Z,1761514542.125 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed -0.4

2025-10-26T21:35:42.140Z,1761514542.140 [DAT](INFO): DAT read: 21:35:40.9869 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX=   3, 0.36, 0.431, 2.068, 0.142, 0.992, PHS=-0.459, 1.121,-0.894, RAW= 341.8,   2.6, CAL= 341.3,  -0.3, ROT= 168.7,   0.3

2025-10-26T21:35:42.141Z,1761514542.141 [DAT](INFO): got valid direction response:
 21:35:40.9869 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX=   3, 0.36, 0.431, 2.068, 0.142, 0.992, PHS=-0.459, 1.121,-0.894, RAW= 341.8,   2.6, CAL= 341.3,  -0.3, ROT= 168.7,   0.3

2025-10-26T21:35:42.141Z,1761514542.141 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-10-26T21:35:42.142Z,1761514542.142 [DAT](INFO): direction in FSK: [-0.980601,0.195943,-0.005236]
2025-10-26T21:35:42.142Z,1761514542.142 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:42.150Z,1761514542.150 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.956039
2025-10-26T21:35:42.328Z,1761514542.328 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.134155
2025-10-26T21:35:42.332Z,1761514542.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966316,-0.256420,-0.021964],[0.257258,0.964806,0.054482],[0.007221,-0.058297,0.998273]]
2025-10-26T21:35:42.370Z,1761514542.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.507951 s,
      deltaX: 0.300001 m,
      approachRate: 0.590610 m/s,
      rangeRepo size: 4

2025-10-26T21:35:42.373Z,1761514542.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.490194 m,
      bearing: 183.642062 deg,
      lat: 36.779420 deg,
      lon: -121.859484 deg,
      deltaT: 1.512262 s,
      deltaX: 0.596172 m,
      approachRate: 0.394226 m/s,
      posRepo size: 4

2025-10-26T21:35:42.373Z,1761514542.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-10-26T21:35:42.584Z,1761514542.584 [DAT](INFO): DAT read: Rx Time:21:35:41.4869 

2025-10-26T21:35:42.585Z,1761514542.585 [DAT](INFO): Rx dataTimestamp_ set to:1761514542.584374
2025-10-26T21:35:42.588Z,1761514542.588 [DAT](INFO): DAT read: Bearing 347.3,  10.0 (Local)

2025-10-26T21:35:42.589Z,1761514542.589 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.3,  10.0 (Local)

2025-10-26T21:35:42.596Z,1761514542.596 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed -0.2

2025-10-26T21:35:42.598Z,1761514542.598 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-10-26T21:35:42.602Z,1761514542.602 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.406937
2025-10-26T21:35:42.738Z,1761514542.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966282,-0.256544,-0.022022],[0.257382,0.964791,0.054159],[0.007353,-0.058001,0.998289]]
2025-10-26T21:35:42.757Z,1761514542.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.503706 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:42.757Z,1761514542.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-10-26T21:35:42.838Z,1761514542.838 [DAT](INFO): DAT read: 21:35:41.4869 LVL= 32368, 24481, 32754, 32755, AGC= 71, IDX= 499, 0.36,-0.965, 0.704,-1.227,-0.395, PHS=-0.468, 1.144,-0.876, RAW= 341.0,   2.2, CAL= 340.5,  -0.7, ROT= 169.5,   0.7

2025-10-26T21:35:42.840Z,1761514542.840 [DAT](INFO): got valid direction response:
 21:35:41.4869 LVL= 32368, 24481, 32754, 32755, AGC= 71, IDX= 499, 0.36,-0.965, 0.704,-1.227,-0.395, PHS=-0.468, 1.144,-0.876, RAW= 341.0,   2.2, CAL= 340.5,  -0.7, ROT= 169.5,   0.7

2025-10-26T21:35:42.841Z,1761514542.841 [DAT](INFO): #Rx 88: Read direction message, but no range.
2025-10-26T21:35:42.842Z,1761514542.842 [DAT](INFO): direction in FSK: [-0.983182,0.182222,-0.012217]
2025-10-26T21:35:42.847Z,1761514542.847 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.652603
2025-10-26T21:35:43.088Z,1761514543.088 [DAT](INFO): DAT read: Rx Time:21:35:41.9870 

2025-10-26T21:35:43.089Z,1761514543.089 [DAT](INFO): Rx dataTimestamp_ set to:1761514543.088306
2025-10-26T21:35:43.093Z,1761514543.093 [DAT](INFO): DAT read: Bearing 346.4,  10.5 (Local)

2025-10-26T21:35:43.094Z,1761514543.094 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.4,  10.5 (Local)

2025-10-26T21:35:43.099Z,1761514543.099 [DAT](INFO): DAT read: Range 11 to 50 :    17.7 m (trip time 11.8 ms) speed 0.0

2025-10-26T21:35:43.138Z,1761514543.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966262,-0.256611,-0.022126],[0.257457,0.964760,0.054354],[0.007399,-0.058216,0.998277]]
2025-10-26T21:35:43.151Z,1761514543.151 [DAT](INFO): DAT read: 21:35:41.9870 LVL= 32752, 25649, 32754, 32755, AGC= 72, IDX= 500, 0.30,-0.703, 0.946,-0.980,-0.121, PHS=-0.480, 1.112,-0.903, RAW= 341.5,   3.0, CAL= 341.0,   0.2, ROT= 169.0,  -0.2

2025-10-26T21:35:43.160Z,1761514543.160 [DAT](INFO): got valid direction response:
 21:35:41.9870 LVL= 32752, 25649, 32754, 32755, AGC= 72, IDX= 500, 0.30,-0.703, 0.946,-0.980,-0.121, PHS=-0.480, 1.112,-0.903, RAW= 341.5,   3.0, CAL= 341.0,   0.2, ROT= 169.0,  -0.2

2025-10-26T21:35:43.161Z,1761514543.161 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-10-26T21:35:43.162Z,1761514543.162 [DAT](INFO): direction in FSK: [-0.981621,0.190808,0.003491]
2025-10-26T21:35:43.162Z,1761514543.162 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:43.174Z,1761514543.174 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.979572
2025-10-26T21:35:43.257Z,1761514543.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.700001 m,
      deltaT: 0.503932 s,
      deltaX: 0.100000 m,
      approachRate: 0.198440 m/s,
      rangeRepo size: 4

2025-10-26T21:35:43.259Z,1761514543.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.589554 m,
      bearing: 183.925481 deg,
      lat: 36.779419 deg,
      lon: -121.859485 deg,
      deltaT: 1.007638 s,
      deltaX: 0.099360 m,
      approachRate: 0.098606 m/s,
      posRepo size: 4

2025-10-26T21:35:43.263Z,1761514543.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-10-26T21:35:43.337Z,1761514543.337 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.142529
2025-10-26T21:35:43.542Z,1761514543.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966191,-0.256871,-0.022194],[0.257721,0.964680,0.054516],[0.007407,-0.058393,0.998266]]
2025-10-26T21:35:43.592Z,1761514543.592 [DAT](INFO): DAT read: Rx Time:21:35:42.4869 

2025-10-26T21:35:43.594Z,1761514543.594 [DAT](INFO): Rx dataTimestamp_ set to:1761514543.592961
2025-10-26T21:35:43.602Z,1761514543.602 [DAT](INFO): DAT read: Bearing 347.2,  10.9 (Local)

2025-10-26T21:35:43.603Z,1761514543.603 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.2,  10.9 (Local)

2025-10-26T21:35:43.625Z,1761514543.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-10-26T21:35:43.628Z,1761514543.628 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed -0.3

2025-10-26T21:35:43.641Z,1761514543.641 [DAT](INFO): DAT read: 21:35:42.4869 LVL= 30096, 21041, 32754, 32755, AGC= 72, IDX= 500, 0.21,-1.983,-0.339,-2.273,-1.430, PHS=-0.451, 1.136,-0.887, RAW= 341.8,   2.2, CAL= 341.3,  -0.7, ROT= 168.7,   0.7

2025-10-26T21:35:43.642Z,1761514543.642 [DAT](INFO): got valid direction response:
 21:35:42.4869 LVL= 30096, 21041, 32754, 32755, AGC= 72, IDX= 500, 0.21,-1.983,-0.339,-2.273,-1.430, PHS=-0.451, 1.136,-0.887, RAW= 341.8,   2.2, CAL= 341.3,  -0.7, ROT= 168.7,   0.7

2025-10-26T21:35:43.642Z,1761514543.642 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-10-26T21:35:43.664Z,1761514543.664 [DAT](INFO): direction in FSK: [-0.980541,0.195931,-0.012217]
2025-10-26T21:35:43.664Z,1761514543.664 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:43.688Z,1761514543.688 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.493401
2025-10-26T21:35:43.840Z,1761514543.840 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.646191
2025-10-26T21:35:43.969Z,1761514543.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966122,-0.257119,-0.022317],[0.257977,0.964601,0.054706],[0.007461,-0.058610,0.998253]]
2025-10-26T21:35:44.015Z,1761514544.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.504655 s,
      deltaX: -0.100000 m,
      approachRate: -0.198156 m/s,
      rangeRepo size: 4

2025-10-26T21:35:44.037Z,1761514544.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.490154 m,
      bearing: 183.707404 deg,
      lat: 36.779419 deg,
      lon: -121.859485 deg,
      deltaT: 0.504655 s,
      deltaX: -0.099400 m,
      approachRate: -0.196965 m/s,
      posRepo size: 4

2025-10-26T21:35:44.037Z,1761514544.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-10-26T21:35:44.096Z,1761514544.096 [DAT](INFO): DAT read: Rx Time:21:35:42.9871 

2025-10-26T21:35:44.098Z,1761514544.098 [DAT](INFO): Rx dataTimestamp_ set to:1761514544.096737
2025-10-26T21:35:44.101Z,1761514544.101 [DAT](INFO): DAT read: Bearing 346.3,  10.1 (Local)

2025-10-26T21:35:44.102Z,1761514544.102 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.3,  10.1 (Local)

2025-10-26T21:35:44.112Z,1761514544.112 [DAT](INFO): DAT read: Range 11 to 50 :    17.9 m (trip time 11.9 ms) speed 0.3

2025-10-26T21:35:44.136Z,1761514544.136 [DAT](INFO): DAT read: 21:35:42.9871 LVL= 32752, 20561, 32754, 32755, AGC= 71, IDX= 502, 0.02,-0.052, 1.612,-0.318, 0.540, PHS=-0.489, 1.117,-0.902, RAW= 341.1,   3.0, CAL= 340.7,   0.2, ROT= 169.3,  -0.2

2025-10-26T21:35:44.138Z,1761514544.138 [DAT](INFO): got valid direction response:
 21:35:42.9871 LVL= 32752, 20561, 32754, 32755, AGC= 71, IDX= 502, 0.02,-0.052, 1.612,-0.318, 0.540, PHS=-0.489, 1.117,-0.902, RAW= 341.1,   3.0, CAL= 340.7,   0.2, ROT= 169.3,  -0.2

2025-10-26T21:35:44.138Z,1761514544.138 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-10-26T21:35:44.164Z,1761514544.164 [DAT](INFO): direction in FSK: [-0.982607,0.185665,0.003491]
2025-10-26T21:35:44.164Z,1761514544.164 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:44.189Z,1761514544.189 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.994835
2025-10-26T21:35:44.344Z,1761514544.344 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.150333
2025-10-26T21:35:44.353Z,1761514544.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966078,-0.257277,-0.022409],[0.258144,0.964537,0.055049],[0.007451,-0.058966,0.998232]]
2025-10-26T21:35:44.401Z,1761514544.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 0.503776 s,
      deltaX: 0.299999 m,
      approachRate: 0.595501 m/s,
      rangeRepo size: 4

2025-10-26T21:35:44.407Z,1761514544.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.788280 m,
      bearing: 184.266085 deg,
      lat: 36.779418 deg,
      lon: -121.859486 deg,
      deltaT: 0.503776 s,
      deltaX: 0.298126 m,
      approachRate: 0.591783 m/s,
      posRepo size: 4

2025-10-26T21:35:44.408Z,1761514544.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-10-26T21:35:44.602Z,1761514544.602 [DAT](INFO): DAT read: Rx Time:21:35:43.4871 

2025-10-26T21:35:44.604Z,1761514544.604 [DAT](INFO): Rx dataTimestamp_ set to:1761514544.602687
2025-10-26T21:35:44.609Z,1761514544.609 [DAT](INFO): DAT read: Bearing 347.1,  10.9 (Local)

2025-10-26T21:35:44.611Z,1761514544.611 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.1,  10.9 (Local)

2025-10-26T21:35:44.623Z,1761514544.623 [DAT](INFO): DAT read: Range 11 to 50 :    17.9 m (trip time 11.9 ms) speed -0.3

2025-10-26T21:35:44.629Z,1761514544.629 [DAT](INFO): DAT read: 21:35:43.4871 LVL= 31312, 20529, 32754, 32755, AGC= 70, IDX= 502,-0.25,-0.277, 1.366,-0.567, 0.279, PHS=-0.454, 1.132,-0.890, RAW= 341.8,   2.3, CAL= 341.3,  -0.5, ROT= 168.7,   0.5

2025-10-26T21:35:44.630Z,1761514544.630 [DAT](INFO): got valid direction response:
 21:35:43.4871 LVL= 31312, 20529, 32754, 32755, AGC= 70, IDX= 502,-0.25,-0.277, 1.366,-0.567, 0.279, PHS=-0.454, 1.132,-0.890, RAW= 341.8,   2.3, CAL= 341.3,  -0.5, ROT= 168.7,   0.5

2025-10-26T21:35:44.631Z,1761514544.631 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-10-26T21:35:44.638Z,1761514544.638 [DAT](INFO): direction in FSK: [-0.980577,0.195939,-0.008727]
2025-10-26T21:35:44.639Z,1761514544.639 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:44.688Z,1761514544.688 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.494366
2025-10-26T21:35:44.755Z,1761514544.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965850,-0.258124,-0.022478],[0.258993,0.964313,0.054989],[0.007481,-0.058933,0.998234]]
2025-10-26T21:35:44.785Z,1761514544.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 0.505950 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:44.787Z,1761514544.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.788280 m,
      bearing: 183.756766 deg,
      lat: 36.779418 deg,
      lon: -121.859485 deg,
      deltaT: 0.505950 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:35:44.787Z,1761514544.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-10-26T21:35:44.849Z,1761514544.849 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.654476
2025-10-26T21:35:45.104Z,1761514545.104 [DAT](INFO): DAT read: Rx Time:21:35:43.9872 

2025-10-26T21:35:45.106Z,1761514545.106 [DAT](INFO): Rx dataTimestamp_ set to:1761514545.104756
2025-10-26T21:35:45.109Z,1761514545.109 [DAT](INFO): DAT read: Bearing 347.0,  11.8 (Local)

2025-10-26T21:35:45.110Z,1761514545.110 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.0,  11.8 (Local)

2025-10-26T21:35:45.114Z,1761514545.114 [DAT](INFO): DAT read: Range 11 to 50 :    18.0 m (trip time 12.0 ms) speed -0.1

2025-10-26T21:35:45.118Z,1761514545.118 [DAT](INFO): DAT read: 21:35:43.9872 LVL= 30160, 21233, 32754, 32755, AGC= 70, IDX= 503, 0.33,-2.853,-1.251, 3.112,-2.321, PHS=-0.430, 1.116,-0.894, RAW= 342.7,   2.3, CAL= 342.3,  -0.6, ROT= 167.7,   0.6

2025-10-26T21:35:45.121Z,1761514545.121 [DAT](INFO): got valid direction response:
 21:35:43.9872 LVL= 30160, 21233, 32754, 32755, AGC= 70, IDX= 503, 0.33,-2.853,-1.251, 3.112,-2.321, PHS=-0.430, 1.116,-0.894, RAW= 342.7,   2.3, CAL= 342.3,  -0.6, ROT= 167.7,   0.6

2025-10-26T21:35:45.121Z,1761514545.121 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-10-26T21:35:45.122Z,1761514545.122 [DAT](INFO): direction in FSK: [-0.976992,0.213019,-0.010472]
2025-10-26T21:35:45.122Z,1761514545.122 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:45.138Z,1761514545.138 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.943886
2025-10-26T21:35:45.170Z,1761514545.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965612,-0.259011,-0.022528],[0.259880,0.964079,0.054905],[0.007498,-0.058871,0.998237]]
2025-10-26T21:35:45.274Z,1761514545.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 0.502069 s,
      deltaX: 0.100000 m,
      approachRate: 0.199177 m/s,
      rangeRepo size: 4

2025-10-26T21:35:45.280Z,1761514545.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.887642 m,
      bearing: 182.816178 deg,
      lat: 36.779419 deg,
      lon: -121.859485 deg,
      deltaT: 0.502069 s,
      deltaX: 0.099361 m,
      approachRate: 0.197904 m/s,
      posRepo size: 4

2025-10-26T21:35:45.280Z,1761514545.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-10-26T21:35:45.352Z,1761514545.352 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.158401
2025-10-26T21:35:45.609Z,1761514545.609 [DAT](INFO): DAT read: Rx Time:21:35:44.4872 

2025-10-26T21:35:45.610Z,1761514545.610 [DAT](INFO): Rx dataTimestamp_ set to:1761514545.609173
2025-10-26T21:35:45.613Z,1761514545.613 [DAT](INFO): DAT read: Bearing 346.6,  12.0 (Local)

2025-10-26T21:35:45.613Z,1761514545.613 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.6,  12.0 (Local)

2025-10-26T21:35:45.615Z,1761514545.615 [DAT](INFO): DAT read: Range 11 to 50 :    18.0 m (trip time 12.0 ms) speed -0.2

2025-10-26T21:35:45.621Z,1761514545.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965428,-0.259689,-0.022587],[0.260561,0.963896,0.054878],[0.007520,-0.058866,0.998238]]
2025-10-26T21:35:45.624Z,1761514545.624 [DAT](INFO): DAT read: 21:35:44.4872 LVL= 28816, 20625, 32754, 32755, AGC= 68, IDX= 503, 0.07, 2.151,-2.544, 1.826, 2.691, PHS=-0.437, 1.093,-0.908, RAW= 343.0,   2.8, CAL= 342.5,  -0.1, ROT= 167.5,   0.1

2025-10-26T21:35:45.625Z,1761514545.625 [DAT](INFO): got valid direction response:
 21:35:44.4872 LVL= 28816, 20625, 32754, 32755, AGC= 68, IDX= 503, 0.07, 2.151,-2.544, 1.826, 2.691, PHS=-0.437, 1.093,-0.908, RAW= 343.0,   2.8, CAL= 342.5,  -0.1, ROT= 167.5,   0.1

2025-10-26T21:35:45.626Z,1761514545.626 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-10-26T21:35:45.627Z,1761514545.627 [DAT](INFO): direction in FSK: [-0.976294,0.216439,-0.001745]
2025-10-26T21:35:45.627Z,1761514545.627 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:45.645Z,1761514545.645 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.451000
2025-10-26T21:35:45.686Z,1761514545.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 0.504417 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:45.692Z,1761514545.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.887642 m,
      bearing: 182.628843 deg,
      lat: 36.779419 deg,
      lon: -121.859485 deg,
      deltaT: 0.504417 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:35:45.692Z,1761514545.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-10-26T21:35:45.857Z,1761514545.857 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.662487
2025-10-26T21:35:46.004Z,1761514546.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965118,-0.260854,-0.022418],[0.261711,0.963607,0.054482],[0.007390,-0.058449,0.998263]]
2025-10-26T21:35:46.073Z,1761514546.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-10-26T21:35:46.112Z,1761514546.112 [DAT](INFO): DAT read: Rx Time:21:35:44.9874 

2025-10-26T21:35:46.113Z,1761514546.113 [DAT](INFO): Rx dataTimestamp_ set to:1761514546.112572
2025-10-26T21:35:46.114Z,1761514546.114 [DAT](INFO): DAT read: Bearing 346.7,  11.8 (Local)

2025-10-26T21:35:46.114Z,1761514546.114 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.7,  11.8 (Local)

2025-10-26T21:35:46.117Z,1761514546.117 [DAT](INFO): DAT read: Range 11 to 50 :    18.3 m (trip time 12.2 ms) speed 0.0

2025-10-26T21:35:46.122Z,1761514546.122 [DAT](INFO): DAT read: 21:35:44.9874 LVL= 30048, 19921, 32754, 32755, AGC= 67, IDX= 505,-0.15, 2.114,-2.566, 1.793, 2.655, PHS=-0.439, 1.107,-0.906, RAW= 342.8,   2.6, CAL= 342.3,  -0.3, ROT= 167.7,   0.3

2025-10-26T21:35:46.123Z,1761514546.123 [DAT](INFO): got valid direction response:
 21:35:44.9874 LVL= 30048, 19921, 32754, 32755, AGC= 67, IDX= 505,-0.15, 2.114,-2.566, 1.793, 2.655, PHS=-0.439, 1.107,-0.906, RAW= 342.8,   2.6, CAL= 342.3,  -0.3, ROT= 167.7,   0.3

2025-10-26T21:35:46.123Z,1761514546.123 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-10-26T21:35:46.124Z,1761514546.124 [DAT](INFO): direction in FSK: [-0.977032,0.213028,-0.005236]
2025-10-26T21:35:46.124Z,1761514546.124 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:46.140Z,1761514546.140 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.946037
2025-10-26T21:35:46.361Z,1761514546.361 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.166561
2025-10-26T21:35:46.394Z,1761514546.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964853,-0.261836,-0.022360],[0.262685,0.963366,0.054065],[0.007385,-0.058039,0.998287]]
2025-10-26T21:35:46.417Z,1761514546.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 0.503399 s,
      deltaX: 0.299999 m,
      approachRate: 0.595947 m/s,
      rangeRepo size: 4

2025-10-26T21:35:46.418Z,1761514546.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.185747 m,
      bearing: 182.965074 deg,
      lat: 36.779419 deg,
      lon: -121.859482 deg,
      deltaT: 0.503399 s,
      deltaX: 0.298105 m,
      approachRate: 0.592185 m/s,
      posRepo size: 4

2025-10-26T21:35:46.419Z,1761514546.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-10-26T21:35:46.614Z,1761514546.614 [DAT](INFO): DAT read: Rx Time:21:35:45.4873 

2025-10-26T21:35:46.614Z,1761514546.614 [DAT](INFO): Rx dataTimestamp_ set to:1761514546.614031
2025-10-26T21:35:46.616Z,1761514546.616 [DAT](INFO): DAT read: Bearing 346.1,  11.8 (Local)

2025-10-26T21:35:46.616Z,1761514546.616 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.1,  11.8 (Local)

2025-10-26T21:35:46.618Z,1761514546.618 [DAT](INFO): DAT read: Range 11 to 50 :    18.2 m (trip time 12.1 ms) speed 0.0

2025-10-26T21:35:46.623Z,1761514546.623 [DAT](INFO): DAT read: 21:35:45.4873 LVL= 30544, 21745, 32754, 32755, AGC= 68, IDX= 504, 0.46, 2.198,-2.480, 1.878, 2.753, PHS=-0.453, 1.096,-0.919, RAW= 342.7,   3.1, CAL= 342.3,   0.3, ROT= 167.7,  -0.3

2025-10-26T21:35:46.624Z,1761514546.624 [DAT](INFO): got valid direction response:
 21:35:45.4873 LVL= 30544, 21745, 32754, 32755, AGC= 68, IDX= 504, 0.46, 2.198,-2.480, 1.878, 2.753, PHS=-0.453, 1.096,-0.919, RAW= 342.7,   3.1, CAL= 342.3,   0.3, ROT= 167.7,  -0.3

2025-10-26T21:35:46.625Z,1761514546.625 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-10-26T21:35:46.626Z,1761514546.626 [DAT](INFO): direction in FSK: [-0.977032,0.213028,0.005236]
2025-10-26T21:35:46.626Z,1761514546.626 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:46.629Z,1761514546.629 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.435356
2025-10-26T21:35:46.792Z,1761514546.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964594,-0.262799,-0.022246],[0.263637,0.963128,0.053668],[0.007322,-0.057632,0.998311]]
2025-10-26T21:35:46.820Z,1761514546.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.200001 m,
      deltaT: 0.501459 s,
      deltaX: -0.099998 m,
      approachRate: -0.199415 m/s,
      rangeRepo size: 4

2025-10-26T21:35:46.822Z,1761514546.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.086372 m,
      bearing: 182.988398 deg,
      lat: 36.779419 deg,
      lon: -121.859482 deg,
      deltaT: 0.501459 s,
      deltaX: -0.099375 m,
      approachRate: -0.198171 m/s,
      posRepo size: 4

2025-10-26T21:35:46.823Z,1761514546.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.09 m.
2025-10-26T21:35:46.865Z,1761514546.865 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.670933
2025-10-26T21:35:47.117Z,1761514547.117 [DAT](INFO): DAT read: Rx Time:21:35:45.9874 

2025-10-26T21:35:47.118Z,1761514547.118 [DAT](INFO): Rx dataTimestamp_ set to:1761514547.117440
2025-10-26T21:35:47.119Z,1761514547.119 [DAT](INFO): DAT read: Bearing 344.3,  11.8 (Local)

2025-10-26T21:35:47.119Z,1761514547.119 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.3,  11.8 (Local)

2025-10-26T21:35:47.122Z,1761514547.122 [DAT](INFO): DAT read: Range 11 to 50 :    18.3 m (trip time 12.2 ms) speed -0.2

2025-10-26T21:35:47.126Z,1761514547.126 [DAT](INFO): DAT read: 21:35:45.9874 LVL= 32752, 27697, 32754, 32755, AGC= 69, IDX= 505, 0.11, 2.661,-2.042, 2.346,-3.041, PHS=-0.479, 1.044,-0.940, RAW= 342.8,   4.2, CAL= 342.4,   2.1, ROT= 167.6,  -2.1

2025-10-26T21:35:47.127Z,1761514547.127 [DAT](INFO): got valid direction response:
 21:35:45.9874 LVL= 32752, 27697, 32754, 32755, AGC= 69, IDX= 505, 0.11, 2.661,-2.042, 2.346,-3.041, PHS=-0.479, 1.044,-0.940, RAW= 342.8,   4.2, CAL= 342.4,   2.1, ROT= 167.6,  -2.1

2025-10-26T21:35:47.128Z,1761514547.128 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-10-26T21:35:47.129Z,1761514547.129 [DAT](INFO): direction in FSK: [-0.976016,0.214591,0.036644]
2025-10-26T21:35:47.129Z,1761514547.129 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:47.153Z,1761514547.153 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.958641
2025-10-26T21:35:47.195Z,1761514547.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964417,-0.263446,-0.022278],[0.264284,0.962963,0.053454],[0.007370,-0.057440,0.998322]]
2025-10-26T21:35:47.285Z,1761514547.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 0.503409 s,
      deltaX: 0.099998 m,
      approachRate: 0.198643 m/s,
      rangeRepo size: 4

2025-10-26T21:35:47.292Z,1761514547.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.185762 m,
      bearing: 182.828720 deg,
      lat: 36.779419 deg,
      lon: -121.859482 deg,
      deltaT: 0.503409 s,
      deltaX: 0.099390 m,
      approachRate: 0.197434 m/s,
      posRepo size: 4

2025-10-26T21:35:47.292Z,1761514547.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-10-26T21:35:47.370Z,1761514547.370 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.176361
2025-10-26T21:35:47.618Z,1761514547.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964262,-0.264018,-0.022227],[0.264852,0.962804,0.053489],[0.007278,-0.057465,0.998321]]
2025-10-26T21:35:47.625Z,1761514547.625 [DAT](INFO): DAT read: Rx Time:21:35:46.4874 

2025-10-26T21:35:47.625Z,1761514547.625 [DAT](INFO): Rx dataTimestamp_ set to:1761514547.625157
2025-10-26T21:35:47.627Z,1761514547.627 [DAT](INFO): DAT read: Bearing 346.7,  11.5 (Local)

2025-10-26T21:35:47.627Z,1761514547.627 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.7,  11.5 (Local)

2025-10-26T21:35:47.629Z,1761514547.629 [DAT](INFO): DAT read: Range 11 to 50 :    18.3 m (trip time 12.2 ms) speed -0.2

2025-10-26T21:35:47.634Z,1761514547.634 [DAT](INFO): DAT read: 21:35:46.4874 LVL= 29936, 19281, 32754, 32755, AGC= 67, IDX= 505,-0.15,-0.158, 1.456,-0.466, 0.390, PHS=-0.445, 1.111,-0.900, RAW= 342.4,   2.6, CAL= 342.0,  -0.3, ROT= 168.0,   0.3

2025-10-26T21:35:47.635Z,1761514547.635 [DAT](INFO): got valid direction response:
 21:35:46.4874 LVL= 29936, 19281, 32754, 32755, AGC= 67, IDX= 505,-0.15,-0.158, 1.456,-0.466, 0.390, PHS=-0.445, 1.111,-0.900, RAW= 342.4,   2.6, CAL= 342.0,  -0.3, ROT= 168.0,   0.3

2025-10-26T21:35:47.635Z,1761514547.635 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-10-26T21:35:47.636Z,1761514547.636 [DAT](INFO): direction in FSK: [-0.978134,0.207909,-0.005236]
2025-10-26T21:35:47.637Z,1761514547.637 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:47.641Z,1761514547.641 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.446457
2025-10-26T21:35:47.740Z,1761514547.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 0.507717 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:47.745Z,1761514547.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.185762 m,
      bearing: 183.392935 deg,
      lat: 36.779420 deg,
      lon: -121.859482 deg,
      deltaT: 0.507717 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:35:47.746Z,1761514547.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-10-26T21:35:47.876Z,1761514547.876 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.682320
2025-10-26T21:35:48.037Z,1761514548.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964211,-0.264200,-0.022246],[0.265037,0.962739,0.053753],[0.007215,-0.057725,0.998306]]
2025-10-26T21:35:48.129Z,1761514548.129 [DAT](INFO): DAT read: Rx Time:21:35:46.9875 

2025-10-26T21:35:48.132Z,1761514548.132 [DAT](INFO): Rx dataTimestamp_ set to:1761514548.129980
2025-10-26T21:35:48.136Z,1761514548.136 [DAT](INFO): DAT read: Bearing 344.1,  11.8 (Local)

2025-10-26T21:35:48.136Z,1761514548.136 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.1,  11.8 (Local)

2025-10-26T21:35:48.138Z,1761514548.138 [DAT](INFO): DAT read: Range 11 to 50 :    18.5 m (trip time 12.3 ms) speed -0.3

2025-10-26T21:35:48.144Z,1761514548.144 [DAT](INFO): DAT read: 21:35:46.9875 LVL= 32752, 23665, 32754, 32755, AGC= 69, IDX= 506, 0.49, 2.441,-2.253, 2.130, 3.029, PHS=-0.486, 1.046,-0.944, RAW= 342.7,   4.3, CAL= 342.3,   2.2, ROT= 167.7,  -2.2

2025-10-26T21:35:48.145Z,1761514548.145 [DAT](INFO): got valid direction response:
 21:35:46.9875 LVL= 32752, 23665, 32754, 32755, AGC= 69, IDX= 506, 0.49, 2.441,-2.253, 2.130, 3.029, PHS=-0.486, 1.046,-0.944, RAW= 342.7,   4.3, CAL= 342.3,   2.2, ROT= 167.7,  -2.2

2025-10-26T21:35:48.145Z,1761514548.145 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-10-26T21:35:48.146Z,1761514548.146 [DAT](INFO): direction in FSK: [-0.976325,0.212873,0.038388]
2025-10-26T21:35:48.146Z,1761514548.146 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:48.158Z,1761514548.158 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.964039
2025-10-26T21:35:48.160Z,1761514548.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.500000 m,
      deltaT: 0.504823 s,
      deltaX: 0.200001 m,
      approachRate: 0.396180 m/s,
      rangeRepo size: 4

2025-10-26T21:35:48.162Z,1761514548.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.384516 m,
      bearing: 182.967316 deg,
      lat: 36.779420 deg,
      lon: -121.859482 deg,
      deltaT: 0.504823 s,
      deltaX: 0.198753 m,
      approachRate: 0.393709 m/s,
      posRepo size: 4

2025-10-26T21:35:48.163Z,1761514548.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-10-26T21:35:48.380Z,1761514548.380 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.186287
2025-10-26T21:35:48.430Z,1761514548.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964159,-0.264400,-0.022143],[0.265232,0.962672,0.053992],[0.007041,-0.057930,0.998296]]
2025-10-26T21:35:48.474Z,1761514548.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-10-26T21:35:48.633Z,1761514548.633 [DAT](INFO): DAT read: Rx Time:21:35:47.4875 

2025-10-26T21:35:48.634Z,1761514548.634 [DAT](INFO): Rx dataTimestamp_ set to:1761514548.633229
2025-10-26T21:35:48.635Z,1761514548.635 [DAT](INFO): DAT read: Bearing 346.6,  11.9 (Local)

2025-10-26T21:35:48.635Z,1761514548.635 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.6,  11.9 (Local)

2025-10-26T21:35:48.637Z,1761514548.637 [DAT](INFO): DAT read: Range 11 to 50 :    18.5 m (trip time 12.3 ms) speed -0.2

2025-10-26T21:35:48.642Z,1761514548.642 [DAT](INFO): DAT read: 21:35:47.4875 LVL= 31312, 20785, 32754, 32755, AGC= 68, IDX= 506, 0.22, 1.116, 2.712, 0.799, 1.656, PHS=-0.438, 1.101,-0.901, RAW= 342.8,   2.7, CAL= 342.3,  -0.2, ROT= 167.7,   0.2

2025-10-26T21:35:48.643Z,1761514548.643 [DAT](INFO): got valid direction response:
 21:35:47.4875 LVL= 31312, 20785, 32754, 32755, AGC= 68, IDX= 506, 0.22, 1.116, 2.712, 0.799, 1.656, PHS=-0.438, 1.101,-0.901, RAW= 342.8,   2.7, CAL= 342.3,  -0.2, ROT= 167.7,   0.2

2025-10-26T21:35:48.643Z,1761514548.643 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-10-26T21:35:48.644Z,1761514548.644 [DAT](INFO): direction in FSK: [-0.977040,0.213029,-0.003491]
2025-10-26T21:35:48.645Z,1761514548.645 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:48.648Z,1761514548.648 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.454376
2025-10-26T21:35:48.830Z,1761514548.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964195,-0.264269,-0.022142],[0.265103,0.962690,0.054299],[0.006966,-0.058225,0.998279]]
2025-10-26T21:35:48.861Z,1761514548.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.500000 m,
      deltaT: 0.503249 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:48.880Z,1761514548.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.384516 m,
      bearing: 183.103449 deg,
      lat: 36.779420 deg,
      lon: -121.859482 deg,
      deltaT: 0.503249 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:35:48.880Z,1761514548.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m.
2025-10-26T21:35:48.885Z,1761514548.885 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.690495
2025-10-26T21:35:49.137Z,1761514549.137 [DAT](INFO): DAT read: Rx Time:21:35:47.9876 

2025-10-26T21:35:49.137Z,1761514549.137 [DAT](INFO): Rx dataTimestamp_ set to:1761514549.137098
2025-10-26T21:35:49.139Z,1761514549.139 [DAT](INFO): DAT read: Bearing 345.3,  11.9 (Local)

2025-10-26T21:35:49.139Z,1761514549.139 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.3,  11.9 (Local)

2025-10-26T21:35:49.141Z,1761514549.141 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed -0.3

2025-10-26T21:35:49.146Z,1761514549.146 [DAT](INFO): DAT read: 21:35:47.9876 LVL= 30320, 21025, 32754, 32755, AGC= 69, IDX= 508, 0.02, 1.794,-2.892, 1.476, 2.361, PHS=-0.464, 1.075,-0.929, RAW= 342.8,   3.5, CAL= 342.3,   1.0, ROT= 167.7,  -1.0

2025-10-26T21:35:49.147Z,1761514549.147 [DAT](INFO): got valid direction response:
 21:35:47.9876 LVL= 30320, 21025, 32754, 32755, AGC= 69, IDX= 508, 0.02, 1.794,-2.892, 1.476, 2.361, PHS=-0.464, 1.075,-0.929, RAW= 342.8,   3.5, CAL= 342.3,   1.0, ROT= 167.7,  -1.0

2025-10-26T21:35:49.147Z,1761514549.147 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-10-26T21:35:49.148Z,1761514549.148 [DAT](INFO): direction in FSK: [-0.976897,0.212998,0.017452]
2025-10-26T21:35:49.148Z,1761514549.148 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:49.152Z,1761514549.152 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.958267
2025-10-26T21:35:49.234Z,1761514549.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964211,-0.264210,-0.022143],[0.265046,0.962693,0.054525],[0.006910,-0.058443,0.998267]]
2025-10-26T21:35:49.316Z,1761514549.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.503869 s,
      deltaX: 0.299999 m,
      approachRate: 0.595391 m/s,
      rangeRepo size: 4

2025-10-26T21:35:49.318Z,1761514549.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.682627 m,
      bearing: 183.033497 deg,
      lat: 36.779420 deg,
      lon: -121.859481 deg,
      deltaT: 0.503869 s,
      deltaX: 0.298111 m,
      approachRate: 0.591644 m/s,
      posRepo size: 4

2025-10-26T21:35:49.318Z,1761514549.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.68 m.
2025-10-26T21:35:49.390Z,1761514549.390 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.195442
2025-10-26T21:35:49.638Z,1761514549.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964310,-0.263859,-0.021989],[0.264689,0.962774,0.054828],[0.006703,-0.058692,0.998254]]
2025-10-26T21:35:49.641Z,1761514549.641 [DAT](INFO): DAT read: Rx Time:21:35:48.4876 

2025-10-26T21:35:49.642Z,1761514549.642 [DAT](INFO): Rx dataTimestamp_ set to:1761514549.641238
2025-10-26T21:35:49.643Z,1761514549.643 [DAT](INFO): DAT read: Bearing 346.1,  11.5 (Local)

2025-10-26T21:35:49.643Z,1761514549.643 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.1,  11.5 (Local)

2025-10-26T21:35:49.645Z,1761514549.645 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.1

2025-10-26T21:35:49.650Z,1761514549.650 [DAT](INFO): DAT read: 21:35:48.4876 LVL= 29792, 21329, 32754, 32755, AGC= 69, IDX= 508,-0.10,-0.750, 0.851,-1.051,-0.191, PHS=-0.458, 1.086,-0.904, RAW= 342.3,   3.1, CAL= 341.9,   0.3, ROT= 168.1,  -0.3

2025-10-26T21:35:49.651Z,1761514549.651 [DAT](INFO): got valid direction response:
 21:35:48.4876 LVL= 29792, 21329, 32754, 32755, AGC= 69, IDX= 508,-0.10,-0.750, 0.851,-1.051,-0.191, PHS=-0.458, 1.086,-0.904, RAW= 342.3,   3.1, CAL= 341.9,   0.3, ROT= 168.1,  -0.3

2025-10-26T21:35:49.651Z,1761514549.651 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-10-26T21:35:49.652Z,1761514549.652 [DAT](INFO): direction in FSK: [-0.978496,0.206201,0.005236]
2025-10-26T21:35:49.653Z,1761514549.653 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:49.656Z,1761514549.656 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.462326
2025-10-26T21:35:49.805Z,1761514549.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.504140 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:49.807Z,1761514549.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.682627 m,
      bearing: 183.450746 deg,
      lat: 36.779420 deg,
      lon: -121.859482 deg,
      deltaT: 0.504140 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:35:49.812Z,1761514549.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.68 m.
2025-10-26T21:35:49.892Z,1761514549.892 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.698402
2025-10-26T21:35:50.111Z,1761514550.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964414,-0.263509,-0.021642],[0.264319,0.962876,0.054818],[0.006393,-0.058588,0.998262]]
2025-10-26T21:35:50.145Z,1761514550.145 [DAT](INFO): DAT read: Rx Time:21:35:48.9878 

2025-10-26T21:35:50.146Z,1761514550.146 [DAT](INFO): Rx dataTimestamp_ set to:1761514550.145471
2025-10-26T21:35:50.147Z,1761514550.147 [DAT](INFO): DAT read: Bearing 346.8,  11.3 (Local)

2025-10-26T21:35:50.148Z,1761514550.148 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.8,  11.3 (Local)

2025-10-26T21:35:50.150Z,1761514550.150 [DAT](INFO): DAT read: Range 11 to 50 :    18.9 m (trip time 12.6 ms) speed -0.2

2025-10-26T21:35:50.155Z,1761514550.155 [DAT](INFO): DAT read: 21:35:48.9878 LVL= 31568, 18673, 32754, 32755, AGC= 68, IDX= 510,-0.20, 0.276, 1.894,-0.015, 0.828, PHS=-0.451, 1.111,-0.888, RAW= 342.0,   2.5, CAL= 341.5,  -0.3, ROT= 168.5,   0.3

2025-10-26T21:35:50.156Z,1761514550.156 [DAT](INFO): got valid direction response:
 21:35:48.9878 LVL= 31568, 18673, 32754, 32755, AGC= 68, IDX= 510,-0.20, 0.276, 1.894,-0.015, 0.828, PHS=-0.451, 1.111,-0.888, RAW= 342.0,   2.5, CAL= 341.5,  -0.3, ROT= 168.5,   0.3

2025-10-26T21:35:50.156Z,1761514550.156 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-10-26T21:35:50.157Z,1761514550.157 [DAT](INFO): direction in FSK: [-0.979911,0.199365,-0.005236]
2025-10-26T21:35:50.157Z,1761514550.157 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:50.161Z,1761514550.161 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.967163
2025-10-26T21:35:50.215Z,1761514550.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.900000 m,
      deltaT: 0.504233 s,
      deltaX: 0.100000 m,
      approachRate: 0.198322 m/s,
      rangeRepo size: 4

2025-10-26T21:35:50.217Z,1761514550.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.782001 m,
      bearing: 183.861835 deg,
      lat: 36.779420 deg,
      lon: -121.859482 deg,
      deltaT: 0.504233 s,
      deltaX: 0.099375 m,
      approachRate: 0.197081 m/s,
      posRepo size: 4

2025-10-26T21:35:50.218Z,1761514550.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-10-26T21:35:50.396Z,1761514550.396 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.202370
2025-10-26T21:35:50.450Z,1761514550.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964549,-0.263037,-0.021359],[0.263830,0.963018,0.054673],[0.006188,-0.058370,0.998276]]
2025-10-26T21:35:50.492Z,1761514550.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-10-26T21:35:50.649Z,1761514550.649 [DAT](INFO): DAT read: Rx Time:21:35:49.4877 

2025-10-26T21:35:50.649Z,1761514550.649 [DAT](INFO): Rx dataTimestamp_ set to:1761514550.649188
2025-10-26T21:35:50.651Z,1761514550.651 [DAT](INFO): DAT read: Bearing 345.8,  11.2 (Local)

2025-10-26T21:35:50.651Z,1761514550.651 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.8,  11.2 (Local)

2025-10-26T21:35:50.655Z,1761514550.655 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.6

2025-10-26T21:35:50.660Z,1761514550.660 [DAT](INFO): DAT read: 21:35:49.4877 LVL= 30432, 22737, 32754, 32755, AGC= 70, IDX= 510,-0.29,-1.258, 0.350,-1.545,-0.686, PHS=-0.470, 1.081,-0.903, RAW= 342.0,   3.3, CAL= 341.5,   0.6, ROT= 168.5,  -0.6

2025-10-26T21:35:50.661Z,1761514550.661 [DAT](INFO): got valid direction response:
 21:35:49.4877 LVL= 30432, 22737, 32754, 32755, AGC= 70, IDX= 510,-0.29,-1.258, 0.350,-1.545,-0.686, PHS=-0.470, 1.081,-0.903, RAW= 342.0,   3.3, CAL= 341.5,   0.6, ROT= 168.5,  -0.6

2025-10-26T21:35:50.661Z,1761514550.661 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-10-26T21:35:50.662Z,1761514550.662 [DAT](INFO): direction in FSK: [-0.979871,0.199357,0.010472]
2025-10-26T21:35:50.662Z,1761514550.662 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:50.666Z,1761514550.666 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.472027
2025-10-26T21:35:50.846Z,1761514550.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964834,-0.262015,-0.021038],[0.262792,0.963301,0.054691],[0.005936,-0.058297,0.998282]]
2025-10-26T21:35:50.889Z,1761514550.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.503717 s,
      deltaX: -0.100000 m,
      approachRate: -0.198525 m/s,
      rangeRepo size: 4

2025-10-26T21:35:50.895Z,1761514550.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.682627 m,
      bearing: 183.720531 deg,
      lat: 36.779420 deg,
      lon: -121.859483 deg,
      deltaT: 0.503717 s,
      deltaX: -0.099375 m,
      approachRate: -0.197283 m/s,
      posRepo size: 4

2025-10-26T21:35:50.896Z,1761514550.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.68 m.
2025-10-26T21:35:50.901Z,1761514550.901 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.706406
2025-10-26T21:35:51.153Z,1761514551.153 [DAT](INFO): DAT read: Rx Time:21:35:49.9879 

2025-10-26T21:35:51.153Z,1761514551.153 [DAT](INFO): Rx dataTimestamp_ set to:1761514551.153205
2025-10-26T21:35:51.155Z,1761514551.155 [DAT](INFO): DAT read: Bearing 346.4,  10.7 (Local)

2025-10-26T21:35:51.155Z,1761514551.155 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.4,  10.7 (Local)

2025-10-26T21:35:51.157Z,1761514551.157 [DAT](INFO): DAT read: Range 11 to 50 :    19.1 m (trip time 12.7 ms) speed 0.0

2025-10-26T21:35:51.162Z,1761514551.162 [DAT](INFO): DAT read: 21:35:49.9879 LVL= 32752, 21681, 32754, 32755, AGC= 70, IDX= 511,-0.23,-2.515,-0.885,-2.784,-1.941, PHS=-0.472, 1.101,-0.887, RAW= 341.4,   2.9, CAL= 340.9,   0.0, ROT= 169.1,  -0.0

2025-10-26T21:35:51.163Z,1761514551.163 [DAT](INFO): got valid direction response:
 21:35:49.9879 LVL= 32752, 21681, 32754, 32755, AGC= 70, IDX= 511,-0.23,-2.515,-0.885,-2.784,-1.941, PHS=-0.472, 1.101,-0.887, RAW= 341.4,   2.9, CAL= 340.9,   0.0, ROT= 169.1,  -0.0

2025-10-26T21:35:51.164Z,1761514551.164 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-10-26T21:35:51.165Z,1761514551.165 [DAT](INFO): direction in FSK: [-0.981959,0.189095,0.000000]
2025-10-26T21:35:51.165Z,1761514551.165 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:51.170Z,1761514551.170 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.975651
2025-10-26T21:35:51.250Z,1761514551.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965132,-0.260953,-0.020598],[0.261706,0.963592,0.054785],[0.005551,-0.058265,0.998286]]
2025-10-26T21:35:51.327Z,1761514551.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.100000 m,
      deltaT: 0.504017 s,
      deltaX: 0.300001 m,
      approachRate: 0.595220 m/s,
      rangeRepo size: 4

2025-10-26T21:35:51.329Z,1761514551.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.980753 m,
      bearing: 184.288786 deg,
      lat: 36.779420 deg,
      lon: -121.859484 deg,
      deltaT: 0.504017 s,
      deltaX: 0.298126 m,
      approachRate: 0.591500 m/s,
      posRepo size: 4

2025-10-26T21:35:51.330Z,1761514551.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.98 m.
2025-10-26T21:35:51.405Z,1761514551.405 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.210812
2025-10-26T21:35:51.654Z,1761514551.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965519,-0.259552,-0.020138],[0.260282,0.963955,0.055165],[0.005093,-0.058505,0.998274]]
2025-10-26T21:35:51.657Z,1761514551.657 [DAT](INFO): DAT read: Rx Time:21:35:50.4879 

2025-10-26T21:35:51.658Z,1761514551.658 [DAT](INFO): Rx dataTimestamp_ set to:1761514551.657380
2025-10-26T21:35:51.659Z,1761514551.659 [DAT](INFO): DAT read: Bearing 346.5,  10.3 (Local)

2025-10-26T21:35:51.659Z,1761514551.659 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.5,  10.3 (Local)

2025-10-26T21:35:51.661Z,1761514551.661 [DAT](INFO): DAT read: Range 11 to 50 :    19.1 m (trip time 12.7 ms) speed -0.1

2025-10-26T21:35:51.666Z,1761514551.666 [DAT](INFO): DAT read: 21:35:50.4879 LVL= 32752, 24625, 32754, 32755, AGC= 72, IDX= 511,-0.07, 1.209, 2.856, 0.952, 1.791, PHS=-0.479, 1.110,-0.883, RAW= 341.0,   2.8, CAL= 340.5,  -0.1, ROT= 169.5,   0.1

2025-10-26T21:35:51.667Z,1761514551.667 [DAT](INFO): got valid direction response:
 21:35:50.4879 LVL= 32752, 24625, 32754, 32755, AGC= 72, IDX= 511,-0.07, 1.209, 2.856, 0.952, 1.791, PHS=-0.479, 1.110,-0.883, RAW= 341.0,   2.8, CAL= 340.5,  -0.1, ROT= 169.5,   0.1

2025-10-26T21:35:51.668Z,1761514551.668 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-10-26T21:35:51.669Z,1761514551.669 [DAT](INFO): direction in FSK: [-0.983253,0.182235,-0.001745]
2025-10-26T21:35:51.669Z,1761514551.669 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:51.673Z,1761514551.673 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.478546
2025-10-26T21:35:51.722Z,1761514551.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.100000 m,
      deltaT: 0.504175 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:51.729Z,1761514551.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.980753 m,
      bearing: 184.609561 deg,
      lat: 36.779420 deg,
      lon: -121.859485 deg,
      deltaT: 0.504175 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:35:51.730Z,1761514551.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.98 m.
2025-10-26T21:35:51.908Z,1761514551.908 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.714378
2025-10-26T21:35:52.086Z,1761514552.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965861,-0.258319,-0.019573],[0.259019,0.964285,0.055360],[0.004574,-0.058540,0.998275]]
2025-10-26T21:35:52.161Z,1761514552.161 [DAT](INFO): DAT read: Rx Time:21:35:50.9881 

2025-10-26T21:35:52.161Z,1761514552.161 [DAT](INFO): Rx dataTimestamp_ set to:1761514552.160807
2025-10-26T21:35:52.162Z,1761514552.162 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed -0.1

2025-10-26T21:35:52.163Z,1761514552.163 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-10-26T21:35:52.164Z,1761514552.164 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.969864
2025-10-26T21:35:52.172Z,1761514552.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.503427 s,
      deltaX: 0.299999 m,
      approachRate: 0.595914 m/s,
      rangeRepo size: 4

2025-10-26T21:35:52.172Z,1761514552.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.98 m.
2025-10-26T21:35:52.412Z,1761514552.412 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.218399
2025-10-26T21:35:52.465Z,1761514552.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966083,-0.257534,-0.018954],[0.258198,0.964517,0.055144],[0.004080,-0.058167,0.998298]]
2025-10-26T21:35:52.505Z,1761514552.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.98 m.
2025-10-26T21:35:52.665Z,1761514552.665 [DAT](INFO): DAT read: Rx Time:21:35:51.4881 

2025-10-26T21:35:52.665Z,1761514552.665 [DAT](INFO): Rx dataTimestamp_ set to:1761514552.665209
2025-10-26T21:35:52.667Z,1761514552.667 [DAT](INFO): DAT read: Bearing 350.6,  12.3 (Local)

2025-10-26T21:35:52.667Z,1761514552.667 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.6,  12.3 (Local)

2025-10-26T21:35:52.670Z,1761514552.670 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed -0.3

2025-10-26T21:35:52.699Z,1761514552.699 [DAT](INFO): DAT read: 21:35:51.4881 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 513,-0.08,-1.164, 0.624,-1.536,-0.701, PHS=-0.361, 1.370,-0.880, RAW= 342.7,  -1.3, CAL= 342.3,  -4.2, ROT= 167.7,   4.2

2025-10-26T21:35:52.701Z,1761514552.701 [DAT](INFO): got valid direction response:
 21:35:51.4881 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 513,-0.08,-1.164, 0.624,-1.536,-0.701, PHS=-0.361, 1.370,-0.880, RAW= 342.7,  -1.3, CAL= 342.3,  -4.2, ROT= 167.7,   4.2

2025-10-26T21:35:52.701Z,1761514552.701 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-10-26T21:35:52.703Z,1761514552.703 [DAT](INFO): direction in FSK: [-0.974422,0.212458,-0.073238]
2025-10-26T21:35:52.703Z,1761514552.703 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:52.725Z,1761514552.725 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.530937
2025-10-26T21:35:52.866Z,1761514552.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966300,-0.256766,-0.018294],[0.257392,0.964750,0.054841],[0.003568,-0.057701,0.998327]]
2025-10-26T21:35:52.909Z,1761514552.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.504402 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:52.916Z,1761514552.916 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.722351
2025-10-26T21:35:52.917Z,1761514552.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.278862 m,
      bearing: 182.869075 deg,
      lat: 36.779421 deg,
      lon: -121.859485 deg,
      deltaT: 1.007829 s,
      deltaX: 0.298109 m,
      approachRate: 0.295793 m/s,
      posRepo size: 4

2025-10-26T21:35:52.917Z,1761514552.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.28 m.
2025-10-26T21:35:53.169Z,1761514553.169 [DAT](INFO): DAT read: Rx Time:21:35:51.9882 

2025-10-26T21:35:53.170Z,1761514553.170 [DAT](INFO): Rx dataTimestamp_ set to:1761514553.169295
2025-10-26T21:35:53.171Z,1761514553.171 [DAT](INFO): DAT read: Bearing 345.8,  11.8 (Local)

2025-10-26T21:35:53.171Z,1761514553.171 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.8,  11.8 (Local)

2025-10-26T21:35:53.173Z,1761514553.173 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed -0.3

2025-10-26T21:35:53.178Z,1761514553.178 [DAT](INFO): DAT read: 21:35:51.9882 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX=   3,-0.24,-2.790,-1.194,-3.094,-2.231, PHS=-0.457, 1.081,-0.907, RAW= 342.5,   3.2, CAL= 342.0,   0.4, ROT= 168.0,  -0.4

2025-10-26T21:35:53.179Z,1761514553.179 [DAT](INFO): got valid direction response:
 21:35:51.9882 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX=   3,-0.24,-2.790,-1.194,-3.094,-2.231, PHS=-0.457, 1.081,-0.907, RAW= 342.5,   3.2, CAL= 342.0,   0.4, ROT= 168.0,  -0.4

2025-10-26T21:35:53.180Z,1761514553.180 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-26T21:35:53.181Z,1761514553.181 [DAT](INFO): direction in FSK: [-0.978124,0.207907,0.006981]
2025-10-26T21:35:53.181Z,1761514553.181 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:53.188Z,1761514553.188 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.994377
2025-10-26T21:35:53.365Z,1761514553.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.504086 s,
      deltaX: 0.100000 m,
      approachRate: 0.198380 m/s,
      rangeRepo size: 4

2025-10-26T21:35:53.367Z,1761514553.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.378237 m,
      bearing: 182.912035 deg,
      lat: 36.779421 deg,
      lon: -121.859484 deg,
      deltaT: 0.504086 s,
      deltaX: 0.099375 m,
      approachRate: 0.197139 m/s,
      posRepo size: 4

2025-10-26T21:35:53.367Z,1761514553.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m.
2025-10-26T21:35:53.421Z,1761514553.421 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.227180
2025-10-26T21:35:53.673Z,1761514553.673 [DAT](INFO): DAT read: Rx Time:21:35:52.4882 

2025-10-26T21:35:53.673Z,1761514553.673 [DAT](INFO): Rx dataTimestamp_ set to:1761514553.673203
2025-10-26T21:35:53.675Z,1761514553.675 [DAT](INFO): DAT read: Bearing 345.3,  12.2 (Local)

2025-10-26T21:35:53.675Z,1761514553.675 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.3,  12.2 (Local)

2025-10-26T21:35:53.677Z,1761514553.677 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed -0.1

2025-10-26T21:35:53.682Z,1761514553.682 [DAT](INFO): DAT read: 21:35:52.4882 LVL= 32752, 26225, 32754, 32755, AGC= 73, IDX= 499,-0.39,-2.625,-1.050,-2.937,-2.066, PHS=-0.457, 1.061,-0.915, RAW= 342.8,   3.5, CAL= 342.3,   1.0, ROT= 167.7,  -1.0

2025-10-26T21:35:53.683Z,1761514553.683 [DAT](INFO): got valid direction response:
 21:35:52.4882 LVL= 32752, 26225, 32754, 32755, AGC= 73, IDX= 499,-0.39,-2.625,-1.050,-2.937,-2.066, PHS=-0.457, 1.061,-0.915, RAW= 342.8,   3.5, CAL= 342.3,   1.0, ROT= 167.7,  -1.0

2025-10-26T21:35:53.683Z,1761514553.683 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-10-26T21:35:53.684Z,1761514553.684 [DAT](INFO): direction in FSK: [-0.976897,0.212998,0.017452]
2025-10-26T21:35:53.685Z,1761514553.685 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:53.691Z,1761514553.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966759,-0.255109,-0.017190],[0.255674,0.965227,0.054484],[0.002693,-0.057068,0.998367]]
2025-10-26T21:35:53.693Z,1761514553.693 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.498863
2025-10-26T21:35:53.756Z,1761514553.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.503908 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:53.758Z,1761514553.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.378237 m,
      bearing: 182.477366 deg,
      lat: 36.779421 deg,
      lon: -121.859483 deg,
      deltaT: 0.503908 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:35:53.758Z,1761514553.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m.
2025-10-26T21:35:53.926Z,1761514553.926 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.731499
2025-10-26T21:35:54.131Z,1761514554.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966985,-0.254284,-0.016735],[0.254823,0.965450,0.054517],[0.002294,-0.056982,0.998373]]
2025-10-26T21:35:54.177Z,1761514554.177 [DAT](INFO): DAT read: Rx Time:21:35:52.9883 

2025-10-26T21:35:54.178Z,1761514554.178 [DAT](INFO): Rx dataTimestamp_ set to:1761514554.177279
2025-10-26T21:35:54.179Z,1761514554.179 [DAT](INFO): DAT read: Bearing 345.3,  12.2 (Local)

2025-10-26T21:35:54.180Z,1761514554.180 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.3,  12.2 (Local)

2025-10-26T21:35:54.182Z,1761514554.182 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed -0.4

2025-10-26T21:35:54.187Z,1761514554.187 [DAT](INFO): DAT read: 21:35:52.9883 LVL= 32752, 29297, 32754, 32755, AGC= 72, IDX= 500,-0.42, 2.849,-1.863, 2.538,-2.877, PHS=-0.456, 1.059,-0.912, RAW= 342.8,   3.5, CAL= 342.3,   1.0, ROT= 167.7,  -1.0

2025-10-26T21:35:54.188Z,1761514554.188 [DAT](INFO): got valid direction response:
 21:35:52.9883 LVL= 32752, 29297, 32754, 32755, AGC= 72, IDX= 500,-0.42, 2.849,-1.863, 2.538,-2.877, PHS=-0.456, 1.059,-0.912, RAW= 342.8,   3.5, CAL= 342.3,   1.0, ROT= 167.7,  -1.0

2025-10-26T21:35:54.188Z,1761514554.188 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-10-26T21:35:54.189Z,1761514554.189 [DAT](INFO): direction in FSK: [-0.976897,0.212998,0.017452]
2025-10-26T21:35:54.189Z,1761514554.189 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:54.193Z,1761514554.193 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.998985
2025-10-26T21:35:54.241Z,1761514554.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.504076 s,
      deltaX: 0.200001 m,
      approachRate: 0.396767 m/s,
      rangeRepo size: 4

2025-10-26T21:35:54.243Z,1761514554.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.576998 m,
      bearing: 182.426976 deg,
      lat: 36.779421 deg,
      lon: -121.859482 deg,
      deltaT: 0.504076 s,
      deltaX: 0.198761 m,
      approachRate: 0.394308 m/s,
      posRepo size: 4

2025-10-26T21:35:54.248Z,1761514554.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.58 m.
2025-10-26T21:35:54.429Z,1761514554.429 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.234894
2025-10-26T21:35:54.499Z,1761514554.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967089,-0.253923,-0.016184],[0.254432,0.965551,0.054548],[0.001775,-0.056871,0.998380]]
2025-10-26T21:35:54.544Z,1761514554.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.58 m.
2025-10-26T21:35:54.681Z,1761514554.681 [DAT](INFO): DAT read: Rx Time:21:35:53.4883 

2025-10-26T21:35:54.682Z,1761514554.682 [DAT](INFO): Rx dataTimestamp_ set to:1761514554.681159
2025-10-26T21:35:54.683Z,1761514554.683 [DAT](INFO): DAT read: Bearing 345.4,  11.4 (Local)

2025-10-26T21:35:54.684Z,1761514554.684 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.4,  11.4 (Local)

2025-10-26T21:35:54.687Z,1761514554.687 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed -0.3

2025-10-26T21:35:54.704Z,1761514554.704 [DAT](INFO): DAT read: 21:35:53.4883 LVL= 32752, 29121, 32754, 32755, AGC= 74, IDX= 500,-0.47, 1.146, 2.769, 0.854, 1.728, PHS=-0.479, 1.086,-0.918, RAW= 342.0,   3.4, CAL= 341.6,   0.9, ROT= 168.4,  -0.9

2025-10-26T21:35:54.705Z,1761514554.705 [DAT](INFO): got valid direction response:
 21:35:53.4883 LVL= 32752, 29121, 32754, 32755, AGC= 74, IDX= 500,-0.47, 1.146, 2.769, 0.854, 1.728, PHS=-0.479, 1.086,-0.918, RAW= 342.0,   3.4, CAL= 341.6,   0.9, ROT= 168.4,  -0.9

2025-10-26T21:35:54.706Z,1761514554.706 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-10-26T21:35:54.707Z,1761514554.707 [DAT](INFO): direction in FSK: [-0.979454,0.201053,0.015707]
2025-10-26T21:35:54.712Z,1761514554.712 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:54.721Z,1761514554.721 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.526680
2025-10-26T21:35:54.902Z,1761514554.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967141,-0.253747,-0.015804],[0.254235,0.965599,0.054615],[0.001402,-0.056839,0.998382]]
2025-10-26T21:35:54.933Z,1761514554.933 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.739124
2025-10-26T21:35:54.974Z,1761514554.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.503880 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:54.981Z,1761514554.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.577036 m,
      bearing: 183.096481 deg,
      lat: 36.779421 deg,
      lon: -121.859482 deg,
      deltaT: 0.503880 s,
      deltaX: 0.000038 m,
      approachRate: 0.000076 m/s,
      posRepo size: 4

2025-10-26T21:35:54.982Z,1761514554.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.58 m.
2025-10-26T21:35:55.185Z,1761514555.185 [DAT](INFO): DAT read: Rx Time:21:35:53.9886 

2025-10-26T21:35:55.185Z,1761514555.185 [DAT](INFO): Rx dataTimestamp_ set to:1761514555.185203
2025-10-26T21:35:55.187Z,1761514555.187 [DAT](INFO): DAT read: Bearing 345.5,  11.0 (Local)

2025-10-26T21:35:55.187Z,1761514555.187 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.5,  11.0 (Local)

2025-10-26T21:35:55.189Z,1761514555.189 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed -0.2

2025-10-26T21:35:55.194Z,1761514555.194 [DAT](INFO): DAT read: 21:35:53.9886 LVL= 32752, 28017, 32754, 32755, AGC= 73, IDX= 502, 0.49,-3.063,-1.446, 2.946,-2.479, PHS=-0.482, 1.078,-0.903, RAW= 341.6,   3.4, CAL= 341.2,   0.9, ROT= 168.8,  -0.9

2025-10-26T21:35:55.195Z,1761514555.195 [DAT](INFO): got valid direction response:
 21:35:53.9886 LVL= 32752, 28017, 32754, 32755, AGC= 73, IDX= 502, 0.49,-3.063,-1.446, 2.946,-2.479, PHS=-0.482, 1.078,-0.903, RAW= 341.6,   3.4, CAL= 341.2,   0.9, ROT= 168.8,  -0.9

2025-10-26T21:35:55.196Z,1761514555.196 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-10-26T21:35:55.197Z,1761514555.197 [DAT](INFO): direction in FSK: [-0.980834,0.194210,0.015707]
2025-10-26T21:35:55.197Z,1761514555.197 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:55.216Z,1761514555.216 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.021751
2025-10-26T21:35:55.393Z,1761514555.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.504044 s,
      deltaX: 0.400000 m,
      approachRate: 0.793581 m/s,
      rangeRepo size: 4

2025-10-26T21:35:55.395Z,1761514555.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.974539 m,
      bearing: 183.495822 deg,
      lat: 36.779420 deg,
      lon: -121.859483 deg,
      deltaT: 0.504044 s,
      deltaX: 0.397503 m,
      approachRate: 0.788627 m/s,
      posRepo size: 4

2025-10-26T21:35:55.400Z,1761514555.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.97 m.
2025-10-26T21:35:55.437Z,1761514555.437 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.243332
2025-10-26T21:35:55.689Z,1761514555.689 [DAT](INFO): DAT read: Rx Time:21:35:54.4886 

2025-10-26T21:35:55.689Z,1761514555.689 [DAT](INFO): Rx dataTimestamp_ set to:1761514555.689206
2025-10-26T21:35:55.691Z,1761514555.691 [DAT](INFO): DAT read: Bearing 346.5,  11.1 (Local)

2025-10-26T21:35:55.691Z,1761514555.691 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.5,  11.1 (Local)

2025-10-26T21:35:55.693Z,1761514555.693 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed -0.1

2025-10-26T21:35:55.712Z,1761514555.712 [DAT](INFO): DAT read: 21:35:54.4886 LVL= 31776, 22737, 32754, 32755, AGC= 72, IDX= 502, 0.21, 2.599,-2.065, 2.324,-3.122, PHS=-0.460, 1.102,-0.881, RAW= 341.6,   2.7, CAL= 341.1,  -0.2, ROT= 168.9,   0.2

2025-10-26T21:35:55.713Z,1761514555.713 [DAT](INFO): got valid direction response:
 21:35:54.4886 LVL= 31776, 22737, 32754, 32755, AGC= 72, IDX= 502, 0.21, 2.599,-2.065, 2.324,-3.122, PHS=-0.460, 1.102,-0.881, RAW= 341.6,   2.7, CAL= 341.1,  -0.2, ROT= 168.9,   0.2

2025-10-26T21:35:55.714Z,1761514555.714 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-10-26T21:35:55.715Z,1761514555.715 [DAT](INFO): direction in FSK: [-0.981287,0.192521,-0.003491]
2025-10-26T21:35:55.732Z,1761514555.732 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:55.735Z,1761514555.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966984,-0.254374,-0.015340],[0.254834,0.965448,0.054497],[0.000948,-0.056607,0.998396]]
2025-10-26T21:35:55.744Z,1761514555.744 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.549477
2025-10-26T21:35:55.785Z,1761514555.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.504003 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:55.791Z,1761514555.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.974539 m,
      bearing: 183.692071 deg,
      lat: 36.779420 deg,
      lon: -121.859483 deg,
      deltaT: 0.504003 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:35:55.792Z,1761514555.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.97 m.
2025-10-26T21:35:55.941Z,1761514555.941 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.746918
2025-10-26T21:35:56.158Z,1761514556.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966594,-0.255876,-0.014930],[0.256311,0.965049,0.054633],[0.000429,-0.056635,0.998395]]
2025-10-26T21:35:56.193Z,1761514556.193 [DAT](INFO): DAT read: Rx Time:21:35:54.9888 

2025-10-26T21:35:56.193Z,1761514556.193 [DAT](INFO): Rx dataTimestamp_ set to:1761514556.193193
2025-10-26T21:35:56.195Z,1761514556.195 [DAT](INFO): DAT read: Bearing 346.7,  11.7 (Local)

2025-10-26T21:35:56.195Z,1761514556.195 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.7,  11.7 (Local)

2025-10-26T21:35:56.197Z,1761514556.197 [DAT](INFO): DAT read: Range 11 to 50 :    20.4 m (trip time 13.6 ms) speed -0.3

2025-10-26T21:35:56.202Z,1761514556.202 [DAT](INFO): DAT read: 21:35:54.9888 LVL= 30928, 20321, 32754, 32755, AGC= 70, IDX= 504,-0.18,-1.707,-0.082,-2.006,-1.154, PHS=-0.450, 1.117,-0.896, RAW= 342.2,   2.5, CAL= 341.7,  -0.4, ROT= 168.3,   0.4

2025-10-26T21:35:56.203Z,1761514556.203 [DAT](INFO): got valid direction response:
 21:35:54.9888 LVL= 30928, 20321, 32754, 32755, AGC= 70, IDX= 504,-0.18,-1.707,-0.082,-2.006,-1.154, PHS=-0.450, 1.117,-0.896, RAW= 342.2,   2.5, CAL= 341.7,  -0.4, ROT= 168.3,   0.4

2025-10-26T21:35:56.203Z,1761514556.203 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-10-26T21:35:56.204Z,1761514556.204 [DAT](INFO): direction in FSK: [-0.979199,0.202782,-0.006981]
2025-10-26T21:35:56.205Z,1761514556.205 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:56.221Z,1761514556.221 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.026512
2025-10-26T21:35:56.261Z,1761514556.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.400000 m,
      deltaT: 0.503987 s,
      deltaX: 0.299999 m,
      approachRate: 0.595252 m/s,
      rangeRepo size: 4

2025-10-26T21:35:56.263Z,1761514556.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.272635 m,
      bearing: 183.191643 deg,
      lat: 36.779420 deg,
      lon: -121.859483 deg,
      deltaT: 0.503987 s,
      deltaX: 0.298096 m,
      approachRate: 0.591475 m/s,
      posRepo size: 4

2025-10-26T21:35:56.268Z,1761514556.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-10-26T21:35:56.446Z,1761514556.446 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.251347
2025-10-26T21:35:56.622Z,1761514556.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-10-26T21:35:56.699Z,1761514556.699 [DAT](INFO): DAT read: Rx Time:21:35:55.4887 

2025-10-26T21:35:56.700Z,1761514556.700 [DAT](INFO): Rx dataTimestamp_ set to:1761514556.699454
2025-10-26T21:35:56.702Z,1761514556.702 [DAT](INFO): DAT read: Bearing 345.2,  12.5 (Local)

2025-10-26T21:35:56.702Z,1761514556.702 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.2,  12.5 (Local)

2025-10-26T21:35:56.705Z,1761514556.705 [DAT](INFO): DAT read: Range 11 to 50 :    20.3 m (trip time 13.5 ms) speed -0.2

2025-10-26T21:35:56.728Z,1761514556.728 [DAT](INFO): DAT read: 21:35:55.4887 LVL= 29392, 24305, 32754, 32755, AGC= 69, IDX= 503, 0.36, 0.535, 2.121, 0.206, 1.095, PHS=-0.458, 1.071,-0.933, RAW= 343.1,   3.6, CAL= 342.7,   1.1, ROT= 167.3,  -1.1

2025-10-26T21:35:56.730Z,1761514556.730 [DAT](INFO): got valid direction response:
 21:35:55.4887 LVL= 29392, 24305, 32754, 32755, AGC= 69, IDX= 503, 0.36, 0.535, 2.121, 0.206, 1.095, PHS=-0.458, 1.071,-0.933, RAW= 343.1,   3.6, CAL= 342.7,   1.1, ROT= 167.3,  -1.1

2025-10-26T21:35:56.730Z,1761514556.730 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-10-26T21:35:56.739Z,1761514556.739 [DAT](INFO): direction in FSK: [-0.975355,0.219806,0.019197]
2025-10-26T21:35:56.740Z,1761514556.740 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:56.752Z,1761514556.752 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.557442
2025-10-26T21:35:56.927Z,1761514556.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966373,-0.256707,-0.014991],[0.257144,0.964807,0.054994],[0.000347,-0.057000,0.998374]]
2025-10-26T21:35:56.950Z,1761514556.950 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.755444
2025-10-26T21:35:56.982Z,1761514556.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.299999 m,
      deltaT: 0.506261 s,
      deltaX: -0.100000 m,
      approachRate: -0.197527 m/s,
      rangeRepo size: 4

2025-10-26T21:35:56.989Z,1761514556.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.173256 m,
      bearing: 182.159498 deg,
      lat: 36.779419 deg,
      lon: -121.859483 deg,
      deltaT: 0.506261 s,
      deltaX: -0.099379 m,
      approachRate: -0.196299 m/s,
      posRepo size: 4

2025-10-26T21:35:56.989Z,1761514556.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.17 m.
2025-10-26T21:35:57.202Z,1761514557.202 [DAT](INFO): DAT read: Rx Time:21:35:55.9889 

2025-10-26T21:35:57.202Z,1761514557.202 [DAT](INFO): Rx dataTimestamp_ set to:1761514557.202035
2025-10-26T21:35:57.204Z,1761514557.204 [DAT](INFO): DAT read: Bearing 344.2,  11.8 (Local)

2025-10-26T21:35:57.205Z,1761514557.205 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.2,  11.8 (Local)

2025-10-26T21:35:57.213Z,1761514557.213 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed 0.0

2025-10-26T21:35:57.218Z,1761514557.218 [DAT](INFO): DAT read: 21:35:55.9889 LVL= 32752, 23089, 32754, 32755, AGC= 69, IDX= 505, 0.10, 1.313, 2.916, 1.008, 1.906, PHS=-0.492, 1.055,-0.942, RAW= 342.4,   4.2, CAL= 342.0,   2.1, ROT= 168.0,  -2.1

2025-10-26T21:35:57.223Z,1761514557.223 [DAT](INFO): got valid direction response:
 21:35:55.9889 LVL= 32752, 23089, 32754, 32755, AGC= 69, IDX= 505, 0.10, 1.313, 2.916, 1.008, 1.906, PHS=-0.492, 1.055,-0.942, RAW= 342.4,   4.2, CAL= 342.0,   2.1, ROT= 168.0,  -2.1

2025-10-26T21:35:57.224Z,1761514557.224 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-10-26T21:35:57.225Z,1761514557.225 [DAT](INFO): direction in FSK: [-0.977491,0.207772,0.036644]
2025-10-26T21:35:57.225Z,1761514557.225 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:57.233Z,1761514557.233 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.038544
2025-10-26T21:35:57.326Z,1761514557.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966159,-0.257511,-0.015035],[0.257949,0.964567,0.055437],[0.000227,-0.057440,0.998349]]
2025-10-26T21:35:57.405Z,1761514557.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.502581 s,
      deltaX: 0.300001 m,
      approachRate: 0.596921 m/s,
      rangeRepo size: 4

2025-10-26T21:35:57.407Z,1761514557.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.471384 m,
      bearing: 182.849705 deg,
      lat: 36.779419 deg,
      lon: -121.859483 deg,
      deltaT: 0.502581 s,
      deltaX: 0.298128 m,
      approachRate: 0.593194 m/s,
      posRepo size: 4

2025-10-26T21:35:57.411Z,1761514557.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.47 m.
2025-10-26T21:35:57.454Z,1761514557.454 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.260204
2025-10-26T21:35:57.706Z,1761514557.706 [DAT](INFO): DAT read: Rx Time:21:35:56.4889 

2025-10-26T21:35:57.706Z,1761514557.706 [DAT](INFO): Rx dataTimestamp_ set to:1761514557.705870
2025-10-26T21:35:57.708Z,1761514557.708 [DAT](INFO): DAT read: Bearing 343.0,  11.7 (Local)

2025-10-26T21:35:57.709Z,1761514557.709 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.0,  11.7 (Local)

2025-10-26T21:35:57.712Z,1761514557.712 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed -0.4

2025-10-26T21:35:57.735Z,1761514557.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965974,-0.258194,-0.015206],[0.258641,0.964348,0.056014],[0.000201,-0.058041,0.998314]]
2025-10-26T21:35:57.746Z,1761514557.746 [DAT](INFO): DAT read: 21:35:56.4889 LVL= 32752, 26945, 32754, 32755, AGC= 69, IDX= 505,-0.13,-1.321, 0.260,-1.616,-0.711, PHS=-0.508, 1.016,-0.949, RAW= 342.4,   5.0, CAL= 342.0,   3.3, ROT= 168.0,  -3.3

2025-10-26T21:35:57.747Z,1761514557.747 [DAT](INFO): got valid direction response:
 21:35:56.4889 LVL= 32752, 26945, 32754, 32755, AGC= 69, IDX= 505,-0.13,-1.321, 0.260,-1.616,-0.711, PHS=-0.508, 1.016,-0.949, RAW= 342.4,   5.0, CAL= 342.0,   3.3, ROT= 168.0,  -3.3

2025-10-26T21:35:57.756Z,1761514557.756 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-10-26T21:35:57.757Z,1761514557.757 [DAT](INFO): direction in FSK: [-0.976526,0.207567,0.057564]
2025-10-26T21:35:57.757Z,1761514557.757 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:57.769Z,1761514557.769 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.574665
2025-10-26T21:35:57.797Z,1761514557.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.503835 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:57.799Z,1761514557.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.471384 m,
      bearing: 182.821738 deg,
      lat: 36.779418 deg,
      lon: -121.859481 deg,
      deltaT: 0.503835 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:35:57.808Z,1761514557.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.47 m.
2025-10-26T21:35:57.957Z,1761514557.957 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.762447
2025-10-26T21:35:58.181Z,1761514558.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965402,-0.260306,-0.015489],[0.260766,0.963759,0.056305],[0.000271,-0.058395,0.998293]]
2025-10-26T21:35:58.209Z,1761514558.209 [DAT](INFO): DAT read: Rx Time:21:35:56.9889 

2025-10-26T21:35:58.209Z,1761514558.209 [DAT](INFO): Rx dataTimestamp_ set to:1761514558.209199
2025-10-26T21:35:58.211Z,1761514558.211 [DAT](INFO): DAT read: Bearing 342.7,  11.8 (Local)

2025-10-26T21:35:58.211Z,1761514558.211 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.7,  11.8 (Local)

2025-10-26T21:35:58.213Z,1761514558.213 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed -0.1

2025-10-26T21:35:58.218Z,1761514558.218 [DAT](INFO): DAT read: 21:35:56.9889 LVL= 32752, 23425, 32754, 32755, AGC= 69, IDX= 505, 0.40, 0.462, 2.050, 0.158, 1.076, PHS=-0.513, 1.018,-0.962, RAW= 342.5,   5.1, CAL= 342.2,   3.5, ROT= 167.8,  -3.5

2025-10-26T21:35:58.219Z,1761514558.219 [DAT](INFO): got valid direction response:
 21:35:56.9889 LVL= 32752, 23425, 32754, 32755, AGC= 69, IDX= 505, 0.40, 0.462, 2.050, 0.158, 1.076, PHS=-0.513, 1.018,-0.962, RAW= 342.5,   5.1, CAL= 342.2,   3.5, ROT= 167.8,  -3.5

2025-10-26T21:35:58.219Z,1761514558.219 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-10-26T21:35:58.220Z,1761514558.220 [DAT](INFO): direction in FSK: [-0.975593,0.210931,0.061049]
2025-10-26T21:35:58.221Z,1761514558.221 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:58.228Z,1761514558.228 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.034382
2025-10-26T21:35:58.300Z,1761514558.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.503329 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:58.302Z,1761514558.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.471403 m,
      bearing: 182.735994 deg,
      lat: 36.779418 deg,
      lon: -121.859481 deg,
      deltaT: 0.503329 s,
      deltaX: 0.000019 m,
      approachRate: 0.000038 m/s,
      posRepo size: 4

2025-10-26T21:35:58.302Z,1761514558.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.47 m.
2025-10-26T21:35:58.461Z,1761514558.461 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.266613
2025-10-26T21:35:58.619Z,1761514558.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965039,-0.261643,-0.015560],[0.262105,0.963412,0.056018],[0.000334,-0.058137,0.998309]]
2025-10-26T21:35:58.675Z,1761514558.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.47 m.
2025-10-26T21:35:58.714Z,1761514558.714 [DAT](INFO): DAT read: Rx Time:21:35:57.4889 

2025-10-26T21:35:58.715Z,1761514558.715 [DAT](INFO): Rx dataTimestamp_ set to:1761514558.714265
2025-10-26T21:35:58.717Z,1761514558.717 [DAT](INFO): DAT read: Bearing 344.9,  11.6 (Local)

2025-10-26T21:35:58.718Z,1761514558.718 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.9,  11.6 (Local)

2025-10-26T21:35:58.721Z,1761514558.721 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed -0.1

2025-10-26T21:35:58.727Z,1761514558.727 [DAT](INFO): DAT read: 21:35:57.4889 LVL= 32752, 21601, 32754, 32755, AGC= 67, IDX= 505, 0.06,-0.450, 1.164,-0.745, 0.140, PHS=-0.487, 1.070,-0.928, RAW= 342.1,   3.8, CAL= 341.7,   1.5, ROT= 168.3,  -1.5

2025-10-26T21:35:58.728Z,1761514558.728 [DAT](INFO): got valid direction response:
 21:35:57.4889 LVL= 32752, 21601, 32754, 32755, AGC= 67, IDX= 505, 0.06,-0.450, 1.164,-0.745, 0.140, PHS=-0.487, 1.070,-0.928, RAW= 342.1,   3.8, CAL= 341.7,   1.5, ROT= 168.3,  -1.5

2025-10-26T21:35:58.729Z,1761514558.729 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-10-26T21:35:58.730Z,1761514558.730 [DAT](INFO): direction in FSK: [-0.978887,0.202718,0.026177]
2025-10-26T21:35:58.730Z,1761514558.730 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:58.745Z,1761514558.745 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:35:58.745Z,1761514558.745 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:35:58.746Z,1761514558.746 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:35:58.964Z,1761514558.964 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:35:58.993Z,1761514558.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964691,-0.262919,-0.015630],[0.263383,0.963091,0.055536],[0.000451,-0.057692,0.998334]]
2025-10-26T21:35:59.045Z,1761514559.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.505066 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:59.052Z,1761514559.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.471378 m,
      bearing: 183.505163 deg,
      lat: 36.779419 deg,
      lon: -121.859481 deg,
      deltaT: 0.505066 s,
      deltaX: -0.000025 m,
      approachRate: -0.000049 m/s,
      posRepo size: 4

2025-10-26T21:35:59.053Z,1761514559.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.47 m.
2025-10-26T21:35:59.217Z,1761514559.217 [DAT](INFO): DAT read: Rx Time:21:35:57.9890 

2025-10-26T21:35:59.218Z,1761514559.218 [DAT](INFO): Rx dataTimestamp_ set to:1761514559.217534
2025-10-26T21:35:59.219Z,1761514559.219 [DAT](INFO): DAT read: Bearing 345.0,  11.7 (Local)

2025-10-26T21:35:59.220Z,1761514559.220 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.0,  11.7 (Local)

2025-10-26T21:35:59.222Z,1761514559.222 [DAT](INFO): DAT read: Range 11 to 50 :    20.7 m (trip time 13.8 ms) speed 0.0

2025-10-26T21:35:59.226Z,1761514559.226 [DAT](INFO): DAT read: 21:35:57.9890 LVL= 32752, 22769, 32754, 32755, AGC= 68, IDX= 507,-0.18,-1.806,-0.205,-2.102,-1.222, PHS=-0.482, 1.062,-0.924, RAW= 342.2,   3.8, CAL= 341.8,   1.5, ROT= 168.2,  -1.5

2025-10-26T21:35:59.227Z,1761514559.227 [DAT](INFO): got valid direction response:
 21:35:57.9890 LVL= 32752, 22769, 32754, 32755, AGC= 68, IDX= 507,-0.18,-1.806,-0.205,-2.102,-1.222, PHS=-0.482, 1.062,-0.924, RAW= 342.2,   3.8, CAL= 341.8,   1.5, ROT= 168.2,  -1.5

2025-10-26T21:35:59.228Z,1761514559.228 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:35:59.229Z,1761514559.229 [DAT](INFO): direction in FSK: [-0.978532,0.204426,0.026177]
2025-10-26T21:35:59.229Z,1761514559.229 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:59.233Z,1761514559.233 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:35:59.233Z,1761514559.233 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:35:59.374Z,1761514559.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964446,-0.263811,-0.015764],[0.264281,0.962867,0.055157],[0.000628,-0.057362,0.998353]]
2025-10-26T21:35:59.468Z,1761514559.468 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:35:59.492Z,1761514559.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.700001 m,
      deltaT: 0.503269 s,
      deltaX: 0.100000 m,
      approachRate: 0.198702 m/s,
      rangeRepo size: 4

2025-10-26T21:35:59.494Z,1761514559.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.570753 m,
      bearing: 183.458973 deg,
      lat: 36.779419 deg,
      lon: -121.859481 deg,
      deltaT: 0.503269 s,
      deltaX: 0.099375 m,
      approachRate: 0.197459 m/s,
      posRepo size: 4

2025-10-26T21:35:59.495Z,1761514559.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.57 m.
2025-10-26T21:35:59.722Z,1761514559.722 [DAT](INFO): DAT read: Rx Time:21:35:58.4890 

2025-10-26T21:35:59.722Z,1761514559.722 [DAT](INFO): Rx dataTimestamp_ set to:1761514559.722061
2025-10-26T21:35:59.724Z,1761514559.724 [DAT](INFO): DAT read: Bearing 345.0,  11.7 (Local)

2025-10-26T21:35:59.725Z,1761514559.725 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.0,  11.7 (Local)

2025-10-26T21:35:59.728Z,1761514559.728 [DAT](INFO): DAT read: Range 11 to 50 :    20.7 m (trip time 13.8 ms) speed 0.0

2025-10-26T21:35:59.733Z,1761514559.733 [DAT](INFO): DAT read: 21:35:58.4890 LVL= 32752, 23217, 32754, 32755, AGC= 69, IDX= 506, 0.41,-1.201, 0.387,-1.494,-0.622, PHS=-0.477, 1.054,-0.916, RAW= 342.3,   3.8, CAL= 341.8,   1.5, ROT= 168.2,  -1.5

2025-10-26T21:35:59.735Z,1761514559.735 [DAT](INFO): got valid direction response:
 21:35:58.4890 LVL= 32752, 23217, 32754, 32755, AGC= 69, IDX= 506, 0.41,-1.201, 0.387,-1.494,-0.622, PHS=-0.477, 1.054,-0.916, RAW= 342.3,   3.8, CAL= 341.8,   1.5, ROT= 168.2,  -1.5

2025-10-26T21:35:59.735Z,1761514559.735 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:35:59.737Z,1761514559.737 [DAT](INFO): direction in FSK: [-0.978532,0.204426,0.026177]
2025-10-26T21:35:59.737Z,1761514559.737 [DAT](INFO): publishing direction and range info
2025-10-26T21:35:59.741Z,1761514559.741 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:35:59.743Z,1761514559.743 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:35:59.778Z,1761514559.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964374,-0.264058,-0.016019],[0.264542,0.962799,0.055101],[0.000874,-0.057376,0.998352]]
2025-10-26T21:35:59.830Z,1761514559.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.700001 m,
      deltaT: 0.504527 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:35:59.832Z,1761514559.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.570753 m,
      bearing: 183.474554 deg,
      lat: 36.779420 deg,
      lon: -121.859483 deg,
      deltaT: 0.504527 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:35:59.833Z,1761514559.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.57 m.
2025-10-26T21:35:59.973Z,1761514559.973 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:36:00.218Z,1761514560.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964271,-0.264423,-0.016196],[0.264917,0.962704,0.054960],[0.001059,-0.057287,0.998357]]
2025-10-26T21:36:00.225Z,1761514560.225 [DAT](INFO): DAT read: Rx Time:21:35:58.9892 

2025-10-26T21:36:00.226Z,1761514560.226 [DAT](INFO): Rx dataTimestamp_ set to:1761514560.225253
2025-10-26T21:36:00.227Z,1761514560.227 [DAT](INFO): DAT read: Bearing 344.6,  11.8 (Local)

2025-10-26T21:36:00.227Z,1761514560.227 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.6,  11.8 (Local)

2025-10-26T21:36:00.229Z,1761514560.229 [DAT](INFO): DAT read: Range 11 to 50 :    21.0 m (trip time 14.0 ms) speed -0.2

2025-10-26T21:36:00.234Z,1761514560.234 [DAT](INFO): DAT read: 21:35:58.9892 LVL= 32752, 26289, 32754, 32755, AGC= 70, IDX= 508, 0.08,-0.179, 1.411,-0.480, 0.407, PHS=-0.484, 1.049,-0.931, RAW= 342.4,   4.1, CAL= 342.0,   1.9, ROT= 168.0,  -1.9

2025-10-26T21:36:00.235Z,1761514560.235 [DAT](INFO): got valid direction response:
 21:35:58.9892 LVL= 32752, 26289, 32754, 32755, AGC= 70, IDX= 508, 0.08,-0.179, 1.411,-0.480, 0.407, PHS=-0.484, 1.049,-0.931, RAW= 342.4,   4.1, CAL= 342.0,   1.9, ROT= 168.0,  -1.9

2025-10-26T21:36:00.235Z,1761514560.235 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:36:00.236Z,1761514560.236 [DAT](INFO): direction in FSK: [-0.977610,0.207797,0.033155]
2025-10-26T21:36:00.237Z,1761514560.237 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:00.244Z,1761514560.244 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:36:00.245Z,1761514560.245 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:36:00.334Z,1761514560.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 0.503192 s,
      deltaX: 0.299999 m,
      approachRate: 0.596192 m/s,
      rangeRepo size: 4

2025-10-26T21:36:00.340Z,1761514560.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.868868 m,
      bearing: 183.274933 deg,
      lat: 36.779420 deg,
      lon: -121.859483 deg,
      deltaT: 0.503192 s,
      deltaX: 0.298115 m,
      approachRate: 0.592447 m/s,
      posRepo size: 4

2025-10-26T21:36:00.341Z,1761514560.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.87 m.
2025-10-26T21:36:00.476Z,1761514560.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:36:00.548Z,1761514560.548 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:36:00.645Z,1761514560.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964312,-0.264255,-0.016491],[0.264765,0.962739,0.055072],[0.001323,-0.057473,0.998346]]
2025-10-26T21:36:00.682Z,1761514560.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:36:00.692Z,1761514560.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.87 m.
2025-10-26T21:36:00.730Z,1761514560.730 [DAT](INFO): DAT read: Rx Time:21:35:59.4892 

2025-10-26T21:36:00.731Z,1761514560.731 [DAT](INFO): Rx dataTimestamp_ set to:1761514560.730419
2025-10-26T21:36:00.733Z,1761514560.733 [DAT](INFO): DAT read: Bearing 345.1,  11.6 (Local)

2025-10-26T21:36:00.733Z,1761514560.733 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.1,  11.6 (Local)

2025-10-26T21:36:00.735Z,1761514560.735 [DAT](INFO): DAT read: Range 11 to 50 :    21.0 m (trip time 14.0 ms) speed -0.2

2025-10-26T21:36:00.740Z,1761514560.740 [DAT](INFO): DAT read: 21:35:59.4892 LVL= 31712, 22305, 32754, 32755, AGC= 70, IDX= 508,-0.19,-2.117,-0.514,-2.412,-1.532, PHS=-0.483, 1.064,-0.924, RAW= 342.2,   3.8, CAL= 341.8,   1.5, ROT= 168.2,  -1.5

2025-10-26T21:36:00.741Z,1761514560.741 [DAT](INFO): got valid direction response:
 21:35:59.4892 LVL= 31712, 22305, 32754, 32755, AGC= 70, IDX= 508,-0.19,-2.117,-0.514,-2.412,-1.532, PHS=-0.483, 1.064,-0.924, RAW= 342.2,   3.8, CAL= 341.8,   1.5, ROT= 168.2,  -1.5

2025-10-26T21:36:00.742Z,1761514560.742 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:36:00.742Z,1761514560.742 [DAT](INFO): direction in FSK: [-0.978532,0.204426,0.026177]
2025-10-26T21:36:00.743Z,1761514560.743 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:00.746Z,1761514560.746 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:36:00.746Z,1761514560.746 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:36:00.980Z,1761514560.980 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:36:01.003Z,1761514561.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964412,-0.263874,-0.016749],[0.264400,0.962826,0.055300],[0.001534,-0.057760,0.998329]]
2025-10-26T21:36:01.041Z,1761514561.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 0.505166 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:01.051Z,1761514561.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.868883 m,
      bearing: 183.465923 deg,
      lat: 36.779420 deg,
      lon: -121.859483 deg,
      deltaT: 0.505166 s,
      deltaX: 0.000015 m,
      approachRate: 0.000030 m/s,
      posRepo size: 4

2025-10-26T21:36:01.052Z,1761514561.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.87 m.
2025-10-26T21:36:01.233Z,1761514561.233 [DAT](INFO): DAT read: Rx Time:21:35:59.9893 

2025-10-26T21:36:01.234Z,1761514561.234 [DAT](INFO): Rx dataTimestamp_ set to:1761514561.233383
2025-10-26T21:36:01.235Z,1761514561.235 [DAT](INFO): DAT read: Bearing 347.0,  11.5 (Local)

2025-10-26T21:36:01.235Z,1761514561.235 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.0,  11.5 (Local)

2025-10-26T21:36:01.238Z,1761514561.238 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed 0.0

2025-10-26T21:36:01.242Z,1761514561.242 [DAT](INFO): DAT read: 21:35:59.9893 LVL= 31056, 20913, 32754, 32755, AGC= 71, IDX= 510,-0.36,-2.821,-1.216,-3.110,-2.272, PHS=-0.447, 1.101,-0.882, RAW= 342.0,   2.6, CAL= 341.6,  -0.3, ROT= 168.4,   0.3

2025-10-26T21:36:01.243Z,1761514561.243 [DAT](INFO): got valid direction response:
 21:35:59.9893 LVL= 31056, 20913, 32754, 32755, AGC= 71, IDX= 510,-0.36,-2.821,-1.216,-3.110,-2.272, PHS=-0.447, 1.101,-0.882, RAW= 342.0,   2.6, CAL= 341.6,  -0.3, ROT= 168.4,   0.3

2025-10-26T21:36:01.244Z,1761514561.244 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:36:01.245Z,1761514561.245 [DAT](INFO): direction in FSK: [-0.979562,0.201075,-0.005236]
2025-10-26T21:36:01.245Z,1761514561.245 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:01.249Z,1761514561.249 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:36:01.249Z,1761514561.249 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:36:01.406Z,1761514561.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964371,-0.264002,-0.017056],[0.264546,0.962796,0.055132],[0.001867,-0.057680,0.998333]]
2025-10-26T21:36:01.484Z,1761514561.484 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:36:01.527Z,1761514561.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.502964 s,
      deltaX: 0.200001 m,
      approachRate: 0.397644 m/s,
      rangeRepo size: 4

2025-10-26T21:36:01.542Z,1761514561.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.067635 m,
      bearing: 183.775334 deg,
      lat: 36.779420 deg,
      lon: -121.859483 deg,
      deltaT: 0.502964 s,
      deltaX: 0.198751 m,
      approachRate: 0.395160 m/s,
      posRepo size: 4

2025-10-26T21:36:01.542Z,1761514561.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-10-26T21:36:01.548Z,1761514561.548 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:36:01.737Z,1761514561.737 [DAT](INFO): DAT read: user:336>

2025-10-26T21:36:01.737Z,1761514561.737 [DAT](INFO): DAT read: Command 'l' not found

2025-10-26T21:36:01.738Z,1761514561.738 [DAT](INFO): unknown deviceResponse_: Command 'l' not found

2025-10-26T21:36:01.738Z,1761514561.738 [DAT](INFO): DAT read: Error

2025-10-26T21:36:01.738Z,1761514561.738 [DAT](INFO): unknown deviceResponse_: Error

2025-10-26T21:36:01.739Z,1761514561.739 [DAT](INFO): DAT read: user:337>

2025-10-26T21:36:01.740Z,1761514561.740 [DAT](INFO): DAT read: Tx time:21:36:00.8928

2025-10-26T21:36:01.740Z,1761514561.740 [DAT](INFO): Ping request sent.
2025-10-26T21:36:01.740Z,1761514561.740 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:36:01.740Z,1761514561.740 [DAT](INFO): publishing transmit ping time
2025-10-26T21:36:01.741Z,1761514561.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-10-26T21:36:01.824Z,1761514561.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964362,-0.264021,-0.017303],[0.264579,0.962804,0.054828],[0.002184,-0.057452,0.998346]]
2025-10-26T21:36:01.872Z,1761514561.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-10-26T21:36:01.989Z,1761514561.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248934
2025-10-26T21:36:02.241Z,1761514562.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500662
2025-10-26T21:36:02.235Z,1761514562.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964291,-0.264261,-0.017587],[0.264832,0.962770,0.054200],[0.002609,-0.056922,0.998375]]
2025-10-26T21:36:02.326Z,1761514562.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-10-26T21:36:02.493Z,1761514562.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752723
2025-10-26T21:36:02.619Z,1761514562.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964249,-0.264401,-0.017772],[0.264981,0.962763,0.053603],[0.002937,-0.056396,0.998404]]
2025-10-26T21:36:02.657Z,1761514562.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-10-26T21:36:02.745Z,1761514562.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004516
2025-10-26T21:36:02.997Z,1761514562.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256599
2025-10-26T21:36:03.022Z,1761514563.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964325,-0.264105,-0.018062],[0.264701,0.962857,0.053290],[0.003317,-0.056169,0.998416]]
2025-10-26T21:36:03.068Z,1761514563.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-10-26T21:36:03.252Z,1761514563.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511770
2025-10-26T21:36:03.435Z,1761514563.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964354,-0.263974,-0.018439],[0.264591,0.962896,0.053133],[0.003729,-0.056118,0.998417]]
2025-10-26T21:36:03.500Z,1761514563.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760431
2025-10-26T21:36:03.528Z,1761514563.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-10-26T21:36:03.753Z,1761514563.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012598
2025-10-26T21:36:03.830Z,1761514563.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964332,-0.264032,-0.018724],[0.264665,0.962877,0.053105],[0.004007,-0.056167,0.998413]]
2025-10-26T21:36:03.886Z,1761514563.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-10-26T21:36:04.006Z,1761514564.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265613
2025-10-26T21:36:04.257Z,1761514564.257 [DAT](INFO): DAT read: Rx Time:21:36:03.0516 

2025-10-26T21:36:04.258Z,1761514564.258 [DAT](INFO): Rx dataTimestamp_ set to:1761514564.257224
2025-10-26T21:36:04.259Z,1761514564.259 [DAT](INFO): DAT read: Bearing 341.5,  12.9 (Local)

2025-10-26T21:36:04.259Z,1761514564.259 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.5,  12.9 (Local)

2025-10-26T21:36:04.261Z,1761514564.261 [DAT](INFO): DAT read: Range 11 to 50 :    22.2 m (trip time 14.8 ms) speed 0.0

2025-10-26T21:36:04.266Z,1761514564.266 [DAT](INFO): DAT read: 21:36:03.0516 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 348,-0.09,-0.059, 1.457,-0.400, 0.537, PHS=-0.494, 0.966,-0.981, RAW= 343.9,   5.9, CAL= 343.6,   4.6, ROT= 166.4,  -4.6

2025-10-26T21:36:04.267Z,1761514564.267 [DAT](INFO): got valid direction response:
 21:36:03.0516 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 348,-0.09,-0.059, 1.457,-0.400, 0.537, PHS=-0.494, 0.966,-0.981, RAW= 343.9,   5.9, CAL= 343.6,   4.6, ROT= 166.4,  -4.6

2025-10-26T21:36:04.268Z,1761514564.268 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:36:04.268Z,1761514564.268 [DAT](INFO): direction in FSK: [-0.968830,0.234385,0.080199]
2025-10-26T21:36:04.269Z,1761514564.269 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:04.287Z,1761514564.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964291,-0.264154,-0.019144],[0.264810,0.962838,0.053094],[0.004408,-0.056268,0.998406]]
2025-10-26T21:36:04.398Z,1761514564.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.200001 m,
      deltaT: 3.023841 s,
      deltaX: 1.000000 m,
      approachRate: 0.330705 m/s,
      rangeRepo size: 4

2025-10-26T21:36:04.404Z,1761514564.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.061359 m,
      bearing: 181.528570 deg,
      lat: 36.779419 deg,
      lon: -121.859483 deg,
      deltaT: 3.023841 s,
      deltaX: 0.993725 m,
      approachRate: 0.328630 m/s,
      posRepo size: 4

2025-10-26T21:36:04.404Z,1761514564.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.06 m.
2025-10-26T21:36:04.724Z,1761514564.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964125,-0.264730,-0.019524],[0.265405,0.962690,0.052799],[0.004818,-0.056087,0.998414]]
2025-10-26T21:36:04.761Z,1761514564.761 [DAT](INFO): DAT read: Rx Time:21:36:03.5515 

2025-10-26T21:36:04.762Z,1761514564.762 [DAT](INFO): Rx dataTimestamp_ set to:1761514564.761275
2025-10-26T21:36:04.763Z,1761514564.763 [DAT](INFO): DAT read: Bearing 341.0,  12.5 (Local)

2025-10-26T21:36:04.763Z,1761514564.763 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.0,  12.5 (Local)

2025-10-26T21:36:04.765Z,1761514564.765 [DAT](INFO): DAT read: Range 11 to 50 :    22.1 m (trip time 14.7 ms) speed -0.2

2025-10-26T21:36:04.770Z,1761514564.770 [DAT](INFO): DAT read: 21:36:03.5515 LVL= 32752, 29937, 32754, 32755, AGC= 69, IDX= 508,-0.40,-0.937, 0.604,-1.268,-0.316, PHS=-0.519, 0.965,-0.996, RAW= 343.5,   6.3, CAL= 343.3,   5.3, ROT= 166.7,  -5.3

2025-10-26T21:36:04.771Z,1761514564.771 [DAT](INFO): got valid direction response:
 21:36:03.5515 LVL= 32752, 29937, 32754, 32755, AGC= 69, IDX= 508,-0.40,-0.937, 0.604,-1.268,-0.316, PHS=-0.519, 0.965,-0.996, RAW= 343.5,   6.3, CAL= 343.3,   5.3, ROT= 166.7,  -5.3

2025-10-26T21:36:04.771Z,1761514564.771 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T21:36:04.772Z,1761514564.772 [DAT](INFO): direction in FSK: [-0.969018,0.229066,0.092371]
2025-10-26T21:36:04.773Z,1761514564.773 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:04.799Z,1761514564.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.504051 s,
      deltaX: -0.100000 m,
      approachRate: -0.198393 m/s,
      rangeRepo size: 4

2025-10-26T21:36:04.801Z,1761514564.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.961983 m,
      bearing: 181.826584 deg,
      lat: 36.779419 deg,
      lon: -121.859482 deg,
      deltaT: 0.504051 s,
      deltaX: -0.099377 m,
      approachRate: -0.197156 m/s,
      posRepo size: 4

2025-10-26T21:36:04.802Z,1761514564.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.96 m.
2025-10-26T21:36:05.078Z,1761514565.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963935,-0.265384,-0.020003],[0.266083,0.962530,0.052311],[0.005371,-0.055747,0.998430]]
2025-10-26T21:36:05.108Z,1761514565.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.96 m.
2025-10-26T21:36:05.270Z,1761514565.270 [DAT](INFO): DAT read: Rx Time:21:36:04.0517 

2025-10-26T21:36:05.271Z,1761514565.271 [DAT](INFO): Rx dataTimestamp_ set to:1761514565.270406
2025-10-26T21:36:05.275Z,1761514565.275 [DAT](INFO): DAT read: Bearing 342.8,  13.2 (Local)

2025-10-26T21:36:05.276Z,1761514565.276 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.8,  13.2 (Local)

2025-10-26T21:36:05.285Z,1761514565.285 [DAT](INFO): DAT read: Range 11 to 50 :    22.4 m (trip time 14.9 ms) speed -0.1

2025-10-26T21:36:05.290Z,1761514565.290 [DAT](INFO): DAT read: 21:36:04.0517 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 509, 0.16, 2.016,-2.737, 1.656, 2.590, PHS=-0.472, 1.001,-0.978, RAW= 344.2,   5.1, CAL= 343.9,   3.4, ROT= 166.1,  -3.4

2025-10-26T21:36:05.292Z,1761514565.292 [DAT](INFO): got valid direction response:
 21:36:04.0517 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 509, 0.16, 2.016,-2.737, 1.656, 2.590, PHS=-0.472, 1.001,-0.978, RAW= 344.2,   5.1, CAL= 343.9,   3.4, ROT= 166.1,  -3.4

2025-10-26T21:36:05.292Z,1761514565.292 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-10-26T21:36:05.293Z,1761514565.293 [DAT](INFO): direction in FSK: [-0.969008,0.239805,0.059306]
2025-10-26T21:36:05.293Z,1761514565.293 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:05.482Z,1761514565.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963666,-0.266333,-0.020385],[0.267047,0.962302,0.051584],[0.005877,-0.055154,0.998461]]
2025-10-26T21:36:05.674Z,1761514565.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.400000 m,
      deltaT: 0.509131 s,
      deltaX: 0.299999 m,
      approachRate: 0.589238 m/s,
      rangeRepo size: 4

2025-10-26T21:36:05.681Z,1761514565.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.260122 m,
      bearing: 181.430646 deg,
      lat: 36.779415 deg,
      lon: -121.859478 deg,
      deltaT: 0.509131 s,
      deltaX: 0.298140 m,
      approachRate: 0.585585 m/s,
      posRepo size: 4

2025-10-26T21:36:05.681Z,1761514565.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.26 m.
2025-10-26T21:36:05.770Z,1761514565.770 [DAT](INFO): DAT read: Rx Time:21:36:04.5516 

2025-10-26T21:36:05.770Z,1761514565.770 [DAT](INFO): Rx dataTimestamp_ set to:1761514565.769828
2025-10-26T21:36:05.771Z,1761514565.771 [DAT](INFO): DAT read: Bearing 341.7,  13.4 (Local)

2025-10-26T21:36:05.772Z,1761514565.772 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.7,  13.4 (Local)

2025-10-26T21:36:05.774Z,1761514565.774 [DAT](INFO): DAT read: Range 11 to 50 :    22.2 m (trip time 14.8 ms) speed 0.0

2025-10-26T21:36:05.779Z,1761514565.779 [DAT](INFO): DAT read: 21:36:04.5516 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 509,-0.14,-0.755, 0.754,-1.120,-0.170, PHS=-0.482, 0.969,-0.994, RAW= 344.5,   5.8, CAL= 344.3,   4.5, ROT= 165.7,  -4.5

2025-10-26T21:36:05.780Z,1761514565.780 [DAT](INFO): got valid direction response:
 21:36:04.5516 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 509,-0.14,-0.755, 0.754,-1.120,-0.170, PHS=-0.482, 0.969,-0.994, RAW= 344.5,   5.8, CAL= 344.3,   4.5, ROT= 165.7,  -4.5

2025-10-26T21:36:05.781Z,1761514565.781 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-26T21:36:05.782Z,1761514565.782 [DAT](INFO): direction in FSK: [-0.966029,0.246238,0.078459]
2025-10-26T21:36:05.783Z,1761514565.783 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:05.984Z,1761514565.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963453,-0.267072,-0.020751],[0.267802,0.962122,0.051024],[0.006338,-0.054717,0.998482]]
2025-10-26T21:36:06.036Z,1761514566.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.200001 m,
      deltaT: 0.499422 s,
      deltaX: -0.199999 m,
      approachRate: -0.400461 m/s,
      rangeRepo size: 4

2025-10-26T21:36:06.038Z,1761514566.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.061367 m,
      bearing: 181.021122 deg,
      lat: 36.779415 deg,
      lon: -121.859477 deg,
      deltaT: 0.499422 s,
      deltaX: -0.198755 m,
      approachRate: -0.397971 m/s,
      posRepo size: 4

2025-10-26T21:36:06.038Z,1761514566.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.06 m.
2025-10-26T21:36:06.277Z,1761514566.277 [DAT](INFO): DAT read: Rx Time:21:36:05.0517 

2025-10-26T21:36:06.278Z,1761514566.278 [DAT](INFO): Rx dataTimestamp_ set to:1761514566.277456
2025-10-26T21:36:06.283Z,1761514566.283 [DAT](INFO): DAT read: Bearing 343.5,  12.5 (Local)

2025-10-26T21:36:06.284Z,1761514566.284 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.5,  12.5 (Local)

2025-10-26T21:36:06.287Z,1761514566.287 [DAT](INFO): DAT read: Range 11 to 50 :    22.4 m (trip time 14.9 ms) speed 0.0

2025-10-26T21:36:06.300Z,1761514566.300 [DAT](INFO): DAT read: 21:36:05.0517 LVL= 32752, 30577, 32754, 32755, AGC= 73, IDX= 509, 0.49,-0.211, 1.349,-0.553, 0.370, PHS=-0.479, 1.024,-0.967, RAW= 343.6,   4.7, CAL= 343.2,   2.9, ROT= 166.8,  -2.9

2025-10-26T21:36:06.301Z,1761514566.301 [DAT](INFO): got valid direction response:
 21:36:05.0517 LVL= 32752, 30577, 32754, 32755, AGC= 73, IDX= 509, 0.49,-0.211, 1.349,-0.553, 0.370, PHS=-0.479, 1.024,-0.967, RAW= 343.6,   4.7, CAL= 343.2,   2.9, ROT= 166.8,  -2.9

2025-10-26T21:36:06.301Z,1761514566.301 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-10-26T21:36:06.302Z,1761514566.302 [DAT](INFO): direction in FSK: [-0.972332,0.228058,0.050593]
2025-10-26T21:36:06.302Z,1761514566.302 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:06.370Z,1761514566.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963333,-0.267461,-0.021333],[0.268222,0.962007,0.050993],[0.006884,-0.054846,0.998471]]
2025-10-26T21:36:06.479Z,1761514566.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.400000 m,
      deltaT: 0.507628 s,
      deltaX: 0.199999 m,
      approachRate: 0.393987 m/s,
      rangeRepo size: 4

2025-10-26T21:36:06.485Z,1761514566.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.260117 m,
      bearing: 182.226301 deg,
      lat: 36.779414 deg,
      lon: -121.859477 deg,
      deltaT: 0.507628 s,
      deltaX: 0.198750 m,
      approachRate: 0.391526 m/s,
      posRepo size: 4

2025-10-26T21:36:06.485Z,1761514566.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.26 m.
2025-10-26T21:36:06.774Z,1761514566.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963196,-0.267870,-0.022334],[0.268695,0.961810,0.052201],[0.007499,-0.056281,0.998387]]
2025-10-26T21:36:06.777Z,1761514566.777 [DAT](INFO): DAT read: Rx Time:21:36:05.5517 

2025-10-26T21:36:06.777Z,1761514566.777 [DAT](INFO): Rx dataTimestamp_ set to:1761514566.777167
2025-10-26T21:36:06.779Z,1761514566.779 [DAT](INFO): DAT read: Bearing 346.1,  11.9 (Local)

2025-10-26T21:36:06.779Z,1761514566.779 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.1,  11.9 (Local)

2025-10-26T21:36:06.781Z,1761514566.781 [DAT](INFO): DAT read: Range 11 to 50 :    22.4 m (trip time 14.9 ms) speed 0.0

2025-10-26T21:36:06.786Z,1761514566.786 [DAT](INFO): DAT read: 21:36:05.5517 LVL= 32752, 25889, 32754, 32755, AGC= 74, IDX= 509, 0.39, 1.256, 2.864, 0.924, 1.812, PHS=-0.454, 1.097,-0.933, RAW= 343.0,   3.2, CAL= 342.6,   0.5, ROT= 167.4,  -0.5

2025-10-26T21:36:06.787Z,1761514566.787 [DAT](INFO): got valid direction response:
 21:36:05.5517 LVL= 32752, 25889, 32754, 32755, AGC= 74, IDX= 509, 0.39, 1.256, 2.864, 0.924, 1.812, PHS=-0.454, 1.097,-0.933, RAW= 343.0,   3.2, CAL= 342.6,   0.5, ROT= 167.4,  -0.5

2025-10-26T21:36:06.787Z,1761514566.787 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-26T21:36:06.788Z,1761514566.788 [DAT](INFO): direction in FSK: [-0.975880,0.218135,0.008727]
2025-10-26T21:36:06.788Z,1761514566.788 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:06.834Z,1761514566.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.400000 m,
      deltaT: 0.499711 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:06.848Z,1761514566.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.260117 m,
      bearing: 182.978240 deg,
      lat: 36.779415 deg,
      lon: -121.859478 deg,
      deltaT: 0.499711 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:36:06.849Z,1761514566.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.26 m.
2025-10-26T21:36:07.190Z,1761514567.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963017,-0.268469,-0.022872],[0.269324,0.961632,0.052227],[0.007973,-0.056456,0.998373]]
2025-10-26T21:36:07.285Z,1761514567.285 [DAT](INFO): DAT read: Rx Time:21:36:06.0519 

2025-10-26T21:36:07.286Z,1761514567.286 [DAT](INFO): Rx dataTimestamp_ set to:1761514567.285286
2025-10-26T21:36:07.291Z,1761514567.291 [DAT](INFO): DAT read: Bearing 346.5,  10.8 (Local)

2025-10-26T21:36:07.292Z,1761514567.292 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.5,  10.8 (Local)

2025-10-26T21:36:07.299Z,1761514567.299 [DAT](INFO): DAT read: Range 11 to 50 :    22.7 m (trip time 15.1 ms) speed 0.0

2025-10-26T21:36:07.321Z,1761514567.321 [DAT](INFO): DAT read: 21:36:06.0519 LVL= 32160, 24481, 32754, 32755, AGC= 72, IDX= 511, 0.09, 1.104, 2.757, 0.803, 1.680, PHS=-0.473, 1.123,-0.920, RAW= 342.0,   2.9, CAL= 341.5,   0.1, ROT= 168.5,  -0.1

2025-10-26T21:36:07.322Z,1761514567.322 [DAT](INFO): got valid direction response:
 21:36:06.0519 LVL= 32160, 24481, 32754, 32755, AGC= 72, IDX= 511, 0.09, 1.104, 2.757, 0.803, 1.680, PHS=-0.473, 1.123,-0.920, RAW= 342.0,   2.9, CAL= 341.5,   0.1, ROT= 168.5,  -0.1

2025-10-26T21:36:07.322Z,1761514567.322 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-26T21:36:07.323Z,1761514567.323 [DAT](INFO): direction in FSK: [-0.979923,0.199368,0.001745]
2025-10-26T21:36:07.336Z,1761514567.336 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:07.370Z,1761514567.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.700001 m,
      deltaT: 0.508119 s,
      deltaX: 0.300001 m,
      approachRate: 0.590415 m/s,
      rangeRepo size: 4

2025-10-26T21:36:07.376Z,1761514567.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.558254 m,
      bearing: 184.135655 deg,
      lat: 36.779414 deg,
      lon: -121.859480 deg,
      deltaT: 0.508119 s,
      deltaX: 0.298138 m,
      approachRate: 0.586748 m/s,
      posRepo size: 4

2025-10-26T21:36:07.377Z,1761514567.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m.
2025-10-26T21:36:07.605Z,1761514567.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962791,-0.269225,-0.023503],[0.270114,0.961413,0.052181],[0.008548,-0.056587,0.998361]]
2025-10-26T21:36:07.785Z,1761514567.785 [DAT](INFO): DAT read: Rx Time:21:36:06.5518 

2025-10-26T21:36:07.785Z,1761514567.785 [DAT](INFO): Rx dataTimestamp_ set to:1761514567.785206
2025-10-26T21:36:07.787Z,1761514567.787 [DAT](INFO): DAT read: Bearing 346.9,  11.4 (Local)

2025-10-26T21:36:07.787Z,1761514567.787 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.9,  11.4 (Local)

2025-10-26T21:36:07.789Z,1761514567.789 [DAT](INFO): DAT read: Range 11 to 50 :    22.5 m (trip time 15.0 ms) speed -0.2

2025-10-26T21:36:07.794Z,1761514567.794 [DAT](INFO): DAT read: 21:36:06.5518 LVL= 29680, 21201, 32754, 32755, AGC= 70, IDX= 510, 0.32, 3.054,-1.598, 2.729,-2.679, PHS=-0.448, 1.127,-0.918, RAW= 342.7,   2.6, CAL= 342.2,  -0.3, ROT= 167.8,   0.3

2025-10-26T21:36:07.795Z,1761514567.795 [DAT](INFO): got valid direction response:
 21:36:06.5518 LVL= 29680, 21201, 32754, 32755, AGC= 70, IDX= 510, 0.32, 3.054,-1.598, 2.729,-2.679, PHS=-0.448, 1.127,-0.918, RAW= 342.7,   2.6, CAL= 342.2,  -0.3, ROT= 167.8,   0.3

2025-10-26T21:36:07.795Z,1761514567.795 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-10-26T21:36:07.796Z,1761514567.796 [DAT](INFO): direction in FSK: [-0.977403,0.211322,-0.005236]
2025-10-26T21:36:07.797Z,1761514567.797 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:07.813Z,1761514567.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 0.499920 s,
      deltaX: -0.200001 m,
      approachRate: -0.400066 m/s,
      rangeRepo size: 4

2025-10-26T21:36:07.814Z,1761514567.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m.
2025-10-26T21:36:08.075Z,1761514568.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962430,-0.270475,-0.023923],[0.271382,0.961080,0.051737],[0.008999,-0.056286,0.998374]]
2025-10-26T21:36:08.147Z,1761514568.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m.
2025-10-26T21:36:08.292Z,1761514568.292 [DAT](INFO): DAT read: Rx Time:21:36:07.0520 

2025-10-26T21:36:08.294Z,1761514568.294 [DAT](INFO): Rx dataTimestamp_ set to:1761514568.293060
2025-10-26T21:36:08.299Z,1761514568.299 [DAT](INFO): DAT read: Range 11 to 50 :    22.8 m (trip time 15.2 ms) speed -0.6

2025-10-26T21:36:08.304Z,1761514568.304 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-10-26T21:36:08.571Z,1761514568.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 0.507854 s,
      deltaX: 0.299999 m,
      approachRate: 0.590719 m/s,
      rangeRepo size: 4

2025-10-26T21:36:08.571Z,1761514568.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m.
2025-10-26T21:36:08.797Z,1761514568.797 [DAT](INFO): DAT read: Rx Time:21:36:07.5519 

2025-10-26T21:36:08.797Z,1761514568.797 [DAT](INFO): Rx dataTimestamp_ set to:1761514568.797104
2025-10-26T21:36:08.799Z,1761514568.799 [DAT](INFO): DAT read: Bearing 344.0,  11.6 (Local)

2025-10-26T21:36:08.799Z,1761514568.799 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.0,  11.6 (Local)

2025-10-26T21:36:08.801Z,1761514568.801 [DAT](INFO): DAT read: Range 11 to 50 :    22.7 m (trip time 15.1 ms) speed 0.0

2025-10-26T21:36:08.806Z,1761514568.806 [DAT](INFO): DAT read: 21:36:07.5519 LVL= 32752, 23025, 32754, 32755, AGC= 69, IDX= 511, 0.31,-1.707,-0.102,-2.039,-1.111, PHS=-0.494, 1.054,-0.971, RAW= 343.0,   4.5, CAL= 342.7,   2.6, ROT= 167.3,  -2.6

2025-10-26T21:36:08.807Z,1761514568.807 [DAT](INFO): got valid direction response:
 21:36:07.5519 LVL= 32752, 23025, 32754, 32755, AGC= 69, IDX= 511, 0.31,-1.707,-0.102,-2.039,-1.111, PHS=-0.494, 1.054,-0.971, RAW= 343.0,   4.5, CAL= 342.7,   2.6, ROT= 167.3,  -2.6

2025-10-26T21:36:08.807Z,1761514568.807 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-26T21:36:08.808Z,1761514568.808 [DAT](INFO): direction in FSK: [-0.974530,0.219620,0.045363]
2025-10-26T21:36:08.808Z,1761514568.808 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:08.866Z,1761514568.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961828,-0.272513,-0.024985],[0.273469,0.960531,0.050939],[0.010117,-0.055827,0.998389]]
2025-10-26T21:36:08.916Z,1761514568.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.700001 m,
      deltaT: 0.504044 s,
      deltaX: -0.099998 m,
      approachRate: -0.198392 m/s,
      rangeRepo size: 4

2025-10-26T21:36:08.919Z,1761514568.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.558233 m,
      bearing: 183.052749 deg,
      lat: 36.779415 deg,
      lon: -121.859483 deg,
      deltaT: 1.511818 s,
      deltaX: -0.000021 m,
      approachRate: -0.000014 m/s,
      posRepo size: 4

2025-10-26T21:36:08.925Z,1761514568.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m.
2025-10-26T21:36:09.274Z,1761514569.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961641,-0.273126,-0.025465],[0.274106,0.960359,0.050757],[0.010592,-0.055790,0.998386]]
2025-10-26T21:36:09.305Z,1761514569.305 [DAT](INFO): DAT read: Rx Time:21:36:08.0521 

2025-10-26T21:36:09.307Z,1761514569.307 [DAT](INFO): Rx dataTimestamp_ set to:1761514569.306198
2025-10-26T21:36:09.312Z,1761514569.312 [DAT](INFO): DAT read: Bearing   5.8,  23.2 (Local)

2025-10-26T21:36:09.313Z,1761514569.313 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.8,  23.2 (Local)

2025-10-26T21:36:09.320Z,1761514569.320 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed -0.1

2025-10-26T21:36:09.364Z,1761514569.364 [DAT](INFO): DAT read: 21:36:08.0521 LVL= 30688, 23025, 32754, 32755, AGC= 67, IDX= 513,-0.08, 2.648,-2.333, 1.910, 2.387, PHS= 0.363, 1.608,-0.521, RAW= 354.4, -15.5, CAL= 354.1, -18.3, ROT= 155.9,  18.3

2025-10-26T21:36:09.366Z,1761514569.366 [DAT](INFO): got valid direction response:
 21:36:08.0521 LVL= 30688, 23025, 32754, 32755, AGC= 67, IDX= 513,-0.08, 2.648,-2.333, 1.910, 2.387, PHS= 0.363, 1.608,-0.521, RAW= 354.4, -15.5, CAL= 354.1, -18.3, ROT= 155.9,  18.3

2025-10-26T21:36:09.366Z,1761514569.366 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-10-26T21:36:09.367Z,1761514569.367 [DAT](INFO): direction in FSK: [-0.866668,0.387679,-0.313992]
2025-10-26T21:36:09.372Z,1761514569.372 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:09.420Z,1761514569.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.509094 s,
      deltaX: 0.299999 m,
      approachRate: 0.589281 m/s,
      rangeRepo size: 4

2025-10-26T21:36:09.428Z,1761514569.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.856411 m,
      bearing: 172.729588 deg,
      lat: 36.779415 deg,
      lon: -121.859483 deg,
      deltaT: 0.509094 s,
      deltaX: 0.298178 m,
      approachRate: 0.585703 m/s,
      posRepo size: 4

2025-10-26T21:36:09.429Z,1761514569.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.86 m.
2025-10-26T21:36:09.715Z,1761514569.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961466,-0.273706,-0.025856],[0.274707,0.960186,0.050773],[0.010930,-0.055919,0.998376]]
2025-10-26T21:36:09.779Z,1761514569.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.86 m.
2025-10-26T21:36:09.805Z,1761514569.805 [DAT](INFO): DAT read: Rx Time:21:36:08.5520 

2025-10-26T21:36:09.805Z,1761514569.805 [DAT](INFO): Rx dataTimestamp_ set to:1761514569.805213
2025-10-26T21:36:09.807Z,1761514569.807 [DAT](INFO): DAT read: Bearing 321.8,  17.3 (Local)

2025-10-26T21:36:09.807Z,1761514569.807 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.8,  17.3 (Local)

2025-10-26T21:36:09.809Z,1761514569.809 [DAT](INFO): DAT read: Range 11 to 50 :    22.8 m (trip time 15.2 ms) speed -0.2

2025-10-26T21:36:09.814Z,1761514569.814 [DAT](INFO): DAT read: 21:36:08.5520 LVL= 32752, 25105, 32754, 32755, AGC= 69, IDX= 512, 0.37,-2.834,-1.596, 2.916,-2.043, PHS=-0.689, 0.492,-1.368, RAW= 351.1,  18.8, CAL= 351.4,  23.2, ROT= 158.6, -23.2

2025-10-26T21:36:09.815Z,1761514569.815 [DAT](INFO): got valid direction response:
 21:36:08.5520 LVL= 32752, 25105, 32754, 32755, AGC= 69, IDX= 512, 0.37,-2.834,-1.596, 2.916,-2.043, PHS=-0.689, 0.492,-1.368, RAW= 351.1,  18.8, CAL= 351.4,  23.2, ROT= 158.6, -23.2

2025-10-26T21:36:09.815Z,1761514569.815 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-26T21:36:09.816Z,1761514569.816 [DAT](INFO): direction in FSK: [-0.855766,0.335371,0.393942]
2025-10-26T21:36:09.817Z,1761514569.817 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:10.078Z,1761514570.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961356,-0.274055,-0.026263],[0.275080,0.960069,0.050968],[0.011246,-0.056222,0.998355]]
2025-10-26T21:36:10.131Z,1761514570.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 0.499015 s,
      deltaX: -0.200001 m,
      approachRate: -0.400791 m/s,
      rangeRepo size: 4

2025-10-26T21:36:10.143Z,1761514570.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.657705 m,
      bearing: 173.422453 deg,
      lat: 36.779416 deg,
      lon: -121.859483 deg,
      deltaT: 0.499015 s,
      deltaX: -0.198706 m,
      approachRate: -0.398196 m/s,
      posRepo size: 4

2025-10-26T21:36:10.157Z,1761514570.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-10-26T21:36:10.313Z,1761514570.313 [DAT](INFO): DAT read: Rx Time:21:36:09.0521 

2025-10-26T21:36:10.314Z,1761514570.314 [DAT](INFO): Rx dataTimestamp_ set to:1761514570.313462
2025-10-26T21:36:10.323Z,1761514570.323 [DAT](INFO): DAT read: Bearing 350.7,  16.0 (Local)

2025-10-26T21:36:10.324Z,1761514570.324 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.7,  16.0 (Local)

2025-10-26T21:36:10.348Z,1761514570.348 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed -0.1

2025-10-26T21:36:10.356Z,1761514570.356 [DAT](INFO): DAT read: 21:36:09.0521 LVL= 30576, 23393, 32754, 32755, AGC= 68, IDX= 513,-0.01, 1.696,-2.820, 1.104, 2.085, PHS=-0.286, 1.424,-1.025, RAW= 347.1,  -1.0, CAL= 346.7,  -4.0, ROT= 163.3,   4.0

2025-10-26T21:36:10.358Z,1761514570.358 [DAT](INFO): got valid direction response:
 21:36:09.0521 LVL= 30576, 23393, 32754, 32755, AGC= 68, IDX= 513,-0.01, 1.696,-2.820, 1.104, 2.085, PHS=-0.286, 1.424,-1.025, RAW= 347.1,  -1.0, CAL= 346.7,  -4.0, ROT= 163.3,   4.0

2025-10-26T21:36:10.358Z,1761514570.358 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-26T21:36:10.359Z,1761514570.359 [DAT](INFO): direction in FSK: [-0.955489,0.286661,-0.069756]
2025-10-26T21:36:10.364Z,1761514570.364 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:10.482Z,1761514570.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961261,-0.274352,-0.026615],[0.275399,0.959968,0.051146],[0.011517,-0.056494,0.998336]]
2025-10-26T21:36:10.584Z,1761514570.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.508249 s,
      deltaX: 0.200001 m,
      approachRate: 0.393509 m/s,
      rangeRepo size: 4

2025-10-26T21:36:10.586Z,1761514570.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.856459 m,
      bearing: 179.512061 deg,
      lat: 36.779416 deg,
      lon: -121.859467 deg,
      deltaT: 0.508249 s,
      deltaX: 0.198753 m,
      approachRate: 0.391055 m/s,
      posRepo size: 4

2025-10-26T21:36:10.586Z,1761514570.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.86 m.
2025-10-26T21:36:10.813Z,1761514570.813 [DAT](INFO): DAT read: Rx Time:21:36:09.5520 

2025-10-26T21:36:10.814Z,1761514570.814 [DAT](INFO): Rx dataTimestamp_ set to:1761514570.813413
2025-10-26T21:36:10.815Z,1761514570.815 [DAT](INFO): DAT read: Range 11 to 50 :    22.8 m (trip time 15.2 ms) speed 0.0

2025-10-26T21:36:10.816Z,1761514570.816 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-10-26T21:36:10.904Z,1761514570.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961054,-0.275046,-0.026915],[0.276107,0.959776,0.050946],[0.011820,-0.056393,0.998339]]
2025-10-26T21:36:10.951Z,1761514570.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 0.499951 s,
      deltaX: -0.200001 m,
      approachRate: -0.400041 m/s,
      rangeRepo size: 4

2025-10-26T21:36:10.953Z,1761514570.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.86 m.
2025-10-26T21:36:11.313Z,1761514571.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960865,-0.275685,-0.027135],[0.276754,0.959605,0.050644],[0.012077,-0.056171,0.998348]]
2025-10-26T21:36:11.322Z,1761514571.322 [DAT](INFO): DAT read: Rx Time:21:36:10.0522 

2025-10-26T21:36:11.324Z,1761514571.324 [DAT](INFO): Rx dataTimestamp_ set to:1761514571.322612
2025-10-26T21:36:11.328Z,1761514571.328 [DAT](INFO): DAT read: Bearing 346.4,  11.4 (Local)

2025-10-26T21:36:11.330Z,1761514571.330 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.4,  11.4 (Local)

2025-10-26T21:36:11.346Z,1761514571.346 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed -0.2

2025-10-26T21:36:11.385Z,1761514571.385 [DAT](INFO): DAT read: 21:36:10.0522 LVL= 25968, 17377, 31218, 32755, AGC= 71, IDX=   2, 0.24,-2.305,-0.691,-2.625,-1.742, PHS=-0.461, 1.096,-0.927, RAW= 342.7,   3.2, CAL= 342.2,   0.5, ROT= 167.8,  -0.5

2025-10-26T21:36:11.386Z,1761514571.386 [DAT](INFO): got valid direction response:
 21:36:10.0522 LVL= 25968, 17377, 31218, 32755, AGC= 71, IDX=   2, 0.24,-2.305,-0.691,-2.625,-1.742, PHS=-0.461, 1.096,-0.927, RAW= 342.7,   3.2, CAL= 342.2,   0.5, ROT= 167.8,  -0.5

2025-10-26T21:36:11.387Z,1761514571.387 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-26T21:36:11.413Z,1761514571.413 [DAT](INFO): direction in FSK: [-0.977379,0.211317,0.008727]
2025-10-26T21:36:11.413Z,1761514571.413 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:11.511Z,1761514571.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.509199 s,
      deltaX: 0.300001 m,
      approachRate: 0.589163 m/s,
      rangeRepo size: 4

2025-10-26T21:36:11.517Z,1761514571.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.955853 m,
      bearing: 183.857681 deg,
      lat: 36.779415 deg,
      lon: -121.859467 deg,
      deltaT: 1.009150 s,
      deltaX: 0.099394 m,
      approachRate: 0.098493 m/s,
      posRepo size: 4

2025-10-26T21:36:11.517Z,1761514571.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m.
2025-10-26T21:36:11.760Z,1761514571.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960665,-0.276364,-0.027310],[0.277437,0.959426,0.050303],[0.012300,-0.055901,0.998361]]
2025-10-26T21:36:11.789Z,1761514571.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m.
2025-10-26T21:36:11.821Z,1761514571.821 [DAT](INFO): DAT read: Rx Time:21:36:10.5522 

2025-10-26T21:36:11.821Z,1761514571.821 [DAT](INFO): Rx dataTimestamp_ set to:1761514571.821182
2025-10-26T21:36:11.823Z,1761514571.823 [DAT](INFO): DAT read: Bearing 346.0,  11.5 (Local)

2025-10-26T21:36:11.823Z,1761514571.823 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.0,  11.5 (Local)

2025-10-26T21:36:11.825Z,1761514571.825 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed 0.0

2025-10-26T21:36:11.830Z,1761514571.830 [DAT](INFO): DAT read: 21:36:10.5522 LVL= 32304, 22865, 32754, 32755, AGC= 67, IDX= 498,-0.02, 1.071, 2.690, 0.746, 1.641, PHS=-0.468, 1.093,-0.939, RAW= 342.8,   3.4, CAL= 342.3,   0.9, ROT= 167.7,  -0.9

2025-10-26T21:36:11.831Z,1761514571.831 [DAT](INFO): got valid direction response:
 21:36:10.5522 LVL= 32304, 22865, 32754, 32755, AGC= 67, IDX= 498,-0.02, 1.071, 2.690, 0.746, 1.641, PHS=-0.468, 1.093,-0.939, RAW= 342.8,   3.4, CAL= 342.3,   0.9, ROT= 167.7,  -0.9

2025-10-26T21:36:11.831Z,1761514571.831 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-10-26T21:36:11.832Z,1761514571.832 [DAT](INFO): direction in FSK: [-0.976925,0.213004,0.015707]
2025-10-26T21:36:11.833Z,1761514571.833 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:12.180Z,1761514572.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960334,-0.277508,-0.027364],[0.278578,0.959114,0.049943],[0.012386,-0.055585,0.998377]]
2025-10-26T21:36:12.213Z,1761514572.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.498570 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:12.215Z,1761514572.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.955873 m,
      bearing: 183.845877 deg,
      lat: 36.779416 deg,
      lon: -121.859467 deg,
      deltaT: 0.498570 s,
      deltaX: 0.000021 m,
      approachRate: 0.000042 m/s,
      posRepo size: 4

2025-10-26T21:36:12.216Z,1761514572.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m.
2025-10-26T21:36:12.329Z,1761514572.329 [DAT](INFO): DAT read: Rx Time:21:36:11.0523 

2025-10-26T21:36:12.331Z,1761514572.331 [DAT](INFO): Rx dataTimestamp_ set to:1761514572.330071
2025-10-26T21:36:12.336Z,1761514572.336 [DAT](INFO): DAT read: Bearing 346.7,  11.5 (Local)

2025-10-26T21:36:12.337Z,1761514572.337 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.7,  11.5 (Local)

2025-10-26T21:36:12.344Z,1761514572.344 [DAT](INFO): DAT read: Range 11 to 50 :    23.3 m (trip time 15.5 ms) speed -0.1

2025-10-26T21:36:12.377Z,1761514572.377 [DAT](INFO): DAT read: 21:36:11.0523 LVL= 32288, 19953, 32754, 32755, AGC= 67, IDX= 500,-0.26, 1.598,-3.063, 1.271, 2.157, PHS=-0.457, 1.109,-0.930, RAW= 342.8,   3.0, CAL= 342.3,   0.2, ROT= 167.7,  -0.2

2025-10-26T21:36:12.378Z,1761514572.378 [DAT](INFO): got valid direction response:
 21:36:11.0523 LVL= 32288, 19953, 32754, 32755, AGC= 67, IDX= 500,-0.26, 1.598,-3.063, 1.271, 2.157, PHS=-0.457, 1.109,-0.930, RAW= 342.8,   3.0, CAL= 342.3,   0.2, ROT= 167.7,  -0.2

2025-10-26T21:36:12.378Z,1761514572.378 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-26T21:36:12.384Z,1761514572.384 [DAT](INFO): direction in FSK: [-0.977040,0.213029,0.003491]
2025-10-26T21:36:12.384Z,1761514572.384 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:12.678Z,1761514572.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.299999 m,
      deltaT: 0.508889 s,
      deltaX: 0.199999 m,
      approachRate: 0.393011 m/s,
      rangeRepo size: 4

2025-10-26T21:36:12.685Z,1761514572.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.154625 m,
      bearing: 183.882055 deg,
      lat: 36.779415 deg,
      lon: -121.859486 deg,
      deltaT: 0.508889 s,
      deltaX: 0.198751 m,
      approachRate: 0.390560 m/s,
      posRepo size: 4

2025-10-26T21:36:12.685Z,1761514572.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.15 m.
2025-10-26T21:36:12.829Z,1761514572.829 [DAT](INFO): DAT read: Rx Time:21:36:11.5523 

2025-10-26T21:36:12.830Z,1761514572.830 [DAT](INFO): Rx dataTimestamp_ set to:1761514572.829534
2025-10-26T21:36:12.831Z,1761514572.831 [DAT](INFO): DAT read: Bearing 345.8,  11.8 (Local)

2025-10-26T21:36:12.832Z,1761514572.832 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.8,  11.8 (Local)

2025-10-26T21:36:12.834Z,1761514572.834 [DAT](INFO): DAT read: Range 11 to 50 :    23.3 m (trip time 15.5 ms) speed -0.3

2025-10-26T21:36:12.838Z,1761514572.838 [DAT](INFO): DAT read: 21:36:11.5523 LVL= 32752, 21745, 32754, 32755, AGC= 69, IDX= 499, 0.31, 2.856,-1.833, 2.528,-2.861, PHS=-0.464, 1.072,-0.939, RAW= 343.1,   3.7, CAL= 342.6,   1.2, ROT= 167.4,  -1.2

2025-10-26T21:36:12.844Z,1761514572.844 [DAT](INFO): got valid direction response:
 21:36:11.5523 LVL= 32752, 21745, 32754, 32755, AGC= 69, IDX= 499, 0.31, 2.856,-1.833, 2.528,-2.861, PHS=-0.464, 1.072,-0.939, RAW= 343.1,   3.7, CAL= 342.6,   1.2, ROT= 167.4,  -1.2

2025-10-26T21:36:12.844Z,1761514572.844 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-26T21:36:12.845Z,1761514572.845 [DAT](INFO): direction in FSK: [-0.975703,0.218095,0.020942]
2025-10-26T21:36:12.845Z,1761514572.845 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:12.977Z,1761514572.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960163,-0.278102,-0.027324],[0.279177,0.958908,0.050552],[0.012142,-0.056166,0.998348]]
2025-10-26T21:36:13.033Z,1761514573.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.299999 m,
      deltaT: 0.499463 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:13.035Z,1761514573.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.154610 m,
      bearing: 183.566220 deg,
      lat: 36.779415 deg,
      lon: -121.859486 deg,
      deltaT: 0.499463 s,
      deltaX: -0.000015 m,
      approachRate: -0.000031 m/s,
      posRepo size: 4

2025-10-26T21:36:13.035Z,1761514573.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.15 m.
2025-10-26T21:36:13.333Z,1761514573.333 [DAT](INFO): DAT read: Rx Time:21:36:12.0525 

2025-10-26T21:36:13.333Z,1761514573.333 [DAT](INFO): Rx dataTimestamp_ set to:1761514573.333185
2025-10-26T21:36:13.335Z,1761514573.335 [DAT](INFO): DAT read: Bearing 346.5,  12.1 (Local)

2025-10-26T21:36:13.335Z,1761514573.335 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.5,  12.1 (Local)

2025-10-26T21:36:13.337Z,1761514573.337 [DAT](INFO): DAT read: Range 11 to 50 :    23.6 m (trip time 15.7 ms) speed -0.3

2025-10-26T21:36:13.370Z,1761514573.370 [DAT](INFO): DAT read: 21:36:12.0525 LVL= 28448, 21281, 32754, 32755, AGC= 70, IDX= 501, 0.11,-2.978,-1.378, 2.965,-2.425, PHS=-0.451, 1.093,-0.937, RAW= 343.3,   3.3, CAL= 342.8,   0.6, ROT= 167.2,  -0.6

2025-10-26T21:36:13.390Z,1761514573.390 [DAT](INFO): got valid direction response:
 21:36:12.0525 LVL= 28448, 21281, 32754, 32755, AGC= 70, IDX= 501, 0.11,-2.978,-1.378, 2.965,-2.425, PHS=-0.451, 1.093,-0.937, RAW= 343.3,   3.3, CAL= 342.8,   0.6, ROT= 167.2,  -0.6

2025-10-26T21:36:13.406Z,1761514573.406 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-10-26T21:36:13.417Z,1761514573.417 [DAT](INFO): direction in FSK: [-0.975096,0.221536,0.010472]
2025-10-26T21:36:13.417Z,1761514573.417 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:13.445Z,1761514573.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960147,-0.278155,-0.027354],[0.279237,0.958868,0.050980],[0.012049,-0.056586,0.998325]]
2025-10-26T21:36:13.560Z,1761514573.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.600000 m,
      deltaT: 0.503651 s,
      deltaX: 0.300001 m,
      approachRate: 0.595653 m/s,
      rangeRepo size: 4

2025-10-26T21:36:13.562Z,1761514573.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.452738 m,
      bearing: 183.401382 deg,
      lat: 36.779415 deg,
      lon: -121.859486 deg,
      deltaT: 0.503651 s,
      deltaX: 0.298128 m,
      approachRate: 0.591934 m/s,
      posRepo size: 4

2025-10-26T21:36:13.563Z,1761514573.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.45 m.
2025-10-26T21:36:13.837Z,1761514573.837 [DAT](INFO): DAT read: Rx Time:21:36:12.5525 

2025-10-26T21:36:13.838Z,1761514573.838 [DAT](INFO): Rx dataTimestamp_ set to:1761514573.837253
2025-10-26T21:36:13.839Z,1761514573.839 [DAT](INFO): DAT read: Bearing 346.8,  11.0 (Local)

2025-10-26T21:36:13.839Z,1761514573.839 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.8,  11.0 (Local)

2025-10-26T21:36:13.841Z,1761514573.841 [DAT](INFO): DAT read: Range 11 to 50 :    23.6 m (trip time 15.7 ms) speed -0.1

2025-10-26T21:36:13.846Z,1761514573.846 [DAT](INFO): DAT read: 21:36:12.5525 LVL= 30384, 21137, 32754, 32755, AGC= 71, IDX= 501, 0.03, 0.272, 1.925,-0.036, 0.850, PHS=-0.476, 1.120,-0.930, RAW= 342.2,   3.1, CAL= 341.7,   0.4, ROT= 168.3,  -0.4

2025-10-26T21:36:13.847Z,1761514573.847 [DAT](INFO): got valid direction response:
 21:36:12.5525 LVL= 30384, 21137, 32754, 32755, AGC= 71, IDX= 501, 0.03, 0.272, 1.925,-0.036, 0.850, PHS=-0.476, 1.120,-0.930, RAW= 342.2,   3.1, CAL= 341.7,   0.4, ROT= 168.3,  -0.4

2025-10-26T21:36:13.847Z,1761514573.847 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-10-26T21:36:13.848Z,1761514573.848 [DAT](INFO): direction in FSK: [-0.979199,0.202782,0.006981]
2025-10-26T21:36:13.849Z,1761514573.849 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:13.857Z,1761514573.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959891,-0.279062,-0.027075],[0.280124,0.958620,0.050783],[0.011783,-0.056330,0.998343]]
2025-10-26T21:36:13.948Z,1761514573.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.600000 m,
      deltaT: 0.504068 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:13.950Z,1761514573.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.452738 m,
      bearing: 184.563394 deg,
      lat: 36.779415 deg,
      lon: -121.859486 deg,
      deltaT: 0.504068 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:36:13.951Z,1761514573.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.45 m.
2025-10-26T21:36:14.283Z,1761514574.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.45 m.
2025-10-26T21:36:14.360Z,1761514574.360 [DAT](INFO): DAT read: Rx Time:21:36:13.0526 

2025-10-26T21:36:14.362Z,1761514574.362 [DAT](INFO): Rx dataTimestamp_ set to:1761514574.361109
2025-10-26T21:36:14.371Z,1761514574.371 [DAT](INFO): DAT read: Bearing 347.4,  11.0 (Local)

2025-10-26T21:36:14.377Z,1761514574.377 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.4,  11.0 (Local)

2025-10-26T21:36:14.392Z,1761514574.392 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed 0.0

2025-10-26T21:36:14.416Z,1761514574.416 [DAT](INFO): DAT read: 21:36:13.0526 LVL= 32160, 21169, 32754, 32755, AGC= 72, IDX= 502,-0.01,-2.057,-0.403,-2.363,-1.493, PHS=-0.462, 1.135,-0.914, RAW= 342.1,   2.6, CAL= 341.6,  -0.3, ROT= 168.4,   0.3

2025-10-26T21:36:14.418Z,1761514574.418 [DAT](INFO): got valid direction response:
 21:36:13.0526 LVL= 32160, 21169, 32754, 32755, AGC= 72, IDX= 502,-0.01,-2.057,-0.403,-2.363,-1.493, PHS=-0.462, 1.135,-0.914, RAW= 342.1,   2.6, CAL= 341.6,  -0.3, ROT= 168.4,   0.3

2025-10-26T21:36:14.418Z,1761514574.418 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-10-26T21:36:14.424Z,1761514574.424 [DAT](INFO): direction in FSK: [-0.979562,0.201075,-0.005236]
2025-10-26T21:36:14.425Z,1761514574.425 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:14.678Z,1761514574.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959406,-0.280805,-0.026245],[0.281814,0.958146,0.050368],[0.011003,-0.055720,0.998386]]
2025-10-26T21:36:14.740Z,1761514574.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.523856 s,
      deltaX: 0.100000 m,
      approachRate: 0.190893 m/s,
      rangeRepo size: 4

2025-10-26T21:36:14.742Z,1761514574.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.552120 m,
      bearing: 184.800689 deg,
      lat: 36.779414 deg,
      lon: -121.859487 deg,
      deltaT: 0.523856 s,
      deltaX: 0.099382 m,
      approachRate: 0.189713 m/s,
      posRepo size: 4

2025-10-26T21:36:14.743Z,1761514574.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-10-26T21:36:14.857Z,1761514574.857 [DAT](INFO): DAT read: Rx Time:21:36:13.5526 

2025-10-26T21:36:14.858Z,1761514574.858 [DAT](INFO): Rx dataTimestamp_ set to:1761514574.857289
2025-10-26T21:36:14.859Z,1761514574.859 [DAT](INFO): DAT read: Bearing 346.9,  10.9 (Local)

2025-10-26T21:36:14.859Z,1761514574.859 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.9,  10.9 (Local)

2025-10-26T21:36:14.861Z,1761514574.861 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed -0.2

2025-10-26T21:36:14.866Z,1761514574.866 [DAT](INFO): DAT read: 21:36:13.5526 LVL= 32752, 21841, 32754, 32755, AGC= 72, IDX= 502,-0.06, 1.487,-3.138, 1.183, 2.068, PHS=-0.478, 1.122,-0.929, RAW= 342.1,   3.1, CAL= 341.6,   0.3, ROT= 168.4,  -0.3

2025-10-26T21:36:14.867Z,1761514574.867 [DAT](INFO): got valid direction response:
 21:36:13.5526 LVL= 32752, 21841, 32754, 32755, AGC= 72, IDX= 502,-0.06, 1.487,-3.138, 1.183, 2.068, PHS=-0.478, 1.122,-0.929, RAW= 342.1,   3.1, CAL= 341.6,   0.3, ROT= 168.4,  -0.3

2025-10-26T21:36:14.868Z,1761514574.868 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-10-26T21:36:14.869Z,1761514574.869 [DAT](INFO): direction in FSK: [-0.979562,0.201075,0.005236]
2025-10-26T21:36:14.869Z,1761514574.869 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:15.054Z,1761514575.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959334,-0.281093,-0.025780],[0.282078,0.958059,0.050552],[0.010490,-0.055768,0.998389]]
2025-10-26T21:36:15.076Z,1761514575.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.496180 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:15.078Z,1761514575.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.552099 m,
      bearing: 184.784996 deg,
      lat: 36.779414 deg,
      lon: -121.859490 deg,
      deltaT: 0.496180 s,
      deltaX: -0.000021 m,
      approachRate: -0.000042 m/s,
      posRepo size: 4

2025-10-26T21:36:15.079Z,1761514575.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-10-26T21:36:15.363Z,1761514575.363 [DAT](INFO): DAT read: Rx Time:21:36:14.0527 

2025-10-26T21:36:15.363Z,1761514575.363 [DAT](INFO): Rx dataTimestamp_ set to:1761514575.363208
2025-10-26T21:36:15.365Z,1761514575.365 [DAT](INFO): DAT read: Bearing 345.9,  11.3 (Local)

2025-10-26T21:36:15.365Z,1761514575.365 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.9,  11.3 (Local)

2025-10-26T21:36:15.367Z,1761514575.367 [DAT](INFO): DAT read: Range 11 to 50 :    23.9 m (trip time 15.9 ms) speed 0.0

2025-10-26T21:36:15.382Z,1761514575.382 [DAT](INFO): DAT read: 21:36:14.0527 LVL= 32720, 21985, 32754, 32755, AGC= 74, IDX= 504,-0.30, 2.202,-2.459, 1.891, 2.786, PHS=-0.482, 1.083,-0.939, RAW= 342.4,   3.7, CAL= 342.0,   1.3, ROT= 168.0,  -1.3

2025-10-26T21:36:15.387Z,1761514575.387 [DAT](INFO): got valid direction response:
 21:36:14.0527 LVL= 32720, 21985, 32754, 32755, AGC= 74, IDX= 504,-0.30, 2.202,-2.459, 1.891, 2.786, PHS=-0.482, 1.083,-0.939, RAW= 342.4,   3.7, CAL= 342.0,   1.3, ROT= 168.0,  -1.3

2025-10-26T21:36:15.388Z,1761514575.388 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-10-26T21:36:15.392Z,1761514575.392 [DAT](INFO): direction in FSK: [-0.977896,0.207858,0.022687]
2025-10-26T21:36:15.393Z,1761514575.393 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:15.454Z,1761514575.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959283,-0.281315,-0.025270],[0.282274,0.957986,0.050831],[0.009909,-0.055894,0.998388]]
2025-10-26T21:36:15.578Z,1761514575.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.900000 m,
      deltaT: 0.505919 s,
      deltaX: 0.199999 m,
      approachRate: 0.395318 m/s,
      rangeRepo size: 4

2025-10-26T21:36:15.584Z,1761514575.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.750851 m,
      bearing: 184.344648 deg,
      lat: 36.779414 deg,
      lon: -121.859490 deg,
      deltaT: 0.505919 s,
      deltaX: 0.198751 m,
      approachRate: 0.392852 m/s,
      posRepo size: 4

2025-10-26T21:36:15.584Z,1761514575.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-10-26T21:36:15.858Z,1761514575.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959194,-0.281661,-0.024769],[0.282594,0.957882,0.051015],[0.009357,-0.055933,0.998391]]
2025-10-26T21:36:15.865Z,1761514575.865 [DAT](INFO): DAT read: Rx Time:21:36:14.5527 

2025-10-26T21:36:15.866Z,1761514575.866 [DAT](INFO): Rx dataTimestamp_ set to:1761514575.865520
2025-10-26T21:36:15.867Z,1761514575.867 [DAT](INFO): DAT read: Bearing 346.6,  12.0 (Local)

2025-10-26T21:36:15.867Z,1761514575.867 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.6,  12.0 (Local)

2025-10-26T21:36:15.870Z,1761514575.870 [DAT](INFO): DAT read: Range 11 to 50 :    23.9 m (trip time 15.9 ms) speed 0.0

2025-10-26T21:36:15.874Z,1761514575.874 [DAT](INFO): DAT read: 21:36:14.5527 LVL= 32352, 22753, 32754, 32755, AGC= 74, IDX= 503, 0.25,-2.054,-0.447,-2.388,-1.497, PHS=-0.455, 1.095,-0.935, RAW= 343.1,   3.3, CAL= 342.6,   0.6, ROT= 167.4,  -0.6

2025-10-26T21:36:15.875Z,1761514575.875 [DAT](INFO): got valid direction response:
 21:36:14.5527 LVL= 32352, 22753, 32754, 32755, AGC= 74, IDX= 503, 0.25,-2.054,-0.447,-2.388,-1.497, PHS=-0.455, 1.095,-0.935, RAW= 343.1,   3.3, CAL= 342.6,   0.6, ROT= 167.4,  -0.6

2025-10-26T21:36:15.876Z,1761514575.876 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-10-26T21:36:15.877Z,1761514575.877 [DAT](INFO): direction in FSK: [-0.975863,0.218131,0.010472]
2025-10-26T21:36:15.877Z,1761514575.877 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:15.969Z,1761514575.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.900000 m,
      deltaT: 0.502312 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:15.970Z,1761514575.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.750851 m,
      bearing: 183.801401 deg,
      lat: 36.779414 deg,
      lon: -121.859490 deg,
      deltaT: 0.502312 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:36:15.971Z,1761514575.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-10-26T21:36:16.262Z,1761514576.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959171,-0.281784,-0.024264],[0.282691,0.957837,0.051324],[0.008779,-0.056088,0.998387]]
2025-10-26T21:36:16.280Z,1761514576.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-10-26T21:36:16.372Z,1761514576.372 [DAT](INFO): DAT read: Rx Time:21:36:15.0529 

2025-10-26T21:36:16.373Z,1761514576.373 [DAT](INFO): Rx dataTimestamp_ set to:1761514576.372318
2025-10-26T21:36:16.378Z,1761514576.378 [DAT](INFO): DAT read: Bearing 347.4,  11.7 (Local)

2025-10-26T21:36:16.379Z,1761514576.379 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.4,  11.7 (Local)

2025-10-26T21:36:16.387Z,1761514576.387 [DAT](INFO): DAT read: Range 11 to 50 :    24.2 m (trip time 16.1 ms) speed -0.2

2025-10-26T21:36:16.440Z,1761514576.440 [DAT](INFO): DAT read: 21:36:15.0529 LVL= 32752, 25297, 32754, 32755, AGC= 73, IDX= 505,-0.09,-1.741,-0.104,-2.066,-1.185, PHS=-0.453, 1.127,-0.924, RAW= 342.7,   2.7, CAL= 342.2,  -0.2, ROT= 167.8,   0.2

2025-10-26T21:36:16.441Z,1761514576.441 [DAT](INFO): got valid direction response:
 21:36:15.0529 LVL= 32752, 25297, 32754, 32755, AGC= 73, IDX= 505,-0.09,-1.741,-0.104,-2.066,-1.185, PHS=-0.453, 1.127,-0.924, RAW= 342.7,   2.7, CAL= 342.2,  -0.2, ROT= 167.8,   0.2

2025-10-26T21:36:16.441Z,1761514576.441 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-10-26T21:36:16.442Z,1761514576.442 [DAT](INFO): direction in FSK: [-0.977410,0.211323,-0.003491]
2025-10-26T21:36:16.442Z,1761514576.442 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:16.624Z,1761514576.624 [DAT](INFO): DAT read: Rx Time:21:36:15.5528 

2025-10-26T21:36:16.625Z,1761514576.625 [DAT](INFO): Rx dataTimestamp_ set to:1761514576.624575
2025-10-26T21:36:16.697Z,1761514576.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959195,-0.281754,-0.023664],[0.282630,0.957835,0.051688],[0.008103,-0.056267,0.998383]]
2025-10-26T21:36:16.758Z,1761514576.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.200001 m,
      deltaT: 0.506798 s,
      deltaX: 0.300001 m,
      approachRate: 0.591954 m/s,
      rangeRepo size: 4

2025-10-26T21:36:16.761Z,1761514576.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.048965 m,
      bearing: 184.245637 deg,
      lat: 36.779414 deg,
      lon: -121.859490 deg,
      deltaT: 0.506798 s,
      deltaX: 0.298115 m,
      approachRate: 0.588232 m/s,
      posRepo size: 4

2025-10-26T21:36:16.761Z,1761514576.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.05 m.
2025-10-26T21:36:16.873Z,1761514576.873 [DAT](INFO): DAT read: Bearing 345.7,  12.7 (Local)

2025-10-26T21:36:16.873Z,1761514576.873 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.7,  12.7 (Local)

2025-10-26T21:36:16.876Z,1761514576.876 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed -0.2

2025-10-26T21:36:16.880Z,1761514576.880 [DAT](INFO): DAT read: 21:36:15.5528 LVL= 32752, 27489, 32754, 32755, AGC= 74, IDX= 504, 0.43,-0.860, 0.742,-1.216,-0.292, PHS=-0.466, 1.079,-0.968, RAW= 343.6,   3.9, CAL= 343.2,   1.5, ROT= 166.8,  -1.5

2025-10-26T21:36:16.881Z,1761514576.881 [DAT](INFO): got valid direction response:
 21:36:15.5528 LVL= 32752, 27489, 32754, 32755, AGC= 74, IDX= 504, 0.43,-0.860, 0.742,-1.216,-0.292, PHS=-0.466, 1.079,-0.968, RAW= 343.6,   3.9, CAL= 343.2,   1.5, ROT= 166.8,  -1.5

2025-10-26T21:36:16.882Z,1761514576.882 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-10-26T21:36:16.883Z,1761514576.883 [DAT](INFO): direction in FSK: [-0.973245,0.228272,0.026177]
2025-10-26T21:36:16.883Z,1761514576.883 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:17.070Z,1761514577.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959081,-0.282196,-0.023003],[0.283034,0.957718,0.051645],[0.007456,-0.056042,0.998401]]
2025-10-26T21:36:17.100Z,1761514577.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.499488 s,
      deltaX: -0.200001 m,
      approachRate: -0.400412 m/s,
      rangeRepo size: 4

2025-10-26T21:36:17.102Z,1761514577.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.850216 m,
      bearing: 183.180970 deg,
      lat: 36.779414 deg,
      lon: -121.859490 deg,
      deltaT: 0.499488 s,
      deltaX: -0.198750 m,
      approachRate: -0.397907 m/s,
      posRepo size: 4

2025-10-26T21:36:17.103Z,1761514577.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-10-26T21:36:17.126Z,1761514577.126 [DAT](INFO): DAT read: Rx Time:21:36:16.0529 

2025-10-26T21:36:17.128Z,1761514577.128 [DAT](INFO): Rx dataTimestamp_ set to:1761514577.126715
2025-10-26T21:36:17.129Z,1761514577.129 [DAT](INFO): DAT read: Bearing 345.6,  12.0 (Local)

2025-10-26T21:36:17.130Z,1761514577.130 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.6,  12.0 (Local)

2025-10-26T21:36:17.378Z,1761514577.378 [DAT](INFO): DAT read: Range 11 to 50 :    24.2 m (trip time 16.1 ms) speed -0.1

2025-10-26T21:36:17.385Z,1761514577.385 [DAT](INFO): DAT read: 21:36:16.0529 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 505, 0.03,-1.781,-0.154,-2.115,-1.195, PHS=-0.485, 1.086,-0.964, RAW= 342.9,   4.0, CAL= 342.5,   1.7, ROT= 167.5,  -1.7

2025-10-26T21:36:17.388Z,1761514577.388 [DAT](INFO): got valid direction response:
 21:36:16.0529 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 505, 0.03,-1.781,-0.154,-2.115,-1.195, PHS=-0.485, 1.086,-0.964, RAW= 342.9,   4.0, CAL= 342.5,   1.7, ROT= 167.5,  -1.7

2025-10-26T21:36:17.388Z,1761514577.388 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-10-26T21:36:17.390Z,1761514577.390 [DAT](INFO): direction in FSK: [-0.975866,0.216344,0.029666]
2025-10-26T21:36:17.390Z,1761514577.390 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:17.478Z,1761514577.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959045,-0.282387,-0.022166],[0.283178,0.957672,0.051719],[0.006623,-0.055878,0.998416]]
2025-10-26T21:36:17.568Z,1761514577.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.200001 m,
      deltaT: 0.504286 s,
      deltaX: 0.200001 m,
      approachRate: 0.396602 m/s,
      rangeRepo size: 4

2025-10-26T21:36:17.570Z,1761514577.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.048969 m,
      bearing: 183.877666 deg,
      lat: 36.779413 deg,
      lon: -121.859489 deg,
      deltaT: 0.504286 s,
      deltaX: 0.198753 m,
      approachRate: 0.394128 m/s,
      posRepo size: 4

2025-10-26T21:36:17.570Z,1761514577.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.05 m.
2025-10-26T21:36:17.632Z,1761514577.632 [DAT](INFO): DAT read: Rx Time:21:36:16.5528 

2025-10-26T21:36:17.633Z,1761514577.633 [DAT](INFO): Rx dataTimestamp_ set to:1761514577.632314
2025-10-26T21:36:17.637Z,1761514577.637 [DAT](INFO): DAT read: Bearing 347.5,  12.1 (Local)

2025-10-26T21:36:17.638Z,1761514577.638 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.5,  12.1 (Local)

2025-10-26T21:36:17.878Z,1761514577.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959119,-0.282186,-0.021504],[0.282942,0.957726,0.052007],[0.005919,-0.055965,0.998415]]
2025-10-26T21:36:17.882Z,1761514577.882 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed -0.2

2025-10-26T21:36:17.887Z,1761514577.887 [DAT](INFO): DAT read: 21:36:16.5528 LVL= 32752, 24945, 32754, 32755, AGC= 74, IDX= 505,-0.37, 1.079, 2.732, 0.741, 1.638, PHS=-0.457, 1.139,-0.941, RAW= 342.8,   2.8, CAL= 342.3,  -0.1, ROT= 167.7,   0.1

2025-10-26T21:36:17.892Z,1761514577.892 [DAT](INFO): got valid direction response:
 21:36:16.5528 LVL= 32752, 24945, 32754, 32755, AGC= 74, IDX= 505,-0.37, 1.079, 2.732, 0.741, 1.638, PHS=-0.457, 1.139,-0.941, RAW= 342.8,   2.8, CAL= 342.3,  -0.1, ROT= 167.7,   0.1

2025-10-26T21:36:17.893Z,1761514577.893 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-10-26T21:36:17.895Z,1761514577.895 [DAT](INFO): direction in FSK: [-0.977044,0.213030,-0.001745]
2025-10-26T21:36:17.896Z,1761514577.896 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:17.978Z,1761514577.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.503766 s,
      deltaX: -0.200001 m,
      approachRate: -0.397011 m/s,
      rangeRepo size: 4

2025-10-26T21:36:17.985Z,1761514577.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.850216 m,
      bearing: 184.159140 deg,
      lat: 36.779414 deg,
      lon: -121.859489 deg,
      deltaT: 0.503766 s,
      deltaX: -0.198753 m,
      approachRate: -0.394535 m/s,
      posRepo size: 4

2025-10-26T21:36:17.985Z,1761514577.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-10-26T21:36:18.136Z,1761514578.136 [DAT](INFO): DAT read: Rx Time:21:36:17.0530 

2025-10-26T21:36:18.137Z,1761514578.137 [DAT](INFO): Rx dataTimestamp_ set to:1761514578.136165
2025-10-26T21:36:18.140Z,1761514578.140 [DAT](INFO): DAT read: Bearing 347.4,  11.9 (Local)

2025-10-26T21:36:18.141Z,1761514578.141 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.4,  11.9 (Local)

2025-10-26T21:36:18.145Z,1761514578.145 [DAT](INFO): DAT read: Range 11 to 50 :    24.3 m (trip time 16.2 ms) speed 0.0

2025-10-26T21:36:18.148Z,1761514578.148 [DAT](ERROR): #Rx 29: Read range message, but no direction.
2025-10-26T21:36:18.282Z,1761514578.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959129,-0.282201,-0.020843],[0.282921,0.957723,0.052168],[0.005240,-0.055933,0.998421]]
2025-10-26T21:36:18.317Z,1761514578.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.256307 s,
      deltaX: 0.299999 m,
      approachRate: 1.170468 m/s,
      rangeRepo size: 4

2025-10-26T21:36:18.317Z,1761514578.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-10-26T21:36:18.394Z,1761514578.394 [DAT](INFO): DAT read: 21:36:17.0530 LVL= 31728, 23345, 32754, 32755, AGC= 72, IDX= 506, 0.03,-2.680,-1.044,-3.003,-2.117, PHS=-0.461, 1.118,-0.930, RAW= 342.6,   3.0, CAL= 342.1,   0.1, ROT= 167.9,  -0.1

2025-10-26T21:36:18.397Z,1761514578.397 [DAT](INFO): got valid direction response:
 21:36:17.0530 LVL= 31728, 23345, 32754, 32755, AGC= 72, IDX= 506, 0.03,-2.680,-1.044,-3.003,-2.117, PHS=-0.461, 1.118,-0.930, RAW= 342.6,   3.0, CAL= 342.1,   0.1, ROT= 167.9,  -0.1

2025-10-26T21:36:18.399Z,1761514578.399 [DAT](INFO): #Rx 30: Read direction message, but no range.
2025-10-26T21:36:18.403Z,1761514578.403 [DAT](INFO): direction in FSK: [-0.977782,0.209618,0.001745]
2025-10-26T21:36:18.640Z,1761514578.640 [DAT](INFO): DAT read: Rx Time:21:36:17.5529 

2025-10-26T21:36:18.641Z,1761514578.641 [DAT](INFO): Rx dataTimestamp_ set to:1761514578.640234
2025-10-26T21:36:18.644Z,1761514578.644 [DAT](INFO): DAT read: Bearing 346.5,  12.4 (Local)

2025-10-26T21:36:18.645Z,1761514578.645 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.5,  12.4 (Local)

2025-10-26T21:36:18.649Z,1761514578.649 [DAT](INFO): DAT read: Range 11 to 50 :    24.2 m (trip time 16.1 ms) speed 0.0

2025-10-26T21:36:18.652Z,1761514578.652 [DAT](ERROR): #Rx 31: Read range message, but no direction.
2025-10-26T21:36:18.691Z,1761514578.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959167,-0.282119,-0.020195],[0.282804,0.957747,0.052363],[0.004569,-0.055936,0.998424]]
2025-10-26T21:36:18.796Z,1761514578.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.200001 m,
      deltaT: 0.504069 s,
      deltaX: -0.099998 m,
      approachRate: -0.198383 m/s,
      rangeRepo size: 4

2025-10-26T21:36:18.798Z,1761514578.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.048986 m,
      bearing: 184.340073 deg,
      lat: 36.779414 deg,
      lon: -121.859490 deg,
      deltaT: 0.760376 s,
      deltaX: 0.198771 m,
      approachRate: 0.261411 m/s,
      posRepo size: 4

2025-10-26T21:36:18.798Z,1761514578.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.05 m.
2025-10-26T21:36:18.898Z,1761514578.898 [DAT](INFO): DAT read: 21:36:17.5529 LVL= 31344, 25809, 32754, 32755, AGC= 72, IDX= 505, 0.21,-1.813,-0.192,-2.155,-1.245, PHS=-0.466, 1.099,-0.954, RAW= 343.1,   3.5, CAL= 342.7,   0.9, ROT= 167.3,  -0.9

2025-10-26T21:36:18.899Z,1761514578.899 [DAT](INFO): got valid direction response:
 21:36:17.5529 LVL= 31344, 25809, 32754, 32755, AGC= 72, IDX= 505, 0.21,-1.813,-0.192,-2.155,-1.245, PHS=-0.466, 1.099,-0.954, RAW= 343.1,   3.5, CAL= 342.7,   0.9, ROT= 167.3,  -0.9

2025-10-26T21:36:18.900Z,1761514578.900 [DAT](INFO): #Rx 32: Read direction message, but no range.
2025-10-26T21:36:18.901Z,1761514578.901 [DAT](INFO): direction in FSK: [-0.975414,0.219819,0.015707]
2025-10-26T21:36:19.090Z,1761514579.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959141,-0.282251,-0.019576],[0.282902,0.957714,0.052436],[0.003948,-0.055831,0.998432]]
2025-10-26T21:36:19.130Z,1761514579.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.05 m.
2025-10-26T21:36:19.144Z,1761514579.144 [DAT](INFO): DAT read: Rx Time:21:36:18.0530 

2025-10-26T21:36:19.145Z,1761514579.145 [DAT](INFO): Rx dataTimestamp_ set to:1761514579.144493
2025-10-26T21:36:19.154Z,1761514579.154 [DAT](INFO): DAT read: Bearing 344.8,  12.7 (Local)

2025-10-26T21:36:19.155Z,1761514579.155 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.8,  12.7 (Local)

2025-10-26T21:36:19.176Z,1761514579.176 [DAT](INFO): DAT read: Range 11 to 50 :    24.3 m (trip time 16.2 ms) speed 0.0

2025-10-26T21:36:19.178Z,1761514579.178 [DAT](ERROR): #Rx 33: Read range message, but no direction.
2025-10-26T21:36:19.399Z,1761514579.399 [DAT](INFO): DAT read: 21:36:18.0530 LVL= 31808, 22433, 32754, 32755, AGC= 71, IDX= 506, 0.36, 1.835,-2.844, 1.483, 2.427, PHS=-0.490, 1.057,-0.988, RAW= 343.5,   4.6, CAL= 343.1,   2.7, ROT= 166.9,  -2.7

2025-10-26T21:36:19.400Z,1761514579.400 [DAT](INFO): got valid direction response:
 21:36:18.0530 LVL= 31808, 22433, 32754, 32755, AGC= 71, IDX= 506, 0.36, 1.835,-2.844, 1.483, 2.427, PHS=-0.490, 1.057,-0.988, RAW= 343.5,   4.6, CAL= 343.1,   2.7, ROT= 166.9,  -2.7

2025-10-26T21:36:19.401Z,1761514579.401 [DAT](INFO): #Rx 34: Read direction message, but no range.
2025-10-26T21:36:19.403Z,1761514579.403 [DAT](INFO): direction in FSK: [-0.972895,0.226400,0.047106]
2025-10-26T21:36:19.518Z,1761514579.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959084,-0.282490,-0.018909],[0.283103,0.957659,0.052372],[0.003314,-0.055582,0.998449]]
2025-10-26T21:36:19.570Z,1761514579.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.504259 s,
      deltaX: 0.099998 m,
      approachRate: 0.198308 m/s,
      rangeRepo size: 4

2025-10-26T21:36:19.572Z,1761514579.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.148338 m,
      bearing: 183.220324 deg,
      lat: 36.779414 deg,
      lon: -121.859489 deg,
      deltaT: 0.504259 s,
      deltaX: 0.099352 m,
      approachRate: 0.197026 m/s,
      posRepo size: 4

2025-10-26T21:36:19.573Z,1761514579.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-10-26T21:36:19.648Z,1761514579.648 [DAT](INFO): DAT read: Rx Time:21:36:18.5530 

2025-10-26T21:36:19.649Z,1761514579.649 [DAT](INFO): Rx dataTimestamp_ set to:1761514579.648224
2025-10-26T21:36:19.652Z,1761514579.652 [DAT](INFO): DAT read: Bearing 345.7,  12.6 (Local)

2025-10-26T21:36:19.653Z,1761514579.653 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.7,  12.6 (Local)

2025-10-26T21:36:19.658Z,1761514579.658 [DAT](INFO): DAT read: Range 11 to 50 :    24.3 m (trip time 16.2 ms) speed 0.0

2025-10-26T21:36:19.665Z,1761514579.665 [DAT](ERROR): #Rx 35: Read range message, but no direction.
2025-10-26T21:36:19.903Z,1761514579.903 [DAT](INFO): DAT read: 21:36:18.5530 LVL= 32752, 21345, 32754, 32755, AGC= 70, IDX= 506,-0.28,-0.565, 1.045,-0.910, 0.014, PHS=-0.477, 1.076,-0.968, RAW= 343.3,   4.0, CAL= 342.9,   1.8, ROT= 167.1,  -1.8

2025-10-26T21:36:19.904Z,1761514579.904 [DAT](INFO): got valid direction response:
 21:36:18.5530 LVL= 32752, 21345, 32754, 32755, AGC= 70, IDX= 506,-0.28,-0.565, 1.045,-0.910, 0.014, PHS=-0.477, 1.076,-0.968, RAW= 343.3,   4.0, CAL= 342.9,   1.8, ROT= 167.1,  -1.8

2025-10-26T21:36:19.905Z,1761514579.905 [DAT](INFO): #Rx 36: Read direction message, but no range.
2025-10-26T21:36:19.906Z,1761514579.906 [DAT](INFO): direction in FSK: [-0.974280,0.223140,0.031411]
2025-10-26T21:36:19.924Z,1761514579.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959078,-0.282545,-0.018393],[0.283129,0.957649,0.052404],[0.002808,-0.055467,0.998457]]
2025-10-26T21:36:19.973Z,1761514579.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.503731 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:19.976Z,1761514579.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.148338 m,
      bearing: 183.469638 deg,
      lat: 36.779414 deg,
      lon: -121.859489 deg,
      deltaT: 0.503731 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:36:19.976Z,1761514579.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-10-26T21:36:20.152Z,1761514580.152 [DAT](INFO): DAT read: Rx Time:21:36:19.0531 

2025-10-26T21:36:20.153Z,1761514580.153 [DAT](INFO): Rx dataTimestamp_ set to:1761514580.152402
2025-10-26T21:36:20.156Z,1761514580.156 [DAT](INFO): DAT read: Bearing 344.3,  13.2 (Local)

2025-10-26T21:36:20.157Z,1761514580.157 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.3,  13.2 (Local)

2025-10-26T21:36:20.168Z,1761514580.168 [DAT](INFO): DAT read: Range 11 to 50 :    24.5 m (trip time 16.3 ms) speed -0.1

2025-10-26T21:36:20.170Z,1761514580.170 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-10-26T21:36:20.302Z,1761514580.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958965,-0.282961,-0.017880],[0.283516,0.957541,0.052284],[0.002327,-0.055207,0.998472]]
2025-10-26T21:36:20.345Z,1761514580.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.500000 m,
      deltaT: 0.504178 s,
      deltaX: 0.200001 m,
      approachRate: 0.396687 m/s,
      rangeRepo size: 4

2025-10-26T21:36:20.346Z,1761514580.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-10-26T21:36:20.408Z,1761514580.408 [DAT](INFO): DAT read: 21:36:19.0531 LVL= 32096, 23985, 32754, 32755, AGC= 70, IDX= 507,-0.07, 2.042,-2.652, 1.675, 2.633, PHS=-0.489, 1.042,-1.003, RAW= 344.0,   4.9, CAL= 343.6,   3.2, ROT= 166.4,  -3.2

2025-10-26T21:36:20.410Z,1761514580.410 [DAT](INFO): got valid direction response:
 21:36:19.0531 LVL= 32096, 23985, 32754, 32755, AGC= 70, IDX= 507,-0.07, 2.042,-2.652, 1.675, 2.633, PHS=-0.489, 1.042,-1.003, RAW= 344.0,   4.9, CAL= 343.6,   3.2, ROT= 166.4,  -3.2

2025-10-26T21:36:20.410Z,1761514580.410 [DAT](INFO): #Rx 38: Read direction message, but no range.
2025-10-26T21:36:20.413Z,1761514580.413 [DAT](INFO): direction in FSK: [-0.970445,0.234776,0.055822]
2025-10-26T21:36:20.656Z,1761514580.656 [DAT](INFO): DAT read: Rx Time:21:36:19.5530 

2025-10-26T21:36:20.657Z,1761514580.657 [DAT](INFO): Rx dataTimestamp_ set to:1761514580.656360
2025-10-26T21:36:20.661Z,1761514580.661 [DAT](INFO): DAT read: Bearing 346.2,  13.6 (Local)

2025-10-26T21:36:20.662Z,1761514580.662 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.2,  13.6 (Local)

2025-10-26T21:36:20.667Z,1761514580.667 [DAT](INFO): DAT read: Range 11 to 50 :    24.3 m (trip time 16.2 ms) speed 0.0

2025-10-26T21:36:20.704Z,1761514580.704 [DAT](INFO): DAT read: 21:36:19.5530 LVL= 32224, 24977, 32754, 32755, AGC= 68, IDX= 506, 0.19, 1.633,-3.065, 1.254, 2.183, PHS=-0.448, 1.080,-0.973, RAW= 344.2,   3.7, CAL= 343.8,   1.3, ROT= 166.2,  -1.3

2025-10-26T21:36:20.706Z,1761514580.706 [DAT](INFO): got valid direction response:
 21:36:19.5530 LVL= 32224, 24977, 32754, 32755, AGC= 68, IDX= 506, 0.19, 1.633,-3.065, 1.254, 2.183, PHS=-0.448, 1.080,-0.973, RAW= 344.2,   3.7, CAL= 343.8,   1.3, ROT= 166.2,  -1.3

2025-10-26T21:36:20.706Z,1761514580.706 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-10-26T21:36:20.724Z,1761514580.724 [DAT](INFO): direction in FSK: [-0.970884,0.238472,0.022687]
2025-10-26T21:36:20.724Z,1761514580.724 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:20.738Z,1761514580.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958845,-0.283395,-0.017413],[0.283924,0.957419,0.052311],[0.001847,-0.055102,0.998479]]
2025-10-26T21:36:20.854Z,1761514580.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.503958 s,
      deltaX: -0.200001 m,
      approachRate: -0.396860 m/s,
      rangeRepo size: 4

2025-10-26T21:36:20.861Z,1761514580.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.148342 m,
      bearing: 182.645351 deg,
      lat: 36.779414 deg,
      lon: -121.859488 deg,
      deltaT: 1.008136 s,
      deltaX: 0.000004 m,
      approachRate: 0.000004 m/s,
      posRepo size: 4

2025-10-26T21:36:20.861Z,1761514580.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-10-26T21:36:21.110Z,1761514581.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958811,-0.283527,-0.017137],[0.284040,0.957366,0.052646],[0.001479,-0.055345,0.998466]]
2025-10-26T21:36:21.161Z,1761514581.161 [DAT](INFO): DAT read: Rx Time:21:36:20.0530 

2025-10-26T21:36:21.162Z,1761514581.162 [DAT](INFO): Rx dataTimestamp_ set to:1761514581.161588
2025-10-26T21:36:21.168Z,1761514581.168 [DAT](INFO): DAT read: Bearing 343.9,  13.4 (Local)

2025-10-26T21:36:21.169Z,1761514581.169 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.9,  13.4 (Local)

2025-10-26T21:36:21.179Z,1761514581.179 [DAT](INFO): DAT read: Range 11 to 50 :    24.3 m (trip time 16.2 ms) speed 0.0

2025-10-26T21:36:21.197Z,1761514581.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-10-26T21:36:21.200Z,1761514581.200 [DAT](INFO): DAT read: 21:36:20.0530 LVL= 32016, 23713, 32754, 32755, AGC= 68, IDX= 507,-0.42, 0.548, 2.146, 0.177, 1.151, PHS=-0.501, 1.041,-1.017, RAW= 344.0,   5.2, CAL= 343.7,   3.6, ROT= 166.3,  -3.6

2025-10-26T21:36:21.201Z,1761514581.201 [DAT](INFO): got valid direction response:
 21:36:20.0530 LVL= 32016, 23713, 32754, 32755, AGC= 68, IDX= 507,-0.42, 0.548, 2.146, 0.177, 1.151, PHS=-0.501, 1.041,-1.017, RAW= 344.0,   5.2, CAL= 343.7,   3.6, ROT= 166.3,  -3.6

2025-10-26T21:36:21.201Z,1761514581.201 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-10-26T21:36:21.202Z,1761514581.202 [DAT](INFO): direction in FSK: [-0.969632,0.236371,0.062791]
2025-10-26T21:36:21.203Z,1761514581.203 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:21.531Z,1761514581.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958607,-0.284233,-0.016868],[0.284731,0.957153,0.052793],[0.001140,-0.055410,0.998463]]
2025-10-26T21:36:21.580Z,1761514581.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.505228 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:21.582Z,1761514581.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.148336 m,
      bearing: 182.669848 deg,
      lat: 36.779414 deg,
      lon: -121.859487 deg,
      deltaT: 0.505228 s,
      deltaX: -0.000006 m,
      approachRate: -0.000011 m/s,
      posRepo size: 4

2025-10-26T21:36:21.582Z,1761514581.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-10-26T21:36:21.664Z,1761514581.664 [DAT](INFO): DAT read: Rx Time:21:36:20.5530 

2025-10-26T21:36:21.665Z,1761514581.665 [DAT](INFO): Rx dataTimestamp_ set to:1761514581.664642
2025-10-26T21:36:21.670Z,1761514581.670 [DAT](INFO): DAT read: Bearing 344.0,  13.5 (Local)

2025-10-26T21:36:21.672Z,1761514581.672 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.0,  13.5 (Local)

2025-10-26T21:36:21.681Z,1761514581.681 [DAT](INFO): DAT read: Range 11 to 50 :    24.3 m (trip time 16.2 ms) speed 0.0

2025-10-26T21:36:21.692Z,1761514581.692 [DAT](INFO): DAT read: 21:36:20.5530 LVL= 32752, 23345, 32754, 32755, AGC= 69, IDX= 506,-0.03,-0.823, 0.765,-1.196,-0.227, PHS=-0.494, 1.037,-1.013, RAW= 344.1,   5.2, CAL= 343.8,   3.5, ROT= 166.2,  -3.5

2025-10-26T21:36:21.693Z,1761514581.693 [DAT](INFO): got valid direction response:
 21:36:20.5530 LVL= 32752, 23345, 32754, 32755, AGC= 69, IDX= 506,-0.03,-0.823, 0.765,-1.196,-0.227, PHS=-0.494, 1.037,-1.013, RAW= 344.1,   5.2, CAL= 343.8,   3.5, ROT= 166.2,  -3.5

2025-10-26T21:36:21.694Z,1761514581.694 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-10-26T21:36:21.695Z,1761514581.695 [DAT](INFO): direction in FSK: [-0.969323,0.238089,0.061049]
2025-10-26T21:36:21.696Z,1761514581.696 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:21.977Z,1761514581.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.503054 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:21.984Z,1761514581.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.148336 m,
      bearing: 182.575430 deg,
      lat: 36.779415 deg,
      lon: -121.859484 deg,
      deltaT: 0.503054 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:36:21.984Z,1761514581.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-10-26T21:36:22.170Z,1761514582.170 [DAT](INFO): DAT read: Rx Time:21:36:21.0531 

2025-10-26T21:36:22.172Z,1761514582.172 [DAT](INFO): Rx dataTimestamp_ set to:1761514582.170659
2025-10-26T21:36:22.175Z,1761514582.175 [DAT](INFO): DAT read: Bearing 346.3,  13.5 (Local)

2025-10-26T21:36:22.179Z,1761514582.179 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.3,  13.5 (Local)

2025-10-26T21:36:22.184Z,1761514582.184 [DAT](INFO): DAT read: Range 11 to 50 :    24.5 m (trip time 16.3 ms) speed 0.0

2025-10-26T21:36:22.189Z,1761514582.189 [DAT](INFO): DAT read: 21:36:21.0531 LVL= 31600, 21809, 32754, 32755, AGC= 66, IDX= 507, 0.38, 0.581, 2.180, 0.206, 1.137, PHS=-0.454, 1.088,-0.975, RAW= 344.0,   3.7, CAL= 343.6,   1.3, ROT= 166.4,  -1.3

2025-10-26T21:36:22.190Z,1761514582.190 [DAT](INFO): got valid direction response:
 21:36:21.0531 LVL= 31600, 21809, 32754, 32755, AGC= 66, IDX= 507, 0.38, 0.581, 2.180, 0.206, 1.137, PHS=-0.454, 1.088,-0.975, RAW= 344.0,   3.7, CAL= 343.6,   1.3, ROT= 166.4,  -1.3

2025-10-26T21:36:22.191Z,1761514582.191 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-10-26T21:36:22.224Z,1761514582.224 [DAT](INFO): direction in FSK: [-0.971711,0.235082,0.022687]
2025-10-26T21:36:22.224Z,1761514582.224 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:22.323Z,1761514582.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958154,-0.285787,-0.016344],[0.286253,0.956685,0.053042],[0.000478,-0.055501,0.998459]]
2025-10-26T21:36:22.349Z,1761514582.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.500000 m,
      deltaT: 0.506017 s,
      deltaX: 0.200001 m,
      approachRate: 0.395245 m/s,
      rangeRepo size: 4

2025-10-26T21:36:22.351Z,1761514582.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.347073 m,
      bearing: 182.983897 deg,
      lat: 36.779415 deg,
      lon: -121.859484 deg,
      deltaT: 0.506017 s,
      deltaX: 0.198736 m,
      approachRate: 0.392746 m/s,
      posRepo size: 4

2025-10-26T21:36:22.352Z,1761514582.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T21:36:22.672Z,1761514582.672 [DAT](INFO): DAT read: Rx Time:21:36:21.5531 

2025-10-26T21:36:22.674Z,1761514582.674 [DAT](INFO): Rx dataTimestamp_ set to:1761514582.672963
2025-10-26T21:36:22.677Z,1761514582.677 [DAT](INFO): DAT read: Bearing 345.4,  13.8 (Local)

2025-10-26T21:36:22.679Z,1761514582.679 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.4,  13.8 (Local)

2025-10-26T21:36:22.681Z,1761514582.681 [DAT](INFO): DAT read: Range 11 to 50 :    24.5 m (trip time 16.3 ms) speed 0.2

2025-10-26T21:36:22.685Z,1761514582.685 [DAT](INFO): DAT read: 21:36:21.5531 LVL= 31936, 21137, 32754, 32755, AGC= 67, IDX= 507,-0.11,-2.078,-0.499,-2.456,-1.513, PHS=-0.463, 1.059,-0.987, RAW= 344.3,   4.3, CAL= 343.9,   2.2, ROT= 166.1,  -2.2

2025-10-26T21:36:22.687Z,1761514582.687 [DAT](INFO): got valid direction response:
 21:36:21.5531 LVL= 31936, 21137, 32754, 32755, AGC= 67, IDX= 507,-0.11,-2.078,-0.499,-2.456,-1.513, PHS=-0.463, 1.059,-0.987, RAW= 344.3,   4.3, CAL= 343.9,   2.2, ROT= 166.1,  -2.2

2025-10-26T21:36:22.687Z,1761514582.687 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-10-26T21:36:22.688Z,1761514582.688 [DAT](INFO): direction in FSK: [-0.970001,0.240051,0.038388]
2025-10-26T21:36:22.688Z,1761514582.688 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:22.751Z,1761514582.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957911,-0.286608,-0.016228],[0.287067,0.956434,0.053165],[0.000284,-0.055585,0.998454]]
2025-10-26T21:36:22.852Z,1761514582.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.500000 m,
      deltaT: 0.502304 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:22.854Z,1761514582.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.347073 m,
      bearing: 182.684468 deg,
      lat: 36.779415 deg,
      lon: -121.859484 deg,
      deltaT: 0.502304 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:36:22.855Z,1761514582.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T21:36:23.157Z,1761514583.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957570,-0.287751,-0.016071],[0.288199,0.956091,0.053206],[0.000055,-0.055580,0.998454]]
2025-10-26T21:36:23.176Z,1761514583.176 [DAT](INFO): DAT read: Rx Time:21:36:22.0532 

2025-10-26T21:36:23.178Z,1761514583.178 [DAT](INFO): Rx dataTimestamp_ set to:1761514583.177047
2025-10-26T21:36:23.180Z,1761514583.180 [DAT](INFO): DAT read: Bearing 344.6,  13.7 (Local)

2025-10-26T21:36:23.180Z,1761514583.180 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.6,  13.7 (Local)

2025-10-26T21:36:23.182Z,1761514583.182 [DAT](INFO): DAT read: Range 11 to 50 :    24.6 m (trip time 16.4 ms) speed 0.0

2025-10-26T21:36:23.187Z,1761514583.187 [DAT](INFO): DAT read: 21:36:22.0532 LVL= 32752, 22145, 32754, 32755, AGC= 68, IDX= 508, 0.25, 1.501, 3.084, 1.129, 2.084, PHS=-0.481, 1.045,-0.999, RAW= 344.1,   4.8, CAL= 343.8,   2.9, ROT= 166.2,  -2.9

2025-10-26T21:36:23.188Z,1761514583.188 [DAT](INFO): got valid direction response:
 21:36:22.0532 LVL= 32752, 22145, 32754, 32755, AGC= 68, IDX= 508, 0.25, 1.501, 3.084, 1.129, 2.084, PHS=-0.481, 1.045,-0.999, RAW= 344.1,   4.8, CAL= 343.8,   2.9, ROT= 166.2,  -2.9

2025-10-26T21:36:23.188Z,1761514583.188 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-26T21:36:23.189Z,1761514583.189 [DAT](INFO): direction in FSK: [-0.969891,0.238228,0.050593]
2025-10-26T21:36:23.190Z,1761514583.190 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:23.282Z,1761514583.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.600000 m,
      deltaT: 0.504084 s,
      deltaX: 0.100000 m,
      approachRate: 0.198380 m/s,
      rangeRepo size: 4

2025-10-26T21:36:23.288Z,1761514583.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.446486 m,
      bearing: 182.814120 deg,
      lat: 36.779415 deg,
      lon: -121.859484 deg,
      deltaT: 0.504084 s,
      deltaX: 0.099413 m,
      approachRate: 0.197215 m/s,
      posRepo size: 4

2025-10-26T21:36:23.289Z,1761514583.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.45 m.
2025-10-26T21:36:23.561Z,1761514583.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957207,-0.288958,-0.016035],[0.289403,0.955726,0.053243],[-0.000060,-0.055605,0.998453]]
2025-10-26T21:36:23.605Z,1761514583.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.45 m.
2025-10-26T21:36:23.681Z,1761514583.681 [DAT](INFO): DAT read: Rx Time:21:36:22.5532 

2025-10-26T21:36:23.681Z,1761514583.681 [DAT](INFO): Rx dataTimestamp_ set to:1761514583.680824
2025-10-26T21:36:23.682Z,1761514583.682 [DAT](INFO): DAT read: Bearing 344.5,  13.5 (Local)

2025-10-26T21:36:23.683Z,1761514583.683 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.5,  13.5 (Local)

2025-10-26T21:36:23.685Z,1761514583.685 [DAT](INFO): DAT read: Range 11 to 50 :    24.6 m (trip time 16.4 ms) speed 0.0

2025-10-26T21:36:23.692Z,1761514583.692 [DAT](INFO): DAT read: 21:36:22.5532 LVL= 32752, 21793, 32754, 32755, AGC= 68, IDX= 508,-0.15,-1.788,-0.197,-2.156,-1.199, PHS=-0.486, 1.047,-1.001, RAW= 344.0,   4.8, CAL= 343.6,   3.0, ROT= 166.4,  -3.0

2025-10-26T21:36:23.693Z,1761514583.693 [DAT](INFO): got valid direction response:
 21:36:22.5532 LVL= 32752, 21793, 32754, 32755, AGC= 68, IDX= 508,-0.15,-1.788,-0.197,-2.156,-1.199, PHS=-0.486, 1.047,-1.001, RAW= 344.0,   4.8, CAL= 343.6,   3.0, ROT= 166.4,  -3.0

2025-10-26T21:36:23.693Z,1761514583.693 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-10-26T21:36:23.695Z,1761514583.695 [DAT](INFO): direction in FSK: [-0.970629,0.234820,0.052336]
2025-10-26T21:36:23.696Z,1761514583.696 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:23.946Z,1761514583.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956998,-0.289648,-0.016073],[0.290094,0.955496,0.053607],[-0.000170,-0.055965,0.998433]]
2025-10-26T21:36:23.998Z,1761514583.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.600000 m,
      deltaT: 0.503777 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:24.004Z,1761514584.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.446486 m,
      bearing: 183.120752 deg,
      lat: 36.779415 deg,
      lon: -121.859485 deg,
      deltaT: 0.503777 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:36:24.005Z,1761514584.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.45 m.
2025-10-26T21:36:24.182Z,1761514584.182 [DAT](INFO): DAT read: Rx Time:21:36:23.0533 

2025-10-26T21:36:24.182Z,1761514584.182 [DAT](INFO): Rx dataTimestamp_ set to:1761514584.181801
2025-10-26T21:36:24.183Z,1761514584.183 [DAT](INFO): DAT read: Bearing 346.9,  13.9 (Local)

2025-10-26T21:36:24.184Z,1761514584.184 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.9,  13.9 (Local)

2025-10-26T21:36:24.186Z,1761514584.186 [DAT](INFO): DAT read: Range 11 to 50 :    24.8 m (trip time 16.5 ms) speed 0.0

2025-10-26T21:36:24.190Z,1761514584.190 [DAT](INFO): DAT read: 21:36:23.0533 LVL= 31328, 19041, 32754, 32755, AGC= 66, IDX= 509, 0.30, 1.111, 2.697, 0.729, 1.649, PHS=-0.436, 1.093,-0.964, RAW= 344.3,   3.4, CAL= 343.8,   0.7, ROT= 166.2,  -0.7

2025-10-26T21:36:24.192Z,1761514584.192 [DAT](INFO): got valid direction response:
 21:36:23.0533 LVL= 31328, 19041, 32754, 32755, AGC= 66, IDX= 509, 0.30, 1.111, 2.697, 0.729, 1.649, PHS=-0.436, 1.093,-0.964, RAW= 344.3,   3.4, CAL= 343.8,   0.7, ROT= 166.2,  -0.7

2025-10-26T21:36:24.192Z,1761514584.192 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-10-26T21:36:24.193Z,1761514584.193 [DAT](INFO): direction in FSK: [-0.971062,0.238516,0.012217]
2025-10-26T21:36:24.193Z,1761514584.193 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:24.351Z,1761514584.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956699,-0.290635,-0.016048],[0.291078,0.955188,0.053747],[-0.000292,-0.056091,0.998426]]
2025-10-26T21:36:24.377Z,1761514584.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.799999 m,
      deltaT: 0.500977 s,
      deltaX: 0.199999 m,
      approachRate: 0.399218 m/s,
      rangeRepo size: 4

2025-10-26T21:36:24.379Z,1761514584.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.645248 m,
      bearing: 183.105251 deg,
      lat: 36.779414 deg,
      lon: -121.859486 deg,
      deltaT: 0.500977 s,
      deltaX: 0.198763 m,
      approachRate: 0.396751 m/s,
      posRepo size: 4

2025-10-26T21:36:24.379Z,1761514584.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.65 m.
2025-10-26T21:36:24.685Z,1761514584.685 [DAT](INFO): DAT read: Rx Time:21:36:23.5533 

2025-10-26T21:36:24.685Z,1761514584.685 [DAT](INFO): Rx dataTimestamp_ set to:1761514584.685132
2025-10-26T21:36:24.687Z,1761514584.687 [DAT](INFO): DAT read: Bearing 345.6,  13.5 (Local)

2025-10-26T21:36:24.687Z,1761514584.687 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.6,  13.5 (Local)

2025-10-26T21:36:24.689Z,1761514584.689 [DAT](INFO): DAT read: Range 11 to 50 :    24.8 m (trip time 16.5 ms) speed 0.0

2025-10-26T21:36:24.694Z,1761514584.694 [DAT](INFO): DAT read: 21:36:23.5533 LVL= 32752, 20641, 32754, 32755, AGC= 67, IDX= 509,-0.07,-1.486, 0.117,-1.854,-0.912, PHS=-0.472, 1.074,-0.986, RAW= 343.9,   4.2, CAL= 343.5,   2.0, ROT= 166.5,  -2.0

2025-10-26T21:36:24.695Z,1761514584.695 [DAT](INFO): got valid direction response:
 21:36:23.5533 LVL= 32752, 20641, 32754, 32755, AGC= 67, IDX= 509,-0.07,-1.486, 0.117,-1.854,-0.912, PHS=-0.472, 1.074,-0.986, RAW= 343.9,   4.2, CAL= 343.5,   2.0, ROT= 166.5,  -2.0

2025-10-26T21:36:24.696Z,1761514584.696 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-10-26T21:36:24.697Z,1761514584.697 [DAT](INFO): direction in FSK: [-0.971778,0.233303,0.034899]
2025-10-26T21:36:24.697Z,1761514584.697 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:24.759Z,1761514584.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956397,-0.291629,-0.016039],[0.292069,0.954881,0.053828],[-0.000383,-0.056165,0.998421]]
2025-10-26T21:36:24.877Z,1761514584.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.799999 m,
      deltaT: 0.503331 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:24.879Z,1761514584.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.645248 m,
      bearing: 183.393065 deg,
      lat: 36.779414 deg,
      lon: -121.859486 deg,
      deltaT: 0.503331 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:36:24.879Z,1761514584.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.65 m.
2025-10-26T21:36:25.189Z,1761514585.189 [DAT](INFO): DAT read: Rx Time:21:36:24.0533 

2025-10-26T21:36:25.189Z,1761514585.189 [DAT](INFO): Rx dataTimestamp_ set to:1761514585.189196
2025-10-26T21:36:25.191Z,1761514585.191 [DAT](INFO): DAT read: Bearing 345.8,  13.9 (Local)

2025-10-26T21:36:25.191Z,1761514585.191 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.8,  13.9 (Local)

2025-10-26T21:36:25.202Z,1761514585.202 [DAT](INFO): DAT read: Range 11 to 50 :    24.8 m (trip time 16.5 ms) speed -0.1

2025-10-26T21:36:25.207Z,1761514585.207 [DAT](INFO): DAT read: 21:36:24.0533 LVL= 32752, 20897, 32754, 32755, AGC= 67, IDX= 510,-0.46,-2.010,-0.432,-2.389,-1.453, PHS=-0.455, 1.066,-0.980, RAW= 344.3,   4.1, CAL= 343.9,   1.8, ROT= 166.1,  -1.8

2025-10-26T21:36:25.220Z,1761514585.220 [DAT](INFO): got valid direction response:
 21:36:24.0533 LVL= 32752, 20897, 32754, 32755, AGC= 67, IDX= 510,-0.46,-2.010,-0.432,-2.389,-1.453, PHS=-0.455, 1.066,-0.980, RAW= 344.3,   4.1, CAL= 343.9,   1.8, ROT= 166.1,  -1.8

2025-10-26T21:36:25.221Z,1761514585.221 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-10-26T21:36:25.222Z,1761514585.222 [DAT](INFO): direction in FSK: [-0.970238,0.240109,0.031411]
2025-10-26T21:36:25.222Z,1761514585.222 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:25.290Z,1761514585.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.799999 m,
      deltaT: 0.504064 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:25.296Z,1761514585.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.645233 m,
      bearing: 183.004747 deg,
      lat: 36.779414 deg,
      lon: -121.859486 deg,
      deltaT: 0.504064 s,
      deltaX: -0.000015 m,
      approachRate: -0.000030 m/s,
      posRepo size: 4

2025-10-26T21:36:25.297Z,1761514585.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.65 m.
2025-10-26T21:36:25.603Z,1761514585.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955951,-0.293080,-0.016178],[0.293526,0.954427,0.053965],[-0.000375,-0.056337,0.998412]]
2025-10-26T21:36:25.693Z,1761514585.693 [DAT](INFO): DAT read: Rx Time:21:36:24.5533 

2025-10-26T21:36:25.694Z,1761514585.694 [DAT](INFO): Rx dataTimestamp_ set to:1761514585.693239
2025-10-26T21:36:25.695Z,1761514585.695 [DAT](INFO): DAT read: Bearing 345.0,  13.4 (Local)

2025-10-26T21:36:25.695Z,1761514585.695 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.0,  13.4 (Local)

2025-10-26T21:36:25.698Z,1761514585.698 [DAT](INFO): DAT read: Range 11 to 50 :    24.8 m (trip time 16.5 ms) speed -0.2

2025-10-26T21:36:25.705Z,1761514585.705 [DAT](INFO): DAT read: 21:36:24.5533 LVL= 32752, 20753, 32754, 32755, AGC= 67, IDX= 509, 0.06,-1.581, 0.013,-1.945,-0.998, PHS=-0.481, 1.056,-0.991, RAW= 343.9,   4.6, CAL= 343.5,   2.6, ROT= 166.5,  -2.6

2025-10-26T21:36:25.707Z,1761514585.707 [DAT](INFO): got valid direction response:
 21:36:24.5533 LVL= 32752, 20753, 32754, 32755, AGC= 67, IDX= 509, 0.06,-1.581, 0.013,-1.945,-0.998, PHS=-0.481, 1.056,-0.991, RAW= 343.9,   4.6, CAL= 343.5,   2.6, ROT= 166.5,  -2.6

2025-10-26T21:36:25.707Z,1761514585.707 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-10-26T21:36:25.713Z,1761514585.713 [DAT](INFO): direction in FSK: [-0.971369,0.233205,0.045363]
2025-10-26T21:36:25.714Z,1761514585.714 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:25.718Z,1761514585.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.799999 m,
      deltaT: 0.504043 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:25.719Z,1761514585.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.65 m.
2025-10-26T21:36:26.060Z,1761514586.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.65 m.
2025-10-26T21:36:26.198Z,1761514586.198 [DAT](INFO): DAT read: Rx Time:21:36:25.0534 

2025-10-26T21:36:26.199Z,1761514586.199 [DAT](INFO): Rx dataTimestamp_ set to:1761514586.198271
2025-10-26T21:36:26.201Z,1761514586.201 [DAT](INFO): DAT read: Bearing 343.9,  13.5 (Local)

2025-10-26T21:36:26.201Z,1761514586.201 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.9,  13.5 (Local)

2025-10-26T21:36:26.204Z,1761514586.204 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed -0.2

2025-10-26T21:36:26.209Z,1761514586.209 [DAT](INFO): DAT read: 21:36:25.0534 LVL= 32752, 25233, 32754, 32755, AGC= 69, IDX= 511,-0.29,-2.226,-0.652,-2.586,-1.629, PHS=-0.495, 1.022,-1.001, RAW= 343.9,   5.3, CAL= 343.6,   3.7, ROT= 166.4,  -3.7

2025-10-26T21:36:26.210Z,1761514586.210 [DAT](INFO): got valid direction response:
 21:36:25.0534 LVL= 32752, 25233, 32754, 32755, AGC= 69, IDX= 511,-0.29,-2.226,-0.652,-2.586,-1.629, PHS=-0.495, 1.022,-1.001, RAW= 343.9,   5.3, CAL= 343.6,   3.7, ROT= 166.4,  -3.7

2025-10-26T21:36:26.210Z,1761514586.210 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-10-26T21:36:26.214Z,1761514586.214 [DAT](INFO): direction in FSK: [-0.969935,0.234652,0.064532]
2025-10-26T21:36:26.215Z,1761514586.215 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:26.427Z,1761514586.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955705,-0.293878,-0.016232],[0.294326,0.954188,0.053827],[-0.000330,-0.056220,0.998418]]
2025-10-26T21:36:26.451Z,1761514586.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.505032 s,
      deltaX: 0.100000 m,
      approachRate: 0.198008 m/s,
      rangeRepo size: 4

2025-10-26T21:36:26.453Z,1761514586.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.744621 m,
      bearing: 183.335273 deg,
      lat: 36.779414 deg,
      lon: -121.859487 deg,
      deltaT: 1.009075 s,
      deltaX: 0.099388 m,
      approachRate: 0.098494 m/s,
      posRepo size: 4

2025-10-26T21:36:26.454Z,1761514586.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:36:26.702Z,1761514586.702 [DAT](INFO): DAT read: Rx Time:21:36:25.5534 

2025-10-26T21:36:26.702Z,1761514586.702 [DAT](INFO): Rx dataTimestamp_ set to:1761514586.701728
2025-10-26T21:36:26.704Z,1761514586.704 [DAT](INFO): DAT read: Bearing 344.3,  13.9 (Local)

2025-10-26T21:36:26.705Z,1761514586.705 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.3,  13.9 (Local)

2025-10-26T21:36:26.708Z,1761514586.708 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed 0.0

2025-10-26T21:36:26.715Z,1761514586.715 [DAT](INFO): DAT read: 21:36:25.5534 LVL= 31328, 25441, 32754, 32755, AGC= 70, IDX= 510, 0.15,-1.159, 0.418,-1.537,-0.574, PHS=-0.484, 1.036,-1.008, RAW= 344.3,   5.0, CAL= 344.0,   3.3, ROT= 166.0,  -3.3

2025-10-26T21:36:26.717Z,1761514586.717 [DAT](INFO): got valid direction response:
 21:36:25.5534 LVL= 31328, 25441, 32754, 32755, AGC= 70, IDX= 510, 0.15,-1.159, 0.418,-1.537,-0.574, PHS=-0.484, 1.036,-1.008, RAW= 344.3,   5.0, CAL= 344.0,   3.3, ROT= 166.0,  -3.3

2025-10-26T21:36:26.718Z,1761514586.718 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-10-26T21:36:26.721Z,1761514586.721 [DAT](INFO): direction in FSK: [-0.968687,0.241521,0.057564]
2025-10-26T21:36:26.722Z,1761514586.722 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:26.834Z,1761514586.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955672,-0.293979,-0.016344],[0.294433,0.954161,0.053715],[-0.000196,-0.056146,0.998423]]
2025-10-26T21:36:26.919Z,1761514586.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.503457 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:26.925Z,1761514586.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.744621 m,
      bearing: 182.964751 deg,
      lat: 36.779414 deg,
      lon: -121.859487 deg,
      deltaT: 0.503457 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:36:26.925Z,1761514586.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:36:27.204Z,1761514587.204 [DAT](INFO): DAT read: Rx Time:21:36:26.0536 

2025-10-26T21:36:27.205Z,1761514587.205 [DAT](INFO): Rx dataTimestamp_ set to:1761514587.204638
2025-10-26T21:36:27.206Z,1761514587.206 [DAT](INFO): DAT read: Range 11 to 50 :    25.1 m (trip time 16.7 ms) speed -0.2

2025-10-26T21:36:27.207Z,1761514587.207 [DAT](ERROR): #Rx 52: Read range message, but no direction.
2025-10-26T21:36:27.249Z,1761514587.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955836,-0.293447,-0.016344],[0.293901,0.954313,0.053932],[-0.000229,-0.056353,0.998411]]
2025-10-26T21:36:27.280Z,1761514587.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.502910 s,
      deltaX: 0.200001 m,
      approachRate: 0.397687 m/s,
      rangeRepo size: 4

2025-10-26T21:36:27.281Z,1761514587.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:36:27.642Z,1761514587.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956051,-0.292745,-0.016373],[0.293202,0.954519,0.054086],[-0.000205,-0.056510,0.998402]]
2025-10-26T21:36:27.709Z,1761514587.709 [DAT](INFO): DAT read: Rx Time:21:36:26.5536 

2025-10-26T21:36:27.710Z,1761514587.710 [DAT](INFO): Rx dataTimestamp_ set to:1761514587.709596
2025-10-26T21:36:27.712Z,1761514587.712 [DAT](INFO): DAT read: Range 11 to 50 :    25.1 m (trip time 16.7 ms) speed -0.4

2025-10-26T21:36:27.713Z,1761514587.713 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-10-26T21:36:27.720Z,1761514587.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.504958 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:27.721Z,1761514587.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:36:28.042Z,1761514588.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956257,-0.292067,-0.016390],[0.292526,0.954727,0.054074],[-0.000145,-0.056503,0.998402]]
2025-10-26T21:36:28.069Z,1761514588.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:36:28.213Z,1761514588.213 [DAT](INFO): DAT read: Rx Time:21:36:27.0536 

2025-10-26T21:36:28.213Z,1761514588.213 [DAT](INFO): Rx dataTimestamp_ set to:1761514588.212731
2025-10-26T21:36:28.214Z,1761514588.214 [DAT](INFO): DAT read: Range 11 to 50 :    25.1 m (trip time 16.7 ms) speed 0.0

2025-10-26T21:36:28.215Z,1761514588.215 [DAT](ERROR): #Rx 54: Read range message, but no direction.
2025-10-26T21:36:28.447Z,1761514588.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956484,-0.291326,-0.016322],[0.291783,0.954963,0.053929],[-0.000124,-0.056345,0.998411]]
2025-10-26T21:36:28.467Z,1761514588.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.503135 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:28.467Z,1761514588.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:36:28.718Z,1761514588.718 [DAT](INFO): DAT read: Rx Time:21:36:27.5535 

2025-10-26T21:36:28.719Z,1761514588.719 [DAT](INFO): Rx dataTimestamp_ set to:1761514588.718237
2025-10-26T21:36:28.720Z,1761514588.720 [DAT](INFO): DAT read: Bearing 355.6,  20.8 (Local)

2025-10-26T21:36:28.721Z,1761514588.721 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.6,  20.8 (Local)

2025-10-26T21:36:28.724Z,1761514588.724 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed 0.0

2025-10-26T21:36:28.730Z,1761514588.730 [DAT](INFO): DAT read: 21:36:27.5535 LVL= 32752, 24561, 32754, 32755, AGC= 74, IDX= 513,-0.24,-1.584,-0.157,-2.210,-1.431, PHS=-0.051, 1.319,-0.823, RAW= 350.8,  -4.8, CAL= 350.4,  -7.8, ROT= 159.6,   7.8

2025-10-26T21:36:28.732Z,1761514588.732 [DAT](INFO): got valid direction response:
 21:36:27.5535 LVL= 32752, 24561, 32754, 32755, AGC= 74, IDX= 513,-0.24,-1.584,-0.157,-2.210,-1.431, PHS=-0.051, 1.319,-0.823, RAW= 350.8,  -4.8, CAL= 350.4,  -7.8, ROT= 159.6,   7.8

2025-10-26T21:36:28.732Z,1761514588.732 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-10-26T21:36:28.733Z,1761514588.733 [DAT](INFO): direction in FSK: [-0.928610,0.345347,-0.135716]
2025-10-26T21:36:28.734Z,1761514588.734 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:28.853Z,1761514588.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956816,-0.290239,-0.016263],[0.290694,0.955300,0.053832],[-0.000088,-0.056235,0.998418]]
2025-10-26T21:36:28.938Z,1761514588.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.505506 s,
      deltaX: -0.200001 m,
      approachRate: -0.395645 m/s,
      rangeRepo size: 4

2025-10-26T21:36:28.944Z,1761514588.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.744602 m,
      bearing: 176.944371 deg,
      lat: 36.779415 deg,
      lon: -121.859486 deg,
      deltaT: 2.016509 s,
      deltaX: -0.000019 m,
      approachRate: -0.000009 m/s,
      posRepo size: 4

2025-10-26T21:36:28.944Z,1761514588.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:36:29.221Z,1761514589.221 [DAT](INFO): DAT read: Rx Time:21:36:28.0536 

2025-10-26T21:36:29.221Z,1761514589.221 [DAT](INFO): Rx dataTimestamp_ set to:1761514589.220707
2025-10-26T21:36:29.222Z,1761514589.222 [DAT](INFO): DAT read: Range 11 to 50 :    25.1 m (trip time 16.7 ms) speed -0.2

2025-10-26T21:36:29.223Z,1761514589.223 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-10-26T21:36:29.267Z,1761514589.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957123,-0.289212,-0.016470],[0.289680,0.955623,0.053570],[0.000246,-0.056044,0.998428]]
2025-10-26T21:36:29.302Z,1761514589.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.502470 s,
      deltaX: 0.200001 m,
      approachRate: 0.398035 m/s,
      rangeRepo size: 4

2025-10-26T21:36:29.302Z,1761514589.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:36:29.659Z,1761514589.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957481,-0.288021,-0.016556],[0.288496,0.955989,0.053435],[0.000437,-0.055939,0.998434]]
2025-10-26T21:36:29.707Z,1761514589.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:36:29.725Z,1761514589.725 [DAT](INFO): DAT read: Rx Time:21:36:28.5535 

2025-10-26T21:36:29.726Z,1761514589.726 [DAT](INFO): Rx dataTimestamp_ set to:1761514589.725464
2025-10-26T21:36:29.728Z,1761514589.728 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed -0.2

2025-10-26T21:36:29.729Z,1761514589.729 [DAT](ERROR): #Rx 57: Read range message, but no direction.
2025-10-26T21:36:30.063Z,1761514590.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957991,-0.286314,-0.016643],[0.286797,0.956488,0.053640],[0.000561,-0.056160,0.998422]]
2025-10-26T21:36:30.086Z,1761514590.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.504757 s,
      deltaX: -0.200001 m,
      approachRate: -0.396232 m/s,
      rangeRepo size: 4

2025-10-26T21:36:30.086Z,1761514590.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:36:30.229Z,1761514590.229 [DAT](INFO): DAT read: Rx Time:21:36:29.0536 

2025-10-26T21:36:30.229Z,1761514590.229 [DAT](INFO): Rx dataTimestamp_ set to:1761514590.229201
2025-10-26T21:36:30.231Z,1761514590.231 [DAT](INFO): DAT read: Bearing 339.6,  11.9 (Local)

2025-10-26T21:36:30.231Z,1761514590.231 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.6,  11.9 (Local)

2025-10-26T21:36:30.233Z,1761514590.233 [DAT](INFO): DAT read: Range 11 to 50 :    25.1 m (trip time 16.7 ms) speed -0.1

2025-10-26T21:36:30.238Z,1761514590.238 [DAT](INFO): DAT read: 21:36:29.0536 LVL= 32752, 25377, 32754, 32755, AGC= 73, IDX= 514,-0.24, 1.858,-2.504, 1.455, 2.689, PHS=-0.729, 1.135,-1.278, RAW= 342.5,   8.0, CAL= 342.4,   8.0, ROT= 167.6,  -8.0

2025-10-26T21:36:30.239Z,1761514590.239 [DAT](INFO): got valid direction response:
 21:36:29.0536 LVL= 32752, 25377, 32754, 32755, AGC= 73, IDX= 514,-0.24, 1.858,-2.504, 1.455, 2.689, PHS=-0.729, 1.135,-1.278, RAW= 342.5,   8.0, CAL= 342.4,   8.0, ROT= 167.6,  -8.0

2025-10-26T21:36:30.240Z,1761514590.240 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-10-26T21:36:30.241Z,1761514590.241 [DAT](INFO): direction in FSK: [-0.967167,0.212646,0.139173]
2025-10-26T21:36:30.241Z,1761514590.241 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:30.467Z,1761514590.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958361,-0.285071,-0.016694],[0.285559,0.956863,0.053571],[0.000703,-0.056107,0.998425]]
2025-10-26T21:36:30.512Z,1761514590.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.503737 s,
      deltaX: 0.200001 m,
      approachRate: 0.397034 m/s,
      rangeRepo size: 4

2025-10-26T21:36:30.514Z,1761514590.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.943310 m,
      bearing: 183.771761 deg,
      lat: 36.779415 deg,
      lon: -121.859487 deg,
      deltaT: 1.510964 s,
      deltaX: 0.198708 m,
      approachRate: 0.131510 m/s,
      posRepo size: 4

2025-10-26T21:36:30.515Z,1761514590.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.94 m.
2025-10-26T21:36:30.734Z,1761514590.734 [DAT](INFO): DAT read: Rx Time:21:36:29.5536 

2025-10-26T21:36:30.734Z,1761514590.734 [DAT](INFO): Rx dataTimestamp_ set to:1761514590.733697
2025-10-26T21:36:30.736Z,1761514590.736 [DAT](INFO): DAT read: Bearing 327.4,   5.9 (Local)

2025-10-26T21:36:30.736Z,1761514590.736 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.4,   5.9 (Local)

2025-10-26T21:36:30.738Z,1761514590.738 [DAT](INFO): DAT read: Range 11 to 50 :    25.1 m (trip time 16.7 ms) speed 0.0

2025-10-26T21:36:30.742Z,1761514590.742 [DAT](INFO): DAT read: 21:36:29.5536 LVL= 32752, 29937, 32754, 32755, AGC= 72, IDX= 513, 0.08,-2.839,-1.533,-2.892,-2.016, PHS=-0.721, 0.528,-0.919, RAW= 337.3,  16.1, CAL= 337.5,  20.6, ROT= 172.5, -20.6

2025-10-26T21:36:30.744Z,1761514590.744 [DAT](INFO): got valid direction response:
 21:36:29.5536 LVL= 32752, 29937, 32754, 32755, AGC= 72, IDX= 513, 0.08,-2.839,-1.533,-2.892,-2.016, PHS=-0.721, 0.528,-0.919, RAW= 337.3,  16.1, CAL= 337.5,  20.6, ROT= 172.5, -20.6

2025-10-26T21:36:30.744Z,1761514590.744 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-26T21:36:30.745Z,1761514590.745 [DAT](INFO): direction in FSK: [-0.928051,0.122180,0.351842]
2025-10-26T21:36:30.745Z,1761514590.745 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:30.940Z,1761514590.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.504496 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:30.942Z,1761514590.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.943310 m,
      bearing: 187.911574 deg,
      lat: 36.779418 deg,
      lon: -121.859487 deg,
      deltaT: 0.504496 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:36:30.942Z,1761514590.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.94 m.
2025-10-26T21:36:31.237Z,1761514591.237 [DAT](INFO): DAT read: Rx Time:21:36:30.0537 

2025-10-26T21:36:31.237Z,1761514591.237 [DAT](INFO): Rx dataTimestamp_ set to:1761514591.237170
2025-10-26T21:36:31.239Z,1761514591.239 [DAT](INFO): DAT read: Bearing 345.2,  14.0 (Local)

2025-10-26T21:36:31.239Z,1761514591.239 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.2,  14.0 (Local)

2025-10-26T21:36:31.241Z,1761514591.241 [DAT](INFO): DAT read: Range 11 to 50 :    25.2 m (trip time 16.8 ms) speed -0.2

2025-10-26T21:36:31.246Z,1761514591.246 [DAT](INFO): DAT read: 21:36:30.0537 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX=   3,-0.32,-1.362, 0.223,-1.752,-0.792, PHS=-0.467, 1.060,-1.004, RAW= 344.5,   4.5, CAL= 344.1,   2.4, ROT= 165.9,  -2.4

2025-10-26T21:36:31.247Z,1761514591.247 [DAT](INFO): got valid direction response:
 21:36:30.0537 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX=   3,-0.32,-1.362, 0.223,-1.752,-0.792, PHS=-0.467, 1.060,-1.004, RAW= 344.5,   4.5, CAL= 344.1,   2.4, ROT= 165.9,  -2.4

2025-10-26T21:36:31.247Z,1761514591.247 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-26T21:36:31.248Z,1761514591.248 [DAT](INFO): direction in FSK: [-0.969021,0.243401,0.041876]
2025-10-26T21:36:31.249Z,1761514591.249 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:31.281Z,1761514591.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959011,-0.282859,-0.017001],[0.283367,0.957524,0.053393],[0.001176,-0.056022,0.998429]]
2025-10-26T21:36:31.345Z,1761514591.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 0.503473 s,
      deltaX: 0.100000 m,
      approachRate: 0.198621 m/s,
      rangeRepo size: 4

2025-10-26T21:36:31.356Z,1761514591.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.042686 m,
      bearing: 182.252565 deg,
      lat: 36.779418 deg,
      lon: -121.859487 deg,
      deltaT: 0.503473 s,
      deltaX: 0.099377 m,
      approachRate: 0.197382 m/s,
      posRepo size: 4

2025-10-26T21:36:31.356Z,1761514591.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-10-26T21:36:31.673Z,1761514591.673 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:36:31.741Z,1761514591.741 [DAT](INFO): DAT read: Rx Time:21:36:30.5537 

2025-10-26T21:36:31.742Z,1761514591.742 [DAT](INFO): Rx dataTimestamp_ set to:1761514591.741461
2025-10-26T21:36:31.743Z,1761514591.743 [DAT](INFO): DAT read: Bearing 345.8,  13.5 (Local)

2025-10-26T21:36:31.743Z,1761514591.743 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.8,  13.5 (Local)

2025-10-26T21:36:31.745Z,1761514591.745 [DAT](INFO): DAT read: Range 11 to 50 :    25.2 m (trip time 16.8 ms) speed 0.0

2025-10-26T21:36:31.750Z,1761514591.750 [DAT](INFO): DAT read: 21:36:30.5537 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 498, 0.04,-0.671, 0.937,-1.046,-0.098, PHS=-0.471, 1.080,-0.992, RAW= 344.0,   4.1, CAL= 343.6,   1.9, ROT= 166.4,  -1.9

2025-10-26T21:36:31.751Z,1761514591.751 [DAT](INFO): got valid direction response:
 21:36:30.5537 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 498, 0.04,-0.671, 0.937,-1.046,-0.098, PHS=-0.471, 1.080,-0.992, RAW= 344.0,   4.1, CAL= 343.6,   1.9, ROT= 166.4,  -1.9

2025-10-26T21:36:31.752Z,1761514591.752 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-10-26T21:36:31.753Z,1761514591.753 [DAT](INFO): direction in FSK: [-0.971427,0.235013,0.033155]
2025-10-26T21:36:31.753Z,1761514591.753 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:31.841Z,1761514591.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 0.504291 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:31.843Z,1761514591.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.042686 m,
      bearing: 182.778679 deg,
      lat: 36.779418 deg,
      lon: -121.859489 deg,
      deltaT: 0.504291 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:36:31.848Z,1761514591.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-10-26T21:36:32.097Z,1761514592.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959441,-0.281391,-0.017107],[0.281907,0.957969,0.053140],[0.001435,-0.055807,0.998441]]
2025-10-26T21:36:32.115Z,1761514592.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-10-26T21:36:32.245Z,1761514592.245 [DAT](INFO): DAT read: Rx Time:21:36:31.0538 

2025-10-26T21:36:32.246Z,1761514592.246 [DAT](INFO): Rx dataTimestamp_ set to:1761514592.245457
2025-10-26T21:36:32.248Z,1761514592.248 [DAT](INFO): DAT read: Bearing 345.7,  13.9 (Local)

2025-10-26T21:36:32.248Z,1761514592.248 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.7,  13.9 (Local)

2025-10-26T21:36:32.251Z,1761514592.251 [DAT](INFO): DAT read: Range 11 to 50 :    25.4 m (trip time 16.9 ms) speed 0.0

2025-10-26T21:36:32.258Z,1761514592.258 [DAT](INFO): DAT read: 21:36:31.0538 LVL= 32752, 30657, 32754, 32755, AGC= 73, IDX= 500,-0.28,-2.413,-0.823,-2.800,-1.850, PHS=-0.461, 1.072,-0.995, RAW= 344.4,   4.2, CAL= 344.0,   2.0, ROT= 166.0,  -2.0

2025-10-26T21:36:32.259Z,1761514592.259 [DAT](INFO): got valid direction response:
 21:36:31.0538 LVL= 32752, 30657, 32754, 32755, AGC= 73, IDX= 500,-0.28,-2.413,-0.823,-2.800,-1.850, PHS=-0.461, 1.072,-0.995, RAW= 344.4,   4.2, CAL= 344.0,   2.0, ROT= 166.0,  -2.0

2025-10-26T21:36:32.259Z,1761514592.259 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-10-26T21:36:32.260Z,1761514592.260 [DAT](INFO): direction in FSK: [-0.969705,0.241774,0.034899]
2025-10-26T21:36:32.260Z,1761514592.260 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:32.490Z,1761514592.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959643,-0.280695,-0.017198],[0.281218,0.958169,0.053196],[0.001547,-0.055886,0.998436]]
2025-10-26T21:36:32.524Z,1761514592.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.400000 m,
      deltaT: 0.503996 s,
      deltaX: 0.199999 m,
      approachRate: 0.396826 m/s,
      rangeRepo size: 4

2025-10-26T21:36:32.526Z,1761514592.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.241459 m,
      bearing: 182.245910 deg,
      lat: 36.779416 deg,
      lon: -121.859489 deg,
      deltaT: 0.503996 s,
      deltaX: 0.198772 m,
      approachRate: 0.394393 m/s,
      posRepo size: 4

2025-10-26T21:36:32.526Z,1761514592.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.24 m.
2025-10-26T21:36:32.678Z,1761514592.678 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:36:32.749Z,1761514592.749 [DAT](INFO): DAT read: Rx Time:21:36:31.5538 

2025-10-26T21:36:32.750Z,1761514592.750 [DAT](INFO): Rx dataTimestamp_ set to:1761514592.749309
2025-10-26T21:36:32.751Z,1761514592.751 [DAT](INFO): DAT read: Bearing 346.5,  13.6 (Local)

2025-10-26T21:36:32.752Z,1761514592.752 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.5,  13.6 (Local)

2025-10-26T21:36:32.754Z,1761514592.754 [DAT](INFO): DAT read: Range 11 to 50 :    25.4 m (trip time 16.9 ms) speed 0.0

2025-10-26T21:36:32.759Z,1761514592.759 [DAT](INFO): DAT read: 21:36:31.5538 LVL= 32752, 23921, 32754, 32755, AGC= 72, IDX= 499, 0.24,-2.678,-1.074,-3.058,-2.124, PHS=-0.453, 1.095,-0.978, RAW= 344.1,   3.6, CAL= 343.7,   1.1, ROT= 166.3,  -1.1

2025-10-26T21:36:32.760Z,1761514592.760 [DAT](INFO): got valid direction response:
 21:36:31.5538 LVL= 32752, 23921, 32754, 32755, AGC= 72, IDX= 499, 0.24,-2.678,-1.074,-3.058,-2.124, PHS=-0.453, 1.095,-0.978, RAW= 344.1,   3.6, CAL= 343.7,   1.1, ROT= 166.3,  -1.1

2025-10-26T21:36:32.760Z,1761514592.760 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-10-26T21:36:32.761Z,1761514592.761 [DAT](INFO): direction in FSK: [-0.971370,0.236795,0.019197]
2025-10-26T21:36:32.761Z,1761514592.761 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:32.966Z,1761514592.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.400000 m,
      deltaT: 0.503852 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:32.968Z,1761514592.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.241459 m,
      bearing: 182.593892 deg,
      lat: 36.779416 deg,
      lon: -121.859489 deg,
      deltaT: 0.503852 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:36:32.968Z,1761514592.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.24 m.
2025-10-26T21:36:33.253Z,1761514593.253 [DAT](INFO): DAT read: Rx Time:21:36:32.0539 

2025-10-26T21:36:33.253Z,1761514593.253 [DAT](INFO): Rx dataTimestamp_ set to:1761514593.253145
2025-10-26T21:36:33.255Z,1761514593.255 [DAT](INFO): DAT read: Bearing 345.6,  13.4 (Local)

2025-10-26T21:36:33.255Z,1761514593.255 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.6,  13.4 (Local)

2025-10-26T21:36:33.257Z,1761514593.257 [DAT](INFO): DAT read: Range 11 to 50 :    25.5 m (trip time 17.0 ms) speed -0.2

2025-10-26T21:36:33.262Z,1761514593.262 [DAT](INFO): DAT read: 21:36:32.0539 LVL= 32752, 24977, 32754, 32755, AGC= 72, IDX= 500, 0.02, 0.397, 2.009, 0.026, 0.975, PHS=-0.476, 1.079,-0.993, RAW= 343.9,   4.2, CAL= 343.5,   2.1, ROT= 166.5,  -2.1

2025-10-26T21:36:33.263Z,1761514593.263 [DAT](INFO): got valid direction response:
 21:36:32.0539 LVL= 32752, 24977, 32754, 32755, AGC= 72, IDX= 500, 0.02, 0.397, 2.009, 0.026, 0.975, PHS=-0.476, 1.079,-0.993, RAW= 343.9,   4.2, CAL= 343.5,   2.1, ROT= 166.5,  -2.1

2025-10-26T21:36:33.263Z,1761514593.263 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-26T21:36:33.264Z,1761514593.264 [DAT](INFO): direction in FSK: [-0.971717,0.233289,0.036644]
2025-10-26T21:36:33.264Z,1761514593.264 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:33.298Z,1761514593.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959878,-0.279872,-0.017512],[0.280412,0.958407,0.053144],[0.001910,-0.055922,0.998433]]
2025-10-26T21:36:33.402Z,1761514593.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 0.503836 s,
      deltaX: 0.100000 m,
      approachRate: 0.198478 m/s,
      rangeRepo size: 4

2025-10-26T21:36:33.408Z,1761514593.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.340824 m,
      bearing: 182.691579 deg,
      lat: 36.779416 deg,
      lon: -121.859489 deg,
      deltaT: 0.503836 s,
      deltaX: 0.099365 m,
      approachRate: 0.197217 m/s,
      posRepo size: 4

2025-10-26T21:36:33.409Z,1761514593.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-10-26T21:36:33.723Z,1761514593.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959840,-0.279988,-0.017688],[0.280539,0.958380,0.052971],[0.002120,-0.055806,0.998439]]
2025-10-26T21:36:33.757Z,1761514593.757 [DAT](INFO): DAT read: Rx Time:21:36:32.5539 

2025-10-26T21:36:33.757Z,1761514593.757 [DAT](INFO): Rx dataTimestamp_ set to:1761514593.757179
2025-10-26T21:36:33.759Z,1761514593.759 [DAT](INFO): DAT read: Bearing 345.9,  13.3 (Local)

2025-10-26T21:36:33.759Z,1761514593.759 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.9,  13.3 (Local)

2025-10-26T21:36:33.761Z,1761514593.761 [DAT](INFO): DAT read: Range 11 to 50 :    25.5 m (trip time 17.0 ms) speed 0.0

2025-10-26T21:36:33.766Z,1761514593.766 [DAT](INFO): DAT read: 21:36:32.5539 LVL= 32752, 22481, 32754, 32755, AGC= 71, IDX= 500,-0.30, 2.928,-1.749, 2.560,-2.786, PHS=-0.467, 1.082,-0.981, RAW= 343.8,   4.0, CAL= 343.4,   1.7, ROT= 166.6,  -1.7

2025-10-26T21:36:33.767Z,1761514593.767 [DAT](INFO): got valid direction response:
 21:36:32.5539 LVL= 32752, 22481, 32754, 32755, AGC= 71, IDX= 500,-0.30, 2.928,-1.749, 2.560,-2.786, PHS=-0.467, 1.082,-0.981, RAW= 343.8,   4.0, CAL= 343.4,   1.7, ROT= 166.6,  -1.7

2025-10-26T21:36:33.767Z,1761514593.767 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-10-26T21:36:33.768Z,1761514593.768 [DAT](INFO): direction in FSK: [-0.972348,0.231646,0.029666]
2025-10-26T21:36:33.769Z,1761514593.769 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:33.848Z,1761514593.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 0.504034 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:33.850Z,1761514593.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.340824 m,
      bearing: 182.820672 deg,
      lat: 36.779416 deg,
      lon: -121.859489 deg,
      deltaT: 0.504034 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:36:33.851Z,1761514593.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-10-26T21:36:34.109Z,1761514594.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959724,-0.280376,-0.017855],[0.280935,0.958276,0.052757],[0.002319,-0.055648,0.998448]]
2025-10-26T21:36:34.184Z,1761514594.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-10-26T21:36:34.262Z,1761514594.262 [DAT](INFO): DAT read: Rx Time:21:36:33.0540 

2025-10-26T21:36:34.263Z,1761514594.263 [DAT](INFO): Rx dataTimestamp_ set to:1761514594.262232
2025-10-26T21:36:34.264Z,1761514594.264 [DAT](INFO): DAT read: Bearing 346.0,  13.7 (Local)

2025-10-26T21:36:34.264Z,1761514594.264 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.0,  13.7 (Local)

2025-10-26T21:36:34.266Z,1761514594.266 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed 0.0

2025-10-26T21:36:34.271Z,1761514594.271 [DAT](INFO): DAT read: 21:36:33.0540 LVL= 32176, 24945, 32754, 32755, AGC= 71, IDX= 501,-0.05, 0.619, 2.219, 0.236, 1.180, PHS=-0.459, 1.084,-0.988, RAW= 344.2,   3.9, CAL= 343.8,   1.6, ROT= 166.2,  -1.6

2025-10-26T21:36:34.272Z,1761514594.272 [DAT](INFO): got valid direction response:
 21:36:33.0540 LVL= 32176, 24945, 32754, 32755, AGC= 71, IDX= 501,-0.05, 0.619, 2.219, 0.236, 1.180, PHS=-0.459, 1.084,-0.988, RAW= 344.2,   3.9, CAL= 343.8,   1.6, ROT= 166.2,  -1.6

2025-10-26T21:36:34.273Z,1761514594.273 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-26T21:36:34.273Z,1761514594.273 [DAT](INFO): direction in FSK: [-0.970756,0.238441,0.027922]
2025-10-26T21:36:34.274Z,1761514594.274 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:34.561Z,1761514594.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.505053 s,
      deltaX: 0.200001 m,
      approachRate: 0.396000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:34.564Z,1761514594.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.539627 m,
      bearing: 182.450551 deg,
      lat: 36.779415 deg,
      lon: -121.859489 deg,
      deltaT: 0.505053 s,
      deltaX: 0.198803 m,
      approachRate: 0.393628 m/s,
      posRepo size: 4

2025-10-26T21:36:34.564Z,1761514594.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-10-26T21:36:34.765Z,1761514594.765 [DAT](INFO): DAT read: Rx Time:21:36:33.5539 

2025-10-26T21:36:34.765Z,1761514594.765 [DAT](INFO): Rx dataTimestamp_ set to:1761514594.765108
2025-10-26T21:36:34.767Z,1761514594.767 [DAT](INFO): DAT read: Bearing 345.5,  14.7 (Local)

2025-10-26T21:36:34.767Z,1761514594.767 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.5,  14.7 (Local)

2025-10-26T21:36:34.769Z,1761514594.769 [DAT](INFO): DAT read: Range 11 to 50 :    25.5 m (trip time 17.0 ms) speed 0.0

2025-10-26T21:36:34.798Z,1761514594.798 [DAT](INFO): DAT read: 21:36:33.5539 LVL= 30624, 25521, 32754, 32755, AGC= 71, IDX= 500, 0.18,-2.928,-1.364, 2.938,-2.383, PHS=-0.443, 1.064,-1.006, RAW= 345.2,   4.2, CAL= 344.9,   2.0, ROT= 165.1,  -2.0

2025-10-26T21:36:34.799Z,1761514594.799 [DAT](INFO): got valid direction response:
 21:36:33.5539 LVL= 30624, 25521, 32754, 32755, AGC= 71, IDX= 500, 0.18,-2.928,-1.364, 2.938,-2.383, PHS=-0.443, 1.064,-1.006, RAW= 345.2,   4.2, CAL= 344.9,   2.0, ROT= 165.1,  -2.0

2025-10-26T21:36:34.799Z,1761514594.799 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-10-26T21:36:34.800Z,1761514594.800 [DAT](INFO): direction in FSK: [-0.965787,0.256976,0.034899]
2025-10-26T21:36:34.801Z,1761514594.801 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:34.917Z,1761514594.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959551,-0.280956,-0.018062],[0.281525,0.958103,0.052752],[0.002484,-0.055703,0.998444]]
2025-10-26T21:36:34.971Z,1761514594.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 0.502876 s,
      deltaX: -0.200001 m,
      approachRate: -0.397714 m/s,
      rangeRepo size: 4

2025-10-26T21:36:34.973Z,1761514594.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.340874 m,
      bearing: 181.366440 deg,
      lat: 36.779416 deg,
      lon: -121.859489 deg,
      deltaT: 0.502876 s,
      deltaX: -0.198753 m,
      approachRate: -0.395233 m/s,
      posRepo size: 4

2025-10-26T21:36:34.974Z,1761514594.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-10-26T21:36:35.269Z,1761514595.269 [DAT](INFO): DAT read: Rx Time:21:36:34.0541 

2025-10-26T21:36:35.269Z,1761514595.269 [DAT](INFO): Rx dataTimestamp_ set to:1761514595.269103
2025-10-26T21:36:35.271Z,1761514595.271 [DAT](INFO): DAT read: Bearing 345.1,  14.0 (Local)

2025-10-26T21:36:35.271Z,1761514595.271 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.1,  14.0 (Local)

2025-10-26T21:36:35.273Z,1761514595.273 [DAT](INFO): DAT read: Range 11 to 50 :    25.8 m (trip time 17.2 ms) speed -0.1

2025-10-26T21:36:35.278Z,1761514595.278 [DAT](INFO): DAT read: 21:36:34.0541 LVL= 32304, 24321, 32754, 32755, AGC= 68, IDX= 502,-0.24, 2.098,-2.613, 1.706, 2.661, PHS=-0.461, 1.055,-0.999, RAW= 344.6,   4.4, CAL= 344.3,   2.4, ROT= 165.7,  -2.4

2025-10-26T21:36:35.279Z,1761514595.279 [DAT](INFO): got valid direction response:
 21:36:34.0541 LVL= 32304, 24321, 32754, 32755, AGC= 68, IDX= 502,-0.24, 2.098,-2.613, 1.706, 2.661, PHS=-0.461, 1.055,-0.999, RAW= 344.6,   4.4, CAL= 344.3,   2.4, ROT= 165.7,  -2.4

2025-10-26T21:36:35.279Z,1761514595.279 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-10-26T21:36:35.280Z,1761514595.280 [DAT](INFO): direction in FSK: [-0.968166,0.246782,0.041876]
2025-10-26T21:36:35.280Z,1761514595.280 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:35.327Z,1761514595.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959371,-0.281556,-0.018233],[0.282134,0.957929,0.052652],[0.002642,-0.055657,0.998446]]
2025-10-26T21:36:35.425Z,1761514595.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.503995 s,
      deltaX: 0.299999 m,
      approachRate: 0.595243 m/s,
      rangeRepo size: 4

2025-10-26T21:36:35.431Z,1761514595.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.639011 m,
      bearing: 181.980454 deg,
      lat: 36.779415 deg,
      lon: -121.859488 deg,
      deltaT: 0.503995 s,
      deltaX: 0.298138 m,
      approachRate: 0.591549 m/s,
      posRepo size: 4

2025-10-26T21:36:35.432Z,1761514595.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.64 m.
2025-10-26T21:36:35.744Z,1761514595.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959238,-0.281992,-0.018504],[0.282583,0.957796,0.052662],[0.002873,-0.055744,0.998441]]
2025-10-26T21:36:35.773Z,1761514595.773 [DAT](INFO): DAT read: Rx Time:21:36:34.5540 

2025-10-26T21:36:35.774Z,1761514595.774 [DAT](INFO): Rx dataTimestamp_ set to:1761514595.773290
2025-10-26T21:36:35.775Z,1761514595.775 [DAT](INFO): DAT read: Bearing 345.7,  14.3 (Local)

2025-10-26T21:36:35.775Z,1761514595.775 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.7,  14.3 (Local)

2025-10-26T21:36:35.782Z,1761514595.782 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed -0.1

2025-10-26T21:36:35.786Z,1761514595.786 [DAT](INFO): DAT read: 21:36:34.5540 LVL= 32752, 21057, 32754, 32755, AGC= 68, IDX= 501, 0.14, 2.549,-2.156, 2.142, 3.097, PHS=-0.446, 1.075,-0.999, RAW= 344.9,   4.0, CAL= 344.5,   1.7, ROT= 165.5,  -1.7

2025-10-26T21:36:35.796Z,1761514595.796 [DAT](INFO): got valid direction response:
 21:36:34.5540 LVL= 32752, 21057, 32754, 32755, AGC= 68, IDX= 501, 0.14, 2.549,-2.156, 2.142, 3.097, PHS=-0.446, 1.075,-0.999, RAW= 344.9,   4.0, CAL= 344.5,   1.7, ROT= 165.5,  -1.7

2025-10-26T21:36:35.797Z,1761514595.797 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-10-26T21:36:35.798Z,1761514595.798 [DAT](INFO): direction in FSK: [-0.967722,0.250270,0.029666]
2025-10-26T21:36:35.798Z,1761514595.798 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:35.836Z,1761514595.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.504187 s,
      deltaX: -0.099998 m,
      approachRate: -0.198336 m/s,
      rangeRepo size: 4

2025-10-26T21:36:35.838Z,1761514595.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.539637 m,
      bearing: 181.844961 deg,
      lat: 36.779415 deg,
      lon: -121.859485 deg,
      deltaT: 0.504187 s,
      deltaX: -0.099375 m,
      approachRate: -0.197099 m/s,
      posRepo size: 4

2025-10-26T21:36:35.838Z,1761514595.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-10-26T21:36:36.171Z,1761514596.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959043,-0.282640,-0.018733],[0.283243,0.957603,0.052628],[0.003064,-0.055779,0.998438]]
2025-10-26T21:36:36.216Z,1761514596.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-10-26T21:36:36.278Z,1761514596.278 [DAT](INFO): DAT read: Rx Time:21:36:35.0541 

2025-10-26T21:36:36.278Z,1761514596.278 [DAT](INFO): Rx dataTimestamp_ set to:1761514596.277954
2025-10-26T21:36:36.280Z,1761514596.280 [DAT](INFO): DAT read: Bearing 345.2,  14.1 (Local)

2025-10-26T21:36:36.281Z,1761514596.281 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.2,  14.1 (Local)

2025-10-26T21:36:36.283Z,1761514596.283 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed -0.2

2025-10-26T21:36:36.289Z,1761514596.289 [DAT](INFO): DAT read: 21:36:35.0541 LVL= 31888, 23217, 32754, 32755, AGC= 67, IDX= 503,-0.34, 2.407,-2.291, 2.010, 2.969, PHS=-0.461, 1.068,-1.004, RAW= 344.6,   4.3, CAL= 344.3,   2.2, ROT= 165.7,  -2.2

2025-10-26T21:36:36.290Z,1761514596.290 [DAT](INFO): got valid direction response:
 21:36:35.0541 LVL= 31888, 23217, 32754, 32755, AGC= 67, IDX= 503,-0.34, 2.407,-2.291, 2.010, 2.969, PHS=-0.461, 1.068,-1.004, RAW= 344.6,   4.3, CAL= 344.3,   2.2, ROT= 165.7,  -2.2

2025-10-26T21:36:36.290Z,1761514596.290 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-10-26T21:36:36.294Z,1761514596.294 [DAT](INFO): direction in FSK: [-0.968301,0.246817,0.038388]
2025-10-26T21:36:36.296Z,1761514596.296 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:36.533Z,1761514596.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958859,-0.283248,-0.018970],[0.283864,0.957416,0.052679],[0.003241,-0.055897,0.998431]]
2025-10-26T21:36:36.561Z,1761514596.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.504664 s,
      deltaX: 0.299999 m,
      approachRate: 0.594453 m/s,
      rangeRepo size: 4

2025-10-26T21:36:36.563Z,1761514596.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.837782 m,
      bearing: 182.094349 deg,
      lat: 36.779414 deg,
      lon: -121.859485 deg,
      deltaT: 0.504664 s,
      deltaX: 0.298145 m,
      approachRate: 0.590780 m/s,
      posRepo size: 4

2025-10-26T21:36:36.563Z,1761514596.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.84 m.
2025-10-26T21:36:36.782Z,1761514596.782 [DAT](INFO): DAT read: Rx Time:21:36:35.5541 

2025-10-26T21:36:36.782Z,1761514596.782 [DAT](INFO): Rx dataTimestamp_ set to:1761514596.781991
2025-10-26T21:36:36.784Z,1761514596.784 [DAT](INFO): DAT read: Bearing 345.7,  13.9 (Local)

2025-10-26T21:36:36.785Z,1761514596.785 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.7,  13.9 (Local)

2025-10-26T21:36:36.788Z,1761514596.788 [DAT](INFO): DAT read: Range 11 to 50 :    25.8 m (trip time 17.2 ms) speed -0.1

2025-10-26T21:36:36.793Z,1761514596.793 [DAT](INFO): DAT read: 21:36:35.5541 LVL= 32752, 22881, 32754, 32755, AGC= 66, IDX= 502, 0.00, 2.285,-2.405, 1.895, 2.843, PHS=-0.456, 1.080,-0.992, RAW= 344.4,   4.0, CAL= 344.0,   1.7, ROT= 166.0,  -1.7

2025-10-26T21:36:36.794Z,1761514596.794 [DAT](INFO): got valid direction response:
 21:36:35.5541 LVL= 32752, 22881, 32754, 32755, AGC= 66, IDX= 502, 0.00, 2.285,-2.405, 1.895, 2.843, PHS=-0.456, 1.080,-0.992, RAW= 344.4,   4.0, CAL= 344.0,   1.7, ROT= 166.0,  -1.7

2025-10-26T21:36:36.794Z,1761514596.794 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-10-26T21:36:36.795Z,1761514596.795 [DAT](INFO): direction in FSK: [-0.969869,0.241815,0.029666]
2025-10-26T21:36:36.801Z,1761514596.801 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:36.934Z,1761514596.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958747,-0.283607,-0.019265],[0.284240,0.957292,0.052907],[0.003438,-0.056200,0.998414]]
2025-10-26T21:36:37.000Z,1761514597.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.504037 s,
      deltaX: -0.200001 m,
      approachRate: -0.396798 m/s,
      rangeRepo size: 4

2025-10-26T21:36:37.002Z,1761514597.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.639029 m,
      bearing: 182.442775 deg,
      lat: 36.779415 deg,
      lon: -121.859485 deg,
      deltaT: 0.504037 s,
      deltaX: -0.198753 m,
      approachRate: -0.394323 m/s,
      posRepo size: 4

2025-10-26T21:36:37.003Z,1761514597.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.64 m.
2025-10-26T21:36:37.285Z,1761514597.285 [DAT](INFO): DAT read: Rx Time:21:36:36.0541 

2025-10-26T21:36:37.285Z,1761514597.285 [DAT](INFO): Rx dataTimestamp_ set to:1761514597.285166
2025-10-26T21:36:37.287Z,1761514597.287 [DAT](INFO): DAT read: Bearing 345.8,  13.7 (Local)

2025-10-26T21:36:37.287Z,1761514597.287 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.8,  13.7 (Local)

2025-10-26T21:36:37.289Z,1761514597.289 [DAT](INFO): DAT read: Range 11 to 50 :    25.8 m (trip time 17.2 ms) speed 0.0

2025-10-26T21:36:37.294Z,1761514597.294 [DAT](INFO): DAT read: 21:36:36.0541 LVL= 32752, 23521, 32754, 32755, AGC= 66, IDX= 502, 0.31,-2.619,-1.035,-3.001,-2.064, PHS=-0.453, 1.074,-0.981, RAW= 344.3,   3.9, CAL= 343.9,   1.6, ROT= 166.1,  -1.6

2025-10-26T21:36:37.295Z,1761514597.295 [DAT](INFO): got valid direction response:
 21:36:36.0541 LVL= 32752, 23521, 32754, 32755, AGC= 66, IDX= 502, 0.31,-2.619,-1.035,-3.001,-2.064, PHS=-0.453, 1.074,-0.981, RAW= 344.3,   3.9, CAL= 343.9,   1.6, ROT= 166.1,  -1.6

2025-10-26T21:36:37.295Z,1761514597.295 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-10-26T21:36:37.296Z,1761514597.296 [DAT](INFO): direction in FSK: [-0.970338,0.240134,0.027922]
2025-10-26T21:36:37.296Z,1761514597.296 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:37.358Z,1761514597.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958536,-0.284298,-0.019580],[0.284948,0.957082,0.052910],[0.003697,-0.056296,0.998407]]
2025-10-26T21:36:37.428Z,1761514597.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.503175 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:37.430Z,1761514597.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.639027 m,
      bearing: 182.590235 deg,
      lat: 36.779415 deg,
      lon: -121.859485 deg,
      deltaT: 0.503175 s,
      deltaX: -0.000002 m,
      approachRate: -0.000004 m/s,
      posRepo size: 4

2025-10-26T21:36:37.431Z,1761514597.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.64 m.
2025-10-26T21:36:37.769Z,1761514597.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958304,-0.285068,-0.019763],[0.285726,0.956854,0.052822],[0.003852,-0.056266,0.998408]]
2025-10-26T21:36:37.795Z,1761514597.795 [DAT](INFO): DAT read: Rx Time:21:36:36.5541 

2025-10-26T21:36:37.796Z,1761514597.796 [DAT](INFO): Rx dataTimestamp_ set to:1761514597.795444
2025-10-26T21:36:37.797Z,1761514597.797 [DAT](INFO): DAT read: Bearing 346.7,  13.9 (Local)

2025-10-26T21:36:37.797Z,1761514597.797 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.7,  13.9 (Local)

2025-10-26T21:36:37.799Z,1761514597.799 [DAT](INFO): DAT read: Range 11 to 50 :    25.8 m (trip time 17.2 ms) speed -0.1

2025-10-26T21:36:37.804Z,1761514597.804 [DAT](INFO): DAT read: 21:36:36.5541 LVL= 31056, 22225, 32754, 32755, AGC= 67, IDX= 502,-0.18,-0.328, 1.265,-0.718, 0.210, PHS=-0.436, 1.100,-0.973, RAW= 344.4,   3.3, CAL= 344.0,   0.7, ROT= 166.0,  -0.7

2025-10-26T21:36:37.805Z,1761514597.805 [DAT](INFO): got valid direction response:
 21:36:36.5541 LVL= 31056, 22225, 32754, 32755, AGC= 67, IDX= 502,-0.18,-0.328, 1.265,-0.718, 0.210, PHS=-0.436, 1.100,-0.973, RAW= 344.4,   3.3, CAL= 344.0,   0.7, ROT= 166.0,  -0.7

2025-10-26T21:36:37.805Z,1761514597.805 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-10-26T21:36:37.806Z,1761514597.806 [DAT](INFO): direction in FSK: [-0.970223,0.241904,0.012217]
2025-10-26T21:36:37.807Z,1761514597.807 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:37.876Z,1761514597.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.510278 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:37.880Z,1761514597.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.639027 m,
      bearing: 182.585308 deg,
      lat: 36.779416 deg,
      lon: -121.859486 deg,
      deltaT: 0.510278 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:36:37.881Z,1761514597.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.64 m.
2025-10-26T21:36:38.277Z,1761514598.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957972,-0.286147,-0.020234],[0.286829,0.956535,0.052621],[0.004297,-0.056213,0.998410]]
2025-10-26T21:36:38.301Z,1761514598.301 [DAT](INFO): DAT read: Rx Time:21:36:37.0541 

2025-10-26T21:36:38.301Z,1761514598.301 [DAT](INFO): Rx dataTimestamp_ set to:1761514598.301121
2025-10-26T21:36:38.303Z,1761514598.303 [DAT](INFO): DAT read: Bearing 345.7,  13.1 (Local)

2025-10-26T21:36:38.303Z,1761514598.303 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.7,  13.1 (Local)

2025-10-26T21:36:38.305Z,1761514598.305 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed -0.2

2025-10-26T21:36:38.310Z,1761514598.310 [DAT](INFO): DAT read: 21:36:37.0541 LVL= 32720, 22993, 32754, 32755, AGC= 66, IDX= 503, 0.10, 3.077,-1.596, 2.713,-2.636, PHS=-0.468, 1.085,-0.978, RAW= 343.7,   3.9, CAL= 343.3,   1.6, ROT= 166.7,  -1.6

2025-10-26T21:36:38.311Z,1761514598.311 [DAT](INFO): got valid direction response:
 21:36:37.0541 LVL= 32720, 22993, 32754, 32755, AGC= 66, IDX= 503, 0.10, 3.077,-1.596, 2.713,-2.636, PHS=-0.468, 1.085,-0.978, RAW= 343.7,   3.9, CAL= 343.3,   1.6, ROT= 166.7,  -1.6

2025-10-26T21:36:38.311Z,1761514598.311 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-10-26T21:36:38.312Z,1761514598.312 [DAT](INFO): direction in FSK: [-0.972799,0.229960,0.027922]
2025-10-26T21:36:38.312Z,1761514598.312 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:38.352Z,1761514598.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.505677 s,
      deltaX: 0.200001 m,
      approachRate: 0.395511 m/s,
      rangeRepo size: 4

2025-10-26T21:36:38.354Z,1761514598.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.837778 m,
      bearing: 183.301865 deg,
      lat: 36.779416 deg,
      lon: -121.859487 deg,
      deltaT: 0.505677 s,
      deltaX: 0.198751 m,
      approachRate: 0.393040 m/s,
      posRepo size: 4

2025-10-26T21:36:38.355Z,1761514598.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.84 m.
2025-10-26T21:36:38.690Z,1761514598.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957876,-0.286446,-0.020549],[0.287146,0.956444,0.052565],[0.004597,-0.056251,0.998406]]
2025-10-26T21:36:38.780Z,1761514598.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.84 m.
2025-10-26T21:36:38.805Z,1761514598.805 [DAT](INFO): DAT read: Rx Time:21:36:37.5541 

2025-10-26T21:36:38.806Z,1761514598.806 [DAT](INFO): Rx dataTimestamp_ set to:1761514598.805306
2025-10-26T21:36:38.807Z,1761514598.807 [DAT](INFO): DAT read: Bearing 346.2,  13.2 (Local)

2025-10-26T21:36:38.807Z,1761514598.807 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.2,  13.2 (Local)

2025-10-26T21:36:38.809Z,1761514598.809 [DAT](INFO): DAT read: Range 11 to 50 :    25.8 m (trip time 17.2 ms) speed 0.0

2025-10-26T21:36:38.814Z,1761514598.814 [DAT](INFO): DAT read: 21:36:37.5541 LVL= 32432, 21457, 32754, 32755, AGC= 67, IDX= 503,-0.35,-0.377, 1.244,-0.747, 0.187, PHS=-0.462, 1.102,-0.978, RAW= 343.8,   3.6, CAL= 343.4,   1.1, ROT= 166.6,  -1.1

2025-10-26T21:36:38.815Z,1761514598.815 [DAT](INFO): got valid direction response:
 21:36:37.5541 LVL= 32432, 21457, 32754, 32755, AGC= 67, IDX= 503,-0.35,-0.377, 1.244,-0.747, 0.187, PHS=-0.462, 1.102,-0.978, RAW= 343.8,   3.6, CAL= 343.4,   1.1, ROT= 166.6,  -1.1

2025-10-26T21:36:38.816Z,1761514598.816 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-10-26T21:36:38.816Z,1761514598.816 [DAT](INFO): direction in FSK: [-0.972597,0.231705,0.019197]
2025-10-26T21:36:38.817Z,1761514598.817 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:39.082Z,1761514599.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957889,-0.286386,-0.020787],[0.287100,0.956451,0.052671],[0.004798,-0.056421,0.998396]]
2025-10-26T21:36:39.203Z,1761514599.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.504185 s,
      deltaX: -0.200001 m,
      approachRate: -0.396681 m/s,
      rangeRepo size: 4

2025-10-26T21:36:39.210Z,1761514599.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.638988 m,
      bearing: 183.245048 deg,
      lat: 36.779416 deg,
      lon: -121.859487 deg,
      deltaT: 0.504185 s,
      deltaX: -0.198790 m,
      approachRate: -0.394279 m/s,
      posRepo size: 4

2025-10-26T21:36:39.210Z,1761514599.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.64 m.
2025-10-26T21:36:39.309Z,1761514599.309 [DAT](INFO): DAT read: Rx Time:21:36:38.0542 

2025-10-26T21:36:39.310Z,1761514599.310 [DAT](INFO): Rx dataTimestamp_ set to:1761514599.309616
2025-10-26T21:36:39.311Z,1761514599.311 [DAT](INFO): DAT read: Bearing 344.3,  13.2 (Local)

2025-10-26T21:36:39.312Z,1761514599.312 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.3,  13.2 (Local)

2025-10-26T21:36:39.314Z,1761514599.314 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed -0.2

2025-10-26T21:36:39.319Z,1761514599.319 [DAT](INFO): DAT read: 21:36:38.0542 LVL= 30640, 24945, 32754, 32755, AGC= 67, IDX= 504, 0.05, 2.603,-2.082, 2.236,-3.088, PHS=-0.491, 1.051,-1.004, RAW= 343.9,   4.8, CAL= 343.5,   3.0, ROT= 166.5,  -3.0

2025-10-26T21:36:39.320Z,1761514599.320 [DAT](INFO): got valid direction response:
 21:36:38.0542 LVL= 30640, 24945, 32754, 32755, AGC= 67, IDX= 504, 0.05, 2.603,-2.082, 2.236,-3.088, PHS=-0.491, 1.051,-1.004, RAW= 343.9,   4.8, CAL= 343.5,   3.0, ROT= 166.5,  -3.0

2025-10-26T21:36:39.320Z,1761514599.320 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-10-26T21:36:39.321Z,1761514599.321 [DAT](INFO): direction in FSK: [-0.971037,0.233125,0.052336]
2025-10-26T21:36:39.321Z,1761514599.321 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:39.487Z,1761514599.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957855,-0.286492,-0.020865],[0.287209,0.956420,0.052651],[0.004871,-0.056425,0.998395]]
2025-10-26T21:36:39.513Z,1761514599.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.504310 s,
      deltaX: 0.300001 m,
      approachRate: 0.594874 m/s,
      rangeRepo size: 4

2025-10-26T21:36:39.514Z,1761514599.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.937117 m,
      bearing: 183.049629 deg,
      lat: 36.779416 deg,
      lon: -121.859489 deg,
      deltaT: 0.504310 s,
      deltaX: 0.298128 m,
      approachRate: 0.591160 m/s,
      posRepo size: 4

2025-10-26T21:36:39.515Z,1761514599.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-10-26T21:36:39.813Z,1761514599.813 [DAT](INFO): DAT read: Rx Time:21:36:38.5541 

2025-10-26T21:36:39.813Z,1761514599.813 [DAT](INFO): Rx dataTimestamp_ set to:1761514599.813117
2025-10-26T21:36:39.815Z,1761514599.815 [DAT](INFO): DAT read: Bearing 344.9,  13.3 (Local)

2025-10-26T21:36:39.815Z,1761514599.815 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.9,  13.3 (Local)

2025-10-26T21:36:39.817Z,1761514599.817 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed -0.1

2025-10-26T21:36:39.822Z,1761514599.822 [DAT](INFO): DAT read: 21:36:38.5541 LVL= 31472, 22193, 32754, 32755, AGC= 68, IDX= 504,-0.28,-0.925, 0.673,-1.294,-0.346, PHS=-0.477, 1.064,-0.992, RAW= 343.9,   4.4, CAL= 343.5,   2.4, ROT= 166.5,  -2.4

2025-10-26T21:36:39.823Z,1761514599.823 [DAT](INFO): got valid direction response:
 21:36:38.5541 LVL= 31472, 22193, 32754, 32755, AGC= 68, IDX= 504,-0.28,-0.925, 0.673,-1.294,-0.346, PHS=-0.477, 1.064,-0.992, RAW= 343.9,   4.4, CAL= 343.5,   2.4, ROT= 166.5,  -2.4

2025-10-26T21:36:39.824Z,1761514599.824 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-10-26T21:36:39.825Z,1761514599.825 [DAT](INFO): direction in FSK: [-0.971517,0.233241,0.041876]
2025-10-26T21:36:39.825Z,1761514599.825 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:39.898Z,1761514599.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958013,-0.285960,-0.020943],[0.286683,0.956565,0.052878],[0.004912,-0.056662,0.998381]]
2025-10-26T21:36:40.015Z,1761514600.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.503501 s,
      deltaX: -0.100000 m,
      approachRate: -0.198610 m/s,
      rangeRepo size: 4

2025-10-26T21:36:40.017Z,1761514600.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.837742 m,
      bearing: 183.050079 deg,
      lat: 36.779416 deg,
      lon: -121.859489 deg,
      deltaT: 0.503501 s,
      deltaX: -0.099375 m,
      approachRate: -0.197368 m/s,
      posRepo size: 4

2025-10-26T21:36:40.018Z,1761514600.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.84 m.
2025-10-26T21:36:40.317Z,1761514600.317 [DAT](INFO): DAT read: Rx Time:21:36:39.0543 

2025-10-26T21:36:40.317Z,1761514600.317 [DAT](INFO): Rx dataTimestamp_ set to:1761514600.317166
2025-10-26T21:36:40.319Z,1761514600.319 [DAT](INFO): DAT read: Bearing 345.0,  13.5 (Local)

2025-10-26T21:36:40.319Z,1761514600.319 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.0,  13.5 (Local)

2025-10-26T21:36:40.321Z,1761514600.321 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed -0.2

2025-10-26T21:36:40.326Z,1761514600.326 [DAT](INFO): DAT read: 21:36:39.0543 LVL= 32752, 23345, 32754, 32755, AGC= 68, IDX= 505, 0.22, 2.011,-2.684, 1.634, 2.583, PHS=-0.470, 1.061,-0.993, RAW= 344.2,   4.4, CAL= 343.8,   2.3, ROT= 166.2,  -2.3

2025-10-26T21:36:40.327Z,1761514600.327 [DAT](INFO): got valid direction response:
 21:36:39.0543 LVL= 32752, 23345, 32754, 32755, AGC= 68, IDX= 505, 0.22, 2.011,-2.684, 1.634, 2.583, PHS=-0.470, 1.061,-0.993, RAW= 344.2,   4.4, CAL= 343.8,   2.3, ROT= 166.2,  -2.3

2025-10-26T21:36:40.327Z,1761514600.327 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-10-26T21:36:40.328Z,1761514600.328 [DAT](INFO): direction in FSK: [-0.970352,0.238341,0.040132]
2025-10-26T21:36:40.329Z,1761514600.329 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:40.423Z,1761514600.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958202,-0.285314,-0.021104],[0.286048,0.956749,0.052986],[0.005074,-0.056808,0.998372]]
2025-10-26T21:36:40.490Z,1761514600.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.504049 s,
      deltaX: 0.299999 m,
      approachRate: 0.595179 m/s,
      rangeRepo size: 4

2025-10-26T21:36:40.496Z,1761514600.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.135862 m,
      bearing: 182.717927 deg,
      lat: 36.779416 deg,
      lon: -121.859489 deg,
      deltaT: 0.504049 s,
      deltaX: 0.298120 m,
      approachRate: 0.591451 m/s,
      posRepo size: 4

2025-10-26T21:36:40.497Z,1761514600.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.14 m.
2025-10-26T21:36:40.821Z,1761514600.821 [DAT](INFO): DAT read: Rx Time:21:36:39.5543 

2025-10-26T21:36:40.821Z,1761514600.821 [DAT](INFO): Rx dataTimestamp_ set to:1761514600.821211
2025-10-26T21:36:40.823Z,1761514600.823 [DAT](INFO): DAT read: Bearing 345.4,  13.4 (Local)

2025-10-26T21:36:40.823Z,1761514600.823 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.4,  13.4 (Local)

2025-10-26T21:36:40.825Z,1761514600.825 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed -0.3

2025-10-26T21:36:40.830Z,1761514600.830 [DAT](INFO): DAT read: 21:36:39.5543 LVL= 32640, 21041, 32754, 32755, AGC= 68, IDX= 505,-0.05,-0.854, 0.747,-1.227,-0.283, PHS=-0.469, 1.074,-0.988, RAW= 344.0,   4.2, CAL= 343.6,   2.0, ROT= 166.4,  -2.0

2025-10-26T21:36:40.831Z,1761514600.831 [DAT](INFO): got valid direction response:
 21:36:39.5543 LVL= 32640, 21041, 32754, 32755, AGC= 68, IDX= 505,-0.05,-0.854, 0.747,-1.227,-0.283, PHS=-0.469, 1.074,-0.988, RAW= 344.0,   4.2, CAL= 343.6,   2.0, ROT= 166.4,  -2.0

2025-10-26T21:36:40.831Z,1761514600.831 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-10-26T21:36:40.832Z,1761514600.832 [DAT](INFO): direction in FSK: [-0.971369,0.234999,0.034899]
2025-10-26T21:36:40.833Z,1761514600.833 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:40.841Z,1761514600.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958318,-0.284926,-0.021062],[0.285658,0.956870,0.052913],[0.005077,-0.056724,0.998377]]
2025-10-26T21:36:40.947Z,1761514600.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.504045 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:40.961Z,1761514600.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.135862 m,
      bearing: 182.910534 deg,
      lat: 36.779416 deg,
      lon: -121.859489 deg,
      deltaT: 0.504045 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:36:40.961Z,1761514600.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.14 m.
2025-10-26T21:36:41.237Z,1761514601.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958627,-0.283892,-0.020994],[0.284623,0.957167,0.053117],[0.005016,-0.056895,0.998368]]
2025-10-26T21:36:41.278Z,1761514601.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.14 m.
2025-10-26T21:36:41.326Z,1761514601.326 [DAT](INFO): DAT read: Rx Time:21:36:40.0543 

2025-10-26T21:36:41.326Z,1761514601.326 [DAT](INFO): Rx dataTimestamp_ set to:1761514601.325715
2025-10-26T21:36:41.328Z,1761514601.328 [DAT](INFO): DAT read: Bearing 345.5,  13.5 (Local)

2025-10-26T21:36:41.329Z,1761514601.329 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.5,  13.5 (Local)

2025-10-26T21:36:41.332Z,1761514601.332 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed -0.2

2025-10-26T21:36:41.338Z,1761514601.338 [DAT](INFO): DAT read: 21:36:40.0543 LVL= 32752, 22433, 32754, 32755, AGC= 71, IDX= 506,-0.31,-1.371, 0.217,-1.746,-0.809, PHS=-0.460, 1.071,-0.982, RAW= 344.1,   4.1, CAL= 343.7,   1.8, ROT= 166.3,  -1.8

2025-10-26T21:36:41.339Z,1761514601.339 [DAT](INFO): got valid direction response:
 21:36:40.0543 LVL= 32752, 22433, 32754, 32755, AGC= 71, IDX= 506,-0.31,-1.371, 0.217,-1.746,-0.809, PHS=-0.460, 1.071,-0.982, RAW= 344.1,   4.1, CAL= 343.7,   1.8, ROT= 166.3,  -1.8

2025-10-26T21:36:41.339Z,1761514601.339 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-10-26T21:36:41.340Z,1761514601.340 [DAT](INFO): direction in FSK: [-0.971070,0.236721,0.031411]
2025-10-26T21:36:41.340Z,1761514601.340 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:41.646Z,1761514601.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958836,-0.283188,-0.020911],[0.283915,0.957381,0.053037],[0.005001,-0.056791,0.998374]]
2025-10-26T21:36:41.711Z,1761514601.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.504504 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:41.714Z,1761514601.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.135839 m,
      bearing: 182.717233 deg,
      lat: 36.779416 deg,
      lon: -121.859489 deg,
      deltaT: 0.504504 s,
      deltaX: -0.000023 m,
      approachRate: -0.000045 m/s,
      posRepo size: 4

2025-10-26T21:36:41.715Z,1761514601.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.14 m.
2025-10-26T21:36:41.830Z,1761514601.830 [DAT](INFO): DAT read: Rx Time:21:36:40.5543 

2025-10-26T21:36:41.831Z,1761514601.831 [DAT](INFO): Rx dataTimestamp_ set to:1761514601.830277
2025-10-26T21:36:41.833Z,1761514601.833 [DAT](INFO): DAT read: Bearing 347.2,  12.8 (Local)

2025-10-26T21:36:41.833Z,1761514601.833 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.2,  12.8 (Local)

2025-10-26T21:36:41.836Z,1761514601.836 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed -0.2

2025-10-26T21:36:41.842Z,1761514601.842 [DAT](INFO): DAT read: 21:36:40.5543 LVL= 32752, 19521, 32754, 32755, AGC= 71, IDX= 505, 0.43,-1.312, 0.304,-1.666,-0.763, PHS=-0.448, 1.112,-0.947, RAW= 343.4,   3.1, CAL= 343.0,   0.3, ROT= 167.0,  -0.3

2025-10-26T21:36:41.844Z,1761514601.844 [DAT](INFO): got valid direction response:
 21:36:40.5543 LVL= 32752, 19521, 32754, 32755, AGC= 71, IDX= 505, 0.43,-1.312, 0.304,-1.666,-0.763, PHS=-0.448, 1.112,-0.947, RAW= 343.4,   3.1, CAL= 343.0,   0.3, ROT= 167.0,  -0.3

2025-10-26T21:36:41.845Z,1761514601.845 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-26T21:36:41.846Z,1761514601.846 [DAT](INFO): direction in FSK: [-0.974357,0.224948,0.005236]
2025-10-26T21:36:41.846Z,1761514601.846 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:42.106Z,1761514602.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.504562 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:42.109Z,1761514602.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.135839 m,
      bearing: 183.497245 deg,
      lat: 36.779417 deg,
      lon: -121.859489 deg,
      deltaT: 0.504562 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:36:42.109Z,1761514602.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.14 m.
2025-10-26T21:36:42.333Z,1761514602.333 [DAT](INFO): DAT read: Rx Time:21:36:41.0545 

2025-10-26T21:36:42.333Z,1761514602.333 [DAT](INFO): Rx dataTimestamp_ set to:1761514602.333137
2025-10-26T21:36:42.335Z,1761514602.335 [DAT](INFO): DAT read: Bearing 348.2,  12.9 (Local)

2025-10-26T21:36:42.335Z,1761514602.335 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.2,  12.9 (Local)

2025-10-26T21:36:42.337Z,1761514602.337 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-10-26T21:36:42.342Z,1761514602.342 [DAT](INFO): DAT read: 21:36:41.0545 LVL= 26608, 20193, 31730, 32755, AGC= 73, IDX= 508,-0.33, 0.362, 1.987, 0.006, 0.884, PHS=-0.419, 1.149,-0.922, RAW= 343.4,   2.1, CAL= 343.0,  -0.8, ROT= 167.0,   0.8

2025-10-26T21:36:42.343Z,1761514602.343 [DAT](INFO): got valid direction response:
 21:36:41.0545 LVL= 26608, 20193, 31730, 32755, AGC= 73, IDX= 508,-0.33, 0.362, 1.987, 0.006, 0.884, PHS=-0.419, 1.149,-0.922, RAW= 343.4,   2.1, CAL= 343.0,  -0.8, ROT= 167.0,   0.8

2025-10-26T21:36:42.343Z,1761514602.343 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-10-26T21:36:42.344Z,1761514602.344 [DAT](INFO): direction in FSK: [-0.974275,0.224929,-0.013962]
2025-10-26T21:36:42.345Z,1761514602.345 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:42.453Z,1761514602.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959638,-0.280489,-0.020491],[0.281198,0.958166,0.053351],[0.004669,-0.056959,0.998366]]
2025-10-26T21:36:42.512Z,1761514602.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.502860 s,
      deltaX: 0.300001 m,
      approachRate: 0.596590 m/s,
      rangeRepo size: 4

2025-10-26T21:36:42.514Z,1761514602.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.433969 m,
      bearing: 183.394963 deg,
      lat: 36.779416 deg,
      lon: -121.859489 deg,
      deltaT: 0.502860 s,
      deltaX: 0.298130 m,
      approachRate: 0.592869 m/s,
      posRepo size: 4

2025-10-26T21:36:42.514Z,1761514602.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-10-26T21:36:42.837Z,1761514602.837 [DAT](INFO): DAT read: Rx Time:21:36:41.5545 

2025-10-26T21:36:42.837Z,1761514602.837 [DAT](INFO): Rx dataTimestamp_ set to:1761514602.837152
2025-10-26T21:36:42.839Z,1761514602.839 [DAT](INFO): DAT read: Bearing 345.1,  13.4 (Local)

2025-10-26T21:36:42.839Z,1761514602.839 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.1,  13.4 (Local)

2025-10-26T21:36:42.841Z,1761514602.841 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed -0.2

2025-10-26T21:36:42.846Z,1761514602.846 [DAT](INFO): DAT read: 21:36:41.5545 LVL= 32752, 27169, 32754, 32755, AGC= 75, IDX= 507, 0.03,-2.157,-0.569,-2.527,-1.585, PHS=-0.470, 1.062,-0.986, RAW= 344.0,   4.3, CAL= 343.6,   2.2, ROT= 166.4,  -2.2

2025-10-26T21:36:42.847Z,1761514602.847 [DAT](INFO): got valid direction response:
 21:36:41.5545 LVL= 32752, 27169, 32754, 32755, AGC= 75, IDX= 507, 0.03,-2.157,-0.569,-2.527,-1.585, PHS=-0.470, 1.062,-0.986, RAW= 344.0,   4.3, CAL= 343.6,   2.2, ROT= 166.4,  -2.2

2025-10-26T21:36:42.847Z,1761514602.847 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-10-26T21:36:42.848Z,1761514602.848 [DAT](INFO): direction in FSK: [-0.971245,0.234969,0.038388]
2025-10-26T21:36:42.849Z,1761514602.849 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:42.857Z,1761514602.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960030,-0.279157,-0.020316],[0.279858,0.958560,0.053314],[0.004591,-0.056869,0.998371]]
2025-10-26T21:36:42.998Z,1761514602.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.504015 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:43.004Z,1761514603.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.433969 m,
      bearing: 182.552870 deg,
      lat: 36.779416 deg,
      lon: -121.859490 deg,
      deltaT: 0.504015 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:36:43.005Z,1761514603.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-10-26T21:36:43.233Z,1761514603.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960411,-0.277877,-0.019875],[0.278554,0.958948,0.053168],[0.004285,-0.056599,0.998388]]
2025-10-26T21:36:43.251Z,1761514603.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-10-26T21:36:43.341Z,1761514603.341 [DAT](INFO): DAT read: Rx Time:21:36:42.0546 

2025-10-26T21:36:43.342Z,1761514603.342 [DAT](INFO): Rx dataTimestamp_ set to:1761514603.341244
2025-10-26T21:36:43.343Z,1761514603.343 [DAT](INFO): DAT read: Bearing 344.5,  14.7 (Local)

2025-10-26T21:36:43.343Z,1761514603.343 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.5,  14.7 (Local)

2025-10-26T21:36:43.346Z,1761514603.346 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed -0.2

2025-10-26T21:36:43.352Z,1761514603.352 [DAT](INFO): DAT read: 21:36:42.0546 LVL= 32752, 21905, 32754, 32755, AGC= 71, IDX= 509,-0.47, 0.635, 2.196, 0.216, 1.191, PHS=-0.454, 1.050,-1.019, RAW= 345.3,   4.6, CAL= 345.0,   2.6, ROT= 165.0,  -2.6

2025-10-26T21:36:43.354Z,1761514603.354 [DAT](INFO): got valid direction response:
 21:36:42.0546 LVL= 32752, 21905, 32754, 32755, AGC= 71, IDX= 509,-0.47, 0.635, 2.196, 0.216, 1.191, PHS=-0.454, 1.050,-1.019, RAW= 345.3,   4.6, CAL= 345.0,   2.6, ROT= 165.0,  -2.6

2025-10-26T21:36:43.354Z,1761514603.354 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-10-26T21:36:43.356Z,1761514603.356 [DAT](INFO): direction in FSK: [-0.964931,0.258553,0.045363]
2025-10-26T21:36:43.356Z,1761514603.356 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:43.668Z,1761514603.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960851,-0.276393,-0.019308],[0.277040,0.959392,0.053058],[0.003859,-0.056329,0.998405]]
2025-10-26T21:36:43.717Z,1761514603.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.504092 s,
      deltaX: 0.100000 m,
      approachRate: 0.198377 m/s,
      rangeRepo size: 4

2025-10-26T21:36:43.726Z,1761514603.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.533337 m,
      bearing: 180.966636 deg,
      lat: 36.779415 deg,
      lon: -121.859490 deg,
      deltaT: 0.504092 s,
      deltaX: 0.099367 m,
      approachRate: 0.197121 m/s,
      posRepo size: 4

2025-10-26T21:36:43.726Z,1761514603.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.53 m.
2025-10-26T21:36:43.850Z,1761514603.850 [DAT](INFO): DAT read: Rx Time:21:36:42.5546 

2025-10-26T21:36:43.851Z,1761514603.851 [DAT](INFO): Rx dataTimestamp_ set to:1761514603.850189
2025-10-26T21:36:43.855Z,1761514603.855 [DAT](INFO): DAT read: Bearing 343.5,  14.6 (Local)

2025-10-26T21:36:43.856Z,1761514603.856 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.5,  14.6 (Local)

2025-10-26T21:36:43.859Z,1761514603.859 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed -0.2

2025-10-26T21:36:43.868Z,1761514603.868 [DAT](INFO): DAT read: 21:36:42.5546 LVL= 32752, 29489, 32754, 32755, AGC= 70, IDX= 508, 0.09, 2.047,-2.687, 1.637, 2.622, PHS=-0.473, 1.020,-1.028, RAW= 345.2,   5.3, CAL= 344.9,   3.7, ROT= 165.1,  -3.7

2025-10-26T21:36:43.869Z,1761514603.869 [DAT](INFO): got valid direction response:
 21:36:42.5546 LVL= 32752, 29489, 32754, 32755, AGC= 70, IDX= 508, 0.09, 2.047,-2.687, 1.637, 2.622, PHS=-0.473, 1.020,-1.028, RAW= 345.2,   5.3, CAL= 344.9,   3.7, ROT= 165.1,  -3.7

2025-10-26T21:36:43.870Z,1761514603.870 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-10-26T21:36:43.876Z,1761514603.876 [DAT](INFO): direction in FSK: [-0.964362,0.256597,0.064532]
2025-10-26T21:36:43.876Z,1761514603.876 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:44.040Z,1761514604.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961223,-0.275134,-0.018751],[0.275750,0.959780,0.052774],[0.003477,-0.055898,0.998430]]
2025-10-26T21:36:44.083Z,1761514604.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.508945 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:44.085Z,1761514604.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.533337 m,
      bearing: 180.931600 deg,
      lat: 36.779415 deg,
      lon: -121.859490 deg,
      deltaT: 0.508945 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:36:44.085Z,1761514604.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.53 m.
2025-10-26T21:36:44.352Z,1761514604.352 [DAT](INFO): DAT read: Rx Time:21:36:43.0548 

2025-10-26T21:36:44.352Z,1761514604.352 [DAT](INFO): Rx dataTimestamp_ set to:1761514604.352177
2025-10-26T21:36:44.354Z,1761514604.354 [DAT](INFO): DAT read: Bearing 346.2,  15.3 (Local)

2025-10-26T21:36:44.354Z,1761514604.354 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.2,  15.3 (Local)

2025-10-26T21:36:44.359Z,1761514604.359 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed -0.1

2025-10-26T21:36:44.400Z,1761514604.400 [DAT](INFO): DAT read: 21:36:43.0548 LVL= 32752, 23793, 32754, 32755, AGC= 69, IDX= 510,-0.13, 1.362, 2.916, 0.927, 1.879, PHS=-0.415, 1.082,-0.997, RAW= 345.7,   3.6, CAL= 345.3,   1.0, ROT= 164.7,  -1.0

2025-10-26T21:36:44.401Z,1761514604.401 [DAT](INFO): got valid direction response:
 21:36:43.0548 LVL= 32752, 23793, 32754, 32755, AGC= 69, IDX= 510,-0.13, 1.362, 2.916, 0.927, 1.879, PHS=-0.415, 1.082,-0.997, RAW= 345.7,   3.6, CAL= 345.3,   1.0, ROT= 164.7,  -1.0

2025-10-26T21:36:44.401Z,1761514604.401 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-10-26T21:36:44.402Z,1761514604.402 [DAT](INFO): direction in FSK: [-0.964411,0.263833,0.017452]
2025-10-26T21:36:44.402Z,1761514604.402 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:44.450Z,1761514604.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961634,-0.273726,-0.018283],[0.274318,0.960198,0.052625],[0.003151,-0.055622,0.998447]]
2025-10-26T21:36:44.513Z,1761514604.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.501988 s,
      deltaX: 0.299999 m,
      approachRate: 0.597622 m/s,
      rangeRepo size: 4

2025-10-26T21:36:44.515Z,1761514604.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.831457 m,
      bearing: 180.590444 deg,
      lat: 36.779415 deg,
      lon: -121.859483 deg,
      deltaT: 0.501988 s,
      deltaX: 0.298120 m,
      approachRate: 0.593880 m/s,
      posRepo size: 4

2025-10-26T21:36:44.520Z,1761514604.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-10-26T21:36:44.856Z,1761514604.856 [DAT](INFO): DAT read: Rx Time:21:36:43.5547 

2025-10-26T21:36:44.857Z,1761514604.857 [DAT](INFO): Rx dataTimestamp_ set to:1761514604.856551
2025-10-26T21:36:44.860Z,1761514604.860 [DAT](INFO): DAT read: Bearing 345.9,  14.8 (Local)

2025-10-26T21:36:44.860Z,1761514604.860 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.9,  14.8 (Local)

2025-10-26T21:36:44.864Z,1761514604.864 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed -0.1

2025-10-26T21:36:44.871Z,1761514604.871 [DAT](INFO): DAT read: 21:36:43.5547 LVL= 32752, 24561, 32754, 32755, AGC= 68, IDX= 509, 0.22, 2.722,-1.980, 2.297,-3.023, PHS=-0.436, 1.089,-1.007, RAW= 345.3,   3.8, CAL= 344.9,   1.4, ROT= 165.1,  -1.4

2025-10-26T21:36:44.882Z,1761514604.882 [DAT](INFO): got valid direction response:
 21:36:43.5547 LVL= 32752, 24561, 32754, 32755, AGC= 68, IDX= 509, 0.22, 2.722,-1.980, 2.297,-3.023, PHS=-0.436, 1.089,-1.007, RAW= 345.3,   3.8, CAL= 344.9,   1.4, ROT= 165.1,  -1.4

2025-10-26T21:36:44.883Z,1761514604.883 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-10-26T21:36:44.884Z,1761514604.884 [DAT](INFO): direction in FSK: [-0.966088,0.257056,0.024432]
2025-10-26T21:36:44.885Z,1761514604.885 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:44.928Z,1761514604.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962019,-0.272403,-0.017768],[0.272968,0.960584,0.052602],[0.002739,-0.055454,0.998457]]
2025-10-26T21:36:45.047Z,1761514605.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.504374 s,
      deltaX: -0.100000 m,
      approachRate: -0.198266 m/s,
      rangeRepo size: 4

2025-10-26T21:36:45.049Z,1761514605.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.732080 m,
      bearing: 180.888258 deg,
      lat: 36.779415 deg,
      lon: -121.859483 deg,
      deltaT: 0.504374 s,
      deltaX: -0.099377 m,
      approachRate: -0.197030 m/s,
      posRepo size: 4

2025-10-26T21:36:45.050Z,1761514605.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.73 m.
2025-10-26T21:36:45.285Z,1761514605.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962406,-0.271063,-0.017299],[0.271605,0.960961,0.052767],[0.002320,-0.055482,0.998457]]
2025-10-26T21:36:45.304Z,1761514605.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.73 m.
2025-10-26T21:36:45.359Z,1761514605.359 [DAT](INFO): DAT read: Rx Time:21:36:44.0548 

2025-10-26T21:36:45.360Z,1761514605.360 [DAT](INFO): Rx dataTimestamp_ set to:1761514605.359661
2025-10-26T21:36:45.363Z,1761514605.363 [DAT](INFO): DAT read: Bearing 346.7,  15.1 (Local)

2025-10-26T21:36:45.364Z,1761514605.364 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.7,  15.1 (Local)

2025-10-26T21:36:45.367Z,1761514605.367 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.0

2025-10-26T21:36:45.383Z,1761514605.383 [DAT](INFO): DAT read: 21:36:44.0548 LVL= 32752, 23153, 32754, 32755, AGC= 69, IDX= 510,-0.16, 0.358, 1.926,-0.078, 0.872, PHS=-0.412, 1.099,-0.994, RAW= 345.6,   3.3, CAL= 345.2,   0.6, ROT= 164.8,  -0.6

2025-10-26T21:36:45.385Z,1761514605.385 [DAT](INFO): got valid direction response:
 21:36:44.0548 LVL= 32752, 23153, 32754, 32755, AGC= 69, IDX= 510,-0.16, 0.358, 1.926,-0.078, 0.872, PHS=-0.412, 1.099,-0.994, RAW= 345.6,   3.3, CAL= 345.2,   0.6, ROT= 164.8,  -0.6

2025-10-26T21:36:45.387Z,1761514605.387 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-10-26T21:36:45.397Z,1761514605.397 [DAT](INFO): direction in FSK: [-0.964964,0.262175,0.010472]
2025-10-26T21:36:45.398Z,1761514605.398 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:45.689Z,1761514605.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962669,-0.270155,-0.016869],[0.270675,0.961214,0.052939],[0.001913,-0.055529,0.998455]]
2025-10-26T21:36:45.731Z,1761514605.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.503110 s,
      deltaX: 0.100000 m,
      approachRate: 0.198764 m/s,
      rangeRepo size: 4

2025-10-26T21:36:45.734Z,1761514605.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.831463 m,
      bearing: 180.494520 deg,
      lat: 36.779415 deg,
      lon: -121.859483 deg,
      deltaT: 0.503110 s,
      deltaX: 0.099382 m,
      approachRate: 0.197536 m/s,
      posRepo size: 4

2025-10-26T21:36:45.735Z,1761514605.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-10-26T21:36:45.869Z,1761514605.869 [DAT](INFO): DAT read: Rx Time:21:36:44.5547 

2025-10-26T21:36:45.871Z,1761514605.871 [DAT](INFO): Rx dataTimestamp_ set to:1761514605.869771
2025-10-26T21:36:45.876Z,1761514605.876 [DAT](INFO): DAT read: Bearing 345.1,  15.6 (Local)

2025-10-26T21:36:45.877Z,1761514605.877 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.1,  15.6 (Local)

2025-10-26T21:36:45.885Z,1761514605.885 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed 0.0

2025-10-26T21:36:45.895Z,1761514605.895 [DAT](INFO): DAT read: 21:36:44.5547 LVL= 32752, 31217, 32754, 32755, AGC= 72, IDX= 509, 0.11, 1.952,-2.802, 1.507, 2.477, PHS=-0.423, 1.050,-1.014, RAW= 346.1,   4.3, CAL= 345.8,   2.1, ROT= 164.2,  -2.1

2025-10-26T21:36:45.900Z,1761514605.900 [DAT](INFO): got valid direction response:
 21:36:44.5547 LVL= 32752, 31217, 32754, 32755, AGC= 72, IDX= 509, 0.11, 1.952,-2.802, 1.507, 2.477, PHS=-0.423, 1.050,-1.014, RAW= 346.1,   4.3, CAL= 345.8,   2.1, ROT= 164.2,  -2.1

2025-10-26T21:36:45.901Z,1761514605.901 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-10-26T21:36:45.902Z,1761514605.902 [DAT](INFO): direction in FSK: [-0.961572,0.272097,0.036644]
2025-10-26T21:36:45.902Z,1761514605.902 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:46.090Z,1761514606.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962844,-0.269554,-0.016482],[0.270053,0.961380,0.053110],[0.001529,-0.055587,0.998453]]
2025-10-26T21:36:46.211Z,1761514606.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.510110 s,
      deltaX: -0.100000 m,
      approachRate: -0.196037 m/s,
      rangeRepo size: 4

2025-10-26T21:36:46.217Z,1761514606.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.732111 m,
      bearing: 179.778789 deg,
      lat: 36.779415 deg,
      lon: -121.859482 deg,
      deltaT: 0.510110 s,
      deltaX: -0.099352 m,
      approachRate: -0.194766 m/s,
      posRepo size: 4

2025-10-26T21:36:46.217Z,1761514606.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.73 m.
2025-10-26T21:36:46.370Z,1761514606.370 [DAT](INFO): DAT read: Rx Time:21:36:45.0548 

2025-10-26T21:36:46.371Z,1761514606.371 [DAT](INFO): Rx dataTimestamp_ set to:1761514606.370506
2025-10-26T21:36:46.373Z,1761514606.373 [DAT](INFO): DAT read: Bearing 343.7,  15.0 (Local)

2025-10-26T21:36:46.373Z,1761514606.373 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.7,  15.0 (Local)

2025-10-26T21:36:46.376Z,1761514606.376 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed -0.1

2025-10-26T21:36:46.384Z,1761514606.384 [DAT](INFO): DAT read: 21:36:45.0548 LVL= 32752, 26145, 32754, 32755, AGC= 71, IDX= 511,-0.49, 1.712,-3.025, 1.287, 2.276, PHS=-0.462, 1.027,-1.033, RAW= 345.6,   5.1, CAL= 345.3,   3.4, ROT= 164.7,  -3.4

2025-10-26T21:36:46.386Z,1761514606.386 [DAT](INFO): got valid direction response:
 21:36:45.0548 LVL= 32752, 26145, 32754, 32755, AGC= 71, IDX= 511,-0.49, 1.712,-3.025, 1.287, 2.276, PHS=-0.462, 1.027,-1.033, RAW= 345.6,   5.1, CAL= 345.3,   3.4, ROT= 164.7,  -3.4

2025-10-26T21:36:46.386Z,1761514606.386 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-10-26T21:36:46.419Z,1761514606.419 [DAT](INFO): direction in FSK: [-0.962860,0.263409,0.059306]
2025-10-26T21:36:46.420Z,1761514606.420 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:46.501Z,1761514606.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962932,-0.269263,-0.016115],[0.269742,0.961466,0.053134],[0.001187,-0.055511,0.998457]]
2025-10-26T21:36:46.540Z,1761514606.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.500735 s,
      deltaX: 0.100000 m,
      approachRate: 0.199707 m/s,
      rangeRepo size: 4

2025-10-26T21:36:46.542Z,1761514606.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.831488 m,
      bearing: 180.190073 deg,
      lat: 36.779415 deg,
      lon: -121.859482 deg,
      deltaT: 0.500735 s,
      deltaX: 0.099377 m,
      approachRate: 0.198462 m/s,
      posRepo size: 4

2025-10-26T21:36:46.542Z,1761514606.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-10-26T21:36:46.625Z,1761514606.625 [DAT](INFO): DAT read: Rx Time:21:36:45.5548 

2025-10-26T21:36:46.626Z,1761514606.626 [DAT](INFO): Rx dataTimestamp_ set to:1761514606.625376
2025-10-26T21:36:46.629Z,1761514606.629 [DAT](INFO): DAT read: Bearing 344.4,  14.2 (Local)

2025-10-26T21:36:46.630Z,1761514606.630 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.4,  14.2 (Local)

2025-10-26T21:36:46.881Z,1761514606.881 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.0

2025-10-26T21:36:46.906Z,1761514606.906 [DAT](INFO): DAT read: 21:36:45.5548 LVL= 32752, 27889, 32754, 32755, AGC= 73, IDX= 510,-0.03,-0.116, 1.473,-0.519, 0.458, PHS=-0.472, 1.060,-1.022, RAW= 344.7,   4.7, CAL= 344.4,   2.8, ROT= 165.6,  -2.8

2025-10-26T21:36:46.915Z,1761514606.915 [DAT](INFO): got valid direction response:
 21:36:45.5548 LVL= 32752, 27889, 32754, 32755, AGC= 73, IDX= 510,-0.03,-0.116, 1.473,-0.519, 0.458, PHS=-0.472, 1.060,-1.022, RAW= 344.7,   4.7, CAL= 344.4,   2.8, ROT= 165.6,  -2.8

2025-10-26T21:36:46.915Z,1761514606.915 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-10-26T21:36:46.916Z,1761514606.916 [DAT](INFO): direction in FSK: [-0.967427,0.248393,0.048850]
2025-10-26T21:36:46.916Z,1761514606.916 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:46.922Z,1761514606.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962870,-0.269509,-0.015693],[0.269965,0.961412,0.052975],[0.000810,-0.055245,0.998473]]
2025-10-26T21:36:46.998Z,1761514606.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.503068 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:47.011Z,1761514607.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.831488 m,
      bearing: 181.133794 deg,
      lat: 36.779415 deg,
      lon: -121.859482 deg,
      deltaT: 0.503068 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:36:47.012Z,1761514607.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-10-26T21:36:47.128Z,1761514607.128 [DAT](INFO): DAT read: Rx Time:21:36:46.0550 

2025-10-26T21:36:47.129Z,1761514607.129 [DAT](INFO): Rx dataTimestamp_ set to:1761514607.128031
2025-10-26T21:36:47.302Z,1761514607.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962836,-0.269644,-0.015433],[0.270085,0.961377,0.052998],[0.000546,-0.055197,0.998475]]
2025-10-26T21:36:47.320Z,1761514607.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-10-26T21:36:47.384Z,1761514607.384 [DAT](INFO): DAT read: Range 11 to 50 :    27.3 m (trip time 18.2 ms) speed 0.0

2025-10-26T21:36:47.385Z,1761514607.385 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-10-26T21:36:47.632Z,1761514607.632 [DAT](INFO): DAT read: Rx Time:21:36:46.5549 

2025-10-26T21:36:47.634Z,1761514607.634 [DAT](INFO): Rx dataTimestamp_ set to:1761514607.632685
2025-10-26T21:36:47.636Z,1761514607.636 [DAT](INFO): DAT read: Bearing 345.2,  13.7 (Local)

2025-10-26T21:36:47.637Z,1761514607.637 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.2,  13.7 (Local)

2025-10-26T21:36:47.721Z,1761514607.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962667,-0.270257,-0.015278],[0.270689,0.961211,0.052934],[0.000379,-0.055093,0.998481]]
2025-10-26T21:36:47.756Z,1761514607.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 0.504638 s,
      deltaX: 0.299999 m,
      approachRate: 0.594484 m/s,
      rangeRepo size: 4

2025-10-26T21:36:47.756Z,1761514607.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-10-26T21:36:47.889Z,1761514607.889 [DAT](INFO): DAT read: Range 11 to 50 :    27.2 m (trip time 18.1 ms) speed 0.0

2025-10-26T21:36:47.907Z,1761514607.907 [DAT](INFO): DAT read: 21:36:46.5549 LVL= 32752, 24049, 32754, 32755, AGC= 72, IDX= 511,-0.00, 2.926,-1.751, 2.544,-2.786, PHS=-0.469, 1.080,-0.997, RAW= 344.1,   4.2, CAL= 343.8,   2.0, ROT= 166.2,  -2.0

2025-10-26T21:36:47.911Z,1761514607.911 [DAT](INFO): got valid direction response:
 21:36:46.5549 LVL= 32752, 24049, 32754, 32755, AGC= 72, IDX= 511,-0.00, 2.926,-1.751, 2.544,-2.786, PHS=-0.469, 1.080,-0.997, RAW= 344.1,   4.2, CAL= 343.8,   2.0, ROT= 166.2,  -2.0

2025-10-26T21:36:47.932Z,1761514607.932 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-10-26T21:36:47.933Z,1761514607.933 [DAT](INFO): direction in FSK: [-0.970543,0.238388,0.034899]
2025-10-26T21:36:47.933Z,1761514607.933 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:48.111Z,1761514608.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962423,-0.271136,-0.015100],[0.271556,0.960963,0.052987],[0.000144,-0.055096,0.998481]]
2025-10-26T21:36:48.136Z,1761514608.136 [DAT](INFO): DAT read: Rx Time:21:36:47.0550 

2025-10-26T21:36:48.138Z,1761514608.138 [DAT](INFO): Rx dataTimestamp_ set to:1761514608.136705
2025-10-26T21:36:48.145Z,1761514608.145 [DAT](INFO): DAT read: Bearing 316.1,  11.6 (Local)

2025-10-26T21:36:48.146Z,1761514608.146 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.1,  11.6 (Local)

2025-10-26T21:36:48.180Z,1761514608.180 [DAT](INFO): DAT read: Range 11 to 50 :    27.3 m (trip time 18.2 ms) speed -0.1

2025-10-26T21:36:48.195Z,1761514608.195 [DAT](INFO): DAT read: 21:36:47.0550 LVL= 31520, 24529, 32754, 32755, AGC= 70, IDX= 512, 0.06, 0.116, 1.426,-0.234, 1.169, PHS=-0.951, 0.302,-1.446, RAW= 346.0,  25.4, CAL= 345.5,  30.2, ROT= 164.5, -30.2

2025-10-26T21:36:48.205Z,1761514608.205 [DAT](INFO): got valid direction response:
 21:36:47.0550 LVL= 31520, 24529, 32754, 32755, AGC= 70, IDX= 512, 0.06, 0.116, 1.426,-0.234, 1.169, PHS=-0.951, 0.302,-1.446, RAW= 346.0,  25.4, CAL= 345.5,  30.2, ROT= 164.5, -30.2

2025-10-26T21:36:48.205Z,1761514608.205 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-10-26T21:36:48.206Z,1761514608.206 [DAT](INFO): direction in FSK: [-0.832841,0.230967,0.503020]
2025-10-26T21:36:48.207Z,1761514608.207 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:48.265Z,1761514608.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 0.758493 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:48.267Z,1761514608.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.129635 m,
      bearing: 178.525366 deg,
      lat: 36.779416 deg,
      lon: -121.859481 deg,
      deltaT: 1.263131 s,
      deltaX: 0.298147 m,
      approachRate: 0.236038 m/s,
      posRepo size: 4

2025-10-26T21:36:48.276Z,1761514608.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-10-26T21:36:48.528Z,1761514608.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962200,-0.271920,-0.015158],[0.272343,0.960732,0.053141],[0.000112,-0.055261,0.998472]]
2025-10-26T21:36:48.561Z,1761514608.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-10-26T21:36:48.641Z,1761514608.641 [DAT](INFO): DAT read: Rx Time:21:36:47.5549 

2025-10-26T21:36:48.643Z,1761514608.643 [DAT](INFO): Rx dataTimestamp_ set to:1761514608.641536
2025-10-26T21:36:48.646Z,1761514608.646 [DAT](INFO): DAT read: Bearing 215.4,  -4.8 (Local)

2025-10-26T21:36:48.649Z,1761514608.649 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.4,  -4.8 (Local)

2025-10-26T21:36:48.660Z,1761514608.660 [DAT](INFO): DAT read: Range 11 to 50 :    27.2 m (trip time 18.1 ms) speed 0.0

2025-10-26T21:36:48.667Z,1761514608.667 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-10-26T21:36:48.902Z,1761514608.902 [DAT](INFO): DAT read: 21:36:47.5549 LVL= 29376, 22257, 32754, 32755, AGC= 66, IDX= 512,-0.42, 1.320,-0.395, 1.412, 2.018, PHS=-0.597,-2.369,-0.650, RAW= 148.5,  36.2, CAL= 153.3,  47.5, ROT= 356.7, -47.5

2025-10-26T21:36:48.906Z,1761514608.906 [DAT](INFO): got valid direction response:
 21:36:47.5549 LVL= 29376, 22257, 32754, 32755, AGC= 66, IDX= 512,-0.42, 1.320,-0.395, 1.412, 2.018, PHS=-0.597,-2.369,-0.650, RAW= 148.5,  36.2, CAL= 153.3,  47.5, ROT= 356.7, -47.5

2025-10-26T21:36:48.908Z,1761514608.908 [DAT](INFO): #Rx 96: Read direction message, but no range.
2025-10-26T21:36:48.912Z,1761514608.912 [DAT](INFO): direction in FSK: [0.674470,-0.038889,0.737277]
2025-10-26T21:36:48.979Z,1761514608.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961882,-0.273045,-0.015156],[0.273465,0.960409,0.053209],[0.000027,-0.055326,0.998468]]
2025-10-26T21:36:49.057Z,1761514609.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.200001 m,
      deltaT: 0.504831 s,
      deltaX: -0.099998 m,
      approachRate: -0.198083 m/s,
      rangeRepo size: 4

2025-10-26T21:36:49.059Z,1761514609.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.030260 m,
      bearing: 16.037124 deg,
      lat: 36.779416 deg,
      lon: -121.859479 deg,
      deltaT: 0.504831 s,
      deltaX: -0.099375 m,
      approachRate: -0.196848 m/s,
      posRepo size: 4

2025-10-26T21:36:49.064Z,1761514609.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.03 m.
2025-10-26T21:36:49.144Z,1761514609.144 [DAT](INFO): DAT read: Rx Time:21:36:48.0550 

2025-10-26T21:36:49.146Z,1761514609.146 [DAT](INFO): Rx dataTimestamp_ set to:1761514609.145116
2025-10-26T21:36:49.149Z,1761514609.149 [DAT](INFO): DAT read: Bearing 346.1,  15.2 (Local)

2025-10-26T21:36:49.151Z,1761514609.151 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.1,  15.2 (Local)

2025-10-26T21:36:49.171Z,1761514609.171 [DAT](INFO): DAT read: Range 11 to 50 :    27.3 m (trip time 18.2 ms) speed 0.0

2025-10-26T21:36:49.174Z,1761514609.174 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-10-26T21:36:49.332Z,1761514609.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961497,-0.274390,-0.015259],[0.274814,0.960028,0.053141],[0.000067,-0.055288,0.998470]]
2025-10-26T21:36:49.385Z,1761514609.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 0.503580 s,
      deltaX: 0.099998 m,
      approachRate: 0.198575 m/s,
      rangeRepo size: 4

2025-10-26T21:36:49.385Z,1761514609.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.03 m.
2025-10-26T21:36:49.399Z,1761514609.399 [DAT](INFO): DAT read: 21:36:48.0550 LVL= 32752, 23889, 32754, 32755, AGC= 66, IDX= 512,-0.18,-2.604,-0.768, 3.137,-2.012, PHS=-0.490, 1.289,-1.178, RAW= 345.7,   3.5, CAL= 345.2,   0.8, ROT= 164.8,  -0.8

2025-10-26T21:36:49.400Z,1761514609.400 [DAT](INFO): got valid direction response:
 21:36:48.0550 LVL= 32752, 23889, 32754, 32755, AGC= 66, IDX= 512,-0.18,-2.604,-0.768, 3.137,-2.012, PHS=-0.490, 1.289,-1.178, RAW= 345.7,   3.5, CAL= 345.2,   0.8, ROT= 164.8,  -0.8

2025-10-26T21:36:49.401Z,1761514609.401 [DAT](INFO): #Rx 98: Read direction message, but no range.
2025-10-26T21:36:49.402Z,1761514609.402 [DAT](INFO): direction in FSK: [-0.964922,0.262164,0.013962]
2025-10-26T21:36:49.649Z,1761514609.649 [DAT](INFO): DAT read: Rx Time:21:36:48.5549 

2025-10-26T21:36:49.650Z,1761514609.650 [DAT](INFO): Rx dataTimestamp_ set to:1761514609.649429
2025-10-26T21:36:49.654Z,1761514609.654 [DAT](INFO): DAT read: Bearing 345.8,  15.3 (Local)

2025-10-26T21:36:49.655Z,1761514609.655 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.8,  15.3 (Local)

2025-10-26T21:36:49.682Z,1761514609.682 [DAT](INFO): DAT read: Range 11 to 50 :    27.2 m (trip time 18.1 ms) speed -0.1

2025-10-26T21:36:49.689Z,1761514609.689 [DAT](INFO): DAT read: 21:36:48.5549 LVL= 32752, 23153, 32754, 32755, AGC= 68, IDX= 511, 0.33,-2.099,-0.539,-2.535,-1.578, PHS=-0.419, 1.085,-1.001, RAW= 345.7,   3.6, CAL= 345.3,   1.1, ROT= 164.7,  -1.1

2025-10-26T21:36:49.690Z,1761514609.690 [DAT](INFO): got valid direction response:
 21:36:48.5549 LVL= 32752, 23153, 32754, 32755, AGC= 68, IDX= 511, 0.33,-2.099,-0.539,-2.535,-1.578, PHS=-0.419, 1.085,-1.001, RAW= 345.7,   3.6, CAL= 345.3,   1.1, ROT= 164.7,  -1.1

2025-10-26T21:36:49.691Z,1761514609.691 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-10-26T21:36:49.714Z,1761514609.714 [DAT](INFO): direction in FSK: [-0.964380,0.263824,0.019197]
2025-10-26T21:36:49.714Z,1761514609.714 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:49.754Z,1761514609.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961102,-0.275756,-0.015544],[0.276193,0.959637,0.053048],[0.000289,-0.055277,0.998471]]
2025-10-26T21:36:49.824Z,1761514609.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.200001 m,
      deltaT: 0.504313 s,
      deltaX: -0.099998 m,
      approachRate: -0.198287 m/s,
      rangeRepo size: 4

2025-10-26T21:36:49.826Z,1761514609.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.030268 m,
      bearing: 180.696816 deg,
      lat: 36.779416 deg,
      lon: -121.859481 deg,
      deltaT: 1.007893 s,
      deltaX: 0.000008 m,
      approachRate: 0.000008 m/s,
      posRepo size: 4

2025-10-26T21:36:49.826Z,1761514609.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.03 m.
2025-10-26T21:36:50.168Z,1761514610.168 [DAT](INFO): DAT read: Rx Time:21:36:49.0551 

2025-10-26T21:36:50.170Z,1761514610.170 [DAT](INFO): Rx dataTimestamp_ set to:1761514610.169114
2025-10-26T21:36:50.174Z,1761514610.174 [DAT](INFO): DAT read: Bearing 349.0,  11.9 (Local)

2025-10-26T21:36:50.175Z,1761514610.175 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.0,  11.9 (Local)

2025-10-26T21:36:50.178Z,1761514610.178 [DAT](INFO): DAT read: Range 11 to 50 :    27.5 m (trip time 18.3 ms) speed 0.0

2025-10-26T21:36:50.183Z,1761514610.183 [DAT](INFO): DAT read: 21:36:49.0551 LVL= 32752, 23217, 32754, 32755, AGC= 68, IDX= 513,-0.09, 2.233,-2.232, 1.877, 2.792, PHS=-0.457, 1.304,-0.959, RAW= 342.2,   1.1, CAL= 341.7,  -1.8, ROT= 168.3,   1.8

2025-10-26T21:36:50.184Z,1761514610.184 [DAT](INFO): got valid direction response:
 21:36:49.0551 LVL= 32752, 23217, 32754, 32755, AGC= 68, IDX= 513,-0.09, 2.233,-2.232, 1.877, 2.792, PHS=-0.457, 1.304,-0.959, RAW= 342.2,   1.1, CAL= 341.7,  -1.8, ROT= 168.3,   1.8

2025-10-26T21:36:50.185Z,1761514610.185 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-10-26T21:36:50.186Z,1761514610.186 [DAT](INFO): direction in FSK: [-0.978740,0.202687,-0.031411]
2025-10-26T21:36:50.186Z,1761514610.186 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:50.225Z,1761514610.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960466,-0.277932,-0.016100],[0.278397,0.958985,0.053318],[0.000621,-0.055692,0.998448]]
2025-10-26T21:36:50.329Z,1761514610.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.500000 m,
      deltaT: 0.519685 s,
      deltaX: 0.299999 m,
      approachRate: 0.577271 m/s,
      rangeRepo size: 4

2025-10-26T21:36:50.331Z,1761514610.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.328411 m,
      bearing: 184.580150 deg,
      lat: 36.779416 deg,
      lon: -121.859481 deg,
      deltaT: 0.519685 s,
      deltaX: 0.298143 m,
      approachRate: 0.573700 m/s,
      posRepo size: 4

2025-10-26T21:36:50.340Z,1761514610.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.33 m.
2025-10-26T21:36:50.685Z,1761514610.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960148,-0.279010,-0.016420],[0.279492,0.958661,0.053421],[0.000836,-0.055882,0.998437]]
2025-10-26T21:36:50.693Z,1761514610.693 [DAT](INFO): DAT read: Rx Time:21:36:49.5550 

2025-10-26T21:36:50.694Z,1761514610.694 [DAT](INFO): Rx dataTimestamp_ set to:1761514610.693463
2025-10-26T21:36:50.695Z,1761514610.695 [DAT](INFO): DAT read: Bearing 332.9,  26.5 (Local)

2025-10-26T21:36:50.696Z,1761514610.696 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.9,  26.5 (Local)

2025-10-26T21:36:50.699Z,1761514610.699 [DAT](INFO): DAT read: Range 11 to 50 :    27.3 m (trip time 18.2 ms) speed -0.1

2025-10-26T21:36:50.713Z,1761514610.713 [DAT](INFO): DAT read: 21:36:49.5550 LVL= 32752, 22465, 32754, 32755, AGC= 66, IDX= 512, 0.27,-2.761,-1.663, 2.758,-2.322, PHS=-0.337, 0.704,-1.248, RAW= 357.8,  10.4, CAL= 358.0,  11.7, ROT= 152.0, -11.7

2025-10-26T21:36:50.715Z,1761514610.715 [DAT](INFO): got valid direction response:
 21:36:49.5550 LVL= 32752, 22465, 32754, 32755, AGC= 66, IDX= 512, 0.27,-2.761,-1.663, 2.758,-2.322, PHS=-0.337, 0.704,-1.248, RAW= 357.8,  10.4, CAL= 358.0,  11.7, ROT= 152.0, -11.7

2025-10-26T21:36:50.719Z,1761514610.719 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-10-26T21:36:50.721Z,1761514610.721 [DAT](INFO): direction in FSK: [-0.864602,0.459717,0.202787]
2025-10-26T21:36:50.721Z,1761514610.721 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:50.793Z,1761514610.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 0.524349 s,
      deltaX: -0.200001 m,
      approachRate: -0.381427 m/s,
      rangeRepo size: 4

2025-10-26T21:36:50.795Z,1761514610.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.129658 m,
      bearing: 167.688449 deg,
      lat: 36.779425 deg,
      lon: -121.859472 deg,
      deltaT: 0.524349 s,
      deltaX: -0.198753 m,
      approachRate: -0.379048 m/s,
      posRepo size: 4

2025-10-26T21:36:50.800Z,1761514610.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-10-26T21:36:51.074Z,1761514611.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959803,-0.280171,-0.016825],[0.280673,0.958318,0.053383],[0.001167,-0.055959,0.998432]]
2025-10-26T21:36:51.127Z,1761514611.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-10-26T21:36:51.197Z,1761514611.197 [DAT](INFO): DAT read: Rx Time:21:36:50.0552 

2025-10-26T21:36:51.197Z,1761514611.197 [DAT](INFO): Rx dataTimestamp_ set to:1761514611.197186
2025-10-26T21:36:51.199Z,1761514611.199 [DAT](INFO): DAT read: Bearing 345.3,  14.5 (Local)

2025-10-26T21:36:51.199Z,1761514611.199 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.3,  14.5 (Local)

2025-10-26T21:36:51.201Z,1761514611.201 [DAT](INFO): DAT read: Range 11 to 50 :    27.6 m (trip time 18.4 ms) speed -0.1

2025-10-26T21:36:51.206Z,1761514611.206 [DAT](INFO): DAT read: 21:36:50.0552 LVL= 31344, 21793, 32754, 32755, AGC= 71, IDX=   2,-0.10,-2.132,-0.549,-2.543,-1.584, PHS=-0.446, 1.081,-1.002, RAW= 344.9,   4.0, CAL= 344.5,   1.6, ROT= 165.5,  -1.6

2025-10-26T21:36:51.207Z,1761514611.207 [DAT](INFO): got valid direction response:
 21:36:50.0552 LVL= 31344, 21793, 32754, 32755, AGC= 71, IDX=   2,-0.10,-2.132,-0.549,-2.543,-1.584, PHS=-0.446, 1.081,-1.002, RAW= 344.9,   4.0, CAL= 344.5,   1.6, ROT= 165.5,  -1.6

2025-10-26T21:36:51.207Z,1761514611.207 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-10-26T21:36:51.208Z,1761514611.208 [DAT](INFO): direction in FSK: [-0.967770,0.250282,0.027922]
2025-10-26T21:36:51.209Z,1761514611.209 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:51.480Z,1761514611.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959575,-0.280930,-0.017130],[0.281448,0.958084,0.053496],[0.001383,-0.056154,0.998421]]
2025-10-26T21:36:51.503Z,1761514611.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.600000 m,
      deltaT: 0.503723 s,
      deltaX: 0.300001 m,
      approachRate: 0.595568 m/s,
      rangeRepo size: 4

2025-10-26T21:36:51.505Z,1761514611.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.427776 m,
      bearing: 181.781860 deg,
      lat: 36.779416 deg,
      lon: -121.859481 deg,
      deltaT: 0.503723 s,
      deltaX: 0.298119 m,
      approachRate: 0.591830 m/s,
      posRepo size: 4

2025-10-26T21:36:51.505Z,1761514611.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.43 m.
2025-10-26T21:36:51.702Z,1761514611.702 [DAT](INFO): DAT read: Rx Time:21:36:50.5551 

2025-10-26T21:36:51.703Z,1761514611.703 [DAT](INFO): Rx dataTimestamp_ set to:1761514611.702351
2025-10-26T21:36:51.705Z,1761514611.705 [DAT](INFO): DAT read: Bearing 345.4,  14.8 (Local)

2025-10-26T21:36:51.705Z,1761514611.705 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.4,  14.8 (Local)

2025-10-26T21:36:51.708Z,1761514611.708 [DAT](INFO): DAT read: Range 11 to 50 :    27.5 m (trip time 18.3 ms) speed -0.2

2025-10-26T21:36:51.715Z,1761514611.715 [DAT](INFO): DAT read: 21:36:50.5551 LVL= 32752, 25585, 32754, 32755, AGC= 69, IDX= 497, 0.34,-1.822,-0.255,-2.240,-1.287, PHS=-0.433, 1.077,-0.997, RAW= 345.2,   3.8, CAL= 344.8,   1.4, ROT= 165.2,  -1.4

2025-10-26T21:36:51.717Z,1761514611.717 [DAT](INFO): got valid direction response:
 21:36:50.5551 LVL= 32752, 25585, 32754, 32755, AGC= 69, IDX= 497, 0.34,-1.822,-0.255,-2.240,-1.287, PHS=-0.433, 1.077,-0.997, RAW= 345.2,   3.8, CAL= 344.8,   1.4, ROT= 165.2,  -1.4

2025-10-26T21:36:51.717Z,1761514611.717 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-10-26T21:36:51.719Z,1761514611.719 [DAT](INFO): direction in FSK: [-0.966535,0.255370,0.024432]
2025-10-26T21:36:51.719Z,1761514611.719 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:51.886Z,1761514611.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959419,-0.281437,-0.017544],[0.281978,0.957923,0.053581],[0.001726,-0.056354,0.998409]]
2025-10-26T21:36:51.983Z,1761514611.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.500000 m,
      deltaT: 0.505165 s,
      deltaX: -0.100000 m,
      approachRate: -0.197956 m/s,
      rangeRepo size: 4

2025-10-26T21:36:51.986Z,1761514611.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.328400 m,
      bearing: 181.524775 deg,
      lat: 36.779415 deg,
      lon: -121.859483 deg,
      deltaT: 0.505165 s,
      deltaX: -0.099377 m,
      approachRate: -0.196721 m/s,
      posRepo size: 4

2025-10-26T21:36:51.986Z,1761514611.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.33 m.
2025-10-26T21:36:52.206Z,1761514612.206 [DAT](INFO): DAT read: Rx Time:21:36:51.0553 

2025-10-26T21:36:52.207Z,1761514612.207 [DAT](INFO): Rx dataTimestamp_ set to:1761514612.206381
2025-10-26T21:36:52.210Z,1761514612.210 [DAT](INFO): DAT read: Bearing 345.1,  14.2 (Local)

2025-10-26T21:36:52.211Z,1761514612.211 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.1,  14.2 (Local)

2025-10-26T21:36:52.213Z,1761514612.213 [DAT](INFO): DAT read: Range 11 to 50 :    27.8 m (trip time 18.5 ms) speed -0.2

2025-10-26T21:36:52.218Z,1761514612.218 [DAT](INFO): DAT read: 21:36:51.0553 LVL= 31344, 23377, 32754, 32755, AGC= 71, IDX=   3,-0.17,-1.544, 0.037,-1.940,-0.991, PHS=-0.451, 1.073,-0.993, RAW= 344.7,   4.0, CAL= 344.3,   1.7, ROT= 165.7,  -1.7

2025-10-26T21:36:52.219Z,1761514612.219 [DAT](INFO): got valid direction response:
 21:36:51.0553 LVL= 31344, 23377, 32754, 32755, AGC= 71, IDX=   3,-0.17,-1.544, 0.037,-1.940,-0.991, PHS=-0.451, 1.073,-0.993, RAW= 344.7,   4.0, CAL= 344.3,   1.7, ROT= 165.7,  -1.7

2025-10-26T21:36:52.219Z,1761514612.219 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-10-26T21:36:52.226Z,1761514612.226 [DAT](INFO): direction in FSK: [-0.968589,0.246890,0.029666]
2025-10-26T21:36:52.227Z,1761514612.227 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:52.299Z,1761514612.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959272,-0.281923,-0.017813],[0.282479,0.957778,0.053546],[0.001965,-0.056397,0.998406]]
2025-10-26T21:36:52.421Z,1761514612.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.799999 m,
      deltaT: 0.504030 s,
      deltaX: 0.299999 m,
      approachRate: 0.595201 m/s,
      rangeRepo size: 4

2025-10-26T21:36:52.428Z,1761514612.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.626564 m,
      bearing: 182.037553 deg,
      lat: 36.779415 deg,
      lon: -121.859485 deg,
      deltaT: 0.504030 s,
      deltaX: 0.298164 m,
      approachRate: 0.591561 m/s,
      posRepo size: 4

2025-10-26T21:36:52.428Z,1761514612.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.63 m.
2025-10-26T21:36:52.694Z,1761514612.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959111,-0.282458,-0.018005],[0.283023,0.957627,0.053369],[0.002167,-0.056282,0.998413]]
2025-10-26T21:36:52.710Z,1761514612.710 [DAT](INFO): DAT read: Rx Time:21:36:51.5552 

2025-10-26T21:36:52.711Z,1761514612.711 [DAT](INFO): Rx dataTimestamp_ set to:1761514612.710066
2025-10-26T21:36:52.713Z,1761514612.713 [DAT](INFO): DAT read: Bearing 344.8,  13.9 (Local)

2025-10-26T21:36:52.713Z,1761514612.713 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.8,  13.9 (Local)

2025-10-26T21:36:52.716Z,1761514612.716 [DAT](INFO): DAT read: Range 11 to 50 :    27.6 m (trip time 18.4 ms) speed 0.0

2025-10-26T21:36:52.722Z,1761514612.722 [DAT](INFO): DAT read: 21:36:51.5552 LVL= 30192, 21361, 32754, 32755, AGC= 68, IDX= 498, 0.25,-1.658,-0.065,-2.044,-1.092, PHS=-0.464, 1.072,-0.996, RAW= 344.3,   4.2, CAL= 344.0,   2.1, ROT= 166.0,  -2.1

2025-10-26T21:36:52.736Z,1761514612.736 [DAT](INFO): got valid direction response:
 21:36:51.5552 LVL= 30192, 21361, 32754, 32755, AGC= 68, IDX= 498, 0.25,-1.658,-0.065,-2.044,-1.092, PHS=-0.464, 1.072,-0.996, RAW= 344.3,   4.2, CAL= 344.0,   2.1, ROT= 166.0,  -2.1

2025-10-26T21:36:52.736Z,1761514612.736 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-10-26T21:36:52.737Z,1761514612.737 [DAT](INFO): direction in FSK: [-0.969644,0.241759,0.036644]
2025-10-26T21:36:52.738Z,1761514612.738 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:52.780Z,1761514612.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.600000 m,
      deltaT: 0.503685 s,
      deltaX: -0.199999 m,
      approachRate: -0.397071 m/s,
      rangeRepo size: 4

2025-10-26T21:36:52.782Z,1761514612.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.427813 m,
      bearing: 182.348012 deg,
      lat: 36.779415 deg,
      lon: -121.859485 deg,
      deltaT: 0.503685 s,
      deltaX: -0.198751 m,
      approachRate: -0.394595 m/s,
      posRepo size: 4

2025-10-26T21:36:52.783Z,1761514612.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.43 m.
2025-10-26T21:36:53.199Z,1761514613.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959093,-0.282493,-0.018398],[0.283080,0.957618,0.053227],[0.002582,-0.056258,0.998413]]
2025-10-26T21:36:53.213Z,1761514613.213 [DAT](INFO): DAT read: Rx Time:21:36:52.0553 

2025-10-26T21:36:53.214Z,1761514613.214 [DAT](INFO): Rx dataTimestamp_ set to:1761514613.213256
2025-10-26T21:36:53.215Z,1761514613.215 [DAT](INFO): DAT read: Bearing 345.5,  13.6 (Local)

2025-10-26T21:36:53.215Z,1761514613.215 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.5,  13.6 (Local)

2025-10-26T21:36:53.217Z,1761514613.217 [DAT](INFO): DAT read: Range 11 to 50 :    27.8 m (trip time 18.5 ms) speed -0.2

2025-10-26T21:36:53.222Z,1761514613.222 [DAT](INFO): DAT read: 21:36:52.0553 LVL= 32752, 20529, 32754, 32755, AGC= 68, IDX= 499,-0.11, 2.231,-2.448, 1.852, 2.792, PHS=-0.459, 1.088,-0.985, RAW= 344.1,   3.9, CAL= 343.7,   1.5, ROT= 166.3,  -1.5

2025-10-26T21:36:53.223Z,1761514613.223 [DAT](INFO): got valid direction response:
 21:36:52.0553 LVL= 32752, 20529, 32754, 32755, AGC= 68, IDX= 499,-0.11, 2.231,-2.448, 1.852, 2.792, PHS=-0.459, 1.088,-0.985, RAW= 344.1,   3.9, CAL= 343.7,   1.5, ROT= 166.3,  -1.5

2025-10-26T21:36:53.223Z,1761514613.223 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-10-26T21:36:53.224Z,1761514613.224 [DAT](INFO): direction in FSK: [-0.971216,0.236757,0.026177]
2025-10-26T21:36:53.225Z,1761514613.225 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:53.363Z,1761514613.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.799999 m,
      deltaT: 0.503190 s,
      deltaX: 0.199999 m,
      approachRate: 0.397462 m/s,
      rangeRepo size: 4

2025-10-26T21:36:53.367Z,1761514613.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.626507 m,
      bearing: 182.683475 deg,
      lat: 36.779414 deg,
      lon: -121.859486 deg,
      deltaT: 0.503190 s,
      deltaX: 0.198694 m,
      approachRate: 0.394869 m/s,
      posRepo size: 4

2025-10-26T21:36:53.372Z,1761514613.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.63 m.
2025-10-26T21:36:53.682Z,1761514613.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959238,-0.281987,-0.018593],[0.282586,0.957757,0.053355],[0.002762,-0.056434,0.998403]]
2025-10-26T21:36:53.705Z,1761514613.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.63 m.
2025-10-26T21:36:53.718Z,1761514613.718 [DAT](INFO): DAT read: Rx Time:21:36:52.5552 

2025-10-26T21:36:53.718Z,1761514613.718 [DAT](INFO): Rx dataTimestamp_ set to:1761514613.718174
2025-10-26T21:36:53.720Z,1761514613.720 [DAT](INFO): DAT read: Bearing 344.7,  13.8 (Local)

2025-10-26T21:36:53.721Z,1761514613.721 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.7,  13.8 (Local)

2025-10-26T21:36:53.724Z,1761514613.724 [DAT](INFO): DAT read: Range 11 to 50 :    27.6 m (trip time 18.4 ms) speed -0.1

2025-10-26T21:36:53.730Z,1761514613.730 [DAT](INFO): DAT read: 21:36:52.5552 LVL= 32736, 21745, 32754, 32755, AGC= 69, IDX= 498, 0.26, 3.006,-1.686, 2.624,-2.708, PHS=-0.468, 1.067,-0.995, RAW= 344.3,   4.3, CAL= 343.9,   2.2, ROT= 166.1,  -2.2

2025-10-26T21:36:53.764Z,1761514613.764 [DAT](INFO): got valid direction response:
 21:36:52.5552 LVL= 32736, 21745, 32754, 32755, AGC= 69, IDX= 498, 0.26, 3.006,-1.686, 2.624,-2.708, PHS=-0.468, 1.067,-0.995, RAW= 344.3,   4.3, CAL= 343.9,   2.2, ROT= 166.1,  -2.2

2025-10-26T21:36:53.765Z,1761514613.765 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-10-26T21:36:53.766Z,1761514613.766 [DAT](INFO): direction in FSK: [-0.970001,0.240051,0.038388]
2025-10-26T21:36:53.766Z,1761514613.766 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:54.057Z,1761514614.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959384,-0.281476,-0.018811],[0.282088,0.957905,0.053335],[0.003007,-0.056475,0.998399]]
2025-10-26T21:36:54.111Z,1761514614.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.600000 m,
      deltaT: 0.504918 s,
      deltaX: -0.199999 m,
      approachRate: -0.396102 m/s,
      rangeRepo size: 4

2025-10-26T21:36:54.113Z,1761514614.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.427757 m,
      bearing: 182.386626 deg,
      lat: 36.779415 deg,
      lon: -121.859487 deg,
      deltaT: 0.504918 s,
      deltaX: -0.198750 m,
      approachRate: -0.393627 m/s,
      posRepo size: 4

2025-10-26T21:36:54.114Z,1761514614.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.43 m.
2025-10-26T21:36:54.222Z,1761514614.222 [DAT](INFO): DAT read: Rx Time:21:36:53.0553 

2025-10-26T21:36:54.223Z,1761514614.223 [DAT](INFO): Rx dataTimestamp_ set to:1761514614.222261
2025-10-26T21:36:54.225Z,1761514614.225 [DAT](INFO): DAT read: Bearing 344.6,  13.4 (Local)

2025-10-26T21:36:54.225Z,1761514614.225 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.6,  13.4 (Local)

2025-10-26T21:36:54.229Z,1761514614.229 [DAT](INFO): DAT read: Range 11 to 50 :    27.8 m (trip time 18.5 ms) speed 0.0

2025-10-26T21:36:54.236Z,1761514614.236 [DAT](INFO): DAT read: 21:36:53.0553 LVL= 31472, 25233, 32754, 32755, AGC= 69, IDX= 500,-0.09, 2.532,-2.152, 2.165, 3.112, PHS=-0.478, 1.064,-0.991, RAW= 343.9,   4.4, CAL= 343.5,   2.4, ROT= 166.5,  -2.4

2025-10-26T21:36:54.238Z,1761514614.238 [DAT](INFO): got valid direction response:
 21:36:53.0553 LVL= 31472, 25233, 32754, 32755, AGC= 69, IDX= 500,-0.09, 2.532,-2.152, 2.165, 3.112, PHS=-0.478, 1.064,-0.991, RAW= 343.9,   4.4, CAL= 343.5,   2.4, ROT= 166.5,  -2.4

2025-10-26T21:36:54.238Z,1761514614.238 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-10-26T21:36:54.239Z,1761514614.239 [DAT](INFO): direction in FSK: [-0.971517,0.233241,0.041876]
2025-10-26T21:36:54.240Z,1761514614.240 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:54.458Z,1761514614.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959583,-0.280785,-0.018975],[0.281407,0.958106,0.053328],[0.003207,-0.056512,0.998397]]
2025-10-26T21:36:54.490Z,1761514614.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.799999 m,
      deltaT: 0.504087 s,
      deltaX: 0.199999 m,
      approachRate: 0.396755 m/s,
      rangeRepo size: 4

2025-10-26T21:36:54.508Z,1761514614.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.626484 m,
      bearing: 182.734352 deg,
      lat: 36.779416 deg,
      lon: -121.859488 deg,
      deltaT: 0.504087 s,
      deltaX: 0.198727 m,
      approachRate: 0.394231 m/s,
      posRepo size: 4

2025-10-26T21:36:54.509Z,1761514614.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.63 m.
2025-10-26T21:36:54.727Z,1761514614.727 [DAT](INFO): DAT read: Rx Time:21:36:53.5553 

2025-10-26T21:36:54.728Z,1761514614.728 [DAT](INFO): Rx dataTimestamp_ set to:1761514614.727254
2025-10-26T21:36:54.729Z,1761514614.729 [DAT](INFO): DAT read: Bearing 344.6,  13.0 (Local)

2025-10-26T21:36:54.730Z,1761514614.730 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.6,  13.0 (Local)

2025-10-26T21:36:54.733Z,1761514614.733 [DAT](INFO): DAT read: Range 11 to 50 :    27.8 m (trip time 18.5 ms) speed -0.2

2025-10-26T21:36:54.737Z,1761514614.737 [DAT](INFO): DAT read: 21:36:53.5553 LVL= 32528, 22481, 32754, 32755, AGC= 71, IDX= 500,-0.32,-0.139, 1.486,-0.494, 0.454, PHS=-0.491, 1.076,-0.993, RAW= 343.4,   4.4, CAL= 343.1,   2.4, ROT= 166.9,  -2.4

2025-10-26T21:36:54.738Z,1761514614.738 [DAT](INFO): got valid direction response:
 21:36:53.5553 LVL= 32528, 22481, 32754, 32755, AGC= 71, IDX= 500,-0.32,-0.139, 1.486,-0.494, 0.454, PHS=-0.491, 1.076,-0.993, RAW= 343.4,   4.4, CAL= 343.1,   2.4, ROT= 166.9,  -2.4

2025-10-26T21:36:54.739Z,1761514614.739 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-26T21:36:54.746Z,1761514614.746 [DAT](INFO): direction in FSK: [-0.973122,0.226453,0.041876]
2025-10-26T21:36:54.746Z,1761514614.746 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:54.928Z,1761514614.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.799999 m,
      deltaT: 0.504993 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:54.930Z,1761514614.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.626484 m,
      bearing: 183.133534 deg,
      lat: 36.779416 deg,
      lon: -121.859489 deg,
      deltaT: 0.504993 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:36:54.931Z,1761514614.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.63 m.
2025-10-26T21:36:55.233Z,1761514615.233 [DAT](INFO): DAT read: Rx Time:21:36:54.0555 

2025-10-26T21:36:55.233Z,1761514615.233 [DAT](INFO): Rx dataTimestamp_ set to:1761514615.233185
2025-10-26T21:36:55.235Z,1761514615.235 [DAT](INFO): DAT read: Bearing 346.6,  12.4 (Local)

2025-10-26T21:36:55.235Z,1761514615.235 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.6,  12.4 (Local)

2025-10-26T21:36:55.237Z,1761514615.237 [DAT](INFO): DAT read: Range 11 to 50 :    28.1 m (trip time 18.7 ms) speed -0.2

2025-10-26T21:36:55.242Z,1761514615.242 [DAT](INFO): DAT read: 21:36:54.0555 LVL= 32752, 24625, 32754, 32755, AGC= 73, IDX= 502,-0.35,-2.429,-0.791,-2.764,-1.860, PHS=-0.467, 1.115,-0.947, RAW= 342.9,   3.2, CAL= 342.4,   0.5, ROT= 167.6,  -0.5

2025-10-26T21:36:55.243Z,1761514615.243 [DAT](INFO): got valid direction response:
 21:36:54.0555 LVL= 32752, 24625, 32754, 32755, AGC= 73, IDX= 502,-0.35,-2.429,-0.791,-2.764,-1.860, PHS=-0.467, 1.115,-0.947, RAW= 342.9,   3.2, CAL= 342.4,   0.5, ROT= 167.6,  -0.5

2025-10-26T21:36:55.243Z,1761514615.243 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-10-26T21:36:55.244Z,1761514615.244 [DAT](INFO): direction in FSK: [-0.976635,0.214727,0.008727]
2025-10-26T21:36:55.245Z,1761514615.245 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:55.429Z,1761514615.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.100000 m,
      deltaT: 0.505931 s,
      deltaX: 0.300001 m,
      approachRate: 0.592969 m/s,
      rangeRepo size: 4

2025-10-26T21:36:55.431Z,1761514615.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.924576 m,
      bearing: 183.935716 deg,
      lat: 36.779416 deg,
      lon: -121.859490 deg,
      deltaT: 0.505931 s,
      deltaX: 0.298092 m,
      approachRate: 0.589195 m/s,
      posRepo size: 4

2025-10-26T21:36:55.435Z,1761514615.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m.
2025-10-26T21:36:55.737Z,1761514615.737 [DAT](INFO): DAT read: Rx Time:21:36:54.5554 

2025-10-26T21:36:55.737Z,1761514615.737 [DAT](INFO): Rx dataTimestamp_ set to:1761514615.737063
2025-10-26T21:36:55.739Z,1761514615.739 [DAT](INFO): DAT read: Bearing 346.0,  13.5 (Local)

2025-10-26T21:36:55.739Z,1761514615.739 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.0,  13.5 (Local)

2025-10-26T21:36:55.742Z,1761514615.742 [DAT](INFO): DAT read: Range 11 to 50 :    27.9 m (trip time 18.6 ms) speed -0.1

2025-10-26T21:36:55.746Z,1761514615.746 [DAT](INFO): DAT read: 21:36:54.5554 LVL= 32752, 25905, 32754, 32755, AGC= 74, IDX= 501, 0.09, 0.068, 1.672,-0.306, 0.623, PHS=-0.453, 1.094,-0.973, RAW= 344.0,   3.6, CAL= 343.6,   1.1, ROT= 166.4,  -1.1

2025-10-26T21:36:55.751Z,1761514615.751 [DAT](INFO): got valid direction response:
 21:36:54.5554 LVL= 32752, 25905, 32754, 32755, AGC= 74, IDX= 501, 0.09, 0.068, 1.672,-0.306, 0.623, PHS=-0.453, 1.094,-0.973, RAW= 344.0,   3.6, CAL= 343.6,   1.1, ROT= 166.4,  -1.1

2025-10-26T21:36:55.752Z,1761514615.752 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-10-26T21:36:55.753Z,1761514615.753 [DAT](INFO): direction in FSK: [-0.971782,0.235099,0.019197]
2025-10-26T21:36:55.753Z,1761514615.753 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:55.875Z,1761514615.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960700,-0.276986,-0.018271],[0.277573,0.959255,0.052749],[0.002916,-0.055748,0.998441]]
2025-10-26T21:36:55.934Z,1761514615.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.900000 m,
      deltaT: 0.503878 s,
      deltaX: -0.200001 m,
      approachRate: -0.396923 m/s,
      rangeRepo size: 4

2025-10-26T21:36:55.941Z,1761514615.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.725824 m,
      bearing: 182.476394 deg,
      lat: 36.779416 deg,
      lon: -121.859491 deg,
      deltaT: 0.503878 s,
      deltaX: -0.198751 m,
      approachRate: -0.394444 m/s,
      posRepo size: 4

2025-10-26T21:36:55.941Z,1761514615.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.73 m.
2025-10-26T21:36:56.241Z,1761514616.241 [DAT](INFO): DAT read: Rx Time:21:36:55.0554 

2025-10-26T21:36:56.242Z,1761514616.242 [DAT](INFO): Rx dataTimestamp_ set to:1761514616.241294
2025-10-26T21:36:56.243Z,1761514616.243 [DAT](INFO): DAT read: Bearing 344.3,  14.4 (Local)

2025-10-26T21:36:56.243Z,1761514616.243 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.3,  14.4 (Local)

2025-10-26T21:36:56.245Z,1761514616.245 [DAT](INFO): DAT read: Range 11 to 50 :    27.9 m (trip time 18.6 ms) speed 0.0

2025-10-26T21:36:56.250Z,1761514616.250 [DAT](INFO): DAT read: 21:36:55.0554 LVL= 32752, 27857, 32754, 32755, AGC= 72, IDX= 501, 0.49,-2.689,-1.125,-3.089,-2.126, PHS=-0.461, 1.046,-1.007, RAW= 344.9,   4.6, CAL= 344.5,   2.7, ROT= 165.5,  -2.7

2025-10-26T21:36:56.252Z,1761514616.252 [DAT](INFO): got valid direction response:
 21:36:55.0554 LVL= 32752, 27857, 32754, 32755, AGC= 72, IDX= 501, 0.49,-2.689,-1.125,-3.089,-2.126, PHS=-0.461, 1.046,-1.007, RAW= 344.9,   4.6, CAL= 344.5,   2.7, ROT= 165.5,  -2.7

2025-10-26T21:36:56.252Z,1761514616.252 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-10-26T21:36:56.253Z,1761514616.253 [DAT](INFO): direction in FSK: [-0.967073,0.250102,0.047106]
2025-10-26T21:36:56.253Z,1761514616.253 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:56.257Z,1761514616.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961185,-0.275322,-0.017910],[0.275891,0.959732,0.052895],[0.002626,-0.055783,0.998439]]
2025-10-26T21:36:56.362Z,1761514616.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.900000 m,
      deltaT: 0.504231 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:56.372Z,1761514616.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.725817 m,
      bearing: 181.392168 deg,
      lat: 36.779416 deg,
      lon: -121.859491 deg,
      deltaT: 0.504231 s,
      deltaX: -0.000008 m,
      approachRate: -0.000015 m/s,
      posRepo size: 4

2025-10-26T21:36:56.373Z,1761514616.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.73 m.
2025-10-26T21:36:56.679Z,1761514616.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961609,-0.273861,-0.017557],[0.274413,0.960152,0.052972],[0.002350,-0.055756,0.998442]]
2025-10-26T21:36:56.708Z,1761514616.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.73 m.
2025-10-26T21:36:56.745Z,1761514616.745 [DAT](INFO): DAT read: Rx Time:21:36:55.5554 

2025-10-26T21:36:56.746Z,1761514616.746 [DAT](INFO): Rx dataTimestamp_ set to:1761514616.745559
2025-10-26T21:36:56.748Z,1761514616.748 [DAT](INFO): DAT read: Bearing 344.9,  14.9 (Local)

2025-10-26T21:36:56.748Z,1761514616.748 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.9,  14.9 (Local)

2025-10-26T21:36:56.751Z,1761514616.751 [DAT](INFO): DAT read: Range 11 to 50 :    27.9 m (trip time 18.6 ms) speed -0.1

2025-10-26T21:36:56.757Z,1761514616.757 [DAT](INFO): DAT read: 21:36:55.5554 LVL= 32752, 28977, 32754, 32755, AGC= 71, IDX= 501, 0.11,-2.912,-1.367, 2.959,-2.371, PHS=-0.439, 1.050,-0.997, RAW= 345.3,   4.3, CAL= 344.9,   2.1, ROT= 165.1,  -2.1

2025-10-26T21:36:56.759Z,1761514616.759 [DAT](INFO): got valid direction response:
 21:36:55.5554 LVL= 32752, 28977, 32754, 32755, AGC= 71, IDX= 501, 0.11,-2.912,-1.367, 2.959,-2.371, PHS=-0.439, 1.050,-0.997, RAW= 345.3,   4.3, CAL= 344.9,   2.1, ROT= 165.1,  -2.1

2025-10-26T21:36:56.759Z,1761514616.759 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-10-26T21:36:56.761Z,1761514616.761 [DAT](INFO): direction in FSK: [-0.965727,0.256960,0.036644]
2025-10-26T21:36:56.762Z,1761514616.762 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:57.170Z,1761514617.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.900000 m,
      deltaT: 0.504265 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:36:57.179Z,1761514617.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.725817 m,
      bearing: 180.936810 deg,
      lat: 36.779417 deg,
      lon: -121.859491 deg,
      deltaT: 0.504265 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:36:57.186Z,1761514617.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.73 m.
2025-10-26T21:36:57.250Z,1761514617.250 [DAT](INFO): DAT read: Rx Time:21:36:56.0556 

2025-10-26T21:36:57.251Z,1761514617.251 [DAT](INFO): Rx dataTimestamp_ set to:1761514617.250375
2025-10-26T21:36:57.253Z,1761514617.253 [DAT](INFO): DAT read: Bearing 345.2,  14.9 (Local)

2025-10-26T21:36:57.253Z,1761514617.253 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.2,  14.9 (Local)

2025-10-26T21:36:57.257Z,1761514617.257 [DAT](INFO): DAT read: Range 11 to 50 :    28.2 m (trip time 18.8 ms) speed 0.0

2025-10-26T21:36:57.263Z,1761514617.263 [DAT](INFO): DAT read: 21:36:56.0556 LVL= 32752, 23489, 32754, 32755, AGC= 69, IDX= 503,-0.14, 2.955,-1.752, 2.529,-2.785, PHS=-0.441, 1.078,-1.013, RAW= 345.3,   4.1, CAL= 344.9,   1.8, ROT= 165.1,  -1.8

2025-10-26T21:36:57.288Z,1761514617.288 [DAT](INFO): got valid direction response:
 21:36:56.0556 LVL= 32752, 23489, 32754, 32755, AGC= 69, IDX= 503,-0.14, 2.955,-1.752, 2.529,-2.785, PHS=-0.441, 1.078,-1.013, RAW= 345.3,   4.1, CAL= 344.9,   1.8, ROT= 165.1,  -1.8

2025-10-26T21:36:57.288Z,1761514617.288 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-10-26T21:36:57.289Z,1761514617.289 [DAT](INFO): direction in FSK: [-0.965899,0.257006,0.031411]
2025-10-26T21:36:57.289Z,1761514617.289 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:57.450Z,1761514617.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962493,-0.270807,-0.016436],[0.271302,0.961013,0.053375],[0.001341,-0.055832,0.998439]]
2025-10-26T21:36:57.473Z,1761514617.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.200001 m,
      deltaT: 0.504816 s,
      deltaX: 0.300001 m,
      approachRate: 0.594278 m/s,
      rangeRepo size: 4

2025-10-26T21:36:57.476Z,1761514617.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.023951 m,
      bearing: 180.767164 deg,
      lat: 36.779417 deg,
      lon: -121.859485 deg,
      deltaT: 0.504816 s,
      deltaX: 0.298134 m,
      approachRate: 0.590579 m/s,
      posRepo size: 4

2025-10-26T21:36:57.476Z,1761514617.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.02 m.
2025-10-26T21:36:57.753Z,1761514617.753 [DAT](INFO): DAT read: Rx Time:21:36:56.5555 

2025-10-26T21:36:57.753Z,1761514617.753 [DAT](INFO): Rx dataTimestamp_ set to:1761514617.753164
2025-10-26T21:36:57.755Z,1761514617.755 [DAT](INFO): DAT read: Bearing 345.5,  14.9 (Local)

2025-10-26T21:36:57.755Z,1761514617.755 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.5,  14.9 (Local)

2025-10-26T21:36:57.757Z,1761514617.757 [DAT](INFO): DAT read: Range 11 to 50 :    28.1 m (trip time 18.7 ms) speed -0.2

2025-10-26T21:36:57.771Z,1761514617.771 [DAT](INFO): DAT read: 21:36:56.5555 LVL= 31344, 24417, 32754, 32755, AGC= 69, IDX= 502, 0.38, 2.910,-1.815, 2.495,-2.839, PHS=-0.432, 1.069,-0.993, RAW= 345.3,   3.9, CAL= 344.9,   1.5, ROT= 165.1,  -1.5

2025-10-26T21:36:57.772Z,1761514617.772 [DAT](INFO): got valid direction response:
 21:36:56.5555 LVL= 31344, 24417, 32754, 32755, AGC= 69, IDX= 502, 0.38, 2.910,-1.815, 2.495,-2.839, PHS=-0.432, 1.069,-0.993, RAW= 345.3,   3.9, CAL= 344.9,   1.5, ROT= 165.1,  -1.5

2025-10-26T21:36:57.772Z,1761514617.772 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-10-26T21:36:57.773Z,1761514617.773 [DAT](INFO): direction in FSK: [-0.966045,0.257045,0.026177]
2025-10-26T21:36:57.773Z,1761514617.773 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:57.871Z,1761514617.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962917,-0.269335,-0.015760],[0.269795,0.961427,0.053555],[0.000728,-0.055821,0.998441]]
2025-10-26T21:36:57.918Z,1761514617.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.100000 m,
      deltaT: 0.502789 s,
      deltaX: -0.100000 m,
      approachRate: -0.198891 m/s,
      rangeRepo size: 4

2025-10-26T21:36:57.924Z,1761514617.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.924574 m,
      bearing: 180.693490 deg,
      lat: 36.779417 deg,
      lon: -121.859484 deg,
      deltaT: 0.502789 s,
      deltaX: -0.099377 m,
      approachRate: -0.197651 m/s,
      posRepo size: 4

2025-10-26T21:36:57.925Z,1761514617.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m.
2025-10-26T21:36:58.257Z,1761514618.257 [DAT](INFO): DAT read: Rx Time:21:36:57.0557 

2025-10-26T21:36:58.257Z,1761514618.257 [DAT](INFO): Rx dataTimestamp_ set to:1761514618.257203
2025-10-26T21:36:58.259Z,1761514618.259 [DAT](INFO): DAT read: Bearing 346.3,  15.3 (Local)

2025-10-26T21:36:58.259Z,1761514618.259 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.3,  15.3 (Local)

2025-10-26T21:36:58.261Z,1761514618.261 [DAT](INFO): DAT read: Range 11 to 50 :    28.4 m (trip time 18.9 ms) speed 0.0

2025-10-26T21:36:58.266Z,1761514618.266 [DAT](INFO): DAT read: 21:36:57.0557 LVL= 32752, 31137, 32754, 32755, AGC= 69, IDX= 504,-0.06,-2.530,-0.972,-2.961,-2.015, PHS=-0.413, 1.088,-0.990, RAW= 345.6,   3.4, CAL= 345.2,   0.8, ROT= 164.8,  -0.8

2025-10-26T21:36:58.267Z,1761514618.267 [DAT](INFO): got valid direction response:
 21:36:57.0557 LVL= 32752, 31137, 32754, 32755, AGC= 69, IDX= 504,-0.06,-2.530,-0.972,-2.961,-2.015, PHS=-0.413, 1.088,-0.990, RAW= 345.6,   3.4, CAL= 345.2,   0.8, ROT= 164.8,  -0.8

2025-10-26T21:36:58.268Z,1761514618.268 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-10-26T21:36:58.269Z,1761514618.269 [DAT](INFO): direction in FSK: [-0.964922,0.262164,0.013962]
2025-10-26T21:36:58.269Z,1761514618.269 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:58.278Z,1761514618.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963208,-0.268335,-0.015024],[0.268755,0.961720,0.053528],[0.000085,-0.055597,0.998453]]
2025-10-26T21:36:58.395Z,1761514618.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.400000 m,
      deltaT: 0.504039 s,
      deltaX: 0.299999 m,
      approachRate: 0.595191 m/s,
      rangeRepo size: 4

2025-10-26T21:36:58.401Z,1761514618.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.222706 m,
      bearing: 180.369730 deg,
      lat: 36.779417 deg,
      lon: -121.859484 deg,
      deltaT: 0.504039 s,
      deltaX: 0.298132 m,
      approachRate: 0.591486 m/s,
      posRepo size: 4

2025-10-26T21:36:58.401Z,1761514618.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.22 m.
2025-10-26T21:36:58.688Z,1761514618.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963492,-0.267359,-0.014255],[0.267738,0.962005,0.053499],[-0.000590,-0.055362,0.998466]]
2025-10-26T21:36:58.733Z,1761514618.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.22 m.
2025-10-26T21:36:58.762Z,1761514618.762 [DAT](INFO): DAT read: Rx Time:21:36:57.5556 

2025-10-26T21:36:58.763Z,1761514618.763 [DAT](INFO): Rx dataTimestamp_ set to:1761514618.762662
2025-10-26T21:36:58.764Z,1761514618.764 [DAT](INFO): DAT read: Bearing 344.1,  15.4 (Local)

2025-10-26T21:36:58.765Z,1761514618.765 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.1,  15.4 (Local)

2025-10-26T21:36:58.767Z,1761514618.767 [DAT](INFO): DAT read: Range 11 to 50 :    28.2 m (trip time 18.8 ms) speed 0.0

2025-10-26T21:36:58.773Z,1761514618.773 [DAT](INFO): DAT read: 21:36:57.5556 LVL= 32752, 28209, 32754, 32755, AGC= 71, IDX= 503, 0.26,-1.866,-0.321,-2.296,-1.313, PHS=-0.451, 1.037,-1.026, RAW= 345.7,   4.8, CAL= 345.3,   3.0, ROT= 164.7,  -3.0

2025-10-26T21:36:58.776Z,1761514618.776 [DAT](INFO): got valid direction response:
 21:36:57.5556 LVL= 32752, 28209, 32754, 32755, AGC= 71, IDX= 503, 0.26,-1.866,-0.321,-2.296,-1.313, PHS=-0.451, 1.037,-1.026, RAW= 345.7,   4.8, CAL= 345.3,   3.0, ROT= 164.7,  -3.0

2025-10-26T21:36:58.776Z,1761514618.776 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-10-26T21:36:58.778Z,1761514618.778 [DAT](INFO): direction in FSK: [-0.963236,0.263511,0.052336]
2025-10-26T21:36:58.778Z,1761514618.778 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:59.101Z,1761514619.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963703,-0.266635,-0.013502],[0.266974,0.962220,0.053453],[-0.001260,-0.055118,0.998479]]
2025-10-26T21:36:59.215Z,1761514619.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.200001 m,
      deltaT: 0.505459 s,
      deltaX: -0.199999 m,
      approachRate: -0.395678 m/s,
      rangeRepo size: 4

2025-10-26T21:36:59.217Z,1761514619.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.023994 m,
      bearing: 180.046182 deg,
      lat: 36.779417 deg,
      lon: -121.859484 deg,
      deltaT: 0.505459 s,
      deltaX: -0.198711 m,
      approachRate: -0.393131 m/s,
      posRepo size: 4

2025-10-26T21:36:59.218Z,1761514619.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.02 m.
2025-10-26T21:36:59.266Z,1761514619.266 [DAT](INFO): DAT read: Rx Time:21:36:58.0559 

2025-10-26T21:36:59.267Z,1761514619.267 [DAT](INFO): Rx dataTimestamp_ set to:1761514619.266429
2025-10-26T21:36:59.269Z,1761514619.269 [DAT](INFO): DAT read: Bearing 344.4,  15.5 (Local)

2025-10-26T21:36:59.269Z,1761514619.269 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.4,  15.5 (Local)

2025-10-26T21:36:59.273Z,1761514619.273 [DAT](INFO): DAT read: Range 11 to 50 :    28.7 m (trip time 19.1 ms) speed -0.1

2025-10-26T21:36:59.279Z,1761514619.279 [DAT](INFO): DAT read: 21:36:58.0559 LVL= 32752, 31297, 32754, 32755, AGC= 70, IDX= 506,-0.18,-1.435, 0.109,-1.868,-0.890, PHS=-0.443, 1.044,-1.022, RAW= 345.8,   4.6, CAL= 345.4,   2.6, ROT= 164.6,  -2.6

2025-10-26T21:36:59.282Z,1761514619.282 [DAT](INFO): got valid direction response:
 21:36:58.0559 LVL= 32752, 31297, 32754, 32755, AGC= 70, IDX= 506,-0.18,-1.435, 0.109,-1.868,-0.890, PHS=-0.443, 1.044,-1.022, RAW= 345.8,   4.6, CAL= 345.4,   2.6, ROT= 164.6,  -2.6

2025-10-26T21:36:59.282Z,1761514619.282 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-10-26T21:36:59.304Z,1761514619.304 [DAT](INFO): direction in FSK: [-0.963103,0.265283,0.045363]
2025-10-26T21:36:59.304Z,1761514619.304 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:59.490Z,1761514619.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963850,-0.266136,-0.012843],[0.266440,0.962367,0.053476],[-0.001872,-0.054964,0.998487]]
2025-10-26T21:36:59.519Z,1761514619.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.700001 m,
      deltaT: 0.503767 s,
      deltaX: 0.500000 m,
      approachRate: 0.992522 m/s,
      rangeRepo size: 4

2025-10-26T21:36:59.537Z,1761514619.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.520874 m,
      bearing: 179.936002 deg,
      lat: 36.779415 deg,
      lon: -121.859482 deg,
      deltaT: 0.503767 s,
      deltaX: 0.496880 m,
      approachRate: 0.986328 m/s,
      posRepo size: 4

2025-10-26T21:36:59.538Z,1761514619.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.52 m.
2025-10-26T21:36:59.769Z,1761514619.769 [DAT](INFO): DAT read: Rx Time:21:36:58.5558 

2025-10-26T21:36:59.769Z,1761514619.769 [DAT](INFO): Rx dataTimestamp_ set to:1761514619.769128
2025-10-26T21:36:59.771Z,1761514619.771 [DAT](INFO): DAT read: Bearing 344.9,  15.5 (Local)

2025-10-26T21:36:59.771Z,1761514619.771 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.9,  15.5 (Local)

2025-10-26T21:36:59.773Z,1761514619.773 [DAT](INFO): DAT read: Range 11 to 50 :    28.5 m (trip time 19.0 ms) speed 0.0

2025-10-26T21:36:59.778Z,1761514619.778 [DAT](INFO): DAT read: 21:36:58.5558 LVL= 32752, 26833, 32754, 32755, AGC= 72, IDX= 505, 0.12,-0.019, 1.540,-0.456, 0.523, PHS=-0.440, 1.062,-1.022, RAW= 345.7,   4.3, CAL= 345.4,   2.2, ROT= 164.6,  -2.2

2025-10-26T21:36:59.779Z,1761514619.779 [DAT](INFO): got valid direction response:
 21:36:58.5558 LVL= 32752, 26833, 32754, 32755, AGC= 72, IDX= 505, 0.12,-0.019, 1.540,-0.456, 0.523, PHS=-0.440, 1.062,-1.022, RAW= 345.7,   4.3, CAL= 345.4,   2.2, ROT= 164.6,  -2.2

2025-10-26T21:36:59.779Z,1761514619.779 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-10-26T21:36:59.780Z,1761514619.780 [DAT](INFO): direction in FSK: [-0.963385,0.265360,0.038388]
2025-10-26T21:36:59.780Z,1761514619.780 [DAT](INFO): publishing direction and range info
2025-10-26T21:36:59.895Z,1761514619.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963908,-0.265959,-0.012100],[0.266221,0.962426,0.053493],[-0.002582,-0.054784,0.998495]]
2025-10-26T21:36:59.950Z,1761514619.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.500000 m,
      deltaT: 0.502699 s,
      deltaX: -0.200001 m,
      approachRate: -0.397854 m/s,
      rangeRepo size: 4

2025-10-26T21:36:59.957Z,1761514619.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.322121 m,
      bearing: 179.944415 deg,
      lat: 36.779415 deg,
      lon: -121.859481 deg,
      deltaT: 0.502699 s,
      deltaX: -0.198753 m,
      approachRate: -0.395372 m/s,
      posRepo size: 4

2025-10-26T21:36:59.957Z,1761514619.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.32 m.
2025-10-26T21:37:00.273Z,1761514620.273 [DAT](INFO): DAT read: Rx Time:21:36:59.0559 

2025-10-26T21:37:00.273Z,1761514620.273 [DAT](INFO): Rx dataTimestamp_ set to:1761514620.273038
2025-10-26T21:37:00.275Z,1761514620.275 [DAT](INFO): DAT read: Bearing 344.4,  14.6 (Local)

2025-10-26T21:37:00.275Z,1761514620.275 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.4,  14.6 (Local)

2025-10-26T21:37:00.277Z,1761514620.277 [DAT](INFO): DAT read: Range 11 to 50 :    28.7 m (trip time 19.1 ms) speed 0.0

2025-10-26T21:37:00.282Z,1761514620.282 [DAT](INFO): DAT read: 21:36:59.0559 LVL= 32752, 27041, 32754, 32755, AGC= 73, IDX= 506,-0.28,-3.131,-1.542, 2.746,-2.560, PHS=-0.469, 1.063,-1.021, RAW= 344.8,   4.6, CAL= 344.5,   2.6, ROT= 165.5,  -2.6

2025-10-26T21:37:00.283Z,1761514620.283 [DAT](INFO): got valid direction response:
 21:36:59.0559 LVL= 32752, 27041, 32754, 32755, AGC= 73, IDX= 506,-0.28,-3.131,-1.542, 2.746,-2.560, PHS=-0.469, 1.063,-1.021, RAW= 344.8,   4.6, CAL= 344.5,   2.6, ROT= 165.5,  -2.6

2025-10-26T21:37:00.283Z,1761514620.283 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-10-26T21:37:00.289Z,1761514620.289 [DAT](INFO): direction in FSK: [-0.967151,0.250122,0.045363]
2025-10-26T21:37:00.289Z,1761514620.289 [DAT](INFO): publishing direction and range info
2025-10-26T21:37:00.361Z,1761514620.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963912,-0.265982,-0.011265],[0.266198,0.962425,0.053640],[-0.003426,-0.054702,0.998497]]
2025-10-26T21:37:00.456Z,1761514620.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.700001 m,
      deltaT: 0.503910 s,
      deltaX: 0.200001 m,
      approachRate: 0.396898 m/s,
      rangeRepo size: 4

2025-10-26T21:37:00.458Z,1761514620.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.520891 m,
      bearing: 180.819694 deg,
      lat: 36.779414 deg,
      lon: -121.859481 deg,
      deltaT: 0.503910 s,
      deltaX: 0.198771 m,
      approachRate: 0.394456 m/s,
      posRepo size: 4

2025-10-26T21:37:00.458Z,1761514620.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.52 m.
2025-10-26T21:37:00.701Z,1761514620.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963816,-0.266358,-0.010569],[0.266535,0.962326,0.053742],[-0.004144,-0.054614,0.998499]]
2025-10-26T21:37:00.726Z,1761514620.726 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:37:00.744Z,1761514620.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.52 m.
2025-10-26T21:37:00.777Z,1761514620.777 [DAT](INFO): DAT read: Rx Time:21:36:59.5558 

2025-10-26T21:37:00.778Z,1761514620.778 [DAT](INFO): Rx dataTimestamp_ set to:1761514620.777262
2025-10-26T21:37:00.779Z,1761514620.779 [DAT](INFO): DAT read: Bearing 347.1,  14.9 (Local)

2025-10-26T21:37:00.779Z,1761514620.779 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.1,  14.9 (Local)

2025-10-26T21:37:00.781Z,1761514620.781 [DAT](INFO): DAT read: Range 11 to 50 :    28.5 m (trip time 19.0 ms) speed 0.0

2025-10-26T21:37:00.786Z,1761514620.786 [DAT](INFO): DAT read: 21:36:59.5558 LVL= 32752, 22305, 32754, 32755, AGC= 73, IDX= 505, 0.42,-0.458, 1.136,-0.878, 0.060, PHS=-0.416, 1.121,-0.982, RAW= 345.1,   3.0, CAL= 344.6,   0.0, ROT= 165.4,  -0.0

2025-10-26T21:37:00.787Z,1761514620.787 [DAT](INFO): got valid direction response:
 21:36:59.5558 LVL= 32752, 22305, 32754, 32755, AGC= 73, IDX= 505, 0.42,-0.458, 1.136,-0.878, 0.060, PHS=-0.416, 1.121,-0.982, RAW= 345.1,   3.0, CAL= 344.6,   0.0, ROT= 165.4,  -0.0

2025-10-26T21:37:00.787Z,1761514620.787 [DAT](INFO): #Rx 121: Read range and direction messages.
2025-10-26T21:37:00.788Z,1761514620.788 [DAT](INFO): direction in FSK: [-0.967709,0.252069,0.000000]
2025-10-26T21:37:00.789Z,1761514620.789 [DAT](INFO): publishing direction and range info
2025-10-26T21:37:00.793Z,1761514620.793 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:37:00.793Z,1761514620.793 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:37:01.033Z,1761514621.033 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:37:01.115Z,1761514621.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963672,-0.266904,-0.009945],[0.267045,0.962174,0.053919],[-0.004823,-0.054616,0.998496]]
2025-10-26T21:37:01.213Z,1761514621.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.500000 m,
      deltaT: 0.504224 s,
      deltaX: -0.200001 m,
      approachRate: -0.396651 m/s,
      rangeRepo size: 4

2025-10-26T21:37:01.215Z,1761514621.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.322138 m,
      bearing: 180.910368 deg,
      lat: 36.779415 deg,
      lon: -121.859481 deg,
      deltaT: 0.504224 s,
      deltaX: -0.198753 m,
      approachRate: -0.394177 m/s,
      posRepo size: 4

2025-10-26T21:37:01.215Z,1761514621.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.32 m.
2025-10-26T21:37:01.282Z,1761514621.282 [DAT](INFO): DAT read: Rx Time:21:37:00.0560 

2025-10-26T21:37:01.283Z,1761514621.283 [DAT](INFO): Rx dataTimestamp_ set to:1761514621.282267
2025-10-26T21:37:01.285Z,1761514621.285 [DAT](INFO): DAT read: Bearing 345.2,  14.2 (Local)

2025-10-26T21:37:01.285Z,1761514621.285 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.2,  14.2 (Local)

2025-10-26T21:37:01.288Z,1761514621.288 [DAT](INFO): DAT read: Range 11 to 50 :    28.8 m (trip time 19.2 ms) speed 0.0

2025-10-26T21:37:01.293Z,1761514621.293 [DAT](INFO): DAT read: 21:37:00.0560 LVL= 30704, 26161, 32754, 32755, AGC= 73, IDX= 507,-0.21,-0.440, 1.161,-0.828, 0.126, PHS=-0.464, 1.080,-0.999, RAW= 344.3,   4.1, CAL= 344.0,   1.9, ROT= 166.0,  -1.9

2025-10-26T21:37:01.294Z,1761514621.294 [DAT](INFO): got valid direction response:
 21:37:00.0560 LVL= 30704, 26161, 32754, 32755, AGC= 73, IDX= 507,-0.21,-0.440, 1.161,-0.828, 0.126, PHS=-0.464, 1.080,-0.999, RAW= 344.3,   4.1, CAL= 344.0,   1.9, ROT= 166.0,  -1.9

2025-10-26T21:37:01.295Z,1761514621.295 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:37:01.296Z,1761514621.296 [DAT](INFO): direction in FSK: [-0.969762,0.241789,0.033155]
2025-10-26T21:37:01.296Z,1761514621.296 [DAT](INFO): publishing direction and range info
2025-10-26T21:37:01.306Z,1761514621.306 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:37:01.306Z,1761514621.306 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:37:01.510Z,1761514621.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963450,-0.267725,-0.009289],[0.267828,0.961941,0.054190],[-0.005573,-0.054698,0.998487]]
2025-10-26T21:37:01.532Z,1761514621.532 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:37:01.565Z,1761514621.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.799999 m,
      deltaT: 0.505005 s,
      deltaX: 0.299999 m,
      approachRate: 0.594052 m/s,
      rangeRepo size: 4

2025-10-26T21:37:01.567Z,1761514621.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.620264 m,
      bearing: 181.452865 deg,
      lat: 36.779414 deg,
      lon: -121.859486 deg,
      deltaT: 0.505005 s,
      deltaX: 0.298126 m,
      approachRate: 0.590343 m/s,
      posRepo size: 4

2025-10-26T21:37:01.572Z,1761514621.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.62 m.
2025-10-26T21:37:01.785Z,1761514621.785 [DAT](INFO): DAT read: Rx Time:21:37:00.5559 

2025-10-26T21:37:01.785Z,1761514621.785 [DAT](INFO): Rx dataTimestamp_ set to:1761514621.785106
2025-10-26T21:37:01.787Z,1761514621.787 [DAT](INFO): DAT read: Bearing 345.6,  15.1 (Local)

2025-10-26T21:37:01.787Z,1761514621.787 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.6,  15.1 (Local)

2025-10-26T21:37:01.790Z,1761514621.790 [DAT](INFO): DAT read: Range 11 to 50 :    28.7 m (trip time 19.1 ms) speed -0.1

2025-10-26T21:37:01.794Z,1761514621.794 [DAT](INFO): DAT read: 21:37:00.5559 LVL= 31792, 24113, 32754, 32755, AGC= 69, IDX= 506,-0.13, 1.274, 2.841, 0.859, 1.809, PHS=-0.433, 1.077,-0.994, RAW= 345.2,   3.8, CAL= 344.8,   1.4, ROT= 165.2,  -1.4

2025-10-26T21:37:01.816Z,1761514621.816 [DAT](INFO): got valid direction response:
 21:37:00.5559 LVL= 31792, 24113, 32754, 32755, AGC= 69, IDX= 506,-0.13, 1.274, 2.841, 0.859, 1.809, PHS=-0.433, 1.077,-0.994, RAW= 345.2,   3.8, CAL= 344.8,   1.4, ROT= 165.2,  -1.4

2025-10-26T21:37:01.818Z,1761514621.818 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:37:01.829Z,1761514621.829 [DAT](INFO): direction in FSK: [-0.966535,0.255370,0.024432]
2025-10-26T21:37:01.829Z,1761514621.829 [DAT](INFO): publishing direction and range info
2025-10-26T21:37:01.868Z,1761514621.868 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:37:01.868Z,1761514621.868 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:37:01.915Z,1761514621.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963104,-0.268988,-0.008707],[0.269056,0.961588,0.054374],[-0.006253,-0.054711,0.998483]]
2025-10-26T21:37:01.959Z,1761514621.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.700001 m,
      deltaT: 0.502839 s,
      deltaX: -0.099998 m,
      approachRate: -0.198868 m/s,
      rangeRepo size: 4

2025-10-26T21:37:01.961Z,1761514621.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.520889 m,
      bearing: 180.754331 deg,
      lat: 36.779415 deg,
      lon: -121.859486 deg,
      deltaT: 0.502839 s,
      deltaX: -0.099375 m,
      approachRate: -0.197627 m/s,
      posRepo size: 4

2025-10-26T21:37:01.962Z,1761514621.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.52 m.
2025-10-26T21:37:02.037Z,1761514622.037 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:37:02.289Z,1761514622.289 [DAT](INFO): DAT read: Rx Time:21:37:01.0560 

2025-10-26T21:37:02.289Z,1761514622.289 [DAT](INFO): Rx dataTimestamp_ set to:1761514622.289154
2025-10-26T21:37:02.291Z,1761514622.291 [DAT](INFO): DAT read: Bearing 347.1,  15.7 (Local)

2025-10-26T21:37:02.291Z,1761514622.291 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.1,  15.7 (Local)

2025-10-26T21:37:02.293Z,1761514622.293 [DAT](INFO): DAT read: Range 11 to 50 :    28.8 m (trip time 19.2 ms) speed -0.1

2025-10-26T21:37:02.298Z,1761514622.298 [DAT](INFO): DAT read: 21:37:01.0560 LVL= 29984, 20209, 32754, 32755, AGC= 66, IDX= 507, 0.17,-2.825,-1.271, 3.022,-2.328, PHS=-0.395, 1.102,-0.977, RAW= 345.7,   2.9, CAL= 345.3,  -0.0, ROT= 164.7,   0.0

2025-10-26T21:37:02.299Z,1761514622.299 [DAT](INFO): got valid direction response:
 21:37:01.0560 LVL= 29984, 20209, 32754, 32755, AGC= 66, IDX= 507, 0.17,-2.825,-1.271, 3.022,-2.328, PHS=-0.395, 1.102,-0.977, RAW= 345.7,   2.9, CAL= 345.3,  -0.0, ROT= 164.7,   0.0

2025-10-26T21:37:02.299Z,1761514622.299 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:37:02.300Z,1761514622.300 [DAT](INFO): direction in FSK: [-0.964557,0.263873,-0.000000]
2025-10-26T21:37:02.300Z,1761514622.300 [DAT](INFO): publishing direction and range info
2025-10-26T21:37:02.333Z,1761514622.333 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:37:02.333Z,1761514622.333 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:37:02.352Z,1761514622.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962721,-0.270371,-0.008196],[0.270408,0.961195,0.054622],[-0.006891,-0.054802,0.998474]]
2025-10-26T21:37:02.482Z,1761514622.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.799999 m,
      deltaT: 0.504048 s,
      deltaX: 0.099998 m,
      approachRate: 0.198391 m/s,
      rangeRepo size: 4

2025-10-26T21:37:02.488Z,1761514622.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.620296 m,
      bearing: 180.411980 deg,
      lat: 36.779414 deg,
      lon: -121.859486 deg,
      deltaT: 0.504048 s,
      deltaX: 0.099407 m,
      approachRate: 0.197218 m/s,
      posRepo size: 4

2025-10-26T21:37:02.488Z,1761514622.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.62 m.
2025-10-26T21:37:02.540Z,1761514622.540 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:37:02.739Z,1761514622.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962261,-0.272023,-0.007609],[0.272023,0.960728,0.054820],[-0.007603,-0.054821,0.998467]]
2025-10-26T21:37:02.757Z,1761514622.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.62 m.
2025-10-26T21:37:02.794Z,1761514622.794 [DAT](INFO): DAT read: Rx Time:21:37:01.5559 

2025-10-26T21:37:02.795Z,1761514622.795 [DAT](INFO): Rx dataTimestamp_ set to:1761514622.794227
2025-10-26T21:37:02.797Z,1761514622.797 [DAT](INFO): DAT read: Bearing 346.0,  15.9 (Local)

2025-10-26T21:37:02.797Z,1761514622.797 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.0,  15.9 (Local)

2025-10-26T21:37:02.800Z,1761514622.800 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:37:02.801Z,1761514622.801 [DAT](INFO): DAT read: Range 11 to 50 :    28.7 m (trip time 19.1 ms) speed -0.1

2025-10-26T21:37:02.808Z,1761514622.808 [DAT](INFO): DAT read: 21:37:01.5559 LVL= 30192, 22817, 32754, 32755, AGC= 68, IDX= 506, 0.39,-2.989,-1.441, 2.857,-2.475, PHS=-0.413, 1.079,-0.996, RAW= 345.8,   3.6, CAL= 345.4,   1.0, ROT= 164.6,  -1.0

2025-10-26T21:37:02.810Z,1761514622.810 [DAT](INFO): got valid direction response:
 21:37:01.5559 LVL= 30192, 22817, 32754, 32755, AGC= 68, IDX= 506, 0.39,-2.989,-1.441, 2.857,-2.475, PHS=-0.413, 1.079,-0.996, RAW= 345.8,   3.6, CAL= 345.4,   1.0, ROT= 164.6,  -1.0

2025-10-26T21:37:02.810Z,1761514622.810 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:37:02.812Z,1761514622.812 [DAT](INFO): direction in FSK: [-0.963949,0.265516,0.017452]
2025-10-26T21:37:02.812Z,1761514622.812 [DAT](INFO): publishing direction and range info
2025-10-26T21:37:02.842Z,1761514622.842 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:37:02.843Z,1761514622.843 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:37:03.047Z,1761514623.047 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:37:03.183Z,1761514623.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961810,-0.273624,-0.007175],[0.273596,0.960268,0.055044],[-0.008171,-0.054905,0.998458]]
2025-10-26T21:37:03.241Z,1761514623.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.700001 m,
      deltaT: 0.505073 s,
      deltaX: -0.099998 m,
      approachRate: -0.197988 m/s,
      rangeRepo size: 4

2025-10-26T21:37:03.243Z,1761514623.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.520941 m,
      bearing: 180.447250 deg,
      lat: 36.779415 deg,
      lon: -121.859485 deg,
      deltaT: 0.505073 s,
      deltaX: -0.099356 m,
      approachRate: -0.196716 m/s,
      posRepo size: 4

2025-10-26T21:37:03.244Z,1761514623.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.52 m.
2025-10-26T21:37:03.298Z,1761514623.298 [DAT](INFO): DAT read: Rx Time:21:37:02.0561 

2025-10-26T21:37:03.298Z,1761514623.298 [DAT](INFO): Rx dataTimestamp_ set to:1761514623.298116
2025-10-26T21:37:03.300Z,1761514623.300 [DAT](INFO): DAT read: Bearing 346.5,  16.0 (Local)

2025-10-26T21:37:03.301Z,1761514623.301 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.5,  16.0 (Local)

2025-10-26T21:37:03.309Z,1761514623.309 [DAT](INFO): DAT read: Range 11 to 50 :    29.0 m (trip time 19.3 ms) speed -0.1

2025-10-26T21:37:03.323Z,1761514623.323 [DAT](INFO): DAT read: 21:37:02.0561 LVL= 30704, 21297, 32754, 32755, AGC= 67, IDX= 508,-0.10, 2.486,-2.248, 2.044, 2.990, PHS=-0.401, 1.091,-0.989, RAW= 345.9,   3.3, CAL= 345.5,   0.5, ROT= 164.5,  -0.5

2025-10-26T21:37:03.338Z,1761514623.338 [DAT](INFO): got valid direction response:
 21:37:02.0561 LVL= 30704, 21297, 32754, 32755, AGC= 67, IDX= 508,-0.10, 2.486,-2.248, 2.044, 2.990, PHS=-0.401, 1.091,-0.989, RAW= 345.9,   3.3, CAL= 345.5,   0.5, ROT= 164.5,  -0.5

2025-10-26T21:37:03.338Z,1761514623.338 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:37:03.352Z,1761514623.352 [DAT](INFO): direction in FSK: [-0.963594,0.267228,0.008727]
2025-10-26T21:37:03.352Z,1761514623.352 [DAT](INFO): publishing direction and range info
2025-10-26T21:37:03.378Z,1761514623.378 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:37:03.378Z,1761514623.378 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:37:03.538Z,1761514623.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961342,-0.275272,-0.006906],[0.275225,0.959792,0.055238],[-0.008577,-0.055004,0.998449]]
2025-10-26T21:37:03.548Z,1761514623.548 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:37:03.593Z,1761514623.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.000000 m,
      deltaT: 0.503889 s,
      deltaX: 0.299999 m,
      approachRate: 0.595368 m/s,
      rangeRepo size: 4

2025-10-26T21:37:03.595Z,1761514623.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.819069 m,
      bearing: 180.472081 deg,
      lat: 36.779414 deg,
      lon: -121.859482 deg,
      deltaT: 0.503889 s,
      deltaX: 0.298128 m,
      approachRate: 0.591654 m/s,
      posRepo size: 4

2025-10-26T21:37:03.599Z,1761514623.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.82 m.
2025-10-26T21:37:03.801Z,1761514623.801 [DAT](INFO): DAT read: Rx Time:21:37:02.5560 

2025-10-26T21:37:03.801Z,1761514623.801 [DAT](INFO): Rx dataTimestamp_ set to:1761514623.801166
2025-10-26T21:37:03.803Z,1761514623.803 [DAT](INFO): DAT read: Bearing 344.3,  15.9 (Local)

2025-10-26T21:37:03.806Z,1761514623.806 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:37:03.803Z,1761514623.803 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.3,  15.9 (Local)

2025-10-26T21:37:03.811Z,1761514623.811 [DAT](INFO): DAT read: Range 11 to 50 :    28.8 m (trip time 19.2 ms) speed 0.0

2025-10-26T21:37:03.816Z,1761514623.816 [DAT](INFO): DAT read: 21:37:02.5560 LVL= 32752, 21169, 32754, 32755, AGC= 67, IDX= 507, 0.22,-3.088,-1.547, 2.761,-2.545, PHS=-0.441, 1.043,-1.021, RAW= 345.8,   4.6, CAL= 345.5,   2.6, ROT= 164.5,  -2.6

2025-10-26T21:37:03.817Z,1761514623.817 [DAT](INFO): got valid direction response:
 21:37:02.5560 LVL= 32752, 21169, 32754, 32755, AGC= 67, IDX= 507, 0.22,-3.088,-1.547, 2.761,-2.545, PHS=-0.441, 1.043,-1.021, RAW= 345.8,   4.6, CAL= 345.5,   2.6, ROT= 164.5,  -2.6

2025-10-26T21:37:03.818Z,1761514623.818 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:37:03.819Z,1761514623.819 [DAT](INFO): direction in FSK: [-0.962638,0.266963,0.045363]
2025-10-26T21:37:03.819Z,1761514623.819 [DAT](INFO): publishing direction and range info
2025-10-26T21:37:03.822Z,1761514623.822 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:37:03.823Z,1761514623.823 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:37:03.942Z,1761514623.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960935,-0.276692,-0.006713],[0.276629,0.959367,0.055604],[-0.008946,-0.055289,0.998430]]
2025-10-26T21:37:03.996Z,1761514623.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.799999 m,
      deltaT: 0.503050 s,
      deltaX: -0.200001 m,
      approachRate: -0.397576 m/s,
      rangeRepo size: 4

2025-10-26T21:37:03.998Z,1761514623.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.620316 m,
      bearing: 180.438971 deg,
      lat: 36.779415 deg,
      lon: -121.859482 deg,
      deltaT: 0.503050 s,
      deltaX: -0.198753 m,
      approachRate: -0.395097 m/s,
      posRepo size: 4

2025-10-26T21:37:03.998Z,1761514623.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.62 m.
2025-10-26T21:37:04.052Z,1761514624.052 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:37:04.304Z,1761514624.304 [DAT](INFO): DAT read: user:338>

2025-10-26T21:37:04.305Z,1761514624.305 [DAT](INFO): DAT read: 50

2025-10-26T21:37:04.305Z,1761514624.305 [DAT](INFO): unknown deviceResponse_: 50

2025-10-26T21:37:04.306Z,1761514624.306 [DAT](INFO): DAT read: Ok

2025-10-26T21:37:04.306Z,1761514624.306 [DAT](INFO): unknown deviceResponse_: Ok

2025-10-26T21:37:04.306Z,1761514624.306 [DAT](INFO): DAT read: user:339>

2025-10-26T21:37:04.307Z,1761514624.307 [DAT](INFO): DAT read: Tx time:21:37:03.4926

2025-10-26T21:37:04.307Z,1761514624.307 [DAT](INFO): Ping request sent.
2025-10-26T21:37:04.308Z,1761514624.308 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:37:04.308Z,1761514624.308 [DAT](INFO): publishing transmit ping time
2025-10-26T21:37:04.308Z,1761514624.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000799
2025-10-26T21:37:04.373Z,1761514624.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960472,-0.278302,-0.006433],[0.278218,0.958888,0.055926],[-0.009396,-0.055505,0.998414]]
2025-10-26T21:37:04.455Z,1761514624.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.62 m.
2025-10-26T21:37:04.557Z,1761514624.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249226
2025-10-26T21:37:04.751Z,1761514624.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960096,-0.279600,-0.006294],[0.279503,0.958494,0.056284],[-0.009704,-0.055797,0.998395]]
2025-10-26T21:37:04.776Z,1761514624.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.62 m.
2025-10-26T21:37:04.809Z,1761514624.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501497
2025-10-26T21:37:05.060Z,1761514625.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752752
2025-10-26T21:37:05.173Z,1761514625.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959759,-0.280758,-0.006172],[0.280650,0.958148,0.056459],[-0.009938,-0.055919,0.998386]]
2025-10-26T21:37:05.209Z,1761514625.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.62 m.
2025-10-26T21:37:05.313Z,1761514625.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005448
2025-10-26T21:37:05.558Z,1761514625.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959533,-0.281533,-0.005909],[0.281407,0.957915,0.056647],[-0.010287,-0.056018,0.998377]]
2025-10-26T21:37:05.564Z,1761514625.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256893
2025-10-26T21:37:05.614Z,1761514625.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.62 m.
2025-10-26T21:37:05.816Z,1761514625.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508746
2025-10-26T21:37:05.962Z,1761514625.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959419,-0.281928,-0.005581],[0.281783,0.957802,0.056688],[-0.010637,-0.055960,0.998376]]
2025-10-26T21:37:05.988Z,1761514625.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.62 m.
2025-10-26T21:37:06.069Z,1761514626.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761510
2025-10-26T21:37:06.320Z,1761514626.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012745
2025-10-26T21:37:06.375Z,1761514626.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959440,-0.281862,-0.005321],[0.281703,0.957827,0.056675],[-0.010878,-0.055875,0.998379]]
2025-10-26T21:37:06.411Z,1761514626.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.62 m.
2025-10-26T21:37:06.572Z,1761514626.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264724
2025-10-26T21:37:06.771Z,1761514626.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959586,-0.281371,-0.004980],[0.281193,0.957975,0.056689],[-0.011180,-0.055798,0.998380]]
2025-10-26T21:37:06.796Z,1761514626.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.62 m.
2025-10-26T21:37:06.826Z,1761514626.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518162
2025-10-26T21:37:07.076Z,1761514627.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768700
2025-10-26T21:37:07.200Z,1761514627.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959892,-0.280330,-0.004756],[0.280141,0.958279,0.056772],[-0.011357,-0.055828,0.998376]]
2025-10-26T21:37:07.240Z,1761514627.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.62 m.
2025-10-26T21:37:07.332Z,1761514627.332 [DAT](INFO): DAT read: Rx Time:21:37:05.9357

2025-10-26T21:37:07.333Z,1761514627.333 [DAT](INFO): Rx dataTimestamp_ set to:1761514627.332432
2025-10-26T21:37:07.333Z,1761514627.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025710
2025-10-26T21:37:07.578Z,1761514627.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960281,-0.278999,-0.004474],[0.278794,0.958663,0.056918],[-0.011591,-0.055905,0.998369]]
2025-10-26T21:37:07.580Z,1761514627.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272896
2025-10-26T21:37:07.599Z,1761514627.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.62 m.
2025-10-26T21:37:07.841Z,1761514627.841 [DAT](INFO): DAT read: 21:37:05.9357 LVL= 31632, 28353, 31634, 32755, AGC= 73, IDX=  11, 0.27,-1.282, 0.262,-1.696,-0.735, PHS=-0.445, 1.042,-1.005, RAW= 345.3,   4.5, CAL= 345.0,   2.5, ROT= 165.0,  -2.5

2025-10-26T21:37:07.842Z,1761514627.842 [DAT](INFO): got valid direction response:
 21:37:05.9357 LVL= 31632, 28353, 31634, 32755, AGC= 73, IDX=  11, 0.27,-1.282, 0.262,-1.696,-0.735, PHS=-0.445, 1.042,-1.005, RAW= 345.3,   4.5, CAL= 345.0,   2.5, ROT= 165.0,  -2.5

2025-10-26T21:37:07.844Z,1761514627.844 [DAT](INFO): DAT read: Bearing 344.0,  15.7 (Local)

2025-10-26T21:37:07.845Z,1761514627.845 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.0,  15.7 (Local)

2025-10-26T21:37:07.846Z,1761514627.846 [DAT](INFO): DAT read: Range 11 to 50 : 29.1 m  (Round-trip  38.9 ms) speed -0.2 m/s

2025-10-26T21:37:07.852Z,1761514627.852 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:37:07.854Z,1761514627.854 [DAT](INFO): direction in FSK: [-0.965006,0.258573,0.043619]
2025-10-26T21:37:07.854Z,1761514627.854 [DAT](INFO): publishing direction and range info
2025-10-26T21:37:07.983Z,1761514627.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960753,-0.277373,-0.004135],[0.277151,0.959134,0.056997],[-0.011843,-0.055906,0.998366]]
2025-10-26T21:37:08.013Z,1761514628.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.100000 m,
      deltaT: 4.030869 s,
      deltaX: 0.300001 m,
      approachRate: 0.074426 m/s,
      rangeRepo size: 4

2025-10-26T21:37:08.015Z,1761514628.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.918331 m,
      bearing: 180.972582 deg,
      lat: 36.779415 deg,
      lon: -121.859482 deg,
      deltaT: 4.030869 s,
      deltaX: 0.298016 m,
      approachRate: 0.073933 m/s,
      posRepo size: 4

2025-10-26T21:37:08.015Z,1761514628.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:08.386Z,1761514628.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961284,-0.275533,-0.003923],[0.275302,0.959666,0.057017],[-0.011946,-0.055890,0.998366]]
2025-10-26T21:37:08.433Z,1761514628.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:08.790Z,1761514628.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961686,-0.274132,-0.003499],[0.273884,0.960090,0.056708],[-0.012186,-0.055494,0.998385]]
2025-10-26T21:37:08.813Z,1761514628.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:09.222Z,1761514629.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962178,-0.272402,-0.003125],[0.272138,0.960598,0.056508],[-0.012391,-0.055221,0.998397]]
2025-10-26T21:37:09.273Z,1761514629.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:09.601Z,1761514629.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962658,-0.270706,-0.002710],[0.270424,0.961093,0.056312],[-0.012639,-0.054942,0.998410]]
2025-10-26T21:37:09.620Z,1761514629.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:10.002Z,1761514630.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963037,-0.269357,-0.002361],[0.269062,0.961491,0.056039],[-0.012824,-0.054603,0.998426]]
2025-10-26T21:37:10.033Z,1761514630.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:10.406Z,1761514630.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963448,-0.267886,-0.002104],[0.267578,0.961900,0.056117],[-0.013009,-0.054629,0.998422]]
2025-10-26T21:37:10.459Z,1761514630.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:10.810Z,1761514630.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963618,-0.267275,-0.001889],[0.266958,0.962080,0.055998],[-0.013150,-0.054465,0.998429]]
2025-10-26T21:37:10.839Z,1761514630.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:11.258Z,1761514631.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963696,-0.266997,-0.001802],[0.266676,0.962160,0.055971],[-0.013210,-0.054420,0.998431]]
2025-10-26T21:37:11.305Z,1761514631.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:11.651Z,1761514631.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:12.022Z,1761514632.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963480,-0.267777,-0.001584],[0.267444,0.961949,0.055926],[-0.013452,-0.054308,0.998434]]
2025-10-26T21:37:12.041Z,1761514632.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:12.427Z,1761514632.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963239,-0.268641,-0.001512],[0.268303,0.961710,0.055922],[-0.013569,-0.054272,0.998434]]
2025-10-26T21:37:12.483Z,1761514632.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:12.844Z,1761514632.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962846,-0.270046,-0.001603],[0.269713,0.961325,0.055754],[-0.013515,-0.054114,0.998443]]
2025-10-26T21:37:12.864Z,1761514632.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:13.292Z,1761514633.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962461,-0.271413,-0.001688],[0.271082,0.960937,0.055806],[-0.013524,-0.054169,0.998440]]
2025-10-26T21:37:13.349Z,1761514633.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:13.639Z,1761514633.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962071,-0.272791,-0.001949],[0.272469,0.960537,0.055944],[-0.013389,-0.054354,0.998432]]
2025-10-26T21:37:13.657Z,1761514633.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:14.044Z,1761514634.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961610,-0.274411,-0.002136],[0.274095,0.960066,0.056089],[-0.013340,-0.054521,0.998423]]
2025-10-26T21:37:14.061Z,1761514634.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:14.448Z,1761514634.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961256,-0.275646,-0.002504],[0.275344,0.959691,0.056372],[-0.013135,-0.054878,0.998407]]
2025-10-26T21:37:14.484Z,1761514634.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:14.855Z,1761514634.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960947,-0.276716,-0.002902],[0.276430,0.959360,0.056702],[-0.012906,-0.055290,0.998387]]
2025-10-26T21:37:14.880Z,1761514634.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:15.325Z,1761514635.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960619,-0.277849,-0.003182],[0.277574,0.959017,0.056904],[-0.012759,-0.055547,0.998375]]
2025-10-26T21:37:15.377Z,1761514635.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:15.791Z,1761514635.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:16.150Z,1761514636.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960167,-0.279399,-0.003878],[0.279159,0.958553,0.056985],[-0.012205,-0.055798,0.998367]]
2025-10-26T21:37:16.207Z,1761514636.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:16.557Z,1761514636.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960043,-0.279820,-0.004159],[0.279596,0.958429,0.056913],[-0.011939,-0.055801,0.998371]]
2025-10-26T21:37:16.594Z,1761514636.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:16.958Z,1761514636.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960058,-0.279768,-0.004368],[0.279556,0.958441,0.056917],[-0.011737,-0.055865,0.998369]]
2025-10-26T21:37:16.982Z,1761514636.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:17.362Z,1761514637.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960178,-0.279353,-0.004569],[0.279153,0.958559,0.056904],[-0.011517,-0.055914,0.998369]]
2025-10-26T21:37:17.410Z,1761514637.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:17.802Z,1761514637.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960310,-0.278895,-0.004683],[0.278703,0.958699,0.056757],[-0.011340,-0.055810,0.998377]]
2025-10-26T21:37:17.836Z,1761514637.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:18.194Z,1761514638.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960581,-0.277960,-0.004739],[0.277774,0.958971,0.056705],[-0.011217,-0.055786,0.998380]]
2025-10-26T21:37:18.233Z,1761514638.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:18.598Z,1761514638.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960846,-0.277039,-0.004831],[0.276863,0.959248,0.056490],[-0.011016,-0.055616,0.998392]]
2025-10-26T21:37:18.653Z,1761514638.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:19.004Z,1761514639.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961127,-0.276064,-0.004744],[0.275886,0.959540,0.056309],[-0.010993,-0.055429,0.998402]]
2025-10-26T21:37:19.028Z,1761514639.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:19.406Z,1761514639.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961436,-0.274990,-0.004582],[0.274807,0.959859,0.056136],[-0.011038,-0.055230,0.998413]]
2025-10-26T21:37:19.459Z,1761514639.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:19.860Z,1761514639.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:20.214Z,1761514640.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962129,-0.272558,-0.004338],[0.272365,0.960553,0.056176],[-0.011144,-0.055230,0.998411]]
2025-10-26T21:37:20.237Z,1761514640.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:20.629Z,1761514640.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962271,-0.272061,-0.004171],[0.271862,0.960709,0.055941],[-0.011212,-0.054964,0.998425]]
2025-10-26T21:37:20.685Z,1761514640.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:21.030Z,1761514641.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962446,-0.271443,-0.004032],[0.271236,0.960883,0.055994],[-0.011325,-0.054985,0.998423]]
2025-10-26T21:37:21.048Z,1761514641.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:21.432Z,1761514641.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962403,-0.271600,-0.003647],[0.271373,0.960848,0.055923],[-0.011685,-0.054810,0.998428]]
2025-10-26T21:37:21.481Z,1761514641.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:21.841Z,1761514641.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962263,-0.272101,-0.003383],[0.271858,0.960710,0.055937],[-0.011971,-0.054745,0.998429]]
2025-10-26T21:37:21.866Z,1761514641.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:22.240Z,1761514642.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962023,-0.272952,-0.003165],[0.272696,0.960472,0.055956],[-0.012233,-0.054694,0.998428]]
2025-10-26T21:37:22.258Z,1761514642.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:22.643Z,1761514642.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961692,-0.274116,-0.002947],[0.273846,0.960141,0.056007],[-0.012523,-0.054668,0.998426]]
2025-10-26T21:37:22.680Z,1761514642.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:23.043Z,1761514643.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961325,-0.275400,-0.002946],[0.275126,0.959769,0.056114],[-0.012627,-0.054755,0.998420]]
2025-10-26T21:37:23.077Z,1761514643.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:23.446Z,1761514643.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960837,-0.277101,-0.002745],[0.276813,0.959280,0.056182],[-0.012935,-0.054742,0.998417]]
2025-10-26T21:37:23.501Z,1761514643.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:23.860Z,1761514643.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960310,-0.278922,-0.002711],[0.278628,0.958750,0.056251],[-0.013090,-0.054774,0.998413]]
2025-10-26T21:37:23.879Z,1761514643.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:24.254Z,1761514644.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959742,-0.280872,-0.002584],[0.280567,0.958182,0.056307],[-0.013339,-0.054765,0.998410]]
2025-10-26T21:37:24.288Z,1761514644.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:24.658Z,1761514644.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959248,-0.282553,-0.002460],[0.282235,0.957676,0.056574],[-0.013630,-0.054963,0.998395]]
2025-10-26T21:37:24.731Z,1761514644.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:25.064Z,1761514645.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958747,-0.284251,-0.002504],[0.283930,0.957162,0.056790],[-0.013746,-0.055158,0.998383]]
2025-10-26T21:37:25.082Z,1761514645.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:25.521Z,1761514645.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:25.900Z,1761514645.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957883,-0.287149,-0.002413],[0.286809,0.956270,0.057350],[-0.014161,-0.055626,0.998351]]
2025-10-26T21:37:25.920Z,1761514645.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:26.302Z,1761514646.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957554,-0.288245,-0.002314],[0.287894,0.955926,0.057641],[-0.014403,-0.055861,0.998335]]
2025-10-26T21:37:26.364Z,1761514646.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:26.746Z,1761514646.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957203,-0.289407,-0.002286],[0.289052,0.955575,0.057666],[-0.014504,-0.055859,0.998333]]
2025-10-26T21:37:26.801Z,1761514646.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:27.148Z,1761514647.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957011,-0.290045,-0.002119],[0.289679,0.955383,0.057701],[-0.014711,-0.055834,0.998332]]
2025-10-26T21:37:27.165Z,1761514647.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:27.550Z,1761514647.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956791,-0.290771,-0.001965],[0.290400,0.955181,0.057420],[-0.014819,-0.055510,0.998348]]
2025-10-26T21:37:27.594Z,1761514647.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:27.954Z,1761514647.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956681,-0.291134,-0.001523],[0.290741,0.955091,0.057187],[-0.015194,-0.055152,0.998362]]
2025-10-26T21:37:27.985Z,1761514647.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:28.362Z,1761514648.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956829,-0.290649,-0.001158],[0.290234,0.955237,0.057328],[-0.015556,-0.055189,0.998355]]
2025-10-26T21:37:28.380Z,1761514648.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:28.795Z,1761514648.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957019,-0.290025,-0.000781],[0.289588,0.955424,0.057473],[-0.015923,-0.055229,0.998347]]
2025-10-26T21:37:28.855Z,1761514648.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:29.166Z,1761514649.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957277,-0.289172,-0.000274],[0.288705,0.955678,0.057688],[-0.016419,-0.055302,0.998335]]
2025-10-26T21:37:29.189Z,1761514649.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:29.570Z,1761514649.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957631,-0.287999,0.000285],[0.287498,0.956023,0.058008],[-0.016979,-0.055468,0.998316]]
2025-10-26T21:37:29.612Z,1761514649.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:29.974Z,1761514649.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957938,-0.286972,0.000839],[0.286441,0.956333,0.058127],[-0.017483,-0.055442,0.998309]]
2025-10-26T21:37:30.016Z,1761514650.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:30.393Z,1761514650.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958231,-0.285990,0.001537],[0.285421,0.956637,0.058141],[-0.018098,-0.055274,0.998307]]
2025-10-26T21:37:30.411Z,1761514650.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:30.783Z,1761514650.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958457,-0.285227,0.002262],[0.284622,0.956884,0.057993],[-0.018706,-0.054940,0.998314]]
2025-10-26T21:37:30.854Z,1761514650.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:31.186Z,1761514651.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958709,-0.284371,0.003105],[0.283722,0.957156,0.057920],[-0.019443,-0.054648,0.998316]]
2025-10-26T21:37:31.217Z,1761514651.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:31.590Z,1761514651.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958968,-0.283488,0.003893],[0.282797,0.957425,0.057985],[-0.020166,-0.054505,0.998310]]
2025-10-26T21:37:31.640Z,1761514651.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:31.994Z,1761514651.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959138,-0.282903,0.004599],[0.282171,0.957603,0.058103],[-0.020842,-0.054431,0.998300]]
2025-10-26T21:37:32.012Z,1761514652.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:32.408Z,1761514652.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959325,-0.282253,0.005301],[0.281476,0.957782,0.058518],[-0.021595,-0.054646,0.998272]]
2025-10-26T21:37:32.427Z,1761514652.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:32.818Z,1761514652.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959376,-0.282066,0.006069],[0.281240,0.957831,0.058852],[-0.022413,-0.054755,0.998248]]
2025-10-26T21:37:32.855Z,1761514652.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:33.206Z,1761514653.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959227,-0.282555,0.006781],[0.281688,0.957696,0.058903],[-0.023137,-0.054591,0.998241]]
2025-10-26T21:37:33.224Z,1761514653.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:33.610Z,1761514653.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958954,-0.283461,0.007528],[0.282552,0.957444,0.058871],[-0.023895,-0.054328,0.998237]]
2025-10-26T21:37:33.662Z,1761514653.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:33.924Z,1761514653.924 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:37:34.016Z,1761514654.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958627,-0.284545,0.008233],[0.283595,0.957134,0.058897],[-0.024638,-0.054126,0.998230]]
2025-10-26T21:37:34.034Z,1761514654.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:34.419Z,1761514654.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958354,-0.285447,0.008868],[0.284456,0.956865,0.059102],[-0.025356,-0.054118,0.998213]]
2025-10-26T21:37:34.456Z,1761514654.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:34.826Z,1761514654.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957937,-0.286822,0.009457],[0.285793,0.956456,0.059282],[-0.026049,-0.054086,0.998196]]
2025-10-26T21:37:34.872Z,1761514654.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:34.928Z,1761514654.928 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:37:35.226Z,1761514655.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957454,-0.288414,0.009985],[0.287348,0.955975,0.059522],[-0.026712,-0.054120,0.998177]]
2025-10-26T21:37:35.244Z,1761514655.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:35.698Z,1761514655.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:36.034Z,1761514656.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956508,-0.291499,0.010991],[0.290349,0.955013,0.060398],[-0.028103,-0.054580,0.998114]]
2025-10-26T21:37:36.060Z,1761514656.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:36.438Z,1761514656.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955977,-0.293221,0.011369],[0.292038,0.954475,0.060758],[-0.028667,-0.054763,0.998088]]
2025-10-26T21:37:36.472Z,1761514656.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:36.842Z,1761514656.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955302,-0.295393,0.011856],[0.294178,0.953815,0.060801],[-0.029269,-0.054596,0.998079]]
2025-10-26T21:37:36.903Z,1761514656.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:37.248Z,1761514657.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954743,-0.297180,0.012264],[0.295936,0.953262,0.060946],[-0.029803,-0.054558,0.998066]]
2025-10-26T21:37:37.266Z,1761514657.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:37.651Z,1761514657.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954311,-0.298548,0.012630],[0.297273,0.952828,0.061222],[-0.030312,-0.054671,0.998044]]
2025-10-26T21:37:37.693Z,1761514657.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:38.054Z,1761514658.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953773,-0.300248,0.012962],[0.298954,0.952304,0.061185],[-0.030714,-0.054482,0.998042]]
2025-10-26T21:37:38.085Z,1761514658.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:38.458Z,1761514658.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953425,-0.301338,0.013300],[0.300016,0.951955,0.061419],[-0.031169,-0.054568,0.998023]]
2025-10-26T21:37:38.477Z,1761514658.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:38.864Z,1761514658.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953143,-0.302212,0.013627],[0.300865,0.951674,0.061620],[-0.031591,-0.054633,0.998007]]
2025-10-26T21:37:38.901Z,1761514658.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:39.266Z,1761514659.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952923,-0.302896,0.013850],[0.301531,0.951452,0.061794],[-0.031895,-0.054708,0.997993]]
2025-10-26T21:37:39.311Z,1761514659.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:39.676Z,1761514659.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952842,-0.303141,0.014022],[0.301758,0.951365,0.062024],[-0.032142,-0.054868,0.997976]]
2025-10-26T21:37:39.731Z,1761514659.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:40.074Z,1761514660.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952779,-0.303329,0.014279],[0.301930,0.951307,0.062067],[-0.032410,-0.054825,0.997970]]
2025-10-26T21:37:40.092Z,1761514660.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:40.486Z,1761514660.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952810,-0.303218,0.014526],[0.301808,0.951349,0.062031],[-0.032628,-0.054720,0.997968]]
2025-10-26T21:37:40.504Z,1761514660.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:40.884Z,1761514660.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952954,-0.302758,0.014704],[0.301340,0.951502,0.061944],[-0.032745,-0.054599,0.997971]]
2025-10-26T21:37:40.927Z,1761514660.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:41.294Z,1761514661.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953151,-0.302126,0.014930],[0.300701,0.951710,0.061863],[-0.032899,-0.054476,0.997973]]
2025-10-26T21:37:41.329Z,1761514661.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:41.708Z,1761514661.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953403,-0.301325,0.014996],[0.299901,0.951970,0.061744],[-0.032881,-0.054370,0.997979]]
2025-10-26T21:37:41.760Z,1761514661.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:42.096Z,1761514662.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953737,-0.300268,0.014996],[0.298847,0.952304,0.061706],[-0.032810,-0.054370,0.997982]]
2025-10-26T21:37:42.114Z,1761514662.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:42.498Z,1761514662.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954135,-0.299003,0.014952],[0.297586,0.952698,0.061718],[-0.032699,-0.054438,0.997982]]
2025-10-26T21:37:42.537Z,1761514662.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:42.903Z,1761514662.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954512,-0.297797,0.014976],[0.296382,0.953078,0.061648],[-0.032631,-0.054405,0.997986]]
2025-10-26T21:37:42.947Z,1761514662.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:43.312Z,1761514663.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954823,-0.296805,0.014841],[0.295407,0.953395,0.061419],[-0.032379,-0.054261,0.998002]]
2025-10-26T21:37:43.330Z,1761514663.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:43.739Z,1761514663.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955098,-0.295926,0.014710],[0.294545,0.953679,0.061155],[-0.032126,-0.054076,0.998020]]
2025-10-26T21:37:43.790Z,1761514663.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:44.114Z,1761514664.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955328,-0.295192,0.014523],[0.293829,0.953915,0.060923],[-0.031837,-0.053934,0.998037]]
2025-10-26T21:37:44.140Z,1761514664.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:44.520Z,1761514664.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955510,-0.294615,0.014251],[0.293273,0.954097,0.060747],[-0.031494,-0.053865,0.998051]]
2025-10-26T21:37:44.554Z,1761514664.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:44.923Z,1761514664.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955636,-0.294226,0.013810],[0.292912,0.954214,0.060652],[-0.031023,-0.053916,0.998063]]
2025-10-26T21:37:44.977Z,1761514664.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:45.327Z,1761514665.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955683,-0.294096,0.013316],[0.292812,0.954251,0.060546],[-0.030513,-0.053964,0.998077]]
2025-10-26T21:37:45.346Z,1761514665.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:45.760Z,1761514665.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955675,-0.294146,0.012786],[0.292889,0.954224,0.060597],[-0.030025,-0.054166,0.998080]]
2025-10-26T21:37:45.816Z,1761514665.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:46.134Z,1761514666.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955436,-0.294946,0.012244],[0.293723,0.953982,0.060371],[-0.029487,-0.054085,0.998101]]
2025-10-26T21:37:46.160Z,1761514666.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:46.538Z,1761514666.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955139,-0.295926,0.011709],[0.294738,0.953684,0.060143],[-0.028965,-0.053994,0.998121]]
2025-10-26T21:37:46.556Z,1761514666.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:46.944Z,1761514666.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954802,-0.297037,0.011053],[0.295889,0.953341,0.059925],[-0.028338,-0.053946,0.998142]]
2025-10-26T21:37:46.997Z,1761514666.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:47.348Z,1761514667.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954375,-0.298426,0.010508],[0.297312,0.952914,0.059663],[-0.027819,-0.053817,0.998163]]
2025-10-26T21:37:47.365Z,1761514667.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:47.789Z,1761514667.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954011,-0.299611,0.009766],[0.298538,0.952538,0.059553],[-0.027146,-0.053899,0.998177]]
2025-10-26T21:37:47.837Z,1761514667.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:48.154Z,1761514668.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953598,-0.300941,0.009195],[0.299900,0.952116,0.059449],[-0.026646,-0.053933,0.998189]]
2025-10-26T21:37:48.173Z,1761514668.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:48.558Z,1761514668.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953240,-0.302097,0.008451],[0.301094,0.951740,0.059446],[-0.026001,-0.054121,0.998196]]
2025-10-26T21:37:48.588Z,1761514668.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:48.977Z,1761514668.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952854,-0.303332,0.007714],[0.302370,0.951341,0.059346],[-0.025341,-0.054216,0.998208]]
2025-10-26T21:37:49.039Z,1761514669.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:49.366Z,1761514669.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952526,-0.304372,0.007182],[0.303441,0.951007,0.059233],[-0.024859,-0.054242,0.998218]]
2025-10-26T21:37:49.384Z,1761514669.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:49.816Z,1761514669.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952353,-0.304925,0.006588],[0.304023,0.950818,0.059295],[-0.024345,-0.054467,0.998219]]
2025-10-26T21:37:49.874Z,1761514669.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:50.176Z,1761514670.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952248,-0.305264,0.006110],[0.304388,0.950703,0.059264],[-0.023900,-0.054574,0.998224]]
2025-10-26T21:37:50.193Z,1761514670.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:50.578Z,1761514670.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952206,-0.305403,0.005786],[0.304545,0.950654,0.059242],[-0.023593,-0.054649,0.998227]]
2025-10-26T21:37:50.630Z,1761514670.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:50.983Z,1761514670.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952233,-0.305325,0.005482],[0.304486,0.950679,0.059148],[-0.023271,-0.054653,0.998234]]
2025-10-26T21:37:51.028Z,1761514671.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:51.386Z,1761514671.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952382,-0.304861,0.005242],[0.304037,0.950824,0.059127],[-0.023010,-0.054718,0.998237]]
2025-10-26T21:37:51.404Z,1761514671.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:51.832Z,1761514671.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952640,-0.304060,0.005008],[0.303250,0.951076,0.059113],[-0.022737,-0.054794,0.998239]]
2025-10-26T21:37:51.923Z,1761514671.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:52.225Z,1761514672.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:52.594Z,1761514672.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953312,-0.301945,0.005111],[0.301134,0.951752,0.059039],[-0.022691,-0.054744,0.998243]]
2025-10-26T21:37:52.612Z,1761514672.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:52.998Z,1761514672.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953763,-0.300515,0.005235],[0.299701,0.952208,0.058990],[-0.022712,-0.054694,0.998245]]
2025-10-26T21:37:53.065Z,1761514673.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:53.402Z,1761514673.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954189,-0.299157,0.005347],[0.298344,0.952647,0.058779],[-0.022678,-0.054491,0.998257]]
2025-10-26T21:37:53.427Z,1761514673.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:53.820Z,1761514673.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954637,-0.297721,0.005476],[0.296907,0.953105,0.058630],[-0.022674,-0.054344,0.998265]]
2025-10-26T21:37:53.895Z,1761514673.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:54.210Z,1761514674.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955133,-0.296120,0.005774],[0.295293,0.953608,0.058595],[-0.022858,-0.054261,0.998265]]
2025-10-26T21:37:54.284Z,1761514674.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:54.621Z,1761514674.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955595,-0.294617,0.006206],[0.293768,0.954076,0.058647],[-0.023200,-0.054219,0.998259]]
2025-10-26T21:37:54.645Z,1761514674.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:55.019Z,1761514675.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955973,-0.293383,0.006479],[0.292522,0.954463,0.058581],[-0.023371,-0.054107,0.998262]]
2025-10-26T21:37:55.069Z,1761514675.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:55.422Z,1761514675.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956264,-0.292424,0.006898],[0.291544,0.954765,0.058523],[-0.023699,-0.053952,0.998262]]
2025-10-26T21:37:55.465Z,1761514675.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:55.921Z,1761514675.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:56.231Z,1761514676.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956778,-0.290717,0.007660],[0.289793,0.955284,0.058761],[-0.024400,-0.054001,0.998243]]
2025-10-26T21:37:56.306Z,1761514676.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:56.634Z,1761514676.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956876,-0.290384,0.008079],[0.289435,0.955387,0.058849],[-0.024808,-0.053973,0.998234]]
2025-10-26T21:37:56.663Z,1761514676.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:57.094Z,1761514677.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:57.442Z,1761514677.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956791,-0.290645,0.008791],[0.289652,0.955309,0.059049],[-0.025560,-0.053952,0.998216]]
2025-10-26T21:37:57.469Z,1761514677.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:57.848Z,1761514677.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956656,-0.291074,0.009191],[0.290053,0.955172,0.059287],[-0.026036,-0.054052,0.998199]]
2025-10-26T21:37:57.915Z,1761514677.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:58.250Z,1761514678.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956395,-0.291920,0.009577],[0.290872,0.954912,0.059471],[-0.026506,-0.054092,0.998184]]
2025-10-26T21:37:58.327Z,1761514678.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:58.654Z,1761514678.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956066,-0.292982,0.009907],[0.291911,0.954585,0.059620],[-0.026925,-0.054109,0.998172]]
2025-10-26T21:37:58.688Z,1761514678.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:59.062Z,1761514679.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955652,-0.294325,0.010125],[0.293238,0.954176,0.059661],[-0.027220,-0.054046,0.998167]]
2025-10-26T21:37:59.112Z,1761514679.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:59.472Z,1761514679.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954840,-0.296933,0.010551],[0.295810,0.953360,0.060006],[-0.027876,-0.054175,0.998142]]
2025-10-26T21:37:59.490Z,1761514679.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:37:59.873Z,1761514679.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954358,-0.298473,0.010750],[0.297332,0.952877,0.060162],[-0.028200,-0.054220,0.998131]]
2025-10-26T21:37:59.895Z,1761514679.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:38:00.282Z,1761514680.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953860,-0.300053,0.010925],[0.298894,0.952375,0.060360],[-0.028516,-0.054310,0.998117]]
2025-10-26T21:38:00.327Z,1761514680.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:38:00.681Z,1761514680.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953374,-0.301585,0.011151],[0.300407,0.951889,0.060520],[-0.028867,-0.054349,0.998105]]
2025-10-26T21:38:00.701Z,1761514680.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:38:01.081Z,1761514681.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952956,-0.302901,0.011259],[0.301711,0.951467,0.060673],[-0.029090,-0.054421,0.998094]]
2025-10-26T21:38:01.118Z,1761514681.118 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:38:01.120Z,1761514681.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:38:01.292Z,1761514681.292 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:38:01.292Z,1761514681.292 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:38:01.486Z,1761514681.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952601,-0.304011,0.011367],[0.302811,0.951112,0.060763],[-0.029284,-0.054441,0.998088]]
2025-10-26T21:38:01.514Z,1761514681.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:38:01.545Z,1761514681.545 [DAT](INFO): DAT read: user:340>

2025-10-26T21:38:01.546Z,1761514681.546 [DAT](INFO): DAT read: Tx time:21:38:00.6424

2025-10-26T21:38:01.547Z,1761514681.547 [DAT](INFO): Ping request sent.
2025-10-26T21:38:01.547Z,1761514681.547 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:38:01.547Z,1761514681.547 [DAT](INFO): publishing transmit ping time
2025-10-26T21:38:01.548Z,1761514681.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001167
2025-10-26T21:38:01.796Z,1761514681.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249622
2025-10-26T21:38:01.886Z,1761514681.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952337,-0.304829,0.011580],[0.303614,0.950851,0.060833],[-0.029555,-0.054418,0.998081]]
2025-10-26T21:38:01.916Z,1761514681.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:38:02.049Z,1761514682.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502636
2025-10-26T21:38:02.293Z,1761514682.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952170,-0.305343,0.011752],[0.304115,0.950685,0.060921],[-0.029774,-0.054433,0.998073]]
2025-10-26T21:38:02.300Z,1761514682.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753748
2025-10-26T21:38:02.350Z,1761514682.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:38:02.552Z,1761514682.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005732
2025-10-26T21:38:02.696Z,1761514682.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952193,-0.305258,0.012061],[0.304005,0.950705,0.061169],[-0.030138,-0.054578,0.998055]]
2025-10-26T21:38:02.723Z,1761514682.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:38:02.805Z,1761514682.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258032
2025-10-26T21:38:03.057Z,1761514683.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510068
2025-10-26T21:38:03.098Z,1761514683.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952321,-0.304849,0.012293],[0.303577,0.950824,0.061433],[-0.030416,-0.054772,0.998036]]
2025-10-26T21:38:03.149Z,1761514683.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:38:03.308Z,1761514683.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761679
2025-10-26T21:38:03.502Z,1761514683.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952531,-0.304184,0.012568],[0.302893,0.951032,0.061596],[-0.030689,-0.054865,0.998022]]
2025-10-26T21:38:03.521Z,1761514683.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:38:03.563Z,1761514683.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016309
2025-10-26T21:38:03.812Z,1761514683.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265604
2025-10-26T21:38:03.907Z,1761514683.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952821,-0.303257,0.012934],[0.301947,0.951333,0.061586],[-0.030981,-0.054775,0.998018]]
2025-10-26T21:38:03.926Z,1761514683.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:38:04.064Z,1761514684.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517614
2025-10-26T21:38:04.310Z,1761514684.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953188,-0.302091,0.013184],[0.300771,0.951709,0.061532],[-0.031136,-0.054686,0.998018]]
2025-10-26T21:38:04.317Z,1761514684.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770050
2025-10-26T21:38:04.364Z,1761514684.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:38:04.568Z,1761514684.568 [DAT](INFO): DAT read: Rx Time:21:38:03.0917

2025-10-26T21:38:04.569Z,1761514684.569 [DAT](INFO): Rx dataTimestamp_ set to:1761514684.568546
2025-10-26T21:38:04.569Z,1761514684.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022701
2025-10-26T21:38:04.718Z,1761514684.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953656,-0.300593,0.013599],[0.299256,0.952194,0.061414],[-0.031409,-0.054499,0.998020]]
2025-10-26T21:38:04.763Z,1761514684.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T21:38:04.821Z,1761514684.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274004
2025-10-26T21:38:05.052Z,1761514685.052 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:38:05.078Z,1761514685.078 [DAT](INFO): DAT read: 21:38:03.0917 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 491, 0.01,-2.350,-0.819,-2.828,-1.935, PHS=-0.313, 1.161,-0.937, RAW= 346.8,   1.0, CAL= 346.4,  -2.0, ROT= 163.6,   2.0

2025-10-26T21:38:05.079Z,1761514685.079 [DAT](INFO): got valid direction response:
 21:38:03.0917 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 491, 0.01,-2.350,-0.819,-2.828,-1.935, PHS=-0.313, 1.161,-0.937, RAW= 346.8,   1.0, CAL= 346.4,  -2.0, ROT= 163.6,   2.0

2025-10-26T21:38:05.080Z,1761514685.080 [DAT](INFO): DAT read: Bearing 350.6,  18.6 (Local)

2025-10-26T21:38:05.080Z,1761514685.080 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.6,  18.6 (Local)

2025-10-26T21:38:05.081Z,1761514685.081 [DAT](INFO): DAT read: Range 11 to 50 : 33.9 m  (Round-trip  45.2 ms) speed -0.2 m/s

2025-10-26T21:38:05.082Z,1761514685.082 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:38:05.083Z,1761514685.083 [DAT](INFO): direction in FSK: [-0.958730,0.282169,-0.034899]
2025-10-26T21:38:05.083Z,1761514685.083 [DAT](INFO): publishing direction and range info
2025-10-26T21:38:05.142Z,1761514685.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954163,-0.298958,0.014032],[0.297603,0.952717,0.061343],[-0.031707,-0.054356,0.998018]]
2025-10-26T21:38:05.249Z,1761514685.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.900002 m,
      deltaT: 57.239832 s,
      deltaX: 4.800001 m,
      approachRate: 0.083858 m/s,
      rangeRepo size: 4

2025-10-26T21:38:05.257Z,1761514685.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.688511 m,
      bearing: 181.067936 deg,
      lat: 36.779415 deg,
      lon: -121.859482 deg,
      deltaT: 57.239832 s,
      deltaX: 4.770180 m,
      approachRate: 0.083337 m/s,
      posRepo size: 4

2025-10-26T21:38:05.258Z,1761514685.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:05.569Z,1761514685.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:05.928Z,1761514685.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955383,-0.295003,0.014723],[0.293619,0.953957,0.061266],[-0.032119,-0.054210,0.998013]]
2025-10-26T21:38:05.947Z,1761514685.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:06.053Z,1761514686.053 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:38:06.384Z,1761514686.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:06.739Z,1761514686.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956608,-0.290984,0.015171],[0.289580,0.955189,0.061302],[-0.032329,-0.054249,0.998004]]
2025-10-26T21:38:06.769Z,1761514686.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:07.139Z,1761514687.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957105,-0.289340,0.015263],[0.287937,0.955691,0.061211],[-0.032298,-0.054191,0.998008]]
2025-10-26T21:38:07.186Z,1761514687.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:07.542Z,1761514687.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957555,-0.287844,0.015318],[0.286442,0.956144,0.061149],[-0.032248,-0.054165,0.998011]]
2025-10-26T21:38:07.561Z,1761514687.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:07.947Z,1761514687.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957911,-0.286660,0.015246],[0.285269,0.956505,0.060991],[-0.032066,-0.054075,0.998022]]
2025-10-26T21:38:07.965Z,1761514687.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:08.351Z,1761514688.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958301,-0.285353,0.015257],[0.283958,0.956887,0.061121],[-0.032040,-0.054240,0.998014]]
2025-10-26T21:38:08.390Z,1761514688.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:08.763Z,1761514688.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958533,-0.284580,0.015117],[0.283197,0.957117,0.061046],[-0.031841,-0.054234,0.998020]]
2025-10-26T21:38:08.794Z,1761514688.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:09.158Z,1761514689.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958650,-0.284197,0.014932],[0.282827,0.957230,0.060986],[-0.031625,-0.054241,0.998027]]
2025-10-26T21:38:09.219Z,1761514689.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:09.566Z,1761514689.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958684,-0.284089,0.014796],[0.282725,0.957260,0.060993],[-0.031491,-0.054290,0.998029]]
2025-10-26T21:38:09.584Z,1761514689.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:09.968Z,1761514689.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958635,-0.284264,0.014604],[0.282913,0.957209,0.060921],[-0.031296,-0.054269,0.998036]]
2025-10-26T21:38:09.986Z,1761514689.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:10.371Z,1761514690.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958613,-0.284349,0.014397],[0.283007,0.957176,0.060997],[-0.031125,-0.054398,0.998034]]
2025-10-26T21:38:10.416Z,1761514690.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:10.778Z,1761514690.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958479,-0.284810,0.014204],[0.283480,0.957040,0.060937],[-0.030949,-0.054380,0.998041]]
2025-10-26T21:38:10.796Z,1761514690.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:11.174Z,1761514691.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958265,-0.285543,0.013920],[0.284232,0.956827,0.060779],[-0.030674,-0.054286,0.998054]]
2025-10-26T21:38:11.214Z,1761514691.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:11.574Z,1761514691.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957987,-0.286488,0.013647],[0.285198,0.956556,0.060526],[-0.030394,-0.054091,0.998073]]
2025-10-26T21:38:11.608Z,1761514691.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:11.978Z,1761514691.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957758,-0.287263,0.013407],[0.285988,0.956326,0.060421],[-0.030178,-0.054034,0.998083]]
2025-10-26T21:38:11.996Z,1761514691.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:12.384Z,1761514692.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957546,-0.287982,0.013140],[0.286722,0.956110,0.060368],[-0.029949,-0.054037,0.998090]]
2025-10-26T21:38:12.440Z,1761514692.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:12.788Z,1761514692.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957375,-0.288557,0.012978],[0.287303,0.955932,0.060421],[-0.029841,-0.054117,0.998089]]
2025-10-26T21:38:12.812Z,1761514692.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:13.190Z,1761514693.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957093,-0.289495,0.012870],[0.288248,0.955654,0.060325],[-0.029763,-0.054027,0.998096]]
2025-10-26T21:38:13.249Z,1761514693.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:13.627Z,1761514693.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956792,-0.290491,0.012819],[0.289246,0.955352,0.060325],[-0.029770,-0.054010,0.998097]]
2025-10-26T21:38:13.646Z,1761514693.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:14.026Z,1761514694.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956508,-0.291428,0.012708],[0.290185,0.955063,0.060397],[-0.029738,-0.054083,0.998094]]
2025-10-26T21:38:14.055Z,1761514694.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:14.430Z,1761514694.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956275,-0.292194,0.012648],[0.290947,0.954818,0.060608],[-0.029786,-0.054278,0.998082]]
2025-10-26T21:38:14.478Z,1761514694.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:14.834Z,1761514694.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955960,-0.293233,0.012428],[0.291997,0.954498,0.060584],[-0.029628,-0.054287,0.998086]]
2025-10-26T21:38:14.853Z,1761514694.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:15.260Z,1761514695.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955520,-0.294672,0.012270],[0.293450,0.954068,0.060347],[-0.029489,-0.054062,0.998102]]
2025-10-26T21:38:15.307Z,1761514695.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:15.662Z,1761514695.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955242,-0.295587,0.011920],[0.294384,0.953784,0.060292],[-0.029191,-0.054084,0.998110]]
2025-10-26T21:38:15.680Z,1761514695.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:16.046Z,1761514696.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955024,-0.296303,0.011600],[0.295114,0.953555,0.060330],[-0.028937,-0.054193,0.998111]]
2025-10-26T21:38:16.080Z,1761514696.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:16.450Z,1761514696.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954744,-0.297217,0.011223],[0.296051,0.953274,0.060192],[-0.028588,-0.054146,0.998124]]
2025-10-26T21:38:16.509Z,1761514696.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:16.855Z,1761514696.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954547,-0.297863,0.010826],[0.296719,0.953067,0.060173],[-0.028241,-0.054225,0.998129]]
2025-10-26T21:38:16.873Z,1761514696.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:17.269Z,1761514697.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954469,-0.298131,0.010324],[0.297011,0.952971,0.060259],[-0.027804,-0.054449,0.998129]]
2025-10-26T21:38:17.307Z,1761514697.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:17.662Z,1761514697.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954477,-0.298125,0.009717],[0.297034,0.952954,0.060412],[-0.027270,-0.054775,0.998126]]
2025-10-26T21:38:17.697Z,1761514697.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:18.066Z,1761514698.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954474,-0.298158,0.009006],[0.297107,0.952935,0.060354],[-0.026577,-0.054930,0.998136]]
2025-10-26T21:38:18.085Z,1761514698.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:18.472Z,1761514698.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954648,-0.297620,0.008365],[0.296604,0.953087,0.060431],[-0.025958,-0.055209,0.998137]]
2025-10-26T21:38:18.508Z,1761514698.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:18.874Z,1761514698.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954819,-0.297085,0.007769],[0.296107,0.953253,0.060242],[-0.025303,-0.055220,0.998154]]
2025-10-26T21:38:18.904Z,1761514698.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:19.281Z,1761514699.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955032,-0.296417,0.007160],[0.295484,0.953470,0.059863],[-0.024572,-0.055056,0.998181]]
2025-10-26T21:38:19.331Z,1761514699.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:19.685Z,1761514699.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955369,-0.295342,0.006563],[0.294452,0.953812,0.059499],[-0.023832,-0.054911,0.998207]]
2025-10-26T21:38:19.709Z,1761514699.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:20.102Z,1761514700.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955926,-0.293545,0.006058],[0.292689,0.954363,0.059377],[-0.023212,-0.054987,0.998217]]
2025-10-26T21:38:20.120Z,1761514700.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:20.504Z,1761514700.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956526,-0.291592,0.005619],[0.290766,0.954958,0.059252],[-0.022643,-0.055042,0.998227]]
2025-10-26T21:38:20.540Z,1761514700.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:20.906Z,1761514700.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957208,-0.289355,0.005101],[0.288562,0.955631,0.059170],[-0.021996,-0.055166,0.998235]]
2025-10-26T21:38:20.941Z,1761514700.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:21.312Z,1761514701.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957899,-0.287067,0.004642],[0.286308,0.956318,0.059016],[-0.021381,-0.055202,0.998246]]
2025-10-26T21:38:21.354Z,1761514701.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:21.723Z,1761514701.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958490,-0.285092,0.004422],[0.284356,0.956925,0.058615],[-0.020943,-0.054924,0.998271]]
2025-10-26T21:38:21.772Z,1761514701.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:22.120Z,1761514702.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959183,-0.282754,0.004191],[0.282040,0.957628,0.058323],[-0.020504,-0.054761,0.998289]]
2025-10-26T21:38:22.139Z,1761514702.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:22.518Z,1761514702.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959791,-0.280688,0.003943],[0.280001,0.958255,0.057857],[-0.020018,-0.054426,0.998317]]
2025-10-26T21:38:22.571Z,1761514702.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:22.922Z,1761514702.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960460,-0.278392,0.003751],[0.277725,0.958935,0.057560],[-0.019621,-0.054242,0.998335]]
2025-10-26T21:38:22.941Z,1761514702.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:23.341Z,1761514703.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961139,-0.276043,0.003547],[0.275393,0.959614,0.057450],[-0.019262,-0.054240,0.998342]]
2025-10-26T21:38:23.389Z,1761514703.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:23.749Z,1761514703.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961656,-0.274239,0.003332],[0.273607,0.960136,0.057260],[-0.018903,-0.054153,0.998354]]
2025-10-26T21:38:23.771Z,1761514703.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:24.139Z,1761514704.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962032,-0.272920,0.003152],[0.272304,0.960518,0.057052],[-0.018598,-0.054028,0.998366]]
2025-10-26T21:38:24.172Z,1761514704.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:24.548Z,1761514704.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962282,-0.272036,0.002944],[0.271437,0.960776,0.056842],[-0.018292,-0.053899,0.998379]]
2025-10-26T21:38:24.600Z,1761514704.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:24.953Z,1761514704.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962474,-0.271359,0.002718],[0.270774,0.960967,0.056786],[-0.018022,-0.053919,0.998383]]
2025-10-26T21:38:24.971Z,1761514704.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:25.374Z,1761514705.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962617,-0.270855,0.002528],[0.270280,0.961101,0.056864],[-0.017831,-0.054055,0.998379]]
2025-10-26T21:38:25.430Z,1761514705.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:25.767Z,1761514705.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962574,-0.271009,0.002326],[0.270444,0.961054,0.056880],[-0.017651,-0.054122,0.998378]]
2025-10-26T21:38:25.786Z,1761514705.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:26.162Z,1761514706.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962521,-0.271201,0.002004],[0.270651,0.960988,0.057006],[-0.017386,-0.054327,0.998372]]
2025-10-26T21:38:26.196Z,1761514706.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:26.566Z,1761514706.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962278,-0.272060,0.001876],[0.271515,0.960744,0.057009],[-0.017312,-0.054349,0.998372]]
2025-10-26T21:38:26.624Z,1761514706.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:26.992Z,1761514706.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961956,-0.273200,0.001755],[0.272660,0.960419,0.057024],[-0.017264,-0.054377,0.998371]]
2025-10-26T21:38:27.010Z,1761514707.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:27.456Z,1761514707.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:27.804Z,1761514707.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961373,-0.275246,0.001411],[0.274715,0.959812,0.057376],[-0.017147,-0.054772,0.998352]]
2025-10-26T21:38:27.822Z,1761514707.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:28.206Z,1761514708.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960972,-0.276642,0.001250],[0.276117,0.959408,0.057401],[-0.017079,-0.054815,0.998350]]
2025-10-26T21:38:28.242Z,1761514708.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:28.610Z,1761514708.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960586,-0.277979,0.001135],[0.277458,0.959020,0.057427],[-0.017052,-0.054848,0.998349]]
2025-10-26T21:38:28.658Z,1761514708.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:29.015Z,1761514709.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960206,-0.279290,0.001050],[0.278773,0.958643,0.057346],[-0.017023,-0.054771,0.998354]]
2025-10-26T21:38:29.035Z,1761514709.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:29.427Z,1761514709.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959869,-0.280447,0.000966],[0.279933,0.958310,0.057270],[-0.016987,-0.054701,0.998358]]
2025-10-26T21:38:29.483Z,1761514709.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:29.860Z,1761514709.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959610,-0.281330,0.000950],[0.280817,0.958053,0.057232],[-0.017011,-0.054654,0.998360]]
2025-10-26T21:38:29.878Z,1761514709.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:30.311Z,1761514710.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:30.688Z,1761514710.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959307,-0.282363,0.001042],[0.281840,0.957743,0.057406],[-0.017207,-0.054776,0.998350]]
2025-10-26T21:38:30.762Z,1761514710.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:31.070Z,1761514711.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959183,-0.282784,0.001067],[0.282261,0.957625,0.057302],[-0.017226,-0.054662,0.998356]]
2025-10-26T21:38:31.091Z,1761514711.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:31.474Z,1761514711.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959218,-0.282665,0.001007],[0.282145,0.957658,0.057319],[-0.017166,-0.054698,0.998355]]
2025-10-26T21:38:31.541Z,1761514711.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:31.885Z,1761514711.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959328,-0.282291,0.001068],[0.281768,0.957768,0.057328],[-0.017206,-0.054695,0.998355]]
2025-10-26T21:38:31.908Z,1761514711.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:32.282Z,1761514712.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959543,-0.281560,0.001063],[0.281036,0.957976,0.057448],[-0.017194,-0.054825,0.998348]]
2025-10-26T21:38:32.313Z,1761514712.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:32.687Z,1761514712.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959740,-0.280888,0.001139],[0.280362,0.958176,0.057417],[-0.017219,-0.054786,0.998350]]
2025-10-26T21:38:32.837Z,1761514712.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:33.192Z,1761514713.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960359,-0.278764,0.001077],[0.278243,0.958788,0.057506],[-0.017064,-0.054927,0.998345]]
2025-10-26T21:38:33.210Z,1761514713.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:33.592Z,1761514713.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960647,-0.277771,0.001057],[0.277255,0.959079,0.057423],[-0.016965,-0.054870,0.998349]]
2025-10-26T21:38:33.642Z,1761514713.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:33.998Z,1761514713.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961048,-0.276379,0.001046],[0.275864,0.959475,0.057503],[-0.016896,-0.054975,0.998345]]
2025-10-26T21:38:34.038Z,1761514714.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:34.405Z,1761514714.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961417,-0.275094,0.000955],[0.274587,0.959844,0.057452],[-0.016721,-0.054973,0.998348]]
2025-10-26T21:38:34.482Z,1761514714.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:34.804Z,1761514714.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961796,-0.273766,0.000962],[0.273263,0.960230,0.057324],[-0.016617,-0.054871,0.998355]]
2025-10-26T21:38:34.841Z,1761514714.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:35.206Z,1761514715.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962148,-0.272525,0.000919],[0.272030,0.960594,0.057092],[-0.016441,-0.054681,0.998368]]
2025-10-26T21:38:35.249Z,1761514715.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:35.610Z,1761514715.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962582,-0.270987,0.000922],[0.270495,0.961029,0.057053],[-0.016347,-0.054669,0.998371]]
2025-10-26T21:38:35.700Z,1761514715.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:36.014Z,1761514716.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962955,-0.269660,0.000968],[0.269169,0.961405,0.056988],[-0.016298,-0.054617,0.998374]]
2025-10-26T21:38:36.040Z,1761514716.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:36.176Z,1761514716.176 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:38:36.430Z,1761514716.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963411,-0.268028,0.000919],[0.267540,0.961851,0.057134],[-0.016198,-0.054798,0.998366]]
2025-10-26T21:38:36.505Z,1761514716.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:36.822Z,1761514716.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963893,-0.266288,0.000782],[0.265806,0.962320,0.057339],[-0.016021,-0.055061,0.998354]]
2025-10-26T21:38:36.866Z,1761514716.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:37.180Z,1761514717.180 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:38:37.268Z,1761514717.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:37.634Z,1761514717.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964607,-0.263690,0.000789],[0.263213,0.963032,0.057354],[-0.015884,-0.055116,0.998354]]
2025-10-26T21:38:37.686Z,1761514717.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:38.035Z,1761514718.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964911,-0.262574,0.000928],[0.262093,0.963345,0.057220],[-0.015918,-0.054969,0.998361]]
2025-10-26T21:38:38.053Z,1761514718.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:38.444Z,1761514718.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965146,-0.261710,0.000995],[0.261230,0.963595,0.056947],[-0.015862,-0.054702,0.998377]]
2025-10-26T21:38:38.466Z,1761514718.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:38.842Z,1761514718.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965463,-0.260538,0.001046],[0.260059,0.963916,0.056872],[-0.015825,-0.054635,0.998381]]
2025-10-26T21:38:38.887Z,1761514718.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:39.251Z,1761514719.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965738,-0.259516,0.001196],[0.259030,0.964193,0.056880],[-0.015915,-0.054622,0.998380]]
2025-10-26T21:38:39.285Z,1761514719.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:39.651Z,1761514719.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965951,-0.258723,0.001151],[0.258242,0.964406,0.056848],[-0.015818,-0.054615,0.998382]]
2025-10-26T21:38:39.710Z,1761514719.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:40.056Z,1761514720.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966123,-0.258081,0.001165],[0.257600,0.964576,0.056883],[-0.015804,-0.054656,0.998380]]
2025-10-26T21:38:40.075Z,1761514720.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:40.458Z,1761514720.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966144,-0.258002,0.001325],[0.257514,0.964607,0.056737],[-0.015916,-0.054475,0.998388]]
2025-10-26T21:38:40.492Z,1761514720.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:40.914Z,1761514720.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:41.266Z,1761514721.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966133,-0.258040,0.001584],[0.257542,0.964615,0.056485],[-0.016103,-0.054165,0.998402]]
2025-10-26T21:38:41.284Z,1761514721.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:41.677Z,1761514721.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966066,-0.258291,0.001637],[0.257792,0.964559,0.056299],[-0.016121,-0.053966,0.998413]]
2025-10-26T21:38:41.750Z,1761514721.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:42.074Z,1761514722.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966045,-0.258369,0.001631],[0.257870,0.964535,0.056356],[-0.016134,-0.054022,0.998409]]
2025-10-26T21:38:42.100Z,1761514722.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:42.478Z,1761514722.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965945,-0.258741,0.001570],[0.258245,0.964434,0.056367],[-0.016098,-0.054042,0.998409]]
2025-10-26T21:38:42.508Z,1761514722.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:42.883Z,1761514722.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965777,-0.259369,0.001543],[0.258871,0.964261,0.056444],[-0.016128,-0.054113,0.998405]]
2025-10-26T21:38:42.947Z,1761514722.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:43.320Z,1761514723.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:43.710Z,1761514723.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965521,-0.260324,0.001199],[0.259836,0.963975,0.056904],[-0.015969,-0.054630,0.998379]]
2025-10-26T21:38:43.773Z,1761514723.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:44.098Z,1761514724.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965337,-0.261005,0.001018],[0.260526,0.963785,0.056972],[-0.015851,-0.054732,0.998375]]
2025-10-26T21:38:44.132Z,1761514724.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:44.502Z,1761514724.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965047,-0.262076,0.000931],[0.261602,0.963503,0.056791],[-0.015780,-0.054563,0.998386]]
2025-10-26T21:38:44.520Z,1761514724.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:44.908Z,1761514724.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964951,-0.262428,0.000758],[0.261962,0.963401,0.056880],[-0.015657,-0.054688,0.998381]]
2025-10-26T21:38:44.945Z,1761514724.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:45.310Z,1761514725.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964830,-0.262874,0.000484],[0.262423,0.963280,0.056792],[-0.015396,-0.054668,0.998386]]
2025-10-26T21:38:45.339Z,1761514725.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:45.730Z,1761514725.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964753,-0.263158,0.000285],[0.262719,0.963205,0.056703],[-0.015197,-0.054630,0.998391]]
2025-10-26T21:38:45.777Z,1761514725.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:46.123Z,1761514726.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964837,-0.262850,-0.000109],[0.262432,0.963276,0.056826],[-0.014832,-0.054856,0.998384]]
2025-10-26T21:38:46.141Z,1761514726.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:46.539Z,1761514726.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965027,-0.262150,-0.000535],[0.261753,0.963449,0.057023],[-0.014433,-0.055169,0.998373]]
2025-10-26T21:38:46.565Z,1761514726.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:46.982Z,1761514726.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:47.334Z,1761514727.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965361,-0.260915,-0.001195],[0.260557,0.963778,0.056930],[-0.013702,-0.055270,0.998377]]
2025-10-26T21:38:47.376Z,1761514727.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:47.746Z,1761514727.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965557,-0.260186,-0.001598],[0.259857,0.963987,0.056605],[-0.013187,-0.055071,0.998395]]
2025-10-26T21:38:47.804Z,1761514727.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:48.149Z,1761514728.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965830,-0.259170,-0.001876],[0.258861,0.964268,0.056371],[-0.012800,-0.054930,0.998408]]
2025-10-26T21:38:48.167Z,1761514728.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:48.550Z,1761514728.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966252,-0.257589,-0.002271],[0.257303,0.964686,0.056359],[-0.012327,-0.055041,0.998408]]
2025-10-26T21:38:48.583Z,1761514728.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:49.040Z,1761514729.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:49.400Z,1761514729.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967049,-0.254567,-0.003264],[0.254344,0.965480,0.056197],[-0.011154,-0.055175,0.998414]]
2025-10-26T21:38:49.418Z,1761514729.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:49.804Z,1761514729.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967496,-0.252860,-0.003722],[0.252664,0.965917,0.056257],[-0.010630,-0.055369,0.998409]]
2025-10-26T21:38:49.840Z,1761514729.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:50.221Z,1761514730.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967873,-0.251406,-0.004085],[0.251233,0.966295,0.056182],[-0.010177,-0.055403,0.998412]]
2025-10-26T21:38:50.243Z,1761514730.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:50.610Z,1761514730.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968149,-0.250333,-0.004551],[0.250192,0.966586,0.055816],[-0.009574,-0.055177,0.998431]]
2025-10-26T21:38:50.641Z,1761514730.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:51.049Z,1761514731.049 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050301270900,35.0, +10.4,   03,  0
2025-10-26T21:38:51.064Z,1761514731.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:51.416Z,1761514731.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968624,-0.248472,-0.005391],[0.248388,0.967106,0.054853],[-0.008416,-0.054471,0.998480]]
2025-10-26T21:38:51.436Z,1761514731.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:51.819Z,1761514731.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968881,-0.247458,-0.005925],[0.247407,0.967378,0.054496],[-0.007754,-0.054266,0.998496]]
2025-10-26T21:38:51.859Z,1761514731.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:52.229Z,1761514732.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969159,-0.246356,-0.006330],[0.246329,0.967658,0.054405],[-0.007278,-0.054286,0.998499]]
2025-10-26T21:38:52.256Z,1761514732.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:52.626Z,1761514732.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969305,-0.245767,-0.006851],[0.245771,0.967809,0.054248],[-0.006702,-0.054267,0.998504]]
2025-10-26T21:38:52.670Z,1761514732.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:53.034Z,1761514733.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969513,-0.244934,-0.007244],[0.244960,0.968005,0.054416],[-0.006316,-0.054531,0.998492]]
2025-10-26T21:38:53.084Z,1761514733.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:53.474Z,1761514733.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969630,-0.244457,-0.007627],[0.244504,0.968117,0.054479],[-0.005934,-0.054689,0.998486]]
2025-10-26T21:38:53.492Z,1761514733.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:53.874Z,1761514733.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969665,-0.244310,-0.007956],[0.244376,0.968153,0.054414],[-0.005592,-0.054707,0.998487]]
2025-10-26T21:38:53.925Z,1761514733.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:54.278Z,1761514734.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969604,-0.244540,-0.008209],[0.244620,0.968103,0.054201],[-0.005307,-0.054562,0.998496]]
2025-10-26T21:38:54.308Z,1761514734.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:54.682Z,1761514734.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969569,-0.244674,-0.008429],[0.244766,0.968072,0.054102],[-0.005078,-0.054519,0.998500]]
2025-10-26T21:38:54.775Z,1761514734.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:55.156Z,1761514735.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:55.490Z,1761514735.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969458,-0.245099,-0.008835],[0.245213,0.967959,0.054090],[-0.004705,-0.054605,0.998497]]
2025-10-26T21:38:55.527Z,1761514735.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:55.894Z,1761514735.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969384,-0.245383,-0.009042],[0.245508,0.967879,0.054193],[-0.004546,-0.054754,0.998490]]
2025-10-26T21:38:55.951Z,1761514735.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:56.298Z,1761514736.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969275,-0.245814,-0.009051],[0.245937,0.967762,0.054333],[-0.004596,-0.054889,0.998482]]
2025-10-26T21:38:56.321Z,1761514736.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:56.721Z,1761514736.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969214,-0.246052,-0.009102],[0.246177,0.967682,0.054673],[-0.004644,-0.055231,0.998463]]
2025-10-26T21:38:56.812Z,1761514736.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:57.106Z,1761514737.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969086,-0.246558,-0.009048],[0.246678,0.967547,0.054807],[-0.004759,-0.055345,0.998456]]
2025-10-26T21:38:57.157Z,1761514737.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:57.510Z,1761514737.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968942,-0.247124,-0.009043],[0.247243,0.967401,0.054829],[-0.004801,-0.055362,0.998455]]
2025-10-26T21:38:57.550Z,1761514737.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:57.914Z,1761514737.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968937,-0.247147,-0.008872],[0.247255,0.967382,0.055115],[-0.005039,-0.055597,0.998441]]
2025-10-26T21:38:57.969Z,1761514737.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:58.326Z,1761514738.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968712,-0.248049,-0.008276],[0.248123,0.967173,0.054869],[-0.005606,-0.055206,0.998459]]
2025-10-26T21:38:58.344Z,1761514738.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:58.740Z,1761514738.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968625,-0.248395,-0.008093],[0.248460,0.967098,0.054679],[-0.005755,-0.054974,0.998471]]
2025-10-26T21:38:58.762Z,1761514738.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:59.131Z,1761514739.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968632,-0.248379,-0.007755],[0.248425,0.967104,0.054722],[-0.006092,-0.054932,0.998471]]
2025-10-26T21:38:59.174Z,1761514739.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:59.535Z,1761514739.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968774,-0.247829,-0.007549],[0.247863,0.967232,0.055014],[-0.006332,-0.055167,0.998457]]
2025-10-26T21:38:59.554Z,1761514739.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:38:59.938Z,1761514739.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968906,-0.247325,-0.007246],[0.247341,0.967351,0.055267],[-0.006660,-0.055341,0.998445]]
2025-10-26T21:38:59.974Z,1761514739.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:39:00.338Z,1761514740.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969035,-0.246828,-0.006858],[0.246822,0.967473,0.055447],[-0.007051,-0.055423,0.998438]]
2025-10-26T21:39:00.367Z,1761514740.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:39:00.747Z,1761514740.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969237,-0.246043,-0.006561],[0.246021,0.967668,0.055606],[-0.007333,-0.055510,0.998431]]
2025-10-26T21:39:00.782Z,1761514740.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:39:01.155Z,1761514741.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969379,-0.245495,-0.006097],[0.245449,0.967816,0.055571],[-0.007742,-0.055365,0.998436]]
2025-10-26T21:39:01.218Z,1761514741.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:39:01.224Z,1761514741.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:39:01.316Z,1761514741.316 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:39:01.316Z,1761514741.316 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:39:01.550Z,1761514741.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969566,-0.244761,-0.005754],[0.244697,0.968008,0.055533],[-0.008023,-0.055251,0.998440]]
2025-10-26T21:39:01.568Z,1761514741.568 [DAT](INFO): DAT read: user:341>

2025-10-26T21:39:01.569Z,1761514741.569 [DAT](INFO): DAT read: Tx time:21:39:00.6922

2025-10-26T21:39:01.569Z,1761514741.569 [DAT](INFO): Ping request sent.
2025-10-26T21:39:01.570Z,1761514741.570 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:39:01.570Z,1761514741.570 [DAT](INFO): publishing transmit ping time
2025-10-26T21:39:01.570Z,1761514741.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758
2025-10-26T21:39:01.579Z,1761514741.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:39:01.821Z,1761514741.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251052
2025-10-26T21:39:01.954Z,1761514741.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969750,-0.244044,-0.005314],[0.243958,0.968199,0.055464],[-0.008391,-0.055082,0.998447]]
2025-10-26T21:39:02.005Z,1761514742.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:39:02.077Z,1761514742.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507546
2025-10-26T21:39:02.328Z,1761514742.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758776
2025-10-26T21:39:02.360Z,1761514742.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969995,-0.243078,-0.004806],[0.242965,0.968446,0.055500],[-0.008837,-0.055003,0.998447]]
2025-10-26T21:39:02.379Z,1761514742.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:39:02.581Z,1761514742.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011692
2025-10-26T21:39:02.766Z,1761514742.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970224,-0.242170,-0.004310],[0.242030,0.968675,0.055588],[-0.009286,-0.054976,0.998445]]
2025-10-26T21:39:02.792Z,1761514742.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:39:02.836Z,1761514742.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264964
2025-10-26T21:39:03.084Z,1761514743.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514714
2025-10-26T21:39:03.166Z,1761514743.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970510,-0.241028,-0.003994],[0.240872,0.968955,0.055740],[-0.009565,-0.055059,0.998437]]
2025-10-26T21:39:03.249Z,1761514743.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:39:03.336Z,1761514743.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766773
2025-10-26T21:39:03.588Z,1761514743.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018790
2025-10-26T21:39:03.620Z,1761514743.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970741,-0.240101,-0.003612],[0.239924,0.969183,0.055865],[-0.009912,-0.055097,0.998432]]
2025-10-26T21:39:03.638Z,1761514743.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:39:03.841Z,1761514743.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271155
2025-10-26T21:39:04.015Z,1761514744.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970927,-0.239356,-0.003177],[0.239155,0.969370,0.055909],[-0.010303,-0.055044,0.998431]]
2025-10-26T21:39:04.053Z,1761514744.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:39:04.093Z,1761514744.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523138
2025-10-26T21:39:04.344Z,1761514744.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774831
2025-10-26T21:39:04.418Z,1761514744.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971004,-0.239048,-0.002727],[0.238826,0.969464,0.055692],[-0.010670,-0.054728,0.998444]]
2025-10-26T21:39:04.446Z,1761514744.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:39:04.596Z,1761514744.596 [DAT](INFO): DAT read: Rx Time:21:39:03.1465

2025-10-26T21:39:04.597Z,1761514744.597 [DAT](INFO): Rx dataTimestamp_ set to:1761514744.596539
2025-10-26T21:39:04.597Z,1761514744.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027808
2025-10-26T21:39:04.822Z,1761514744.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971147,-0.238471,-0.002360],[0.238229,0.969610,0.055710],[-0.010997,-0.054665,0.998444]]
2025-10-26T21:39:04.849Z,1761514744.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279201
2025-10-26T21:39:04.943Z,1761514744.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T21:39:05.106Z,1761514745.106 [DAT](INFO): DAT read: 21:39:03.1465 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 478,-0.30, 1.479, 2.934, 1.013, 1.917, PHS=-0.335, 1.063,-0.948, RAW= 347.3,   2.5, CAL= 346.8,  -0.5, ROT= 163.2,   0.5

2025-10-26T21:39:05.107Z,1761514745.107 [DAT](INFO): got valid direction response:
 21:39:03.1465 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 478,-0.30, 1.479, 2.934, 1.013, 1.917, PHS=-0.335, 1.063,-0.948, RAW= 347.3,   2.5, CAL= 346.8,  -0.5, ROT= 163.2,   0.5

2025-10-26T21:39:05.108Z,1761514745.108 [DAT](INFO): DAT read: Bearing 345.5,  17.4 (Local)

2025-10-26T21:39:05.108Z,1761514745.108 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.5,  17.4 (Local)

2025-10-26T21:39:05.109Z,1761514745.109 [DAT](INFO): DAT read: Range 11 to 50 : 37.5 m  (Round-trip  50.1 ms) speed -0.1 m/s

2025-10-26T21:39:05.110Z,1761514745.110 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:39:05.111Z,1761514745.111 [DAT](INFO): direction in FSK: [-0.957283,0.289021,-0.008727]
2025-10-26T21:39:05.111Z,1761514745.111 [DAT](INFO): publishing direction and range info
2025-10-26T21:39:05.226Z,1761514745.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971195,-0.238278,-0.002039],[0.238020,0.969668,0.055589],[-0.011268,-0.054473,0.998452]]
2025-10-26T21:39:05.282Z,1761514745.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.500000 m,
      deltaT: 60.027953 s,
      deltaX: 3.599998 m,
      approachRate: 0.059972 m/s,
      rangeRepo size: 4

2025-10-26T21:39:05.297Z,1761514745.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.266411 m,
      bearing: 177.023801 deg,
      lat: 36.779415 deg,
      lon: -121.859485 deg,
      deltaT: 60.027953 s,
      deltaX: 3.577900 m,
      approachRate: 0.059604 m/s,
      posRepo size: 4

2025-10-26T21:39:05.298Z,1761514745.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:05.630Z,1761514745.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971243,-0.238085,-0.001702],[0.237809,0.969718,0.055623],[-0.011593,-0.054428,0.998450]]
2025-10-26T21:39:05.651Z,1761514745.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:06.114Z,1761514746.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:06.458Z,1761514746.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971293,-0.237881,-0.001207],[0.237574,0.969755,0.055987],[-0.012148,-0.054666,0.998431]]
2025-10-26T21:39:06.476Z,1761514746.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:06.963Z,1761514746.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:07.267Z,1761514747.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971267,-0.237992,-0.000866],[0.237660,0.969705,0.056481],[-0.012603,-0.055064,0.998403]]
2025-10-26T21:39:07.304Z,1761514747.304 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:39:07.312Z,1761514747.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:07.674Z,1761514747.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971130,-0.238551,-0.000788],[0.238215,0.969573,0.056402],[-0.012690,-0.054962,0.998408]]
2025-10-26T21:39:07.736Z,1761514747.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:08.115Z,1761514748.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971002,-0.239071,-0.000723],[0.238731,0.969450,0.056336],[-0.012767,-0.054875,0.998412]]
2025-10-26T21:39:08.176Z,1761514748.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:08.308Z,1761514748.308 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:39:08.514Z,1761514748.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970918,-0.239411,-0.000640],[0.239065,0.969361,0.056446],[-0.012893,-0.054958,0.998405]]
2025-10-26T21:39:08.539Z,1761514748.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:08.933Z,1761514748.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970793,-0.239919,-0.000644],[0.239572,0.969236,0.056456],[-0.012921,-0.054961,0.998405]]
2025-10-26T21:39:09.002Z,1761514749.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:09.323Z,1761514749.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970729,-0.240177,-0.000645],[0.239828,0.969166,0.056568],[-0.012961,-0.055067,0.998399]]
2025-10-26T21:39:09.377Z,1761514749.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:09.739Z,1761514749.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970607,-0.240669,-0.000756],[0.240325,0.969043,0.056562],[-0.012880,-0.055081,0.998399]]
2025-10-26T21:39:09.763Z,1761514749.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:10.154Z,1761514750.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970611,-0.240654,-0.000885],[0.240315,0.969036,0.056732],[-0.012795,-0.055278,0.998389]]
2025-10-26T21:39:10.235Z,1761514750.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:10.555Z,1761514750.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970508,-0.241068,-0.000920],[0.240732,0.968938,0.056628],[-0.012760,-0.055180,0.998395]]
2025-10-26T21:39:10.574Z,1761514750.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:10.991Z,1761514750.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970435,-0.241360,-0.000941],[0.241025,0.968871,0.056539],[-0.012734,-0.055094,0.998400]]
2025-10-26T21:39:11.050Z,1761514751.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:11.403Z,1761514751.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:11.771Z,1761514751.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970460,-0.241262,-0.000942],[0.240929,0.968900,0.056436],[-0.012703,-0.054996,0.998406]]
2025-10-26T21:39:11.788Z,1761514751.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:12.186Z,1761514752.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970502,-0.241089,-0.001015],[0.240762,0.968947,0.056350],[-0.012601,-0.054932,0.998411]]
2025-10-26T21:39:12.254Z,1761514752.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:12.616Z,1761514752.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970546,-0.240914,-0.000998],[0.240587,0.968995,0.056274],[-0.012590,-0.054857,0.998415]]
2025-10-26T21:39:12.633Z,1761514752.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:13.048Z,1761514753.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970590,-0.240735,-0.001013],[0.240409,0.969039,0.056279],[-0.012567,-0.054867,0.998415]]
2025-10-26T21:39:13.090Z,1761514753.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:13.423Z,1761514753.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970654,-0.240476,-0.001225],[0.240163,0.969102,0.056242],[-0.012338,-0.054885,0.998416]]
2025-10-26T21:39:13.448Z,1761514753.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:13.826Z,1761514753.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970706,-0.240264,-0.001414],[0.239962,0.969153,0.056219],[-0.012137,-0.054911,0.998417]]
2025-10-26T21:39:13.864Z,1761514753.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:14.231Z,1761514754.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970795,-0.239907,-0.001571],[0.239612,0.969235,0.056305],[-0.011985,-0.055037,0.998412]]
2025-10-26T21:39:14.287Z,1761514754.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:14.635Z,1761514754.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970736,-0.240143,-0.001792],[0.239863,0.969186,0.056071],[-0.011728,-0.054859,0.998425]]
2025-10-26T21:39:14.654Z,1761514754.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:15.076Z,1761514755.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970706,-0.240263,-0.001929],[0.239992,0.969159,0.055982],[-0.011580,-0.054805,0.998430]]
2025-10-26T21:39:15.118Z,1761514755.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:15.443Z,1761514755.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970658,-0.240455,-0.002018],[0.240189,0.969116,0.055890],[-0.011484,-0.054734,0.998435]]
2025-10-26T21:39:15.477Z,1761514755.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:15.846Z,1761514755.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970622,-0.240601,-0.002199],[0.240345,0.969077,0.055895],[-0.011318,-0.054781,0.998434]]
2025-10-26T21:39:15.864Z,1761514755.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:16.258Z,1761514756.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970576,-0.240783,-0.002436],[0.240540,0.969031,0.055856],[-0.011089,-0.054798,0.998436]]
2025-10-26T21:39:16.314Z,1761514756.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:16.654Z,1761514756.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970542,-0.240915,-0.002687],[0.240686,0.968994,0.055858],[-0.010853,-0.054859,0.998435]]
2025-10-26T21:39:16.693Z,1761514756.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:17.097Z,1761514757.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970504,-0.241064,-0.003031],[0.240854,0.968955,0.055825],[-0.010521,-0.054908,0.998436]]
2025-10-26T21:39:17.157Z,1761514757.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:17.464Z,1761514757.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970432,-0.241353,-0.003278],[0.241158,0.968889,0.055658],[-0.010257,-0.054802,0.998444]]
2025-10-26T21:39:17.481Z,1761514757.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:17.868Z,1761514757.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970431,-0.241352,-0.003519],[0.241169,0.968885,0.055674],[-0.010028,-0.054876,0.998443]]
2025-10-26T21:39:17.886Z,1761514757.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:18.270Z,1761514758.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970446,-0.241290,-0.003706],[0.241117,0.968894,0.055731],[-0.009856,-0.054977,0.998439]]
2025-10-26T21:39:18.319Z,1761514758.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:18.684Z,1761514758.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970423,-0.241382,-0.003875],[0.241218,0.968872,0.055684],[-0.009687,-0.054971,0.998441]]
2025-10-26T21:39:18.721Z,1761514758.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:19.148Z,1761514759.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970451,-0.241262,-0.004156],[0.241115,0.968902,0.055610],[-0.009389,-0.054969,0.998444]]
2025-10-26T21:39:19.209Z,1761514759.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:19.554Z,1761514759.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:19.922Z,1761514759.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970540,-0.240904,-0.004270],[0.240763,0.968989,0.055615],[-0.009261,-0.055005,0.998443]]
2025-10-26T21:39:19.954Z,1761514759.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:20.326Z,1761514760.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970662,-0.240408,-0.004404],[0.240276,0.969108,0.055652],[-0.009112,-0.055077,0.998441]]
2025-10-26T21:39:20.382Z,1761514760.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:20.748Z,1761514760.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970856,-0.239624,-0.004329],[0.239490,0.969312,0.055485],[-0.009099,-0.054905,0.998450]]
2025-10-26T21:39:20.769Z,1761514760.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:21.229Z,1761514761.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:21.568Z,1761514761.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971059,-0.238806,-0.004034],[0.238658,0.969521,0.055421],[-0.009324,-0.054780,0.998455]]
2025-10-26T21:39:21.586Z,1761514761.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:21.970Z,1761514761.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971176,-0.238333,-0.003757],[0.238169,0.969635,0.055533],[-0.009593,-0.054827,0.998450]]
2025-10-26T21:39:21.994Z,1761514761.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:22.375Z,1761514762.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971267,-0.237969,-0.003482],[0.237790,0.969727,0.055554],[-0.009843,-0.054785,0.998450]]
2025-10-26T21:39:22.424Z,1761514762.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:22.781Z,1761514762.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971289,-0.237884,-0.003090],[0.237685,0.969755,0.055513],[-0.010209,-0.054654,0.998453]]
2025-10-26T21:39:22.799Z,1761514762.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:23.202Z,1761514763.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971344,-0.237661,-0.002733],[0.237443,0.969812,0.055546],[-0.010551,-0.054603,0.998452]]
2025-10-26T21:39:23.261Z,1761514763.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:23.654Z,1761514763.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971297,-0.237856,-0.002444],[0.237623,0.969777,0.055399],[-0.010807,-0.054389,0.998461]]
2025-10-26T21:39:23.682Z,1761514763.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:24.046Z,1761514764.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971235,-0.238115,-0.002000],[0.237858,0.969720,0.055379],[-0.011248,-0.054262,0.998463]]
2025-10-26T21:39:24.073Z,1761514764.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:24.450Z,1761514764.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971194,-0.238284,-0.001725],[0.238011,0.969677,0.055475],[-0.011546,-0.054288,0.998459]]
2025-10-26T21:39:24.494Z,1761514764.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:24.865Z,1761514764.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971081,-0.238748,-0.001316],[0.238449,0.969559,0.055646],[-0.012010,-0.054351,0.998450]]
2025-10-26T21:39:24.883Z,1761514764.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:25.325Z,1761514765.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:25.740Z,1761514765.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970774,-0.239997,-0.000649],[0.239656,0.969243,0.055972],[-0.012804,-0.054492,0.998432]]
2025-10-26T21:39:25.797Z,1761514765.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:26.099Z,1761514766.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970525,-0.241001,-0.000269],[0.240637,0.968997,0.056025],[-0.013241,-0.054439,0.998429]]
2025-10-26T21:39:26.121Z,1761514766.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:26.486Z,1761514766.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970223,-0.242214,0.000100],[0.241828,0.968698,0.056063],[-0.013676,-0.054369,0.998427]]
2025-10-26T21:39:26.529Z,1761514766.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:26.890Z,1761514766.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969942,-0.243335,0.000425],[0.242928,0.968417,0.056161],[-0.014077,-0.054370,0.998422]]
2025-10-26T21:39:26.908Z,1761514766.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:27.300Z,1761514767.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969655,-0.244476,0.000607],[0.244055,0.968126,0.056300],[-0.014351,-0.054443,0.998414]]
2025-10-26T21:39:27.367Z,1761514767.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:27.701Z,1761514767.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969388,-0.245531,0.000828],[0.245093,0.967850,0.056525],[-0.014680,-0.054592,0.998401]]
2025-10-26T21:39:27.728Z,1761514767.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:28.100Z,1761514768.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969123,-0.246574,0.000927],[0.246126,0.967576,0.056729],[-0.014885,-0.054749,0.998389]]
2025-10-26T21:39:28.134Z,1761514768.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:28.526Z,1761514768.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968808,-0.247808,0.001059],[0.247350,0.967260,0.056788],[-0.015097,-0.054754,0.998386]]
2025-10-26T21:39:28.571Z,1761514768.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:28.959Z,1761514768.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968541,-0.248852,0.001123],[0.248387,0.966990,0.056871],[-0.015238,-0.054803,0.998381]]
2025-10-26T21:39:28.977Z,1761514768.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:29.358Z,1761514769.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968354,-0.249577,0.000982],[0.249118,0.966794,0.057000],[-0.015175,-0.054952,0.998374]]
2025-10-26T21:39:29.437Z,1761514769.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:29.762Z,1761514769.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968154,-0.250355,0.001024],[0.249892,0.966597,0.056959],[-0.015250,-0.054889,0.998376]]
2025-10-26T21:39:29.780Z,1761514769.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:30.173Z,1761514770.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968096,-0.250580,0.000915],[0.250121,0.966530,0.057096],[-0.015191,-0.055046,0.998368]]
2025-10-26T21:39:30.192Z,1761514770.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:30.589Z,1761514770.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967994,-0.250973,0.000862],[0.250517,0.966432,0.057021],[-0.015143,-0.054980,0.998373]]
2025-10-26T21:39:30.651Z,1761514770.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:30.993Z,1761514770.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967972,-0.251057,0.000746],[0.250609,0.966412,0.056951],[-0.015018,-0.054940,0.998377]]
2025-10-26T21:39:31.015Z,1761514771.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:31.394Z,1761514771.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968089,-0.250607,0.000517],[0.250171,0.966521,0.057030],[-0.014791,-0.055080,0.998372]]
2025-10-26T21:39:31.446Z,1761514771.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:31.798Z,1761514771.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968130,-0.250446,0.000441],[0.250017,0.966570,0.056860],[-0.014667,-0.054938,0.998382]]
2025-10-26T21:39:31.841Z,1761514771.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:32.235Z,1761514772.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:32.609Z,1761514772.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968623,-0.248534,-0.000018],[0.248133,0.967054,0.056887],[-0.014121,-0.055107,0.998381]]
2025-10-26T21:39:32.679Z,1761514772.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:33.010Z,1761514773.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968851,-0.247644,-0.000121],[0.247252,0.967292,0.056685],[-0.013920,-0.054949,0.998392]]
2025-10-26T21:39:33.036Z,1761514773.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:33.414Z,1761514773.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969118,-0.246598,-0.000425],[0.246228,0.967565,0.056475],[-0.013516,-0.054835,0.998404]]
2025-10-26T21:39:33.459Z,1761514773.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:33.819Z,1761514773.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969421,-0.245401,-0.000666],[0.245047,0.967873,0.056340],[-0.013182,-0.054781,0.998411]]
2025-10-26T21:39:33.836Z,1761514773.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:34.223Z,1761514774.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969788,-0.243946,-0.000959],[0.243611,0.968237,0.056314],[-0.012809,-0.054846,0.998413]]
2025-10-26T21:39:34.242Z,1761514774.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:34.627Z,1761514774.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970148,-0.242510,-0.001301],[0.242196,0.968593,0.056298],[-0.012392,-0.054933,0.998413]]
2025-10-26T21:39:34.686Z,1761514774.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:35.030Z,1761514775.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970363,-0.241646,-0.001706],[0.241359,0.968817,0.056035],[-0.011888,-0.054786,0.998427]]
2025-10-26T21:39:35.049Z,1761514775.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:35.441Z,1761514775.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970608,-0.240657,-0.002005],[0.240390,0.969065,0.055915],[-0.011513,-0.054754,0.998434]]
2025-10-26T21:39:35.500Z,1761514775.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:35.864Z,1761514775.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970747,-0.240092,-0.002380],[0.239850,0.969219,0.055554],[-0.011031,-0.054500,0.998453]]
2025-10-26T21:39:35.906Z,1761514775.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:36.267Z,1761514776.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970825,-0.239774,-0.002716],[0.239555,0.969313,0.055196],[-0.010601,-0.054236,0.998472]]
2025-10-26T21:39:36.285Z,1761514776.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:36.745Z,1761514776.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:37.074Z,1761514777.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970964,-0.239196,-0.003681],[0.239033,0.969456,0.054936],[-0.009572,-0.054221,0.998483]]
2025-10-26T21:39:37.102Z,1761514777.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:37.478Z,1761514777.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970872,-0.239564,-0.004137],[0.239427,0.969369,0.054750],[-0.009106,-0.054146,0.998491]]
2025-10-26T21:39:37.534Z,1761514777.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:37.949Z,1761514777.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970768,-0.239973,-0.004676],[0.239864,0.969263,0.054725],[-0.008601,-0.054246,0.998491]]
2025-10-26T21:39:37.992Z,1761514777.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:38.310Z,1761514778.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970556,-0.240817,-0.005248],[0.240739,0.969050,0.054654],[-0.008076,-0.054308,0.998492]]
2025-10-26T21:39:38.328Z,1761514778.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:38.437Z,1761514778.437 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:39:38.721Z,1761514778.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970263,-0.241983,-0.005882],[0.241938,0.968756,0.054571],[-0.007507,-0.054371,0.998493]]
2025-10-26T21:39:38.789Z,1761514778.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:39.121Z,1761514779.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969852,-0.243608,-0.006455],[0.243593,0.968353,0.054361],[-0.006992,-0.054294,0.998501]]
2025-10-26T21:39:39.157Z,1761514779.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:39.440Z,1761514779.440 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:39:39.522Z,1761514779.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969407,-0.245357,-0.007013],[0.245371,0.967914,0.054179],[-0.006505,-0.054243,0.998507]]
2025-10-26T21:39:39.573Z,1761514779.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:39.979Z,1761514779.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:40.330Z,1761514780.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968514,-0.248829,-0.008049],[0.248894,0.967014,0.054185],[-0.005699,-0.054482,0.998498]]
2025-10-26T21:39:40.349Z,1761514780.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:40.746Z,1761514780.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968105,-0.250398,-0.008568],[0.250488,0.966592,0.054370],[-0.005332,-0.054782,0.998484]]
2025-10-26T21:39:40.807Z,1761514780.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:41.147Z,1761514781.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967569,-0.252445,-0.009033],[0.252557,0.966057,0.054310],[-0.004984,-0.054830,0.998483]]
2025-10-26T21:39:41.178Z,1761514781.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:41.599Z,1761514781.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:41.947Z,1761514781.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966629,-0.255982,-0.010029],[0.256144,0.965112,0.054306],[-0.004222,-0.055062,0.998474]]
2025-10-26T21:39:41.973Z,1761514781.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:42.387Z,1761514782.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:42.754Z,1761514782.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965771,-0.259173,-0.010763],[0.259371,0.964263,0.054060],[-0.003633,-0.055001,0.998480]]
2025-10-26T21:39:42.802Z,1761514782.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:43.164Z,1761514783.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965490,-0.260208,-0.010967],[0.260415,0.963985,0.053999],[-0.003478,-0.054991,0.998481]]
2025-10-26T21:39:43.196Z,1761514783.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:43.568Z,1761514783.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965383,-0.260592,-0.011312],[0.260818,0.963865,0.054205],[-0.003222,-0.055279,0.998466]]
2025-10-26T21:39:43.623Z,1761514783.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:43.982Z,1761514783.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965433,-0.260410,-0.011202],[0.260630,0.963917,0.054189],[-0.003314,-0.055235,0.998468]]
2025-10-26T21:39:44.008Z,1761514784.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:44.374Z,1761514784.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965641,-0.259657,-0.010784],[0.259856,0.964149,0.053767],[-0.003564,-0.054722,0.998495]]
2025-10-26T21:39:44.409Z,1761514784.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:44.780Z,1761514784.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965976,-0.258437,-0.010081],[0.258602,0.964524,0.053079],[-0.003994,-0.053880,0.998539]]
2025-10-26T21:39:44.833Z,1761514784.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:45.181Z,1761514785.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966477,-0.256574,-0.009556],[0.256717,0.965056,0.052568],[-0.004266,-0.053259,0.998572]]
2025-10-26T21:39:45.208Z,1761514785.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:45.582Z,1761514785.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967046,-0.254439,-0.009081],[0.254560,0.965640,0.052336],[-0.004547,-0.052923,0.998588]]
2025-10-26T21:39:45.648Z,1761514785.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:45.990Z,1761514785.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967595,-0.252365,-0.008511],[0.252461,0.966201,0.052156],[-0.004939,-0.052614,0.998603]]
2025-10-26T21:39:46.009Z,1761514786.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:46.392Z,1761514786.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968190,-0.250092,-0.007903],[0.250158,0.966794,0.052250],[-0.005427,-0.052565,0.998603]]
2025-10-26T21:39:46.411Z,1761514786.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:46.794Z,1761514786.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968777,-0.247817,-0.007567],[0.247865,0.967354,0.052813],[-0.005768,-0.053040,0.998576]]
2025-10-26T21:39:46.838Z,1761514786.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:47.198Z,1761514787.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969250,-0.245969,-0.007359],[0.246003,0.967779,0.053719],[-0.006091,-0.053877,0.998529]]
2025-10-26T21:39:47.238Z,1761514787.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:47.602Z,1761514787.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969582,-0.244665,-0.007109],[0.244685,0.968091,0.054115],[-0.006358,-0.054209,0.998509]]
2025-10-26T21:39:47.664Z,1761514787.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:48.012Z,1761514788.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969809,-0.243776,-0.006602],[0.243770,0.968316,0.054220],[-0.006824,-0.054192,0.998507]]
2025-10-26T21:39:48.033Z,1761514788.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:48.410Z,1761514788.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970019,-0.242957,-0.005901],[0.242913,0.968524,0.054354],[-0.007490,-0.054158,0.998504]]
2025-10-26T21:39:48.435Z,1761514788.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:48.814Z,1761514788.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970193,-0.242277,-0.005240],[0.242198,0.968698,0.054445],[-0.008115,-0.054092,0.998503]]
2025-10-26T21:39:48.858Z,1761514788.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:49.218Z,1761514789.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970315,-0.241802,-0.004525],[0.241684,0.968819,0.054585],[-0.008815,-0.054059,0.998499]]
2025-10-26T21:39:49.263Z,1761514789.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:49.636Z,1761514789.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970322,-0.241785,-0.003942],[0.241634,0.968827,0.054648],[-0.009394,-0.053978,0.998498]]
2025-10-26T21:39:49.686Z,1761514789.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:50.040Z,1761514790.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970342,-0.241712,-0.003378],[0.241528,0.968836,0.054963],[-0.010013,-0.054149,0.998483]]
2025-10-26T21:39:50.063Z,1761514790.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:50.430Z,1761514790.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970209,-0.242252,-0.002857],[0.242037,0.968696,0.055195],[-0.010604,-0.054242,0.998471]]
2025-10-26T21:39:50.459Z,1761514790.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:50.834Z,1761514790.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969927,-0.243387,-0.002287],[0.243138,0.968414,0.055296],[-0.011243,-0.054189,0.998467]]
2025-10-26T21:39:50.881Z,1761514790.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:51.239Z,1761514791.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969659,-0.244454,-0.002042],[0.244188,0.968139,0.055500],[-0.011590,-0.054314,0.998457]]
2025-10-26T21:39:51.258Z,1761514791.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:51.646Z,1761514791.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969221,-0.246186,-0.001988],[0.245914,0.967704,0.055449],[-0.011727,-0.054231,0.998460]]
2025-10-26T21:39:51.683Z,1761514791.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:52.080Z,1761514792.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968860,-0.247603,-0.001947],[0.247324,0.967329,0.055721],[-0.011914,-0.054467,0.998444]]
2025-10-26T21:39:52.098Z,1761514792.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:52.480Z,1761514792.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968358,-0.249557,-0.002151],[0.249286,0.966823,0.055768],[-0.011838,-0.054539,0.998441]]
2025-10-26T21:39:52.499Z,1761514792.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:52.882Z,1761514792.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967804,-0.251694,-0.002363],[0.251429,0.966263,0.055845],[-0.011773,-0.054641,0.998437]]
2025-10-26T21:39:52.924Z,1761514792.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:53.286Z,1761514793.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967220,-0.253924,-0.002747],[0.253677,0.965675,0.055853],[-0.011530,-0.054719,0.998435]]
2025-10-26T21:39:53.323Z,1761514793.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:53.690Z,1761514793.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966683,-0.255956,-0.003202],[0.255729,0.965129,0.055926],[-0.011224,-0.054882,0.998430]]
2025-10-26T21:39:53.758Z,1761514793.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:54.106Z,1761514794.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966187,-0.257816,-0.003611],[0.257609,0.964624,0.056027],[-0.010961,-0.055063,0.998423]]
2025-10-26T21:39:54.134Z,1761514794.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:54.498Z,1761514794.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965617,-0.259936,-0.004198],[0.259759,0.964058,0.055834],[-0.010466,-0.055004,0.998431]]
2025-10-26T21:39:54.529Z,1761514794.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:54.902Z,1761514794.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965195,-0.261486,-0.004907],[0.261346,0.963631,0.055798],[-0.009862,-0.055138,0.998430]]
2025-10-26T21:39:54.949Z,1761514794.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:55.306Z,1761514795.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964742,-0.263139,-0.005499],[0.263031,0.963185,0.055583],[-0.009329,-0.055070,0.998439]]
2025-10-26T21:39:55.324Z,1761514795.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:55.745Z,1761514795.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964420,-0.264301,-0.006220],[0.264232,0.962861,0.055497],[-0.008679,-0.055166,0.998439]]
2025-10-26T21:39:55.792Z,1761514795.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:56.123Z,1761514796.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964269,-0.264832,-0.007052],[0.264808,0.962703,0.055500],[-0.007909,-0.055385,0.998434]]
2025-10-26T21:39:56.147Z,1761514796.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:56.519Z,1761514796.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964164,-0.265192,-0.007813],[0.265211,0.962597,0.055404],[-0.007172,-0.055490,0.998434]]
2025-10-26T21:39:56.536Z,1761514796.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:56.922Z,1761514796.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964183,-0.265097,-0.008628],[0.265163,0.962628,0.055107],[-0.006304,-0.055421,0.998443]]
2025-10-26T21:39:56.982Z,1761514796.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:57.328Z,1761514797.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964309,-0.264611,-0.009474],[0.264730,0.962811,0.053972],[-0.005160,-0.054554,0.998497]]
2025-10-26T21:39:57.346Z,1761514797.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:57.734Z,1761514797.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964641,-0.263377,-0.010005],[0.263531,0.963190,0.053075],[-0.004342,-0.053835,0.998540]]
2025-10-26T21:39:57.781Z,1761514797.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:58.136Z,1761514798.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964995,-0.262045,-0.010790],[0.262247,0.963590,0.052164],[-0.003272,-0.053168,0.998580]]
2025-10-26T21:39:58.170Z,1761514798.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:58.538Z,1761514798.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965426,-0.260424,-0.011521],[0.260668,0.964051,0.051561],[-0.002321,-0.052781,0.998603]]
2025-10-26T21:39:58.557Z,1761514798.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:58.943Z,1761514798.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965961,-0.258407,-0.012042],[0.258682,0.964596,0.051372],[-0.001659,-0.052738,0.998607]]
2025-10-26T21:39:58.980Z,1761514798.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:59.347Z,1761514799.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966510,-0.256315,-0.012713],[0.256628,0.965157,0.051120],[-0.000832,-0.052670,0.998612]]
2025-10-26T21:39:59.376Z,1761514799.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:39:59.750Z,1761514799.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967127,-0.253950,-0.013245],[0.254296,0.965783,0.050963],[-0.000150,-0.052656,0.998613]]
2025-10-26T21:39:59.801Z,1761514799.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:40:00.199Z,1761514800.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:40:00.560Z,1761514800.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968101,-0.250141,-0.014454],[0.250555,0.966788,0.050437],[0.001358,-0.052450,0.998623]]
2025-10-26T21:40:00.578Z,1761514800.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:40:00.962Z,1761514800.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968477,-0.248642,-0.015147],[0.249096,0.967128,0.051135],[0.001935,-0.053296,0.998577]]
2025-10-26T21:40:00.996Z,1761514800.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:40:01.366Z,1761514801.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968752,-0.247522,-0.015859],[0.248017,0.967382,0.051570],[0.002577,-0.053892,0.998543]]
2025-10-26T21:40:01.401Z,1761514801.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:40:01.403Z,1761514801.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:40:01.601Z,1761514801.601 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:40:01.602Z,1761514801.602 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:40:01.775Z,1761514801.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968916,-0.246837,-0.016516],[0.247367,0.967545,0.051634],[0.003234,-0.054115,0.998529]]
2025-10-26T21:40:01.828Z,1761514801.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:40:01.861Z,1761514801.861 [DAT](INFO): DAT read: user:342>

2025-10-26T21:40:01.862Z,1761514801.862 [DAT](INFO): DAT read: Tx time:21:40:00.9419

2025-10-26T21:40:01.863Z,1761514801.863 [DAT](INFO): Ping request sent.
2025-10-26T21:40:01.863Z,1761514801.863 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:40:01.863Z,1761514801.863 [DAT](INFO): publishing transmit ping time
2025-10-26T21:40:01.864Z,1761514801.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001178
2025-10-26T21:40:02.113Z,1761514802.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250316
2025-10-26T21:40:02.175Z,1761514802.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969081,-0.246149,-0.017131],[0.246715,0.967708,0.051707],[0.003850,-0.054335,0.998515]]
2025-10-26T21:40:02.200Z,1761514802.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:40:02.364Z,1761514802.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501386
2025-10-26T21:40:02.578Z,1761514802.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969094,-0.246053,-0.017713],[0.246650,0.967736,0.051497],[0.004471,-0.054275,0.998516]]
2025-10-26T21:40:02.617Z,1761514802.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753846
2025-10-26T21:40:02.624Z,1761514802.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:40:02.868Z,1761514802.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005510
2025-10-26T21:40:02.996Z,1761514802.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969103,-0.245994,-0.018090],[0.246610,0.967749,0.051439],[0.004853,-0.054311,0.998512]]
2025-10-26T21:40:03.046Z,1761514803.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:40:03.047Z,1761514803.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 37.50 m and bearing: 171.146502 deg. Not drifting fast enough.
2025-10-26T21:40:03.121Z,1761514803.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258061
2025-10-26T21:40:03.372Z,1761514803.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509467
2025-10-26T21:40:03.398Z,1761514803.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969062,-0.246127,-0.018452],[0.246763,0.967710,0.051427],[0.005199,-0.054389,0.998506]]
2025-10-26T21:40:03.432Z,1761514803.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:40:03.434Z,1761514803.434 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-10-26T21:40:03.434Z,1761514803.434 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-26T21:40:03.434Z,1761514803.434 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-10-26T21:40:03.434Z,1761514803.434 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-10-26T21:40:03.624Z,1761514803.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761442
2025-10-26T21:40:03.860Z,1761514803.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:40:03.879Z,1761514803.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015916
2025-10-26T21:40:04.129Z,1761514804.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265814
2025-10-26T21:40:04.207Z,1761514804.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968569,-0.248012,-0.019090],[0.248678,0.967239,0.051063],[0.005800,-0.054205,0.998513]]
2025-10-26T21:40:04.225Z,1761514804.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:40:04.385Z,1761514804.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521039
2025-10-26T21:40:04.619Z,1761514804.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968264,-0.249187,-0.019243],[0.249860,0.966933,0.051093],[0.005875,-0.054280,0.998508]]
2025-10-26T21:40:04.632Z,1761514804.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769535
2025-10-26T21:40:04.646Z,1761514804.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:40:04.885Z,1761514804.885 [DAT](INFO): DAT read: Rx Time:21:40:03.4006

2025-10-26T21:40:04.885Z,1761514804.885 [DAT](INFO): Rx dataTimestamp_ set to:1761514804.884844
2025-10-26T21:40:04.886Z,1761514804.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022792
2025-10-26T21:40:05.072Z,1761514805.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-10-26T21:40:05.137Z,1761514805.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274209
2025-10-26T21:40:05.393Z,1761514805.393 [DAT](INFO): DAT read: 21:40:03.4006 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 475, 0.04, 2.756,-2.247, 1.986, 2.940, PHS=-0.081, 1.142,-0.998, RAW= 355.3,  -0.7, CAL= 354.9,  -3.6, ROT= 155.1,   3.6

2025-10-26T21:40:05.395Z,1761514805.395 [DAT](INFO): got valid direction response:
 21:40:03.4006 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 475, 0.04, 2.756,-2.247, 1.986, 2.940, PHS=-0.081, 1.142,-0.998, RAW= 355.3,  -0.7, CAL= 354.9,  -3.6, ROT= 155.1,   3.6

2025-10-26T21:40:05.396Z,1761514805.396 [DAT](INFO): DAT read: Bearing 349.9,  24.7 (Local)

2025-10-26T21:40:05.396Z,1761514805.396 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.9,  24.7 (Local)

2025-10-26T21:40:05.397Z,1761514805.397 [DAT](INFO): DAT read: Range 11 to 50 : 40.8 m  (Round-trip  54.5 ms) speed  0.0 m/s

2025-10-26T21:40:05.398Z,1761514805.398 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:40:05.399Z,1761514805.399 [DAT](INFO): direction in FSK: [-0.905254,0.420205,-0.062791]
2025-10-26T21:40:05.399Z,1761514805.399 [DAT](INFO): publishing direction and range info
2025-10-26T21:40:05.443Z,1761514805.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967398,-0.252515,-0.019401],[0.253193,0.966061,0.051185],[0.005817,-0.054429,0.998501]]
2025-10-26T21:40:05.498Z,1761514805.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.799999 m,
      deltaT: 60.287897 s,
      deltaX: 3.299999 m,
      approachRate: 0.054737 m/s,
      rangeRepo size: 4

2025-10-26T21:40:05.505Z,1761514805.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.546028 m,
      bearing: 169.965201 deg,
      lat: 36.779415 deg,
      lon: -121.859485 deg,
      deltaT: 60.287897 s,
      deltaX: 3.279617 m,
      approachRate: 0.054399 m/s,
      posRepo size: 4

2025-10-26T21:40:05.505Z,1761514805.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:05.882Z,1761514805.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966890,-0.254442,-0.019555],[0.255126,0.965549,0.051239],[0.005844,-0.054532,0.998495]]
2025-10-26T21:40:05.919Z,1761514805.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:06.282Z,1761514806.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966325,-0.256579,-0.019554],[0.257260,0.964979,0.051303],[0.005706,-0.054606,0.998492]]
2025-10-26T21:40:06.314Z,1761514806.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:06.686Z,1761514806.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965788,-0.258607,-0.019373],[0.259276,0.964427,0.051548],[0.005353,-0.054807,0.998483]]
2025-10-26T21:40:06.709Z,1761514806.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:07.109Z,1761514807.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965185,-0.260860,-0.019231],[0.261519,0.963817,0.051617],[0.005070,-0.054849,0.998482]]
2025-10-26T21:40:07.153Z,1761514807.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:07.495Z,1761514807.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964637,-0.262901,-0.018904],[0.263541,0.963248,0.051957],[0.004550,-0.055101,0.998470]]
2025-10-26T21:40:07.513Z,1761514807.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:07.898Z,1761514807.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963978,-0.265351,-0.018290],[0.265966,0.962368,0.055773],[0.002802,-0.058629,0.998276]]
2025-10-26T21:40:07.945Z,1761514807.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:08.302Z,1761514808.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963594,-0.266643,-0.019709],[0.267370,0.961093,0.069384],[0.000442,-0.072128,0.997395]]
2025-10-26T21:40:08.320Z,1761514808.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:08.714Z,1761514808.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963578,-0.266463,-0.022697],[0.267426,0.959767,0.085616],[-0.001030,-0.088568,0.996070]]
2025-10-26T21:40:08.738Z,1761514808.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:09.181Z,1761514809.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963774,-0.265614,-0.024272],[0.266714,0.959110,0.094714],[-0.001878,-0.097757,0.995209]]
2025-10-26T21:40:09.250Z,1761514809.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:09.560Z,1761514809.560 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:40:09.647Z,1761514809.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964050,-0.264900,-0.020862],[0.265711,0.960380,0.084065],[-0.002233,-0.086586,0.996242]]
2025-10-26T21:40:09.665Z,1761514809.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:10.060Z,1761514810.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964465,-0.263539,-0.018837],[0.264204,0.961442,0.076323],[-0.002003,-0.078588,0.996905]]
2025-10-26T21:40:10.132Z,1761514810.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:10.450Z,1761514810.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965094,-0.261226,-0.018828],[0.261900,0.962193,0.074788],[-0.001420,-0.077108,0.997022]]
2025-10-26T21:40:10.486Z,1761514810.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:10.564Z,1761514810.564 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:40:10.879Z,1761514810.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966041,-0.257581,-0.020421],[0.258388,0.962749,0.079691],[-0.000866,-0.082261,0.996610]]
2025-10-26T21:40:10.960Z,1761514810.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:11.261Z,1761514811.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967234,-0.252863,-0.022762],[0.253886,0.963326,0.086861],[-0.000037,-0.089793,0.995960]]
2025-10-26T21:40:11.278Z,1761514811.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:11.702Z,1761514811.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968648,-0.247189,-0.024872],[0.248434,0.964243,0.092281],[0.001171,-0.095567,0.995422]]
2025-10-26T21:40:11.773Z,1761514811.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:12.163Z,1761514812.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:12.524Z,1761514812.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971855,-0.234003,-0.027202],[0.235544,0.967195,0.095143],[0.004046,-0.098872,0.995092]]
2025-10-26T21:40:12.577Z,1761514812.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:12.981Z,1761514812.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973548,-0.226708,-0.028440],[0.228410,0.968844,0.095763],[0.005844,-0.099725,0.994998]]
2025-10-26T21:40:13.037Z,1761514813.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:13.388Z,1761514813.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975259,-0.218955,-0.030482],[0.220916,0.970368,0.097883],[0.008147,-0.102195,0.994731]]
2025-10-26T21:40:13.411Z,1761514813.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:13.782Z,1761514813.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976995,-0.210676,-0.033103],[0.212994,0.971713,0.102017],[0.010674,-0.106721,0.994232]]
2025-10-26T21:40:13.804Z,1761514813.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:14.188Z,1761514814.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978748,-0.201911,-0.035822],[0.204640,0.972938,0.107307],[0.013186,-0.112357,0.993580]]
2025-10-26T21:40:14.250Z,1761514814.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:14.604Z,1761514814.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980484,-0.192789,-0.038505],[0.195958,0.974147,0.112421],[0.015836,-0.117773,0.992914]]
2025-10-26T21:40:14.622Z,1761514814.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:14.994Z,1761514814.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982093,-0.183868,-0.041059],[0.187481,0.975289,0.116890],[0.018552,-0.122494,0.992296]]
2025-10-26T21:40:15.042Z,1761514815.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:15.398Z,1761514815.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983738,-0.174193,-0.043770],[0.178318,0.976380,0.122005],[0.021484,-0.127826,0.991564]]
2025-10-26T21:40:15.417Z,1761514815.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:15.802Z,1761514815.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985288,-0.164520,-0.046270],[0.169157,0.977400,0.126789],[0.024365,-0.132751,0.990850]]
2025-10-26T21:40:15.823Z,1761514815.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:16.207Z,1761514816.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986738,-0.154833,-0.048737],[0.160014,0.978280,0.131770],[0.027276,-0.137821,0.990082]]
2025-10-26T21:40:16.248Z,1761514816.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:16.610Z,1761514816.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988069,-0.145263,-0.051166],[0.151026,0.978976,0.137101],[0.030174,-0.143193,0.989235]]
2025-10-26T21:40:16.635Z,1761514816.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:17.017Z,1761514817.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989385,-0.135059,-0.053638],[0.141525,0.979311,0.144641],[0.032993,-0.150697,0.988029]]
2025-10-26T21:40:17.060Z,1761514817.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:17.418Z,1761514817.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990663,-0.124206,-0.056213],[0.131458,0.979539,0.152386],[0.036136,-0.158353,0.986721]]
2025-10-26T21:40:17.436Z,1761514817.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:17.824Z,1761514817.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991814,-0.113415,-0.058674],[0.121427,0.979858,0.158534],[0.039512,-0.164361,0.985609]]
2025-10-26T21:40:17.842Z,1761514817.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:18.226Z,1761514818.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992886,-0.102455,-0.060672],[0.111141,0.980271,0.163450],[0.042728,-0.169030,0.984684]]
2025-10-26T21:40:18.280Z,1761514818.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:18.630Z,1761514818.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993878,-0.091220,-0.062332],[0.100484,0.980862,0.166772],[0.045927,-0.172015,0.984023]]
2025-10-26T21:40:18.648Z,1761514818.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:19.055Z,1761514819.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994674,-0.080676,-0.064150],[0.090518,0.981398,0.169304],[0.049298,-0.174209,0.983474]]
2025-10-26T21:40:19.122Z,1761514819.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:19.440Z,1761514819.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995425,-0.068950,-0.066150],[0.079573,0.981451,0.174419],[0.052897,-0.178885,0.982447]]
2025-10-26T21:40:19.458Z,1761514819.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:19.842Z,1761514819.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996105,-0.055987,-0.068118],[0.067568,0.981020,0.181755],[0.056650,-0.185649,0.980982]]
2025-10-26T21:40:19.873Z,1761514819.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:20.308Z,1761514820.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:20.696Z,1761514820.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:21.080Z,1761514821.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997211,-0.016380,-0.072811],[0.030637,0.979469,0.199255],[0.068052,-0.200930,0.977239]]
2025-10-26T21:40:21.134Z,1761514821.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:21.458Z,1761514821.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997235,-0.002772,-0.074256],[0.017999,0.978554,0.205201],[0.072095,-0.205970,0.975899]]
2025-10-26T21:40:21.490Z,1761514821.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:21.862Z,1761514821.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997082,0.011161,-0.075517],[0.005171,0.977108,0.212682],[0.076162,-0.212452,0.974199]]
2025-10-26T21:40:21.905Z,1761514821.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:22.333Z,1761514822.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:22.672Z,1761514822.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996222,0.040197,-0.076978],[-0.021917,0.974106,0.225026],[0.084030,-0.222489,0.971307]]
2025-10-26T21:40:22.690Z,1761514822.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:23.105Z,1761514823.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995516,0.054104,-0.077586],[-0.035092,0.972976,0.228224],[0.087838,-0.224478,0.970512]]
2025-10-26T21:40:23.165Z,1761514823.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:23.478Z,1761514823.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994625,0.067905,-0.078171],[-0.048201,0.971789,0.230873],[0.091643,-0.225864,0.969839]]
2025-10-26T21:40:23.519Z,1761514823.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:23.883Z,1761514823.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993538,0.081741,-0.078740],[-0.061248,0.970214,0.234378],[0.095553,-0.228041,0.968952]]
2025-10-26T21:40:23.901Z,1761514823.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:24.287Z,1761514824.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992250,0.095960,-0.078943],[-0.074705,0.968358,0.238121],[0.099295,-0.230378,0.968022]]
2025-10-26T21:40:24.352Z,1761514824.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:24.690Z,1761514824.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990788,0.109883,-0.079146],[-0.087953,0.966560,0.240886],[0.102969,-0.231706,0.967321]]
2025-10-26T21:40:24.737Z,1761514824.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:25.145Z,1761514825.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989183,0.123407,-0.079296],[-0.100861,0.964721,0.243187],[0.106510,-0.232559,0.966733]]
2025-10-26T21:40:25.181Z,1761514825.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:25.513Z,1761514825.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987452,0.136513,-0.079393],[-0.113390,0.962811,0.245229],[0.109917,-0.233150,0.966209]]
2025-10-26T21:40:25.531Z,1761514825.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:25.915Z,1761514825.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985655,0.148497,-0.080202],[-0.124848,0.961309,0.245556],[0.113563,-0.232020,0.966059]]
2025-10-26T21:40:25.942Z,1761514825.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:26.376Z,1761514826.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983865,0.159336,-0.081373],[-0.135270,0.960154,0.244552],[0.117097,-0.229599,0.966216]]
2025-10-26T21:40:26.427Z,1761514826.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:26.778Z,1761514826.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982147,0.168668,-0.083291],[-0.144190,0.959372,0.242518],[0.120812,-0.226179,0.966565]]
2025-10-26T21:40:26.797Z,1761514826.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:27.183Z,1761514827.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980443,0.177255,-0.085515],[-0.152475,0.958874,0.239398],[0.124433,-0.221677,0.967148]]
2025-10-26T21:40:27.228Z,1761514827.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:27.592Z,1761514827.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978920,0.184491,-0.087630],[-0.159335,0.958237,0.237474],[0.127782,-0.218506,0.967433]]
2025-10-26T21:40:27.623Z,1761514827.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:27.990Z,1761514827.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977667,0.189931,-0.089966],[-0.164513,0.958029,0.234767],[0.130780,-0.214724,0.967879]]
2025-10-26T21:40:28.034Z,1761514828.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:28.397Z,1761514828.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976515,0.194581,-0.092501],[-0.169091,0.958236,0.230636],[0.133515,-0.209578,0.968633]]
2025-10-26T21:40:28.452Z,1761514828.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:28.800Z,1761514828.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975636,0.197316,-0.095921],[-0.171785,0.958992,0.225442],[0.136471,-0.203472,0.969523]]
2025-10-26T21:40:28.822Z,1761514828.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:29.202Z,1761514829.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975013,0.198769,-0.099197],[-0.173237,0.959859,0.220588],[0.139061,-0.197892,0.970310]]
2025-10-26T21:40:29.252Z,1761514829.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:29.614Z,1761514829.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974045,0.200092,-0.105823],[-0.174871,0.962050,0.209473],[0.143721,-0.185531,0.972071]]
2025-10-26T21:40:29.644Z,1761514829.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:30.016Z,1761514830.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973836,0.199310,-0.109175],[-0.174428,0.963500,0.203081],[0.145666,-0.178725,0.973056]]
2025-10-26T21:40:30.034Z,1761514830.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:30.480Z,1761514830.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:30.823Z,1761514830.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973749,0.196269,-0.115289],[-0.171712,0.965861,0.193979],[0.149425,-0.169090,0.974208]]
2025-10-26T21:40:30.846Z,1761514830.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:31.227Z,1761514831.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973673,0.195234,-0.117665],[-0.170596,0.966468,0.191930],[0.151191,-0.166804,0.974329]]
2025-10-26T21:40:31.271Z,1761514831.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:31.628Z,1761514831.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973711,0.193269,-0.120556],[-0.168700,0.967484,0.188455],[0.153059,-0.163163,0.974654]]
2025-10-26T21:40:31.652Z,1761514831.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:32.033Z,1761514832.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973748,0.191250,-0.123447],[-0.166639,0.968358,0.185783],[0.155072,-0.160334,0.974805]]
2025-10-26T21:40:32.067Z,1761514832.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:32.434Z,1761514832.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973761,0.189408,-0.126149],[-0.164800,0.969187,0.183079],[0.156939,-0.157486,0.974971]]
2025-10-26T21:40:32.478Z,1761514832.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:32.838Z,1761514832.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973792,0.187403,-0.128877],[-0.162742,0.969967,0.180775],[0.158885,-0.155064,0.975044]]
2025-10-26T21:40:32.876Z,1761514832.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:33.253Z,1761514833.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973674,0.186695,-0.130782],[-0.161722,0.970122,0.180858],[0.160640,-0.154946,0.974775]]
2025-10-26T21:40:33.296Z,1761514833.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:33.649Z,1761514833.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973596,0.185668,-0.132813],[-0.160393,0.970361,0.180758],[0.162437,-0.154682,0.974519]]
2025-10-26T21:40:33.669Z,1761514833.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:34.060Z,1761514834.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973417,0.185579,-0.134239],[-0.159686,0.970039,0.183095],[0.164196,-0.156792,0.973887]]
2025-10-26T21:40:34.086Z,1761514834.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:34.454Z,1761514834.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973081,0.186285,-0.135686],[-0.159714,0.969540,0.185699],[0.166146,-0.159029,0.973193]]
2025-10-26T21:40:34.497Z,1761514834.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:34.858Z,1761514834.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972701,0.187103,-0.137279],[-0.159782,0.968984,0.188518],[0.168293,-0.161437,0.972428]]
2025-10-26T21:40:34.876Z,1761514834.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:35.336Z,1761514835.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:35.673Z,1761514835.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971998,0.188782,-0.139933],[-0.159780,0.967597,0.195517],[0.172308,-0.167684,0.970666]]
2025-10-26T21:40:35.697Z,1761514835.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:36.077Z,1761514836.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971663,0.189915,-0.140722],[-0.159903,0.966583,0.200371],[0.174073,-0.172191,0.969561]]
2025-10-26T21:40:36.105Z,1761514836.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:36.474Z,1761514836.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971267,0.191060,-0.141902],[-0.160226,0.965827,0.203728],[0.175977,-0.175138,0.968689]]
2025-10-26T21:40:36.525Z,1761514836.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:36.952Z,1761514836.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970897,0.192063,-0.143078],[-0.160614,0.965302,0.205899],[0.177660,-0.176927,0.968057]]
2025-10-26T21:40:36.986Z,1761514836.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:37.354Z,1761514837.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970610,0.192058,-0.145020],[-0.160417,0.965520,0.205031],[0.179397,-0.175742,0.967952]]
2025-10-26T21:40:37.417Z,1761514837.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:37.836Z,1761514837.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970324,0.192034,-0.146951],[-0.160326,0.965854,0.203525],[0.181017,-0.173925,0.967979]]
2025-10-26T21:40:37.870Z,1761514837.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:38.253Z,1761514838.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970018,0.191753,-0.149319],[-0.160044,0.966366,0.201302],[0.182897,-0.171369,0.968081]]
2025-10-26T21:40:38.325Z,1761514838.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:38.645Z,1761514838.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969805,0.191603,-0.150887],[-0.159771,0.966579,0.200496],[0.184260,-0.170335,0.968005]]
2025-10-26T21:40:38.683Z,1761514838.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:39.057Z,1761514839.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969604,0.191705,-0.152045],[-0.159693,0.966617,0.200376],[0.185383,-0.170005,0.967849]]
2025-10-26T21:40:39.081Z,1761514839.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:39.450Z,1761514839.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969438,0.191502,-0.153353],[-0.159620,0.967012,0.198519],[0.186311,-0.167973,0.968025]]
2025-10-26T21:40:39.498Z,1761514839.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:39.854Z,1761514839.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969359,0.190972,-0.154506],[-0.159168,0.967379,0.197089],[0.187104,-0.166457,0.968134]]
2025-10-26T21:40:39.872Z,1761514839.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:40.264Z,1761514840.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969311,0.190616,-0.155249],[-0.158808,0.967567,0.196454],[0.187661,-0.165770,0.968144]]
2025-10-26T21:40:40.341Z,1761514840.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:40.662Z,1761514840.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969277,0.190567,-0.155518],[-0.158789,0.967649,0.196063],[0.187850,-0.165345,0.968180]]
2025-10-26T21:40:40.684Z,1761514840.684 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:40:40.713Z,1761514840.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:41.071Z,1761514841.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969229,0.190821,-0.155505],[-0.158920,0.967497,0.196710],[0.187987,-0.165944,0.968051]]
2025-10-26T21:40:41.090Z,1761514841.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:41.476Z,1761514841.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969254,0.190412,-0.155854],[-0.158758,0.967843,0.195132],[0.187997,-0.164389,0.968315]]
2025-10-26T21:40:41.534Z,1761514841.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:41.688Z,1761514841.688 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:40:41.870Z,1761514841.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969361,0.189953,-0.155746],[-0.158404,0.967990,0.194686],[0.187742,-0.164050,0.968422]]
2025-10-26T21:40:41.894Z,1761514841.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:42.274Z,1761514842.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969461,0.189064,-0.156205],[-0.157665,0.968344,0.193524],[0.187848,-0.162986,0.968581]]
2025-10-26T21:40:42.364Z,1761514842.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:42.678Z,1761514842.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969789,0.186538,-0.157204],[-0.155510,0.969240,0.190762],[0.187952,-0.160552,0.968967]]
2025-10-26T21:40:42.748Z,1761514842.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:43.084Z,1761514843.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970033,0.185042,-0.157469],[-0.154086,0.969585,0.190164],[0.187868,-0.160202,0.969041]]
2025-10-26T21:40:43.101Z,1761514843.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:43.487Z,1761514843.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970372,0.181966,-0.158953],[-0.151499,0.970724,0.186396],[0.188217,-0.156792,0.969531]]
2025-10-26T21:40:43.555Z,1761514843.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:43.890Z,1761514843.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970729,0.179767,-0.159278],[-0.149498,0.971282,0.185101],[0.187978,-0.155871,0.969726]]
2025-10-26T21:40:43.924Z,1761514843.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:44.294Z,1761514844.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971009,0.177851,-0.159718],[-0.147639,0.971693,0.184435],[0.187999,-0.155508,0.969780]]
2025-10-26T21:40:44.368Z,1761514844.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:44.707Z,1761514844.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971317,0.175992,-0.159906],[-0.146281,0.972417,0.181680],[0.187469,-0.153078,0.970269]]
2025-10-26T21:40:44.766Z,1761514844.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:45.102Z,1761514845.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971459,0.174440,-0.160742],[-0.145635,0.973503,0.176300],[0.187236,-0.147858,0.971123]]
2025-10-26T21:40:45.127Z,1761514845.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:45.507Z,1761514845.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971490,0.173756,-0.161293],[-0.145280,0.973942,0.174158],[0.187351,-0.145760,0.971418]]
2025-10-26T21:40:45.585Z,1761514845.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:45.910Z,1761514845.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971287,0.174483,-0.161730],[-0.145534,0.973524,0.176269],[0.188204,-0.147670,0.970965]]
2025-10-26T21:40:45.928Z,1761514845.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:46.316Z,1761514846.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970953,0.176070,-0.162020],[-0.146196,0.972591,0.180812],[0.189414,-0.151874,0.970081]]
2025-10-26T21:40:46.334Z,1761514846.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:46.797Z,1761514846.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:47.122Z,1761514847.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969822,0.179984,-0.164471],[-0.148392,0.970981,0.187549],[0.193454,-0.157483,0.968388]]
2025-10-26T21:40:47.158Z,1761514847.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:47.580Z,1761514847.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969024,0.181967,-0.166977],[-0.149477,0.970341,0.189986],[0.196596,-0.159142,0.967483]]
2025-10-26T21:40:47.645Z,1761514847.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:48.019Z,1761514848.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:48.484Z,1761514848.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965615,0.192779,-0.174424],[-0.155597,0.966037,0.206307],[0.208272,-0.172074,0.962815]]
2025-10-26T21:40:48.570Z,1761514848.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:48.886Z,1761514848.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964326,0.196928,-0.176904],[-0.158348,0.964648,0.210665],[0.212135,-0.175137,0.961419]]
2025-10-26T21:40:48.906Z,1761514848.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:49.292Z,1761514849.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963034,0.201025,-0.179315],[-0.161551,0.963668,0.212711],[0.215561,-0.175879,0.960521]]
2025-10-26T21:40:49.319Z,1761514849.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:49.695Z,1761514849.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961872,0.205219,-0.180797],[-0.164781,0.962438,0.215781],[0.218288,-0.177762,0.959558]]
2025-10-26T21:40:49.763Z,1761514849.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:50.098Z,1761514850.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960863,0.210010,-0.180660],[-0.168321,0.960554,0.221368],[0.220024,-0.182296,0.958310]]
2025-10-26T21:40:50.131Z,1761514850.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:50.502Z,1761514850.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959831,0.214503,-0.180870],[-0.171950,0.959083,0.224930],[0.221717,-0.184795,0.957441]]
2025-10-26T21:40:50.554Z,1761514850.554 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  69.94,  55.94,  53.99
2025-10-26T21:40:50.603Z,1761514850.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:51.165Z,1761514851.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:51.596Z,1761514851.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:51.904Z,1761514851.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957465,0.224779,-0.180929],[-0.181130,0.956298,0.229536],[0.224616,-0.187001,0.956336]]
2025-10-26T21:40:51.922Z,1761514851.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:52.309Z,1761514852.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956908,0.226978,-0.181128],[-0.183740,0.956259,0.227613],[0.224868,-0.184524,0.956758]]
2025-10-26T21:40:52.332Z,1761514852.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:52.721Z,1761514852.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956312,0.229688,-0.180859],[-0.186626,0.955828,0.227078],[0.225027,-0.183404,0.956936]]
2025-10-26T21:40:52.762Z,1761514852.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:53.114Z,1761514853.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955692,0.231903,-0.181312],[-0.189198,0.955768,0.225194],[0.225515,-0.180913,0.957295]]
2025-10-26T21:40:53.148Z,1761514853.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:53.577Z,1761514853.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955222,0.233114,-0.182232],[-0.190861,0.956056,0.222549],[0.226104,-0.177803,0.957739]]
2025-10-26T21:40:53.642Z,1761514853.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:54.091Z,1761514854.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954271,0.237388,-0.181698],[-0.194576,0.954651,0.225346],[0.226953,-0.179687,0.957186]]
2025-10-26T21:40:54.109Z,1761514854.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:54.508Z,1761514854.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953840,0.239077,-0.181747],[-0.196697,0.954653,0.223489],[0.226936,-0.177424,0.957612]]
2025-10-26T21:40:54.599Z,1761514854.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:55.049Z,1761514855.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953364,0.240564,-0.182279],[-0.198776,0.954898,0.220588],[0.227123,-0.174068,0.958183]]
2025-10-26T21:40:55.104Z,1761514855.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:55.441Z,1761514855.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952842,0.241713,-0.183486],[-0.200803,0.955526,0.215981],[0.227531,-0.168951,0.959002]]
2025-10-26T21:40:55.459Z,1761514855.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:55.846Z,1761514855.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952358,0.242111,-0.185460],[-0.202117,0.956430,0.210689],[0.228390,-0.163166,0.959799]]
2025-10-26T21:40:55.905Z,1761514855.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:56.254Z,1761514856.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952124,0.242589,-0.186038],[-0.202593,0.956417,0.210292],[0.228945,-0.162534,0.959774]]
2025-10-26T21:40:56.276Z,1761514856.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:56.650Z,1761514856.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952070,0.242350,-0.186624],[-0.202352,0.956558,0.209880],[0.229381,-0.162056,0.959751]]
2025-10-26T21:40:56.693Z,1761514856.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:57.131Z,1761514857.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952144,0.242666,-0.185838],[-0.201962,0.955861,0.213403],[0.229421,-0.165658,0.959126]]
2025-10-26T21:40:57.168Z,1761514857.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:57.575Z,1761514857.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952396,0.242180,-0.185178],[-0.200939,0.955465,0.216124],[0.229272,-0.168626,0.958645]]
2025-10-26T21:40:57.655Z,1761514857.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:58.104Z,1761514858.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953017,0.237756,-0.187697],[-0.197231,0.957331,0.211229],[0.229909,-0.164285,0.959246]]
2025-10-26T21:40:58.124Z,1761514858.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:58.507Z,1761514858.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953333,0.233347,-0.191588],[-0.194539,0.960025,0.201260],[0.230893,-0.154597,0.960619]]
2025-10-26T21:40:58.539Z,1761514858.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:58.910Z,1761514858.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953582,0.228226,-0.196455],[-0.191662,0.963166,0.188616],[0.232266,-0.142208,0.962200]]
2025-10-26T21:40:58.954Z,1761514858.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:59.314Z,1761514859.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954025,0.223114,-0.200141],[-0.187730,0.965346,0.181286],[0.233653,-0.135378,0.962849]]
2025-10-26T21:40:59.356Z,1761514859.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:40:59.730Z,1761514859.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954445,0.219884,-0.201706],[-0.184058,0.965913,0.182028],[0.234856,-0.136610,0.962383]]
2025-10-26T21:40:59.791Z,1761514859.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:41:00.122Z,1761514860.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954824,0.217128,-0.202894],[-0.180740,0.966264,0.183484],[0.235889,-0.138524,0.961856]]
2025-10-26T21:41:00.153Z,1761514860.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:41:00.537Z,1761514860.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955329,0.212958,-0.204926],[-0.177142,0.967631,0.179753],[0.236573,-0.135422,0.962130]]
2025-10-26T21:41:00.628Z,1761514860.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:41:01.188Z,1761514861.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955734,0.208499,-0.207606],[-0.173860,0.969418,0.173209],[0.237371,-0.129448,0.962756]]
2025-10-26T21:41:01.248Z,1761514861.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:41:01.781Z,1761514861.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:01.782Z,1761514861.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:41:01.896Z,1761514861.896 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:41:01.896Z,1761514861.896 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:41:02.148Z,1761514862.148 [DAT](INFO): DAT read: user:343>

2025-10-26T21:41:02.149Z,1761514862.149 [DAT](INFO): DAT read: Tx time:21:41:01.2417

2025-10-26T21:41:02.149Z,1761514862.149 [DAT](INFO): Ping request sent.
2025-10-26T21:41:02.150Z,1761514862.150 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:41:02.150Z,1761514862.150 [DAT](INFO): publishing transmit ping time
2025-10-26T21:41:02.150Z,1761514862.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-10-26T21:41:02.343Z,1761514862.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957070,0.198705,-0.211030],[-0.166202,0.972676,0.162107],[0.237475,-0.120074,0.963944]]
2025-10-26T21:41:02.377Z,1761514862.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:41:02.404Z,1761514862.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254735
2025-10-26T21:41:02.656Z,1761514862.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505405
2025-10-26T21:41:02.748Z,1761514862.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957464,0.198638,-0.209300],[-0.165407,0.972161,0.165964],[0.236440,-0.124285,0.963665]]
2025-10-26T21:41:02.785Z,1761514862.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:41:02.904Z,1761514862.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754726
2025-10-26T21:41:03.162Z,1761514863.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.012630
2025-10-26T21:41:03.179Z,1761514863.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:41:03.412Z,1761514863.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262766
2025-10-26T21:41:03.556Z,1761514863.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957867,0.202723,-0.203454],[-0.166682,0.969250,0.181027],[0.233897,-0.139488,0.962203]]
2025-10-26T21:41:03.590Z,1761514863.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:41:03.667Z,1761514863.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517069
2025-10-26T21:41:03.917Z,1761514863.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767471
2025-10-26T21:41:04.066Z,1761514864.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957849,0.205290,-0.200951],[-0.167295,0.967280,0.190741],[0.233533,-0.149083,0.960852]]
2025-10-26T21:41:04.122Z,1761514864.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:41:04.168Z,1761514864.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018848
2025-10-26T21:41:04.420Z,1761514864.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270729
2025-10-26T21:41:04.553Z,1761514864.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957688,0.206099,-0.200892],[-0.167065,0.966455,0.195075],[0.234358,-0.153258,0.959994]]
2025-10-26T21:41:04.583Z,1761514864.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:41:04.676Z,1761514864.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525269
2025-10-26T21:41:04.924Z,1761514864.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774864
2025-10-26T21:41:04.967Z,1761514864.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957842,0.206719,-0.199513],[-0.167483,0.966024,0.196843],[0.233426,-0.155130,0.959920]]
2025-10-26T21:41:05.003Z,1761514865.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:41:05.177Z,1761514865.177 [DAT](INFO): DAT read: Rx Time:21:41:03.8569

2025-10-26T21:41:05.178Z,1761514865.178 [DAT](INFO): Rx dataTimestamp_ set to:1761514865.177571
2025-10-26T21:41:05.179Z,1761514865.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029165
2025-10-26T21:41:05.388Z,1761514865.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958693,0.206993,-0.195095],[-0.168889,0.966127,0.195130],[0.228877,-0.154120,0.961177]]
2025-10-26T21:41:05.413Z,1761514865.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.55 m.
2025-10-26T21:41:05.431Z,1761514865.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280960
2025-10-26T21:41:05.725Z,1761514865.725 [DAT](INFO): DAT read: 21:41:03.8569 LVL= 32752, 31665, 32754, 29171, AGC= 72, IDX= 508,-0.03,-1.027,-0.056,-0.988,-1.684, PHS= 0.759, 1.674, 0.653, RAW= 335.4, -48.3, CAL= 335.4, -50.8, ROT= 174.6,  50.8

2025-10-26T21:41:05.727Z,1761514865.727 [DAT](INFO): got valid direction response:
 21:41:03.8569 LVL= 32752, 31665, 32754, 29171, AGC= 72, IDX= 508,-0.03,-1.027,-0.056,-0.988,-1.684, PHS= 0.759, 1.674, 0.653, RAW= 335.4, -48.3, CAL= 335.4, -50.8, ROT= 174.6,  50.8

2025-10-26T21:41:05.732Z,1761514865.732 [DAT](INFO): DAT read: Bearing  15.3,   2.0 (Local)

2025-10-26T21:41:05.733Z,1761514865.733 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.3,   2.0 (Local)

2025-10-26T21:41:05.734Z,1761514865.734 [DAT](INFO): DAT read: Range 11 to 50 : 158.2 m  (Round-trip  211.0 ms) speed  0.0 m/s

2025-10-26T21:41:05.735Z,1761514865.735 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:41:05.740Z,1761514865.740 [DAT](INFO): direction in FSK: [-0.629224,0.059479,-0.774944]
2025-10-26T21:41:05.740Z,1761514865.740 [DAT](INFO): publishing direction and range info
2025-10-26T21:41:05.914Z,1761514865.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 158.199997 m,
      deltaT: 60.294172 s,
      deltaX: 117.399994 m,
      approachRate: 1.947120 m/s,
      rangeRepo size: 4

2025-10-26T21:41:05.917Z,1761514865.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 157.193573 m,
      bearing: 178.369321 deg,
      lat: 36.779416 deg,
      lon: -121.859507 deg,
      deltaT: 60.294172 s,
      deltaX: 116.647545 m,
      approachRate: 1.934640 m/s,
      posRepo size: 4

2025-10-26T21:41:05.917Z,1761514865.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.19 m.
2025-10-26T21:41:05.918Z,1761514865.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 158.20 m. Resuming terminal guidance.
2025-10-26T21:41:05.918Z,1761514865.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-10-26T21:41:06.404Z,1761514866.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963406,0.207202,-0.170048],[-0.175034,0.966767,0.186345],[0.203007,-0.149761,0.967657]]
2025-10-26T21:41:06.420Z,1761514866.420 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-10-26T21:41:06.420Z,1761514866.420 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T21:41:06.421Z,1761514866.421 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-10-26T21:41:06.422Z,1761514866.422 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 158.199997 m (mode  1.000000 count ).
2025-10-26T21:41:06.422Z,1761514866.422 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-10-26T21:41:06.422Z,1761514866.422 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-10-26T21:41:06.809Z,1761514866.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966711,0.206966,-0.150451],[-0.179538,0.967610,0.177474],[0.182309,-0.144555,0.972557]]
2025-10-26T21:41:06.848Z,1761514866.848 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-10-26T21:41:06.848Z,1761514866.848 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-10-26T21:41:06.849Z,1761514866.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:06.940Z,1761514866.940 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:41:06.940Z,1761514866.940 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:41:06.941Z,1761514866.941 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:41:07.193Z,1761514867.193 [DAT](INFO): DAT read: user:344>

2025-10-26T21:41:07.194Z,1761514867.194 [DAT](INFO): DAT read: Tx time:21:41:06.2917

2025-10-26T21:41:07.194Z,1761514867.194 [DAT](INFO): Ping request sent.
2025-10-26T21:41:07.194Z,1761514867.194 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:41:07.194Z,1761514867.194 [DAT](INFO): publishing transmit ping time
2025-10-26T21:41:07.195Z,1761514867.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-10-26T21:41:07.225Z,1761514867.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970187,0.206907,-0.126201],[-0.184513,0.968206,0.168917],[0.157138,-0.140595,0.977518]]
2025-10-26T21:41:07.269Z,1761514867.269 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-10-26T21:41:07.269Z,1761514867.269 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-10-26T21:41:07.444Z,1761514867.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250244
2025-10-26T21:41:07.618Z,1761514867.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973561,0.206080,-0.098537],[-0.188935,0.968920,0.159681],[0.128382,-0.136843,0.982238]]
2025-10-26T21:41:07.650Z,1761514867.650 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-10-26T21:41:07.651Z,1761514867.651 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T21:41:07.651Z,1761514867.651 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-10-26T21:41:07.651Z,1761514867.651 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T21:41:07.700Z,1761514867.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505049
2025-10-26T21:41:07.948Z,1761514867.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754340
2025-10-26T21:41:08.038Z,1761514868.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976492,0.204427,-0.068366],[-0.192560,0.969823,0.149547],[0.096874,-0.132867,0.986388]]
2025-10-26T21:41:08.187Z,1761514868.187 [MassServo](FAULT): Overload Error
2025-10-26T21:41:08.187Z,1761514868.187 [MassServo] Hardware Fault, FailCount= 1
2025-10-26T21:41:08.187Z,1761514868.187 [MassServo](ERROR): Hardware Fault
2025-10-26T21:41:08.200Z,1761514868.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006362
2025-10-26T21:41:08.343Z,1761514868.343 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-10-26T21:41:08.427Z,1761514868.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978660,0.202250,-0.036326],[-0.195389,0.970647,0.140241],[0.063623,-0.130150,0.989451]]
2025-10-26T21:41:08.452Z,1761514868.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258386
2025-10-26T21:41:08.652Z,1761514868.652 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-10-26T21:41:08.653Z,1761514868.653 [MassServo](INFO): Powering down
2025-10-26T21:41:08.708Z,1761514868.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513144
2025-10-26T21:41:08.830Z,1761514868.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979962,0.199146,-0.003905],[-0.197044,0.972113,0.127160],[0.029119,-0.123843,0.991875]]
2025-10-26T21:41:08.886Z,1761514868.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:08.957Z,1761514868.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762882
2025-10-26T21:41:09.208Z,1761514869.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014244
2025-10-26T21:41:09.249Z,1761514869.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980765,0.193284,0.027238],[-0.195104,0.974948,0.106821],[-0.005909,-0.110081,0.993905]]
2025-10-26T21:41:09.461Z,1761514869.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266801
2025-10-26T21:41:09.469Z,1761514869.469 [MassServo](DEBUG): Initializing EZServoServo.
2025-10-26T21:41:09.584Z,1761514869.584 [MassServo](DEBUG): Initializing MassServo.
2025-10-26T21:41:09.687Z,1761514869.687 [CBIT](INFO): Clearing failed state for component MassServo
2025-10-26T21:41:09.687Z,1761514869.687 [MassServo] No Fault, FailCount= 1
2025-10-26T21:41:09.713Z,1761514869.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519279
2025-10-26T21:41:09.784Z,1761514869.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981711,0.170450,0.084796],[-0.174734,0.983545,0.045912],[-0.075575,-0.059889,0.995340]]
2025-10-26T21:41:09.965Z,1761514869.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770485
2025-10-26T21:41:10.157Z,1761514870.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981771,0.153777,0.111705],[-0.155609,0.987788,0.007818],[-0.109138,-0.025058,0.993711]]
2025-10-26T21:41:10.177Z,1761514870.177 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](ERROR): Faild to read a valid mass position measurement.
2025-10-26T21:41:10.217Z,1761514870.217 [DAT](INFO): DAT read: Rx Time:21:41:08.8539

2025-10-26T21:41:10.217Z,1761514870.217 [DAT](INFO): Rx dataTimestamp_ set to:1761514870.216884
2025-10-26T21:41:10.218Z,1761514870.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023658
2025-10-26T21:41:10.469Z,1761514870.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274781
2025-10-26T21:41:10.560Z,1761514870.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981087,0.134535,0.139171],[-0.131812,0.990861,-0.028641],[-0.141752,0.009754,0.989854]]
2025-10-26T21:41:10.755Z,1761514870.755 [DAT](INFO): DAT read: 21:41:08.8539 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 414, 0.03,-0.256, 1.456,-0.044, 0.344, PHS=-0.497, 1.158,-0.432, RAW= 328.0,  -2.9, CAL= 327.2,  -5.9, ROT= 182.8,   5.9

2025-10-26T21:41:10.805Z,1761514870.805 [DAT](INFO): got valid direction response:
 21:41:08.8539 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 414, 0.03,-0.256, 1.456,-0.044, 0.344, PHS=-0.497, 1.158,-0.432, RAW= 328.0,  -2.9, CAL= 327.2,  -5.9, ROT= 182.8,   5.9

2025-10-26T21:41:10.806Z,1761514870.806 [DAT](INFO): DAT read: Bearing 333.5,   2.8 (Local)

2025-10-26T21:41:10.806Z,1761514870.806 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.5,   2.8 (Local)

2025-10-26T21:41:10.813Z,1761514870.813 [DAT](INFO): DAT read: Range 11 to 50 : 118.5 m  (Round-trip  158.0 ms) speed -0.5 m/s

2025-10-26T21:41:10.814Z,1761514870.814 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:41:10.815Z,1761514870.815 [DAT](INFO): direction in FSK: [-0.993515,-0.048591,-0.102793]
2025-10-26T21:41:10.819Z,1761514870.819 [DAT](INFO): publishing direction and range info
2025-10-26T21:41:10.823Z,1761514870.823 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:41:10.823Z,1761514870.823 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:41:10.823Z,1761514870.823 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:41:10.963Z,1761514870.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979604,0.112033,0.166806],[-0.103510,0.992879,-0.058969],[-0.172225,0.040500,0.984225]]
2025-10-26T21:41:10.972Z,1761514870.972 [DAT](INFO): DAT read: user:345>

2025-10-26T21:41:10.973Z,1761514870.973 [DAT](INFO): DAT read: Tx time:21:41:10.1917

2025-10-26T21:41:10.973Z,1761514870.973 [DAT](INFO): Ping request sent.
2025-10-26T21:41:10.974Z,1761514870.974 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:41:10.974Z,1761514870.974 [DAT](INFO): publishing transmit ping time
2025-10-26T21:41:10.974Z,1761514870.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-10-26T21:41:11.076Z,1761514871.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 118.500000 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-10-26T21:41:11.078Z,1761514871.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 117.747917 m,
      bearing: 176.514526 deg,
      lat: 36.779415 deg,
      lon: -121.859507 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-10-26T21:41:11.079Z,1761514871.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:11.085Z,1761514871.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 76.829262 m,
      bearing: 171.243097 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 171.146502 deg,
      new cmd heading: 171.243097 deg.

2025-10-26T21:41:11.086Z,1761514871.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.988756 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:11.230Z,1761514871.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255772
2025-10-26T21:41:11.481Z,1761514871.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507118
2025-10-26T21:41:11.543Z,1761514871.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977167,0.087318,0.193700],[-0.071813,0.993731,-0.085683],[-0.199967,0.069817,0.977312]]
2025-10-26T21:41:11.573Z,1761514871.573 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:11.575Z,1761514871.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:11.582Z,1761514871.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 77.186081 m,
      bearing: 171.245351 deg,
      approach rate: 0.707914 m/s,
      LOS rate: 0.004451 deg/s,
      cmd heading: 171.243101 deg,
      new cmd heading: 171.245351 deg.

2025-10-26T21:41:11.583Z,1761514871.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.988795 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:11.744Z,1761514871.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.770185
2025-10-26T21:41:11.822Z,1761514871.822 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:41:11.910Z,1761514871.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973686,0.060819,0.219630],[-0.038607,0.993822,-0.104050],[-0.224601,0.092833,0.970019]]
2025-10-26T21:41:11.969Z,1761514871.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:11.971Z,1761514871.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 77.446724 m,
      bearing: 171.262497 deg,
      approach rate: 0.661910 m/s,
      LOS rate: 0.043396 deg/s,
      cmd heading: 171.245355 deg,
      new cmd heading: 171.262497 deg.

2025-10-26T21:41:11.972Z,1761514871.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.989094 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:11.984Z,1761514871.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010864
2025-10-26T21:41:12.240Z,1761514872.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266830
2025-10-26T21:41:12.393Z,1761514872.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969209,0.033027,0.244013],[-0.004137,0.993008,-0.117971],[-0.246203,0.113329,0.962570]]
2025-10-26T21:41:12.411Z,1761514872.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:12.414Z,1761514872.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 77.727722 m,
      bearing: 171.288476 deg,
      approach rate: 0.635232 m/s,
      LOS rate: 0.058517 deg/s,
      cmd heading: 171.262499 deg,
      new cmd heading: 171.288476 deg.

2025-10-26T21:41:12.414Z,1761514872.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.989548 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:12.417Z,1761514872.417 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](ERROR): Faild to read a valid mass position measurement.
2025-10-26T21:41:12.489Z,1761514872.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514982
2025-10-26T21:41:12.741Z,1761514872.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766964
2025-10-26T21:41:12.819Z,1761514872.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963734,0.003926,0.266835],[0.029255,0.992311,-0.120263],[-0.265256,0.123708,0.956209]]
2025-10-26T21:41:12.824Z,1761514872.824 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:41:12.862Z,1761514872.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:12.881Z,1761514872.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 77.993156 m,
      bearing: 171.319905 deg,
      approach rate: 0.588127 m/s,
      LOS rate: 0.069401 deg/s,
      cmd heading: 171.288481 deg,
      new cmd heading: 171.319905 deg.

2025-10-26T21:41:12.882Z,1761514872.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.990096 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:12.992Z,1761514872.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018782
2025-10-26T21:41:13.244Z,1761514873.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270854
2025-10-26T21:41:13.377Z,1761514873.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950434,-0.055608,0.305915],[0.090324,0.990827,-0.100514],[-0.297519,0.123163,0.946738]]
2025-10-26T21:41:13.394Z,1761514873.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:13.397Z,1761514873.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 78.298714 m,
      bearing: 171.370707 deg,
      approach rate: 0.574097 m/s,
      LOS rate: 0.095076 deg/s,
      cmd heading: 171.319900 deg,
      new cmd heading: 171.370707 deg.

2025-10-26T21:41:13.398Z,1761514873.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.990983 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:13.498Z,1761514873.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524185
2025-10-26T21:41:13.749Z,1761514873.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775261
2025-10-26T21:41:13.822Z,1761514873.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942818,-0.087787,0.321539],[0.118192,0.990058,-0.076258],[-0.311648,0.109901,0.943821]]
2025-10-26T21:41:13.881Z,1761514873.881 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:13.883Z,1761514873.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:13.886Z,1761514873.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 78.565407 m,
      bearing: 171.424112 deg,
      approach rate: 0.546064 m/s,
      LOS rate: 0.108977 deg/s,
      cmd heading: 171.370703 deg,
      new cmd heading: 171.424112 deg.

2025-10-26T21:41:13.886Z,1761514873.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.991915 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:14.002Z,1761514874.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028252
2025-10-26T21:41:14.253Z,1761514874.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279341
2025-10-26T21:41:14.347Z,1761514874.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934961,-0.117466,0.334738],[0.144391,0.987899,-0.056628],[-0.324035,0.101278,0.940608]]
2025-10-26T21:41:14.367Z,1761514874.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:14.369Z,1761514874.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 78.827347 m,
      bearing: 171.481908 deg,
      approach rate: 0.541325 m/s,
      LOS rate: 0.119045 deg/s,
      cmd heading: 171.424115 deg,
      new cmd heading: 171.481908 deg.

2025-10-26T21:41:14.370Z,1761514874.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.992924 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:14.506Z,1761514874.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532584
2025-10-26T21:41:14.750Z,1761514874.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927084,-0.145427,0.345494],[0.169564,0.984686,-0.040522],[-0.334310,0.096151,0.937546]]
2025-10-26T21:41:14.756Z,1761514874.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782859
2025-10-26T21:41:14.866Z,1761514874.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:14.872Z,1761514874.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 79.083946 m,
      bearing: 171.543699 deg,
      approach rate: 0.514355 m/s,
      LOS rate: 0.123458 deg/s,
      cmd heading: 171.481912 deg,
      new cmd heading: 171.543699 deg.

2025-10-26T21:41:14.873Z,1761514874.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.994002 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:15.009Z,1761514875.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035672
2025-10-26T21:41:15.195Z,1761514875.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918997,-0.172265,0.354641],[0.194456,0.980522,-0.027620],[-0.342975,0.094344,0.934595]]
2025-10-26T21:41:15.247Z,1761514875.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:15.261Z,1761514875.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287011
2025-10-26T21:41:15.261Z,1761514875.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 79.294647 m,
      bearing: 171.592706 deg,
      approach rate: 0.552876 m/s,
      LOS rate: 0.128252 deg/s,
      cmd heading: 171.543698 deg,
      new cmd heading: 171.592706 deg.

2025-10-26T21:41:15.262Z,1761514875.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.994858 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:15.516Z,1761514875.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542210
2025-10-26T21:41:15.600Z,1761514875.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911665,-0.197066,0.360599],[0.218176,0.975737,-0.018354],[-0.348233,0.095407,0.932540]]
2025-10-26T21:41:15.619Z,1761514875.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:15.621Z,1761514875.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 79.505898 m,
      bearing: 171.646038 deg,
      approach rate: 0.567973 m/s,
      LOS rate: 0.143010 deg/s,
      cmd heading: 171.592711 deg,
      new cmd heading: 171.646038 deg.

2025-10-26T21:41:15.622Z,1761514875.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.995789 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:15.765Z,1761514875.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791313
2025-10-26T21:41:16.009Z,1761514876.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905118,-0.221539,0.362881],[0.242407,0.970096,-0.012383],[-0.349286,0.099173,0.931753]]
2025-10-26T21:41:16.018Z,1761514876.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.044550
2025-10-26T21:41:16.070Z,1761514876.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:16.072Z,1761514876.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:16.074Z,1761514876.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 79.746490 m,
      bearing: 171.699273 deg,
      approach rate: 0.531210 m/s,
      LOS rate: 0.117183 deg/s,
      cmd heading: 171.646042 deg,
      new cmd heading: 171.699273 deg.

2025-10-26T21:41:16.075Z,1761514876.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.996718 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:16.270Z,1761514876.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.296130
2025-10-26T21:41:16.521Z,1761514876.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547597
2025-10-26T21:41:16.544Z,1761514876.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894496,-0.267195,0.358446],[0.290363,0.956850,-0.011335],[-0.339951,0.114218,0.933482]]
2025-10-26T21:41:16.563Z,1761514876.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:16.585Z,1761514876.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 80.004547 m,
      bearing: 171.767216 deg,
      approach rate: 0.525353 m/s,
      LOS rate: 0.137872 deg/s,
      cmd heading: 171.699276 deg,
      new cmd heading: 171.767216 deg.

2025-10-26T21:41:16.586Z,1761514876.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.997903 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:16.773Z,1761514876.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799003
2025-10-26T21:41:16.996Z,1761514876.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:17.020Z,1761514877.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 80.233414 m,
      bearing: 171.811548 deg,
      approach rate: 0.528932 m/s,
      LOS rate: 0.102163 deg/s,
      cmd heading: 171.767209 deg,
      new cmd heading: 171.811548 deg.

2025-10-26T21:41:17.021Z,1761514877.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.998677 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:17.026Z,1761514877.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051728
2025-10-26T21:41:17.276Z,1761514877.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302842
2025-10-26T21:41:17.506Z,1761514877.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886449,-0.310872,0.342880],[0.337589,0.941091,-0.019531],[-0.316610,0.133066,0.939176]]
2025-10-26T21:41:17.528Z,1761514877.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554781
2025-10-26T21:41:17.558Z,1761514877.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:17.568Z,1761514877.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 80.526253 m,
      bearing: 171.880168 deg,
      approach rate: 0.520574 m/s,
      LOS rate: 0.121541 deg/s,
      cmd heading: 171.811551 deg,
      new cmd heading: 171.880168 deg.

2025-10-26T21:41:17.569Z,1761514877.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.999875 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:17.784Z,1761514877.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810843
2025-10-26T21:41:18.032Z,1761514878.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058874
2025-10-26T21:41:18.048Z,1761514878.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883315,-0.334355,0.328576],[0.359749,0.932879,-0.017830],[-0.300560,0.133955,0.944309]]
2025-10-26T21:41:18.088Z,1761514878.088 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:18.090Z,1761514878.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:18.109Z,1761514878.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 80.823502 m,
      bearing: 171.949030 deg,
      approach rate: 0.558792 m/s,
      LOS rate: 0.128976 deg/s,
      cmd heading: 171.880167 deg,
      new cmd heading: 171.949030 deg.

2025-10-26T21:41:18.109Z,1761514878.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.001077 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:18.284Z,1761514878.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310785
2025-10-26T21:41:18.470Z,1761514878.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877600,-0.380012,0.292248],[0.400829,0.916068,-0.012491],[-0.262972,0.128103,0.956261]]
2025-10-26T21:41:18.515Z,1761514878.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:18.524Z,1761514878.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 81.042870 m,
      bearing: 172.007209 deg,
      approach rate: 0.521906 m/s,
      LOS rate: 0.138042 deg/s,
      cmd heading: 171.949029 deg,
      new cmd heading: 172.007209 deg.

2025-10-26T21:41:18.526Z,1761514878.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.002092 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:18.536Z,1761514878.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562902
2025-10-26T21:41:18.789Z,1761514878.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815297
2025-10-26T21:41:18.981Z,1761514878.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:18.984Z,1761514878.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 81.294594 m,
      bearing: 172.066864 deg,
      approach rate: 0.534868 m/s,
      LOS rate: 0.126364 deg/s,
      cmd heading: 172.007208 deg,
      new cmd heading: 172.066864 deg.

2025-10-26T21:41:18.984Z,1761514878.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.003133 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:19.041Z,1761514879.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067716
2025-10-26T21:41:19.293Z,1761514879.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319073
2025-10-26T21:41:19.320Z,1761514879.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871460,-0.425411,0.244097],[0.436613,0.899604,0.009057],[-0.223444,0.098683,0.969709]]
2025-10-26T21:41:19.366Z,1761514879.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:19.373Z,1761514879.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 81.505638 m,
      bearing: 172.122799 deg,
      approach rate: 0.547941 m/s,
      LOS rate: 0.144850 deg/s,
      cmd heading: 172.066863 deg,
      new cmd heading: 172.122799 deg.

2025-10-26T21:41:19.374Z,1761514879.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.004110 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:19.544Z,1761514879.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570833
2025-10-26T21:41:19.730Z,1761514879.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867332,-0.446912,0.219099],[0.453833,0.890849,0.020570],[-0.204377,0.081593,0.975486]]
2025-10-26T21:41:19.764Z,1761514879.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:19.767Z,1761514879.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 81.713440 m,
      bearing: 172.180573 deg,
      approach rate: 0.521907 m/s,
      LOS rate: 0.144733 deg/s,
      cmd heading: 172.122802 deg,
      new cmd heading: 172.180573 deg.

2025-10-26T21:41:19.771Z,1761514879.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.005118 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:19.820Z,1761514879.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.845612
2025-10-26T21:41:20.073Z,1761514880.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.099063
2025-10-26T21:41:20.128Z,1761514880.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861958,-0.467214,0.196824],[0.471665,0.881377,0.026601],[-0.185904,0.069906,0.980078]]
2025-10-26T21:41:20.179Z,1761514880.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:20.186Z,1761514880.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:20.192Z,1761514880.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 81.936935 m,
      bearing: 172.257505 deg,
      approach rate: 0.530397 m/s,
      LOS rate: 0.182076 deg/s,
      cmd heading: 172.180572 deg,
      new cmd heading: 172.257505 deg.

2025-10-26T21:41:20.193Z,1761514880.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.006461 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:20.325Z,1761514880.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.351286
2025-10-26T21:41:20.534Z,1761514880.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855226,-0.487004,0.177247],[0.490400,0.871074,0.027161],[-0.167623,0.063693,0.983792]]
2025-10-26T21:41:20.553Z,1761514880.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:20.555Z,1761514880.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 82.144005 m,
      bearing: 172.332069 deg,
      approach rate: 0.564191 m/s,
      LOS rate: 0.202647 deg/s,
      cmd heading: 172.257507 deg,
      new cmd heading: 172.332069 deg.

2025-10-26T21:41:20.556Z,1761514880.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.007762 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:20.576Z,1761514880.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.602769
2025-10-26T21:41:20.830Z,1761514880.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.856657
2025-10-26T21:41:20.946Z,1761514880.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846852,-0.507177,0.160043],[0.510181,0.859708,0.024842],[-0.150190,0.060613,0.986797]]
2025-10-26T21:41:20.983Z,1761514880.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:20.985Z,1761514880.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 82.365929 m,
      bearing: 172.422296 deg,
      approach rate: 0.516280 m/s,
      LOS rate: 0.209337 deg/s,
      cmd heading: 172.332066 deg,
      new cmd heading: 172.422296 deg.

2025-10-26T21:41:20.986Z,1761514880.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.009337 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:21.081Z,1761514881.081 [DAT](INFO): Reached modem response timeout
2025-10-26T21:41:21.081Z,1761514881.081 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:41:21.081Z,1761514881.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:41:21.332Z,1761514881.332 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:41:21.336Z,1761514881.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836978,-0.527500,0.145641],[0.530622,0.847379,0.019730],[-0.133821,0.060767,0.989141]]
2025-10-26T21:41:21.378Z,1761514881.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:21.381Z,1761514881.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 82.557854 m,
      bearing: 172.504052 deg,
      approach rate: 0.484870 m/s,
      LOS rate: 0.206065 deg/s,
      cmd heading: 172.422293 deg,
      new cmd heading: 172.504052 deg.

2025-10-26T21:41:21.382Z,1761514881.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.010764 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:21.585Z,1761514881.585 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:41:21.744Z,1761514881.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825708,-0.547905,0.134186],[0.551606,0.834030,0.011206],[-0.118055,0.064765,0.990893]]
2025-10-26T21:41:21.762Z,1761514881.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:21.765Z,1761514881.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 82.761391 m,
      bearing: 172.595006 deg,
      approach rate: 0.530378 m/s,
      LOS rate: 0.236426 deg/s,
      cmd heading: 172.504050 deg,
      new cmd heading: 172.595006 deg.

2025-10-26T21:41:21.766Z,1761514881.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.012351 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:21.836Z,1761514881.836 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:41:22.088Z,1761514882.088 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:41:22.142Z,1761514882.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812981,-0.567995,0.128235],[0.573054,0.819512,-0.003145],[-0.103304,0.076042,0.991739]]
2025-10-26T21:41:22.183Z,1761514882.183 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:22.185Z,1761514882.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:22.188Z,1761514882.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 82.965759 m,
      bearing: 172.697624 deg,
      approach rate: 0.483199 m/s,
      LOS rate: 0.242026 deg/s,
      cmd heading: 172.595001 deg,
      new cmd heading: 172.697624 deg.

2025-10-26T21:41:22.189Z,1761514882.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.014142 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:22.340Z,1761514882.340 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:41:22.548Z,1761514882.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798330,-0.588563,0.127527],[0.595592,0.802969,-0.022593],[-0.089103,0.093991,0.991578]]
2025-10-26T21:41:22.566Z,1761514882.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:22.569Z,1761514882.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 83.147308 m,
      bearing: 172.793437 deg,
      approach rate: 0.476222 m/s,
      LOS rate: 0.250780 deg/s,
      cmd heading: 172.697618 deg,
      new cmd heading: 172.793437 deg.

2025-10-26T21:41:22.570Z,1761514882.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.015814 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:22.609Z,1761514882.609 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:41:22.862Z,1761514882.862 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:41:22.969Z,1761514882.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782804,-0.609125,0.127218],[0.617602,0.785514,-0.039184],[-0.076064,0.109244,0.991100]]
2025-10-26T21:41:23.030Z,1761514883.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:23.033Z,1761514883.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 83.345772 m,
      bearing: 172.911084 deg,
      approach rate: 0.427712 m/s,
      LOS rate: 0.252939 deg/s,
      cmd heading: 172.793431 deg,
      new cmd heading: 172.911084 deg.

2025-10-26T21:41:23.034Z,1761514883.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.017868 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:23.112Z,1761514883.112 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:41:23.358Z,1761514883.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767035,-0.629286,0.125128],[0.638341,0.768128,-0.050009],[-0.064644,0.118233,0.990879]]
2025-10-26T21:41:23.364Z,1761514883.364 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:41:23.365Z,1761514883.365 [DAT](INFO): response not received
2025-10-26T21:41:23.365Z,1761514883.365 [DAT](INFO): DAT read: user:346>

2025-10-26T21:41:23.366Z,1761514883.366 [DAT](INFO): DAT read: Tx time:21:41:22.6416

2025-10-26T21:41:23.366Z,1761514883.366 [DAT](INFO): Ping request sent.
2025-10-26T21:41:23.366Z,1761514883.366 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:41:23.366Z,1761514883.366 [DAT](INFO): publishing transmit ping time
2025-10-26T21:41:23.367Z,1761514883.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-10-26T21:41:23.422Z,1761514883.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:23.428Z,1761514883.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 83.506767 m,
      bearing: 173.011001 deg,
      approach rate: 0.411333 m/s,
      LOS rate: 0.254788 deg/s,
      cmd heading: 172.911088 deg,
      new cmd heading: 173.011001 deg.

2025-10-26T21:41:23.429Z,1761514883.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.019612 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:23.617Z,1761514883.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250677
2025-10-26T21:41:23.755Z,1761514883.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752112,-0.648299,0.118472],[0.656725,0.752305,-0.052437],[-0.055132,0.117242,0.991572]]
2025-10-26T21:41:23.774Z,1761514883.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:23.777Z,1761514883.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 83.654816 m,
      bearing: 173.106865 deg,
      approach rate: 0.420719 m/s,
      LOS rate: 0.271941 deg/s,
      cmd heading: 173.011000 deg,
      new cmd heading: 173.106865 deg.

2025-10-26T21:41:23.778Z,1761514883.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.021285 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:23.869Z,1761514883.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502882
2025-10-26T21:41:24.120Z,1761514884.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754165
2025-10-26T21:41:24.158Z,1761514884.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737711,-0.666450,0.107829],[0.673476,0.737600,-0.048756],[-0.047041,0.108588,0.992973]]
2025-10-26T21:41:24.204Z,1761514884.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:24.206Z,1761514884.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:24.209Z,1761514884.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 83.833946 m,
      bearing: 173.227649 deg,
      approach rate: 0.414085 m/s,
      LOS rate: 0.278612 deg/s,
      cmd heading: 173.106869 deg,
      new cmd heading: 173.227649 deg.

2025-10-26T21:41:24.210Z,1761514884.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.023393 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:24.373Z,1761514884.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006828
2025-10-26T21:41:24.562Z,1761514884.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723703,-0.683302,0.096709],[0.688931,0.723528,-0.043362],[-0.040342,0.098007,0.994368]]
2025-10-26T21:41:24.580Z,1761514884.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:24.582Z,1761514884.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 83.985985 m,
      bearing: 173.333977 deg,
      approach rate: 0.407175 m/s,
      LOS rate: 0.284242 deg/s,
      cmd heading: 173.227654 deg,
      new cmd heading: 173.333977 deg.

2025-10-26T21:41:24.583Z,1761514884.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.025249 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:24.625Z,1761514884.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258320
2025-10-26T21:41:24.877Z,1761514884.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510292
2025-10-26T21:41:25.001Z,1761514885.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709968,-0.698856,0.086863],[0.703352,0.709835,-0.037812],[-0.035233,0.087941,0.995502]]
2025-10-26T21:41:25.053Z,1761514885.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:25.056Z,1761514885.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 84.168457 m,
      bearing: 173.467377 deg,
      approach rate: 0.385372 m/s,
      LOS rate: 0.281122 deg/s,
      cmd heading: 173.333973 deg,
      new cmd heading: 173.467377 deg.

2025-10-26T21:41:25.057Z,1761514885.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.027577 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:25.131Z,1761514885.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764786
2025-10-26T21:41:25.375Z,1761514885.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696490,-0.713318,0.077962],[0.716904,0.696396,-0.032891],[-0.030830,0.078800,0.996414]]
2025-10-26T21:41:25.384Z,1761514885.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018257
2025-10-26T21:41:25.395Z,1761514885.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:25.397Z,1761514885.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 84.297592 m,
      bearing: 173.564994 deg,
      approach rate: 0.378135 m/s,
      LOS rate: 0.285405 deg/s,
      cmd heading: 173.467380 deg,
      new cmd heading: 173.564994 deg.

2025-10-26T21:41:25.398Z,1761514885.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.029281 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:25.636Z,1761514885.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270134
2025-10-26T21:41:25.774Z,1761514885.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683349,-0.726687,0.070427],[0.729592,0.683265,-0.029048],[-0.027012,0.071233,0.997094]]
2025-10-26T21:41:25.834Z,1761514885.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:25.836Z,1761514885.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 84.460457 m,
      bearing: 173.692089 deg,
      approach rate: 0.370939 m/s,
      LOS rate: 0.288912 deg/s,
      cmd heading: 173.564997 deg,
      new cmd heading: 173.692089 deg.

2025-10-26T21:41:25.837Z,1761514885.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.031499 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:25.889Z,1761514885.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522647
2025-10-26T21:41:26.140Z,1761514886.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774086
2025-10-26T21:41:26.179Z,1761514886.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669773,-0.739781,0.064245],[0.742193,0.669668,-0.026355],[-0.023526,0.065334,0.997586]]
2025-10-26T21:41:26.224Z,1761514886.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:26.226Z,1761514886.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:26.228Z,1761514886.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 84.608765 m,
      bearing: 173.804603 deg,
      approach rate: 0.378397 m/s,
      LOS rate: 0.286568 deg/s,
      cmd heading: 173.692093 deg,
      new cmd heading: 173.804603 deg.

2025-10-26T21:41:26.229Z,1761514886.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.033463 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:26.392Z,1761514886.392 [DAT](INFO): DAT read: Rx Time:21:41:25.1613

2025-10-26T21:41:26.393Z,1761514886.393 [DAT](INFO): Rx dataTimestamp_ set to:1761514886.392675
2025-10-26T21:41:26.393Z,1761514886.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027322
2025-10-26T21:41:26.583Z,1761514886.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656157,-0.752104,0.061634],[0.754342,0.655955,-0.026289],[-0.020657,0.063743,0.997752]]
2025-10-26T21:41:26.602Z,1761514886.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:26.605Z,1761514886.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 84.748863 m,
      bearing: 173.914276 deg,
      approach rate: 0.372296 m/s,
      LOS rate: 0.290963 deg/s,
      cmd heading: 173.804600 deg,
      new cmd heading: 173.914276 deg.

2025-10-26T21:41:26.605Z,1761514886.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.035377 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:26.645Z,1761514886.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278871
2025-10-26T21:41:26.897Z,1761514886.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530390
2025-10-26T21:41:27.025Z,1761514887.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640935,-0.764937,0.063825],[0.767390,0.640468,-0.030229],[-0.017755,0.068353,0.997503]]
2025-10-26T21:41:27.085Z,1761514887.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.75 m.
2025-10-26T21:41:27.087Z,1761514887.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 117.747917 m,
      nav range: 84.922791 m,
      bearing: 174.043431 deg,
      approach rate: 0.360331 m/s,
      LOS rate: 0.267026 deg/s,
      cmd heading: 173.914279 deg,
      new cmd heading: 174.043431 deg.

2025-10-26T21:41:27.088Z,1761514887.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.037631 target range: 117.747917 and range: 118.50 m.
2025-10-26T21:41:27.154Z,1761514887.154 [DAT](INFO): DAT read: 21:41:25.1613 LVL= 32752, 25233, 32754, 32755, AGC= 64, IDX= 475, 0.30,-0.792,-0.235,-2.003,-0.716, PHS= 0.026, 0.526,-1.331, RAW=  14.9,   9.4, CAL=  14.6,  10.2, ROT= 135.4, -10.2

2025-10-26T21:41:27.155Z,1761514887.155 [DAT](INFO): got valid direction response:
 21:41:25.1613 LVL= 32752, 25233, 32754, 32755, AGC= 64, IDX= 475, 0.30,-0.792,-0.235,-2.003,-0.716, PHS= 0.026, 0.526,-1.331, RAW=  14.9,   9.4, CAL=  14.6,  10.2, ROT= 135.4, -10.2

2025-10-26T21:41:27.156Z,1761514887.156 [DAT](INFO): DAT read: Bearing  12.8,  45.8 (Local)

2025-10-26T21:41:27.157Z,1761514887.157 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.8,  45.8 (Local)

2025-10-26T21:41:27.158Z,1761514887.158 [DAT](INFO): DAT read: Range 11 to 50 : 86.6 m  (Round-trip  115.5 ms) speed -0.4 m/s

2025-10-26T21:41:27.159Z,1761514887.159 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:41:27.160Z,1761514887.160 [DAT](INFO): direction in FSK: [-0.700773,0.691056,0.177085]
2025-10-26T21:41:27.160Z,1761514887.160 [DAT](INFO): publishing direction and range info
2025-10-26T21:41:27.167Z,1761514887.167 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:41:27.168Z,1761514887.168 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:41:27.169Z,1761514887.169 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:41:27.390Z,1761514887.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624230,-0.778315,0.067552],[0.781094,0.623450,-0.034670],[-0.015131,0.074407,0.997113]]
2025-10-26T21:41:27.400Z,1761514887.400 [DAT](INFO): DAT read: user:347>

2025-10-26T21:41:27.401Z,1761514887.401 [DAT](INFO): DAT read: Tx time:21:41:26.5416

2025-10-26T21:41:27.401Z,1761514887.401 [DAT](INFO): Ping request sent.
2025-10-26T21:41:27.401Z,1761514887.401 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:41:27.402Z,1761514887.402 [DAT](INFO): publishing transmit ping time
2025-10-26T21:41:27.402Z,1761514887.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-10-26T21:41:27.471Z,1761514887.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 86.599998 m,
      deltaT: 16.425961 s,
      deltaX: -31.900002 m,
      approachRate: -1.942048 m/s,
      rangeRepo size: 2

2025-10-26T21:41:27.474Z,1761514887.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 86.049728 m,
      bearing: 187.256922 deg,
      lat: 36.779419 deg,
      lon: -121.859558 deg,
      deltaT: 16.425961 s,
      deltaX: -31.698189 m,
      approachRate: -1.929762 m/s,
      posRepo size: 2

2025-10-26T21:41:27.474Z,1761514887.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.05 m.
2025-10-26T21:41:27.482Z,1761514887.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.049728 m,
      nav range: 84.314613 m,
      bearing: 177.204306 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.267026 deg/s,
      cmd heading: 174.043424 deg,
      new cmd heading: 174.349477 deg.

2025-10-26T21:41:27.488Z,1761514887.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.042972 target range: 86.049728 and range: 86.60 m.
2025-10-26T21:41:27.653Z,1761514887.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251652
2025-10-26T21:41:27.794Z,1761514887.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606489,-0.791831,0.071935],[0.794988,0.605386,-0.038763],[-0.012855,0.080697,0.996656]]
2025-10-26T21:41:27.812Z,1761514887.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.05 m.
2025-10-26T21:41:27.815Z,1761514887.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.049728 m,
      nav range: 84.456612 m,
      bearing: 177.307486 deg,
      approach rate: 0.410951 m/s,
      LOS rate: 0.298106 deg/s,
      cmd heading: 174.349471 deg,
      new cmd heading: 174.658488 deg.

2025-10-26T21:41:27.816Z,1761514887.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.048366 target range: 86.049728 and range: 86.60 m.
2025-10-26T21:41:27.905Z,1761514887.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502994
2025-10-26T21:41:28.156Z,1761514888.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754829
2025-10-26T21:41:28.198Z,1761514888.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588589,-0.804867,0.075846],[0.808356,0.587231,-0.041489],[-0.011146,0.085731,0.996256]]
2025-10-26T21:41:28.242Z,1761514888.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:28.244Z,1761514888.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.05 m.
2025-10-26T21:41:28.247Z,1761514888.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.049728 m,
      nav range: 84.626915 m,
      bearing: 177.421500 deg,
      approach rate: 0.394328 m/s,
      LOS rate: 0.263461 deg/s,
      cmd heading: 174.658483 deg,
      new cmd heading: 174.999832 deg.

2025-10-26T21:41:28.248Z,1761514888.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.054323 target range: 86.049728 and range: 86.60 m.
2025-10-26T21:41:28.410Z,1761514888.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007998
2025-10-26T21:41:28.602Z,1761514888.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569810,-0.817761,0.081137],[0.821718,0.568163,-0.044387],[-0.009801,0.091964,0.995714]]
2025-10-26T21:41:28.620Z,1761514888.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.05 m.
2025-10-26T21:41:28.623Z,1761514888.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.049728 m,
      nav range: 84.772621 m,
      bearing: 177.523038 deg,
      approach rate: 0.387420 m/s,
      LOS rate: 0.269516 deg/s,
      cmd heading: 174.999828 deg,
      new cmd heading: 175.303915 deg.

2025-10-26T21:41:28.640Z,1761514888.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.059630 target range: 86.049728 and range: 86.60 m.
2025-10-26T21:41:28.660Z,1761514888.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258965
2025-10-26T21:41:28.912Z,1761514888.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510799
2025-10-26T21:41:29.054Z,1761514889.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551133,-0.829606,0.089473],[0.834367,0.549101,-0.048169],[-0.009169,0.101201,0.994824]]
2025-10-26T21:41:29.091Z,1761514889.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.05 m.
2025-10-26T21:41:29.094Z,1761514889.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.049728 m,
      nav range: 84.947815 m,
      bearing: 177.650419 deg,
      approach rate: 0.372160 m/s,
      LOS rate: 0.270035 deg/s,
      cmd heading: 175.303908 deg,
      new cmd heading: 175.685258 deg.

2025-10-26T21:41:29.095Z,1761514889.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.066286 target range: 86.049728 and range: 86.60 m.
2025-10-26T21:41:29.165Z,1761514889.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762977
2025-10-26T21:41:29.417Z,1761514889.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015314
2025-10-26T21:41:29.444Z,1761514889.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531521,-0.841165,0.099638],[0.846997,0.529053,-0.051950],[-0.009015,0.112006,0.993667]]
2025-10-26T21:41:29.462Z,1761514889.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.05 m.
2025-10-26T21:41:29.465Z,1761514889.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.049728 m,
      nav range: 85.083237 m,
      bearing: 177.752930 deg,
      approach rate: 0.364869 m/s,
      LOS rate: 0.275757 deg/s,
      cmd heading: 175.685252 deg,
      new cmd heading: 175.992292 deg.

2025-10-26T21:41:29.466Z,1761514889.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.071645 target range: 86.049728 and range: 86.60 m.
2025-10-26T21:41:29.669Z,1761514889.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267609
2025-10-26T21:41:29.838Z,1761514889.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513389,-0.851731,0.104811],[0.858093,0.510994,-0.050620],[-0.010444,0.115925,0.993203]]
2025-10-26T21:41:29.860Z,1761514889.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.05 m.
2025-10-26T21:41:29.863Z,1761514889.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.049728 m,
      nav range: 85.225128 m,
      bearing: 177.864415 deg,
      approach rate: 0.356284 m/s,
      LOS rate: 0.279468 deg/s,
      cmd heading: 175.992296 deg,
      new cmd heading: 176.326190 deg.

2025-10-26T21:41:29.880Z,1761514889.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.077472 target range: 86.049728 and range: 86.60 m.
2025-10-26T21:41:29.922Z,1761514889.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520426
2025-10-26T21:41:30.173Z,1761514890.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771783
2025-10-26T21:41:30.242Z,1761514890.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495366,-0.862263,0.105429],[0.868599,0.493356,-0.046210],[-0.012168,0.114466,0.993353]]
2025-10-26T21:41:30.285Z,1761514890.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:30.291Z,1761514890.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.05 m.
2025-10-26T21:41:30.294Z,1761514890.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.049728 m,
      nav range: 85.378181 m,
      bearing: 177.989842 deg,
      approach rate: 0.355343 m/s,
      LOS rate: 0.290681 deg/s,
      cmd heading: 176.326183 deg,
      new cmd heading: 176.701784 deg.

2025-10-26T21:41:30.295Z,1761514890.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.084028 target range: 86.049728 and range: 86.60 m.
2025-10-26T21:41:30.424Z,1761514890.424 [DAT](INFO): DAT read: Rx Time:21:41:29.0633

2025-10-26T21:41:30.425Z,1761514890.425 [DAT](INFO): Rx dataTimestamp_ set to:1761514890.424599
2025-10-26T21:41:30.425Z,1761514890.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023914
2025-10-26T21:41:30.646Z,1761514890.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477945,-0.872194,0.104147],[0.878265,0.476503,-0.039934],[-0.014796,0.110555,0.993760]]
2025-10-26T21:41:30.665Z,1761514890.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.05 m.
2025-10-26T21:41:30.667Z,1761514890.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.049728 m,
      nav range: 85.510689 m,
      bearing: 178.102320 deg,
      approach rate: 0.354768 m/s,
      LOS rate: 0.300676 deg/s,
      cmd heading: 176.701789 deg,
      new cmd heading: 177.038696 deg.

2025-10-26T21:41:30.668Z,1761514890.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.089908 target range: 86.049728 and range: 86.60 m.
2025-10-26T21:41:30.676Z,1761514890.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274958
2025-10-26T21:41:30.934Z,1761514890.934 [DAT](INFO): DAT read: 21:41:29.0633 LVL= 30192, 25201, 32754, 25843, AGC= 66, IDX= 448, 0.19,-2.200,-2.430, 2.499,-2.542, PHS= 0.444, 0.157,-1.286, RAW=  38.9,   8.6, CAL=  37.4,   8.8, ROT= 112.6,  -8.8

2025-10-26T21:41:30.935Z,1761514890.935 [DAT](INFO): got valid direction response:
 21:41:29.0633 LVL= 30192, 25201, 32754, 25843, AGC= 66, IDX= 448, 0.19,-2.200,-2.430, 2.499,-2.542, PHS= 0.444, 0.157,-1.286, RAW=  38.9,   8.6, CAL=  37.4,   8.8, ROT= 112.6,  -8.8

2025-10-26T21:41:30.936Z,1761514890.936 [DAT](INFO): DAT read: Bearing  27.5,  68.1 (Local)

2025-10-26T21:41:30.936Z,1761514890.936 [DAT](INFO): Local bearing/azimuth received:
 Bearing  27.5,  68.1 (Local)

2025-10-26T21:41:30.937Z,1761514890.937 [DAT](INFO): DAT read: Range 11 to 50 : 88.1 m  (Round-trip  117.5 ms) speed -0.3 m/s

2025-10-26T21:41:30.938Z,1761514890.938 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:41:30.939Z,1761514890.939 [DAT](INFO): direction in FSK: [-0.379772,0.912343,0.152986]
2025-10-26T21:41:30.942Z,1761514890.942 [DAT](INFO): publishing direction and range info
2025-10-26T21:41:30.946Z,1761514890.946 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:41:30.946Z,1761514890.946 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:41:30.946Z,1761514890.946 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:41:31.093Z,1761514891.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460673,-0.881859,0.100524],[0.887401,0.459830,-0.032797],[-0.017301,0.104314,0.994394]]
2025-10-26T21:41:31.180Z,1761514891.180 [DAT](INFO): DAT read: user:348>

2025-10-26T21:41:31.181Z,1761514891.181 [DAT](INFO): DAT read: Tx time:21:41:30.3416

2025-10-26T21:41:31.181Z,1761514891.181 [DAT](INFO): Ping request sent.
2025-10-26T21:41:31.182Z,1761514891.182 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:41:31.182Z,1761514891.182 [DAT](INFO): publishing transmit ping time
2025-10-26T21:41:31.182Z,1761514891.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-10-26T21:41:31.210Z,1761514891.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 88.099998 m,
      deltaT: 3.779784 s,
      deltaX: 1.500000 m,
      approachRate: 0.396848 m/s,
      rangeRepo size: 3

2025-10-26T21:41:31.212Z,1761514891.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 87.542435 m,
      bearing: 175.404524 deg,
      lat: 36.779430 deg,
      lon: -121.859558 deg,
      deltaT: 3.779784 s,
      deltaX: 1.492706 m,
      approachRate: 0.394918 m/s,
      posRepo size: 3

2025-10-26T21:41:31.213Z,1761514891.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.54 m.
2025-10-26T21:41:31.224Z,1761514891.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.542435 m,
      nav range: 84.442551 m,
      bearing: 178.229195 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.300676 deg/s,
      cmd heading: 177.038695 deg,
      new cmd heading: 177.530180 deg.

2025-10-26T21:41:31.225Z,1761514891.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.098486 target range: 87.542435 and range: 88.10 m.
2025-10-26T21:41:31.432Z,1761514891.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250766
2025-10-26T21:41:31.460Z,1761514891.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443379,-0.891304,0.094829],[0.896119,0.443105,-0.025085],[-0.019661,0.096100,0.995178]]
2025-10-26T21:41:31.480Z,1761514891.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.54 m.
2025-10-26T21:41:31.487Z,1761514891.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.542435 m,
      nav range: 84.541687 m,
      bearing: 178.320451 deg,
      approach rate: 0.367342 m/s,
      LOS rate: 0.337744 deg/s,
      cmd heading: 177.530181 deg,
      new cmd heading: 177.803625 deg.

2025-10-26T21:41:31.489Z,1761514891.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.103259 target range: 87.542435 and range: 88.10 m.
2025-10-26T21:41:31.684Z,1761514891.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502801
2025-10-26T21:41:31.858Z,1761514891.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425709,-0.900566,0.088047],[0.904598,0.425908,-0.017458],[-0.021777,0.087079,0.995963]]
2025-10-26T21:41:31.880Z,1761514891.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.54 m.
2025-10-26T21:41:31.882Z,1761514891.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.542435 m,
      nav range: 84.671425 m,
      bearing: 178.444355 deg,
      approach rate: 0.324120 m/s,
      LOS rate: 0.309071 deg/s,
      cmd heading: 177.803621 deg,
      new cmd heading: 178.174757 deg.

2025-10-26T21:41:31.899Z,1761514891.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.109736 target range: 87.542435 and range: 88.10 m.
2025-10-26T21:41:31.937Z,1761514891.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755472
2025-10-26T21:41:32.189Z,1761514892.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007176
2025-10-26T21:41:32.304Z,1761514892.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:32.306Z,1761514892.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.54 m.
2025-10-26T21:41:32.309Z,1761514892.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.542435 m,
      nav range: 84.802246 m,
      bearing: 178.586948 deg,
      approach rate: 0.306685 m/s,
      LOS rate: 0.333765 deg/s,
      cmd heading: 178.174760 deg,
      new cmd heading: 178.601870 deg.

2025-10-26T21:41:32.310Z,1761514892.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.117191 target range: 87.542435 and range: 88.10 m.
2025-10-26T21:41:32.441Z,1761514892.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259236
2025-10-26T21:41:32.667Z,1761514892.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387975,-0.918177,0.080170],[0.921312,0.388779,-0.005965],[-0.025692,0.076176,0.996763]]
2025-10-26T21:41:32.685Z,1761514892.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.54 m.
2025-10-26T21:41:32.688Z,1761514892.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.542435 m,
      nav range: 84.911209 m,
      bearing: 178.716725 deg,
      approach rate: 0.287377 m/s,
      LOS rate: 0.341833 deg/s,
      cmd heading: 178.601865 deg,
      new cmd heading: 178.990692 deg.

2025-10-26T21:41:32.689Z,1761514892.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.123977 target range: 87.542435 and range: 88.10 m.
2025-10-26T21:41:32.701Z,1761514892.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519431
2025-10-26T21:41:32.953Z,1761514892.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771394
2025-10-26T21:41:33.117Z,1761514893.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368032,-0.926000,0.084116],[0.929414,0.369017,-0.004092],[-0.027251,0.079685,0.996448]]
2025-10-26T21:41:33.154Z,1761514893.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.54 m.
2025-10-26T21:41:33.157Z,1761514893.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.542435 m,
      nav range: 85.032364 m,
      bearing: 178.886486 deg,
      approach rate: 0.258483 m/s,
      LOS rate: 0.361668 deg/s,
      cmd heading: 178.990694 deg,
      new cmd heading: 179.499237 deg.

2025-10-26T21:41:33.158Z,1761514893.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.132853 target range: 87.542435 and range: 88.10 m.
2025-10-26T21:41:33.206Z,1761514893.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023587
2025-10-26T21:41:33.456Z,1761514893.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274804
2025-10-26T21:41:33.516Z,1761514893.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347937,-0.932964,0.092290],[0.937082,0.349086,-0.003905],[-0.028574,0.087842,0.995724]]
2025-10-26T21:41:33.534Z,1761514893.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.54 m.
2025-10-26T21:41:33.537Z,1761514893.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.542435 m,
      nav range: 85.126877 m,
      bearing: 179.025198 deg,
      approach rate: 0.248794 m/s,
      LOS rate: 0.364737 deg/s,
      cmd heading: 179.499243 deg,
      new cmd heading: 179.914908 deg.

2025-10-26T21:41:33.538Z,1761514893.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.140108 target range: 87.542435 and range: 88.10 m.
2025-10-26T21:41:33.710Z,1761514893.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528196
2025-10-26T21:41:33.898Z,1761514893.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327303,-0.939581,0.100306],[0.944458,0.328611,-0.003661],[-0.029522,0.095933,0.994950]]
2025-10-26T21:41:33.933Z,1761514893.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.54 m.
2025-10-26T21:41:33.936Z,1761514893.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.542435 m,
      nav range: 85.222031 m,
      bearing: 179.171978 deg,
      approach rate: 0.238364 m/s,
      LOS rate: 0.367280 deg/s,
      cmd heading: 179.914915 deg,
      new cmd heading: 180.354755 deg.

2025-10-26T21:41:33.937Z,1761514893.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.147784 target range: 87.542435 and range: 88.10 m.
2025-10-26T21:41:33.973Z,1761514893.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.791682
2025-10-26T21:41:34.224Z,1761514894.224 [DAT](INFO): DAT read: Rx Time:21:41:32.8646

2025-10-26T21:41:34.225Z,1761514894.225 [DAT](INFO): Rx dataTimestamp_ set to:1761514894.224545
2025-10-26T21:41:34.225Z,1761514894.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.043806
2025-10-26T21:41:34.302Z,1761514894.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307103,-0.945717,0.106339],[0.951190,0.308595,-0.002539],[-0.030414,0.101928,0.994327]]
2025-10-26T21:41:34.357Z,1761514894.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:34.364Z,1761514894.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.54 m.
2025-10-26T21:41:34.366Z,1761514894.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.542435 m,
      nav range: 85.312759 m,
      bearing: 179.330990 deg,
      approach rate: 0.212782 m/s,
      LOS rate: 0.372526 deg/s,
      cmd heading: 180.354751 deg,
      new cmd heading: 180.831268 deg.

2025-10-26T21:41:34.371Z,1761514894.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.156101 target range: 87.542435 and range: 88.10 m.
2025-10-26T21:41:34.480Z,1761514894.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.298239
2025-10-26T21:41:34.710Z,1761514894.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287077,-0.951595,0.109788],[0.957386,0.288811,-0.000115],[-0.031598,0.105143,0.993955]]
2025-10-26T21:41:34.736Z,1761514894.736 [DAT](INFO): DAT read: 21:41:32.8646 LVL= 23392, 28529, 31138, 32563, AGC= 66, IDX= 445,-0.06, 0.436,-0.290,-1.305,-0.197, PHS= 0.734,-0.049,-1.152, RAW=  54.4,   5.7, CAL=  53.3,   5.0, ROT=  96.7,  -5.0

2025-10-26T21:41:34.737Z,1761514894.737 [DAT](INFO): got valid direction response:
 21:41:32.8646 LVL= 23392, 28529, 31138, 32563, AGC= 66, IDX= 445,-0.06, 0.436,-0.290,-1.305,-0.197, PHS= 0.734,-0.049,-1.152, RAW=  54.4,   5.7, CAL=  53.3,   5.0, ROT=  96.7,  -5.0

2025-10-26T21:41:34.738Z,1761514894.738 [DAT](INFO): DAT read: Bearing  46.9,  85.1 (Local)

2025-10-26T21:41:34.739Z,1761514894.739 [DAT](INFO): Local bearing/azimuth received:
 Bearing  46.9,  85.1 (Local)

2025-10-26T21:41:34.740Z,1761514894.740 [DAT](INFO): DAT read: Range 11 to 50 : 89.1 m  (Round-trip  118.8 ms) speed -0.2 m/s

2025-10-26T21:41:34.741Z,1761514894.741 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:41:34.742Z,1761514894.742 [DAT](INFO): direction in FSK: [-0.116227,0.989391,0.087156]
2025-10-26T21:41:34.742Z,1761514894.742 [DAT](INFO): publishing direction and range info
2025-10-26T21:41:34.749Z,1761514894.749 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:41:34.750Z,1761514894.750 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:41:34.750Z,1761514894.750 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:41:34.810Z,1761514894.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 89.099998 m,
      deltaT: 3.800825 s,
      deltaX: 1.000000 m,
      approachRate: 0.263101 m/s,
      rangeRepo size: 4

2025-10-26T21:41:34.816Z,1761514894.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 88.535919 m,
      bearing: 169.755211 deg,
      lat: 36.779430 deg,
      lon: -121.859558 deg,
      deltaT: 3.800825 s,
      deltaX: 0.993484 m,
      approachRate: 0.261387 m/s,
      posRepo size: 4

2025-10-26T21:41:34.817Z,1761514894.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.54 m.
2025-10-26T21:41:34.823Z,1761514894.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.535919 m,
      nav range: 85.401855 m,
      bearing: 179.495790 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.372526 deg/s,
      cmd heading: 180.831266 deg,
      new cmd heading: 181.333649 deg.

2025-10-26T21:41:34.824Z,1761514894.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.164869 target range: 88.535919 and range: 89.10 m.
2025-10-26T21:41:34.982Z,1761514894.982 [DAT](INFO): DAT read: user:349>

2025-10-26T21:41:34.983Z,1761514894.983 [DAT](INFO): DAT read: Tx time:21:41:34.0916

2025-10-26T21:41:34.984Z,1761514894.984 [DAT](INFO): Ping request sent.
2025-10-26T21:41:34.984Z,1761514894.984 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:41:34.985Z,1761514894.985 [DAT](INFO): publishing transmit ping time
2025-10-26T21:41:34.986Z,1761514894.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001398
2025-10-26T21:41:35.153Z,1761514895.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267371,-0.957025,0.112324],[0.963024,0.269400,0.003011],[-0.033141,0.107365,0.993667]]
2025-10-26T21:41:35.210Z,1761514895.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.54 m.
2025-10-26T21:41:35.213Z,1761514895.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.535919 m,
      nav range: 85.491646 m,
      bearing: 179.667133 deg,
      approach rate: 0.223763 m/s,
      LOS rate: 0.426549 deg/s,
      cmd heading: 181.333654 deg,
      new cmd heading: 181.847129 deg.

2025-10-26T21:41:35.214Z,1761514895.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.173831 target range: 88.535919 and range: 89.10 m.
2025-10-26T21:41:35.233Z,1761514895.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248893
2025-10-26T21:41:35.485Z,1761514895.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501135
2025-10-26T21:41:35.517Z,1761514895.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248006,-0.962266,0.111970],[0.968124,0.250365,0.007300],[-0.035058,0.106590,0.993685]]
2025-10-26T21:41:35.547Z,1761514895.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.54 m.
2025-10-26T21:41:35.550Z,1761514895.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.535919 m,
      nav range: 85.556145 m,
      bearing: 179.797327 deg,
      approach rate: 0.191473 m/s,
      LOS rate: 0.386205 deg/s,
      cmd heading: 181.847134 deg,
      new cmd heading: 182.237415 deg.

2025-10-26T21:41:35.551Z,1761514895.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.180643 target range: 88.535919 and range: 89.10 m.
2025-10-26T21:41:35.736Z,1761514895.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752101
2025-10-26T21:41:35.921Z,1761514895.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228906,-0.967208,0.110048],[0.972744,0.231575,0.011948],[-0.037040,0.104313,0.993854]]
2025-10-26T21:41:35.948Z,1761514895.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.54 m.
2025-10-26T21:41:35.954Z,1761514895.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.535919 m,
      nav range: 85.627411 m,
      bearing: 179.949845 deg,
      approach rate: 0.177601 m/s,
      LOS rate: 0.379769 deg/s,
      cmd heading: 182.237411 deg,
      new cmd heading: 182.694574 deg.

2025-10-26T21:41:35.955Z,1761514895.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.188622 target range: 88.535919 and range: 89.10 m.
2025-10-26T21:41:35.990Z,1761514895.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005424
2025-10-26T21:41:36.240Z,1761514896.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256190
2025-10-26T21:41:36.324Z,1761514896.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209650,-0.971864,0.107368],[0.976992,0.212613,0.016806],[-0.039161,0.101374,0.994077]]
2025-10-26T21:41:36.358Z,1761514896.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:36.361Z,1761514896.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.54 m.
2025-10-26T21:41:36.363Z,1761514896.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.535919 m,
      nav range: 85.691376 m,
      bearing: 180.115402 deg,
      approach rate: 0.155170 m/s,
      LOS rate: 0.401319 deg/s,
      cmd heading: 182.694569 deg,
      new cmd heading: 183.190857 deg.

2025-10-26T21:41:36.364Z,1761514896.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.197284 target range: 88.535919 and range: 89.10 m.
2025-10-26T21:41:36.493Z,1761514896.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508853
2025-10-26T21:41:36.739Z,1761514896.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190423,-0.975944,0.106175],[0.980797,0.193774,0.022097],[-0.042139,0.099928,0.994102]]
2025-10-26T21:41:36.744Z,1761514896.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760271
2025-10-26T21:41:36.759Z,1761514896.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.54 m.
2025-10-26T21:41:36.762Z,1761514896.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.535919 m,
      nav range: 85.748291 m,
      bearing: 180.273590 deg,
      approach rate: 0.142965 m/s,
      LOS rate: 0.397089 deg/s,
      cmd heading: 183.190851 deg,
      new cmd heading: 183.665090 deg.

2025-10-26T21:41:36.762Z,1761514896.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.205560 target range: 88.535919 and range: 89.10 m.
2025-10-26T21:41:36.998Z,1761514896.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013352
2025-10-26T21:41:37.176Z,1761514897.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170259,-0.979750,0.105363],[0.984352,0.174032,0.027642],[-0.045419,0.099008,0.994049]]
2025-10-26T21:41:37.213Z,1761514897.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.54 m.
2025-10-26T21:41:37.216Z,1761514897.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.535919 m,
      nav range: 85.811470 m,
      bearing: 180.456875 deg,
      approach rate: 0.138952 m/s,
      LOS rate: 0.402808 deg/s,
      cmd heading: 183.665085 deg,
      new cmd heading: 184.214515 deg.

2025-10-26T21:41:37.217Z,1761514897.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.215150 target range: 88.535919 and range: 89.10 m.
2025-10-26T21:41:37.248Z,1761514897.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264283
2025-10-26T21:41:37.501Z,1761514897.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516597
2025-10-26T21:41:37.752Z,1761514897.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768155
2025-10-26T21:41:37.811Z,1761514897.811 [MassServo](ERROR): getPosition uart error serial timeout
2025-10-26T21:41:37.812Z,1761514897.812 [MassServo](FAULT): Invalid EZ Servo response:""
2025-10-26T21:41:37.812Z,1761514897.812 [MassServo] Communications Fault, FailCount= 2
2025-10-26T21:41:37.812Z,1761514897.812 [MassServo](ERROR): Communications Fault
2025-10-26T21:41:37.887Z,1761514897.887 [CBIT](ERROR): Communications Fault in component: MassServo
2025-10-26T21:41:37.905Z,1761514897.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129735,-0.985576,0.108670],[0.990157,0.134577,0.038447],[-0.052517,0.102613,0.993334]]
2025-10-26T21:41:37.944Z,1761514897.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.54 m.
2025-10-26T21:41:37.947Z,1761514897.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.535919 m,
      nav range: 85.895782 m,
      bearing: 180.749983 deg,
      approach rate: 0.115368 m/s,
      LOS rate: 0.400676 deg/s,
      cmd heading: 184.214519 deg,
      new cmd heading: 185.092908 deg.

2025-10-26T21:41:37.952Z,1761514897.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.230481 target range: 88.535919 and range: 89.10 m.
2025-10-26T21:41:38.005Z,1761514898.005 [DAT](INFO): DAT read: Rx Time:21:41:36.6155

2025-10-26T21:41:38.006Z,1761514898.006 [DAT](INFO): Rx dataTimestamp_ set to:1761514898.005526
2025-10-26T21:41:38.007Z,1761514898.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022524
2025-10-26T21:41:38.210Z,1761514898.210 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-10-26T21:41:38.210Z,1761514898.210 [MassServo](INFO): Powering down
2025-10-26T21:41:38.257Z,1761514898.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272808
2025-10-26T21:41:38.359Z,1761514898.359 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:38.361Z,1761514898.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.54 m.
2025-10-26T21:41:38.364Z,1761514898.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.535919 m,
      nav range: 85.946663 m,
      bearing: 180.915903 deg,
      approach rate: 0.122068 m/s,
      LOS rate: 0.397824 deg/s,
      cmd heading: 185.092908 deg,
      new cmd heading: 185.590360 deg.

2025-10-26T21:41:38.365Z,1761514898.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.239163 target range: 88.535919 and range: 89.10 m.
2025-10-26T21:41:38.514Z,1761514898.514 [DAT](INFO): DAT read: 21:41:36.6155 LVL= 12368, 15489, 20690, 20275, AGC= 64, IDX= 438,-0.39,-2.399, 3.141, 2.166,-3.119, PHS= 0.822, 0.022,-1.042, RAW=  55.3,   2.5, CAL=  55.4,  -0.0, ROT=  94.6,   0.0

2025-10-26T21:41:38.515Z,1761514898.515 [DAT](INFO): got valid direction response:
 21:41:36.6155 LVL= 12368, 15489, 20690, 20275, AGC= 64, IDX= 438,-0.39,-2.399, 3.141, 2.166,-3.119, PHS= 0.822, 0.022,-1.042, RAW=  55.3,   2.5, CAL=  55.4,  -0.0, ROT=  94.6,   0.0

2025-10-26T21:41:38.516Z,1761514898.516 [DAT](INFO): DAT read: Bearing 134.3,  84.6 (Local)

2025-10-26T21:41:38.517Z,1761514898.517 [DAT](INFO): Local bearing/azimuth received:
 Bearing 134.3,  84.6 (Local)

2025-10-26T21:41:38.518Z,1761514898.518 [DAT](INFO): DAT read: Range 11 to 50 : 89.7 m  (Round-trip  119.7 ms) speed -0.1 m/s

2025-10-26T21:41:38.519Z,1761514898.519 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:41:38.520Z,1761514898.520 [DAT](INFO): direction in FSK: [-0.080199,0.996779,-0.000000]
2025-10-26T21:41:38.520Z,1761514898.520 [DAT](INFO): publishing direction and range info
2025-10-26T21:41:38.527Z,1761514898.527 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:41:38.528Z,1761514898.528 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:41:38.528Z,1761514898.528 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:41:38.717Z,1761514898.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088287,-0.989665,0.113000],[0.994351,0.094274,0.048772],[-0.058921,0.108055,0.992397]]
2025-10-26T21:41:38.756Z,1761514898.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 89.699997 m,
      deltaT: 3.779530 s,
      deltaX: 0.599998 m,
      approachRate: 0.158749 m/s,
      rangeRepo size: 4

2025-10-26T21:41:38.758Z,1761514898.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 89.133194 m,
      bearing: 179.179750 deg,
      lat: 36.779429 deg,
      lon: -121.859526 deg,
      deltaT: 3.779530 s,
      deltaX: 0.597275 m,
      approachRate: 0.158029 m/s,
      posRepo size: 4

2025-10-26T21:41:38.759Z,1761514898.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.13 m.
2025-10-26T21:41:38.760Z,1761514898.760 [DAT](INFO): DAT read: user:350>

2025-10-26T21:41:38.761Z,1761514898.761 [DAT](INFO): DAT read: Tx time:21:41:37.8916

2025-10-26T21:41:38.761Z,1761514898.761 [DAT](INFO): Ping request sent.
2025-10-26T21:41:38.762Z,1761514898.762 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:41:38.762Z,1761514898.762 [DAT](INFO): publishing transmit ping time
2025-10-26T21:41:38.762Z,1761514898.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758
2025-10-26T21:41:38.765Z,1761514898.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.133194 m,
      nav range: 86.043839 m,
      bearing: 179.155676 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.397824 deg/s,
      cmd heading: 185.590365 deg,
      new cmd heading: 186.060850 deg.

2025-10-26T21:41:38.766Z,1761514898.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.247375 target range: 89.133194 and range: 89.70 m.
2025-10-26T21:41:38.841Z,1761514898.841 [MassServo](DEBUG): Initializing EZServoServo.
2025-10-26T21:41:38.960Z,1761514898.960 [MassServo](DEBUG): Initializing MassServo.
2025-10-26T21:41:39.013Z,1761514899.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251194
2025-10-26T21:41:39.043Z,1761514899.043 [CBIT](INFO): Clearing failed state for component MassServo
2025-10-26T21:41:39.043Z,1761514899.043 [MassServo] No Fault, FailCount= 2
2025-10-26T21:41:39.114Z,1761514899.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067463,-0.991092,0.114827],[0.995829,0.073974,0.053411],[-0.061429,0.110745,0.991949]]
2025-10-26T21:41:39.195Z,1761514899.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.13 m.
2025-10-26T21:41:39.208Z,1761514899.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.133194 m,
      nav range: 86.070732 m,
      bearing: 179.315311 deg,
      approach rate: 0.061359 m/s,
      LOS rate: 0.364098 deg/s,
      cmd heading: 186.060855 deg,
      new cmd heading: 186.539597 deg.

2025-10-26T21:41:39.209Z,1761514899.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.255730 target range: 89.133194 and range: 89.70 m.
2025-10-26T21:41:39.266Z,1761514899.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504513
2025-10-26T21:41:39.516Z,1761514899.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754647
2025-10-26T21:41:39.520Z,1761514899.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046871,-0.992341,0.114294],[0.996878,0.053747,0.057834],[-0.063534,0.111226,0.991762]]
2025-10-26T21:41:39.567Z,1761514899.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.13 m.
2025-10-26T21:41:39.570Z,1761514899.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.133194 m,
      nav range: 86.093071 m,
      bearing: 179.472374 deg,
      approach rate: 0.059856 m/s,
      LOS rate: 0.420733 deg/s,
      cmd heading: 186.539597 deg,
      new cmd heading: 187.010654 deg.

2025-10-26T21:41:39.570Z,1761514899.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.263952 target range: 89.133194 and range: 89.70 m.
2025-10-26T21:41:39.573Z,1761514899.573 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](ERROR): Faild to read a valid mass position measurement.
2025-10-26T21:41:39.768Z,1761514899.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006804
2025-10-26T21:41:39.924Z,1761514899.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026395,-0.993131,0.113990],[0.997509,0.033628,0.062000],[-0.065408,0.112070,0.991545]]
2025-10-26T21:41:39.946Z,1761514899.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.13 m.
2025-10-26T21:41:39.950Z,1761514899.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.133194 m,
      nav range: 86.109795 m,
      bearing: 179.617473 deg,
      approach rate: 0.044073 m/s,
      LOS rate: 0.382316 deg/s,
      cmd heading: 187.010648 deg,
      new cmd heading: 187.445852 deg.

2025-10-26T21:41:39.951Z,1761514899.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.271547 target range: 89.133194 and range: 89.70 m.
2025-10-26T21:41:40.021Z,1761514900.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258966
2025-10-26T21:41:40.272Z,1761514900.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510739
2025-10-26T21:41:40.326Z,1761514900.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007279,-0.993611,0.112620],[0.997745,0.014731,0.065480],[-0.066721,0.111889,0.991478]]
2025-10-26T21:41:40.373Z,1761514900.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:40.375Z,1761514900.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.13 m.
2025-10-26T21:41:40.377Z,1761514900.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.133194 m,
      nav range: 86.124367 m,
      bearing: 179.771251 deg,
      approach rate: 0.034012 m/s,
      LOS rate: 0.358866 deg/s,
      cmd heading: 187.445854 deg,
      new cmd heading: 187.907098 deg.

2025-10-26T21:41:40.378Z,1761514900.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.279598 target range: 89.133194 and range: 89.70 m.
2025-10-26T21:41:40.525Z,1761514900.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763094
2025-10-26T21:41:40.736Z,1761514900.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011603,-0.993691,0.111548],[0.997635,-0.003945,0.068625],[-0.067753,0.112081,0.991387]]
2025-10-26T21:41:40.776Z,1761514900.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014735
2025-10-26T21:41:40.777Z,1761514900.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.13 m.
2025-10-26T21:41:40.784Z,1761514900.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.133194 m,
      nav range: 86.134071 m,
      bearing: 179.909751 deg,
      approach rate: 0.025242 m/s,
      LOS rate: 0.360201 deg/s,
      cmd heading: 187.907096 deg,
      new cmd heading: 188.322541 deg.

2025-10-26T21:41:40.785Z,1761514900.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.286848 target range: 89.133194 and range: 89.70 m.
2025-10-26T21:41:41.030Z,1761514901.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268358
2025-10-26T21:41:41.134Z,1761514901.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030721,-0.993251,0.111839],[0.997233,-0.022880,0.070732],[-0.067696,0.113702,0.991206]]
2025-10-26T21:41:41.182Z,1761514901.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.13 m.
2025-10-26T21:41:41.206Z,1761514901.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.133194 m,
      nav range: 86.140457 m,
      bearing: 180.051045 deg,
      approach rate: 0.015155 m/s,
      LOS rate: 0.335288 deg/s,
      cmd heading: 188.322536 deg,
      new cmd heading: 188.746379 deg.

2025-10-26T21:41:41.214Z,1761514901.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.294246 target range: 89.133194 and range: 89.70 m.
2025-10-26T21:41:41.281Z,1761514901.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519057
2025-10-26T21:41:41.532Z,1761514901.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770834
2025-10-26T21:41:41.542Z,1761514901.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050134,-0.992429,0.112117],[0.996524,-0.042228,0.071814],[-0.066535,0.115328,0.991097]]
2025-10-26T21:41:41.606Z,1761514901.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.13 m.
2025-10-26T21:41:41.614Z,1761514901.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.133194 m,
      nav range: 86.143761 m,
      bearing: 180.218586 deg,
      approach rate: 0.007772 m/s,
      LOS rate: 0.394132 deg/s,
      cmd heading: 188.746376 deg,
      new cmd heading: 189.248966 deg.

2025-10-26T21:41:41.615Z,1761514901.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.303018 target range: 89.133194 and range: 89.70 m.
2025-10-26T21:41:41.621Z,1761514901.621 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](ERROR): Faild to read a valid mass position measurement.
2025-10-26T21:41:41.784Z,1761514901.784 [DAT](INFO): DAT read: Rx Time:21:41:40.4156

2025-10-26T21:41:41.785Z,1761514901.785 [DAT](INFO): Rx dataTimestamp_ set to:1761514901.784600
2025-10-26T21:41:41.785Z,1761514901.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023853
2025-10-26T21:41:41.942Z,1761514901.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069351,-0.991392,0.111053],[0.995523,-0.061610,0.071685],[-0.064226,0.115527,0.991226]]
2025-10-26T21:41:41.985Z,1761514901.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.13 m.
2025-10-26T21:41:41.989Z,1761514901.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.133194 m,
      nav range: 86.143021 m,
      bearing: 180.362808 deg,
      approach rate: -0.001953 m/s,
      LOS rate: 0.380514 deg/s,
      cmd heading: 189.248969 deg,
      new cmd heading: 189.681629 deg.

2025-10-26T21:41:41.996Z,1761514901.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.310569 target range: 89.133194 and range: 89.70 m.
2025-10-26T21:41:42.036Z,1761514902.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274857
2025-10-26T21:41:42.294Z,1761514902.294 [DAT](INFO): DAT read: 21:41:40.4155 LVL= 11184, 20673, 20946, 24499, AGC= 64, IDX= 422, 0.32,-2.399, 3.069, 2.213,-3.014, PHS= 0.717,-0.155,-1.100, RAW=  58.7,   6.9, CAL=  57.2,   7.1, ROT=  92.8,  -7.1

2025-10-26T21:41:42.295Z,1761514902.295 [DAT](INFO): got valid direction response:
 21:41:40.4155 LVL= 11184, 20673, 20946, 24499, AGC= 64, IDX= 422, 0.32,-2.399, 3.069, 2.213,-3.014, PHS= 0.717,-0.155,-1.100, RAW=  58.7,   6.9, CAL=  57.2,   7.1, ROT=  92.8,  -7.1

2025-10-26T21:41:42.296Z,1761514902.296 [DAT](INFO): DAT read: Bearing 277.2,  88.4 (Local)

2025-10-26T21:41:42.296Z,1761514902.296 [DAT](INFO): Local bearing/azimuth received:
 Bearing 277.2,  88.4 (Local)

2025-10-26T21:41:42.298Z,1761514902.298 [DAT](INFO): DAT read: Range 11 to 50 : 89.8 m  (Round-trip  119.8 ms) speed  0.0 m/s

2025-10-26T21:41:42.298Z,1761514902.298 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:41:42.299Z,1761514902.299 [DAT](INFO): direction in FSK: [-0.048475,0.991147,0.123601]
2025-10-26T21:41:42.299Z,1761514902.299 [DAT](INFO): publishing direction and range info
2025-10-26T21:41:42.303Z,1761514902.303 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:41:42.303Z,1761514902.303 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:41:42.303Z,1761514902.303 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:41:42.350Z,1761514902.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087853,-0.990121,0.109279],[0.994240,-0.080397,0.070873],[-0.061388,0.114876,0.991481]]
2025-10-26T21:41:42.503Z,1761514902.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 89.800003 m,
      deltaT: 3.779704 s,
      deltaX: 0.100006 m,
      approachRate: 0.026459 m/s,
      rangeRepo size: 4

2025-10-26T21:41:42.509Z,1761514902.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 89.231529 m,
      bearing: 187.047263 deg,
      lat: 36.779430 deg,
      lon: -121.859526 deg,
      deltaT: 3.779704 s,
      deltaX: 0.098335 m,
      approachRate: 0.026017 m/s,
      posRepo size: 4

2025-10-26T21:41:42.510Z,1761514902.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.23 m.
2025-10-26T21:41:42.517Z,1761514902.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.231529 m,
      nav range: 86.073120 m,
      bearing: 180.555427 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.380514 deg/s,
      cmd heading: 189.681634 deg,
      new cmd heading: 190.272656 deg.

2025-10-26T21:41:42.518Z,1761514902.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.320884 target range: 89.231529 and range: 89.80 m.
2025-10-26T21:41:42.540Z,1761514902.540 [DAT](INFO): DAT read: user:351>

2025-10-26T21:41:42.541Z,1761514902.541 [DAT](INFO): DAT read: Tx time:21:41:41.6916

2025-10-26T21:41:42.541Z,1761514902.541 [DAT](INFO): Ping request sent.
2025-10-26T21:41:42.541Z,1761514902.541 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:41:42.542Z,1761514902.542 [DAT](INFO): publishing transmit ping time
2025-10-26T21:41:42.542Z,1761514902.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-10-26T21:41:42.790Z,1761514902.790 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:42.793Z,1761514902.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251222
2025-10-26T21:41:42.794Z,1761514902.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.23 m.
2025-10-26T21:41:42.801Z,1761514902.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.231529 m,
      nav range: 86.070404 m,
      bearing: 180.680188 deg,
      approach rate: -0.009307 m/s,
      LOS rate: 0.427516 deg/s,
      cmd heading: 190.272651 deg,
      new cmd heading: 190.646940 deg.

2025-10-26T21:41:42.802Z,1761514902.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.327417 target range: 89.231529 and range: 89.80 m.
2025-10-26T21:41:42.948Z,1761514902.948 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:41:43.044Z,1761514903.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502916
2025-10-26T21:41:43.155Z,1761514903.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125427,-0.986857,0.101892],[0.990656,-0.119038,0.066560],[-0.053556,0.109288,0.992566]]
2025-10-26T21:41:43.189Z,1761514903.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.23 m.
2025-10-26T21:41:43.198Z,1761514903.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.231529 m,
      nav range: 86.059174 m,
      bearing: 180.828591 deg,
      approach rate: -0.028436 m/s,
      LOS rate: 0.375804 deg/s,
      cmd heading: 190.646945 deg,
      new cmd heading: 191.092201 deg.

2025-10-26T21:41:43.206Z,1761514903.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.335188 target range: 89.231529 and range: 89.80 m.
2025-10-26T21:41:43.297Z,1761514903.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754984
2025-10-26T21:41:43.548Z,1761514903.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006893
2025-10-26T21:41:43.566Z,1761514903.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144266,-0.984328,0.101420],[0.988339,-0.138287,0.063738],[-0.048714,0.109432,0.992800]]
2025-10-26T21:41:43.611Z,1761514903.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.23 m.
2025-10-26T21:41:43.630Z,1761514903.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.231529 m,
      nav range: 86.041153 m,
      bearing: 180.998069 deg,
      approach rate: -0.042745 m/s,
      LOS rate: 0.402090 deg/s,
      cmd heading: 191.092205 deg,
      new cmd heading: 191.600734 deg.

2025-10-26T21:41:43.631Z,1761514903.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.344064 target range: 89.231529 and range: 89.80 m.
2025-10-26T21:41:43.801Z,1761514903.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259433
2025-10-26T21:41:43.952Z,1761514903.952 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:41:43.969Z,1761514903.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163707,-0.981246,0.101763],[0.985589,-0.158228,0.059820],[-0.042596,0.110090,0.993008]]
2025-10-26T21:41:44.024Z,1761514904.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.23 m.
2025-10-26T21:41:44.026Z,1761514904.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.231529 m,
      nav range: 86.021561 m,
      bearing: 181.146787 deg,
      approach rate: -0.047424 m/s,
      LOS rate: 0.360060 deg/s,
      cmd heading: 191.600740 deg,
      new cmd heading: 192.046985 deg.

2025-10-26T21:41:44.032Z,1761514904.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.351852 target range: 89.231529 and range: 89.80 m.
2025-10-26T21:41:44.052Z,1761514904.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510882
2025-10-26T21:41:44.305Z,1761514904.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762978
2025-10-26T21:41:44.366Z,1761514904.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183672,-0.977538,0.103365],[0.982358,-0.178774,0.054886],[-0.035174,0.111623,0.993128]]
2025-10-26T21:41:44.414Z,1761514904.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.23 m.
2025-10-26T21:41:44.417Z,1761514904.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.231529 m,
      nav range: 86.000069 m,
      bearing: 181.309237 deg,
      approach rate: -0.055125 m/s,
      LOS rate: 0.416772 deg/s,
      cmd heading: 192.046983 deg,
      new cmd heading: 192.534442 deg.

2025-10-26T21:41:44.418Z,1761514904.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.360360 target range: 89.231529 and range: 89.80 m.
2025-10-26T21:41:44.556Z,1761514904.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014854
2025-10-26T21:41:44.770Z,1761514904.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204024,-0.973384,0.104391],[0.978597,-0.199860,0.049023],[-0.026855,0.112159,0.993327]]
2025-10-26T21:41:44.803Z,1761514904.803 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:44.805Z,1761514904.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.23 m.
2025-10-26T21:41:44.809Z,1761514904.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267079
2025-10-26T21:41:44.809Z,1761514904.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.231529 m,
      nav range: 85.975929 m,
      bearing: 181.460697 deg,
      approach rate: -0.061694 m/s,
      LOS rate: 0.387199 deg/s,
      cmd heading: 192.534440 deg,
      new cmd heading: 192.988939 deg.

2025-10-26T21:41:44.810Z,1761514904.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.368292 target range: 89.231529 and range: 89.80 m.
2025-10-26T21:41:45.061Z,1761514905.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519100
2025-10-26T21:41:45.174Z,1761514905.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224195,-0.968826,0.105418],[0.974377,-0.220834,0.042690],[-0.018079,0.112288,0.993511]]
2025-10-26T21:41:45.192Z,1761514905.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.23 m.
2025-10-26T21:41:45.195Z,1761514905.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.231529 m,
      nav range: 85.947960 m,
      bearing: 181.610604 deg,
      approach rate: -0.072223 m/s,
      LOS rate: 0.387217 deg/s,
      cmd heading: 192.988935 deg,
      new cmd heading: 193.438792 deg.

2025-10-26T21:41:45.196Z,1761514905.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.376144 target range: 89.231529 and range: 89.80 m.
2025-10-26T21:41:45.314Z,1761514905.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772062
2025-10-26T21:41:45.564Z,1761514905.564 [DAT](INFO): DAT read: Rx Time:21:41:44.2153

2025-10-26T21:41:45.565Z,1761514905.565 [DAT](INFO): Rx dataTimestamp_ set to:1761514905.564501
2025-10-26T21:41:45.565Z,1761514905.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023819
2025-10-26T21:41:45.659Z,1761514905.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.23 m.
2025-10-26T21:41:45.661Z,1761514905.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.231529 m,
      nav range: 85.914696 m,
      bearing: 181.789762 deg,
      approach rate: -0.071329 m/s,
      LOS rate: 0.384318 deg/s,
      cmd heading: 193.438798 deg,
      new cmd heading: 193.976464 deg.

2025-10-26T21:41:45.662Z,1761514905.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.385528 target range: 89.231529 and range: 89.80 m.
2025-10-26T21:41:45.818Z,1761514905.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276550
2025-10-26T21:41:46.035Z,1761514906.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264263,-0.958229,0.109374],[0.964451,-0.262549,0.030052],[-0.000080,0.113428,0.993546]]
2025-10-26T21:41:46.054Z,1761514906.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.23 m.
2025-10-26T21:41:46.064Z,1761514906.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.231529 m,
      nav range: 85.875031 m,
      bearing: 181.952368 deg,
      approach rate: -0.100434 m/s,
      LOS rate: 0.411914 deg/s,
      cmd heading: 193.976457 deg,
      new cmd heading: 194.464488 deg.

2025-10-26T21:41:46.065Z,1761514906.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.394046 target range: 89.231529 and range: 89.80 m.
2025-10-26T21:41:46.074Z,1761514906.074 [DAT](INFO): DAT read: 21:41:44.2153 LVL= 24544, 28705, 27378, 32755, AGC= 66, IDX= 437,-0.13, 1.923, 0.769, 0.289, 1.294, PHS= 0.731,-0.480,-1.049, RAW=  71.7,  10.2, CAL=  70.6,  13.1, ROT=  79.4, -13.1

2025-10-26T21:41:46.076Z,1761514906.076 [DAT](INFO): got valid direction response:
 21:41:44.2153 LVL= 24544, 28705, 27378, 32755, AGC= 66, IDX= 437,-0.13, 1.923, 0.769, 0.289, 1.294, PHS= 0.731,-0.480,-1.049, RAW=  71.7,  10.2, CAL=  70.6,  13.1, ROT=  79.4, -13.1

2025-10-26T21:41:46.076Z,1761514906.076 [DAT](INFO): DAT read: Bearing 291.4,  76.8 (Local)

2025-10-26T21:41:46.077Z,1761514906.077 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.4,  76.8 (Local)

2025-10-26T21:41:46.080Z,1761514906.080 [DAT](INFO): DAT read: Range 11 to 50 : 89.7 m  (Round-trip  119.6 ms) speed  0.0 m/s

2025-10-26T21:41:46.083Z,1761514906.083 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:41:46.085Z,1761514906.085 [DAT](INFO): direction in FSK: [0.179164,0.957355,0.226651]
2025-10-26T21:41:46.085Z,1761514906.085 [DAT](INFO): publishing direction and range info
2025-10-26T21:41:46.100Z,1761514906.100 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:41:46.100Z,1761514906.100 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:41:46.101Z,1761514906.101 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:41:46.322Z,1761514906.322 [DAT](INFO): DAT read: user:352>

2025-10-26T21:41:46.323Z,1761514906.323 [DAT](INFO): DAT read: Tx time:21:41:45.4916

2025-10-26T21:41:46.323Z,1761514906.323 [DAT](INFO): Ping request sent.
2025-10-26T21:41:46.323Z,1761514906.323 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:41:46.323Z,1761514906.323 [DAT](INFO): publishing transmit ping time
2025-10-26T21:41:46.324Z,1761514906.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000875
2025-10-26T21:41:46.386Z,1761514906.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283999,-0.952265,0.111962],[0.958781,-0.283154,0.023721],[0.009113,0.114084,0.993429]]
2025-10-26T21:41:46.441Z,1761514906.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 89.699997 m,
      deltaT: 3.780118 s,
      deltaX: -0.100006 m,
      approachRate: -0.026456 m/s,
      rangeRepo size: 4

2025-10-26T21:41:46.442Z,1761514906.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 89.131180 m,
      bearing: 185.723097 deg,
      lat: 36.779430 deg,
      lon: -121.859526 deg,
      deltaT: 3.780118 s,
      deltaX: -0.100349 m,
      approachRate: -0.026547 m/s,
      posRepo size: 4

2025-10-26T21:41:46.447Z,1761514906.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.13 m.
2025-10-26T21:41:46.473Z,1761514906.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.131180 m,
      nav range: 85.842743 m,
      bearing: 182.095367 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.411914 deg/s,
      cmd heading: 194.464488 deg,
      new cmd heading: 194.941434 deg.

2025-10-26T21:41:46.474Z,1761514906.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.402370 target range: 89.131180 and range: 89.70 m.
2025-10-26T21:41:46.572Z,1761514906.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249251
2025-10-26T21:41:46.791Z,1761514906.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303819,-0.945753,0.115087],[0.952551,-0.303877,0.017472],[0.018448,0.114935,0.993202]]
2025-10-26T21:41:46.807Z,1761514906.807 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:46.809Z,1761514906.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.13 m.
2025-10-26T21:41:46.812Z,1761514906.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.131180 m,
      nav range: 85.807404 m,
      bearing: 182.234712 deg,
      approach rate: -0.095590 m/s,
      LOS rate: 0.377072 deg/s,
      cmd heading: 194.941440 deg,
      new cmd heading: 195.359640 deg.

2025-10-26T21:41:46.813Z,1761514906.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.409669 target range: 89.131180 and range: 89.70 m.
2025-10-26T21:41:46.825Z,1761514906.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501303
2025-10-26T21:41:47.076Z,1761514907.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753184
2025-10-26T21:41:47.194Z,1761514907.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323288,-0.939167,0.115975],[0.945891,-0.324320,0.010390],[0.027855,0.113058,0.993198]]
2025-10-26T21:41:47.212Z,1761514907.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.13 m.
2025-10-26T21:41:47.215Z,1761514907.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.131180 m,
      nav range: 85.765205 m,
      bearing: 182.384628 deg,
      approach rate: -0.104754 m/s,
      LOS rate: 0.372340 deg/s,
      cmd heading: 195.359639 deg,
      new cmd heading: 195.809598 deg.

2025-10-26T21:41:47.216Z,1761514907.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.417522 target range: 89.131180 and range: 89.70 m.
2025-10-26T21:41:47.329Z,1761514907.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006208
2025-10-26T21:41:47.580Z,1761514907.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257153
2025-10-26T21:41:47.604Z,1761514907.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342910,-0.932124,0.116439],[0.938625,-0.344928,0.002989],[0.037377,0.110317,0.993193]]
2025-10-26T21:41:47.724Z,1761514907.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.13 m.
2025-10-26T21:41:47.728Z,1761514907.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.131180 m,
      nav range: 85.710381 m,
      bearing: 182.579065 deg,
      approach rate: -0.107274 m/s,
      LOS rate: 0.380693 deg/s,
      cmd heading: 195.809598 deg,
      new cmd heading: 196.393262 deg.

2025-10-26T21:41:47.730Z,1761514907.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.427709 target range: 89.131180 and range: 89.70 m.
2025-10-26T21:41:47.832Z,1761514907.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509074
2025-10-26T21:41:48.087Z,1761514908.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763643
2025-10-26T21:41:48.096Z,1761514908.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.13 m.
2025-10-26T21:41:48.099Z,1761514908.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.131180 m,
      nav range: 85.667465 m,
      bearing: 182.733938 deg,
      approach rate: -0.115234 m/s,
      LOS rate: 0.416065 deg/s,
      cmd heading: 196.393265 deg,
      new cmd heading: 196.858105 deg.

2025-10-26T21:41:48.100Z,1761514908.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.435822 target range: 89.131180 and range: 89.70 m.
2025-10-26T21:41:48.340Z,1761514908.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015920
2025-10-26T21:41:48.482Z,1761514908.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380594,-0.916980,0.119565],[0.923054,-0.384519,-0.010764],[0.055845,0.106268,0.992768]]
2025-10-26T21:41:48.546Z,1761514908.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.13 m.
2025-10-26T21:41:48.565Z,1761514908.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.131180 m,
      nav range: 85.610306 m,
      bearing: 182.900545 deg,
      approach rate: -0.126768 m/s,
      LOS rate: 0.369748 deg/s,
      cmd heading: 196.858100 deg,
      new cmd heading: 197.358243 deg.

2025-10-26T21:41:48.566Z,1761514908.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.444551 target range: 89.131180 and range: 89.70 m.
2025-10-26T21:41:48.588Z,1761514908.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265259
2025-10-26T21:41:48.840Z,1761514908.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517219
2025-10-26T21:41:48.908Z,1761514908.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417637,-0.899459,0.128660],[0.905577,-0.423614,-0.021921],[0.074220,0.107356,0.991446]]
2025-10-26T21:41:48.938Z,1761514908.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:48.940Z,1761514908.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.13 m.
2025-10-26T21:41:48.943Z,1761514908.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.131180 m,
      nav range: 85.554253 m,
      bearing: 183.039556 deg,
      approach rate: -0.142271 m/s,
      LOS rate: 0.353062 deg/s,
      cmd heading: 197.358248 deg,
      new cmd heading: 197.775548 deg.

2025-10-26T21:41:48.944Z,1761514908.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.451834 target range: 89.131180 and range: 89.70 m.
2025-10-26T21:41:49.097Z,1761514909.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773791
2025-10-26T21:41:49.352Z,1761514909.352 [DAT](INFO): DAT read: Rx Time:21:41:48.0147

2025-10-26T21:41:49.352Z,1761514909.352 [DAT](INFO): Rx dataTimestamp_ set to:1761514909.352076
2025-10-26T21:41:49.353Z,1761514909.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029730
2025-10-26T21:41:49.356Z,1761514909.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435849,-0.889643,0.136274],[0.896167,-0.442975,-0.025656],[0.083191,0.110942,0.990339]]
2025-10-26T21:41:49.408Z,1761514909.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.13 m.
2025-10-26T21:41:49.411Z,1761514909.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.131180 m,
      nav range: 85.487434 m,
      bearing: 183.192245 deg,
      approach rate: -0.148242 m/s,
      LOS rate: 0.339018 deg/s,
      cmd heading: 197.775545 deg,
      new cmd heading: 198.233959 deg.

2025-10-26T21:41:49.420Z,1761514909.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.459835 target range: 89.131180 and range: 89.70 m.
2025-10-26T21:41:49.600Z,1761514909.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277192
2025-10-26T21:41:49.725Z,1761514909.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453219,-0.879775,0.143486],[0.886644,-0.461527,-0.029247],[0.091954,0.113966,0.989220]]
2025-10-26T21:41:49.746Z,1761514909.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.13 m.
2025-10-26T21:41:49.749Z,1761514909.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.131180 m,
      nav range: 85.433548 m,
      bearing: 183.308066 deg,
      approach rate: -0.151759 m/s,
      LOS rate: 0.326387 deg/s,
      cmd heading: 198.233960 deg,
      new cmd heading: 198.581636 deg.

2025-10-26T21:41:49.750Z,1761514909.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.465903 target range: 89.131180 and range: 89.70 m.
2025-10-26T21:41:49.863Z,1761514909.863 [DAT](INFO): DAT read: 21:41:48.0147 LVL= 15408, 20577, 19618, 22339, AGC= 61, IDX= 431, 0.43, 1.519,-0.029,-0.125, 0.569, PHS= 1.052,-0.553,-0.738, RAW=  84.6,   2.8, CAL=  83.6,  -0.7, ROT=  66.4,   0.7

2025-10-26T21:41:49.865Z,1761514909.865 [DAT](INFO): got valid direction response:
 21:41:48.0147 LVL= 15408, 20577, 19618, 22339, AGC= 61, IDX= 431, 0.43, 1.519,-0.029,-0.125, 0.569, PHS= 1.052,-0.553,-0.738, RAW=  84.6,   2.8, CAL=  83.6,  -0.7, ROT=  66.4,   0.7

2025-10-26T21:41:49.866Z,1761514909.866 [DAT](INFO): DAT read: Bearing 251.7,  69.2 (Local)

2025-10-26T21:41:49.867Z,1761514909.867 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.7,  69.2 (Local)

2025-10-26T21:41:49.868Z,1761514909.868 [DAT](INFO): DAT read: Range 11 to 50 : 89.2 m  (Round-trip  119.0 ms) speed  0.1 m/s

2025-10-26T21:41:49.869Z,1761514909.869 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:41:49.870Z,1761514909.870 [DAT](INFO): direction in FSK: [0.400319,0.916294,-0.012217]
2025-10-26T21:41:49.870Z,1761514909.870 [DAT](INFO): publishing direction and range info
2025-10-26T21:41:49.897Z,1761514909.897 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:41:49.897Z,1761514909.897 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:41:49.898Z,1761514909.898 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:41:50.108Z,1761514910.108 [DAT](INFO): DAT read: user:353>

2025-10-26T21:41:50.109Z,1761514910.109 [DAT](INFO): DAT read: Tx time:21:41:49.2916

2025-10-26T21:41:50.109Z,1761514910.109 [DAT](INFO): Ping request sent.
2025-10-26T21:41:50.109Z,1761514910.109 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:41:50.110Z,1761514910.110 [DAT](INFO): publishing transmit ping time
2025-10-26T21:41:50.110Z,1761514910.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-10-26T21:41:50.122Z,1761514910.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470404,-0.870003,0.147695],[0.876677,-0.479850,-0.034385],[0.100786,0.113306,0.988435]]
2025-10-26T21:41:50.169Z,1761514910.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 89.199997 m,
      deltaT: 3.786986 s,
      deltaX: -0.500000 m,
      approachRate: -0.132031 m/s,
      rangeRepo size: 4

2025-10-26T21:41:50.176Z,1761514910.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 88.638275 m,
      bearing: 185.111481 deg,
      lat: 36.779429 deg,
      lon: -121.859557 deg,
      deltaT: 3.786986 s,
      deltaX: -0.492905 m,
      approachRate: -0.130158 m/s,
      posRepo size: 4

2025-10-26T21:41:50.176Z,1761514910.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.64 m.
2025-10-26T21:41:50.179Z,1761514910.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.638275 m,
      nav range: 85.638672 m,
      bearing: 185.244578 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.326387 deg/s,
      cmd heading: 198.581630 deg,
      new cmd heading: 198.995192 deg.

2025-10-26T21:41:50.188Z,1761514910.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.473121 target range: 88.638275 and range: 89.20 m.
2025-10-26T21:41:50.377Z,1761514910.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.267078
2025-10-26T21:41:50.533Z,1761514910.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487457,-0.860063,0.150589],[0.866214,-0.498031,-0.040479],[0.109812,0.110711,0.987767]]
2025-10-26T21:41:50.593Z,1761514910.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.64 m.
2025-10-26T21:41:50.595Z,1761514910.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.638275 m,
      nav range: 85.566521 m,
      bearing: 185.382575 deg,
      approach rate: -0.170223 m/s,
      LOS rate: 0.325845 deg/s,
      cmd heading: 198.995198 deg,
      new cmd heading: 199.409531 deg.

2025-10-26T21:41:50.596Z,1761514910.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.480353 target range: 88.638275 and range: 89.20 m.
2025-10-26T21:41:50.614Z,1761514910.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504976
2025-10-26T21:41:50.864Z,1761514910.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754895
2025-10-26T21:41:50.986Z,1761514910.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503874,-0.849767,0.154943],[0.855580,-0.515651,-0.045682],[0.118715,0.109548,0.986867]]
2025-10-26T21:41:51.011Z,1761514911.011 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:51.013Z,1761514911.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.64 m.
2025-10-26T21:41:51.016Z,1761514911.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.638275 m,
      nav range: 85.494949 m,
      bearing: 185.512345 deg,
      approach rate: -0.170164 m/s,
      LOS rate: 0.308793 deg/s,
      cmd heading: 199.409531 deg,
      new cmd heading: 199.799161 deg.

2025-10-26T21:41:51.017Z,1761514911.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.487153 target range: 88.638275 and range: 89.20 m.
2025-10-26T21:41:51.117Z,1761514911.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007542
2025-10-26T21:41:51.371Z,1761514911.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261325
2025-10-26T21:41:51.377Z,1761514911.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519812,-0.839088,0.160396],[0.844687,-0.532893,-0.050285],[0.127667,0.109346,0.985771]]
2025-10-26T21:41:51.428Z,1761514911.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.64 m.
2025-10-26T21:41:51.430Z,1761514911.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.638275 m,
      nav range: 85.421150 m,
      bearing: 185.632366 deg,
      approach rate: -0.178168 m/s,
      LOS rate: 0.290008 deg/s,
      cmd heading: 199.799166 deg,
      new cmd heading: 200.159535 deg.

2025-10-26T21:41:51.431Z,1761514911.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.493443 target range: 88.638275 and range: 89.20 m.
2025-10-26T21:41:51.620Z,1761514911.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510875
2025-10-26T21:41:51.775Z,1761514911.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.64 m.
2025-10-26T21:41:51.778Z,1761514911.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.638275 m,
      nav range: 85.359505 m,
      bearing: 185.733261 deg,
      approach rate: -0.177263 m/s,
      LOS rate: 0.290334 deg/s,
      cmd heading: 200.159541 deg,
      new cmd heading: 200.462440 deg.

2025-10-26T21:41:51.779Z,1761514911.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.498730 target range: 88.638275 and range: 89.20 m.
2025-10-26T21:41:51.873Z,1761514911.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763866
2025-10-26T21:41:52.124Z,1761514912.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014935
2025-10-26T21:41:52.140Z,1761514912.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550146,-0.817054,0.172520],[0.822254,-0.566071,-0.058841],[0.145735,0.109484,0.983247]]
2025-10-26T21:41:52.174Z,1761514912.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.64 m.
2025-10-26T21:41:52.177Z,1761514912.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.638275 m,
      nav range: 85.282990 m,
      bearing: 185.846808 deg,
      approach rate: -0.191816 m/s,
      LOS rate: 0.284909 deg/s,
      cmd heading: 200.462446 deg,
      new cmd heading: 200.803390 deg.

2025-10-26T21:41:52.178Z,1761514912.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.504680 target range: 88.638275 and range: 89.20 m.
2025-10-26T21:41:52.380Z,1761514912.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269775
2025-10-26T21:41:52.546Z,1761514912.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564631,-0.805881,0.178183],[0.810694,-0.582026,-0.063422],[0.154818,0.108641,0.981951]]
2025-10-26T21:41:52.603Z,1761514912.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.64 m.
2025-10-26T21:41:52.605Z,1761514912.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.638275 m,
      nav range: 85.190605 m,
      bearing: 185.965700 deg,
      approach rate: -0.215549 m/s,
      LOS rate: 0.277696 deg/s,
      cmd heading: 200.803395 deg,
      new cmd heading: 201.160453 deg.

2025-10-26T21:41:52.606Z,1761514912.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.510912 target range: 88.638275 and range: 89.20 m.
2025-10-26T21:41:52.628Z,1761514912.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519074
2025-10-26T21:41:52.880Z,1761514912.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770960
2025-10-26T21:41:52.990Z,1761514912.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.64 m.
2025-10-26T21:41:52.994Z,1761514912.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.638275 m,
      nav range: 85.108536 m,
      bearing: 186.071935 deg,
      approach rate: -0.211960 m/s,
      LOS rate: 0.274635 deg/s,
      cmd heading: 201.160450 deg,
      new cmd heading: 201.479457 deg.

2025-10-26T21:41:52.995Z,1761514912.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.516480 target range: 88.638275 and range: 89.20 m.
2025-10-26T21:41:53.133Z,1761514913.133 [DAT](INFO): DAT read: Rx Time:21:41:51.8135

2025-10-26T21:41:53.134Z,1761514913.134 [DAT](INFO): Rx dataTimestamp_ set to:1761514913.133667
2025-10-26T21:41:53.135Z,1761514913.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025429
2025-10-26T21:41:53.376Z,1761514913.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592205,-0.783859,0.186707],[0.786984,-0.612409,-0.074913],[0.173062,0.102571,0.979555]]
2025-10-26T21:41:53.403Z,1761514913.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.293288
2025-10-26T21:41:53.436Z,1761514913.436 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:53.438Z,1761514913.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.64 m.
2025-10-26T21:41:53.441Z,1761514913.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.638275 m,
      nav range: 85.008774 m,
      bearing: 186.190805 deg,
      approach rate: -0.222596 m/s,
      LOS rate: 0.265544 deg/s,
      cmd heading: 201.479461 deg,
      new cmd heading: 201.836487 deg.

2025-10-26T21:41:53.442Z,1761514913.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.522711 target range: 88.638275 and range: 89.20 m.
2025-10-26T21:41:53.658Z,1761514913.658 [DAT](INFO): DAT read: 21:41:51.8135 LVL= 28128, 32753, 27826, 32211, AGC= 70, IDX= 436,-0.49,-1.190,-2.997,-2.661,-2.207, PHS= 1.118,-0.745,-0.498, RAW=  97.0,   1.4, CAL=  96.9,  -0.8, ROT=  53.1,   0.8

2025-10-26T21:41:53.659Z,1761514913.659 [DAT](INFO): got valid direction response:
 21:41:51.8135 LVL= 28128, 32753, 27826, 32211, AGC= 70, IDX= 436,-0.49,-1.190,-2.997,-2.661,-2.207, PHS= 1.118,-0.745,-0.498, RAW=  97.0,   1.4, CAL=  96.9,  -0.8, ROT=  53.1,   0.8

2025-10-26T21:41:53.660Z,1761514913.660 [DAT](INFO): DAT read: Bearing 269.6,  61.6 (Local)

2025-10-26T21:41:53.660Z,1761514913.660 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.6,  61.6 (Local)

2025-10-26T21:41:53.662Z,1761514913.662 [DAT](INFO): DAT read: Range 11 to 50 : 88.3 m  (Round-trip  117.8 ms) speed  0.1 m/s

2025-10-26T21:41:53.662Z,1761514913.662 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:41:53.663Z,1761514913.663 [DAT](INFO): direction in FSK: [0.600362,0.799607,-0.013962]
2025-10-26T21:41:53.664Z,1761514913.664 [DAT](INFO): publishing direction and range info
2025-10-26T21:41:53.667Z,1761514913.667 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:41:53.667Z,1761514913.667 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:41:53.671Z,1761514913.671 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:41:53.758Z,1761514913.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605892,-0.771556,0.193897],[0.774398,-0.627824,-0.078394],[0.182218,0.102655,0.977885]]
2025-10-26T21:41:53.844Z,1761514913.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 88.300003 m,
      deltaT: 3.796929 s,
      deltaX: -0.899994 m,
      approachRate: -0.237032 m/s,
      rangeRepo size: 4

2025-10-26T21:41:53.846Z,1761514913.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 87.744179 m,
      bearing: 182.096442 deg,
      lat: 36.779413 deg,
      lon: -121.859557 deg,
      deltaT: 3.796929 s,
      deltaX: -0.894096 m,
      approachRate: -0.235479 m/s,
      posRepo size: 4

2025-10-26T21:41:53.847Z,1761514913.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.74 m.
2025-10-26T21:41:53.854Z,1761514913.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.744179 m,
      nav range: 86.789513 m,
      bearing: 186.163182 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.265544 deg/s,
      cmd heading: 201.836489 deg,
      new cmd heading: 202.156408 deg.

2025-10-26T21:41:53.855Z,1761514913.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528295 target range: 87.744179 and range: 88.30 m.
2025-10-26T21:41:53.905Z,1761514913.905 [DAT](INFO): DAT read: user:354>

2025-10-26T21:41:53.906Z,1761514913.906 [DAT](INFO): DAT read: Tx time:21:41:53.0416

2025-10-26T21:41:53.907Z,1761514913.907 [DAT](INFO): Ping request sent.
2025-10-26T21:41:53.907Z,1761514913.907 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:41:53.907Z,1761514913.907 [DAT](INFO): publishing transmit ping time
2025-10-26T21:41:53.909Z,1761514913.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002053
2025-10-26T21:41:54.157Z,1761514914.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249738
2025-10-26T21:41:54.160Z,1761514914.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619244,-0.758937,0.201372],[0.761554,-0.642972,-0.081382],[0.191240,0.102960,0.976128]]
2025-10-26T21:41:54.195Z,1761514914.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.74 m.
2025-10-26T21:41:54.198Z,1761514914.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.744179 m,
      nav range: 86.701714 m,
      bearing: 186.258931 deg,
      approach rate: -0.246815 m/s,
      LOS rate: 0.269437 deg/s,
      cmd heading: 202.156401 deg,
      new cmd heading: 202.443937 deg.

2025-10-26T21:41:54.199Z,1761514914.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.533313 target range: 87.744179 and range: 88.30 m.
2025-10-26T21:41:54.412Z,1761514914.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503825
2025-10-26T21:41:54.566Z,1761514914.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633069,-0.745463,0.208585],[0.747674,-0.658643,-0.084690],[0.200517,0.102339,0.974330]]
2025-10-26T21:41:54.631Z,1761514914.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.74 m.
2025-10-26T21:41:54.634Z,1761514914.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.744179 m,
      nav range: 86.588562 m,
      bearing: 186.378011 deg,
      approach rate: -0.259577 m/s,
      LOS rate: 0.273534 deg/s,
      cmd heading: 202.443938 deg,
      new cmd heading: 202.801640 deg.

2025-10-26T21:41:54.635Z,1761514914.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539556 target range: 87.744179 and range: 88.30 m.
2025-10-26T21:41:54.661Z,1761514914.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754567
2025-10-26T21:41:54.913Z,1761514914.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005856
2025-10-26T21:41:54.977Z,1761514914.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646991,-0.731402,0.215534],[0.733140,-0.674391,-0.087764],[0.209545,0.101234,0.972544]]
2025-10-26T21:41:55.008Z,1761514915.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.74 m.
2025-10-26T21:41:55.010Z,1761514915.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.744179 m,
      nav range: 86.488403 m,
      bearing: 186.479323 deg,
      approach rate: -0.266048 m/s,
      LOS rate: 0.269424 deg/s,
      cmd heading: 202.801635 deg,
      new cmd heading: 203.105921 deg.

2025-10-26T21:41:55.012Z,1761514915.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.544867 target range: 87.744179 and range: 88.30 m.
2025-10-26T21:41:55.165Z,1761514915.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257752
2025-10-26T21:41:55.376Z,1761514915.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660451,-0.717448,0.221526],[0.718415,-0.689578,-0.091451],[0.218370,0.098748,0.970857]]
2025-10-26T21:41:55.420Z,1761514915.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512277
2025-10-26T21:41:55.461Z,1761514915.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:55.470Z,1761514915.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.74 m.
2025-10-26T21:41:55.484Z,1761514915.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.744179 m,
      nav range: 86.368484 m,
      bearing: 186.595997 deg,
      approach rate: -0.259734 m/s,
      LOS rate: 0.253058 deg/s,
      cmd heading: 203.105920 deg,
      new cmd heading: 203.456425 deg.

2025-10-26T21:41:55.485Z,1761514915.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.550984 target range: 87.744179 and range: 88.30 m.
2025-10-26T21:41:55.668Z,1761514915.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761606
2025-10-26T21:41:55.776Z,1761514915.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674013,-0.702597,0.228175],[0.702862,-0.705002,-0.094641],[0.227358,0.096586,0.969009]]
2025-10-26T21:41:55.857Z,1761514915.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.74 m.
2025-10-26T21:41:55.860Z,1761514915.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.744179 m,
      nav range: 86.256920 m,
      bearing: 186.706942 deg,
      approach rate: -0.287875 m/s,
      LOS rate: 0.286644 deg/s,
      cmd heading: 203.456418 deg,
      new cmd heading: 203.789678 deg.

2025-10-26T21:41:55.861Z,1761514915.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.556801 target range: 87.744179 and range: 88.30 m.
2025-10-26T21:41:55.922Z,1761514915.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014776
2025-10-26T21:41:56.172Z,1761514916.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265609
2025-10-26T21:41:56.250Z,1761514916.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.74 m.
2025-10-26T21:41:56.253Z,1761514916.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.744179 m,
      nav range: 86.142944 m,
      bearing: 186.820924 deg,
      approach rate: -0.289868 m/s,
      LOS rate: 0.290270 deg/s,
      cmd heading: 203.789677 deg,
      new cmd heading: 204.132073 deg.

2025-10-26T21:41:56.254Z,1761514916.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.562777 target range: 87.744179 and range: 88.30 m.
2025-10-26T21:41:56.429Z,1761514916.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521791
2025-10-26T21:41:56.614Z,1761514916.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700945,-0.669641,0.245475],[0.669555,-0.736405,-0.096979],[0.245710,0.096382,0.964540]]
2025-10-26T21:41:56.676Z,1761514916.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769688
2025-10-26T21:41:56.679Z,1761514916.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.74 m.
2025-10-26T21:41:56.686Z,1761514916.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.744179 m,
      nav range: 86.024292 m,
      bearing: 186.942852 deg,
      approach rate: -0.276725 m/s,
      LOS rate: 0.284756 deg/s,
      cmd heading: 204.132074 deg,
      new cmd heading: 204.498356 deg.

2025-10-26T21:41:56.695Z,1761514916.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.569170 target range: 87.744179 and range: 88.30 m.
2025-10-26T21:41:56.928Z,1761514916.928 [DAT](INFO): DAT read: Rx Time:21:41:55.5620

2025-10-26T21:41:56.929Z,1761514916.929 [DAT](INFO): Rx dataTimestamp_ set to:1761514916.928615
2025-10-26T21:41:56.929Z,1761514916.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022684
2025-10-26T21:41:57.015Z,1761514917.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713706,-0.651158,0.258103],[0.652562,-0.752031,-0.092806],[0.254533,0.102192,0.961650]]
2025-10-26T21:41:57.034Z,1761514917.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.74 m.
2025-10-26T21:41:57.037Z,1761514917.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.744179 m,
      nav range: 85.914093 m,
      bearing: 187.051713 deg,
      approach rate: -0.310447 m/s,
      LOS rate: 0.307071 deg/s,
      cmd heading: 204.498350 deg,
      new cmd heading: 204.825348 deg.

2025-10-26T21:41:57.038Z,1761514917.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.574877 target range: 87.744179 and range: 88.30 m.
2025-10-26T21:41:57.182Z,1761514917.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274956
2025-10-26T21:41:57.473Z,1761514917.473 [DAT](INFO): DAT read: 21:41:55.5620 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 419, 0.33,-2.934, 1.563, 2.227, 2.535, PHS= 0.916,-0.926,-0.352, RAW= 107.7,   4.5, CAL= 109.1,   4.7, ROT=  40.9,  -4.7

2025-10-26T21:41:57.474Z,1761514917.474 [DAT](INFO): got valid direction response:
 21:41:55.5620 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 419, 0.33,-2.934, 1.563, 2.227, 2.535, PHS= 0.916,-0.926,-0.352, RAW= 107.7,   4.5, CAL= 109.1,   4.7, ROT=  40.9,  -4.7

2025-10-26T21:41:57.480Z,1761514917.480 [DAT](INFO): DAT read: Bearing 294.4,  55.4 (Local)

2025-10-26T21:41:57.480Z,1761514917.480 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.4,  55.4 (Local)

2025-10-26T21:41:57.485Z,1761514917.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726235,-0.632119,0.270202],[0.635124,-0.767365,-0.088144],[0.263061,0.107598,0.958760]]
2025-10-26T21:41:57.487Z,1761514917.487 [DAT](INFO): DAT read: Range 11 to 50 : 87.2 m  (Round-trip  116.3 ms) speed  0.3 m/s

2025-10-26T21:41:57.488Z,1761514917.488 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:41:57.489Z,1761514917.489 [DAT](INFO): direction in FSK: [0.753312,0.652539,0.081939]
2025-10-26T21:41:57.489Z,1761514917.489 [DAT](INFO): publishing direction and range info
2025-10-26T21:41:57.525Z,1761514917.525 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:41:57.525Z,1761514917.525 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:41:57.525Z,1761514917.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:41:57.608Z,1761514917.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 87.199997 m,
      deltaT: 3.781856 s,
      deltaX: -1.100006 m,
      approachRate: -0.290864 m/s,
      rangeRepo size: 4

2025-10-26T21:41:57.610Z,1761514917.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 86.650169 m,
      bearing: 181.803176 deg,
      lat: 36.779431 deg,
      lon: -121.859557 deg,
      deltaT: 3.781856 s,
      deltaX: -1.094009 m,
      approachRate: -0.289278 m/s,
      posRepo size: 4

2025-10-26T21:41:57.611Z,1761514917.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.65 m.
2025-10-26T21:41:57.618Z,1761514917.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.650169 m,
      nav range: 83.726921 m,
      bearing: 187.394551 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.307071 deg/s,
      cmd heading: 204.825352 deg,
      new cmd heading: 205.350142 deg.

2025-10-26T21:41:57.619Z,1761514917.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584036 target range: 86.650169 and range: 87.20 m.
2025-10-26T21:41:57.684Z,1761514917.684 [DAT](INFO): DAT read: user:355>

2025-10-26T21:41:57.685Z,1761514917.685 [DAT](INFO): DAT read: Tx time:21:41:56.8916

2025-10-26T21:41:57.685Z,1761514917.685 [DAT](INFO): Ping request sent.
2025-10-26T21:41:57.685Z,1761514917.685 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:41:57.686Z,1761514917.686 [DAT](INFO): publishing transmit ping time
2025-10-26T21:41:57.687Z,1761514917.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001594
2025-10-26T21:41:57.887Z,1761514917.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738542,-0.613310,0.280010],[0.617294,-0.782131,-0.084966],[0.271115,0.110098,0.956230]]
2025-10-26T21:41:57.910Z,1761514917.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:57.912Z,1761514917.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.65 m.
2025-10-26T21:41:57.915Z,1761514917.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.650169 m,
      nav range: 83.626717 m,
      bearing: 187.494304 deg,
      approach rate: -0.325192 m/s,
      LOS rate: 0.324115 deg/s,
      cmd heading: 205.350143 deg,
      new cmd heading: 205.649758 deg.

2025-10-26T21:41:57.916Z,1761514917.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.589265 target range: 86.650169 and range: 87.20 m.
2025-10-26T21:41:57.937Z,1761514917.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251043
2025-10-26T21:41:58.189Z,1761514918.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503210
2025-10-26T21:41:58.290Z,1761514918.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750700,-0.594134,0.288884],[0.598708,-0.796687,-0.082694],[0.279281,0.110879,0.953786]]
2025-10-26T21:41:58.309Z,1761514918.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.65 m.
2025-10-26T21:41:58.312Z,1761514918.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.650169 m,
      nav range: 83.501038 m,
      bearing: 187.614246 deg,
      approach rate: -0.316198 m/s,
      LOS rate: 0.302219 deg/s,
      cmd heading: 205.649756 deg,
      new cmd heading: 206.010119 deg.

2025-10-26T21:41:58.313Z,1761514918.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595555 target range: 86.650169 and range: 87.20 m.
2025-10-26T21:41:58.443Z,1761514918.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757228
2025-10-26T21:41:58.692Z,1761514918.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006703
2025-10-26T21:41:58.701Z,1761514918.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762195,-0.575102,0.297181],[0.580076,-0.810544,-0.080808],[0.287351,0.110796,0.951396]]
2025-10-26T21:41:58.766Z,1761514918.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.65 m.
2025-10-26T21:41:58.769Z,1761514918.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.650169 m,
      nav range: 83.351318 m,
      bearing: 187.752277 deg,
      approach rate: -0.327611 m/s,
      LOS rate: 0.302577 deg/s,
      cmd heading: 206.010117 deg,
      new cmd heading: 206.424946 deg.

2025-10-26T21:41:58.770Z,1761514918.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.602795 target range: 86.650169 and range: 87.20 m.
2025-10-26T21:41:58.945Z,1761514918.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259298
2025-10-26T21:41:59.101Z,1761514919.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773190,-0.555738,0.305504],[0.561029,-0.824012,-0.079059],[0.295676,0.110269,0.948903]]
2025-10-26T21:41:59.135Z,1761514919.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.65 m.
2025-10-26T21:41:59.137Z,1761514919.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.650169 m,
      nav range: 83.226868 m,
      bearing: 187.862475 deg,
      approach rate: -0.337697 m/s,
      LOS rate: 0.299469 deg/s,
      cmd heading: 206.424941 deg,
      new cmd heading: 206.756026 deg.

2025-10-26T21:41:59.138Z,1761514919.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608573 target range: 86.650169 and range: 87.20 m.
2025-10-26T21:41:59.197Z,1761514919.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511536
2025-10-26T21:41:59.453Z,1761514919.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767283
2025-10-26T21:41:59.520Z,1761514919.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783478,-0.535999,0.314431],[0.542049,-0.836903,-0.075997],[0.303882,0.110895,0.946233]]
2025-10-26T21:41:59.557Z,1761514919.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.65 m.
2025-10-26T21:41:59.560Z,1761514919.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.650169 m,
      nav range: 83.074959 m,
      bearing: 187.995370 deg,
      approach rate: -0.359368 m/s,
      LOS rate: 0.314962 deg/s,
      cmd heading: 206.756028 deg,
      new cmd heading: 207.155435 deg.

2025-10-26T21:41:59.561Z,1761514919.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615544 target range: 86.650169 and range: 87.20 m.
2025-10-26T21:41:59.705Z,1761514919.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018769
2025-10-26T21:41:59.954Z,1761514919.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268188
2025-10-26T21:41:59.957Z,1761514919.957 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:41:59.961Z,1761514919.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.65 m.
2025-10-26T21:41:59.966Z,1761514919.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.650169 m,
      nav range: 82.942131 m,
      bearing: 188.112295 deg,
      approach rate: -0.329256 m/s,
      LOS rate: 0.290299 deg/s,
      cmd heading: 207.155430 deg,
      new cmd heading: 207.506762 deg.

2025-10-26T21:41:59.968Z,1761514919.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.621676 target range: 86.650169 and range: 87.20 m.
2025-10-26T21:42:00.204Z,1761514920.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518803
2025-10-26T21:42:00.312Z,1761514920.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802021,-0.496697,0.331744],[0.503794,-0.860901,-0.070997],[0.320863,0.110190,0.940694]]
2025-10-26T21:42:00.330Z,1761514920.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.65 m.
2025-10-26T21:42:00.332Z,1761514920.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.650169 m,
      nav range: 82.801590 m,
      bearing: 188.226206 deg,
      approach rate: -0.380990 m/s,
      LOS rate: 0.309323 deg/s,
      cmd heading: 207.506761 deg,
      new cmd heading: 207.849070 deg.

2025-10-26T21:42:00.333Z,1761514920.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.627651 target range: 86.650169 and range: 87.20 m.
2025-10-26T21:42:00.457Z,1761514920.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771518
2025-10-26T21:42:00.709Z,1761514920.709 [DAT](INFO): DAT read: Rx Time:21:41:59.4103

2025-10-26T21:42:00.710Z,1761514920.710 [DAT](INFO): Rx dataTimestamp_ set to:1761514920.709213
2025-10-26T21:42:00.710Z,1761514920.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024829
2025-10-26T21:42:00.803Z,1761514920.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.65 m.
2025-10-26T21:42:00.806Z,1761514920.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.650169 m,
      nav range: 82.630966 m,
      bearing: 188.355692 deg,
      approach rate: -0.360741 m/s,
      LOS rate: 0.274331 deg/s,
      cmd heading: 207.849077 deg,
      new cmd heading: 208.238330 deg.

2025-10-26T21:42:00.807Z,1761514920.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.634444 target range: 86.650169 and range: 87.20 m.
2025-10-26T21:42:00.963Z,1761514920.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277112
2025-10-26T21:42:01.121Z,1761514921.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818078,-0.457736,0.348175],[0.464851,-0.882750,-0.068305],[0.338618,0.105971,0.934938]]
2025-10-26T21:42:01.140Z,1761514921.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.65 m.
2025-10-26T21:42:01.143Z,1761514921.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.650169 m,
      nav range: 82.492958 m,
      bearing: 188.452270 deg,
      approach rate: -0.408858 m/s,
      LOS rate: 0.286597 deg/s,
      cmd heading: 208.238329 deg,
      new cmd heading: 208.528545 deg.

2025-10-26T21:42:01.163Z,1761514921.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.639510 target range: 86.650169 and range: 87.20 m.
2025-10-26T21:42:01.225Z,1761514921.225 [DAT](INFO): DAT read: 21:41:59.4103 LVL= 29552, 32753, 32754, 32755, AGC= 65, IDX= 418, 0.37, 0.549,-1.210,-0.195,-0.189, PHS= 0.840,-0.976,-0.050, RAW= 120.6,   2.4, CAL= 122.2,   3.4, ROT=  27.8,  -3.4

2025-10-26T21:42:01.226Z,1761514921.226 [DAT](INFO): got valid direction response:
 21:41:59.4103 LVL= 29552, 32753, 32754, 32755, AGC= 65, IDX= 418, 0.37, 0.549,-1.210,-0.195,-0.189, PHS= 0.840,-0.976,-0.050, RAW= 120.6,   2.4, CAL= 122.2,   3.4, ROT=  27.8,  -3.4

2025-10-26T21:42:01.228Z,1761514921.228 [DAT](INFO): DAT read: Bearing 304.3,  46.8 (Local)

2025-10-26T21:42:01.228Z,1761514921.228 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.3,  46.8 (Local)

2025-10-26T21:42:01.230Z,1761514921.230 [DAT](INFO): DAT read: Range 11 to 50 : 85.9 m  (Round-trip  114.6 ms) speed  0.4 m/s

2025-10-26T21:42:01.230Z,1761514921.230 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:42:01.236Z,1761514921.236 [DAT](INFO): direction in FSK: [0.883024,0.465566,0.059306]
2025-10-26T21:42:01.236Z,1761514921.236 [DAT](INFO): publishing direction and range info
2025-10-26T21:42:01.239Z,1761514921.239 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:01.246Z,1761514921.246 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:01.246Z,1761514921.246 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:42:01.467Z,1761514921.467 [DAT](INFO): DAT read: user:356>

2025-10-26T21:42:01.470Z,1761514921.470 [DAT](INFO): DAT read: Tx time:21:42:00.5916

2025-10-26T21:42:01.476Z,1761514921.476 [DAT](INFO): Ping request sent.
2025-10-26T21:42:01.476Z,1761514921.476 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:42:01.477Z,1761514921.477 [DAT](INFO): publishing transmit ping time
2025-10-26T21:42:01.480Z,1761514921.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.007815
2025-10-26T21:42:01.560Z,1761514921.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825204,-0.437730,0.356973],[0.444952,-0.893079,-0.066535],[0.347930,0.103931,0.931742]]
2025-10-26T21:42:01.623Z,1761514921.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 85.900002 m,
      deltaT: 3.780050 s,
      deltaX: -1.299995 m,
      approachRate: -0.343910 m/s,
      rangeRepo size: 4

2025-10-26T21:42:01.627Z,1761514921.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 85.357765 m,
      bearing: 181.686360 deg,
      lat: 36.779447 deg,
      lon: -121.859487 deg,
      deltaT: 3.780050 s,
      deltaX: -1.292404 m,
      approachRate: -0.341901 m/s,
      posRepo size: 4

2025-10-26T21:42:01.628Z,1761514921.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:01.630Z,1761514921.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 79.836647 m,
      bearing: 184.376800 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.286597 deg/s,
      cmd heading: 208.528544 deg,
      new cmd heading: 208.943101 deg.

2025-10-26T21:42:01.631Z,1761514921.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.646745 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:01.717Z,1761514921.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245802
2025-10-26T21:42:01.969Z,1761514921.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497981
2025-10-26T21:42:01.992Z,1761514921.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831766,-0.416953,0.366490],[0.424737,-0.903089,-0.063476],[0.357439,0.102864,0.928254]]
2025-10-26T21:42:02.009Z,1761514922.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:02.011Z,1761514922.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:02.013Z,1761514922.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 79.684372 m,
      bearing: 184.458511 deg,
      approach rate: -0.392203 m/s,
      LOS rate: 0.210860 deg/s,
      cmd heading: 208.943096 deg,
      new cmd heading: 209.188697 deg.

2025-10-26T21:42:02.014Z,1761514922.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.651031 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:02.221Z,1761514922.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749896
2025-10-26T21:42:02.375Z,1761514922.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837603,-0.397193,0.375045],[0.405015,-0.912235,-0.061568],[0.366584,0.100330,0.924960]]
2025-10-26T21:42:02.393Z,1761514922.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:02.396Z,1761514922.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 79.535583 m,
      bearing: 184.535203 deg,
      approach rate: -0.389240 m/s,
      LOS rate: 0.201005 deg/s,
      cmd heading: 209.188695 deg,
      new cmd heading: 209.419200 deg.

2025-10-26T21:42:02.397Z,1761514922.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.655055 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:02.474Z,1761514922.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002281
2025-10-26T21:42:02.725Z,1761514922.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253895
2025-10-26T21:42:02.823Z,1761514922.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:02.826Z,1761514922.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 79.369347 m,
      bearing: 184.609744 deg,
      approach rate: -0.386700 m/s,
      LOS rate: 0.173760 deg/s,
      cmd heading: 209.419201 deg,
      new cmd heading: 209.643291 deg.

2025-10-26T21:42:02.826Z,1761514922.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.658966 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:02.978Z,1761514922.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506400
2025-10-26T21:42:03.217Z,1761514923.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:03.220Z,1761514923.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 79.216881 m,
      bearing: 184.678439 deg,
      approach rate: -0.386664 m/s,
      LOS rate: 0.174549 deg/s,
      cmd heading: 209.643286 deg,
      new cmd heading: 209.849765 deg.

2025-10-26T21:42:03.221Z,1761514923.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.662569 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:03.228Z,1761514923.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757353
2025-10-26T21:42:03.484Z,1761514923.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011839
2025-10-26T21:42:03.586Z,1761514923.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853195,-0.337022,0.398089],[0.345726,-0.936883,-0.052194],[0.390554,0.093098,0.915861]]
2025-10-26T21:42:03.634Z,1761514923.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:03.637Z,1761514923.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 79.042145 m,
      bearing: 184.736934 deg,
      approach rate: -0.418813 m/s,
      LOS rate: 0.140513 deg/s,
      cmd heading: 209.849762 deg,
      new cmd heading: 210.025635 deg.

2025-10-26T21:42:03.638Z,1761514923.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.665639 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:03.735Z,1761514923.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263868
2025-10-26T21:42:03.988Z,1761514923.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517128
2025-10-26T21:42:03.992Z,1761514923.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857742,-0.316063,0.405441],[0.325804,-0.944276,-0.046850],[0.397656,0.091909,0.912920]]
2025-10-26T21:42:04.020Z,1761514924.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:04.022Z,1761514924.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:04.025Z,1761514924.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 78.875549 m,
      bearing: 184.789744 deg,
      approach rate: -0.429164 m/s,
      LOS rate: 0.136331 deg/s,
      cmd heading: 210.025640 deg,
      new cmd heading: 210.184404 deg.

2025-10-26T21:42:04.026Z,1761514924.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.668410 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:04.240Z,1761514924.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769214
2025-10-26T21:42:04.394Z,1761514924.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862076,-0.294599,0.412354],[0.305802,-0.951243,-0.040284],[0.404116,0.091371,0.910133]]
2025-10-26T21:42:04.418Z,1761514924.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:04.421Z,1761514924.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 78.706062 m,
      bearing: 184.840482 deg,
      approach rate: -0.428096 m/s,
      LOS rate: 0.128431 deg/s,
      cmd heading: 210.184400 deg,
      new cmd heading: 210.336941 deg.

2025-10-26T21:42:04.422Z,1761514924.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.671072 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:04.493Z,1761514924.493 [DAT](INFO): DAT read: Rx Time:21:42:03.1081

2025-10-26T21:42:04.493Z,1761514924.493 [DAT](INFO): Rx dataTimestamp_ set to:1761514924.492735
2025-10-26T21:42:04.494Z,1761514924.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022463
2025-10-26T21:42:04.745Z,1761514924.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273481
2025-10-26T21:42:04.798Z,1761514924.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866009,-0.271903,0.419639],[0.285335,-0.957899,-0.031820],[0.410624,0.092181,0.907133]]
2025-10-26T21:42:04.854Z,1761514924.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:04.895Z,1761514924.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 78.534836 m,
      bearing: 184.885295 deg,
      approach rate: -0.392720 m/s,
      LOS rate: 0.103007 deg/s,
      cmd heading: 210.336946 deg,
      new cmd heading: 210.471679 deg.

2025-10-26T21:42:04.905Z,1761514924.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.673424 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:05.002Z,1761514925.002 [DAT](INFO): DAT read: 21:42:03.1081 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412,-0.25,-0.516,-2.041,-0.944,-1.108, PHS= 0.694,-0.888, 0.120, RAW= 129.0,   1.1, CAL= 130.2,   2.5, ROT=  19.8,  -2.5

2025-10-26T21:42:05.004Z,1761514925.004 [DAT](INFO): got valid direction response:
 21:42:03.1081 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412,-0.25,-0.516,-2.041,-0.944,-1.108, PHS= 0.694,-0.888, 0.120, RAW= 129.0,   1.1, CAL= 130.2,   2.5, ROT=  19.8,  -2.5

2025-10-26T21:42:05.004Z,1761514925.004 [DAT](INFO): DAT read: $Error in header

2025-10-26T21:42:05.004Z,1761514925.004 [DAT](INFO): Received a bad header
2025-10-26T21:42:05.016Z,1761514925.016 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:42:05.017Z,1761514925.017 [DAT](INFO): direction in FSK: [0.939985,0.338416,0.043619]
2025-10-26T21:42:05.020Z,1761514925.020 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:05.020Z,1761514925.020 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:05.020Z,1761514925.020 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:05.219Z,1761514925.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869618,-0.249192,0.426225],[0.264909,-0.963996,-0.023110],[0.416638,0.092814,0.904322]]
2025-10-26T21:42:05.237Z,1761514925.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:05.240Z,1761514925.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 78.368332 m,
      bearing: 184.925974 deg,
      approach rate: -0.434886 m/s,
      LOS rate: 0.106474 deg/s,
      cmd heading: 210.471678 deg,
      new cmd heading: 210.593974 deg.

2025-10-26T21:42:05.241Z,1761514925.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.675558 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:05.252Z,1761514925.252 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:05.252Z,1761514925.252 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:05.252Z,1761514925.252 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:05.505Z,1761514925.505 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:05.505Z,1761514925.505 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:05.505Z,1761514925.505 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:05.616Z,1761514925.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872881,-0.226443,0.432206],[0.244140,-0.969625,-0.014947],[0.422462,0.092472,0.901651]]
2025-10-26T21:42:05.703Z,1761514925.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:05.716Z,1761514925.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 78.171150 m,
      bearing: 184.971034 deg,
      approach rate: -0.425034 m/s,
      LOS rate: 0.097374 deg/s,
      cmd heading: 210.593980 deg,
      new cmd heading: 210.729500 deg.

2025-10-26T21:42:05.718Z,1761514925.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.677924 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:05.756Z,1761514925.756 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:05.756Z,1761514925.756 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:05.757Z,1761514925.757 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:06.009Z,1761514926.009 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:06.009Z,1761514926.009 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:06.009Z,1761514926.009 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:06.075Z,1761514926.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876013,-0.203779,0.437122],[0.222774,-0.974837,-0.008003],[0.427753,0.090368,0.899367]]
2025-10-26T21:42:06.139Z,1761514926.139 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:06.141Z,1761514926.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:06.157Z,1761514926.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 77.967735 m,
      bearing: 185.013835 deg,
      approach rate: -0.462094 m/s,
      LOS rate: 0.097484 deg/s,
      cmd heading: 210.729504 deg,
      new cmd heading: 210.858242 deg.

2025-10-26T21:42:06.158Z,1761514926.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.680171 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:06.261Z,1761514926.261 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:06.261Z,1761514926.261 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:06.261Z,1761514926.261 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:06.472Z,1761514926.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878800,-0.181472,0.441338],[0.201406,-0.979506,-0.001716],[0.432604,0.087380,0.897340]]
2025-10-26T21:42:06.508Z,1761514926.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:06.510Z,1761514926.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 77.804398 m,
      bearing: 185.045233 deg,
      approach rate: -0.446106 m/s,
      LOS rate: 0.085934 deg/s,
      cmd heading: 210.858240 deg,
      new cmd heading: 210.952631 deg.

2025-10-26T21:42:06.512Z,1761514926.512 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:06.512Z,1761514926.512 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:06.512Z,1761514926.512 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:06.513Z,1761514926.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.681818 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:06.764Z,1761514926.764 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:06.764Z,1761514926.764 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:06.764Z,1761514926.764 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:06.867Z,1761514926.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881174,-0.158561,0.445411],[0.179326,-0.983779,0.004554],[0.437464,0.083887,0.895315]]
2025-10-26T21:42:06.926Z,1761514926.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:06.929Z,1761514926.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 77.609329 m,
      bearing: 185.083972 deg,
      approach rate: -0.466386 m/s,
      LOS rate: 0.092853 deg/s,
      cmd heading: 210.952633 deg,
      new cmd heading: 211.069142 deg.

2025-10-26T21:42:06.930Z,1761514926.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.683851 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:07.017Z,1761514927.017 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:07.017Z,1761514927.017 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:07.018Z,1761514927.018 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:07.268Z,1761514927.268 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:07.268Z,1761514927.268 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:07.268Z,1761514927.268 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:07.297Z,1761514927.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:07.340Z,1761514927.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 77.442978 m,
      bearing: 185.117169 deg,
      approach rate: -0.448669 m/s,
      LOS rate: 0.089730 deg/s,
      cmd heading: 211.069142 deg,
      new cmd heading: 211.168948 deg.

2025-10-26T21:42:07.341Z,1761514927.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.685593 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:07.521Z,1761514927.521 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:07.521Z,1761514927.521 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:07.521Z,1761514927.521 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:07.772Z,1761514927.772 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:07.772Z,1761514927.772 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:07.772Z,1761514927.772 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:07.812Z,1761514927.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:07.815Z,1761514927.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 77.220551 m,
      bearing: 185.170538 deg,
      approach rate: -0.431162 m/s,
      LOS rate: 0.103750 deg/s,
      cmd heading: 211.168945 deg,
      new cmd heading: 211.329512 deg.

2025-10-26T21:42:07.816Z,1761514927.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.688396 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:08.024Z,1761514928.024 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:08.024Z,1761514928.024 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:08.024Z,1761514928.024 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:08.135Z,1761514928.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:08.138Z,1761514928.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 77.081284 m,
      bearing: 185.204119 deg,
      approach rate: -0.431433 m/s,
      LOS rate: 0.104217 deg/s,
      cmd heading: 211.329509 deg,
      new cmd heading: 211.430433 deg.

2025-10-26T21:42:08.139Z,1761514928.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.690157 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:08.276Z,1761514928.276 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:08.276Z,1761514928.276 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:08.276Z,1761514928.276 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:08.528Z,1761514928.528 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:08.528Z,1761514928.528 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:08.528Z,1761514928.528 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:08.674Z,1761514928.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885063,-0.022583,0.464923],[0.057563,-0.996466,0.061179],[0.461898,0.080910,0.883235]]
2025-10-26T21:42:08.718Z,1761514928.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:08.738Z,1761514928.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:08.741Z,1761514928.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 76.825203 m,
      bearing: 185.241901 deg,
      approach rate: -0.425160 m/s,
      LOS rate: 0.062936 deg/s,
      cmd heading: 211.430432 deg,
      new cmd heading: 211.544154 deg.

2025-10-26T21:42:08.742Z,1761514928.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.692142 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:08.780Z,1761514928.780 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:08.781Z,1761514928.781 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:08.781Z,1761514928.781 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:09.033Z,1761514929.033 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:09.033Z,1761514929.033 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:09.033Z,1761514929.033 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:09.071Z,1761514929.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884268,0.006906,0.466928],[0.031086,-0.996802,0.073613],[0.465943,0.079609,0.881226]]
2025-10-26T21:42:09.105Z,1761514929.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:09.115Z,1761514929.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 76.660431 m,
      bearing: 185.262556 deg,
      approach rate: -0.448392 m/s,
      LOS rate: 0.056330 deg/s,
      cmd heading: 211.544155 deg,
      new cmd heading: 211.606254 deg.

2025-10-26T21:42:09.116Z,1761514929.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.693226 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:09.284Z,1761514929.284 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:09.284Z,1761514929.284 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:09.284Z,1761514929.284 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:09.480Z,1761514929.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883668,0.036217,0.466711],[0.004409,-0.996314,0.085662],[0.468093,0.077755,0.880251]]
2025-10-26T21:42:09.498Z,1761514929.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:09.501Z,1761514929.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 76.478523 m,
      bearing: 185.281249 deg,
      approach rate: -0.462361 m/s,
      LOS rate: 0.047625 deg/s,
      cmd heading: 211.606255 deg,
      new cmd heading: 211.662466 deg.

2025-10-26T21:42:09.502Z,1761514929.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.694207 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:09.536Z,1761514929.536 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:09.536Z,1761514929.536 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:09.537Z,1761514929.537 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:09.788Z,1761514929.788 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:09.788Z,1761514929.788 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:09.788Z,1761514929.788 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:09.878Z,1761514929.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883951,0.063557,0.463240],[-0.022051,-0.995283,0.094476],[0.467060,0.073297,0.881183]]
2025-10-26T21:42:09.935Z,1761514929.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:09.944Z,1761514929.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 76.270866 m,
      bearing: 185.305027 deg,
      approach rate: -0.475811 m/s,
      LOS rate: 0.054633 deg/s,
      cmd heading: 211.662467 deg,
      new cmd heading: 211.733996 deg.

2025-10-26T21:42:09.946Z,1761514929.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.695455 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:10.040Z,1761514930.040 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:10.040Z,1761514930.040 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:10.040Z,1761514930.040 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:10.293Z,1761514930.293 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:10.293Z,1761514930.293 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:10.293Z,1761514930.293 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:10.313Z,1761514930.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885712,0.091157,0.455196],[-0.049237,-0.993447,0.103143],[0.461616,0.068943,0.884397]]
2025-10-26T21:42:10.352Z,1761514930.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:10.354Z,1761514930.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 76.051613 m,
      bearing: 185.325011 deg,
      approach rate: -0.526458 m/s,
      LOS rate: 0.048123 deg/s,
      cmd heading: 211.733993 deg,
      new cmd heading: 211.794118 deg.

2025-10-26T21:42:10.355Z,1761514930.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.696505 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:10.544Z,1761514930.544 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:10.544Z,1761514930.544 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:10.544Z,1761514930.544 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:10.722Z,1761514930.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889332,0.116912,0.442064],[-0.075094,-0.990978,0.111010],[0.451054,0.065529,0.890088]]
2025-10-26T21:42:10.770Z,1761514930.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:10.772Z,1761514930.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:10.774Z,1761514930.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 75.844696 m,
      bearing: 185.340923 deg,
      approach rate: -0.492351 m/s,
      LOS rate: 0.037966 deg/s,
      cmd heading: 211.794112 deg,
      new cmd heading: 211.841979 deg.

2025-10-26T21:42:10.776Z,1761514930.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.697340 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:10.796Z,1761514930.796 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:10.796Z,1761514930.796 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:10.796Z,1761514930.796 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:11.049Z,1761514931.049 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:11.049Z,1761514931.049 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:11.049Z,1761514931.049 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:11.118Z,1761514931.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894584,0.140473,0.424249],[-0.100029,-0.988168,0.116267],[0.435562,0.061573,0.898051]]
2025-10-26T21:42:11.144Z,1761514931.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:11.147Z,1761514931.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 75.658981 m,
      bearing: 185.351230 deg,
      approach rate: -0.498340 m/s,
      LOS rate: 0.027723 deg/s,
      cmd heading: 211.841978 deg,
      new cmd heading: 211.872973 deg.

2025-10-26T21:42:11.148Z,1761514931.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.697881 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:11.300Z,1761514931.300 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:11.300Z,1761514931.300 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:11.300Z,1761514931.300 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:11.522Z,1761514931.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901034,0.161447,0.402582],[-0.124169,-0.985312,0.117229],[0.415595,0.055639,0.907846]]
2025-10-26T21:42:11.540Z,1761514931.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:11.543Z,1761514931.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 75.458450 m,
      bearing: 185.358220 deg,
      approach rate: -0.506311 m/s,
      LOS rate: 0.017695 deg/s,
      cmd heading: 211.872973 deg,
      new cmd heading: 211.893999 deg.

2025-10-26T21:42:11.552Z,1761514931.552 [DAT](INFO): Reached modem response timeout
2025-10-26T21:42:11.552Z,1761514931.552 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:11.553Z,1761514931.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:42:11.564Z,1761514931.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.698248 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:11.805Z,1761514931.805 [DAT](INFO): DAT read: 

2025-10-26T21:42:11.806Z,1761514931.806 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:11.974Z,1761514931.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908264,0.178893,0.378225],[-0.147642,-0.982868,0.110332],[0.391483,0.044368,0.919115]]
2025-10-26T21:42:12.020Z,1761514932.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:12.022Z,1761514932.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 75.192505 m,
      bearing: 185.353700 deg,
      approach rate: -0.555251 m/s,
      LOS rate: -0.009469 deg/s,
      cmd heading: 211.893997 deg,
      new cmd heading: 211.880392 deg.

2025-10-26T21:42:12.023Z,1761514932.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.698010 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:12.056Z,1761514932.056 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:12.308Z,1761514932.308 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:12.370Z,1761514932.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915651,0.194816,0.351611],[-0.170938,-0.980391,0.098051],[0.363818,0.029676,0.930997]]
2025-10-26T21:42:12.389Z,1761514932.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:12.392Z,1761514932.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 74.985031 m,
      bearing: 185.346130 deg,
      approach rate: -0.561505 m/s,
      LOS rate: -0.020546 deg/s,
      cmd heading: 211.880391 deg,
      new cmd heading: 211.857616 deg.

2025-10-26T21:42:12.393Z,1761514932.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.697613 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:12.561Z,1761514932.561 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:12.774Z,1761514932.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922506,0.212500,0.322221],[-0.194595,-0.977000,0.087199],[0.333339,0.017739,0.942640]]
2025-10-26T21:42:12.812Z,1761514932.812 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:12.816Z,1761514932.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:12.818Z,1761514932.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:12.821Z,1761514932.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 74.754608 m,
      bearing: 185.325222 deg,
      approach rate: -0.536274 m/s,
      LOS rate: -0.048809 deg/s,
      cmd heading: 211.857619 deg,
      new cmd heading: 211.794704 deg.

2025-10-26T21:42:12.822Z,1761514932.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.696515 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:13.064Z,1761514933.064 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:13.178Z,1761514933.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928819,0.230771,0.289897],[-0.216280,-0.972921,0.081535],[0.300863,0.013033,0.953578]]
2025-10-26T21:42:13.210Z,1761514933.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:13.213Z,1761514933.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 74.542671 m,
      bearing: 185.302405 deg,
      approach rate: -0.541191 m/s,
      LOS rate: -0.058432 deg/s,
      cmd heading: 211.794700 deg,
      new cmd heading: 211.726052 deg.

2025-10-26T21:42:13.214Z,1761514933.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.695317 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:13.316Z,1761514933.316 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:13.568Z,1761514933.568 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:13.587Z,1761514933.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934279,0.249550,0.254651],[-0.236329,-0.968226,0.081772],[0.266966,0.016217,0.963570]]
2025-10-26T21:42:13.621Z,1761514933.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:13.624Z,1761514933.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 74.324699 m,
      bearing: 185.275558 deg,
      approach rate: -0.530171 m/s,
      LOS rate: -0.065490 deg/s,
      cmd heading: 211.726056 deg,
      new cmd heading: 211.645281 deg.

2025-10-26T21:42:13.625Z,1761514933.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.693907 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:13.821Z,1761514933.821 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:42:13.821Z,1761514933.821 [DAT](INFO): response not received
2025-10-26T21:42:13.822Z,1761514933.822 [DAT](INFO): DAT read: user:358>Tx time:21:42:13.0416

2025-10-26T21:42:13.822Z,1761514933.822 [DAT](ERROR): No response from remote modem.
2025-10-26T21:42:13.822Z,1761514933.822 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:13.822Z,1761514933.822 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:42:14.072Z,1761514934.072 [DAT](INFO): DAT read: 

2025-10-26T21:42:14.073Z,1761514934.073 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:14.080Z,1761514934.080 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:42:14.132Z,1761514934.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:14.135Z,1761514934.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 74.037552 m,
      bearing: 185.227617 deg,
      approach rate: -0.561643 m/s,
      LOS rate: -0.094134 deg/s,
      cmd heading: 211.645282 deg,
      new cmd heading: 211.500901 deg.

2025-10-26T21:42:14.140Z,1761514934.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.691387 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:14.324Z,1761514934.324 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:14.480Z,1761514934.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941396,0.286990,0.177230],[-0.273991,-0.957084,0.094445],[0.196729,0.040351,0.979627]]
2025-10-26T21:42:14.498Z,1761514934.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:14.501Z,1761514934.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 73.832298 m,
      bearing: 185.187380 deg,
      approach rate: -0.560876 m/s,
      LOS rate: -0.110258 deg/s,
      cmd heading: 211.500906 deg,
      new cmd heading: 211.379858 deg.

2025-10-26T21:42:14.502Z,1761514934.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.689275 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:14.576Z,1761514934.576 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:14.828Z,1761514934.828 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:14.878Z,1761514934.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942705,0.303517,0.138508],[-0.291902,-0.951403,0.098112],[0.161555,0.052060,0.985490]]
2025-10-26T21:42:14.933Z,1761514934.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:14.939Z,1761514934.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:14.944Z,1761514934.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 73.603142 m,
      bearing: 185.130578 deg,
      approach rate: -0.521713 m/s,
      LOS rate: -0.129722 deg/s,
      cmd heading: 211.379861 deg,
      new cmd heading: 211.208925 deg.

2025-10-26T21:42:14.946Z,1761514934.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.686291 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:15.080Z,1761514935.080 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:15.084Z,1761514935.084 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:42:15.286Z,1761514935.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942158,0.319182,0.102283],[-0.309879,-0.945807,0.097080],[0.127727,0.059769,0.990007]]
2025-10-26T21:42:15.304Z,1761514935.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:15.309Z,1761514935.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 73.408142 m,
      bearing: 185.079123 deg,
      approach rate: -0.532294 m/s,
      LOS rate: -0.140831 deg/s,
      cmd heading: 211.208929 deg,
      new cmd heading: 211.054154 deg.

2025-10-26T21:42:15.328Z,1761514935.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.683590 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:15.332Z,1761514935.332 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:15.584Z,1761514935.584 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:15.820Z,1761514935.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:15.823Z,1761514935.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 73.126671 m,
      bearing: 184.996557 deg,
      approach rate: -0.545375 m/s,
      LOS rate: -0.160594 deg/s,
      cmd heading: 211.054157 deg,
      new cmd heading: 210.805507 deg.

2025-10-26T21:42:15.827Z,1761514935.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.679250 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:15.837Z,1761514935.837 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:16.089Z,1761514936.089 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:16.247Z,1761514936.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931059,0.364805,0.006754],[-0.363151,-0.928313,0.079727],[0.035355,0.071778,0.996794]]
2025-10-26T21:42:16.277Z,1761514936.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:16.284Z,1761514936.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 72.886780 m,
      bearing: 184.913973 deg,
      approach rate: -0.524887 m/s,
      LOS rate: -0.181290 deg/s,
      cmd heading: 210.805511 deg,
      new cmd heading: 210.556944 deg.

2025-10-26T21:42:16.285Z,1761514936.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.674912 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:16.340Z,1761514936.340 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:16.592Z,1761514936.592 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:16.662Z,1761514936.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925348,0.378537,-0.021002],[-0.379055,-0.922754,0.069584],[0.006960,0.072350,0.997355]]
2025-10-26T21:42:16.680Z,1761514936.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:16.682Z,1761514936.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 72.665657 m,
      bearing: 184.833800 deg,
      approach rate: -0.549880 m/s,
      LOS rate: -0.199977 deg/s,
      cmd heading: 210.556946 deg,
      new cmd heading: 210.315698 deg.

2025-10-26T21:42:16.683Z,1761514936.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.670702 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:16.845Z,1761514936.845 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:17.054Z,1761514937.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918693,0.392449,-0.044572],[-0.394441,-0.917447,0.052034],[-0.020472,0.065384,0.997650]]
2025-10-26T21:42:17.096Z,1761514937.096 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:17.113Z,1761514937.113 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:17.116Z,1761514937.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:17.118Z,1761514937.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 72.435417 m,
      bearing: 184.747388 deg,
      approach rate: -0.527954 m/s,
      LOS rate: -0.198778 deg/s,
      cmd heading: 210.315704 deg,
      new cmd heading: 210.055645 deg.

2025-10-26T21:42:17.119Z,1761514937.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.666163 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:17.348Z,1761514937.348 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:17.468Z,1761514937.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911216,0.406530,-0.066470],[-0.409241,-0.911810,0.033526],[-0.046978,0.057751,0.997225]]
2025-10-26T21:42:17.487Z,1761514937.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:17.490Z,1761514937.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 72.240997 m,
      bearing: 184.670757 deg,
      approach rate: -0.523366 m/s,
      LOS rate: -0.206840 deg/s,
      cmd heading: 210.055651 deg,
      new cmd heading: 209.825142 deg.

2025-10-26T21:42:17.491Z,1761514937.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.662140 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:17.601Z,1761514937.601 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:17.852Z,1761514937.852 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:17.918Z,1761514937.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:17.920Z,1761514937.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 72.010048 m,
      bearing: 184.588360 deg,
      approach rate: -0.536139 m/s,
      LOS rate: -0.191894 deg/s,
      cmd heading: 209.825146 deg,
      new cmd heading: 209.577165 deg.

2025-10-26T21:42:17.921Z,1761514937.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.657812 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:18.104Z,1761514938.104 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:18.357Z,1761514938.357 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:18.408Z,1761514938.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894804,0.433431,-0.107070],[-0.435418,-0.900213,-0.005291],[-0.098679,0.041886,0.994237]]
2025-10-26T21:42:18.427Z,1761514938.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:18.448Z,1761514938.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 71.742989 m,
      bearing: 184.484283 deg,
      approach rate: -0.524517 m/s,
      LOS rate: -0.205174 deg/s,
      cmd heading: 209.577169 deg,
      new cmd heading: 209.263778 deg.

2025-10-26T21:42:18.449Z,1761514938.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.652342 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:18.608Z,1761514938.608 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:18.821Z,1761514938.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885747,0.446601,-0.126491],[-0.447254,-0.894063,-0.024789],[-0.124162,0.034617,0.991658]]
2025-10-26T21:42:18.860Z,1761514938.860 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:18.870Z,1761514938.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:18.873Z,1761514938.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 71.509018 m,
      bearing: 184.398793 deg,
      approach rate: -0.528139 m/s,
      LOS rate: -0.193606 deg/s,
      cmd heading: 209.263773 deg,
      new cmd heading: 209.006466 deg.

2025-10-26T21:42:18.874Z,1761514938.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.647851 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:19.112Z,1761514939.112 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:19.215Z,1761514939.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876101,0.459622,-0.145583],[-0.458453,-0.887653,-0.043507],[-0.149224,0.028626,0.988389]]
2025-10-26T21:42:19.231Z,1761514939.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:19.233Z,1761514939.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:19.236Z,1761514939.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 71.319656 m,
      bearing: 184.326444 deg,
      approach rate: -0.521294 m/s,
      LOS rate: -0.199698 deg/s,
      cmd heading: 209.006466 deg,
      new cmd heading: 208.788844 deg.

2025-10-26T21:42:19.237Z,1761514939.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.644053 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:19.364Z,1761514939.364 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:19.616Z,1761514939.616 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:19.684Z,1761514939.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866417,0.471963,-0.163014],[-0.468597,-0.881304,-0.060993],[-0.172452,0.023543,0.984737]]
2025-10-26T21:42:19.744Z,1761514939.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:19.781Z,1761514939.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 71.077515 m,
      bearing: 184.229978 deg,
      approach rate: -0.479070 m/s,
      LOS rate: -0.191505 deg/s,
      cmd heading: 208.788843 deg,
      new cmd heading: 208.498462 deg.

2025-10-26T21:42:19.789Z,1761514939.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.638985 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:19.869Z,1761514939.869 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:20.120Z,1761514940.120 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:20.143Z,1761514940.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847312,0.494743,-0.193111],[-0.485592,-0.868945,-0.095575],[-0.215088,0.012791,0.976511]]
2025-10-26T21:42:20.179Z,1761514940.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:20.182Z,1761514940.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 70.824951 m,
      bearing: 184.132901 deg,
      approach rate: -0.573090 m/s,
      LOS rate: -0.221062 deg/s,
      cmd heading: 208.498464 deg,
      new cmd heading: 208.206197 deg.

2025-10-26T21:42:20.183Z,1761514940.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.633884 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:20.372Z,1761514940.372 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:20.538Z,1761514940.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838349,0.504353,-0.206880],[-0.492062,-0.863454,-0.111010],[-0.234619,0.008733,0.972048]]
2025-10-26T21:42:20.556Z,1761514940.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:20.558Z,1761514940.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 70.627586 m,
      bearing: 184.054469 deg,
      approach rate: -0.524559 m/s,
      LOS rate: -0.209039 deg/s,
      cmd heading: 208.206200 deg,
      new cmd heading: 207.970249 deg.

2025-10-26T21:42:20.559Z,1761514940.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.629766 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:20.625Z,1761514940.625 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:20.876Z,1761514940.876 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:21.053Z,1761514941.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830630,0.511602,-0.219812],[-0.496229,-0.859204,-0.124598],[-0.252608,0.005583,0.967553]]
2025-10-26T21:42:21.097Z,1761514941.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:21.100Z,1761514941.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 70.340889 m,
      bearing: 183.950770 deg,
      approach rate: -0.529290 m/s,
      LOS rate: -0.192226 deg/s,
      cmd heading: 207.970244 deg,
      new cmd heading: 207.657882 deg.

2025-10-26T21:42:21.101Z,1761514941.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.624314 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:21.128Z,1761514941.128 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:21.380Z,1761514941.380 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:21.475Z,1761514941.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824584,0.516738,-0.230310],[-0.497888,-0.856143,-0.138295],[-0.268641,0.000633,0.963240]]
2025-10-26T21:42:21.506Z,1761514941.506 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:21.508Z,1761514941.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:21.511Z,1761514941.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 70.132843 m,
      bearing: 183.874033 deg,
      approach rate: -0.505707 m/s,
      LOS rate: -0.187081 deg/s,
      cmd heading: 207.657886 deg,
      new cmd heading: 207.426995 deg.

2025-10-26T21:42:21.512Z,1761514941.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.620284 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:21.632Z,1761514941.632 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:21.884Z,1761514941.884 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:22.082Z,1761514942.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820184,0.520393,-0.237675],[-0.497468,-0.853897,-0.152924],[-0.282531,-0.007190,0.959231]]
2025-10-26T21:42:22.136Z,1761514942.136 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:22.145Z,1761514942.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:22.148Z,1761514942.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 69.792267 m,
      bearing: 183.745585 deg,
      approach rate: -0.534791 m/s,
      LOS rate: -0.202681 deg/s,
      cmd heading: 207.426998 deg,
      new cmd heading: 207.039779 deg.

2025-10-26T21:42:22.149Z,1761514942.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613526 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:22.389Z,1761514942.389 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:22.529Z,1761514942.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:22.531Z,1761514942.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 69.592270 m,
      bearing: 183.669511 deg,
      approach rate: -0.521805 m/s,
      LOS rate: -0.199053 deg/s,
      cmd heading: 207.039781 deg,
      new cmd heading: 206.810904 deg.

2025-10-26T21:42:22.532Z,1761514942.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609531 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:22.641Z,1761514942.641 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:22.893Z,1761514942.893 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:22.952Z,1761514942.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818527,0.523594,-0.236354],[-0.483234,-0.850036,-0.209579],[-0.310644,-0.057332,0.948796]]
2025-10-26T21:42:22.997Z,1761514942.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:22.000Z,1761514943.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 69.359642 m,
      bearing: 183.570309 deg,
      approach rate: -0.496644 m/s,
      LOS rate: -0.212499 deg/s,
      cmd heading: 206.810902 deg,
      new cmd heading: 206.512301 deg.

2025-10-26T21:42:23.001Z,1761514943.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604320 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:23.145Z,1761514943.145 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:23.396Z,1761514943.396 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:23.491Z,1761514943.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821413,0.524874,-0.223132],[-0.477689,-0.846892,-0.233638],[-0.311599,-0.085325,0.946375]]
2025-10-26T21:42:23.519Z,1761514943.519 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:23.521Z,1761514943.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:23.524Z,1761514943.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 69.098885 m,
      bearing: 183.460260 deg,
      approach rate: -0.497706 m/s,
      LOS rate: -0.210842 deg/s,
      cmd heading: 206.512300 deg,
      new cmd heading: 206.180910 deg.

2025-10-26T21:42:23.525Z,1761514943.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.598536 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:23.648Z,1761514943.648 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:23.900Z,1761514943.900 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:24.095Z,1761514944.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826610,0.522912,-0.208036],[-0.471174,-0.845192,-0.252282],[-0.307752,-0.110518,0.945026]]
2025-10-26T21:42:24.151Z,1761514944.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:24.152Z,1761514944.152 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:24.155Z,1761514944.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 68.786705 m,
      bearing: 183.298613 deg,
      approach rate: -0.495642 m/s,
      LOS rate: -0.257808 deg/s,
      cmd heading: 206.180912 deg,
      new cmd heading: 205.693784 deg.

2025-10-26T21:42:24.157Z,1761514944.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590034 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:24.404Z,1761514944.404 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:24.620Z,1761514944.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838509,0.516591,-0.173310],[-0.460171,-0.841696,-0.282472],[-0.291797,-0.157103,0.943490]]
2025-10-26T21:42:24.643Z,1761514944.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:24.653Z,1761514944.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 68.539261 m,
      bearing: 183.175065 deg,
      approach rate: -0.503182 m/s,
      LOS rate: -0.252144 deg/s,
      cmd heading: 205.693783 deg,
      new cmd heading: 205.321806 deg.

2025-10-26T21:42:24.654Z,1761514944.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.583542 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:24.656Z,1761514944.656 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:24.908Z,1761514944.908 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:25.106Z,1761514945.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844843,0.511873,-0.155648],[-0.455730,-0.840919,-0.291832],[-0.280268,-0.175619,0.943720]]
2025-10-26T21:42:25.143Z,1761514945.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:25.146Z,1761514945.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 68.274117 m,
      bearing: 183.041787 deg,
      approach rate: -0.529953 m/s,
      LOS rate: -0.267422 deg/s,
      cmd heading: 205.321811 deg,
      new cmd heading: 204.920431 deg.

2025-10-26T21:42:25.147Z,1761514945.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.576536 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:25.160Z,1761514945.160 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:25.412Z,1761514945.412 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:25.506Z,1761514945.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850951,0.507001,-0.137232],[-0.452594,-0.840361,-0.298247],[-0.266536,-0.191683,0.944572]]
2025-10-26T21:42:25.526Z,1761514945.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:25.528Z,1761514945.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:25.531Z,1761514945.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 68.068268 m,
      bearing: 182.939310 deg,
      approach rate: -0.533866 m/s,
      LOS rate: -0.266576 deg/s,
      cmd heading: 204.920428 deg,
      new cmd heading: 204.612071 deg.

2025-10-26T21:42:25.532Z,1761514945.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.571154 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:25.664Z,1761514945.664 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:25.910Z,1761514945.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857237,0.500845,-0.119574],[-0.449825,-0.841410,-0.299477],[-0.250603,-0.202936,0.946581]]
2025-10-26T21:42:25.916Z,1761514945.916 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:25.944Z,1761514945.944 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for beam range. Device response is::RA,  0.00,  51.04
2025-10-26T21:42:25.978Z,1761514945.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:25.985Z,1761514945.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 67.829849 m,
      bearing: 182.821646 deg,
      approach rate: -0.529911 m/s,
      LOS rate: -0.262440 deg/s,
      cmd heading: 204.612073 deg,
      new cmd heading: 204.257844 deg.

2025-10-26T21:42:25.986Z,1761514945.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.564972 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:26.168Z,1761514946.168 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:42:26.169Z,1761514946.169 [DAT](INFO): response not received
2025-10-26T21:42:26.169Z,1761514946.169 [DAT](ERROR): No response from remote modem.
2025-10-26T21:42:26.169Z,1761514946.169 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:26.169Z,1761514946.169 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:42:26.322Z,1761514946.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863469,0.494320,-0.100339],[-0.447650,-0.842676,-0.299177],[-0.232443,-0.213414,0.948907]]
2025-10-26T21:42:26.351Z,1761514946.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:26.354Z,1761514946.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 67.623199 m,
      bearing: 182.720396 deg,
      approach rate: -0.554186 m/s,
      LOS rate: -0.272356 deg/s,
      cmd heading: 204.257845 deg,
      new cmd heading: 203.953172 deg.

2025-10-26T21:42:26.355Z,1761514946.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.559654 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:26.423Z,1761514946.423 [DAT](INFO): DAT read: user:359>Tx time:21:42:25.4915

2025-10-26T21:42:26.424Z,1761514946.424 [DAT](INFO): DAT read: 

2025-10-26T21:42:26.425Z,1761514946.425 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:26.672Z,1761514946.672 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:26.725Z,1761514946.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869140,0.488204,-0.079071],[-0.446428,-0.843255,-0.299373],[-0.212832,-0.224897,0.950854]]
2025-10-26T21:42:26.746Z,1761514946.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:26.761Z,1761514946.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 67.406555 m,
      bearing: 182.614794 deg,
      approach rate: -0.548846 m/s,
      LOS rate: -0.268393 deg/s,
      cmd heading: 203.953178 deg,
      new cmd heading: 203.635355 deg.

2025-10-26T21:42:26.762Z,1761514946.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.554107 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:26.926Z,1761514946.926 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:27.176Z,1761514947.176 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:27.175Z,1761514947.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:27.196Z,1761514947.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 67.186775 m,
      bearing: 182.489022 deg,
      approach rate: -0.512224 m/s,
      LOS rate: -0.294085 deg/s,
      cmd heading: 203.635356 deg,
      new cmd heading: 203.256812 deg.

2025-10-26T21:42:27.197Z,1761514947.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.547501 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:27.429Z,1761514947.429 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:27.539Z,1761514947.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877582,0.477786,-0.039634],[-0.447478,-0.845970,-0.289996],[-0.172086,-0.236760,0.956207]]
2025-10-26T21:42:27.556Z,1761514947.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:27.558Z,1761514947.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:27.561Z,1761514947.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 66.988060 m,
      bearing: 182.375862 deg,
      approach rate: -0.519252 m/s,
      LOS rate: -0.296570 deg/s,
      cmd heading: 203.256813 deg,
      new cmd heading: 202.916330 deg.

2025-10-26T21:42:27.561Z,1761514947.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.541558 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:27.681Z,1761514947.681 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:27.934Z,1761514947.934 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:27.956Z,1761514947.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880765,0.472978,-0.023350],[-0.448702,-0.849291,-0.278156],[-0.151392,-0.234513,0.960252]]
2025-10-26T21:42:28.019Z,1761514948.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:28.022Z,1761514948.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 66.738678 m,
      bearing: 182.242982 deg,
      approach rate: -0.540396 m/s,
      LOS rate: -0.289019 deg/s,
      cmd heading: 202.916328 deg,
      new cmd heading: 202.516205 deg.

2025-10-26T21:42:28.023Z,1761514948.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534575 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:28.184Z,1761514948.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:28.346Z,1761514948.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883483,0.468402,-0.007626],[-0.449904,-0.852906,-0.264835],[-0.130554,-0.230546,0.964263]]
2025-10-26T21:42:28.381Z,1761514948.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:28.383Z,1761514948.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 66.532761 m,
      bearing: 182.132462 deg,
      approach rate: -0.569864 m/s,
      LOS rate: -0.306803 deg/s,
      cmd heading: 202.516202 deg,
      new cmd heading: 202.183620 deg.

2025-10-26T21:42:28.384Z,1761514948.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528770 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:28.437Z,1761514948.437 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:28.688Z,1761514948.688 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:28.751Z,1761514948.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885445,0.464659,0.008948],[-0.451524,-0.855537,-0.253343],[-0.110063,-0.228361,0.967335]]
2025-10-26T21:42:28.769Z,1761514948.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:28.772Z,1761514948.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 66.303726 m,
      bearing: 182.008493 deg,
      approach rate: -0.589986 m/s,
      LOS rate: -0.320444 deg/s,
      cmd heading: 202.183626 deg,
      new cmd heading: 201.810440 deg.

2025-10-26T21:42:28.772Z,1761514948.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.522257 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:28.944Z,1761514948.944 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:29.192Z,1761514949.192 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:29.240Z,1761514949.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:29.246Z,1761514949.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 66.056320 m,
      bearing: 181.877061 deg,
      approach rate: -0.524932 m/s,
      LOS rate: -0.279909 deg/s,
      cmd heading: 201.810438 deg,
      new cmd heading: 201.414672 deg.

2025-10-26T21:42:29.247Z,1761514949.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.515349 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:29.445Z,1761514949.445 [DAT](INFO): DAT read: Rx Time:21:42:27.9905

2025-10-26T21:42:29.446Z,1761514949.446 [DAT](INFO): Rx dataTimestamp_ set to:1761514949.445642
2025-10-26T21:42:29.447Z,1761514949.447 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:29.586Z,1761514949.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887998,0.458031,0.040829],[-0.454488,-0.860669,-0.229542],[-0.069997,-0.222389,0.972442]]
2025-10-26T21:42:29.603Z,1761514949.603 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:29.605Z,1761514949.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.36 m.
2025-10-26T21:42:29.608Z,1761514949.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.357765 m,
      nav range: 65.864441 m,
      bearing: 181.774059 deg,
      approach rate: -0.525731 m/s,
      LOS rate: -0.283039 deg/s,
      cmd heading: 201.414670 deg,
      new cmd heading: 201.104766 deg.

2025-10-26T21:42:29.609Z,1761514949.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.509940 target range: 85.357765 and range: 85.90 m.
2025-10-26T21:42:29.697Z,1761514949.697 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:29.957Z,1761514949.957 [DAT](INFO): DAT read: 21:42:27.9905 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 249,-0.12, 2.953, 1.699,-2.582, 3.099, PHS=-0.044,-1.356, 0.558, RAW= 167.9,  10.0, CAL= 167.8,  11.0, ROT= 342.2, -11.0

2025-10-26T21:42:29.959Z,1761514949.959 [DAT](INFO): got valid direction response:
 21:42:27.9905 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 249,-0.12, 2.953, 1.699,-2.582, 3.099, PHS=-0.044,-1.356, 0.558, RAW= 167.9,  10.0, CAL= 167.8,  11.0, ROT= 342.2, -11.0

2025-10-26T21:42:29.960Z,1761514949.960 [DAT](INFO): DAT read: Bearing   9.8, -24.9 (Local)

2025-10-26T21:42:29.960Z,1761514949.960 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.8, -24.9 (Local)

2025-10-26T21:42:29.961Z,1761514949.961 [DAT](INFO): DAT read: Range 11 to 50 : 71.1 m  (Round-trip  94.9 ms) speed  0.4 m/s

2025-10-26T21:42:29.962Z,1761514949.962 [DAT](INFO): DAT read: user:360>Tx time:21:42:29.0915

2025-10-26T21:42:29.963Z,1761514949.963 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:42:29.964Z,1761514949.964 [DAT](INFO): direction in FSK: [0.934636,-0.300079,0.190809]
2025-10-26T21:42:29.964Z,1761514949.964 [DAT](INFO): publishing direction and range info
2025-10-26T21:42:29.968Z,1761514949.968 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:29.968Z,1761514949.968 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:42:30.108Z,1761514950.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888825,0.454775,0.056306],[-0.455465,-0.863213,-0.217749],[-0.050423,-0.219186,0.974379]]
2025-10-26T21:42:30.180Z,1761514950.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 71.099998 m,
      deltaT: 28.735742 s,
      deltaX: -14.800003 m,
      approachRate: -0.515038 m/s,
      rangeRepo size: 4

2025-10-26T21:42:30.182Z,1761514950.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 70.649895 m,
      bearing: 192.281136 deg,
      lat: 36.779429 deg,
      lon: -121.859487 deg,
      deltaT: 28.735742 s,
      deltaX: -14.707870 m,
      approachRate: -0.511832 m/s,
      posRepo size: 4

2025-10-26T21:42:30.183Z,1761514950.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:30.186Z,1761514950.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 67.598213 m,
      bearing: 181.557274 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.283039 deg/s,
      cmd heading: 201.104770 deg,
      new cmd heading: 200.616975 deg.

2025-10-26T21:42:30.187Z,1761514950.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.501427 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:30.200Z,1761514950.200 [DAT](INFO): DAT read: 

2025-10-26T21:42:30.201Z,1761514950.201 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:30.452Z,1761514950.452 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:30.498Z,1761514950.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889425,0.451293,0.072503],[-0.456006,-0.865234,-0.208393],[-0.031314,-0.218412,0.975354]]
2025-10-26T21:42:30.516Z,1761514950.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:30.519Z,1761514950.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 67.410294 m,
      bearing: 181.459209 deg,
      approach rate: -0.557896 m/s,
      LOS rate: -0.291947 deg/s,
      cmd heading: 200.616972 deg,
      new cmd heading: 200.321960 deg.

2025-10-26T21:42:30.520Z,1761514950.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.496278 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:30.705Z,1761514950.705 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:30.959Z,1761514950.959 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:31.055Z,1761514951.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:31.058Z,1761514951.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 67.114677 m,
      bearing: 181.314784 deg,
      approach rate: -0.548686 m/s,
      LOS rate: -0.269245 deg/s,
      cmd heading: 200.321962 deg,
      new cmd heading: 199.886787 deg.

2025-10-26T21:42:31.059Z,1761514951.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488683 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:31.208Z,1761514951.208 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:31.452Z,1761514951.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890749,0.439149,0.117108],[-0.453978,-0.871981,-0.183175],[0.021675,-0.216327,0.976080]]
2025-10-26T21:42:31.460Z,1761514951.460 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:31.472Z,1761514951.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:31.474Z,1761514951.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 66.886391 m,
      bearing: 181.202862 deg,
      approach rate: -0.547812 m/s,
      LOS rate: -0.269490 deg/s,
      cmd heading: 199.886784 deg,
      new cmd heading: 199.549877 deg.

2025-10-26T21:42:31.476Z,1761514951.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.482802 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:31.713Z,1761514951.713 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:31.842Z,1761514951.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891228,0.434107,0.131390],[-0.451928,-0.874471,-0.176243],[0.038389,-0.216451,0.975538]]
2025-10-26T21:42:31.862Z,1761514951.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:31.865Z,1761514951.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:31.867Z,1761514951.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 66.674324 m,
      bearing: 181.098575 deg,
      approach rate: -0.539858 m/s,
      LOS rate: -0.266330 deg/s,
      cmd heading: 199.549878 deg,
      new cmd heading: 199.236023 deg.

2025-10-26T21:42:31.868Z,1761514951.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.477324 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:31.968Z,1761514951.968 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:32.216Z,1761514952.216 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:32.273Z,1761514952.273 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050301305027,35.0, +10.3,491.1,  0
2025-10-26T21:42:32.289Z,1761514952.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:32.292Z,1761514952.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 66.439453 m,
      bearing: 180.982170 deg,
      approach rate: -0.553352 m/s,
      LOS rate: -0.275216 deg/s,
      cmd heading: 199.236017 deg,
      new cmd heading: 198.885574 deg.

2025-10-26T21:42:32.293Z,1761514952.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.471208 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:32.468Z,1761514952.468 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:32.650Z,1761514952.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893445,0.419556,0.160399],[-0.443539,-0.880448,-0.167585],[0.070912,-0.220871,0.972722]]
2025-10-26T21:42:32.677Z,1761514952.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:32.680Z,1761514952.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 66.226913 m,
      bearing: 180.878023 deg,
      approach rate: -0.547392 m/s,
      LOS rate: -0.269089 deg/s,
      cmd heading: 198.885574 deg,
      new cmd heading: 198.572134 deg.

2025-10-26T21:42:32.681Z,1761514952.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.465738 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:32.721Z,1761514952.721 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:32.976Z,1761514952.976 [DAT](INFO): DAT read: Rx Time:21:42:31.5879

2025-10-26T21:42:32.977Z,1761514952.977 [DAT](INFO): Rx dataTimestamp_ set to:1761514952.976236
2025-10-26T21:42:32.978Z,1761514952.978 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:33.155Z,1761514953.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894850,0.410113,0.176210],[-0.437879,-0.883157,-0.168216],[0.086634,-0.227687,0.969873]]
2025-10-26T21:42:33.192Z,1761514953.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:33.194Z,1761514953.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 65.954102 m,
      bearing: 180.744929 deg,
      approach rate: -0.547890 m/s,
      LOS rate: -0.268400 deg/s,
      cmd heading: 198.572136 deg,
      new cmd heading: 198.171208 deg.

2025-10-26T21:42:33.195Z,1761514953.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.458740 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:33.226Z,1761514953.226 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:33.482Z,1761514953.482 [DAT](INFO): DAT read: 21:42:31.5879 LVL= 32752, 32753, 30946, 32755, AGC= 71, IDX= 414, 0.46, 2.460, 1.206,-3.108, 2.529, PHS= 0.033,-1.277, 0.602, RAW= 167.2,   7.7, CAL= 166.8,   7.8, ROT= 343.2,  -7.8

2025-10-26T21:42:33.483Z,1761514953.483 [DAT](INFO): got valid direction response:
 21:42:31.5879 LVL= 32752, 32753, 30946, 32755, AGC= 71, IDX= 414, 0.46, 2.460, 1.206,-3.108, 2.529, PHS= 0.033,-1.277, 0.602, RAW= 167.2,   7.7, CAL= 166.8,   7.8, ROT= 343.2,  -7.8

2025-10-26T21:42:33.484Z,1761514953.484 [DAT](INFO): DAT read: $Error in header

2025-10-26T21:42:33.484Z,1761514953.484 [DAT](INFO): Received a bad header
2025-10-26T21:42:33.495Z,1761514953.495 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:42:33.496Z,1761514953.496 [DAT](INFO): direction in FSK: [0.948462,-0.286357,0.135716]
2025-10-26T21:42:33.501Z,1761514953.501 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:33.610Z,1761514953.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:33.613Z,1761514953.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 65.716354 m,
      bearing: 180.627897 deg,
      approach rate: -0.547026 m/s,
      LOS rate: -0.270249 deg/s,
      cmd heading: 198.171204 deg,
      new cmd heading: 197.818843 deg.

2025-10-26T21:42:33.614Z,1761514953.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.452590 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:33.730Z,1761514953.730 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:33.983Z,1761514953.983 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:34.095Z,1761514954.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898332,0.387116,0.207701],[-0.423689,-0.888411,-0.176673],[0.116131,-0.246712,0.962105]]
2025-10-26T21:42:34.173Z,1761514954.173 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:34.176Z,1761514954.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:34.178Z,1761514954.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 65.405128 m,
      bearing: 180.486872 deg,
      approach rate: -0.550399 m/s,
      LOS rate: -0.250587 deg/s,
      cmd heading: 197.818848 deg,
      new cmd heading: 197.393770 deg.

2025-10-26T21:42:34.179Z,1761514954.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.445171 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:34.232Z,1761514954.232 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:34.485Z,1761514954.485 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:34.537Z,1761514954.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903117,0.362720,0.229812],[-0.405550,-0.896388,-0.178935],[0.141097,-0.254800,0.956644]]
2025-10-26T21:42:34.568Z,1761514954.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:34.571Z,1761514954.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 65.194054 m,
      bearing: 180.394640 deg,
      approach rate: -0.538117 m/s,
      LOS rate: -0.235899 deg/s,
      cmd heading: 197.393765 deg,
      new cmd heading: 197.116174 deg.

2025-10-26T21:42:34.573Z,1761514954.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.440326 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:34.738Z,1761514954.738 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:34.992Z,1761514954.992 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:35.060Z,1761514955.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906117,0.349254,0.238690],[-0.394831,-0.900783,-0.180825],[0.151854,-0.258091,0.954112]]
2025-10-26T21:42:35.103Z,1761514955.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:35.106Z,1761514955.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 64.890892 m,
      bearing: 180.264278 deg,
      approach rate: -0.566051 m/s,
      LOS rate: -0.244545 deg/s,
      cmd heading: 197.116172 deg,
      new cmd heading: 196.723264 deg.

2025-10-26T21:42:35.107Z,1761514955.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.433469 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:35.240Z,1761514955.240 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:35.460Z,1761514955.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909358,0.335284,0.246279],[-0.383301,-0.905367,-0.182730],[0.161706,-0.260566,0.951818]]
2025-10-26T21:42:35.478Z,1761514955.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:35.481Z,1761514955.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 64.682404 m,
      bearing: 180.176534 deg,
      approach rate: -0.556258 m/s,
      LOS rate: -0.234859 deg/s,
      cmd heading: 196.723259 deg,
      new cmd heading: 196.459181 deg.

2025-10-26T21:42:35.482Z,1761514955.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.428859 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:35.492Z,1761514955.492 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:35.745Z,1761514955.745 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:35.976Z,1761514955.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912453,0.321291,0.253380],[-0.371860,-0.909494,-0.185855],[0.170734,-0.263806,0.949345]]
2025-10-26T21:42:35.998Z,1761514955.998 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:36.108Z,1761514956.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:36.111Z,1761514956.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 64.345551 m,
      bearing: 180.025249 deg,
      approach rate: -0.534642 m/s,
      LOS rate: -0.241372 deg/s,
      cmd heading: 196.459176 deg,
      new cmd heading: 196.002955 deg.

2025-10-26T21:42:36.112Z,1761514956.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.420897 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:36.248Z,1761514956.248 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:36.467Z,1761514956.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915820,0.306084,0.259972],[-0.359313,-0.913659,-0.190057],[0.179353,-0.267469,0.946728]]
2025-10-26T21:42:36.484Z,1761514956.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:36.485Z,1761514956.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:36.488Z,1761514956.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 64.137665 m,
      bearing: 179.933975 deg,
      approach rate: -0.550791 m/s,
      LOS rate: -0.242614 deg/s,
      cmd heading: 196.002961 deg,
      new cmd heading: 195.728253 deg.

2025-10-26T21:42:36.489Z,1761514956.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.416102 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:36.500Z,1761514956.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:36.752Z,1761514956.752 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:36.863Z,1761514956.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918563,0.291282,0.267201],[-0.347667,-0.917002,-0.195538],[0.188067,-0.272510,0.943594]]
2025-10-26T21:42:36.887Z,1761514956.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:36.890Z,1761514956.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 63.918945 m,
      bearing: 179.840077 deg,
      approach rate: -0.544430 m/s,
      LOS rate: -0.234528 deg/s,
      cmd heading: 195.728250 deg,
      new cmd heading: 195.445594 deg.

2025-10-26T21:42:36.891Z,1761514956.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.411169 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:37.007Z,1761514957.007 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:37.256Z,1761514957.256 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:37.267Z,1761514957.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920951,0.277732,0.273340],[-0.336474,-0.920579,-0.198294],[0.196558,-0.274591,0.941257]]
2025-10-26T21:42:37.312Z,1761514957.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:37.315Z,1761514957.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 63.669518 m,
      bearing: 179.737068 deg,
      approach rate: -0.587254 m/s,
      LOS rate: -0.243474 deg/s,
      cmd heading: 195.445590 deg,
      new cmd heading: 195.135357 deg.

2025-10-26T21:42:37.316Z,1761514957.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.405755 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:37.509Z,1761514957.509 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:37.667Z,1761514957.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923446,0.263658,0.278805],[-0.324419,-0.924466,-0.200286],[0.204939,-0.275403,0.939230]]
2025-10-26T21:42:37.689Z,1761514957.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:37.692Z,1761514957.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 63.449623 m,
      bearing: 179.648464 deg,
      approach rate: -0.582888 m/s,
      LOS rate: -0.235681 deg/s,
      cmd heading: 195.135363 deg,
      new cmd heading: 194.868633 deg.

2025-10-26T21:42:37.693Z,1761514957.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.401099 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:37.760Z,1761514957.760 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:38.016Z,1761514958.016 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:38.156Z,1761514958.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926669,0.237935,0.290982],[-0.304011,-0.929695,-0.207953],[0.221045,-0.281166,0.933855]]
2025-10-26T21:42:38.208Z,1761514958.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:38.210Z,1761514958.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 63.144176 m,
      bearing: 179.526607 deg,
      approach rate: -0.589557 m/s,
      LOS rate: -0.236339 deg/s,
      cmd heading: 194.868630 deg,
      new cmd heading: 194.501296 deg.

2025-10-26T21:42:38.211Z,1761514958.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.394688 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:38.264Z,1761514958.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:38.517Z,1761514958.517 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:38.568Z,1761514958.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927860,0.227536,0.295471],[-0.294731,-0.932854,-0.207165],[0.228494,-0.279304,0.932620]]
2025-10-26T21:42:38.584Z,1761514958.584 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:38.586Z,1761514958.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:38.589Z,1761514958.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 62.921753 m,
      bearing: 179.439293 deg,
      approach rate: -0.587245 m/s,
      LOS rate: -0.231343 deg/s,
      cmd heading: 194.501303 deg,
      new cmd heading: 194.238436 deg.

2025-10-26T21:42:38.590Z,1761514958.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.390100 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:38.769Z,1761514958.769 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:38.968Z,1761514958.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928902,0.218899,0.298704],[-0.285596,-0.936918,-0.201540],[0.235744,-0.272520,0.932822]]
2025-10-26T21:42:39.002Z,1761514959.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:39.005Z,1761514959.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 62.686550 m,
      bearing: 179.348523 deg,
      approach rate: -0.565538 m/s,
      LOS rate: -0.219073 deg/s,
      cmd heading: 194.238436 deg,
      new cmd heading: 193.965106 deg.

2025-10-26T21:42:39.006Z,1761514959.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.385330 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:39.022Z,1761514959.022 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:39.273Z,1761514959.273 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:39.452Z,1761514959.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929607,0.211285,0.301975],[-0.277372,-0.940610,-0.195749],[0.242682,-0.265729,0.933003]]
2025-10-26T21:42:39.505Z,1761514959.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:39.512Z,1761514959.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 62.398186 m,
      bearing: 179.232255 deg,
      approach rate: -0.573592 m/s,
      LOS rate: -0.232340 deg/s,
      cmd heading: 193.965105 deg,
      new cmd heading: 193.614694 deg.

2025-10-26T21:42:39.512Z,1761514959.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.379214 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:39.524Z,1761514959.524 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:39.776Z,1761514959.776 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:39.973Z,1761514959.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929820,0.205471,0.305314],[-0.270614,-0.943981,-0.188861],[0.249405,-0.258229,0.933335]]
2025-10-26T21:42:40.003Z,1761514960.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:40.010Z,1761514960.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 62.107727 m,
      bearing: 179.115963 deg,
      approach rate: -0.582971 m/s,
      LOS rate: -0.234498 deg/s,
      cmd heading: 193.614689 deg,
      new cmd heading: 193.264186 deg.

2025-10-26T21:42:40.011Z,1761514960.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.373096 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:40.029Z,1761514960.029 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:40.280Z,1761514960.280 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:40.485Z,1761514960.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929830,0.200437,0.308612],[-0.264513,-0.947081,-0.181854],[0.255830,-0.250725,0.933642]]
2025-10-26T21:42:40.522Z,1761514960.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:40.525Z,1761514960.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 61.819359 m,
      bearing: 179.002234 deg,
      approach rate: -0.555315 m/s,
      LOS rate: -0.220031 deg/s,
      cmd heading: 193.264191 deg,
      new cmd heading: 192.921417 deg.

2025-10-26T21:42:40.526Z,1761514960.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.367114 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:40.536Z,1761514960.536 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:40.785Z,1761514960.785 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:40.891Z,1761514960.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929871,0.195945,0.311360],[-0.258699,-0.950024,-0.174729],[0.261562,-0.243024,0.934090]]
2025-10-26T21:42:40.941Z,1761514960.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:40.963Z,1761514960.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:40.966Z,1761514960.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 61.607307 m,
      bearing: 178.919145 deg,
      approach rate: -0.503654 m/s,
      LOS rate: -0.198028 deg/s,
      cmd heading: 192.921412 deg,
      new cmd heading: 192.671288 deg.

2025-10-26T21:42:40.967Z,1761514960.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.362748 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:41.037Z,1761514961.037 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:41.288Z,1761514961.288 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:41.355Z,1761514961.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:41.358Z,1761514961.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 61.355774 m,
      bearing: 178.824620 deg,
      approach rate: -0.611025 m/s,
      LOS rate: -0.230563 deg/s,
      cmd heading: 192.671290 deg,
      new cmd heading: 192.386554 deg.

2025-10-26T21:42:41.359Z,1761514961.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.357779 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:41.541Z,1761514961.541 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:41.792Z,1761514961.792 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:41.811Z,1761514961.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930368,0.187049,0.315322],[-0.244554,-0.957386,-0.153643],[0.273146,-0.220058,0.936465]]
2025-10-26T21:42:41.829Z,1761514961.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:41.832Z,1761514961.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 61.087250 m,
      bearing: 178.726653 deg,
      approach rate: -0.566165 m/s,
      LOS rate: -0.207463 deg/s,
      cmd heading: 192.386553 deg,
      new cmd heading: 192.091366 deg.

2025-10-26T21:42:41.833Z,1761514961.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.352627 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:42.044Z,1761514962.044 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:42.267Z,1761514962.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931066,0.183729,0.315215],[-0.239350,-0.959644,-0.147632],[0.275370,-0.212902,0.937467]]
2025-10-26T21:42:42.296Z,1761514962.296 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:42:42.297Z,1761514962.297 [DAT](INFO): response not received
2025-10-26T21:42:42.297Z,1761514962.297 [DAT](INFO): DAT read: Tx time:21:42:41.5415

2025-10-26T21:42:42.298Z,1761514962.298 [DAT](INFO): Ping request sent.
2025-10-26T21:42:42.298Z,1761514962.298 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:42:42.298Z,1761514962.298 [DAT](INFO): publishing transmit ping time
2025-10-26T21:42:42.314Z,1761514962.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:42.318Z,1761514962.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 60.811363 m,
      bearing: 178.625069 deg,
      approach rate: -0.568870 m/s,
      LOS rate: -0.210414 deg/s,
      cmd heading: 192.091366 deg,
      new cmd heading: 191.785234 deg.

2025-10-26T21:42:42.319Z,1761514962.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.347284 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:42.914Z,1761514962.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931922,0.180072,0.314793],[-0.235008,-0.960962,-0.146024],[0.276210,-0.210062,0.937860]]
2025-10-26T21:42:42.945Z,1761514962.945 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:42.947Z,1761514962.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:42.973Z,1761514962.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 60.454399 m,
      bearing: 178.493953 deg,
      approach rate: -0.564111 m/s,
      LOS rate: -0.208426 deg/s,
      cmd heading: 191.785237 deg,
      new cmd heading: 191.389573 deg.

2025-10-26T21:42:42.974Z,1761514962.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.340378 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:43.052Z,1761514963.052 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:43.052Z,1761514963.052 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:43.052Z,1761514963.052 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:43.304Z,1761514963.304 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:43.304Z,1761514963.304 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:43.304Z,1761514963.304 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:43.308Z,1761514963.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932986,0.176592,0.313612],[-0.231084,-0.961946,-0.145805],[0.275930,-0.208505,0.938290]]
2025-10-26T21:42:43.370Z,1761514963.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:43.377Z,1761514963.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 60.238800 m,
      bearing: 178.410619 deg,
      approach rate: -0.509421 m/s,
      LOS rate: -0.197609 deg/s,
      cmd heading: 191.389578 deg,
      new cmd heading: 191.138681 deg.

2025-10-26T21:42:43.378Z,1761514963.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.335999 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:43.557Z,1761514963.557 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:43.557Z,1761514963.557 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:43.557Z,1761514963.557 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:43.733Z,1761514963.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934795,0.174892,0.309147],[-0.226942,-0.963637,-0.141073],[0.273233,-0.202033,0.940493]]
2025-10-26T21:42:43.759Z,1761514963.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:43.762Z,1761514963.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 60.042931 m,
      bearing: 178.335355 deg,
      approach rate: -0.503703 m/s,
      LOS rate: -0.194181 deg/s,
      cmd heading: 191.138678 deg,
      new cmd heading: 190.912152 deg.

2025-10-26T21:42:43.763Z,1761514963.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.332046 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:43.808Z,1761514963.808 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:43.808Z,1761514963.808 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:43.808Z,1761514963.808 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:44.060Z,1761514964.060 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:44.060Z,1761514964.060 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:44.060Z,1761514964.060 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:44.179Z,1761514964.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942548,0.171026,0.286973],[-0.215127,-0.967933,-0.129719],[0.255585,-0.184002,0.949115]]
2025-10-26T21:42:44.218Z,1761514964.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:44.229Z,1761514964.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 59.809120 m,
      bearing: 178.250597 deg,
      approach rate: -0.509027 m/s,
      LOS rate: -0.185249 deg/s,
      cmd heading: 190.912147 deg,
      new cmd heading: 190.656879 deg.

2025-10-26T21:42:44.230Z,1761514964.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.327590 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:44.312Z,1761514964.312 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:44.312Z,1761514964.312 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:44.312Z,1761514964.312 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:44.564Z,1761514964.564 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:44.564Z,1761514964.564 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:44.564Z,1761514964.564 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:44.727Z,1761514964.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947877,0.168014,0.270741],[-0.209234,-0.969025,-0.131189],[0.240313,-0.180999,0.953671]]
2025-10-26T21:42:44.751Z,1761514964.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:44.753Z,1761514964.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 59.536461 m,
      bearing: 178.153133 deg,
      approach rate: -0.512355 m/s,
      LOS rate: -0.183983 deg/s,
      cmd heading: 190.656876 deg,
      new cmd heading: 190.363148 deg.

2025-10-26T21:42:44.754Z,1761514964.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.322464 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:44.816Z,1761514964.816 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:44.816Z,1761514964.816 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:44.816Z,1761514964.816 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:45.068Z,1761514965.068 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:45.068Z,1761514965.068 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:45.068Z,1761514965.068 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:45.174Z,1761514965.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953811,0.164695,0.251236],[-0.202891,-0.969928,-0.134446],[0.221539,-0.179209,0.958543]]
2025-10-26T21:42:45.212Z,1761514965.212 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:42:45.230Z,1761514965.230 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:45.232Z,1761514965.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:45.234Z,1761514965.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 59.261818 m,
      bearing: 178.064270 deg,
      approach rate: -0.570874 m/s,
      LOS rate: -0.185567 deg/s,
      cmd heading: 190.363151 deg,
      new cmd heading: 190.095329 deg.

2025-10-26T21:42:45.236Z,1761514965.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.317789 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:45.321Z,1761514965.321 [DAT](INFO): DAT read: Rx Time:21:42:44.0284

2025-10-26T21:42:45.321Z,1761514965.321 [DAT](INFO): Rx dataTimestamp_ set to:1761514965.320714
2025-10-26T21:42:45.321Z,1761514965.321 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:45.321Z,1761514965.321 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:45.322Z,1761514965.322 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:45.572Z,1761514965.572 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:45.572Z,1761514965.572 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:45.573Z,1761514965.573 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:45.768Z,1761514965.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966123,0.156852,0.204950],[-0.188357,-0.971417,-0.144464],[0.176432,-0.178173,0.968053]]
2025-10-26T21:42:45.838Z,1761514965.838 [DAT](INFO): DAT read: 21:42:44.0284 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 364, 0.21, 2.441, 0.965, 2.793, 2.130, PHS= 0.413,-1.120, 0.619, RAW= 156.2,   1.1, CAL= 154.9,  -0.1, ROT= 355.1,   0.1

2025-10-26T21:42:45.842Z,1761514965.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.65 m.
2025-10-26T21:42:45.843Z,1761514965.843 [DAT](INFO): got valid direction response:
 21:42:44.0284 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 364, 0.21, 2.441, 0.965, 2.793, 2.130, PHS= 0.413,-1.120, 0.619, RAW= 156.2,   1.1, CAL= 154.9,  -0.1, ROT= 355.1,   0.1

2025-10-26T21:42:45.844Z,1761514965.844 [DAT](INFO): DAT read: Bearing 346.3,   8.3 (Local)

2025-10-26T21:42:45.845Z,1761514965.845 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.3,   8.3 (Local)

2025-10-26T21:42:45.846Z,1761514965.846 [DAT](INFO): DAT read: Range 11 to 50 : 62.1 m  (Round-trip  82.8 ms) speed  0.4 m/s

2025-10-26T21:42:45.846Z,1761514965.846 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T21:42:45.859Z,1761514965.859 [DAT](INFO): direction in FSK: [0.996344,-0.085417,-0.001745]
2025-10-26T21:42:45.877Z,1761514965.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.649895 m,
      nav range: 58.939869 m,
      bearing: 177.965174 deg,
      approach rate: -0.527063 m/s,
      LOS rate: -0.163116 deg/s,
      cmd heading: 190.095325 deg,
      new cmd heading: 189.796417 deg.

2025-10-26T21:42:45.878Z,1761514965.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.312572 target range: 70.649895 and range: 71.10 m.
2025-10-26T21:42:45.880Z,1761514965.880 [DAT](INFO): publishing direction and range info
2025-10-26T21:42:45.887Z,1761514965.887 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:45.887Z,1761514965.887 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:45.888Z,1761514965.888 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:42:46.076Z,1761514966.076 [DAT](INFO): DAT read: 

2025-10-26T21:42:46.077Z,1761514966.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778931
2025-10-26T21:42:46.216Z,1761514966.216 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:42:46.329Z,1761514966.329 [DAT](INFO): DAT read: .2415

2025-10-26T21:42:46.330Z,1761514966.330 [DAT](INFO): unknown deviceResponse_: .2415

2025-10-26T21:42:46.330Z,1761514966.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032719
2025-10-26T21:42:46.485Z,1761514966.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.099998 m,
      deltaT: 15.876320 s,
      deltaX: -9.000000 m,
      approachRate: -0.566882 m/s,
      rangeRepo size: 4

2025-10-26T21:42:46.487Z,1761514966.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.706825 m,
      bearing: 186.105799 deg,
      lat: 36.779429 deg,
      lon: -121.859487 deg,
      deltaT: 15.876320 s,
      deltaX: -8.943069 m,
      approachRate: -0.563296 m/s,
      posRepo size: 4

2025-10-26T21:42:46.488Z,1761514966.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:46.490Z,1761514966.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 58.546261 m,
      bearing: 177.830047 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.163116 deg/s,
      cmd heading: 189.796422 deg,
      new cmd heading: 189.482377 deg.

2025-10-26T21:42:46.498Z,1761514966.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.307091 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:46.581Z,1761514966.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283624
2025-10-26T21:42:46.832Z,1761514966.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534664
2025-10-26T21:42:46.852Z,1761514966.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:46.855Z,1761514966.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 58.335072 m,
      bearing: 177.756748 deg,
      approach rate: -0.573681 m/s,
      LOS rate: -0.199834 deg/s,
      cmd heading: 189.482370 deg,
      new cmd heading: 189.261677 deg.

2025-10-26T21:42:46.856Z,1761514966.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.303239 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:47.086Z,1761514967.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788015
2025-10-26T21:42:47.234Z,1761514967.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981449,0.145088,0.125329],[-0.164547,-0.972934,-0.162244],[0.098397,-0.179857,0.978759]]
2025-10-26T21:42:47.268Z,1761514967.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:47.270Z,1761514967.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:47.293Z,1761514967.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 58.088696 m,
      bearing: 177.677264 deg,
      approach rate: -0.589381 m/s,
      LOS rate: -0.190948 deg/s,
      cmd heading: 189.261673 deg,
      new cmd heading: 189.022211 deg.

2025-10-26T21:42:47.294Z,1761514967.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.299060 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:47.340Z,1761514967.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040858
2025-10-26T21:42:47.588Z,1761514967.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290565
2025-10-26T21:42:47.773Z,1761514967.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988177,0.136833,0.069152],[-0.146771,-0.974673,-0.168731],[0.044312,-0.176885,0.983233]]
2025-10-26T21:42:47.791Z,1761514967.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:47.793Z,1761514967.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 57.778923 m,
      bearing: 177.582704 deg,
      approach rate: -0.595499 m/s,
      LOS rate: -0.182754 deg/s,
      cmd heading: 189.022207 deg,
      new cmd heading: 188.737008 deg.

2025-10-26T21:42:47.794Z,1761514967.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.294082 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:47.841Z,1761514967.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542967
2025-10-26T21:42:48.092Z,1761514968.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794676
2025-10-26T21:42:48.297Z,1761514968.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:48.299Z,1761514968.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 57.463375 m,
      bearing: 177.483490 deg,
      approach rate: -0.623747 m/s,
      LOS rate: -0.197194 deg/s,
      cmd heading: 188.737005 deg,
      new cmd heading: 188.437732 deg.

2025-10-26T21:42:48.300Z,1761514968.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.288859 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:48.344Z,1761514968.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046626
2025-10-26T21:42:48.596Z,1761514968.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298700
2025-10-26T21:42:48.767Z,1761514968.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991586,0.128688,0.013995],[-0.129147,-0.976143,-0.174547],[-0.008801,-0.174886,0.984549]]
2025-10-26T21:42:48.785Z,1761514968.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:48.788Z,1761514968.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 57.157448 m,
      bearing: 177.392127 deg,
      approach rate: -0.625988 m/s,
      LOS rate: -0.187947 deg/s,
      cmd heading: 188.437734 deg,
      new cmd heading: 188.162181 deg.

2025-10-26T21:42:48.789Z,1761514968.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.284050 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:48.849Z,1761514968.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551647
2025-10-26T21:42:49.100Z,1761514969.100 [DAT](INFO): DAT read: Rx Time:21:42:47.7257

2025-10-26T21:42:49.101Z,1761514969.101 [DAT](INFO): Rx dataTimestamp_ set to:1761514969.100613
2025-10-26T21:42:49.101Z,1761514969.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803709
2025-10-26T21:42:49.175Z,1761514969.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992030,0.125334,-0.012957],[-0.121053,-0.976554,-0.178014],[-0.034965,-0.175027,0.983943]]
2025-10-26T21:42:49.259Z,1761514969.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:49.266Z,1761514969.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 56.882832 m,
      bearing: 177.311613 deg,
      approach rate: -0.579830 m/s,
      LOS rate: -0.170820 deg/s,
      cmd heading: 188.162177 deg,
      new cmd heading: 187.919469 deg.

2025-10-26T21:42:49.267Z,1761514969.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.279814 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:49.353Z,1761514969.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055707
2025-10-26T21:42:49.580Z,1761514969.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991612,0.123164,-0.039200],[-0.114174,-0.976834,-0.180998],[-0.060585,-0.175004,0.982702]]
2025-10-26T21:42:49.610Z,1761514969.610 [DAT](INFO): DAT read: 21:42:47.7257 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 417, 0.10,-2.953, 1.802,-2.578,-3.085, PHS= 0.235,-1.351, 0.464, RAW= 156.7,   7.7, CAL= 156.2,   7.9, ROT= 353.8,  -7.9

2025-10-26T21:42:49.612Z,1761514969.612 [DAT](INFO): got valid direction response:
 21:42:47.7257 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 417, 0.10,-2.953, 1.802,-2.578,-3.085, PHS= 0.235,-1.351, 0.464, RAW= 156.7,   7.7, CAL= 156.2,   7.9, ROT= 353.8,  -7.9

2025-10-26T21:42:49.612Z,1761514969.612 [DAT](INFO): DAT read: $Error in header

2025-10-26T21:42:49.612Z,1761514969.612 [DAT](INFO): Received a bad header
2025-10-26T21:42:49.632Z,1761514969.632 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:42:49.633Z,1761514969.633 [DAT](INFO): direction in FSK: [0.984716,-0.106974,0.137445]
2025-10-26T21:42:49.636Z,1761514969.636 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:49.636Z,1761514969.636 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:49.636Z,1761514969.636 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:49.648Z,1761514969.648 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:49.650Z,1761514969.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:49.657Z,1761514969.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 56.630165 m,
      bearing: 177.237706 deg,
      approach rate: -0.645536 m/s,
      LOS rate: -0.189667 deg/s,
      cmd heading: 187.919473 deg,
      new cmd heading: 187.696763 deg.

2025-10-26T21:42:49.658Z,1761514969.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.275927 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:49.856Z,1761514969.856 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:49.856Z,1761514969.856 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:49.856Z,1761514969.856 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:49.980Z,1761514969.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990480,0.120913,-0.065805],[-0.107408,-0.977791,-0.179966],[-0.086103,-0.171184,0.981469]]
2025-10-26T21:42:49.999Z,1761514969.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:50.002Z,1761514970.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 56.395939 m,
      bearing: 177.170121 deg,
      approach rate: -0.671168 m/s,
      LOS rate: -0.194465 deg/s,
      cmd heading: 187.696768 deg,
      new cmd heading: 187.493173 deg.

2025-10-26T21:42:50.003Z,1761514970.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.272373 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:50.108Z,1761514970.108 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:50.108Z,1761514970.108 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:50.108Z,1761514970.108 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:50.360Z,1761514970.360 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:50.360Z,1761514970.360 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:50.360Z,1761514970.360 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:50.454Z,1761514970.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988554,0.119381,-0.092246],[-0.101590,-0.978772,-0.178003],[-0.111539,-0.166594,0.979697]]
2025-10-26T21:42:50.498Z,1761514970.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:50.500Z,1761514970.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 56.087292 m,
      bearing: 177.087019 deg,
      approach rate: -0.619409 m/s,
      LOS rate: -0.167691 deg/s,
      cmd heading: 187.493173 deg,
      new cmd heading: 187.242497 deg.

2025-10-26T21:42:50.501Z,1761514970.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.267998 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:50.613Z,1761514970.613 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:50.613Z,1761514970.613 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:50.613Z,1761514970.613 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:50.865Z,1761514970.865 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:50.866Z,1761514970.866 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:50.866Z,1761514970.866 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:50.882Z,1761514970.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985839,0.119080,-0.118073],[-0.097355,-0.979706,-0.175210],[-0.136541,-0.161234,0.977425]]
2025-10-26T21:42:50.957Z,1761514970.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:50.964Z,1761514970.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 55.838375 m,
      bearing: 177.020199 deg,
      approach rate: -0.541450 m/s,
      LOS rate: -0.145997 deg/s,
      cmd heading: 187.242492 deg,
      new cmd heading: 187.041138 deg.

2025-10-26T21:42:50.965Z,1761514970.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.264484 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:51.116Z,1761514971.116 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:51.116Z,1761514971.116 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:51.116Z,1761514971.116 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:51.369Z,1761514971.369 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:51.369Z,1761514971.369 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:51.370Z,1761514971.370 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:51.462Z,1761514971.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978779,0.119610,-0.166391],[-0.091580,-0.981697,-0.166986],[-0.183319,-0.148205,0.971818]]
2025-10-26T21:42:51.519Z,1761514971.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:51.526Z,1761514971.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 55.460369 m,
      bearing: 176.920891 deg,
      approach rate: -0.672884 m/s,
      LOS rate: -0.177981 deg/s,
      cmd heading: 187.041138 deg,
      new cmd heading: 186.741187 deg.

2025-10-26T21:42:51.527Z,1761514971.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.259248 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:51.620Z,1761514971.620 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:51.620Z,1761514971.620 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:51.620Z,1761514971.620 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:51.872Z,1761514971.872 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:51.872Z,1761514971.872 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:51.872Z,1761514971.872 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:52.019Z,1761514972.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974602,0.121665,-0.188011],[-0.090706,-0.982061,-0.165312],[-0.204751,-0.144060,0.968155]]
2025-10-26T21:42:52.056Z,1761514972.056 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:52.058Z,1761514972.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:52.060Z,1761514972.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 55.121342 m,
      bearing: 176.830528 deg,
      approach rate: -0.629439 m/s,
      LOS rate: -0.168799 deg/s,
      cmd heading: 186.741183 deg,
      new cmd heading: 186.468430 deg.

2025-10-26T21:42:52.061Z,1761514972.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.254488 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:52.125Z,1761514972.125 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:42:52.125Z,1761514972.125 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:42:52.125Z,1761514972.125 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:42:52.376Z,1761514972.376 [DAT](INFO): Reached modem response timeout
2025-10-26T21:42:52.376Z,1761514972.376 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:52.376Z,1761514972.376 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:42:52.438Z,1761514972.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970376,0.122901,-0.208005],[-0.089805,-0.982744,-0.161706],[-0.224290,-0.138236,0.964668]]
2025-10-26T21:42:52.479Z,1761514972.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:52.482Z,1761514972.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 54.845707 m,
      bearing: 176.757023 deg,
      approach rate: -0.654360 m/s,
      LOS rate: -0.175379 deg/s,
      cmd heading: 186.468426 deg,
      new cmd heading: 186.246804 deg.

2025-10-26T21:42:52.483Z,1761514972.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.250620 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:52.628Z,1761514972.628 [DAT](INFO): DAT read: 

2025-10-26T21:42:52.629Z,1761514972.629 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:52.881Z,1761514972.881 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:52.930Z,1761514972.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966087,0.123603,-0.226713],[-0.089237,-0.983710,-0.156050],[-0.242308,-0.130526,0.961379]]
2025-10-26T21:42:52.954Z,1761514972.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:52.961Z,1761514972.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 54.553322 m,
      bearing: 176.677936 deg,
      approach rate: -0.615132 m/s,
      LOS rate: -0.167278 deg/s,
      cmd heading: 186.246800 deg,
      new cmd heading: 186.008270 deg.

2025-10-26T21:42:52.962Z,1761514972.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.246457 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:53.132Z,1761514973.132 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:53.324Z,1761514973.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961807,0.122744,-0.244664],[-0.087809,-0.984940,-0.148937],[-0.259261,-0.121765,0.958101]]
2025-10-26T21:42:53.376Z,1761514973.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:53.378Z,1761514973.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 54.286537 m,
      bearing: 176.614986 deg,
      approach rate: -0.633078 m/s,
      LOS rate: -0.150114 deg/s,
      cmd heading: 186.008277 deg,
      new cmd heading: 185.818499 deg.

2025-10-26T21:42:53.379Z,1761514973.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.243145 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:53.384Z,1761514973.384 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:53.640Z,1761514973.640 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:53.734Z,1761514973.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957638,0.121156,-0.261247],[-0.085733,-0.986002,-0.143002],[-0.274915,-0.114547,0.954621]]
2025-10-26T21:42:53.761Z,1761514973.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:53.766Z,1761514973.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 54.046543 m,
      bearing: 176.558066 deg,
      approach rate: -0.622637 m/s,
      LOS rate: -0.148328 deg/s,
      cmd heading: 185.818493 deg,
      new cmd heading: 185.646975 deg.

2025-10-26T21:42:53.767Z,1761514973.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.240151 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:53.888Z,1761514973.888 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:54.126Z,1761514974.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953458,0.119534,-0.276820],[-0.082925,-0.986615,-0.140408],[-0.289899,-0.110918,0.950608]]
2025-10-26T21:42:54.140Z,1761514974.140 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:54.146Z,1761514974.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:54.151Z,1761514974.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:54.176Z,1761514974.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 53.809086 m,
      bearing: 176.501751 deg,
      approach rate: -0.608851 m/s,
      LOS rate: -0.145032 deg/s,
      cmd heading: 185.646973 deg,
      new cmd heading: 185.477282 deg.

2025-10-26T21:42:54.177Z,1761514974.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.237189 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:54.394Z,1761514974.394 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:54.645Z,1761514974.645 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:54.690Z,1761514974.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945434,0.116747,-0.304180],[-0.075220,-0.986588,-0.144868],[-0.317013,-0.114083,0.941535]]
2025-10-26T21:42:54.772Z,1761514974.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:54.774Z,1761514974.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 53.446198 m,
      bearing: 176.416767 deg,
      approach rate: -0.588899 m/s,
      LOS rate: -0.138848 deg/s,
      cmd heading: 185.477284 deg,
      new cmd heading: 185.220604 deg.

2025-10-26T21:42:54.776Z,1761514974.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.232709 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:54.900Z,1761514974.900 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:55.149Z,1761514975.149 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:55.267Z,1761514975.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941397,0.115958,-0.316742],[-0.070559,-0.985974,-0.151249],[-0.329838,-0.120036,0.936375]]
2025-10-26T21:42:55.343Z,1761514975.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:55.357Z,1761514975.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 53.110004 m,
      bearing: 176.338723 deg,
      approach rate: -0.584409 m/s,
      LOS rate: -0.136525 deg/s,
      cmd heading: 185.220605 deg,
      new cmd heading: 184.984991 deg.

2025-10-26T21:42:55.358Z,1761514975.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.228597 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:55.401Z,1761514975.401 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:55.652Z,1761514975.652 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:55.904Z,1761514975.904 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:55.972Z,1761514975.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933679,0.114888,-0.339182],[-0.061106,-0.984363,-0.165214],[-0.352859,-0.133531,0.926099]]
2025-10-26T21:42:56.025Z,1761514976.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:56.029Z,1761514976.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 52.678795 m,
      bearing: 176.243275 deg,
      approach rate: -0.631442 m/s,
      LOS rate: -0.140913 deg/s,
      cmd heading: 184.984991 deg,
      new cmd heading: 184.696306 deg.

2025-10-26T21:42:56.030Z,1761514976.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.223559 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:56.156Z,1761514976.156 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:56.382Z,1761514976.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930087,0.113255,-0.349446],[-0.056074,-0.983910,-0.169637],[-0.363035,-0.138182,0.921472]]
2025-10-26T21:42:56.410Z,1761514976.410 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:56.442Z,1761514976.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:56.444Z,1761514976.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:56.447Z,1761514976.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 52.426758 m,
      bearing: 176.190522 deg,
      approach rate: -0.601565 m/s,
      LOS rate: -0.126518 deg/s,
      cmd heading: 184.696306 deg,
      new cmd heading: 184.537286 deg.

2025-10-26T21:42:56.448Z,1761514976.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.220783 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:56.660Z,1761514976.660 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:56.786Z,1761514976.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927033,0.114081,-0.357205],[-0.051937,-0.982480,-0.178985],[-0.371366,-0.147373,0.916716]]
2025-10-26T21:42:56.814Z,1761514976.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:56.817Z,1761514976.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 52.204777 m,
      bearing: 176.144824 deg,
      approach rate: -0.600134 m/s,
      LOS rate: -0.124069 deg/s,
      cmd heading: 184.537286 deg,
      new cmd heading: 184.399612 deg.

2025-10-26T21:42:56.818Z,1761514976.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.218380 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:56.913Z,1761514976.913 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:57.164Z,1761514977.164 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:57.225Z,1761514977.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:57.227Z,1761514977.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 51.958599 m,
      bearing: 176.093681 deg,
      approach rate: -0.600015 m/s,
      LOS rate: -0.125243 deg/s,
      cmd heading: 184.399617 deg,
      new cmd heading: 184.245461 deg.

2025-10-26T21:42:57.228Z,1761514977.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.215690 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:57.417Z,1761514977.417 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:57.668Z,1761514977.668 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:57.674Z,1761514977.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:57.677Z,1761514977.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 51.708252 m,
      bearing: 176.029433 deg,
      approach rate: -0.556440 m/s,
      LOS rate: -0.143493 deg/s,
      cmd heading: 184.245459 deg,
      new cmd heading: 184.051783 deg.

2025-10-26T21:42:57.678Z,1761514977.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.212310 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:57.920Z,1761514977.920 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:58.052Z,1761514978.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927094,0.116055,-0.356409],[-0.044855,-0.978377,-0.201906],[-0.372135,-0.171199,0.912254]]
2025-10-26T21:42:58.070Z,1761514978.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:58.073Z,1761514978.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 51.486736 m,
      bearing: 175.974492 deg,
      approach rate: -0.559531 m/s,
      LOS rate: -0.139375 deg/s,
      cmd heading: 184.051783 deg,
      new cmd heading: 183.886250 deg.

2025-10-26T21:42:58.074Z,1761514978.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.209420 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:58.172Z,1761514978.172 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:58.425Z,1761514978.425 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:42:58.425Z,1761514978.425 [DAT](INFO): response not received
2025-10-26T21:42:58.426Z,1761514978.426 [DAT](INFO): DAT read: user:363>Tx time:21:42:57.6915

2025-10-26T21:42:58.426Z,1761514978.426 [DAT](ERROR): No response from remote modem.
2025-10-26T21:42:58.426Z,1761514978.426 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:58.426Z,1761514978.426 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:42:58.577Z,1761514978.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934472,0.113400,-0.337496],[-0.045370,-0.978121,-0.203030],[-0.353135,-0.174414,0.919171]]
2025-10-26T21:42:58.634Z,1761514978.634 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:42:58.641Z,1761514978.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:58.647Z,1761514978.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 51.196373 m,
      bearing: 175.906240 deg,
      approach rate: -0.509127 m/s,
      LOS rate: -0.120352 deg/s,
      cmd heading: 183.886246 deg,
      new cmd heading: 183.680331 deg.

2025-10-26T21:42:58.648Z,1761514978.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.205827 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:58.676Z,1761514978.676 [DAT](INFO): DAT read: 

2025-10-26T21:42:58.677Z,1761514978.677 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:58.928Z,1761514978.928 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:59.163Z,1761514979.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:59.166Z,1761514979.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 50.905197 m,
      bearing: 175.836999 deg,
      approach rate: -0.557281 m/s,
      LOS rate: -0.133279 deg/s,
      cmd heading: 183.680329 deg,
      new cmd heading: 183.471418 deg.

2025-10-26T21:42:59.167Z,1761514979.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.202180 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:59.180Z,1761514979.180 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:59.432Z,1761514979.432 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:59.604Z,1761514979.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:59.607Z,1761514979.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 50.659054 m,
      bearing: 175.769871 deg,
      approach rate: -0.558067 m/s,
      LOS rate: -0.152935 deg/s,
      cmd heading: 183.471421 deg,
      new cmd heading: 183.269060 deg.

2025-10-26T21:42:59.612Z,1761514979.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.198648 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:42:59.684Z,1761514979.684 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:59.940Z,1761514979.940 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:42:59.951Z,1761514979.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951579,0.111691,-0.286395],[-0.052564,-0.977057,-0.206392],[-0.302877,-0.181344,0.935618]]
2025-10-26T21:42:59.969Z,1761514979.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:42:59.972Z,1761514979.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 50.450989 m,
      bearing: 175.711643 deg,
      approach rate: -0.570090 m/s,
      LOS rate: -0.160201 deg/s,
      cmd heading: 183.269056 deg,
      new cmd heading: 183.093652 deg.

2025-10-26T21:42:59.973Z,1761514979.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.195587 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:00.192Z,1761514980.192 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:00.408Z,1761514980.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957627,0.113746,-0.264599],[-0.057413,-0.975661,-0.211633],[-0.282231,-0.187474,0.940850]]
2025-10-26T21:43:00.449Z,1761514980.449 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:00.474Z,1761514980.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:00.481Z,1761514980.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 50.184093 m,
      bearing: 175.632188 deg,
      approach rate: -0.528456 m/s,
      LOS rate: -0.158158 deg/s,
      cmd heading: 183.093657 deg,
      new cmd heading: 182.854027 deg.

2025-10-26T21:43:00.482Z,1761514980.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.191405 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:00.701Z,1761514980.701 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:00.956Z,1761514980.956 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:00.981Z,1761514980.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968898,0.115377,-0.218918],[-0.068622,-0.975232,-0.210271],[-0.237756,-0.188709,0.952817]]
2025-10-26T21:43:01.006Z,1761514981.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:01.009Z,1761514981.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:01.012Z,1761514981.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 49.870529 m,
      bearing: 175.534188 deg,
      approach rate: -0.586609 m/s,
      LOS rate: -0.184489 deg/s,
      cmd heading: 182.854027 deg,
      new cmd heading: 182.558181 deg.

2025-10-26T21:43:01.013Z,1761514981.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.186241 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:01.204Z,1761514981.204 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:01.458Z,1761514981.458 [DAT](INFO): DAT read: Rx Time:21:43:00.1661

2025-10-26T21:43:01.459Z,1761514981.459 [DAT](INFO): Rx dataTimestamp_ set to:1761514981.458296
2025-10-26T21:43:01.459Z,1761514981.459 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:01.460Z,1761514981.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973786,0.115585,-0.195910],[-0.074403,-0.975750,-0.205856],[-0.214953,-0.185884,0.958771]]
2025-10-26T21:43:01.496Z,1761514981.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:01.499Z,1761514981.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 49.580616 m,
      bearing: 175.452031 deg,
      approach rate: -0.594533 m/s,
      LOS rate: -0.169467 deg/s,
      cmd heading: 182.558184 deg,
      new cmd heading: 182.310273 deg.

2025-10-26T21:43:01.500Z,1761514981.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.181915 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:01.709Z,1761514981.709 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:01.854Z,1761514981.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978182,0.115202,-0.172880],[-0.079622,-0.976514,-0.200203],[-0.191883,-0.182070,0.964381]]
2025-10-26T21:43:01.904Z,1761514981.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:01.933Z,1761514981.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 49.341717 m,
      bearing: 175.382215 deg,
      approach rate: -0.585506 m/s,
      LOS rate: -0.171937 deg/s,
      cmd heading: 182.310276 deg,
      new cmd heading: 182.099814 deg.

2025-10-26T21:43:01.942Z,1761514981.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.178241 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:01.982Z,1761514981.982 [DAT](INFO): DAT read: 21:43:00.1661 LVL= 32752, 32753, 28530, 32755, AGC= 78, IDX= 351, 0.02, 2.000, 0.472, 2.592, 2.055, PHS= 0.047,-1.538, 0.493, RAW= 162.0,  10.8, CAL= 162.1,  12.0, ROT= 347.9, -12.0

2025-10-26T21:43:01.983Z,1761514981.983 [DAT](INFO): got valid direction response:
 21:43:00.1661 LVL= 32752, 32753, 28530, 32755, AGC= 78, IDX= 351, 0.02, 2.000, 0.472, 2.592, 2.055, PHS= 0.047,-1.538, 0.493, RAW= 162.0,  10.8, CAL= 162.1,  12.0, ROT= 347.9, -12.0

2025-10-26T21:43:01.992Z,1761514981.992 [DAT](INFO): DAT read: $Error in header

2025-10-26T21:43:01.992Z,1761514981.992 [DAT](INFO): Received a bad header
2025-10-26T21:43:02.004Z,1761514982.004 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:43:02.005Z,1761514982.005 [DAT](INFO): direction in FSK: [0.956416,-0.205038,0.207912]
2025-10-26T21:43:02.008Z,1761514982.008 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:02.212Z,1761514982.212 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:02.332Z,1761514982.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982025,0.114953,-0.149708],[-0.084431,-0.976905,-0.196285],[-0.168815,-0.180117,0.969051]]
2025-10-26T21:43:02.362Z,1761514982.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:02.374Z,1761514982.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 49.070007 m,
      bearing: 175.300536 deg,
      approach rate: -0.593150 m/s,
      LOS rate: -0.179294 deg/s,
      cmd heading: 182.099810 deg,
      new cmd heading: 181.853419 deg.

2025-10-26T21:43:02.388Z,1761514982.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.173941 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:02.465Z,1761514982.465 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:02.717Z,1761514982.717 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:02.749Z,1761514982.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985266,0.115609,-0.126040],[-0.089337,-0.976296,-0.197143],[-0.145844,-0.182978,0.972239]]
2025-10-26T21:43:02.809Z,1761514982.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:02.815Z,1761514982.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 48.785217 m,
      bearing: 175.214753 deg,
      approach rate: -0.638251 m/s,
      LOS rate: -0.193374 deg/s,
      cmd heading: 181.853418 deg,
      new cmd heading: 181.594567 deg.

2025-10-26T21:43:02.816Z,1761514982.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.169423 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:02.968Z,1761514982.968 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:03.221Z,1761514983.221 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:03.338Z,1761514983.338 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:03.341Z,1761514983.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:03.343Z,1761514983.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 48.443851 m,
      bearing: 175.110553 deg,
      approach rate: -0.641768 m/s,
      LOS rate: -0.197276 deg/s,
      cmd heading: 181.594567 deg,
      new cmd heading: 181.279768 deg.

2025-10-26T21:43:03.344Z,1761514983.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.163929 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:03.473Z,1761514983.473 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:03.715Z,1761514983.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990163,0.114341,-0.080638],[-0.096637,-0.975662,-0.196836],[-0.101182,-0.187107,0.977115]]
2025-10-26T21:43:03.725Z,1761514983.725 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:03.793Z,1761514983.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:03.800Z,1761514983.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 48.170826 m,
      bearing: 175.027782 deg,
      approach rate: -0.603832 m/s,
      LOS rate: -0.184096 deg/s,
      cmd heading: 181.279764 deg,
      new cmd heading: 181.030046 deg.

2025-10-26T21:43:03.801Z,1761514983.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.159570 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:03.976Z,1761514983.976 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:04.232Z,1761514984.232 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:04.305Z,1761514984.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993414,0.108039,-0.038153],[-0.098834,-0.976467,-0.191687],[-0.057965,-0.186654,0.980714]]
2025-10-26T21:43:04.351Z,1761514984.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:04.363Z,1761514984.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 47.799381 m,
      bearing: 174.912837 deg,
      approach rate: -0.665728 m/s,
      LOS rate: -0.207613 deg/s,
      cmd heading: 181.030052 deg,
      new cmd heading: 180.682542 deg.

2025-10-26T21:43:04.368Z,1761514984.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.153505 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:04.480Z,1761514984.480 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:04.709Z,1761514984.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994509,0.103273,-0.016910],[-0.098242,-0.977026,-0.189126],[-0.036053,-0.186426,0.981807]]
2025-10-26T21:43:04.733Z,1761514984.733 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:04.768Z,1761514984.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:04.771Z,1761514984.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 47.514774 m,
      bearing: 174.832319 deg,
      approach rate: -0.681383 m/s,
      LOS rate: -0.193925 deg/s,
      cmd heading: 180.682546 deg,
      new cmd heading: 180.439546 deg.

2025-10-26T21:43:04.772Z,1761514984.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.149264 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:04.984Z,1761514984.984 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:05.125Z,1761514985.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995247,0.097275,0.004473],[-0.096371,-0.977327,-0.188533],[-0.013968,-0.188068,0.982057]]
2025-10-26T21:43:05.143Z,1761514985.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:05.145Z,1761514985.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 47.273129 m,
      bearing: 174.763771 deg,
      approach rate: -0.645609 m/s,
      LOS rate: -0.184077 deg/s,
      cmd heading: 180.439541 deg,
      new cmd heading: 180.232847 deg.

2025-10-26T21:43:05.146Z,1761514985.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.145657 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:05.236Z,1761514985.236 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:05.491Z,1761514985.491 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:05.526Z,1761514985.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995601,0.090193,0.025369],[-0.093380,-0.977302,-0.190162],[0.007642,-0.191694,0.981425]]
2025-10-26T21:43:05.570Z,1761514985.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:05.572Z,1761514985.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:05.575Z,1761514985.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 46.992142 m,
      bearing: 174.677793 deg,
      approach rate: -0.654354 m/s,
      LOS rate: -0.201420 deg/s,
      cmd heading: 180.232846 deg,
      new cmd heading: 179.973372 deg.

2025-10-26T21:43:05.576Z,1761514985.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.141128 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:05.741Z,1761514985.741 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:05.992Z,1761514985.992 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:05.997Z,1761514985.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995597,0.081750,0.045855],[-0.089194,-0.976664,-0.195378],[0.028813,-0.198607,0.979656]]
2025-10-26T21:43:06.035Z,1761514986.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:06.038Z,1761514986.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 46.701290 m,
      bearing: 174.589236 deg,
      approach rate: -0.628233 m/s,
      LOS rate: -0.192473 deg/s,
      cmd heading: 179.973367 deg,
      new cmd heading: 179.706043 deg.

2025-10-26T21:43:06.039Z,1761514986.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.136462 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:06.244Z,1761514986.244 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:06.414Z,1761514986.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995200,0.071779,0.066512],[-0.084157,-0.974625,-0.207422],[0.049936,-0.212024,0.975988]]
2025-10-26T21:43:06.496Z,1761514986.496 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:06.497Z,1761514986.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:06.504Z,1761514986.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 46.427280 m,
      bearing: 174.506520 deg,
      approach rate: -0.592673 m/s,
      LOS rate: -0.179969 deg/s,
      cmd heading: 179.706047 deg,
      new cmd heading: 179.456435 deg.

2025-10-26T21:43:06.505Z,1761514986.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.132106 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:06.748Z,1761514986.748 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:06.937Z,1761514986.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994419,0.061083,0.086017],[-0.078724,-0.972416,-0.219568],[0.070232,-0.225115,0.971798]]
2025-10-26T21:43:06.993Z,1761514986.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:07.000Z,1761514987.000 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:07.001Z,1761514987.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 46.074448 m,
      bearing: 174.402246 deg,
      approach rate: -0.711778 m/s,
      LOS rate: -0.211965 deg/s,
      cmd heading: 179.456431 deg,
      new cmd heading: 179.141217 deg.

2025-10-26T21:43:07.002Z,1761514987.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.126604 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:07.252Z,1761514987.252 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:07.388Z,1761514987.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992055,0.039361,0.119491],[-0.066670,-0.969946,-0.234009],[0.106689,-0.240116,0.964864]]
2025-10-26T21:43:07.417Z,1761514987.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:07.436Z,1761514987.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 45.799622 m,
      bearing: 174.323981 deg,
      approach rate: -0.648891 m/s,
      LOS rate: -0.185899 deg/s,
      cmd heading: 179.141218 deg,
      new cmd heading: 178.905017 deg.

2025-10-26T21:43:07.437Z,1761514987.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.122482 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:07.524Z,1761514987.524 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:07.756Z,1761514987.756 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:07.958Z,1761514987.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990671,0.028823,0.133189],[-0.059503,-0.970775,-0.232500],[0.122595,-0.238256,0.963434]]
2025-10-26T21:43:07.993Z,1761514987.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:07.995Z,1761514987.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:07.998Z,1761514987.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 45.419151 m,
      bearing: 174.213484 deg,
      approach rate: -0.658021 m/s,
      LOS rate: -0.192705 deg/s,
      cmd heading: 178.905016 deg,
      new cmd heading: 178.570752 deg.

2025-10-26T21:43:07.999Z,1761514987.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.116647 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:08.008Z,1761514988.008 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:08.260Z,1761514988.260 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:08.359Z,1761514988.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989203,0.017062,0.145556],[-0.051089,-0.971044,-0.233375],[0.137360,-0.238292,0.961431]]
2025-10-26T21:43:08.392Z,1761514988.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:08.396Z,1761514988.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 45.163177 m,
      bearing: 174.140884 deg,
      approach rate: -0.646180 m/s,
      LOS rate: -0.184310 deg/s,
      cmd heading: 178.570747 deg,
      new cmd heading: 178.351713 deg.

2025-10-26T21:43:08.398Z,1761514988.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.112825 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:08.515Z,1761514988.515 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:08.764Z,1761514988.764 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:08.859Z,1761514988.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987571,0.004629,0.157103],[-0.042768,-0.969763,-0.240273],[0.151240,-0.244006,0.957908]]
2025-10-26T21:43:08.921Z,1761514988.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:08.924Z,1761514988.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 44.816460 m,
      bearing: 174.056325 deg,
      approach rate: -0.654120 m/s,
      LOS rate: -0.160764 deg/s,
      cmd heading: 178.351716 deg,
      new cmd heading: 178.096078 deg.

2025-10-26T21:43:08.925Z,1761514988.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.108363 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:09.017Z,1761514989.017 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:09.262Z,1761514989.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985857,-0.007325,0.167431],[-0.035298,-0.967559,-0.250169],[0.163832,-0.252540,0.953616]]
2025-10-26T21:43:09.268Z,1761514989.268 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:09.294Z,1761514989.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:09.297Z,1761514989.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 44.576111 m,
      bearing: 173.999226 deg,
      approach rate: -0.644607 m/s,
      LOS rate: -0.153961 deg/s,
      cmd heading: 178.096076 deg,
      new cmd heading: 177.923858 deg.

2025-10-26T21:43:09.298Z,1761514989.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.105357 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:09.523Z,1761514989.523 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:09.731Z,1761514989.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984035,-0.019134,0.176945],[-0.027522,-0.965886,-0.257501],[0.175836,-0.258260,0.949939]]
2025-10-26T21:43:09.772Z,1761514989.772 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:09.786Z,1761514989.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:09.789Z,1761514989.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 44.267803 m,
      bearing: 173.921270 deg,
      approach rate: -0.626159 m/s,
      LOS rate: -0.159429 deg/s,
      cmd heading: 177.923860 deg,
      new cmd heading: 177.688362 deg.

2025-10-26T21:43:09.790Z,1761514989.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.101247 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:10.024Z,1761514990.024 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:10.156Z,1761514990.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982195,-0.030321,0.185399],[-0.020089,-0.964278,-0.264129],[0.186785,-0.263151,0.946500]]
2025-10-26T21:43:10.178Z,1761514990.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:10.200Z,1761514990.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:10.202Z,1761514990.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 44.022003 m,
      bearing: 173.860761 deg,
      approach rate: -0.594429 m/s,
      LOS rate: -0.147148 deg/s,
      cmd heading: 177.688368 deg,
      new cmd heading: 177.505830 deg.

2025-10-26T21:43:10.204Z,1761514990.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.098061 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:10.276Z,1761514990.276 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:10.532Z,1761514990.532 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:10.664Z,1761514990.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978665,-0.049618,0.199383],[-0.005618,-0.963577,-0.267371],[0.205387,-0.262787,0.942740]]
2025-10-26T21:43:10.727Z,1761514990.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:10.738Z,1761514990.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 43.713943 m,
      bearing: 173.798808 deg,
      approach rate: -0.588459 m/s,
      LOS rate: -0.119178 deg/s,
      cmd heading: 177.505825 deg,
      new cmd heading: 177.318656 deg.

2025-10-26T21:43:10.738Z,1761514990.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.094794 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:10.780Z,1761514990.780 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:11.033Z,1761514991.033 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:43:11.033Z,1761514991.033 [DAT](INFO): response not received
2025-10-26T21:43:11.033Z,1761514991.033 [DAT](INFO): DAT read: Tx time:21:43:10.1414

2025-10-26T21:43:11.034Z,1761514991.034 [DAT](INFO): Ping request sent.
2025-10-26T21:43:11.034Z,1761514991.034 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:43:11.034Z,1761514991.034 [DAT](INFO): publishing transmit ping time
2025-10-26T21:43:11.165Z,1761514991.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977169,-0.057813,0.204447],[0.001629,-0.964278,-0.264888],[0.212457,-0.258507,0.942357]]
2025-10-26T21:43:11.193Z,1761514991.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:11.196Z,1761514991.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 43.423344 m,
      bearing: 173.742476 deg,
      approach rate: -0.619063 m/s,
      LOS rate: -0.120808 deg/s,
      cmd heading: 177.318650 deg,
      new cmd heading: 177.148523 deg.

2025-10-26T21:43:11.197Z,1761514991.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.091825 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:11.641Z,1761514991.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:11.660Z,1761514991.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 43.139690 m,
      bearing: 173.690587 deg,
      approach rate: -0.632175 m/s,
      LOS rate: -0.116405 deg/s,
      cmd heading: 177.148524 deg,
      new cmd heading: 176.991834 deg.

2025-10-26T21:43:11.661Z,1761514991.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.089090 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:12.004Z,1761514992.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974715,-0.073436,0.211041],[0.015876,-0.964827,-0.262406],[0.222889,-0.252420,0.941597]]
2025-10-26T21:43:12.022Z,1761514992.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:12.037Z,1761514992.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 42.899082 m,
      bearing: 173.650818 deg,
      approach rate: -0.631577 m/s,
      LOS rate: -0.104975 deg/s,
      cmd heading: 176.991839 deg,
      new cmd heading: 176.871864 deg.

2025-10-26T21:43:12.038Z,1761514992.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.086996 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:12.415Z,1761514992.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973508,-0.080745,0.213921],[0.022110,-0.964431,-0.263408],[0.227581,-0.251700,0.940667]]
2025-10-26T21:43:12.431Z,1761514992.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:12.433Z,1761514992.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:12.436Z,1761514992.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 42.639896 m,
      bearing: 173.609733 deg,
      approach rate: -0.630451 m/s,
      LOS rate: -0.100545 deg/s,
      cmd heading: 176.871860 deg,
      new cmd heading: 176.747855 deg.

2025-10-26T21:43:12.437Z,1761514992.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.084832 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:12.547Z,1761514992.547 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:12.548Z,1761514992.548 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:12.548Z,1761514992.548 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:12.796Z,1761514992.796 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:12.796Z,1761514992.796 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:12.796Z,1761514992.796 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:12.817Z,1761514992.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972318,-0.086939,0.216883],[0.027411,-0.964233,-0.263635],[0.232046,-0.250392,0.939925]]
2025-10-26T21:43:12.885Z,1761514992.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:12.890Z,1761514992.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 42.368523 m,
      bearing: 173.572758 deg,
      approach rate: -0.601716 m/s,
      LOS rate: -0.082509 deg/s,
      cmd heading: 176.747851 deg,
      new cmd heading: 176.636216 deg.

2025-10-26T21:43:12.892Z,1761514992.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.082884 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:13.048Z,1761514993.048 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:13.048Z,1761514993.048 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:13.048Z,1761514993.048 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:13.272Z,1761514993.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:13.275Z,1761514993.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 42.126221 m,
      bearing: 173.539339 deg,
      approach rate: -0.624496 m/s,
      LOS rate: -0.086626 deg/s,
      cmd heading: 176.636219 deg,
      new cmd heading: 176.535387 deg.

2025-10-26T21:43:13.276Z,1761514993.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.081124 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:13.300Z,1761514993.300 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:13.300Z,1761514993.300 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:13.300Z,1761514993.300 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:13.558Z,1761514993.558 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:13.558Z,1761514993.558 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:13.558Z,1761514993.558 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:13.790Z,1761514993.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:13.793Z,1761514993.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 41.802433 m,
      bearing: 173.478800 deg,
      approach rate: -0.625916 m/s,
      LOS rate: -0.117935 deg/s,
      cmd heading: 176.535392 deg,
      new cmd heading: 176.352368 deg.

2025-10-26T21:43:13.794Z,1761514993.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.077929 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:13.804Z,1761514993.804 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:13.804Z,1761514993.804 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:13.804Z,1761514993.805 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:14.056Z,1761514994.056 [DAT](INFO): DAT read: Rx Time:21:43:12.6044

2025-10-26T21:43:14.057Z,1761514994.057 [DAT](INFO): Rx dataTimestamp_ set to:1761514994.056589
2025-10-26T21:43:14.057Z,1761514994.057 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:14.057Z,1761514994.057 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:14.057Z,1761514994.057 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:14.253Z,1761514994.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.71 m.
2025-10-26T21:43:14.256Z,1761514994.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.706825 m,
      nav range: 41.512051 m,
      bearing: 173.423695 deg,
      approach rate: -0.626206 m/s,
      LOS rate: -0.119664 deg/s,
      cmd heading: 176.352370 deg,
      new cmd heading: 176.185899 deg.

2025-10-26T21:43:14.257Z,1761514994.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.075024 target range: 61.706825 and range: 62.10 m.
2025-10-26T21:43:14.309Z,1761514994.309 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:14.309Z,1761514994.309 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:14.309Z,1761514994.309 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:14.583Z,1761514994.583 [DAT](INFO): DAT read: 21:43:12.6044 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 343, 0.48, 1.746, 0.205, 1.776, 1.469, PHS= 0.379,-1.218, 0.263, RAW= 146.3,   7.5, CAL= 145.8,   8.2, ROT=   4.2,  -8.2

2025-10-26T21:43:14.587Z,1761514994.587 [DAT](INFO): got valid direction response:
 21:43:12.6044 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 343, 0.48, 1.746, 0.205, 1.776, 1.469, PHS= 0.379,-1.218, 0.263, RAW= 146.3,   7.5, CAL= 145.8,   8.2, ROT=   4.2,  -8.2

2025-10-26T21:43:14.603Z,1761514994.603 [DAT](INFO): DAT read: Bearing 342.6,  16.0 (Local)

2025-10-26T21:43:14.605Z,1761514994.605 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.6,  16.0 (Local)

2025-10-26T21:43:14.620Z,1761514994.620 [DAT](INFO): DAT read: Range 11 to 50 : 44.1 m  (Round-trip  58.9 ms) speed  0.6 m/s

2025-10-26T21:43:14.621Z,1761514994.621 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T21:43:14.621Z,1761514994.621 [DAT](INFO): direction in FSK: [0.987118,0.072489,0.142629]
2025-10-26T21:43:14.622Z,1761514994.622 [DAT](INFO): publishing direction and range info
2025-10-26T21:43:14.633Z,1761514994.633 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:14.633Z,1761514994.633 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:14.634Z,1761514994.634 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:43:14.648Z,1761514994.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966798,-0.110869,0.230239],[0.051949,-0.967438,-0.247719],[0.250206,-0.227534,0.941077]]
2025-10-26T21:43:14.775Z,1761514994.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 44.099998 m,
      deltaT: 28.735267 s,
      deltaX: -18.000000 m,
      approachRate: -0.626408 m/s,
      rangeRepo size: 4

2025-10-26T21:43:14.781Z,1761514994.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.822426 m,
      bearing: 183.335879 deg,
      lat: 36.779430 deg,
      lon: -121.859567 deg,
      deltaT: 28.735267 s,
      deltaX: -17.884399 m,
      approachRate: -0.622385 m/s,
      posRepo size: 4

2025-10-26T21:43:14.782Z,1761514994.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:14.782Z,1761514994.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 44.10 m.
2025-10-26T21:43:14.797Z,1761514994.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 40.803921 m,
      bearing: 183.335895 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.119664 deg/s,
      cmd heading: 176.185904 deg,
      new cmd heading: 175.999017 deg.

2025-10-26T21:43:14.798Z,1761514994.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.071762 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:14.812Z,1761514994.812 [DAT](INFO): DAT read: 

2025-10-26T21:43:14.813Z,1761514994.813 [DAT](INFO): DAT read: Tx time:21:43:13.9914

2025-10-26T21:43:14.813Z,1761514994.813 [DAT](INFO): Ping request sent.
2025-10-26T21:43:14.813Z,1761514994.813 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:43:14.813Z,1761514994.813 [DAT](INFO): publishing transmit ping time
2025-10-26T21:43:14.814Z,1761514994.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758
2025-10-26T21:43:14.845Z,1761514994.845 [DockingStepper](INFO): Changing to mode: 2
2025-10-26T21:43:15.065Z,1761514995.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251684
2025-10-26T21:43:15.160Z,1761514995.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966016,-0.114947,0.231515],[0.056530,-0.967947,-0.244711],[0.252223,-0.223307,0.941550]]
2025-10-26T21:43:15.177Z,1761514995.177 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:15.179Z,1761514995.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:15.179Z,1761514995.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 44.10 m.
2025-10-26T21:43:15.182Z,1761514995.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 40.529469 m,
      bearing: 183.368118 deg,
      approach rate: -0.678405 m/s,
      LOS rate: 0.080189 deg/s,
      cmd heading: 175.999017 deg,
      new cmd heading: 176.096339 deg.

2025-10-26T21:43:15.183Z,1761514995.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.073461 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:15.317Z,1761514995.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503808
2025-10-26T21:43:15.568Z,1761514995.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755172
2025-10-26T21:43:15.569Z,1761514995.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965011,-0.121893,0.232157],[0.063623,-0.967772,-0.243659],[0.254375,-0.220362,0.941665]]
2025-10-26T21:43:15.646Z,1761514995.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:15.647Z,1761514995.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 44.10 m.
2025-10-26T21:43:15.657Z,1761514995.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 40.261681 m,
      bearing: 183.402818 deg,
      approach rate: -0.572532 m/s,
      LOS rate: 0.074682 deg/s,
      cmd heading: 176.096333 deg,
      new cmd heading: 176.201125 deg.

2025-10-26T21:43:15.658Z,1761514995.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.075290 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:15.821Z,1761514995.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007870
2025-10-26T21:43:16.073Z,1761514996.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259702
2025-10-26T21:43:16.118Z,1761514996.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964155,-0.128409,0.232198],[0.070235,-0.967393,-0.243347],[0.255875,-0.218316,0.941736]]
2025-10-26T21:43:16.175Z,1761514996.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:16.176Z,1761514996.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 44.10 m.
2025-10-26T21:43:16.179Z,1761514996.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 39.876865 m,
      bearing: 183.439302 deg,
      approach rate: -0.727735 m/s,
      LOS rate: 0.069663 deg/s,
      cmd heading: 176.201122 deg,
      new cmd heading: 176.311633 deg.

2025-10-26T21:43:16.180Z,1761514996.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.077219 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:16.325Z,1761514996.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511379
2025-10-26T21:43:16.340Z,1761514996.340 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:43:16.518Z,1761514996.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963371,-0.134031,0.232275],[0.075967,-0.967059,-0.242953],[0.257186,-0.216408,0.941819]]
2025-10-26T21:43:16.549Z,1761514996.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:16.550Z,1761514996.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 44.10 m.
2025-10-26T21:43:16.553Z,1761514996.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 39.620724 m,
      bearing: 183.466199 deg,
      approach rate: -0.684882 m/s,
      LOS rate: 0.072382 deg/s,
      cmd heading: 176.311635 deg,
      new cmd heading: 176.392845 deg.

2025-10-26T21:43:16.554Z,1761514996.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.078636 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:16.580Z,1761514996.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765530
2025-10-26T21:43:16.828Z,1761514996.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015176
2025-10-26T21:43:17.069Z,1761514997.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962839,-0.140942,0.230383],[0.083780,-0.966820,-0.241331],[0.256752,-0.213062,0.942700]]
2025-10-26T21:43:17.080Z,1761514997.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267088
2025-10-26T21:43:17.132Z,1761514997.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:17.132Z,1761514997.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 44.10 m.
2025-10-26T21:43:17.135Z,1761514997.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 39.263023 m,
      bearing: 183.496334 deg,
      approach rate: -0.618847 m/s,
      LOS rate: 0.052611 deg/s,
      cmd heading: 176.392846 deg,
      new cmd heading: 176.484075 deg.

2025-10-26T21:43:17.140Z,1761514997.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.080228 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:17.333Z,1761514997.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519956
2025-10-26T21:43:17.345Z,1761514997.345 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:43:17.479Z,1761514997.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962887,-0.143156,0.228811],[0.087221,-0.967305,-0.238147],[0.255422,-0.209352,0.943891]]
2025-10-26T21:43:17.496Z,1761514997.496 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:17.498Z,1761514997.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:17.498Z,1761514997.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 44.10 m.
2025-10-26T21:43:17.501Z,1761514997.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 39.012661 m,
      bearing: 183.519073 deg,
      approach rate: -0.675386 m/s,
      LOS rate: 0.061735 deg/s,
      cmd heading: 176.484070 deg,
      new cmd heading: 176.552724 deg.

2025-10-26T21:43:17.502Z,1761514997.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.081426 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:17.585Z,1761514997.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771231
2025-10-26T21:43:17.836Z,1761514997.836 [DAT](INFO): DAT read: Rx Time:21:43:16.4512

2025-10-26T21:43:17.837Z,1761514997.837 [DAT](INFO): Rx dataTimestamp_ set to:1761514997.836555
2025-10-26T21:43:17.837Z,1761514997.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024103
2025-10-26T21:43:17.902Z,1761514997.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963151,-0.143735,0.227334],[0.089347,-0.968213,-0.233626],[0.253688,-0.204705,0.945377]]
2025-10-26T21:43:17.944Z,1761514997.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:17.945Z,1761514997.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 44.10 m.
2025-10-26T21:43:17.948Z,1761514997.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 38.710213 m,
      bearing: 183.557191 deg,
      approach rate: -0.677596 m/s,
      LOS rate: 0.086066 deg/s,
      cmd heading: 176.552727 deg,
      new cmd heading: 176.667974 deg.

2025-10-26T21:43:17.949Z,1761514997.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.083438 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:18.089Z,1761514998.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276115
2025-10-26T21:43:18.282Z,1761514998.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963612,-0.143643,0.225431],[0.091244,-0.969447,-0.227701],[0.251251,-0.198846,0.947277]]
2025-10-26T21:43:18.313Z,1761514998.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:18.313Z,1761514998.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 44.10 m.
2025-10-26T21:43:18.316Z,1761514998.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 38.460281 m,
      bearing: 183.589871 deg,
      approach rate: -0.678280 m/s,
      LOS rate: 0.089266 deg/s,
      cmd heading: 176.667979 deg,
      new cmd heading: 176.766656 deg.

2025-10-26T21:43:18.317Z,1761514998.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.085160 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:18.346Z,1761514998.346 [DAT](INFO): DAT read: 21:43:16.4512 LVL= 31216, 32753, 32754, 32755, AGC= 68, IDX= 407, 0.14,-0.700,-2.382,-0.671,-1.177, PHS= 0.579,-1.160, 0.462, RAW= 146.5,   1.4, CAL= 145.9,   1.4, ROT=   4.1,  -1.4

2025-10-26T21:43:18.350Z,1761514998.350 [DAT](INFO): got valid direction response:
 21:43:16.4512 LVL= 31216, 32753, 32754, 32755, AGC= 68, IDX= 407, 0.14,-0.700,-2.382,-0.671,-1.177, PHS= 0.579,-1.160, 0.462, RAW= 146.5,   1.4, CAL= 145.9,   1.4, ROT=   4.1,  -1.4

2025-10-26T21:43:18.351Z,1761514998.351 [DAT](INFO): DAT read: $Error in header

2025-10-26T21:43:18.352Z,1761514998.352 [DAT](INFO): Received a bad header
2025-10-26T21:43:18.364Z,1761514998.364 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:43:18.367Z,1761514998.367 [DAT](INFO): direction in FSK: [0.997143,0.071476,0.024432]
2025-10-26T21:43:18.373Z,1761514998.373 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:18.374Z,1761514998.374 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:18.374Z,1761514998.374 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:18.594Z,1761514998.594 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:18.594Z,1761514998.594 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:18.594Z,1761514998.594 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:18.686Z,1761514998.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964301,-0.141569,0.223790],[0.091365,-0.971074,-0.220610],[0.248548,-0.192287,0.949341]]
2025-10-26T21:43:18.746Z,1761514998.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:18.746Z,1761514998.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 44.10 m.
2025-10-26T21:43:18.749Z,1761514998.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 38.202053 m,
      bearing: 183.617565 deg,
      approach rate: -0.596350 m/s,
      LOS rate: 0.064387 deg/s,
      cmd heading: 176.766662 deg,
      new cmd heading: 176.850304 deg.

2025-10-26T21:43:18.750Z,1761514998.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.086620 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:18.844Z,1761514998.844 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:18.844Z,1761514998.844 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:18.844Z,1761514998.844 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:19.097Z,1761514999.097 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:19.097Z,1761514999.097 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:19.097Z,1761514999.097 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:19.260Z,1761514999.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965208,-0.138499,0.221794],[0.090854,-0.972993,-0.212204],[0.245194,-0.184670,0.951723]]
2025-10-26T21:43:19.282Z,1761514999.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:19.283Z,1761514999.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 44.10 m.
2025-10-26T21:43:19.286Z,1761514999.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 37.881565 m,
      bearing: 183.652269 deg,
      approach rate: -0.597115 m/s,
      LOS rate: 0.065207 deg/s,
      cmd heading: 176.850304 deg,
      new cmd heading: 176.955299 deg.

2025-10-26T21:43:19.287Z,1761514999.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.088453 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:19.351Z,1761514999.351 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:19.351Z,1761514999.351 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:19.351Z,1761514999.351 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:19.604Z,1761514999.604 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:19.605Z,1761514999.605 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:19.605Z,1761514999.605 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:19.728Z,1761514999.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966468,-0.133569,0.219314],[0.088519,-0.975017,-0.203732],[0.241047,-0.177487,0.954146]]
2025-10-26T21:43:19.746Z,1761514999.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:19.748Z,1761514999.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:19.749Z,1761514999.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 44.10 m.
2025-10-26T21:43:19.752Z,1761514999.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 37.603409 m,
      bearing: 183.681900 deg,
      approach rate: -0.597068 m/s,
      LOS rate: 0.064072 deg/s,
      cmd heading: 176.955298 deg,
      new cmd heading: 177.044846 deg.

2025-10-26T21:43:19.753Z,1761514999.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.090015 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:19.856Z,1761514999.856 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:19.856Z,1761514999.856 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:19.856Z,1761514999.856 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:19.858Z,1761514999.858 [CTD_Seabird](ERROR): Failed to parse device response: 40,2499.56
2025-10-26T21:43:20.108Z,1761515000.108 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:20.108Z,1761515000.108 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:20.108Z,1761515000.108 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:20.302Z,1761515000.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970455,-0.120403,0.209094],[0.082376,-0.979859,-0.181908],[0.226785,-0.159309,0.960827]]
2025-10-26T21:43:20.321Z,1761515000.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:20.321Z,1761515000.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 44.10 m.
2025-10-26T21:43:20.324Z,1761515000.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 37.259960 m,
      bearing: 183.715934 deg,
      approach rate: -0.599842 m/s,
      LOS rate: 0.059990 deg/s,
      cmd heading: 177.044842 deg,
      new cmd heading: 177.147886 deg.

2025-10-26T21:43:20.325Z,1761515000.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.091814 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:20.360Z,1761515000.360 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:20.360Z,1761515000.360 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:20.361Z,1761515000.361 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:20.637Z,1761515000.637 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:20.638Z,1761515000.638 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:20.638Z,1761515000.638 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:20.865Z,1761515000.865 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:20.865Z,1761515000.865 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:20.866Z,1761515000.866 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:21.000Z,1761515001.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:21.001Z,1761515001.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 44.10 m.
2025-10-26T21:43:21.001Z,1761515001.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 44.10 m.
2025-10-26T21:43:21.001Z,1761515001.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-10-26T21:43:21.004Z,1761515001.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 36.852165 m,
      bearing: 183.757171 deg,
      approach rate: -0.600207 m/s,
      LOS rate: 0.061365 deg/s,
      cmd heading: 177.147882 deg,
      new cmd heading: 177.272961 deg.

2025-10-26T21:43:21.005Z,1761515001.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.093997 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:21.117Z,1761515001.117 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:21.117Z,1761515001.117 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:21.117Z,1761515001.117 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:21.342Z,1761515001.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976721,-0.101004,0.189249],[0.072308,-0.985602,-0.152841],[0.201962,-0.135599,0.969961]]
2025-10-26T21:43:21.367Z,1761515001.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:21.370Z,1761515001.370 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:21.370Z,1761515001.370 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:21.370Z,1761515001.370 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:21.386Z,1761515001.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 36.635399 m,
      bearing: 183.776150 deg,
      approach rate: -0.591776 m/s,
      LOS rate: 0.052121 deg/s,
      cmd heading: 177.272956 deg,
      new cmd heading: 177.330232 deg.

2025-10-26T21:43:21.392Z,1761515001.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.094996 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:21.621Z,1761515001.621 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:21.621Z,1761515001.621 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:21.621Z,1761515001.621 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:21.822Z,1761515001.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:21.828Z,1761515001.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:21.835Z,1761515001.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 36.372978 m,
      bearing: 183.814158 deg,
      approach rate: -0.568160 m/s,
      LOS rate: 0.082883 deg/s,
      cmd heading: 177.330234 deg,
      new cmd heading: 177.445080 deg.

2025-10-26T21:43:21.840Z,1761515001.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.097001 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:21.873Z,1761515001.873 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:21.873Z,1761515001.873 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:21.873Z,1761515001.873 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:22.125Z,1761515002.125 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:22.125Z,1761515002.125 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:22.125Z,1761515002.125 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:22.377Z,1761515002.377 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:22.377Z,1761515002.377 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:22.377Z,1761515002.377 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:22.455Z,1761515002.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986256,-0.076701,0.146344],[0.058044,-0.990106,-0.127755],[0.154695,-0.117504,0.980950]]
2025-10-26T21:43:22.475Z,1761515002.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:22.494Z,1761515002.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 35.973366 m,
      bearing: 183.863899 deg,
      approach rate: -0.618503 m/s,
      LOS rate: 0.077842 deg/s,
      cmd heading: 177.445077 deg,
      new cmd heading: 177.595957 deg.

2025-10-26T21:43:22.494Z,1761515002.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.099634 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:22.628Z,1761515002.628 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:22.628Z,1761515002.628 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:22.628Z,1761515002.628 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:22.882Z,1761515002.882 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:22.882Z,1761515002.882 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:22.882Z,1761515002.882 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:22.993Z,1761515002.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991567,-0.064909,0.112169],[0.050906,-0.991041,-0.123477],[0.119179,-0.116725,0.985988]]
2025-10-26T21:43:23.038Z,1761515003.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:23.041Z,1761515003.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 35.640976 m,
      bearing: 183.901580 deg,
      approach rate: -0.590281 m/s,
      LOS rate: 0.067542 deg/s,
      cmd heading: 177.595956 deg,
      new cmd heading: 177.710055 deg.

2025-10-26T21:43:23.042Z,1761515003.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.101626 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:23.133Z,1761515003.133 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:23.133Z,1761515003.133 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:23.133Z,1761515003.133 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:23.384Z,1761515003.384 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:23.385Z,1761515003.385 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:23.385Z,1761515003.385 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:23.400Z,1761515003.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994007,-0.060256,0.091212],[0.048756,-0.991153,-0.123442],[0.097843,-0.118255,0.988151]]
2025-10-26T21:43:23.419Z,1761515003.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:23.421Z,1761515003.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 35.416103 m,
      bearing: 183.926681 deg,
      approach rate: -0.590359 m/s,
      LOS rate: 0.066315 deg/s,
      cmd heading: 177.710061 deg,
      new cmd heading: 177.785841 deg.

2025-10-26T21:43:23.422Z,1761515003.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.102948 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:23.637Z,1761515003.637 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:23.637Z,1761515003.637 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:23.637Z,1761515003.637 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:23.888Z,1761515003.888 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:23.888Z,1761515003.888 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:23.888Z,1761515003.888 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:23.912Z,1761515003.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996242,-0.055970,0.066100],[0.047607,-0.991395,-0.121939],[0.072356,-0.118334,0.990334]]
2025-10-26T21:43:23.977Z,1761515003.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:23.984Z,1761515003.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:23.986Z,1761515003.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 35.076332 m,
      bearing: 183.965107 deg,
      approach rate: -0.605927 m/s,
      LOS rate: 0.069190 deg/s,
      cmd heading: 177.785835 deg,
      new cmd heading: 177.902228 deg.

2025-10-26T21:43:23.991Z,1761515003.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.104980 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:24.141Z,1761515004.141 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:24.141Z,1761515004.141 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:24.141Z,1761515004.141 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:24.362Z,1761515004.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997858,-0.052734,0.038711],[0.047666,-0.991403,-0.121854],[0.044804,-0.119748,0.991793]]
2025-10-26T21:43:24.392Z,1761515004.392 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:24.392Z,1761515004.392 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:24.392Z,1761515004.392 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:24.414Z,1761515004.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:24.425Z,1761515004.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 34.818047 m,
      bearing: 183.994843 deg,
      approach rate: -0.597742 m/s,
      LOS rate: 0.069330 deg/s,
      cmd heading: 177.902222 deg,
      new cmd heading: 177.992094 deg.

2025-10-26T21:43:24.426Z,1761515004.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.106548 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:24.648Z,1761515004.648 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:24.648Z,1761515004.648 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:24.648Z,1761515004.648 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:43:24.896Z,1761515004.896 [DAT](INFO): Reached modem response timeout
2025-10-26T21:43:24.896Z,1761515004.896 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:24.897Z,1761515004.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:43:24.924Z,1761515004.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998725,-0.049507,0.009843],[0.047925,-0.991254,-0.122961],[0.015844,-0.122333,0.992363]]
2025-10-26T21:43:24.985Z,1761515004.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:24.992Z,1761515004.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 34.484764 m,
      bearing: 184.041129 deg,
      approach rate: -0.580723 m/s,
      LOS rate: 0.081430 deg/s,
      cmd heading: 177.992093 deg,
      new cmd heading: 178.132293 deg.

2025-10-26T21:43:24.993Z,1761515004.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.108995 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:25.148Z,1761515005.148 [DAT](INFO): DAT read: 

2025-10-26T21:43:25.149Z,1761515005.149 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:25.402Z,1761515005.402 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:25.488Z,1761515005.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997814,-0.044386,-0.048962],[0.049995,-0.991510,-0.120037],[-0.043218,-0.122222,0.991561]]
2025-10-26T21:43:25.523Z,1761515005.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:25.526Z,1761515005.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 34.166237 m,
      bearing: 184.087335 deg,
      approach rate: -0.592252 m/s,
      LOS rate: 0.086713 deg/s,
      cmd heading: 178.132290 deg,
      new cmd heading: 178.272199 deg.

2025-10-26T21:43:25.527Z,1761515005.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.111437 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:25.652Z,1761515005.652 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:25.908Z,1761515005.908 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:26.066Z,1761515006.066 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:26.068Z,1761515006.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:26.071Z,1761515006.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 33.837467 m,
      bearing: 184.134135 deg,
      approach rate: -0.603941 m/s,
      LOS rate: 0.086806 deg/s,
      cmd heading: 178.272199 deg,
      new cmd heading: 178.413963 deg.

2025-10-26T21:43:26.072Z,1761515006.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.113911 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:26.157Z,1761515006.157 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:26.408Z,1761515006.408 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:26.419Z,1761515006.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993657,-0.041019,-0.104702],[0.053399,-0.991538,-0.118322],[-0.098963,-0.123163,0.987440]]
2025-10-26T21:43:26.446Z,1761515006.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:26.449Z,1761515006.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 33.616364 m,
      bearing: 184.167438 deg,
      approach rate: -0.584575 m/s,
      LOS rate: 0.088628 deg/s,
      cmd heading: 178.413967 deg,
      new cmd heading: 178.514532 deg.

2025-10-26T21:43:26.450Z,1761515006.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.115666 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:26.660Z,1761515006.660 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:26.822Z,1761515006.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990596,-0.038631,-0.131249],[0.054208,-0.991621,-0.117259],[-0.125619,-0.123271,0.984390]]
2025-10-26T21:43:26.906Z,1761515006.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:26.912Z,1761515006.912 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:26.914Z,1761515006.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 33.354820 m,
      bearing: 184.177939 deg,
      approach rate: -0.568450 m/s,
      LOS rate: 0.023001 deg/s,
      cmd heading: 178.514534 deg,
      new cmd heading: 178.546283 deg.

2025-10-26T21:43:26.915Z,1761515006.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.116220 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:27.166Z,1761515007.166 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:43:27.166Z,1761515007.166 [DAT](INFO): response not received
2025-10-26T21:43:27.167Z,1761515007.167 [DAT](INFO): DAT read: user:366>Tx time:21:43:26.4413

2025-10-26T21:43:27.168Z,1761515007.168 [DAT](ERROR): No response from remote modem.
2025-10-26T21:43:27.169Z,1761515007.169 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:27.169Z,1761515007.169 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:43:27.262Z,1761515007.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986965,-0.037130,-0.156592],[0.055434,-0.991911,-0.114189],[-0.151085,-0.121381,0.981040]]
2025-10-26T21:43:27.286Z,1761515007.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:27.289Z,1761515007.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 33.131721 m,
      bearing: 184.187363 deg,
      approach rate: -0.587077 m/s,
      LOS rate: 0.024966 deg/s,
      cmd heading: 178.546281 deg,
      new cmd heading: 178.574743 deg.

2025-10-26T21:43:27.290Z,1761515007.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.116717 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:27.419Z,1761515007.419 [DAT](INFO): DAT read: 

2025-10-26T21:43:27.420Z,1761515007.420 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:27.668Z,1761515007.668 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:27.899Z,1761515007.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:27.902Z,1761515007.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 32.763939 m,
      bearing: 184.200913 deg,
      approach rate: -0.599916 m/s,
      LOS rate: 0.022351 deg/s,
      cmd heading: 178.574749 deg,
      new cmd heading: 178.615857 deg.

2025-10-26T21:43:27.903Z,1761515007.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.117435 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:27.920Z,1761515007.920 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:28.172Z,1761515008.172 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:28.307Z,1761515008.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973222,-0.030676,-0.227811],[0.056738,-0.992449,-0.108750],[-0.222755,-0.118763,0.967613]]
2025-10-26T21:43:28.323Z,1761515008.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:28.325Z,1761515008.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:28.328Z,1761515008.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 32.509182 m,
      bearing: 184.210464 deg,
      approach rate: -0.597376 m/s,
      LOS rate: 0.022572 deg/s,
      cmd heading: 178.615854 deg,
      new cmd heading: 178.644732 deg.

2025-10-26T21:43:28.329Z,1761515008.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.117939 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:28.424Z,1761515008.424 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:28.676Z,1761515008.676 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:28.899Z,1761515008.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968112,-0.028993,-0.248834],[0.056602,-0.992910,-0.104529],[-0.244039,-0.115280,0.962889]]
2025-10-26T21:43:28.928Z,1761515008.928 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:28.958Z,1761515008.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:28.961Z,1761515008.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 32.132484 m,
      bearing: 184.205880 deg,
      approach rate: -0.595027 m/s,
      LOS rate: -0.007327 deg/s,
      cmd heading: 178.644732 deg,
      new cmd heading: 178.630817 deg.

2025-10-26T21:43:28.962Z,1761515008.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.117696 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:29.180Z,1761515009.180 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:29.331Z,1761515009.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962934,-0.026463,-0.268436],[0.055870,-0.993162,-0.102510],[-0.263888,-0.113708,0.957828]]
2025-10-26T21:43:29.400Z,1761515009.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:29.403Z,1761515009.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 31.895996 m,
      bearing: 184.202295 deg,
      approach rate: -0.535383 m/s,
      LOS rate: -0.008175 deg/s,
      cmd heading: 178.630812 deg,
      new cmd heading: 178.619978 deg.

2025-10-26T21:43:29.408Z,1761515009.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.117507 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:29.432Z,1761515009.432 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:29.684Z,1761515009.684 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:29.905Z,1761515009.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953239,-0.022775,-0.301357],[0.054327,-0.993826,-0.096735],[-0.297293,-0.108583,0.948592]]
2025-10-26T21:43:29.936Z,1761515009.936 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:29.971Z,1761515009.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:29.978Z,1761515009.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 31.548964 m,
      bearing: 184.187512 deg,
      approach rate: -0.608343 m/s,
      LOS rate: -0.026200 deg/s,
      cmd heading: 178.619979 deg,
      new cmd heading: 178.575142 deg.

2025-10-26T21:43:29.979Z,1761515009.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.116724 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:30.189Z,1761515010.189 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:30.440Z,1761515010.440 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:30.576Z,1761515010.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948631,-0.019622,-0.315777],[0.053036,-0.993815,-0.097570],[-0.311909,-0.109306,0.943803]]
2025-10-26T21:43:30.597Z,1761515010.597 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:30.599Z,1761515010.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:30.602Z,1761515010.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 31.185450 m,
      bearing: 184.170370 deg,
      approach rate: -0.578409 m/s,
      LOS rate: -0.027593 deg/s,
      cmd heading: 178.575146 deg,
      new cmd heading: 178.523121 deg.

2025-10-26T21:43:30.603Z,1761515010.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.115816 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:30.692Z,1761515010.692 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:30.944Z,1761515010.944 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:31.049Z,1761515011.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939849,-0.013593,-0.341319],[0.051387,-0.993463,-0.101932],[-0.337702,-0.113340,0.934404]]
2025-10-26T21:43:31.093Z,1761515011.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:31.096Z,1761515011.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 30.906441 m,
      bearing: 184.157911 deg,
      approach rate: -0.564686 m/s,
      LOS rate: -0.025444 deg/s,
      cmd heading: 178.523127 deg,
      new cmd heading: 178.485411 deg.

2025-10-26T21:43:31.097Z,1761515011.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.115158 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:31.201Z,1761515011.201 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:31.452Z,1761515011.452 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:31.467Z,1761515011.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935514,-0.010465,-0.353135],[0.050658,-0.993205,-0.104769],[-0.349639,-0.115903,0.929688]]
2025-10-26T21:43:31.498Z,1761515011.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:31.501Z,1761515011.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 30.679083 m,
      bearing: 184.147119 deg,
      approach rate: -0.561286 m/s,
      LOS rate: -0.026839 deg/s,
      cmd heading: 178.485411 deg,
      new cmd heading: 178.452795 deg.

2025-10-26T21:43:31.502Z,1761515011.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.114589 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:31.707Z,1761515011.707 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:31.886Z,1761515011.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931392,-0.007816,-0.363932],[0.050023,-0.993033,-0.106693],[-0.360563,-0.117578,0.925294]]
2025-10-26T21:43:31.942Z,1761515011.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:31.945Z,1761515011.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 30.431896 m,
      bearing: 184.134701 deg,
      approach rate: -0.556985 m/s,
      LOS rate: -0.028209 deg/s,
      cmd heading: 178.452790 deg,
      new cmd heading: 178.415233 deg.

2025-10-26T21:43:31.946Z,1761515011.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.113933 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:31.956Z,1761515011.956 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:32.209Z,1761515012.209 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:32.400Z,1761515012.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927444,-0.005949,-0.373915],[0.049783,-0.992938,-0.107682],[-0.370634,-0.118484,0.921191]]
2025-10-26T21:43:32.419Z,1761515012.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:32.422Z,1761515012.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 30.167484 m,
      bearing: 184.120834 deg,
      approach rate: -0.554485 m/s,
      LOS rate: -0.029334 deg/s,
      cmd heading: 178.415237 deg,
      new cmd heading: 178.373272 deg.

2025-10-26T21:43:32.423Z,1761515012.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.113201 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:32.460Z,1761515012.460 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:32.713Z,1761515012.713 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:32.801Z,1761515012.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923461,-0.003662,-0.383676],[0.049538,-0.992723,-0.109757],[-0.380482,-0.120363,0.916922]]
2025-10-26T21:43:32.882Z,1761515012.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:32.888Z,1761515012.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:32.891Z,1761515012.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 29.945549 m,
      bearing: 184.108744 deg,
      approach rate: -0.473136 m/s,
      LOS rate: -0.025965 deg/s,
      cmd heading: 178.373273 deg,
      new cmd heading: 178.336733 deg.

2025-10-26T21:43:32.899Z,1761515012.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.112563 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:32.965Z,1761515012.965 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:33.206Z,1761515013.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919992,-0.001173,-0.391934],[0.049026,-0.992486,-0.112111],[-0.388858,-0.122357,0.913137]]
2025-10-26T21:43:33.216Z,1761515013.216 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:33.243Z,1761515013.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:33.246Z,1761515013.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 29.717260 m,
      bearing: 184.112204 deg,
      approach rate: -0.642846 m/s,
      LOS rate: 0.009816 deg/s,
      cmd heading: 178.336731 deg,
      new cmd heading: 178.347189 deg.

2025-10-26T21:43:33.247Z,1761515013.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.112746 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:33.468Z,1761515013.468 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:33.616Z,1761515013.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917871,0.000042,-0.396879],[0.048321,-0.992549,-0.111858],[-0.393927,-0.121849,0.911029]]
2025-10-26T21:43:33.634Z,1761515013.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:33.657Z,1761515013.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 29.506292 m,
      bearing: 184.115034 deg,
      approach rate: -0.540186 m/s,
      LOS rate: 0.007300 deg/s,
      cmd heading: 178.347195 deg,
      new cmd heading: 178.355748 deg.

2025-10-26T21:43:33.658Z,1761515013.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.112895 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:33.721Z,1761515013.721 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:33.973Z,1761515013.973 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:34.066Z,1761515014.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917630,0.003480,-0.397421],[0.046738,-0.992078,-0.116603],[-0.394679,-0.125573,0.910198]]
2025-10-26T21:43:34.102Z,1761515014.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:34.106Z,1761515014.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 29.233902 m,
      bearing: 184.129975 deg,
      approach rate: -0.581175 m/s,
      LOS rate: 0.032174 deg/s,
      cmd heading: 178.355746 deg,
      new cmd heading: 178.400985 deg.

2025-10-26T21:43:34.107Z,1761515014.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.113685 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:34.224Z,1761515014.224 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:34.477Z,1761515014.477 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:34.575Z,1761515014.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919323,0.005413,-0.393466],[0.044354,-0.992108,-0.117281],[-0.390996,-0.125271,0.911828]]
2025-10-26T21:43:34.618Z,1761515014.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:34.626Z,1761515014.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 28.944933 m,
      bearing: 184.144682 deg,
      approach rate: -0.559889 m/s,
      LOS rate: 0.028780 deg/s,
      cmd heading: 178.400989 deg,
      new cmd heading: 178.445551 deg.

2025-10-26T21:43:34.627Z,1761515014.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.114462 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:34.729Z,1761515014.729 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:34.981Z,1761515014.981 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:35.072Z,1761515015.072 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:35.074Z,1761515015.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:35.077Z,1761515015.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 28.689377 m,
      bearing: 184.154203 deg,
      approach rate: -0.560564 m/s,
      LOS rate: 0.021071 deg/s,
      cmd heading: 178.445550 deg,
      new cmd heading: 178.474368 deg.

2025-10-26T21:43:35.078Z,1761515015.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.114965 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:35.232Z,1761515015.232 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:35.485Z,1761515015.485 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:35.584Z,1761515015.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932776,0.014894,-0.360148],[0.033447,-0.991259,-0.127622],[-0.358901,-0.131089,0.924124]]
2025-10-26T21:43:35.602Z,1761515015.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:35.605Z,1761515015.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 28.400656 m,
      bearing: 184.159276 deg,
      approach rate: -0.546991 m/s,
      LOS rate: 0.009708 deg/s,
      cmd heading: 178.474373 deg,
      new cmd heading: 178.489746 deg.

2025-10-26T21:43:35.606Z,1761515015.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.115234 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:35.741Z,1761515015.741 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:35.992Z,1761515015.992 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:36.006Z,1761515016.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939196,0.018625,-0.342875],[0.028485,-0.990861,-0.131847],[-0.342197,-0.133597,0.930082]]
2025-10-26T21:43:36.043Z,1761515016.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:36.046Z,1761515016.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 28.157812 m,
      bearing: 184.153289 deg,
      approach rate: -0.550964 m/s,
      LOS rate: -0.013700 deg/s,
      cmd heading: 178.489741 deg,
      new cmd heading: 178.471626 deg.

2025-10-26T21:43:36.047Z,1761515016.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.114918 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:36.245Z,1761515016.245 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:36.496Z,1761515016.496 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:36.519Z,1761515016.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946115,0.021898,-0.323090],[0.023123,-0.990596,-0.134851],[-0.323005,-0.135055,0.936711]]
2025-10-26T21:43:36.554Z,1761515016.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:36.556Z,1761515016.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 27.882267 m,
      bearing: 184.143655 deg,
      approach rate: -0.539676 m/s,
      LOS rate: -0.019056 deg/s,
      cmd heading: 178.471627 deg,
      new cmd heading: 178.442439 deg.

2025-10-26T21:43:36.557Z,1761515016.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.114408 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:36.748Z,1761515016.748 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:37.002Z,1761515017.002 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:37.039Z,1761515017.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960336,0.028382,-0.277397],[0.011841,-0.989758,-0.142261],[-0.278593,-0.139903,0.950165]]
2025-10-26T21:43:37.084Z,1761515017.084 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:37.086Z,1761515017.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:37.088Z,1761515017.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 27.566448 m,
      bearing: 184.142096 deg,
      approach rate: -0.593652 m/s,
      LOS rate: -0.002965 deg/s,
      cmd heading: 178.442435 deg,
      new cmd heading: 178.437703 deg.

2025-10-26T21:43:37.089Z,1761515017.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.114326 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:37.253Z,1761515017.253 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:37.459Z,1761515017.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966963,0.031366,-0.252978],[0.006447,-0.989074,-0.147276],[-0.254834,-0.144041,0.956197]]
2025-10-26T21:43:37.502Z,1761515017.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:37.504Z,1761515017.504 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:37.508Z,1761515017.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 27.328827 m,
      bearing: 184.138609 deg,
      approach rate: -0.571253 m/s,
      LOS rate: -0.008455 deg/s,
      cmd heading: 178.437709 deg,
      new cmd heading: 178.427157 deg.

2025-10-26T21:43:37.509Z,1761515017.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.114141 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:37.756Z,1761515017.756 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:37.876Z,1761515017.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973103,0.034120,-0.227829],[0.000830,-0.988445,-0.151576],[-0.230368,-0.147688,0.961831]]
2025-10-26T21:43:37.898Z,1761515017.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:37.901Z,1761515017.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 27.093885 m,
      bearing: 184.132696 deg,
      approach rate: -0.592325 m/s,
      LOS rate: -0.015037 deg/s,
      cmd heading: 178.427163 deg,
      new cmd heading: 178.409269 deg.

2025-10-26T21:43:37.902Z,1761515017.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.113829 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:38.009Z,1761515018.009 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:38.260Z,1761515018.260 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:38.269Z,1761515018.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978563,0.035870,-0.202798],[-0.004158,-0.987956,-0.154678],[-0.205904,-0.150519,0.966927]]
2025-10-26T21:43:38.323Z,1761515018.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:38.330Z,1761515018.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 26.849995 m,
      bearing: 184.095346 deg,
      approach rate: -0.574595 m/s,
      LOS rate: -0.088793 deg/s,
      cmd heading: 178.409268 deg,
      new cmd heading: 178.296201 deg.

2025-10-26T21:43:38.331Z,1761515018.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.111856 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:38.512Z,1761515018.512 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:38.671Z,1761515018.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983401,0.036733,-0.177690],[-0.008300,-0.987375,-0.158180],[-0.181257,-0.154080,0.971290]]
2025-10-26T21:43:38.690Z,1761515018.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:38.693Z,1761515018.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 26.622339 m,
      bearing: 184.058391 deg,
      approach rate: -0.619406 m/s,
      LOS rate: -0.101408 deg/s,
      cmd heading: 178.296201 deg,
      new cmd heading: 178.184387 deg.

2025-10-26T21:43:38.694Z,1761515018.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.109904 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:38.764Z,1761515018.764 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:39.016Z,1761515019.016 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:39.257Z,1761515019.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987686,0.037715,-0.151833],[-0.012641,-0.986573,-0.162832],[-0.155936,-0.158908,0.974901]]
2025-10-26T21:43:39.268Z,1761515019.268 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:39.309Z,1761515019.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:39.315Z,1761515019.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:39.318Z,1761515019.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 26.269424 m,
      bearing: 183.953926 deg,
      approach rate: -0.568269 m/s,
      LOS rate: -0.170471 deg/s,
      cmd heading: 178.184390 deg,
      new cmd heading: 177.866788 deg.

2025-10-26T21:43:39.323Z,1761515019.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.104361 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:39.520Z,1761515019.520 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:39.681Z,1761515019.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991280,0.037844,-0.126224],[-0.016469,-0.985943,-0.166268],[-0.130742,-0.162739,0.977969]]
2025-10-26T21:43:39.702Z,1761515019.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:39.706Z,1761515019.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 26.032888 m,
      bearing: 183.880950 deg,
      approach rate: -0.606521 m/s,
      LOS rate: -0.188822 deg/s,
      cmd heading: 177.866787 deg,
      new cmd heading: 177.645872 deg.

2025-10-26T21:43:39.708Z,1761515019.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.100505 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:39.774Z,1761515019.774 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:43:39.774Z,1761515019.774 [DAT](INFO): response not received
2025-10-26T21:43:39.774Z,1761515019.774 [DAT](INFO): DAT read: user:367>Tx time:21:43:38.8913

2025-10-26T21:43:39.775Z,1761515019.775 [DAT](ERROR): No response from remote modem.
2025-10-26T21:43:39.775Z,1761515019.775 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:39.776Z,1761515019.776 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:43:40.024Z,1761515020.024 [DAT](INFO): DAT read: 

2025-10-26T21:43:40.025Z,1761515020.025 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:40.093Z,1761515020.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994227,0.036992,-0.100721],[-0.019704,-0.985673,-0.167510],[-0.105475,-0.164559,0.980712]]
2025-10-26T21:43:40.139Z,1761515020.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:40.142Z,1761515020.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 25.785835 m,
      bearing: 183.802051 deg,
      approach rate: -0.569191 m/s,
      LOS rate: -0.183518 deg/s,
      cmd heading: 177.645871 deg,
      new cmd heading: 177.406908 deg.

2025-10-26T21:43:40.143Z,1761515020.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.096335 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:40.276Z,1761515020.276 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:40.511Z,1761515020.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996458,0.035402,-0.076279],[-0.022096,-0.985422,-0.168689],[-0.081139,-0.166406,0.982713]]
2025-10-26T21:43:40.528Z,1761515020.528 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:40.531Z,1761515020.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:40.534Z,1761515020.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 25.543739 m,
      bearing: 183.722406 deg,
      approach rate: -0.612210 m/s,
      LOS rate: -0.203314 deg/s,
      cmd heading: 177.406910 deg,
      new cmd heading: 177.165713 deg.

2025-10-26T21:43:40.535Z,1761515020.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.092125 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:40.780Z,1761515020.780 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:41.029Z,1761515021.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999036,0.030685,-0.031402],[-0.024724,-0.984226,-0.175182],[-0.036282,-0.174237,0.984035]]
2025-10-26T21:43:41.032Z,1761515021.032 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:41.086Z,1761515021.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:41.093Z,1761515021.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 25.227016 m,
      bearing: 183.582717 deg,
      approach rate: -0.570573 m/s,
      LOS rate: -0.254808 deg/s,
      cmd heading: 177.165709 deg,
      new cmd heading: 176.741387 deg.

2025-10-26T21:43:41.094Z,1761515021.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.084719 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:41.284Z,1761515021.284 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:41.420Z,1761515021.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999564,0.027451,-0.010911],[-0.025087,-0.983879,-0.177065],[-0.015596,-0.176714,0.984139]]
2025-10-26T21:43:41.436Z,1761515021.436 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:41.438Z,1761515021.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:41.441Z,1761515021.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 25.010395 m,
      bearing: 183.485248 deg,
      approach rate: -0.615323 m/s,
      LOS rate: -0.279262 deg/s,
      cmd heading: 176.741390 deg,
      new cmd heading: 176.446455 deg.

2025-10-26T21:43:41.442Z,1761515021.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.079571 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:41.536Z,1761515021.536 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:41.788Z,1761515021.788 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:41.823Z,1761515021.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999686,0.023732,0.008076],[-0.024794,-0.983539,-0.178985],[0.003695,-0.179129,0.983819]]
2025-10-26T21:43:41.864Z,1761515021.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:41.868Z,1761515021.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 24.763422 m,
      bearing: 183.372488 deg,
      approach rate: -0.580181 m/s,
      LOS rate: -0.267534 deg/s,
      cmd heading: 176.446449 deg,
      new cmd heading: 176.104799 deg.

2025-10-26T21:43:41.869Z,1761515021.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.073609 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:42.040Z,1761515022.040 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:42.228Z,1761515022.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999482,0.019263,0.025796],[-0.023647,-0.982987,-0.182149],[0.021848,-0.182664,0.982933]]
2025-10-26T21:43:42.264Z,1761515022.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:42.267Z,1761515022.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 24.524925 m,
      bearing: 183.262178 deg,
      approach rate: -0.595074 m/s,
      LOS rate: -0.277913 deg/s,
      cmd heading: 176.104803 deg,
      new cmd heading: 175.770656 deg.

2025-10-26T21:43:42.268Z,1761515022.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.067777 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:42.292Z,1761515022.292 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:42.546Z,1761515022.546 [DAT](INFO): DAT read: Rx Time:21:43:41.3315

2025-10-26T21:43:42.547Z,1761515022.547 [DAT](INFO): Rx dataTimestamp_ set to:1761515022.546431
2025-10-26T21:43:42.547Z,1761515022.547 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:42.750Z,1761515022.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998981,0.015256,0.042487],[-0.022930,-0.982197,-0.186450],[0.038886,-0.187235,0.981545]]
2025-10-26T21:43:42.768Z,1761515022.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:42.770Z,1761515022.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 24.229906 m,
      bearing: 183.123421 deg,
      approach rate: -0.586259 m/s,
      LOS rate: -0.279093 deg/s,
      cmd heading: 175.770656 deg,
      new cmd heading: 175.349326 deg.

2025-10-26T21:43:42.772Z,1761515022.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.060423 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:42.796Z,1761515022.796 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:43.048Z,1761515023.048 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:43.158Z,1761515023.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998254,0.009974,0.058220],[-0.021017,-0.981113,-0.192288],[0.055202,-0.193176,0.979610]]
2025-10-26T21:43:43.212Z,1761515023.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.82 m.
2025-10-26T21:43:43.214Z,1761515023.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.822426 m,
      nav range: 23.964651 m,
      bearing: 183.001650 deg,
      approach rate: -0.597511 m/s,
      LOS rate: -0.277336 deg/s,
      cmd heading: 175.349329 deg,
      new cmd heading: 174.979978 deg.

2025-10-26T21:43:43.219Z,1761515023.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.053977 target range: 43.822426 and range: 44.10 m.
2025-10-26T21:43:43.306Z,1761515023.306 [DAT](INFO): DAT read: 21:43:41.3315 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 206,-0.05,-0.028,-1.473, 0.510,-0.108, PHS= 0.181,-1.320, 0.574, RAW= 161.3,   6.6, CAL= 160.7,   6.3, ROT= 349.3,  -6.3

2025-10-26T21:43:43.307Z,1761515023.307 [DAT](INFO): got valid direction response:
 21:43:41.3315 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 206,-0.05,-0.028,-1.473, 0.510,-0.108, PHS= 0.181,-1.320, 0.574, RAW= 161.3,   6.6, CAL= 160.7,   6.3, ROT= 349.3,  -6.3

2025-10-26T21:43:43.308Z,1761515023.308 [DAT](INFO): DAT read: Bearing 341.8,  -9.8 (Local)

2025-10-26T21:43:43.308Z,1761515023.308 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.8,  -9.8 (Local)

2025-10-26T21:43:43.310Z,1761515023.310 [DAT](INFO): DAT read: Range 11 to 50 : 27.0 m  (Round-trip  36.1 ms) speed  0.6 m/s

2025-10-26T21:43:43.311Z,1761515023.311 [DAT](INFO): DAT read: Tx time:21:43:42.3913

2025-10-26T21:43:43.311Z,1761515023.311 [DAT](INFO): Ping request sent.
2025-10-26T21:43:43.311Z,1761515023.311 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:43:43.311Z,1761515023.311 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:43:43.312Z,1761515023.312 [DAT](INFO): direction in FSK: [0.976679,-0.184545,0.109734]
2025-10-26T21:43:43.313Z,1761515023.313 [DAT](INFO): publishing transmit ping time
2025-10-26T21:43:43.313Z,1761515023.313 [DAT](INFO): publishing direction and range info
2025-10-26T21:43:43.316Z,1761515023.316 [DAT](INFO): publishing transmit ping time
2025-10-26T21:43:43.317Z,1761515023.317 [DAT](INFO): publishing direction and range info
2025-10-26T21:43:43.658Z,1761515023.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997381,0.004402,0.072197],[-0.018561,-0.980299,-0.196646],[0.069909,-0.197471,0.977813]]
2025-10-26T21:43:43.680Z,1761515023.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 28.738615 s,
      deltaX: -17.099998 m,
      approachRate: -0.595018 m/s,
      rangeRepo size: 4

2025-10-26T21:43:43.682Z,1761515023.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.831196 m,
      bearing: 171.692421 deg,
      lat: 36.779429 deg,
      lon: -121.859567 deg,
      deltaT: 28.738615 s,
      deltaX: -16.991230 m,
      approachRate: -0.591233 m/s,
      posRepo size: 4

2025-10-26T21:43:43.683Z,1761515023.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-10-26T21:43:43.687Z,1761515023.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.831196 m,
      nav range: 23.857159 m,
      bearing: 182.840815 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.277336 deg/s,
      cmd heading: 174.979980 deg,
      new cmd heading: 174.590463 deg.

2025-10-26T21:43:43.688Z,1761515023.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.047179 target range: 26.831196 and range: 27.00 m.
2025-10-26T21:43:44.076Z,1761515024.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996445,-0.001868,0.084229],[-0.014853,-0.980198,-0.197462],[0.082930,-0.198011,0.976685]]
2025-10-26T21:43:44.111Z,1761515024.111 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-10-26T21:43:44.111Z,1761515024.111 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T21:43:44.112Z,1761515024.112 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-10-26T21:43:44.113Z,1761515024.113 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  27.000000 m (mode  2.000000 count ).
2025-10-26T21:43:44.113Z,1761515024.113 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-10-26T21:43:44.113Z,1761515024.113 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-10-26T21:43:44.114Z,1761515024.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:44.136Z,1761515024.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-10-26T21:43:44.139Z,1761515024.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.831196 m,
      nav range: 23.596329 m,
      bearing: 182.741633 deg,
      approach rate: -0.571229 m/s,
      LOS rate: -0.219612 deg/s,
      cmd heading: 174.590468 deg,
      new cmd heading: 174.289638 deg.

2025-10-26T21:43:44.144Z,1761515024.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.041928 target range: 26.831196 and range: 27.00 m.
2025-10-26T21:43:44.309Z,1761515024.309 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:44.309Z,1761515024.309 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:44.309Z,1761515024.309 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:43:44.560Z,1761515024.560 [DAT](INFO): DAT read: user:368>

2025-10-26T21:43:44.561Z,1761515024.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250098
2025-10-26T21:43:44.570Z,1761515024.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995477,-0.008791,0.094592],[-0.010388,-0.979666,-0.200366],[0.094430,-0.200443,0.975144]]
2025-10-26T21:43:44.610Z,1761515024.610 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-10-26T21:43:44.610Z,1761515024.610 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-10-26T21:43:44.613Z,1761515024.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-10-26T21:43:44.620Z,1761515024.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.831196 m,
      nav range: 23.312717 m,
      bearing: 182.634337 deg,
      approach rate: -0.595016 m/s,
      LOS rate: -0.227847 deg/s,
      cmd heading: 174.289639 deg,
      new cmd heading: 173.963837 deg.

2025-10-26T21:43:44.621Z,1761515024.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.036242 target range: 26.831196 and range: 27.00 m.
2025-10-26T21:43:44.812Z,1761515024.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501377
2025-10-26T21:43:44.974Z,1761515024.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994473,-0.015333,0.103870],[-0.006145,-0.979083,-0.203367],[0.104816,-0.202881,0.973577]]
2025-10-26T21:43:44.998Z,1761515024.998 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-10-26T21:43:44.999Z,1761515024.999 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-10-26T21:43:45.045Z,1761515025.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-10-26T21:43:45.061Z,1761515025.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.831196 m,
      nav range: 23.069664 m,
      bearing: 182.542805 deg,
      approach rate: -0.569942 m/s,
      LOS rate: -0.216895 deg/s,
      cmd heading: 173.963839 deg,
      new cmd heading: 173.686355 deg.

2025-10-26T21:43:45.062Z,1761515025.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.031399 target range: 26.831196 and range: 27.00 m.
2025-10-26T21:43:45.064Z,1761515025.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753474
2025-10-26T21:43:45.316Z,1761515025.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005374
2025-10-26T21:43:45.385Z,1761515025.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993483,-0.022924,0.111652],[-0.000509,-0.978663,-0.205473],[0.113980,-0.204191,0.972273]]
2025-10-26T21:43:45.424Z,1761515025.424 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-10-26T21:43:45.424Z,1761515025.424 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T21:43:45.424Z,1761515025.424 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-10-26T21:43:45.424Z,1761515025.424 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T21:43:45.426Z,1761515025.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-10-26T21:43:45.449Z,1761515025.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.831196 m,
      nav range: 22.794321 m,
      bearing: 182.469442 deg,
      approach rate: -0.711423 m/s,
      LOS rate: -0.191844 deg/s,
      cmd heading: 173.686356 deg,
      new cmd heading: 173.463608 deg.

2025-10-26T21:43:45.450Z,1761515025.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.027511 target range: 26.831196 and range: 27.00 m.
2025-10-26T21:43:45.568Z,1761515025.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257427
2025-10-26T21:43:45.783Z,1761515025.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992455,-0.031366,0.118534],[0.005582,-0.977281,-0.211873],[0.122486,-0.209613,0.970082]]
2025-10-26T21:43:45.821Z,1761515025.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509507
2025-10-26T21:43:45.828Z,1761515025.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-10-26T21:43:45.843Z,1761515025.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.831196 m,
      nav range: 22.554157 m,
      bearing: 182.407724 deg,
      approach rate: -0.604669 m/s,
      LOS rate: -0.157044 deg/s,
      cmd heading: 173.463610 deg,
      new cmd heading: 173.276485 deg.

2025-10-26T21:43:45.849Z,1761515025.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.024245 target range: 26.831196 and range: 27.00 m.
2025-10-26T21:43:46.080Z,1761515026.080 [DAT](INFO): DAT read: Rx Time:21:43:44.8288

2025-10-26T21:43:46.082Z,1761515026.082 [DAT](INFO): Rx dataTimestamp_ set to:1761515026.081117
2025-10-26T21:43:46.085Z,1761515026.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773639
2025-10-26T21:43:46.186Z,1761515026.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991411,-0.039068,0.124812],[0.010568,-0.975149,-0.221297],[0.130356,-0.218077,0.967186]]
2025-10-26T21:43:46.234Z,1761515026.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:46.236Z,1761515026.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-10-26T21:43:46.239Z,1761515026.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.831196 m,
      nav range: 22.281425 m,
      bearing: 182.402357 deg,
      approach rate: -0.660737 m/s,
      LOS rate: -0.013162 deg/s,
      cmd heading: 173.276490 deg,
      new cmd heading: 173.260192 deg.

2025-10-26T21:43:46.240Z,1761515026.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.023961 target range: 26.831196 and range: 27.00 m.
2025-10-26T21:43:46.330Z,1761515026.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018556
2025-10-26T21:43:46.582Z,1761515026.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270287
2025-10-26T21:43:46.688Z,1761515026.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989203,-0.053962,0.136252],[0.020556,-0.971639,-0.235573],[0.145100,-0.230229,0.962258]]
2025-10-26T21:43:46.713Z,1761515026.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-10-26T21:43:46.718Z,1761515026.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.831196 m,
      nav range: 21.986160 m,
      bearing: 182.403556 deg,
      approach rate: -0.621143 m/s,
      LOS rate: 0.002556 deg/s,
      cmd heading: 173.260193 deg,
      new cmd heading: 173.263838 deg.

2025-10-26T21:43:46.719Z,1761515026.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.024024 target range: 26.831196 and range: 27.00 m.
2025-10-26T21:43:46.845Z,1761515026.845 [DAT](INFO): DAT read: 21:43:44.8288 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 162,-0.06, 1.591, 0.147, 2.062, 1.387, PHS= 0.306,-1.195, 0.632, RAW= 159.6,   3.1, CAL= 158.4,   1.9, ROT= 351.6,  -1.9

2025-10-26T21:43:46.847Z,1761515026.847 [DAT](INFO): got valid direction response:
 21:43:44.8288 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 162,-0.06, 1.591, 0.147, 2.062, 1.387, PHS= 0.306,-1.195, 0.632, RAW= 159.6,   3.1, CAL= 158.4,   1.9, ROT= 351.6,  -1.9

2025-10-26T21:43:46.859Z,1761515026.859 [DAT](INFO): DAT read: Bearing 335.7,  -0.8 (Local)

2025-10-26T21:43:46.869Z,1761515026.869 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.7,  -0.8 (Local)

2025-10-26T21:43:46.871Z,1761515026.871 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m  (Round-trip  33.3 ms) speed  0.4 m/s

2025-10-26T21:43:46.876Z,1761515026.876 [DAT](INFO): DAT read: Tx time:21:43:45.8944

2025-10-26T21:43:46.877Z,1761515026.877 [DAT](INFO): Ping request sent.
2025-10-26T21:43:46.877Z,1761515026.877 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:43:46.877Z,1761515026.877 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:43:46.886Z,1761515026.886 [DAT](INFO): direction in FSK: [0.988728,-0.146003,0.033155]
2025-10-26T21:43:46.886Z,1761515026.886 [DAT](INFO): publishing transmit ping time
2025-10-26T21:43:46.886Z,1761515026.886 [DAT](INFO): publishing direction and range info
2025-10-26T21:43:46.902Z,1761515026.902 [DAT](INFO): publishing transmit ping time
2025-10-26T21:43:46.902Z,1761515026.902 [DAT](INFO): publishing direction and range info
2025-10-26T21:43:47.101Z,1761515027.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988102,-0.060575,0.141367],[0.025176,-0.970478,-0.239874],[0.151724,-0.233461,0.960456]]
2025-10-26T21:43:47.199Z,1761515027.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 3.533308 s,
      deltaX: -2.100000 m,
      approachRate: -0.594344 m/s,
      rangeRepo size: 4

2025-10-26T21:43:47.201Z,1761515027.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.744537 m,
      bearing: 170.650016 deg,
      lat: 36.779413 deg,
      lon: -121.859567 deg,
      deltaT: 3.533308 s,
      deltaX: -2.086658 m,
      approachRate: -0.590568 m/s,
      posRepo size: 4

2025-10-26T21:43:47.202Z,1761515027.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:47.206Z,1761515027.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 23.426046 m,
      bearing: 182.230452 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002556 deg/s,
      cmd heading: 173.263840 deg,
      new cmd heading: 173.267543 deg.

2025-10-26T21:43:47.207Z,1761515027.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.024089 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:47.464Z,1761515027.464 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:43:47.675Z,1761515027.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987058,-0.066465,0.145944],[0.029448,-0.969715,-0.242457],[0.157639,-0.235021,0.959122]]
2025-10-26T21:43:47.693Z,1761515027.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:47.719Z,1761515027.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 23.097099 m,
      bearing: 182.237716 deg,
      approach rate: -0.659728 m/s,
      LOS rate: 0.014776 deg/s,
      cmd heading: 173.267542 deg,
      new cmd heading: 173.289644 deg.

2025-10-26T21:43:47.721Z,1761515027.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.024475 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:48.132Z,1761515028.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986039,-0.072174,0.150058],[0.033907,-0.969329,-0.243418],[0.163024,-0.234932,0.958243]]
2025-10-26T21:43:48.168Z,1761515028.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:48.171Z,1761515028.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 22.813477 m,
      bearing: 182.254055 deg,
      approach rate: -0.598020 m/s,
      LOS rate: 0.034881 deg/s,
      cmd heading: 173.289645 deg,
      new cmd heading: 173.339274 deg.

2025-10-26T21:43:48.188Z,1761515028.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.025341 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:48.468Z,1761515028.468 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:43:48.658Z,1761515028.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:48.677Z,1761515028.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:48.680Z,1761515028.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 22.519096 m,
      bearing: 182.271451 deg,
      approach rate: -0.577429 m/s,
      LOS rate: 0.034567 deg/s,
      cmd heading: 173.339273 deg,
      new cmd heading: 173.392140 deg.

2025-10-26T21:43:48.681Z,1761515028.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.026264 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:48.850Z,1761515028.850 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:43:48.850Z,1761515028.850 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:43:48.851Z,1761515028.851 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:43:49.026Z,1761515029.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983345,-0.090356,0.157697],[0.049782,-0.968386,-0.244437],[0.174798,-0.232516,0.956756]]
2025-10-26T21:43:49.103Z,1761515029.103 [DAT](INFO): DAT read: user:369>

2025-10-26T21:43:49.106Z,1761515029.106 [DAT](INFO): DAT read: Tx time:21:43:48.2413

2025-10-26T21:43:49.107Z,1761515029.107 [DAT](INFO): Ping request sent.
2025-10-26T21:43:49.108Z,1761515029.108 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:43:49.108Z,1761515029.108 [DAT](INFO): publishing transmit ping time
2025-10-26T21:43:49.110Z,1761515029.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003013
2025-10-26T21:43:49.113Z,1761515029.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:49.129Z,1761515029.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 22.279190 m,
      bearing: 182.295952 deg,
      approach rate: -0.574932 m/s,
      LOS rate: 0.059349 deg/s,
      cmd heading: 173.392138 deg,
      new cmd heading: 173.466433 deg.

2025-10-26T21:43:49.130Z,1761515029.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.027560 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:49.353Z,1761515029.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246021
2025-10-26T21:43:49.452Z,1761515029.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982517,-0.096231,0.159375],[0.055168,-0.968094,-0.244438],[0.177813,-0.231372,0.956478]]
2025-10-26T21:43:49.497Z,1761515029.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:49.500Z,1761515029.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 22.006914 m,
      bearing: 182.368169 deg,
      approach rate: -0.676955 m/s,
      LOS rate: 0.181773 deg/s,
      cmd heading: 173.466437 deg,
      new cmd heading: 173.685768 deg.

2025-10-26T21:43:49.501Z,1761515029.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.031389 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:49.605Z,1761515029.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497988
2025-10-26T21:43:49.857Z,1761515029.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749672
2025-10-26T21:43:49.864Z,1761515029.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981698,-0.102623,0.160427],[0.061060,-0.967530,-0.245268],[0.180388,-0.230984,0.956089]]
2025-10-26T21:43:49.882Z,1761515029.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:49.885Z,1761515029.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 21.765591 m,
      bearing: 182.437578 deg,
      approach rate: -0.625690 m/s,
      LOS rate: 0.181955 deg/s,
      cmd heading: 173.685768 deg,
      new cmd heading: 173.896304 deg.

2025-10-26T21:43:49.886Z,1761515029.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.035063 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:50.111Z,1761515030.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003697
2025-10-26T21:43:50.258Z,1761515030.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980893,-0.108932,0.161193],[0.066661,-0.966578,-0.247555],[0.182772,-0.232080,0.955371]]
2025-10-26T21:43:50.302Z,1761515030.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:50.305Z,1761515030.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 21.510408 m,
      bearing: 182.450730 deg,
      approach rate: -0.608619 m/s,
      LOS rate: 0.031742 deg/s,
      cmd heading: 173.896302 deg,
      new cmd heading: 173.936228 deg.

2025-10-26T21:43:50.306Z,1761515030.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.035760 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:50.361Z,1761515030.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254604
2025-10-26T21:43:50.612Z,1761515030.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505532
2025-10-26T21:43:50.662Z,1761515030.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980210,-0.114206,0.161697],[0.071465,-0.965871,-0.248968],[0.184613,-0.232485,0.954918]]
2025-10-26T21:43:50.686Z,1761515030.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:50.705Z,1761515030.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:50.714Z,1761515030.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 21.275673 m,
      bearing: 182.466209 deg,
      approach rate: -0.581746 m/s,
      LOS rate: 0.038784 deg/s,
      cmd heading: 173.936231 deg,
      new cmd heading: 173.983180 deg.

2025-10-26T21:43:50.719Z,1761515030.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.036579 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:50.864Z,1761515030.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757473
2025-10-26T21:43:51.074Z,1761515031.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979666,-0.118410,0.161967],[0.076101,-0.966253,-0.246098],[0.185642,-0.228768,0.955616]]
2025-10-26T21:43:51.121Z,1761515031.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013557
2025-10-26T21:43:51.173Z,1761515031.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:51.182Z,1761515031.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 20.994192 m,
      bearing: 182.488813 deg,
      approach rate: -0.601161 m/s,
      LOS rate: 0.048923 deg/s,
      cmd heading: 173.983182 deg,
      new cmd heading: 174.051904 deg.

2025-10-26T21:43:51.183Z,1761515031.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.037779 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:51.368Z,1761515031.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261540
2025-10-26T21:43:51.470Z,1761515031.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979212,-0.121940,0.162093],[0.079736,-0.966197,-0.245165],[0.186510,-0.227144,0.955835]]
2025-10-26T21:43:51.526Z,1761515031.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:51.529Z,1761515031.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 20.771688 m,
      bearing: 182.514464 deg,
      approach rate: -0.631700 m/s,
      LOS rate: 0.073604 deg/s,
      cmd heading: 174.051907 deg,
      new cmd heading: 174.129684 deg.

2025-10-26T21:43:51.530Z,1761515031.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.039136 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:51.620Z,1761515031.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513575
2025-10-26T21:43:51.872Z,1761515031.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765575
2025-10-26T21:43:51.881Z,1761515031.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978913,-0.124536,0.161929],[0.082472,-0.966142,-0.244475],[0.186892,-0.225965,0.956039]]
2025-10-26T21:43:51.899Z,1761515031.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:51.902Z,1761515031.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 20.528042 m,
      bearing: 182.545072 deg,
      approach rate: -0.652821 m/s,
      LOS rate: 0.082984 deg/s,
      cmd heading: 174.129690 deg,
      new cmd heading: 174.222604 deg.

2025-10-26T21:43:51.903Z,1761515031.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.040758 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:52.128Z,1761515032.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019959
2025-10-26T21:43:52.278Z,1761515032.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978749,-0.125963,0.161815],[0.084588,-0.966836,-0.240985],[0.186804,-0.222176,0.956944]]
2025-10-26T21:43:52.355Z,1761515032.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:52.358Z,1761515032.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 20.277899 m,
      bearing: 182.500198 deg,
      approach rate: -0.553814 m/s,
      LOS rate: -0.100576 deg/s,
      cmd heading: 174.222608 deg,
      new cmd heading: 174.086325 deg.

2025-10-26T21:43:52.359Z,1761515032.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.038380 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:52.377Z,1761515032.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269692
2025-10-26T21:43:52.629Z,1761515032.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521653
2025-10-26T21:43:52.741Z,1761515032.741 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:52.743Z,1761515032.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:52.746Z,1761515032.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 20.023726 m,
      bearing: 182.453450 deg,
      approach rate: -0.647196 m/s,
      LOS rate: -0.120544 deg/s,
      cmd heading: 174.086332 deg,
      new cmd heading: 173.944308 deg.

2025-10-26T21:43:52.747Z,1761515032.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.035901 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:52.884Z,1761515032.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777382
2025-10-26T21:43:53.100Z,1761515033.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978629,-0.126204,0.162349],[0.087293,-0.969811,-0.227700],[0.186185,-0.208662,0.960102]]
2025-10-26T21:43:53.135Z,1761515033.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027847
2025-10-26T21:43:53.191Z,1761515033.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:53.203Z,1761515033.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 19.757360 m,
      bearing: 182.404494 deg,
      approach rate: -0.595161 m/s,
      LOS rate: -0.110862 deg/s,
      cmd heading: 173.944305 deg,
      new cmd heading: 173.795455 deg.

2025-10-26T21:43:53.204Z,1761515033.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.033303 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:53.385Z,1761515033.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.277701
2025-10-26T21:43:53.526Z,1761515033.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978624,-0.125598,0.162849],[0.088691,-0.972175,-0.216815],[0.185549,-0.197737,0.962534]]
2025-10-26T21:43:53.563Z,1761515033.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:53.566Z,1761515033.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 19.521406 m,
      bearing: 182.350921 deg,
      approach rate: -0.634560 m/s,
      LOS rate: -0.145817 deg/s,
      cmd heading: 173.795461 deg,
      new cmd heading: 173.632800 deg.

2025-10-26T21:43:53.566Z,1761515033.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.030464 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:53.637Z,1761515033.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.529705
2025-10-26T21:43:53.888Z,1761515033.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.781471
2025-10-26T21:43:53.929Z,1761515033.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978615,-0.125391,0.163061],[0.090097,-0.973925,-0.208212],[0.184917,-0.189068,0.964396]]
2025-10-26T21:43:53.948Z,1761515033.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:53.950Z,1761515033.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 19.278381 m,
      bearing: 182.294866 deg,
      approach rate: -0.631517 m/s,
      LOS rate: -0.147499 deg/s,
      cmd heading: 173.632793 deg,
      new cmd heading: 173.462509 deg.

2025-10-26T21:43:53.952Z,1761515033.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.027492 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:54.140Z,1761515034.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.033448
2025-10-26T21:43:54.390Z,1761515034.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:54.393Z,1761515034.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.285675
2025-10-26T21:43:54.394Z,1761515034.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 19.009613 m,
      bearing: 182.189176 deg,
      approach rate: -0.608050 m/s,
      LOS rate: -0.242488 deg/s,
      cmd heading: 173.462503 deg,
      new cmd heading: 173.140954 deg.

2025-10-26T21:43:54.395Z,1761515034.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.021880 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:54.645Z,1761515034.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.537910
2025-10-26T21:43:54.800Z,1761515034.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978721,-0.125168,0.162600],[0.092228,-0.976191,-0.196326],[0.183302,-0.177152,0.966963]]
2025-10-26T21:43:54.825Z,1761515034.825 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:54.828Z,1761515034.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:54.857Z,1761515034.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 18.748592 m,
      bearing: 182.084426 deg,
      approach rate: -0.595133 m/s,
      LOS rate: -0.242157 deg/s,
      cmd heading: 173.140951 deg,
      new cmd heading: 172.822331 deg.

2025-10-26T21:43:54.858Z,1761515034.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.016319 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:54.897Z,1761515034.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.790416
2025-10-26T21:43:55.152Z,1761515035.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.043955
2025-10-26T21:43:55.222Z,1761515035.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978737,-0.125682,0.162104],[0.093504,-0.976780,-0.192764],[0.182567,-0.173508,0.967762]]
2025-10-26T21:43:55.274Z,1761515035.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:55.277Z,1761515035.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 18.457575 m,
      bearing: 182.004650 deg,
      approach rate: -0.653251 m/s,
      LOS rate: -0.181898 deg/s,
      cmd heading: 172.822337 deg,
      new cmd heading: 172.579237 deg.

2025-10-26T21:43:55.277Z,1761515035.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.012076 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:55.400Z,1761515035.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.293521
2025-10-26T21:43:55.649Z,1761515035.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978682,-0.127036,0.161381],[0.095293,-0.976929,-0.191125],[0.181938,-0.171672,0.968208]]
2025-10-26T21:43:55.652Z,1761515035.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.545606
2025-10-26T21:43:55.685Z,1761515035.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:55.692Z,1761515035.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 18.204672 m,
      bearing: 181.934619 deg,
      approach rate: -0.614319 m/s,
      LOS rate: -0.172475 deg/s,
      cmd heading: 172.579237 deg,
      new cmd heading: 172.366224 deg.

2025-10-26T21:43:55.693Z,1761515035.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.008358 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:55.905Z,1761515035.905 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:43:55.906Z,1761515035.906 [DAT](INFO): response not received
2025-10-26T21:43:55.906Z,1761515035.906 [DAT](ERROR): No response from remote modem.
2025-10-26T21:43:55.907Z,1761515035.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799743
2025-10-26T21:43:56.156Z,1761515036.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.049564
2025-10-26T21:43:56.226Z,1761515036.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978686,-0.128629,0.160087],[0.096856,-0.976508,-0.192488],[0.181086,-0.172880,0.968153]]
2025-10-26T21:43:56.285Z,1761515036.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:56.288Z,1761515036.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 17.830784 m,
      bearing: 181.865416 deg,
      approach rate: -0.623516 m/s,
      LOS rate: -0.117826 deg/s,
      cmd heading: 172.366230 deg,
      new cmd heading: 172.154269 deg.

2025-10-26T21:43:56.289Z,1761515036.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.004659 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:56.408Z,1761515036.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.301519
2025-10-26T21:43:56.627Z,1761515036.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:56.630Z,1761515036.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 17.623171 m,
      bearing: 181.825718 deg,
      approach rate: -0.607299 m/s,
      LOS rate: -0.117488 deg/s,
      cmd heading: 172.154276 deg,
      new cmd heading: 172.033782 deg.

2025-10-26T21:43:56.631Z,1761515036.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.002556 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:56.661Z,1761515036.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.553797
2025-10-26T21:43:56.913Z,1761515036.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.805727
2025-10-26T21:43:56.990Z,1761515036.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978948,-0.131755,0.155887],[0.099921,-0.975328,-0.196851],[0.177977,-0.177131,0.967961]]
2025-10-26T21:43:57.048Z,1761515037.048 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:57.050Z,1761515037.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:57.062Z,1761515037.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 17.380981 m,
      bearing: 181.780834 deg,
      approach rate: -0.572115 m/s,
      LOS rate: -0.107506 deg/s,
      cmd heading: 172.033778 deg,
      new cmd heading: 171.897249 deg.

2025-10-26T21:43:57.063Z,1761515037.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.000173 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:57.166Z,1761515037.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.058658
2025-10-26T21:43:57.399Z,1761515037.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979041,-0.133131,0.154126],[0.101333,-0.974871,-0.198387],[0.176664,-0.178611,0.967930]]
2025-10-26T21:43:57.417Z,1761515037.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.309703
2025-10-26T21:43:57.468Z,1761515037.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:57.471Z,1761515037.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 17.117125 m,
      bearing: 181.767237 deg,
      approach rate: -0.631148 m/s,
      LOS rate: -0.033026 deg/s,
      cmd heading: 171.897242 deg,
      new cmd heading: 171.855822 deg.

2025-10-26T21:43:57.476Z,1761515037.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.999450 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:57.668Z,1761515037.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.561428
2025-10-26T21:43:57.802Z,1761515037.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979175,-0.134658,0.151932],[0.102831,-0.974233,-0.200738],[0.175049,-0.180934,0.967792]]
2025-10-26T21:43:57.854Z,1761515037.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:57.861Z,1761515037.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 16.886412 m,
      bearing: 181.756216 deg,
      approach rate: -0.598524 m/s,
      LOS rate: -0.028980 deg/s,
      cmd heading: 171.855824 deg,
      new cmd heading: 171.822311 deg.

2025-10-26T21:43:57.862Z,1761515037.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.998865 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:57.921Z,1761515037.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.814368
2025-10-26T21:43:58.172Z,1761515038.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.065486
2025-10-26T21:43:58.424Z,1761515038.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.317552
2025-10-26T21:43:58.507Z,1761515038.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:58.510Z,1761515038.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 16.483923 m,
      bearing: 181.822248 deg,
      approach rate: -0.616405 m/s,
      LOS rate: 0.103595 deg/s,
      cmd heading: 171.822315 deg,
      new cmd heading: 172.025246 deg.

2025-10-26T21:43:58.511Z,1761515038.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.002407 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:58.678Z,1761515038.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.570473
2025-10-26T21:43:58.928Z,1761515038.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.821505
2025-10-26T21:43:58.966Z,1761515038.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979553,-0.139015,0.145432],[0.107151,-0.972308,-0.207691],[0.170277,-0.187861,0.967323]]
2025-10-26T21:43:58.985Z,1761515038.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:58.988Z,1761515038.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 16.198353 m,
      bearing: 181.875391 deg,
      approach rate: -0.597316 m/s,
      LOS rate: 0.113117 deg/s,
      cmd heading: 172.025240 deg,
      new cmd heading: 172.187480 deg.

2025-10-26T21:43:58.989Z,1761515038.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.005239 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:59.180Z,1761515039.180 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:43:59.181Z,1761515039.181 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:43:59.434Z,1761515039.434 [DAT](INFO): DAT read: user:370>

2025-10-26T21:43:59.435Z,1761515039.435 [DAT](INFO): DAT read: Tx time:21:43:58.5413

2025-10-26T21:43:59.435Z,1761515039.435 [DAT](INFO): Ping request sent.
2025-10-26T21:43:59.435Z,1761515039.435 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:43:59.436Z,1761515039.436 [DAT](INFO): publishing transmit ping time
2025-10-26T21:43:59.437Z,1761515039.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001098
2025-10-26T21:43:59.529Z,1761515039.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979896,-0.141222,0.140924],[0.109627,-0.971302,-0.211081],[0.166689,-0.191388,0.967257]]
2025-10-26T21:43:59.565Z,1761515039.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:43:59.567Z,1761515039.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:59.570Z,1761515039.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 15.850932 m,
      bearing: 181.997719 deg,
      approach rate: -0.596704 m/s,
      LOS rate: 0.214706 deg/s,
      cmd heading: 172.187484 deg,
      new cmd heading: 172.562506 deg.

2025-10-26T21:43:59.571Z,1761515039.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.011784 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:43:59.684Z,1761515039.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249044
2025-10-26T21:43:59.919Z,1761515039.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980112,-0.141998,0.138627],[0.110783,-0.971090,-0.211452],[0.164645,-0.191889,0.967507]]
2025-10-26T21:43:59.936Z,1761515039.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501004
2025-10-26T21:43:59.939Z,1761515039.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:43:59.942Z,1761515039.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 15.629522 m,
      bearing: 182.079472 deg,
      approach rate: -0.594957 m/s,
      LOS rate: 0.222794 deg/s,
      cmd heading: 172.562503 deg,
      new cmd heading: 172.811235 deg.

2025-10-26T21:43:59.943Z,1761515039.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.016125 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:44:00.189Z,1761515040.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753311
2025-10-26T21:44:00.333Z,1761515040.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980411,-0.142486,0.135988],[0.111879,-0.971086,-0.210891],[0.162105,-0.191546,0.968004]]
2025-10-26T21:44:00.380Z,1761515040.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:44:00.383Z,1761515040.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 15.376538 m,
      bearing: 182.183140 deg,
      approach rate: -0.573781 m/s,
      LOS rate: 0.238992 deg/s,
      cmd heading: 172.811231 deg,
      new cmd heading: 173.127347 deg.

2025-10-26T21:44:00.384Z,1761515040.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.021642 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:44:00.441Z,1761515040.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005514
2025-10-26T21:44:00.692Z,1761515040.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256895
2025-10-26T21:44:00.732Z,1761515040.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980733,-0.142493,0.133637],[0.112654,-0.971399,-0.209031],[0.159601,-0.189949,0.968735]]
2025-10-26T21:44:00.766Z,1761515040.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:44:00.770Z,1761515040.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 15.163682 m,
      bearing: 182.273744 deg,
      approach rate: -0.550993 m/s,
      LOS rate: 0.237828 deg/s,
      cmd heading: 173.127346 deg,
      new cmd heading: 173.402972 deg.

2025-10-26T21:44:00.771Z,1761515040.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.026453 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:44:00.945Z,1761515040.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509180
2025-10-26T21:44:01.130Z,1761515041.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981102,-0.141949,0.131490],[0.112918,-0.971876,-0.206656],[0.157127,-0.187903,0.969538]]
2025-10-26T21:44:01.152Z,1761515041.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:44:01.154Z,1761515041.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 14.933533 m,
      bearing: 182.374937 deg,
      approach rate: -0.597378 m/s,
      LOS rate: 0.266704 deg/s,
      cmd heading: 173.402971 deg,
      new cmd heading: 173.711224 deg.

2025-10-26T21:44:01.156Z,1761515041.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.031833 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:44:01.197Z,1761515041.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761072
2025-10-26T21:44:01.448Z,1761515041.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012889
2025-10-26T21:44:01.534Z,1761515041.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981500,-0.141226,0.129275],[0.113015,-0.972378,-0.204228],[0.154546,-0.185840,0.970350]]
2025-10-26T21:44:01.578Z,1761515041.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:44:01.580Z,1761515041.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-10-26T21:44:01.582Z,1761515041.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.744537 m,
      nav range: 14.681679 m,
      bearing: 182.483160 deg,
      approach rate: -0.588507 m/s,
      LOS rate: 0.257224 deg/s,
      cmd heading: 173.711218 deg,
      new cmd heading: 174.041454 deg.

2025-10-26T21:44:01.584Z,1761515041.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.037596 target range: 24.744537 and range: 24.90 m.
2025-10-26T21:44:01.701Z,1761515041.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265571
2025-10-26T21:44:01.941Z,1761515041.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981931,-0.140088,0.127231],[0.112788,-0.973087,-0.200951],[0.151958,-0.182969,0.971304]]
2025-10-26T21:44:01.953Z,1761515041.953 [DAT](INFO): DAT read: Rx Time:21:44:00.6916 

2025-10-26T21:44:01.954Z,1761515041.954 [DAT](INFO): Rx dataTimestamp_ set to:1761515041.953300
2025-10-26T21:44:01.955Z,1761515041.955 [DAT](INFO): DAT read: Bearing 335.3,  -0.4 (Local)

2025-10-26T21:44:01.955Z,1761515041.955 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.3,  -0.4 (Local)

2025-10-26T21:44:01.957Z,1761515041.957 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.7

2025-10-26T21:44:01.962Z,1761515041.962 [DAT](INFO): DAT read: 21:44:00.6916 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 246, 0.23, 2.966, 1.731,-2.933, 2.908, PHS= 0.160,-1.132, 0.398, RAW= 158.3,   8.1, CAL= 157.9,   8.4, ROT= 352.1,  -8.4

2025-10-26T21:44:01.963Z,1761515041.963 [DAT](INFO): got valid direction response:
 21:44:00.6916 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 246, 0.23, 2.966, 1.731,-2.933, 2.908, PHS= 0.160,-1.132, 0.398, RAW= 158.3,   8.1, CAL= 157.9,   8.4, ROT= 352.1,  -8.4

2025-10-26T21:44:01.964Z,1761515041.964 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:44:01.965Z,1761515041.965 [DAT](INFO): direction in FSK: [0.979884,-0.135970,0.146083]
2025-10-26T21:44:01.965Z,1761515041.965 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:01.973Z,1761515041.973 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.537289
2025-10-26T21:44:02.022Z,1761515042.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 15.120265 s,
      deltaX: -9.000000 m,
      approachRate: -0.595228 m/s,
      rangeRepo size: 4

2025-10-26T21:44:02.038Z,1761515042.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.800024 m,
      bearing: 166.998412 deg,
      lat: 36.779411 deg,
      lon: -121.859522 deg,
      deltaT: 15.120265 s,
      deltaX: -8.944513 m,
      approachRate: -0.591558 m/s,
      posRepo size: 4

2025-10-26T21:44:02.038Z,1761515042.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-10-26T21:44:02.049Z,1761515042.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.800024 m,
      nav range: 14.992153 m,
      bearing: 166.998390 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.257224 deg/s,
      cmd heading: 174.041457 deg,
      new cmd heading: 174.382264 deg.

2025-10-26T21:44:02.050Z,1761515042.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.043545 target range: 15.800024 and range: 15.90 m.
2025-10-26T21:44:02.205Z,1761515042.205 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.769690
2025-10-26T21:44:02.348Z,1761515042.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982326,-0.139017,0.125341],[0.112516,-0.973697,-0.198126],[0.149587,-0.180522,0.972129]]
2025-10-26T21:44:02.414Z,1761515042.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-10-26T21:44:02.421Z,1761515042.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.800024 m,
      nav range: 14.714476 m,
      bearing: 166.790436 deg,
      approach rate: -0.706194 m/s,
      LOS rate: -0.538851 deg/s,
      cmd heading: 174.382270 deg,
      new cmd heading: 173.746663 deg.

2025-10-26T21:44:02.422Z,1761515042.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.032451 target range: 15.800024 and range: 15.90 m.
2025-10-26T21:44:02.457Z,1761515042.457 [DAT](INFO): DAT read: Rx Time:21:44:01.1914 

2025-10-26T21:44:02.458Z,1761515042.458 [DAT](INFO): Rx dataTimestamp_ set to:1761515042.457381
2025-10-26T21:44:02.459Z,1761515042.459 [DAT](INFO): DAT read: Bearing 334.5,  -0.7 (Local)

2025-10-26T21:44:02.459Z,1761515042.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.5,  -0.7 (Local)

2025-10-26T21:44:02.462Z,1761515042.462 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed 0.4

2025-10-26T21:44:02.466Z,1761515042.466 [DAT](INFO): DAT read: 21:44:01.1914 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.15,-2.452, 2.579,-2.053,-2.523, PHS= 0.173,-1.136, 0.427, RAW= 158.7,   7.4, CAL= 158.2,   7.5, ROT= 351.8,  -7.5

2025-10-26T21:44:02.468Z,1761515042.468 [DAT](INFO): got valid direction response:
 21:44:01.1914 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.15,-2.452, 2.579,-2.053,-2.523, PHS= 0.173,-1.136, 0.427, RAW= 158.7,   7.4, CAL= 158.2,   7.5, ROT= 351.8,  -7.5

2025-10-26T21:44:02.468Z,1761515042.468 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T21:44:02.469Z,1761515042.469 [DAT](INFO): direction in FSK: [0.981309,-0.141409,0.130526]
2025-10-26T21:44:02.469Z,1761515042.469 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:02.473Z,1761515042.473 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.037445
2025-10-26T21:44:02.710Z,1761515042.710 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.274322
2025-10-26T21:44:02.811Z,1761515042.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982809,-0.137217,0.123522],[0.111556,-0.974459,-0.194896],[0.147110,-0.177766,0.973015]]
2025-10-26T21:44:02.856Z,1761515042.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.504081 s,
      deltaX: -0.400000 m,
      approachRate: -0.793522 m/s,
      rangeRepo size: 4

2025-10-26T21:44:02.858Z,1761515042.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.402338 m,
      bearing: 166.569010 deg,
      lat: 36.779410 deg,
      lon: -121.859522 deg,
      deltaT: 0.504081 s,
      deltaX: -0.397686 m,
      approachRate: -0.788933 m/s,
      posRepo size: 4

2025-10-26T21:44:02.859Z,1761515042.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:44:02.866Z,1761515042.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.402338 m,
      nav range: 14.664353 m,
      bearing: 166.526647 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.538851 deg/s,
      cmd heading: 173.746666 deg,
      new cmd heading: 173.033880 deg.

2025-10-26T21:44:02.867Z,1761515042.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.020011 target range: 15.402338 and range: 15.50 m.
2025-10-26T21:44:02.963Z,1761515042.963 [DAT](INFO): DAT read: Rx Time:21:44:01.6912 

2025-10-26T21:44:02.963Z,1761515042.963 [DAT](INFO): Rx dataTimestamp_ set to:1761515042.962704
2025-10-26T21:44:02.964Z,1761515042.964 [DAT](INFO): DAT read: Bearing 333.8,  -0.6 (Local)

2025-10-26T21:44:02.965Z,1761515042.965 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.8,  -0.6 (Local)

2025-10-26T21:44:02.967Z,1761515042.967 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed 0.4

2025-10-26T21:44:02.974Z,1761515042.974 [DAT](INFO): DAT read: 21:44:01.6912 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 497, 0.07,-0.556,-1.786,-0.161,-0.637, PHS= 0.184,-1.103, 0.432, RAW= 158.7,   6.9, CAL= 158.1,   6.8, ROT= 351.9,  -6.8

2025-10-26T21:44:02.976Z,1761515042.976 [DAT](INFO): got valid direction response:
 21:44:01.6912 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 497, 0.07,-0.556,-1.786,-0.161,-0.637, PHS= 0.184,-1.103, 0.432, RAW= 158.7,   6.9, CAL= 158.1,   6.8, ROT= 351.9,  -6.8

2025-10-26T21:44:02.976Z,1761515042.976 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-10-26T21:44:02.978Z,1761515042.978 [DAT](INFO): direction in FSK: [0.983059,-0.139910,0.118404]
2025-10-26T21:44:02.978Z,1761515042.978 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:03.008Z,1761515043.008 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.559839
2025-10-26T21:44:03.167Z,1761515043.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983275,-0.135421,0.121785],[0.110805,-0.975493,-0.190095],[0.144544,-0.173421,0.974183]]
2025-10-26T21:44:03.198Z,1761515043.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.505323 s,
      deltaX: -0.300000 m,
      approachRate: -0.593680 m/s,
      rangeRepo size: 4

2025-10-26T21:44:03.200Z,1761515043.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.103841 m,
      bearing: 166.566938 deg,
      lat: 36.779409 deg,
      lon: -121.859522 deg,
      deltaT: 0.505323 s,
      deltaX: -0.298497 m,
      approachRate: -0.590706 m/s,
      posRepo size: 4

2025-10-26T21:44:03.201Z,1761515043.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m.
2025-10-26T21:44:03.203Z,1761515043.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.103841 m,
      nav range: 14.491478 m,
      bearing: 166.394529 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.538851 deg/s,
      cmd heading: 173.033881 deg,
      new cmd heading: 172.481115 deg.

2025-10-26T21:44:03.204Z,1761515043.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.010363 target range: 15.103841 and range: 15.20 m.
2025-10-26T21:44:03.213Z,1761515043.213 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.777275
2025-10-26T21:44:03.466Z,1761515043.466 [DAT](INFO): DAT read: Rx Time:21:44:02.1909 

2025-10-26T21:44:03.466Z,1761515043.466 [DAT](INFO): Rx dataTimestamp_ set to:1761515043.466028
2025-10-26T21:44:03.468Z,1761515043.468 [DAT](INFO): DAT read: Bearing 333.6,  -1.4 (Local)

2025-10-26T21:44:03.468Z,1761515043.468 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.6,  -1.4 (Local)

2025-10-26T21:44:03.470Z,1761515043.470 [DAT](INFO): DAT read: Range 11 to 50 :    14.7 m (trip time 9.8 ms) speed 0.3

2025-10-26T21:44:03.475Z,1761515043.475 [DAT](INFO): DAT read: 21:44:02.1909 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 510, 0.14,-1.109,-2.325,-0.694,-1.181, PHS= 0.173,-1.099, 0.443, RAW= 159.4,   6.8, CAL= 158.8,   6.7, ROT= 351.2,  -6.7

2025-10-26T21:44:03.477Z,1761515043.477 [DAT](INFO): got valid direction response:
 21:44:02.1909 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 510, 0.14,-1.109,-2.325,-0.694,-1.181, PHS= 0.173,-1.099, 0.443, RAW= 159.4,   6.8, CAL= 158.8,   6.7, ROT= 351.2,  -6.7

2025-10-26T21:44:03.478Z,1761515043.478 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-26T21:44:03.479Z,1761515043.478 [DAT](INFO): direction in FSK: [0.981479,-0.151941,0.116671]
2025-10-26T21:44:03.479Z,1761515043.479 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:03.482Z,1761515043.482 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.047018
2025-10-26T21:44:03.570Z,1761515043.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983717,-0.133692,0.120115],[0.109991,-0.976384,-0.185948],[0.142139,-0.169709,0.975190]]
2025-10-26T21:44:03.627Z,1761515043.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.700000 m,
      deltaT: 0.503324 s,
      deltaX: -0.500000 m,
      approachRate: -0.993396 m/s,
      rangeRepo size: 4

2025-10-26T21:44:03.629Z,1761515043.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.607004 m,
      bearing: 165.858476 deg,
      lat: 36.779409 deg,
      lon: -121.859522 deg,
      deltaT: 0.503324 s,
      deltaX: -0.496837 m,
      approachRate: -0.987111 m/s,
      posRepo size: 4

2025-10-26T21:44:03.630Z,1761515043.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-10-26T21:44:03.633Z,1761515043.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.607004 m,
      nav range: 14.234269 m,
      bearing: 166.129565 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.538851 deg/s,
      cmd heading: 172.481114 deg,
      new cmd heading: 171.787255 deg.

2025-10-26T21:44:03.634Z,1761515043.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.998253 target range: 14.607004 and range: 14.70 m.
2025-10-26T21:44:03.717Z,1761515043.717 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.281920
2025-10-26T21:44:03.969Z,1761515043.969 [DAT](INFO): DAT read: Rx Time:21:44:02.6909 

2025-10-26T21:44:03.969Z,1761515043.969 [DAT](INFO): Rx dataTimestamp_ set to:1761515043.969216
2025-10-26T21:44:03.971Z,1761515043.971 [DAT](INFO): DAT read: Bearing 334.1,  -1.6 (Local)

2025-10-26T21:44:03.971Z,1761515043.971 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.1,  -1.6 (Local)

2025-10-26T21:44:03.973Z,1761515043.973 [DAT](INFO): DAT read: Range 11 to 50 :    14.7 m (trip time 9.8 ms) speed 0.4

2025-10-26T21:44:03.978Z,1761515043.978 [DAT](INFO): DAT read: 21:44:02.6909 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 509, 0.48,-1.534,-2.737,-1.124,-1.597, PHS= 0.165,-1.095, 0.429, RAW= 159.3,   7.2, CAL= 158.8,   7.1, ROT= 351.2,  -7.1

2025-10-26T21:44:03.979Z,1761515043.979 [DAT](INFO): got valid direction response:
 21:44:02.6909 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 509, 0.48,-1.534,-2.737,-1.124,-1.597, PHS= 0.165,-1.095, 0.429, RAW= 159.3,   7.2, CAL= 158.8,   7.1, ROT= 351.2,  -7.1

2025-10-26T21:44:03.980Z,1761515043.980 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-10-26T21:44:03.981Z,1761515043.981 [DAT](INFO): direction in FSK: [0.980651,-0.151812,0.123601]
2025-10-26T21:44:03.981Z,1761515043.981 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:03.988Z,1761515043.988 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.552988
2025-10-26T21:44:04.001Z,1761515044.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984074,-0.132724,0.118251],[0.109782,-0.976973,-0.182955],[0.139810,-0.167059,0.975984]]
2025-10-26T21:44:04.088Z,1761515044.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.700000 m,
      deltaT: 0.503188 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:04.090Z,1761515044.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.606709 m,
      bearing: 165.917765 deg,
      lat: 36.779409 deg,
      lon: -121.859522 deg,
      deltaT: 0.503188 s,
      deltaX: -0.000295 m,
      approachRate: -0.000586 m/s,
      posRepo size: 4

2025-10-26T21:44:04.091Z,1761515044.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-10-26T21:44:04.098Z,1761515044.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.606709 m,
      nav range: 13.966037 m,
      bearing: 165.873362 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.538851 deg/s,
      cmd heading: 171.787249 deg,
      new cmd heading: 171.048640 deg.

2025-10-26T21:44:04.099Z,1761515044.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.985362 target range: 14.606709 and range: 14.70 m.
2025-10-26T21:44:04.221Z,1761515044.221 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.785094
2025-10-26T21:44:04.381Z,1761515044.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984381,-0.131974,0.116516],[0.109712,-0.977480,-0.180267],[0.137683,-0.164668,0.976692]]
2025-10-26T21:44:04.431Z,1761515044.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:44:04.433Z,1761515044.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-10-26T21:44:04.436Z,1761515044.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.606709 m,
      nav range: 13.763239 m,
      bearing: 165.605281 deg,
      approach rate: -0.579293 m/s,
      LOS rate: -0.777055 deg/s,
      cmd heading: 171.048646 deg,
      new cmd heading: 170.232612 deg.

2025-10-26T21:44:04.437Z,1761515044.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.971120 target range: 14.606709 and range: 14.70 m.
2025-10-26T21:44:04.473Z,1761515044.473 [DAT](INFO): DAT read: Rx Time:21:44:03.1906 

2025-10-26T21:44:04.474Z,1761515044.474 [DAT](INFO): Rx dataTimestamp_ set to:1761515044.473371
2025-10-26T21:44:04.475Z,1761515044.475 [DAT](INFO): DAT read: Bearing 335.8,  -2.6 (Local)

2025-10-26T21:44:04.475Z,1761515044.475 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.8,  -2.6 (Local)

2025-10-26T21:44:04.477Z,1761515044.477 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed 0.4

2025-10-26T21:44:04.484Z,1761515044.484 [DAT](INFO): DAT read: 21:44:03.1906 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 507, 0.06,-0.385,-1.540, 0.027,-0.404, PHS= 0.121,-1.091, 0.387, RAW= 159.7,   8.6, CAL= 159.4,   8.9, ROT= 350.6,  -8.9

2025-10-26T21:44:04.486Z,1761515044.486 [DAT](INFO): got valid direction response:
 21:44:03.1906 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 507, 0.06,-0.385,-1.540, 0.027,-0.404, PHS= 0.121,-1.091, 0.387, RAW= 159.7,   8.6, CAL= 159.4,   8.9, ROT= 350.6,  -8.9

2025-10-26T21:44:04.486Z,1761515044.486 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-26T21:44:04.489Z,1761515044.489 [DAT](INFO): direction in FSK: [0.974694,-0.161359,0.154710]
2025-10-26T21:44:04.489Z,1761515044.489 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:04.494Z,1761515044.494 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.058749
2025-10-26T21:44:04.725Z,1761515044.725 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.289438
2025-10-26T21:44:04.820Z,1761515044.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984563,-0.132288,0.114614],[0.110444,-0.977532,-0.179535],[0.135789,-0.164105,0.977052]]
2025-10-26T21:44:04.849Z,1761515044.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.504155 s,
      deltaX: -0.400000 m,
      approachRate: -0.793406 m/s,
      rangeRepo size: 4

2025-10-26T21:44:04.872Z,1761515044.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.209249 m,
      bearing: 165.527335 deg,
      lat: 36.779409 deg,
      lon: -121.859522 deg,
      deltaT: 0.504155 s,
      deltaX: -0.397461 m,
      approachRate: -0.788370 m/s,
      posRepo size: 4

2025-10-26T21:44:04.872Z,1761515044.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m.
2025-10-26T21:44:04.875Z,1761515044.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.209249 m,
      nav range: 13.524646 m,
      bearing: 165.277300 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.777055 deg/s,
      cmd heading: 170.232616 deg,
      new cmd heading: 169.264540 deg.

2025-10-26T21:44:04.880Z,1761515044.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.954224 target range: 14.209249 and range: 14.30 m.
2025-10-26T21:44:04.979Z,1761515044.979 [DAT](INFO): DAT read: Rx Time:21:44:03.6906 

2025-10-26T21:44:04.979Z,1761515044.979 [DAT](INFO): Rx dataTimestamp_ set to:1761515044.979174
2025-10-26T21:44:04.981Z,1761515044.981 [DAT](INFO): DAT read: Bearing 333.6,  -2.9 (Local)

2025-10-26T21:44:04.981Z,1761515044.981 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.6,  -2.9 (Local)

2025-10-26T21:44:04.983Z,1761515044.983 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed 0.4

2025-10-26T21:44:04.989Z,1761515044.989 [DAT](INFO): DAT read: 21:44:03.6906 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 507,-0.30, 1.861, 0.669, 2.306, 1.809, PHS= 0.154,-1.095, 0.454, RAW= 160.5,   6.9, CAL= 159.9,   6.7, ROT= 350.1,  -6.7

2025-10-26T21:44:04.990Z,1761515044.990 [DAT](INFO): got valid direction response:
 21:44:03.6906 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 507,-0.30, 1.861, 0.669, 2.306, 1.809, PHS= 0.154,-1.095, 0.454, RAW= 160.5,   6.9, CAL= 159.9,   6.7, ROT= 350.1,  -6.7

2025-10-26T21:44:04.991Z,1761515044.991 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-26T21:44:04.997Z,1761515044.997 [DAT](INFO): direction in FSK: [0.978382,-0.170755,0.116671]
2025-10-26T21:44:04.997Z,1761515044.997 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:05.010Z,1761515045.010 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.574409
2025-10-26T21:44:05.208Z,1761515045.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984679,-0.133415,0.112287],[0.111576,-0.976897,-0.182271],[0.134011,-0.166950,0.976816]]
2025-10-26T21:44:05.228Z,1761515045.228 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.793014
2025-10-26T21:44:05.232Z,1761515045.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.505803 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:05.234Z,1761515045.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.209307 m,
      bearing: 164.644257 deg,
      lat: 36.779409 deg,
      lon: -121.859522 deg,
      deltaT: 0.505803 s,
      deltaX: 0.000058 m,
      approachRate: 0.000115 m/s,
      posRepo size: 4

2025-10-26T21:44:05.235Z,1761515045.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m.
2025-10-26T21:44:05.255Z,1761515045.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.209307 m,
      nav range: 13.305576 m,
      bearing: 164.968602 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.777055 deg/s,
      cmd heading: 169.264546 deg,
      new cmd heading: 168.372777 deg.

2025-10-26T21:44:05.269Z,1761515045.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.938659 target range: 14.209307 and range: 14.30 m.
2025-10-26T21:44:05.481Z,1761515045.481 [DAT](INFO): DAT read: Rx Time:21:44:04.1902 

2025-10-26T21:44:05.482Z,1761515045.482 [DAT](INFO): Rx dataTimestamp_ set to:1761515045.481268
2025-10-26T21:44:05.483Z,1761515045.483 [DAT](INFO): DAT read: Bearing 323.3,  -2.9 (Local)

2025-10-26T21:44:05.483Z,1761515045.483 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.3,  -2.9 (Local)

2025-10-26T21:44:05.485Z,1761515045.485 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.4

2025-10-26T21:44:05.494Z,1761515045.494 [DAT](INFO): DAT read: 21:44:04.1902 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504, 0.21, 0.086,-1.225, 0.620,-0.178, PHS= 0.366,-1.001, 0.754, RAW= 162.1,  -1.5, CAL= 161.4,  -3.3, ROT= 348.6,   3.3

2025-10-26T21:44:05.501Z,1761515045.501 [DAT](INFO): got valid direction response:
 21:44:04.1902 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504, 0.21, 0.086,-1.225, 0.620,-0.178, PHS= 0.366,-1.001, 0.754, RAW= 162.1,  -1.5, CAL= 161.4,  -3.3, ROT= 348.6,   3.3

2025-10-26T21:44:05.502Z,1761515045.502 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-10-26T21:44:05.503Z,1761515045.503 [DAT](INFO): direction in FSK: [0.978646,-0.197329,-0.057564]
2025-10-26T21:44:05.508Z,1761515045.508 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:05.511Z,1761515045.511 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.075637
2025-10-26T21:44:05.610Z,1761515045.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984654,-0.135328,0.110191],[0.113497,-0.976216,-0.184718],[0.132568,-0.169377,0.976595]]
2025-10-26T21:44:05.688Z,1761515045.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.502094 s,
      deltaX: -0.600000 m,
      approachRate: -1.194996 m/s,
      rangeRepo size: 4

2025-10-26T21:44:05.690Z,1761515045.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.613111 m,
      bearing: 161.569436 deg,
      lat: 36.779409 deg,
      lon: -121.859521 deg,
      deltaT: 0.502094 s,
      deltaX: -0.596195 m,
      approachRate: -1.187418 m/s,
      posRepo size: 4

2025-10-26T21:44:05.691Z,1761515045.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.61 m.
2025-10-26T21:44:05.698Z,1761515045.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.613111 m,
      nav range: 13.066530 m,
      bearing: 164.460955 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.777055 deg/s,
      cmd heading: 168.372783 deg,
      new cmd heading: 167.309362 deg.

2025-10-26T21:44:05.700Z,1761515045.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.920099 target range: 13.613111 and range: 13.70 m.
2025-10-26T21:44:05.733Z,1761515045.733 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.297553
2025-10-26T21:44:05.985Z,1761515045.985 [DAT](INFO): DAT read: Rx Time:21:44:04.6902 

2025-10-26T21:44:05.985Z,1761515045.985 [DAT](INFO): Rx dataTimestamp_ set to:1761515045.985118
2025-10-26T21:44:05.987Z,1761515045.987 [DAT](INFO): DAT read: Bearing 323.2,  -3.7 (Local)

2025-10-26T21:44:05.987Z,1761515045.987 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.2,  -3.7 (Local)

2025-10-26T21:44:05.989Z,1761515045.989 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.4

2025-10-26T21:44:05.994Z,1761515045.994 [DAT](INFO): DAT read: 21:44:04.6902 LVL= 32752, 32753, 31058, 32755, AGC= 59, IDX= 504,-0.22,-0.858,-2.143,-0.305,-1.100, PHS= 0.344,-0.998, 0.751, RAW= 162.8,  -1.2, CAL= 162.1,  -3.1, ROT= 347.9,   3.1

2025-10-26T21:44:05.995Z,1761515045.995 [DAT](INFO): got valid direction response:
 21:44:04.6902 LVL= 32752, 32753, 31058, 32755, AGC= 59, IDX= 504,-0.22,-0.858,-2.143,-0.305,-1.100, PHS= 0.344,-0.998, 0.751, RAW= 162.8,  -1.2, CAL= 162.1,  -3.1, ROT= 347.9,   3.1

2025-10-26T21:44:05.995Z,1761515045.995 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-10-26T21:44:05.996Z,1761515045.996 [DAT](INFO): direction in FSK: [0.976352,-0.209312,-0.054079]
2025-10-26T21:44:05.996Z,1761515045.996 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:06.016Z,1761515046.016 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.580832
2025-10-26T21:44:06.037Z,1761515046.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984514,-0.138112,0.107972],[0.116312,-0.975422,-0.187146],[0.131165,-0.171689,0.976380]]
2025-10-26T21:44:06.105Z,1761515046.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.503850 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:06.107Z,1761515046.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.613141 m,
      bearing: 160.737558 deg,
      lat: 36.779406 deg,
      lon: -121.859520 deg,
      deltaT: 0.503850 s,
      deltaX: 0.000030 m,
      approachRate: 0.000059 m/s,
      posRepo size: 4

2025-10-26T21:44:06.112Z,1761515046.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.61 m.
2025-10-26T21:44:06.114Z,1761515046.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.613141 m,
      nav range: 13.101629 m,
      bearing: 163.728856 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.777055 deg/s,
      cmd heading: 167.309363 deg,
      new cmd heading: 166.338528 deg.

2025-10-26T21:44:06.120Z,1761515046.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.903155 target range: 13.613141 and range: 13.70 m.
2025-10-26T21:44:06.241Z,1761515046.241 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.803607
2025-10-26T21:44:06.422Z,1761515046.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984262,-0.141786,0.105472],[0.119594,-0.973860,-0.193118],[0.130096,-0.177465,0.975490]]
2025-10-26T21:44:06.474Z,1761515046.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:44:06.476Z,1761515046.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.61 m.
2025-10-26T21:44:06.479Z,1761515046.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.613141 m,
      nav range: 12.868876 m,
      bearing: 163.326067 deg,
      approach rate: -0.625321 m/s,
      LOS rate: -1.101702 deg/s,
      cmd heading: 166.338534 deg,
      new cmd heading: 165.108512 deg.

2025-10-26T21:44:06.480Z,1761515046.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.881687 target range: 13.613141 and range: 13.70 m.
2025-10-26T21:44:06.493Z,1761515046.493 [DAT](INFO): DAT read: Rx Time:21:44:05.1899 

2025-10-26T21:44:06.494Z,1761515046.494 [DAT](INFO): Rx dataTimestamp_ set to:1761515046.493397
2025-10-26T21:44:06.495Z,1761515046.495 [DAT](INFO): DAT read: Bearing 322.9,  -3.4 (Local)

2025-10-26T21:44:06.495Z,1761515046.495 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.9,  -3.4 (Local)

2025-10-26T21:44:06.497Z,1761515046.497 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed 0.4

2025-10-26T21:44:06.502Z,1761515046.502 [DAT](INFO): DAT read: 21:44:05.1899 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500, 0.35, 0.942,-0.330, 1.478, 0.698, PHS= 0.347,-0.983, 0.737, RAW= 162.5,  -1.3, CAL= 161.7,  -3.2, ROT= 348.3,   3.2

2025-10-26T21:44:06.503Z,1761515046.503 [DAT](INFO): got valid direction response:
 21:44:05.1899 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500, 0.35, 0.942,-0.330, 1.478, 0.698, PHS= 0.347,-0.983, 0.737, RAW= 162.5,  -1.3, CAL= 161.7,  -3.2, ROT= 348.3,   3.2

2025-10-26T21:44:06.503Z,1761515046.503 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-26T21:44:06.504Z,1761515046.504 [DAT](INFO): direction in FSK: [0.977696,-0.202471,-0.055822]
2025-10-26T21:44:06.505Z,1761515046.505 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:06.508Z,1761515046.508 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.072740
2025-10-26T21:44:06.744Z,1761515046.744 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.308892
2025-10-26T21:44:06.836Z,1761515046.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983845,-0.146481,0.102917],[0.124114,-0.972406,-0.197541],[0.129014,-0.181576,0.974877]]
2025-10-26T21:44:06.883Z,1761515046.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.508279 s,
      deltaX: -0.500000 m,
      approachRate: -0.983712 m/s,
      rangeRepo size: 4

2025-10-26T21:44:06.885Z,1761515046.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.116311 m,
      bearing: 160.657649 deg,
      lat: 36.779406 deg,
      lon: -121.859513 deg,
      deltaT: 0.508279 s,
      deltaX: -0.496830 m,
      approachRate: -0.977475 m/s,
      posRepo size: 4

2025-10-26T21:44:06.886Z,1761515046.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m.
2025-10-26T21:44:06.889Z,1761515046.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.116311 m,
      nav range: 12.872931 m,
      bearing: 160.398099 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.101702 deg/s,
      cmd heading: 165.108512 deg,
      new cmd heading: 163.765847 deg.

2025-10-26T21:44:06.890Z,1761515046.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.858253 target range: 13.116311 and range: 13.20 m.
2025-10-26T21:44:07.002Z,1761515047.002 [DAT](INFO): DAT read: Rx Time:21:44:05.6897 

2025-10-26T21:44:07.003Z,1761515047.003 [DAT](INFO): Rx dataTimestamp_ set to:1761515047.002627
2025-10-26T21:44:07.004Z,1761515047.004 [DAT](INFO): DAT read: Bearing 322.1,  -3.0 (Local)

2025-10-26T21:44:07.005Z,1761515047.005 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.1,  -3.0 (Local)

2025-10-26T21:44:07.007Z,1761515047.007 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed 0.4

2025-10-26T21:44:07.011Z,1761515047.011 [DAT](INFO): DAT read: 21:44:05.6897 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 499, 0.03, 0.157,-1.115, 0.676,-0.107, PHS= 0.366,-0.964, 0.739, RAW= 162.0,  -1.8, CAL= 161.3,  -3.7, ROT= 348.7,   3.7

2025-10-26T21:44:07.012Z,1761515047.012 [DAT](INFO): got valid direction response:
 21:44:05.6897 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 499, 0.03, 0.157,-1.115, 0.676,-0.107, PHS= 0.366,-0.964, 0.739, RAW= 162.0,  -1.8, CAL= 161.3,  -3.7, ROT= 348.7,   3.7

2025-10-26T21:44:07.013Z,1761515047.013 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-10-26T21:44:07.014Z,1761515047.014 [DAT](INFO): direction in FSK: [0.978571,-0.195538,-0.064532]
2025-10-26T21:44:07.014Z,1761515047.014 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:07.022Z,1761515047.022 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.587054
2025-10-26T21:44:07.230Z,1761515047.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983309,-0.151986,0.100021],[0.129203,-0.970348,-0.204280],[0.128103,-0.187948,0.973789]]
2025-10-26T21:44:07.253Z,1761515047.253 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.817108
2025-10-26T21:44:07.296Z,1761515047.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.509230 s,
      deltaX: -0.300000 m,
      approachRate: -0.589125 m/s,
      rangeRepo size: 4

2025-10-26T21:44:07.314Z,1761515047.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.818128 m,
      bearing: 160.671022 deg,
      lat: 36.779405 deg,
      lon: -121.859513 deg,
      deltaT: 0.509230 s,
      deltaX: -0.298183 m,
      approachRate: -0.585558 m/s,
      posRepo size: 4

2025-10-26T21:44:07.320Z,1761515047.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-10-26T21:44:07.337Z,1761515047.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.818128 m,
      nav range: 12.786332 m,
      bearing: 160.169492 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.101702 deg/s,
      cmd heading: 163.765847 deg,
      new cmd heading: 162.424371 deg.

2025-10-26T21:44:07.346Z,1761515047.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.834840 target range: 12.818128 and range: 12.90 m.
2025-10-26T21:44:07.505Z,1761515047.505 [DAT](INFO): DAT read: Rx Time:21:44:06.1895 

2025-10-26T21:44:07.506Z,1761515047.506 [DAT](INFO): Rx dataTimestamp_ set to:1761515047.505256
2025-10-26T21:44:07.507Z,1761515047.507 [DAT](INFO): DAT read: Bearing 324.6,  -5.2 (Local)

2025-10-26T21:44:07.507Z,1761515047.507 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.6,  -5.2 (Local)

2025-10-26T21:44:07.509Z,1761515047.509 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed 0.4

2025-10-26T21:44:07.514Z,1761515047.514 [DAT](INFO): DAT read: 21:44:06.1895 LVL= 32752, 32753, 29298, 32755, AGC= 51, IDX= 497,-0.20,-2.298, 2.858,-1.746,-2.418, PHS= 0.221,-0.962, 0.627, RAW= 164.2,   1.6, CAL= 163.0,  -0.4, ROT= 347.0,   0.4

2025-10-26T21:44:07.516Z,1761515047.516 [DAT](INFO): got valid direction response:
 21:44:06.1895 LVL= 32752, 32753, 29298, 32755, AGC= 51, IDX= 497,-0.20,-2.298, 2.858,-1.746,-2.418, PHS= 0.221,-0.962, 0.627, RAW= 164.2,   1.6, CAL= 163.0,  -0.4, ROT= 347.0,   0.4

2025-10-26T21:44:07.516Z,1761515047.516 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-26T21:44:07.517Z,1761515047.517 [DAT](INFO): direction in FSK: [0.974346,-0.224946,-0.006981]
2025-10-26T21:44:07.517Z,1761515047.517 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:07.522Z,1761515047.522 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.086582
2025-10-26T21:44:07.634Z,1761515047.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982637,-0.158184,0.096963],[0.134879,-0.967891,-0.212118],[0.127404,-0.195356,0.972422]]
2025-10-26T21:44:07.744Z,1761515047.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.502629 s,
      deltaX: -0.299999 m,
      approachRate: -0.596860 m/s,
      rangeRepo size: 4

2025-10-26T21:44:07.746Z,1761515047.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.520032 m,
      bearing: 159.189757 deg,
      lat: 36.779405 deg,
      lon: -121.859513 deg,
      deltaT: 0.502629 s,
      deltaX: -0.298096 m,
      approachRate: -0.593073 m/s,
      posRepo size: 4

2025-10-26T21:44:07.747Z,1761515047.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-10-26T21:44:07.754Z,1761515047.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.520032 m,
      nav range: 12.539649 m,
      bearing: 159.541399 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.101702 deg/s,
      cmd heading: 162.424371 deg,
      new cmd heading: 160.935517 deg.

2025-10-26T21:44:07.765Z,1761515047.765 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.323299
2025-10-26T21:44:07.769Z,1761515047.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.808855 target range: 12.520032 and range: 12.60 m.
2025-10-26T21:44:08.010Z,1761515048.010 [DAT](INFO): DAT read: Rx Time:21:44:06.6895 

2025-10-26T21:44:08.011Z,1761515048.011 [DAT](INFO): Rx dataTimestamp_ set to:1761515048.010205
2025-10-26T21:44:08.013Z,1761515048.013 [DAT](INFO): DAT read: Bearing 334.2,  -6.0 (Local)

2025-10-26T21:44:08.013Z,1761515048.013 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.2,  -6.0 (Local)

2025-10-26T21:44:08.016Z,1761515048.016 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed 0.4

2025-10-26T21:44:08.028Z,1761515048.028 [DAT](INFO): DAT read: 21:44:06.6895 LVL= 32752, 32753, 26386, 32755, AGC= 47, IDX= 513,-0.14, 1.772, 0.627, 2.251, 1.795, PHS= 0.078,-1.123, 0.412, RAW= 161.9,   9.1, CAL= 161.7,   9.6, ROT= 348.3,  -9.6

2025-10-26T21:44:08.030Z,1761515048.030 [DAT](INFO): got valid direction response:
 21:44:06.6895 LVL= 32752, 32753, 26386, 32755, AGC= 47, IDX= 513,-0.14, 1.772, 0.627, 2.251, 1.795, PHS= 0.078,-1.123, 0.412, RAW= 161.9,   9.1, CAL= 161.7,   9.6, ROT= 348.3,  -9.6

2025-10-26T21:44:08.030Z,1761515048.030 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-26T21:44:08.034Z,1761515048.034 [DAT](INFO): direction in FSK: [0.965510,-0.199948,0.166769]
2025-10-26T21:44:08.034Z,1761515048.034 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:08.039Z,1761515048.039 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.603390
2025-10-26T21:44:08.263Z,1761515048.263 [DAT](INFO): DAT read: Rx Time:21:44:07.1892 

2025-10-26T21:44:08.265Z,1761515048.265 [DAT](INFO): Rx dataTimestamp_ set to:1761515048.264312
2025-10-26T21:44:08.268Z,1761515048.268 [DAT](INFO): DAT read: Bearing 320.0,  -4.4 (Local)

2025-10-26T21:44:08.269Z,1761515048.269 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.0,  -4.4 (Local)

2025-10-26T21:44:08.271Z,1761515048.271 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.834898
2025-10-26T21:44:08.416Z,1761515048.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980624,-0.173492,0.090982],[0.149272,-0.962504,-0.226505],[0.126867,-0.208535,0.969752]]
2025-10-26T21:44:08.476Z,1761515048.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.504949 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:08.478Z,1761515048.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.520068 m,
      bearing: 161.575399 deg,
      lat: 36.779405 deg,
      lon: -121.859513 deg,
      deltaT: 0.504949 s,
      deltaX: 0.000036 m,
      approachRate: 0.000072 m/s,
      posRepo size: 4

2025-10-26T21:44:08.479Z,1761515048.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-10-26T21:44:08.481Z,1761515048.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.520068 m,
      nav range: 12.066894 m,
      bearing: 158.807310 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.101702 deg/s,
      cmd heading: 160.935513 deg,
      new cmd heading: 158.504552 deg.

2025-10-26T21:44:08.482Z,1761515048.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.766426 target range: 12.520068 and range: 12.60 m.
2025-10-26T21:44:08.515Z,1761515048.515 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed 0.4

2025-10-26T21:44:08.521Z,1761515048.521 [DAT](INFO): DAT read: 21:44:07.1892 LVL= 32752, 32753, 31570, 32755, AGC= 46, IDX= 510, 0.47, 1.475, 0.326, 2.009, 1.256, PHS= 0.321,-0.885, 0.709, RAW= 163.5,  -2.0, CAL= 162.9,  -3.9, ROT= 347.1,   3.9

2025-10-26T21:44:08.522Z,1761515048.522 [DAT](INFO): got valid direction response:
 21:44:07.1892 LVL= 32752, 32753, 31570, 32755, AGC= 46, IDX= 510, 0.47, 1.475, 0.326, 2.009, 1.256, PHS= 0.321,-0.885, 0.709, RAW= 163.5,  -2.0, CAL= 162.9,  -3.9, ROT= 347.1,   3.9

2025-10-26T21:44:08.522Z,1761515048.522 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-10-26T21:44:08.523Z,1761515048.523 [DAT](INFO): direction in FSK: [0.972504,-0.222733,-0.068015]
2025-10-26T21:44:08.524Z,1761515048.524 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:08.527Z,1761515048.527 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.091847
2025-10-26T21:44:08.768Z,1761515048.768 [DAT](INFO): DAT read: Rx Time:21:44:07.6892 

2025-10-26T21:44:08.769Z,1761515048.769 [DAT](INFO): Rx dataTimestamp_ set to:1761515048.768231
2025-10-26T21:44:08.772Z,1761515048.772 [DAT](INFO): DAT read: Bearing 318.6,  -3.4 (Local)

2025-10-26T21:44:08.773Z,1761515048.773 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.6,  -3.4 (Local)

2025-10-26T21:44:08.775Z,1761515048.775 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.339248
2025-10-26T21:44:08.931Z,1761515048.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979288,-0.182613,0.087448],[0.157986,-0.959302,-0.234051],[0.126630,-0.215388,0.968283]]
2025-10-26T21:44:08.975Z,1761515048.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.501889 s,
      deltaX: -0.300000 m,
      approachRate: -0.597742 m/s,
      rangeRepo size: 4

2025-10-26T21:44:08.977Z,1761515048.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.221972 m,
      bearing: 157.333260 deg,
      lat: 36.779405 deg,
      lon: -121.859513 deg,
      deltaT: 0.501889 s,
      deltaX: -0.298097 m,
      approachRate: -0.593949 m/s,
      posRepo size: 4

2025-10-26T21:44:08.978Z,1761515048.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-10-26T21:44:08.981Z,1761515048.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.221972 m,
      nav range: 11.783900 m,
      bearing: 158.271061 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.101702 deg/s,
      cmd heading: 158.504553 deg,
      new cmd heading: 156.854356 deg.

2025-10-26T21:44:08.982Z,1761515048.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.737625 target range: 12.221972 and range: 12.30 m.
2025-10-26T21:44:09.024Z,1761515049.024 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed 0.4

2025-10-26T21:44:09.029Z,1761515049.029 [DAT](INFO): DAT read: 21:44:07.6892 LVL= 32752, 32753, 32754, 32755, AGC= 46, IDX= 510, 0.10, 3.135, 2.001,-2.651, 2.891, PHS= 0.346,-0.845, 0.698, RAW= 162.6,  -2.9, CAL= 162.1,  -4.7, ROT= 347.9,   4.7

2025-10-26T21:44:09.030Z,1761515049.030 [DAT](INFO): got valid direction response:
 21:44:07.6892 LVL= 32752, 32753, 32754, 32755, AGC= 46, IDX= 510, 0.10, 3.135, 2.001,-2.651, 2.891, PHS= 0.346,-0.845, 0.698, RAW= 162.6,  -2.9, CAL= 162.1,  -4.7, ROT= 347.9,   4.7

2025-10-26T21:44:09.030Z,1761515049.030 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-26T21:44:09.032Z,1761515049.032 [DAT](INFO): direction in FSK: [0.974495,-0.208914,-0.081939]
2025-10-26T21:44:09.032Z,1761515049.032 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:09.035Z,1761515049.035 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.599846
2025-10-26T21:44:09.271Z,1761515049.271 [DAT](INFO): DAT read: Rx Time:21:44:08.1890 

2025-10-26T21:44:09.273Z,1761515049.273 [DAT](INFO): Rx dataTimestamp_ set to:1761515049.271988
2025-10-26T21:44:09.276Z,1761515049.276 [DAT](INFO): DAT read: Bearing 317.3,  -3.5 (Local)

2025-10-26T21:44:09.277Z,1761515049.277 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.3,  -3.5 (Local)

2025-10-26T21:44:09.279Z,1761515049.279 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.842486
2025-10-26T21:44:09.453Z,1761515049.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.505080 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:09.460Z,1761515049.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.221871 m,
      bearing: 157.973466 deg,
      lat: 36.779405 deg,
      lon: -121.859513 deg,
      deltaT: 0.505080 s,
      deltaX: -0.000100 m,
      approachRate: -0.000198 m/s,
      posRepo size: 4

2025-10-26T21:44:09.460Z,1761515049.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-10-26T21:44:09.463Z,1761515049.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.221871 m,
      nav range: 11.504375 m,
      bearing: 157.536773 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.101702 deg/s,
      cmd heading: 156.854352 deg,
      new cmd heading: 155.274111 deg.

2025-10-26T21:44:09.468Z,1761515049.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.710044 target range: 12.221871 and range: 12.30 m.
2025-10-26T21:44:09.522Z,1761515049.522 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed 0.4

2025-10-26T21:44:09.527Z,1761515049.527 [DAT](INFO): DAT read: 21:44:08.1890 LVL= 32752, 32753, 32754, 32755, AGC= 47, IDX= 508,-0.16, 0.267,-0.862, 0.762, 0.012, PHS= 0.357,-0.830, 0.705, RAW= 162.5,  -3.4, CAL= 162.1,  -5.2, ROT= 347.9,   5.2

2025-10-26T21:44:09.529Z,1761515049.529 [DAT](INFO): got valid direction response:
 21:44:08.1890 LVL= 32752, 32753, 32754, 32755, AGC= 47, IDX= 508,-0.16, 0.267,-0.862, 0.762, 0.012, PHS= 0.357,-0.830, 0.705, RAW= 162.5,  -3.4, CAL= 162.1,  -5.2, ROT= 347.9,   5.2

2025-10-26T21:44:09.529Z,1761515049.529 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-10-26T21:44:09.530Z,1761515049.530 [DAT](INFO): direction in FSK: [0.973759,-0.208756,-0.090633]
2025-10-26T21:44:09.530Z,1761515049.530 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:09.534Z,1761515049.534 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.098275
2025-10-26T21:44:09.745Z,1761515049.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976545,-0.202419,0.073391],[0.179465,-0.953539,-0.241981],[0.118963,-0.223135,0.967501]]
2025-10-26T21:44:09.804Z,1761515049.804 [DAT](INFO): DAT read: Rx Time:21:44:08.6889 

2025-10-26T21:44:09.806Z,1761515049.806 [DAT](INFO): Rx dataTimestamp_ set to:1761515049.805016
2025-10-26T21:44:09.818Z,1761515049.818 [DAT](INFO): DAT read: Bearing 316.1,  -3.8 (Local)

2025-10-26T21:44:09.819Z,1761515049.819 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.1,  -3.8 (Local)

2025-10-26T21:44:09.841Z,1761515049.841 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed 0.4

2025-10-26T21:44:09.857Z,1761515049.857 [DAT](INFO): DAT read: 21:44:08.6889 LVL= 32752, 32753, 32754, 32755, AGC= 45, IDX= 507, 0.37,-2.562, 2.612,-2.075,-2.817, PHS= 0.357,-0.809, 0.698, RAW= 162.5,  -3.6, CAL= 162.1,  -5.4, ROT= 347.9,   5.4

2025-10-26T21:44:09.858Z,1761515049.858 [DAT](INFO): got valid direction response:
 21:44:08.6889 LVL= 32752, 32753, 32754, 32755, AGC= 45, IDX= 507, 0.37,-2.562, 2.612,-2.075,-2.817, PHS= 0.357,-0.809, 0.698, RAW= 162.5,  -3.6, CAL= 162.1,  -5.4, ROT= 347.9,   5.4

2025-10-26T21:44:09.859Z,1761515049.859 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-26T21:44:09.868Z,1761515049.868 [DAT](INFO): direction in FSK: [0.973444,-0.208688,-0.094108]
2025-10-26T21:44:09.868Z,1761515049.868 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:09.884Z,1761515049.884 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.448605
2025-10-26T21:44:09.906Z,1761515049.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.787842 s,
      deltaX: -0.400001 m,
      approachRate: -0.507717 m/s,
      rangeRepo size: 4

2025-10-26T21:44:09.916Z,1761515049.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.824411 m,
      bearing: 156.579499 deg,
      lat: 36.779402 deg,
      lon: -121.859511 deg,
      deltaT: 0.787842 s,
      deltaX: -0.397460 m,
      approachRate: -0.504492 m/s,
      posRepo size: 4

2025-10-26T21:44:09.917Z,1761515049.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.82 m.
2025-10-26T21:44:09.924Z,1761515049.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.824411 m,
      nav range: 11.563228 m,
      bearing: 156.801998 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.101702 deg/s,
      cmd heading: 155.274105 deg,
      new cmd heading: 153.779733 deg.

2025-10-26T21:44:09.925Z,1761515049.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683963 target range: 11.824411 and range: 11.90 m.
2025-10-26T21:44:10.025Z,1761515050.025 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.589063
2025-10-26T21:44:10.280Z,1761515050.280 [DAT](INFO): DAT read: Rx Time:21:44:09.1887 

2025-10-26T21:44:10.281Z,1761515050.281 [DAT](INFO): Rx dataTimestamp_ set to:1761515050.280272
2025-10-26T21:44:10.285Z,1761515050.285 [DAT](INFO): DAT read: Bearing 314.6,  -5.7 (Local)

2025-10-26T21:44:10.286Z,1761515050.286 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.6,  -5.7 (Local)

2025-10-26T21:44:10.290Z,1761515050.290 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed 0.4

2025-10-26T21:44:10.292Z,1761515050.292 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-10-26T21:44:10.304Z,1761515050.304 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.859328
2025-10-26T21:44:10.380Z,1761515050.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973747,-0.223908,0.041004],[0.207911,-0.948177,-0.240279],[0.092679,-0.225445,0.969838]]
2025-10-26T21:44:10.477Z,1761515050.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:44:10.484Z,1761515050.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.475256 s,
      deltaX: -0.299999 m,
      approachRate: -0.631237 m/s,
      rangeRepo size: 4

2025-10-26T21:44:10.484Z,1761515050.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.82 m.
2025-10-26T21:44:10.491Z,1761515050.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.824411 m,
      nav range: 11.232447 m,
      bearing: 156.209424 deg,
      approach rate: -0.576367 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 153.779728 deg,
      new cmd heading: 151.950309 deg.

2025-10-26T21:44:10.492Z,1761515050.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.652033 target range: 11.824411 and range: 11.60 m.
2025-10-26T21:44:10.532Z,1761515050.532 [DAT](INFO): DAT read: 21:44:09.1887 LVL= 32752, 32753, 29970, 32755, AGC= 45, IDX= 505, 0.07, 1.166, 0.022, 1.696, 0.906, PHS= 0.363,-0.839, 0.747, RAW= 163.4,  -3.8, CAL= 163.2,  -5.6, ROT= 346.8,   5.6

2025-10-26T21:44:10.533Z,1761515050.533 [DAT](INFO): got valid direction response:
 21:44:09.1887 LVL= 32752, 32753, 29970, 32755, AGC= 45, IDX= 505, 0.07, 1.166, 0.022, 1.696, 0.906, PHS= 0.363,-0.839, 0.747, RAW= 163.4,  -3.8, CAL= 163.2,  -5.6, ROT= 346.8,   5.6

2025-10-26T21:44:10.534Z,1761515050.534 [DAT](INFO): #Rx 19: Read direction message, but no range.
2025-10-26T21:44:10.535Z,1761515050.535 [DAT](INFO): direction in FSK: [0.968932,-0.227261,-0.097583]
2025-10-26T21:44:10.538Z,1761515050.538 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.102781
2025-10-26T21:44:10.785Z,1761515050.785 [DAT](INFO): DAT read: Rx Time:21:44:09.6885 

2025-10-26T21:44:10.786Z,1761515050.786 [DAT](INFO): Rx dataTimestamp_ set to:1761515050.785655
2025-10-26T21:44:10.790Z,1761515050.790 [DAT](INFO): DAT read: Bearing 316.7,  -7.8 (Local)

2025-10-26T21:44:10.792Z,1761515050.792 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.7,  -7.8 (Local)

2025-10-26T21:44:10.804Z,1761515050.804 [DAT](INFO): DAT read: Range 11 to 50 :    11.3 m (trip time 7.5 ms) speed 0.4

2025-10-26T21:44:10.807Z,1761515050.807 [DAT](ERROR): #Rx 20: Read range message, but no direction.
2025-10-26T21:44:10.817Z,1761515050.817 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.381950
2025-10-26T21:44:10.863Z,1761515050.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971698,-0.235541,0.017969],[0.224669,-0.944987,-0.237747],[0.072980,-0.226981,0.971161]]
2025-10-26T21:44:10.975Z,1761515050.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.505383 s,
      deltaX: -0.300000 m,
      approachRate: -0.593610 m/s,
      rangeRepo size: 4

2025-10-26T21:44:10.977Z,1761515050.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.228228 m,
      bearing: 152.882235 deg,
      lat: 36.779402 deg,
      lon: -121.859509 deg,
      deltaT: 0.980639 s,
      deltaX: -0.596184 m,
      approachRate: -0.607954 m/s,
      posRepo size: 4

2025-10-26T21:44:10.978Z,1761515050.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-10-26T21:44:10.981Z,1761515050.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.228228 m,
      nav range: 11.014158 m,
      bearing: 155.208292 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 151.950303 deg,
      new cmd heading: 150.383064 deg.

2025-10-26T21:44:10.982Z,1761515050.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.624680 target range: 11.228228 and range: 11.30 m.
2025-10-26T21:44:11.036Z,1761515051.036 [DAT](INFO): DAT read: 21:44:09.6885 LVL= 32752, 32753, 30114, 32755, AGC= 48, IDX= 504,-0.48, 2.031, 0.937, 2.569, 1.874, PHS= 0.259,-0.892, 0.650, RAW= 164.1,  -0.2, CAL= 163.2,  -2.2, ROT= 346.8,   2.2

2025-10-26T21:44:11.038Z,1761515051.038 [DAT](INFO): got valid direction response:
 21:44:09.6885 LVL= 32752, 32753, 30114, 32755, AGC= 48, IDX= 504,-0.48, 2.031, 0.937, 2.569, 1.874, PHS= 0.259,-0.892, 0.650, RAW= 164.1,  -0.2, CAL= 163.2,  -2.2, ROT= 346.8,   2.2

2025-10-26T21:44:11.038Z,1761515051.038 [DAT](INFO): #Rx 21: Read direction message, but no range.
2025-10-26T21:44:11.039Z,1761515051.039 [DAT](INFO): direction in FSK: [0.972861,-0.228183,-0.038388]
2025-10-26T21:44:11.042Z,1761515051.042 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=11.606849
2025-10-26T21:44:11.289Z,1761515051.289 [DAT](INFO): DAT read: Rx Time:21:44:10.1883 

2025-10-26T21:44:11.291Z,1761515051.291 [DAT](INFO): Rx dataTimestamp_ set to:1761515051.289822
2025-10-26T21:44:11.296Z,1761515051.296 [DAT](INFO): DAT read: Bearing 316.5,  -8.1 (Local)

2025-10-26T21:44:11.297Z,1761515051.297 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.5,  -8.1 (Local)

2025-10-26T21:44:11.313Z,1761515051.313 [DAT](INFO): DAT read: Range 11 to 50 :    11.0 m (trip time 7.3 ms) speed 0.4

2025-10-26T21:44:11.330Z,1761515051.330 [DAT](INFO): DAT read: 21:44:10.1883 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 501,-0.19,-2.401, 2.722,-1.888,-2.573, PHS= 0.274,-0.943, 0.641, RAW= 162.8,   0.4, CAL= 161.7,  -1.5, ROT= 348.3,   1.5

2025-10-26T21:44:11.343Z,1761515051.343 [DAT](INFO): got valid direction response:
 21:44:10.1883 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 501,-0.19,-2.401, 2.722,-1.888,-2.573, PHS= 0.274,-0.943, 0.641, RAW= 162.8,   0.4, CAL= 161.7,  -1.5, ROT= 348.3,   1.5

2025-10-26T21:44:11.348Z,1761515051.348 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-10-26T21:44:11.349Z,1761515051.349 [DAT](INFO): direction in FSK: [0.978887,-0.202718,-0.026177]
2025-10-26T21:44:11.350Z,1761515051.350 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:11.362Z,1761515051.362 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=11.926486
2025-10-26T21:44:11.498Z,1761515051.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964938,-0.259830,-0.037192],[0.261303,-0.937529,-0.229694],[0.024812,-0.231359,0.972552]]
2025-10-26T21:44:11.536Z,1761515051.536 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.101000
2025-10-26T21:44:11.572Z,1761515051.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 0.504167 s,
      deltaX: -0.300000 m,
      approachRate: -0.595041 m/s,
      rangeRepo size: 4

2025-10-26T21:44:11.574Z,1761515051.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.930134 m,
      bearing: 153.106978 deg,
      lat: 36.779401 deg,
      lon: -121.859509 deg,
      deltaT: 0.504167 s,
      deltaX: -0.298094 m,
      approachRate: -0.591260 m/s,
      posRepo size: 4

2025-10-26T21:44:11.575Z,1761515051.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.93 m.
2025-10-26T21:44:11.578Z,1761515051.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.930134 m,
      nav range: 10.764697 m,
      bearing: 154.771011 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 150.383062 deg,
      new cmd heading: 148.468135 deg.

2025-10-26T21:44:11.578Z,1761515051.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.591258 target range: 10.930134 and range: 11.00 m.
2025-10-26T21:44:11.793Z,1761515051.793 [DAT](INFO): DAT read: Rx Time:21:44:10.6882 

2025-10-26T21:44:11.795Z,1761515051.795 [DAT](INFO): Rx dataTimestamp_ set to:1761515051.793755
2025-10-26T21:44:11.817Z,1761515051.817 [DAT](INFO): DAT read: Bearing 313.3,  -8.6 (Local)

2025-10-26T21:44:11.818Z,1761515051.818 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.3,  -8.6 (Local)

2025-10-26T21:44:11.827Z,1761515051.827 [DAT](INFO): DAT read: Range 11 to 50 :    10.8 m (trip time 7.2 ms) speed 0.4

2025-10-26T21:44:11.832Z,1761515051.832 [DAT](INFO): DAT read: 21:44:10.6882 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 500, 0.26,-0.499,-1.795, 0.011,-0.771, PHS= 0.374,-0.980, 0.738, RAW= 161.6,  -1.7, CAL= 160.8,  -3.5, ROT= 349.2,   3.5

2025-10-26T21:44:11.833Z,1761515051.833 [DAT](INFO): got valid direction response:
 21:44:10.6882 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 500, 0.26,-0.499,-1.795, 0.011,-0.771, PHS= 0.374,-0.980, 0.738, RAW= 161.6,  -1.7, CAL= 160.8,  -3.5, ROT= 349.2,   3.5

2025-10-26T21:44:11.833Z,1761515051.833 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-10-26T21:44:11.834Z,1761515051.834 [DAT](INFO): direction in FSK: [0.980455,-0.187032,-0.061049]
2025-10-26T21:44:11.834Z,1761515051.834 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:11.843Z,1761515051.843 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.407398
2025-10-26T21:44:11.895Z,1761515051.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959744,-0.272955,-0.066234],[0.280872,-0.934007,-0.220777],[-0.001601,-0.230492,0.973073]]
2025-10-26T21:44:11.985Z,1761515051.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.503933 s,
      deltaX: -0.200000 m,
      approachRate: -0.396878 m/s,
      rangeRepo size: 4

2025-10-26T21:44:11.987Z,1761515051.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.731404 m,
      bearing: 152.378865 deg,
      lat: 36.779401 deg,
      lon: -121.859505 deg,
      deltaT: 0.503933 s,
      deltaX: -0.198730 m,
      approachRate: -0.394357 m/s,
      posRepo size: 4

2025-10-26T21:44:11.992Z,1761515051.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-10-26T21:44:11.994Z,1761515051.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.731404 m,
      nav range: 10.698116 m,
      bearing: 152.703795 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 148.468136 deg,
      new cmd heading: 147.151689 deg.

2025-10-26T21:44:12.003Z,1761515052.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568281 target range: 10.731404 and range: 10.80 m.
2025-10-26T21:44:12.041Z,1761515052.041 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.605142
2025-10-26T21:44:12.299Z,1761515052.299 [DAT](INFO): DAT read: Rx Time:21:44:11.1880 

2025-10-26T21:44:12.301Z,1761515052.301 [DAT](INFO): Rx dataTimestamp_ set to:1761515052.300217
2025-10-26T21:44:12.306Z,1761515052.306 [DAT](INFO): DAT read: Bearing 315.2, -10.6 (Local)

2025-10-26T21:44:12.308Z,1761515052.308 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.2, -10.6 (Local)

2025-10-26T21:44:12.312Z,1761515052.312 [DAT](INFO): DAT read: Range 11 to 50 :    10.5 m (trip time 7.0 ms) speed 0.7

2025-10-26T21:44:12.337Z,1761515052.337 [DAT](INFO): DAT read: 21:44:11.1880 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 498,-0.10, 2.317, 1.005, 2.830, 2.125, PHS= 0.294,-1.074, 0.661, RAW= 161.6,   1.5, CAL= 160.2,  -0.3, ROT= 349.8,   0.3

2025-10-26T21:44:12.339Z,1761515052.339 [DAT](INFO): got valid direction response:
 21:44:11.1880 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 498,-0.10, 2.317, 1.005, 2.830, 2.125, PHS= 0.294,-1.074, 0.661, RAW= 161.6,   1.5, CAL= 160.2,  -0.3, ROT= 349.8,   0.3

2025-10-26T21:44:12.339Z,1761515052.339 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-10-26T21:44:12.341Z,1761515052.341 [DAT](INFO): direction in FSK: [0.984182,-0.177082,-0.005236]
2025-10-26T21:44:12.341Z,1761515052.341 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:12.370Z,1761515052.370 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=12.933959
2025-10-26T21:44:12.485Z,1761515052.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953300,-0.286767,-0.094781],[0.300721,-0.930359,-0.209760],[-0.028028,-0.228467,0.973148]]
2025-10-26T21:44:12.545Z,1761515052.545 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.109066
2025-10-26T21:44:12.566Z,1761515052.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.506462 s,
      deltaX: -0.300000 m,
      approachRate: -0.592345 m/s,
      rangeRepo size: 4

2025-10-26T21:44:12.572Z,1761515052.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.433323 m,
      bearing: 152.494949 deg,
      lat: 36.779401 deg,
      lon: -121.859505 deg,
      deltaT: 0.506462 s,
      deltaX: -0.298081 m,
      approachRate: -0.588556 m/s,
      posRepo size: 4

2025-10-26T21:44:12.573Z,1761515052.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.43 m.
2025-10-26T21:44:12.577Z,1761515052.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.433323 m,
      nav range: 10.369147 m,
      bearing: 152.172838 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 147.151686 deg,
      new cmd heading: 145.298675 deg.

2025-10-26T21:44:12.578Z,1761515052.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.535940 target range: 10.433323 and range: 10.50 m.
2025-10-26T21:44:12.802Z,1761515052.802 [DAT](INFO): DAT read: Rx Time:21:44:11.6880 

2025-10-26T21:44:12.804Z,1761515052.804 [DAT](INFO): Rx dataTimestamp_ set to:1761515052.802197
2025-10-26T21:44:12.812Z,1761515052.812 [DAT](INFO): DAT read: Bearing 315.5, -13.2 (Local)

2025-10-26T21:44:12.813Z,1761515052.813 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.5, -13.2 (Local)

2025-10-26T21:44:12.818Z,1761515052.818 [DAT](INFO): DAT read: Range 11 to 50 :    10.5 m (trip time 7.0 ms) speed 0.4

2025-10-26T21:44:12.833Z,1761515052.833 [DAT](INFO): DAT read: 21:44:11.6880 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 497, 0.35,-1.661,-2.989,-1.141,-1.818, PHS= 0.259,-1.126, 0.633, RAW= 161.6,   2.9, CAL= 160.3,   1.4, ROT= 349.7,  -1.4

2025-10-26T21:44:12.834Z,1761515052.834 [DAT](INFO): got valid direction response:
 21:44:11.6880 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 497, 0.35,-1.661,-2.989,-1.141,-1.818, PHS= 0.259,-1.126, 0.633, RAW= 161.6,   2.9, CAL= 160.3,   1.4, ROT= 349.7,  -1.4

2025-10-26T21:44:12.835Z,1761515052.835 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-10-26T21:44:12.841Z,1761515052.841 [DAT](INFO): direction in FSK: [0.983591,-0.178749,0.024432]
2025-10-26T21:44:12.841Z,1761515052.841 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:12.856Z,1761515052.856 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.420562
2025-10-26T21:44:12.948Z,1761515052.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945903,-0.300083,-0.123361],[0.319797,-0.926479,-0.198409],[-0.054752,-0.227126,0.972325]]
2025-10-26T21:44:12.995Z,1761515052.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.501980 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:13.001Z,1761515053.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.433323 m,
      bearing: 151.618823 deg,
      lat: 36.779401 deg,
      lon: -121.859504 deg,
      deltaT: 0.501980 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:44:13.002Z,1761515053.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.43 m.
2025-10-26T21:44:13.009Z,1761515053.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.433323 m,
      nav range: 10.157495 m,
      bearing: 151.445216 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 145.298669 deg,
      new cmd heading: 143.931484 deg.

2025-10-26T21:44:13.010Z,1761515053.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.512078 target range: 10.433323 and range: 10.50 m.
2025-10-26T21:44:13.049Z,1761515053.049 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.613253
2025-10-26T21:44:13.306Z,1761515053.306 [DAT](INFO): DAT read: Rx Time:21:44:12.1878 

2025-10-26T21:44:13.309Z,1761515053.309 [DAT](INFO): Rx dataTimestamp_ set to:1761515053.308442
2025-10-26T21:44:13.311Z,1761515053.311 [DAT](INFO): DAT read: Bearing 316.4, -17.4 (Local)

2025-10-26T21:44:13.312Z,1761515053.312 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.4, -17.4 (Local)

2025-10-26T21:44:13.324Z,1761515053.324 [DAT](INFO): DAT read: Range 11 to 50 :    10.2 m (trip time 6.8 ms) speed 0.4

2025-10-26T21:44:13.336Z,1761515053.336 [DAT](INFO): DAT read: 21:44:12.1878 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 495,-0.11, 1.527, 0.202, 2.097, 1.447, PHS= 0.183,-1.199, 0.607, RAW= 163.0,   5.1, CAL= 162.1,   4.2, ROT= 347.9,  -4.2

2025-10-26T21:44:13.338Z,1761515053.338 [DAT](INFO): got valid direction response:
 21:44:12.1878 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 495,-0.11, 1.527, 0.202, 2.097, 1.447, PHS= 0.183,-1.199, 0.607, RAW= 163.0,   5.1, CAL= 162.1,   4.2, ROT= 347.9,  -4.2

2025-10-26T21:44:13.338Z,1761515053.338 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-10-26T21:44:13.339Z,1761515053.339 [DAT](INFO): direction in FSK: [0.975157,-0.209056,0.073238]
2025-10-26T21:44:13.344Z,1761515053.344 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:13.356Z,1761515053.356 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.911665
2025-10-26T21:44:13.552Z,1761515053.552 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.116955
2025-10-26T21:44:13.584Z,1761515053.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.506245 s,
      deltaX: -0.300000 m,
      approachRate: -0.592599 m/s,
      rangeRepo size: 4

2025-10-26T21:44:13.586Z,1761515053.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.135279 m,
      bearing: 150.524119 deg,
      lat: 36.779401 deg,
      lon: -121.859504 deg,
      deltaT: 0.506245 s,
      deltaX: -0.298044 m,
      approachRate: -0.588735 m/s,
      posRepo size: 4

2025-10-26T21:44:13.587Z,1761515053.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:44:13.590Z,1761515053.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.135279 m,
      nav range: 9.894394 m,
      bearing: 151.089038 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 143.931484 deg,
      new cmd heading: 142.053108 deg.

2025-10-26T21:44:13.591Z,1761515053.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.479295 target range: 10.135279 and range: 10.20 m.
2025-10-26T21:44:13.809Z,1761515053.809 [DAT](INFO): DAT read: Rx Time:21:44:12.6877 

2025-10-26T21:44:13.810Z,1761515053.810 [DAT](INFO): Rx dataTimestamp_ set to:1761515053.809436
2025-10-26T21:44:13.813Z,1761515053.813 [DAT](INFO): DAT read: Bearing 319.0, -20.3 (Local)

2025-10-26T21:44:13.813Z,1761515053.813 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.0, -20.3 (Local)

2025-10-26T21:44:13.817Z,1761515053.817 [DAT](INFO): DAT read: Range 11 to 50 :    10.1 m (trip time 6.7 ms) speed 0.3

2025-10-26T21:44:13.869Z,1761515053.869 [DAT](INFO): DAT read: 21:44:12.6877 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 510, 0.16,-0.660,-1.978,-0.107,-0.670, PHS= 0.112,-1.263, 0.519, RAW= 162.6,   7.9, CAL= 162.2,   8.0, ROT= 347.8,  -8.0

2025-10-26T21:44:13.871Z,1761515053.871 [DAT](INFO): got valid direction response:
 21:44:12.6877 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 510, 0.16,-0.660,-1.978,-0.107,-0.670, PHS= 0.112,-1.263, 0.519, RAW= 162.6,   7.9, CAL= 162.2,   8.0, ROT= 347.8,  -8.0

2025-10-26T21:44:13.881Z,1761515053.881 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-10-26T21:44:13.882Z,1761515053.882 [DAT](INFO): direction in FSK: [0.967904,-0.209269,0.139173]
2025-10-26T21:44:13.882Z,1761515053.882 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:13.908Z,1761515053.908 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.472450
2025-10-26T21:44:13.976Z,1761515053.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916730,-0.344927,-0.201575],[0.377030,-0.913809,-0.151000],[-0.132117,-0.214426,0.967764]]
2025-10-26T21:44:14.034Z,1761515054.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.100000 m,
      deltaT: 0.500994 s,
      deltaX: -0.099999 m,
      approachRate: -0.199602 m/s,
      rangeRepo size: 4

2025-10-26T21:44:14.040Z,1761515054.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.035913 m,
      bearing: 147.597648 deg,
      lat: 36.779400 deg,
      lon: -121.859503 deg,
      deltaT: 0.500994 s,
      deltaX: -0.099365 m,
      approachRate: -0.198336 m/s,
      posRepo size: 4

2025-10-26T21:44:14.041Z,1761515054.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m.
2025-10-26T21:44:14.048Z,1761515054.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.035913 m,
      nav range: 9.738750 m,
      bearing: 150.331734 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 142.053113 deg,
      new cmd heading: 140.618887 deg.

2025-10-26T21:44:14.049Z,1761515054.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.454262 target range: 10.035913 and range: 10.10 m.
2025-10-26T21:44:14.057Z,1761515054.057 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.621109
2025-10-26T21:44:14.314Z,1761515054.314 [DAT](INFO): DAT read: Rx Time:21:44:13.1876 

2025-10-26T21:44:14.315Z,1761515054.315 [DAT](INFO): Rx dataTimestamp_ set to:1761515054.314506
2025-10-26T21:44:14.318Z,1761515054.318 [DAT](INFO): DAT read: Bearing 317.3, -23.3 (Local)

2025-10-26T21:44:14.318Z,1761515054.318 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.3, -23.3 (Local)

2025-10-26T21:44:14.323Z,1761515054.323 [DAT](INFO): DAT read: Range 11 to 50 :     9.9 m (trip time 6.6 ms) speed 0.4

2025-10-26T21:44:14.335Z,1761515054.335 [DAT](INFO): DAT read: 21:44:13.1876 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508,-0.49,-2.005, 2.986,-1.415,-1.995, PHS= 0.092,-1.257, 0.536, RAW= 163.7,   7.8, CAL= 163.3,   7.9, ROT= 346.7,  -7.9

2025-10-26T21:44:14.336Z,1761515054.336 [DAT](INFO): got valid direction response:
 21:44:13.1876 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508,-0.49,-2.005, 2.986,-1.415,-1.995, PHS= 0.092,-1.257, 0.536, RAW= 163.7,   7.8, CAL= 163.3,   7.9, ROT= 346.7,  -7.9

2025-10-26T21:44:14.337Z,1761515054.337 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-10-26T21:44:14.338Z,1761515054.338 [DAT](INFO): direction in FSK: [0.963943,-0.227866,0.137445]
2025-10-26T21:44:14.338Z,1761515054.338 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:14.353Z,1761515054.353 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.917308
2025-10-26T21:44:14.564Z,1761515054.564 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.128995
2025-10-26T21:44:14.661Z,1761515054.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.900000 m,
      deltaT: 0.505070 s,
      deltaX: -0.200001 m,
      approachRate: -0.395986 m/s,
      rangeRepo size: 4

2025-10-26T21:44:14.663Z,1761515054.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.837205 m,
      bearing: 146.514339 deg,
      lat: 36.779399 deg,
      lon: -121.859502 deg,
      deltaT: 0.505070 s,
      deltaX: -0.198709 m,
      approachRate: -0.393428 m/s,
      posRepo size: 4

2025-10-26T21:44:14.664Z,1761515054.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.84 m.
2025-10-26T21:44:14.664Z,1761515054.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.90 m.
2025-10-26T21:44:14.665Z,1761515054.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-10-26T21:44:14.667Z,1761515054.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 9.500479 m,
      bearing: 149.575786 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 140.618883 deg,
      new cmd heading: 138.620123 deg.

2025-10-26T21:44:14.668Z,1761515054.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.419378 target range: 9.837205 and range: 9.90 m.
2025-10-26T21:44:14.819Z,1761515054.819 [DAT](INFO): DAT read: Rx Time:21:44:13.6875 

2025-10-26T21:44:14.820Z,1761515054.820 [DAT](INFO): Rx dataTimestamp_ set to:1761515054.819705
2025-10-26T21:44:14.822Z,1761515054.822 [DAT](INFO): DAT read: Bearing 314.7, -23.4 (Local)

2025-10-26T21:44:14.823Z,1761515054.823 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.7, -23.4 (Local)

2025-10-26T21:44:14.826Z,1761515054.826 [DAT](INFO): DAT read: Range 11 to 50 :     9.8 m (trip time 6.5 ms) speed 0.2

2025-10-26T21:44:14.834Z,1761515054.834 [DAT](INFO): DAT read: 21:44:13.6875 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 506, 0.18,-3.107, 1.811,-2.541, 3.133, PHS= 0.145,-1.277, 0.565, RAW= 162.6,   6.8, CAL= 162.0,   6.6, ROT= 348.0,  -6.6

2025-10-26T21:44:14.836Z,1761515054.836 [DAT](INFO): got valid direction response:
 21:44:13.6875 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 506, 0.18,-3.107, 1.811,-2.541, 3.133, PHS= 0.145,-1.277, 0.565, RAW= 162.6,   6.8, CAL= 162.0,   6.6, ROT= 348.0,  -6.6

2025-10-26T21:44:14.836Z,1761515054.836 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-10-26T21:44:14.838Z,1761515054.838 [DAT](INFO): direction in FSK: [0.971665,-0.206534,0.114937]
2025-10-26T21:44:14.838Z,1761515054.838 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:14.845Z,1761515054.845 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.409644
2025-10-26T21:44:15.069Z,1761515055.069 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.633417
2025-10-26T21:44:15.128Z,1761515055.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880402,-0.386647,-0.274585],[0.429406,-0.895686,-0.115574],[-0.201256,-0.219660,0.954592]]
2025-10-26T21:44:15.151Z,1761515055.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.505199 s,
      deltaX: -0.099999 m,
      approachRate: -0.197941 m/s,
      rangeRepo size: 4

2025-10-26T21:44:15.153Z,1761515055.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.737847 m,
      bearing: 143.883635 deg,
      lat: 36.779399 deg,
      lon: -121.859497 deg,
      deltaT: 0.505199 s,
      deltaX: -0.099358 m,
      approachRate: -0.196670 m/s,
      posRepo size: 4

2025-10-26T21:44:15.154Z,1761515055.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.84 m.
2025-10-26T21:44:15.157Z,1761515055.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 9.236046 m,
      bearing: 149.263970 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 138.620124 deg,
      new cmd heading: 137.058422 deg.

2025-10-26T21:44:15.158Z,1761515055.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.392121 target range: 9.837205 and range: 9.80 m.
2025-10-26T21:44:15.327Z,1761515055.327 [DAT](INFO): DAT read: Rx Time:21:44:14.1871 

2025-10-26T21:44:15.327Z,1761515055.327 [DAT](INFO): Rx dataTimestamp_ set to:1761515055.326916
2025-10-26T21:44:15.329Z,1761515055.329 [DAT](INFO): DAT read: Bearing 315.4, -26.0 (Local)

2025-10-26T21:44:15.329Z,1761515055.329 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.4, -26.0 (Local)

2025-10-26T21:44:15.331Z,1761515055.331 [DAT](INFO): DAT read: Range 11 to 50 :     9.0 m (trip time 6.0 ms) speed 0.3

2025-10-26T21:44:15.336Z,1761515055.336 [DAT](INFO): DAT read: 21:44:14.1871 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 504,-0.19,-0.153,-1.488, 0.413,-0.144, PHS= 0.093,-1.299, 0.513, RAW= 162.8,   8.5, CAL= 162.5,   8.8, ROT= 347.5,  -8.8

2025-10-26T21:44:15.337Z,1761515055.337 [DAT](INFO): got valid direction response:
 21:44:14.1871 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 504,-0.19,-0.153,-1.488, 0.413,-0.144, PHS= 0.093,-1.299, 0.513, RAW= 162.8,   8.5, CAL= 162.5,   8.8, ROT= 347.5,  -8.8

2025-10-26T21:44:15.338Z,1761515055.338 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-10-26T21:44:15.339Z,1761515055.339 [DAT](INFO): direction in FSK: [0.964803,-0.213892,0.152986]
2025-10-26T21:44:15.340Z,1761515055.340 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:15.345Z,1761515055.345 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.909967
2025-10-26T21:44:15.578Z,1761515055.578 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.142056
2025-10-26T21:44:15.632Z,1761515055.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867345,-0.399863,-0.296348],[0.445963,-0.888747,-0.106046],[-0.220974,-0.224139,0.949175]]
2025-10-26T21:44:15.745Z,1761515055.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.000000 m,
      deltaT: 0.507211 s,
      deltaX: -0.800000 m,
      approachRate: -1.577253 m/s,
      rangeRepo size: 4

2025-10-26T21:44:15.747Z,1761515055.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.942921 m,
      bearing: 142.824404 deg,
      lat: 36.779400 deg,
      lon: -121.859495 deg,
      deltaT: 1.012410 s,
      deltaX: -0.894284 m,
      approachRate: -0.883322 m/s,
      posRepo size: 4

2025-10-26T21:44:15.755Z,1761515055.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 9.84 m.
2025-10-26T21:44:15.776Z,1761515055.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 8.929607 m,
      bearing: 148.916728 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 137.058428 deg,
      new cmd heading: 135.164769 deg.

2025-10-26T21:44:15.779Z,1761515055.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.359070 target range: 9.837205 and range: 9.00 m.
2025-10-26T21:44:15.832Z,1761515055.832 [DAT](INFO): DAT read: Rx Time:21:44:14.6870 

2025-10-26T21:44:15.833Z,1761515055.833 [DAT](INFO): Rx dataTimestamp_ set to:1761515055.832389
2025-10-26T21:44:15.834Z,1761515055.834 [DAT](INFO): DAT read: Bearing 313.9, -26.4 (Local)

2025-10-26T21:44:15.834Z,1761515055.834 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.9, -26.4 (Local)

2025-10-26T21:44:15.837Z,1761515055.837 [DAT](INFO): DAT read: Range 11 to 50 :     8.9 m (trip time 5.9 ms) speed 0.4

2025-10-26T21:44:15.841Z,1761515055.841 [DAT](INFO): DAT read: 21:44:14.6870 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 503, 0.27, 1.796, 0.397, 2.339, 1.779, PHS= 0.119,-1.337, 0.517, RAW= 161.8,   8.3, CAL= 161.4,   8.6, ROT= 348.6,  -8.6

2025-10-26T21:44:15.842Z,1761515055.842 [DAT](INFO): got valid direction response:
 21:44:14.6870 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 503, 0.27, 1.796, 0.397, 2.339, 1.779, PHS= 0.119,-1.337, 0.517, RAW= 161.8,   8.3, CAL= 161.4,   8.6, ROT= 348.6,  -8.6

2025-10-26T21:44:15.842Z,1761515055.842 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-10-26T21:44:15.855Z,1761515055.855 [DAT](INFO): direction in FSK: [0.969249,-0.195435,0.149535]
2025-10-26T21:44:15.855Z,1761515055.855 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:15.879Z,1761515055.879 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.443329
2025-10-26T21:44:16.085Z,1761515056.085 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.649380
2025-10-26T21:44:16.337Z,1761515056.337 [DAT](INFO): DAT read: Rx Time:21:44:15.1867 

2025-10-26T21:44:16.338Z,1761515056.338 [DAT](INFO): Rx dataTimestamp_ set to:1761515056.337244
2025-10-26T21:44:16.339Z,1761515056.339 [DAT](INFO): DAT read: Bearing 313.7, -28.0 (Local)

2025-10-26T21:44:16.339Z,1761515056.339 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.7, -28.0 (Local)

2025-10-26T21:44:16.341Z,1761515056.341 [DAT](INFO): DAT read: Range 11 to 50 :     8.4 m (trip time 5.6 ms) speed 0.4

2025-10-26T21:44:16.346Z,1761515056.346 [DAT](INFO): DAT read: 21:44:15.1867 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 501,-0.18,-0.500,-1.878, 0.034,-0.490, PHS= 0.091,-1.343, 0.480, RAW= 161.7,   9.3, CAL= 161.5,   9.9, ROT= 348.5,  -9.9

2025-10-26T21:44:16.347Z,1761515056.347 [DAT](INFO): got valid direction response:
 21:44:15.1867 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 501,-0.18,-0.500,-1.878, 0.034,-0.490, PHS= 0.091,-1.343, 0.480, RAW= 161.7,   9.3, CAL= 161.5,   9.9, ROT= 348.5,  -9.9

2025-10-26T21:44:16.347Z,1761515056.347 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-10-26T21:44:16.348Z,1761515056.348 [DAT](INFO): direction in FSK: [0.965333,-0.196399,0.171929]
2025-10-26T21:44:16.349Z,1761515056.349 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:16.352Z,1761515056.352 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.917019
2025-10-26T21:44:16.365Z,1761515056.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839300,-0.428854,-0.334155],[0.479352,-0.873721,-0.082660],[-0.256509,-0.229554,0.938886]]
2025-10-26T21:44:16.441Z,1761515056.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.400000 m,
      deltaT: 1.010328 s,
      deltaX: -0.600000 m,
      approachRate: -0.593867 m/s,
      rangeRepo size: 4

2025-10-26T21:44:16.443Z,1761515056.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.346706 m,
      bearing: 141.636696 deg,
      lat: 36.779400 deg,
      lon: -121.859494 deg,
      deltaT: 2.022738 s,
      deltaX: -1.490499 m,
      approachRate: -0.736872 m/s,
      posRepo size: 4

2025-10-26T21:44:16.448Z,1761515056.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.35 m. 9.84 m.
2025-10-26T21:44:16.450Z,1761515056.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 8.570212 m,
      bearing: 148.584199 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 135.164772 deg,
      new cmd heading: 132.947672 deg.

2025-10-26T21:44:16.456Z,1761515056.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.320375 target range: 9.837205 and range: 8.40 m.
2025-10-26T21:44:16.589Z,1761515056.589 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.153063
2025-10-26T21:44:16.841Z,1761515056.841 [DAT](INFO): DAT read: Rx Time:21:44:15.6867 

2025-10-26T21:44:16.841Z,1761515056.841 [DAT](INFO): Rx dataTimestamp_ set to:1761515056.841094
2025-10-26T21:44:16.843Z,1761515056.843 [DAT](INFO): DAT read: Bearing 312.3, -29.0 (Local)

2025-10-26T21:44:16.843Z,1761515056.843 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.3, -29.0 (Local)

2025-10-26T21:44:16.845Z,1761515056.845 [DAT](INFO): DAT read: Range 11 to 50 :     8.4 m (trip time 5.6 ms) speed 0.4

2025-10-26T21:44:16.850Z,1761515056.850 [DAT](INFO): DAT read: 21:44:15.6867 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 500, 0.18,-2.435, 2.447,-1.908,-2.431, PHS= 0.097,-1.360, 0.479, RAW= 161.3,   9.4, CAL= 161.2,  10.0, ROT= 348.8, -10.0

2025-10-26T21:44:16.851Z,1761515056.851 [DAT](INFO): got valid direction response:
 21:44:15.6867 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 500, 0.18,-2.435, 2.447,-1.908,-2.431, PHS= 0.097,-1.360, 0.479, RAW= 161.3,   9.4, CAL= 161.2,  10.0, ROT= 348.8, -10.0

2025-10-26T21:44:16.851Z,1761515056.851 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-10-26T21:44:16.852Z,1761515056.852 [DAT](INFO): direction in FSK: [0.966052,-0.191284,0.173648]
2025-10-26T21:44:16.853Z,1761515056.853 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:16.856Z,1761515056.856 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.420996
2025-10-26T21:44:16.991Z,1761515056.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824486,-0.443854,-0.351023],[0.496043,-0.865403,-0.070843],[-0.272332,-0.232531,0.933683]]
2025-10-26T21:44:17.081Z,1761515057.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.400000 m,
      deltaT: 0.503850 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:17.083Z,1761515057.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.346706 m,
      bearing: 140.694847 deg,
      lat: 36.779404 deg,
      lon: -121.859493 deg,
      deltaT: 2.526588 s,
      deltaX: -1.490499 m,
      approachRate: -0.589925 m/s,
      posRepo size: 4

2025-10-26T21:44:17.088Z,1761515057.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.35 m. 9.84 m.
2025-10-26T21:44:17.090Z,1761515057.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 8.204099 m,
      bearing: 148.201160 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 132.947679 deg,
      new cmd heading: 130.907715 deg.

2025-10-26T21:44:17.093Z,1761515057.093 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.657049
2025-10-26T21:44:17.099Z,1761515057.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284771 target range: 9.837205 and range: 8.40 m.
2025-10-26T21:44:17.345Z,1761515057.345 [DAT](INFO): DAT read: Rx Time:21:44:16.1865 

2025-10-26T21:44:17.345Z,1761515057.345 [DAT](INFO): Rx dataTimestamp_ set to:1761515057.345161
2025-10-26T21:44:17.347Z,1761515057.347 [DAT](INFO): DAT read: Bearing 314.9, -31.8 (Local)

2025-10-26T21:44:17.347Z,1761515057.347 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.9, -31.8 (Local)

2025-10-26T21:44:17.350Z,1761515057.350 [DAT](INFO): DAT read: Range 11 to 50 :     8.1 m (trip time 5.4 ms) speed 0.4

2025-10-26T21:44:17.362Z,1761515057.362 [DAT](INFO): DAT read: 21:44:16.1865 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 498,-0.11,-0.796,-2.124,-0.263,-0.700, PHS= 0.006,-1.379, 0.392, RAW= 162.0,  12.1, CAL= 162.3,  13.8, ROT= 347.7, -13.8

2025-10-26T21:44:17.363Z,1761515057.363 [DAT](INFO): got valid direction response:
 21:44:16.1865 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 498,-0.11,-0.796,-2.124,-0.263,-0.700, PHS= 0.006,-1.379, 0.392, RAW= 162.0,  12.1, CAL= 162.3,  13.8, ROT= 347.7, -13.8

2025-10-26T21:44:17.364Z,1761515057.364 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-10-26T21:44:17.365Z,1761515057.365 [DAT](INFO): direction in FSK: [0.948843,-0.206881,0.238533]
2025-10-26T21:44:17.365Z,1761515057.365 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:17.369Z,1761515057.369 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.933355
2025-10-26T21:44:17.560Z,1761515057.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794529,-0.473432,-0.380245],[0.527757,-0.848104,-0.046809],[-0.300327,-0.237868,0.923700]]
2025-10-26T21:44:17.596Z,1761515057.596 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.160967
2025-10-26T21:44:17.635Z,1761515057.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.100000 m,
      deltaT: 0.504067 s,
      deltaX: -0.299999 m,
      approachRate: -0.595157 m/s,
      rangeRepo size: 4

2025-10-26T21:44:17.641Z,1761515057.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.048577 m,
      bearing: 138.307782 deg,
      lat: 36.779404 deg,
      lon: -121.859492 deg,
      deltaT: 3.030655 s,
      deltaX: -1.788628 m,
      approachRate: -0.590179 m/s,
      posRepo size: 4

2025-10-26T21:44:17.642Z,1761515057.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 9.84 m.
2025-10-26T21:44:17.653Z,1761515057.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 7.897047 m,
      bearing: 148.034219 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 130.907720 deg,
      new cmd heading: 129.141716 deg.

2025-10-26T21:44:17.654Z,1761515057.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.253948 target range: 9.837205 and range: 8.10 m.
2025-10-26T21:44:17.849Z,1761515057.849 [DAT](INFO): DAT read: Rx Time:21:44:16.6864 

2025-10-26T21:44:17.849Z,1761515057.849 [DAT](INFO): Rx dataTimestamp_ set to:1761515057.849191
2025-10-26T21:44:17.851Z,1761515057.851 [DAT](INFO): DAT read: Bearing 313.5, -32.3 (Local)

2025-10-26T21:44:17.851Z,1761515057.851 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.5, -32.3 (Local)

2025-10-26T21:44:17.853Z,1761515057.853 [DAT](INFO): DAT read: Range 11 to 50 :     8.0 m (trip time 5.3 ms) speed 0.4

2025-10-26T21:44:17.858Z,1761515057.858 [DAT](INFO): DAT read: 21:44:16.6864 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 497, 0.28, 2.044, 0.696, 2.559, 2.131, PHS= 0.015,-1.390, 0.384, RAW= 161.4,  12.2, CAL= 161.7,  13.8, ROT= 348.3, -13.8

2025-10-26T21:44:17.859Z,1761515057.859 [DAT](INFO): got valid direction response:
 21:44:16.6864 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 497, 0.28, 2.044, 0.696, 2.559, 2.131, PHS= 0.015,-1.390, 0.384, RAW= 161.4,  12.2, CAL= 161.7,  13.8, ROT= 348.3, -13.8

2025-10-26T21:44:17.859Z,1761515057.859 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-10-26T21:44:17.860Z,1761515057.860 [DAT](INFO): direction in FSK: [0.950957,-0.196934,0.238533]
2025-10-26T21:44:17.861Z,1761515057.861 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:17.871Z,1761515057.871 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.434877
2025-10-26T21:44:18.100Z,1761515058.100 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.664982
2025-10-26T21:44:18.124Z,1761515058.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778897,-0.488534,-0.393261],[0.543136,-0.838976,-0.033511],[-0.313565,-0.239696,0.918816]]
2025-10-26T21:44:18.163Z,1761515058.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.000000 m,
      deltaT: 0.504030 s,
      deltaX: -0.100000 m,
      approachRate: -0.198402 m/s,
      rangeRepo size: 4

2025-10-26T21:44:18.165Z,1761515058.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.949232 m,
      bearing: 137.618062 deg,
      lat: 36.779405 deg,
      lon: -121.859492 deg,
      deltaT: 3.534685 s,
      deltaX: -1.887973 m,
      approachRate: -0.534128 m/s,
      posRepo size: 4

2025-10-26T21:44:18.166Z,1761515058.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.95 m. 9.84 m.
2025-10-26T21:44:18.173Z,1761515058.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 7.593170 m,
      bearing: 147.907099 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 129.141720 deg,
      new cmd heading: 127.459122 deg.

2025-10-26T21:44:18.174Z,1761515058.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.224581 target range: 9.837205 and range: 8.00 m.
2025-10-26T21:44:18.353Z,1761515058.353 [DAT](INFO): DAT read: Rx Time:21:44:17.1862 

2025-10-26T21:44:18.354Z,1761515058.354 [DAT](INFO): Rx dataTimestamp_ set to:1761515058.353274
2025-10-26T21:44:18.355Z,1761515058.355 [DAT](INFO): DAT read: Bearing 312.2, -33.6 (Local)

2025-10-26T21:44:18.355Z,1761515058.355 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.2, -33.6 (Local)

2025-10-26T21:44:18.357Z,1761515058.357 [DAT](INFO): DAT read: Range 11 to 50 :     7.7 m (trip time 5.1 ms) speed 0.4

2025-10-26T21:44:18.362Z,1761515058.362 [DAT](INFO): DAT read: 21:44:17.1862 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 511,-0.18,-1.385,-2.737,-0.857,-1.287, PHS= 0.004,-1.406, 0.386, RAW= 161.7,  12.4, CAL= 162.0,  14.1, ROT= 348.0, -14.1

2025-10-26T21:44:18.363Z,1761515058.363 [DAT](INFO): got valid direction response:
 21:44:17.1862 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 511,-0.18,-1.385,-2.737,-0.857,-1.287, PHS= 0.004,-1.406, 0.386, RAW= 161.7,  12.4, CAL= 162.0,  14.1, ROT= 348.0, -14.1

2025-10-26T21:44:18.364Z,1761515058.364 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-10-26T21:44:18.364Z,1761515058.364 [DAT](INFO): direction in FSK: [0.948678,-0.201648,0.243615]
2025-10-26T21:44:18.365Z,1761515058.365 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:18.373Z,1761515058.373 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.937283
2025-10-26T21:44:18.572Z,1761515058.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763142,-0.504612,-0.403710],[0.557949,-0.829688,-0.017646],[-0.326049,-0.238716,0.914717]]
2025-10-26T21:44:18.594Z,1761515058.594 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:44:18.605Z,1761515058.605 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.169054
2025-10-26T21:44:18.621Z,1761515058.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.700000 m,
      deltaT: 0.504083 s,
      deltaX: -0.300000 m,
      approachRate: -0.595140 m/s,
      rangeRepo size: 4

2025-10-26T21:44:18.624Z,1761515058.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.651135 m,
      bearing: 136.145531 deg,
      lat: 36.779406 deg,
      lon: -121.859489 deg,
      deltaT: 4.038768 s,
      deltaX: -2.186069 m,
      approachRate: -0.541271 m/s,
      posRepo size: 4

2025-10-26T21:44:18.625Z,1761515058.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.65 m. 9.84 m.
2025-10-26T21:44:18.633Z,1761515058.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 7.326680 m,
      bearing: 147.919157 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 127.459116 deg,
      new cmd heading: 125.996213 deg.

2025-10-26T21:44:18.634Z,1761515058.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.199049 target range: 9.837205 and range: 7.70 m.
2025-10-26T21:44:18.857Z,1761515058.857 [DAT](INFO): DAT read: Rx Time:21:44:17.6860 

2025-10-26T21:44:18.858Z,1761515058.858 [DAT](INFO): Rx dataTimestamp_ set to:1761515058.857300
2025-10-26T21:44:18.859Z,1761515058.859 [DAT](INFO): DAT read: Bearing 308.9, -34.0 (Local)

2025-10-26T21:44:18.859Z,1761515058.859 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.9, -34.0 (Local)

2025-10-26T21:44:18.861Z,1761515058.861 [DAT](INFO): DAT read: Range 11 to 50 :     7.4 m (trip time 4.9 ms) speed 0.4

2025-10-26T21:44:18.866Z,1761515058.866 [DAT](INFO): DAT read: 21:44:17.6860 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 509, 0.10, 0.977,-0.424, 1.512, 1.041, PHS= 0.038,-1.420, 0.427, RAW= 161.5,  11.3, CAL= 161.7,  12.7, ROT= 348.3, -12.7

2025-10-26T21:44:18.867Z,1761515058.867 [DAT](INFO): got valid direction response:
 21:44:17.6860 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 509, 0.10, 0.977,-0.424, 1.512, 1.041, PHS= 0.038,-1.420, 0.427, RAW= 161.5,  11.3, CAL= 161.7,  12.7, ROT= 348.3, -12.7

2025-10-26T21:44:18.868Z,1761515058.868 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-10-26T21:44:18.868Z,1761515058.868 [DAT](INFO): direction in FSK: [0.955266,-0.197826,0.219846]
2025-10-26T21:44:18.869Z,1761515058.869 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:18.877Z,1761515058.877 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.441935
2025-10-26T21:44:19.108Z,1761515059.108 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.673014
2025-10-26T21:44:19.145Z,1761515059.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.400000 m,
      deltaT: 0.504026 s,
      deltaX: -0.300000 m,
      approachRate: -0.595207 m/s,
      rangeRepo size: 4

2025-10-26T21:44:19.148Z,1761515059.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.353126 m,
      bearing: 136.002251 deg,
      lat: 36.779406 deg,
      lon: -121.859487 deg,
      deltaT: 4.542794 s,
      deltaX: -2.484079 m,
      approachRate: -0.546818 m/s,
      posRepo size: 4

2025-10-26T21:44:19.149Z,1761515059.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.35 m. 9.84 m.
2025-10-26T21:44:19.151Z,1761515059.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 7.043561 m,
      bearing: 147.932968 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 125.996213 deg,
      new cmd heading: 124.325719 deg.

2025-10-26T21:44:19.153Z,1761515059.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.169893 target range: 9.837205 and range: 7.40 m.
2025-10-26T21:44:19.361Z,1761515059.361 [DAT](INFO): DAT read: Rx Time:21:44:18.1857 

2025-10-26T21:44:19.362Z,1761515059.362 [DAT](INFO): Rx dataTimestamp_ set to:1761515059.361243
2025-10-26T21:44:19.363Z,1761515059.363 [DAT](INFO): DAT read: Bearing 308.7, -35.3 (Local)

2025-10-26T21:44:19.363Z,1761515059.363 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.7, -35.3 (Local)

2025-10-26T21:44:19.365Z,1761515059.365 [DAT](INFO): DAT read: Range 11 to 50 :     6.9 m (trip time 4.6 ms) speed 0.4

2025-10-26T21:44:19.370Z,1761515059.370 [DAT](INFO): DAT read: 21:44:18.1857 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 506, 0.29, 1.706, 0.344, 2.234, 1.795, PHS= 0.012,-1.407, 0.394, RAW= 161.6,  12.1, CAL= 161.9,  13.8, ROT= 348.1, -13.8

2025-10-26T21:44:19.371Z,1761515059.371 [DAT](INFO): got valid direction response:
 21:44:18.1857 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 506, 0.29, 1.706, 0.344, 2.234, 1.795, PHS= 0.012,-1.407, 0.394, RAW= 161.6,  12.1, CAL= 161.9,  13.8, ROT= 348.1, -13.8

2025-10-26T21:44:19.371Z,1761515059.371 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-10-26T21:44:19.372Z,1761515059.372 [DAT](INFO): direction in FSK: [0.950264,-0.200252,0.238533]
2025-10-26T21:44:19.373Z,1761515059.373 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:19.377Z,1761515059.377 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.941549
2025-10-26T21:44:19.478Z,1761515059.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715112,-0.551531,-0.429451],[0.599868,-0.799608,0.028026],[-0.358849,-0.237572,0.902655]]
2025-10-26T21:44:19.581Z,1761515059.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.900000 m,
      deltaT: 0.503943 s,
      deltaX: -0.500000 m,
      approachRate: -0.992176 m/s,
      rangeRepo size: 4

2025-10-26T21:44:19.587Z,1761515059.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.856293 m,
      bearing: 132.345260 deg,
      lat: 36.779406 deg,
      lon: -121.859487 deg,
      deltaT: 5.046737 s,
      deltaX: -2.980912 m,
      approachRate: -0.590661 m/s,
      posRepo size: 4

2025-10-26T21:44:19.588Z,1761515059.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.86 m. 9.84 m.
2025-10-26T21:44:19.591Z,1761515059.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 6.825400 m,
      bearing: 148.065117 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 124.325712 deg,
      new cmd heading: 122.936312 deg.

2025-10-26T21:44:19.593Z,1761515059.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.145643 target range: 9.837205 and range: 6.90 m.
2025-10-26T21:44:19.596Z,1761515059.596 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:44:19.612Z,1761515059.612 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.177034
2025-10-26T21:44:19.866Z,1761515059.866 [DAT](INFO): DAT read: Rx Time:21:44:18.6856 

2025-10-26T21:44:19.867Z,1761515059.867 [DAT](INFO): Rx dataTimestamp_ set to:1761515059.866086
2025-10-26T21:44:19.868Z,1761515059.868 [DAT](INFO): DAT read: Bearing 304.0, -35.4 (Local)

2025-10-26T21:44:19.868Z,1761515059.868 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.0, -35.4 (Local)

2025-10-26T21:44:19.870Z,1761515059.870 [DAT](INFO): DAT read: Range 11 to 50 :     6.8 m (trip time 4.5 ms) speed 0.4

2025-10-26T21:44:19.875Z,1761515059.875 [DAT](INFO): DAT read: 21:44:18.6856 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 506,-0.35, 1.425,-0.029, 1.985, 1.460, PHS= 0.067,-1.444, 0.481, RAW= 161.8,  10.2, CAL= 161.8,  11.2, ROT= 348.2, -11.2

2025-10-26T21:44:19.876Z,1761515059.876 [DAT](INFO): got valid direction response:
 21:44:18.6856 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 506,-0.35, 1.425,-0.029, 1.985, 1.460, PHS= 0.067,-1.444, 0.481, RAW= 161.8,  10.2, CAL= 161.8,  11.2, ROT= 348.2, -11.2

2025-10-26T21:44:19.877Z,1761515059.877 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-10-26T21:44:19.878Z,1761515059.878 [DAT](INFO): direction in FSK: [0.960225,-0.200601,0.194234]
2025-10-26T21:44:19.878Z,1761515059.878 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:19.906Z,1761515059.906 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.470201
2025-10-26T21:44:19.988Z,1761515059.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699399,-0.566405,-0.435921],[0.613288,-0.788798,0.040939],[-0.367041,-0.238712,0.899054]]
2025-10-26T21:44:20.063Z,1761515060.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.800000 m,
      deltaT: 0.504843 s,
      deltaX: -0.100000 m,
      approachRate: -0.198081 m/s,
      rangeRepo size: 4

2025-10-26T21:44:20.069Z,1761515060.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.756927 m,
      bearing: 130.400262 deg,
      lat: 36.779406 deg,
      lon: -121.859486 deg,
      deltaT: 5.551580 s,
      deltaX: -3.080278 m,
      approachRate: -0.554847 m/s,
      posRepo size: 4

2025-10-26T21:44:20.070Z,1761515060.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.76 m. 9.84 m.
2025-10-26T21:44:20.076Z,1761515060.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 6.534320 m,
      bearing: 148.345886 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 122.936315 deg,
      new cmd heading: 121.402161 deg.

2025-10-26T21:44:20.077Z,1761515060.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.118867 target range: 9.837205 and range: 6.80 m.
2025-10-26T21:44:20.118Z,1761515060.118 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.682997
2025-10-26T21:44:20.370Z,1761515060.370 [DAT](INFO): DAT read: Rx Time:21:44:19.1854 

2025-10-26T21:44:20.370Z,1761515060.370 [DAT](INFO): Rx dataTimestamp_ set to:1761515060.370213
2025-10-26T21:44:20.373Z,1761515060.373 [DAT](INFO): DAT read: Bearing 302.5, -35.1 (Local)

2025-10-26T21:44:20.373Z,1761515060.373 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.5, -35.1 (Local)

2025-10-26T21:44:20.376Z,1761515060.376 [DAT](INFO): DAT read: Range 11 to 50 :     6.5 m (trip time 4.3 ms) speed 0.6

2025-10-26T21:44:20.381Z,1761515060.381 [DAT](INFO): DAT read: 21:44:19.1854 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 503,-0.20, 1.879, 0.413, 2.405, 1.895, PHS= 0.087,-1.436, 0.467, RAW= 160.9,  10.1, CAL= 160.9,  11.0, ROT= 349.1, -11.0

2025-10-26T21:44:20.382Z,1761515060.382 [DAT](INFO): got valid direction response:
 21:44:19.1854 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 503,-0.20, 1.879, 0.413, 2.405, 1.895, PHS= 0.087,-1.436, 0.467, RAW= 160.9,  10.1, CAL= 160.9,  11.0, ROT= 349.1, -11.0

2025-10-26T21:44:20.383Z,1761515060.383 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-10-26T21:44:20.384Z,1761515060.384 [DAT](INFO): direction in FSK: [0.963917,-0.185621,0.190809]
2025-10-26T21:44:20.385Z,1761515060.385 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:20.389Z,1761515060.389 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.953051
2025-10-26T21:44:20.474Z,1761515060.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684942,-0.581684,-0.438746],[0.626495,-0.777626,0.052924],[-0.371965,-0.238623,0.897051]]
2025-10-26T21:44:20.565Z,1761515060.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.500000 m,
      deltaT: 0.504127 s,
      deltaX: -0.300000 m,
      approachRate: -0.595089 m/s,
      rangeRepo size: 4

2025-10-26T21:44:20.581Z,1761515060.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.458919 m,
      bearing: 129.984700 deg,
      lat: 36.779410 deg,
      lon: -121.859486 deg,
      deltaT: 6.055707 s,
      deltaX: -3.378286 m,
      approachRate: -0.557868 m/s,
      posRepo size: 4

2025-10-26T21:44:20.589Z,1761515060.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.46 m. 9.84 m.
2025-10-26T21:44:20.604Z,1761515060.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 6.278012 m,
      bearing: 148.664467 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 121.402159 deg,
      new cmd heading: 119.837871 deg.

2025-10-26T21:44:20.605Z,1761515060.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.091565 target range: 9.837205 and range: 6.50 m.
2025-10-26T21:44:20.620Z,1761515060.620 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.185013
2025-10-26T21:44:20.874Z,1761515060.874 [DAT](INFO): DAT read: Rx Time:21:44:19.6853 

2025-10-26T21:44:20.875Z,1761515060.875 [DAT](INFO): Rx dataTimestamp_ set to:1761515060.874322
2025-10-26T21:44:20.877Z,1761515060.877 [DAT](INFO): DAT read: Bearing 298.5, -34.7 (Local)

2025-10-26T21:44:20.877Z,1761515060.877 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.5, -34.7 (Local)

2025-10-26T21:44:20.879Z,1761515060.879 [DAT](INFO): DAT read: Range 11 to 50 :     6.3 m (trip time 4.2 ms) speed 0.5

2025-10-26T21:44:20.884Z,1761515060.884 [DAT](INFO): DAT read: 21:44:19.6853 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 502, 0.02,-2.564, 2.224,-2.031,-2.599, PHS= 0.138,-1.415, 0.525, RAW= 160.9,   8.5, CAL= 160.6,   8.8, ROT= 349.4,  -8.8

2025-10-26T21:44:20.885Z,1761515060.885 [DAT](INFO): got valid direction response:
 21:44:19.6853 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 502, 0.02,-2.564, 2.224,-2.031,-2.599, PHS= 0.138,-1.415, 0.525, RAW= 160.9,   8.5, CAL= 160.6,   8.8, ROT= 349.4,  -8.8

2025-10-26T21:44:20.886Z,1761515060.886 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-10-26T21:44:20.887Z,1761515060.887 [DAT](INFO): direction in FSK: [0.971365,-0.181786,0.152986]
2025-10-26T21:44:20.887Z,1761515060.887 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:20.890Z,1761515060.890 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.454916
2025-10-26T21:44:21.071Z,1761515061.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659473,-0.608045,-0.442015],[0.653886,-0.754070,0.061737],[-0.370849,-0.248313,0.894881]]
2025-10-26T21:44:21.124Z,1761515061.124 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.688787
2025-10-26T21:44:21.138Z,1761515061.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.300000 m,
      deltaT: 0.504109 s,
      deltaX: -0.200000 m,
      approachRate: -0.396739 m/s,
      rangeRepo size: 4

2025-10-26T21:44:21.144Z,1761515061.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.260261 m,
      bearing: 127.401496 deg,
      lat: 36.779410 deg,
      lon: -121.859484 deg,
      deltaT: 6.559816 s,
      deltaX: -3.576944 m,
      approachRate: -0.545281 m/s,
      posRepo size: 4

2025-10-26T21:44:21.145Z,1761515061.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.26 m. 9.84 m.
2025-10-26T21:44:21.152Z,1761515061.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 6.043795 m,
      bearing: 148.887479 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 119.837868 deg,
      new cmd heading: 117.975317 deg.

2025-10-26T21:44:21.153Z,1761515061.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.059058 target range: 9.837205 and range: 6.30 m.
2025-10-26T21:44:21.377Z,1761515061.377 [DAT](INFO): DAT read: Rx Time:21:44:20.1850 

2025-10-26T21:44:21.378Z,1761515061.378 [DAT](INFO): Rx dataTimestamp_ set to:1761515061.377387
2025-10-26T21:44:21.379Z,1761515061.379 [DAT](INFO): DAT read: Bearing 297.3, -34.1 (Local)

2025-10-26T21:44:21.379Z,1761515061.379 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.3, -34.1 (Local)

2025-10-26T21:44:21.381Z,1761515061.381 [DAT](INFO): DAT read: Range 11 to 50 :     6.0 m (trip time 4.0 ms) speed 0.4

2025-10-26T21:44:21.386Z,1761515061.386 [DAT](INFO): DAT read: 21:44:20.1850 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 499, 0.20, 2.968, 1.454,-2.801, 2.924, PHS= 0.146,-1.425, 0.514, RAW= 160.3,   8.6, CAL= 160.0,   9.0, ROT= 350.0,  -9.0

2025-10-26T21:44:21.387Z,1761515061.387 [DAT](INFO): got valid direction response:
 21:44:20.1850 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 499, 0.20, 2.968, 1.454,-2.801, 2.924, PHS= 0.146,-1.425, 0.514, RAW= 160.3,   8.6, CAL= 160.0,   9.0, ROT= 350.0,  -9.0

2025-10-26T21:44:21.388Z,1761515061.388 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-10-26T21:44:21.389Z,1761515061.389 [DAT](INFO): direction in FSK: [0.972683,-0.171510,0.156434]
2025-10-26T21:44:21.389Z,1761515061.389 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:21.392Z,1761515061.392 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.956951
2025-10-26T21:44:21.527Z,1761515061.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648530,-0.622445,-0.438144],[0.668043,-0.741335,0.064350],[-0.364866,-0.250966,0.896599]]
2025-10-26T21:44:21.626Z,1761515061.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.000000 m,
      deltaT: 0.503065 s,
      deltaX: -0.300000 m,
      approachRate: -0.596345 m/s,
      rangeRepo size: 4

2025-10-26T21:44:21.629Z,1761515061.629 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.193104
2025-10-26T21:44:21.632Z,1761515061.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.962153 m,
      bearing: 126.978978 deg,
      lat: 36.779411 deg,
      lon: -121.859483 deg,
      deltaT: 7.062881 s,
      deltaX: -3.875052 m,
      approachRate: -0.548650 m/s,
      posRepo size: 4

2025-10-26T21:44:21.633Z,1761515061.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.96 m. 9.84 m.
2025-10-26T21:44:21.640Z,1761515061.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 5.849680 m,
      bearing: 149.123877 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 117.975317 deg,
      new cmd heading: 116.419514 deg.

2025-10-26T21:44:21.641Z,1761515061.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.031904 target range: 9.837205 and range: 6.00 m.
2025-10-26T21:44:21.882Z,1761515061.882 [DAT](INFO): DAT read: Rx Time:21:44:20.6849 

2025-10-26T21:44:21.882Z,1761515061.882 [DAT](INFO): Rx dataTimestamp_ set to:1761515061.881840
2025-10-26T21:44:21.884Z,1761515061.884 [DAT](INFO): DAT read: Bearing 294.0, -33.2 (Local)

2025-10-26T21:44:21.884Z,1761515061.884 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.0, -33.2 (Local)

2025-10-26T21:44:21.886Z,1761515061.886 [DAT](INFO): DAT read: Range 11 to 50 :     5.9 m (trip time 3.9 ms) speed 0.4

2025-10-26T21:44:21.890Z,1761515061.890 [DAT](INFO): DAT read: 21:44:20.6849 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 498,-0.41, 0.572,-0.959, 1.097, 0.492, PHS= 0.183,-1.406, 0.561, RAW= 160.4,   7.4, CAL= 159.9,   7.4, ROT= 350.1,  -7.4

2025-10-26T21:44:21.892Z,1761515061.892 [DAT](INFO): got valid direction response:
 21:44:20.6849 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 498,-0.41, 0.572,-0.959, 1.097, 0.492, PHS= 0.183,-1.406, 0.561, RAW= 160.4,   7.4, CAL= 159.9,   7.4, ROT= 350.1,  -7.4

2025-10-26T21:44:21.892Z,1761515061.892 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-10-26T21:44:21.893Z,1761515061.893 [DAT](INFO): direction in FSK: [0.976905,-0.170497,0.128796]
2025-10-26T21:44:21.893Z,1761515061.893 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:21.907Z,1761515061.907 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.471407
2025-10-26T21:44:22.111Z,1761515062.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638205,-0.637592,-0.431475],[0.682534,-0.727866,0.066017],[-0.356148,-0.252364,0.899706]]
2025-10-26T21:44:22.132Z,1761515062.132 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.696987
2025-10-26T21:44:22.188Z,1761515062.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.900000 m,
      deltaT: 0.504453 s,
      deltaX: -0.100000 m,
      approachRate: -0.198234 m/s,
      rangeRepo size: 4

2025-10-26T21:44:22.190Z,1761515062.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.863133 m,
      bearing: 125.506821 deg,
      lat: 36.779412 deg,
      lon: -121.859483 deg,
      deltaT: 7.567334 s,
      deltaX: -3.974072 m,
      approachRate: -0.525161 m/s,
      posRepo size: 4

2025-10-26T21:44:22.195Z,1761515062.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.86 m. 9.84 m.
2025-10-26T21:44:22.198Z,1761515062.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 5.583403 m,
      bearing: 149.684084 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 116.419509 deg,
      new cmd heading: 114.702787 deg.

2025-10-26T21:44:22.199Z,1761515062.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.001941 target range: 9.837205 and range: 5.90 m.
2025-10-26T21:44:22.386Z,1761515062.386 [DAT](INFO): DAT read: Rx Time:21:44:21.1846 

2025-10-26T21:44:22.387Z,1761515062.387 [DAT](INFO): Rx dataTimestamp_ set to:1761515062.386260
2025-10-26T21:44:22.389Z,1761515062.389 [DAT](INFO): DAT read: Bearing 292.1, -32.0 (Local)

2025-10-26T21:44:22.389Z,1761515062.389 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.1, -32.0 (Local)

2025-10-26T21:44:22.394Z,1761515062.394 [DAT](INFO): DAT read: Range 11 to 50 :     5.4 m (trip time 3.6 ms) speed 0.6

2025-10-26T21:44:22.401Z,1761515062.401 [DAT](INFO): DAT read: 21:44:21.1846 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 495,-0.14,-0.903,-2.417,-0.392,-0.999, PHS= 0.198,-1.373, 0.563, RAW= 160.2,   6.9, CAL= 159.6,   6.8, ROT= 350.4,  -6.8

2025-10-26T21:44:22.403Z,1761515062.403 [DAT](INFO): got valid direction response:
 21:44:21.1846 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 495,-0.14,-0.903,-2.417,-0.392,-0.999, PHS= 0.198,-1.373, 0.563, RAW= 160.2,   6.9, CAL= 159.6,   6.8, ROT= 350.4,  -6.8

2025-10-26T21:44:22.404Z,1761515062.404 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-26T21:44:22.406Z,1761515062.406 [DAT](INFO): direction in FSK: [0.979060,-0.165596,0.118404]
2025-10-26T21:44:22.406Z,1761515062.406 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:22.412Z,1761515062.412 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.976521
2025-10-26T21:44:22.638Z,1761515062.638 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.202463
2025-10-26T21:44:22.698Z,1761515062.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619190,-0.660654,-0.424428],[0.711762,-0.700493,0.051994],[-0.331659,-0.269898,0.903968]]
2025-10-26T21:44:22.822Z,1761515062.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.400000 m,
      deltaT: 0.504420 s,
      deltaX: -0.500000 m,
      approachRate: -0.991237 m/s,
      rangeRepo size: 4

2025-10-26T21:44:22.829Z,1761515062.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.366257 m,
      bearing: 123.741759 deg,
      lat: 36.779413 deg,
      lon: -121.859483 deg,
      deltaT: 8.071754 s,
      deltaX: -4.470948 m,
      approachRate: -0.553900 m/s,
      posRepo size: 4

2025-10-26T21:44:22.830Z,1761515062.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.37 m. 9.84 m.
2025-10-26T21:44:22.836Z,1761515062.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 5.309563 m,
      bearing: 150.154680 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 114.702782 deg,
      new cmd heading: 112.604311 deg.

2025-10-26T21:44:22.837Z,1761515062.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.965316 target range: 9.837205 and range: 5.40 m.
2025-10-26T21:44:22.889Z,1761515062.889 [DAT](INFO): DAT read: Rx Time:21:44:21.6845 

2025-10-26T21:44:22.890Z,1761515062.890 [DAT](INFO): Rx dataTimestamp_ set to:1761515062.889264
2025-10-26T21:44:22.891Z,1761515062.891 [DAT](INFO): DAT read: Bearing 290.2, -29.9 (Local)

2025-10-26T21:44:22.891Z,1761515062.891 [DAT](INFO): Local bearing/azimuth received:
 Bearing 290.2, -29.9 (Local)

2025-10-26T21:44:22.893Z,1761515062.893 [DAT](INFO): DAT read: Range 11 to 50 :     5.3 m (trip time 3.5 ms) speed 0.4

2025-10-26T21:44:22.898Z,1761515062.898 [DAT](INFO): DAT read: 21:44:21.6845 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 510, 0.07, 1.067,-0.453, 1.543, 0.939, PHS= 0.230,-1.346, 0.560, RAW= 159.3,   6.4, CAL= 158.6,   6.1, ROT= 351.4,  -6.1

2025-10-26T21:44:22.899Z,1761515062.899 [DAT](INFO): got valid direction response:
 21:44:21.6845 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 510, 0.07, 1.067,-0.453, 1.543, 0.939, PHS= 0.230,-1.346, 0.560, RAW= 159.3,   6.4, CAL= 158.6,   6.1, ROT= 351.4,  -6.1

2025-10-26T21:44:22.899Z,1761515062.899 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-10-26T21:44:22.900Z,1761515062.900 [DAT](INFO): direction in FSK: [0.983158,-0.148689,0.106264]
2025-10-26T21:44:22.901Z,1761515062.901 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:22.905Z,1761515062.905 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.469084
2025-10-26T21:44:23.140Z,1761515063.140 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.704967
2025-10-26T21:44:23.240Z,1761515063.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609916,-0.673277,-0.417972],[0.726535,-0.685697,0.044354],[-0.316464,-0.276619,0.907376]]
2025-10-26T21:44:23.322Z,1761515063.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.300000 m,
      deltaT: 0.503004 s,
      deltaX: -0.100000 m,
      approachRate: -0.198805 m/s,
      rangeRepo size: 4

2025-10-26T21:44:23.329Z,1761515063.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.266845 m,
      bearing: 123.527357 deg,
      lat: 36.779413 deg,
      lon: -121.859482 deg,
      deltaT: 8.574758 s,
      deltaX: -4.570360 m,
      approachRate: -0.533002 m/s,
      posRepo size: 4

2025-10-26T21:44:23.330Z,1761515063.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.27 m. 9.84 m.
2025-10-26T21:44:23.337Z,1761515063.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 5.087269 m,
      bearing: 150.625395 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 112.604309 deg,
      new cmd heading: 111.011165 deg.

2025-10-26T21:44:23.338Z,1761515063.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.937510 target range: 9.837205 and range: 5.30 m.
2025-10-26T21:44:23.394Z,1761515063.394 [DAT](INFO): DAT read: Rx Time:21:44:22.1843 

2025-10-26T21:44:23.395Z,1761515063.395 [DAT](INFO): Rx dataTimestamp_ set to:1761515063.394236
2025-10-26T21:44:23.397Z,1761515063.397 [DAT](INFO): DAT read: Bearing 287.6, -27.8 (Local)

2025-10-26T21:44:23.397Z,1761515063.397 [DAT](INFO): Local bearing/azimuth received:
 Bearing 287.6, -27.8 (Local)

2025-10-26T21:44:23.400Z,1761515063.400 [DAT](INFO): DAT read: Range 11 to 50 :     5.0 m (trip time 3.3 ms) speed 0.4

2025-10-26T21:44:23.407Z,1761515063.407 [DAT](INFO): DAT read: 21:44:22.1843 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 507, 0.43,-0.040,-1.562, 0.416,-0.210, PHS= 0.272,-1.307, 0.581, RAW= 158.8,   5.2, CAL= 157.9,   4.7, ROT= 352.1,  -4.7

2025-10-26T21:44:23.413Z,1761515063.413 [DAT](INFO): got valid direction response:
 21:44:22.1843 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 507, 0.43,-0.040,-1.562, 0.416,-0.210, PHS= 0.272,-1.307, 0.581, RAW= 158.8,   5.2, CAL= 157.9,   4.7, ROT= 352.1,  -4.7

2025-10-26T21:44:23.413Z,1761515063.413 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-10-26T21:44:23.414Z,1761515063.414 [DAT](INFO): direction in FSK: [0.987179,-0.136982,0.081939]
2025-10-26T21:44:23.414Z,1761515063.414 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:23.442Z,1761515063.442 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.006535
2025-10-26T21:44:23.645Z,1761515063.645 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.209332
2025-10-26T21:44:23.660Z,1761515063.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600723,-0.687113,-0.408665],[0.741064,-0.670370,0.037795],[-0.299926,-0.280143,0.911901]]
2025-10-26T21:44:23.816Z,1761515063.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.000000 m,
      deltaT: 0.504972 s,
      deltaX: -0.300000 m,
      approachRate: -0.594093 m/s,
      rangeRepo size: 4

2025-10-26T21:44:23.818Z,1761515063.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.968721 m,
      bearing: 122.787667 deg,
      lat: 36.779414 deg,
      lon: -121.859483 deg,
      deltaT: 9.079730 s,
      deltaX: -4.868484 m,
      approachRate: -0.536193 m/s,
      posRepo size: 4

2025-10-26T21:44:23.823Z,1761515063.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.97 m. 9.84 m.
2025-10-26T21:44:23.826Z,1761515063.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 4.892967 m,
      bearing: 151.062854 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 111.011167 deg,
      new cmd heading: 109.449737 deg.

2025-10-26T21:44:23.827Z,1761515063.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.910258 target range: 9.837205 and range: 5.00 m.
2025-10-26T21:44:23.898Z,1761515063.898 [DAT](INFO): DAT read: Rx Time:21:44:22.6842 

2025-10-26T21:44:23.898Z,1761515063.898 [DAT](INFO): Rx dataTimestamp_ set to:1761515063.897906
2025-10-26T21:44:23.900Z,1761515063.900 [DAT](INFO): DAT read: Bearing 286.6, -25.3 (Local)

2025-10-26T21:44:23.901Z,1761515063.901 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.6, -25.3 (Local)

2025-10-26T21:44:23.904Z,1761515063.904 [DAT](INFO): DAT read: Range 11 to 50 :     4.8 m (trip time 3.2 ms) speed 0.4

2025-10-26T21:44:23.910Z,1761515063.910 [DAT](INFO): DAT read: 21:44:22.6842 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 507,-0.12,-0.750,-2.285,-0.339,-0.946, PHS= 0.298,-1.294, 0.563, RAW= 157.6,   5.0, CAL= 156.7,   4.6, ROT= 353.3,  -4.6

2025-10-26T21:44:23.912Z,1761515063.912 [DAT](INFO): got valid direction response:
 21:44:22.6842 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 507,-0.12,-0.750,-2.285,-0.339,-0.946, PHS= 0.298,-1.294, 0.563, RAW= 157.6,   5.0, CAL= 156.7,   4.6, ROT= 353.3,  -4.6

2025-10-26T21:44:23.913Z,1761515063.913 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-10-26T21:44:23.914Z,1761515063.914 [DAT](INFO): direction in FSK: [0.989971,-0.116295,0.080199]
2025-10-26T21:44:23.915Z,1761515063.915 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:23.958Z,1761515063.958 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.521978
2025-10-26T21:44:24.136Z,1761515064.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590960,-0.702385,-0.396764],[0.755641,-0.654175,0.032584],[-0.282439,-0.280556,0.917342]]
2025-10-26T21:44:24.148Z,1761515064.148 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.713011
2025-10-26T21:44:24.182Z,1761515064.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 0.503670 s,
      deltaX: -0.200000 m,
      approachRate: -0.397085 m/s,
      rangeRepo size: 4

2025-10-26T21:44:24.189Z,1761515064.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.770030 m,
      bearing: 122.915569 deg,
      lat: 36.779414 deg,
      lon: -121.859483 deg,
      deltaT: 9.583400 s,
      deltaX: -5.067175 m,
      approachRate: -0.528745 m/s,
      posRepo size: 4

2025-10-26T21:44:24.190Z,1761515064.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.77 m. 9.84 m.
2025-10-26T21:44:24.196Z,1761515064.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 4.725774 m,
      bearing: 151.508482 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 109.449738 deg,
      new cmd heading: 108.269089 deg.

2025-10-26T21:44:24.197Z,1761515064.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.889652 target range: 9.837205 and range: 4.80 m.
2025-10-26T21:44:24.401Z,1761515064.401 [DAT](INFO): DAT read: Rx Time:21:44:23.1840 

2025-10-26T21:44:24.402Z,1761515064.402 [DAT](INFO): Rx dataTimestamp_ set to:1761515064.401419
2025-10-26T21:44:24.403Z,1761515064.403 [DAT](INFO): DAT read: Bearing 283.1, -21.2 (Local)

2025-10-26T21:44:24.404Z,1761515064.404 [DAT](INFO): Local bearing/azimuth received:
 Bearing 283.1, -21.2 (Local)

2025-10-26T21:44:24.406Z,1761515064.406 [DAT](INFO): DAT read: Range 11 to 50 :     4.5 m (trip time 3.0 ms) speed 0.4

2025-10-26T21:44:24.410Z,1761515064.410 [DAT](INFO): DAT read: 21:44:23.1840 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 504, 0.33,-0.521,-2.103,-0.164,-0.821, PHS= 0.401,-1.238, 0.612, RAW= 156.0,   2.6, CAL= 154.8,   1.7, ROT= 355.2,  -1.7

2025-10-26T21:44:24.412Z,1761515064.412 [DAT](INFO): got valid direction response:
 21:44:23.1840 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 504, 0.33,-0.521,-2.103,-0.164,-0.821, PHS= 0.401,-1.238, 0.612, RAW= 156.0,   2.6, CAL= 154.8,   1.7, ROT= 355.2,  -1.7

2025-10-26T21:44:24.412Z,1761515064.412 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-10-26T21:44:24.413Z,1761515064.413 [DAT](INFO): direction in FSK: [0.996054,-0.083641,0.029666]
2025-10-26T21:44:24.413Z,1761515064.413 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:24.417Z,1761515064.417 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.981527
2025-10-26T21:44:24.656Z,1761515064.656 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.220081
2025-10-26T21:44:24.679Z,1761515064.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.500000 m,
      deltaT: 0.503513 s,
      deltaX: -0.300000 m,
      approachRate: -0.595814 m/s,
      rangeRepo size: 4

2025-10-26T21:44:24.685Z,1761515064.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.471902 m,
      bearing: 123.825098 deg,
      lat: 36.779414 deg,
      lon: -121.859483 deg,
      deltaT: 10.086913 s,
      deltaX: -5.365303 m,
      approachRate: -0.531907 m/s,
      posRepo size: 4

2025-10-26T21:44:24.686Z,1761515064.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.47 m. 9.84 m.
2025-10-26T21:44:24.693Z,1761515064.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 4.537110 m,
      bearing: 152.051848 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 108.269092 deg,
      new cmd heading: 106.686823 deg.

2025-10-26T21:44:24.693Z,1761515064.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.862036 target range: 9.837205 and range: 4.50 m.
2025-10-26T21:44:24.905Z,1761515064.905 [DAT](INFO): DAT read: Rx Time:21:44:23.6839 

2025-10-26T21:44:24.906Z,1761515064.906 [DAT](INFO): Rx dataTimestamp_ set to:1761515064.905664
2025-10-26T21:44:24.908Z,1761515064.908 [DAT](INFO): DAT read: Bearing 282.7, -18.4 (Local)

2025-10-26T21:44:24.909Z,1761515064.909 [DAT](INFO): Local bearing/azimuth received:
 Bearing 282.7, -18.4 (Local)

2025-10-26T21:44:24.912Z,1761515064.912 [DAT](INFO): DAT read: Range 11 to 50 :     4.4 m (trip time 2.9 ms) speed 0.3

2025-10-26T21:44:24.918Z,1761515064.918 [DAT](INFO): DAT read: 21:44:23.6839 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 504,-0.06,-0.247,-1.845, 0.053,-0.570, PHS= 0.426,-1.230, 0.579, RAW= 154.4,   2.6, CAL= 153.2,   2.0, ROT= 356.8,  -2.0

2025-10-26T21:44:24.920Z,1761515064.920 [DAT](INFO): got valid direction response:
 21:44:23.6839 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 504,-0.06,-0.247,-1.845, 0.053,-0.570, PHS= 0.426,-1.230, 0.579, RAW= 154.4,   2.6, CAL= 153.2,   2.0, ROT= 356.8,  -2.0

2025-10-26T21:44:24.920Z,1761515064.920 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-10-26T21:44:24.921Z,1761515064.921 [DAT](INFO): direction in FSK: [0.997833,-0.055788,0.034899]
2025-10-26T21:44:24.921Z,1761515064.921 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:24.927Z,1761515064.927 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.491251
2025-10-26T21:44:25.122Z,1761515065.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558030,-0.753059,-0.348575],[0.798272,-0.601882,0.022358],[-0.226638,-0.265782,0.937014]]
2025-10-26T21:44:25.156Z,1761515065.156 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.720926
2025-10-26T21:44:25.193Z,1761515065.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.400000 m,
      deltaT: 0.504245 s,
      deltaX: -0.100000 m,
      approachRate: -0.198316 m/s,
      rangeRepo size: 4

2025-10-26T21:44:25.195Z,1761515065.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.372641 m,
      bearing: 122.383704 deg,
      lat: 36.779414 deg,
      lon: -121.859483 deg,
      deltaT: 10.591158 s,
      deltaX: -5.464564 m,
      approachRate: -0.515955 m/s,
      posRepo size: 4

2025-10-26T21:44:25.196Z,1761515065.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.37 m. 9.84 m.
2025-10-26T21:44:25.198Z,1761515065.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 4.300552 m,
      bearing: 153.047348 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 106.686824 deg,
      new cmd heading: 105.048086 deg.

2025-10-26T21:44:25.200Z,1761515065.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.833435 target range: 9.837205 and range: 4.40 m.
2025-10-26T21:44:25.409Z,1761515065.409 [DAT](INFO): DAT read: Rx Time:21:44:24.1837 

2025-10-26T21:44:25.409Z,1761515065.409 [DAT](INFO): Rx dataTimestamp_ set to:1761515065.409198
2025-10-26T21:44:25.411Z,1761515065.411 [DAT](INFO): DAT read: Bearing 288.2, -17.9 (Local)

2025-10-26T21:44:25.411Z,1761515065.411 [DAT](INFO): Local bearing/azimuth received:
 Bearing 288.2, -17.9 (Local)

2025-10-26T21:44:25.413Z,1761515065.413 [DAT](INFO): DAT read: Range 11 to 50 :     4.1 m (trip time 2.7 ms) speed 0.4

2025-10-26T21:44:25.418Z,1761515065.418 [DAT](INFO): DAT read: 21:44:24.1837 LVL= 32752, 32753, 32754, 32755, AGC= 44, IDX= 501, 0.44, 2.490, 0.991, 2.733, 2.316, PHS= 0.276,-1.280, 0.373, RAW= 153.0,   7.9, CAL= 152.5,   8.4, ROT= 357.5,  -8.4

2025-10-26T21:44:25.419Z,1761515065.419 [DAT](INFO): got valid direction response:
 21:44:24.1837 LVL= 32752, 32753, 32754, 32755, AGC= 44, IDX= 501, 0.44, 2.490, 0.991, 2.733, 2.316, PHS= 0.276,-1.280, 0.373, RAW= 153.0,   7.9, CAL= 152.5,   8.4, ROT= 357.5,  -8.4

2025-10-26T21:44:25.419Z,1761515065.419 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-10-26T21:44:25.420Z,1761515065.420 [DAT](INFO): direction in FSK: [0.988331,-0.043152,0.146083]
2025-10-26T21:44:25.420Z,1761515065.420 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:25.424Z,1761515065.424 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.988974
2025-10-26T21:44:25.562Z,1761515065.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546056,-0.767564,-0.335661],[0.811672,-0.583926,0.014841],[-0.207393,-0.264343,0.941866]]
2025-10-26T21:44:25.662Z,1761515065.662 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.226089
2025-10-26T21:44:25.668Z,1761515065.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.503534 s,
      deltaX: -0.300000 m,
      approachRate: -0.595789 m/s,
      rangeRepo size: 4

2025-10-26T21:44:25.670Z,1761515065.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.074506 m,
      bearing: 123.811995 deg,
      lat: 36.779414 deg,
      lon: -121.859483 deg,
      deltaT: 11.094692 s,
      deltaX: -5.762699 m,
      approachRate: -0.519410 m/s,
      posRepo size: 4

2025-10-26T21:44:25.675Z,1761515065.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.07 m. 9.84 m.
2025-10-26T21:44:25.678Z,1761515065.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 4.132014 m,
      bearing: 153.879383 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 105.048084 deg,
      new cmd heading: 103.545237 deg.

2025-10-26T21:44:25.679Z,1761515065.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.807205 target range: 9.837205 and range: 4.10 m.
2025-10-26T21:44:25.920Z,1761515065.920 [DAT](INFO): DAT read: Rx Time:21:44:24.6836 

2025-10-26T21:44:25.921Z,1761515065.921 [DAT](INFO): Rx dataTimestamp_ set to:1761515065.920249
2025-10-26T21:44:25.922Z,1761515065.922 [DAT](INFO): DAT read: Bearing 285.4, -14.1 (Local)

2025-10-26T21:44:25.922Z,1761515065.922 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.4, -14.1 (Local)

2025-10-26T21:44:25.925Z,1761515065.925 [DAT](INFO): DAT read: Range 11 to 50 :     3.9 m (trip time 2.6 ms) speed 0.4

2025-10-26T21:44:25.991Z,1761515065.991 [DAT](INFO): DAT read: 21:44:24.6836 LVL= 32752, 32753, 32754, 32755, AGC= 40, IDX= 500, 0.45,-1.103,-2.674,-0.911,-1.363, PHS= 0.362,-1.266, 0.408, RAW= 151.4,   6.1, CAL= 150.7,   6.3, ROT= 359.3,  -6.3

2025-10-26T21:44:26.010Z,1761515066.010 [DAT](INFO): got valid direction response:
 21:44:24.6836 LVL= 32752, 32753, 32754, 32755, AGC= 40, IDX= 500, 0.45,-1.103,-2.674,-0.911,-1.363, PHS= 0.362,-1.266, 0.408, RAW= 151.4,   6.1, CAL= 150.7,   6.3, ROT= 359.3,  -6.3

2025-10-26T21:44:26.010Z,1761515066.010 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-10-26T21:44:26.011Z,1761515066.011 [DAT](INFO): direction in FSK: [0.993887,-0.012143,0.109734]
2025-10-26T21:44:26.011Z,1761515066.011 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:26.047Z,1761515066.047 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.611362
2025-10-26T21:44:26.068Z,1761515066.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533661,-0.780761,-0.324990],[0.824664,-0.565604,0.004650],[-0.187447,-0.265526,0.945706]]
2025-10-26T21:44:26.142Z,1761515066.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.900000 m,
      deltaT: 0.511051 s,
      deltaX: -0.200000 m,
      approachRate: -0.391350 m/s,
      rangeRepo size: 4

2025-10-26T21:44:26.149Z,1761515066.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.875750 m,
      bearing: 123.940952 deg,
      lat: 36.779413 deg,
      lon: -121.859485 deg,
      deltaT: 11.605743 s,
      deltaX: -5.961455 m,
      approachRate: -0.513664 m/s,
      posRepo size: 4

2025-10-26T21:44:26.150Z,1761515066.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.84 m.
2025-10-26T21:44:26.160Z,1761515066.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 3.913168 m,
      bearing: 155.160638 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 103.545238 deg,
      new cmd heading: 102.020317 deg.

2025-10-26T21:44:26.161Z,1761515066.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.780590 target range: 9.837205 and range: 3.90 m.
2025-10-26T21:44:26.173Z,1761515066.173 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.737104
2025-10-26T21:44:26.425Z,1761515066.425 [DAT](INFO): DAT read: Rx Time:21:44:25.1833 

2025-10-26T21:44:26.426Z,1761515066.426 [DAT](INFO): Rx dataTimestamp_ set to:1761515066.425438
2025-10-26T21:44:26.427Z,1761515066.427 [DAT](INFO): DAT read: Bearing 282.7, -11.3 (Local)

2025-10-26T21:44:26.427Z,1761515066.427 [DAT](INFO): Local bearing/azimuth received:
 Bearing 282.7, -11.3 (Local)

2025-10-26T21:44:26.429Z,1761515066.429 [DAT](INFO): DAT read: Range 11 to 50 :     3.5 m (trip time 2.3 ms) speed 0.3

2025-10-26T21:44:26.434Z,1761515066.434 [DAT](INFO): DAT read: 21:44:25.1833 LVL= 32752, 32753, 32754, 32755, AGC= 41, IDX= 498, 0.08,-1.335,-2.947,-1.171,-1.658, PHS= 0.424,-1.244, 0.443, RAW= 150.5,   4.6, CAL= 149.7,   4.6, ROT=   0.3,  -4.6

2025-10-26T21:44:26.436Z,1761515066.436 [DAT](INFO): got valid direction response:
 21:44:25.1833 LVL= 32752, 32753, 32754, 32755, AGC= 41, IDX= 498, 0.08,-1.335,-2.947,-1.171,-1.658, PHS= 0.424,-1.244, 0.443, RAW= 150.5,   4.6, CAL= 149.7,   4.6, ROT=   0.3,  -4.6

2025-10-26T21:44:26.437Z,1761515066.437 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-10-26T21:44:26.446Z,1761515066.446 [DAT](INFO): direction in FSK: [0.996765,0.005219,0.080199]
2025-10-26T21:44:26.447Z,1761515066.447 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:26.457Z,1761515066.457 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.021482
2025-10-26T21:44:26.508Z,1761515066.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520587,-0.793279,-0.315748],[0.837260,-0.546763,-0.006747],[-0.167287,-0.267876,0.948819]]
2025-10-26T21:44:26.574Z,1761515066.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.505189 s,
      deltaX: -0.400000 m,
      approachRate: -0.791783 m/s,
      rangeRepo size: 4

2025-10-26T21:44:26.584Z,1761515066.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.478251 m,
      bearing: 123.415315 deg,
      lat: 36.779413 deg,
      lon: -121.859485 deg,
      deltaT: 12.110932 s,
      deltaX: -6.358953 m,
      approachRate: -0.525059 m/s,
      posRepo size: 4

2025-10-26T21:44:26.585Z,1761515066.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.48 m. 9.84 m.
2025-10-26T21:44:26.592Z,1761515066.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 3.737811 m,
      bearing: 156.367268 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 102.020316 deg,
      new cmd heading: 100.644192 deg.

2025-10-26T21:44:26.593Z,1761515066.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756572 target range: 9.837205 and range: 3.50 m.
2025-10-26T21:44:26.682Z,1761515066.682 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.245968
2025-10-26T21:44:26.929Z,1761515066.929 [DAT](INFO): DAT read: Rx Time:21:44:25.6833 

2025-10-26T21:44:26.929Z,1761515066.929 [DAT](INFO): Rx dataTimestamp_ set to:1761515066.929189
2025-10-26T21:44:26.931Z,1761515066.931 [DAT](INFO): DAT read: Bearing 278.8, -10.2 (Local)

2025-10-26T21:44:26.931Z,1761515066.931 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.8, -10.2 (Local)

2025-10-26T21:44:26.933Z,1761515066.933 [DAT](INFO): DAT read: Range 11 to 50 :     3.5 m (trip time 2.3 ms) speed 0.3

2025-10-26T21:44:26.938Z,1761515066.938 [DAT](INFO): DAT read: 21:44:25.6833 LVL= 32752, 32753, 32754, 32755, AGC= 41, IDX= 498,-0.17,-0.770,-2.319,-0.562,-1.110, PHS= 0.442,-1.163, 0.505, RAW= 151.9,   2.7, CAL= 150.8,   2.3, ROT= 359.2,  -2.3

2025-10-26T21:44:26.939Z,1761515066.939 [DAT](INFO): got valid direction response:
 21:44:25.6833 LVL= 32752, 32753, 32754, 32755, AGC= 41, IDX= 498,-0.17,-0.770,-2.319,-0.562,-1.110, PHS= 0.442,-1.163, 0.505, RAW= 151.9,   2.7, CAL= 150.8,   2.3, ROT= 359.2,  -2.3

2025-10-26T21:44:26.940Z,1761515066.940 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-10-26T21:44:26.945Z,1761515066.945 [DAT](INFO): direction in FSK: [0.999097,-0.013951,0.040132]
2025-10-26T21:44:26.946Z,1761515066.946 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:26.952Z,1761515066.952 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.516607
2025-10-26T21:44:27.085Z,1761515067.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491683,-0.816894,-0.301549],[0.861441,-0.506882,-0.031462],[-0.127149,-0.275236,0.952931]]
2025-10-26T21:44:27.166Z,1761515067.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.503751 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:27.168Z,1761515067.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.478212 m,
      bearing: 119.586002 deg,
      lat: 36.779413 deg,
      lon: -121.859485 deg,
      deltaT: 12.614683 s,
      deltaX: -6.358993 m,
      approachRate: -0.504095 m/s,
      posRepo size: 4

2025-10-26T21:44:27.169Z,1761515067.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.48 m. 9.84 m.
2025-10-26T21:44:27.172Z,1761515067.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 3.491938 m,
      bearing: 158.461733 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 100.644190 deg,
      new cmd heading: 98.758791 deg.

2025-10-26T21:44:27.172Z,1761515067.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.723666 target range: 9.837205 and range: 3.50 m.
2025-10-26T21:44:27.188Z,1761515067.188 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.752951
2025-10-26T21:44:27.442Z,1761515067.442 [DAT](INFO): DAT read: Rx Time:21:44:26.1832 

2025-10-26T21:44:27.442Z,1761515067.442 [DAT](INFO): Rx dataTimestamp_ set to:1761515067.441951
2025-10-26T21:44:27.444Z,1761515067.444 [DAT](INFO): DAT read: Bearing 275.2,  -7.8 (Local)

2025-10-26T21:44:27.444Z,1761515067.444 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.2,  -7.8 (Local)

2025-10-26T21:44:27.446Z,1761515067.446 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.3

2025-10-26T21:44:27.450Z,1761515067.450 [DAT](INFO): DAT read: 21:44:26.1832 LVL= 32752, 32753, 32754, 32755, AGC= 40, IDX= 496,-0.37,-2.018, 2.751,-1.813,-2.407, PHS= 0.491,-1.080, 0.550, RAW= 151.8,   0.5, CAL= 150.6,  -0.2, ROT= 359.4,   0.2

2025-10-26T21:44:27.452Z,1761515067.452 [DAT](INFO): got valid direction response:
 21:44:26.1832 LVL= 32752, 32753, 32754, 32755, AGC= 40, IDX= 496,-0.37,-2.018, 2.751,-1.813,-2.407, PHS= 0.491,-1.080, 0.550, RAW= 151.8,   0.5, CAL= 150.6,  -0.2, ROT= 359.4,   0.2

2025-10-26T21:44:27.452Z,1761515067.452 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-10-26T21:44:27.453Z,1761515067.453 [DAT](INFO): direction in FSK: [0.999939,-0.010472,-0.003491]
2025-10-26T21:44:27.453Z,1761515067.453 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:27.457Z,1761515067.457 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.021536
2025-10-26T21:44:27.638Z,1761515067.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476689,-0.828577,-0.293646],[0.872584,-0.486501,-0.043753],[-0.106606,-0.277087,0.954912]]
2025-10-26T21:44:27.693Z,1761515067.693 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.257076
2025-10-26T21:44:27.734Z,1761515067.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 0.512762 s,
      deltaX: -0.300000 m,
      approachRate: -0.585067 m/s,
      rangeRepo size: 4

2025-10-26T21:44:27.741Z,1761515067.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.180079 m,
      bearing: 118.011974 deg,
      lat: 36.779413 deg,
      lon: -121.859485 deg,
      deltaT: 13.127445 s,
      deltaX: -6.657125 m,
      approachRate: -0.507115 m/s,
      posRepo size: 4

2025-10-26T21:44:27.742Z,1761515067.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.18 m. 9.84 m.
2025-10-26T21:44:27.766Z,1761515067.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 3.267643 m,
      bearing: 160.799017 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 98.758791 deg,
      new cmd heading: 96.945695 deg.

2025-10-26T21:44:27.775Z,1761515067.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.692022 target range: 9.837205 and range: 3.20 m.
2025-10-26T21:44:27.946Z,1761515067.946 [DAT](INFO): DAT read: Rx Time:21:44:26.6832 

2025-10-26T21:44:27.946Z,1761515067.946 [DAT](INFO): Rx dataTimestamp_ set to:1761515067.945999
2025-10-26T21:44:27.948Z,1761515067.948 [DAT](INFO): DAT read: Bearing 271.1,  -5.6 (Local)

2025-10-26T21:44:27.948Z,1761515067.948 [DAT](INFO): Local bearing/azimuth received:
 Bearing 271.1,  -5.6 (Local)

2025-10-26T21:44:27.950Z,1761515067.950 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.3

2025-10-26T21:44:27.958Z,1761515067.958 [DAT](INFO): DAT read: 21:44:26.6832 LVL= 32752, 32753, 32754, 32755, AGC= 38, IDX= 511, 0.46,-0.087,-1.558, 0.106,-0.532, PHS= 0.548,-0.981, 0.594, RAW= 151.5,  -2.1, CAL= 150.7,  -3.0, ROT= 359.3,   3.0

2025-10-26T21:44:28.008Z,1761515068.008 [DAT](INFO): got valid direction response:
 21:44:26.6832 LVL= 32752, 32753, 32754, 32755, AGC= 38, IDX= 511, 0.46,-0.087,-1.558, 0.106,-0.532, PHS= 0.548,-0.981, 0.594, RAW= 151.5,  -2.1, CAL= 150.7,  -3.0, ROT= 359.3,   3.0

2025-10-26T21:44:28.009Z,1761515068.009 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-10-26T21:44:28.010Z,1761515068.010 [DAT](INFO): direction in FSK: [0.998555,-0.012200,-0.052336]
2025-10-26T21:44:28.010Z,1761515068.010 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:28.057Z,1761515068.057 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.621317
2025-10-26T21:44:28.197Z,1761515068.197 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.761471
2025-10-26T21:44:28.217Z,1761515068.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461793,-0.840109,-0.284540],[0.882758,-0.466592,-0.055048],[-0.086518,-0.276600,0.957082]]
2025-10-26T21:44:28.338Z,1761515068.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 0.504048 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:28.344Z,1761515068.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.180072 m,
      bearing: 116.097460 deg,
      lat: 36.779413 deg,
      lon: -121.859483 deg,
      deltaT: 13.631493 s,
      deltaX: -6.657133 m,
      approachRate: -0.488364 m/s,
      posRepo size: 4

2025-10-26T21:44:28.345Z,1761515068.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.18 m. 9.84 m.
2025-10-26T21:44:28.360Z,1761515068.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.837205 m,
      nav range: 3.024692 m,
      bearing: 164.031929 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.062914 deg/s,
      cmd heading: 96.945697 deg,
      new cmd heading: 95.021378 deg.

2025-10-26T21:44:28.361Z,1761515068.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.658436 target range: 9.837205 and range: 3.20 m.
2025-10-26T21:44:28.451Z,1761515068.451 [DAT](INFO): DAT read: Rx Time:21:44:27.1830 

2025-10-26T21:44:28.452Z,1761515068.452 [DAT](INFO): Rx dataTimestamp_ set to:1761515068.450807
2025-10-26T21:44:28.453Z,1761515068.453 [DAT](INFO): DAT read: Bearing 262.7,  -2.1 (Local)

2025-10-26T21:44:28.454Z,1761515068.454 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.7,  -2.1 (Local)

2025-10-26T21:44:28.458Z,1761515068.458 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed 0.3

2025-10-26T21:44:28.469Z,1761515068.469 [DAT](INFO): DAT read: 21:44:27.1830 LVL= 32752, 32753, 32754, 32755, AGC= 39, IDX= 509, 0.24,-0.548,-2.008,-0.390,-1.170, PHS= 0.724,-0.794, 0.736, RAW= 150.4,  -8.8, CAL= 150.8, -10.5, ROT= 359.2,  10.5

2025-10-26T21:44:28.471Z,1761515068.471 [DAT](INFO): got valid direction response:
 21:44:27.1830 LVL= 32752, 32753, 32754, 32755, AGC= 39, IDX= 509, 0.24,-0.548,-2.008,-0.390,-1.170, PHS= 0.724,-0.794, 0.736, RAW= 150.4,  -8.8, CAL= 150.8, -10.5, ROT= 359.2,  10.5

2025-10-26T21:44:28.480Z,1761515068.480 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-10-26T21:44:28.481Z,1761515068.481 [DAT](INFO): direction in FSK: [0.983159,-0.013728,-0.182236]
2025-10-26T21:44:28.482Z,1761515068.482 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:28.491Z,1761515068.491 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.055593
2025-10-26T21:44:28.705Z,1761515068.705 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.268476
2025-10-26T21:44:28.805Z,1761515068.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.504808 s,
      deltaX: -0.300000 m,
      approachRate: -0.594285 m/s,
      rangeRepo size: 4

2025-10-26T21:44:28.807Z,1761515068.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.881940 m,
      bearing: 113.832237 deg,
      lat: 36.779413 deg,
      lon: -121.859483 deg,
      deltaT: 14.136301 s,
      deltaX: -6.955265 m,
      approachRate: -0.492014 m/s,
      posRepo size: 4

2025-10-26T21:44:28.816Z,1761515068.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.90 m.
2025-10-26T21:44:28.816Z,1761515068.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-10-26T21:44:28.953Z,1761515068.953 [DAT](INFO): DAT read: Rx Time:21:44:27.6829 

2025-10-26T21:44:28.953Z,1761515068.953 [DAT](INFO): Rx dataTimestamp_ set to:1761515068.953152
2025-10-26T21:44:28.955Z,1761515068.955 [DAT](INFO): DAT read: Bearing 253.7,   0.5 (Local)

2025-10-26T21:44:28.955Z,1761515068.955 [DAT](INFO): Local bearing/azimuth received:
 Bearing 253.7,   0.5 (Local)

2025-10-26T21:44:28.957Z,1761515068.957 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.3

2025-10-26T21:44:28.962Z,1761515068.962 [DAT](INFO): DAT read: 21:44:27.6829 LVL= 32752, 32753, 32754, 32755, AGC= 38, IDX= 509, 0.11,-0.011,-1.444, 0.135,-0.803, PHS= 0.894,-0.596, 0.894, RAW= 150.0, -15.8, CAL= 151.7, -18.1, ROT= 358.3,  18.1

2025-10-26T21:44:28.963Z,1761515068.963 [DAT](INFO): got valid direction response:
 21:44:27.6829 LVL= 32752, 32753, 32754, 32755, AGC= 38, IDX= 509, 0.11,-0.011,-1.444, 0.135,-0.803, PHS= 0.894,-0.596, 0.894, RAW= 150.0, -15.8, CAL= 151.7, -18.1, ROT= 358.3,  18.1

2025-10-26T21:44:28.963Z,1761515068.963 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-10-26T21:44:28.964Z,1761515068.964 [DAT](INFO): direction in FSK: [0.950097,-0.028199,-0.310676]
2025-10-26T21:44:28.965Z,1761515068.965 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:28.981Z,1761515068.981 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.545845
2025-10-26T21:44:29.205Z,1761515069.205 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.769518
2025-10-26T21:44:29.318Z,1761515069.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412112,-0.877250,-0.246163],[0.910631,-0.405538,-0.079311],[-0.030253,-0.256849,0.965978]]
2025-10-26T21:44:29.372Z,1761515069.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.502345 s,
      deltaX: -0.200000 m,
      approachRate: -0.398133 m/s,
      rangeRepo size: 4

2025-10-26T21:44:29.374Z,1761515069.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.683234 m,
      bearing: 107.855766 deg,
      lat: 36.779414 deg,
      lon: -121.859481 deg,
      deltaT: 0.502345 s,
      deltaX: -0.198706 m,
      approachRate: -0.395556 m/s,
      posRepo size: 4

2025-10-26T21:44:29.458Z,1761515069.458 [DAT](INFO): DAT read: Rx Time:21:44:28.1827 

2025-10-26T21:44:29.459Z,1761515069.459 [DAT](INFO): Rx dataTimestamp_ set to:1761515069.458174
2025-10-26T21:44:29.460Z,1761515069.460 [DAT](INFO): DAT read: Bearing 244.9,   3.3 (Local)

2025-10-26T21:44:29.460Z,1761515069.460 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.9,   3.3 (Local)

2025-10-26T21:44:29.462Z,1761515069.462 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.3

2025-10-26T21:44:29.468Z,1761515069.468 [DAT](INFO): DAT read: 21:44:28.1827 LVL= 32752, 32753, 32754, 30691, AGC= 37, IDX= 507,-0.08,-1.692,-3.019,-1.533,-2.634, PHS= 1.044,-0.340, 1.057, RAW= 150.5, -24.1, CAL= 152.1, -25.7, ROT= 357.9,  25.7

2025-10-26T21:44:29.469Z,1761515069.469 [DAT](INFO): got valid direction response:
 21:44:28.1827 LVL= 32752, 32753, 32754, 30691, AGC= 37, IDX= 507,-0.08,-1.692,-3.019,-1.533,-2.634, PHS= 1.044,-0.340, 1.057, RAW= 150.5, -24.1, CAL= 152.1, -25.7, ROT= 357.9,  25.7

2025-10-26T21:44:29.469Z,1761515069.469 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-10-26T21:44:29.470Z,1761515069.470 [DAT](INFO): direction in FSK: [0.900472,-0.033019,-0.433659]
2025-10-26T21:44:29.470Z,1761515069.470 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:29.492Z,1761515069.492 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.056225
2025-10-26T21:44:29.713Z,1761515069.713 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.275803
2025-10-26T21:44:29.738Z,1761515069.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394138,-0.887636,-0.238236],[0.918947,-0.384527,-0.087611],[-0.013841,-0.253458,0.967247]]
2025-10-26T21:44:29.854Z,1761515069.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.505022 s,
      deltaX: -0.300000 m,
      approachRate: -0.594033 m/s,
      rangeRepo size: 4

2025-10-26T21:44:29.856Z,1761515069.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.385097 m,
      bearing: 104.204649 deg,
      lat: 36.779414 deg,
      lon: -121.859481 deg,
      deltaT: 0.505022 s,
      deltaX: -0.298137 m,
      approachRate: -0.590345 m/s,
      posRepo size: 4

2025-10-26T21:44:29.962Z,1761515069.962 [DAT](INFO): DAT read: Rx Time:21:44:28.6827 

2025-10-26T21:44:29.963Z,1761515069.963 [DAT](INFO): Rx dataTimestamp_ set to:1761515069.962264
2025-10-26T21:44:29.965Z,1761515069.965 [DAT](INFO): DAT read: Bearing 232.9,   8.3 (Local)

2025-10-26T21:44:29.965Z,1761515069.965 [DAT](INFO): Local bearing/azimuth received:
 Bearing 232.9,   8.3 (Local)

2025-10-26T21:44:29.968Z,1761515069.968 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.3

2025-10-26T21:44:29.973Z,1761515069.973 [DAT](INFO): DAT read: 21:44:28.6827 LVL= 32752, 32753, 32754, 32243, AGC= 40, IDX= 507,-0.27, 0.233,-0.965, 0.366,-0.977, PHS= 1.312, 0.057, 1.299, RAW= 149.5, -37.1, CAL= 150.5, -36.8, ROT= 359.5,  36.8

2025-10-26T21:44:29.974Z,1761515069.974 [DAT](INFO): got valid direction response:
 21:44:28.6827 LVL= 32752, 32753, 32754, 32243, AGC= 40, IDX= 507,-0.27, 0.233,-0.965, 0.366,-0.977, PHS= 1.312, 0.057, 1.299, RAW= 149.5, -37.1, CAL= 150.5, -36.8, ROT= 359.5,  36.8

2025-10-26T21:44:29.975Z,1761515069.975 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-26T21:44:29.976Z,1761515069.976 [DAT](INFO): direction in FSK: [0.800701,-0.006987,-0.599024]
2025-10-26T21:44:29.977Z,1761515069.977 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:29.980Z,1761515069.980 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.544807
2025-10-26T21:44:30.163Z,1761515070.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375683,-0.896949,-0.233119],[0.926747,-0.363127,-0.096331],[0.001752,-0.252232,0.967665]]
2025-10-26T21:44:30.192Z,1761515070.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.504090 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:30.194Z,1761515070.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.385119 m,
      bearing: 100.927682 deg,
      lat: 36.779416 deg,
      lon: -121.859481 deg,
      deltaT: 0.504090 s,
      deltaX: 0.000022 m,
      approachRate: 0.000043 m/s,
      posRepo size: 4

2025-10-26T21:44:30.212Z,1761515070.212 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.776974
2025-10-26T21:44:30.465Z,1761515070.465 [DAT](INFO): DAT read: Rx Time:21:44:29.1825 

2025-10-26T21:44:30.465Z,1761515070.465 [DAT](INFO): Rx dataTimestamp_ set to:1761515070.465005
2025-10-26T21:44:30.467Z,1761515070.467 [DAT](INFO): DAT read: Bearing 231.5,   9.9 (Local)

2025-10-26T21:44:30.467Z,1761515070.467 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.5,   9.9 (Local)

2025-10-26T21:44:30.469Z,1761515070.469 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.2

2025-10-26T21:44:30.473Z,1761515070.473 [DAT](INFO): DAT read: 21:44:29.1825 LVL= 22240, 28017, 22498, 26579, AGC= 36, IDX= 505,-0.23,-2.140, 3.009,-2.030, 2.999, PHS= 1.247, 0.055, 1.210, RAW= 148.4, -37.1, CAL= 149.5, -36.8, ROT=   0.5,  36.8

2025-10-26T21:44:30.475Z,1761515070.475 [DAT](INFO): got valid direction response:
 21:44:29.1825 LVL= 22240, 28017, 22498, 26579, AGC= 36, IDX= 505,-0.23,-2.140, 3.009,-2.030, 2.999, PHS= 1.247, 0.055, 1.210, RAW= 148.4, -37.1, CAL= 149.5, -36.8, ROT=   0.5,  36.8

2025-10-26T21:44:30.475Z,1761515070.475 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-26T21:44:30.476Z,1761515070.476 [DAT](INFO): direction in FSK: [0.800701,0.006988,-0.599024]
2025-10-26T21:44:30.476Z,1761515070.476 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:30.480Z,1761515070.480 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.044245
2025-10-26T21:44:30.566Z,1761515070.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356763,-0.905194,-0.230961],[0.934046,-0.341226,-0.105463],[0.016655,-0.253354,0.967230]]
2025-10-26T21:44:30.606Z,1761515070.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.502741 s,
      deltaX: -0.300000 m,
      approachRate: -0.596729 m/s,
      rangeRepo size: 4

2025-10-26T21:44:30.608Z,1761515070.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.086979 m,
      bearing: 100.756958 deg,
      lat: 36.779417 deg,
      lon: -121.859481 deg,
      deltaT: 0.502741 s,
      deltaX: -0.298140 m,
      approachRate: -0.593029 m/s,
      posRepo size: 4

2025-10-26T21:44:30.720Z,1761515070.720 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.284136
2025-10-26T21:44:30.969Z,1761515070.969 [DAT](INFO): DAT read: Rx Time:21:44:29.6827 

2025-10-26T21:44:30.969Z,1761515070.969 [DAT](INFO): Rx dataTimestamp_ set to:1761515070.969188
2025-10-26T21:44:30.971Z,1761515070.971 [DAT](INFO): DAT read: Bearing 221.7,  11.8 (Local)

2025-10-26T21:44:30.971Z,1761515070.971 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.7,  11.8 (Local)

2025-10-26T21:44:30.973Z,1761515070.973 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.2

2025-10-26T21:44:30.982Z,1761515070.982 [DAT](INFO): DAT read: 21:44:29.6827 LVL= 25360, 29073, 23794, 29395, AGC= 35, IDX= 505,-0.07,-1.493,-2.479,-1.379,-2.774, PHS= 1.383, 0.340, 1.351, RAW= 148.5, -46.6, CAL= 150.4, -44.9, ROT= 359.6,  44.9

2025-10-26T21:44:30.983Z,1761515070.983 [DAT](INFO): got valid direction response:
 21:44:29.6827 LVL= 25360, 29073, 23794, 29395, AGC= 35, IDX= 505,-0.07,-1.493,-2.479,-1.379,-2.774, PHS= 1.383, 0.340, 1.351, RAW= 148.5, -46.6, CAL= 150.4, -44.9, ROT= 359.6,  44.9

2025-10-26T21:44:30.988Z,1761515070.988 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-10-26T21:44:30.989Z,1761515070.989 [DAT](INFO): direction in FSK: [0.708323,-0.004945,-0.705872]
2025-10-26T21:44:30.989Z,1761515070.989 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:30.998Z,1761515070.998 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.562738
2025-10-26T21:44:31.032Z,1761515071.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337849,-0.911725,-0.233699],[0.940716,-0.319138,-0.114908],[0.030182,-0.258666,0.965495]]
2025-10-26T21:44:31.138Z,1761515071.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.504183 s,
      deltaX: 0.300000 m,
      approachRate: 0.595022 m/s,
      rangeRepo size: 4

2025-10-26T21:44:31.142Z,1761515071.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.385119 m,
      bearing: 95.326643 deg,
      lat: 36.779418 deg,
      lon: -121.859481 deg,
      deltaT: 0.504183 s,
      deltaX: 0.298140 m,
      approachRate: 0.591333 m/s,
      posRepo size: 4

2025-10-26T21:44:31.221Z,1761515071.221 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.785769
2025-10-26T21:44:31.438Z,1761515071.438 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:44:31.445Z,1761515071.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.40 m.
2025-10-26T21:44:31.473Z,1761515071.473 [DAT](INFO): DAT read: Rx Time:21:44:30.1824 

2025-10-26T21:44:31.473Z,1761515071.473 [DAT](INFO): Rx dataTimestamp_ set to:1761515071.473082
2025-10-26T21:44:31.475Z,1761515071.475 [DAT](INFO): DAT read: Bearing 207.3,  12.2 (Local)

2025-10-26T21:44:31.475Z,1761515071.475 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.3,  12.2 (Local)

2025-10-26T21:44:31.477Z,1761515071.477 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.1

2025-10-26T21:44:31.482Z,1761515071.482 [DAT](INFO): DAT read: 21:44:30.1824 LVL= 32752, 32753, 32754, 32755, AGC= 38, IDX= 503, 0.11,-1.242,-1.963,-1.096,-2.716, PHS= 1.576, 0.798, 1.577, RAW= 150.0, -60.9, CAL= 154.2, -57.1, ROT= 355.8,  57.1

2025-10-26T21:44:31.483Z,1761515071.483 [DAT](INFO): got valid direction response:
 21:44:30.1824 LVL= 32752, 32753, 32754, 32755, AGC= 38, IDX= 503, 0.11,-1.242,-1.963,-1.096,-2.716, PHS= 1.576, 0.798, 1.577, RAW= 150.0, -60.9, CAL= 154.2, -57.1, ROT= 355.8,  57.1

2025-10-26T21:44:31.483Z,1761515071.483 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-10-26T21:44:31.484Z,1761515071.484 [DAT](INFO): direction in FSK: [0.541716,-0.039781,-0.839620]
2025-10-26T21:44:31.484Z,1761515071.484 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:31.489Z,1761515071.489 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.053795
2025-10-26T21:44:31.728Z,1761515071.728 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.291370
2025-10-26T21:44:31.969Z,1761515071.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503894 s,
      deltaX: -0.400000 m,
      approachRate: -0.793818 m/s,
      rangeRepo size: 4

2025-10-26T21:44:31.971Z,1761515071.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987587 m,
      bearing: 85.429014 deg,
      lat: 36.779418 deg,
      lon: -121.859481 deg,
      deltaT: 0.503894 s,
      deltaX: -0.397532 m,
      approachRate: -0.788920 m/s,
      posRepo size: 4

2025-10-26T21:44:31.972Z,1761515071.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.00 m.
2025-10-26T21:44:31.977Z,1761515071.977 [DAT](INFO): DAT read: Rx Time:21:44:30.6824 

2025-10-26T21:44:31.978Z,1761515071.978 [DAT](INFO): Rx dataTimestamp_ set to:1761515071.977253
2025-10-26T21:44:31.979Z,1761515071.979 [DAT](INFO): DAT read: Bearing 191.2,  15.4 (Local)

2025-10-26T21:44:31.979Z,1761515071.979 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.2,  15.4 (Local)

2025-10-26T21:44:31.981Z,1761515071.981 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-26T21:44:31.986Z,1761515071.986 [DAT](INFO): DAT read: 21:44:30.6824 LVL= 32752, 32753, 32754, 32755, AGC= 40, IDX= 503,-0.14, 1.366, 0.955, 1.493,-0.210, PHS= 1.678, 1.210, 1.659, RAW= 147.9, -74.1, CAL= 151.2, -71.5, ROT= 358.8,  71.5

2025-10-26T21:44:31.987Z,1761515071.987 [DAT](INFO): got valid direction response:
 21:44:30.6824 LVL= 32752, 32753, 32754, 32755, AGC= 40, IDX= 503,-0.14, 1.366, 0.955, 1.493,-0.210, PHS= 1.678, 1.210, 1.659, RAW= 147.9, -74.1, CAL= 151.2, -71.5, ROT= 358.8,  71.5

2025-10-26T21:44:31.987Z,1761515071.987 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-10-26T21:44:31.988Z,1761515071.988 [DAT](INFO): direction in FSK: [0.317235,-0.006645,-0.948324]
2025-10-26T21:44:31.989Z,1761515071.989 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:32.016Z,1761515072.016 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.580460
2025-10-26T21:44:32.229Z,1761515072.229 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.793365
2025-10-26T21:44:32.331Z,1761515072.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259752,-0.940452,-0.219268],[0.962793,-0.234681,-0.133996],[0.074559,-0.245915,0.966419]]
2025-10-26T21:44:32.353Z,1761515072.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.504171 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:32.356Z,1761515072.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987589 m,
      bearing: 73.111439 deg,
      lat: 36.779418 deg,
      lon: -121.859481 deg,
      deltaT: 0.504171 s,
      deltaX: 0.000002 m,
      approachRate: 0.000005 m/s,
      posRepo size: 4

2025-10-26T21:44:32.356Z,1761515072.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.00 m.
2025-10-26T21:44:32.481Z,1761515072.481 [DAT](INFO): DAT read: Rx Time:21:44:31.1824 

2025-10-26T21:44:32.482Z,1761515072.482 [DAT](INFO): Rx dataTimestamp_ set to:1761515072.481266
2025-10-26T21:44:32.483Z,1761515072.483 [DAT](INFO): DAT read: Bearing 170.3,  19.7 (Local)

2025-10-26T21:44:32.483Z,1761515072.483 [DAT](INFO): Local bearing/azimuth received:
 Bearing 170.3,  19.7 (Local)

2025-10-26T21:44:32.485Z,1761515072.485 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-26T21:44:32.490Z,1761515072.490 [DAT](INFO): DAT read: 21:44:31.1824 LVL= 32752, 32753, 32754, 22499, AGC= 45, IDX= 503, 0.01,-1.569,-1.600,-1.585, 3.005, PHS= 1.811, 1.723, 1.649, RAW=  62.8, -85.6, CAL=  63.2, -85.4, ROT=  86.8,  85.4

2025-10-26T21:44:32.491Z,1761515072.491 [DAT](INFO): got valid direction response:
 21:44:31.1824 LVL= 32752, 32753, 32754, 22499, AGC= 45, IDX= 503, 0.01,-1.569,-1.600,-1.585, 3.005, PHS= 1.811, 1.723, 1.649, RAW=  62.8, -85.6, CAL=  63.2, -85.4, ROT=  86.8,  85.4

2025-10-26T21:44:32.492Z,1761515072.492 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-26T21:44:32.493Z,1761515072.493 [DAT](INFO): direction in FSK: [0.004477,0.080074,-0.996779]
2025-10-26T21:44:32.493Z,1761515072.493 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:32.497Z,1761515072.497 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.061180
2025-10-26T21:44:32.736Z,1761515072.736 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.299591
2025-10-26T21:44:32.811Z,1761515072.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239870,-0.946150,-0.217402],[0.967289,-0.213889,-0.136394],[0.082550,-0.243007,0.966506]]
2025-10-26T21:44:32.878Z,1761515072.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.504013 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:32.884Z,1761515072.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987589 m,
      bearing: 41.365463 deg,
      lat: 36.779419 deg,
      lon: -121.859482 deg,
      deltaT: 0.504013 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:44:32.885Z,1761515072.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.00 m.
2025-10-26T21:44:32.986Z,1761515072.986 [DAT](INFO): DAT read: Rx Time:21:44:31.6825 

2025-10-26T21:44:32.987Z,1761515072.987 [DAT](INFO): Rx dataTimestamp_ set to:1761515072.986262
2025-10-26T21:44:32.988Z,1761515072.988 [DAT](INFO): DAT read: Bearing 167.1,   7.9 (Local)

2025-10-26T21:44:32.989Z,1761515072.989 [DAT](INFO): Local bearing/azimuth received:
 Bearing 167.1,   7.9 (Local)

2025-10-26T21:44:32.991Z,1761515072.991 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-26T21:44:32.995Z,1761515072.995 [DAT](INFO): DAT read: 21:44:31.6825 LVL= 32752, 32753, 32754, 32755, AGC= 44, IDX= 504,-0.27,-1.520,-1.266,-1.129,-3.076, PHS= 1.658, 1.856, 1.903, RAW= 259.5, -83.3, CAL= 258.6, -83.0, ROT= 251.4,  83.0

2025-10-26T21:44:33.005Z,1761515073.005 [DAT](INFO): got valid direction response:
 21:44:31.6825 LVL= 32752, 32753, 32754, 32755, AGC= 44, IDX= 504,-0.27,-1.520,-1.266,-1.129,-3.076, PHS= 1.658, 1.856, 1.903, RAW= 259.5, -83.3, CAL= 258.6, -83.0, ROT= 251.4,  83.0

2025-10-26T21:44:33.005Z,1761515073.005 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-10-26T21:44:33.007Z,1761515073.007 [DAT](INFO): direction in FSK: [-0.038871,-0.115504,-0.992546]
2025-10-26T21:44:33.007Z,1761515073.007 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:33.018Z,1761515073.018 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.582279
2025-10-26T21:44:33.134Z,1761515073.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220123,-0.950941,-0.217387],[0.971375,-0.193283,-0.138102],[0.089309,-0.241564,0.966266]]
2025-10-26T21:44:33.192Z,1761515073.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504996 s,
      deltaX: 0.100000 m,
      approachRate: 0.198021 m/s,
      rangeRepo size: 4

2025-10-26T21:44:33.194Z,1761515073.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.086957 m,
      bearing: 20.002122 deg,
      lat: 36.779420 deg,
      lon: -121.859482 deg,
      deltaT: 0.504996 s,
      deltaX: 0.099367 m,
      approachRate: 0.196768 m/s,
      posRepo size: 4

2025-10-26T21:44:33.195Z,1761515073.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.10 m.
2025-10-26T21:44:33.237Z,1761515073.237 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.801159
2025-10-26T21:44:33.489Z,1761515073.489 [DAT](INFO): DAT read: Rx Time:21:44:32.1824 

2025-10-26T21:44:33.490Z,1761515073.490 [DAT](INFO): Rx dataTimestamp_ set to:1761515073.489365
2025-10-26T21:44:33.491Z,1761515073.491 [DAT](INFO): DAT read: Bearing 159.5,   3.6 (Local)

2025-10-26T21:44:33.491Z,1761515073.491 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.5,   3.6 (Local)

2025-10-26T21:44:33.493Z,1761515073.493 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed -0.2

2025-10-26T21:44:33.506Z,1761515073.506 [DAT](INFO): DAT read: 21:44:32.1824 LVL= 32752, 32753, 32754, 26723, AGC= 44, IDX= 503,-0.15, 1.507, 2.047, 2.020, 0.177, PHS= 1.432, 1.914, 1.799, RAW= 283.3, -76.5, CAL= 280.6, -76.6, ROT= 229.4,  76.6

2025-10-26T21:44:33.507Z,1761515073.507 [DAT](INFO): got valid direction response:
 21:44:32.1824 LVL= 32752, 32753, 32754, 26723, AGC= 44, IDX= 503,-0.15, 1.507, 2.047, 2.020, 0.177, PHS= 1.432, 1.914, 1.799, RAW= 283.3, -76.5, CAL= 280.6, -76.6, ROT= 229.4,  76.6

2025-10-26T21:44:33.508Z,1761515073.508 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-26T21:44:33.509Z,1761515073.509 [DAT](INFO): direction in FSK: [-0.150816,-0.175960,-0.972776]
2025-10-26T21:44:33.509Z,1761515073.509 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:33.513Z,1761515073.513 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.077251
2025-10-26T21:44:33.538Z,1761515073.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200690,-0.955507,-0.216169],[0.975010,-0.173353,-0.138942],[0.095286,-0.238651,0.966419]]
2025-10-26T21:44:33.598Z,1761515073.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503103 s,
      deltaX: -0.100000 m,
      approachRate: -0.198766 m/s,
      rangeRepo size: 4

2025-10-26T21:44:33.604Z,1761515073.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987578 m,
      bearing: 2.608053 deg,
      lat: 36.779420 deg,
      lon: -121.859485 deg,
      deltaT: 0.503103 s,
      deltaX: -0.099379 m,
      approachRate: -0.197532 m/s,
      posRepo size: 4

2025-10-26T21:44:33.744Z,1761515073.744 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.308060
2025-10-26T21:44:33.993Z,1761515073.993 [DAT](INFO): DAT read: Rx Time:21:44:32.6826 

2025-10-26T21:44:33.994Z,1761515073.994 [DAT](INFO): Rx dataTimestamp_ set to:1761515073.993629
2025-10-26T21:44:33.996Z,1761515073.996 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed -0.2

2025-10-26T21:44:33.997Z,1761515073.997 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-10-26T21:44:33.998Z,1761515073.998 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.562611
2025-10-26T21:44:34.073Z,1761515074.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182058,-0.959834,-0.213477],[0.978132,-0.154580,-0.139151],[0.100563,-0.234143,0.966987]]
2025-10-26T21:44:34.118Z,1761515074.118 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:44:34.121Z,1761515074.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.504264 s,
      deltaX: 0.300000 m,
      approachRate: 0.594926 m/s,
      rangeRepo size: 4

2025-10-26T21:44:34.122Z,1761515074.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.30 m.
2025-10-26T21:44:34.250Z,1761515074.250 [DAT](INFO): DAT read: Rx Time:21:44:33.1827 

2025-10-26T21:44:34.253Z,1761515074.253 [DAT](INFO): Rx dataTimestamp_ set to:1761515074.250503
2025-10-26T21:44:34.255Z,1761515074.255 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.819492
2025-10-26T21:44:34.446Z,1761515074.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164163,-0.963405,-0.211900],[0.980846,-0.136591,-0.138865],[0.104840,-0.230638,0.967375]]
2025-10-26T21:44:34.493Z,1761515074.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.30 m.
2025-10-26T21:44:34.497Z,1761515074.497 [DAT](INFO): DAT read: Bearing 132.9, -14.8 (Local)

2025-10-26T21:44:34.498Z,1761515074.498 [DAT](INFO): Local bearing/azimuth received:
 Bearing 132.9, -14.8 (Local)

2025-10-26T21:44:34.500Z,1761515074.500 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed -0.3

2025-10-26T21:44:34.505Z,1761515074.505 [DAT](INFO): DAT read: 21:44:33.1827 LVL= 31568, 28433, 32194, 31011, AGC= 43, IDX= 505, 0.39,-0.152, 1.002, 0.557,-0.388, PHS= 0.339, 1.435, 0.902, RAW= 299.1, -44.9, CAL= 294.7, -47.6, ROT= 215.3,  47.6

2025-10-26T21:44:34.506Z,1761515074.506 [DAT](INFO): got valid direction response:
 21:44:33.1827 LVL= 31568, 28433, 32194, 31011, AGC= 43, IDX= 505, 0.39,-0.152, 1.002, 0.557,-0.388, PHS= 0.339, 1.435, 0.902, RAW= 299.1, -44.9, CAL= 294.7, -47.6, ROT= 215.3,  47.6

2025-10-26T21:44:34.506Z,1761515074.506 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-10-26T21:44:34.508Z,1761515074.508 [DAT](INFO): direction in FSK: [-0.550323,-0.389651,-0.738455]
2025-10-26T21:44:34.508Z,1761515074.508 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:34.516Z,1761515074.516 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.080608
2025-10-26T21:44:34.754Z,1761515074.754 [DAT](INFO): DAT read: Rx Time:21:44:33.6829 

2025-10-26T21:44:34.756Z,1761515074.756 [DAT](INFO): Rx dataTimestamp_ set to:1761515074.754670
2025-10-26T21:44:34.760Z,1761515074.760 [DAT](INFO): DAT read: Bearing 125.7, -11.8 (Local)

2025-10-26T21:44:34.762Z,1761515074.762 [DAT](INFO): Local bearing/azimuth received:
 Bearing 125.7, -11.8 (Local)

2025-10-26T21:44:34.771Z,1761515074.771 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.334763
2025-10-26T21:44:34.933Z,1761515074.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.502326 s,
      deltaX: 0.100000 m,
      approachRate: 0.199074 m/s,
      rangeRepo size: 4

2025-10-26T21:44:34.936Z,1761515074.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.385098 m,
      bearing: 328.318174 deg,
      lat: 36.779423 deg,
      lon: -121.859485 deg,
      deltaT: 1.006590 s,
      deltaX: 0.397520 m,
      approachRate: 0.394918 m/s,
      posRepo size: 4

2025-10-26T21:44:34.937Z,1761515074.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.40 m.
2025-10-26T21:44:35.002Z,1761515075.002 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed -0.3

2025-10-26T21:44:35.007Z,1761515075.007 [DAT](INFO): DAT read: 21:44:33.6829 LVL= 25680, 22049, 27410, 25939, AGC= 44, IDX= 508,-0.02, 2.962,-2.064,-2.713, 2.733, PHS= 0.331, 1.531, 0.793, RAW= 307.6, -41.8, CAL= 304.0, -45.0, ROT= 206.0,  45.0

2025-10-26T21:44:35.008Z,1761515075.008 [DAT](INFO): got valid direction response:
 21:44:33.6829 LVL= 25680, 22049, 27410, 25939, AGC= 44, IDX= 508,-0.02, 2.962,-2.064,-2.713, 2.733, PHS= 0.331, 1.531, 0.793, RAW= 307.6, -41.8, CAL= 304.0, -45.0, ROT= 206.0,  45.0

2025-10-26T21:44:35.008Z,1761515075.008 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-10-26T21:44:35.009Z,1761515075.009 [DAT](INFO): direction in FSK: [-0.635543,-0.309975,-0.707107]
2025-10-26T21:44:35.009Z,1761515075.009 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:35.013Z,1761515075.013 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.577747
2025-10-26T21:44:35.256Z,1761515075.256 [DAT](INFO): DAT read: Rx Time:21:44:34.1826 

2025-10-26T21:44:35.258Z,1761515075.258 [DAT](INFO): Rx dataTimestamp_ set to:1761515075.256824
2025-10-26T21:44:35.261Z,1761515075.261 [DAT](INFO): DAT read: Bearing 127.8, -12.1 (Local)

2025-10-26T21:44:35.263Z,1761515075.263 [DAT](INFO): Local bearing/azimuth received:
 Bearing 127.8, -12.1 (Local)

2025-10-26T21:44:35.268Z,1761515075.268 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.831242
2025-10-26T21:44:35.327Z,1761515075.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132312,-0.970177,-0.203100],[0.985016,-0.105830,-0.136171],[0.110616,-0.218074,0.969643]]
2025-10-26T21:44:35.383Z,1761515075.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503959 s,
      deltaX: 0.300000 m,
      approachRate: 0.595286 m/s,
      rangeRepo size: 4

2025-10-26T21:44:35.389Z,1761515075.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.683232 m,
      bearing: 316.759925 deg,
      lat: 36.779424 deg,
      lon: -121.859486 deg,
      deltaT: 0.503959 s,
      deltaX: 0.298134 m,
      approachRate: 0.591585 m/s,
      posRepo size: 4

2025-10-26T21:44:35.506Z,1761515075.506 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed -0.3

2025-10-26T21:44:35.510Z,1761515075.510 [DAT](INFO): DAT read: 21:44:34.1826 LVL= 32752, 32753, 31378, 30611, AGC= 45, IDX= 506,-0.20,-0.368, 0.945, 0.294,-0.698, PHS= 0.432, 1.688, 0.948, RAW= 305.9, -44.8, CAL= 301.8, -47.7, ROT= 208.2,  47.7

2025-10-26T21:44:35.512Z,1761515075.512 [DAT](INFO): got valid direction response:
 21:44:34.1826 LVL= 32752, 32753, 31378, 30611, AGC= 45, IDX= 506,-0.20,-0.368, 0.945, 0.294,-0.698, PHS= 0.432, 1.688, 0.948, RAW= 305.9, -44.8, CAL= 301.8, -47.7, ROT= 208.2,  47.7

2025-10-26T21:44:35.513Z,1761515075.513 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-10-26T21:44:35.514Z,1761515075.514 [DAT](INFO): direction in FSK: [-0.593128,-0.318033,-0.739631]
2025-10-26T21:44:35.514Z,1761515075.514 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:35.517Z,1761515075.517 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.081913
2025-10-26T21:44:35.739Z,1761515075.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118786,-0.972100,-0.202265],[0.986512,-0.092439,-0.135086],[0.112620,-0.215583,0.969969]]
2025-10-26T21:44:35.764Z,1761515075.764 [DAT](INFO): DAT read: Rx Time:21:44:34.6829 

2025-10-26T21:44:35.766Z,1761515075.766 [DAT](INFO): Rx dataTimestamp_ set to:1761515075.765099
2025-10-26T21:44:35.771Z,1761515075.771 [DAT](INFO): DAT read: Bearing 118.7, -12.4 (Local)

2025-10-26T21:44:35.773Z,1761515075.773 [DAT](INFO): Local bearing/azimuth received:
 Bearing 118.7, -12.4 (Local)

2025-10-26T21:44:35.802Z,1761515075.802 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed -0.3

2025-10-26T21:44:35.824Z,1761515075.824 [DAT](INFO): DAT read: 21:44:34.6829 LVL= 32752, 32753, 32754, 32755, AGC= 40, IDX= 508, 0.36,-3.120,-1.743,-2.532, 3.015, PHS= 0.251, 1.570, 0.692, RAW= 310.8, -37.4, CAL= 307.9, -40.9, ROT= 202.1,  40.9

2025-10-26T21:44:35.825Z,1761515075.825 [DAT](INFO): got valid direction response:
 21:44:34.6829 LVL= 32752, 32753, 32754, 32755, AGC= 40, IDX= 508, 0.36,-3.120,-1.743,-2.532, 3.015, PHS= 0.251, 1.570, 0.692, RAW= 310.8, -37.4, CAL= 307.9, -40.9, ROT= 202.1,  40.9

2025-10-26T21:44:35.825Z,1761515075.825 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-10-26T21:44:35.826Z,1761515075.826 [DAT](INFO): direction in FSK: [-0.700320,-0.284371,-0.654741]
2025-10-26T21:44:35.827Z,1761515075.827 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:35.839Z,1761515075.839 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.403160
2025-10-26T21:44:35.918Z,1761515075.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.765185 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:35.932Z,1761515075.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.683232 m,
      bearing: 310.499150 deg,
      lat: 36.779426 deg,
      lon: -121.859489 deg,
      deltaT: 0.765185 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:44:36.009Z,1761515076.009 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.573044
2025-10-26T21:44:36.215Z,1761515076.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105670,-0.974558,-0.197661],[0.987837,-0.080077,-0.133284],[0.114065,-0.209342,0.971167]]
2025-10-26T21:44:36.231Z,1761515076.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:44:36.265Z,1761515076.265 [DAT](INFO): DAT read: Rx Time:21:44:35.1829 

2025-10-26T21:44:36.267Z,1761515076.267 [DAT](INFO): Rx dataTimestamp_ set to:1761515076.265684
2025-10-26T21:44:36.271Z,1761515076.271 [DAT](INFO): DAT read: Bearing 109.9, -14.1 (Local)

2025-10-26T21:44:36.275Z,1761515076.275 [DAT](INFO): Local bearing/azimuth received:
 Bearing 109.9, -14.1 (Local)

2025-10-26T21:44:36.293Z,1761515076.293 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed -0.4

2025-10-26T21:44:36.304Z,1761515076.304 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-10-26T21:44:36.306Z,1761515076.306 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.870102
2025-10-26T21:44:36.516Z,1761515076.516 [DAT](INFO): DAT read: 21:44:35.1829 LVL= 32752, 30065, 32754, 32755, AGC= 38, IDX= 509,-0.20,-1.044, 0.425,-0.455,-0.993, PHS= 0.051, 1.463, 0.494, RAW= 312.1, -29.6, CAL= 310.7, -33.4, ROT= 199.3,  33.4

2025-10-26T21:44:36.517Z,1761515076.517 [DAT](INFO): got valid direction response:
 21:44:35.1829 LVL= 32752, 30065, 32754, 32755, AGC= 38, IDX= 509,-0.20,-1.044, 0.425,-0.455,-0.993, PHS= 0.051, 1.463, 0.494, RAW= 312.1, -29.6, CAL= 310.7, -33.4, ROT= 199.3,  33.4

2025-10-26T21:44:36.518Z,1761515076.518 [DAT](INFO): #Rx 73: Read direction message, but no range.
2025-10-26T21:44:36.519Z,1761515076.519 [DAT](INFO): direction in FSK: [-0.787930,-0.275929,-0.550481]
2025-10-26T21:44:36.522Z,1761515076.522 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.086666
2025-10-26T21:44:36.675Z,1761515076.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.500585 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:36.677Z,1761515076.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.683228 m,
      bearing: 304.021297 deg,
      lat: 36.779426 deg,
      lon: -121.859490 deg,
      deltaT: 0.500585 s,
      deltaX: -0.000005 m,
      approachRate: -0.000009 m/s,
      posRepo size: 4

2025-10-26T21:44:36.678Z,1761515076.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.70 m.
2025-10-26T21:44:36.770Z,1761515076.770 [DAT](INFO): DAT read: Rx Time:21:44:35.6831 

2025-10-26T21:44:36.773Z,1761515076.773 [DAT](INFO): Rx dataTimestamp_ set to:1761515076.770884
2025-10-26T21:44:36.778Z,1761515076.778 [DAT](INFO): DAT read: Bearing 104.1, -13.8 (Local)

2025-10-26T21:44:36.785Z,1761515076.785 [DAT](INFO): Local bearing/azimuth received:
 Bearing 104.1, -13.8 (Local)

2025-10-26T21:44:36.798Z,1761515076.798 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed -0.4

2025-10-26T21:44:36.806Z,1761515076.806 [DAT](ERROR): #Rx 74: Read range message, but no direction.
2025-10-26T21:44:36.814Z,1761515076.814 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.378075
2025-10-26T21:44:37.020Z,1761515077.020 [DAT](INFO): DAT read: 21:44:35.6831 LVL= 32752, 30433, 32754, 32755, AGC= 37, IDX= 511, 0.01, 1.472, 2.999, 2.033, 1.620, PHS=-0.046, 1.424, 0.369, RAW= 314.1, -25.2, CAL= 313.7, -29.1, ROT= 196.3,  29.1

2025-10-26T21:44:37.021Z,1761515077.021 [DAT](INFO): got valid direction response:
 21:44:35.6831 LVL= 32752, 30433, 32754, 32755, AGC= 37, IDX= 511, 0.01, 1.472, 2.999, 2.033, 1.620, PHS=-0.046, 1.424, 0.369, RAW= 314.1, -25.2, CAL= 313.7, -29.1, ROT= 196.3,  29.1

2025-10-26T21:44:37.021Z,1761515077.021 [DAT](INFO): #Rx 75: Read direction message, but no range.
2025-10-26T21:44:37.022Z,1761515077.022 [DAT](INFO): direction in FSK: [-0.838651,-0.245239,-0.486335]
2025-10-26T21:44:37.038Z,1761515077.038 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.602451
2025-10-26T21:44:37.042Z,1761515077.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084858,-0.977144,-0.194905],[0.989550,-0.059761,-0.131225],[0.116578,-0.204003,0.972004]]
2025-10-26T21:44:37.145Z,1761515077.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.505200 s,
      deltaX: 0.300000 m,
      approachRate: 0.593824 m/s,
      rangeRepo size: 4

2025-10-26T21:44:37.152Z,1761515077.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.981364 m,
      bearing: 298.358820 deg,
      lat: 36.779426 deg,
      lon: -121.859491 deg,
      deltaT: 0.505200 s,
      deltaX: 0.298136 m,
      approachRate: 0.590135 m/s,
      posRepo size: 4

2025-10-26T21:44:37.152Z,1761515077.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.00 m.
2025-10-26T21:44:37.274Z,1761515077.274 [DAT](INFO): DAT read: Rx Time:21:44:36.1832 

2025-10-26T21:44:37.275Z,1761515077.275 [DAT](INFO): Rx dataTimestamp_ set to:1761515077.274017
2025-10-26T21:44:37.282Z,1761515077.282 [DAT](INFO): DAT read: Bearing  99.5, -14.3 (Local)

2025-10-26T21:44:37.284Z,1761515077.284 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.5, -14.3 (Local)

2025-10-26T21:44:37.291Z,1761515077.291 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed -0.4

2025-10-26T21:44:37.294Z,1761515077.294 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-10-26T21:44:37.297Z,1761515077.297 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.860943
2025-10-26T21:44:37.524Z,1761515077.524 [DAT](INFO): DAT read: 21:44:36.1832 LVL= 32752, 30609, 32754, 32755, AGC= 36, IDX= 511, 0.31, 1.887,-2.838, 2.440, 2.126, PHS=-0.137, 1.364, 0.270, RAW= 314.8, -21.5, CAL= 315.0, -25.4, ROT= 195.0,  25.4

2025-10-26T21:44:37.525Z,1761515077.525 [DAT](INFO): got valid direction response:
 21:44:36.1832 LVL= 32752, 30609, 32754, 32755, AGC= 36, IDX= 511, 0.31, 1.887,-2.838, 2.440, 2.126, PHS=-0.137, 1.364, 0.270, RAW= 314.8, -21.5, CAL= 315.0, -25.4, ROT= 195.0,  25.4

2025-10-26T21:44:37.525Z,1761515077.525 [DAT](INFO): #Rx 77: Read direction message, but no range.
2025-10-26T21:44:37.526Z,1761515077.526 [DAT](INFO): direction in FSK: [-0.872555,-0.233800,-0.428935]
2025-10-26T21:44:37.530Z,1761515077.530 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.094933
2025-10-26T21:44:37.593Z,1761515077.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070953,-0.976470,-0.203648],[0.990382,-0.044651,-0.130959],[0.118784,-0.210981,0.970246]]
2025-10-26T21:44:37.641Z,1761515077.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 0.503133 s,
      deltaX: 0.200000 m,
      approachRate: 0.397509 m/s,
      rangeRepo size: 4

2025-10-26T21:44:37.647Z,1761515077.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.180130 m,
      bearing: 295.332909 deg,
      lat: 36.779425 deg,
      lon: -121.859492 deg,
      deltaT: 0.503133 s,
      deltaX: 0.198766 m,
      approachRate: 0.395057 m/s,
      posRepo size: 4

2025-10-26T21:44:37.781Z,1761515077.781 [DAT](INFO): DAT read: Rx Time:21:44:36.6833 

2025-10-26T21:44:37.784Z,1761515077.784 [DAT](INFO): Rx dataTimestamp_ set to:1761515077.781860
2025-10-26T21:44:37.790Z,1761515077.790 [DAT](INFO): DAT read: Bearing  95.6, -15.2 (Local)

2025-10-26T21:44:37.792Z,1761515077.792 [DAT](INFO): Local bearing/azimuth received:
 Bearing  95.6, -15.2 (Local)

2025-10-26T21:44:37.816Z,1761515077.816 [DAT](INFO): DAT read: Range 11 to 50 :     3.5 m (trip time 2.3 ms) speed -0.4

2025-10-26T21:44:37.857Z,1761515077.857 [DAT](INFO): DAT read: 21:44:36.6833 LVL= 29840, 21713, 24562, 26275, AGC= 38, IDX=   2,-0.09, 0.576, 2.238, 1.164, 0.922, PHS=-0.244, 1.362, 0.198, RAW= 314.6, -18.0, CAL= 315.3, -21.9, ROT= 194.7,  21.9

2025-10-26T21:44:37.858Z,1761515077.858 [DAT](INFO): got valid direction response:
 21:44:36.6833 LVL= 29840, 21713, 24562, 26275, AGC= 38, IDX=   2,-0.09, 0.576, 2.238, 1.164, 0.922, PHS=-0.244, 1.362, 0.198, RAW= 314.6, -18.0, CAL= 315.3, -21.9, ROT= 194.7,  21.9

2025-10-26T21:44:37.858Z,1761515077.858 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-10-26T21:44:37.859Z,1761515077.859 [DAT](INFO): direction in FSK: [-0.897466,-0.235446,-0.372988]
2025-10-26T21:44:37.864Z,1761515077.864 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:37.878Z,1761515077.878 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.431717
2025-10-26T21:44:37.990Z,1761515077.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066178,-0.975735,-0.208713],[0.990635,-0.039212,-0.130788],[0.119431,-0.215414,0.969192]]
2025-10-26T21:44:38.025Z,1761515078.025 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.589115
2025-10-26T21:44:38.074Z,1761515078.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.507843 s,
      deltaX: 0.300000 m,
      approachRate: 0.590734 m/s,
      rangeRepo size: 4

2025-10-26T21:44:38.080Z,1761515078.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.478267 m,
      bearing: 293.825252 deg,
      lat: 36.779425 deg,
      lon: -121.859492 deg,
      deltaT: 0.507843 s,
      deltaX: 0.298137 m,
      approachRate: 0.587066 m/s,
      posRepo size: 4

2025-10-26T21:44:38.284Z,1761515078.284 [DAT](INFO): DAT read: Rx Time:21:44:37.1834 

2025-10-26T21:44:38.286Z,1761515078.286 [DAT](INFO): Rx dataTimestamp_ set to:1761515078.284780
2025-10-26T21:44:38.290Z,1761515078.290 [DAT](INFO): DAT read: Bearing  93.6, -15.7 (Local)

2025-10-26T21:44:38.291Z,1761515078.291 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.6, -15.7 (Local)

2025-10-26T21:44:38.297Z,1761515078.297 [DAT](INFO): DAT read: Range 11 to 50 :     3.6 m (trip time 2.4 ms) speed -0.4

2025-10-26T21:44:38.304Z,1761515078.304 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-10-26T21:44:38.306Z,1761515078.306 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.870544
2025-10-26T21:44:38.532Z,1761515078.532 [DAT](INFO): DAT read: 21:44:37.1834 LVL= 32752, 28305, 32754, 32755, AGC= 37, IDX= 498, 0.43, 0.791, 2.497, 1.397, 1.195, PHS=-0.301, 1.347, 0.158, RAW= 314.3, -16.1, CAL= 315.3, -20.1, ROT= 194.7,  20.1

2025-10-26T21:44:38.533Z,1761515078.533 [DAT](INFO): got valid direction response:
 21:44:37.1834 LVL= 32752, 28305, 32754, 32755, AGC= 37, IDX= 498, 0.43, 0.791, 2.497, 1.397, 1.195, PHS=-0.301, 1.347, 0.158, RAW= 314.3, -16.1, CAL= 315.3, -20.1, ROT= 194.7,  20.1

2025-10-26T21:44:38.534Z,1761515078.534 [DAT](INFO): #Rx 80: Read direction message, but no range.
2025-10-26T21:44:38.535Z,1761515078.535 [DAT](INFO): direction in FSK: [-0.908356,-0.238303,-0.343660]
2025-10-26T21:44:38.538Z,1761515078.538 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.102547
2025-10-26T21:44:38.558Z,1761515078.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062417,-0.975585,-0.210565],[0.990891,-0.035350,-0.129943],[0.119327,-0.216758,0.968905]]
2025-10-26T21:44:38.630Z,1761515078.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 0.502920 s,
      deltaX: 0.100000 m,
      approachRate: 0.198839 m/s,
      rangeRepo size: 4

2025-10-26T21:44:38.636Z,1761515078.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.577617 m,
      bearing: 293.115300 deg,
      lat: 36.779425 deg,
      lon: -121.859493 deg,
      deltaT: 0.502920 s,
      deltaX: 0.099350 m,
      approachRate: 0.197547 m/s,
      posRepo size: 4

2025-10-26T21:44:38.787Z,1761515078.787 [DAT](INFO): DAT read: Rx Time:21:44:37.6835 

2025-10-26T21:44:38.789Z,1761515078.789 [DAT](INFO): Rx dataTimestamp_ set to:1761515078.788118
2025-10-26T21:44:38.795Z,1761515078.795 [DAT](INFO): DAT read: Bearing  91.2, -15.8 (Local)

2025-10-26T21:44:38.800Z,1761515078.800 [DAT](INFO): Local bearing/azimuth received:
 Bearing  91.2, -15.8 (Local)

2025-10-26T21:44:38.807Z,1761515078.807 [DAT](INFO): DAT read: Range 11 to 50 :     3.8 m (trip time 2.5 ms) speed -0.4

2025-10-26T21:44:38.871Z,1761515078.871 [DAT](INFO): DAT read: 21:44:37.6835 LVL= 32752, 26097, 32754, 32755, AGC= 37, IDX= 500, 0.13,-0.240, 1.508, 0.349, 0.211, PHS=-0.349, 1.342, 0.094, RAW= 315.4, -14.2, CAL= 316.1, -18.0, ROT= 193.9,  18.0

2025-10-26T21:44:38.908Z,1761515078.908 [DAT](INFO): got valid direction response:
 21:44:37.6835 LVL= 32752, 26097, 32754, 32755, AGC= 37, IDX= 500, 0.13,-0.240, 1.508, 0.349, 0.211, PHS=-0.349, 1.342, 0.094, RAW= 315.4, -14.2, CAL= 316.1, -18.0, ROT= 193.9,  18.0

2025-10-26T21:44:38.909Z,1761515078.909 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-26T21:44:38.910Z,1761515078.910 [DAT](INFO): direction in FSK: [-0.923206,-0.228470,-0.309017]
2025-10-26T21:44:38.910Z,1761515078.910 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:38.922Z,1761515078.922 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.486362
2025-10-26T21:44:38.942Z,1761515078.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061151,-0.975959,-0.209202],[0.990971,-0.034309,-0.129611],[0.119317,-0.215239,0.969245]]
2025-10-26T21:44:39.033Z,1761515079.033 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.597054
2025-10-26T21:44:39.044Z,1761515079.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 0.503338 s,
      deltaX: 0.200000 m,
      approachRate: 0.397347 m/s,
      rangeRepo size: 4

2025-10-26T21:44:39.052Z,1761515079.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.776374 m,
      bearing: 291.646730 deg,
      lat: 36.779425 deg,
      lon: -121.859493 deg,
      deltaT: 0.503338 s,
      deltaX: 0.198756 m,
      approachRate: 0.394877 m/s,
      posRepo size: 4

2025-10-26T21:44:39.289Z,1761515079.289 [DAT](INFO): DAT read: Rx Time:21:44:38.1836 

2025-10-26T21:44:39.290Z,1761515079.290 [DAT](INFO): Rx dataTimestamp_ set to:1761515079.289484
2025-10-26T21:44:39.294Z,1761515079.294 [DAT](INFO): DAT read: Bearing  87.2, -17.1 (Local)

2025-10-26T21:44:39.295Z,1761515079.295 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.2, -17.1 (Local)

2025-10-26T21:44:39.302Z,1761515079.302 [DAT](INFO): DAT read: Range 11 to 50 :     3.9 m (trip time 2.6 ms) speed -0.5

2025-10-26T21:44:39.304Z,1761515079.304 [DAT](ERROR): #Rx 82: Read range message, but no direction.
2025-10-26T21:44:39.306Z,1761515079.306 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.870621
2025-10-26T21:44:39.383Z,1761515079.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060738,-0.976719,-0.205746],[0.991083,-0.034521,-0.128698],[0.118600,-0.211728,0.970106]]
2025-10-26T21:44:39.399Z,1761515079.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:44:39.402Z,1761515079.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.900000 m,
      deltaT: 0.501366 s,
      deltaX: 0.100000 m,
      approachRate: 0.199455 m/s,
      rangeRepo size: 4

2025-10-26T21:44:39.542Z,1761515079.542 [DAT](INFO): DAT read: 21:44:38.1836 LVL= 32752, 32753, 32754, 32755, AGC= 38, IDX= 501,-0.02,-2.595,-0.898,-2.036,-2.066, PHS=-0.427, 1.213,-0.014, RAW= 316.0, -10.5, CAL= 316.0, -14.1, ROT= 194.0,  14.1

2025-10-26T21:44:39.544Z,1761515079.544 [DAT](INFO): got valid direction response:
 21:44:38.1836 LVL= 32752, 32753, 32754, 32755, AGC= 38, IDX= 501,-0.02,-2.595,-0.898,-2.036,-2.066, PHS=-0.427, 1.213,-0.014, RAW= 316.0, -10.5, CAL= 316.0, -14.1, ROT= 194.0,  14.1

2025-10-26T21:44:39.545Z,1761515079.545 [DAT](INFO): #Rx 83: Read direction message, but no range.
2025-10-26T21:44:39.546Z,1761515079.546 [DAT](INFO): direction in FSK: [-0.941063,-0.234633,-0.243615]
2025-10-26T21:44:39.551Z,1761515079.551 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.115376
2025-10-26T21:44:39.794Z,1761515079.795 [DAT](INFO): DAT read: Rx Time:21:44:38.6839 

2025-10-26T21:44:39.805Z,1761515079.805 [DAT](INFO): Rx dataTimestamp_ set to:1761515079.803695
2025-10-26T21:44:39.810Z,1761515079.810 [DAT](INFO): DAT read: Bearing  85.3, -16.6 (Local)

2025-10-26T21:44:39.811Z,1761515079.811 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.3, -16.6 (Local)

2025-10-26T21:44:39.842Z,1761515079.842 [DAT](INFO): DAT read: Range 11 to 50 :     4.4 m (trip time 2.9 ms) speed -0.5

2025-10-26T21:44:39.878Z,1761515079.878 [DAT](INFO): DAT read: 21:44:38.6839 LVL= 32752, 27793, 32754, 32755, AGC= 40, IDX= 504,-0.07,-2.236,-0.532,-1.709,-1.682, PHS=-0.452, 1.195,-0.071, RAW= 317.2,  -9.0, CAL= 317.0, -12.6, ROT= 193.0,  12.6

2025-10-26T21:44:39.883Z,1761515079.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063348,-0.979598,-0.190723],[0.991185,-0.039474,-0.126472],[0.116363,-0.197053,0.973463]]
2025-10-26T21:44:39.888Z,1761515079.888 [DAT](INFO): got valid direction response:
 21:44:38.6839 LVL= 32752, 27793, 32754, 32755, AGC= 40, IDX= 504,-0.07,-2.236,-0.532,-1.709,-1.682, PHS=-0.452, 1.195,-0.071, RAW= 317.2,  -9.0, CAL= 317.0, -12.6, ROT= 193.0,  12.6

2025-10-26T21:44:39.888Z,1761515079.888 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-10-26T21:44:39.889Z,1761515079.889 [DAT](INFO): direction in FSK: [-0.950904,-0.219533,-0.218143]
2025-10-26T21:44:39.890Z,1761515079.890 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:39.901Z,1761515079.901 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.465931
2025-10-26T21:44:39.999Z,1761515079.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.400000 m,
      deltaT: 0.514211 s,
      deltaX: 0.500000 m,
      approachRate: 0.972363 m/s,
      rangeRepo size: 4

2025-10-26T21:44:40.009Z,1761515080.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.372432 m,
      bearing: 289.273369 deg,
      lat: 36.779425 deg,
      lon: -121.859493 deg,
      deltaT: 1.015577 s,
      deltaX: 0.596058 m,
      approachRate: 0.586916 m/s,
      posRepo size: 4

2025-10-26T21:44:40.040Z,1761515080.040 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.605019
2025-10-26T21:44:40.298Z,1761515080.298 [DAT](INFO): DAT read: Rx Time:21:44:39.1840 

2025-10-26T21:44:40.302Z,1761515080.302 [DAT](INFO): Rx dataTimestamp_ set to:1761515080.298669
2025-10-26T21:44:40.326Z,1761515080.326 [DAT](INFO): DAT read: Bearing  83.9, -17.6 (Local)

2025-10-26T21:44:40.326Z,1761515080.326 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.9, -17.6 (Local)

2025-10-26T21:44:40.328Z,1761515080.328 [DAT](INFO): DAT read: Range 11 to 50 :     4.5 m (trip time 3.0 ms) speed -0.5

2025-10-26T21:44:40.350Z,1761515080.350 [DAT](INFO): DAT read: 21:44:39.1840 LVL= 32752, 31073, 32754, 32755, AGC= 41, IDX= 505,-0.07, 2.340,-2.213, 2.884, 2.942, PHS=-0.499, 1.173,-0.102, RAW= 316.9,  -7.6, CAL= 316.5, -11.1, ROT= 193.5,  11.1

2025-10-26T21:44:40.351Z,1761515080.351 [DAT](INFO): got valid direction response:
 21:44:39.1840 LVL= 32752, 31073, 32754, 32755, AGC= 41, IDX= 505,-0.07, 2.340,-2.213, 2.884, 2.942, PHS=-0.499, 1.173,-0.102, RAW= 316.9,  -7.6, CAL= 316.5, -11.1, ROT= 193.5,  11.1

2025-10-26T21:44:40.363Z,1761515080.363 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-10-26T21:44:40.364Z,1761515080.364 [DAT](INFO): direction in FSK: [-0.954179,-0.229078,-0.192522]
2025-10-26T21:44:40.365Z,1761515080.365 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:40.390Z,1761515080.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065624,-0.981126,-0.181896],[0.991211,-0.043111,-0.125071],[0.114868,-0.188505,0.975331]]
2025-10-26T21:44:40.392Z,1761515080.392 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.956924
2025-10-26T21:44:40.438Z,1761515080.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.500000 m,
      deltaT: 0.494974 s,
      deltaX: 0.100000 m,
      approachRate: 0.202031 m/s,
      rangeRepo size: 4

2025-10-26T21:44:40.444Z,1761515080.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.471803 m,
      bearing: 289.471612 deg,
      lat: 36.779425 deg,
      lon: -121.859494 deg,
      deltaT: 0.494974 s,
      deltaX: 0.099370 m,
      approachRate: 0.200759 m/s,
      posRepo size: 4

2025-10-26T21:44:40.545Z,1761515080.545 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.109810
2025-10-26T21:44:40.806Z,1761515080.806 [DAT](INFO): DAT read: Rx Time:21:44:39.6843 

2025-10-26T21:44:40.807Z,1761515080.807 [DAT](INFO): Rx dataTimestamp_ set to:1761515080.806642
2025-10-26T21:44:40.808Z,1761515080.808 [DAT](INFO): DAT read: Bearing  82.7, -16.8 (Local)

2025-10-26T21:44:40.809Z,1761515080.809 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.7, -16.8 (Local)

2025-10-26T21:44:40.811Z,1761515080.811 [DAT](INFO): DAT read: Range 11 to 50 :     5.0 m (trip time 3.3 ms) speed -0.6

2025-10-26T21:44:40.817Z,1761515080.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067765,-0.982459,-0.173730],[0.991293,-0.046597,-0.123150],[0.112895,-0.180562,0.977063]]
2025-10-26T21:44:40.824Z,1761515080.824 [DAT](INFO): DAT read: 21:44:39.6843 LVL= 32752, 28913, 32754, 32755, AGC= 42, IDX= 508,-0.00,-3.086,-1.346,-2.574,-2.473, PHS=-0.511, 1.172,-0.146, RAW= 318.1,  -6.8, CAL= 317.6, -10.2, ROT= 192.4,  10.2

2025-10-26T21:44:40.825Z,1761515080.825 [DAT](INFO): got valid direction response:
 21:44:39.6843 LVL= 32752, 28913, 32754, 32755, AGC= 42, IDX= 508,-0.00,-3.086,-1.346,-2.574,-2.473, PHS=-0.511, 1.172,-0.146, RAW= 318.1,  -6.8, CAL= 317.6, -10.2, ROT= 192.4,  10.2

2025-10-26T21:44:40.825Z,1761515080.825 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-10-26T21:44:40.826Z,1761515080.826 [DAT](INFO): direction in FSK: [-0.961237,-0.211341,-0.177085]
2025-10-26T21:44:40.826Z,1761515080.826 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:40.830Z,1761515080.830 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.394665
2025-10-26T21:44:40.932Z,1761515080.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.000000 m,
      deltaT: 0.507973 s,
      deltaX: 0.500000 m,
      approachRate: 0.984304 m/s,
      rangeRepo size: 4

2025-10-26T21:44:40.934Z,1761515080.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.968669 m,
      bearing: 288.236926 deg,
      lat: 36.779425 deg,
      lon: -121.859494 deg,
      deltaT: 0.507973 s,
      deltaX: 0.496867 m,
      approachRate: 0.978136 m/s,
      posRepo size: 4

2025-10-26T21:44:41.054Z,1761515081.054 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.618038
2025-10-26T21:44:41.305Z,1761515081.305 [DAT](INFO): DAT read: Rx Time:21:44:40.1844 

2025-10-26T21:44:41.306Z,1761515081.306 [DAT](INFO): Rx dataTimestamp_ set to:1761515081.305313
2025-10-26T21:44:41.308Z,1761515081.308 [DAT](INFO): DAT read: Bearing  81.3, -16.5 (Local)

2025-10-26T21:44:41.308Z,1761515081.308 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.3, -16.5 (Local)

2025-10-26T21:44:41.310Z,1761515081.310 [DAT](INFO): DAT read: Range 11 to 50 :     5.1 m (trip time 3.4 ms) speed -0.6

2025-10-26T21:44:41.315Z,1761515081.315 [DAT](INFO): DAT read: 21:44:40.1844 LVL= 32752, 26401, 32754, 32755, AGC= 41, IDX= 509, 0.05, 3.095,-1.456,-2.699,-2.554, PHS=-0.532, 1.144,-0.188, RAW= 318.8,  -5.6, CAL= 318.1,  -8.9, ROT= 191.9,   8.9

2025-10-26T21:44:41.316Z,1761515081.316 [DAT](INFO): got valid direction response:
 21:44:40.1844 LVL= 32752, 26401, 32754, 32755, AGC= 41, IDX= 509, 0.05, 3.095,-1.456,-2.699,-2.554, PHS=-0.532, 1.144,-0.188, RAW= 318.8,  -5.6, CAL= 318.1,  -8.9, ROT= 191.9,   8.9

2025-10-26T21:44:41.316Z,1761515081.316 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-10-26T21:44:41.317Z,1761515081.317 [DAT](INFO): direction in FSK: [-0.966728,-0.203721,-0.154710]
2025-10-26T21:44:41.317Z,1761515081.317 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:41.321Z,1761515081.321 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.885555
2025-10-26T21:44:41.391Z,1761515081.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070891,-0.983308,-0.167568],[0.991273,-0.050731,-0.121671],[0.111139,-0.174731,0.978324]]
2025-10-26T21:44:41.495Z,1761515081.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 0.498671 s,
      deltaX: 0.100000 m,
      approachRate: 0.200533 m/s,
      rangeRepo size: 4

2025-10-26T21:44:41.501Z,1761515081.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.068151 m,
      bearing: 287.602221 deg,
      lat: 36.779425 deg,
      lon: -121.859494 deg,
      deltaT: 0.498671 s,
      deltaX: 0.099481 m,
      approachRate: 0.199492 m/s,
      posRepo size: 4

2025-10-26T21:44:41.502Z,1761515081.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 5.10 m. Rolling out.
2025-10-26T21:44:41.502Z,1761515081.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-10-26T21:44:41.531Z,1761515081.531 [DockingStepper](INFO): Changing to mode: 1
2025-10-26T21:44:41.553Z,1761515081.553 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.117886
2025-10-26T21:44:41.809Z,1761515081.809 [DAT](INFO): DAT read: Rx Time:21:44:40.6847 

2025-10-26T21:44:41.810Z,1761515081.810 [DAT](INFO): Rx dataTimestamp_ set to:1761515081.809344
2025-10-26T21:44:41.811Z,1761515081.811 [DAT](INFO): DAT read: Bearing  86.3, -12.7 (Local)

2025-10-26T21:44:41.811Z,1761515081.811 [DAT](INFO): Local bearing/azimuth received:
 Bearing  86.3, -12.7 (Local)

2025-10-26T21:44:41.813Z,1761515081.813 [DAT](INFO): DAT read: Range 11 to 50 :     5.6 m (trip time 3.7 ms) speed -0.6

2025-10-26T21:44:41.825Z,1761515081.825 [DAT](INFO): DAT read: 21:44:40.6847 LVL= 32752, 23777, 32754, 32755, AGC= 42, IDX= 512, 0.19,-0.035, 1.880, 0.432, 0.482, PHS=-0.415, 1.443,-0.094, RAW= 320.7, -10.9, CAL= 320.7, -14.4, ROT= 189.3,  14.4

2025-10-26T21:44:41.826Z,1761515081.826 [DAT](INFO): got valid direction response:
 21:44:40.6847 LVL= 32752, 23777, 32754, 32755, AGC= 42, IDX= 512, 0.19,-0.035, 1.880, 0.432, 0.482, PHS=-0.415, 1.443,-0.094, RAW= 320.7, -10.9, CAL= 320.7, -14.4, ROT= 189.3,  14.4

2025-10-26T21:44:41.826Z,1761515081.826 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-10-26T21:44:41.827Z,1761515081.827 [DAT](INFO): direction in FSK: [-0.955852,-0.156527,-0.248690]
2025-10-26T21:44:41.868Z,1761515081.868 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:41.899Z,1761515081.899 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.462811
2025-10-26T21:44:41.948Z,1761515081.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076692,-0.984398,-0.158364],[0.991258,-0.058176,-0.118418],[0.107358,-0.166062,0.980254]]
2025-10-26T21:44:42.026Z,1761515082.026 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-10-26T21:44:42.026Z,1761515082.026 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T21:44:42.026Z,1761515082.026 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-10-26T21:44:42.032Z,1761515082.032 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 5.100000 m (mode  5.000000 count ).
2025-10-26T21:44:42.032Z,1761515082.032 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-10-26T21:44:42.032Z,1761515082.032 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-10-26T21:44:42.033Z,1761515082.033 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-10-26T21:44:42.033Z,1761515082.033 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T21:44:42.033Z,1761515082.033 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-10-26T21:44:42.034Z,1761515082.034 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with  1.000000 count pings  5.100000 m (mode  5.000000 count ).
2025-10-26T21:44:42.034Z,1761515082.034 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-10-26T21:44:42.034Z,1761515082.034 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-10-26T21:44:42.049Z,1761515082.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.600000 m,
      deltaT: 0.504031 s,
      deltaX: 0.500000 m,
      approachRate: 0.992002 m/s,
      rangeRepo size: 4

2025-10-26T21:44:42.057Z,1761515082.057 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.621071
2025-10-26T21:44:42.051Z,1761515082.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.565028 m,
      bearing: 286.356989 deg,
      lat: 36.779425 deg,
      lon: -121.859495 deg,
      deltaT: 0.504031 s,
      deltaX: 0.496878 m,
      approachRate: 0.985808 m/s,
      posRepo size: 4

2025-10-26T21:44:42.057Z,1761515082.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.57 m.
2025-10-26T21:44:42.062Z,1761515082.062 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-10-26T21:44:42.062Z,1761515082.062 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-26T21:44:42.062Z,1761515082.062 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-10-26T21:44:42.062Z,1761515082.062 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-10-26T21:44:42.309Z,1761515082.309 [DAT](INFO): DAT read: Rx Time:21:44:41.1849 

2025-10-26T21:44:42.309Z,1761515082.309 [DAT](INFO): Rx dataTimestamp_ set to:1761515082.309212
2025-10-26T21:44:42.311Z,1761515082.311 [DAT](INFO): DAT read: Bearing  81.8, -16.1 (Local)

2025-10-26T21:44:42.311Z,1761515082.311 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.8, -16.1 (Local)

2025-10-26T21:44:42.313Z,1761515082.313 [DAT](INFO): DAT read: Range 11 to 50 :     5.9 m (trip time 3.9 ms) speed -0.6

2025-10-26T21:44:42.318Z,1761515082.318 [DAT](INFO): DAT read: 21:44:41.1849 LVL= 29104, 18225, 28850, 31667, AGC= 45, IDX=   1, 0.34, 2.532,-1.922, 3.036,-3.094, PHS=-0.556, 1.216,-0.197, RAW= 319.0,  -5.8, CAL= 318.3,  -9.1, ROT= 191.7,   9.1

2025-10-26T21:44:42.319Z,1761515082.319 [DAT](INFO): got valid direction response:
 21:44:41.1849 LVL= 29104, 18225, 28850, 31667, AGC= 45, IDX=   1, 0.34, 2.532,-1.922, 3.036,-3.094, PHS=-0.556, 1.216,-0.197, RAW= 319.0,  -5.8, CAL= 318.3,  -9.1, ROT= 191.7,   9.1

2025-10-26T21:44:42.320Z,1761515082.320 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-10-26T21:44:42.321Z,1761515082.321 [DAT](INFO): direction in FSK: [-0.966898,-0.200235,-0.158158]
2025-10-26T21:44:42.321Z,1761515082.321 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:42.325Z,1761515082.325 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.889637
2025-10-26T21:44:42.465Z,1761515082.465 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-10-26T21:44:42.465Z,1761515082.465 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-10-26T21:44:42.466Z,1761515082.466 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-10-26T21:44:42.466Z,1761515082.466 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-10-26T21:44:42.481Z,1761515082.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.900000 m,
      deltaT: 0.499868 s,
      deltaX: 0.300000 m,
      approachRate: 0.600159 m/s,
      rangeRepo size: 4

2025-10-26T21:44:42.482Z,1761515082.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.863296 m,
      bearing: 287.707086 deg,
      lat: 36.779425 deg,
      lon: -121.859495 deg,
      deltaT: 0.499868 s,
      deltaX: 0.298267 m,
      approachRate: 0.596692 m/s,
      posRepo size: 4

2025-10-26T21:44:42.483Z,1761515082.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.86 m.
2025-10-26T21:44:42.561Z,1761515082.561 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.125717
2025-10-26T21:44:42.813Z,1761515082.813 [DAT](INFO): DAT read: Rx Time:21:44:41.6851 

2025-10-26T21:44:42.813Z,1761515082.813 [DAT](INFO): Rx dataTimestamp_ set to:1761515082.813217
2025-10-26T21:44:42.815Z,1761515082.815 [DAT](INFO): DAT read: Bearing  79.8, -15.6 (Local)

2025-10-26T21:44:42.815Z,1761515082.815 [DAT](INFO): Local bearing/azimuth received:
 Bearing  79.8, -15.6 (Local)

2025-10-26T21:44:42.817Z,1761515082.817 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed -0.5

2025-10-26T21:44:42.822Z,1761515082.822 [DAT](INFO): DAT read: 21:44:41.6851 LVL= 32752, 25153, 32754, 32755, AGC= 43, IDX= 499, 0.44, 2.586,-1.886, 3.054,-3.008, PHS=-0.587, 1.167,-0.266, RAW= 320.1,  -3.9, CAL= 319.1,  -7.1, ROT= 190.9,   7.1

2025-10-26T21:44:42.823Z,1761515082.823 [DAT](INFO): got valid direction response:
 21:44:41.6851 LVL= 32752, 25153, 32754, 32755, AGC= 43, IDX= 499, 0.44, 2.586,-1.886, 3.054,-3.008, PHS=-0.587, 1.167,-0.266, RAW= 320.1,  -3.9, CAL= 319.1,  -7.1, ROT= 190.9,   7.1

2025-10-26T21:44:42.823Z,1761515082.823 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-10-26T21:44:42.824Z,1761515082.824 [DAT](INFO): direction in FSK: [-0.974429,-0.187645,-0.123601]
2025-10-26T21:44:42.825Z,1761515082.825 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:42.836Z,1761515082.836 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.400909
2025-10-26T21:44:42.838Z,1761515082.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084034,-0.985051,-0.150375],[0.990866,-0.066633,-0.117240],[0.105468,-0.158853,0.981653]]
2025-10-26T21:44:42.959Z,1761515082.959 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-10-26T21:44:42.959Z,1761515082.959 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-10-26T21:44:42.968Z,1761515082.968 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-10-26T21:44:42.968Z,1761515082.968 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-10-26T21:44:42.982Z,1761515082.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.504005 s,
      deltaX: 0.300000 m,
      approachRate: 0.595232 m/s,
      rangeRepo size: 4

2025-10-26T21:44:42.989Z,1761515082.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.161429 m,
      bearing: 286.909163 deg,
      lat: 36.779426 deg,
      lon: -121.859496 deg,
      deltaT: 0.504005 s,
      deltaX: 0.298133 m,
      approachRate: 0.591529 m/s,
      posRepo size: 4

2025-10-26T21:44:42.989Z,1761515082.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:44:43.065Z,1761515083.065 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.629181
2025-10-26T21:44:43.317Z,1761515083.317 [DAT](INFO): DAT read: Rx Time:21:44:42.1852 

2025-10-26T21:44:43.317Z,1761515083.317 [DAT](INFO): Rx dataTimestamp_ set to:1761515083.317068
2025-10-26T21:44:43.319Z,1761515083.319 [DAT](INFO): DAT read: Bearing  77.6, -16.0 (Local)

2025-10-26T21:44:43.319Z,1761515083.319 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.6, -16.0 (Local)

2025-10-26T21:44:43.321Z,1761515083.321 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed -0.5

2025-10-26T21:44:43.326Z,1761515083.326 [DAT](INFO): DAT read: 21:44:42.1852 LVL= 32752, 29425, 32754, 32755, AGC= 44, IDX= 500, 0.36,-2.960,-1.184,-2.510,-2.231, PHS=-0.628, 1.092,-0.323, RAW= 320.4,  -1.8, CAL= 319.2,  -4.9, ROT= 190.8,   4.9

2025-10-26T21:44:43.327Z,1761515083.327 [DAT](INFO): got valid direction response:
 21:44:42.1852 LVL= 32752, 29425, 32754, 32755, AGC= 44, IDX= 500, 0.36,-2.960,-1.184,-2.510,-2.231, PHS=-0.628, 1.092,-0.323, RAW= 320.4,  -1.8, CAL= 319.2,  -4.9, ROT= 190.8,   4.9

2025-10-26T21:44:43.327Z,1761515083.327 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-10-26T21:44:43.328Z,1761515083.328 [DAT](INFO): direction in FSK: [-0.978697,-0.186697,-0.085417]
2025-10-26T21:44:43.328Z,1761515083.328 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:43.332Z,1761515083.332 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.896786
2025-10-26T21:44:43.499Z,1761515083.499 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-10-26T21:44:43.499Z,1761515083.499 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T21:44:43.499Z,1761515083.499 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-10-26T21:44:43.499Z,1761515083.499 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T21:44:43.504Z,1761515083.504 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-10-26T21:44:43.504Z,1761515083.504 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T21:44:43.504Z,1761515083.504 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-10-26T21:44:43.504Z,1761515083.504 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T21:44:43.515Z,1761515083.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.503851 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:43.529Z,1761515083.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.161286 m,
      bearing: 286.410472 deg,
      lat: 36.779426 deg,
      lon: -121.859495 deg,
      deltaT: 0.503851 s,
      deltaX: -0.000143 m,
      approachRate: -0.000283 m/s,
      posRepo size: 4

2025-10-26T21:44:43.529Z,1761515083.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:44:43.569Z,1761515083.569 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.133080
2025-10-26T21:44:43.821Z,1761515083.821 [DAT](INFO): DAT read: Rx Time:21:44:42.6855 

2025-10-26T21:44:43.821Z,1761515083.821 [DAT](INFO): Rx dataTimestamp_ set to:1761515083.821202
2025-10-26T21:44:43.823Z,1761515083.823 [DAT](INFO): DAT read: Bearing  77.7, -15.4 (Local)

2025-10-26T21:44:43.823Z,1761515083.823 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.7, -15.4 (Local)

2025-10-26T21:44:43.825Z,1761515083.825 [DAT](INFO): DAT read: Range 11 to 50 :     6.6 m (trip time 4.4 ms) speed -0.5

2025-10-26T21:44:43.830Z,1761515083.830 [DAT](INFO): DAT read: 21:44:42.6855 LVL= 32752, 29777, 32754, 32755, AGC= 46, IDX= 503, 0.23,-0.976, 0.780,-0.545,-0.260, PHS=-0.615, 1.085,-0.329, RAW= 321.0,  -1.8, CAL= 319.7,  -4.9, ROT= 190.3,   4.9

2025-10-26T21:44:43.831Z,1761515083.831 [DAT](INFO): got valid direction response:
 21:44:42.6855 LVL= 32752, 29777, 32754, 32755, AGC= 46, IDX= 503, 0.23,-0.976, 0.780,-0.545,-0.260, PHS=-0.615, 1.085,-0.329, RAW= 321.0,  -1.8, CAL= 319.7,  -4.9, ROT= 190.3,   4.9

2025-10-26T21:44:43.832Z,1761515083.832 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-10-26T21:44:43.833Z,1761515083.833 [DAT](INFO): direction in FSK: [-0.980289,-0.178149,-0.085417]
2025-10-26T21:44:43.833Z,1761515083.833 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:43.841Z,1761515083.841 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.405334
2025-10-26T21:44:44.073Z,1761515084.073 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.637142
2025-10-26T21:44:44.080Z,1761515084.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.600000 m,
      deltaT: 0.504134 s,
      deltaX: 0.400000 m,
      approachRate: 0.793440 m/s,
      rangeRepo size: 4

2025-10-26T21:44:44.085Z,1761515084.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.558789 m,
      bearing: 285.913968 deg,
      lat: 36.779427 deg,
      lon: -121.859497 deg,
      deltaT: 0.504134 s,
      deltaX: 0.397502 m,
      approachRate: 0.788486 m/s,
      posRepo size: 4

2025-10-26T21:44:44.086Z,1761515084.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.56 m.
2025-10-26T21:44:44.326Z,1761515084.326 [DAT](INFO): DAT read: Rx Time:21:44:43.1855 

2025-10-26T21:44:44.326Z,1761515084.326 [DAT](INFO): Rx dataTimestamp_ set to:1761515084.325970
2025-10-26T21:44:44.328Z,1761515084.328 [DAT](INFO): DAT read: Bearing  76.2, -15.4 (Local)

2025-10-26T21:44:44.328Z,1761515084.328 [DAT](INFO): Local bearing/azimuth received:
 Bearing  76.2, -15.4 (Local)

2025-10-26T21:44:44.330Z,1761515084.330 [DAT](INFO): DAT read: Range 11 to 50 :     6.6 m (trip time 4.4 ms) speed -0.4

2025-10-26T21:44:44.335Z,1761515084.335 [DAT](INFO): DAT read: 21:44:43.1855 LVL= 32752, 31585, 32754, 32755, AGC= 46, IDX= 504, 0.01,-2.014,-0.316,-1.603,-1.285, PHS=-0.627, 1.014,-0.362, RAW= 321.4,  -0.3, CAL= 319.9,  -3.4, ROT= 190.1,   3.4

2025-10-26T21:44:44.336Z,1761515084.336 [DAT](INFO): got valid direction response:
 21:44:43.1855 LVL= 32752, 31585, 32754, 32755, AGC= 46, IDX= 504, 0.01,-2.014,-0.316,-1.603,-1.285, PHS=-0.627, 1.014,-0.362, RAW= 321.4,  -0.3, CAL= 319.9,  -3.4, ROT= 190.1,   3.4

2025-10-26T21:44:44.336Z,1761515084.336 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-10-26T21:44:44.337Z,1761515084.337 [DAT](INFO): direction in FSK: [-0.982770,-0.175058,-0.059306]
2025-10-26T21:44:44.337Z,1761515084.337 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:44.342Z,1761515084.342 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.906387
2025-10-26T21:44:44.577Z,1761515084.577 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.141563
2025-10-26T21:44:44.659Z,1761515084.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.600000 m,
      deltaT: 0.504768 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:44.661Z,1761515084.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.558644 m,
      bearing: 285.447207 deg,
      lat: 36.779427 deg,
      lon: -121.859497 deg,
      deltaT: 0.504768 s,
      deltaX: -0.000144 m,
      approachRate: -0.000286 m/s,
      posRepo size: 4

2025-10-26T21:44:44.661Z,1761515084.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.56 m.
2025-10-26T21:44:44.829Z,1761515084.829 [DAT](INFO): DAT read: Rx Time:21:44:43.6858 

2025-10-26T21:44:44.829Z,1761515084.829 [DAT](INFO): Rx dataTimestamp_ set to:1761515084.829207
2025-10-26T21:44:44.831Z,1761515084.831 [DAT](INFO): DAT read: Bearing  76.3, -15.1 (Local)

2025-10-26T21:44:44.831Z,1761515084.831 [DAT](INFO): Local bearing/azimuth received:
 Bearing  76.3, -15.1 (Local)

2025-10-26T21:44:44.834Z,1761515084.834 [DAT](INFO): DAT read: Range 11 to 50 :     7.1 m (trip time 4.7 ms) speed -0.4

2025-10-26T21:44:44.839Z,1761515084.839 [DAT](INFO): DAT read: 21:44:43.6858 LVL= 32752, 31009, 32754, 32755, AGC= 47, IDX= 507,-0.23,-2.187,-0.497,-1.781,-1.462, PHS=-0.623, 1.010,-0.362, RAW= 321.5,  -0.3, CAL= 320.0,  -3.4, ROT= 190.0,   3.4

2025-10-26T21:44:44.840Z,1761515084.840 [DAT](INFO): got valid direction response:
 21:44:43.6858 LVL= 32752, 31009, 32754, 32755, AGC= 47, IDX= 507,-0.23,-2.187,-0.497,-1.781,-1.462, PHS=-0.623, 1.010,-0.362, RAW= 321.5,  -0.3, CAL= 320.0,  -3.4, ROT= 190.0,   3.4

2025-10-26T21:44:44.840Z,1761515084.840 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-10-26T21:44:44.841Z,1761515084.841 [DAT](INFO): direction in FSK: [-0.983074,-0.173343,-0.059306]
2025-10-26T21:44:44.842Z,1761515084.842 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:44.845Z,1761515084.845 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.409981
2025-10-26T21:44:45.006Z,1761515085.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100047,-0.988933,-0.109555],[0.990081,-0.088033,-0.109497],[0.098641,-0.119423,0.987931]]
2025-10-26T21:44:45.081Z,1761515085.081 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.645069
2025-10-26T21:44:45.088Z,1761515085.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.100000 m,
      deltaT: 0.503237 s,
      deltaX: 0.500000 m,
      approachRate: 0.993568 m/s,
      rangeRepo size: 4

2025-10-26T21:44:45.090Z,1761515085.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.055511 m,
      bearing: 286.189954 deg,
      lat: 36.779427 deg,
      lon: -121.859497 deg,
      deltaT: 0.503237 s,
      deltaX: 0.496867 m,
      approachRate: 0.987341 m/s,
      posRepo size: 4

2025-10-26T21:44:45.090Z,1761515085.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.06 m.
2025-10-26T21:44:45.334Z,1761515085.334 [DAT](INFO): DAT read: Rx Time:21:44:44.1859 

2025-10-26T21:44:45.334Z,1761515085.334 [DAT](INFO): Rx dataTimestamp_ set to:1761515085.333771
2025-10-26T21:44:45.335Z,1761515085.335 [DAT](INFO): DAT read: Bearing  78.7, -13.9 (Local)

2025-10-26T21:44:45.336Z,1761515085.336 [DAT](INFO): Local bearing/azimuth received:
 Bearing  78.7, -13.9 (Local)

2025-10-26T21:44:45.338Z,1761515085.338 [DAT](INFO): DAT read: Range 11 to 50 :     7.2 m (trip time 4.8 ms) speed -0.4

2025-10-26T21:44:45.342Z,1761515085.342 [DAT](INFO): DAT read: 21:44:44.1859 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 507, 0.16,-0.830, 0.886,-0.435,-0.157, PHS=-0.572, 1.087,-0.322, RAW= 322.0,  -2.5, CAL= 320.9,  -5.7, ROT= 189.1,   5.7

2025-10-26T21:44:45.344Z,1761515085.344 [DAT](INFO): got valid direction response:
 21:44:44.1859 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 507, 0.16,-0.830, 0.886,-0.435,-0.157, PHS=-0.572, 1.087,-0.322, RAW= 322.0,  -2.5, CAL= 320.9,  -5.7, ROT= 189.1,   5.7

2025-10-26T21:44:45.344Z,1761515085.344 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-10-26T21:44:45.345Z,1761515085.345 [DAT](INFO): direction in FSK: [-0.982532,-0.157376,-0.099320]
2025-10-26T21:44:45.345Z,1761515085.345 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:45.360Z,1761515085.360 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.924938
2025-10-26T21:44:45.418Z,1761515085.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101532,-0.989286,-0.104901],[0.990117,-0.090233,-0.107361],[0.096745,-0.114765,0.988670]]
2025-10-26T21:44:45.481Z,1761515085.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.200000 m,
      deltaT: 0.504564 s,
      deltaX: 0.100000 m,
      approachRate: 0.198191 m/s,
      rangeRepo size: 4

2025-10-26T21:44:45.487Z,1761515085.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.154737 m,
      bearing: 285.666851 deg,
      lat: 36.779427 deg,
      lon: -121.859496 deg,
      deltaT: 0.504564 s,
      deltaX: 0.099226 m,
      approachRate: 0.196658 m/s,
      posRepo size: 4

2025-10-26T21:44:45.488Z,1761515085.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.15 m.
2025-10-26T21:44:45.584Z,1761515085.584 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.149002
2025-10-26T21:44:45.820Z,1761515085.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102428,-0.989748,-0.099532],[0.990223,-0.091926,-0.104919],[0.094694,-0.109306,0.989487]]
2025-10-26T21:44:45.837Z,1761515085.837 [DAT](INFO): DAT read: Rx Time:21:44:44.6861 

2025-10-26T21:44:45.838Z,1761515085.838 [DAT](INFO): Rx dataTimestamp_ set to:1761515085.837292
2025-10-26T21:44:45.839Z,1761515085.839 [DAT](INFO): DAT read: Bearing  78.6, -12.7 (Local)

2025-10-26T21:44:45.839Z,1761515085.839 [DAT](INFO): Local bearing/azimuth received:
 Bearing  78.6, -12.7 (Local)

2025-10-26T21:44:45.841Z,1761515085.841 [DAT](INFO): DAT read: Range 11 to 50 :     7.5 m (trip time 5.0 ms) speed -0.4

2025-10-26T21:44:45.846Z,1761515085.846 [DAT](INFO): DAT read: 21:44:44.6861 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 509, 0.45, 1.849,-2.699, 2.214, 2.518, PHS=-0.567, 1.111,-0.348, RAW= 323.1,  -2.5, CAL= 322.0,  -5.6, ROT= 188.0,   5.6

2025-10-26T21:44:45.847Z,1761515085.847 [DAT](INFO): got valid direction response:
 21:44:44.6861 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 509, 0.45, 1.849,-2.699, 2.214, 2.518, PHS=-0.567, 1.111,-0.348, RAW= 323.1,  -2.5, CAL= 322.0,  -5.6, ROT= 188.0,   5.6

2025-10-26T21:44:45.848Z,1761515085.848 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-10-26T21:44:45.849Z,1761515085.849 [DAT](INFO): direction in FSK: [-0.985542,-0.138509,-0.097583]
2025-10-26T21:44:45.849Z,1761515085.849 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:45.869Z,1761515085.869 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.433167
2025-10-26T21:44:45.873Z,1761515085.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.500000 m,
      deltaT: 0.503521 s,
      deltaX: 0.300000 m,
      approachRate: 0.595805 m/s,
      rangeRepo size: 4

2025-10-26T21:44:45.875Z,1761515085.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.452852 m,
      bearing: 284.573407 deg,
      lat: 36.779427 deg,
      lon: -121.859497 deg,
      deltaT: 0.503521 s,
      deltaX: 0.298114 m,
      approachRate: 0.592059 m/s,
      posRepo size: 4

2025-10-26T21:44:45.875Z,1761515085.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.45 m.
2025-10-26T21:44:46.088Z,1761515086.088 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.653027
2025-10-26T21:44:46.328Z,1761515086.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102306,-0.990296,-0.094063],[0.990677,-0.092879,-0.099665],[0.089962,-0.103382,0.990565]]
2025-10-26T21:44:46.341Z,1761515086.341 [DAT](INFO): DAT read: Rx Time:21:44:45.1861 

2025-10-26T21:44:46.341Z,1761515086.341 [DAT](INFO): Rx dataTimestamp_ set to:1761515086.341204
2025-10-26T21:44:46.343Z,1761515086.343 [DAT](INFO): DAT read: Bearing  77.1, -12.2 (Local)

2025-10-26T21:44:46.343Z,1761515086.343 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.1, -12.2 (Local)

2025-10-26T21:44:46.346Z,1761515086.346 [DAT](INFO): DAT read: Range 11 to 50 :     7.5 m (trip time 5.0 ms) speed -0.4

2025-10-26T21:44:46.358Z,1761515086.358 [DAT](INFO): DAT read: 21:44:45.1861 LVL= 32752, 31009, 32754, 32755, AGC= 50, IDX= 510,-0.09,-0.778, 0.928,-0.440,-0.092, PHS=-0.584, 1.065,-0.392, RAW= 323.9,  -1.1, CAL= 322.7,  -4.2, ROT= 187.3,   4.2

2025-10-26T21:44:46.360Z,1761515086.360 [DAT](INFO): got valid direction response:
 21:44:45.1861 LVL= 32752, 31009, 32754, 32755, AGC= 50, IDX= 510,-0.09,-0.778, 0.928,-0.440,-0.092, PHS=-0.584, 1.065,-0.392, RAW= 323.9,  -1.1, CAL= 322.7,  -4.2, ROT= 187.3,   4.2

2025-10-26T21:44:46.361Z,1761515086.361 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-10-26T21:44:46.362Z,1761515086.362 [DAT](INFO): direction in FSK: [-0.989231,-0.126723,-0.073238]
2025-10-26T21:44:46.362Z,1761515086.362 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:46.366Z,1761515086.366 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.930141
2025-10-26T21:44:46.460Z,1761515086.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.500000 m,
      deltaT: 0.503912 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:46.462Z,1761515086.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.452875 m,
      bearing: 283.662596 deg,
      lat: 36.779427 deg,
      lon: -121.859496 deg,
      deltaT: 0.503912 s,
      deltaX: 0.000023 m,
      approachRate: 0.000045 m/s,
      posRepo size: 4

2025-10-26T21:44:46.463Z,1761515086.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.45 m.
2025-10-26T21:44:46.592Z,1761515086.592 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.156956
2025-10-26T21:44:46.828Z,1761515086.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101842,-0.990525,-0.092135],[0.990916,-0.092832,-0.097299],[0.087824,-0.101207,0.990981]]
2025-10-26T21:44:46.845Z,1761515086.845 [DAT](INFO): DAT read: Rx Time:21:44:45.6863 

2025-10-26T21:44:46.846Z,1761515086.846 [DAT](INFO): Rx dataTimestamp_ set to:1761515086.845224
2025-10-26T21:44:46.847Z,1761515086.847 [DAT](INFO): DAT read: Bearing  79.1, -11.7 (Local)

2025-10-26T21:44:46.847Z,1761515086.847 [DAT](INFO): Local bearing/azimuth received:
 Bearing  79.1, -11.7 (Local)

2025-10-26T21:44:46.849Z,1761515086.849 [DAT](INFO): DAT read: Range 11 to 50 :     7.8 m (trip time 5.2 ms) speed -0.3

2025-10-26T21:44:46.854Z,1761515086.854 [DAT](INFO): DAT read: 21:44:45.6863 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 511, 0.24,-0.774, 0.898,-0.438,-0.145, PHS=-0.527, 1.088,-0.337, RAW= 323.8,  -3.0, CAL= 322.8,  -6.1, ROT= 187.2,   6.1

2025-10-26T21:44:46.855Z,1761515086.855 [DAT](INFO): got valid direction response:
 21:44:45.6863 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 511, 0.24,-0.774, 0.898,-0.438,-0.145, PHS=-0.527, 1.088,-0.337, RAW= 323.8,  -3.0, CAL= 322.8,  -6.1, ROT= 187.2,   6.1

2025-10-26T21:44:46.855Z,1761515086.855 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-10-26T21:44:46.856Z,1761515086.856 [DAT](INFO): direction in FSK: [-0.986497,-0.124623,-0.106264]
2025-10-26T21:44:46.857Z,1761515086.857 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:46.864Z,1761515086.864 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.429016
2025-10-26T21:44:46.884Z,1761515086.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.800000 m,
      deltaT: 0.504020 s,
      deltaX: 0.300000 m,
      approachRate: 0.595215 m/s,
      rangeRepo size: 4

2025-10-26T21:44:46.886Z,1761515086.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.750990 m,
      bearing: 283.742049 deg,
      lat: 36.779427 deg,
      lon: -121.859497 deg,
      deltaT: 0.504020 s,
      deltaX: 0.298115 m,
      approachRate: 0.591475 m/s,
      posRepo size: 4

2025-10-26T21:44:46.887Z,1761515086.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.75 m.
2025-10-26T21:44:47.097Z,1761515087.097 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.661381
2025-10-26T21:44:47.320Z,1761515087.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100749,-0.990774,-0.090648],[0.991225,-0.092122,-0.094797],[0.085571,-0.099403,0.991361]]
2025-10-26T21:44:47.357Z,1761515087.357 [DAT](INFO): DAT read: Rx Time:21:44:46.1863 

2025-10-26T21:44:47.358Z,1761515087.358 [DAT](INFO): Rx dataTimestamp_ set to:1761515087.357250
2025-10-26T21:44:47.359Z,1761515087.359 [DAT](INFO): DAT read: Bearing  78.4, -11.5 (Local)

2025-10-26T21:44:47.359Z,1761515087.359 [DAT](INFO): Local bearing/azimuth received:
 Bearing  78.4, -11.5 (Local)

2025-10-26T21:44:47.361Z,1761515087.361 [DAT](INFO): DAT read: Range 11 to 50 :     7.8 m (trip time 5.2 ms) speed -0.3

2025-10-26T21:44:47.366Z,1761515087.366 [DAT](INFO): DAT read: 21:44:46.1863 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 511, 0.21,-0.422, 1.238,-0.095, 0.216, PHS=-0.536, 1.067,-0.355, RAW= 324.1,  -2.3, CAL= 323.0,  -5.4, ROT= 187.0,   5.4

2025-10-26T21:44:47.368Z,1761515087.368 [DAT](INFO): got valid direction response:
 21:44:46.1863 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 511, 0.21,-0.422, 1.238,-0.095, 0.216, PHS=-0.536, 1.067,-0.355, RAW= 324.1,  -2.3, CAL= 323.0,  -5.4, ROT= 187.0,   5.4

2025-10-26T21:44:47.368Z,1761515087.368 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-10-26T21:44:47.369Z,1761515087.369 [DAT](INFO): direction in FSK: [-0.988141,-0.121329,-0.094108]
2025-10-26T21:44:47.369Z,1761515087.369 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:47.381Z,1761515087.381 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.945351
2025-10-26T21:44:47.406Z,1761515087.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.800000 m,
      deltaT: 0.512026 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:47.412Z,1761515087.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.750924 m,
      bearing: 283.385288 deg,
      lat: 36.779426 deg,
      lon: -121.859496 deg,
      deltaT: 0.512026 s,
      deltaX: -0.000066 m,
      approachRate: -0.000129 m/s,
      posRepo size: 4

2025-10-26T21:44:47.412Z,1761515087.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.75 m.
2025-10-26T21:44:47.609Z,1761515087.609 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.173935
2025-10-26T21:44:47.822Z,1761515087.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099330,-0.990818,-0.091726],[0.991511,-0.090782,-0.093085],[0.083903,-0.100194,0.991424]]
2025-10-26T21:44:47.862Z,1761515087.862 [DAT](INFO): DAT read: Rx Time:21:44:46.6865 

2025-10-26T21:44:47.862Z,1761515087.862 [DAT](INFO): Rx dataTimestamp_ set to:1761515087.862081
2025-10-26T21:44:47.864Z,1761515087.864 [DAT](INFO): DAT read: Bearing  77.6, -11.5 (Local)

2025-10-26T21:44:47.864Z,1761515087.864 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.6, -11.5 (Local)

2025-10-26T21:44:47.866Z,1761515087.866 [DAT](INFO): DAT read: Range 11 to 50 :     8.1 m (trip time 5.4 ms) speed -0.3

2025-10-26T21:44:47.871Z,1761515087.871 [DAT](INFO): DAT read: 21:44:46.6865 LVL= 32752, 26577, 32754, 32755, AGC= 53, IDX=   1, 0.15, 2.219,-2.403, 2.544, 2.875, PHS=-0.554, 1.050,-0.376, RAW= 324.2,  -1.6, CAL= 323.0,  -4.7, ROT= 187.0,   4.7

2025-10-26T21:44:47.872Z,1761515087.872 [DAT](INFO): got valid direction response:
 21:44:46.6865 LVL= 32752, 26577, 32754, 32755, AGC= 53, IDX=   1, 0.15, 2.219,-2.403, 2.544, 2.875, PHS=-0.554, 1.050,-0.376, RAW= 324.2,  -1.6, CAL= 323.0,  -4.7, ROT= 187.0,   4.7

2025-10-26T21:44:47.873Z,1761515087.873 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-10-26T21:44:47.874Z,1761515087.874 [DAT](INFO): direction in FSK: [-0.989209,-0.121460,-0.081939]
2025-10-26T21:44:47.874Z,1761515087.874 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:47.877Z,1761515087.877 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.441959
2025-10-26T21:44:47.898Z,1761515087.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.100000 m,
      deltaT: 0.504831 s,
      deltaX: 0.300000 m,
      approachRate: 0.594259 m/s,
      rangeRepo size: 4

2025-10-26T21:44:47.910Z,1761515087.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.049037 m,
      bearing: 283.225209 deg,
      lat: 36.779426 deg,
      lon: -121.859497 deg,
      deltaT: 0.504831 s,
      deltaX: 0.298113 m,
      approachRate: 0.590520 m/s,
      posRepo size: 4

2025-10-26T21:44:47.925Z,1761515087.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.05 m.
2025-10-26T21:44:48.113Z,1761515088.113 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.677067
2025-10-26T21:44:48.357Z,1761515088.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096440,-0.991202,-0.090658],[0.992047,-0.088319,-0.089684],[0.080889,-0.098586,0.991836]]
2025-10-26T21:44:48.365Z,1761515088.365 [DAT](INFO): DAT read: Rx Time:21:44:47.1863 

2025-10-26T21:44:48.365Z,1761515088.365 [DAT](INFO): Rx dataTimestamp_ set to:1761515088.365164
2025-10-26T21:44:48.367Z,1761515088.367 [DAT](INFO): DAT read: Bearing  77.0, -11.4 (Local)

2025-10-26T21:44:48.367Z,1761515088.367 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.0, -11.4 (Local)

2025-10-26T21:44:48.369Z,1761515088.369 [DAT](INFO): DAT read: Range 11 to 50 :     7.8 m (trip time 5.2 ms) speed -0.3

2025-10-26T21:44:48.374Z,1761515088.374 [DAT](INFO): DAT read: 21:44:47.1863 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 497, 0.09, 1.915,-2.716, 2.232, 2.577, PHS=-0.560, 1.035,-0.389, RAW= 324.4,  -1.1, CAL= 323.2,  -4.2, ROT= 186.8,   4.2

2025-10-26T21:44:48.375Z,1761515088.375 [DAT](INFO): got valid direction response:
 21:44:47.1863 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 497, 0.09, 1.915,-2.716, 2.232, 2.577, PHS=-0.560, 1.035,-0.389, RAW= 324.4,  -1.1, CAL= 323.2,  -4.2, ROT= 186.8,   4.2

2025-10-26T21:44:48.375Z,1761515088.375 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-10-26T21:44:48.376Z,1761515088.376 [DAT](INFO): direction in FSK: [-0.990299,-0.118086,-0.073238]
2025-10-26T21:44:48.377Z,1761515088.377 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:48.397Z,1761515088.397 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.961597
2025-10-26T21:44:48.471Z,1761515088.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.800000 m,
      deltaT: 0.503083 s,
      deltaX: -0.300000 m,
      approachRate: -0.596323 m/s,
      rangeRepo size: 4

2025-10-26T21:44:48.477Z,1761515088.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.750923 m,
      bearing: 282.791630 deg,
      lat: 36.779426 deg,
      lon: -121.859496 deg,
      deltaT: 0.503083 s,
      deltaX: -0.298114 m,
      approachRate: -0.592574 m/s,
      posRepo size: 4

2025-10-26T21:44:48.477Z,1761515088.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.75 m.
2025-10-26T21:44:48.617Z,1761515088.617 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.181374
2025-10-26T21:44:48.810Z,1761515088.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094725,-0.991322,-0.091146],[0.992334,-0.086727,-0.088042],[0.079373,-0.098787,0.991938]]
2025-10-26T21:44:48.829Z,1761515088.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.75 m.
2025-10-26T21:44:48.869Z,1761515088.869 [DAT](INFO): DAT read: Rx Time:21:44:47.6865 

2025-10-26T21:44:48.870Z,1761515088.870 [DAT](INFO): Rx dataTimestamp_ set to:1761515088.869248
2025-10-26T21:44:48.871Z,1761515088.871 [DAT](INFO): DAT read: Bearing  76.7, -11.2 (Local)

2025-10-26T21:44:48.871Z,1761515088.871 [DAT](INFO): Local bearing/azimuth received:
 Bearing  76.7, -11.2 (Local)

2025-10-26T21:44:48.873Z,1761515088.873 [DAT](INFO): DAT read: Range 11 to 50 :     8.1 m (trip time 5.4 ms) speed -0.2

2025-10-26T21:44:48.878Z,1761515088.878 [DAT](INFO): DAT read: 21:44:47.6865 LVL= 32752, 21473, 32754, 32755, AGC= 52, IDX=   3, 0.09, 2.937,-1.699,-3.034,-2.681, PHS=-0.563, 1.027,-0.397, RAW= 324.6,  -0.9, CAL= 323.3,  -3.9, ROT= 186.7,   3.9

2025-10-26T21:44:48.879Z,1761515088.879 [DAT](INFO): got valid direction response:
 21:44:47.6865 LVL= 32752, 21473, 32754, 32755, AGC= 52, IDX=   3, 0.09, 2.937,-1.699,-3.034,-2.681, PHS=-0.563, 1.027,-0.397, RAW= 324.6,  -0.9, CAL= 323.3,  -3.9, ROT= 186.7,   3.9

2025-10-26T21:44:48.879Z,1761515088.879 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-10-26T21:44:48.880Z,1761515088.880 [DAT](INFO): direction in FSK: [-0.990871,-0.116401,-0.068015]
2025-10-26T21:44:48.881Z,1761515088.881 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:48.884Z,1761515088.884 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.448738
2025-10-26T21:44:49.120Z,1761515089.120 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.684879
2025-10-26T21:44:49.167Z,1761515089.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092401,-0.991529,-0.091277],[0.992689,-0.084583,-0.086110],[0.077660,-0.098567,0.992096]]
2025-10-26T21:44:49.293Z,1761515089.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.100000 m,
      deltaT: 0.504084 s,
      deltaX: 0.300000 m,
      approachRate: 0.595139 m/s,
      rangeRepo size: 4

2025-10-26T21:44:49.308Z,1761515089.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.048969 m,
      bearing: 282.420824 deg,
      lat: 36.779426 deg,
      lon: -121.859495 deg,
      deltaT: 0.504084 s,
      deltaX: 0.298046 m,
      approachRate: 0.591263 m/s,
      posRepo size: 4

2025-10-26T21:44:49.309Z,1761515089.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.05 m.
2025-10-26T21:44:49.373Z,1761515089.373 [DAT](INFO): DAT read: Rx Time:21:44:48.1866 

2025-10-26T21:44:49.374Z,1761515089.374 [DAT](INFO): Rx dataTimestamp_ set to:1761515089.373331
2025-10-26T21:44:49.375Z,1761515089.375 [DAT](INFO): DAT read: Bearing  76.7, -11.2 (Local)

2025-10-26T21:44:49.375Z,1761515089.375 [DAT](INFO): Local bearing/azimuth received:
 Bearing  76.7, -11.2 (Local)

2025-10-26T21:44:49.377Z,1761515089.377 [DAT](INFO): DAT read: Range 11 to 50 :     8.3 m (trip time 5.5 ms) speed -0.2

2025-10-26T21:44:49.382Z,1761515089.382 [DAT](INFO): DAT read: 21:44:48.1866 LVL= 32752, 31969, 32754, 32755, AGC= 49, IDX= 499, 0.11, 1.356, 3.002, 1.671, 2.019, PHS=-0.561, 1.027,-0.392, RAW= 324.4,  -1.0, CAL= 323.2,  -4.0, ROT= 186.8,   4.0

2025-10-26T21:44:49.383Z,1761515089.383 [DAT](INFO): got valid direction response:
 21:44:48.1866 LVL= 32752, 31969, 32754, 32755, AGC= 49, IDX= 499, 0.11, 1.356, 3.002, 1.671, 2.019, PHS=-0.561, 1.027,-0.392, RAW= 324.4,  -1.0, CAL= 323.2,  -4.0, ROT= 186.8,   4.0

2025-10-26T21:44:49.383Z,1761515089.383 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-10-26T21:44:49.384Z,1761515089.384 [DAT](INFO): direction in FSK: [-0.990547,-0.118116,-0.069756]
2025-10-26T21:44:49.385Z,1761515089.385 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:49.389Z,1761515089.389 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.953381
2025-10-26T21:44:49.624Z,1761515089.624 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.188900
2025-10-26T21:44:49.696Z,1761515089.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089293,-0.991968,-0.089594],[0.993097,-0.081802,-0.084069],[0.076064,-0.096482,0.992424]]
2025-10-26T21:44:49.728Z,1761515089.728 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:44:49.809Z,1761515089.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.300000 m,
      deltaT: 0.504083 s,
      deltaX: 0.200000 m,
      approachRate: 0.396760 m/s,
      rangeRepo size: 4

2025-10-26T21:44:49.816Z,1761515089.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.247709 m,
      bearing: 282.343362 deg,
      lat: 36.779425 deg,
      lon: -121.859493 deg,
      deltaT: 0.504083 s,
      deltaX: 0.198740 m,
      approachRate: 0.394260 m/s,
      posRepo size: 4

2025-10-26T21:44:49.816Z,1761515089.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.25 m.
2025-10-26T21:44:49.877Z,1761515089.877 [DAT](INFO): DAT read: Rx Time:21:44:48.6868 

2025-10-26T21:44:49.878Z,1761515089.878 [DAT](INFO): Rx dataTimestamp_ set to:1761515089.877360
2025-10-26T21:44:49.879Z,1761515089.879 [DAT](INFO): DAT read: Bearing  76.8, -11.0 (Local)

2025-10-26T21:44:49.879Z,1761515089.879 [DAT](INFO): Local bearing/azimuth received:
 Bearing  76.8, -11.0 (Local)

2025-10-26T21:44:49.881Z,1761515089.881 [DAT](INFO): DAT read: Range 11 to 50 :     8.6 m (trip time 5.7 ms) speed -0.3

2025-10-26T21:44:49.886Z,1761515089.886 [DAT](INFO): DAT read: 21:44:48.6868 LVL= 32752, 31169, 32754, 32755, AGC= 48, IDX= 501, 0.20, 0.715, 2.364, 1.029, 1.374, PHS=-0.557, 1.035,-0.389, RAW= 324.5,  -1.2, CAL= 323.3,  -4.2, ROT= 186.7,   4.2

2025-10-26T21:44:49.887Z,1761515089.887 [DAT](INFO): got valid direction response:
 21:44:48.6868 LVL= 32752, 31169, 32754, 32755, AGC= 48, IDX= 501, 0.20, 0.715, 2.364, 1.029, 1.374, PHS=-0.557, 1.035,-0.389, RAW= 324.5,  -1.2, CAL= 323.3,  -4.2, ROT= 186.7,   4.2

2025-10-26T21:44:49.888Z,1761515089.888 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-10-26T21:44:49.889Z,1761515089.889 [DAT](INFO): direction in FSK: [-0.990503,-0.116357,-0.073238]
2025-10-26T21:44:49.889Z,1761515089.889 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:49.893Z,1761515089.893 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.457443
2025-10-26T21:44:50.128Z,1761515090.128 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.692818
2025-10-26T21:44:50.213Z,1761515090.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086036,-0.992337,-0.088687],[0.993491,-0.078783,-0.082280],[0.074662,-0.095189,0.992655]]
2025-10-26T21:44:50.323Z,1761515090.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.504029 s,
      deltaX: 0.300000 m,
      approachRate: 0.595204 m/s,
      rangeRepo size: 4

2025-10-26T21:44:50.325Z,1761515090.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.545947 m,
      bearing: 282.070257 deg,
      lat: 36.779425 deg,
      lon: -121.859493 deg,
      deltaT: 0.504029 s,
      deltaX: 0.298238 m,
      approachRate: 0.591708 m/s,
      posRepo size: 4

2025-10-26T21:44:50.325Z,1761515090.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.55 m.
2025-10-26T21:44:50.381Z,1761515090.381 [DAT](INFO): DAT read: Rx Time:21:44:49.1868 

2025-10-26T21:44:50.382Z,1761515090.382 [DAT](INFO): Rx dataTimestamp_ set to:1761515090.381366
2025-10-26T21:44:50.383Z,1761515090.383 [DAT](INFO): DAT read: Bearing  77.9, -10.8 (Local)

2025-10-26T21:44:50.383Z,1761515090.383 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.9, -10.8 (Local)

2025-10-26T21:44:50.385Z,1761515090.385 [DAT](INFO): DAT read: Range 11 to 50 :     8.6 m (trip time 5.7 ms) speed -0.3

2025-10-26T21:44:50.390Z,1761515090.390 [DAT](INFO): DAT read: 21:44:49.1868 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 501, 0.20,-0.526, 1.120,-0.209, 0.102, PHS=-0.526, 1.063,-0.355, RAW= 324.4,  -2.4, CAL= 323.3,  -5.5, ROT= 186.7,   5.5

2025-10-26T21:44:50.391Z,1761515090.391 [DAT](INFO): got valid direction response:
 21:44:49.1868 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 501, 0.20,-0.526, 1.120,-0.209, 0.102, PHS=-0.526, 1.063,-0.355, RAW= 324.4,  -2.4, CAL= 323.3,  -5.5, ROT= 186.7,   5.5

2025-10-26T21:44:50.391Z,1761515090.391 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-10-26T21:44:50.392Z,1761515090.392 [DAT](INFO): direction in FSK: [-0.988598,-0.116134,-0.095846]
2025-10-26T21:44:50.393Z,1761515090.393 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:50.397Z,1761515090.397 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.961426
2025-10-26T21:44:50.616Z,1761515090.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082940,-0.992597,-0.088728],[0.993850,-0.075831,-0.080697],[0.073371,-0.094876,0.992782]]
2025-10-26T21:44:50.632Z,1761515090.632 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.196968
2025-10-26T21:44:50.677Z,1761515090.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.504006 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:50.678Z,1761515090.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.545947 m,
      bearing: 282.025391 deg,
      lat: 36.779425 deg,
      lon: -121.859493 deg,
      deltaT: 0.504006 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:44:50.679Z,1761515090.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.55 m.
2025-10-26T21:44:50.732Z,1761515090.732 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:44:50.885Z,1761515090.885 [DAT](INFO): DAT read: Rx Time:21:44:49.6868 

2025-10-26T21:44:50.885Z,1761515090.885 [DAT](INFO): Rx dataTimestamp_ set to:1761515090.885203
2025-10-26T21:44:50.887Z,1761515090.887 [DAT](INFO): DAT read: Bearing  76.2, -10.9 (Local)

2025-10-26T21:44:50.887Z,1761515090.887 [DAT](INFO): Local bearing/azimuth received:
 Bearing  76.2, -10.9 (Local)

2025-10-26T21:44:50.889Z,1761515090.889 [DAT](INFO): DAT read: Range 11 to 50 :     8.6 m (trip time 5.7 ms) speed -0.3

2025-10-26T21:44:50.894Z,1761515090.894 [DAT](INFO): DAT read: 21:44:49.6868 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 502,-0.00, 1.484, 3.139, 1.798, 2.147, PHS=-0.562, 1.037,-0.393, RAW= 324.5,  -1.1, CAL= 323.3,  -4.1, ROT= 186.7,   4.1

2025-10-26T21:44:50.896Z,1761515090.896 [DAT](INFO): got valid direction response:
 21:44:49.6868 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 502,-0.00, 1.484, 3.139, 1.798, 2.147, PHS=-0.562, 1.037,-0.393, RAW= 324.5,  -1.1, CAL= 323.3,  -4.1, ROT= 186.7,   4.1

2025-10-26T21:44:50.896Z,1761515090.896 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-10-26T21:44:50.897Z,1761515090.897 [DAT](INFO): direction in FSK: [-0.990629,-0.116372,-0.071497]
2025-10-26T21:44:50.897Z,1761515090.897 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:50.901Z,1761515090.901 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.465469
2025-10-26T21:44:51.079Z,1761515091.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076987,-0.992938,-0.090261],[0.994488,-0.070011,-0.078057],[0.071186,-0.095773,0.992855]]
2025-10-26T21:44:51.111Z,1761515091.111 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS1330934,35.0, +10.2,   0.0,1490.9,  0
2025-10-26T21:44:51.137Z,1761515091.137 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.701107
2025-10-26T21:44:51.153Z,1761515091.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.503837 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:51.160Z,1761515091.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.545947 m,
      bearing: 281.535522 deg,
      lat: 36.779425 deg,
      lon: -121.859493 deg,
      deltaT: 0.503837 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:44:51.160Z,1761515091.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.55 m.
2025-10-26T21:44:51.390Z,1761515091.390 [DAT](INFO): DAT read: Rx Time:21:44:50.1869 

2025-10-26T21:44:51.390Z,1761515091.390 [DAT](INFO): Rx dataTimestamp_ set to:1761515091.389940
2025-10-26T21:44:51.392Z,1761515091.392 [DAT](INFO): DAT read: Bearing  77.6, -11.2 (Local)

2025-10-26T21:44:51.393Z,1761515091.393 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.6, -11.2 (Local)

2025-10-26T21:44:51.395Z,1761515091.395 [DAT](INFO): DAT read: Range 11 to 50 :     8.7 m (trip time 5.8 ms) speed -0.3

2025-10-26T21:44:51.400Z,1761515091.400 [DAT](INFO): DAT read: 21:44:50.1869 LVL= 32752, 31153, 32754, 32755, AGC= 49, IDX= 502, 0.28,-1.674, 0.034,-1.330,-1.024, PHS=-0.547, 1.103,-0.350, RAW= 323.7,  -2.7, CAL= 322.7,  -5.8, ROT= 187.3,   5.8

2025-10-26T21:44:51.401Z,1761515091.401 [DAT](INFO): got valid direction response:
 21:44:50.1869 LVL= 32752, 31153, 32754, 32755, AGC= 49, IDX= 502, 0.28,-1.674, 0.034,-1.330,-1.024, PHS=-0.547, 1.103,-0.350, RAW= 323.7,  -2.7, CAL= 322.7,  -5.8, ROT= 187.3,   5.8

2025-10-26T21:44:51.402Z,1761515091.402 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-10-26T21:44:51.403Z,1761515091.403 [DAT](INFO): direction in FSK: [-0.986817,-0.126414,-0.101056]
2025-10-26T21:44:51.403Z,1761515091.403 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:51.414Z,1761515091.414 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.975643
2025-10-26T21:44:51.535Z,1761515091.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074694,-0.993168,-0.089655],[0.994725,-0.067868,-0.076917],[0.070307,-0.094927,0.992998]]
2025-10-26T21:44:51.558Z,1761515091.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 0.504737 s,
      deltaX: 0.099999 m,
      approachRate: 0.198122 m/s,
      rangeRepo size: 4

2025-10-26T21:44:51.561Z,1761515091.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.645087 m,
      bearing: 282.178669 deg,
      lat: 36.779425 deg,
      lon: -121.859492 deg,
      deltaT: 0.504737 s,
      deltaX: 0.099140 m,
      approachRate: 0.196419 m/s,
      posRepo size: 4

2025-10-26T21:44:51.561Z,1761515091.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.65 m.
2025-10-26T21:44:51.641Z,1761515091.641 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.205166
2025-10-26T21:44:51.893Z,1761515091.893 [DAT](INFO): DAT read: Rx Time:21:44:50.6871 

2025-10-26T21:44:51.893Z,1761515091.893 [DAT](INFO): Rx dataTimestamp_ set to:1761515091.893130
2025-10-26T21:44:51.895Z,1761515091.895 [DAT](INFO): DAT read: Bearing  75.1, -12.3 (Local)

2025-10-26T21:44:51.895Z,1761515091.895 [DAT](INFO): Local bearing/azimuth received:
 Bearing  75.1, -12.3 (Local)

2025-10-26T21:44:51.897Z,1761515091.897 [DAT](INFO): DAT read: Range 11 to 50 :     9.0 m (trip time 6.0 ms) speed -0.4

2025-10-26T21:44:51.902Z,1761515091.902 [DAT](INFO): DAT read: 21:44:50.6871 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 504, 0.49,-0.211, 1.424, 0.139, 0.471, PHS=-0.581, 0.997,-0.377, RAW= 323.2,  -0.5, CAL= 321.9,  -3.6, ROT= 188.1,   3.6

2025-10-26T21:44:51.903Z,1761515091.903 [DAT](INFO): got valid direction response:
 21:44:50.6871 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 504, 0.49,-0.211, 1.424, 0.139, 0.471, PHS=-0.581, 0.997,-0.377, RAW= 323.2,  -0.5, CAL= 321.9,  -3.6, ROT= 188.1,   3.6

2025-10-26T21:44:51.903Z,1761515091.903 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-10-26T21:44:51.904Z,1761515091.904 [DAT](INFO): direction in FSK: [-0.988070,-0.140623,-0.062791]
2025-10-26T21:44:51.904Z,1761515091.904 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:51.908Z,1761515091.908 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.472504
2025-10-26T21:44:52.064Z,1761515092.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072697,-0.993435,-0.088332],[0.994932,-0.066067,-0.075794],[0.069461,-0.093395,0.993203]]
2025-10-26T21:44:52.144Z,1761515092.144 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.709003
2025-10-26T21:44:52.148Z,1761515092.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.000000 m,
      deltaT: 0.503190 s,
      deltaX: 0.300000 m,
      approachRate: 0.596197 m/s,
      rangeRepo size: 4

2025-10-26T21:44:52.149Z,1761515092.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.943194 m,
      bearing: 282.626819 deg,
      lat: 36.779425 deg,
      lon: -121.859491 deg,
      deltaT: 0.503190 s,
      deltaX: 0.298107 m,
      approachRate: 0.592435 m/s,
      posRepo size: 4

2025-10-26T21:44:52.150Z,1761515092.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.94 m.
2025-10-26T21:44:52.397Z,1761515092.397 [DAT](INFO): DAT read: Rx Time:21:44:51.1871 

2025-10-26T21:44:52.398Z,1761515092.398 [DAT](INFO): Rx dataTimestamp_ set to:1761515092.397332
2025-10-26T21:44:52.399Z,1761515092.399 [DAT](INFO): DAT read: Bearing  74.5, -12.2 (Local)

2025-10-26T21:44:52.399Z,1761515092.399 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.5, -12.2 (Local)

2025-10-26T21:44:52.401Z,1761515092.401 [DAT](INFO): DAT read: Range 11 to 50 :     9.0 m (trip time 6.0 ms) speed -0.4

2025-10-26T21:44:52.406Z,1761515092.406 [DAT](INFO): DAT read: 21:44:51.1871 LVL= 32752, 30289, 32754, 32755, AGC= 50, IDX= 505,-0.20,-2.651,-1.008,-2.301,-1.960, PHS=-0.589, 0.997,-0.385, RAW= 323.2,  -0.3, CAL= 321.8,  -3.3, ROT= 188.2,   3.3

2025-10-26T21:44:52.407Z,1761515092.407 [DAT](INFO): got valid direction response:
 21:44:51.1871 LVL= 32752, 30289, 32754, 32755, AGC= 50, IDX= 505,-0.20,-2.651,-1.008,-2.301,-1.960, PHS=-0.589, 0.997,-0.385, RAW= 323.2,  -0.3, CAL= 321.8,  -3.3, ROT= 188.2,   3.3

2025-10-26T21:44:52.407Z,1761515092.407 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-26T21:44:52.408Z,1761515092.408 [DAT](INFO): direction in FSK: [-0.988135,-0.142392,-0.057564]
2025-10-26T21:44:52.409Z,1761515092.409 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:52.412Z,1761515092.412 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.976933
2025-10-26T21:44:52.549Z,1761515092.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.000000 m,
      deltaT: 0.504202 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:52.551Z,1761515092.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.943541 m,
      bearing: 282.695664 deg,
      lat: 36.779425 deg,
      lon: -121.859491 deg,
      deltaT: 0.504202 s,
      deltaX: 0.000346 m,
      approachRate: 0.000687 m/s,
      posRepo size: 4

2025-10-26T21:44:52.552Z,1761515092.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.94 m.
2025-10-26T21:44:52.648Z,1761515092.648 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.212921
2025-10-26T21:44:52.901Z,1761515092.901 [DAT](INFO): DAT read: Rx Time:21:44:51.6874 

2025-10-26T21:44:52.901Z,1761515092.901 [DAT](INFO): Rx dataTimestamp_ set to:1761515092.901108
2025-10-26T21:44:52.903Z,1761515092.903 [DAT](INFO): DAT read: Bearing  74.8, -12.5 (Local)

2025-10-26T21:44:52.903Z,1761515092.903 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.8, -12.5 (Local)

2025-10-26T21:44:52.905Z,1761515092.905 [DAT](INFO): DAT read: Range 11 to 50 :     9.5 m (trip time 6.3 ms) speed -0.4

2025-10-26T21:44:52.910Z,1761515092.910 [DAT](INFO): DAT read: 21:44:51.6874 LVL= 32752, 31185, 32754, 32755, AGC= 51, IDX= 507, 0.20,-1.477, 0.180,-1.110,-0.791, PHS=-0.584, 1.016,-0.363, RAW= 322.7,  -0.9, CAL= 321.4,  -4.0, ROT= 188.6,   4.0

2025-10-26T21:44:52.911Z,1761515092.911 [DAT](INFO): got valid direction response:
 21:44:51.6874 LVL= 32752, 31185, 32754, 32755, AGC= 51, IDX= 507, 0.20,-1.477, 0.180,-1.110,-0.791, PHS=-0.584, 1.016,-0.363, RAW= 322.7,  -0.9, CAL= 321.4,  -4.0, ROT= 188.6,   4.0

2025-10-26T21:44:52.911Z,1761515092.911 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-10-26T21:44:52.912Z,1761515092.912 [DAT](INFO): direction in FSK: [-0.986348,-0.149171,-0.069756]
2025-10-26T21:44:52.912Z,1761515092.912 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:52.916Z,1761515092.916 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.480816
2025-10-26T21:44:52.942Z,1761515092.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070190,-0.993734,-0.086986],[0.995208,-0.063809,-0.074092],[0.068077,-0.091770,0.993450]]
2025-10-26T21:44:53.070Z,1761515093.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.500000 m,
      deltaT: 0.503776 s,
      deltaX: 0.500000 m,
      approachRate: 0.992505 m/s,
      rangeRepo size: 4

2025-10-26T21:44:53.083Z,1761515093.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.440404 m,
      bearing: 283.016995 deg,
      lat: 36.779426 deg,
      lon: -121.859491 deg,
      deltaT: 0.503776 s,
      deltaX: 0.496863 m,
      approachRate: 0.986278 m/s,
      posRepo size: 4

2025-10-26T21:44:53.088Z,1761515093.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.44 m.
2025-10-26T21:44:53.152Z,1761515093.152 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.716976
2025-10-26T21:44:53.405Z,1761515093.405 [DAT](INFO): DAT read: Rx Time:21:44:52.1874 

2025-10-26T21:44:53.405Z,1761515093.405 [DAT](INFO): Rx dataTimestamp_ set to:1761515093.405162
2025-10-26T21:44:53.407Z,1761515093.407 [DAT](INFO): DAT read: Bearing  75.3, -12.3 (Local)

2025-10-26T21:44:53.407Z,1761515093.407 [DAT](INFO): Local bearing/azimuth received:
 Bearing  75.3, -12.3 (Local)

2025-10-26T21:44:53.409Z,1761515093.409 [DAT](INFO): DAT read: Range 11 to 50 :     9.5 m (trip time 6.3 ms) speed -0.4

2025-10-26T21:44:53.414Z,1761515093.414 [DAT](INFO): DAT read: 21:44:52.1874 LVL= 32752, 29409, 32754, 32755, AGC= 52, IDX= 508,-0.13, 1.238, 2.962, 1.617, 1.930, PHS=-0.590, 1.077,-0.357, RAW= 322.6,  -1.7, CAL= 321.4,  -4.8, ROT= 188.6,   4.8

2025-10-26T21:44:53.415Z,1761515093.415 [DAT](INFO): got valid direction response:
 21:44:52.1874 LVL= 32752, 29409, 32754, 32755, AGC= 52, IDX= 508,-0.13, 1.238, 2.962, 1.617, 1.930, PHS=-0.590, 1.077,-0.357, RAW= 322.6,  -1.7, CAL= 321.4,  -4.8, ROT= 188.6,   4.8

2025-10-26T21:44:53.415Z,1761515093.415 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-10-26T21:44:53.416Z,1761515093.416 [DAT](INFO): direction in FSK: [-0.985289,-0.149011,-0.083678]
2025-10-26T21:44:53.417Z,1761515093.417 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:53.420Z,1761515093.420 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.984913
2025-10-26T21:44:53.512Z,1761515093.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070117,-0.993892,-0.085213],[0.995265,-0.063937,-0.073207],[0.067312,-0.089943,0.993670]]
2025-10-26T21:44:53.625Z,1761515093.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.500000 m,
      deltaT: 0.504054 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:53.627Z,1761515093.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.440675 m,
      bearing: 283.086558 deg,
      lat: 36.779426 deg,
      lon: -121.859490 deg,
      deltaT: 0.504054 s,
      deltaX: 0.000271 m,
      approachRate: 0.000537 m/s,
      posRepo size: 4

2025-10-26T21:44:53.631Z,1761515093.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.44 m.
2025-10-26T21:44:53.656Z,1761515093.656 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.220982
2025-10-26T21:44:53.909Z,1761515093.909 [DAT](INFO): DAT read: Rx Time:21:44:52.6876 

2025-10-26T21:44:53.909Z,1761515093.909 [DAT](INFO): Rx dataTimestamp_ set to:1761515093.909201
2025-10-26T21:44:53.911Z,1761515093.911 [DAT](INFO): DAT read: Bearing  74.6, -12.0 (Local)

2025-10-26T21:44:53.911Z,1761515093.911 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.6, -12.0 (Local)

2025-10-26T21:44:53.913Z,1761515093.913 [DAT](INFO): DAT read: Range 11 to 50 :     9.9 m (trip time 6.6 ms) speed -0.4

2025-10-26T21:44:53.918Z,1761515093.918 [DAT](INFO): DAT read: 21:44:52.6876 LVL= 32752, 31665, 32754, 32755, AGC= 53, IDX= 510, 0.26,-1.636, 0.116,-1.260,-0.925, PHS=-0.608, 1.086,-0.378, RAW= 322.8,  -1.3, CAL= 321.6,  -4.3, ROT= 188.4,   4.3

2025-10-26T21:44:53.920Z,1761515093.920 [DAT](INFO): got valid direction response:
 21:44:52.6876 LVL= 32752, 31665, 32754, 32755, AGC= 53, IDX= 510, 0.26,-1.636, 0.116,-1.260,-0.925, PHS=-0.608, 1.086,-0.378, RAW= 322.8,  -1.3, CAL= 321.6,  -4.3, ROT= 188.4,   4.3

2025-10-26T21:44:53.920Z,1761515093.920 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-10-26T21:44:53.921Z,1761515093.921 [DAT](INFO): direction in FSK: [-0.986488,-0.145672,-0.074979]
2025-10-26T21:44:53.921Z,1761515093.921 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:53.933Z,1761515093.933 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.497997
2025-10-26T21:44:54.004Z,1761515094.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070254,-0.993881,-0.085229],[0.995285,-0.064111,-0.072789],[0.066879,-0.089941,0.993699]]
2025-10-26T21:44:54.102Z,1761515094.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.900000 m,
      deltaT: 0.504039 s,
      deltaX: 0.400000 m,
      approachRate: 0.793589 m/s,
      rangeRepo size: 4

2025-10-26T21:44:54.109Z,1761515094.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.838176 m,
      bearing: 282.843352 deg,
      lat: 36.779427 deg,
      lon: -121.859491 deg,
      deltaT: 0.504039 s,
      deltaX: 0.397501 m,
      approachRate: 0.788631 m/s,
      posRepo size: 4

2025-10-26T21:44:54.109Z,1761515094.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.84 m.
2025-10-26T21:44:54.161Z,1761515094.161 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.725681
2025-10-26T21:44:54.413Z,1761515094.413 [DAT](INFO): DAT read: Rx Time:21:44:53.1876 

2025-10-26T21:44:54.413Z,1761515094.413 [DAT](INFO): Rx dataTimestamp_ set to:1761515094.413183
2025-10-26T21:44:54.415Z,1761515094.415 [DAT](INFO): DAT read: Bearing  73.9, -12.2 (Local)

2025-10-26T21:44:54.415Z,1761515094.415 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.9, -12.2 (Local)

2025-10-26T21:44:54.417Z,1761515094.417 [DAT](INFO): DAT read: Range 11 to 50 :     9.9 m (trip time 6.6 ms) speed -0.4

2025-10-26T21:44:54.422Z,1761515094.422 [DAT](INFO): DAT read: 21:44:53.1876 LVL= 32752, 30017, 32754, 32755, AGC= 55, IDX= 511,-0.09, 3.068,-1.479,-2.837,-2.496, PHS=-0.618, 1.062,-0.386, RAW= 322.7,  -0.8, CAL= 321.3,  -3.8, ROT= 188.7,   3.8

2025-10-26T21:44:54.423Z,1761515094.423 [DAT](INFO): got valid direction response:
 21:44:53.1876 LVL= 32752, 30017, 32754, 32755, AGC= 55, IDX= 511,-0.09, 3.068,-1.479,-2.837,-2.496, PHS=-0.618, 1.062,-0.386, RAW= 322.7,  -0.8, CAL= 321.3,  -3.8, ROT= 188.7,   3.8

2025-10-26T21:44:54.424Z,1761515094.424 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-10-26T21:44:54.424Z,1761515094.424 [DAT](INFO): direction in FSK: [-0.986321,-0.150928,-0.066274]
2025-10-26T21:44:54.425Z,1761515094.425 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:54.433Z,1761515094.433 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.997066
2025-10-26T21:44:54.530Z,1761515094.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.900000 m,
      deltaT: 0.503982 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:54.536Z,1761515094.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.837652 m,
      bearing: 283.093195 deg,
      lat: 36.779427 deg,
      lon: -121.859489 deg,
      deltaT: 0.503982 s,
      deltaX: -0.000524 m,
      approachRate: -0.001039 m/s,
      posRepo size: 4

2025-10-26T21:44:54.536Z,1761515094.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.84 m.
2025-10-26T21:44:54.667Z,1761515094.667 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.231800
2025-10-26T21:44:54.859Z,1761515094.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.84 m.
2025-10-26T21:44:54.917Z,1761515094.917 [DAT](INFO): DAT read: Rx Time:21:44:53.6878 

2025-10-26T21:44:54.917Z,1761515094.917 [DAT](INFO): Rx dataTimestamp_ set to:1761515094.917122
2025-10-26T21:44:54.919Z,1761515094.919 [DAT](INFO): DAT read: Bearing  67.9, -14.6 (Local)

2025-10-26T21:44:54.919Z,1761515094.919 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.9, -14.6 (Local)

2025-10-26T21:44:54.921Z,1761515094.921 [DAT](INFO): DAT read: Range 11 to 50 :    10.2 m (trip time 6.8 ms) speed -0.4

2025-10-26T21:44:54.926Z,1761515094.926 [DAT](INFO): DAT read: 21:44:53.6878 LVL= 32752, 30785, 32754, 32755, AGC= 55, IDX= 513,-0.48, 0.697, 2.356, 1.104, 1.521, PHS=-0.722, 0.880,-0.462, RAW= 321.3,   4.1, CAL= 319.5,   1.9, ROT= 190.5,  -1.9

2025-10-26T21:44:54.927Z,1761515094.927 [DAT](INFO): got valid direction response:
 21:44:53.6878 LVL= 32752, 30785, 32754, 32755, AGC= 55, IDX= 513,-0.48, 0.697, 2.356, 1.104, 1.521, PHS=-0.722, 0.880,-0.462, RAW= 321.3,   4.1, CAL= 319.5,   1.9, ROT= 190.5,  -1.9

2025-10-26T21:44:54.927Z,1761515094.927 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-10-26T21:44:54.928Z,1761515094.928 [DAT](INFO): direction in FSK: [-0.982714,-0.182135,0.033155]
2025-10-26T21:44:54.928Z,1761515094.928 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:54.932Z,1761515094.932 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.496967
2025-10-26T21:44:55.168Z,1761515095.168 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.732899
2025-10-26T21:44:55.230Z,1761515095.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070910,-0.993942,-0.083973],[0.995362,-0.065022,-0.070892],[0.065003,-0.088610,0.993943]]
2025-10-26T21:44:55.341Z,1761515095.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.503939 s,
      deltaX: 0.300000 m,
      approachRate: 0.595311 m/s,
      rangeRepo size: 4

2025-10-26T21:44:55.344Z,1761515095.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.135640 m,
      bearing: 284.356785 deg,
      lat: 36.779427 deg,
      lon: -121.859489 deg,
      deltaT: 0.503939 s,
      deltaX: 0.297988 m,
      approachRate: 0.591317 m/s,
      posRepo size: 4

2025-10-26T21:44:55.344Z,1761515095.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:44:55.421Z,1761515095.421 [DAT](INFO): DAT read: Rx Time:21:44:54.1879 

2025-10-26T21:44:55.422Z,1761515095.422 [DAT](INFO): Rx dataTimestamp_ set to:1761515095.421366
2025-10-26T21:44:55.423Z,1761515095.423 [DAT](INFO): DAT read: Bearing  73.4, -11.8 (Local)

2025-10-26T21:44:55.423Z,1761515095.423 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.4, -11.8 (Local)

2025-10-26T21:44:55.425Z,1761515095.425 [DAT](INFO): DAT read: Range 11 to 50 :    10.4 m (trip time 6.9 ms) speed -0.4

2025-10-26T21:44:55.430Z,1761515095.430 [DAT](INFO): DAT read: 21:44:54.1879 LVL= 32752, 20513, 32658, 32755, AGC= 59, IDX=   1, 0.20,-3.141,-1.355,-2.762,-2.406, PHS=-0.633, 1.095,-0.400, RAW= 322.9,  -0.8, CAL= 321.6,  -3.8, ROT= 188.4,   3.8

2025-10-26T21:44:55.431Z,1761515095.431 [DAT](INFO): got valid direction response:
 21:44:54.1879 LVL= 32752, 20513, 32658, 32755, AGC= 59, IDX=   1, 0.20,-3.141,-1.355,-2.762,-2.406, PHS=-0.633, 1.095,-0.400, RAW= 322.9,  -0.8, CAL= 321.6,  -3.8, ROT= 188.4,   3.8

2025-10-26T21:44:55.432Z,1761515095.432 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-10-26T21:44:55.433Z,1761515095.433 [DAT](INFO): direction in FSK: [-0.987097,-0.145762,-0.066274]
2025-10-26T21:44:55.433Z,1761515095.433 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:55.442Z,1761515095.442 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.006523
2025-10-26T21:44:55.673Z,1761515095.673 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.237717
2025-10-26T21:44:55.703Z,1761515095.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071951,-0.994109,-0.081052],[0.995349,-0.066347,-0.069841],[0.064052,-0.085700,0.994260]]
2025-10-26T21:44:55.817Z,1761515095.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.400000 m,
      deltaT: 0.504244 s,
      deltaX: 0.200000 m,
      approachRate: 0.396633 m/s,
      rangeRepo size: 4

2025-10-26T21:44:55.823Z,1761515095.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.334378 m,
      bearing: 282.874613 deg,
      lat: 36.779427 deg,
      lon: -121.859489 deg,
      deltaT: 0.504244 s,
      deltaX: 0.198738 m,
      approachRate: 0.394131 m/s,
      posRepo size: 4

2025-10-26T21:44:55.824Z,1761515095.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.33 m.
2025-10-26T21:44:55.930Z,1761515095.930 [DAT](INFO): DAT read: Rx Time:21:44:54.6881 

2025-10-26T21:44:55.931Z,1761515095.931 [DAT](INFO): Rx dataTimestamp_ set to:1761515095.930238
2025-10-26T21:44:55.932Z,1761515095.932 [DAT](INFO): DAT read: Bearing  73.2, -11.9 (Local)

2025-10-26T21:44:55.932Z,1761515095.932 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.2, -11.9 (Local)

2025-10-26T21:44:55.934Z,1761515095.934 [DAT](INFO): DAT read: Range 11 to 50 :    10.7 m (trip time 7.1 ms) speed -0.4

2025-10-26T21:44:55.945Z,1761515095.945 [DAT](INFO): DAT read: 21:44:54.6881 LVL= 32752, 30193, 32754, 32755, AGC= 55, IDX= 500,-0.09,-2.902,-1.166,-2.526,-2.182, PHS=-0.617, 1.062,-0.388, RAW= 322.7,  -0.7, CAL= 321.4,  -3.8, ROT= 188.6,   3.8

2025-10-26T21:44:55.947Z,1761515095.947 [DAT](INFO): got valid direction response:
 21:44:54.6881 LVL= 32752, 30193, 32754, 32755, AGC= 55, IDX= 500,-0.09,-2.902,-1.166,-2.526,-2.182, PHS=-0.617, 1.062,-0.388, RAW= 322.7,  -0.7, CAL= 321.4,  -3.8, ROT= 188.6,   3.8

2025-10-26T21:44:55.947Z,1761515095.947 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-10-26T21:44:55.949Z,1761515095.949 [DAT](INFO): direction in FSK: [-0.986583,-0.149207,-0.066274]
2025-10-26T21:44:55.949Z,1761515095.949 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:55.983Z,1761515095.983 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.543381
2025-10-26T21:44:56.137Z,1761515096.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072212,-0.994218,-0.079471],[0.995402,-0.066812,-0.068632],[0.062926,-0.084062,0.994472]]
2025-10-26T21:44:56.180Z,1761515096.180 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.745022
2025-10-26T21:44:56.197Z,1761515096.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.508872 s,
      deltaX: 0.300000 m,
      approachRate: 0.589540 m/s,
      rangeRepo size: 4

2025-10-26T21:44:56.199Z,1761515096.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.632485 m,
      bearing: 283.083310 deg,
      lat: 36.779427 deg,
      lon: -121.859489 deg,
      deltaT: 0.508872 s,
      deltaX: 0.298107 m,
      approachRate: 0.585820 m/s,
      posRepo size: 4

2025-10-26T21:44:56.200Z,1761515096.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-10-26T21:44:56.433Z,1761515096.433 [DAT](INFO): DAT read: Rx Time:21:44:55.1882 

2025-10-26T21:44:56.433Z,1761515096.433 [DAT](INFO): Rx dataTimestamp_ set to:1761515096.433169
2025-10-26T21:44:56.435Z,1761515096.435 [DAT](INFO): DAT read: Bearing  72.7, -11.8 (Local)

2025-10-26T21:44:56.435Z,1761515096.435 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.7, -11.8 (Local)

2025-10-26T21:44:56.438Z,1761515096.438 [DAT](INFO): DAT read: Range 11 to 50 :    10.8 m (trip time 7.2 ms) speed -0.4

2025-10-26T21:44:56.444Z,1761515096.444 [DAT](INFO): DAT read: 21:44:55.1882 LVL= 32752, 29473, 32754, 32755, AGC= 55, IDX= 500, 0.50,-2.836,-1.105,-2.461,-2.110, PHS=-0.624, 1.050,-0.395, RAW= 322.8,  -0.4, CAL= 321.4,  -3.4, ROT= 188.6,   3.4

2025-10-26T21:44:56.445Z,1761515096.445 [DAT](INFO): got valid direction response:
 21:44:55.1882 LVL= 32752, 29473, 32754, 32755, AGC= 55, IDX= 500, 0.50,-2.836,-1.105,-2.461,-2.110, PHS=-0.624, 1.050,-0.395, RAW= 322.8,  -0.4, CAL= 321.4,  -3.4, ROT= 188.6,   3.4

2025-10-26T21:44:56.445Z,1761515096.445 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-10-26T21:44:56.446Z,1761515096.446 [DAT](INFO): direction in FSK: [-0.987016,-0.149272,-0.059306]
2025-10-26T21:44:56.446Z,1761515096.446 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:56.457Z,1761515096.457 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.021328
2025-10-26T21:44:56.523Z,1761515096.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071833,-0.994240,-0.079542],[0.995496,-0.066520,-0.067546],[0.061866,-0.084035,0.994540]]
2025-10-26T21:44:56.572Z,1761515096.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.502931 s,
      deltaX: 0.100000 m,
      approachRate: 0.198835 m/s,
      rangeRepo size: 4

2025-10-26T21:44:56.574Z,1761515096.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.731764 m,
      bearing: 283.022622 deg,
      lat: 36.779428 deg,
      lon: -121.859489 deg,
      deltaT: 0.502931 s,
      deltaX: 0.099278 m,
      approachRate: 0.197400 m/s,
      posRepo size: 4

2025-10-26T21:44:56.574Z,1761515096.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-10-26T21:44:56.686Z,1761515096.686 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.250652
2025-10-26T21:44:56.910Z,1761515096.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071867,-0.994378,-0.077761],[0.995574,-0.066782,-0.066132],[0.060567,-0.082170,0.994776]]
2025-10-26T21:44:56.928Z,1761515096.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-10-26T21:44:56.937Z,1761515096.937 [DAT](INFO): DAT read: Rx Time:21:44:55.6884 

2025-10-26T21:44:56.938Z,1761515096.938 [DAT](INFO): Rx dataTimestamp_ set to:1761515096.937242
2025-10-26T21:44:56.939Z,1761515096.939 [DAT](INFO): DAT read: Bearing  72.6, -11.6 (Local)

2025-10-26T21:44:56.939Z,1761515096.939 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.6, -11.6 (Local)

2025-10-26T21:44:56.941Z,1761515096.941 [DAT](INFO): DAT read: Range 11 to 50 :    11.1 m (trip time 7.4 ms) speed -0.4

2025-10-26T21:44:56.946Z,1761515096.946 [DAT](INFO): DAT read: 21:44:55.6884 LVL= 32752, 27745, 32754, 32755, AGC= 54, IDX= 503, 0.05,-2.150,-0.402,-1.776,-1.422, PHS=-0.626, 1.065,-0.397, RAW= 322.8,  -0.5, CAL= 321.5,  -3.6, ROT= 188.5,   3.6

2025-10-26T21:44:56.964Z,1761515096.964 [DAT](INFO): got valid direction response:
 21:44:55.6884 LVL= 32752, 27745, 32754, 32755, AGC= 54, IDX= 503, 0.05,-2.150,-0.402,-1.776,-1.422, PHS=-0.626, 1.065,-0.397, RAW= 322.8,  -0.5, CAL= 321.5,  -3.6, ROT= 188.5,   3.6

2025-10-26T21:44:56.964Z,1761515096.964 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-10-26T21:44:56.965Z,1761515096.965 [DAT](INFO): direction in FSK: [-0.987064,-0.147518,-0.062791]
2025-10-26T21:44:56.965Z,1761515096.965 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:56.969Z,1761515096.969 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.533718
2025-10-26T21:44:57.189Z,1761515097.189 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.753101
2025-10-26T21:44:57.322Z,1761515097.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071227,-0.994470,-0.077171],[0.995708,-0.066304,-0.064573],[0.059099,-0.081439,0.994925]]
2025-10-26T21:44:57.441Z,1761515097.441 [DAT](INFO): DAT read: Rx Time:21:44:56.1885 

2025-10-26T21:44:57.441Z,1761515097.441 [DAT](INFO): Rx dataTimestamp_ set to:1761515097.441106
2025-10-26T21:44:57.443Z,1761515097.443 [DAT](INFO): DAT read: Bearing  72.9, -11.9 (Local)

2025-10-26T21:44:57.443Z,1761515097.443 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.9, -11.9 (Local)

2025-10-26T21:44:57.445Z,1761515097.445 [DAT](INFO): DAT read: Range 11 to 50 :    11.3 m (trip time 7.5 ms) speed -0.4

2025-10-26T21:44:57.450Z,1761515097.450 [DAT](INFO): DAT read: 21:44:56.1885 LVL= 32752, 30513, 32754, 32755, AGC= 53, IDX= 504,-0.48, 1.259, 2.983, 1.644, 1.974, PHS=-0.612, 1.054,-0.374, RAW= 322.4,  -0.9, CAL= 321.1,  -4.0, ROT= 188.9,   4.0

2025-10-26T21:44:57.451Z,1761515097.451 [DAT](INFO): got valid direction response:
 21:44:56.1885 LVL= 32752, 30513, 32754, 32755, AGC= 53, IDX= 504,-0.48, 1.259, 2.983, 1.644, 1.974, PHS=-0.612, 1.054,-0.374, RAW= 322.4,  -0.9, CAL= 321.1,  -4.0, ROT= 188.9,   4.0

2025-10-26T21:44:57.451Z,1761515097.451 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-10-26T21:44:57.452Z,1761515097.452 [DAT](INFO): direction in FSK: [-0.985553,-0.154333,-0.069756]
2025-10-26T21:44:57.453Z,1761515097.453 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:57.470Z,1761515097.470 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.034439
2025-10-26T21:44:57.540Z,1761515097.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 1.007937 s,
      deltaX: 0.500000 m,
      approachRate: 0.496063 m/s,
      rangeRepo size: 4

2025-10-26T21:44:57.542Z,1761515097.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.228775 m,
      bearing: 283.331968 deg,
      lat: 36.779428 deg,
      lon: -121.859491 deg,
      deltaT: 1.007937 s,
      deltaX: 0.497011 m,
      approachRate: 0.493097 m/s,
      posRepo size: 4

2025-10-26T21:44:57.543Z,1761515097.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-10-26T21:44:57.693Z,1761515097.693 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.257408
2025-10-26T21:44:57.731Z,1761515097.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070428,-0.994530,-0.077137],[0.995848,-0.065628,-0.063083],[0.057675,-0.081260,0.995023]]
2025-10-26T21:44:57.814Z,1761515097.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-10-26T21:44:57.945Z,1761515097.945 [DAT](INFO): DAT read: Rx Time:21:44:56.6887 

2025-10-26T21:44:57.946Z,1761515097.946 [DAT](INFO): Rx dataTimestamp_ set to:1761515097.945328
2025-10-26T21:44:57.947Z,1761515097.947 [DAT](INFO): DAT read: Bearing  73.0, -11.9 (Local)

2025-10-26T21:44:57.947Z,1761515097.947 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.0, -11.9 (Local)

2025-10-26T21:44:57.949Z,1761515097.949 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed -0.3

2025-10-26T21:44:57.954Z,1761515097.954 [DAT](INFO): DAT read: 21:44:56.6887 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 506,-0.17, 2.012,-2.554, 2.402, 2.720, PHS=-0.606, 1.054,-0.363, RAW= 322.2,  -1.1, CAL= 320.9,  -4.2, ROT= 189.1,   4.2

2025-10-26T21:44:57.955Z,1761515097.955 [DAT](INFO): got valid direction response:
 21:44:56.6887 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 506,-0.17, 2.012,-2.554, 2.402, 2.720, PHS=-0.606, 1.054,-0.363, RAW= 322.2,  -1.1, CAL= 320.9,  -4.2, ROT= 189.1,   4.2

2025-10-26T21:44:57.972Z,1761515097.972 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-10-26T21:44:57.973Z,1761515097.973 [DAT](INFO): direction in FSK: [-0.984762,-0.157733,-0.073238]
2025-10-26T21:44:57.973Z,1761515097.973 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:57.994Z,1761515097.994 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:44:57.994Z,1761515097.994 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:44:57.994Z,1761515097.994 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:44:58.150Z,1761515098.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069330,-0.994625,-0.076907],[0.996011,-0.064673,-0.061480],[0.056175,-0.080863,0.995141]]
2025-10-26T21:44:58.196Z,1761515098.196 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:44:58.204Z,1761515098.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.504222 s,
      deltaX: 0.300000 m,
      approachRate: 0.594976 m/s,
      rangeRepo size: 4

2025-10-26T21:44:58.206Z,1761515098.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.526884 m,
      bearing: 283.435197 deg,
      lat: 36.779428 deg,
      lon: -121.859491 deg,
      deltaT: 0.504222 s,
      deltaX: 0.298109 m,
      approachRate: 0.591226 m/s,
      posRepo size: 4

2025-10-26T21:44:58.207Z,1761515098.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-10-26T21:44:58.449Z,1761515098.449 [DAT](INFO): DAT read: Rx Time:21:44:57.1887 

2025-10-26T21:44:58.449Z,1761515098.449 [DAT](INFO): Rx dataTimestamp_ set to:1761515098.449092
2025-10-26T21:44:58.451Z,1761515098.451 [DAT](INFO): DAT read: Bearing  72.4, -11.9 (Local)

2025-10-26T21:44:58.451Z,1761515098.451 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.4, -11.9 (Local)

2025-10-26T21:44:58.453Z,1761515098.453 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed -0.2

2025-10-26T21:44:58.458Z,1761515098.458 [DAT](INFO): DAT read: 21:44:57.1887 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 506,-0.18, 2.282,-2.311, 2.666, 2.990, PHS=-0.606, 1.028,-0.368, RAW= 322.3,  -0.7, CAL= 320.9,  -3.8, ROT= 189.1,   3.8

2025-10-26T21:44:58.459Z,1761515098.459 [DAT](INFO): got valid direction response:
 21:44:57.1887 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 506,-0.18, 2.282,-2.311, 2.666, 2.990, PHS=-0.606, 1.028,-0.368, RAW= 322.3,  -0.7, CAL= 320.9,  -3.8, ROT= 189.1,   3.8

2025-10-26T21:44:58.459Z,1761515098.459 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:44:58.460Z,1761515098.460 [DAT](INFO): direction in FSK: [-0.985243,-0.157810,-0.066274]
2025-10-26T21:44:58.460Z,1761515098.460 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:58.464Z,1761515098.464 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:44:58.464Z,1761515098.464 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:44:58.526Z,1761515098.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068238,-0.994740,-0.076397],[0.996170,-0.063739,-0.059855],[0.054671,-0.080189,0.995279]]
2025-10-26T21:44:58.578Z,1761515098.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.503764 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:58.584Z,1761515098.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.526819 m,
      bearing: 283.332519 deg,
      lat: 36.779429 deg,
      lon: -121.859492 deg,
      deltaT: 0.503764 s,
      deltaX: -0.000065 m,
      approachRate: -0.000129 m/s,
      posRepo size: 4

2025-10-26T21:44:58.584Z,1761515098.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-10-26T21:44:58.701Z,1761515098.701 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:44:58.953Z,1761515098.953 [DAT](INFO): DAT read: Rx Time:21:44:57.6888 

2025-10-26T21:44:58.953Z,1761515098.953 [DAT](INFO): Rx dataTimestamp_ set to:1761515098.953186
2025-10-26T21:44:58.955Z,1761515098.955 [DAT](INFO): DAT read: Bearing  72.3, -11.5 (Local)

2025-10-26T21:44:58.955Z,1761515098.955 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.3, -11.5 (Local)

2025-10-26T21:44:58.957Z,1761515098.957 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed -0.2

2025-10-26T21:44:58.962Z,1761515098.962 [DAT](INFO): DAT read: 21:44:57.6888 LVL= 32752, 30705, 32754, 32755, AGC= 55, IDX= 507,-0.31,-2.202,-0.498,-1.826,-1.494, PHS=-0.606, 1.041,-0.376, RAW= 322.6,  -0.8, CAL= 321.3,  -3.8, ROT= 188.7,   3.8

2025-10-26T21:44:58.963Z,1761515098.963 [DAT](INFO): got valid direction response:
 21:44:57.6888 LVL= 32752, 30705, 32754, 32755, AGC= 55, IDX= 507,-0.31,-2.202,-0.498,-1.826,-1.494, PHS=-0.606, 1.041,-0.376, RAW= 322.6,  -0.8, CAL= 321.3,  -3.8, ROT= 188.7,   3.8

2025-10-26T21:44:58.963Z,1761515098.963 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:44:58.964Z,1761515098.964 [DAT](INFO): direction in FSK: [-0.986321,-0.150928,-0.066274]
2025-10-26T21:44:58.965Z,1761515098.965 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:58.985Z,1761515098.985 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:44:58.985Z,1761515098.985 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:44:59.025Z,1761515099.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066923,-0.994852,-0.076097],[0.996346,-0.062578,-0.058120],[0.053059,-0.079708,0.995405]]
2025-10-26T21:44:59.114Z,1761515099.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.504094 s,
      deltaX: 0.099999 m,
      approachRate: 0.198375 m/s,
      rangeRepo size: 4

2025-10-26T21:44:59.142Z,1761515099.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.626187 m,
      bearing: 282.853649 deg,
      lat: 36.779429 deg,
      lon: -121.859493 deg,
      deltaT: 0.504094 s,
      deltaX: 0.099368 m,
      approachRate: 0.197122 m/s,
      posRepo size: 4

2025-10-26T21:44:59.160Z,1761515099.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:44:59.204Z,1761515099.204 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:44:59.457Z,1761515099.457 [DAT](INFO): DAT read: Rx Time:21:44:58.1888 

2025-10-26T21:44:59.457Z,1761515099.457 [DAT](INFO): Rx dataTimestamp_ set to:1761515099.457197
2025-10-26T21:44:59.459Z,1761515099.459 [DAT](INFO): DAT read: Bearing  71.5, -11.4 (Local)

2025-10-26T21:44:59.459Z,1761515099.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.5, -11.4 (Local)

2025-10-26T21:44:59.461Z,1761515099.461 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed -0.1

2025-10-26T21:44:59.470Z,1761515099.470 [DAT](INFO): DAT read: 21:44:58.1888 LVL= 32752, 28961, 32754, 32755, AGC= 53, IDX= 506, 0.31,-0.904, 0.788,-0.533,-0.187, PHS=-0.615, 1.020,-0.390, RAW= 322.7,  -0.2, CAL= 321.3,  -3.2, ROT= 188.7,   3.2

2025-10-26T21:44:59.472Z,1761515099.472 [DAT](INFO): got valid direction response:
 21:44:58.1888 LVL= 32752, 28961, 32754, 32755, AGC= 53, IDX= 506, 0.31,-0.904, 0.788,-0.533,-0.187, PHS=-0.615, 1.020,-0.390, RAW= 322.7,  -0.2, CAL= 321.3,  -3.2, ROT= 188.7,   3.2

2025-10-26T21:44:59.472Z,1761515099.472 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:44:59.473Z,1761515099.473 [DAT](INFO): direction in FSK: [-0.986953,-0.151025,-0.055822]
2025-10-26T21:44:59.473Z,1761515099.473 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:59.477Z,1761515099.477 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:44:59.477Z,1761515099.477 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:44:59.570Z,1761515099.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063810,-0.995087,-0.075701],[0.996710,-0.059747,-0.054769],[0.049977,-0.078946,0.995625]]
2025-10-26T21:44:59.660Z,1761515099.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.504011 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:44:59.662Z,1761515099.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.626171 m,
      bearing: 282.616954 deg,
      lat: 36.779429 deg,
      lon: -121.859493 deg,
      deltaT: 0.504011 s,
      deltaX: -0.000016 m,
      approachRate: -0.000032 m/s,
      posRepo size: 4

2025-10-26T21:44:59.663Z,1761515099.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:44:59.709Z,1761515099.709 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:44:59.940Z,1761515099.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062135,-0.995236,-0.075128],[0.996889,-0.058228,-0.053116],[0.048488,-0.078194,0.995758]]
2025-10-26T21:44:59.958Z,1761515099.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:44:59.961Z,1761515099.961 [DAT](INFO): DAT read: Rx Time:21:44:58.6889 

2025-10-26T21:44:59.962Z,1761515099.962 [DAT](INFO): Rx dataTimestamp_ set to:1761515099.961246
2025-10-26T21:44:59.963Z,1761515099.963 [DAT](INFO): DAT read: Bearing  74.8, -10.4 (Local)

2025-10-26T21:44:59.963Z,1761515099.963 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.8, -10.4 (Local)

2025-10-26T21:44:59.965Z,1761515099.965 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed -0.1

2025-10-26T21:44:59.970Z,1761515099.970 [DAT](INFO): DAT read: 21:44:58.6889 LVL= 32752, 30449, 32754, 32755, AGC= 53, IDX= 508, 0.01,-1.107, 0.693,-0.730,-0.442, PHS=-0.563, 1.180,-0.332, RAW= 323.0,  -3.5, CAL= 322.1,  -6.7, ROT= 187.9,   6.7

2025-10-26T21:44:59.971Z,1761515099.971 [DAT](INFO): got valid direction response:
 21:44:58.6889 LVL= 32752, 30449, 32754, 32755, AGC= 53, IDX= 508, 0.01,-1.107, 0.693,-0.730,-0.442, PHS=-0.563, 1.180,-0.332, RAW= 323.0,  -3.5, CAL= 322.1,  -6.7, ROT= 187.9,   6.7

2025-10-26T21:44:59.971Z,1761515099.971 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:44:59.972Z,1761515099.972 [DAT](INFO): direction in FSK: [-0.983745,-0.136506,-0.116671]
2025-10-26T21:44:59.973Z,1761515099.973 [DAT](INFO): publishing direction and range info
2025-10-26T21:44:59.984Z,1761515099.984 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:44:59.985Z,1761515099.985 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:45:00.212Z,1761515100.212 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:45:00.342Z,1761515100.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060598,-0.995380,-0.074481],[0.997043,-0.056828,-0.051733],[0.047261,-0.077396,0.995880]]
2025-10-26T21:45:00.395Z,1761515100.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.504049 s,
      deltaX: 0.200000 m,
      approachRate: 0.396786 m/s,
      rangeRepo size: 4

2025-10-26T21:45:00.397Z,1761515100.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.824882 m,
      bearing: 281.922100 deg,
      lat: 36.779429 deg,
      lon: -121.859493 deg,
      deltaT: 0.504049 s,
      deltaX: 0.198710 m,
      approachRate: 0.394228 m/s,
      posRepo size: 4

2025-10-26T21:45:00.398Z,1761515100.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.82 m.
2025-10-26T21:45:00.465Z,1761515100.465 [DAT](INFO): DAT read: Rx Time:21:44:59.1889 

2025-10-26T21:45:00.466Z,1761515100.466 [DAT](INFO): Rx dataTimestamp_ set to:1761515100.465355
2025-10-26T21:45:00.467Z,1761515100.467 [DAT](INFO): DAT read: Bearing  72.6, -10.9 (Local)

2025-10-26T21:45:00.467Z,1761515100.467 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.6, -10.9 (Local)

2025-10-26T21:45:00.469Z,1761515100.469 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed 0.0

2025-10-26T21:45:00.474Z,1761515100.474 [DAT](INFO): DAT read: 21:44:59.1889 LVL= 32752, 32705, 32754, 32755, AGC= 54, IDX= 508,-0.37, 2.937,-1.624,-2.980,-2.654, PHS=-0.590, 1.075,-0.370, RAW= 323.0,  -1.5, CAL= 321.8,  -4.6, ROT= 188.2,   4.6

2025-10-26T21:45:00.475Z,1761515100.475 [DAT](INFO): got valid direction response:
 21:44:59.1889 LVL= 32752, 32705, 32754, 32755, AGC= 54, IDX= 508,-0.37, 2.937,-1.624,-2.980,-2.654, PHS=-0.590, 1.075,-0.370, RAW= 323.0,  -1.5, CAL= 321.8,  -4.6, ROT= 188.2,   4.6

2025-10-26T21:45:00.476Z,1761515100.476 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:45:00.477Z,1761515100.477 [DAT](INFO): direction in FSK: [-0.986588,-0.142170,-0.080199]
2025-10-26T21:45:00.477Z,1761515100.477 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:00.485Z,1761515100.485 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:45:00.486Z,1761515100.486 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:45:00.717Z,1761515100.717 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:45:00.785Z,1761515100.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059226,-0.995513,-0.073793],[0.997175,-0.055579,-0.050526],[0.046198,-0.076577,0.995993]]
2025-10-26T21:45:00.835Z,1761515100.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.504109 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:00.837Z,1761515100.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.824882 m,
      bearing: 281.961002 deg,
      lat: 36.779429 deg,
      lon: -121.859492 deg,
      deltaT: 0.504109 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:45:00.837Z,1761515100.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.82 m.
2025-10-26T21:45:00.970Z,1761515100.970 [DAT](INFO): DAT read: Rx Time:21:44:59.6890 

2025-10-26T21:45:00.971Z,1761515100.971 [DAT](INFO): Rx dataTimestamp_ set to:1761515100.970129
2025-10-26T21:45:00.973Z,1761515100.973 [DAT](INFO): DAT read: Bearing  73.5, -10.8 (Local)

2025-10-26T21:45:00.973Z,1761515100.973 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.5, -10.8 (Local)

2025-10-26T21:45:00.980Z,1761515100.980 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed -0.1

2025-10-26T21:45:00.991Z,1761515100.991 [DAT](INFO): DAT read: 21:44:59.6890 LVL= 32752, 30689, 32754, 32755, AGC= 53, IDX= 509, 0.01,-0.689, 1.060,-0.314,-0.011, PHS=-0.576, 1.116,-0.348, RAW= 322.8,  -2.4, CAL= 321.7,  -5.6, ROT= 188.3,   5.6

2025-10-26T21:45:01.005Z,1761515101.005 [DAT](INFO): got valid direction response:
 21:44:59.6890 LVL= 32752, 30689, 32754, 32755, AGC= 53, IDX= 509, 0.01,-0.689, 1.060,-0.314,-0.011, PHS=-0.576, 1.116,-0.348, RAW= 322.8,  -2.4, CAL= 321.7,  -5.6, ROT= 188.3,   5.6

2025-10-26T21:45:01.017Z,1761515101.017 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:45:01.018Z,1761515101.018 [DAT](INFO): direction in FSK: [-0.984803,-0.143667,-0.097583]
2025-10-26T21:45:01.018Z,1761515101.018 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:01.033Z,1761515101.033 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:45:01.033Z,1761515101.033 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:45:01.220Z,1761515101.220 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:45:01.226Z,1761515101.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057823,-0.995658,-0.072949],[0.997300,-0.054296,-0.049438],[0.045262,-0.075610,0.996110]]
2025-10-26T21:45:01.357Z,1761515101.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.504774 s,
      deltaX: 0.100000 m,
      approachRate: 0.198109 m/s,
      rangeRepo size: 4

2025-10-26T21:45:01.359Z,1761515101.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.924398 m,
      bearing: 282.058122 deg,
      lat: 36.779429 deg,
      lon: -121.859492 deg,
      deltaT: 0.504774 s,
      deltaX: 0.099517 m,
      approachRate: 0.197151 m/s,
      posRepo size: 4

2025-10-26T21:45:01.364Z,1761515101.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.92 m.
2025-10-26T21:45:01.474Z,1761515101.474 [DAT](INFO): DAT read: Rx Time:21:45:00.1889 

2025-10-26T21:45:01.475Z,1761515101.475 [DAT](INFO): Rx dataTimestamp_ set to:1761515101.474297
2025-10-26T21:45:01.476Z,1761515101.476 [DAT](INFO): DAT read: Bearing  71.2, -10.7 (Local)

2025-10-26T21:45:01.476Z,1761515101.476 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.2, -10.7 (Local)

2025-10-26T21:45:01.478Z,1761515101.478 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed 0.0

2025-10-26T21:45:01.483Z,1761515101.483 [DAT](INFO): DAT read: 21:45:00.1889 LVL= 32752, 30705, 32754, 32755, AGC= 54, IDX= 508, 0.08, 1.568,-3.011, 1.924, 2.276, PHS=-0.607, 1.040,-0.396, RAW= 323.3,  -0.5, CAL= 321.9,  -3.5, ROT= 188.1,   3.5

2025-10-26T21:45:01.484Z,1761515101.484 [DAT](INFO): got valid direction response:
 21:45:00.1889 LVL= 32752, 30705, 32754, 32755, AGC= 54, IDX= 508, 0.08, 1.568,-3.011, 1.924, 2.276, PHS=-0.607, 1.040,-0.396, RAW= 323.3,  -0.5, CAL= 321.9,  -3.5, ROT= 188.1,   3.5

2025-10-26T21:45:01.484Z,1761515101.484 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:45:01.485Z,1761515101.485 [DAT](INFO): direction in FSK: [-0.988177,-0.140639,-0.061049]
2025-10-26T21:45:01.485Z,1761515101.485 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:01.494Z,1761515101.494 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:45:01.494Z,1761515101.494 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:45:01.726Z,1761515101.726 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:45:01.770Z,1761515101.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056853,-0.995839,-0.071228],[0.997376,-0.053448,-0.048837],[0.044827,-0.073817,0.996264]]
2025-10-26T21:45:01.801Z,1761515101.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.504168 s,
      deltaX: -0.100000 m,
      approachRate: -0.198347 m/s,
      rangeRepo size: 4

2025-10-26T21:45:01.803Z,1761515101.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.825028 m,
      bearing: 281.624053 deg,
      lat: 36.779428 deg,
      lon: -121.859492 deg,
      deltaT: 0.504168 s,
      deltaX: -0.099370 m,
      approachRate: -0.197097 m/s,
      posRepo size: 4

2025-10-26T21:45:01.820Z,1761515101.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-10-26T21:45:01.976Z,1761515101.976 [DAT](INFO): DAT read: user:371>

2025-10-26T21:45:01.977Z,1761515101.977 [DAT](INFO): DAT read: Command 'sbl' not found

2025-10-26T21:45:01.978Z,1761515101.978 [DAT](INFO): unknown deviceResponse_: Command 'sbl' not found

2025-10-26T21:45:01.978Z,1761515101.978 [DAT](INFO): DAT read: Error

2025-10-26T21:45:01.978Z,1761515101.978 [DAT](INFO): unknown deviceResponse_: Error

2025-10-26T21:45:01.979Z,1761515101.979 [DAT](INFO): DAT read: user:372>

2025-10-26T21:45:01.980Z,1761515101.980 [DAT](INFO): DAT read: Tx time:21:45:01.0911

2025-10-26T21:45:01.980Z,1761515101.980 [DAT](INFO): Ping request sent.
2025-10-26T21:45:01.980Z,1761515101.980 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:45:01.980Z,1761515101.980 [DAT](INFO): publishing transmit ping time
2025-10-26T21:45:01.981Z,1761515101.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-10-26T21:45:02.221Z,1761515102.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055652,-0.995850,-0.072012],[0.997458,-0.052237,-0.048469],[0.044507,-0.074526,0.996225]]
2025-10-26T21:45:02.237Z,1761515102.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.257217
2025-10-26T21:45:02.307Z,1761515102.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-10-26T21:45:02.489Z,1761515102.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.508902
2025-10-26T21:45:02.686Z,1761515102.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054164,-0.995788,-0.073982],[0.997557,-0.050690,-0.048062],[0.044109,-0.076405,0.996101]]
2025-10-26T21:45:02.742Z,1761515102.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761646
2025-10-26T21:45:02.750Z,1761515102.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-10-26T21:45:02.993Z,1761515102.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.012521
2025-10-26T21:45:03.127Z,1761515103.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053985,-0.995840,-0.073405],[0.997574,-0.050552,-0.047854],[0.043944,-0.075811,0.996153]]
2025-10-26T21:45:03.148Z,1761515103.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-10-26T21:45:03.246Z,1761515103.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265275
2025-10-26T21:45:03.496Z,1761515103.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516151
2025-10-26T21:45:03.549Z,1761515103.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054057,-0.995898,-0.072567],[0.997567,-0.050658,-0.047892],[0.044020,-0.074979,0.996213]]
2025-10-26T21:45:03.585Z,1761515103.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-10-26T21:45:03.749Z,1761515103.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768918
2025-10-26T21:45:03.963Z,1761515103.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054061,-0.995938,-0.072009],[0.997561,-0.050680,-0.047988],[0.044144,-0.074428,0.996249]]
2025-10-26T21:45:03.981Z,1761515103.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-10-26T21:45:04.000Z,1761515104.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020348
2025-10-26T21:45:04.252Z,1761515104.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272366
2025-10-26T21:45:04.379Z,1761515104.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054348,-0.995930,-0.071906],[0.997533,-0.050948,-0.048300],[0.044440,-0.074354,0.996241]]
2025-10-26T21:45:04.415Z,1761515104.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-10-26T21:45:04.505Z,1761515104.505 [DAT](INFO): DAT read: Rx Time:21:45:03.2359 

2025-10-26T21:45:04.506Z,1761515104.506 [DAT](INFO): Rx dataTimestamp_ set to:1761515104.505380
2025-10-26T21:45:04.507Z,1761515104.507 [DAT](INFO): DAT read: Bearing  70.9, -10.4 (Local)

2025-10-26T21:45:04.507Z,1761515104.507 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.9, -10.4 (Local)

2025-10-26T21:45:04.509Z,1761515104.509 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed 0.0

2025-10-26T21:45:04.514Z,1761515104.514 [DAT](INFO): DAT read: 21:45:03.2359 LVL= 32752, 27969, 32754, 32755, AGC= 57, IDX= 189,-0.07, 2.069,-2.449, 2.431, 2.779, PHS=-0.608, 1.101,-0.391, RAW= 323.3,  -1.3, CAL= 322.1,  -4.3, ROT= 187.9,   4.3

2025-10-26T21:45:04.515Z,1761515104.515 [DAT](INFO): got valid direction response:
 21:45:03.2359 LVL= 32752, 27969, 32754, 32755, AGC= 57, IDX= 189,-0.07, 2.069,-2.449, 2.431, 2.779, PHS=-0.608, 1.101,-0.391, RAW= 323.3,  -1.3, CAL= 322.1,  -4.3, ROT= 187.9,   4.3

2025-10-26T21:45:04.515Z,1761515104.515 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:45:04.516Z,1761515104.516 [DAT](INFO): direction in FSK: [-0.987721,-0.137058,-0.074979]
2025-10-26T21:45:04.517Z,1761515104.517 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:04.521Z,1761515104.521 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.540474
2025-10-26T21:45:04.756Z,1761515104.756 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.776403
2025-10-26T21:45:04.778Z,1761515104.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054986,-0.995915,-0.071628],[0.997475,-0.051559,-0.048844],[0.044951,-0.074133,0.996235]]
2025-10-26T21:45:04.842Z,1761515104.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 3.031083 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:04.859Z,1761515104.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.825441 m,
      bearing: 281.382257 deg,
      lat: 36.779428 deg,
      lon: -121.859492 deg,
      deltaT: 3.031083 s,
      deltaX: 0.000413 m,
      approachRate: 0.000136 m/s,
      posRepo size: 4

2025-10-26T21:45:04.864Z,1761515104.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-10-26T21:45:05.009Z,1761515105.009 [DAT](INFO): DAT read: Rx Time:21:45:03.7360 

2025-10-26T21:45:05.009Z,1761515105.009 [DAT](INFO): Rx dataTimestamp_ set to:1761515105.009192
2025-10-26T21:45:05.011Z,1761515105.011 [DAT](INFO): DAT read: Bearing  72.8, -10.1 (Local)

2025-10-26T21:45:05.011Z,1761515105.011 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.8, -10.1 (Local)

2025-10-26T21:45:05.013Z,1761515105.013 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed -0.2

2025-10-26T21:45:05.018Z,1761515105.018 [DAT](INFO): DAT read: 21:45:03.7360 LVL= 32752, 28641, 32754, 32755, AGC= 52, IDX= 510,-0.23,-0.808, 0.996,-0.437,-0.134, PHS=-0.572, 1.175,-0.347, RAW= 323.2,  -3.2, CAL= 322.2,  -6.3, ROT= 187.8,   6.3

2025-10-26T21:45:05.019Z,1761515105.019 [DAT](INFO): got valid direction response:
 21:45:03.7360 LVL= 32752, 28641, 32754, 32755, AGC= 52, IDX= 510,-0.23,-0.808, 0.996,-0.437,-0.134, PHS=-0.572, 1.175,-0.347, RAW= 323.2,  -3.2, CAL= 322.2,  -6.3, ROT= 187.8,   6.3

2025-10-26T21:45:05.019Z,1761515105.019 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T21:45:05.020Z,1761515105.020 [DAT](INFO): direction in FSK: [-0.984765,-0.134896,-0.109734]
2025-10-26T21:45:05.020Z,1761515105.020 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:05.024Z,1761515105.024 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.044278
2025-10-26T21:45:05.186Z,1761515105.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055565,-0.995892,-0.071500],[0.997421,-0.052108,-0.049349],[0.045420,-0.074058,0.996219]]
2025-10-26T21:45:05.261Z,1761515105.261 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.280665
2025-10-26T21:45:05.296Z,1761515105.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.503812 s,
      deltaX: 0.100000 m,
      approachRate: 0.198487 m/s,
      rangeRepo size: 4

2025-10-26T21:45:05.298Z,1761515105.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.924815 m,
      bearing: 281.477434 deg,
      lat: 36.779428 deg,
      lon: -121.859491 deg,
      deltaT: 0.503812 s,
      deltaX: 0.099374 m,
      approachRate: 0.197244 m/s,
      posRepo size: 4

2025-10-26T21:45:05.298Z,1761515105.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.92 m.
2025-10-26T21:45:05.514Z,1761515105.514 [DAT](INFO): DAT read: Rx Time:21:45:04.2360 

2025-10-26T21:45:05.515Z,1761515105.515 [DAT](INFO): Rx dataTimestamp_ set to:1761515105.514615
2025-10-26T21:45:05.516Z,1761515105.516 [DAT](INFO): DAT read: Bearing  70.3, -10.9 (Local)

2025-10-26T21:45:05.517Z,1761515105.517 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.3, -10.9 (Local)

2025-10-26T21:45:05.519Z,1761515105.519 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed -0.2

2025-10-26T21:45:05.529Z,1761515105.529 [DAT](INFO): DAT read: 21:45:04.2360 LVL= 32752, 27313, 32754, 32755, AGC= 54, IDX= 509, 0.40, 0.603, 2.347, 0.973, 1.320, PHS=-0.615, 1.072,-0.391, RAW= 323.0,  -0.8, CAL= 321.7,  -3.9, ROT= 188.3,   3.9

2025-10-26T21:45:05.530Z,1761515105.530 [DAT](INFO): got valid direction response:
 21:45:04.2360 LVL= 32752, 27313, 32754, 32755, AGC= 54, IDX= 509, 0.40, 0.603, 2.347, 0.973, 1.320, PHS=-0.615, 1.072,-0.391, RAW= 323.0,  -0.8, CAL= 321.7,  -3.9, ROT= 188.3,   3.9

2025-10-26T21:45:05.531Z,1761515105.531 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-10-26T21:45:05.549Z,1761515105.549 [DAT](INFO): direction in FSK: [-0.987234,-0.144022,-0.068015]
2025-10-26T21:45:05.549Z,1761515105.549 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:05.566Z,1761515105.566 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.585444
2025-10-26T21:45:05.730Z,1761515105.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056086,-0.995861,-0.071515],[0.997369,-0.052588,-0.049887],[0.045920,-0.074124,0.996191]]
2025-10-26T21:45:05.764Z,1761515105.764 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.784332
2025-10-26T21:45:05.864Z,1761515105.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.505423 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:05.866Z,1761515105.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.924843 m,
      bearing: 281.814067 deg,
      lat: 36.779428 deg,
      lon: -121.859484 deg,
      deltaT: 0.505423 s,
      deltaX: 0.000028 m,
      approachRate: 0.000055 m/s,
      posRepo size: 4

2025-10-26T21:45:05.866Z,1761515105.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.92 m.
2025-10-26T21:45:06.017Z,1761515106.017 [DAT](INFO): DAT read: Rx Time:21:45:04.7362 

2025-10-26T21:45:06.018Z,1761515106.018 [DAT](INFO): Rx dataTimestamp_ set to:1761515106.017390
2025-10-26T21:45:06.019Z,1761515106.019 [DAT](INFO): DAT read: Bearing  69.5, -10.9 (Local)

2025-10-26T21:45:06.019Z,1761515106.019 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.5, -10.9 (Local)

2025-10-26T21:45:06.021Z,1761515106.021 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed -0.2

2025-10-26T21:45:06.052Z,1761515106.052 [DAT](INFO): DAT read: 21:45:04.7362 LVL= 32752, 30129, 32754, 32755, AGC= 54, IDX= 511, 0.14, 2.808,-1.782,-3.112,-2.761, PHS=-0.612, 1.024,-0.395, RAW= 323.0,  -0.2, CAL= 321.6,  -3.3, ROT= 188.4,   3.3

2025-10-26T21:45:06.053Z,1761515106.053 [DAT](INFO): got valid direction response:
 21:45:04.7362 LVL= 32752, 30129, 32754, 32755, AGC= 54, IDX= 511, 0.14, 2.808,-1.782,-3.112,-2.761, PHS=-0.612, 1.024,-0.395, RAW= 323.0,  -0.2, CAL= 321.6,  -3.3, ROT= 188.4,   3.3

2025-10-26T21:45:06.054Z,1761515106.054 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-26T21:45:06.055Z,1761515106.055 [DAT](INFO): direction in FSK: [-0.987632,-0.145841,-0.057564]
2025-10-26T21:45:06.055Z,1761515106.055 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:06.074Z,1761515106.074 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.094242
2025-10-26T21:45:06.268Z,1761515106.268 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.288376
2025-10-26T21:45:06.294Z,1761515106.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057574,-0.995837,-0.070668],[0.997228,-0.054023,-0.051172],[0.047142,-0.073418,0.996186]]
2025-10-26T21:45:06.395Z,1761515106.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.502775 s,
      deltaX: 0.300000 m,
      approachRate: 0.596689 m/s,
      rangeRepo size: 4

2025-10-26T21:45:06.405Z,1761515106.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.222812 m,
      bearing: 281.950361 deg,
      lat: 36.779428 deg,
      lon: -121.859484 deg,
      deltaT: 0.502775 s,
      deltaX: 0.297969 m,
      approachRate: 0.592649 m/s,
      posRepo size: 4

2025-10-26T21:45:06.406Z,1761515106.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-10-26T21:45:06.522Z,1761515106.522 [DAT](INFO): DAT read: Rx Time:21:45:05.2361 

2025-10-26T21:45:06.523Z,1761515106.523 [DAT](INFO): Rx dataTimestamp_ set to:1761515106.522004
2025-10-26T21:45:06.524Z,1761515106.524 [DAT](INFO): DAT read: Bearing  69.9, -10.7 (Local)

2025-10-26T21:45:06.525Z,1761515106.525 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.9, -10.7 (Local)

2025-10-26T21:45:06.528Z,1761515106.528 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed -0.2

2025-10-26T21:45:06.533Z,1761515106.533 [DAT](INFO): DAT read: 21:45:05.2361 LVL= 32752, 29617, 32754, 32755, AGC= 53, IDX= 511, 0.14, 0.234, 1.975, 0.602, 0.952, PHS=-0.616, 1.068,-0.395, RAW= 323.0,  -0.7, CAL= 321.7,  -3.8, ROT= 188.3,   3.8

2025-10-26T21:45:06.534Z,1761515106.534 [DAT](INFO): got valid direction response:
 21:45:05.2361 LVL= 32752, 29617, 32754, 32755, AGC= 53, IDX= 511, 0.14, 0.234, 1.975, 0.602, 0.952, PHS=-0.616, 1.068,-0.395, RAW= 323.0,  -0.7, CAL= 321.7,  -3.8, ROT= 188.3,   3.8

2025-10-26T21:45:06.534Z,1761515106.534 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-10-26T21:45:06.535Z,1761515106.535 [DAT](INFO): direction in FSK: [-0.987350,-0.144039,-0.066274]
2025-10-26T21:45:06.538Z,1761515106.538 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:06.544Z,1761515106.544 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.564079
2025-10-26T21:45:06.713Z,1761515106.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058308,-0.995835,-0.070086],[0.997155,-0.054737,-0.051831],[0.047779,-0.072909,0.996193]]
2025-10-26T21:45:06.772Z,1761515106.772 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.792335
2025-10-26T21:45:06.789Z,1761515106.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.504614 s,
      deltaX: -0.100000 m,
      approachRate: -0.198172 m/s,
      rangeRepo size: 4

2025-10-26T21:45:06.791Z,1761515106.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.123439 m,
      bearing: 281.931807 deg,
      lat: 36.779428 deg,
      lon: -121.859484 deg,
      deltaT: 0.504614 s,
      deltaX: -0.099373 m,
      approachRate: -0.196928 m/s,
      posRepo size: 4

2025-10-26T21:45:06.796Z,1761515106.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m.
2025-10-26T21:45:07.025Z,1761515107.025 [DAT](INFO): DAT read: Rx Time:21:45:05.7362 

2025-10-26T21:45:07.025Z,1761515107.025 [DAT](INFO): Rx dataTimestamp_ set to:1761515107.025148
2025-10-26T21:45:07.027Z,1761515107.027 [DAT](INFO): DAT read: Bearing  77.0,  -2.8 (Local)

2025-10-26T21:45:07.027Z,1761515107.027 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.0,  -2.8 (Local)

2025-10-26T21:45:07.030Z,1761515107.030 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed -0.2

2025-10-26T21:45:07.034Z,1761515107.034 [DAT](INFO): DAT read: 21:45:05.7362 LVL= 32752, 31569, 32754, 32755, AGC= 53, IDX= 512, 0.18,-2.665,-0.768,-2.494,-2.199, PHS=-0.364, 1.476,-0.339, RAW= 329.3,  -8.5, CAL= 329.0, -11.7, ROT= 181.0,  11.7

2025-10-26T21:45:07.041Z,1761515107.041 [DAT](INFO): got valid direction response:
 21:45:05.7362 LVL= 32752, 31569, 32754, 32755, AGC= 53, IDX= 512, 0.18,-2.665,-0.768,-2.494,-2.199, PHS=-0.364, 1.476,-0.339, RAW= 329.3,  -8.5, CAL= 329.0, -11.7, ROT= 181.0,  11.7

2025-10-26T21:45:07.041Z,1761515107.041 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-26T21:45:07.042Z,1761515107.042 [DAT](INFO): direction in FSK: [-0.979074,-0.017090,-0.202787]
2025-10-26T21:45:07.042Z,1761515107.042 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:07.046Z,1761515107.046 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.065598
2025-10-26T21:45:07.116Z,1761515107.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058971,-0.995824,-0.069694],[0.997083,-0.055370,-0.052527],[0.048448,-0.072589,0.996185]]
2025-10-26T21:45:07.170Z,1761515107.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.503144 s,
      deltaX: 0.100000 m,
      approachRate: 0.198751 m/s,
      rangeRepo size: 4

2025-10-26T21:45:07.176Z,1761515107.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.222812 m,
      bearing: 275.264878 deg,
      lat: 36.779428 deg,
      lon: -121.859483 deg,
      deltaT: 0.503144 s,
      deltaX: 0.099373 m,
      approachRate: 0.197504 m/s,
      posRepo size: 4

2025-10-26T21:45:07.177Z,1761515107.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-10-26T21:45:07.280Z,1761515107.280 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.299140
2025-10-26T21:45:07.510Z,1761515107.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059394,-0.995836,-0.069159],[0.997029,-0.055777,-0.053117],[0.049038,-0.072108,0.996191]]
2025-10-26T21:45:07.529Z,1761515107.529 [DAT](INFO): DAT read: Rx Time:21:45:06.2362 

2025-10-26T21:45:07.529Z,1761515107.529 [DAT](INFO): Rx dataTimestamp_ set to:1761515107.529181
2025-10-26T21:45:07.531Z,1761515107.531 [DAT](INFO): DAT read: Bearing  78.1,  -7.2 (Local)

2025-10-26T21:45:07.531Z,1761515107.531 [DAT](INFO): Local bearing/azimuth received:
 Bearing  78.1,  -7.2 (Local)

2025-10-26T21:45:07.533Z,1761515107.533 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed -0.3

2025-10-26T21:45:07.547Z,1761515107.547 [DAT](INFO): DAT read: 21:45:06.2362 LVL= 32752, 26081, 32754, 32755, AGC= 54, IDX= 512, 0.21, 1.611,-2.782, 1.945, 2.123, PHS=-0.410, 1.423,-0.222, RAW= 324.7,  -9.1, CAL= 324.4, -12.4, ROT= 185.6,  12.4

2025-10-26T21:45:07.548Z,1761515107.548 [DAT](INFO): got valid direction response:
 21:45:06.2362 LVL= 32752, 26081, 32754, 32755, AGC= 54, IDX= 512, 0.21, 1.611,-2.782, 1.945, 2.123, PHS=-0.410, 1.423,-0.222, RAW= 324.7,  -9.1, CAL= 324.4, -12.4, ROT= 185.6,  12.4

2025-10-26T21:45:07.549Z,1761515107.549 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-26T21:45:07.550Z,1761515107.550 [DAT](INFO): direction in FSK: [-0.972011,-0.095307,-0.214735]
2025-10-26T21:45:07.550Z,1761515107.550 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:07.570Z,1761515107.570 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.590246
2025-10-26T21:45:07.618Z,1761515107.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.504033 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:07.636Z,1761515107.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.222876 m,
      bearing: 279.974240 deg,
      lat: 36.779428 deg,
      lon: -121.859483 deg,
      deltaT: 0.504033 s,
      deltaX: 0.000064 m,
      approachRate: 0.000127 m/s,
      posRepo size: 4

2025-10-26T21:45:07.637Z,1761515107.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-10-26T21:45:07.781Z,1761515107.781 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.801096
2025-10-26T21:45:08.033Z,1761515108.033 [DAT](INFO): DAT read: Rx Time:21:45:06.7364 

2025-10-26T21:45:08.034Z,1761515108.034 [DAT](INFO): Rx dataTimestamp_ set to:1761515108.033265
2025-10-26T21:45:08.035Z,1761515108.035 [DAT](INFO): DAT read: Bearing  70.4, -10.4 (Local)

2025-10-26T21:45:08.035Z,1761515108.035 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.4, -10.4 (Local)

2025-10-26T21:45:08.037Z,1761515108.037 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.2

2025-10-26T21:45:08.042Z,1761515108.042 [DAT](INFO): DAT read: 21:45:06.7364 LVL= 32752, 19553, 30290, 32755, AGC= 58, IDX=   2, 0.12, 0.218, 2.036, 0.592, 0.940, PHS=-0.620, 1.141,-0.392, RAW= 323.2,  -1.6, CAL= 322.0,  -4.6, ROT= 188.0,   4.6

2025-10-26T21:45:08.043Z,1761515108.043 [DAT](INFO): got valid direction response:
 21:45:06.7364 LVL= 32752, 19553, 30290, 32755, AGC= 58, IDX=   2, 0.12, 0.218, 2.036, 0.592, 0.940, PHS=-0.620, 1.141,-0.392, RAW= 323.2,  -1.6, CAL= 322.0,  -4.6, ROT= 188.0,   4.6

2025-10-26T21:45:08.043Z,1761515108.043 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-10-26T21:45:08.044Z,1761515108.044 [DAT](INFO): direction in FSK: [-0.987078,-0.138725,-0.080199]
2025-10-26T21:45:08.045Z,1761515108.045 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:08.048Z,1761515108.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059823,-0.995817,-0.069062],[0.996972,-0.056163,-0.053773],[0.049670,-0.072070,0.996162]]
2025-10-26T21:45:08.060Z,1761515108.060 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.080231
2025-10-26T21:45:08.138Z,1761515108.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.504084 s,
      deltaX: 0.200000 m,
      approachRate: 0.396759 m/s,
      rangeRepo size: 4

2025-10-26T21:45:08.144Z,1761515108.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.421621 m,
      bearing: 281.781648 deg,
      lat: 36.779428 deg,
      lon: -121.859482 deg,
      deltaT: 0.504084 s,
      deltaX: 0.198746 m,
      approachRate: 0.394271 m/s,
      posRepo size: 4

2025-10-26T21:45:08.145Z,1761515108.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:45:08.289Z,1761515108.289 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.308501
2025-10-26T21:45:08.537Z,1761515108.537 [DAT](INFO): DAT read: Rx Time:21:45:07.2364 

2025-10-26T21:45:08.537Z,1761515108.537 [DAT](INFO): Rx dataTimestamp_ set to:1761515108.537039
2025-10-26T21:45:08.539Z,1761515108.539 [DAT](INFO): DAT read: Bearing  71.0, -10.4 (Local)

2025-10-26T21:45:08.539Z,1761515108.539 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.0, -10.4 (Local)

2025-10-26T21:45:08.541Z,1761515108.541 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.3

2025-10-26T21:45:08.546Z,1761515108.546 [DAT](INFO): DAT read: 21:45:07.2364 LVL= 32752, 26689, 32754, 32755, AGC= 56, IDX= 498, 0.11,-1.043, 0.812,-0.660,-0.326, PHS=-0.615, 1.183,-0.378, RAW= 323.0,  -2.3, CAL= 321.9,  -5.4, ROT= 188.1,   5.4

2025-10-26T21:45:08.547Z,1761515108.547 [DAT](INFO): got valid direction response:
 21:45:07.2364 LVL= 32752, 26689, 32754, 32755, AGC= 56, IDX= 498, 0.11,-1.043, 0.812,-0.660,-0.326, PHS=-0.615, 1.183,-0.378, RAW= 323.0,  -2.3, CAL= 321.9,  -5.4, ROT= 188.1,   5.4

2025-10-26T21:45:08.547Z,1761515108.547 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-10-26T21:45:08.548Z,1761515108.548 [DAT](INFO): direction in FSK: [-0.985630,-0.140276,-0.094108]
2025-10-26T21:45:08.548Z,1761515108.548 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:08.552Z,1761515108.552 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.571694
2025-10-26T21:45:08.636Z,1761515108.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.503774 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:08.638Z,1761515108.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.421859 m,
      bearing: 281.945419 deg,
      lat: 36.779428 deg,
      lon: -121.859482 deg,
      deltaT: 0.503774 s,
      deltaX: 0.000237 m,
      approachRate: 0.000471 m/s,
      posRepo size: 4

2025-10-26T21:45:08.639Z,1761515108.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:45:08.788Z,1761515108.788 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.808170
2025-10-26T21:45:08.922Z,1761515108.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060073,-0.995793,-0.069192],[0.996911,-0.056339,-0.054719],[0.050591,-0.072266,0.996101]]
2025-10-26T21:45:08.947Z,1761515108.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:45:09.042Z,1761515109.042 [DAT](INFO): DAT read: Rx Time:21:45:07.7366 

2025-10-26T21:45:09.043Z,1761515109.043 [DAT](INFO): Rx dataTimestamp_ set to:1761515109.042330
2025-10-26T21:45:09.045Z,1761515109.045 [DAT](INFO): DAT read: Bearing  71.2, -10.4 (Local)

2025-10-26T21:45:09.045Z,1761515109.045 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.2, -10.4 (Local)

2025-10-26T21:45:09.048Z,1761515109.048 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed -0.2

2025-10-26T21:45:09.054Z,1761515109.054 [DAT](INFO): DAT read: 21:45:07.7366 LVL= 32752, 25425, 32754, 32755, AGC= 56, IDX= 500, 0.07,-0.402, 1.465,-0.015, 0.313, PHS=-0.613, 1.197,-0.372, RAW= 323.0,  -2.5, CAL= 321.9,  -5.6, ROT= 188.1,   5.6

2025-10-26T21:45:09.081Z,1761515109.081 [DAT](INFO): got valid direction response:
 21:45:07.7366 LVL= 32752, 25425, 32754, 32755, AGC= 56, IDX= 500, 0.07,-0.402, 1.465,-0.015, 0.313, PHS=-0.613, 1.197,-0.372, RAW= 323.0,  -2.5, CAL= 321.9,  -5.6, ROT= 188.1,   5.6

2025-10-26T21:45:09.081Z,1761515109.081 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-26T21:45:09.082Z,1761515109.082 [DAT](INFO): direction in FSK: [-0.985299,-0.140229,-0.097583]
2025-10-26T21:45:09.083Z,1761515109.083 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:09.093Z,1761515109.093 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.112763
2025-10-26T21:45:09.296Z,1761515109.296 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.314707
2025-10-26T21:45:09.381Z,1761515109.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060193,-0.995808,-0.068870],[0.996879,-0.056441,-0.055190],[0.051072,-0.071977,0.996098]]
2025-10-26T21:45:09.447Z,1761515109.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.505291 s,
      deltaX: 0.300000 m,
      approachRate: 0.593718 m/s,
      rangeRepo size: 4

2025-10-26T21:45:09.453Z,1761515109.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.720009 m,
      bearing: 281.984103 deg,
      lat: 36.779428 deg,
      lon: -121.859481 deg,
      deltaT: 0.505291 s,
      deltaX: 0.298150 m,
      approachRate: 0.590056 m/s,
      posRepo size: 4

2025-10-26T21:45:09.454Z,1761515109.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.72 m.
2025-10-26T21:45:09.545Z,1761515109.545 [DAT](INFO): DAT read: Rx Time:21:45:08.2366 

2025-10-26T21:45:09.545Z,1761515109.545 [DAT](INFO): Rx dataTimestamp_ set to:1761515109.545149
2025-10-26T21:45:09.547Z,1761515109.547 [DAT](INFO): DAT read: Bearing  70.8, -10.2 (Local)

2025-10-26T21:45:09.547Z,1761515109.547 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.8, -10.2 (Local)

2025-10-26T21:45:09.550Z,1761515109.550 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed -0.2

2025-10-26T21:45:09.554Z,1761515109.554 [DAT](INFO): DAT read: 21:45:08.2366 LVL= 32752, 24817, 32754, 32755, AGC= 54, IDX= 500,-0.03,-2.157,-0.335,-1.785,-1.454, PHS=-0.601, 1.164,-0.375, RAW= 323.2,  -2.3, CAL= 322.1,  -5.4, ROT= 187.9,   5.4

2025-10-26T21:45:09.556Z,1761515109.556 [DAT](INFO): got valid direction response:
 21:45:08.2366 LVL= 32752, 24817, 32754, 32755, AGC= 54, IDX= 500,-0.03,-2.157,-0.335,-1.785,-1.454, PHS=-0.601, 1.164,-0.375, RAW= 323.2,  -2.3, CAL= 322.1,  -5.4, ROT= 187.9,   5.4

2025-10-26T21:45:09.556Z,1761515109.556 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-10-26T21:45:09.557Z,1761515109.557 [DAT](INFO): direction in FSK: [-0.986114,-0.136834,-0.094108]
2025-10-26T21:45:09.557Z,1761515109.557 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:09.565Z,1761515109.565 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.585232
2025-10-26T21:45:09.796Z,1761515109.796 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.816334
2025-10-26T21:45:09.888Z,1761515109.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060344,-0.995898,-0.067424],[0.996827,-0.056612,-0.055956],[0.051910,-0.070587,0.996154]]
2025-10-26T21:45:09.911Z,1761515109.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.502819 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:09.913Z,1761515109.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.720009 m,
      bearing: 281.770938 deg,
      lat: 36.779428 deg,
      lon: -121.859480 deg,
      deltaT: 0.502819 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:45:09.914Z,1761515109.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.72 m.
2025-10-26T21:45:10.049Z,1761515110.049 [DAT](INFO): DAT read: Rx Time:21:45:08.7367 

2025-10-26T21:45:10.050Z,1761515110.050 [DAT](INFO): Rx dataTimestamp_ set to:1761515110.049290
2025-10-26T21:45:10.051Z,1761515110.051 [DAT](INFO): DAT read: Bearing  69.1, -10.9 (Local)

2025-10-26T21:45:10.052Z,1761515110.052 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.1, -10.9 (Local)

2025-10-26T21:45:10.054Z,1761515110.054 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed -0.2

2025-10-26T21:45:10.079Z,1761515110.079 [DAT](INFO): DAT read: 21:45:08.7367 LVL= 32752, 29297, 32754, 32755, AGC= 54, IDX= 501,-0.19,-2.728,-0.951,-2.354,-1.996, PHS=-0.631, 1.090,-0.403, RAW= 323.0,  -0.7, CAL= 321.7,  -3.7, ROT= 188.3,   3.7

2025-10-26T21:45:10.081Z,1761515110.081 [DAT](INFO): got valid direction response:
 21:45:08.7367 LVL= 32752, 29297, 32754, 32755, AGC= 54, IDX= 501,-0.19,-2.728,-0.951,-2.354,-1.996, PHS=-0.631, 1.090,-0.403, RAW= 323.0,  -0.7, CAL= 321.7,  -3.7, ROT= 188.3,   3.7

2025-10-26T21:45:10.081Z,1761515110.081 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-26T21:45:10.082Z,1761515110.082 [DAT](INFO): direction in FSK: [-0.987463,-0.144055,-0.064532]
2025-10-26T21:45:10.082Z,1761515110.082 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:10.112Z,1761515110.112 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.115071
2025-10-26T21:45:10.304Z,1761515110.304 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.323039
2025-10-26T21:45:10.375Z,1761515110.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060088,-0.995954,-0.066824],[0.996828,-0.056371,-0.056185],[0.052191,-0.069988,0.996182]]
2025-10-26T21:45:10.428Z,1761515110.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.504141 s,
      deltaX: 0.099999 m,
      approachRate: 0.198356 m/s,
      rangeRepo size: 4

2025-10-26T21:45:10.430Z,1761515110.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.819277 m,
      bearing: 282.021995 deg,
      lat: 36.779428 deg,
      lon: -121.859481 deg,
      deltaT: 0.504141 s,
      deltaX: 0.099268 m,
      approachRate: 0.196905 m/s,
      posRepo size: 4

2025-10-26T21:45:10.431Z,1761515110.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-10-26T21:45:10.553Z,1761515110.553 [DAT](INFO): DAT read: Rx Time:21:45:09.2367 

2025-10-26T21:45:10.553Z,1761515110.553 [DAT](INFO): Rx dataTimestamp_ set to:1761515110.553073
2025-10-26T21:45:10.555Z,1761515110.555 [DAT](INFO): DAT read: Bearing  69.6, -10.9 (Local)

2025-10-26T21:45:10.555Z,1761515110.555 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.6, -10.9 (Local)

2025-10-26T21:45:10.557Z,1761515110.557 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed -0.2

2025-10-26T21:45:10.562Z,1761515110.562 [DAT](INFO): DAT read: 21:45:09.2367 LVL= 32752, 26561, 32754, 32755, AGC= 55, IDX= 501,-0.39, 2.641,-1.839, 3.021,-2.914, PHS=-0.627, 1.119,-0.392, RAW= 322.9,  -1.2, CAL= 321.7,  -4.3, ROT= 188.3,   4.3

2025-10-26T21:45:10.563Z,1761515110.563 [DAT](INFO): got valid direction response:
 21:45:09.2367 LVL= 32752, 26561, 32754, 32755, AGC= 55, IDX= 501,-0.39, 2.641,-1.839, 3.021,-2.914, PHS=-0.627, 1.119,-0.392, RAW= 322.9,  -1.2, CAL= 321.7,  -4.3, ROT= 188.3,   4.3

2025-10-26T21:45:10.563Z,1761515110.563 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-26T21:45:10.564Z,1761515110.564 [DAT](INFO): direction in FSK: [-0.986740,-0.143950,-0.074979]
2025-10-26T21:45:10.564Z,1761515110.564 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:10.568Z,1761515110.568 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.587950
2025-10-26T21:45:10.807Z,1761515110.807 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.826364
2025-10-26T21:45:10.870Z,1761515110.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059983,-0.995972,-0.066649],[0.996815,-0.056252,-0.056524],[0.052547,-0.069827,0.996174]]
2025-10-26T21:45:10.905Z,1761515110.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.503783 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:10.907Z,1761515110.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.819277 m,
      bearing: 282.062457 deg,
      lat: 36.779429 deg,
      lon: -121.859480 deg,
      deltaT: 0.503783 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:45:10.912Z,1761515110.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-10-26T21:45:11.057Z,1761515111.057 [DAT](INFO): DAT read: Rx Time:21:45:09.7368 

2025-10-26T21:45:11.057Z,1761515111.057 [DAT](INFO): Rx dataTimestamp_ set to:1761515111.057150
2025-10-26T21:45:11.059Z,1761515111.059 [DAT](INFO): DAT read: Bearing  69.7, -10.7 (Local)

2025-10-26T21:45:11.059Z,1761515111.059 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.7, -10.7 (Local)

2025-10-26T21:45:11.061Z,1761515111.061 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed -0.2

2025-10-26T21:45:11.084Z,1761515111.084 [DAT](INFO): DAT read: 21:45:09.7368 LVL= 32752, 27201, 32754, 32755, AGC= 54, IDX= 502, 0.16, 0.379, 2.190, 0.753, 1.105, PHS=-0.623, 1.131,-0.395, RAW= 323.1,  -1.4, CAL= 321.9,  -4.4, ROT= 188.1,   4.4

2025-10-26T21:45:11.085Z,1761515111.085 [DAT](INFO): got valid direction response:
 21:45:09.7368 LVL= 32752, 27201, 32754, 32755, AGC= 54, IDX= 502, 0.16, 0.379, 2.190, 0.753, 1.105, PHS=-0.623, 1.131,-0.395, RAW= 323.1,  -1.4, CAL= 321.9,  -4.4, ROT= 188.1,   4.4

2025-10-26T21:45:11.085Z,1761515111.085 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-10-26T21:45:11.086Z,1761515111.086 [DAT](INFO): direction in FSK: [-0.987106,-0.140486,-0.076719]
2025-10-26T21:45:11.086Z,1761515111.086 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:11.114Z,1761515111.114 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.133955
2025-10-26T21:45:11.314Z,1761515111.314 [DAT](INFO): DAT read: Rx Time:21:45:10.2368 

2025-10-26T21:45:11.320Z,1761515111.320 [DAT](INFO): Rx dataTimestamp_ set to:1761515111.314729
2025-10-26T21:45:11.353Z,1761515111.353 [DAT](INFO): DAT read: Bearing  69.6, -10.9 (Local)

2025-10-26T21:45:11.354Z,1761515111.354 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.6, -10.9 (Local)

2025-10-26T21:45:11.381Z,1761515111.381 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed -0.1

2025-10-26T21:45:11.394Z,1761515111.394 [DAT](INFO): DAT read: 21:45:10.2368 LVL= 32752, 28305, 32754, 32755, AGC= 56, IDX= 502,-0.08,-1.949,-0.160,-1.575,-1.231, PHS=-0.617, 1.116,-0.388, RAW= 323.0,  -1.4, CAL= 321.8,  -4.5, ROT= 188.2,   4.5

2025-10-26T21:45:11.395Z,1761515111.395 [DAT](INFO): got valid direction response:
 21:45:10.2368 LVL= 32752, 28305, 32754, 32755, AGC= 56, IDX= 502,-0.08,-1.949,-0.160,-1.575,-1.231, PHS=-0.617, 1.116,-0.388, RAW= 323.0,  -1.4, CAL= 321.8,  -4.5, ROT= 188.2,   4.5

2025-10-26T21:45:11.401Z,1761515111.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059784,-0.995973,-0.066804],[0.996810,-0.056022,-0.056845],[0.052873,-0.069990,0.996145]]
2025-10-26T21:45:11.404Z,1761515111.404 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-26T21:45:11.405Z,1761515111.405 [DAT](INFO): direction in FSK: [-0.986725,-0.142189,-0.078459]
2025-10-26T21:45:11.405Z,1761515111.405 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:11.417Z,1761515111.417 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.436452
2025-10-26T21:45:11.530Z,1761515111.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.761656 s,
      deltaX: 0.200001 m,
      approachRate: 0.262587 m/s,
      rangeRepo size: 4

2025-10-26T21:45:11.540Z,1761515111.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.018085 m,
      bearing: 281.967500 deg,
      lat: 36.779429 deg,
      lon: -121.859481 deg,
      deltaT: 0.761656 s,
      deltaX: 0.198808 m,
      approachRate: 0.261020 m/s,
      posRepo size: 4

2025-10-26T21:45:11.541Z,1761515111.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-10-26T21:45:11.560Z,1761515111.560 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.580389
2025-10-26T21:45:11.799Z,1761515111.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059639,-0.995995,-0.066615],[0.996800,-0.055863,-0.057180],[0.053230,-0.069812,0.996139]]
2025-10-26T21:45:11.816Z,1761515111.816 [DAT](INFO): DAT read: Rx Time:21:45:10.7370 

2025-10-26T21:45:11.818Z,1761515111.818 [DAT](INFO): Rx dataTimestamp_ set to:1761515111.816954
2025-10-26T21:45:11.829Z,1761515111.829 [DAT](INFO): DAT read: Bearing  69.2, -11.1 (Local)

2025-10-26T21:45:11.831Z,1761515111.831 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.2, -11.1 (Local)

2025-10-26T21:45:11.852Z,1761515111.852 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed -0.1

2025-10-26T21:45:11.854Z,1761515111.854 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-10-26T21:45:11.864Z,1761515111.864 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.883938
2025-10-26T21:45:11.900Z,1761515111.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.502225 s,
      deltaX: 0.299999 m,
      approachRate: 0.597340 m/s,
      rangeRepo size: 4

2025-10-26T21:45:11.901Z,1761515111.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-10-26T21:45:12.068Z,1761515112.068 [DAT](INFO): DAT read: 21:45:10.7370 LVL= 32752, 27473, 32754, 32755, AGC= 56, IDX= 504,-0.40,-1.270, 0.536,-0.890,-0.536, PHS=-0.632, 1.117,-0.398, RAW= 322.9,  -1.1, CAL= 321.7,  -4.1, ROT= 188.3,   4.1

2025-10-26T21:45:12.069Z,1761515112.069 [DAT](INFO): got valid direction response:
 21:45:10.7370 LVL= 32752, 27473, 32754, 32755, AGC= 56, IDX= 504,-0.40,-1.270, 0.536,-0.890,-0.536, PHS=-0.632, 1.117,-0.398, RAW= 322.9,  -1.1, CAL= 321.7,  -4.1, ROT= 188.3,   4.1

2025-10-26T21:45:12.070Z,1761515112.070 [DAT](INFO): #Rx 17: Read direction message, but no range.
2025-10-26T21:45:12.071Z,1761515112.071 [DAT](INFO): direction in FSK: [-0.986993,-0.143987,-0.071497]
2025-10-26T21:45:12.074Z,1761515112.074 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.093941
2025-10-26T21:45:12.202Z,1761515112.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059612,-0.996034,-0.066046],[0.996782,-0.055843,-0.057510],[0.053594,-0.069262,0.996158]]
2025-10-26T21:45:12.245Z,1761515112.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-10-26T21:45:12.365Z,1761515112.365 [DAT](INFO): DAT read: Rx Time:21:45:11.2369 

2025-10-26T21:45:12.366Z,1761515112.366 [DAT](INFO): Rx dataTimestamp_ set to:1761515112.365677
2025-10-26T21:45:12.367Z,1761515112.367 [DAT](INFO): DAT read: Bearing  69.8, -10.9 (Local)

2025-10-26T21:45:12.368Z,1761515112.368 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.8, -10.9 (Local)

2025-10-26T21:45:12.370Z,1761515112.370 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed -0.1

2025-10-26T21:45:12.374Z,1761515112.374 [DAT](INFO): DAT read: 21:45:11.2369 LVL= 32752, 26241, 32754, 32755, AGC= 55, IDX= 503, 0.14,-1.378, 0.435,-1.002,-0.661, PHS=-0.615, 1.141,-0.385, RAW= 323.1,  -1.7, CAL= 321.9,  -4.8, ROT= 188.1,   4.8

2025-10-26T21:45:12.376Z,1761515112.376 [DAT](INFO): got valid direction response:
 21:45:11.2369 LVL= 32752, 26241, 32754, 32755, AGC= 55, IDX= 503, 0.14,-1.378, 0.435,-1.002,-0.661, PHS=-0.615, 1.141,-0.385, RAW= 323.1,  -1.7, CAL= 321.9,  -4.8, ROT= 188.1,   4.8

2025-10-26T21:45:12.376Z,1761515112.376 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-26T21:45:12.377Z,1761515112.377 [DAT](INFO): direction in FSK: [-0.986551,-0.140407,-0.083678]
2025-10-26T21:45:12.377Z,1761515112.377 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:12.381Z,1761515112.381 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.400936
2025-10-26T21:45:12.617Z,1761515112.617 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.636760
2025-10-26T21:45:12.644Z,1761515112.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059511,-0.996037,-0.066099],[0.996767,-0.055712,-0.057899],[0.053987,-0.069331,0.996132]]
2025-10-26T21:45:12.726Z,1761515112.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.548723 s,
      deltaX: -0.200000 m,
      approachRate: -0.364482 m/s,
      rangeRepo size: 4

2025-10-26T21:45:12.734Z,1761515112.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.117623 m,
      bearing: 281.873724 deg,
      lat: 36.779429 deg,
      lon: -121.859480 deg,
      deltaT: 1.050948 s,
      deltaX: 0.099539 m,
      approachRate: 0.094713 m/s,
      posRepo size: 4

2025-10-26T21:45:12.734Z,1761515112.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m.
2025-10-26T21:45:12.872Z,1761515112.872 [DAT](INFO): DAT read: Rx Time:21:45:11.7371 

2025-10-26T21:45:12.873Z,1761515112.873 [DAT](INFO): Rx dataTimestamp_ set to:1761515112.872267
2025-10-26T21:45:12.874Z,1761515112.874 [DAT](INFO): DAT read: Bearing  70.3, -10.8 (Local)

2025-10-26T21:45:12.874Z,1761515112.874 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.3, -10.8 (Local)

2025-10-26T21:45:12.876Z,1761515112.876 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed -0.1

2025-10-26T21:45:12.882Z,1761515112.882 [DAT](INFO): DAT read: 21:45:11.7371 LVL= 32752, 25441, 32754, 32755, AGC= 54, IDX= 505,-0.18,-2.374,-0.532,-1.995,-1.664, PHS=-0.607, 1.177,-0.374, RAW= 323.1,  -2.4, CAL= 322.0,  -5.5, ROT= 188.0,   5.5

2025-10-26T21:45:12.884Z,1761515112.884 [DAT](INFO): got valid direction response:
 21:45:11.7371 LVL= 32752, 25441, 32754, 32755, AGC= 54, IDX= 505,-0.18,-2.374,-0.532,-1.995,-1.664, PHS=-0.607, 1.177,-0.374, RAW= 323.1,  -2.4, CAL= 322.0,  -5.5, ROT= 188.0,   5.5

2025-10-26T21:45:12.884Z,1761515112.884 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-10-26T21:45:12.886Z,1761515112.886 [DAT](INFO): direction in FSK: [-0.985709,-0.138532,-0.095846]
2025-10-26T21:45:12.886Z,1761515112.886 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:12.902Z,1761515112.902 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=10.921473
2025-10-26T21:45:13.101Z,1761515113.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059940,-0.996072,-0.065178],[0.996681,-0.056118,-0.058978],[0.055089,-0.068497,0.996129]]
2025-10-26T21:45:13.121Z,1761515113.121 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.140442
2025-10-26T21:45:13.143Z,1761515113.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.506590 s,
      deltaX: 0.300000 m,
      approachRate: 0.592195 m/s,
      rangeRepo size: 4

2025-10-26T21:45:13.153Z,1761515113.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.415751 m,
      bearing: 281.849961 deg,
      lat: 36.779429 deg,
      lon: -121.859481 deg,
      deltaT: 0.506590 s,
      deltaX: 0.298128 m,
      approachRate: 0.588500 m/s,
      posRepo size: 4

2025-10-26T21:45:13.153Z,1761515113.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-10-26T21:45:13.378Z,1761515113.378 [DAT](INFO): DAT read: Rx Time:21:45:12.2370 

2025-10-26T21:45:13.380Z,1761515113.380 [DAT](INFO): Rx dataTimestamp_ set to:1761515113.378809
2025-10-26T21:45:13.381Z,1761515113.381 [DAT](INFO): DAT read: Bearing  71.0, -10.7 (Local)

2025-10-26T21:45:13.382Z,1761515113.382 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.0, -10.7 (Local)

2025-10-26T21:45:13.384Z,1761515113.384 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed -0.1

2025-10-26T21:45:13.394Z,1761515113.394 [DAT](INFO): DAT read: 21:45:12.2370 LVL= 32752, 27073, 32754, 32755, AGC= 53, IDX= 504, 0.23,-1.063, 0.801,-0.683,-0.366, PHS=-0.595, 1.212,-0.361, RAW= 323.1,  -3.0, CAL= 322.1,  -6.2, ROT= 187.9,   6.2

2025-10-26T21:45:13.395Z,1761515113.395 [DAT](INFO): got valid direction response:
 21:45:12.2370 LVL= 32752, 27073, 32754, 32755, AGC= 53, IDX= 504, 0.23,-1.063, 0.801,-0.683,-0.366, PHS=-0.595, 1.212,-0.361, RAW= 323.1,  -3.0, CAL= 322.1,  -6.2, ROT= 187.9,   6.2

2025-10-26T21:45:13.395Z,1761515113.395 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-10-26T21:45:13.396Z,1761515113.396 [DAT](INFO): direction in FSK: [-0.984716,-0.136641,-0.107999]
2025-10-26T21:45:13.397Z,1761515113.397 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:13.429Z,1761515113.429 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.448439
2025-10-26T21:45:13.544Z,1761515113.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060304,-0.996091,-0.064538],[0.996625,-0.056477,-0.059565],[0.055687,-0.067913,0.996136]]
2025-10-26T21:45:13.593Z,1761515113.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.506542 s,
      deltaX: -0.100000 m,
      approachRate: -0.197418 m/s,
      rangeRepo size: 4

2025-10-26T21:45:13.595Z,1761515113.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.316350 m,
      bearing: 281.822213 deg,
      lat: 36.779429 deg,
      lon: -121.859480 deg,
      deltaT: 0.506542 s,
      deltaX: -0.099401 m,
      approachRate: -0.196235 m/s,
      posRepo size: 4

2025-10-26T21:45:13.596Z,1761515113.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.32 m.
2025-10-26T21:45:13.625Z,1761515113.625 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.644904
2025-10-26T21:45:13.877Z,1761515113.877 [DAT](INFO): DAT read: Rx Time:21:45:12.7371 

2025-10-26T21:45:13.877Z,1761515113.877 [DAT](INFO): Rx dataTimestamp_ set to:1761515113.877156
2025-10-26T21:45:13.879Z,1761515113.879 [DAT](INFO): DAT read: Bearing  70.7, -10.7 (Local)

2025-10-26T21:45:13.880Z,1761515113.880 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.7, -10.7 (Local)

2025-10-26T21:45:13.886Z,1761515113.886 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed -0.1

2025-10-26T21:45:13.890Z,1761515113.890 [DAT](INFO): DAT read: 21:45:12.7371 LVL= 32752, 26097, 32754, 32755, AGC= 55, IDX= 505,-0.16,-3.027,-1.174,-2.648,-2.326, PHS=-0.599, 1.197,-0.366, RAW= 323.1,  -2.8, CAL= 322.1,  -5.9, ROT= 187.9,   5.9

2025-10-26T21:45:13.892Z,1761515113.892 [DAT](INFO): got valid direction response:
 21:45:12.7371 LVL= 32752, 26097, 32754, 32755, AGC= 55, IDX= 505,-0.16,-3.027,-1.174,-2.648,-2.326, PHS=-0.599, 1.197,-0.366, RAW= 323.1,  -2.8, CAL= 322.1,  -5.9, ROT= 187.9,   5.9

2025-10-26T21:45:13.892Z,1761515113.892 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-10-26T21:45:13.893Z,1761515113.893 [DAT](INFO): direction in FSK: [-0.985263,-0.136716,-0.102793]
2025-10-26T21:45:13.893Z,1761515113.893 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:13.910Z,1761515113.910 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=11.929626
2025-10-26T21:45:13.951Z,1761515113.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060677,-0.996090,-0.064208],[0.996568,-0.056826,-0.060187],[0.056303,-0.067640,0.996120]]
2025-10-26T21:45:14.008Z,1761515114.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.498347 s,
      deltaX: 0.100000 m,
      approachRate: 0.200664 m/s,
      rangeRepo size: 4

2025-10-26T21:45:14.010Z,1761515114.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.415726 m,
      bearing: 281.820100 deg,
      lat: 36.779430 deg,
      lon: -121.859481 deg,
      deltaT: 0.498347 s,
      deltaX: 0.099376 m,
      approachRate: 0.199411 m/s,
      posRepo size: 4

2025-10-26T21:45:14.010Z,1761515114.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-10-26T21:45:14.128Z,1761515114.128 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.148363
2025-10-26T21:45:14.382Z,1761515114.382 [DAT](INFO): DAT read: Rx Time:21:45:13.2370 

2025-10-26T21:45:14.382Z,1761515114.382 [DAT](INFO): Rx dataTimestamp_ set to:1761515114.381923
2025-10-26T21:45:14.384Z,1761515114.384 [DAT](INFO): DAT read: Bearing  70.8, -10.4 (Local)

2025-10-26T21:45:14.384Z,1761515114.384 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.8, -10.4 (Local)

2025-10-26T21:45:14.386Z,1761515114.386 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed -0.1

2025-10-26T21:45:14.391Z,1761515114.391 [DAT](INFO): DAT read: 21:45:13.2370 LVL= 32752, 24929, 32754, 32755, AGC= 55, IDX= 504, 0.22,-2.089,-0.223,-1.718,-1.396, PHS=-0.591, 1.218,-0.366, RAW= 323.4,  -3.1, CAL= 322.5,  -6.2, ROT= 187.5,   6.2

2025-10-26T21:45:14.392Z,1761515114.392 [DAT](INFO): got valid direction response:
 21:45:13.2370 LVL= 32752, 24929, 32754, 32755, AGC= 55, IDX= 504, 0.22,-2.089,-0.223,-1.718,-1.396, PHS=-0.591, 1.218,-0.366, RAW= 323.4,  -3.1, CAL= 322.5,  -6.2, ROT= 187.5,   6.2

2025-10-26T21:45:14.392Z,1761515114.392 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-10-26T21:45:14.393Z,1761515114.393 [DAT](INFO): direction in FSK: [-0.985646,-0.129763,-0.107999]
2025-10-26T21:45:14.393Z,1761515114.393 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:14.413Z,1761515114.413 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.433114
2025-10-26T21:45:14.423Z,1761515114.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060833,-0.996077,-0.064268],[0.996529,-0.056943,-0.060726],[0.056828,-0.067739,0.996083]]
2025-10-26T21:45:14.543Z,1761515114.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.504767 s,
      deltaX: -0.100000 m,
      approachRate: -0.198112 m/s,
      rangeRepo size: 4

2025-10-26T21:45:14.565Z,1761515114.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.316312 m,
      bearing: 281.452067 deg,
      lat: 36.779430 deg,
      lon: -121.859480 deg,
      deltaT: 0.504767 s,
      deltaX: -0.099414 m,
      approachRate: -0.196950 m/s,
      posRepo size: 4

2025-10-26T21:45:14.565Z,1761515114.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.32 m.
2025-10-26T21:45:14.633Z,1761515114.633 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.653222
2025-10-26T21:45:14.885Z,1761515114.885 [DAT](INFO): DAT read: Rx Time:21:45:13.7372 

2025-10-26T21:45:14.885Z,1761515114.885 [DAT](INFO): Rx dataTimestamp_ set to:1761515114.885065
2025-10-26T21:45:14.887Z,1761515114.887 [DAT](INFO): DAT read: Bearing  70.4, -10.7 (Local)

2025-10-26T21:45:14.887Z,1761515114.887 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.4, -10.7 (Local)

2025-10-26T21:45:14.890Z,1761515114.890 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed -0.1

2025-10-26T21:45:14.894Z,1761515114.894 [DAT](INFO): DAT read: 21:45:13.7372 LVL= 32752, 26513, 32754, 32755, AGC= 55, IDX= 506,-0.20,-2.471,-0.626,-2.097,-1.771, PHS=-0.598, 1.190,-0.370, RAW= 323.3,  -2.7, CAL= 322.2,  -5.8, ROT= 187.8,   5.8

2025-10-26T21:45:14.895Z,1761515114.895 [DAT](INFO): got valid direction response:
 21:45:13.7372 LVL= 32752, 26513, 32754, 32755, AGC= 55, IDX= 506,-0.20,-2.471,-0.626,-2.097,-1.771, PHS=-0.598, 1.190,-0.370, RAW= 323.3,  -2.7, CAL= 322.2,  -5.8, ROT= 187.8,   5.8

2025-10-26T21:45:14.896Z,1761515114.896 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-10-26T21:45:14.897Z,1761515114.897 [DAT](INFO): direction in FSK: [-0.985676,-0.135021,-0.101056]
2025-10-26T21:45:14.897Z,1761515114.897 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:14.901Z,1761515114.901 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.920674
2025-10-26T21:45:14.980Z,1761515114.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061084,-0.996082,-0.063942],[0.996481,-0.057174,-0.061296],[0.057400,-0.067461,0.996069]]
2025-10-26T21:45:15.025Z,1761515115.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.503142 s,
      deltaX: 0.300000 m,
      approachRate: 0.596254 m/s,
      rangeRepo size: 4

2025-10-26T21:45:15.027Z,1761515115.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.614438 m,
      bearing: 281.736260 deg,
      lat: 36.779430 deg,
      lon: -121.859481 deg,
      deltaT: 0.503142 s,
      deltaX: 0.298126 m,
      approachRate: 0.592529 m/s,
      posRepo size: 4

2025-10-26T21:45:15.032Z,1761515115.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.61 m.
2025-10-26T21:45:15.137Z,1761515115.137 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.156664
2025-10-26T21:45:15.393Z,1761515115.393 [DAT](INFO): DAT read: Rx Time:21:45:14.2371 

2025-10-26T21:45:15.395Z,1761515115.395 [DAT](INFO): Rx dataTimestamp_ set to:1761515115.393979
2025-10-26T21:45:15.399Z,1761515115.399 [DAT](INFO): DAT read: Bearing  70.6, -10.8 (Local)

2025-10-26T21:45:15.400Z,1761515115.400 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.6, -10.8 (Local)

2025-10-26T21:45:15.420Z,1761515115.420 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed -0.1

2025-10-26T21:45:15.429Z,1761515115.429 [DAT](INFO): DAT read: 21:45:14.2371 LVL= 32752, 25329, 32754, 32755, AGC= 54, IDX= 505, 0.20,-2.593,-0.721,-2.214,-1.893, PHS=-0.598, 1.217,-0.365, RAW= 323.2,  -3.0, CAL= 322.2,  -6.1, ROT= 187.8,   6.1

2025-10-26T21:45:15.430Z,1761515115.430 [DAT](INFO): got valid direction response:
 21:45:14.2371 LVL= 32752, 25329, 32754, 32755, AGC= 54, IDX= 505, 0.20,-2.593,-0.721,-2.214,-1.893, PHS=-0.598, 1.217,-0.365, RAW= 323.2,  -3.0, CAL= 322.2,  -6.1, ROT= 187.8,   6.1

2025-10-26T21:45:15.431Z,1761515115.431 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-10-26T21:45:15.436Z,1761515115.436 [DAT](INFO): direction in FSK: [-0.985138,-0.134947,-0.106264]
2025-10-26T21:45:15.436Z,1761515115.436 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:15.448Z,1761515115.448 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.467861
2025-10-26T21:45:15.472Z,1761515115.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061387,-0.996094,-0.063475],[0.996427,-0.057464,-0.061891],[0.058002,-0.067047,0.996063]]
2025-10-26T21:45:15.588Z,1761515115.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.508914 s,
      deltaX: -0.200000 m,
      approachRate: -0.392993 m/s,
      rangeRepo size: 4

2025-10-26T21:45:15.590Z,1761515115.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.415724 m,
      bearing: 281.775182 deg,
      lat: 36.779430 deg,
      lon: -121.859480 deg,
      deltaT: 0.508914 s,
      deltaX: -0.198714 m,
      approachRate: -0.390467 m/s,
      posRepo size: 4

2025-10-26T21:45:15.590Z,1761515115.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-10-26T21:45:15.641Z,1761515115.641 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.661088
2025-10-26T21:45:15.888Z,1761515115.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061746,-0.996099,-0.063037],[0.996366,-0.057804,-0.062563],[0.058675,-0.066671,0.996048]]
2025-10-26T21:45:15.893Z,1761515115.893 [DAT](INFO): DAT read: Rx Time:21:45:14.7373 

2025-10-26T21:45:15.894Z,1761515115.894 [DAT](INFO): Rx dataTimestamp_ set to:1761515115.893220
2025-10-26T21:45:15.895Z,1761515115.895 [DAT](INFO): DAT read: Bearing  69.8, -10.9 (Local)

2025-10-26T21:45:15.895Z,1761515115.895 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.8, -10.9 (Local)

2025-10-26T21:45:15.897Z,1761515115.897 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed -0.1

2025-10-26T21:45:15.902Z,1761515115.902 [DAT](INFO): DAT read: 21:45:14.7373 LVL= 32752, 26577, 32754, 32755, AGC= 54, IDX= 507,-0.26,-2.516,-0.669,-2.142,-1.805, PHS=-0.609, 1.181,-0.381, RAW= 323.3,  -2.3, CAL= 322.2,  -5.4, ROT= 187.8,   5.4

2025-10-26T21:45:15.903Z,1761515115.903 [DAT](INFO): got valid direction response:
 21:45:14.7373 LVL= 32752, 26577, 32754, 32755, AGC= 54, IDX= 507,-0.26,-2.516,-0.669,-2.142,-1.805, PHS=-0.609, 1.181,-0.381, RAW= 323.3,  -2.3, CAL= 322.2,  -5.4, ROT= 187.8,   5.4

2025-10-26T21:45:15.903Z,1761515115.903 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-10-26T21:45:15.904Z,1761515115.904 [DAT](INFO): direction in FSK: [-0.986351,-0.135113,-0.094108]
2025-10-26T21:45:15.905Z,1761515115.905 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:15.908Z,1761515115.908 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.928260
2025-10-26T21:45:16.020Z,1761515116.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.499241 s,
      deltaX: 0.300000 m,
      approachRate: 0.600913 m/s,
      rangeRepo size: 4

2025-10-26T21:45:16.022Z,1761515116.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.713851 m,
      bearing: 281.741815 deg,
      lat: 36.779430 deg,
      lon: -121.859481 deg,
      deltaT: 0.499241 s,
      deltaX: 0.298127 m,
      approachRate: 0.597161 m/s,
      posRepo size: 4

2025-10-26T21:45:16.022Z,1761515116.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-10-26T21:45:16.146Z,1761515116.146 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.165500
2025-10-26T21:45:16.295Z,1761515116.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062398,-0.996108,-0.062250],[0.996242,-0.058409,-0.063959],[0.060074,-0.066007,0.996009]]
2025-10-26T21:45:16.401Z,1761515116.401 [DAT](INFO): DAT read: Rx Time:21:45:15.2372 

2025-10-26T21:45:16.403Z,1761515116.403 [DAT](INFO): Rx dataTimestamp_ set to:1761515116.402023
2025-10-26T21:45:16.407Z,1761515116.407 [DAT](INFO): DAT read: Bearing  68.0, -11.2 (Local)

2025-10-26T21:45:16.408Z,1761515116.408 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.0, -11.2 (Local)

2025-10-26T21:45:16.416Z,1761515116.416 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed -0.1

2025-10-26T21:45:16.421Z,1761515116.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-10-26T21:45:16.428Z,1761515116.428 [DAT](INFO): DAT read: 21:45:15.2372 LVL= 32752, 27377, 32754, 32755, AGC= 55, IDX= 506, 0.04,-1.252, 0.566,-0.887,-0.508, PHS=-0.642, 1.119,-0.423, RAW= 323.4,  -0.7, CAL= 322.2,  -3.7, ROT= 187.8,   3.7

2025-10-26T21:45:16.429Z,1761515116.429 [DAT](INFO): got valid direction response:
 21:45:15.2372 LVL= 32752, 27377, 32754, 32755, AGC= 55, IDX= 506, 0.04,-1.252, 0.566,-0.887,-0.508, PHS=-0.642, 1.119,-0.423, RAW= 323.4,  -0.7, CAL= 322.2,  -3.7, ROT= 187.8,   3.7

2025-10-26T21:45:16.430Z,1761515116.430 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-10-26T21:45:16.431Z,1761515116.431 [DAT](INFO): direction in FSK: [-0.988683,-0.135433,-0.064532]
2025-10-26T21:45:16.431Z,1761515116.431 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:16.443Z,1761515116.443 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.462523
2025-10-26T21:45:16.648Z,1761515116.648 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.668202
2025-10-26T21:45:16.707Z,1761515116.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062816,-0.996111,-0.061782],[0.996169,-0.058806,-0.064717],[0.060832,-0.065611,0.995989]]
2025-10-26T21:45:16.788Z,1761515116.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.508803 s,
      deltaX: -0.100000 m,
      approachRate: -0.196540 m/s,
      rangeRepo size: 4

2025-10-26T21:45:16.790Z,1761515116.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.614445 m,
      bearing: 281.674617 deg,
      lat: 36.779430 deg,
      lon: -121.859480 deg,
      deltaT: 0.508803 s,
      deltaX: -0.099406 m,
      approachRate: -0.195373 m/s,
      posRepo size: 4

2025-10-26T21:45:16.791Z,1761515116.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.61 m.
2025-10-26T21:45:16.901Z,1761515116.901 [DAT](INFO): DAT read: Rx Time:21:45:15.7374 

2025-10-26T21:45:16.902Z,1761515116.902 [DAT](INFO): Rx dataTimestamp_ set to:1761515116.901459
2025-10-26T21:45:16.903Z,1761515116.903 [DAT](INFO): DAT read: Bearing  69.7, -11.2 (Local)

2025-10-26T21:45:16.904Z,1761515116.904 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.7, -11.2 (Local)

2025-10-26T21:45:16.906Z,1761515116.906 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed 0.0

2025-10-26T21:45:16.910Z,1761515116.910 [DAT](INFO): DAT read: 21:45:15.7374 LVL= 32752, 24945, 32754, 32755, AGC= 56, IDX= 508,-0.43,-1.798, 0.049,-1.418,-1.087, PHS=-0.609, 1.181,-0.375, RAW= 323.1,  -2.4, CAL= 322.0,  -5.5, ROT= 188.0,   5.5

2025-10-26T21:45:16.912Z,1761515116.912 [DAT](INFO): got valid direction response:
 21:45:15.7374 LVL= 32752, 24945, 32754, 32755, AGC= 56, IDX= 508,-0.43,-1.798, 0.049,-1.418,-1.087, PHS=-0.609, 1.181,-0.375, RAW= 323.1,  -2.4, CAL= 322.0,  -5.5, ROT= 188.0,   5.5

2025-10-26T21:45:16.912Z,1761515116.912 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-10-26T21:45:16.913Z,1761515116.913 [DAT](INFO): direction in FSK: [-0.985709,-0.138532,-0.095846]
2025-10-26T21:45:16.913Z,1761515116.913 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:16.917Z,1761515116.917 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.936778
2025-10-26T21:45:17.128Z,1761515117.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063187,-0.996103,-0.061527],[0.996094,-0.059136,-0.065568],[0.061675,-0.065430,0.995949]]
2025-10-26T21:45:17.152Z,1761515117.152 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.172342
2025-10-26T21:45:17.160Z,1761515117.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.499436 s,
      deltaX: 0.300000 m,
      approachRate: 0.600678 m/s,
      rangeRepo size: 4

2025-10-26T21:45:17.162Z,1761515117.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.912572 m,
      bearing: 282.031147 deg,
      lat: 36.779430 deg,
      lon: -121.859481 deg,
      deltaT: 0.499436 s,
      deltaX: 0.298127 m,
      approachRate: 0.596928 m/s,
      posRepo size: 4

2025-10-26T21:45:17.163Z,1761515117.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m.
2025-10-26T21:45:17.411Z,1761515117.411 [DAT](INFO): DAT read: Rx Time:21:45:16.2373 

2025-10-26T21:45:17.413Z,1761515117.413 [DAT](INFO): Rx dataTimestamp_ set to:1761515117.411671
2025-10-26T21:45:17.433Z,1761515117.433 [DAT](INFO): DAT read: Bearing  68.2, -11.5 (Local)

2025-10-26T21:45:17.434Z,1761515117.434 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.2, -11.5 (Local)

2025-10-26T21:45:17.441Z,1761515117.441 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed -0.1

2025-10-26T21:45:17.453Z,1761515117.453 [DAT](INFO): DAT read: 21:45:16.2373 LVL= 32752, 29169, 32754, 32755, AGC= 55, IDX= 507,-0.05,-1.914,-0.141,-1.548,-1.195, PHS=-0.617, 1.098,-0.397, RAW= 323.2,  -1.0, CAL= 322.0,  -4.1, ROT= 188.0,   4.1

2025-10-26T21:45:17.455Z,1761515117.455 [DAT](INFO): got valid direction response:
 21:45:16.2373 LVL= 32752, 29169, 32754, 32755, AGC= 55, IDX= 507,-0.05,-1.914,-0.141,-1.548,-1.195, PHS=-0.617, 1.098,-0.397, RAW= 323.2,  -1.0, CAL= 322.0,  -4.1, ROT= 188.0,   4.1

2025-10-26T21:45:17.455Z,1761515117.455 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-10-26T21:45:17.468Z,1761515117.468 [DAT](INFO): direction in FSK: [-0.987734,-0.138817,-0.071497]
2025-10-26T21:45:17.468Z,1761515117.468 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:17.480Z,1761515117.480 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.500064
2025-10-26T21:45:17.531Z,1761515117.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063410,-0.996104,-0.061292],[0.996031,-0.059322,-0.066361],[0.062466,-0.065257,0.995911]]
2025-10-26T21:45:17.616Z,1761515117.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.510212 s,
      deltaX: -0.200000 m,
      approachRate: -0.391994 m/s,
      rangeRepo size: 4

2025-10-26T21:45:17.618Z,1761515117.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.713844 m,
      bearing: 281.939775 deg,
      lat: 36.779430 deg,
      lon: -121.859480 deg,
      deltaT: 0.510212 s,
      deltaX: -0.198728 m,
      approachRate: -0.389500 m/s,
      posRepo size: 4

2025-10-26T21:45:17.619Z,1761515117.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-10-26T21:45:17.656Z,1761515117.657 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.676381
2025-10-26T21:45:17.909Z,1761515117.909 [DAT](INFO): DAT read: Rx Time:21:45:16.7374 

2025-10-26T21:45:17.909Z,1761515117.909 [DAT](INFO): Rx dataTimestamp_ set to:1761515117.909129
2025-10-26T21:45:17.911Z,1761515117.911 [DAT](INFO): DAT read: Bearing  69.1, -10.9 (Local)

2025-10-26T21:45:17.911Z,1761515117.911 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.1, -10.9 (Local)

2025-10-26T21:45:17.913Z,1761515117.913 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed -0.1

2025-10-26T21:45:17.918Z,1761515117.918 [DAT](INFO): DAT read: 21:45:16.7374 LVL= 32752, 27889, 32754, 32755, AGC= 57, IDX= 507, 0.47,-1.563, 0.278,-1.202,-0.853, PHS=-0.608, 1.176,-0.393, RAW= 323.7,  -2.1, CAL= 322.6,  -5.2, ROT= 187.4,   5.2

2025-10-26T21:45:17.919Z,1761515117.919 [DAT](INFO): got valid direction response:
 21:45:16.7374 LVL= 32752, 27889, 32754, 32755, AGC= 57, IDX= 507, 0.47,-1.563, 0.278,-1.202,-0.853, PHS=-0.608, 1.176,-0.393, RAW= 323.7,  -2.1, CAL= 322.6,  -5.2, ROT= 187.4,   5.2

2025-10-26T21:45:17.919Z,1761515117.919 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-10-26T21:45:17.933Z,1761515117.933 [DAT](INFO): direction in FSK: [-0.987590,-0.128265,-0.090633]
2025-10-26T21:45:17.933Z,1761515117.933 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:17.946Z,1761515117.946 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.965772
2025-10-26T21:45:18.001Z,1761515118.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064012,-0.996078,-0.061086],[0.995931,-0.059872,-0.067360],[0.063438,-0.065149,0.995857]]
2025-10-26T21:45:18.048Z,1761515118.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.497458 s,
      deltaX: 0.200000 m,
      approachRate: 0.402044 m/s,
      rangeRepo size: 4

2025-10-26T21:45:18.050Z,1761515118.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.912596 m,
      bearing: 281.455256 deg,
      lat: 36.779430 deg,
      lon: -121.859481 deg,
      deltaT: 0.497458 s,
      deltaX: 0.198751 m,
      approachRate: 0.399534 m/s,
      posRepo size: 4

2025-10-26T21:45:18.050Z,1761515118.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m.
2025-10-26T21:45:18.161Z,1761515118.161 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.180389
2025-10-26T21:45:18.417Z,1761515118.417 [DAT](INFO): DAT read: Rx Time:21:45:17.2373 

2025-10-26T21:45:18.418Z,1761515118.418 [DAT](INFO): Rx dataTimestamp_ set to:1761515118.417359
2025-10-26T21:45:18.423Z,1761515118.423 [DAT](INFO): DAT read: Bearing  67.6, -11.5 (Local)

2025-10-26T21:45:18.424Z,1761515118.424 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.6, -11.5 (Local)

2025-10-26T21:45:18.433Z,1761515118.433 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed -0.1

2025-10-26T21:45:18.451Z,1761515118.451 [DAT](INFO): DAT read: 21:45:17.2373 LVL= 32752, 27729, 32754, 32755, AGC= 55, IDX= 507,-0.08,-2.982,-1.226,-2.626,-2.262, PHS=-0.618, 1.081,-0.408, RAW= 323.5,  -0.7, CAL= 322.2,  -3.7, ROT= 187.8,   3.7

2025-10-26T21:45:18.453Z,1761515118.453 [DAT](INFO): got valid direction response:
 21:45:17.2373 LVL= 32752, 27729, 32754, 32755, AGC= 55, IDX= 507,-0.08,-2.982,-1.226,-2.626,-2.262, PHS=-0.618, 1.081,-0.408, RAW= 323.5,  -0.7, CAL= 322.2,  -3.7, ROT= 187.8,   3.7

2025-10-26T21:45:18.453Z,1761515118.453 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-10-26T21:45:18.454Z,1761515118.454 [DAT](INFO): direction in FSK: [-0.988683,-0.135433,-0.064532]
2025-10-26T21:45:18.454Z,1761515118.454 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:18.482Z,1761515118.482 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.501839
2025-10-26T21:45:18.493Z,1761515118.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064439,-0.996066,-0.060824],[0.995839,-0.060249,-0.068379],[0.064445,-0.064977,0.995804]]
2025-10-26T21:45:18.588Z,1761515118.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.508230 s,
      deltaX: -0.200000 m,
      approachRate: -0.393522 m/s,
      rangeRepo size: 4

2025-10-26T21:45:18.590Z,1761515118.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.713901 m,
      bearing: 281.770308 deg,
      lat: 36.779430 deg,
      lon: -121.859480 deg,
      deltaT: 0.508230 s,
      deltaX: -0.198695 m,
      approachRate: -0.390955 m/s,
      posRepo size: 4

2025-10-26T21:45:18.590Z,1761515118.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-10-26T21:45:18.664Z,1761515118.664 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.684368
2025-10-26T21:45:18.917Z,1761515118.917 [DAT](INFO): DAT read: Rx Time:21:45:17.7375 

2025-10-26T21:45:18.918Z,1761515118.918 [DAT](INFO): Rx dataTimestamp_ set to:1761515118.917324
2025-10-26T21:45:18.919Z,1761515118.919 [DAT](INFO): DAT read: Bearing  67.2, -11.6 (Local)

2025-10-26T21:45:18.919Z,1761515118.919 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.2, -11.6 (Local)

2025-10-26T21:45:18.921Z,1761515118.921 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed -0.1

2025-10-26T21:45:18.926Z,1761515118.926 [DAT](INFO): DAT read: 21:45:17.7375 LVL= 32752, 31905, 32754, 32755, AGC= 56, IDX= 508, 0.30, 0.116, 1.898, 0.475, 0.855, PHS=-0.636, 1.088,-0.423, RAW= 323.5,  -0.4, CAL= 322.2,  -3.4, ROT= 187.8,   3.4

2025-10-26T21:45:18.927Z,1761515118.927 [DAT](INFO): got valid direction response:
 21:45:17.7375 LVL= 32752, 31905, 32754, 32755, AGC= 56, IDX= 508, 0.30, 0.116, 1.898, 0.475, 0.855, PHS=-0.636, 1.088,-0.423, RAW= 323.5,  -0.4, CAL= 322.2,  -3.4, ROT= 187.8,   3.4

2025-10-26T21:45:18.927Z,1761515118.927 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-10-26T21:45:18.928Z,1761515118.928 [DAT](INFO): direction in FSK: [-0.989004,-0.135477,-0.059306]
2025-10-26T21:45:18.929Z,1761515118.929 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:18.949Z,1761515118.949 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.968899
2025-10-26T21:45:19.063Z,1761515119.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.499965 s,
      deltaX: 0.300000 m,
      approachRate: 0.600042 m/s,
      rangeRepo size: 4

2025-10-26T21:45:19.069Z,1761515119.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.012029 m,
      bearing: 281.748070 deg,
      lat: 36.779431 deg,
      lon: -121.859481 deg,
      deltaT: 0.499965 s,
      deltaX: 0.298128 m,
      approachRate: 0.596298 m/s,
      posRepo size: 4

2025-10-26T21:45:19.069Z,1761515119.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:45:19.168Z,1761515119.168 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.188288
2025-10-26T21:45:19.425Z,1761515119.425 [DAT](INFO): DAT read: Rx Time:21:45:18.2374 

2025-10-26T21:45:19.426Z,1761515119.426 [DAT](INFO): Rx dataTimestamp_ set to:1761515119.425193
2025-10-26T21:45:19.432Z,1761515119.432 [DAT](INFO): DAT read: Bearing  67.1, -11.6 (Local)

2025-10-26T21:45:19.433Z,1761515119.433 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.1, -11.6 (Local)

2025-10-26T21:45:19.463Z,1761515119.463 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed -0.1

2025-10-26T21:45:19.493Z,1761515119.493 [DAT](INFO): DAT read: 21:45:18.2374 LVL= 32752, 28865, 32754, 32755, AGC= 57, IDX= 508,-0.10,-3.003,-1.223,-2.646,-2.271, PHS=-0.630, 1.092,-0.420, RAW= 323.6,  -0.5, CAL= 322.3,  -3.6, ROT= 187.7,   3.6

2025-10-26T21:45:19.494Z,1761515119.494 [DAT](INFO): got valid direction response:
 21:45:18.2374 LVL= 32752, 28865, 32754, 32755, AGC= 57, IDX= 508,-0.10,-3.003,-1.223,-2.646,-2.271, PHS=-0.630, 1.092,-0.420, RAW= 323.6,  -0.5, CAL= 322.3,  -3.6, ROT= 187.7,   3.6

2025-10-26T21:45:19.494Z,1761515119.494 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-10-26T21:45:19.495Z,1761515119.495 [DAT](INFO): direction in FSK: [-0.989028,-0.133722,-0.062791]
2025-10-26T21:45:19.504Z,1761515119.504 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:19.519Z,1761515119.519 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.527010
2025-10-26T21:45:19.523Z,1761515119.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066078,-0.996034,-0.059587],[0.995491,-0.061733,-0.072016],[0.068051,-0.064077,0.995622]]
2025-10-26T21:45:19.613Z,1761515119.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.507869 s,
      deltaX: -0.100000 m,
      approachRate: -0.196902 m/s,
      rangeRepo size: 4

2025-10-26T21:45:19.615Z,1761515119.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.912701 m,
      bearing: 281.758618 deg,
      lat: 36.779431 deg,
      lon: -121.859479 deg,
      deltaT: 0.507869 s,
      deltaX: -0.099328 m,
      approachRate: -0.195578 m/s,
      posRepo size: 4

2025-10-26T21:45:19.620Z,1761515119.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m.
2025-10-26T21:45:19.672Z,1761515119.672 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.692312
2025-10-26T21:45:19.925Z,1761515119.925 [DAT](INFO): DAT read: Rx Time:21:45:18.7375 

2025-10-26T21:45:19.925Z,1761515119.925 [DAT](INFO): Rx dataTimestamp_ set to:1761515119.925153
2025-10-26T21:45:19.927Z,1761515119.927 [DAT](INFO): DAT read: Bearing  67.6, -11.4 (Local)

2025-10-26T21:45:19.927Z,1761515119.927 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.6, -11.4 (Local)

2025-10-26T21:45:19.929Z,1761515119.929 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed -0.1

2025-10-26T21:45:19.934Z,1761515119.934 [DAT](INFO): DAT read: 21:45:18.7375 LVL= 32752, 30833, 32754, 32755, AGC= 57, IDX= 509, 0.43,-0.765, 1.088,-0.403,-0.023, PHS=-0.640, 1.156,-0.424, RAW= 323.7,  -1.1, CAL= 322.5,  -4.1, ROT= 187.5,   4.1

2025-10-26T21:45:19.935Z,1761515119.935 [DAT](INFO): got valid direction response:
 21:45:18.7375 LVL= 32752, 30833, 32754, 32755, AGC= 57, IDX= 509, 0.43,-0.765, 1.088,-0.403,-0.023, PHS=-0.640, 1.156,-0.424, RAW= 323.7,  -1.1, CAL= 322.5,  -4.1, ROT= 187.5,   4.1

2025-10-26T21:45:19.935Z,1761515119.935 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-10-26T21:45:19.936Z,1761515119.936 [DAT](INFO): direction in FSK: [-0.988908,-0.130192,-0.071497]
2025-10-26T21:45:19.937Z,1761515119.937 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:19.940Z,1761515119.940 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.960121
2025-10-26T21:45:20.022Z,1761515120.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066652,-0.996026,-0.059073],[0.995364,-0.062260,-0.073312],[0.069343,-0.063686,0.995558]]
2025-10-26T21:45:20.082Z,1761515120.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.499960 s,
      deltaX: 0.300000 m,
      approachRate: 0.600048 m/s,
      rangeRepo size: 4

2025-10-26T21:45:20.088Z,1761515120.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.210830 m,
      bearing: 281.628213 deg,
      lat: 36.779431 deg,
      lon: -121.859481 deg,
      deltaT: 0.499960 s,
      deltaX: 0.298129 m,
      approachRate: 0.596306 m/s,
      posRepo size: 4

2025-10-26T21:45:20.089Z,1761515120.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m.
2025-10-26T21:45:20.176Z,1761515120.176 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.196365
2025-10-26T21:45:20.434Z,1761515120.434 [DAT](INFO): DAT read: Rx Time:21:45:19.2375 

2025-10-26T21:45:20.436Z,1761515120.436 [DAT](INFO): Rx dataTimestamp_ set to:1761515120.434862
2025-10-26T21:45:20.444Z,1761515120.444 [DAT](INFO): DAT read: Bearing  67.6, -11.4 (Local)

2025-10-26T21:45:20.445Z,1761515120.445 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.6, -11.4 (Local)

2025-10-26T21:45:20.464Z,1761515120.464 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed 0.0

2025-10-26T21:45:20.481Z,1761515120.481 [DAT](INFO): DAT read: 21:45:19.2375 LVL= 32752, 26209, 32754, 32755, AGC= 56, IDX= 509, 0.03,-2.584,-0.746,-2.225,-1.855, PHS=-0.627, 1.154,-0.414, RAW= 323.7,  -1.3, CAL= 322.5,  -4.4, ROT= 187.5,   4.4

2025-10-26T21:45:20.482Z,1761515120.482 [DAT](INFO): got valid direction response:
 21:45:19.2375 LVL= 32752, 26209, 32754, 32755, AGC= 56, IDX= 509, 0.03,-2.584,-0.746,-2.225,-1.855, PHS=-0.627, 1.154,-0.414, RAW= 323.7,  -1.3, CAL= 322.5,  -4.4, ROT= 187.5,   4.4

2025-10-26T21:45:20.482Z,1761515120.482 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-10-26T21:45:20.483Z,1761515120.483 [DAT](INFO): direction in FSK: [-0.988523,-0.130142,-0.076719]
2025-10-26T21:45:20.487Z,1761515120.487 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:20.491Z,1761515120.491 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.510868
2025-10-26T21:45:20.537Z,1761515120.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067308,-0.995999,-0.058789],[0.995221,-0.062844,-0.074740],[0.070747,-0.063538,0.995469]]
2025-10-26T21:45:20.640Z,1761515120.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.509709 s,
      deltaX: -0.200000 m,
      approachRate: -0.392380 m/s,
      rangeRepo size: 4

2025-10-26T21:45:20.642Z,1761515120.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.011993 m,
      bearing: 281.689398 deg,
      lat: 36.779431 deg,
      lon: -121.859479 deg,
      deltaT: 0.509709 s,
      deltaX: -0.198836 m,
      approachRate: -0.390098 m/s,
      posRepo size: 4

2025-10-26T21:45:20.642Z,1761515120.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:45:20.682Z,1761515120.682 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.702072
2025-10-26T21:45:20.860Z,1761515120.860 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:45:20.933Z,1761515120.933 [DAT](INFO): DAT read: Rx Time:21:45:19.7376 

2025-10-26T21:45:20.933Z,1761515120.933 [DAT](INFO): Rx dataTimestamp_ set to:1761515120.933118
2025-10-26T21:45:20.935Z,1761515120.935 [DAT](INFO): DAT read: Bearing  66.8, -11.9 (Local)

2025-10-26T21:45:20.935Z,1761515120.935 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.8, -11.9 (Local)

2025-10-26T21:45:20.937Z,1761515120.937 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed -0.1

2025-10-26T21:45:20.942Z,1761515120.942 [DAT](INFO): DAT read: 21:45:19.7376 LVL= 32752, 30001, 32754, 32755, AGC= 56, IDX= 511,-0.40,-1.808,-0.028,-1.447,-1.078, PHS=-0.627, 1.096,-0.413, RAW= 323.4,  -0.7, CAL= 322.2,  -3.7, ROT= 187.8,   3.7

2025-10-26T21:45:20.943Z,1761515120.943 [DAT](INFO): got valid direction response:
 21:45:19.7376 LVL= 32752, 30001, 32754, 32755, AGC= 56, IDX= 511,-0.40,-1.808,-0.028,-1.447,-1.078, PHS=-0.627, 1.096,-0.413, RAW= 323.4,  -0.7, CAL= 322.2,  -3.7, ROT= 187.8,   3.7

2025-10-26T21:45:20.943Z,1761515120.943 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-10-26T21:45:20.944Z,1761515120.944 [DAT](INFO): direction in FSK: [-0.988683,-0.135433,-0.064532]
2025-10-26T21:45:20.944Z,1761515120.944 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:20.965Z,1761515120.965 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.985378
2025-10-26T21:45:21.102Z,1761515121.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.498256 s,
      deltaX: 0.299999 m,
      approachRate: 0.602099 m/s,
      rangeRepo size: 4

2025-10-26T21:45:21.109Z,1761515121.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.310121 m,
      bearing: 281.938902 deg,
      lat: 36.779431 deg,
      lon: -121.859481 deg,
      deltaT: 0.498256 s,
      deltaX: 0.298127 m,
      approachRate: 0.598341 m/s,
      posRepo size: 4

2025-10-26T21:45:21.112Z,1761515121.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m.
2025-10-26T21:45:21.185Z,1761515121.185 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.204397
2025-10-26T21:45:21.441Z,1761515121.441 [DAT](INFO): DAT read: Rx Time:21:45:20.2375 

2025-10-26T21:45:21.442Z,1761515121.442 [DAT](INFO): Rx dataTimestamp_ set to:1761515121.441146
2025-10-26T21:45:21.449Z,1761515121.449 [DAT](INFO): DAT read: Bearing  67.4, -11.7 (Local)

2025-10-26T21:45:21.450Z,1761515121.450 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.4, -11.7 (Local)

2025-10-26T21:45:21.457Z,1761515121.457 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed -0.1

2025-10-26T21:45:21.508Z,1761515121.508 [DAT](INFO): DAT read: 21:45:20.2375 LVL= 32752, 27825, 32754, 32755, AGC= 56, IDX= 510, 0.18,-1.677, 0.149,-1.316,-0.949, PHS=-0.626, 1.143,-0.411, RAW= 323.6,  -1.3, CAL= 322.4,  -4.3, ROT= 187.6,   4.3

2025-10-26T21:45:21.509Z,1761515121.509 [DAT](INFO): got valid direction response:
 21:45:20.2375 LVL= 32752, 27825, 32754, 32755, AGC= 56, IDX= 510, 0.18,-1.677, 0.149,-1.316,-0.949, PHS=-0.626, 1.143,-0.411, RAW= 323.6,  -1.3, CAL= 322.4,  -4.3, ROT= 187.6,   4.3

2025-10-26T21:45:21.509Z,1761515121.509 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-10-26T21:45:21.510Z,1761515121.510 [DAT](INFO): direction in FSK: [-0.988425,-0.131884,-0.074979]
2025-10-26T21:45:21.510Z,1761515121.510 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:21.522Z,1761515121.522 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.542107
2025-10-26T21:45:21.651Z,1761515121.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.508028 s,
      deltaX: -0.099999 m,
      approachRate: -0.196838 m/s,
      rangeRepo size: 4

2025-10-26T21:45:21.657Z,1761515121.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.210966 m,
      bearing: 281.782433 deg,
      lat: 36.779431 deg,
      lon: -121.859479 deg,
      deltaT: 0.508028 s,
      deltaX: -0.099154 m,
      approachRate: -0.195175 m/s,
      posRepo size: 4

2025-10-26T21:45:21.658Z,1761515121.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m.
2025-10-26T21:45:21.688Z,1761515121.688 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.708359
2025-10-26T21:45:21.869Z,1761515121.869 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:45:21.941Z,1761515121.941 [DAT](INFO): DAT read: Rx Time:21:45:20.7376 

2025-10-26T21:45:21.941Z,1761515121.941 [DAT](INFO): Rx dataTimestamp_ set to:1761515121.941123
2025-10-26T21:45:21.943Z,1761515121.943 [DAT](INFO): DAT read: Bearing  69.6, -12.0 (Local)

2025-10-26T21:45:21.943Z,1761515121.943 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.6, -12.0 (Local)

2025-10-26T21:45:21.945Z,1761515121.945 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed -0.2

2025-10-26T21:45:21.950Z,1761515121.950 [DAT](INFO): DAT read: 21:45:20.7376 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 511,-0.02, 2.059,-2.387, 2.441, 2.740, PHS=-0.579, 1.201,-0.343, RAW= 323.0,  -3.4, CAL= 322.0,  -6.5, ROT= 188.0,   6.5

2025-10-26T21:45:21.951Z,1761515121.951 [DAT](INFO): got valid direction response:
 21:45:20.7376 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 511,-0.02, 2.059,-2.387, 2.441, 2.740, PHS=-0.579, 1.201,-0.343, RAW= 323.0,  -3.4, CAL= 322.0,  -6.5, ROT= 188.0,   6.5

2025-10-26T21:45:21.951Z,1761515121.951 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-10-26T21:45:21.952Z,1761515121.952 [DAT](INFO): direction in FSK: [-0.983902,-0.138278,-0.113203]
2025-10-26T21:45:21.953Z,1761515121.953 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:21.956Z,1761515121.956 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.976364
2025-10-26T21:45:22.098Z,1761515122.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.499977 s,
      deltaX: 0.099999 m,
      approachRate: 0.200008 m/s,
      rangeRepo size: 4

2025-10-26T21:45:22.101Z,1761515122.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.310343 m,
      bearing: 282.347980 deg,
      lat: 36.779431 deg,
      lon: -121.859478 deg,
      deltaT: 0.499977 s,
      deltaX: 0.099377 m,
      approachRate: 0.198763 m/s,
      posRepo size: 4

2025-10-26T21:45:22.101Z,1761515122.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m.
2025-10-26T21:45:22.194Z,1761515122.194 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.213808
2025-10-26T21:45:22.449Z,1761515122.449 [DAT](INFO): DAT read: Rx Time:21:45:21.2376 

2025-10-26T21:45:22.450Z,1761515122.450 [DAT](INFO): Rx dataTimestamp_ set to:1761515122.449431
2025-10-26T21:45:22.455Z,1761515122.455 [DAT](INFO): DAT read: Bearing  66.2, -12.1 (Local)

2025-10-26T21:45:22.457Z,1761515122.457 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.2, -12.1 (Local)

2025-10-26T21:45:22.464Z,1761515122.464 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed -0.1

2025-10-26T21:45:22.543Z,1761515122.543 [DAT](INFO): DAT read: 21:45:21.2376 LVL= 32752, 26193, 32754, 32755, AGC= 58, IDX= 511,-0.41, 1.495,-2.964, 1.856, 2.248, PHS=-0.650, 1.117,-0.435, RAW= 323.6,  -0.4, CAL= 322.3,  -3.4, ROT= 187.7,   3.4

2025-10-26T21:45:22.544Z,1761515122.544 [DAT](INFO): got valid direction response:
 21:45:21.2376 LVL= 32752, 26193, 32754, 32755, AGC= 58, IDX= 511,-0.41, 1.495,-2.964, 1.856, 2.248, PHS=-0.650, 1.117,-0.435, RAW= 323.6,  -0.4, CAL= 322.3,  -3.4, ROT= 187.7,   3.4

2025-10-26T21:45:22.545Z,1761515122.545 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-10-26T21:45:22.546Z,1761515122.546 [DAT](INFO): direction in FSK: [-0.989239,-0.133750,-0.059306]
2025-10-26T21:45:22.546Z,1761515122.546 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:22.570Z,1761515122.570 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.589689
2025-10-26T21:45:22.600Z,1761515122.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070831,-0.995802,-0.057970],[0.994383,-0.065909,-0.082810],[0.078641,-0.063510,0.994878]]
2025-10-26T21:45:22.698Z,1761515122.698 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.717587
2025-10-26T21:45:22.733Z,1761515122.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.508308 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:22.740Z,1761515122.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.310395 m,
      bearing: 282.029677 deg,
      lat: 36.779431 deg,
      lon: -121.859478 deg,
      deltaT: 0.508308 s,
      deltaX: 0.000052 m,
      approachRate: 0.000103 m/s,
      posRepo size: 4

2025-10-26T21:45:22.741Z,1761515122.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m.
2025-10-26T21:45:22.950Z,1761515122.950 [DAT](INFO): DAT read: Rx Time:21:45:21.7378 

2025-10-26T21:45:22.950Z,1761515122.950 [DAT](INFO): Rx dataTimestamp_ set to:1761515122.950080
2025-10-26T21:45:22.952Z,1761515122.952 [DAT](INFO): DAT read: Bearing  62.7, -15.9 (Local)

2025-10-26T21:45:22.953Z,1761515122.953 [DAT](INFO): Local bearing/azimuth received:
 Bearing  62.7, -15.9 (Local)

2025-10-26T21:45:22.955Z,1761515122.955 [DAT](INFO): DAT read: Range 11 to 50 :    14.7 m (trip time 9.8 ms) speed -0.2

2025-10-26T21:45:22.960Z,1761515122.960 [DAT](INFO): DAT read: 21:45:21.7378 LVL= 32752, 32577, 32754, 32755, AGC= 58, IDX= 512, 0.25, 1.628,-2.876, 2.069, 2.483, PHS=-0.752, 0.970,-0.458, RAW= 320.8,   3.0, CAL= 318.9,   0.2, ROT= 191.1,  -0.2

2025-10-26T21:45:22.961Z,1761515122.961 [DAT](INFO): got valid direction response:
 21:45:21.7378 LVL= 32752, 32577, 32754, 32755, AGC= 58, IDX= 512, 0.25, 1.628,-2.876, 2.069, 2.483, PHS=-0.752, 0.970,-0.458, RAW= 320.8,   3.0, CAL= 318.9,   0.2, ROT= 191.1,  -0.2

2025-10-26T21:45:22.961Z,1761515122.961 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-10-26T21:45:22.962Z,1761515122.962 [DAT](INFO): direction in FSK: [-0.981287,-0.192521,0.003491]
2025-10-26T21:45:22.962Z,1761515122.962 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:22.970Z,1761515122.970 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.989864
2025-10-26T21:45:23.133Z,1761515123.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072656,-0.995651,-0.058319],[0.993962,-0.067464,-0.086529],[0.082218,-0.064253,0.994541]]
2025-10-26T21:45:23.156Z,1761515123.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.700000 m,
      deltaT: 0.500649 s,
      deltaX: 0.300000 m,
      approachRate: 0.599223 m/s,
      rangeRepo size: 4

2025-10-26T21:45:23.158Z,1761515123.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.608529 m,
      bearing: 285.267750 deg,
      lat: 36.779431 deg,
      lon: -121.859478 deg,
      deltaT: 0.500649 s,
      deltaX: 0.298134 m,
      approachRate: 0.595495 m/s,
      posRepo size: 4

2025-10-26T21:45:23.159Z,1761515123.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-10-26T21:45:23.201Z,1761515123.201 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.221104
2025-10-26T21:45:23.454Z,1761515123.454 [DAT](INFO): DAT read: Rx Time:21:45:22.2377 

2025-10-26T21:45:23.454Z,1761515123.454 [DAT](INFO): Rx dataTimestamp_ set to:1761515123.454122
2025-10-26T21:45:23.456Z,1761515123.456 [DAT](INFO): DAT read: Bearing  63.2, -22.1 (Local)

2025-10-26T21:45:23.456Z,1761515123.456 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.2, -22.1 (Local)

2025-10-26T21:45:23.458Z,1761515123.458 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed -0.2

2025-10-26T21:45:23.464Z,1761515123.464 [DAT](INFO): DAT read: 21:45:22.2377 LVL= 32752, 25713, 32754, 32755, AGC= 58, IDX= 512, 0.03, 0.249, 1.949, 0.834, 1.118, PHS=-0.767, 0.876,-0.328, RAW= 315.0,   3.0, CAL= 312.7,   0.1, ROT= 197.3,  -0.1

2025-10-26T21:45:23.468Z,1761515123.468 [DAT](INFO): got valid direction response:
 21:45:22.2377 LVL= 32752, 25713, 32754, 32755, AGC= 58, IDX= 512, 0.03, 0.249, 1.949, 0.834, 1.118, PHS=-0.767, 0.876,-0.328, RAW= 315.0,   3.0, CAL= 312.7,   0.1, ROT= 197.3,  -0.1

2025-10-26T21:45:23.469Z,1761515123.469 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-10-26T21:45:23.473Z,1761515123.473 [DAT](INFO): direction in FSK: [-0.954759,-0.297374,0.001745]
2025-10-26T21:45:23.474Z,1761515123.474 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:23.489Z,1761515123.489 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.506735
2025-10-26T21:45:23.677Z,1761515123.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.600000 m,
      deltaT: 0.504042 s,
      deltaX: -0.099999 m,
      approachRate: -0.198395 m/s,
      rangeRepo size: 4

2025-10-26T21:45:23.679Z,1761515123.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.508863 m,
      bearing: 291.466469 deg,
      lat: 36.779432 deg,
      lon: -121.859478 deg,
      deltaT: 0.504042 s,
      deltaX: -0.099666 m,
      approachRate: -0.197733 m/s,
      posRepo size: 4

2025-10-26T21:45:23.683Z,1761515123.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m.
2025-10-26T21:45:23.705Z,1761515123.705 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.724995
2025-10-26T21:45:23.957Z,1761515123.957 [DAT](INFO): DAT read: Rx Time:21:45:22.7379 

2025-10-26T21:45:23.957Z,1761515123.957 [DAT](INFO): Rx dataTimestamp_ set to:1761515123.957123
2025-10-26T21:45:23.959Z,1761515123.959 [DAT](INFO): DAT read: Bearing  65.8, -12.7 (Local)

2025-10-26T21:45:23.959Z,1761515123.959 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.8, -12.7 (Local)

2025-10-26T21:45:23.962Z,1761515123.962 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed -0.2

2025-10-26T21:45:23.966Z,1761515123.966 [DAT](INFO): DAT read: 21:45:22.7379 LVL= 27792, 15089, 23298, 31891, AGC= 60, IDX=   2,-0.19, 1.880,-2.573, 2.247, 2.641, PHS=-0.659, 1.115,-0.438, RAW= 323.4,  -0.2, CAL= 322.1,  -3.2, ROT= 187.9,   3.2

2025-10-26T21:45:23.968Z,1761515123.968 [DAT](INFO): got valid direction response:
 21:45:22.7379 LVL= 27792, 15089, 23298, 31891, AGC= 60, IDX=   2,-0.19, 1.880,-2.573, 2.247, 2.641, PHS=-0.659, 1.115,-0.438, RAW= 323.4,  -0.2, CAL= 322.1,  -3.2, ROT= 187.9,   3.2

2025-10-26T21:45:23.968Z,1761515123.968 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-10-26T21:45:23.969Z,1761515123.969 [DAT](INFO): direction in FSK: [-0.988965,-0.137230,-0.055822]
2025-10-26T21:45:23.969Z,1761515123.969 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:23.973Z,1761515123.973 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.992918
2025-10-26T21:45:24.080Z,1761515124.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074771,-0.995540,-0.057527],[0.993487,-0.069395,-0.090376],[0.085981,-0.063910,0.994245]]
2025-10-26T21:45:24.132Z,1761515124.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.503001 s,
      deltaX: 0.299999 m,
      approachRate: 0.596419 m/s,
      rangeRepo size: 4

2025-10-26T21:45:24.134Z,1761515124.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.806990 m,
      bearing: 282.453990 deg,
      lat: 36.779432 deg,
      lon: -121.859478 deg,
      deltaT: 0.503001 s,
      deltaX: 0.298126 m,
      approachRate: 0.592695 m/s,
      posRepo size: 4

2025-10-26T21:45:24.134Z,1761515124.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-10-26T21:45:24.210Z,1761515124.210 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.229744
2025-10-26T21:45:24.461Z,1761515124.461 [DAT](INFO): DAT read: Rx Time:21:45:23.2379 

2025-10-26T21:45:24.461Z,1761515124.461 [DAT](INFO): Rx dataTimestamp_ set to:1761515124.461186
2025-10-26T21:45:24.464Z,1761515124.464 [DAT](INFO): DAT read: Bearing  66.9, -12.7 (Local)

2025-10-26T21:45:24.465Z,1761515124.465 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.9, -12.7 (Local)

2025-10-26T21:45:24.478Z,1761515124.478 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed -0.2

2025-10-26T21:45:24.522Z,1761515124.522 [DAT](INFO): DAT read: 21:45:23.2379 LVL= 32752, 24689, 32754, 32755, AGC= 58, IDX= 498,-0.41, 0.698, 2.559, 1.074, 1.440, PHS=-0.640, 1.164,-0.411, RAW= 323.3,  -1.3, CAL= 322.1,  -4.4, ROT= 187.9,   4.4

2025-10-26T21:45:24.536Z,1761515124.536 [DAT](INFO): got valid direction response:
 21:45:23.2379 LVL= 32752, 24689, 32754, 32755, AGC= 58, IDX= 498,-0.41, 0.698, 2.559, 1.074, 1.440, PHS=-0.640, 1.164,-0.411, RAW= 323.3,  -1.3, CAL= 322.1,  -4.4, ROT= 187.9,   4.4

2025-10-26T21:45:24.536Z,1761515124.536 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-10-26T21:45:24.537Z,1761515124.537 [DAT](INFO): direction in FSK: [-0.987590,-0.137039,-0.076719]
2025-10-26T21:45:24.538Z,1761515124.538 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:24.563Z,1761515124.563 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.581289
2025-10-26T21:45:24.580Z,1761515124.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076033,-0.995479,-0.056929],[0.993221,-0.070579,-0.092362],[0.087927,-0.063565,0.994097]]
2025-10-26T21:45:24.671Z,1761515124.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.504063 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:24.684Z,1761515124.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.806989 m,
      bearing: 282.620763 deg,
      lat: 36.779433 deg,
      lon: -121.859479 deg,
      deltaT: 0.504063 s,
      deltaX: -0.000001 m,
      approachRate: -0.000002 m/s,
      posRepo size: 4

2025-10-26T21:45:24.685Z,1761515124.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-10-26T21:45:24.717Z,1761515124.717 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.737070
2025-10-26T21:45:24.966Z,1761515124.966 [DAT](INFO): DAT read: Rx Time:21:45:23.7381 

2025-10-26T21:45:24.966Z,1761515124.966 [DAT](INFO): Rx dataTimestamp_ set to:1761515124.966060
2025-10-26T21:45:24.968Z,1761515124.968 [DAT](INFO): DAT read: Bearing  65.5, -12.6 (Local)

2025-10-26T21:45:24.969Z,1761515124.969 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.5, -12.6 (Local)

2025-10-26T21:45:24.972Z,1761515124.972 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed -0.2

2025-10-26T21:45:24.977Z,1761515124.977 [DAT](INFO): DAT read: 21:45:23.7381 LVL= 32752, 27233, 32754, 32755, AGC= 57, IDX= 499, 0.24,-2.290,-0.460,-1.932,-1.529, PHS=-0.659, 1.114,-0.446, RAW= 323.7,  -0.1, CAL= 322.3,  -3.1, ROT= 187.7,   3.1

2025-10-26T21:45:24.978Z,1761515124.978 [DAT](INFO): got valid direction response:
 21:45:23.7381 LVL= 32752, 27233, 32754, 32755, AGC= 57, IDX= 499, 0.24,-2.290,-0.460,-1.932,-1.529, PHS=-0.659, 1.114,-0.446, RAW= 323.7,  -0.1, CAL= 322.3,  -3.1, ROT= 187.7,   3.1

2025-10-26T21:45:24.978Z,1761515124.978 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-10-26T21:45:24.983Z,1761515124.983 [DAT](INFO): direction in FSK: [-0.989533,-0.133790,-0.054079]
2025-10-26T21:45:25.016Z,1761515125.016 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:25.020Z,1761515125.020 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.040207
2025-10-26T21:45:25.149Z,1761515125.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078054,-0.995342,-0.056594],[0.992742,-0.072389,-0.096042],[0.091498,-0.063679,0.993767]]
2025-10-26T21:45:25.173Z,1761515125.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.504874 s,
      deltaX: 0.300000 m,
      approachRate: 0.594208 m/s,
      rangeRepo size: 4

2025-10-26T21:45:25.175Z,1761515125.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.105116 m,
      bearing: 282.442459 deg,
      lat: 36.779433 deg,
      lon: -121.859479 deg,
      deltaT: 0.504874 s,
      deltaX: 0.298127 m,
      approachRate: 0.590498 m/s,
      posRepo size: 4

2025-10-26T21:45:25.175Z,1761515125.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m.
2025-10-26T21:45:25.218Z,1761515125.218 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.237740
2025-10-26T21:45:25.469Z,1761515125.469 [DAT](INFO): DAT read: Rx Time:21:45:24.2380 

2025-10-26T21:45:25.469Z,1761515125.469 [DAT](INFO): Rx dataTimestamp_ set to:1761515125.469113
2025-10-26T21:45:25.471Z,1761515125.471 [DAT](INFO): DAT read: Bearing  65.5, -13.1 (Local)

2025-10-26T21:45:25.471Z,1761515125.471 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.5, -13.1 (Local)

2025-10-26T21:45:25.473Z,1761515125.473 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed -0.1

2025-10-26T21:45:25.481Z,1761515125.481 [DAT](INFO): DAT read: 21:45:24.2380 LVL= 32752, 25633, 32754, 32755, AGC= 58, IDX= 499, 0.00, 1.825,-2.616, 2.196, 2.595, PHS=-0.668, 1.117,-0.443, RAW= 323.4,  -0.1, CAL= 322.0,  -3.1, ROT= 188.0,   3.1

2025-10-26T21:45:25.483Z,1761515125.483 [DAT](INFO): got valid direction response:
 21:45:24.2380 LVL= 32752, 25633, 32754, 32755, AGC= 58, IDX= 499, 0.00, 1.825,-2.616, 2.196, 2.595, PHS=-0.668, 1.117,-0.443, RAW= 323.4,  -0.1, CAL= 322.0,  -3.1, ROT= 188.0,   3.1

2025-10-26T21:45:25.483Z,1761515125.483 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-26T21:45:25.484Z,1761515125.484 [DAT](INFO): direction in FSK: [-0.988819,-0.138969,-0.054079]
2025-10-26T21:45:25.485Z,1761515125.485 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:25.489Z,1761515125.489 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.508478
2025-10-26T21:45:25.708Z,1761515125.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.503053 s,
      deltaX: -0.200000 m,
      approachRate: -0.397572 m/s,
      rangeRepo size: 4

2025-10-26T21:45:25.713Z,1761515125.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.906332 m,
      bearing: 282.743940 deg,
      lat: 36.779433 deg,
      lon: -121.859479 deg,
      deltaT: 0.503053 s,
      deltaX: -0.198784 m,
      approachRate: -0.395155 m/s,
      posRepo size: 4

2025-10-26T21:45:25.714Z,1761515125.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m.
2025-10-26T21:45:25.722Z,1761515125.722 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.741453
2025-10-26T21:45:25.974Z,1761515125.974 [DAT](INFO): DAT read: Rx Time:21:45:24.7381 

2025-10-26T21:45:25.974Z,1761515125.974 [DAT](INFO): Rx dataTimestamp_ set to:1761515125.974089
2025-10-26T21:45:25.976Z,1761515125.976 [DAT](INFO): DAT read: Bearing  66.3, -13.1 (Local)

2025-10-26T21:45:25.977Z,1761515125.977 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.3, -13.1 (Local)

2025-10-26T21:45:25.979Z,1761515125.979 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed -0.1

2025-10-26T21:45:26.008Z,1761515126.008 [DAT](INFO): DAT read: 21:45:24.7381 LVL= 32752, 25009, 32754, 32755, AGC= 58, IDX= 500,-0.20, 0.546, 2.405, 0.920, 1.301, PHS=-0.653, 1.149,-0.424, RAW= 323.3,  -0.9, CAL= 322.0,  -3.9, ROT= 188.0,   3.9

2025-10-26T21:45:26.009Z,1761515126.009 [DAT](INFO): got valid direction response:
 21:45:24.7381 LVL= 32752, 25009, 32754, 32755, AGC= 58, IDX= 500,-0.20, 0.546, 2.405, 0.920, 1.301, PHS=-0.653, 1.149,-0.424, RAW= 323.3,  -0.9, CAL= 322.0,  -3.9, ROT= 188.0,   3.9

2025-10-26T21:45:26.009Z,1761515126.009 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-10-26T21:45:26.010Z,1761515126.010 [DAT](INFO): direction in FSK: [-0.987975,-0.138851,-0.068015]
2025-10-26T21:45:26.011Z,1761515126.011 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:26.035Z,1761515126.035 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.051050
2025-10-26T21:45:26.116Z,1761515126.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079842,-0.995218,-0.056279],[0.992302,-0.073992,-0.099311],[0.094672,-0.063775,0.993464]]
2025-10-26T21:45:26.172Z,1761515126.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.504976 s,
      deltaX: 0.200000 m,
      approachRate: 0.396058 m/s,
      rangeRepo size: 4

2025-10-26T21:45:26.174Z,1761515126.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.105083 m,
      bearing: 282.914815 deg,
      lat: 36.779433 deg,
      lon: -121.859480 deg,
      deltaT: 0.504976 s,
      deltaX: 0.198750 m,
      approachRate: 0.393584 m/s,
      posRepo size: 4

2025-10-26T21:45:26.175Z,1761515126.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m.
2025-10-26T21:45:26.224Z,1761515126.224 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.244358
2025-10-26T21:45:26.479Z,1761515126.479 [DAT](INFO): DAT read: Rx Time:21:45:25.2381 

2025-10-26T21:45:26.481Z,1761515126.481 [DAT](INFO): Rx dataTimestamp_ set to:1761515126.479509
2025-10-26T21:45:26.483Z,1761515126.483 [DAT](INFO): DAT read: Bearing  65.2, -13.4 (Local)

2025-10-26T21:45:26.483Z,1761515126.483 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.2, -13.4 (Local)

2025-10-26T21:45:26.485Z,1761515126.485 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed -0.1

2025-10-26T21:45:26.490Z,1761515126.490 [DAT](INFO): DAT read: 21:45:25.2381 LVL= 32752, 25777, 32754, 32755, AGC= 59, IDX= 499, 0.29, 1.711,-2.735, 2.081, 2.487, PHS=-0.674, 1.106,-0.450, RAW= 323.4,   0.2, CAL= 321.9,  -2.8, ROT= 188.1,   2.8

2025-10-26T21:45:26.491Z,1761515126.491 [DAT](INFO): got valid direction response:
 21:45:25.2381 LVL= 32752, 25777, 32754, 32755, AGC= 59, IDX= 499, 0.29, 1.711,-2.735, 2.081, 2.487, PHS=-0.674, 1.106,-0.450, RAW= 323.4,   0.2, CAL= 321.9,  -2.8, ROT= 188.1,   2.8

2025-10-26T21:45:26.491Z,1761515126.491 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-10-26T21:45:26.493Z,1761515126.493 [DAT](INFO): direction in FSK: [-0.988842,-0.140733,-0.048850]
2025-10-26T21:45:26.494Z,1761515126.494 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:26.520Z,1761515126.520 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.526842
2025-10-26T21:45:26.648Z,1761515126.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080525,-0.995170,-0.056146],[0.992116,-0.074596,-0.100699],[0.096024,-0.063812,0.993331]]
2025-10-26T21:45:26.729Z,1761515126.729 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.749079
2025-10-26T21:45:26.762Z,1761515126.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.505420 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:26.777Z,1761515126.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.105028 m,
      bearing: 282.971236 deg,
      lat: 36.779433 deg,
      lon: -121.859480 deg,
      deltaT: 0.505420 s,
      deltaX: -0.000054 m,
      approachRate: -0.000108 m/s,
      posRepo size: 4

2025-10-26T21:45:26.777Z,1761515126.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m.
2025-10-26T21:45:26.982Z,1761515126.982 [DAT](INFO): DAT read: Rx Time:21:45:25.7382 

2025-10-26T21:45:26.982Z,1761515126.982 [DAT](INFO): Rx dataTimestamp_ set to:1761515126.981939
2025-10-26T21:45:26.984Z,1761515126.984 [DAT](INFO): DAT read: Bearing  67.9, -13.4 (Local)

2025-10-26T21:45:26.985Z,1761515126.985 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.9, -13.4 (Local)

2025-10-26T21:45:26.988Z,1761515126.988 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed -0.1

2025-10-26T21:45:26.994Z,1761515126.994 [DAT](INFO): DAT read: 21:45:25.7382 LVL= 32752, 28401, 32754, 32755, AGC= 62, IDX= 501, 0.02, 1.179, 3.082, 1.572, 1.912, PHS=-0.631, 1.216,-0.383, RAW= 322.9,  -2.4, CAL= 321.8,  -5.5, ROT= 188.2,   5.5

2025-10-26T21:45:26.996Z,1761515126.996 [DAT](INFO): got valid direction response:
 21:45:25.7382 LVL= 32752, 28401, 32754, 32755, AGC= 62, IDX= 501, 0.02, 1.179, 3.082, 1.572, 1.912, PHS=-0.631, 1.216,-0.383, RAW= 322.9,  -2.4, CAL= 321.8,  -5.5, ROT= 188.2,   5.5

2025-10-26T21:45:26.997Z,1761515126.997 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-10-26T21:45:26.998Z,1761515126.998 [DAT](INFO): direction in FSK: [-0.985219,-0.141972,-0.095846]
2025-10-26T21:45:26.998Z,1761515126.998 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:27.019Z,1761515127.019 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.038557
2025-10-26T21:45:27.169Z,1761515127.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081727,-0.995047,-0.056594],[0.991792,-0.075595,-0.103119],[0.098330,-0.064557,0.993058]]
2025-10-26T21:45:27.202Z,1761515127.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.502430 s,
      deltaX: 0.100000 m,
      approachRate: 0.199033 m/s,
      rangeRepo size: 4

2025-10-26T21:45:27.206Z,1761515127.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.204404 m,
      bearing: 283.362450 deg,
      lat: 36.779433 deg,
      lon: -121.859480 deg,
      deltaT: 0.502430 s,
      deltaX: 0.099376 m,
      approachRate: 0.197790 m/s,
      posRepo size: 4

2025-10-26T21:45:27.208Z,1761515127.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-10-26T21:45:27.233Z,1761515127.233 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.252460
2025-10-26T21:45:27.485Z,1761515127.485 [DAT](INFO): DAT read: Rx Time:21:45:26.2382 

2025-10-26T21:45:27.486Z,1761515127.486 [DAT](INFO): Rx dataTimestamp_ set to:1761515127.485577
2025-10-26T21:45:27.487Z,1761515127.487 [DAT](INFO): DAT read: Bearing  68.3, -13.1 (Local)

2025-10-26T21:45:27.488Z,1761515127.488 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.3, -13.1 (Local)

2025-10-26T21:45:27.490Z,1761515127.490 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed -0.1

2025-10-26T21:45:27.502Z,1761515127.502 [DAT](INFO): DAT read: 21:45:26.2382 LVL= 32752, 23905, 32754, 32755, AGC= 56, IDX= 501,-0.39,-1.242, 0.663,-0.857,-0.525, PHS=-0.615, 1.234,-0.376, RAW= 323.2,  -2.8, CAL= 322.1,  -5.9, ROT= 187.9,   5.9

2025-10-26T21:45:27.504Z,1761515127.504 [DAT](INFO): got valid direction response:
 21:45:26.2382 LVL= 32752, 23905, 32754, 32755, AGC= 56, IDX= 501,-0.39,-1.242, 0.663,-0.857,-0.525, PHS=-0.615, 1.234,-0.376, RAW= 323.2,  -2.8, CAL= 322.1,  -5.9, ROT= 187.9,   5.9

2025-10-26T21:45:27.504Z,1761515127.504 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-10-26T21:45:27.505Z,1761515127.505 [DAT](INFO): direction in FSK: [-0.985263,-0.136716,-0.102793]
2025-10-26T21:45:27.505Z,1761515127.505 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:27.521Z,1761515127.521 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.540617
2025-10-26T21:45:27.619Z,1761515127.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082106,-0.995021,-0.056498],[0.991666,-0.075919,-0.104093],[0.099286,-0.064573,0.992962]]
2025-10-26T21:45:27.736Z,1761515127.736 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.756329
2025-10-26T21:45:27.741Z,1761515127.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503638 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:27.743Z,1761515127.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.204416 m,
      bearing: 283.115780 deg,
      lat: 36.779433 deg,
      lon: -121.859480 deg,
      deltaT: 0.503638 s,
      deltaX: 0.000012 m,
      approachRate: 0.000025 m/s,
      posRepo size: 4

2025-10-26T21:45:27.743Z,1761515127.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-10-26T21:45:27.989Z,1761515127.989 [DAT](INFO): DAT read: Rx Time:21:45:26.7383 

2025-10-26T21:45:27.990Z,1761515127.990 [DAT](INFO): Rx dataTimestamp_ set to:1761515127.989531
2025-10-26T21:45:27.991Z,1761515127.991 [DAT](INFO): DAT read: Bearing  67.7, -13.6 (Local)

2025-10-26T21:45:27.991Z,1761515127.991 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.7, -13.6 (Local)

2025-10-26T21:45:27.994Z,1761515127.994 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed -0.1

2025-10-26T21:45:27.998Z,1761515127.998 [DAT](INFO): DAT read: 21:45:26.7383 LVL= 32752, 24081, 32754, 32755, AGC= 57, IDX= 502,-0.00, 0.668, 2.586, 1.065, 1.411, PHS=-0.641, 1.220,-0.390, RAW= 322.9,  -2.2, CAL= 321.8,  -5.3, ROT= 188.2,   5.3

2025-10-26T21:45:27.000Z,1761515128.000 [DAT](INFO): got valid direction response:
 21:45:26.7383 LVL= 32752, 24081, 32754, 32755, AGC= 57, IDX= 502,-0.00, 0.668, 2.586, 1.065, 1.411, PHS=-0.641, 1.220,-0.390, RAW= 322.9,  -2.2, CAL= 321.8,  -5.3, ROT= 188.2,   5.3

2025-10-26T21:45:28.000Z,1761515128.000 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-10-26T21:45:28.001Z,1761515128.001 [DAT](INFO): direction in FSK: [-0.985545,-0.142019,-0.092371]
2025-10-26T21:45:28.002Z,1761515128.002 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:28.005Z,1761515128.005 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.025047
2025-10-26T21:45:28.116Z,1761515128.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082604,-0.994998,-0.056174],[0.991534,-0.076389,-0.104998],[0.100181,-0.064371,0.992885]]
2025-10-26T21:45:28.162Z,1761515128.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.503954 s,
      deltaX: 0.200000 m,
      approachRate: 0.396861 m/s,
      rangeRepo size: 4

2025-10-26T21:45:28.168Z,1761515128.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.403167 m,
      bearing: 283.400028 deg,
      lat: 36.779434 deg,
      lon: -121.859480 deg,
      deltaT: 0.503954 s,
      deltaX: 0.198750 m,
      approachRate: 0.394382 m/s,
      posRepo size: 4

2025-10-26T21:45:28.169Z,1761515128.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:45:28.241Z,1761515128.241 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.261215
2025-10-26T21:45:28.493Z,1761515128.493 [DAT](INFO): DAT read: Rx Time:21:45:27.2381 

2025-10-26T21:45:28.493Z,1761515128.493 [DAT](INFO): Rx dataTimestamp_ set to:1761515128.493103
2025-10-26T21:45:28.495Z,1761515128.495 [DAT](INFO): DAT read: Bearing  68.1, -13.4 (Local)

2025-10-26T21:45:28.495Z,1761515128.495 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.1, -13.4 (Local)

2025-10-26T21:45:28.497Z,1761515128.497 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed -0.1

2025-10-26T21:45:28.502Z,1761515128.502 [DAT](INFO): DAT read: 21:45:27.2381 LVL= 32752, 25809, 32754, 32755, AGC= 59, IDX= 501, 0.18, 2.241,-2.136, 2.630, 2.966, PHS=-0.623, 1.226,-0.380, RAW= 323.1,  -2.6, CAL= 322.0,  -5.7, ROT= 188.0,   5.7

2025-10-26T21:45:28.503Z,1761515128.503 [DAT](INFO): got valid direction response:
 21:45:27.2381 LVL= 32752, 25809, 32754, 32755, AGC= 59, IDX= 501, 0.18, 2.241,-2.136, 2.630, 2.966, PHS=-0.623, 1.226,-0.380, RAW= 323.1,  -2.6, CAL= 322.0,  -5.7, ROT= 188.0,   5.7

2025-10-26T21:45:28.503Z,1761515128.503 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-10-26T21:45:28.504Z,1761515128.504 [DAT](INFO): direction in FSK: [-0.985372,-0.138485,-0.099320]
2025-10-26T21:45:28.505Z,1761515128.505 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:28.512Z,1761515128.512 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.531059
2025-10-26T21:45:28.628Z,1761515128.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082700,-0.995001,-0.055969],[0.991460,-0.076464,-0.105645],[0.100838,-0.064228,0.992828]]
2025-10-26T21:45:28.741Z,1761515128.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.503572 s,
      deltaX: -0.300000 m,
      approachRate: -0.595744 m/s,
      rangeRepo size: 4

2025-10-26T21:45:28.745Z,1761515128.745 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.764652
2025-10-26T21:45:28.743Z,1761515128.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.105073 m,
      bearing: 283.236576 deg,
      lat: 36.779434 deg,
      lon: -121.859480 deg,
      deltaT: 0.503572 s,
      deltaX: -0.298094 m,
      approachRate: -0.591959 m/s,
      posRepo size: 4

2025-10-26T21:45:28.748Z,1761515128.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m.
2025-10-26T21:45:28.997Z,1761515128.997 [DAT](INFO): DAT read: Rx Time:21:45:27.7383 

2025-10-26T21:45:28.997Z,1761515128.997 [DAT](INFO): Rx dataTimestamp_ set to:1761515128.997041
2025-10-26T21:45:28.998Z,1761515128.998 [DAT](INFO): DAT read: Bearing  67.6, -13.2 (Local)

2025-10-26T21:45:28.999Z,1761515128.999 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.6, -13.2 (Local)

2025-10-26T21:45:29.001Z,1761515129.001 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-26T21:45:29.004Z,1761515129.004 [DAT](INFO): DAT read: 21:45:27.7383 LVL= 32752, 26145, 32754, 32755, AGC= 59, IDX= 503,-0.45, 1.879,-2.540, 2.251, 2.596, PHS=-0.616, 1.191,-0.389, RAW187.7,   5.3

2025-10-26T21:45:29.005Z,1761515129.005 [DAT](INFO): unknown deviceResponse_: 21:45:27.7383 LVL= 32752, 26145, 32754, 32755, AGC= 59, IDX= 503,-0.45, 1.879,-2.540, 2.251, 2.596, PHS=-0.616, 1.191,-0.389, RAW187.7,   5.3

2025-10-26T21:45:29.006Z,1761515129.006 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-10-26T21:45:29.006Z,1761515129.006 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.026300
2025-10-26T21:45:29.064Z,1761515129.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082642,-0.995014,-0.055832],[0.991413,-0.076387,-0.106142],[0.101348,-0.064125,0.992782]]
2025-10-26T21:45:29.116Z,1761515129.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.503938 s,
      deltaX: 0.300000 m,
      approachRate: 0.595312 m/s,
      rangeRepo size: 4

2025-10-26T21:45:29.116Z,1761515129.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m.
2025-10-26T21:45:29.251Z,1761515129.251 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.270506
2025-10-26T21:45:29.434Z,1761515129.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082390,-0.995033,-0.055862],[0.991399,-0.076112,-0.106468],[0.101687,-0.064154,0.992746]]
2025-10-26T21:45:29.472Z,1761515129.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m.
2025-10-26T21:45:29.505Z,1761515129.505 [DAT](INFO): DAT read: Rx Time:21:45:28.2382 

2025-10-26T21:45:29.506Z,1761515129.506 [DAT](INFO): Rx dataTimestamp_ set to:1761515129.505660
2025-10-26T21:45:29.509Z,1761515129.509 [DAT](INFO): DAT read: Bearing  67.1, -13.1 (Local)

2025-10-26T21:45:29.510Z,1761515129.510 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.1, -13.1 (Local)

2025-10-26T21:45:29.513Z,1761515129.513 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-26T21:45:29.518Z,1761515129.518 [DAT](INFO): DAT read: 21:45:28.2382 LVL= 32752, 22177, 32754, 32755, AGC= 59, IDX= 502,-0.22, 0.046, 1.916, 0.409, 0.777, PHS=-0.628, 1.184,-0.411, RAW= 323.7,  -1.7, CAL= 322.6,  -4.8, ROT= 187.4,   4.8

2025-10-26T21:45:29.519Z,1761515129.519 [DAT](INFO): got valid direction response:
 21:45:28.2382 LVL= 32752, 22177, 32754, 32755, AGC= 59, IDX= 502,-0.22, 0.046, 1.916, 0.409, 0.777, PHS=-0.628, 1.184,-0.411, RAW= 323.7,  -1.7, CAL= 322.6,  -4.8, ROT= 187.4,   4.8

2025-10-26T21:45:29.519Z,1761515129.519 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-10-26T21:45:29.520Z,1761515129.520 [DAT](INFO): direction in FSK: [-0.988193,-0.128344,-0.083678]
2025-10-26T21:45:29.521Z,1761515129.521 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:29.530Z,1761515129.530 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.550112
2025-10-26T21:45:29.756Z,1761515129.756 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.776295
2025-10-26T21:45:29.862Z,1761515129.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081950,-0.995057,-0.056091],[0.991408,-0.075634,-0.106726],[0.101956,-0.064355,0.992705]]
2025-10-26T21:45:29.956Z,1761515129.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.508619 s,
      deltaX: -0.200000 m,
      approachRate: -0.393221 m/s,
      rangeRepo size: 4

2025-10-26T21:45:29.958Z,1761515129.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.204441 m,
      bearing: 282.518336 deg,
      lat: 36.779434 deg,
      lon: -121.859479 deg,
      deltaT: 1.012557 s,
      deltaX: 0.099368 m,
      approachRate: 0.098136 m/s,
      posRepo size: 4

2025-10-26T21:45:29.959Z,1761515129.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-10-26T21:45:30.009Z,1761515130.009 [DAT](INFO): DAT read: Rx Time:21:45:28.7382 

2025-10-26T21:45:30.010Z,1761515130.010 [DAT](INFO): Rx dataTimestamp_ set to:1761515130.009236
2025-10-26T21:45:30.011Z,1761515130.011 [DAT](INFO): DAT read: Bearing  68.2, -13.3 (Local)

2025-10-26T21:45:30.012Z,1761515130.012 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.2, -13.3 (Local)

2025-10-26T21:45:30.014Z,1761515130.014 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-26T21:45:30.022Z,1761515130.022 [DAT](INFO): DAT read: 21:45:28.7382 LVL= 32752, 23505, 32754, 32755, AGC= 59, IDX= 502,-0.29, 1.563,-2.813, 1.944, 2.280, PHS=-0.615, 1.235,-0.380, RAW= 323.3,  -2.8, CAL= 322.3,  -5.9, ROT= 187.7,   5.9

2025-10-26T21:45:30.024Z,1761515130.024 [DAT](INFO): got valid direction response:
 21:45:28.7382 LVL= 32752, 23505, 32754, 32755, AGC= 59, IDX= 502,-0.29, 1.563,-2.813, 1.944, 2.280, PHS=-0.615, 1.235,-0.380, RAW= 323.3,  -2.8, CAL= 322.3,  -5.9, ROT= 187.7,   5.9

2025-10-26T21:45:30.024Z,1761515130.024 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-10-26T21:45:30.025Z,1761515130.025 [DAT](INFO): direction in FSK: [-0.985734,-0.133276,-0.102793]
2025-10-26T21:45:30.025Z,1761515130.025 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:30.033Z,1761515130.033 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.053232
2025-10-26T21:45:30.260Z,1761515130.260 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.280201
2025-10-26T21:45:30.371Z,1761515130.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080285,-0.995205,-0.055874],[0.991541,-0.074003,-0.106631],[0.101985,-0.063963,0.992727]]
2025-10-26T21:45:30.394Z,1761515130.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503576 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:30.396Z,1761515130.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.204441 m,
      bearing: 282.810986 deg,
      lat: 36.779434 deg,
      lon: -121.859479 deg,
      deltaT: 0.503576 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:45:30.396Z,1761515130.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-10-26T21:45:30.513Z,1761515130.513 [DAT](INFO): DAT read: Rx Time:21:45:29.2381 

2025-10-26T21:45:30.513Z,1761515130.513 [DAT](INFO): Rx dataTimestamp_ set to:1761515130.513168
2025-10-26T21:45:30.515Z,1761515130.515 [DAT](INFO): DAT read: Bearing  68.8, -12.9 (Local)

2025-10-26T21:45:30.515Z,1761515130.515 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.8, -12.9 (Local)

2025-10-26T21:45:30.517Z,1761515130.517 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed 0.0

2025-10-26T21:45:30.522Z,1761515130.522 [DAT](INFO): DAT read: 21:45:29.2381 LVL= 32752, 25313, 32754, 32755, AGC= 61, IDX= 501,-0.46, 2.494,-1.893, 2.863,-3.096, PHS=-0.591, 1.248,-0.368, RAW= 323.6,  -3.4, CAL= 322.7,  -6.5, ROT= 187.3,   6.5

2025-10-26T21:45:30.523Z,1761515130.523 [DAT](INFO): got valid direction response:
 21:45:29.2381 LVL= 32752, 25313, 32754, 32755, AGC= 61, IDX= 501,-0.46, 2.494,-1.893, 2.863,-3.096, PHS=-0.591, 1.248,-0.368, RAW= 323.6,  -3.4, CAL= 322.7,  -6.5, ROT= 187.3,   6.5

2025-10-26T21:45:30.524Z,1761515130.524 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-10-26T21:45:30.524Z,1761515130.524 [DAT](INFO): direction in FSK: [-0.985518,-0.126248,-0.113203]
2025-10-26T21:45:30.525Z,1761515130.525 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:30.534Z,1761515130.534 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.553028
2025-10-26T21:45:30.764Z,1761515130.764 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.784311
2025-10-26T21:45:30.778Z,1761515130.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079510,-0.995274,-0.055741],[0.991593,-0.073242,-0.106668],[0.102082,-0.063753,0.992731]]
2025-10-26T21:45:30.888Z,1761515130.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.503932 s,
      deltaX: -0.100000 m,
      approachRate: -0.198440 m/s,
      rangeRepo size: 4

2025-10-26T21:45:30.890Z,1761515130.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.104982 m,
      bearing: 282.408526 deg,
      lat: 36.779433 deg,
      lon: -121.859479 deg,
      deltaT: 0.503932 s,
      deltaX: -0.099459 m,
      approachRate: -0.197365 m/s,
      posRepo size: 4

2025-10-26T21:45:30.891Z,1761515130.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m.
2025-10-26T21:45:31.018Z,1761515131.018 [DAT](INFO): DAT read: Rx Time:21:45:29.7381 

2025-10-26T21:45:31.018Z,1761515131.018 [DAT](INFO): Rx dataTimestamp_ set to:1761515131.018129
2025-10-26T21:45:31.020Z,1761515131.020 [DAT](INFO): DAT read: Bearing  67.1, -13.0 (Local)

2025-10-26T21:45:31.020Z,1761515131.020 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.1, -13.0 (Local)

2025-10-26T21:45:31.022Z,1761515131.022 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed 0.0

2025-10-26T21:45:31.027Z,1761515131.027 [DAT](INFO): DAT read: 21:45:29.7381 LVL= 32752, 24977, 32754, 32755, AGC= 62, IDX= 501, 0.25, 0.745, 2.639, 1.105, 1.479, PHS=-0.632, 1.205,-0.418, RAW= 323.9,  -1.8, CAL= 322.8,  -4.9, ROT= 187.2,   4.9

2025-10-26T21:45:31.029Z,1761515131.029 [DAT](INFO): got valid direction response:
 21:45:29.7381 LVL= 32752, 24977, 32754, 32755, AGC= 62, IDX= 501, 0.25, 0.745, 2.639, 1.105, 1.479, PHS=-0.632, 1.205,-0.418, RAW= 323.9,  -1.8, CAL= 322.8,  -4.9, ROT= 187.2,   4.9

2025-10-26T21:45:31.029Z,1761515131.029 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-10-26T21:45:31.030Z,1761515131.030 [DAT](INFO): direction in FSK: [-0.988489,-0.124875,-0.085417]
2025-10-26T21:45:31.030Z,1761515131.030 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:31.034Z,1761515131.034 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.053940
2025-10-26T21:45:31.266Z,1761515131.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078950,-0.995331,-0.055529],[0.991610,-0.072691,-0.106889],[0.102353,-0.063502,0.992719]]
2025-10-26T21:45:31.269Z,1761515131.269 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.288418
2025-10-26T21:45:31.292Z,1761515131.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.504961 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:31.294Z,1761515131.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.104982 m,
      bearing: 282.148030 deg,
      lat: 36.779432 deg,
      lon: -121.859479 deg,
      deltaT: 0.504961 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:45:31.295Z,1761515131.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m.
2025-10-26T21:45:31.521Z,1761515131.521 [DAT](INFO): DAT read: Rx Time:21:45:30.2380 

2025-10-26T21:45:31.522Z,1761515131.522 [DAT](INFO): Rx dataTimestamp_ set to:1761515131.521889
2025-10-26T21:45:31.524Z,1761515131.524 [DAT](INFO): DAT read: Bearing  67.3, -12.9 (Local)

2025-10-26T21:45:31.525Z,1761515131.525 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.3, -12.9 (Local)

2025-10-26T21:45:31.527Z,1761515131.527 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed 0.0

2025-10-26T21:45:31.534Z,1761515131.534 [DAT](INFO): DAT read: 21:45:30.2380 LVL= 32752, 26929, 32754, 32755, AGC= 63, IDX= 500, 0.11,-0.576, 1.327,-0.219, 0.151, PHS=-0.626, 1.221,-0.414, RAW= 324.0,  -2.1, CAL= 322.9,  -5.2, ROT= 187.1,   5.2

2025-10-26T21:45:31.540Z,1761515131.540 [DAT](INFO): got valid direction response:
 21:45:30.2380 LVL= 32752, 26929, 32754, 32755, AGC= 63, IDX= 500, 0.11,-0.576, 1.327,-0.219, 0.151, PHS=-0.626, 1.221,-0.414, RAW= 324.0,  -2.1, CAL= 322.9,  -5.2, ROT= 187.1,   5.2

2025-10-26T21:45:31.540Z,1761515131.540 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-10-26T21:45:31.541Z,1761515131.541 [DAT](INFO): direction in FSK: [-0.988248,-0.123093,-0.090633]
2025-10-26T21:45:31.541Z,1761515131.541 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:31.556Z,1761515131.556 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.576027
2025-10-26T21:45:31.726Z,1761515131.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078186,-0.995400,-0.055375],[0.991654,-0.071940,-0.106990],[0.102514,-0.063278,0.992717]]
2025-10-26T21:45:31.772Z,1761515131.772 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.792334
2025-10-26T21:45:31.783Z,1761515131.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.503760 s,
      deltaX: -0.200000 m,
      approachRate: -0.397014 m/s,
      rangeRepo size: 4

2025-10-26T21:45:31.785Z,1761515131.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.906380 m,
      bearing: 282.025686 deg,
      lat: 36.779432 deg,
      lon: -121.859479 deg,
      deltaT: 0.503760 s,
      deltaX: -0.198603 m,
      approachRate: -0.394241 m/s,
      posRepo size: 4

2025-10-26T21:45:31.786Z,1761515131.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m.
2025-10-26T21:45:32.025Z,1761515132.025 [DAT](INFO): DAT read: Rx Time:21:45:30.7382 

2025-10-26T21:45:32.025Z,1761515132.025 [DAT](INFO): Rx dataTimestamp_ set to:1761515132.025177
2025-10-26T21:45:32.027Z,1761515132.027 [DAT](INFO): DAT read: Bearing  67.0, -13.1 (Local)

2025-10-26T21:45:32.027Z,1761515132.027 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.0, -13.1 (Local)

2025-10-26T21:45:32.030Z,1761515132.030 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed 0.1

2025-10-26T21:45:32.034Z,1761515132.034 [DAT](INFO): DAT read: 21:45:30.7382 LVL= 32752, 26785, 32754, 32755, AGC= 62, IDX= 502,-0.05, 0.301, 2.184, 0.657, 1.030, PHS=-0.627, 1.199,-0.417, RAW= 324.0,  -1.8, CAL= 322.8,  -4.9, ROT= 187.2,   4.9

2025-10-26T21:45:32.036Z,1761515132.036 [DAT](INFO): got valid direction response:
 21:45:30.7382 LVL= 32752, 26785, 32754, 32755, AGC= 62, IDX= 502,-0.05, 0.301, 2.184, 0.657, 1.030, PHS=-0.627, 1.199,-0.417, RAW= 324.0,  -1.8, CAL= 322.8,  -4.9, ROT= 187.2,   4.9

2025-10-26T21:45:32.036Z,1761515132.036 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-10-26T21:45:32.037Z,1761515132.037 [DAT](INFO): direction in FSK: [-0.988489,-0.124875,-0.085417]
2025-10-26T21:45:32.037Z,1761515132.037 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:32.047Z,1761515132.047 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.066509
2025-10-26T21:45:32.155Z,1761515132.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077336,-0.995462,-0.055450],[0.991705,-0.071079,-0.107088],[0.102661,-0.063272,0.992702]]
2025-10-26T21:45:32.184Z,1761515132.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503288 s,
      deltaX: 0.300000 m,
      approachRate: 0.596081 m/s,
      rangeRepo size: 4

2025-10-26T21:45:32.187Z,1761515132.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.204507 m,
      bearing: 282.054386 deg,
      lat: 36.779431 deg,
      lon: -121.859479 deg,
      deltaT: 0.503288 s,
      deltaX: 0.298127 m,
      approachRate: 0.592359 m/s,
      posRepo size: 4

2025-10-26T21:45:32.188Z,1761515132.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-10-26T21:45:32.277Z,1761515132.277 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.296494
2025-10-26T21:45:32.533Z,1761515132.533 [DAT](INFO): DAT read: Rx Time:21:45:31.2381 

2025-10-26T21:45:32.533Z,1761515132.533 [DAT](INFO): Rx dataTimestamp_ set to:1761515132.532905
2025-10-26T21:45:32.534Z,1761515132.534 [DAT](INFO): DAT read: Bearing  67.9, -12.9 (Local)

2025-10-26T21:45:32.535Z,1761515132.535 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.9, -12.9 (Local)

2025-10-26T21:45:32.537Z,1761515132.537 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed 0.0

2025-10-26T21:45:32.542Z,1761515132.542 [DAT](INFO): DAT read: 21:45:31.2381 LVL= 32752, 24529, 32754, 32755, AGC= 61, IDX= 501,-0.13,-1.899,-0.010,-1.543,-1.197, PHS=-0.601, 1.232,-0.391, RAW= 324.0,  -2.8, CAL= 323.0,  -5.9, ROT= 187.0,   5.9

2025-10-26T21:45:32.545Z,1761515132.545 [DAT](INFO): got valid direction response:
 21:45:31.2381 LVL= 32752, 24529, 32754, 32755, AGC= 61, IDX= 501,-0.13,-1.899,-0.010,-1.543,-1.197, PHS=-0.601, 1.232,-0.391, RAW= 324.0,  -2.8, CAL= 323.0,  -5.9, ROT= 187.0,   5.9

2025-10-26T21:45:32.545Z,1761515132.545 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-10-26T21:45:32.547Z,1761515132.547 [DAT](INFO): direction in FSK: [-0.987288,-0.121224,-0.102793]
2025-10-26T21:45:32.547Z,1761515132.547 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:32.551Z,1761515132.551 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.570496
2025-10-26T21:45:32.657Z,1761515132.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076737,-0.995513,-0.055366],[0.991702,-0.070463,-0.107523],[0.103139,-0.063158,0.992660]]
2025-10-26T21:45:32.781Z,1761515132.781 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.800444
2025-10-26T21:45:32.797Z,1761515132.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.507728 s,
      deltaX: -0.100000 m,
      approachRate: -0.196957 m/s,
      rangeRepo size: 4

2025-10-26T21:45:32.813Z,1761515132.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.105098 m,
      bearing: 281.896223 deg,
      lat: 36.779431 deg,
      lon: -121.859479 deg,
      deltaT: 0.507728 s,
      deltaX: -0.099409 m,
      approachRate: -0.195792 m/s,
      posRepo size: 4

2025-10-26T21:45:32.820Z,1761515132.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m.
2025-10-26T21:45:33.034Z,1761515133.034 [DAT](INFO): DAT read: Rx Time:21:45:31.7382 

2025-10-26T21:45:33.034Z,1761515133.034 [DAT](INFO): Rx dataTimestamp_ set to:1761515133.033970
2025-10-26T21:45:33.040Z,1761515133.040 [DAT](INFO): DAT read: Bearing  66.8, -13.1 (Local)

2025-10-26T21:45:33.041Z,1761515133.041 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.8, -13.1 (Local)

2025-10-26T21:45:33.044Z,1761515133.044 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-26T21:45:33.051Z,1761515133.051 [DAT](INFO): DAT read: 21:45:31.7382 LVL= 32752, 24017, 32754, 32755, AGC= 61, IDX= 502,-0.20,-2.171,-0.283,-1.818,-1.440, PHS=-0.630, 1.201,-0.422, RAW= 324.1,  -1.7, CAL= 322.9,  -4.8, ROT= 187.1,   4.8

2025-10-26T21:45:33.058Z,1761515133.058 [DAT](INFO): got valid direction response:
 21:45:31.7382 LVL= 32752, 24017, 32754, 32755, AGC= 61, IDX= 502,-0.20,-2.171,-0.283,-1.818,-1.440, PHS=-0.630, 1.201,-0.422, RAW= 324.1,  -1.7, CAL= 322.9,  -4.8, ROT= 187.1,   4.8

2025-10-26T21:45:33.058Z,1761515133.058 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-26T21:45:33.059Z,1761515133.059 [DAT](INFO): direction in FSK: [-0.988852,-0.123168,-0.083678]
2025-10-26T21:45:33.059Z,1761515133.059 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:33.063Z,1761515133.063 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.082882
2025-10-26T21:45:33.218Z,1761515133.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076371,-0.995559,-0.055048],[0.991592,-0.070050,-0.108805],[0.104465,-0.062894,0.992538]]
2025-10-26T21:45:33.241Z,1761515133.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.501065 s,
      deltaX: 0.100000 m,
      approachRate: 0.199576 m/s,
      rangeRepo size: 4

2025-10-26T21:45:33.243Z,1761515133.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.204473 m,
      bearing: 281.891552 deg,
      lat: 36.779431 deg,
      lon: -121.859479 deg,
      deltaT: 0.501065 s,
      deltaX: 0.099376 m,
      approachRate: 0.198329 m/s,
      posRepo size: 4

2025-10-26T21:45:33.244Z,1761515133.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-10-26T21:45:33.285Z,1761515133.285 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.304922
2025-10-26T21:45:33.537Z,1761515133.537 [DAT](INFO): DAT read: Rx Time:21:45:32.2381 

2025-10-26T21:45:33.537Z,1761515133.537 [DAT](INFO): Rx dataTimestamp_ set to:1761515133.537169
2025-10-26T21:45:33.539Z,1761515133.539 [DAT](INFO): DAT read: Bearing  67.2, -13.0 (Local)

2025-10-26T21:45:33.539Z,1761515133.539 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.2, -13.0 (Local)

2025-10-26T21:45:33.544Z,1761515133.544 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed 0.0

2025-10-26T21:45:33.566Z,1761515133.566 [DAT](INFO): DAT read: 21:45:32.2381 LVL= 32752, 23921, 32754, 32755, AGC= 60, IDX= 501,-0.21, 1.137, 3.021, 1.486, 1.851, PHS=-0.611, 1.216,-0.409, RAW= 324.2,  -2.3, CAL= 323.1,  -5.4, ROT= 186.9,   5.4

2025-10-26T21:45:33.576Z,1761515133.576 [DAT](INFO): got valid direction response:
 21:45:32.2381 LVL= 32752, 23921, 32754, 32755, AGC= 60, IDX= 501,-0.21, 1.137, 3.021, 1.486, 1.851, PHS=-0.611, 1.216,-0.409, RAW= 324.2,  -2.3, CAL= 323.1,  -5.4, ROT= 186.9,   5.4

2025-10-26T21:45:33.576Z,1761515133.576 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-26T21:45:33.577Z,1761515133.577 [DAT](INFO): direction in FSK: [-0.988351,-0.119604,-0.094108]
2025-10-26T21:45:33.577Z,1761515133.577 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:33.633Z,1761515133.633 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.652073
2025-10-26T21:45:33.716Z,1761515133.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076360,-0.995559,-0.055051],[0.991501,-0.069984,-0.109674],[0.105334,-0.062958,0.992442]]
2025-10-26T21:45:33.788Z,1761515133.788 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.808130
2025-10-26T21:45:33.797Z,1761515133.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.503199 s,
      deltaX: -0.100000 m,
      approachRate: -0.198729 m/s,
      rangeRepo size: 4

2025-10-26T21:45:33.812Z,1761515133.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.104907 m,
      bearing: 281.737538 deg,
      lat: 36.779431 deg,
      lon: -121.859479 deg,
      deltaT: 0.503199 s,
      deltaX: -0.099566 m,
      approachRate: -0.197867 m/s,
      posRepo size: 4

2025-10-26T21:45:33.814Z,1761515133.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m.
2025-10-26T21:45:34.042Z,1761515134.042 [DAT](INFO): DAT read: Rx Time:21:45:32.7382 

2025-10-26T21:45:34.043Z,1761515134.043 [DAT](INFO): Rx dataTimestamp_ set to:1761515134.042559
2025-10-26T21:45:34.045Z,1761515134.045 [DAT](INFO): DAT read: Bearing  68.0, -12.8 (Local)

2025-10-26T21:45:34.045Z,1761515134.045 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.0, -12.8 (Local)

2025-10-26T21:45:34.048Z,1761515134.048 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-26T21:45:34.056Z,1761515134.056 [DAT](INFO): DAT read: 21:45:32.7382 LVL= 32752, 23889, 32754, 32755, AGC= 61, IDX= 502,-0.37, 2.371,-2.032, 2.715, 3.059, PHS=-0.586, 1.238,-0.388, RAW= 324.3,  -3.1, CAL= 323.4,  -6.2, ROT= 186.6,   6.2

2025-10-26T21:45:34.057Z,1761515134.057 [DAT](INFO): got valid direction response:
 21:45:32.7382 LVL= 32752, 23889, 32754, 32755, AGC= 61, IDX= 502,-0.37, 2.371,-2.032, 2.715, 3.059, PHS=-0.586, 1.238,-0.388, RAW= 324.3,  -3.1, CAL= 323.4,  -6.2, ROT= 186.6,   6.2

2025-10-26T21:45:34.058Z,1761515134.058 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-10-26T21:45:34.059Z,1761515134.059 [DAT](INFO): direction in FSK: [-0.987562,-0.114265,-0.107999]
2025-10-26T21:45:34.059Z,1761515134.059 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:34.063Z,1761515134.063 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.082752
2025-10-26T21:45:34.230Z,1761515134.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076547,-0.995537,-0.055193],[0.991380,-0.070091,-0.110697],[0.106335,-0.063191,0.992320]]
2025-10-26T21:45:34.255Z,1761515134.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.505390 s,
      deltaX: 0.100000 m,
      approachRate: 0.197868 m/s,
      rangeRepo size: 4

2025-10-26T21:45:34.257Z,1761515134.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.204282 m,
      bearing: 281.510502 deg,
      lat: 36.779431 deg,
      lon: -121.859480 deg,
      deltaT: 0.505390 s,
      deltaX: 0.099375 m,
      approachRate: 0.196630 m/s,
      posRepo size: 4

2025-10-26T21:45:34.258Z,1761515134.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-10-26T21:45:34.293Z,1761515134.293 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.312855
2025-10-26T21:45:34.545Z,1761515134.545 [DAT](INFO): DAT read: Rx Time:21:45:33.2381 

2025-10-26T21:45:34.545Z,1761515134.545 [DAT](INFO): Rx dataTimestamp_ set to:1761515134.545102
2025-10-26T21:45:34.547Z,1761515134.547 [DAT](INFO): DAT read: Bearing  67.0, -13.5 (Local)

2025-10-26T21:45:34.547Z,1761515134.547 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.0, -13.5 (Local)

2025-10-26T21:45:34.549Z,1761515134.549 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed 0.0

2025-10-26T21:45:34.554Z,1761515134.554 [DAT](INFO): DAT read: 21:45:33.2381 LVL= 32752, 25329, 32754, 32755, AGC= 59, IDX= 501,-0.34, 0.723, 2.617, 1.081, 1.446, PHS=-0.621, 1.215,-0.409, RAW= 324.0,  -2.2, CAL= 322.9,  -5.2, ROT= 187.1,   5.2

2025-10-26T21:45:34.556Z,1761515134.556 [DAT](INFO): got valid direction response:
 21:45:33.2381 LVL= 32752, 25329, 32754, 32755, AGC= 59, IDX= 501,-0.34, 0.723, 2.617, 1.081, 1.446, PHS=-0.621, 1.215,-0.409, RAW= 324.0,  -2.2, CAL= 322.9,  -5.2, ROT= 187.1,   5.2

2025-10-26T21:45:34.556Z,1761515134.556 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-10-26T21:45:34.557Z,1761515134.557 [DAT](INFO): direction in FSK: [-0.988248,-0.123093,-0.090633]
2025-10-26T21:45:34.557Z,1761515134.557 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:34.594Z,1761515134.594 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.613617
2025-10-26T21:45:34.737Z,1761515134.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078268,-0.995411,-0.055051],[0.990963,-0.071646,-0.113401],[0.108937,-0.063429,0.992023]]
2025-10-26T21:45:34.797Z,1761515134.797 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.816383
2025-10-26T21:45:34.869Z,1761515134.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.502543 s,
      deltaX: -0.100000 m,
      approachRate: -0.198989 m/s,
      rangeRepo size: 4

2025-10-26T21:45:34.872Z,1761515134.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.104857 m,
      bearing: 282.043631 deg,
      lat: 36.779431 deg,
      lon: -121.859479 deg,
      deltaT: 0.502543 s,
      deltaX: -0.099424 m,
      approachRate: -0.197842 m/s,
      posRepo size: 4

2025-10-26T21:45:34.873Z,1761515134.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m.
2025-10-26T21:45:35.050Z,1761515135.050 [DAT](INFO): DAT read: Rx Time:21:45:33.7381 

2025-10-26T21:45:35.050Z,1761515135.050 [DAT](INFO): Rx dataTimestamp_ set to:1761515135.049772
2025-10-26T21:45:35.052Z,1761515135.052 [DAT](INFO): DAT read: Bearing  67.3, -13.5 (Local)

2025-10-26T21:45:35.053Z,1761515135.053 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.3, -13.5 (Local)

2025-10-26T21:45:35.056Z,1761515135.056 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed -0.1

2025-10-26T21:45:35.062Z,1761515135.062 [DAT](INFO): DAT read: 21:45:33.7381 LVL= 32752, 28241, 32754, 32755, AGC= 58, IDX= 501,-0.10,-0.621, 1.266,-0.263, 0.086, PHS=-0.606, 1.225,-0.393, RAW= 323.9,  -2.6, CAL= 322.9,  -5.7, ROT= 187.1,   5.7

2025-10-26T21:45:35.064Z,1761515135.064 [DAT](INFO): got valid direction response:
 21:45:33.7381 LVL= 32752, 28241, 32754, 32755, AGC= 58, IDX= 501,-0.10,-0.621, 1.266,-0.263, 0.086, PHS=-0.606, 1.225,-0.393, RAW= 323.9,  -2.6, CAL= 322.9,  -5.7, ROT= 187.1,   5.7

2025-10-26T21:45:35.064Z,1761515135.064 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-10-26T21:45:35.066Z,1761515135.066 [DAT](INFO): direction in FSK: [-0.987425,-0.122990,-0.099320]
2025-10-26T21:45:35.066Z,1761515135.066 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:35.075Z,1761515135.075 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.094437
2025-10-26T21:45:35.240Z,1761515135.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079534,-0.995322,-0.054841],[0.990699,-0.072832,-0.114941],[0.110409,-0.063473,0.991857]]
2025-10-26T21:45:35.285Z,1761515135.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.504670 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:35.289Z,1761515135.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.104857 m,
      bearing: 282.159853 deg,
      lat: 36.779431 deg,
      lon: -121.859479 deg,
      deltaT: 0.504670 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:45:35.290Z,1761515135.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m.
2025-10-26T21:45:35.304Z,1761515135.304 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.323055
2025-10-26T21:45:35.553Z,1761515135.553 [DAT](INFO): DAT read: Rx Time:21:45:34.2380 

2025-10-26T21:45:35.553Z,1761515135.553 [DAT](INFO): Rx dataTimestamp_ set to:1761515135.553083
2025-10-26T21:45:35.555Z,1761515135.555 [DAT](INFO): DAT read: Bearing  65.8, -13.4 (Local)

2025-10-26T21:45:35.555Z,1761515135.555 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.8, -13.4 (Local)

2025-10-26T21:45:35.557Z,1761515135.557 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed 0.0

2025-10-26T21:45:35.562Z,1761515135.562 [DAT](INFO): DAT read: 21:45:34.2380 LVL= 32752, 25393, 32754, 32755, AGC= 61, IDX= 500, 0.04, 0.894, 2.758, 1.238, 1.627, PHS=-0.631, 1.176,-0.434, RAW= 324.3,  -1.3, CAL= 323.1,  -4.4, ROT= 186.9,   4.4

2025-10-26T21:45:35.563Z,1761515135.563 [DAT](INFO): got valid direction response:
 21:45:34.2380 LVL= 32752, 25393, 32754, 32755, AGC= 61, IDX= 500, 0.04, 0.894, 2.758, 1.238, 1.627, PHS=-0.631, 1.176,-0.434, RAW= 324.3,  -1.3, CAL= 323.1,  -4.4, ROT= 186.9,   4.4

2025-10-26T21:45:35.563Z,1761515135.563 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-26T21:45:35.564Z,1761515135.564 [DAT](INFO): direction in FSK: [-0.989831,-0.119783,-0.076719]
2025-10-26T21:45:35.564Z,1761515135.564 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:35.571Z,1761515135.571 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.590950
2025-10-26T21:45:35.747Z,1761515135.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081094,-0.995216,-0.054494],[0.990396,-0.074318,-0.116583],[0.111976,-0.063425,0.991685]]
2025-10-26T21:45:35.808Z,1761515135.808 [DAT](INFO): DAT read: Rx Time:21:45:34.7382 

2025-10-26T21:45:35.809Z,1761515135.809 [DAT](INFO): Rx dataTimestamp_ set to:1761515135.808297
2025-10-26T21:45:35.812Z,1761515135.812 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.830635
2025-10-26T21:45:35.860Z,1761515135.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.503311 s,
      deltaX: -0.200000 m,
      approachRate: -0.397368 m/s,
      rangeRepo size: 4

2025-10-26T21:45:35.862Z,1761515135.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.906053 m,
      bearing: 281.947532 deg,
      lat: 36.779430 deg,
      lon: -121.859478 deg,
      deltaT: 0.503311 s,
      deltaX: -0.198805 m,
      approachRate: -0.394994 m/s,
      posRepo size: 4

2025-10-26T21:45:35.863Z,1761515135.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m.
2025-10-26T21:45:36.057Z,1761515136.057 [DAT](INFO): DAT read: Bearing  66.8, -13.6 (Local)

2025-10-26T21:45:36.057Z,1761515136.057 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.8, -13.6 (Local)

2025-10-26T21:45:36.059Z,1761515136.059 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-26T21:45:36.065Z,1761515136.065 [DAT](INFO): DAT read: 21:45:34.7382 LVL= 32752, 25921, 32754, 32755, AGC= 59, IDX= 502,-0.27,-1.360, 0.536,-1.003,-0.637, PHS=-0.620, 1.219,-0.409, RAW= 324.0,  -2.2, CAL= 322.9,  -5.3, ROT= 187.1,   5.3

2025-10-26T21:45:36.066Z,1761515136.066 [DAT](INFO): got valid direction response:
 21:45:34.7382 LVL= 32752, 25921, 32754, 32755, AGC= 59, IDX= 502,-0.27,-1.360, 0.536,-1.003,-0.637, PHS=-0.620, 1.219,-0.409, RAW= 324.0,  -2.2, CAL= 322.9,  -5.3, ROT= 187.1,   5.3

2025-10-26T21:45:36.066Z,1761515136.066 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-10-26T21:45:36.067Z,1761515136.067 [DAT](INFO): direction in FSK: [-0.988089,-0.123073,-0.092371]
2025-10-26T21:45:36.067Z,1761515136.067 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:36.071Z,1761515136.071 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.090775
2025-10-26T21:45:36.149Z,1761515136.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083180,-0.995073,-0.053945],[0.990031,-0.076342,-0.118367],[0.113666,-0.063253,0.991503]]
2025-10-26T21:45:36.222Z,1761515136.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.502635 s,
      deltaX: 0.300000 m,
      approachRate: 0.596855 m/s,
      rangeRepo size: 4

2025-10-26T21:45:36.228Z,1761515136.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.204173 m,
      bearing: 282.344577 deg,
      lat: 36.779431 deg,
      lon: -121.859478 deg,
      deltaT: 0.502635 s,
      deltaX: 0.298120 m,
      approachRate: 0.593115 m/s,
      posRepo size: 4

2025-10-26T21:45:36.229Z,1761515136.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-10-26T21:45:36.312Z,1761515136.312 [DAT](INFO): DAT read: Rx Time:21:45:35.2382 

2025-10-26T21:45:36.314Z,1761515136.314 [DAT](INFO): Rx dataTimestamp_ set to:1761515136.313043
2025-10-26T21:45:36.317Z,1761515136.317 [DAT](INFO): DAT read: Bearing  64.9, -13.5 (Local)

2025-10-26T21:45:36.319Z,1761515136.319 [DAT](INFO): Local bearing/azimuth received:
 Bearing  64.9, -13.5 (Local)

2025-10-26T21:45:36.321Z,1761515136.321 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.340477
2025-10-26T21:45:36.534Z,1761515136.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085449,-0.994916,-0.053302],[0.989635,-0.078555,-0.120217],[0.115418,-0.063022,0.991316]]
2025-10-26T21:45:36.552Z,1761515136.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-10-26T21:45:36.562Z,1761515136.562 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed -0.2

2025-10-26T21:45:36.567Z,1761515136.567 [DAT](INFO): DAT read: 21:45:35.2382 LVL= 32752, 25553, 32754, 32755, AGC= 59, IDX= 501, 0.28,-1.282, 0.576,-0.946,-0.527, PHS=-0.652, 1.148,-0.462, RAW= 324.5,  -0.4, CAL= 323.2,  -3.4, ROT= 186.8,   3.4

2025-10-26T21:45:36.576Z,1761515136.576 [DAT](INFO): got valid direction response:
 21:45:35.2382 LVL= 32752, 25553, 32754, 32755, AGC= 59, IDX= 501, 0.28,-1.282, 0.576,-0.946,-0.527, PHS=-0.652, 1.148,-0.462, RAW= 324.5,  -0.4, CAL= 323.2,  -3.4, ROT= 186.8,   3.4

2025-10-26T21:45:36.576Z,1761515136.576 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-26T21:45:36.577Z,1761515136.577 [DAT](INFO): direction in FSK: [-0.991218,-0.118196,-0.059306]
2025-10-26T21:45:36.578Z,1761515136.578 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:36.581Z,1761515136.581 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.601082
2025-10-26T21:45:36.816Z,1761515136.816 [DAT](INFO): DAT read: Rx Time:21:45:35.7383 

2025-10-26T21:45:36.818Z,1761515136.818 [DAT](INFO): Rx dataTimestamp_ set to:1761515136.816742
2025-10-26T21:45:36.821Z,1761515136.821 [DAT](INFO): DAT read: Bearing  66.7, -13.7 (Local)

2025-10-26T21:45:36.822Z,1761515136.822 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.7, -13.7 (Local)

2025-10-26T21:45:36.827Z,1761515136.827 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed -0.2

2025-10-26T21:45:36.838Z,1761515136.838 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-10-26T21:45:36.845Z,1761515136.845 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.864780
2025-10-26T21:45:37.022Z,1761515137.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.761024 s,
      deltaX: 0.200000 m,
      approachRate: 0.262804 m/s,
      rangeRepo size: 4

2025-10-26T21:45:37.029Z,1761515137.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.402894 m,
      bearing: 282.024841 deg,
      lat: 36.779431 deg,
      lon: -121.859478 deg,
      deltaT: 0.761024 s,
      deltaX: 0.198721 m,
      approachRate: 0.261123 m/s,
      posRepo size: 4

2025-10-26T21:45:37.030Z,1761515137.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:45:37.068Z,1761515137.068 [DAT](INFO): DAT read: 21:45:35.7383 LVL= 32752, 25585, 32754, 32755, AGC= 61, IDX= 503, 0.07,-0.553, 1.332,-0.196, 0.170, PHS=-0.622, 1.207,-0.410, RAW= 323.9,  -2.0, CAL= 322.8,  -5.1, ROT= 187.2,   5.1

2025-10-26T21:45:37.070Z,1761515137.070 [DAT](INFO): got valid direction response:
 21:45:35.7383 LVL= 32752, 25585, 32754, 32755, AGC= 61, IDX= 503, 0.07,-0.553, 1.332,-0.196, 0.170, PHS=-0.622, 1.207,-0.410, RAW= 323.9,  -2.0, CAL= 322.8,  -5.1, ROT= 187.2,   5.1

2025-10-26T21:45:37.070Z,1761515137.070 [DAT](INFO): #Rx 68: Read direction message, but no range.
2025-10-26T21:45:37.071Z,1761515137.071 [DAT](INFO): direction in FSK: [-0.988187,-0.124837,-0.088894]
2025-10-26T21:45:37.074Z,1761515137.074 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.094296
2025-10-26T21:45:37.322Z,1761515137.322 [DAT](INFO): DAT read: Rx Time:21:45:36.2383 

2025-10-26T21:45:37.324Z,1761515137.324 [DAT](INFO): Rx dataTimestamp_ set to:1761515137.322667
2025-10-26T21:45:37.327Z,1761515137.327 [DAT](INFO): DAT read: Bearing  67.0, -13.8 (Local)

2025-10-26T21:45:37.332Z,1761515137.332 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.0, -13.8 (Local)

2025-10-26T21:45:37.338Z,1761515137.338 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed -0.3

2025-10-26T21:45:37.345Z,1761515137.345 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-10-26T21:45:37.353Z,1761515137.353 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.372173
2025-10-26T21:45:37.443Z,1761515137.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090459,-0.994533,-0.052171],[0.988790,-0.083442,-0.123818],[0.118788,-0.062786,0.990933]]
2025-10-26T21:45:37.474Z,1761515137.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.505925 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:37.476Z,1761515137.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.402873 m,
      bearing: 282.860207 deg,
      lat: 36.779431 deg,
      lon: -121.859477 deg,
      deltaT: 0.505925 s,
      deltaX: -0.000021 m,
      approachRate: -0.000041 m/s,
      posRepo size: 4

2025-10-26T21:45:37.477Z,1761515137.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:45:37.573Z,1761515137.573 [DAT](INFO): DAT read: 21:45:36.2383 LVL= 32752, 24497, 32754, 32755, AGC= 63, IDX= 503,-0.01,-1.985,-0.094,-1.623,-1.267, PHS=-0.616, 1.218,-0.399, RAW= 323.8,  -2.4, CAL= 322.7,  -5.5, ROT= 187.3,   5.5

2025-10-26T21:45:37.574Z,1761515137.574 [DAT](INFO): got valid direction response:
 21:45:36.2383 LVL= 32752, 24497, 32754, 32755, AGC= 63, IDX= 503,-0.01,-1.985,-0.094,-1.623,-1.267, PHS=-0.616, 1.218,-0.399, RAW= 323.8,  -2.4, CAL= 322.7,  -5.5, ROT= 187.3,   5.5

2025-10-26T21:45:37.575Z,1761515137.575 [DAT](INFO): #Rx 70: Read direction message, but no range.
2025-10-26T21:45:37.577Z,1761515137.577 [DAT](INFO): direction in FSK: [-0.987328,-0.126480,-0.095846]
2025-10-26T21:45:37.582Z,1761515137.582 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.601597
2025-10-26T21:45:37.825Z,1761515137.825 [DAT](INFO): DAT read: Rx Time:21:45:36.7385 

2025-10-26T21:45:37.827Z,1761515137.827 [DAT](INFO): Rx dataTimestamp_ set to:1761515137.825911
2025-10-26T21:45:37.836Z,1761515137.836 [DAT](INFO): DAT read: Bearing  64.9, -14.0 (Local)

2025-10-26T21:45:37.838Z,1761515137.838 [DAT](INFO): Local bearing/azimuth received:
 Bearing  64.9, -14.0 (Local)

2025-10-26T21:45:37.860Z,1761515137.860 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed -0.3

2025-10-26T21:45:37.865Z,1761515137.865 [DAT](INFO): DAT read: 21:45:36.7385 LVL= 32752, 28001, 32754, 32755, AGC= 63, IDX= 505,-0.07,-0.198, 1.668, 0.152, 0.566, PHS=-0.662, 1.147,-0.458, RAW= 324.1,  -0.3, CAL= 322.8,  -3.3, ROT= 187.2,   3.3

2025-10-26T21:45:37.866Z,1761515137.866 [DAT](INFO): got valid direction response:
 21:45:36.7385 LVL= 32752, 28001, 32754, 32755, AGC= 63, IDX= 505,-0.07,-0.198, 1.668, 0.152, 0.566, PHS=-0.662, 1.147,-0.458, RAW= 324.1,  -0.3, CAL= 322.8,  -3.3, ROT= 187.2,   3.3

2025-10-26T21:45:37.867Z,1761515137.867 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-10-26T21:45:37.888Z,1761515137.888 [DAT](INFO): direction in FSK: [-0.990470,-0.125125,-0.057564]
2025-10-26T21:45:37.888Z,1761515137.888 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:37.900Z,1761515137.900 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.919689
2025-10-26T21:45:37.910Z,1761515137.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093232,-0.994306,-0.051609],[0.988333,-0.086152,-0.125605],[0.120444,-0.062717,0.990737]]
2025-10-26T21:45:38.011Z,1761515138.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.503244 s,
      deltaX: 0.300000 m,
      approachRate: 0.596133 m/s,
      rangeRepo size: 4

2025-10-26T21:45:38.021Z,1761515138.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.700993 m,
      bearing: 282.880205 deg,
      lat: 36.779431 deg,
      lon: -121.859477 deg,
      deltaT: 0.503244 s,
      deltaX: 0.298120 m,
      approachRate: 0.592396 m/s,
      posRepo size: 4

2025-10-26T21:45:38.021Z,1761515138.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-10-26T21:45:38.073Z,1761515138.073 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.092758
2025-10-26T21:45:38.328Z,1761515138.328 [DAT](INFO): DAT read: Rx Time:21:45:37.2385 

2025-10-26T21:45:38.330Z,1761515138.330 [DAT](INFO): Rx dataTimestamp_ set to:1761515138.328961
2025-10-26T21:45:38.349Z,1761515138.349 [DAT](INFO): DAT read: Bearing  65.6, -14.1 (Local)

2025-10-26T21:45:38.350Z,1761515138.350 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.6, -14.1 (Local)

2025-10-26T21:45:38.369Z,1761515138.369 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed -0.3

2025-10-26T21:45:38.378Z,1761515138.378 [DAT](INFO): DAT read: 21:45:37.2385 LVL= 32752, 30353, 32754, 32755, AGC= 63, IDX= 505,-0.06,-1.890,-0.038,-1.534,-1.146, PHS=-0.642, 1.153,-0.431, RAW= 323.8,  -0.9, CAL= 322.6,  -4.0, ROT= 187.4,   4.0

2025-10-26T21:45:38.404Z,1761515138.404 [DAT](INFO): got valid direction response:
 21:45:37.2385 LVL= 32752, 30353, 32754, 32755, AGC= 63, IDX= 505,-0.06,-1.890,-0.038,-1.534,-1.146, PHS=-0.642, 1.153,-0.431, RAW= 323.8,  -0.9, CAL= 322.6,  -4.0, ROT= 187.4,   4.0

2025-10-26T21:45:38.404Z,1761515138.404 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-10-26T21:45:38.405Z,1761515138.405 [DAT](INFO): direction in FSK: [-0.989256,-0.128482,-0.069756]
2025-10-26T21:45:38.406Z,1761515138.406 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:38.417Z,1761515138.417 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.437340
2025-10-26T21:45:38.436Z,1761515138.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098970,-0.993802,-0.050625],[0.987408,-0.091768,-0.128860],[0.123416,-0.062741,0.990370]]
2025-10-26T21:45:38.504Z,1761515138.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.503050 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:38.506Z,1761515138.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.701125 m,
      bearing: 283.477511 deg,
      lat: 36.779432 deg,
      lon: -121.859478 deg,
      deltaT: 0.503050 s,
      deltaX: 0.000133 m,
      approachRate: 0.000264 m/s,
      posRepo size: 4

2025-10-26T21:45:38.506Z,1761515138.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-10-26T21:45:38.577Z,1761515138.577 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.596508
2025-10-26T21:45:38.832Z,1761515138.832 [DAT](INFO): DAT read: Rx Time:21:45:37.7386 

2025-10-26T21:45:38.834Z,1761515138.834 [DAT](INFO): Rx dataTimestamp_ set to:1761515138.832815
2025-10-26T21:45:38.837Z,1761515138.837 [DAT](INFO): DAT read: Bearing  66.2, -13.7 (Local)

2025-10-26T21:45:38.838Z,1761515138.838 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.2, -13.7 (Local)

2025-10-26T21:45:38.844Z,1761515138.844 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed -0.2

2025-10-26T21:45:38.846Z,1761515138.846 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-10-26T21:45:38.850Z,1761515138.850 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.868965
2025-10-26T21:45:38.994Z,1761515138.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.503854 s,
      deltaX: 0.099999 m,
      approachRate: 0.198469 m/s,
      rangeRepo size: 4

2025-10-26T21:45:38.995Z,1761515138.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-10-26T21:45:39.084Z,1761515139.084 [DAT](INFO): DAT read: 21:45:37.7386 LVL= 32752, 25457, 32754, 32755, AGC= 62, IDX= 506,-0.01,-2.087,-0.214,-1.737,-1.354, PHS=-0.631, 1.185,-0.427, RAW= 324.1,  -1.5, CAL= 323.0,  -4.6, ROT= 187.0,   4.6

2025-10-26T21:45:39.085Z,1761515139.085 [DAT](INFO): got valid direction response:
 21:45:37.7386 LVL= 32752, 25457, 32754, 32755, AGC= 62, IDX= 506,-0.01,-2.087,-0.214,-1.737,-1.354, PHS=-0.631, 1.185,-0.427, RAW= 324.1,  -1.5, CAL= 323.0,  -4.6, ROT= 187.0,   4.6

2025-10-26T21:45:39.085Z,1761515139.085 [DAT](INFO): #Rx 74: Read direction message, but no range.
2025-10-26T21:45:39.086Z,1761515139.086 [DAT](INFO): direction in FSK: [-0.989349,-0.121477,-0.080199]
2025-10-26T21:45:39.118Z,1761515139.118 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.137783
2025-10-26T21:45:39.336Z,1761515139.336 [DAT](INFO): DAT read: Rx Time:21:45:38.2386 

2025-10-26T21:45:39.338Z,1761515139.338 [DAT](INFO): Rx dataTimestamp_ set to:1761515139.337168
2025-10-26T21:45:39.342Z,1761515139.342 [DAT](INFO): DAT read: Bearing  66.9, -13.7 (Local)

2025-10-26T21:45:39.343Z,1761515139.343 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.9, -13.7 (Local)

2025-10-26T21:45:39.359Z,1761515139.359 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed -0.2

2025-10-26T21:45:39.393Z,1761515139.393 [DAT](INFO): DAT read: 21:45:38.2386 LVL= 32752, 25585, 32754, 32755, AGC= 60, IDX= 506, 0.00, 2.294,-2.115, 2.649, 3.011, PHS=-0.616, 1.201,-0.406, RAW= 324.0,  -2.1, CAL= 322.9,  -5.2, ROT= 187.1,   5.2

2025-10-26T21:45:39.394Z,1761515139.394 [DAT](INFO): got valid direction response:
 21:45:38.2386 LVL= 32752, 25585, 32754, 32755, AGC= 60, IDX= 506, 0.00, 2.294,-2.115, 2.649, 3.011, PHS=-0.616, 1.201,-0.406, RAW= 324.0,  -2.1, CAL= 322.9,  -5.2, ROT= 187.1,   5.2

2025-10-26T21:45:39.395Z,1761515139.395 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-10-26T21:45:39.404Z,1761515139.404 [DAT](INFO): direction in FSK: [-0.988248,-0.123093,-0.090633]
2025-10-26T21:45:39.405Z,1761515139.405 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:39.417Z,1761515139.417 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.436474
2025-10-26T21:45:39.417Z,1761515139.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103903,-0.993341,-0.049778],[0.986663,-0.096640,-0.130985],[0.125302,-0.062723,0.990134]]
2025-10-26T21:45:39.504Z,1761515139.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.504353 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:39.514Z,1761515139.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.800556 m,
      bearing: 283.561445 deg,
      lat: 36.779433 deg,
      lon: -121.859478 deg,
      deltaT: 1.008207 s,
      deltaX: 0.099431 m,
      approachRate: 0.098622 m/s,
      posRepo size: 4

2025-10-26T21:45:39.515Z,1761515139.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-10-26T21:45:39.585Z,1761515139.585 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.604576
2025-10-26T21:45:39.840Z,1761515139.840 [DAT](INFO): DAT read: Rx Time:21:45:38.7388 

2025-10-26T21:45:39.842Z,1761515139.842 [DAT](INFO): Rx dataTimestamp_ set to:1761515139.841131
2025-10-26T21:45:39.846Z,1761515139.846 [DAT](INFO): DAT read: Bearing  66.7, -13.7 (Local)

2025-10-26T21:45:39.847Z,1761515139.847 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.7, -13.7 (Local)

2025-10-26T21:45:39.861Z,1761515139.861 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed -0.2

2025-10-26T21:45:39.912Z,1761515139.912 [DAT](INFO): DAT read: 21:45:38.7388 LVL= 32752, 23537, 32754, 32755, AGC= 60, IDX= 508,-0.03, 2.067,-2.328, 2.423, 2.796, PHS=-0.627, 1.204,-0.417, RAW= 324.0,  -1.9, CAL= 322.9,  -4.9, ROT= 187.1,   4.9

2025-10-26T21:45:39.913Z,1761515139.913 [DAT](INFO): got valid direction response:
 21:45:38.7388 LVL= 32752, 23537, 32754, 32755, AGC= 60, IDX= 508,-0.03, 2.067,-2.328, 2.423, 2.796, PHS=-0.627, 1.204,-0.417, RAW= 324.0,  -1.9, CAL= 322.9,  -4.9, ROT= 187.1,   4.9

2025-10-26T21:45:39.913Z,1761515139.913 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-10-26T21:45:39.914Z,1761515139.914 [DAT](INFO): direction in FSK: [-0.988705,-0.123150,-0.085417]
2025-10-26T21:45:39.915Z,1761515139.915 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:39.934Z,1761515139.934 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.954319
2025-10-26T21:45:39.949Z,1761515139.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107772,-0.992989,-0.048557],[0.986142,-0.100577,-0.131938],[0.126129,-0.062103,0.990068]]
2025-10-26T21:45:40.054Z,1761515140.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.503963 s,
      deltaX: 0.300001 m,
      approachRate: 0.595284 m/s,
      rangeRepo size: 4

2025-10-26T21:45:40.060Z,1761515140.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.098680 m,
      bearing: 283.761073 deg,
      lat: 36.779433 deg,
      lon: -121.859478 deg,
      deltaT: 0.503963 s,
      deltaX: 0.298124 m,
      approachRate: 0.591560 m/s,
      posRepo size: 4

2025-10-26T21:45:40.061Z,1761515140.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-10-26T21:45:40.090Z,1761515140.090 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.109974
2025-10-26T21:45:40.345Z,1761515140.345 [DAT](INFO): DAT read: Rx Time:21:45:39.2388 

2025-10-26T21:45:40.346Z,1761515140.346 [DAT](INFO): Rx dataTimestamp_ set to:1761515140.345240
2025-10-26T21:45:40.350Z,1761515140.350 [DAT](INFO): DAT read: Bearing  67.1, -13.8 (Local)

2025-10-26T21:45:40.351Z,1761515140.351 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.1, -13.8 (Local)

2025-10-26T21:45:40.358Z,1761515140.358 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed -0.1

2025-10-26T21:45:40.364Z,1761515140.364 [DAT](ERROR): #Rx 77: Read range message, but no direction.
2025-10-26T21:45:40.364Z,1761515140.364 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.384342
2025-10-26T21:45:40.440Z,1761515140.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109061,-0.992851,-0.048493],[0.986005,-0.101863,-0.131981],[0.126098,-0.062208,0.990065]]
2025-10-26T21:45:40.477Z,1761515140.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:45:40.496Z,1761515140.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.504109 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:40.496Z,1761515140.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-10-26T21:45:40.596Z,1761515140.596 [DAT](INFO): DAT read: 21:45:39.2388 LVL= 32752, 24369, 32754, 32755, AGC= 60, IDX= 508,-0.31, 1.181, 3.071, 1.539, 1.903, PHS=-0.620, 1.214,-0.407, RAW= 323.9,  -2.2, CAL= 322.8,  -5.3, ROT= 187.2,   5.3

2025-10-26T21:45:40.597Z,1761515140.597 [DAT](INFO): got valid direction response:
 21:45:39.2388 LVL= 32752, 24369, 32754, 32755, AGC= 60, IDX= 508,-0.31, 1.181, 3.071, 1.539, 1.903, PHS=-0.620, 1.214,-0.407, RAW= 323.9,  -2.2, CAL= 322.8,  -5.3, ROT= 187.2,   5.3

2025-10-26T21:45:40.597Z,1761515140.597 [DAT](INFO): #Rx 78: Read direction message, but no range.
2025-10-26T21:45:40.598Z,1761515140.598 [DAT](INFO): direction in FSK: [-0.987873,-0.124797,-0.092371]
2025-10-26T21:45:40.637Z,1761515140.637 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.656464
2025-10-26T21:45:40.852Z,1761515140.852 [DAT](INFO): DAT read: Rx Time:21:45:39.7389 

2025-10-26T21:45:40.853Z,1761515140.853 [DAT](INFO): Rx dataTimestamp_ set to:1761515140.852058
2025-10-26T21:45:40.857Z,1761515140.857 [DAT](INFO): DAT read: Bearing  67.0, -13.4 (Local)

2025-10-26T21:45:40.858Z,1761515140.858 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.0, -13.4 (Local)

2025-10-26T21:45:40.885Z,1761515140.885 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed -0.1

2025-10-26T21:45:40.898Z,1761515140.898 [DAT](INFO): DAT read: 21:45:39.7389 LVL= 32752, 28001, 32754, 32755, AGC= 62, IDX= 509, 0.10,-0.265, 1.611, 0.080, 0.452, PHS=-0.614, 1.204,-0.415, RAW= 324.3,  -2.0, CAL= 323.2,  -5.1, ROT= 186.8,   5.1

2025-10-26T21:45:40.912Z,1761515140.912 [DAT](INFO): got valid direction response:
 21:45:39.7389 LVL= 32752, 28001, 32754, 32755, AGC= 62, IDX= 509, 0.10,-0.265, 1.611, 0.080, 0.452, PHS=-0.614, 1.204,-0.415, RAW= 324.3,  -2.0, CAL= 323.2,  -5.1, ROT= 186.8,   5.1

2025-10-26T21:45:40.912Z,1761515140.912 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-10-26T21:45:40.913Z,1761515140.913 [DAT](INFO): direction in FSK: [-0.989034,-0.117935,-0.088894]
2025-10-26T21:45:40.913Z,1761515140.913 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:40.921Z,1761515140.921 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.941067
2025-10-26T21:45:41.052Z,1761515141.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.506818 s,
      deltaX: 0.199999 m,
      approachRate: 0.394617 m/s,
      rangeRepo size: 4

2025-10-26T21:45:41.054Z,1761515141.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.297255 m,
      bearing: 283.548145 deg,
      lat: 36.779434 deg,
      lon: -121.859480 deg,
      deltaT: 1.010927 s,
      deltaX: 0.198574 m,
      approachRate: 0.196428 m/s,
      posRepo size: 4

2025-10-26T21:45:41.055Z,1761515141.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-10-26T21:45:41.097Z,1761515141.097 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.116756
2025-10-26T21:45:41.353Z,1761515141.353 [DAT](INFO): DAT read: Rx Time:21:45:40.2389 

2025-10-26T21:45:41.355Z,1761515141.355 [DAT](INFO): Rx dataTimestamp_ set to:1761515141.353986
2025-10-26T21:45:41.360Z,1761515141.360 [DAT](INFO): DAT read: Bearing  67.2, -13.4 (Local)

2025-10-26T21:45:41.361Z,1761515141.361 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.2, -13.4 (Local)

2025-10-26T21:45:41.371Z,1761515141.371 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed 0.0

2025-10-26T21:45:41.384Z,1761515141.384 [DAT](INFO): DAT read: 21:45:40.2389 LVL= 32752, 28145, 32754, 32755, AGC= 62, IDX= 509,-0.47,-2.369,-0.491,-2.021,-1.654, PHS=-0.613, 1.208,-0.411, RAW= 324.2,  -2.2, CAL= 323.1,  -5.2, ROT= 186.9,   5.2

2025-10-26T21:45:41.385Z,1761515141.385 [DAT](INFO): got valid direction response:
 21:45:40.2389 LVL= 32752, 28145, 32754, 32755, AGC= 62, IDX= 509,-0.47,-2.369,-0.491,-2.021,-1.654, PHS=-0.613, 1.208,-0.411, RAW= 324.2,  -2.2, CAL= 323.1,  -5.2, ROT= 186.9,   5.2

2025-10-26T21:45:41.386Z,1761515141.386 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-10-26T21:45:41.387Z,1761515141.387 [DAT](INFO): direction in FSK: [-0.988672,-0.119642,-0.090633]
2025-10-26T21:45:41.387Z,1761515141.387 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:41.389Z,1761515141.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110459,-0.992709,-0.048256],[0.985962,-0.103333,-0.131152],[0.125210,-0.062065,0.990187]]
2025-10-26T21:45:41.403Z,1761515141.403 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.418987
2025-10-26T21:45:41.462Z,1761515141.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.501928 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:41.468Z,1761515141.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.297255 m,
      bearing: 283.736054 deg,
      lat: 36.779434 deg,
      lon: -121.859480 deg,
      deltaT: 0.501928 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:45:41.469Z,1761515141.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-10-26T21:45:41.600Z,1761515141.600 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.620358
2025-10-26T21:45:41.758Z,1761515141.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110772,-0.992670,-0.048337],[0.986007,-0.103672,-0.130543],[0.124575,-0.062121,0.990264]]
2025-10-26T21:45:41.857Z,1761515141.857 [DAT](INFO): DAT read: Rx Time:21:45:40.7389 

2025-10-26T21:45:41.859Z,1761515141.859 [DAT](INFO): Rx dataTimestamp_ set to:1761515141.857851
2025-10-26T21:45:41.862Z,1761515141.862 [DAT](INFO): DAT read: Bearing  67.7, -13.8 (Local)

2025-10-26T21:45:41.862Z,1761515141.862 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.7, -13.8 (Local)

2025-10-26T21:45:41.865Z,1761515141.865 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed -0.1

2025-10-26T21:45:41.873Z,1761515141.873 [DAT](INFO): DAT read: 21:45:40.7389 LVL= 32752, 24641, 32754, 32755, AGC= 60, IDX= 509,-0.23,-2.956,-1.059,-2.591,-2.241, PHS=-0.614, 1.227,-0.394, RAW= 323.7,  -2.5, CAL= 322.7,  -5.6, ROT= 187.3,   5.6

2025-10-26T21:45:41.875Z,1761515141.875 [DAT](INFO): got valid direction response:
 21:45:40.7389 LVL= 32752, 24641, 32754, 32755, AGC= 60, IDX= 509,-0.23,-2.956,-1.059,-2.591,-2.241, PHS=-0.614, 1.227,-0.394, RAW= 323.7,  -2.5, CAL= 322.7,  -5.6, ROT= 187.3,   5.6

2025-10-26T21:45:41.875Z,1761515141.875 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-26T21:45:41.882Z,1761515141.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-10-26T21:45:41.884Z,1761515141.884 [DAT](INFO): direction in FSK: [-0.987161,-0.126458,-0.097583]
2025-10-26T21:45:41.884Z,1761515141.884 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:41.891Z,1761515141.891 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.910931
2025-10-26T21:45:42.105Z,1761515142.105 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.124645
2025-10-26T21:45:42.262Z,1761515142.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110538,-0.992689,-0.048478],[0.986149,-0.103480,-0.129621],[0.123657,-0.062135,0.990378]]
2025-10-26T21:45:42.361Z,1761515142.361 [DAT](INFO): DAT read: Rx Time:21:45:41.2388 

2025-10-26T21:45:42.362Z,1761515142.362 [DAT](INFO): Rx dataTimestamp_ set to:1761515142.361330
2025-10-26T21:45:42.363Z,1761515142.363 [DAT](INFO): DAT read: Bearing  67.2, -12.7 (Local)

2025-10-26T21:45:42.363Z,1761515142.363 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.2, -12.7 (Local)

2025-10-26T21:45:42.365Z,1761515142.365 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed 0.0

2025-10-26T21:45:42.370Z,1761515142.370 [DAT](INFO): DAT read: 21:45:41.2388 LVL= 32752, 25201, 32754, 32755, AGC= 62, IDX= 508,-0.25,-2.397,-0.529,-2.073,-1.691, PHS=-0.604, 1.207,-0.425, RAW= 324.9,  -2.1, CAL= 323.8,  -5.2, ROT= 186.2,   5.2

2025-10-26T21:45:42.371Z,1761515142.371 [DAT](INFO): got valid direction response:
 21:45:41.2388 LVL= 32752, 25201, 32754, 32755, AGC= 62, IDX= 508,-0.25,-2.397,-0.529,-2.073,-1.691, PHS=-0.604, 1.207,-0.425, RAW= 324.9,  -2.1, CAL= 323.8,  -5.2, ROT= 186.2,   5.2

2025-10-26T21:45:42.371Z,1761515142.371 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-10-26T21:45:42.372Z,1761515142.372 [DAT](INFO): direction in FSK: [-0.990059,-0.107555,-0.090633]
2025-10-26T21:45:42.373Z,1761515142.373 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:42.380Z,1761515142.380 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.400375
2025-10-26T21:45:42.392Z,1761515142.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 1.007344 s,
      deltaX: -0.199999 m,
      approachRate: -0.198541 m/s,
      rangeRepo size: 4

2025-10-26T21:45:42.394Z,1761515142.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.297232 m,
      bearing: 284.175260 deg,
      lat: 36.779435 deg,
      lon: -121.859481 deg,
      deltaT: 0.503865 s,
      deltaX: -0.000023 m,
      approachRate: -0.000045 m/s,
      posRepo size: 4

2025-10-26T21:45:42.394Z,1761515142.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-10-26T21:45:42.609Z,1761515142.609 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.629005
2025-10-26T21:45:42.841Z,1761515142.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109017,-0.992841,-0.048802],[0.986589,-0.102070,-0.127372],[0.121479,-0.062033,0.990654]]
2025-10-26T21:45:42.862Z,1761515142.862 [DAT](INFO): DAT read: Rx Time:21:45:41.7389 

2025-10-26T21:45:42.863Z,1761515142.863 [DAT](INFO): Rx dataTimestamp_ set to:1761515142.862676
2025-10-26T21:45:42.864Z,1761515142.864 [DAT](INFO): DAT read: Bearing  67.4, -12.6 (Local)

2025-10-26T21:45:42.865Z,1761515142.865 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.4, -12.6 (Local)

2025-10-26T21:45:42.867Z,1761515142.867 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed 0.0

2025-10-26T21:45:42.872Z,1761515142.872 [DAT](INFO): DAT read: 21:45:41.7389 LVL= 32752, 23697, 32754, 32755, AGC= 62, IDX= 508, 0.36, 2.347,-2.061, 2.670, 3.048, PHS=-0.600, 1.218,-0.423, RAW= 324.9,  -2.3, CAL= 323.9,  -5.4, ROT= 186.1,   5.4

2025-10-26T21:45:42.873Z,1761515142.873 [DAT](INFO): got valid direction response:
 21:45:41.7389 LVL= 32752, 23697, 32754, 32755, AGC= 62, IDX= 508, 0.36, 2.347,-2.061, 2.670, 3.048, PHS=-0.600, 1.218,-0.423, RAW= 324.9,  -2.3, CAL= 323.9,  -5.4, ROT= 186.1,   5.4

2025-10-26T21:45:42.873Z,1761515142.873 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-10-26T21:45:42.874Z,1761515142.874 [DAT](INFO): direction in FSK: [-0.989925,-0.105793,-0.094108]
2025-10-26T21:45:42.874Z,1761515142.874 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:42.879Z,1761515142.879 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.898582
2025-10-26T21:45:43.011Z,1761515143.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.501346 s,
      deltaX: 0.199999 m,
      approachRate: 0.398924 m/s,
      rangeRepo size: 4

2025-10-26T21:45:43.017Z,1761515143.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.297224 m,
      bearing: 282.847613 deg,
      lat: 36.779435 deg,
      lon: -121.859481 deg,
      deltaT: 1.004825 s,
      deltaX: -0.000008 m,
      approachRate: -0.000008 m/s,
      posRepo size: 4

2025-10-26T21:45:43.017Z,1761515143.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-10-26T21:45:43.115Z,1761515143.115 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.134781
2025-10-26T21:45:43.276Z,1761515143.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108245,-0.992916,-0.048997],[0.986793,-0.101341,-0.126375],[0.120514,-0.062029,0.990772]]
2025-10-26T21:45:43.329Z,1761515143.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-10-26T21:45:43.365Z,1761515143.365 [DAT](INFO): DAT read: Rx Time:21:45:42.2387 

2025-10-26T21:45:43.366Z,1761515143.366 [DAT](INFO): Rx dataTimestamp_ set to:1761515143.365244
2025-10-26T21:45:43.367Z,1761515143.367 [DAT](INFO): DAT read: Bearing  67.4, -12.8 (Local)

2025-10-26T21:45:43.367Z,1761515143.367 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.4, -12.8 (Local)

2025-10-26T21:45:43.369Z,1761515143.369 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed 0.0

2025-10-26T21:45:43.374Z,1761515143.374 [DAT](INFO): DAT read: 21:45:42.2387 LVL= 32752, 25377, 32754, 32755, AGC= 63, IDX= 507,-0.10, 2.078,-2.323, 2.406, 2.784, PHS=-0.604, 1.221,-0.422, RAW= 324.8,  -2.3, CAL= 323.8,  -5.3, ROT= 186.2,   5.3

2025-10-26T21:45:43.375Z,1761515143.375 [DAT](INFO): got valid direction response:
 21:45:42.2387 LVL= 32752, 25377, 32754, 32755, AGC= 63, IDX= 507,-0.10, 2.078,-2.323, 2.406, 2.784, PHS=-0.604, 1.221,-0.422, RAW= 324.8,  -2.3, CAL= 323.8,  -5.3, ROT= 186.2,   5.3

2025-10-26T21:45:43.375Z,1761515143.375 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-10-26T21:45:43.376Z,1761515143.376 [DAT](INFO): direction in FSK: [-0.989901,-0.107538,-0.092371]
2025-10-26T21:45:43.377Z,1761515143.377 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:43.380Z,1761515143.380 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.400166
2025-10-26T21:45:43.616Z,1761515143.616 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.636261
2025-10-26T21:45:43.696Z,1761515143.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107304,-0.993022,-0.048918],[0.987003,-0.100475,-0.125422],[0.119632,-0.061740,0.990897]]
2025-10-26T21:45:43.757Z,1761515143.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.502568 s,
      deltaX: -0.299999 m,
      approachRate: -0.596933 m/s,
      rangeRepo size: 4

2025-10-26T21:45:43.759Z,1761515143.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.999070 m,
      bearing: 282.836314 deg,
      lat: 36.779434 deg,
      lon: -121.859481 deg,
      deltaT: 0.502568 s,
      deltaX: -0.298154 m,
      approachRate: -0.593261 m/s,
      posRepo size: 4

2025-10-26T21:45:43.765Z,1761515143.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-10-26T21:45:43.869Z,1761515143.869 [DAT](INFO): DAT read: Rx Time:21:45:42.7387 

2025-10-26T21:45:43.870Z,1761515143.870 [DAT](INFO): Rx dataTimestamp_ set to:1761515143.869249
2025-10-26T21:45:43.871Z,1761515143.871 [DAT](INFO): DAT read: Bearing  66.6, -12.3 (Local)

2025-10-26T21:45:43.871Z,1761515143.871 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.6, -12.3 (Local)

2025-10-26T21:45:43.873Z,1761515143.873 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed 0.2

2025-10-26T21:45:43.878Z,1761515143.878 [DAT](INFO): DAT read: 21:45:42.7387 LVL= 32752, 29393, 32754, 32755, AGC= 65, IDX= 507, 0.18, 1.397,-3.030, 1.700, 2.108, PHS=-0.609, 1.190,-0.452, RAW= 325.5,  -1.5, CAL= 324.4,  -4.6, ROT= 185.6,   4.6

2025-10-26T21:45:43.879Z,1761515143.879 [DAT](INFO): got valid direction response:
 21:45:42.7387 LVL= 32752, 29393, 32754, 32755, AGC= 65, IDX= 507, 0.18, 1.397,-3.030, 1.700, 2.108, PHS=-0.609, 1.190,-0.452, RAW= 325.5,  -1.5, CAL= 324.4,  -4.6, ROT= 185.6,   4.6

2025-10-26T21:45:43.884Z,1761515143.884 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-10-26T21:45:43.885Z,1761515143.885 [DAT](INFO): direction in FSK: [-0.992022,-0.097269,-0.080199]
2025-10-26T21:45:43.885Z,1761515143.885 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:43.888Z,1761515143.888 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.908348
2025-10-26T21:45:44.120Z,1761515144.120 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.140160
2025-10-26T21:45:44.181Z,1761515144.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.504005 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:44.185Z,1761515144.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.999070 m,
      bearing: 282.174551 deg,
      lat: 36.779433 deg,
      lon: -121.859481 deg,
      deltaT: 0.504005 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:45:44.186Z,1761515144.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-10-26T21:45:44.373Z,1761515144.373 [DAT](INFO): DAT read: Rx Time:21:45:43.2386 

2025-10-26T21:45:44.374Z,1761515144.374 [DAT](INFO): Rx dataTimestamp_ set to:1761515144.373260
2025-10-26T21:45:44.375Z,1761515144.375 [DAT](INFO): DAT read: Bearing  64.5, -13.6 (Local)

2025-10-26T21:45:44.375Z,1761515144.375 [DAT](INFO): Local bearing/azimuth received:
 Bearing  64.5, -13.6 (Local)

2025-10-26T21:45:44.377Z,1761515144.377 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.2

2025-10-26T21:45:44.382Z,1761515144.382 [DAT](INFO): DAT read: 21:45:43.2386 LVL= 32752, 32113, 32754, 32755, AGC= 66, IDX= 506,-0.37,-0.932, 0.907,-0.601,-0.159, PHS=-0.671, 1.111,-0.486, RAW= 324.6,   0.6, CAL= 323.2,  -2.4, ROT= 186.8,   2.4

2025-10-26T21:45:44.383Z,1761515144.383 [DAT](INFO): got valid direction response:
 21:45:43.2386 LVL= 32752, 32113, 32754, 32755, AGC= 66, IDX= 506,-0.37,-0.932, 0.907,-0.601,-0.159, PHS=-0.671, 1.111,-0.486, RAW= 324.6,   0.6, CAL= 323.2,  -2.4, ROT= 186.8,   2.4

2025-10-26T21:45:44.383Z,1761515144.383 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-10-26T21:45:44.384Z,1761515144.384 [DAT](INFO): direction in FSK: [-0.992094,-0.118300,-0.041876]
2025-10-26T21:45:44.385Z,1761515144.385 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:44.389Z,1761515144.389 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.408405
2025-10-26T21:45:44.506Z,1761515144.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105107,-0.993243,-0.049206],[0.987427,-0.098361,-0.123745],[0.118069,-0.061594,0.991093]]
2025-10-26T21:45:44.569Z,1761515144.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.504011 s,
      deltaX: -0.200001 m,
      approachRate: -0.396818 m/s,
      rangeRepo size: 4

2025-10-26T21:45:44.571Z,1761515144.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.800372 m,
      bearing: 283.087927 deg,
      lat: 36.779433 deg,
      lon: -121.859482 deg,
      deltaT: 0.504011 s,
      deltaX: -0.198698 m,
      approachRate: -0.394234 m/s,
      posRepo size: 4

2025-10-26T21:45:44.576Z,1761515144.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-10-26T21:45:44.625Z,1761515144.625 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.644871
2025-10-26T21:45:44.877Z,1761515144.877 [DAT](INFO): DAT read: Rx Time:21:45:43.7386 

2025-10-26T21:45:44.877Z,1761515144.877 [DAT](INFO): Rx dataTimestamp_ set to:1761515144.877176
2025-10-26T21:45:44.879Z,1761515144.879 [DAT](INFO): DAT read: Bearing  64.1, -13.1 (Local)

2025-10-26T21:45:44.879Z,1761515144.879 [DAT](INFO): Local bearing/azimuth received:
 Bearing  64.1, -13.1 (Local)

2025-10-26T21:45:44.881Z,1761515144.881 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.0

2025-10-26T21:45:44.886Z,1761515144.886 [DAT](INFO): DAT read: 21:45:43.7386 LVL= 32752, 27601, 32754, 32755, AGC= 67, IDX= 506,-0.04, 1.104, 2.945, 1.415, 1.881, PHS=-0.676, 1.109,-0.510, RAW= 325.2,   0.9, CAL= 323.8,  -2.0, ROT= 186.2,   2.0

2025-10-26T21:45:44.887Z,1761515144.887 [DAT](INFO): got valid direction response:
 21:45:43.7386 LVL= 32752, 27601, 32754, 32755, AGC= 67, IDX= 506,-0.04, 1.104, 2.945, 1.415, 1.881, PHS=-0.676, 1.109,-0.510, RAW= 325.2,   0.9, CAL= 323.8,  -2.0, ROT= 186.2,   2.0

2025-10-26T21:45:44.913Z,1761515144.913 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-10-26T21:45:44.914Z,1761515144.914 [DAT](INFO): direction in FSK: [-0.993545,-0.107934,-0.034899]
2025-10-26T21:45:44.914Z,1761515144.914 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:44.918Z,1761515144.918 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.937481
2025-10-26T21:45:44.952Z,1761515144.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104104,-0.993356,-0.049060],[0.987590,-0.097416,-0.123192],[0.117594,-0.061276,0.991169]]
2025-10-26T21:45:45.043Z,1761515145.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.503916 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:45.049Z,1761515145.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.800372 m,
      bearing: 282.393419 deg,
      lat: 36.779433 deg,
      lon: -121.859483 deg,
      deltaT: 0.503916 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:45:45.049Z,1761515145.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-10-26T21:45:45.129Z,1761515145.129 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.148479
2025-10-26T21:45:45.382Z,1761515145.382 [DAT](INFO): DAT read: Rx Time:21:45:44.2385 

2025-10-26T21:45:45.382Z,1761515145.382 [DAT](INFO): Rx dataTimestamp_ set to:1761515145.381926
2025-10-26T21:45:45.384Z,1761515145.384 [DAT](INFO): DAT read: Bearing  66.1, -12.6 (Local)

2025-10-26T21:45:45.384Z,1761515145.384 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.1, -12.6 (Local)

2025-10-26T21:45:45.386Z,1761515145.386 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed 0.1

2025-10-26T21:45:45.402Z,1761515145.402 [DAT](INFO): DAT read: 21:45:44.2385 LVL= 32752, 26689, 32754, 32755, AGC= 66, IDX= 505,-0.48,-2.132,-0.275,-1.829,-1.407, PHS=-0.623, 1.177,-0.466, RAW= 325.5,  -1.0, CAL= 324.3,  -4.0, ROT= 185.7,   4.0

2025-10-26T21:45:45.403Z,1761515145.403 [DAT](INFO): got valid direction response:
 21:45:44.2385 LVL= 32752, 26689, 32754, 32755, AGC= 66, IDX= 505,-0.48,-2.132,-0.275,-1.829,-1.407, PHS=-0.623, 1.177,-0.466, RAW= 325.5,  -1.0, CAL= 324.3,  -4.0, ROT= 185.7,   4.0

2025-10-26T21:45:45.404Z,1761515145.404 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-10-26T21:45:45.405Z,1761515145.405 [DAT](INFO): direction in FSK: [-0.992632,-0.099078,-0.069756]
2025-10-26T21:45:45.405Z,1761515145.405 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:45.408Z,1761515145.408 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.428383
2025-10-26T21:45:45.541Z,1761515145.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.504750 s,
      deltaX: -0.099999 m,
      approachRate: -0.198117 m/s,
      rangeRepo size: 4

2025-10-26T21:45:45.547Z,1761515145.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.701146 m,
      bearing: 282.039030 deg,
      lat: 36.779432 deg,
      lon: -121.859482 deg,
      deltaT: 0.504750 s,
      deltaX: -0.099226 m,
      approachRate: -0.196584 m/s,
      posRepo size: 4

2025-10-26T21:45:45.548Z,1761515145.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-10-26T21:45:45.635Z,1761515145.635 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.654408
2025-10-26T21:45:45.866Z,1761515145.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102732,-0.993487,-0.049299],[0.987758,-0.096040,-0.122924],[0.117389,-0.061324,0.991191]]
2025-10-26T21:45:45.889Z,1761515145.889 [DAT](INFO): DAT read: Rx Time:21:45:44.7384 

2025-10-26T21:45:45.890Z,1761515145.890 [DAT](INFO): Rx dataTimestamp_ set to:1761515145.889277
2025-10-26T21:45:45.891Z,1761515145.891 [DAT](INFO): DAT read: Bearing  65.5, -12.6 (Local)

2025-10-26T21:45:45.891Z,1761515145.891 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.5, -12.6 (Local)

2025-10-26T21:45:45.893Z,1761515145.893 [DAT](INFO): DAT read: Range 11 to 50 :    15.6 m (trip time 10.4 ms) speed 0.1

2025-10-26T21:45:45.910Z,1761515145.910 [DAT](INFO): DAT read: 21:45:44.7384 LVL= 32752, 26353, 32754, 32755, AGC= 64, IDX= 504, 0.04,-2.367,-0.517,-2.068,-1.630, PHS=-0.635, 1.158,-0.481, RAW= 325.6,  -0.5, CAL= 324.4,  -3.5, ROT= 185.6,   3.5

2025-10-26T21:45:45.918Z,1761515145.918 [DAT](INFO): got valid direction response:
 21:45:44.7384 LVL= 32752, 26353, 32754, 32755, AGC= 64, IDX= 504, 0.04,-2.367,-0.517,-2.068,-1.630, PHS=-0.635, 1.158,-0.481, RAW= 325.6,  -0.5, CAL= 324.4,  -3.5, ROT= 185.6,   3.5

2025-10-26T21:45:45.919Z,1761515145.919 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-10-26T21:45:45.944Z,1761515145.944 [DAT](INFO): direction in FSK: [-0.993371,-0.097401,-0.061049]
2025-10-26T21:45:45.944Z,1761515145.944 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:45.960Z,1761515145.960 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.979988
2025-10-26T21:45:45.983Z,1761515145.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.507351 s,
      deltaX: -0.200000 m,
      approachRate: -0.394204 m/s,
      rangeRepo size: 4

2025-10-26T21:45:45.993Z,1761515145.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.502398 m,
      bearing: 281.820725 deg,
      lat: 36.779431 deg,
      lon: -121.859482 deg,
      deltaT: 0.507351 s,
      deltaX: -0.198749 m,
      approachRate: -0.391738 m/s,
      posRepo size: 4

2025-10-26T21:45:45.993Z,1761515145.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:45:46.141Z,1761515146.141 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.161224
2025-10-26T21:45:46.280Z,1761515146.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102443,-0.993504,-0.049541],[0.987744,-0.095701,-0.123297],[0.117755,-0.061564,0.991132]]
2025-10-26T21:45:46.324Z,1761515146.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:45:46.393Z,1761515146.393 [DAT](INFO): DAT read: Rx Time:21:45:45.2383 

2025-10-26T21:45:46.394Z,1761515146.394 [DAT](INFO): Rx dataTimestamp_ set to:1761515146.393279
2025-10-26T21:45:46.395Z,1761515146.395 [DAT](INFO): DAT read: Bearing  66.9, -12.2 (Local)

2025-10-26T21:45:46.395Z,1761515146.395 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.9, -12.2 (Local)

2025-10-26T21:45:46.397Z,1761515146.397 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-26T21:45:46.403Z,1761515146.403 [DAT](INFO): DAT read: 21:45:45.2383 LVL= 32752, 25201, 32754, 32755, AGC= 63, IDX= 503,-0.14,-1.845, 0.001,-1.554,-1.152, PHS=-0.591, 1.198,-0.446, RAW= 325.8,  -1.9, CAL= 324.8,  -4.9, ROT= 185.2,   4.9

2025-10-26T21:45:46.404Z,1761515146.404 [DAT](INFO): got valid direction response:
 21:45:45.2383 LVL= 32752, 25201, 32754, 32755, AGC= 63, IDX= 503,-0.14,-1.845, 0.001,-1.554,-1.152, PHS=-0.591, 1.198,-0.446, RAW= 325.8,  -1.9, CAL= 324.8,  -4.9, ROT= 185.2,   4.9

2025-10-26T21:45:46.405Z,1761515146.405 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-10-26T21:45:46.406Z,1761515146.406 [DAT](INFO): direction in FSK: [-0.992245,-0.090301,-0.085417]
2025-10-26T21:45:46.407Z,1761515146.407 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:46.413Z,1761515146.413 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.432907
2025-10-26T21:45:46.644Z,1761515146.644 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.664108
2025-10-26T21:45:46.690Z,1761515146.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102291,-0.993510,-0.049735],[0.987696,-0.095492,-0.123846],[0.118293,-0.061791,0.991054]]
2025-10-26T21:45:46.742Z,1761515146.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.504002 s,
      deltaX: -0.100000 m,
      approachRate: -0.198413 m/s,
      rangeRepo size: 4

2025-10-26T21:45:46.748Z,1761515146.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.403182 m,
      bearing: 281.498662 deg,
      lat: 36.779431 deg,
      lon: -121.859482 deg,
      deltaT: 0.504002 s,
      deltaX: -0.099216 m,
      approachRate: -0.196855 m/s,
      posRepo size: 4

2025-10-26T21:45:46.749Z,1761515146.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:45:46.897Z,1761515146.897 [DAT](INFO): DAT read: Rx Time:21:45:45.7383 

2025-10-26T21:45:46.897Z,1761515146.897 [DAT](INFO): Rx dataTimestamp_ set to:1761515146.897188
2025-10-26T21:45:46.899Z,1761515146.899 [DAT](INFO): DAT read: Bearing  66.4, -11.9 (Local)

2025-10-26T21:45:46.899Z,1761515146.899 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.4, -11.9 (Local)

2025-10-26T21:45:46.901Z,1761515146.901 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-26T21:45:46.906Z,1761515146.906 [DAT](INFO): DAT read: 21:45:45.7383 LVL= 32752, 29009, 32754, 32755, AGC= 62, IDX= 503, 0.17, 1.924,-2.524, 2.197, 2.618, PHS=-0.592, 1.187,-0.464, RAW= 326.3,  -1.5, CAL= 325.3,  -4.6, ROT= 184.7,   4.6

2025-10-26T21:45:46.907Z,1761515146.907 [DAT](INFO): got valid direction response:
 21:45:45.7383 LVL= 32752, 29009, 32754, 32755, AGC= 62, IDX= 503, 0.17, 1.924,-2.524, 2.197, 2.618, PHS=-0.592, 1.187,-0.464, RAW= 326.3,  -1.5, CAL= 325.3,  -4.6, ROT= 184.7,   4.6

2025-10-26T21:45:46.908Z,1761515146.908 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-10-26T21:45:46.909Z,1761515146.909 [DAT](INFO): direction in FSK: [-0.993427,-0.081674,-0.080199]
2025-10-26T21:45:46.909Z,1761515146.909 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:46.913Z,1761515146.913 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.932541
2025-10-26T21:45:47.129Z,1761515147.129 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -18. +283.88,        +5.11,   4.40,  0.00
2025-10-26T21:45:47.149Z,1761515147.149 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.168392
2025-10-26T21:45:47.194Z,1761515147.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.503909 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:47.205Z,1761515147.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.403182 m,
      bearing: 280.969699 deg,
      lat: 36.779430 deg,
      lon: -121.859481 deg,
      deltaT: 0.503909 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:45:47.205Z,1761515147.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:45:47.402Z,1761515147.402 [DAT](INFO): DAT read: Rx Time:21:45:46.2382 

2025-10-26T21:45:47.402Z,1761515147.402 [DAT](INFO): Rx dataTimestamp_ set to:1761515147.401914
2025-10-26T21:45:47.404Z,1761515147.404 [DAT](INFO): DAT read: Bearing  67.0, -12.4 (Local)

2025-10-26T21:45:47.404Z,1761515147.404 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.0, -12.4 (Local)

2025-10-26T21:45:47.406Z,1761515147.406 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-26T21:45:47.411Z,1761515147.411 [DAT](INFO): DAT read: 21:45:46.2382 LVL= 32752, 24785, 32754, 32755, AGC= 62, IDX= 502,-0.10,-2.124,-0.266,-1.830,-1.431, PHS=-0.591, 1.210,-0.443, RAW= 325.8,  -2.1, CAL= 324.7,  -5.1, ROT= 185.3,   5.1

2025-10-26T21:45:47.412Z,1761515147.412 [DAT](INFO): got valid direction response:
 21:45:46.2382 LVL= 32752, 24785, 32754, 32755, AGC= 62, IDX= 502,-0.10,-2.124,-0.266,-1.830,-1.431, PHS=-0.591, 1.210,-0.443, RAW= 325.8,  -2.1, CAL= 324.7,  -5.1, ROT= 185.3,   5.1

2025-10-26T21:45:47.412Z,1761515147.412 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-10-26T21:45:47.413Z,1761515147.413 [DAT](INFO): direction in FSK: [-0.991783,-0.092005,-0.088894]
2025-10-26T21:45:47.413Z,1761515147.413 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:47.417Z,1761515147.417 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.437050
2025-10-26T21:45:47.573Z,1761515147.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.504726 s,
      deltaX: -0.200000 m,
      approachRate: -0.396254 m/s,
      rangeRepo size: 4

2025-10-26T21:45:47.578Z,1761515147.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.205071 m,
      bearing: 281.615089 deg,
      lat: 36.779430 deg,
      lon: -121.859481 deg,
      deltaT: 0.504726 s,
      deltaX: -0.198111 m,
      approachRate: -0.392511 m/s,
      posRepo size: 4

2025-10-26T21:45:47.578Z,1761515147.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m.
2025-10-26T21:45:47.654Z,1761515147.654 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.673904
2025-10-26T21:45:47.905Z,1761515147.905 [DAT](INFO): DAT read: Rx Time:21:45:46.7383 

2025-10-26T21:45:47.906Z,1761515147.906 [DAT](INFO): Rx dataTimestamp_ set to:1761515147.905224
2025-10-26T21:45:47.907Z,1761515147.907 [DAT](INFO): DAT read: Bearing  66.8, -13.1 (Local)

2025-10-26T21:45:47.907Z,1761515147.907 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.8, -13.1 (Local)

2025-10-26T21:45:47.909Z,1761515147.909 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-26T21:45:47.929Z,1761515147.929 [DAT](INFO): DAT read: 21:45:46.7383 LVL= 32752, 27041, 32754, 32755, AGC= 61, IDX= 503,-0.28,-2.516,-0.653,-2.205,-1.810, PHS=-0.604, 1.202,-0.439, RAW= 325.3,  -1.9, CAL= 324.2,  -4.9, ROT= 185.8,   4.9

2025-10-26T21:45:47.930Z,1761515147.930 [DAT](INFO): got valid direction response:
 21:45:46.7383 LVL= 32752, 27041, 32754, 32755, AGC= 61, IDX= 503,-0.28,-2.516,-0.653,-2.205,-1.810, PHS=-0.604, 1.202,-0.439, RAW= 325.3,  -1.9, CAL= 324.2,  -4.9, ROT= 185.8,   4.9

2025-10-26T21:45:47.930Z,1761515147.930 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-10-26T21:45:47.931Z,1761515147.931 [DAT](INFO): direction in FSK: [-0.991245,-0.100687,-0.085417]
2025-10-26T21:45:47.940Z,1761515147.940 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:47.943Z,1761515147.943 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.963097
2025-10-26T21:45:47.948Z,1761515147.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104657,-0.993324,-0.048528],[0.986885,-0.097700,-0.128500],[0.122901,-0.061340,0.990521]]
2025-10-26T21:45:48.078Z,1761515148.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.503310 s,
      deltaX: 0.200000 m,
      approachRate: 0.397369 m/s,
      rangeRepo size: 4

2025-10-26T21:45:48.084Z,1761515148.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.403831 m,
      bearing: 282.251218 deg,
      lat: 36.779430 deg,
      lon: -121.859480 deg,
      deltaT: 0.503310 s,
      deltaX: 0.198759 m,
      approachRate: 0.394904 m/s,
      posRepo size: 4

2025-10-26T21:45:48.084Z,1761515148.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:45:48.158Z,1761515148.158 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.177322
2025-10-26T21:45:48.409Z,1761515148.409 [DAT](INFO): DAT read: Rx Time:21:45:47.2382 

2025-10-26T21:45:48.410Z,1761515148.410 [DAT](INFO): Rx dataTimestamp_ set to:1761515148.409246
2025-10-26T21:45:48.411Z,1761515148.411 [DAT](INFO): DAT read: Bearing  66.7, -13.2 (Local)

2025-10-26T21:45:48.412Z,1761515148.412 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.7, -13.2 (Local)

2025-10-26T21:45:48.414Z,1761515148.414 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-26T21:45:48.419Z,1761515148.419 [DAT](INFO): DAT read: 21:45:47.2382 LVL= 32752, 26001, 32754, 32755, AGC= 60, IDX= 502,-0.42, 1.747,-2.664, 2.064, 2.456, PHS=-0.607, 1.208,-0.436, RAW= 325.1,  -1.9, CAL= 324.1,  -5.0, ROT= 185.9,   5.0

2025-10-26T21:45:48.420Z,1761515148.420 [DAT](INFO): got valid direction response:
 21:45:47.2382 LVL= 32752, 26001, 32754, 32755, AGC= 60, IDX= 502,-0.42, 1.747,-2.664, 2.064, 2.456, PHS=-0.607, 1.208,-0.436, RAW= 325.1,  -1.9, CAL= 324.1,  -5.0, ROT= 185.9,   5.0

2025-10-26T21:45:48.420Z,1761515148.420 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-10-26T21:45:48.421Z,1761515148.421 [DAT](INFO): direction in FSK: [-0.990918,-0.102401,-0.087156]
2025-10-26T21:45:48.421Z,1761515148.421 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:48.425Z,1761515148.425 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.445126
2025-10-26T21:45:48.426Z,1761515148.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:45:48.661Z,1761515148.661 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.680454
2025-10-26T21:45:48.747Z,1761515148.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107144,-0.993090,-0.047871],[0.986215,-0.100050,-0.131793],[0.126093,-0.061332,0.990121]]
2025-10-26T21:45:48.782Z,1761515148.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.504022 s,
      deltaX: -0.200000 m,
      approachRate: -0.396808 m/s,
      rangeRepo size: 4

2025-10-26T21:45:48.784Z,1761515148.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.205090 m,
      bearing: 282.511538 deg,
      lat: 36.779430 deg,
      lon: -121.859480 deg,
      deltaT: 0.504022 s,
      deltaX: -0.198741 m,
      approachRate: -0.394310 m/s,
      posRepo size: 4

2025-10-26T21:45:48.785Z,1761515148.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m.
2025-10-26T21:45:48.913Z,1761515148.913 [DAT](INFO): DAT read: Rx Time:21:45:47.7383 

2025-10-26T21:45:48.914Z,1761515148.914 [DAT](INFO): Rx dataTimestamp_ set to:1761515148.913268
2025-10-26T21:45:48.915Z,1761515148.915 [DAT](INFO): DAT read: Bearing  66.8, -12.9 (Local)

2025-10-26T21:45:48.915Z,1761515148.915 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.8, -12.9 (Local)

2025-10-26T21:45:48.917Z,1761515148.917 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-26T21:45:48.922Z,1761515148.922 [DAT](INFO): DAT read: 21:45:47.7383 LVL= 32752, 24081, 32754, 32755, AGC= 59, IDX= 503,-0.48,-3.038,-1.189,-2.737,-2.344, PHS=-0.592, 1.201,-0.436, RAW= 325.5,  -2.0, CAL= 324.5,  -5.1, ROT= 185.5,   5.1

2025-10-26T21:45:48.923Z,1761515148.923 [DAT](INFO): got valid direction response:
 21:45:47.7383 LVL= 32752, 24081, 32754, 32755, AGC= 59, IDX= 503,-0.48,-3.038,-1.189,-2.737,-2.344, PHS=-0.592, 1.201,-0.436, RAW= 325.5,  -2.0, CAL= 324.5,  -5.1, ROT= 185.5,   5.1

2025-10-26T21:45:48.923Z,1761515148.923 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-10-26T21:45:48.924Z,1761515148.924 [DAT](INFO): direction in FSK: [-0.991455,-0.095466,-0.088894]
2025-10-26T21:45:48.925Z,1761515148.925 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:48.928Z,1761515148.928 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.948338
2025-10-26T21:45:49.156Z,1761515149.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108578,-0.992950,-0.047544],[0.985839,-0.101405,-0.133563],[0.127800,-0.061372,0.989899]]
2025-10-26T21:45:49.166Z,1761515149.166 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.185661
2025-10-26T21:45:49.240Z,1761515149.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.504022 s,
      deltaX: 0.200000 m,
      approachRate: 0.396808 m/s,
      rangeRepo size: 4

2025-10-26T21:45:49.242Z,1761515149.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.403849 m,
      bearing: 282.200316 deg,
      lat: 36.779431 deg,
      lon: -121.859480 deg,
      deltaT: 0.504022 s,
      deltaX: 0.198759 m,
      approachRate: 0.394346 m/s,
      posRepo size: 4

2025-10-26T21:45:49.243Z,1761515149.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:45:49.417Z,1761515149.417 [DAT](INFO): DAT read: Rx Time:21:45:48.2382 

2025-10-26T21:45:49.417Z,1761515149.417 [DAT](INFO): Rx dataTimestamp_ set to:1761515149.417123
2025-10-26T21:45:49.419Z,1761515149.419 [DAT](INFO): DAT read: Bearing  67.1, -13.1 (Local)

2025-10-26T21:45:49.419Z,1761515149.419 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.1, -13.1 (Local)

2025-10-26T21:45:49.421Z,1761515149.421 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-26T21:45:49.426Z,1761515149.426 [DAT](INFO): DAT read: 21:45:48.2382 LVL= 32752, 24273, 32754, 32755, AGC= 63, IDX= 502,-0.33, 2.098,-2.332, 2.409, 2.785, PHS=-0.585, 1.211,-0.420, RAW= 325.2,  -2.4, CAL= 324.2,  -5.5, ROT= 185.8,   5.5

2025-10-26T21:45:49.427Z,1761515149.427 [DAT](INFO): got valid direction response:
 21:45:48.2382 LVL= 32752, 24273, 32754, 32755, AGC= 63, IDX= 502,-0.33, 2.098,-2.332, 2.409, 2.785, PHS=-0.585, 1.211,-0.420, RAW= 325.2,  -2.4, CAL= 324.2,  -5.5, ROT= 185.8,   5.5

2025-10-26T21:45:49.427Z,1761515149.427 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-10-26T21:45:49.432Z,1761515149.432 [DAT](INFO): direction in FSK: [-0.990300,-0.100591,-0.095846]
2025-10-26T21:45:49.432Z,1761515149.432 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:49.437Z,1761515149.437 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.456722
2025-10-26T21:45:49.555Z,1761515149.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110473,-0.992765,-0.047057],[0.985390,-0.103231,-0.135462],[0.129624,-0.061334,0.989664]]
2025-10-26T21:45:49.582Z,1761515149.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503855 s,
      deltaX: -0.200000 m,
      approachRate: -0.396939 m/s,
      rangeRepo size: 4

2025-10-26T21:45:49.585Z,1761515149.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.205301 m,
      bearing: 282.650034 deg,
      lat: 36.779431 deg,
      lon: -121.859479 deg,
      deltaT: 0.503855 s,
      deltaX: -0.198547 m,
      approachRate: -0.394057 m/s,
      posRepo size: 4

2025-10-26T21:45:49.585Z,1761515149.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m.
2025-10-26T21:45:49.669Z,1761515149.669 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.689350
2025-10-26T21:45:49.922Z,1761515149.922 [DAT](INFO): DAT read: Rx Time:21:45:48.7383 

2025-10-26T21:45:49.922Z,1761515149.922 [DAT](INFO): Rx dataTimestamp_ set to:1761515149.922161
2025-10-26T21:45:49.924Z,1761515149.924 [DAT](INFO): DAT read: Bearing  63.8, -13.6 (Local)

2025-10-26T21:45:49.924Z,1761515149.924 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.8, -13.6 (Local)

2025-10-26T21:45:49.926Z,1761515149.926 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-26T21:45:49.931Z,1761515149.931 [DAT](INFO): DAT read: 21:45:48.7383 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 503,-0.21,-1.388, 0.382,-1.088,-0.647, PHS=-0.639, 1.073,-0.486, RAW= 325.4,   0.6, CAL= 324.0,  -2.3, ROT= 186.0,   2.3

2025-10-26T21:45:49.932Z,1761515149.932 [DAT](INFO): got valid direction response:
 21:45:48.7383 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 503,-0.21,-1.388, 0.382,-1.088,-0.647, PHS=-0.639, 1.073,-0.486, RAW= 325.4,   0.6, CAL= 324.0,  -2.3, ROT= 186.0,   2.3

2025-10-26T21:45:49.932Z,1761515149.932 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-10-26T21:45:49.933Z,1761515149.933 [DAT](INFO): direction in FSK: [-0.993721,-0.104444,-0.040132]
2025-10-26T21:45:49.933Z,1761515149.933 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:49.937Z,1761515149.937 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.957184
2025-10-26T21:45:49.967Z,1761515149.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112338,-0.992585,-0.046428],[0.984954,-0.105055,-0.137222],[0.131327,-0.061145,0.989452]]
2025-10-26T21:45:50.075Z,1761515150.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.505038 s,
      deltaX: 0.200000 m,
      approachRate: 0.396009 m/s,
      rangeRepo size: 4

2025-10-26T21:45:50.085Z,1761515150.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.404063 m,
      bearing: 282.717222 deg,
      lat: 36.779431 deg,
      lon: -121.859480 deg,
      deltaT: 0.505038 s,
      deltaX: 0.198762 m,
      approachRate: 0.393558 m/s,
      posRepo size: 4

2025-10-26T21:45:50.086Z,1761515150.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:45:50.174Z,1761515150.174 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.193550
2025-10-26T21:45:50.426Z,1761515150.426 [DAT](INFO): DAT read: Rx Time:21:45:49.2383 

2025-10-26T21:45:50.426Z,1761515150.426 [DAT](INFO): Rx dataTimestamp_ set to:1761515150.425971
2025-10-26T21:45:50.428Z,1761515150.428 [DAT](INFO): DAT read: Bearing  65.6, -13.4 (Local)

2025-10-26T21:45:50.428Z,1761515150.428 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.6, -13.4 (Local)

2025-10-26T21:45:50.430Z,1761515150.430 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-26T21:45:50.435Z,1761515150.435 [DAT](INFO): DAT read: 21:45:49.2383 LVL= 32752, 28273, 32754, 32755, AGC= 62, IDX= 502, 0.38, 1.766,-2.663, 2.077, 2.492, PHS=-0.624, 1.174,-0.458, RAW= 325.2,  -1.1, CAL= 324.1,  -4.1, ROT= 185.9,   4.1

2025-10-26T21:45:50.436Z,1761515150.436 [DAT](INFO): got valid direction response:
 21:45:49.2383 LVL= 32752, 28273, 32754, 32755, AGC= 62, IDX= 502, 0.38, 1.766,-2.663, 2.077, 2.492, PHS=-0.624, 1.174,-0.458, RAW= 325.2,  -1.1, CAL= 324.1,  -4.1, ROT= 185.9,   4.1

2025-10-26T21:45:50.436Z,1761515150.436 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-10-26T21:45:50.437Z,1761515150.437 [DAT](INFO): direction in FSK: [-0.992157,-0.102529,-0.071497]
2025-10-26T21:45:50.437Z,1761515150.437 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:50.465Z,1761515150.465 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.485146
2025-10-26T21:45:50.480Z,1761515150.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114288,-0.992391,-0.045801],[0.984511,-0.106970,-0.138912],[0.132955,-0.060968,0.989245]]
2025-10-26T21:45:50.545Z,1761515150.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.503810 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:50.547Z,1761515150.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.404163 m,
      bearing: 282.870835 deg,
      lat: 36.779432 deg,
      lon: -121.859479 deg,
      deltaT: 0.503810 s,
      deltaX: 0.000100 m,
      approachRate: 0.000199 m/s,
      posRepo size: 4

2025-10-26T21:45:50.552Z,1761515150.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:45:50.678Z,1761515150.678 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.697430
2025-10-26T21:45:50.929Z,1761515150.929 [DAT](INFO): DAT read: Rx Time:21:45:49.7383 

2025-10-26T21:45:50.930Z,1761515150.930 [DAT](INFO): Rx dataTimestamp_ set to:1761515150.929255
2025-10-26T21:45:50.931Z,1761515150.931 [DAT](INFO): DAT read: Bearing  64.0, -13.1 (Local)

2025-10-26T21:45:50.931Z,1761515150.931 [DAT](INFO): Local bearing/azimuth received:
 Bearing  64.0, -13.1 (Local)

2025-10-26T21:45:50.933Z,1761515150.933 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-26T21:45:50.938Z,1761515150.938 [DAT](INFO): DAT read: 21:45:49.7383 LVL= 32752, 29313, 32754, 32755, AGC= 62, IDX= 503,-0.05, 1.019, 2.834, 1.307, 1.765, PHS=-0.644, 1.114,-0.502, RAW= 325.8,   0.4, CAL= 324.5,  -2.6, ROT= 185.5,   2.6

2025-10-26T21:45:50.939Z,1761515150.939 [DAT](INFO): got valid direction response:
 21:45:49.7383 LVL= 32752, 29313, 32754, 32755, AGC= 62, IDX= 503,-0.05, 1.019, 2.834, 1.307, 1.765, PHS=-0.644, 1.114,-0.502, RAW= 325.8,   0.4, CAL= 324.5,  -2.6, ROT= 185.5,   2.6

2025-10-26T21:45:50.939Z,1761515150.939 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-10-26T21:45:50.940Z,1761515150.940 [DAT](INFO): direction in FSK: [-0.994372,-0.095747,-0.045363]
2025-10-26T21:45:50.941Z,1761515150.941 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:50.962Z,1761515150.962 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.981441
2025-10-26T21:45:51.066Z,1761515151.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.503284 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:51.072Z,1761515151.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.404163 m,
      bearing: 282.351064 deg,
      lat: 36.779432 deg,
      lon: -121.859479 deg,
      deltaT: 0.503284 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:45:51.072Z,1761515151.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:45:51.181Z,1761515151.181 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.200527
2025-10-26T21:45:51.304Z,1761515151.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118329,-0.991945,-0.045210],[0.983637,-0.110866,-0.142008],[0.135851,-0.061274,0.988833]]
2025-10-26T21:45:51.374Z,1761515151.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:45:51.434Z,1761515151.434 [DAT](INFO): DAT read: Rx Time:21:45:50.2383 

2025-10-26T21:45:51.434Z,1761515151.434 [DAT](INFO): Rx dataTimestamp_ set to:1761515151.433840
2025-10-26T21:45:51.436Z,1761515151.436 [DAT](INFO): DAT read: Bearing  62.6, -13.9 (Local)

2025-10-26T21:45:51.437Z,1761515151.437 [DAT](INFO): Local bearing/azimuth received:
 Bearing  62.6, -13.9 (Local)

2025-10-26T21:45:51.439Z,1761515151.439 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed -0.2

2025-10-26T21:45:51.445Z,1761515151.445 [DAT](INFO): DAT read: 21:45:50.2383 LVL= 32752, 31729, 32754, 32755, AGC= 64, IDX= 502, 0.46, 2.806,-1.700, 3.108,-2.702, PHS=-0.674, 1.047,-0.518, RAW= 325.3,   1.8, CAL= 323.8,  -1.1, ROT= 186.2,   1.1

2025-10-26T21:45:51.447Z,1761515151.447 [DAT](INFO): got valid direction response:
 21:45:50.2383 LVL= 32752, 31729, 32754, 32755, AGC= 64, IDX= 502, 0.46, 2.806,-1.700, 3.108,-2.702, PHS=-0.674, 1.047,-0.518, RAW= 325.3,   1.8, CAL= 323.8,  -1.1, ROT= 186.2,   1.1

2025-10-26T21:45:51.451Z,1761515151.451 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-10-26T21:45:51.461Z,1761515151.461 [DAT](INFO): direction in FSK: [-0.993968,-0.107979,-0.019197]
2025-10-26T21:45:51.462Z,1761515151.462 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:51.465Z,1761515151.465 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.485207
2025-10-26T21:45:51.684Z,1761515151.684 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.704300
2025-10-26T21:45:51.705Z,1761515151.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120298,-0.991726,-0.044808],[0.983235,-0.112795,-0.143268],[0.137028,-0.061292,0.988669]]
2025-10-26T21:45:51.748Z,1761515151.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.504585 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:51.750Z,1761515151.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.404254 m,
      bearing: 283.301300 deg,
      lat: 36.779432 deg,
      lon: -121.859479 deg,
      deltaT: 0.504585 s,
      deltaX: 0.000091 m,
      approachRate: 0.000180 m/s,
      posRepo size: 4

2025-10-26T21:45:51.750Z,1761515151.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:45:51.941Z,1761515151.941 [DAT](INFO): DAT read: Rx Time:21:45:50.7385 

2025-10-26T21:45:51.943Z,1761515151.943 [DAT](INFO): Rx dataTimestamp_ set to:1761515151.941793
2025-10-26T21:45:51.949Z,1761515151.949 [DAT](INFO): DAT read: Bearing  63.4, -13.1 (Local)

2025-10-26T21:45:51.950Z,1761515151.950 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.4, -13.1 (Local)

2025-10-26T21:45:51.952Z,1761515151.952 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed -0.2

2025-10-26T21:45:51.961Z,1761515151.961 [DAT](INFO): DAT read: 21:45:50.7385 LVL= 32752, 27569, 32754, 32755, AGC= 64, IDX= 504, 0.25,-2.195,-0.390,-1.910,-1.437, PHS=-0.656, 1.093,-0.516, RAW= 325.9,   1.0, CAL= 324.5,  -2.0, ROT= 185.5,   2.0

2025-10-26T21:45:51.962Z,1761515151.962 [DAT](INFO): got valid direction response:
 21:45:50.7385 LVL= 32752, 27569, 32754, 32755, AGC= 64, IDX= 504, 0.25,-2.195,-0.390,-1.910,-1.437, PHS=-0.656, 1.093,-0.516, RAW= 325.9,   1.0, CAL= 324.5,  -2.0, ROT= 185.5,   2.0

2025-10-26T21:45:51.962Z,1761515151.962 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-10-26T21:45:51.967Z,1761515151.967 [DAT](INFO): direction in FSK: [-0.994790,-0.095787,-0.034899]
2025-10-26T21:45:51.968Z,1761515151.968 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:51.976Z,1761515151.976 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.991001
2025-10-26T21:45:51.992Z,1761515151.992 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:45:52.189Z,1761515152.189 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.208424
2025-10-26T21:45:52.196Z,1761515152.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.507953 s,
      deltaX: 0.300000 m,
      approachRate: 0.590606 m/s,
      rangeRepo size: 4

2025-10-26T21:45:52.198Z,1761515152.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.702401 m,
      bearing: 282.663985 deg,
      lat: 36.779432 deg,
      lon: -121.859479 deg,
      deltaT: 0.507953 s,
      deltaX: 0.298147 m,
      approachRate: 0.586958 m/s,
      posRepo size: 4

2025-10-26T21:45:52.198Z,1761515152.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-10-26T21:45:52.441Z,1761515152.441 [DAT](INFO): DAT read: Rx Time:21:45:51.2384 

2025-10-26T21:45:52.441Z,1761515152.441 [DAT](INFO): Rx dataTimestamp_ set to:1761515152.441116
2025-10-26T21:45:52.443Z,1761515152.443 [DAT](INFO): DAT read: Bearing  64.3, -12.9 (Local)

2025-10-26T21:45:52.443Z,1761515152.443 [DAT](INFO): Local bearing/azimuth received:
 Bearing  64.3, -12.9 (Local)

2025-10-26T21:45:52.445Z,1761515152.445 [DAT](INFO): DAT read: Range 11 to 50 :    15.6 m (trip time 10.4 ms) speed -0.2

2025-10-26T21:45:52.450Z,1761515152.450 [DAT](INFO): DAT read: 21:45:51.2384 LVL= 32752, 25569, 32754, 32755, AGC= 64, IDX= 504, 0.11, 1.862,-2.595, 2.148, 2.606, PHS=-0.642, 1.128,-0.501, RAW= 325.9,   0.2, CAL= 324.6,  -2.8, ROT= 185.4,   2.8

2025-10-26T21:45:52.451Z,1761515152.451 [DAT](INFO): got valid direction response:
 21:45:51.2384 LVL= 32752, 25569, 32754, 32755, AGC= 64, IDX= 504, 0.11, 1.862,-2.595, 2.148, 2.606, PHS=-0.642, 1.128,-0.501, RAW= 325.9,   0.2, CAL= 324.6,  -2.8, ROT= 185.4,   2.8

2025-10-26T21:45:52.451Z,1761515152.451 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-10-26T21:45:52.452Z,1761515152.452 [DAT](INFO): direction in FSK: [-0.994373,-0.093996,-0.048850]
2025-10-26T21:45:52.452Z,1761515152.452 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:52.460Z,1761515152.460 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.480221
2025-10-26T21:45:52.523Z,1761515152.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123523,-0.991371,-0.043880],[0.982622,-0.116020,-0.144888],[0.138547,-0.061014,0.988474]]
2025-10-26T21:45:52.579Z,1761515152.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.499323 s,
      deltaX: -0.200000 m,
      approachRate: -0.400542 m/s,
      rangeRepo size: 4

2025-10-26T21:45:52.585Z,1761515152.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.503620 m,
      bearing: 282.814320 deg,
      lat: 36.779432 deg,
      lon: -121.859479 deg,
      deltaT: 0.499323 s,
      deltaX: -0.198781 m,
      approachRate: -0.398101 m/s,
      posRepo size: 4

2025-10-26T21:45:52.586Z,1761515152.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:45:52.693Z,1761515152.693 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.712543
2025-10-26T21:45:52.950Z,1761515152.950 [DAT](INFO): DAT read: Rx Time:21:45:51.7386 

2025-10-26T21:45:52.950Z,1761515152.950 [DAT](INFO): Rx dataTimestamp_ set to:1761515152.950115
2025-10-26T21:45:52.960Z,1761515152.960 [DAT](INFO): DAT read: Bearing  63.0, -13.5 (Local)

2025-10-26T21:45:52.960Z,1761515152.960 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.0, -13.5 (Local)

2025-10-26T21:45:52.963Z,1761515152.963 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed -0.2

2025-10-26T21:45:52.973Z,1761515152.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124905,-0.991223,-0.043311],[0.982397,-0.117445,-0.145267],[0.138905,-0.060693,0.988444]]
2025-10-26T21:45:52.996Z,1761515152.996 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:45:52.967Z,1761515152.967 [DAT](INFO): DAT read: 21:45:51.7386 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 506,-0.15, 2.479,-2.014, 2.775,-3.036, PHS=-0.666, 1.068,-0.516, RAW= 325.5,   1.4, CAL= 324.1,  -1.5, ROT= 185.9,   1.5

2025-10-26T21:45:52.998Z,1761515152.998 [DAT](INFO): got valid direction response:
 21:45:51.7386 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 506,-0.15, 2.479,-2.014, 2.775,-3.036, PHS=-0.666, 1.068,-0.516, RAW= 325.5,   1.4, CAL= 324.1,  -1.5, ROT= 185.9,   1.5

2025-10-26T21:45:52.998Z,1761515152.998 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-10-26T21:45:52.999Z,1761515152.999 [DAT](INFO): direction in FSK: [-0.994362,-0.102757,-0.026177]
2025-10-26T21:45:53.007Z,1761515153.007 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:53.011Z,1761515153.011 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.030785
2025-10-26T21:45:53.098Z,1761515153.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.508999 s,
      deltaX: 0.299999 m,
      approachRate: 0.589391 m/s,
      rangeRepo size: 4

2025-10-26T21:45:53.104Z,1761515153.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.801765 m,
      bearing: 283.301220 deg,
      lat: 36.779432 deg,
      lon: -121.859479 deg,
      deltaT: 0.508999 s,
      deltaX: 0.298145 m,
      approachRate: 0.585748 m/s,
      posRepo size: 4

2025-10-26T21:45:53.104Z,1761515153.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-10-26T21:45:53.197Z,1761515153.197 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.216583
2025-10-26T21:45:53.452Z,1761515153.452 [DAT](INFO): DAT read: Rx Time:21:45:52.2386 

2025-10-26T21:45:53.452Z,1761515153.452 [DAT](INFO): Rx dataTimestamp_ set to:1761515153.452000
2025-10-26T21:45:53.454Z,1761515153.454 [DAT](INFO): DAT read: Bearing  62.8, -13.3 (Local)

2025-10-26T21:45:53.454Z,1761515153.454 [DAT](INFO): Local bearing/azimuth received:
 Bearing  62.8, -13.3 (Local)

2025-10-26T21:45:53.456Z,1761515153.456 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed -0.2

2025-10-26T21:45:53.462Z,1761515153.462 [DAT](INFO): DAT read: 21:45:52.2386 LVL= 32752, 31921, 32754, 32755, AGC= 66, IDX= 505, 0.50, 2.999,-1.481,-2.993,-2.506, PHS=-0.676, 1.070,-0.531, RAW= 325.7,   1.7, CAL= 324.3,  -1.3, ROT= 185.7,   1.3

2025-10-26T21:45:53.464Z,1761515153.464 [DAT](INFO): got valid direction response:
 21:45:52.2386 LVL= 32752, 31921, 32754, 32755, AGC= 66, IDX= 505, 0.50, 2.999,-1.481,-2.993,-2.506, PHS=-0.676, 1.070,-0.531, RAW= 325.7,   1.7, CAL= 324.3,  -1.3, ROT= 185.7,   1.3

2025-10-26T21:45:53.465Z,1761515153.465 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-10-26T21:45:53.466Z,1761515153.466 [DAT](INFO): direction in FSK: [-0.994799,-0.099294,-0.022687]
2025-10-26T21:45:53.466Z,1761515153.466 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:53.470Z,1761515153.470 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.489807
2025-10-26T21:45:53.544Z,1761515153.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127057,-0.990968,-0.042873],[0.982135,-0.119641,-0.145247],[0.138806,-0.060561,0.988466]]
2025-10-26T21:45:53.596Z,1761515153.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.501885 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:53.598Z,1761515153.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.801800 m,
      bearing: 283.209391 deg,
      lat: 36.779433 deg,
      lon: -121.859480 deg,
      deltaT: 0.501885 s,
      deltaX: 0.000034 m,
      approachRate: 0.000068 m/s,
      posRepo size: 4

2025-10-26T21:45:53.598Z,1761515153.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-10-26T21:45:53.702Z,1761515153.702 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.721802
2025-10-26T21:45:53.957Z,1761515153.957 [DAT](INFO): DAT read: Rx Time:21:45:52.7386 

2025-10-26T21:45:53.958Z,1761515153.958 [DAT](INFO): Rx dataTimestamp_ set to:1761515153.957197
2025-10-26T21:45:53.962Z,1761515153.962 [DAT](INFO): DAT read: Bearing  63.6, -12.3 (Local)

2025-10-26T21:45:53.963Z,1761515153.963 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.6, -12.3 (Local)

2025-10-26T21:45:53.978Z,1761515153.978 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed -0.2

2025-10-26T21:45:54.020Z,1761515154.020 [DAT](INFO): DAT read: 21:45:52.7386 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 506, 0.17, 2.947,-1.524,-3.070,-2.586, PHS=-0.649, 1.107,-0.528, RAW= 326.5,   0.8, CAL= 325.2,  -2.1, ROT= 184.8,   2.1

2025-10-26T21:45:54.021Z,1761515154.021 [DAT](INFO): got valid direction response:
 21:45:52.7386 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 506, 0.17, 2.947,-1.524,-3.070,-2.586, PHS=-0.649, 1.107,-0.528, RAW= 326.5,   0.8, CAL= 325.2,  -2.1, ROT= 184.8,   2.1

2025-10-26T21:45:54.021Z,1761515154.021 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-10-26T21:45:54.022Z,1761515154.022 [DAT](INFO): direction in FSK: [-0.995824,-0.083622,-0.036644]
2025-10-26T21:45:54.023Z,1761515154.023 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:54.026Z,1761515154.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.505197 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:54.026Z,1761515154.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-10-26T21:45:54.038Z,1761515154.038 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.058285
2025-10-26T21:45:54.204Z,1761515154.204 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.224232
2025-10-26T21:45:54.298Z,1761515154.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127701,-0.990887,-0.042852],[0.982114,-0.120307,-0.144842],[0.138366,-0.060582,0.988526]]
2025-10-26T21:45:54.391Z,1761515154.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-10-26T21:45:54.462Z,1761515154.462 [DAT](INFO): DAT read: Rx Time:21:45:53.2386 

2025-10-26T21:45:54.462Z,1761515154.462 [DAT](INFO): Rx dataTimestamp_ set to:1761515154.462049
2025-10-26T21:45:54.464Z,1761515154.464 [DAT](INFO): DAT read: Bearing  63.0, -12.7 (Local)

2025-10-26T21:45:54.464Z,1761515154.464 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.0, -12.7 (Local)

2025-10-26T21:45:54.466Z,1761515154.466 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.0

2025-10-26T21:45:54.472Z,1761515154.472 [DAT](INFO): DAT read: 21:45:53.2386 LVL= 32752, 29857, 32754, 32755, AGC= 63, IDX= 506,-0.08,-0.172, 1.598, 0.103, 0.585, PHS=-0.655, 1.058,-0.526, RAW= 326.1,   1.5, CAL= 324.7,  -1.4, ROT= 185.3,   1.4

2025-10-26T21:45:54.473Z,1761515154.473 [DAT](INFO): got valid direction response:
 21:45:53.2386 LVL= 32752, 29857, 32754, 32755, AGC= 63, IDX= 506,-0.08,-0.172, 1.598, 0.103, 0.585, PHS=-0.655, 1.058,-0.526, RAW= 326.1,   1.5, CAL= 324.7,  -1.4, ROT= 185.3,   1.4

2025-10-26T21:45:54.474Z,1761515154.474 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-10-26T21:45:54.476Z,1761515154.476 [DAT](INFO): direction in FSK: [-0.995427,-0.092343,-0.024432]
2025-10-26T21:45:54.476Z,1761515154.476 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:54.497Z,1761515154.497 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.516747
2025-10-26T21:45:54.708Z,1761515154.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128017,-0.990844,-0.042889],[0.982187,-0.120664,-0.144044],[0.137550,-0.060565,0.988642]]
2025-10-26T21:45:54.713Z,1761515154.713 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.733009
2025-10-26T21:45:54.764Z,1761515154.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.504852 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:54.766Z,1761515154.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.801783 m,
      bearing: 282.866797 deg,
      lat: 36.779433 deg,
      lon: -121.859479 deg,
      deltaT: 1.010049 s,
      deltaX: -0.000017 m,
      approachRate: -0.000017 m/s,
      posRepo size: 4

2025-10-26T21:45:54.767Z,1761515154.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-10-26T21:45:54.971Z,1761515154.971 [DAT](INFO): DAT read: Rx Time:21:45:53.7388 

2025-10-26T21:45:54.973Z,1761515154.973 [DAT](INFO): Rx dataTimestamp_ set to:1761515154.972047
2025-10-26T21:45:54.978Z,1761515154.978 [DAT](INFO): DAT read: Bearing  63.9, -12.1 (Local)

2025-10-26T21:45:54.979Z,1761515154.979 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.9, -12.1 (Local)

2025-10-26T21:45:54.981Z,1761515154.981 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed -0.1

2025-10-26T21:45:55.007Z,1761515155.007 [DAT](INFO): DAT read: 21:45:53.7388 LVL= 32752, 27185, 32754, 32755, AGC= 61, IDX= 508,-0.41,-0.334, 1.464,-0.065, 0.407, PHS=-0.639, 1.102,-0.517, RAW= 326.4,   0.7, CAL= 325.1,  -2.3, ROT= 184.9,   2.3

2025-10-26T21:45:55.013Z,1761515155.013 [DAT](INFO): got valid direction response:
 21:45:53.7388 LVL= 32752, 27185, 32754, 32755, AGC= 61, IDX= 508,-0.41,-0.334, 1.464,-0.065, 0.407, PHS=-0.639, 1.102,-0.517, RAW= 326.4,   0.7, CAL= 325.1,  -2.3, ROT= 184.9,   2.3

2025-10-26T21:45:55.013Z,1761515155.013 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-10-26T21:45:55.015Z,1761515155.015 [DAT](INFO): direction in FSK: [-0.995543,-0.085348,-0.040132]
2025-10-26T21:45:55.015Z,1761515155.015 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:55.033Z,1761515155.033 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.052807
2025-10-26T21:45:55.110Z,1761515155.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128132,-0.990841,-0.042617],[0.982321,-0.120882,-0.142943],[0.136483,-0.060179,0.988813]]
2025-10-26T21:45:55.206Z,1761515155.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.509998 s,
      deltaX: 0.300001 m,
      approachRate: 0.588240 m/s,
      rangeRepo size: 4

2025-10-26T21:45:55.212Z,1761515155.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.099930 m,
      bearing: 282.533579 deg,
      lat: 36.779433 deg,
      lon: -121.859480 deg,
      deltaT: 0.509998 s,
      deltaX: 0.298147 m,
      approachRate: 0.584605 m/s,
      posRepo size: 4

2025-10-26T21:45:55.212Z,1761515155.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-10-26T21:45:55.217Z,1761515155.217 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.236389
2025-10-26T21:45:55.469Z,1761515155.469 [DAT](INFO): DAT read: Rx Time:21:45:54.2387 

2025-10-26T21:45:55.469Z,1761515155.469 [DAT](INFO): Rx dataTimestamp_ set to:1761515155.469179
2025-10-26T21:45:55.471Z,1761515155.471 [DAT](INFO): DAT read: Bearing  63.2, -12.1 (Local)

2025-10-26T21:45:55.471Z,1761515155.471 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.2, -12.1 (Local)

2025-10-26T21:45:55.473Z,1761515155.473 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed -0.1

2025-10-26T21:45:55.478Z,1761515155.478 [DAT](INFO): DAT read: 21:45:54.2387 LVL= 32752, 28337, 32754, 32755, AGC= 62, IDX= 507,-0.08, 0.346, 2.103, 0.609, 1.091, PHS=-0.642, 1.058,-0.525, RAW= 326.5,   1.4, CAL= 325.1,  -1.5, ROT= 184.9,   1.5

2025-10-26T21:45:55.479Z,1761515155.479 [DAT](INFO): got valid direction response:
 21:45:54.2387 LVL= 32752, 28337, 32754, 32755, AGC= 62, IDX= 507,-0.08, 0.346, 2.103, 0.609, 1.091, PHS=-0.642, 1.058,-0.525, RAW= 326.5,   1.4, CAL= 325.1,  -1.5, ROT= 184.9,   1.5

2025-10-26T21:45:55.480Z,1761515155.480 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-10-26T21:45:55.481Z,1761515155.481 [DAT](INFO): direction in FSK: [-0.996004,-0.085388,-0.026177]
2025-10-26T21:45:55.481Z,1761515155.481 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:55.484Z,1761515155.484 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.504250
2025-10-26T21:45:55.609Z,1761515155.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127604,-0.990919,-0.042387],[0.982788,-0.120570,-0.139967],[0.133585,-0.059517,0.989249]]
2025-10-26T21:45:55.684Z,1761515155.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.497132 s,
      deltaX: -0.100000 m,
      approachRate: -0.201155 m/s,
      rangeRepo size: 4

2025-10-26T21:45:55.686Z,1761515155.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.000460 m,
      bearing: 282.437877 deg,
      lat: 36.779433 deg,
      lon: -121.859480 deg,
      deltaT: 0.497132 s,
      deltaX: -0.099470 m,
      approachRate: -0.200088 m/s,
      posRepo size: 4

2025-10-26T21:45:55.686Z,1761515155.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-10-26T21:45:55.721Z,1761515155.721 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.740658
2025-10-26T21:45:55.978Z,1761515155.978 [DAT](INFO): DAT read: Rx Time:21:45:54.7388 

2025-10-26T21:45:55.980Z,1761515155.980 [DAT](INFO): Rx dataTimestamp_ set to:1761515155.978476
2025-10-26T21:45:55.984Z,1761515155.984 [DAT](INFO): DAT read: Bearing  62.8, -11.5 (Local)

2025-10-26T21:45:55.985Z,1761515155.985 [DAT](INFO): Local bearing/azimuth received:
 Bearing  62.8, -11.5 (Local)

2025-10-26T21:45:55.992Z,1761515155.992 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed 0.0

2025-10-26T21:45:56.035Z,1761515156.035 [DAT](INFO): DAT read: 21:45:54.7388 LVL= 32752, 31137, 32754, 32755, AGC= 62, IDX= 508, 0.07,-2.595,-0.854,-2.351,-1.853, PHS=-0.640, 1.044,-0.542, RAW= 327.0,   1.7, CAL= 325.7,  -1.2, ROT= 184.3,   1.2

2025-10-26T21:45:56.044Z,1761515156.044 [DAT](INFO): got valid direction response:
 21:45:54.7388 LVL= 32752, 31137, 32754, 32755, AGC= 62, IDX= 508, 0.07,-2.595,-0.854,-2.351,-1.853, PHS=-0.640, 1.044,-0.542, RAW= 327.0,   1.7, CAL= 325.7,  -1.2, ROT= 184.3,   1.2

2025-10-26T21:45:56.045Z,1761515156.045 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-26T21:45:56.046Z,1761515156.046 [DAT](INFO): direction in FSK: [-0.996966,-0.074962,-0.020942]
2025-10-26T21:45:56.046Z,1761515156.046 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:56.058Z,1761515156.058 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.077602
2025-10-26T21:45:56.065Z,1761515156.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127341,-0.990944,-0.042586],[0.983038,-0.120379,-0.138365],[0.131986,-0.059483,0.989465]]
2025-10-26T21:45:56.192Z,1761515156.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.509297 s,
      deltaX: 0.100000 m,
      approachRate: 0.196350 m/s,
      rangeRepo size: 4

2025-10-26T21:45:56.194Z,1761515156.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.099840 m,
      bearing: 281.792981 deg,
      lat: 36.779433 deg,
      lon: -121.859482 deg,
      deltaT: 0.509297 s,
      deltaX: 0.099380 m,
      approachRate: 0.195133 m/s,
      posRepo size: 4

2025-10-26T21:45:56.194Z,1761515156.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-10-26T21:45:56.225Z,1761515156.225 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.244396
2025-10-26T21:45:56.440Z,1761515156.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126798,-0.990998,-0.042953],[0.983348,-0.119900,-0.136566],[0.130187,-0.059554,0.989699]]
2025-10-26T21:45:56.466Z,1761515156.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-10-26T21:45:56.477Z,1761515156.477 [DAT](INFO): DAT read: Rx Time:21:45:55.2387 

2025-10-26T21:45:56.478Z,1761515156.478 [DAT](INFO): Rx dataTimestamp_ set to:1761515156.477238
2025-10-26T21:45:56.479Z,1761515156.479 [DAT](INFO): DAT read: Bearing  58.8, -11.3 (Local)

2025-10-26T21:45:56.479Z,1761515156.479 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.8, -11.3 (Local)

2025-10-26T21:45:56.481Z,1761515156.481 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed 0.0

2025-10-26T21:45:56.486Z,1761515156.486 [DAT](INFO): DAT read: 21:45:55.2387 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 507, 0.05,-1.642,-0.051,-1.414,-0.888, PHS=-0.652, 0.882,-0.570, RAW= 327.3,   4.6, CAL= 326.0,   2.8, ROT= 184.0,  -2.8

2025-10-26T21:45:56.487Z,1761515156.487 [DAT](INFO): got valid direction response:
 21:45:55.2387 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 507, 0.05,-1.642,-0.051,-1.414,-0.888, PHS=-0.652, 0.882,-0.570, RAW= 327.3,   4.6, CAL= 326.0,   2.8, ROT= 184.0,  -2.8

2025-10-26T21:45:56.487Z,1761515156.487 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-10-26T21:45:56.488Z,1761515156.488 [DAT](INFO): direction in FSK: [-0.996373,-0.069673,0.048850]
2025-10-26T21:45:56.489Z,1761515156.489 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:56.493Z,1761515156.493 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.512699
2025-10-26T21:45:56.729Z,1761515156.729 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.749130
2025-10-26T21:45:56.905Z,1761515156.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.498762 s,
      deltaX: -0.100000 m,
      approachRate: -0.200497 m/s,
      rangeRepo size: 4

2025-10-26T21:45:56.945Z,1761515156.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.000406 m,
      bearing: 281.178398 deg,
      lat: 36.779433 deg,
      lon: -121.859482 deg,
      deltaT: 0.498762 s,
      deltaX: -0.099434 m,
      approachRate: -0.199361 m/s,
      posRepo size: 4

2025-10-26T21:45:56.951Z,1761515156.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-10-26T21:45:56.985Z,1761515156.985 [DAT](INFO): DAT read: Rx Time:21:45:55.7388 

2025-10-26T21:45:56.987Z,1761515156.987 [DAT](INFO): Rx dataTimestamp_ set to:1761515156.985783
2025-10-26T21:45:56.991Z,1761515156.991 [DAT](INFO): DAT read: Bearing  65.8, -10.0 (Local)

2025-10-26T21:45:56.992Z,1761515156.992 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.8, -10.0 (Local)

2025-10-26T21:45:57.002Z,1761515157.002 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed 0.0

2025-10-26T21:45:57.041Z,1761515157.041 [DAT](INFO): DAT read: 21:45:55.7388 LVL= 32752, 25921, 32754, 32755, AGC= 61, IDX= 508, 0.21, 2.958,-1.513,-3.103,-2.643, PHS=-0.580, 1.175,-0.503, RAW= 327.8,  -1.1, CAL= 326.8,  -4.1, ROT= 183.2,   4.1

2025-10-26T21:45:57.042Z,1761515157.042 [DAT](INFO): got valid direction response:
 21:45:55.7388 LVL= 32752, 25921, 32754, 32755, AGC= 61, IDX= 508, 0.21, 2.958,-1.513,-3.103,-2.643, PHS=-0.580, 1.175,-0.503, RAW= 327.8,  -1.1, CAL= 326.8,  -4.1, ROT= 183.2,   4.1

2025-10-26T21:45:57.042Z,1761515157.042 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-10-26T21:45:57.058Z,1761515157.058 [DAT](INFO): direction in FSK: [-0.995886,-0.055679,-0.071497]
2025-10-26T21:45:57.063Z,1761515157.063 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:57.067Z,1761515157.067 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.086830
2025-10-26T21:45:57.233Z,1761515157.233 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.253040
2025-10-26T21:45:57.265Z,1761515157.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125318,-0.991155,-0.043674],[0.984047,-0.118575,-0.132634],[0.126282,-0.059598,0.990202]]
2025-10-26T21:45:57.368Z,1761515157.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.508545 s,
      deltaX: 0.100000 m,
      approachRate: 0.196640 m/s,
      rangeRepo size: 4

2025-10-26T21:45:57.370Z,1761515157.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.099789 m,
      bearing: 280.756093 deg,
      lat: 36.779432 deg,
      lon: -121.859484 deg,
      deltaT: 0.508545 s,
      deltaX: 0.099382 m,
      approachRate: 0.195425 m/s,
      posRepo size: 4

2025-10-26T21:45:57.370Z,1761515157.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-10-26T21:45:57.486Z,1761515157.486 [DAT](INFO): DAT read: Rx Time:21:45:56.2387 

2025-10-26T21:45:57.487Z,1761515157.487 [DAT](INFO): Rx dataTimestamp_ set to:1761515157.486091
2025-10-26T21:45:57.488Z,1761515157.488 [DAT](INFO): DAT read: Bearing  61.8, -10.3 (Local)

2025-10-26T21:45:57.489Z,1761515157.489 [DAT](INFO): Local bearing/azimuth received:
 Bearing  61.8, -10.3 (Local)

2025-10-26T21:45:57.491Z,1761515157.491 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed 0.0

2025-10-26T21:45:57.496Z,1761515157.496 [DAT](INFO): DAT read: 21:45:56.2387 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507,-0.05, 2.744,-1.872, 2.951,-2.809, PHS=-0.629, 0.981,-0.567, RAW= 328.1,   2.8, CAL= 326.7,  -0.1, ROT= 183.3,   0.1

2025-10-26T21:45:57.497Z,1761515157.497 [DAT](INFO): got valid direction response:
 21:45:56.2387 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507,-0.05, 2.744,-1.872, 2.951,-2.809, PHS=-0.629, 0.981,-0.567, RAW= 328.1,   2.8, CAL= 326.7,  -0.1, ROT= 183.3,   0.1

2025-10-26T21:45:57.498Z,1761515157.498 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-10-26T21:45:57.499Z,1761515157.499 [DAT](INFO): direction in FSK: [-0.998340,-0.057564,-0.001745]
2025-10-26T21:45:57.499Z,1761515157.499 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:57.508Z,1761515157.508 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.527981
2025-10-26T21:45:57.674Z,1761515157.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124494,-0.991257,-0.043712],[0.984410,-0.117877,-0.130543],[0.124249,-0.059282,0.990479]]
2025-10-26T21:45:57.737Z,1761515157.737 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.756462
2025-10-26T21:45:57.745Z,1761515157.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.500308 s,
      deltaX: -0.100000 m,
      approachRate: -0.199878 m/s,
      rangeRepo size: 4

2025-10-26T21:45:57.751Z,1761515157.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.000431 m,
      bearing: 280.532764 deg,
      lat: 36.779431 deg,
      lon: -121.859484 deg,
      deltaT: 0.500308 s,
      deltaX: -0.099358 m,
      approachRate: -0.198593 m/s,
      posRepo size: 4

2025-10-26T21:45:57.752Z,1761515157.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-10-26T21:45:57.994Z,1761515157.994 [DAT](INFO): DAT read: Rx Time:21:45:56.7387 

2025-10-26T21:45:57.996Z,1761515157.996 [DAT](INFO): Rx dataTimestamp_ set to:1761515157.994477
2025-10-26T21:45:57.999Z,1761515157.999 [DAT](INFO): DAT read: Bearing  64.1,  -9.5 (Local)

2025-10-26T21:45:58.001Z,1761515158.001 [DAT](INFO): Local bearing/azimuth received:
 Bearing  64.1,  -9.5 (Local)

2025-10-26T21:45:58.048Z,1761515158.048 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed 0.1

2025-10-26T21:45:58.064Z,1761515158.064 [DAT](INFO): DAT read: 21:45:56.7387 LVL= 32752, 27713, 32754, 32755, AGC= 63, IDX= 507,-0.46,-2.038,-0.261,-1.834,-1.327, PHS=-0.609, 1.110,-0.552, RAW= 328.3,   0.6, CAL= 327.2,  -2.3, ROT= 182.8,   2.3

2025-10-26T21:45:58.065Z,1761515158.065 [DAT](INFO): got valid direction response:
 21:45:56.7387 LVL= 32752, 27713, 32754, 32755, AGC= 63, IDX= 507,-0.46,-2.038,-0.261,-1.834,-1.327, PHS=-0.609, 1.110,-0.552, RAW= 328.3,   0.6, CAL= 327.2,  -2.3, ROT= 182.8,   2.3

2025-10-26T21:45:58.066Z,1761515158.066 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-10-26T21:45:58.067Z,1761515158.067 [DAT](INFO): direction in FSK: [-0.998001,-0.048810,-0.040132]
2025-10-26T21:45:58.067Z,1761515158.067 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:58.097Z,1761515158.097 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.116951
2025-10-26T21:45:58.100Z,1761515158.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123661,-0.991358,-0.043789],[0.984765,-0.117163,-0.128496],[0.122255,-0.059012,0.990743]]
2025-10-26T21:45:58.238Z,1761515158.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.508386 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:45:58.241Z,1761515158.241 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.260654
2025-10-26T21:45:58.244Z,1761515158.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.000431 m,
      bearing: 280.124840 deg,
      lat: 36.779429 deg,
      lon: -121.859485 deg,
      deltaT: 0.508386 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:45:58.248Z,1761515158.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-10-26T21:45:58.493Z,1761515158.493 [DAT](INFO): DAT read: Rx Time:21:45:57.2385 

2025-10-26T21:45:58.494Z,1761515158.494 [DAT](INFO): Rx dataTimestamp_ set to:1761515158.493244
2025-10-26T21:45:58.495Z,1761515158.495 [DAT](INFO): DAT read: Bearing  63.4,  -9.8 (Local)

2025-10-26T21:45:58.495Z,1761515158.495 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.4,  -9.8 (Local)

2025-10-26T21:45:58.497Z,1761515158.497 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed 0.0

2025-10-26T21:45:58.502Z,1761515158.502 [DAT](INFO): DAT read: 21:45:57.2385 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 505,-0.02,-1.617, 0.168,-1.407,-0.880, PHS=-0.635, 1.093,-0.572, RAW= 328.1,   1.4, CAL= 326.9,  -1.5, ROT= 183.1,   1.5

2025-10-26T21:45:58.503Z,1761515158.503 [DAT](INFO): got valid direction response:
 21:45:57.2385 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 505,-0.02,-1.617, 0.168,-1.407,-0.880, PHS=-0.635, 1.093,-0.572, RAW= 328.1,   1.4, CAL= 326.9,  -1.5, ROT= 183.1,   1.5

2025-10-26T21:45:58.504Z,1761515158.504 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-10-26T21:45:58.505Z,1761515158.505 [DAT](INFO): direction in FSK: [-0.998194,-0.054060,-0.026177]
2025-10-26T21:45:58.505Z,1761515158.505 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:58.509Z,1761515158.509 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.528828
2025-10-26T21:45:58.510Z,1761515158.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122838,-0.991453,-0.043941],[0.985108,-0.116446,-0.126499],[0.120301,-0.058826,0.990993]]
2025-10-26T21:45:58.547Z,1761515158.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.498767 s,
      deltaX: -0.300000 m,
      approachRate: -0.601484 m/s,
      rangeRepo size: 4

2025-10-26T21:45:58.549Z,1761515158.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.702287 m,
      bearing: 280.323344 deg,
      lat: 36.779429 deg,
      lon: -121.859485 deg,
      deltaT: 0.498767 s,
      deltaX: -0.298144 m,
      approachRate: -0.597763 m/s,
      posRepo size: 4

2025-10-26T21:45:58.550Z,1761515158.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-10-26T21:45:58.745Z,1761515158.745 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.765022
2025-10-26T21:45:58.941Z,1761515158.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122408,-0.991503,-0.044033],[0.985368,-0.116109,-0.124777],[0.118604,-0.058663,0.991207]]
2025-10-26T21:45:58.963Z,1761515158.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-10-26T21:45:59.001Z,1761515159.001 [DAT](INFO): DAT read: Rx Time:21:45:57.7386 

2025-10-26T21:45:59.002Z,1761515159.002 [DAT](INFO): Rx dataTimestamp_ set to:1761515159.001247
2025-10-26T21:45:59.006Z,1761515159.006 [DAT](INFO): DAT read: Bearing  63.4,  -8.8 (Local)

2025-10-26T21:45:59.007Z,1761515159.007 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.4,  -8.8 (Local)

2025-10-26T21:45:59.013Z,1761515159.013 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.1

2025-10-26T21:45:59.045Z,1761515159.045 [DAT](INFO): DAT read: 21:45:57.7386 LVL= 32752, 28017, 32754, 32755, AGC= 66, IDX= 505, 0.32, 1.719,-2.788, 1.900, 2.443, PHS=-0.622, 1.097,-0.587, RAW= 329.0,   1.3, CAL= 327.8,  -1.5, ROT= 182.2,   1.5

2025-10-26T21:45:59.049Z,1761515159.049 [DAT](INFO): got valid direction response:
 21:45:57.7386 LVL= 32752, 28017, 32754, 32755, AGC= 66, IDX= 505, 0.32, 1.719,-2.788, 1.900, 2.443, PHS=-0.622, 1.097,-0.587, RAW= 329.0,   1.3, CAL= 327.8,  -1.5, ROT= 182.2,   1.5

2025-10-26T21:45:59.049Z,1761515159.049 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-10-26T21:45:59.051Z,1761515159.051 [DAT](INFO): direction in FSK: [-0.998920,-0.038375,-0.026177]
2025-10-26T21:45:59.052Z,1761515159.052 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:59.061Z,1761515159.061 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.080582
2025-10-26T21:45:59.248Z,1761515159.248 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.268322
2025-10-26T21:45:59.385Z,1761515159.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122053,-0.991544,-0.044085],[0.985607,-0.115848,-0.123116],[0.116968,-0.058478,0.991413]]
2025-10-26T21:45:59.454Z,1761515159.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.508003 s,
      deltaX: 0.099999 m,
      approachRate: 0.196848 m/s,
      rangeRepo size: 4

2025-10-26T21:45:59.460Z,1761515159.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.801649 m,
      bearing: 279.366010 deg,
      lat: 36.779428 deg,
      lon: -121.859485 deg,
      deltaT: 0.508003 s,
      deltaX: 0.099362 m,
      approachRate: 0.195594 m/s,
      posRepo size: 4

2025-10-26T21:45:59.461Z,1761515159.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-10-26T21:45:59.501Z,1761515159.501 [DAT](INFO): DAT read: Rx Time:21:45:58.2384 

2025-10-26T21:45:59.502Z,1761515159.502 [DAT](INFO): Rx dataTimestamp_ set to:1761515159.501244
2025-10-26T21:45:59.503Z,1761515159.503 [DAT](INFO): DAT read: Bearing  63.7,  -9.3 (Local)

2025-10-26T21:45:59.503Z,1761515159.503 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.7,  -9.3 (Local)

2025-10-26T21:45:59.505Z,1761515159.505 [DAT](INFO): DAT read: Range 11 to 50 :    15.6 m (trip time 10.4 ms) speed 0.1

2025-10-26T21:45:59.510Z,1761515159.510 [DAT](INFO): DAT read: 21:45:58.2384 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 504,-0.09,-1.146, 0.614,-0.947,-0.425, PHS=-0.619, 1.084,-0.566, RAW= 328.4,   1.2, CAL= 327.2,  -1.7, ROT= 182.8,   1.7

2025-10-26T21:45:59.511Z,1761515159.511 [DAT](INFO): got valid direction response:
 21:45:58.2384 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 504,-0.09,-1.146, 0.614,-0.947,-0.425, PHS=-0.619, 1.084,-0.566, RAW= 328.4,   1.2, CAL= 327.2,  -1.7, ROT= 182.8,   1.7

2025-10-26T21:45:59.511Z,1761515159.511 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-10-26T21:45:59.512Z,1761515159.512 [DAT](INFO): direction in FSK: [-0.998367,-0.048828,-0.029666]
2025-10-26T21:45:59.513Z,1761515159.513 [DAT](INFO): publishing direction and range info
2025-10-26T21:45:59.523Z,1761515159.523 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.542503
2025-10-26T21:45:59.753Z,1761515159.753 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.772408
2025-10-26T21:45:59.878Z,1761515159.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.499997 s,
      deltaX: -0.299999 m,
      approachRate: -0.600002 m/s,
      rangeRepo size: 4

2025-10-26T21:45:59.880Z,1761515159.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.503498 m,
      bearing: 279.983633 deg,
      lat: 36.779428 deg,
      lon: -121.859485 deg,
      deltaT: 0.499997 s,
      deltaX: -0.298151 m,
      approachRate: -0.596306 m/s,
      posRepo size: 4

2025-10-26T21:45:59.881Z,1761515159.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:00.009Z,1761515160.009 [DAT](INFO): DAT read: Rx Time:21:45:58.7384 

2025-10-26T21:46:00.010Z,1761515160.010 [DAT](INFO): Rx dataTimestamp_ set to:1761515160.009166
2025-10-26T21:46:00.014Z,1761515160.014 [DAT](INFO): DAT read: Bearing  63.8,  -8.6 (Local)

2025-10-26T21:46:00.016Z,1761515160.016 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.8,  -8.6 (Local)

2025-10-26T21:46:00.023Z,1761515160.023 [DAT](INFO): DAT read: Range 11 to 50 :    15.6 m (trip time 10.4 ms) speed 0.1

2025-10-26T21:46:00.042Z,1761515160.042 [DAT](INFO): DAT read: 21:45:58.7384 LVL= 32752, 29553, 32754, 32755, AGC= 66, IDX= 504, 0.24, 2.627,-1.891, 2.804,-2.941, PHS=-0.614, 1.095,-0.582, RAW= 329.1,   1.2, CAL= 327.9,  -1.7, ROT= 182.1,   1.7

2025-10-26T21:46:00.080Z,1761515160.080 [DAT](INFO): got valid direction response:
 21:45:58.7384 LVL= 32752, 29553, 32754, 32755, AGC= 66, IDX= 504, 0.24, 2.627,-1.891, 2.804,-2.941, PHS=-0.614, 1.095,-0.582, RAW= 329.1,   1.2, CAL= 327.9,  -1.7, ROT= 182.1,   1.7

2025-10-26T21:46:00.080Z,1761515160.080 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-10-26T21:46:00.081Z,1761515160.081 [DAT](INFO): direction in FSK: [-0.998889,-0.036628,-0.029666]
2025-10-26T21:46:00.081Z,1761515160.081 [DAT](INFO): publishing direction and range info
2025-10-26T21:46:00.109Z,1761515160.109 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.129135
2025-10-26T21:46:00.193Z,1761515160.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122405,-0.991504,-0.044015],[0.985857,-0.116354,-0.120610],[0.114464,-0.058155,0.991724]]
2025-10-26T21:46:00.256Z,1761515160.256 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.276352
2025-10-26T21:46:00.271Z,1761515160.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.507922 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:46:00.277Z,1761515160.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.503498 m,
      bearing: 279.295108 deg,
      lat: 36.779428 deg,
      lon: -121.859483 deg,
      deltaT: 0.507922 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:46:00.278Z,1761515160.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:00.509Z,1761515160.509 [DAT](INFO): DAT read: Rx Time:21:45:59.2383 

2025-10-26T21:46:00.509Z,1761515160.509 [DAT](INFO): Rx dataTimestamp_ set to:1761515160.509111
2025-10-26T21:46:00.511Z,1761515160.511 [DAT](INFO): DAT read: Bearing  64.1,  -9.0 (Local)

2025-10-26T21:46:00.511Z,1761515160.511 [DAT](INFO): Local bearing/azimuth received:
 Bearing  64.1,  -9.0 (Local)

2025-10-26T21:46:00.513Z,1761515160.513 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-26T21:46:00.518Z,1761515160.518 [DAT](INFO): DAT read: 21:45:59.2383 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 503,-0.06,-2.157,-0.395,-1.968,-1.443, PHS=-0.612, 1.093,-0.569, RAW= 328.7,   1.1, CAL= 327.6,  -1.8, ROT= 182.4,   1.8

2025-10-26T21:46:00.519Z,1761515160.519 [DAT](INFO): got valid direction response:
 21:45:59.2383 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 503,-0.06,-2.157,-0.395,-1.968,-1.443, PHS=-0.612, 1.093,-0.569, RAW= 328.7,   1.1, CAL= 327.6,  -1.8, ROT= 182.4,   1.8

2025-10-26T21:46:00.519Z,1761515160.519 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-10-26T21:46:00.520Z,1761515160.520 [DAT](INFO): direction in FSK: [-0.998630,-0.041855,-0.031411]
2025-10-26T21:46:00.520Z,1761515160.520 [DAT](INFO): publishing direction and range info
2025-10-26T21:46:00.570Z,1761515160.570 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.590256
2025-10-26T21:46:00.596Z,1761515160.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123197,-0.991406,-0.043999],[0.985851,-0.117187,-0.119850],[0.113664,-0.058142,0.991817]]
2025-10-26T21:46:00.678Z,1761515160.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.499945 s,
      deltaX: -0.100000 m,
      approachRate: -0.200023 m/s,
      rangeRepo size: 4

2025-10-26T21:46:00.684Z,1761515160.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.404193 m,
      bearing: 279.648846 deg,
      lat: 36.779427 deg,
      lon: -121.859483 deg,
      deltaT: 0.499945 s,
      deltaX: -0.099305 m,
      approachRate: -0.198632 m/s,
      posRepo size: 4

2025-10-26T21:46:00.685Z,1761515160.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:46:00.761Z,1761515160.761 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.780979
2025-10-26T21:46:01.002Z,1761515161.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124194,-0.991287,-0.043885],[0.985798,-0.118226,-0.119269],[0.113042,-0.058074,0.991892]]
2025-10-26T21:46:01.017Z,1761515161.017 [DAT](INFO): DAT read: Rx Time:21:45:59.7384 

2025-10-26T21:46:01.019Z,1761515161.019 [DAT](INFO): Rx dataTimestamp_ set to:1761515161.017857
2025-10-26T21:46:01.023Z,1761515161.023 [DAT](INFO): DAT read: Bearing  65.1,  -8.3 (Local)

2025-10-26T21:46:01.024Z,1761515161.024 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.1,  -8.3 (Local)

2025-10-26T21:46:01.071Z,1761515161.071 [DAT](INFO): DAT read: Range 11 to 50 :    15.6 m (trip time 10.4 ms) speed 0.0

2025-10-26T21:46:01.096Z,1761515161.096 [DAT](INFO): DAT read: 21:45:59.7384 LVL= 32752, 27473, 32754, 32755, AGC= 62, IDX= 504,-0.39,-1.516, 0.270,-1.342,-0.825, PHS=-0.589, 1.140,-0.561, RAW= 329.2,   0.1, CAL= 328.1,  -2.8, ROT= 181.9,   2.8

2025-10-26T21:46:01.097Z,1761515161.097 [DAT](INFO): got valid direction response:
 21:45:59.7384 LVL= 32752, 27473, 32754, 32755, AGC= 62, IDX= 504,-0.39,-1.516, 0.270,-1.342,-0.825, PHS=-0.589, 1.140,-0.561, RAW= 329.2,   0.1, CAL= 328.1,  -2.8, ROT= 181.9,   2.8

2025-10-26T21:46:01.097Z,1761515161.097 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-10-26T21:46:01.098Z,1761515161.098 [DAT](INFO): direction in FSK: [-0.998257,-0.033116,-0.048850]
2025-10-26T21:46:01.099Z,1761515161.099 [DAT](INFO): publishing direction and range info
2025-10-26T21:46:01.110Z,1761515161.110 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.130226
2025-10-26T21:46:01.229Z,1761515161.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.508746 s,
      deltaX: 0.100000 m,
      approachRate: 0.196562 m/s,
      rangeRepo size: 4

2025-10-26T21:46:01.231Z,1761515161.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.503575 m,
      bearing: 279.265284 deg,
      lat: 36.779427 deg,
      lon: -121.859483 deg,
      deltaT: 0.508746 s,
      deltaX: 0.099382 m,
      approachRate: 0.195348 m/s,
      posRepo size: 4

2025-10-26T21:46:01.236Z,1761515161.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:01.264Z,1761515161.264 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.284344
2025-10-26T21:46:01.517Z,1761515161.517 [DAT](INFO): DAT read: Rx Time:21:46:00.2383 

2025-10-26T21:46:01.517Z,1761515161.517 [DAT](INFO): Rx dataTimestamp_ set to:1761515161.517153
2025-10-26T21:46:01.519Z,1761515161.519 [DAT](INFO): DAT read: Bearing  65.4,  -7.9 (Local)

2025-10-26T21:46:01.519Z,1761515161.519 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.4,  -7.9 (Local)

2025-10-26T21:46:01.521Z,1761515161.521 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-26T21:46:01.529Z,1761515161.529 [DAT](INFO): DAT read: 21:46:00.2383 LVL= 32752, 25985, 32754, 32755, AGC= 63, IDX= 503,-0.49, 0.911, 2.658, 1.070, 1.576, PHS=-0.563, 1.127,-0.550, RAW= 329.6,  -0.2, CAL= 328.6,  -3.1, ROT= 181.4,   3.1

2025-10-26T21:46:01.542Z,1761515161.542 [DAT](INFO): got valid direction response:
 21:46:00.2383 LVL= 32752, 25985, 32754, 32755, AGC= 63, IDX= 503,-0.49, 0.911, 2.658, 1.070, 1.576, PHS=-0.563, 1.127,-0.550, RAW= 329.6,  -0.2, CAL= 328.6,  -3.1, ROT= 181.4,   3.1

2025-10-26T21:46:01.542Z,1761515161.542 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-10-26T21:46:01.543Z,1761515161.543 [DAT](INFO): direction in FSK: [-0.998239,-0.024396,-0.054079]
2025-10-26T21:46:01.563Z,1761515161.563 [DAT](INFO): publishing direction and range info
2025-10-26T21:46:01.585Z,1761515161.585 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:46:01.585Z,1761515161.585 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:46:01.585Z,1761515161.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:46:01.615Z,1761515161.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127628,-0.990873,-0.043380],[0.985384,-0.121702,-0.119193],[0.112825,-0.057959,0.991923]]
2025-10-26T21:46:01.687Z,1761515161.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.499296 s,
      deltaX: -0.100000 m,
      approachRate: -0.200283 m/s,
      rangeRepo size: 4

2025-10-26T21:46:01.714Z,1761515161.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.404179 m,
      bearing: 278.978136 deg,
      lat: 36.779426 deg,
      lon: -121.859483 deg,
      deltaT: 0.499296 s,
      deltaX: -0.099397 m,
      approachRate: -0.199074 m/s,
      posRepo size: 4

2025-10-26T21:46:01.715Z,1761515161.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:46:01.769Z,1761515161.769 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:46:01.994Z,1761515161.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130015,-0.990591,-0.042728],[0.985038,-0.124129,-0.119550],[0.113121,-0.057632,0.991908]]
2025-10-26T21:46:02.013Z,1761515162.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:46:02.024Z,1761515162.024 [DAT](INFO): DAT read: Rx Time:21:46:00.7382 

2025-10-26T21:46:02.024Z,1761515162.024 [DAT](INFO): Rx dataTimestamp_ set to:1761515162.023785
2025-10-26T21:46:02.025Z,1761515162.025 [DAT](INFO): DAT read: Bearing  65.9,  -7.3 (Local)

2025-10-26T21:46:02.026Z,1761515162.026 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.9,  -7.3 (Local)

2025-10-26T21:46:02.041Z,1761515162.041 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-26T21:46:02.089Z,1761515162.089 [DAT](INFO): DAT read: 21:46:00.7382 LVL= 32752, 27489, 32754, 32755, AGC= 62, IDX= 502, 0.21, 2.115,-2.399, 2.259, 2.771, PHS=-0.555, 1.158,-0.556, RAW= 330.0,  -0.6, CAL= 329.1,  -3.5, ROT= 180.9,   3.5

2025-10-26T21:46:02.100Z,1761515162.100 [DAT](INFO): got valid direction response:
 21:46:00.7382 LVL= 32752, 27489, 32754, 32755, AGC= 62, IDX= 502, 0.21, 2.115,-2.399, 2.259, 2.771, PHS=-0.555, 1.158,-0.556, RAW= 330.0,  -0.6, CAL= 329.1,  -3.5, ROT= 180.9,   3.5

2025-10-26T21:46:02.100Z,1761515162.100 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:46:02.101Z,1761515162.101 [DAT](INFO): direction in FSK: [-0.998012,-0.015678,-0.061049]
2025-10-26T21:46:02.102Z,1761515162.102 [DAT](INFO): publishing direction and range info
2025-10-26T21:46:02.121Z,1761515162.121 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:46:02.121Z,1761515162.121 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:46:02.272Z,1761515162.272 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:46:02.398Z,1761515162.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132686,-0.990267,-0.042024],[0.984620,-0.126830,-0.120155],[0.113656,-0.057321,0.991865]]
2025-10-26T21:46:02.445Z,1761515162.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.506632 s,
      deltaX: -0.200000 m,
      approachRate: -0.394763 m/s,
      rangeRepo size: 4

2025-10-26T21:46:02.447Z,1761515162.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.205415 m,
      bearing: 278.790339 deg,
      lat: 36.779426 deg,
      lon: -121.859482 deg,
      deltaT: 0.506632 s,
      deltaX: -0.198764 m,
      approachRate: -0.392324 m/s,
      posRepo size: 4

2025-10-26T21:46:02.448Z,1761515162.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m.
2025-10-26T21:46:02.526Z,1761515162.526 [DAT](INFO): DAT read: Rx Time:21:46:01.2381 

2025-10-26T21:46:02.527Z,1761515162.527 [DAT](INFO): Rx dataTimestamp_ set to:1761515162.526423
2025-10-26T21:46:02.529Z,1761515162.529 [DAT](INFO): DAT read: Bearing  65.6,  -7.5 (Local)

2025-10-26T21:46:02.529Z,1761515162.529 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.6,  -7.5 (Local)

2025-10-26T21:46:02.532Z,1761515162.532 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed 0.0

2025-10-26T21:46:02.537Z,1761515162.537 [DAT](INFO): DAT read: 21:46:01.2381 LVL= 32752, 26753, 32754, 32755, AGC= 62, IDX= 501, 0.25,-0.150, 1.617,-0.003, 0.520, PHS=-0.567, 1.143,-0.567, RAW= 330.0,  -0.1, CAL= 329.0,  -3.0, ROT= 181.0,   3.0

2025-10-26T21:46:02.538Z,1761515162.538 [DAT](INFO): got valid direction response:
 21:46:01.2381 LVL= 32752, 26753, 32754, 32755, AGC= 62, IDX= 501, 0.25,-0.150, 1.617,-0.003, 0.520, PHS=-0.567, 1.143,-0.567, RAW= 330.0,  -0.1, CAL= 329.0,  -3.0, ROT= 181.0,   3.0

2025-10-26T21:46:02.539Z,1761515162.539 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:46:02.545Z,1761515162.545 [DAT](INFO): direction in FSK: [-0.998477,-0.017428,-0.052336]
2025-10-26T21:46:02.545Z,1761515162.545 [DAT](INFO): publishing direction and range info
2025-10-26T21:46:02.549Z,1761515162.549 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:46:02.549Z,1761515162.549 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:46:02.776Z,1761515162.776 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:46:02.804Z,1761515162.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135665,-0.989894,-0.041279],[0.984131,-0.129831,-0.120952],[0.114370,-0.057033,0.991800]]
2025-10-26T21:46:02.894Z,1761515162.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.502638 s,
      deltaX: -0.100000 m,
      approachRate: -0.198951 m/s,
      rangeRepo size: 4

2025-10-26T21:46:02.900Z,1761515162.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.106077 m,
      bearing: 279.034329 deg,
      lat: 36.779425 deg,
      lon: -121.859482 deg,
      deltaT: 0.502638 s,
      deltaX: -0.099338 m,
      approachRate: -0.197632 m/s,
      posRepo size: 4

2025-10-26T21:46:02.900Z,1761515162.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m.
2025-10-26T21:46:03.030Z,1761515163.030 [DAT](INFO): DAT read: Rx Time:21:46:01.7382 

2025-10-26T21:46:03.030Z,1761515163.030 [DAT](INFO): Rx dataTimestamp_ set to:1761515163.030088
2025-10-26T21:46:03.032Z,1761515163.032 [DAT](INFO): DAT read: Bearing  64.7,  -7.8 (Local)

2025-10-26T21:46:03.032Z,1761515163.032 [DAT](INFO): Local bearing/azimuth received:
 Bearing  64.7,  -7.8 (Local)

2025-10-26T21:46:03.043Z,1761515163.043 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-26T21:46:03.084Z,1761515163.084 [DAT](INFO): DAT read: 21:46:01.7382 LVL= 32752, 26817, 32754, 32755, AGC= 62, IDX= 502, 0.16, 2.200,-2.336, 2.352, 2.894, PHS=-0.592, 1.099,-0.586, RAW= 329.8,   0.9, CAL= 328.7,  -1.9, ROT= 181.3,   1.9

2025-10-26T21:46:03.109Z,1761515163.109 [DAT](INFO): got valid direction response:
 21:46:01.7382 LVL= 32752, 26817, 32754, 32755, AGC= 62, IDX= 502, 0.16, 2.200,-2.336, 2.352, 2.894, PHS=-0.592, 1.099,-0.586, RAW= 329.8,   0.9, CAL= 328.7,  -1.9, ROT= 181.3,   1.9

2025-10-26T21:46:03.110Z,1761515163.110 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:46:03.117Z,1761515163.117 [DAT](INFO): direction in FSK: [-0.999193,-0.022675,-0.033155]
2025-10-26T21:46:03.117Z,1761515163.117 [DAT](INFO): publishing direction and range info
2025-10-26T21:46:03.147Z,1761515163.147 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:46:03.153Z,1761515163.153 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:46:03.214Z,1761515163.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138786,-0.989490,-0.040607],[0.983598,-0.132957,-0.121891],[0.115210,-0.056858,0.991713]]
2025-10-26T21:46:03.280Z,1761515163.280 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:46:03.301Z,1761515163.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503665 s,
      deltaX: 0.100000 m,
      approachRate: 0.198545 m/s,
      rangeRepo size: 4

2025-10-26T21:46:03.303Z,1761515163.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.205460 m,
      bearing: 279.452720 deg,
      lat: 36.779425 deg,
      lon: -121.859480 deg,
      deltaT: 0.503665 s,
      deltaX: 0.099382 m,
      approachRate: 0.197318 m/s,
      posRepo size: 4

2025-10-26T21:46:03.309Z,1761515163.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m.
2025-10-26T21:46:03.534Z,1761515163.534 [DAT](INFO): DAT read: Rx Time:21:46:02.2382 

2025-10-26T21:46:03.535Z,1761515163.535 [DAT](INFO): Rx dataTimestamp_ set to:1761515163.534596
2025-10-26T21:46:03.536Z,1761515163.536 [DAT](INFO): DAT read: Bearing  65.2,  -7.6 (Local)

2025-10-26T21:46:03.537Z,1761515163.537 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.2,  -7.6 (Local)

2025-10-26T21:46:03.539Z,1761515163.539 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-26T21:46:03.543Z,1761515163.543 [DAT](INFO): DAT read: 21:46:02.2382 LVL= 32752, 26593, 32754, 32755, AGC= 63, IDX= 502,-0.40,-2.816,-1.086,-2.669,-2.138, PHS=-0.576, 1.097,-0.575, RAW= 330.0,   0.7, CAL= 328.9,  -2.2, ROT= 181.1,   2.2

2025-10-26T21:46:03.544Z,1761515163.544 [DAT](INFO): got valid direction response:
 21:46:02.2382 LVL= 32752, 26593, 32754, 32755, AGC= 63, IDX= 502,-0.40,-2.816,-1.086,-2.669,-2.138, PHS=-0.576, 1.097,-0.575, RAW= 330.0,   0.7, CAL= 328.9,  -2.2, ROT= 181.1,   2.2

2025-10-26T21:46:03.545Z,1761515163.545 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:46:03.545Z,1761515163.545 [DAT](INFO): direction in FSK: [-0.999079,-0.019183,-0.038388]
2025-10-26T21:46:03.546Z,1761515163.546 [DAT](INFO): publishing direction and range info
2025-10-26T21:46:03.549Z,1761515163.549 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:46:03.549Z,1761515163.549 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:46:03.650Z,1761515163.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142074,-0.989049,-0.039965],[0.983018,-0.136240,-0.122939],[0.116148,-0.056753,0.991609]]
2025-10-26T21:46:03.706Z,1761515163.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.504508 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:46:03.714Z,1761515163.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.205499 m,
      bearing: 279.461605 deg,
      lat: 36.779425 deg,
      lon: -121.859480 deg,
      deltaT: 0.504508 s,
      deltaX: 0.000039 m,
      approachRate: 0.000078 m/s,
      posRepo size: 4

2025-10-26T21:46:03.715Z,1761515163.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m.
2025-10-26T21:46:03.784Z,1761515163.784 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:46:04.037Z,1761515164.037 [DAT](INFO): DAT read: Rx Time:21:46:02.7383 

2025-10-26T21:46:04.037Z,1761515164.037 [DAT](INFO): Rx dataTimestamp_ set to:1761515164.037167
2025-10-26T21:46:04.039Z,1761515164.039 [DAT](INFO): DAT read: Bearing  64.4,  -7.5 (Local)

2025-10-26T21:46:04.039Z,1761515164.039 [DAT](INFO): Local bearing/azimuth received:
 Bearing  64.4,  -7.5 (Local)

2025-10-26T21:46:04.042Z,1761515164.042 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed -0.1

2025-10-26T21:46:04.047Z,1761515164.047 [DAT](INFO): DAT read: 21:46:02.7383 LVL= 32752, 24993, 32754, 32755, AGC= 65, IDX= 503,-0.23,-0.477, 1.274,-0.337, 0.230, PHS=-0.605, 1.089,-0.611, RAW= 330.2,   1.5, CAL= 329.1,  -1.3, ROT= 180.9,   1.3

2025-10-26T21:46:04.050Z,1761515164.050 [DAT](INFO): got valid direction response:
 21:46:02.7383 LVL= 32752, 24993, 32754, 32755, AGC= 65, IDX= 503,-0.23,-0.477, 1.274,-0.337, 0.230, PHS=-0.605, 1.089,-0.611, RAW= 330.2,   1.5, CAL= 329.1,  -1.3, ROT= 180.9,   1.3

2025-10-26T21:46:04.052Z,1761515164.052 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:46:04.053Z,1761515164.053 [DAT](INFO): direction in FSK: [-0.999619,-0.015703,-0.022687]
2025-10-26T21:46:04.053Z,1761515164.053 [DAT](INFO): publishing direction and range info
2025-10-26T21:46:04.056Z,1761515164.056 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:46:04.057Z,1761515164.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:46:04.181Z,1761515164.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145571,-0.988562,-0.039427],[0.982388,-0.139713,-0.124075],[0.117147,-0.056794,0.991489]]
2025-10-26T21:46:04.266Z,1761515164.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.502571 s,
      deltaX: 0.200000 m,
      approachRate: 0.397953 m/s,
      rangeRepo size: 4

2025-10-26T21:46:04.272Z,1761515164.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.404263 m,
      bearing: 279.410934 deg,
      lat: 36.779425 deg,
      lon: -121.859480 deg,
      deltaT: 0.502571 s,
      deltaX: 0.198764 m,
      approachRate: 0.395494 m/s,
      posRepo size: 4

2025-10-26T21:46:04.273Z,1761515164.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:46:04.288Z,1761515164.288 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:46:04.540Z,1761515164.540 [DAT](INFO): DAT read: user:373>

2025-10-26T21:46:04.541Z,1761515164.541 [DAT](INFO): DAT read: 50

2025-10-26T21:46:04.541Z,1761515164.541 [DAT](INFO): unknown deviceResponse_: 50

2025-10-26T21:46:04.541Z,1761515164.541 [DAT](INFO): DAT read: Ok

2025-10-26T21:46:04.542Z,1761515164.542 [DAT](INFO): unknown deviceResponse_: Ok

2025-10-26T21:46:04.542Z,1761515164.542 [DAT](INFO): DAT read: user:374>

2025-10-26T21:46:04.543Z,1761515164.543 [DAT](INFO): DAT read: Tx time:21:46:03.6910

2025-10-26T21:46:04.543Z,1761515164.543 [DAT](INFO): Ping request sent.
2025-10-26T21:46:04.543Z,1761515164.543 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:46:04.544Z,1761515164.544 [DAT](INFO): publishing transmit ping time
2025-10-26T21:46:04.544Z,1761515164.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000876
2025-10-26T21:46:04.687Z,1761515164.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148949,-0.988081,-0.038862],[0.981769,-0.143076,-0.125139],[0.118087,-0.056793,0.991378]]
2025-10-26T21:46:04.734Z,1761515164.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:46:04.793Z,1761515164.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249619
2025-10-26T21:46:05.044Z,1761515165.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501067
2025-10-26T21:46:05.139Z,1761515165.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:46:05.296Z,1761515165.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753141
2025-10-26T21:46:05.447Z,1761515165.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155978,-0.987039,-0.037758],[0.980440,-0.150064,-0.127353],[0.120036,-0.056884,0.991139]]
2025-10-26T21:46:05.498Z,1761515165.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:46:05.550Z,1761515165.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006060
2025-10-26T21:46:05.800Z,1761515165.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257085
2025-10-26T21:46:05.856Z,1761515165.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159017,-0.986577,-0.037152],[0.979864,-0.153109,-0.128156],[0.120747,-0.056783,0.991058]]
2025-10-26T21:46:05.874Z,1761515165.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:46:06.052Z,1761515166.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509181
2025-10-26T21:46:06.262Z,1761515166.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162049,-0.986109,-0.036447],[0.979291,-0.156166,-0.128848],[0.121367,-0.056572,0.990994]]
2025-10-26T21:46:06.301Z,1761515166.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:46:06.304Z,1761515166.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761188
2025-10-26T21:46:06.557Z,1761515166.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013723
2025-10-26T21:46:06.687Z,1761515166.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165052,-0.985630,-0.035940],[0.978730,-0.159177,-0.129420],[0.121840,-0.056537,0.990938]]
2025-10-26T21:46:06.723Z,1761515166.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:46:06.809Z,1761515166.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265787
2025-10-26T21:46:07.060Z,1761515167.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517068
2025-10-26T21:46:07.107Z,1761515167.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167535,-0.985222,-0.035627],[0.978280,-0.161663,-0.129742],[0.122065,-0.056589,0.990908]]
2025-10-26T21:46:07.174Z,1761515167.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:46:07.312Z,1761515167.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769044
2025-10-26T21:46:07.549Z,1761515167.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:46:07.565Z,1761515167.565 [DAT](INFO): DAT read: Rx Time:21:46:06.1159

2025-10-26T21:46:07.565Z,1761515167.565 [DAT](INFO): Rx dataTimestamp_ set to:1761515167.564692
2025-10-26T21:46:07.566Z,1761515167.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022323
2025-10-26T21:46:07.816Z,1761515167.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273057
2025-10-26T21:46:07.960Z,1761515167.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:46:08.074Z,1761515168.074 [DAT](INFO): DAT read: 21:46:06.1159 LVL= 32752, 30097, 32754, 32755, AGC= 64, IDX= 498, 0.07, 1.825,-2.716, 1.904, 2.430, PHS=-0.503, 1.182,-0.570, RAW= 331.9,  -1.3, CAL= 331.1,  -4.2, ROT= 178.9,   4.2

2025-10-26T21:46:08.075Z,1761515168.075 [DAT](INFO): got valid direction response:
 21:46:06.1159 LVL= 32752, 30097, 32754, 32755, AGC= 64, IDX= 498, 0.07, 1.825,-2.716, 1.904, 2.430, PHS=-0.503, 1.182,-0.570, RAW= 331.9,  -1.3, CAL= 331.1,  -4.2, ROT= 178.9,   4.2

2025-10-26T21:46:08.076Z,1761515168.076 [DAT](INFO): DAT read: Bearing  67.6,  -5.4 (Local)

2025-10-26T21:46:08.076Z,1761515168.076 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.6,  -5.4 (Local)

2025-10-26T21:46:08.078Z,1761515168.078 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m  (Round-trip  20.8 ms) speed -0.1 m/s

2025-10-26T21:46:08.078Z,1761515168.078 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:46:08.079Z,1761515168.079 [DAT](INFO): direction in FSK: [-0.997131,0.019146,-0.073238]
2025-10-26T21:46:08.080Z,1761515168.080 [DAT](INFO): publishing direction and range info
2025-10-26T21:46:08.298Z,1761515168.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172679,-0.984342,-0.035379],[0.977471,-0.166827,-0.129302],[0.121375,-0.056909,0.990974]]
2025-10-26T21:46:08.366Z,1761515168.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 4.031008 s,
      deltaX: 0.100000 m,
      approachRate: 0.024808 m/s,
      rangeRepo size: 4

2025-10-26T21:46:08.372Z,1761515168.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.503613 m,
      bearing: 279.147163 deg,
      lat: 36.779425 deg,
      lon: -121.859480 deg,
      deltaT: 4.031008 s,
      deltaX: 0.099350 m,
      approachRate: 0.024646 m/s,
      posRepo size: 4

2025-10-26T21:46:08.373Z,1761515168.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:08.705Z,1761515168.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174022,-0.984111,-0.035248],[0.977289,-0.168199,-0.128898],[0.120922,-0.056879,0.991031]]
2025-10-26T21:46:08.756Z,1761515168.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:09.120Z,1761515169.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174940,-0.983955,-0.035062],[0.977208,-0.169170,-0.128244],[0.120255,-0.056698,0.991123]]
2025-10-26T21:46:09.202Z,1761515169.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:09.570Z,1761515169.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:09.918Z,1761515169.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175614,-0.983841,-0.034873],[0.977306,-0.169966,-0.126429],[0.118459,-0.056284,0.991362]]
2025-10-26T21:46:09.959Z,1761515169.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:10.322Z,1761515170.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175801,-0.983802,-0.035029],[0.977380,-0.170182,-0.125567],[0.117572,-0.056312,0.991466]]
2025-10-26T21:46:10.376Z,1761515170.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:10.744Z,1761515170.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175916,-0.983762,-0.035582],[0.977570,-0.170328,-0.123879],[0.115806,-0.056576,0.991659]]
2025-10-26T21:46:10.762Z,1761515170.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:11.224Z,1761515171.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:11.534Z,1761515171.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175705,-0.983790,-0.035856],[0.977714,-0.170137,-0.122996],[0.114902,-0.056668,0.991759]]
2025-10-26T21:46:11.585Z,1761515171.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:11.946Z,1761515171.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175807,-0.983773,-0.035823],[0.977858,-0.170323,-0.121587],[0.113513,-0.056406,0.991934]]
2025-10-26T21:46:11.964Z,1761515171.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:12.351Z,1761515172.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175988,-0.983748,-0.035621],[0.977884,-0.170556,-0.121049],[0.113007,-0.056136,0.992007]]
2025-10-26T21:46:12.387Z,1761515172.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:12.984Z,1761515172.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176120,-0.983727,-0.035552],[0.977920,-0.170724,-0.120525],[0.112494,-0.055994,0.992073]]
2025-10-26T21:46:13.003Z,1761515173.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:13.325Z,1761515173.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:13.670Z,1761515173.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176833,-0.983583,-0.035978],[0.977868,-0.171418,-0.119955],[0.111819,-0.056393,0.992127]]
2025-10-26T21:46:13.689Z,1761515173.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:14.076Z,1761515174.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177469,-0.983464,-0.036096],[0.977765,-0.172040,-0.119910],[0.111717,-0.056574,0.992128]]
2025-10-26T21:46:14.096Z,1761515174.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:14.478Z,1761515174.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178336,-0.983316,-0.035872],[0.977607,-0.172926,-0.119924],[0.111720,-0.056455,0.992135]]
2025-10-26T21:46:14.522Z,1761515174.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:14.883Z,1761515174.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178825,-0.983231,-0.035745],[0.977530,-0.173433,-0.119814],[0.111606,-0.056367,0.992153]]
2025-10-26T21:46:14.902Z,1761515174.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:15.297Z,1761515175.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179928,-0.983041,-0.035453],[0.977298,-0.174546,-0.120095],[0.111870,-0.056257,0.992129]]
2025-10-26T21:46:15.355Z,1761515175.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:15.691Z,1761515175.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180800,-0.982885,-0.035342],[0.977122,-0.175415,-0.120261],[0.112004,-0.056277,0.992113]]
2025-10-26T21:46:15.726Z,1761515175.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:16.095Z,1761515176.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181662,-0.982728,-0.035277],[0.976939,-0.176267,-0.120503],[0.112204,-0.056354,0.992086]]
2025-10-26T21:46:16.134Z,1761515176.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:16.499Z,1761515176.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182524,-0.982571,-0.035186],[0.976757,-0.177121,-0.120720],[0.112384,-0.056403,0.992063]]
2025-10-26T21:46:16.545Z,1761515176.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:16.903Z,1761515176.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183692,-0.982360,-0.035013],[0.976490,-0.178275,-0.121183],[0.112804,-0.056450,0.992012]]
2025-10-26T21:46:16.922Z,1761515176.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:17.326Z,1761515177.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184511,-0.982214,-0.034806],[0.976310,-0.179099,-0.121416],[0.113023,-0.056384,0.991991]]
2025-10-26T21:46:17.379Z,1761515177.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:17.722Z,1761515177.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185666,-0.982011,-0.034401],[0.976032,-0.180264,-0.121924],[0.113529,-0.056214,0.991943]]
2025-10-26T21:46:17.745Z,1761515177.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:18.122Z,1761515178.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186684,-0.981824,-0.034229],[0.975790,-0.181271,-0.122376],[0.113947,-0.056246,0.991893]]
2025-10-26T21:46:18.157Z,1761515178.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:18.574Z,1761515178.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:18.925Z,1761515178.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188287,-0.981531,-0.033847],[0.975392,-0.182862,-0.123177],[0.114713,-0.056207,0.991807]]
2025-10-26T21:46:18.944Z,1761515178.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:19.352Z,1761515179.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188886,-0.981416,-0.033850],[0.975238,-0.183436,-0.123539],[0.115034,-0.056346,0.991762]]
2025-10-26T21:46:19.409Z,1761515179.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:19.735Z,1761515179.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189718,-0.981268,-0.033473],[0.975025,-0.184282,-0.123959],[0.115469,-0.056155,0.991723]]
2025-10-26T21:46:19.769Z,1761515179.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:20.140Z,1761515180.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190441,-0.981132,-0.033360],[0.974832,-0.184987,-0.124431],[0.115912,-0.056217,0.991667]]
2025-10-26T21:46:20.160Z,1761515180.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:20.586Z,1761515180.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:20.942Z,1761515180.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190912,-0.981036,-0.033492],[0.974702,-0.185419,-0.124807],[0.116230,-0.056472,0.991616]]
2025-10-26T21:46:20.971Z,1761515180.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:21.446Z,1761515181.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:21.806Z,1761515181.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190606,-0.981088,-0.033691],[0.974759,-0.185089,-0.124847],[0.116250,-0.056638,0.991604]]
2025-10-26T21:46:21.828Z,1761515181.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:22.209Z,1761515182.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190048,-0.981191,-0.033849],[0.974886,-0.184525,-0.124690],[0.116099,-0.056696,0.991618]]
2025-10-26T21:46:22.227Z,1761515182.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:22.701Z,1761515182.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:23.014Z,1761515183.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187938,-0.981580,-0.034355],[0.975388,-0.182418,-0.123859],[0.115310,-0.056787,0.991705]]
2025-10-26T21:46:23.033Z,1761515183.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:23.116Z,1761515183.116 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:46:23.420Z,1761515183.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186333,-0.981875,-0.034671],[0.975773,-0.180826,-0.123163],[0.114661,-0.056780,0.991781]]
2025-10-26T21:46:23.477Z,1761515183.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:23.818Z,1761515183.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184574,-0.982199,-0.034892],[0.976189,-0.179097,-0.122387],[0.113960,-0.056651,0.991869]]
2025-10-26T21:46:23.857Z,1761515183.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:24.120Z,1761515184.120 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:46:24.222Z,1761515184.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182178,-0.982622,-0.035570],[0.976767,-0.176704,-0.121252],[0.112860,-0.056833,0.991984]]
2025-10-26T21:46:24.256Z,1761515184.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:24.632Z,1761515184.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179520,-0.983082,-0.036364],[0.977395,-0.174041,-0.120034],[0.111674,-0.057091,0.992104]]
2025-10-26T21:46:24.688Z,1761515184.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:25.031Z,1761515185.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176610,-0.983586,-0.036973],[0.978077,-0.171162,-0.118616],[0.110341,-0.057112,0.992252]]
2025-10-26T21:46:25.065Z,1761515185.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:25.445Z,1761515185.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173504,-0.984114,-0.037631],[0.978794,-0.168088,-0.117085],[0.108899,-0.057148,0.992409]]
2025-10-26T21:46:25.494Z,1761515185.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:25.843Z,1761515185.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170317,-0.984648,-0.038209],[0.979521,-0.164949,-0.115461],[0.107386,-0.057091,0.992577]]
2025-10-26T21:46:25.865Z,1761515185.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:26.246Z,1761515186.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166570,-0.985263,-0.038889],[0.980344,-0.161251,-0.113685],[0.105739,-0.057061,0.992755]]
2025-10-26T21:46:26.272Z,1761515186.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:26.711Z,1761515186.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:27.054Z,1761515187.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158264,-0.986561,-0.040619],[0.982054,-0.153001,-0.110278],[0.102582,-0.057343,0.993070]]
2025-10-26T21:46:27.072Z,1761515187.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:27.471Z,1761515187.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153395,-0.987284,-0.041708],[0.982991,-0.148143,-0.108550],[0.100991,-0.057649,0.993216]]
2025-10-26T21:46:27.529Z,1761515187.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:27.866Z,1761515187.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148768,-0.987943,-0.042858],[0.983847,-0.143509,-0.107008],[0.099567,-0.058086,0.993334]]
2025-10-26T21:46:27.900Z,1761515187.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:28.301Z,1761515188.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:28.673Z,1761515188.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139974,-0.989174,-0.044075],[0.985339,-0.134770,-0.104618],[0.097545,-0.058073,0.993535]]
2025-10-26T21:46:28.739Z,1761515188.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:29.072Z,1761515189.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135807,-0.989741,-0.044379],[0.985998,-0.130647,-0.103634],[0.096773,-0.057831,0.993625]]
2025-10-26T21:46:29.096Z,1761515189.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:29.498Z,1761515189.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131686,-0.990289,-0.044562],[0.986615,-0.126571,-0.102818],[0.096179,-0.057506,0.993702]]
2025-10-26T21:46:29.550Z,1761515189.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:29.882Z,1761515189.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127629,-0.990807,-0.044855],[0.987193,-0.122539,-0.102149],[0.095714,-0.057317,0.993757]]
2025-10-26T21:46:29.916Z,1761515189.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:30.282Z,1761515190.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123527,-0.991314,-0.045137],[0.987755,-0.118461,-0.101520],[0.095291,-0.057125,0.993809]]
2025-10-26T21:46:30.300Z,1761515190.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:30.697Z,1761515190.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119346,-0.991795,-0.045812],[0.988301,-0.114259,-0.101022],[0.094959,-0.057332,0.993829]]
2025-10-26T21:46:30.763Z,1761515190.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:31.126Z,1761515191.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:31.525Z,1761515191.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110847,-0.992708,-0.047363],[0.989347,-0.105695,-0.100103],[0.094367,-0.057955,0.993849]]
2025-10-26T21:46:31.582Z,1761515191.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:31.903Z,1761515191.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106429,-0.993165,-0.047914],[0.989858,-0.101268,-0.099632],[0.094099,-0.058032,0.993870]]
2025-10-26T21:46:31.928Z,1761515191.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:32.304Z,1761515192.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102060,-0.993612,-0.048147],[0.990344,-0.096921,-0.099123],[0.093824,-0.057798,0.993910]]
2025-10-26T21:46:32.323Z,1761515192.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:32.711Z,1761515192.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097429,-0.994059,-0.048520],[0.990836,-0.092300,-0.098618],[0.093554,-0.057684,0.993942]]
2025-10-26T21:46:32.790Z,1761515192.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:33.117Z,1761515193.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092579,-0.994499,-0.048993],[0.991332,-0.087454,-0.098044],[0.093220,-0.057646,0.993975]]
2025-10-26T21:46:33.152Z,1761515193.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:33.553Z,1761515193.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087350,-0.994936,-0.049727],[0.991851,-0.082215,-0.097326],[0.092745,-0.057823,0.994009]]
2025-10-26T21:46:33.624Z,1761515193.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:33.981Z,1761515193.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:34.322Z,1761515194.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076412,-0.995754,-0.051331],[0.992861,-0.071259,-0.095649],[0.091585,-0.058273,0.994091]]
2025-10-26T21:46:34.353Z,1761515194.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:34.732Z,1761515194.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070428,-0.996152,-0.052170],[0.993375,-0.065279,-0.094576],[0.090806,-0.058485,0.994150]]
2025-10-26T21:46:34.782Z,1761515194.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:35.128Z,1761515195.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063935,-0.996560,-0.052729],[0.993903,-0.058830,-0.093252],[0.089830,-0.058369,0.994245]]
2025-10-26T21:46:35.146Z,1761515195.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:35.580Z,1761515195.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050214,-0.997274,-0.054061],[0.994872,-0.045188,-0.090485],[0.087796,-0.058327,0.994429]]
2025-10-26T21:46:35.664Z,1761515195.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:35.985Z,1761515195.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:36.340Z,1761515196.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042677,-0.997575,-0.054989],[0.995333,-0.037684,-0.088835],[0.086547,-0.058524,0.994527]]
2025-10-26T21:46:36.358Z,1761515196.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:36.753Z,1761515196.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035111,-0.997814,-0.055977],[0.995737,-0.030148,-0.087166],[0.085287,-0.058799,0.994620]]
2025-10-26T21:46:36.794Z,1761515196.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:37.146Z,1761515197.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027362,-0.998005,-0.056895],[0.996086,-0.022436,-0.085490],[0.084043,-0.059011,0.994713]]
2025-10-26T21:46:37.185Z,1761515197.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:37.601Z,1761515197.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012030,-0.998222,-0.058386],[0.996585,-0.007199,-0.082256],[0.081690,-0.059176,0.994900]]
2025-10-26T21:46:37.654Z,1761515197.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:37.992Z,1761515197.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:38.358Z,1761515198.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005090,-0.998248,-0.058956],[0.996698,-0.000287,-0.081192],[0.081033,-0.059175,0.994953]]
2025-10-26T21:46:38.393Z,1761515198.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:38.766Z,1761515198.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002402,-0.998234,-0.059354],[0.996780,0.007148,-0.079871],[0.080154,-0.058971,0.995037]]
2025-10-26T21:46:38.817Z,1761515198.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:39.173Z,1761515199.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017399,-0.998019,-0.060456],[0.996752,0.022069,-0.077453],[0.078634,-0.058912,0.995161]]
2025-10-26T21:46:39.191Z,1761515199.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:39.615Z,1761515199.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024403,-0.997834,-0.061082],[0.996649,0.029054,-0.076458],[0.078067,-0.059011,0.995200]]
2025-10-26T21:46:39.693Z,1761515199.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:39.979Z,1761515199.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031412,-0.997599,-0.061718],[0.996485,0.036055,-0.075620],[0.077664,-0.059126,0.995225]]
2025-10-26T21:46:40.013Z,1761515200.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:40.382Z,1761515200.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038229,-0.997329,-0.062237],[0.996263,0.042867,-0.074980],[0.077447,-0.059138,0.995241]]
2025-10-26T21:46:40.400Z,1761515200.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:40.790Z,1761515200.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044494,-0.997036,-0.062770],[0.995998,0.049147,-0.074652],[0.077516,-0.059197,0.995232]]
2025-10-26T21:46:40.848Z,1761515200.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:46:40.850Z,1761515200.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:41.085Z,1761515201.085 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:46:41.085Z,1761515201.085 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:46:41.187Z,1761515201.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050979,-0.996698,-0.063206],[0.995683,0.055638,-0.074298],[0.077570,-0.059146,0.995231]]
2025-10-26T21:46:41.209Z,1761515201.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:41.340Z,1761515201.340 [DAT](INFO): DAT read: user:375>

2025-10-26T21:46:41.341Z,1761515201.341 [DAT](INFO): DAT read: Tx time:21:46:40.4408

2025-10-26T21:46:41.342Z,1761515201.342 [DAT](INFO): Ping request sent.
2025-10-26T21:46:41.342Z,1761515201.342 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:46:41.342Z,1761515201.342 [DAT](INFO): publishing transmit ping time
2025-10-26T21:46:41.343Z,1761515201.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000763
2025-10-26T21:46:41.592Z,1761515201.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249639
2025-10-26T21:46:41.630Z,1761515201.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057210,-0.996323,-0.063773],[0.995320,0.061902,-0.074208],[0.077883,-0.059229,0.995202]]
2025-10-26T21:46:41.691Z,1761515201.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:41.840Z,1761515201.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498413
2025-10-26T21:46:41.994Z,1761515201.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063420,-0.995912,-0.064321],[0.994917,0.068145,-0.074138],[0.078218,-0.059292,0.995172]]
2025-10-26T21:46:42.050Z,1761515202.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:42.094Z,1761515202.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751725
2025-10-26T21:46:42.344Z,1761515202.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002493
2025-10-26T21:46:42.398Z,1761515202.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069499,-0.995479,-0.064735],[0.994478,0.074252,-0.074163],[0.078635,-0.059223,0.995143]]
2025-10-26T21:46:42.422Z,1761515202.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:42.600Z,1761515202.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257635
2025-10-26T21:46:42.802Z,1761515202.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075352,-0.995020,-0.065253],[0.994001,0.080155,-0.074417],[0.079277,-0.059254,0.995090]]
2025-10-26T21:46:42.848Z,1761515202.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506558
2025-10-26T21:46:42.849Z,1761515202.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:43.101Z,1761515203.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758674
2025-10-26T21:46:43.206Z,1761515203.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081143,-0.994541,-0.065607],[0.993501,0.085978,-0.074589],[0.079822,-0.059128,0.995054]]
2025-10-26T21:46:43.225Z,1761515203.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:43.352Z,1761515203.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010409
2025-10-26T21:46:43.604Z,1761515203.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262508
2025-10-26T21:46:43.718Z,1761515203.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:43.856Z,1761515203.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514464
2025-10-26T21:46:44.015Z,1761515204.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093087,-0.993437,-0.066459],[0.992365,0.097997,-0.074889],[0.080910,-0.058981,0.994975]]
2025-10-26T21:46:44.063Z,1761515204.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:44.108Z,1761515204.108 [DAT](INFO): DAT read: Rx Time:21:46:42.8638

2025-10-26T21:46:44.109Z,1761515204.109 [DAT](INFO): Rx dataTimestamp_ set to:1761515204.108681
2025-10-26T21:46:44.109Z,1761515204.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767619
2025-10-26T21:46:44.360Z,1761515204.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018411
2025-10-26T21:46:44.418Z,1761515204.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099690,-0.992777,-0.066753],[0.991698,0.104610,-0.074780],[0.081223,-0.058744,0.994963]]
2025-10-26T21:46:44.453Z,1761515204.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:46:44.612Z,1761515204.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270477
2025-10-26T21:46:44.822Z,1761515204.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106610,-0.992026,-0.067216],[0.990948,0.111554,-0.074687],[0.081590,-0.058645,0.994939]]
2025-10-26T21:46:44.870Z,1761515204.870 [DAT](INFO): DAT read: 21:46:42.8638 LVL= 32752, 23185, 31138, 32755, AGC= 60, IDX= 398, 0.11,-2.531,-0.400,-1.659,-1.439, PHS=-0.990, 1.084,-0.264, RAW= 309.8,   1.9, CAL= 307.6,  -1.4, ROT= 202.4,   1.4

2025-10-26T21:46:44.871Z,1761515204.871 [DAT](INFO): got valid direction response:
 21:46:42.8638 LVL= 32752, 23185, 31138, 32755, AGC= 60, IDX= 398, 0.11,-2.531,-0.400,-1.659,-1.439, PHS=-0.990, 1.084,-0.264, RAW= 309.8,   1.9, CAL= 307.6,  -1.4, ROT= 202.4,   1.4

2025-10-26T21:46:44.872Z,1761515204.872 [DAT](INFO): DAT read: Bearing  52.1, -26.9 (Local)

2025-10-26T21:46:44.872Z,1761515204.872 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.1, -26.9 (Local)

2025-10-26T21:46:44.874Z,1761515204.874 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m  (Round-trip  18.9 ms) speed  0.0 m/s

2025-10-26T21:46:44.874Z,1761515204.874 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:46:44.875Z,1761515204.875 [DAT](INFO): direction in FSK: [-0.924270,-0.380957,-0.024432]
2025-10-26T21:46:44.875Z,1761515204.875 [DAT](INFO): publishing direction and range info
2025-10-26T21:46:44.893Z,1761515204.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 36.795720 s,
      deltaX: -1.500000 m,
      approachRate: -0.040766 m/s,
      rangeRepo size: 4

2025-10-26T21:46:44.936Z,1761515204.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.012907 m,
      bearing: 286.371855 deg,
      lat: 36.779425 deg,
      lon: -121.859480 deg,
      deltaT: 36.795720 s,
      deltaX: -1.490705 m,
      approachRate: -0.040513 m/s,
      posRepo size: 4

2025-10-26T21:46:44.936Z,1761515204.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:45.228Z,1761515205.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112838,-0.991320,-0.067476],[0.990233,0.117791,-0.074587],[0.081888,-0.058401,0.994929]]
2025-10-26T21:46:45.246Z,1761515205.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:45.631Z,1761515205.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118316,-0.990655,-0.067847],[0.989562,0.123295,-0.074607],[0.082275,-0.058312,0.994902]]
2025-10-26T21:46:45.661Z,1761515205.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:46.034Z,1761515206.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124029,-0.989918,-0.068405],[0.988818,0.129055,-0.074723],[0.082798,-0.058373,0.994855]]
2025-10-26T21:46:46.138Z,1761515206.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:46.440Z,1761515206.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130596,-0.989028,-0.069054],[0.987944,0.135661,-0.074586],[0.083136,-0.058481,0.994821]]
2025-10-26T21:46:46.458Z,1761515206.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:46.842Z,1761515206.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137106,-0.988100,-0.069717],[0.987030,0.142213,-0.074481],[0.083510,-0.058601,0.994782]]
2025-10-26T21:46:46.885Z,1761515206.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:47.246Z,1761515207.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144101,-0.987055,-0.070405],[0.986016,0.149239,-0.074159],[0.083707,-0.058734,0.994758]]
2025-10-26T21:46:47.280Z,1761515207.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:47.652Z,1761515207.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150803,-0.985996,-0.071206],[0.985013,0.155970,-0.073637],[0.083712,-0.059034,0.994740]]
2025-10-26T21:46:47.669Z,1761515207.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:48.066Z,1761515208.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157637,-0.984893,-0.071670],[0.983943,0.162808,-0.073145],[0.083708,-0.058989,0.994743]]
2025-10-26T21:46:48.128Z,1761515208.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:48.458Z,1761515208.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164655,-0.983696,-0.072323],[0.982803,0.169834,-0.072484],[0.083585,-0.059144,0.994744]]
2025-10-26T21:46:48.488Z,1761515208.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:48.918Z,1761515208.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:49.268Z,1761515209.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178563,-0.981190,-0.073360],[0.980397,0.183738,-0.071143],[0.083284,-0.059219,0.994765]]
2025-10-26T21:46:49.286Z,1761515209.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:49.670Z,1761515209.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185524,-0.979855,-0.073924],[0.979123,0.190695,-0.070386],[0.083065,-0.059323,0.994777]]
2025-10-26T21:46:49.699Z,1761515209.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:50.093Z,1761515210.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192273,-0.978521,-0.074350],[0.977840,0.197430,-0.069639],[0.082822,-0.059313,0.994798]]
2025-10-26T21:46:50.135Z,1761515210.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:50.479Z,1761515210.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199348,-0.977054,-0.075000],[0.976460,0.204494,-0.068612],[0.082375,-0.059557,0.994820]]
2025-10-26T21:46:50.498Z,1761515210.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:50.882Z,1761515210.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206218,-0.975595,-0.075429],[0.975068,0.211338,-0.067661],[0.081951,-0.059595,0.994853]]
2025-10-26T21:46:50.929Z,1761515210.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:51.286Z,1761515211.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213044,-0.974117,-0.075549],[0.973653,0.218104,-0.066554],[0.081309,-0.059380,0.994919]]
2025-10-26T21:46:51.317Z,1761515211.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:51.744Z,1761515211.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:52.101Z,1761515212.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225956,-0.971153,-0.076191],[0.970829,0.230939,-0.064481],[0.080216,-0.059399,0.995006]]
2025-10-26T21:46:52.138Z,1761515212.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:52.498Z,1761515212.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231938,-0.969734,-0.076295],[0.969464,0.236869,-0.063502],[0.079652,-0.059237,0.995061]]
2025-10-26T21:46:52.524Z,1761515212.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:52.902Z,1761515212.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238324,-0.968173,-0.076439],[0.967997,0.243177,-0.062028],[0.078642,-0.059210,0.995143]]
2025-10-26T21:46:52.954Z,1761515212.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:53.328Z,1761515213.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244503,-0.966627,-0.076494],[0.966537,0.249274,-0.060576],[0.077623,-0.059123,0.995228]]
2025-10-26T21:46:53.360Z,1761515213.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:53.736Z,1761515213.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250638,-0.965061,-0.076403],[0.965069,0.255299,-0.058850],[0.076299,-0.058985,0.995339]]
2025-10-26T21:46:53.754Z,1761515213.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:54.197Z,1761515214.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256498,-0.963531,-0.076264],[0.963634,0.261048,-0.057134],[0.074959,-0.058836,0.995449]]
2025-10-26T21:46:54.234Z,1761515214.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:54.252Z,1761515214.252 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:46:54.598Z,1761515214.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262153,-0.962029,-0.075999],[0.962230,0.266573,-0.055255],[0.073416,-0.058643,0.995576]]
2025-10-26T21:46:54.684Z,1761515214.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:54.000Z,1761515215.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267852,-0.960475,-0.075781],[0.960793,0.272131,-0.053110],[0.071634,-0.058584,0.995709]]
2025-10-26T21:46:55.053Z,1761515215.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:55.256Z,1761515215.256 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:46:55.402Z,1761515215.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273093,-0.959031,-0.075366],[0.959446,0.277226,-0.051084],[0.069885,-0.058359,0.995847]]
2025-10-26T21:46:55.436Z,1761515215.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:55.821Z,1761515215.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278609,-0.957474,-0.074971],[0.958005,0.282579,-0.048738],[0.067851,-0.058244,0.995994]]
2025-10-26T21:46:55.895Z,1761515215.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:56.212Z,1761515216.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283884,-0.955958,-0.074528],[0.956609,0.287683,-0.046244],[0.065648,-0.058166,0.996146]]
2025-10-26T21:46:56.268Z,1761515216.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:56.624Z,1761515216.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289282,-0.954391,-0.073848],[0.955161,0.292879,-0.043466],[0.063112,-0.057962,0.996322]]
2025-10-26T21:46:56.642Z,1761515216.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:57.018Z,1761515217.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294681,-0.952782,-0.073282],[0.953685,0.298073,-0.040472],[0.060404,-0.057961,0.996490]]
2025-10-26T21:46:57.101Z,1761515217.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:57.473Z,1761515217.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299978,-0.951182,-0.072571],[0.952210,0.303152,-0.037345],[0.057522,-0.057901,0.996664]]
2025-10-26T21:46:57.491Z,1761515217.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:57.917Z,1761515217.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305022,-0.949646,-0.071646],[0.950786,0.307963,-0.034135],[0.054480,-0.057708,0.996846]]
2025-10-26T21:46:57.961Z,1761515217.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:58.279Z,1761515218.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310195,-0.948029,-0.070861],[0.949284,0.312908,-0.030807],[0.051379,-0.057711,0.997010]]
2025-10-26T21:46:58.304Z,1761515218.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:58.682Z,1761515218.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315967,-0.946190,-0.069924],[0.947550,0.318438,-0.027297],[0.048095,-0.057631,0.997179]]
2025-10-26T21:46:58.729Z,1761515218.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:59.141Z,1761515219.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:59.491Z,1761515219.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328233,-0.942168,-0.067701],[0.943699,0.330201,-0.019968],[0.041169,-0.057335,0.997506]]
2025-10-26T21:46:59.509Z,1761515219.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:46:59.944Z,1761515219.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334612,-0.940006,-0.066509],[0.941598,0.336339,-0.016408],[0.037793,-0.057134,0.997651]]
2025-10-26T21:47:00.004Z,1761515220.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:00.318Z,1761515220.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341323,-0.937669,-0.065396],[0.939316,0.342814,-0.012785],[0.034407,-0.057064,0.997778]]
2025-10-26T21:47:00.336Z,1761515220.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:00.730Z,1761515220.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348283,-0.935194,-0.064112],[0.936878,0.349537,-0.009146],[0.030963,-0.056880,0.997901]]
2025-10-26T21:47:00.750Z,1761515220.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:01.126Z,1761515221.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355588,-0.932520,-0.062965],[0.934232,0.356621,-0.005636],[0.027710,-0.056820,0.998000]]
2025-10-26T21:47:01.181Z,1761515221.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:01.531Z,1761515221.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362841,-0.929795,-0.061868],[0.931524,0.363671,-0.002332],[0.024668,-0.056785,0.998082]]
2025-10-26T21:47:01.578Z,1761515221.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:02.000Z,1761515222.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369564,-0.927215,-0.060787],[0.928951,0.370203,0.000817],[0.021746,-0.056770,0.998150]]
2025-10-26T21:47:02.092Z,1761515222.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:02.414Z,1761515222.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381305,-0.922552,-0.059204],[0.924293,0.381636,0.006059],[0.017005,-0.057032,0.998228]]
2025-10-26T21:47:02.447Z,1761515222.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:02.801Z,1761515222.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386600,-0.920382,-0.058632],[0.922125,0.386801,0.008347],[0.014996,-0.057294,0.998245]]
2025-10-26T21:47:02.819Z,1761515222.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:03.202Z,1761515223.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391334,-0.918407,-0.058199],[0.920149,0.391438,0.010079],[0.013525,-0.057496,0.998254]]
2025-10-26T21:47:03.246Z,1761515223.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:03.610Z,1761515223.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395687,-0.916561,-0.057853],[0.918300,0.395723,0.011331],[0.012508,-0.057610,0.998261]]
2025-10-26T21:47:03.644Z,1761515223.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:04.014Z,1761515224.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400306,-0.914560,-0.057754],[0.916307,0.400281,0.012510],[0.011677,-0.057928,0.998252]]
2025-10-26T21:47:04.082Z,1761515224.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:04.407Z,1761515224.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404368,-0.912770,-0.057766],[0.914526,0.404313,0.013162],[0.011342,-0.058151,0.998243]]
2025-10-26T21:47:04.441Z,1761515224.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:04.810Z,1761515224.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407818,-0.911229,-0.057850],[0.912992,0.407759,0.013360],[0.011415,-0.058265,0.998236]]
2025-10-26T21:47:04.856Z,1761515224.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:05.227Z,1761515225.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410941,-0.909801,-0.058216],[0.911584,0.410900,0.013242],[0.011874,-0.058511,0.998216]]
2025-10-26T21:47:05.271Z,1761515225.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:05.656Z,1761515225.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413718,-0.908507,-0.058754],[0.910317,0.413714,0.012798],[0.012680,-0.058780,0.998190]]
2025-10-26T21:47:05.694Z,1761515225.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:06.048Z,1761515226.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416296,-0.907293,-0.059307],[0.909127,0.416339,0.012228],[0.013598,-0.059008,0.998165]]
2025-10-26T21:47:06.120Z,1761515226.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:06.426Z,1761515226.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418472,-0.906250,-0.059928],[0.908107,0.418587,0.011227],[0.014911,-0.059119,0.998140]]
2025-10-26T21:47:06.463Z,1761515226.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:06.830Z,1761515226.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420691,-0.905178,-0.060603],[0.907059,0.420877,0.010281],[0.016200,-0.059295,0.998109]]
2025-10-26T21:47:06.885Z,1761515226.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:07.270Z,1761515227.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422830,-0.904134,-0.061286],[0.906034,0.423110,0.008972],[0.017819,-0.059321,0.998080]]
2025-10-26T21:47:07.323Z,1761515227.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:07.638Z,1761515227.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424793,-0.903177,-0.061822],[0.905081,0.425173,0.007542],[0.019473,-0.059158,0.998059]]
2025-10-26T21:47:07.672Z,1761515227.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:08.080Z,1761515228.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427191,-0.902012,-0.062304],[0.903919,0.427657,0.006340],[0.020926,-0.059027,0.998037]]
2025-10-26T21:47:08.116Z,1761515228.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:08.457Z,1761515228.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429815,-0.900734,-0.062758],[0.902638,0.430371,0.005054],[0.022457,-0.058821,0.998016]]
2025-10-26T21:47:08.475Z,1761515228.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:08.850Z,1761515228.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433210,-0.899082,-0.063095],[0.900977,0.433848,0.003922],[0.023848,-0.058546,0.998000]]
2025-10-26T21:47:08.892Z,1761515228.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:09.255Z,1761515229.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436901,-0.897275,-0.063370],[0.899158,0.437615,0.002865],[0.025161,-0.058232,0.997986]]
2025-10-26T21:47:09.301Z,1761515229.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:09.658Z,1761515229.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440892,-0.895302,-0.063629],[0.897176,0.441668,0.002078],[0.026243,-0.058003,0.997971]]
2025-10-26T21:47:09.684Z,1761515229.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:10.098Z,1761515230.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445103,-0.893194,-0.063941],[0.895065,0.445934,0.001422],[0.027243,-0.057864,0.997953]]
2025-10-26T21:47:10.142Z,1761515230.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:10.466Z,1761515230.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449528,-0.890962,-0.064120],[0.892821,0.450411,0.000749],[0.028212,-0.057584,0.997942]]
2025-10-26T21:47:10.494Z,1761515230.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:10.876Z,1761515230.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454524,-0.888429,-0.064048],[0.890267,0.455440,0.000330],[0.028876,-0.057170,0.997947]]
2025-10-26T21:47:10.911Z,1761515230.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:11.274Z,1761515231.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459771,-0.885734,-0.063922],[0.887545,0.460720,-0.000130],[0.029565,-0.056674,0.997955]]
2025-10-26T21:47:11.323Z,1761515231.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:11.682Z,1761515231.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465421,-0.882780,-0.063893],[0.884577,0.466393,-0.000336],[0.030096,-0.056362,0.997957]]
2025-10-26T21:47:11.703Z,1761515231.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:12.122Z,1761515232.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471214,-0.879699,-0.063921],[0.881494,0.472194,-0.000252],[0.030405,-0.056227,0.997955]]
2025-10-26T21:47:12.174Z,1761515232.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:12.487Z,1761515232.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476989,-0.876584,-0.063892],[0.878376,0.477970,-0.000092],[0.030619,-0.056077,0.997957]]
2025-10-26T21:47:12.507Z,1761515232.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:12.897Z,1761515232.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482458,-0.873584,-0.063912],[0.875379,0.483437,0.000168],[0.030750,-0.056028,0.997956]]
2025-10-26T21:47:12.925Z,1761515232.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:13.294Z,1761515233.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487644,-0.870668,-0.064351],[0.872492,0.488629,0.000491],[0.031016,-0.056385,0.997927]]
2025-10-26T21:47:13.343Z,1761515233.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:13.702Z,1761515233.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492300,-0.868025,-0.064600],[0.869870,0.493279,0.000904],[0.031081,-0.056639,0.997911]]
2025-10-26T21:47:13.739Z,1761515233.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:14.150Z,1761515234.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496360,-0.865692,-0.064848],[0.867561,0.497330,0.001355],[0.031078,-0.056932,0.997894]]
2025-10-26T21:47:14.207Z,1761515234.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:14.509Z,1761515234.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500021,-0.863552,-0.065247],[0.865454,0.500985,0.001829],[0.031108,-0.057383,0.997867]]
2025-10-26T21:47:14.534Z,1761515234.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:14.910Z,1761515234.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502870,-0.861872,-0.065556],[0.863795,0.503840,0.001996],[0.031309,-0.057630,0.997847]]
2025-10-26T21:47:14.944Z,1761515234.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:15.314Z,1761515235.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505063,-0.860563,-0.065894],[0.862505,0.506043,0.002077],[0.031558,-0.057883,0.997824]]
2025-10-26T21:47:15.360Z,1761515235.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:15.733Z,1761515235.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506873,-0.859485,-0.066077],[0.861439,0.507857,0.002189],[0.031676,-0.058030,0.997812]]
2025-10-26T21:47:15.767Z,1761515235.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:16.187Z,1761515236.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508058,-0.858771,-0.066248],[0.860733,0.509052,0.002154],[0.031874,-0.058116,0.997801]]
2025-10-26T21:47:16.254Z,1761515236.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:16.552Z,1761515236.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508785,-0.858315,-0.066577],[0.860298,0.509787,0.002233],[0.032024,-0.058413,0.997779]]
2025-10-26T21:47:16.583Z,1761515236.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:16.930Z,1761515236.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509259,-0.858008,-0.066906],[0.860015,0.510263,0.002410],[0.032071,-0.058767,0.997756]]
2025-10-26T21:47:16.976Z,1761515236.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:17.341Z,1761515237.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509302,-0.857973,-0.067034],[0.859990,0.510304,0.002505],[0.032058,-0.058925,0.997748]]
2025-10-26T21:47:17.393Z,1761515237.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:17.749Z,1761515237.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509348,-0.857958,-0.066878],[0.859970,0.510337,0.002627],[0.031877,-0.058851,0.997758]]
2025-10-26T21:47:17.767Z,1761515237.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:18.170Z,1761515238.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509165,-0.858100,-0.066447],[0.860092,0.510131,0.002792],[0.031501,-0.058572,0.997786]]
2025-10-26T21:47:18.226Z,1761515238.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:18.553Z,1761515238.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508811,-0.858347,-0.065971],[0.860307,0.509769,0.002663],[0.031344,-0.058110,0.997818]]
2025-10-26T21:47:18.597Z,1761515238.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:18.950Z,1761515238.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508658,-0.858469,-0.065567],[0.860405,0.509603,0.002640],[0.031147,-0.057757,0.997845]]
2025-10-26T21:47:19.014Z,1761515239.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:19.366Z,1761515239.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508960,-0.858321,-0.065156],[0.860246,0.509870,0.003047],[0.030606,-0.057601,0.997870]]
2025-10-26T21:47:19.419Z,1761515239.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:19.758Z,1761515239.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509764,-0.857873,-0.064773],[0.859801,0.510614,0.003907],[0.029722,-0.057683,0.997892]]
2025-10-26T21:47:19.818Z,1761515239.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:20.167Z,1761515240.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510668,-0.857388,-0.064064],[0.859305,0.511440,0.004939],[0.028530,-0.057572,0.997934]]
2025-10-26T21:47:20.248Z,1761515240.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:20.579Z,1761515240.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511992,-0.856648,-0.063389],[0.858563,0.512670,0.006306],[0.027096,-0.057652,0.997969]]
2025-10-26T21:47:20.635Z,1761515240.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:20.970Z,1761515240.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513552,-0.855781,-0.062468],[0.857682,0.514120,0.007845],[0.025403,-0.057607,0.998016]]
2025-10-26T21:47:21.018Z,1761515241.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:21.409Z,1761515241.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515449,-0.854721,-0.061358],[0.856598,0.515896,0.009534],[0.023505,-0.057473,0.998070]]
2025-10-26T21:47:21.460Z,1761515241.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:21.779Z,1761515241.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517485,-0.853569,-0.060239],[0.855420,0.517813,0.011241],[0.021598,-0.057347,0.998121]]
2025-10-26T21:47:21.812Z,1761515241.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:22.182Z,1761515242.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519597,-0.852375,-0.058957],[0.854186,0.519808,0.012906],[0.019646,-0.057066,0.998177]]
2025-10-26T21:47:22.279Z,1761515242.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:22.586Z,1761515242.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522110,-0.850914,-0.057849],[0.852695,0.522200,0.014764],[0.017646,-0.057036,0.998216]]
2025-10-26T21:47:22.645Z,1761515242.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:22.996Z,1761515242.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524577,-0.849475,-0.056669],[0.851219,0.524549,0.016569],[0.015650,-0.056929,0.998255]]
2025-10-26T21:47:23.021Z,1761515243.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:23.394Z,1761515243.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527140,-0.847965,-0.055480],[0.849669,0.526995,0.018397],[0.013637,-0.056838,0.998290]]
2025-10-26T21:47:23.440Z,1761515243.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:23.806Z,1761515243.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529422,-0.846618,-0.054314],[0.848276,0.529178,0.019971],[0.011833,-0.056646,0.998324]]
2025-10-26T21:47:23.844Z,1761515243.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:24.203Z,1761515244.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531759,-0.845214,-0.053339],[0.846835,0.531420,0.021534],[0.010145,-0.056620,0.998344]]
2025-10-26T21:47:24.229Z,1761515244.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:24.610Z,1761515244.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533797,-0.843985,-0.052438],[0.845567,0.533383,0.022770],[0.008752,-0.056495,0.998365]]
2025-10-26T21:47:24.654Z,1761515244.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:25.024Z,1761515245.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535354,-0.843048,-0.051630],[0.844593,0.534885,0.023682],[0.007650,-0.056284,0.998385]]
2025-10-26T21:47:25.047Z,1761515245.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:25.376Z,1761515245.376 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:47:25.414Z,1761515245.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536771,-0.842184,-0.051013],[0.843701,0.536255,0.024492],[0.006729,-0.056186,0.998398]]
2025-10-26T21:47:25.459Z,1761515245.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:25.818Z,1761515245.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537870,-0.841501,-0.050708],[0.843005,0.537323,0.025029],[0.006185,-0.056210,0.998400]]
2025-10-26T21:47:25.847Z,1761515245.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:26.225Z,1761515246.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538346,-0.841205,-0.050576],[0.842702,0.537791,0.025170],[0.006026,-0.056171,0.998403]]
2025-10-26T21:47:26.244Z,1761515246.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:26.380Z,1761515246.380 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:47:26.626Z,1761515246.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538453,-0.841129,-0.050687],[0.842633,0.537906,0.025049],[0.006195,-0.056198,0.998400]]
2025-10-26T21:47:26.677Z,1761515246.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:27.038Z,1761515247.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538273,-0.841221,-0.051076],[0.842744,0.537743,0.024792],[0.006611,-0.056389,0.998387]]
2025-10-26T21:47:27.057Z,1761515247.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:27.437Z,1761515247.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537723,-0.841554,-0.051389],[0.843091,0.537220,0.024326],[0.007136,-0.056406,0.998382]]
2025-10-26T21:47:27.473Z,1761515247.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:27.838Z,1761515247.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536961,-0.841984,-0.052295],[0.843568,0.536501,0.023670],[0.008126,-0.056824,0.998351]]
2025-10-26T21:47:27.868Z,1761515247.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:28.242Z,1761515248.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535227,-0.843031,-0.053212],[0.844654,0.534841,0.022452],[0.009532,-0.056962,0.998331]]
2025-10-26T21:47:28.275Z,1761515248.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:28.646Z,1761515248.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533150,-0.844269,-0.054415],[0.845947,0.532848,0.021130],[0.011156,-0.057297,0.998295]]
2025-10-26T21:47:28.707Z,1761515248.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:29.054Z,1761515249.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530796,-0.845684,-0.055452],[0.847403,0.530588,0.019630],[0.012821,-0.057410,0.998268]]
2025-10-26T21:47:29.073Z,1761515249.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:29.454Z,1761515249.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528635,-0.846979,-0.056317],[0.848729,0.528511,0.018285],[0.014277,-0.057464,0.998246]]
2025-10-26T21:47:29.505Z,1761515249.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:29.859Z,1761515249.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526404,-0.848320,-0.057028],[0.850089,0.526370,0.016835],[0.015736,-0.057341,0.998231]]
2025-10-26T21:47:29.895Z,1761515249.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:30.333Z,1761515250.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:30.666Z,1761515250.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521913,-0.851035,-0.057844],[0.852807,0.522034,0.014212],[0.018102,-0.056747,0.998224]]
2025-10-26T21:47:30.752Z,1761515250.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:31.070Z,1761515251.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520274,-0.852002,-0.058378],[0.853790,0.520444,0.013448],[0.018925,-0.056839,0.998204]]
2025-10-26T21:47:31.134Z,1761515251.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:31.474Z,1761515251.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518605,-0.852998,-0.058680],[0.854789,0.518821,0.012674],[0.019634,-0.056731,0.998196]]
2025-10-26T21:47:31.549Z,1761515251.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:31.887Z,1761515251.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517153,-0.853868,-0.058840],[0.855659,0.517396,0.012217],[0.020012,-0.056665,0.998193]]
2025-10-26T21:47:31.908Z,1761515251.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:32.282Z,1761515252.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515736,-0.854715,-0.058979],[0.856505,0.516005,0.011741],[0.020398,-0.056571,0.998190]]
2025-10-26T21:47:32.320Z,1761515252.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:32.686Z,1761515252.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514614,-0.855402,-0.058828],[0.857179,0.514890,0.011518],[0.020437,-0.056353,0.998202]]
2025-10-26T21:47:32.758Z,1761515252.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:33.090Z,1761515253.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513897,-0.855847,-0.058623],[0.857613,0.514166,0.011554],[0.020253,-0.056213,0.998213]]
2025-10-26T21:47:33.125Z,1761515253.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:33.514Z,1761515253.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513163,-0.856312,-0.058262],[0.858061,0.513413,0.011726],[0.019872,-0.056010,0.998232]]
2025-10-26T21:47:33.566Z,1761515253.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:33.916Z,1761515253.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512342,-0.856810,-0.058157],[0.858556,0.512584,0.011817],[0.019685,-0.055986,0.998237]]
2025-10-26T21:47:33.978Z,1761515253.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:34.304Z,1761515254.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511468,-0.857352,-0.057868],[0.859087,0.511685,0.012117],[0.019222,-0.055912,0.998251]]
2025-10-26T21:47:34.338Z,1761515254.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:34.756Z,1761515254.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510551,-0.857909,-0.057702],[0.859645,0.510736,0.012612],[0.018651,-0.056042,0.998254]]
2025-10-26T21:47:34.813Z,1761515254.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:35.129Z,1761515255.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509637,-0.858464,-0.057537],[0.860202,0.509782,0.013223],[0.017980,-0.056233,0.998256]]
2025-10-26T21:47:35.146Z,1761515255.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:35.544Z,1761515255.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508409,-0.859221,-0.057085],[0.860943,0.508515,0.013744],[0.017220,-0.056134,0.998275]]
2025-10-26T21:47:35.606Z,1761515255.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:35.970Z,1761515255.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:36.335Z,1761515256.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505558,-0.860942,-0.056478],[0.862645,0.505597,0.014665],[0.015930,-0.056134,0.998296]]
2025-10-26T21:47:36.360Z,1761515256.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:36.742Z,1761515256.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503657,-0.862081,-0.056081],[0.863768,0.503665,0.015031],[0.015288,-0.056011,0.998313]]
2025-10-26T21:47:36.779Z,1761515256.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:37.130Z,1761515257.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501839,-0.863148,-0.055964],[0.864836,0.501817,0.015476],[0.014726,-0.056166,0.998313]]
2025-10-26T21:47:37.172Z,1761515257.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:37.535Z,1761515257.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499874,-0.864298,-0.055812],[0.865983,0.499821,0.015899],[0.014155,-0.056280,0.998315]]
2025-10-26T21:47:37.590Z,1761515257.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:37.947Z,1761515257.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497815,-0.865509,-0.055450],[0.867179,0.497729,0.016332],[0.013463,-0.056215,0.998328]]
2025-10-26T21:47:37.965Z,1761515257.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:38.342Z,1761515258.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495965,-0.866593,-0.055092],[0.868248,0.495846,0.016783],[0.012773,-0.056157,0.998340]]
2025-10-26T21:47:38.372Z,1761515258.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:38.746Z,1761515258.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493927,-0.867774,-0.054810],[0.869417,0.493787,0.017011],[0.012302,-0.056055,0.998352]]
2025-10-26T21:47:38.797Z,1761515258.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:39.150Z,1761515259.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491849,-0.868970,-0.054550],[0.870599,0.491694,0.017150],[0.011919,-0.055927,0.998364]]
2025-10-26T21:47:39.177Z,1761515259.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:39.557Z,1761515259.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490007,-0.870040,-0.054073],[0.871645,0.489830,0.017387],[0.011359,-0.055652,0.998386]]
2025-10-26T21:47:39.598Z,1761515259.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:39.963Z,1761515259.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488385,-0.870984,-0.053538],[0.872563,0.488181,0.017730],[0.010694,-0.055374,0.998408]]
2025-10-26T21:47:40.018Z,1761515260.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:40.362Z,1761515260.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486950,-0.871807,-0.053212],[0.873371,0.486720,0.018078],[0.010139,-0.055277,0.998420]]
2025-10-26T21:47:40.387Z,1761515260.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:40.770Z,1761515260.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485682,-0.872531,-0.052948],[0.874084,0.485422,0.018519],[0.009543,-0.055275,0.998426]]
2025-10-26T21:47:40.809Z,1761515260.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:41.170Z,1761515261.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484499,-0.873215,-0.052503],[0.874747,0.484210,0.018929],[0.008894,-0.055098,0.998441]]
2025-10-26T21:47:41.199Z,1761515261.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:47:41.201Z,1761515261.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:41.372Z,1761515261.372 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:47:41.372Z,1761515261.372 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:47:41.583Z,1761515261.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483485,-0.873793,-0.052234],[0.875313,0.483169,0.019357],[0.008324,-0.055080,0.998447]]
2025-10-26T21:47:41.628Z,1761515261.628 [DAT](INFO): DAT read: user:376>

2025-10-26T21:47:41.629Z,1761515261.629 [DAT](INFO): DAT read: Tx time:21:47:40.7407

2025-10-26T21:47:41.629Z,1761515261.629 [DAT](INFO): Ping request sent.
2025-10-26T21:47:41.629Z,1761515261.629 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:47:41.629Z,1761515261.629 [DAT](INFO): publishing transmit ping time
2025-10-26T21:47:41.630Z,1761515261.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755
2025-10-26T21:47:41.635Z,1761515261.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:41.876Z,1761515261.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247111
2025-10-26T21:47:41.997Z,1761515261.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482536,-0.874339,-0.051865],[0.875842,0.482193,0.019768],[0.007725,-0.054964,0.998458]]
2025-10-26T21:47:42.039Z,1761515262.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:42.128Z,1761515262.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499167
2025-10-26T21:47:42.380Z,1761515262.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750998
2025-10-26T21:47:42.391Z,1761515262.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481514,-0.874917,-0.051624],[0.876408,0.481150,0.020083],[0.007268,-0.054914,0.998465]]
2025-10-26T21:47:42.416Z,1761515262.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:42.632Z,1761515262.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003015
2025-10-26T21:47:42.786Z,1761515262.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480357,-0.875560,-0.051502],[0.877046,0.479972,0.020412],[0.006848,-0.054974,0.998464]]
2025-10-26T21:47:42.840Z,1761515262.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:42.887Z,1761515262.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257186
2025-10-26T21:47:43.136Z,1761515263.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506998
2025-10-26T21:47:43.190Z,1761515263.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479116,-0.876236,-0.051565],[0.877727,0.478714,0.020692],[0.006554,-0.055174,0.998455]]
2025-10-26T21:47:43.237Z,1761515263.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:43.389Z,1761515263.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759249
2025-10-26T21:47:43.609Z,1761515263.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477408,-0.877166,-0.051576],[0.878659,0.476991,0.020920],[0.006251,-0.055306,0.998450]]
2025-10-26T21:47:43.640Z,1761515263.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011172
2025-10-26T21:47:43.658Z,1761515263.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:43.892Z,1761515263.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263032
2025-10-26T21:47:44.020Z,1761515264.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475580,-0.878145,-0.051812],[0.879651,0.475152,0.021071],[0.006115,-0.055598,0.998434]]
2025-10-26T21:47:44.060Z,1761515264.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:44.145Z,1761515264.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515359
2025-10-26T21:47:44.397Z,1761515264.397 [DAT](INFO): DAT read: Rx Time:21:47:43.1585

2025-10-26T21:47:44.397Z,1761515264.397 [DAT](INFO): Rx dataTimestamp_ set to:1761515264.396695
2025-10-26T21:47:44.398Z,1761515264.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768256
2025-10-26T21:47:44.448Z,1761515264.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470600,-0.880787,-0.052442],[0.882326,0.470167,0.021072],[0.006097,-0.056187,0.998402]]
2025-10-26T21:47:44.507Z,1761515264.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:44.648Z,1761515264.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019039
2025-10-26T21:47:44.872Z,1761515264.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:47:44.909Z,1761515264.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279692
2025-10-26T21:47:45.166Z,1761515265.166 [DAT](INFO): DAT read: 21:47:43.1585 LVL= 32752, 17761, 27634, 32755, AGC= 49, IDX= 393,-0.24,-2.641,-0.416,-1.514,-1.255, PHS=-1.284, 0.884,-0.303, RAW= 303.1,   7.5, CAL= 300.7,   7.6, ROT= 209.3,  -7.6

2025-10-26T21:47:45.167Z,1761515265.167 [DAT](INFO): got valid direction response:
 21:47:43.1585 LVL= 32752, 17761, 27634, 32755, AGC= 49, IDX= 393,-0.24,-2.641,-0.416,-1.514,-1.255, PHS=-1.284, 0.884,-0.303, RAW= 303.1,   7.5, CAL= 300.7,   7.6, ROT= 209.3,  -7.6

2025-10-26T21:47:45.168Z,1761515265.168 [DAT](INFO): DAT read: Bearing  17.9, -29.9 (Local)

2025-10-26T21:47:45.168Z,1761515265.168 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.9, -29.9 (Local)

2025-10-26T21:47:45.169Z,1761515265.169 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m  (Round-trip  13.7 ms) speed  0.0 m/s

2025-10-26T21:47:45.170Z,1761515265.170 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:47:45.171Z,1761515265.171 [DAT](INFO): direction in FSK: [-0.864409,-0.485083,0.132256]
2025-10-26T21:47:45.171Z,1761515265.171 [DAT](INFO): publishing direction and range info
2025-10-26T21:47:45.210Z,1761515265.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467540,-0.882397,-0.052751],[0.883950,0.467111,0.020940],[0.006163,-0.056420,0.998388]]
2025-10-26T21:47:45.272Z,1761515265.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 60.295863 s,
      deltaX: -3.900001 m,
      approachRate: -0.064681 m/s,
      rangeRepo size: 4

2025-10-26T21:47:45.274Z,1761515265.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.137082 m,
      bearing: 270.980846 deg,
      lat: 36.779425 deg,
      lon: -121.859480 deg,
      deltaT: 60.295863 s,
      deltaX: -3.875825 m,
      approachRate: -0.064280 m/s,
      posRepo size: 4

2025-10-26T21:47:45.275Z,1761515265.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:45.641Z,1761515265.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459861,-0.886371,-0.053613],[0.887963,0.459489,0.019797],[0.007086,-0.056710,0.998366]]
2025-10-26T21:47:45.686Z,1761515265.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:46.045Z,1761515266.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455429,-0.888632,-0.054019],[0.890239,0.455096,0.019019],[0.007683,-0.056752,0.998359]]
2025-10-26T21:47:46.072Z,1761515266.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:46.461Z,1761515266.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:46.826Z,1761515266.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450885,-0.890927,-0.054339],[0.892545,0.450586,0.018326],[0.008157,-0.056763,0.998354]]
2025-10-26T21:47:46.949Z,1761515266.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:47.246Z,1761515267.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441572,-0.895523,-0.055256],[0.897178,0.441348,0.016855],[0.009293,-0.057017,0.998330]]
2025-10-26T21:47:47.264Z,1761515267.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:47.675Z,1761515267.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436943,-0.897786,-0.055335],[0.899436,0.436757,0.016050],[0.009758,-0.056783,0.998339]]
2025-10-26T21:47:47.738Z,1761515267.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:48.078Z,1761515268.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432661,-0.899844,-0.055547],[0.901498,0.432515,0.015244],[0.010308,-0.056671,0.998340]]
2025-10-26T21:47:48.124Z,1761515268.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:48.448Z,1761515268.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428935,-0.901624,-0.055571],[0.903274,0.428812,0.014723],[0.010554,-0.056511,0.998346]]
2025-10-26T21:47:48.491Z,1761515268.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:48.861Z,1761515268.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425240,-0.903378,-0.055483],[0.905016,0.425144,0.014116],[0.010836,-0.056215,0.998360]]
2025-10-26T21:47:48.905Z,1761515268.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:49.268Z,1761515269.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422064,-0.904883,-0.055225],[0.906503,0.421972,0.013875],[0.010748,-0.055918,0.998378]]
2025-10-26T21:47:49.292Z,1761515269.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:49.713Z,1761515269.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419050,-0.906294,-0.055025],[0.907900,0.418963,0.013658],[0.010675,-0.055681,0.998392]]
2025-10-26T21:47:49.791Z,1761515269.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:50.072Z,1761515270.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416569,-0.907458,-0.054682],[0.909045,0.416472,0.013689],[0.010351,-0.055411,0.998410]]
2025-10-26T21:47:50.107Z,1761515270.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:50.485Z,1761515270.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414388,-0.908476,-0.054348],[0.910046,0.414275,0.013854],[0.009929,-0.055200,0.998426]]
2025-10-26T21:47:50.519Z,1761515270.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:50.867Z,1761515270.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412467,-0.909371,-0.053999],[0.910924,0.412335,0.014092],[0.009451,-0.055001,0.998442]]
2025-10-26T21:47:50.938Z,1761515270.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:51.270Z,1761515271.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411138,-0.909992,-0.053663],[0.911531,0.410975,0.014557],[0.008807,-0.054900,0.998453]]
2025-10-26T21:47:51.305Z,1761515271.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:51.724Z,1761515271.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410103,-0.910497,-0.053019],[0.912005,0.409900,0.015144],[0.007944,-0.054564,0.998479]]
2025-10-26T21:47:51.776Z,1761515271.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:52.089Z,1761515272.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409194,-0.910937,-0.052474],[0.912419,0.408954,0.015736],[0.007125,-0.054317,0.998498]]
2025-10-26T21:47:52.107Z,1761515272.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:52.498Z,1761515272.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408424,-0.911319,-0.051851],[0.912772,0.408139,0.016443],[0.006178,-0.054044,0.998519]]
2025-10-26T21:47:52.524Z,1761515272.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:52.886Z,1761515272.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407791,-0.911629,-0.051363],[0.913061,0.407457,0.017304],[0.005153,-0.053954,0.998530]]
2025-10-26T21:47:52.936Z,1761515272.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:53.291Z,1761515273.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406961,-0.912017,-0.051072],[0.913436,0.406578,0.018153],[0.004209,-0.054038,0.998530]]
2025-10-26T21:47:53.316Z,1761515273.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:53.750Z,1761515273.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406218,-0.912363,-0.050790],[0.913771,0.405774,0.019238],[0.003057,-0.054225,0.998524]]
2025-10-26T21:47:53.787Z,1761515273.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:54.104Z,1761515274.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405526,-0.912671,-0.050788],[0.914081,0.405016,0.020426],[0.001928,-0.054707,0.998501]]
2025-10-26T21:47:54.135Z,1761515274.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:54.503Z,1761515274.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404552,-0.913104,-0.050778],[0.914515,0.403984,0.021450],[0.000928,-0.055115,0.998480]]
2025-10-26T21:47:54.539Z,1761515274.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:54.906Z,1761515274.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403222,-0.913713,-0.050405],[0.915102,0.402602,0.022342],[-0.000121,-0.055134,0.998479]]
2025-10-26T21:47:54.973Z,1761515274.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:55.313Z,1761515275.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401780,-0.914370,-0.050010],[0.915736,0.401115,0.023117],[-0.001077,-0.055083,0.998481]]
2025-10-26T21:47:55.335Z,1761515275.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:55.749Z,1761515275.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399947,-0.915199,-0.049521],[0.916536,0.399247,0.023726],[-0.001943,-0.054877,0.998491]]
2025-10-26T21:47:55.797Z,1761515275.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:56.151Z,1761515276.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397856,-0.916121,-0.049317],[0.917444,0.397121,0.024320],[-0.002695,-0.054922,0.998487]]
2025-10-26T21:47:56.188Z,1761515276.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:56.501Z,1761515276.501 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:47:56.525Z,1761515276.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395697,-0.917051,-0.049400],[0.918375,0.394920,0.025027],[-0.003442,-0.055271,0.998465]]
2025-10-26T21:47:56.543Z,1761515276.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:56.930Z,1761515276.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392889,-0.918247,-0.049609],[0.919578,0.392081,0.025494],[-0.003959,-0.055636,0.998443]]
2025-10-26T21:47:56.990Z,1761515276.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:57.330Z,1761515277.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389485,-0.919684,-0.049831],[0.921023,0.388655,0.025779],[-0.004341,-0.055936,0.998425]]
2025-10-26T21:47:57.366Z,1761515277.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:57.504Z,1761515277.504 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:47:57.746Z,1761515277.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385958,-0.921163,-0.049952],[0.922504,0.385113,0.025955],[-0.004672,-0.056098,0.998414]]
2025-10-26T21:47:57.822Z,1761515277.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:58.148Z,1761515278.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382500,-0.922590,-0.050214],[0.923942,0.381640,0.026095],[-0.004911,-0.056377,0.998397]]
2025-10-26T21:47:58.212Z,1761515278.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:58.581Z,1761515278.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378708,-0.924166,-0.049978],[0.925502,0.377847,0.026031],[-0.005173,-0.056113,0.998411]]
2025-10-26T21:47:58.610Z,1761515278.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:58.946Z,1761515278.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374937,-0.925707,-0.049889],[0.927035,0.374079,0.025901],[-0.005314,-0.055960,0.998419]]
2025-10-26T21:47:59.041Z,1761515279.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:59.350Z,1761515279.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371473,-0.927107,-0.049811],[0.928427,0.370612,0.025878],[-0.005531,-0.055859,0.998423]]
2025-10-26T21:47:59.372Z,1761515279.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:47:59.763Z,1761515279.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368177,-0.928413,-0.049960],[0.929739,0.367312,0.025832],[-0.005632,-0.055960,0.998417]]
2025-10-26T21:47:59.844Z,1761515279.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:00.173Z,1761515280.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365226,-0.929570,-0.050096],[0.930900,0.364349,0.025966],[-0.005885,-0.056118,0.998407]]
2025-10-26T21:48:00.217Z,1761515280.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:00.563Z,1761515280.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362110,-0.930780,-0.050239],[0.932116,0.361230,0.025935],[-0.005992,-0.056220,0.998400]]
2025-10-26T21:48:00.582Z,1761515280.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:00.977Z,1761515280.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358914,-0.932017,-0.050246],[0.933350,0.358031,0.025908],[-0.006157,-0.056196,0.998401]]
2025-10-26T21:48:01.026Z,1761515281.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:01.380Z,1761515281.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355506,-0.933330,-0.050114],[0.934653,0.354624,0.025813],[-0.006320,-0.056016,0.998410]]
2025-10-26T21:48:01.404Z,1761515281.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:01.774Z,1761515281.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352186,-0.934604,-0.049799],[0.935906,0.351299,0.025863],[-0.006678,-0.055716,0.998424]]
2025-10-26T21:48:01.870Z,1761515281.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:02.202Z,1761515282.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349046,-0.935787,-0.049687],[0.937080,0.348151,0.025937],[-0.006973,-0.055614,0.998428]]
2025-10-26T21:48:02.286Z,1761515282.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:02.585Z,1761515282.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346234,-0.936849,-0.049359],[0.938118,0.345321,0.026237],[-0.007535,-0.055389,0.998436]]
2025-10-26T21:48:02.603Z,1761515282.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:02.987Z,1761515282.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343412,-0.937895,-0.049211],[0.939151,0.342479,0.026537],[-0.008035,-0.055330,0.998436]]
2025-10-26T21:48:03.040Z,1761515283.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:03.391Z,1761515283.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340709,-0.938893,-0.048957],[0.940131,0.339762,0.026765],[-0.008496,-0.055145,0.998442]]
2025-10-26T21:48:03.436Z,1761515283.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:03.794Z,1761515283.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338745,-0.939617,-0.048693],[0.940833,0.337771,0.027271],[-0.009177,-0.055050,0.998441]]
2025-10-26T21:48:03.921Z,1761515283.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:04.198Z,1761515284.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336924,-0.940281,-0.048516],[0.941480,0.335919,0.027810],[-0.009852,-0.055047,0.998435]]
2025-10-26T21:48:04.260Z,1761515284.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:04.602Z,1761515284.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335400,-0.940843,-0.048191],[0.942017,0.334366,0.028344],[-0.010554,-0.054903,0.998436]]
2025-10-26T21:48:04.649Z,1761515284.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:05.007Z,1761515285.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333991,-0.941370,-0.047671],[0.942510,0.332941,0.028728],[-0.011172,-0.054525,0.998450]]
2025-10-26T21:48:05.069Z,1761515285.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:05.417Z,1761515285.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333105,-0.941711,-0.047143],[0.942813,0.332024,0.029369],[-0.012004,-0.054230,0.998456]]
2025-10-26T21:48:05.443Z,1761515285.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:05.814Z,1761515285.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332582,-0.941912,-0.046812],[0.942990,0.331476,0.029907],[-0.012653,-0.054090,0.998456]]
2025-10-26T21:48:05.853Z,1761515285.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:06.219Z,1761515286.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332107,-0.942090,-0.046594],[0.943147,0.330969,0.030538],[-0.013348,-0.054087,0.998447]]
2025-10-26T21:48:06.277Z,1761515286.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:06.622Z,1761515286.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331877,-0.942168,-0.046669],[0.943221,0.330709,0.031078],[-0.013847,-0.054333,0.998427]]
2025-10-26T21:48:06.644Z,1761515286.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:07.030Z,1761515287.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331459,-0.942318,-0.046600],[0.943360,0.330264,0.031586],[-0.014374,-0.054430,0.998414]]
2025-10-26T21:48:07.083Z,1761515287.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:07.431Z,1761515287.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331112,-0.942439,-0.046620],[0.943476,0.329892,0.032007],[-0.014785,-0.054583,0.998400]]
2025-10-26T21:48:07.471Z,1761515287.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:07.834Z,1761515287.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330521,-0.942643,-0.046696],[0.943680,0.329288,0.032223],[-0.014998,-0.054717,0.998389]]
2025-10-26T21:48:07.868Z,1761515287.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:08.238Z,1761515288.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329848,-0.942879,-0.046693],[0.943911,0.328602,0.032445],[-0.015248,-0.054776,0.998382]]
2025-10-26T21:48:08.293Z,1761515288.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:08.646Z,1761515288.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328735,-0.943260,-0.046831],[0.944300,0.327490,0.032380],[-0.015206,-0.054867,0.998378]]
2025-10-26T21:48:08.668Z,1761515288.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:09.046Z,1761515289.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327288,-0.943751,-0.047093],[0.944807,0.326055,0.032057],[-0.014899,-0.054986,0.998376]]
2025-10-26T21:48:09.094Z,1761515289.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:09.461Z,1761515289.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325734,-0.944277,-0.047316],[0.945350,0.324518,0.031649],[-0.014531,-0.055039,0.998379]]
2025-10-26T21:48:09.487Z,1761515289.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:09.854Z,1761515289.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323941,-0.944869,-0.047790],[0.945973,0.322740,0.031222],[-0.014077,-0.055322,0.998369]]
2025-10-26T21:48:09.897Z,1761515289.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:10.267Z,1761515290.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321669,-0.945621,-0.048274],[0.946756,0.320492,0.030613],[-0.013477,-0.055550,0.998365]]
2025-10-26T21:48:10.320Z,1761515290.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:10.665Z,1761515290.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319656,-0.946268,-0.048954],[0.947449,0.318509,0.029888],[-0.012690,-0.055935,0.998354]]
2025-10-26T21:48:10.683Z,1761515290.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:11.066Z,1761515291.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317417,-0.947005,-0.049269],[0.948210,0.316305,0.029128],[-0.012000,-0.055963,0.998361]]
2025-10-26T21:48:11.154Z,1761515291.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:11.474Z,1761515291.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314713,-0.947892,-0.049554],[0.949122,0.313650,0.028128],[-0.011119,-0.055885,0.998375]]
2025-10-26T21:48:11.492Z,1761515291.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:11.875Z,1761515291.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312217,-0.948707,-0.049763],[0.949955,0.311203,0.027159],[-0.010280,-0.055752,0.998392]]
2025-10-26T21:48:11.896Z,1761515291.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:12.278Z,1761515292.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309943,-0.949432,-0.050142],[0.950708,0.308971,0.026306],[-0.009483,-0.055824,0.998396]]
2025-10-26T21:48:12.333Z,1761515292.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:12.683Z,1761515292.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307407,-0.950240,-0.050451],[0.951540,0.306484,0.025306],[-0.008585,-0.055786,0.998406]]
2025-10-26T21:48:12.760Z,1761515292.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:13.107Z,1761515293.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305021,-0.950982,-0.050949],[0.952315,0.304147,0.024305],[-0.007618,-0.055933,0.998405]]
2025-10-26T21:48:13.166Z,1761515293.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:13.490Z,1761515293.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303040,-0.951601,-0.051215],[0.952953,0.302209,0.023440],[-0.006828,-0.055909,0.998413]]
2025-10-26T21:48:13.524Z,1761515293.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:13.894Z,1761515293.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300917,-0.952259,-0.051496],[0.953632,0.300137,0.022449],[-0.005921,-0.055864,0.998421]]
2025-10-26T21:48:13.940Z,1761515293.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:14.310Z,1761515294.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299554,-0.952667,-0.051890],[0.954065,0.298808,0.021770],[-0.005235,-0.056027,0.998415]]
2025-10-26T21:48:14.363Z,1761515294.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:14.707Z,1761515294.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297958,-0.953170,-0.051836],[0.954568,0.297258,0.020917],[-0.004528,-0.055714,0.998437]]
2025-10-26T21:48:14.742Z,1761515294.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:15.106Z,1761515295.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296453,-0.953653,-0.051582],[0.955039,0.295793,0.020172],[-0.003979,-0.055243,0.998465]]
2025-10-26T21:48:15.154Z,1761515295.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:15.510Z,1761515295.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295396,-0.953985,-0.051513],[0.955368,0.294762,0.019675],[-0.003586,-0.055026,0.998478]]
2025-10-26T21:48:15.537Z,1761515295.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:15.981Z,1761515295.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294412,-0.954284,-0.051615],[0.955673,0.293802,0.019211],[-0.003168,-0.054983,0.998482]]
2025-10-26T21:48:16.004Z,1761515296.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:16.318Z,1761515296.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293631,-0.954518,-0.051740],[0.955914,0.293035,0.018914],[-0.002892,-0.055012,0.998482]]
2025-10-26T21:48:16.417Z,1761515296.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:16.728Z,1761515296.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292793,-0.954767,-0.051880],[0.956173,0.292220,0.018470],[-0.002475,-0.055014,0.998483]]
2025-10-26T21:48:16.763Z,1761515296.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:17.126Z,1761515297.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292066,-0.954993,-0.051821],[0.956395,0.291506,0.018221],[-0.002295,-0.054883,0.998490]]
2025-10-26T21:48:17.190Z,1761515297.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:17.548Z,1761515297.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291993,-0.955008,-0.051968],[0.956418,0.291430,0.018262],[-0.002296,-0.055036,0.998482]]
2025-10-26T21:48:17.565Z,1761515297.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:17.963Z,1761515297.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292074,-0.954979,-0.052041],[0.956393,0.291505,0.018368],[-0.002371,-0.055136,0.998476]]
2025-10-26T21:48:18.000Z,1761515298.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:18.353Z,1761515298.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291850,-0.955043,-0.052121],[0.956461,0.291280,0.018395],[-0.002386,-0.055220,0.998471]]
2025-10-26T21:48:18.398Z,1761515298.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:18.756Z,1761515298.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291343,-0.955204,-0.052011],[0.956616,0.290780,0.018238],[-0.002297,-0.055068,0.998480]]
2025-10-26T21:48:18.779Z,1761515298.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:19.146Z,1761515299.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290656,-0.955407,-0.052114],[0.956825,0.290104,0.018022],[-0.002100,-0.055102,0.998479]]
2025-10-26T21:48:19.205Z,1761515299.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:19.584Z,1761515299.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:19.960Z,1761515299.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289221,-0.955838,-0.052196],[0.957261,0.288681,0.017756],[-0.001904,-0.055101,0.998479]]
2025-10-26T21:48:19.985Z,1761515299.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:20.358Z,1761515300.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288295,-0.956105,-0.052430],[0.957540,0.287761,0.017635],[-0.001774,-0.055288,0.998469]]
2025-10-26T21:48:20.409Z,1761515300.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:20.762Z,1761515300.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287464,-0.956350,-0.052522],[0.957790,0.286926,0.017664],[-0.001823,-0.055383,0.998464]]
2025-10-26T21:48:20.784Z,1761515300.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:21.177Z,1761515301.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285884,-0.956829,-0.052431],[0.958263,0.285357,0.017436],[-0.001721,-0.055227,0.998472]]
2025-10-26T21:48:21.228Z,1761515301.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:21.570Z,1761515301.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284510,-0.957238,-0.052435],[0.958671,0.283984,0.017378],[-0.001744,-0.055212,0.998473]]
2025-10-26T21:48:21.600Z,1761515301.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:21.974Z,1761515301.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282998,-0.957681,-0.052537],[0.959119,0.282473,0.017314],[-0.001741,-0.055290,0.998469]]
2025-10-26T21:48:22.017Z,1761515302.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:22.383Z,1761515302.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281282,-0.958184,-0.052577],[0.959624,0.280758,0.017238],[-0.001755,-0.055302,0.998468]]
2025-10-26T21:48:22.452Z,1761515302.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:22.786Z,1761515302.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279807,-0.958618,-0.052529],[0.960055,0.279279,0.017272],[-0.001887,-0.055263,0.998470]]
2025-10-26T21:48:22.804Z,1761515302.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:23.193Z,1761515303.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278838,-0.958892,-0.052680],[0.960336,0.278294,0.017550],[-0.002168,-0.055485,0.998457]]
2025-10-26T21:48:23.242Z,1761515303.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:23.596Z,1761515303.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277773,-0.959202,-0.052659],[0.960644,0.277216,0.017750],[-0.002428,-0.055517,0.998455]]
2025-10-26T21:48:23.627Z,1761515303.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:24.000Z,1761515304.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277132,-0.959398,-0.052467],[0.960827,0.276546,0.018270],[-0.003018,-0.055475,0.998456]]
2025-10-26T21:48:24.019Z,1761515304.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:24.406Z,1761515304.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276603,-0.959550,-0.052479],[0.960978,0.275990,0.018738],[-0.003497,-0.055614,0.998446]]
2025-10-26T21:48:24.476Z,1761515304.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:24.808Z,1761515304.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276156,-0.959695,-0.052193],[0.961104,0.275510,0.019344],[-0.004185,-0.055504,0.998450]]
2025-10-26T21:48:24.833Z,1761515304.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:25.215Z,1761515305.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275868,-0.959794,-0.051885],[0.961183,0.275184,0.020027],[-0.004944,-0.055395,0.998452]]
2025-10-26T21:48:25.262Z,1761515305.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:25.617Z,1761515305.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275886,-0.959810,-0.051500],[0.961172,0.275152,0.020974],[-0.005961,-0.055287,0.998453]]
2025-10-26T21:48:25.636Z,1761515305.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:26.056Z,1761515306.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:26.439Z,1761515306.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276143,-0.959779,-0.050685],[0.961079,0.275281,0.023395],[-0.008502,-0.055173,0.998441]]
2025-10-26T21:48:26.498Z,1761515306.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:26.859Z,1761515306.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276573,-0.959679,-0.050240],[0.960940,0.275633,0.024913],[-0.010061,-0.055168,0.998426]]
2025-10-26T21:48:26.942Z,1761515306.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:27.315Z,1761515307.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:27.624Z,1761515307.624 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:48:27.645Z,1761515307.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277709,-0.959392,-0.049435],[0.960572,0.276597,0.028206],[-0.013387,-0.055319,0.998379]]
2025-10-26T21:48:27.663Z,1761515307.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:28.043Z,1761515308.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278486,-0.959190,-0.048992],[0.960320,0.277280,0.030020],[-0.015211,-0.055409,0.998348]]
2025-10-26T21:48:28.065Z,1761515308.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:28.451Z,1761515308.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279313,-0.958987,-0.048251],[0.960048,0.278023,0.031779],[-0.017061,-0.055199,0.998330]]
2025-10-26T21:48:28.504Z,1761515308.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:28.628Z,1761515308.628 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:48:28.848Z,1761515308.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280254,-0.958748,-0.047530],[0.959739,0.278880,0.033567],[-0.018927,-0.055023,0.998306]]
2025-10-26T21:48:28.867Z,1761515308.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:29.279Z,1761515309.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281826,-0.958349,-0.046263],[0.959204,0.280297,0.036896],[-0.022392,-0.054774,0.998248]]
2025-10-26T21:48:29.323Z,1761515309.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:29.690Z,1761515309.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:30.072Z,1761515310.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282405,-0.958199,-0.045854],[0.958996,0.280801,0.038438],[-0.023955,-0.054829,0.998208]]
2025-10-26T21:48:30.098Z,1761515310.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:30.494Z,1761515310.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282761,-0.958114,-0.045419],[0.958829,0.281038,0.040795],[-0.026322,-0.055085,0.998135]]
2025-10-26T21:48:30.579Z,1761515310.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:30.905Z,1761515310.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:31.307Z,1761515311.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281805,-0.958419,-0.044926],[0.959064,0.280011,0.042321],[-0.027981,-0.055014,0.998093]]
2025-10-26T21:48:31.352Z,1761515311.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:31.697Z,1761515311.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280441,-0.958828,-0.044750],[0.959451,0.278634,0.042621],[-0.028397,-0.054888,0.998089]]
2025-10-26T21:48:31.727Z,1761515311.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:32.114Z,1761515312.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278828,-0.959300,-0.044706],[0.959914,0.277014,0.042761],[-0.028637,-0.054837,0.998085]]
2025-10-26T21:48:32.147Z,1761515312.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:32.498Z,1761515312.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277026,-0.959821,-0.044729],[0.960432,0.275208,0.042792],[-0.028763,-0.054814,0.998082]]
2025-10-26T21:48:32.536Z,1761515312.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:32.912Z,1761515312.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275073,-0.960374,-0.044908],[0.960995,0.273256,0.042651],[-0.028690,-0.054888,0.998080]]
2025-10-26T21:48:32.939Z,1761515312.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:33.331Z,1761515313.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272896,-0.960979,-0.045243],[0.961622,0.271082,0.042398],[-0.028479,-0.055077,0.998076]]
2025-10-26T21:48:33.368Z,1761515313.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:33.703Z,1761515313.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270652,-0.961597,-0.045590],[0.962265,0.268847,0.042042],[-0.028171,-0.055248,0.998075]]
2025-10-26T21:48:33.729Z,1761515313.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:34.101Z,1761515314.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268605,-0.962159,-0.045845],[0.962848,0.266813,0.041649],[-0.027841,-0.055329,0.998080]]
2025-10-26T21:48:34.135Z,1761515314.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:34.506Z,1761515314.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266515,-0.962736,-0.045926],[0.963437,0.264741,0.041247],[-0.027551,-0.055239,0.998093]]
2025-10-26T21:48:34.557Z,1761515314.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:34.923Z,1761515314.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264928,-0.963169,-0.046027],[0.963881,0.263166,0.040960],[-0.027338,-0.055216,0.998100]]
2025-10-26T21:48:34.944Z,1761515314.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:35.352Z,1761515315.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263546,-0.963548,-0.046019],[0.964264,0.261798,0.040709],[-0.027177,-0.055103,0.998111]]
2025-10-26T21:48:35.417Z,1761515315.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:35.730Z,1761515315.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262488,-0.963835,-0.046068],[0.964558,0.260750,0.040470],[-0.026994,-0.055058,0.998118]]
2025-10-26T21:48:35.749Z,1761515315.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:36.120Z,1761515316.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262223,-0.963904,-0.046128],[0.964627,0.260477,0.040582],[-0.027102,-0.055138,0.998111]]
2025-10-26T21:48:36.170Z,1761515316.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:36.524Z,1761515316.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261834,-0.964009,-0.046145],[0.964733,0.260090,0.040530],[-0.027069,-0.055130,0.998112]]
2025-10-26T21:48:36.567Z,1761515316.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:36.931Z,1761515316.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262138,-0.963926,-0.046152],[0.964646,0.260382,0.040741],[-0.027254,-0.055200,0.998103]]
2025-10-26T21:48:36.949Z,1761515316.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:37.380Z,1761515317.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262856,-0.963733,-0.046101],[0.964443,0.261086,0.041038],[-0.027513,-0.055249,0.998093]]
2025-10-26T21:48:37.451Z,1761515317.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:37.744Z,1761515317.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263780,-0.963492,-0.045859],[0.964182,0.262001,0.041336],[-0.027812,-0.055120,0.998092]]
2025-10-26T21:48:37.762Z,1761515317.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:38.141Z,1761515318.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265220,-0.963115,-0.045476],[0.963773,0.263428,0.041797],[-0.028276,-0.054914,0.998091]]
2025-10-26T21:48:38.175Z,1761515318.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:38.544Z,1761515318.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266670,-0.962729,-0.045165],[0.963363,0.264868,0.042146],[-0.028613,-0.054749,0.998090]]
2025-10-26T21:48:38.598Z,1761515318.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:38.949Z,1761515318.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268212,-0.962305,-0.045079],[0.962928,0.266396,0.042463],[-0.028853,-0.054797,0.998081]]
2025-10-26T21:48:38.975Z,1761515318.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:39.385Z,1761515319.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269840,-0.961858,-0.044906],[0.962467,0.268016,0.042728],[-0.029063,-0.054750,0.998077]]
2025-10-26T21:48:39.450Z,1761515319.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:39.756Z,1761515319.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271652,-0.961350,-0.044840],[0.961951,0.269816,0.043010],[-0.029249,-0.054818,0.998068]]
2025-10-26T21:48:39.788Z,1761515319.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:40.160Z,1761515320.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272826,-0.961013,-0.044931],[0.961624,0.270993,0.042921],[-0.029072,-0.054917,0.998068]]
2025-10-26T21:48:40.216Z,1761515320.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:40.569Z,1761515320.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273831,-0.960734,-0.044808],[0.961344,0.272011,0.042741],[-0.028875,-0.054780,0.998081]]
2025-10-26T21:48:40.625Z,1761515320.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:41.010Z,1761515321.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274999,-0.960394,-0.044922],[0.961020,0.273190,0.042517],[-0.028561,-0.054863,0.998085]]
2025-10-26T21:48:41.060Z,1761515321.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:41.441Z,1761515321.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275602,-0.960221,-0.044925],[0.960864,0.273824,0.041957],[-0.027986,-0.054730,0.998109]]
2025-10-26T21:48:41.485Z,1761515321.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:48:41.491Z,1761515321.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:41.681Z,1761515321.681 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:48:41.682Z,1761515321.682 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:48:41.779Z,1761515321.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276200,-0.960044,-0.045041],[0.960710,0.274450,0.041383],[-0.027368,-0.054701,0.998128]]
2025-10-26T21:48:41.798Z,1761515321.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:41.928Z,1761515321.928 [DAT](INFO): DAT read: user:377>

2025-10-26T21:48:41.929Z,1761515321.929 [DAT](INFO): DAT read: Tx time:21:48:41.0406

2025-10-26T21:48:41.929Z,1761515321.929 [DAT](INFO): Ping request sent.
2025-10-26T21:48:41.929Z,1761515321.929 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:48:41.930Z,1761515321.930 [DAT](INFO): publishing transmit ping time
2025-10-26T21:48:41.930Z,1761515321.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-10-26T21:48:42.180Z,1761515322.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251047
2025-10-26T21:48:42.184Z,1761515322.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276229,-0.960025,-0.045276],[0.960726,0.274518,0.040549],[-0.026499,-0.054699,0.998151]]
2025-10-26T21:48:42.218Z,1761515322.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:42.435Z,1761515322.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504953
2025-10-26T21:48:42.585Z,1761515322.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275964,-0.960090,-0.045516],[0.960828,0.274297,0.039638],[-0.025571,-0.054672,0.998177]]
2025-10-26T21:48:42.634Z,1761515322.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:42.685Z,1761515322.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755977
2025-10-26T21:48:42.936Z,1761515322.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007021
2025-10-26T21:48:43.002Z,1761515323.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275877,-0.960091,-0.046006],[0.960879,0.274247,0.038743],[-0.024580,-0.054894,0.998190]]
2025-10-26T21:48:43.020Z,1761515323.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:43.188Z,1761515323.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258929
2025-10-26T21:48:43.420Z,1761515323.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275699,-0.960123,-0.046416],[0.960955,0.274112,0.037784],[-0.023554,-0.055021,0.998207]]
2025-10-26T21:48:43.443Z,1761515323.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513035
2025-10-26T21:48:43.492Z,1761515323.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:43.696Z,1761515323.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766552
2025-10-26T21:48:43.796Z,1761515323.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275530,-0.960161,-0.046631],[0.961028,0.273991,0.036806],[-0.022563,-0.054955,0.998234]]
2025-10-26T21:48:43.839Z,1761515323.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:43.944Z,1761515323.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014907
2025-10-26T21:48:44.204Z,1761515324.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274980
2025-10-26T21:48:44.208Z,1761515324.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275408,-0.960179,-0.046972],[0.961089,0.273923,0.035685],[-0.021397,-0.054972,0.998259]]
2025-10-26T21:48:44.238Z,1761515324.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:44.460Z,1761515324.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529523
2025-10-26T21:48:44.613Z,1761515324.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275080,-0.960252,-0.047411],[0.961212,0.273656,0.034417],[-0.020075,-0.055039,0.998282]]
2025-10-26T21:48:44.667Z,1761515324.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:44.709Z,1761515324.709 [DAT](INFO): DAT read: Rx Time:21:48:43.4530

2025-10-26T21:48:44.710Z,1761515324.710 [DAT](INFO): Rx dataTimestamp_ set to:1761515324.709333
2025-10-26T21:48:44.711Z,1761515324.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781128
2025-10-26T21:48:44.960Z,1761515324.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030954
2025-10-26T21:48:45.034Z,1761515325.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274899,-0.960293,-0.047627],[0.961287,0.273535,0.033238],[-0.018890,-0.054920,0.998312]]
2025-10-26T21:48:45.097Z,1761515325.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:45.214Z,1761515325.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284589
2025-10-26T21:48:45.414Z,1761515325.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274883,-0.960283,-0.047914],[0.961314,0.273574,0.032147],[-0.017762,-0.054897,0.998334]]
2025-10-26T21:48:45.492Z,1761515325.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:48:45.500Z,1761515325.500 [DAT](INFO): DAT read: 21:48:43.4530 LVL= 20800, 16097, 19714, 21283, AGC= 56, IDX= 387,-0.00, 1.101, 0.417, 0.839, 1.863, PHS=-0.660,-1.402,-1.068, RAW= 116.7,  59.8, CAL= 115.6,  64.5, ROT=  34.4, -64.5

2025-10-26T21:48:45.501Z,1761515325.501 [DAT](INFO): got valid direction response:
 21:48:43.4530 LVL= 20800, 16097, 19714, 21283, AGC= 56, IDX= 387,-0.00, 1.101, 0.417, 0.839, 1.863, PHS=-0.660,-1.402,-1.068, RAW= 116.7,  59.8, CAL= 115.6,  64.5, ROT=  34.4, -64.5

2025-10-26T21:48:45.502Z,1761515325.502 [DAT](INFO): DAT read: Bearing 286.0,  10.5 (Local)

2025-10-26T21:48:45.502Z,1761515325.502 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.0,  10.5 (Local)

2025-10-26T21:48:45.512Z,1761515325.512 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m  (Round-trip  8.3 ms) speed  0.0 m/s

2025-10-26T21:48:45.512Z,1761515325.512 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:48:45.513Z,1761515325.513 [DAT](INFO): direction in FSK: [0.355221,0.243225,0.902585]
2025-10-26T21:48:45.513Z,1761515325.513 [DAT](INFO): publishing direction and range info
2025-10-26T21:48:45.827Z,1761515325.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274814,-0.960280,-0.048360],[0.961353,0.273552,0.031146],[-0.016680,-0.055050,0.998344]]
2025-10-26T21:48:45.913Z,1761515325.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 60.305722 s,
      deltaX: -4.000000 m,
      approachRate: -0.066329 m/s,
      rangeRepo size: 4

2025-10-26T21:48:45.916Z,1761515325.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.161732 m,
      bearing: 112.380899 deg,
      lat: 36.779424 deg,
      lon: -121.859480 deg,
      deltaT: 60.305722 s,
      deltaX: -3.975350 m,
      approachRate: -0.065920 m/s,
      posRepo size: 4

2025-10-26T21:48:45.916Z,1761515325.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:46.234Z,1761515326.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274987,-0.960218,-0.048624],[0.961319,0.273770,0.030261],[-0.015746,-0.055065,0.998359]]
2025-10-26T21:48:46.263Z,1761515326.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:46.647Z,1761515326.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275097,-0.960175,-0.048839],[0.961303,0.273930,0.029309],[-0.014764,-0.055011,0.998377]]
2025-10-26T21:48:46.708Z,1761515326.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:47.046Z,1761515327.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275176,-0.960144,-0.049014],[0.961294,0.274054,0.028425],[-0.013860,-0.054939,0.998394]]
2025-10-26T21:48:47.065Z,1761515327.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:47.441Z,1761515327.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275194,-0.960131,-0.049162],[0.961301,0.274116,0.027601],[-0.013025,-0.054855,0.998409]]
2025-10-26T21:48:47.530Z,1761515327.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:47.844Z,1761515327.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275169,-0.960130,-0.049316],[0.961318,0.274134,0.026792],[-0.012205,-0.054781,0.998424]]
2025-10-26T21:48:47.914Z,1761515327.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:48.247Z,1761515328.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275147,-0.960127,-0.049494],[0.961333,0.274143,0.026173],[-0.011561,-0.054782,0.998431]]
2025-10-26T21:48:48.265Z,1761515328.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:48.645Z,1761515328.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275113,-0.960123,-0.049766],[0.961349,0.274134,0.025673],[-0.011007,-0.054905,0.998431]]
2025-10-26T21:48:48.693Z,1761515328.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:49.052Z,1761515329.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274966,-0.960151,-0.050040],[0.961396,0.274008,0.025239],[-0.010522,-0.055048,0.998428]]
2025-10-26T21:48:49.075Z,1761515329.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:49.455Z,1761515329.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274644,-0.960242,-0.050065],[0.961492,0.273703,0.024901],[-0.010208,-0.054976,0.998435]]
2025-10-26T21:48:49.484Z,1761515329.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:49.857Z,1761515329.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274337,-0.960330,-0.050048],[0.961581,0.273404,0.024754],[-0.010088,-0.054916,0.998440]]
2025-10-26T21:48:49.912Z,1761515329.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:50.263Z,1761515330.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274127,-0.960390,-0.050056],[0.961640,0.273194,0.024752],[-0.010096,-0.054921,0.998440]]
2025-10-26T21:48:50.284Z,1761515330.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:50.664Z,1761515330.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273820,-0.960477,-0.050072],[0.961727,0.272883,0.024798],[-0.010154,-0.054946,0.998438]]
2025-10-26T21:48:50.722Z,1761515330.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:51.070Z,1761515331.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273863,-0.960465,-0.050053],[0.961711,0.272907,0.025153],[-0.010499,-0.055025,0.998430]]
2025-10-26T21:48:51.089Z,1761515331.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:51.473Z,1761515331.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273604,-0.960549,-0.049870],[0.961781,0.272631,0.025492],[-0.010890,-0.054939,0.998430]]
2025-10-26T21:48:51.491Z,1761515331.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:51.884Z,1761515331.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273623,-0.960545,-0.049847],[0.961770,0.272624,0.025969],[-0.011355,-0.055047,0.998419]]
2025-10-26T21:48:51.932Z,1761515331.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:52.281Z,1761515332.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273788,-0.960509,-0.049630],[0.961714,0.272753,0.026692],[-0.012101,-0.055038,0.998411]]
2025-10-26T21:48:52.304Z,1761515332.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:52.685Z,1761515332.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274076,-0.960441,-0.049347],[0.961620,0.272995,0.027601],[-0.013038,-0.055018,0.998400]]
2025-10-26T21:48:52.760Z,1761515332.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:53.091Z,1761515333.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274523,-0.960321,-0.049208],[0.961479,0.273391,0.028555],[-0.013969,-0.055151,0.998380]]
2025-10-26T21:48:53.124Z,1761515333.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:53.493Z,1761515333.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275192,-0.960145,-0.048892],[0.961272,0.274008,0.029600],[-0.015023,-0.055144,0.998365]]
2025-10-26T21:48:53.531Z,1761515333.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:53.900Z,1761515333.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275881,-0.959966,-0.048518],[0.961058,0.274648,0.030596],[-0.016045,-0.055070,0.998354]]
2025-10-26T21:48:53.957Z,1761515333.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:54.306Z,1761515334.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276546,-0.959804,-0.047949],[0.960848,0.275269,0.031598],[-0.017129,-0.054810,0.998350]]
2025-10-26T21:48:54.324Z,1761515334.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:54.706Z,1761515334.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277524,-0.959545,-0.047464],[0.960543,0.276190,0.032815],[-0.018378,-0.054698,0.998334]]
2025-10-26T21:48:54.761Z,1761515334.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:55.115Z,1761515335.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278555,-0.959268,-0.047026],[0.960220,0.277164,0.034015],[-0.019595,-0.054630,0.998314]]
2025-10-26T21:48:55.145Z,1761515335.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:55.543Z,1761515335.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279411,-0.959031,-0.046796],[0.959952,0.277972,0.034982],[-0.020540,-0.054696,0.998292]]
2025-10-26T21:48:55.583Z,1761515335.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:55.936Z,1761515335.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280246,-0.958795,-0.046628],[0.959687,0.278757,0.035986],[-0.021506,-0.054834,0.998264]]
2025-10-26T21:48:55.972Z,1761515335.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:56.327Z,1761515336.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280688,-0.958675,-0.046439],[0.959539,0.279157,0.036829],[-0.022343,-0.054897,0.998242]]
2025-10-26T21:48:56.345Z,1761515336.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:56.734Z,1761515336.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280731,-0.958680,-0.046071],[0.959509,0.279171,0.037497],[-0.023086,-0.054732,0.998234]]
2025-10-26T21:48:56.791Z,1761515336.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:57.141Z,1761515337.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280953,-0.958620,-0.045961],[0.959429,0.279362,0.038119],[-0.023702,-0.054806,0.998216]]
2025-10-26T21:48:57.167Z,1761515337.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:57.532Z,1761515337.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280449,-0.958788,-0.045541],[0.959564,0.278848,0.038488],[-0.024203,-0.054494,0.998221]]
2025-10-26T21:48:57.551Z,1761515337.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:57.937Z,1761515337.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280257,-0.958845,-0.045529],[0.959609,0.278633,0.038906],[-0.024619,-0.054594,0.998205]]
2025-10-26T21:48:57.998Z,1761515337.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:58.367Z,1761515338.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279814,-0.958971,-0.045604],[0.959731,0.278171,0.039200],[-0.024906,-0.054737,0.998190]]
2025-10-26T21:48:58.392Z,1761515338.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:58.753Z,1761515338.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279284,-0.959132,-0.045465],[0.959878,0.277631,0.039445],[-0.025210,-0.054657,0.998187]]
2025-10-26T21:48:58.772Z,1761515338.772 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:48:58.800Z,1761515338.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:59.165Z,1761515339.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278506,-0.959352,-0.045588],[0.960104,0.276850,0.039429],[-0.025205,-0.054750,0.998182]]
2025-10-26T21:48:59.222Z,1761515339.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:59.552Z,1761515339.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277808,-0.959551,-0.045655],[0.960303,0.276146,0.039515],[-0.025309,-0.054820,0.998175]]
2025-10-26T21:48:59.570Z,1761515339.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:48:59.776Z,1761515339.776 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:48:59.968Z,1761515339.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276979,-0.959784,-0.045791],[0.960544,0.275315,0.039473],[-0.025279,-0.054917,0.998171]]
2025-10-26T21:49:00.010Z,1761515340.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:00.389Z,1761515340.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275989,-0.960072,-0.045727],[0.960831,0.274336,0.039294],[-0.025181,-0.054781,0.998181]]
2025-10-26T21:49:00.407Z,1761515340.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:00.786Z,1761515340.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275262,-0.960282,-0.045710],[0.961039,0.273612,0.039242],[-0.025177,-0.054731,0.998184]]
2025-10-26T21:49:00.845Z,1761515340.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:01.212Z,1761515341.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274619,-0.960464,-0.045763],[0.961226,0.272973,0.039125],[-0.025086,-0.054733,0.998186]]
2025-10-26T21:49:01.238Z,1761515341.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:01.581Z,1761515341.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274126,-0.960601,-0.045828],[0.961369,0.272483,0.039018],[-0.024993,-0.054753,0.998187]]
2025-10-26T21:49:01.612Z,1761515341.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:01.984Z,1761515341.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273946,-0.960647,-0.045955],[0.961422,0.272303,0.038963],[-0.024916,-0.054856,0.998183]]
2025-10-26T21:49:02.033Z,1761515342.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:02.394Z,1761515342.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273953,-0.960638,-0.046099],[0.961422,0.272308,0.038942],[-0.024856,-0.054989,0.998177]]
2025-10-26T21:49:02.429Z,1761515342.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:02.787Z,1761515342.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274180,-0.960574,-0.046069],[0.961355,0.272530,0.039042],[-0.024947,-0.054994,0.998175]]
2025-10-26T21:49:02.830Z,1761515342.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:03.190Z,1761515343.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274324,-0.960537,-0.045995],[0.961316,0.272681,0.038948],[-0.024869,-0.054900,0.998182]]
2025-10-26T21:49:03.229Z,1761515343.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:03.594Z,1761515343.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274504,-0.960489,-0.045923],[0.961269,0.272873,0.038771],[-0.024708,-0.054788,0.998192]]
2025-10-26T21:49:03.620Z,1761515343.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:03.998Z,1761515343.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274710,-0.960438,-0.045753],[0.961212,0.273091,0.038642],[-0.024619,-0.054593,0.998205]]
2025-10-26T21:49:04.039Z,1761515344.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:04.400Z,1761515344.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275027,-0.960344,-0.045819],[0.961127,0.273417,0.038438],[-0.024386,-0.054609,0.998210]]
2025-10-26T21:49:04.425Z,1761515344.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:04.812Z,1761515344.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275317,-0.960255,-0.045936],[0.961051,0.273718,0.038209],[-0.024117,-0.054666,0.998213]]
2025-10-26T21:49:04.865Z,1761515344.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:05.208Z,1761515345.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275351,-0.960247,-0.045898],[0.961050,0.273774,0.037823],[-0.023754,-0.054525,0.998230]]
2025-10-26T21:49:05.227Z,1761515345.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:05.613Z,1761515345.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275201,-0.960286,-0.045988],[0.961107,0.273653,0.037243],[-0.023179,-0.054449,0.998248]]
2025-10-26T21:49:05.636Z,1761515345.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:06.016Z,1761515346.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274763,-0.960405,-0.046117],[0.961249,0.273250,0.036543],[-0.022494,-0.054371,0.998267]]
2025-10-26T21:49:06.064Z,1761515346.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:06.421Z,1761515346.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274723,-0.960400,-0.046478],[0.961275,0.273232,0.035982],[-0.021858,-0.054563,0.998271]]
2025-10-26T21:49:06.461Z,1761515346.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:06.838Z,1761515346.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274091,-0.960575,-0.046588],[0.961473,0.272642,0.035161],[-0.021073,-0.054431,0.998295]]
2025-10-26T21:49:06.894Z,1761515346.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:07.233Z,1761515347.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273426,-0.960745,-0.046993],[0.961682,0.272015,0.034293],[-0.020164,-0.054569,0.998306]]
2025-10-26T21:49:07.251Z,1761515347.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:07.632Z,1761515347.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272563,-0.960975,-0.047296],[0.961946,0.271199,0.033330],[-0.019202,-0.054581,0.998325]]
2025-10-26T21:49:07.656Z,1761515347.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:08.036Z,1761515348.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271449,-0.961276,-0.047578],[0.962280,0.270132,0.032342],[-0.018237,-0.054563,0.998344]]
2025-10-26T21:49:08.084Z,1761515348.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:08.441Z,1761515348.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270129,-0.961627,-0.048003],[0.962671,0.268861,0.031276],[-0.017169,-0.054660,0.998357]]
2025-10-26T21:49:08.459Z,1761515348.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:08.871Z,1761515348.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268746,-0.962006,-0.048169],[0.963073,0.267525,0.030327],[-0.016288,-0.054540,0.998379]]
2025-10-26T21:49:08.920Z,1761515348.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:09.260Z,1761515349.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267471,-0.962331,-0.048766],[0.963444,0.266290,0.029406],[-0.015312,-0.054848,0.998377]]
2025-10-26T21:49:09.278Z,1761515349.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:09.676Z,1761515349.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265932,-0.962743,-0.049054],[0.963884,0.264797,0.028467],[-0.014417,-0.054853,0.998390]]
2025-10-26T21:49:09.745Z,1761515349.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:10.076Z,1761515350.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264668,-0.963080,-0.049282],[0.964243,0.263571,0.027682],[-0.013671,-0.054847,0.998401]]
2025-10-26T21:49:10.125Z,1761515350.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:10.463Z,1761515350.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263371,-0.963425,-0.049472],[0.964607,0.262310,0.026946],[-0.012984,-0.054818,0.998412]]
2025-10-26T21:49:10.482Z,1761515350.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:10.896Z,1761515350.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262089,-0.963761,-0.049748],[0.964965,0.261062,0.026243],[-0.012305,-0.054883,0.998417]]
2025-10-26T21:49:10.957Z,1761515350.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:11.273Z,1761515351.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260943,-0.964064,-0.049905],[0.965281,0.259938,0.025765],[-0.011867,-0.054896,0.998422]]
2025-10-26T21:49:11.291Z,1761515351.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:11.673Z,1761515351.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259764,-0.964378,-0.049982],[0.965604,0.258783,0.025293],[-0.011458,-0.054833,0.998430]]
2025-10-26T21:49:11.691Z,1761515351.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:12.080Z,1761515352.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258936,-0.964599,-0.050002],[0.965829,0.257967,0.025068],[-0.011282,-0.054784,0.998434]]
2025-10-26T21:49:12.121Z,1761515352.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:12.488Z,1761515352.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258361,-0.964742,-0.050219],[0.965984,0.257393,0.024982],[-0.011175,-0.054965,0.998426]]
2025-10-26T21:49:12.519Z,1761515352.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:12.931Z,1761515352.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257335,-0.965015,-0.050240],[0.966256,0.256361,0.025058],[-0.011301,-0.054993,0.998423]]
2025-10-26T21:49:12.983Z,1761515352.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:13.372Z,1761515353.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:13.692Z,1761515353.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257008,-0.965111,-0.050085],[0.966340,0.256023,0.025295],[-0.011589,-0.054900,0.998425]]
2025-10-26T21:49:13.722Z,1761515353.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:14.107Z,1761515354.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256757,-0.965183,-0.049967],[0.966402,0.255756,0.025601],[-0.011930,-0.054862,0.998423]]
2025-10-26T21:49:14.148Z,1761515354.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:14.523Z,1761515354.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256649,-0.965221,-0.049798],[0.966419,0.255601,0.026488],[-0.012838,-0.054924,0.998408]]
2025-10-26T21:49:14.541Z,1761515354.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:14.962Z,1761515354.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256787,-0.965194,-0.049614],[0.966375,0.255710,0.027065],[-0.013437,-0.054896,0.998402]]
2025-10-26T21:49:15.029Z,1761515355.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:15.333Z,1761515355.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257087,-0.965126,-0.049379],[0.966285,0.255979,0.027701],[-0.014095,-0.054836,0.998396]]
2025-10-26T21:49:15.372Z,1761515355.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:15.736Z,1761515355.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257157,-0.965119,-0.049155],[0.966257,0.256018,0.028306],[-0.014734,-0.054776,0.998390]]
2025-10-26T21:49:15.754Z,1761515355.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:16.192Z,1761515356.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:16.532Z,1761515356.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257675,-0.964996,-0.048852],[0.966097,0.256465,0.029702],[-0.016134,-0.054850,0.998364]]
2025-10-26T21:49:16.550Z,1761515356.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:17.018Z,1761515357.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:17.345Z,1761515357.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257590,-0.965034,-0.048538],[0.966098,0.256320,0.030904],[-0.017382,-0.054853,0.998343]]
2025-10-26T21:49:17.374Z,1761515357.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:17.742Z,1761515357.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257240,-0.965138,-0.048330],[0.966180,0.255942,0.031464],[-0.017997,-0.054789,0.998336]]
2025-10-26T21:49:17.761Z,1761515357.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:18.140Z,1761515358.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256779,-0.965266,-0.048229],[0.966294,0.255460,0.031868],[-0.018441,-0.054786,0.998328]]
2025-10-26T21:49:18.176Z,1761515358.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:18.541Z,1761515358.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256276,-0.965409,-0.048050],[0.966417,0.254933,0.032363],[-0.018994,-0.054730,0.998321]]
2025-10-26T21:49:18.578Z,1761515358.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:18.964Z,1761515358.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255768,-0.965549,-0.047926],[0.966541,0.254401,0.032843],[-0.019519,-0.054723,0.998311]]
2025-10-26T21:49:19.029Z,1761515359.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:19.360Z,1761515359.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254904,-0.965787,-0.047752],[0.966761,0.253521,0.033172],[-0.019931,-0.054620,0.998308]]
2025-10-26T21:49:19.424Z,1761515359.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:19.752Z,1761515359.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253655,-0.966111,-0.047841],[0.967088,0.252269,0.033185],[-0.019991,-0.054684,0.998304]]
2025-10-26T21:49:19.780Z,1761515359.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:20.156Z,1761515360.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252665,-0.966375,-0.047756],[0.967342,0.251270,0.033355],[-0.020234,-0.054624,0.998302]]
2025-10-26T21:49:20.200Z,1761515360.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:20.561Z,1761515360.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251479,-0.966686,-0.047723],[0.967648,0.250078,0.033442],[-0.020393,-0.054589,0.998301]]
2025-10-26T21:49:20.579Z,1761515360.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:21.019Z,1761515361.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250044,-0.967049,-0.047908],[0.968019,0.248638,0.033450],[-0.020436,-0.054740,0.998291]]
2025-10-26T21:49:21.084Z,1761515361.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:21.368Z,1761515361.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248245,-0.967509,-0.047979],[0.968484,0.246845,0.033260],[-0.020336,-0.054724,0.998294]]
2025-10-26T21:49:21.393Z,1761515361.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:21.772Z,1761515361.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246252,-0.968010,-0.048137],[0.968996,0.244863,0.032990],[-0.020148,-0.054769,0.998296]]
2025-10-26T21:49:21.806Z,1761515361.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:22.176Z,1761515362.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244323,-0.968491,-0.048295],[0.969488,0.242940,0.032770],[-0.020005,-0.054828,0.998295]]
2025-10-26T21:49:22.228Z,1761515362.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:22.582Z,1761515362.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242172,-0.969020,-0.048508],[0.970034,0.240804,0.032371],[-0.019687,-0.054894,0.998298]]
2025-10-26T21:49:22.608Z,1761515362.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:22.984Z,1761515362.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239996,-0.969554,-0.048658],[0.970579,0.238643,0.032023],[-0.019436,-0.054912,0.998302]]
2025-10-26T21:49:23.069Z,1761515363.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:23.392Z,1761515363.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237778,-0.970089,-0.048875],[0.971130,0.236436,0.031698],[-0.019194,-0.055001,0.998302]]
2025-10-26T21:49:23.441Z,1761515363.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:23.840Z,1761515363.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235469,-0.970645,-0.049025],[0.971698,0.234142,0.031332],[-0.018933,-0.055015,0.998306]]
2025-10-26T21:49:23.872Z,1761515363.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:24.214Z,1761515364.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233300,-0.971160,-0.049198],[0.972224,0.231983,0.031043],[-0.018735,-0.055074,0.998306]]
2025-10-26T21:49:24.252Z,1761515364.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:24.604Z,1761515364.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230994,-0.971702,-0.049366],[0.972780,0.229692,0.030676],[-0.018469,-0.055108,0.998310]]
2025-10-26T21:49:24.634Z,1761515364.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:25.006Z,1761515365.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228811,-0.972210,-0.049539],[0.973300,0.227520,0.030378],[-0.018263,-0.055167,0.998310]]
2025-10-26T21:49:25.079Z,1761515365.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:25.414Z,1761515365.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226630,-0.972732,-0.049307],[0.973811,0.225354,0.030135],[-0.018202,-0.054845,0.998329]]
2025-10-26T21:49:25.471Z,1761515365.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:25.817Z,1761515365.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224890,-0.973128,-0.049459],[0.974214,0.223612,0.030080],[-0.018212,-0.054949,0.998323]]
2025-10-26T21:49:25.855Z,1761515365.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:26.218Z,1761515366.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223204,-0.973517,-0.049451],[0.974601,0.221929,0.029995],[-0.018226,-0.054890,0.998326]]
2025-10-26T21:49:26.275Z,1761515366.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:26.628Z,1761515366.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221652,-0.973865,-0.049569],[0.974955,0.220376,0.029944],[-0.018238,-0.054965,0.998322]]
2025-10-26T21:49:26.651Z,1761515366.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:27.033Z,1761515367.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220633,-0.974097,-0.049552],[0.975180,0.219342,0.030205],[-0.018554,-0.054987,0.998315]]
2025-10-26T21:49:27.108Z,1761515367.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:27.455Z,1761515367.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219629,-0.974329,-0.049465],[0.975401,0.218325,0.030456],[-0.018875,-0.054937,0.998311]]
2025-10-26T21:49:27.541Z,1761515367.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:27.898Z,1761515367.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218811,-0.974514,-0.049431],[0.975578,0.217491,0.030745],[-0.019210,-0.054951,0.998304]]
2025-10-26T21:49:27.916Z,1761515367.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:28.354Z,1761515368.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:28.694Z,1761515368.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217591,-0.974789,-0.049396],[0.975836,0.216233,0.031422],[-0.019949,-0.055040,0.998285]]
2025-10-26T21:49:28.742Z,1761515368.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:29.128Z,1761515369.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217171,-0.974892,-0.049207],[0.975921,0.215796,0.031792],[-0.020375,-0.054926,0.998282]]
2025-10-26T21:49:29.175Z,1761515369.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:29.502Z,1761515369.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216998,-0.974934,-0.049149],[0.975950,0.215600,0.032212],[-0.020808,-0.054957,0.998272]]
2025-10-26T21:49:29.545Z,1761515369.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:29.900Z,1761515369.900 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:49:29.955Z,1761515369.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:30.319Z,1761515370.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216011,-0.975161,-0.048985],[0.976157,0.214590,0.032684],[-0.021361,-0.054877,0.998265]]
2025-10-26T21:49:30.367Z,1761515370.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:30.755Z,1761515370.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:30.904Z,1761515370.904 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:49:31.138Z,1761515371.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214828,-0.975414,-0.049158],[0.976412,0.213388,0.032925],[-0.021626,-0.055071,0.998248]]
2025-10-26T21:49:31.240Z,1761515371.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:31.522Z,1761515371.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214013,-0.975598,-0.049066],[0.976590,0.212575,0.032910],[-0.021677,-0.054961,0.998253]]
2025-10-26T21:49:31.565Z,1761515371.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:31.926Z,1761515371.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213366,-0.975738,-0.049090],[0.976732,0.211928,0.032889],[-0.021687,-0.054965,0.998253]]
2025-10-26T21:49:31.944Z,1761515371.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:32.337Z,1761515372.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212679,-0.975893,-0.048995],[0.976882,0.211249,0.032792],[-0.021651,-0.054836,0.998261]]
2025-10-26T21:49:32.373Z,1761515372.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:32.738Z,1761515372.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211911,-0.976053,-0.049139],[0.977053,0.210487,0.032595],[-0.021471,-0.054919,0.998260]]
2025-10-26T21:49:32.762Z,1761515372.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:33.142Z,1761515373.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211024,-0.976240,-0.049233],[0.977249,0.209610,0.032370],[-0.021281,-0.054944,0.998263]]
2025-10-26T21:49:33.223Z,1761515373.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:33.542Z,1761515373.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209757,-0.976510,-0.049306],[0.977529,0.208359,0.032005],[-0.020980,-0.054911,0.998271]]
2025-10-26T21:49:33.601Z,1761515373.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:33.987Z,1761515373.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:34.350Z,1761515374.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207096,-0.977062,-0.049617],[0.978113,0.205740,0.031092],[-0.020171,-0.054970,0.998284]]
2025-10-26T21:49:34.395Z,1761515374.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:34.754Z,1761515374.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205792,-0.977318,-0.050002],[0.978398,0.204454,0.030598],[-0.019681,-0.055218,0.998280]]
2025-10-26T21:49:34.784Z,1761515374.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:35.176Z,1761515375.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204356,-0.977614,-0.050085],[0.978708,0.203046,0.030036],[-0.019194,-0.055157,0.998293]]
2025-10-26T21:49:35.261Z,1761515375.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:35.575Z,1761515375.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203114,-0.977862,-0.050316],[0.978975,0.201822,0.029602],[-0.018792,-0.055271,0.998295]]
2025-10-26T21:49:35.611Z,1761515375.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:35.986Z,1761515375.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201488,-0.978190,-0.050471],[0.979322,0.200228,0.028950],[-0.018213,-0.055261,0.998306]]
2025-10-26T21:49:36.004Z,1761515376.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:36.396Z,1761515376.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199858,-0.978524,-0.050479],[0.979666,0.198632,0.028298],[-0.017664,-0.055108,0.998324]]
2025-10-26T21:49:36.413Z,1761515376.413 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA, 80.13,  81.83,  82.85
2025-10-26T21:49:36.428Z,1761515376.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:36.802Z,1761515376.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198208,-0.978849,-0.050671],[0.980011,0.197010,0.027678],[-0.017110,-0.055144,0.998332]]
2025-10-26T21:49:36.841Z,1761515376.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:37.204Z,1761515377.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196717,-0.979145,-0.050768],[0.980320,0.195548,0.027105],[-0.016612,-0.055100,0.998343]]
2025-10-26T21:49:37.282Z,1761515377.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:37.670Z,1761515377.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:38.041Z,1761515378.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193295,-0.979812,-0.051043],[0.981018,0.192185,0.025861],[-0.015529,-0.055073,0.998362]]
2025-10-26T21:49:38.059Z,1761515378.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:38.445Z,1761515378.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191523,-0.980157,-0.051091],[0.981372,0.190440,0.025332],[-0.015100,-0.054991,0.998373]]
2025-10-26T21:49:38.510Z,1761515378.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:38.846Z,1761515378.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189792,-0.980491,-0.051153],[0.981715,0.188734,0.024808],[-0.014670,-0.054926,0.998383]]
2025-10-26T21:49:38.870Z,1761515378.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:39.280Z,1761515379.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188242,-0.980778,-0.051382],[0.982018,0.187202,0.024398],[-0.014310,-0.055051,0.998381]]
2025-10-26T21:49:39.342Z,1761515379.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:39.699Z,1761515379.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186460,-0.981113,-0.051475],[0.982363,0.185442,0.023945],[-0.013947,-0.055032,0.998387]]
2025-10-26T21:49:39.766Z,1761515379.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:40.128Z,1761515380.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184817,-0.981409,-0.051754],[0.982680,0.183818,0.023490],[-0.013539,-0.055199,0.998384]]
2025-10-26T21:49:40.169Z,1761515380.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:40.545Z,1761515380.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181971,-0.981920,-0.052149],[0.983217,0.180995,0.022897],[-0.013044,-0.055441,0.998377]]
2025-10-26T21:49:40.590Z,1761515380.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:40.954Z,1761515380.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180592,-0.982172,-0.052195],[0.983474,0.179630,0.022626],[-0.012847,-0.055419,0.998381]]
2025-10-26T21:49:40.978Z,1761515380.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:41.358Z,1761515381.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179636,-0.982348,-0.052189],[0.983649,0.178675,0.022558],[-0.012835,-0.055388,0.998382]]
2025-10-26T21:49:41.395Z,1761515381.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:41.801Z,1761515381.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:49:41.804Z,1761515381.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:41.806Z,1761515381.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 6.20 m and bearing: 198.560862 deg. Not drifting fast enough.
2025-10-26T21:49:41.984Z,1761515381.984 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:49:41.984Z,1761515381.984 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:49:42.159Z,1761515382.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177378,-0.982745,-0.052431],[0.984063,0.176435,0.022140],[-0.012507,-0.055523,0.998379]]
2025-10-26T21:49:42.194Z,1761515382.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:42.196Z,1761515382.196 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-10-26T21:49:42.196Z,1761515382.196 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-26T21:49:42.196Z,1761515382.196 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-10-26T21:49:42.196Z,1761515382.196 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-10-26T21:49:42.236Z,1761515382.236 [DAT](INFO): DAT read: user:378>

2025-10-26T21:49:42.237Z,1761515382.237 [DAT](INFO): DAT read: Tx time:21:49:41.3406

2025-10-26T21:49:42.237Z,1761515382.237 [DAT](INFO): Ping request sent.
2025-10-26T21:49:42.237Z,1761515382.237 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:49:42.238Z,1761515382.238 [DAT](INFO): publishing transmit ping time
2025-10-26T21:49:42.238Z,1761515382.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760
2025-10-26T21:49:42.488Z,1761515382.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251001
2025-10-26T21:49:42.610Z,1761515382.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:42.740Z,1761515382.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503026
2025-10-26T21:49:42.966Z,1761515382.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175417,-0.983097,-0.052436],[0.984417,0.174485,0.021884],[-0.012365,-0.055458,0.998384]]
2025-10-26T21:49:42.989Z,1761515382.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:42.992Z,1761515382.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755087
2025-10-26T21:49:43.245Z,1761515383.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007238
2025-10-26T21:49:43.381Z,1761515383.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174446,-0.983267,-0.052489],[0.984591,0.173523,0.021694],[-0.012223,-0.055464,0.998386]]
2025-10-26T21:49:43.434Z,1761515383.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:43.497Z,1761515383.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259692
2025-10-26T21:49:43.748Z,1761515383.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511014
2025-10-26T21:49:43.774Z,1761515383.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173742,-0.983381,-0.052679],[0.984717,0.172823,0.021552],[-0.012089,-0.055618,0.998379]]
2025-10-26T21:49:43.829Z,1761515383.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:44.000Z,1761515384.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762934
2025-10-26T21:49:44.179Z,1761515384.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172860,-0.983537,-0.052667],[0.984875,0.171955,0.021294],[-0.011887,-0.055551,0.998385]]
2025-10-26T21:49:44.213Z,1761515384.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:44.252Z,1761515384.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015022
2025-10-26T21:49:44.504Z,1761515384.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266933
2025-10-26T21:49:44.587Z,1761515384.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172321,-0.983618,-0.052927],[0.984971,0.171422,0.021124],[-0.011705,-0.055771,0.998375]]
2025-10-26T21:49:44.638Z,1761515384.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:44.757Z,1761515384.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519507
2025-10-26T21:49:44.994Z,1761515384.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171427,-0.983770,-0.052997],[0.985131,0.170546,0.020742],[-0.011367,-0.055765,0.998379]]
2025-10-26T21:49:45.009Z,1761515385.009 [DAT](INFO): DAT read: Rx Time:21:49:43.7490

2025-10-26T21:49:45.009Z,1761515385.009 [DAT](INFO): Rx dataTimestamp_ set to:1761515385.008749
2025-10-26T21:49:45.010Z,1761515385.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772271
2025-10-26T21:49:45.019Z,1761515385.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:45.260Z,1761515385.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022941
2025-10-26T21:49:45.409Z,1761515385.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170862,-0.983865,-0.053061],[0.985232,0.169995,0.020469],[-0.011119,-0.055775,0.998381]]
2025-10-26T21:49:45.462Z,1761515385.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:49:45.516Z,1761515385.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278413
2025-10-26T21:49:45.770Z,1761515385.770 [DAT](INFO): DAT read: 21:49:43.7490 LVL= 21216, 27121, 32754, 32755, AGC= 40, IDX= 409,-0.31, 3.103, 2.723, 1.391,-2.956, PHS=-0.122,-0.559,-1.980, RAW=  43.0,  29.2, CAL=  39.9,  34.9, ROT= 110.1, -34.9

2025-10-26T21:49:45.771Z,1761515385.771 [DAT](INFO): got valid direction response:
 21:49:43.7490 LVL= 21216, 27121, 32754, 32755, AGC= 40, IDX= 409,-0.31, 3.103, 2.723, 1.391,-2.956, PHS=-0.122,-0.559,-1.980, RAW=  43.0,  29.2, CAL=  39.9,  34.9, ROT= 110.1, -34.9

2025-10-26T21:49:45.772Z,1761515385.772 [DAT](INFO): DAT read: Bearing 338.9,  47.8 (Local)

2025-10-26T21:49:45.772Z,1761515385.772 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.9,  47.8 (Local)

2025-10-26T21:49:45.773Z,1761515385.773 [DAT](INFO): DAT read: Range 11 to 50 : 3.1 m  (Round-trip  4.2 ms) speed  0.0 m/s

2025-10-26T21:49:45.774Z,1761515385.774 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:49:45.777Z,1761515385.777 [DAT](INFO): direction in FSK: [-0.281853,0.770200,0.572146]
2025-10-26T21:49:45.777Z,1761515385.777 [DAT](INFO): publishing direction and range info
2025-10-26T21:49:45.831Z,1761515385.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170368,-0.983940,-0.053255],[0.985321,0.169516,0.020159],[-0.010808,-0.055908,0.998378]]
2025-10-26T21:49:45.888Z,1761515385.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.100000 m,
      deltaT: 60.298334 s,
      deltaX: -3.100000 m,
      approachRate: -0.051411 m/s,
      rangeRepo size: 4

2025-10-26T21:49:45.890Z,1761515385.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.080880 m,
      bearing: 189.211084 deg,
      lat: 36.779419 deg,
      lon: -121.859480 deg,
      deltaT: 60.298334 s,
      deltaX: -3.080852 m,
      approachRate: -0.051093 m/s,
      posRepo size: 4

2025-10-26T21:49:45.891Z,1761515385.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:46.265Z,1761515386.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:46.608Z,1761515386.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169697,-0.984014,-0.054036],[0.985444,0.168867,0.019614],[-0.010176,-0.056578,0.998346]]
2025-10-26T21:49:46.645Z,1761515386.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:47.010Z,1761515387.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171824,-0.983226,-0.061185],[0.985062,0.170767,0.022154],[-0.011334,-0.064077,0.997881]]
2025-10-26T21:49:47.052Z,1761515387.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:47.434Z,1761515387.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174177,-0.981693,-0.077075],[0.984639,0.172664,0.025934],[-0.012151,-0.080408,0.996688]]
2025-10-26T21:49:47.476Z,1761515387.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:47.820Z,1761515387.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175183,-0.980249,-0.091775],[0.984465,0.173293,0.028237],[-0.011776,-0.095296,0.995379]]
2025-10-26T21:49:47.838Z,1761515387.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:48.223Z,1761515388.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176006,-0.979608,-0.096897],[0.984328,0.174043,0.028415],[-0.010972,-0.100380,0.994889]]
2025-10-26T21:49:48.243Z,1761515388.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:48.626Z,1761515388.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176538,-0.980077,-0.091017],[0.984244,0.174846,0.026302],[-0.009864,-0.094227,0.995502]]
2025-10-26T21:49:48.669Z,1761515388.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:49.030Z,1761515389.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177013,-0.980881,-0.080866],[0.984173,0.175708,0.023037],[-0.008388,-0.083663,0.996459]]
2025-10-26T21:49:49.077Z,1761515389.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:49.477Z,1761515389.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177496,-0.981313,-0.074290],[0.984099,0.176471,0.020203],[-0.006716,-0.076694,0.997032]]
2025-10-26T21:49:49.513Z,1761515389.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:49.874Z,1761515389.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178908,-0.980960,-0.075561],[0.983853,0.177978,0.018923],[-0.005115,-0.077726,0.996962]]
2025-10-26T21:49:49.904Z,1761515389.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:50.321Z,1761515390.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180733,-0.980069,-0.082461],[0.983527,0.179810,0.018550],[-0.003353,-0.084455,0.996422]]
2025-10-26T21:49:50.338Z,1761515390.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:50.741Z,1761515390.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183116,-0.978954,-0.090100],[0.983090,0.182205,0.018307],[-0.001505,-0.091929,0.995764]]
2025-10-26T21:49:50.808Z,1761515390.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:51.126Z,1761515391.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186233,-0.977851,-0.095522],[0.982505,0.185379,0.017823],[0.000279,-0.097170,0.995268]]
2025-10-26T21:49:51.144Z,1761515391.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:51.530Z,1761515391.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189704,-0.976987,-0.097513],[0.981839,0.188966,0.016840],[0.001974,-0.098937,0.995092]]
2025-10-26T21:49:51.604Z,1761515391.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:51.935Z,1761515391.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193424,-0.976152,-0.098559],[0.981108,0.192832,0.015585],[0.003792,-0.099711,0.995009]]
2025-10-26T21:49:51.953Z,1761515391.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:52.338Z,1761515392.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197514,-0.975132,-0.100525],[0.980285,0.197038,0.014744],[0.005430,-0.101456,0.994825]]
2025-10-26T21:49:52.363Z,1761515392.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:52.752Z,1761515392.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202076,-0.973806,-0.104242],[0.979346,0.201668,0.014556],[0.006848,-0.105030,0.994446]]
2025-10-26T21:49:52.815Z,1761515392.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:53.154Z,1761515393.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206962,-0.972222,-0.109321],[0.978315,0.206587,0.014874],[0.008123,-0.110029,0.993895]]
2025-10-26T21:49:53.172Z,1761515393.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:53.615Z,1761515393.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212153,-0.970485,-0.114676],[0.977194,0.211769,0.015662],[0.009085,-0.115383,0.993280]]
2025-10-26T21:49:53.663Z,1761515393.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:54.002Z,1761515394.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217824,-0.968675,-0.119251],[0.975939,0.217412,0.016611],[0.009836,-0.119999,0.992725]]
2025-10-26T21:49:54.032Z,1761515394.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:54.406Z,1761515394.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223934,-0.966781,-0.123238],[0.974550,0.223465,0.017798],[0.010333,-0.124087,0.992217]]
2025-10-26T21:49:54.424Z,1761515394.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:54.810Z,1761515394.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230196,-0.964816,-0.127040],[0.973084,0.229668,0.018987],[0.010858,-0.127992,0.991716]]
2025-10-26T21:49:54.861Z,1761515394.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:55.215Z,1761515395.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237240,-0.962665,-0.130355],[0.971387,0.236622,0.020442],[0.011166,-0.131474,0.991257]]
2025-10-26T21:49:55.233Z,1761515395.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:55.683Z,1761515395.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:56.022Z,1761515396.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250914,-0.958161,-0.137731],[0.967945,0.249981,0.024310],[0.011137,-0.139416,0.990171]]
2025-10-26T21:49:56.048Z,1761515396.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:56.426Z,1761515396.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258649,-0.955432,-0.142307],[0.965912,0.257450,0.027103],[0.010742,-0.144466,0.989452]]
2025-10-26T21:49:56.462Z,1761515396.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:56.830Z,1761515396.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267754,-0.952134,-0.147474],[0.963433,0.266208,0.030495],[0.010224,-0.150247,0.988596]]
2025-10-26T21:49:56.883Z,1761515396.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:57.236Z,1761515397.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277399,-0.948753,-0.151384],[0.960704,0.275541,0.033541],[0.009891,-0.154739,0.987906]]
2025-10-26T21:49:57.253Z,1761515397.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:57.697Z,1761515397.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:58.079Z,1761515398.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:58.446Z,1761515398.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310840,-0.936411,-0.162831],[0.950419,0.307871,0.043815],[0.009102,-0.168377,0.985681]]
2025-10-26T21:49:58.475Z,1761515398.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:58.907Z,1761515398.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:59.258Z,1761515399.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337132,-0.926089,-0.169415],[0.941407,0.333480,0.050447],[0.009778,-0.176496,0.984253]]
2025-10-26T21:49:59.290Z,1761515399.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:49:59.658Z,1761515399.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351215,-0.920194,-0.172890],[0.936237,0.347199,0.053970],[0.010365,-0.180821,0.983461]]
2025-10-26T21:49:59.713Z,1761515399.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:00.062Z,1761515400.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365836,-0.913908,-0.175887],[0.930613,0.361475,0.057406],[0.011115,-0.184684,0.982735]]
2025-10-26T21:50:00.096Z,1761515400.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:00.466Z,1761515400.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380881,-0.906765,-0.180852],[0.924543,0.376083,0.061498],[0.012251,-0.190629,0.981586]]
2025-10-26T21:50:00.484Z,1761515400.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:00.871Z,1761515400.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396564,-0.898960,-0.186031],[0.917908,0.391275,0.065950],[0.013502,-0.196913,0.980328]]
2025-10-26T21:50:00.908Z,1761515400.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:01.036Z,1761515401.036 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:50:01.351Z,1761515401.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412259,-0.890792,-0.191132],[0.910944,0.406476,0.070416],[0.014965,-0.203140,0.979035]]
2025-10-26T21:50:01.377Z,1761515401.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:01.766Z,1761515401.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427819,-0.882613,-0.194848],[0.903713,0.421633,0.074348],[0.016534,-0.207894,0.978012]]
2025-10-26T21:50:01.832Z,1761515401.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:02.040Z,1761515402.040 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:50:02.201Z,1761515402.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459928,-0.865004,-0.200585],[0.887748,0.452821,0.082803],[0.019205,-0.216153,0.976171]]
2025-10-26T21:50:02.219Z,1761515402.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:02.657Z,1761515402.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475394,-0.856024,-0.203036],[0.879530,0.467851,0.086843],[0.020651,-0.219861,0.975313]]
2025-10-26T21:50:02.725Z,1761515402.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:03.009Z,1761515403.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490540,-0.846778,-0.205762],[0.871135,0.482538,0.091000],[0.022231,-0.223886,0.974362]]
2025-10-26T21:50:03.028Z,1761515403.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:03.444Z,1761515403.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:03.814Z,1761515403.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520147,-0.827772,-0.210336],[0.853695,0.511265,0.099060],[0.025538,-0.231089,0.972597]]
2025-10-26T21:50:03.862Z,1761515403.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:04.220Z,1761515404.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534528,-0.818291,-0.211374],[0.844712,0.525332,0.102414],[0.027237,-0.233294,0.972025]]
2025-10-26T21:50:04.238Z,1761515404.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:04.693Z,1761515404.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548090,-0.809331,-0.211143],[0.835921,0.538737,0.104872],[0.028874,-0.233978,0.971813]]
2025-10-26T21:50:04.765Z,1761515404.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:05.153Z,1761515405.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:05.591Z,1761515405.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574448,-0.790632,-0.211920],[0.817939,0.564379,0.111589],[0.031378,-0.237440,0.970895]]
2025-10-26T21:50:05.627Z,1761515405.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:06.103Z,1761515406.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587719,-0.780574,-0.212814],[0.808434,0.576966,0.116381],[0.031942,-0.240446,0.970137]]
2025-10-26T21:50:06.159Z,1761515406.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:06.506Z,1761515406.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600998,-0.770446,-0.212637],[0.798603,0.589578,0.120960],[0.032173,-0.242509,0.969616]]
2025-10-26T21:50:06.535Z,1761515406.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:06.910Z,1761515406.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614233,-0.760524,-0.210526],[0.788483,0.602250,0.124858],[0.031832,-0.242688,0.969582]]
2025-10-26T21:50:06.961Z,1761515406.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:07.315Z,1761515407.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627206,-0.750748,-0.207340],[0.778245,0.614619,0.128752],[0.030774,-0.242116,0.969759]]
2025-10-26T21:50:07.333Z,1761515407.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:07.751Z,1761515407.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640122,-0.740594,-0.204365],[0.767715,0.626752,0.133401],[0.029290,-0.242287,0.969762]]
2025-10-26T21:50:07.805Z,1761515407.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:08.123Z,1761515408.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653580,-0.729608,-0.201259],[0.756354,0.639325,0.138535],[0.027593,-0.242767,0.969692]]
2025-10-26T21:50:08.154Z,1761515408.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:08.526Z,1761515408.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666101,-0.719088,-0.198044],[0.745414,0.651002,0.143369],[0.025832,-0.243122,0.969652]]
2025-10-26T21:50:08.552Z,1761515408.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:08.997Z,1761515408.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691914,-0.695747,-0.192848],[0.721646,0.674583,0.155448],[0.021939,-0.246725,0.968837]]
2025-10-26T21:50:09.053Z,1761515409.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:09.435Z,1761515409.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:09.878Z,1761515409.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718893,-0.669939,-0.185402],[0.694909,0.699220,0.167910],[0.017147,-0.249547,0.968211]]
2025-10-26T21:50:09.931Z,1761515409.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:10.293Z,1761515410.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733074,-0.655907,-0.179967],[0.679991,0.712485,0.173143],[0.014659,-0.249303,0.968315]]
2025-10-26T21:50:10.347Z,1761515410.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:10.690Z,1761515410.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746345,-0.642572,-0.173412],[0.665447,0.725249,0.176619],[0.012277,-0.247215,0.968883]]
2025-10-26T21:50:10.785Z,1761515410.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:11.091Z,1761515411.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760139,-0.628163,-0.166129],[0.649685,0.738683,0.179601],[0.009898,-0.244453,0.969611]]
2025-10-26T21:50:11.147Z,1761515411.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:11.498Z,1761515411.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773634,-0.612878,-0.160844],[0.633586,0.751301,0.184705],[0.007640,-0.244803,0.969543]]
2025-10-26T21:50:11.516Z,1761515411.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:11.898Z,1761515411.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787587,-0.595986,-0.156547],[0.616179,0.763966,0.191519],[0.005454,-0.247299,0.968924]]
2025-10-26T21:50:11.977Z,1761515411.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:12.302Z,1761515412.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801465,-0.578330,-0.152273],[0.598032,0.776447,0.198716],[0.003309,-0.250328,0.968155]]
2025-10-26T21:50:12.332Z,1761515412.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:12.715Z,1761515412.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815040,-0.560165,-0.148068],[0.579402,0.788595,0.205937],[0.001407,-0.253638,0.967298]]
2025-10-26T21:50:12.808Z,1761515412.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:13.112Z,1761515413.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828319,-0.541480,-0.143830],[0.560257,0.800362,0.213383],[-0.000426,-0.257331,0.966323]]
2025-10-26T21:50:13.148Z,1761515413.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:13.514Z,1761515413.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841172,-0.522564,-0.139123],[0.540761,0.811641,0.220944],[-0.002540,-0.261085,0.965312]]
2025-10-26T21:50:13.542Z,1761515413.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:13.918Z,1761515413.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853107,-0.504505,-0.132978],[0.521716,0.822688,0.225824],[-0.004530,-0.262029,0.965050]]
2025-10-26T21:50:13.969Z,1761515413.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:14.322Z,1761515414.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864160,-0.487331,-0.125442],[0.503172,0.833493,0.228269],[-0.006687,-0.260380,0.965483]]
2025-10-26T21:50:14.341Z,1761515414.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:14.743Z,1761515414.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874953,-0.469986,-0.116489],[0.484118,0.844475,0.229110],[-0.009307,-0.256855,0.966405]]
2025-10-26T21:50:14.836Z,1761515414.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:15.130Z,1761515415.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885419,-0.452630,-0.105640],[0.464641,0.856128,0.226172],[-0.011931,-0.249342,0.968342]]
2025-10-26T21:50:15.174Z,1761515415.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:15.534Z,1761515415.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894725,-0.436524,-0.094411],[0.446368,0.866968,0.221636],[-0.014898,-0.240446,0.970548]]
2025-10-26T21:50:15.570Z,1761515415.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:15.938Z,1761515415.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903569,-0.419994,-0.084666],[0.428071,0.876758,0.219204],[-0.017833,-0.234309,0.971999]]
2025-10-26T21:50:15.993Z,1761515415.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:16.344Z,1761515416.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911854,-0.403382,-0.076192],[0.409966,0.885226,0.219780],[-0.021208,-0.231644,0.972570]]
2025-10-26T21:50:16.362Z,1761515416.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:16.761Z,1761515416.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919579,-0.387045,-0.067604],[0.392111,0.893102,0.220496],[-0.024965,-0.229271,0.973042]]
2025-10-26T21:50:16.830Z,1761515416.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:17.150Z,1761515417.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926436,-0.371477,-0.061002],[0.375359,0.899191,0.224859],[-0.028678,-0.231215,0.972480]]
2025-10-26T21:50:17.195Z,1761515417.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:17.554Z,1761515417.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933285,-0.354768,-0.055838],[0.357637,0.903900,0.234651],[-0.032775,-0.238966,0.970475]]
2025-10-26T21:50:17.572Z,1761515417.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:17.960Z,1761515417.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939511,-0.338742,-0.050723],[0.340523,0.907776,0.244923],[-0.036920,-0.247380,0.968215]]
2025-10-26T21:50:17.996Z,1761515417.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:18.362Z,1761515418.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944899,-0.324394,-0.043977],[0.324750,0.911936,0.250820],[-0.041260,-0.251281,0.967034]]
2025-10-26T21:50:18.385Z,1761515418.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:18.822Z,1761515418.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:19.170Z,1761515419.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953381,-0.300478,-0.027882],[0.297655,0.921162,0.250724],[-0.049653,-0.247335,0.967657]]
2025-10-26T21:50:19.222Z,1761515419.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:19.576Z,1761515419.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956387,-0.291485,-0.018988],[0.287064,0.925878,0.245649],[-0.054023,-0.240386,0.969173]]
2025-10-26T21:50:19.600Z,1761515419.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:19.978Z,1761515419.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958934,-0.283450,-0.010105],[0.277523,0.930335,0.239705],[-0.058543,-0.232666,0.970793]]
2025-10-26T21:50:20.022Z,1761515420.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:20.382Z,1761515420.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961081,-0.276263,-0.001133],[0.268869,0.934400,0.233679],[-0.063498,-0.224889,0.972313]]
2025-10-26T21:50:20.425Z,1761515420.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:20.802Z,1761515420.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962600,-0.270849,0.006418],[0.262281,0.937561,0.228446],[-0.067892,-0.218219,0.973535]]
2025-10-26T21:50:20.909Z,1761515420.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:21.196Z,1761515421.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963669,-0.266762,0.013408],[0.257130,0.940120,0.223738],[-0.072290,-0.212161,0.974557]]
2025-10-26T21:50:21.287Z,1761515421.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:21.594Z,1761515421.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964179,-0.264493,0.020086],[0.253900,0.942174,0.218732],[-0.076777,-0.205797,0.975578]]
2025-10-26T21:50:21.628Z,1761515421.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:21.998Z,1761515421.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964153,-0.264010,0.026620],[0.252575,0.943859,0.212923],[-0.081340,-0.198567,0.976706]]
2025-10-26T21:50:22.049Z,1761515422.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:22.403Z,1761515422.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963803,-0.264497,0.033532],[0.252394,0.945680,0.204907],[-0.085908,-0.189027,0.978207]]
2025-10-26T21:50:22.421Z,1761515422.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:22.815Z,1761515422.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963092,-0.266175,0.040061],[0.253582,0.947120,0.196619],[-0.090278,-0.179204,0.979661]]
2025-10-26T21:50:22.850Z,1761515422.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:23.210Z,1761515423.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962310,-0.267882,0.046892],[0.254934,0.948612,0.187465],[-0.094701,-0.168445,0.981151]]
2025-10-26T21:50:23.270Z,1761515423.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:23.651Z,1761515423.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961088,-0.271048,0.053312],[0.257892,0.949545,0.178485],[-0.099000,-0.157792,0.982497]]
2025-10-26T21:50:23.669Z,1761515423.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:24.051Z,1761515424.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959865,-0.274240,0.058751],[0.260819,0.949848,0.172518],[-0.103116,-0.150271,0.983253]]
2025-10-26T21:50:24.095Z,1761515424.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:24.552Z,1761515424.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:24.987Z,1761515424.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957230,-0.280948,0.069126],[0.266844,0.949619,0.164372],[-0.111823,-0.138896,0.983973]]
2025-10-26T21:50:25.032Z,1761515425.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:25.393Z,1761515425.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954695,-0.286971,0.078773],[0.272168,0.949050,0.158832],[-0.120340,-0.130197,0.984158]]
2025-10-26T21:50:25.412Z,1761515425.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:25.792Z,1761515425.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953489,-0.289959,0.082360],[0.274646,0.948304,0.159025],[-0.124213,-0.129009,0.983833]]
2025-10-26T21:50:25.811Z,1761515425.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:26.195Z,1761515426.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952437,-0.292484,0.085541],[0.276577,0.947525,0.160316],[-0.127942,-0.129032,0.983352]]
2025-10-26T21:50:26.277Z,1761515426.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:26.656Z,1761515426.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951476,-0.294782,0.088297],[0.278290,0.946748,0.161932],[-0.131330,-0.129502,0.982844]]
2025-10-26T21:50:26.693Z,1761515426.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:27.058Z,1761515427.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950335,-0.297704,0.090750],[0.280699,0.945812,0.163239],[-0.134430,-0.129658,0.982404]]
2025-10-26T21:50:27.117Z,1761515427.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:27.548Z,1761515427.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949559,-0.299523,0.092860],[0.281966,0.945102,0.165161],[-0.137232,-0.130647,0.981885]]
2025-10-26T21:50:27.582Z,1761515427.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:28.042Z,1761515428.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948961,-0.300888,0.094547],[0.282650,0.944336,0.168340],[-0.139936,-0.133024,0.981184]]
2025-10-26T21:50:28.094Z,1761515428.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:28.423Z,1761515428.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948293,-0.302514,0.096051],[0.283648,0.943518,0.171222],[-0.142423,-0.135124,0.980539]]
2025-10-26T21:50:28.457Z,1761515428.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:28.826Z,1761515428.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947879,-0.303477,0.097099],[0.283983,0.942819,0.174489],[-0.144500,-0.137820,0.979860]]
2025-10-26T21:50:28.849Z,1761515428.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:29.244Z,1761515429.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947669,-0.303577,0.098811],[0.283642,0.942670,0.175841],[-0.146527,-0.138612,0.979447]]
2025-10-26T21:50:29.301Z,1761515429.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:29.743Z,1761515429.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947772,-0.302775,0.100280],[0.282472,0.942818,0.176932],[-0.148116,-0.139365,0.979101]]
2025-10-26T21:50:29.773Z,1761515429.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:30.185Z,1761515430.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:30.563Z,1761515430.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948249,-0.300498,0.102591],[0.279737,0.943458,0.177859],[-0.150236,-0.139956,0.978694]]
2025-10-26T21:50:30.593Z,1761515430.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:30.966Z,1761515430.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948426,-0.299900,0.102707],[0.279001,0.943522,0.178675],[-0.150491,-0.140804,0.978533]]
2025-10-26T21:50:31.021Z,1761515431.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:31.443Z,1761515431.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949643,-0.296441,0.101494],[0.275296,0.944063,0.181543],[-0.149633,-0.144460,0.978131]]
2025-10-26T21:50:31.495Z,1761515431.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:31.910Z,1761515431.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950331,-0.294983,0.099278],[0.273859,0.944078,0.183624],[-0.147892,-0.147315,0.977970]]
2025-10-26T21:50:31.928Z,1761515431.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:32.160Z,1761515432.160 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:50:32.309Z,1761515432.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950954,-0.293621,0.097331],[0.272731,0.944316,0.184079],[-0.145961,-0.148505,0.978081]]
2025-10-26T21:50:32.345Z,1761515432.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:32.730Z,1761515432.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951502,-0.292448,0.095494],[0.271832,0.944560,0.184158],[-0.144056,-0.149268,0.978247]]
2025-10-26T21:50:32.753Z,1761515432.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:33.115Z,1761515433.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951937,-0.291617,0.093675],[0.271229,0.944660,0.184531],[-0.142303,-0.150254,0.978352]]
2025-10-26T21:50:33.162Z,1761515433.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:33.164Z,1761515433.164 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:50:33.519Z,1761515433.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952075,-0.291598,0.092322],[0.271569,0.944769,0.183473],[-0.140723,-0.149608,0.978680]]
2025-10-26T21:50:33.538Z,1761515433.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:33.931Z,1761515433.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952247,-0.291381,0.091225],[0.271774,0.945054,0.181690],[-0.139154,-0.148221,0.979115]]
2025-10-26T21:50:33.950Z,1761515433.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:34.326Z,1761515434.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952147,-0.291861,0.090735],[0.272441,0.945021,0.180862],[-0.138533,-0.147488,0.979314]]
2025-10-26T21:50:34.373Z,1761515434.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:34.740Z,1761515434.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952069,-0.292324,0.090061],[0.273050,0.944911,0.180518],[-0.137869,-0.147274,0.979440]]
2025-10-26T21:50:34.773Z,1761515434.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:35.134Z,1761515435.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951897,-0.293228,0.088934],[0.274203,0.944696,0.179895],[-0.136766,-0.146855,0.979657]]
2025-10-26T21:50:35.190Z,1761515435.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:35.540Z,1761515435.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951702,-0.294199,0.087805],[0.275405,0.944443,0.179385],[-0.135702,-0.146539,0.979853]]
2025-10-26T21:50:35.558Z,1761515435.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:35.953Z,1761515435.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951522,-0.295215,0.086340],[0.276696,0.944157,0.178903],[-0.134334,-0.146340,0.980071]]
2025-10-26T21:50:35.972Z,1761515435.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:36.347Z,1761515436.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951334,-0.296319,0.084605],[0.278082,0.943795,0.178665],[-0.132792,-0.146443,0.980266]]
2025-10-26T21:50:36.397Z,1761515436.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:36.754Z,1761515436.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951158,-0.297616,0.081989],[0.279587,0.943108,0.179938],[-0.130877,-0.148226,0.980255]]
2025-10-26T21:50:36.772Z,1761515436.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:37.162Z,1761515437.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950865,-0.299106,0.079945],[0.281364,0.942570,0.179987],[-0.129189,-0.148650,0.980415]]
2025-10-26T21:50:37.231Z,1761515437.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:37.559Z,1761515437.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950358,-0.301222,0.078009],[0.283795,0.941904,0.179657],[-0.127594,-0.148600,0.980631]]
2025-10-26T21:50:37.593Z,1761515437.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:37.971Z,1761515437.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950109,-0.302423,0.076370],[0.285335,0.941591,0.178858],[-0.126000,-0.148143,0.980906]]
2025-10-26T21:50:37.990Z,1761515437.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:38.418Z,1761515438.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:38.771Z,1761515438.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949368,-0.305761,0.072185],[0.289305,0.940433,0.178574],[-0.122486,-0.148649,0.981275]]
2025-10-26T21:50:38.809Z,1761515438.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:39.187Z,1761515439.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949219,-0.306920,0.069167],[0.290730,0.939718,0.180018],[-0.120249,-0.150768,0.981228]]
2025-10-26T21:50:39.247Z,1761515439.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:39.580Z,1761515439.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949037,-0.308034,0.066663],[0.292116,0.939130,0.180840],[-0.118310,-0.152150,0.981251]]
2025-10-26T21:50:39.598Z,1761515439.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:39.984Z,1761515439.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948945,-0.308767,0.064542],[0.293124,0.938746,0.181204],[-0.116539,-0.153034,0.981325]]
2025-10-26T21:50:40.014Z,1761515440.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:40.439Z,1761515440.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:40.867Z,1761515440.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948956,-0.309635,0.060067],[0.294570,0.938115,0.182123],[-0.112741,-0.155132,0.981439]]
2025-10-26T21:50:40.894Z,1761515440.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:41.418Z,1761515441.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:41.793Z,1761515441.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949474,-0.308841,0.055831],[0.294478,0.938194,0.181862],[-0.108547,-0.156232,0.981738]]
2025-10-26T21:50:41.814Z,1761515441.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:50:41.832Z,1761515441.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:41.988Z,1761515441.988 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:50:41.989Z,1761515441.989 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:50:42.240Z,1761515442.240 [DAT](INFO): DAT read: user:379>

2025-10-26T21:50:42.241Z,1761515442.241 [DAT](INFO): DAT read: Tx time:21:50:41.3405

2025-10-26T21:50:42.241Z,1761515442.241 [DAT](INFO): Ping request sent.
2025-10-26T21:50:42.241Z,1761515442.241 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:50:42.242Z,1761515442.242 [DAT](INFO): publishing transmit ping time
2025-10-26T21:50:42.242Z,1761515442.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-10-26T21:50:42.318Z,1761515442.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:42.492Z,1761515442.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250910
2025-10-26T21:50:42.631Z,1761515442.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:42.745Z,1761515442.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503151
2025-10-26T21:50:42.996Z,1761515442.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754991
2025-10-26T21:50:43.010Z,1761515443.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950892,-0.306096,0.045934],[0.293403,0.938657,0.181214],[-0.098585,-0.158838,0.982370]]
2025-10-26T21:50:43.052Z,1761515443.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:43.249Z,1761515443.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007902
2025-10-26T21:50:43.411Z,1761515443.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951283,-0.305275,0.043226],[0.293281,0.939195,0.178605],[-0.095121,-0.157226,0.982971]]
2025-10-26T21:50:43.472Z,1761515443.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:43.501Z,1761515443.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259847
2025-10-26T21:50:43.752Z,1761515443.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511001
2025-10-26T21:50:43.817Z,1761515443.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951633,-0.304517,0.040787],[0.293218,0.939817,0.175408],[-0.091747,-0.154965,0.983651]]
2025-10-26T21:50:43.835Z,1761515443.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:44.006Z,1761515444.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763846
2025-10-26T21:50:44.260Z,1761515444.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017636
2025-10-26T21:50:44.286Z,1761515444.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951983,-0.303759,0.038197],[0.293057,0.940244,0.173374],[-0.088578,-0.153855,0.984115]]
2025-10-26T21:50:44.322Z,1761515444.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:44.508Z,1761515444.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266934
2025-10-26T21:50:44.670Z,1761515444.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952379,-0.302909,0.034943],[0.292816,0.940519,0.172284],[-0.085051,-0.153848,0.984427]]
2025-10-26T21:50:44.720Z,1761515444.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:44.760Z,1761515444.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519055
2025-10-26T21:50:45.012Z,1761515445.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771054
2025-10-26T21:50:45.077Z,1761515445.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952873,-0.301774,0.031056],[0.292374,0.940826,0.171359],[-0.080930,-0.154203,0.984719]]
2025-10-26T21:50:45.094Z,1761515445.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:45.267Z,1761515445.267 [DAT](INFO): DAT read: Rx Time:21:50:43.7854

2025-10-26T21:50:45.268Z,1761515445.268 [DAT](INFO): Rx dataTimestamp_ set to:1761515445.267521
2025-10-26T21:50:45.269Z,1761515445.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027202
2025-10-26T21:50:45.479Z,1761515445.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953158,-0.301296,0.026655],[0.292704,0.941001,0.169828],[-0.076251,-0.154071,0.985113]]
2025-10-26T21:50:45.516Z,1761515445.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275038
2025-10-26T21:50:45.524Z,1761515445.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.08 m.
2025-10-26T21:50:45.774Z,1761515445.774 [DAT](INFO): DAT read: 21:50:43.7854 LVL= 32752, 27985, 32754, 32755, AGC= 71, IDX= 302,-0.45,-2.385,-0.513,-2.057,-1.654, PHS=-0.629, 1.186,-0.447, RAW= 324.8,  -1.3, CAL= 323.6,  -4.3, ROT= 186.4,   4.3

2025-10-26T21:50:45.775Z,1761515445.775 [DAT](INFO): got valid direction response:
 21:50:43.7854 LVL= 32752, 27985, 32754, 32755, AGC= 71, IDX= 302,-0.45,-2.385,-0.513,-2.057,-1.654, PHS=-0.629, 1.186,-0.447, RAW= 324.8,  -1.3, CAL= 323.6,  -4.3, ROT= 186.4,   4.3

2025-10-26T21:50:45.776Z,1761515445.776 [DAT](INFO): DAT read: Bearing 349.5,  -1.1 (Local)

2025-10-26T21:50:45.776Z,1761515445.776 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.5,  -1.1 (Local)

2025-10-26T21:50:45.778Z,1761515445.778 [DAT](INFO): DAT read: Range 11 to 50 : 30.6 m  (Round-trip  40.8 ms) speed -0.8 m/s

2025-10-26T21:50:45.778Z,1761515445.778 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:50:45.779Z,1761515445.779 [DAT](INFO): direction in FSK: [-0.990971,-0.111155,-0.074979]
2025-10-26T21:50:45.780Z,1761515445.780 [DAT](INFO): publishing direction and range info
2025-10-26T21:50:45.882Z,1761515445.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953398,-0.300929,0.021765],[0.293180,0.941051,0.168727],[-0.071257,-0.154483,0.985422]]
2025-10-26T21:50:45.928Z,1761515445.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.600000 m,
      deltaT: 60.004241 s,
      deltaX: 27.500000 m,
      approachRate: 0.458301 m/s,
      rangeRepo size: 4

2025-10-26T21:50:45.930Z,1761515445.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.411034 m,
      bearing: 204.068286 deg,
      lat: 36.779419 deg,
      lon: -121.859484 deg,
      deltaT: 60.004241 s,
      deltaX: 27.330154 m,
      approachRate: 0.455470 m/s,
      posRepo size: 4

2025-10-26T21:50:45.931Z,1761515445.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:46.314Z,1761515446.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953547,-0.300805,0.016261],[0.293924,0.940846,0.168573],[-0.066006,-0.155963,0.985555]]
2025-10-26T21:50:46.326Z,1761515446.326 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,32768,-32768,V
2025-10-26T21:50:46.361Z,1761515446.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:46.704Z,1761515446.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953693,-0.300583,0.010892],[0.294592,0.940767,0.167850],[-0.060700,-0.156869,0.985752]]
2025-10-26T21:50:46.734Z,1761515446.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:47.094Z,1761515447.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953617,-0.300967,0.005737],[0.295915,0.940765,0.165518],[-0.055213,-0.156144,0.986190]]
2025-10-26T21:50:47.112Z,1761515447.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:47.498Z,1761515447.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953476,-0.301470,0.000415],[0.297333,0.940618,0.163803],[-0.049772,-0.156059,0.986493]]
2025-10-26T21:50:47.558Z,1761515447.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:47.905Z,1761515447.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953233,-0.302193,-0.005097],[0.298946,0.940240,0.163034],[-0.044475,-0.156933,0.986607]]
2025-10-26T21:50:47.923Z,1761515447.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:48.334Z,1761515448.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952857,-0.303252,-0.010057],[0.300875,0.940069,0.160453],[-0.039204,-0.155914,0.986992]]
2025-10-26T21:50:48.390Z,1761515448.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:48.756Z,1761515448.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:49.115Z,1761515449.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952018,-0.305360,-0.020391],[0.304621,0.939087,0.159126],[-0.029442,-0.157703,0.987048]]
2025-10-26T21:50:49.134Z,1761515449.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:49.518Z,1761515449.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951459,-0.306714,-0.025534],[0.306774,0.938408,0.158999],[-0.024806,-0.159114,0.986948]]
2025-10-26T21:50:49.565Z,1761515449.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:49.922Z,1761515449.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950906,-0.307995,-0.030292],[0.308809,0.937844,0.158385],[-0.020372,-0.159964,0.986913]]
2025-10-26T21:50:49.940Z,1761515449.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:50.360Z,1761515450.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950358,-0.309202,-0.034839],[0.310750,0.937414,0.157127],[-0.015925,-0.160153,0.986964]]
2025-10-26T21:50:50.403Z,1761515450.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:50.739Z,1761515450.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949730,-0.310548,-0.039656],[0.312860,0.936809,0.156549],[-0.011466,-0.161086,0.986874]]
2025-10-26T21:50:50.757Z,1761515450.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:51.181Z,1761515451.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949221,-0.311361,-0.045100],[0.314530,0.935933,0.158431],[-0.007118,-0.164571,0.986340]]
2025-10-26T21:50:51.229Z,1761515451.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:51.645Z,1761515451.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948887,-0.311557,-0.050459],[0.315605,0.935261,0.160254],[-0.002736,-0.167988,0.985785]]
2025-10-26T21:50:51.720Z,1761515451.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:52.136Z,1761515452.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948514,-0.311944,-0.054888],[0.316732,0.935077,0.159100],[0.001694,-0.168293,0.985735]]
2025-10-26T21:50:52.181Z,1761515452.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:52.538Z,1761515452.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948400,-0.311425,-0.059592],[0.317021,0.934838,0.159924],[0.005905,-0.170564,0.985329]]
2025-10-26T21:50:52.597Z,1761515452.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:52.944Z,1761515452.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948395,-0.310586,-0.063898],[0.316934,0.934813,0.160242],[0.009964,-0.172224,0.985007]]
2025-10-26T21:50:52.962Z,1761515452.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:53.389Z,1761515453.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948497,-0.309319,-0.068377],[0.316477,0.934774,0.161368],[0.014003,-0.174696,0.984523]]
2025-10-26T21:50:53.438Z,1761515453.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:53.750Z,1761515453.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948659,-0.307890,-0.072456],[0.315788,0.934980,0.161525],[0.018013,-0.176113,0.984205]]
2025-10-26T21:50:53.769Z,1761515453.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:54.154Z,1761515454.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948938,-0.306093,-0.076307],[0.314696,0.935365,0.161428],[0.021963,-0.177199,0.983930]]
2025-10-26T21:50:54.179Z,1761515454.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:54.560Z,1761515454.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949159,-0.304508,-0.079822],[0.313734,0.935848,0.160496],[0.025829,-0.177379,0.983804]]
2025-10-26T21:50:54.602Z,1761515454.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:54.962Z,1761515454.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949273,-0.303126,-0.083640],[0.313058,0.936042,0.160686],[0.029582,-0.178719,0.983455]]
2025-10-26T21:50:54.992Z,1761515454.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:55.411Z,1761515455.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949491,-0.301436,-0.087200],[0.312035,0.936369,0.160771],[0.033189,-0.179860,0.983132]]
2025-10-26T21:50:55.463Z,1761515455.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:55.829Z,1761515455.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:56.185Z,1761515456.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950072,-0.297779,-0.093229],[0.309460,0.937487,0.159227],[0.039986,-0.180127,0.982830]]
2025-10-26T21:50:56.209Z,1761515456.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:56.578Z,1761515456.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950179,-0.296610,-0.095821],[0.308767,0.937746,0.159043],[0.042682,-0.180706,0.982611]]
2025-10-26T21:50:56.630Z,1761515456.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:57.034Z,1761515457.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:57.409Z,1761515457.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950670,-0.293456,-0.100551],[0.306218,0.939584,0.153010],[0.049575,-0.176252,0.983096]]
2025-10-26T21:50:57.463Z,1761515457.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:57.870Z,1761515457.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:58.201Z,1761515458.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950838,-0.291119,-0.105630],[0.304618,0.940658,0.149567],[0.055820,-0.174390,0.983093]]
2025-10-26T21:50:58.233Z,1761515458.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:58.598Z,1761515458.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950967,-0.289754,-0.108185],[0.303713,0.940960,0.149507],[0.058478,-0.175033,0.982824]]
2025-10-26T21:50:58.654Z,1761515458.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:59.004Z,1761515459.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951198,-0.288161,-0.110386],[0.302413,0.941665,0.147696],[0.061386,-0.173870,0.982854]]
2025-10-26T21:50:59.028Z,1761515459.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:59.420Z,1761515459.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951177,-0.287216,-0.113000],[0.301930,0.941835,0.147597],[0.064035,-0.174509,0.982571]]
2025-10-26T21:50:59.496Z,1761515459.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:50:59.870Z,1761515459.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:00.216Z,1761515460.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951098,-0.285363,-0.118238],[0.300978,0.942232,0.147005],[0.069458,-0.175403,0.982044]]
2025-10-26T21:51:00.237Z,1761515460.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:00.704Z,1761515460.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:01.100Z,1761515461.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950935,-0.282740,-0.125621],[0.299650,0.942743,0.146445],[0.077022,-0.176902,0.981210]]
2025-10-26T21:51:01.119Z,1761515461.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:01.573Z,1761515461.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:01.922Z,1761515461.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951135,-0.280261,-0.129602],[0.297981,0.943130,0.147354],[0.080934,-0.178772,0.980556]]
2025-10-26T21:51:01.941Z,1761515461.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:02.322Z,1761515462.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951300,-0.278922,-0.131263],[0.297004,0.943345,0.147949],[0.082560,-0.179729,0.980245]]
2025-10-26T21:51:02.347Z,1761515462.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:02.731Z,1761515462.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951229,-0.278186,-0.133329],[0.296596,0.943571,0.147324],[0.084822,-0.179684,0.980061]]
2025-10-26T21:51:02.812Z,1761515462.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:03.130Z,1761515463.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951313,-0.277131,-0.134915],[0.295855,0.943775,0.147511],[0.086449,-0.180245,0.979815]]
2025-10-26T21:51:03.148Z,1761515463.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:03.284Z,1761515463.284 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:51:03.548Z,1761515463.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951283,-0.276562,-0.136287],[0.295493,0.943973,0.146967],[0.088006,-0.180079,0.979707]]
2025-10-26T21:51:03.608Z,1761515463.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:03.938Z,1761515463.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951446,-0.275425,-0.137450],[0.294556,0.944301,0.146742],[0.089378,-0.180103,0.979579]]
2025-10-26T21:51:03.972Z,1761515463.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:04.288Z,1761515464.288 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:51:04.342Z,1761515464.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951625,-0.274775,-0.137510],[0.293799,0.944743,0.145406],[0.089958,-0.178773,0.979769]]
2025-10-26T21:51:04.361Z,1761515464.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:04.749Z,1761515464.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951727,-0.274425,-0.137504],[0.293312,0.945124,0.143903],[0.090468,-0.177288,0.979992]]
2025-10-26T21:51:04.808Z,1761515464.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:05.153Z,1761515465.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951904,-0.273321,-0.138469],[0.292372,0.945444,0.143715],[0.091634,-0.177288,0.979884]]
2025-10-26T21:51:05.190Z,1761515465.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:05.575Z,1761515465.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952063,-0.272506,-0.138983],[0.291592,0.945786,0.143050],[0.092466,-0.176719,0.979908]]
2025-10-26T21:51:05.640Z,1761515465.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:05.958Z,1761515465.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952226,-0.271913,-0.139029],[0.290895,0.946185,0.141823],[0.092983,-0.175490,0.980080]]
2025-10-26T21:51:05.995Z,1761515465.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:06.362Z,1761515466.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952300,-0.271684,-0.138967],[0.290530,0.946494,0.140502],[0.093359,-0.174174,0.980279]]
2025-10-26T21:51:06.380Z,1761515466.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:06.767Z,1761515466.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952337,-0.271716,-0.138652],[0.290372,0.946752,0.139083],[0.093478,-0.172715,0.980526]]
2025-10-26T21:51:06.804Z,1761515466.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:07.182Z,1761515467.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952422,-0.271550,-0.138393],[0.290008,0.947100,0.137468],[0.093743,-0.171063,0.980790]]
2025-10-26T21:51:07.205Z,1761515467.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:07.603Z,1761515467.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952419,-0.271503,-0.138506],[0.289922,0.947214,0.136859],[0.094037,-0.170503,0.980860]]
2025-10-26T21:51:07.711Z,1761515467.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:07.979Z,1761515467.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952508,-0.270899,-0.139078],[0.289398,0.947407,0.136631],[0.094750,-0.170391,0.980810]]
2025-10-26T21:51:07.997Z,1761515467.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:08.383Z,1761515468.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952551,-0.270673,-0.139224],[0.289110,0.947626,0.135718],[0.095197,-0.169529,0.980917]]
2025-10-26T21:51:08.402Z,1761515468.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:08.786Z,1761515468.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952656,-0.270272,-0.139279],[0.288620,0.947924,0.134682],[0.095625,-0.168504,0.981052]]
2025-10-26T21:51:08.834Z,1761515468.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:09.191Z,1761515469.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952667,-0.270091,-0.139559],[0.288400,0.948119,0.133779],[0.096186,-0.167696,0.981135]]
2025-10-26T21:51:09.231Z,1761515469.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:09.628Z,1761515469.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952747,-0.269662,-0.139840],[0.288000,0.948268,0.133578],[0.096585,-0.167540,0.981123]]
2025-10-26T21:51:09.719Z,1761515469.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:10.032Z,1761515470.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952732,-0.269553,-0.140154],[0.287913,0.948340,0.133258],[0.096994,-0.167311,0.981121]]
2025-10-26T21:51:10.061Z,1761515470.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:10.434Z,1761515470.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952776,-0.269328,-0.140286],[0.287666,0.948479,0.132797],[0.097292,-0.166882,0.981165]]
2025-10-26T21:51:10.468Z,1761515470.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:10.838Z,1761515470.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952799,-0.269269,-0.140243],[0.287425,0.948798,0.131031],[0.097780,-0.165156,0.981408]]
2025-10-26T21:51:10.905Z,1761515470.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:11.250Z,1761515471.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952675,-0.269727,-0.140207],[0.287667,0.949010,0.128946],[0.098278,-0.163177,0.981690]]
2025-10-26T21:51:11.305Z,1761515471.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:11.674Z,1761515471.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952699,-0.269714,-0.140068],[0.287504,0.949232,0.127674],[0.098522,-0.161905,0.981876]]
2025-10-26T21:51:11.749Z,1761515471.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:12.052Z,1761515472.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952834,-0.269249,-0.140042],[0.286996,0.949437,0.127285],[0.098690,-0.161473,0.981930]]
2025-10-26T21:51:12.070Z,1761515472.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:12.456Z,1761515472.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953025,-0.268565,-0.140054],[0.286320,0.949639,0.127308],[0.098810,-0.161428,0.981925]]
2025-10-26T21:51:12.474Z,1761515472.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:12.858Z,1761515472.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953251,-0.267990,-0.139623],[0.285580,0.949989,0.126354],[0.098778,-0.160320,0.982110]]
2025-10-26T21:51:12.906Z,1761515472.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:13.262Z,1761515473.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953461,-0.267478,-0.139168],[0.284879,0.950354,0.125189],[0.098773,-0.159009,0.982324]]
2025-10-26T21:51:13.302Z,1761515473.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:13.692Z,1761515473.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953665,-0.266864,-0.138946],[0.284137,0.950699,0.124248],[0.098939,-0.157971,0.982475]]
2025-10-26T21:51:13.773Z,1761515473.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:14.127Z,1761515474.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:14.480Z,1761515474.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953773,-0.266258,-0.139371],[0.283696,0.950707,0.125192],[0.099168,-0.158944,0.982295]]
2025-10-26T21:51:14.499Z,1761515474.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:14.882Z,1761515474.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953858,-0.265837,-0.139592],[0.283403,0.950675,0.126095],[0.099186,-0.159837,0.982148]]
2025-10-26T21:51:14.934Z,1761515474.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:15.286Z,1761515475.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953732,-0.266275,-0.139614],[0.283764,0.950671,0.125312],[0.099360,-0.159132,0.982245]]
2025-10-26T21:51:15.305Z,1761515475.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:15.721Z,1761515475.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953514,-0.267016,-0.139689],[0.284417,0.950603,0.124341],[0.099588,-0.158291,0.982357]]
2025-10-26T21:51:15.773Z,1761515475.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:16.095Z,1761515476.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953110,-0.268212,-0.140154],[0.285545,0.950443,0.122974],[0.100225,-0.157228,0.982463]]
2025-10-26T21:51:16.114Z,1761515476.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:16.498Z,1761515476.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952713,-0.269439,-0.140502],[0.286690,0.950266,0.121669],[0.100732,-0.156196,0.982576]]
2025-10-26T21:51:16.526Z,1761515476.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:16.902Z,1761515476.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952177,-0.270950,-0.141226],[0.288309,0.949780,0.121636],[0.101176,-0.156536,0.982476]]
2025-10-26T21:51:16.989Z,1761515476.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:17.306Z,1761515477.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951620,-0.272601,-0.141806],[0.290040,0.949263,0.121559],[0.101474,-0.156807,0.982402]]
2025-10-26T21:51:17.324Z,1761515477.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:17.749Z,1761515477.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950998,-0.274333,-0.142631],[0.291909,0.948678,0.121654],[0.101937,-0.157328,0.982271]]
2025-10-26T21:51:17.800Z,1761515477.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:18.111Z,1761515478.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950514,-0.275613,-0.143388],[0.293353,0.948176,0.122090],[0.102307,-0.158112,0.982107]]
2025-10-26T21:51:18.171Z,1761515478.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:18.587Z,1761515478.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949959,-0.277099,-0.144201],[0.295002,0.947620,0.122435],[0.102721,-0.158848,0.981945]]
2025-10-26T21:51:18.613Z,1761515478.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:18.990Z,1761515478.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949620,-0.277796,-0.145089],[0.295850,0.947344,0.122523],[0.103413,-0.159275,0.981803]]
2025-10-26T21:51:19.042Z,1761515479.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:19.411Z,1761515479.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949249,-0.278728,-0.145731],[0.296939,0.946936,0.123044],[0.103702,-0.160073,0.981643]]
2025-10-26T21:51:19.445Z,1761515479.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:19.820Z,1761515479.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948912,-0.279692,-0.146080],[0.298065,0.946448,0.124069],[0.103556,-0.161272,0.981462]]
2025-10-26T21:51:19.875Z,1761515479.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:20.230Z,1761515480.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948705,-0.280544,-0.145788],[0.298895,0.946151,0.124340],[0.103054,-0.161537,0.981471]]
2025-10-26T21:51:20.262Z,1761515480.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:20.626Z,1761515480.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948471,-0.281478,-0.145511],[0.299759,0.945906,0.124121],[0.102702,-0.161343,0.981540]]
2025-10-26T21:51:20.670Z,1761515480.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:21.030Z,1761515481.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948509,-0.281461,-0.145297],[0.299799,0.945778,0.125000],[0.102236,-0.162124,0.981460]]
2025-10-26T21:51:21.082Z,1761515481.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:21.437Z,1761515481.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948691,-0.281246,-0.144518],[0.299363,0.946034,0.124102],[0.101815,-0.160998,0.981689]]
2025-10-26T21:51:21.457Z,1761515481.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:21.860Z,1761515481.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949553,-0.278990,-0.143224],[0.296979,0.946688,0.124842],[0.100759,-0.161078,0.981785]]
2025-10-26T21:51:21.916Z,1761515481.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:22.247Z,1761515482.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950160,-0.277455,-0.142177],[0.295280,0.947215,0.124877],[0.100024,-0.160635,0.981933]]
2025-10-26T21:51:22.282Z,1761515482.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:22.658Z,1761515482.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950955,-0.275151,-0.141335],[0.293020,0.947689,0.126588],[0.099111,-0.161793,0.981835]]
2025-10-26T21:51:22.693Z,1761515482.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:23.056Z,1761515483.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951969,-0.271925,-0.140753],[0.290098,0.948063,0.130462],[0.097966,-0.165028,0.981411]]
2025-10-26T21:51:23.093Z,1761515483.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:23.457Z,1761515483.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953115,-0.268161,-0.140216],[0.286735,0.948416,0.135240],[0.096717,-0.169104,0.980841]]
2025-10-26T21:51:23.487Z,1761515483.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:23.862Z,1761515483.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954199,-0.264777,-0.139271],[0.283508,0.948941,0.138329],[0.095534,-0.171478,0.980545]]
2025-10-26T21:51:23.918Z,1761515483.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:24.265Z,1761515484.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955156,-0.262013,-0.137936],[0.280639,0.949623,0.139489],[0.094440,-0.171944,0.980569]]
2025-10-26T21:51:24.283Z,1761515484.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:24.671Z,1761515484.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955820,-0.260337,-0.136503],[0.278771,0.950100,0.139986],[0.093247,-0.171855,0.980699]]
2025-10-26T21:51:24.689Z,1761515484.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:25.070Z,1761515485.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956492,-0.259129,-0.134072],[0.276996,0.950859,0.138348],[0.091633,-0.169466,0.981267]]
2025-10-26T21:51:25.114Z,1761515485.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:25.474Z,1761515485.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956973,-0.258770,-0.131307],[0.275892,0.951611,0.135352],[0.089928,-0.165754,0.982058]]
2025-10-26T21:51:25.493Z,1761515485.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:25.950Z,1761515485.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:26.306Z,1761515486.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957533,-0.259636,-0.125379],[0.275112,0.952876,0.127835],[0.086280,-0.156899,0.983839]]
2025-10-26T21:51:26.326Z,1761515486.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:26.686Z,1761515486.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957660,-0.260605,-0.122363],[0.275267,0.953346,0.123934],[0.084356,-0.152369,0.984717]]
2025-10-26T21:51:26.709Z,1761515486.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:27.091Z,1761515487.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957805,-0.261231,-0.119866],[0.275387,0.953494,0.122517],[0.082287,-0.150357,0.985201]]
2025-10-26T21:51:27.160Z,1761515487.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:27.494Z,1761515487.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957892,-0.262133,-0.117173],[0.275748,0.953595,0.120909],[0.080042,-0.148128,0.985724]]
2025-10-26T21:51:27.519Z,1761515487.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:27.913Z,1761515487.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957855,-0.263384,-0.114638],[0.276562,0.953444,0.120240],[0.077632,-0.146877,0.986104]]
2025-10-26T21:51:27.959Z,1761515487.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:28.302Z,1761515488.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957813,-0.264316,-0.112835],[0.277240,0.953219,0.120463],[0.075716,-0.146663,0.986284]]
2025-10-26T21:51:28.320Z,1761515488.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:28.713Z,1761515488.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957561,-0.265822,-0.111424],[0.278525,0.952853,0.120399],[0.074166,-0.146324,0.986453]]
2025-10-26T21:51:28.739Z,1761515488.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:29.110Z,1761515489.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957225,-0.267527,-0.110227],[0.280017,0.952462,0.120025],[0.072877,-0.145756,0.986633]]
2025-10-26T21:51:29.186Z,1761515489.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:29.514Z,1761515489.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956817,-0.269445,-0.109093],[0.281674,0.952120,0.118856],[0.071845,-0.144452,0.986900]]
2025-10-26T21:51:29.548Z,1761515489.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:29.939Z,1761515489.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956294,-0.271581,-0.108378],[0.283702,0.951506,0.118953],[0.070817,-0.144501,0.986967]]
2025-10-26T21:51:29.986Z,1761515489.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:30.325Z,1761515490.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955777,-0.273478,-0.108166],[0.285622,0.950819,0.119844],[0.070072,-0.145439,0.986883]]
2025-10-26T21:51:30.344Z,1761515490.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:30.739Z,1761515490.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955140,-0.275631,-0.108333],[0.287844,0.950049,0.120637],[0.069670,-0.146408,0.986768]]
2025-10-26T21:51:30.768Z,1761515490.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:31.141Z,1761515491.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954457,-0.277948,-0.108431],[0.290190,0.949286,0.121016],[0.069296,-0.146970,0.986711]]
2025-10-26T21:51:31.188Z,1761515491.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:31.534Z,1761515491.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953786,-0.280039,-0.108948],[0.292452,0.948398,0.122530],[0.069013,-0.148729,0.986467]]
2025-10-26T21:51:31.557Z,1761515491.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:31.966Z,1761515491.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953159,-0.282149,-0.108990],[0.294533,0.947800,0.122171],[0.068830,-0.148549,0.986507]]
2025-10-26T21:51:31.979Z,1761515491.979 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  92.01,  76.73,  86.92,  I,   -25,  -705,    -8,    -6,A
2025-10-26T21:51:32.018Z,1761515492.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:32.376Z,1761515492.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:32.747Z,1761515492.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952120,-0.285461,-0.109449],[0.298046,0.946416,0.124359],[0.068085,-0.151026,0.986182]]
2025-10-26T21:51:32.773Z,1761515492.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:33.152Z,1761515493.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951937,-0.285853,-0.110019],[0.298736,0.945787,0.127447],[0.067623,-0.154188,0.985725]]
2025-10-26T21:51:33.208Z,1761515493.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:33.556Z,1761515493.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951888,-0.285945,-0.110206],[0.298959,0.945514,0.128946],[0.067329,-0.155689,0.985509]]
2025-10-26T21:51:33.573Z,1761515493.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:34.009Z,1761515494.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951997,-0.285421,-0.110623],[0.298649,0.945322,0.131053],[0.067169,-0.157799,0.985184]]
2025-10-26T21:51:34.052Z,1761515494.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:34.362Z,1761515494.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952126,-0.284826,-0.111044],[0.298238,0.945219,0.132719],[0.067159,-0.159482,0.984914]]
2025-10-26T21:51:34.398Z,1761515494.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:34.412Z,1761515494.412 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:51:34.771Z,1761515494.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952580,-0.283206,-0.111286],[0.296876,0.945218,0.135745],[0.066746,-0.162346,0.984474]]
2025-10-26T21:51:34.825Z,1761515494.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:35.171Z,1761515495.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953303,-0.280742,-0.111340],[0.294662,0.945434,0.139027],[0.066234,-0.165342,0.984010]]
2025-10-26T21:51:35.211Z,1761515495.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:35.418Z,1761515495.418 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:51:35.574Z,1761515495.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954143,-0.277840,-0.111423],[0.291963,0.945908,0.141475],[0.066089,-0.167519,0.983651]]
2025-10-26T21:51:35.604Z,1761515495.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:36.033Z,1761515496.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954887,-0.275046,-0.111982],[0.289403,0.946437,0.143185],[0.066602,-0.169134,0.983340]]
2025-10-26T21:51:36.082Z,1761515496.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:36.384Z,1761515496.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955678,-0.272251,-0.112070],[0.286750,0.947017,0.144685],[0.066741,-0.170408,0.983111]]
2025-10-26T21:51:36.402Z,1761515496.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:36.794Z,1761515496.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956598,-0.269065,-0.111914],[0.283700,0.947634,0.146646],[0.066596,-0.172032,0.982838]]
2025-10-26T21:51:36.818Z,1761515496.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:37.190Z,1761515497.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957458,-0.266149,-0.111532],[0.280834,0.948283,0.147960],[0.066385,-0.172987,0.982684]]
2025-10-26T21:51:37.236Z,1761515497.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:37.641Z,1761515497.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:38.057Z,1761515498.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959146,-0.260801,-0.109640],[0.275107,0.950196,0.146438],[0.065988,-0.170619,0.983125]]
2025-10-26T21:51:38.093Z,1761515498.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:38.429Z,1761515498.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959784,-0.259213,-0.107809],[0.272875,0.951624,0.141245],[0.065981,-0.164983,0.984087]]
2025-10-26T21:51:38.452Z,1761515498.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:38.831Z,1761515498.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960473,-0.257206,-0.106471],[0.270420,0.952860,0.137589],[0.066063,-0.160943,0.984750]]
2025-10-26T21:51:38.850Z,1761515498.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:39.286Z,1761515499.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:39.641Z,1761515499.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961798,-0.253345,-0.103735],[0.265754,0.955013,0.131625],[0.065722,-0.154165,0.985857]]
2025-10-26T21:51:39.676Z,1761515499.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:40.081Z,1761515500.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962186,-0.252158,-0.103024],[0.264407,0.955507,0.130749],[0.065470,-0.153045,0.986048]]
2025-10-26T21:51:40.149Z,1761515500.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:40.448Z,1761515500.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962290,-0.251826,-0.102871],[0.264083,0.955535,0.131198],[0.065258,-0.153417,0.986004]]
2025-10-26T21:51:40.477Z,1761515500.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:40.850Z,1761515500.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961961,-0.253293,-0.102345],[0.265288,0.955555,0.128593],[0.065225,-0.150853,0.986402]]
2025-10-26T21:51:40.877Z,1761515500.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:41.349Z,1761515501.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:41.659Z,1761515501.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960247,-0.260442,-0.100478],[0.271471,0.955091,0.118760],[0.065036,-0.141315,0.987826]]
2025-10-26T21:51:41.676Z,1761515501.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:42.114Z,1761515502.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959200,-0.264760,-0.099185],[0.275231,0.954672,0.113351],[0.064678,-0.136025,0.988592]]
2025-10-26T21:51:42.154Z,1761515502.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:51:42.156Z,1761515502.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:42.241Z,1761515502.241 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:51:42.241Z,1761515502.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:51:42.487Z,1761515502.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957935,-0.269760,-0.097933],[0.279692,0.953997,0.107991],[0.064296,-0.130840,0.989316]]
2025-10-26T21:51:42.492Z,1761515502.492 [DAT](INFO): DAT read: user:380>

2025-10-26T21:51:42.493Z,1761515502.493 [DAT](INFO): DAT read: Tx time:21:51:41.5905

2025-10-26T21:51:42.493Z,1761515502.493 [DAT](INFO): Ping request sent.
2025-10-26T21:51:42.493Z,1761515502.493 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:51:42.494Z,1761515502.494 [DAT](INFO): publishing transmit ping time
2025-10-26T21:51:42.494Z,1761515502.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-10-26T21:51:42.509Z,1761515502.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:42.745Z,1761515502.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251277
2025-10-26T21:51:42.882Z,1761515502.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956745,-0.274224,-0.097165],[0.283911,0.952969,0.106041],[0.063516,-0.129040,0.989603]]
2025-10-26T21:51:42.914Z,1761515502.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:42.996Z,1761515502.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502791
2025-10-26T21:51:43.249Z,1761515503.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755680
2025-10-26T21:51:43.347Z,1761515503.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955606,-0.278273,-0.096852],[0.287919,0.951739,0.106279],[0.062603,-0.129446,0.989608]]
2025-10-26T21:51:43.391Z,1761515503.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:43.500Z,1761515503.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006891
2025-10-26T21:51:43.750Z,1761515503.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954608,-0.281595,-0.097093],[0.291455,0.950305,0.109424],[0.061454,-0.132755,0.989242]]
2025-10-26T21:51:43.752Z,1761515503.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258882
2025-10-26T21:51:43.770Z,1761515503.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:44.005Z,1761515504.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511070
2025-10-26T21:51:44.220Z,1761515504.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953793,-0.284385,-0.096976],[0.294427,0.948985,0.112872],[0.059929,-0.136209,0.988866]]
2025-10-26T21:51:44.258Z,1761515504.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763504
2025-10-26T21:51:44.282Z,1761515504.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:44.508Z,1761515504.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014709
2025-10-26T21:51:44.697Z,1761515504.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952540,-0.288947,-0.095802],[0.299247,0.946533,0.120523],[0.055855,-0.143471,0.988077]]
2025-10-26T21:51:44.742Z,1761515504.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:44.760Z,1761515504.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266970
2025-10-26T21:51:45.013Z,1761515505.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519487
2025-10-26T21:51:45.145Z,1761515505.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952145,-0.290537,-0.094912],[0.300893,0.945554,0.124058],[0.053701,-0.146680,0.987725]]
2025-10-26T21:51:45.208Z,1761515505.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:45.266Z,1761515505.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771726
2025-10-26T21:51:45.506Z,1761515505.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951876,-0.291576,-0.094418],[0.302070,0.944631,0.128165],[0.051820,-0.150518,0.987248]]
2025-10-26T21:51:45.517Z,1761515505.517 [DAT](INFO): DAT read: Rx Time:21:51:44.1478

2025-10-26T21:51:45.517Z,1761515505.517 [DAT](INFO): Rx dataTimestamp_ set to:1761515505.516704
2025-10-26T21:51:45.518Z,1761515505.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024044
2025-10-26T21:51:45.527Z,1761515505.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:45.769Z,1761515505.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275973
2025-10-26T21:51:45.931Z,1761515505.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951949,-0.291511,-0.093880],[0.302144,0.944015,0.132458],[0.050011,-0.154458,0.986733]]
2025-10-26T21:51:45.990Z,1761515505.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:46.038Z,1761515506.038 [DAT](INFO): DAT read: 21:51:44.1478 LVL= 32752, 32753, 32754, 27827, AGC= 74, IDX=  45,-0.05, 1.798,-2.898, 1.764, 2.367, PHS=-0.467, 1.063,-0.647, RAW= 335.5,   0.6, CAL= 334.8,  -2.2, ROT= 175.2,   2.2

2025-10-26T21:51:46.048Z,1761515506.048 [DAT](INFO): got valid direction response:
 21:51:44.1478 LVL= 32752, 32753, 32754, 27827, AGC= 74, IDX=  45,-0.05, 1.798,-2.898, 1.764, 2.367, PHS=-0.467, 1.063,-0.647, RAW= 335.5,   0.6, CAL= 334.8,  -2.2, ROT= 175.2,   2.2

2025-10-26T21:51:46.049Z,1761515506.049 [DAT](INFO): DAT read: $Error in header

2025-10-26T21:51:46.049Z,1761515506.049 [DAT](INFO): Received a bad header
2025-10-26T21:51:46.064Z,1761515506.064 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:51:46.065Z,1761515506.065 [DAT](INFO): direction in FSK: [-0.995758,0.083616,-0.038388]
2025-10-26T21:51:46.334Z,1761515506.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952284,-0.290791,-0.092711],[0.301405,0.943802,0.135623],[0.048063,-0.157095,0.986413]]
2025-10-26T21:51:46.378Z,1761515506.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:46.718Z,1761515506.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952783,-0.289723,-0.090911],[0.300114,0.944054,0.136722],[0.046214,-0.157550,0.986429]]
2025-10-26T21:51:46.741Z,1761515506.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:47.126Z,1761515507.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953480,-0.288171,-0.088507],[0.298193,0.944676,0.136635],[0.044236,-0.156671,0.986660]]
2025-10-26T21:51:47.202Z,1761515507.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:47.519Z,1761515507.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954158,-0.286527,-0.086518],[0.296278,0.945189,0.137249],[0.042450,-0.156590,0.986751]]
2025-10-26T21:51:47.570Z,1761515507.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:47.919Z,1761515507.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955188,-0.283378,-0.085517],[0.293183,0.945517,0.141564],[0.040742,-0.160293,0.986228]]
2025-10-26T21:51:47.937Z,1761515507.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:48.324Z,1761515508.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956344,-0.279920,-0.083966],[0.289619,0.946208,0.144263],[0.039067,-0.162283,0.985970]]
2025-10-26T21:51:48.366Z,1761515508.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:48.741Z,1761515508.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957489,-0.276631,-0.081798],[0.286029,0.947235,0.144683],[0.037458,-0.161929,0.986091]]
2025-10-26T21:51:48.760Z,1761515508.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:49.130Z,1761515509.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958684,-0.273425,-0.078510],[0.282256,0.948660,0.142743],[0.035450,-0.159005,0.986641]]
2025-10-26T21:51:49.182Z,1761515509.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:49.537Z,1761515509.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959842,-0.270254,-0.075273],[0.278611,0.949704,0.142965],[0.032850,-0.158195,0.986861]]
2025-10-26T21:51:49.607Z,1761515509.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:49.937Z,1761515509.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960996,-0.266843,-0.072668],[0.274909,0.950364,0.145713],[0.030178,-0.160007,0.986655]]
2025-10-26T21:51:49.955Z,1761515509.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:50.338Z,1761515510.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962102,-0.263602,-0.069813],[0.271334,0.950915,0.148792],[0.027164,-0.162096,0.986401]]
2025-10-26T21:51:50.381Z,1761515510.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:50.744Z,1761515510.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962976,-0.261360,-0.066093],[0.268519,0.951694,0.148919],[0.023979,-0.161152,0.986638]]
2025-10-26T21:51:50.763Z,1761515510.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:51.147Z,1761515511.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963447,-0.260518,-0.062447],[0.267096,0.952123,0.148735],[0.020710,-0.159977,0.986903]]
2025-10-26T21:51:51.165Z,1761515511.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:51.555Z,1761515511.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963588,-0.260767,-0.059150],[0.266806,0.952291,0.148177],[0.017688,-0.158563,0.987190]]
2025-10-26T21:51:51.626Z,1761515511.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:51.954Z,1761515511.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963335,-0.262391,-0.056002],[0.267879,0.952335,0.145944],[0.015038,-0.155595,0.987706]]
2025-10-26T21:51:51.993Z,1761515511.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:52.358Z,1761515512.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962451,-0.266308,-0.052622],[0.271140,0.952459,0.138941],[0.013120,-0.147992,0.988902]]
2025-10-26T21:51:52.406Z,1761515512.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:52.576Z,1761515512.576 [DAT](INFO): Reached modem response timeout
2025-10-26T21:51:52.762Z,1761515512.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961085,-0.271531,-0.050859],[0.275994,0.951739,0.134241],[0.011954,-0.143053,0.989643]]
2025-10-26T21:51:52.780Z,1761515512.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:53.166Z,1761515513.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959552,-0.276976,-0.050449],[0.281309,0.950410,0.132613],[0.011217,-0.141441,0.989883]]
2025-10-26T21:51:53.194Z,1761515513.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:53.573Z,1761515513.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957765,-0.283368,-0.048874],[0.287368,0.949310,0.127400],[0.010296,-0.136065,0.990646]]
2025-10-26T21:51:53.637Z,1761515513.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:53.974Z,1761515513.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955968,-0.289719,-0.046786],[0.293313,0.948483,0.119782],[0.009673,-0.128231,0.991697]]
2025-10-26T21:51:53.992Z,1761515513.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:54.380Z,1761515514.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954050,-0.296341,-0.044395],[0.299506,0.947635,0.110837],[0.009225,-0.119041,0.992847]]
2025-10-26T21:51:54.416Z,1761515514.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:54.782Z,1761515514.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952354,-0.301948,-0.043004],[0.304879,0.946378,0.106858],[0.008433,-0.114877,0.993344]]
2025-10-26T21:51:54.806Z,1761515514.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:54.845Z,1761515514.845 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:51:54.845Z,1761515514.845 [DAT](INFO): response not received
2025-10-26T21:51:54.845Z,1761515514.845 [DAT](ERROR): No response from remote modem.
2025-10-26T21:51:55.186Z,1761515515.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951060,-0.305992,-0.043052],[0.308913,0.944921,0.108149],[0.007587,-0.116156,0.993202]]
2025-10-26T21:51:55.221Z,1761515515.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:55.602Z,1761515515.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950274,-0.308396,-0.043263],[0.311358,0.943563,0.112893],[0.006006,-0.120750,0.992665]]
2025-10-26T21:51:55.657Z,1761515515.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:56.047Z,1761515516.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949690,-0.310027,-0.044411],[0.313158,0.942086,0.120029],[0.004627,-0.127898,0.991776]]
2025-10-26T21:51:56.065Z,1761515516.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:56.410Z,1761515516.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949345,-0.310931,-0.045450],[0.314219,0.940802,0.127115],[0.003236,-0.134957,0.990846]]
2025-10-26T21:51:56.445Z,1761515516.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:56.810Z,1761515516.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949237,-0.311123,-0.046379],[0.314555,0.939772,0.133728],[0.001980,-0.141528,0.989932]]
2025-10-26T21:51:56.836Z,1761515516.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:57.214Z,1761515517.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949264,-0.310993,-0.046705],[0.314479,0.939258,0.137470],[0.001115,-0.145183,0.989404]]
2025-10-26T21:51:57.252Z,1761515517.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:57.680Z,1761515517.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:58.025Z,1761515518.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950009,-0.308599,-0.047418],[0.312221,0.939110,0.143495],[0.000248,-0.151127,0.988514]]
2025-10-26T21:51:58.044Z,1761515518.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:58.426Z,1761515518.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950622,-0.306639,-0.047862],[0.310352,0.939206,0.146878],[-0.000086,-0.154479,0.987996]]
2025-10-26T21:51:58.469Z,1761515518.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:58.830Z,1761515518.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951457,-0.303966,-0.048303],[0.307780,0.939482,0.150482],[-0.000362,-0.158044,0.987432]]
2025-10-26T21:51:58.865Z,1761515518.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:59.234Z,1761515519.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952364,-0.301117,-0.048287],[0.304963,0.940068,0.152544],[-0.000540,-0.160003,0.987116]]
2025-10-26T21:51:59.252Z,1761515519.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:51:59.704Z,1761515519.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:00.042Z,1761515520.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954394,-0.294754,-0.047463],[0.298544,0.941178,0.158289],[-0.001985,-0.165239,0.986251]]
2025-10-26T21:52:00.071Z,1761515520.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:00.446Z,1761515520.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955454,-0.291335,-0.047241],[0.295129,0.941720,0.161439],[-0.002546,-0.168190,0.985751]]
2025-10-26T21:52:00.490Z,1761515520.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:00.850Z,1761515520.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956317,-0.288551,-0.046855],[0.292314,0.942199,0.163750],[-0.003103,-0.170293,0.985389]]
2025-10-26T21:52:00.876Z,1761515520.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:01.256Z,1761515521.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956937,-0.286582,-0.046292],[0.290274,0.942632,0.164883],[-0.003616,-0.171220,0.985226]]
2025-10-26T21:52:01.274Z,1761515521.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:01.658Z,1761515521.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957238,-0.285694,-0.045553],[0.289275,0.942994,0.164568],[-0.004060,-0.170708,0.985313]]
2025-10-26T21:52:01.707Z,1761515521.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:02.063Z,1761515522.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957465,-0.285009,-0.045067],[0.288516,0.943190,0.164777],[-0.004456,-0.170771,0.985301]]
2025-10-26T21:52:02.120Z,1761515522.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:02.581Z,1761515522.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957732,-0.284302,-0.043831],[0.287607,0.943413,0.165089],[-0.005584,-0.170717,0.985304]]
2025-10-26T21:52:02.643Z,1761515522.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:03.097Z,1761515523.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957738,-0.285056,-0.038476],[0.287513,0.944731,0.157544],[-0.008559,-0.161949,0.986762]]
2025-10-26T21:52:03.119Z,1761515523.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:03.543Z,1761515523.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957624,-0.285842,-0.035368],[0.287849,0.945554,0.151889],[-0.009974,-0.155633,0.987764]]
2025-10-26T21:52:03.620Z,1761515523.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:03.982Z,1761515523.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:04.350Z,1761515524.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957093,-0.288068,-0.031464],[0.289516,0.945916,0.146367],[-0.012401,-0.149196,0.988730]]
2025-10-26T21:52:04.382Z,1761515524.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:04.757Z,1761515524.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956896,-0.288794,-0.030794],[0.290127,0.945649,0.146881],[-0.013298,-0.149484,0.988675]]
2025-10-26T21:52:04.793Z,1761515524.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:05.162Z,1761515525.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956666,-0.289581,-0.030541],[0.290870,0.945461,0.146622],[-0.013583,-0.149152,0.988721]]
2025-10-26T21:52:05.194Z,1761515525.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:05.560Z,1761515525.560 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:52:05.570Z,1761515525.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956570,-0.289960,-0.029940],[0.291175,0.945579,0.145253],[-0.013807,-0.147662,0.988941]]
2025-10-26T21:52:05.625Z,1761515525.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:06.016Z,1761515526.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:06.376Z,1761515526.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956316,-0.290881,-0.029131],[0.292011,0.945802,0.142088],[-0.013779,-0.144387,0.989425]]
2025-10-26T21:52:06.400Z,1761515526.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:06.564Z,1761515526.564 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:52:06.774Z,1761515526.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956082,-0.291633,-0.029289],[0.292795,0.945756,0.140772],[-0.013354,-0.143165,0.989609]]
2025-10-26T21:52:06.825Z,1761515526.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:07.182Z,1761515527.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955972,-0.292007,-0.029157],[0.293172,0.945920,0.138872],[-0.012972,-0.141305,0.989881]]
2025-10-26T21:52:07.231Z,1761515527.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:07.593Z,1761515527.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955782,-0.292614,-0.029283],[0.293802,0.945854,0.137986],[-0.012680,-0.140488,0.990001]]
2025-10-26T21:52:07.650Z,1761515527.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:07.986Z,1761515527.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955409,-0.293724,-0.030318],[0.295033,0.945302,0.139143],[-0.012210,-0.141883,0.989808]]
2025-10-26T21:52:08.010Z,1761515528.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:08.390Z,1761515528.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954985,-0.295012,-0.031154],[0.296413,0.944715,0.140188],[-0.011925,-0.143112,0.989635]]
2025-10-26T21:52:08.424Z,1761515528.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:08.794Z,1761515528.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954676,-0.295963,-0.031607],[0.297402,0.944208,0.141504],[-0.012036,-0.144491,0.989433]]
2025-10-26T21:52:08.850Z,1761515528.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:09.203Z,1761515529.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954285,-0.297171,-0.032089],[0.298660,0.943720,0.142108],[-0.011947,-0.145195,0.989331]]
2025-10-26T21:52:09.221Z,1761515529.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:09.603Z,1761515529.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953940,-0.298279,-0.032061],[0.299747,0.943311,0.142533],[-0.012271,-0.145578,0.989271]]
2025-10-26T21:52:09.644Z,1761515529.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:10.006Z,1761515530.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953515,-0.299667,-0.031752],[0.301075,0.942905,0.142423],[-0.012740,-0.145362,0.989296]]
2025-10-26T21:52:10.044Z,1761515530.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:10.410Z,1761515530.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953195,-0.300754,-0.031101],[0.302061,0.942650,0.142023],[-0.013396,-0.144770,0.989375]]
2025-10-26T21:52:10.429Z,1761515530.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:10.814Z,1761515530.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952875,-0.301787,-0.030888],[0.303050,0.942315,0.142141],[-0.013790,-0.144803,0.989364]]
2025-10-26T21:52:10.860Z,1761515530.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:11.221Z,1761515531.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952505,-0.302855,-0.031821],[0.304202,0.941510,0.144983],[-0.013949,-0.147777,0.988922]]
2025-10-26T21:52:11.264Z,1761515531.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:11.623Z,1761515531.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952189,-0.303725,-0.032977],[0.305190,0.940691,0.148184],[-0.013986,-0.151164,0.988410]]
2025-10-26T21:52:11.659Z,1761515531.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:12.032Z,1761515532.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951944,-0.304421,-0.033635],[0.305952,0.940161,0.149969],[-0.014031,-0.153053,0.988118]]
2025-10-26T21:52:12.069Z,1761515532.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:12.434Z,1761515532.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951669,-0.305185,-0.034459],[0.306813,0.939651,0.151401],[-0.013826,-0.154656,0.987872]]
2025-10-26T21:52:12.453Z,1761515532.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:12.840Z,1761515532.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951563,-0.305440,-0.035137],[0.307149,0.939297,0.152906],[-0.013699,-0.156292,0.987616]]
2025-10-26T21:52:12.876Z,1761515532.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:13.246Z,1761515533.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951450,-0.305801,-0.035056],[0.307518,0.939473,0.151076],[-0.013265,-0.154522,0.987900]]
2025-10-26T21:52:13.282Z,1761515533.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:13.647Z,1761515533.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951411,-0.305968,-0.034653],[0.307650,0.939771,0.148936],[-0.013004,-0.152361,0.988239]]
2025-10-26T21:52:13.692Z,1761515533.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:14.060Z,1761515534.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951447,-0.305881,-0.034428],[0.307550,0.940050,0.147373],[-0.012714,-0.150806,0.988482]]
2025-10-26T21:52:14.086Z,1761515534.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:14.456Z,1761515534.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951559,-0.305542,-0.034354],[0.307210,0.940242,0.146854],[-0.012569,-0.150294,0.988561]]
2025-10-26T21:52:14.473Z,1761515534.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:14.858Z,1761515534.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951767,-0.304881,-0.034462],[0.306561,0.940300,0.147838],[-0.012669,-0.151271,0.988411]]
2025-10-26T21:52:14.884Z,1761515534.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:15.273Z,1761515535.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952145,-0.303598,-0.035326],[0.305388,0.940218,0.150760],[-0.012556,-0.154334,0.987939]]
2025-10-26T21:52:15.293Z,1761515535.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:15.666Z,1761515535.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952480,-0.302477,-0.035905],[0.304345,0.940216,0.152866],[-0.012480,-0.156529,0.987594]]
2025-10-26T21:52:15.702Z,1761515535.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:16.077Z,1761515536.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952922,-0.301094,-0.035797],[0.302969,0.940749,0.152319],[-0.012186,-0.155993,0.987683]]
2025-10-26T21:52:16.112Z,1761515536.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:16.476Z,1761515536.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953350,-0.299801,-0.035271],[0.301632,0.941453,0.150616],[-0.011949,-0.154229,0.987963]]
2025-10-26T21:52:16.495Z,1761515536.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:16.878Z,1761515536.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953709,-0.298639,-0.035418],[0.300520,0.941979,0.149543],[-0.011296,-0.153264,0.988121]]
2025-10-26T21:52:16.926Z,1761515536.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:17.286Z,1761515537.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953921,-0.297916,-0.035780],[0.299854,0.942084,0.150217],[-0.011044,-0.154024,0.988005]]
2025-10-26T21:52:17.309Z,1761515537.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:17.756Z,1761515537.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:18.094Z,1761515538.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954657,-0.295379,-0.037171],[0.297531,0.942298,0.153459],[-0.010302,-0.157560,0.987456]]
2025-10-26T21:52:18.117Z,1761515538.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:18.498Z,1761515538.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954950,-0.294379,-0.037561],[0.296591,0.942367,0.154849],[-0.010188,-0.159013,0.987224]]
2025-10-26T21:52:18.534Z,1761515538.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:18.904Z,1761515538.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955118,-0.293821,-0.037664],[0.296049,0.942428,0.155515],[-0.010198,-0.159686,0.987115]]
2025-10-26T21:52:18.959Z,1761515538.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:19.316Z,1761515539.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955284,-0.293241,-0.037966],[0.295511,0.942358,0.156956],[-0.010248,-0.161157,0.986876]]
2025-10-26T21:52:19.334Z,1761515539.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:19.717Z,1761515539.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955388,-0.292849,-0.038385],[0.295176,0.942214,0.158444],[-0.010233,-0.162705,0.986622]]
2025-10-26T21:52:19.765Z,1761515539.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:20.114Z,1761515540.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955472,-0.292566,-0.038462],[0.294903,0.942190,0.159089],[-0.010306,-0.163348,0.986515]]
2025-10-26T21:52:20.132Z,1761515540.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:20.519Z,1761515540.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955414,-0.292723,-0.038686],[0.295084,0.941964,0.160089],[-0.010421,-0.164367,0.986344]]
2025-10-26T21:52:20.542Z,1761515540.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:20.989Z,1761515540.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955314,-0.293142,-0.037995],[0.295407,0.942210,0.158038],[-0.010528,-0.162199,0.986702]]
2025-10-26T21:52:21.027Z,1761515541.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:21.376Z,1761515541.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955185,-0.293593,-0.037747],[0.295812,0.942105,0.157903],[-0.010797,-0.161992,0.986733]]
2025-10-26T21:52:21.394Z,1761515541.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:21.750Z,1761515541.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955104,-0.293878,-0.037589],[0.296066,0.942002,0.158042],[-0.011036,-0.162075,0.986717]]
2025-10-26T21:52:21.800Z,1761515541.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:22.155Z,1761515542.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954966,-0.294388,-0.037094],[0.296500,0.942016,0.157142],[-0.011317,-0.161063,0.986879]]
2025-10-26T21:52:22.173Z,1761515542.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:22.605Z,1761515542.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:22.963Z,1761515542.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954406,-0.296203,-0.037045],[0.298292,0.941594,0.156274],[-0.011407,-0.160199,0.987019]]
2025-10-26T21:52:23.007Z,1761515543.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:23.366Z,1761515543.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954015,-0.297427,-0.037314],[0.299545,0.941230,0.156072],[-0.011299,-0.160073,0.987041]]
2025-10-26T21:52:23.384Z,1761515543.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:23.770Z,1761515543.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953406,-0.299394,-0.037158],[0.301486,0.940973,0.153869],[-0.011102,-0.157903,0.987392]]
2025-10-26T21:52:23.807Z,1761515543.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:24.174Z,1761515544.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952709,-0.301602,-0.037168],[0.303688,0.940561,0.152051],[-0.010900,-0.156148,0.987673]]
2025-10-26T21:52:24.202Z,1761515544.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:24.578Z,1761515544.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952190,-0.303309,-0.036570],[0.305313,0.940501,0.149139],[-0.010841,-0.153174,0.988140]]
2025-10-26T21:52:24.596Z,1761515544.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:24.984Z,1761515544.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951612,-0.305294,-0.035081],[0.307114,0.940804,0.143421],[-0.010781,-0.147255,0.989040]]
2025-10-26T21:52:25.020Z,1761515545.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:25.386Z,1761515545.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951179,-0.306730,-0.034291],[0.308455,0.940872,0.140056],[-0.010696,-0.143795,0.989550]]
2025-10-26T21:52:25.415Z,1761515545.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:25.790Z,1761515545.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950948,-0.307499,-0.033792],[0.309165,0.940914,0.138196],[-0.010700,-0.141865,0.989828]]
2025-10-26T21:52:25.841Z,1761515545.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:26.198Z,1761515546.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950771,-0.308037,-0.033862],[0.309708,0.940739,0.138170],[-0.010706,-0.141856,0.989829]]
2025-10-26T21:52:26.217Z,1761515546.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:26.599Z,1761515546.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950739,-0.308024,-0.034884],[0.309809,0.940261,0.141167],[-0.010683,-0.145020,0.989371]]
2025-10-26T21:52:26.618Z,1761515546.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:27.002Z,1761515547.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950894,-0.307433,-0.035855],[0.309339,0.940031,0.143707],[-0.010476,-0.147742,0.988971]]
2025-10-26T21:52:27.080Z,1761515547.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:27.406Z,1761515547.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951001,-0.306942,-0.037187],[0.309016,0.939591,0.147231],[-0.010251,-0.151508,0.988403]]
2025-10-26T21:52:27.440Z,1761515547.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:27.811Z,1761515547.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951079,-0.306584,-0.038151],[0.308791,0.939367,0.149124],[-0.009881,-0.153610,0.988082]]
2025-10-26T21:52:27.871Z,1761515547.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:28.224Z,1761515548.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951422,-0.305379,-0.039236],[0.307747,0.939349,0.151379],[-0.009372,-0.156100,0.987697]]
2025-10-26T21:52:28.242Z,1761515548.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:28.618Z,1761515548.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951833,-0.304002,-0.039956],[0.306486,0.939507,0.152949],[-0.008958,-0.157828,0.987426]]
2025-10-26T21:52:28.646Z,1761515548.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:29.025Z,1761515549.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952092,-0.303078,-0.040793],[0.305696,0.939580,0.154075],[-0.008369,-0.159164,0.987217]]
2025-10-26T21:52:29.081Z,1761515549.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:29.427Z,1761515549.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952565,-0.301513,-0.041354],[0.304231,0.939843,0.155363],[-0.007978,-0.160575,0.986991]]
2025-10-26T21:52:29.445Z,1761515549.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:29.840Z,1761515549.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952833,-0.300598,-0.041842],[0.303402,0.940017,0.155935],[-0.007542,-0.161275,0.986881]]
2025-10-26T21:52:29.895Z,1761515549.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:30.234Z,1761515550.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953161,-0.299535,-0.042000],[0.302386,0.940513,0.154915],[-0.006901,-0.160360,0.987035]]
2025-10-26T21:52:30.268Z,1761515550.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:30.638Z,1761515550.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953346,-0.298890,-0.042388],[0.301811,0.940666,0.155103],[-0.006486,-0.160660,0.986989]]
2025-10-26T21:52:30.657Z,1761515550.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:31.059Z,1761515551.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953501,-0.298329,-0.042844],[0.301328,0.940744,0.155570],[-0.006106,-0.161246,0.986895]]
2025-10-26T21:52:31.113Z,1761515551.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:31.446Z,1761515551.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953570,-0.298072,-0.043097],[0.301119,0.940919,0.154917],[-0.005626,-0.160701,0.986987]]
2025-10-26T21:52:31.473Z,1761515551.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:31.947Z,1761515551.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:32.255Z,1761515552.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953833,-0.297266,-0.042846],[0.300293,0.941489,0.153045],[-0.005156,-0.158846,0.987290]]
2025-10-26T21:52:32.273Z,1761515552.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:32.693Z,1761515552.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:33.063Z,1761515553.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953602,-0.297997,-0.042906],[0.301027,0.941337,0.152539],[-0.005067,-0.158377,0.987366]]
2025-10-26T21:52:33.118Z,1761515553.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:33.466Z,1761515553.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953812,-0.297234,-0.043534],[0.300359,0.941070,0.155472],[-0.005243,-0.161367,0.986881]]
2025-10-26T21:52:33.520Z,1761515553.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:33.894Z,1761515553.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953883,-0.297005,-0.043524],[0.300128,0.941007,0.156300],[-0.005466,-0.162155,0.986750]]
2025-10-26T21:52:33.951Z,1761515553.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:34.283Z,1761515554.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953780,-0.297360,-0.043370],[0.300454,0.940935,0.156106],[-0.005612,-0.161921,0.986788]]
2025-10-26T21:52:34.301Z,1761515554.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:34.678Z,1761515554.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953885,-0.297052,-0.043158],[0.300117,0.941073,0.155923],[-0.005702,-0.161685,0.986826]]
2025-10-26T21:52:34.716Z,1761515554.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:35.082Z,1761515555.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953780,-0.297506,-0.042349],[0.300442,0.941173,0.154687],[-0.006163,-0.160261,0.987055]]
2025-10-26T21:52:35.130Z,1761515555.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:35.487Z,1761515555.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953976,-0.296859,-0.042473],[0.299809,0.940999,0.156958],[-0.006627,-0.162468,0.986692]]
2025-10-26T21:52:35.505Z,1761515555.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:35.926Z,1761515555.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953908,-0.297047,-0.042695],[0.300018,0.940610,0.158877],[-0.007035,-0.164363,0.986375]]
2025-10-26T21:52:35.974Z,1761515555.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:36.328Z,1761515556.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:36.700Z,1761515556.700 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:52:36.699Z,1761515556.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953832,-0.297348,-0.042287],[0.300251,0.940612,0.158424],[-0.007332,-0.163807,0.986465]]
2025-10-26T21:52:36.747Z,1761515556.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:37.102Z,1761515557.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953738,-0.297770,-0.041445],[0.300543,0.940817,0.156645],[-0.007652,-0.161854,0.986785]]
2025-10-26T21:52:37.157Z,1761515557.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:37.511Z,1761515557.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953647,-0.298062,-0.041424],[0.300830,0.940782,0.156299],[-0.007616,-0.161516,0.986841]]
2025-10-26T21:52:37.543Z,1761515557.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:37.704Z,1761515557.704 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:52:37.953Z,1761515557.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953906,-0.297446,-0.039853],[0.299987,0.941377,0.154329],[-0.008388,-0.159171,0.987215]]
2025-10-26T21:52:38.004Z,1761515558.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:38.337Z,1761515558.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954287,-0.296181,-0.040169],[0.298775,0.941491,0.155972],[-0.008378,-0.160844,0.986944]]
2025-10-26T21:52:38.355Z,1761515558.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:38.739Z,1761515558.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954551,-0.295327,-0.040181],[0.297929,0.941653,0.156617],[-0.008416,-0.161470,0.986842]]
2025-10-26T21:52:38.767Z,1761515558.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:39.138Z,1761515559.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955084,-0.293617,-0.040056],[0.296213,0.942009,0.157728],[-0.008578,-0.162508,0.986670]]
2025-10-26T21:52:39.191Z,1761515559.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:39.547Z,1761515559.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955487,-0.292294,-0.040118],[0.294912,0.942311,0.158356],[-0.008483,-0.163139,0.986567]]
2025-10-26T21:52:39.565Z,1761515559.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:39.989Z,1761515559.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955896,-0.290935,-0.040250],[0.293592,0.942694,0.158527],[-0.008177,-0.163353,0.986534]]
2025-10-26T21:52:40.047Z,1761515560.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:40.492Z,1761515560.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956188,-0.289979,-0.040215],[0.292654,0.943213,0.157172],[-0.007645,-0.162055,0.986752]]
2025-10-26T21:52:40.536Z,1761515560.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:40.000Z,1761515561.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:41.410Z,1761515561.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956498,-0.288914,-0.040503],[0.291679,0.944233,0.152799],[-0.005902,-0.157966,0.987427]]
2025-10-26T21:52:41.447Z,1761515561.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:41.798Z,1761515561.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956622,-0.288438,-0.040949],[0.291293,0.944761,0.150249],[-0.004651,-0.155660,0.987800]]
2025-10-26T21:52:41.857Z,1761515561.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:42.202Z,1761515562.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956580,-0.288478,-0.041652],[0.291450,0.945060,0.148050],[-0.003345,-0.153761,0.988102]]
2025-10-26T21:52:42.270Z,1761515562.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:52:42.272Z,1761515562.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:42.505Z,1761515562.505 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:52:42.506Z,1761515562.506 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:52:42.613Z,1761515562.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956418,-0.288896,-0.042472],[0.291992,0.945071,0.146904],[-0.002301,-0.152903,0.988239]]
2025-10-26T21:52:42.631Z,1761515562.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:42.756Z,1761515562.756 [DAT](INFO): DAT read: 

2025-10-26T21:52:42.757Z,1761515562.757 [DAT](INFO): DAT read: Tx time:21:52:41.8904

2025-10-26T21:52:42.757Z,1761515562.757 [DAT](INFO): Ping request sent.
2025-10-26T21:52:42.757Z,1761515562.757 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:52:42.757Z,1761515562.757 [DAT](INFO): publishing transmit ping time
2025-10-26T21:52:42.758Z,1761515562.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-10-26T21:52:43.009Z,1761515563.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251686
2025-10-26T21:52:43.044Z,1761515563.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956207,-0.289488,-0.043181],[0.292688,0.945108,0.145271],[-0.001244,-0.151548,0.988449]]
2025-10-26T21:52:43.090Z,1761515563.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:43.260Z,1761515563.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503143
2025-10-26T21:52:43.414Z,1761515563.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955930,-0.290324,-0.043710],[0.293595,0.945162,0.143072],[-0.000224,-0.149600,0.988747]]
2025-10-26T21:52:43.439Z,1761515563.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:43.513Z,1761515563.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755968
2025-10-26T21:52:43.764Z,1761515563.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007126
2025-10-26T21:52:43.826Z,1761515563.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955500,-0.291618,-0.044477],[0.294990,0.944933,0.141711],[0.000703,-0.148525,0.988908]]
2025-10-26T21:52:43.844Z,1761515563.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:44.020Z,1761515564.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262024
2025-10-26T21:52:44.223Z,1761515564.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955171,-0.292608,-0.045033],[0.296050,0.944776,0.140541],[0.001423,-0.147573,0.989050]]
2025-10-26T21:52:44.262Z,1761515564.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:44.268Z,1761515564.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511243
2025-10-26T21:52:44.521Z,1761515564.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763401
2025-10-26T21:52:44.626Z,1761515564.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954661,-0.294263,-0.045083],[0.297691,0.944553,0.138567],[0.001808,-0.145705,0.989326]]
2025-10-26T21:52:44.659Z,1761515564.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:44.772Z,1761515564.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015207
2025-10-26T21:52:45.045Z,1761515565.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273712
2025-10-26T21:52:45.138Z,1761515565.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:45.276Z,1761515565.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519232
2025-10-26T21:52:45.468Z,1761515565.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953581,-0.297571,-0.046215],[0.301130,0.943362,0.139241],[0.002163,-0.146695,0.989179]]
2025-10-26T21:52:45.522Z,1761515565.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:45.529Z,1761515565.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771753
2025-10-26T21:52:45.780Z,1761515565.780 [DAT](INFO): DAT read: Rx Time:21:52:44.5318

2025-10-26T21:52:45.781Z,1761515565.781 [DAT](INFO): Rx dataTimestamp_ set to:1761515565.780509
2025-10-26T21:52:45.781Z,1761515565.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024160
2025-10-26T21:52:45.857Z,1761515565.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952962,-0.299405,-0.047125],[0.303081,0.942608,0.140113],[0.002469,-0.147805,0.989013]]
2025-10-26T21:52:45.875Z,1761515565.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:46.036Z,1761515566.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277690
2025-10-26T21:52:46.271Z,1761515566.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952322,-0.301305,-0.047936],[0.305082,0.941899,0.140543],[0.002805,-0.148466,0.988914]]
2025-10-26T21:52:46.284Z,1761515566.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527254
2025-10-26T21:52:46.403Z,1761515566.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m.
2025-10-26T21:52:46.542Z,1761515566.542 [DAT](INFO): DAT read: 21:52:44.5318 LVL= 32752, 32753, 32754, 31859, AGC= 78, IDX= 279,-0.06,-2.470,-1.624,-2.537, 3.124, PHS= 0.791, 1.580, 0.578, RAW= 341.6, -48.8, CAL= 342.4, -50.9, ROT= 167.6,  50.9

2025-10-26T21:52:46.543Z,1761515566.543 [DAT](INFO): got valid direction response:
 21:52:44.5318 LVL= 32752, 32753, 32754, 31859, AGC= 78, IDX= 279,-0.06,-2.470,-1.624,-2.537, 3.124, PHS= 0.791, 1.580, 0.578, RAW= 341.6, -48.8, CAL= 342.4, -50.9, ROT= 167.6,  50.9

2025-10-26T21:52:46.544Z,1761515566.544 [DAT](INFO): DAT read: Bearing  40.3,  14.5 (Local)

2025-10-26T21:52:46.544Z,1761515566.544 [DAT](INFO): Local bearing/azimuth received:
 Bearing  40.3,  14.5 (Local)

2025-10-26T21:52:46.545Z,1761515566.545 [DAT](INFO): DAT read: Range 11 to 50 : 177.9 m  (Round-trip  237.3 ms) speed -0.4 m/s

2025-10-26T21:52:46.546Z,1761515566.546 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:52:46.547Z,1761515566.547 [DAT](INFO): direction in FSK: [-0.615964,0.135428,-0.776046]
2025-10-26T21:52:46.547Z,1761515566.547 [DAT](INFO): publishing direction and range info
2025-10-26T21:52:46.701Z,1761515566.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951743,-0.303108,-0.048080],[0.306884,0.941454,0.139592],[0.002953,-0.147611,0.989041]]
2025-10-26T21:52:46.769Z,1761515566.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 177.899994 m,
      deltaT: 120.767687 s,
      deltaX: 147.299988 m,
      approachRate: 1.219697 m/s,
      rangeRepo size: 4

2025-10-26T21:52:46.775Z,1761515566.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 176.799927 m,
      bearing: 196.061592 deg,
      lat: 36.779419 deg,
      lon: -121.859486 deg,
      deltaT: 120.767687 s,
      deltaX: 146.388885 m,
      approachRate: 1.212153 m/s,
      posRepo size: 4

2025-10-26T21:52:46.776Z,1761515566.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.80 m.
2025-10-26T21:52:46.776Z,1761515566.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 177.90 m. Resuming terminal guidance.
2025-10-26T21:52:46.776Z,1761515566.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-10-26T21:52:47.141Z,1761515567.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951019,-0.305259,-0.048776],[0.309112,0.940825,0.138918],[0.003484,-0.147190,0.989102]]
2025-10-26T21:52:47.184Z,1761515567.184 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-10-26T21:52:47.184Z,1761515567.184 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T21:52:47.185Z,1761515567.185 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-10-26T21:52:47.186Z,1761515567.186 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 177.899994 m (mode  1.000000 count ).
2025-10-26T21:52:47.186Z,1761515567.186 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-10-26T21:52:47.186Z,1761515567.186 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-10-26T21:52:47.548Z,1761515567.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950700,-0.305994,-0.050371],[0.310083,0.940214,0.140880],[0.004251,-0.149554,0.988744]]
2025-10-26T21:52:47.564Z,1761515567.564 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-10-26T21:52:47.564Z,1761515567.564 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-10-26T21:52:47.565Z,1761515567.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:52:47.796Z,1761515567.796 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:52:47.796Z,1761515567.796 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:52:47.797Z,1761515567.797 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:52:47.946Z,1761515567.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950480,-0.306340,-0.052374],[0.310740,0.939593,0.143544],[0.005237,-0.152711,0.988257]]
2025-10-26T21:52:47.969Z,1761515567.969 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-10-26T21:52:47.969Z,1761515567.969 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-10-26T21:52:48.051Z,1761515568.051 [DAT](INFO): DAT read: user:382>

2025-10-26T21:52:48.054Z,1761515568.054 [DAT](INFO): DAT read: Tx time:21:52:47.1904

2025-10-26T21:52:48.055Z,1761515568.055 [DAT](INFO): Ping request sent.
2025-10-26T21:52:48.056Z,1761515568.056 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:52:48.057Z,1761515568.057 [DAT](INFO): publishing transmit ping time
2025-10-26T21:52:48.059Z,1761515568.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003521
2025-10-26T21:52:48.300Z,1761515568.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245446
2025-10-26T21:52:48.406Z,1761515568.406 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-10-26T21:52:48.406Z,1761515568.406 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T21:52:48.406Z,1761515568.406 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-10-26T21:52:48.406Z,1761515568.406 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T21:52:48.553Z,1761515568.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498212
2025-10-26T21:52:48.804Z,1761515568.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749529
2025-10-26T21:52:49.060Z,1761515569.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004192
2025-10-26T21:52:49.308Z,1761515569.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253557
2025-10-26T21:52:49.560Z,1761515569.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505407
2025-10-26T21:52:49.564Z,1761515569.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954078,-0.291595,-0.068619],[0.299279,0.937760,0.176175],[0.012976,-0.188621,0.981964]]
2025-10-26T21:52:49.596Z,1761515569.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:52:49.812Z,1761515569.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757374
2025-10-26T21:52:49.966Z,1761515569.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956231,-0.283197,-0.073630],[0.292219,0.937265,0.190113],[0.015171,-0.203309,0.978997]]
2025-10-26T21:52:50.068Z,1761515570.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012170
2025-10-26T21:52:50.316Z,1761515570.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261485
2025-10-26T21:52:50.376Z,1761515570.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959051,-0.272097,-0.078638],[0.282696,0.936686,0.206647],[0.017431,-0.220416,0.975250]]
2025-10-26T21:52:50.568Z,1761515570.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513448
2025-10-26T21:52:50.774Z,1761515570.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962475,-0.258349,-0.083050],[0.270659,0.936025,0.224946],[0.019622,-0.238983,0.970825]]
2025-10-26T21:52:50.820Z,1761515570.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765506
2025-10-26T21:52:51.075Z,1761515571.075 [DAT](INFO): DAT read: Rx Time:21:52:49.8348

2025-10-26T21:52:51.077Z,1761515571.077 [DAT](INFO): Rx dataTimestamp_ set to:1761515571.075935
2025-10-26T21:52:51.079Z,1761515571.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023458
2025-10-26T21:52:51.178Z,1761515571.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966802,-0.240205,-0.087152],[0.254517,0.935521,0.244991],[0.022684,-0.259039,0.965600]]
2025-10-26T21:52:51.324Z,1761515571.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269492
2025-10-26T21:52:51.576Z,1761515571.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521585
2025-10-26T21:52:51.601Z,1761515571.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971691,-0.218700,-0.089368],[0.234790,0.935968,0.262369],[0.026266,-0.275925,0.960820]]
2025-10-26T21:52:51.660Z,1761515571.660 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:52:51.834Z,1761515571.834 [DAT](INFO): DAT read: 21:52:49.8348 LVL= 32752, 27217, 32754, 32755, AGC= 66, IDX= 456, 0.10, 1.300, 2.212, 1.174, 0.716, PHS= 0.686, 1.541, 0.414, RAW= 343.4, -42.5, CAL= 344.0, -44.6, ROT= 166.0,  44.6

2025-10-26T21:52:51.835Z,1761515571.835 [DAT](INFO): got valid direction response:
 21:52:49.8348 LVL= 32752, 27217, 32754, 32755, AGC= 66, IDX= 456, 0.10, 1.300, 2.212, 1.174, 0.716, PHS= 0.686, 1.541, 0.414, RAW= 343.4, -42.5, CAL= 344.0, -44.6, ROT= 166.0,  44.6

2025-10-26T21:52:51.836Z,1761515571.836 [DAT](INFO): DAT read: Bearing  30.1,  19.2 (Local)

2025-10-26T21:52:51.837Z,1761515571.837 [DAT](INFO): Local bearing/azimuth received:
 Bearing  30.1,  19.2 (Local)

2025-10-26T21:52:51.838Z,1761515571.838 [DAT](INFO): DAT read: Range 11 to 50 : 180.2 m  (Round-trip  240.3 ms) speed  0.0 m/s

2025-10-26T21:52:51.839Z,1761515571.839 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:52:51.840Z,1761515571.840 [DAT](INFO): direction in FSK: [-0.690876,0.172255,-0.702153]
2025-10-26T21:52:51.841Z,1761515571.841 [DAT](INFO): publishing direction and range info
2025-10-26T21:52:51.844Z,1761515571.844 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:52:51.844Z,1761515571.844 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:52:51.844Z,1761515571.844 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:52:51.993Z,1761515571.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976519,-0.195535,-0.090425],[0.213262,0.936818,0.277294],[0.030491,-0.290067,0.956521]]
2025-10-26T21:52:52.062Z,1761515572.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 180.199997 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-10-26T21:52:52.069Z,1761515572.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 179.087418 m,
      bearing: 195.651553 deg,
      lat: 36.779429 deg,
      lon: -121.859521 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-10-26T21:52:52.070Z,1761515572.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.09 m.
2025-10-26T21:52:52.078Z,1761515572.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.087418 m,
      nav range: 118.365479 m,
      bearing: 192.669860 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 198.560862 deg,
      new cmd heading: 192.669860 deg.

2025-10-26T21:52:52.081Z,1761515572.081 [DAT](INFO): DAT read: user:383>

2025-10-26T21:52:52.081Z,1761515572.081 [DAT](INFO): DAT read: Tx time:21:52:51.1904

2025-10-26T21:52:52.082Z,1761515572.082 [DAT](INFO): Ping request sent.
2025-10-26T21:52:52.082Z,1761515572.082 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:52:52.082Z,1761515572.082 [DAT](INFO): publishing transmit ping time
2025-10-26T21:52:52.083Z,1761515572.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-10-26T21:52:52.083Z,1761515572.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.362723 target range: 179.087418 and range: 180.20 m.
2025-10-26T21:52:52.332Z,1761515572.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250580
2025-10-26T21:52:52.456Z,1761515572.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981247,-0.170238,-0.090409],[0.189573,0.937187,0.292818],[0.034882,-0.304466,0.951884]]
2025-10-26T21:52:52.533Z,1761515572.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.09 m.
2025-10-26T21:52:52.540Z,1761515572.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.087418 m,
      nav range: 118.679459 m,
      bearing: 192.642329 deg,
      approach rate: 0.665944 m/s,
      LOS rate: -0.058239 deg/s,
      cmd heading: 192.669856 deg,
      new cmd heading: 192.642329 deg.

2025-10-26T21:52:52.541Z,1761515572.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.362243 target range: 179.087418 and range: 180.20 m.
2025-10-26T21:52:52.585Z,1761515572.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502763
2025-10-26T21:52:52.836Z,1761515572.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754513
2025-10-26T21:52:52.868Z,1761515572.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985569,-0.144355,-0.088402],[0.164713,0.938252,0.304224],[0.039027,-0.314395,0.948490]]
2025-10-26T21:52:52.886Z,1761515572.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.09 m.
2025-10-26T21:52:52.889Z,1761515572.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.087418 m,
      nav range: 118.931183 m,
      bearing: 192.617301 deg,
      approach rate: 0.712476 m/s,
      LOS rate: -0.070689 deg/s,
      cmd heading: 192.642330 deg,
      new cmd heading: 192.617301 deg.

2025-10-26T21:52:52.890Z,1761515572.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.361806 target range: 179.087418 and range: 180.20 m.
2025-10-26T21:52:53.090Z,1761515573.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007864
2025-10-26T21:52:53.320Z,1761515573.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.09 m.
2025-10-26T21:52:53.323Z,1761515573.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.087418 m,
      nav range: 119.230598 m,
      bearing: 192.585503 deg,
      approach rate: 0.690015 m/s,
      LOS rate: -0.073096 deg/s,
      cmd heading: 192.617304 deg,
      new cmd heading: 192.585503 deg.

2025-10-26T21:52:53.324Z,1761515573.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.361251 target range: 179.087418 and range: 180.20 m.
2025-10-26T21:52:53.340Z,1761515573.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258535
2025-10-26T21:52:53.593Z,1761515573.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511294
2025-10-26T21:52:53.667Z,1761515573.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992307,-0.092412,-0.082379],[0.114194,0.940242,0.320787],[0.047811,-0.327726,0.943562]]
2025-10-26T21:52:53.684Z,1761515573.684 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:52:53.686Z,1761515573.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.09 m.
2025-10-26T21:52:53.689Z,1761515573.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.087418 m,
      nav range: 119.479485 m,
      bearing: 192.552908 deg,
      approach rate: 0.679937 m/s,
      LOS rate: -0.088860 deg/s,
      cmd heading: 192.585503 deg,
      new cmd heading: 192.552908 deg.

2025-10-26T21:52:53.690Z,1761515573.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.360682 target range: 179.087418 and range: 180.20 m.
2025-10-26T21:52:53.844Z,1761515573.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762571
2025-10-26T21:52:54.073Z,1761515574.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994691,-0.066562,-0.078481],[0.088703,0.941205,0.325983],[0.052168,-0.331214,0.942112]]
2025-10-26T21:52:54.092Z,1761515574.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.09 m.
2025-10-26T21:52:54.094Z,1761515574.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.087418 m,
      nav range: 119.753212 m,
      bearing: 192.513637 deg,
      approach rate: 0.674950 m/s,
      LOS rate: -0.096613 deg/s,
      cmd heading: 192.552909 deg,
      new cmd heading: 192.513637 deg.

2025-10-26T21:52:54.096Z,1761515574.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014621
2025-10-26T21:52:54.095Z,1761515574.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.359997 target range: 179.087418 and range: 180.20 m.
2025-10-26T21:52:54.348Z,1761515574.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266440
2025-10-26T21:52:54.474Z,1761515574.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996389,-0.041164,-0.074256],[0.063282,0.943142,0.326312],[0.056602,-0.329833,0.942341]]
2025-10-26T21:52:54.533Z,1761515574.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.09 m.
2025-10-26T21:52:54.536Z,1761515574.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.087418 m,
      nav range: 120.054543 m,
      bearing: 192.466296 deg,
      approach rate: 0.682676 m/s,
      LOS rate: -0.106984 deg/s,
      cmd heading: 192.513636 deg,
      new cmd heading: 192.466296 deg.

2025-10-26T21:52:54.537Z,1761515574.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.359171 target range: 179.087418 and range: 180.20 m.
2025-10-26T21:52:54.600Z,1761515574.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518649
2025-10-26T21:52:54.852Z,1761515574.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770445
2025-10-26T21:52:54.884Z,1761515574.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997429,-0.016082,-0.069840],[0.037738,0.946306,0.321061],[0.060927,-0.322871,0.944480]]
2025-10-26T21:52:54.902Z,1761515574.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.09 m.
2025-10-26T21:52:54.905Z,1761515574.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.087418 m,
      nav range: 120.303932 m,
      bearing: 192.423770 deg,
      approach rate: 0.676544 m/s,
      LOS rate: -0.115124 deg/s,
      cmd heading: 192.466302 deg,
      new cmd heading: 192.423770 deg.

2025-10-26T21:52:54.905Z,1761515574.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.358428 target range: 179.087418 and range: 180.20 m.
2025-10-26T21:52:55.107Z,1761515575.107 [DAT](INFO): DAT read: Rx Time:21:52:53.8359

2025-10-26T21:52:55.108Z,1761515575.108 [DAT](INFO): Rx dataTimestamp_ set to:1761515575.107812
2025-10-26T21:52:55.109Z,1761515575.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027019
2025-10-26T21:52:55.286Z,1761515575.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997818,0.008390,-0.065495],[0.012498,0.949969,0.312094],[0.064837,-0.312231,0.947791]]
2025-10-26T21:52:55.334Z,1761515575.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.09 m.
2025-10-26T21:52:55.336Z,1761515575.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.087418 m,
      nav range: 120.590279 m,
      bearing: 192.366980 deg,
      approach rate: 0.663393 m/s,
      LOS rate: -0.131257 deg/s,
      cmd heading: 192.423764 deg,
      new cmd heading: 192.366980 deg.

2025-10-26T21:52:55.337Z,1761515575.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.357437 target range: 179.087418 and range: 180.20 m.
2025-10-26T21:52:55.357Z,1761515575.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274669
2025-10-26T21:52:55.612Z,1761515575.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530076
2025-10-26T21:52:55.692Z,1761515575.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997585,0.032204,-0.061532],[-0.012283,0.953836,0.300077],[0.068355,-0.298597,0.951928]]
2025-10-26T21:52:55.722Z,1761515575.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:52:55.726Z,1761515575.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.09 m.
2025-10-26T21:52:55.730Z,1761515575.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.087418 m,
      nav range: 120.843773 m,
      bearing: 192.313082 deg,
      approach rate: 0.646435 m/s,
      LOS rate: -0.137156 deg/s,
      cmd heading: 192.366978 deg,
      new cmd heading: 192.313082 deg.

2025-10-26T21:52:55.731Z,1761515575.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.356497 target range: 179.087418 and range: 180.20 m.
2025-10-26T21:52:55.866Z,1761515575.866 [DAT](INFO): DAT read: 21:52:53.8359 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 452,-0.33, 1.408, 2.409, 1.419, 0.900, PHS= 0.610, 1.554, 0.475, RAW= 336.6, -42.5, CAL= 336.6, -45.1, ROT= 173.4,  45.1

2025-10-26T21:52:55.867Z,1761515575.867 [DAT](INFO): got valid direction response:
 21:52:53.8359 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 452,-0.33, 1.408, 2.409, 1.419, 0.900, PHS= 0.610, 1.554, 0.475, RAW= 336.6, -42.5, CAL= 336.6, -45.1, ROT= 173.4,  45.1

2025-10-26T21:52:55.873Z,1761515575.873 [DAT](INFO): DAT read: Bearing  16.3,  15.4 (Local)

2025-10-26T21:52:55.873Z,1761515575.873 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.3,  15.4 (Local)

2025-10-26T21:52:55.875Z,1761515575.875 [DAT](INFO): DAT read: Range 11 to 50 : 181.0 m  (Round-trip  241.4 ms) speed -0.6 m/s

2025-10-26T21:52:55.876Z,1761515575.876 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:52:55.876Z,1761515575.876 [DAT](INFO): direction in FSK: [-0.701194,0.081131,-0.708340]
2025-10-26T21:52:55.877Z,1761515575.877 [DAT](INFO): publishing direction and range info
2025-10-26T21:52:55.880Z,1761515575.880 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:52:55.880Z,1761515575.880 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:52:55.881Z,1761515575.881 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:52:56.094Z,1761515576.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996781,0.055548,-0.057814],[-0.036728,0.957348,0.286593],[0.071268,-0.283547,0.956307]]
2025-10-26T21:52:56.112Z,1761515576.112 [DAT](INFO): DAT read: user:384>

2025-10-26T21:52:56.113Z,1761515576.113 [DAT](INFO): DAT read: Tx time:21:52:55.2404

2025-10-26T21:52:56.113Z,1761515576.113 [DAT](INFO): Ping request sent.
2025-10-26T21:52:56.114Z,1761515576.114 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:52:56.114Z,1761515576.114 [DAT](INFO): publishing transmit ping time
2025-10-26T21:52:56.114Z,1761515576.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-10-26T21:52:56.236Z,1761515576.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 181.000000 m,
      deltaT: 4.032303 s,
      deltaX: 0.800003 m,
      approachRate: 0.198399 m/s,
      rangeRepo size: 2

2025-10-26T21:52:56.238Z,1761515576.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 179.881210 m,
      bearing: 188.664439 deg,
      lat: 36.779431 deg,
      lon: -121.859521 deg,
      deltaT: 4.032303 s,
      deltaX: 0.793793 m,
      approachRate: 0.196858 m/s,
      posRepo size: 2

2025-10-26T21:52:56.239Z,1761515576.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:52:56.246Z,1761515576.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 120.933029 m,
      bearing: 192.264180 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.137156 deg/s,
      cmd heading: 192.313088 deg,
      new cmd heading: 192.104878 deg.

2025-10-26T21:52:56.247Z,1761515576.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.352863 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:52:56.364Z,1761515576.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250811
2025-10-26T21:52:56.560Z,1761515576.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995413,0.078961,-0.054024],[-0.061127,0.959274,0.275783],[0.073600,-0.271216,0.959701]]
2025-10-26T21:52:56.601Z,1761515576.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:52:56.604Z,1761515576.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 121.179756 m,
      bearing: 192.207980 deg,
      approach rate: 0.667333 m/s,
      LOS rate: -0.151697 deg/s,
      cmd heading: 192.104876 deg,
      new cmd heading: 191.936620 deg.

2025-10-26T21:52:56.605Z,1761515576.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.349926 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:52:56.616Z,1761515576.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502628
2025-10-26T21:52:56.870Z,1761515576.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756012
2025-10-26T21:52:56.958Z,1761515576.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993390,0.103543,-0.049554],[-0.086535,0.959138,0.269382],[0.075422,-0.263313,0.961758]]
2025-10-26T21:52:57.008Z,1761515577.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:52:57.017Z,1761515577.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 121.414848 m,
      bearing: 192.150969 deg,
      approach rate: 0.584584 m/s,
      LOS rate: -0.141491 deg/s,
      cmd heading: 191.936621 deg,
      new cmd heading: 191.765919 deg.

2025-10-26T21:52:57.018Z,1761515577.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.346947 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:52:57.121Z,1761515577.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007115
2025-10-26T21:52:57.363Z,1761515577.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990739,0.128400,-0.044150],[-0.111984,0.956589,0.269067],[0.076782,-0.261631,0.962109]]
2025-10-26T21:52:57.372Z,1761515577.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258784
2025-10-26T21:52:57.421Z,1761515577.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:52:57.424Z,1761515577.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 121.695488 m,
      bearing: 192.082343 deg,
      approach rate: 0.672392 m/s,
      LOS rate: -0.164042 deg/s,
      cmd heading: 191.765921 deg,
      new cmd heading: 191.560520 deg.

2025-10-26T21:52:57.425Z,1761515577.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.343362 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:52:57.629Z,1761515577.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515542
2025-10-26T21:52:57.879Z,1761515577.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:52:57.880Z,1761515577.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766809
2025-10-26T21:52:57.883Z,1761515577.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:52:57.885Z,1761515577.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 121.986183 m,
      bearing: 192.011636 deg,
      approach rate: 0.629713 m/s,
      LOS rate: -0.152802 deg/s,
      cmd heading: 191.560524 deg,
      new cmd heading: 191.348910 deg.

2025-10-26T21:52:57.886Z,1761515577.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.339669 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:52:58.133Z,1761515578.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019403
2025-10-26T21:52:58.307Z,1761515578.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:52:58.310Z,1761515578.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 122.256210 m,
      bearing: 191.950834 deg,
      approach rate: 0.635786 m/s,
      LOS rate: -0.142844 deg/s,
      cmd heading: 191.348911 deg,
      new cmd heading: 191.166908 deg.

2025-10-26T21:52:58.311Z,1761515578.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.336492 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:52:58.385Z,1761515578.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270944
2025-10-26T21:52:58.636Z,1761515578.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522691
2025-10-26T21:52:58.782Z,1761515578.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973086,0.229910,-0.015666],[-0.216878,0.936667,0.274988],[0.077896,-0.264189,0.961320]]
2025-10-26T21:52:58.820Z,1761515578.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:52:58.823Z,1761515578.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 122.551697 m,
      bearing: 191.865529 deg,
      approach rate: 0.576113 m/s,
      LOS rate: -0.165920 deg/s,
      cmd heading: 191.166914 deg,
      new cmd heading: 190.911615 deg.

2025-10-26T21:52:58.824Z,1761515578.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.332036 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:52:58.888Z,1761515578.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774799
2025-10-26T21:52:59.140Z,1761515579.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026770
2025-10-26T21:52:59.232Z,1761515579.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966996,0.254648,-0.008502],[-0.242649,0.930586,0.274102],[0.077712,-0.262992,0.961663]]
2025-10-26T21:52:59.289Z,1761515579.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:52:59.292Z,1761515579.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 122.834587 m,
      bearing: 191.782524 deg,
      approach rate: 0.603355 m/s,
      LOS rate: -0.176627 deg/s,
      cmd heading: 190.911615 deg,
      new cmd heading: 190.663175 deg.

2025-10-26T21:52:59.293Z,1761515579.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.327700 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:52:59.392Z,1761515579.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278757
2025-10-26T21:52:59.599Z,1761515579.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960075,0.279743,-0.000480],[-0.268784,0.922935,0.275583],[0.077535,-0.264451,0.961277]]
2025-10-26T21:52:59.621Z,1761515579.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:52:59.624Z,1761515579.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 123.024025 m,
      bearing: 191.723826 deg,
      approach rate: 0.570986 m/s,
      LOS rate: -0.176649 deg/s,
      cmd heading: 190.663173 deg,
      new cmd heading: 190.487352 deg.

2025-10-26T21:52:59.625Z,1761515579.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.324631 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:52:59.644Z,1761515579.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530805
2025-10-26T21:52:59.896Z,1761515579.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782772
2025-10-26T21:53:00.021Z,1761515580.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952776,0.303580,0.007507],[-0.293782,0.915202,0.275859],[0.076875,-0.265037,0.961169]]
2025-10-26T21:53:00.046Z,1761515580.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:00.052Z,1761515580.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:00.055Z,1761515580.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 123.263924 m,
      bearing: 191.645553 deg,
      approach rate: 0.555706 m/s,
      LOS rate: -0.180959 deg/s,
      cmd heading: 190.487351 deg,
      new cmd heading: 190.252992 deg.

2025-10-26T21:53:00.061Z,1761515580.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.320541 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:00.149Z,1761515580.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034783
2025-10-26T21:53:00.401Z,1761515580.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286904
2025-10-26T21:53:00.402Z,1761515580.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945084,0.326481,0.015066],[-0.317794,0.907219,0.275609],[0.076313,-0.265262,0.961152]]
2025-10-26T21:53:00.439Z,1761515580.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:00.458Z,1761515580.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 123.476448 m,
      bearing: 191.578148 deg,
      approach rate: 0.550090 m/s,
      LOS rate: -0.174170 deg/s,
      cmd heading: 190.252993 deg,
      new cmd heading: 190.051125 deg.

2025-10-26T21:53:00.459Z,1761515580.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.317018 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:00.652Z,1761515580.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538818
2025-10-26T21:53:00.848Z,1761515580.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:00.850Z,1761515580.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 123.699097 m,
      bearing: 191.507838 deg,
      approach rate: 0.544865 m/s,
      LOS rate: -0.171752 deg/s,
      cmd heading: 190.051120 deg,
      new cmd heading: 189.840571 deg.

2025-10-26T21:53:00.851Z,1761515580.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.313343 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:00.905Z,1761515580.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790948
2025-10-26T21:53:01.157Z,1761515581.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042989
2025-10-26T21:53:01.264Z,1761515581.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927934,0.371552,0.029797],[-0.365078,0.889809,0.273783],[0.075211,-0.264931,0.961330]]
2025-10-26T21:53:01.315Z,1761515581.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:01.318Z,1761515581.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 123.944763 m,
      bearing: 191.426455 deg,
      approach rate: 0.525841 m/s,
      LOS rate: -0.173853 deg/s,
      cmd heading: 189.840573 deg,
      new cmd heading: 189.596909 deg.

2025-10-26T21:53:01.319Z,1761515581.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.309090 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:01.468Z,1761515581.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.354198
2025-10-26T21:53:01.661Z,1761515581.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547252
2025-10-26T21:53:01.799Z,1761515581.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:01.802Z,1761515581.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 124.200203 m,
      bearing: 191.342264 deg,
      approach rate: 0.527085 m/s,
      LOS rate: -0.173366 deg/s,
      cmd heading: 189.596913 deg,
      new cmd heading: 189.344860 deg.

2025-10-26T21:53:01.803Z,1761515581.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.304691 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:01.912Z,1761515581.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798685
2025-10-26T21:53:02.165Z,1761515582.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051069
2025-10-26T21:53:02.179Z,1761515582.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908750,0.414884,0.045207],[-0.410859,0.870358,0.271427],[0.073265,-0.265233,0.961397]]
2025-10-26T21:53:02.196Z,1761515582.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:02.198Z,1761515582.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:02.200Z,1761515582.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 124.402390 m,
      bearing: 191.268693 deg,
      approach rate: 0.507605 m/s,
      LOS rate: -0.184404 deg/s,
      cmd heading: 189.344865 deg,
      new cmd heading: 189.124514 deg.

2025-10-26T21:53:02.201Z,1761515582.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.300845 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:02.417Z,1761515582.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303554
2025-10-26T21:53:02.570Z,1761515582.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898363,0.436212,0.051607],[-0.433270,0.860660,0.267472],[0.072258,-0.262646,0.962183]]
2025-10-26T21:53:02.627Z,1761515582.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:02.634Z,1761515582.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 124.597214 m,
      bearing: 191.195114 deg,
      approach rate: 0.453666 m/s,
      LOS rate: -0.171068 deg/s,
      cmd heading: 189.124509 deg,
      new cmd heading: 188.904118 deg.

2025-10-26T21:53:02.640Z,1761515582.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.296999 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:02.670Z,1761515582.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.556784
2025-10-26T21:53:02.920Z,1761515582.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806748
2025-10-26T21:53:02.990Z,1761515582.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887498,0.457224,0.057386],[-0.455268,0.850740,0.262627],[0.071259,-0.259206,0.963190]]
2025-10-26T21:53:03.014Z,1761515583.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:03.017Z,1761515583.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 124.787109 m,
      bearing: 191.120021 deg,
      approach rate: 0.490629 m/s,
      LOS rate: -0.193721 deg/s,
      cmd heading: 188.904113 deg,
      new cmd heading: 188.679178 deg.

2025-10-26T21:53:03.018Z,1761515583.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.293073 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:03.172Z,1761515583.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058770
2025-10-26T21:53:03.381Z,1761515583.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876156,0.477877,0.063121],[-0.476971,0.840583,0.256747],[0.069635,-0.255057,0.964415]]
2025-10-26T21:53:03.424Z,1761515583.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310685
2025-10-26T21:53:03.439Z,1761515583.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:03.446Z,1761515583.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 124.982864 m,
      bearing: 191.036758 deg,
      approach rate: 0.460951 m/s,
      LOS rate: -0.195755 deg/s,
      cmd heading: 188.679181 deg,
      new cmd heading: 188.429785 deg.

2025-10-26T21:53:03.447Z,1761515583.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.288720 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:03.677Z,1761515583.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563055
2025-10-26T21:53:03.782Z,1761515583.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864363,0.498065,0.069344],[-0.498251,0.829598,0.252018],[0.067994,-0.252385,0.965235]]
2025-10-26T21:53:03.806Z,1761515583.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:03.809Z,1761515583.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 125.151955 m,
      bearing: 190.961541 deg,
      approach rate: 0.460795 m/s,
      LOS rate: -0.204702 deg/s,
      cmd heading: 188.429784 deg,
      new cmd heading: 188.204436 deg.

2025-10-26T21:53:03.810Z,1761515583.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.284787 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:03.928Z,1761515583.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814858
2025-10-26T21:53:04.180Z,1761515584.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066790
2025-10-26T21:53:04.188Z,1761515584.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852072,0.517832,0.076306],[-0.519247,0.817861,0.247963],[0.065995,-0.250904,0.965760]]
2025-10-26T21:53:04.220Z,1761515584.220 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:04.222Z,1761515584.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:04.229Z,1761515584.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 125.330032 m,
      bearing: 190.878704 deg,
      approach rate: 0.427723 m/s,
      LOS rate: -0.198681 deg/s,
      cmd heading: 188.204442 deg,
      new cmd heading: 187.956287 deg.

2025-10-26T21:53:04.230Z,1761515584.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.280456 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:04.433Z,1761515584.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318922
2025-10-26T21:53:04.639Z,1761515584.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:04.642Z,1761515584.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 125.525398 m,
      bearing: 190.791470 deg,
      approach rate: 0.468642 m/s,
      LOS rate: -0.208931 deg/s,
      cmd heading: 187.956287 deg,
      new cmd heading: 187.694994 deg.

2025-10-26T21:53:04.643Z,1761515584.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.275896 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:04.686Z,1761515584.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.572825
2025-10-26T21:53:04.941Z,1761515584.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827284
2025-10-26T21:53:05.005Z,1761515585.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825884,0.556284,0.091999],[-0.560401,0.791852,0.242737],[0.062181,-0.252028,0.965720]]
2025-10-26T21:53:05.023Z,1761515585.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:05.042Z,1761515585.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 125.690430 m,
      bearing: 190.710568 deg,
      approach rate: 0.429729 m/s,
      LOS rate: -0.210386 deg/s,
      cmd heading: 187.694992 deg,
      new cmd heading: 187.452606 deg.

2025-10-26T21:53:05.043Z,1761515585.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.271665 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:05.192Z,1761515585.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078683
2025-10-26T21:53:05.405Z,1761515585.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812053,0.575163,0.098779],[-0.580461,0.778567,0.238534],[0.060290,-0.251040,0.966097]]
2025-10-26T21:53:05.441Z,1761515585.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:05.452Z,1761515585.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.338855
2025-10-26T21:53:05.465Z,1761515585.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 125.871536 m,
      bearing: 190.617674 deg,
      approach rate: 0.432857 m/s,
      LOS rate: -0.221702 deg/s,
      cmd heading: 187.452602 deg,
      new cmd heading: 187.174325 deg.

2025-10-26T21:53:05.467Z,1761515585.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.266808 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:05.705Z,1761515585.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.591113
2025-10-26T21:53:05.811Z,1761515585.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797677,0.593690,0.106037],[-0.600248,0.764521,0.234970],[0.058432,-0.251079,0.966201]]
2025-10-26T21:53:05.836Z,1761515585.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:05.838Z,1761515585.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 126.037766 m,
      bearing: 190.528493 deg,
      approach rate: 0.421894 m/s,
      LOS rate: -0.226046 deg/s,
      cmd heading: 187.174326 deg,
      new cmd heading: 186.907137 deg.

2025-10-26T21:53:05.839Z,1761515585.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.262145 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:05.957Z,1761515585.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.842929
2025-10-26T21:53:06.208Z,1761515586.208 [DAT](INFO): Reached modem response timeout
2025-10-26T21:53:06.208Z,1761515586.208 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:06.209Z,1761515586.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:53:06.217Z,1761515586.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782813,0.611919,0.112952],[-0.619665,0.750054,0.231159],[0.056730,-0.250947,0.966337]]
2025-10-26T21:53:06.234Z,1761515586.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:06.237Z,1761515586.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:06.240Z,1761515586.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 126.201904 m,
      bearing: 190.436348 deg,
      approach rate: 0.408911 m/s,
      LOS rate: -0.229257 deg/s,
      cmd heading: 186.907143 deg,
      new cmd heading: 186.631071 deg.

2025-10-26T21:53:06.241Z,1761515586.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.257327 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:06.460Z,1761515586.460 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:06.619Z,1761515586.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767429,0.629852,0.119748],[-0.638762,0.735081,0.227243],[0.055105,-0.250883,0.966448]]
2025-10-26T21:53:06.656Z,1761515586.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:06.659Z,1761515586.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 126.357597 m,
      bearing: 190.335802 deg,
      approach rate: 0.371245 m/s,
      LOS rate: -0.239453 deg/s,
      cmd heading: 186.631067 deg,
      new cmd heading: 186.329803 deg.

2025-10-26T21:53:06.664Z,1761515586.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.252069 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:06.713Z,1761515586.713 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:06.965Z,1761515586.965 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:07.026Z,1761515587.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751625,0.647508,0.125670],[-0.657407,0.719924,0.222543],[0.053626,-0.249885,0.966789]]
2025-10-26T21:53:07.045Z,1761515587.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:07.047Z,1761515587.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 126.497345 m,
      bearing: 190.241144 deg,
      approach rate: 0.359756 m/s,
      LOS rate: -0.243413 deg/s,
      cmd heading: 186.329801 deg,
      new cmd heading: 186.046141 deg.

2025-10-26T21:53:07.048Z,1761515587.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.247118 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:07.216Z,1761515587.216 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:07.426Z,1761515587.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735308,0.664878,0.131371],[-0.675730,0.704340,0.217471],[0.052062,-0.248679,0.967186]]
2025-10-26T21:53:07.469Z,1761515587.469 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:07.513Z,1761515587.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:07.516Z,1761515587.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 126.666397 m,
      bearing: 190.123326 deg,
      approach rate: 0.360988 m/s,
      LOS rate: -0.251247 deg/s,
      cmd heading: 186.046143 deg,
      new cmd heading: 185.693168 deg.

2025-10-26T21:53:07.516Z,1761515587.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.240957 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:07.722Z,1761515587.722 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:07.830Z,1761515587.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718481,0.682078,0.136217],[-0.693700,0.688435,0.211750],[0.050653,-0.246632,0.967785]]
2025-10-26T21:53:07.832Z,1761515587.832 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:53:07.849Z,1761515587.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:07.852Z,1761515587.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 126.800194 m,
      bearing: 190.025375 deg,
      approach rate: 0.398072 m/s,
      LOS rate: -0.291118 deg/s,
      cmd heading: 185.693173 deg,
      new cmd heading: 185.399630 deg.

2025-10-26T21:53:07.853Z,1761515587.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.235834 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:07.973Z,1761515587.973 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:08.225Z,1761515588.225 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:08.236Z,1761515588.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701205,0.698722,0.141772],[-0.711234,0.671712,0.207240],[0.049573,-0.246151,0.967963]]
2025-10-26T21:53:08.260Z,1761515588.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:08.262Z,1761515588.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:08.264Z,1761515588.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 126.946716 m,
      bearing: 189.912553 deg,
      approach rate: 0.355064 m/s,
      LOS rate: -0.273082 deg/s,
      cmd heading: 185.399625 deg,
      new cmd heading: 185.061554 deg.

2025-10-26T21:53:08.265Z,1761515588.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.229934 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:08.477Z,1761515588.477 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:53:08.478Z,1761515588.478 [DAT](INFO): response not received
2025-10-26T21:53:08.479Z,1761515588.479 [DAT](INFO): DAT read: user:385>

2025-10-26T21:53:08.480Z,1761515588.480 [DAT](INFO): DAT read: Tx time:21:53:07.6904

2025-10-26T21:53:08.480Z,1761515588.480 [DAT](INFO): Ping request sent.
2025-10-26T21:53:08.480Z,1761515588.480 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:53:08.481Z,1761515588.481 [DAT](INFO): publishing transmit ping time
2025-10-26T21:53:08.482Z,1761515588.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001648
2025-10-26T21:53:08.698Z,1761515588.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:08.702Z,1761515588.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 127.102158 m,
      bearing: 189.791757 deg,
      approach rate: 0.356630 m/s,
      LOS rate: -0.276804 deg/s,
      cmd heading: 185.061558 deg,
      new cmd heading: 184.699618 deg.

2025-10-26T21:53:08.704Z,1761515588.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.223616 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:08.729Z,1761515588.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248439
2025-10-26T21:53:08.836Z,1761515588.836 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:53:08.982Z,1761515588.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500950
2025-10-26T21:53:09.043Z,1761515589.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665263,0.731437,0.149748],[-0.745033,0.637343,0.196774],[0.048487,-0.242474,0.968945]]
2025-10-26T21:53:09.077Z,1761515589.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:09.086Z,1761515589.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 127.221291 m,
      bearing: 189.688230 deg,
      approach rate: 0.313713 m/s,
      LOS rate: -0.272363 deg/s,
      cmd heading: 184.699612 deg,
      new cmd heading: 184.389325 deg.

2025-10-26T21:53:09.088Z,1761515589.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.218201 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:09.232Z,1761515589.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752113
2025-10-26T21:53:09.446Z,1761515589.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646379,0.747206,0.154522],[-0.761498,0.618959,0.192380],[0.048105,-0.242018,0.969078]]
2025-10-26T21:53:09.485Z,1761515589.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004773
2025-10-26T21:53:09.519Z,1761515589.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:09.526Z,1761515589.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 127.374306 m,
      bearing: 189.554358 deg,
      approach rate: 0.346519 m/s,
      LOS rate: -0.302803 deg/s,
      cmd heading: 184.389330 deg,
      new cmd heading: 183.988204 deg.

2025-10-26T21:53:09.531Z,1761515589.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.211200 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:09.736Z,1761515589.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255964
2025-10-26T21:53:09.871Z,1761515589.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627140,0.762698,0.158075],[-0.777442,0.600491,0.187069],[0.047755,-0.240213,0.969545]]
2025-10-26T21:53:09.890Z,1761515589.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:09.912Z,1761515589.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 127.497208 m,
      bearing: 189.440613 deg,
      approach rate: 0.331459 m/s,
      LOS rate: -0.306468 deg/s,
      cmd heading: 183.988207 deg,
      new cmd heading: 183.647304 deg.

2025-10-26T21:53:09.913Z,1761515589.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.205250 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:09.989Z,1761515589.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508909
2025-10-26T21:53:10.240Z,1761515590.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759982
2025-10-26T21:53:10.274Z,1761515590.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608009,0.777157,0.162332],[-0.792524,0.581949,0.182321],[0.047223,-0.239505,0.969746]]
2025-10-26T21:53:10.312Z,1761515590.312 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:10.314Z,1761515590.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:10.325Z,1761515590.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 127.625893 m,
      bearing: 189.314551 deg,
      approach rate: 0.303498 m/s,
      LOS rate: -0.297010 deg/s,
      cmd heading: 183.647299 deg,
      new cmd heading: 183.269502 deg.

2025-10-26T21:53:10.325Z,1761515590.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.198656 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:10.494Z,1761515590.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014070
2025-10-26T21:53:10.746Z,1761515590.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266023
2025-10-26T21:53:10.747Z,1761515590.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588402,0.790577,0.169621],[-0.807206,0.562165,0.179967],[0.046923,-0.242812,0.968938]]
2025-10-26T21:53:10.795Z,1761515590.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:10.797Z,1761515590.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 127.771820 m,
      bearing: 189.162445 deg,
      approach rate: 0.303452 m/s,
      LOS rate: -0.315939 deg/s,
      cmd heading: 183.269507 deg,
      new cmd heading: 182.813719 deg.

2025-10-26T21:53:10.798Z,1761515590.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.190701 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:10.996Z,1761515590.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515973
2025-10-26T21:53:11.147Z,1761515591.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568203,0.804359,0.173642],[-0.821558,0.542517,0.175264],[0.046771,-0.242243,0.969088]]
2025-10-26T21:53:11.165Z,1761515591.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:11.168Z,1761515591.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 127.876480 m,
      bearing: 189.046333 deg,
      approach rate: 0.282233 m/s,
      LOS rate: -0.312857 deg/s,
      cmd heading: 182.813715 deg,
      new cmd heading: 182.465670 deg.

2025-10-26T21:53:11.169Z,1761515591.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.184627 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:11.249Z,1761515591.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768790
2025-10-26T21:53:11.500Z,1761515591.500 [DAT](INFO): DAT read: Rx Time:21:53:10.2686

2025-10-26T21:53:11.501Z,1761515591.501 [DAT](INFO): Rx dataTimestamp_ set to:1761515591.500588
2025-10-26T21:53:11.501Z,1761515591.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021083
2025-10-26T21:53:11.548Z,1761515591.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548018,0.817028,0.179281],[-0.835165,0.522497,0.171746],[0.046648,-0.243849,0.968691]]
2025-10-26T21:53:11.568Z,1761515591.568 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3268,V
2025-10-26T21:53:11.583Z,1761515591.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:11.585Z,1761515591.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 127.987701 m,
      bearing: 188.914729 deg,
      approach rate: 0.266549 m/s,
      LOS rate: -0.315125 deg/s,
      cmd heading: 182.465676 deg,
      new cmd heading: 182.071211 deg.

2025-10-26T21:53:11.586Z,1761515591.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.177742 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:11.756Z,1761515591.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275473
2025-10-26T21:53:11.954Z,1761515591.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506120,0.841009,0.191170],[-0.861201,0.480822,0.164750],[0.046638,-0.248019,0.967632]]
2025-10-26T21:53:12.004Z,1761515592.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523896
2025-10-26T21:53:12.005Z,1761515592.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.88 m.
2025-10-26T21:53:12.013Z,1761515592.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.881210 m,
      nav range: 128.080719 m,
      bearing: 188.786934 deg,
      approach rate: 0.229735 m/s,
      LOS rate: -0.315399 deg/s,
      cmd heading: 182.071205 deg,
      new cmd heading: 181.688105 deg.

2025-10-26T21:53:12.014Z,1761515592.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.171056 target range: 179.881210 and range: 181.00 m.
2025-10-26T21:53:12.266Z,1761515592.266 [DAT](INFO): DAT read: 21:53:10.2686 LVL= 31888, 26769, 27890, 27603, AGC= 69, IDX= 211,-0.15, 0.107, 1.633, 2.189, 1.352, PHS=-1.143, 0.326, 0.793, RAW= 256.6,   0.3, CAL= 252.9,  -3.0, ROT= 257.1,   3.0

2025-10-26T21:53:12.268Z,1761515592.268 [DAT](INFO): got valid direction response:
 21:53:10.2686 LVL= 31888, 26769, 27890, 27603, AGC= 69, IDX= 211,-0.15, 0.107, 1.633, 2.189, 1.352, PHS=-1.143, 0.326, 0.793, RAW= 256.6,   0.3, CAL= 252.9,  -3.0, ROT= 257.1,   3.0

2025-10-26T21:53:12.272Z,1761515592.272 [DAT](INFO): DAT read: Bearing 332.3, -70.2 (Local)

2025-10-26T21:53:12.274Z,1761515592.274 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.3, -70.2 (Local)

2025-10-26T21:53:12.285Z,1761515592.285 [DAT](INFO): DAT read: Range 11 to 50 : 130.5 m  (Round-trip  174.1 ms) speed -0.4 m/s

2025-10-26T21:53:12.286Z,1761515592.286 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:53:12.288Z,1761515592.288 [DAT](INFO): direction in FSK: [-0.222944,-0.973425,-0.052336]
2025-10-26T21:53:12.288Z,1761515592.288 [DAT](INFO): publishing direction and range info
2025-10-26T21:53:12.313Z,1761515592.313 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:12.313Z,1761515592.313 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:12.313Z,1761515592.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:53:12.453Z,1761515592.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484990,0.852395,0.195467],[-0.873287,0.460189,0.159986],[0.046420,-0.248290,0.967573]]
2025-10-26T21:53:12.508Z,1761515592.508 [DAT](INFO): DAT read: user:386>

2025-10-26T21:53:12.509Z,1761515592.509 [DAT](INFO): DAT read: Tx time:21:53:11.6904

2025-10-26T21:53:12.509Z,1761515592.509 [DAT](INFO): Ping request sent.
2025-10-26T21:53:12.510Z,1761515592.510 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:53:12.510Z,1761515592.510 [DAT](INFO): publishing transmit ping time
2025-10-26T21:53:12.510Z,1761515592.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-10-26T21:53:12.579Z,1761515592.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 130.500000 m,
      deltaT: 16.400055 s,
      deltaX: -50.500000 m,
      approachRate: -3.079258 m/s,
      rangeRepo size: 3

2025-10-26T21:53:12.581Z,1761515592.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 129.695023 m,
      bearing: 195.427462 deg,
      lat: 36.779437 deg,
      lon: -121.859575 deg,
      deltaT: 16.400055 s,
      deltaX: -50.186188 m,
      approachRate: -3.060123 m/s,
      posRepo size: 3

2025-10-26T21:53:12.582Z,1761515592.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-10-26T21:53:12.589Z,1761515592.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.695023 m,
      nav range: 128.425385 m,
      bearing: 190.809446 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.315399 deg/s,
      cmd heading: 181.688100 deg,
      new cmd heading: 181.136524 deg.

2025-10-26T21:53:12.593Z,1761515592.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.161429 target range: 129.695023 and range: 130.50 m.
2025-10-26T21:53:12.760Z,1761515592.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250892
2025-10-26T21:53:12.894Z,1761515592.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463729,0.862896,0.200913],[-0.884779,0.439250,0.155647],[0.046056,-0.249942,0.967165]]
2025-10-26T21:53:12.912Z,1761515592.912 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:12.914Z,1761515592.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-10-26T21:53:12.918Z,1761515592.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.695023 m,
      nav range: 128.496185 m,
      bearing: 190.697868 deg,
      approach rate: 0.206268 m/s,
      LOS rate: -0.324888 deg/s,
      cmd heading: 181.136521 deg,
      new cmd heading: 180.801975 deg.

2025-10-26T21:53:12.919Z,1761515592.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.155590 target range: 129.695023 and range: 130.50 m.
2025-10-26T21:53:13.013Z,1761515593.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503197
2025-10-26T21:53:13.264Z,1761515593.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754824
2025-10-26T21:53:13.296Z,1761515593.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442117,0.873272,0.204764],[-0.895793,0.418256,0.150391],[0.045688,-0.249917,0.967189]]
2025-10-26T21:53:13.314Z,1761515593.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-10-26T21:53:13.317Z,1761515593.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.695023 m,
      nav range: 128.568939 m,
      bearing: 190.572752 deg,
      approach rate: 0.181793 m/s,
      LOS rate: -0.312453 deg/s,
      cmd heading: 180.801979 deg,
      new cmd heading: 180.426851 deg.

2025-10-26T21:53:13.318Z,1761515593.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.149043 target range: 129.695023 and range: 130.50 m.
2025-10-26T21:53:13.516Z,1761515593.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006702
2025-10-26T21:53:13.700Z,1761515593.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420552,0.883439,0.206570],[-0.906131,0.397594,0.144381],[0.045421,-0.247899,0.967721]]
2025-10-26T21:53:13.768Z,1761515593.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258889
2025-10-26T21:53:13.780Z,1761515593.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-10-26T21:53:13.783Z,1761515593.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.695023 m,
      nav range: 128.653793 m,
      bearing: 190.430580 deg,
      approach rate: 0.182101 m/s,
      LOS rate: -0.304908 deg/s,
      cmd heading: 180.426851 deg,
      new cmd heading: 180.000623 deg.

2025-10-26T21:53:13.784Z,1761515593.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.141603 target range: 129.695023 and range: 130.50 m.
2025-10-26T21:53:14.020Z,1761515594.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510830
2025-10-26T21:53:14.102Z,1761515594.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398508,0.892967,0.209288],[-0.916053,0.376290,0.138754],[0.045150,-0.247013,0.967960]]
2025-10-26T21:53:14.121Z,1761515594.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-10-26T21:53:14.123Z,1761515594.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.695023 m,
      nav range: 128.710693 m,
      bearing: 190.326070 deg,
      approach rate: 0.167058 m/s,
      LOS rate: -0.306703 deg/s,
      cmd heading: 180.000620 deg,
      new cmd heading: 179.687232 deg.

2025-10-26T21:53:14.124Z,1761515594.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.136134 target range: 129.695023 and range: 130.50 m.
2025-10-26T21:53:14.272Z,1761515594.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762848
2025-10-26T21:53:14.506Z,1761515594.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376678,0.901851,0.211610],[-0.925263,0.355257,0.132970],[0.044743,-0.245882,0.968267]]
2025-10-26T21:53:14.524Z,1761515594.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014812
2025-10-26T21:53:14.576Z,1761515594.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-10-26T21:53:14.579Z,1761515594.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.695023 m,
      nav range: 128.779282 m,
      bearing: 190.194699 deg,
      approach rate: 0.150495 m/s,
      LOS rate: -0.288100 deg/s,
      cmd heading: 179.687237 deg,
      new cmd heading: 179.293338 deg.

2025-10-26T21:53:14.584Z,1761515594.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.129259 target range: 129.695023 and range: 130.50 m.
2025-10-26T21:53:14.777Z,1761515594.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267289
2025-10-26T21:53:14.911Z,1761515594.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354787,0.909933,0.214821],[-0.933908,0.334082,0.127298],[0.044065,-0.245787,0.968322]]
2025-10-26T21:53:14.928Z,1761515594.928 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:14.930Z,1761515594.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-10-26T21:53:14.933Z,1761515594.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.695023 m,
      nav range: 128.831589 m,
      bearing: 190.083859 deg,
      approach rate: 0.147898 m/s,
      LOS rate: -0.313269 deg/s,
      cmd heading: 179.293340 deg,
      new cmd heading: 178.960961 deg.

2025-10-26T21:53:14.934Z,1761515594.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.123458 target range: 129.695023 and range: 130.50 m.
2025-10-26T21:53:15.030Z,1761515595.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520400
2025-10-26T21:53:15.280Z,1761515595.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770777
2025-10-26T21:53:15.320Z,1761515595.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332243,0.917784,0.217455],[-0.942195,0.312338,0.121302],[0.043410,-0.245187,0.968503]]
2025-10-26T21:53:15.356Z,1761515595.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-10-26T21:53:15.359Z,1761515595.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.695023 m,
      nav range: 128.883591 m,
      bearing: 189.960183 deg,
      approach rate: 0.122050 m/s,
      LOS rate: -0.290154 deg/s,
      cmd heading: 178.960956 deg,
      new cmd heading: 178.590081 deg.

2025-10-26T21:53:15.360Z,1761515595.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.116985 target range: 129.695023 and range: 130.50 m.
2025-10-26T21:53:15.532Z,1761515595.532 [DAT](INFO): DAT read: Rx Time:21:53:14.2701

2025-10-26T21:53:15.533Z,1761515595.533 [DAT](INFO): Rx dataTimestamp_ set to:1761515595.532615
2025-10-26T21:53:15.533Z,1761515595.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023890
2025-10-26T21:53:15.725Z,1761515595.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309242,0.924998,0.220791],[-0.950017,0.290023,0.115559],[0.042857,-0.245491,0.968451]]
2025-10-26T21:53:15.784Z,1761515595.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274821
2025-10-26T21:53:15.822Z,1761515595.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-10-26T21:53:15.825Z,1761515595.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.695023 m,
      nav range: 128.931610 m,
      bearing: 189.818724 deg,
      approach rate: 0.102944 m/s,
      LOS rate: -0.303146 deg/s,
      cmd heading: 178.590076 deg,
      new cmd heading: 178.165867 deg.

2025-10-26T21:53:15.826Z,1761515595.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.109581 target range: 129.695023 and range: 130.50 m.
2025-10-26T21:53:16.041Z,1761515596.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530993
2025-10-26T21:53:16.177Z,1761515596.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285930,0.931186,0.226135],[-0.957322,0.267197,0.110185],[0.042180,-0.247989,0.967844]]
2025-10-26T21:53:16.194Z,1761515596.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-10-26T21:53:16.197Z,1761515596.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.695023 m,
      nav range: 128.963181 m,
      bearing: 189.709243 deg,
      approach rate: 0.084872 m/s,
      LOS rate: -0.294251 deg/s,
      cmd heading: 178.165867 deg,
      new cmd heading: 177.837507 deg.

2025-10-26T21:53:16.198Z,1761515596.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.103850 target range: 129.695023 and range: 130.50 m.
2025-10-26T21:53:16.295Z,1761515596.295 [DAT](INFO): DAT read: 21:53:14.2701 LVL= 30688, 27505, 20306, 26819, AGC= 65, IDX= 450,-0.06,-2.668,-1.411,-0.362,-1.653, PHS=-0.912, 0.288, 1.247, RAW= 243.7,  -6.7, CAL= 241.7, -10.6, ROT= 268.3,  10.6

2025-10-26T21:53:16.296Z,1761515596.296 [DAT](INFO): got valid direction response:
 21:53:14.2701 LVL= 30688, 27505, 20306, 26819, AGC= 65, IDX= 450,-0.06,-2.668,-1.411,-0.362,-1.653, PHS=-0.912, 0.288, 1.247, RAW= 243.7,  -6.7, CAL= 241.7, -10.6, ROT= 268.3,  10.6

2025-10-26T21:53:16.297Z,1761515596.297 [DAT](INFO): DAT read: Bearing 351.9, -64.9 (Local)

2025-10-26T21:53:16.298Z,1761515596.298 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.9, -64.9 (Local)

2025-10-26T21:53:16.299Z,1761515596.299 [DAT](INFO): DAT read: Range 11 to 50 : 131.6 m  (Round-trip  175.5 ms) speed -0.2 m/s

2025-10-26T21:53:16.300Z,1761515596.300 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:53:16.301Z,1761515596.301 [DAT](INFO): direction in FSK: [-0.029160,-0.982503,-0.183951]
2025-10-26T21:53:16.301Z,1761515596.301 [DAT](INFO): publishing direction and range info
2025-10-26T21:53:16.312Z,1761515596.312 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:16.312Z,1761515596.312 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:16.313Z,1761515596.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:53:16.540Z,1761515596.540 [DAT](INFO): DAT read: user:387>

2025-10-26T21:53:16.541Z,1761515596.541 [DAT](INFO): DAT read: Tx time:21:53:15.6904

2025-10-26T21:53:16.541Z,1761515596.541 [DAT](INFO): Ping request sent.
2025-10-26T21:53:16.541Z,1761515596.541 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:53:16.542Z,1761515596.542 [DAT](INFO): publishing transmit ping time
2025-10-26T21:53:16.542Z,1761515596.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-10-26T21:53:16.577Z,1761515596.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263721,0.937080,0.228763],[-0.963714,0.245804,0.104100],[0.041319,-0.247915,0.967900]]
2025-10-26T21:53:16.654Z,1761515596.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 131.600006 m,
      deltaT: 4.028110 s,
      deltaX: 1.100006 m,
      approachRate: 0.273082 m/s,
      rangeRepo size: 4

2025-10-26T21:53:16.656Z,1761515596.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 130.785599 m,
      bearing: 193.475684 deg,
      lat: 36.779439 deg,
      lon: -121.859592 deg,
      deltaT: 4.028110 s,
      deltaX: 1.090576 m,
      approachRate: 0.270741 m/s,
      posRepo size: 4

2025-10-26T21:53:16.657Z,1761515596.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:16.659Z,1761515596.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 128.982880 m,
      bearing: 190.257286 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294251 deg/s,
      cmd heading: 177.837512 deg,
      new cmd heading: 177.432593 deg.

2025-10-26T21:53:16.660Z,1761515596.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.096783 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:16.793Z,1761515596.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251170
2025-10-26T21:53:16.993Z,1761515596.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240657,0.942306,0.232687],[-0.969758,0.223388,0.098325],[0.040673,-0.249313,0.967568]]
2025-10-26T21:53:17.010Z,1761515597.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:17.012Z,1761515597.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:17.015Z,1761515597.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 129.002350 m,
      bearing: 190.150395 deg,
      approach rate: 0.054236 m/s,
      LOS rate: -0.297709 deg/s,
      cmd heading: 177.432592 deg,
      new cmd heading: 177.111970 deg.

2025-10-26T21:53:17.016Z,1761515597.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.091187 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:17.045Z,1761515597.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503091
2025-10-26T21:53:17.297Z,1761515597.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755290
2025-10-26T21:53:17.382Z,1761515597.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217959,0.946436,0.238229],[-0.975144,0.201226,0.092745],[0.039840,-0.252522,0.966770]]
2025-10-26T21:53:17.418Z,1761515597.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:17.421Z,1761515597.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 129.017670 m,
      bearing: 190.035722 deg,
      approach rate: 0.037971 m/s,
      LOS rate: -0.284189 deg/s,
      cmd heading: 177.111969 deg,
      new cmd heading: 176.767996 deg.

2025-10-26T21:53:17.422Z,1761515597.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.085184 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:17.552Z,1761515597.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010674
2025-10-26T21:53:17.786Z,1761515597.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194514,0.950760,0.241286],[-0.980122,0.178597,0.086393],[0.039046,-0.253295,0.966601]]
2025-10-26T21:53:17.800Z,1761515597.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258976
2025-10-26T21:53:17.841Z,1761515597.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:17.844Z,1761515597.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 129.027374 m,
      bearing: 189.909274 deg,
      approach rate: 0.022795 m/s,
      LOS rate: -0.296991 deg/s,
      cmd heading: 176.768000 deg,
      new cmd heading: 176.388691 deg.

2025-10-26T21:53:17.845Z,1761515597.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.078563 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:18.052Z,1761515598.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510854
2025-10-26T21:53:18.190Z,1761515598.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170967,0.955112,0.241933],[-0.984536,0.156092,0.079519],[0.038186,-0.251787,0.967029]]
2025-10-26T21:53:18.209Z,1761515598.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:18.211Z,1761515598.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 129.030273 m,
      bearing: 189.803873 deg,
      approach rate: 0.007896 m/s,
      LOS rate: -0.287044 deg/s,
      cmd heading: 176.388693 deg,
      new cmd heading: 176.072500 deg.

2025-10-26T21:53:18.212Z,1761515598.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.073045 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:18.304Z,1761515598.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763073
2025-10-26T21:53:18.558Z,1761515598.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016489
2025-10-26T21:53:18.594Z,1761515598.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147916,0.958277,0.244595],[-0.988313,0.134008,0.072651],[0.036842,-0.252483,0.966900]]
2025-10-26T21:53:18.642Z,1761515598.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:18.645Z,1761515598.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 129.031601 m,
      bearing: 189.680523 deg,
      approach rate: 0.003059 m/s,
      LOS rate: -0.284254 deg/s,
      cmd heading: 176.072496 deg,
      new cmd heading: 175.702456 deg.

2025-10-26T21:53:18.646Z,1761515598.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.066586 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:18.808Z,1761515598.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266912
2025-10-26T21:53:18.000Z,1761515599.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124181,0.961778,0.244053],[-0.991613,0.111409,0.065515],[0.035821,-0.250142,0.967546]]
2025-10-26T21:53:19.016Z,1761515599.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:19.018Z,1761515599.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:19.021Z,1761515599.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 129.027496 m,
      bearing: 189.573853 deg,
      approach rate: -0.010931 m/s,
      LOS rate: -0.284072 deg/s,
      cmd heading: 175.702450 deg,
      new cmd heading: 175.382432 deg.

2025-10-26T21:53:19.022Z,1761515599.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.061001 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:19.060Z,1761515599.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519067
2025-10-26T21:53:19.312Z,1761515599.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770996
2025-10-26T21:53:19.402Z,1761515599.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100008,0.964836,0.243084],[-0.994370,0.088321,0.058539],[0.035011,-0.247570,0.968237]]
2025-10-26T21:53:19.428Z,1761515599.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:19.430Z,1761515599.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 129.017151 m,
      bearing: 189.457416 deg,
      approach rate: -0.025275 m/s,
      LOS rate: -0.284486 deg/s,
      cmd heading: 175.382428 deg,
      new cmd heading: 175.033095 deg.

2025-10-26T21:53:19.431Z,1761515599.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.054904 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:19.564Z,1761515599.564 [DAT](INFO): DAT read: Rx Time:21:53:18.2708

2025-10-26T21:53:19.565Z,1761515599.565 [DAT](INFO): Rx dataTimestamp_ set to:1761515599.564603
2025-10-26T21:53:19.565Z,1761515599.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024019
2025-10-26T21:53:19.810Z,1761515599.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075977,0.966592,0.244799],[-0.996530,0.065240,0.051689],[0.033991,-0.247876,0.968195]]
2025-10-26T21:53:19.816Z,1761515599.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275041
2025-10-26T21:53:19.867Z,1761515599.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:19.869Z,1761515599.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 129.002396 m,
      bearing: 189.337030 deg,
      approach rate: -0.033588 m/s,
      LOS rate: -0.274070 deg/s,
      cmd heading: 175.033091 deg,
      new cmd heading: 174.671897 deg.

2025-10-26T21:53:19.870Z,1761515599.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.048600 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:20.085Z,1761515600.085 [DAT](INFO): DAT read: 21:53:18.2708 LVL= 32752, 32753, 30354, 30147, AGC= 65, IDX= 426, 0.43,-2.189,-1.202,-0.230,-1.205, PHS=-0.882, 0.047, 0.931, RAW= 240.8,  -1.2, CAL= 237.1,  -1.8, ROT= 272.9,   1.8

2025-10-26T21:53:20.086Z,1761515600.086 [DAT](INFO): got valid direction response:
 21:53:18.2708 LVL= 32752, 32753, 30354, 30147, AGC= 65, IDX= 426, 0.43,-2.189,-1.202,-0.230,-1.205, PHS=-0.882, 0.047, 0.931, RAW= 240.8,  -1.2, CAL= 237.1,  -1.8, ROT= 272.9,   1.8

2025-10-26T21:53:20.087Z,1761515600.087 [DAT](INFO): DAT read: $Error in header

2025-10-26T21:53:20.087Z,1761515600.087 [DAT](INFO): Received a bad header
2025-10-26T21:53:20.100Z,1761515600.100 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:53:20.101Z,1761515600.101 [DAT](INFO): direction in FSK: [0.050568,-0.998227,-0.031411]
2025-10-26T21:53:20.122Z,1761515600.122 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:20.122Z,1761515600.122 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:20.122Z,1761515600.122 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:20.247Z,1761515600.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:20.250Z,1761515600.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 128.988846 m,
      bearing: 189.222192 deg,
      approach rate: -0.035604 m/s,
      LOS rate: -0.301779 deg/s,
      cmd heading: 174.671897 deg,
      new cmd heading: 174.327352 deg.

2025-10-26T21:53:20.251Z,1761515600.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.042586 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:20.321Z,1761515600.321 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:20.321Z,1761515600.321 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:20.321Z,1761515600.321 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:20.575Z,1761515600.575 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:20.575Z,1761515600.575 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:20.576Z,1761515600.576 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:20.618Z,1761515600.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027642,0.969177,0.244812],[-0.999109,0.018970,0.037709],[0.031902,-0.245636,0.968837]]
2025-10-26T21:53:20.663Z,1761515600.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:20.666Z,1761515600.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 128.965973 m,
      bearing: 189.101481 deg,
      approach rate: -0.055034 m/s,
      LOS rate: -0.290490 deg/s,
      cmd heading: 174.327355 deg,
      new cmd heading: 173.965161 deg.

2025-10-26T21:53:20.667Z,1761515600.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.036265 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:20.824Z,1761515600.824 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:20.824Z,1761515600.824 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:20.824Z,1761515600.824 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:21.018Z,1761515601.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003067,0.969420,0.245387],[-0.999515,-0.004634,0.030800],[0.030995,-0.245363,0.968936]]
2025-10-26T21:53:21.045Z,1761515601.045 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:21.047Z,1761515601.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:21.050Z,1761515601.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 128.939209 m,
      bearing: 188.990259 deg,
      approach rate: -0.069612 m/s,
      LOS rate: -0.289343 deg/s,
      cmd heading: 173.965164 deg,
      new cmd heading: 173.631434 deg.

2025-10-26T21:53:21.051Z,1761515601.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.030440 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:21.089Z,1761515601.089 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:21.089Z,1761515601.089 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:21.090Z,1761515601.090 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:21.340Z,1761515601.340 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:21.340Z,1761515601.340 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:21.340Z,1761515601.340 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:21.425Z,1761515601.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021359,0.969242,0.245180],[-0.999321,-0.028061,0.023875],[0.030020,-0.244504,0.969184]]
2025-10-26T21:53:21.476Z,1761515601.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:21.479Z,1761515601.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 128.905579 m,
      bearing: 188.874951 deg,
      approach rate: -0.078361 m/s,
      LOS rate: -0.268746 deg/s,
      cmd heading: 173.631427 deg,
      new cmd heading: 173.285416 deg.

2025-10-26T21:53:21.484Z,1761515601.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.024401 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:21.594Z,1761515601.594 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:21.594Z,1761515601.594 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:21.594Z,1761515601.594 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:21.844Z,1761515601.844 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:21.844Z,1761515601.844 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:21.844Z,1761515601.844 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:21.901Z,1761515601.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:21.904Z,1761515601.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 128.872665 m,
      bearing: 188.736778 deg,
      approach rate: -0.077559 m/s,
      LOS rate: -0.325684 deg/s,
      cmd heading: 173.285410 deg,
      new cmd heading: 172.870793 deg.

2025-10-26T21:53:21.905Z,1761515601.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.017164 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:22.096Z,1761515602.096 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:22.096Z,1761515602.096 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:22.096Z,1761515602.096 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:22.230Z,1761515602.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070973,0.966213,0.247779],[-0.997070,-0.075822,0.010073],[0.028520,-0.246338,0.968764]]
2025-10-26T21:53:22.265Z,1761515602.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:22.272Z,1761515602.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 128.836319 m,
      bearing: 188.632059 deg,
      approach rate: -0.099877 m/s,
      LOS rate: -0.287838 deg/s,
      cmd heading: 172.870790 deg,
      new cmd heading: 172.556550 deg.

2025-10-26T21:53:22.273Z,1761515602.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.011680 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:22.349Z,1761515602.349 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:22.349Z,1761515602.349 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:22.349Z,1761515602.349 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:22.602Z,1761515602.602 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:22.602Z,1761515602.602 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:22.603Z,1761515602.603 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:22.638Z,1761515602.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095456,0.963073,0.251749],[-0.995044,-0.099391,0.002931],[0.027844,-0.250222,0.967788]]
2025-10-26T21:53:22.680Z,1761515602.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:22.683Z,1761515602.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 128.790817 m,
      bearing: 188.503879 deg,
      approach rate: -0.109551 m/s,
      LOS rate: -0.308719 deg/s,
      cmd heading: 172.556547 deg,
      new cmd heading: 172.171876 deg.

2025-10-26T21:53:22.684Z,1761515602.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.004966 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:22.852Z,1761515602.852 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:22.852Z,1761515602.852 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:22.852Z,1761515602.852 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:23.041Z,1761515603.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119716,0.960505,0.251193],[-0.992430,-0.122758,-0.003583],[0.027395,-0.249720,0.967930]]
2025-10-26T21:53:23.057Z,1761515603.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:23.059Z,1761515603.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:23.062Z,1761515603.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 128.745270 m,
      bearing: 188.391813 deg,
      approach rate: -0.120160 m/s,
      LOS rate: -0.295749 deg/s,
      cmd heading: 172.171871 deg,
      new cmd heading: 171.835557 deg.

2025-10-26T21:53:23.063Z,1761515603.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.999096 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:23.105Z,1761515603.105 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:23.105Z,1761515603.105 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:23.105Z,1761515603.105 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:23.356Z,1761515603.356 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:23.356Z,1761515603.356 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:23.356Z,1761515603.356 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:23.455Z,1761515603.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144346,0.957494,0.249740],[-0.989151,-0.146580,-0.009732],[0.027288,-0.248435,0.968264]]
2025-10-26T21:53:23.496Z,1761515603.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:23.498Z,1761515603.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 128.686142 m,
      bearing: 188.262992 deg,
      approach rate: -0.135395 m/s,
      LOS rate: -0.295118 deg/s,
      cmd heading: 171.835552 deg,
      new cmd heading: 171.448919 deg.

2025-10-26T21:53:23.500Z,1761515603.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.992348 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:23.608Z,1761515603.608 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:23.609Z,1761515603.609 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:23.609Z,1761515603.609 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:23.853Z,1761515603.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168991,0.953067,0.251209],[-0.985236,-0.170437,-0.016153],[0.027420,-0.250230,0.967798]]
2025-10-26T21:53:23.860Z,1761515603.860 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:23.860Z,1761515603.860 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:23.860Z,1761515603.860 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:23.916Z,1761515603.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:23.918Z,1761515603.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 128.624557 m,
      bearing: 188.139273 deg,
      approach rate: -0.146790 m/s,
      LOS rate: -0.295032 deg/s,
      cmd heading: 171.448922 deg,
      new cmd heading: 171.077593 deg.

2025-10-26T21:53:23.923Z,1761515603.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.985867 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:24.112Z,1761515604.112 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:24.112Z,1761515604.112 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:24.112Z,1761515604.112 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:24.250Z,1761515604.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193320,0.948166,0.252206],[-0.980752,-0.193943,-0.022633],[0.027453,-0.251727,0.967409]]
2025-10-26T21:53:24.286Z,1761515604.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:24.288Z,1761515604.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 128.556854 m,
      bearing: 188.016485 deg,
      approach rate: -0.182846 m/s,
      LOS rate: -0.331790 deg/s,
      cmd heading: 171.077592 deg,
      new cmd heading: 170.709038 deg.

2025-10-26T21:53:24.289Z,1761515604.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.979435 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:24.365Z,1761515604.365 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:24.365Z,1761515604.365 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:24.365Z,1761515604.365 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:24.618Z,1761515604.618 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:24.619Z,1761515604.619 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:24.619Z,1761515604.619 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:24.678Z,1761515604.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217153,0.942791,0.252961],[-0.975746,-0.216987,-0.028912],[0.027631,-0.253104,0.967044]]
2025-10-26T21:53:24.835Z,1761515604.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:24.838Z,1761515604.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 128.470718 m,
      bearing: 187.851114 deg,
      approach rate: -0.156735 m/s,
      LOS rate: -0.301115 deg/s,
      cmd heading: 170.709035 deg,
      new cmd heading: 170.212603 deg.

2025-10-26T21:53:24.839Z,1761515604.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.970770 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:24.868Z,1761515604.868 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:24.868Z,1761515604.868 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:24.868Z,1761515604.868 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:25.121Z,1761515605.121 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:25.121Z,1761515605.121 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:25.121Z,1761515605.121 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:25.177Z,1761515605.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265613,0.931865,0.247138],[-0.963669,-0.264112,-0.039838],[0.028148,-0.248740,0.968161]]
2025-10-26T21:53:25.202Z,1761515605.202 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:25.204Z,1761515605.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:25.207Z,1761515605.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 128.399994 m,
      bearing: 187.739409 deg,
      approach rate: -0.191698 m/s,
      LOS rate: -0.302940 deg/s,
      cmd heading: 170.212603 deg,
      new cmd heading: 169.877309 deg.

2025-10-26T21:53:25.208Z,1761515605.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.964918 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:25.372Z,1761515605.372 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:25.372Z,1761515605.372 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:25.372Z,1761515605.372 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:25.626Z,1761515605.626 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:25.627Z,1761515605.627 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:25.627Z,1761515605.627 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:25.649Z,1761515605.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:25.652Z,1761515605.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 128.316132 m,
      bearing: 187.605816 deg,
      approach rate: -0.188618 m/s,
      LOS rate: -0.300666 deg/s,
      cmd heading: 169.877309 deg,
      new cmd heading: 169.476274 deg.

2025-10-26T21:53:25.653Z,1761515605.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.957919 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:25.876Z,1761515605.876 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:25.877Z,1761515605.877 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:25.877Z,1761515605.877 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:26.090Z,1761515606.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:26.092Z,1761515606.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 128.229431 m,
      bearing: 187.462111 deg,
      approach rate: -0.196682 m/s,
      LOS rate: -0.326217 deg/s,
      cmd heading: 169.476268 deg,
      new cmd heading: 169.044871 deg.

2025-10-26T21:53:26.093Z,1761515606.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.950390 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:26.129Z,1761515606.129 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:26.129Z,1761515606.129 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:26.129Z,1761515606.129 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:26.380Z,1761515606.380 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:53:26.380Z,1761515606.380 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:53:26.380Z,1761515606.380 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:53:26.453Z,1761515606.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336861,0.911962,0.234200],[-0.941120,-0.333682,-0.054314],[0.028616,-0.238706,0.970670]]
2025-10-26T21:53:26.482Z,1761515606.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:26.485Z,1761515606.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 128.131927 m,
      bearing: 187.336811 deg,
      approach rate: -0.248357 m/s,
      LOS rate: -0.319401 deg/s,
      cmd heading: 169.044873 deg,
      new cmd heading: 168.668693 deg.

2025-10-26T21:53:26.486Z,1761515606.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.943824 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:26.634Z,1761515606.634 [DAT](INFO): Reached modem response timeout
2025-10-26T21:53:26.635Z,1761515606.635 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:26.636Z,1761515606.636 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:53:26.838Z,1761515606.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360562,0.903122,0.233165],[-0.932294,-0.356639,-0.060304],[0.028694,-0.239122,0.970566]]
2025-10-26T21:53:26.884Z,1761515606.884 [DAT](INFO): DAT read: 

2025-10-26T21:53:26.885Z,1761515606.885 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:26.900Z,1761515606.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:26.903Z,1761515606.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 128.027771 m,
      bearing: 187.215949 deg,
      approach rate: -0.249084 m/s,
      LOS rate: -0.289271 deg/s,
      cmd heading: 168.668694 deg,
      new cmd heading: 168.305816 deg.

2025-10-26T21:53:26.912Z,1761515606.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.937491 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:27.137Z,1761515607.137 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:27.242Z,1761515607.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384186,0.893169,0.233775],[-0.922812,-0.379333,-0.067258],[0.028606,-0.241571,0.969962]]
2025-10-26T21:53:27.268Z,1761515607.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:27.270Z,1761515607.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:27.273Z,1761515607.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 127.916420 m,
      bearing: 187.095196 deg,
      approach rate: -0.301474 m/s,
      LOS rate: -0.327212 deg/s,
      cmd heading: 168.305820 deg,
      new cmd heading: 167.943252 deg.

2025-10-26T21:53:27.273Z,1761515607.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.931163 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:27.388Z,1761515607.388 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:27.642Z,1761515607.642 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:27.674Z,1761515607.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407409,0.882850,0.233652],[-0.912803,-0.401622,-0.074094],[0.028426,-0.243465,0.969493]]
2025-10-26T21:53:27.729Z,1761515607.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:27.733Z,1761515607.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 127.785324 m,
      bearing: 186.959318 deg,
      approach rate: -0.285605 m/s,
      LOS rate: -0.296326 deg/s,
      cmd heading: 167.943246 deg,
      new cmd heading: 167.535202 deg.

2025-10-26T21:53:27.734Z,1761515607.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.924041 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:27.892Z,1761515607.892 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:28.087Z,1761515608.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430448,0.872044,0.232925],[-0.902163,-0.423833,-0.080424],[0.028588,-0.244755,0.969164]]
2025-10-26T21:53:28.105Z,1761515608.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:28.128Z,1761515608.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 127.669067 m,
      bearing: 186.846028 deg,
      approach rate: -0.308666 m/s,
      LOS rate: -0.301065 deg/s,
      cmd heading: 167.535197 deg,
      new cmd heading: 167.195019 deg.

2025-10-26T21:53:28.129Z,1761515608.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.918103 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:28.144Z,1761515608.144 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:28.397Z,1761515608.397 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:28.495Z,1761515608.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453560,0.860837,0.230743],[-0.890766,-0.446186,-0.086340],[0.028630,-0.244698,0.969177]]
2025-10-26T21:53:28.513Z,1761515608.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:28.516Z,1761515608.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 127.538635 m,
      bearing: 186.726368 deg,
      approach rate: -0.319857 m/s,
      LOS rate: -0.293738 deg/s,
      cmd heading: 167.195012 deg,
      new cmd heading: 166.835673 deg.

2025-10-26T21:53:28.517Z,1761515608.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.911832 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:28.650Z,1761515608.650 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:28.894Z,1761515608.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476000,0.848440,0.231459],[-0.878977,-0.467559,-0.093743],[0.028686,-0.248069,0.968318]]
2025-10-26T21:53:28.901Z,1761515608.901 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:53:28.901Z,1761515608.901 [DAT](INFO): response not received
2025-10-26T21:53:28.901Z,1761515608.901 [DAT](INFO): DAT read: user:389>Tx time:21:53:28.1403

2025-10-26T21:53:28.902Z,1761515608.902 [DAT](ERROR): No response from remote modem.
2025-10-26T21:53:28.902Z,1761515608.902 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:28.902Z,1761515608.902 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:53:28.997Z,1761515608.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:29.004Z,1761515609.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 127.382248 m,
      bearing: 186.596074 deg,
      approach rate: -0.323018 m/s,
      LOS rate: -0.269454 deg/s,
      cmd heading: 166.835676 deg,
      new cmd heading: 166.444318 deg.

2025-10-26T21:53:29.005Z,1761515609.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.905001 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:29.152Z,1761515609.152 [DAT](INFO): DAT read: 

2025-10-26T21:53:29.153Z,1761515609.153 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:29.327Z,1761515609.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497776,0.836164,0.230321],[-0.866834,-0.488399,-0.100329],[0.028597,-0.249591,0.967929]]
2025-10-26T21:53:29.355Z,1761515609.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:29.357Z,1761515609.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:29.360Z,1761515609.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 127.256462 m,
      bearing: 186.496705 deg,
      approach rate: -0.349343 m/s,
      LOS rate: -0.276247 deg/s,
      cmd heading: 166.444320 deg,
      new cmd heading: 166.145923 deg.

2025-10-26T21:53:29.361Z,1761515609.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.899793 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:29.405Z,1761515609.405 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:29.660Z,1761515609.660 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:29.793Z,1761515609.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:29.795Z,1761515609.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 127.109306 m,
      bearing: 186.385005 deg,
      approach rate: -0.338082 m/s,
      LOS rate: -0.256922 deg/s,
      cmd heading: 166.145923 deg,
      new cmd heading: 165.810439 deg.

2025-10-26T21:53:29.796Z,1761515609.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.893938 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:29.908Z,1761515609.908 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:30.134Z,1761515610.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539624,0.810714,0.227043],[-0.841444,-0.528277,-0.113555],[0.027881,-0.252321,0.967242]]
2025-10-26T21:53:30.153Z,1761515610.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:30.156Z,1761515610.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 126.978142 m,
      bearing: 186.295291 deg,
      approach rate: -0.363716 m/s,
      LOS rate: -0.249031 deg/s,
      cmd heading: 165.810437 deg,
      new cmd heading: 165.541019 deg.

2025-10-26T21:53:30.157Z,1761515610.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.889236 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:30.160Z,1761515610.160 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:30.412Z,1761515610.412 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:30.538Z,1761515610.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560039,0.797889,0.223001],[-0.828004,-0.548064,-0.118473],[0.027691,-0.250995,0.967592]]
2025-10-26T21:53:30.562Z,1761515610.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:30.566Z,1761515610.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 126.823814 m,
      bearing: 186.194678 deg,
      approach rate: -0.377320 m/s,
      LOS rate: -0.246292 deg/s,
      cmd heading: 165.541014 deg,
      new cmd heading: 165.238809 deg.

2025-10-26T21:53:30.567Z,1761515610.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.883961 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:30.669Z,1761515610.669 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:30.916Z,1761515610.916 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:30.956Z,1761515610.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580224,0.784531,0.218749],[-0.814004,-0.567554,-0.123617],[0.027170,-0.249788,0.967919]]
2025-10-26T21:53:31.004Z,1761515611.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:31.006Z,1761515611.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 126.652191 m,
      bearing: 186.096122 deg,
      approach rate: -0.389143 m/s,
      LOS rate: -0.223771 deg/s,
      cmd heading: 165.238805 deg,
      new cmd heading: 164.942739 deg.

2025-10-26T21:53:31.007Z,1761515611.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.878794 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:31.168Z,1761515611.168 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:31.349Z,1761515611.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599448,0.770672,0.216165],[-0.799971,-0.585839,-0.129769],[0.026629,-0.250716,0.967694]]
2025-10-26T21:53:31.369Z,1761515611.369 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:31.371Z,1761515611.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:31.374Z,1761515611.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 126.505241 m,
      bearing: 186.015394 deg,
      approach rate: -0.399839 m/s,
      LOS rate: -0.219909 deg/s,
      cmd heading: 164.942744 deg,
      new cmd heading: 164.700281 deg.

2025-10-26T21:53:31.374Z,1761515611.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.874562 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:31.420Z,1761515611.420 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:31.675Z,1761515611.675 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:31.823Z,1761515611.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618809,0.756236,0.212560],[-0.785110,-0.604363,-0.135455],[0.026027,-0.250704,0.967714]]
2025-10-26T21:53:31.859Z,1761515611.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:31.881Z,1761515611.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 126.314583 m,
      bearing: 185.915903 deg,
      approach rate: -0.390583 m/s,
      LOS rate: -0.204125 deg/s,
      cmd heading: 164.700286 deg,
      new cmd heading: 164.401364 deg.

2025-10-26T21:53:31.882Z,1761515611.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.869345 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:31.924Z,1761515611.924 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:32.177Z,1761515612.177 [DAT](INFO): DAT read: Rx Time:21:53:30.7189

2025-10-26T21:53:32.178Z,1761515612.178 [DAT](INFO): Rx dataTimestamp_ set to:1761515612.177340
2025-10-26T21:53:32.178Z,1761515612.178 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:32.223Z,1761515612.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637008,0.741824,0.209566],[-0.770457,-0.621456,-0.142086],[0.024834,-0.251972,0.967416]]
2025-10-26T21:53:32.253Z,1761515612.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.79 m.
2025-10-26T21:53:32.257Z,1761515612.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.785599 m,
      nav range: 126.156799 m,
      bearing: 185.837004 deg,
      approach rate: -0.400191 m/s,
      LOS rate: -0.200362 deg/s,
      cmd heading: 164.401369 deg,
      new cmd heading: 164.164380 deg.

2025-10-26T21:53:32.257Z,1761515612.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.865209 target range: 130.785599 and range: 131.60 m.
2025-10-26T21:53:32.430Z,1761515612.430 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:32.672Z,1761515612.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655083,0.726923,0.206032],[-0.755186,-0.638491,-0.148400],[0.023674,-0.252807,0.967227]]
2025-10-26T21:53:32.686Z,1761515612.686 [DAT](INFO): DAT read: 21:53:30.7189 LVL= 32752, 32753, 25202, 32755, AGC= 64, IDX= 423, 0.20,-0.952,-1.557, 0.555,-0.565, PHS=-0.285,-0.947, 1.076, RAW= 191.3,   1.8, CAL= 191.5,  -1.1, ROT= 318.5,   1.1

2025-10-26T21:53:32.687Z,1761515612.687 [DAT](INFO): got valid direction response:
 21:53:30.7189 LVL= 32752, 32753, 25202, 32755, AGC= 64, IDX= 423, 0.20,-0.952,-1.557, 0.555,-0.565, PHS=-0.285,-0.947, 1.076, RAW= 191.3,   1.8, CAL= 191.5,  -1.1, ROT= 318.5,   1.1

2025-10-26T21:53:32.690Z,1761515612.690 [DAT](INFO): DAT read: Bearing   8.6, -38.2 (Local)

2025-10-26T21:53:32.691Z,1761515612.691 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.6, -38.2 (Local)

2025-10-26T21:53:32.697Z,1761515612.697 [DAT](INFO): DAT read: Range 11 to 50 : 130.8 m  (Round-trip  174.5 ms) speed  0.1 m/s

2025-10-26T21:53:32.705Z,1761515612.705 [DAT](INFO): DAT read: user:390>Tx time:21:53:31.7903

2025-10-26T21:53:32.708Z,1761515612.708 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:53:32.711Z,1761515612.711 [DAT](INFO): direction in FSK: [0.748818,-0.662498,-0.019197]
2025-10-26T21:53:32.736Z,1761515612.736 [DAT](INFO): publishing direction and range info
2025-10-26T21:53:32.758Z,1761515612.758 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:32.758Z,1761515612.758 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:53:32.802Z,1761515612.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 130.800003 m,
      deltaT: 16.391594 s,
      deltaX: -0.800003 m,
      approachRate: -0.048806 m/s,
      rangeRepo size: 4

2025-10-26T21:53:32.830Z,1761515612.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 129.989349 m,
      bearing: 188.142136 deg,
      lat: 36.779437 deg,
      lon: -121.859655 deg,
      deltaT: 16.391594 s,
      deltaX: -0.796249 m,
      approachRate: -0.048577 m/s,
      posRepo size: 4

2025-10-26T21:53:32.830Z,1761515612.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:32.840Z,1761515612.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 126.894547 m,
      bearing: 188.224773 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.200362 deg/s,
      cmd heading: 164.164375 deg,
      new cmd heading: 163.834865 deg.

2025-10-26T21:53:32.841Z,1761515612.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.859458 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:32.934Z,1761515612.934 [DAT](INFO): DAT read: 

2025-10-26T21:53:32.935Z,1761515612.935 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:33.177Z,1761515613.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690319,0.694938,0.201296],[-0.723190,-0.670983,-0.163641],[0.021346,-0.258540,0.965765]]
2025-10-26T21:53:33.184Z,1761515613.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:33.230Z,1761515613.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:33.237Z,1761515613.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 126.706131 m,
      bearing: 188.146731 deg,
      approach rate: -0.439415 m/s,
      LOS rate: -0.182277 deg/s,
      cmd heading: 163.834860 deg,
      new cmd heading: 163.600386 deg.

2025-10-26T21:53:33.240Z,1761515613.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.855366 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:33.437Z,1761515613.437 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:33.575Z,1761515613.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706367,0.680226,0.195800],[-0.707570,-0.686256,-0.168516],[0.019740,-0.257577,0.966056]]
2025-10-26T21:53:33.592Z,1761515613.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:33.594Z,1761515613.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:33.597Z,1761515613.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 126.537903 m,
      bearing: 188.079846 deg,
      approach rate: -0.462716 m/s,
      LOS rate: -0.184212 deg/s,
      cmd heading: 163.600393 deg,
      new cmd heading: 163.399473 deg.

2025-10-26T21:53:33.598Z,1761515613.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851859 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:33.689Z,1761515613.689 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:33.941Z,1761515613.941 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:33.979Z,1761515613.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722569,0.664943,0.189062],[-0.691054,-0.702057,-0.171931],[0.018408,-0.254884,0.966796]]
2025-10-26T21:53:34.023Z,1761515614.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:34.026Z,1761515614.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 126.342743 m,
      bearing: 188.005440 deg,
      approach rate: -0.454470 m/s,
      LOS rate: -0.173538 deg/s,
      cmd heading: 163.399476 deg,
      new cmd heading: 163.175914 deg.

2025-10-26T21:53:34.027Z,1761515614.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.847957 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:34.192Z,1761515614.192 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:34.385Z,1761515614.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739265,0.648551,0.181299],[-0.673197,-0.718594,-0.174439],[0.017148,-0.251007,0.967833]]
2025-10-26T21:53:34.403Z,1761515614.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:34.406Z,1761515614.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 126.166985 m,
      bearing: 187.941397 deg,
      approach rate: -0.462937 m/s,
      LOS rate: -0.168922 deg/s,
      cmd heading: 163.175910 deg,
      new cmd heading: 162.983513 deg.

2025-10-26T21:53:34.407Z,1761515614.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.844599 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:34.445Z,1761515614.445 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:34.697Z,1761515614.697 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:34.796Z,1761515614.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754993,0.631779,0.175614],[-0.655540,-0.733697,-0.178763],[0.015909,-0.250087,0.968093]]
2025-10-26T21:53:34.852Z,1761515614.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:34.855Z,1761515614.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 125.959892 m,
      bearing: 187.865014 deg,
      approach rate: -0.460959 m/s,
      LOS rate: -0.170297 deg/s,
      cmd heading: 162.983518 deg,
      new cmd heading: 162.753994 deg.

2025-10-26T21:53:34.860Z,1761515614.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.840593 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:34.948Z,1761515614.948 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:35.200Z,1761515615.200 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:35.230Z,1761515615.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:35.233Z,1761515615.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 125.767876 m,
      bearing: 187.793891 deg,
      approach rate: -0.507720 m/s,
      LOS rate: -0.188346 deg/s,
      cmd heading: 162.753996 deg,
      new cmd heading: 162.540303 deg.

2025-10-26T21:53:35.234Z,1761515615.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.836864 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:35.453Z,1761515615.453 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:35.592Z,1761515615.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785509,0.596453,0.164984],[-0.618693,-0.762899,-0.187629],[0.013954,-0.249459,0.968285]]
2025-10-26T21:53:35.608Z,1761515615.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:35.610Z,1761515615.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:35.613Z,1761515615.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 125.578384 m,
      bearing: 187.730048 deg,
      approach rate: -0.499117 m/s,
      LOS rate: -0.168416 deg/s,
      cmd heading: 162.540307 deg,
      new cmd heading: 162.348488 deg.

2025-10-26T21:53:35.614Z,1761515615.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.833516 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:35.709Z,1761515615.709 [DAT](INFO): DAT read: Rx Time:21:53:34.4060

2025-10-26T21:53:35.709Z,1761515615.709 [DAT](INFO): Rx dataTimestamp_ set to:1761515615.708828
2025-10-26T21:53:35.710Z,1761515615.710 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:35.956Z,1761515615.956 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:35.995Z,1761515615.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800784,0.577281,0.159660],[-0.598803,-0.777588,-0.191812],[0.013420,-0.249204,0.968358]]
2025-10-26T21:53:36.047Z,1761515616.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:36.054Z,1761515616.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 125.379135 m,
      bearing: 187.656000 deg,
      approach rate: -0.455833 m/s,
      LOS rate: -0.169671 deg/s,
      cmd heading: 162.348488 deg,
      new cmd heading: 162.125993 deg.

2025-10-26T21:53:36.055Z,1761515616.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.829632 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:36.223Z,1761515616.223 [DAT](INFO): DAT read: 21:53:34.4060 LVL= 28144, 27889, 22738, 21139, AGC= 68, IDX= 306, 0.16,-2.502, 3.047,-2.070, 2.645, PHS= 1.239, 0.447, 1.525, RAW= 164.8, -49.6, CAL= 165.9, -48.2, ROT= 344.1,  48.2

2025-10-26T21:53:36.224Z,1761515616.224 [DAT](INFO): got valid direction response:
 21:53:34.4060 LVL= 28144, 27889, 22738, 21139, AGC= 68, IDX= 306, 0.16,-2.502, 3.047,-2.070, 2.645, PHS= 1.239, 0.447, 1.525, RAW= 164.8, -49.6, CAL= 165.9, -48.2, ROT= 344.1,  48.2

2025-10-26T21:53:36.225Z,1761515616.225 [DAT](INFO): DAT read: Bearing 318.4,   1.6 (Local)

2025-10-26T21:53:36.225Z,1761515616.225 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.4,   1.6 (Local)

2025-10-26T21:53:36.226Z,1761515616.226 [DAT](INFO): DAT read: Range 11 to 50 : 158.7 m  (Round-trip  211.6 ms) speed  0.4 m/s

2025-10-26T21:53:36.228Z,1761515616.228 [DAT](INFO): DAT read: user:391>Tx time:21:53:35.4903

2025-10-26T21:53:36.228Z,1761515616.228 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:53:36.229Z,1761515616.229 [DAT](INFO): direction in FSK: [0.641032,-0.182603,-0.745476]
2025-10-26T21:53:36.229Z,1761515616.229 [DAT](INFO): publishing direction and range info
2025-10-26T21:53:36.233Z,1761515616.233 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:36.233Z,1761515616.233 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:53:36.434Z,1761515616.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816106,0.557295,0.152949],[-0.577755,-0.792783,-0.194149],[0.013057,-0.246813,0.968975]]
2025-10-26T21:53:36.460Z,1761515616.460 [DAT](INFO): DAT read: 

2025-10-26T21:53:36.461Z,1761515616.461 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:36.490Z,1761515616.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 158.699997 m,
 deltaT: 3.529178 s,
 deltaX: 27.899994 m,
 approachRate: 7.905522 m/s,
 rangeRepo size: 4
2025-10-26T21:53:36.491Z,1761515616.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:36.494Z,1761515616.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 125.160110 m,
      bearing: 187.578442 deg,
      approach rate: -0.494939 m/s,
      LOS rate: -0.175568 deg/s,
      cmd heading: 162.125987 deg,
      new cmd heading: 161.892907 deg.

2025-10-26T21:53:36.495Z,1761515616.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.825564 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:36.713Z,1761515616.713 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:36.824Z,1761515616.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830968,0.536694,0.146463],[-0.556179,-0.807383,-0.196971],[0.012539,-0.245136,0.969408]]
2025-10-26T21:53:36.868Z,1761515616.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:36.870Z,1761515616.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 124.973892 m,
      bearing: 187.507178 deg,
      approach rate: -0.492741 m/s,
      LOS rate: -0.188850 deg/s,
      cmd heading: 161.892900 deg,
      new cmd heading: 161.678789 deg.

2025-10-26T21:53:36.871Z,1761515616.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.821827 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:36.964Z,1761515616.964 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:37.210Z,1761515617.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845622,0.515106,0.139962],[-0.533641,-0.821860,-0.199432],[0.012300,-0.243334,0.969865]]
2025-10-26T21:53:37.216Z,1761515617.216 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:37.246Z,1761515617.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:37.249Z,1761515617.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 124.793503 m,
      bearing: 187.441535 deg,
      approach rate: -0.476700 m/s,
      LOS rate: -0.173720 deg/s,
      cmd heading: 161.678788 deg,
      new cmd heading: 161.481575 deg.

2025-10-26T21:53:37.250Z,1761515617.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.818385 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:37.469Z,1761515617.469 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:37.614Z,1761515617.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859911,0.492202,0.135242],[-0.510299,-0.835258,-0.204789],[0.012164,-0.245114,0.969418]]
2025-10-26T21:53:37.636Z,1761515617.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:37.638Z,1761515617.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:37.641Z,1761515617.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 124.586243 m,
      bearing: 187.370021 deg,
      approach rate: -0.528094 m/s,
      LOS rate: -0.182519 deg/s,
      cmd heading: 161.481573 deg,
      new cmd heading: 161.266675 deg.

2025-10-26T21:53:37.642Z,1761515617.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.814635 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:37.721Z,1761515617.721 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:37.973Z,1761515617.973 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:38.020Z,1761515618.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873485,0.468909,0.130951],[-0.486704,-0.847650,-0.211208],[0.011963,-0.248221,0.968629]]
2025-10-26T21:53:38.077Z,1761515618.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:38.084Z,1761515618.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 124.361809 m,
      bearing: 187.294708 deg,
      approach rate: -0.511580 m/s,
      LOS rate: -0.171978 deg/s,
      cmd heading: 161.266681 deg,
      new cmd heading: 161.040338 deg.

2025-10-26T21:53:38.085Z,1761515618.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.810684 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:38.224Z,1761515618.224 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:38.432Z,1761515618.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886856,0.444757,0.125208],[-0.461896,-0.860301,-0.215721],[0.011773,-0.249146,0.968394]]
2025-10-26T21:53:38.476Z,1761515618.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:38.485Z,1761515618.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:38.495Z,1761515618.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 124.135651 m,
      bearing: 187.222920 deg,
      approach rate: -0.554152 m/s,
      LOS rate: -0.176222 deg/s,
      cmd heading: 161.040342 deg,
      new cmd heading: 160.824587 deg.

2025-10-26T21:53:38.496Z,1761515618.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.806919 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:38.728Z,1761515618.728 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:38.942Z,1761515618.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:38.956Z,1761515618.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 123.906883 m,
      bearing: 187.144823 deg,
      approach rate: -0.500582 m/s,
      LOS rate: -0.171205 deg/s,
      cmd heading: 160.824590 deg,
      new cmd heading: 160.589868 deg.

2025-10-26T21:53:38.957Z,1761515618.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.802822 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:38.964Z,1761515618.964 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:53:38.980Z,1761515618.980 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:39.232Z,1761515619.232 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:39.234Z,1761515619.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911162,0.396154,0.113338],[-0.411898,-0.883118,-0.224595],[0.011117,-0.251326,0.967839]]
2025-10-26T21:53:39.252Z,1761515619.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:39.255Z,1761515619.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 123.726456 m,
      bearing: 187.089927 deg,
      approach rate: -0.581739 m/s,
      LOS rate: -0.177256 deg/s,
      cmd heading: 160.589864 deg,
      new cmd heading: 160.424936 deg.

2025-10-26T21:53:39.256Z,1761515619.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.799943 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:39.484Z,1761515619.484 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:39.635Z,1761515619.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921874,0.372170,0.107881],[-0.387341,-0.892828,-0.229839],[0.010780,-0.253669,0.967231]]
2025-10-26T21:53:39.651Z,1761515619.651 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:39.653Z,1761515619.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:39.656Z,1761515619.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 123.508598 m,
      bearing: 187.027258 deg,
      approach rate: -0.543436 m/s,
      LOS rate: -0.156601 deg/s,
      cmd heading: 160.424942 deg,
      new cmd heading: 160.236604 deg.

2025-10-26T21:53:39.657Z,1761515619.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.796656 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:39.737Z,1761515619.737 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:39.968Z,1761515619.968 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:53:39.988Z,1761515619.988 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:40.040Z,1761515620.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931834,0.348361,0.101634],[-0.362734,-0.902230,-0.233251],[0.010442,-0.254217,0.967091]]
2025-10-26T21:53:40.085Z,1761515620.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:40.088Z,1761515620.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 123.277435 m,
      bearing: 186.966623 deg,
      approach rate: -0.535355 m/s,
      LOS rate: -0.140688 deg/s,
      cmd heading: 160.236607 deg,
      new cmd heading: 160.054363 deg.

2025-10-26T21:53:40.089Z,1761515620.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.793476 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:40.241Z,1761515620.241 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:40.456Z,1761515620.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941022,0.324824,0.094696],[-0.338198,-0.911298,-0.234858],[0.010009,-0.253032,0.967406]]
2025-10-26T21:53:40.474Z,1761515620.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:40.477Z,1761515620.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 123.066269 m,
      bearing: 186.914333 deg,
      approach rate: -0.542331 m/s,
      LOS rate: -0.134527 deg/s,
      cmd heading: 160.054364 deg,
      new cmd heading: 159.897222 deg.

2025-10-26T21:53:40.478Z,1761515620.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.790733 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:40.492Z,1761515620.492 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:40.744Z,1761515620.744 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:40.880Z,1761515620.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949316,0.301755,0.087994],[-0.314175,-0.919528,-0.236139],[0.009656,-0.251816,0.967727]]
2025-10-26T21:53:40.951Z,1761515620.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:40.965Z,1761515620.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 122.830215 m,
      bearing: 186.865410 deg,
      approach rate: -0.495492 m/s,
      LOS rate: -0.102890 deg/s,
      cmd heading: 159.897228 deg,
      new cmd heading: 159.750177 deg.

2025-10-26T21:53:40.966Z,1761515620.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.788167 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:40.997Z,1761515620.997 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:41.248Z,1761515621.248 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:41.264Z,1761515621.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957052,0.278569,0.080312],[-0.289763,-0.928076,-0.233906],[0.009377,-0.247131,0.968937]]
2025-10-26T21:53:41.282Z,1761515621.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:41.285Z,1761515621.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 122.632767 m,
      bearing: 186.827081 deg,
      approach rate: -0.595719 m/s,
      LOS rate: -0.115827 deg/s,
      cmd heading: 159.750174 deg,
      new cmd heading: 159.635003 deg.

2025-10-26T21:53:41.286Z,1761515621.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.786156 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:41.500Z,1761515621.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:41.662Z,1761515621.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963934,0.255798,0.073482],[-0.265999,-0.935040,-0.234402],[0.008749,-0.245494,0.969359]]
2025-10-26T21:53:41.691Z,1761515621.691 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:41.693Z,1761515621.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:41.697Z,1761515621.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 122.408989 m,
      bearing: 186.786468 deg,
      approach rate: -0.544408 m/s,
      LOS rate: -0.098983 deg/s,
      cmd heading: 159.635004 deg,
      new cmd heading: 159.512943 deg.

2025-10-26T21:53:41.698Z,1761515621.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.784026 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:41.752Z,1761515621.752 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:42.004Z,1761515622.004 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:42.068Z,1761515622.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970034,0.233650,0.066642],[-0.242833,-0.941464,-0.233835],[0.008105,-0.243010,0.969990]]
2025-10-26T21:53:42.104Z,1761515622.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:42.106Z,1761515622.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 122.192230 m,
      bearing: 186.760142 deg,
      approach rate: -0.528511 m/s,
      LOS rate: -0.064304 deg/s,
      cmd heading: 159.512948 deg,
      new cmd heading: 159.433830 deg.

2025-10-26T21:53:42.107Z,1761515622.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.782645 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:42.256Z,1761515622.256 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:42.476Z,1761515622.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975416,0.211716,0.061152],[-0.220236,-0.946234,-0.236932],[0.007701,-0.244575,0.969600]]
2025-10-26T21:53:42.508Z,1761515622.508 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:42.530Z,1761515622.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:42.546Z,1761515622.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 121.982430 m,
      bearing: 186.737005 deg,
      approach rate: -0.492162 m/s,
      LOS rate: -0.054369 deg/s,
      cmd heading: 159.433827 deg,
      new cmd heading: 159.364297 deg.

2025-10-26T21:53:42.548Z,1761515622.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.781432 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:42.764Z,1761515622.764 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:42.908Z,1761515622.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980181,0.190187,0.055441],[-0.197973,-0.950533,-0.239362],[0.007175,-0.245594,0.969346]]
2025-10-26T21:53:42.970Z,1761515622.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:42.989Z,1761515622.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 121.723541 m,
      bearing: 186.721794 deg,
      approach rate: -0.588118 m/s,
      LOS rate: -0.034628 deg/s,
      cmd heading: 159.364296 deg,
      new cmd heading: 159.318567 deg.

2025-10-26T21:53:42.990Z,1761515622.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.780633 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:43.012Z,1761515623.012 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:43.264Z,1761515623.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:43.296Z,1761515623.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984317,0.169210,0.049878],[-0.176279,-0.954276,-0.241420],[0.006746,-0.246426,0.969138]]
2025-10-26T21:53:43.326Z,1761515623.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:43.329Z,1761515623.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 121.527451 m,
      bearing: 186.712299 deg,
      approach rate: -0.550781 m/s,
      LOS rate: -0.026712 deg/s,
      cmd heading: 159.318561 deg,
      new cmd heading: 159.290031 deg.

2025-10-26T21:53:43.330Z,1761515623.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.780135 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:43.516Z,1761515623.516 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:43.701Z,1761515623.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987984,0.148080,0.044265],[-0.154424,-0.957576,-0.243313],[0.006358,-0.247225,0.968937]]
2025-10-26T21:53:43.725Z,1761515623.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:43.729Z,1761515623.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:43.748Z,1761515623.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 121.308060 m,
      bearing: 186.703957 deg,
      approach rate: -0.544792 m/s,
      LOS rate: -0.020753 deg/s,
      cmd heading: 159.290025 deg,
      new cmd heading: 159.264952 deg.

2025-10-26T21:53:43.749Z,1761515623.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.779698 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:43.768Z,1761515623.768 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:44.020Z,1761515624.020 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:44.154Z,1761515624.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:44.173Z,1761515624.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 121.071251 m,
      bearing: 186.698070 deg,
      approach rate: -0.556854 m/s,
      LOS rate: -0.013871 deg/s,
      cmd heading: 159.264958 deg,
      new cmd heading: 159.247261 deg.

2025-10-26T21:53:44.174Z,1761515624.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.779389 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:44.273Z,1761515624.273 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:44.512Z,1761515624.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993836,0.105899,0.032802],[-0.110720,-0.963144,-0.245141],[0.005633,-0.247262,0.968932]]
2025-10-26T21:53:44.524Z,1761515624.524 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:44.537Z,1761515624.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:44.540Z,1761515624.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 120.863815 m,
      bearing: 186.697235 deg,
      approach rate: -0.541481 m/s,
      LOS rate: -0.002183 deg/s,
      cmd heading: 159.247268 deg,
      new cmd heading: 159.244759 deg.

2025-10-26T21:53:44.541Z,1761515624.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.779345 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:44.779Z,1761515624.779 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:44.946Z,1761515624.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995987,0.085263,0.027216],[-0.089354,-0.964678,-0.247815],[0.005125,-0.249252,0.968425]]
2025-10-26T21:53:44.986Z,1761515624.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:45.017Z,1761515625.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 120.617012 m,
      bearing: 186.698070 deg,
      approach rate: -0.549250 m/s,
      LOS rate: 0.001863 deg/s,
      cmd heading: 159.244754 deg,
      new cmd heading: 159.247265 deg.

2025-10-26T21:53:45.018Z,1761515625.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.779389 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:45.029Z,1761515625.029 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:45.280Z,1761515625.280 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:45.327Z,1761515625.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997706,0.064221,0.021427],[-0.067539,-0.966028,-0.249455],[0.004679,-0.250330,0.968149]]
2025-10-26T21:53:45.358Z,1761515625.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:45.365Z,1761515625.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 120.418251 m,
      bearing: 186.700821 deg,
      approach rate: -0.535248 m/s,
      LOS rate: 0.007419 deg/s,
      cmd heading: 159.247268 deg,
      new cmd heading: 159.255532 deg.

2025-10-26T21:53:45.366Z,1761515625.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.779533 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:45.532Z,1761515625.532 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:45.766Z,1761515625.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:45.768Z,1761515625.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:45.771Z,1761515625.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 120.194092 m,
      bearing: 186.703933 deg,
      approach rate: -0.545860 m/s,
      LOS rate: 0.007594 deg/s,
      cmd heading: 159.255532 deg,
      new cmd heading: 159.264888 deg.

2025-10-26T21:53:45.772Z,1761515625.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.779697 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:45.784Z,1761515625.784 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:46.036Z,1761515626.036 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:46.134Z,1761515626.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999754,0.020145,0.009262],[-0.021809,-0.968751,-0.247074],[0.003996,-0.247215,0.968952]]
2025-10-26T21:53:46.181Z,1761515626.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:46.184Z,1761515626.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 119.958366 m,
      bearing: 186.707253 deg,
      approach rate: -0.571629 m/s,
      LOS rate: 0.008065 deg/s,
      cmd heading: 159.264889 deg,
      new cmd heading: 159.274867 deg.

2025-10-26T21:53:46.184Z,1761515626.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.779871 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:46.288Z,1761515626.288 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:46.544Z,1761515626.544 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:46.549Z,1761515626.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999989,-0.003641,0.003071],[0.002781,-0.969780,-0.243965],[0.003867,-0.243954,0.969779]]
2025-10-26T21:53:46.567Z,1761515626.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:46.570Z,1761515626.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 119.737991 m,
      bearing: 186.712927 deg,
      approach rate: -0.570605 m/s,
      LOS rate: 0.014718 deg/s,
      cmd heading: 159.274861 deg,
      new cmd heading: 159.291914 deg.

2025-10-26T21:53:46.571Z,1761515626.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.780168 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:46.797Z,1761515626.797 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:46.971Z,1761515626.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999607,-0.027874,-0.003075],[0.027786,-0.969648,-0.242920],[0.003790,-0.242910,0.970042]]
2025-10-26T21:53:47.032Z,1761515627.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:47.034Z,1761515627.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 119.500618 m,
      bearing: 186.710348 deg,
      approach rate: -0.533926 m/s,
      LOS rate: -0.005811 deg/s,
      cmd heading: 159.291910 deg,
      new cmd heading: 159.284159 deg.

2025-10-26T21:53:47.040Z,1761515627.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.780033 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:47.048Z,1761515627.048 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:47.304Z,1761515627.304 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:47.361Z,1761515627.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998570,-0.052643,-0.009355],[0.053339,-0.968690,-0.242474],[0.003702,-0.242626,0.970113]]
2025-10-26T21:53:47.380Z,1761515627.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:47.382Z,1761515627.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 119.303574 m,
      bearing: 186.710616 deg,
      approach rate: -0.535308 m/s,
      LOS rate: 0.000728 deg/s,
      cmd heading: 159.284164 deg,
      new cmd heading: 159.284969 deg.

2025-10-26T21:53:47.384Z,1761515627.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.780047 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:47.552Z,1761515627.552 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:47.759Z,1761515627.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996811,-0.078084,-0.016481],[0.079743,-0.966460,-0.244123],[0.003134,-0.244658,0.969604]]
2025-10-26T21:53:47.775Z,1761515627.775 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:47.777Z,1761515627.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:47.781Z,1761515627.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 119.090935 m,
      bearing: 186.713647 deg,
      approach rate: -0.534536 m/s,
      LOS rate: 0.007634 deg/s,
      cmd heading: 159.284970 deg,
      new cmd heading: 159.294081 deg.

2025-10-26T21:53:47.782Z,1761515627.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.780206 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:47.804Z,1761515627.804 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:48.057Z,1761515628.057 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:48.162Z,1761515628.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994337,-0.103629,-0.023541],[0.106228,-0.963076,-0.247388],[0.002965,-0.248488,0.968630]]
2025-10-26T21:53:48.207Z,1761515628.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:48.210Z,1761515628.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 118.862091 m,
      bearing: 186.709000 deg,
      approach rate: -0.532941 m/s,
      LOS rate: -0.010843 deg/s,
      cmd heading: 159.294082 deg,
      new cmd heading: 159.280114 deg.

2025-10-26T21:53:48.211Z,1761515628.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.779963 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:48.308Z,1761515628.308 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:48.560Z,1761515628.560 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:48.568Z,1761515628.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991195,-0.128834,-0.030578],[0.132383,-0.959275,-0.249531],[0.002816,-0.251382,0.967884]]
2025-10-26T21:53:48.590Z,1761515628.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:48.605Z,1761515628.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 118.660088 m,
      bearing: 186.707515 deg,
      approach rate: -0.526958 m/s,
      LOS rate: -0.003881 deg/s,
      cmd heading: 159.280121 deg,
      new cmd heading: 159.275657 deg.

2025-10-26T21:53:48.606Z,1761515628.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.779885 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:48.813Z,1761515628.813 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:53:48.813Z,1761515628.813 [DAT](INFO): response not received
2025-10-26T21:53:48.814Z,1761515628.814 [DAT](INFO): DAT read: user:392>Tx time:21:53:47.9403

2025-10-26T21:53:48.814Z,1761515628.814 [DAT](ERROR): No response from remote modem.
2025-10-26T21:53:48.815Z,1761515628.815 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:48.815Z,1761515628.815 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:53:49.001Z,1761515629.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987171,-0.155164,-0.037654],[0.159644,-0.955133,-0.249469],[0.002743,-0.252279,0.967651]]
2025-10-26T21:53:49.052Z,1761515629.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:49.054Z,1761515629.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 118.411270 m,
      bearing: 186.698837 deg,
      approach rate: -0.539225 m/s,
      LOS rate: -0.018847 deg/s,
      cmd heading: 159.275654 deg,
      new cmd heading: 159.249564 deg.

2025-10-26T21:53:49.056Z,1761515629.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.779429 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:49.068Z,1761515629.068 [DAT](INFO): DAT read: 

2025-10-26T21:53:49.069Z,1761515629.069 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:49.320Z,1761515629.320 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:49.374Z,1761515629.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982567,-0.180382,-0.045000],[0.185895,-0.950163,-0.250268],[0.002386,-0.254271,0.967130]]
2025-10-26T21:53:49.399Z,1761515629.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:49.402Z,1761515629.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 118.225365 m,
      bearing: 186.694776 deg,
      approach rate: -0.535217 m/s,
      LOS rate: -0.011709 deg/s,
      cmd heading: 159.249562 deg,
      new cmd heading: 159.237361 deg.

2025-10-26T21:53:49.403Z,1761515629.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.779216 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:49.572Z,1761515629.572 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:49.778Z,1761515629.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977202,-0.205874,-0.051892],[0.212304,-0.945211,-0.247998],[0.002007,-0.253361,0.967370]]
2025-10-26T21:53:49.818Z,1761515629.818 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:49.824Z,1761515629.824 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:49.825Z,1761515629.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:49.832Z,1761515629.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 118.008705 m,
      bearing: 186.692841 deg,
      approach rate: -0.507937 m/s,
      LOS rate: -0.004545 deg/s,
      cmd heading: 159.237364 deg,
      new cmd heading: 159.231548 deg.

2025-10-26T21:53:49.833Z,1761515629.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.779115 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:50.077Z,1761515630.077 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:50.182Z,1761515630.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971246,-0.230844,-0.058241],[0.238073,-0.940110,-0.243956],[0.001562,-0.250807,0.968036]]
2025-10-26T21:53:50.226Z,1761515630.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:50.229Z,1761515630.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 117.786964 m,
      bearing: 186.690429 deg,
      approach rate: -0.554075 m/s,
      LOS rate: -0.006038 deg/s,
      cmd heading: 159.231544 deg,
      new cmd heading: 159.224296 deg.

2025-10-26T21:53:50.230Z,1761515630.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.778988 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:50.330Z,1761515630.330 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:50.580Z,1761515630.580 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:50.587Z,1761515630.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964827,-0.254764,-0.064832],[0.262883,-0.934359,-0.240554],[0.000708,-0.249136,0.968468]]
2025-10-26T21:53:50.606Z,1761515630.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:50.608Z,1761515630.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 117.587334 m,
      bearing: 186.690702 deg,
      approach rate: -0.525558 m/s,
      LOS rate: 0.000719 deg/s,
      cmd heading: 159.224291 deg,
      new cmd heading: 159.225110 deg.

2025-10-26T21:53:50.609Z,1761515630.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.779002 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:50.832Z,1761515630.832 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:51.032Z,1761515631.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958066,-0.277513,-0.071391],[0.286548,-0.927984,-0.238191],[-0.000148,-0.248660,0.968591]]
2025-10-26T21:53:51.080Z,1761515631.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:51.083Z,1761515631.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 117.340195 m,
      bearing: 186.700723 deg,
      approach rate: -0.520441 m/s,
      LOS rate: 0.021147 deg/s,
      cmd heading: 159.225110 deg,
      new cmd heading: 159.255237 deg.

2025-10-26T21:53:51.084Z,1761515631.084 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:51.086Z,1761515631.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.779528 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:51.336Z,1761515631.336 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:51.394Z,1761515631.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951381,-0.298388,-0.076412],[0.308015,-0.922402,-0.233026],[-0.000950,-0.245232,0.969464]]
2025-10-26T21:53:51.467Z,1761515631.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:51.469Z,1761515631.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 117.141510 m,
      bearing: 186.710953 deg,
      approach rate: -0.514455 m/s,
      LOS rate: 0.026534 deg/s,
      cmd heading: 159.255232 deg,
      new cmd heading: 159.285974 deg.

2025-10-26T21:53:51.470Z,1761515631.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.780065 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:51.588Z,1761515631.588 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:51.803Z,1761515631.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945091,-0.316632,-0.080915],[0.326799,-0.917411,-0.227067],[-0.002335,-0.241042,0.970512]]
2025-10-26T21:53:51.820Z,1761515631.820 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:51.822Z,1761515631.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:51.825Z,1761515631.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 116.955856 m,
      bearing: 186.722297 deg,
      approach rate: -0.522388 m/s,
      LOS rate: 0.031970 deg/s,
      cmd heading: 159.285981 deg,
      new cmd heading: 159.320067 deg.

2025-10-26T21:53:51.826Z,1761515631.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.780660 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:51.844Z,1761515631.844 [DAT](INFO): DAT read: Rx Time:21:53:50.5462

2025-10-26T21:53:51.844Z,1761515631.844 [DAT](INFO): Rx dataTimestamp_ set to:1761515631.843791
2025-10-26T21:53:51.844Z,1761515631.844 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:52.092Z,1761515632.092 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:52.202Z,1761515632.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938734,-0.334002,-0.084983],[0.344625,-0.912300,-0.221229],[-0.003639,-0.236963,0.971512]]
2025-10-26T21:53:52.262Z,1761515632.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-10-26T21:53:52.269Z,1761515632.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.989349 m,
      nav range: 116.734856 m,
      bearing: 186.744516 deg,
      approach rate: -0.502343 m/s,
      LOS rate: 0.050601 deg/s,
      cmd heading: 159.320064 deg,
      new cmd heading: 159.386848 deg.

2025-10-26T21:53:52.270Z,1761515632.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.781825 target range: 129.989349 and range: 130.80 m.
2025-10-26T21:53:52.369Z,1761515632.369 [DAT](INFO): DAT read: 21:53:50.5462 LVL= 32336, 32753, 32754, 32755, AGC= 71, IDX= 303, 0.16, 2.945, 1.023, 2.357, 2.527, PHS= 0.521,-1.459,-0.213, RAW= 128.5,  13.2, CAL= 128.1,  14.4, ROT=  21.9, -14.4

2025-10-26T21:53:52.370Z,1761515632.370 [DAT](INFO): got valid direction response:
 21:53:50.5462 LVL= 32336, 32753, 32754, 32755, AGC= 71, IDX= 303, 0.16, 2.945, 1.023, 2.357, 2.527, PHS= 0.521,-1.459,-0.213, RAW= 128.5,  13.2, CAL= 128.1,  14.4, ROT=  21.9, -14.4

2025-10-26T21:53:52.371Z,1761515632.371 [DAT](INFO): DAT read: Bearing 332.0,  16.9 (Local)

2025-10-26T21:53:52.379Z,1761515632.379 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.0,  16.9 (Local)

2025-10-26T21:53:52.389Z,1761515632.389 [DAT](INFO): DAT read: Range 11 to 50 : 151.3 m  (Round-trip  201.8 ms) speed -0.3 m/s

2025-10-26T21:53:52.390Z,1761515632.390 [DAT](INFO): DAT read: user:393>Tx time:21:53:51.6403

2025-10-26T21:53:52.390Z,1761515632.390 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:53:52.391Z,1761515632.391 [DAT](INFO): direction in FSK: [0.898687,0.361270,0.248690]
2025-10-26T21:53:52.400Z,1761515632.400 [DAT](INFO): publishing direction and range info
2025-10-26T21:53:52.416Z,1761515632.416 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:52.417Z,1761515632.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:53:52.596Z,1761515632.596 [DAT](INFO): DAT read: 

2025-10-26T21:53:52.597Z,1761515632.597 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:52.668Z,1761515632.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 151.300003 m,
      deltaT: 19.666031 s,
      deltaX: 20.500000 m,
      approachRate: 1.042407 m/s,
      rangeRepo size: 4

2025-10-26T21:53:52.670Z,1761515632.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 150.366531 m,
      bearing: 184.346234 deg,
      lat: 36.779439 deg,
      lon: -121.859655 deg,
      deltaT: 19.666031 s,
      deltaX: 20.377182 m,
      approachRate: 1.036161 m/s,
      posRepo size: 4

2025-10-26T21:53:52.671Z,1761515632.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.37 m.
2025-10-26T21:53:52.674Z,1761515632.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.366531 m,
      nav range: 116.258980 m,
      bearing: 186.780781 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.050601 deg/s,
      cmd heading: 159.386849 deg,
      new cmd heading: 159.448392 deg.

2025-10-26T21:53:52.674Z,1761515632.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.782899 target range: 150.366531 and range: 151.30 m.
2025-10-26T21:53:52.848Z,1761515632.848 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:53.068Z,1761515633.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927125,-0.363310,-0.091899],[0.374711,-0.902391,-0.212796],[-0.005618,-0.231724,0.972765]]
2025-10-26T21:53:53.101Z,1761515633.101 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:53.125Z,1761515633.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.37 m.
2025-10-26T21:53:53.132Z,1761515633.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.366531 m,
      nav range: 116.024811 m,
      bearing: 186.822890 deg,
      approach rate: -0.512044 m/s,
      LOS rate: 0.092264 deg/s,
      cmd heading: 159.448389 deg,
      new cmd heading: 159.574972 deg.

2025-10-26T21:53:53.133Z,1761515633.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.785109 target range: 150.366531 and range: 151.30 m.
2025-10-26T21:53:53.353Z,1761515633.353 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:53.452Z,1761515633.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922965,-0.372907,-0.095272],[0.384828,-0.898371,-0.211746],[-0.006627,-0.232097,0.972670]]
2025-10-26T21:53:53.478Z,1761515633.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.37 m.
2025-10-26T21:53:53.481Z,1761515633.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.366531 m,
      nav range: 115.846634 m,
      bearing: 186.856150 deg,
      approach rate: -0.504799 m/s,
      LOS rate: 0.094376 deg/s,
      cmd heading: 159.574966 deg,
      new cmd heading: 159.674901 deg.

2025-10-26T21:53:53.482Z,1761515633.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.786853 target range: 150.366531 and range: 151.30 m.
2025-10-26T21:53:53.604Z,1761515633.604 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:53.854Z,1761515633.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919633,-0.380518,-0.097373],[0.392706,-0.895554,-0.209202],[-0.007598,-0.230628,0.973012]]
2025-10-26T21:53:53.856Z,1761515633.856 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:53.872Z,1761515633.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:53.874Z,1761515633.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.37 m.
2025-10-26T21:53:53.876Z,1761515633.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.366531 m,
      nav range: 115.652275 m,
      bearing: 186.893496 deg,
      approach rate: -0.490852 m/s,
      LOS rate: 0.094476 deg/s,
      cmd heading: 159.674906 deg,
      new cmd heading: 159.787132 deg.

2025-10-26T21:53:53.877Z,1761515633.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.788811 target range: 150.366531 and range: 151.30 m.
2025-10-26T21:53:54.108Z,1761515634.108 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:54.258Z,1761515634.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917248,-0.385925,-0.098584],[0.398230,-0.893695,-0.206691],[-0.008337,-0.228846,0.973427]]
2025-10-26T21:53:54.305Z,1761515634.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.37 m.
2025-10-26T21:53:54.308Z,1761515634.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.366531 m,
      nav range: 115.441475 m,
      bearing: 186.945776 deg,
      approach rate: -0.488831 m/s,
      LOS rate: 0.121453 deg/s,
      cmd heading: 159.787126 deg,
      new cmd heading: 159.944250 deg.

2025-10-26T21:53:54.309Z,1761515634.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.791554 target range: 150.366531 and range: 151.30 m.
2025-10-26T21:53:54.361Z,1761515634.361 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:54.612Z,1761515634.612 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:54.662Z,1761515634.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916147,-0.388785,-0.097575],[0.400741,-0.893823,-0.201212],[-0.008986,-0.223442,0.974676]]
2025-10-26T21:53:54.688Z,1761515634.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.37 m.
2025-10-26T21:53:54.690Z,1761515634.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.366531 m,
      nav range: 115.254784 m,
      bearing: 186.992575 deg,
      approach rate: -0.487814 m/s,
      LOS rate: 0.122481 deg/s,
      cmd heading: 159.944247 deg,
      new cmd heading: 160.084871 deg.

2025-10-26T21:53:54.707Z,1761515634.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.794008 target range: 150.366531 and range: 151.30 m.
2025-10-26T21:53:54.864Z,1761515634.864 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:55.100Z,1761515635.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915991,-0.389988,-0.094181],[0.401087,-0.895714,-0.191902],[-0.009519,-0.213555,0.976885]]
2025-10-26T21:53:55.116Z,1761515635.116 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:55.138Z,1761515635.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.37 m.
2025-10-26T21:53:55.161Z,1761515635.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.366531 m,
      nav range: 115.022469 m,
      bearing: 187.062767 deg,
      approach rate: -0.515274 m/s,
      LOS rate: 0.156000 deg/s,
      cmd heading: 160.084867 deg,
      new cmd heading: 160.295868 deg.

2025-10-26T21:53:55.162Z,1761515635.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.797691 target range: 150.366531 and range: 151.30 m.
2025-10-26T21:53:55.368Z,1761515635.368 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:55.472Z,1761515635.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916405,-0.390035,-0.089856],[0.400123,-0.898408,-0.181008],[-0.010127,-0.201830,0.979368]]
2025-10-26T21:53:55.490Z,1761515635.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.37 m.
2025-10-26T21:53:55.493Z,1761515635.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.366531 m,
      nav range: 114.840919 m,
      bearing: 187.117732 deg,
      approach rate: -0.515625 m/s,
      LOS rate: 0.156357 deg/s,
      cmd heading: 160.295865 deg,
      new cmd heading: 160.461022 deg.

2025-10-26T21:53:55.494Z,1761515635.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.800573 target range: 150.366531 and range: 151.30 m.
2025-10-26T21:53:55.622Z,1761515635.622 [DAT](INFO): DAT read: Rx Time:21:53:54.2878

2025-10-26T21:53:55.622Z,1761515635.622 [DAT](INFO): Rx dataTimestamp_ set to:1761515635.621720
2025-10-26T21:53:55.623Z,1761515635.623 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:55.872Z,1761515635.872 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:55.875Z,1761515635.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917117,-0.389350,-0.085460],[0.398483,-0.901090,-0.171023],[-0.010419,-0.190902,0.981554]]
2025-10-26T21:53:55.902Z,1761515635.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:55.906Z,1761515635.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.37 m.
2025-10-26T21:53:55.911Z,1761515635.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.366531 m,
      nav range: 114.630104 m,
      bearing: 187.181572 deg,
      approach rate: -0.507815 m/s,
      LOS rate: 0.154062 deg/s,
      cmd heading: 160.461019 deg,
      new cmd heading: 160.652892 deg.

2025-10-26T21:53:55.929Z,1761515635.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.803922 target range: 150.366531 and range: 151.30 m.
2025-10-26T21:53:56.130Z,1761515636.130 [DAT](INFO): DAT read: 21:53:54.2878 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 341, 0.20, 2.087, 0.698, 1.591, 0.590, PHS= 1.599, 0.152, 0.956, RAW= 123.7, -37.3, CAL= 125.6, -36.0, ROT=  24.4,  36.0

2025-10-26T21:53:56.131Z,1761515636.131 [DAT](INFO): got valid direction response:
 21:53:54.2878 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 341, 0.20, 2.087, 0.698, 1.591, 0.590, PHS= 1.599, 0.152, 0.956, RAW= 123.7, -37.3, CAL= 125.6, -36.0, ROT=  24.4,  36.0

2025-10-26T21:53:56.132Z,1761515636.132 [DAT](INFO): DAT read: Bearing 272.0,  26.3 (Local)

2025-10-26T21:53:56.132Z,1761515636.132 [DAT](INFO): Local bearing/azimuth received:
 Bearing 272.0,  26.3 (Local)

2025-10-26T21:53:56.134Z,1761515636.134 [DAT](INFO): DAT read: Range 11 to 50 : 182.5 m  (Round-trip  243.4 ms) speed  0.4 m/s

2025-10-26T21:53:56.135Z,1761515636.135 [DAT](INFO): DAT read: user:394>Tx time:21:53:55.3903

2025-10-26T21:53:56.135Z,1761515636.135 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:53:56.136Z,1761515636.136 [DAT](INFO): direction in FSK: [0.736759,0.334209,-0.587785]
2025-10-26T21:53:56.137Z,1761515636.137 [DAT](INFO): publishing direction and range info
2025-10-26T21:53:56.140Z,1761515636.140 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:56.140Z,1761515636.140 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:53:56.278Z,1761515636.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918391,-0.387185,-0.081522],[0.395526,-0.903987,-0.162381],[-0.010823,-0.181373,0.983355]]
2025-10-26T21:53:56.373Z,1761515636.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 182.500000 m,
 deltaT: 3.777865 s,
 deltaX: 31.199997 m,
 approachRate: 8.258632 m/s,
 rangeRepo size: 4
2025-10-26T21:53:56.373Z,1761515636.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.37 m.
2025-10-26T21:53:56.376Z,1761515636.376 [DAT](INFO): DAT read: 

2025-10-26T21:53:56.377Z,1761515636.377 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:56.380Z,1761515636.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.366531 m,
      nav range: 114.404823 m,
      bearing: 187.255601 deg,
      approach rate: -0.483138 m/s,
      LOS rate: 0.159075 deg/s,
      cmd heading: 160.652893 deg,
      new cmd heading: 160.875416 deg.

2025-10-26T21:53:56.381Z,1761515636.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.807806 target range: 150.366531 and range: 151.30 m.
2025-10-26T21:53:56.628Z,1761515636.628 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:56.682Z,1761515636.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920090,-0.384001,-0.077320],[0.391546,-0.907287,-0.153369],[-0.011258,-0.171388,0.985139]]
2025-10-26T21:53:56.720Z,1761515636.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.37 m.
2025-10-26T21:53:56.724Z,1761515636.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.366531 m,
      nav range: 114.223038 m,
      bearing: 187.315016 deg,
      approach rate: -0.522239 m/s,
      LOS rate: 0.170961 deg/s,
      cmd heading: 160.875421 deg,
      new cmd heading: 161.053949 deg.

2025-10-26T21:53:56.726Z,1761515636.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.810922 target range: 150.366531 and range: 151.30 m.
2025-10-26T21:53:56.880Z,1761515636.880 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:57.124Z,1761515637.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922159,-0.379794,-0.073349],[0.386635,-0.910738,-0.145153],[-0.011674,-0.162213,0.986687]]
2025-10-26T21:53:57.132Z,1761515637.132 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:57.182Z,1761515637.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.37 m.
2025-10-26T21:53:57.196Z,1761515637.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.366531 m,
      nav range: 113.996872 m,
      bearing: 187.382096 deg,
      approach rate: -0.489456 m/s,
      LOS rate: 0.145459 deg/s,
      cmd heading: 161.053948 deg,
      new cmd heading: 161.255587 deg.

2025-10-26T21:53:57.197Z,1761515637.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.814441 target range: 150.366531 and range: 151.30 m.
2025-10-26T21:53:57.384Z,1761515637.384 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:57.490Z,1761515637.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924337,-0.375214,-0.069398],[0.381377,-0.914344,-0.136110],[-0.012383,-0.152279,0.988260]]
2025-10-26T21:53:57.516Z,1761515637.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.37 m.
2025-10-26T21:53:57.518Z,1761515637.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.366531 m,
      nav range: 113.817451 m,
      bearing: 187.434781 deg,
      approach rate: -0.538276 m/s,
      LOS rate: 0.158308 deg/s,
      cmd heading: 161.255589 deg,
      new cmd heading: 161.413892 deg.

2025-10-26T21:53:57.519Z,1761515637.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.817204 target range: 150.366531 and range: 151.30 m.
2025-10-26T21:53:57.636Z,1761515637.636 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:57.888Z,1761515637.888 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:57.904Z,1761515637.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926252,-0.371188,-0.065403],[0.376679,-0.917671,-0.126464],[-0.013076,-0.141774,0.989813]]
2025-10-26T21:53:57.930Z,1761515637.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:53:57.949Z,1761515637.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.37 m.
2025-10-26T21:53:57.959Z,1761515637.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.366531 m,
      nav range: 113.606583 m,
      bearing: 187.496151 deg,
      approach rate: -0.486829 m/s,
      LOS rate: 0.141945 deg/s,
      cmd heading: 161.413899 deg,
      new cmd heading: 161.598348 deg.

2025-10-26T21:53:57.960Z,1761515637.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.820423 target range: 150.366531 and range: 151.30 m.
2025-10-26T21:53:58.140Z,1761515638.140 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:58.298Z,1761515638.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928083,-0.367054,-0.062713],[0.372109,-0.920514,-0.119119],[-0.014005,-0.133888,0.990898]]
2025-10-26T21:53:58.341Z,1761515638.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.37 m.
2025-10-26T21:53:58.344Z,1761515638.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.366531 m,
      nav range: 113.391640 m,
      bearing: 187.547726 deg,
      approach rate: -0.547342 m/s,
      LOS rate: 0.131583 deg/s,
      cmd heading: 161.598342 deg,
      new cmd heading: 161.753360 deg.

2025-10-26T21:53:58.345Z,1761515638.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.823129 target range: 150.366531 and range: 151.30 m.
2025-10-26T21:53:58.394Z,1761515638.394 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:58.644Z,1761515638.644 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:58.706Z,1761515638.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929580,-0.363546,-0.060951],[0.368321,-0.922698,-0.113875],[-0.014841,-0.128306,0.991624]]
2025-10-26T21:53:58.757Z,1761515638.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.37 m.
2025-10-26T21:53:58.760Z,1761515638.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.366531 m,
      nav range: 113.183952 m,
      bearing: 187.597183 deg,
      approach rate: -0.499805 m/s,
      LOS rate: 0.119239 deg/s,
      cmd heading: 161.753360 deg,
      new cmd heading: 161.902004 deg.

2025-10-26T21:53:58.761Z,1761515638.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.825723 target range: 150.366531 and range: 151.30 m.
2025-10-26T21:53:58.897Z,1761515638.897 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:59.149Z,1761515639.149 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:59.155Z,1761515639.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930926,-0.360184,-0.060375],[0.364865,-0.924421,-0.110990],[-0.015835,-0.125352,0.991986]]
2025-10-26T21:53:59.200Z,1761515639.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.37 m.
2025-10-26T21:53:59.203Z,1761515639.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.366531 m,
      nav range: 112.935989 m,
      bearing: 187.640324 deg,
      approach rate: -0.559068 m/s,
      LOS rate: 0.097481 deg/s,
      cmd heading: 161.901998 deg,
      new cmd heading: 162.031705 deg.

2025-10-26T21:53:59.205Z,1761515639.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.827987 target range: 150.366531 and range: 151.30 m.
2025-10-26T21:53:59.401Z,1761515639.401 [DAT](INFO): DAT read: Rx Time:21:53:58.0343

2025-10-26T21:53:59.402Z,1761515639.402 [DAT](INFO): Rx dataTimestamp_ set to:1761515639.401445
2025-10-26T21:53:59.403Z,1761515639.403 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:59.523Z,1761515639.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932010,-0.357359,-0.060427],[0.362038,-0.925733,-0.109297],[-0.016881,-0.123743,0.992171]]
2025-10-26T21:53:59.558Z,1761515639.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.37 m.
2025-10-26T21:53:59.565Z,1761515639.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.366531 m,
      nav range: 112.750549 m,
      bearing: 187.672379 deg,
      approach rate: -0.518322 m/s,
      LOS rate: 0.089744 deg/s,
      cmd heading: 162.031703 deg,
      new cmd heading: 162.128026 deg.

2025-10-26T21:53:59.566Z,1761515639.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.829668 target range: 150.366531 and range: 151.30 m.
2025-10-26T21:53:59.653Z,1761515639.653 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:53:59.918Z,1761515639.918 [DAT](INFO): DAT read: 21:53:58.0343 LVL= 30336, 29713, 32754, 27043, AGC= 71, IDX= 404,-0.08, 2.137, 0.813, 1.647, 0.750, PHS= 1.489, 0.108, 0.853, RAW= 122.6, -35.9, CAL= 124.3, -34.9, ROT=  25.7,  34.9

2025-10-26T21:53:59.924Z,1761515639.924 [DAT](INFO): got valid direction response:
 21:53:58.0343 LVL= 30336, 29713, 32754, 27043, AGC= 71, IDX= 404,-0.08, 2.137, 0.813, 1.647, 0.750, PHS= 1.489, 0.108, 0.853, RAW= 122.6, -35.9, CAL= 124.3, -34.9, ROT=  25.7,  34.9

2025-10-26T21:53:59.925Z,1761515639.925 [DAT](INFO): DAT read: Bearing 272.9,  24.0 (Local)

2025-10-26T21:53:59.925Z,1761515639.925 [DAT](INFO): Local bearing/azimuth received:
 Bearing 272.9,  24.0 (Local)

2025-10-26T21:53:59.927Z,1761515639.927 [DAT](INFO): DAT read: Range 11 to 50 : 179.9 m  (Round-trip  239.9 ms) speed  0.6 m/s

2025-10-26T21:53:59.928Z,1761515639.928 [DAT](INFO): DAT read: Tx time:21:53:59.0950

2025-10-26T21:53:59.928Z,1761515639.928 [DAT](INFO): Ping request sent.
2025-10-26T21:53:59.928Z,1761515639.928 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:53:59.929Z,1761515639.929 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:53:59.929Z,1761515639.929 [DAT](INFO): direction in FSK: [0.739020,0.355666,-0.572146]
2025-10-26T21:53:59.930Z,1761515639.930 [DAT](INFO): publishing transmit ping time
2025-10-26T21:53:59.930Z,1761515639.930 [DAT](INFO): publishing direction and range info
2025-10-26T21:53:59.957Z,1761515639.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932917,-0.354849,-0.061218],[0.359623,-0.926805,-0.108183],[-0.018349,-0.122941,0.992244]]
2025-10-26T21:53:59.979Z,1761515639.979 [DAT](INFO): publishing transmit ping time
2025-10-26T21:53:59.983Z,1761515639.983 [DAT](INFO): publishing direction and range info
2025-10-26T21:54:00.021Z,1761515640.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 179.899994 m,
      deltaT: 7.558700 s,
      deltaX: 28.599991 m,
      approachRate: 3.783718 m/s,
      rangeRepo size: 4

2025-10-26T21:54:00.023Z,1761515640.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 178.790771 m,
      bearing: 180.144474 deg,
      lat: 36.779223 deg,
      lon: -121.859613 deg,
      deltaT: 7.558700 s,
      deltaX: 28.424240 m,
      approachRate: 3.760467 m/s,
      posRepo size: 4

2025-10-26T21:54:00.024Z,1761515640.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.79 m.
2025-10-26T21:54:00.026Z,1761515640.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.790771 m,
      nav range: 135.985626 m,
      bearing: 184.786605 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.089744 deg/s,
      cmd heading: 162.128023 deg,
      new cmd heading: 162.251016 deg.

2025-10-26T21:54:00.031Z,1761515640.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831815 target range: 178.790771 and range: 179.90 m.
2025-10-26T21:54:00.372Z,1761515640.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933604,-0.352876,-0.062150],[0.357741,-0.927748,-0.106326],[-0.020139,-0.121500,0.992387]]
2025-10-26T21:54:00.453Z,1761515640.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.79 m.
2025-10-26T21:54:00.456Z,1761515640.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.790771 m,
      nav range: 135.739029 m,
      bearing: 184.803818 deg,
      approach rate: -0.562796 m/s,
      LOS rate: 0.039355 deg/s,
      cmd heading: 162.251021 deg,
      new cmd heading: 162.302752 deg.

2025-10-26T21:54:00.457Z,1761515640.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.832717 target range: 178.790771 and range: 179.90 m.
2025-10-26T21:54:00.774Z,1761515640.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934240,-0.350967,-0.063384],[0.355968,-0.928564,-0.105146],[-0.021953,-0.120794,0.992435]]
2025-10-26T21:54:00.796Z,1761515640.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:00.798Z,1761515640.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.79 m.
2025-10-26T21:54:00.817Z,1761515640.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.790771 m,
      nav range: 135.544098 m,
      bearing: 184.817298 deg,
      approach rate: -0.564661 m/s,
      LOS rate: 0.039103 deg/s,
      cmd heading: 162.302753 deg,
      new cmd heading: 162.343249 deg.

2025-10-26T21:54:00.818Z,1761515640.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.833424 target range: 178.790771 and range: 179.90 m.
2025-10-26T21:54:00.918Z,1761515640.918 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:00.921Z,1761515640.921 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:00.921Z,1761515640.921 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:54:01.171Z,1761515641.171 [DAT](INFO): DAT read: user:395>

2025-10-26T21:54:01.173Z,1761515641.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244451
2025-10-26T21:54:01.197Z,1761515641.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934563,-0.349848,-0.064798],[0.355015,-0.928989,-0.104612],[-0.023598,-0.120771,0.992400]]
2025-10-26T21:54:01.258Z,1761515641.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.79 m.
2025-10-26T21:54:01.261Z,1761515641.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.790771 m,
      nav range: 135.281387 m,
      bearing: 184.831625 deg,
      approach rate: -0.571391 m/s,
      LOS rate: 0.031223 deg/s,
      cmd heading: 162.343256 deg,
      new cmd heading: 162.386322 deg.

2025-10-26T21:54:01.262Z,1761515641.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.834176 target range: 178.790771 and range: 179.90 m.
2025-10-26T21:54:01.421Z,1761515641.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492974
2025-10-26T21:54:01.582Z,1761515641.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934960,-0.348412,-0.066773],[0.353839,-0.929384,-0.105083],[-0.025446,-0.121876,0.992219]]
2025-10-26T21:54:01.628Z,1761515641.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.79 m.
2025-10-26T21:54:01.630Z,1761515641.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.790771 m,
      nav range: 135.081100 m,
      bearing: 184.842482 deg,
      approach rate: -0.566847 m/s,
      LOS rate: 0.030773 deg/s,
      cmd heading: 162.386327 deg,
      new cmd heading: 162.418947 deg.

2025-10-26T21:54:01.631Z,1761515641.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.834745 target range: 178.790771 and range: 179.90 m.
2025-10-26T21:54:01.673Z,1761515641.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744991
2025-10-26T21:54:01.924Z,1761515641.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996036
2025-10-26T21:54:01.988Z,1761515641.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935365,-0.346887,-0.068999],[0.352623,-0.929738,-0.106042],[-0.027367,-0.123518,0.991965]]
2025-10-26T21:54:02.012Z,1761515642.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.79 m.
2025-10-26T21:54:02.014Z,1761515642.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.790771 m,
      nav range: 134.854813 m,
      bearing: 184.854669 deg,
      approach rate: -0.565635 m/s,
      LOS rate: 0.030512 deg/s,
      cmd heading: 162.418948 deg,
      new cmd heading: 162.455568 deg.

2025-10-26T21:54:02.015Z,1761515642.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.835385 target range: 178.790771 and range: 179.90 m.
2025-10-26T21:54:02.176Z,1761515642.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248207
2025-10-26T21:54:02.400Z,1761515642.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936644,-0.342869,-0.071680],[0.348950,-0.931166,-0.105657],[-0.030519,-0.123976,0.991816]]
2025-10-26T21:54:02.428Z,1761515642.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500207
2025-10-26T21:54:02.452Z,1761515642.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.79 m.
2025-10-26T21:54:02.455Z,1761515642.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.790771 m,
      nav range: 134.602280 m,
      bearing: 184.868388 deg,
      approach rate: -0.572854 m/s,
      LOS rate: 0.031179 deg/s,
      cmd heading: 162.455571 deg,
      new cmd heading: 162.496806 deg.

2025-10-26T21:54:02.476Z,1761515642.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.836104 target range: 178.790771 and range: 179.90 m.
2025-10-26T21:54:02.680Z,1761515642.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752141
2025-10-26T21:54:02.799Z,1761515642.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937435,-0.340479,-0.072722],[0.346688,-0.932064,-0.105187],[-0.031967,-0.123818,0.991790]]
2025-10-26T21:54:02.816Z,1761515642.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:02.818Z,1761515642.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.79 m.
2025-10-26T21:54:02.821Z,1761515642.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.790771 m,
      nav range: 134.392761 m,
      bearing: 184.879587 deg,
      approach rate: -0.573101 m/s,
      LOS rate: 0.030682 deg/s,
      cmd heading: 162.496812 deg,
      new cmd heading: 162.530463 deg.

2025-10-26T21:54:02.822Z,1761515642.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.836692 target range: 178.790771 and range: 179.90 m.
2025-10-26T21:54:02.932Z,1761515642.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004151
2025-10-26T21:54:03.187Z,1761515643.187 [DAT](INFO): DAT read: Rx Time:21:54:01.6937

2025-10-26T21:54:03.189Z,1761515643.189 [DAT](INFO): Rx dataTimestamp_ set to:1761515643.187779
2025-10-26T21:54:03.191Z,1761515643.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261876
2025-10-26T21:54:03.234Z,1761515643.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938325,-0.337838,-0.073571],[0.344134,-0.933123,-0.104184],[-0.033454,-0.123076,0.991833]]
2025-10-26T21:54:03.284Z,1761515643.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.79 m.
2025-10-26T21:54:03.287Z,1761515643.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.790771 m,
      nav range: 134.123032 m,
      bearing: 184.900828 deg,
      approach rate: -0.578639 m/s,
      LOS rate: 0.045657 deg/s,
      cmd heading: 162.530457 deg,
      new cmd heading: 162.594306 deg.

2025-10-26T21:54:03.288Z,1761515643.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.837806 target range: 178.790771 and range: 179.90 m.
2025-10-26T21:54:03.436Z,1761515643.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508083
2025-10-26T21:54:03.620Z,1761515643.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939367,-0.334783,-0.074225],[0.341159,-0.934269,-0.103691],[-0.034632,-0.122727,0.991836]]
2025-10-26T21:54:03.654Z,1761515643.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.79 m.
2025-10-26T21:54:03.656Z,1761515643.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.790771 m,
      nav range: 133.909241 m,
      bearing: 184.917423 deg,
      approach rate: -0.578415 m/s,
      LOS rate: 0.044971 deg/s,
      cmd heading: 162.594306 deg,
      new cmd heading: 162.644172 deg.

2025-10-26T21:54:03.657Z,1761515643.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838676 target range: 178.790771 and range: 179.90 m.
2025-10-26T21:54:03.697Z,1761515643.697 [DAT](INFO): DAT read: 21:54:01.6937 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 230,-0.06,-3.100, 1.328, 2.556, 2.752, PHS= 0.533,-1.379,-0.240, RAW= 126.3,  13.0, CAL= 126.2,  14.2, ROT=  23.8, -14.2

2025-10-26T21:54:03.699Z,1761515643.699 [DAT](INFO): got valid direction response:
 21:54:01.6937 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 230,-0.06,-3.100, 1.328, 2.556, 2.752, PHS= 0.533,-1.379,-0.240, RAW= 126.3,  13.0, CAL= 126.2,  14.2, ROT=  23.8, -14.2

2025-10-26T21:54:03.700Z,1761515643.700 [DAT](INFO): DAT read: Bearing 327.7,  19.7 (Local)

2025-10-26T21:54:03.701Z,1761515643.701 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.7,  19.7 (Local)

2025-10-26T21:54:03.703Z,1761515643.703 [DAT](INFO): DAT read: Range 11 to 50 : 145.9 m  (Round-trip  194.6 ms) speed  0.6 m/s

2025-10-26T21:54:03.705Z,1761515643.705 [DAT](INFO): DAT read: user:396>Tx time:21:54:02.7903

2025-10-26T21:54:03.706Z,1761515643.706 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:54:03.708Z,1761515643.708 [DAT](INFO): direction in FSK: [0.887003,0.391215,0.245307]
2025-10-26T21:54:03.708Z,1761515643.708 [DAT](INFO): publishing direction and range info
2025-10-26T21:54:03.742Z,1761515643.742 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:03.742Z,1761515643.742 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:03.742Z,1761515643.742 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:54:03.940Z,1761515643.940 [DAT](INFO): DAT read: 

2025-10-26T21:54:03.941Z,1761515643.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.012654
2025-10-26T21:54:04.014Z,1761515644.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940641,-0.331154,-0.074380],[0.337573,-0.935555,-0.103827],[-0.035203,-0.122773,0.991810]]
2025-10-26T21:54:04.050Z,1761515644.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 145.899994 m,
 deltaT: 3.783826 s,
 deltaX: -34.000000 m,
 approachRate: -8.985614 m/s,
 rangeRepo size: 4
2025-10-26T21:54:04.050Z,1761515644.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.79 m.
2025-10-26T21:54:04.053Z,1761515644.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.790771 m,
      nav range: 133.682419 m,
      bearing: 184.934707 deg,
      approach rate: -0.573327 m/s,
      LOS rate: 0.043763 deg/s,
      cmd heading: 162.644166 deg,
      new cmd heading: 162.696108 deg.

2025-10-26T21:54:04.054Z,1761515644.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839583 target range: 178.790771 and range: 179.90 m.
2025-10-26T21:54:04.196Z,1761515644.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.266847
2025-10-26T21:54:04.425Z,1761515644.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942020,-0.327221,-0.074328],[0.333648,-0.936987,-0.103609],[-0.035741,-0.122402,0.991837]]
2025-10-26T21:54:04.444Z,1761515644.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.516170
2025-10-26T21:54:04.464Z,1761515644.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.79 m.
2025-10-26T21:54:04.466Z,1761515644.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.790771 m,
      nav range: 133.434265 m,
      bearing: 184.962429 deg,
      approach rate: -0.599213 m/s,
      LOS rate: 0.067064 deg/s,
      cmd heading: 162.696103 deg,
      new cmd heading: 162.779423 deg.

2025-10-26T21:54:04.487Z,1761515644.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.841037 target range: 178.790771 and range: 179.90 m.
2025-10-26T21:54:04.697Z,1761515644.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.768771
2025-10-26T21:54:04.822Z,1761515644.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943323,-0.323397,-0.074534],[0.329895,-0.938237,-0.104309],[-0.036198,-0.122985,0.991748]]
2025-10-26T21:54:04.838Z,1761515644.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:04.840Z,1761515644.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.79 m.
2025-10-26T21:54:04.843Z,1761515644.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.790771 m,
      nav range: 133.210266 m,
      bearing: 184.987135 deg,
      approach rate: -0.594286 m/s,
      LOS rate: 0.065656 deg/s,
      cmd heading: 162.779418 deg,
      new cmd heading: 162.853659 deg.

2025-10-26T21:54:04.844Z,1761515644.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.842333 target range: 178.790771 and range: 179.90 m.
2025-10-26T21:54:04.949Z,1761515644.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.020699
2025-10-26T21:54:05.203Z,1761515645.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.274458
2025-10-26T21:54:05.242Z,1761515645.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944564,-0.319653,-0.074974],[0.326288,-0.939308,-0.106000],[-0.036540,-0.124587,0.991536]]
2025-10-26T21:54:05.289Z,1761515645.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.79 m.
2025-10-26T21:54:05.292Z,1761515645.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.790771 m,
      nav range: 132.932037 m,
      bearing: 185.032591 deg,
      approach rate: -0.620288 m/s,
      LOS rate: 0.101553 deg/s,
      cmd heading: 162.853662 deg,
      new cmd heading: 162.990316 deg.

2025-10-26T21:54:05.293Z,1761515645.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.844718 target range: 178.790771 and range: 179.90 m.
2025-10-26T21:54:05.452Z,1761515645.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.524092
2025-10-26T21:54:05.649Z,1761515645.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945932,-0.315583,-0.074964],[0.322269,-0.940602,-0.106819],[-0.036801,-0.125202,0.991449]]
2025-10-26T21:54:05.668Z,1761515645.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.79 m.
2025-10-26T21:54:05.670Z,1761515645.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.790771 m,
      nav range: 132.696381 m,
      bearing: 185.070755 deg,
      approach rate: -0.622480 m/s,
      LOS rate: 0.100987 deg/s,
      cmd heading: 162.990320 deg,
      new cmd heading: 163.105015 deg.

2025-10-26T21:54:05.671Z,1761515645.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.846720 target range: 178.790771 and range: 179.90 m.
2025-10-26T21:54:05.705Z,1761515645.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.776531
2025-10-26T21:54:05.957Z,1761515645.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.028517
2025-10-26T21:54:06.034Z,1761515646.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947025,-0.312149,-0.075543],[0.318991,-0.941529,-0.108483],[-0.037263,-0.126834,0.991224]]
2025-10-26T21:54:06.053Z,1761515646.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.79 m.
2025-10-26T21:54:06.055Z,1761515646.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.790771 m,
      nav range: 132.456726 m,
      bearing: 185.109306 deg,
      approach rate: -0.622332 m/s,
      LOS rate: 0.100290 deg/s,
      cmd heading: 163.105013 deg,
      new cmd heading: 163.220875 deg.

2025-10-26T21:54:06.072Z,1761515646.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.848742 target range: 178.790771 and range: 179.90 m.
2025-10-26T21:54:06.211Z,1761515646.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.282606
2025-10-26T21:54:06.460Z,1761515646.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.532132
2025-10-26T21:54:06.521Z,1761515646.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.79 m.
2025-10-26T21:54:06.524Z,1761515646.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.790771 m,
      nav range: 132.170364 m,
      bearing: 185.161006 deg,
      approach rate: -0.610888 m/s,
      LOS rate: 0.110529 deg/s,
      cmd heading: 163.220880 deg,
      new cmd heading: 163.376315 deg.

2025-10-26T21:54:06.525Z,1761515646.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851455 target range: 178.790771 and range: 179.90 m.
2025-10-26T21:54:06.713Z,1761515646.713 [DAT](INFO): DAT read: Rx Time:21:54:05.3897

2025-10-26T21:54:06.714Z,1761515646.714 [DAT](INFO): Rx dataTimestamp_ set to:1761515646.713329
2025-10-26T21:54:06.714Z,1761515646.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.785933
2025-10-26T21:54:06.842Z,1761515646.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949406,-0.304637,-0.076320],[0.311807,-0.943365,-0.113312],[-0.037479,-0.131376,0.990624]]
2025-10-26T21:54:06.859Z,1761515646.859 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:06.861Z,1761515646.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.79 m.
2025-10-26T21:54:06.881Z,1761515646.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.790771 m,
      nav range: 131.962204 m,
      bearing: 185.197935 deg,
      approach rate: -0.612029 m/s,
      LOS rate: 0.108748 deg/s,
      cmd heading: 163.376322 deg,
      new cmd heading: 163.487282 deg.

2025-10-26T21:54:06.888Z,1761515646.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.853391 target range: 178.790771 and range: 179.90 m.
2025-10-26T21:54:06.965Z,1761515646.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.037018
2025-10-26T21:54:07.253Z,1761515647.253 [DAT](INFO): DAT read: 21:54:05.3897 LVL= 27888, 30017, 32754, 32755, AGC= 71, IDX= 442, 0.42,-1.924, 3.054,-2.345, 2.867, PHS= 1.594, 0.233, 1.027, RAW= 125.5, -40.4, CAL= 127.9, -38.5, ROT=  22.1,  38.5

2025-10-26T21:54:07.265Z,1761515647.265 [DAT](INFO): got valid direction response:
 21:54:05.3897 LVL= 27888, 30017, 32754, 32755, AGC= 71, IDX= 442, 0.42,-1.924, 3.054,-2.345, 2.867, PHS= 1.594, 0.233, 1.027, RAW= 125.5, -40.4, CAL= 127.9, -38.5, ROT=  22.1,  38.5

2025-10-26T21:54:07.266Z,1761515647.266 [DAT](INFO): DAT read: Bearing 272.5,  20.4 (Local)

2025-10-26T21:54:07.267Z,1761515647.267 [DAT](INFO): Local bearing/azimuth received:
 Bearing 272.5,  20.4 (Local)

2025-10-26T21:54:07.281Z,1761515647.281 [DAT](INFO): DAT read: Range 11 to 50 : 146.4 m  (Round-trip  195.3 ms) speed  0.4 m/s

2025-10-26T21:54:07.282Z,1761515647.282 [DAT](INFO): DAT read: user:397>Tx time:21:54:06.4903

2025-10-26T21:54:07.282Z,1761515647.282 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:54:07.283Z,1761515647.283 [DAT](INFO): direction in FSK: [0.725109,0.294436,-0.622515]
2025-10-26T21:54:07.296Z,1761515647.296 [DAT](INFO): publishing direction and range info
2025-10-26T21:54:07.299Z,1761515647.299 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:07.299Z,1761515647.299 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:07.300Z,1761515647.300 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:54:07.424Z,1761515647.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 146.399994 m,
      deltaT: 7.312861 s,
      deltaX: -33.500000 m,
      approachRate: -4.580970 m/s,
      rangeRepo size: 4

2025-10-26T21:54:07.426Z,1761515647.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 145.493439 m,
      bearing: 178.520351 deg,
      lat: 36.779187 deg,
      lon: -121.859489 deg,
      deltaT: 7.312861 s,
      deltaX: -33.297333 m,
      approachRate: -4.553257 m/s,
      posRepo size: 4

2025-10-26T21:54:07.427Z,1761515647.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:07.434Z,1761515647.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 135.152161 m,
      bearing: 180.454947 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.108748 deg/s,
      cmd heading: 163.487285 deg,
      new cmd heading: 163.669336 deg.

2025-10-26T21:54:07.435Z,1761515647.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.856569 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:07.468Z,1761515647.468 [DAT](INFO): DAT read: 

2025-10-26T21:54:07.469Z,1761515647.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.540894
2025-10-26T21:54:07.721Z,1761515647.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.793073
2025-10-26T21:54:07.763Z,1761515647.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951568,-0.297805,-0.076360],[0.305103,-0.945307,-0.115352],[-0.037831,-0.133063,0.990385]]
2025-10-26T21:54:07.781Z,1761515647.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:07.785Z,1761515647.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 134.905777 m,
      bearing: 180.491039 deg,
      approach rate: -0.681359 m/s,
      LOS rate: 0.099993 deg/s,
      cmd heading: 163.669337 deg,
      new cmd heading: 163.777811 deg.

2025-10-26T21:54:07.786Z,1761515647.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.858462 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:07.972Z,1761515647.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.044086
2025-10-26T21:54:08.166Z,1761515648.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952583,-0.294550,-0.076332],[0.301895,-0.946242,-0.116131],[-0.038022,-0.133668,0.990296]]
2025-10-26T21:54:08.216Z,1761515648.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:08.235Z,1761515648.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.306492
2025-10-26T21:54:08.246Z,1761515648.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 134.642471 m,
      bearing: 180.529343 deg,
      approach rate: -0.607381 m/s,
      LOS rate: 0.088530 deg/s,
      cmd heading: 163.777814 deg,
      new cmd heading: 163.892950 deg.

2025-10-26T21:54:08.253Z,1761515648.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.860471 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:08.485Z,1761515648.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.557230
2025-10-26T21:54:08.622Z,1761515648.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:08.625Z,1761515648.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 134.390488 m,
      bearing: 180.566990 deg,
      approach rate: -0.618755 m/s,
      LOS rate: 0.092617 deg/s,
      cmd heading: 163.892944 deg,
      new cmd heading: 164.006097 deg.

2025-10-26T21:54:08.626Z,1761515648.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.862446 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:08.736Z,1761515648.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.808225
2025-10-26T21:54:08.974Z,1761515648.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954222,-0.289104,-0.076681],[0.296528,-0.947948,-0.116042],[-0.039141,-0.133468,0.990280]]
2025-10-26T21:54:08.988Z,1761515648.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.060038
2025-10-26T21:54:09.019Z,1761515649.019 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:09.021Z,1761515649.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:09.029Z,1761515649.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 134.154785 m,
      bearing: 180.601706 deg,
      approach rate: -0.589873 m/s,
      LOS rate: 0.087034 deg/s,
      cmd heading: 164.006093 deg,
      new cmd heading: 164.110425 deg.

2025-10-26T21:54:09.030Z,1761515649.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.864267 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:09.243Z,1761515649.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.314351
2025-10-26T21:54:09.381Z,1761515649.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954805,-0.287089,-0.076995],[0.294562,-0.948581,-0.115874],[-0.039770,-0.133317,0.990275]]
2025-10-26T21:54:09.436Z,1761515649.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:09.439Z,1761515649.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 133.907562 m,
      bearing: 180.631772 deg,
      approach rate: -0.595863 m/s,
      LOS rate: 0.072600 deg/s,
      cmd heading: 164.110431 deg,
      new cmd heading: 164.200795 deg.

2025-10-26T21:54:09.440Z,1761515649.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.865844 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:09.493Z,1761515649.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.564525
2025-10-26T21:54:09.744Z,1761515649.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.816083
2025-10-26T21:54:09.782Z,1761515649.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955426,-0.284905,-0.077396],[0.292443,-0.949247,-0.115788],[-0.040480,-0.133261,0.990254]]
2025-10-26T21:54:09.819Z,1761515649.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:09.822Z,1761515649.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 133.690582 m,
      bearing: 180.658033 deg,
      approach rate: -0.566894 m/s,
      LOS rate: 0.068722 deg/s,
      cmd heading: 164.200794 deg,
      new cmd heading: 164.279704 deg.

2025-10-26T21:54:09.823Z,1761515649.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.867222 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:09.996Z,1761515649.996 [DAT](INFO): Reached modem response timeout
2025-10-26T21:54:09.996Z,1761515649.996 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:09.997Z,1761515649.997 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:54:10.108Z,1761515650.108 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:54:10.186Z,1761515650.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955832,-0.283478,-0.077621],[0.290994,-0.949867,-0.114345],[-0.041315,-0.131882,0.990404]]
2025-10-26T21:54:10.222Z,1761515650.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:10.224Z,1761515650.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 133.451218 m,
      bearing: 180.686935 deg,
      approach rate: -0.594550 m/s,
      LOS rate: 0.071917 deg/s,
      cmd heading: 164.279710 deg,
      new cmd heading: 164.366571 deg.

2025-10-26T21:54:10.225Z,1761515650.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.868738 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:10.251Z,1761515650.251 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:10.501Z,1761515650.501 [DAT](INFO): DAT read: Rx Time:21:54:09.1288

2025-10-26T21:54:10.502Z,1761515650.502 [DAT](INFO): Rx dataTimestamp_ set to:1761515650.501462
2025-10-26T21:54:10.502Z,1761515650.502 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:10.590Z,1761515650.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956177,-0.282163,-0.078156],[0.289722,-0.950361,-0.113469],[-0.042260,-0.131140,0.990463]]
2025-10-26T21:54:10.635Z,1761515650.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:10.637Z,1761515650.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 133.207077 m,
      bearing: 180.711559 deg,
      approach rate: -0.591258 m/s,
      LOS rate: 0.059743 deg/s,
      cmd heading: 164.366576 deg,
      new cmd heading: 164.440583 deg.

2025-10-26T21:54:10.638Z,1761515650.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.870030 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:10.752Z,1761515650.752 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:10.994Z,1761515650.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956379,-0.281299,-0.078808],[0.288892,-0.950767,-0.112176],[-0.043373,-0.130049,0.990558]]
2025-10-26T21:54:11.010Z,1761515651.010 [DAT](INFO): DAT read: 21:54:09.1288 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 330, 0.28,-1.732,-3.054,-2.085, 3.111, PHS= 1.542, 0.163, 1.042, RAW= 129.0, -38.8, CAL= 131.0, -37.3, ROT=  19.0,  37.3

2025-10-26T21:54:11.012Z,1761515651.012 [DAT](INFO): got valid direction response:
 21:54:09.1288 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 330, 0.28,-1.732,-3.054,-2.085, 3.111, PHS= 1.542, 0.163, 1.042, RAW= 129.0, -38.8, CAL= 131.0, -37.3, ROT=  19.0,  37.3

2025-10-26T21:54:11.013Z,1761515651.013 [DAT](INFO): DAT read: Bearing 275.3,  17.6 (Local)

2025-10-26T21:54:11.013Z,1761515651.013 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.3,  17.6 (Local)

2025-10-26T21:54:11.015Z,1761515651.015 [DAT](INFO): DAT read: Range 11 to 50 : 175.7 m  (Round-trip  234.3 ms) speed  0.6 m/s

2025-10-26T21:54:11.016Z,1761515651.016 [DAT](INFO): DAT read: Tx time:21:54:10.1918

2025-10-26T21:54:11.016Z,1761515651.016 [DAT](INFO): Ping request sent.
2025-10-26T21:54:11.016Z,1761515651.016 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:54:11.017Z,1761515651.017 [DAT](INFO): DAT read: user:398>

2025-10-26T21:54:11.017Z,1761515651.017 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:54:11.018Z,1761515651.018 [DAT](INFO): direction in FSK: [0.752135,0.258981,-0.605988]
2025-10-26T21:54:11.018Z,1761515651.018 [DAT](INFO): publishing transmit ping time
2025-10-26T21:54:11.019Z,1761515651.019 [DAT](INFO): publishing direction and range info
2025-10-26T21:54:11.022Z,1761515651.022 [DAT](INFO): publishing transmit ping time
2025-10-26T21:54:11.022Z,1761515651.022 [DAT](INFO): publishing direction and range info
2025-10-26T21:54:11.108Z,1761515651.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 175.699997 m,
 deltaT: 3.786451 s,
 deltaX: 29.300003 m,
 approachRate: 7.738118 m/s,
 rangeRepo size: 4
2025-10-26T21:54:11.109Z,1761515651.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:11.112Z,1761515651.112 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:54:11.120Z,1761515651.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 132.986465 m,
      bearing: 180.733798 deg,
      approach rate: -0.482772 m/s,
      LOS rate: 0.048748 deg/s,
      cmd heading: 164.440588 deg,
      new cmd heading: 164.507417 deg.

2025-10-26T21:54:11.121Z,1761515651.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.871196 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:11.409Z,1761515651.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956481,-0.280648,-0.079884],[0.288353,-0.951016,-0.111448],[-0.044693,-0.129632,0.990554]]
2025-10-26T21:54:11.479Z,1761515651.479 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:11.481Z,1761515651.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:11.484Z,1761515651.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 132.710312 m,
      bearing: 180.754791 deg,
      approach rate: -0.709122 m/s,
      LOS rate: 0.054019 deg/s,
      cmd heading: 164.507415 deg,
      new cmd heading: 164.570524 deg.

2025-10-26T21:54:11.485Z,1761515651.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.872298 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:11.508Z,1761515651.508 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:11.508Z,1761515651.508 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:11.508Z,1761515651.508 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:54:11.760Z,1761515651.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743971
2025-10-26T21:54:11.802Z,1761515651.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956580,-0.279943,-0.081153],[0.287839,-0.951116,-0.111921],[-0.045854,-0.130421,0.990398]]
2025-10-26T21:54:11.836Z,1761515651.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:11.839Z,1761515651.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 132.510101 m,
      bearing: 180.770022 deg,
      approach rate: -0.563331 m/s,
      LOS rate: 0.042920 deg/s,
      cmd heading: 164.570526 deg,
      new cmd heading: 164.616287 deg.

2025-10-26T21:54:11.848Z,1761515651.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.873096 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:12.012Z,1761515652.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995974
2025-10-26T21:54:12.212Z,1761515652.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956594,-0.279605,-0.082158],[0.287626,-0.951202,-0.111742],[-0.046905,-0.130522,0.990335]]
2025-10-26T21:54:12.230Z,1761515652.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:12.233Z,1761515652.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 132.268936 m,
      bearing: 180.788407 deg,
      approach rate: -0.612796 m/s,
      LOS rate: 0.046800 deg/s,
      cmd heading: 164.616288 deg,
      new cmd heading: 164.671543 deg.

2025-10-26T21:54:12.234Z,1761515652.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.874061 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:12.268Z,1761515652.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250372
2025-10-26T21:54:12.516Z,1761515652.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499936
2025-10-26T21:54:12.674Z,1761515652.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:12.677Z,1761515652.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 132.008011 m,
      bearing: 180.802564 deg,
      approach rate: -0.587819 m/s,
      LOS rate: 0.031958 deg/s,
      cmd heading: 164.671544 deg,
      new cmd heading: 164.714102 deg.

2025-10-26T21:54:12.678Z,1761515652.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.874803 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:12.769Z,1761515652.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752272
2025-10-26T21:54:13.014Z,1761515653.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956522,-0.278949,-0.085169],[0.287516,-0.950885,-0.114682],[-0.048996,-0.134183,0.989745]]
2025-10-26T21:54:13.021Z,1761515653.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004135
2025-10-26T21:54:13.035Z,1761515653.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:13.053Z,1761515653.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 131.796112 m,
      bearing: 180.814108 deg,
      approach rate: -0.587238 m/s,
      LOS rate: 0.032044 deg/s,
      cmd heading: 164.714096 deg,
      new cmd heading: 164.748784 deg.

2025-10-26T21:54:13.054Z,1761515653.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.875409 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:13.274Z,1761515653.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257474
2025-10-26T21:54:13.422Z,1761515653.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956510,-0.278563,-0.086553],[0.287432,-0.950639,-0.116912],[-0.049713,-0.136706,0.989363]]
2025-10-26T21:54:13.458Z,1761515653.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:13.461Z,1761515653.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 131.550507 m,
      bearing: 180.825592 deg,
      approach rate: -0.579759 m/s,
      LOS rate: 0.027157 deg/s,
      cmd heading: 164.748780 deg,
      new cmd heading: 164.783293 deg.

2025-10-26T21:54:13.462Z,1761515653.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.876011 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:13.525Z,1761515653.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508507
2025-10-26T21:54:13.776Z,1761515653.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759991
2025-10-26T21:54:13.823Z,1761515653.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956361,-0.278659,-0.087879],[0.287802,-0.950303,-0.118718],[-0.050430,-0.138829,0.989031]]
2025-10-26T21:54:13.840Z,1761515653.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:13.842Z,1761515653.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:13.844Z,1761515653.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 131.328735 m,
      bearing: 180.836044 deg,
      approach rate: -0.578584 m/s,
      LOS rate: 0.027316 deg/s,
      cmd heading: 164.783300 deg,
      new cmd heading: 164.814711 deg.

2025-10-26T21:54:13.845Z,1761515653.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.876559 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:14.029Z,1761515654.029 [DAT](INFO): DAT read: Rx Time:21:54:12.7843

2025-10-26T21:54:14.029Z,1761515654.029 [DAT](INFO): Rx dataTimestamp_ set to:1761515654.029041
2025-10-26T21:54:14.030Z,1761515654.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013511
2025-10-26T21:54:14.231Z,1761515654.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956393,-0.278244,-0.088839],[0.287596,-0.950192,-0.120100],[-0.050997,-0.140412,0.988779]]
2025-10-26T21:54:14.250Z,1761515654.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:14.253Z,1761515654.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 131.091858 m,
      bearing: 180.847233 deg,
      approach rate: -0.579416 m/s,
      LOS rate: 0.027419 deg/s,
      cmd heading: 164.814705 deg,
      new cmd heading: 164.848333 deg.

2025-10-26T21:54:14.254Z,1761515654.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.877146 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:14.281Z,1761515654.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264282
2025-10-26T21:54:14.532Z,1761515654.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515954
2025-10-26T21:54:14.691Z,1761515654.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956187,-0.278804,-0.089304],[0.288204,-0.950042,-0.119829],[-0.051434,-0.140317,0.988770]]
2025-10-26T21:54:14.782Z,1761515654.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:14.790Z,1761515654.790 [DAT](INFO): DAT read: 21:54:12.7843 LVL= 30640, 32753, 32754, 32755, AGC= 73, IDX= 230,-0.23,-1.101,-3.032,-1.739,-1.558, PHS= 0.559,-1.428,-0.225, RAW= 127.0,  12.6, CAL= 126.8,  13.8, ROT=  23.2, -13.8

2025-10-26T21:54:14.792Z,1761515654.792 [DAT](INFO): got valid direction response:
 21:54:12.7843 LVL= 30640, 32753, 32754, 32755, AGC= 73, IDX= 230,-0.23,-1.101,-3.032,-1.739,-1.558, PHS= 0.559,-1.428,-0.225, RAW= 127.0,  12.6, CAL= 126.8,  13.8, ROT=  23.2, -13.8

2025-10-26T21:54:14.792Z,1761515654.792 [DAT](INFO): DAT read: $Error in header

2025-10-26T21:54:14.793Z,1761515654.793 [DAT](INFO): Received a bad header
2025-10-26T21:54:14.797Z,1761515654.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 130.793854 m,
      bearing: 180.856675 deg,
      approach rate: -0.560567 m/s,
      LOS rate: 0.017801 deg/s,
      cmd heading: 164.848337 deg,
      new cmd heading: 164.876726 deg.

2025-10-26T21:54:14.798Z,1761515654.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.877642 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:14.805Z,1761515654.805 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:54:14.808Z,1761515654.808 [DAT](INFO): direction in FSK: [0.892604,0.382571,0.238533]
2025-10-26T21:54:14.811Z,1761515654.811 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:14.811Z,1761515654.811 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:14.812Z,1761515654.812 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:15.037Z,1761515655.037 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:15.037Z,1761515655.037 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:15.038Z,1761515655.038 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:15.253Z,1761515655.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956373,-0.277716,-0.090690],[0.287453,-0.949947,-0.122357],[-0.052170,-0.143088,0.988334]]
2025-10-26T21:54:15.285Z,1761515655.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:15.288Z,1761515655.288 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:15.288Z,1761515655.288 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:15.289Z,1761515655.289 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:15.290Z,1761515655.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 130.510727 m,
      bearing: 180.865600 deg,
      approach rate: -0.562472 m/s,
      LOS rate: 0.017768 deg/s,
      cmd heading: 164.876723 deg,
      new cmd heading: 164.903555 deg.

2025-10-26T21:54:15.291Z,1761515655.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.878110 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:15.540Z,1761515655.540 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:15.540Z,1761515655.540 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:15.540Z,1761515655.540 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:15.726Z,1761515655.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956423,-0.277423,-0.091063],[0.287225,-0.949992,-0.122544],[-0.052512,-0.143359,0.988277]]
2025-10-26T21:54:15.775Z,1761515655.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:15.778Z,1761515655.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 130.202560 m,
      bearing: 180.881236 deg,
      approach rate: -0.629058 m/s,
      LOS rate: 0.031995 deg/s,
      cmd heading: 164.903552 deg,
      new cmd heading: 164.950573 deg.

2025-10-26T21:54:15.779Z,1761515655.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.878931 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:15.792Z,1761515655.792 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:15.792Z,1761515655.792 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:15.792Z,1761515655.792 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:16.044Z,1761515656.044 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:16.044Z,1761515656.044 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:16.044Z,1761515656.044 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:16.142Z,1761515656.142 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:16.145Z,1761515656.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:16.148Z,1761515656.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 129.976852 m,
      bearing: 180.892736 deg,
      approach rate: -0.611039 m/s,
      LOS rate: 0.031185 deg/s,
      cmd heading: 164.950571 deg,
      new cmd heading: 164.985129 deg.

2025-10-26T21:54:16.149Z,1761515656.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.879534 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:16.297Z,1761515656.297 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:16.297Z,1761515656.297 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:16.297Z,1761515656.297 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:16.510Z,1761515656.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957277,-0.274460,-0.091062],[0.284249,-0.950965,-0.121931],[-0.053131,-0.142606,0.988352]]
2025-10-26T21:54:16.548Z,1761515656.548 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:16.548Z,1761515656.548 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:16.548Z,1761515656.548 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:16.561Z,1761515656.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:16.592Z,1761515656.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 129.719055 m,
      bearing: 180.909374 deg,
      approach rate: -0.619429 m/s,
      LOS rate: 0.040058 deg/s,
      cmd heading: 164.985132 deg,
      new cmd heading: 165.035146 deg.

2025-10-26T21:54:16.593Z,1761515656.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.880407 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:16.800Z,1761515656.800 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:16.800Z,1761515656.800 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:16.800Z,1761515656.800 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:16.919Z,1761515656.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957713,-0.273239,-0.090149],[0.282809,-0.951627,-0.120102],[-0.052972,-0.140519,0.988660]]
2025-10-26T21:54:16.937Z,1761515656.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:16.940Z,1761515656.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 129.485413 m,
      bearing: 180.924348 deg,
      approach rate: -0.620901 m/s,
      LOS rate: 0.039866 deg/s,
      cmd heading: 165.035142 deg,
      new cmd heading: 165.080146 deg.

2025-10-26T21:54:16.941Z,1761515656.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.881192 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:17.053Z,1761515657.053 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:17.053Z,1761515657.053 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:17.053Z,1761515657.053 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:17.304Z,1761515657.304 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:17.304Z,1761515657.304 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:17.305Z,1761515657.305 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:17.322Z,1761515657.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958271,-0.271641,-0.089037],[0.280964,-0.952407,-0.118240],[-0.052681,-0.138322,0.988985]]
2025-10-26T21:54:17.430Z,1761515657.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:17.437Z,1761515657.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 129.194717 m,
      bearing: 180.942797 deg,
      approach rate: -0.590130 m/s,
      LOS rate: 0.037536 deg/s,
      cmd heading: 165.080140 deg,
      new cmd heading: 165.135610 deg.

2025-10-26T21:54:17.438Z,1761515657.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.882160 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:17.557Z,1761515657.557 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:17.557Z,1761515657.557 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:17.557Z,1761515657.557 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:17.761Z,1761515657.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958685,-0.270504,-0.088037],[0.279600,-0.953031,-0.116427],[-0.052408,-0.136232,0.989290]]
2025-10-26T21:54:17.808Z,1761515657.808 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:17.808Z,1761515657.808 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:17.808Z,1761515657.808 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:17.820Z,1761515657.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:17.822Z,1761515657.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 128.950317 m,
      bearing: 180.962560 deg,
      approach rate: -0.627239 m/s,
      LOS rate: 0.050817 deg/s,
      cmd heading: 165.135615 deg,
      new cmd heading: 165.195016 deg.

2025-10-26T21:54:17.827Z,1761515657.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.883197 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:18.062Z,1761515658.062 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:18.062Z,1761515658.062 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:18.062Z,1761515658.062 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:18.155Z,1761515658.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959031,-0.269358,-0.087788],[0.278404,-0.953433,-0.116000],[-0.052455,-0.135688,0.989362]]
2025-10-26T21:54:18.187Z,1761515658.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:18.192Z,1761515658.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:18.195Z,1761515658.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 128.717575 m,
      bearing: 180.981318 deg,
      approach rate: -0.625735 m/s,
      LOS rate: 0.050523 deg/s,
      cmd heading: 165.195010 deg,
      new cmd heading: 165.251386 deg.

2025-10-26T21:54:18.196Z,1761515658.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.884181 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:18.312Z,1761515658.312 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:18.312Z,1761515658.312 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:18.312Z,1761515658.312 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:18.558Z,1761515658.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959383,-0.268076,-0.087865],[0.277172,-0.953722,-0.116580],[-0.052547,-0.136199,0.989287]]
2025-10-26T21:54:18.564Z,1761515658.564 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:18.564Z,1761515658.564 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:18.564Z,1761515658.564 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:18.617Z,1761515658.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:18.623Z,1761515658.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 128.451797 m,
      bearing: 181.005649 deg,
      approach rate: -0.624940 m/s,
      LOS rate: 0.057328 deg/s,
      cmd heading: 165.251386 deg,
      new cmd heading: 165.324529 deg.

2025-10-26T21:54:18.624Z,1761515658.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.885457 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:18.816Z,1761515658.816 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:18.816Z,1761515658.816 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:18.817Z,1761515658.817 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:18.000Z,1761515659.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:19.003Z,1761515659.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 128.197327 m,
      bearing: 181.029040 deg,
      approach rate: -0.663746 m/s,
      LOS rate: 0.061134 deg/s,
      cmd heading: 165.324524 deg,
      new cmd heading: 165.394838 deg.

2025-10-26T21:54:19.004Z,1761515659.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.886684 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:19.068Z,1761515659.068 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:19.068Z,1761515659.068 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:19.069Z,1761515659.069 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:19.320Z,1761515659.320 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:19.320Z,1761515659.320 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:19.320Z,1761515659.320 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:19.373Z,1761515659.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959480,-0.267314,-0.089111],[0.276871,-0.953141,-0.121923],[-0.052344,-0.141655,0.988531]]
2025-10-26T21:54:19.455Z,1761515659.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:19.458Z,1761515659.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 127.911659 m,
      bearing: 181.055370 deg,
      approach rate: -0.628201 m/s,
      LOS rate: 0.058031 deg/s,
      cmd heading: 165.394834 deg,
      new cmd heading: 165.474001 deg.

2025-10-26T21:54:19.458Z,1761515659.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.888066 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:19.572Z,1761515659.572 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:19.572Z,1761515659.572 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:19.572Z,1761515659.572 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:19.770Z,1761515659.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959332,-0.267709,-0.089517],[0.277433,-0.952705,-0.124029],[-0.052079,-0.143820,0.988232]]
2025-10-26T21:54:19.824Z,1761515659.824 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:19.824Z,1761515659.824 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:19.824Z,1761515659.824 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:19.830Z,1761515659.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:19.832Z,1761515659.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 127.683296 m,
      bearing: 181.078836 deg,
      approach rate: -0.609095 m/s,
      LOS rate: 0.062700 deg/s,
      cmd heading: 165.473996 deg,
      new cmd heading: 165.544519 deg.

2025-10-26T21:54:19.833Z,1761515659.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.889297 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:20.080Z,1761515660.080 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:20.080Z,1761515660.080 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:20.080Z,1761515660.080 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:20.175Z,1761515660.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959176,-0.267823,-0.090846],[0.278038,-0.951780,-0.129650],[-0.051742,-0.149615,0.987390]]
2025-10-26T21:54:20.192Z,1761515660.192 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:20.194Z,1761515660.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:20.197Z,1761515660.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 127.459137 m,
      bearing: 181.102016 deg,
      approach rate: -0.615141 m/s,
      LOS rate: 0.063724 deg/s,
      cmd heading: 165.544524 deg,
      new cmd heading: 165.614187 deg.

2025-10-26T21:54:20.198Z,1761515660.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.890513 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:20.328Z,1761515660.328 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:20.328Z,1761515660.328 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:20.328Z,1761515660.328 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:20.578Z,1761515660.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959241,-0.266917,-0.092798],[0.277883,-0.950634,-0.138119],[-0.051351,-0.158276,0.986059]]
2025-10-26T21:54:20.580Z,1761515660.580 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:20.580Z,1761515660.580 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:20.580Z,1761515660.580 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:20.638Z,1761515660.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:20.641Z,1761515660.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 127.182335 m,
      bearing: 181.131494 deg,
      approach rate: -0.623868 m/s,
      LOS rate: 0.066582 deg/s,
      cmd heading: 165.614192 deg,
      new cmd heading: 165.702816 deg.

2025-10-26T21:54:20.642Z,1761515660.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.892060 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:20.832Z,1761515660.832 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:20.832Z,1761515660.832 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:20.832Z,1761515660.832 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:54:20.982Z,1761515660.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959312,-0.266210,-0.094085],[0.277734,-0.949694,-0.144724],[-0.050825,-0.164966,0.984989]]
2025-10-26T21:54:21.012Z,1761515661.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:21.015Z,1761515661.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 126.948349 m,
      bearing: 181.156507 deg,
      approach rate: -0.624824 m/s,
      LOS rate: 0.066917 deg/s,
      cmd heading: 165.702821 deg,
      new cmd heading: 165.777999 deg.

2025-10-26T21:54:21.016Z,1761515661.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.893372 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:21.085Z,1761515661.085 [DAT](INFO): Reached modem response timeout
2025-10-26T21:54:21.085Z,1761515661.085 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:21.085Z,1761515661.085 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:54:21.336Z,1761515661.336 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:21.398Z,1761515661.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959479,-0.265324,-0.094887],[0.277265,-0.949010,-0.150015],[-0.050247,-0.170245,0.984120]]
2025-10-26T21:54:21.503Z,1761515661.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:21.509Z,1761515661.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 126.680458 m,
      bearing: 181.185206 deg,
      approach rate: -0.546328 m/s,
      LOS rate: 0.058652 deg/s,
      cmd heading: 165.777994 deg,
      new cmd heading: 165.864274 deg.

2025-10-26T21:54:21.510Z,1761515661.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.894878 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:21.589Z,1761515661.589 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:21.790Z,1761515661.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959875,-0.263912,-0.094819],[0.275960,-0.949068,-0.152039],[-0.049865,-0.172104,0.983816]]
2025-10-26T21:54:21.840Z,1761515661.840 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:21.841Z,1761515661.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:21.844Z,1761515661.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 126.434326 m,
      bearing: 181.208362 deg,
      approach rate: -0.730845 m/s,
      LOS rate: 0.068892 deg/s,
      cmd heading: 165.864273 deg,
      new cmd heading: 165.933876 deg.

2025-10-26T21:54:21.845Z,1761515661.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.896092 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:22.094Z,1761515662.094 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:22.194Z,1761515662.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960353,-0.262239,-0.094617],[0.274312,-0.949414,-0.152857],[-0.049745,-0.172752,0.983708]]
2025-10-26T21:54:22.217Z,1761515662.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:22.219Z,1761515662.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:22.222Z,1761515662.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 126.199051 m,
      bearing: 181.230394 deg,
      approach rate: -0.619884 m/s,
      LOS rate: 0.058156 deg/s,
      cmd heading: 165.933872 deg,
      new cmd heading: 166.000092 deg.

2025-10-26T21:54:22.223Z,1761515662.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.897248 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:22.348Z,1761515662.348 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:22.600Z,1761515662.600 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:22.656Z,1761515662.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:22.658Z,1761515662.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 125.932320 m,
      bearing: 181.252479 deg,
      approach rate: -0.610969 m/s,
      LOS rate: 0.050695 deg/s,
      cmd heading: 166.000098 deg,
      new cmd heading: 166.066494 deg.

2025-10-26T21:54:22.659Z,1761515662.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.898407 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:22.853Z,1761515662.853 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:23.002Z,1761515663.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961737,-0.258265,-0.091436],[0.269500,-0.951856,-0.146082],[-0.049306,-0.165135,0.985038]]
2025-10-26T21:54:23.036Z,1761515663.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:23.039Z,1761515663.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 125.704437 m,
      bearing: 181.270849 deg,
      approach rate: -0.598047 m/s,
      LOS rate: 0.048296 deg/s,
      cmd heading: 166.066487 deg,
      new cmd heading: 166.121696 deg.

2025-10-26T21:54:23.047Z,1761515663.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.899371 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:23.105Z,1761515663.105 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:23.358Z,1761515663.358 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:54:23.358Z,1761515663.358 [DAT](INFO): response not received
2025-10-26T21:54:23.359Z,1761515663.359 [DAT](INFO): DAT read: user:400>

2025-10-26T21:54:23.361Z,1761515663.361 [DAT](INFO): DAT read: Tx time:21:54:22.6402

2025-10-26T21:54:23.362Z,1761515663.362 [DAT](INFO): Ping request sent.
2025-10-26T21:54:23.362Z,1761515663.362 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:54:23.362Z,1761515663.362 [DAT](INFO): publishing transmit ping time
2025-10-26T21:54:23.364Z,1761515663.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001745
2025-10-26T21:54:23.415Z,1761515663.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962484,-0.256227,-0.089292],[0.266821,-0.953547,-0.139838],[-0.049314,-0.158417,0.986140]]
2025-10-26T21:54:23.524Z,1761515663.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:23.526Z,1761515663.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 125.412117 m,
      bearing: 181.294087 deg,
      approach rate: -0.605217 m/s,
      LOS rate: 0.048223 deg/s,
      cmd heading: 166.121703 deg,
      new cmd heading: 166.191578 deg.

2025-10-26T21:54:23.531Z,1761515663.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.900590 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:23.609Z,1761515663.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247205
2025-10-26T21:54:23.836Z,1761515663.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963171,-0.254321,-0.087307],[0.264328,-0.955084,-0.133961],[-0.049316,-0.152106,0.987133]]
2025-10-26T21:54:23.862Z,1761515663.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499996
2025-10-26T21:54:23.899Z,1761515663.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:23.922Z,1761515663.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 125.170609 m,
      bearing: 181.310534 deg,
      approach rate: -0.636826 m/s,
      LOS rate: 0.043454 deg/s,
      cmd heading: 166.191575 deg,
      new cmd heading: 166.241014 deg.

2025-10-26T21:54:23.923Z,1761515663.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.901453 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:24.113Z,1761515664.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750952
2025-10-26T21:54:24.248Z,1761515664.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963905,-0.252300,-0.085040],[0.261646,-0.956751,-0.127160],[-0.049279,-0.144820,0.988230]]
2025-10-26T21:54:24.265Z,1761515664.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:24.267Z,1761515664.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:24.269Z,1761515664.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 124.943108 m,
      bearing: 181.325756 deg,
      approach rate: -0.618249 m/s,
      LOS rate: 0.041442 deg/s,
      cmd heading: 166.241012 deg,
      new cmd heading: 166.286762 deg.

2025-10-26T21:54:24.270Z,1761515664.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.902251 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:24.365Z,1761515664.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003150
2025-10-26T21:54:24.616Z,1761515664.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254700
2025-10-26T21:54:24.650Z,1761515664.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964408,-0.250963,-0.083278],[0.259808,-0.957928,-0.121961],[-0.049166,-0.139256,0.989035]]
2025-10-26T21:54:24.701Z,1761515664.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:24.707Z,1761515664.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 124.679535 m,
      bearing: 181.338666 deg,
      approach rate: -0.608949 m/s,
      LOS rate: 0.029889 deg/s,
      cmd heading: 166.286761 deg,
      new cmd heading: 166.325571 deg.

2025-10-26T21:54:24.708Z,1761515664.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.902929 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:24.870Z,1761515664.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508401
2025-10-26T21:54:25.054Z,1761515665.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964816,-0.249845,-0.081895],[0.258313,-0.958820,-0.118059],[-0.049026,-0.135060,0.989624]]
2025-10-26T21:54:25.073Z,1761515665.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:25.076Z,1761515665.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 124.451103 m,
      bearing: 181.349713 deg,
      approach rate: -0.611632 m/s,
      LOS rate: 0.029634 deg/s,
      cmd heading: 166.325570 deg,
      new cmd heading: 166.358773 deg.

2025-10-26T21:54:25.077Z,1761515665.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.903508 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:25.121Z,1761515665.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758877
2025-10-26T21:54:25.373Z,1761515665.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011339
2025-10-26T21:54:25.464Z,1761515665.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965173,-0.248749,-0.081028],[0.257000,-0.959439,-0.115878],[-0.048917,-0.132667,0.989953]]
2025-10-26T21:54:25.542Z,1761515665.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:25.548Z,1761515665.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 124.190964 m,
      bearing: 181.362166 deg,
      approach rate: -0.555189 m/s,
      LOS rate: 0.026631 deg/s,
      cmd heading: 166.358779 deg,
      new cmd heading: 166.396213 deg.

2025-10-26T21:54:25.549Z,1761515665.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.904162 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:25.625Z,1761515665.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263343
2025-10-26T21:54:25.877Z,1761515665.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515147
2025-10-26T21:54:25.893Z,1761515665.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965326,-0.248191,-0.080910],[0.256416,-0.959628,-0.115608],[-0.048950,-0.132346,0.989994]]
2025-10-26T21:54:25.950Z,1761515665.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:25.957Z,1761515665.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 123.918068 m,
      bearing: 181.373469 deg,
      approach rate: -0.667792 m/s,
      LOS rate: 0.027722 deg/s,
      cmd heading: 166.396208 deg,
      new cmd heading: 166.430194 deg.

2025-10-26T21:54:25.958Z,1761515665.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.904755 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:26.128Z,1761515666.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766672
2025-10-26T21:54:26.297Z,1761515666.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965459,-0.247691,-0.080855],[0.255988,-0.959556,-0.117147],[-0.048569,-0.133799,0.989818]]
2025-10-26T21:54:26.317Z,1761515666.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:26.319Z,1761515666.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:26.322Z,1761515666.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 123.686699 m,
      bearing: 181.383050 deg,
      approach rate: -0.627521 m/s,
      LOS rate: 0.026032 deg/s,
      cmd heading: 166.430195 deg,
      new cmd heading: 166.458989 deg.

2025-10-26T21:54:26.323Z,1761515666.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.905257 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:26.382Z,1761515666.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020234
2025-10-26T21:54:26.632Z,1761515666.632 [DAT](INFO): DAT read: Rx Time:21:54:25.2690

2025-10-26T21:54:26.633Z,1761515666.633 [DAT](INFO): Rx dataTimestamp_ set to:1761515666.632619
2025-10-26T21:54:26.633Z,1761515666.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271805
2025-10-26T21:54:26.719Z,1761515666.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965580,-0.247115,-0.081181],[0.255629,-0.959220,-0.120629],[-0.048062,-0.137229,0.989373]]
2025-10-26T21:54:26.767Z,1761515666.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:26.770Z,1761515666.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 123.410851 m,
      bearing: 181.394486 deg,
      approach rate: -0.615923 m/s,
      LOS rate: 0.025593 deg/s,
      cmd heading: 166.458991 deg,
      new cmd heading: 166.493377 deg.

2025-10-26T21:54:26.771Z,1761515666.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.905858 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:26.885Z,1761515666.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523046
2025-10-26T21:54:27.102Z,1761515667.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965638,-0.246861,-0.081264],[0.255524,-0.958891,-0.123433],[-0.047452,-0.139956,0.989020]]
2025-10-26T21:54:27.129Z,1761515667.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.49 m.
2025-10-26T21:54:27.132Z,1761515667.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.493439 m,
      nav range: 123.188042 m,
      bearing: 181.403760 deg,
      approach rate: -0.615134 m/s,
      LOS rate: 0.025649 deg/s,
      cmd heading: 166.493374 deg,
      new cmd heading: 166.521246 deg.

2025-10-26T21:54:27.133Z,1761515667.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.906344 target range: 145.493439 and range: 146.40 m.
2025-10-26T21:54:27.142Z,1761515667.142 [DAT](INFO): DAT read: 21:54:25.2690 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 295, 0.24, 2.881, 1.527, 2.500, 1.404, PHS= 1.579, 0.168, 1.051, RAW= 128.3, -38.7, CAL= 130.2, -37.2, ROT=  19.8,  37.2

2025-10-26T21:54:27.143Z,1761515667.143 [DAT](INFO): got valid direction response:
 21:54:25.2690 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 295, 0.24, 2.881, 1.527, 2.500, 1.404, PHS= 1.579, 0.168, 1.051, RAW= 128.3, -38.7, CAL= 130.2, -37.2, ROT=  19.8,  37.2

2025-10-26T21:54:27.144Z,1761515667.144 [DAT](INFO): DAT read: Bearing 279.7,  18.5 (Local)

2025-10-26T21:54:27.144Z,1761515667.144 [DAT](INFO): Local bearing/azimuth received:
 Bearing 279.7,  18.5 (Local)

2025-10-26T21:54:27.146Z,1761515667.146 [DAT](INFO): DAT read: Range 11 to 50 : 168.5 m  (Round-trip  224.7 ms) speed  0.3 m/s

2025-10-26T21:54:27.146Z,1761515667.146 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:54:27.148Z,1761515667.148 [DAT](INFO): direction in FSK: [0.749440,0.269815,-0.604599]
2025-10-26T21:54:27.148Z,1761515667.148 [DAT](INFO): publishing direction and range info
2025-10-26T21:54:27.151Z,1761515667.151 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:54:27.151Z,1761515667.151 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:54:27.152Z,1761515667.152 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:54:27.389Z,1761515667.389 [DAT](INFO): DAT read: user:401>

2025-10-26T21:54:27.390Z,1761515667.390 [DAT](INFO): DAT read: Tx time:21:54:26.5402

2025-10-26T21:54:27.391Z,1761515667.391 [DAT](INFO): Ping request sent.
2025-10-26T21:54:27.391Z,1761515667.391 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:54:27.391Z,1761515667.391 [DAT](INFO): publishing transmit ping time
2025-10-26T21:54:27.392Z,1761515667.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000855
2025-10-26T21:54:27.527Z,1761515667.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965725,-0.246466,-0.081420],[0.255315,-0.958505,-0.126813],[-0.046786,-0.143254,0.988579]]
2025-10-26T21:54:27.623Z,1761515667.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 168.500000 m,
      deltaT: 19.918486 s,
      deltaX: 22.100006 m,
      approachRate: 1.109522 m/s,
      rangeRepo size: 4

2025-10-26T21:54:27.625Z,1761515667.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 167.461700 m,
      bearing: 179.273620 deg,
      lat: 36.779186 deg,
      lon: -121.859446 deg,
      deltaT: 19.918486 s,
      deltaX: 21.968262 m,
      approachRate: 1.102908 m/s,
      posRepo size: 4

2025-10-26T21:54:27.626Z,1761515667.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:27.628Z,1761515667.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 122.970947 m,
      bearing: 179.641046 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.025649 deg/s,
      cmd heading: 166.521241 deg,
      new cmd heading: 166.559169 deg.

2025-10-26T21:54:27.629Z,1761515667.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.907006 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:27.648Z,1761515667.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.257607
2025-10-26T21:54:27.900Z,1761515667.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.509586
2025-10-26T21:54:27.923Z,1761515667.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965839,-0.246152,-0.081015],[0.254974,-0.958515,-0.127429],[-0.046288,-0.143733,0.988533]]
2025-10-26T21:54:27.957Z,1761515667.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:27.960Z,1761515667.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 122.756790 m,
      bearing: 179.650551 deg,
      approach rate: -0.638589 m/s,
      LOS rate: 0.028394 deg/s,
      cmd heading: 166.559163 deg,
      new cmd heading: 166.587729 deg.

2025-10-26T21:54:27.961Z,1761515667.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.907504 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:28.153Z,1761515668.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762128
2025-10-26T21:54:28.329Z,1761515668.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965946,-0.245867,-0.080613],[0.254634,-0.958602,-0.127449],[-0.045941,-0.143635,0.988564]]
2025-10-26T21:54:28.346Z,1761515668.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:28.365Z,1761515668.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:28.373Z,1761515668.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 122.513611 m,
      bearing: 179.661345 deg,
      approach rate: -0.623027 m/s,
      LOS rate: 0.027707 deg/s,
      cmd heading: 166.587726 deg,
      new cmd heading: 166.620170 deg.

2025-10-26T21:54:28.375Z,1761515668.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.908071 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:28.405Z,1761515668.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.013792
2025-10-26T21:54:28.657Z,1761515668.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265912
2025-10-26T21:54:28.740Z,1761515668.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966290,-0.244639,-0.080221],[0.253420,-0.958745,-0.128788],[-0.045405,-0.144777,0.988422]]
2025-10-26T21:54:28.800Z,1761515668.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:28.803Z,1761515668.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 122.223297 m,
      bearing: 179.681219 deg,
      approach rate: -0.641121 m/s,
      LOS rate: 0.043993 deg/s,
      cmd heading: 166.620170 deg,
      new cmd heading: 166.679933 deg.

2025-10-26T21:54:28.804Z,1761515668.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.909114 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:28.909Z,1761515668.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517743
2025-10-26T21:54:29.134Z,1761515669.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966605,-0.243580,-0.079640],[0.252340,-0.958870,-0.129973],[-0.044706,-0.145729,0.988314]]
2025-10-26T21:54:29.160Z,1761515669.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769655
2025-10-26T21:54:29.166Z,1761515669.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:29.169Z,1761515669.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 121.983849 m,
      bearing: 179.697554 deg,
      approach rate: -0.654235 m/s,
      LOS rate: 0.044720 deg/s,
      cmd heading: 166.679934 deg,
      new cmd heading: 166.729036 deg.

2025-10-26T21:54:29.170Z,1761515669.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.909971 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:29.413Z,1761515669.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022460
2025-10-26T21:54:29.568Z,1761515669.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967002,-0.242279,-0.078787],[0.250991,-0.959020,-0.131473],[-0.043706,-0.146910,0.988184]]
2025-10-26T21:54:29.643Z,1761515669.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:29.645Z,1761515669.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 121.688400 m,
      bearing: 179.718058 deg,
      approach rate: -0.620531 m/s,
      LOS rate: 0.043170 deg/s,
      cmd heading: 166.729029 deg,
      new cmd heading: 166.790692 deg.

2025-10-26T21:54:29.646Z,1761515669.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.911047 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:29.666Z,1761515669.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274912
2025-10-26T21:54:29.917Z,1761515669.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525921
2025-10-26T21:54:29.947Z,1761515669.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967399,-0.241038,-0.077714],[0.249658,-0.959190,-0.132761],[-0.042542,-0.147834,0.988097]]
2025-10-26T21:54:29.979Z,1761515669.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:29.986Z,1761515669.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 121.480377 m,
      bearing: 179.732418 deg,
      approach rate: -0.618667 m/s,
      LOS rate: 0.042778 deg/s,
      cmd heading: 166.790692 deg,
      new cmd heading: 166.833844 deg.

2025-10-26T21:54:29.987Z,1761515669.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.911800 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:30.168Z,1761515670.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777567
2025-10-26T21:54:30.359Z,1761515670.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967794,-0.239803,-0.076611],[0.248315,-0.959388,-0.133843],[-0.041404,-0.148557,0.988037]]
2025-10-26T21:54:30.401Z,1761515670.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:30.404Z,1761515670.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:30.406Z,1761515670.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 121.228340 m,
      bearing: 179.749713 deg,
      approach rate: -0.593670 m/s,
      LOS rate: 0.040825 deg/s,
      cmd heading: 166.833845 deg,
      new cmd heading: 166.885841 deg.

2025-10-26T21:54:30.407Z,1761515670.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.912707 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:30.423Z,1761515670.423 [DAT](INFO): DAT read: Rx Time:21:54:29.0760

2025-10-26T21:54:30.423Z,1761515670.423 [DAT](INFO): Rx dataTimestamp_ set to:1761515670.423070
2025-10-26T21:54:30.424Z,1761515670.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033259
2025-10-26T21:54:30.673Z,1761515670.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282159
2025-10-26T21:54:30.760Z,1761515670.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968189,-0.238496,-0.075691],[0.246936,-0.959563,-0.135134],[-0.040402,-0.149526,0.987932]]
2025-10-26T21:54:30.798Z,1761515670.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:30.801Z,1761515670.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 120.968758 m,
      bearing: 179.771873 deg,
      approach rate: -0.658316 m/s,
      LOS rate: 0.056320 deg/s,
      cmd heading: 166.885837 deg,
      new cmd heading: 166.952460 deg.

2025-10-26T21:54:30.802Z,1761515670.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.913870 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:30.926Z,1761515670.926 [DAT](INFO): DAT read: $Error in header

2025-10-26T21:54:30.926Z,1761515670.926 [DAT](INFO): Received a bad header
2025-10-26T21:54:30.940Z,1761515670.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.549422
2025-10-26T21:54:31.176Z,1761515671.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785707
2025-10-26T21:54:31.197Z,1761515671.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968422,-0.237793,-0.074924],[0.246145,-0.959693,-0.135655],[-0.039647,-0.149814,0.987919]]
2025-10-26T21:54:31.216Z,1761515671.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:31.224Z,1761515671.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 120.705063 m,
      bearing: 179.794379 deg,
      approach rate: -0.630856 m/s,
      LOS rate: 0.053959 deg/s,
      cmd heading: 166.952459 deg,
      new cmd heading: 167.020123 deg.

2025-10-26T21:54:31.225Z,1761515671.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.915051 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:31.428Z,1761515671.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037622
2025-10-26T21:54:31.628Z,1761515671.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969086,-0.235197,-0.074532],[0.243609,-0.959999,-0.138047],[-0.039083,-0.151936,0.987617]]
2025-10-26T21:54:31.677Z,1761515671.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:31.680Z,1761515671.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.289708
2025-10-26T21:54:31.681Z,1761515671.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 120.421227 m,
      bearing: 179.818064 deg,
      approach rate: -0.615756 m/s,
      LOS rate: 0.051505 deg/s,
      cmd heading: 167.020118 deg,
      new cmd heading: 167.091343 deg.

2025-10-26T21:54:31.682Z,1761515671.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.916294 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:31.932Z,1761515671.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.541581
2025-10-26T21:54:32.033Z,1761515672.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:32.054Z,1761515672.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 120.202393 m,
      bearing: 179.836403 deg,
      approach rate: -0.614310 m/s,
      LOS rate: 0.051575 deg/s,
      cmd heading: 167.091344 deg,
      new cmd heading: 167.146461 deg.

2025-10-26T21:54:32.055Z,1761515672.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.917256 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:32.184Z,1761515672.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.793611
2025-10-26T21:54:32.399Z,1761515672.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969670,-0.232642,-0.074951],[0.241233,-0.960267,-0.140333],[-0.039325,-0.154158,0.987263]]
2025-10-26T21:54:32.430Z,1761515672.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:32.432Z,1761515672.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:32.434Z,1761515672.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 119.959106 m,
      bearing: 179.856582 deg,
      approach rate: -0.610202 m/s,
      LOS rate: 0.050713 deg/s,
      cmd heading: 167.146463 deg,
      new cmd heading: 167.207121 deg.

2025-10-26T21:54:32.436Z,1761515672.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.045713
2025-10-26T21:54:32.437Z,1761515672.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.918315 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:32.688Z,1761515672.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.297572
2025-10-26T21:54:32.803Z,1761515672.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970098,-0.230870,-0.074890],[0.239394,-0.960996,-0.138481],[-0.039998,-0.152269,0.987529]]
2025-10-26T21:54:32.885Z,1761515672.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:32.892Z,1761515672.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 119.695816 m,
      bearing: 179.876945 deg,
      approach rate: -0.580586 m/s,
      LOS rate: 0.045002 deg/s,
      cmd heading: 167.207115 deg,
      new cmd heading: 167.268339 deg.

2025-10-26T21:54:32.893Z,1761515672.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.919383 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:32.940Z,1761515672.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.549699
2025-10-26T21:54:33.192Z,1761515673.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.801546
2025-10-26T21:54:33.237Z,1761515673.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971015,-0.227071,-0.074626],[0.235444,-0.962478,-0.134915],[-0.041191,-0.148575,0.988043]]
2025-10-26T21:54:33.255Z,1761515673.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:33.258Z,1761515673.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 119.435684 m,
      bearing: 179.896613 deg,
      approach rate: -0.702767 m/s,
      LOS rate: 0.053252 deg/s,
      cmd heading: 167.268341 deg,
      new cmd heading: 167.327475 deg.

2025-10-26T21:54:33.259Z,1761515673.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.920415 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:33.444Z,1761515673.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.053615
2025-10-26T21:54:33.662Z,1761515673.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971457,-0.225197,-0.074545],[0.233520,-0.963126,-0.133627],[-0.041704,-0.147220,0.988224]]
2025-10-26T21:54:33.697Z,1761515673.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306098
2025-10-26T21:54:33.715Z,1761515673.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:33.719Z,1761515673.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 119.142578 m,
      bearing: 179.913356 deg,
      approach rate: -0.637883 m/s,
      LOS rate: 0.036527 deg/s,
      cmd heading: 167.327477 deg,
      new cmd heading: 167.377830 deg.

2025-10-26T21:54:33.721Z,1761515673.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.921294 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:33.949Z,1761515673.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558160
2025-10-26T21:54:34.041Z,1761515674.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971838,-0.223581,-0.074453],[0.231868,-0.963641,-0.132787],[-0.042058,-0.146311,0.988344]]
2025-10-26T21:54:34.059Z,1761515674.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:34.062Z,1761515674.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 118.915649 m,
      bearing: 179.926181 deg,
      approach rate: -0.658536 m/s,
      LOS rate: 0.037288 deg/s,
      cmd heading: 167.377829 deg,
      new cmd heading: 167.416377 deg.

2025-10-26T21:54:34.063Z,1761515674.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.921967 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:34.201Z,1761515674.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.809818
2025-10-26T21:54:34.443Z,1761515674.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972253,-0.221878,-0.074119],[0.230043,-0.964360,-0.130729],[-0.042472,-0.144153,0.988644]]
2025-10-26T21:54:34.452Z,1761515674.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.061681
2025-10-26T21:54:34.466Z,1761515674.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:34.468Z,1761515674.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:34.470Z,1761515674.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 118.651810 m,
      bearing: 179.940896 deg,
      approach rate: -0.646183 m/s,
      LOS rate: 0.036120 deg/s,
      cmd heading: 167.416379 deg,
      new cmd heading: 167.460622 deg.

2025-10-26T21:54:34.471Z,1761515674.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.922739 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:34.705Z,1761515674.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314599
2025-10-26T21:54:34.854Z,1761515674.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972589,-0.220679,-0.073290],[0.228573,-0.965211,-0.126970],[-0.042721,-0.140242,0.989195]]
2025-10-26T21:54:34.929Z,1761515674.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:34.936Z,1761515674.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 118.380806 m,
      bearing: 179.949204 deg,
      approach rate: -0.587334 m/s,
      LOS rate: 0.018047 deg/s,
      cmd heading: 167.460625 deg,
      new cmd heading: 167.485606 deg.

2025-10-26T21:54:34.937Z,1761515674.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.923175 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:34.957Z,1761515674.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.565738
2025-10-26T21:54:35.208Z,1761515675.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.817518
2025-10-26T21:54:35.250Z,1761515675.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972878,-0.219384,-0.073349],[0.227245,-0.965676,-0.125815],[-0.043229,-0.139070,0.989339]]
2025-10-26T21:54:35.279Z,1761515675.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:35.282Z,1761515675.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 118.149521 m,
      bearing: 179.956163 deg,
      approach rate: -0.660818 m/s,
      LOS rate: 0.019922 deg/s,
      cmd heading: 167.485609 deg,
      new cmd heading: 167.506527 deg.

2025-10-26T21:54:35.283Z,1761515675.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.923540 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:35.460Z,1761515675.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.069558
2025-10-26T21:54:35.687Z,1761515675.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973121,-0.218154,-0.073789],[0.226120,-0.965840,-0.126584],[-0.043654,-0.139867,0.989208]]
2025-10-26T21:54:35.714Z,1761515675.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322891
2025-10-26T21:54:35.753Z,1761515675.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:35.755Z,1761515675.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 117.857529 m,
      bearing: 179.961139 deg,
      approach rate: -0.616491 m/s,
      LOS rate: 0.010532 deg/s,
      cmd heading: 167.506524 deg,
      new cmd heading: 167.521489 deg.

2025-10-26T21:54:35.756Z,1761515675.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.923802 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:35.965Z,1761515675.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.573802
2025-10-26T21:54:36.128Z,1761515676.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:36.130Z,1761515676.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 117.630882 m,
      bearing: 179.965019 deg,
      approach rate: -0.603954 m/s,
      LOS rate: 0.010358 deg/s,
      cmd heading: 167.521495 deg,
      new cmd heading: 167.533156 deg.

2025-10-26T21:54:36.132Z,1761515676.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.924005 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:36.217Z,1761515676.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.825883
2025-10-26T21:54:36.469Z,1761515676.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078016
2025-10-26T21:54:36.500Z,1761515676.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973361,-0.217109,-0.073698],[0.225033,-0.966202,-0.125754],[-0.043905,-0.138989,0.989320]]
2025-10-26T21:54:36.516Z,1761515676.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:36.518Z,1761515676.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:36.522Z,1761515676.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 117.379066 m,
      bearing: 179.969202 deg,
      approach rate: -0.645155 m/s,
      LOS rate: 0.010739 deg/s,
      cmd heading: 167.533161 deg,
      new cmd heading: 167.545736 deg.

2025-10-26T21:54:36.522Z,1761515676.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.924225 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:36.721Z,1761515676.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330199
2025-10-26T21:54:36.886Z,1761515676.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973389,-0.217038,-0.073547],[0.224896,-0.966368,-0.124717],[-0.044005,-0.137939,0.989463]]
2025-10-26T21:54:36.938Z,1761515676.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:36.941Z,1761515676.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 117.117081 m,
      bearing: 179.969882 deg,
      approach rate: -0.623332 m/s,
      LOS rate: 0.001623 deg/s,
      cmd heading: 167.545742 deg,
      new cmd heading: 167.547789 deg.

2025-10-26T21:54:36.942Z,1761515676.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.924261 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:36.973Z,1761515676.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582302
2025-10-26T21:54:37.229Z,1761515677.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.837141
2025-10-26T21:54:37.290Z,1761515677.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973306,-0.217433,-0.073474],[0.225249,-0.966369,-0.124071],[-0.044026,-0.137309,0.989549]]
2025-10-26T21:54:37.320Z,1761515677.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:37.323Z,1761515677.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 116.878624 m,
      bearing: 179.970542 deg,
      approach rate: -0.624910 m/s,
      LOS rate: 0.001733 deg/s,
      cmd heading: 167.547792 deg,
      new cmd heading: 167.549776 deg.

2025-10-26T21:54:37.324Z,1761515677.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.924295 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:37.476Z,1761515677.476 [DAT](INFO): Reached modem response timeout
2025-10-26T21:54:37.476Z,1761515677.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:37.477Z,1761515677.477 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:54:37.724Z,1761515677.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973419,-0.217038,-0.073148],[0.224768,-0.966609,-0.123075],[-0.043994,-0.136245,0.989698]]
2025-10-26T21:54:37.729Z,1761515677.729 [DAT](INFO): DAT read: 

2025-10-26T21:54:37.729Z,1761515677.729 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:37.783Z,1761515677.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:37.786Z,1761515677.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 116.589333 m,
      bearing: 179.972002 deg,
      approach rate: -0.624598 m/s,
      LOS rate: 0.003159 deg/s,
      cmd heading: 167.549772 deg,
      new cmd heading: 167.554162 deg.

2025-10-26T21:54:37.787Z,1761515677.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.924372 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:37.980Z,1761515677.980 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:38.099Z,1761515678.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973432,-0.216985,-0.073133],[0.224699,-0.966666,-0.122750],[-0.044061,-0.135922,0.989739]]
2025-10-26T21:54:38.117Z,1761515678.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:38.120Z,1761515678.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 116.380890 m,
      bearing: 179.973049 deg,
      approach rate: -0.624482 m/s,
      LOS rate: 0.003143 deg/s,
      cmd heading: 167.554157 deg,
      new cmd heading: 167.557304 deg.

2025-10-26T21:54:38.121Z,1761515678.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.924427 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:38.232Z,1761515678.232 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:38.484Z,1761515678.484 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:38.503Z,1761515678.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973607,-0.216031,-0.073621],[0.223911,-0.966584,-0.124820],[-0.044196,-0.138010,0.989444]]
2025-10-26T21:54:38.532Z,1761515678.532 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:38.534Z,1761515678.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:38.537Z,1761515678.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 116.120560 m,
      bearing: 179.974271 deg,
      approach rate: -0.623992 m/s,
      LOS rate: 0.002935 deg/s,
      cmd heading: 167.557299 deg,
      new cmd heading: 167.560973 deg.

2025-10-26T21:54:38.538Z,1761515678.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.924491 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:38.737Z,1761515678.737 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:38.911Z,1761515678.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973851,-0.214598,-0.074583],[0.222826,-0.966240,-0.129338],[-0.044309,-0.142575,0.988792]]
2025-10-26T21:54:38.948Z,1761515678.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:38.951Z,1761515678.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 115.858337 m,
      bearing: 179.978466 deg,
      approach rate: -0.633167 m/s,
      LOS rate: 0.010152 deg/s,
      cmd heading: 167.560974 deg,
      new cmd heading: 167.573587 deg.

2025-10-26T21:54:38.968Z,1761515678.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.924711 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:38.988Z,1761515678.988 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:39.240Z,1761515679.240 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:39.310Z,1761515679.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974125,-0.213058,-0.075416],[0.221680,-0.965707,-0.135155],[-0.044034,-0.148376,0.987950]]
2025-10-26T21:54:39.328Z,1761515679.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:39.331Z,1761515679.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 115.618088 m,
      bearing: 179.982210 deg,
      approach rate: -0.632932 m/s,
      LOS rate: 0.009886 deg/s,
      cmd heading: 167.573582 deg,
      new cmd heading: 167.584840 deg.

2025-10-26T21:54:39.333Z,1761515679.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.924907 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:39.492Z,1761515679.492 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:39.746Z,1761515679.746 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:54:39.746Z,1761515679.746 [DAT](INFO): response not received
2025-10-26T21:54:39.747Z,1761515679.747 [DAT](INFO): DAT read: user:403>Tx time:21:54:38.9902

2025-10-26T21:54:39.747Z,1761515679.747 [DAT](ERROR): No response from remote modem.
2025-10-26T21:54:39.748Z,1761515679.748 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:39.748Z,1761515679.748 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:54:39.753Z,1761515679.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974490,-0.211291,-0.075662],[0.220123,-0.965562,-0.138692],[-0.043752,-0.151810,0.987441]]
2025-10-26T21:54:39.871Z,1761515679.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:39.878Z,1761515679.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 115.276588 m,
      bearing: 179.990685 deg,
      approach rate: -0.629006 m/s,
      LOS rate: 0.015655 deg/s,
      cmd heading: 167.584838 deg,
      new cmd heading: 167.610337 deg.

2025-10-26T21:54:39.879Z,1761515679.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.925352 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:39.996Z,1761515679.996 [DAT](INFO): DAT read: 

2025-10-26T21:54:39.997Z,1761515679.997 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:40.208Z,1761515680.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974888,-0.209839,-0.074570],[0.218454,-0.966154,-0.137203],[-0.043256,-0.150047,0.987732]]
2025-10-26T21:54:40.238Z,1761515680.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:40.248Z,1761515680.248 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:40.257Z,1761515680.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 115.034698 m,
      bearing: 179.996509 deg,
      approach rate: -0.659156 m/s,
      LOS rate: 0.015903 deg/s,
      cmd heading: 167.610342 deg,
      new cmd heading: 167.627850 deg.

2025-10-26T21:54:40.258Z,1761515680.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.925658 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:40.500Z,1761515680.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:40.610Z,1761515680.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975085,-0.209157,-0.073916],[0.217662,-0.966388,-0.136811],[-0.042816,-0.149491,0.987836]]
2025-10-26T21:54:40.645Z,1761515680.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:40.648Z,1761515680.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:40.650Z,1761515680.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 114.771645 m,
      bearing: 180.002762 deg,
      approach rate: -0.642286 m/s,
      LOS rate: 0.015304 deg/s,
      cmd heading: 167.627855 deg,
      new cmd heading: 167.646658 deg.

2025-10-26T21:54:40.651Z,1761515680.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.925986 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:40.752Z,1761515680.752 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:41.004Z,1761515681.004 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:41.016Z,1761515681.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975304,-0.208415,-0.073111],[0.216792,-0.966634,-0.136456],[-0.042232,-0.148936,0.987945]]
2025-10-26T21:54:41.072Z,1761515681.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:41.075Z,1761515681.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 114.499329 m,
      bearing: 180.017405 deg,
      approach rate: -0.640811 m/s,
      LOS rate: 0.034538 deg/s,
      cmd heading: 167.646652 deg,
      new cmd heading: 167.690684 deg.

2025-10-26T21:54:41.076Z,1761515681.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.926754 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:41.236Z,1761515681.236 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:54:41.256Z,1761515681.256 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:41.421Z,1761515681.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975639,-0.207150,-0.072230],[0.215444,-0.966810,-0.137341],[-0.041383,-0.149557,0.987887]]
2025-10-26T21:54:41.445Z,1761515681.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:41.448Z,1761515681.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 114.259506 m,
      bearing: 180.030190 deg,
      approach rate: -0.643121 m/s,
      LOS rate: 0.034359 deg/s,
      cmd heading: 167.690679 deg,
      new cmd heading: 167.729117 deg.

2025-10-26T21:54:41.449Z,1761515681.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.927425 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:41.508Z,1761515681.508 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:41.762Z,1761515681.762 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:41.822Z,1761515681.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975983,-0.205865,-0.071247],[0.214086,-0.966891,-0.138885],[-0.040296,-0.150803,0.987742]]
2025-10-26T21:54:41.886Z,1761515681.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:41.905Z,1761515681.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 113.983170 m,
      bearing: 180.052998 deg,
      approach rate: -0.626318 m/s,
      LOS rate: 0.051819 deg/s,
      cmd heading: 167.729119 deg,
      new cmd heading: 167.797708 deg.

2025-10-26T21:54:41.906Z,1761515681.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.928622 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:42.012Z,1761515682.012 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:42.240Z,1761515682.240 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:54:42.264Z,1761515682.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:42.279Z,1761515682.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:42.282Z,1761515682.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 113.748199 m,
      bearing: 180.072479 deg,
      approach rate: -0.598406 m/s,
      LOS rate: 0.049717 deg/s,
      cmd heading: 167.797708 deg,
      new cmd heading: 167.856274 deg.

2025-10-26T21:54:42.283Z,1761515682.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.929645 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:42.516Z,1761515682.516 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:42.632Z,1761515682.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976520,-0.203957,-0.069357],[0.212137,-0.966460,-0.144748],[-0.037509,-0.156063,0.987035]]
2025-10-26T21:54:42.650Z,1761515682.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:42.652Z,1761515682.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:42.655Z,1761515682.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 113.502541 m,
      bearing: 180.092673 deg,
      approach rate: -0.657910 m/s,
      LOS rate: 0.054198 deg/s,
      cmd heading: 167.856270 deg,
      new cmd heading: 167.916982 deg.

2025-10-26T21:54:42.656Z,1761515682.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.930704 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:42.772Z,1761515682.772 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:43.020Z,1761515683.020 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:43.088Z,1761515683.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:43.091Z,1761515683.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 113.229988 m,
      bearing: 180.121777 deg,
      approach rate: -0.625615 m/s,
      LOS rate: 0.066966 deg/s,
      cmd heading: 167.916977 deg,
      new cmd heading: 168.004500 deg.

2025-10-26T21:54:43.092Z,1761515683.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.932232 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:43.272Z,1761515683.272 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:43.438Z,1761515683.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977097,-0.201663,-0.067927],[0.209800,-0.966316,-0.149056],[-0.035580,-0.159893,0.986493]]
2025-10-26T21:54:43.461Z,1761515683.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:43.464Z,1761515683.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 112.996483 m,
      bearing: 180.146519 deg,
      approach rate: -0.625717 m/s,
      LOS rate: 0.066437 deg/s,
      cmd heading: 168.004499 deg,
      new cmd heading: 168.078878 deg.

2025-10-26T21:54:43.465Z,1761515683.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.933530 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:43.525Z,1761515683.525 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:43.778Z,1761515683.778 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:43.857Z,1761515683.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977410,-0.200206,-0.067731],[0.208429,-0.966174,-0.151875],[-0.035033,-0.162561,0.986076]]
2025-10-26T21:54:43.900Z,1761515683.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:43.902Z,1761515683.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 112.728912 m,
      bearing: 180.167791 deg,
      approach rate: -0.610575 m/s,
      LOS rate: 0.048656 deg/s,
      cmd heading: 168.078880 deg,
      new cmd heading: 168.142847 deg.

2025-10-26T21:54:43.904Z,1761515683.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.934646 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:44.030Z,1761515684.030 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:44.247Z,1761515684.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977797,-0.198386,-0.067502],[0.206677,-0.966171,-0.154267],[-0.034614,-0.164793,0.985721]]
2025-10-26T21:54:44.267Z,1761515684.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:44.270Z,1761515684.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 112.504227 m,
      bearing: 180.185527 deg,
      approach rate: -0.611138 m/s,
      LOS rate: 0.048338 deg/s,
      cmd heading: 168.142851 deg,
      new cmd heading: 168.196166 deg.

2025-10-26T21:54:44.271Z,1761515684.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.935577 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:44.280Z,1761515684.280 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:44.532Z,1761515684.532 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:44.650Z,1761515684.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978144,-0.196764,-0.067223],[0.205066,-0.966342,-0.155339],[-0.034396,-0.165729,0.985571]]
2025-10-26T21:54:44.678Z,1761515684.678 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:44.680Z,1761515684.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:44.682Z,1761515684.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 112.252518 m,
      bearing: 180.205268 deg,
      approach rate: -0.610445 m/s,
      LOS rate: 0.047983 deg/s,
      cmd heading: 168.196168 deg,
      new cmd heading: 168.255523 deg.

2025-10-26T21:54:44.683Z,1761515684.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.936613 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:44.787Z,1761515684.787 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:45.036Z,1761515685.036 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:45.113Z,1761515685.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:45.116Z,1761515685.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 111.982224 m,
      bearing: 180.230903 deg,
      approach rate: -0.623217 m/s,
      LOS rate: 0.059248 deg/s,
      cmd heading: 168.255522 deg,
      new cmd heading: 168.332612 deg.

2025-10-26T21:54:45.117Z,1761515685.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.937958 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:45.288Z,1761515685.288 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:45.462Z,1761515685.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978756,-0.193525,-0.067708],[0.201920,-0.967124,-0.154595],[-0.035564,-0.164983,0.985655]]
2025-10-26T21:54:45.482Z,1761515685.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:45.485Z,1761515685.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 111.752602 m,
      bearing: 180.252386 deg,
      approach rate: -0.623199 m/s,
      LOS rate: 0.058427 deg/s,
      cmd heading: 168.332608 deg,
      new cmd heading: 168.397191 deg.

2025-10-26T21:54:45.485Z,1761515685.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.939085 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:45.541Z,1761515685.541 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:45.806Z,1761515685.806 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:45.865Z,1761515685.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978934,-0.192446,-0.068210],[0.200865,-0.967652,-0.152653],[-0.036626,-0.163138,0.985923]]
2025-10-26T21:54:45.918Z,1761515685.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:45.920Z,1761515685.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 111.484413 m,
      bearing: 180.268697 deg,
      approach rate: -0.615415 m/s,
      LOS rate: 0.037518 deg/s,
      cmd heading: 168.397194 deg,
      new cmd heading: 168.446243 deg.

2025-10-26T21:54:45.921Z,1761515685.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.939942 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:46.056Z,1761515686.056 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:46.268Z,1761515686.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979048,-0.191468,-0.069319],[0.200069,-0.967861,-0.152376],[-0.037915,-0.163052,0.985889]]
2025-10-26T21:54:46.288Z,1761515686.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:46.291Z,1761515686.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 111.256058 m,
      bearing: 180.282549 deg,
      approach rate: -0.616076 m/s,
      LOS rate: 0.037450 deg/s,
      cmd heading: 168.446248 deg,
      new cmd heading: 168.487892 deg.

2025-10-26T21:54:46.292Z,1761515686.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.940669 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:46.310Z,1761515686.310 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:46.560Z,1761515686.560 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:46.670Z,1761515686.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979174,-0.190298,-0.070745],[0.199217,-0.967752,-0.154173],[-0.039124,-0.165056,0.985508]]
2025-10-26T21:54:46.688Z,1761515686.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:46.690Z,1761515686.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:46.693Z,1761515686.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 111.008896 m,
      bearing: 180.297507 deg,
      approach rate: -0.614964 m/s,
      LOS rate: 0.037299 deg/s,
      cmd heading: 168.487899 deg,
      new cmd heading: 168.532872 deg.

2025-10-26T21:54:46.694Z,1761515686.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.941453 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:46.815Z,1761515686.815 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:47.065Z,1761515687.065 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:47.158Z,1761515687.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:47.161Z,1761515687.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 110.720940 m,
      bearing: 180.307734 deg,
      approach rate: -0.614879 m/s,
      LOS rate: 0.021894 deg/s,
      cmd heading: 168.532869 deg,
      new cmd heading: 168.563628 deg.

2025-10-26T21:54:47.162Z,1761515687.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.941990 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:47.316Z,1761515687.316 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:47.506Z,1761515687.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979029,-0.190591,-0.071950],[0.199599,-0.968087,-0.151550],[-0.040770,-0.162733,0.985827]]
2025-10-26T21:54:47.539Z,1761515687.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:47.542Z,1761515687.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 110.486389 m,
      bearing: 180.316131 deg,
      approach rate: -0.616375 m/s,
      LOS rate: 0.022113 deg/s,
      cmd heading: 168.563632 deg,
      new cmd heading: 168.588876 deg.

2025-10-26T21:54:47.543Z,1761515687.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.942431 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:47.577Z,1761515687.577 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:47.831Z,1761515687.831 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:48.002Z,1761515688.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978941,-0.190943,-0.072211],[0.199939,-0.968206,-0.150339],[-0.041209,-0.161611,0.985994]]
2025-10-26T21:54:48.064Z,1761515688.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:48.067Z,1761515688.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 110.175919 m,
      bearing: 180.323038 deg,
      approach rate: -0.590991 m/s,
      LOS rate: 0.013186 deg/s,
      cmd heading: 168.588876 deg,
      new cmd heading: 168.609657 deg.

2025-10-26T21:54:48.068Z,1761515688.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.942794 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:48.080Z,1761515688.080 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:48.333Z,1761515688.333 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:48.482Z,1761515688.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978590,-0.192707,-0.072291],[0.201611,-0.968174,-0.148300],[-0.041412,-0.159700,0.986297]]
2025-10-26T21:54:48.503Z,1761515688.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:48.506Z,1761515688.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 109.888344 m,
      bearing: 180.329708 deg,
      approach rate: -0.655924 m/s,
      LOS rate: 0.015254 deg/s,
      cmd heading: 168.609654 deg,
      new cmd heading: 168.629717 deg.

2025-10-26T21:54:48.506Z,1761515688.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.943144 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:48.585Z,1761515688.585 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:48.840Z,1761515688.840 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:48.934Z,1761515688.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:48.937Z,1761515688.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:48.939Z,1761515688.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 109.622284 m,
      bearing: 180.331109 deg,
      approach rate: -0.613161 m/s,
      LOS rate: 0.003235 deg/s,
      cmd heading: 168.629721 deg,
      new cmd heading: 168.633932 deg.

2025-10-26T21:54:48.940Z,1761515688.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.943217 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:49.089Z,1761515689.089 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:49.291Z,1761515689.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978081,-0.195598,-0.071410],[0.204390,-0.967365,-0.149766],[-0.039786,-0.161078,0.986139]]
2025-10-26T21:54:49.309Z,1761515689.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:49.312Z,1761515689.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 109.392365 m,
      bearing: 180.332679 deg,
      approach rate: -0.617260 m/s,
      LOS rate: 0.004223 deg/s,
      cmd heading: 168.633928 deg,
      new cmd heading: 168.638648 deg.

2025-10-26T21:54:49.313Z,1761515689.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.943300 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:49.342Z,1761515689.342 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:49.593Z,1761515689.593 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:49.696Z,1761515689.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977887,-0.196733,-0.070941],[0.205634,-0.966307,-0.154806],[-0.038095,-0.165971,0.985395]]
2025-10-26T21:54:49.726Z,1761515689.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:49.730Z,1761515689.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 109.138947 m,
      bearing: 180.334628 deg,
      approach rate: -0.608200 m/s,
      LOS rate: 0.004689 deg/s,
      cmd heading: 168.638641 deg,
      new cmd heading: 168.644502 deg.

2025-10-26T21:54:49.732Z,1761515689.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.943402 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:49.848Z,1761515689.848 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:50.098Z,1761515690.098 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:50.253Z,1761515690.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:50.256Z,1761515690.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 108.820229 m,
      bearing: 180.334334 deg,
      approach rate: -0.604138 m/s,
      LOS rate: -0.000559 deg/s,
      cmd heading: 168.644501 deg,
      new cmd heading: 168.643617 deg.

2025-10-26T21:54:50.257Z,1761515690.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.943386 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:50.348Z,1761515690.348 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:50.601Z,1761515690.601 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:50.695Z,1761515690.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977600,-0.199052,-0.068380],[0.207677,-0.965049,-0.159844],[-0.034173,-0.170465,0.984771]]
2025-10-26T21:54:50.740Z,1761515690.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:50.743Z,1761515690.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 108.510468 m,
      bearing: 180.334439 deg,
      approach rate: -0.635870 m/s,
      LOS rate: 0.000217 deg/s,
      cmd heading: 168.643613 deg,
      new cmd heading: 168.643931 deg.

2025-10-26T21:54:50.744Z,1761515690.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.943392 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:50.854Z,1761515690.854 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:51.108Z,1761515691.108 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:51.203Z,1761515691.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:51.205Z,1761515691.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:51.208Z,1761515691.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 108.229019 m,
      bearing: 180.336336 deg,
      approach rate: -0.606097 m/s,
      LOS rate: 0.004094 deg/s,
      cmd heading: 168.643928 deg,
      new cmd heading: 168.649631 deg.

2025-10-26T21:54:51.209Z,1761515691.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.943491 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:51.356Z,1761515691.356 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:51.561Z,1761515691.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977558,-0.200591,-0.064373],[0.208537,-0.964734,-0.160626],[-0.029883,-0.170446,0.984914]]
2025-10-26T21:54:51.580Z,1761515691.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:51.582Z,1761515691.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 108.002090 m,
      bearing: 180.337982 deg,
      approach rate: -0.605996 m/s,
      LOS rate: 0.004407 deg/s,
      cmd heading: 168.649638 deg,
      new cmd heading: 168.654588 deg.

2025-10-26T21:54:51.583Z,1761515691.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.943578 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:51.608Z,1761515691.608 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:51.863Z,1761515691.863 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:51.962Z,1761515691.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977596,-0.201082,-0.062236],[0.208651,-0.964744,-0.160418],[-0.027784,-0.169809,0.985085]]
2025-10-26T21:54:52.039Z,1761515692.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:52.058Z,1761515692.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 107.713333 m,
      bearing: 180.344065 deg,
      approach rate: -0.630247 m/s,
      LOS rate: 0.013311 deg/s,
      cmd heading: 168.654583 deg,
      new cmd heading: 168.672878 deg.

2025-10-26T21:54:52.059Z,1761515692.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.943897 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:52.113Z,1761515692.113 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:54:52.114Z,1761515692.114 [DAT](INFO): response not received
2025-10-26T21:54:52.114Z,1761515692.114 [DAT](ERROR): No response from remote modem.
2025-10-26T21:54:52.114Z,1761515692.114 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:52.115Z,1761515692.115 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:54:52.365Z,1761515692.365 [DAT](INFO): DAT read: user:404>Tx time:21:54:51.4417

2025-10-26T21:54:52.365Z,1761515692.365 [DAT](INFO): DAT read: 

2025-10-26T21:54:52.366Z,1761515692.366 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:52.416Z,1761515692.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:52.419Z,1761515692.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 107.474594 m,
      bearing: 180.349118 deg,
      approach rate: -0.630727 m/s,
      LOS rate: 0.013380 deg/s,
      cmd heading: 168.672874 deg,
      new cmd heading: 168.688068 deg.

2025-10-26T21:54:52.420Z,1761515692.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.944162 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:52.616Z,1761515692.616 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:52.766Z,1761515692.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978140,-0.199763,-0.057767],[0.206534,-0.965593,-0.158032],[-0.024210,-0.166508,0.985743]]
2025-10-26T21:54:52.784Z,1761515692.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:52.787Z,1761515692.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 107.242302 m,
      bearing: 180.353776 deg,
      approach rate: -0.630632 m/s,
      LOS rate: 0.012672 deg/s,
      cmd heading: 168.688064 deg,
      new cmd heading: 168.702068 deg.

2025-10-26T21:54:52.788Z,1761515692.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.944407 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:52.871Z,1761515692.871 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:53.120Z,1761515693.120 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:53.228Z,1761515693.228 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:53.230Z,1761515693.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:53.233Z,1761515693.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 106.974449 m,
      bearing: 180.365393 deg,
      approach rate: -0.601360 m/s,
      LOS rate: 0.026147 deg/s,
      cmd heading: 168.702066 deg,
      new cmd heading: 168.737005 deg.

2025-10-26T21:54:53.234Z,1761515693.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.945016 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:53.372Z,1761515693.372 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:53.589Z,1761515693.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979120,-0.196010,-0.053881],[0.202087,-0.967239,-0.153656],[-0.021997,-0.161336,0.986654]]
2025-10-26T21:54:53.624Z,1761515693.624 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:53.631Z,1761515693.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:53.635Z,1761515693.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 106.742287 m,
      bearing: 180.374929 deg,
      approach rate: -0.578822 m/s,
      LOS rate: 0.023826 deg/s,
      cmd heading: 168.737009 deg,
      new cmd heading: 168.765679 deg.

2025-10-26T21:54:53.636Z,1761515693.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.945517 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:53.884Z,1761515693.884 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:53.978Z,1761515693.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979716,-0.193460,-0.052251],[0.199260,-0.968160,-0.151531],[-0.021272,-0.158869,0.987070]]
2025-10-26T21:54:54.020Z,1761515694.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:54.023Z,1761515694.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 106.483284 m,
      bearing: 180.386937 deg,
      approach rate: -0.665017 m/s,
      LOS rate: 0.030907 deg/s,
      cmd heading: 168.765683 deg,
      new cmd heading: 168.801795 deg.

2025-10-26T21:54:54.024Z,1761515694.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.946147 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:54.128Z,1761515694.128 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:54.380Z,1761515694.380 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:54.383Z,1761515694.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980293,-0.190850,-0.051014],[0.196477,-0.968781,-0.151194],[-0.020566,-0.158238,0.987187]]
2025-10-26T21:54:54.402Z,1761515694.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:54.405Z,1761515694.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 106.238754 m,
      bearing: 180.397949 deg,
      approach rate: -0.641102 m/s,
      LOS rate: 0.028938 deg/s,
      cmd heading: 168.801801 deg,
      new cmd heading: 168.834913 deg.

2025-10-26T21:54:54.406Z,1761515694.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.946725 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:54.633Z,1761515694.633 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:54.787Z,1761515694.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980994,-0.187584,-0.049623],[0.193014,-0.969591,-0.150462],[-0.019890,-0.157180,0.987370]]
2025-10-26T21:54:54.822Z,1761515694.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:54.826Z,1761515694.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 105.980736 m,
      bearing: 180.409125 deg,
      approach rate: -0.614961 m/s,
      LOS rate: 0.026701 deg/s,
      cmd heading: 168.834913 deg,
      new cmd heading: 168.868522 deg.

2025-10-26T21:54:54.840Z,1761515694.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.947312 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:54.884Z,1761515694.884 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:55.137Z,1761515695.137 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:55.194Z,1761515695.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981548,-0.185330,-0.047071],[0.190295,-0.970876,-0.145559],[-0.018724,-0.151831,0.988229]]
2025-10-26T21:54:55.237Z,1761515695.237 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:55.239Z,1761515695.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:55.247Z,1761515695.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 105.714935 m,
      bearing: 180.426299 deg,
      approach rate: -0.636677 m/s,
      LOS rate: 0.041241 deg/s,
      cmd heading: 168.868518 deg,
      new cmd heading: 168.920169 deg.

2025-10-26T21:54:55.248Z,1761515695.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.948213 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:55.389Z,1761515695.389 [DAT](INFO): DAT read: Rx Time:21:54:53.9568

2025-10-26T21:54:55.389Z,1761515695.389 [DAT](INFO): Rx dataTimestamp_ set to:1761515695.388816
2025-10-26T21:54:55.389Z,1761515695.389 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:55.601Z,1761515695.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981973,-0.183787,-0.044168],[0.188245,-0.972007,-0.140595],[-0.017092,-0.146375,0.989082]]
2025-10-26T21:54:55.619Z,1761515695.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.46 m.
2025-10-26T21:54:55.622Z,1761515695.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.461700 m,
      nav range: 105.481033 m,
      bearing: 180.441198 deg,
      approach rate: -0.614752 m/s,
      LOS rate: 0.039247 deg/s,
      cmd heading: 168.920168 deg,
      new cmd heading: 168.964966 deg.

2025-10-26T21:54:55.623Z,1761515695.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.948995 target range: 167.461700 and range: 168.50 m.
2025-10-26T21:54:55.640Z,1761515695.640 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:55.897Z,1761515695.897 [DAT](INFO): DAT read: 21:54:53.9568 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 204,-0.12,-0.186,-2.057,-0.644,-0.558, PHS= 0.474,-1.454,-0.130, RAW= 132.2,  12.9, CAL= 131.5,  14.0, ROT=  18.5, -14.0

2025-10-26T21:54:55.899Z,1761515695.899 [DAT](INFO): got valid direction response:
 21:54:53.9568 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 204,-0.12,-0.186,-2.057,-0.644,-0.558, PHS= 0.474,-1.454,-0.130, RAW= 132.2,  12.9, CAL= 131.5,  14.0, ROT=  18.5, -14.0

2025-10-26T21:54:55.900Z,1761515695.900 [DAT](INFO): DAT read: Range 11 to 50 : 83.1 m  (Round-trip  110.9 ms) speed  1.1 m/s

2025-10-26T21:54:55.901Z,1761515695.901 [DAT](INFO): DAT read: user:405>Tx time:21:54:55.0402

2025-10-26T21:54:55.902Z,1761515695.902 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:54:55.906Z,1761515695.906 [DAT](INFO): direction in FSK: [0.920154,0.307879,0.241922]
2025-10-26T21:54:55.906Z,1761515695.906 [DAT](INFO): publishing direction and range info
2025-10-26T21:54:55.910Z,1761515695.910 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:55.911Z,1761515695.911 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:54:56.004Z,1761515696.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982176,-0.183472,-0.040853],[0.187376,-0.972889,-0.135564],[-0.014874,-0.140803,0.989926]]
2025-10-26T21:54:56.112Z,1761515696.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 83.099998 m,
      deltaT: 28.755837 s,
      deltaX: -85.400002 m,
      approachRate: -2.969832 m/s,
      rangeRepo size: 4

2025-10-26T21:54:56.114Z,1761515696.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 82.588036 m,
      bearing: 189.360385 deg,
      lat: 36.779214 deg,
      lon: -121.859446 deg,
      deltaT: 28.755837 s,
      deltaX: -84.873665 m,
      approachRate: -2.951528 m/s,
      posRepo size: 4

2025-10-26T21:54:56.115Z,1761515696.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:54:56.122Z,1761515696.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 102.079918 m,
      bearing: 180.469947 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.039247 deg/s,
      cmd heading: 168.964960 deg,
      new cmd heading: 169.022425 deg.

2025-10-26T21:54:56.123Z,1761515696.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.949998 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:54:56.144Z,1761515696.144 [DAT](INFO): DAT read: 

2025-10-26T21:54:56.145Z,1761515696.145 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:56.396Z,1761515696.396 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:56.404Z,1761515696.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982109,-0.184500,-0.037705],[0.187900,-0.973370,-0.131321],[-0.012473,-0.136057,0.990623]]
2025-10-26T21:54:56.438Z,1761515696.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:54:56.452Z,1761515696.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 101.877205 m,
      bearing: 180.480772 deg,
      approach rate: -0.613782 m/s,
      LOS rate: 0.032843 deg/s,
      cmd heading: 169.022429 deg,
      new cmd heading: 169.054970 deg.

2025-10-26T21:54:56.453Z,1761515696.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.950566 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:54:56.648Z,1761515696.648 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:56.812Z,1761515696.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981909,-0.186089,-0.034998],[0.189105,-0.973163,-0.131122],[-0.009659,-0.135369,0.990748]]
2025-10-26T21:54:56.861Z,1761515696.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:54:56.868Z,1761515696.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 101.609642 m,
      bearing: 180.495313 deg,
      approach rate: -0.631779 m/s,
      LOS rate: 0.034424 deg/s,
      cmd heading: 169.054968 deg,
      new cmd heading: 169.098704 deg.

2025-10-26T21:54:56.869Z,1761515696.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.951329 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:54:56.901Z,1761515696.901 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:57.152Z,1761515697.152 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:57.210Z,1761515697.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981635,-0.187891,-0.033023],[0.190651,-0.972346,-0.134891],[-0.006765,-0.138710,0.990310]]
2025-10-26T21:54:57.260Z,1761515697.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:57.262Z,1761515697.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:54:57.265Z,1761515697.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 101.360222 m,
      bearing: 180.508248 deg,
      approach rate: -0.622449 m/s,
      LOS rate: 0.032362 deg/s,
      cmd heading: 169.098709 deg,
      new cmd heading: 169.137612 deg.

2025-10-26T21:54:57.266Z,1761515697.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.952008 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:54:57.404Z,1761515697.404 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:57.614Z,1761515697.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981379,-0.189430,-0.031816],[0.192041,-0.971105,-0.141691],[-0.004056,-0.145162,0.989400]]
2025-10-26T21:54:57.638Z,1761515697.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:54:57.641Z,1761515697.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 101.127800 m,
      bearing: 180.520583 deg,
      approach rate: -0.617683 m/s,
      LOS rate: 0.032855 deg/s,
      cmd heading: 169.137614 deg,
      new cmd heading: 169.174702 deg.

2025-10-26T21:54:57.642Z,1761515697.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.952656 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:54:57.656Z,1761515697.656 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:57.909Z,1761515697.909 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:58.026Z,1761515698.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980963,-0.191605,-0.031613],[0.194183,-0.969609,-0.148835],[-0.002135,-0.152140,0.988357]]
2025-10-26T21:54:58.080Z,1761515698.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:54:58.082Z,1761515698.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 100.854446 m,
      bearing: 180.532009 deg,
      approach rate: -0.619521 m/s,
      LOS rate: 0.025965 deg/s,
      cmd heading: 169.174702 deg,
      new cmd heading: 169.209072 deg.

2025-10-26T21:54:58.083Z,1761515698.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.953255 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:54:58.160Z,1761515698.160 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:58.412Z,1761515698.412 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:58.425Z,1761515698.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980521,-0.193731,-0.032350],[0.196411,-0.967868,-0.157019],[-0.000891,-0.160314,0.987066]]
2025-10-26T21:54:58.457Z,1761515698.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:54:58.460Z,1761515698.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 100.623672 m,
      bearing: 180.542048 deg,
      approach rate: -0.611304 m/s,
      LOS rate: 0.026654 deg/s,
      cmd heading: 169.209071 deg,
      new cmd heading: 169.239258 deg.

2025-10-26T21:54:58.461Z,1761515698.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.953782 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:54:58.664Z,1761515698.664 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:58.836Z,1761515698.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980276,-0.194677,-0.034060],[0.197634,-0.965578,-0.169114],[0.000035,-0.172509,0.985008]]
2025-10-26T21:54:58.874Z,1761515698.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:54:58.877Z,1761515698.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 100.362213 m,
      bearing: 180.553742 deg,
      approach rate: -0.626840 m/s,
      LOS rate: 0.028110 deg/s,
      cmd heading: 169.239261 deg,
      new cmd heading: 169.274435 deg.

2025-10-26T21:54:58.878Z,1761515698.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.954396 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:54:58.917Z,1761515698.917 [DAT](INFO): DAT read: Rx Time:21:54:57.6033

2025-10-26T21:54:58.918Z,1761515698.918 [DAT](INFO): Rx dataTimestamp_ set to:1761515698.917299
2025-10-26T21:54:58.918Z,1761515698.918 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:59.168Z,1761515699.168 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:59.232Z,1761515699.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980177,-0.194967,-0.035235],[0.198124,-0.963885,-0.177968],[0.000735,-0.181421,0.983405]]
2025-10-26T21:54:59.292Z,1761515699.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:54:59.294Z,1761515699.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:54:59.298Z,1761515699.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 100.109001 m,
      bearing: 180.567723 deg,
      approach rate: -0.602093 m/s,
      LOS rate: 0.033328 deg/s,
      cmd heading: 169.274436 deg,
      new cmd heading: 169.316484 deg.

2025-10-26T21:54:59.309Z,1761515699.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.955130 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:54:59.429Z,1761515699.429 [DAT](INFO): DAT read: 21:54:57.6033 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 423, 0.21, 2.993, 2.077, 2.689, 1.743, PHS= 1.353, 0.379, 0.903, RAW= 122.5, -47.8, CAL= 126.6, -45.3, ROT=  23.4,  45.3

2025-10-26T21:54:59.430Z,1761515699.430 [DAT](INFO): got valid direction response:
 21:54:57.6033 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 423, 0.21, 2.993, 2.077, 2.689, 1.743, PHS= 1.353, 0.379, 0.903, RAW= 122.5, -47.8, CAL= 126.6, -45.3, ROT=  23.4,  45.3

2025-10-26T21:54:59.431Z,1761515699.431 [DAT](INFO): DAT read: $Error in header

2025-10-26T21:54:59.431Z,1761515699.431 [DAT](INFO): Received a bad header
2025-10-26T21:54:59.444Z,1761515699.444 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:54:59.445Z,1761515699.445 [DAT](INFO): direction in FSK: [0.645544,0.279352,-0.710799]
2025-10-26T21:54:59.448Z,1761515699.448 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:59.672Z,1761515699.672 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:54:59.687Z,1761515699.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:54:59.689Z,1761515699.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 99.856247 m,
      bearing: 180.581749 deg,
      approach rate: -0.644676 m/s,
      LOS rate: 0.035866 deg/s,
      cmd heading: 169.316483 deg,
      new cmd heading: 169.358668 deg.

2025-10-26T21:54:59.690Z,1761515699.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.955866 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:54:59.924Z,1761515699.924 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:00.062Z,1761515700.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980344,-0.194504,-0.033084],[0.197286,-0.964581,-0.175107],[0.002146,-0.178192,0.983993]]
2025-10-26T21:55:00.114Z,1761515700.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:00.117Z,1761515700.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 99.579506 m,
      bearing: 180.598983 deg,
      approach rate: -0.647117 m/s,
      LOS rate: 0.040411 deg/s,
      cmd heading: 169.358666 deg,
      new cmd heading: 169.410511 deg.

2025-10-26T21:55:00.118Z,1761515700.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.956771 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:00.177Z,1761515700.177 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:00.428Z,1761515700.428 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:00.479Z,1761515700.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:00.481Z,1761515700.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 99.350677 m,
      bearing: 180.613307 deg,
      approach rate: -0.627915 m/s,
      LOS rate: 0.039395 deg/s,
      cmd heading: 169.410507 deg,
      new cmd heading: 169.453577 deg.

2025-10-26T21:55:00.482Z,1761515700.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.957523 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:00.681Z,1761515700.681 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:00.847Z,1761515700.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980473,-0.194136,-0.031369],[0.196634,-0.965549,-0.170440],[0.002800,-0.173280,0.984869]]
2025-10-26T21:55:00.873Z,1761515700.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:00.876Z,1761515700.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 99.103439 m,
      bearing: 180.628746 deg,
      approach rate: -0.627266 m/s,
      LOS rate: 0.039269 deg/s,
      cmd heading: 169.453578 deg,
      new cmd heading: 169.500012 deg.

2025-10-26T21:55:00.877Z,1761515700.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.958333 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:00.932Z,1761515700.932 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:01.184Z,1761515701.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:01.256Z,1761515701.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981025,-0.191966,-0.027198],[0.193809,-0.967074,-0.164941],[0.005360,-0.167082,0.985928]]
2025-10-26T21:55:01.304Z,1761515701.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:01.308Z,1761515701.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:01.313Z,1761515701.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 98.838181 m,
      bearing: 180.648057 deg,
      approach rate: -0.611259 m/s,
      LOS rate: 0.044618 deg/s,
      cmd heading: 169.500010 deg,
      new cmd heading: 169.558097 deg.

2025-10-26T21:55:01.314Z,1761515701.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.959347 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:01.437Z,1761515701.437 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:01.664Z,1761515701.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981478,-0.189915,-0.025160],[0.191450,-0.967620,-0.164497],[0.006895,-0.166267,0.986057]]
2025-10-26T21:55:01.682Z,1761515701.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:01.685Z,1761515701.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 98.601448 m,
      bearing: 180.665043 deg,
      approach rate: -0.630792 m/s,
      LOS rate: 0.045369 deg/s,
      cmd heading: 169.558094 deg,
      new cmd heading: 169.609174 deg.

2025-10-26T21:55:01.686Z,1761515701.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.960238 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:01.688Z,1761515701.688 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:01.941Z,1761515701.941 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:02.084Z,1761515702.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981869,-0.188142,-0.023162],[0.189379,-0.968195,-0.163503],[0.008336,-0.164924,0.986271]]
2025-10-26T21:55:02.135Z,1761515702.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:02.138Z,1761515702.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 98.308975 m,
      bearing: 180.686951 deg,
      approach rate: -0.645393 m/s,
      LOS rate: 0.048488 deg/s,
      cmd heading: 169.609170 deg,
      new cmd heading: 169.675090 deg.

2025-10-26T21:55:02.139Z,1761515702.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.961389 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:02.193Z,1761515702.193 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:02.444Z,1761515702.444 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:02.491Z,1761515702.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982325,-0.185945,-0.021483],[0.186941,-0.968748,-0.163033],[0.009503,-0.164167,0.986387]]
2025-10-26T21:55:02.517Z,1761515702.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:02.520Z,1761515702.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 98.062660 m,
      bearing: 180.705139 deg,
      approach rate: -0.644772 m/s,
      LOS rate: 0.047729 deg/s,
      cmd heading: 169.675095 deg,
      new cmd heading: 169.729796 deg.

2025-10-26T21:55:02.521Z,1761515702.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.962344 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:02.697Z,1761515702.697 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:02.882Z,1761515702.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982727,-0.183997,-0.019841],[0.184768,-0.969445,-0.161359],[0.010455,-0.162238,0.986696]]
2025-10-26T21:55:02.901Z,1761515702.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:02.904Z,1761515702.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 97.814407 m,
      bearing: 180.723234 deg,
      approach rate: -0.646950 m/s,
      LOS rate: 0.047277 deg/s,
      cmd heading: 169.729791 deg,
      new cmd heading: 169.784215 deg.

2025-10-26T21:55:02.905Z,1761515702.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.963294 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:02.965Z,1761515702.965 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:03.200Z,1761515703.200 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:03.270Z,1761515703.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983158,-0.181858,-0.018093],[0.182402,-0.970279,-0.159025],[0.011365,-0.159647,0.987109]]
2025-10-26T21:55:03.346Z,1761515703.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:03.348Z,1761515703.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:03.351Z,1761515703.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 97.542793 m,
      bearing: 180.743472 deg,
      approach rate: -0.607310 m/s,
      LOS rate: 0.045375 deg/s,
      cmd heading: 169.784214 deg,
      new cmd heading: 169.845095 deg.

2025-10-26T21:55:03.352Z,1761515703.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.964356 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:03.452Z,1761515703.452 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:03.705Z,1761515703.705 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:03.727Z,1761515703.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:03.731Z,1761515703.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 97.295792 m,
      bearing: 180.761975 deg,
      approach rate: -0.652565 m/s,
      LOS rate: 0.049007 deg/s,
      cmd heading: 169.845098 deg,
      new cmd heading: 169.900748 deg.

2025-10-26T21:55:03.733Z,1761515703.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.965328 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:03.956Z,1761515703.956 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:04.129Z,1761515704.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983626,-0.179569,-0.015335],[0.179736,-0.971157,-0.156680],[0.013242,-0.156871,0.987530]]
2025-10-26T21:55:04.182Z,1761515704.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:04.189Z,1761515704.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 97.008263 m,
      bearing: 180.781102 deg,
      approach rate: -0.631205 m/s,
      LOS rate: 0.042113 deg/s,
      cmd heading: 169.900751 deg,
      new cmd heading: 169.958301 deg.

2025-10-26T21:55:04.190Z,1761515704.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.966332 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:04.208Z,1761515704.208 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:04.461Z,1761515704.461 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:04.506Z,1761515704.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983807,-0.178647,-0.014433],[0.178672,-0.971222,-0.157495],[0.014118,-0.157523,0.987414]]
2025-10-26T21:55:04.532Z,1761515704.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:04.535Z,1761515704.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 96.777054 m,
      bearing: 180.796420 deg,
      approach rate: -0.660638 m/s,
      LOS rate: 0.043873 deg/s,
      cmd heading: 169.958302 deg,
      new cmd heading: 170.004366 deg.

2025-10-26T21:55:04.536Z,1761515704.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.967136 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:04.713Z,1761515704.713 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:04.910Z,1761515704.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984038,-0.177439,-0.013627],[0.177317,-0.971090,-0.159820],[0.015125,-0.159685,0.987052]]
2025-10-26T21:55:04.928Z,1761515704.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:04.931Z,1761515704.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 96.527115 m,
      bearing: 180.812867 deg,
      approach rate: -0.631228 m/s,
      LOS rate: 0.041647 deg/s,
      cmd heading: 170.004365 deg,
      new cmd heading: 170.053835 deg.

2025-10-26T21:55:04.932Z,1761515704.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.967999 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:04.965Z,1761515704.965 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:05.216Z,1761515705.216 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:05.325Z,1761515705.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984264,-0.176234,-0.012887],[0.175989,-0.971117,-0.161122],[0.015880,-0.160855,0.986850]]
2025-10-26T21:55:05.360Z,1761515705.360 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:05.362Z,1761515705.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:05.365Z,1761515705.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 96.253204 m,
      bearing: 180.824701 deg,
      approach rate: -0.630765 m/s,
      LOS rate: 0.027329 deg/s,
      cmd heading: 170.053829 deg,
      new cmd heading: 170.089432 deg.

2025-10-26T21:55:05.366Z,1761515705.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.968621 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:05.468Z,1761515705.468 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:05.720Z,1761515705.720 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:05.729Z,1761515705.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984361,-0.175743,-0.012120],[0.175370,-0.971110,-0.161837],[0.016672,-0.161431,0.986743]]
2025-10-26T21:55:05.749Z,1761515705.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:05.751Z,1761515705.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 96.009094 m,
      bearing: 180.835219 deg,
      approach rate: -0.632156 m/s,
      LOS rate: 0.027307 deg/s,
      cmd heading: 170.089428 deg,
      new cmd heading: 170.121061 deg.

2025-10-26T21:55:05.752Z,1761515705.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.969173 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:05.973Z,1761515705.973 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:06.162Z,1761515706.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984453,-0.175262,-0.011691],[0.174841,-0.971359,-0.160909],[0.016845,-0.160452,0.986900]]
2025-10-26T21:55:06.224Z,1761515706.224 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:06.236Z,1761515706.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:06.238Z,1761515706.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 95.705605 m,
      bearing: 180.839373 deg,
      approach rate: -0.623363 m/s,
      LOS rate: 0.008559 deg/s,
      cmd heading: 170.121065 deg,
      new cmd heading: 170.133567 deg.

2025-10-26T21:55:06.240Z,1761515706.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.969391 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:06.476Z,1761515706.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:06.531Z,1761515706.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984554,-0.174683,-0.011835],[0.174299,-0.971507,-0.160608],[0.016557,-0.160190,0.986947]]
2025-10-26T21:55:06.550Z,1761515706.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:06.553Z,1761515706.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 95.509651 m,
      bearing: 180.842001 deg,
      approach rate: -0.623335 m/s,
      LOS rate: 0.008377 deg/s,
      cmd heading: 170.133565 deg,
      new cmd heading: 170.141465 deg.

2025-10-26T21:55:06.554Z,1761515706.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.969529 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:06.729Z,1761515706.729 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:06.970Z,1761515706.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:06.973Z,1761515706.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 95.247391 m,
      bearing: 180.845536 deg,
      approach rate: -0.623382 m/s,
      LOS rate: 0.008425 deg/s,
      cmd heading: 170.141460 deg,
      new cmd heading: 170.152093 deg.

2025-10-26T21:55:06.974Z,1761515706.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.969714 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:06.980Z,1761515706.980 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:07.232Z,1761515707.232 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:07.335Z,1761515707.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984875,-0.172765,-0.013199],[0.172595,-0.971494,-0.162511],[0.015254,-0.162331,0.986618]]
2025-10-26T21:55:07.371Z,1761515707.371 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:07.373Z,1761515707.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:07.376Z,1761515707.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 95.000298 m,
      bearing: 180.840612 deg,
      approach rate: -0.613585 m/s,
      LOS rate: -0.012260 deg/s,
      cmd heading: 170.152088 deg,
      new cmd heading: 170.137277 deg.

2025-10-26T21:55:07.377Z,1761515707.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.969456 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:07.485Z,1761515707.485 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:07.736Z,1761515707.736 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:07.743Z,1761515707.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984860,-0.172856,-0.013098],[0.172715,-0.971974,-0.159483],[0.014837,-0.159331,0.987114]]
2025-10-26T21:55:07.766Z,1761515707.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:07.769Z,1761515707.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 94.758415 m,
      bearing: 180.835744 deg,
      approach rate: -0.615037 m/s,
      LOS rate: -0.012408 deg/s,
      cmd heading: 170.137280 deg,
      new cmd heading: 170.122640 deg.

2025-10-26T21:55:07.770Z,1761515707.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.969200 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:07.988Z,1761515707.988 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:08.178Z,1761515708.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984778,-0.173370,-0.012433],[0.173179,-0.972545,-0.155454],[0.014860,-0.155241,0.987765]]
2025-10-26T21:55:08.218Z,1761515708.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:08.237Z,1761515708.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 94.490028 m,
      bearing: 180.824737 deg,
      approach rate: -0.594870 m/s,
      LOS rate: -0.024465 deg/s,
      cmd heading: 170.122636 deg,
      new cmd heading: 170.089522 deg.

2025-10-26T21:55:08.238Z,1761515708.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.968622 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:08.241Z,1761515708.241 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:55:08.241Z,1761515708.241 [DAT](INFO): response not received
2025-10-26T21:55:08.241Z,1761515708.241 [DAT](INFO): DAT read: Tx time:21:55:07.4902

2025-10-26T21:55:08.242Z,1761515708.242 [DAT](INFO): Ping request sent.
2025-10-26T21:55:08.242Z,1761515708.242 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:55:08.242Z,1761515708.242 [DAT](INFO): publishing transmit ping time
2025-10-26T21:55:08.562Z,1761515708.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984498,-0.175034,-0.011281],[0.174723,-0.973052,-0.150469],[0.015360,-0.150107,0.988550]]
2025-10-26T21:55:08.580Z,1761515708.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:08.583Z,1761515708.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 94.274277 m,
      bearing: 180.815996 deg,
      approach rate: -0.595083 m/s,
      LOS rate: -0.024166 deg/s,
      cmd heading: 170.089523 deg,
      new cmd heading: 170.063239 deg.

2025-10-26T21:55:08.584Z,1761515708.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.968163 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:08.962Z,1761515708.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984029,-0.177735,-0.009872],[0.177279,-0.973467,-0.144689],[0.016106,-0.144129,0.989428]]
2025-10-26T21:55:08.980Z,1761515708.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:08.983Z,1761515708.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 94.036140 m,
      bearing: 180.806611 deg,
      approach rate: -0.594997 m/s,
      LOS rate: -0.023508 deg/s,
      cmd heading: 170.063241 deg,
      new cmd heading: 170.035015 deg.

2025-10-26T21:55:08.984Z,1761515708.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.967671 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:09.366Z,1761515709.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983394,-0.181259,-0.009023],[0.180676,-0.973127,-0.142762],[0.017096,-0.142021,0.989716]]
2025-10-26T21:55:09.412Z,1761515709.412 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:09.414Z,1761515709.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:09.417Z,1761515709.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 93.778625 m,
      bearing: 180.798040 deg,
      approach rate: -0.593481 m/s,
      LOS rate: -0.019808 deg/s,
      cmd heading: 170.035019 deg,
      new cmd heading: 170.009234 deg.

2025-10-26T21:55:09.418Z,1761515709.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.967221 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:09.501Z,1761515709.501 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:09.501Z,1761515709.501 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:09.501Z,1761515709.501 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:09.752Z,1761515709.752 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:09.752Z,1761515709.752 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:09.752Z,1761515709.752 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:09.778Z,1761515709.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982804,-0.184427,-0.009077],[0.183721,-0.971755,-0.148119],[0.018496,-0.147240,0.988928]]
2025-10-26T21:55:09.832Z,1761515709.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:09.835Z,1761515709.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 93.534241 m,
      bearing: 180.790378 deg,
      approach rate: -0.585085 m/s,
      LOS rate: -0.018391 deg/s,
      cmd heading: 170.009228 deg,
      new cmd heading: 169.986182 deg.

2025-10-26T21:55:09.840Z,1761515709.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.966819 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:10.004Z,1761515710.004 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:10.004Z,1761515710.004 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:10.004Z,1761515710.004 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:10.213Z,1761515710.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982279,-0.187172,-0.009760],[0.186359,-0.969817,-0.157245],[0.019967,-0.156277,0.987511]]
2025-10-26T21:55:10.249Z,1761515710.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:10.252Z,1761515710.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 93.277519 m,
      bearing: 180.789582 deg,
      approach rate: -0.615152 m/s,
      LOS rate: -0.001912 deg/s,
      cmd heading: 169.986183 deg,
      new cmd heading: 169.983789 deg.

2025-10-26T21:55:10.253Z,1761515710.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.966777 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:10.264Z,1761515710.264 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:10.264Z,1761515710.264 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:10.264Z,1761515710.264 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:10.517Z,1761515710.517 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:10.517Z,1761515710.517 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:10.517Z,1761515710.517 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:10.599Z,1761515710.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981871,-0.189206,-0.011419],[0.188337,-0.967012,-0.171512],[0.021409,-0.170553,0.985116]]
2025-10-26T21:55:10.624Z,1761515710.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:10.626Z,1761515710.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 93.051193 m,
      bearing: 180.789238 deg,
      approach rate: -0.605171 m/s,
      LOS rate: -0.000923 deg/s,
      cmd heading: 169.983792 deg,
      new cmd heading: 169.982757 deg.

2025-10-26T21:55:10.627Z,1761515710.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.966759 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:10.768Z,1761515710.768 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:10.768Z,1761515710.768 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:10.768Z,1761515710.768 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:11.005Z,1761515711.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981787,-0.189572,-0.012511],[0.188624,-0.964773,-0.183394],[0.022696,-0.182414,0.982960]]
2025-10-26T21:55:11.020Z,1761515711.020 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:11.020Z,1761515711.020 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:11.020Z,1761515711.020 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:11.030Z,1761515711.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:11.033Z,1761515711.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 92.805267 m,
      bearing: 180.788985 deg,
      approach rate: -0.604520 m/s,
      LOS rate: -0.000625 deg/s,
      cmd heading: 169.982754 deg,
      new cmd heading: 169.981991 deg.

2025-10-26T21:55:11.034Z,1761515711.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.966745 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:11.273Z,1761515711.273 [DAT](INFO): DAT read: Rx Time:21:55:09.9917

2025-10-26T21:55:11.274Z,1761515711.274 [DAT](INFO): Rx dataTimestamp_ set to:1761515711.273346
2025-10-26T21:55:11.274Z,1761515711.274 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:11.274Z,1761515711.274 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:11.274Z,1761515711.274 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:11.457Z,1761515711.457 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:11.459Z,1761515711.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:11.462Z,1761515711.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 92.536461 m,
      bearing: 180.793390 deg,
      approach rate: -0.626831 m/s,
      LOS rate: 0.010303 deg/s,
      cmd heading: 169.981989 deg,
      new cmd heading: 169.995244 deg.

2025-10-26T21:55:11.463Z,1761515711.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.966977 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:11.524Z,1761515711.524 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:11.524Z,1761515711.524 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:11.525Z,1761515711.525 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:11.779Z,1761515711.779 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:11.779Z,1761515711.779 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:11.780Z,1761515711.780 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:11.838Z,1761515711.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981764,-0.189677,-0.012733],[0.188534,-0.962878,-0.193185],[0.024382,-0.192063,0.981080]]
2025-10-26T21:55:11.857Z,1761515711.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.59 m.
2025-10-26T21:55:11.860Z,1761515711.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.588036 m,
      nav range: 92.286888 m,
      bearing: 180.797537 deg,
      approach rate: -0.627370 m/s,
      LOS rate: 0.010454 deg/s,
      cmd heading: 169.995240 deg,
      new cmd heading: 170.007715 deg.

2025-10-26T21:55:11.861Z,1761515711.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.967194 target range: 82.588036 and range: 83.10 m.
2025-10-26T21:55:12.034Z,1761515712.034 [DAT](INFO): DAT read: 21:55:09.9917 LVL= 27920, 32753, 32754, 32755, AGC= 70, IDX= 323,-0.33, 1.332,-0.526, 0.856, 0.976, PHS= 0.458,-1.457,-0.165, RAW= 131.4,  13.7, CAL= 130.6,  14.8, ROT=  19.4, -14.8

2025-10-26T21:55:12.035Z,1761515712.035 [DAT](INFO): got valid direction response:
 21:55:09.9917 LVL= 27920, 32753, 32754, 32755, AGC= 70, IDX= 323,-0.33, 1.332,-0.526, 0.856, 0.976, PHS= 0.458,-1.457,-0.165, RAW= 131.4,  13.7, CAL= 130.6,  14.8, ROT=  19.4, -14.8

2025-10-26T21:55:12.036Z,1761515712.036 [DAT](INFO): DAT read: Bearing 340.1,  17.1 (Local)

2025-10-26T21:55:12.036Z,1761515712.036 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.1,  17.1 (Local)

2025-10-26T21:55:12.038Z,1761515712.038 [DAT](INFO): DAT read: Range 11 to 50 : 73.0 m  (Round-trip  97.4 ms) speed  0.7 m/s

2025-10-26T21:55:12.038Z,1761515712.038 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T21:55:12.040Z,1761515712.040 [DAT](INFO): direction in FSK: [0.911930,0.321141,0.255446]
2025-10-26T21:55:12.042Z,1761515712.042 [DAT](INFO): publishing direction and range info
2025-10-26T21:55:12.049Z,1761515712.049 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:12.050Z,1761515712.050 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:12.050Z,1761515712.050 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:55:12.238Z,1761515712.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981992,-0.188533,-0.012110],[0.187269,-0.962938,-0.194113],[0.024936,-0.192885,0.980904]]
2025-10-26T21:55:12.281Z,1761515712.281 [DAT](INFO): DAT read: 

2025-10-26T21:55:12.283Z,1761515712.283 [DAT](INFO): DAT read: Tx time:21:55:11.4402

2025-10-26T21:55:12.284Z,1761515712.284 [DAT](INFO): Ping request sent.
2025-10-26T21:55:12.284Z,1761515712.284 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:55:12.284Z,1761515712.284 [DAT](INFO): publishing transmit ping time
2025-10-26T21:55:12.286Z,1761515712.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001570
2025-10-26T21:55:12.322Z,1761515712.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 73.000000 m,
      deltaT: 16.136528 s,
      deltaX: -10.099998 m,
      approachRate: -0.625909 m/s,
      rangeRepo size: 4

2025-10-26T21:55:12.328Z,1761515712.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 72.549789 m,
      bearing: 191.092593 deg,
      lat: 36.779411 deg,
      lon: -121.859446 deg,
      deltaT: 16.136528 s,
      deltaX: -10.038246 m,
      approachRate: -0.622082 m/s,
      posRepo size: 4

2025-10-26T21:55:12.329Z,1761515712.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:12.340Z,1761515712.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 70.075333 m,
      bearing: 181.068229 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010454 deg/s,
      cmd heading: 170.007711 deg,
      new cmd heading: 170.022269 deg.

2025-10-26T21:55:12.341Z,1761515712.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.967448 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:12.360Z,1761515712.360 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:55:12.532Z,1761515712.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248357
2025-10-26T21:55:12.667Z,1761515712.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982307,-0.186978,-0.010618],[0.185553,-0.964003,-0.190442],[0.025372,-0.189042,0.981641]]
2025-10-26T21:55:12.689Z,1761515712.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:12.708Z,1761515712.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 69.830925 m,
      bearing: 181.088572 deg,
      approach rate: -0.663850 m/s,
      LOS rate: 0.055447 deg/s,
      cmd heading: 170.022273 deg,
      new cmd heading: 170.083515 deg.

2025-10-26T21:55:12.710Z,1761515712.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.968517 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:12.787Z,1761515712.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502625
2025-10-26T21:55:13.037Z,1761515713.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752618
2025-10-26T21:55:13.076Z,1761515713.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982688,-0.185099,-0.007928],[0.183394,-0.965784,-0.183378],[0.026286,-0.181657,0.983011]]
2025-10-26T21:55:13.100Z,1761515713.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:13.103Z,1761515713.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 69.583107 m,
      bearing: 181.108880 deg,
      approach rate: -0.603107 m/s,
      LOS rate: 0.049599 deg/s,
      cmd heading: 170.083513 deg,
      new cmd heading: 170.144654 deg.

2025-10-26T21:55:13.104Z,1761515713.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.969584 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:13.290Z,1761515713.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006056
2025-10-26T21:55:13.364Z,1761515713.364 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:55:13.474Z,1761515713.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982961,-0.183744,-0.005038],[0.181758,-0.967520,-0.175695],[0.027408,-0.173617,0.984432]]
2025-10-26T21:55:13.520Z,1761515713.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:13.522Z,1761515713.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:13.525Z,1761515713.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 69.317940 m,
      bearing: 181.146216 deg,
      approach rate: -0.628119 m/s,
      LOS rate: 0.088778 deg/s,
      cmd heading: 170.144657 deg,
      new cmd heading: 170.257093 deg.

2025-10-26T21:55:13.526Z,1761515713.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.971547 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:13.541Z,1761515713.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256757
2025-10-26T21:55:13.793Z,1761515713.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509011
2025-10-26T21:55:13.880Z,1761515713.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983152,-0.182777,-0.002319],[0.180530,-0.968924,-0.169099],[0.028661,-0.166669,0.985596]]
2025-10-26T21:55:13.898Z,1761515713.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:13.900Z,1761515713.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 69.081947 m,
      bearing: 181.179464 deg,
      approach rate: -0.628611 m/s,
      LOS rate: 0.088866 deg/s,
      cmd heading: 170.257095 deg,
      new cmd heading: 170.357181 deg.

2025-10-26T21:55:13.901Z,1761515713.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.973294 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:14.044Z,1761515714.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760354
2025-10-26T21:55:14.298Z,1761515714.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013772
2025-10-26T21:55:14.340Z,1761515714.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:14.342Z,1761515714.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 68.804253 m,
      bearing: 181.226866 deg,
      approach rate: -0.628371 m/s,
      LOS rate: 0.107693 deg/s,
      cmd heading: 170.357185 deg,
      new cmd heading: 170.499962 deg.

2025-10-26T21:55:14.364Z,1761515714.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.975786 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:14.548Z,1761515714.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264459
2025-10-26T21:55:14.688Z,1761515714.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983503,-0.180883,0.001805],[0.178223,-0.970649,-0.161485],[0.030962,-0.158499,0.986874]]
2025-10-26T21:55:14.719Z,1761515714.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:14.724Z,1761515714.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 68.568764 m,
      bearing: 181.266908 deg,
      approach rate: -0.621056 m/s,
      LOS rate: 0.105965 deg/s,
      cmd heading: 170.499963 deg,
      new cmd heading: 170.620501 deg.

2025-10-26T21:55:14.725Z,1761515714.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.977890 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:14.802Z,1761515714.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517336
2025-10-26T21:55:15.053Z,1761515715.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768716
2025-10-26T21:55:15.248Z,1761515715.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983651,-0.180062,0.003031],[0.177201,-0.970749,-0.162008],[0.032113,-0.158822,0.986785]]
2025-10-26T21:55:15.306Z,1761515715.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021587
2025-10-26T21:55:15.323Z,1761515715.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:15.326Z,1761515715.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 68.174728 m,
      bearing: 181.336889 deg,
      approach rate: -0.652354 m/s,
      LOS rate: 0.116529 deg/s,
      cmd heading: 170.620502 deg,
      new cmd heading: 170.831658 deg.

2025-10-26T21:55:15.327Z,1761515715.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.981575 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:15.560Z,1761515715.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275844
2025-10-26T21:55:15.808Z,1761515715.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524372
2025-10-26T21:55:15.835Z,1761515715.835 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:15.837Z,1761515715.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:15.840Z,1761515715.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 67.842148 m,
      bearing: 181.396604 deg,
      approach rate: -0.647016 m/s,
      LOS rate: 0.116741 deg/s,
      cmd heading: 170.831665 deg,
      new cmd heading: 171.011687 deg.

2025-10-26T21:55:15.841Z,1761515715.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.984717 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:16.061Z,1761515716.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776478
2025-10-26T21:55:16.306Z,1761515716.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984357,-0.176108,0.005163],[0.172727,-0.970404,-0.168764],[0.034731,-0.165232,0.985643]]
2025-10-26T21:55:16.312Z,1761515716.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028468
2025-10-26T21:55:16.369Z,1761515716.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:16.380Z,1761515716.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 67.520348 m,
      bearing: 181.448175 deg,
      approach rate: -0.604925 m/s,
      LOS rate: 0.097407 deg/s,
      cmd heading: 171.011681 deg,
      new cmd heading: 171.167133 deg.

2025-10-26T21:55:16.381Z,1761515716.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.987430 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:16.565Z,1761515716.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280745
2025-10-26T21:55:16.683Z,1761515716.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984564,-0.174950,0.005170],[0.171572,-0.970547,-0.169118],[0.034605,-0.165621,0.985582]]
2025-10-26T21:55:16.725Z,1761515716.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:16.730Z,1761515716.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 67.293007 m,
      bearing: 181.484677 deg,
      approach rate: -0.638522 m/s,
      LOS rate: 0.102866 deg/s,
      cmd heading: 171.167136 deg,
      new cmd heading: 171.277010 deg.

2025-10-26T21:55:16.732Z,1761515716.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.989348 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:16.817Z,1761515716.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532606
2025-10-26T21:55:17.068Z,1761515717.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784449
2025-10-26T21:55:17.140Z,1761515717.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:17.142Z,1761515717.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 67.022591 m,
      bearing: 181.528423 deg,
      approach rate: -0.671558 m/s,
      LOS rate: 0.109079 deg/s,
      cmd heading: 171.277006 deg,
      new cmd heading: 171.408775 deg.

2025-10-26T21:55:17.144Z,1761515717.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.991647 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:17.320Z,1761515717.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036566
2025-10-26T21:55:17.544Z,1761515717.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:17.546Z,1761515717.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 66.756432 m,
      bearing: 181.563954 deg,
      approach rate: -0.639816 m/s,
      LOS rate: 0.085753 deg/s,
      cmd heading: 171.408775 deg,
      new cmd heading: 171.515793 deg.

2025-10-26T21:55:17.547Z,1761515717.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.993515 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:17.572Z,1761515717.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288455
2025-10-26T21:55:17.824Z,1761515717.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540473
2025-10-26T21:55:17.893Z,1761515717.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985661,-0.168692,0.003867],[0.165616,-0.971571,-0.169180],[0.032297,-0.166114,0.985578]]
2025-10-26T21:55:17.910Z,1761515717.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:17.913Z,1761515717.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:17.915Z,1761515717.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 66.520218 m,
      bearing: 181.594471 deg,
      approach rate: -0.639963 m/s,
      LOS rate: 0.082970 deg/s,
      cmd heading: 171.515790 deg,
      new cmd heading: 171.607664 deg.

2025-10-26T21:55:17.916Z,1761515717.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.995119 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:18.076Z,1761515718.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792542
2025-10-26T21:55:18.326Z,1761515718.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986194,-0.165548,0.003990],[0.162583,-0.972542,-0.166523],[0.031448,-0.163575,0.986030]]
2025-10-26T21:55:18.328Z,1761515718.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044569
2025-10-26T21:55:18.381Z,1761515718.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:18.387Z,1761515718.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 66.232712 m,
      bearing: 181.625775 deg,
      approach rate: -0.614272 m/s,
      LOS rate: 0.067174 deg/s,
      cmd heading: 171.607670 deg,
      new cmd heading: 171.701991 deg.

2025-10-26T21:55:18.388Z,1761515718.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.996765 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:18.580Z,1761515718.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296354
2025-10-26T21:55:18.753Z,1761515718.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:18.755Z,1761515718.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 65.985939 m,
      bearing: 181.652864 deg,
      approach rate: -0.663318 m/s,
      LOS rate: 0.073086 deg/s,
      cmd heading: 171.701995 deg,
      new cmd heading: 171.783564 deg.

2025-10-26T21:55:18.756Z,1761515718.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.998189 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:18.833Z,1761515718.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548677
2025-10-26T21:55:19.084Z,1761515719.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.800446
2025-10-26T21:55:19.130Z,1761515719.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:19.132Z,1761515719.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 65.746292 m,
      bearing: 181.679367 deg,
      approach rate: -0.635646 m/s,
      LOS rate: 0.070554 deg/s,
      cmd heading: 171.783561 deg,
      new cmd heading: 171.863359 deg.

2025-10-26T21:55:19.133Z,1761515719.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.999582 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:19.336Z,1761515719.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052461
2025-10-26T21:55:19.559Z,1761515719.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:19.562Z,1761515719.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 65.467926 m,
      bearing: 181.703171 deg,
      approach rate: -0.648275 m/s,
      LOS rate: 0.055671 deg/s,
      cmd heading: 171.863365 deg,
      new cmd heading: 171.935080 deg.

2025-10-26T21:55:19.564Z,1761515719.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.000833 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:19.588Z,1761515719.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304483
2025-10-26T21:55:19.840Z,1761515719.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556530
2025-10-26T21:55:19.910Z,1761515719.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987847,-0.155245,0.007608],[0.152423,-0.977148,-0.148151],[0.030434,-0.145191,0.988935]]
2025-10-26T21:55:19.933Z,1761515719.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:19.935Z,1761515719.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:19.938Z,1761515719.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 65.224251 m,
      bearing: 181.721774 deg,
      approach rate: -0.648493 m/s,
      LOS rate: 0.049692 deg/s,
      cmd heading: 171.935082 deg,
      new cmd heading: 171.991098 deg.

2025-10-26T21:55:19.938Z,1761515719.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.001811 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:20.092Z,1761515720.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808347
2025-10-26T21:55:20.345Z,1761515720.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061323
2025-10-26T21:55:20.357Z,1761515720.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988268,-0.152503,0.008335],[0.149621,-0.977659,-0.147634],[0.030663,-0.144655,0.989007]]
2025-10-26T21:55:20.524Z,1761515720.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:20.526Z,1761515720.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 64.855698 m,
      bearing: 181.730186 deg,
      approach rate: -0.626123 m/s,
      LOS rate: 0.014372 deg/s,
      cmd heading: 171.991103 deg,
      new cmd heading: 172.016482 deg.

2025-10-26T21:55:20.527Z,1761515720.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.002254 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:20.597Z,1761515720.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.312731
2025-10-26T21:55:20.797Z,1761515720.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988671,-0.149810,0.009261],[0.146949,-0.978667,-0.143584],[0.030574,-0.140597,0.989595]]
2025-10-26T21:55:20.833Z,1761515720.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:20.842Z,1761515720.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 64.669373 m,
      bearing: 181.733993 deg,
      approach rate: -0.602164 m/s,
      LOS rate: 0.012342 deg/s,
      cmd heading: 172.016484 deg,
      new cmd heading: 172.027940 deg.

2025-10-26T21:55:20.843Z,1761515720.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.002454 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:20.848Z,1761515720.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564536
2025-10-26T21:55:21.100Z,1761515721.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.816426
2025-10-26T21:55:21.178Z,1761515721.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988974,-0.147763,0.009861],[0.144958,-0.979527,-0.139694],[0.030301,-0.136725,0.990146]]
2025-10-26T21:55:21.206Z,1761515721.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:21.209Z,1761515721.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 64.428062 m,
      bearing: 181.738482 deg,
      approach rate: -0.646012 m/s,
      LOS rate: 0.012062 deg/s,
      cmd heading: 172.027945 deg,
      new cmd heading: 172.041462 deg.

2025-10-26T21:55:21.210Z,1761515721.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.002690 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:21.353Z,1761515721.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069181
2025-10-26T21:55:21.582Z,1761515721.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989151,-0.146575,0.009804],[0.143853,-0.979986,-0.137597],[0.029776,-0.134694,0.990440]]
2025-10-26T21:55:21.604Z,1761515721.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.320495
2025-10-26T21:55:21.637Z,1761515721.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:21.640Z,1761515721.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 64.148079 m,
      bearing: 181.742329 deg,
      approach rate: -0.650389 m/s,
      LOS rate: 0.008974 deg/s,
      cmd heading: 172.041469 deg,
      new cmd heading: 172.053059 deg.

2025-10-26T21:55:21.641Z,1761515721.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.002892 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:21.857Z,1761515721.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573006
2025-10-26T21:55:21.986Z,1761515721.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989205,-0.146192,0.010093],[0.143460,-0.980162,-0.136752],[0.029884,-0.133828,0.990554]]
2025-10-26T21:55:22.013Z,1761515722.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:22.016Z,1761515722.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:22.018Z,1761515722.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 63.901840 m,
      bearing: 181.745644 deg,
      approach rate: -0.650547 m/s,
      LOS rate: 0.008792 deg/s,
      cmd heading: 172.053053 deg,
      new cmd heading: 172.063037 deg.

2025-10-26T21:55:22.019Z,1761515722.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.003067 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:22.109Z,1761515722.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825374
2025-10-26T21:55:22.362Z,1761515722.362 [DAT](INFO): Reached modem response timeout
2025-10-26T21:55:22.363Z,1761515722.363 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:22.364Z,1761515722.364 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:55:22.394Z,1761515722.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989271,-0.145737,0.010168],[0.142985,-0.980165,-0.137228],[0.029966,-0.134302,0.990487]]
2025-10-26T21:55:22.443Z,1761515722.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:22.445Z,1761515722.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 63.626530 m,
      bearing: 181.742516 deg,
      approach rate: -0.644280 m/s,
      LOS rate: -0.007352 deg/s,
      cmd heading: 172.063038 deg,
      new cmd heading: 172.053613 deg.

2025-10-26T21:55:22.446Z,1761515722.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.002902 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:22.612Z,1761515722.612 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:22.801Z,1761515722.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989392,-0.144957,0.009526],[0.142208,-0.979851,-0.140245],[0.029663,-0.137402,0.990071]]
2025-10-26T21:55:22.830Z,1761515722.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:22.833Z,1761515722.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 63.376976 m,
      bearing: 181.739525 deg,
      approach rate: -0.644277 m/s,
      LOS rate: -0.007753 deg/s,
      cmd heading: 172.053613 deg,
      new cmd heading: 172.044604 deg.

2025-10-26T21:55:22.834Z,1761515722.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.002745 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:22.864Z,1761515722.864 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:23.116Z,1761515723.116 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:23.198Z,1761515723.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989496,-0.144272,0.009102],[0.141536,-0.979692,-0.142024],[0.029407,-0.139244,0.989821]]
2025-10-26T21:55:23.217Z,1761515723.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:23.220Z,1761515723.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 63.127632 m,
      bearing: 181.736386 deg,
      approach rate: -0.644284 m/s,
      LOS rate: -0.008144 deg/s,
      cmd heading: 172.044610 deg,
      new cmd heading: 172.035155 deg.

2025-10-26T21:55:23.221Z,1761515723.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.002580 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:23.371Z,1761515723.371 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:23.602Z,1761515723.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989464,-0.144565,0.007913],[0.141958,-0.979459,-0.143208],[0.028453,-0.140576,0.989661]]
2025-10-26T21:55:23.620Z,1761515723.620 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:23.648Z,1761515723.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:23.651Z,1761515723.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 62.858662 m,
      bearing: 181.725874 deg,
      approach rate: -0.624131 m/s,
      LOS rate: -0.024497 deg/s,
      cmd heading: 172.035157 deg,
      new cmd heading: 172.003487 deg.

2025-10-26T21:55:23.652Z,1761515723.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.002027 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:23.872Z,1761515723.872 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:24.006Z,1761515724.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989416,-0.144966,0.006315],[0.142421,-0.978531,-0.148977],[0.027776,-0.146501,0.988820]]
2025-10-26T21:55:24.036Z,1761515724.036 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:24.038Z,1761515724.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:24.041Z,1761515724.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 62.614941 m,
      bearing: 181.716458 deg,
      approach rate: -0.624572 m/s,
      LOS rate: -0.024223 deg/s,
      cmd heading: 172.003493 deg,
      new cmd heading: 171.975135 deg.

2025-10-26T21:55:24.042Z,1761515724.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.001532 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:24.125Z,1761515724.125 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:24.378Z,1761515724.378 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:24.417Z,1761515724.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989472,-0.144654,0.004612],[0.142130,-0.977228,-0.157559],[0.027299,-0.155245,0.987499]]
2025-10-26T21:55:24.466Z,1761515724.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:24.469Z,1761515724.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 62.342670 m,
      bearing: 181.704775 deg,
      approach rate: -0.637053 m/s,
      LOS rate: -0.027455 deg/s,
      cmd heading: 171.975134 deg,
      new cmd heading: 171.939932 deg.

2025-10-26T21:55:24.474Z,1761515724.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.000918 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:24.628Z,1761515724.628 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:55:24.629Z,1761515724.629 [DAT](INFO): response not received
2025-10-26T21:55:24.629Z,1761515724.629 [DAT](INFO): DAT read: user:407>

2025-10-26T21:55:24.630Z,1761515724.630 [DAT](INFO): DAT read: Tx time:21:55:23.8902

2025-10-26T21:55:24.630Z,1761515724.630 [DAT](INFO): Ping request sent.
2025-10-26T21:55:24.630Z,1761515724.630 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:55:24.630Z,1761515724.630 [DAT](INFO): publishing transmit ping time
2025-10-26T21:55:24.631Z,1761515724.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-10-26T21:55:24.814Z,1761515724.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989524,-0.144309,0.004079],[0.141781,-0.976739,-0.160872],[0.027199,-0.158609,0.986967]]
2025-10-26T21:55:24.844Z,1761515724.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:24.846Z,1761515724.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 62.101295 m,
      bearing: 181.694306 deg,
      approach rate: -0.639064 m/s,
      LOS rate: -0.027826 deg/s,
      cmd heading: 171.939931 deg,
      new cmd heading: 171.908402 deg.

2025-10-26T21:55:24.847Z,1761515724.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.000368 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:24.881Z,1761515724.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250698
2025-10-26T21:55:25.132Z,1761515725.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502221
2025-10-26T21:55:25.218Z,1761515725.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989510,-0.144412,0.003861],[0.141904,-0.976643,-0.161341],[0.027071,-0.159101,0.986891]]
2025-10-26T21:55:25.260Z,1761515725.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:25.270Z,1761515725.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 61.845989 m,
      bearing: 181.683181 deg,
      approach rate: -0.637845 m/s,
      LOS rate: -0.027909 deg/s,
      cmd heading: 171.908403 deg,
      new cmd heading: 171.874890 deg.

2025-10-26T21:55:25.279Z,1761515725.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.999783 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:25.388Z,1761515725.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757584
2025-10-26T21:55:25.621Z,1761515725.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989448,-0.144833,0.004025],[0.142346,-0.976891,-0.159443],[0.027025,-0.157188,0.987199]]
2025-10-26T21:55:25.636Z,1761515725.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006254
2025-10-26T21:55:25.682Z,1761515725.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:25.689Z,1761515725.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 61.582275 m,
      bearing: 181.672738 deg,
      approach rate: -0.600870 m/s,
      LOS rate: -0.023895 deg/s,
      cmd heading: 171.874894 deg,
      new cmd heading: 171.843432 deg.

2025-10-26T21:55:25.690Z,1761515725.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.999234 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:25.888Z,1761515725.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258238
2025-10-26T21:55:26.066Z,1761515726.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989306,-0.145803,0.003940],[0.143313,-0.976721,-0.159619],[0.027121,-0.157347,0.987171]]
2025-10-26T21:55:26.086Z,1761515726.086 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:26.089Z,1761515726.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:26.091Z,1761515726.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 61.309566 m,
      bearing: 181.662098 deg,
      approach rate: -0.671313 m/s,
      LOS rate: -0.026308 deg/s,
      cmd heading: 171.843434 deg,
      new cmd heading: 171.811372 deg.

2025-10-26T21:55:26.092Z,1761515726.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.998674 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:26.140Z,1761515726.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510343
2025-10-26T21:55:26.396Z,1761515726.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765630
2025-10-26T21:55:26.453Z,1761515726.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989212,-0.146440,0.003810],[0.143854,-0.975999,-0.163496],[0.027661,-0.161184,0.986537]]
2025-10-26T21:55:26.540Z,1761515726.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:26.543Z,1761515726.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 61.022114 m,
      bearing: 181.659784 deg,
      approach rate: -0.643509 m/s,
      LOS rate: -0.005204 deg/s,
      cmd heading: 171.811373 deg,
      new cmd heading: 171.804399 deg.

2025-10-26T21:55:26.548Z,1761515726.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.998552 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:26.648Z,1761515726.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016948
2025-10-26T21:55:26.851Z,1761515726.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989201,-0.146511,0.004074],[0.143853,-0.975829,-0.164514],[0.028078,-0.162151,0.986366]]
2025-10-26T21:55:26.880Z,1761515726.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:26.883Z,1761515726.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 60.794609 m,
      bearing: 181.657952 deg,
      approach rate: -0.660129 m/s,
      LOS rate: -0.005336 deg/s,
      cmd heading: 171.804393 deg,
      new cmd heading: 171.798876 deg.

2025-10-26T21:55:26.884Z,1761515726.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.998456 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:26.896Z,1761515726.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266246
2025-10-26T21:55:27.148Z,1761515727.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518161
2025-10-26T21:55:27.254Z,1761515727.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989148,-0.146828,0.005183],[0.143993,-0.975847,-0.164280],[0.029179,-0.161751,0.986400]]
2025-10-26T21:55:27.309Z,1761515727.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:27.316Z,1761515727.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 60.513962 m,
      bearing: 181.655707 deg,
      approach rate: -0.653822 m/s,
      LOS rate: -0.005255 deg/s,
      cmd heading: 171.798874 deg,
      new cmd heading: 171.792107 deg.

2025-10-26T21:55:27.317Z,1761515727.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.998338 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:27.404Z,1761515727.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773009
2025-10-26T21:55:27.652Z,1761515727.652 [DAT](INFO): DAT read: Rx Time:21:55:26.3780

2025-10-26T21:55:27.653Z,1761515727.653 [DAT](INFO): Rx dataTimestamp_ set to:1761515727.652646
2025-10-26T21:55:27.653Z,1761515727.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023318
2025-10-26T21:55:27.661Z,1761515727.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989088,-0.147219,0.005684],[0.144285,-0.975736,-0.164687],[0.029791,-0.162069,0.986330]]
2025-10-26T21:55:27.738Z,1761515727.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:27.745Z,1761515727.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 60.250206 m,
      bearing: 181.655480 deg,
      approach rate: -0.615559 m/s,
      LOS rate: -0.000533 deg/s,
      cmd heading: 171.792112 deg,
      new cmd heading: 171.791427 deg.

2025-10-26T21:55:27.746Z,1761515727.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.998326 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:27.905Z,1761515727.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274478
2025-10-26T21:55:28.062Z,1761515728.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989049,-0.147456,0.006196],[0.144417,-0.975613,-0.165297],[0.030419,-0.162592,0.986224]]
2025-10-26T21:55:28.085Z,1761515728.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.55 m.
2025-10-26T21:55:28.104Z,1761515728.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.549789 m,
      nav range: 60.000271 m,
      bearing: 181.655302 deg,
      approach rate: -0.719250 m/s,
      LOS rate: -0.000513 deg/s,
      cmd heading: 171.791429 deg,
      new cmd heading: 171.790894 deg.

2025-10-26T21:55:28.105Z,1761515728.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.998317 target range: 72.549789 and range: 73.00 m.
2025-10-26T21:55:28.160Z,1761515728.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528659
2025-10-26T21:55:28.434Z,1761515728.434 [DAT](INFO): DAT read: 21:55:26.3780 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 261,-0.24, 1.677,-0.231, 1.272, 1.312, PHS= 0.466,-1.498,-0.085, RAW= 134.2,  12.7, CAL= 133.6,  13.8, ROT=  16.4, -13.8

2025-10-26T21:55:28.438Z,1761515728.438 [DAT](INFO): got valid direction response:
 21:55:26.3780 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 261,-0.24, 1.677,-0.231, 1.272, 1.312, PHS= 0.466,-1.498,-0.085, RAW= 134.2,  12.7, CAL= 133.6,  13.8, ROT=  16.4, -13.8

2025-10-26T21:55:28.451Z,1761515728.451 [DAT](INFO): DAT read: Bearing 340.3,  15.2 (Local)

2025-10-26T21:55:28.460Z,1761515728.460 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.3,  15.2 (Local)

2025-10-26T21:55:28.472Z,1761515728.472 [DAT](INFO): DAT read: Range 11 to 50 : 62.7 m  (Round-trip  83.6 ms) speed  0.7 m/s

2025-10-26T21:55:28.473Z,1761515728.473 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:55:28.484Z,1761515728.484 [DAT](INFO): direction in FSK: [0.931623,0.274191,0.238533]
2025-10-26T21:55:28.484Z,1761515728.484 [DAT](INFO): publishing direction and range info
2025-10-26T21:55:28.500Z,1761515728.500 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:28.500Z,1761515728.500 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:28.500Z,1761515728.500 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:55:28.519Z,1761515728.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989003,-0.147728,0.007015],[0.144611,-0.975895,-0.163455],[0.030993,-0.160643,0.986526]]
2025-10-26T21:55:28.630Z,1761515728.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.700001 m,
      deltaT: 16.381243 s,
      deltaX: -10.299999 m,
      approachRate: -0.628768 m/s,
      rangeRepo size: 4

2025-10-26T21:55:28.636Z,1761515728.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.313683 m,
      bearing: 190.146791 deg,
      lat: 36.779409 deg,
      lon: -121.859547 deg,
      deltaT: 16.381243 s,
      deltaX: -10.236107 m,
      approachRate: -0.624868 m/s,
      posRepo size: 4

2025-10-26T21:55:28.637Z,1761515728.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:28.644Z,1761515728.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 60.784939 m,
      bearing: 190.146862 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000513 deg/s,
      cmd heading: 171.790896 deg,
      new cmd heading: 171.790059 deg.

2025-10-26T21:55:28.646Z,1761515728.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.998302 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:28.661Z,1761515728.661 [DAT](INFO): DAT read: user:408>

2025-10-26T21:55:28.661Z,1761515728.661 [DAT](INFO): DAT read: Tx time:21:55:27.8417

2025-10-26T21:55:28.662Z,1761515728.662 [DAT](INFO): Ping request sent.
2025-10-26T21:55:28.662Z,1761515728.662 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:55:28.662Z,1761515728.662 [DAT](INFO): publishing transmit ping time
2025-10-26T21:55:28.663Z,1761515728.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000724
2025-10-26T21:55:28.913Z,1761515728.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250637
2025-10-26T21:55:28.996Z,1761515728.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988913,-0.148333,0.006910],[0.145279,-0.976084,-0.161720],[0.030733,-0.158924,0.986812]]
2025-10-26T21:55:29.012Z,1761515729.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:29.014Z,1761515729.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:29.017Z,1761515729.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 60.516430 m,
      bearing: 190.193672 deg,
      approach rate: -0.697261 m/s,
      LOS rate: 0.122094 deg/s,
      cmd heading: 171.790063 deg,
      new cmd heading: 171.931115 deg.

2025-10-26T21:55:29.018Z,1761515729.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.000764 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:29.164Z,1761515729.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502456
2025-10-26T21:55:29.390Z,1761515729.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988900,-0.148414,0.007071],[0.145368,-0.976260,-0.160576],[0.030735,-0.157766,0.986998]]
2025-10-26T21:55:29.420Z,1761515729.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758023
2025-10-26T21:55:29.473Z,1761515729.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:29.484Z,1761515729.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 60.227566 m,
      bearing: 190.244519 deg,
      approach rate: -0.629191 m/s,
      LOS rate: 0.111284 deg/s,
      cmd heading: 171.931120 deg,
      new cmd heading: 172.084393 deg.

2025-10-26T21:55:29.485Z,1761515729.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.003439 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:29.668Z,1761515729.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006441
2025-10-26T21:55:29.805Z,1761515729.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988861,-0.148674,0.007119],[0.145657,-0.976423,-0.159320],[0.030638,-0.156508,0.987201]]
2025-10-26T21:55:29.844Z,1761515729.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:29.846Z,1761515729.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 59.958004 m,
      bearing: 190.295202 deg,
      approach rate: -0.726997 m/s,
      LOS rate: 0.137307 deg/s,
      cmd heading: 172.084389 deg,
      new cmd heading: 172.237124 deg.

2025-10-26T21:55:29.848Z,1761515729.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.006105 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:29.922Z,1761515729.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259391
2025-10-26T21:55:30.172Z,1761515730.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510441
2025-10-26T21:55:30.209Z,1761515730.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988897,-0.148421,0.007282],[0.145344,-0.976273,-0.160516],[0.030934,-0.157676,0.987006]]
2025-10-26T21:55:30.227Z,1761515730.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:30.230Z,1761515730.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 59.699200 m,
      bearing: 190.344225 deg,
      approach rate: -0.675915 m/s,
      LOS rate: 0.128587 deg/s,
      cmd heading: 172.237126 deg,
      new cmd heading: 172.384832 deg.

2025-10-26T21:55:30.231Z,1761515730.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.008683 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:30.424Z,1761515730.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762521
2025-10-26T21:55:30.607Z,1761515730.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988963,-0.147971,0.007590],[0.144820,-0.976187,-0.161509],[0.031308,-0.158627,0.986842]]
2025-10-26T21:55:30.660Z,1761515730.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:30.663Z,1761515730.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 59.421329 m,
      bearing: 190.407575 deg,
      approach rate: -0.641558 m/s,
      LOS rate: 0.146948 deg/s,
      cmd heading: 172.384836 deg,
      new cmd heading: 172.575772 deg.

2025-10-26T21:55:30.668Z,1761515730.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.012015 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:30.676Z,1761515730.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014571
2025-10-26T21:55:30.928Z,1761515730.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266484
2025-10-26T21:55:31.011Z,1761515731.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989065,-0.147279,0.007645],[0.144073,-0.976006,-0.163263],[0.031506,-0.160376,0.986553]]
2025-10-26T21:55:31.027Z,1761515731.027 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:31.045Z,1761515731.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:31.052Z,1761515731.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 59.164753 m,
      bearing: 190.466417 deg,
      approach rate: -0.665712 m/s,
      LOS rate: 0.153334 deg/s,
      cmd heading: 172.575767 deg,
      new cmd heading: 172.753059 deg.

2025-10-26T21:55:31.053Z,1761515731.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.015110 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:31.180Z,1761515731.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518589
2025-10-26T21:55:31.420Z,1761515731.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989243,-0.146075,0.007784],[0.142739,-0.975551,-0.167111],[0.032005,-0.164202,0.985907]]
2025-10-26T21:55:31.435Z,1761515731.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772658
2025-10-26T21:55:31.544Z,1761515731.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:31.547Z,1761515731.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 58.880737 m,
      bearing: 190.531781 deg,
      approach rate: -0.569344 m/s,
      LOS rate: 0.131661 deg/s,
      cmd heading: 172.753065 deg,
      new cmd heading: 172.950101 deg.

2025-10-26T21:55:31.552Z,1761515731.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.018549 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:31.694Z,1761515731.694 [DAT](INFO): DAT read: 21:55:30.3258 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 399,-0.06, 2.131, 0.387, 1.713, 1.876, PHS= 0.358,-1.444,-0.206, RAW= 132.2,  16.0, CAL= 131.0,  17.0, ROT=  19.0, -17.0

2025-10-26T21:55:31.695Z,1761515731.695 [DAT](INFO): got valid direction response:
 21:55:30.3258 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 399,-0.06, 2.131, 0.387, 1.713, 1.876, PHS= 0.358,-1.444,-0.206, RAW= 132.2,  16.0, CAL= 131.0,  17.0, ROT=  19.0, -17.0

2025-10-26T21:55:31.696Z,1761515731.696 [DAT](INFO): DAT read: Rx Time:21:55:30.3258

2025-10-26T21:55:31.697Z,1761515731.697 [DAT](INFO): Rx dataTimestamp_ set to:1761515731.696789
2025-10-26T21:55:31.698Z,1761515731.698 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-26T21:55:31.698Z,1761515731.698 [DAT](INFO): Received low SNR in chirp
2025-10-26T21:55:31.713Z,1761515731.713 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T21:55:31.714Z,1761515731.714 [DAT](INFO): direction in FSK: [0.904204,0.311342,0.292372]
2025-10-26T21:55:31.719Z,1761515731.719 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:31.719Z,1761515731.719 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:31.719Z,1761515731.719 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:31.907Z,1761515731.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989409,-0.144920,0.008250],[0.141477,-0.975498,-0.168485],[0.032465,-0.165533,0.985670]]
2025-10-26T21:55:31.940Z,1761515731.940 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:31.940Z,1761515731.940 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:31.940Z,1761515731.940 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:31.958Z,1761515731.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:31.961Z,1761515731.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 58.549580 m,
      bearing: 190.608248 deg,
      approach rate: -0.799931 m/s,
      LOS rate: 0.185755 deg/s,
      cmd heading: 172.950102 deg,
      new cmd heading: 173.180799 deg.

2025-10-26T21:55:31.962Z,1761515731.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.022575 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:32.192Z,1761515732.192 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:32.192Z,1761515732.193 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:32.193Z,1761515732.193 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:32.311Z,1761515732.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989540,-0.143966,0.009142],[0.140451,-0.975964,-0.166635],[0.032912,-0.163608,0.985976]]
2025-10-26T21:55:32.329Z,1761515732.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:32.352Z,1761515732.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 58.305397 m,
      bearing: 190.664940 deg,
      approach rate: -0.657913 m/s,
      LOS rate: 0.153389 deg/s,
      cmd heading: 173.180799 deg,
      new cmd heading: 173.351588 deg.

2025-10-26T21:55:32.353Z,1761515732.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.025556 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:32.447Z,1761515732.447 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:32.447Z,1761515732.447 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:32.447Z,1761515732.447 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:32.697Z,1761515732.697 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:32.697Z,1761515732.697 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:32.697Z,1761515732.697 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:32.742Z,1761515732.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989709,-0.142730,0.010234],[0.139160,-0.976678,-0.163506],[0.033333,-0.160399,0.986489]]
2025-10-26T21:55:32.801Z,1761515732.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:32.804Z,1761515732.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 57.999878 m,
      bearing: 190.743632 deg,
      approach rate: -0.648245 m/s,
      LOS rate: 0.167847 deg/s,
      cmd heading: 173.351594 deg,
      new cmd heading: 173.588913 deg.

2025-10-26T21:55:32.805Z,1761515732.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.029698 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:32.948Z,1761515732.948 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:32.948Z,1761515732.948 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:32.948Z,1761515732.948 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:33.200Z,1761515733.200 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:33.201Z,1761515733.201 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:33.201Z,1761515733.201 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:33.306Z,1761515733.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:33.308Z,1761515733.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:33.311Z,1761515733.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 57.671665 m,
      bearing: 190.829130 deg,
      approach rate: -0.646776 m/s,
      LOS rate: 0.169441 deg/s,
      cmd heading: 173.588916 deg,
      new cmd heading: 173.846868 deg.

2025-10-26T21:55:33.312Z,1761515733.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.034200 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:33.452Z,1761515733.452 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:33.452Z,1761515733.452 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:33.452Z,1761515733.452 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:33.651Z,1761515733.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990069,-0.140051,0.012174],[0.136417,-0.978064,-0.157420],[0.033954,-0.154196,0.987457]]
2025-10-26T21:55:33.701Z,1761515733.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:33.705Z,1761515733.705 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:33.705Z,1761515733.705 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:33.705Z,1761515733.705 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:33.708Z,1761515733.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 57.424278 m,
      bearing: 190.891004 deg,
      approach rate: -0.629716 m/s,
      LOS rate: 0.158176 deg/s,
      cmd heading: 173.846865 deg,
      new cmd heading: 174.033285 deg.

2025-10-26T21:55:33.710Z,1761515733.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.037454 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:33.956Z,1761515733.956 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:33.956Z,1761515733.956 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:33.956Z,1761515733.956 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:34.151Z,1761515734.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990368,-0.137879,0.012638],[0.134386,-0.979205,-0.151982],[0.033331,-0.148819,0.988302]]
2025-10-26T21:55:34.170Z,1761515734.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:34.173Z,1761515734.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 57.127068 m,
      bearing: 190.965378 deg,
      approach rate: -0.633762 m/s,
      LOS rate: 0.159418 deg/s,
      cmd heading: 174.033288 deg,
      new cmd heading: 174.257570 deg.

2025-10-26T21:55:34.174Z,1761515734.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.041368 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:34.209Z,1761515734.209 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:34.209Z,1761515734.209 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:34.209Z,1761515734.209 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:34.460Z,1761515734.460 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:34.460Z,1761515734.460 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:34.460Z,1761515734.460 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:34.567Z,1761515734.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990492,-0.137027,0.012244],[0.133576,-0.979195,-0.152755],[0.032921,-0.149667,0.988188]]
2025-10-26T21:55:34.605Z,1761515734.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:34.607Z,1761515734.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 56.860199 m,
      bearing: 191.030105 deg,
      approach rate: -0.613818 m/s,
      LOS rate: 0.149577 deg/s,
      cmd heading: 174.257564 deg,
      new cmd heading: 174.452658 deg.

2025-10-26T21:55:34.608Z,1761515734.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.044773 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:34.714Z,1761515734.714 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:34.714Z,1761515734.714 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:34.714Z,1761515734.714 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:34.954Z,1761515734.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990628,-0.136103,0.011468],[0.132767,-0.979250,-0.153110],[0.032068,-0.150153,0.988143]]
2025-10-26T21:55:34.964Z,1761515734.964 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:34.964Z,1761515734.964 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:34.964Z,1761515734.964 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:34.974Z,1761515734.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:34.976Z,1761515734.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 56.633854 m,
      bearing: 191.085301 deg,
      approach rate: -0.613400 m/s,
      LOS rate: 0.150178 deg/s,
      cmd heading: 174.452662 deg,
      new cmd heading: 174.618909 deg.

2025-10-26T21:55:34.977Z,1761515734.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.047675 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:35.217Z,1761515735.217 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:35.217Z,1761515735.217 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:35.217Z,1761515735.217 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:35.363Z,1761515735.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990946,-0.133881,0.010139],[0.130756,-0.979446,-0.153587],[0.030493,-0.150870,0.988083]]
2025-10-26T21:55:35.380Z,1761515735.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:35.382Z,1761515735.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:35.384Z,1761515735.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 56.383774 m,
      bearing: 191.146275 deg,
      approach rate: -0.612875 m/s,
      LOS rate: 0.150093 deg/s,
      cmd heading: 174.618909 deg,
      new cmd heading: 174.802642 deg.

2025-10-26T21:55:35.385Z,1761515735.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.050882 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:35.469Z,1761515735.469 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:35.469Z,1761515735.469 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:35.469Z,1761515735.469 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:35.721Z,1761515735.721 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:35.721Z,1761515735.721 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:35.721Z,1761515735.721 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:35.784Z,1761515735.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991244,-0.131758,0.008617],[0.128910,-0.979811,-0.152818],[0.028578,-0.150369,0.988217]]
2025-10-26T21:55:35.827Z,1761515735.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:35.830Z,1761515735.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 56.119270 m,
      bearing: 191.200210 deg,
      approach rate: -0.594037 m/s,
      LOS rate: 0.121702 deg/s,
      cmd heading: 174.802641 deg,
      new cmd heading: 174.965209 deg.

2025-10-26T21:55:35.831Z,1761515735.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.053719 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:35.972Z,1761515735.972 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:35.972Z,1761515735.972 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:35.972Z,1761515735.972 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:36.169Z,1761515736.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991578,-0.129322,0.006999],[0.126756,-0.980150,-0.152442],[0.026575,-0.150271,0.988288]]
2025-10-26T21:55:36.187Z,1761515736.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:36.189Z,1761515736.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 55.905552 m,
      bearing: 191.243672 deg,
      approach rate: -0.594027 m/s,
      LOS rate: 0.121262 deg/s,
      cmd heading: 174.965213 deg,
      new cmd heading: 175.096096 deg.

2025-10-26T21:55:36.190Z,1761515736.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.056003 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:36.225Z,1761515736.225 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:36.225Z,1761515736.225 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:36.225Z,1761515736.225 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:36.476Z,1761515736.476 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:36.476Z,1761515736.476 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:36.476Z,1761515736.476 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:36.605Z,1761515736.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991930,-0.126674,0.005400],[0.124417,-0.980692,-0.150873],[0.024407,-0.148984,0.988538]]
2025-10-26T21:55:36.612Z,1761515736.612 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000503035.0, +10.3,   0.0,1491.1,  0
2025-10-26T21:55:36.628Z,1761515736.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:36.631Z,1761515736.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 55.643459 m,
      bearing: 191.296753 deg,
      approach rate: -0.593770 m/s,
      LOS rate: 0.120821 deg/s,
      cmd heading: 175.096093 deg,
      new cmd heading: 175.256086 deg.

2025-10-26T21:55:36.632Z,1761515736.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.058796 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:36.729Z,1761515736.729 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:36.730Z,1761515736.730 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:36.730Z,1761515736.730 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:36.974Z,1761515736.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992255,-0.124155,0.003810],[0.122203,-0.981232,-0.149167],[0.022258,-0.147546,0.988805]]
2025-10-26T21:55:36.980Z,1761515736.980 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:36.980Z,1761515736.980 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:36.980Z,1761515736.980 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:37.019Z,1761515737.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:37.026Z,1761515737.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 55.425823 m,
      bearing: 191.340678 deg,
      approach rate: -0.557447 m/s,
      LOS rate: 0.112951 deg/s,
      cmd heading: 175.256083 deg,
      new cmd heading: 175.388377 deg.

2025-10-26T21:55:37.027Z,1761515737.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.061105 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:37.233Z,1761515737.233 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:37.233Z,1761515737.233 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:37.233Z,1761515737.233 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:37.382Z,1761515737.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992581,-0.121564,0.002280],[0.119895,-0.981726,-0.147781],[0.020203,-0.146411,0.989018]]
2025-10-26T21:55:37.398Z,1761515737.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:37.401Z,1761515737.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:37.403Z,1761515737.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 55.185162 m,
      bearing: 191.389042 deg,
      approach rate: -0.629770 m/s,
      LOS rate: 0.127111 deg/s,
      cmd heading: 175.388371 deg,
      new cmd heading: 175.534093 deg.

2025-10-26T21:55:37.404Z,1761515737.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.063648 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:37.485Z,1761515737.485 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:37.485Z,1761515737.485 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:37.485Z,1761515737.485 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:37.736Z,1761515737.736 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:37.736Z,1761515737.736 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:37.736Z,1761515737.736 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:37.794Z,1761515737.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992762,-0.120087,0.001366],[0.118667,-0.982650,-0.142541],[0.018459,-0.141347,0.989788]]
2025-10-26T21:55:37.843Z,1761515737.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:37.845Z,1761515737.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 54.918537 m,
      bearing: 191.425256 deg,
      approach rate: -0.603272 m/s,
      LOS rate: 0.082337 deg/s,
      cmd heading: 175.534099 deg,
      new cmd heading: 175.643269 deg.

2025-10-26T21:55:37.846Z,1761515737.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.065553 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:37.988Z,1761515737.988 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:37.988Z,1761515737.988 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:37.988Z,1761515737.988 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:38.186Z,1761515738.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992982,-0.118266,0.000772],[0.117032,-0.983517,-0.137835],[0.017061,-0.136778,0.990455]]
2025-10-26T21:55:38.221Z,1761515738.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:38.223Z,1761515738.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 54.700188 m,
      bearing: 191.454712 deg,
      approach rate: -0.577615 m/s,
      LOS rate: 0.078233 deg/s,
      cmd heading: 175.643273 deg,
      new cmd heading: 175.731994 deg.

2025-10-26T21:55:38.224Z,1761515738.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.067102 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:38.243Z,1761515738.243 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:38.244Z,1761515738.244 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:38.244Z,1761515738.244 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:38.492Z,1761515738.492 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:55:38.492Z,1761515738.492 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:55:38.492Z,1761515738.492 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T21:55:38.620Z,1761515738.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993192,-0.116488,0.000595],[0.115346,-0.984146,-0.134730],[0.016280,-0.133744,0.990882]]
2025-10-26T21:55:38.657Z,1761515738.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:38.660Z,1761515738.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 54.419930 m,
      bearing: 191.485064 deg,
      approach rate: -0.642856 m/s,
      LOS rate: 0.069979 deg/s,
      cmd heading: 175.731997 deg,
      new cmd heading: 175.823521 deg.

2025-10-26T21:55:38.661Z,1761515738.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.068699 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:38.746Z,1761515738.746 [DAT](INFO): Reached modem response timeout
2025-10-26T21:55:38.746Z,1761515738.746 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:38.747Z,1761515738.747 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:55:38.996Z,1761515738.996 [DAT](INFO): DAT read: 

2025-10-26T21:55:38.997Z,1761515738.997 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:39.028Z,1761515739.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993407,-0.114636,-0.000475],[0.113672,-0.984495,-0.133597],[0.014848,-0.132771,0.991036]]
2025-10-26T21:55:39.046Z,1761515739.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:39.069Z,1761515739.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 54.177906 m,
      bearing: 191.511068 deg,
      approach rate: -0.621422 m/s,
      LOS rate: 0.067067 deg/s,
      cmd heading: 175.823522 deg,
      new cmd heading: 175.901883 deg.

2025-10-26T21:55:39.070Z,1761515739.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.070067 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:39.249Z,1761515739.249 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:39.418Z,1761515739.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993709,-0.111969,-0.002307],[0.111257,-0.984611,-0.134770],[0.012819,-0.134179,0.990874]]
2025-10-26T21:55:39.451Z,1761515739.451 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:39.453Z,1761515739.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:39.460Z,1761515739.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 53.925720 m,
      bearing: 191.537776 deg,
      approach rate: -0.619825 m/s,
      LOS rate: 0.065952 deg/s,
      cmd heading: 175.901878 deg,
      new cmd heading: 175.982378 deg.

2025-10-26T21:55:39.461Z,1761515739.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.071472 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:39.500Z,1761515739.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:39.753Z,1761515739.753 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:39.822Z,1761515739.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993928,-0.109942,-0.004440],[0.109525,-0.984676,-0.135713],[0.010548,-0.135376,0.990738]]
2025-10-26T21:55:39.877Z,1761515739.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:39.880Z,1761515739.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 53.672272 m,
      bearing: 191.556576 deg,
      approach rate: -0.597723 m/s,
      LOS rate: 0.044547 deg/s,
      cmd heading: 175.982378 deg,
      new cmd heading: 176.039045 deg.

2025-10-26T21:55:39.881Z,1761515739.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.072461 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:40.004Z,1761515740.004 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:40.228Z,1761515740.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994127,-0.108015,-0.006686],[0.107897,-0.984461,-0.138542],[0.008382,-0.138450,0.990334]]
2025-10-26T21:55:40.257Z,1761515740.257 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:40.258Z,1761515740.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:40.263Z,1761515740.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 53.427860 m,
      bearing: 191.574487 deg,
      approach rate: -0.646061 m/s,
      LOS rate: 0.047561 deg/s,
      cmd heading: 176.039042 deg,
      new cmd heading: 176.093020 deg.

2025-10-26T21:55:40.265Z,1761515740.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.073403 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:40.508Z,1761515740.508 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:40.652Z,1761515740.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994280,-0.106481,-0.008253],[0.106585,-0.984394,-0.140032],[0.006787,-0.140111,0.990113]]
2025-10-26T21:55:40.689Z,1761515740.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:40.691Z,1761515740.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 53.145546 m,
      bearing: 191.596851 deg,
      approach rate: -0.651441 m/s,
      LOS rate: 0.051879 deg/s,
      cmd heading: 176.093014 deg,
      new cmd heading: 176.160462 deg.

2025-10-26T21:55:40.692Z,1761515740.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.074580 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:40.762Z,1761515740.762 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:41.012Z,1761515741.012 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:55:41.013Z,1761515741.013 [DAT](INFO): response not received
2025-10-26T21:55:41.013Z,1761515741.013 [DAT](INFO): DAT read: user:410>Tx time:21:55:40.2902

2025-10-26T21:55:41.014Z,1761515741.014 [DAT](ERROR): No response from remote modem.
2025-10-26T21:55:41.014Z,1761515741.014 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:41.014Z,1761515741.014 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:55:41.069Z,1761515741.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994426,-0.104987,-0.009737],[0.105296,-0.984056,-0.143343],[0.005468,-0.143570,0.989625]]
2025-10-26T21:55:41.099Z,1761515741.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:41.106Z,1761515741.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 52.887062 m,
      bearing: 191.617224 deg,
      approach rate: -0.629829 m/s,
      LOS rate: 0.049883 deg/s,
      cmd heading: 176.160455 deg,
      new cmd heading: 176.221871 deg.

2025-10-26T21:55:41.107Z,1761515741.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.075652 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:41.265Z,1761515741.265 [DAT](INFO): DAT read: 

2025-10-26T21:55:41.266Z,1761515741.266 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:41.445Z,1761515741.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994639,-0.102863,-0.010624],[0.103306,-0.983780,-0.146647],[0.004633,-0.146959,0.989132]]
2025-10-26T21:55:41.462Z,1761515741.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:41.464Z,1761515741.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:41.466Z,1761515741.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 52.648354 m,
      bearing: 191.635742 deg,
      approach rate: -0.654758 m/s,
      LOS rate: 0.051026 deg/s,
      cmd heading: 176.221872 deg,
      new cmd heading: 176.277680 deg.

2025-10-26T21:55:41.468Z,1761515741.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.076626 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:41.517Z,1761515741.517 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:41.768Z,1761515741.768 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:41.842Z,1761515741.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994892,-0.100353,-0.010920],[0.100870,-0.984126,-0.146020],[0.003907,-0.146375,0.989221]]
2025-10-26T21:55:41.885Z,1761515741.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:41.888Z,1761515741.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 52.368298 m,
      bearing: 191.660051 deg,
      approach rate: -0.663895 m/s,
      LOS rate: 0.057933 deg/s,
      cmd heading: 176.277675 deg,
      new cmd heading: 176.350989 deg.

2025-10-26T21:55:41.889Z,1761515741.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.077905 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:42.020Z,1761515742.020 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:42.260Z,1761515742.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995134,-0.097928,-0.010879],[0.098468,-0.984515,-0.145031],[0.003492,-0.145396,0.989367]]
2025-10-26T21:55:42.272Z,1761515742.272 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:42.281Z,1761515742.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:42.284Z,1761515742.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 52.105755 m,
      bearing: 191.682359 deg,
      approach rate: -0.663054 m/s,
      LOS rate: 0.056625 deg/s,
      cmd heading: 176.350990 deg,
      new cmd heading: 176.418254 deg.

2025-10-26T21:55:42.285Z,1761515742.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.079079 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:42.526Z,1761515742.526 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:42.679Z,1761515742.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995399,-0.095198,-0.010865],[0.095768,-0.984909,-0.144163],[0.003023,-0.144540,0.989494]]
2025-10-26T21:55:42.767Z,1761515742.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:42.770Z,1761515742.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 51.815189 m,
      bearing: 191.711226 deg,
      approach rate: -0.598316 m/s,
      LOS rate: 0.059773 deg/s,
      cmd heading: 176.418254 deg,
      new cmd heading: 176.505338 deg.

2025-10-26T21:55:42.771Z,1761515742.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.080599 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:42.776Z,1761515742.776 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:43.029Z,1761515743.029 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:43.056Z,1761515743.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995717,-0.091757,-0.011333],[0.092431,-0.985158,-0.144636],[0.002107,-0.145064,0.989420]]
2025-10-26T21:55:43.074Z,1761515743.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:43.089Z,1761515743.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 51.579998 m,
      bearing: 191.733951 deg,
      approach rate: -0.765983 m/s,
      LOS rate: 0.074350 deg/s,
      cmd heading: 176.505339 deg,
      new cmd heading: 176.573825 deg.

2025-10-26T21:55:43.090Z,1761515743.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.081795 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:43.280Z,1761515743.280 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:43.459Z,1761515743.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996084,-0.087614,-0.011857],[0.088404,-0.985160,-0.147118],[0.001209,-0.147590,0.989048]]
2025-10-26T21:55:43.484Z,1761515743.484 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:55:43.491Z,1761515743.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:43.497Z,1761515743.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:43.504Z,1761515743.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 51.313046 m,
      bearing: 191.758818 deg,
      approach rate: -0.630929 m/s,
      LOS rate: 0.059079 deg/s,
      cmd heading: 176.573832 deg,
      new cmd heading: 176.648822 deg.

2025-10-26T21:55:43.505Z,1761515743.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.083104 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:43.532Z,1761515743.532 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:43.785Z,1761515743.785 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:43.862Z,1761515743.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996502,-0.082683,-0.012162],[0.083572,-0.985492,-0.147718],[0.000228,-0.148218,0.988955]]
2025-10-26T21:55:43.912Z,1761515743.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:43.915Z,1761515743.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 51.013027 m,
      bearing: 191.792535 deg,
      approach rate: -0.723073 m/s,
      LOS rate: 0.081739 deg/s,
      cmd heading: 176.648827 deg,
      new cmd heading: 176.750572 deg.

2025-10-26T21:55:43.916Z,1761515743.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.084879 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:44.036Z,1761515744.036 [DAT](INFO): DAT read: Rx Time:21:55:42.7636

2025-10-26T21:55:44.037Z,1761515744.037 [DAT](INFO): Rx dataTimestamp_ set to:1761515744.036607
2025-10-26T21:55:44.037Z,1761515744.037 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:44.271Z,1761515744.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996858,-0.078247,-0.012286],[0.079201,-0.986414,-0.143924],[-0.000857,-0.144445,0.989512]]
2025-10-26T21:55:44.288Z,1761515744.288 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:44.291Z,1761515744.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:44.294Z,1761515744.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 50.753078 m,
      bearing: 191.820725 deg,
      approach rate: -0.686116 m/s,
      LOS rate: 0.074787 deg/s,
      cmd heading: 176.750570 deg,
      new cmd heading: 176.835573 deg.

2025-10-26T21:55:44.295Z,1761515744.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.086363 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:44.488Z,1761515744.488 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:55:44.543Z,1761515744.543 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:44.708Z,1761515744.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997162,-0.074202,-0.012725],[0.075249,-0.987574,-0.137966],[-0.002329,-0.138532,0.990355]]
2025-10-26T21:55:44.777Z,1761515744.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.31 m.
2025-10-26T21:55:44.780Z,1761515744.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.313683 m,
      nav range: 50.434250 m,
      bearing: 191.860383 deg,
      approach rate: -0.656012 m/s,
      LOS rate: 0.082115 deg/s,
      cmd heading: 176.835578 deg,
      new cmd heading: 176.955304 deg.

2025-10-26T21:55:44.781Z,1761515744.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.088453 target range: 62.313683 and range: 62.70 m.
2025-10-26T21:55:44.798Z,1761515744.798 [DAT](INFO): DAT read: 21:55:42.7636 LVL= 24208, 28657, 30706, 32755, AGC= 70, IDX= 338, 0.40,-3.042, 1.361, 2.947, 2.853, PHS= 0.490,-1.448, 0.049, RAW= 137.5,  10.3, CAL= 137.0,  11.4, ROT=  13.0, -11.4

2025-10-26T21:55:44.804Z,1761515744.804 [DAT](INFO): got valid direction response:
 21:55:42.7636 LVL= 24208, 28657, 30706, 32755, AGC= 70, IDX= 338, 0.40,-3.042, 1.361, 2.947, 2.853, PHS= 0.490,-1.448, 0.049, RAW= 137.5,  10.3, CAL= 137.0,  11.4, ROT=  13.0, -11.4

2025-10-26T21:55:44.805Z,1761515744.805 [DAT](INFO): DAT read: Bearing 339.5,  10.7 (Local)

2025-10-26T21:55:44.805Z,1761515744.805 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.5,  10.7 (Local)

2025-10-26T21:55:44.807Z,1761515744.807 [DAT](INFO): DAT read: Range 11 to 50 : 51.9 m  (Round-trip  69.3 ms) speed  0.5 m/s

2025-10-26T21:55:44.808Z,1761515744.808 [DAT](INFO): DAT read: user:411>Tx time:21:55:43.8402

2025-10-26T21:55:44.808Z,1761515744.808 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:55:44.809Z,1761515744.809 [DAT](INFO): direction in FSK: [0.955147,0.220513,0.197657]
2025-10-26T21:55:44.809Z,1761515744.809 [DAT](INFO): publishing direction and range info
2025-10-26T21:55:44.817Z,1761515744.817 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:44.817Z,1761515744.817 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:55:45.045Z,1761515745.045 [DAT](INFO): DAT read: 

2025-10-26T21:55:45.046Z,1761515745.046 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:45.131Z,1761515745.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997388,-0.070954,-0.013527],[0.072122,-0.988582,-0.132302],[-0.003985,-0.132932,0.991117]]
2025-10-26T21:55:45.154Z,1761515745.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.900002 m,
      deltaT: 16.382396 s,
      deltaX: -10.799999 m,
      approachRate: -0.659244 m/s,
      rangeRepo size: 4

2025-10-26T21:55:45.156Z,1761515745.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.580654 m,
      bearing: 190.231605 deg,
      lat: 36.779409 deg,
      lon: -121.859547 deg,
      deltaT: 16.382396 s,
      deltaX: -10.733028 m,
      approachRate: -0.655156 m/s,
      posRepo size: 4

2025-10-26T21:55:45.157Z,1761515745.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.58 m.
2025-10-26T21:55:45.157Z,1761515745.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.90 m.
2025-10-26T21:55:45.160Z,1761515745.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.580654 m,
      nav range: 50.190910 m,
      bearing: 191.890037 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.082115 deg/s,
      cmd heading: 176.955298 deg,
      new cmd heading: 177.048028 deg.

2025-10-26T21:55:45.161Z,1761515745.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.090071 target range: 51.580654 and range: 51.90 m.
2025-10-26T21:55:45.190Z,1761515745.190 [DockingStepper](INFO): Changing to mode: 2
2025-10-26T21:55:45.297Z,1761515745.297 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:45.530Z,1761515745.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997595,-0.067864,-0.014061],[0.069106,-0.989414,-0.127607],[-0.005252,-0.128272,0.991725]]
2025-10-26T21:55:45.548Z,1761515745.548 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:45.564Z,1761515745.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:45.566Z,1761515745.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.58 m.
2025-10-26T21:55:45.566Z,1761515745.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.90 m.
2025-10-26T21:55:45.573Z,1761515745.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.580654 m,
      nav range: 49.929214 m,
      bearing: 191.921269 deg,
      approach rate: -0.635018 m/s,
      LOS rate: 0.076183 deg/s,
      cmd heading: 177.048025 deg,
      new cmd heading: 177.142212 deg.

2025-10-26T21:55:45.574Z,1761515745.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.091715 target range: 51.580654 and range: 51.90 m.
2025-10-26T21:55:45.800Z,1761515745.800 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:46.030Z,1761515746.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.58 m.
2025-10-26T21:55:46.031Z,1761515746.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.90 m.
2025-10-26T21:55:46.034Z,1761515746.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.580654 m,
      nav range: 49.626781 m,
      bearing: 191.963546 deg,
      approach rate: -0.650560 m/s,
      LOS rate: 0.091496 deg/s,
      cmd heading: 177.142213 deg,
      new cmd heading: 177.269816 deg.

2025-10-26T21:55:46.035Z,1761515746.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.093942 target range: 51.580654 and range: 51.90 m.
2025-10-26T21:55:46.053Z,1761515746.053 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:46.304Z,1761515746.304 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:46.359Z,1761515746.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997544,-0.068341,-0.015358],[0.069730,-0.989679,-0.125189],[-0.006644,-0.125953,0.992014]]
2025-10-26T21:55:46.378Z,1761515746.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.58 m.
2025-10-26T21:55:46.379Z,1761515746.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.90 m.
2025-10-26T21:55:46.382Z,1761515746.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.580654 m,
      nav range: 49.407547 m,
      bearing: 191.994665 deg,
      approach rate: -0.629973 m/s,
      LOS rate: 0.089818 deg/s,
      cmd heading: 177.269814 deg,
      new cmd heading: 177.363586 deg.

2025-10-26T21:55:46.383Z,1761515746.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.095578 target range: 51.580654 and range: 51.90 m.
2025-10-26T21:55:46.557Z,1761515746.557 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:46.767Z,1761515746.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997561,-0.067984,-0.015798],[0.069465,-0.989071,-0.130051],[-0.006784,-0.130831,0.991381]]
2025-10-26T21:55:46.808Z,1761515746.808 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:46.812Z,1761515746.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.58 m.
2025-10-26T21:55:46.813Z,1761515746.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.90 m.
2025-10-26T21:55:46.816Z,1761515746.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.580654 m,
      nav range: 49.136963 m,
      bearing: 192.039517 deg,
      approach rate: -0.623802 m/s,
      LOS rate: 0.103970 deg/s,
      cmd heading: 177.363579 deg,
      new cmd heading: 177.498875 deg.

2025-10-26T21:55:46.817Z,1761515746.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.097940 target range: 51.580654 and range: 51.90 m.
2025-10-26T21:55:47.060Z,1761515747.060 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:47.166Z,1761515747.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997600,-0.067331,-0.016165],[0.068903,-0.988408,-0.135283],[-0.006869,-0.136073,0.990675]]
2025-10-26T21:55:47.200Z,1761515747.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.58 m.
2025-10-26T21:55:47.201Z,1761515747.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.90 m.
2025-10-26T21:55:47.204Z,1761515747.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.580654 m,
      nav range: 48.902588 m,
      bearing: 192.078648 deg,
      approach rate: -0.603613 m/s,
      LOS rate: 0.101261 deg/s,
      cmd heading: 177.498872 deg,
      new cmd heading: 177.616827 deg.

2025-10-26T21:55:47.205Z,1761515747.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.099998 target range: 51.580654 and range: 51.90 m.
2025-10-26T21:55:47.312Z,1761515747.312 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:47.564Z,1761515747.564 [DAT](INFO): DAT read: Rx Time:21:55:46.3105

2025-10-26T21:55:47.565Z,1761515747.565 [DAT](INFO): Rx dataTimestamp_ set to:1761515747.564487
2025-10-26T21:55:47.565Z,1761515747.565 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:47.625Z,1761515747.625 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:47.627Z,1761515747.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.58 m.
2025-10-26T21:55:47.628Z,1761515747.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.90 m.
2025-10-26T21:55:47.631Z,1761515747.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.580654 m,
      nav range: 48.637520 m,
      bearing: 192.123362 deg,
      approach rate: -0.621077 m/s,
      LOS rate: 0.105341 deg/s,
      cmd heading: 177.616829 deg,
      new cmd heading: 177.751704 deg.

2025-10-26T21:55:47.632Z,1761515747.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.102352 target range: 51.580654 and range: 51.90 m.
2025-10-26T21:55:47.816Z,1761515747.816 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:47.983Z,1761515747.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997739,-0.065000,-0.017086],[0.066769,-0.987657,-0.141688],[-0.007666,-0.142508,0.989764]]
2025-10-26T21:55:48.037Z,1761515748.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.58 m.
2025-10-26T21:55:48.037Z,1761515748.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.90 m.
2025-10-26T21:55:48.048Z,1761515748.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.580654 m,
      nav range: 48.387653 m,
      bearing: 192.175651 deg,
      approach rate: -0.612128 m/s,
      LOS rate: 0.128760 deg/s,
      cmd heading: 177.751698 deg,
      new cmd heading: 177.909374 deg.

2025-10-26T21:55:48.049Z,1761515748.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.105104 target range: 51.580654 and range: 51.90 m.
2025-10-26T21:55:48.071Z,1761515748.071 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:48.326Z,1761515748.326 [DAT](INFO): DAT read: 21:55:46.3105 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 402, 0.09,-1.889, 2.528,-2.155,-2.214, PHS= 0.427,-1.497, 0.015, RAW= 138.3,  12.0, CAL= 137.6,  13.0, ROT=  12.4, -13.0

2025-10-26T21:55:48.328Z,1761515748.328 [DAT](INFO): got valid direction response:
 21:55:46.3105 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 402, 0.09,-1.889, 2.528,-2.155,-2.214, PHS= 0.427,-1.497, 0.015, RAW= 138.3,  12.0, CAL= 137.6,  13.0, ROT=  12.4, -13.0

2025-10-26T21:55:48.329Z,1761515748.329 [DAT](INFO): DAT read: Bearing 342.1,   9.5 (Local)

2025-10-26T21:55:48.329Z,1761515748.329 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.1,   9.5 (Local)

2025-10-26T21:55:48.331Z,1761515748.331 [DAT](INFO): DAT read: Range 11 to 50 : 49.6 m  (Round-trip  66.2 ms) speed  0.7 m/s

2025-10-26T21:55:48.333Z,1761515748.333 [DAT](INFO): DAT read: user:412>Tx time:21:55:47.3902

2025-10-26T21:55:48.334Z,1761515748.334 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:55:48.335Z,1761515748.335 [DAT](INFO): direction in FSK: [0.951640,0.209232,0.224951]
2025-10-26T21:55:48.335Z,1761515748.335 [DAT](INFO): publishing direction and range info
2025-10-26T21:55:48.346Z,1761515748.346 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:48.346Z,1761515748.346 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:55:48.441Z,1761515748.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997778,-0.064263,-0.017604],[0.066119,-0.987601,-0.142380],[-0.008236,-0.143228,0.989655]]
2025-10-26T21:55:48.516Z,1761515748.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.599998 m,
      deltaT: 3.527923 s,
      deltaX: -2.300003 m,
      approachRate: -0.651943 m/s,
      rangeRepo size: 4

2025-10-26T21:55:48.518Z,1761515748.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.294334 m,
      bearing: 190.301318 deg,
      lat: 36.779409 deg,
      lon: -121.859547 deg,
      deltaT: 3.527923 s,
      deltaX: -2.286320 m,
      approachRate: -0.648064 m/s,
      posRepo size: 4

2025-10-26T21:55:48.519Z,1761515748.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.29 m.
2025-10-26T21:55:48.524Z,1761515748.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 49.60 m.
2025-10-26T21:55:48.526Z,1761515748.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.294334 m,
      nav range: 48.112122 m,
      bearing: 192.233734 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.128760 deg/s,
      cmd heading: 177.909380 deg,
      new cmd heading: 178.088577 deg.

2025-10-26T21:55:48.531Z,1761515748.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.108232 target range: 49.294334 and range: 49.60 m.
2025-10-26T21:55:48.572Z,1761515748.572 [DAT](INFO): DAT read: 

2025-10-26T21:55:48.573Z,1761515748.573 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:48.824Z,1761515748.824 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:48.844Z,1761515748.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997905,-0.062004,-0.018458],[0.064054,-0.986993,-0.147453],[-0.009075,-0.148327,0.988897]]
2025-10-26T21:55:48.924Z,1761515748.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.29 m.
2025-10-26T21:55:48.925Z,1761515748.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 49.60 m.
2025-10-26T21:55:48.936Z,1761515748.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.294334 m,
      nav range: 47.851727 m,
      bearing: 192.287611 deg,
      approach rate: -0.613088 m/s,
      LOS rate: 0.127541 deg/s,
      cmd heading: 178.088577 deg,
      new cmd heading: 178.251087 deg.

2025-10-26T21:55:48.937Z,1761515748.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.111068 target range: 49.294334 and range: 49.60 m.
2025-10-26T21:55:49.077Z,1761515749.077 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:49.275Z,1761515749.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998067,-0.059054,-0.019373],[0.061351,-0.985970,-0.155237],[-0.009934,-0.156126,0.987687]]
2025-10-26T21:55:49.299Z,1761515749.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.29 m.
2025-10-26T21:55:49.300Z,1761515749.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 49.60 m.
2025-10-26T21:55:49.303Z,1761515749.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.294334 m,
      nav range: 47.608772 m,
      bearing: 192.337671 deg,
      approach rate: -0.647977 m/s,
      LOS rate: 0.134195 deg/s,
      cmd heading: 178.251080 deg,
      new cmd heading: 178.402026 deg.

2025-10-26T21:55:49.324Z,1761515749.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.113703 target range: 49.294334 and range: 49.60 m.
2025-10-26T21:55:49.328Z,1761515749.328 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:49.584Z,1761515749.584 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:49.678Z,1761515749.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998286,-0.054980,-0.020041],[0.057463,-0.985751,-0.158091],[-0.011063,-0.158972,0.987221]]
2025-10-26T21:55:49.775Z,1761515749.775 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:49.781Z,1761515749.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.29 m.
2025-10-26T21:55:49.781Z,1761515749.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 49.60 m.
2025-10-26T21:55:49.788Z,1761515749.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.294334 m,
      nav range: 47.351521 m,
      bearing: 192.390024 deg,
      approach rate: -0.533857 m/s,
      LOS rate: 0.109235 deg/s,
      cmd heading: 178.402028 deg,
      new cmd heading: 178.559939 deg.

2025-10-26T21:55:49.789Z,1761515749.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.116459 target range: 49.294334 and range: 49.60 m.
2025-10-26T21:55:49.832Z,1761515749.832 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:50.084Z,1761515750.084 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:50.106Z,1761515750.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998651,-0.047628,-0.020698],[0.050185,-0.987590,-0.148822],[-0.013353,-0.149660,0.988647]]
2025-10-26T21:55:50.157Z,1761515750.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.29 m.
2025-10-26T21:55:50.157Z,1761515750.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 49.60 m.
2025-10-26T21:55:50.160Z,1761515750.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.294334 m,
      nav range: 47.075172 m,
      bearing: 192.443106 deg,
      approach rate: -0.735545 m/s,
      LOS rate: 0.142116 deg/s,
      cmd heading: 178.559942 deg,
      new cmd heading: 178.720122 deg.

2025-10-26T21:55:50.161Z,1761515750.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.119255 target range: 49.294334 and range: 49.60 m.
2025-10-26T21:55:50.336Z,1761515750.336 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:50.507Z,1761515750.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998806,-0.044137,-0.020962],[0.046748,-0.988009,-0.147146],[-0.014217,-0.147950,0.988893]]
2025-10-26T21:55:50.558Z,1761515750.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.29 m.
2025-10-26T21:55:50.558Z,1761515750.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 49.60 m.
2025-10-26T21:55:50.565Z,1761515750.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.294334 m,
      nav range: 46.824493 m,
      bearing: 192.490704 deg,
      approach rate: -0.625008 m/s,
      LOS rate: 0.119308 deg/s,
      cmd heading: 178.720123 deg,
      new cmd heading: 178.863679 deg.

2025-10-26T21:55:50.566Z,1761515750.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.121760 target range: 49.294334 and range: 49.60 m.
2025-10-26T21:55:50.588Z,1761515750.588 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:50.844Z,1761515750.844 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:50.911Z,1761515750.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999048,-0.038176,-0.021129],[0.040900,-0.988038,-0.148689],[-0.015200,-0.149412,0.988658]]
2025-10-26T21:55:51.020Z,1761515751.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.29 m.
2025-10-26T21:55:51.020Z,1761515751.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 49.60 m.
2025-10-26T21:55:51.023Z,1761515751.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.294334 m,
      nav range: 46.535324 m,
      bearing: 192.539470 deg,
      approach rate: -0.626385 m/s,
      LOS rate: 0.106292 deg/s,
      cmd heading: 178.863680 deg,
      new cmd heading: 179.010889 deg.

2025-10-26T21:55:51.024Z,1761515751.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.124329 target range: 49.294334 and range: 49.60 m.
2025-10-26T21:55:51.093Z,1761515751.093 [DAT](INFO): DAT read: Rx Time:21:55:49.8576

2025-10-26T21:55:51.093Z,1761515751.093 [DAT](INFO): Rx dataTimestamp_ set to:1761515751.092720
2025-10-26T21:55:51.093Z,1761515751.093 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:51.314Z,1761515751.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999292,-0.031037,-0.021270],[0.033888,-0.988046,-0.150390],[-0.016349,-0.151005,0.988398]]
2025-10-26T21:55:51.344Z,1761515751.344 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:51.364Z,1761515751.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.29 m.
2025-10-26T21:55:51.365Z,1761515751.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 49.60 m.
2025-10-26T21:55:51.365Z,1761515751.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 49.60 m.
2025-10-26T21:55:51.365Z,1761515751.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-10-26T21:55:51.369Z,1761515751.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.294334 m,
      nav range: 46.339108 m,
      bearing: 192.571191 deg,
      approach rate: -0.568628 m/s,
      LOS rate: 0.092313 deg/s,
      cmd heading: 179.010884 deg,
      new cmd heading: 179.106448 deg.

2025-10-26T21:55:51.370Z,1761515751.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.125997 target range: 49.294334 and range: 49.60 m.
2025-10-26T21:55:51.597Z,1761515751.597 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:51.729Z,1761515751.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999470,-0.024572,-0.021352],[0.027482,-0.988472,-0.148890],[-0.017447,-0.149397,0.988623]]
2025-10-26T21:55:51.828Z,1761515751.828 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:51.830Z,1761515751.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.29 m.
2025-10-26T21:55:51.833Z,1761515751.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.294334 m,
      nav range: 46.020378 m,
      bearing: 192.609055 deg,
      approach rate: -0.684302 m/s,
      LOS rate: 0.081857 deg/s,
      cmd heading: 179.106452 deg,
      new cmd heading: 179.220833 deg.

2025-10-26T21:55:51.834Z,1761515751.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.127994 target range: 49.294334 and range: 49.60 m.
2025-10-26T21:55:51.854Z,1761515751.854 [DAT](INFO): DAT read: 21:55:49.8576 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 405,-0.36, 1.956, 0.041, 1.821, 1.662, PHS= 0.396,-1.577, 0.115, RAW= 142.4,  11.5, CAL= 141.9,  12.5, ROT=   8.1, -12.5

2025-10-26T21:55:51.855Z,1761515751.855 [DAT](INFO): got valid direction response:
 21:55:49.8576 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 405,-0.36, 1.956, 0.041, 1.821, 1.662, PHS= 0.396,-1.577, 0.115, RAW= 142.4,  11.5, CAL= 141.9,  12.5, ROT=   8.1, -12.5

2025-10-26T21:55:51.856Z,1761515751.856 [DAT](INFO): DAT read: Bearing 342.5,   4.9 (Local)

2025-10-26T21:55:51.857Z,1761515751.857 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.5,   4.9 (Local)

2025-10-26T21:55:51.858Z,1761515751.858 [DAT](INFO): DAT read: Range 11 to 50 : 47.4 m  (Round-trip  63.2 ms) speed  0.5 m/s

2025-10-26T21:55:51.859Z,1761515751.859 [DAT](INFO): DAT read: user:413>Tx time:21:55:50.9402

2025-10-26T21:55:51.860Z,1761515751.860 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:55:51.861Z,1761515751.861 [DAT](INFO): direction in FSK: [0.966556,0.137561,0.216440]
2025-10-26T21:55:51.861Z,1761515751.861 [DAT](INFO): publishing direction and range info
2025-10-26T21:55:51.872Z,1761515751.872 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:51.873Z,1761515751.873 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:55:52.101Z,1761515752.101 [DAT](INFO): DAT read: 

2025-10-26T21:55:52.102Z,1761515752.102 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:52.133Z,1761515752.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999603,-0.018157,-0.021556],[0.021080,-0.989320,-0.144224],[-0.018707,-0.144621,0.989310]]
2025-10-26T21:55:52.176Z,1761515752.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.400002 m,
      deltaT: 3.528030 s,
      deltaX: -2.199997 m,
      approachRate: -0.623577 m/s,
      rangeRepo size: 4

2025-10-26T21:55:52.178Z,1761515752.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.107853 m,
      bearing: 188.584448 deg,
      lat: 36.779403 deg,
      lon: -121.859533 deg,
      deltaT: 3.528030 s,
      deltaX: -2.186481 m,
      approachRate: -0.619746 m/s,
      posRepo size: 4

2025-10-26T21:55:52.179Z,1761515752.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.11 m.
2025-10-26T21:55:52.186Z,1761515752.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.107853 m,
      nav range: 46.178040 m,
      bearing: 190.881953 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.081857 deg/s,
      cmd heading: 179.220831 deg,
      new cmd heading: 179.304566 deg.

2025-10-26T21:55:52.186Z,1761515752.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.129455 target range: 47.107853 and range: 47.40 m.
2025-10-26T21:55:52.352Z,1761515752.352 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:52.525Z,1761515752.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999683,-0.012959,-0.021601],[0.015843,-0.990140,-0.139180],[-0.019584,-0.139478,0.990031]]
2025-10-26T21:55:52.554Z,1761515752.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.11 m.
2025-10-26T21:55:52.569Z,1761515752.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.107853 m,
      nav range: 45.927769 m,
      bearing: 190.898673 deg,
      approach rate: -0.653428 m/s,
      LOS rate: 0.043893 deg/s,
      cmd heading: 179.304569 deg,
      new cmd heading: 179.355004 deg.

2025-10-26T21:55:52.572Z,1761515752.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.130335 target range: 47.107853 and range: 47.40 m.
2025-10-26T21:55:52.604Z,1761515752.604 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:52.856Z,1761515752.856 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:52.926Z,1761515752.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999730,-0.009291,-0.021302],[0.012040,-0.991071,-0.132790],[-0.019878,-0.133010,0.990915]]
2025-10-26T21:55:52.976Z,1761515752.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.11 m.
2025-10-26T21:55:52.979Z,1761515752.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.107853 m,
      nav range: 45.651012 m,
      bearing: 190.908779 deg,
      approach rate: -0.656683 m/s,
      LOS rate: 0.024123 deg/s,
      cmd heading: 179.355003 deg,
      new cmd heading: 179.385503 deg.

2025-10-26T21:55:52.980Z,1761515752.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.130868 target range: 47.107853 and range: 47.40 m.
2025-10-26T21:55:53.108Z,1761515753.108 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:53.330Z,1761515753.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999767,-0.005684,-0.020816],[0.008328,-0.991581,-0.129218],[-0.019906,-0.129361,0.991398]]
2025-10-26T21:55:53.360Z,1761515753.360 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:53.368Z,1761515753.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.11 m.
2025-10-26T21:55:53.370Z,1761515753.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.107853 m,
      nav range: 45.400158 m,
      bearing: 190.916810 deg,
      approach rate: -0.640021 m/s,
      LOS rate: 0.020605 deg/s,
      cmd heading: 179.385507 deg,
      new cmd heading: 179.409735 deg.

2025-10-26T21:55:53.372Z,1761515753.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.131291 target range: 47.107853 and range: 47.40 m.
2025-10-26T21:55:53.613Z,1761515753.613 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:53.747Z,1761515753.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999792,-0.003397,-0.020115],[0.005889,-0.992117,-0.125177],[-0.019531,-0.125270,0.991930]]
2025-10-26T21:55:53.830Z,1761515753.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:53.836Z,1761515753.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.11 m.
2025-10-26T21:55:53.839Z,1761515753.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.107853 m,
      nav range: 45.122425 m,
      bearing: 190.924876 deg,
      approach rate: -0.592905 m/s,
      LOS rate: 0.017325 deg/s,
      cmd heading: 179.409740 deg,
      new cmd heading: 179.434087 deg.

2025-10-26T21:55:53.844Z,1761515753.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.131716 target range: 47.107853 and range: 47.40 m.
2025-10-26T21:55:53.864Z,1761515753.864 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:54.117Z,1761515754.117 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:54.172Z,1761515754.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999813,-0.002355,-0.019211],[0.004738,-0.992153,-0.124937],[-0.018766,-0.125004,0.991979]]
2025-10-26T21:55:54.227Z,1761515754.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.11 m.
2025-10-26T21:55:54.239Z,1761515754.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.107853 m,
      nav range: 44.853241 m,
      bearing: 190.918381 deg,
      approach rate: -0.690464 m/s,
      LOS rate: -0.016761 deg/s,
      cmd heading: 179.434083 deg,
      new cmd heading: 179.414479 deg.

2025-10-26T21:55:54.241Z,1761515754.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.131373 target range: 47.107853 and range: 47.40 m.
2025-10-26T21:55:54.368Z,1761515754.368 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:54.569Z,1761515754.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999847,-0.001228,-0.017464],[0.003470,-0.991652,-0.128896],[-0.017160,-0.128937,0.991504]]
2025-10-26T21:55:54.593Z,1761515754.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.11 m.
2025-10-26T21:55:54.596Z,1761515754.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.107853 m,
      nav range: 44.600830 m,
      bearing: 190.911898 deg,
      approach rate: -0.687371 m/s,
      LOS rate: -0.017754 deg/s,
      cmd heading: 179.414480 deg,
      new cmd heading: 179.394922 deg.

2025-10-26T21:55:54.597Z,1761515754.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.131032 target range: 47.107853 and range: 47.40 m.
2025-10-26T21:55:54.620Z,1761515754.620 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:54.872Z,1761515754.872 [DAT](INFO): DAT read: Rx Time:21:55:53.4046

2025-10-26T21:55:54.873Z,1761515754.873 [DAT](INFO): Rx dataTimestamp_ set to:1761515754.872595
2025-10-26T21:55:54.873Z,1761515754.873 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:54.972Z,1761515754.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999880,-0.001236,-0.015457],[0.003279,-0.991128,-0.132869],[-0.015155,-0.132904,0.991013]]
2025-10-26T21:55:55.030Z,1761515755.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.11 m.
2025-10-26T21:55:55.033Z,1761515755.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.107853 m,
      nav range: 44.308784 m,
      bearing: 190.898583 deg,
      approach rate: -0.668332 m/s,
      LOS rate: -0.030671 deg/s,
      cmd heading: 179.394919 deg,
      new cmd heading: 179.354711 deg.

2025-10-26T21:55:55.034Z,1761515755.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.130330 target range: 47.107853 and range: 47.40 m.
2025-10-26T21:55:55.125Z,1761515755.125 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:55.382Z,1761515755.382 [DAT](INFO): DAT read: 21:55:53.4046 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 406,-0.11,-3.125, 1.245, 3.080, 2.934, PHS= 0.326,-1.644, 0.102, RAW= 144.0,  13.0, CAL= 143.6,  14.1, ROT=   6.4, -14.1

2025-10-26T21:55:55.383Z,1761515755.383 [DAT](INFO): got valid direction response:
 21:55:53.4046 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 406,-0.11,-3.125, 1.245, 3.080, 2.934, PHS= 0.326,-1.644, 0.102, RAW= 144.0,  13.0, CAL= 143.6,  14.1, ROT=   6.4, -14.1

2025-10-26T21:55:55.384Z,1761515755.384 [DAT](INFO): DAT read: Bearing 345.5,   3.1 (Local)

2025-10-26T21:55:55.385Z,1761515755.385 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.5,   3.1 (Local)

2025-10-26T21:55:55.386Z,1761515755.386 [DAT](INFO): DAT read: Range 11 to 50 : 45.2 m  (Round-trip  60.3 ms) speed  0.6 m/s

2025-10-26T21:55:55.387Z,1761515755.387 [DAT](INFO): DAT read: user:414>Tx time:21:55:54.4902

2025-10-26T21:55:55.388Z,1761515755.388 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:55:55.389Z,1761515755.389 [DAT](INFO): direction in FSK: [0.963828,0.108111,0.243615]
2025-10-26T21:55:55.389Z,1761515755.389 [DAT](INFO): publishing direction and range info
2025-10-26T21:55:55.398Z,1761515755.398 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:55.398Z,1761515755.398 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:55:55.420Z,1761515755.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999906,-0.000733,-0.013675],[0.002656,-0.989984,-0.141152],[-0.013435,-0.141176,0.989893]]
2025-10-26T21:55:55.476Z,1761515755.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.200001 m,
      deltaT: 3.528051 s,
      deltaX: -2.200001 m,
      approachRate: -0.623574 m/s,
      rangeRepo size: 4

2025-10-26T21:55:55.478Z,1761515755.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 44.921562 m,
      bearing: 188.170193 deg,
      lat: 36.779401 deg,
      lon: -121.859530 deg,
      deltaT: 3.528051 s,
      deltaX: -2.186291 m,
      approachRate: -0.619688 m/s,
      posRepo size: 4

2025-10-26T21:55:55.479Z,1761515755.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.92 m.
2025-10-26T21:55:55.486Z,1761515755.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.921562 m,
      nav range: 44.191517 m,
      bearing: 190.540676 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.030671 deg/s,
      cmd heading: 179.354716 deg,
      new cmd heading: 179.314113 deg.

2025-10-26T21:55:55.487Z,1761515755.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.129622 target range: 44.921562 and range: 45.20 m.
2025-10-26T21:55:55.628Z,1761515755.628 [DAT](INFO): DAT read: 

2025-10-26T21:55:55.629Z,1761515755.629 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:55.786Z,1761515755.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999925,-0.000138,-0.012230],[0.001955,-0.988887,-0.148654],[-0.012073,-0.148666,0.988814]]
2025-10-26T21:55:55.865Z,1761515755.865 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:55.867Z,1761515755.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.92 m.
2025-10-26T21:55:55.880Z,1761515755.880 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:55.889Z,1761515755.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.921562 m,
      nav range: 43.925766 m,
      bearing: 190.526205 deg,
      approach rate: -0.671758 m/s,
      LOS rate: -0.036800 deg/s,
      cmd heading: 179.314117 deg,
      new cmd heading: 179.270443 deg.

2025-10-26T21:55:55.890Z,1761515755.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.128860 target range: 44.921562 and range: 45.20 m.
2025-10-26T21:55:56.132Z,1761515756.132 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:56.186Z,1761515756.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999933,0.000837,-0.011505],[0.000981,-0.987583,-0.157092],[-0.011494,-0.157093,0.987517]]
2025-10-26T21:55:56.249Z,1761515756.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.92 m.
2025-10-26T21:55:56.256Z,1761515756.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.921562 m,
      nav range: 43.664562 m,
      bearing: 190.506995 deg,
      approach rate: -0.684175 m/s,
      LOS rate: -0.050618 deg/s,
      cmd heading: 179.270445 deg,
      new cmd heading: 179.212471 deg.

2025-10-26T21:55:56.257Z,1761515756.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.127848 target range: 44.921562 and range: 45.20 m.
2025-10-26T21:55:56.384Z,1761515756.384 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:56.589Z,1761515756.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999936,0.001936,-0.011115],[-0.000126,-0.987018,-0.160612],[-0.011282,-0.160600,0.986955]]
2025-10-26T21:55:56.618Z,1761515756.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.92 m.
2025-10-26T21:55:56.621Z,1761515756.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.921562 m,
      nav range: 43.398663 m,
      bearing: 190.486921 deg,
      approach rate: -0.720550 m/s,
      LOS rate: -0.054731 deg/s,
      cmd heading: 179.212471 deg,
      new cmd heading: 179.151880 deg.

2025-10-26T21:55:56.622Z,1761515756.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.126790 target range: 44.921562 and range: 45.20 m.
2025-10-26T21:55:56.640Z,1761515756.640 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:56.888Z,1761515756.888 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:56.992Z,1761515756.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999934,0.002887,-0.011143],[-0.001028,-0.986558,-0.163409],[-0.011465,-0.163387,0.986495]]
2025-10-26T21:55:57.039Z,1761515757.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.92 m.
2025-10-26T21:55:57.042Z,1761515757.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.921562 m,
      nav range: 43.126339 m,
      bearing: 190.455662 deg,
      approach rate: -0.646730 m/s,
      LOS rate: -0.074705 deg/s,
      cmd heading: 179.151873 deg,
      new cmd heading: 179.057504 deg.

2025-10-26T21:55:57.043Z,1761515757.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.125143 target range: 44.921562 and range: 45.20 m.
2025-10-26T21:55:57.140Z,1761515757.140 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:57.394Z,1761515757.394 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:57.397Z,1761515757.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999921,0.004096,-0.011890],[-0.002048,-0.985886,-0.167404],[-0.012408,-0.167366,0.985817]]
2025-10-26T21:55:57.424Z,1761515757.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.92 m.
2025-10-26T21:55:57.426Z,1761515757.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.921562 m,
      nav range: 42.873619 m,
      bearing: 190.426050 deg,
      approach rate: -0.657105 m/s,
      LOS rate: -0.077450 deg/s,
      cmd heading: 179.057507 deg,
      new cmd heading: 178.968147 deg.

2025-10-26T21:55:57.427Z,1761515757.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.123583 target range: 44.921562 and range: 45.20 m.
2025-10-26T21:55:57.645Z,1761515757.645 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:57.800Z,1761515757.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999906,0.005819,-0.012440],[-0.003653,-0.985866,-0.167498],[-0.013239,-0.167437,0.985794]]
2025-10-26T21:55:57.870Z,1761515757.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:57.884Z,1761515757.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.92 m.
2025-10-26T21:55:57.891Z,1761515757.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.921562 m,
      nav range: 42.612957 m,
      bearing: 190.394565 deg,
      approach rate: -0.565432 m/s,
      LOS rate: -0.068714 deg/s,
      cmd heading: 178.968141 deg,
      new cmd heading: 178.873110 deg.

2025-10-26T21:55:57.896Z,1761515757.896 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:57.898Z,1761515757.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.121925 target range: 44.921562 and range: 45.20 m.
2025-10-26T21:55:58.148Z,1761515758.148 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:58.210Z,1761515758.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999892,0.006593,-0.013127],[-0.004373,-0.986703,-0.162477],[-0.014024,-0.162402,0.986625]]
2025-10-26T21:55:58.288Z,1761515758.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.92 m.
2025-10-26T21:55:58.293Z,1761515758.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.921562 m,
      nav range: 42.329399 m,
      bearing: 190.363196 deg,
      approach rate: -0.703920 m/s,
      LOS rate: -0.078394 deg/s,
      cmd heading: 178.873106 deg,
      new cmd heading: 178.778368 deg.

2025-10-26T21:55:58.294Z,1761515758.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.120271 target range: 44.921562 and range: 45.20 m.
2025-10-26T21:55:58.400Z,1761515758.400 [DAT](INFO): DAT read: Rx Time:21:55:56.9513

2025-10-26T21:55:58.401Z,1761515758.401 [DAT](INFO): Rx dataTimestamp_ set to:1761515758.400609
2025-10-26T21:55:58.401Z,1761515758.401 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:58.608Z,1761515758.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999882,0.007191,-0.013577],[-0.004934,-0.987194,-0.159449],[-0.014549,-0.159363,0.987113]]
2025-10-26T21:55:58.626Z,1761515758.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.92 m.
2025-10-26T21:55:58.629Z,1761515758.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.921562 m,
      nav range: 42.098389 m,
      bearing: 190.337076 deg,
      approach rate: -0.681738 m/s,
      LOS rate: -0.077507 deg/s,
      cmd heading: 178.778371 deg,
      new cmd heading: 178.699580 deg.

2025-10-26T21:55:58.630Z,1761515758.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.118896 target range: 44.921562 and range: 45.20 m.
2025-10-26T21:55:58.652Z,1761515758.652 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:58.922Z,1761515758.922 [DAT](INFO): DAT read: 21:55:56.9513 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 404, 0.01, 2.143, 0.316, 2.112, 1.974, PHS= 0.271,-1.613, 0.094, RAW= 145.1,  13.8, CAL= 144.8,  15.0, ROT=   5.2, -15.0

2025-10-26T21:55:58.923Z,1761515758.923 [DAT](INFO): got valid direction response:
 21:55:56.9513 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 404, 0.01, 2.143, 0.316, 2.112, 1.974, PHS= 0.271,-1.613, 0.094, RAW= 145.1,  13.8, CAL= 144.8,  15.0, ROT=   5.2, -15.0

2025-10-26T21:55:58.924Z,1761515758.924 [DAT](INFO): DAT read: Bearing 346.7,   1.4 (Local)

2025-10-26T21:55:58.925Z,1761515758.925 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.7,   1.4 (Local)

2025-10-26T21:55:58.926Z,1761515758.926 [DAT](INFO): DAT read: Range 11 to 50 : 42.7 m  (Round-trip  57.0 ms) speed  0.4 m/s

2025-10-26T21:55:58.927Z,1761515758.927 [DAT](INFO): DAT read: user:415>Tx time:21:55:58.0402

2025-10-26T21:55:58.928Z,1761515758.928 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:55:58.929Z,1761515758.929 [DAT](INFO): direction in FSK: [0.961950,0.087544,0.258819]
2025-10-26T21:55:58.929Z,1761515758.929 [DAT](INFO): publishing direction and range info
2025-10-26T21:55:58.932Z,1761515758.932 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:58.933Z,1761515758.933 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:55:59.024Z,1761515759.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999876,0.007660,-0.013773],[-0.005395,-0.987499,-0.157531],[-0.014808,-0.157437,0.987418]]
2025-10-26T21:55:59.111Z,1761515759.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 42.700001 m,
      deltaT: 3.532362 s,
      deltaX: -2.500000 m,
      approachRate: -0.707742 m/s,
      rangeRepo size: 4

2025-10-26T21:55:59.117Z,1761515759.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.437035 m,
      bearing: 187.815225 deg,
      lat: 36.779401 deg,
      lon: -121.859512 deg,
      deltaT: 3.532362 s,
      deltaX: -2.484528 m,
      approachRate: -0.703362 m/s,
      posRepo size: 4

2025-10-26T21:55:59.118Z,1761515759.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.44 m.
2025-10-26T21:55:59.129Z,1761515759.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.437035 m,
      nav range: 41.553402 m,
      bearing: 188.197416 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.077507 deg/s,
      cmd heading: 178.699578 deg,
      new cmd heading: 178.586975 deg.

2025-10-26T21:55:59.130Z,1761515759.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.116931 target range: 42.437035 and range: 42.70 m.
2025-10-26T21:55:59.156Z,1761515759.156 [DAT](INFO): DAT read: 

2025-10-26T21:55:59.157Z,1761515759.157 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:59.408Z,1761515759.408 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:59.417Z,1761515759.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999861,0.008656,-0.014231],[-0.006288,-0.987305,-0.158709],[-0.015424,-0.158598,0.987223]]
2025-10-26T21:55:59.455Z,1761515759.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.44 m.
2025-10-26T21:55:59.458Z,1761515759.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.437035 m,
      nav range: 41.337631 m,
      bearing: 188.174249 deg,
      approach rate: -0.656069 m/s,
      LOS rate: -0.070808 deg/s,
      cmd heading: 178.586975 deg,
      new cmd heading: 178.517113 deg.

2025-10-26T21:55:59.459Z,1761515759.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.115711 target range: 42.437035 and range: 42.70 m.
2025-10-26T21:55:59.660Z,1761515759.660 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:59.915Z,1761515759.915 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:55:59.921Z,1761515759.921 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:55:59.927Z,1761515759.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.44 m.
2025-10-26T21:55:59.930Z,1761515759.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.437035 m,
      nav range: 41.067543 m,
      bearing: 188.144906 deg,
      approach rate: -0.558027 m/s,
      LOS rate: -0.061024 deg/s,
      cmd heading: 178.517116 deg,
      new cmd heading: 178.428509 deg.

2025-10-26T21:55:59.936Z,1761515759.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.114165 target range: 42.437035 and range: 42.70 m.
2025-10-26T21:56:00.165Z,1761515760.165 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:00.255Z,1761515760.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999834,0.009936,-0.015258],[-0.007275,-0.986182,-0.165503],[-0.016691,-0.165364,0.986091]]
2025-10-26T21:56:00.328Z,1761515760.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.44 m.
2025-10-26T21:56:00.331Z,1761515760.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.437035 m,
      nav range: 40.781761 m,
      bearing: 188.125900 deg,
      approach rate: -0.706206 m/s,
      LOS rate: -0.047296 deg/s,
      cmd heading: 178.428515 deg,
      new cmd heading: 178.371097 deg.

2025-10-26T21:56:00.333Z,1761515760.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.113163 target range: 42.437035 and range: 42.70 m.
2025-10-26T21:56:00.417Z,1761515760.417 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:00.649Z,1761515760.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999820,0.011135,-0.015358],[-0.008366,-0.985440,-0.169820],[-0.017026,-0.169661,0.985355]]
2025-10-26T21:56:00.668Z,1761515760.668 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:00.686Z,1761515760.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.44 m.
2025-10-26T21:56:00.689Z,1761515760.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.437035 m,
      nav range: 40.569801 m,
      bearing: 188.111351 deg,
      approach rate: -0.592454 m/s,
      LOS rate: -0.040879 deg/s,
      cmd heading: 178.371101 deg,
      new cmd heading: 178.327225 deg.

2025-10-26T21:56:00.690Z,1761515760.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.112397 target range: 42.437035 and range: 42.70 m.
2025-10-26T21:56:00.923Z,1761515760.923 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:01.113Z,1761515761.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.44 m.
2025-10-26T21:56:01.120Z,1761515761.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.437035 m,
      nav range: 40.301247 m,
      bearing: 188.106932 deg,
      approach rate: -0.628382 m/s,
      LOS rate: -0.010407 deg/s,
      cmd heading: 178.327223 deg,
      new cmd heading: 178.313880 deg.

2025-10-26T21:56:01.121Z,1761515761.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.112164 target range: 42.437035 and range: 42.70 m.
2025-10-26T21:56:01.175Z,1761515761.175 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:01.424Z,1761515761.424 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:01.440Z,1761515761.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999779,0.014236,-0.015480],[-0.011323,-0.984642,-0.174219],[-0.017723,-0.174006,0.984585]]
2025-10-26T21:56:01.458Z,1761515761.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.44 m.
2025-10-26T21:56:01.461Z,1761515761.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.437035 m,
      nav range: 40.066818 m,
      bearing: 188.102071 deg,
      approach rate: -0.679154 m/s,
      LOS rate: -0.014168 deg/s,
      cmd heading: 178.313877 deg,
      new cmd heading: 178.299206 deg.

2025-10-26T21:56:01.462Z,1761515761.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.111908 target range: 42.437035 and range: 42.70 m.
2025-10-26T21:56:01.676Z,1761515761.676 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:01.845Z,1761515761.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999749,0.016044,-0.015631],[-0.013073,-0.984582,-0.174437],[-0.018188,-0.174189,0.984544]]
2025-10-26T21:56:01.889Z,1761515761.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.44 m.
2025-10-26T21:56:01.906Z,1761515761.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.437035 m,
      nav range: 39.807041 m,
      bearing: 188.095962 deg,
      approach rate: -0.628912 m/s,
      LOS rate: -0.014886 deg/s,
      cmd heading: 178.299206 deg,
      new cmd heading: 178.280760 deg.

2025-10-26T21:56:01.920Z,1761515761.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.111586 target range: 42.437035 and range: 42.70 m.
2025-10-26T21:56:01.933Z,1761515761.933 [DAT](INFO): DAT read: Rx Time:21:56:00.4983

2025-10-26T21:56:01.934Z,1761515761.934 [DAT](INFO): Rx dataTimestamp_ set to:1761515761.933339
2025-10-26T21:56:01.936Z,1761515761.936 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:02.180Z,1761515762.180 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:02.246Z,1761515762.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999719,0.017544,-0.015933],[-0.014501,-0.984592,-0.174267],[-0.018745,-0.173987,0.984569]]
2025-10-26T21:56:02.337Z,1761515762.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:56:02.340Z,1761515762.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.44 m.
2025-10-26T21:56:02.342Z,1761515762.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.437035 m,
      nav range: 39.511108 m,
      bearing: 188.107814 deg,
      approach rate: -0.632211 m/s,
      LOS rate: 0.025511 deg/s,
      cmd heading: 178.280764 deg,
      new cmd heading: 178.316588 deg.

2025-10-26T21:56:02.344Z,1761515762.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.112211 target range: 42.437035 and range: 42.70 m.
2025-10-26T21:56:02.438Z,1761515762.438 [DAT](INFO): DAT read: 21:56:00.4983 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 405,-0.09,-1.430, 3.101,-1.442,-1.665, PHS= 0.337,-1.472, 0.180, RAW= 145.5,  11.0, CAL= 145.1,  12.0, ROT=   4.9, -12.0

2025-10-26T21:56:02.439Z,1761515762.439 [DAT](INFO): got valid direction response:
 21:56:00.4983 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 405,-0.09,-1.430, 3.101,-1.442,-1.665, PHS= 0.337,-1.472, 0.180, RAW= 145.5,  11.0, CAL= 145.1,  12.0, ROT=   4.9, -12.0

2025-10-26T21:56:02.440Z,1761515762.440 [DAT](INFO): DAT read: Bearing 343.3,   1.5 (Local)

2025-10-26T21:56:02.440Z,1761515762.440 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.3,   1.5 (Local)

2025-10-26T21:56:02.442Z,1761515762.442 [DAT](INFO): DAT read: Range 11 to 50 : 40.5 m  (Round-trip  54.0 ms) speed  0.7 m/s

2025-10-26T21:56:02.443Z,1761515762.443 [DAT](INFO): DAT read: user:416>Tx time:21:56:01.5902

2025-10-26T21:56:02.443Z,1761515762.443 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:56:02.444Z,1761515762.444 [DAT](INFO): direction in FSK: [0.974573,0.083550,0.207912]
2025-10-26T21:56:02.445Z,1761515762.445 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:02.448Z,1761515762.448 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:02.448Z,1761515762.448 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:56:02.684Z,1761515762.684 [DAT](INFO): DAT read: 

2025-10-26T21:56:02.685Z,1761515762.685 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:02.690Z,1761515762.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.500000 m,
      deltaT: 3.523541 s,
      deltaX: -2.200001 m,
      approachRate: -0.624372 m/s,
      rangeRepo size: 4

2025-10-26T21:56:02.692Z,1761515762.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.250721 m,
      bearing: 187.737298 deg,
      lat: 36.779401 deg,
      lon: -121.859510 deg,
      deltaT: 3.523541 s,
      deltaX: -2.186314 m,
      approachRate: -0.620488 m/s,
      posRepo size: 4

2025-10-26T21:56:02.693Z,1761515762.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.25 m.
2025-10-26T21:56:02.696Z,1761515762.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.250721 m,
      nav range: 39.265667 m,
      bearing: 187.813850 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.025511 deg/s,
      cmd heading: 178.316582 deg,
      new cmd heading: 178.343365 deg.

2025-10-26T21:56:02.697Z,1761515762.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.112679 target range: 40.250721 and range: 40.50 m.
2025-10-26T21:56:02.939Z,1761515762.939 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:03.059Z,1761515763.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999658,0.020890,-0.015747],[-0.017799,-0.984259,-0.175832],[-0.019172,-0.175491,0.984294]]
2025-10-26T21:56:03.110Z,1761515763.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.25 m.
2025-10-26T21:56:03.117Z,1761515763.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.250721 m,
      nav range: 38.997063 m,
      bearing: 187.830339 deg,
      approach rate: -0.639036 m/s,
      LOS rate: 0.039499 deg/s,
      cmd heading: 178.343370 deg,
      new cmd heading: 178.393178 deg.

2025-10-26T21:56:03.118Z,1761515763.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.113548 target range: 40.250721 and range: 40.50 m.
2025-10-26T21:56:03.188Z,1761515763.188 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:03.440Z,1761515763.440 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:03.469Z,1761515763.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999624,0.022569,-0.015556],[-0.019459,-0.983983,-0.177198],[-0.019306,-0.176829,0.984052]]
2025-10-26T21:56:03.487Z,1761515763.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.25 m.
2025-10-26T21:56:03.490Z,1761515763.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.250721 m,
      nav range: 38.759094 m,
      bearing: 187.844567 deg,
      approach rate: -0.631101 m/s,
      LOS rate: 0.037966 deg/s,
      cmd heading: 178.393176 deg,
      new cmd heading: 178.436123 deg.

2025-10-26T21:56:03.491Z,1761515763.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.114298 target range: 40.250721 and range: 40.50 m.
2025-10-26T21:56:03.695Z,1761515763.695 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:03.854Z,1761515763.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999589,0.024548,-0.014784],[-0.021510,-0.983634,-0.178888],[-0.018933,-0.178496,0.983758]]
2025-10-26T21:56:03.946Z,1761515763.946 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:03.991Z,1761515763.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.25 m.
2025-10-26T21:56:03.994Z,1761515763.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.250721 m,
      nav range: 38.482296 m,
      bearing: 187.860513 deg,
      approach rate: -0.557435 m/s,
      LOS rate: 0.032343 deg/s,
      cmd heading: 178.436124 deg,
      new cmd heading: 178.484305 deg.

2025-10-26T21:56:04.003Z,1761515764.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.115139 target range: 40.250721 and range: 40.50 m.
2025-10-26T21:56:04.197Z,1761515764.197 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:04.322Z,1761515764.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999555,0.026185,-0.014282],[-0.023182,-0.983321,-0.180397],[-0.018768,-0.179985,0.983490]]
2025-10-26T21:56:04.357Z,1761515764.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:56:04.359Z,1761515764.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.25 m.
2025-10-26T21:56:04.361Z,1761515764.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.250721 m,
      nav range: 38.211914 m,
      bearing: 187.867141 deg,
      approach rate: -0.720534 m/s,
      LOS rate: 0.017787 deg/s,
      cmd heading: 178.484304 deg,
      new cmd heading: 178.504328 deg.

2025-10-26T21:56:04.362Z,1761515764.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.115488 target range: 40.250721 and range: 40.50 m.
2025-10-26T21:56:04.449Z,1761515764.449 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:04.701Z,1761515764.701 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:04.735Z,1761515764.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999545,0.026889,-0.013648],[-0.023983,-0.983240,-0.180730],[-0.018278,-0.180321,0.983438]]
2025-10-26T21:56:04.753Z,1761515764.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.25 m.
2025-10-26T21:56:04.772Z,1761515764.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.250721 m,
      nav range: 37.964771 m,
      bearing: 187.872991 deg,
      approach rate: -0.626049 m/s,
      LOS rate: 0.014916 deg/s,
      cmd heading: 178.504330 deg,
      new cmd heading: 178.521995 deg.

2025-10-26T21:56:04.773Z,1761515764.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.115797 target range: 40.250721 and range: 40.50 m.
2025-10-26T21:56:04.955Z,1761515764.955 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:05.132Z,1761515765.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999545,0.026847,-0.013741],[-0.023914,-0.983142,-0.181274],[-0.018376,-0.180863,0.983337]]
2025-10-26T21:56:05.185Z,1761515765.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.25 m.
2025-10-26T21:56:05.205Z,1761515765.205 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:05.208Z,1761515765.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.250721 m,
      nav range: 37.691750 m,
      bearing: 187.860554 deg,
      approach rate: -0.632022 m/s,
      LOS rate: -0.028998 deg/s,
      cmd heading: 178.521993 deg,
      new cmd heading: 178.484413 deg.

2025-10-26T21:56:05.209Z,1761515765.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.115141 target range: 40.250721 and range: 40.50 m.
2025-10-26T21:56:05.456Z,1761515765.456 [DAT](INFO): DAT read: Rx Time:21:56:04.0455

2025-10-26T21:56:05.457Z,1761515765.457 [DAT](INFO): Rx dataTimestamp_ set to:1761515765.456499
2025-10-26T21:56:05.457Z,1761515765.457 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:05.530Z,1761515765.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999540,0.027052,-0.013690],[-0.024103,-0.982918,-0.182459],[-0.018392,-0.182045,0.983118]]
2025-10-26T21:56:05.550Z,1761515765.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.25 m.
2025-10-26T21:56:05.553Z,1761515765.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.250721 m,
      nav range: 37.461594 m,
      bearing: 187.849896 deg,
      approach rate: -0.631088 m/s,
      LOS rate: -0.029405 deg/s,
      cmd heading: 178.484413 deg,
      new cmd heading: 178.452242 deg.

2025-10-26T21:56:05.554Z,1761515765.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.114579 target range: 40.250721 and range: 40.50 m.
2025-10-26T21:56:05.712Z,1761515765.712 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:05.989Z,1761515765.989 [DAT](INFO): DAT read: 21:56:04.0455 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 409,-0.48,-0.728,-2.487,-0.695,-0.840, PHS= 0.214,-1.602, 0.101, RAW= 146.8,  14.5, CAL= 146.7,  15.9, ROT=   3.3, -15.9

2025-10-26T21:56:06.012Z,1761515766.012 [DAT](INFO): got valid direction response:
 21:56:04.0455 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 409,-0.48,-0.728,-2.487,-0.695,-0.840, PHS= 0.214,-1.602, 0.101, RAW= 146.8,  14.5, CAL= 146.7,  15.9, ROT=   3.3, -15.9

2025-10-26T21:56:06.013Z,1761515766.013 [DAT](INFO): DAT read: Bearing 346.4,  -0.8 (Local)

2025-10-26T21:56:06.013Z,1761515766.013 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.4,  -0.8 (Local)

2025-10-26T21:56:06.014Z,1761515766.014 [DAT](INFO): DAT read: Range 11 to 50 : 38.3 m  (Round-trip  51.1 ms) speed  0.4 m/s

2025-10-26T21:56:06.020Z,1761515766.020 [DAT](INFO): DAT read: user:417>Tx time:21:56:05.1402

2025-10-26T21:56:06.020Z,1761515766.020 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:56:06.021Z,1761515766.021 [DAT](INFO): direction in FSK: [0.960147,0.055362,0.273959]
2025-10-26T21:56:06.021Z,1761515766.021 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:06.026Z,1761515766.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999549,0.026802,-0.013519],[-0.023869,-0.982726,-0.183524],[-0.018204,-0.183118,0.982922]]
2025-10-26T21:56:06.029Z,1761515766.029 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:06.030Z,1761515766.030 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:56:06.144Z,1761515766.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.299999 m,
      deltaT: 3.529475 s,
      deltaX: -2.200001 m,
      approachRate: -0.623322 m/s,
      rangeRepo size: 4

2025-10-26T21:56:06.146Z,1761515766.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.064259 m,
      bearing: 187.556201 deg,
      lat: 36.779401 deg,
      lon: -121.859509 deg,
      deltaT: 3.529475 s,
      deltaX: -2.186462 m,
      approachRate: -0.619487 m/s,
      posRepo size: 4

2025-10-26T21:56:06.147Z,1761515766.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.06 m.
2025-10-26T21:56:06.150Z,1761515766.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.064259 m,
      nav range: 37.094311 m,
      bearing: 187.702909 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029405 deg/s,
      cmd heading: 178.452243 deg,
      new cmd heading: 178.400235 deg.

2025-10-26T21:56:06.151Z,1761515766.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.113672 target range: 38.064259 and range: 38.30 m.
2025-10-26T21:56:06.213Z,1761515766.213 [DAT](INFO): DAT read: 

2025-10-26T21:56:06.214Z,1761515766.214 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:06.408Z,1761515766.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999575,0.025569,-0.013979],[-0.022593,-0.982965,-0.182402],[-0.018404,-0.182008,0.983125]]
2025-10-26T21:56:06.425Z,1761515766.425 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-10-26T21:56:06.425Z,1761515766.425 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T21:56:06.425Z,1761515766.425 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-10-26T21:56:06.426Z,1761515766.426 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  38.299999 m (mode  2.000000 count ).
2025-10-26T21:56:06.426Z,1761515766.426 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-10-26T21:56:06.426Z,1761515766.426 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-10-26T21:56:06.427Z,1761515766.427 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:56:06.429Z,1761515766.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.06 m.
2025-10-26T21:56:06.432Z,1761515766.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.064259 m,
      nav range: 36.897976 m,
      bearing: 187.681806 deg,
      approach rate: -0.677947 m/s,
      LOS rate: -0.073255 deg/s,
      cmd heading: 178.400238 deg,
      new cmd heading: 178.336594 deg.

2025-10-26T21:56:06.433Z,1761515766.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.112561 target range: 38.064259 and range: 38.30 m.
2025-10-26T21:56:06.464Z,1761515766.464 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:06.717Z,1761515766.717 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:06.811Z,1761515766.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999579,0.025032,-0.014699],[-0.021963,-0.983251,-0.180928],[-0.018982,-0.180529,0.983387]]
2025-10-26T21:56:06.835Z,1761515766.835 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-10-26T21:56:06.835Z,1761515766.835 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-10-26T21:56:06.837Z,1761515766.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.06 m.
2025-10-26T21:56:06.844Z,1761515766.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.064259 m,
      nav range: 36.644100 m,
      bearing: 187.654369 deg,
      approach rate: -0.622472 m/s,
      LOS rate: -0.067739 deg/s,
      cmd heading: 178.336594 deg,
      new cmd heading: 178.253712 deg.

2025-10-26T21:56:06.845Z,1761515766.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.111114 target range: 38.064259 and range: 38.30 m.
2025-10-26T21:56:06.970Z,1761515766.970 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:07.221Z,1761515767.221 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:07.229Z,1761515767.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999578,0.023918,-0.016501],[-0.020593,-0.983728,-0.178478],[-0.020502,-0.178063,0.983806]]
2025-10-26T21:56:07.264Z,1761515767.264 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-10-26T21:56:07.264Z,1761515767.264 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-10-26T21:56:07.266Z,1761515767.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.06 m.
2025-10-26T21:56:07.269Z,1761515767.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.064259 m,
      nav range: 36.374317 m,
      bearing: 187.600796 deg,
      approach rate: -0.628846 m/s,
      LOS rate: -0.125801 deg/s,
      cmd heading: 178.253717 deg,
      new cmd heading: 178.091806 deg.

2025-10-26T21:56:07.270Z,1761515767.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.108288 target range: 38.064259 and range: 38.30 m.
2025-10-26T21:56:07.473Z,1761515767.473 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:07.630Z,1761515767.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999580,0.022454,-0.018335],[-0.018813,-0.983668,-0.179006],[-0.022055,-0.178586,0.983677]]
2025-10-26T21:56:07.647Z,1761515767.647 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-10-26T21:56:07.647Z,1761515767.647 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T21:56:07.647Z,1761515767.647 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-10-26T21:56:07.648Z,1761515767.648 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T21:56:07.650Z,1761515767.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.06 m.
2025-10-26T21:56:07.653Z,1761515767.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.064259 m,
      nav range: 36.137646 m,
      bearing: 187.553815 deg,
      approach rate: -0.616894 m/s,
      LOS rate: -0.123259 deg/s,
      cmd heading: 178.091800 deg,
      new cmd heading: 177.949936 deg.

2025-10-26T21:56:07.654Z,1761515767.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.105812 target range: 38.064259 and range: 38.30 m.
2025-10-26T21:56:07.725Z,1761515767.725 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:07.979Z,1761515767.979 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:08.041Z,1761515768.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999574,0.021091,-0.020171],[-0.017077,-0.983189,-0.181791],[-0.023666,-0.181369,0.983130]]
2025-10-26T21:56:08.084Z,1761515768.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.06 m.
2025-10-26T21:56:08.086Z,1761515768.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.064259 m,
      nav range: 35.871147 m,
      bearing: 187.492430 deg,
      approach rate: -0.614312 m/s,
      LOS rate: -0.142552 deg/s,
      cmd heading: 177.949937 deg,
      new cmd heading: 177.764414 deg.

2025-10-26T21:56:08.088Z,1761515768.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.102574 target range: 38.064259 and range: 38.30 m.
2025-10-26T21:56:08.228Z,1761515768.228 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:08.426Z,1761515768.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999569,0.019690,-0.021783],[-0.015312,-0.982531,-0.185468],[-0.025054,-0.185055,0.982409]]
2025-10-26T21:56:08.459Z,1761515768.459 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:56:08.468Z,1761515768.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.06 m.
2025-10-26T21:56:08.471Z,1761515768.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.064259 m,
      nav range: 35.649620 m,
      bearing: 187.441446 deg,
      approach rate: -0.575419 m/s,
      LOS rate: -0.133255 deg/s,
      cmd heading: 177.764416 deg,
      new cmd heading: 177.610513 deg.

2025-10-26T21:56:08.472Z,1761515768.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.099888 target range: 38.064259 and range: 38.30 m.
2025-10-26T21:56:08.480Z,1761515768.480 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:08.732Z,1761515768.732 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:08.830Z,1761515768.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999561,0.018951,-0.022788],[-0.014377,-0.982385,-0.186315],[-0.025918,-0.185906,0.982226]]
2025-10-26T21:56:08.871Z,1761515768.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.06 m.
2025-10-26T21:56:08.874Z,1761515768.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.064259 m,
      nav range: 35.397751 m,
      bearing: 187.383106 deg,
      approach rate: -0.651419 m/s,
      LOS rate: -0.151961 deg/s,
      cmd heading: 177.610518 deg,
      new cmd heading: 177.434253 deg.

2025-10-26T21:56:08.875Z,1761515768.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.096812 target range: 38.064259 and range: 38.30 m.
2025-10-26T21:56:08.987Z,1761515768.987 [DAT](INFO): DAT read: Rx Time:21:56:07.5924

2025-10-26T21:56:08.987Z,1761515768.987 [DAT](INFO): Rx dataTimestamp_ set to:1761515768.986974
2025-10-26T21:56:08.988Z,1761515768.988 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:09.236Z,1761515769.236 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:09.238Z,1761515769.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999546,0.017974,-0.024191],[-0.013242,-0.982986,-0.183201],[-0.027072,-0.182798,0.982778]]
2025-10-26T21:56:09.274Z,1761515769.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.06 m.
2025-10-26T21:56:09.277Z,1761515769.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.064259 m,
      nav range: 35.141243 m,
      bearing: 187.321145 deg,
      approach rate: -0.612566 m/s,
      LOS rate: -0.149050 deg/s,
      cmd heading: 177.434258 deg,
      new cmd heading: 177.247018 deg.

2025-10-26T21:56:09.278Z,1761515769.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.093544 target range: 38.064259 and range: 38.30 m.
2025-10-26T21:56:09.494Z,1761515769.494 [DAT](INFO): DAT read: 21:56:07.5924 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 409, 0.20, 1.781,-0.004, 1.866, 1.653, PHS= 0.230,-1.613, 0.169, RAW= 148.3,  13.3, CAL= 148.3,  14.7, ROT=   1.7, -14.7

2025-10-26T21:56:09.495Z,1761515769.495 [DAT](INFO): got valid direction response:
 21:56:07.5924 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 409, 0.20, 1.781,-0.004, 1.866, 1.653, PHS= 0.230,-1.613, 0.169, RAW= 148.3,  13.3, CAL= 148.3,  14.7, ROT=   1.7, -14.7

2025-10-26T21:56:09.496Z,1761515769.496 [DAT](INFO): DAT read: Bearing 344.9,  -2.8 (Local)

2025-10-26T21:56:09.496Z,1761515769.496 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.9,  -2.8 (Local)

2025-10-26T21:56:09.498Z,1761515769.498 [DAT](INFO): DAT read: Range 11 to 50 : 36.0 m  (Round-trip  48.1 ms) speed  0.7 m/s

2025-10-26T21:56:09.499Z,1761515769.499 [DAT](INFO): DAT read: user:418>Tx time:21:56:08.6902

2025-10-26T21:56:09.499Z,1761515769.499 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:56:09.500Z,1761515769.500 [DAT](INFO): direction in FSK: [0.966842,0.028695,0.253758]
2025-10-26T21:56:09.501Z,1761515769.501 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:09.536Z,1761515769.536 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:09.536Z,1761515769.536 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:56:09.642Z,1761515769.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999545,0.015949,-0.025612],[-0.011082,-0.983599,-0.180030],[-0.028063,-0.179664,0.983328]]
2025-10-26T21:56:09.695Z,1761515769.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.000000 m,
      deltaT: 3.526475 s,
      deltaX: -2.299999 m,
      approachRate: -0.652209 m/s,
      rangeRepo size: 4

2025-10-26T21:56:09.703Z,1761515769.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.778084 m,
      bearing: 184.973411 deg,
      lat: 36.779401 deg,
      lon: -121.859509 deg,
      deltaT: 3.526475 s,
      deltaX: -2.286175 m,
      approachRate: -0.648289 m/s,
      posRepo size: 4

2025-10-26T21:56:09.708Z,1761515769.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:09.731Z,1761515769.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 34.891747 m,
      bearing: 187.221609 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.149050 deg/s,
      cmd heading: 177.247015 deg,
      new cmd heading: 177.059817 deg.

2025-10-26T21:56:09.740Z,1761515769.740 [DAT](INFO): DAT read: 

2025-10-26T21:56:09.741Z,1761515769.741 [DAT](INFO): DAT read: Tx time:21:56:08.8902

2025-10-26T21:56:09.741Z,1761515769.741 [DAT](INFO): Ping request sent.
2025-10-26T21:56:09.741Z,1761515769.741 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:56:09.741Z,1761515769.741 [DAT](INFO): publishing transmit ping time
2025-10-26T21:56:09.742Z,1761515769.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-10-26T21:56:09.744Z,1761515769.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.090277 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:09.996Z,1761515769.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254807
2025-10-26T21:56:10.078Z,1761515770.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999529,0.014506,-0.027033],[-0.009434,-0.983790,-0.179077],[-0.029192,-0.178738,0.983464]]
2025-10-26T21:56:10.130Z,1761515770.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:10.138Z,1761515770.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 34.626125 m,
      bearing: 187.159508 deg,
      approach rate: -0.606972 m/s,
      LOS rate: -0.142996 deg/s,
      cmd heading: 177.059813 deg,
      new cmd heading: 176.872082 deg.

2025-10-26T21:56:10.139Z,1761515770.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.087000 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:10.245Z,1761515770.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503853
2025-10-26T21:56:10.470Z,1761515770.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999509,0.012899,-0.028541],[-0.007526,-0.983470,-0.180916],[-0.030403,-0.180613,0.983084]]
2025-10-26T21:56:10.496Z,1761515770.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755193
2025-10-26T21:56:10.502Z,1761515770.502 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:56:10.508Z,1761515770.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:10.521Z,1761515770.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 34.399445 m,
      bearing: 187.106523 deg,
      approach rate: -0.599190 m/s,
      LOS rate: -0.140979 deg/s,
      cmd heading: 176.872079 deg,
      new cmd heading: 176.712077 deg.

2025-10-26T21:56:10.522Z,1761515770.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.084208 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:10.750Z,1761515770.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008362
2025-10-26T21:56:10.874Z,1761515770.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999490,0.011840,-0.029668],[-0.006127,-0.982581,-0.185735],[-0.031350,-0.185459,0.982152]]
2025-10-26T21:56:10.893Z,1761515770.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:10.918Z,1761515770.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 34.153969 m,
      bearing: 187.049081 deg,
      approach rate: -0.638653 m/s,
      LOS rate: -0.150521 deg/s,
      cmd heading: 176.712075 deg,
      new cmd heading: 176.538510 deg.

2025-10-26T21:56:10.924Z,1761515770.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.081178 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:11.001Z,1761515771.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259514
2025-10-26T21:56:11.252Z,1761515771.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511102
2025-10-26T21:56:11.284Z,1761515771.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999478,0.010831,-0.030444],[-0.004857,-0.981805,-0.189832],[-0.031946,-0.189585,0.981344]]
2025-10-26T21:56:11.342Z,1761515771.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:11.349Z,1761515771.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 33.887081 m,
      bearing: 187.002704 deg,
      approach rate: -0.594773 m/s,
      LOS rate: -0.104167 deg/s,
      cmd heading: 176.538506 deg,
      new cmd heading: 176.398280 deg.

2025-10-26T21:56:11.349Z,1761515771.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.078731 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:11.504Z,1761515771.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763036
2025-10-26T21:56:11.746Z,1761515771.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:11.749Z,1761515771.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 33.625698 m,
      bearing: 186.956567 deg,
      approach rate: -0.645923 m/s,
      LOS rate: -0.114899 deg/s,
      cmd heading: 176.398282 deg,
      new cmd heading: 176.258795 deg.

2025-10-26T21:56:11.750Z,1761515771.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.076296 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:11.756Z,1761515771.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015181
2025-10-26T21:56:12.008Z,1761515772.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267073
2025-10-26T21:56:12.104Z,1761515772.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999468,0.008040,-0.031593],[-0.001754,-0.980974,-0.194133],[-0.032553,-0.193974,0.980466]]
2025-10-26T21:56:12.146Z,1761515772.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:12.173Z,1761515772.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 33.383522 m,
      bearing: 186.919641 deg,
      approach rate: -0.606205 m/s,
      LOS rate: -0.093102 deg/s,
      cmd heading: 176.258796 deg,
      new cmd heading: 176.147215 deg.

2025-10-26T21:56:12.174Z,1761515772.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.074349 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:12.261Z,1761515772.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519702
2025-10-26T21:56:12.494Z,1761515772.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999466,0.006655,-0.031978],[-0.000310,-0.980910,-0.194461],[-0.032662,-0.194347,0.980389]]
2025-10-26T21:56:12.511Z,1761515772.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:56:12.513Z,1761515772.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771438
2025-10-26T21:56:12.515Z,1761515772.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:12.522Z,1761515772.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 33.164951 m,
      bearing: 186.886404 deg,
      approach rate: -0.592215 m/s,
      LOS rate: -0.090647 deg/s,
      cmd heading: 176.147218 deg,
      new cmd heading: 176.046852 deg.

2025-10-26T21:56:12.524Z,1761515772.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.072597 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:12.767Z,1761515772.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025329
2025-10-26T21:56:12.898Z,1761515772.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999461,0.005197,-0.032425],[0.001271,-0.980535,-0.196341],[-0.032814,-0.196277,0.979999]]
2025-10-26T21:56:12.919Z,1761515772.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:12.934Z,1761515772.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 32.924717 m,
      bearing: 186.850061 deg,
      approach rate: -0.597839 m/s,
      LOS rate: -0.091103 deg/s,
      cmd heading: 176.046855 deg,
      new cmd heading: 175.937029 deg.

2025-10-26T21:56:12.935Z,1761515772.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.070680 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:13.020Z,1761515773.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279148
2025-10-26T21:56:13.272Z,1761515773.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531059
2025-10-26T21:56:13.403Z,1761515773.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999462,0.003586,-0.032616],[0.003091,-0.979299,-0.202396],[-0.032666,-0.202387,0.978761]]
2025-10-26T21:56:13.441Z,1761515773.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:13.444Z,1761515773.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 32.606777 m,
      bearing: 186.828582 deg,
      approach rate: -0.606734 m/s,
      LOS rate: -0.041389 deg/s,
      cmd heading: 175.937026 deg,
      new cmd heading: 175.871961 deg.

2025-10-26T21:56:13.445Z,1761515773.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.069545 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:13.525Z,1761515773.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783255
2025-10-26T21:56:13.776Z,1761515773.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035003
2025-10-26T21:56:13.899Z,1761515773.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999462,0.002924,-0.032654],[0.003772,-0.979148,-0.203112],[-0.032567,-0.203126,0.978611]]
2025-10-26T21:56:13.917Z,1761515773.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:13.920Z,1761515773.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 32.318024 m,
      bearing: 186.809076 deg,
      approach rate: -0.606209 m/s,
      LOS rate: -0.041317 deg/s,
      cmd heading: 175.871962 deg,
      new cmd heading: 175.812920 deg.

2025-10-26T21:56:13.921Z,1761515773.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.068514 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:14.029Z,1761515774.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287563
2025-10-26T21:56:14.280Z,1761515774.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539059
2025-10-26T21:56:14.339Z,1761515774.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999475,0.002175,-0.032328],[0.004509,-0.978702,-0.205238],[-0.032086,-0.205276,0.978178]]
2025-10-26T21:56:14.427Z,1761515774.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:14.434Z,1761515774.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 32.011383 m,
      bearing: 186.796633 deg,
      approach rate: -0.601354 m/s,
      LOS rate: -0.024634 deg/s,
      cmd heading: 175.812921 deg,
      new cmd heading: 175.775237 deg.

2025-10-26T21:56:14.435Z,1761515774.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.067857 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:14.533Z,1761515774.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791963
2025-10-26T21:56:14.624Z,1761515774.624 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:56:14.784Z,1761515774.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043102
2025-10-26T21:56:14.799Z,1761515774.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999501,0.001238,-0.031552],[0.005296,-0.978503,-0.206163],[-0.031129,-0.206227,0.978009]]
2025-10-26T21:56:14.819Z,1761515774.819 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:56:14.821Z,1761515774.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:14.824Z,1761515774.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 31.747736 m,
      bearing: 186.786149 deg,
      approach rate: -0.668480 m/s,
      LOS rate: -0.026805 deg/s,
      cmd heading: 175.775232 deg,
      new cmd heading: 175.743517 deg.

2025-10-26T21:56:14.825Z,1761515774.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.067303 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:15.037Z,1761515775.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295829
2025-10-26T21:56:15.193Z,1761515775.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999547,0.000282,-0.030088],[0.005927,-0.978518,-0.206077],[-0.029500,-0.206162,0.978073]]
2025-10-26T21:56:15.271Z,1761515775.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:15.278Z,1761515775.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 31.472055 m,
      bearing: 186.772850 deg,
      approach rate: -0.613039 m/s,
      LOS rate: -0.029832 deg/s,
      cmd heading: 175.743513 deg,
      new cmd heading: 175.703267 deg.

2025-10-26T21:56:15.279Z,1761515775.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.066601 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:15.288Z,1761515775.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547188
2025-10-26T21:56:15.542Z,1761515775.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.800416
2025-10-26T21:56:15.602Z,1761515775.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999587,-0.000940,-0.028737],[0.006802,-0.978822,-0.204600],[-0.027936,-0.204711,0.978424]]
2025-10-26T21:56:15.620Z,1761515775.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:15.623Z,1761515775.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 31.249201 m,
      bearing: 186.762256 deg,
      approach rate: -0.638102 m/s,
      LOS rate: -0.030549 deg/s,
      cmd heading: 175.703270 deg,
      new cmd heading: 175.671262 deg.

2025-10-26T21:56:15.624Z,1761515775.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.066042 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:15.628Z,1761515775.628 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:56:15.792Z,1761515775.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051110
2025-10-26T21:56:16.001Z,1761515776.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999627,-0.002814,-0.027151],[0.008175,-0.979875,-0.199446],[-0.026043,-0.199593,0.979533]]
2025-10-26T21:56:16.020Z,1761515776.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:16.022Z,1761515776.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 31.000309 m,
      bearing: 186.750738 deg,
      approach rate: -0.623656 m/s,
      LOS rate: -0.029093 deg/s,
      cmd heading: 175.671263 deg,
      new cmd heading: 175.636431 deg.

2025-10-26T21:56:16.023Z,1761515776.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.065434 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:16.044Z,1761515776.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303046
2025-10-26T21:56:16.297Z,1761515776.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555398
2025-10-26T21:56:16.400Z,1761515776.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999646,-0.005434,-0.026034],[0.010406,-0.980775,-0.194862],[-0.024475,-0.195064,0.980485]]
2025-10-26T21:56:16.443Z,1761515776.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:16.446Z,1761515776.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 30.747389 m,
      bearing: 186.735341 deg,
      approach rate: -0.597340 m/s,
      LOS rate: -0.036664 deg/s,
      cmd heading: 175.636429 deg,
      new cmd heading: 175.589857 deg.

2025-10-26T21:56:16.447Z,1761515776.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.064621 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:16.549Z,1761515776.549 [DAT](INFO): DAT read: Response Not Received

2025-10-26T21:56:16.550Z,1761515776.550 [DAT](INFO): response not received
2025-10-26T21:56:16.550Z,1761515776.550 [DAT](ERROR): No response from remote modem.
2025-10-26T21:56:16.551Z,1761515776.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.809380
2025-10-26T21:56:16.800Z,1761515776.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059136
2025-10-26T21:56:16.806Z,1761515776.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999652,-0.008715,-0.024897],[0.013266,-0.981900,-0.188934],[-0.022800,-0.189199,0.981674]]
2025-10-26T21:56:16.842Z,1761515776.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:56:16.848Z,1761515776.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:16.851Z,1761515776.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 30.515219 m,
      bearing: 186.722085 deg,
      approach rate: -0.573080 m/s,
      LOS rate: -0.032967 deg/s,
      cmd heading: 175.589861 deg,
      new cmd heading: 175.549793 deg.

2025-10-26T21:56:16.856Z,1761515776.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.063922 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:17.052Z,1761515777.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311079
2025-10-26T21:56:17.231Z,1761515777.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999646,-0.012362,-0.023541],[0.016515,-0.982538,-0.185325],[-0.020839,-0.185648,0.982395]]
2025-10-26T21:56:17.290Z,1761515777.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:17.297Z,1761515777.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 30.241798 m,
      bearing: 186.705539 deg,
      approach rate: -0.618201 m/s,
      LOS rate: -0.037748 deg/s,
      cmd heading: 175.549795 deg,
      new cmd heading: 175.499709 deg.

2025-10-26T21:56:17.298Z,1761515777.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.063048 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:17.305Z,1761515777.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563365
2025-10-26T21:56:17.556Z,1761515777.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815036
2025-10-26T21:56:17.621Z,1761515777.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999624,-0.016202,-0.022103],[0.020055,-0.982139,-0.187084],[-0.018677,-0.187457,0.982095]]
2025-10-26T21:56:17.641Z,1761515777.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:17.644Z,1761515777.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 30.019846 m,
      bearing: 186.693452 deg,
      approach rate: -0.632316 m/s,
      LOS rate: -0.034690 deg/s,
      cmd heading: 175.499703 deg,
      new cmd heading: 175.463173 deg.

2025-10-26T21:56:17.645Z,1761515777.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.062410 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:17.808Z,1761515777.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067059
2025-10-26T21:56:18.039Z,1761515778.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999577,-0.020289,-0.020846],[0.023872,-0.981639,-0.189250],[-0.016624,-0.189667,0.981708]]
2025-10-26T21:56:18.061Z,1761515778.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319225
2025-10-26T21:56:18.098Z,1761515778.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:18.107Z,1761515778.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 29.759426 m,
      bearing: 186.681045 deg,
      approach rate: -0.570363 m/s,
      LOS rate: -0.027411 deg/s,
      cmd heading: 175.463175 deg,
      new cmd heading: 175.425628 deg.

2025-10-26T21:56:18.112Z,1761515778.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.061755 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:18.312Z,1761515778.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571135
2025-10-26T21:56:18.565Z,1761515778.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823435
2025-10-26T21:56:18.570Z,1761515778.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:18.573Z,1761515778.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 29.456806 m,
      bearing: 186.657769 deg,
      approach rate: -0.641133 m/s,
      LOS rate: -0.049821 deg/s,
      cmd heading: 175.425622 deg,
      new cmd heading: 175.355075 deg.

2025-10-26T21:56:18.574Z,1761515778.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.060524 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:18.817Z,1761515778.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075267
2025-10-26T21:56:18.902Z,1761515778.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999414,-0.028708,-0.018669],[0.031817,-0.980045,-0.196213],[-0.012664,-0.196692,0.980384]]
2025-10-26T21:56:18.919Z,1761515778.919 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:56:18.923Z,1761515778.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:18.945Z,1761515778.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 29.243477 m,
      bearing: 186.644622 deg,
      approach rate: -0.606878 m/s,
      LOS rate: -0.037671 deg/s,
      cmd heading: 175.355080 deg,
      new cmd heading: 175.315354 deg.

2025-10-26T21:56:18.946Z,1761515778.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.059830 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:19.068Z,1761515779.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327054
2025-10-26T21:56:19.306Z,1761515779.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999292,-0.032793,-0.018423],[0.035803,-0.979421,-0.198629],[-0.011530,-0.199148,0.979902]]
2025-10-26T21:56:19.320Z,1761515779.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579206
2025-10-26T21:56:19.360Z,1761515779.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:19.363Z,1761515779.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 28.977062 m,
      bearing: 186.631955 deg,
      approach rate: -0.606672 m/s,
      LOS rate: -0.029111 deg/s,
      cmd heading: 175.315356 deg,
      new cmd heading: 175.277004 deg.

2025-10-26T21:56:19.364Z,1761515779.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.059161 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:19.572Z,1761515779.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831146
2025-10-26T21:56:19.719Z,1761515779.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999189,-0.035967,-0.018108],[0.038895,-0.978464,-0.202718],[-0.010427,-0.203258,0.979070]]
2025-10-26T21:56:19.761Z,1761515779.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:19.764Z,1761515779.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 28.734341 m,
      bearing: 186.621850 deg,
      approach rate: -0.605928 m/s,
      LOS rate: -0.025439 deg/s,
      cmd heading: 175.276997 deg,
      new cmd heading: 175.246426 deg.

2025-10-26T21:56:19.765Z,1761515779.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.058627 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:19.824Z,1761515779.824 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:56:19.825Z,1761515779.825 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:56:20.076Z,1761515780.076 [DAT](INFO): DAT read: user:419>

2025-10-26T21:56:20.077Z,1761515780.077 [DAT](INFO): DAT read: Tx time:21:56:19.1902

2025-10-26T21:56:20.077Z,1761515780.077 [DAT](INFO): Ping request sent.
2025-10-26T21:56:20.077Z,1761515780.077 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:56:20.078Z,1761515780.078 [DAT](INFO): publishing transmit ping time
2025-10-26T21:56:20.078Z,1761515780.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756
2025-10-26T21:56:20.133Z,1761515780.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999062,-0.039548,-0.017626],[0.042342,-0.977444,-0.206906],[-0.009046,-0.207458,0.978202]]
2025-10-26T21:56:20.236Z,1761515780.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:20.238Z,1761515780.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 28.454344 m,
      bearing: 186.612098 deg,
      approach rate: -0.595338 m/s,
      LOS rate: -0.020938 deg/s,
      cmd heading: 175.246426 deg,
      new cmd heading: 175.216883 deg.

2025-10-26T21:56:20.243Z,1761515780.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.058111 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:20.329Z,1761515780.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251090
2025-10-26T21:56:20.558Z,1761515780.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998857,-0.044421,-0.017649],[0.047154,-0.976188,-0.211737],[-0.007823,-0.212327,0.977167]]
2025-10-26T21:56:20.580Z,1761515780.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502930
2025-10-26T21:56:20.614Z,1761515780.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:20.617Z,1761515780.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 28.213284 m,
      bearing: 186.608394 deg,
      approach rate: -0.630411 m/s,
      LOS rate: -0.009769 deg/s,
      cmd heading: 175.216878 deg,
      new cmd heading: 175.205671 deg.

2025-10-26T21:56:20.618Z,1761515780.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.057916 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:20.833Z,1761515780.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755469
2025-10-26T21:56:20.960Z,1761515780.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998770,-0.046162,-0.018109],[0.048958,-0.975985,-0.212263],[-0.007876,-0.212889,0.977045]]
2025-10-26T21:56:20.983Z,1761515780.983 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:56:20.985Z,1761515780.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:20.987Z,1761515780.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 27.984217 m,
      bearing: 186.605682 deg,
      approach rate: -0.617411 m/s,
      LOS rate: -0.007371 deg/s,
      cmd heading: 175.205677 deg,
      new cmd heading: 175.197473 deg.

2025-10-26T21:56:20.988Z,1761515780.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.057773 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:21.087Z,1761515781.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009517
2025-10-26T21:56:21.340Z,1761515781.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262883
2025-10-26T21:56:21.362Z,1761515781.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998712,-0.047263,-0.018481],[0.050083,-0.976693,-0.208717],[-0.008186,-0.209374,0.977801]]
2025-10-26T21:56:21.417Z,1761515781.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:21.420Z,1761515781.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 27.722393 m,
      bearing: 186.610073 deg,
      approach rate: -0.605122 m/s,
      LOS rate: 0.010245 deg/s,
      cmd heading: 175.197467 deg,
      new cmd heading: 175.210765 deg.

2025-10-26T21:56:21.421Z,1761515781.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.058005 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:21.593Z,1761515781.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515103
2025-10-26T21:56:21.772Z,1761515781.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998652,-0.048338,-0.018895],[0.051186,-0.977491,-0.204673],[-0.008576,-0.205365,0.978648]]
2025-10-26T21:56:21.790Z,1761515781.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:21.793Z,1761515781.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 27.496992 m,
      bearing: 186.614313 deg,
      approach rate: -0.605401 m/s,
      LOS rate: 0.011482 deg/s,
      cmd heading: 175.210758 deg,
      new cmd heading: 175.223584 deg.

2025-10-26T21:56:21.794Z,1761515781.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.058228 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:21.845Z,1761515781.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767465
2025-10-26T21:56:22.096Z,1761515782.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018898
2025-10-26T21:56:22.189Z,1761515782.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998584,-0.049637,-0.019156],[0.052472,-0.978321,-0.200336],[-0.008796,-0.201058,0.979540]]
2025-10-26T21:56:22.294Z,1761515782.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.78 m.
2025-10-26T21:56:22.297Z,1761515782.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.778084 m,
      nav range: 27.191057 m,
      bearing: 186.613406 deg,
      approach rate: -0.607138 m/s,
      LOS rate: -0.001821 deg/s,
      cmd heading: 175.223585 deg,
      new cmd heading: 175.220833 deg.

2025-10-26T21:56:22.297Z,1761515782.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.058180 target range: 35.778084 and range: 36.00 m.
2025-10-26T21:56:22.349Z,1761515782.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271863
2025-10-26T21:56:22.601Z,1761515782.601 [DAT](INFO): DAT read: Rx Time:21:56:21.3562 

2025-10-26T21:56:22.602Z,1761515782.602 [DAT](INFO): Rx dataTimestamp_ set to:1761515782.601303
2025-10-26T21:56:22.603Z,1761515782.603 [DAT](INFO): DAT read: Bearing 342.0,   0.7 (Local)

2025-10-26T21:56:22.603Z,1761515782.603 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.0,   0.7 (Local)

2025-10-26T21:56:22.605Z,1761515782.605 [DAT](INFO): DAT read: Range 11 to 50 :    27.6 m (trip time 18.4 ms) speed 0.5

2025-10-26T21:56:22.610Z,1761515782.610 [DAT](INFO): DAT read: 21:56:21.3562 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX=  38, 0.03, 1.547,-0.278, 1.535, 1.399, PHS= 0.251,-1.632, 0.093, RAW= 145.7,  14.1, CAL= 145.4,  15.5, ROT=   4.6, -15.5

2025-10-26T21:56:22.611Z,1761515782.611 [DAT](INFO): got valid direction response:
 21:56:21.3562 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX=  38, 0.03, 1.547,-0.278, 1.535, 1.399, PHS= 0.251,-1.632, 0.093, RAW= 145.7,  14.1, CAL= 145.4,  15.5, ROT=   4.6, -15.5

2025-10-26T21:56:22.612Z,1761515782.612 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:56:22.613Z,1761515782.613 [DAT](INFO): direction in FSK: [0.960526,0.077282,0.267238]
2025-10-26T21:56:22.613Z,1761515782.613 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:22.616Z,1761515782.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998528,-0.050837,-0.018914],[0.053564,-0.979117,-0.196112],[-0.008550,-0.196837,0.980399]]
2025-10-26T21:56:22.621Z,1761515782.621 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.543238
2025-10-26T21:56:22.702Z,1761515782.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.600000 m,
      deltaT: 13.113510 s,
      deltaX: -8.400000 m,
      approachRate: -0.640561 m/s,
      rangeRepo size: 4

2025-10-26T21:56:22.706Z,1761515782.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.430302 m,
      bearing: 184.525703 deg,
      lat: 36.779403 deg,
      lon: -121.859508 deg,
      deltaT: 13.113510 s,
      deltaX: -8.347782 m,
      approachRate: -0.636579 m/s,
      posRepo size: 4

2025-10-26T21:56:22.707Z,1761515782.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.43 m.
2025-10-26T21:56:22.727Z,1761515782.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.430302 m,
      nav range: 26.828417 m,
      bearing: 186.456767 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001821 deg/s,
      cmd heading: 175.220826 deg,
      new cmd heading: 175.218598 deg.

2025-10-26T21:56:22.729Z,1761515782.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.058141 target range: 27.430302 and range: 27.60 m.
2025-10-26T21:56:22.852Z,1761515782.852 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.775019
2025-10-26T21:56:23.056Z,1761515783.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998476,-0.051972,-0.018572],[0.054581,-0.979747,-0.192655],[-0.008183,-0.193375,0.981091]]
2025-10-26T21:56:23.072Z,1761515783.072 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:56:23.074Z,1761515783.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.43 m.
2025-10-26T21:56:23.089Z,1761515783.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.430302 m,
      nav range: 26.563368 m,
      bearing: 186.455290 deg,
      approach rate: -0.710732 m/s,
      LOS rate: -0.004000 deg/s,
      cmd heading: 175.218599 deg,
      new cmd heading: 175.214124 deg.

2025-10-26T21:56:23.090Z,1761515783.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.058063 target range: 27.430302 and range: 27.60 m.
2025-10-26T21:56:23.105Z,1761515783.105 [DAT](INFO): DAT read: Rx Time:21:56:21.8560 

2025-10-26T21:56:23.106Z,1761515783.106 [DAT](INFO): Rx dataTimestamp_ set to:1761515783.105281
2025-10-26T21:56:23.107Z,1761515783.107 [DAT](INFO): DAT read: Bearing 340.7,   1.2 (Local)

2025-10-26T21:56:23.107Z,1761515783.107 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.7,   1.2 (Local)

2025-10-26T21:56:23.109Z,1761515783.109 [DAT](INFO): DAT read: Range 11 to 50 :    27.3 m (trip time 18.2 ms) speed 0.5

2025-10-26T21:56:23.114Z,1761515783.114 [DAT](INFO): DAT read: 21:56:21.8560 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 500, 0.21, 1.518,-0.333, 1.502, 1.326, PHS= 0.294,-1.614, 0.131, RAW= 145.6,  12.9, CAL= 145.3,  14.1, ROT=   4.7, -14.1

2025-10-26T21:56:23.115Z,1761515783.115 [DAT](INFO): got valid direction response:
 21:56:21.8560 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 500, 0.21, 1.518,-0.333, 1.502, 1.326, PHS= 0.294,-1.614, 0.131, RAW= 145.6,  12.9, CAL= 145.3,  14.1, ROT=   4.7, -14.1

2025-10-26T21:56:23.116Z,1761515783.116 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T21:56:23.117Z,1761515783.117 [DAT](INFO): direction in FSK: [0.966611,0.079470,0.243615]
2025-10-26T21:56:23.117Z,1761515783.117 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:23.121Z,1761515783.121 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.043266
2025-10-26T21:56:23.357Z,1761515783.357 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.279068
2025-10-26T21:56:23.487Z,1761515783.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998393,-0.053688,-0.018115],[0.056153,-0.980259,-0.189577],[-0.007580,-0.190289,0.981699]]
2025-10-26T21:56:23.536Z,1761515783.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 0.503978 s,
      deltaX: -0.300001 m,
      approachRate: -0.595266 m/s,
      rangeRepo size: 4

2025-10-26T21:56:23.538Z,1761515783.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.132177 m,
      bearing: 184.100496 deg,
      lat: 36.779400 deg,
      lon: -121.859498 deg,
      deltaT: 0.503978 s,
      deltaX: -0.298124 m,
      approachRate: -0.591542 m/s,
      posRepo size: 4

2025-10-26T21:56:23.538Z,1761515783.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-10-26T21:56:23.541Z,1761515783.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.132177 m,
      nav range: 26.498398 m,
      bearing: 184.419112 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004000 deg/s,
      cmd heading: 175.214119 deg,
      new cmd heading: 175.208592 deg.

2025-10-26T21:56:23.542Z,1761515783.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.057967 target range: 27.132177 and range: 27.30 m.
2025-10-26T21:56:23.610Z,1761515783.610 [DAT](INFO): DAT read: Rx Time:21:56:22.3557 

2025-10-26T21:56:23.611Z,1761515783.611 [DAT](INFO): Rx dataTimestamp_ set to:1761515783.610200
2025-10-26T21:56:23.613Z,1761515783.613 [DAT](INFO): DAT read: Bearing 342.4,   0.8 (Local)

2025-10-26T21:56:23.613Z,1761515783.613 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.4,   0.8 (Local)

2025-10-26T21:56:23.616Z,1761515783.616 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed 0.4

2025-10-26T21:56:23.620Z,1761515783.620 [DAT](INFO): DAT read: 21:56:22.3557 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 497, 0.37, 1.152,-0.669, 1.139, 1.021, PHS= 0.232,-1.645, 0.074, RAW= 145.6,  14.7, CAL= 145.4,  16.1, ROT=   4.6, -16.1

2025-10-26T21:56:23.622Z,1761515783.622 [DAT](INFO): got valid direction response:
 21:56:22.3557 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 497, 0.37, 1.152,-0.669, 1.139, 1.021, PHS= 0.232,-1.645, 0.074, RAW= 145.6,  14.7, CAL= 145.4,  16.1, ROT=   4.6, -16.1

2025-10-26T21:56:23.622Z,1761515783.622 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-10-26T21:56:23.623Z,1761515783.623 [DAT](INFO): direction in FSK: [0.957684,0.077053,0.277315]
2025-10-26T21:56:23.623Z,1761515783.623 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:23.627Z,1761515783.627 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.549447
2025-10-26T21:56:23.860Z,1761515783.860 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.782976
2025-10-26T21:56:23.868Z,1761515783.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998322,-0.055195,-0.017498],[0.057509,-0.980341,-0.188744],[-0.006736,-0.189434,0.981870]]
2025-10-26T21:56:23.911Z,1761515783.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.504919 s,
      deltaX: -0.400000 m,
      approachRate: -0.792206 m/s,
      rangeRepo size: 4

2025-10-26T21:56:23.917Z,1761515783.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.734638 m,
      bearing: 184.313710 deg,
      lat: 36.779403 deg,
      lon: -121.859497 deg,
      deltaT: 0.504919 s,
      deltaX: -0.397539 m,
      approachRate: -0.787332 m/s,
      posRepo size: 4

2025-10-26T21:56:23.924Z,1761515783.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.73 m.
2025-10-26T21:56:23.943Z,1761515783.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.734638 m,
      nav range: 25.977228 m,
      bearing: 184.297068 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004000 deg/s,
      cmd heading: 175.208586 deg,
      new cmd heading: 175.204080 deg.

2025-10-26T21:56:23.957Z,1761515783.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.057888 target range: 26.734638 and range: 26.90 m.
2025-10-26T21:56:24.113Z,1761515784.113 [DAT](INFO): DAT read: Rx Time:21:56:22.8556 

2025-10-26T21:56:24.114Z,1761515784.114 [DAT](INFO): Rx dataTimestamp_ set to:1761515784.113341
2025-10-26T21:56:24.115Z,1761515784.115 [DAT](INFO): DAT read: Bearing 341.8,  -6.4 (Local)

2025-10-26T21:56:24.115Z,1761515784.115 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.8,  -6.4 (Local)

2025-10-26T21:56:24.117Z,1761515784.117 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed 0.5

2025-10-26T21:56:24.122Z,1761515784.122 [DAT](INFO): DAT read: 21:56:22.8556 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 513,-0.36, 0.406,-1.177, 0.635, 0.413, PHS= 0.095,-1.545, 0.178, RAW= 152.4,  15.0, CAL= 152.8,  16.9, ROT= 357.2, -16.9

2025-10-26T21:56:24.123Z,1761515784.123 [DAT](INFO): got valid direction response:
 21:56:22.8556 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 513,-0.36, 0.406,-1.177, 0.635, 0.413, PHS= 0.095,-1.545, 0.178, RAW= 152.4,  15.0, CAL= 152.8,  16.9, ROT= 357.2, -16.9

2025-10-26T21:56:24.124Z,1761515784.124 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-26T21:56:24.125Z,1761515784.125 [DAT](INFO): direction in FSK: [0.955671,-0.046740,0.290702]
2025-10-26T21:56:24.125Z,1761515784.125 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:24.138Z,1761515784.138 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.060300
2025-10-26T21:56:24.301Z,1761515784.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998284,-0.055892,-0.017449],[0.058186,-0.980236,-0.189079],[-0.006536,-0.189770,0.981807]]
2025-10-26T21:56:24.364Z,1761515784.364 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.286979
2025-10-26T21:56:24.388Z,1761515784.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.503141 s,
      deltaX: -0.199999 m,
      approachRate: -0.397501 m/s,
      rangeRepo size: 4

2025-10-26T21:56:24.390Z,1761515784.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.535900 m,
      bearing: 177.219285 deg,
      lat: 36.779404 deg,
      lon: -121.859496 deg,
      deltaT: 0.503141 s,
      deltaX: -0.198738 m,
      approachRate: -0.394995 m/s,
      posRepo size: 4

2025-10-26T21:56:24.390Z,1761515784.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.54 m.
2025-10-26T21:56:24.397Z,1761515784.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.535900 m,
      nav range: 25.578575 m,
      bearing: 184.106715 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004000 deg/s,
      cmd heading: 175.204078 deg,
      new cmd heading: 175.198411 deg.

2025-10-26T21:56:24.398Z,1761515784.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.057789 target range: 26.535900 and range: 26.70 m.
2025-10-26T21:56:24.617Z,1761515784.617 [DAT](INFO): DAT read: Rx Time:21:56:23.3554 

2025-10-26T21:56:24.618Z,1761515784.618 [DAT](INFO): Rx dataTimestamp_ set to:1761515784.617238
2025-10-26T21:56:24.619Z,1761515784.619 [DAT](INFO): DAT read: Bearing 342.4,   0.9 (Local)

2025-10-26T21:56:24.621Z,1761515784.621 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.4,   0.9 (Local)

2025-10-26T21:56:24.624Z,1761515784.624 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.4

2025-10-26T21:56:24.629Z,1761515784.629 [DAT](INFO): DAT read: 21:56:23.3554 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 510,-0.19,-0.399,-2.206,-0.413,-0.526, PHS= 0.229,-1.634, 0.070, RAW= 145.6,  14.8, CAL= 145.3,  16.2, ROT=   4.7, -16.2

2025-10-26T21:56:24.630Z,1761515784.630 [DAT](INFO): got valid direction response:
 21:56:23.3554 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 510,-0.19,-0.399,-2.206,-0.413,-0.526, PHS= 0.229,-1.634, 0.070, RAW= 145.6,  14.8, CAL= 145.3,  16.2, ROT=   4.7, -16.2

2025-10-26T21:56:24.630Z,1761515784.630 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-10-26T21:56:24.634Z,1761515784.634 [DAT](INFO): direction in FSK: [0.957065,0.078685,0.278991]
2025-10-26T21:56:24.635Z,1761515784.635 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:24.642Z,1761515784.642 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.564045
2025-10-26T21:56:24.765Z,1761515784.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998240,-0.056629,-0.017606],[0.058940,-0.980179,-0.189144],[-0.006546,-0.189849,0.981792]]
2025-10-26T21:56:24.824Z,1761515784.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.503897 s,
      deltaX: -0.300001 m,
      approachRate: -0.595362 m/s,
      rangeRepo size: 4

2025-10-26T21:56:24.826Z,1761515784.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.237743 m,
      bearing: 184.355838 deg,
      lat: 36.779404 deg,
      lon: -121.859497 deg,
      deltaT: 0.503897 s,
      deltaX: -0.298157 m,
      approachRate: -0.591702 m/s,
      posRepo size: 4

2025-10-26T21:56:24.827Z,1761515784.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.24 m.
2025-10-26T21:56:24.834Z,1761515784.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.237743 m,
      nav range: 25.318645 m,
      bearing: 184.241367 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004000 deg/s,
      cmd heading: 175.198409 deg,
      new cmd heading: 175.193169 deg.

2025-10-26T21:56:24.835Z,1761515784.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.057698 target range: 26.237743 and range: 26.40 m.
2025-10-26T21:56:24.868Z,1761515784.868 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.791029
2025-10-26T21:56:25.121Z,1761515785.121 [DAT](INFO): DAT read: Rx Time:21:56:23.8552 

2025-10-26T21:56:25.122Z,1761515785.122 [DAT](INFO): Rx dataTimestamp_ set to:1761515785.121562
2025-10-26T21:56:25.123Z,1761515785.123 [DAT](INFO): DAT read: Bearing 340.1,   1.7 (Local)

2025-10-26T21:56:25.124Z,1761515785.124 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.1,   1.7 (Local)

2025-10-26T21:56:25.126Z,1761515785.126 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed 0.5

2025-10-26T21:56:25.130Z,1761515785.130 [DAT](INFO): DAT read: 21:56:23.8552 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 508,-0.05,-0.700,-2.577,-0.727,-0.909, PHS= 0.311,-1.624, 0.138, RAW= 145.4,  12.6, CAL= 145.0,  13.8, ROT=   5.0, -13.8

2025-10-26T21:56:25.131Z,1761515785.131 [DAT](INFO): got valid direction response:
 21:56:23.8552 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 508,-0.05,-0.700,-2.577,-0.727,-0.909, PHS= 0.311,-1.624, 0.138, RAW= 145.4,  12.6, CAL= 145.0,  13.8, ROT=   5.0, -13.8

2025-10-26T21:56:25.132Z,1761515785.132 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-26T21:56:25.133Z,1761515785.133 [DAT](INFO): direction in FSK: [0.967439,0.084640,0.238533]
2025-10-26T21:56:25.133Z,1761515785.133 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:25.146Z,1761515785.146 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.068078
2025-10-26T21:56:25.336Z,1761515785.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.504324 s,
      deltaX: -0.299999 m,
      approachRate: -0.594854 m/s,
      rangeRepo size: 4

2025-10-26T21:56:25.338Z,1761515785.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.939648 m,
      bearing: 184.169527 deg,
      lat: 36.779403 deg,
      lon: -121.859497 deg,
      deltaT: 0.504324 s,
      deltaX: -0.298096 m,
      approachRate: -0.591080 m/s,
      posRepo size: 4

2025-10-26T21:56:25.340Z,1761515785.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-10-26T21:56:25.342Z,1761515785.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.939648 m,
      nav range: 25.064201 m,
      bearing: 184.188414 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004000 deg/s,
      cmd heading: 175.193164 deg,
      new cmd heading: 175.187072 deg.

2025-10-26T21:56:25.343Z,1761515785.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.057591 target range: 25.939648 and range: 26.10 m.
2025-10-26T21:56:25.372Z,1761515785.372 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.295009
2025-10-26T21:56:25.625Z,1761515785.625 [DAT](INFO): DAT read: Rx Time:21:56:24.3549 

2025-10-26T21:56:25.626Z,1761515785.626 [DAT](INFO): Rx dataTimestamp_ set to:1761515785.625634
2025-10-26T21:56:25.627Z,1761515785.627 [DAT](INFO): DAT read: Bearing 341.0,   1.2 (Local)

2025-10-26T21:56:25.628Z,1761515785.628 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.0,   1.2 (Local)

2025-10-26T21:56:25.630Z,1761515785.630 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed 0.6

2025-10-26T21:56:25.634Z,1761515785.634 [DAT](INFO): DAT read: 21:56:24.3549 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 505, 0.05,-0.271,-2.100,-0.286,-0.436, PHS= 0.267,-1.618, 0.106, RAW= 145.6,  13.7, CAL= 145.3,  14.9, ROT=   4.7, -14.9

2025-10-26T21:56:25.635Z,1761515785.635 [DAT](INFO): got valid direction response:
 21:56:24.3549 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 505, 0.05,-0.271,-2.100,-0.286,-0.436, PHS= 0.267,-1.618, 0.106, RAW= 145.6,  13.7, CAL= 145.3,  14.9, ROT=   4.7, -14.9

2025-10-26T21:56:25.636Z,1761515785.636 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-26T21:56:25.637Z,1761515785.637 [DAT](INFO): direction in FSK: [0.963127,0.079183,0.257133]
2025-10-26T21:56:25.637Z,1761515785.637 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:25.651Z,1761515785.651 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.573443
2025-10-26T21:56:25.663Z,1761515785.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998104,-0.059113,-0.017170],[0.061296,-0.980033,-0.189153],[-0.005646,-0.189847,0.981798]]
2025-10-26T21:56:25.808Z,1761515785.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.504072 s,
      deltaX: -0.400000 m,
      approachRate: -0.793537 m/s,
      rangeRepo size: 4

2025-10-26T21:56:25.810Z,1761515785.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.542105 m,
      bearing: 183.961626 deg,
      lat: 36.779403 deg,
      lon: -121.859497 deg,
      deltaT: 0.504072 s,
      deltaX: -0.397543 m,
      approachRate: -0.788663 m/s,
      posRepo size: 4

2025-10-26T21:56:25.811Z,1761515785.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-10-26T21:56:25.818Z,1761515785.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.542105 m,
      nav range: 24.775297 m,
      bearing: 184.139153 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004000 deg/s,
      cmd heading: 175.187071 deg,
      new cmd heading: 175.181352 deg.

2025-10-26T21:56:25.819Z,1761515785.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.057491 target range: 25.542105 and range: 25.70 m.
2025-10-26T21:56:25.877Z,1761515785.877 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.799582
2025-10-26T21:56:26.113Z,1761515786.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997989,-0.061069,-0.016991],[0.063176,-0.980175,-0.187791],[-0.005186,-0.188487,0.982062]]
2025-10-26T21:56:26.133Z,1761515786.133 [DAT](INFO): DAT read: Rx Time:21:56:24.8548 

2025-10-26T21:56:26.134Z,1761515786.134 [DAT](INFO): Rx dataTimestamp_ set to:1761515786.133624
2025-10-26T21:56:26.148Z,1761515786.148 [DAT](INFO): DAT read: Bearing 341.3,   1.0 (Local)

2025-10-26T21:56:26.148Z,1761515786.148 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.3,   1.0 (Local)

2025-10-26T21:56:26.150Z,1761515786.150 [DAT](INFO): DAT read: Range 11 to 50 :    25.5 m (trip time 17.0 ms) speed 0.6

2025-10-26T21:56:26.155Z,1761515786.155 [DAT](INFO): DAT read: 21:56:24.8548 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 504, 0.10, 1.379,-0.442, 1.369, 1.224, PHS= 0.257,-1.622, 0.101, RAW= 145.7,  13.9, CAL= 145.4,  15.2, ROT=   4.6, -15.2

2025-10-26T21:56:26.169Z,1761515786.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:56:26.173Z,1761515786.173 [DAT](INFO): got valid direction response:
 21:56:24.8548 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 504, 0.10, 1.379,-0.442, 1.369, 1.224, PHS= 0.257,-1.622, 0.101, RAW= 145.7,  13.9, CAL= 145.4,  15.2, ROT=   4.6, -15.2

2025-10-26T21:56:26.174Z,1761515786.174 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-10-26T21:56:26.188Z,1761515786.188 [DAT](INFO): direction in FSK: [0.961908,0.077393,0.262189]
2025-10-26T21:56:26.189Z,1761515786.189 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:26.192Z,1761515786.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-10-26T21:56:26.205Z,1761515786.205 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.127849
2025-10-26T21:56:26.206Z,1761515786.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.542105 m,
      nav range: 24.562279 m,
      bearing: 184.102981 deg,
      approach rate: -0.568308 m/s,
      LOS rate: -0.097339 deg/s,
      cmd heading: 175.181348 deg,
      new cmd heading: 175.071891 deg.

2025-10-26T21:56:26.207Z,1761515786.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.055581 target range: 25.542105 and range: 25.70 m.
2025-10-26T21:56:26.381Z,1761515786.381 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.303330
2025-10-26T21:56:26.598Z,1761515786.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997740,-0.065099,-0.016653],[0.067051,-0.980786,-0.183200],[-0.004407,-0.183903,0.982935]]
2025-10-26T21:56:26.633Z,1761515786.633 [DAT](INFO): DAT read: Rx Time:21:56:25.3545 

2025-10-26T21:56:26.634Z,1761515786.634 [DAT](INFO): Rx dataTimestamp_ set to:1761515786.633267
2025-10-26T21:56:26.635Z,1761515786.635 [DAT](INFO): DAT read: Bearing 341.5,   1.1 (Local)

2025-10-26T21:56:26.635Z,1761515786.635 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.5,   1.1 (Local)

2025-10-26T21:56:26.637Z,1761515786.637 [DAT](INFO): DAT read: Range 11 to 50 :    25.1 m (trip time 16.7 ms) speed 0.5

2025-10-26T21:56:26.642Z,1761515786.642 [DAT](INFO): DAT read: 21:56:25.3545 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 501, 0.14, 0.252,-1.569, 0.238, 0.105, PHS= 0.249,-1.629, 0.089, RAW= 145.6,  14.2, CAL= 145.3,  15.5, ROT=   4.7, -15.5

2025-10-26T21:56:26.643Z,1761515786.643 [DAT](INFO): got valid direction response:
 21:56:25.3545 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 501, 0.14, 0.252,-1.569, 0.238, 0.105, PHS= 0.249,-1.629, 0.089, RAW= 145.6,  14.2, CAL= 145.3,  15.5, ROT=   4.7, -15.5

2025-10-26T21:56:26.644Z,1761515786.644 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-10-26T21:56:26.644Z,1761515786.644 [DAT](INFO): direction in FSK: [0.960390,0.078958,0.267238]
2025-10-26T21:56:26.645Z,1761515786.645 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:26.652Z,1761515786.652 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.575013
2025-10-26T21:56:26.742Z,1761515786.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 1.007633 s,
      deltaX: -0.600000 m,
      approachRate: -0.595455 m/s,
      rangeRepo size: 4

2025-10-26T21:56:26.753Z,1761515786.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.945753 m,
      bearing: 183.665744 deg,
      lat: 36.779403 deg,
      lon: -121.859496 deg,
      deltaT: 1.007633 s,
      deltaX: -0.596352 m,
      approachRate: -0.591834 m/s,
      posRepo size: 4

2025-10-26T21:56:26.753Z,1761515786.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.95 m.
2025-10-26T21:56:26.760Z,1761515786.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.945753 m,
      nav range: 24.207790 m,
      bearing: 183.876246 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.097339 deg/s,
      cmd heading: 175.071887 deg,
      new cmd heading: 174.907423 deg.

2025-10-26T21:56:26.761Z,1761515786.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.052711 target range: 24.945753 and range: 25.10 m.
2025-10-26T21:56:26.885Z,1761515786.885 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.808016
2025-10-26T21:56:27.087Z,1761515787.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997598,-0.067358,-0.016150],[0.069169,-0.981124,-0.180584],[-0.003682,-0.181268,0.983427]]
2025-10-26T21:56:27.106Z,1761515787.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.95 m.
2025-10-26T21:56:27.125Z,1761515787.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.945753 m,
      nav range: 23.960297 m,
      bearing: 183.833996 deg,
      approach rate: -0.680105 m/s,
      LOS rate: -0.117302 deg/s,
      cmd heading: 174.907430 deg,
      new cmd heading: 174.779369 deg.

2025-10-26T21:56:27.125Z,1761515787.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.050475 target range: 24.945753 and range: 25.10 m.
2025-10-26T21:56:27.137Z,1761515787.137 [DAT](INFO): DAT read: Rx Time:21:56:25.8544 

2025-10-26T21:56:27.138Z,1761515787.138 [DAT](INFO): Rx dataTimestamp_ set to:1761515787.137310
2025-10-26T21:56:27.139Z,1761515787.139 [DAT](INFO): DAT read: Bearing 341.2,   1.1 (Local)

2025-10-26T21:56:27.139Z,1761515787.139 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.2,   1.1 (Local)

2025-10-26T21:56:27.141Z,1761515787.141 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed 0.5

2025-10-26T21:56:27.146Z,1761515787.146 [DAT](INFO): DAT read: 21:56:25.8544 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 500, 0.12, 2.289, 0.468, 2.279, 2.137, PHS= 0.254,-1.623, 0.099, RAW= 145.7,  14.0, CAL= 145.4,  15.3, ROT=   4.6, -15.3

2025-10-26T21:56:27.147Z,1761515787.147 [DAT](INFO): got valid direction response:
 21:56:25.8544 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 500, 0.12, 2.289, 0.468, 2.279, 2.137, PHS= 0.254,-1.623, 0.099, RAW= 145.7,  14.0, CAL= 145.4,  15.3, ROT=   4.6, -15.3

2025-10-26T21:56:27.148Z,1761515787.148 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-26T21:56:27.149Z,1761515787.149 [DAT](INFO): direction in FSK: [0.961450,0.077356,0.263873]
2025-10-26T21:56:27.149Z,1761515787.149 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:27.157Z,1761515787.157 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.079147
2025-10-26T21:56:27.389Z,1761515787.389 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.311644
2025-10-26T21:56:27.496Z,1761515787.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997449,-0.069550,-0.016051],[0.071303,-0.981189,-0.179397],[-0.003272,-0.180084,0.983646]]
2025-10-26T21:56:27.558Z,1761515787.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.504043 s,
      deltaX: -0.200001 m,
      approachRate: -0.396793 m/s,
      rangeRepo size: 4

2025-10-26T21:56:27.564Z,1761515787.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.747057 m,
      bearing: 183.231342 deg,
      lat: 36.779402 deg,
      lon: -121.859496 deg,
      deltaT: 0.504043 s,
      deltaX: -0.198696 m,
      approachRate: -0.394205 m/s,
      posRepo size: 4

2025-10-26T21:56:27.565Z,1761515787.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-10-26T21:56:27.572Z,1761515787.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.747057 m,
      nav range: 23.772987 m,
      bearing: 183.797374 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117302 deg/s,
      cmd heading: 174.779364 deg,
      new cmd heading: 174.620310 deg.

2025-10-26T21:56:27.573Z,1761515787.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.047699 target range: 24.747057 and range: 24.90 m.
2025-10-26T21:56:27.642Z,1761515787.642 [DAT](INFO): DAT read: Rx Time:21:56:26.3541 

2025-10-26T21:56:27.643Z,1761515787.643 [DAT](INFO): Rx dataTimestamp_ set to:1761515787.642213
2025-10-26T21:56:27.645Z,1761515787.645 [DAT](INFO): DAT read: Bearing 341.3,   0.8 (Local)

2025-10-26T21:56:27.645Z,1761515787.645 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.3,   0.8 (Local)

2025-10-26T21:56:27.648Z,1761515787.648 [DAT](INFO): DAT read: Range 11 to 50 :    24.6 m (trip time 16.4 ms) speed 1.0

2025-10-26T21:56:27.653Z,1761515787.653 [DAT](INFO): DAT read: 21:56:26.3541 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497, 0.10, 0.818,-0.995, 0.819, 0.678, PHS= 0.242,-1.628, 0.097, RAW= 146.0,  14.2, CAL= 145.8,  15.5, ROT=   4.2, -15.5

2025-10-26T21:56:27.654Z,1761515787.654 [DAT](INFO): got valid direction response:
 21:56:26.3541 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497, 0.10, 0.818,-0.995, 0.819, 0.678, PHS= 0.242,-1.628, 0.097, RAW= 146.0,  14.2, CAL= 145.8,  15.5, ROT=   4.2, -15.5

2025-10-26T21:56:27.655Z,1761515787.655 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-10-26T21:56:27.656Z,1761515787.656 [DAT](INFO): direction in FSK: [0.961043,0.070575,0.267238]
2025-10-26T21:56:27.656Z,1761515787.656 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:27.663Z,1761515787.663 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.584798
2025-10-26T21:56:27.892Z,1761515787.892 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.815031
2025-10-26T21:56:27.905Z,1761515787.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997282,-0.071980,-0.015742],[0.073642,-0.980740,-0.180902],[-0.002417,-0.181569,0.983375]]
2025-10-26T21:56:27.992Z,1761515787.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.600000 m,
      deltaT: 0.504903 s,
      deltaX: -0.299999 m,
      approachRate: -0.594172 m/s,
      rangeRepo size: 4

2025-10-26T21:56:27.994Z,1761515787.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.448900 m,
      bearing: 182.767944 deg,
      lat: 36.779401 deg,
      lon: -121.859495 deg,
      deltaT: 0.504903 s,
      deltaX: -0.298157 m,
      approachRate: -0.590523 m/s,
      posRepo size: 4

2025-10-26T21:56:27.996Z,1761515787.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.45 m.
2025-10-26T21:56:27.998Z,1761515787.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.448900 m,
      nav range: 23.704620 m,
      bearing: 183.531020 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117302 deg/s,
      cmd heading: 174.620316 deg,
      new cmd heading: 174.469264 deg.

2025-10-26T21:56:27.999Z,1761515787.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.045063 target range: 24.448900 and range: 24.60 m.
2025-10-26T21:56:28.145Z,1761515788.145 [DAT](INFO): DAT read: Rx Time:21:56:26.8541 

2025-10-26T21:56:28.145Z,1761515788.145 [DAT](INFO): Rx dataTimestamp_ set to:1761515788.145188
2025-10-26T21:56:28.147Z,1761515788.147 [DAT](INFO): DAT read: Bearing 332.1,   2.4 (Local)

2025-10-26T21:56:28.147Z,1761515788.147 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.1,   2.4 (Local)

2025-10-26T21:56:28.149Z,1761515788.149 [DAT](INFO): DAT read: Range 11 to 50 :    24.5 m (trip time 16.3 ms) speed 0.5

2025-10-26T21:56:28.154Z,1761515788.154 [DAT](INFO): DAT read: 21:56:26.8541 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 512, 0.04, 2.867, 1.531, 2.920, 2.606, PHS= 0.363,-1.029, 0.270, RAW= 146.6,   5.9, CAL= 146.0,   6.4, ROT=   4.0,  -6.4

2025-10-26T21:56:28.156Z,1761515788.156 [DAT](INFO): got valid direction response:
 21:56:26.8541 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 512, 0.04, 2.867, 1.531, 2.920, 2.606, PHS= 0.363,-1.029, 0.270, RAW= 146.6,   5.9, CAL= 146.0,   6.4, ROT=   4.0,  -6.4

2025-10-26T21:56:28.156Z,1761515788.156 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-26T21:56:28.158Z,1761515788.158 [DAT](INFO): direction in FSK: [0.991347,0.069322,0.111469]
2025-10-26T21:56:28.158Z,1761515788.158 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:28.170Z,1761515788.170 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.092727
2025-10-26T21:56:28.356Z,1761515788.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997116,-0.074273,-0.015609],[0.075880,-0.979653,-0.185803],[-0.001491,-0.186451,0.982463]]
2025-10-26T21:56:28.396Z,1761515788.396 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.318944
2025-10-26T21:56:28.415Z,1761515788.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.500000 m,
      deltaT: 0.502975 s,
      deltaX: -0.100000 m,
      approachRate: -0.198818 m/s,
      rangeRepo size: 4

2025-10-26T21:56:28.417Z,1761515788.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.349550 m,
      bearing: 180.771211 deg,
      lat: 36.779401 deg,
      lon: -121.859494 deg,
      deltaT: 0.502975 s,
      deltaX: -0.099350 m,
      approachRate: -0.197525 m/s,
      posRepo size: 4

2025-10-26T21:56:28.418Z,1761515788.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T21:56:28.452Z,1761515788.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.349550 m,
      nav range: 23.402851 m,
      bearing: 183.192980 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117302 deg/s,
      cmd heading: 174.469259 deg,
      new cmd heading: 174.318713 deg.

2025-10-26T21:56:28.458Z,1761515788.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.042435 target range: 24.349550 and range: 24.50 m.
2025-10-26T21:56:28.649Z,1761515788.649 [DAT](INFO): DAT read: Rx Time:21:56:27.3538 

2025-10-26T21:56:28.650Z,1761515788.650 [DAT](INFO): Rx dataTimestamp_ set to:1761515788.649340
2025-10-26T21:56:28.651Z,1761515788.651 [DAT](INFO): DAT read: Bearing 340.0,   1.3 (Local)

2025-10-26T21:56:28.651Z,1761515788.651 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.0,   1.3 (Local)

2025-10-26T21:56:28.653Z,1761515788.653 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed 0.8

2025-10-26T21:56:28.660Z,1761515788.660 [DAT](INFO): DAT read: 21:56:27.3538 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 509, 0.02, 0.159,-1.685, 0.151,-0.019, PHS= 0.281,-1.621, 0.127, RAW= 145.8,  13.2, CAL= 145.5,  14.4, ROT=   4.5, -14.4

2025-10-26T21:56:28.663Z,1761515788.663 [DAT](INFO): got valid direction response:
 21:56:27.3538 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 509, 0.02, 0.159,-1.685, 0.151,-0.019, PHS= 0.281,-1.621, 0.127, RAW= 145.8,  13.2, CAL= 145.5,  14.4, ROT=   4.5, -14.4

2025-10-26T21:56:28.664Z,1761515788.664 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-26T21:56:28.665Z,1761515788.665 [DAT](INFO): direction in FSK: [0.965597,0.075994,0.248690]
2025-10-26T21:56:28.666Z,1761515788.666 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:28.688Z,1761515788.688 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.610651
2025-10-26T21:56:28.801Z,1761515788.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996975,-0.076159,-0.015486],[0.077714,-0.978669,-0.190179],[-0.000672,-0.190807,0.981627]]
2025-10-26T21:56:28.848Z,1761515788.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.504152 s,
      deltaX: -0.500000 m,
      approachRate: -0.991764 m/s,
      rangeRepo size: 4

2025-10-26T21:56:28.850Z,1761515788.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.852621 m,
      bearing: 182.745561 deg,
      lat: 36.779400 deg,
      lon: -121.859492 deg,
      deltaT: 0.504152 s,
      deltaX: -0.496929 m,
      approachRate: -0.985673 m/s,
      posRepo size: 4

2025-10-26T21:56:28.851Z,1761515788.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-10-26T21:56:28.858Z,1761515788.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.852621 m,
      nav range: 23.213171 m,
      bearing: 182.746250 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117302 deg/s,
      cmd heading: 174.318708 deg,
      new cmd heading: 174.169124 deg.

2025-10-26T21:56:28.859Z,1761515788.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.039825 target range: 23.852621 and range: 24.00 m.
2025-10-26T21:56:28.901Z,1761515788.901 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.823632
2025-10-26T21:56:29.153Z,1761515789.153 [DAT](INFO): DAT read: Rx Time:21:56:27.8536 

2025-10-26T21:56:29.154Z,1761515789.154 [DAT](INFO): Rx dataTimestamp_ set to:1761515789.153395
2025-10-26T21:56:29.155Z,1761515789.155 [DAT](INFO): DAT read: Bearing 341.7,   0.6 (Local)

2025-10-26T21:56:29.156Z,1761515789.156 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.7,   0.6 (Local)

2025-10-26T21:56:29.160Z,1761515789.160 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed 0.5

2025-10-26T21:56:29.192Z,1761515789.192 [DAT](INFO): DAT read: 21:56:27.8536 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507,-0.06,-0.006,-1.812,-0.001,-0.121, PHS= 0.217,-1.646, 0.076, RAW= 146.1,  14.9, CAL= 145.9,  16.3, ROT=   4.1, -16.3

2025-10-26T21:56:29.193Z,1761515789.193 [DAT](INFO): got valid direction response:
 21:56:27.8536 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507,-0.06,-0.006,-1.812,-0.001,-0.121, PHS= 0.217,-1.646, 0.076, RAW= 146.1,  14.9, CAL= 145.9,  16.3, ROT=   4.1, -16.3

2025-10-26T21:56:29.193Z,1761515789.193 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-10-26T21:56:29.194Z,1761515789.194 [DAT](INFO): direction in FSK: [0.957349,0.068624,0.280667]
2025-10-26T21:56:29.194Z,1761515789.194 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:29.210Z,1761515789.210 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.132820
2025-10-26T21:56:29.224Z,1761515789.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996885,-0.077469,-0.014813],[0.078871,-0.978104,-0.192592],[0.000431,-0.193161,0.981167]]
2025-10-26T21:56:29.289Z,1761515789.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.504055 s,
      deltaX: -0.299999 m,
      approachRate: -0.595172 m/s,
      rangeRepo size: 4

2025-10-26T21:56:29.296Z,1761515789.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.554522 m,
      bearing: 182.712723 deg,
      lat: 36.779400 deg,
      lon: -121.859492 deg,
      deltaT: 0.504055 s,
      deltaX: -0.298100 m,
      approachRate: -0.591403 m/s,
      posRepo size: 4

2025-10-26T21:56:29.298Z,1761515789.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-10-26T21:56:29.354Z,1761515789.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.554522 m,
      nav range: 22.957136 m,
      bearing: 182.688798 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117302 deg/s,
      cmd heading: 174.169127 deg,
      new cmd heading: 174.011026 deg.

2025-10-26T21:56:29.364Z,1761515789.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.037065 target range: 23.554522 and range: 23.70 m.
2025-10-26T21:56:29.405Z,1761515789.405 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.327060
2025-10-26T21:56:29.660Z,1761515789.660 [DAT](INFO): DAT read: Rx Time:21:56:28.3533 

2025-10-26T21:56:29.661Z,1761515789.661 [DAT](INFO): Rx dataTimestamp_ set to:1761515789.660373
2025-10-26T21:56:29.664Z,1761515789.664 [DAT](INFO): DAT read: Bearing 340.7,   1.2 (Local)

2025-10-26T21:56:29.664Z,1761515789.664 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.7,   1.2 (Local)

2025-10-26T21:56:29.668Z,1761515789.668 [DAT](INFO): DAT read: Range 11 to 50 :    23.3 m (trip time 15.5 ms) speed 0.5

2025-10-26T21:56:29.690Z,1761515789.690 [DAT](INFO): DAT read: 21:56:28.3533 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504,-0.10,-1.996, 2.462,-2.004,-2.147, PHS= 0.254,-1.629, 0.100, RAW= 145.8,  14.0, CAL= 145.5,  15.3, ROT=   4.5, -15.3

2025-10-26T21:56:29.691Z,1761515789.691 [DAT](INFO): got valid direction response:
 21:56:28.3533 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504,-0.10,-1.996, 2.462,-2.004,-2.147, PHS= 0.254,-1.629, 0.100, RAW= 145.8,  14.0, CAL= 145.5,  15.3, ROT=   4.5, -15.3

2025-10-26T21:56:29.692Z,1761515789.692 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-26T21:56:29.692Z,1761515789.692 [DAT](INFO): direction in FSK: [0.961584,0.075678,0.263873]
2025-10-26T21:56:29.693Z,1761515789.693 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:29.725Z,1761515789.725 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.647722
2025-10-26T21:56:29.757Z,1761515789.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996791,-0.078868,-0.013707],[0.080026,-0.977555,-0.194890],[0.001971,-0.195361,0.980729]]
2025-10-26T21:56:29.866Z,1761515789.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.299999 m,
      deltaT: 0.506978 s,
      deltaX: -0.400002 m,
      approachRate: -0.788992 m/s,
      rangeRepo size: 4

2025-10-26T21:56:29.873Z,1761515789.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.156977 m,
      bearing: 182.865375 deg,
      lat: 36.779401 deg,
      lon: -121.859492 deg,
      deltaT: 0.506978 s,
      deltaX: -0.397545 m,
      approachRate: -0.784146 m/s,
      posRepo size: 4

2025-10-26T21:56:29.873Z,1761515789.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.16 m.
2025-10-26T21:56:29.880Z,1761515789.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.156977 m,
      nav range: 22.521397 m,
      bearing: 182.723754 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117302 deg/s,
      cmd heading: 174.011022 deg,
      new cmd heading: 173.807973 deg.

2025-10-26T21:56:29.881Z,1761515789.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.033521 target range: 23.156977 and range: 23.30 m.
2025-10-26T21:56:29.908Z,1761515789.908 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.830997
2025-10-26T21:56:30.163Z,1761515790.163 [DAT](INFO): DAT read: Rx Time:21:56:28.8532 

2025-10-26T21:56:30.164Z,1761515790.164 [DAT](INFO): Rx dataTimestamp_ set to:1761515790.163067
2025-10-26T21:56:30.166Z,1761515790.166 [DAT](INFO): DAT read: Bearing 341.3,   0.9 (Local)

2025-10-26T21:56:30.166Z,1761515790.166 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.3,   0.9 (Local)

2025-10-26T21:56:30.169Z,1761515790.169 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed 0.6

2025-10-26T21:56:30.177Z,1761515790.177 [DAT](INFO): DAT read: 21:56:28.8532 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 503,-0.16,-0.837,-2.636,-0.839,-0.963, PHS= 0.228,-1.628, 0.081, RAW= 145.9,  14.6, CAL= 145.6,  16.0, ROT=   4.4, -16.0

2025-10-26T21:56:30.178Z,1761515790.178 [DAT](INFO): got valid direction response:
 21:56:28.8532 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 503,-0.16,-0.837,-2.636,-0.839,-0.963, PHS= 0.228,-1.628, 0.081, RAW= 145.9,  14.6, CAL= 145.6,  16.0, ROT=   4.4, -16.0

2025-10-26T21:56:30.179Z,1761515790.179 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-10-26T21:56:30.181Z,1761515790.181 [DAT](INFO): direction in FSK: [0.958429,0.073747,0.275637]
2025-10-26T21:56:30.181Z,1761515790.181 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:30.188Z,1761515790.188 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.110678
2025-10-26T21:56:30.266Z,1761515790.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996799,-0.078891,-0.012945],[0.079897,-0.977364,-0.195901],[0.002803,-0.196308,0.980538]]
2025-10-26T21:56:30.380Z,1761515790.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.502694 s,
      deltaX: -0.199999 m,
      approachRate: -0.397854 m/s,
      rangeRepo size: 4

2025-10-26T21:56:30.382Z,1761515790.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.958233 m,
      bearing: 182.937178 deg,
      lat: 36.779401 deg,
      lon: -121.859492 deg,
      deltaT: 0.502694 s,
      deltaX: -0.198744 m,
      approachRate: -0.395357 m/s,
      posRepo size: 4

2025-10-26T21:56:30.383Z,1761515790.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m.
2025-10-26T21:56:30.390Z,1761515790.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.958233 m,
      nav range: 22.175152 m,
      bearing: 182.788923 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117302 deg/s,
      cmd heading: 173.807974 deg,
      new cmd heading: 173.628685 deg.

2025-10-26T21:56:30.395Z,1761515790.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.030392 target range: 22.958233 and range: 23.10 m.
2025-10-26T21:56:30.412Z,1761515790.412 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.334948
2025-10-26T21:56:30.666Z,1761515790.666 [DAT](INFO): DAT read: Rx Time:21:56:29.3529 

2025-10-26T21:56:30.666Z,1761515790.666 [DAT](INFO): Rx dataTimestamp_ set to:1761515790.666162
2025-10-26T21:56:30.669Z,1761515790.669 [DAT](INFO): DAT read: Bearing 340.5,   1.5 (Local)

2025-10-26T21:56:30.670Z,1761515790.670 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.5,   1.5 (Local)

2025-10-26T21:56:30.673Z,1761515790.673 [DAT](INFO): DAT read: Range 11 to 50 :    22.7 m (trip time 15.1 ms) speed 0.4

2025-10-26T21:56:30.680Z,1761515790.680 [DAT](INFO): DAT read: 21:56:29.3529 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 500,-0.12,-2.936, 1.532,-2.952,-3.092, PHS= 0.258,-1.614, 0.096, RAW= 145.5,  13.9, CAL= 145.2,  15.2, ROT=   4.8, -15.2

2025-10-26T21:56:30.682Z,1761515790.682 [DAT](INFO): got valid direction response:
 21:56:29.3529 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 500,-0.12,-2.936, 1.532,-2.952,-3.092, PHS= 0.258,-1.614, 0.096, RAW= 145.5,  13.9, CAL= 145.2,  15.2, ROT=   4.8, -15.2

2025-10-26T21:56:30.682Z,1761515790.682 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-26T21:56:30.684Z,1761515790.684 [DAT](INFO): direction in FSK: [0.961632,0.080751,0.262189]
2025-10-26T21:56:30.684Z,1761515790.684 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:30.717Z,1761515790.717 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.638844
2025-10-26T21:56:30.778Z,1761515790.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996734,-0.079795,-0.012374],[0.080675,-0.977511,-0.194843],[0.003452,-0.195205,0.980756]]
2025-10-26T21:56:30.869Z,1761515790.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.700001 m,
      deltaT: 0.503095 s,
      deltaX: -0.400000 m,
      approachRate: -0.795078 m/s,
      rangeRepo size: 4

2025-10-26T21:56:30.871Z,1761515790.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.560688 m,
      bearing: 183.100345 deg,
      lat: 36.779401 deg,
      lon: -121.859492 deg,
      deltaT: 0.503095 s,
      deltaX: -0.397545 m,
      approachRate: -0.790198 m/s,
      posRepo size: 4

2025-10-26T21:56:30.876Z,1761515790.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m.
2025-10-26T21:56:30.878Z,1761515790.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.560688 m,
      nav range: 21.868561 m,
      bearing: 182.962960 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117302 deg/s,
      cmd heading: 173.628682 deg,
      new cmd heading: 173.455189 deg.

2025-10-26T21:56:30.884Z,1761515790.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.027364 target range: 22.560688 and range: 22.70 m.
2025-10-26T21:56:30.921Z,1761515790.921 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.842755
2025-10-26T21:56:31.170Z,1761515791.170 [DAT](INFO): DAT read: Rx Time:21:56:29.8528 

2025-10-26T21:56:31.171Z,1761515791.171 [DAT](INFO): Rx dataTimestamp_ set to:1761515791.170434
2025-10-26T21:56:31.173Z,1761515791.173 [DAT](INFO): DAT read: Bearing 339.6,   1.8 (Local)

2025-10-26T21:56:31.174Z,1761515791.174 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.6,   1.8 (Local)

2025-10-26T21:56:31.177Z,1761515791.177 [DAT](INFO): DAT read: Range 11 to 50 :    22.5 m (trip time 15.0 ms) speed 0.4

2025-10-26T21:56:31.185Z,1761515791.185 [DAT](INFO): DAT read: 21:56:29.8528 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499,-0.06,-1.443, 3.031,-1.461,-1.626, PHS= 0.284,-1.582, 0.120, RAW= 145.5,  13.1, CAL= 145.1,  14.3, ROT=   4.9, -14.3

2025-10-26T21:56:31.186Z,1761515791.186 [DAT](INFO): got valid direction response:
 21:56:29.8528 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499,-0.06,-1.443, 3.031,-1.461,-1.626, PHS= 0.284,-1.582, 0.120, RAW= 145.5,  13.1, CAL= 145.1,  14.3, ROT=   4.9, -14.3

2025-10-26T21:56:31.187Z,1761515791.187 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-26T21:56:31.189Z,1761515791.189 [DAT](INFO): direction in FSK: [0.965474,0.082770,0.246999]
2025-10-26T21:56:31.189Z,1761515791.189 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:31.193Z,1761515791.193 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.115268
2025-10-26T21:56:31.226Z,1761515791.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996728,-0.079973,-0.011743],[0.080734,-0.977895,-0.192883],[0.003942,-0.193200,0.981151]]
2025-10-26T21:56:31.301Z,1761515791.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 0.504272 s,
      deltaX: -0.200001 m,
      approachRate: -0.396613 m/s,
      rangeRepo size: 4

2025-10-26T21:56:31.307Z,1761515791.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.361908 m,
      bearing: 182.982612 deg,
      lat: 36.779401 deg,
      lon: -121.859492 deg,
      deltaT: 0.504272 s,
      deltaX: -0.198780 m,
      approachRate: -0.394192 m/s,
      posRepo size: 4

2025-10-26T21:56:31.308Z,1761515791.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-10-26T21:56:31.316Z,1761515791.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.361908 m,
      nav range: 21.611591 m,
      bearing: 183.029087 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117302 deg/s,
      cmd heading: 173.455195 deg,
      new cmd heading: 173.303055 deg.

2025-10-26T21:56:31.317Z,1761515791.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.024709 target range: 22.361908 and range: 22.50 m.
2025-10-26T21:56:31.424Z,1761515791.424 [DAT](INFO): DAT read: Rx Time:21:56:30.3525 

2025-10-26T21:56:31.426Z,1761515791.426 [DAT](INFO): Rx dataTimestamp_ set to:1761515791.425037
2025-10-26T21:56:31.430Z,1761515791.430 [DAT](INFO): DAT read: Bearing 339.8,   2.1 (Local)

2025-10-26T21:56:31.431Z,1761515791.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.8,   2.1 (Local)

2025-10-26T21:56:31.434Z,1761515791.434 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.355862
2025-10-26T21:56:31.676Z,1761515791.676 [DAT](INFO): DAT read: Range 11 to 50 :    22.1 m (trip time 14.7 ms) speed 0.4

2025-10-26T21:56:31.684Z,1761515791.684 [DAT](INFO): DAT read: 21:56:30.3525 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.17, 2.663, 0.846, 2.638, 2.483, PHS= 0.282,-1.592, 0.111, RAW= 145.3,  13.3, CAL= 144.9,  14.5, ROT=   5.1, -14.5

2025-10-26T21:56:31.685Z,1761515791.685 [DAT](INFO): got valid direction response:
 21:56:30.3525 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.17, 2.663, 0.846, 2.638, 2.483, PHS= 0.282,-1.592, 0.111, RAW= 145.3,  13.3, CAL= 144.9,  14.5, ROT=   5.1, -14.5

2025-10-26T21:56:31.686Z,1761515791.686 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-10-26T21:56:31.687Z,1761515791.687 [DAT](INFO): direction in FSK: [0.964315,0.086063,0.250380]
2025-10-26T21:56:31.687Z,1761515791.687 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:31.691Z,1761515791.691 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.613225
2025-10-26T21:56:31.850Z,1761515791.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.501495 s,
      deltaX: -0.400000 m,
      approachRate: -0.797614 m/s,
      rangeRepo size: 4

2025-10-26T21:56:31.857Z,1761515791.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.964363 m,
      bearing: 183.218533 deg,
      lat: 36.779401 deg,
      lon: -121.859492 deg,
      deltaT: 0.501495 s,
      deltaX: -0.397545 m,
      approachRate: -0.792719 m/s,
      posRepo size: 4

2025-10-26T21:56:31.857Z,1761515791.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.96 m.
2025-10-26T21:56:31.864Z,1761515791.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.964363 m,
      nav range: 21.287901 m,
      bearing: 183.184803 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117302 deg/s,
      cmd heading: 173.303059 deg,
      new cmd heading: 173.109823 deg.

2025-10-26T21:56:31.865Z,1761515791.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.021336 target range: 21.964363 and range: 22.10 m.
2025-10-26T21:56:31.928Z,1761515791.928 [DAT](INFO): DAT read: Rx Time:21:56:30.8524 

2025-10-26T21:56:31.929Z,1761515791.929 [DAT](INFO): Rx dataTimestamp_ set to:1761515791.928412
2025-10-26T21:56:31.930Z,1761515791.930 [DAT](INFO): DAT read: Range 11 to 50 :    21.9 m (trip time 14.6 ms) speed 0.5

2025-10-26T21:56:31.935Z,1761515791.935 [DAT](ERROR): #Rx 20: Read range message, but no direction.
2025-10-26T21:56:31.937Z,1761515791.937 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.859988
2025-10-26T21:56:32.177Z,1761515792.177 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.099959
2025-10-26T21:56:32.193Z,1761515792.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996823,-0.078945,-0.010574],[0.079495,-0.977788,-0.193937],[0.004971,-0.194162,0.980957]]
2025-10-26T21:56:32.210Z,1761515792.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:56:32.212Z,1761515792.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.900000 m,
      deltaT: 0.256483 s,
      deltaX: -0.200001 m,
      approachRate: -0.779782 m/s,
      rangeRepo size: 4

2025-10-26T21:56:32.213Z,1761515792.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.96 m.
2025-10-26T21:56:32.216Z,1761515792.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.964363 m,
      nav range: 21.037920 m,
      bearing: 183.264845 deg,
      approach rate: -0.691179 m/s,
      LOS rate: 0.223940 deg/s,
      cmd heading: 173.109819 deg,
      new cmd heading: 173.352797 deg.

2025-10-26T21:56:32.217Z,1761515792.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.025577 target range: 21.964363 and range: 21.90 m.
2025-10-26T21:56:32.437Z,1761515792.437 [DAT](INFO): DAT read: Rx Time:21:56:31.3521 

2025-10-26T21:56:32.439Z,1761515792.439 [DAT](INFO): Rx dataTimestamp_ set to:1761515792.438092
2025-10-26T21:56:32.443Z,1761515792.443 [DAT](INFO): DAT read: Bearing 343.3,   1.2 (Local)

2025-10-26T21:56:32.445Z,1761515792.445 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.3,   1.2 (Local)

2025-10-26T21:56:32.450Z,1761515792.450 [DAT](INFO): DAT read: Range 11 to 50 :    21.5 m (trip time 14.3 ms) speed 0.4

2025-10-26T21:56:32.454Z,1761515792.454 [DAT](ERROR): #Rx 21: Read range message, but no direction.
2025-10-26T21:56:32.457Z,1761515792.457 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.379353
2025-10-26T21:56:32.573Z,1761515792.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996856,-0.078583,-0.010119],[0.079044,-0.977565,-0.195240],[0.005451,-0.195426,0.980703]]
2025-10-26T21:56:32.614Z,1761515792.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.500000 m,
      deltaT: 0.509680 s,
      deltaX: -0.400000 m,
      approachRate: -0.784805 m/s,
      rangeRepo size: 4

2025-10-26T21:56:32.615Z,1761515792.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.96 m.
2025-10-26T21:56:32.618Z,1761515792.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.964363 m,
      nav range: 20.793665 m,
      bearing: 183.341667 deg,
      approach rate: -0.607582 m/s,
      LOS rate: 0.193339 deg/s,
      cmd heading: 173.352797 deg,
      new cmd heading: 173.585969 deg.

2025-10-26T21:56:32.619Z,1761515792.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.029647 target range: 21.964363 and range: 21.50 m.
2025-10-26T21:56:32.688Z,1761515792.688 [DAT](INFO): DAT read: 21:56:31.3521 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 509,-0.22,-1.798, 2.700,-1.819,-1.865, PHS= 0.170,-1.673, 0.002, RAW= 145.3,  16.7, CAL= 145.0,  18.3, ROT=   5.0, -18.3

2025-10-26T21:56:32.689Z,1761515792.689 [DAT](INFO): got valid direction response:
 21:56:31.3521 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 509,-0.22,-1.798, 2.700,-1.819,-1.865, PHS= 0.170,-1.673, 0.002, RAW= 145.3,  16.7, CAL= 145.0,  18.3, ROT=   5.0, -18.3

2025-10-26T21:56:32.690Z,1761515792.690 [DAT](INFO): #Rx 22: Read direction message, but no range.
2025-10-26T21:56:32.692Z,1761515792.692 [DAT](INFO): direction in FSK: [0.945813,0.082748,0.313992]
2025-10-26T21:56:32.698Z,1761515792.698 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.620053
2025-10-26T21:56:32.938Z,1761515792.938 [DAT](INFO): DAT read: Rx Time:21:56:31.8519 

2025-10-26T21:56:32.940Z,1761515792.940 [DAT](INFO): Rx dataTimestamp_ set to:1761515792.938427
2025-10-26T21:56:32.944Z,1761515792.944 [DAT](INFO): DAT read: Bearing 343.6,   1.1 (Local)

2025-10-26T21:56:32.945Z,1761515792.945 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.6,   1.1 (Local)

2025-10-26T21:56:32.951Z,1761515792.951 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed 0.5

2025-10-26T21:56:33.012Z,1761515793.012 [DAT](INFO): DAT read: 21:56:31.8519 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 507,-0.23, 0.130,-1.610, 0.113, 0.080, PHS= 0.153,-1.645,-0.011, RAW= 145.3,  17.2, CAL= 145.0,  18.8, ROT=   5.0, -18.8

2025-10-26T21:56:33.013Z,1761515793.013 [DAT](INFO): got valid direction response:
 21:56:31.8519 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 507,-0.23, 0.130,-1.610, 0.113, 0.080, PHS= 0.153,-1.645,-0.011, RAW= 145.3,  17.2, CAL= 145.0,  18.8, ROT=   5.0, -18.8

2025-10-26T21:56:33.014Z,1761515793.014 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-10-26T21:56:33.015Z,1761515793.015 [DAT](INFO): direction in FSK: [0.943047,0.082506,0.322266]
2025-10-26T21:56:33.015Z,1761515793.015 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:33.047Z,1761515793.047 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.969252
2025-10-26T21:56:33.155Z,1761515793.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.500335 s,
      deltaX: -0.299999 m,
      approachRate: -0.599597 m/s,
      rangeRepo size: 4

2025-10-26T21:56:33.168Z,1761515793.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.069878 m,
      bearing: 184.156828 deg,
      lat: 36.779401 deg,
      lon: -121.859493 deg,
      deltaT: 1.266498 s,
      deltaX: -0.894485 m,
      approachRate: -0.706267 m/s,
      posRepo size: 4

2025-10-26T21:56:33.169Z,1761515793.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-10-26T21:56:33.178Z,1761515793.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.069878 m,
      nav range: 20.479826 m,
      bearing: 183.489777 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.193339 deg/s,
      cmd heading: 173.585966 deg,
      new cmd heading: 173.898951 deg.

2025-10-26T21:56:33.185Z,1761515793.185 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.107069
2025-10-26T21:56:33.185Z,1761515793.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.035109 target range: 21.069878 and range: 21.20 m.
2025-10-26T21:56:33.442Z,1761515793.442 [DAT](INFO): DAT read: Rx Time:21:56:32.3516 

2025-10-26T21:56:33.444Z,1761515793.444 [DAT](INFO): Rx dataTimestamp_ set to:1761515793.442822
2025-10-26T21:56:33.454Z,1761515793.454 [DAT](INFO): DAT read: Bearing 341.6,   2.0 (Local)

2025-10-26T21:56:33.455Z,1761515793.455 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.6,   2.0 (Local)

2025-10-26T21:56:33.462Z,1761515793.462 [DAT](INFO): DAT read: Range 11 to 50 :    20.7 m (trip time 13.8 ms) speed 0.4

2025-10-26T21:56:33.508Z,1761515793.508 [DAT](ERROR): #Rx 24: Read range message, but no direction.
2025-10-26T21:56:33.508Z,1761515793.508 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.431010
2025-10-26T21:56:33.517Z,1761515793.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996945,-0.077516,-0.009610],[0.077897,-0.977630,-0.195376],[0.005750,-0.195527,0.980681]]
2025-10-26T21:56:33.582Z,1761515793.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.700001 m,
      deltaT: 0.504395 s,
      deltaX: -0.500000 m,
      approachRate: -0.991287 m/s,
      rangeRepo size: 4

2025-10-26T21:56:33.582Z,1761515793.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-10-26T21:56:33.585Z,1761515793.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.069878 m,
      nav range: 20.210812 m,
      bearing: 183.554576 deg,
      approach rate: -0.628369 m/s,
      LOS rate: 0.153372 deg/s,
      cmd heading: 173.898952 deg,
      new cmd heading: 174.095934 deg.

2025-10-26T21:56:33.586Z,1761515793.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.038547 target range: 21.069878 and range: 20.70 m.
2025-10-26T21:56:33.692Z,1761515793.692 [DAT](INFO): DAT read: 21:56:32.3516 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 504,-0.12,-0.291,-2.082,-0.326,-0.410, PHS= 0.221,-1.627, 0.040, RAW= 144.9,  15.3, CAL= 144.6,  16.7, ROT=   5.4, -16.7

2025-10-26T21:56:33.694Z,1761515793.694 [DAT](INFO): got valid direction response:
 21:56:32.3516 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 504,-0.12,-0.291,-2.082,-0.326,-0.410, PHS= 0.221,-1.627, 0.040, RAW= 144.9,  15.3, CAL= 144.6,  16.7, ROT=   5.4, -16.7

2025-10-26T21:56:33.694Z,1761515793.694 [DAT](INFO): #Rx 25: Read direction message, but no range.
2025-10-26T21:56:33.695Z,1761515793.695 [DAT](INFO): direction in FSK: [0.953572,0.090139,0.287361]
2025-10-26T21:56:33.701Z,1761515793.701 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.623856
2025-10-26T21:56:33.944Z,1761515793.944 [DAT](INFO): DAT read: Rx Time:21:56:32.8516 

2025-10-26T21:56:33.947Z,1761515793.947 [DAT](INFO): Rx dataTimestamp_ set to:1761515793.945471
2025-10-26T21:56:33.950Z,1761515793.950 [DAT](INFO): DAT read: Bearing 338.2,   2.6 (Local)

2025-10-26T21:56:33.951Z,1761515793.951 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.2,   2.6 (Local)

2025-10-26T21:56:33.957Z,1761515793.957 [DAT](INFO): DAT read: Range 11 to 50 :    20.7 m (trip time 13.8 ms) speed 0.5

2025-10-26T21:56:33.979Z,1761515793.979 [DAT](ERROR): #Rx 26: Read range message, but no direction.
2025-10-26T21:56:33.980Z,1761515793.980 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.902851
2025-10-26T21:56:33.997Z,1761515793.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.700001 m,
      deltaT: 0.502649 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:56:34.004Z,1761515794.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.572920 m,
      bearing: 184.167812 deg,
      lat: 36.779401 deg,
      lon: -121.859493 deg,
      deltaT: 1.007044 s,
      deltaX: -0.496958 m,
      approachRate: -0.493482 m/s,
      posRepo size: 4

2025-10-26T21:56:34.004Z,1761515794.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.57 m.
2025-10-26T21:56:34.007Z,1761515794.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.572920 m,
      nav range: 19.996456 m,
      bearing: 183.653879 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.153372 deg/s,
      cmd heading: 174.095935 deg,
      new cmd heading: 174.287079 deg.

2025-10-26T21:56:34.012Z,1761515794.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.041883 target range: 20.572920 and range: 20.70 m.
2025-10-26T21:56:34.196Z,1761515794.196 [DAT](INFO): DAT read: 21:56:32.8516 LVL= 32752, 32753, 30146, 32755, AGC= 65, IDX= 503, 0.06, 2.486, 0.637, 2.451, 2.262, PHS= 0.326,-1.580, 0.145, RAW= 145.1,  12.1, CAL= 144.7,  13.2, ROT=   5.3, -13.2

2025-10-26T21:56:34.197Z,1761515794.197 [DAT](INFO): got valid direction response:
 21:56:32.8516 LVL= 32752, 32753, 30146, 32755, AGC= 65, IDX= 503, 0.06, 2.486, 0.637, 2.451, 2.262, PHS= 0.326,-1.580, 0.145, RAW= 145.1,  12.1, CAL= 144.7,  13.2, ROT=   5.3, -13.2

2025-10-26T21:56:34.197Z,1761515794.197 [DAT](INFO): #Rx 27: Read direction message, but no range.
2025-10-26T21:56:34.198Z,1761515794.198 [DAT](INFO): direction in FSK: [0.969417,0.089930,0.228351]
2025-10-26T21:56:34.202Z,1761515794.202 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.124858
2025-10-26T21:56:34.332Z,1761515794.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996989,-0.077015,-0.009064],[0.077303,-0.977792,-0.194801],[0.006140,-0.194915,0.980801]]
2025-10-26T21:56:34.358Z,1761515794.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:56:34.388Z,1761515794.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.57 m.
2025-10-26T21:56:34.401Z,1761515794.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.572920 m,
      nav range: 19.747921 m,
      bearing: 183.716780 deg,
      approach rate: -0.639895 m/s,
      LOS rate: 0.163989 deg/s,
      cmd heading: 174.287085 deg,
      new cmd heading: 174.478164 deg.

2025-10-26T21:56:34.416Z,1761515794.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.045218 target range: 20.572920 and range: 20.70 m.
2025-10-26T21:56:34.450Z,1761515794.450 [DAT](INFO): DAT read: Rx Time:21:56:33.3513 

2025-10-26T21:56:34.454Z,1761515794.454 [DAT](INFO): Rx dataTimestamp_ set to:1761515794.450539
2025-10-26T21:56:34.458Z,1761515794.458 [DAT](INFO): DAT read: Bearing 341.9,   2.0 (Local)

2025-10-26T21:56:34.459Z,1761515794.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.9,   2.0 (Local)

2025-10-26T21:56:34.476Z,1761515794.476 [DAT](INFO): DAT read: Range 11 to 50 :    20.3 m (trip time 13.5 ms) speed 0.4

2025-10-26T21:56:34.489Z,1761515794.489 [DAT](INFO): DAT read: 21:56:33.3513 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 500, 0.15, 2.008, 0.224, 1.971, 1.901, PHS= 0.209,-1.632, 0.027, RAW= 144.8,  15.7, CAL= 144.5,  17.1, ROT=   5.5, -17.1

2025-10-26T21:56:34.490Z,1761515794.490 [DAT](INFO): got valid direction response:
 21:56:33.3513 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 500, 0.15, 2.008, 0.224, 1.971, 1.901, PHS= 0.209,-1.632, 0.027, RAW= 144.8,  15.7, CAL= 144.5,  17.1, ROT=   5.5, -17.1

2025-10-26T21:56:34.490Z,1761515794.490 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-10-26T21:56:34.500Z,1761515794.500 [DAT](INFO): direction in FSK: [0.951393,0.091609,0.294040]
2025-10-26T21:56:34.500Z,1761515794.500 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:34.508Z,1761515794.508 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.425825
2025-10-26T21:56:34.698Z,1761515794.698 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.620805
2025-10-26T21:56:34.783Z,1761515794.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997036,-0.076458,-0.008571],[0.076682,-0.978495,-0.191488],[0.006255,-0.191578,0.981458]]
2025-10-26T21:56:34.832Z,1761515794.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.299999 m,
      deltaT: 0.505068 s,
      deltaX: -0.400002 m,
      approachRate: -0.791976 m/s,
      rangeRepo size: 4

2025-10-26T21:56:34.834Z,1761515794.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.175341 m,
      bearing: 184.356445 deg,
      lat: 36.779402 deg,
      lon: -121.859495 deg,
      deltaT: 0.505068 s,
      deltaX: -0.397579 m,
      approachRate: -0.787180 m/s,
      posRepo size: 4

2025-10-26T21:56:34.835Z,1761515794.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.18 m.
2025-10-26T21:56:34.838Z,1761515794.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.175341 m,
      nav range: 19.382807 m,
      bearing: 184.232940 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.163989 deg/s,
      cmd heading: 174.478166 deg,
      new cmd heading: 174.697714 deg.

2025-10-26T21:56:34.839Z,1761515794.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.049050 target range: 20.175341 and range: 20.30 m.
2025-10-26T21:56:34.952Z,1761515794.952 [DAT](INFO): DAT read: Rx Time:21:56:33.8512 

2025-10-26T21:56:34.954Z,1761515794.954 [DAT](INFO): Rx dataTimestamp_ set to:1761515794.952870
2025-10-26T21:56:34.960Z,1761515794.960 [DAT](INFO): DAT read: Bearing 340.5,   2.3 (Local)

2025-10-26T21:56:34.961Z,1761515794.961 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.5,   2.3 (Local)

2025-10-26T21:56:34.975Z,1761515794.975 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed 0.4

2025-10-26T21:56:35.000Z,1761515795.000 [DAT](INFO): DAT read: 21:56:33.8512 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 499, 0.44, 1.647,-0.192, 1.610, 1.494, PHS= 0.256,-1.641, 0.072, RAW= 145.0,  14.4, CAL= 144.6,  15.7, ROT=   5.4, -15.7

2025-10-26T21:56:35.001Z,1761515795.001 [DAT](INFO): got valid direction response:
 21:56:33.8512 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 499, 0.44, 1.647,-0.192, 1.610, 1.494, PHS= 0.256,-1.641, 0.072, RAW= 145.0,  14.4, CAL= 144.6,  15.7, ROT=   5.4, -15.7

2025-10-26T21:56:35.002Z,1761515795.002 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-10-26T21:56:35.003Z,1761515795.003 [DAT](INFO): direction in FSK: [0.958419,0.090597,0.270600]
2025-10-26T21:56:35.003Z,1761515795.003 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:35.015Z,1761515795.015 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=14.937198
2025-10-26T21:56:35.193Z,1761515795.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997065,-0.076102,-0.008332],[0.076322,-0.979586,-0.185975],[0.005991,-0.186065,0.982519]]
2025-10-26T21:56:35.201Z,1761515795.201 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.123291
2025-10-26T21:56:35.242Z,1761515795.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.502331 s,
      deltaX: -0.199999 m,
      approachRate: -0.398142 m/s,
      rangeRepo size: 4

2025-10-26T21:56:35.252Z,1761515795.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.976570 m,
      bearing: 183.909105 deg,
      lat: 36.779402 deg,
      lon: -121.859495 deg,
      deltaT: 0.502331 s,
      deltaX: -0.198771 m,
      approachRate: -0.395696 m/s,
      posRepo size: 4

2025-10-26T21:56:35.253Z,1761515795.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.98 m.
2025-10-26T21:56:35.260Z,1761515795.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.976570 m,
      nav range: 19.147560 m,
      bearing: 184.246700 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.163989 deg/s,
      cmd heading: 174.697715 deg,
      new cmd heading: 174.899414 deg.

2025-10-26T21:56:35.261Z,1761515795.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.052571 target range: 19.976570 and range: 20.10 m.
2025-10-26T21:56:35.457Z,1761515795.457 [DAT](INFO): DAT read: Rx Time:21:56:34.3509 

2025-10-26T21:56:35.459Z,1761515795.459 [DAT](INFO): Rx dataTimestamp_ set to:1761515795.457929
2025-10-26T21:56:35.465Z,1761515795.465 [DAT](INFO): DAT read: Bearing 342.5,   1.6 (Local)

2025-10-26T21:56:35.466Z,1761515795.466 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.5,   1.6 (Local)

2025-10-26T21:56:35.475Z,1761515795.475 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.5

2025-10-26T21:56:35.482Z,1761515795.482 [DAT](INFO): DAT read: 21:56:34.3509 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 497,-0.17,-2.482, 1.993,-2.504,-2.567, PHS= 0.187,-1.678, 0.019, RAW= 145.3,  16.2, CAL= 145.1,  17.8, ROT=   4.9, -17.8

2025-10-26T21:56:35.483Z,1761515795.483 [DAT](INFO): got valid direction response:
 21:56:34.3509 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 497,-0.17,-2.482, 1.993,-2.504,-2.567, PHS= 0.187,-1.678, 0.019, RAW= 145.3,  16.2, CAL= 145.1,  17.8, ROT=   4.9, -17.8

2025-10-26T21:56:35.496Z,1761515795.496 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-10-26T21:56:35.497Z,1761515795.497 [DAT](INFO): direction in FSK: [0.948650,0.081328,0.305695]
2025-10-26T21:56:35.497Z,1761515795.497 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:35.509Z,1761515795.509 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.431509
2025-10-26T21:56:35.705Z,1761515795.705 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.627352
2025-10-26T21:56:35.729Z,1761515795.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997070,-0.076090,-0.007844],[0.076259,-0.980743,-0.179798],[0.005988,-0.179870,0.983672]]
2025-10-26T21:56:35.802Z,1761515795.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.505059 s,
      deltaX: -0.400000 m,
      approachRate: -0.791986 m/s,
      rangeRepo size: 4

2025-10-26T21:56:35.808Z,1761515795.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.579012 m,
      bearing: 183.739477 deg,
      lat: 36.779403 deg,
      lon: -121.859495 deg,
      deltaT: 0.505059 s,
      deltaX: -0.397558 m,
      approachRate: -0.787152 m/s,
      posRepo size: 4

2025-10-26T21:56:35.809Z,1761515795.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.58 m.
2025-10-26T21:56:35.816Z,1761515795.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.579012 m,
      nav range: 18.737392 m,
      bearing: 184.189995 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.163989 deg/s,
      cmd heading: 174.899411 deg,
      new cmd heading: 175.174982 deg.

2025-10-26T21:56:35.817Z,1761515795.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.057380 target range: 19.579012 and range: 19.70 m.
2025-10-26T21:56:35.962Z,1761515795.962 [DAT](INFO): DAT read: Rx Time:21:56:34.8509 

2025-10-26T21:56:35.969Z,1761515795.969 [DAT](INFO): Rx dataTimestamp_ set to:1761515795.962501
2025-10-26T21:56:35.974Z,1761515795.974 [DAT](INFO): DAT read: Bearing 339.0,  -3.3 (Local)

2025-10-26T21:56:35.974Z,1761515795.974 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.0,  -3.3 (Local)

2025-10-26T21:56:35.981Z,1761515795.981 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.4

2025-10-26T21:56:35.997Z,1761515795.997 [DAT](INFO): DAT read: 21:56:34.8509 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 512,-0.01,-0.448,-2.030,-0.278,-0.505, PHS= 0.160,-1.480, 0.183, RAW= 150.7,  13.7, CAL= 150.8,  15.2, ROT= 359.2, -15.2

2025-10-26T21:56:35.998Z,1761515795.998 [DAT](INFO): got valid direction response:
 21:56:34.8509 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 512,-0.01,-0.448,-2.030,-0.278,-0.505, PHS= 0.160,-1.480, 0.183, RAW= 150.7,  13.7, CAL= 150.8,  15.2, ROT= 359.2, -15.2

2025-10-26T21:56:35.999Z,1761515795.999 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-10-26T21:56:36.005Z,1761515796.005 [DAT](INFO): direction in FSK: [0.964922,-0.013474,0.262189]
2025-10-26T21:56:36.005Z,1761515796.005 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:36.014Z,1761515796.014 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=15.936132
2025-10-26T21:56:36.209Z,1761515796.209 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.131664
2025-10-26T21:56:36.258Z,1761515796.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997071,-0.076139,-0.007240],[0.076260,-0.982501,-0.169930],[0.005825,-0.169985,0.985429]]
2025-10-26T21:56:36.306Z,1761515796.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.504572 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:56:36.312Z,1761515796.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.578997 m,
      bearing: 177.486652 deg,
      lat: 36.779402 deg,
      lon: -121.859493 deg,
      deltaT: 0.504572 s,
      deltaX: -0.000015 m,
      approachRate: -0.000030 m/s,
      posRepo size: 4

2025-10-26T21:56:36.313Z,1761515796.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.58 m.
2025-10-26T21:56:36.319Z,1761515796.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.578997 m,
      nav range: 18.505983 m,
      bearing: 183.791634 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.163989 deg/s,
      cmd heading: 175.174982 deg,
      new cmd heading: 175.422693 deg.

2025-10-26T21:56:36.320Z,1761515796.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.061704 target range: 19.578997 and range: 19.70 m.
2025-10-26T21:56:36.465Z,1761515796.465 [DAT](INFO): DAT read: Rx Time:21:56:35.3505 

2025-10-26T21:56:36.467Z,1761515796.467 [DAT](INFO): Rx dataTimestamp_ set to:1761515796.465882
2025-10-26T21:56:36.473Z,1761515796.473 [DAT](INFO): DAT read: Bearing 342.2,   2.7 (Local)

2025-10-26T21:56:36.474Z,1761515796.474 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.2,   2.7 (Local)

2025-10-26T21:56:36.476Z,1761515796.476 [DAT](INFO): DAT read: Range 11 to 50 :    19.1 m (trip time 12.7 ms) speed 0.6

2025-10-26T21:56:36.481Z,1761515796.481 [DAT](INFO): DAT read: 21:56:35.3505 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 509,-0.10, 0.062,-1.748, 0.014,-0.049, PHS= 0.212,-1.654, 0.019, RAW= 144.6,  15.8, CAL= 144.2,  17.2, ROT=   5.8, -17.2

2025-10-26T21:56:36.482Z,1761515796.482 [DAT](INFO): got valid direction response:
 21:56:35.3505 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 509,-0.10, 0.062,-1.748, 0.014,-0.049, PHS= 0.212,-1.654, 0.019, RAW= 144.6,  15.8, CAL= 144.2,  17.2, ROT=   5.8, -17.2

2025-10-26T21:56:36.482Z,1761515796.482 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-10-26T21:56:36.485Z,1761515796.485 [DAT](INFO): direction in FSK: [0.950388,0.096537,0.295708]
2025-10-26T21:56:36.486Z,1761515796.486 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:36.492Z,1761515796.492 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.414560
2025-10-26T21:56:36.714Z,1761515796.714 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.636585
2025-10-26T21:56:36.773Z,1761515796.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997026,-0.076767,-0.006810],[0.076838,-0.983343,-0.164716],[0.005948,-0.164750,0.986317]]
2025-10-26T21:56:36.822Z,1761515796.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.100000 m,
      deltaT: 0.503381 s,
      deltaX: -0.600000 m,
      approachRate: -1.191941 m/s,
      rangeRepo size: 4

2025-10-26T21:56:36.824Z,1761515796.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.982681 m,
      bearing: 184.219883 deg,
      lat: 36.779402 deg,
      lon: -121.859493 deg,
      deltaT: 0.503381 s,
      deltaX: -0.596315 m,
      approachRate: -1.184620 m/s,
      posRepo size: 4

2025-10-26T21:56:36.825Z,1761515796.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.98 m.
2025-10-26T21:56:36.827Z,1761515796.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.982681 m,
      nav range: 18.208673 m,
      bearing: 183.611116 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.163989 deg/s,
      cmd heading: 175.422699 deg,
      new cmd heading: 175.676639 deg.

2025-10-26T21:56:36.828Z,1761515796.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.066136 target range: 18.982681 and range: 19.10 m.
2025-10-26T21:56:36.969Z,1761515796.969 [DAT](INFO): DAT read: Rx Time:21:56:35.8503 

2025-10-26T21:56:36.971Z,1761515796.971 [DAT](INFO): Rx dataTimestamp_ set to:1761515796.969844
2025-10-26T21:56:36.974Z,1761515796.974 [DAT](INFO): DAT read: Bearing 339.1,   2.9 (Local)

2025-10-26T21:56:36.974Z,1761515796.974 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.1,   2.9 (Local)

2025-10-26T21:56:36.977Z,1761515796.977 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.4

2025-10-26T21:56:36.981Z,1761515796.981 [DAT](INFO): DAT read: 21:56:35.8503 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 507,-0.12, 1.370,-0.513, 1.331, 1.165, PHS= 0.307,-1.633, 0.122, RAW= 145.0,  12.9, CAL= 144.7,  14.1, ROT=   5.3, -14.1

2025-10-26T21:56:36.982Z,1761515796.982 [DAT](INFO): got valid direction response:
 21:56:35.8503 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 507,-0.12, 1.370,-0.513, 1.331, 1.165, PHS= 0.307,-1.633, 0.122, RAW= 145.0,  12.9, CAL= 144.7,  14.1, ROT=   5.3, -14.1

2025-10-26T21:56:36.983Z,1761515796.983 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-10-26T21:56:36.984Z,1761515796.984 [DAT](INFO): direction in FSK: [0.965726,0.089588,0.243615]
2025-10-26T21:56:36.984Z,1761515796.984 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:36.988Z,1761515796.988 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.910400
2025-10-26T21:56:37.173Z,1761515797.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996971,-0.077487,-0.006719],[0.077547,-0.983645,-0.162567],[0.005988,-0.162596,0.986675]]
2025-10-26T21:56:37.206Z,1761515797.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.503962 s,
      deltaX: -0.300001 m,
      approachRate: -0.595285 m/s,
      rangeRepo size: 4

2025-10-26T21:56:37.217Z,1761515797.217 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.139088
2025-10-26T21:56:37.218Z,1761515797.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.684523 m,
      bearing: 183.113503 deg,
      lat: 36.779400 deg,
      lon: -121.859493 deg,
      deltaT: 0.503962 s,
      deltaX: -0.298159 m,
      approachRate: -0.591629 m/s,
      posRepo size: 4

2025-10-26T21:56:37.219Z,1761515797.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.68 m.
2025-10-26T21:56:37.226Z,1761515797.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.684523 m,
      nav range: 18.168589 m,
      bearing: 183.296418 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.163989 deg/s,
      cmd heading: 175.676646 deg,
      new cmd heading: 175.865855 deg.

2025-10-26T21:56:37.227Z,1761515797.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.069438 target range: 18.684523 and range: 18.80 m.
2025-10-26T21:56:37.477Z,1761515797.477 [DAT](INFO): DAT read: Rx Time:21:56:36.3501 

2025-10-26T21:56:37.479Z,1761515797.479 [DAT](INFO): Rx dataTimestamp_ set to:1761515797.477932
2025-10-26T21:56:37.483Z,1761515797.483 [DAT](INFO): DAT read: Bearing 340.3,   2.5 (Local)

2025-10-26T21:56:37.485Z,1761515797.485 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.3,   2.5 (Local)

2025-10-26T21:56:37.487Z,1761515797.487 [DAT](INFO): DAT read: Range 11 to 50 :    18.6 m (trip time 12.4 ms) speed 0.6

2025-10-26T21:56:37.491Z,1761515797.491 [DAT](INFO): DAT read: 21:56:36.3501 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 504,-0.04, 1.031,-0.823, 1.005, 0.868, PHS= 0.265,-1.647, 0.093, RAW= 145.3,  14.0, CAL= 145.0,  15.3, ROT=   5.0, -15.3

2025-10-26T21:56:37.492Z,1761515797.492 [DAT](INFO): got valid direction response:
 21:56:36.3501 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 504,-0.04, 1.031,-0.823, 1.005, 0.868, PHS= 0.265,-1.647, 0.093, RAW= 145.3,  14.0, CAL= 145.0,  15.3, ROT=   5.0, -15.3

2025-10-26T21:56:37.493Z,1761515797.493 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-10-26T21:56:37.494Z,1761515797.494 [DAT](INFO): direction in FSK: [0.960887,0.084067,0.263873]
2025-10-26T21:56:37.494Z,1761515797.494 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:37.541Z,1761515797.541 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.425678
2025-10-26T21:56:37.563Z,1761515797.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996896,-0.078516,-0.005877],[0.078423,-0.983538,-0.162798],[0.007002,-0.162753,0.986642]]
2025-10-26T21:56:37.670Z,1761515797.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.600000 m,
      deltaT: 0.508088 s,
      deltaX: -0.199999 m,
      approachRate: -0.393630 m/s,
      rangeRepo size: 4

2025-10-26T21:56:37.677Z,1761515797.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.485764 m,
      bearing: 182.979647 deg,
      lat: 36.779401 deg,
      lon: -121.859493 deg,
      deltaT: 0.508088 s,
      deltaX: -0.198759 m,
      approachRate: -0.391190 m/s,
      posRepo size: 4

2025-10-26T21:56:37.677Z,1761515797.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.49 m.
2025-10-26T21:56:37.685Z,1761515797.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.485764 m,
      nav range: 17.882442 m,
      bearing: 182.979654 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.163989 deg/s,
      cmd heading: 175.865855 deg,
      new cmd heading: 176.093320 deg.

2025-10-26T21:56:37.686Z,1761515797.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.073408 target range: 18.485764 and range: 18.60 m.
2025-10-26T21:56:37.721Z,1761515797.721 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.643656
2025-10-26T21:56:37.975Z,1761515797.975 [DAT](INFO): DAT read: Rx Time:21:56:36.8500 

2025-10-26T21:56:37.975Z,1761515797.975 [DAT](INFO): Rx dataTimestamp_ set to:1761515797.975053
2025-10-26T21:56:37.977Z,1761515797.977 [DAT](INFO): DAT read: Bearing 337.6,   2.7 (Local)

2025-10-26T21:56:37.977Z,1761515797.977 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.6,   2.7 (Local)

2025-10-26T21:56:37.979Z,1761515797.979 [DAT](INFO): DAT read: Range 11 to 50 :    18.5 m (trip time 12.3 ms) speed 0.5

2025-10-26T21:56:37.984Z,1761515797.984 [DAT](INFO): DAT read: 21:56:36.8500 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503, 0.08, 2.972, 1.092, 2.959, 2.728, PHS= 0.346,-1.592, 0.187, RAW= 145.8,  11.4, CAL= 145.4,  12.4, ROT=   4.6, -12.4

2025-10-26T21:56:37.985Z,1761515797.985 [DAT](INFO): got valid direction response:
 21:56:36.8500 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503, 0.08, 2.972, 1.092, 2.959, 2.728, PHS= 0.346,-1.592, 0.187, RAW= 145.8,  11.4, CAL= 145.4,  12.4, ROT=   4.6, -12.4

2025-10-26T21:56:37.985Z,1761515797.985 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-10-26T21:56:37.986Z,1761515797.986 [DAT](INFO): direction in FSK: [0.973526,0.078328,0.214735]
2025-10-26T21:56:37.986Z,1761515797.986 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:38.026Z,1761515798.026 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.948671
2025-10-26T21:56:38.045Z,1761515798.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996821,-0.079528,-0.004720],[0.079264,-0.984059,-0.159202],[0.008016,-0.159070,0.987235]]
2025-10-26T21:56:38.112Z,1761515798.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.500000 m,
      deltaT: 0.497121 s,
      deltaX: -0.100000 m,
      approachRate: -0.201159 m/s,
      rangeRepo size: 4

2025-10-26T21:56:38.114Z,1761515798.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.386377 m,
      bearing: 181.997595 deg,
      lat: 36.779400 deg,
      lon: -121.859492 deg,
      deltaT: 0.497121 s,
      deltaX: -0.099386 m,
      approachRate: -0.199924 m/s,
      posRepo size: 4

2025-10-26T21:56:38.115Z,1761515798.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.39 m.
2025-10-26T21:56:38.122Z,1761515798.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.386377 m,
      nav range: 17.670267 m,
      bearing: 182.699419 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.163989 deg/s,
      cmd heading: 176.093314 deg,
      new cmd heading: 176.309357 deg.

2025-10-26T21:56:38.123Z,1761515798.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.077179 target range: 18.386377 and range: 18.50 m.
2025-10-26T21:56:38.225Z,1761515798.225 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.147152
2025-10-26T21:56:38.481Z,1761515798.481 [DAT](INFO): DAT read: Rx Time:21:56:37.3498 

2025-10-26T21:56:38.483Z,1761515798.483 [DAT](INFO): Rx dataTimestamp_ set to:1761515798.481876
2025-10-26T21:56:38.485Z,1761515798.485 [DAT](INFO): DAT read: Bearing 338.3,   2.2 (Local)

2025-10-26T21:56:38.485Z,1761515798.485 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.3,   2.2 (Local)

2025-10-26T21:56:38.488Z,1761515798.488 [DAT](INFO): DAT read: Range 11 to 50 :    18.0 m (trip time 12.0 ms) speed 0.4

2025-10-26T21:56:38.493Z,1761515798.493 [DAT](INFO): DAT read: 21:56:37.3498 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 500, 0.18, 2.373, 0.525, 2.379, 2.161, PHS= 0.314,-1.592, 0.174, RAW= 146.2,  12.0, CAL= 145.9,  13.1, ROT=   4.1, -13.1

2025-10-26T21:56:38.494Z,1761515798.494 [DAT](INFO): got valid direction response:
 21:56:37.3498 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 500, 0.18, 2.373, 0.525, 2.379, 2.161, PHS= 0.314,-1.592, 0.174, RAW= 146.2,  12.0, CAL= 145.9,  13.1, ROT=   4.1, -13.1

2025-10-26T21:56:38.495Z,1761515798.495 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-10-26T21:56:38.496Z,1761515798.496 [DAT](INFO): direction in FSK: [0.971483,0.069637,0.226651]
2025-10-26T21:56:38.496Z,1761515798.496 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:38.500Z,1761515798.500 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.422491
2025-10-26T21:56:38.502Z,1761515798.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996647,-0.081716,-0.004110],[0.081365,-0.984585,-0.154827],[0.008606,-0.154642,0.987933]]
2025-10-26T21:56:38.618Z,1761515798.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 0.506823 s,
      deltaX: -0.500000 m,
      approachRate: -0.986538 m/s,
      rangeRepo size: 4

2025-10-26T21:56:38.625Z,1761515798.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.889463 m,
      bearing: 181.446121 deg,
      lat: 36.779400 deg,
      lon: -121.859492 deg,
      deltaT: 0.506823 s,
      deltaX: -0.496914 m,
      approachRate: -0.980449 m/s,
      posRepo size: 4

2025-10-26T21:56:38.625Z,1761515798.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-10-26T21:56:38.632Z,1761515798.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.889463 m,
      nav range: 17.375317 m,
      bearing: 182.440725 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.163989 deg/s,
      cmd heading: 176.309353 deg,
      new cmd heading: 176.560423 deg.

2025-10-26T21:56:38.633Z,1761515798.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.081561 target range: 17.889463 and range: 18.00 m.
2025-10-26T21:56:38.729Z,1761515798.729 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.651463
2025-10-26T21:56:38.981Z,1761515798.981 [DAT](INFO): DAT read: Rx Time:21:56:37.8497 

2025-10-26T21:56:38.981Z,1761515798.981 [DAT](INFO): Rx dataTimestamp_ set to:1761515798.981189
2025-10-26T21:56:38.983Z,1761515798.983 [DAT](INFO): DAT read: Bearing 338.7,   1.7 (Local)

2025-10-26T21:56:38.983Z,1761515798.983 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.7,   1.7 (Local)

2025-10-26T21:56:38.986Z,1761515798.986 [DAT](INFO): DAT read: Range 11 to 50 :    17.9 m (trip time 11.9 ms) speed 0.5

2025-10-26T21:56:38.990Z,1761515798.990 [DAT](INFO): DAT read: 21:56:37.8497 LVL= 32176, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.29, 3.027, 1.177, 3.049, 2.837, PHS= 0.292,-1.615, 0.168, RAW= 146.7,  12.5, CAL= 146.4,  13.7, ROT=   3.6, -13.7

2025-10-26T21:56:38.992Z,1761515798.992 [DAT](INFO): got valid direction response:
 21:56:37.8497 LVL= 32176, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.29, 3.027, 1.177, 3.049, 2.837, PHS= 0.292,-1.615, 0.168, RAW= 146.7,  12.5, CAL= 146.4,  13.7, ROT=   3.6, -13.7

2025-10-26T21:56:38.992Z,1761515798.992 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-10-26T21:56:38.993Z,1761515798.993 [DAT](INFO): direction in FSK: [0.969632,0.061004,0.236838]
2025-10-26T21:56:38.993Z,1761515798.993 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:38.997Z,1761515798.997 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.919373
2025-10-26T21:56:39.018Z,1761515799.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996293,-0.085972,-0.002929],[0.085461,-0.985335,-0.147689],[0.009811,-0.147392,0.989029]]
2025-10-26T21:56:39.100Z,1761515799.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 0.499313 s,
      deltaX: -0.100000 m,
      approachRate: -0.200276 m/s,
      rangeRepo size: 4

2025-10-26T21:56:39.102Z,1761515799.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.790077 m,
      bearing: 180.720457 deg,
      lat: 36.779400 deg,
      lon: -121.859490 deg,
      deltaT: 0.499313 s,
      deltaX: -0.099386 m,
      approachRate: -0.199046 m/s,
      posRepo size: 4

2025-10-26T21:56:39.102Z,1761515799.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-10-26T21:56:39.109Z,1761515799.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.790077 m,
      nav range: 17.183973 m,
      bearing: 181.509938 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.163989 deg/s,
      cmd heading: 176.560417 deg,
      new cmd heading: 176.791249 deg.

2025-10-26T21:56:39.110Z,1761515799.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.085589 target range: 17.790077 and range: 17.90 m.
2025-10-26T21:56:39.233Z,1761515799.233 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.155159
2025-10-26T21:56:39.489Z,1761515799.489 [DAT](INFO): DAT read: Rx Time:21:56:38.3494 

2025-10-26T21:56:39.490Z,1761515799.490 [DAT](INFO): Rx dataTimestamp_ set to:1761515799.489313
2025-10-26T21:56:39.494Z,1761515799.494 [DAT](INFO): DAT read: Bearing 338.2,   1.7 (Local)

2025-10-26T21:56:39.496Z,1761515799.496 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.2,   1.7 (Local)

2025-10-26T21:56:39.511Z,1761515799.511 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed 0.5

2025-10-26T21:56:39.540Z,1761515799.540 [DAT](INFO): DAT read: 21:56:38.3494 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 496, 0.31, 2.389, 0.564, 2.423, 2.192, PHS= 0.299,-1.583, 0.187, RAW= 147.0,  12.0, CAL= 146.7,  13.1, ROT=   3.3, -13.1

2025-10-26T21:56:39.541Z,1761515799.541 [DAT](INFO): got valid direction response:
 21:56:38.3494 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 496, 0.31, 2.389, 0.564, 2.423, 2.192, PHS= 0.299,-1.583, 0.187, RAW= 147.0,  12.0, CAL= 146.7,  13.1, ROT=   3.3, -13.1

2025-10-26T21:56:39.541Z,1761515799.541 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-10-26T21:56:39.542Z,1761515799.542 [DAT](INFO): direction in FSK: [0.972361,0.056066,0.226651]
2025-10-26T21:56:39.543Z,1761515799.543 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:39.544Z,1761515799.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996089,-0.088319,-0.002523],[0.087738,-0.985360,-0.146179],[0.010424,-0.145828,0.989255]]
2025-10-26T21:56:39.562Z,1761515799.562 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.484989
2025-10-26T21:56:39.658Z,1761515799.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.508124 s,
      deltaX: -0.500000 m,
      approachRate: -0.984012 m/s,
      rangeRepo size: 4

2025-10-26T21:56:39.665Z,1761515799.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.293163 m,
      bearing: 180.180182 deg,
      lat: 36.779400 deg,
      lon: -121.859489 deg,
      deltaT: 0.508124 s,
      deltaX: -0.496914 m,
      approachRate: -0.977938 m/s,
      posRepo size: 4

2025-10-26T21:56:39.666Z,1761515799.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-10-26T21:56:39.674Z,1761515799.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.293163 m,
      nav range: 16.851650 m,
      bearing: 180.920814 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.163989 deg/s,
      cmd heading: 176.791250 deg,
      new cmd heading: 177.071269 deg.

2025-10-26T21:56:39.675Z,1761515799.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.090477 target range: 17.293163 and range: 17.40 m.
2025-10-26T21:56:39.737Z,1761515799.737 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.659756
2025-10-26T21:56:39.989Z,1761515799.989 [DAT](INFO): DAT read: Rx Time:21:56:38.8493 

2025-10-26T21:56:39.990Z,1761515799.990 [DAT](INFO): Rx dataTimestamp_ set to:1761515799.989266
2025-10-26T21:56:39.991Z,1761515799.991 [DAT](INFO): DAT read: Bearing 338.9,   0.8 (Local)

2025-10-26T21:56:39.991Z,1761515799.991 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.9,   0.8 (Local)

2025-10-26T21:56:39.993Z,1761515799.993 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed 0.5

2025-10-26T21:56:39.998Z,1761515799.998 [DAT](INFO): DAT read: 21:56:38.8493 LVL= 32592, 32753, 32754, 32755, AGC= 61, IDX= 511, 0.40, 2.688, 0.857, 2.748, 2.525, PHS= 0.265,-1.623, 0.179, RAW= 147.7,  12.7, CAL= 147.5,  14.0, ROT=   2.5, -14.0

2025-10-26T21:56:39.999Z,1761515799.999 [DAT](INFO): got valid direction response:
 21:56:38.8493 LVL= 32592, 32753, 32754, 32755, AGC= 61, IDX= 511, 0.40, 2.688, 0.857, 2.748, 2.525, PHS= 0.265,-1.623, 0.179, RAW= 147.7,  12.7, CAL= 147.5,  14.0, ROT=   2.5, -14.0

2025-10-26T21:56:39.999Z,1761515799.999 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-10-26T21:56:40.000Z,1761515800.000 [DAT](INFO): direction in FSK: [0.969372,0.042324,0.241922]
2025-10-26T21:56:40.001Z,1761515800.001 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:40.008Z,1761515800.008 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.930939
2025-10-26T21:56:40.041Z,1761515800.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995903,-0.090410,-0.002025],[0.089749,-0.985374,-0.144856],[0.011101,-0.144444,0.989451]]
2025-10-26T21:56:40.100Z,1761515800.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.499953 s,
      deltaX: -0.100000 m,
      approachRate: -0.200020 m/s,
      rangeRepo size: 4

2025-10-26T21:56:40.102Z,1761515800.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.193777 m,
      bearing: 179.394292 deg,
      lat: 36.779399 deg,
      lon: -121.859487 deg,
      deltaT: 0.499953 s,
      deltaX: -0.099386 m,
      approachRate: -0.198791 m/s,
      posRepo size: 4

2025-10-26T21:56:40.103Z,1761515800.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-10-26T21:56:40.110Z,1761515800.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.193777 m,
      nav range: 16.673204 m,
      bearing: 180.212822 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.163989 deg/s,
      cmd heading: 177.071275 deg,
      new cmd heading: 177.287379 deg.

2025-10-26T21:56:40.111Z,1761515800.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.094249 target range: 17.193777 and range: 17.30 m.
2025-10-26T21:56:40.241Z,1761515800.241 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.163326
2025-10-26T21:56:40.394Z,1761515800.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995723,-0.092368,-0.001998],[0.091632,-0.984553,-0.149191],[0.011813,-0.148736,0.988806]]
2025-10-26T21:56:40.497Z,1761515800.497 [DAT](INFO): DAT read: Rx Time:21:56:39.3490 

2025-10-26T21:56:40.499Z,1761515800.499 [DAT](INFO): Rx dataTimestamp_ set to:1761515800.497642
2025-10-26T21:56:40.503Z,1761515800.503 [DAT](INFO): DAT read: Bearing 337.9,   0.3 (Local)

2025-10-26T21:56:40.504Z,1761515800.504 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.9,   0.3 (Local)

2025-10-26T21:56:40.515Z,1761515800.515 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed 0.5

2025-10-26T21:56:40.522Z,1761515800.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:56:40.528Z,1761515800.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-10-26T21:56:40.531Z,1761515800.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.193777 m,
      nav range: 16.433687 m,
      bearing: 179.997228 deg,
      approach rate: -0.553223 m/s,
      LOS rate: -0.505224 deg/s,
      cmd heading: 177.287382 deg,
      new cmd heading: 176.631202 deg.

2025-10-26T21:56:40.531Z,1761515800.531 [DAT](INFO): DAT read: 21:56:39.3490 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 508, 0.42, 2.208, 0.384, 2.293, 2.033, PHS= 0.278,-1.604, 0.216, RAW= 148.4,  12.0, CAL= 148.2,  13.1, ROT=   1.8, -13.1

2025-10-26T21:56:40.533Z,1761515800.533 [DAT](INFO): got valid direction response:
 21:56:39.3490 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 508, 0.42, 2.208, 0.384, 2.293, 2.033, PHS= 0.278,-1.604, 0.216, RAW= 148.4,  12.0, CAL= 148.2,  13.1, ROT=   1.8, -13.1

2025-10-26T21:56:40.533Z,1761515800.533 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-10-26T21:56:40.534Z,1761515800.534 [DAT](INFO): direction in FSK: [0.973495,0.030593,0.226651]
2025-10-26T21:56:40.534Z,1761515800.534 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:40.540Z,1761515800.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.082796 target range: 17.193777 and range: 17.30 m.
2025-10-26T21:56:40.561Z,1761515800.561 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.483898
2025-10-26T21:56:40.751Z,1761515800.751 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.672655
2025-10-26T21:56:40.860Z,1761515800.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995624,-0.093432,-0.002004],[0.092599,-0.983391,-0.156104],[0.012614,-0.155607,0.987738]]
2025-10-26T21:56:40.930Z,1761515800.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.508376 s,
      deltaX: -0.500000 m,
      approachRate: -0.983524 m/s,
      rangeRepo size: 4

2025-10-26T21:56:40.959Z,1761515800.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.696875 m,
      bearing: 178.546467 deg,
      lat: 36.779399 deg,
      lon: -121.859487 deg,
      deltaT: 0.508376 s,
      deltaX: -0.496902 m,
      approachRate: -0.977431 m/s,
      posRepo size: 4

2025-10-26T21:56:40.966Z,1761515800.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-10-26T21:56:40.980Z,1761515800.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.696875 m,
      nav range: 16.191454 m,
      bearing: 179.556530 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.505224 deg/s,
      cmd heading: 176.631205 deg,
      new cmd heading: 176.028739 deg.

2025-10-26T21:56:40.981Z,1761515800.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.072281 target range: 16.696875 and range: 16.80 m.
2025-10-26T21:56:40.997Z,1761515800.997 [DAT](INFO): DAT read: Rx Time:21:56:39.8488 

2025-10-26T21:56:40.997Z,1761515800.997 [DAT](INFO): Rx dataTimestamp_ set to:1761515800.997205
2025-10-26T21:56:40.999Z,1761515800.999 [DAT](INFO): DAT read: Bearing 337.5,  -0.1 (Local)

2025-10-26T21:56:40.999Z,1761515800.999 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.5,  -0.1 (Local)

2025-10-26T21:56:41.001Z,1761515801.001 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.7

2025-10-26T21:56:41.006Z,1761515801.006 [DAT](INFO): DAT read: 21:56:39.8488 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507,-0.45, 1.004,-0.831, 1.105, 0.823, PHS= 0.283,-1.609, 0.238, RAW= 148.8,  11.6, CAL= 148.6,  12.8, ROT=   1.4, -12.8

2025-10-26T21:56:41.007Z,1761515801.007 [DAT](INFO): got valid direction response:
 21:56:39.8488 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507,-0.45, 1.004,-0.831, 1.105, 0.823, PHS= 0.283,-1.609, 0.238, RAW= 148.8,  11.6, CAL= 148.6,  12.8, ROT=   1.4, -12.8

2025-10-26T21:56:41.007Z,1761515801.007 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-10-26T21:56:41.008Z,1761515801.008 [DAT](INFO): direction in FSK: [0.974858,0.023825,0.221548]
2025-10-26T21:56:41.009Z,1761515801.009 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:41.016Z,1761515801.016 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.938908
2025-10-26T21:56:41.252Z,1761515801.252 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.174810
2025-10-26T21:56:41.354Z,1761515801.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.499563 s,
      deltaX: -0.299999 m,
      approachRate: -0.600523 m/s,
      rangeRepo size: 4

2025-10-26T21:56:41.356Z,1761515801.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.398729 m,
      bearing: 178.101762 deg,
      lat: 36.779399 deg,
      lon: -121.859485 deg,
      deltaT: 0.499563 s,
      deltaX: -0.298145 m,
      approachRate: -0.596812 m/s,
      posRepo size: 4

2025-10-26T21:56:41.357Z,1761515801.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-10-26T21:56:41.360Z,1761515801.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.398729 m,
      nav range: 15.963798 m,
      bearing: 178.793625 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.505224 deg/s,
      cmd heading: 176.028742 deg,
      new cmd heading: 175.381053 deg.

2025-10-26T21:56:41.361Z,1761515801.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.060977 target range: 16.398729 and range: 16.50 m.
2025-10-26T21:56:41.510Z,1761515801.510 [DAT](INFO): DAT read: Rx Time:21:56:40.3485 

2025-10-26T21:56:41.514Z,1761515801.514 [DAT](INFO): Rx dataTimestamp_ set to:1761515801.510418
2025-10-26T21:56:41.518Z,1761515801.518 [DAT](INFO): DAT read: Bearing 338.7,  -1.2 (Local)

2025-10-26T21:56:41.543Z,1761515801.543 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.7,  -1.2 (Local)

2025-10-26T21:56:41.546Z,1761515801.546 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed 0.4

2025-10-26T21:56:41.586Z,1761515801.586 [DAT](INFO): DAT read: 21:56:40.3485 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 504,-0.29,-1.074,-2.870,-0.947,-1.202, PHS= 0.230,-1.623, 0.212, RAW= 149.5,  12.8, CAL= 149.5,  14.1, ROT=   0.5, -14.1

2025-10-26T21:56:41.599Z,1761515801.599 [DAT](INFO): got valid direction response:
 21:56:40.3485 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 504,-0.29,-1.074,-2.870,-0.947,-1.202, PHS= 0.230,-1.623, 0.212, RAW= 149.5,  12.8, CAL= 149.5,  14.1, ROT=   0.5, -14.1

2025-10-26T21:56:41.600Z,1761515801.600 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-10-26T21:56:41.601Z,1761515801.601 [DAT](INFO): direction in FSK: [0.969835,0.008464,0.243615]
2025-10-26T21:56:41.601Z,1761515801.601 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:41.610Z,1761515801.610 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.532286
2025-10-26T21:56:41.711Z,1761515801.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995792,-0.091624,-0.001585],[0.090596,-0.981715,-0.167417],[0.013784,-0.166857,0.985885]]
2025-10-26T21:56:41.756Z,1761515801.756 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.678993
2025-10-26T21:56:41.826Z,1761515801.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.513213 s,
      deltaX: -0.400000 m,
      approachRate: -0.779403 m/s,
      rangeRepo size: 4

2025-10-26T21:56:41.832Z,1761515801.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.001184 m,
      bearing: 177.703950 deg,
      lat: 36.779399 deg,
      lon: -121.859483 deg,
      deltaT: 0.513213 s,
      deltaX: -0.397545 m,
      approachRate: -0.774620 m/s,
      posRepo size: 4

2025-10-26T21:56:41.833Z,1761515801.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-10-26T21:56:41.841Z,1761515801.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.001184 m,
      nav range: 15.669381 m,
      bearing: 178.250848 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.505224 deg/s,
      cmd heading: 175.381049 deg,
      new cmd heading: 174.664913 deg.

2025-10-26T21:56:41.842Z,1761515801.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.048478 target range: 16.001184 and range: 16.10 m.
2025-10-26T21:56:42.009Z,1761515802.009 [DAT](INFO): DAT read: Rx Time:21:56:40.8485 

2025-10-26T21:56:42.009Z,1761515802.009 [DAT](INFO): Rx dataTimestamp_ set to:1761515802.009083
2025-10-26T21:56:42.011Z,1761515802.011 [DAT](INFO): DAT read: Bearing 338.3,  -1.4 (Local)

2025-10-26T21:56:42.011Z,1761515802.011 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.3,  -1.4 (Local)

2025-10-26T21:56:42.013Z,1761515802.013 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed 0.4

2025-10-26T21:56:42.018Z,1761515802.018 [DAT](INFO): DAT read: 21:56:40.8485 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503,-0.16, 0.183,-1.610, 0.325, 0.047, PHS= 0.238,-1.612, 0.234, RAW= 149.9,  12.3, CAL= 149.8,  13.6, ROT=   0.2, -13.6

2025-10-26T21:56:42.019Z,1761515802.019 [DAT](INFO): got valid direction response:
 21:56:40.8485 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503,-0.16, 0.183,-1.610, 0.325, 0.047, PHS= 0.238,-1.612, 0.234, RAW= 149.9,  12.3, CAL= 149.8,  13.6, ROT=   0.2, -13.6

2025-10-26T21:56:42.019Z,1761515802.019 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-10-26T21:56:42.020Z,1761515802.020 [DAT](INFO): direction in FSK: [0.971955,0.003393,0.235142]
2025-10-26T21:56:42.021Z,1761515802.021 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:42.024Z,1761515802.024 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.946957
2025-10-26T21:56:42.193Z,1761515802.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996365,-0.085184,-0.000462],[0.083968,-0.981206,-0.173738],[0.014346,-0.173145,0.984792]]
2025-10-26T21:56:42.237Z,1761515802.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.498665 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:56:42.239Z,1761515802.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.001184 m,
      bearing: 177.787424 deg,
      lat: 36.779399 deg,
      lon: -121.859483 deg,
      deltaT: 0.498665 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:56:42.244Z,1761515802.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-10-26T21:56:42.246Z,1761515802.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.001184 m,
      nav range: 15.445279 m,
      bearing: 177.913016 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.505224 deg/s,
      cmd heading: 174.664917 deg,
      new cmd heading: 174.042434 deg.

2025-10-26T21:56:42.252Z,1761515802.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.037614 target range: 16.001184 and range: 16.10 m.
2025-10-26T21:56:42.261Z,1761515802.261 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.183100
2025-10-26T21:56:42.517Z,1761515802.517 [DAT](INFO): DAT read: Rx Time:21:56:41.3482 

2025-10-26T21:56:42.519Z,1761515802.519 [DAT](INFO): Rx dataTimestamp_ set to:1761515802.517929
2025-10-26T21:56:42.523Z,1761515802.523 [DAT](INFO): DAT read: Bearing 337.9,  -2.0 (Local)

2025-10-26T21:56:42.524Z,1761515802.524 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.9,  -2.0 (Local)

2025-10-26T21:56:42.541Z,1761515802.541 [DAT](INFO): DAT read: Range 11 to 50 :    15.6 m (trip time 10.4 ms) speed 0.5

2025-10-26T21:56:42.564Z,1761515802.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996701,-0.081165,0.000342],[0.079881,-0.981669,-0.173046],[0.014381,-0.172448,0.984914]]
2025-10-26T21:56:42.587Z,1761515802.587 [DAT](INFO): DAT read: 21:56:41.3482 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 500,-0.02,-0.860,-2.613,-0.690,-0.990, PHS= 0.231,-1.578, 0.255, RAW= 150.7,  12.0, CAL= 150.6,  13.2, ROT= 359.4, -13.2

2025-10-26T21:56:42.588Z,1761515802.588 [DAT](INFO): got valid direction response:
 21:56:41.3482 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 500,-0.02,-0.860,-2.613,-0.690,-0.990, PHS= 0.231,-1.578, 0.255, RAW= 150.7,  12.0, CAL= 150.6,  13.2, ROT= 359.4, -13.2

2025-10-26T21:56:42.589Z,1761515802.589 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-26T21:56:42.590Z,1761515802.590 [DAT](INFO): direction in FSK: [0.973526,-0.010195,0.228351]
2025-10-26T21:56:42.590Z,1761515802.590 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:42.602Z,1761515802.602 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.524410
2025-10-26T21:56:42.692Z,1761515802.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.508846 s,
      deltaX: -0.500000 m,
      approachRate: -0.982616 m/s,
      rangeRepo size: 4

2025-10-26T21:56:42.694Z,1761515802.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.504261 m,
      bearing: 177.150026 deg,
      lat: 36.779399 deg,
      lon: -121.859482 deg,
      deltaT: 0.508846 s,
      deltaX: -0.496923 m,
      approachRate: -0.976569 m/s,
      posRepo size: 4

2025-10-26T21:56:42.695Z,1761515802.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-10-26T21:56:42.702Z,1761515802.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.504261 m,
      nav range: 15.184183 m,
      bearing: 177.766231 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.505224 deg/s,
      cmd heading: 174.042441 deg,
      new cmd heading: 173.365561 deg.

2025-10-26T21:56:42.709Z,1761515802.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.025800 target range: 15.504261 and range: 15.60 m.
2025-10-26T21:56:42.765Z,1761515802.765 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.687021
2025-10-26T21:56:43.017Z,1761515803.017 [DAT](INFO): DAT read: Rx Time:21:56:41.8481 

2025-10-26T21:56:43.018Z,1761515803.018 [DAT](INFO): Rx dataTimestamp_ set to:1761515803.017311
2025-10-26T21:56:43.019Z,1761515803.019 [DAT](INFO): DAT read: Bearing 336.1,  -2.6 (Local)

2025-10-26T21:56:43.019Z,1761515803.019 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.1,  -2.6 (Local)

2025-10-26T21:56:43.021Z,1761515803.021 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed 0.5

2025-10-26T21:56:43.026Z,1761515803.026 [DAT](INFO): DAT read: 21:56:41.8481 LVL= 30944, 32753, 32754, 32755, AGC= 64, IDX= 499, 0.12, 1.400,-0.408, 1.612, 1.229, PHS= 0.274,-1.591, 0.339, RAW= 151.7,  10.3, CAL= 151.5,  11.3, ROT= 358.5, -11.3

2025-10-26T21:56:43.027Z,1761515803.027 [DAT](INFO): got valid direction response:
 21:56:41.8481 LVL= 30944, 32753, 32754, 32755, AGC= 64, IDX= 499, 0.12, 1.400,-0.408, 1.612, 1.229, PHS= 0.274,-1.591, 0.339, RAW= 151.7,  10.3, CAL= 151.5,  11.3, ROT= 358.5, -11.3

2025-10-26T21:56:43.032Z,1761515803.032 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-10-26T21:56:43.033Z,1761515803.033 [DAT](INFO): direction in FSK: [0.980279,-0.025670,0.195946]
2025-10-26T21:56:43.033Z,1761515803.033 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:43.037Z,1761515803.037 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.959385
2025-10-26T21:56:43.082Z,1761515803.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997086,-0.076280,0.001039],[0.074948,-0.982043,-0.173130],[0.014227,-0.172548,0.984898]]
2025-10-26T21:56:43.167Z,1761515803.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.499382 s,
      deltaX: -0.100000 m,
      approachRate: -0.200248 m/s,
      rangeRepo size: 4

2025-10-26T21:56:43.169Z,1761515803.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.404875 m,
      bearing: 176.201273 deg,
      lat: 36.779399 deg,
      lon: -121.859482 deg,
      deltaT: 0.499382 s,
      deltaX: -0.099386 m,
      approachRate: -0.199018 m/s,
      posRepo size: 4

2025-10-26T21:56:43.170Z,1761515803.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:56:43.178Z,1761515803.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.404875 m,
      nav range: 14.879393 m,
      bearing: 177.599531 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.505224 deg/s,
      cmd heading: 173.365555 deg,
      new cmd heading: 172.639685 deg.

2025-10-26T21:56:43.179Z,1761515803.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.013131 target range: 15.404875 and range: 15.50 m.
2025-10-26T21:56:43.270Z,1761515803.270 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.192785
2025-10-26T21:56:43.498Z,1761515803.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997453,-0.071309,0.001720],[0.069959,-0.982705,-0.171457],[0.013917,-0.170900,0.985190]]
2025-10-26T21:56:43.530Z,1761515803.530 [DAT](INFO): DAT read: Rx Time:21:56:42.3478 

2025-10-26T21:56:43.532Z,1761515803.532 [DAT](INFO): Rx dataTimestamp_ set to:1761515803.531506
2025-10-26T21:56:43.537Z,1761515803.537 [DAT](INFO): DAT read: Bearing 337.9,  -3.4 (Local)

2025-10-26T21:56:43.538Z,1761515803.538 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.9,  -3.4 (Local)

2025-10-26T21:56:43.545Z,1761515803.545 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed 0.4

2025-10-26T21:56:43.577Z,1761515803.577 [DAT](INFO): DAT read: 21:56:42.3478 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 496, 0.25, 0.862,-0.887, 1.084, 0.747, PHS= 0.217,-1.589, 0.293, RAW= 152.1,  11.7, CAL= 152.0,  12.9, ROT= 358.0, -12.9

2025-10-26T21:56:43.578Z,1761515803.578 [DAT](INFO): got valid direction response:
 21:56:42.3478 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 496, 0.25, 0.862,-0.887, 1.084, 0.747, PHS= 0.217,-1.589, 0.293, RAW= 152.1,  11.7, CAL= 152.0,  12.9, ROT= 358.0, -12.9

2025-10-26T21:56:43.578Z,1761515803.578 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-10-26T21:56:43.590Z,1761515803.590 [DAT](INFO): direction in FSK: [0.974167,-0.034019,0.223250]
2025-10-26T21:56:43.591Z,1761515803.591 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:43.606Z,1761515803.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:56:43.615Z,1761515803.615 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.537045
2025-10-26T21:56:43.629Z,1761515803.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.514195 s,
      deltaX: -0.500000 m,
      approachRate: -0.972394 m/s,
      rangeRepo size: 4

2025-10-26T21:56:43.629Z,1761515803.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:56:43.638Z,1761515803.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.404875 m,
      nav range: 14.597098 m,
      bearing: 177.572193 deg,
      approach rate: -0.605405 m/s,
      LOS rate: -0.059764 deg/s,
      cmd heading: 172.639684 deg,
      new cmd heading: 172.556082 deg.

2025-10-26T21:56:43.648Z,1761515803.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.011672 target range: 15.404875 and range: 15.00 m.
2025-10-26T21:56:43.777Z,1761515803.777 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.699539
2025-10-26T21:56:43.960Z,1761515803.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997769,-0.066706,0.002558],[0.065316,-0.983458,-0.168948],[0.013786,-0.168405,0.985622]]
2025-10-26T21:56:44.012Z,1761515804.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:56:44.014Z,1761515804.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.404875 m,
      nav range: 14.342974 m,
      bearing: 177.622717 deg,
      approach rate: -0.662941 m/s,
      LOS rate: 0.134138 deg/s,
      cmd heading: 172.556082 deg,
      new cmd heading: 172.710339 deg.

2025-10-26T21:56:44.016Z,1761515804.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.014364 target range: 15.404875 and range: 15.00 m.
2025-10-26T21:56:44.029Z,1761515804.029 [DAT](INFO): DAT read: Rx Time:21:56:42.8477 

2025-10-26T21:56:44.030Z,1761515804.030 [DAT](INFO): Rx dataTimestamp_ set to:1761515804.029243
2025-10-26T21:56:44.031Z,1761515804.031 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed 0.5

2025-10-26T21:56:44.031Z,1761515804.031 [DAT](ERROR): #Rx 47: Read range message, but no direction.
2025-10-26T21:56:44.032Z,1761515804.032 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.954840
2025-10-26T21:56:44.280Z,1761515804.280 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.202883
2025-10-26T21:56:44.338Z,1761515804.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998037,-0.062535,0.003368],[0.061097,-0.984085,-0.166864],[0.013749,-0.166331,0.985974]]
2025-10-26T21:56:44.382Z,1761515804.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.497737 s,
      deltaX: -0.100000 m,
      approachRate: -0.200910 m/s,
      rangeRepo size: 4

2025-10-26T21:56:44.382Z,1761515804.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m.
2025-10-26T21:56:44.389Z,1761515804.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.404875 m,
      nav range: 14.118174 m,
      bearing: 177.665174 deg,
      approach rate: -0.608558 m/s,
      LOS rate: 0.116767 deg/s,
      cmd heading: 172.710335 deg,
      new cmd heading: 172.839735 deg.

2025-10-26T21:56:44.390Z,1761515804.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.016623 target range: 15.404875 and range: 14.90 m.
2025-10-26T21:56:44.537Z,1761515804.537 [DAT](INFO): DAT read: Rx Time:21:56:43.3473 

2025-10-26T21:56:44.540Z,1761515804.540 [DAT](INFO): Rx dataTimestamp_ set to:1761515804.538194
2025-10-26T21:56:44.544Z,1761515804.544 [DAT](INFO): DAT read: Bearing 339.2,  -4.6 (Local)

2025-10-26T21:56:44.545Z,1761515804.545 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.2,  -4.6 (Local)

2025-10-26T21:56:44.563Z,1761515804.563 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed 0.4

2025-10-26T21:56:44.582Z,1761515804.582 [DAT](INFO): DAT read: 21:56:43.3473 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 509,-0.18,-2.450, 2.108,-2.194,-2.517, PHS= 0.169,-1.613, 0.279, RAW= 153.0,  12.6, CAL= 153.1,  14.0, ROT= 356.9, -14.0

2025-10-26T21:56:44.588Z,1761515804.588 [DAT](INFO): got valid direction response:
 21:56:43.3473 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 509,-0.18,-2.450, 2.108,-2.194,-2.517, PHS= 0.169,-1.613, 0.279, RAW= 153.0,  12.6, CAL= 153.1,  14.0, ROT= 356.9, -14.0

2025-10-26T21:56:44.589Z,1761515804.589 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-10-26T21:56:44.590Z,1761515804.590 [DAT](INFO): direction in FSK: [0.968876,-0.052472,0.241922]
2025-10-26T21:56:44.590Z,1761515804.590 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:44.596Z,1761515804.596 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.518665
2025-10-26T21:56:44.784Z,1761515804.784 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.706945
2025-10-26T21:56:44.819Z,1761515804.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.508951 s,
      deltaX: -0.599999 m,
      approachRate: -1.178894 m/s,
      rangeRepo size: 4

2025-10-26T21:56:44.821Z,1761515804.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.212296 m,
      bearing: 175.814474 deg,
      lat: 36.779400 deg,
      lon: -121.859480 deg,
      deltaT: 1.520883 s,
      deltaX: -1.192578 m,
      approachRate: -0.784135 m/s,
      posRepo size: 4

2025-10-26T21:56:44.822Z,1761515804.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m.
2025-10-26T21:56:44.825Z,1761515804.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.212296 m,
      nav range: 13.708646 m,
      bearing: 177.235877 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.116767 deg/s,
      cmd heading: 172.839740 deg,
      new cmd heading: 172.992996 deg.

2025-10-26T21:56:44.826Z,1761515804.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.019297 target range: 14.212296 and range: 14.30 m.
2025-10-26T21:56:45.037Z,1761515805.037 [DAT](INFO): DAT read: Rx Time:21:56:43.8472 

2025-10-26T21:56:45.038Z,1761515805.038 [DAT](INFO): Rx dataTimestamp_ set to:1761515805.037300
2025-10-26T21:56:45.039Z,1761515805.039 [DAT](INFO): DAT read: Bearing 336.0,  -3.8 (Local)

2025-10-26T21:56:45.039Z,1761515805.039 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.0,  -3.8 (Local)

2025-10-26T21:56:45.041Z,1761515805.041 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed 0.4

2025-10-26T21:56:45.046Z,1761515805.046 [DAT](INFO): DAT read: 21:56:43.8472 LVL= 25632, 32753, 29778, 32755, AGC= 64, IDX= 507, 0.07,-2.361, 2.177,-2.096,-2.517, PHS= 0.258,-1.544, 0.377, RAW= 153.2,   9.8, CAL= 152.9,  10.6, ROT= 357.1, -10.6

2025-10-26T21:56:45.047Z,1761515805.047 [DAT](INFO): got valid direction response:
 21:56:43.8472 LVL= 25632, 32753, 29778, 32755, AGC= 64, IDX= 507, 0.07,-2.361, 2.177,-2.096,-2.517, PHS= 0.258,-1.544, 0.377, RAW= 153.2,   9.8, CAL= 152.9,  10.6, ROT= 357.1, -10.6

2025-10-26T21:56:45.048Z,1761515805.048 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-10-26T21:56:45.049Z,1761515805.049 [DAT](INFO): direction in FSK: [0.981677,-0.049730,0.183951]
2025-10-26T21:56:45.049Z,1761515805.049 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:45.053Z,1761515805.053 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.975531
2025-10-26T21:56:45.158Z,1761515805.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998437,-0.055694,0.004672],[0.054131,-0.984444,-0.167149],[0.013908,-0.166635,0.985921]]
2025-10-26T21:56:45.210Z,1761515805.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.499106 s,
      deltaX: -0.200000 m,
      approachRate: -0.400716 m/s,
      rangeRepo size: 4

2025-10-26T21:56:45.216Z,1761515805.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.013523 m,
      bearing: 175.821159 deg,
      lat: 36.779398 deg,
      lon: -121.859477 deg,
      deltaT: 0.499106 s,
      deltaX: -0.198773 m,
      approachRate: -0.398259 m/s,
      posRepo size: 4

2025-10-26T21:56:45.217Z,1761515805.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T21:56:45.224Z,1761515805.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.013523 m,
      nav range: 13.687921 m,
      bearing: 176.272459 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.116767 deg/s,
      cmd heading: 172.992996 deg,
      new cmd heading: 173.129858 deg.

2025-10-26T21:56:45.225Z,1761515805.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.021686 target range: 14.013523 and range: 14.10 m.
2025-10-26T21:56:45.289Z,1761515805.289 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.211382
2025-10-26T21:56:45.545Z,1761515805.545 [DAT](INFO): DAT read: Rx Time:21:56:44.3469 

2025-10-26T21:56:45.547Z,1761515805.547 [DAT](INFO): Rx dataTimestamp_ set to:1761515805.545816
2025-10-26T21:56:45.551Z,1761515805.551 [DAT](INFO): DAT read: Bearing 336.5,  -3.8 (Local)

2025-10-26T21:56:45.553Z,1761515805.553 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.5,  -3.8 (Local)

2025-10-26T21:56:45.559Z,1761515805.559 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.5

2025-10-26T21:56:45.609Z,1761515805.609 [DAT](INFO): DAT read: 21:56:44.3469 LVL= 29168, 32753, 32754, 32755, AGC= 65, IDX= 504, 0.26, 2.261, 0.519, 2.518, 2.112, PHS= 0.251,-1.548, 0.362, RAW= 153.0,  10.1, CAL= 152.7,  11.0, ROT= 357.3, -11.0

2025-10-26T21:56:45.611Z,1761515805.611 [DAT](INFO): got valid direction response:
 21:56:44.3469 LVL= 29168, 32753, 32754, 32755, AGC= 65, IDX= 504, 0.26, 2.261, 0.519, 2.518, 2.112, PHS= 0.251,-1.548, 0.362, RAW= 153.0,  10.1, CAL= 152.7,  11.0, ROT= 357.3, -11.0

2025-10-26T21:56:45.611Z,1761515805.611 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-10-26T21:56:45.624Z,1761515805.624 [DAT](INFO): direction in FSK: [0.980537,-0.046241,0.190809]
2025-10-26T21:56:45.624Z,1761515805.624 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:45.645Z,1761515805.645 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.567816
2025-10-26T21:56:45.661Z,1761515805.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998583,-0.052954,0.005277],[0.051288,-0.984100,-0.170051],[0.014198,-0.169539,0.985421]]
2025-10-26T21:56:45.753Z,1761515805.753 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:56:45.784Z,1761515805.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.508516 s,
      deltaX: -0.400001 m,
      approachRate: -0.786604 m/s,
      rangeRepo size: 4

2025-10-26T21:56:45.786Z,1761515805.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.615955 m,
      bearing: 176.285209 deg,
      lat: 36.779398 deg,
      lon: -121.859477 deg,
      deltaT: 0.508516 s,
      deltaX: -0.397568 m,
      approachRate: -0.781820 m/s,
      posRepo size: 4

2025-10-26T21:56:45.787Z,1761515805.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.62 m.
2025-10-26T21:56:45.792Z,1761515805.792 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.714989
2025-10-26T21:56:45.799Z,1761515805.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.615955 m,
      nav range: 13.313617 m,
      bearing: 176.241708 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.116767 deg/s,
      cmd heading: 173.129859 deg,
      new cmd heading: 173.329586 deg.

2025-10-26T21:56:45.800Z,1761515805.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.025172 target range: 13.615955 and range: 13.70 m.
2025-10-26T21:56:46.045Z,1761515806.045 [DAT](INFO): DAT read: Rx Time:21:56:44.8468 

2025-10-26T21:56:46.045Z,1761515806.045 [DAT](INFO): Rx dataTimestamp_ set to:1761515806.045183
2025-10-26T21:56:46.047Z,1761515806.047 [DAT](INFO): DAT read: Bearing 340.8,  -6.1 (Local)

2025-10-26T21:56:46.047Z,1761515806.047 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.8,  -6.1 (Local)

2025-10-26T21:56:46.049Z,1761515806.049 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.6

2025-10-26T21:56:46.057Z,1761515806.057 [DAT](INFO): DAT read: 21:56:44.8468 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 503, 0.17,-0.467,-2.145,-0.173,-0.471, PHS= 0.105,-1.630, 0.253, RAW= 154.1,  13.9, CAL= 154.4,  15.7, ROT= 355.6, -15.7

2025-10-26T21:56:46.058Z,1761515806.058 [DAT](INFO): got valid direction response:
 21:56:44.8468 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 503, 0.17,-0.467,-2.145,-0.173,-0.471, PHS= 0.105,-1.630, 0.253, RAW= 154.1,  13.9, CAL= 154.4,  15.7, ROT= 355.6, -15.7

2025-10-26T21:56:46.058Z,1761515806.058 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-10-26T21:56:46.111Z,1761515806.111 [DAT](INFO): direction in FSK: [0.959854,-0.073857,0.270600]
2025-10-26T21:56:46.112Z,1761515806.112 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:46.135Z,1761515806.135 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.037727
2025-10-26T21:56:46.152Z,1761515806.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998587,-0.052834,0.005713],[0.051050,-0.983587,-0.173061],[0.014763,-0.172525,0.984895]]
2025-10-26T21:56:46.199Z,1761515806.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.499367 s,
      deltaX: -0.200000 m,
      approachRate: -0.400507 m/s,
      rangeRepo size: 4

2025-10-26T21:56:46.205Z,1761515806.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.417183 m,
      bearing: 175.511472 deg,
      lat: 36.779398 deg,
      lon: -121.859477 deg,
      deltaT: 0.499367 s,
      deltaX: -0.198772 m,
      approachRate: -0.398049 m/s,
      posRepo size: 4

2025-10-26T21:56:46.206Z,1761515806.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-10-26T21:56:46.213Z,1761515806.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.417183 m,
      nav range: 13.061440 m,
      bearing: 175.853525 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.116767 deg/s,
      cmd heading: 173.329588 deg,
      new cmd heading: 173.476436 deg.

2025-10-26T21:56:46.214Z,1761515806.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.027735 target range: 13.417183 and range: 13.50 m.
2025-10-26T21:56:46.298Z,1761515806.298 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.220840
2025-10-26T21:56:46.607Z,1761515806.607 [DAT](INFO): DAT read: Rx Time:21:56:45.3465 

2025-10-26T21:56:46.608Z,1761515806.608 [DAT](INFO): Rx dataTimestamp_ set to:1761515806.606870
2025-10-26T21:56:46.609Z,1761515806.609 [DAT](INFO): DAT read: Bearing 339.5,  -4.5 (Local)

2025-10-26T21:56:46.610Z,1761515806.610 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.5,  -4.5 (Local)

2025-10-26T21:56:46.612Z,1761515806.612 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed 0.5

2025-10-26T21:56:46.621Z,1761515806.621 [DAT](INFO): DAT read: 21:56:45.3465 LVL= 27360, 32753, 32466, 32755, AGC= 61, IDX= 500, 0.14,-1.190,-2.929,-0.941,-1.258, PHS= 0.170,-1.626, 0.273, RAW= 152.8,  12.7, CAL= 152.9,  14.2, ROT= 357.1, -14.2

2025-10-26T21:56:46.622Z,1761515806.622 [DAT](INFO): got valid direction response:
 21:56:45.3465 LVL= 27360, 32753, 32466, 32755, AGC= 61, IDX= 500, 0.14,-1.190,-2.929,-0.941,-1.258, PHS= 0.170,-1.626, 0.273, RAW= 152.8,  12.7, CAL= 152.9,  14.2, ROT= 357.1, -14.2

2025-10-26T21:56:46.622Z,1761515806.622 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-10-26T21:56:46.623Z,1761515806.623 [DAT](INFO): direction in FSK: [0.968204,-0.049047,0.245307]
2025-10-26T21:56:46.644Z,1761515806.644 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:46.662Z,1761515806.662 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.584026
2025-10-26T21:56:46.756Z,1761515806.756 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:56:46.762Z,1761515806.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.561687 s,
      deltaX: -0.400000 m,
      approachRate: -0.712140 m/s,
      rangeRepo size: 4

2025-10-26T21:56:46.772Z,1761515806.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.019627 m,
      bearing: 176.717875 deg,
      lat: 36.779400 deg,
      lon: -121.859477 deg,
      deltaT: 0.561687 s,
      deltaX: -0.397556 m,
      approachRate: -0.707790 m/s,
      posRepo size: 4

2025-10-26T21:56:46.773Z,1761515806.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-10-26T21:56:46.780Z,1761515806.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.019627 m,
      nav range: 12.570205 m,
      bearing: 175.763339 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.116767 deg/s,
      cmd heading: 173.476437 deg,
      new cmd heading: 173.672952 deg.

2025-10-26T21:56:46.781Z,1761515806.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.031165 target range: 13.019627 and range: 13.10 m.
2025-10-26T21:56:46.805Z,1761515806.805 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.727039
2025-10-26T21:56:47.057Z,1761515807.057 [DAT](INFO): DAT read: Rx Time:21:56:45.8464 

2025-10-26T21:56:47.057Z,1761515807.057 [DAT](INFO): Rx dataTimestamp_ set to:1761515807.057142
2025-10-26T21:56:47.059Z,1761515807.059 [DAT](INFO): DAT read: Bearing 338.4,  -4.0 (Local)

2025-10-26T21:56:47.059Z,1761515807.059 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.4,  -4.0 (Local)

2025-10-26T21:56:47.061Z,1761515807.061 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed 0.5

2025-10-26T21:56:47.066Z,1761515807.066 [DAT](INFO): DAT read: 21:56:45.8464 LVL= 26464, 32753, 30322, 32755, AGC= 59, IDX= 499, 0.09, 0.433,-1.319, 0.679, 0.335, PHS= 0.200,-1.609, 0.300, RAW= 152.7,  11.9, CAL= 152.7,  13.2, ROT= 357.3, -13.2

2025-10-26T21:56:47.067Z,1761515807.067 [DAT](INFO): got valid direction response:
 21:56:45.8464 LVL= 26464, 32753, 30322, 32755, AGC= 59, IDX= 499, 0.09, 0.433,-1.319, 0.679, 0.335, PHS= 0.200,-1.609, 0.300, RAW= 152.7,  11.9, CAL= 152.7,  13.2, ROT= 357.3, -13.2

2025-10-26T21:56:47.067Z,1761515807.067 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-10-26T21:56:47.079Z,1761515807.079 [DAT](INFO): direction in FSK: [0.972498,-0.045862,0.228351]
2025-10-26T21:56:47.079Z,1761515807.079 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:47.133Z,1761515807.133 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.054930
2025-10-26T21:56:47.176Z,1761515807.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998473,-0.054682,0.007862],[0.052318,-0.981666,-0.183287],[0.017740,-0.182596,0.983028]]
2025-10-26T21:56:47.226Z,1761515807.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.450272 s,
      deltaX: -0.200001 m,
      approachRate: -0.444178 m/s,
      rangeRepo size: 4

2025-10-26T21:56:47.237Z,1761515807.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.820852 m,
      bearing: 176.800026 deg,
      lat: 36.779398 deg,
      lon: -121.859478 deg,
      deltaT: 0.450272 s,
      deltaX: -0.198774 m,
      approachRate: -0.441454 m/s,
      posRepo size: 4

2025-10-26T21:56:47.237Z,1761515807.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-10-26T21:56:47.244Z,1761515807.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.820852 m,
      nav range: 12.421082 m,
      bearing: 176.218913 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.116767 deg/s,
      cmd heading: 173.672955 deg,
      new cmd heading: 173.835363 deg.

2025-10-26T21:56:47.245Z,1761515807.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.033999 target range: 12.820852 and range: 12.90 m.
2025-10-26T21:56:47.310Z,1761515807.310 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.232122
2025-10-26T21:56:47.561Z,1761515807.561 [DAT](INFO): DAT read: Rx Time:21:56:46.3461 

2025-10-26T21:56:47.562Z,1761515807.562 [DAT](INFO): Rx dataTimestamp_ set to:1761515807.561250
2025-10-26T21:56:47.563Z,1761515807.563 [DAT](INFO): DAT read: Bearing 335.7,  -2.8 (Local)

2025-10-26T21:56:47.563Z,1761515807.563 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.7,  -2.8 (Local)

2025-10-26T21:56:47.565Z,1761515807.565 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.5

2025-10-26T21:56:47.608Z,1761515807.608 [DAT](INFO): DAT read: 21:56:46.3461 LVL= 25504, 32753, 25010, 32755, AGC= 55, IDX= 496, 0.11,-1.217,-2.961,-0.988,-1.393, PHS= 0.277,-1.524, 0.360, RAW= 152.2,   9.6, CAL= 151.9,  10.5, ROT= 358.1, -10.5

2025-10-26T21:56:47.611Z,1761515807.611 [DAT](INFO): got valid direction response:
 21:56:46.3461 LVL= 25504, 32753, 25010, 32755, AGC= 55, IDX= 496, 0.11,-1.217,-2.961,-0.988,-1.393, PHS= 0.277,-1.524, 0.360, RAW= 152.2,   9.6, CAL= 151.9,  10.5, ROT= 358.1, -10.5

2025-10-26T21:56:47.636Z,1761515807.636 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-10-26T21:56:47.637Z,1761515807.637 [DAT](INFO): direction in FSK: [0.982714,-0.032600,0.182236]
2025-10-26T21:56:47.638Z,1761515807.638 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:47.657Z,1761515807.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998356,-0.056614,0.008895],[0.054017,-0.981460,-0.183900],[0.019141,-0.183117,0.982905]]
2025-10-26T21:56:47.664Z,1761515807.664 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.586468
2025-10-26T21:56:47.795Z,1761515807.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.504108 s,
      deltaX: -0.400000 m,
      approachRate: -0.793480 m/s,
      rangeRepo size: 4

2025-10-26T21:56:47.801Z,1761515807.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.423249 m,
      bearing: 176.980684 deg,
      lat: 36.779398 deg,
      lon: -121.859479 deg,
      deltaT: 0.504108 s,
      deltaX: -0.397603 m,
      approachRate: -0.788726 m/s,
      posRepo size: 4

2025-10-26T21:56:47.802Z,1761515807.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:56:47.809Z,1761515807.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.423249 m,
      nav range: 12.074178 m,
      bearing: 176.536144 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.116767 deg/s,
      cmd heading: 173.835363 deg,
      new cmd heading: 174.035515 deg.

2025-10-26T21:56:47.810Z,1761515807.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.037493 target range: 12.423249 and range: 12.50 m.
2025-10-26T21:56:47.812Z,1761515807.812 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.734999
2025-10-26T21:56:48.066Z,1761515808.066 [DAT](INFO): DAT read: Rx Time:21:56:46.8460 

2025-10-26T21:56:48.066Z,1761515808.066 [DAT](INFO): Rx dataTimestamp_ set to:1761515808.065729
2025-10-26T21:56:48.068Z,1761515808.068 [DAT](INFO): DAT read: Bearing 338.5,  -3.2 (Local)

2025-10-26T21:56:48.069Z,1761515808.069 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.5,  -3.2 (Local)

2025-10-26T21:56:48.071Z,1761515808.071 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.5

2025-10-26T21:56:48.075Z,1761515808.075 [DAT](INFO): DAT read: 21:56:46.8460 LVL= 26896, 31217, 31986, 32755, AGC= 58, IDX= 511, 0.05, 0.289,-1.486, 0.505, 0.183, PHS= 0.208,-1.624, 0.278, RAW= 151.9,  12.2, CAL= 151.9,  13.5, ROT= 358.1, -13.5

2025-10-26T21:56:48.076Z,1761515808.076 [DAT](INFO): got valid direction response:
 21:56:46.8460 LVL= 26896, 31217, 31986, 32755, AGC= 58, IDX= 511, 0.05, 0.289,-1.486, 0.505, 0.183, PHS= 0.208,-1.624, 0.278, RAW= 151.9,  12.2, CAL= 151.9,  13.5, ROT= 358.1, -13.5

2025-10-26T21:56:48.077Z,1761515808.077 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-10-26T21:56:48.078Z,1761515808.078 [DAT](INFO): direction in FSK: [0.971835,-0.032239,0.233445]
2025-10-26T21:56:48.078Z,1761515808.078 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:48.081Z,1761515808.081 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.004023
2025-10-26T21:56:48.160Z,1761515808.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998151,-0.060034,0.009491],[0.057224,-0.980859,-0.186122],[0.020483,-0.185234,0.982481]]
2025-10-26T21:56:48.210Z,1761515808.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.504479 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:56:48.220Z,1761515808.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.423249 m,
      bearing: 177.404488 deg,
      lat: 36.779398 deg,
      lon: -121.859479 deg,
      deltaT: 0.504479 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:56:48.221Z,1761515808.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:56:48.228Z,1761515808.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.423249 m,
      nav range: 11.829170 m,
      bearing: 176.431039 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.116767 deg/s,
      cmd heading: 174.035515 deg,
      new cmd heading: 174.180825 deg.

2025-10-26T21:56:48.229Z,1761515808.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.040029 target range: 12.423249 and range: 12.50 m.
2025-10-26T21:56:48.316Z,1761515808.316 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.239021
2025-10-26T21:56:48.539Z,1761515808.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997957,-0.063086,0.010116],[0.060003,-0.979786,-0.190838],[0.021951,-0.189841,0.981569]]
2025-10-26T21:56:48.575Z,1761515808.575 [DAT](INFO): DAT read: Rx Time:21:56:47.3458 

2025-10-26T21:56:48.576Z,1761515808.576 [DAT](INFO): Rx dataTimestamp_ set to:1761515808.575049
2025-10-26T21:56:48.580Z,1761515808.580 [DAT](INFO): DAT read: Bearing 337.9,  -2.7 (Local)

2025-10-26T21:56:48.581Z,1761515808.581 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.9,  -2.7 (Local)

2025-10-26T21:56:48.588Z,1761515808.588 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed 0.6

2025-10-26T21:56:48.633Z,1761515808.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:56:48.636Z,1761515808.636 [DAT](INFO): DAT read: 21:56:47.3458 LVL= 25136, 32753, 29458, 32755, AGC= 58, IDX= 508, 0.06,-1.017,-2.782,-0.815,-1.144, PHS= 0.229,-1.593, 0.284, RAW= 151.5,  11.7, CAL= 151.4,  12.9, ROT= 358.6, -12.9

2025-10-26T21:56:48.638Z,1761515808.638 [DAT](INFO): got valid direction response:
 21:56:47.3458 LVL= 25136, 32753, 29458, 32755, AGC= 58, IDX= 508, 0.06,-1.017,-2.782,-0.815,-1.144, PHS= 0.229,-1.593, 0.284, RAW= 151.5,  11.7, CAL= 151.4,  12.9, ROT= 358.6, -12.9

2025-10-26T21:56:48.638Z,1761515808.638 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-10-26T21:56:48.645Z,1761515808.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:56:48.648Z,1761515808.648 [DAT](INFO): direction in FSK: [0.974470,-0.023815,0.223250]
2025-10-26T21:56:48.649Z,1761515808.649 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:48.659Z,1761515808.659 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.581108
2025-10-26T21:56:48.665Z,1761515808.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.423249 m,
      nav range: 11.614283 m,
      bearing: 176.291436 deg,
      approach rate: -0.493653 m/s,
      LOS rate: -0.326638 deg/s,
      cmd heading: 174.180820 deg,
      new cmd heading: 173.754271 deg.

2025-10-26T21:56:48.666Z,1761515808.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.032584 target range: 12.423249 and range: 12.50 m.
2025-10-26T21:56:48.822Z,1761515808.822 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.743929
2025-10-26T21:56:48.976Z,1761515808.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997473,-0.070010,0.012069],[0.066214,-0.977723,-0.199183],[0.025745,-0.197881,0.979888]]
2025-10-26T21:56:49.030Z,1761515809.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.509320 s,
      deltaX: -0.500000 m,
      approachRate: -0.981701 m/s,
      rangeRepo size: 4

2025-10-26T21:56:49.032Z,1761515809.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.926309 m,
      bearing: 177.435456 deg,
      lat: 36.779398 deg,
      lon: -121.859480 deg,
      deltaT: 0.509320 s,
      deltaX: -0.496941 m,
      approachRate: -0.975694 m/s,
      posRepo size: 4

2025-10-26T21:56:49.033Z,1761515809.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-10-26T21:56:49.036Z,1761515809.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.926309 m,
      nav range: 11.426930 m,
      bearing: 176.402197 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.326638 deg/s,
      cmd heading: 173.754275 deg,
      new cmd heading: 173.377475 deg.

2025-10-26T21:56:49.037Z,1761515809.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.026008 target range: 11.926309 and range: 12.00 m.
2025-10-26T21:56:49.073Z,1761515809.073 [DAT](INFO): DAT read: Rx Time:21:56:47.8456 

2025-10-26T21:56:49.074Z,1761515809.074 [DAT](INFO): Rx dataTimestamp_ set to:1761515809.073260
2025-10-26T21:56:49.075Z,1761515809.075 [DAT](INFO): DAT read: Bearing 339.9,  -3.2 (Local)

2025-10-26T21:56:49.075Z,1761515809.075 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.9,  -3.2 (Local)

2025-10-26T21:56:49.077Z,1761515809.077 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed 0.4

2025-10-26T21:56:49.082Z,1761515809.082 [DAT](INFO): DAT read: 21:56:47.8456 LVL= 29344, 32753, 32754, 32755, AGC= 60, IDX= 506, 0.15,-1.733, 2.790,-1.534,-1.799, PHS= 0.167,-1.649, 0.220, RAW= 151.4,  13.6, CAL= 151.6,  15.2, ROT= 358.4, -15.2

2025-10-26T21:56:49.083Z,1761515809.083 [DAT](INFO): got valid direction response:
 21:56:47.8456 LVL= 29344, 32753, 32754, 32755, AGC= 60, IDX= 506, 0.15,-1.733, 2.790,-1.534,-1.799, PHS= 0.167,-1.649, 0.220, RAW= 151.4,  13.6, CAL= 151.6,  15.2, ROT= 358.4, -15.2

2025-10-26T21:56:49.083Z,1761515809.083 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-10-26T21:56:49.084Z,1761515809.084 [DAT](INFO): direction in FSK: [0.964640,-0.026945,0.262189]
2025-10-26T21:56:49.085Z,1761515809.085 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:49.096Z,1761515809.096 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.018785
2025-10-26T21:56:49.324Z,1761515809.324 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.247013
2025-10-26T21:56:49.388Z,1761515809.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997130,-0.074462,0.013695],[0.070294,-0.977702,-0.197881],[0.028124,-0.196351,0.980130]]
2025-10-26T21:56:49.425Z,1761515809.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.498211 s,
      deltaX: -0.300000 m,
      approachRate: -0.602155 m/s,
      rangeRepo size: 4

2025-10-26T21:56:49.452Z,1761515809.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.628151 m,
      bearing: 177.469035 deg,
      lat: 36.779398 deg,
      lon: -121.859481 deg,
      deltaT: 0.498211 s,
      deltaX: -0.298158 m,
      approachRate: -0.598457 m/s,
      posRepo size: 4

2025-10-26T21:56:49.454Z,1761515809.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:56:49.477Z,1761515809.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.628151 m,
      nav range: 11.194525 m,
      bearing: 176.734341 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.326638 deg/s,
      cmd heading: 173.377481 deg,
      new cmd heading: 172.993349 deg.

2025-10-26T21:56:49.478Z,1761515809.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.019304 target range: 11.628151 and range: 11.70 m.
2025-10-26T21:56:49.578Z,1761515809.578 [DAT](INFO): DAT read: Rx Time:21:56:48.3453 

2025-10-26T21:56:49.579Z,1761515809.579 [DAT](INFO): Rx dataTimestamp_ set to:1761515809.578447
2025-10-26T21:56:49.581Z,1761515809.581 [DAT](INFO): DAT read: Bearing 337.8,  -2.5 (Local)

2025-10-26T21:56:49.583Z,1761515809.583 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.8,  -2.5 (Local)

2025-10-26T21:56:49.588Z,1761515809.588 [DAT](INFO): DAT read: Range 11 to 50 :    11.3 m (trip time 7.5 ms) speed 0.5

2025-10-26T21:56:49.593Z,1761515809.593 [DAT](INFO): DAT read: 21:56:48.3453 LVL= 28192, 32753, 29938, 32755, AGC= 63, IDX= 503, 0.44, 2.201, 0.440, 2.399, 2.082, PHS= 0.221,-1.598, 0.272, RAW= 151.4,  12.0, CAL= 151.3,  13.2, ROT= 358.7, -13.2

2025-10-26T21:56:49.594Z,1761515809.594 [DAT](INFO): got valid direction response:
 21:56:48.3453 LVL= 28192, 32753, 29938, 32755, AGC= 63, IDX= 503, 0.44, 2.201, 0.440, 2.399, 2.082, PHS= 0.221,-1.598, 0.272, RAW= 151.4,  12.0, CAL= 151.3,  13.2, ROT= 358.7, -13.2

2025-10-26T21:56:49.594Z,1761515809.594 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-10-26T21:56:49.595Z,1761515809.595 [DAT](INFO): direction in FSK: [0.973328,-0.022088,0.228351]
2025-10-26T21:56:49.596Z,1761515809.596 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:49.621Z,1761515809.621 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.543373
2025-10-26T21:56:49.829Z,1761515809.829 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.751116
2025-10-26T21:56:49.890Z,1761515809.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.505187 s,
      deltaX: -0.400000 m,
      approachRate: -0.791785 m/s,
      rangeRepo size: 4

2025-10-26T21:56:49.897Z,1761515809.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.230607 m,
      bearing: 177.342424 deg,
      lat: 36.779398 deg,
      lon: -121.859482 deg,
      deltaT: 0.505187 s,
      deltaX: -0.397544 m,
      approachRate: -0.786924 m/s,
      posRepo size: 4

2025-10-26T21:56:49.897Z,1761515809.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-10-26T21:56:49.904Z,1761515809.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.230607 m,
      nav range: 10.922742 m,
      bearing: 176.741363 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.326638 deg/s,
      cmd heading: 172.993351 deg,
      new cmd heading: 172.534131 deg.

2025-10-26T21:56:49.905Z,1761515809.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.011289 target range: 11.230607 and range: 11.30 m.
2025-10-26T21:56:50.081Z,1761515810.081 [DAT](INFO): DAT read: Rx Time:21:56:48.8452 

2025-10-26T21:56:50.082Z,1761515810.082 [DAT](INFO): Rx dataTimestamp_ set to:1761515810.081259
2025-10-26T21:56:50.083Z,1761515810.083 [DAT](INFO): DAT read: Bearing 336.2,  -2.5 (Local)

2025-10-26T21:56:50.083Z,1761515810.083 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.2,  -2.5 (Local)

2025-10-26T21:56:50.085Z,1761515810.085 [DAT](INFO): DAT read: Range 11 to 50 :    11.1 m (trip time 7.4 ms) speed 0.4

2025-10-26T21:56:50.090Z,1761515810.090 [DAT](INFO): DAT read: 21:56:48.8452 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 503,-0.48,-2.948, 1.543,-2.724,-3.095, PHS= 0.249,-1.600, 0.327, RAW= 152.1,  10.8, CAL= 151.9,  11.9, ROT= 358.1, -11.9

2025-10-26T21:56:50.091Z,1761515810.091 [DAT](INFO): got valid direction response:
 21:56:48.8452 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 503,-0.48,-2.948, 1.543,-2.724,-3.095, PHS= 0.249,-1.600, 0.327, RAW= 152.1,  10.8, CAL= 151.9,  11.9, ROT= 358.1, -11.9

2025-10-26T21:56:50.092Z,1761515810.092 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-26T21:56:50.093Z,1761515810.093 [DAT](INFO): direction in FSK: [0.977971,-0.032442,0.206204]
2025-10-26T21:56:50.093Z,1761515810.093 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:50.098Z,1761515810.098 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.020285
2025-10-26T21:56:50.260Z,1761515810.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996417,-0.083003,0.016241],[0.078142,-0.976942,-0.198690],[0.032359,-0.196709,0.979928]]
2025-10-26T21:56:50.312Z,1761515810.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.502812 s,
      deltaX: -0.200000 m,
      approachRate: -0.397763 m/s,
      rangeRepo size: 4

2025-10-26T21:56:50.314Z,1761515810.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.031836 m,
      bearing: 176.033809 deg,
      lat: 36.779397 deg,
      lon: -121.859482 deg,
      deltaT: 0.502812 s,
      deltaX: -0.198771 m,
      approachRate: -0.395320 m/s,
      posRepo size: 4

2025-10-26T21:56:50.314Z,1761515810.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m.
2025-10-26T21:56:50.321Z,1761515810.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.031836 m,
      nav range: 10.705123 m,
      bearing: 176.358202 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.326638 deg/s,
      cmd heading: 172.534130 deg,
      new cmd heading: 172.129228 deg.

2025-10-26T21:56:50.322Z,1761515810.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.004222 target range: 11.031836 and range: 11.10 m.
2025-10-26T21:56:50.333Z,1761515810.333 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.255030
2025-10-26T21:56:50.587Z,1761515810.587 [DAT](INFO): DAT read: Rx Time:21:56:49.3449 

2025-10-26T21:56:50.588Z,1761515810.588 [DAT](INFO): Rx dataTimestamp_ set to:1761515810.587582
2025-10-26T21:56:50.589Z,1761515810.589 [DAT](INFO): DAT read: Bearing 337.3,  -4.0 (Local)

2025-10-26T21:56:50.589Z,1761515810.589 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.3,  -4.0 (Local)

2025-10-26T21:56:50.592Z,1761515810.592 [DAT](INFO): DAT read: Range 11 to 50 :    10.7 m (trip time 7.1 ms) speed 0.4

2025-10-26T21:56:50.597Z,1761515810.597 [DAT](INFO): DAT read: 21:56:49.3449 LVL= 31264, 32753, 32754, 32755, AGC= 58, IDX= 500,-0.19, 2.249, 0.456, 2.517, 2.164, PHS= 0.188,-1.662, 0.310, RAW= 153.2,  12.1, CAL= 153.2,  13.5, ROT= 356.8, -13.5

2025-10-26T21:56:50.601Z,1761515810.601 [DAT](INFO): got valid direction response:
 21:56:49.3449 LVL= 31264, 32753, 32754, 32755, AGC= 58, IDX= 500,-0.19, 2.249, 0.456, 2.517, 2.164, PHS= 0.188,-1.662, 0.310, RAW= 153.2,  12.1, CAL= 153.2,  13.5, ROT= 356.8, -13.5

2025-10-26T21:56:50.602Z,1761515810.602 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-26T21:56:50.606Z,1761515810.606 [DAT](INFO): direction in FSK: [0.970854,-0.054279,0.233445]
2025-10-26T21:56:50.606Z,1761515810.606 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:50.669Z,1761515810.669 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.591688
2025-10-26T21:56:50.697Z,1761515810.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996006,-0.087716,0.016676],[0.082624,-0.976254,-0.200253],[0.033845,-0.198075,0.979602]]
2025-10-26T21:56:50.828Z,1761515810.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.506323 s,
      deltaX: -0.400001 m,
      approachRate: -0.790011 m/s,
      rangeRepo size: 4

2025-10-26T21:56:50.830Z,1761515810.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.634369 m,
      bearing: 174.844841 deg,
      lat: 36.779398 deg,
      lon: -121.859482 deg,
      deltaT: 0.506323 s,
      deltaX: -0.397467 m,
      approachRate: -0.785006 m/s,
      posRepo size: 4

2025-10-26T21:56:50.831Z,1761515810.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-10-26T21:56:50.836Z,1761515810.836 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.758972
2025-10-26T21:56:50.844Z,1761515810.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.634369 m,
      nav range: 10.339220 m,
      bearing: 175.756346 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.326638 deg/s,
      cmd heading: 172.129223 deg,
      new cmd heading: 171.619199 deg.

2025-10-26T21:56:50.845Z,1761515810.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.995320 target range: 10.634369 and range: 10.70 m.
2025-10-26T21:56:51.090Z,1761515811.090 [DAT](INFO): DAT read: Rx Time:21:56:49.8449 

2025-10-26T21:56:51.091Z,1761515811.091 [DAT](INFO): Rx dataTimestamp_ set to:1761515811.090489
2025-10-26T21:56:51.093Z,1761515811.093 [DAT](INFO): DAT read: Bearing 334.2,  -2.2 (Local)

2025-10-26T21:56:51.093Z,1761515811.093 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.2,  -2.2 (Local)

2025-10-26T21:56:51.096Z,1761515811.096 [DAT](INFO): DAT read: Range 11 to 50 :    10.7 m (trip time 7.1 ms) speed 0.4

2025-10-26T21:56:51.106Z,1761515811.106 [DAT](INFO): DAT read: 21:56:49.8449 LVL= 21744, 32753, 20738, 32755, AGC= 53, IDX= 499, 0.15,-2.876, 1.660,-2.635,-3.051, PHS= 0.277,-1.527, 0.372, RAW= 152.5,   9.5, CAL= 152.2,  10.3, ROT= 357.8, -10.3

2025-10-26T21:56:51.107Z,1761515811.107 [DAT](INFO): got valid direction response:
 21:56:49.8449 LVL= 21744, 32753, 20738, 32755, AGC= 53, IDX= 499, 0.15,-2.876, 1.660,-2.635,-3.051, PHS= 0.277,-1.527, 0.372, RAW= 152.5,   9.5, CAL= 152.2,  10.3, ROT= 357.8, -10.3

2025-10-26T21:56:51.108Z,1761515811.108 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-10-26T21:56:51.109Z,1761515811.109 [DAT](INFO): direction in FSK: [0.983160,-0.037770,0.178802]
2025-10-26T21:56:51.110Z,1761515811.110 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:51.116Z,1761515811.116 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.038233
2025-10-26T21:56:51.236Z,1761515811.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995573,-0.092370,0.017398],[0.087057,-0.975948,-0.199868],[0.035441,-0.197468,0.979668]]
2025-10-26T21:56:51.284Z,1761515811.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.502907 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:56:51.286Z,1761515811.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.634369 m,
      bearing: 174.903053 deg,
      lat: 36.779398 deg,
      lon: -121.859481 deg,
      deltaT: 0.502907 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:56:51.287Z,1761515811.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-10-26T21:56:51.294Z,1761515811.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.634369 m,
      nav range: 10.082086 m,
      bearing: 174.869118 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.326638 deg/s,
      cmd heading: 171.619199 deg,
      new cmd heading: 171.172547 deg.

2025-10-26T21:56:51.295Z,1761515811.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.987525 target range: 10.634369 and range: 10.70 m.
2025-10-26T21:56:51.341Z,1761515811.341 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.263197
2025-10-26T21:56:51.593Z,1761515811.593 [DAT](INFO): DAT read: Rx Time:21:56:50.3446 

2025-10-26T21:56:51.593Z,1761515811.593 [DAT](INFO): Rx dataTimestamp_ set to:1761515811.593176
2025-10-26T21:56:51.595Z,1761515811.595 [DAT](INFO): DAT read: Bearing 335.4,  -2.3 (Local)

2025-10-26T21:56:51.595Z,1761515811.595 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.4,  -2.3 (Local)

2025-10-26T21:56:51.597Z,1761515811.597 [DAT](INFO): DAT read: Range 11 to 50 :    10.2 m (trip time 6.8 ms) speed 0.5

2025-10-26T21:56:51.602Z,1761515811.602 [DAT](INFO): DAT read: 21:56:50.3446 LVL= 21792, 32753, 26866, 32755, AGC= 54, IDX= 497,-0.42,-0.044,-1.759, 0.185,-0.184, PHS= 0.241,-1.530, 0.324, RAW= 152.3,  10.6, CAL= 152.1,  11.7, ROT= 357.9, -11.7

2025-10-26T21:56:51.603Z,1761515811.603 [DAT](INFO): got valid direction response:
 21:56:50.3446 LVL= 21792, 32753, 26866, 32755, AGC= 54, IDX= 497,-0.42,-0.044,-1.759, 0.185,-0.184, PHS= 0.241,-1.530, 0.324, RAW= 152.3,  10.6, CAL= 152.1,  11.7, ROT= 357.9, -11.7

2025-10-26T21:56:51.603Z,1761515811.603 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-10-26T21:56:51.604Z,1761515811.604 [DAT](INFO): direction in FSK: [0.978565,-0.035882,0.202787]
2025-10-26T21:56:51.605Z,1761515811.605 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:51.609Z,1761515811.609 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.531063
2025-10-26T21:56:51.696Z,1761515811.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995136,-0.096930,0.017566],[0.091429,-0.975195,-0.201583],[0.036670,-0.198997,0.979314]]
2025-10-26T21:56:51.827Z,1761515811.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.502687 s,
      deltaX: -0.500000 m,
      approachRate: -0.994655 m/s,
      rangeRepo size: 4

2025-10-26T21:56:51.833Z,1761515811.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.137479 m,
      bearing: 175.058687 deg,
      lat: 36.779397 deg,
      lon: -121.859481 deg,
      deltaT: 0.502687 s,
      deltaX: -0.496890 m,
      approachRate: -0.988468 m/s,
      posRepo size: 4

2025-10-26T21:56:51.834Z,1761515811.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:56:51.840Z,1761515811.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.137479 m,
      nav range: 9.851149 m,
      bearing: 174.191068 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.326638 deg/s,
      cmd heading: 171.172546 deg,
      new cmd heading: 170.636859 deg.

2025-10-26T21:56:51.844Z,1761515811.844 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.766920
2025-10-26T21:56:51.846Z,1761515811.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.978175 target range: 10.137479 and range: 10.20 m.
2025-10-26T21:56:52.098Z,1761515812.098 [DAT](INFO): DAT read: Rx Time:21:56:50.8446 

2025-10-26T21:56:52.099Z,1761515812.099 [DAT](INFO): Rx dataTimestamp_ set to:1761515812.098341
2025-10-26T21:56:52.100Z,1761515812.100 [DAT](INFO): DAT read: Range 11 to 50 :    10.2 m (trip time 6.8 ms) speed 0.4

2025-10-26T21:56:52.101Z,1761515812.101 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-10-26T21:56:52.101Z,1761515812.101 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.023960
2025-10-26T21:56:52.199Z,1761515812.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994528,-0.103143,0.016591],[0.097525,-0.973573,-0.206505],[0.037452,-0.203757,0.978305]]
2025-10-26T21:56:52.222Z,1761515812.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:56:52.225Z,1761515812.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.505165 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:56:52.226Z,1761515812.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:56:52.229Z,1761515812.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.137479 m,
      nav range: 9.622774 m,
      bearing: 173.635234 deg,
      approach rate: -0.572725 m/s,
      LOS rate: -1.426996 deg/s,
      cmd heading: 170.636854 deg,
      new cmd heading: 168.930311 deg.

2025-10-26T21:56:52.230Z,1761515812.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.948390 target range: 10.137479 and range: 10.20 m.
2025-10-26T21:56:52.349Z,1761515812.349 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.271328
2025-10-26T21:56:52.573Z,1761515812.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994239,-0.105988,0.015979],[0.100554,-0.973924,-0.203376],[0.037118,-0.200598,0.978970]]
2025-10-26T21:56:52.601Z,1761515812.601 [DAT](INFO): DAT read: Rx Time:21:56:51.3443 

2025-10-26T21:56:52.602Z,1761515812.602 [DAT](INFO): Rx dataTimestamp_ set to:1761515812.601520
2025-10-26T21:56:52.603Z,1761515812.603 [DAT](INFO): DAT read: Bearing 333.7,  -4.3 (Local)

2025-10-26T21:56:52.603Z,1761515812.603 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.7,  -4.3 (Local)

2025-10-26T21:56:52.605Z,1761515812.605 [DAT](INFO): DAT read: Range 11 to 50 :     9.8 m (trip time 6.5 ms) speed 0.5

2025-10-26T21:56:52.610Z,1761515812.610 [DAT](INFO): DAT read: 21:56:51.3443 LVL= 21840, 32753, 25666, 32755, AGC= 54, IDX= 509, 0.10, 2.003, 0.294, 2.326, 1.883, PHS= 0.223,-1.544, 0.399, RAW= 154.7,   9.9, CAL= 154.5,  10.8, ROT= 355.5, -10.8

2025-10-26T21:56:52.614Z,1761515812.614 [DAT](INFO): got valid direction response:
 21:56:51.3443 LVL= 21840, 32753, 25666, 32755, AGC= 54, IDX= 509, 0.10, 2.003, 0.294, 2.326, 1.883, PHS= 0.223,-1.544, 0.399, RAW= 154.7,   9.9, CAL= 154.5,  10.8, ROT= 355.5, -10.8

2025-10-26T21:56:52.623Z,1761515812.623 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-26T21:56:52.626Z,1761515812.626 [DAT](INFO): direction in FSK: [0.979259,-0.077069,0.187381]
2025-10-26T21:56:52.627Z,1761515812.627 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:52.680Z,1761515812.680 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.589600
2025-10-26T21:56:52.708Z,1761515812.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.503179 s,
      deltaX: -0.400000 m,
      approachRate: -0.794945 m/s,
      rangeRepo size: 4

2025-10-26T21:56:52.711Z,1761515812.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.739924 m,
      bearing: 171.990988 deg,
      lat: 36.779397 deg,
      lon: -121.859481 deg,
      deltaT: 1.008344 s,
      deltaX: -0.397554 m,
      approachRate: -0.394265 m/s,
      posRepo size: 4

2025-10-26T21:56:52.713Z,1761515812.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.74 m.
2025-10-26T21:56:52.713Z,1761515812.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.80 m.
2025-10-26T21:56:52.714Z,1761515812.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-10-26T21:56:52.730Z,1761515812.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 9.417116 m,
      bearing: 172.982452 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.426996 deg/s,
      cmd heading: 168.930304 deg,
      new cmd heading: 166.884985 deg.

2025-10-26T21:56:52.731Z,1761515812.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.912693 target range: 9.739924 and range: 9.80 m.
2025-10-26T21:56:52.853Z,1761515812.853 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.775139
2025-10-26T21:56:53.057Z,1761515813.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994001,-0.108323,0.015117],[0.103055,-0.973886,-0.202303],[0.036636,-0.199531,0.979206]]
2025-10-26T21:56:53.105Z,1761515813.105 [DAT](INFO): DAT read: Rx Time:21:56:51.8441 

2025-10-26T21:56:53.105Z,1761515813.105 [DAT](INFO): Rx dataTimestamp_ set to:1761515813.105203
2025-10-26T21:56:53.107Z,1761515813.107 [DAT](INFO): DAT read: Bearing 336.6,  -6.6 (Local)

2025-10-26T21:56:53.107Z,1761515813.107 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.6,  -6.6 (Local)

2025-10-26T21:56:53.109Z,1761515813.109 [DAT](INFO): DAT read: Range 11 to 50 :     9.5 m (trip time 6.3 ms) speed 0.4

2025-10-26T21:56:53.114Z,1761515813.114 [DAT](INFO): DAT read: 21:56:51.8441 LVL= 29232, 31921, 31138, 32755, AGC= 56, IDX= 507, 0.32, 2.670, 0.978, 3.037, 2.656, PHS= 0.116,-1.633, 0.338, RAW= 155.9,  12.6, CAL= 156.1,  14.1, ROT= 353.9, -14.1

2025-10-26T21:56:53.115Z,1761515813.115 [DAT](INFO): got valid direction response:
 21:56:51.8441 LVL= 29232, 31921, 31138, 32755, AGC= 56, IDX= 507, 0.32, 2.670, 0.978, 3.037, 2.656, PHS= 0.116,-1.633, 0.338, RAW= 155.9,  12.6, CAL= 156.1,  14.1, ROT= 353.9, -14.1

2025-10-26T21:56:53.115Z,1761515813.115 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-10-26T21:56:53.116Z,1761515813.116 [DAT](INFO): direction in FSK: [0.964381,-0.103063,0.243615]
2025-10-26T21:56:53.117Z,1761515813.117 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:53.137Z,1761515813.137 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.059223
2025-10-26T21:56:53.161Z,1761515813.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.500000 m,
      deltaT: 0.503683 s,
      deltaX: -0.300000 m,
      approachRate: -0.595613 m/s,
      rangeRepo size: 4

2025-10-26T21:56:53.163Z,1761515813.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.441763 m,
      bearing: 170.941022 deg,
      lat: 36.779397 deg,
      lon: -121.859480 deg,
      deltaT: 0.503683 s,
      deltaX: -0.298162 m,
      approachRate: -0.591963 m/s,
      posRepo size: 4

2025-10-26T21:56:53.166Z,1761515813.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.44 m. 9.74 m.
2025-10-26T21:56:53.177Z,1761515813.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 9.149047 m,
      bearing: 172.289229 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.426996 deg/s,
      cmd heading: 166.884990 deg,
      new cmd heading: 164.925815 deg.

2025-10-26T21:56:53.178Z,1761515813.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.878499 target range: 9.739924 and range: 9.50 m.
2025-10-26T21:56:53.361Z,1761515813.361 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.283241
2025-10-26T21:56:53.476Z,1761515813.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993812,-0.110082,0.014825],[0.104781,-0.973394,-0.203778],[0.036863,-0.200964,0.978905]]
2025-10-26T21:56:53.510Z,1761515813.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-10-26T21:56:53.512Z,1761515813.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 8.931767 m,
      bearing: 171.697167 deg,
      approach rate: -0.622864 m/s,
      LOS rate: -1.738484 deg/s,
      cmd heading: 164.925818 deg,
      new cmd heading: 163.107066 deg.

2025-10-26T21:56:53.513Z,1761515813.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.846755 target range: 9.739924 and range: 9.50 m.
2025-10-26T21:56:53.609Z,1761515813.609 [DAT](INFO): DAT read: Rx Time:21:56:52.3438 

2025-10-26T21:56:53.610Z,1761515813.610 [DAT](INFO): Rx dataTimestamp_ set to:1761515813.609305
2025-10-26T21:56:53.611Z,1761515813.611 [DAT](INFO): DAT read: Bearing 331.4,  -6.4 (Local)

2025-10-26T21:56:53.611Z,1761515813.611 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.4,  -6.4 (Local)

2025-10-26T21:56:53.613Z,1761515813.613 [DAT](INFO): DAT read: Range 11 to 50 :     9.0 m (trip time 6.0 ms) speed 0.4

2025-10-26T21:56:53.622Z,1761515813.622 [DAT](INFO): DAT read: 21:56:52.3438 LVL= 23280, 32753, 22498, 32755, AGC= 52, IDX= 505,-0.21,-0.952,-2.595,-0.533,-1.061, PHS= 0.210,-1.490, 0.483, RAW= 157.3,   8.6, CAL= 157.0,   9.1, ROT= 353.0,  -9.1

2025-10-26T21:56:53.624Z,1761515813.624 [DAT](INFO): got valid direction response:
 21:56:52.3438 LVL= 23280, 32753, 22498, 32755, AGC= 52, IDX= 505,-0.21,-0.952,-2.595,-0.533,-1.061, PHS= 0.210,-1.490, 0.483, RAW= 157.3,   8.6, CAL= 157.0,   9.1, ROT= 353.0,  -9.1

2025-10-26T21:56:53.625Z,1761515813.625 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-26T21:56:53.626Z,1761515813.626 [DAT](INFO): direction in FSK: [0.980054,-0.120336,0.158158]
2025-10-26T21:56:53.626Z,1761515813.626 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:53.649Z,1761515813.649 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.571217
2025-10-26T21:56:53.860Z,1761515813.860 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.782768
2025-10-26T21:56:53.864Z,1761515813.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993626,-0.111766,0.014670],[0.106427,-0.973022,-0.204699],[0.037152,-0.201833,0.978715]]
2025-10-26T21:56:53.984Z,1761515813.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.000000 m,
      deltaT: 0.504102 s,
      deltaX: -0.500000 m,
      approachRate: -0.991863 m/s,
      rangeRepo size: 4

2025-10-26T21:56:53.986Z,1761515813.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.944852 m,
      bearing: 168.839053 deg,
      lat: 36.779397 deg,
      lon: -121.859479 deg,
      deltaT: 1.007785 s,
      deltaX: -0.795073 m,
      approachRate: -0.788931 m/s,
      posRepo size: 4

2025-10-26T21:56:53.991Z,1761515813.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 9.74 m.
2025-10-26T21:56:53.994Z,1761515813.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 8.688364 m,
      bearing: 171.083063 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.426996 deg/s,
      cmd heading: 163.107062 deg,
      new cmd heading: 161.095628 deg.

2025-10-26T21:56:53.995Z,1761515813.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.811649 target range: 9.739924 and range: 9.00 m.
2025-10-26T21:56:54.114Z,1761515814.114 [DAT](INFO): DAT read: Rx Time:21:56:52.8438 

2025-10-26T21:56:54.114Z,1761515814.114 [DAT](INFO): Rx dataTimestamp_ set to:1761515814.114046
2025-10-26T21:56:54.117Z,1761515814.117 [DAT](INFO): DAT read: Bearing 330.3,  -8.1 (Local)

2025-10-26T21:56:54.118Z,1761515814.118 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.3,  -8.1 (Local)

2025-10-26T21:56:54.122Z,1761515814.122 [DAT](INFO): DAT read: Range 11 to 50 :     9.0 m (trip time 6.0 ms) speed 0.4

2025-10-26T21:56:54.130Z,1761515814.130 [DAT](INFO): DAT read: 21:56:52.8438 LVL= 22704, 32753, 21442, 32755, AGC= 54, IDX= 504,-0.09, 1.115,-0.538, 1.616, 1.025, PHS= 0.192,-1.518, 0.547, RAW= 159.3,   8.2, CAL= 158.9,   8.5, ROT= 351.1,  -8.5

2025-10-26T21:56:54.132Z,1761515814.132 [DAT](INFO): got valid direction response:
 21:56:52.8438 LVL= 22704, 32753, 21442, 32755, AGC= 54, IDX= 504,-0.09, 1.115,-0.538, 1.616, 1.025, PHS= 0.192,-1.518, 0.547, RAW= 159.3,   8.2, CAL= 158.9,   8.5, ROT= 351.1,  -8.5

2025-10-26T21:56:54.132Z,1761515814.132 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-10-26T21:56:54.134Z,1761515814.134 [DAT](INFO): direction in FSK: [0.977108,-0.153011,0.147809]
2025-10-26T21:56:54.135Z,1761515814.135 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:54.142Z,1761515814.142 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.064381
2025-10-26T21:56:54.317Z,1761515814.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993333,-0.114326,0.014831],[0.108922,-0.972866,-0.204128],[0.037766,-0.201152,0.978832]]
2025-10-26T21:56:54.344Z,1761515814.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.000000 m,
      deltaT: 0.504741 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:56:54.346Z,1761515814.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.944845 m,
      bearing: 166.681125 deg,
      lat: 36.779397 deg,
      lon: -121.859479 deg,
      deltaT: 1.512526 s,
      deltaX: -0.795079 m,
      approachRate: -0.525663 m/s,
      posRepo size: 4

2025-10-26T21:56:54.347Z,1761515814.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 9.74 m.
2025-10-26T21:56:54.349Z,1761515814.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 8.447320 m,
      bearing: 170.441912 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.426996 deg/s,
      cmd heading: 161.095626 deg,
      new cmd heading: 159.539814 deg.

2025-10-26T21:56:54.350Z,1761515814.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.784495 target range: 9.739924 and range: 9.00 m.
2025-10-26T21:56:54.364Z,1761515814.364 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.286861
2025-10-26T21:56:54.619Z,1761515814.619 [DAT](INFO): DAT read: Rx Time:21:56:53.3435 

2025-10-26T21:56:54.620Z,1761515814.620 [DAT](INFO): Rx dataTimestamp_ set to:1761515814.619047
2025-10-26T21:56:54.622Z,1761515814.622 [DAT](INFO): DAT read: Bearing 334.8, -10.7 (Local)

2025-10-26T21:56:54.623Z,1761515814.623 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.8, -10.7 (Local)

2025-10-26T21:56:54.626Z,1761515814.626 [DAT](INFO): DAT read: Range 11 to 50 :     8.6 m (trip time 5.7 ms) speed 0.5

2025-10-26T21:56:54.634Z,1761515814.634 [DAT](INFO): DAT read: 21:56:53.3435 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 501, 0.01, 1.216,-0.416, 1.762, 1.272, PHS= 0.046,-1.644, 0.446, RAW= 160.4,  12.0, CAL= 160.7,  13.5, ROT= 349.3, -13.5

2025-10-26T21:56:54.635Z,1761515814.635 [DAT](INFO): got valid direction response:
 21:56:53.3435 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 501, 0.01, 1.216,-0.416, 1.762, 1.272, PHS= 0.046,-1.644, 0.446, RAW= 160.4,  12.0, CAL= 160.7,  13.5, ROT= 349.3, -13.5

2025-10-26T21:56:54.636Z,1761515814.636 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-10-26T21:56:54.638Z,1761515814.638 [DAT](INFO): direction in FSK: [0.955463,-0.180537,0.233445]
2025-10-26T21:56:54.638Z,1761515814.638 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:54.649Z,1761515814.649 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.571167
2025-10-26T21:56:54.745Z,1761515814.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992950,-0.117647,0.014488],[0.112171,-0.972096,-0.206025],[0.038322,-0.202948,0.978439]]
2025-10-26T21:56:54.833Z,1761515814.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.505001 s,
      deltaX: -0.400000 m,
      approachRate: -0.792077 m/s,
      rangeRepo size: 4

2025-10-26T21:56:54.835Z,1761515814.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.547297 m,
      bearing: 165.756674 deg,
      lat: 36.779397 deg,
      lon: -121.859477 deg,
      deltaT: 2.017527 s,
      deltaX: -1.192628 m,
      approachRate: -0.591134 m/s,
      posRepo size: 4

2025-10-26T21:56:54.840Z,1761515814.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.55 m. 9.74 m.
2025-10-26T21:56:54.843Z,1761515814.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 8.162244 m,
      bearing: 169.815982 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.426996 deg/s,
      cmd heading: 159.539818 deg,
      new cmd heading: 157.445529 deg.

2025-10-26T21:56:54.848Z,1761515814.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.747943 target range: 9.739924 and range: 8.60 m.
2025-10-26T21:56:54.868Z,1761515814.868 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.790977
2025-10-26T21:56:55.123Z,1761515815.123 [DAT](INFO): DAT read: Rx Time:21:56:53.8434 

2025-10-26T21:56:55.124Z,1761515815.124 [DAT](INFO): Rx dataTimestamp_ set to:1761515815.123488
2025-10-26T21:56:55.126Z,1761515815.126 [DAT](INFO): DAT read: Bearing 333.0, -11.2 (Local)

2025-10-26T21:56:55.127Z,1761515815.127 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.0, -11.2 (Local)

2025-10-26T21:56:55.130Z,1761515815.130 [DAT](INFO): DAT read: Range 11 to 50 :     8.4 m (trip time 5.6 ms) speed 0.4

2025-10-26T21:56:55.145Z,1761515815.145 [DAT](INFO): DAT read: 21:56:53.8434 LVL= 32752, 32753, 32738, 32755, AGC= 55, IDX= 500, 0.11,-3.079, 1.591,-2.491,-3.034, PHS= 0.057,-1.613, 0.499, RAW= 161.4,  11.0, CAL= 161.6,  12.2, ROT= 348.4, -12.2

2025-10-26T21:56:55.147Z,1761515815.147 [DAT](INFO): got valid direction response:
 21:56:53.8434 LVL= 32752, 32753, 32738, 32755, AGC= 55, IDX= 500, 0.11,-3.079, 1.591,-2.491,-3.034, PHS= 0.057,-1.613, 0.499, RAW= 161.4,  11.0, CAL= 161.6,  12.2, ROT= 348.4, -12.2

2025-10-26T21:56:55.151Z,1761515815.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992341,-0.122751,0.013835],[0.117179,-0.970856,-0.209062],[0.039095,-0.205840,0.977804]]
2025-10-26T21:56:55.152Z,1761515815.152 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-10-26T21:56:55.153Z,1761515815.153 [DAT](INFO): direction in FSK: [0.957452,-0.196537,0.211325]
2025-10-26T21:56:55.153Z,1761515815.153 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:55.156Z,1761515815.156 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.079010
2025-10-26T21:56:55.221Z,1761515815.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.400000 m,
      deltaT: 0.504441 s,
      deltaX: -0.200001 m,
      approachRate: -0.396480 m/s,
      rangeRepo size: 4

2025-10-26T21:56:55.232Z,1761515815.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.348521 m,
      bearing: 164.336890 deg,
      lat: 36.779398 deg,
      lon: -121.859475 deg,
      deltaT: 2.521968 s,
      deltaX: -1.391403 m,
      approachRate: -0.551713 m/s,
      posRepo size: 4

2025-10-26T21:56:55.233Z,1761515815.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.35 m. 9.74 m.
2025-10-26T21:56:55.240Z,1761515815.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 7.930484 m,
      bearing: 169.281929 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.426996 deg/s,
      cmd heading: 157.445532 deg,
      new cmd heading: 155.784054 deg.

2025-10-26T21:56:55.241Z,1761515815.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.718945 target range: 9.739924 and range: 8.40 m.
2025-10-26T21:56:55.373Z,1761515815.373 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.295017
2025-10-26T21:56:55.530Z,1761515815.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991542,-0.129162,0.012711],[0.123410,-0.968615,-0.215766],[0.040181,-0.212373,0.976362]]
2025-10-26T21:56:55.567Z,1761515815.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:56:55.569Z,1761515815.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-10-26T21:56:55.572Z,1761515815.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 7.712982 m,
      bearing: 168.762079 deg,
      approach rate: -0.624382 m/s,
      LOS rate: -1.534390 deg/s,
      cmd heading: 155.784047 deg,
      new cmd heading: 154.180960 deg.

2025-10-26T21:56:55.573Z,1761515815.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.690965 target range: 9.739924 and range: 8.40 m.
2025-10-26T21:56:55.628Z,1761515815.628 [DAT](INFO): DAT read: Rx Time:21:56:54.3431 

2025-10-26T21:56:55.628Z,1761515815.628 [DAT](INFO): Rx dataTimestamp_ set to:1761515815.627743
2025-10-26T21:56:55.631Z,1761515815.631 [DAT](INFO): DAT read: Bearing 335.2, -12.0 (Local)

2025-10-26T21:56:55.631Z,1761515815.631 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.2, -12.0 (Local)

2025-10-26T21:56:55.634Z,1761515815.634 [DAT](INFO): DAT read: Range 11 to 50 :     8.0 m (trip time 5.3 ms) speed 0.4

2025-10-26T21:56:55.643Z,1761515815.643 [DAT](INFO): DAT read: 21:56:54.3431 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 497, 0.15, 2.629, 1.042,-3.072, 2.737, PHS=-0.006,-1.650, 0.430, RAW= 161.5,  12.9, CAL= 161.9,  14.8, ROT= 348.1, -14.8

2025-10-26T21:56:55.645Z,1761515815.645 [DAT](INFO): got valid direction response:
 21:56:54.3431 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 497, 0.15, 2.629, 1.042,-3.072, 2.737, PHS=-0.006,-1.650, 0.430, RAW= 161.5,  12.9, CAL= 161.9,  14.8, ROT= 348.1, -14.8

2025-10-26T21:56:55.646Z,1761515815.646 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-10-26T21:56:55.647Z,1761515815.647 [DAT](INFO): direction in FSK: [0.946045,-0.199363,0.255446]
2025-10-26T21:56:55.648Z,1761515815.648 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:55.651Z,1761515815.651 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.573750
2025-10-26T21:56:55.876Z,1761515815.876 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.798939
2025-10-26T21:56:55.972Z,1761515815.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990470,-0.137245,0.011514],[0.131211,-0.965720,-0.223982],[0.041860,-0.220337,0.974525]]
2025-10-26T21:56:56.024Z,1761515816.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.000000 m,
      deltaT: 0.504255 s,
      deltaX: -0.400000 m,
      approachRate: -0.793249 m/s,
      rangeRepo size: 4

2025-10-26T21:56:56.026Z,1761515816.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.951020 m,
      bearing: 164.032395 deg,
      lat: 36.779398 deg,
      lon: -121.859475 deg,
      deltaT: 3.026223 s,
      deltaX: -1.788904 m,
      approachRate: -0.591134 m/s,
      posRepo size: 4

2025-10-26T21:56:56.028Z,1761515816.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.95 m. 9.74 m.
2025-10-26T21:56:56.031Z,1761515816.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 7.442400 m,
      bearing: 168.221399 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.426996 deg/s,
      cmd heading: 154.180961 deg,
      new cmd heading: 152.234725 deg.

2025-10-26T21:56:56.032Z,1761515816.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.656997 target range: 9.739924 and range: 8.00 m.
2025-10-26T21:56:56.131Z,1761515816.131 [DAT](INFO): DAT read: Rx Time:21:56:54.8430 

2025-10-26T21:56:56.132Z,1761515816.132 [DAT](INFO): Rx dataTimestamp_ set to:1761515816.130896
2025-10-26T21:56:56.134Z,1761515816.134 [DAT](INFO): DAT read: Bearing 342.7, -18.3 (Local)

2025-10-26T21:56:56.134Z,1761515816.134 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.7, -18.3 (Local)

2025-10-26T21:56:56.139Z,1761515816.139 [DAT](INFO): DAT read: Range 11 to 50 :     7.8 m (trip time 5.2 ms) speed 0.4

2025-10-26T21:56:56.164Z,1761515816.164 [DAT](INFO): DAT read: 21:56:54.8430 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 512, 0.28,-1.772, 3.120,-1.050,-1.407, PHS=-0.263,-1.711, 0.314, RAW= 166.0,  18.0, CAL= 167.1,  23.5, ROT= 342.9, -23.5

2025-10-26T21:56:56.166Z,1761515816.166 [DAT](INFO): got valid direction response:
 21:56:54.8430 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 512, 0.28,-1.772, 3.120,-1.050,-1.407, PHS=-0.263,-1.711, 0.314, RAW= 166.0,  18.0, CAL= 167.1,  23.5, ROT= 342.9, -23.5

2025-10-26T21:56:56.166Z,1761515816.166 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-10-26T21:56:56.169Z,1761515816.169 [DAT](INFO): direction in FSK: [0.876520,-0.269653,0.398749]
2025-10-26T21:56:56.169Z,1761515816.169 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:56.178Z,1761515816.178 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.100266
2025-10-26T21:56:56.339Z,1761515816.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989084,-0.147023,0.009833],[0.140569,-0.961471,-0.236247],[0.044188,-0.232286,0.971643]]
2025-10-26T21:56:56.376Z,1761515816.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.800000 m,
      deltaT: 0.503153 s,
      deltaX: -0.200000 m,
      approachRate: -0.397493 m/s,
      rangeRepo size: 4

2025-10-26T21:56:56.378Z,1761515816.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.752235 m,
      bearing: 160.704573 deg,
      lat: 36.779398 deg,
      lon: -121.859474 deg,
      deltaT: 3.529376 s,
      deltaX: -1.987689 m,
      approachRate: -0.563184 m/s,
      posRepo size: 4

2025-10-26T21:56:56.379Z,1761515816.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.75 m. 9.74 m.
2025-10-26T21:56:56.380Z,1761515816.380 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.303020
2025-10-26T21:56:56.383Z,1761515816.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 7.225586 m,
      bearing: 167.776471 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.426996 deg/s,
      cmd heading: 152.234726 deg,
      new cmd heading: 150.730668 deg.

2025-10-26T21:56:56.384Z,1761515816.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.630746 target range: 9.739924 and range: 7.80 m.
2025-10-26T21:56:56.635Z,1761515816.635 [DAT](INFO): DAT read: Rx Time:21:56:55.3427 

2025-10-26T21:56:56.635Z,1761515816.635 [DAT](INFO): Rx dataTimestamp_ set to:1761515816.634713
2025-10-26T21:56:56.638Z,1761515816.638 [DAT](INFO): DAT read: Bearing 332.9, -12.8 (Local)

2025-10-26T21:56:56.638Z,1761515816.638 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.9, -12.8 (Local)

2025-10-26T21:56:56.642Z,1761515816.642 [DAT](INFO): DAT read: Range 11 to 50 :     7.4 m (trip time 4.9 ms) speed 0.4

2025-10-26T21:56:56.661Z,1761515816.661 [DAT](INFO): DAT read: 21:56:55.3427 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 510,-0.47, 0.173,-1.382, 0.787, 0.285, PHS=-0.010,-1.622, 0.458, RAW= 162.4,  12.4, CAL= 162.7,  14.2, ROT= 347.3, -14.2

2025-10-26T21:56:56.662Z,1761515816.662 [DAT](INFO): got valid direction response:
 21:56:55.3427 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 510,-0.47, 0.173,-1.382, 0.787, 0.285, PHS=-0.010,-1.622, 0.458, RAW= 162.4,  12.4, CAL= 162.7,  14.2, ROT= 347.3, -14.2

2025-10-26T21:56:56.662Z,1761515816.662 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-10-26T21:56:56.668Z,1761515816.668 [DAT](INFO): direction in FSK: [0.945727,-0.213129,0.245307]
2025-10-26T21:56:56.668Z,1761515816.668 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:56.677Z,1761515816.677 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.599537
2025-10-26T21:56:56.847Z,1761515816.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987329,-0.158480,0.008060],[0.151566,-0.956864,-0.247868],[0.046994,-0.243506,0.968760]]
2025-10-26T21:56:56.884Z,1761515816.884 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.806992
2025-10-26T21:56:56.899Z,1761515816.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.400000 m,
      deltaT: 0.503817 s,
      deltaX: -0.400000 m,
      approachRate: -0.793939 m/s,
      rangeRepo size: 4

2025-10-26T21:56:56.901Z,1761515816.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.354685 m,
      bearing: 162.306551 deg,
      lat: 36.779399 deg,
      lon: -121.859475 deg,
      deltaT: 4.033193 s,
      deltaX: -2.385240 m,
      approachRate: -0.591402 m/s,
      posRepo size: 4

2025-10-26T21:56:56.902Z,1761515816.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.35 m. 9.74 m.
2025-10-26T21:56:56.905Z,1761515816.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 6.902729 m,
      bearing: 167.203113 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.426996 deg/s,
      cmd heading: 150.730664 deg,
      new cmd heading: 148.490537 deg.

2025-10-26T21:56:56.906Z,1761515816.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.591649 target range: 9.739924 and range: 7.40 m.
2025-10-26T21:56:57.139Z,1761515817.139 [DAT](INFO): DAT read: Rx Time:21:56:55.8425 

2025-10-26T21:56:57.140Z,1761515817.140 [DAT](INFO): Rx dataTimestamp_ set to:1761515817.139732
2025-10-26T21:56:57.142Z,1761515817.142 [DAT](INFO): DAT read: Bearing 330.7, -13.5 (Local)

2025-10-26T21:56:57.143Z,1761515817.143 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.7, -13.5 (Local)

2025-10-26T21:56:57.146Z,1761515817.146 [DAT](INFO): DAT read: Range 11 to 50 :     7.1 m (trip time 4.7 ms) speed 0.4

2025-10-26T21:56:57.153Z,1761515817.153 [DAT](INFO): DAT read: 21:56:55.8425 LVL= 32752, 32753, 27986, 32755, AGC= 54, IDX= 508,-0.19,-0.895,-2.440,-0.235,-0.783, PHS=-0.010,-1.612, 0.504, RAW= 163.5,  11.7, CAL= 163.7,  13.3, ROT= 346.3, -13.3

2025-10-26T21:56:57.155Z,1761515817.155 [DAT](INFO): got valid direction response:
 21:56:55.8425 LVL= 32752, 32753, 27986, 32755, AGC= 54, IDX= 508,-0.19,-0.895,-2.440,-0.235,-0.783, PHS=-0.010,-1.612, 0.504, RAW= 163.5,  11.7, CAL= 163.7,  13.3, ROT= 346.3, -13.3

2025-10-26T21:56:57.155Z,1761515817.155 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-10-26T21:56:57.157Z,1761515817.157 [DAT](INFO): direction in FSK: [0.945491,-0.230486,0.230050]
2025-10-26T21:56:57.157Z,1761515817.157 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:57.164Z,1761515817.164 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.086681
2025-10-26T21:56:57.388Z,1761515817.388 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.310951
2025-10-26T21:56:57.463Z,1761515817.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982074,-0.188470,0.003013],[0.181026,-0.947500,-0.263577],[0.052531,-0.258307,0.964634]]
2025-10-26T21:56:57.504Z,1761515817.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.100000 m,
      deltaT: 0.505019 s,
      deltaX: -0.300000 m,
      approachRate: -0.594037 m/s,
      rangeRepo size: 4

2025-10-26T21:56:57.506Z,1761515817.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.056483 m,
      bearing: 159.600045 deg,
      lat: 36.779398 deg,
      lon: -121.859474 deg,
      deltaT: 4.538212 s,
      deltaX: -2.683442 m,
      approachRate: -0.591299 m/s,
      posRepo size: 4

2025-10-26T21:56:57.512Z,1761515817.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.06 m. 9.74 m.
2025-10-26T21:56:57.514Z,1761515817.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 6.533303 m,
      bearing: 166.579368 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.426996 deg/s,
      cmd heading: 148.490539 deg,
      new cmd heading: 145.937316 deg.

2025-10-26T21:56:57.520Z,1761515817.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.547087 target range: 9.739924 and range: 7.10 m.
2025-10-26T21:56:57.642Z,1761515817.642 [DAT](INFO): DAT read: Rx Time:21:56:56.3423 

2025-10-26T21:56:57.643Z,1761515817.643 [DAT](INFO): Rx dataTimestamp_ set to:1761515817.642197
2025-10-26T21:56:57.644Z,1761515817.644 [DAT](INFO): DAT read: Bearing 328.8, -14.1 (Local)

2025-10-26T21:56:57.645Z,1761515817.645 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.8, -14.1 (Local)

2025-10-26T21:56:57.647Z,1761515817.647 [DAT](INFO): DAT read: Range 11 to 50 :     6.8 m (trip time 4.5 ms) speed 0.4

2025-10-26T21:56:57.651Z,1761515817.651 [DAT](INFO): DAT read: 21:56:56.3423 LVL= 32752, 32753, 24786, 32755, AGC= 55, IDX= 505,-0.09,-1.467,-2.992,-0.772,-1.349, PHS=-0.016,-1.598, 0.533, RAW= 164.4,  11.3, CAL= 164.5,  12.8, ROT= 345.5, -12.8

2025-10-26T21:56:57.652Z,1761515817.652 [DAT](INFO): got valid direction response:
 21:56:56.3423 LVL= 32752, 32753, 24786, 32755, AGC= 55, IDX= 505,-0.09,-1.467,-2.992,-0.772,-1.349, PHS=-0.016,-1.598, 0.533, RAW= 164.4,  11.3, CAL= 164.5,  12.8, ROT= 345.5, -12.8

2025-10-26T21:56:57.653Z,1761515817.653 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-10-26T21:56:57.653Z,1761515817.653 [DAT](INFO): direction in FSK: [0.944089,-0.244158,0.221548]
2025-10-26T21:56:57.654Z,1761515817.654 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:57.657Z,1761515817.657 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.579861
2025-10-26T21:56:57.892Z,1761515817.892 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.814907
2025-10-26T21:56:58.096Z,1761515818.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.800000 m,
      deltaT: 0.502465 s,
      deltaX: -0.300000 m,
      approachRate: -0.597056 m/s,
      rangeRepo size: 4

2025-10-26T21:56:58.098Z,1761515818.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.758322 m,
      bearing: 158.668167 deg,
      lat: 36.779398 deg,
      lon: -121.859473 deg,
      deltaT: 5.040677 s,
      deltaX: -2.981603 m,
      approachRate: -0.591508 m/s,
      posRepo size: 4

2025-10-26T21:56:58.108Z,1761515818.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.76 m. 9.74 m.
2025-10-26T21:56:58.121Z,1761515818.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 6.197121 m,
      bearing: 166.093492 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.426996 deg/s,
      cmd heading: 145.937319 deg,
      new cmd heading: 143.387513 deg.

2025-10-26T21:56:58.122Z,1761515818.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.502584 target range: 9.739924 and range: 6.80 m.
2025-10-26T21:56:58.145Z,1761515818.145 [DAT](INFO): DAT read: Rx Time:21:56:56.8422 

2025-10-26T21:56:58.146Z,1761515818.146 [DAT](INFO): Rx dataTimestamp_ set to:1761515818.145365
2025-10-26T21:56:58.147Z,1761515818.147 [DAT](INFO): DAT read: Bearing 328.5, -14.2 (Local)

2025-10-26T21:56:58.148Z,1761515818.148 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.5, -14.2 (Local)

2025-10-26T21:56:58.150Z,1761515818.150 [DAT](INFO): DAT read: Range 11 to 50 :     6.6 m (trip time 4.4 ms) speed 0.4

2025-10-26T21:56:58.154Z,1761515818.154 [DAT](INFO): DAT read: 21:56:56.8422 LVL= 32752, 32753, 24370, 32755, AGC= 55, IDX= 504, 0.01, 0.987,-0.551, 1.679, 1.128, PHS=-0.039,-1.634, 0.506, RAW= 164.2,  12.1, CAL= 164.5,  13.9, ROT= 345.5, -13.9

2025-10-26T21:56:58.155Z,1761515818.155 [DAT](INFO): got valid direction response:
 21:56:56.8422 LVL= 32752, 32753, 24370, 32755, AGC= 55, IDX= 504, 0.01, 0.987,-0.551, 1.679, 1.128, PHS=-0.039,-1.634, 0.506, RAW= 164.2,  12.1, CAL= 164.5,  13.9, ROT= 345.5, -13.9

2025-10-26T21:56:58.156Z,1761515818.156 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-10-26T21:56:58.157Z,1761515818.157 [DAT](INFO): direction in FSK: [0.939797,-0.243048,0.240228]
2025-10-26T21:56:58.157Z,1761515818.157 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:58.172Z,1761515818.172 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.094818
2025-10-26T21:56:58.396Z,1761515818.396 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.318928
2025-10-26T21:56:58.503Z,1761515818.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974974,-0.222304,-0.002488],[0.214337,-0.936943,-0.276040],[0.059034,-0.269665,0.961143]]
2025-10-26T21:56:58.527Z,1761515818.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.600000 m,
      deltaT: 0.503168 s,
      deltaX: -0.200000 m,
      approachRate: -0.397482 m/s,
      rangeRepo size: 4

2025-10-26T21:56:58.529Z,1761515818.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.559542 m,
      bearing: 157.192344 deg,
      lat: 36.779398 deg,
      lon: -121.859472 deg,
      deltaT: 5.543845 s,
      deltaX: -3.180382 m,
      approachRate: -0.573678 m/s,
      posRepo size: 4

2025-10-26T21:56:58.530Z,1761515818.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.56 m. 9.74 m.
2025-10-26T21:56:58.532Z,1761515818.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 5.897575 m,
      bearing: 165.716163 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.426996 deg/s,
      cmd heading: 143.387514 deg,
      new cmd heading: 141.528206 deg.

2025-10-26T21:56:58.533Z,1761515818.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.470133 target range: 9.739924 and range: 6.60 m.
2025-10-26T21:56:58.651Z,1761515818.651 [DAT](INFO): DAT read: Rx Time:21:56:57.3419 

2025-10-26T21:56:58.651Z,1761515818.651 [DAT](INFO): Rx dataTimestamp_ set to:1761515818.650747
2025-10-26T21:56:58.653Z,1761515818.653 [DAT](INFO): DAT read: Bearing 326.9, -14.5 (Local)

2025-10-26T21:56:58.654Z,1761515818.654 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.9, -14.5 (Local)

2025-10-26T21:56:58.656Z,1761515818.656 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed 0.5

2025-10-26T21:56:58.661Z,1761515818.661 [DAT](INFO): DAT read: 21:56:57.3419 LVL= 32752, 32753, 24402, 32755, AGC= 54, IDX= 501, 0.21,-0.155,-1.690, 0.562,-0.003, PHS=-0.050,-1.642, 0.521, RAW= 164.7,  12.0, CAL= 165.0,  13.8, ROT= 345.0, -13.8

2025-10-26T21:56:58.662Z,1761515818.662 [DAT](INFO): got valid direction response:
 21:56:57.3419 LVL= 32752, 32753, 24402, 32755, AGC= 54, IDX= 501, 0.21,-0.155,-1.690, 0.562,-0.003, PHS=-0.050,-1.642, 0.521, RAW= 164.7,  12.0, CAL= 165.0,  13.8, ROT= 345.0, -13.8

2025-10-26T21:56:58.662Z,1761515818.662 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-10-26T21:56:58.664Z,1761515818.664 [DAT](INFO): direction in FSK: [0.938044,-0.251348,0.238533]
2025-10-26T21:56:58.664Z,1761515818.664 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:58.672Z,1761515818.672 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.594158
2025-10-26T21:56:58.894Z,1761515818.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970723,-0.240139,-0.005430],[0.231955,-0.931289,-0.280889],[0.062396,-0.273925,0.959725]]
2025-10-26T21:56:58.901Z,1761515818.901 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.823032
2025-10-26T21:56:59.028Z,1761515819.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.505382 s,
      deltaX: -0.400000 m,
      approachRate: -0.791481 m/s,
      rangeRepo size: 4

2025-10-26T21:56:59.030Z,1761515819.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.161994 m,
      bearing: 155.689647 deg,
      lat: 36.779398 deg,
      lon: -121.859472 deg,
      deltaT: 6.049227 s,
      deltaX: -3.577930 m,
      approachRate: -0.591469 m/s,
      posRepo size: 4

2025-10-26T21:56:59.036Z,1761515819.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.16 m. 9.74 m.
2025-10-26T21:56:59.038Z,1761515819.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 5.595178 m,
      bearing: 165.370512 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.426996 deg/s,
      cmd heading: 141.528200 deg,
      new cmd heading: 139.400466 deg.

2025-10-26T21:56:59.043Z,1761515819.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432997 target range: 9.739924 and range: 6.20 m.
2025-10-26T21:56:59.154Z,1761515819.154 [DAT](INFO): DAT read: Rx Time:21:56:57.8418 

2025-10-26T21:56:59.155Z,1761515819.155 [DAT](INFO): Rx dataTimestamp_ set to:1761515819.154507
2025-10-26T21:56:59.156Z,1761515819.156 [DAT](INFO): DAT read: Bearing 324.0, -14.7 (Local)

2025-10-26T21:56:59.157Z,1761515819.157 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.0, -14.7 (Local)

2025-10-26T21:56:59.158Z,1761515819.158 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed 0.5

2025-10-26T21:56:59.164Z,1761515819.164 [DAT](INFO): DAT read: 21:56:57.8418 LVL= 32752, 32753, 26098, 32755, AGC= 53, IDX= 501,-0.46,-0.766,-2.285,-0.012,-0.627, PHS=-0.038,-1.614, 0.571, RAW= 165.7,  11.1, CAL= 165.7,  12.5, ROT= 344.3, -12.5

2025-10-26T21:56:59.166Z,1761515819.166 [DAT](INFO): got valid direction response:
 21:56:57.8418 LVL= 32752, 32753, 26098, 32755, AGC= 53, IDX= 501,-0.46,-0.766,-2.285,-0.012,-0.627, PHS=-0.038,-1.614, 0.571, RAW= 165.7,  11.1, CAL= 165.7,  12.5, ROT= 344.3, -12.5

2025-10-26T21:56:59.166Z,1761515819.166 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-10-26T21:56:59.168Z,1761515819.168 [DAT](INFO): direction in FSK: [0.939872,-0.264186,0.216440]
2025-10-26T21:56:59.169Z,1761515819.169 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:59.176Z,1761515819.176 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.098495
2025-10-26T21:56:59.393Z,1761515819.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961883,-0.273124,-0.013583],[0.264801,-0.917869,-0.295630],[0.068276,-0.287958,0.955206]]
2025-10-26T21:56:59.405Z,1761515819.405 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.327019
2025-10-26T21:56:59.481Z,1761515819.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.503760 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:56:59.487Z,1761515819.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.162026 m,
      bearing: 152.890393 deg,
      lat: 36.779398 deg,
      lon: -121.859471 deg,
      deltaT: 6.552987 s,
      deltaX: -3.577899 m,
      approachRate: -0.545995 m/s,
      posRepo size: 4

2025-10-26T21:56:59.488Z,1761515819.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.16 m. 9.74 m.
2025-10-26T21:56:59.491Z,1761515819.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 5.342871 m,
      bearing: 165.147327 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.426996 deg/s,
      cmd heading: 139.400459 deg,
      new cmd heading: 137.442362 deg.

2025-10-26T21:56:59.494Z,1761515819.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.398822 target range: 9.739924 and range: 6.20 m.
2025-10-26T21:56:59.657Z,1761515819.657 [DAT](INFO): DAT read: Rx Time:21:56:58.3416 

2025-10-26T21:56:59.658Z,1761515819.658 [DAT](INFO): Rx dataTimestamp_ set to:1761515819.657274
2025-10-26T21:56:59.659Z,1761515819.659 [DAT](INFO): DAT read: Bearing 324.2, -14.9 (Local)

2025-10-26T21:56:59.659Z,1761515819.659 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.2, -14.9 (Local)

2025-10-26T21:56:59.661Z,1761515819.661 [DAT](INFO): DAT read: Range 11 to 50 :     5.9 m (trip time 3.9 ms) speed 0.4

2025-10-26T21:56:59.666Z,1761515819.666 [DAT](INFO): DAT read: 21:56:58.3416 LVL= 32752, 32753, 30546, 32755, AGC= 53, IDX= 498,-0.22,-1.926, 2.845,-1.189,-1.751, PHS=-0.073,-1.642, 0.519, RAW= 165.4,  12.3, CAL= 165.6,  14.3, ROT= 344.4, -14.3

2025-10-26T21:56:59.667Z,1761515819.667 [DAT](INFO): got valid direction response:
 21:56:58.3416 LVL= 32752, 32753, 30546, 32755, AGC= 53, IDX= 498,-0.22,-1.926, 2.845,-1.189,-1.751, PHS=-0.073,-1.642, 0.519, RAW= 165.4,  12.3, CAL= 165.6,  14.3, ROT= 344.4, -14.3

2025-10-26T21:56:59.668Z,1761515819.668 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-10-26T21:56:59.669Z,1761515819.669 [DAT](INFO): direction in FSK: [0.933320,-0.260588,0.246999]
2025-10-26T21:56:59.669Z,1761515819.669 [DAT](INFO): publishing direction and range info
2025-10-26T21:56:59.685Z,1761515819.685 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.607105
2025-10-26T21:56:59.912Z,1761515819.912 [DAT](INFO): DAT read: Rx Time:21:56:58.8416 

2025-10-26T21:56:59.914Z,1761515819.914 [DAT](INFO): Rx dataTimestamp_ set to:1761515819.913203
2025-10-26T21:56:59.919Z,1761515819.919 [DAT](INFO): DAT read: Bearing 322.4, -15.4 (Local)

2025-10-26T21:56:59.920Z,1761515819.920 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.4, -15.4 (Local)

2025-10-26T21:56:59.922Z,1761515819.922 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.844227
2025-10-26T21:56:59.957Z,1761515819.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.900000 m,
      deltaT: 0.502767 s,
      deltaX: -0.300000 m,
      approachRate: -0.596697 m/s,
      rangeRepo size: 4

2025-10-26T21:56:59.965Z,1761515819.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.863863 m,
      bearing: 153.526381 deg,
      lat: 36.779398 deg,
      lon: -121.859470 deg,
      deltaT: 7.055754 s,
      deltaX: -3.876061 m,
      approachRate: -0.549348 m/s,
      posRepo size: 4

2025-10-26T21:56:59.966Z,1761515819.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.86 m. 9.74 m.
2025-10-26T21:56:59.969Z,1761515819.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 5.051470 m,
      bearing: 164.800034 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.426996 deg/s,
      cmd heading: 137.442367 deg,
      new cmd heading: 135.441280 deg.

2025-10-26T21:56:59.970Z,1761515819.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.363896 target range: 9.739924 and range: 5.90 m.
2025-10-26T21:57:00.168Z,1761515820.168 [DAT](INFO): DAT read: Range 11 to 50 :     5.7 m (trip time 3.8 ms) speed 0.4

2025-10-26T21:57:00.173Z,1761515820.173 [DAT](INFO): DAT read: 21:56:58.8416 LVL= 32752, 32753, 28322, 32755, AGC= 54, IDX= 497,-0.00, 0.343,-1.162, 1.113, 0.526, PHS=-0.081,-1.643, 0.543, RAW= 166.1,  12.1, CAL= 166.3,  14.0, ROT= 343.7, -14.0

2025-10-26T21:57:00.174Z,1761515820.174 [DAT](INFO): got valid direction response:
 21:56:58.8416 LVL= 32752, 32753, 28322, 32755, AGC= 54, IDX= 497,-0.00, 0.343,-1.162, 1.113, 0.526, PHS=-0.081,-1.643, 0.543, RAW= 166.1,  12.1, CAL= 166.3,  14.0, ROT= 343.7, -14.0

2025-10-26T21:57:00.175Z,1761515820.175 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-10-26T21:57:00.185Z,1761515820.185 [DAT](INFO): direction in FSK: [0.931295,-0.272330,0.241922]
2025-10-26T21:57:00.185Z,1761515820.185 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:00.193Z,1761515820.193 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.115734
2025-10-26T21:57:00.428Z,1761515820.428 [DAT](INFO): DAT read: Rx Time:21:56:59.3413 

2025-10-26T21:57:00.430Z,1761515820.430 [DAT](INFO): Rx dataTimestamp_ set to:1761515820.428950
2025-10-26T21:57:00.434Z,1761515820.434 [DAT](INFO): DAT read: Bearing 317.4, -15.0 (Local)

2025-10-26T21:57:00.436Z,1761515820.436 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.4, -15.0 (Local)

2025-10-26T21:57:00.442Z,1761515820.442 [DAT](INFO): DAT read: Range 11 to 50 :     5.3 m (trip time 3.5 ms) speed 0.4

2025-10-26T21:57:00.480Z,1761515820.480 [DAT](INFO): DAT read: 21:56:59.3413 LVL= 32752, 32753, 26354, 32755, AGC= 52, IDX= 510, 0.31,-0.675,-2.148, 0.132,-0.550, PHS=-0.023,-1.553, 0.638, RAW= 167.1,   9.7, CAL= 167.0,  10.6, ROT= 343.0, -10.6

2025-10-26T21:57:00.481Z,1761515820.481 [DAT](INFO): got valid direction response:
 21:56:59.3413 LVL= 32752, 32753, 26354, 32755, AGC= 52, IDX= 510, 0.31,-0.675,-2.148, 0.132,-0.550, PHS=-0.023,-1.553, 0.638, RAW= 167.1,   9.7, CAL= 167.0,  10.6, ROT= 343.0, -10.6

2025-10-26T21:57:00.481Z,1761515820.481 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-10-26T21:57:00.482Z,1761515820.482 [DAT](INFO): direction in FSK: [0.939986,-0.287383,0.183951]
2025-10-26T21:57:00.483Z,1761515820.483 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:00.489Z,1761515820.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952143,-0.304898,-0.021483],[0.296748,-0.905274,-0.304005],[0.073242,-0.295831,0.952428]]
2025-10-26T21:57:00.494Z,1761515820.494 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.416920
2025-10-26T21:57:00.557Z,1761515820.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.300000 m,
      deltaT: 0.771676 s,
      deltaX: -0.600000 m,
      approachRate: -0.777528 m/s,
      rangeRepo size: 4

2025-10-26T21:57:00.565Z,1761515820.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.267560 m,
      bearing: 149.224641 deg,
      lat: 36.779398 deg,
      lon: -121.859469 deg,
      deltaT: 7.827430 s,
      deltaX: -4.472364 m,
      approachRate: -0.571371 m/s,
      posRepo size: 4

2025-10-26T21:57:00.580Z,1761515820.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.27 m. 9.74 m.
2025-10-26T21:57:00.582Z,1761515820.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 4.675561 m,
      bearing: 164.447021 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.426996 deg/s,
      cmd heading: 135.441285 deg,
      new cmd heading: 132.838088 deg.

2025-10-26T21:57:00.583Z,1761515820.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.318462 target range: 9.739924 and range: 5.30 m.
2025-10-26T21:57:00.677Z,1761515820.677 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.599041
2025-10-26T21:57:00.936Z,1761515820.936 [DAT](INFO): DAT read: Rx Time:21:56:59.8412 

2025-10-26T21:57:00.938Z,1761515820.938 [DAT](INFO): Rx dataTimestamp_ set to:1761515820.936520
2025-10-26T21:57:00.942Z,1761515820.942 [DAT](INFO): DAT read: Bearing 315.8, -15.9 (Local)

2025-10-26T21:57:00.944Z,1761515820.944 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.8, -15.9 (Local)

2025-10-26T21:57:00.955Z,1761515820.955 [DAT](INFO): DAT read: Range 11 to 50 :     5.1 m (trip time 3.4 ms) speed 0.5

2025-10-26T21:57:00.958Z,1761515820.958 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-10-26T21:57:00.963Z,1761515820.963 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.884628
2025-10-26T21:57:01.090Z,1761515821.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941094,-0.337280,-0.024161],[0.329163,-0.897402,-0.293806],[0.077412,-0.284452,0.955560]]
2025-10-26T21:57:01.161Z,1761515821.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:57:01.168Z,1761515821.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 0.507570 s,
      deltaX: -0.200000 m,
      approachRate: -0.394035 m/s,
      rangeRepo size: 4

2025-10-26T21:57:01.169Z,1761515821.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-10-26T21:57:01.176Z,1761515821.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 4.316496 m,
      bearing: 164.113027 deg,
      approach rate: -0.592138 m/s,
      LOS rate: -0.596607 deg/s,
      cmd heading: 132.838082 deg,
      new cmd heading: 131.752886 deg.

2025-10-26T21:57:01.177Z,1761515821.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299522 target range: 9.739924 and range: 5.10 m.
2025-10-26T21:57:01.184Z,1761515821.184 [DAT](INFO): DAT read: 21:56:59.8412 LVL= 32752, 31697, 25570, 32755, AGC= 52, IDX= 509,-0.19,-2.868, 1.986,-2.021,-2.720, PHS=-0.046,-1.532, 0.655, RAW= 168.3,   9.6, CAL= 168.2,  10.5, ROT= 341.8, -10.5

2025-10-26T21:57:01.185Z,1761515821.185 [DAT](INFO): got valid direction response:
 21:56:59.8412 LVL= 32752, 31697, 25570, 32755, AGC= 52, IDX= 509,-0.19,-2.868, 1.986,-2.021,-2.720, PHS=-0.046,-1.532, 0.655, RAW= 168.3,   9.6, CAL= 168.2,  10.5, ROT= 341.8, -10.5

2025-10-26T21:57:01.186Z,1761515821.186 [DAT](INFO): #Rx 82: Read direction message, but no range.
2025-10-26T21:57:01.187Z,1761515821.187 [DAT](INFO): direction in FSK: [0.934065,-0.307105,0.182236]
2025-10-26T21:57:01.190Z,1761515821.190 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.112705
2025-10-26T21:57:01.436Z,1761515821.436 [DAT](INFO): DAT read: Rx Time:21:57:00.3409 

2025-10-26T21:57:01.438Z,1761515821.438 [DAT](INFO): Rx dataTimestamp_ set to:1761515821.436953
2025-10-26T21:57:01.442Z,1761515821.442 [DAT](INFO): DAT read: Bearing 315.7, -16.0 (Local)

2025-10-26T21:57:01.443Z,1761515821.443 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.7, -16.0 (Local)

2025-10-26T21:57:01.451Z,1761515821.451 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed 0.4

2025-10-26T21:57:01.454Z,1761515821.454 [DAT](ERROR): #Rx 83: Read range message, but no direction.
2025-10-26T21:57:01.458Z,1761515821.458 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.380062
2025-10-26T21:57:01.644Z,1761515821.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934936,-0.353976,-0.024398],[0.345972,-0.894219,-0.284035],[0.078725,-0.273996,0.958503]]
2025-10-26T21:57:01.668Z,1761515821.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.500433 s,
      deltaX: -0.400000 m,
      approachRate: -0.799308 m/s,
      rangeRepo size: 4

2025-10-26T21:57:01.670Z,1761515821.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.671220 m,
      bearing: 144.624893 deg,
      lat: 36.779399 deg,
      lon: -121.859467 deg,
      deltaT: 8.835433 s,
      deltaX: -5.068705 m,
      approachRate: -0.573679 m/s,
      posRepo size: 4

2025-10-26T21:57:01.671Z,1761515821.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.67 m. 9.74 m.
2025-10-26T21:57:01.688Z,1761515821.688 [DAT](INFO): DAT read: 21:57:00.3409 LVL= 32752, 32753, 26610, 32755, AGC= 51, IDX= 506, 0.14,-2.500, 2.377,-1.666,-2.334, PHS=-0.064,-1.527, 0.624, RAW= 168.2,  10.2, CAL= 168.2,  11.4, ROT= 341.8, -11.4

2025-10-26T21:57:01.689Z,1761515821.689 [DAT](INFO): got valid direction response:
 21:57:00.3409 LVL= 32752, 32753, 26610, 32755, AGC= 51, IDX= 506, 0.14,-2.500, 2.377,-1.666,-2.334, PHS=-0.064,-1.527, 0.624, RAW= 168.2,  10.2, CAL= 168.2,  11.4, ROT= 341.8, -11.4

2025-10-26T21:57:01.689Z,1761515821.689 [DAT](INFO): #Rx 84: Read direction message, but no range.
2025-10-26T21:57:01.690Z,1761515821.690 [DAT](INFO): direction in FSK: [0.931230,-0.306173,0.197657]
2025-10-26T21:57:01.697Z,1761515821.697 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.619606
2025-10-26T21:57:01.706Z,1761515821.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 4.029224 m,
      bearing: 163.871515 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.426996 deg/s,
      cmd heading: 131.752887 deg,
      new cmd heading: 129.597109 deg.

2025-10-26T21:57:01.713Z,1761515821.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.261896 target range: 9.739924 and range: 4.70 m.
2025-10-26T21:57:01.941Z,1761515821.941 [DAT](INFO): DAT read: Rx Time:21:57:00.8409 

2025-10-26T21:57:01.942Z,1761515821.942 [DAT](INFO): Rx dataTimestamp_ set to:1761515821.941229
2025-10-26T21:57:01.961Z,1761515821.961 [DAT](INFO): DAT read: Bearing 318.6, -18.0 (Local)

2025-10-26T21:57:01.962Z,1761515821.962 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.6, -18.0 (Local)

2025-10-26T21:57:01.969Z,1761515821.969 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed 0.4

2025-10-26T21:57:01.981Z,1761515821.981 [DAT](INFO): DAT read: 21:57:00.8409 LVL= 32752, 32753, 28914, 32755, AGC= 52, IDX= 506,-0.37,-2.940, 1.989,-2.088,-2.669, PHS=-0.168,-1.580, 0.538, RAW= 169.1,  12.9, CAL= 169.4,  15.5, ROT= 340.6, -15.5

2025-10-26T21:57:01.983Z,1761515821.983 [DAT](INFO): got valid direction response:
 21:57:00.8409 LVL= 32752, 32753, 28914, 32755, AGC= 52, IDX= 506,-0.37,-2.940, 1.989,-2.088,-2.669, PHS=-0.168,-1.580, 0.538, RAW= 169.1,  12.9, CAL= 169.4,  15.5, ROT= 340.6, -15.5

2025-10-26T21:57:01.983Z,1761515821.983 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-10-26T21:57:01.990Z,1761515821.990 [DAT](INFO): direction in FSK: [0.908918,-0.320081,0.267238]
2025-10-26T21:57:01.990Z,1761515821.990 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:02.002Z,1761515822.002 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.924053
2025-10-26T21:57:02.048Z,1761515822.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927947,-0.371770,-0.026488],[0.364124,-0.889101,-0.277332],[0.079554,-0.266994,0.960409]]
2025-10-26T21:57:02.188Z,1761515822.188 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.110870
2025-10-26T21:57:02.189Z,1761515822.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.504276 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:02.199Z,1761515822.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.671220 m,
      bearing: 143.492905 deg,
      lat: 36.779399 deg,
      lon: -121.859467 deg,
      deltaT: 9.339709 s,
      deltaX: -5.068705 m,
      approachRate: -0.542705 m/s,
      posRepo size: 4

2025-10-26T21:57:02.201Z,1761515822.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.67 m. 9.74 m.
2025-10-26T21:57:02.203Z,1761515822.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 3.764958 m,
      bearing: 163.612143 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.426996 deg/s,
      cmd heading: 129.597116 deg,
      new cmd heading: 127.406340 deg.

2025-10-26T21:57:02.212Z,1761515822.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.223660 target range: 9.739924 and range: 4.70 m.
2025-10-26T21:57:02.445Z,1761515822.445 [DAT](INFO): DAT read: Rx Time:21:57:01.3406 

2025-10-26T21:57:02.446Z,1761515822.446 [DAT](INFO): Rx dataTimestamp_ set to:1761515822.445444
2025-10-26T21:57:02.450Z,1761515822.450 [DAT](INFO): DAT read: Bearing 326.0, -17.6 (Local)

2025-10-26T21:57:02.452Z,1761515822.452 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.0, -17.6 (Local)

2025-10-26T21:57:02.460Z,1761515822.460 [DAT](INFO): DAT read: Range 11 to 50 :     4.2 m (trip time 2.8 ms) speed 0.4

2025-10-26T21:57:02.462Z,1761515822.462 [DAT](ERROR): #Rx 86: Read range message, but no direction.
2025-10-26T21:57:02.465Z,1761515822.465 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.385792
2025-10-26T21:57:02.536Z,1761515822.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920777,-0.389066,-0.028247],[0.381769,-0.883894,-0.270155],[0.080141,-0.259536,0.962402]]
2025-10-26T21:57:02.575Z,1761515822.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 0.504215 s,
      deltaX: -0.500000 m,
      approachRate: -0.991640 m/s,
      rangeRepo size: 4

2025-10-26T21:57:02.580Z,1761515822.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-10-26T21:57:02.582Z,1761515822.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 3.540498 m,
      bearing: 163.427263 deg,
      approach rate: -0.568194 m/s,
      LOS rate: -0.497670 deg/s,
      cmd heading: 127.406346 deg,
      new cmd heading: 126.816565 deg.

2025-10-26T21:57:02.591Z,1761515822.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.213367 target range: 9.739924 and range: 4.20 m.
2025-10-26T21:57:02.697Z,1761515822.697 [DAT](INFO): DAT read: 21:57:01.3406 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 503, 0.01,-2.538, 2.392,-1.803,-2.167, PHS=-0.269,-1.679, 0.319, RAW= 166.6,  17.9, CAL= 167.6,  23.5, ROT= 342.4, -23.5

2025-10-26T21:57:02.699Z,1761515822.699 [DAT](INFO): got valid direction response:
 21:57:01.3406 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 503, 0.01,-2.538, 2.392,-1.803,-2.167, PHS=-0.269,-1.679, 0.319, RAW= 166.6,  17.9, CAL= 167.6,  23.5, ROT= 342.4, -23.5

2025-10-26T21:57:02.705Z,1761515822.705 [DAT](INFO): #Rx 87: Read direction message, but no range.
2025-10-26T21:57:02.707Z,1761515822.707 [DAT](INFO): direction in FSK: [0.874133,-0.277291,0.398749]
2025-10-26T21:57:02.718Z,1761515822.718 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.639969
2025-10-26T21:57:02.949Z,1761515822.949 [DAT](INFO): DAT read: Rx Time:21:57:01.8406 

2025-10-26T21:57:02.950Z,1761515822.950 [DAT](INFO): Rx dataTimestamp_ set to:1761515822.949271
2025-10-26T21:57:02.959Z,1761515822.959 [DAT](INFO): DAT read: Bearing 323.2, -19.1 (Local)

2025-10-26T21:57:02.960Z,1761515822.960 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.2, -19.1 (Local)

2025-10-26T21:57:02.980Z,1761515822.980 [DAT](INFO): DAT read: Range 11 to 50 :     4.2 m (trip time 2.8 ms) speed 0.4

2025-10-26T21:57:03.013Z,1761515823.013 [DAT](INFO): DAT read: 21:57:01.8406 LVL= 32752, 32753, 27234, 32755, AGC= 50, IDX= 503,-0.30, 1.940, 0.658, 2.743, 2.329, PHS=-0.286,-1.626, 0.370, RAW= 168.8,  17.2, CAL= 169.6,  22.4, ROT= 340.4, -22.4

2025-10-26T21:57:03.014Z,1761515823.014 [DAT](INFO): got valid direction response:
 21:57:01.8406 LVL= 32752, 32753, 27234, 32755, AGC= 50, IDX= 503,-0.30, 1.940, 0.658, 2.743, 2.329, PHS=-0.286,-1.626, 0.370, RAW= 168.8,  17.2, CAL= 169.6,  22.4, ROT= 340.4, -22.4

2025-10-26T21:57:03.014Z,1761515823.014 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-10-26T21:57:03.019Z,1761515823.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904097,-0.425776,-0.036380],[0.419545,-0.868234,-0.264862],[0.081186,-0.254724,0.963600]]
2025-10-26T21:57:03.020Z,1761515823.020 [DAT](INFO): direction in FSK: [0.870975,-0.310141,0.381070]
2025-10-26T21:57:03.020Z,1761515823.020 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:03.029Z,1761515823.029 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.951122
2025-10-26T21:57:03.113Z,1761515823.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 0.503827 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:03.125Z,1761515823.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.174288 m,
      bearing: 141.426449 deg,
      lat: 36.779399 deg,
      lon: -121.859467 deg,
      deltaT: 10.347751 s,
      deltaX: -5.565636 m,
      approachRate: -0.537859 m/s,
      posRepo size: 4

2025-10-26T21:57:03.127Z,1761515823.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.17 m. 9.74 m.
2025-10-26T21:57:03.140Z,1761515823.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 3.277367 m,
      bearing: 163.138239 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.426996 deg/s,
      cmd heading: 126.816559 deg,
      new cmd heading: 124.535357 deg.

2025-10-26T21:57:03.141Z,1761515823.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.173552 target range: 9.739924 and range: 4.20 m.
2025-10-26T21:57:03.198Z,1761515823.198 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.120449
2025-10-26T21:57:03.454Z,1761515823.454 [DAT](INFO): DAT read: Rx Time:21:57:02.3403 

2025-10-26T21:57:03.455Z,1761515823.455 [DAT](INFO): Rx dataTimestamp_ set to:1761515823.454142
2025-10-26T21:57:03.459Z,1761515823.459 [DAT](INFO): DAT read: Bearing 326.1, -20.1 (Local)

2025-10-26T21:57:03.461Z,1761515823.461 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.1, -20.1 (Local)

2025-10-26T21:57:03.464Z,1761515823.464 [DAT](INFO): DAT read: Range 11 to 50 :     3.8 m (trip time 2.5 ms) speed 0.4

2025-10-26T21:57:03.493Z,1761515823.493 [DAT](INFO): DAT read: 21:57:02.3403 LVL= 32752, 32753, 23986, 32755, AGC= 47, IDX= 500, 0.16, 2.304, 1.058, 3.101, 2.758, PHS=-0.351,-1.654, 0.299, RAW= 169.1,  19.3, CAL= 170.0,  26.5, ROT= 340.0, -26.5

2025-10-26T21:57:03.494Z,1761515823.494 [DAT](INFO): got valid direction response:
 21:57:02.3403 LVL= 32752, 32753, 23986, 32755, AGC= 47, IDX= 500, 0.16, 2.304, 1.058, 3.101, 2.758, PHS=-0.351,-1.654, 0.299, RAW= 169.1,  19.3, CAL= 170.0,  26.5, ROT= 340.0, -26.5

2025-10-26T21:57:03.495Z,1761515823.495 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-10-26T21:57:03.504Z,1761515823.504 [DAT](INFO): direction in FSK: [0.840963,-0.306086,0.446198]
2025-10-26T21:57:03.504Z,1761515823.504 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:03.516Z,1761515823.516 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.438549
2025-10-26T21:57:03.518Z,1761515823.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895510,-0.442737,-0.045231],[0.437577,-0.857395,-0.270924],[0.081167,-0.262407,0.961538]]
2025-10-26T21:57:03.578Z,1761515823.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 0.504871 s,
      deltaX: -0.400000 m,
      approachRate: -0.792281 m/s,
      rangeRepo size: 4

2025-10-26T21:57:03.584Z,1761515823.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.776744 m,
      bearing: 141.376868 deg,
      lat: 36.779400 deg,
      lon: -121.859467 deg,
      deltaT: 10.852622 s,
      deltaX: -5.963181 m,
      approachRate: -0.549469 m/s,
      posRepo size: 4

2025-10-26T21:57:03.585Z,1761515823.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.74 m.
2025-10-26T21:57:03.592Z,1761515823.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 3.017843 m,
      bearing: 162.909104 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.426996 deg/s,
      cmd heading: 124.535358 deg,
      new cmd heading: 122.524783 deg.

2025-10-26T21:57:03.592Z,1761515823.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.138461 target range: 9.739924 and range: 3.80 m.
2025-10-26T21:57:03.701Z,1761515823.701 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.623283
2025-10-26T21:57:03.957Z,1761515823.957 [DAT](INFO): DAT read: Rx Time:21:57:02.8402 

2025-10-26T21:57:03.958Z,1761515823.958 [DAT](INFO): Rx dataTimestamp_ set to:1761515823.957512
2025-10-26T21:57:03.965Z,1761515823.965 [DAT](INFO): DAT read: Bearing 325.3, -19.8 (Local)

2025-10-26T21:57:03.965Z,1761515823.965 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.3, -19.8 (Local)

2025-10-26T21:57:03.967Z,1761515823.967 [DAT](INFO): DAT read: Range 11 to 50 :     3.6 m (trip time 2.4 ms) speed 0.4

2025-10-26T21:57:03.990Z,1761515823.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886510,-0.459695,-0.052737],[0.455517,-0.847023,-0.273964],[0.081270,-0.266894,0.960293]]
2025-10-26T21:57:03.996Z,1761515823.996 [DAT](INFO): DAT read: 21:57:02.8402 LVL= 32752, 32753, 26178, 32755, AGC= 46, IDX= 499,-0.15, 0.270,-0.969, 1.033, 0.717, PHS=-0.345,-1.640, 0.272, RAW= 168.4,  19.7, CAL= 169.4,  27.3, ROT= 340.6, -27.3

2025-10-26T21:57:03.997Z,1761515823.997 [DAT](INFO): got valid direction response:
 21:57:02.8402 LVL= 32752, 32753, 26178, 32755, AGC= 46, IDX= 499,-0.15, 0.270,-0.969, 1.033, 0.717, PHS=-0.345,-1.640, 0.272, RAW= 168.4,  19.7, CAL= 169.4,  27.3, ROT= 340.6, -27.3

2025-10-26T21:57:03.998Z,1761515823.998 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-10-26T21:57:03.999Z,1761515823.999 [DAT](INFO): direction in FSK: [0.838164,-0.295164,0.458650]
2025-10-26T21:57:03.999Z,1761515823.999 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:04.011Z,1761515824.011 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.933228
2025-10-26T21:57:04.098Z,1761515824.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 0.503370 s,
      deltaX: -0.200000 m,
      approachRate: -0.397322 m/s,
      rangeRepo size: 4

2025-10-26T21:57:04.130Z,1761515824.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.577968 m,
      bearing: 141.289258 deg,
      lat: 36.779400 deg,
      lon: -121.859467 deg,
      deltaT: 11.355992 s,
      deltaX: -6.161957 m,
      approachRate: -0.542617 m/s,
      posRepo size: 4

2025-10-26T21:57:04.136Z,1761515824.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.58 m. 9.74 m.
2025-10-26T21:57:04.138Z,1761515824.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 2.748881 m,
      bearing: 162.454045 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.426996 deg/s,
      cmd heading: 122.524783 deg,
      new cmd heading: 120.296283 deg.

2025-10-26T21:57:04.144Z,1761515824.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099566 target range: 9.739924 and range: 3.60 m.
2025-10-26T21:57:04.205Z,1761515824.205 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.127403
2025-10-26T21:57:04.461Z,1761515824.461 [DAT](INFO): DAT read: Rx Time:21:57:03.3399 

2025-10-26T21:57:04.463Z,1761515824.463 [DAT](INFO): Rx dataTimestamp_ set to:1761515824.461966
2025-10-26T21:57:04.464Z,1761515824.464 [DAT](INFO): DAT read: Bearing 324.5, -19.5 (Local)

2025-10-26T21:57:04.465Z,1761515824.465 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.5, -19.5 (Local)

2025-10-26T21:57:04.467Z,1761515824.467 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.4

2025-10-26T21:57:04.492Z,1761515824.492 [DAT](INFO): DAT read: 21:57:03.3399 LVL= 32752, 32753, 23730, 32755, AGC= 44, IDX= 496, 0.39, 0.318,-0.920, 1.055, 0.760, PHS=-0.341,-1.636, 0.251, RAW= 167.9,  20.0, CAL= 168.9,  27.9, ROT= 341.1, -27.9

2025-10-26T21:57:04.493Z,1761515824.493 [DAT](INFO): got valid direction response:
 21:57:03.3399 LVL= 32752, 32753, 23730, 32755, AGC= 44, IDX= 496, 0.39, 0.318,-0.920, 1.055, 0.760, PHS=-0.341,-1.636, 0.251, RAW= 167.9,  20.0, CAL= 168.9,  27.9, ROT= 341.1, -27.9

2025-10-26T21:57:04.493Z,1761515824.493 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-10-26T21:57:04.494Z,1761515824.494 [DAT](INFO): direction in FSK: [0.836118,-0.286267,0.467930]
2025-10-26T21:57:04.495Z,1761515824.495 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:04.534Z,1761515824.534 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.456619
2025-10-26T21:57:04.555Z,1761515824.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876613,-0.477623,-0.058526],[0.474286,-0.837075,-0.272689],[0.081252,-0.266801,0.960321]]
2025-10-26T21:57:04.632Z,1761515824.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 0.504454 s,
      deltaX: -0.400000 m,
      approachRate: -0.792936 m/s,
      rangeRepo size: 4

2025-10-26T21:57:04.634Z,1761515824.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.180421 m,
      bearing: 140.800983 deg,
      lat: 36.779401 deg,
      lon: -121.859470 deg,
      deltaT: 11.860446 s,
      deltaX: -6.559504 m,
      approachRate: -0.553057 m/s,
      posRepo size: 4

2025-10-26T21:57:04.640Z,1761515824.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.18 m. 9.74 m.
2025-10-26T21:57:04.642Z,1761515824.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 2.484835 m,
      bearing: 162.041489 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.426996 deg/s,
      cmd heading: 120.296283 deg,
      new cmd heading: 118.035298 deg.

2025-10-26T21:57:04.643Z,1761515824.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.060105 target range: 9.739924 and range: 3.20 m.
2025-10-26T21:57:04.710Z,1761515824.710 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.632164
2025-10-26T21:57:04.954Z,1761515824.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866531,-0.494797,-0.065567],[0.492427,-0.826052,-0.274142],[0.081483,-0.269839,0.959452]]
2025-10-26T21:57:04.961Z,1761515824.961 [DAT](INFO): DAT read: Rx Time:21:57:03.8399 

2025-10-26T21:57:04.961Z,1761515824.961 [DAT](INFO): Rx dataTimestamp_ set to:1761515824.960812
2025-10-26T21:57:04.962Z,1761515824.962 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.4

2025-10-26T21:57:04.963Z,1761515824.963 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-10-26T21:57:04.964Z,1761515824.964 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.886414
2025-10-26T21:57:05.023Z,1761515825.023 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:57:05.030Z,1761515825.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 0.498846 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:05.031Z,1761515825.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-10-26T21:57:05.038Z,1761515825.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 2.281891 m,
      bearing: 161.837638 deg,
      approach rate: -0.503542 m/s,
      LOS rate: -0.550775 deg/s,
      cmd heading: 118.035299 deg,
      new cmd heading: 117.369388 deg.

2025-10-26T21:57:05.039Z,1761515825.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048482 target range: 9.739924 and range: 3.20 m.
2025-10-26T21:57:05.212Z,1761515825.212 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.134830
2025-10-26T21:57:05.415Z,1761515825.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-10-26T21:57:05.444Z,1761515825.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.739924 m,
      nav range: 2.079267 m,
      bearing: 161.594367 deg,
      approach rate: -0.529015 m/s,
      LOS rate: -0.697027 deg/s,
      cmd heading: 117.369383 deg,
      new cmd heading: 116.568506 deg.

2025-10-26T21:57:05.452Z,1761515825.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.034504 target range: 9.739924 and range: 3.20 m.
2025-10-26T21:57:05.465Z,1761515825.465 [DAT](INFO): DAT read: Rx Time:21:57:04.3397 

2025-10-26T21:57:05.466Z,1761515825.466 [DAT](INFO): Rx dataTimestamp_ set to:1761515825.465239
2025-10-26T21:57:05.467Z,1761515825.467 [DAT](INFO): DAT read: Bearing 319.7, -18.5 (Local)

2025-10-26T21:57:05.467Z,1761515825.467 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.7, -18.5 (Local)

2025-10-26T21:57:05.469Z,1761515825.469 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed 0.4

2025-10-26T21:57:05.474Z,1761515825.474 [DAT](INFO): DAT read: 21:57:04.3397 LVL= 31728, 24017, 22242, 32755, AGC= 41, IDX= 510, 0.02,-2.266, 2.713,-1.536,-1.859, PHS=-0.306,-1.667, 0.279, RAW= 167.0,  19.1, CAL= 168.1,  25.9, ROT= 341.9, -25.9

2025-10-26T21:57:05.475Z,1761515825.475 [DAT](INFO): got valid direction response:
 21:57:04.3397 LVL= 31728, 24017, 22242, 32755, AGC= 41, IDX= 510, 0.02,-2.266, 2.713,-1.536,-1.859, PHS=-0.306,-1.667, 0.279, RAW= 167.0,  19.1, CAL= 168.1,  25.9, ROT= 341.9, -25.9

2025-10-26T21:57:05.475Z,1761515825.475 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-10-26T21:57:05.476Z,1761515825.476 [DAT](INFO): direction in FSK: [0.855044,-0.279472,0.436802]
2025-10-26T21:57:05.477Z,1761515825.477 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:05.485Z,1761515825.485 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.407059
2025-10-26T21:57:05.717Z,1761515825.717 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.639523
2025-10-26T21:57:05.801Z,1761515825.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833800,-0.546732,-0.076564],[0.546099,-0.796481,-0.259604],[0.080952,-0.258269,0.962675]]
2025-10-26T21:57:05.828Z,1761515825.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.504427 s,
      deltaX: -0.300000 m,
      approachRate: -0.594734 m/s,
      rangeRepo size: 4

2025-10-26T21:57:05.830Z,1761515825.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.882260 m,
      bearing: 135.854482 deg,
      lat: 36.779401 deg,
      lon: -121.859470 deg,
      deltaT: 12.863719 s,
      deltaX: -6.857664 m,
      approachRate: -0.533101 m/s,
      posRepo size: 4

2025-10-26T21:57:05.831Z,1761515825.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.90 m.
2025-10-26T21:57:05.831Z,1761515825.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-10-26T21:57:05.970Z,1761515825.970 [DAT](INFO): DAT read: Rx Time:21:57:04.8398 

2025-10-26T21:57:05.971Z,1761515825.971 [DAT](INFO): Rx dataTimestamp_ set to:1761515825.970494
2025-10-26T21:57:05.972Z,1761515825.972 [DAT](INFO): DAT read: Bearing 330.5, -22.)

2025-10-26T21:57:05.972Z,1761515825.972 [DAT](INFO): unknown deviceResponse_: Bearing 330.5, -22.)

2025-10-26T21:57:05.974Z,1761515825.974 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed 0.3

2025-10-26T21:57:05.980Z,1761515825.980 [DAT](INFO): DAT read: 21:57:04.8398 LVL= 27280, 20977, 23746, 32755, AGC= 39, IDX= 510, 0.20, 0.922,-0.268, 1.752, 1.583, PHS=-0.559,-1.806, 0.125, RAW= 170.5,  25.0, CAL= 171.5,  37.6, ROT= 338.5, -37.6

2025-10-26T21:57:05.982Z,1761515825.982 [DAT](INFO): got valid direction response:
 21:57:04.8398 LVL= 27280, 20977, 23746, 32755, AGC= 39, IDX= 510, 0.20, 0.922,-0.268, 1.752, 1.583, PHS=-0.559,-1.806, 0.125, RAW= 170.5,  25.0, CAL= 171.5,  37.6, ROT= 338.5, -37.6

2025-10-26T21:57:05.982Z,1761515825.982 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-10-26T21:57:05.984Z,1761515825.984 [DAT](INFO): direction in FSK: [0.737160,-0.290375,0.610145]
2025-10-26T21:57:05.984Z,1761515825.984 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:05.994Z,1761515825.994 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.916061
2025-10-26T21:57:06.204Z,1761515826.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822129,-0.564047,-0.077168],[0.563586,-0.787206,-0.250354],[0.080465,-0.249314,0.965074]]
2025-10-26T21:57:06.220Z,1761515826.220 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.142998
2025-10-26T21:57:06.274Z,1761515826.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.505255 s,
      deltaX: 0.100000 m,
      approachRate: 0.197920 m/s,
      rangeRepo size: 4

2025-10-26T21:57:06.281Z,1761515826.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.981648 m,
      bearing: 134.886248 deg,
      lat: 36.779401 deg,
      lon: -121.859470 deg,
      deltaT: 0.505255 s,
      deltaX: 0.099388 m,
      approachRate: 0.196709 m/s,
      posRepo size: 4

2025-10-26T21:57:06.477Z,1761515826.477 [DAT](INFO): DAT read: Rx Time:21:57:05.3396 

2025-10-26T21:57:06.477Z,1761515826.477 [DAT](INFO): Rx dataTimestamp_ set to:1761515826.476805
2025-10-26T21:57:06.478Z,1761515826.478 [DAT](INFO): DAT read: Bearing 338.7, -31.7 (Local)

2025-10-26T21:57:06.479Z,1761515826.479 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.7, -31.7 (Local)

2025-10-26T21:57:06.481Z,1761515826.481 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.3

2025-10-26T21:57:06.492Z,1761515826.492 [DAT](INFO): DAT read: 21:57:05.3396 LVL= 23168, 23393, 21666, 32755, AGC= 39, IDX= 508, 0.11,-0.564,-1.157, 0.541, 0.514, PHS=-0.977,-1.626,-0.017, RAW= 186.4,  33.4, CAL= 185.1,  45.3, ROT= 324.9, -45.3

2025-10-26T21:57:06.493Z,1761515826.493 [DAT](INFO): got valid direction response:
 21:57:05.3396 LVL= 23168, 23393, 21666, 32755, AGC= 39, IDX= 508, 0.11,-0.564,-1.157, 0.541, 0.514, PHS=-0.977,-1.626,-0.017, RAW= 186.4,  33.4, CAL= 185.1,  45.3, ROT= 324.9, -45.3

2025-10-26T21:57:06.493Z,1761515826.493 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-10-26T21:57:06.494Z,1761515826.494 [DAT](INFO): direction in FSK: [0.575482,-0.404456,0.710799]
2025-10-26T21:57:06.494Z,1761515826.494 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:06.522Z,1761515826.522 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.444832
2025-10-26T21:57:06.649Z,1761515826.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809788,-0.581251,-0.079942],[0.581294,-0.776320,-0.243773],[0.079633,-0.243874,0.966532]]
2025-10-26T21:57:06.697Z,1761515826.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.506311 s,
      deltaX: -0.300000 m,
      approachRate: -0.592521 m/s,
      rangeRepo size: 4

2025-10-26T21:57:06.705Z,1761515826.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.683483 m,
      bearing: 121.194427 deg,
      lat: 36.779401 deg,
      lon: -121.859471 deg,
      deltaT: 0.506311 s,
      deltaX: -0.298166 m,
      approachRate: -0.588898 m/s,
      posRepo size: 4

2025-10-26T21:57:06.725Z,1761515826.725 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.647678
2025-10-26T21:57:06.978Z,1761515826.978 [DAT](INFO): DAT read: Rx Time:21:57:05.8396 

2025-10-26T21:57:06.979Z,1761515826.979 [DAT](INFO): Rx dataTimestamp_ set to:1761515826.978622
2025-10-26T21:57:06.981Z,1761515826.981 [DAT](INFO): DAT read: Bearing 343.5, -39.8 (Local)

2025-10-26T21:57:06.981Z,1761515826.981 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.5, -39.8 (Local)

2025-10-26T21:57:06.983Z,1761515826.983 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.3

2025-10-26T21:57:06.989Z,1761515826.989 [DAT](INFO): DAT read: 21:57:05.8396 LVL= 28624, 29937, 19762, 32755, AGC= 41, IDX= 508,-0.33,-2.621,-2.788,-1.248,-1.248, PHS=-1.271,-1.495,-0.044, RAW= 201.8,  36.3, CAL= 198.8,  47.4, ROT= 311.2, -47.4

2025-10-26T21:57:06.990Z,1761515826.990 [DAT](INFO): got valid direction response:
 21:57:05.8396 LVL= 28624, 29937, 19762, 32755, AGC= 41, IDX= 508,-0.33,-2.621,-2.788,-1.248,-1.248, PHS=-1.271,-1.495,-0.044, RAW= 201.8,  36.3, CAL= 198.8,  47.4, ROT= 311.2, -47.4

2025-10-26T21:57:06.990Z,1761515826.990 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-10-26T21:57:06.992Z,1761515826.992 [DAT](INFO): direction in FSK: [0.445851,-0.509292,0.736097]
2025-10-26T21:57:06.992Z,1761515826.992 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:07.016Z,1761515827.016 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.938267
2025-10-26T21:57:07.043Z,1761515827.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796879,-0.598287,-0.083884],[0.599054,-0.764538,-0.237943],[0.078225,-0.239863,0.967650]]
2025-10-26T21:57:07.184Z,1761515827.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.501817 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:07.186Z,1761515827.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.683483 m,
      bearing: 103.137099 deg,
      lat: 36.779401 deg,
      lon: -121.859471 deg,
      deltaT: 0.501817 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:57:07.229Z,1761515827.229 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.151096
2025-10-26T21:57:07.481Z,1761515827.481 [DAT](INFO): DAT read: Rx Time:21:57:06.3393 

2025-10-26T21:57:07.482Z,1761515827.482 [DAT](INFO): Rx dataTimestamp_ set to:1761515827.481556
2025-10-26T21:57:07.483Z,1761515827.483 [DAT](INFO): DAT read: Bearing 354.3, -29.0 (Local)

2025-10-26T21:57:07.484Z,1761515827.484 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.3, -29.0 (Local)

2025-10-26T21:57:07.486Z,1761515827.486 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.2

2025-10-26T21:57:07.490Z,1761515827.490 [DAT](INFO): DAT read: 21:57:06.3393 LVL= 26192, 19281, 17314, 29939, AGC= 40, IDX= 506,-0.15, 0.538, 0.273, 1.321, 1.815, PHS=-1.175,-1.498,-0.538, RAW= 190.7,  53.3, CAL= 189.4,  61.0, ROT= 320.6, -61.0

2025-10-26T21:57:07.491Z,1761515827.491 [DAT](INFO): got valid direction response:
 21:57:06.3393 LVL= 26192, 19281, 17314, 29939, AGC= 40, IDX= 506,-0.15, 0.538, 0.273, 1.321, 1.815, PHS=-1.175,-1.498,-0.538, RAW= 190.7,  53.3, CAL= 189.4,  61.0, ROT= 320.6, -61.0

2025-10-26T21:57:07.492Z,1761515827.492 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-10-26T21:57:07.493Z,1761515827.493 [DAT](INFO): direction in FSK: [0.374629,-0.307723,0.874620]
2025-10-26T21:57:07.493Z,1761515827.493 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:07.522Z,1761515827.522 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.444328
2025-10-26T21:57:07.548Z,1761515827.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784095,-0.614218,-0.089059],[0.615850,-0.752193,-0.234380],[0.076971,-0.238623,0.968057]]
2025-10-26T21:57:07.589Z,1761515827.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.502934 s,
      deltaX: -0.400000 m,
      approachRate: -0.795333 m/s,
      rangeRepo size: 4

2025-10-26T21:57:07.591Z,1761515827.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.285931 m,
      bearing: 125.378245 deg,
      lat: 36.779403 deg,
      lon: -121.859471 deg,
      deltaT: 0.502934 s,
      deltaX: -0.397552 m,
      approachRate: -0.790465 m/s,
      posRepo size: 4

2025-10-26T21:57:07.733Z,1761515827.733 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.655804
2025-10-26T21:57:07.969Z,1761515827.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770832,-0.630018,-0.094311],[0.632601,-0.739585,-0.229848],[0.075058,-0.236836,0.968646]]
2025-10-26T21:57:07.985Z,1761515827.985 [DAT](INFO): DAT read: Rx Time:21:57:06.8392 

2025-10-26T21:57:07.986Z,1761515827.986 [DAT](INFO): Rx dataTimestamp_ set to:1761515827.985245
2025-10-26T21:57:07.987Z,1761515827.987 [DAT](INFO): DAT read: Bearing 350.4, -38.3 (Local)

2025-10-26T21:57:07.987Z,1761515827.987 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.4, -38.3 (Local)

2025-10-26T21:57:07.989Z,1761515827.989 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.2

2025-10-26T21:57:07.994Z,1761515827.994 [DAT](INFO): DAT read: 21:57:06.8392 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 505, 0.08,-0.147,-0.199, 1.094, 1.383, PHS=-1.429,-1.538,-0.333, RAW= 205.3,  45.3, CAL= 202.8,  54.6, ROT= 307.2, -54.6

2025-10-26T21:57:07.995Z,1761515827.995 [DAT](INFO): got valid direction response:
 21:57:06.8392 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 505, 0.08,-0.147,-0.199, 1.094, 1.383, PHS=-1.429,-1.538,-0.333, RAW= 205.3,  45.3, CAL= 202.8,  54.6, ROT= 307.2, -54.6

2025-10-26T21:57:08.004Z,1761515828.004 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-10-26T21:57:08.005Z,1761515828.005 [DAT](INFO): direction in FSK: [0.350233,-0.461415,0.815128]
2025-10-26T21:57:08.005Z,1761515828.005 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:08.013Z,1761515828.013 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.935234
2025-10-26T21:57:08.079Z,1761515828.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.503689 s,
      deltaX: -0.200000 m,
      approachRate: -0.397070 m/s,
      rangeRepo size: 4

2025-10-26T21:57:08.085Z,1761515828.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087154 m,
      bearing: 98.505140 deg,
      lat: 36.779403 deg,
      lon: -121.859472 deg,
      deltaT: 0.503689 s,
      deltaX: -0.198777 m,
      approachRate: -0.394642 m/s,
      posRepo size: 4

2025-10-26T21:57:08.236Z,1761515828.236 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.158981
2025-10-26T21:57:08.423Z,1761515828.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757919,-0.644718,-0.099482],[0.648306,-0.727462,-0.224718],[0.072510,-0.234813,0.969332]]
2025-10-26T21:57:08.453Z,1761515828.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:57:08.489Z,1761515828.489 [DAT](INFO): DAT read: Rx Time:21:57:07.3391 

2025-10-26T21:57:08.489Z,1761515828.489 [DAT](INFO): Rx dataTimestamp_ set to:1761515828.488779
2025-10-26T21:57:08.490Z,1761515828.490 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.2

2025-10-26T21:57:08.491Z,1761515828.491 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-10-26T21:57:08.492Z,1761515828.492 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.414803
2025-10-26T21:57:08.740Z,1761515828.740 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.662910
2025-10-26T21:57:08.810Z,1761515828.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745202,-0.658251,-0.106678],[0.663250,-0.715071,-0.220846],[0.069090,-0.235329,0.969457]]
2025-10-26T21:57:08.837Z,1761515828.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503534 s,
      deltaX: -0.100000 m,
      approachRate: -0.198596 m/s,
      rangeRepo size: 4

2025-10-26T21:57:08.994Z,1761515828.994 [DAT](INFO): DAT read: Rx Time:21:57:07.8392 

2025-10-26T21:57:08.994Z,1761515828.994 [DAT](INFO): Rx dataTimestamp_ set to:1761515828.993844
2025-10-26T21:57:08.995Z,1761515828.995 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.1

2025-10-26T21:57:08.996Z,1761515828.996 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-10-26T21:57:08.997Z,1761515828.997 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.919464
2025-10-26T21:57:09.217Z,1761515829.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732252,-0.671728,-0.112204],[0.677895,-0.703113,-0.214687],[0.065319,-0.233267,0.970216]]
2025-10-26T21:57:09.245Z,1761515829.245 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.167019
2025-10-26T21:57:09.277Z,1761515829.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.505065 s,
      deltaX: 0.100000 m,
      approachRate: 0.197994 m/s,
      rangeRepo size: 4

2025-10-26T21:57:09.497Z,1761515829.497 [DAT](INFO): DAT read: Rx Time:21:57:08.3390 

2025-10-26T21:57:09.498Z,1761515829.498 [DAT](INFO): Rx dataTimestamp_ set to:1761515829.497529
2025-10-26T21:57:09.500Z,1761515829.500 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-10-26T21:57:09.501Z,1761515829.501 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-10-26T21:57:09.502Z,1761515829.502 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.424511
2025-10-26T21:57:09.652Z,1761515829.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719010,-0.684720,-0.119097],[0.692291,-0.690495,-0.209641],[0.061310,-0.233184,0.970498]]
2025-10-26T21:57:09.695Z,1761515829.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.503685 s,
      deltaX: -0.300000 m,
      approachRate: -0.595610 m/s,
      rangeRepo size: 4

2025-10-26T21:57:09.748Z,1761515829.748 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.670998
2025-10-26T21:57:10.001Z,1761515830.001 [DAT](INFO): DAT read: Rx Time:21:57:08.8391 

2025-10-26T21:57:10.002Z,1761515830.002 [DAT](INFO): Rx dataTimestamp_ set to:1761515830.001396
2025-10-26T21:57:10.003Z,1761515830.003 [DAT](INFO): DAT read: Bearing 359.5, -53.5 (Local)

2025-10-26T21:57:10.003Z,1761515830.003 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.5, -53.5 (Local)

2025-10-26T21:57:10.005Z,1761515830.005 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-26T21:57:10.010Z,1761515830.010 [DAT](INFO): DAT read: 21:57:08.8391 LVL= 32752, 14913, 23666, 28243, AGC= 42, IDX= 503, 0.18, 0.755, 1.376, 2.698, 2.892, PHS=-2.035,-1.471,-0.238, RAW= 227.9,  39.7, CAL= 230.2,  49.0, ROT= 279.8, -49.0

2025-10-26T21:57:10.025Z,1761515830.025 [DAT](INFO): got valid direction response:
 21:57:08.8391 LVL= 32752, 14913, 23666, 28243, AGC= 42, IDX= 503, 0.18, 0.755, 1.376, 2.698, 2.892, PHS=-2.035,-1.471,-0.238, RAW= 227.9,  39.7, CAL= 230.2,  49.0, ROT= 279.8, -49.0

2025-10-26T21:57:10.026Z,1761515830.026 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-10-26T21:57:10.027Z,1761515830.027 [DAT](INFO): direction in FSK: [0.111667,-0.646486,0.754710]
2025-10-26T21:57:10.032Z,1761515830.032 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:10.039Z,1761515830.039 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.957607
2025-10-26T21:57:10.079Z,1761515830.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706307,-0.696464,-0.126758],[0.705586,-0.678131,-0.205639],[0.057262,-0.234683,0.970384]]
2025-10-26T21:57:10.200Z,1761515830.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503867 s,
      deltaX: 0.200000 m,
      approachRate: 0.396930 m/s,
      rangeRepo size: 4

2025-10-26T21:57:10.202Z,1761515830.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987797 m,
      bearing: 52.704885 deg,
      lat: 36.779403 deg,
      lon: -121.859472 deg,
      deltaT: 2.016151 s,
      deltaX: -0.099357 m,
      approachRate: -0.049280 m/s,
      posRepo size: 4

2025-10-26T21:57:10.252Z,1761515830.252 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.175007
2025-10-26T21:57:10.505Z,1761515830.505 [DAT](INFO): DAT read: Rx Time:21:57:09.3390 

2025-10-26T21:57:10.506Z,1761515830.506 [DAT](INFO): Rx dataTimestamp_ set to:1761515830.505491
2025-10-26T21:57:10.507Z,1761515830.507 [DAT](INFO): DAT read: Bearing   2.3, -60.5 (Local)

2025-10-26T21:57:10.507Z,1761515830.507 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.3, -60.5 (Local)

2025-10-26T21:57:10.509Z,1761515830.509 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-10-26T21:57:10.514Z,1761515830.514 [DAT](INFO): DAT read: 21:57:09.3390 LVL= 23472, 13761, 20594, 22355, AGC= 36, IDX= 503,-0.33, 0.125, 0.953, 2.250, 2.203, PHS=-1.976,-1.205, 0.003, RAW= 232.7,  33.0, CAL= 236.1,  43.1, ROT= 273.9, -43.1

2025-10-26T21:57:10.515Z,1761515830.515 [DAT](INFO): got valid direction response:
 21:57:09.3390 LVL= 23472, 13761, 20594, 22355, AGC= 36, IDX= 503,-0.33, 0.125, 0.953, 2.250, 2.203, PHS=-1.976,-1.205, 0.003, RAW= 232.7,  33.0, CAL= 236.1,  43.1, ROT= 273.9, -43.1

2025-10-26T21:57:10.516Z,1761515830.516 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-10-26T21:57:10.517Z,1761515830.517 [DAT](INFO): direction in FSK: [0.049662,-0.728471,0.683274]
2025-10-26T21:57:10.517Z,1761515830.517 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:10.521Z,1761515830.521 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.443176
2025-10-26T21:57:10.662Z,1761515830.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681157,-0.718347,-0.141432],[0.730430,-0.653579,-0.198259],[0.049982,-0.238352,0.969892]]
2025-10-26T21:57:10.703Z,1761515830.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.504095 s,
      deltaX: -0.200000 m,
      approachRate: -0.396751 m/s,
      rangeRepo size: 4

2025-10-26T21:57:10.715Z,1761515830.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.789020 m,
      bearing: 43.816072 deg,
      lat: 36.779403 deg,
      lon: -121.859471 deg,
      deltaT: 0.504095 s,
      deltaX: -0.198777 m,
      approachRate: -0.394325 m/s,
      posRepo size: 4

2025-10-26T21:57:10.720Z,1761515830.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.80 m.
2025-10-26T21:57:10.757Z,1761515830.757 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.679020
2025-10-26T21:57:11.009Z,1761515831.009 [DAT](INFO): DAT read: Rx Time:21:57:09.8391 

2025-10-26T21:57:11.009Z,1761515831.009 [DAT](INFO): Rx dataTimestamp_ set to:1761515831.009203
2025-10-26T21:57:11.011Z,1761515831.011 [DAT](INFO): DAT read: Bearing  11.9, -62.7 (Local)

2025-10-26T21:57:11.011Z,1761515831.011 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.9, -62.7 (Local)

2025-10-26T21:57:11.013Z,1761515831.013 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed -0.2

2025-10-26T21:57:11.018Z,1761515831.018 [DAT](INFO): DAT read: 21:57:09.8391 LVL= 25760, 30497, 31058, 32755, AGC= 40, IDX= 504,-0.16,-2.590,-1.517,-0.369,-0.399, PHS=-2.090,-1.074,-0.015, RAW= 239.3,  32.0, CAL= 243.2,  41.7, ROT= 266.8, -41.7

2025-10-26T21:57:11.019Z,1761515831.019 [DAT](INFO): got valid direction response:
 21:57:09.8391 LVL= 25760, 30497, 31058, 32755, AGC= 40, IDX= 504,-0.16,-2.590,-1.517,-0.369,-0.399, PHS=-2.090,-1.074,-0.015, RAW= 239.3,  32.0, CAL= 243.2,  41.7, ROT= 266.8, -41.7

2025-10-26T21:57:11.041Z,1761515831.041 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-10-26T21:57:11.042Z,1761515831.042 [DAT](INFO): direction in FSK: [-0.041679,-0.745474,0.665230]
2025-10-26T21:57:11.042Z,1761515831.042 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:11.045Z,1761515831.045 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.968021
2025-10-26T21:57:11.081Z,1761515831.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668916,-0.729085,-0.144863],[0.741869,-0.642549,-0.191734],[0.046709,-0.235724,0.970697]]
2025-10-26T21:57:11.185Z,1761515831.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503712 s,
      deltaX: 0.200000 m,
      approachRate: 0.397052 m/s,
      rangeRepo size: 4

2025-10-26T21:57:11.187Z,1761515831.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987800 m,
      bearing: 34.010472 deg,
      lat: 36.779402 deg,
      lon: -121.859469 deg,
      deltaT: 0.503712 s,
      deltaX: 0.198780 m,
      approachRate: 0.394630 m/s,
      posRepo size: 4

2025-10-26T21:57:11.192Z,1761515831.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.00 m.
2025-10-26T21:57:11.261Z,1761515831.261 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.183636
2025-10-26T21:57:11.474Z,1761515831.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656164,-0.740153,-0.147047],[0.753343,-0.631175,-0.184640],[0.043849,-0.231931,0.971743]]
2025-10-26T21:57:11.491Z,1761515831.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:57:11.493Z,1761515831.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.00 m.
2025-10-26T21:57:11.513Z,1761515831.513 [DAT](INFO): DAT read: Rx Time:21:57:10.3390 

2025-10-26T21:57:11.513Z,1761515831.513 [DAT](INFO): Rx dataTimestamp_ set to:1761515831.513210
2025-10-26T21:57:11.515Z,1761515831.515 [DAT](INFO): DAT read: Bearing  19.4, -60.6 (Local)

2025-10-26T21:57:11.515Z,1761515831.515 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.4, -60.6 (Local)

2025-10-26T21:57:11.517Z,1761515831.517 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed -0.2

2025-10-26T21:57:11.522Z,1761515831.522 [DAT](INFO): DAT read: 21:57:10.3390 LVL= 32752, 32753, 32754, 32755, AGC= 42, IDX= 504,-0.45, 1.649, 2.792,-2.619,-2.502, PHS=-2.030,-0.945,-0.161, RAW= 245.3,  34.3, CAL= 248.8,  43.1, ROT= 261.2, -43.1

2025-10-26T21:57:11.541Z,1761515831.541 [DAT](INFO): got valid direction response:
 21:57:10.3390 LVL= 32752, 32753, 32754, 32755, AGC= 42, IDX= 504,-0.45, 1.649, 2.792,-2.619,-2.502, PHS=-2.030,-0.945,-0.161, RAW= 245.3,  34.3, CAL= 248.8,  43.1, ROT= 261.2, -43.1

2025-10-26T21:57:11.541Z,1761515831.541 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-10-26T21:57:11.543Z,1761515831.543 [DAT](INFO): direction in FSK: [-0.111704,-0.721567,0.683274]
2025-10-26T21:57:11.543Z,1761515831.543 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:11.549Z,1761515831.549 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.471664
2025-10-26T21:57:11.764Z,1761515831.764 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.686954
2025-10-26T21:57:11.855Z,1761515831.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643772,-0.749920,-0.152246],[0.764081,-0.619123,-0.181294],[0.041697,-0.233040,0.971573]]
2025-10-26T21:57:11.880Z,1761515831.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.504007 s,
      deltaX: -0.200000 m,
      approachRate: -0.396820 m/s,
      rangeRepo size: 4

2025-10-26T21:57:11.882Z,1761515831.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788999 m,
      bearing: 25.014919 deg,
      lat: 36.779402 deg,
      lon: -121.859468 deg,
      deltaT: 0.504007 s,
      deltaX: -0.198801 m,
      approachRate: -0.394441 m/s,
      posRepo size: 4

2025-10-26T21:57:12.018Z,1761515832.018 [DAT](INFO): DAT read: Rx Time:21:57:10.8391 

2025-10-26T21:57:12.019Z,1761515832.019 [DAT](INFO): Rx dataTimestamp_ set to:1761515832.018257
2025-10-26T21:57:12.020Z,1761515832.020 [DAT](INFO): DAT read: Bearing  35.0, -67.8 (Local)

2025-10-26T21:57:12.020Z,1761515832.020 [DAT](INFO): Local bearing/azimuth received:
 Bearing  35.0, -67.8 (Local)

2025-10-26T21:57:12.022Z,1761515832.022 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed -0.2

2025-10-26T21:57:12.028Z,1761515832.028 [DAT](INFO): DAT read: 21:57:10.8391 LVL= 32752, 32753, 18978, 32755, AGC= 37, IDX= 504, 0.35, 1.725,-3.140,-2.371,-2.487, PHS=-1.970,-0.608, 0.071, RAW= 250.9,  26.2, CAL= 254.0,  33.9, ROT= 256.0, -33.9

2025-10-26T21:57:12.029Z,1761515832.029 [DAT](INFO): got valid direction response:
 21:57:10.8391 LVL= 32752, 32753, 18978, 32755, AGC= 37, IDX= 504, 0.35, 1.725,-3.140,-2.371,-2.487, PHS=-1.970,-0.608, 0.071, RAW= 250.9,  26.2, CAL= 254.0,  33.9, ROT= 256.0, -33.9

2025-10-26T21:57:12.029Z,1761515832.029 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-10-26T21:57:12.030Z,1761515832.030 [DAT](INFO): direction in FSK: [-0.200798,-0.805357,0.557745]
2025-10-26T21:57:12.030Z,1761515832.030 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:12.034Z,1761515832.034 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.956795
2025-10-26T21:57:12.258Z,1761515832.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630904,-0.760459,-0.153828],[0.774820,-0.607280,-0.175685],[0.040184,-0.230029,0.972354]]
2025-10-26T21:57:12.268Z,1761515832.268 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.190845
2025-10-26T21:57:12.336Z,1761515832.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.505047 s,
      deltaX: 0.200000 m,
      approachRate: 0.396003 m/s,
      rangeRepo size: 4

2025-10-26T21:57:12.338Z,1761515832.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987777 m,
      bearing: 19.822928 deg,
      lat: 36.779401 deg,
      lon: -121.859467 deg,
      deltaT: 0.505047 s,
      deltaX: 0.198778 m,
      approachRate: 0.393583 m/s,
      posRepo size: 4

2025-10-26T21:57:12.339Z,1761515832.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.00 m.
2025-10-26T21:57:12.521Z,1761515832.521 [DAT](INFO): DAT read: Rx Time:21:57:11.3391 

2025-10-26T21:57:12.521Z,1761515832.521 [DAT](INFO): Rx dataTimestamp_ set to:1761515832.521182
2025-10-26T21:57:12.523Z,1761515832.523 [DAT](INFO): DAT read: Bearing  63.1, -62.1 (Local)

2025-10-26T21:57:12.523Z,1761515832.523 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.1, -62.1 (Local)

2025-10-26T21:57:12.525Z,1761515832.525 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed -0.3

2025-10-26T21:57:12.530Z,1761515832.530 [DAT](INFO): DAT read: 21:57:11.3391 LVL= 22464, 28113, 13778, 26963, AGC= 37, IDX= 504, 0.06, 2.537,-1.751,-1.543,-1.585, PHS=-2.059,-0.121,-0.002, RAW= 267.1,  21.1, CAL= 268.5,  28.5, ROT= 241.5, -28.5

2025-10-26T21:57:12.531Z,1761515832.531 [DAT](INFO): got valid direction response:
 21:57:11.3391 LVL= 22464, 28113, 13778, 26963, AGC= 37, IDX= 504, 0.06, 2.537,-1.751,-1.543,-1.585, PHS=-2.059,-0.121,-0.002, RAW= 267.1,  21.1, CAL= 268.5,  28.5, ROT= 241.5, -28.5

2025-10-26T21:57:12.531Z,1761515832.531 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-10-26T21:57:12.532Z,1761515832.532 [DAT](INFO): direction in FSK: [-0.419335,-0.772319,0.477159]
2025-10-26T21:57:12.533Z,1761515832.533 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:12.536Z,1761515832.536 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.458923
2025-10-26T21:57:12.725Z,1761515832.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618087,-0.770123,-0.157729],[0.785144,-0.594832,-0.172409],[0.038954,-0.230404,0.972315]]
2025-10-26T21:57:12.772Z,1761515832.772 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.695019
2025-10-26T21:57:12.774Z,1761515832.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.502925 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:12.780Z,1761515832.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987762 m,
      bearing: 3.519589 deg,
      lat: 36.779401 deg,
      lon: -121.859466 deg,
      deltaT: 0.502925 s,
      deltaX: -0.000015 m,
      approachRate: -0.000030 m/s,
      posRepo size: 4

2025-10-26T21:57:12.781Z,1761515832.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.00 m.
2025-10-26T21:57:13.025Z,1761515833.025 [DAT](INFO): DAT read: Rx Time:21:57:11.8394 

2025-10-26T21:57:13.025Z,1761515833.025 [DAT](INFO): Rx dataTimestamp_ set to:1761515833.025130
2025-10-26T21:57:13.027Z,1761515833.027 [DAT](INFO): DAT read: Bearing  77.9, -58.0 (Local)

2025-10-26T21:57:13.027Z,1761515833.027 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.9, -58.0 (Local)

2025-10-26T21:57:13.030Z,1761515833.030 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed -0.3

2025-10-26T21:57:13.035Z,1761515833.035 [DAT](INFO): DAT read: 21:57:11.8394 LVL= 32752, 27969, 20690, 32755, AGC= 42, IDX= 506, 0.29, 1.173,-2.836,-2.986,-3.068, PHS=-1.941, 0.277, 0.038, RAW= 275.6,  15.3, CAL= 275.3,  22.2, ROT= 234.7, -22.2

2025-10-26T21:57:13.036Z,1761515833.036 [DAT](INFO): got valid direction response:
 21:57:11.8394 LVL= 32752, 27969, 20690, 32755, AGC= 42, IDX= 506, 0.29, 1.173,-2.836,-2.986,-3.068, PHS=-1.941, 0.277, 0.038, RAW= 275.6,  15.3, CAL= 275.3,  22.2, ROT= 234.7, -22.2

2025-10-26T21:57:13.037Z,1761515833.037 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-10-26T21:57:13.038Z,1761515833.038 [DAT](INFO): direction in FSK: [-0.535021,-0.755638,0.377841]
2025-10-26T21:57:13.038Z,1761515833.038 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:13.042Z,1761515833.042 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.964275
2025-10-26T21:57:13.212Z,1761515833.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.503948 s,
      deltaX: 0.400000 m,
      approachRate: 0.793733 m/s,
      rangeRepo size: 4

2025-10-26T21:57:13.213Z,1761515833.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.385314 m,
      bearing: 357.601186 deg,
      lat: 36.779402 deg,
      lon: -121.859466 deg,
      deltaT: 0.503948 s,
      deltaX: 0.397553 m,
      approachRate: 0.788876 m/s,
      posRepo size: 4

2025-10-26T21:57:13.214Z,1761515833.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.40 m.
2025-10-26T21:57:13.278Z,1761515833.278 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.199936
2025-10-26T21:57:13.529Z,1761515833.529 [DAT](INFO): DAT read: Rx Time:21:57:12.3394 

2025-10-26T21:57:13.529Z,1761515833.529 [DAT](INFO): Rx dataTimestamp_ set to:1761515833.529060
2025-10-26T21:57:13.531Z,1761515833.531 [DAT](INFO): DAT read: Bearing  73.2, -41.1 (Local)

2025-10-26T21:57:13.531Z,1761515833.531 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.2, -41.1 (Local)

2025-10-26T21:57:13.533Z,1761515833.533 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed -0.3

2025-10-26T21:57:13.538Z,1761515833.538 [DAT](INFO): DAT read: 21:57:12.3394 LVL= 27008, 16369, 21890, 32611, AGC= 35, IDX= 506, 0.42, 0.287, 2.442, 1.666, 2.122, PHS=-1.733, 0.366,-0.500, RAW= 294.2,  19.9, CAL= 293.4,  26.5, ROT= 216.6, -26.5

2025-10-26T21:57:13.539Z,1761515833.539 [DAT](INFO): got valid direction response:
 21:57:12.3394 LVL= 27008, 16369, 21890, 32611, AGC= 35, IDX= 506, 0.42, 0.287, 2.442, 1.666, 2.122, PHS=-1.733, 0.366,-0.500, RAW= 294.2,  19.9, CAL= 293.4,  26.5, ROT= 216.6, -26.5

2025-10-26T21:57:13.539Z,1761515833.539 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-26T21:57:13.540Z,1761515833.540 [DAT](INFO): direction in FSK: [-0.718469,-0.533582,0.446198]
2025-10-26T21:57:13.540Z,1761515833.540 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:13.544Z,1761515833.544 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.466534
2025-10-26T21:57:13.607Z,1761515833.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592533,-0.787964,-0.167386],[0.804694,-0.569429,-0.167982],[0.037049,-0.234230,0.971475]]
2025-10-26T21:57:13.781Z,1761515833.781 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.703331
2025-10-26T21:57:13.824Z,1761515833.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.503930 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:13.826Z,1761515833.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.385317 m,
      bearing: 335.642625 deg,
      lat: 36.779402 deg,
      lon: -121.859466 deg,
      deltaT: 0.503930 s,
      deltaX: 0.000003 m,
      approachRate: 0.000005 m/s,
      posRepo size: 4

2025-10-26T21:57:14.033Z,1761515834.033 [DAT](INFO): DAT read: Rx Time:21:57:12.8396 

2025-10-26T21:57:14.034Z,1761515834.034 [DAT](INFO): Rx dataTimestamp_ set to:1761515834.033337
2025-10-26T21:57:14.035Z,1761515834.035 [DAT](INFO): DAT read: Bearing  69.5, -52.2 (Local)

2025-10-26T21:57:14.035Z,1761515834.035 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.5, -52.2 (Local)

2025-10-26T21:57:14.037Z,1761515834.037 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed -0.4

2025-10-26T21:57:14.082Z,1761515834.082 [DAT](INFO): DAT read: 21:57:12.8396 LVL= 27456, 18913, 15394, 30163, AGC= 38, IDX= 509,-0.15,-1.524, 0.487, 0.189, 0.350, PHS=-1.773, 0.182,-0.205, RAW= 280.8,  19.5, CAL= 280.8,  26.9, ROT= 229.2, -26.9

2025-10-26T21:57:14.083Z,1761515834.083 [DAT](INFO): got valid direction response:
 21:57:12.8396 LVL= 27456, 18913, 15394, 30163, AGC= 38, IDX= 509,-0.15,-1.524, 0.487, 0.189, 0.350, PHS=-1.773, 0.182,-0.205, RAW= 280.8,  19.5, CAL= 280.8,  26.9, ROT= 229.2, -26.9

2025-10-26T21:57:14.088Z,1761515834.088 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-10-26T21:57:14.090Z,1761515834.090 [DAT](INFO): direction in FSK: [-0.582719,-0.675086,0.452435]
2025-10-26T21:57:14.091Z,1761515834.091 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:14.118Z,1761515834.118 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.040577
2025-10-26T21:57:14.155Z,1761515834.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579787,-0.796067,-0.173562],[0.813946,-0.556343,-0.167254],[0.036585,-0.238242,0.970517]]
2025-10-26T21:57:14.284Z,1761515834.284 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.206993
2025-10-26T21:57:14.286Z,1761515834.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504277 s,
      deltaX: 0.300000 m,
      approachRate: 0.594911 m/s,
      rangeRepo size: 4

2025-10-26T21:57:14.293Z,1761515834.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.683482 m,
      bearing: 347.653641 deg,
      lat: 36.779402 deg,
      lon: -121.859466 deg,
      deltaT: 0.504277 s,
      deltaX: 0.298165 m,
      approachRate: 0.591271 m/s,
      posRepo size: 4

2025-10-26T21:57:14.537Z,1761515834.537 [DAT](INFO): DAT read: Rx Time:21:57:13.3396 

2025-10-26T21:57:14.537Z,1761515834.537 [DAT](INFO): Rx dataTimestamp_ set to:1761515834.537135
2025-10-26T21:57:14.539Z,1761515834.539 [DAT](INFO): DAT read: Bearing  70.7, -41.6 (Local)

2025-10-26T21:57:14.539Z,1761515834.539 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.7, -41.6 (Local)

2025-10-26T21:57:14.541Z,1761515834.541 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed -0.4

2025-10-26T21:57:14.554Z,1761515834.554 [DAT](INFO): DAT read: 21:57:13.3396 LVL= 24960, 18705, 14034, 24803, AGC= 36, IDX= 509, 0.04,-0.394, 1.608, 0.912, 1.335, PHS=-1.627, 0.319,-0.466, RAW= 293.6,  20.3, CAL= 293.0,  27.0, ROT= 217.0, -27.0

2025-10-26T21:57:14.555Z,1761515834.555 [DAT](INFO): got valid direction response:
 21:57:13.3396 LVL= 24960, 18705, 14034, 24803, AGC= 36, IDX= 509, 0.04,-0.394, 1.608, 0.912, 1.335, PHS=-1.627, 0.319,-0.466, RAW= 293.6,  20.3, CAL= 293.0,  27.0, ROT= 217.0, -27.0

2025-10-26T21:57:14.559Z,1761515834.559 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-10-26T21:57:14.560Z,1761515834.560 [DAT](INFO): direction in FSK: [-0.711589,-0.536221,0.453991]
2025-10-26T21:57:14.561Z,1761515834.561 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:14.564Z,1761515834.564 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.486858
2025-10-26T21:57:14.568Z,1761515834.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566949,-0.803451,-0.181757],[0.822946,-0.542673,-0.168125],[0.036446,-0.244895,0.968865]]
2025-10-26T21:57:14.645Z,1761515834.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503798 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:14.647Z,1761515834.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.683478 m,
      bearing: 333.736873 deg,
      lat: 36.779402 deg,
      lon: -121.859467 deg,
      deltaT: 0.503798 s,
      deltaX: -0.000004 m,
      approachRate: -0.000007 m/s,
      posRepo size: 4

2025-10-26T21:57:14.791Z,1761515834.791 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.712704
2025-10-26T21:57:15.024Z,1761515835.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541913,-0.816421,-0.199467],[0.839694,-0.516001,-0.169286],[0.035284,-0.259230,0.965171]]
2025-10-26T21:57:15.041Z,1761515835.041 [DAT](INFO): DAT read: Rx Time:21:57:13.8399 

2025-10-26T21:57:15.041Z,1761515835.041 [DAT](INFO): Rx dataTimestamp_ set to:1761515835.041178
2025-10-26T21:57:15.043Z,1761515835.043 [DAT](INFO): DAT read: Bearing  75.0, -40.2 (Local)

2025-10-26T21:57:15.043Z,1761515835.043 [DAT](INFO): Local bearing/azimuth received:
 Bearing  75.0, -40.2 (Local)

2025-10-26T21:57:15.045Z,1761515835.045 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed -0.4

2025-10-26T21:57:15.050Z,1761515835.050 [DAT](INFO): DAT read: 21:57:13.8399 LVL= 29840, 19409, 15314, 28787, AGC= 36, IDX= 512,-0.50, 2.261,-1.782,-2.669,-2.257, PHS=-1.664, 0.520,-0.457, RAW= 296.5,  16.6, CAL= 294.7,  23.3, ROT= 215.3, -23.3

2025-10-26T21:57:15.051Z,1761515835.051 [DAT](INFO): got valid direction response:
 21:57:13.8399 LVL= 29840, 19409, 15314, 28787, AGC= 36, IDX= 512,-0.50, 2.261,-1.782,-2.669,-2.257, PHS=-1.664, 0.520,-0.457, RAW= 296.5,  16.6, CAL= 294.7,  23.3, ROT= 215.3, -23.3

2025-10-26T21:57:15.051Z,1761515835.051 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-10-26T21:57:15.052Z,1761515835.052 [DAT](INFO): direction in FSK: [-0.749579,-0.530731,0.395545]
2025-10-26T21:57:15.053Z,1761515835.053 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:15.060Z,1761515835.060 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.982937
2025-10-26T21:57:15.130Z,1761515835.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 0.504043 s,
      deltaX: 0.500000 m,
      approachRate: 0.991979 m/s,
      rangeRepo size: 4

2025-10-26T21:57:15.141Z,1761515835.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.180418 m,
      bearing: 330.947748 deg,
      lat: 36.779403 deg,
      lon: -121.859470 deg,
      deltaT: 0.504043 s,
      deltaX: 0.496940 m,
      approachRate: 0.985909 m/s,
      posRepo size: 4

2025-10-26T21:57:15.292Z,1761515835.292 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.214993
2025-10-26T21:57:15.488Z,1761515835.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529797,-0.823853,-0.201448],[0.847417,-0.504509,-0.165392],[0.034626,-0.258335,0.965435]]
2025-10-26T21:57:15.505Z,1761515835.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:57:15.545Z,1761515835.545 [DAT](INFO): DAT read: Rx Time:21:57:14.3399 

2025-10-26T21:57:15.546Z,1761515835.546 [DAT](INFO): Rx dataTimestamp_ set to:1761515835.545521
2025-10-26T21:57:15.547Z,1761515835.547 [DAT](INFO): DAT read: Bearing  76.3, -38.7 (Local)

2025-10-26T21:57:15.548Z,1761515835.548 [DAT](INFO): Local bearing/azimuth received:
 Bearing  76.3, -38.7 (Local)

2025-10-26T21:57:15.550Z,1761515835.550 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed -0.4

2025-10-26T21:57:15.557Z,1761515835.557 [DAT](INFO): DAT read: 21:57:14.3399 LVL= 26240, 17377, 16498, 27699, AGC= 38, IDX= 512, 0.00, 1.404,-2.463, 2.779,-3.067, PHS=-1.711, 0.649,-0.482, RAW= 298.6,  14.9, CAL= 296.3,  21.5, ROT= 213.7, -21.5

2025-10-26T21:57:15.559Z,1761515835.559 [DAT](INFO): got valid direction response:
 21:57:14.3399 LVL= 26240, 17377, 16498, 27699, AGC= 38, IDX= 512, 0.00, 1.404,-2.463, 2.779,-3.067, PHS=-1.711, 0.649,-0.482, RAW= 298.6,  14.9, CAL= 296.3,  21.5, ROT= 213.7, -21.5

2025-10-26T21:57:15.560Z,1761515835.560 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-10-26T21:57:15.561Z,1761515835.561 [DAT](INFO): direction in FSK: [-0.774065,-0.516237,0.366501]
2025-10-26T21:57:15.562Z,1761515835.562 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:15.576Z,1761515835.576 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.498070
2025-10-26T21:57:15.796Z,1761515835.796 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.718880
2025-10-26T21:57:15.891Z,1761515835.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517760,-0.831269,-0.202278],[0.854857,-0.493338,-0.160740],[0.033827,-0.256144,0.966047]]
2025-10-26T21:57:16.012Z,1761515836.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 0.504343 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:16.030Z,1761515836.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.180403 m,
      bearing: 328.345560 deg,
      lat: 36.779402 deg,
      lon: -121.859470 deg,
      deltaT: 0.504343 s,
      deltaX: -0.000015 m,
      approachRate: -0.000030 m/s,
      posRepo size: 4

2025-10-26T21:57:16.054Z,1761515836.054 [DAT](INFO): DAT read: Rx Time:21:57:14.8401 

2025-10-26T21:57:16.054Z,1761515836.054 [DAT](INFO): Rx dataTimestamp_ set to:1761515836.053728
2025-10-26T21:57:16.056Z,1761515836.056 [DAT](INFO): DAT read: Bearing  77.0, -38.6 (Local)

2025-10-26T21:57:16.057Z,1761515836.057 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.0, -38.6 (Local)

2025-10-26T21:57:16.059Z,1761515836.059 [DAT](INFO): DAT read: Range 11 to 50 :     3.5 m (trip time 2.3 ms) speed -0.4

2025-10-26T21:57:16.063Z,1761515836.063 [DAT](INFO): DAT read: 21:57:14.8401 LVL= 20208, 15025, 14018, 21283, AGC= 43, IDX=   2,-0.35, 2.666,-1.487,-2.399,-2.065, PHS=-1.450, 0.623,-0.378, RAW= 298.9,  13.3, CAL= 296.1,  19.9, ROT= 213.9, -19.9

2025-10-26T21:57:16.080Z,1761515836.080 [DAT](INFO): got valid direction response:
 21:57:14.8401 LVL= 20208, 15025, 14018, 21283, AGC= 43, IDX=   2,-0.35, 2.666,-1.487,-2.399,-2.065, PHS=-1.450, 0.623,-0.378, RAW= 298.9,  13.3, CAL= 296.1,  19.9, ROT= 213.9, -19.9

2025-10-26T21:57:16.081Z,1761515836.081 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-10-26T21:57:16.087Z,1761515836.087 [DAT](INFO): direction in FSK: [-0.780451,-0.524441,0.340380]
2025-10-26T21:57:16.100Z,1761515836.100 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:16.119Z,1761515836.119 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.041290
2025-10-26T21:57:16.301Z,1761515836.301 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.223125
2025-10-26T21:57:16.443Z,1761515836.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.508207 s,
      deltaX: 0.300000 m,
      approachRate: 0.590311 m/s,
      rangeRepo size: 4

2025-10-26T21:57:16.461Z,1761515836.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.478566 m,
      bearing: 329.011765 deg,
      lat: 36.779402 deg,
      lon: -121.859470 deg,
      deltaT: 0.508207 s,
      deltaX: 0.298163 m,
      approachRate: 0.586695 m/s,
      posRepo size: 4

2025-10-26T21:57:16.554Z,1761515836.554 [DAT](INFO): DAT read: Rx Time:21:57:15.3401 

2025-10-26T21:57:16.555Z,1761515836.555 [DAT](INFO): Rx dataTimestamp_ set to:1761515836.554370
2025-10-26T21:57:16.556Z,1761515836.556 [DAT](INFO): DAT read: Bearing  81.8, -36.9 (Local)

2025-10-26T21:57:16.557Z,1761515836.557 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.8, -36.9 (Local)

2025-10-26T21:57:16.559Z,1761515836.559 [DAT](INFO): DAT read: Range 11 to 50 :     3.5 m (trip time 2.3 ms) speed -0.4

2025-10-26T21:57:16.564Z,1761515836.564 [DAT](INFO): DAT read: 21:57:15.3401 LVL= 26704, 15425, 15314, 26275, AGC= 40, IDX= 498, 0.03,-1.704, 0.511,-0.475,-0.172, PHS=-1.430, 0.729,-0.346, RAW= 299.9,  11.2, CAL= 297.3,  15.2, ROT= 212.7, -15.2

2025-10-26T21:57:16.566Z,1761515836.566 [DAT](INFO): got valid direction response:
 21:57:15.3401 LVL= 26704, 15425, 15314, 26275, AGC= 40, IDX= 498, 0.03,-1.704, 0.511,-0.475,-0.172, PHS=-1.430, 0.729,-0.346, RAW= 299.9,  11.2, CAL= 297.3,  15.2, ROT= 212.7, -15.2

2025-10-26T21:57:16.566Z,1761515836.566 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-10-26T21:57:16.568Z,1761515836.568 [DAT](INFO): direction in FSK: [-0.812072,-0.521341,0.262189]
2025-10-26T21:57:16.569Z,1761515836.569 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:16.575Z,1761515836.575 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.497337
2025-10-26T21:57:16.750Z,1761515836.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495936,-0.843586,-0.205935],[0.867810,-0.473050,-0.152086],[0.030881,-0.254137,0.966675]]
2025-10-26T21:57:16.797Z,1761515836.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.500642 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:16.805Z,1761515836.805 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.727280
2025-10-26T21:57:16.799Z,1761515836.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.478587 m,
      bearing: 327.726710 deg,
      lat: 36.779402 deg,
      lon: -121.859470 deg,
      deltaT: 0.500642 s,
      deltaX: 0.000021 m,
      approachRate: 0.000042 m/s,
      posRepo size: 4

2025-10-26T21:57:16.884Z,1761515836.884 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:57:17.057Z,1761515837.057 [DAT](INFO): DAT read: Rx Time:21:57:15.8404 

2025-10-26T21:57:17.058Z,1761515837.058 [DAT](INFO): Rx dataTimestamp_ set to:1761515837.057271
2025-10-26T21:57:17.059Z,1761515837.059 [DAT](INFO): DAT read: Bearing  83.4, -32.4 (Local)

2025-10-26T21:57:17.059Z,1761515837.059 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.4, -32.4 (Local)

2025-10-26T21:57:17.061Z,1761515837.061 [DAT](INFO): DAT read: Range 11 to 50 :     3.9 m (trip time 2.6 ms) speed -0.4

2025-10-26T21:57:17.066Z,1761515837.066 [DAT](INFO): DAT read: 21:57:15.8404 LVL= 30160, 16257, 20242, 32755, AGC= 41, IDX= 501,-0.16, 2.976,-1.106,-2.213,-1.866, PHS=-1.339, 0.804,-0.391, RAW= 303.8,  10.0, CAL= 301.4,  12.4, ROT= 208.6, -12.4

2025-10-26T21:57:17.067Z,1761515837.067 [DAT](INFO): got valid direction response:
 21:57:15.8404 LVL= 30160, 16257, 20242, 32755, AGC= 41, IDX= 501,-0.16, 2.976,-1.106,-2.213,-1.866, PHS=-1.339, 0.804,-0.391, RAW= 303.8,  10.0, CAL= 301.4,  12.4, ROT= 208.6, -12.4

2025-10-26T21:57:17.067Z,1761515837.067 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-10-26T21:57:17.068Z,1761515837.068 [DAT](INFO): direction in FSK: [-0.857502,-0.467525,0.214735]
2025-10-26T21:57:17.069Z,1761515837.069 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:17.075Z,1761515837.075 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.997322
2025-10-26T21:57:17.133Z,1761515837.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485877,-0.849222,-0.206752],[0.873549,-0.464006,-0.147001],[0.028903,-0.252032,0.967287]]
2025-10-26T21:57:17.260Z,1761515837.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.900000 m,
      deltaT: 0.502901 s,
      deltaX: 0.400000 m,
      approachRate: 0.795385 m/s,
      rangeRepo size: 4

2025-10-26T21:57:17.262Z,1761515837.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.876140 m,
      bearing: 323.767167 deg,
      lat: 36.779402 deg,
      lon: -121.859470 deg,
      deltaT: 0.502901 s,
      deltaX: 0.397553 m,
      approachRate: 0.790519 m/s,
      posRepo size: 4

2025-10-26T21:57:17.309Z,1761515837.309 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.231625
2025-10-26T21:57:17.534Z,1761515837.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476643,-0.855264,-0.203310],[0.878676,-0.456343,-0.140284],[0.027200,-0.245509,0.969012]]
2025-10-26T21:57:17.550Z,1761515837.550 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:57:17.561Z,1761515837.561 [DAT](INFO): DAT read: Rx Time:21:57:16.3405 

2025-10-26T21:57:17.561Z,1761515837.561 [DAT](INFO): Rx dataTimestamp_ set to:1761515837.561209
2025-10-26T21:57:17.563Z,1761515837.563 [DAT](INFO): DAT read: Bearing  85.5, -29.4 (Local)

2025-10-26T21:57:17.563Z,1761515837.563 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.5, -29.4 (Local)

2025-10-26T21:57:17.565Z,1761515837.565 [DAT](INFO): DAT read: Range 11 to 50 :     4.1 m (trip time 2.7 ms) speed -0.4

2025-10-26T21:57:17.570Z,1761515837.570 [DAT](INFO): DAT read: 21:57:16.3405 LVL= 31328, 17073, 18242, 32755, AGC= 42, IDX= 501, 0.37,-2.381,-0.176,-1.358,-1.010, PHS=-1.269, 0.879,-0.392, RAW= 306.0,   8.4, CAL= 303.8,   9.3, ROT= 206.2,  -9.3

2025-10-26T21:57:17.571Z,1761515837.571 [DAT](INFO): got valid direction response:
 21:57:16.3405 LVL= 31328, 17073, 18242, 32755, AGC= 42, IDX= 501, 0.37,-2.381,-0.176,-1.358,-1.010, PHS=-1.269, 0.879,-0.392, RAW= 306.0,   8.4, CAL= 303.8,   9.3, ROT= 206.2,  -9.3

2025-10-26T21:57:17.571Z,1761515837.571 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-10-26T21:57:17.572Z,1761515837.572 [DAT](INFO): direction in FSK: [-0.885465,-0.435703,0.161604]
2025-10-26T21:57:17.573Z,1761515837.573 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:17.602Z,1761515837.602 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.524548
2025-10-26T21:57:17.812Z,1761515837.812 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.734932
2025-10-26T21:57:17.888Z,1761515837.888 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:57:17.969Z,1761515837.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467852,-0.860729,-0.200647],[0.883445,-0.448951,-0.134046],[0.025297,-0.239974,0.970450]]
2025-10-26T21:57:17.993Z,1761515837.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.503938 s,
      deltaX: 0.200000 m,
      approachRate: 0.396874 m/s,
      rangeRepo size: 4

2025-10-26T21:57:17.995Z,1761515837.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.074921 m,
      bearing: 321.210188 deg,
      lat: 36.779402 deg,
      lon: -121.859470 deg,
      deltaT: 0.503938 s,
      deltaX: 0.198781 m,
      approachRate: 0.394455 m/s,
      posRepo size: 4

2025-10-26T21:57:18.070Z,1761515838.070 [DAT](INFO): DAT read: Rx Time:21:57:16.8407 

2025-10-26T21:57:18.072Z,1761515838.072 [DAT](INFO): Rx dataTimestamp_ set to:1761515838.070453
2025-10-26T21:57:18.075Z,1761515838.075 [DAT](INFO): DAT read: Bearing  92.3, -34.1 (Local)

2025-10-26T21:57:18.076Z,1761515838.076 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.3, -34.1 (Local)

2025-10-26T21:57:18.087Z,1761515838.087 [DAT](INFO): DAT read: Range 11 to 50 :     4.4 m (trip time 2.9 ms) speed -0.4

2025-10-26T21:57:18.108Z,1761515838.108 [DAT](INFO): DAT read: 21:57:16.8407 LVL= 32752, 21985, 16850, 32755, AGC= 44, IDX= 504, 0.01,-1.868, 0.408,-0.606,-0.467, PHS=-1.298, 0.921,-0.183, RAW= 299.8,   5.9, CAL= 297.5,   3.9, ROT= 212.5,  -3.9

2025-10-26T21:57:18.110Z,1761515838.110 [DAT](INFO): got valid direction response:
 21:57:16.8407 LVL= 32752, 21985, 16850, 32755, AGC= 44, IDX= 504, 0.01,-1.868, 0.408,-0.606,-0.467, PHS=-1.298, 0.921,-0.183, RAW= 299.8,   5.9, CAL= 297.5,   3.9, ROT= 212.5,  -3.9

2025-10-26T21:57:18.110Z,1761515838.110 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-10-26T21:57:18.118Z,1761515838.118 [DAT](INFO): direction in FSK: [-0.841438,-0.536055,0.068015]
2025-10-26T21:57:18.118Z,1761515838.118 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:18.126Z,1761515838.126 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.048546
2025-10-26T21:57:18.316Z,1761515838.316 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.238911
2025-10-26T21:57:18.341Z,1761515838.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459482,-0.865854,-0.197921],[0.887884,-0.441951,-0.127835],[0.023215,-0.234469,0.971846]]
2025-10-26T21:57:18.443Z,1761515838.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.400000 m,
      deltaT: 0.509244 s,
      deltaX: 0.300000 m,
      approachRate: 0.589109 m/s,
      rangeRepo size: 4

2025-10-26T21:57:18.464Z,1761515838.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.373086 m,
      bearing: 328.213333 deg,
      lat: 36.779402 deg,
      lon: -121.859469 deg,
      deltaT: 0.509244 s,
      deltaX: 0.298165 m,
      approachRate: 0.585506 m/s,
      posRepo size: 4

2025-10-26T21:57:18.569Z,1761515838.569 [DAT](INFO): DAT read: Rx Time:21:57:17.3408 

2025-10-26T21:57:18.570Z,1761515838.570 [DAT](INFO): Rx dataTimestamp_ set to:1761515838.569261
2025-10-26T21:57:18.571Z,1761515838.571 [DAT](INFO): DAT read: Bearing  94.2, -36.2 (Local)

2025-10-26T21:57:18.571Z,1761515838.571 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.2, -36.2 (Local)

2025-10-26T21:57:18.573Z,1761515838.573 [DAT](INFO): DAT read: Range 11 to 50 :     4.5 m (trip time 3.0 ms) speed -0.4

2025-10-26T21:57:18.580Z,1761515838.580 [DAT](INFO): DAT read: 21:57:17.3408 LVL= 32752, 21489, 19826, 32755, AGC= 45, IDX= 505,-0.31, 1.626,-2.329, 3.014, 3.070, PHS=-1.342, 0.929,-0.100, RAW= 296.9,   5.3, CAL= 294.7,   2.1, ROT= 215.3,  -2.1

2025-10-26T21:57:18.588Z,1761515838.588 [DAT](INFO): got valid direction response:
 21:57:17.3408 LVL= 32752, 21489, 19826, 32755, AGC= 45, IDX= 505,-0.31, 1.626,-2.329, 3.014, 3.070, PHS=-1.342, 0.929,-0.100, RAW= 296.9,   5.3, CAL= 294.7,   2.1, ROT= 215.3,  -2.1

2025-10-26T21:57:18.589Z,1761515838.589 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-10-26T21:57:18.590Z,1761515838.590 [DAT](INFO): direction in FSK: [-0.815589,-0.577470,0.036644]
2025-10-26T21:57:18.591Z,1761515838.591 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:18.606Z,1761515838.606 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.528061
2025-10-26T21:57:18.812Z,1761515838.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.500000 m,
      deltaT: 0.498808 s,
      deltaX: 0.100000 m,
      approachRate: 0.200478 m/s,
      rangeRepo size: 4

2025-10-26T21:57:18.814Z,1761515838.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.472459 m,
      bearing: 331.367256 deg,
      lat: 36.779403 deg,
      lon: -121.859469 deg,
      deltaT: 0.498808 s,
      deltaX: 0.099373 m,
      approachRate: 0.199222 m/s,
      posRepo size: 4

2025-10-26T21:57:18.815Z,1761515838.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 4.50 m. Rolling out.
2025-10-26T21:57:18.816Z,1761515838.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-10-26T21:57:18.820Z,1761515838.820 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.743019
2025-10-26T21:57:18.897Z,1761515838.897 [DockingStepper](INFO): Changing to mode: 1
2025-10-26T21:57:19.078Z,1761515839.078 [DAT](INFO): DAT read: Rx Time:21:57:17.8410 

2025-10-26T21:57:19.080Z,1761515839.080 [DAT](INFO): Rx dataTimestamp_ set to:1761515839.078663
2025-10-26T21:57:19.084Z,1761515839.084 [DAT](INFO): DAT read: Bearing  89.0, -33.9 (Local)

2025-10-26T21:57:19.085Z,1761515839.085 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.0, -33.9 (Local)

2025-10-26T21:57:19.089Z,1761515839.089 [DAT](INFO): DAT read: Range 11 to 50 :     4.8 m (trip time 3.2 ms) speed -0.4

2025-10-26T21:57:19.096Z,1761515839.096 [DAT](INFO): DAT read: 21:57:17.8410 LVL= 32752, 19041, 21954, 32755, AGC= 45, IDX= 507, 0.17,-1.106, 1.205, 0.163, 0.328, PHS=-1.332, 0.922,-0.209, RAW= 300.1,   6.4, CAL= 297.7,   5.0, ROT= 212.3,  -5.0

2025-10-26T21:57:19.098Z,1761515839.098 [DAT](INFO): got valid direction response:
 21:57:17.8410 LVL= 32752, 19041, 21954, 32755, AGC= 45, IDX= 507, 0.17,-1.106, 1.205, 0.163, 0.328, PHS=-1.332, 0.922,-0.209, RAW= 300.1,   6.4, CAL= 297.7,   5.0, ROT= 212.3,  -5.0

2025-10-26T21:57:19.099Z,1761515839.099 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-10-26T21:57:19.109Z,1761515839.109 [DAT](INFO): direction in FSK: [-0.842045,-0.532319,0.087156]
2025-10-26T21:57:19.109Z,1761515839.109 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:19.113Z,1761515839.113 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:57:19.113Z,1761515839.113 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:57:19.114Z,1761515839.114 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:57:19.186Z,1761515839.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444132,-0.874779,-0.193670],[0.895747,-0.428794,-0.117362],[0.019621,-0.225603,0.974022]]
2025-10-26T21:57:19.274Z,1761515839.274 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-10-26T21:57:19.274Z,1761515839.274 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T21:57:19.275Z,1761515839.275 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-10-26T21:57:19.280Z,1761515839.280 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 4.500000 m (mode  5.000000 count ).
2025-10-26T21:57:19.280Z,1761515839.280 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-10-26T21:57:19.280Z,1761515839.280 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-10-26T21:57:19.281Z,1761515839.281 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-10-26T21:57:19.281Z,1761515839.281 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T21:57:19.281Z,1761515839.281 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-10-26T21:57:19.282Z,1761515839.282 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with  1.000000 count pings  4.500000 m (mode  5.000000 count ).
2025-10-26T21:57:19.282Z,1761515839.282 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-10-26T21:57:19.282Z,1761515839.282 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-10-26T21:57:19.298Z,1761515839.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 0.509402 s,
      deltaX: 0.300000 m,
      approachRate: 0.588926 m/s,
      rangeRepo size: 4

2025-10-26T21:57:19.304Z,1761515839.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.770623 m,
      bearing: 326.905798 deg,
      lat: 36.779407 deg,
      lon: -121.859467 deg,
      deltaT: 0.509402 s,
      deltaX: 0.298164 m,
      approachRate: 0.585321 m/s,
      posRepo size: 4

2025-10-26T21:57:19.305Z,1761515839.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.77 m.
2025-10-26T21:57:19.306Z,1761515839.306 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-10-26T21:57:19.307Z,1761515839.307 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-26T21:57:19.307Z,1761515839.307 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-10-26T21:57:19.307Z,1761515839.307 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-10-26T21:57:19.324Z,1761515839.324 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:57:19.578Z,1761515839.578 [DAT](INFO): DAT read: Rx Time:21:57:18.3411 

2025-10-26T21:57:19.579Z,1761515839.579 [DAT](INFO): Rx dataTimestamp_ set to:1761515839.578497
2025-10-26T21:57:19.582Z,1761515839.582 [DAT](INFO): DAT read: Bearing  87.2, -30.4 (Local)

2025-10-26T21:57:19.583Z,1761515839.583 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.2, -30.4 (Local)

2025-10-26T21:57:19.586Z,1761515839.586 [DAT](INFO): DAT read: Range 11 to 50 :     5.0 m (trip time 3.3 ms) speed -0.4

2025-10-26T21:57:19.594Z,1761515839.594 [DAT](INFO): DAT read: 21:57:18.3411 LVL= 32704, 15409, 22706, 32755, AGC= 44, IDX= 508,-0.21, 2.555,-1.468,-2.605,-2.366, PHS=-1.261, 0.943,-0.283, RAW= 303.7,   6.3, CAL= 301.3,   5.2, ROT= 208.7,  -5.2

2025-10-26T21:57:19.596Z,1761515839.596 [DAT](INFO): got valid direction response:
 21:57:18.3411 LVL= 32704, 15409, 22706, 32755, AGC= 44, IDX= 508,-0.21, 2.555,-1.468,-2.605,-2.366, PHS=-1.261, 0.943,-0.283, RAW= 303.7,   6.3, CAL= 301.3,   5.2, ROT= 208.7,  -5.2

2025-10-26T21:57:19.596Z,1761515839.596 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:57:19.598Z,1761515839.598 [DAT](INFO): direction in FSK: [-0.873536,-0.478247,0.090633]
2025-10-26T21:57:19.599Z,1761515839.599 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:19.606Z,1761515839.606 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:57:19.606Z,1761515839.606 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:57:19.716Z,1761515839.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437021,-0.878375,-0.193573],[0.899278,-0.422470,-0.113217],[0.017668,-0.223554,0.974531]]
2025-10-26T21:57:19.764Z,1761515839.764 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-10-26T21:57:19.764Z,1761515839.764 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-10-26T21:57:19.764Z,1761515839.764 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-10-26T21:57:19.764Z,1761515839.764 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-10-26T21:57:19.789Z,1761515839.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.000000 m,
      deltaT: 0.499834 s,
      deltaX: 0.200000 m,
      approachRate: 0.400132 m/s,
      rangeRepo size: 4

2025-10-26T21:57:19.791Z,1761515839.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.969375 m,
      bearing: 322.871471 deg,
      lat: 36.779407 deg,
      lon: -121.859467 deg,
      deltaT: 0.499834 s,
      deltaX: 0.198752 m,
      approachRate: 0.397636 m/s,
      posRepo size: 4

2025-10-26T21:57:19.795Z,1761515839.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.97 m.
2025-10-26T21:57:19.828Z,1761515839.828 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:57:20.086Z,1761515840.086 [DAT](INFO): DAT read: Rx Time:21:57:18.8413 

2025-10-26T21:57:20.089Z,1761515840.089 [DAT](INFO): Rx dataTimestamp_ set to:1761515840.087583
2025-10-26T21:57:20.094Z,1761515840.094 [DAT](INFO): DAT read: Bearing  84.4, -28.9 (Local)

2025-10-26T21:57:20.095Z,1761515840.095 [DAT](INFO): Local bearing/azimuth received:
 Bearing  84.4, -28.9 (Local)

2025-10-26T21:57:20.115Z,1761515840.115 [DAT](INFO): DAT read: Range 11 to 50 :     5.3 m (trip time 3.5 ms) speed -0.4

2025-10-26T21:57:20.129Z,1761515840.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432143,-0.881659,-0.189554],[0.901656,-0.418588,-0.108634],[0.016433,-0.217858,0.975842]]
2025-10-26T21:57:20.136Z,1761515840.136 [DAT](INFO): DAT read: 21:57:18.8413 LVL= 32752, 21297, 23890, 32755, AGC= 45, IDX= 510, 0.29,-1.280, 0.932,-0.231, 0.063, PHS=-1.242, 0.914,-0.339, RAW= 305.4,   7.2, CAL= 303.0,   6.9, ROT= 207.0,  -6.9

2025-10-26T21:57:20.138Z,1761515840.138 [DAT](INFO): got valid direction response:
 21:57:18.8413 LVL= 32752, 21297, 23890, 32755, AGC= 45, IDX= 510, 0.29,-1.280, 0.932,-0.231, 0.063, PHS=-1.242, 0.914,-0.339, RAW= 305.4,   7.2, CAL= 303.0,   6.9, ROT= 207.0,  -6.9

2025-10-26T21:57:20.138Z,1761515840.138 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:57:20.139Z,1761515840.139 [DAT](INFO): direction in FSK: [-0.884553,-0.450702,0.120137]
2025-10-26T21:57:20.151Z,1761515840.151 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:20.155Z,1761515840.155 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:57:20.159Z,1761515840.159 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:57:20.242Z,1761515840.242 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-10-26T21:57:20.242Z,1761515840.242 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-10-26T21:57:20.243Z,1761515840.243 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-10-26T21:57:20.243Z,1761515840.243 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-10-26T21:57:20.269Z,1761515840.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.300000 m,
      deltaT: 0.509086 s,
      deltaX: 0.300000 m,
      approachRate: 0.589292 m/s,
      rangeRepo size: 4

2025-10-26T21:57:20.271Z,1761515840.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.267538 m,
      bearing: 320.587613 deg,
      lat: 36.779407 deg,
      lon: -121.859467 deg,
      deltaT: 0.509086 s,
      deltaX: 0.298162 m,
      approachRate: 0.585682 m/s,
      posRepo size: 4

2025-10-26T21:57:20.280Z,1761515840.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.27 m.
2025-10-26T21:57:20.333Z,1761515840.333 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:57:20.588Z,1761515840.588 [DAT](INFO): DAT read: Rx Time:21:57:19.3414 

2025-10-26T21:57:20.589Z,1761515840.589 [DAT](INFO): Rx dataTimestamp_ set to:1761515840.588570
2025-10-26T21:57:20.592Z,1761515840.592 [DAT](INFO): DAT read: Bearing  83.0, -28.1 (Local)

2025-10-26T21:57:20.592Z,1761515840.592 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.0, -28.1 (Local)

2025-10-26T21:57:20.595Z,1761515840.595 [DAT](INFO): DAT read: Range 11 to 50 :     5.4 m (trip time 3.6 ms) speed -0.4

2025-10-26T21:57:20.639Z,1761515840.639 [DAT](INFO): DAT read: 21:57:19.3414 LVL= 32752, 21041, 24114, 32755, AGC= 44, IDX= 511,-0.03, 0.994,-3.090, 2.014, 2.327, PHS=-1.231, 0.911,-0.357, RAW= 306.1,   7.3, CAL= 303.7,   7.2, ROT= 206.3,  -7.2

2025-10-26T21:57:20.676Z,1761515840.676 [DAT](INFO): got valid direction response:
 21:57:19.3414 LVL= 32752, 21041, 24114, 32755, AGC= 44, IDX= 511,-0.03, 0.994,-3.090, 2.014, 2.327, PHS=-1.231, 0.911,-0.357, RAW= 306.1,   7.3, CAL= 303.7,   7.2, ROT= 206.3,  -7.2

2025-10-26T21:57:20.676Z,1761515840.676 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:57:20.677Z,1761515840.677 [DAT](INFO): direction in FSK: [-0.889417,-0.439577,0.125333]
2025-10-26T21:57:20.677Z,1761515840.677 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:20.682Z,1761515840.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426490,-0.889789,-0.162427],[0.904392,-0.416826,-0.091279],[0.013515,-0.185827,0.982489]]
2025-10-26T21:57:20.689Z,1761515840.689 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:57:20.689Z,1761515840.689 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:57:20.753Z,1761515840.753 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-10-26T21:57:20.753Z,1761515840.753 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T21:57:20.753Z,1761515840.753 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-10-26T21:57:20.754Z,1761515840.754 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T21:57:20.754Z,1761515840.754 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-10-26T21:57:20.754Z,1761515840.754 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T21:57:20.754Z,1761515840.754 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-10-26T21:57:20.755Z,1761515840.755 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T21:57:20.769Z,1761515840.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.400000 m,
      deltaT: 0.500987 s,
      deltaX: 0.100000 m,
      approachRate: 0.199606 m/s,
      rangeRepo size: 4

2025-10-26T21:57:20.776Z,1761515840.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.366916 m,
      bearing: 319.857526 deg,
      lat: 36.779406 deg,
      lon: -121.859469 deg,
      deltaT: 0.500987 s,
      deltaX: 0.099379 m,
      approachRate: 0.198366 m/s,
      posRepo size: 4

2025-10-26T21:57:20.776Z,1761515840.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.37 m.
2025-10-26T21:57:20.838Z,1761515840.838 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:57:21.093Z,1761515841.093 [DAT](INFO): DAT read: Rx Time:21:57:19.8415 

2025-10-26T21:57:21.095Z,1761515841.095 [DAT](INFO): Rx dataTimestamp_ set to:1761515841.093958
2025-10-26T21:57:21.101Z,1761515841.101 [DAT](INFO): DAT read: Range 11 to 50 :     5.6 m (trip time 3.7 ms) speed -0.4

2025-10-26T21:57:21.119Z,1761515841.119 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-26T21:57:21.120Z,1761515841.120 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:57:21.120Z,1761515841.120 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:57:21.134Z,1761515841.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424478,-0.893044,-0.149302],[0.905372,-0.416640,-0.081933],[0.010964,-0.169952,0.985391]]
2025-10-26T21:57:21.212Z,1761515841.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.600000 m,
      deltaT: 0.505388 s,
      deltaX: 0.200000 m,
      approachRate: 0.395735 m/s,
      rangeRepo size: 4

2025-10-26T21:57:21.213Z,1761515841.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.37 m.
2025-10-26T21:57:21.340Z,1761515841.340 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:57:21.599Z,1761515841.599 [DAT](INFO): DAT read: Rx Time:21:57:20.3415 

2025-10-26T21:57:21.600Z,1761515841.600 [DAT](INFO): Rx dataTimestamp_ set to:1761515841.598996
2025-10-26T21:57:21.602Z,1761515841.602 [DAT](INFO): DAT read: Bearing  56.7, -40.1 (Local)

2025-10-26T21:57:21.603Z,1761515841.603 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.7, -40.1 (Local)

2025-10-26T21:57:21.607Z,1761515841.607 [DAT](INFO): DAT read: Range 11 to 50 :     5.6 m (trip time 3.7 ms) speed -0.4

2025-10-26T21:57:21.636Z,1761515841.636 [DAT](INFO): DAT read: 21:57:20.3415 LVL= 32752, 23153, 24642, 32755, AGC= 46, IDX= 513,-0.14, 2.307,-2.046,-2.627,-2.264, PHS=-1.611, 0.263,-0.407, RAW= 290.6,  20.7, CAL= 290.3,  27.5, ROT= 219.7, -27.5

2025-10-26T21:57:21.637Z,1761515841.637 [DAT](INFO): got valid direction response:
 21:57:20.3415 LVL= 32752, 23153, 24642, 32755, AGC= 46, IDX= 513,-0.14, 2.307,-2.046,-2.627,-2.264, PHS=-1.611, 0.263,-0.407, RAW= 290.6,  20.7, CAL= 290.3,  27.5, ROT= 219.7, -27.5

2025-10-26T21:57:21.637Z,1761515841.637 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:57:21.638Z,1761515841.638 [DAT](INFO): direction in FSK: [-0.682466,-0.566594,0.461749]
2025-10-26T21:57:21.638Z,1761515841.638 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:21.646Z,1761515841.646 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:57:21.646Z,1761515841.646 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:57:21.761Z,1761515841.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422930,-0.895468,-0.138809],[0.906128,-0.416599,-0.073323],[0.007831,-0.156789,0.987601]]
2025-10-26T21:57:21.814Z,1761515841.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.600000 m,
      deltaT: 0.505038 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:21.821Z,1761515841.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.565704 m,
      bearing: 330.374278 deg,
      lat: 36.779406 deg,
      lon: -121.859469 deg,
      deltaT: 1.010426 s,
      deltaX: 0.198788 m,
      approachRate: 0.196737 m/s,
      posRepo size: 4

2025-10-26T21:57:21.821Z,1761515841.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.57 m.
2025-10-26T21:57:21.844Z,1761515841.844 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:57:22.102Z,1761515842.102 [DAT](INFO): DAT read: Rx Time:21:57:20.8416 

2025-10-26T21:57:22.106Z,1761515842.106 [DAT](INFO): Rx dataTimestamp_ set to:1761515842.102525
2025-10-26T21:57:22.110Z,1761515842.110 [DAT](INFO): DAT read: Bearing  79.9, -28.6 (Local)

2025-10-26T21:57:22.112Z,1761515842.112 [DAT](INFO): Local bearing/azimuth received:
 Bearing  79.9, -28.6 (Local)

2025-10-26T21:57:22.119Z,1761515842.119 [DAT](INFO): DAT read: Range 11 to 50 :     5.9 m (trip time 3.9 ms) speed -0.4

2025-10-26T21:57:22.135Z,1761515842.135 [DAT](INFO): DAT read: 21:57:20.8416 LVL= 32752, 22561, 23346, 32755, AGC= 50, IDX=   3, 0.07, 1.502,-2.620, 2.539, 2.843, PHS=-1.240, 0.864,-0.349, RAW= 305.1,   8.0, CAL= 302.7,   8.4, ROT= 207.3,  -8.4

2025-10-26T21:57:22.173Z,1761515842.173 [DAT](INFO): got valid direction response:
 21:57:20.8416 LVL= 32752, 22561, 23346, 32755, AGC= 50, IDX=   3, 0.07, 1.502,-2.620, 2.539, 2.843, PHS=-1.240, 0.864,-0.349, RAW= 305.1,   8.0, CAL= 302.7,   8.4, ROT= 207.3,  -8.4

2025-10-26T21:57:22.173Z,1761515842.173 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:57:22.181Z,1761515842.181 [DAT](INFO): direction in FSK: [-0.879084,-0.453729,0.146083]
2025-10-26T21:57:22.181Z,1761515842.181 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:22.218Z,1761515842.218 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:57:22.218Z,1761515842.218 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T21:57:22.237Z,1761515842.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421639,-0.898494,-0.122187],[0.906761,-0.417439,-0.059413],[0.002377,-0.135845,0.990727]]
2025-10-26T21:57:22.330Z,1761515842.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.900000 m,
      deltaT: 0.503529 s,
      deltaX: 0.300000 m,
      approachRate: 0.595795 m/s,
      rangeRepo size: 4

2025-10-26T21:57:22.336Z,1761515842.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.863867 m,
      bearing: 320.974074 deg,
      lat: 36.779406 deg,
      lon: -121.859469 deg,
      deltaT: 0.503529 s,
      deltaX: 0.298163 m,
      approachRate: 0.592147 m/s,
      posRepo size: 4

2025-10-26T21:57:22.336Z,1761515842.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.86 m.
2025-10-26T21:57:22.348Z,1761515842.348 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:57:22.601Z,1761515842.601 [DAT](INFO): DAT read: user:420>

2025-10-26T21:57:22.602Z,1761515842.602 [DAT](INFO): DAT read: 120

2025-10-26T21:57:22.603Z,1761515842.603 [DAT](INFO): unknown deviceResponse_: 120

2025-10-26T21:57:22.603Z,1761515842.603 [DAT](INFO): DAT read: Ok

2025-10-26T21:57:22.603Z,1761515842.603 [DAT](INFO): unknown deviceResponse_: Ok

2025-10-26T21:57:22.604Z,1761515842.604 [DAT](INFO): DAT read: user:421>

2025-10-26T21:57:22.606Z,1761515842.606 [DAT](INFO): DAT read: Tx time:21:57:21.7900

2025-10-26T21:57:22.606Z,1761515842.606 [DAT](INFO): Ping request sent.
2025-10-26T21:57:22.606Z,1761515842.606 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:57:22.607Z,1761515842.607 [DAT](INFO): publishing transmit ping time
2025-10-26T21:57:22.607Z,1761515842.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-10-26T21:57:22.744Z,1761515842.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422078,-0.898978,-0.116997],[0.906559,-0.418559,-0.054390],[-0.000075,-0.129022,0.991642]]
2025-10-26T21:57:22.782Z,1761515842.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.86 m.
2025-10-26T21:57:22.852Z,1761515842.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245928
2025-10-26T21:57:23.108Z,1761515843.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500658
2025-10-26T21:57:23.162Z,1761515843.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423124,-0.899059,-0.112509],[0.906069,-0.420171,-0.049958],[-0.002358,-0.123079,0.992394]]
2025-10-26T21:57:23.199Z,1761515843.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.86 m.
2025-10-26T21:57:23.356Z,1761515843.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749847
2025-10-26T21:57:23.550Z,1761515843.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424300,-0.899246,-0.106419],[0.905511,-0.421912,-0.045164],[-0.004286,-0.115527,0.993295]]
2025-10-26T21:57:23.568Z,1761515843.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.86 m.
2025-10-26T21:57:23.608Z,1761515843.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002047
2025-10-26T21:57:23.860Z,1761515843.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253954
2025-10-26T21:57:23.954Z,1761515843.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425614,-0.899316,-0.100412],[0.904887,-0.423678,-0.040953],[-0.005712,-0.108292,0.994103]]
2025-10-26T21:57:23.980Z,1761515843.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.86 m.
2025-10-26T21:57:24.115Z,1761515844.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508177
2025-10-26T21:57:24.364Z,1761515844.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757931
2025-10-26T21:57:24.396Z,1761515844.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426885,-0.899534,-0.092780],[0.904282,-0.425359,-0.036653],[-0.006494,-0.099546,0.995012]]
2025-10-26T21:57:24.447Z,1761515844.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.86 m.
2025-10-26T21:57:24.616Z,1761515844.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009923
2025-10-26T21:57:24.868Z,1761515844.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261983
2025-10-26T21:57:24.873Z,1761515844.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.86 m.
2025-10-26T21:57:25.126Z,1761515845.126 [DAT](INFO): DAT read: Rx Time:21:57:23.9275 

2025-10-26T21:57:25.128Z,1761515845.128 [DAT](INFO): Rx dataTimestamp_ set to:1761515845.126693
2025-10-26T21:57:25.132Z,1761515845.132 [DAT](INFO): DAT read: Bearing  83.8, -30.8 (Local)

2025-10-26T21:57:25.134Z,1761515845.134 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.8, -30.8 (Local)

2025-10-26T21:57:25.146Z,1761515845.146 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed -0.4

2025-10-26T21:57:25.177Z,1761515845.177 [DAT](INFO): DAT read: 21:57:23.9275 LVL= 32752, 26577, 32754, 32755, AGC= 56, IDX=  66, 0.01,-1.137, 1.070, 0.026, 0.200, PHS=-1.235, 0.915,-0.218, RAW= 301.8,   5.8, CAL= 299.4,   4.0, ROT= 210.6,  -4.0

2025-10-26T21:57:25.178Z,1761515845.178 [DAT](INFO): got valid direction response:
 21:57:23.9275 LVL= 32752, 26577, 32754, 32755, AGC= 56, IDX=  66, 0.01,-1.137, 1.070, 0.026, 0.200, PHS=-1.235, 0.915,-0.218, RAW= 301.8,   5.8, CAL= 299.4,   4.0, ROT= 210.6,  -4.0

2025-10-26T21:57:25.179Z,1761515845.179 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:57:25.184Z,1761515845.184 [DAT](INFO): direction in FSK: [-0.858645,-0.507801,0.069756]
2025-10-26T21:57:25.184Z,1761515845.184 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:25.192Z,1761515845.192 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.585453
2025-10-26T21:57:25.315Z,1761515845.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431217,-0.898286,-0.084465],[0.902228,-0.429936,-0.033751],[-0.005996,-0.090761,0.995855]]
2025-10-26T21:57:25.373Z,1761515845.373 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.766083
2025-10-26T21:57:25.377Z,1761515845.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 3.024168 s,
      deltaX: 0.300000 m,
      approachRate: 0.099201 m/s,
      rangeRepo size: 4

2025-10-26T21:57:25.383Z,1761515845.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.162061 m,
      bearing: 325.747449 deg,
      lat: 36.779405 deg,
      lon: -121.859468 deg,
      deltaT: 3.024168 s,
      deltaX: 0.298194 m,
      approachRate: 0.098604 m/s,
      posRepo size: 4

2025-10-26T21:57:25.384Z,1761515845.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:57:25.626Z,1761515845.626 [DAT](INFO): DAT read: Rx Time:21:57:24.4274 

2025-10-26T21:57:25.626Z,1761515845.626 [DAT](INFO): Rx dataTimestamp_ set to:1761515845.626014
2025-10-26T21:57:25.628Z,1761515845.628 [DAT](INFO): DAT read: Bearing  86.2, -30.6 (Local)

2025-10-26T21:57:25.629Z,1761515845.629 [DAT](INFO): Local bearing/azimuth received:
 Bearing  86.2, -30.6 (Local)

2025-10-26T21:57:25.631Z,1761515845.631 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed -0.4

2025-10-26T21:57:25.656Z,1761515845.656 [DAT](INFO): DAT read: 21:57:24.4274 LVL= 32752, 21025, 29986, 32755, AGC= 52, IDX= 497, 0.33,-2.770,-0.543,-1.599,-1.454, PHS=-1.213, 0.956,-0.189, RAW= 301.8,   4.8, CAL= 299.4,   1.9, ROT= 210.6,  -1.9

2025-10-26T21:57:25.657Z,1761515845.657 [DAT](INFO): got valid direction response:
 21:57:24.4274 LVL= 32752, 21025, 29986, 32755, AGC= 52, IDX= 497, 0.33,-2.770,-0.543,-1.599,-1.454, PHS=-1.213, 0.956,-0.189, RAW= 301.8,   4.8, CAL= 299.4,   1.9, ROT= 210.6,  -1.9

2025-10-26T21:57:25.658Z,1761515845.658 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T21:57:25.659Z,1761515845.659 [DAT](INFO): direction in FSK: [-0.860269,-0.508762,0.033155]
2025-10-26T21:57:25.659Z,1761515845.659 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:25.667Z,1761515845.667 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.060220
2025-10-26T21:57:25.768Z,1761515845.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433327,-0.897491,-0.082086],[0.901223,-0.432016,-0.034037],[-0.004915,-0.088727,0.996044]]
2025-10-26T21:57:25.816Z,1761515845.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.499321 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:25.818Z,1761515845.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.162083 m,
      bearing: 326.045876 deg,
      lat: 36.779405 deg,
      lon: -121.859455 deg,
      deltaT: 0.499321 s,
      deltaX: 0.000022 m,
      approachRate: 0.000044 m/s,
      posRepo size: 4

2025-10-26T21:57:25.818Z,1761515845.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m.
2025-10-26T21:57:25.876Z,1761515845.876 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.270048
2025-10-26T21:57:26.129Z,1761515846.129 [DAT](INFO): DAT read: Rx Time:21:57:24.9277 

2025-10-26T21:57:26.130Z,1761515846.130 [DAT](INFO): Rx dataTimestamp_ set to:1761515846.129242
2025-10-26T21:57:26.131Z,1761515846.131 [DAT](INFO): DAT read: Bearing  87.4, -30.5 (Local)

2025-10-26T21:57:26.131Z,1761515846.131 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.4, -30.5 (Local)

2025-10-26T21:57:26.133Z,1761515846.133 [DAT](INFO): DAT read: Range 11 to 50 :     6.5 m (trip time 4.3 ms) speed -0.4

2025-10-26T21:57:26.144Z,1761515846.144 [DAT](INFO): DAT read: 21:57:24.9277 LVL= 32752, 20417, 32754, 32755, AGC= 55, IDX=   4,-0.13, 2.771,-1.282,-2.342,-2.211, PHS=-1.199, 0.974,-0.175, RAW= 301.9,   4.3, CAL= 299.5,   0.9, ROT= 210.5,  -0.9

2025-10-26T21:57:26.150Z,1761515846.150 [DAT](INFO): got valid direction response:
 21:57:24.9277 LVL= 32752, 20417, 32754, 32755, AGC= 55, IDX=   4,-0.13, 2.771,-1.282,-2.342,-2.211, PHS=-1.199, 0.974,-0.175, RAW= 301.9,   4.3, CAL= 299.5,   0.9, ROT= 210.5,  -0.9

2025-10-26T21:57:26.152Z,1761515846.152 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-10-26T21:57:26.157Z,1761515846.157 [DAT](INFO): direction in FSK: [-0.861523,-0.507476,0.015707]
2025-10-26T21:57:26.157Z,1761515846.157 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:26.213Z,1761515846.213 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.606977
2025-10-26T21:57:26.355Z,1761515846.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.500000 m,
      deltaT: 0.503228 s,
      deltaX: 0.300000 m,
      approachRate: 0.596152 m/s,
      rangeRepo size: 4

2025-10-26T21:57:26.365Z,1761515846.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.460249 m,
      bearing: 326.020220 deg,
      lat: 36.779405 deg,
      lon: -121.859455 deg,
      deltaT: 0.503228 s,
      deltaX: 0.298166 m,
      approachRate: 0.592506 m/s,
      posRepo size: 4

2025-10-26T21:57:26.366Z,1761515846.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.46 m.
2025-10-26T21:57:26.380Z,1761515846.380 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.773988
2025-10-26T21:57:26.634Z,1761515846.634 [DAT](INFO): DAT read: Rx Time:21:57:25.4277 

2025-10-26T21:57:26.635Z,1761515846.635 [DAT](INFO): Rx dataTimestamp_ set to:1761515846.633995
2025-10-26T21:57:26.636Z,1761515846.636 [DAT](INFO): DAT read: Bearing  88.8, -30.4 (Local)

2025-10-26T21:57:26.637Z,1761515846.637 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.8, -30.4 (Local)

2025-10-26T21:57:26.648Z,1761515846.648 [DAT](INFO): DAT read: Range 11 to 50 :     6.5 m (trip time 4.3 ms) speed -0.4

2025-10-26T21:57:26.652Z,1761515846.652 [DAT](INFO): DAT read: 21:57:25.4277 LVL= 32752, 22353, 32754, 32755, AGC= 53, IDX= 500, 0.18,-2.933,-0.691,-1.754,-1.650, PHS=-1.181, 1.004,-0.148, RAW= 301.8,   3.5, CAL= 299.5,  -0.4, ROT= 210.5,   0.4

2025-10-26T21:57:26.653Z,1761515846.653 [DAT](INFO): got valid direction response:
 21:57:25.4277 LVL= 32752, 22353, 32754, 32755, AGC= 53, IDX= 500, 0.18,-2.933,-0.691,-1.754,-1.650, PHS=-1.181, 1.004,-0.148, RAW= 301.8,   3.5, CAL= 299.5,  -0.4, ROT= 210.5,   0.4

2025-10-26T21:57:26.654Z,1761515846.654 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-26T21:57:26.655Z,1761515846.655 [DAT](INFO): direction in FSK: [-0.861608,-0.507526,-0.006981]
2025-10-26T21:57:26.683Z,1761515846.683 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:26.693Z,1761515846.693 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.086641
2025-10-26T21:57:26.788Z,1761515846.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437436,-0.895783,-0.078878],[0.899248,-0.435914,-0.036500],[-0.001688,-0.086897,0.996216]]
2025-10-26T21:57:26.843Z,1761515846.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.500000 m,
      deltaT: 0.504753 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:26.849Z,1761515846.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.460284 m,
      bearing: 326.377419 deg,
      lat: 36.779406 deg,
      lon: -121.859454 deg,
      deltaT: 0.504753 s,
      deltaX: 0.000035 m,
      approachRate: 0.000070 m/s,
      posRepo size: 4

2025-10-26T21:57:26.850Z,1761515846.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.46 m.
2025-10-26T21:57:26.885Z,1761515846.885 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.278084
2025-10-26T21:57:27.140Z,1761515847.140 [DAT](INFO): DAT read: Rx Time:21:57:25.9280 

2025-10-26T21:57:27.141Z,1761515847.141 [DAT](INFO): Rx dataTimestamp_ set to:1761515847.140147
2025-10-26T21:57:27.145Z,1761515847.145 [DAT](INFO): DAT read: Bearing  87.1, -29.1 (Local)

2025-10-26T21:57:27.146Z,1761515847.146 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.1, -29.1 (Local)

2025-10-26T21:57:27.152Z,1761515847.152 [DAT](INFO): DAT read: Range 11 to 50 :     6.9 m (trip time 4.6 ms) speed -0.4

2025-10-26T21:57:27.212Z,1761515847.212 [DAT](INFO): DAT read: 21:57:25.9280 LVL= 32752, 21137, 31890, 32755, AGC= 53, IDX= 503,-0.34, 2.974,-1.071,-2.181,-2.022, PHS=-1.185, 0.996,-0.203, RAW= 303.3,   4.2, CAL= 300.9,   0.9, ROT= 209.1,  -0.9

2025-10-26T21:57:27.213Z,1761515847.213 [DAT](INFO): got valid direction response:
 21:57:25.9280 LVL= 32752, 21137, 31890, 32755, AGC= 53, IDX= 503,-0.34, 2.974,-1.071,-2.181,-2.022, PHS=-1.185, 0.996,-0.203, RAW= 303.3,   4.2, CAL= 300.9,   0.9, ROT= 209.1,  -0.9

2025-10-26T21:57:27.213Z,1761515847.213 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-10-26T21:57:27.214Z,1761515847.214 [DAT](INFO): direction in FSK: [-0.873664,-0.486276,0.015707]
2025-10-26T21:57:27.214Z,1761515847.214 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:27.230Z,1761515847.230 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.623817
2025-10-26T21:57:27.308Z,1761515847.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438541,-0.895150,-0.079925],[0.898711,-0.436845,-0.038529],[-0.000425,-0.088726,0.996056]]
2025-10-26T21:57:27.393Z,1761515847.393 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.785718
2025-10-26T21:57:27.419Z,1761515847.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.900000 m,
      deltaT: 0.506152 s,
      deltaX: 0.400000 m,
      approachRate: 0.790277 m/s,
      rangeRepo size: 4

2025-10-26T21:57:27.426Z,1761515847.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.857841 m,
      bearing: 324.945454 deg,
      lat: 36.779406 deg,
      lon: -121.859453 deg,
      deltaT: 0.506152 s,
      deltaX: 0.397556 m,
      approachRate: 0.785448 m/s,
      posRepo size: 4

2025-10-26T21:57:27.426Z,1761515847.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.86 m.
2025-10-26T21:57:27.642Z,1761515847.642 [DAT](INFO): DAT read: Rx Time:21:57:26.4280 

2025-10-26T21:57:27.643Z,1761515847.643 [DAT](INFO): Rx dataTimestamp_ set to:1761515847.642032
2025-10-26T21:57:27.644Z,1761515847.644 [DAT](INFO): DAT read: Bearing  87.2, -28.6 (Local)

2025-10-26T21:57:27.644Z,1761515847.644 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.2, -28.6 (Local)

2025-10-26T21:57:27.646Z,1761515847.646 [DAT](INFO): DAT read: Range 11 to 50 :     6.9 m (trip time 4.6 ms) speed -0.4

2025-10-26T21:57:27.651Z,1761515847.651 [DAT](INFO): DAT read: 21:57:26.4280 LVL= 32752, 20977, 32754, 32755, AGC= 54, IDX= 503, 0.04,-2.977,-0.748,-1.869,-1.703, PHS=-1.172, 1.000,-0.210, RAW= 303.8,   4.1, CAL= 301.4,   0.8, ROT= 208.6,  -0.8

2025-10-26T21:57:27.657Z,1761515847.657 [DAT](INFO): got valid direction response:
 21:57:26.4280 LVL= 32752, 20977, 32754, 32755, AGC= 54, IDX= 503, 0.04,-2.977,-0.748,-1.869,-1.703, PHS=-1.172, 1.000,-0.210, RAW= 303.8,   4.1, CAL= 301.4,   0.8, ROT= 208.6,  -0.8

2025-10-26T21:57:27.658Z,1761515847.658 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-26T21:57:27.659Z,1761515847.659 [DAT](INFO): direction in FSK: [-0.877897,-0.478645,0.013962]
2025-10-26T21:57:27.659Z,1761515847.659 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:27.663Z,1761515847.663 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.056108
2025-10-26T21:57:27.825Z,1761515847.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440584,-0.894078,-0.080690],[0.897709,-0.438595,-0.041869],[0.002044,-0.090883,0.995859]]
2025-10-26T21:57:27.868Z,1761515847.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.900000 m,
      deltaT: 0.501885 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:27.870Z,1761515847.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.857828 m,
      bearing: 324.574313 deg,
      lat: 36.779406 deg,
      lon: -121.859453 deg,
      deltaT: 0.501885 s,
      deltaX: -0.000012 m,
      approachRate: -0.000025 m/s,
      posRepo size: 4

2025-10-26T21:57:27.871Z,1761515847.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.86 m.
2025-10-26T21:57:27.892Z,1761515847.892 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.285970
2025-10-26T21:57:28.145Z,1761515848.145 [DAT](INFO): DAT read: Rx Time:21:57:26.9282 

2025-10-26T21:57:28.145Z,1761515848.145 [DAT](INFO): Rx dataTimestamp_ set to:1761515848.145136
2025-10-26T21:57:28.147Z,1761515848.147 [DAT](INFO): DAT read: Bearing  85.5, -27.8 (Local)

2025-10-26T21:57:28.147Z,1761515848.147 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.5, -27.8 (Local)

2025-10-26T21:57:28.149Z,1761515848.149 [DAT](INFO): DAT read: Range 11 to 50 :     7.2 m (trip time 4.8 ms) speed -0.4

2025-10-26T21:57:28.163Z,1761515848.163 [DAT](INFO): DAT read: 21:57:26.9282 LVL= 32752, 21121, 31922, 32755, AGC= 55, IDX= 505, 0.41,-0.830, 1.393, 0.243, 0.449, PHS=-1.177, 0.989,-0.250, RAW= 304.8,   4.7, CAL= 302.4,   2.1, ROT= 207.6,  -2.1

2025-10-26T21:57:28.164Z,1761515848.164 [DAT](INFO): got valid direction response:
 21:57:26.9282 LVL= 32752, 21121, 31922, 32755, AGC= 55, IDX= 505, 0.41,-0.830, 1.393, 0.243, 0.449, PHS=-1.177, 0.989,-0.250, RAW= 304.8,   4.7, CAL= 302.4,   2.1, ROT= 207.6,  -2.1

2025-10-26T21:57:28.164Z,1761515848.164 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-26T21:57:28.165Z,1761515848.165 [DAT](INFO): direction in FSK: [-0.885608,-0.462985,0.036644]
2025-10-26T21:57:28.166Z,1761515848.166 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:28.244Z,1761515848.244 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.637605
2025-10-26T21:57:28.362Z,1761515848.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.200000 m,
      deltaT: 0.503104 s,
      deltaX: 0.300000 m,
      approachRate: 0.596298 m/s,
      rangeRepo size: 4

2025-10-26T21:57:28.369Z,1761515848.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.155994 m,
      bearing: 323.469822 deg,
      lat: 36.779406 deg,
      lon: -121.859452 deg,
      deltaT: 0.503104 s,
      deltaX: 0.298166 m,
      approachRate: 0.592652 m/s,
      posRepo size: 4

2025-10-26T21:57:28.370Z,1761515848.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.16 m.
2025-10-26T21:57:28.399Z,1761515848.399 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.792155
2025-10-26T21:57:28.649Z,1761515848.649 [DAT](INFO): DAT read: Rx Time:21:57:27.4283 

2025-10-26T21:57:28.649Z,1761515848.649 [DAT](INFO): Rx dataTimestamp_ set to:1761515848.649052
2025-10-26T21:57:28.651Z,1761515848.651 [DAT](INFO): DAT read: Bearing  87.0, -26.3 (Local)

2025-10-26T21:57:28.651Z,1761515848.651 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.0, -26.3 (Local)

2025-10-26T21:57:28.653Z,1761515848.653 [DAT](INFO): DAT read: Range 11 to 50 :     7.4 m (trip time 4.9 ms) speed -0.4

2025-10-26T21:57:28.658Z,1761515848.658 [DAT](INFO): DAT read: 21:57:27.4283 LVL= 32752, 20017, 29826, 32755, AGC= 55, IDX= 506,-0.05, 2.481,-1.590,-2.777,-2.571, PHS=-1.129, 1.025,-0.251, RAW= 306.1,   3.8, CAL= 303.7,   0.6, ROT= 206.3,  -0.6

2025-10-26T21:57:28.659Z,1761515848.659 [DAT](INFO): got valid direction response:
 21:57:27.4283 LVL= 32752, 20017, 29826, 32755, AGC= 55, IDX= 506,-0.05, 2.481,-1.590,-2.777,-2.571, PHS=-1.129, 1.025,-0.251, RAW= 306.1,   3.8, CAL= 303.7,   0.6, ROT= 206.3,  -0.6

2025-10-26T21:57:28.659Z,1761515848.659 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-10-26T21:57:28.660Z,1761515848.660 [DAT](INFO): direction in FSK: [-0.896437,-0.443047,0.010472]
2025-10-26T21:57:28.660Z,1761515848.660 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:28.669Z,1761515848.669 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.062128
2025-10-26T21:57:28.765Z,1761515848.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441743,-0.893644,-0.079139],[0.897132,-0.439610,-0.043562],[0.004139,-0.090242,0.995911]]
2025-10-26T21:57:28.820Z,1761515848.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.400000 m,
      deltaT: 0.503916 s,
      deltaX: 0.200000 m,
      approachRate: 0.396892 m/s,
      rangeRepo size: 4

2025-10-26T21:57:28.822Z,1761515848.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.354790 m,
      bearing: 322.368759 deg,
      lat: 36.779406 deg,
      lon: -121.859452 deg,
      deltaT: 0.503916 s,
      deltaX: 0.198796 m,
      approachRate: 0.394503 m/s,
      posRepo size: 4

2025-10-26T21:57:28.823Z,1761515848.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.35 m.
2025-10-26T21:57:28.901Z,1761515848.901 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.294429
2025-10-26T21:57:29.156Z,1761515849.156 [DAT](INFO): DAT read: Rx Time:21:57:27.9284 

2025-10-26T21:57:29.157Z,1761515849.157 [DAT](INFO): Rx dataTimestamp_ set to:1761515849.156650
2025-10-26T21:57:29.158Z,1761515849.158 [DAT](INFO): DAT read: Bearing  85.4, -25.2 (Local)

2025-10-26T21:57:29.158Z,1761515849.158 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.4, -25.2 (Local)

2025-10-26T21:57:29.161Z,1761515849.161 [DAT](INFO): DAT read: Range 11 to 50 :     7.5 m (trip time 5.0 ms) speed -0.4

2025-10-26T21:57:29.171Z,1761515849.171 [DAT](INFO): DAT read: 21:57:27.9284 LVL= 32752, 20945, 30834, 32755, AGC= 54, IDX= 507, 0.33,-2.517,-0.343,-1.547,-1.300, PHS=-1.115, 1.002,-0.291, RAW= 307.3,   4.4, CAL= 304.9,   1.9, ROT= 205.1,  -1.9

2025-10-26T21:57:29.175Z,1761515849.175 [DAT](INFO): got valid direction response:
 21:57:27.9284 LVL= 32752, 20945, 30834, 32755, AGC= 54, IDX= 507, 0.33,-2.517,-0.343,-1.547,-1.300, PHS=-1.115, 1.002,-0.291, RAW= 307.3,   4.4, CAL= 304.9,   1.9, ROT= 205.1,  -1.9

2025-10-26T21:57:29.189Z,1761515849.189 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-10-26T21:57:29.192Z,1761515849.192 [DAT](INFO): direction in FSK: [-0.905071,-0.423966,0.033155]
2025-10-26T21:57:29.193Z,1761515849.193 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:29.238Z,1761515849.238 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.631865
2025-10-26T21:57:29.261Z,1761515849.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441510,-0.893912,-0.077392],[0.897244,-0.439403,-0.043346],[0.004741,-0.088578,0.996058]]
2025-10-26T21:57:29.366Z,1761515849.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.500000 m,
      deltaT: 0.507598 s,
      deltaX: 0.100000 m,
      approachRate: 0.197006 m/s,
      rangeRepo size: 4

2025-10-26T21:57:29.372Z,1761515849.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.454179 m,
      bearing: 321.053333 deg,
      lat: 36.779406 deg,
      lon: -121.859453 deg,
      deltaT: 0.507598 s,
      deltaX: 0.099389 m,
      approachRate: 0.195803 m/s,
      posRepo size: 4

2025-10-26T21:57:29.373Z,1761515849.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.45 m.
2025-10-26T21:57:29.404Z,1761515849.404 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.797897
2025-10-26T21:57:29.657Z,1761515849.657 [DAT](INFO): DAT read: Rx Time:21:57:28.4284 

2025-10-26T21:57:29.657Z,1761515849.657 [DAT](INFO): Rx dataTimestamp_ set to:1761515849.657197
2025-10-26T21:57:29.659Z,1761515849.659 [DAT](INFO): DAT read: Bearing  84.6, -24.2 (Local)

2025-10-26T21:57:29.659Z,1761515849.659 [DAT](INFO): Local bearing/azimuth received:
 Bearing  84.6, -24.2 (Local)

2025-10-26T21:57:29.661Z,1761515849.661 [DAT](INFO): DAT read: Range 11 to 50 :     7.5 m (trip time 5.0 ms) speed -0.4

2025-10-26T21:57:29.666Z,1761515849.666 [DAT](INFO): DAT read: 21:57:28.4284 LVL= 32752, 24161, 32754, 32755, AGC= 55, IDX= 508,-0.13, 0.462, 2.627, 1.396, 1.671, PHS=-1.107, 1.000,-0.319, RAW= 308.3,   4.7, CAL= 305.9,   2.5, ROT= 204.1,  -2.5

2025-10-26T21:57:29.667Z,1761515849.667 [DAT](INFO): got valid direction response:
 21:57:28.4284 LVL= 32752, 24161, 32754, 32755, AGC= 55, IDX= 508,-0.13, 0.462, 2.627, 1.396, 1.671, PHS=-1.107, 1.000,-0.319, RAW= 308.3,   4.7, CAL= 305.9,   2.5, ROT= 204.1,  -2.5

2025-10-26T21:57:29.668Z,1761515849.668 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-26T21:57:29.669Z,1761515849.669 [DAT](INFO): direction in FSK: [-0.911965,-0.407942,0.043619]
2025-10-26T21:57:29.669Z,1761515849.669 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:29.673Z,1761515849.673 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.066271
2025-10-26T21:57:29.789Z,1761515849.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441191,-0.894129,-0.076703],[0.897399,-0.439083,-0.043386],[0.005114,-0.087975,0.996110]]
2025-10-26T21:57:29.861Z,1761515849.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.500000 m,
      deltaT: 0.500547 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:29.867Z,1761515849.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.454202 m,
      bearing: 319.986808 deg,
      lat: 36.779406 deg,
      lon: -121.859453 deg,
      deltaT: 0.500547 s,
      deltaX: 0.000022 m,
      approachRate: 0.000045 m/s,
      posRepo size: 4

2025-10-26T21:57:29.868Z,1761515849.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.45 m.
2025-10-26T21:57:29.910Z,1761515849.910 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.302790
2025-10-26T21:57:30.161Z,1761515850.161 [DAT](INFO): DAT read: Rx Time:21:57:28.9287 

2025-10-26T21:57:30.161Z,1761515850.161 [DAT](INFO): Rx dataTimestamp_ set to:1761515850.161095
2025-10-26T21:57:30.163Z,1761515850.163 [DAT](INFO): DAT read: Bearing  84.0, -23.3 (Local)

2025-10-26T21:57:30.163Z,1761515850.163 [DAT](INFO): Local bearing/azimuth received:
 Bearing  84.0, -23.3 (Local)

2025-10-26T21:57:30.165Z,1761515850.165 [DAT](INFO): DAT read: Range 11 to 50 :     8.0 m (trip time 5.3 ms) speed -0.3

2025-10-26T21:57:30.170Z,1761515850.170 [DAT](INFO): DAT read: 21:57:28.9287 LVL= 32752, 24177, 32754, 32755, AGC= 54, IDX= 510, 0.07, 2.956,-1.201,-2.435,-2.144, PHS=-1.082, 0.988,-0.335, RAW= 309.1,   4.8, CAL= 306.8,   2.8, ROT= 203.2,  -2.8

2025-10-26T21:57:30.171Z,1761515850.171 [DAT](INFO): got valid direction response:
 21:57:28.9287 LVL= 32752, 24177, 32754, 32755, AGC= 54, IDX= 510, 0.07, 2.956,-1.201,-2.435,-2.144, PHS=-1.082, 0.988,-0.335, RAW= 309.1,   4.8, CAL= 306.8,   2.8, ROT= 203.2,  -2.8

2025-10-26T21:57:30.171Z,1761515850.171 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-10-26T21:57:30.172Z,1761515850.172 [DAT](INFO): direction in FSK: [-0.918038,-0.393472,0.048850]
2025-10-26T21:57:30.173Z,1761515850.173 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:30.176Z,1761515850.176 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.570025
2025-10-26T21:57:30.302Z,1761515850.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437315,-0.896342,-0.072990],[0.899302,-0.435556,-0.039331],[0.003463,-0.082840,0.996557]]
2025-10-26T21:57:30.412Z,1761515850.412 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.806053
2025-10-26T21:57:30.416Z,1761515850.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.000000 m,
      deltaT: 0.503898 s,
      deltaX: 0.500000 m,
      approachRate: 0.992264 m/s,
      rangeRepo size: 4

2025-10-26T21:57:30.418Z,1761515850.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.951149 m,
      bearing: 318.841401 deg,
      lat: 36.779406 deg,
      lon: -121.859453 deg,
      deltaT: 0.503898 s,
      deltaX: 0.496947 m,
      approachRate: 0.986205 m/s,
      posRepo size: 4

2025-10-26T21:57:30.418Z,1761515850.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.95 m.
2025-10-26T21:57:30.665Z,1761515850.665 [DAT](INFO): DAT read: Rx Time:21:57:29.4287 

2025-10-26T21:57:30.666Z,1761515850.666 [DAT](INFO): Rx dataTimestamp_ set to:1761515850.665256
2025-10-26T21:57:30.667Z,1761515850.667 [DAT](INFO): DAT read: Bearing  85.3, -22.9 (Local)

2025-10-26T21:57:30.667Z,1761515850.667 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.3, -22.9 (Local)

2025-10-26T21:57:30.669Z,1761515850.669 [DAT](INFO): DAT read: Range 11 to 50 :     8.0 m (trip time 5.3 ms) speed -0.3

2025-10-26T21:57:30.674Z,1761515850.674 [DAT](INFO): DAT read: 21:57:29.4287 LVL= 32752, 23905, 32754, 32755, AGC= 54, IDX= 510, 0.18,-2.980,-0.861,-2.101,-1.826, PHS=-1.052, 1.011,-0.318, RAW= 309.5,   4.0, CAL= 307.1,   1.4, ROT= 202.9,  -1.4

2025-10-26T21:57:30.675Z,1761515850.675 [DAT](INFO): got valid direction response:
 21:57:29.4287 LVL= 32752, 23905, 32754, 32755, AGC= 54, IDX= 510, 0.18,-2.980,-0.861,-2.101,-1.826, PHS=-1.052, 1.011,-0.318, RAW= 309.5,   4.0, CAL= 307.1,   1.4, ROT= 202.9,  -1.4

2025-10-26T21:57:30.675Z,1761515850.675 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-26T21:57:30.676Z,1761515850.676 [DAT](INFO): direction in FSK: [-0.920910,-0.389008,0.024432]
2025-10-26T21:57:30.677Z,1761515850.677 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:30.689Z,1761515850.689 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.082122
2025-10-26T21:57:30.738Z,1761515850.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434481,-0.897729,-0.072865],[0.900679,-0.432864,-0.037508],[0.002131,-0.081924,0.996636]]
2025-10-26T21:57:30.853Z,1761515850.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.000000 m,
      deltaT: 0.504161 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:30.860Z,1761515850.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.951145 m,
      bearing: 318.474779 deg,
      lat: 36.779406 deg,
      lon: -121.859453 deg,
      deltaT: 0.504161 s,
      deltaX: -0.000004 m,
      approachRate: -0.000008 m/s,
      posRepo size: 4

2025-10-26T21:57:30.860Z,1761515850.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.95 m.
2025-10-26T21:57:30.918Z,1761515850.918 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.311876
2025-10-26T21:57:31.089Z,1761515851.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431438,-0.899148,-0.073447],[0.902142,-0.429931,-0.036039],[0.000827,-0.081808,0.996648]]
2025-10-26T21:57:31.116Z,1761515851.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.95 m.
2025-10-26T21:57:31.170Z,1761515851.170 [DAT](INFO): DAT read: Rx Time:21:57:29.9289 

2025-10-26T21:57:31.170Z,1761515851.170 [DAT](INFO): Rx dataTimestamp_ set to:1761515851.169689
2025-10-26T21:57:31.171Z,1761515851.171 [DAT](INFO): DAT read: Bearing  87.4, -25.5 (Local)

2025-10-26T21:57:31.172Z,1761515851.172 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.4, -25.5 (Local)

2025-10-26T21:57:31.175Z,1761515851.175 [DAT](INFO): DAT read: Range 11 to 50 :     8.3 m (trip time 5.5 ms) speed -0.2

2025-10-26T21:57:31.186Z,1761515851.186 [DAT](INFO): DAT read: 21:57:29.9289 LVL= 32752, 22257, 32658, 32755, AGC= 55, IDX= 512, 0.19, 2.147,-2.077, 3.095,-3.010, PHS=-1.025, 0.977,-0.222, RAW= 306.5,   3.1, CAL= 304.2,  -0.3, ROT= 205.8,   0.3

2025-10-26T21:57:31.187Z,1761515851.187 [DAT](INFO): got valid direction response:
 21:57:29.9289 LVL= 32752, 22257, 32658, 32755, AGC= 55, IDX= 512, 0.19, 2.147,-2.077, 3.095,-3.010, PHS=-1.025, 0.977,-0.222, RAW= 306.5,   3.1, CAL= 304.2,  -0.3, ROT= 205.8,   0.3

2025-10-26T21:57:31.188Z,1761515851.188 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-26T21:57:31.190Z,1761515851.190 [DAT](INFO): direction in FSK: [-0.900306,-0.435225,-0.005236]
2025-10-26T21:57:31.190Z,1761515851.190 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:31.198Z,1761515851.198 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.591504
2025-10-26T21:57:31.420Z,1761515851.420 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.813958
2025-10-26T21:57:31.491Z,1761515851.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428215,-0.900618,-0.074288],[0.903677,-0.426810,-0.034664],[-0.000488,-0.081976,0.996634]]
2025-10-26T21:57:31.659Z,1761515851.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.300000 m,
      deltaT: 0.504433 s,
      deltaX: 0.300000 m,
      approachRate: 0.594728 m/s,
      rangeRepo size: 4

2025-10-26T21:57:31.665Z,1761515851.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.249275 m,
      bearing: 321.101246 deg,
      lat: 36.779406 deg,
      lon: -121.859453 deg,
      deltaT: 0.504433 s,
      deltaX: 0.298131 m,
      approachRate: 0.591021 m/s,
      posRepo size: 4

2025-10-26T21:57:31.665Z,1761515851.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.25 m.
2025-10-26T21:57:31.673Z,1761515851.673 [DAT](INFO): DAT read: Rx Time:21:57:30.4289 

2025-10-26T21:57:31.673Z,1761515851.673 [DAT](INFO): Rx dataTimestamp_ set to:1761515851.673133
2025-10-26T21:57:31.675Z,1761515851.675 [DAT](INFO): DAT read: Bearing  82.5, -26.1 (Local)

2025-10-26T21:57:31.675Z,1761515851.675 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.5, -26.1 (Local)

2025-10-26T21:57:31.677Z,1761515851.677 [DAT](INFO): DAT read: Range 11 to 50 :     8.3 m (trip time 5.5 ms) speed -0.2

2025-10-26T21:57:31.682Z,1761515851.682 [DAT](INFO): DAT read: 21:57:30.4289 LVL= 32752, 24529, 32754, 32755, AGC= 57, IDX= 512, 0.04, 2.965,-1.419,-2.426,-2.205, PHS=-1.011, 0.831,-0.265, RAW= 306.3,   5.6, CAL= 303.9,   4.0, ROT= 206.1,  -4.0

2025-10-26T21:57:31.683Z,1761515851.683 [DAT](INFO): got valid direction response:
 21:57:30.4289 LVL= 32752, 24529, 32754, 32755, AGC= 57, IDX= 512, 0.04, 2.965,-1.419,-2.426,-2.205, PHS=-1.011, 0.831,-0.265, RAW= 306.3,   5.6, CAL= 303.9,   4.0, ROT= 206.1,  -4.0

2025-10-26T21:57:31.683Z,1761515851.683 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-10-26T21:57:31.684Z,1761515851.684 [DAT](INFO): direction in FSK: [-0.895840,-0.438868,0.069756]
2025-10-26T21:57:31.684Z,1761515851.684 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:31.688Z,1761515851.688 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.081730
2025-10-26T21:57:31.925Z,1761515851.925 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.318517
2025-10-26T21:57:32.074Z,1761515852.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424299,-0.902400,-0.075135],[0.905520,-0.423031,-0.032848],[-0.002143,-0.081973,0.996632]]
2025-10-26T21:57:32.115Z,1761515852.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.300000 m,
      deltaT: 0.503444 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:32.117Z,1761515852.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.249275 m,
      bearing: 320.839750 deg,
      lat: 36.779406 deg,
      lon: -121.859453 deg,
      deltaT: 0.503444 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:57:32.118Z,1761515852.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.25 m.
2025-10-26T21:57:32.177Z,1761515852.177 [DAT](INFO): DAT read: Rx Time:21:57:30.9290 

2025-10-26T21:57:32.178Z,1761515852.178 [DAT](INFO): Rx dataTimestamp_ set to:1761515852.177301
2025-10-26T21:57:32.179Z,1761515852.179 [DAT](INFO): DAT read: Bearing  93.1, -22.2 (Local)

2025-10-26T21:57:32.179Z,1761515852.179 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.1, -22.2 (Local)

2025-10-26T21:57:32.181Z,1761515852.181 [DAT](INFO): DAT read: Range 11 to 50 :     8.4 m (trip time 5.6 ms) speed -0.2

2025-10-26T21:57:32.186Z,1761515852.186 [DAT](INFO): DAT read: 21:57:30.9290 LVL= 32752, 27041, 32754, 32755, AGC= 56, IDX= 514,-0.12, 2.694,-1.555,-2.696,-2.653, PHS=-0.834, 1.143,-0.087, RAW= 308.0,  -2.6, CAL= 306.8,  -6.2, ROT= 203.2,   6.2

2025-10-26T21:57:32.187Z,1761515852.187 [DAT](INFO): got valid direction response:
 21:57:30.9290 LVL= 32752, 27041, 32754, 32755, AGC= 56, IDX= 514,-0.12, 2.694,-1.555,-2.696,-2.653, PHS=-0.834, 1.143,-0.087, RAW= 308.0,  -2.6, CAL= 306.8,  -6.2, ROT= 203.2,   6.2

2025-10-26T21:57:32.188Z,1761515852.188 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-26T21:57:32.189Z,1761515852.189 [DAT](INFO): direction in FSK: [-0.913759,-0.391638,-0.107999]
2025-10-26T21:57:32.189Z,1761515852.189 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:32.201Z,1761515852.201 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.594138
2025-10-26T21:57:32.429Z,1761515852.429 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.823033
2025-10-26T21:57:32.481Z,1761515852.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420268,-0.904246,-0.075593],[0.907393,-0.419136,-0.031045],[-0.003611,-0.081640,0.996655]]
2025-10-26T21:57:32.604Z,1761515852.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.400000 m,
      deltaT: 0.504168 s,
      deltaX: 0.099999 m,
      approachRate: 0.198345 m/s,
      rangeRepo size: 4

2025-10-26T21:57:32.606Z,1761515852.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.348625 m,
      bearing: 318.442171 deg,
      lat: 36.779407 deg,
      lon: -121.859455 deg,
      deltaT: 0.504168 s,
      deltaX: 0.099350 m,
      approachRate: 0.197057 m/s,
      posRepo size: 4

2025-10-26T21:57:32.607Z,1761515852.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-10-26T21:57:32.682Z,1761515852.682 [DAT](INFO): DAT read: Rx Time:21:57:31.4290 

2025-10-26T21:57:32.683Z,1761515852.683 [DAT](INFO): Rx dataTimestamp_ set to:1761515852.682196
2025-10-26T21:57:32.685Z,1761515852.685 [DAT](INFO): DAT read: Bearing  83.5, -21.8 (Local)

2025-10-26T21:57:32.685Z,1761515852.685 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.5, -21.8 (Local)

2025-10-26T21:57:32.688Z,1761515852.688 [DAT](INFO): DAT read: Range 11 to 50 :     8.4 m (trip time 5.6 ms) speed -0.2

2025-10-26T21:57:32.693Z,1761515852.693 [DAT](INFO): DAT read: 21:57:31.4290 LVL= 32752, 28385, 32754, 32755, AGC= 53, IDX= 514,-0.42, 1.641,-2.368, 2.542, 2.880, PHS=-1.137, 1.080,-0.382, RAW= 310.4,   4.5, CAL= 308.1,   2.5, ROT= 201.9,  -2.5

2025-10-26T21:57:32.694Z,1761515852.694 [DAT](INFO): got valid direction response:
 21:57:31.4290 LVL= 32752, 28385, 32754, 32755, AGC= 53, IDX= 514,-0.42, 1.641,-2.368, 2.542, 2.880, PHS=-1.137, 1.080,-0.382, RAW= 310.4,   4.5, CAL= 308.1,   2.5, ROT= 201.9,  -2.5

2025-10-26T21:57:32.694Z,1761515852.694 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-10-26T21:57:32.695Z,1761515852.695 [DAT](INFO): direction in FSK: [-0.926953,-0.372633,0.043619]
2025-10-26T21:57:32.696Z,1761515852.696 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:32.701Z,1761515852.701 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.094186
2025-10-26T21:57:32.932Z,1761515852.932 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.325890
2025-10-26T21:57:33.042Z,1761515853.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412102,-0.908032,-0.075169],[0.911111,-0.411317,-0.026362],[-0.006981,-0.079351,0.996822]]
2025-10-26T21:57:33.094Z,1761515853.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.400000 m,
      deltaT: 0.504895 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:33.112Z,1761515853.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.348625 m,
      bearing: 316.001707 deg,
      lat: 36.779407 deg,
      lon: -121.859455 deg,
      deltaT: 0.504895 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:57:33.112Z,1761515853.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-10-26T21:57:33.185Z,1761515853.185 [DAT](INFO): DAT read: Rx Time:21:57:31.9291 

2025-10-26T21:57:33.186Z,1761515853.186 [DAT](INFO): Rx dataTimestamp_ set to:1761515853.185240
2025-10-26T21:57:33.187Z,1761515853.187 [DAT](INFO): DAT read: Bearing  82.8, -21.5 (Local)

2025-10-26T21:57:33.187Z,1761515853.187 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.8, -21.5 (Local)

2025-10-26T21:57:33.189Z,1761515853.189 [DAT](INFO): DAT read: Range 11 to 50 :     8.6 m (trip time 5.7 ms) speed -0.1

2025-10-26T21:57:33.194Z,1761515853.194 [DAT](INFO): DAT read: 21:57:31.9291 LVL= 32752, 25697, 32754, 32755, AGC= 61, IDX=   2, 0.00, 0.607, 2.684, 1.433, 1.751, PHS=-1.042, 0.978,-0.362, RAW= 310.7,   4.8, CAL= 308.4,   3.0, ROT= 201.6,  -3.0

2025-10-26T21:57:33.195Z,1761515853.195 [DAT](INFO): got valid direction response:
 21:57:31.9291 LVL= 32752, 25697, 32754, 32755, AGC= 61, IDX=   2, 0.00, 0.607, 2.684, 1.433, 1.751, PHS=-1.042, 0.978,-0.362, RAW= 310.7,   4.8, CAL= 308.4,   3.0, ROT= 201.6,  -3.0

2025-10-26T21:57:33.195Z,1761515853.195 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-26T21:57:33.196Z,1761515853.196 [DAT](INFO): direction in FSK: [-0.928502,-0.367620,0.052336]
2025-10-26T21:57:33.197Z,1761515853.197 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:33.200Z,1761515853.200 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.594020
2025-10-26T21:57:33.437Z,1761515853.437 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.830176
2025-10-26T21:57:33.495Z,1761515853.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407967,-0.909972,-0.074251],[0.912957,-0.407358,-0.023858],[-0.008536,-0.077522,0.996954]]
2025-10-26T21:57:33.607Z,1761515853.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.503044 s,
      deltaX: 0.200001 m,
      approachRate: 0.397581 m/s,
      rangeRepo size: 4

2025-10-26T21:57:33.633Z,1761515853.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.547379 m,
      bearing: 315.417271 deg,
      lat: 36.779407 deg,
      lon: -121.859455 deg,
      deltaT: 0.503044 s,
      deltaX: 0.198754 m,
      approachRate: 0.395103 m/s,
      posRepo size: 4

2025-10-26T21:57:33.634Z,1761515853.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.55 m.
2025-10-26T21:57:33.691Z,1761515853.691 [DAT](INFO): DAT read: Rx Time:21:57:32.4291 

2025-10-26T21:57:33.692Z,1761515853.692 [DAT](INFO): Rx dataTimestamp_ set to:1761515853.690999
2025-10-26T21:57:33.693Z,1761515853.693 [DAT](INFO): DAT read: Bearing  82.3, -21.5 (Local)

2025-10-26T21:57:33.693Z,1761515853.693 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.3, -21.5 (Local)

2025-10-26T21:57:33.695Z,1761515853.695 [DAT](INFO): DAT read: Range 11 to 50 :     8.6 m (trip time 5.7 ms) speed -0.1

2025-10-26T21:57:33.702Z,1761515853.702 [DAT](INFO): DAT read: 21:57:32.4291 LVL= 32752, 28593, 32754, 32755, AGC= 54, IDX= 498,-0.09, 0.975, 3.030, 1.798, 2.114, PHS=-1.037, 0.961,-0.360, RAW= 310.6,   5.0, CAL= 308.3,   3.3, ROT= 201.7,  -3.3

2025-10-26T21:57:33.704Z,1761515853.704 [DAT](INFO): got valid direction response:
 21:57:32.4291 LVL= 32752, 28593, 32754, 32755, AGC= 54, IDX= 498,-0.09, 0.975, 3.030, 1.798, 2.114, PHS=-1.037, 0.961,-0.360, RAW= 310.6,   5.0, CAL= 308.3,   3.3, ROT= 201.7,  -3.3

2025-10-26T21:57:33.704Z,1761515853.704 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-26T21:57:33.706Z,1761515853.706 [DAT](INFO): direction in FSK: [-0.927592,-0.369134,0.057564]
2025-10-26T21:57:33.706Z,1761515853.706 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:33.732Z,1761515853.732 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.125267
2025-10-26T21:57:33.890Z,1761515853.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404816,-0.911368,-0.074378],[0.914347,-0.404310,-0.022407],[-0.009651,-0.077078,0.996978]]
2025-10-26T21:57:33.933Z,1761515853.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.505759 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:33.935Z,1761515853.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.547379 m,
      bearing: 315.303278 deg,
      lat: 36.779405 deg,
      lon: -121.859457 deg,
      deltaT: 0.505759 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:57:33.935Z,1761515853.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.55 m.
2025-10-26T21:57:33.941Z,1761515853.941 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.334560
2025-10-26T21:57:34.193Z,1761515854.193 [DAT](INFO): DAT read: Rx Time:21:57:32.9291 

2025-10-26T21:57:34.193Z,1761515854.193 [DAT](INFO): Rx dataTimestamp_ set to:1761515854.193061
2025-10-26T21:57:34.199Z,1761515854.199 [DAT](INFO): DAT read: Bearing  82.0, -20.9 (Local)

2025-10-26T21:57:34.199Z,1761515854.199 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.0, -20.9 (Local)

2025-10-26T21:57:34.202Z,1761515854.202 [DAT](INFO): DAT read: Range 11 to 50 :     8.7 m (trip time 5.8 ms) speed 0.0

2025-10-26T21:57:34.206Z,1761515854.206 [DAT](INFO): DAT read: 21:57:32.9291 LVL= 32752, 28433, 32754, 32755, AGC= 53, IDX= 499, 0.17,-1.094, 0.945,-0.297, 0.031, PHS=-1.023, 0.959,-0.372, RAW= 311.2,   5.0, CAL= 308.9,   3.4, ROT= 201.1,  -3.4

2025-10-26T21:57:34.207Z,1761515854.207 [DAT](INFO): got valid direction response:
 21:57:32.9291 LVL= 32752, 28433, 32754, 32755, AGC= 53, IDX= 499, 0.17,-1.094, 0.945,-0.297, 0.031, PHS=-1.023, 0.959,-0.372, RAW= 311.2,   5.0, CAL= 308.9,   3.4, ROT= 201.1,  -3.4

2025-10-26T21:57:34.208Z,1761515854.208 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-10-26T21:57:34.208Z,1761515854.208 [DAT](INFO): direction in FSK: [-0.931311,-0.359363,0.059306]
2025-10-26T21:57:34.209Z,1761515854.209 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:34.221Z,1761515854.221 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.614753
2025-10-26T21:57:34.344Z,1761515854.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401971,-0.912575,-0.075005],[0.915590,-0.401551,-0.021258],[-0.010719,-0.077219,0.996957]]
2025-10-26T21:57:34.408Z,1761515854.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 0.502062 s,
      deltaX: 0.099999 m,
      approachRate: 0.199177 m/s,
      rangeRepo size: 4

2025-10-26T21:57:34.410Z,1761515854.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.646767 m,
      bearing: 314.519676 deg,
      lat: 36.779405 deg,
      lon: -121.859459 deg,
      deltaT: 0.502062 s,
      deltaX: 0.099387 m,
      approachRate: 0.197958 m/s,
      posRepo size: 4

2025-10-26T21:57:34.410Z,1761515854.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.65 m.
2025-10-26T21:57:34.445Z,1761515854.445 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.838055
2025-10-26T21:57:34.697Z,1761515854.697 [DAT](INFO): DAT read: Rx Time:21:57:33.4291 

2025-10-26T21:57:34.698Z,1761515854.698 [DAT](INFO): Rx dataTimestamp_ set to:1761515854.697965
2025-10-26T21:57:34.700Z,1761515854.700 [DAT](INFO): DAT read: Bearing  82.3, -20.6 (Local)

2025-10-26T21:57:34.701Z,1761515854.701 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.3, -20.6 (Local)

2025-10-26T21:57:34.704Z,1761515854.704 [DAT](INFO): DAT read: Range 11 to 50 :     8.6 m (trip time 5.7 ms) speed -0.1

2025-10-26T21:57:34.710Z,1761515854.710 [DAT](INFO): DAT read: 21:57:33.4291 LVL= 32752, 28097, 32754, 32755, AGC= 56, IDX= 498, 0.37, 0.341, 2.385, 1.131, 1.460, PHS=-1.017, 0.970,-0.373, RAW= 311.5,   4.8, CAL= 309.2,   3.1, ROT= 200.8,  -3.1

2025-10-26T21:57:34.714Z,1761515854.714 [DAT](INFO): got valid direction response:
 21:57:33.4291 LVL= 32752, 28097, 32754, 32755, AGC= 56, IDX= 498, 0.37, 0.341, 2.385, 1.131, 1.460, PHS=-1.017, 0.970,-0.373, RAW= 311.5,   4.8, CAL= 309.2,   3.1, ROT= 200.8,  -3.1

2025-10-26T21:57:34.714Z,1761515854.714 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-10-26T21:57:34.716Z,1761515854.716 [DAT](INFO): direction in FSK: [-0.933458,-0.354587,0.054079]
2025-10-26T21:57:34.716Z,1761515854.716 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:34.721Z,1761515854.721 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.114823
2025-10-26T21:57:34.813Z,1761515854.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399079,-0.913771,-0.075881],[0.916840,-0.398747,-0.020136],[-0.011858,-0.077606,0.996914]]
2025-10-26T21:57:34.876Z,1761515854.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.504904 s,
      deltaX: -0.099999 m,
      approachRate: -0.198056 m/s,
      rangeRepo size: 4

2025-10-26T21:57:34.878Z,1761515854.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.547396 m,
      bearing: 314.060147 deg,
      lat: 36.779405 deg,
      lon: -121.859459 deg,
      deltaT: 0.504904 s,
      deltaX: -0.099371 m,
      approachRate: -0.196812 m/s,
      posRepo size: 4

2025-10-26T21:57:34.879Z,1761515854.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.55 m.
2025-10-26T21:57:34.949Z,1761515854.949 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.342090
2025-10-26T21:57:35.201Z,1761515855.201 [DAT](INFO): DAT read: Rx Time:21:57:33.9291 

2025-10-26T21:57:35.201Z,1761515855.201 [DAT](INFO): Rx dataTimestamp_ set to:1761515855.201092
2025-10-26T21:57:35.203Z,1761515855.203 [DAT](INFO): DAT read: Bearing  85.5, -21.7 (Local)

2025-10-26T21:57:35.203Z,1761515855.203 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.5, -21.7 (Local)

2025-10-26T21:57:35.205Z,1761515855.205 [DAT](INFO): DAT read: Range 11 to 50 :     8.7 m (trip time 5.8 ms) speed -0.1

2025-10-26T21:57:35.210Z,1761515855.210 [DAT](INFO): DAT read: 21:57:33.9291 LVL= 32752, 23905, 32754, 32755, AGC= 55, IDX= 500,-0.18,-0.405, 1.708, 0.447, 0.714, PHS=-1.017, 1.039,-0.311, RAW= 310.2,   3.2, CAL= 307.8,   0.2, ROT= 202.2,  -0.2

2025-10-26T21:57:35.211Z,1761515855.211 [DAT](INFO): got valid direction response:
 21:57:33.9291 LVL= 32752, 23905, 32754, 32755, AGC= 55, IDX= 500,-0.18,-0.405, 1.708, 0.447, 0.714, PHS=-1.017, 1.039,-0.311, RAW= 310.2,   3.2, CAL= 307.8,   0.2, ROT= 202.2,  -0.2

2025-10-26T21:57:35.211Z,1761515855.211 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-10-26T21:57:35.212Z,1761515855.212 [DAT](INFO): direction in FSK: [-0.925865,-0.377838,0.003491]
2025-10-26T21:57:35.212Z,1761515855.212 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:35.221Z,1761515855.221 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.614156
2025-10-26T21:57:35.366Z,1761515855.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396563,-0.914789,-0.076810],[0.917918,-0.396300,-0.019286],[-0.012797,-0.078153,0.996859]]
2025-10-26T21:57:35.452Z,1761515855.452 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.845986
2025-10-26T21:57:35.462Z,1761515855.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 0.503127 s,
      deltaX: 0.099999 m,
      approachRate: 0.198756 m/s,
      rangeRepo size: 4

2025-10-26T21:57:35.466Z,1761515855.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.646783 m,
      bearing: 315.500436 deg,
      lat: 36.779405 deg,
      lon: -121.859459 deg,
      deltaT: 0.503127 s,
      deltaX: 0.099387 m,
      approachRate: 0.197539 m/s,
      posRepo size: 4

2025-10-26T21:57:35.467Z,1761515855.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.65 m.
2025-10-26T21:57:35.708Z,1761515855.708 [DAT](INFO): DAT read: Rx Time:21:57:34.4291 

2025-10-26T21:57:35.709Z,1761515855.709 [DAT](INFO): Rx dataTimestamp_ set to:1761515855.708335
2025-10-26T21:57:35.710Z,1761515855.710 [DAT](INFO): DAT read: Bearing  83.8, -21.6 (Local)

2025-10-26T21:57:35.711Z,1761515855.711 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.8, -21.6 (Local)

2025-10-26T21:57:35.714Z,1761515855.714 [DAT](INFO): DAT read: Range 11 to 50 :     8.7 m (trip time 5.8 ms) speed -0.1

2025-10-26T21:57:35.721Z,1761515855.721 [DAT](INFO): DAT read: 21:57:34.4291 LVL= 32752, 30065, 32754, 32755, AGC= 56, IDX= 499, 0.12, 0.561, 2.644, 1.396, 1.690, PHS=-1.027, 0.999,-0.337, RAW= 310.5,   4.1, CAL= 308.1,   1.8, ROT= 201.9,  -1.8

2025-10-26T21:57:35.723Z,1761515855.723 [DAT](INFO): got valid direction response:
 21:57:34.4291 LVL= 32752, 30065, 32754, 32755, AGC= 56, IDX= 499, 0.12, 0.561, 2.644, 1.396, 1.690, PHS=-1.027, 0.999,-0.337, RAW= 310.5,   4.1, CAL= 308.1,   1.8, ROT= 201.9,  -1.8

2025-10-26T21:57:35.732Z,1761515855.732 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-10-26T21:57:35.734Z,1761515855.734 [DAT](INFO): direction in FSK: [-0.927378,-0.372804,0.031411]
2025-10-26T21:57:35.734Z,1761515855.734 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:35.738Z,1761515855.738 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.131272
2025-10-26T21:57:35.852Z,1761515855.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393899,-0.915851,-0.077855],[0.919054,-0.393691,-0.018653],[-0.013568,-0.078901,0.996790]]
2025-10-26T21:57:35.878Z,1761515855.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 0.507243 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:35.897Z,1761515855.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.646807 m,
      bearing: 314.924959 deg,
      lat: 36.779404 deg,
      lon: -121.859459 deg,
      deltaT: 0.507243 s,
      deltaX: 0.000024 m,
      approachRate: 0.000047 m/s,
      posRepo size: 4

2025-10-26T21:57:35.897Z,1761515855.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.65 m.
2025-10-26T21:57:35.957Z,1761515855.957 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.350684
2025-10-26T21:57:36.209Z,1761515856.209 [DAT](INFO): DAT read: Rx Time:21:57:34.9292 

2025-10-26T21:57:36.209Z,1761515856.209 [DAT](INFO): Rx dataTimestamp_ set to:1761515856.209052
2025-10-26T21:57:36.211Z,1761515856.211 [DAT](INFO): DAT read: Bearing  82.8, -21.4 (Local)

2025-10-26T21:57:36.211Z,1761515856.211 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.8, -21.4 (Local)

2025-10-26T21:57:36.213Z,1761515856.213 [DAT](INFO): DAT read: Range 11 to 50 :     8.9 m (trip time 5.9 ms) speed 0.0

2025-10-26T21:57:36.218Z,1761515856.218 [DAT](INFO): DAT read: 21:57:34.9292 LVL= 32752, 26465, 32754, 32755, AGC= 57, IDX= 501,-0.43,-0.304, 1.778, 0.523, 0.839, PHS=-1.041, 0.984,-0.360, RAW= 310.7,   4.7, CAL= 308.4,   2.8, ROT= 201.6,  -2.8

2025-10-26T21:57:36.219Z,1761515856.219 [DAT](INFO): got valid direction response:
 21:57:34.9292 LVL= 32752, 26465, 32754, 32755, AGC= 57, IDX= 501,-0.43,-0.304, 1.778, 0.523, 0.839, PHS=-1.041, 0.984,-0.360, RAW= 310.7,   4.7, CAL= 308.4,   2.8, ROT= 201.6,  -2.8

2025-10-26T21:57:36.219Z,1761515856.219 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-10-26T21:57:36.220Z,1761515856.220 [DAT](INFO): direction in FSK: [-0.928666,-0.367685,0.048850]
2025-10-26T21:57:36.220Z,1761515856.220 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:36.229Z,1761515856.229 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.622190
2025-10-26T21:57:36.250Z,1761515856.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394127,-0.915787,-0.077447],[0.918957,-0.393916,-0.018628],[-0.013448,-0.078512,0.996822]]
2025-10-26T21:57:36.379Z,1761515856.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.500717 s,
      deltaX: 0.200000 m,
      approachRate: 0.399427 m/s,
      rangeRepo size: 4

2025-10-26T21:57:36.388Z,1761515856.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.845584 m,
      bearing: 314.571761 deg,
      lat: 36.779404 deg,
      lon: -121.859459 deg,
      deltaT: 0.500717 s,
      deltaX: 0.198777 m,
      approachRate: 0.396985 m/s,
      posRepo size: 4

2025-10-26T21:57:36.388Z,1761515856.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.85 m.
2025-10-26T21:57:36.465Z,1761515856.465 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.858760
2025-10-26T21:57:36.655Z,1761515856.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394984,-0.915554,-0.075814],[0.918595,-0.394768,-0.018459],[-0.013029,-0.076934,0.996951]]
2025-10-26T21:57:36.718Z,1761515856.718 [DAT](INFO): DAT read: Rx Time:21:57:35.4292 

2025-10-26T21:57:36.719Z,1761515856.719 [DAT](INFO): Rx dataTimestamp_ set to:1761515856.718156
2025-10-26T21:57:36.721Z,1761515856.721 [DAT](INFO): DAT read: Bearing  85.9, -21.9 (Local)

2025-10-26T21:57:36.721Z,1761515856.721 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.9, -21.9 (Local)

2025-10-26T21:57:36.724Z,1761515856.724 [DAT](INFO): DAT read: Range 11 to 50 :     8.9 m (trip time 5.9 ms) speed -0.2

2025-10-26T21:57:36.730Z,1761515856.730 [DAT](INFO): DAT read: 21:57:35.4292 LVL= 32752, 25105, 32754, 32755, AGC= 56, IDX= 500, 0.01,-0.929, 1.184,-0.071, 0.189, PHS=-1.016, 1.040,-0.304, RAW= 310.1,   3.1, CAL= 307.6,  -0.0, ROT= 202.4,   0.0

2025-10-26T21:57:36.740Z,1761515856.740 [DAT](INFO): got valid direction response:
 21:57:35.4292 LVL= 32752, 25105, 32754, 32755, AGC= 56, IDX= 500, 0.01,-0.929, 1.184,-0.071, 0.189, PHS=-1.016, 1.040,-0.304, RAW= 310.1,   3.1, CAL= 307.6,  -0.0, ROT= 202.4,   0.0

2025-10-26T21:57:36.740Z,1761515856.740 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-10-26T21:57:36.741Z,1761515856.741 [DAT](INFO): direction in FSK: [-0.924546,-0.381070,-0.000000]
2025-10-26T21:57:36.741Z,1761515856.741 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:36.749Z,1761515856.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.509104 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:36.750Z,1761515856.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.85 m.
2025-10-26T21:57:36.753Z,1761515856.753 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.146899
2025-10-26T21:57:36.969Z,1761515856.969 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.362496
2025-10-26T21:57:37.077Z,1761515857.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396402,-0.915216,-0.072419],[0.917997,-0.396174,-0.018094],[-0.012131,-0.073653,0.997210]]
2025-10-26T21:57:37.138Z,1761515857.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.85 m.
2025-10-26T21:57:37.222Z,1761515857.222 [DAT](INFO): DAT read: Rx Time:21:57:35.9292 

2025-10-26T21:57:37.223Z,1761515857.223 [DAT](INFO): Rx dataTimestamp_ set to:1761515857.222233
2025-10-26T21:57:37.224Z,1761515857.224 [DAT](INFO): DAT read: Bearing  83.3, -21.2 (Local)

2025-10-26T21:57:37.225Z,1761515857.225 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.3, -21.2 (Local)

2025-10-26T21:57:37.228Z,1761515857.228 [DAT](INFO): DAT read: Range 11 to 50 :     8.9 m (trip time 5.9 ms) speed -0.1

2025-10-26T21:57:37.233Z,1761515857.233 [DAT](INFO): DAT read: 21:57:35.9292 LVL= 32752, 27713, 32754, 32755, AGC= 55, IDX= 501,-0.46,-1.813, 0.258,-0.995,-0.685, PHS=-1.026, 0.987,-0.354, RAW= 310.9,   4.5, CAL= 308.5,   2.4, ROT= 201.5,  -2.4

2025-10-26T21:57:37.234Z,1761515857.234 [DAT](INFO): got valid direction response:
 21:57:35.9292 LVL= 32752, 27713, 32754, 32755, AGC= 55, IDX= 501,-0.46,-1.813, 0.258,-0.995,-0.685, PHS=-1.026, 0.987,-0.354, RAW= 310.9,   4.5, CAL= 308.5,   2.4, ROT= 201.5,  -2.4

2025-10-26T21:57:37.234Z,1761515857.234 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-10-26T21:57:37.235Z,1761515857.235 [DAT](INFO): direction in FSK: [-0.929601,-0.366180,0.041876]
2025-10-26T21:57:37.235Z,1761515857.235 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:37.239Z,1761515857.239 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.632298
2025-10-26T21:57:37.462Z,1761515857.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397517,-0.914929,-0.069899],[0.917526,-0.397263,-0.018092],[-0.011216,-0.071326,0.997390]]
2025-10-26T21:57:37.473Z,1761515857.473 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.866096
2025-10-26T21:57:37.602Z,1761515857.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.504077 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:37.609Z,1761515857.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.845610 m,
      bearing: 314.732253 deg,
      lat: 36.779404 deg,
      lon: -121.859458 deg,
      deltaT: 1.013181 s,
      deltaX: 0.000026 m,
      approachRate: 0.000025 m/s,
      posRepo size: 4

2025-10-26T21:57:37.609Z,1761515857.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.85 m.
2025-10-26T21:57:37.726Z,1761515857.726 [DAT](INFO): DAT read: Rx Time:21:57:36.4292 

2025-10-26T21:57:37.726Z,1761515857.726 [DAT](INFO): Rx dataTimestamp_ set to:1761515857.725972
2025-10-26T21:57:37.728Z,1761515857.728 [DAT](INFO): DAT read: Bearing  82.8, -21.9 (Local)

2025-10-26T21:57:37.729Z,1761515857.729 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.8, -21.9 (Local)

2025-10-26T21:57:37.736Z,1761515857.736 [DAT](INFO): DAT read: Range 11 to 50 :     8.9 m (trip time 5.9 ms) speed -0.1

2025-10-26T21:57:37.741Z,1761515857.741 [DAT](INFO): DAT read: 21:57:36.4292 LVL= 32752, 27921, 32754, 32755, AGC= 52, IDX= 500, 0.37, 1.085,-3.112, 1.927, 2.238, PHS=-1.051, 0.979,-0.355, RAW= 310.3,   4.8, CAL= 308.0,   3.0, ROT= 202.0,  -3.0

2025-10-26T21:57:37.742Z,1761515857.742 [DAT](INFO): got valid direction response:
 21:57:36.4292 LVL= 32752, 27921, 32754, 32755, AGC= 52, IDX= 500, 0.37, 1.085,-3.112, 1.927, 2.238, PHS=-1.051, 0.979,-0.355, RAW= 310.3,   4.8, CAL= 308.0,   3.0, ROT= 202.0,  -3.0

2025-10-26T21:57:37.743Z,1761515857.743 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-10-26T21:57:37.744Z,1761515857.744 [DAT](INFO): direction in FSK: [-0.925913,-0.374093,0.052336]
2025-10-26T21:57:37.744Z,1761515857.744 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:37.770Z,1761515857.770 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.163098
2025-10-26T21:57:37.964Z,1761515857.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399085,-0.914359,-0.068401],[0.916861,-0.398749,-0.019088],[-0.009822,-0.070332,0.997475]]
2025-10-26T21:57:37.976Z,1761515857.976 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.369968
2025-10-26T21:57:37.990Z,1761515857.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.503739 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:37.992Z,1761515857.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.845610 m,
      bearing: 315.294057 deg,
      lat: 36.779404 deg,
      lon: -121.859457 deg,
      deltaT: 0.503739 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:57:37.994Z,1761515857.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.85 m.
2025-10-26T21:57:38.229Z,1761515858.229 [DAT](INFO): DAT read: Rx Time:21:57:36.9294 

2025-10-26T21:57:38.230Z,1761515858.230 [DAT](INFO): Rx dataTimestamp_ set to:1761515858.229261
2025-10-26T21:57:38.231Z,1761515858.231 [DAT](INFO): DAT read: Bearing  82.4, -21.9 (Local)

2025-10-26T21:57:38.232Z,1761515858.232 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.4, -21.9 (Local)

2025-10-26T21:57:38.234Z,1761515858.234 [DAT](INFO): DAT read: Range 11 to 50 :     9.2 m (trip time 6.1 ms) speed -0.2

2025-10-26T21:57:38.238Z,1761515858.238 [DAT](INFO): DAT read: 21:57:36.9294 LVL= 32752, 27921, 32754, 32755, AGC= 56, IDX= 502,-0.05, 1.960,-2.244, 2.800, 3.117, PHS=-1.055, 0.967,-0.361, RAW= 310.3,   5.1, CAL= 308.0,   3.4, ROT= 202.0,  -3.4

2025-10-26T21:57:38.240Z,1761515858.240 [DAT](INFO): got valid direction response:
 21:57:36.9294 LVL= 32752, 27921, 32754, 32755, AGC= 56, IDX= 502,-0.05, 1.960,-2.244, 2.800, 3.117, PHS=-1.055, 0.967,-0.361, RAW= 310.3,   5.1, CAL= 308.0,   3.4, ROT= 202.0,  -3.4

2025-10-26T21:57:38.240Z,1761515858.240 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-10-26T21:57:38.241Z,1761515858.241 [DAT](INFO): direction in FSK: [-0.925552,-0.373947,0.059306]
2025-10-26T21:57:38.241Z,1761515858.241 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:38.245Z,1761515858.245 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.638518
2025-10-26T21:57:38.409Z,1761515858.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400989,-0.913633,-0.066954],[0.916048,-0.400542,-0.020560],[-0.008034,-0.069578,0.997544]]
2025-10-26T21:57:38.480Z,1761515858.480 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.874024
2025-10-26T21:57:38.486Z,1761515858.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 0.503289 s,
      deltaX: 0.300000 m,
      approachRate: 0.596079 m/s,
      rangeRepo size: 4

2025-10-26T21:57:38.492Z,1761515858.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.143776 m,
      bearing: 315.387703 deg,
      lat: 36.779404 deg,
      lon: -121.859457 deg,
      deltaT: 0.503289 s,
      deltaX: 0.298166 m,
      approachRate: 0.592436 m/s,
      posRepo size: 4

2025-10-26T21:57:38.493Z,1761515858.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.14 m.
2025-10-26T21:57:38.734Z,1761515858.734 [DAT](INFO): DAT read: Rx Time:21:57:37.4293 

2025-10-26T21:57:38.734Z,1761515858.734 [DAT](INFO): Rx dataTimestamp_ set to:1761515858.733746
2025-10-26T21:57:38.735Z,1761515858.735 [DAT](INFO): DAT read: Bearing  81.8, -21.6 (Local)

2025-10-26T21:57:38.736Z,1761515858.736 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.8, -21.6 (Local)

2025-10-26T21:57:38.738Z,1761515858.738 [DAT](INFO): DAT read: Range 11 to 50 :     9.0 m (trip time 6.0 ms) speed -0.2

2025-10-26T21:57:38.742Z,1761515858.742 [DAT](INFO): DAT read: 21:57:37.4293 LVL= 32752, 27569, 32754, 32755, AGC= 57, IDX= 502,-0.33, 1.517,-2.698, 2.342, 2.674, PHS=-1.056, 0.956,-0.376, RAW= 310.6,   5.4, CAL= 308.4,   4.0, ROT= 201.6,  -4.0

2025-10-26T21:57:38.745Z,1761515858.745 [DAT](INFO): got valid direction response:
 21:57:37.4293 LVL= 32752, 27569, 32754, 32755, AGC= 57, IDX= 502,-0.33, 1.517,-2.698, 2.342, 2.674, PHS=-1.056, 0.956,-0.376, RAW= 310.6,   5.4, CAL= 308.4,   4.0, ROT= 201.6,  -4.0

2025-10-26T21:57:38.747Z,1761515858.747 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-10-26T21:57:38.751Z,1761515858.751 [DAT](INFO): direction in FSK: [-0.927512,-0.367228,0.069756]
2025-10-26T21:57:38.751Z,1761515858.751 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:38.755Z,1761515858.755 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.148506
2025-10-26T21:57:38.836Z,1761515858.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402741,-0.912913,-0.066258],[0.915295,-0.402142,-0.022737],[-0.005888,-0.069803,0.997543]]
2025-10-26T21:57:38.875Z,1761515858.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.000000 m,
      deltaT: 0.504485 s,
      deltaX: -0.200000 m,
      approachRate: -0.396444 m/s,
      rangeRepo size: 4

2025-10-26T21:57:38.881Z,1761515858.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.945004 m,
      bearing: 315.053647 deg,
      lat: 36.779404 deg,
      lon: -121.859456 deg,
      deltaT: 0.504485 s,
      deltaX: -0.198772 m,
      approachRate: -0.394011 m/s,
      posRepo size: 4

2025-10-26T21:57:38.882Z,1761515858.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.95 m.
2025-10-26T21:57:38.985Z,1761515858.985 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.378592
2025-10-26T21:57:39.190Z,1761515859.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404659,-0.912083,-0.065995],[0.914461,-0.403867,-0.025532],[-0.003366,-0.070681,0.997493]]
2025-10-26T21:57:39.209Z,1761515859.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.95 m.
2025-10-26T21:57:39.237Z,1761515859.237 [DAT](INFO): DAT read: Rx Time:21:57:37.9295 

2025-10-26T21:57:39.237Z,1761515859.237 [DAT](INFO): Rx dataTimestamp_ set to:1761515859.237138
2025-10-26T21:57:39.239Z,1761515859.239 [DAT](INFO): DAT read: Bearing  84.1, -22.5 (Local)

2025-10-26T21:57:39.240Z,1761515859.240 [DAT](INFO): Local bearing/azimuth received:
 Bearing  84.1, -22.5 (Local)

2025-10-26T21:57:39.243Z,1761515859.243 [DAT](INFO): DAT read: Range 11 to 50 :     9.3 m (trip time 6.2 ms) speed -0.2

2025-10-26T21:57:39.249Z,1761515859.249 [DAT](INFO): DAT read: 21:57:37.9295 LVL= 32752, 26273, 32754, 32755, AGC= 55, IDX= 504,-0.40, 1.673,-2.513, 2.531, 2.821, PHS=-1.046, 0.995,-0.333, RAW= 309.9,   4.3, CAL= 307.5,   2.0, ROT= 202.5,  -2.0

2025-10-26T21:57:39.251Z,1761515859.251 [DAT](INFO): got valid direction response:
 21:57:37.9295 LVL= 32752, 26273, 32754, 32755, AGC= 55, IDX= 504,-0.40, 1.673,-2.513, 2.531, 2.821, PHS=-1.046, 0.995,-0.333, RAW= 309.9,   4.3, CAL= 307.5,   2.0, ROT= 202.5,  -2.0

2025-10-26T21:57:39.253Z,1761515859.253 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-10-26T21:57:39.254Z,1761515859.254 [DAT](INFO): direction in FSK: [-0.923317,-0.382450,0.034899]
2025-10-26T21:57:39.254Z,1761515859.254 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:39.276Z,1761515859.276 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.669458
2025-10-26T21:57:39.489Z,1761515859.489 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.882168
2025-10-26T21:57:39.596Z,1761515859.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406372,-0.911350,-0.065596],[0.913707,-0.405398,-0.028134],[-0.000952,-0.071368,0.997450]]
2025-10-26T21:57:39.646Z,1761515859.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 0.503392 s,
      deltaX: 0.300000 m,
      approachRate: 0.595957 m/s,
      rangeRepo size: 4

2025-10-26T21:57:39.648Z,1761515859.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.243196 m,
      bearing: 316.294625 deg,
      lat: 36.779404 deg,
      lon: -121.859455 deg,
      deltaT: 0.503392 s,
      deltaX: 0.298192 m,
      approachRate: 0.592365 m/s,
      posRepo size: 4

2025-10-26T21:57:39.648Z,1761515859.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m.
2025-10-26T21:57:39.741Z,1761515859.741 [DAT](INFO): DAT read: Rx Time:21:57:38.4295 

2025-10-26T21:57:39.742Z,1761515859.742 [DAT](INFO): Rx dataTimestamp_ set to:1761515859.741355
2025-10-26T21:57:39.743Z,1761515859.743 [DAT](INFO): DAT read: Bearing  82.8, -22.1 (Local)

2025-10-26T21:57:39.743Z,1761515859.743 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.8, -22.1 (Local)

2025-10-26T21:57:39.745Z,1761515859.745 [DAT](INFO): DAT read: Range 11 to 50 :     9.3 m (trip time 6.2 ms) speed -0.3

2025-10-26T21:57:39.750Z,1761515859.750 [DAT](INFO): DAT read: 21:57:38.4295 LVL= 32752, 26433, 32754, 32755, AGC= 56, IDX= 503, 0.38, 2.140,-2.066, 2.977,-2.991, PHS=-1.050, 0.970,-0.360, RAW= 310.3,   5.0, CAL= 308.0,   3.3, ROT= 202.0,  -3.3

2025-10-26T21:57:39.751Z,1761515859.751 [DAT](INFO): got valid direction response:
 21:57:38.4295 LVL= 32752, 26433, 32754, 32755, AGC= 56, IDX= 503, 0.38, 2.140,-2.066, 2.977,-2.991, PHS=-1.050, 0.970,-0.360, RAW= 310.3,   5.0, CAL= 308.0,   3.3, ROT= 202.0,  -3.3

2025-10-26T21:57:39.752Z,1761515859.752 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-10-26T21:57:39.753Z,1761515859.753 [DAT](INFO): direction in FSK: [-0.925646,-0.373985,0.057564]
2025-10-26T21:57:39.753Z,1761515859.753 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:39.757Z,1761515859.757 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.150259
2025-10-26T21:57:39.992Z,1761515859.992 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.385799
2025-10-26T21:57:40.016Z,1761515860.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408071,-0.910694,-0.064144],[0.912949,-0.406949,-0.030285],[0.001478,-0.070918,0.997481]]
2025-10-26T21:57:40.107Z,1761515860.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 0.504217 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:40.109Z,1761515860.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.243196 m,
      bearing: 315.813312 deg,
      lat: 36.779405 deg,
      lon: -121.859454 deg,
      deltaT: 0.504217 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:57:40.110Z,1761515860.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m.
2025-10-26T21:57:40.245Z,1761515860.245 [DAT](INFO): DAT read: Rx Time:21:57:38.9297 

2025-10-26T21:57:40.245Z,1761515860.245 [DAT](INFO): Rx dataTimestamp_ set to:1761515860.245122
2025-10-26T21:57:40.247Z,1761515860.247 [DAT](INFO): DAT read: Bearing  83.1, -22.5 (Local)

2025-10-26T21:57:40.247Z,1761515860.247 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.1, -22.5 (Local)

2025-10-26T21:57:40.249Z,1761515860.249 [DAT](INFO): DAT read: Range 11 to 50 :     9.6 m (trip time 6.4 ms) speed -0.3

2025-10-26T21:57:40.254Z,1761515860.254 [DAT](INFO): DAT read: 21:57:38.9297 LVL= 32752, 26865, 32754, 32755, AGC= 57, IDX= 505, 0.27,-2.211,-0.125,-1.367,-1.055, PHS=-1.054, 0.975,-0.356, RAW= 310.2,   4.9, CAL= 307.9,   3.1, ROT= 202.1,  -3.1

2025-10-26T21:57:40.255Z,1761515860.255 [DAT](INFO): got valid direction response:
 21:57:38.9297 LVL= 32752, 26865, 32754, 32755, AGC= 57, IDX= 505, 0.27,-2.211,-0.125,-1.367,-1.055, PHS=-1.054, 0.975,-0.356, RAW= 310.2,   4.9, CAL= 307.9,   3.1, ROT= 202.1,  -3.1

2025-10-26T21:57:40.255Z,1761515860.255 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-10-26T21:57:40.256Z,1761515860.256 [DAT](INFO): direction in FSK: [-0.925173,-0.375674,0.054079]
2025-10-26T21:57:40.256Z,1761515860.256 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:40.284Z,1761515860.284 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.677795
2025-10-26T21:57:40.434Z,1761515860.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409571,-0.910137,-0.062468],[0.912271,-0.408322,-0.032178],[0.003779,-0.070167,0.997528]]
2025-10-26T21:57:40.502Z,1761515860.502 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.892775
2025-10-26T21:57:40.524Z,1761515860.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.503767 s,
      deltaX: 0.300000 m,
      approachRate: 0.595514 m/s,
      rangeRepo size: 4

2025-10-26T21:57:40.541Z,1761515860.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.541364 m,
      bearing: 316.020314 deg,
      lat: 36.779405 deg,
      lon: -121.859454 deg,
      deltaT: 0.503767 s,
      deltaX: 0.298168 m,
      approachRate: 0.591877 m/s,
      posRepo size: 4

2025-10-26T21:57:40.543Z,1761515860.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T21:57:40.750Z,1761515860.750 [DAT](INFO): DAT read: Rx Time:21:57:39.4297 

2025-10-26T21:57:40.751Z,1761515860.751 [DAT](INFO): Rx dataTimestamp_ set to:1761515860.750008
2025-10-26T21:57:40.753Z,1761515860.753 [DAT](INFO): DAT read: Bearing  85.1, -23.3 (Local)

2025-10-26T21:57:40.753Z,1761515860.753 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.1, -23.3 (Local)

2025-10-26T21:57:40.756Z,1761515860.756 [DAT](INFO): DAT read: Range 11 to 50 :     9.6 m (trip time 6.4 ms) speed -0.1

2025-10-26T21:57:40.763Z,1761515860.763 [DAT](INFO): DAT read: 21:57:39.4297 LVL= 32752, 24017, 32754, 32755, AGC= 57, IDX= 505, 0.20, 3.023,-1.144,-2.380,-2.109, PHS=-1.049, 1.010,-0.315, RAW= 309.4,   4.0, CAL= 307.0,   1.3, ROT= 203.0,  -1.3

2025-10-26T21:57:40.769Z,1761515860.769 [DAT](INFO): got valid direction response:
 21:57:39.4297 LVL= 32752, 24017, 32754, 32755, AGC= 57, IDX= 505, 0.20, 3.023,-1.144,-2.380,-2.109, PHS=-1.049, 1.010,-0.315, RAW= 309.4,   4.0, CAL= 307.0,   1.3, ROT= 203.0,  -1.3

2025-10-26T21:57:40.770Z,1761515860.770 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-10-26T21:57:40.772Z,1761515860.772 [DAT](INFO): direction in FSK: [-0.920268,-0.390631,0.022687]
2025-10-26T21:57:40.773Z,1761515860.773 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:40.781Z,1761515860.781 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.174807
2025-10-26T21:57:40.950Z,1761515860.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410956,-0.909621,-0.060872],[0.911636,-0.409598,-0.033905],[0.005907,-0.069426,0.997570]]
2025-10-26T21:57:40.972Z,1761515860.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.504886 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:40.974Z,1761515860.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.541382 m,
      bearing: 317.126204 deg,
      lat: 36.779406 deg,
      lon: -121.859453 deg,
      deltaT: 0.504886 s,
      deltaX: 0.000018 m,
      approachRate: 0.000036 m/s,
      posRepo size: 4

2025-10-26T21:57:40.975Z,1761515860.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T21:57:41.007Z,1761515861.007 [DAT](INFO): DAT read: Rx Time:21:57:39.9298 

2025-10-26T21:57:41.009Z,1761515861.009 [DAT](INFO): Rx dataTimestamp_ set to:1761515861.008290
2025-10-26T21:57:41.012Z,1761515861.012 [DAT](INFO): DAT read: Bearing  86.8, -23.8 (Local)

2025-10-26T21:57:41.013Z,1761515861.013 [DAT](INFO): Local bearing/azimuth received:
 Bearing  86.8, -23.8 (Local)

2025-10-26T21:57:41.021Z,1761515861.021 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.408173
2025-10-26T21:57:41.254Z,1761515861.254 [DAT](INFO): DAT read: Range 11 to 50 :     9.8 m (trip time 6.5 ms) speed -0.3

2025-10-26T21:57:41.258Z,1761515861.258 [DAT](INFO): DAT read: 21:57:39.9298 LVL= 32752, 20609, 30290, 32755, AGC= 58, IDX= 506, 0.15,-3.002,-0.874,-2.102,-1.866, PHS=-1.035, 1.037,-0.280, RAW= 308.9,   3.1, CAL= 306.5,  -0.2, ROT= 203.5,   0.2

2025-10-26T21:57:41.260Z,1761515861.260 [DAT](INFO): got valid direction response:
 21:57:39.9298 LVL= 32752, 20609, 30290, 32755, AGC= 58, IDX= 506, 0.15,-3.002,-0.874,-2.102,-1.866, PHS=-1.035, 1.037,-0.280, RAW= 308.9,   3.1, CAL= 306.5,  -0.2, ROT= 203.5,   0.2

2025-10-26T21:57:41.260Z,1761515861.260 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-10-26T21:57:41.261Z,1761515861.261 [DAT](INFO): direction in FSK: [-0.917055,-0.398747,-0.003491]
2025-10-26T21:57:41.261Z,1761515861.261 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:41.265Z,1761515861.265 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.658518
2025-10-26T21:57:41.370Z,1761515861.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412343,-0.909021,-0.060447],[0.910995,-0.410843,-0.036012],[0.007901,-0.069916,0.997522]]
2025-10-26T21:57:41.450Z,1761515861.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.501810 s,
      deltaX: 0.200000 m,
      approachRate: 0.398557 m/s,
      rangeRepo size: 4

2025-10-26T21:57:41.457Z,1761515861.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.740160 m,
      bearing: 317.810680 deg,
      lat: 36.779406 deg,
      lon: -121.859453 deg,
      deltaT: 0.501810 s,
      deltaX: 0.198778 m,
      approachRate: 0.396122 m/s,
      posRepo size: 4

2025-10-26T21:57:41.457Z,1761515861.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.74 m.
2025-10-26T21:57:41.522Z,1761515861.522 [DAT](INFO): DAT read: Rx Time:21:57:40.4298 

2025-10-26T21:57:41.524Z,1761515861.524 [DAT](INFO): Rx dataTimestamp_ set to:1761515861.522912
2025-10-26T21:57:41.527Z,1761515861.527 [DAT](INFO): DAT read: Bearing  87.0, -23.8 (Local)

2025-10-26T21:57:41.528Z,1761515861.528 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.0, -23.8 (Local)

2025-10-26T21:57:41.533Z,1761515861.533 [DAT](INFO): DAT read: Range 11 to 50 :     9.8 m (trip time 6.5 ms) speed 0.0

2025-10-26T21:57:41.536Z,1761515861.536 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-10-26T21:57:41.540Z,1761515861.540 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.932339
2025-10-26T21:57:41.763Z,1761515861.763 [DAT](INFO): DAT read: 21:57:40.4298 LVL= 32752, 21617, 29650, 32755, AGC= 58, IDX= 506, 0.15, 1.558,-2.598, 2.459, 2.690, PHS=-1.030, 1.040,-0.275, RAW= 308.9,   3.0, CAL= 306.5,  -0.3, ROT= 203.5,   0.3

2025-10-26T21:57:41.776Z,1761515861.776 [DAT](INFO): got valid direction response:
 21:57:40.4298 LVL= 32752, 21617, 29650, 32755, AGC= 58, IDX= 506, 0.15, 1.558,-2.598, 2.459, 2.690, PHS=-1.030, 1.040,-0.275, RAW= 308.9,   3.0, CAL= 306.5,  -0.3, ROT= 203.5,   0.3

2025-10-26T21:57:41.776Z,1761515861.776 [DAT](INFO): #Rx 35: Read direction message, but no range.
2025-10-26T21:57:41.778Z,1761515861.778 [DAT](INFO): direction in FSK: [-0.917048,-0.398744,-0.005236]
2025-10-26T21:57:41.797Z,1761515861.797 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.190510
2025-10-26T21:57:41.807Z,1761515861.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413539,-0.908496,-0.060165],[0.910432,-0.411891,-0.038200],[0.009923,-0.070574,0.997457]]
2025-10-26T21:57:41.901Z,1761515861.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.271094 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:41.907Z,1761515861.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.740158 m,
      bearing: 317.891629 deg,
      lat: 36.779407 deg,
      lon: -121.859451 deg,
      deltaT: 0.271094 s,
      deltaX: -0.000002 m,
      approachRate: -0.000007 m/s,
      posRepo size: 4

2025-10-26T21:57:41.908Z,1761515861.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.74 m.
2025-10-26T21:57:42.012Z,1761515862.012 [DAT](INFO): DAT read: Rx Time:21:57:40.9300 

2025-10-26T21:57:42.014Z,1761515862.014 [DAT](INFO): Rx dataTimestamp_ set to:1761515862.012982
2025-10-26T21:57:42.018Z,1761515862.018 [DAT](INFO): DAT read: Bearing  86.3, -24.0 (Local)

2025-10-26T21:57:42.019Z,1761515862.019 [DAT](INFO): Local bearing/azimuth received:
 Bearing  86.3, -24.0 (Local)

2025-10-26T21:57:42.037Z,1761515862.037 [DAT](INFO): DAT read: Range 11 to 50 :    10.1 m (trip time 6.7 ms) speed -0.2

2025-10-26T21:57:42.039Z,1761515862.039 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-10-26T21:57:42.068Z,1761515862.068 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.440268
2025-10-26T21:57:42.205Z,1761515862.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414555,-0.908042,-0.060025],[0.909946,-0.412755,-0.040380],[0.011891,-0.071359,0.997380]]
2025-10-26T21:57:42.249Z,1761515862.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.100000 m,
      deltaT: 0.490070 s,
      deltaX: 0.300000 m,
      approachRate: 0.612158 m/s,
      rangeRepo size: 4

2025-10-26T21:57:42.250Z,1761515862.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.74 m.
2025-10-26T21:57:42.264Z,1761515862.264 [DAT](INFO): DAT read: 21:57:40.9300 LVL= 32752, 24817, 32754, 32755, AGC= 58, IDX= 508, 0.12, 2.608,-1.569,-2.786,-2.539, PHS=-1.035, 1.014,-0.291, RAW= 309.0,   3.5, CAL= 306.6,   0.5, ROT= 203.4,  -0.5

2025-10-26T21:57:42.265Z,1761515862.265 [DAT](INFO): got valid direction response:
 21:57:40.9300 LVL= 32752, 24817, 32754, 32755, AGC= 58, IDX= 508, 0.12, 2.608,-1.569,-2.786,-2.539, PHS=-1.035, 1.014,-0.291, RAW= 309.0,   3.5, CAL= 306.6,   0.5, ROT= 203.4,  -0.5

2025-10-26T21:57:42.266Z,1761515862.266 [DAT](INFO): #Rx 37: Read direction message, but no range.
2025-10-26T21:57:42.267Z,1761515862.267 [DAT](INFO): direction in FSK: [-0.917720,-0.397133,0.008727]
2025-10-26T21:57:42.270Z,1761515862.270 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.663631
2025-10-26T21:57:42.516Z,1761515862.516 [DAT](INFO): DAT read: Rx Time:21:57:41.4300 

2025-10-26T21:57:42.517Z,1761515862.517 [DAT](INFO): Rx dataTimestamp_ set to:1761515862.516396
2025-10-26T21:57:42.520Z,1761515862.520 [DAT](INFO): DAT read: Bearing  84.8, -24.1 (Local)

2025-10-26T21:57:42.521Z,1761515862.521 [DAT](INFO): Local bearing/azimuth received:
 Bearing  84.8, -24.1 (Local)

2025-10-26T21:57:42.542Z,1761515862.542 [DAT](INFO): DAT read: Range 11 to 50 :    10.1 m (trip time 6.7 ms) speed -0.2

2025-10-26T21:57:42.544Z,1761515862.544 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-10-26T21:57:42.548Z,1761515862.548 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.940662
2025-10-26T21:57:42.645Z,1761515862.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416296,-0.907403,-0.057596],[0.909092,-0.414296,-0.043710],[0.015801,-0.070556,0.997383]]
2025-10-26T21:57:42.690Z,1761515862.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.100000 m,
      deltaT: 0.503414 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:42.692Z,1761515862.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.038338 m,
      bearing: 317.909151 deg,
      lat: 36.779408 deg,
      lon: -121.859451 deg,
      deltaT: 0.993484 s,
      deltaX: 0.298180 m,
      approachRate: 0.300135 m/s,
      posRepo size: 4

2025-10-26T21:57:42.693Z,1761515862.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m.
2025-10-26T21:57:42.768Z,1761515862.768 [DAT](INFO): DAT read: 21:57:41.4300 LVL= 32752, 28609, 32754, 32755, AGC= 59, IDX= 508, 0.02, 0.713, 2.799, 1.592, 1.861, PHS=-1.046, 0.982,-0.313, RAW= 309.1,   4.3, CAL= 306.7,   1.9, ROT= 203.3,  -1.9

2025-10-26T21:57:42.769Z,1761515862.769 [DAT](INFO): got valid direction response:
 21:57:41.4300 LVL= 32752, 28609, 32754, 32755, AGC= 59, IDX= 508, 0.02, 0.713, 2.799, 1.592, 1.861, PHS=-1.046, 0.982,-0.313, RAW= 309.1,   4.3, CAL= 306.7,   1.9, ROT= 203.3,  -1.9

2025-10-26T21:57:42.770Z,1761515862.770 [DAT](INFO): #Rx 39: Read direction message, but no range.
2025-10-26T21:57:42.771Z,1761515862.771 [DAT](INFO): direction in FSK: [-0.917941,-0.395328,0.033155]
2025-10-26T21:57:42.774Z,1761515862.774 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.167707
2025-10-26T21:57:43.020Z,1761515863.020 [DAT](INFO): DAT read: Rx Time:21:57:41.9301 

2025-10-26T21:57:43.022Z,1761515863.022 [DAT](INFO): Rx dataTimestamp_ set to:1761515863.020653
2025-10-26T21:57:43.025Z,1761515863.025 [DAT](INFO): DAT read: Bearing  87.4, -25.1 (Local)

2025-10-26T21:57:43.026Z,1761515863.026 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.4, -25.1 (Local)

2025-10-26T21:57:43.058Z,1761515863.058 [DAT](INFO): DAT read: Range 11 to 50 :    10.2 m (trip time 6.8 ms) speed -0.2

2025-10-26T21:57:43.096Z,1761515863.096 [DAT](INFO): DAT read: 21:57:41.9301 LVL= 32752, 21905, 29042, 32755, AGC= 58, IDX= 510,-0.14, 1.084,-3.055, 2.020, 2.234, PHS=-1.048, 1.039,-0.258, RAW= 308.0,   3.0, CAL= 305.6,  -0.4, ROT= 204.4,   0.4

2025-10-26T21:57:43.098Z,1761515863.098 [DAT](INFO): got valid direction response:
 21:57:41.9301 LVL= 32752, 21905, 29042, 32755, AGC= 58, IDX= 510,-0.14, 1.084,-3.055, 2.020, 2.234, PHS=-1.048, 1.039,-0.258, RAW= 308.0,   3.0, CAL= 305.6,  -0.4, ROT= 204.4,   0.4

2025-10-26T21:57:43.098Z,1761515863.098 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-10-26T21:57:43.099Z,1761515863.099 [DAT](INFO): direction in FSK: [-0.910662,-0.413094,-0.006981]
2025-10-26T21:57:43.103Z,1761515863.103 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:43.107Z,1761515863.107 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.500416
2025-10-26T21:57:43.113Z,1761515863.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417254,-0.907002,-0.056981],[0.908615,-0.415123,-0.045725],[0.017819,-0.070853,0.997328]]
2025-10-26T21:57:43.159Z,1761515863.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.504257 s,
      deltaX: 0.099999 m,
      approachRate: 0.198310 m/s,
      rangeRepo size: 4

2025-10-26T21:57:43.161Z,1761515863.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.137727 m,
      bearing: 319.031121 deg,
      lat: 36.779409 deg,
      lon: -121.859450 deg,
      deltaT: 0.504257 s,
      deltaX: 0.099389 m,
      approachRate: 0.197100 m/s,
      posRepo size: 4

2025-10-26T21:57:43.161Z,1761515863.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:57:43.269Z,1761515863.269 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.662966
2025-10-26T21:57:43.473Z,1761515863.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417944,-0.906789,-0.055291],[0.908255,-0.415735,-0.047312],[0.019916,-0.069992,0.997349]]
2025-10-26T21:57:43.523Z,1761515863.523 [DAT](INFO): DAT read: Rx Time:21:57:42.4301 

2025-10-26T21:57:43.525Z,1761515863.525 [DAT](INFO): Rx dataTimestamp_ set to:1761515863.524090
2025-10-26T21:57:43.539Z,1761515863.539 [DAT](INFO): DAT read: Bearing  86.3, -25.1 (Local)

2025-10-26T21:57:43.540Z,1761515863.540 [DAT](INFO): Local bearing/azimuth received:
 Bearing  86.3, -25.1 (Local)

2025-10-26T21:57:43.560Z,1761515863.560 [DAT](INFO): DAT read: Range 11 to 50 :    10.2 m (trip time 6.8 ms) speed -0.2

2025-10-26T21:57:43.567Z,1761515863.567 [DAT](INFO): DAT read: 21:57:42.4301 LVL= 32752, 25329, 31954, 32755, AGC= 59, IDX= 509, 0.50, 1.868,-2.309, 2.778, 3.015, PHS=-1.045, 1.004,-0.281, RAW= 308.4,   3.6, CAL= 305.9,   0.6, ROT= 204.1,  -0.6

2025-10-26T21:57:43.582Z,1761515863.582 [DAT](INFO): got valid direction response:
 21:57:42.4301 LVL= 32752, 25329, 31954, 32755, AGC= 59, IDX= 509, 0.50, 1.868,-2.309, 2.778, 3.015, PHS=-1.045, 1.004,-0.281, RAW= 308.4,   3.6, CAL= 305.9,   0.6, ROT= 204.1,  -0.6

2025-10-26T21:57:43.582Z,1761515863.582 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-10-26T21:57:43.583Z,1761515863.583 [DAT](INFO): direction in FSK: [-0.912784,-0.408308,0.010472]
2025-10-26T21:57:43.587Z,1761515863.587 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:43.591Z,1761515863.591 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.984364
2025-10-26T21:57:43.595Z,1761515863.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:57:43.772Z,1761515863.772 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.165895
2025-10-26T21:57:43.870Z,1761515863.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418218,-0.906776,-0.053401],[0.908088,-0.415971,-0.048427],[0.021699,-0.068745,0.997398]]
2025-10-26T21:57:43.910Z,1761515863.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.503437 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:43.912Z,1761515863.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.137705 m,
      bearing: 318.725574 deg,
      lat: 36.779410 deg,
      lon: -121.859449 deg,
      deltaT: 0.503437 s,
      deltaX: -0.000022 m,
      approachRate: -0.000044 m/s,
      posRepo size: 4

2025-10-26T21:57:43.912Z,1761515863.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T21:57:44.030Z,1761515864.030 [DAT](INFO): DAT read: Rx Time:21:57:42.9303 

2025-10-26T21:57:44.032Z,1761515864.032 [DAT](INFO): Rx dataTimestamp_ set to:1761515864.030874
2025-10-26T21:57:44.035Z,1761515864.035 [DAT](INFO): DAT read: Bearing  88.2, -25.8 (Local)

2025-10-26T21:57:44.036Z,1761515864.036 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.2, -25.8 (Local)

2025-10-26T21:57:44.041Z,1761515864.041 [DAT](INFO): DAT read: Range 11 to 50 :    10.5 m (trip time 7.0 ms) speed 0.0

2025-10-26T21:57:44.048Z,1761515864.048 [DAT](ERROR): #Rx 42: Read range message, but no direction.
2025-10-26T21:57:44.060Z,1761515864.060 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.444534
2025-10-26T21:57:44.274Z,1761515864.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418486,-0.906731,-0.052040],[0.907918,-0.416173,-0.049848],[0.023541,-0.068109,0.997400]]
2025-10-26T21:57:44.280Z,1761515864.280 [DAT](INFO): DAT read: 21:57:42.9303 LVL= 32752, 20449, 28450, 32755, AGC= 58, IDX= 511, 0.05,-2.278,-0.140,-1.330,-1.143, PHS=-1.033, 1.048,-0.231, RAW= 307.5,   2.4, CAL= 305.3,  -1.0, ROT= 204.7,   1.0

2025-10-26T21:57:44.281Z,1761515864.281 [DAT](INFO): got valid direction response:
 21:57:42.9303 LVL= 32752, 20449, 28450, 32755, AGC= 58, IDX= 511, 0.05,-2.278,-0.140,-1.330,-1.143, PHS=-1.033, 1.048,-0.231, RAW= 307.5,   2.4, CAL= 305.3,  -1.0, ROT= 204.7,   1.0

2025-10-26T21:57:44.282Z,1761515864.282 [DAT](INFO): #Rx 43: Read direction message, but no range.
2025-10-26T21:57:44.283Z,1761515864.283 [DAT](INFO): direction in FSK: [-0.908370,-0.417803,-0.017452]
2025-10-26T21:57:44.286Z,1761515864.286 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.679638
2025-10-26T21:57:44.358Z,1761515864.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.506784 s,
      deltaX: 0.300000 m,
      approachRate: 0.591969 m/s,
      rangeRepo size: 4

2025-10-26T21:57:44.364Z,1761515864.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.435873 m,
      bearing: 319.457538 deg,
      lat: 36.779411 deg,
      lon: -121.859448 deg,
      deltaT: 0.506784 s,
      deltaX: 0.298168 m,
      approachRate: 0.588354 m/s,
      posRepo size: 4

2025-10-26T21:57:44.364Z,1761515864.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.44 m.
2025-10-26T21:57:44.545Z,1761515864.545 [DAT](INFO): DAT read: Rx Time:21:57:43.4302 

2025-10-26T21:57:44.546Z,1761515864.546 [DAT](INFO): Rx dataTimestamp_ set to:1761515864.545217
2025-10-26T21:57:44.551Z,1761515864.551 [DAT](INFO): DAT read: Bearing  88.7, -26.1 (Local)

2025-10-26T21:57:44.553Z,1761515864.553 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.7, -26.1 (Local)

2025-10-26T21:57:44.557Z,1761515864.557 [DAT](INFO): DAT read: Range 11 to 50 :    10.4 m (trip time 6.9 ms) speed -0.1

2025-10-26T21:57:44.566Z,1761515864.566 [DAT](INFO): DAT read: 21:57:43.4302 LVL= 32752, 18417, 26610, 32755, AGC= 58, IDX= 511,-0.49, 2.969,-1.182,-2.357,-2.188, PHS=-1.024, 1.051,-0.213, RAW= 307.2,   2.1, CAL= 305.0,  -1.4, ROT= 205.0,   1.4

2025-10-26T21:57:44.568Z,1761515864.568 [DAT](INFO): got valid direction response:
 21:57:43.4302 LVL= 32752, 18417, 26610, 32755, AGC= 58, IDX= 511,-0.49, 2.969,-1.182,-2.357,-2.188, PHS=-1.024, 1.051,-0.213, RAW= 307.2,   2.1, CAL= 305.0,  -1.4, ROT= 205.0,   1.4

2025-10-26T21:57:44.569Z,1761515864.569 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-26T21:57:44.570Z,1761515864.570 [DAT](INFO): direction in FSK: [-0.906037,-0.422492,-0.024432]
2025-10-26T21:57:44.570Z,1761515864.570 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:44.584Z,1761515864.584 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.977728
2025-10-26T21:57:44.679Z,1761515864.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418638,-0.906684,-0.051639],[0.907806,-0.416229,-0.051396],[0.025106,-0.068394,0.997342]]
2025-10-26T21:57:44.771Z,1761515864.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.400000 m,
      deltaT: 0.514343 s,
      deltaX: -0.100000 m,
      approachRate: -0.194424 m/s,
      rangeRepo size: 4

2025-10-26T21:57:44.777Z,1761515864.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.336474 m,
      bearing: 319.796505 deg,
      lat: 36.779411 deg,
      lon: -121.859447 deg,
      deltaT: 0.514343 s,
      deltaX: -0.099399 m,
      approachRate: -0.193254 m/s,
      posRepo size: 4

2025-10-26T21:57:44.777Z,1761515864.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m.
2025-10-26T21:57:44.781Z,1761515864.781 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.174303
2025-10-26T21:57:45.037Z,1761515865.037 [DAT](INFO): DAT read: Rx Time:21:57:43.9303 

2025-10-26T21:57:45.038Z,1761515865.038 [DAT](INFO): Rx dataTimestamp_ set to:1761515865.037444
2025-10-26T21:57:45.042Z,1761515865.042 [DAT](INFO): DAT read: Bearing  88.4, -26.5 (Local)

2025-10-26T21:57:45.043Z,1761515865.043 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.4, -26.5 (Local)

2025-10-26T21:57:45.050Z,1761515865.050 [DAT](INFO): DAT read: Range 11 to 50 :    10.5 m (trip time 7.0 ms) speed -0.1

2025-10-26T21:57:45.052Z,1761515865.052 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-10-26T21:57:45.056Z,1761515865.056 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.448631
2025-10-26T21:57:45.153Z,1761515865.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.492227 s,
      deltaX: 0.100000 m,
      approachRate: 0.203159 m/s,
      rangeRepo size: 4

2025-10-26T21:57:45.154Z,1761515865.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m.
2025-10-26T21:57:45.288Z,1761515865.288 [DAT](INFO): DAT read: 21:57:43.9303 LVL= 32752, 19265, 26930, 32755, AGC= 58, IDX= 511, 0.05,-2.578,-0.430,-1.609,-1.430, PHS=-1.046, 1.045,-0.223, RAW= 307.0,   2.5, CAL= 304.8,  -1.0, ROT= 205.2,   1.0

2025-10-26T21:57:45.289Z,1761515865.289 [DAT](INFO): got valid direction response:
 21:57:43.9303 LVL= 32752, 19265, 26930, 32755, AGC= 58, IDX= 511, 0.05,-2.578,-0.430,-1.609,-1.430, PHS=-1.046, 1.045,-0.223, RAW= 307.0,   2.5, CAL= 304.8,  -1.0, ROT= 205.2,   1.0

2025-10-26T21:57:45.289Z,1761515865.289 [DAT](INFO): #Rx 46: Read direction message, but no range.
2025-10-26T21:57:45.290Z,1761515865.290 [DAT](INFO): direction in FSK: [-0.904689,-0.425714,-0.017452]
2025-10-26T21:57:45.294Z,1761515865.294 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.687361
2025-10-26T21:57:45.487Z,1761515865.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418548,-0.906822,-0.049912],[0.907758,-0.416009,-0.053968],[0.028175,-0.067896,0.997294]]
2025-10-26T21:57:45.540Z,1761515865.540 [DAT](INFO): DAT read: Rx Time:21:57:44.4302 

2025-10-26T21:57:45.542Z,1761515865.542 [DAT](INFO): Rx dataTimestamp_ set to:1761515865.540862
2025-10-26T21:57:45.547Z,1761515865.547 [DAT](INFO): DAT read: Bearing  87.1, -27.0 (Local)

2025-10-26T21:57:45.550Z,1761515865.550 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.1, -27.0 (Local)

2025-10-26T21:57:45.564Z,1761515865.564 [DAT](INFO): DAT read: Range 11 to 50 :    10.4 m (trip time 6.9 ms) speed -0.2

2025-10-26T21:57:45.588Z,1761515865.588 [DAT](INFO): DAT read: 21:57:44.4302 LVL= 32752, 24769, 32754, 32755, AGC= 59, IDX= 511,-0.34, 0.143, 2.283, 1.112, 1.320, PHS=-1.075, 1.008,-0.253, RAW= 306.9,   3.6, CAL= 304.5,   0.3, ROT= 205.5,  -0.3

2025-10-26T21:57:45.589Z,1761515865.589 [DAT](INFO): got valid direction response:
 21:57:44.4302 LVL= 32752, 24769, 32754, 32755, AGC= 59, IDX= 511,-0.34, 0.143, 2.283, 1.112, 1.320, PHS=-1.075, 1.008,-0.253, RAW= 306.9,   3.6, CAL= 304.5,   0.3, ROT= 205.5,  -0.3

2025-10-26T21:57:45.590Z,1761515865.590 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-10-26T21:57:45.591Z,1761515865.591 [DAT](INFO): direction in FSK: [-0.902573,-0.430505,0.005236]
2025-10-26T21:57:45.591Z,1761515865.591 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:45.611Z,1761515865.611 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.996731
2025-10-26T21:57:45.683Z,1761515865.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.400000 m,
      deltaT: 0.503418 s,
      deltaX: -0.100000 m,
      approachRate: -0.198643 m/s,
      rangeRepo size: 4

2025-10-26T21:57:45.693Z,1761515865.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.336461 m,
      bearing: 320.168493 deg,
      lat: 36.779413 deg,
      lon: -121.859447 deg,
      deltaT: 0.995645 s,
      deltaX: -0.000013 m,
      approachRate: -0.000013 m/s,
      posRepo size: 4

2025-10-26T21:57:45.694Z,1761515865.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m.
2025-10-26T21:57:45.789Z,1761515865.789 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.182158
2025-10-26T21:57:45.944Z,1761515865.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418486,-0.906915,-0.048726],[0.907744,-0.415921,-0.054866],[0.029492,-0.067191,0.997304]]
2025-10-26T21:57:45.982Z,1761515865.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m.
2025-10-26T21:57:46.045Z,1761515866.045 [DAT](INFO): DAT read: Rx Time:21:57:44.9304 

2025-10-26T21:57:46.047Z,1761515866.047 [DAT](INFO): Rx dataTimestamp_ set to:1761515866.045831
2025-10-26T21:57:46.053Z,1761515866.053 [DAT](INFO): DAT read: Bearing  95.6, -35.0 (Local)

2025-10-26T21:57:46.054Z,1761515866.054 [DAT](INFO): Local bearing/azimuth received:
 Bearing  95.6, -35.0 (Local)

2025-10-26T21:57:46.080Z,1761515866.080 [DAT](INFO): DAT read: Range 11 to 50 :    10.7 m (trip time 7.1 ms) speed -0.1

2025-10-26T21:57:46.090Z,1761515866.090 [DAT](INFO): DAT read: 21:57:44.9304 LVL= 32752, 23153, 30706, 32755, AGC= 62, IDX= 512,-0.07, 1.747,-2.611, 2.917, 2.771, PHS=-0.923, 0.946, 0.101, RAW= 296.8,  -1.6, CAL= 295.8,  -6.0, ROT= 214.2,   6.0

2025-10-26T21:57:46.091Z,1761515866.091 [DAT](INFO): got valid direction response:
 21:57:44.9304 LVL= 32752, 23153, 30706, 32755, AGC= 62, IDX= 512,-0.07, 1.747,-2.611, 2.917, 2.771, PHS=-0.923, 0.946, 0.101, RAW= 296.8,  -1.6, CAL= 295.8,  -6.0, ROT= 214.2,   6.0

2025-10-26T21:57:46.095Z,1761515866.095 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-10-26T21:57:46.096Z,1761515866.096 [DAT](INFO): direction in FSK: [-0.822550,-0.559004,-0.104528]
2025-10-26T21:57:46.097Z,1761515866.097 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:46.105Z,1761515866.105 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.498381
2025-10-26T21:57:46.292Z,1761515866.292 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.685900
2025-10-26T21:57:46.388Z,1761515866.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.504969 s,
      deltaX: 0.300000 m,
      approachRate: 0.594096 m/s,
      rangeRepo size: 4

2025-10-26T21:57:46.390Z,1761515866.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.634628 m,
      bearing: 329.299924 deg,
      lat: 36.779413 deg,
      lon: -121.859446 deg,
      deltaT: 0.504969 s,
      deltaX: 0.298167 m,
      approachRate: 0.590466 m/s,
      posRepo size: 4

2025-10-26T21:57:46.390Z,1761515866.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-10-26T21:57:46.550Z,1761515866.550 [DAT](INFO): DAT read: Rx Time:21:57:45.4303 

2025-10-26T21:57:46.553Z,1761515866.553 [DAT](INFO): Rx dataTimestamp_ set to:1761515866.550770
2025-10-26T21:57:46.556Z,1761515866.556 [DAT](INFO): DAT read: Bearing  86.2, -26.3 (Local)

2025-10-26T21:57:46.557Z,1761515866.557 [DAT](INFO): Local bearing/azimuth received:
 Bearing  86.2, -26.3 (Local)

2025-10-26T21:57:46.566Z,1761515866.566 [DAT](INFO): DAT read: Range 11 to 50 :    10.5 m (trip time 7.0 ms) speed 0.0

2025-10-26T21:57:46.575Z,1761515866.575 [DAT](INFO): DAT read: 21:57:45.4303 LVL= 32752, 27377, 32754, 32755, AGC= 60, IDX= 511, 0.37, 2.477,-1.686,-2.875,-2.637, PHS=-1.067, 0.996,-0.282, RAW= 307.8,   4.0, CAL= 305.4,   1.1, ROT= 204.6,  -1.1

2025-10-26T21:57:46.576Z,1761515866.576 [DAT](INFO): got valid direction response:
 21:57:45.4303 LVL= 32752, 27377, 32754, 32755, AGC= 60, IDX= 511, 0.37, 2.477,-1.686,-2.875,-2.637, PHS=-1.067, 0.996,-0.282, RAW= 307.8,   4.0, CAL= 305.4,   1.1, ROT= 204.6,  -1.1

2025-10-26T21:57:46.577Z,1761515866.577 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-10-26T21:57:46.578Z,1761515866.578 [DAT](INFO): direction in FSK: [-0.909068,-0.416204,0.019197]
2025-10-26T21:57:46.578Z,1761515866.578 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:46.582Z,1761515866.582 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.975504
2025-10-26T21:57:46.750Z,1761515866.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418763,-0.906812,-0.048253],[0.907543,-0.416063,-0.057077],[0.031682,-0.067693,0.997203]]
2025-10-26T21:57:46.796Z,1761515866.796 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.189999
2025-10-26T21:57:46.833Z,1761515866.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.504939 s,
      deltaX: -0.200000 m,
      approachRate: -0.396087 m/s,
      rangeRepo size: 4

2025-10-26T21:57:46.840Z,1761515866.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.435845 m,
      bearing: 319.227391 deg,
      lat: 36.779413 deg,
      lon: -121.859446 deg,
      deltaT: 0.504939 s,
      deltaX: -0.198783 m,
      approachRate: -0.393677 m/s,
      posRepo size: 4

2025-10-26T21:57:46.840Z,1761515866.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.44 m.
2025-10-26T21:57:47.054Z,1761515867.054 [DAT](INFO): DAT read: Rx Time:21:57:45.9305 

2025-10-26T21:57:47.056Z,1761515867.056 [DAT](INFO): Rx dataTimestamp_ set to:1761515867.055258
2025-10-26T21:57:47.058Z,1761515867.058 [DAT](INFO): DAT read: Bearing  82.2, -23.7 (Local)

2025-10-26T21:57:47.058Z,1761515867.058 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.2, -23.7 (Local)

2025-10-26T21:57:47.071Z,1761515867.071 [DAT](INFO): DAT read: Range 11 to 50 :    10.8 m (trip time 7.2 ms) speed 0.0

2025-10-26T21:57:47.077Z,1761515867.077 [DAT](INFO): DAT read: 21:57:45.9305 LVL= 32752, 27745, 32754, 32755, AGC= 58, IDX= 513, 0.01,-1.799, 0.382,-0.934,-0.571, PHS=-1.126, 0.998,-0.407, RAW= 310.6,   5.8, CAL= 308.3,   4.6, ROT= 201.7,  -4.6

2025-10-26T21:57:47.078Z,1761515867.078 [DAT](INFO): got valid direction response:
 21:57:45.9305 LVL= 32752, 27745, 32754, 32755, AGC= 58, IDX= 513, 0.01,-1.799, 0.382,-0.934,-0.571, PHS=-1.126, 0.998,-0.407, RAW= 310.6,   5.8, CAL= 308.3,   4.6, ROT= 201.7,  -4.6

2025-10-26T21:57:47.079Z,1761515867.079 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-10-26T21:57:47.080Z,1761515867.080 [DAT](INFO): direction in FSK: [-0.926140,-0.368556,0.080199]
2025-10-26T21:57:47.080Z,1761515867.080 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:47.084Z,1761515867.084 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.477339
2025-10-26T21:57:47.154Z,1761515867.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418754,-0.906855,-0.047522],[0.907525,-0.416054,-0.057422],[0.032302,-0.067173,0.997218]]
2025-10-26T21:57:47.197Z,1761515867.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.504488 s,
      deltaX: 0.300000 m,
      approachRate: 0.594663 m/s,
      rangeRepo size: 4

2025-10-26T21:57:47.199Z,1761515867.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.734013 m,
      bearing: 316.075848 deg,
      lat: 36.779413 deg,
      lon: -121.859446 deg,
      deltaT: 0.504488 s,
      deltaX: 0.298167 m,
      approachRate: 0.591029 m/s,
      posRepo size: 4

2025-10-26T21:57:47.205Z,1761515867.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-10-26T21:57:47.301Z,1761515867.301 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.694098
2025-10-26T21:57:47.556Z,1761515867.556 [DAT](INFO): DAT read: Rx Time:21:57:46.4304 

2025-10-26T21:57:47.557Z,1761515867.557 [DAT](INFO): Rx dataTimestamp_ set to:1761515867.556524
2025-10-26T21:57:47.559Z,1761515867.559 [DAT](INFO): DAT read: Bearing  90.8, -28.1 (Local)

2025-10-26T21:57:47.560Z,1761515867.560 [DAT](INFO): Local bearing/azimuth received:
 Bearing  90.8, -28.1 (Local)

2025-10-26T21:57:47.563Z,1761515867.563 [DAT](INFO): DAT read: Range 11 to 50 :    10.7 m (trip time 7.1 ms) speed 0.0

2025-10-26T21:57:47.576Z,1761515867.576 [DAT](INFO): DAT read: 21:57:46.4304 LVL= 32752, 28849, 32754, 32755, AGC= 58, IDX= 512, 0.21,-1.371, 0.829,-0.329,-0.226, PHS=-1.043, 1.100,-0.148, RAW= 305.4,   1.0, CAL= 303.5,  -2.7, ROT= 206.5,   2.7

2025-10-26T21:57:47.577Z,1761515867.577 [DAT](INFO): got valid direction response:
 21:57:46.4304 LVL= 32752, 28849, 32754, 32755, AGC= 58, IDX= 512, 0.21,-1.371, 0.829,-0.329,-0.226, PHS=-1.043, 1.100,-0.148, RAW= 305.4,   1.0, CAL= 303.5,  -2.7, ROT= 206.5,   2.7

2025-10-26T21:57:47.577Z,1761515867.577 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-10-26T21:57:47.578Z,1761515867.578 [DAT](INFO): direction in FSK: [-0.893941,-0.445703,-0.047106]
2025-10-26T21:57:47.578Z,1761515867.578 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:47.586Z,1761515867.586 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.979460
2025-10-26T21:57:47.738Z,1761515867.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.501266 s,
      deltaX: -0.100000 m,
      approachRate: -0.199496 m/s,
      rangeRepo size: 4

2025-10-26T21:57:47.744Z,1761515867.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.634637 m,
      bearing: 321.406548 deg,
      lat: 36.779413 deg,
      lon: -121.859444 deg,
      deltaT: 0.501266 s,
      deltaX: -0.099376 m,
      approachRate: -0.198249 m/s,
      posRepo size: 4

2025-10-26T21:57:47.745Z,1761515867.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-10-26T21:57:47.805Z,1761515867.805 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.198608
2025-10-26T21:57:48.009Z,1761515868.009 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:57:48.058Z,1761515868.058 [DAT](INFO): DAT read: Rx Time:21:57:46.9305 

2025-10-26T21:57:48.059Z,1761515868.059 [DAT](INFO): Rx dataTimestamp_ set to:1761515868.058368
2025-10-26T21:57:48.061Z,1761515868.061 [DAT](INFO): DAT read: Bearing  93.9, -22.7 (Local)

2025-10-26T21:57:48.061Z,1761515868.061 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.9, -22.7 (Local)

2025-10-26T21:57:48.065Z,1761515868.065 [DAT](INFO): DAT read: Range 11 to 50 :    10.8 m (trip time 7.2 ms) speed 0.0

2025-10-26T21:57:48.076Z,1761515868.076 [DAT](INFO): DAT read: 21:57:46.9305 LVL= 32752, 28129, 32754, 32755, AGC= 59, IDX= 513, 0.47, 1.046,-2.837, 2.006, 2.110, PHS=-0.962, 1.381,-0.148, RAW= 310.0,  -2.7, CAL= 308.7,  -6.1, ROT= 201.3,   6.1

2025-10-26T21:57:48.077Z,1761515868.077 [DAT](INFO): got valid direction response:
 21:57:46.9305 LVL= 32752, 28129, 32754, 32755, AGC= 59, IDX= 513, 0.47, 1.046,-2.837, 2.006, 2.110, PHS=-0.962, 1.381,-0.148, RAW= 310.0,  -2.7, CAL= 308.7,  -6.1, ROT= 201.3,   6.1

2025-10-26T21:57:48.077Z,1761515868.077 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-10-26T21:57:48.078Z,1761515868.078 [DAT](INFO): direction in FSK: [-0.926416,-0.361195,-0.106264]
2025-10-26T21:57:48.078Z,1761515868.078 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:48.090Z,1761515868.090 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.483614
2025-10-26T21:57:48.124Z,1761515868.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.501844 s,
      deltaX: 0.100000 m,
      approachRate: 0.199266 m/s,
      rangeRepo size: 4

2025-10-26T21:57:48.126Z,1761515868.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.734027 m,
      bearing: 316.474944 deg,
      lat: 36.779412 deg,
      lon: -121.859446 deg,
      deltaT: 0.501844 s,
      deltaX: 0.099390 m,
      approachRate: 0.198050 m/s,
      posRepo size: 4

2025-10-26T21:57:48.127Z,1761515868.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-10-26T21:57:48.308Z,1761515868.308 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.701925
2025-10-26T21:57:48.387Z,1761515868.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419807,-0.906528,-0.044372],[0.906960,-0.417149,-0.058399],[0.034431,-0.064760,0.997307]]
2025-10-26T21:57:48.405Z,1761515868.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-10-26T21:57:48.561Z,1761515868.561 [DAT](INFO): DAT read: Rx Time:21:57:47.4304 

2025-10-26T21:57:48.562Z,1761515868.562 [DAT](INFO): Rx dataTimestamp_ set to:1761515868.561901
2025-10-26T21:57:48.564Z,1761515868.564 [DAT](INFO): DAT read: Range 11 to 50 :    10.7 m (trip time 7.1 ms) speed 0.0

2025-10-26T21:57:48.565Z,1761515868.565 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-10-26T21:57:48.567Z,1761515868.567 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.960173
2025-10-26T21:57:48.786Z,1761515868.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420016,-0.906438,-0.044243],[0.906844,-0.417328,-0.058920],[0.034943,-0.064869,0.997282]]
2025-10-26T21:57:48.813Z,1761515868.813 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.206104
2025-10-26T21:57:48.840Z,1761515868.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.503533 s,
      deltaX: -0.100000 m,
      approachRate: -0.198597 m/s,
      rangeRepo size: 4

2025-10-26T21:57:48.840Z,1761515868.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-10-26T21:57:49.014Z,1761515869.014 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:57:49.066Z,1761515869.066 [DAT](INFO): DAT read: Rx Time:21:57:47.9305 

2025-10-26T21:57:49.066Z,1761515869.066 [DAT](INFO): Rx dataTimestamp_ set to:1761515869.065868
2025-10-26T21:57:49.069Z,1761515869.069 [DAT](INFO): DAT read: Range 11 to 50 :    10.8 m (trip time 7.2 ms) speed -0.1

2025-10-26T21:57:49.069Z,1761515869.069 [DAT](ERROR): #Rx 54: Read range message, but no direction.
2025-10-26T21:57:49.075Z,1761515869.075 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.464544
2025-10-26T21:57:49.190Z,1761515869.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420393,-0.906264,-0.044210],[0.906642,-0.417657,-0.059686],[0.035627,-0.065174,0.997238]]
2025-10-26T21:57:49.217Z,1761515869.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.503967 s,
      deltaX: 0.100000 m,
      approachRate: 0.198426 m/s,
      rangeRepo size: 4

2025-10-26T21:57:49.218Z,1761515869.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-10-26T21:57:49.317Z,1761515869.317 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.710546
2025-10-26T21:57:49.570Z,1761515869.570 [DAT](INFO): DAT read: Rx Time:21:57:48.4304 

2025-10-26T21:57:49.576Z,1761515869.576 [DAT](INFO): Rx dataTimestamp_ set to:1761515869.570650
2025-10-26T21:57:49.577Z,1761515869.577 [DAT](INFO): DAT read: Bearing  92.3, -28.8 (Local)

2025-10-26T21:57:49.577Z,1761515869.577 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.3, -28.8 (Local)

2025-10-26T21:57:49.587Z,1761515869.587 [DAT](INFO): DAT read: Range 11 to 50 :    10.7 m (trip time 7.1 ms) speed 0.0

2025-10-26T21:57:49.596Z,1761515869.596 [DAT](INFO): DAT read: 21:57:48.4304 LVL= 32752, 26577, 30018, 32755, AGC= 61, IDX= 512, 0.15, 0.927, 2.799, 1.853, 1.897, PHS=-0.868, 0.946,-0.089, RAW= 304.6,   0.1, CAL= 302.9,  -3.6, ROT= 207.1,   3.6

2025-10-26T21:57:49.597Z,1761515869.597 [DAT](INFO): got valid direction response:
 21:57:48.4304 LVL= 32752, 26577, 30018, 32755, AGC= 61, IDX= 512, 0.15, 0.927, 2.799, 1.853, 1.897, PHS=-0.868, 0.946,-0.089, RAW= 304.6,   0.1, CAL= 302.9,  -3.6, ROT= 207.1,   3.6

2025-10-26T21:57:49.598Z,1761515869.598 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-10-26T21:57:49.599Z,1761515869.599 [DAT](INFO): direction in FSK: [-0.888456,-0.454646,-0.062791]
2025-10-26T21:57:49.599Z,1761515869.599 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:49.602Z,1761515869.602 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.995955
2025-10-26T21:57:49.606Z,1761515869.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421062,-0.905976,-0.043764],[0.906301,-0.418296,-0.060389],[0.036404,-0.065091,0.997215]]
2025-10-26T21:57:49.753Z,1761515869.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.504782 s,
      deltaX: -0.100000 m,
      approachRate: -0.198106 m/s,
      rangeRepo size: 4

2025-10-26T21:57:49.760Z,1761515869.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.634651 m,
      bearing: 322.225856 deg,
      lat: 36.779412 deg,
      lon: -121.859446 deg,
      deltaT: 1.512282 s,
      deltaX: -0.099376 m,
      approachRate: -0.065712 m/s,
      posRepo size: 4

2025-10-26T21:57:49.760Z,1761515869.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-10-26T21:57:49.821Z,1761515869.821 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.214384
2025-10-26T21:57:50.025Z,1761515870.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421885,-0.905622,-0.043154],[0.905891,-0.419108,-0.060903],[0.037069,-0.064787,0.997210]]
2025-10-26T21:57:50.052Z,1761515870.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-10-26T21:57:50.072Z,1761515870.072 [DAT](INFO): DAT read: Rx Time:21:57:48.9305 

2025-10-26T21:57:50.073Z,1761515870.073 [DAT](INFO): Rx dataTimestamp_ set to:1761515870.072623
2025-10-26T21:57:50.074Z,1761515870.074 [DAT](INFO): DAT read: Range 11 to 50 :    10.8 m (trip time 7.2 ms) speed 0.0

2025-10-26T21:57:50.075Z,1761515870.075 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-10-26T21:57:50.076Z,1761515870.076 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.469217
2025-10-26T21:57:50.325Z,1761515870.325 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.718372
2025-10-26T21:57:50.453Z,1761515870.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422860,-0.905175,-0.042981],[0.905413,-0.420049,-0.061536],[0.037647,-0.064937,0.997179]]
2025-10-26T21:57:50.472Z,1761515870.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.501973 s,
      deltaX: 0.100000 m,
      approachRate: 0.199215 m/s,
      rangeRepo size: 4

2025-10-26T21:57:50.473Z,1761515870.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-10-26T21:57:50.577Z,1761515870.577 [DAT](INFO): DAT read: Rx Time:21:57:49.4305 

2025-10-26T21:57:50.577Z,1761515870.577 [DAT](INFO): Rx dataTimestamp_ set to:1761515870.577150
2025-10-26T21:57:50.579Z,1761515870.579 [DAT](INFO): DAT read: Bearing  97.4, -25.3 (Local)

2025-10-26T21:57:50.579Z,1761515870.579 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.4, -25.3 (Local)

2025-10-26T21:57:50.581Z,1761515870.581 [DAT](INFO): DAT read: Range 11 to 50 :    10.8 m (trip time 7.2 ms) speed 0.0

2025-10-26T21:57:50.587Z,1761515870.587 [DAT](INFO): DAT read: 21:57:49.4305 LVL= 32752, 29361, 32754, 32755, AGC= 61, IDX= 513,-0.04,-1.893, 0.560,-0.795,-0.833, PHS=-0.958, 1.438,-0.006, RAW= 306.8,  -4.6, CAL= 306.0,  -8.4, ROT= 204.0,   8.4

2025-10-26T21:57:50.589Z,1761515870.589 [DAT](INFO): got valid direction response:
 21:57:49.4305 LVL= 32752, 29361, 32754, 32755, AGC= 61, IDX= 513,-0.04,-1.893, 0.560,-0.795,-0.833, PHS=-0.958, 1.438,-0.006, RAW= 306.8,  -4.6, CAL= 306.0,  -8.4, ROT= 204.0,   8.4

2025-10-26T21:57:50.589Z,1761515870.589 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-10-26T21:57:50.590Z,1761515870.590 [DAT](INFO): direction in FSK: [-0.903745,-0.402373,-0.146083]
2025-10-26T21:57:50.591Z,1761515870.591 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:50.594Z,1761515870.594 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.987846
2025-10-26T21:57:50.829Z,1761515870.829 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.222075
2025-10-26T21:57:50.872Z,1761515870.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424219,-0.904509,-0.043599],[0.904755,-0.421323,-0.062489],[0.038152,-0.065956,0.997093]]
2025-10-26T21:57:50.944Z,1761515870.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.504527 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:50.946Z,1761515870.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.734044 m,
      bearing: 319.707882 deg,
      lat: 36.779411 deg,
      lon: -121.859446 deg,
      deltaT: 1.006500 s,
      deltaX: 0.099393 m,
      approachRate: 0.098751 m/s,
      posRepo size: 4

2025-10-26T21:57:50.947Z,1761515870.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-10-26T21:57:51.081Z,1761515871.081 [DAT](INFO): DAT read: Rx Time:21:57:49.9306 

2025-10-26T21:57:51.082Z,1761515871.082 [DAT](INFO): Rx dataTimestamp_ set to:1761515871.081460
2025-10-26T21:57:51.083Z,1761515871.083 [DAT](INFO): DAT read: Bearing  88.0, -29.0 (Local)

2025-10-26T21:57:51.083Z,1761515871.083 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.0, -29.0 (Local)

2025-10-26T21:57:51.085Z,1761515871.085 [DAT](INFO): DAT read: Range 11 to 50 :    11.0 m (trip time 7.3 ms) speed -0.1

2025-10-26T21:57:51.090Z,1761515871.090 [DAT](INFO): DAT read: 21:57:49.9306 LVL= 32752, 23073, 32754, 32755, AGC= 62, IDX=   3,-0.50,-1.314, 0.836,-0.305,-0.112, PHS=-1.100, 0.993,-0.237, RAW= 305.8,   3.8, CAL= 303.4,   0.6, ROT= 206.6,  -0.6

2025-10-26T21:57:51.091Z,1761515871.091 [DAT](INFO): got valid direction response:
 21:57:49.9306 LVL= 32752, 23073, 32754, 32755, AGC= 62, IDX=   3,-0.50,-1.314, 0.836,-0.305,-0.112, PHS=-1.100, 0.993,-0.237, RAW= 305.8,   3.8, CAL= 303.4,   0.6, ROT= 206.6,  -0.6

2025-10-26T21:57:51.092Z,1761515871.092 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-10-26T21:57:51.093Z,1761515871.093 [DAT](INFO): direction in FSK: [-0.894105,-0.447735,0.010472]
2025-10-26T21:57:51.093Z,1761515871.093 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:51.098Z,1761515871.098 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.491289
2025-10-26T21:57:51.258Z,1761515871.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426070,-0.903610,-0.044211],[0.903863,-0.423082,-0.063499],[0.038673,-0.067016,0.997002]]
2025-10-26T21:57:51.294Z,1761515871.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 0.504310 s,
      deltaX: 0.200000 m,
      approachRate: 0.396581 m/s,
      rangeRepo size: 4

2025-10-26T21:57:51.296Z,1761515871.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.932823 m,
      bearing: 321.727973 deg,
      lat: 36.779415 deg,
      lon: -121.859445 deg,
      deltaT: 0.504310 s,
      deltaX: 0.198779 m,
      approachRate: 0.394161 m/s,
      posRepo size: 4

2025-10-26T21:57:51.296Z,1761515871.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.93 m.
2025-10-26T21:57:51.333Z,1761515871.333 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.726419
2025-10-26T21:57:51.585Z,1761515871.585 [DAT](INFO): DAT read: Rx Time:21:57:50.4306 

2025-10-26T21:57:51.585Z,1761515871.585 [DAT](INFO): Rx dataTimestamp_ set to:1761515871.585137
2025-10-26T21:57:51.587Z,1761515871.587 [DAT](INFO): DAT read: Bearing  85.8, -28.4 (Local)

2025-10-26T21:57:51.587Z,1761515871.587 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.8, -28.4 (Local)

2025-10-26T21:57:51.589Z,1761515871.589 [DAT](INFO): DAT read: Range 11 to 50 :    11.0 m (trip time 7.3 ms) speed -0.1

2025-10-26T21:57:51.594Z,1761515871.594 [DAT](INFO): DAT read: 21:57:50.4306 LVL= 32752, 31297, 32754, 32755, AGC= 59, IDX= 498,-0.03,-2.972,-0.870,-2.005,-1.771, PHS=-1.099, 0.946,-0.278, RAW= 306.5,   4.9, CAL= 304.1,   2.7, ROT= 205.9,  -2.7

2025-10-26T21:57:51.599Z,1761515871.599 [DAT](INFO): got valid direction response:
 21:57:50.4306 LVL= 32752, 31297, 32754, 32755, AGC= 59, IDX= 498,-0.03,-2.972,-0.870,-2.005,-1.771, PHS=-1.099, 0.946,-0.278, RAW= 306.5,   4.9, CAL= 304.1,   2.7, ROT= 205.9,  -2.7

2025-10-26T21:57:51.600Z,1761515871.600 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-26T21:57:51.601Z,1761515871.601 [DAT](INFO): direction in FSK: [-0.898559,-0.436317,0.047106]
2025-10-26T21:57:51.601Z,1761515871.601 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:51.605Z,1761515871.605 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.998203
2025-10-26T21:57:51.663Z,1761515871.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428158,-0.902610,-0.044452],[0.902857,-0.425109,-0.064286],[0.039128,-0.067659,0.996941]]
2025-10-26T21:57:51.804Z,1761515871.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 0.503677 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:51.806Z,1761515871.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.932852 m,
      bearing: 320.997542 deg,
      lat: 36.779414 deg,
      lon: -121.859446 deg,
      deltaT: 0.503677 s,
      deltaX: 0.000029 m,
      approachRate: 0.000057 m/s,
      posRepo size: 4

2025-10-26T21:57:51.807Z,1761515871.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.93 m.
2025-10-26T21:57:51.837Z,1761515871.837 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.230040
2025-10-26T21:57:52.089Z,1761515872.089 [DAT](INFO): DAT read: Rx Time:21:57:50.9306 

2025-10-26T21:57:52.089Z,1761515872.089 [DAT](INFO): Rx dataTimestamp_ set to:1761515872.089203
2025-10-26T21:57:52.091Z,1761515872.091 [DAT](INFO): DAT read: Bearing  90.1, -29.4 (Local)

2025-10-26T21:57:52.091Z,1761515872.091 [DAT](INFO): Local bearing/azimuth received:
 Bearing  90.1, -29.4 (Local)

2025-10-26T21:57:52.093Z,1761515872.093 [DAT](INFO): DAT read: Range 11 to 50 :    11.0 m (trip time 7.3 ms) speed -0.1

2025-10-26T21:57:52.098Z,1761515872.098 [DAT](INFO): DAT read: 21:57:50.9306 LVL= 32752, 24817, 31794, 32755, AGC= 63, IDX= 498, 0.05, 1.672,-2.442, 2.709, 2.858, PHS=-1.084, 1.028,-0.193, RAW= 305.2,   2.7, CAL= 302.9,  -0.9, ROT= 207.1,   0.9

2025-10-26T21:57:52.099Z,1761515872.099 [DAT](INFO): got valid direction response:
 21:57:50.9306 LVL= 32752, 24817, 31794, 32755, AGC= 63, IDX= 498, 0.05, 1.672,-2.442, 2.709, 2.858, PHS=-1.084, 1.028,-0.193, RAW= 305.2,   2.7, CAL= 302.9,  -0.9, ROT= 207.1,   0.9

2025-10-26T21:57:52.099Z,1761515872.099 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-26T21:57:52.100Z,1761515872.100 [DAT](INFO): direction in FSK: [-0.890103,-0.455489,-0.015707]
2025-10-26T21:57:52.101Z,1761515872.101 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:52.104Z,1761515872.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430369,-0.901583,-0.043937],[0.901793,-0.427325,-0.064528],[0.039401,-0.067393,0.996948]]
2025-10-26T21:57:52.108Z,1761515872.108 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.501947
2025-10-26T21:57:52.130Z,1761515872.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 0.504066 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:52.132Z,1761515872.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.932852 m,
      bearing: 322.615937 deg,
      lat: 36.779415 deg,
      lon: -121.859445 deg,
      deltaT: 0.504066 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:57:52.133Z,1761515872.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.93 m.
2025-10-26T21:57:52.342Z,1761515872.342 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.735718
2025-10-26T21:57:52.594Z,1761515872.594 [DAT](INFO): DAT read: Rx Time:21:57:51.4305 

2025-10-26T21:57:52.595Z,1761515872.595 [DAT](INFO): Rx dataTimestamp_ set to:1761515872.594604
2025-10-26T21:57:52.596Z,1761515872.596 [DAT](INFO): DAT read: Bearing  89.9, -29.5 (Local)

2025-10-26T21:57:52.597Z,1761515872.597 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.9, -29.5 (Local)

2025-10-26T21:57:52.599Z,1761515872.599 [DAT](INFO): DAT read: Range 11 to 50 :    10.8 m (trip time 7.2 ms) speed -0.1

2025-10-26T21:57:52.607Z,1761515872.607 [DAT](INFO): DAT read: 21:57:51.4305 LVL= 32752, 26785, 32754, 32755, AGC= 63, IDX= 498,-0.49,-0.848, 1.319, 0.189, 0.350, PHS=-1.095, 1.015,-0.205, RAW= 305.1,   3.1, CAL= 302.8,  -0.4, ROT= 207.2,   0.4

2025-10-26T21:57:52.624Z,1761515872.624 [DAT](INFO): got valid direction response:
 21:57:51.4305 LVL= 32752, 26785, 32754, 32755, AGC= 63, IDX= 498,-0.49,-0.848, 1.319, 0.189, 0.350, PHS=-1.095, 1.015,-0.205, RAW= 305.1,   3.1, CAL= 302.8,  -0.4, ROT= 207.2,   0.4

2025-10-26T21:57:52.624Z,1761515872.624 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-10-26T21:57:52.625Z,1761515872.625 [DAT](INFO): direction in FSK: [-0.889395,-0.457087,-0.006981]
2025-10-26T21:57:52.625Z,1761515872.625 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:52.653Z,1761515872.653 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.046495
2025-10-26T21:57:52.664Z,1761515872.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.505401 s,
      deltaX: -0.200000 m,
      approachRate: -0.395725 m/s,
      rangeRepo size: 4

2025-10-26T21:57:52.666Z,1761515872.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.734085 m,
      bearing: 322.676635 deg,
      lat: 36.779414 deg,
      lon: -121.859445 deg,
      deltaT: 0.505401 s,
      deltaX: -0.198767 m,
      approachRate: -0.393285 m/s,
      posRepo size: 4

2025-10-26T21:57:52.666Z,1761515872.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-10-26T21:57:52.844Z,1761515872.844 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.237993
2025-10-26T21:57:52.901Z,1761515872.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436087,-0.898926,-0.041945],[0.899015,-0.433110,-0.064717],[0.040009,-0.065931,0.997022]]
2025-10-26T21:57:52.961Z,1761515872.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-10-26T21:57:53.097Z,1761515873.097 [DAT](INFO): DAT read: Rx Time:21:57:51.9307 

2025-10-26T21:57:53.097Z,1761515873.097 [DAT](INFO): Rx dataTimestamp_ set to:1761515873.097210
2025-10-26T21:57:53.099Z,1761515873.099 [DAT](INFO): DAT read: Bearing  89.2, -29.5 (Local)

2025-10-26T21:57:53.099Z,1761515873.099 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.2, -29.5 (Local)

2025-10-26T21:57:53.101Z,1761515873.101 [DAT](INFO): DAT read: Range 11 to 50 :    11.1 m (trip time 7.4 ms) speed -0.1

2025-10-26T21:57:53.106Z,1761515873.106 [DAT](INFO): DAT read: 21:57:51.9307 LVL= 32752, 22945, 32754, 32755, AGC= 65, IDX=   3, 0.02, 0.472, 2.630, 1.498, 1.680, PHS=-1.106, 0.995,-0.226, RAW= 305.3,   3.7, CAL= 302.9,   0.3, ROT= 207.1,  -0.3

2025-10-26T21:57:53.107Z,1761515873.107 [DAT](INFO): got valid direction response:
 21:57:51.9307 LVL= 32752, 22945, 32754, 32755, AGC= 65, IDX=   3, 0.02, 0.472, 2.630, 1.498, 1.680, PHS=-1.106, 0.995,-0.226, RAW= 305.3,   3.7, CAL= 302.9,   0.3, ROT= 207.1,  -0.3

2025-10-26T21:57:53.107Z,1761515873.107 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-10-26T21:57:53.108Z,1761515873.108 [DAT](INFO): direction in FSK: [-0.890201,-0.455539,0.005236]
2025-10-26T21:57:53.109Z,1761515873.109 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:53.112Z,1761515873.112 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.505947
2025-10-26T21:57:53.303Z,1761515873.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439315,-0.897382,-0.041314],[0.897438,-0.436360,-0.064775],[0.040100,-0.065533,0.997044]]
2025-10-26T21:57:53.334Z,1761515873.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.502606 s,
      deltaX: 0.300000 m,
      approachRate: 0.596889 m/s,
      rangeRepo size: 4

2025-10-26T21:57:53.336Z,1761515873.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.032254 m,
      bearing: 323.097171 deg,
      lat: 36.779415 deg,
      lon: -121.859443 deg,
      deltaT: 0.502606 s,
      deltaX: 0.298169 m,
      approachRate: 0.593246 m/s,
      posRepo size: 4

2025-10-26T21:57:53.337Z,1761515873.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m.
2025-10-26T21:57:53.349Z,1761515873.349 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.742044
2025-10-26T21:57:53.601Z,1761515873.601 [DAT](INFO): DAT read: Rx Time:21:57:52.4306 

2025-10-26T21:57:53.601Z,1761515873.601 [DAT](INFO): Rx dataTimestamp_ set to:1761515873.601104
2025-10-26T21:57:53.603Z,1761515873.603 [DAT](INFO): DAT read: Bearing  90.0, -29.4 (Local)

2025-10-26T21:57:53.603Z,1761515873.603 [DAT](INFO): Local bearing/azimuth received:
 Bearing  90.0, -29.4 (Local)

2025-10-26T21:57:53.612Z,1761515873.612 [DAT](INFO): DAT read: Range 11 to 50 :    11.0 m (trip time 7.3 ms) speed -0.1

2025-10-26T21:57:53.623Z,1761515873.623 [DAT](INFO): DAT read: 21:57:52.4306 LVL= 32752, 24417, 31890, 32755, AGC= 62, IDX= 499,-0.49,-1.842, 0.307,-0.822,-0.648, PHS=-1.093, 1.000,-0.218, RAW= 305.4,   3.5, CAL= 303.0,  -0.1, ROT= 207.0,   0.1

2025-10-26T21:57:53.624Z,1761515873.624 [DAT](INFO): got valid direction response:
 21:57:52.4306 LVL= 32752, 24417, 31890, 32755, AGC= 62, IDX= 499,-0.49,-1.842, 0.307,-0.822,-0.648, PHS=-1.093, 1.000,-0.218, RAW= 305.4,   3.5, CAL= 303.0,  -0.1, ROT= 207.0,   0.1

2025-10-26T21:57:53.625Z,1761515873.625 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-10-26T21:57:53.626Z,1761515873.626 [DAT](INFO): direction in FSK: [-0.891005,-0.453990,-0.001745]
2025-10-26T21:57:53.626Z,1761515873.626 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:53.650Z,1761515873.650 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.043371
2025-10-26T21:57:53.720Z,1761515873.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442937,-0.895635,-0.040565],[0.895654,-0.440014,-0.064748],[0.040142,-0.065012,0.997077]]
2025-10-26T21:57:53.787Z,1761515873.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 0.503894 s,
      deltaX: -0.100000 m,
      approachRate: -0.198455 m/s,
      rangeRepo size: 4

2025-10-26T21:57:53.793Z,1761515873.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.932872 m,
      bearing: 323.260587 deg,
      lat: 36.779415 deg,
      lon: -121.859442 deg,
      deltaT: 0.503894 s,
      deltaX: -0.099382 m,
      approachRate: -0.197229 m/s,
      posRepo size: 4

2025-10-26T21:57:53.794Z,1761515873.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.93 m.
2025-10-26T21:57:53.853Z,1761515873.853 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.246771
2025-10-26T21:57:54.105Z,1761515874.105 [DAT](INFO): DAT read: Rx Time:21:57:52.9308 

2025-10-26T21:57:54.105Z,1761515874.105 [DAT](INFO): Rx dataTimestamp_ set to:1761515874.105205
2025-10-26T21:57:54.107Z,1761515874.107 [DAT](INFO): DAT read: Bearing  89.3, -29.2 (Local)

2025-10-26T21:57:54.107Z,1761515874.107 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.3, -29.2 (Local)

2025-10-26T21:57:54.109Z,1761515874.109 [DAT](INFO): DAT read: Range 11 to 50 :    11.3 m (trip time 7.5 ms) speed -0.1

2025-10-26T21:57:54.114Z,1761515874.114 [DAT](INFO): DAT read: 21:57:52.9308 LVL= 32752, 24945, 32754, 32755, AGC= 60, IDX= 500,-0.01,-0.347, 1.820, 0.674, 0.867, PHS=-1.113, 0.998,-0.238, RAW= 305.6,   3.9, CAL= 303.2,   0.7, ROT= 206.8,  -0.7

2025-10-26T21:57:54.115Z,1761515874.115 [DAT](INFO): got valid direction response:
 21:57:52.9308 LVL= 32752, 24945, 32754, 32755, AGC= 60, IDX= 500,-0.01,-0.347, 1.820, 0.674, 0.867, PHS=-1.113, 0.998,-0.238, RAW= 305.6,   3.9, CAL= 303.2,   0.7, ROT= 206.8,  -0.7

2025-10-26T21:57:54.115Z,1761515874.115 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-26T21:57:54.116Z,1761515874.116 [DAT](INFO): direction in FSK: [-0.892519,-0.450844,0.012217]
2025-10-26T21:57:54.117Z,1761515874.117 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:54.120Z,1761515874.120 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.513908
2025-10-26T21:57:54.129Z,1761515874.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446984,-0.893647,-0.039988],[0.893644,-0.444088,-0.064699],[0.040060,-0.064655,0.997103]]
2025-10-26T21:57:54.193Z,1761515874.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.504101 s,
      deltaX: 0.300000 m,
      approachRate: 0.595119 m/s,
      rangeRepo size: 4

2025-10-26T21:57:54.195Z,1761515874.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.231042 m,
      bearing: 323.260330 deg,
      lat: 36.779416 deg,
      lon: -121.859442 deg,
      deltaT: 0.504101 s,
      deltaX: 0.298170 m,
      approachRate: 0.591489 m/s,
      posRepo size: 4

2025-10-26T21:57:54.200Z,1761515874.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-10-26T21:57:54.356Z,1761515874.356 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.750011
2025-10-26T21:57:54.590Z,1761515874.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451238,-0.891536,-0.039353],[0.891509,-0.448372,-0.064606],[0.039954,-0.064236,0.997135]]
2025-10-26T21:57:54.613Z,1761515874.613 [DAT](INFO): DAT read: Rx Time:21:57:53.4307 

2025-10-26T21:57:54.615Z,1761515874.615 [DAT](INFO): Rx dataTimestamp_ set to:1761515874.613696
2025-10-26T21:57:54.621Z,1761515874.621 [DAT](INFO): DAT read: Bearing  90.3, -28.6 (Local)

2025-10-26T21:57:54.622Z,1761515874.622 [DAT](INFO): Local bearing/azimuth received:
 Bearing  90.3, -28.6 (Local)

2025-10-26T21:57:54.630Z,1761515874.630 [DAT](INFO): DAT read: Range 11 to 50 :    11.1 m (trip time 7.4 ms) speed -0.1

2025-10-26T21:57:54.634Z,1761515874.634 [DAT](INFO): DAT read: 21:57:53.4307 LVL= 32752, 24625, 32754, 32755, AGC= 60, IDX= 499, 0.45,-1.052, 1.113,-0.046, 0.145, PHS=-1.095, 1.013,-0.235, RAW= 306.1,   3.5, CAL= 303.6,   0.0, ROT= 206.4,  -0.0

2025-10-26T21:57:54.635Z,1761515874.635 [DAT](INFO): got valid direction response:
 21:57:53.4307 LVL= 32752, 24625, 32754, 32755, AGC= 60, IDX= 499, 0.45,-1.052, 1.113,-0.046, 0.145, PHS=-1.095, 1.013,-0.235, RAW= 306.1,   3.5, CAL= 303.6,   0.0, ROT= 206.4,  -0.0

2025-10-26T21:57:54.636Z,1761515874.636 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-10-26T21:57:54.637Z,1761515874.637 [DAT](INFO): direction in FSK: [-0.895712,-0.444635,0.000000]
2025-10-26T21:57:54.637Z,1761515874.637 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:54.641Z,1761515874.641 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.034161
2025-10-26T21:57:54.746Z,1761515874.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.508491 s,
      deltaX: -0.200000 m,
      approachRate: -0.393320 m/s,
      rangeRepo size: 4

2025-10-26T21:57:54.769Z,1761515874.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.032236 m,
      bearing: 323.188191 deg,
      lat: 36.779415 deg,
      lon: -121.859441 deg,
      deltaT: 0.508491 s,
      deltaX: -0.198806 m,
      approachRate: -0.390972 m/s,
      posRepo size: 4

2025-10-26T21:57:54.769Z,1761515874.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m.
2025-10-26T21:57:54.861Z,1761515874.861 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.254196
2025-10-26T21:57:55.054Z,1761515875.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455763,-0.889266,-0.038554],[0.889219,-0.452955,-0.064200],[0.039628,-0.063543,0.997192]]
2025-10-26T21:57:55.096Z,1761515875.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m.
2025-10-26T21:57:55.114Z,1761515875.114 [DAT](INFO): DAT read: Rx Time:21:57:53.9309 

2025-10-26T21:57:55.115Z,1761515875.115 [DAT](INFO): Rx dataTimestamp_ set to:1761515875.114576
2025-10-26T21:57:55.116Z,1761515875.116 [DAT](INFO): DAT read: Bearing  89.2, -28.1 (Local)

2025-10-26T21:57:55.117Z,1761515875.117 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.2, -28.1 (Local)

2025-10-26T21:57:55.119Z,1761515875.119 [DAT](INFO): DAT read: Range 11 to 50 :    11.4 m (trip time 7.6 ms) speed -0.1

2025-10-26T21:57:55.132Z,1761515875.132 [DAT](INFO): DAT read: 21:57:53.9309 LVL= 32752, 24385, 32754, 32755, AGC= 60, IDX= 501,-0.00,-0.422, 1.747, 0.568, 0.787, PHS=-1.107, 1.004,-0.263, RAW= 306.6,   4.0, CAL= 304.2,   1.1, ROT= 205.8,  -1.1

2025-10-26T21:57:55.133Z,1761515875.133 [DAT](INFO): got valid direction response:
 21:57:53.9309 LVL= 32752, 24385, 32754, 32755, AGC= 60, IDX= 501,-0.00,-0.422, 1.747, 0.568, 0.787, PHS=-1.107, 1.004,-0.263, RAW= 306.6,   4.0, CAL= 304.2,   1.1, ROT= 205.8,  -1.1

2025-10-26T21:57:55.134Z,1761515875.134 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-26T21:57:55.136Z,1761515875.136 [DAT](INFO): direction in FSK: [-0.900153,-0.435151,0.019197]
2025-10-26T21:57:55.136Z,1761515875.136 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:55.146Z,1761515875.146 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.540005
2025-10-26T21:57:55.365Z,1761515875.365 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.758038
2025-10-26T21:57:55.406Z,1761515875.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460273,-0.887023,-0.036596],[0.886910,-0.457610,-0.063119],[0.039242,-0.061509,0.997335]]
2025-10-26T21:57:55.449Z,1761515875.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.400000 m,
      deltaT: 0.500880 s,
      deltaX: 0.299999 m,
      approachRate: 0.598944 m/s,
      rangeRepo size: 4

2025-10-26T21:57:55.451Z,1761515875.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.330403 m,
      bearing: 323.096442 deg,
      lat: 36.779416 deg,
      lon: -121.859441 deg,
      deltaT: 0.500880 s,
      deltaX: 0.298167 m,
      approachRate: 0.595287 m/s,
      posRepo size: 4

2025-10-26T21:57:55.452Z,1761515875.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-10-26T21:57:55.622Z,1761515875.622 [DAT](INFO): DAT read: Rx Time:21:57:54.4308 

2025-10-26T21:57:55.623Z,1761515875.623 [DAT](INFO): Rx dataTimestamp_ set to:1761515875.622143
2025-10-26T21:57:55.625Z,1761515875.625 [DAT](INFO): DAT read: Bearing  90.5, -27.5 (Local)

2025-10-26T21:57:55.625Z,1761515875.625 [DAT](INFO): Local bearing/azimuth received:
 Bearing  90.5, -27.5 (Local)

2025-10-26T21:57:55.627Z,1761515875.627 [DAT](INFO): DAT read: Range 11 to 50 :    11.3 m (trip time 7.5 ms) speed -0.1

2025-10-26T21:57:55.637Z,1761515875.637 [DAT](INFO): DAT read: 21:57:54.4308 LVL= 32752, 21393, 32754, 32755, AGC= 60, IDX= 501,-0.41,-2.572,-0.405,-1.599,-1.386, PHS=-1.085, 1.026,-0.258, RAW= 307.1,   3.5, CAL= 304.7,   0.1, ROT= 205.3,  -0.1

2025-10-26T21:57:55.638Z,1761515875.638 [DAT](INFO): got valid direction response:
 21:57:54.4308 LVL= 32752, 21393, 32754, 32755, AGC= 60, IDX= 501,-0.41,-2.572,-0.405,-1.599,-1.386, PHS=-1.085, 1.026,-0.258, RAW= 307.1,   3.5, CAL= 304.7,   0.1, ROT= 205.3,  -0.1

2025-10-26T21:57:55.638Z,1761515875.638 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-10-26T21:57:55.640Z,1761515875.640 [DAT](INFO): direction in FSK: [-0.904081,-0.427357,0.001745]
2025-10-26T21:57:55.640Z,1761515875.640 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:55.644Z,1761515875.644 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.037148
2025-10-26T21:57:55.869Z,1761515875.869 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.262066
2025-10-26T21:57:55.916Z,1761515875.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.507567 s,
      deltaX: -0.099999 m,
      approachRate: -0.197017 m/s,
      rangeRepo size: 4

2025-10-26T21:57:55.918Z,1761515875.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.231012 m,
      bearing: 322.670205 deg,
      lat: 36.779415 deg,
      lon: -121.859440 deg,
      deltaT: 0.507567 s,
      deltaX: -0.099391 m,
      approachRate: -0.195818 m/s,
      posRepo size: 4

2025-10-26T21:57:55.918Z,1761515875.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-10-26T21:57:56.121Z,1761515876.121 [DAT](INFO): DAT read: Rx Time:21:57:54.9309 

2025-10-26T21:57:56.121Z,1761515876.121 [DAT](INFO): Rx dataTimestamp_ set to:1761515876.121049
2025-10-26T21:57:56.123Z,1761515876.123 [DAT](INFO): DAT read: Bearing  91.0, -26.6 (Local)

2025-10-26T21:57:56.123Z,1761515876.123 [DAT](INFO): Local bearing/azimuth received:
 Bearing  91.0, -26.6 (Local)

2025-10-26T21:57:56.125Z,1761515876.125 [DAT](INFO): DAT read: Range 11 to 50 :    11.4 m (trip time 7.6 ms) speed -0.1

2025-10-26T21:57:56.130Z,1761515876.130 [DAT](INFO): DAT read: 21:57:54.9309 LVL= 32752, 21233, 29618, 32755, AGC= 59, IDX= 501, 0.10,-0.894, 1.279, 0.058, 0.280, PHS=-1.072, 1.044,-0.266, RAW= 307.8,   3.2, CAL= 305.4,  -0.1, ROT= 204.6,   0.1

2025-10-26T21:57:56.131Z,1761515876.131 [DAT](INFO): got valid direction response:
 21:57:54.9309 LVL= 32752, 21233, 29618, 32755, AGC= 59, IDX= 501, 0.10,-0.894, 1.279, 0.058, 0.280, PHS=-1.072, 1.044,-0.266, RAW= 307.8,   3.2, CAL= 305.4,  -0.1, ROT= 204.6,   0.1

2025-10-26T21:57:56.131Z,1761515876.131 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-10-26T21:57:56.132Z,1761515876.132 [DAT](INFO): direction in FSK: [-0.909235,-0.416280,-0.001745]
2025-10-26T21:57:56.132Z,1761515876.132 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:56.136Z,1761515876.136 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.529495
2025-10-26T21:57:56.272Z,1761515876.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.400000 m,
      deltaT: 0.498906 s,
      deltaX: 0.099999 m,
      approachRate: 0.200437 m/s,
      rangeRepo size: 4

2025-10-26T21:57:56.274Z,1761515876.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.330401 m,
      bearing: 321.986473 deg,
      lat: 36.779415 deg,
      lon: -121.859441 deg,
      deltaT: 0.498906 s,
      deltaX: 0.099389 m,
      approachRate: 0.199214 m/s,
      posRepo size: 4

2025-10-26T21:57:56.275Z,1761515876.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-10-26T21:57:56.377Z,1761515876.377 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.770657
2025-10-26T21:57:56.646Z,1761515876.646 [DAT](INFO): DAT read: Rx Time:21:57:55.4309 

2025-10-26T21:57:56.648Z,1761515876.648 [DAT](INFO): Rx dataTimestamp_ set to:1761515876.646820
2025-10-26T21:57:56.652Z,1761515876.652 [DAT](INFO): DAT read: Bearing  91.3, -25.6 (Local)

2025-10-26T21:57:56.653Z,1761515876.653 [DAT](INFO): Local bearing/azimuth received:
 Bearing  91.3, -25.6 (Local)

2025-10-26T21:57:56.657Z,1761515876.657 [DAT](INFO): DAT read: Range 11 to 50 :    11.4 m (trip time 7.6 ms) speed -0.2

2025-10-26T21:57:56.705Z,1761515876.705 [DAT](INFO): DAT read: 21:57:55.4309 LVL= 32752, 20641, 29170, 32755, AGC= 60, IDX= 501,-0.19, 1.963,-2.165, 2.879, 3.114, PHS=-1.050, 1.048,-0.279, RAW= 308.7,   3.1, CAL= 306.3,  -0.2, ROT= 203.7,   0.2

2025-10-26T21:57:56.706Z,1761515876.706 [DAT](INFO): got valid direction response:
 21:57:55.4309 LVL= 32752, 20641, 29170, 32755, AGC= 60, IDX= 501,-0.19, 1.963,-2.165, 2.879, 3.114, PHS=-1.050, 1.048,-0.279, RAW= 308.7,   3.1, CAL= 306.3,  -0.2, ROT= 203.7,   0.2

2025-10-26T21:57:56.707Z,1761515876.707 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-10-26T21:57:56.720Z,1761515876.720 [DAT](INFO): direction in FSK: [-0.915657,-0.401945,-0.003491]
2025-10-26T21:57:56.721Z,1761515876.721 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:56.734Z,1761515876.734 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.127857
2025-10-26T21:57:56.753Z,1761515876.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478570,-0.877295,-0.036395],[0.877319,-0.476071,-0.060559],[0.035802,-0.060911,0.997501]]
2025-10-26T21:57:56.868Z,1761515876.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.400000 m,
      deltaT: 0.525771 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:56.870Z,1761515876.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.330407 m,
      bearing: 322.280212 deg,
      lat: 36.779415 deg,
      lon: -121.859440 deg,
      deltaT: 0.525771 s,
      deltaX: 0.000006 m,
      approachRate: 0.000011 m/s,
      posRepo size: 4

2025-10-26T21:57:56.871Z,1761515876.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-10-26T21:57:56.881Z,1761515876.881 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.274048
2025-10-26T21:57:57.133Z,1761515877.133 [DAT](INFO): DAT read: Rx Time:21:57:55.9310 

2025-10-26T21:57:57.134Z,1761515877.134 [DAT](INFO): Rx dataTimestamp_ set to:1761515877.133296
2025-10-26T21:57:57.135Z,1761515877.135 [DAT](INFO): DAT read: Bearing  91.8, -24.4 (Local)

2025-10-26T21:57:57.135Z,1761515877.135 [DAT](INFO): Local bearing/azimuth received:
 Bearing  91.8, -24.4 (Local)

2025-10-26T21:57:57.137Z,1761515877.137 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed -0.2

2025-10-26T21:57:57.142Z,1761515877.142 [DAT](INFO): DAT read: 21:57:55.9310 LVL= 32752, 19633, 30450, 32755, AGC= 60, IDX= 502, 0.34,-0.810, 1.345, 0.073, 0.321, PHS=-1.030, 1.069,-0.293, RAW= 309.7,   2.8, CAL= 307.4,  -0.4, ROT= 202.6,   0.4

2025-10-26T21:57:57.143Z,1761515877.143 [DAT](INFO): got valid direction response:
 21:57:55.9310 LVL= 32752, 19633, 30450, 32755, AGC= 60, IDX= 502, 0.34,-0.810, 1.345, 0.073, 0.321, PHS=-1.030, 1.069,-0.293, RAW= 309.7,   2.8, CAL= 307.4,  -0.4, ROT= 202.6,   0.4

2025-10-26T21:57:57.143Z,1761515877.143 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-10-26T21:57:57.144Z,1761515877.144 [DAT](INFO): direction in FSK: [-0.923188,-0.384286,-0.006981]
2025-10-26T21:57:57.145Z,1761515877.145 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:57.148Z,1761515877.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482810,-0.874906,-0.037864],[0.875044,-0.480278,-0.060266],[0.034541,-0.062230,0.997464]]
2025-10-26T21:57:57.152Z,1761515877.152 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.545990
2025-10-26T21:57:57.173Z,1761515877.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.486476 s,
      deltaX: 0.200001 m,
      approachRate: 0.411122 m/s,
      rangeRepo size: 4

2025-10-26T21:57:57.175Z,1761515877.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.529187 m,
      bearing: 321.470739 deg,
      lat: 36.779415 deg,
      lon: -121.859441 deg,
      deltaT: 0.486476 s,
      deltaX: 0.198780 m,
      approachRate: 0.408612 m/s,
      posRepo size: 4

2025-10-26T21:57:57.176Z,1761515877.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-10-26T21:57:57.384Z,1761515877.384 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.777920
2025-10-26T21:57:57.565Z,1761515877.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486614,-0.872753,-0.038841],[0.872992,-0.484103,-0.059407],[0.033045,-0.062817,0.997478]]
2025-10-26T21:57:57.625Z,1761515877.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-10-26T21:57:57.642Z,1761515877.642 [DAT](INFO): DAT read: Rx Time:21:57:56.4310 

2025-10-26T21:57:57.646Z,1761515877.646 [DAT](INFO): Rx dataTimestamp_ set to:1761515877.642468
2025-10-26T21:57:57.650Z,1761515877.650 [DAT](INFO): DAT read: Bearing  92.4, -23.5 (Local)

2025-10-26T21:57:57.651Z,1761515877.651 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.4, -23.5 (Local)

2025-10-26T21:57:57.659Z,1761515877.659 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed -0.2

2025-10-26T21:57:57.663Z,1761515877.663 [DAT](INFO): DAT read: 21:57:56.4310 LVL= 32752, 20513, 29570, 32755, AGC= 60, IDX= 502, 0.04,-2.321,-0.174,-1.461,-1.209, PHS=-1.010, 1.080,-0.297, RAW= 310.4,   2.5, CAL= 308.1,  -0.7, ROT= 201.9,   0.7

2025-10-26T21:57:57.664Z,1761515877.664 [DAT](INFO): got valid direction response:
 21:57:56.4310 LVL= 32752, 20513, 29570, 32755, AGC= 60, IDX= 502, 0.04,-2.321,-0.174,-1.461,-1.209, PHS=-1.010, 1.080,-0.297, RAW= 310.4,   2.5, CAL= 308.1,  -0.7, ROT= 201.9,   0.7

2025-10-26T21:57:57.665Z,1761515877.665 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-10-26T21:57:57.666Z,1761515877.666 [DAT](INFO): direction in FSK: [-0.927767,-0.372960,-0.012217]
2025-10-26T21:57:57.666Z,1761515877.666 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:57.670Z,1761515877.670 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.063583
2025-10-26T21:57:57.888Z,1761515877.888 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.282017
2025-10-26T21:57:57.940Z,1761515877.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490139,-0.870771,-0.039007],[0.871076,-0.487713,-0.057986],[0.031468,-0.062400,0.997555]]
2025-10-26T21:57:57.982Z,1761515877.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.509172 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:58.001Z,1761515878.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.529189 m,
      bearing: 321.269924 deg,
      lat: 36.779415 deg,
      lon: -121.859441 deg,
      deltaT: 0.509172 s,
      deltaX: 0.000002 m,
      approachRate: 0.000004 m/s,
      posRepo size: 4

2025-10-26T21:57:58.003Z,1761515878.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-10-26T21:57:58.142Z,1761515878.142 [DAT](INFO): DAT read: Rx Time:21:57:56.9311 

2025-10-26T21:57:58.142Z,1761515878.142 [DAT](INFO): Rx dataTimestamp_ set to:1761515878.141974
2025-10-26T21:57:58.144Z,1761515878.144 [DAT](INFO): DAT read: Bearing  92.0, -22.9 (Local)

2025-10-26T21:57:58.144Z,1761515878.144 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.0, -22.9 (Local)

2025-10-26T21:57:58.146Z,1761515878.146 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed -0.1

2025-10-26T21:57:58.151Z,1761515878.151 [DAT](INFO): DAT read: 21:57:56.9311 LVL= 32752, 22641, 32754, 32755, AGC= 61, IDX= 504,-0.20,-2.805,-0.659,-1.966,-1.687, PHS=-1.016, 1.073,-0.323, RAW= 311.0,   2.9, CAL= 308.6,  -0.2, ROT= 201.4,   0.2

2025-10-26T21:57:58.152Z,1761515878.152 [DAT](INFO): got valid direction response:
 21:57:56.9311 LVL= 32752, 22641, 32754, 32755, AGC= 61, IDX= 504,-0.20,-2.805,-0.659,-1.966,-1.687, PHS=-1.016, 1.073,-0.323, RAW= 311.0,   2.9, CAL= 308.6,  -0.2, ROT= 201.4,   0.2

2025-10-26T21:57:58.152Z,1761515878.152 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-10-26T21:57:58.153Z,1761515878.153 [DAT](INFO): direction in FSK: [-0.931050,-0.364875,-0.003491]
2025-10-26T21:57:58.153Z,1761515878.153 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:58.177Z,1761515878.177 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.570229
2025-10-26T21:57:58.339Z,1761515878.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493372,-0.868937,-0.039140],[0.869304,-0.491035,-0.056526],[0.029899,-0.061913,0.997634]]
2025-10-26T21:57:58.365Z,1761515878.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.499506 s,
      deltaX: 0.099999 m,
      approachRate: 0.200197 m/s,
      rangeRepo size: 4

2025-10-26T21:57:58.367Z,1761515878.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.628578 m,
      bearing: 320.947922 deg,
      lat: 36.779415 deg,
      lon: -121.859442 deg,
      deltaT: 0.499506 s,
      deltaX: 0.099389 m,
      approachRate: 0.198975 m/s,
      posRepo size: 4

2025-10-26T21:57:58.367Z,1761515878.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:57:58.393Z,1761515878.393 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.786175
2025-10-26T21:57:58.649Z,1761515878.649 [DAT](INFO): DAT read: Rx Time:21:57:57.4311 

2025-10-26T21:57:58.651Z,1761515878.651 [DAT](INFO): Rx dataTimestamp_ set to:1761515878.649842
2025-10-26T21:57:58.671Z,1761515878.671 [DAT](INFO): DAT read: Bearing  92.7, -21.8 (Local)

2025-10-26T21:57:58.672Z,1761515878.672 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.7, -21.8 (Local)

2025-10-26T21:57:58.692Z,1761515878.692 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed -0.2

2025-10-26T21:57:58.702Z,1761515878.702 [DAT](INFO): DAT read: 21:57:57.4311 LVL= 32752, 24209, 32370, 32755, AGC= 61, IDX= 503, 0.30,-1.669, 0.472,-0.856,-0.577, PHS=-0.990, 1.094,-0.323, RAW= 311.7,   2.4, CAL= 309.4,  -0.6, ROT= 200.6,   0.6

2025-10-26T21:57:58.709Z,1761515878.709 [DAT](INFO): got valid direction response:
 21:57:57.4311 LVL= 32752, 24209, 32370, 32755, AGC= 61, IDX= 503, 0.30,-1.669, 0.472,-0.856,-0.577, PHS=-0.990, 1.094,-0.323, RAW= 311.7,   2.4, CAL= 309.4,  -0.6, ROT= 200.6,   0.6

2025-10-26T21:57:58.709Z,1761515878.709 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-10-26T21:57:58.710Z,1761515878.710 [DAT](INFO): direction in FSK: [-0.936008,-0.351822,-0.010472]
2025-10-26T21:57:58.711Z,1761515878.711 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:58.720Z,1761515878.720 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.113834
2025-10-26T21:57:58.744Z,1761515878.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495817,-0.867527,-0.039520],[0.867973,-0.493573,-0.054849],[0.028077,-0.061498,0.997712]]
2025-10-26T21:57:58.835Z,1761515878.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.507868 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:57:58.837Z,1761515878.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.628580 m,
      bearing: 320.336481 deg,
      lat: 36.779414 deg,
      lon: -121.859443 deg,
      deltaT: 0.507868 s,
      deltaX: 0.000002 m,
      approachRate: 0.000004 m/s,
      posRepo size: 4

2025-10-26T21:57:58.838Z,1761515878.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:57:58.897Z,1761515878.897 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.290440
2025-10-26T21:57:59.146Z,1761515879.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497767,-0.866391,-0.039933],[0.866916,-0.495623,-0.053045],[0.026166,-0.061022,0.997793]]
2025-10-26T21:57:59.149Z,1761515879.149 [DAT](INFO): DAT read: Rx Time:21:57:57.9313 

2025-10-26T21:57:59.149Z,1761515879.149 [DAT](INFO): Rx dataTimestamp_ set to:1761515879.149201
2025-10-26T21:57:59.151Z,1761515879.151 [DAT](INFO): DAT read: Bearing  92.8, -20.7 (Local)

2025-10-26T21:57:59.151Z,1761515879.151 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.8, -20.7 (Local)

2025-10-26T21:57:59.153Z,1761515879.153 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed -0.1

2025-10-26T21:57:59.158Z,1761515879.158 [DAT](INFO): DAT read: 21:57:57.9313 LVL= 32752, 22161, 31218, 32755, AGC= 61, IDX= 505,-0.13,-0.841, 1.294,-0.062, 0.237, PHS=-0.976, 1.102,-0.343, RAW= 312.7,   2.4, CAL= 310.4,  -0.6, ROT= 199.6,   0.6

2025-10-26T21:57:59.159Z,1761515879.159 [DAT](INFO): got valid direction response:
 21:57:57.9313 LVL= 32752, 22161, 31218, 32755, AGC= 61, IDX= 505,-0.13,-0.841, 1.294,-0.062, 0.237, PHS=-0.976, 1.102,-0.343, RAW= 312.7,   2.4, CAL= 310.4,  -0.6, ROT= 199.6,   0.6

2025-10-26T21:57:59.159Z,1761515879.159 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-10-26T21:57:59.160Z,1761515879.160 [DAT](INFO): direction in FSK: [-0.942006,-0.335433,-0.010472]
2025-10-26T21:57:59.161Z,1761515879.161 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:59.164Z,1761515879.164 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.557911
2025-10-26T21:57:59.215Z,1761515879.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.499359 s,
      deltaX: 0.300000 m,
      approachRate: 0.600771 m/s,
      rangeRepo size: 4

2025-10-26T21:57:59.233Z,1761515879.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.926749 m,
      bearing: 319.465526 deg,
      lat: 36.779414 deg,
      lon: -121.859443 deg,
      deltaT: 0.499359 s,
      deltaX: 0.298169 m,
      approachRate: 0.597104 m/s,
      posRepo size: 4

2025-10-26T21:57:59.234Z,1761515879.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-10-26T21:57:59.400Z,1761515879.400 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.793949
2025-10-26T21:57:59.573Z,1761515879.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499249,-0.865506,-0.040621],[0.866120,-0.497193,-0.051341],[0.024240,-0.060815,0.997855]]
2025-10-26T21:57:59.591Z,1761515879.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-10-26T21:57:59.657Z,1761515879.657 [DAT](INFO): DAT read: Rx Time:21:57:58.4312 

2025-10-26T21:57:59.659Z,1761515879.659 [DAT](INFO): Rx dataTimestamp_ set to:1761515879.657606
2025-10-26T21:57:59.674Z,1761515879.674 [DAT](INFO): DAT read: Bearing  93.8, -21.5 (Local)

2025-10-26T21:57:59.680Z,1761515879.680 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.8, -21.5 (Local)

2025-10-26T21:57:59.697Z,1761515879.697 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed 0.0

2025-10-26T21:57:59.712Z,1761515879.712 [DAT](INFO): DAT read: 21:57:58.4312 LVL= 32752, 21873, 27954, 32755, AGC= 64, IDX= 504, 0.25, 0.412, 2.559, 1.227, 1.489, PHS=-0.975, 1.115,-0.306, RAW= 311.7,   1.8, CAL= 309.5,  -1.3, ROT= 200.5,   1.3

2025-10-26T21:57:59.714Z,1761515879.714 [DAT](INFO): got valid direction response:
 21:57:58.4312 LVL= 32752, 21873, 27954, 32755, AGC= 64, IDX= 504, 0.25, 0.412, 2.559, 1.227, 1.489, PHS=-0.975, 1.115,-0.306, RAW= 311.7,   1.8, CAL= 309.5,  -1.3, ROT= 200.5,   1.3

2025-10-26T21:57:59.714Z,1761515879.714 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-10-26T21:57:59.721Z,1761515879.721 [DAT](INFO): direction in FSK: [-0.936431,-0.350117,-0.022687]
2025-10-26T21:57:59.721Z,1761515879.721 [DAT](INFO): publishing direction and range info
2025-10-26T21:57:59.739Z,1761515879.739 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.132317
2025-10-26T21:57:59.905Z,1761515879.905 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.298157
2025-10-26T21:57:59.954Z,1761515879.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500311,-0.864839,-0.041734],[0.865561,-0.498329,-0.049724],[0.022206,-0.061000,0.997891]]
2025-10-26T21:58:00.033Z,1761515880.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.508405 s,
      deltaX: -0.100000 m,
      approachRate: -0.196694 m/s,
      rangeRepo size: 4

2025-10-26T21:58:00.049Z,1761515880.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.827358 m,
      bearing: 320.573269 deg,
      lat: 36.779414 deg,
      lon: -121.859444 deg,
      deltaT: 0.508405 s,
      deltaX: -0.099391 m,
      approachRate: -0.195496 m/s,
      posRepo size: 4

2025-10-26T21:58:00.051Z,1761515880.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-10-26T21:58:00.158Z,1761515880.158 [DAT](INFO): DAT read: Rx Time:21:57:58.9314 

2025-10-26T21:58:00.159Z,1761515880.159 [DAT](INFO): Rx dataTimestamp_ set to:1761515880.158372
2025-10-26T21:58:00.161Z,1761515880.161 [DAT](INFO): DAT read: Bearing  94.2, -20.3 (Local)

2025-10-26T21:58:00.161Z,1761515880.161 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.2, -20.3 (Local)

2025-10-26T21:58:00.163Z,1761515880.163 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed -0.1

2025-10-26T21:58:00.168Z,1761515880.168 [DAT](INFO): DAT read: 21:57:58.9314 LVL= 32752, 26609, 32754, 32755, AGC= 62, IDX= 506,-0.05,-2.591,-0.470,-1.815,-1.546, PHS=-0.943, 1.121,-0.313, RAW= 312.7,   1.5, CAL= 310.5,  -1.6, ROT= 199.5,   1.6

2025-10-26T21:58:00.169Z,1761515880.169 [DAT](INFO): got valid direction response:
 21:57:58.9314 LVL= 32752, 26609, 32754, 32755, AGC= 62, IDX= 506,-0.05,-2.591,-0.470,-1.815,-1.546, PHS=-0.943, 1.121,-0.313, RAW= 312.7,   1.5, CAL= 310.5,  -1.6, ROT= 199.5,   1.6

2025-10-26T21:58:00.170Z,1761515880.170 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-10-26T21:58:00.170Z,1761515880.170 [DAT](INFO): direction in FSK: [-0.942274,-0.333677,-0.027922]
2025-10-26T21:58:00.171Z,1761515880.171 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:00.174Z,1761515880.174 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.567928
2025-10-26T21:58:00.358Z,1761515880.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501000,-0.864386,-0.042843],[0.865212,-0.499097,-0.048068],[0.020166,-0.061150,0.997925]]
2025-10-26T21:58:00.408Z,1761515880.408 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.801991
2025-10-26T21:58:00.423Z,1761515880.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.500766 s,
      deltaX: 0.300000 m,
      approachRate: 0.599083 m/s,
      rangeRepo size: 4

2025-10-26T21:58:00.425Z,1761515880.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.125527 m,
      bearing: 319.638013 deg,
      lat: 36.779414 deg,
      lon: -121.859444 deg,
      deltaT: 0.500766 s,
      deltaX: 0.298169 m,
      approachRate: 0.595426 m/s,
      posRepo size: 4

2025-10-26T21:58:00.426Z,1761515880.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m.
2025-10-26T21:58:00.682Z,1761515880.682 [DAT](INFO): DAT read: Rx Time:21:57:59.4313 

2025-10-26T21:58:00.686Z,1761515880.686 [DAT](INFO): Rx dataTimestamp_ set to:1761515880.682692
2025-10-26T21:58:00.690Z,1761515880.690 [DAT](INFO): DAT read: Bearing  93.6, -20.7 (Local)

2025-10-26T21:58:00.705Z,1761515880.705 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.6, -20.7 (Local)

2025-10-26T21:58:00.720Z,1761515880.720 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed -0.1

2025-10-26T21:58:00.730Z,1761515880.730 [DAT](INFO): DAT read: 21:57:59.4313 LVL= 32752, 25425, 32754, 32755, AGC= 59, IDX= 505, 0.37, 2.964,-1.193,-2.533,-2.247, PHS=-0.970, 1.100,-0.329, RAW= 312.4,   2.2, CAL= 310.1,  -0.8, ROT= 199.9,   0.8

2025-10-26T21:58:00.740Z,1761515880.740 [DAT](INFO): got valid direction response:
 21:57:59.4313 LVL= 32752, 25425, 32754, 32755, AGC= 59, IDX= 505, 0.37, 2.964,-1.193,-2.533,-2.247, PHS=-0.970, 1.100,-0.329, RAW= 312.4,   2.2, CAL= 310.1,  -0.8, ROT= 199.9,   0.8

2025-10-26T21:58:00.741Z,1761515880.741 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-10-26T21:58:00.741Z,1761515880.741 [DAT](INFO): direction in FSK: [-0.940197,-0.340346,-0.013962]
2025-10-26T21:58:00.742Z,1761515880.742 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:00.746Z,1761515880.746 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.139111
2025-10-26T21:58:00.886Z,1761515880.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.524320 s,
      deltaX: -0.200000 m,
      approachRate: -0.381446 m/s,
      rangeRepo size: 4

2025-10-26T21:58:00.892Z,1761515880.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.926727 m,
      bearing: 319.985645 deg,
      lat: 36.779414 deg,
      lon: -121.859447 deg,
      deltaT: 0.524320 s,
      deltaX: -0.198800 m,
      approachRate: -0.379158 m/s,
      posRepo size: 4

2025-10-26T21:58:00.893Z,1761515880.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-10-26T21:58:00.913Z,1761515880.913 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.306656
2025-10-26T21:58:01.165Z,1761515881.165 [DAT](INFO): DAT read: Rx Time:21:57:59.9313 

2025-10-26T21:58:01.165Z,1761515881.165 [DAT](INFO): Rx dataTimestamp_ set to:1761515881.165010
2025-10-26T21:58:01.167Z,1761515881.167 [DAT](INFO): DAT read: Bearing  92.6, -19.7 (Local)

2025-10-26T21:58:01.167Z,1761515881.167 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.6, -19.7 (Local)

2025-10-26T21:58:01.169Z,1761515881.169 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed 0.0

2025-10-26T21:58:01.173Z,1761515881.173 [DAT](INFO): DAT read: 21:57:59.9313 LVL= 32752, 30449, 32754, 32755, AGC= 56, IDX= 506,-0.29, 1.163,-3.057, 1.895, 2.220, PHS=-0.954, 1.051,-0.368, RAW= 313.5,   3.1, CAL= 311.1,   0.2, ROT= 198.9,  -0.2

2025-10-26T21:58:01.175Z,1761515881.175 [DAT](INFO): got valid direction response:
 21:57:59.9313 LVL= 32752, 30449, 32754, 32755, AGC= 56, IDX= 506,-0.29, 1.163,-3.057, 1.895, 2.220, PHS=-0.954, 1.051,-0.368, RAW= 313.5,   3.1, CAL= 311.1,   0.2, ROT= 198.9,  -0.2

2025-10-26T21:58:01.175Z,1761515881.175 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-10-26T21:58:01.176Z,1761515881.176 [DAT](INFO): direction in FSK: [-0.946080,-0.323915,0.003491]
2025-10-26T21:58:01.176Z,1761515881.176 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:01.180Z,1761515881.180 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.573311
2025-10-26T21:58:01.184Z,1761515881.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500777,-0.864443,-0.044282],[0.865427,-0.499085,-0.044173],[0.016084,-0.060444,0.998042]]
2025-10-26T21:58:01.253Z,1761515881.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.482318 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:58:01.255Z,1761515881.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.926727 m,
      bearing: 318.907557 deg,
      lat: 36.779414 deg,
      lon: -121.859447 deg,
      deltaT: 0.482318 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:58:01.259Z,1761515881.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-10-26T21:58:01.416Z,1761515881.416 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.809864
2025-10-26T21:58:01.573Z,1761515881.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499975,-0.864877,-0.044865],[0.865925,-0.498395,-0.042154],[0.014097,-0.059926,0.998103]]
2025-10-26T21:58:01.624Z,1761515881.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-10-26T21:58:01.673Z,1761515881.673 [DAT](INFO): DAT read: Rx Time:21:58:00.4313 

2025-10-26T21:58:01.675Z,1761515881.675 [DAT](INFO): Rx dataTimestamp_ set to:1761515881.673960
2025-10-26T21:58:01.679Z,1761515881.679 [DAT](INFO): DAT read: Bearing  94.3, -21.7 (Local)

2025-10-26T21:58:01.680Z,1761515881.680 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.3, -21.7 (Local)

2025-10-26T21:58:01.686Z,1761515881.686 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed 0.0

2025-10-26T21:58:01.718Z,1761515881.718 [DAT](INFO): DAT read: 21:58:00.4313 LVL= 32752, 23537, 32754, 32755, AGC= 59, IDX= 505,-0.18, 0.527, 2.694, 1.366, 1.625, PHS=-0.996, 1.113,-0.304, RAW= 311.2,   2.0, CAL= 309.0,  -1.1, ROT= 201.0,   1.1

2025-10-26T21:58:01.728Z,1761515881.728 [DAT](INFO): got valid direction response:
 21:58:00.4313 LVL= 32752, 23537, 32754, 32755, AGC= 59, IDX= 505,-0.18, 0.527, 2.694, 1.366, 1.625, PHS=-0.996, 1.113,-0.304, RAW= 311.2,   2.0, CAL= 309.0,  -1.1, ROT= 201.0,   1.1

2025-10-26T21:58:01.728Z,1761515881.728 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-10-26T21:58:01.730Z,1761515881.730 [DAT](INFO): direction in FSK: [-0.933408,-0.358302,-0.019197]
2025-10-26T21:58:01.730Z,1761515881.730 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:01.770Z,1761515881.770 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.163170
2025-10-26T21:58:01.920Z,1761515881.920 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.313889
2025-10-26T21:58:01.983Z,1761515881.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498774,-0.865581,-0.044665],[0.866646,-0.497332,-0.039833],[0.012265,-0.058577,0.998208]]
2025-10-26T21:58:02.092Z,1761515882.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.508950 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:58:02.094Z,1761515882.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.926710 m,
      bearing: 320.949595 deg,
      lat: 36.779414 deg,
      lon: -121.859447 deg,
      deltaT: 0.508950 s,
      deltaX: -0.000017 m,
      approachRate: -0.000034 m/s,
      posRepo size: 4

2025-10-26T21:58:02.095Z,1761515882.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-10-26T21:58:02.174Z,1761515882.174 [DAT](INFO): DAT read: Rx Time:21:58:00.9314 

2025-10-26T21:58:02.174Z,1761515882.174 [DAT](INFO): Rx dataTimestamp_ set to:1761515882.174201
2025-10-26T21:58:02.176Z,1761515882.176 [DAT](INFO): DAT read: Bearing  90.5, -20.2 (Local)

2025-10-26T21:58:02.176Z,1761515882.176 [DAT](INFO): Local bearing/azimuth received:
 Bearing  90.5, -20.2 (Local)

2025-10-26T21:58:02.178Z,1761515882.178 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed 0.0

2025-10-26T21:58:02.204Z,1761515882.204 [DAT](INFO): DAT read: 21:58:00.9314 LVL= 32752, 31409, 32754, 32755, AGC= 61, IDX= 506,-0.20,-2.513,-0.480,-1.771,-1.428, PHS=-0.983, 0.992,-0.388, RAW= 312.9,   4.4, CAL= 310.6,   2.4, ROT= 199.4,  -2.4

2025-10-26T21:58:02.205Z,1761515882.205 [DAT](INFO): got valid direction response:
 21:58:00.9314 LVL= 32752, 31409, 32754, 32755, AGC= 61, IDX= 506,-0.20,-2.513,-0.480,-1.771,-1.428, PHS=-0.983, 0.992,-0.388, RAW= 312.9,   4.4, CAL= 310.6,   2.4, ROT= 199.4,  -2.4

2025-10-26T21:58:02.206Z,1761515882.206 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-10-26T21:58:02.207Z,1761515882.207 [DAT](INFO): direction in FSK: [-0.942395,-0.331870,0.041876]
2025-10-26T21:58:02.207Z,1761515882.207 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:02.215Z,1761515882.215 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.608276
2025-10-26T21:58:02.378Z,1761515882.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497242,-0.866482,-0.044264],[0.867546,-0.495931,-0.037620],[0.010645,-0.057107,0.998311]]
2025-10-26T21:58:02.424Z,1761515882.424 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.817955
2025-10-26T21:58:02.437Z,1761515882.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.500241 s,
      deltaX: 0.200000 m,
      approachRate: 0.399807 m/s,
      rangeRepo size: 4

2025-10-26T21:58:02.439Z,1761515882.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.125488 m,
      bearing: 319.049544 deg,
      lat: 36.779414 deg,
      lon: -121.859448 deg,
      deltaT: 0.500241 s,
      deltaX: 0.198778 m,
      approachRate: 0.397365 m/s,
      posRepo size: 4

2025-10-26T21:58:02.440Z,1761515882.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m.
2025-10-26T21:58:02.681Z,1761515882.681 [DAT](INFO): DAT read: Rx Time:21:58:01.4311 

2025-10-26T21:58:02.683Z,1761515882.683 [DAT](INFO): Rx dataTimestamp_ set to:1761515882.681860
2025-10-26T21:58:02.687Z,1761515882.687 [DAT](INFO): DAT read: Bearing  93.5, -21.8 (Local)

2025-10-26T21:58:02.688Z,1761515882.688 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.5, -21.8 (Local)

2025-10-26T21:58:02.695Z,1761515882.695 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed 0.0

2025-10-26T21:58:02.717Z,1761515882.717 [DAT](INFO): DAT read: 21:58:01.4311 LVL= 32752, 26097, 32754, 32755, AGC= 61, IDX= 505,-0.18, 2.323,-1.838,-3.137,-2.859, PHS=-1.000, 1.065,-0.322, RAW= 311.2,   2.9, CAL= 308.8,  -0.2, ROT= 201.2,   0.2

2025-10-26T21:58:02.784Z,1761515882.784 [DAT](INFO): got valid direction response:
 21:58:01.4311 LVL= 32752, 26097, 32754, 32755, AGC= 61, IDX= 505,-0.18, 2.323,-1.838,-3.137,-2.859, PHS=-1.000, 1.065,-0.322, RAW= 311.2,   2.9, CAL= 308.8,  -0.2, ROT= 201.2,   0.2

2025-10-26T21:58:02.784Z,1761515882.784 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-26T21:58:02.785Z,1761515882.785 [DAT](INFO): direction in FSK: [-0.932318,-0.361622,-0.003491]
2025-10-26T21:58:02.785Z,1761515882.785 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:02.793Z,1761515882.793 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.186790
2025-10-26T21:58:02.798Z,1761515882.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495089,-0.867701,-0.044522],[0.868790,-0.493846,-0.036339],[0.009544,-0.056672,0.998347]]
2025-10-26T21:58:02.897Z,1761515882.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.507659 s,
      deltaX: -0.500000 m,
      approachRate: -0.984913 m/s,
      rangeRepo size: 4

2025-10-26T21:58:02.899Z,1761515882.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.628563 m,
      bearing: 320.854158 deg,
      lat: 36.779413 deg,
      lon: -121.859447 deg,
      deltaT: 0.507659 s,
      deltaX: -0.496925 m,
      approachRate: -0.978857 m/s,
      posRepo size: 4

2025-10-26T21:58:02.912Z,1761515882.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:58:02.928Z,1761515882.928 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.321995
2025-10-26T21:58:03.181Z,1761515883.181 [DAT](INFO): DAT read: Rx Time:21:58:01.9313 

2025-10-26T21:58:03.182Z,1761515883.182 [DAT](INFO): Rx dataTimestamp_ set to:1761515883.181279
2025-10-26T21:58:03.183Z,1761515883.183 [DAT](INFO): DAT read: Bearing  93.5, -22.0 (Local)

2025-10-26T21:58:03.183Z,1761515883.183 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.5, -22.0 (Local)

2025-10-26T21:58:03.185Z,1761515883.185 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed 0.0

2025-10-26T21:58:03.190Z,1761515883.190 [DAT](INFO): DAT read: 21:58:01.9313 LVL= 32752, 29329, 32754, 32755, AGC= 63, IDX= 506,-0.14,-2.733,-0.622,-1.901,-1.631, PHS=-1.000, 1.055,-0.314, RAW= 310.9,   2.9, CAL= 308.4,  -0.2, ROT= 201.6,   0.2

2025-10-26T21:58:03.192Z,1761515883.192 [DAT](INFO): got valid direction response:
 21:58:01.9313 LVL= 32752, 29329, 32754, 32755, AGC= 63, IDX= 506,-0.14,-2.733,-0.622,-1.901,-1.631, PHS=-1.000, 1.055,-0.314, RAW= 310.9,   2.9, CAL= 308.4,  -0.2, ROT= 201.6,   0.2

2025-10-26T21:58:03.192Z,1761515883.192 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-10-26T21:58:03.193Z,1761515883.193 [DAT](INFO): direction in FSK: [-0.929771,-0.368122,-0.003491]
2025-10-26T21:58:03.193Z,1761515883.193 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:03.209Z,1761515883.209 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.602390
2025-10-26T21:58:03.228Z,1761515883.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493083,-0.868723,-0.046793],[0.869943,-0.491837,-0.035996],[0.008256,-0.058456,0.998256]]
2025-10-26T21:58:03.284Z,1761515883.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.499419 s,
      deltaX: 0.300000 m,
      approachRate: 0.600698 m/s,
      rangeRepo size: 4

2025-10-26T21:58:03.286Z,1761515883.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.926731 m,
      bearing: 321.119401 deg,
      lat: 36.779413 deg,
      lon: -121.859447 deg,
      deltaT: 0.499419 s,
      deltaX: 0.298168 m,
      approachRate: 0.597030 m/s,
      posRepo size: 4

2025-10-26T21:58:03.287Z,1761515883.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-10-26T21:58:03.433Z,1761515883.433 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.826096
2025-10-26T21:58:03.590Z,1761515883.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491316,-0.869522,-0.050390],[0.870951,-0.489995,-0.036736],[0.007252,-0.061936,0.998054]]
2025-10-26T21:58:03.612Z,1761515883.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-10-26T21:58:03.689Z,1761515883.689 [DAT](INFO): DAT read: Rx Time:21:58:02.4312 

2025-10-26T21:58:03.690Z,1761515883.690 [DAT](INFO): Rx dataTimestamp_ set to:1761515883.689555
2025-10-26T21:58:03.695Z,1761515883.695 [DAT](INFO): DAT read: Bearing  94.3, -22.6 (Local)

2025-10-26T21:58:03.703Z,1761515883.703 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.3, -22.6 (Local)

2025-10-26T21:58:03.720Z,1761515883.720 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed 0.0

2025-10-26T21:58:03.770Z,1761515883.770 [DAT](INFO): DAT read: 21:58:02.4312 LVL= 32752, 25329, 32754, 32755, AGC= 58, IDX= 505,-0.07, 1.339,-2.798, 2.206, 2.452, PHS=-1.011, 1.078,-0.291, RAW= 310.2,   2.5, CAL= 307.9,  -0.7, ROT= 202.1,   0.7

2025-10-26T21:58:03.771Z,1761515883.771 [DAT](INFO): got valid direction response:
 21:58:02.4312 LVL= 32752, 25329, 32754, 32755, AGC= 58, IDX= 505,-0.07, 1.339,-2.798, 2.206, 2.452, PHS=-1.011, 1.078,-0.291, RAW= 310.2,   2.5, CAL= 307.9,  -0.7, ROT= 202.1,   0.7

2025-10-26T21:58:03.771Z,1761515883.771 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-10-26T21:58:03.780Z,1761515883.780 [DAT](INFO): direction in FSK: [-0.926459,-0.376196,-0.012217]
2025-10-26T21:58:03.780Z,1761515883.780 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:03.788Z,1761515883.788 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.181854
2025-10-26T21:58:03.936Z,1761515883.936 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.329948
2025-10-26T21:58:03.994Z,1761515883.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489588,-0.870357,-0.052752],[0.871930,-0.488225,-0.037075],[0.006514,-0.064148,0.997919]]
2025-10-26T21:58:04.089Z,1761515884.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.508276 s,
      deltaX: -0.100000 m,
      approachRate: -0.196744 m/s,
      rangeRepo size: 4

2025-10-26T21:58:04.092Z,1761515884.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.827344 m,
      bearing: 321.413399 deg,
      lat: 36.779414 deg,
      lon: -121.859446 deg,
      deltaT: 0.508276 s,
      deltaX: -0.099387 m,
      approachRate: -0.195538 m/s,
      posRepo size: 4

2025-10-26T21:58:04.092Z,1761515884.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-10-26T21:58:04.194Z,1761515884.194 [DAT](INFO): DAT read: Rx Time:21:58:02.9312 

2025-10-26T21:58:04.194Z,1761515884.194 [DAT](INFO): Rx dataTimestamp_ set to:1761515884.193981
2025-10-26T21:58:04.196Z,1761515884.196 [DAT](INFO): DAT read: Bearing  93.8, -22.7 (Local)

2025-10-26T21:58:04.196Z,1761515884.196 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.8, -22.7 (Local)

2025-10-26T21:58:04.198Z,1761515884.198 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed 0.0

2025-10-26T21:58:04.217Z,1761515884.217 [DAT](INFO): DAT read: 21:58:02.9312 LVL= 32752, 31073, 32754, 32755, AGC= 63, IDX= 505,-0.12, 1.289,-2.888, 2.139, 2.395, PHS=-1.004, 1.045,-0.300, RAW= 310.2,   2.9, CAL= 307.8,  -0.3, ROT= 202.2,   0.3

2025-10-26T21:58:04.218Z,1761515884.218 [DAT](INFO): got valid direction response:
 21:58:02.9312 LVL= 32752, 31073, 32754, 32755, AGC= 63, IDX= 505,-0.12, 1.289,-2.888, 2.139, 2.395, PHS=-1.004, 1.045,-0.300, RAW= 310.2,   2.9, CAL= 307.8,  -0.3, ROT= 202.2,   0.3

2025-10-26T21:58:04.218Z,1761515884.218 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-10-26T21:58:04.219Z,1761515884.219 [DAT](INFO): direction in FSK: [-0.925858,-0.377835,-0.005236]
2025-10-26T21:58:04.224Z,1761515884.224 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:04.234Z,1761515884.234 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.627865
2025-10-26T21:58:04.444Z,1761515884.444 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.838028
2025-10-26T21:58:04.451Z,1761515884.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.504426 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:58:04.453Z,1761515884.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.827344 m,
      bearing: 321.488438 deg,
      lat: 36.779413 deg,
      lon: -121.859446 deg,
      deltaT: 0.504426 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:58:04.454Z,1761515884.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-10-26T21:58:04.698Z,1761515884.698 [DAT](INFO): DAT read: Rx Time:21:58:03.4310 

2025-10-26T21:58:04.698Z,1761515884.698 [DAT](INFO): Rx dataTimestamp_ set to:1761515884.698037
2025-10-26T21:58:04.700Z,1761515884.700 [DAT](INFO): DAT read: Bearing  94.7, -22.5 (Local)

2025-10-26T21:58:04.701Z,1761515884.701 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.7, -22.5 (Local)

2025-10-26T21:58:04.705Z,1761515884.705 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed 0.0

2025-10-26T21:58:04.723Z,1761515884.723 [DAT](INFO): DAT read: 21:58:03.4310 LVL= 32752, 25249, 32754, 32755, AGC= 63, IDX= 504,-0.43,-2.633,-0.508,-1.776,-1.542, PHS=-0.989, 1.079,-0.278, RAW= 310.2,   2.1, CAL= 308.0,  -1.1, ROT= 202.0,   1.1

2025-10-26T21:58:04.780Z,1761515884.780 [DAT](INFO): got valid direction response:
 21:58:03.4310 LVL= 32752, 25249, 32754, 32755, AGC= 63, IDX= 504,-0.43,-2.633,-0.508,-1.776,-1.542, PHS=-0.989, 1.079,-0.278, RAW= 310.2,   2.1, CAL= 308.0,  -1.1, ROT= 202.0,   1.1

2025-10-26T21:58:04.780Z,1761515884.780 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-10-26T21:58:04.781Z,1761515884.781 [DAT](INFO): direction in FSK: [-0.927013,-0.374538,-0.019197]
2025-10-26T21:58:04.781Z,1761515884.781 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:04.785Z,1761515884.785 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.178696
2025-10-26T21:58:04.802Z,1761515884.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486704,-0.872074,-0.051051],[0.873547,-0.485466,-0.035187],[0.005903,-0.061721,0.998076]]
2025-10-26T21:58:04.889Z,1761515884.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.504056 s,
      deltaX: -0.299999 m,
      approachRate: -0.595170 m/s,
      rangeRepo size: 4

2025-10-26T21:58:04.891Z,1761515884.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.529187 m,
      bearing: 321.149600 deg,
      lat: 36.779413 deg,
      lon: -121.859446 deg,
      deltaT: 0.504056 s,
      deltaX: -0.298157 m,
      approachRate: -0.591515 m/s,
      posRepo size: 4

2025-10-26T21:58:04.896Z,1761515884.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-10-26T21:58:04.949Z,1761515884.949 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.342606
2025-10-26T21:58:05.201Z,1761515885.201 [DAT](INFO): DAT read: Rx Time:21:58:03.9311 

2025-10-26T21:58:05.202Z,1761515885.202 [DAT](INFO): Rx dataTimestamp_ set to:1761515885.201226
2025-10-26T21:58:05.203Z,1761515885.203 [DAT](INFO): DAT read: Bearing  94.4, -23.5 (Local)

2025-10-26T21:58:05.203Z,1761515885.203 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.4, -23.5 (Local)

2025-10-26T21:58:05.205Z,1761515885.205 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed 0.0

2025-10-26T21:58:05.210Z,1761515885.210 [DAT](INFO): DAT read: 21:58:03.9311 LVL= 32752, 22817, 31714, 32755, AGC= 63, IDX= 505,-0.35,-1.817, 0.300,-0.933,-0.711, PHS=-1.004, 1.056,-0.266, RAW= 309.3,   2.4, CAL= 307.0,  -0.9, ROT= 203.0,   0.9

2025-10-26T21:58:05.211Z,1761515885.211 [DAT](INFO): got valid direction response:
 21:58:03.9311 LVL= 32752, 22817, 31714, 32755, AGC= 63, IDX= 505,-0.35,-1.817, 0.300,-0.933,-0.711, PHS=-1.004, 1.056,-0.266, RAW= 309.3,   2.4, CAL= 307.0,  -0.9, ROT= 203.0,   0.9

2025-10-26T21:58:05.212Z,1761515885.212 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-10-26T21:58:05.212Z,1761515885.212 [DAT](INFO): direction in FSK: [-0.920391,-0.390683,-0.015707]
2025-10-26T21:58:05.213Z,1761515885.213 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:05.221Z,1761515885.221 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.614578
2025-10-26T21:58:05.322Z,1761515885.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.503189 s,
      deltaX: 0.099999 m,
      approachRate: 0.198731 m/s,
      rangeRepo size: 4

2025-10-26T21:58:05.328Z,1761515885.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.628576 m,
      bearing: 322.135828 deg,
      lat: 36.779413 deg,
      lon: -121.859446 deg,
      deltaT: 0.503189 s,
      deltaX: 0.099389 m,
      approachRate: 0.197518 m/s,
      posRepo size: 4

2025-10-26T21:58:05.329Z,1761515885.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:58:05.452Z,1761515885.452 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.845924
2025-10-26T21:58:05.613Z,1761515885.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484824,-0.873286,-0.048126],[0.874586,-0.483652,-0.034367],[0.006736,-0.058752,0.998250]]
2025-10-26T21:58:05.634Z,1761515885.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:58:05.706Z,1761515885.706 [DAT](INFO): DAT read: Rx Time:21:58:04.4310 

2025-10-26T21:58:05.716Z,1761515885.716 [DAT](INFO): Rx dataTimestamp_ set to:1761515885.707067
2025-10-26T21:58:05.722Z,1761515885.722 [DAT](INFO): DAT read: Bearing  94.3, -23.7 (Local)

2025-10-26T21:58:05.725Z,1761515885.725 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.3, -23.7 (Local)

2025-10-26T21:58:05.733Z,1761515885.733 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed 0.0

2025-10-26T21:58:05.793Z,1761515885.793 [DAT](INFO): DAT read: 21:58:04.4310 LVL= 32752, 24657, 31554, 32755, AGC= 62, IDX= 504,-0.21, 2.647,-1.522,-2.748,-2.529, PHS=-1.005, 1.052,-0.263, RAW= 309.1,   2.4, CAL= 306.9,  -0.8, ROT= 203.1,   0.8

2025-10-26T21:58:05.794Z,1761515885.794 [DAT](INFO): got valid direction response:
 21:58:04.4310 LVL= 32752, 24657, 31554, 32755, AGC= 62, IDX= 504,-0.21, 2.647,-1.522,-2.748,-2.529, PHS=-1.005, 1.052,-0.263, RAW= 309.1,   2.4, CAL= 306.9,  -0.8, ROT= 203.1,   0.8

2025-10-26T21:58:05.795Z,1761515885.795 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-10-26T21:58:05.806Z,1761515885.806 [DAT](INFO): direction in FSK: [-0.919732,-0.392299,-0.013962]
2025-10-26T21:58:05.806Z,1761515885.806 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:05.825Z,1761515885.825 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.217461
2025-10-26T21:58:05.957Z,1761515885.957 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.350304
2025-10-26T21:58:06.063Z,1761515886.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484783,-0.873302,-0.048249],[0.874605,-0.483575,-0.034949],[0.007189,-0.059141,0.998224]]
2025-10-26T21:58:06.109Z,1761515886.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.505841 s,
      deltaX: -0.099999 m,
      approachRate: -0.197689 m/s,
      rangeRepo size: 4

2025-10-26T21:58:06.111Z,1761515886.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.529206 m,
      bearing: 322.105466 deg,
      lat: 36.779412 deg,
      lon: -121.859445 deg,
      deltaT: 0.505841 s,
      deltaX: -0.099370 m,
      approachRate: -0.196445 m/s,
      posRepo size: 4

2025-10-26T21:58:06.111Z,1761515886.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-10-26T21:58:06.210Z,1761515886.210 [DAT](INFO): DAT read: Rx Time:21:58:04.9312 

2025-10-26T21:58:06.211Z,1761515886.211 [DAT](INFO): Rx dataTimestamp_ set to:1761515886.210191
2025-10-26T21:58:06.213Z,1761515886.213 [DAT](INFO): DAT read: Bearing  93.4, -24.2 (Local)

2025-10-26T21:58:06.213Z,1761515886.213 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.4, -24.2 (Local)

2025-10-26T21:58:06.215Z,1761515886.215 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed -0.1

2025-10-26T21:58:06.220Z,1761515886.220 [DAT](INFO): DAT read: 21:58:04.9312 LVL= 32752, 24017, 32754, 32755, AGC= 62, IDX= 505,-0.08,-2.536,-0.423,-1.640,-1.403, PHS=-1.031, 1.025,-0.280, RAW= 308.9,   3.2, CAL= 306.4,  -0.1, ROT= 203.6,   0.1

2025-10-26T21:58:06.221Z,1761515886.221 [DAT](INFO): got valid direction response:
 21:58:04.9312 LVL= 32752, 24017, 32754, 32755, AGC= 62, IDX= 505,-0.08,-2.536,-0.423,-1.640,-1.403, PHS=-1.031, 1.025,-0.280, RAW= 308.9,   3.2, CAL= 306.4,  -0.1, ROT= 203.6,   0.1

2025-10-26T21:58:06.222Z,1761515886.222 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-10-26T21:58:06.223Z,1761515886.223 [DAT](INFO): direction in FSK: [-0.916361,-0.400348,-0.001745]
2025-10-26T21:58:06.223Z,1761515886.223 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:06.237Z,1761515886.237 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.629185
2025-10-26T21:58:06.418Z,1761515886.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484353,-0.873510,-0.048799],[0.874831,-0.483036,-0.036684],[0.008472,-0.060459,0.998135]]
2025-10-26T21:58:06.441Z,1761515886.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.503124 s,
      deltaX: 0.299999 m,
      approachRate: 0.596273 m/s,
      rangeRepo size: 4

2025-10-26T21:58:06.443Z,1761515886.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.827374 m,
      bearing: 322.534727 deg,
      lat: 36.779412 deg,
      lon: -121.859444 deg,
      deltaT: 0.503124 s,
      deltaX: 0.298168 m,
      approachRate: 0.592634 m/s,
      posRepo size: 4

2025-10-26T21:58:06.444Z,1761515886.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-10-26T21:58:06.460Z,1761515886.460 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.853981
2025-10-26T21:58:06.715Z,1761515886.715 [DAT](INFO): DAT read: Rx Time:21:58:05.4311 

2025-10-26T21:58:06.716Z,1761515886.716 [DAT](INFO): Rx dataTimestamp_ set to:1761515886.715027
2025-10-26T21:58:06.717Z,1761515886.717 [DAT](INFO): DAT read: Bearing  93.0, -25.0 (Local)

2025-10-26T21:58:06.718Z,1761515886.718 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.0, -25.0 (Local)

2025-10-26T21:58:06.723Z,1761515886.723 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed 0.0

2025-10-26T21:58:06.760Z,1761515886.760 [DAT](INFO): DAT read: 21:58:05.4311 LVL= 32752, 24241, 32754, 32755, AGC= 59, IDX= 504, 0.06,-2.551,-0.429,-1.627,-1.398, PHS=-1.051, 1.014,-0.274, RAW= 308.1,   3.5, CAL= 305.7,   0.3, ROT= 204.3,  -0.3

2025-10-26T21:58:06.790Z,1761515886.790 [DAT](INFO): got valid direction response:
 21:58:05.4311 LVL= 32752, 24241, 32754, 32755, AGC= 59, IDX= 504, 0.06,-2.551,-0.429,-1.627,-1.398, PHS=-1.051, 1.014,-0.274, RAW= 308.1,   3.5, CAL= 305.7,   0.3, ROT= 204.3,  -0.3

2025-10-26T21:58:06.796Z,1761515886.796 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-10-26T21:58:06.799Z,1761515886.799 [DAT](INFO): direction in FSK: [-0.911391,-0.411509,0.005236]
2025-10-26T21:58:06.822Z,1761515886.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483803,-0.873783,-0.049366],[0.875120,-0.482362,-0.038615],[0.009929,-0.061884,0.998034]]
2025-10-26T21:58:06.831Z,1761515886.831 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:06.835Z,1761515886.835 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.228519
2025-10-26T21:58:06.940Z,1761515886.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.504836 s,
      deltaX: -0.200000 m,
      approachRate: -0.396168 m/s,
      rangeRepo size: 4

2025-10-26T21:58:06.942Z,1761515886.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.628622 m,
      bearing: 323.171404 deg,
      lat: 36.779412 deg,
      lon: -121.859444 deg,
      deltaT: 0.504836 s,
      deltaX: -0.198752 m,
      approachRate: -0.393697 m/s,
      posRepo size: 4

2025-10-26T21:58:06.943Z,1761515886.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:58:06.965Z,1761515886.965 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.358051
2025-10-26T21:58:07.217Z,1761515887.217 [DAT](INFO): DAT read: Rx Time:21:58:05.9312 

2025-10-26T21:58:07.217Z,1761515887.217 [DAT](INFO): Rx dataTimestamp_ set to:1761515887.217186
2025-10-26T21:58:07.219Z,1761515887.219 [DAT](INFO): DAT read: Bearing  94.3, -24.8 (Local)

2025-10-26T21:58:07.219Z,1761515887.219 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.3, -24.8 (Local)

2025-10-26T21:58:07.221Z,1761515887.221 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed -0.1

2025-10-26T21:58:07.226Z,1761515887.226 [DAT](INFO): DAT read: 21:58:05.9312 LVL= 32752, 24049, 31090, 32755, AGC= 62, IDX= 505, 0.23,-0.824, 1.313, 0.106, 0.305, PHS=-1.028, 1.053,-0.243, RAW= 308.1,   2.4, CAL= 305.8,  -0.9, ROT= 204.2,   0.9

2025-10-26T21:58:07.227Z,1761515887.227 [DAT](INFO): got valid direction response:
 21:58:05.9312 LVL= 32752, 24049, 31090, 32755, AGC= 62, IDX= 505, 0.23,-0.824, 1.313, 0.106, 0.305, PHS=-1.028, 1.053,-0.243, RAW= 308.1,   2.4, CAL= 305.8,  -0.9, ROT= 204.2,   0.9

2025-10-26T21:58:07.228Z,1761515887.228 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-10-26T21:58:07.229Z,1761515887.229 [DAT](INFO): direction in FSK: [-0.912008,-0.409872,-0.015707]
2025-10-26T21:58:07.229Z,1761515887.229 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:07.233Z,1761515887.233 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.626122
2025-10-26T21:58:07.265Z,1761515887.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483907,-0.873727,-0.049348],[0.875047,-0.482369,-0.040158],[0.011283,-0.062615,0.997974]]
2025-10-26T21:58:07.325Z,1761515887.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.502159 s,
      deltaX: 0.200000 m,
      approachRate: 0.398280 m/s,
      rangeRepo size: 4

2025-10-26T21:58:07.327Z,1761515887.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.827402 m,
      bearing: 323.150958 deg,
      lat: 36.779412 deg,
      lon: -121.859443 deg,
      deltaT: 0.502159 s,
      deltaX: 0.198780 m,
      approachRate: 0.395851 m/s,
      posRepo size: 4

2025-10-26T21:58:07.332Z,1761515887.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-10-26T21:58:07.469Z,1761515887.469 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.862144
2025-10-26T21:58:07.634Z,1761515887.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484546,-0.873378,-0.049258],[0.874673,-0.482904,-0.041847],[0.012762,-0.063362,0.997909]]
2025-10-26T21:58:07.652Z,1761515887.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-10-26T21:58:07.725Z,1761515887.725 [DAT](INFO): DAT read: Rx Time:21:58:06.4311 

2025-10-26T21:58:07.725Z,1761515887.725 [DAT](INFO): Rx dataTimestamp_ set to:1761515887.725206
2025-10-26T21:58:07.760Z,1761515887.760 [DAT](INFO): DAT read: Bearing  94.2, -25.2 (Local)

2025-10-26T21:58:07.762Z,1761515887.762 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.2, -25.2 (Local)

2025-10-26T21:58:07.786Z,1761515887.786 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed 0.0

2025-10-26T21:58:07.811Z,1761515887.811 [DAT](INFO): DAT read: 21:58:06.4311 LVL= 32752, 25537, 30818, 32755, AGC= 62, IDX= 505,-0.32, 2.253,-1.903,-3.093,-2.902, PHS=-1.027, 1.044,-0.235, RAW= 307.7,   2.4, CAL= 305.5,  -1.0, ROT= 204.5,   1.0

2025-10-26T21:58:07.824Z,1761515887.824 [DAT](INFO): got valid direction response:
 21:58:06.4311 LVL= 32752, 25537, 30818, 32755, AGC= 62, IDX= 505,-0.32, 2.253,-1.903,-3.093,-2.902, PHS=-1.027, 1.044,-0.235, RAW= 307.7,   2.4, CAL= 305.5,  -1.0, ROT= 204.5,   1.0

2025-10-26T21:58:07.825Z,1761515887.825 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-10-26T21:58:07.832Z,1761515887.832 [DAT](INFO): direction in FSK: [-0.909823,-0.414630,-0.017452]
2025-10-26T21:58:07.832Z,1761515887.832 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:07.842Z,1761515887.842 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.235569
2025-10-26T21:58:07.972Z,1761515887.972 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.365772
2025-10-26T21:58:08.062Z,1761515888.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484951,-0.873172,-0.048924],[0.874423,-0.483207,-0.043534],[0.014372,-0.063892,0.997853]]
2025-10-26T21:58:08.105Z,1761515888.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.508020 s,
      deltaX: -0.200000 m,
      approachRate: -0.393685 m/s,
      rangeRepo size: 4

2025-10-26T21:58:08.107Z,1761515888.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.628634 m,
      bearing: 323.525624 deg,
      lat: 36.779412 deg,
      lon: -121.859442 deg,
      deltaT: 0.508020 s,
      deltaX: -0.198768 m,
      approachRate: -0.391260 m/s,
      posRepo size: 4

2025-10-26T21:58:08.108Z,1761515888.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:58:08.225Z,1761515888.225 [DAT](INFO): DAT read: Rx Time:21:58:06.9312 

2025-10-26T21:58:08.225Z,1761515888.225 [DAT](INFO): Rx dataTimestamp_ set to:1761515888.225183
2025-10-26T21:58:08.229Z,1761515888.229 [DAT](INFO): DAT read: Bearing  93.7, -25.6 (Local)

2025-10-26T21:58:08.230Z,1761515888.230 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.7, -25.6 (Local)

2025-10-26T21:58:08.234Z,1761515888.234 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed -0.1

2025-10-26T21:58:08.238Z,1761515888.238 [DAT](INFO): DAT read: 21:58:06.9312 LVL= 32752, 25745, 31890, 32755, AGC= 62, IDX= 505, 0.07, 2.758,-1.393,-2.577,-2.380, PHS=-1.043, 1.033,-0.241, RAW= 307.5,   2.8, CAL= 305.1,  -0.6, ROT= 204.9,   0.6

2025-10-26T21:58:08.244Z,1761515888.244 [DAT](INFO): got valid direction response:
 21:58:06.9312 LVL= 32752, 25745, 31890, 32755, AGC= 62, IDX= 505, 0.07, 2.758,-1.393,-2.577,-2.380, PHS=-1.043, 1.033,-0.241, RAW= 307.5,   2.8, CAL= 305.1,  -0.6, ROT= 204.9,   0.6

2025-10-26T21:58:08.244Z,1761515888.244 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-10-26T21:58:08.245Z,1761515888.245 [DAT](INFO): direction in FSK: [-0.906994,-0.421013,-0.010472]
2025-10-26T21:58:08.245Z,1761515888.245 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:08.253Z,1761515888.253 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.646614
2025-10-26T21:58:08.438Z,1761515888.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485407,-0.872935,-0.048627],[0.874139,-0.483545,-0.045451],[0.016162,-0.064569,0.997782]]
2025-10-26T21:58:08.477Z,1761515888.477 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.870102
2025-10-26T21:58:08.478Z,1761515888.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.499977 s,
      deltaX: 0.200000 m,
      approachRate: 0.400018 m/s,
      rangeRepo size: 4

2025-10-26T21:58:08.480Z,1761515888.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.827415 m,
      bearing: 323.929096 deg,
      lat: 36.779414 deg,
      lon: -121.859441 deg,
      deltaT: 0.499977 s,
      deltaX: 0.198780 m,
      approachRate: 0.397578 m/s,
      posRepo size: 4

2025-10-26T21:58:08.480Z,1761515888.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-10-26T21:58:08.729Z,1761515888.729 [DAT](INFO): DAT read: Rx Time:21:58:07.4311 

2025-10-26T21:58:08.730Z,1761515888.730 [DAT](INFO): Rx dataTimestamp_ set to:1761515888.729622
2025-10-26T21:58:08.732Z,1761515888.732 [DAT](INFO): DAT read: Bearing  94.1, -25.6 (Local)

2025-10-26T21:58:08.732Z,1761515888.732 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.1, -25.6 (Local)

2025-10-26T21:58:08.735Z,1761515888.735 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed -0.2

2025-10-26T21:58:08.743Z,1761515888.743 [DAT](INFO): DAT read: 21:58:07.4311 LVL= 32752, 24721, 29874, 32755, AGC= 62, IDX= 505,-0.25,-0.137, 2.002, 0.812, 1.004, PHS=-1.039, 1.044,-0.235, RAW= 307.5,   2.6, CAL= 305.2,  -0.8, ROT= 204.8,   0.8

2025-10-26T21:58:08.744Z,1761515888.744 [DAT](INFO): got valid direction response:
 21:58:07.4311 LVL= 32752, 24721, 29874, 32755, AGC= 62, IDX= 505,-0.25,-0.137, 2.002, 0.812, 1.004, PHS=-1.039, 1.044,-0.235, RAW= 307.5,   2.6, CAL= 305.2,  -0.8, ROT= 204.8,   0.8

2025-10-26T21:58:08.745Z,1761515888.745 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-10-26T21:58:08.745Z,1761515888.745 [DAT](INFO): direction in FSK: [-0.907689,-0.419411,-0.013962]
2025-10-26T21:58:08.746Z,1761515888.746 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:08.749Z,1761515888.749 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.142883
2025-10-26T21:58:08.847Z,1761515888.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485777,-0.872727,-0.048665],[0.873898,-0.483776,-0.047572],[0.017974,-0.065638,0.997682]]
2025-10-26T21:58:08.953Z,1761515888.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.504439 s,
      deltaX: -0.200000 m,
      approachRate: -0.396480 m/s,
      rangeRepo size: 4

2025-10-26T21:58:08.955Z,1761515888.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.628632 m,
      bearing: 323.866794 deg,
      lat: 36.779412 deg,
      lon: -121.859439 deg,
      deltaT: 0.504439 s,
      deltaX: -0.198783 m,
      approachRate: -0.394067 m/s,
      posRepo size: 4

2025-10-26T21:58:08.959Z,1761515888.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:58:08.980Z,1761515888.980 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.373993
2025-10-26T21:58:09.233Z,1761515889.233 [DAT](INFO): DAT read: Rx Time:21:58:07.9313 

2025-10-26T21:58:09.233Z,1761515889.233 [DAT](INFO): Rx dataTimestamp_ set to:1761515889.233140
2025-10-26T21:58:09.235Z,1761515889.235 [DAT](INFO): DAT read: Bearing  92.6, -26.1 (Local)

2025-10-26T21:58:09.235Z,1761515889.235 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.6, -26.1 (Local)

2025-10-26T21:58:09.237Z,1761515889.237 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed -0.2

2025-10-26T21:58:09.242Z,1761515889.242 [DAT](INFO): DAT read: 21:58:07.9313 LVL= 32752, 25057, 32754, 32755, AGC= 61, IDX= 506, 0.40, 1.145,-3.013, 2.095, 2.313, PHS=-1.066, 1.002,-0.262, RAW= 307.3,   3.6, CAL= 304.9,   0.5, ROT= 205.1,  -0.5

2025-10-26T21:58:09.243Z,1761515889.243 [DAT](INFO): got valid direction response:
 21:58:07.9313 LVL= 32752, 25057, 32754, 32755, AGC= 61, IDX= 506, 0.40, 1.145,-3.013, 2.095, 2.313, PHS=-1.066, 1.002,-0.262, RAW= 307.3,   3.6, CAL= 304.9,   0.5, ROT= 205.1,  -0.5

2025-10-26T21:58:09.243Z,1761515889.243 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-10-26T21:58:09.244Z,1761515889.244 [DAT](INFO): direction in FSK: [-0.905534,-0.424183,0.008727]
2025-10-26T21:58:09.245Z,1761515889.245 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:09.276Z,1761515889.276 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.670013
2025-10-26T21:58:09.292Z,1761515889.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486075,-0.872559,-0.048705],[0.873693,-0.483934,-0.049679],[0.019778,-0.066701,0.997577]]
2025-10-26T21:58:09.360Z,1761515889.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.503518 s,
      deltaX: 0.300000 m,
      approachRate: 0.595808 m/s,
      rangeRepo size: 4

2025-10-26T21:58:09.362Z,1761515889.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.926802 m,
      bearing: 324.096452 deg,
      lat: 36.779414 deg,
      lon: -121.859439 deg,
      deltaT: 0.503518 s,
      deltaX: 0.298170 m,
      approachRate: 0.592174 m/s,
      posRepo size: 4

2025-10-26T21:58:09.363Z,1761515889.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-10-26T21:58:09.484Z,1761515889.484 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.877968
2025-10-26T21:58:09.666Z,1761515889.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486283,-0.872450,-0.048578],[0.873534,-0.484006,-0.051745],[0.021633,-0.067597,0.997478]]
2025-10-26T21:58:09.697Z,1761515889.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-10-26T21:58:09.738Z,1761515889.738 [DAT](INFO): DAT read: Rx Time:21:58:08.4313 

2025-10-26T21:58:09.738Z,1761515889.738 [DAT](INFO): Rx dataTimestamp_ set to:1761515889.737922
2025-10-26T21:58:09.740Z,1761515889.740 [DAT](INFO): DAT read: Bearing  93.4, -26.3 (Local)

2025-10-26T21:58:09.741Z,1761515889.741 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.4, -26.3 (Local)

2025-10-26T21:58:09.749Z,1761515889.749 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed -0.2

2025-10-26T21:58:09.764Z,1761515889.764 [DAT](INFO): DAT read: 21:58:08.4313 LVL= 32752, 22193, 30386, 32755, AGC= 60, IDX= 506, 0.11, 0.299, 2.449, 1.266, 1.464, PHS=-1.064, 1.030,-0.242, RAW= 307.1,   3.0, CAL= 304.7,  -0.4, ROT= 205.3,   0.4

2025-10-26T21:58:09.765Z,1761515889.765 [DAT](INFO): got valid direction response:
 21:58:08.4313 LVL= 32752, 22193, 30386, 32755, AGC= 60, IDX= 506, 0.11, 0.299, 2.449, 1.266, 1.464, PHS=-1.064, 1.030,-0.242, RAW= 307.1,   3.0, CAL= 304.7,  -0.4, ROT= 205.3,   0.4

2025-10-26T21:58:09.766Z,1761515889.766 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-10-26T21:58:09.791Z,1761515889.791 [DAT](INFO): direction in FSK: [-0.904060,-0.427348,-0.006981]
2025-10-26T21:58:09.796Z,1761515889.796 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:09.831Z,1761515889.831 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.223419
2025-10-26T21:58:09.988Z,1761515889.988 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.381939
2025-10-26T21:58:10.071Z,1761515890.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486135,-0.872587,-0.047586],[0.873570,-0.483781,-0.053207],[0.023407,-0.067436,0.997449]]
2025-10-26T21:58:10.117Z,1761515890.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.504782 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:58:10.119Z,1761515890.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.926813 m,
      bearing: 324.363125 deg,
      lat: 36.779414 deg,
      lon: -121.859438 deg,
      deltaT: 0.504782 s,
      deltaX: 0.000011 m,
      approachRate: 0.000023 m/s,
      posRepo size: 4

2025-10-26T21:58:10.135Z,1761515890.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-10-26T21:58:10.242Z,1761515890.242 [DAT](INFO): DAT read: Rx Time:21:58:08.9315 

2025-10-26T21:58:10.242Z,1761515890.242 [DAT](INFO): Rx dataTimestamp_ set to:1761515890.241904
2025-10-26T21:58:10.244Z,1761515890.244 [DAT](INFO): DAT read: Bearing  94.2, -26.0 (Local)

2025-10-26T21:58:10.245Z,1761515890.245 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.2, -26.0 (Local)

2025-10-26T21:58:10.247Z,1761515890.247 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed -0.2

2025-10-26T21:58:10.252Z,1761515890.252 [DAT](INFO): DAT read: 21:58:08.9315 LVL= 32752, 17873, 23954, 32755, AGC= 60, IDX= 508,-0.12, 0.436, 2.592, 1.405, 1.578, PHS=-1.040, 1.058,-0.218, RAW= 307.1,   2.2, CAL= 304.9,  -1.3, ROT= 205.1,   1.3

2025-10-26T21:58:10.253Z,1761515890.253 [DAT](INFO): got valid direction response:
 21:58:08.9315 LVL= 32752, 17873, 23954, 32755, AGC= 60, IDX= 508,-0.12, 0.436, 2.592, 1.405, 1.578, PHS=-1.040, 1.058,-0.218, RAW= 307.1,   2.2, CAL= 304.9,  -1.3, ROT= 205.1,   1.3

2025-10-26T21:58:10.253Z,1761515890.253 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-10-26T21:58:10.254Z,1761515890.254 [DAT](INFO): direction in FSK: [-0.905336,-0.424090,-0.022687]
2025-10-26T21:58:10.254Z,1761515890.254 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:10.262Z,1761515890.262 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.655800
2025-10-26T21:58:10.475Z,1761515890.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485779,-0.872871,-0.045981],[0.873723,-0.483402,-0.054137],[0.025027,-0.066473,0.997474]]
2025-10-26T21:58:10.495Z,1761515890.495 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.887917
2025-10-26T21:58:10.568Z,1761515890.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.503982 s,
      deltaX: 0.300000 m,
      approachRate: 0.595260 m/s,
      rangeRepo size: 4

2025-10-26T21:58:10.570Z,1761515890.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.224984 m,
      bearing: 324.206625 deg,
      lat: 36.779414 deg,
      lon: -121.859438 deg,
      deltaT: 0.503982 s,
      deltaX: 0.298171 m,
      approachRate: 0.591630 m/s,
      posRepo size: 4

2025-10-26T21:58:10.570Z,1761515890.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-10-26T21:58:10.745Z,1761515890.745 [DAT](INFO): DAT read: Rx Time:21:58:09.4314 

2025-10-26T21:58:10.745Z,1761515890.745 [DAT](INFO): Rx dataTimestamp_ set to:1761515890.745170
2025-10-26T21:58:10.747Z,1761515890.747 [DAT](INFO): DAT read: Bearing  93.7, -25.9 (Local)

2025-10-26T21:58:10.747Z,1761515890.747 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.7, -25.9 (Local)

2025-10-26T21:58:10.754Z,1761515890.754 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed -0.2

2025-10-26T21:58:10.759Z,1761515890.759 [DAT](INFO): DAT read: 21:58:09.4314 LVL= 32752, 19953, 27250, 32755, AGC= 61, IDX= 508,-0.24,-1.222, 0.921,-0.267,-0.081, PHS=-1.039, 1.047,-0.230, RAW= 307.4,   2.5, CAL= 305.1,  -1.0, ROT= 204.9,   1.0

2025-10-26T21:58:10.770Z,1761515890.770 [DAT](INFO): got valid direction response:
 21:58:09.4314 LVL= 32752, 19953, 27250, 32755, AGC= 61, IDX= 508,-0.24,-1.222, 0.921,-0.267,-0.081, PHS=-1.039, 1.047,-0.230, RAW= 307.4,   2.5, CAL= 305.1,  -1.0, ROT= 204.9,   1.0

2025-10-26T21:58:10.770Z,1761515890.770 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-10-26T21:58:10.788Z,1761515890.788 [DAT](INFO): direction in FSK: [-0.906906,-0.420972,-0.017452]
2025-10-26T21:58:10.788Z,1761515890.788 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:10.856Z,1761515890.856 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.249256
2025-10-26T21:58:10.888Z,1761515890.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485115,-0.873295,-0.044941],[0.874050,-0.482697,-0.055144],[0.026464,-0.066032,0.997467]]
2025-10-26T21:58:10.999Z,1761515890.999 [DAT](INFO): DAT read: Rx Time:21:58:09.9316 

2025-10-26T21:58:11.001Z,1761515891.001 [DAT](INFO): Rx dataTimestamp_ set to:1761515890.999841
2025-10-26T21:58:11.003Z,1761515891.003 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.395638
2025-10-26T21:58:11.025Z,1761515891.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.503266 s,
      deltaX: -0.100000 m,
      approachRate: -0.198703 m/s,
      rangeRepo size: 4

2025-10-26T21:58:11.043Z,1761515891.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.125594 m,
      bearing: 323.944293 deg,
      lat: 36.779414 deg,
      lon: -121.859437 deg,
      deltaT: 0.503266 s,
      deltaX: -0.099390 m,
      approachRate: -0.197490 m/s,
      posRepo size: 4

2025-10-26T21:58:11.050Z,1761515891.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m.
2025-10-26T21:58:11.249Z,1761515891.249 [DAT](INFO): DAT read: Bearing  94.2, -25.8 (Local)

2025-10-26T21:58:11.249Z,1761515891.249 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.2, -25.8 (Local)

2025-10-26T21:58:11.251Z,1761515891.251 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.3

2025-10-26T21:58:11.256Z,1761515891.256 [DAT](INFO): DAT read: 21:58:09.9316 LVL= 31056, 17825, 23778, 32755, AGC= 59, IDX= 510,-0.37,-0.387, 1.772, 0.575, 0.745, PHS=-1.030, 1.072,-0.214, RAW= 307.4,   1.9, CAL= 305.2,  -1.6, ROT= 204.8,   1.6

2025-10-26T21:58:11.257Z,1761515891.257 [DAT](INFO): got valid direction response:
 21:58:09.9316 LVL= 31056, 17825, 23778, 32755, AGC= 59, IDX= 510,-0.37,-0.387, 1.772, 0.575, 0.745, PHS=-1.030, 1.072,-0.214, RAW= 307.4,   1.9, CAL= 305.2,  -1.6, ROT= 204.8,   1.6

2025-10-26T21:58:11.257Z,1761515891.257 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-10-26T21:58:11.258Z,1761515891.258 [DAT](INFO): direction in FSK: [-0.907424,-0.419289,-0.027922]
2025-10-26T21:58:11.259Z,1761515891.259 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:11.263Z,1761515891.263 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.656422
2025-10-26T21:58:11.344Z,1761515891.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484289,-0.873791,-0.044198],[0.874469,-0.481826,-0.056102],[0.027726,-0.065819,0.997446]]
2025-10-26T21:58:11.404Z,1761515891.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.502521 s,
      deltaX: 0.300000 m,
      approachRate: 0.596990 m/s,
      rangeRepo size: 4

2025-10-26T21:58:11.406Z,1761515891.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.423765 m,
      bearing: 323.834936 deg,
      lat: 36.779414 deg,
      lon: -121.859438 deg,
      deltaT: 0.502521 s,
      deltaX: 0.298171 m,
      approachRate: 0.593350 m/s,
      posRepo size: 4

2025-10-26T21:58:11.406Z,1761515891.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:58:11.504Z,1761515891.504 [DAT](INFO): DAT read: Rx Time:21:58:10.4316 

2025-10-26T21:58:11.506Z,1761515891.506 [DAT](INFO): Rx dataTimestamp_ set to:1761515891.504747
2025-10-26T21:58:11.509Z,1761515891.509 [DAT](INFO): DAT read: Bearing  93.7, -26.0 (Local)

2025-10-26T21:58:11.511Z,1761515891.511 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.7, -26.0 (Local)

2025-10-26T21:58:11.513Z,1761515891.513 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.906261
2025-10-26T21:58:11.724Z,1761515891.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483383,-0.874299,-0.044070],[0.874937,-0.480858,-0.057099],[0.028730,-0.066159,0.997395]]
2025-10-26T21:58:11.748Z,1761515891.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:58:11.754Z,1761515891.754 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.1

2025-10-26T21:58:11.759Z,1761515891.759 [DAT](INFO): DAT read: 21:58:10.4316 LVL= 32752, 18705, 25698, 32755, AGC= 60, IDX= 509, 0.34, 0.464, 2.618, 1.427, 1.608, PHS=-1.042, 1.056,-0.224, RAW= 307.3,   2.3, CAL= 305.0,  -1.1, ROT= 205.0,   1.1

2025-10-26T21:58:11.760Z,1761515891.760 [DAT](INFO): got valid direction response:
 21:58:10.4316 LVL= 32752, 18705, 25698, 32755, AGC= 60, IDX= 509, 0.34, 0.464, 2.618, 1.427, 1.608, PHS=-1.042, 1.056,-0.224, RAW= 307.3,   2.3, CAL= 305.0,  -1.1, ROT= 205.0,   1.1

2025-10-26T21:58:11.760Z,1761515891.760 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-10-26T21:58:11.761Z,1761515891.761 [DAT](INFO): direction in FSK: [-0.906141,-0.422540,-0.019197]
2025-10-26T21:58:11.761Z,1761515891.761 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:11.765Z,1761515891.765 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.158577
2025-10-26T21:58:12.008Z,1761515892.008 [DAT](INFO): DAT read: Rx Time:21:58:10.9317 

2025-10-26T21:58:12.010Z,1761515892.010 [DAT](INFO): Rx dataTimestamp_ set to:1761515892.008779
2025-10-26T21:58:12.015Z,1761515892.015 [DAT](INFO): DAT read: Bearing  93.9, -26.0 (Local)

2025-10-26T21:58:12.017Z,1761515892.017 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.9, -26.0 (Local)

2025-10-26T21:58:12.022Z,1761515892.022 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.1

2025-10-26T21:58:12.025Z,1761515892.025 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-10-26T21:58:12.052Z,1761515892.052 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.428036
2025-10-26T21:58:12.119Z,1761515892.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482478,-0.874779,-0.044468],[0.875408,-0.479866,-0.058214],[0.029586,-0.067015,0.997313]]
2025-10-26T21:58:12.185Z,1761515892.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.761088 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:58:12.187Z,1761515892.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.423754 m,
      bearing: 323.881693 deg,
      lat: 36.779415 deg,
      lon: -121.859438 deg,
      deltaT: 0.761088 s,
      deltaX: -0.000011 m,
      approachRate: -0.000015 m/s,
      posRepo size: 4

2025-10-26T21:58:12.187Z,1761515892.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:58:12.263Z,1761515892.263 [DAT](INFO): DAT read: 21:58:10.9317 LVL= 32304, 18161, 22434, 32755, AGC= 59, IDX= 510, 0.05, 0.924, 3.076, 1.888, 2.061, PHS=-1.035, 1.061,-0.216, RAW= 307.2,   2.1, CAL= 305.0,  -1.3, ROT= 205.0,   1.3

2025-10-26T21:58:12.264Z,1761515892.264 [DAT](INFO): got valid direction response:
 21:58:10.9317 LVL= 32304, 18161, 22434, 32755, AGC= 59, IDX= 510, 0.05, 0.924, 3.076, 1.888, 2.061, PHS=-1.035, 1.061,-0.216, RAW= 307.2,   2.1, CAL= 305.0,  -1.3, ROT= 205.0,   1.3

2025-10-26T21:58:12.264Z,1761515892.264 [DAT](INFO): #Rx 101: Read direction message, but no range.
2025-10-26T21:58:12.265Z,1761515892.265 [DAT](INFO): direction in FSK: [-0.906075,-0.422509,-0.022687]
2025-10-26T21:58:12.269Z,1761515892.269 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.662323
2025-10-26T21:58:12.513Z,1761515892.513 [DAT](INFO): DAT read: Rx Time:21:58:11.4316 

2025-10-26T21:58:12.515Z,1761515892.515 [DAT](INFO): Rx dataTimestamp_ set to:1761515892.513716
2025-10-26T21:58:12.518Z,1761515892.518 [DAT](INFO): DAT read: Bearing  94.1, -26.0 (Local)

2025-10-26T21:58:12.520Z,1761515892.520 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.1, -26.0 (Local)

2025-10-26T21:58:12.529Z,1761515892.529 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.1

2025-10-26T21:58:12.532Z,1761515892.532 [DAT](ERROR): #Rx 102: Read range message, but no direction.
2025-10-26T21:58:12.538Z,1761515892.538 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.928234
2025-10-26T21:58:12.598Z,1761515892.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481098,-0.875520,-0.044824],[0.876148,-0.478424,-0.058953],[0.030169,-0.067634,0.997254]]
2025-10-26T21:58:12.637Z,1761515892.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.504937 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:58:12.639Z,1761515892.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.423754 m,
      bearing: 323.806522 deg,
      lat: 36.779415 deg,
      lon: -121.859438 deg,
      deltaT: 0.504937 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:58:12.640Z,1761515892.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:58:12.764Z,1761515892.764 [DAT](INFO): DAT read: 21:58:11.4316 LVL= 32416, 17377, 23922, 32755, AGC= 60, IDX= 510,-0.33,-0.970, 1.184,-0.007, 0.161, PHS=-1.029, 1.068,-0.212, RAW= 307.3,   1.9, CAL= 305.1,  -1.5, ROT= 204.9,   1.5

2025-10-26T21:58:12.765Z,1761515892.765 [DAT](INFO): got valid direction response:
 21:58:11.4316 LVL= 32416, 17377, 23922, 32755, AGC= 60, IDX= 510,-0.33,-0.970, 1.184,-0.007, 0.161, PHS=-1.029, 1.068,-0.212, RAW= 307.3,   1.9, CAL= 305.1,  -1.5, ROT= 204.9,   1.5

2025-10-26T21:58:12.766Z,1761515892.766 [DAT](INFO): #Rx 103: Read direction message, but no range.
2025-10-26T21:58:12.767Z,1761515892.767 [DAT](INFO): direction in FSK: [-0.906733,-0.420891,-0.026177]
2025-10-26T21:58:12.774Z,1761515892.774 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.167812
2025-10-26T21:58:12.942Z,1761515892.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479492,-0.876387,-0.045084],[0.877014,-0.476780,-0.059393],[0.030556,-0.068018,0.997216]]
2025-10-26T21:58:12.998Z,1761515892.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:58:13.017Z,1761515893.017 [DAT](INFO): DAT read: Rx Time:21:58:11.9318 

2025-10-26T21:58:13.018Z,1761515893.018 [DAT](INFO): Rx dataTimestamp_ set to:1761515893.017304
2025-10-26T21:58:13.022Z,1761515893.022 [DAT](INFO): DAT read: Bearing  93.4, -26.4 (Local)

2025-10-26T21:58:13.024Z,1761515893.024 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.4, -26.4 (Local)

2025-10-26T21:58:13.038Z,1761515893.038 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed 0.0

2025-10-26T21:58:13.049Z,1761515893.049 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-10-26T21:58:13.052Z,1761515893.052 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.444630
2025-10-26T21:58:13.268Z,1761515893.268 [DAT](INFO): DAT read: 21:58:11.9318 LVL= 32752, 18929, 28722, 32755, AGC= 61, IDX= 511, 0.01, 2.113,-2.020, 3.081,-3.022, PHS=-1.046, 1.047,-0.224, RAW= 307.1,   2.5, CAL= 304.8,  -1.0, ROT= 205.2,   1.0

2025-10-26T21:58:13.269Z,1761515893.269 [DAT](INFO): got valid direction response:
 21:58:11.9318 LVL= 32752, 18929, 28722, 32755, AGC= 61, IDX= 511, 0.01, 2.113,-2.020, 3.081,-3.022, PHS=-1.046, 1.047,-0.224, RAW= 307.1,   2.5, CAL= 304.8,  -1.0, ROT= 205.2,   1.0

2025-10-26T21:58:13.269Z,1761515893.269 [DAT](INFO): #Rx 105: Read direction message, but no range.
2025-10-26T21:58:13.270Z,1761515893.270 [DAT](INFO): direction in FSK: [-0.904689,-0.425714,-0.017452]
2025-10-26T21:58:13.274Z,1761515893.274 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.667282
2025-10-26T21:58:13.348Z,1761515893.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477668,-0.877385,-0.045047],[0.878000,-0.474946,-0.059521],[0.030828,-0.067982,0.997210]]
2025-10-26T21:58:13.370Z,1761515893.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.503588 s,
      deltaX: 0.100000 m,
      approachRate: 0.198576 m/s,
      rangeRepo size: 4

2025-10-26T21:58:13.372Z,1761515893.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.523120 m,
      bearing: 323.760228 deg,
      lat: 36.779415 deg,
      lon: -121.859438 deg,
      deltaT: 0.503588 s,
      deltaX: 0.099366 m,
      approachRate: 0.197316 m/s,
      posRepo size: 4

2025-10-26T21:58:13.373Z,1761515893.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-10-26T21:58:13.521Z,1761515893.521 [DAT](INFO): DAT read: Rx Time:21:58:12.4317 

2025-10-26T21:58:13.522Z,1761515893.522 [DAT](INFO): Rx dataTimestamp_ set to:1761515893.521187
2025-10-26T21:58:13.526Z,1761515893.526 [DAT](INFO): DAT read: Bearing  93.0, -26.9 (Local)

2025-10-26T21:58:13.527Z,1761515893.527 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.0, -26.9 (Local)

2025-10-26T21:58:13.533Z,1761515893.533 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.1

2025-10-26T21:58:13.540Z,1761515893.540 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-10-26T21:58:13.548Z,1761515893.548 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.936340
2025-10-26T21:58:13.750Z,1761515893.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475555,-0.878542,-0.044851],[0.879146,-0.472858,-0.059222],[0.030821,-0.067594,0.997237]]
2025-10-26T21:58:13.775Z,1761515893.775 [DAT](INFO): DAT read: 21:58:12.4317 LVL= 32752, 20033, 29154, 32755, AGC= 59, IDX= 510, 0.48, 0.199, 2.357, 1.181, 1.365, PHS=-1.065, 1.036,-0.228, RAW= 306.7,   2.8, CAL= 304.4,  -0.6, ROT= 205.6,   0.6

2025-10-26T21:58:13.776Z,1761515893.776 [DAT](INFO): got valid direction response:
 21:58:12.4317 LVL= 32752, 20033, 29154, 32755, AGC= 59, IDX= 510, 0.48, 0.199, 2.357, 1.181, 1.365, PHS=-1.065, 1.036,-0.228, RAW= 306.7,   2.8, CAL= 304.4,  -0.6, ROT= 205.6,   0.6

2025-10-26T21:58:13.776Z,1761515893.776 [DAT](INFO): #Rx 107: Read direction message, but no range.
2025-10-26T21:58:13.777Z,1761515893.777 [DAT](INFO): direction in FSK: [-0.901783,-0.432062,-0.010472]
2025-10-26T21:58:13.783Z,1761515893.783 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.176582
2025-10-26T21:58:13.862Z,1761515893.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.503883 s,
      deltaX: -0.100000 m,
      approachRate: -0.198460 m/s,
      rangeRepo size: 4

2025-10-26T21:58:13.893Z,1761515893.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.423737 m,
      bearing: 323.991980 deg,
      lat: 36.779415 deg,
      lon: -121.859438 deg,
      deltaT: 0.503883 s,
      deltaX: -0.099383 m,
      approachRate: -0.197235 m/s,
      posRepo size: 4

2025-10-26T21:58:13.894Z,1761515893.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:58:14.022Z,1761515894.022 [DAT](INFO): DAT read: Rx Time:21:58:12.9318 

2025-10-26T21:58:14.022Z,1761515894.022 [DAT](INFO): Rx dataTimestamp_ set to:1761515894.022074
2025-10-26T21:58:14.024Z,1761515894.024 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed 0.0

2025-10-26T21:58:14.025Z,1761515894.025 [DAT](ERROR): #Rx 108: Read range message, but no direction.
2025-10-26T21:58:14.026Z,1761515894.026 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.419750
2025-10-26T21:58:14.231Z,1761515894.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.500887 s,
      deltaX: 0.100000 m,
      approachRate: 0.199647 m/s,
      rangeRepo size: 4

2025-10-26T21:58:14.231Z,1761515894.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:58:14.273Z,1761515894.273 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.666195
2025-10-26T21:58:14.529Z,1761515894.529 [DAT](INFO): DAT read: Rx Time:21:58:13.4318 

2025-10-26T21:58:14.531Z,1761515894.531 [DAT](INFO): Rx dataTimestamp_ set to:1761515894.529331
2025-10-26T21:58:14.534Z,1761515894.534 [DAT](INFO): DAT read: Bearing  92.4, -26.5 (Local)

2025-10-26T21:58:14.535Z,1761515894.535 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.4, -26.5 (Local)

2025-10-26T21:58:14.541Z,1761515894.541 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed 0.0

2025-10-26T21:58:14.543Z,1761515894.543 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-10-26T21:58:14.550Z,1761515894.550 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.942879
2025-10-26T21:58:14.567Z,1761515894.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471553,-0.880747,-0.043839],[0.881300,-0.468948,-0.058285],[0.030776,-0.066120,0.997337]]
2025-10-26T21:58:14.625Z,1761515894.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.507257 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:58:14.625Z,1761515894.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:58:14.780Z,1761515894.780 [DAT](INFO): DAT read: 21:58:13.4318 LVL= 32752, 26977, 32754, 32755, AGC= 61, IDX= 511,-0.06,-0.811, 1.331, 0.147, 0.352, PHS=-1.061, 1.024,-0.249, RAW= 307.3,   3.2, CAL= 304.9,  -0.2, ROT= 205.1,   0.2

2025-10-26T21:58:14.781Z,1761515894.781 [DAT](INFO): got valid direction response:
 21:58:13.4318 LVL= 32752, 26977, 32754, 32755, AGC= 61, IDX= 511,-0.06,-0.811, 1.331, 0.147, 0.352, PHS=-1.061, 1.024,-0.249, RAW= 307.3,   3.2, CAL= 304.9,  -0.2, ROT= 205.1,   0.2

2025-10-26T21:58:14.781Z,1761515894.781 [DAT](INFO): #Rx 110: Read direction message, but no range.
2025-10-26T21:58:14.782Z,1761515894.782 [DAT](INFO): direction in FSK: [-0.905563,-0.424197,-0.003491]
2025-10-26T21:58:14.786Z,1761515894.786 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.179314
2025-10-26T21:58:14.962Z,1761515894.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469433,-0.881890,-0.043634],[0.882440,-0.466870,-0.057723],[0.030534,-0.065602,0.997379]]
2025-10-26T21:58:15.036Z,1761515895.036 [DAT](INFO): DAT read: Rx Time:21:58:13.9319 

2025-10-26T21:58:15.038Z,1761515895.038 [DAT](INFO): Rx dataTimestamp_ set to:1761515895.037146
2025-10-26T21:58:15.042Z,1761515895.042 [DAT](INFO): DAT read: Bearing  89.5, -15.9 (Local)

2025-10-26T21:58:15.043Z,1761515895.043 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.5, -15.9 (Local)

2025-10-26T21:58:15.056Z,1761515895.056 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed 0.0

2025-10-26T21:58:15.069Z,1761515895.069 [DAT](INFO): DAT read: 21:58:13.9319 LVL= 32752, 27073, 32754, 32755, AGC= 59, IDX= 512,-0.00,-1.597, 0.424,-1.011,-0.576, PHS=-0.919, 1.045,-0.480, RAW= 317.7,   4.0, CAL= 315.7,   1.7, ROT= 194.3,  -1.7

2025-10-26T21:58:15.070Z,1761515895.070 [DAT](INFO): got valid direction response:
 21:58:13.9319 LVL= 32752, 27073, 32754, 32755, AGC= 59, IDX= 512,-0.00,-1.597, 0.424,-1.011,-0.576, PHS=-0.919, 1.045,-0.480, RAW= 317.7,   4.0, CAL= 315.7,   1.7, ROT= 194.3,  -1.7

2025-10-26T21:58:15.070Z,1761515895.070 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-10-26T21:58:15.071Z,1761515895.071 [DAT](INFO): direction in FSK: [-0.968589,-0.246890,0.029666]
2025-10-26T21:58:15.080Z,1761515895.080 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:15.084Z,1761515895.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:58:15.095Z,1761515895.095 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.476654
2025-10-26T21:58:15.280Z,1761515895.280 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.673874
2025-10-26T21:58:15.412Z,1761515895.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.507815 s,
      deltaX: 0.200000 m,
      approachRate: 0.393844 m/s,
      rangeRepo size: 4

2025-10-26T21:58:15.413Z,1761515895.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.721877 m,
      bearing: 312.160606 deg,
      lat: 36.779415 deg,
      lon: -121.859438 deg,
      deltaT: 1.515959 s,
      deltaX: 0.298141 m,
      approachRate: 0.196668 m/s,
      posRepo size: 4

2025-10-26T21:58:15.414Z,1761515895.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.72 m.
2025-10-26T21:58:15.538Z,1761515895.538 [DAT](INFO): DAT read: Rx Time:21:58:14.4317 

2025-10-26T21:58:15.539Z,1761515895.539 [DAT](INFO): Rx dataTimestamp_ set to:1761515895.538153
2025-10-26T21:58:15.543Z,1761515895.543 [DAT](INFO): DAT read: Bearing  91.6, -27.2 (Local)

2025-10-26T21:58:15.544Z,1761515895.544 [DAT](INFO): Local bearing/azimuth received:
 Bearing  91.6, -27.2 (Local)

2025-10-26T21:58:15.554Z,1761515895.554 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.0

2025-10-26T21:58:15.567Z,1761515895.567 [DAT](INFO): DAT read: 21:58:14.4317 LVL= 32752, 27633, 32754, 32755, AGC= 61, IDX= 511,-0.26,-0.111, 2.010, 0.855, 1.063, PHS=-1.073, 0.992,-0.252, RAW= 306.8,   3.7, CAL= 304.3,   0.6, ROT= 205.7,  -0.6

2025-10-26T21:58:15.572Z,1761515895.572 [DAT](INFO): got valid direction response:
 21:58:14.4317 LVL= 32752, 27633, 32754, 32755, AGC= 61, IDX= 511,-0.26,-0.111, 2.010, 0.855, 1.063, PHS=-1.073, 0.992,-0.252, RAW= 306.8,   3.7, CAL= 304.3,   0.6, ROT= 205.7,  -0.6

2025-10-26T21:58:15.573Z,1761515895.573 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-10-26T21:58:15.573Z,1761515895.573 [DAT](INFO): direction in FSK: [-0.901028,-0.433635,0.010472]
2025-10-26T21:58:15.574Z,1761515895.574 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:15.578Z,1761515895.578 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=52.971279
2025-10-26T21:58:15.770Z,1761515895.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465160,-0.884162,-0.043402],[0.884723,-0.462682,-0.056488],[0.029863,-0.064675,0.997460]]
2025-10-26T21:58:15.785Z,1761515895.785 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.178055
2025-10-26T21:58:15.828Z,1761515895.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.501007 s,
      deltaX: -0.300000 m,
      approachRate: -0.598794 m/s,
      rangeRepo size: 4

2025-10-26T21:58:15.830Z,1761515895.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.423693 m,
      bearing: 323.333542 deg,
      lat: 36.779415 deg,
      lon: -121.859439 deg,
      deltaT: 0.501007 s,
      deltaX: -0.298184 m,
      approachRate: -0.595170 m/s,
      posRepo size: 4

2025-10-26T21:58:15.831Z,1761515895.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:58:16.040Z,1761515896.040 [DAT](INFO): DAT read: Rx Time:21:58:14.9317 

2025-10-26T21:58:16.042Z,1761515896.042 [DAT](INFO): Rx dataTimestamp_ set to:1761515896.040933
2025-10-26T21:58:16.045Z,1761515896.045 [DAT](INFO): DAT read: Bearing  93.4, -27.7 (Local)

2025-10-26T21:58:16.046Z,1761515896.046 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.4, -27.7 (Local)

2025-10-26T21:58:16.057Z,1761515896.057 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.0

2025-10-26T21:58:16.062Z,1761515896.062 [DAT](INFO): DAT read: 21:58:14.9317 LVL= 32752, 26321, 31874, 32755, AGC= 63, IDX= 510, 0.23,-2.182,-0.024,-1.177,-1.016, PHS=-1.064, 1.037,-0.204, RAW= 306.0,   2.6, CAL= 303.8,  -1.0, ROT= 206.2,   1.0

2025-10-26T21:58:16.063Z,1761515896.063 [DAT](INFO): got valid direction response:
 21:58:14.9317 LVL= 32752, 26321, 31874, 32755, AGC= 63, IDX= 510, 0.23,-2.182,-0.024,-1.177,-1.016, PHS=-1.064, 1.037,-0.204, RAW= 306.0,   2.6, CAL= 303.8,  -1.0, ROT= 206.2,   1.0

2025-10-26T21:58:16.100Z,1761515896.100 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-10-26T21:58:16.100Z,1761515896.100 [DAT](INFO): direction in FSK: [-0.897122,-0.441439,-0.017452]
2025-10-26T21:58:16.101Z,1761515896.101 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:16.121Z,1761515896.121 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.514462
2025-10-26T21:58:16.245Z,1761515896.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.502780 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:58:16.247Z,1761515896.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.423693 m,
      bearing: 323.946229 deg,
      lat: 36.779414 deg,
      lon: -121.859442 deg,
      deltaT: 0.502780 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:58:16.247Z,1761515896.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:58:16.288Z,1761515896.288 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.682014
2025-10-26T21:58:16.546Z,1761515896.546 [DAT](INFO): DAT read: Rx Time:21:58:15.4316 

2025-10-26T21:58:16.548Z,1761515896.548 [DAT](INFO): Rx dataTimestamp_ set to:1761515896.546426
2025-10-26T21:58:16.552Z,1761515896.552 [DAT](INFO): DAT read: Bearing  92.5, -28.1 (Local)

2025-10-26T21:58:16.553Z,1761515896.553 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.5, -28.1 (Local)

2025-10-26T21:58:16.556Z,1761515896.556 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.0

2025-10-26T21:58:16.560Z,1761515896.560 [DAT](INFO): DAT read: 21:58:15.4316 LVL= 32752, 27041, 32754, 32755, AGC= 63, IDX= 509,-0.00, 2.163,-1.978,-3.118,-2.940, PHS=-1.079, 1.006,-0.222, RAW= 305.9,   3.3, CAL= 303.5,  -0.2, ROT= 206.5,   0.2

2025-10-26T21:58:16.561Z,1761515896.561 [DAT](INFO): got valid direction response:
 21:58:15.4316 LVL= 32752, 27041, 32754, 32755, AGC= 63, IDX= 509,-0.00, 2.163,-1.978,-3.118,-2.940, PHS=-1.079, 1.006,-0.222, RAW= 305.9,   3.3, CAL= 303.5,  -0.2, ROT= 206.5,   0.2

2025-10-26T21:58:16.562Z,1761515896.562 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-10-26T21:58:16.563Z,1761515896.563 [DAT](INFO): direction in FSK: [-0.894929,-0.446195,-0.003491]
2025-10-26T21:58:16.563Z,1761515896.563 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:16.578Z,1761515896.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461166,-0.886268,-0.043075],[0.886832,-0.458772,-0.055298],[0.029247,-0.063702,0.997540]]
2025-10-26T21:58:16.591Z,1761515896.591 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=53.984215
2025-10-26T21:58:16.679Z,1761515896.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.505493 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:58:16.685Z,1761515896.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.423693 m,
      bearing: 323.931177 deg,
      lat: 36.779414 deg,
      lon: -121.859442 deg,
      deltaT: 0.505493 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:58:16.686Z,1761515896.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:58:16.794Z,1761515896.794 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.187279
2025-10-26T21:58:16.982Z,1761515896.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459055,-0.887384,-0.042631],[0.887939,-0.456725,-0.054473],[0.028868,-0.062860,0.997605]]
2025-10-26T21:58:17.048Z,1761515897.048 [DAT](INFO): DAT read: Rx Time:21:58:15.9316 

2025-10-26T21:58:17.050Z,1761515897.050 [DAT](INFO): Rx dataTimestamp_ set to:1761515897.048800
2025-10-26T21:58:17.054Z,1761515897.054 [DAT](INFO): DAT read: Bearing  92.7, -28.2 (Local)

2025-10-26T21:58:17.055Z,1761515897.055 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.7, -28.2 (Local)

2025-10-26T21:58:17.057Z,1761515897.057 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.1

2025-10-26T21:58:17.062Z,1761515897.062 [DAT](INFO): DAT read: 21:58:15.9316 LVL= 32752, 26977, 32018, 32755, AGC= 63, IDX= 510,-0.25, 2.750,-1.393,-2.527,-2.359, PHS=-1.073, 1.011,-0.212, RAW= 305.7,   3.1, CAL= 303.4,  -0.5, ROT= 206.6,   0.5

2025-10-26T21:58:17.063Z,1761515897.063 [DAT](INFO): got valid direction response:
 21:58:15.9316 LVL= 32752, 26977, 32018, 32755, AGC= 63, IDX= 510,-0.25, 2.750,-1.393,-2.527,-2.359, PHS=-1.073, 1.011,-0.212, RAW= 305.7,   3.1, CAL= 303.4,  -0.5, ROT= 206.6,   0.5

2025-10-26T21:58:17.063Z,1761515897.063 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-10-26T21:58:17.072Z,1761515897.072 [DAT](INFO): direction in FSK: [-0.894120,-0.447742,-0.008727]
2025-10-26T21:58:17.072Z,1761515897.072 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:17.084Z,1761515897.084 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.477818
2025-10-26T21:58:17.175Z,1761515897.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.502374 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:58:17.177Z,1761515897.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.423712 m,
      bearing: 323.916365 deg,
      lat: 36.779414 deg,
      lon: -121.859442 deg,
      deltaT: 0.502374 s,
      deltaX: 0.000019 m,
      approachRate: 0.000038 m/s,
      posRepo size: 4

2025-10-26T21:58:17.178Z,1761515897.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:58:17.296Z,1761515897.296 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.689804
2025-10-26T21:58:17.431Z,1761515897.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457278,-0.888328,-0.042070],[0.888861,-0.455004,-0.053824],[0.028671,-0.062007,0.997664]]
2025-10-26T21:58:17.454Z,1761515897.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:58:17.553Z,1761515897.553 [DAT](INFO): DAT read: Rx Time:21:58:16.4315 

2025-10-26T21:58:17.554Z,1761515897.554 [DAT](INFO): Rx dataTimestamp_ set to:1761515897.553426
2025-10-26T21:58:17.556Z,1761515897.556 [DAT](INFO): DAT read: Bearing  92.9, -28.0 (Local)

2025-10-26T21:58:17.556Z,1761515897.556 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.9, -28.0 (Local)

2025-10-26T21:58:17.558Z,1761515897.558 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed 0.0

2025-10-26T21:58:17.562Z,1761515897.562 [DAT](INFO): DAT read: 21:58:16.4315 LVL= 32752, 29105, 32754, 32755, AGC= 61, IDX= 509,-0.42,-0.400, 1.748, 0.601, 0.769, PHS=-1.068, 1.023,-0.212, RAW= 306.0,   2.8, CAL= 303.7,  -0.7, ROT= 206.3,   0.7

2025-10-26T21:58:17.564Z,1761515897.564 [DAT](INFO): got valid direction response:
 21:58:16.4315 LVL= 32752, 29105, 32754, 32755, AGC= 61, IDX= 509,-0.42,-0.400, 1.748, 0.601, 0.769, PHS=-1.068, 1.023,-0.212, RAW= 306.0,   2.8, CAL= 303.7,  -0.7, ROT= 206.3,   0.7

2025-10-26T21:58:17.565Z,1761515897.565 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-10-26T21:58:17.565Z,1761515897.565 [DAT](INFO): direction in FSK: [-0.896419,-0.443038,-0.012217]
2025-10-26T21:58:17.566Z,1761515897.566 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:17.574Z,1761515897.574 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.967613
2025-10-26T21:58:17.800Z,1761515897.800 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.193802
2025-10-26T21:58:17.830Z,1761515897.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455487,-0.889260,-0.041809],[0.889788,-0.453251,-0.053298],[0.028446,-0.061478,0.997703]]
2025-10-26T21:58:17.882Z,1761515897.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.504626 s,
      deltaX: -0.200000 m,
      approachRate: -0.396333 m/s,
      rangeRepo size: 4

2025-10-26T21:58:17.887Z,1761515897.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.224963 m,
      bearing: 323.401969 deg,
      lat: 36.779414 deg,
      lon: -121.859442 deg,
      deltaT: 0.504626 s,
      deltaX: -0.198749 m,
      approachRate: -0.393853 m/s,
      posRepo size: 4

2025-10-26T21:58:17.889Z,1761515897.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-10-26T21:58:18.055Z,1761515898.055 [DAT](INFO): DAT read: Rx Time:21:58:16.9316 

2025-10-26T21:58:18.056Z,1761515898.056 [DAT](INFO): Rx dataTimestamp_ set to:1761515898.055320
2025-10-26T21:58:18.057Z,1761515898.057 [DAT](INFO): DAT read: Bearing  87.5, -26.8 (Local)

2025-10-26T21:58:18.057Z,1761515898.057 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.5, -26.8 (Local)

2025-10-26T21:58:18.060Z,1761515898.060 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.0

2025-10-26T21:58:18.064Z,1761515898.064 [DAT](INFO): DAT read: 21:58:16.9316 LVL= 32752, 26961, 32754, 32755, AGC= 59, IDX= 509, 0.41, 0.348, 2.427, 1.272, 1.545, PHS=-1.095, 0.927,-0.317, RAW= 307.6,   5.6, CAL= 305.3,   4.0, ROT= 204.7,  -4.0

2025-10-26T21:58:18.065Z,1761515898.065 [DAT](INFO): got valid direction response:
 21:58:16.9316 LVL= 32752, 26961, 32754, 32755, AGC= 59, IDX= 509, 0.41, 0.348, 2.427, 1.272, 1.545, PHS=-1.095, 0.927,-0.317, RAW= 307.6,   5.6, CAL= 305.3,   4.0, ROT= 204.7,  -4.0

2025-10-26T21:58:18.066Z,1761515898.066 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-10-26T21:58:18.067Z,1761515898.067 [DAT](INFO): direction in FSK: [-0.906295,-0.416849,0.069756]
2025-10-26T21:58:18.067Z,1761515898.067 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:18.084Z,1761515898.084 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.477249
2025-10-26T21:58:18.234Z,1761515898.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454178,-0.889917,-0.042064],[0.890458,-0.451937,-0.053257],[0.028384,-0.061644,0.997694]]
2025-10-26T21:58:18.305Z,1761515898.305 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.698185
2025-10-26T21:58:18.306Z,1761515898.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.501894 s,
      deltaX: 0.200000 m,
      approachRate: 0.398490 m/s,
      rangeRepo size: 4

2025-10-26T21:58:18.313Z,1761515898.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.423742 m,
      bearing: 321.401802 deg,
      lat: 36.779414 deg,
      lon: -121.859443 deg,
      deltaT: 0.501894 s,
      deltaX: 0.198779 m,
      approachRate: 0.396058 m/s,
      posRepo size: 4

2025-10-26T21:58:18.313Z,1761515898.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:58:18.557Z,1761515898.557 [DAT](INFO): DAT read: Rx Time:21:58:17.4315 

2025-10-26T21:58:18.557Z,1761515898.557 [DAT](INFO): Rx dataTimestamp_ set to:1761515898.557157
2025-10-26T21:58:18.559Z,1761515898.559 [DAT](INFO): DAT read: Bearing  89.3, -27.4 (Local)

2025-10-26T21:58:18.559Z,1761515898.559 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.3, -27.4 (Local)

2025-10-26T21:58:18.561Z,1761515898.561 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed 0.0

2025-10-26T21:58:18.566Z,1761515898.566 [DAT](INFO): DAT read: 21:58:17.4315 LVL= 32752, 27041, 32754, 32755, AGC= 59, IDX= 508, 0.21,-1.631, 0.488,-0.674,-0.431, PHS=-1.098, 0.964,-0.288, RAW= 307.0,   4.7, CAL= 304.7,   2.5, ROT= 205.3,  -2.5

2025-10-26T21:58:18.567Z,1761515898.567 [DAT](INFO): got valid direction response:
 21:58:17.4315 LVL= 32752, 27041, 32754, 32755, AGC= 59, IDX= 508, 0.21,-1.631, 0.488,-0.674,-0.431, PHS=-1.098, 0.964,-0.288, RAW= 307.0,   4.7, CAL= 304.7,   2.5, ROT= 205.3,  -2.5

2025-10-26T21:58:18.584Z,1761515898.584 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-10-26T21:58:18.585Z,1761515898.585 [DAT](INFO): direction in FSK: [-0.903222,-0.426951,0.043619]
2025-10-26T21:58:18.585Z,1761515898.585 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:18.597Z,1761515898.597 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=55.990780
2025-10-26T21:58:18.650Z,1761515898.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452423,-0.890761,-0.043099],[0.891340,-0.450102,-0.054040],[0.028738,-0.062864,0.997608]]
2025-10-26T21:58:18.693Z,1761515898.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.501837 s,
      deltaX: -0.200000 m,
      approachRate: -0.398535 m/s,
      rangeRepo size: 4

2025-10-26T21:58:18.700Z,1761515898.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.224963 m,
      bearing: 321.984769 deg,
      lat: 36.779412 deg,
      lon: -121.859444 deg,
      deltaT: 0.501837 s,
      deltaX: -0.198779 m,
      approachRate: -0.396103 m/s,
      posRepo size: 4

2025-10-26T21:58:18.701Z,1761515898.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-10-26T21:58:18.809Z,1761515898.809 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.202396
2025-10-26T21:58:19.061Z,1761515899.061 [DAT](INFO): DAT read: Rx Time:21:58:17.9316 

2025-10-26T21:58:19.062Z,1761515899.062 [DAT](INFO): Rx dataTimestamp_ set to:1761515899.061246
2025-10-26T21:58:19.063Z,1761515899.063 [DAT](INFO): DAT read: Bearing  88.7, -26.9 (Local)

2025-10-26T21:58:19.063Z,1761515899.063 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.7, -26.9 (Local)

2025-10-26T21:58:19.065Z,1761515899.065 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.0

2025-10-26T21:58:19.079Z,1761515899.079 [DAT](INFO): DAT read: 21:58:17.9316 LVL= 32752, 29617, 32754, 32755, AGC= 59, IDX= 509, 0.01,-0.530, 1.589, 0.410, 0.671, PHS=-1.099, 0.963,-0.305, RAW= 307.6,   4.9, CAL= 305.2,   2.9, ROT= 204.8,  -2.9

2025-10-26T21:58:19.080Z,1761515899.080 [DAT](INFO): got valid direction response:
 21:58:17.9316 LVL= 32752, 29617, 32754, 32755, AGC= 59, IDX= 509, 0.01,-0.530, 1.589, 0.410, 0.671, PHS=-1.099, 0.963,-0.305, RAW= 307.6,   4.9, CAL= 305.2,   2.9, ROT= 204.8,  -2.9

2025-10-26T21:58:19.080Z,1761515899.080 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-10-26T21:58:19.081Z,1761515899.081 [DAT](INFO): direction in FSK: [-0.906615,-0.418915,0.050593]
2025-10-26T21:58:19.081Z,1761515899.081 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:19.090Z,1761515899.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451712,-0.891109,-0.043382],[0.891689,-0.449350,-0.054544],[0.029111,-0.063321,0.997569]]
2025-10-26T21:58:19.101Z,1761515899.101 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.494801
2025-10-26T21:58:19.132Z,1761515899.132 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:58:19.184Z,1761515899.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.504089 s,
      deltaX: 0.200000 m,
      approachRate: 0.396755 m/s,
      rangeRepo size: 4

2025-10-26T21:58:19.186Z,1761515899.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.423769 m,
      bearing: 321.410404 deg,
      lat: 36.779411 deg,
      lon: -121.859447 deg,
      deltaT: 0.504089 s,
      deltaX: 0.198806 m,
      approachRate: 0.394386 m/s,
      posRepo size: 4

2025-10-26T21:58:19.187Z,1761515899.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:58:19.313Z,1761515899.313 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.706169
2025-10-26T21:58:19.450Z,1761515899.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451474,-0.891243,-0.043087],[0.891786,-0.449081,-0.055178],[0.029827,-0.063336,0.997546]]
2025-10-26T21:58:19.474Z,1761515899.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:58:19.476Z,1761515899.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:58:19.566Z,1761515899.566 [DAT](INFO): DAT read: Rx Time:21:58:18.4315 

2025-10-26T21:58:19.567Z,1761515899.567 [DAT](INFO): Rx dataTimestamp_ set to:1761515899.566428
2025-10-26T21:58:19.569Z,1761515899.569 [DAT](INFO): DAT read: Bearing  87.6, -26.3 (Local)

2025-10-26T21:58:19.569Z,1761515899.569 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.6, -26.3 (Local)

2025-10-26T21:58:19.571Z,1761515899.571 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed 0.0

2025-10-26T21:58:19.576Z,1761515899.576 [DAT](INFO): DAT read: 21:58:18.4315 LVL= 32752, 24673, 28482, 32755, AGC= 59, IDX= 508,-0.06,-2.056, 0.059,-1.136,-0.848, PHS=-1.106, 0.951,-0.332, RAW= 308.1,   5.5, CAL= 305.8,   3.9, ROT= 204.2,  -3.9

2025-10-26T21:58:19.577Z,1761515899.577 [DAT](INFO): got valid direction response:
 21:58:18.4315 LVL= 32752, 24673, 28482, 32755, AGC= 59, IDX= 508,-0.06,-2.056, 0.059,-1.136,-0.848, PHS=-1.106, 0.951,-0.332, RAW= 308.1,   5.5, CAL= 305.8,   3.9, ROT= 204.2,  -3.9

2025-10-26T21:58:19.577Z,1761515899.577 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-10-26T21:58:19.578Z,1761515899.578 [DAT](INFO): direction in FSK: [-0.910008,-0.408974,0.068015]
2025-10-26T21:58:19.579Z,1761515899.579 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:19.582Z,1761515899.582 [DAT](INFO): ****** received valid address query ******
2025-10-26T21:58:19.583Z,1761515899.583 [DAT](INFO): ****** received valid ping request ******
2025-10-26T21:58:19.583Z,1761515899.583 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:58:19.816Z,1761515899.816 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:58:19.860Z,1761515899.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451036,-0.891490,-0.042561],[0.891984,-0.448629,-0.055649],[0.030516,-0.063064,0.997543]]
2025-10-26T21:58:19.884Z,1761515899.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.505182 s,
      deltaX: -0.200000 m,
      approachRate: -0.395897 m/s,
      rangeRepo size: 4

2025-10-26T21:58:19.886Z,1761515899.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.225014 m,
      bearing: 320.698938 deg,
      lat: 36.779411 deg,
      lon: -121.859449 deg,
      deltaT: 0.505182 s,
      deltaX: -0.198755 m,
      approachRate: -0.393433 m/s,
      posRepo size: 4

2025-10-26T21:58:19.887Z,1761515899.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m.
2025-10-26T21:58:20.069Z,1761515900.069 [DAT](INFO): DAT read: Rx Time:21:58:18.9315 

2025-10-26T21:58:20.070Z,1761515900.070 [DAT](INFO): Rx dataTimestamp_ set to:1761515900.069272
2025-10-26T21:58:20.071Z,1761515900.071 [DAT](INFO): DAT read: Bearing  85.6, -25.5 (Local)

2025-10-26T21:58:20.071Z,1761515900.071 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.6, -25.5 (Local)

2025-10-26T21:58:20.073Z,1761515900.073 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed 0.0

2025-10-26T21:58:20.079Z,1761515900.079 [DAT](INFO): DAT read: 21:58:18.9315 LVL= 32752, 25969, 32754, 32755, AGC= 61, IDX= 508,-0.03,-2.669,-0.592,-1.789,-1.463, PHS=-1.105, 0.916,-0.370, RAW= 309.0,   6.4, CAL= 306.7,   5.6, ROT= 203.3,  -5.6

2025-10-26T21:58:20.080Z,1761515900.080 [DAT](INFO): got valid direction response:
 21:58:18.9315 LVL= 32752, 25969, 32754, 32755, AGC= 61, IDX= 508,-0.03,-2.669,-0.592,-1.789,-1.463, PHS=-1.105, 0.916,-0.370, RAW= 309.0,   6.4, CAL= 306.7,   5.6, ROT= 203.3,  -5.6

2025-10-26T21:58:20.081Z,1761515900.081 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:58:20.082Z,1761515900.082 [DAT](INFO): direction in FSK: [-0.914063,-0.393658,0.097583]
2025-10-26T21:58:20.082Z,1761515900.082 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:20.086Z,1761515900.086 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:58:20.087Z,1761515900.087 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:58:20.136Z,1761515900.136 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:58:20.262Z,1761515900.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450879,-0.891611,-0.041696],[0.892033,-0.448467,-0.056165],[0.031378,-0.062518,0.997550]]
2025-10-26T21:58:20.320Z,1761515900.320 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:58:20.334Z,1761515900.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.502844 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:58:20.344Z,1761515900.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.225014 m,
      bearing: 319.674137 deg,
      lat: 36.779410 deg,
      lon: -121.859449 deg,
      deltaT: 0.502844 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:58:20.344Z,1761515900.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m.
2025-10-26T21:58:20.573Z,1761515900.573 [DAT](INFO): DAT read: Rx Time:21:58:19.4314 

2025-10-26T21:58:20.573Z,1761515900.573 [DAT](INFO): Rx dataTimestamp_ set to:1761515900.573192
2025-10-26T21:58:20.575Z,1761515900.575 [DAT](INFO): DAT read: Bearing  87.8, -26.2 (Local)

2025-10-26T21:58:20.575Z,1761515900.575 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.8, -26.2 (Local)

2025-10-26T21:58:20.577Z,1761515900.577 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed 0.0

2025-10-26T21:58:20.582Z,1761515900.582 [DAT](INFO): DAT read: 21:58:19.4314 LVL= 32752, 27553, 32050, 32755, AGC= 59, IDX= 507, 0.11, 2.654,-1.503,-2.710,-2.422, PHS=-1.104, 0.965,-0.332, RAW= 308.3,   5.3, CAL= 306.0,   3.5, ROT= 204.0,  -3.5

2025-10-26T21:58:20.583Z,1761515900.583 [DAT](INFO): got valid direction response:
 21:58:19.4314 LVL= 32752, 27553, 32050, 32755, AGC= 59, IDX= 507, 0.11, 2.654,-1.503,-2.710,-2.422, PHS=-1.104, 0.965,-0.332, RAW= 308.3,   5.3, CAL= 306.0,   3.5, ROT= 204.0,  -3.5

2025-10-26T21:58:20.583Z,1761515900.583 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:58:20.584Z,1761515900.584 [DAT](INFO): direction in FSK: [-0.911841,-0.405978,0.061049]
2025-10-26T21:58:20.584Z,1761515900.584 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:20.588Z,1761515900.588 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:58:20.588Z,1761515900.588 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:58:20.664Z,1761515900.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450839,-0.891680,-0.040642],[0.892018,-0.448424,-0.056734],[0.032364,-0.061831,0.997562]]
2025-10-26T21:58:20.710Z,1761515900.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.503920 s,
      deltaX: -0.100000 m,
      approachRate: -0.198445 m/s,
      rangeRepo size: 4

2025-10-26T21:58:20.718Z,1761515900.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.125624 m,
      bearing: 320.520076 deg,
      lat: 36.779408 deg,
      lon: -121.859449 deg,
      deltaT: 0.503920 s,
      deltaX: -0.099390 m,
      approachRate: -0.197234 m/s,
      posRepo size: 4

2025-10-26T21:58:20.718Z,1761515900.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m.
2025-10-26T21:58:20.825Z,1761515900.825 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:58:21.068Z,1761515901.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451102,-0.891589,-0.039698],[0.891844,-0.448670,-0.057525],[0.033478,-0.061354,0.997554]]
2025-10-26T21:58:21.077Z,1761515901.077 [DAT](INFO): DAT read: Rx Time:21:58:19.9316 

2025-10-26T21:58:21.077Z,1761515901.077 [DAT](INFO): Rx dataTimestamp_ set to:1761515901.077175
2025-10-26T21:58:21.079Z,1761515901.079 [DAT](INFO): DAT read: Bearing  87.0, -26.1 (Local)

2025-10-26T21:58:21.079Z,1761515901.079 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.0, -26.1 (Local)

2025-10-26T21:58:21.081Z,1761515901.081 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.0

2025-10-26T21:58:21.086Z,1761515901.086 [DAT](INFO): DAT read: 21:58:19.9316 LVL= 32752, 26273, 31794, 32755, AGC= 59, IDX= 509, 0.30,-1.455, 0.673,-0.541,-0.238, PHS=-1.115, 0.956,-0.347, RAW= 308.5,   5.6, CAL= 306.2,   4.2, ROT= 203.8,  -4.2

2025-10-26T21:58:21.087Z,1761515901.087 [DAT](INFO): got valid direction response:
 21:58:19.9316 LVL= 32752, 26273, 31794, 32755, AGC= 59, IDX= 509, 0.30,-1.455, 0.673,-0.541,-0.238, PHS=-1.115, 0.956,-0.347, RAW= 308.5,   5.6, CAL= 306.2,   4.2, ROT= 203.8,  -4.2

2025-10-26T21:58:21.087Z,1761515901.087 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:58:21.088Z,1761515901.088 [DAT](INFO): direction in FSK: [-0.912502,-0.402462,0.073238]
2025-10-26T21:58:21.089Z,1761515901.089 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:21.096Z,1761515901.096 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:58:21.096Z,1761515901.096 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:58:21.194Z,1761515901.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.503983 s,
      deltaX: 0.300000 m,
      approachRate: 0.595259 m/s,
      rangeRepo size: 4

2025-10-26T21:58:21.200Z,1761515901.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.423811 m,
      bearing: 320.290513 deg,
      lat: 36.779408 deg,
      lon: -121.859450 deg,
      deltaT: 0.503983 s,
      deltaX: 0.298187 m,
      approachRate: 0.591661 m/s,
      posRepo size: 4

2025-10-26T21:58:21.200Z,1761515901.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:58:21.328Z,1761515901.328 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:58:21.466Z,1761515901.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451577,-0.891369,-0.039246],[0.891558,-0.449090,-0.058667],[0.034669,-0.061483,0.997506]]
2025-10-26T21:58:21.502Z,1761515901.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:58:21.582Z,1761515901.582 [DAT](INFO): DAT read: Rx Time:21:58:20.4315 

2025-10-26T21:58:21.582Z,1761515901.582 [DAT](INFO): Rx dataTimestamp_ set to:1761515901.581746
2025-10-26T21:58:21.583Z,1761515901.583 [DAT](INFO): DAT read: Bearing  85.8, -25.1 (Local)

2025-10-26T21:58:21.584Z,1761515901.584 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.8, -25.1 (Local)

2025-10-26T21:58:21.586Z,1761515901.586 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed 0.0

2025-10-26T21:58:21.591Z,1761515901.591 [DAT](INFO): DAT read: 21:58:20.4315 LVL= 32752, 28145, 32754, 32755, AGC= 59, IDX= 509,-0.35, 1.926,-2.250, 2.802, 3.138, PHS=-1.110, 0.940,-0.379, RAW= 309.4,   6.2, CAL= 307.2,   5.2, ROT= 202.8,  -5.2

2025-10-26T21:58:21.593Z,1761515901.593 [DAT](INFO): got valid direction response:
 21:58:20.4315 LVL= 32752, 28145, 32754, 32755, AGC= 59, IDX= 509,-0.35, 1.926,-2.250, 2.802, 3.138, PHS=-1.110, 0.940,-0.379, RAW= 309.4,   6.2, CAL= 307.2,   5.2, ROT= 202.8,  -5.2

2025-10-26T21:58:21.593Z,1761515901.593 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:58:21.594Z,1761515901.594 [DAT](INFO): direction in FSK: [-0.918069,-0.385921,0.090633]
2025-10-26T21:58:21.595Z,1761515901.595 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:21.612Z,1761515901.612 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:58:21.613Z,1761515901.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:58:21.832Z,1761515901.832 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:58:21.870Z,1761515901.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452118,-0.891094,-0.039264],[0.891240,-0.449550,-0.059966],[0.035784,-0.062105,0.997428]]
2025-10-26T21:58:21.900Z,1761515901.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.504571 s,
      deltaX: -0.200000 m,
      approachRate: -0.396376 m/s,
      rangeRepo size: 4

2025-10-26T21:58:21.902Z,1761515901.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.225026 m,
      bearing: 319.282124 deg,
      lat: 36.779407 deg,
      lon: -121.859451 deg,
      deltaT: 0.504571 s,
      deltaX: -0.198785 m,
      approachRate: -0.393968 m/s,
      posRepo size: 4

2025-10-26T21:58:21.902Z,1761515901.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m.
2025-10-26T21:58:22.085Z,1761515902.085 [DAT](INFO): DAT read: Rx Time:21:58:20.9316 

2025-10-26T21:58:22.086Z,1761515902.086 [DAT](INFO): Rx dataTimestamp_ set to:1761515902.085249
2025-10-26T21:58:22.087Z,1761515902.087 [DAT](INFO): DAT read: Bearing  87.7, -25.7 (Local)

2025-10-26T21:58:22.088Z,1761515902.088 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.7, -25.7 (Local)

2025-10-26T21:58:22.096Z,1761515902.096 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.1

2025-10-26T21:58:22.101Z,1761515902.101 [DAT](INFO): DAT read: 21:58:20.9316 LVL= 32752, 24369, 29346, 32755, AGC= 60, IDX= 509,-0.08,-2.711,-0.576,-1.805,-1.509, PHS=-1.101, 0.978,-0.340, RAW= 308.8,   5.1, CAL= 306.5,   3.4, ROT= 203.5,  -3.4

2025-10-26T21:58:22.102Z,1761515902.102 [DAT](INFO): got valid direction response:
 21:58:20.9316 LVL= 32752, 24369, 29346, 32755, AGC= 60, IDX= 509,-0.08,-2.711,-0.576,-1.805,-1.509, PHS=-1.101, 0.978,-0.340, RAW= 308.8,   5.1, CAL= 306.5,   3.4, ROT= 203.5,  -3.4

2025-10-26T21:58:22.102Z,1761515902.102 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:58:22.108Z,1761515902.108 [DAT](INFO): direction in FSK: [-0.915446,-0.398047,0.059306]
2025-10-26T21:58:22.108Z,1761515902.108 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:22.120Z,1761515902.120 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:58:22.121Z,1761515902.121 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:58:22.275Z,1761515902.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452611,-0.890856,-0.038981],[0.890941,-0.449976,-0.061204],[0.036983,-0.062431,0.997364]]
2025-10-26T21:58:22.336Z,1761515902.336 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:58:22.345Z,1761515902.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.503503 s,
      deltaX: 0.200000 m,
      approachRate: 0.397217 m/s,
      rangeRepo size: 4

2025-10-26T21:58:22.352Z,1761515902.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.423807 m,
      bearing: 320.138590 deg,
      lat: 36.779407 deg,
      lon: -121.859451 deg,
      deltaT: 0.503503 s,
      deltaX: 0.198781 m,
      approachRate: 0.394796 m/s,
      posRepo size: 4

2025-10-26T21:58:22.352Z,1761515902.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:58:22.589Z,1761515902.589 [DAT](INFO): DAT read: Rx Time:21:58:21.4315 

2025-10-26T21:58:22.590Z,1761515902.590 [DAT](INFO): Rx dataTimestamp_ set to:1761515902.589373
2025-10-26T21:58:22.591Z,1761515902.591 [DAT](INFO): DAT read: Bearing  87.6, -25.8 (Local)

2025-10-26T21:58:22.591Z,1761515902.591 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.6, -25.8 (Local)

2025-10-26T21:58:22.593Z,1761515902.593 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed -0.1

2025-10-26T21:58:22.598Z,1761515902.598 [DAT](INFO): DAT read: 21:58:21.4315 LVL= 32752, 24817, 32754, 32755, AGC= 61, IDX= 508, 0.33,-2.372,-0.236,-1.462,-1.167, PHS=-1.103, 0.976,-0.340, RAW= 308.7,   5.2, CAL= 306.4,   3.4, ROT= 203.6,  -3.4

2025-10-26T21:58:22.599Z,1761515902.599 [DAT](INFO): got valid direction response:
 21:58:21.4315 LVL= 32752, 24817, 32754, 32755, AGC= 61, IDX= 508, 0.33,-2.372,-0.236,-1.462,-1.167, PHS=-1.103, 0.976,-0.340, RAW= 308.7,   5.2, CAL= 306.4,   3.4, ROT= 203.6,  -3.4

2025-10-26T21:58:22.600Z,1761515902.599 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:58:22.600Z,1761515902.600 [DAT](INFO): direction in FSK: [-0.914750,-0.399644,0.059306]
2025-10-26T21:58:22.601Z,1761515902.601 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:22.604Z,1761515902.604 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:58:22.604Z,1761515902.604 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:58:22.679Z,1761515902.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453245,-0.890551,-0.038562],[0.890571,-0.450558,-0.062293],[0.038101,-0.062576,0.997313]]
2025-10-26T21:58:22.734Z,1761515902.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.504124 s,
      deltaX: -0.200000 m,
      approachRate: -0.396727 m/s,
      rangeRepo size: 4

2025-10-26T21:58:22.741Z,1761515902.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.225026 m,
      bearing: 320.278347 deg,
      lat: 36.779407 deg,
      lon: -121.859451 deg,
      deltaT: 0.504124 s,
      deltaX: -0.198781 m,
      approachRate: -0.394310 m/s,
      posRepo size: 4

2025-10-26T21:58:22.741Z,1761515902.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m.
2025-10-26T21:58:22.840Z,1761515902.840 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:58:23.084Z,1761515903.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453632,-0.890370,-0.038186],[0.890329,-0.450896,-0.063301],[0.039144,-0.062714,0.997264]]
2025-10-26T21:58:23.093Z,1761515903.093 [DAT](INFO): DAT read: Rx Time:21:58:21.9317 

2025-10-26T21:58:23.093Z,1761515903.093 [DAT](INFO): Rx dataTimestamp_ set to:1761515903.092948
2025-10-26T21:58:23.094Z,1761515903.094 [DAT](INFO): DAT read: Bearing  86.2, -25.0 (Local)

2025-10-26T21:58:23.095Z,1761515903.095 [DAT](INFO): Local bearing/azimuth received:
 Bearing  86.2, -25.0 (Local)

2025-10-26T21:58:23.097Z,1761515903.097 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.1

2025-10-26T21:58:23.101Z,1761515903.101 [DAT](INFO): DAT read: 21:58:21.9317 LVL= 32752, 27441, 32754, 32755, AGC= 58, IDX= 510, 0.08,-2.871,-0.750,-1.993,-1.665, PHS=-1.104, 0.960,-0.372, RAW= 309.5,   5.8, CAL= 307.3,   4.5, ROT= 202.7,  -4.5

2025-10-26T21:58:23.102Z,1761515903.102 [DAT](INFO): got valid direction response:
 21:58:21.9317 LVL= 32752, 27441, 32754, 32755, AGC= 58, IDX= 510, 0.08,-2.871,-0.750,-1.993,-1.665, PHS=-1.104, 0.960,-0.372, RAW= 309.5,   5.8, CAL= 307.3,   4.5, ROT= 202.7,  -4.5

2025-10-26T21:58:23.103Z,1761515903.103 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:58:23.104Z,1761515903.104 [DAT](INFO): direction in FSK: [-0.919694,-0.384716,0.078459]
2025-10-26T21:58:23.104Z,1761515903.104 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:23.107Z,1761515903.107 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:58:23.108Z,1761515903.108 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:58:23.197Z,1761515903.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.503575 s,
      deltaX: 0.200000 m,
      approachRate: 0.397160 m/s,
      rangeRepo size: 4

2025-10-26T21:58:23.199Z,1761515903.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.423801 m,
      bearing: 319.325052 deg,
      lat: 36.779407 deg,
      lon: -121.859451 deg,
      deltaT: 0.503575 s,
      deltaX: 0.198775 m,
      approachRate: 0.394728 m/s,
      posRepo size: 4

2025-10-26T21:58:23.207Z,1761515903.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:58:23.344Z,1761515903.344 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:58:23.487Z,1761515903.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453799,-0.890294,-0.037976],[0.890208,-0.451022,-0.064097],[0.039938,-0.062894,0.997221]]
2025-10-26T21:58:23.569Z,1761515903.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:58:23.597Z,1761515903.597 [DAT](INFO): DAT read: Rx Time:21:58:22.4316 

2025-10-26T21:58:23.598Z,1761515903.598 [DAT](INFO): Rx dataTimestamp_ set to:1761515903.597257
2025-10-26T21:58:23.608Z,1761515903.608 [DAT](INFO): DAT read: Bearing  85.1, -25.4 (Local)

2025-10-26T21:58:23.608Z,1761515903.608 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.1, -25.4 (Local)

2025-10-26T21:58:23.611Z,1761515903.611 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.1

2025-10-26T21:58:23.625Z,1761515903.625 [DAT](INFO): DAT read: 21:58:22.4316 LVL= 32752, 25713, 32754, 32755, AGC= 60, IDX= 510,-0.23, 0.934, 3.067, 1.833, 2.169, PHS=-1.133, 0.943,-0.380, RAW= 309.0,   6.3, CAL= 306.8,   5.5, ROT= 203.2,  -5.5

2025-10-26T21:58:23.627Z,1761515903.627 [DAT](INFO): got valid direction response:
 21:58:22.4316 LVL= 32752, 25713, 32754, 32755, AGC= 60, IDX= 510,-0.23, 0.934, 3.067, 1.833, 2.169, PHS=-1.133, 0.943,-0.380, RAW= 309.0,   6.3, CAL= 306.8,   5.5, ROT= 203.2,  -5.5

2025-10-26T21:58:23.632Z,1761515903.632 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:58:23.634Z,1761515903.634 [DAT](INFO): direction in FSK: [-0.914904,-0.392128,0.095846]
2025-10-26T21:58:23.634Z,1761515903.634 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:23.642Z,1761515903.642 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:58:23.642Z,1761515903.642 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:58:23.848Z,1761515903.848 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:58:23.893Z,1761515903.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454001,-0.890189,-0.038029],[0.890073,-0.451168,-0.064940],[0.040652,-0.063331,0.997164]]
2025-10-26T21:58:23.920Z,1761515903.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.504309 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:58:23.922Z,1761515903.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.423810 m,
      bearing: 319.768314 deg,
      lat: 36.779406 deg,
      lon: -121.859451 deg,
      deltaT: 0.504309 s,
      deltaX: 0.000009 m,
      approachRate: 0.000017 m/s,
      posRepo size: 4

2025-10-26T21:58:23.923Z,1761515903.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T21:58:24.101Z,1761515904.101 [DAT](INFO): DAT read: Rx Time:21:58:22.9318 

2025-10-26T21:58:24.102Z,1761515904.102 [DAT](INFO): Rx dataTimestamp_ set to:1761515904.101419
2025-10-26T21:58:24.103Z,1761515904.103 [DAT](INFO): DAT read: Bearing  88.2, -25.6 (Local)

2025-10-26T21:58:24.103Z,1761515904.103 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.2, -25.6 (Local)

2025-10-26T21:58:24.105Z,1761515904.105 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed -0.1

2025-10-26T21:58:24.114Z,1761515904.114 [DAT](INFO): DAT read: 21:58:22.9318 LVL= 32752, 26145, 27970, 32755, AGC= 61, IDX= 511, 0.21,-1.350, 0.795,-0.440,-0.156, PHS=-1.092, 0.996,-0.328, RAW= 308.8,   4.7, CAL= 306.4,   2.6, ROT= 203.6,  -2.6

2025-10-26T21:58:24.116Z,1761515904.116 [DAT](INFO): got valid direction response:
 21:58:22.9318 LVL= 32752, 26145, 27970, 32755, AGC= 61, IDX= 511, 0.21,-1.350, 0.795,-0.440,-0.156, PHS=-1.092, 0.996,-0.328, RAW= 308.8,   4.7, CAL= 306.4,   2.6, ROT= 203.6,  -2.6

2025-10-26T21:58:24.117Z,1761515904.117 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:58:24.118Z,1761515904.118 [DAT](INFO): direction in FSK: [-0.915419,-0.399937,0.045363]
2025-10-26T21:58:24.118Z,1761515904.118 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:24.121Z,1761515904.121 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:58:24.122Z,1761515904.122 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:58:24.294Z,1761515904.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453570,-0.890413,-0.037928],[0.890280,-0.450727,-0.065169],[0.040933,-0.063325,0.997153]]
2025-10-26T21:58:24.351Z,1761515904.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.504162 s,
      deltaX: 0.100000 m,
      approachRate: 0.198350 m/s,
      rangeRepo size: 4

2025-10-26T21:58:24.352Z,1761515904.352 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:58:24.354Z,1761515904.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.523201 m,
      bearing: 320.355438 deg,
      lat: 36.779407 deg,
      lon: -121.859449 deg,
      deltaT: 0.504162 s,
      deltaX: 0.099391 m,
      approachRate: 0.197141 m/s,
      posRepo size: 4

2025-10-26T21:58:24.355Z,1761515904.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-10-26T21:58:24.605Z,1761515904.605 [DAT](INFO): DAT read: Rx Time:21:58:23.4318 

2025-10-26T21:58:24.605Z,1761515904.605 [DAT](INFO): Rx dataTimestamp_ set to:1761515904.605053
2025-10-26T21:58:24.607Z,1761515904.607 [DAT](INFO): DAT read: Bearing  86.7, -25.7 (Local)

2025-10-26T21:58:24.607Z,1761515904.607 [DAT](INFO): Local bearing/azimuth received:
 Bearing  86.7, -25.7 (Local)

2025-10-26T21:58:24.609Z,1761515904.609 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed -0.1

2025-10-26T21:58:24.614Z,1761515904.614 [DAT](INFO): DAT read: 21:58:23.4318 LVL= 32752, 22513, 32754, 32755, AGC= 60, IDX= 511,-0.09, 1.810,-2.329, 2.726, 3.027, PHS=-1.115, 0.973,-0.345, RAW= 308.6,   5.4, CAL= 306.3,   3.8, ROT= 203.7,  -3.8

2025-10-26T21:58:24.615Z,1761515904.615 [DAT](INFO): got valid direction response:
 21:58:23.4318 LVL= 32752, 22513, 32754, 32755, AGC= 60, IDX= 511,-0.09, 1.810,-2.329, 2.726, 3.027, PHS=-1.115, 0.973,-0.345, RAW= 308.6,   5.4, CAL= 306.3,   3.8, ROT= 203.7,  -3.8

2025-10-26T21:58:24.615Z,1761515904.615 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:58:24.616Z,1761515904.616 [DAT](INFO): direction in FSK: [-0.913650,-0.401064,0.066274]
2025-10-26T21:58:24.616Z,1761515904.616 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:24.620Z,1761515904.620 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:58:24.620Z,1761515904.620 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:58:24.716Z,1761515904.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453111,-0.890657,-0.037700],[0.890503,-0.450269,-0.065290],[0.041176,-0.063155,0.997154]]
2025-10-26T21:58:24.784Z,1761515904.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.503634 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T21:58:24.786Z,1761515904.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.523201 m,
      bearing: 320.336927 deg,
      lat: 36.779407 deg,
      lon: -121.859449 deg,
      deltaT: 0.503634 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T21:58:24.786Z,1761515904.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-10-26T21:58:24.857Z,1761515904.857 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:58:25.102Z,1761515905.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452203,-0.891132,-0.037360],[0.890965,-0.449392,-0.065020],[0.041152,-0.062689,0.997184]]
2025-10-26T21:58:25.108Z,1761515905.108 [DAT](INFO): DAT read: user:422>

2025-10-26T21:58:25.109Z,1761515905.109 [DAT](INFO): DAT read: Tx time:21:58:24.3415

2025-10-26T21:58:25.109Z,1761515905.109 [DAT](INFO): Ping request sent.
2025-10-26T21:58:25.109Z,1761515905.109 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:58:25.109Z,1761515905.109 [DAT](INFO): publishing transmit ping time
2025-10-26T21:58:25.110Z,1761515905.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-10-26T21:58:25.192Z,1761515905.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-10-26T21:58:25.360Z,1761515905.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250955
2025-10-26T21:58:25.517Z,1761515905.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451086,-0.891695,-0.037441],[0.891548,-0.448300,-0.064578],[0.040799,-0.062511,0.997210]]
2025-10-26T21:58:25.553Z,1761515905.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-10-26T21:58:25.613Z,1761515905.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503674
2025-10-26T21:58:25.864Z,1761515905.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755033
2025-10-26T21:58:25.916Z,1761515905.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449902,-0.892273,-0.037892],[0.892168,-0.447125,-0.064143],[0.040291,-0.062664,0.997221]]
2025-10-26T21:58:25.940Z,1761515905.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-10-26T21:58:26.116Z,1761515906.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007032
2025-10-26T21:58:26.314Z,1761515906.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448112,-0.893136,-0.038774],[0.893112,-0.445348,-0.063374],[0.039334,-0.063028,0.997236]]
2025-10-26T21:58:26.365Z,1761515906.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-10-26T21:58:26.369Z,1761515906.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259375
2025-10-26T21:58:26.620Z,1761515906.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511017
2025-10-26T21:58:26.763Z,1761515906.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-10-26T21:58:26.872Z,1761515906.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762918
2025-10-26T21:58:27.124Z,1761515907.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015072
2025-10-26T21:58:27.128Z,1761515907.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443835,-0.895193,-0.040496],[0.895346,-0.441139,-0.061260],[0.036975,-0.063447,0.997300]]
2025-10-26T21:58:27.188Z,1761515907.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-10-26T21:58:27.376Z,1761515907.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266970
2025-10-26T21:58:27.529Z,1761515907.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440983,-0.896570,-0.041193],[0.896816,-0.438363,-0.059663],[0.035435,-0.063253,0.997368]]
2025-10-26T21:58:27.554Z,1761515907.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-10-26T21:58:27.628Z,1761515907.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519025
2025-10-26T21:58:27.880Z,1761515907.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770967
2025-10-26T21:58:27.930Z,1761515907.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438031,-0.897975,-0.042066],[0.898327,-0.435488,-0.057957],[0.033725,-0.063176,0.997432]]
2025-10-26T21:58:27.969Z,1761515907.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-10-26T21:58:28.132Z,1761515908.132 [DAT](INFO): DAT read: Rx Time:21:58:26.7630

2025-10-26T21:58:28.133Z,1761515908.133 [DAT](INFO): Rx dataTimestamp_ set to:1761515908.132603
2025-10-26T21:58:28.133Z,1761515908.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024080
2025-10-26T21:58:28.334Z,1761515908.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434894,-0.899454,-0.043008],[0.899917,-0.432435,-0.056117],[0.031877,-0.063109,0.997497]]
2025-10-26T21:58:28.384Z,1761515908.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275057
2025-10-26T21:58:28.399Z,1761515908.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-10-26T21:58:28.642Z,1761515908.642 [DAT](INFO): DAT read: 21:58:26.7630 LVL= 32752, 27825, 32754, 32755, AGC= 60, IDX= 272,-0.38, 2.895,-1.268,-2.476,-2.197, PHS=-1.089, 0.974,-0.322, RAW= 308.4,   4.9, CAL= 306.1,   2.9, ROT= 203.9,  -2.9

2025-10-26T21:58:28.644Z,1761515908.644 [DAT](INFO): got valid direction response:
 21:58:26.7630 LVL= 32752, 27825, 32754, 32755, AGC= 60, IDX= 272,-0.38, 2.895,-1.268,-2.476,-2.197, PHS=-1.089, 0.974,-0.322, RAW= 308.4,   4.9, CAL= 306.1,   2.9, ROT= 203.9,  -2.9

2025-10-26T21:58:28.644Z,1761515908.644 [DAT](INFO): DAT read: Bearing  87.4, -25.6 (Local)

2025-10-26T21:58:28.645Z,1761515908.645 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.4, -25.6 (Local)

2025-10-26T21:58:28.648Z,1761515908.648 [DAT](INFO): DAT read: Range 11 to 50 : 13.0 m  (Round-trip  17.4 ms) speed  0.0 m/s

2025-10-26T21:58:28.652Z,1761515908.652 [DAT](INFO): DAT read: user:423>

2025-10-26T21:58:28.653Z,1761515908.653 [DAT](INFO): DAT read: Tx time:21:58:27.8899

2025-10-26T21:58:28.653Z,1761515908.653 [DAT](INFO): Ping request sent.
2025-10-26T21:58:28.653Z,1761515908.653 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:58:28.653Z,1761515908.653 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:58:28.654Z,1761515908.654 [DAT](INFO): direction in FSK: [-0.913083,-0.404623,0.050593]
2025-10-26T21:58:28.654Z,1761515908.654 [DAT](INFO): publishing transmit ping time
2025-10-26T21:58:28.655Z,1761515908.655 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:28.658Z,1761515908.658 [DAT](INFO): publishing transmit ping time
2025-10-26T21:58:28.658Z,1761515908.658 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:28.741Z,1761515908.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431710,-0.900937,-0.044028],[0.901512,-0.429330,-0.054336],[0.030051,-0.063150,0.997552]]
2025-10-26T21:58:28.830Z,1761515908.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.000000 m,
      deltaT: 4.031007 s,
      deltaX: 0.400000 m,
      approachRate: 0.099231 m/s,
      rangeRepo size: 4

2025-10-26T21:58:28.837Z,1761515908.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.920729 m,
      bearing: 319.234985 deg,
      lat: 36.779407 deg,
      lon: -121.859449 deg,
      deltaT: 4.031007 s,
      deltaX: 0.397528 m,
      approachRate: 0.098617 m/s,
      posRepo size: 4

2025-10-26T21:58:28.837Z,1761515908.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.92 m.
2025-10-26T21:58:29.213Z,1761515909.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428371,-0.902494,-0.044751],[0.903161,-0.426087,-0.052442],[0.028260,-0.062882,0.997621]]
2025-10-26T21:58:29.257Z,1761515909.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.92 m.
2025-10-26T21:58:29.614Z,1761515909.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425070,-0.904020,-0.045430],[0.904772,-0.422881,-0.050587],[0.026521,-0.062607,0.997686]]
2025-10-26T21:58:29.660Z,1761515909.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.92 m.
2025-10-26T21:58:30.024Z,1761515910.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421769,-0.905545,-0.045824],[0.906362,-0.419684,-0.048723],[0.024889,-0.062083,0.997761]]
2025-10-26T21:58:30.044Z,1761515910.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.92 m.
2025-10-26T21:58:30.422Z,1761515910.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418869,-0.906854,-0.046536],[0.907744,-0.416857,-0.047229],[0.023432,-0.062025,0.997800]]
2025-10-26T21:58:30.469Z,1761515910.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.92 m.
2025-10-26T21:58:30.829Z,1761515910.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416059,-0.908118,-0.047086],[0.909067,-0.414114,-0.045905],[0.022188,-0.061904,0.997836]]
2025-10-26T21:58:30.853Z,1761515910.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.92 m.
2025-10-26T21:58:31.231Z,1761515911.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414185,-0.908949,-0.047557],[0.909940,-0.412274,-0.045155],[0.021437,-0.061976,0.997847]]
2025-10-26T21:58:31.274Z,1761515911.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.92 m.
2025-10-26T21:58:31.634Z,1761515911.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412632,-0.909634,-0.047968],[0.910658,-0.410742,-0.044648],[0.020911,-0.062105,0.997851]]
2025-10-26T21:58:31.665Z,1761515911.665 [DAT](INFO): DAT read: Rx Time:21:58:30.3111

2025-10-26T21:58:31.666Z,1761515911.666 [DAT](INFO): Rx dataTimestamp_ set to:1761515911.665649
2025-10-26T21:58:31.728Z,1761515911.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.92 m.
2025-10-26T21:58:32.038Z,1761515912.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411354,-0.910199,-0.048238],[0.911242,-0.409474,-0.044370],[0.020634,-0.062209,0.997850]]
2025-10-26T21:58:32.087Z,1761515912.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.92 m.
2025-10-26T21:58:32.174Z,1761515912.174 [DAT](INFO): DAT read: 21:58:30.3111 LVL= 32752, 22513, 29922, 32755, AGC= 59, IDX= 443, 0.07, 2.831,-1.253,-2.443,-2.208, PHS=-1.142, 1.000,-0.279, RAW= 306.4,   4.6, CAL= 304.0,   2.1, ROT= 206.0,  -2.1

2025-10-26T21:58:32.175Z,1761515912.175 [DAT](INFO): got valid direction response:
 21:58:30.3111 LVL= 32752, 22513, 29922, 32755, AGC= 59, IDX= 443, 0.07, 2.831,-1.253,-2.443,-2.208, PHS=-1.142, 1.000,-0.279, RAW= 306.4,   4.6, CAL= 304.0,   2.1, ROT= 206.0,  -2.1

2025-10-26T21:58:32.176Z,1761515912.176 [DAT](INFO): DAT read: Bearing  88.0, -27.6 (Local)

2025-10-26T21:58:32.176Z,1761515912.176 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.0, -27.6 (Local)

2025-10-26T21:58:32.177Z,1761515912.177 [DAT](INFO): DAT read: Range 11 to 50 : 12.7 m  (Round-trip  17.0 ms) speed  0.0 m/s

2025-10-26T21:58:32.178Z,1761515912.178 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T21:58:32.179Z,1761515912.179 [DAT](INFO): direction in FSK: [-0.898190,-0.438077,0.036644]
2025-10-26T21:58:32.179Z,1761515912.179 [DAT](INFO): publishing direction and range info
2025-10-26T21:58:32.443Z,1761515912.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410862,-0.910433,-0.047998],[0.911459,-0.408982,-0.044454],[0.020842,-0.062012,0.997858]]
2025-10-26T21:58:32.507Z,1761515912.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.700000 m,
      deltaT: 3.531815 s,
      deltaX: -0.300000 m,
      approachRate: -0.084942 m/s,
      rangeRepo size: 4

2025-10-26T21:58:32.510Z,1761515912.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.622555 m,
      bearing: 320.075459 deg,
      lat: 36.779408 deg,
      lon: -121.859449 deg,
      deltaT: 3.531815 s,
      deltaX: -0.298174 m,
      approachRate: -0.084425 m/s,
      posRepo size: 4

2025-10-26T21:58:32.511Z,1761515912.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:32.849Z,1761515912.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410743,-0.910512,-0.047524],[0.911503,-0.408857,-0.044693],[0.021263,-0.061675,0.997870]]
2025-10-26T21:58:32.872Z,1761515912.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:33.251Z,1761515913.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411283,-0.910297,-0.046954],[0.911242,-0.409375,-0.045272],[0.021989,-0.061407,0.997871]]
2025-10-26T21:58:33.289Z,1761515913.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:33.654Z,1761515913.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412194,-0.909911,-0.046458],[0.910810,-0.410250,-0.046042],[0.022834,-0.061293,0.997859]]
2025-10-26T21:58:33.679Z,1761515913.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:34.092Z,1761515914.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:34.462Z,1761515914.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415718,-0.908344,-0.045713],[0.909143,-0.413637,-0.048617],[0.025252,-0.061771,0.997771]]
2025-10-26T21:58:34.536Z,1761515914.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:34.878Z,1761515914.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417960,-0.907335,-0.045301],[0.908074,-0.415796,-0.050152],[0.026668,-0.062098,0.997714]]
2025-10-26T21:58:34.904Z,1761515914.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:35.270Z,1761515915.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420195,-0.906324,-0.044861],[0.907004,-0.417960,-0.051521],[0.027945,-0.062338,0.997664]]
2025-10-26T21:58:35.313Z,1761515915.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:35.674Z,1761515915.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422728,-0.905175,-0.044263],[0.905782,-0.420422,-0.052949],[0.029319,-0.062476,0.997616]]
2025-10-26T21:58:35.693Z,1761515915.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:36.115Z,1761515916.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:36.494Z,1761515916.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427336,-0.903071,-0.042986],[0.903542,-0.424933,-0.055173],[0.031559,-0.062417,0.997551]]
2025-10-26T21:58:36.552Z,1761515916.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:36.918Z,1761515916.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:37.290Z,1761515917.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431478,-0.901135,-0.042226],[0.901517,-0.428999,-0.056803],[0.033072,-0.062577,0.997492]]
2025-10-26T21:58:37.333Z,1761515917.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:37.694Z,1761515917.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432837,-0.900485,-0.042177],[0.900856,-0.430339,-0.057153],[0.033315,-0.062734,0.997474]]
2025-10-26T21:58:37.722Z,1761515917.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:38.100Z,1761515918.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433561,-0.900124,-0.042453],[0.900517,-0.431057,-0.057089],[0.033087,-0.062981,0.997466]]
2025-10-26T21:58:38.118Z,1761515918.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:38.510Z,1761515918.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433938,-0.899923,-0.042852],[0.900353,-0.431442,-0.056768],[0.032599,-0.063215,0.997467]]
2025-10-26T21:58:38.546Z,1761515918.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:38.906Z,1761515918.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434103,-0.899831,-0.043111],[0.900297,-0.431637,-0.056174],[0.031939,-0.063198,0.997490]]
2025-10-26T21:58:38.944Z,1761515918.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:39.310Z,1761515919.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433715,-0.900010,-0.043283],[0.900517,-0.431306,-0.055179],[0.030993,-0.062909,0.997538]]
2025-10-26T21:58:39.407Z,1761515919.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:39.763Z,1761515919.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432820,-0.900425,-0.043609],[0.900989,-0.430482,-0.053885],[0.029746,-0.062614,0.997594]]
2025-10-26T21:58:39.781Z,1761515919.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:40.162Z,1761515920.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431368,-0.901093,-0.044182],[0.901738,-0.429116,-0.052235],[0.028109,-0.062373,0.997657]]
2025-10-26T21:58:40.187Z,1761515920.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:40.617Z,1761515920.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:40.977Z,1761515920.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428286,-0.902491,-0.045607],[0.903310,-0.426212,-0.048737],[0.024547,-0.062071,0.997770]]
2025-10-26T21:58:41.021Z,1761515921.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:41.375Z,1761515921.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426574,-0.903262,-0.046388],[0.904172,-0.424604,-0.046727],[0.022510,-0.061875,0.997830]]
2025-10-26T21:58:41.415Z,1761515921.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:41.795Z,1761515921.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424777,-0.904086,-0.046836],[0.905067,-0.422931,-0.044532],[0.020452,-0.061306,0.997909]]
2025-10-26T21:58:41.814Z,1761515921.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:42.194Z,1761515922.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423133,-0.904839,-0.047167],[0.905881,-0.421416,-0.042292],[0.018391,-0.060623,0.997991]]
2025-10-26T21:58:42.225Z,1761515922.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:42.652Z,1761515922.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:43.005Z,1761515923.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420409,-0.906054,-0.048197],[0.907220,-0.418919,-0.038191],[0.014413,-0.059781,0.998107]]
2025-10-26T21:58:43.024Z,1761515923.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:43.408Z,1761515923.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419760,-0.906322,-0.048811],[0.907546,-0.418357,-0.036579],[0.012732,-0.059653,0.998138]]
2025-10-26T21:58:43.447Z,1761515923.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:43.810Z,1761515923.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419715,-0.906311,-0.049395],[0.907585,-0.418382,-0.035292],[0.011319,-0.059642,0.998156]]
2025-10-26T21:58:43.836Z,1761515923.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:44.214Z,1761515924.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420317,-0.906003,-0.049925],[0.907319,-0.419032,-0.034411],[0.010256,-0.059761,0.998160]]
2025-10-26T21:58:44.249Z,1761515924.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:44.619Z,1761515924.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421430,-0.905470,-0.050204],[0.906812,-0.420184,-0.033736],[0.009452,-0.059742,0.998169]]
2025-10-26T21:58:44.675Z,1761515924.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:45.024Z,1761515925.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422910,-0.904777,-0.050264],[0.906128,-0.421697,-0.033213],[0.008854,-0.059592,0.998184]]
2025-10-26T21:58:45.045Z,1761515925.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:45.426Z,1761515925.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424937,-0.903827,-0.050244],[0.905183,-0.423739,-0.033015],[0.008549,-0.059509,0.998191]]
2025-10-26T21:58:45.516Z,1761515925.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:45.830Z,1761515925.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427470,-0.902642,-0.050072],[0.903989,-0.426271,-0.033126],[0.008557,-0.059425,0.998196]]
2025-10-26T21:58:45.877Z,1761515925.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:46.234Z,1761515926.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430515,-0.901203,-0.049906],[0.902541,-0.429297,-0.033532],[0.008794,-0.059478,0.998191]]
2025-10-26T21:58:46.252Z,1761515926.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:46.638Z,1761515926.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433981,-0.899554,-0.049631],[0.900875,-0.432733,-0.034165],[0.009256,-0.059538,0.998183]]
2025-10-26T21:58:46.726Z,1761515926.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:47.083Z,1761515927.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:47.447Z,1761515927.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441399,-0.895979,-0.048878],[0.897250,-0.440077,-0.035705],[0.010481,-0.059616,0.998166]]
2025-10-26T21:58:47.528Z,1761515927.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:47.852Z,1761515927.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445153,-0.894144,-0.048430],[0.895385,-0.443794,-0.036498],[0.011142,-0.059610,0.998160]]
2025-10-26T21:58:47.875Z,1761515927.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:48.254Z,1761515928.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448834,-0.892327,-0.047966],[0.893538,-0.447443,-0.037209],[0.011741,-0.059560,0.998156]]
2025-10-26T21:58:48.284Z,1761515928.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:48.658Z,1761515928.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452509,-0.890504,-0.047305],[0.891674,-0.451092,-0.037858],[0.012374,-0.059312,0.998163]]
2025-10-26T21:58:48.712Z,1761515928.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:49.062Z,1761515929.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456024,-0.888741,-0.046696],[0.889874,-0.454586,-0.038423],[0.012921,-0.059076,0.998170]]
2025-10-26T21:58:49.086Z,1761515929.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:49.485Z,1761515929.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462585,-0.885365,-0.046298],[0.886471,-0.461099,-0.039469],[0.013596,-0.059299,0.998148]]
2025-10-26T21:58:49.541Z,1761515929.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:49.904Z,1761515929.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:50.273Z,1761515930.273 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:58:50.281Z,1761515930.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467555,-0.882753,-0.046259],[0.883863,-0.466073,-0.039521],[0.013327,-0.059365,0.998147]]
2025-10-26T21:58:50.320Z,1761515930.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:50.683Z,1761515930.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469479,-0.881726,-0.046361],[0.882850,-0.468014,-0.039235],[0.012897,-0.059350,0.998154]]
2025-10-26T21:58:50.742Z,1761515930.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:51.089Z,1761515931.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471180,-0.880809,-0.046528],[0.881951,-0.469741,-0.038796],[0.012315,-0.059315,0.998163]]
2025-10-26T21:58:51.108Z,1761515931.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:51.276Z,1761515931.276 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:58:51.495Z,1761515931.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472572,-0.880052,-0.046734],[0.881216,-0.471171,-0.038158],[0.011561,-0.059215,0.998178]]
2025-10-26T21:58:51.542Z,1761515931.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:51.891Z,1761515931.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473783,-0.879394,-0.046857],[0.880577,-0.472431,-0.037329],[0.010690,-0.058947,0.998204]]
2025-10-26T21:58:51.909Z,1761515931.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:52.304Z,1761515932.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474606,-0.878929,-0.047255],[0.880147,-0.473314,-0.036281],[0.009522,-0.058811,0.998224]]
2025-10-26T21:58:52.322Z,1761515932.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:52.725Z,1761515932.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475258,-0.878540,-0.047929],[0.879808,-0.474021,-0.035245],[0.008245,-0.058919,0.998229]]
2025-10-26T21:58:52.878Z,1761515932.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:53.234Z,1761515933.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475742,-0.878228,-0.048835],[0.879557,-0.474558,-0.034256],[0.006910,-0.059250,0.998219]]
2025-10-26T21:58:53.258Z,1761515933.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:53.755Z,1761515933.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:54.038Z,1761515934.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476134,-0.877919,-0.050537],[0.879363,-0.475075,-0.032003],[0.004087,-0.059678,0.998209]]
2025-10-26T21:58:54.094Z,1761515934.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:54.496Z,1761515934.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476285,-0.877805,-0.051101],[0.879287,-0.475299,-0.030754],[0.002708,-0.059580,0.998220]]
2025-10-26T21:58:54.546Z,1761515934.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:54.847Z,1761515934.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476125,-0.877874,-0.051413],[0.879377,-0.475226,-0.029259],[0.001253,-0.059143,0.998249]]
2025-10-26T21:58:54.868Z,1761515934.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:55.253Z,1761515935.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476119,-0.877875,-0.051440],[0.879381,-0.475309,-0.027765],[-0.000076,-0.058454,0.998290]]
2025-10-26T21:58:55.279Z,1761515935.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:55.654Z,1761515935.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476394,-0.877705,-0.051797],[0.879231,-0.475655,-0.026555],[-0.001330,-0.058192,0.998304]]
2025-10-26T21:58:55.702Z,1761515935.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:56.058Z,1761515936.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476790,-0.877461,-0.052287],[0.879014,-0.476113,-0.025525],[-0.002497,-0.058131,0.998306]]
2025-10-26T21:58:56.078Z,1761515936.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:56.526Z,1761515936.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477525,-0.877025,-0.052894],[0.878612,-0.476892,-0.024814],[-0.003462,-0.058323,0.998292]]
2025-10-26T21:58:56.579Z,1761515936.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:56.868Z,1761515936.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478242,-0.876585,-0.053691],[0.878217,-0.477645,-0.024288],[-0.004354,-0.058768,0.998262]]
2025-10-26T21:58:56.897Z,1761515936.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:57.270Z,1761515937.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479440,-0.875895,-0.054278],[0.877561,-0.478860,-0.024081],[-0.004899,-0.059177,0.998235]]
2025-10-26T21:58:57.328Z,1761515937.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:57.674Z,1761515937.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480751,-0.875149,-0.054705],[0.876841,-0.480184,-0.023937],[-0.005320,-0.059475,0.998216]]
2025-10-26T21:58:57.733Z,1761515937.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:58.082Z,1761515938.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482233,-0.874333,-0.054709],[0.876026,-0.481675,-0.023838],[-0.005509,-0.059422,0.998218]]
2025-10-26T21:58:58.120Z,1761515938.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:58.520Z,1761515938.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483970,-0.873392,-0.054396],[0.875067,-0.483413,-0.023855],[-0.005461,-0.059145,0.998234]]
2025-10-26T21:58:58.603Z,1761515938.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:58.886Z,1761515938.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485882,-0.872376,-0.053651],[0.874009,-0.485318,-0.023962],[-0.005134,-0.058535,0.998272]]
2025-10-26T21:58:58.920Z,1761515938.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:59.290Z,1761515939.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487911,-0.871273,-0.053157],[0.872880,-0.487330,-0.024264],[-0.004764,-0.058238,0.998291]]
2025-10-26T21:58:59.344Z,1761515939.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:58:59.697Z,1761515939.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490386,-0.869921,-0.052523],[0.871496,-0.489764,-0.025009],[-0.003968,-0.058038,0.998306]]
2025-10-26T21:58:59.766Z,1761515939.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:00.098Z,1761515940.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493004,-0.868451,-0.052349],[0.870022,-0.492325,-0.026056],[-0.003144,-0.058390,0.998289]]
2025-10-26T21:59:00.137Z,1761515940.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:00.506Z,1761515940.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495794,-0.866881,-0.052016],[0.868438,-0.495043,-0.027352],[-0.002039,-0.058733,0.998272]]
2025-10-26T21:59:00.596Z,1761515940.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:00.908Z,1761515940.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498645,-0.865285,-0.051328],[0.866806,-0.497818,-0.028711],[-0.000708,-0.058808,0.998269]]
2025-10-26T21:59:00.985Z,1761515940.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:01.311Z,1761515941.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501321,-0.863782,-0.050587],[0.865261,-0.500424,-0.029981],[0.000582,-0.058802,0.998269]]
2025-10-26T21:59:01.341Z,1761515941.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:01.726Z,1761515941.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503964,-0.862294,-0.049703],[0.863723,-0.502996,-0.031274],[0.001967,-0.058690,0.998274]]
2025-10-26T21:59:01.796Z,1761515941.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:02.118Z,1761515942.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506754,-0.860720,-0.048608],[0.862084,-0.505713,-0.032642],[0.003514,-0.058445,0.998284]]
2025-10-26T21:59:02.136Z,1761515942.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:02.522Z,1761515942.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509423,-0.859183,-0.047877],[0.860501,-0.508300,-0.034182],[0.005032,-0.058612,0.998268]]
2025-10-26T21:59:02.584Z,1761515942.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:02.991Z,1761515942.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512156,-0.857591,-0.047259],[0.858867,-0.510945,-0.035804],[0.006558,-0.058927,0.998241]]
2025-10-26T21:59:03.027Z,1761515943.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:03.382Z,1761515943.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514589,-0.856159,-0.046798],[0.857400,-0.513295,-0.037331],[0.007940,-0.059335,0.998207]]
2025-10-26T21:59:03.417Z,1761515943.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:03.786Z,1761515943.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516806,-0.854837,-0.046535],[0.856052,-0.515424,-0.038892],[0.009261,-0.059936,0.998159]]
2025-10-26T21:59:03.843Z,1761515943.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:04.191Z,1761515944.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518799,-0.853641,-0.046310],[0.854832,-0.517335,-0.040339],[0.010477,-0.060516,0.998112]]
2025-10-26T21:59:04.211Z,1761515944.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:04.648Z,1761515944.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520504,-0.852627,-0.045863],[0.853781,-0.518974,-0.041527],[0.011606,-0.060772,0.998084]]
2025-10-26T21:59:04.695Z,1761515944.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:05.079Z,1761515945.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521792,-0.851879,-0.045108],[0.852980,-0.520225,-0.042325],[0.012590,-0.060561,0.998085]]
2025-10-26T21:59:05.105Z,1761515945.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:05.515Z,1761515945.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:05.882Z,1761515945.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522855,-0.851313,-0.043458],[0.852313,-0.521295,-0.042593],[0.013606,-0.059310,0.998147]]
2025-10-26T21:59:05.994Z,1761515945.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:06.292Z,1761515946.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522164,-0.851786,-0.042490],[0.852738,-0.520660,-0.041851],[0.013526,-0.058086,0.998220]]
2025-10-26T21:59:06.311Z,1761515946.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:06.771Z,1761515946.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:07.100Z,1761515947.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520027,-0.853043,-0.043462],[0.854062,-0.518572,-0.040760],[0.012232,-0.058315,0.998223]]
2025-10-26T21:59:07.121Z,1761515947.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:07.504Z,1761515947.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518345,-0.854025,-0.044271],[0.855097,-0.516923,-0.039993],[0.011270,-0.058587,0.998219]]
2025-10-26T21:59:07.532Z,1761515947.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:07.904Z,1761515947.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516369,-0.855179,-0.045068],[0.856306,-0.514995,-0.038987],[0.010131,-0.058723,0.998223]]
2025-10-26T21:59:07.963Z,1761515947.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:08.307Z,1761515948.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514142,-0.856492,-0.045598],[0.857658,-0.512833,-0.037751],[0.008949,-0.058517,0.998246]]
2025-10-26T21:59:08.325Z,1761515948.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:08.732Z,1761515948.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511477,-0.858053,-0.046215],[0.859264,-0.510249,-0.036206],[0.007485,-0.058229,0.998275]]
2025-10-26T21:59:08.784Z,1761515948.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:09.115Z,1761515949.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508697,-0.859671,-0.046837],[0.860925,-0.507551,-0.034655],[0.006020,-0.057952,0.998301]]
2025-10-26T21:59:09.153Z,1761515949.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:09.519Z,1761515949.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505939,-0.861261,-0.047497],[0.862557,-0.504871,-0.033171],[0.004589,-0.057751,0.998320]]
2025-10-26T21:59:09.538Z,1761515949.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:09.932Z,1761515949.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503403,-0.862706,-0.048210],[0.864046,-0.502400,-0.031923],[0.003320,-0.057726,0.998327]]
2025-10-26T21:59:09.992Z,1761515949.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:10.326Z,1761515950.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500974,-0.864078,-0.048927],[0.865460,-0.500034,-0.030741],[0.002097,-0.057745,0.998329]]
2025-10-26T21:59:10.360Z,1761515950.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:10.742Z,1761515950.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498984,-0.865196,-0.049514],[0.866610,-0.498092,-0.029842],[0.001157,-0.057800,0.998327]]
2025-10-26T21:59:10.786Z,1761515950.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:11.135Z,1761515951.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497383,-0.866084,-0.050089],[0.867531,-0.496525,-0.029210],[0.000428,-0.057982,0.998317]]
2025-10-26T21:59:11.165Z,1761515951.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:11.540Z,1761515951.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496064,-0.866832,-0.050222],[0.868286,-0.495238,-0.028607],[-0.000074,-0.057798,0.998328]]
2025-10-26T21:59:11.558Z,1761515951.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:11.949Z,1761515951.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495275,-0.867283,-0.050234],[0.868736,-0.494465,-0.028314],[-0.000283,-0.057663,0.998336]]
2025-10-26T21:59:11.964Z,1761515951.964 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050301473006,35.0, +10.4,   0.0,1491

2025-10-26T21:59:11.979Z,1761515951.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:12.346Z,1761515952.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494913,-0.867495,-0.050124],[0.868942,-0.494105,-0.028284],[-0.000230,-0.057553,0.998342]]
2025-10-26T21:59:12.391Z,1761515952.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:12.769Z,1761515952.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495268,-0.867304,-0.049939],[0.868740,-0.494438,-0.028674],[0.000177,-0.057585,0.998341]]
2025-10-26T21:59:12.814Z,1761515952.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:13.162Z,1761515953.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496069,-0.866866,-0.049586],[0.868283,-0.495201,-0.029340],[0.000879,-0.057610,0.998339]]
2025-10-26T21:59:13.190Z,1761515953.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:13.558Z,1761515953.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497205,-0.866239,-0.049169],[0.867632,-0.496294,-0.030117],[0.001687,-0.057635,0.998336]]
2025-10-26T21:59:13.597Z,1761515953.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:13.962Z,1761515953.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498951,-0.865259,-0.048737],[0.866626,-0.497984,-0.031169],[0.002700,-0.057789,0.998325]]
2025-10-26T21:59:14.017Z,1761515954.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:14.368Z,1761515954.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500783,-0.864246,-0.047902],[0.865564,-0.499764,-0.032166],[0.003860,-0.057570,0.998334]]
2025-10-26T21:59:14.386Z,1761515954.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:14.798Z,1761515954.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502981,-0.863005,-0.047243],[0.864282,-0.501900,-0.033346],[0.005067,-0.057604,0.998327]]
2025-10-26T21:59:14.849Z,1761515954.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:15.178Z,1761515955.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505256,-0.861718,-0.046468],[0.862947,-0.504117,-0.034485],[0.006291,-0.057523,0.998324]]
2025-10-26T21:59:15.212Z,1761515955.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:15.579Z,1761515955.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507600,-0.860379,-0.045714],[0.861560,-0.506405,-0.035619],[0.007496,-0.057466,0.998319]]
2025-10-26T21:59:15.596Z,1761515955.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:15.982Z,1761515955.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510091,-0.858938,-0.045090],[0.860076,-0.508832,-0.036864],[0.008720,-0.057585,0.998303]]
2025-10-26T21:59:16.019Z,1761515956.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:16.387Z,1761515956.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512372,-0.857600,-0.044693],[0.858709,-0.511058,-0.037924],[0.009683,-0.057809,0.998281]]
2025-10-26T21:59:16.407Z,1761515956.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:16.885Z,1761515956.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:17.198Z,1761515957.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515943,-0.855474,-0.044352],[0.856555,-0.514555,-0.039336],[0.010829,-0.058285,0.998241]]
2025-10-26T21:59:17.216Z,1761515957.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:17.600Z,1761515957.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517329,-0.854631,-0.044454],[0.855716,-0.515919,-0.039719],[0.011010,-0.058588,0.998222]]
2025-10-26T21:59:17.618Z,1761515957.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:18.002Z,1761515958.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518033,-0.854188,-0.044769],[0.855293,-0.516628,-0.039612],[0.010707,-0.058811,0.998212]]
2025-10-26T21:59:18.050Z,1761515958.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:18.410Z,1761515958.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518187,-0.854058,-0.045472],[0.855209,-0.516798,-0.039206],[0.009984,-0.059204,0.998196]]
2025-10-26T21:59:18.451Z,1761515958.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:18.854Z,1761515958.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517841,-0.854228,-0.046206],[0.855430,-0.516491,-0.038430],[0.008963,-0.059427,0.998192]]
2025-10-26T21:59:18.890Z,1761515958.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:19.225Z,1761515959.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517080,-0.854642,-0.047067],[0.855904,-0.515791,-0.037259],[0.007566,-0.059550,0.998197]]
2025-10-26T21:59:19.243Z,1761515959.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:19.618Z,1761515959.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515786,-0.855372,-0.048000],[0.856698,-0.514581,-0.035713],[0.005848,-0.059542,0.998209]]
2025-10-26T21:59:19.648Z,1761515959.648 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T21:59:19.650Z,1761515959.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:19.835Z,1761515959.835 [DAT](DEBUG): Acoustic response timeout
2025-10-26T21:59:19.836Z,1761515959.836 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T21:59:20.022Z,1761515960.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514226,-0.856245,-0.049150],[0.857646,-0.513117,-0.033984],[0.003880,-0.059629,0.998213]]
2025-10-26T21:59:20.077Z,1761515960.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:20.084Z,1761515960.084 [DAT](INFO): DAT read: user:424>

2025-10-26T21:59:20.085Z,1761515960.085 [DAT](INFO): DAT read: Tx time:21:59:19.1898

2025-10-26T21:59:20.085Z,1761515960.085 [DAT](INFO): Ping request sent.
2025-10-26T21:59:20.086Z,1761515960.086 [DAT](INFO): transmitted an acoustic signal
2025-10-26T21:59:20.086Z,1761515960.086 [DAT](INFO): publishing transmit ping time
2025-10-26T21:59:20.086Z,1761515960.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-10-26T21:59:20.336Z,1761515960.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250786
2025-10-26T21:59:20.435Z,1761515960.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512245,-0.857349,-0.050566],[0.858838,-0.511244,-0.032057],[0.001632,-0.059849,0.998206]]
2025-10-26T21:59:20.470Z,1761515960.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:20.588Z,1761515960.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502799
2025-10-26T21:59:20.844Z,1761515960.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757315
2025-10-26T21:59:20.891Z,1761515960.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510064,-0.858558,-0.052094],[0.860136,-0.509185,-0.029933],[-0.000826,-0.060075,0.998194]]
2025-10-26T21:59:20.964Z,1761515960.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:21.092Z,1761515961.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006763
2025-10-26T21:59:21.242Z,1761515961.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507685,-0.859872,-0.053637],[0.861536,-0.506942,-0.027651],[-0.003414,-0.060248,0.998178]]
2025-10-26T21:59:21.273Z,1761515961.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:21.344Z,1761515961.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258847
2025-10-26T21:59:21.413Z,1761515961.413 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:59:21.596Z,1761515961.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510766
2025-10-26T21:59:21.646Z,1761515961.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505279,-0.861193,-0.055128],[0.862935,-0.504684,-0.025249],[-0.006078,-0.060329,0.998160]]
2025-10-26T21:59:21.680Z,1761515961.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:21.852Z,1761515961.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765489
2025-10-26T21:59:22.050Z,1761515962.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502630,-0.862647,-0.056594],[0.864456,-0.502197,-0.022669],[-0.008866,-0.060317,0.998140]]
2025-10-26T21:59:22.100Z,1761515962.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014656
2025-10-26T21:59:22.121Z,1761515962.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:22.352Z,1761515962.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266654
2025-10-26T21:59:22.416Z,1761515962.416 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:59:22.454Z,1761515962.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500046,-0.864065,-0.057849],[0.865921,-0.499782,-0.019990],[-0.011640,-0.060089,0.998125]]
2025-10-26T21:59:22.484Z,1761515962.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:22.604Z,1761515962.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518828
2025-10-26T21:59:22.859Z,1761515962.859 [DAT](INFO): DAT read: Rx Time:21:59:21.6096

2025-10-26T21:59:22.861Z,1761515962.861 [DAT](INFO): Rx dataTimestamp_ set to:1761515962.859881
2025-10-26T21:59:22.863Z,1761515962.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776670
2025-10-26T21:59:22.937Z,1761515962.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497635,-0.865372,-0.059080],[0.867269,-0.497536,-0.017425],[-0.014315,-0.059909,0.998101]]
2025-10-26T21:59:22.999Z,1761515962.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:23.109Z,1761515963.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023013
2025-10-26T21:59:23.262Z,1761515963.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495541,-0.866488,-0.060307],[0.868421,-0.495599,-0.015047],[-0.016850,-0.059828,0.998066]]
2025-10-26T21:59:23.281Z,1761515963.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.62 m.
2025-10-26T21:59:23.362Z,1761515963.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276382
2025-10-26T21:59:23.618Z,1761515963.618 [DAT](INFO): DAT read: 21:59:21.6096 LVL= 32752, 19873, 24338, 32755, AGC= 54, IDX= 429,-0.30,-2.314, 0.003,-1.074,-0.942, PHS=-1.271, 0.990,-0.176, RAW= 301.0,   4.7, CAL= 298.7,   1.6, ROT= 211.3,  -1.6

2025-10-26T21:59:23.619Z,1761515963.619 [DAT](INFO): got valid direction response:
 21:59:21.6096 LVL= 32752, 19873, 24338, 32755, AGC= 54, IDX= 429,-0.30,-2.314, 0.003,-1.074,-0.942, PHS=-1.271, 0.990,-0.176, RAW= 301.0,   4.7, CAL= 298.7,   1.6, ROT= 211.3,  -1.6

2025-10-26T21:59:23.620Z,1761515963.620 [DAT](INFO): DAT read: Bearing  96.1, -30.7 (Local)

2025-10-26T21:59:23.620Z,1761515963.620 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.1, -30.7 (Local)

2025-10-26T21:59:23.621Z,1761515963.621 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m  (Round-trip  15.7 ms) speed  0.1 m/s

2025-10-26T21:59:23.622Z,1761515963.622 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T21:59:23.623Z,1761515963.623 [DAT](INFO): direction in FSK: [-0.854126,-0.519317,0.027922]
2025-10-26T21:59:23.623Z,1761515963.623 [DAT](INFO): publishing direction and range info
2025-10-26T21:59:23.722Z,1761515963.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494126,-0.867230,-0.061252],[0.869184,-0.494316,-0.013066],[-0.018947,-0.059695,0.998037]]
2025-10-26T21:59:23.786Z,1761515963.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 51.443928 s,
      deltaX: -1.000000 m,
      approachRate: -0.019439 m/s,
      rangeRepo size: 4

2025-10-26T21:59:23.811Z,1761515963.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.628542 m,
      bearing: 330.828526 deg,
      lat: 36.779409 deg,
      lon: -121.859456 deg,
      deltaT: 51.443928 s,
      deltaX: -0.994013 m,
      approachRate: -0.019322 m/s,
      posRepo size: 4

2025-10-26T21:59:23.812Z,1761515963.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:24.154Z,1761515964.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:24.482Z,1761515964.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493452,-0.867507,-0.062748],[0.869501,-0.493817,-0.010632],[-0.021762,-0.059806,0.997973]]
2025-10-26T21:59:24.517Z,1761515964.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:24.929Z,1761515964.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494241,-0.867062,-0.062685],[0.869040,-0.494640,-0.010072],[-0.022273,-0.059454,0.997983]]
2025-10-26T21:59:24.987Z,1761515964.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:25.298Z,1761515965.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496300,-0.865924,-0.062153],[0.867871,-0.496685,-0.010176],[-0.022059,-0.058992,0.998015]]
2025-10-26T21:59:25.315Z,1761515965.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:25.696Z,1761515965.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498851,-0.864512,-0.061378],[0.866423,-0.499197,-0.010653],[-0.021430,-0.058493,0.998058]]
2025-10-26T21:59:25.731Z,1761515965.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:26.098Z,1761515966.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501754,-0.862897,-0.060429],[0.864770,-0.502036,-0.011517],[-0.020400,-0.058036,0.998106]]
2025-10-26T21:59:26.155Z,1761515966.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:26.502Z,1761515966.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505277,-0.860902,-0.059525],[0.862747,-0.505473,-0.012826],[-0.019046,-0.057836,0.998144]]
2025-10-26T21:59:26.520Z,1761515966.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:26.981Z,1761515966.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:27.317Z,1761515967.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513487,-0.856173,-0.057442],[0.857962,-0.513443,-0.016639],[-0.015247,-0.057827,0.998210]]
2025-10-26T21:59:27.357Z,1761515967.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:27.720Z,1761515967.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517982,-0.853559,-0.055959],[0.855294,-0.517802,-0.018795],[-0.012933,-0.057597,0.998256]]
2025-10-26T21:59:27.749Z,1761515967.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:28.118Z,1761515968.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522526,-0.850893,-0.054286],[0.852558,-0.522213,-0.020931],[-0.010539,-0.057219,0.998306]]
2025-10-26T21:59:28.167Z,1761515968.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:28.523Z,1761515968.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526826,-0.848337,-0.052722],[0.849934,-0.526385,-0.023053],[-0.008195,-0.056955,0.998343]]
2025-10-26T21:59:28.541Z,1761515968.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:28.934Z,1761515968.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531239,-0.845683,-0.051052],[0.847203,-0.530663,-0.025373],[-0.005634,-0.056730,0.998374]]
2025-10-26T21:59:29.010Z,1761515969.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:29.370Z,1761515969.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535353,-0.843166,-0.049685],[0.844622,-0.534645,-0.027713],[-0.003197,-0.056801,0.998380]]
2025-10-26T21:59:29.442Z,1761515969.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:29.776Z,1761515969.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539161,-0.840766,-0.049167],[0.842201,-0.538350,-0.029601],[-0.001582,-0.057368,0.998352]]
2025-10-26T21:59:29.798Z,1761515969.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:30.179Z,1761515970.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542619,-0.838573,-0.048580],[0.839979,-0.541720,-0.031225],[-0.000132,-0.057749,0.998331]]
2025-10-26T21:59:30.222Z,1761515970.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:30.582Z,1761515970.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545626,-0.836654,-0.047989],[0.838028,-0.544651,-0.032625],[0.001159,-0.058017,0.998315]]
2025-10-26T21:59:30.601Z,1761515970.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:31.034Z,1761515971.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547924,-0.835184,-0.047414],[0.836526,-0.546899,-0.033562],[0.002100,-0.058052,0.998311]]
2025-10-26T21:59:31.070Z,1761515971.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:31.472Z,1761515971.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549746,-0.834004,-0.047081],[0.835328,-0.548689,-0.034182],[0.002675,-0.058120,0.998306]]
2025-10-26T21:59:31.514Z,1761515971.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:31.874Z,1761515971.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550716,-0.833365,-0.047055],[0.834688,-0.549658,-0.034220],[0.002653,-0.058121,0.998306]]
2025-10-26T21:59:31.900Z,1761515971.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:32.280Z,1761515972.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551038,-0.833143,-0.047215],[0.834477,-0.550003,-0.033824],[0.002212,-0.058038,0.998312]]
2025-10-26T21:59:32.345Z,1761515972.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:32.682Z,1761515972.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550782,-0.833303,-0.047394],[0.834648,-0.549796,-0.032972],[0.001419,-0.057718,0.998332]]
2025-10-26T21:59:32.718Z,1761515972.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:33.086Z,1761515973.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549874,-0.833861,-0.048103],[0.835248,-0.548957,-0.031745],[0.000065,-0.057634,0.998338]]
2025-10-26T21:59:33.149Z,1761515973.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:33.490Z,1761515973.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548683,-0.834580,-0.049224],[0.836028,-0.547851,-0.030252],[-0.001720,-0.057751,0.998330]]
2025-10-26T21:59:33.538Z,1761515973.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:33.905Z,1761515973.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547121,-0.835528,-0.050516],[0.837045,-0.546391,-0.028508],[-0.003782,-0.057882,0.998316]]
2025-10-26T21:59:33.929Z,1761515973.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:34.300Z,1761515974.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545387,-0.836582,-0.051797],[0.838162,-0.544777,-0.026490],[-0.006057,-0.057862,0.998306]]
2025-10-26T21:59:34.366Z,1761515974.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:34.743Z,1761515974.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:35.116Z,1761515975.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541677,-0.838831,-0.054289],[0.840514,-0.541348,-0.021884],[-0.011032,-0.057485,0.998285]]
2025-10-26T21:59:35.162Z,1761515975.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:35.512Z,1761515975.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539910,-0.839882,-0.055639],[0.841611,-0.539733,-0.019458],[-0.013688,-0.057332,0.998261]]
2025-10-26T21:59:35.534Z,1761515975.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:35.929Z,1761515975.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537196,-0.841437,-0.058336],[0.843246,-0.537324,-0.014821],[-0.018875,-0.057153,0.998187]]
2025-10-26T21:59:35.947Z,1761515975.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:36.322Z,1761515976.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536536,-0.841766,-0.059652],[0.843612,-0.536799,-0.012893],[-0.021169,-0.057241,0.998136]]
2025-10-26T21:59:36.370Z,1761515976.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:36.784Z,1761515976.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:37.138Z,1761515977.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537146,-0.841221,-0.061819],[0.843123,-0.537628,-0.009971],[-0.024848,-0.057477,0.998038]]
2025-10-26T21:59:37.186Z,1761515977.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:37.534Z,1761515977.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538575,-0.840254,-0.062528],[0.842174,-0.539130,-0.009071],[-0.026089,-0.057545,0.998002]]
2025-10-26T21:59:37.552Z,1761515977.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:37.934Z,1761515977.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540497,-0.838997,-0.062831],[0.840915,-0.541102,-0.008417],[-0.026936,-0.057384,0.997989]]
2025-10-26T21:59:37.963Z,1761515977.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:38.338Z,1761515978.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543334,-0.837157,-0.062900],[0.839074,-0.543954,-0.008323],[-0.027248,-0.057300,0.997985]]
2025-10-26T21:59:38.421Z,1761515978.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:38.745Z,1761515978.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546619,-0.835017,-0.062875],[0.836937,-0.547233,-0.008541],[-0.027275,-0.057292,0.997985]]
2025-10-26T21:59:38.763Z,1761515978.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:39.169Z,1761515979.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550217,-0.832665,-0.062686],[0.834583,-0.550810,-0.008963],[-0.027065,-0.057248,0.997993]]
2025-10-26T21:59:39.220Z,1761515979.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:39.550Z,1761515979.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554252,-0.830016,-0.062278],[0.831927,-0.554801,-0.009695],[-0.026505,-0.057184,0.998012]]
2025-10-26T21:59:39.578Z,1761515979.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:39.954Z,1761515979.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558103,-0.827468,-0.061785],[0.829367,-0.558608,-0.010393],[-0.025914,-0.057042,0.998035]]
2025-10-26T21:59:39.994Z,1761515979.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:40.358Z,1761515980.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562156,-0.824762,-0.061217],[0.826650,-0.562603,-0.011314],[-0.025110,-0.056965,0.998060]]
2025-10-26T21:59:40.424Z,1761515980.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:40.765Z,1761515980.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566386,-0.821910,-0.060592],[0.823789,-0.566759,-0.012503],[-0.024064,-0.056996,0.998084]]
2025-10-26T21:59:40.783Z,1761515980.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:41.195Z,1761515981.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570087,-0.819393,-0.059969],[0.821258,-0.570398,-0.013485],[-0.023157,-0.056937,0.998109]]
2025-10-26T21:59:41.251Z,1761515981.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:41.570Z,1761515981.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573560,-0.817023,-0.059180],[0.818865,-0.573803,-0.014497],[-0.022113,-0.056775,0.998142]]
2025-10-26T21:59:41.605Z,1761515981.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:41.977Z,1761515981.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576649,-0.814886,-0.058621],[0.816717,-0.576830,-0.015493],[-0.021189,-0.056811,0.998160]]
2025-10-26T21:59:41.995Z,1761515981.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:42.389Z,1761515982.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579116,-0.813164,-0.058204],[0.814988,-0.579249,-0.016292],[-0.020466,-0.056871,0.998172]]
2025-10-26T21:59:42.453Z,1761515982.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:42.783Z,1761515982.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580897,-0.811929,-0.057702],[0.813735,-0.580993,-0.016821],[-0.019867,-0.056725,0.998192]]
2025-10-26T21:59:42.809Z,1761515982.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:43.216Z,1761515983.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582269,-0.810952,-0.057618],[0.812762,-0.582339,-0.017301],[-0.019523,-0.056903,0.998189]]
2025-10-26T21:59:43.252Z,1761515983.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:43.590Z,1761515983.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583175,-0.810301,-0.057612],[0.812117,-0.583227,-0.017666],[-0.019286,-0.057090,0.998183]]
2025-10-26T21:59:43.608Z,1761515983.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:43.996Z,1761515983.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583466,-0.810092,-0.057607],[0.811910,-0.583512,-0.017774],[-0.019216,-0.057142,0.998181]]
2025-10-26T21:59:44.014Z,1761515984.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:44.403Z,1761515984.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583109,-0.810334,-0.057813],[0.812160,-0.583170,-0.017559],[-0.019486,-0.057192,0.998173]]
2025-10-26T21:59:44.527Z,1761515984.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:44.803Z,1761515984.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582518,-0.810733,-0.058178],[0.812576,-0.582597,-0.017357],[-0.019822,-0.057385,0.998155]]
2025-10-26T21:59:44.837Z,1761515984.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:45.247Z,1761515985.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581330,-0.811561,-0.058525],[0.813412,-0.581445,-0.016794],[-0.020400,-0.057367,0.998145]]
2025-10-26T21:59:45.284Z,1761515985.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:45.613Z,1761515985.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580128,-0.812389,-0.058954],[0.814254,-0.580281,-0.016236],[-0.021020,-0.057422,0.998129]]
2025-10-26T21:59:45.635Z,1761515985.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:46.014Z,1761515986.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578667,-0.813397,-0.059415],[0.815273,-0.578870,-0.015491],[-0.021793,-0.057403,0.998113]]
2025-10-26T21:59:46.040Z,1761515986.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:46.418Z,1761515986.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577390,-0.814265,-0.059944],[0.816159,-0.577635,-0.014913],[-0.022483,-0.057534,0.998090]]
2025-10-26T21:59:46.474Z,1761515986.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:46.877Z,1761515986.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:47.268Z,1761515987.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575124,-0.815799,-0.060860],[0.817721,-0.575448,-0.013811],[-0.023755,-0.057710,0.998051]]
2025-10-26T21:59:47.315Z,1761515987.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:47.630Z,1761515987.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574296,-0.816357,-0.061199],[0.818288,-0.574652,-0.013370],[-0.024254,-0.057757,0.998036]]
2025-10-26T21:59:47.665Z,1761515987.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:48.034Z,1761515988.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574000,-0.816554,-0.061351],[0.818491,-0.574368,-0.013225],[-0.024439,-0.057806,0.998029]]
2025-10-26T21:59:48.069Z,1761515988.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:48.438Z,1761515988.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573715,-0.816751,-0.061392],[0.818684,-0.574099,-0.012949],[-0.024669,-0.057690,0.998030]]
2025-10-26T21:59:48.502Z,1761515988.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:48.844Z,1761515988.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573687,-0.816775,-0.061336],[0.818701,-0.574076,-0.012844],[-0.024720,-0.057584,0.998035]]
2025-10-26T21:59:48.868Z,1761515988.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:49.283Z,1761515989.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574405,-0.816289,-0.061084],[0.818210,-0.574767,-0.013226],[-0.024313,-0.057577,0.998045]]
2025-10-26T21:59:49.340Z,1761515989.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:49.650Z,1761515989.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575373,-0.815622,-0.060875],[0.817544,-0.575701,-0.013774],[-0.023811,-0.057693,0.998050]]
2025-10-26T21:59:49.684Z,1761515989.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:50.054Z,1761515990.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576641,-0.814747,-0.060598],[0.816669,-0.576924,-0.014494],[-0.023151,-0.057847,0.998057]]
2025-10-26T21:59:50.072Z,1761515990.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:50.463Z,1761515990.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577948,-0.813865,-0.059998],[0.815768,-0.578181,-0.015154],[-0.022356,-0.057703,0.998083]]
2025-10-26T21:59:50.499Z,1761515990.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:50.871Z,1761515990.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579314,-0.812943,-0.059320],[0.814820,-0.579499,-0.015796],[-0.021535,-0.057486,0.998114]]
2025-10-26T21:59:50.896Z,1761515990.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:51.279Z,1761515991.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580998,-0.811786,-0.058691],[0.813646,-0.581120,-0.016724],[-0.020530,-0.057470,0.998136]]
2025-10-26T21:59:51.352Z,1761515991.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:51.670Z,1761515991.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582854,-0.810504,-0.058006],[0.812344,-0.582909,-0.017736],[-0.019437,-0.057458,0.998159]]
2025-10-26T21:59:51.769Z,1761515991.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:52.076Z,1761515992.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584582,-0.809314,-0.057231],[0.811127,-0.584572,-0.018663],[-0.018352,-0.057331,0.998187]]
2025-10-26T21:59:52.094Z,1761515992.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:52.490Z,1761515992.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586280,-0.808136,-0.056495],[0.809924,-0.586207,-0.019604],[-0.017275,-0.057250,0.998210]]
2025-10-26T21:59:52.526Z,1761515992.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:52.536Z,1761515992.536 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T21:59:52.888Z,1761515992.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587880,-0.807022,-0.055790],[0.808786,-0.587745,-0.020528],[-0.016224,-0.057190,0.998232]]
2025-10-26T21:59:52.915Z,1761515992.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:53.290Z,1761515993.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589406,-0.805941,-0.055312],[0.807693,-0.589210,-0.021531],[-0.015237,-0.057365,0.998237]]
2025-10-26T21:59:53.373Z,1761515993.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:53.540Z,1761515993.540 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T21:59:53.692Z,1761515993.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590721,-0.805013,-0.054793],[0.806748,-0.590474,-0.022332],[-0.014376,-0.057397,0.998248]]
2025-10-26T21:59:53.762Z,1761515993.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:54.094Z,1761515994.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591847,-0.804218,-0.054317],[0.805935,-0.591556,-0.023023],[-0.013616,-0.057402,0.998258]]
2025-10-26T21:59:54.119Z,1761515994.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:54.501Z,1761515994.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592800,-0.803543,-0.053905],[0.805245,-0.592472,-0.023615],[-0.012962,-0.057406,0.998267]]
2025-10-26T21:59:54.555Z,1761515994.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:54.902Z,1761515994.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593450,-0.803092,-0.053486],[0.804774,-0.593098,-0.023943],[-0.012494,-0.057253,0.998281]]
2025-10-26T21:59:54.921Z,1761515994.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:55.307Z,1761515995.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593650,-0.802949,-0.053401],[0.804627,-0.593295,-0.024004],[-0.012408,-0.057218,0.998285]]
2025-10-26T21:59:55.361Z,1761515995.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:55.718Z,1761515995.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593808,-0.802835,-0.053369],[0.804512,-0.593449,-0.024059],[-0.012357,-0.057223,0.998285]]
2025-10-26T21:59:55.758Z,1761515995.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:56.114Z,1761515996.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593864,-0.802790,-0.053420],[0.804469,-0.593512,-0.023951],[-0.012478,-0.057198,0.998285]]
2025-10-26T21:59:56.147Z,1761515996.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:56.522Z,1761515996.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593585,-0.802986,-0.053586],[0.804670,-0.593252,-0.023632],[-0.012813,-0.057146,0.998284]]
2025-10-26T21:59:56.572Z,1761515996.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:56.969Z,1761515996.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:57.328Z,1761515997.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592736,-0.803572,-0.054187],[0.805277,-0.592464,-0.022679],[-0.013879,-0.057078,0.998273]]
2025-10-26T21:59:57.356Z,1761515997.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:57.735Z,1761515997.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592239,-0.803901,-0.054734],[0.805630,-0.592004,-0.022168],[-0.014582,-0.057224,0.998255]]
2025-10-26T21:59:57.776Z,1761515997.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:58.134Z,1761515998.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591628,-0.804313,-0.055286],[0.806064,-0.591435,-0.021553],[-0.015362,-0.057316,0.998238]]
2025-10-26T21:59:58.164Z,1761515998.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:58.542Z,1761515998.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591024,-0.804719,-0.055837],[0.806492,-0.590873,-0.020942],[-0.016140,-0.057410,0.998220]]
2025-10-26T21:59:58.604Z,1761515998.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:58.944Z,1761515998.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590523,-0.805063,-0.056175],[0.806844,-0.590418,-0.020217],[-0.016890,-0.057263,0.998216]]
2025-10-26T21:59:58.968Z,1761515998.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:59.351Z,1761515999.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589854,-0.805510,-0.056804],[0.807314,-0.589801,-0.019477],[-0.017814,-0.057347,0.998195]]
2025-10-26T21:59:59.397Z,1761515999.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T21:59:59.750Z,1761515999.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589159,-0.805982,-0.057320],[0.807800,-0.589161,-0.018665],[-0.018727,-0.057300,0.998181]]
2025-10-26T21:59:59.798Z,1761515999.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:00.154Z,1761516000.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588650,-0.806319,-0.057793],[0.808151,-0.588703,-0.017922],[-0.019572,-0.057255,0.998168]]
2025-10-26T22:00:00.173Z,1761516000.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:00.565Z,1761516000.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588320,-0.806525,-0.058286],[0.808370,-0.588423,-0.017207],[-0.020418,-0.057240,0.998152]]
2025-10-26T22:00:00.626Z,1761516000.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:00.962Z,1761516000.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588200,-0.806590,-0.058601],[0.808439,-0.588347,-0.016545],[-0.021133,-0.057107,0.998144]]
2025-10-26T22:00:00.993Z,1761516000.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:01.373Z,1761516001.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588193,-0.806564,-0.059029],[0.808425,-0.588382,-0.015961],[-0.021859,-0.057109,0.998129]]
2025-10-26T22:00:01.412Z,1761516001.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:01.774Z,1761516001.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588320,-0.806434,-0.059532],[0.808312,-0.588551,-0.015436],[-0.022590,-0.057201,0.998107]]
2025-10-26T22:00:01.810Z,1761516001.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:02.179Z,1761516002.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588582,-0.806225,-0.059770],[0.808106,-0.588848,-0.014934],[-0.023155,-0.057091,0.998100]]
2025-10-26T22:00:02.206Z,1761516002.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:02.583Z,1761516002.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589036,-0.805885,-0.059882],[0.807762,-0.589329,-0.014533],[-0.023578,-0.056931,0.998100]]
2025-10-26T22:00:02.635Z,1761516002.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:02.986Z,1761516002.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589711,-0.805361,-0.060289],[0.807257,-0.590025,-0.014360],[-0.024007,-0.057137,0.998078]]
2025-10-26T22:00:03.004Z,1761516003.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:03.391Z,1761516003.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590083,-0.805068,-0.060568],[0.806971,-0.590425,-0.013992],[-0.024496,-0.057133,0.998066]]
2025-10-26T22:00:03.409Z,1761516003.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:03.794Z,1761516003.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590719,-0.804593,-0.060664],[0.806497,-0.591076,-0.013805],[-0.024750,-0.057080,0.998063]]
2025-10-26T22:00:03.842Z,1761516003.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:04.198Z,1761516004.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591403,-0.804083,-0.060767],[0.805989,-0.591773,-0.013666],[-0.024972,-0.057060,0.998058]]
2025-10-26T22:00:04.237Z,1761516004.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:04.603Z,1761516004.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592207,-0.803500,-0.060654],[0.805397,-0.592581,-0.013574],[-0.025035,-0.056889,0.998067]]
2025-10-26T22:00:04.659Z,1761516004.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:05.008Z,1761516005.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593073,-0.802863,-0.060627],[0.804759,-0.593445,-0.013625],[-0.025040,-0.056871,0.998067]]
2025-10-26T22:00:05.026Z,1761516005.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:05.410Z,1761516005.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593766,-0.802348,-0.060651],[0.804246,-0.594140,-0.013642],[-0.025089,-0.056879,0.998066]]
2025-10-26T22:00:05.439Z,1761516005.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:05.815Z,1761516005.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594667,-0.801692,-0.060513],[0.803586,-0.595028,-0.013828],[-0.024921,-0.056850,0.998072]]
2025-10-26T22:00:05.882Z,1761516005.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:06.221Z,1761516006.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595369,-0.801171,-0.060504],[0.803067,-0.595726,-0.013920],[-0.024892,-0.056876,0.998071]]
2025-10-26T22:00:06.244Z,1761516006.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:06.622Z,1761516006.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596030,-0.800701,-0.060216],[0.802583,-0.596376,-0.014011],[-0.024693,-0.056680,0.998087]]
2025-10-26T22:00:06.672Z,1761516006.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:07.026Z,1761516007.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596679,-0.800226,-0.060099],[0.802104,-0.597016,-0.014159],[-0.024550,-0.056654,0.998092]]
2025-10-26T22:00:07.061Z,1761516007.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:07.430Z,1761516007.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597333,-0.799749,-0.059959],[0.801624,-0.597654,-0.014404],[-0.024315,-0.056668,0.998097]]
2025-10-26T22:00:07.449Z,1761516007.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:07.897Z,1761516007.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:08.241Z,1761516008.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598253,-0.799086,-0.059617],[0.800954,-0.598541,-0.014879],[-0.023793,-0.056652,0.998110]]
2025-10-26T22:00:08.264Z,1761516008.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:08.642Z,1761516008.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598826,-0.798662,-0.059550],[0.800537,-0.599086,-0.015368],[-0.023401,-0.056875,0.998107]]
2025-10-26T22:00:08.700Z,1761516008.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:09.092Z,1761516009.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:09.451Z,1761516009.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599017,-0.798537,-0.059304],[0.800407,-0.599251,-0.015726],[-0.022980,-0.056888,0.998116]]
2025-10-26T22:00:09.470Z,1761516009.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:09.931Z,1761516009.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:10.262Z,1761516010.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598409,-0.799009,-0.059088],[0.800865,-0.598639,-0.015694],[-0.022833,-0.056712,0.998129]]
2025-10-26T22:00:10.301Z,1761516010.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:10.662Z,1761516010.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598328,-0.799085,-0.058881],[0.800932,-0.598546,-0.015806],[-0.022613,-0.056617,0.998140]]
2025-10-26T22:00:10.726Z,1761516010.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:11.068Z,1761516011.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597764,-0.799504,-0.058925],[0.801350,-0.597990,-0.015672],[-0.022707,-0.056587,0.998139]]
2025-10-26T22:00:11.086Z,1761516011.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:11.470Z,1761516011.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597530,-0.799681,-0.058884],[0.801529,-0.597748,-0.015782],[-0.022577,-0.056628,0.998140]]
2025-10-26T22:00:11.497Z,1761516011.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:11.929Z,1761516011.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:12.283Z,1761516012.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596664,-0.800309,-0.059147],[0.802173,-0.596880,-0.015876],[-0.022598,-0.056919,0.998123]]
2025-10-26T22:00:12.302Z,1761516012.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:12.759Z,1761516012.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:13.086Z,1761516013.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595544,-0.801137,-0.059219],[0.803004,-0.595764,-0.015793],[-0.022628,-0.056958,0.998120]]
2025-10-26T22:00:13.115Z,1761516013.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:13.490Z,1761516013.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594940,-0.801588,-0.059188],[0.803451,-0.595164,-0.015687],[-0.022653,-0.056887,0.998124]]
2025-10-26T22:00:13.508Z,1761516013.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:13.894Z,1761516013.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594374,-0.802000,-0.059291],[0.803866,-0.594608,-0.015546],[-0.022787,-0.056903,0.998120]]
2025-10-26T22:00:13.956Z,1761516013.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:14.304Z,1761516014.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594109,-0.802196,-0.059294],[0.804064,-0.594337,-0.015625],[-0.022706,-0.056959,0.998118]]
2025-10-26T22:00:14.329Z,1761516014.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:14.708Z,1761516014.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594018,-0.802264,-0.059295],[0.804136,-0.594235,-0.015820],[-0.022544,-0.057079,0.998115]]
2025-10-26T22:00:14.785Z,1761516014.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:15.106Z,1761516015.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593923,-0.802335,-0.059274],[0.804210,-0.594130,-0.015992],[-0.022386,-0.057166,0.998114]]
2025-10-26T22:00:15.124Z,1761516015.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:15.510Z,1761516015.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593950,-0.802306,-0.059399],[0.804195,-0.594143,-0.016269],[-0.022239,-0.057432,0.998102]]
2025-10-26T22:00:15.529Z,1761516015.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:15.917Z,1761516015.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593786,-0.802426,-0.059420],[0.804318,-0.593974,-0.016374],[-0.022155,-0.057515,0.998099]]
2025-10-26T22:00:15.979Z,1761516015.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:16.322Z,1761516016.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593674,-0.802528,-0.059164],[0.804406,-0.593853,-0.016409],[-0.021966,-0.057333,0.998113]]
2025-10-26T22:00:16.374Z,1761516016.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:16.842Z,1761516016.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:17.177Z,1761516017.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:17.532Z,1761516017.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593545,-0.802640,-0.058936],[0.804515,-0.593691,-0.016902],[-0.021424,-0.057447,0.998119]]
2025-10-26T22:00:17.550Z,1761516017.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:17.934Z,1761516017.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593391,-0.802765,-0.058776],[0.804633,-0.593530,-0.016963],[-0.021268,-0.057359,0.998127]]
2025-10-26T22:00:17.982Z,1761516017.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:18.347Z,1761516018.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593275,-0.802850,-0.058793],[0.804723,-0.593403,-0.017159],[-0.021112,-0.057492,0.998123]]
2025-10-26T22:00:18.379Z,1761516018.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:18.773Z,1761516018.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592326,-0.803566,-0.058578],[0.805424,-0.592454,-0.017026],[-0.021023,-0.057265,0.998138]]
2025-10-26T22:00:18.819Z,1761516018.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:19.179Z,1761516019.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:19.550Z,1761516019.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591532,-0.804148,-0.058611],[0.806005,-0.591670,-0.016842],[-0.021135,-0.057204,0.998139]]
2025-10-26T22:00:19.582Z,1761516019.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:19.957Z,1761516019.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591025,-0.804515,-0.058696],[0.806376,-0.591163,-0.016852],[-0.021142,-0.057291,0.998134]]
2025-10-26T22:00:20.007Z,1761516020.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:00:20.009Z,1761516020.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:20.104Z,1761516020.104 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:00:20.104Z,1761516020.104 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:00:20.360Z,1761516020.360 [DAT](INFO): DAT read: user:425>

2025-10-26T22:00:20.361Z,1761516020.361 [DAT](INFO): DAT read: Tx time:22:00:19.4897

2025-10-26T22:00:20.361Z,1761516020.361 [DAT](INFO): Ping request sent.
2025-10-26T22:00:20.361Z,1761516020.361 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:00:20.361Z,1761516020.361 [DAT](INFO): publishing transmit ping time
2025-10-26T22:00:20.362Z,1761516020.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000767
2025-10-26T22:00:20.372Z,1761516020.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589971,-0.805284,-0.058743],[0.807148,-0.590108,-0.016847],[-0.021098,-0.057354,0.998131]]
2025-10-26T22:00:20.390Z,1761516020.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:20.612Z,1761516020.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251444
2025-10-26T22:00:20.796Z,1761516020.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589540,-0.805586,-0.058939],[0.807464,-0.589674,-0.016950],[-0.021100,-0.057584,0.998118]]
2025-10-26T22:00:20.853Z,1761516020.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:20.861Z,1761516020.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499494
2025-10-26T22:00:21.112Z,1761516021.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751323
2025-10-26T22:00:21.170Z,1761516021.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589056,-0.805940,-0.058936],[0.807817,-0.589190,-0.016922],[-0.021086,-0.057577,0.998118]]
2025-10-26T22:00:21.195Z,1761516021.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:21.364Z,1761516021.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003332
2025-10-26T22:00:21.575Z,1761516021.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588776,-0.806152,-0.058841],[0.808024,-0.588906,-0.016955],[-0.020983,-0.057528,0.998123]]
2025-10-26T22:00:21.609Z,1761516021.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:21.617Z,1761516021.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255522
2025-10-26T22:00:21.868Z,1761516021.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507320
2025-10-26T22:00:21.976Z,1761516021.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588600,-0.806295,-0.058640],[0.808155,-0.588725,-0.016961],[-0.020847,-0.057373,0.998135]]
2025-10-26T22:00:21.996Z,1761516021.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:22.120Z,1761516022.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759322
2025-10-26T22:00:22.372Z,1761516022.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011378
2025-10-26T22:00:22.380Z,1761516022.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588701,-0.806234,-0.058464],[0.808088,-0.588813,-0.017126],[-0.020617,-0.057326,0.998143]]
2025-10-26T22:00:22.412Z,1761516022.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:22.624Z,1761516022.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263295
2025-10-26T22:00:22.828Z,1761516022.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588884,-0.806121,-0.058182],[0.807961,-0.588984,-0.017244],[-0.020367,-0.057164,0.998157]]
2025-10-26T22:00:22.876Z,1761516022.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515393
2025-10-26T22:00:22.891Z,1761516022.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:23.128Z,1761516023.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767343
2025-10-26T22:00:23.188Z,1761516023.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589208,-0.805914,-0.057755],[0.807734,-0.589288,-0.017455],[-0.019968,-0.056935,0.998178]]
2025-10-26T22:00:23.206Z,1761516023.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:23.381Z,1761516023.381 [DAT](INFO): DAT read: Rx Time:22:00:21.9067

2025-10-26T22:00:23.381Z,1761516023.381 [DAT](INFO): Rx dataTimestamp_ set to:1761516023.380701
2025-10-26T22:00:23.381Z,1761516023.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020519
2025-10-26T22:00:23.590Z,1761516023.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589684,-0.805584,-0.057512],[0.807396,-0.589742,-0.017768],[-0.019604,-0.056913,0.998187]]
2025-10-26T22:00:23.621Z,1761516023.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:00:23.632Z,1761516023.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271421
2025-10-26T22:00:23.665Z,1761516023.665 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:00:23.890Z,1761516023.890 [DAT](INFO): DAT read: 22:00:21.9067 LVL= 32496, 19361, 18578, 32755, AGC= 46, IDX= 416, 0.24,-2.284,-0.239,-0.964,-0.709, PHS=-1.473, 0.514,-0.299, RAW= 294.0,  14.4, CAL= 291.5,  21.3, ROT= 218.5, -21.3

2025-10-26T22:00:23.891Z,1761516023.891 [DAT](INFO): got valid direction response:
 22:00:21.9067 LVL= 32496, 19361, 18578, 32755, AGC= 46, IDX= 416, 0.24,-2.284,-0.239,-0.964,-0.709, PHS=-1.473, 0.514,-0.299, RAW= 294.0,  14.4, CAL= 291.5,  21.3, ROT= 218.5, -21.3

2025-10-26T22:00:23.895Z,1761516023.895 [DAT](INFO): DAT read: Bearing  78.0, -35.6 (Local)

2025-10-26T22:00:23.896Z,1761516023.896 [DAT](INFO): Local bearing/azimuth received:
 Bearing  78.0, -35.6 (Local)

2025-10-26T22:00:23.897Z,1761516023.897 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m  (Round-trip  12.8 ms) speed  0.0 m/s

2025-10-26T22:00:23.897Z,1761516023.897 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:00:23.898Z,1761516023.898 [DAT](INFO): direction in FSK: [-0.729149,-0.579991,0.363251]
2025-10-26T22:00:23.899Z,1761516023.899 [DAT](INFO): publishing direction and range info
2025-10-26T22:00:23.994Z,1761516023.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590088,-0.805308,-0.057221],[0.807109,-0.590129,-0.017997],[-0.019274,-0.056804,0.998199]]
2025-10-26T22:00:24.044Z,1761516024.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 60.272019 s,
      deltaX: -2.099999 m,
      approachRate: -0.034842 m/s,
      rangeRepo size: 4

2025-10-26T22:00:24.046Z,1761516024.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.541415 m,
      bearing: 343.914029 deg,
      lat: 36.779409 deg,
      lon: -121.859456 deg,
      deltaT: 60.272019 s,
      deltaX: -2.087127 m,
      approachRate: -0.034628 m/s,
      posRepo size: 4

2025-10-26T22:00:24.047Z,1761516024.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:24.400Z,1761516024.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590531,-0.805002,-0.056958],[0.806793,-0.590551,-0.018279],[-0.018922,-0.056748,0.998209]]
2025-10-26T22:00:24.418Z,1761516024.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:24.668Z,1761516024.668 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:00:24.852Z,1761516024.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591084,-0.804598,-0.056940],[0.806395,-0.591081,-0.018695],[-0.018614,-0.056967,0.998203]]
2025-10-26T22:00:24.888Z,1761516024.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:25.206Z,1761516025.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591206,-0.804520,-0.056775],[0.806309,-0.591196,-0.018783],[-0.018454,-0.056883,0.998210]]
2025-10-26T22:00:25.232Z,1761516025.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:25.610Z,1761516025.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591197,-0.804536,-0.056649],[0.806318,-0.591185,-0.018758],[-0.018399,-0.056767,0.998218]]
2025-10-26T22:00:25.629Z,1761516025.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:26.016Z,1761516026.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591124,-0.804598,-0.056510],[0.806372,-0.591112,-0.018732],[-0.018332,-0.056641,0.998226]]
2025-10-26T22:00:26.052Z,1761516026.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:26.420Z,1761516026.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590868,-0.804795,-0.056398],[0.806559,-0.590861,-0.018580],[-0.018370,-0.056467,0.998235]]
2025-10-26T22:00:26.450Z,1761516026.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:26.871Z,1761516026.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590563,-0.805003,-0.056612],[0.806780,-0.590561,-0.018556],[-0.018495,-0.056632,0.998224]]
2025-10-26T22:00:26.923Z,1761516026.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:27.226Z,1761516027.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589830,-0.805512,-0.057012],[0.807306,-0.589850,-0.018279],[-0.018904,-0.056808,0.998206]]
2025-10-26T22:00:27.245Z,1761516027.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:27.632Z,1761516027.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588865,-0.806194,-0.057348],[0.807999,-0.588912,-0.017874],[-0.019363,-0.056863,0.998194]]
2025-10-26T22:00:27.651Z,1761516027.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:28.034Z,1761516028.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587509,-0.807149,-0.057830],[0.808968,-0.587600,-0.017212],[-0.020088,-0.056895,0.998178]]
2025-10-26T22:00:28.085Z,1761516028.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:28.439Z,1761516028.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586015,-0.808200,-0.058308],[0.810033,-0.586150,-0.016548],[-0.020803,-0.056928,0.998161]]
2025-10-26T22:00:28.476Z,1761516028.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:28.874Z,1761516028.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584364,-0.809362,-0.058759],[0.811206,-0.584546,-0.015828],[-0.021537,-0.056915,0.998147]]
2025-10-26T22:00:28.947Z,1761516028.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:29.248Z,1761516029.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582774,-0.810470,-0.059266],[0.812328,-0.583004,-0.015128],[-0.022292,-0.056960,0.998128]]
2025-10-26T22:00:29.272Z,1761516029.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:29.650Z,1761516029.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580744,-0.811885,-0.059819],[0.813753,-0.581038,-0.014138],[-0.023279,-0.056888,0.998109]]
2025-10-26T22:00:29.677Z,1761516029.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:30.054Z,1761516030.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578785,-0.813243,-0.060355],[0.815122,-0.579136,-0.013287],[-0.024149,-0.056887,0.998088]]
2025-10-26T22:00:30.099Z,1761516030.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:30.459Z,1761516030.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576821,-0.814604,-0.060813],[0.816488,-0.577230,-0.012383],[-0.025016,-0.056796,0.998072]]
2025-10-26T22:00:30.477Z,1761516030.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:30.897Z,1761516030.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575041,-0.815827,-0.061267],[0.817718,-0.575501,-0.011633],[-0.025768,-0.056789,0.998054]]
2025-10-26T22:00:30.979Z,1761516030.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:31.266Z,1761516031.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573438,-0.816925,-0.061660],[0.818824,-0.573938,-0.011046],[-0.026365,-0.056822,0.998036]]
2025-10-26T22:00:31.296Z,1761516031.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:31.670Z,1761516031.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572014,-0.817903,-0.061930],[0.819804,-0.572547,-0.010529],[-0.026846,-0.056793,0.998025]]
2025-10-26T22:00:31.709Z,1761516031.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:32.074Z,1761516032.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570872,-0.818684,-0.062143],[0.820589,-0.571428,-0.010181],[-0.027175,-0.056806,0.998015]]
2025-10-26T22:00:32.130Z,1761516032.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:32.480Z,1761516032.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570015,-0.819272,-0.062259],[0.821180,-0.570581,-0.010019],[-0.027315,-0.056837,0.998010]]
2025-10-26T22:00:32.498Z,1761516032.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:32.886Z,1761516032.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569502,-0.819633,-0.062209],[0.821540,-0.570061,-0.010094],[-0.027190,-0.056856,0.998012]]
2025-10-26T22:00:32.969Z,1761516032.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:33.286Z,1761516033.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569294,-0.819793,-0.061997],[0.821693,-0.569838,-0.010253],[-0.026923,-0.056780,0.998024]]
2025-10-26T22:00:33.349Z,1761516033.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:33.690Z,1761516033.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569138,-0.819922,-0.061719],[0.821811,-0.569664,-0.010430],[-0.026607,-0.056658,0.998039]]
2025-10-26T22:00:33.717Z,1761516033.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:34.096Z,1761516034.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569521,-0.819673,-0.061492],[0.821564,-0.570011,-0.010986],[-0.026047,-0.056776,0.998047]]
2025-10-26T22:00:34.132Z,1761516034.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:34.498Z,1761516034.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570113,-0.819299,-0.060999],[0.821178,-0.570554,-0.011628],[-0.025277,-0.056720,0.998070]]
2025-10-26T22:00:34.522Z,1761516034.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:34.902Z,1761516034.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570695,-0.818922,-0.060622],[0.820796,-0.571089,-0.012309],[-0.024540,-0.056783,0.998085]]
2025-10-26T22:00:34.993Z,1761516034.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:35.314Z,1761516035.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571069,-0.818695,-0.060154],[0.820557,-0.571418,-0.012930],[-0.023787,-0.056744,0.998105]]
2025-10-26T22:00:35.366Z,1761516035.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:35.718Z,1761516035.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571751,-0.818241,-0.059850],[0.820106,-0.572045,-0.013791],[-0.022953,-0.056968,0.998112]]
2025-10-26T22:00:35.742Z,1761516035.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:36.114Z,1761516036.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572163,-0.817991,-0.059335],[0.819840,-0.572411,-0.014414],[-0.022173,-0.056892,0.998134]]
2025-10-26T22:00:36.160Z,1761516036.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:36.518Z,1761516036.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572722,-0.817641,-0.058755],[0.819475,-0.572913,-0.015212],[-0.021223,-0.056861,0.998156]]
2025-10-26T22:00:36.552Z,1761516036.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:36.923Z,1761516036.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573024,-0.817455,-0.058405],[0.819282,-0.573170,-0.015894],[-0.020483,-0.056958,0.998166]]
2025-10-26T22:00:36.945Z,1761516036.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:37.330Z,1761516037.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572814,-0.817629,-0.058030],[0.819444,-0.572928,-0.016306],[-0.019915,-0.056892,0.998182]]
2025-10-26T22:00:37.413Z,1761516037.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:37.738Z,1761516037.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572566,-0.817824,-0.057735],[0.819630,-0.572649,-0.016734],[-0.019376,-0.056902,0.998192]]
2025-10-26T22:00:37.759Z,1761516037.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:38.134Z,1761516038.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571972,-0.818257,-0.057469],[0.820053,-0.572036,-0.016964],[-0.018993,-0.056830,0.998203]]
2025-10-26T22:00:38.181Z,1761516038.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:38.538Z,1761516038.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571100,-0.818863,-0.057519],[0.820664,-0.571156,-0.017089],[-0.018859,-0.056963,0.998198]]
2025-10-26T22:00:38.557Z,1761516038.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:38.944Z,1761516038.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569930,-0.819682,-0.057459],[0.821478,-0.569986,-0.017018],[-0.018802,-0.056901,0.998203]]
2025-10-26T22:00:38.962Z,1761516038.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:39.346Z,1761516039.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568810,-0.820459,-0.057459],[0.822255,-0.568865,-0.016993],[-0.018744,-0.056912,0.998203]]
2025-10-26T22:00:39.396Z,1761516039.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:39.751Z,1761516039.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567172,-0.821596,-0.057411],[0.823381,-0.567246,-0.016592],[-0.018934,-0.056682,0.998213]]
2025-10-26T22:00:39.796Z,1761516039.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:40.155Z,1761516040.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565617,-0.822654,-0.057605],[0.824445,-0.565708,-0.016298],[-0.019180,-0.056711,0.998206]]
2025-10-26T22:00:40.207Z,1761516040.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:40.558Z,1761516040.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564075,-0.823698,-0.057803],[0.825495,-0.564183,-0.015998],[-0.019434,-0.056740,0.998200]]
2025-10-26T22:00:40.582Z,1761516040.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:40.962Z,1761516040.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562601,-0.824699,-0.057884],[0.826496,-0.562722,-0.015747],[-0.019586,-0.056700,0.998199]]
2025-10-26T22:00:40.993Z,1761516040.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:41.366Z,1761516041.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561049,-0.825754,-0.057918],[0.827546,-0.561186,-0.015409],[-0.019778,-0.056575,0.998202]]
2025-10-26T22:00:41.443Z,1761516041.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:41.810Z,1761516041.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559676,-0.826672,-0.058112],[0.828470,-0.559828,-0.015145],[-0.020013,-0.056620,0.998195]]
2025-10-26T22:00:41.834Z,1761516041.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:42.174Z,1761516042.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558608,-0.827381,-0.058284],[0.829188,-0.558766,-0.015074],[-0.020095,-0.056749,0.998186]]
2025-10-26T22:00:42.217Z,1761516042.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:42.578Z,1761516042.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557451,-0.828153,-0.058414],[0.829964,-0.557618,-0.014905],[-0.020229,-0.056790,0.998181]]
2025-10-26T22:00:42.611Z,1761516042.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:42.982Z,1761516042.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556405,-0.828850,-0.058498],[0.830662,-0.556582,-0.014720],[-0.020358,-0.056783,0.998179]]
2025-10-26T22:00:43.000Z,1761516043.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:43.391Z,1761516043.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555573,-0.829409,-0.058472],[0.831219,-0.555752,-0.014670],[-0.020328,-0.056753,0.998181]]
2025-10-26T22:00:43.454Z,1761516043.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:43.804Z,1761516043.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554879,-0.829868,-0.058550],[0.831683,-0.555055,-0.014705],[-0.020295,-0.056855,0.998176]]
2025-10-26T22:00:43.822Z,1761516043.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:44.194Z,1761516044.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554023,-0.830441,-0.058541],[0.832253,-0.554204,-0.014575],[-0.020340,-0.056796,0.998179]]
2025-10-26T22:00:44.237Z,1761516044.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:44.598Z,1761516044.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553394,-0.830863,-0.058496],[0.832672,-0.553575,-0.014559],[-0.020285,-0.056765,0.998182]]
2025-10-26T22:00:44.616Z,1761516044.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:45.002Z,1761516045.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552639,-0.831356,-0.058626],[0.833172,-0.552824,-0.014492],[-0.020362,-0.056855,0.998175]]
2025-10-26T22:00:45.020Z,1761516045.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:45.414Z,1761516045.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551857,-0.831869,-0.058717],[0.833688,-0.552049,-0.014373],[-0.020458,-0.056883,0.998171]]
2025-10-26T22:00:45.454Z,1761516045.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:45.812Z,1761516045.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551067,-0.832391,-0.058743],[0.834210,-0.551262,-0.014300],[-0.020480,-0.056884,0.998171]]
2025-10-26T22:00:45.844Z,1761516045.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:46.214Z,1761516046.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550238,-0.832927,-0.058912],[0.834754,-0.550439,-0.014220],[-0.020583,-0.057001,0.998162]]
2025-10-26T22:00:46.265Z,1761516046.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:46.620Z,1761516046.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549167,-0.833636,-0.058885],[0.835455,-0.549382,-0.013919],[-0.020747,-0.056840,0.998168]]
2025-10-26T22:00:46.644Z,1761516046.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:47.025Z,1761516047.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548228,-0.834247,-0.058966],[0.836067,-0.548456,-0.013705],[-0.020907,-0.056813,0.998166]]
2025-10-26T22:00:47.044Z,1761516047.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:47.426Z,1761516047.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547334,-0.834832,-0.059004],[0.836650,-0.547570,-0.013532],[-0.021012,-0.056772,0.998166]]
2025-10-26T22:00:47.478Z,1761516047.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:47.830Z,1761516047.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546084,-0.835640,-0.059150],[0.837459,-0.546343,-0.013136],[-0.021339,-0.056708,0.998163]]
2025-10-26T22:00:47.849Z,1761516047.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:48.234Z,1761516048.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545160,-0.836239,-0.059196],[0.838056,-0.545432,-0.012897],[-0.021502,-0.056640,0.998163]]
2025-10-26T22:00:48.301Z,1761516048.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:48.640Z,1761516048.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544365,-0.836756,-0.059219],[0.838570,-0.544645,-0.012726],[-0.021605,-0.056587,0.998164]]
2025-10-26T22:00:48.658Z,1761516048.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:49.042Z,1761516049.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543581,-0.837261,-0.059268],[0.839076,-0.543868,-0.012588],[-0.021694,-0.056573,0.998163]]
2025-10-26T22:00:49.068Z,1761516049.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:49.446Z,1761516049.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542851,-0.837728,-0.059366],[0.839546,-0.543146,-0.012458],[-0.021808,-0.056603,0.998159]]
2025-10-26T22:00:49.502Z,1761516049.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:49.852Z,1761516049.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542038,-0.838253,-0.059383],[0.840068,-0.542343,-0.012253],[-0.021935,-0.056527,0.998160]]
2025-10-26T22:00:49.876Z,1761516049.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:50.256Z,1761516050.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541594,-0.838544,-0.059322],[0.840355,-0.541897,-0.012243],[-0.021881,-0.056482,0.998164]]
2025-10-26T22:00:50.324Z,1761516050.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:50.658Z,1761516050.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541409,-0.838663,-0.059328],[0.840480,-0.541699,-0.012478],[-0.021673,-0.056620,0.998160]]
2025-10-26T22:00:50.686Z,1761516050.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:51.062Z,1761516051.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541242,-0.838780,-0.059207],[0.840594,-0.541518,-0.012672],[-0.021433,-0.056628,0.998165]]
2025-10-26T22:00:51.092Z,1761516051.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:51.466Z,1761516051.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541231,-0.838790,-0.059157],[0.840609,-0.541487,-0.013012],[-0.021118,-0.056770,0.998164]]
2025-10-26T22:00:51.530Z,1761516051.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:51.872Z,1761516051.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540984,-0.838957,-0.059054],[0.840773,-0.541228,-0.013162],[-0.020919,-0.056771,0.998168]]
2025-10-26T22:00:51.890Z,1761516051.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:52.285Z,1761516052.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540949,-0.838989,-0.058917],[0.840802,-0.541177,-0.013387],[-0.020653,-0.056779,0.998173]]
2025-10-26T22:00:52.363Z,1761516052.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:52.678Z,1761516052.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540877,-0.839035,-0.058920],[0.840853,-0.541093,-0.013618],[-0.020455,-0.056909,0.998170]]
2025-10-26T22:00:52.708Z,1761516052.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:53.082Z,1761516053.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540844,-0.839075,-0.058657],[0.840882,-0.541043,-0.013805],[-0.020152,-0.056790,0.998183]]
2025-10-26T22:00:53.100Z,1761516053.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:53.491Z,1761516053.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540921,-0.839043,-0.058397],[0.840841,-0.541099,-0.014092],[-0.019775,-0.056725,0.998194]]
2025-10-26T22:00:53.546Z,1761516053.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:53.891Z,1761516053.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540972,-0.839019,-0.058279],[0.840814,-0.541136,-0.014311],[-0.019530,-0.056744,0.998198]]
2025-10-26T22:00:53.914Z,1761516053.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:54.297Z,1761516054.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541059,-0.838975,-0.058112],[0.840766,-0.541202,-0.014608],[-0.019194,-0.056763,0.998203]]
2025-10-26T22:00:54.341Z,1761516054.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:54.699Z,1761516054.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540930,-0.839055,-0.058154],[0.840853,-0.541060,-0.014841],[-0.019012,-0.056927,0.998197]]
2025-10-26T22:00:54.745Z,1761516054.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:54.796Z,1761516054.796 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:00:55.135Z,1761516055.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:55.508Z,1761516055.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539586,-0.839916,-0.058203],[0.841710,-0.539736,-0.014461],[-0.019268,-0.056793,0.998200]]
2025-10-26T22:00:55.547Z,1761516055.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:55.800Z,1761516055.800 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:00:55.911Z,1761516055.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539077,-0.840235,-0.058313],[0.842034,-0.539232,-0.014404],[-0.019341,-0.056866,0.998194]]
2025-10-26T22:00:55.938Z,1761516055.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:56.315Z,1761516056.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538257,-0.840758,-0.058352],[0.842553,-0.538430,-0.014076],[-0.019584,-0.056741,0.998197]]
2025-10-26T22:00:56.373Z,1761516056.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:56.726Z,1761516056.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537158,-0.841447,-0.058554],[0.843244,-0.537358,-0.013615],[-0.020009,-0.056689,0.998191]]
2025-10-26T22:00:56.747Z,1761516056.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:57.156Z,1761516057.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:57.526Z,1761516057.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534708,-0.842972,-0.059032],[0.844778,-0.534968,-0.012649],[-0.020918,-0.056632,0.998176]]
2025-10-26T22:00:57.581Z,1761516057.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:57.932Z,1761516057.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533385,-0.843781,-0.059458],[0.845601,-0.533677,-0.012171],[-0.021462,-0.056770,0.998157]]
2025-10-26T22:00:57.950Z,1761516057.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:58.338Z,1761516058.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531453,-0.844971,-0.059852],[0.846795,-0.531798,-0.011340],[-0.022247,-0.056709,0.998143]]
2025-10-26T22:00:58.374Z,1761516058.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:58.741Z,1761516058.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529760,-0.845993,-0.060420],[0.847836,-0.530151,-0.010673],[-0.023002,-0.056881,0.998116]]
2025-10-26T22:00:58.789Z,1761516058.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:59.142Z,1761516059.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527966,-0.847086,-0.060801],[0.848935,-0.528404,-0.009961],[-0.023690,-0.056876,0.998100]]
2025-10-26T22:00:59.160Z,1761516059.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:59.548Z,1761516059.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526085,-0.848225,-0.061234],[0.850082,-0.526570,-0.009222],[-0.024422,-0.056906,0.998081]]
2025-10-26T22:00:59.603Z,1761516059.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:00:59.954Z,1761516059.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524155,-0.849394,-0.061569],[0.851251,-0.524691,-0.008412],[-0.025160,-0.056820,0.998067]]
2025-10-26T22:00:59.972Z,1761516059.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:00.364Z,1761516060.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522070,-0.850647,-0.061990],[0.852507,-0.522662,-0.007539],[-0.025987,-0.056783,0.998048]]
2025-10-26T22:01:00.413Z,1761516060.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:00.769Z,1761516060.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520041,-0.851854,-0.062464],[0.853724,-0.520680,-0.006852],[-0.026687,-0.056891,0.998024]]
2025-10-26T22:01:00.811Z,1761516060.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:01.163Z,1761516061.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518236,-0.852931,-0.062780],[0.854805,-0.518911,-0.006303],[-0.027201,-0.056931,0.998007]]
2025-10-26T22:01:01.188Z,1761516061.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:01.566Z,1761516061.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516236,-0.854132,-0.062915],[0.855998,-0.516948,-0.005652],[-0.027696,-0.056773,0.998003]]
2025-10-26T22:01:01.644Z,1761516061.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:01.971Z,1761516061.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514833,-0.854960,-0.063171],[0.856836,-0.515561,-0.005430],[-0.027926,-0.056922,0.997988]]
2025-10-26T22:01:01.989Z,1761516061.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:02.389Z,1761516062.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513692,-0.855638,-0.063278],[0.857517,-0.514427,-0.005317],[-0.028002,-0.056994,0.997982]]
2025-10-26T22:01:02.437Z,1761516062.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:02.784Z,1761516062.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512668,-0.856262,-0.063142],[0.858134,-0.513399,-0.005272],[-0.027903,-0.056887,0.997991]]
2025-10-26T22:01:02.807Z,1761516062.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:03.217Z,1761516063.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:03.591Z,1761516063.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511376,-0.857069,-0.062675],[0.858924,-0.512073,-0.005604],[-0.027291,-0.056699,0.998018]]
2025-10-26T22:01:03.648Z,1761516063.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:04.019Z,1761516064.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:04.420Z,1761516064.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511774,-0.856885,-0.061935],[0.858754,-0.512329,-0.007768],[-0.025075,-0.057162,0.998050]]
2025-10-26T22:01:04.462Z,1761516064.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:04.832Z,1761516064.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:05.208Z,1761516065.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513187,-0.856125,-0.060734],[0.857971,-0.513607,-0.009677],[-0.022908,-0.057074,0.998107]]
2025-10-26T22:01:05.245Z,1761516065.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:05.614Z,1761516065.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514171,-0.855586,-0.060004],[0.857414,-0.514516,-0.010736],[-0.021688,-0.056968,0.998140]]
2025-10-26T22:01:05.667Z,1761516065.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:06.017Z,1761516066.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515231,-0.854991,-0.059389],[0.856807,-0.515500,-0.011888],[-0.020451,-0.057010,0.998164]]
2025-10-26T22:01:06.036Z,1761516066.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:06.446Z,1761516066.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516159,-0.854471,-0.058815],[0.856275,-0.516359,-0.012921],[-0.019329,-0.057031,0.998185]]
2025-10-26T22:01:06.510Z,1761516066.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:06.869Z,1761516066.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:07.222Z,1761516067.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517584,-0.853677,-0.057810],[0.855459,-0.517656,-0.014897],[-0.017208,-0.057165,0.998216]]
2025-10-26T22:01:07.248Z,1761516067.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:07.650Z,1761516067.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517668,-0.853648,-0.057484],[0.855422,-0.517699,-0.015523],[-0.016508,-0.057209,0.998226]]
2025-10-26T22:01:07.697Z,1761516067.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:08.051Z,1761516068.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517684,-0.853660,-0.057174],[0.855425,-0.517675,-0.016119],[-0.015837,-0.057253,0.998234]]
2025-10-26T22:01:08.070Z,1761516068.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:08.478Z,1761516068.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516981,-0.854097,-0.056995],[0.855855,-0.516959,-0.016285],[-0.015555,-0.057198,0.998242]]
2025-10-26T22:01:08.539Z,1761516068.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:08.859Z,1761516068.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516177,-0.854588,-0.056936],[0.856343,-0.516148,-0.016352],[-0.015413,-0.057197,0.998244]]
2025-10-26T22:01:08.895Z,1761516068.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:09.269Z,1761516069.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514704,-0.855475,-0.056949],[0.857226,-0.514692,-0.015993],[-0.015630,-0.057050,0.998249]]
2025-10-26T22:01:09.288Z,1761516069.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:09.674Z,1761516069.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512992,-0.856489,-0.057152],[0.858243,-0.513010,-0.015481],[-0.016061,-0.056992,0.998245]]
2025-10-26T22:01:09.738Z,1761516069.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:10.066Z,1761516070.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510856,-0.857731,-0.057659],[0.859502,-0.510918,-0.014766],[-0.016794,-0.057101,0.998227]]
2025-10-26T22:01:10.095Z,1761516070.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:10.510Z,1761516070.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508017,-0.859373,-0.058285],[0.861162,-0.508147,-0.013674],[-0.017867,-0.057140,0.998206]]
2025-10-26T22:01:10.567Z,1761516070.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:10.877Z,1761516070.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505190,-0.861002,-0.058805],[0.862800,-0.505391,-0.012512],[-0.018947,-0.057058,0.998191]]
2025-10-26T22:01:10.894Z,1761516070.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:11.312Z,1761516071.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:11.682Z,1761516071.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498598,-0.864744,-0.060145],[0.866561,-0.498980,-0.009579],[-0.021728,-0.056895,0.998144]]
2025-10-26T22:01:11.768Z,1761516071.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:12.130Z,1761516072.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495133,-0.866690,-0.060758],[0.868508,-0.495610,-0.008002],[-0.023177,-0.056731,0.998120]]
2025-10-26T22:01:12.148Z,1761516072.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:12.546Z,1761516072.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491758,-0.868561,-0.061447],[0.870383,-0.492333,-0.006458],[-0.024643,-0.056658,0.998089]]
2025-10-26T22:01:12.607Z,1761516072.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:13.015Z,1761516073.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:13.367Z,1761516073.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485362,-0.872049,-0.062885],[0.873885,-0.486119,-0.003668],[-0.027371,-0.056735,0.998014]]
2025-10-26T22:01:13.386Z,1761516073.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:13.771Z,1761516073.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482627,-0.873522,-0.063488],[0.875363,-0.483460,-0.002547],[-0.028469,-0.056804,0.997979]]
2025-10-26T22:01:13.817Z,1761516073.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:14.218Z,1761516074.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:14.580Z,1761516074.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477877,-0.876057,-0.064483],[0.877903,-0.478839,-0.000604],[-0.030348,-0.056899,0.997919]]
2025-10-26T22:01:14.638Z,1761516074.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:14.984Z,1761516074.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476445,-0.876844,-0.064383],[0.878669,-0.477432,-0.000053],[-0.030692,-0.056597,0.997925]]
2025-10-26T22:01:15.002Z,1761516075.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:15.386Z,1761516075.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475518,-0.877343,-0.064427],[0.879165,-0.476517,0.000158],[-0.030839,-0.056567,0.997922]]
2025-10-26T22:01:15.420Z,1761516075.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:15.790Z,1761516075.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475106,-0.877570,-0.064386],[0.879393,-0.476097,0.000054],[-0.030702,-0.056594,0.997925]]
2025-10-26T22:01:15.840Z,1761516075.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:16.198Z,1761516076.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475197,-0.877540,-0.064122],[0.879361,-0.476156,-0.000379],[-0.030200,-0.056567,0.997942]]
2025-10-26T22:01:16.216Z,1761516076.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:16.607Z,1761516076.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475739,-0.877254,-0.064010],[0.879092,-0.476650,-0.001182],[-0.029473,-0.056833,0.997949]]
2025-10-26T22:01:16.669Z,1761516076.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:17.033Z,1761516077.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476666,-0.876776,-0.063658],[0.878621,-0.477515,-0.002122],[-0.028537,-0.056942,0.997970]]
2025-10-26T22:01:17.051Z,1761516077.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:17.436Z,1761516077.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477868,-0.876154,-0.063210],[0.878003,-0.478644,-0.003218],[-0.027436,-0.057036,0.997995]]
2025-10-26T22:01:17.454Z,1761516077.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:17.838Z,1761516077.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479309,-0.875417,-0.062516],[0.877258,-0.479999,-0.004457],[-0.026106,-0.056979,0.998034]]
2025-10-26T22:01:17.886Z,1761516077.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:18.251Z,1761516078.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481041,-0.874521,-0.061754],[0.876351,-0.481637,-0.005811],[-0.024661,-0.056913,0.998075]]
2025-10-26T22:01:18.280Z,1761516078.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:18.646Z,1761516078.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482913,-0.873557,-0.060770],[0.875365,-0.483409,-0.007243],[-0.023049,-0.056694,0.998125]]
2025-10-26T22:01:18.710Z,1761516078.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:19.099Z,1761516079.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484646,-0.872661,-0.059832],[0.874447,-0.485044,-0.008664],[-0.021461,-0.056519,0.998171]]
2025-10-26T22:01:19.118Z,1761516079.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:19.556Z,1761516079.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:19.957Z,1761516079.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:20.313Z,1761516080.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489421,-0.870121,-0.057931],[0.871882,-0.489543,-0.013041],[-0.017012,-0.056891,0.998235]]
2025-10-26T22:01:20.329Z,1761516080.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:01:20.331Z,1761516080.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:20.380Z,1761516080.380 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:01:20.381Z,1761516080.381 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:01:20.636Z,1761516080.636 [DAT](INFO): DAT read: user:426>

2025-10-26T22:01:20.638Z,1761516080.638 [DAT](INFO): DAT read: Tx time:22:01:19.7396

2025-10-26T22:01:20.640Z,1761516080.640 [DAT](INFO): Ping request sent.
2025-10-26T22:01:20.640Z,1761516080.640 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:01:20.641Z,1761516080.641 [DAT](INFO): publishing transmit ping time
2025-10-26T22:01:20.643Z,1761516080.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002609
2025-10-26T22:01:20.722Z,1761516080.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490264,-0.869688,-0.057314],[0.871430,-0.490319,-0.014067],[-0.015868,-0.056842,0.998257]]
2025-10-26T22:01:20.800Z,1761516080.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:20.885Z,1761516080.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245812
2025-10-26T22:01:21.114Z,1761516081.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490771,-0.869443,-0.056678],[0.871162,-0.490770,-0.014887],[-0.014873,-0.056682,0.998281]]
2025-10-26T22:01:21.136Z,1761516081.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496646
2025-10-26T22:01:21.184Z,1761516081.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:21.389Z,1761516081.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749123
2025-10-26T22:01:21.644Z,1761516081.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003475
2025-10-26T22:01:21.648Z,1761516081.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:21.892Z,1761516081.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252818
2025-10-26T22:01:21.965Z,1761516081.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490315,-0.869737,-0.056103],[0.871434,-0.490264,-0.015621],[-0.013919,-0.056549,0.998303]]
2025-10-26T22:01:22.008Z,1761516082.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:22.144Z,1761516082.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504740
2025-10-26T22:01:22.369Z,1761516082.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489174,-0.870375,-0.056180],[0.872074,-0.489130,-0.015463],[-0.014021,-0.056557,0.998301]]
2025-10-26T22:01:22.387Z,1761516082.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:22.404Z,1761516082.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764870
2025-10-26T22:01:22.659Z,1761516082.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018914
2025-10-26T22:01:22.774Z,1761516082.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487457,-0.871326,-0.056363],[0.873027,-0.487445,-0.014892],[-0.014498,-0.056466,0.998299]]
2025-10-26T22:01:22.834Z,1761516082.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:22.909Z,1761516082.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269702
2025-10-26T22:01:23.160Z,1761516083.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520871
2025-10-26T22:01:23.171Z,1761516083.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485289,-0.872510,-0.056763],[0.874221,-0.485323,-0.014107],[-0.015240,-0.056469,0.998288]]
2025-10-26T22:01:23.204Z,1761516083.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:23.413Z,1761516083.413 [DAT](INFO): DAT read: Rx Time:22:01:22.1557

2025-10-26T22:01:23.414Z,1761516083.414 [DAT](INFO): Rx dataTimestamp_ set to:1761516083.413296
2025-10-26T22:01:23.414Z,1761516083.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774707
2025-10-26T22:01:23.574Z,1761516083.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482834,-0.873836,-0.057296],[0.875562,-0.482926,-0.013138],[-0.016189,-0.056510,0.998271]]
2025-10-26T22:01:23.612Z,1761516083.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:23.668Z,1761516083.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027514
2025-10-26T22:01:23.920Z,1761516083.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279279
2025-10-26T22:01:24.045Z,1761516084.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:24.169Z,1761516084.169 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m  (Round-trip  12.0 ms) speed  0.0 m/s

2025-10-26T22:01:24.170Z,1761516084.170 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-26T22:01:24.386Z,1761516084.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476278,-0.877327,-0.058794],[0.879088,-0.476551,-0.010186],[-0.019082,-0.056536,0.998218]]
2025-10-26T22:01:24.413Z,1761516084.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.000000 m,
      deltaT: 60.283941 s,
      deltaX: -0.600000 m,
      approachRate: -0.009953 m/s,
      rangeRepo size: 4

2025-10-26T22:01:24.413Z,1761516084.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:24.788Z,1761516084.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472539,-0.879293,-0.059594],[0.881063,-0.472925,-0.008347],[-0.020844,-0.056450,0.998188]]
2025-10-26T22:01:24.842Z,1761516084.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:25.237Z,1761516085.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464853,-0.883261,-0.061338],[0.885049,-0.465474,-0.004615],[-0.024475,-0.056432,0.998106]]
2025-10-26T22:01:25.260Z,1761516085.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:25.644Z,1761516085.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461157,-0.885135,-0.062213],[0.886928,-0.461899,-0.002743],[-0.026308,-0.056444,0.998059]]
2025-10-26T22:01:25.667Z,1761516085.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:25.928Z,1761516085.928 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:01:26.046Z,1761516086.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457567,-0.886923,-0.063241],[0.888731,-0.458429,-0.000985],[-0.028118,-0.056655,0.997998]]
2025-10-26T22:01:26.092Z,1761516086.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:26.451Z,1761516086.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454572,-0.888400,-0.064110],[0.890217,-0.455537,0.000481],[-0.029632,-0.056853,0.997943]]
2025-10-26T22:01:26.481Z,1761516086.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:26.909Z,1761516086.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:26.932Z,1761516086.932 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:01:27.322Z,1761516087.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:27.682Z,1761516087.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448811,-0.891237,-0.065317],[0.893048,-0.449950,0.003105],[-0.032157,-0.056937,0.997860]]
2025-10-26T22:01:27.757Z,1761516087.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:28.084Z,1761516088.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448386,-0.891443,-0.065425],[0.893263,-0.449524,0.003043],[-0.032123,-0.057078,0.997853]]
2025-10-26T22:01:28.120Z,1761516088.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:28.486Z,1761516088.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448677,-0.891312,-0.065205],[0.893133,-0.449786,0.002631],[-0.031673,-0.057056,0.997868]]
2025-10-26T22:01:28.516Z,1761516088.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:28.891Z,1761516088.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449737,-0.890813,-0.064729],[0.892632,-0.450783,0.001764],[-0.030750,-0.056985,0.997901]]
2025-10-26T22:01:28.936Z,1761516088.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:29.297Z,1761516089.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451645,-0.889894,-0.064071],[0.891716,-0.452595,0.000354],[-0.029313,-0.056973,0.997945]]
2025-10-26T22:01:29.316Z,1761516089.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:29.702Z,1761516089.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453860,-0.888822,-0.063299],[0.890643,-0.454701,-0.001260],[-0.027662,-0.056948,0.997994]]
2025-10-26T22:01:29.786Z,1761516089.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:30.149Z,1761516090.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:30.506Z,1761516090.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459361,-0.886126,-0.061384],[0.887939,-0.459930,-0.005353],[-0.023489,-0.056965,0.998100]]
2025-10-26T22:01:30.524Z,1761516090.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:30.911Z,1761516090.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462634,-0.884504,-0.060183],[0.886299,-0.463049,-0.007692],[-0.021064,-0.056899,0.998158]]
2025-10-26T22:01:30.979Z,1761516090.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:31.340Z,1761516091.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466073,-0.882775,-0.059024],[0.884553,-0.466328,-0.010213],[-0.018509,-0.056970,0.998204]]
2025-10-26T22:01:31.358Z,1761516091.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:31.746Z,1761516091.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469497,-0.881048,-0.057684],[0.882792,-0.469591,-0.012755],[-0.015850,-0.056912,0.998253]]
2025-10-26T22:01:31.781Z,1761516091.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:32.146Z,1761516092.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472844,-0.879339,-0.056404],[0.881048,-0.472779,-0.015342],[-0.013176,-0.056949,0.998290]]
2025-10-26T22:01:32.189Z,1761516092.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:32.551Z,1761516092.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476166,-0.877626,-0.055117],[0.879293,-0.475943,-0.017944],[-0.010484,-0.057008,0.998319]]
2025-10-26T22:01:32.569Z,1761516092.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:32.955Z,1761516092.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479135,-0.876093,-0.053775],[0.877706,-0.478766,-0.020381],[-0.007890,-0.056964,0.998345]]
2025-10-26T22:01:32.993Z,1761516092.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:33.385Z,1761516093.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:33.763Z,1761516093.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484049,-0.873506,-0.051807],[0.875034,-0.483427,-0.024760],[-0.003417,-0.057318,0.998350]]
2025-10-26T22:01:33.852Z,1761516093.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:34.168Z,1761516094.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485467,-0.872775,-0.050850],[0.874253,-0.484761,-0.026229],[-0.001758,-0.057189,0.998362]]
2025-10-26T22:01:34.234Z,1761516094.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:34.570Z,1761516094.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485951,-0.872529,-0.050449],[0.873986,-0.485189,-0.027202],[-0.000743,-0.057310,0.998356]]
2025-10-26T22:01:34.604Z,1761516094.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:35.030Z,1761516095.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:35.380Z,1761516095.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484667,-0.873262,-0.050107],[0.874699,-0.483880,-0.027601],[-0.000143,-0.057206,0.998362]]
2025-10-26T22:01:35.405Z,1761516095.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:35.786Z,1761516095.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482840,-0.874253,-0.050471],[0.875708,-0.482083,-0.027031],[-0.000699,-0.057250,0.998360]]
2025-10-26T22:01:35.804Z,1761516095.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:36.186Z,1761516096.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480548,-0.875500,-0.050733],[0.876967,-0.479843,-0.026055],[-0.001532,-0.057012,0.998372]]
2025-10-26T22:01:36.231Z,1761516096.231 [Sonardyne_Nano](ERROR): Failed to parse response: >VS:2207,HPR45,EXT,TILT

2025-10-26T22:01:36.265Z,1761516096.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:36.652Z,1761516096.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477872,-0.876919,-0.051494],[0.878425,-0.477234,-0.024834],[-0.002798,-0.057101,0.998364]]
2025-10-26T22:01:36.698Z,1761516096.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:37.058Z,1761516097.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474897,-0.878492,-0.052201],[0.880031,-0.474343,-0.023321],[-0.004274,-0.057013,0.998364]]
2025-10-26T22:01:37.068Z,1761516097.068 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  82.85,  77.08,  79.46
2025-10-26T22:01:37.083Z,1761516097.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:37.459Z,1761516097.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471635,-0.880188,-0.053192],[0.881773,-0.471175,-0.021679],[-0.005981,-0.057127,0.998349]]
2025-10-26T22:01:37.493Z,1761516097.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:37.922Z,1761516097.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468212,-0.881949,-0.054250],[0.883580,-0.467861,-0.019790],[-0.007928,-0.057200,0.998331]]
2025-10-26T22:01:37.968Z,1761516097.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:38.266Z,1761516098.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464657,-0.883766,-0.055237],[0.885435,-0.464425,-0.017753],[-0.009964,-0.057158,0.998315]]
2025-10-26T22:01:38.285Z,1761516098.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:38.673Z,1761516098.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461525,-0.885345,-0.056201],[0.887048,-0.461406,-0.015858],[-0.011891,-0.057172,0.998294]]
2025-10-26T22:01:38.696Z,1761516098.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:39.074Z,1761516099.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458838,-0.886691,-0.056984],[0.888415,-0.458824,-0.014112],[-0.013632,-0.057101,0.998275]]
2025-10-26T22:01:39.121Z,1761516099.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:39.478Z,1761516099.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456518,-0.887840,-0.057725],[0.889583,-0.456604,-0.012457],[-0.015298,-0.057038,0.998255]]
2025-10-26T22:01:39.496Z,1761516099.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:39.906Z,1761516099.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454817,-0.888659,-0.058535],[0.890428,-0.454988,-0.011141],[-0.016732,-0.057188,0.998223]]
2025-10-26T22:01:39.975Z,1761516099.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:40.288Z,1761516100.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453873,-0.889115,-0.058941],[0.890891,-0.454103,-0.010202],[-0.017694,-0.057141,0.998209]]
2025-10-26T22:01:40.325Z,1761516100.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:40.723Z,1761516100.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453547,-0.889258,-0.059301],[0.891043,-0.453818,-0.009579],[-0.018394,-0.057184,0.998194]]
2025-10-26T22:01:40.745Z,1761516100.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:41.110Z,1761516101.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454044,-0.888999,-0.059368],[0.890784,-0.454329,-0.009382],[-0.018632,-0.057144,0.998192]]
2025-10-26T22:01:41.133Z,1761516101.133 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,     ,        +0.00,        +0.00,  20.00,1721.34
2025-10-26T22:01:41.148Z,1761516101.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:41.515Z,1761516101.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455330,-0.888349,-0.059245],[0.890132,-0.455601,-0.009636],[-0.018432,-0.057124,0.998197]]
2025-10-26T22:01:41.549Z,1761516101.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:41.959Z,1761516101.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457067,-0.887476,-0.058959],[0.889250,-0.457309,-0.010111],[-0.017989,-0.057050,0.998209]]
2025-10-26T22:01:42.029Z,1761516102.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:42.395Z,1761516102.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459416,-0.886278,-0.058723],[0.888053,-0.459611,-0.010929],[-0.017303,-0.057171,0.998214]]
2025-10-26T22:01:42.413Z,1761516102.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:42.796Z,1761516102.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462429,-0.884749,-0.058124],[0.886509,-0.462553,-0.012105],[-0.016175,-0.057125,0.998236]]
2025-10-26T22:01:42.814Z,1761516102.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:43.211Z,1761516103.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465988,-0.882925,-0.057435],[0.884667,-0.466028,-0.013525],[-0.014825,-0.057113,0.998258]]
2025-10-26T22:01:43.273Z,1761516103.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:43.657Z,1761516103.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473803,-0.878859,-0.055837],[0.880553,-0.473652,-0.016753],[-0.011724,-0.057105,0.998299]]
2025-10-26T22:01:43.703Z,1761516103.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:44.058Z,1761516104.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478115,-0.876574,-0.054985],[0.878241,-0.477857,-0.018603],[-0.009968,-0.057185,0.998314]]
2025-10-26T22:01:44.115Z,1761516104.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:44.504Z,1761516104.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:44.867Z,1761516104.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486452,-0.872089,-0.053161],[0.873683,-0.485990,-0.022159],[-0.006511,-0.057225,0.998340]]
2025-10-26T22:01:44.895Z,1761516104.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:45.270Z,1761516105.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490334,-0.869960,-0.052370],[0.871521,-0.489781,-0.023786],[-0.004957,-0.057304,0.998344]]
2025-10-26T22:01:45.322Z,1761516105.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:45.704Z,1761516105.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493761,-0.868065,-0.051606],[0.869590,-0.493134,-0.025140],[-0.003626,-0.057289,0.998351]]
2025-10-26T22:01:45.746Z,1761516105.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:46.099Z,1761516106.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496835,-0.866353,-0.050862],[0.867841,-0.496148,-0.026250],[-0.002493,-0.057182,0.998361]]
2025-10-26T22:01:46.156Z,1761516106.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:46.503Z,1761516106.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499256,-0.864987,-0.050413],[0.866453,-0.498528,-0.027012],[-0.001768,-0.057166,0.998363]]
2025-10-26T22:01:46.522Z,1761516106.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:46.944Z,1761516106.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:47.311Z,1761516107.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502029,-0.863390,-0.050238],[0.864849,-0.501283,-0.027408],[-0.001519,-0.057208,0.998361]]
2025-10-26T22:01:47.348Z,1761516107.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:47.722Z,1761516107.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502559,-0.863074,-0.050369],[0.864541,-0.501830,-0.027119],[-0.001871,-0.057175,0.998362]]
2025-10-26T22:01:47.744Z,1761516107.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:48.198Z,1761516108.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:48.522Z,1761516108.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502159,-0.863252,-0.051313],[0.864768,-0.501512,-0.025725],[-0.003527,-0.057292,0.998351]]
2025-10-26T22:01:48.555Z,1761516108.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:48.926Z,1761516108.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501198,-0.863777,-0.051859],[0.865320,-0.500620,-0.024524],[-0.004778,-0.057166,0.998353]]
2025-10-26T22:01:48.948Z,1761516108.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:49.333Z,1761516109.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499829,-0.864525,-0.052607],[0.866101,-0.499335,-0.023100],[-0.006298,-0.057109,0.998348]]
2025-10-26T22:01:49.369Z,1761516109.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:49.748Z,1761516109.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498206,-0.865403,-0.053556],[0.867022,-0.497804,-0.021554],[-0.008008,-0.057172,0.998332]]
2025-10-26T22:01:49.774Z,1761516109.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:50.218Z,1761516110.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:50.554Z,1761516110.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494427,-0.867444,-0.055523],[0.869139,-0.494237,-0.018070],[-0.011767,-0.057191,0.998294]]
2025-10-26T22:01:50.573Z,1761516110.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:50.963Z,1761516110.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492533,-0.868457,-0.056513],[0.870187,-0.492450,-0.016343],[-0.013637,-0.057227,0.998268]]
2025-10-26T22:01:50.981Z,1761516110.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:51.362Z,1761516111.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490871,-0.869343,-0.057340],[0.871097,-0.490891,-0.014706],[-0.015363,-0.057168,0.998246]]
2025-10-26T22:01:51.415Z,1761516111.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:51.767Z,1761516111.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489421,-0.870107,-0.058145],[0.871882,-0.489538,-0.013179],[-0.016997,-0.057145,0.998221]]
2025-10-26T22:01:51.785Z,1761516111.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:52.171Z,1761516112.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488401,-0.870632,-0.058863],[0.872425,-0.488603,-0.011896],[-0.018404,-0.057164,0.998195]]
2025-10-26T22:01:52.225Z,1761516112.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:52.570Z,1761516112.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487724,-0.870973,-0.059423],[0.872779,-0.487995,-0.010845],[-0.019552,-0.057153,0.998174]]
2025-10-26T22:01:52.611Z,1761516112.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:52.980Z,1761516112.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487461,-0.871096,-0.059777],[0.872907,-0.487783,-0.010065],[-0.020391,-0.057086,0.998161]]
2025-10-26T22:01:52.998Z,1761516112.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:53.380Z,1761516113.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487897,-0.870838,-0.059974],[0.872653,-0.488243,-0.009740],[-0.020800,-0.057089,0.998152]]
2025-10-26T22:01:53.421Z,1761516113.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:53.782Z,1761516113.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488870,-0.870286,-0.060062],[0.872107,-0.489217,-0.009796],[-0.020858,-0.057169,0.998147]]
2025-10-26T22:01:53.809Z,1761516113.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:54.196Z,1761516114.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490312,-0.869489,-0.059867],[0.871304,-0.490638,-0.010130],[-0.020565,-0.057129,0.998155]]
2025-10-26T22:01:54.241Z,1761516114.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:54.587Z,1761516114.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492028,-0.868533,-0.059648],[0.870348,-0.492319,-0.010731],[-0.020046,-0.057194,0.998162]]
2025-10-26T22:01:54.605Z,1761516114.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:54.990Z,1761516114.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494191,-0.867335,-0.059212],[0.869143,-0.494424,-0.011675],[-0.019150,-0.057234,0.998177]]
2025-10-26T22:01:55.039Z,1761516115.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:55.394Z,1761516115.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496658,-0.865965,-0.058608],[0.867760,-0.496817,-0.012850],[-0.017990,-0.057239,0.998198]]
2025-10-26T22:01:55.441Z,1761516115.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:55.798Z,1761516115.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499275,-0.864506,-0.057915],[0.866283,-0.499351,-0.014186],[-0.016656,-0.057254,0.998221]]
2025-10-26T22:01:55.816Z,1761516115.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:56.208Z,1761516116.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502084,-0.862930,-0.057124],[0.864686,-0.502069,-0.015658],[-0.015168,-0.057256,0.998244]]
2025-10-26T22:01:56.244Z,1761516116.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:56.621Z,1761516116.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505008,-0.861279,-0.056263],[0.863008,-0.504896,-0.017231],[-0.013566,-0.057257,0.998267]]
2025-10-26T22:01:56.639Z,1761516116.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:57.062Z,1761516117.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:57.068Z,1761516117.068 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:01:57.422Z,1761516117.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511114,-0.857776,-0.054612],[0.859454,-0.510792,-0.020754],[-0.010093,-0.057544,0.998292]]
2025-10-26T22:01:57.474Z,1761516117.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:57.826Z,1761516117.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513979,-0.856121,-0.053692],[0.857762,-0.513556,-0.022457],[-0.008348,-0.057598,0.998305]]
2025-10-26T22:01:57.852Z,1761516117.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:58.072Z,1761516118.072 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:01:58.235Z,1761516118.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516491,-0.854668,-0.052728],[0.856266,-0.515983,-0.023886],[-0.006792,-0.057486,0.998323]]
2025-10-26T22:01:58.284Z,1761516118.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:58.635Z,1761516118.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518845,-0.853294,-0.051860],[0.854852,-0.518257,-0.025268],[-0.005316,-0.057442,0.998335]]
2025-10-26T22:01:58.653Z,1761516118.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:59.042Z,1761516119.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521206,-0.851901,-0.051087],[0.853422,-0.520536,-0.026696],[-0.003850,-0.057513,0.998337]]
2025-10-26T22:01:59.073Z,1761516119.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:59.442Z,1761516119.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523248,-0.850689,-0.050384],[0.852176,-0.522510,-0.027906],[-0.002587,-0.057538,0.998340]]
2025-10-26T22:01:59.487Z,1761516119.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:01:59.846Z,1761516119.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524689,-0.849833,-0.049849],[0.851292,-0.523903,-0.028764],[-0.001671,-0.057529,0.998343]]
2025-10-26T22:01:59.865Z,1761516119.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:00.264Z,1761516120.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525955,-0.849075,-0.049429],[0.850512,-0.525127,-0.029514],[-0.000897,-0.057563,0.998341]]
2025-10-26T22:02:00.321Z,1761516120.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:00.657Z,1761516120.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526854,-0.848543,-0.048985],[0.849956,-0.526002,-0.029957],[-0.000346,-0.057418,0.998350]]
2025-10-26T22:02:00.697Z,1761516120.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:01.062Z,1761516121.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527323,-0.848256,-0.048917],[0.849665,-0.526463,-0.030104],[-0.000217,-0.057438,0.998349]]
2025-10-26T22:02:01.100Z,1761516121.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:01.463Z,1761516121.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527660,-0.848044,-0.048946],[0.849455,-0.526797,-0.030167],[-0.000201,-0.057495,0.998346]]
2025-10-26T22:02:01.501Z,1761516121.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:01.877Z,1761516121.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527707,-0.848016,-0.048928],[0.849427,-0.526857,-0.029937],[-0.000391,-0.057359,0.998354]]
2025-10-26T22:02:01.911Z,1761516121.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:02.288Z,1761516122.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527499,-0.848137,-0.049082],[0.849555,-0.526675,-0.029494],[-0.000835,-0.057256,0.998359]]
2025-10-26T22:02:02.332Z,1761516122.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:02.684Z,1761516122.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527284,-0.848249,-0.049444],[0.849688,-0.526485,-0.029044],[-0.001395,-0.057326,0.998355]]
2025-10-26T22:02:02.708Z,1761516122.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:03.083Z,1761516123.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526993,-0.848406,-0.049864],[0.849867,-0.526226,-0.028497],[-0.002062,-0.057396,0.998349]]
2025-10-26T22:02:03.121Z,1761516123.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:03.482Z,1761516123.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526657,-0.848593,-0.050226],[0.850074,-0.525929,-0.027817],[-0.002810,-0.057346,0.998350]]
2025-10-26T22:02:03.539Z,1761516123.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:03.887Z,1761516123.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526359,-0.848746,-0.050758],[0.850254,-0.525672,-0.027131],[-0.003655,-0.057438,0.998342]]
2025-10-26T22:02:03.906Z,1761516123.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:04.317Z,1761516124.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526021,-0.848929,-0.051210],[0.850459,-0.525382,-0.026316],[-0.004564,-0.057395,0.998341]]
2025-10-26T22:02:04.370Z,1761516124.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:04.694Z,1761516124.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525674,-0.849111,-0.051742],[0.850668,-0.525088,-0.025431],[-0.005576,-0.057384,0.998337]]
2025-10-26T22:02:04.744Z,1761516124.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:05.103Z,1761516125.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525203,-0.849376,-0.052177],[0.850951,-0.524675,-0.024446],[-0.006612,-0.057239,0.998339]]
2025-10-26T22:02:05.121Z,1761516125.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:05.504Z,1761516125.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524871,-0.849549,-0.052697],[0.851147,-0.524400,-0.023507],[-0.007664,-0.057191,0.998334]]
2025-10-26T22:02:05.514Z,1761516125.514 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  84.21,  77.42,  80.82
2025-10-26T22:02:05.530Z,1761516125.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:05.906Z,1761516125.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524578,-0.849688,-0.053378],[0.851318,-0.524161,-0.022656],[-0.008729,-0.057327,0.998317]]
2025-10-26T22:02:05.939Z,1761516125.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:06.345Z,1761516126.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524373,-0.849781,-0.053906],[0.851434,-0.524007,-0.021845],[-0.009684,-0.057352,0.998307]]
2025-10-26T22:02:06.382Z,1761516126.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:06.724Z,1761516126.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524338,-0.849773,-0.054356],[0.851445,-0.524017,-0.021146],[-0.010514,-0.057369,0.998298]]
2025-10-26T22:02:06.749Z,1761516126.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:07.122Z,1761516127.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524226,-0.849812,-0.054826],[0.851502,-0.523955,-0.020363],[-0.011422,-0.057359,0.998288]]
2025-10-26T22:02:07.161Z,1761516127.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:07.522Z,1761516127.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524019,-0.849912,-0.055265],[0.851618,-0.523797,-0.019586],[-0.012301,-0.057328,0.998280]]
2025-10-26T22:02:07.568Z,1761516127.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:07.926Z,1761516127.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523872,-0.849975,-0.055692],[0.851696,-0.523695,-0.018894],[-0.013107,-0.057331,0.998269]]
2025-10-26T22:02:07.944Z,1761516127.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:08.369Z,1761516128.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523711,-0.850064,-0.055834],[0.851785,-0.523575,-0.018206],[-0.013758,-0.057093,0.998274]]
2025-10-26T22:02:08.413Z,1761516128.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:08.739Z,1761516128.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523738,-0.850028,-0.056135],[0.851759,-0.523632,-0.017755],[-0.014301,-0.057113,0.998265]]
2025-10-26T22:02:08.769Z,1761516128.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:09.146Z,1761516129.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523776,-0.849982,-0.056473],[0.851727,-0.523697,-0.017366],[-0.014814,-0.057196,0.998253]]
2025-10-26T22:02:09.193Z,1761516129.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:09.542Z,1761516129.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523873,-0.849905,-0.056730],[0.851662,-0.523812,-0.017134],[-0.015154,-0.057291,0.998242]]
2025-10-26T22:02:09.600Z,1761516129.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:09.947Z,1761516129.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524125,-0.849735,-0.056952],[0.851502,-0.524076,-0.016992],[-0.015409,-0.057401,0.998232]]
2025-10-26T22:02:09.966Z,1761516129.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:10.389Z,1761516130.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524722,-0.849356,-0.057113],[0.851134,-0.524669,-0.017130],[-0.015416,-0.057599,0.998221]]
2025-10-26T22:02:10.441Z,1761516130.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:10.754Z,1761516130.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525259,-0.849029,-0.057031],[0.850804,-0.525202,-0.017198],[-0.015351,-0.057555,0.998224]]
2025-10-26T22:02:10.772Z,1761516130.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:11.170Z,1761516131.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526194,-0.848466,-0.056798],[0.850233,-0.526113,-0.017579],[-0.014967,-0.057541,0.998231]]
2025-10-26T22:02:11.191Z,1761516131.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:11.564Z,1761516131.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527446,-0.847714,-0.056406],[0.849468,-0.527326,-0.018200],[-0.014316,-0.057514,0.998242]]
2025-10-26T22:02:11.601Z,1761516131.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:11.966Z,1761516131.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528790,-0.846899,-0.056066],[0.848642,-0.528631,-0.018852],[-0.013672,-0.057549,0.998249]]
2025-10-26T22:02:11.996Z,1761516131.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:12.388Z,1761516132.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530501,-0.845870,-0.055427],[0.847588,-0.530289,-0.019675],[-0.012750,-0.057417,0.998269]]
2025-10-26T22:02:12.451Z,1761516132.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:12.779Z,1761516132.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532441,-0.844688,-0.054859],[0.846387,-0.532165,-0.020733],[-0.011681,-0.057471,0.998279]]
2025-10-26T22:02:12.815Z,1761516132.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:13.250Z,1761516133.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:13.595Z,1761516133.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536800,-0.842022,-0.053339],[0.843658,-0.536388,-0.022979],[-0.009262,-0.057335,0.998312]]
2025-10-26T22:02:13.649Z,1761516133.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:13.998Z,1761516133.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539215,-0.840538,-0.052372],[0.842131,-0.538730,-0.024187],[-0.007884,-0.057146,0.998335]]
2025-10-26T22:02:14.034Z,1761516134.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:14.425Z,1761516134.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541481,-0.839126,-0.051637],[0.840687,-0.540927,-0.025384],[-0.006632,-0.057155,0.998343]]
2025-10-26T22:02:14.501Z,1761516134.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:14.812Z,1761516134.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543588,-0.837804,-0.050951],[0.839334,-0.542968,-0.026527],[-0.005440,-0.057184,0.998349]]
2025-10-26T22:02:14.830Z,1761516134.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:15.221Z,1761516135.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545360,-0.836692,-0.050290],[0.838190,-0.544685,-0.027480],[-0.004400,-0.057140,0.998357]]
2025-10-26T22:02:15.239Z,1761516135.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:15.615Z,1761516135.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546565,-0.835942,-0.049681],[0.837409,-0.545850,-0.028169],[-0.003571,-0.056999,0.998368]]
2025-10-26T22:02:15.676Z,1761516135.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:16.019Z,1761516136.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547818,-0.835141,-0.049352],[0.836593,-0.547057,-0.028999],[-0.002780,-0.057174,0.998360]]
2025-10-26T22:02:16.037Z,1761516136.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:16.444Z,1761516136.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548192,-0.834908,-0.049128],[0.836349,-0.547415,-0.029287],[-0.002441,-0.057143,0.998363]]
2025-10-26T22:02:16.525Z,1761516136.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:16.826Z,1761516136.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548155,-0.834937,-0.049053],[0.836374,-0.547367,-0.029472],[-0.002243,-0.057182,0.998361]]
2025-10-26T22:02:16.923Z,1761516136.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:17.276Z,1761516137.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:17.644Z,1761516137.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546273,-0.836153,-0.049332],[0.837602,-0.545524,-0.028747],[-0.002875,-0.057024,0.998369]]
2025-10-26T22:02:17.698Z,1761516137.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:18.080Z,1761516138.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:18.447Z,1761516138.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542557,-0.838503,-0.050441],[0.840006,-0.541898,-0.027119],[-0.004595,-0.057084,0.998359]]
2025-10-26T22:02:18.539Z,1761516138.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:18.898Z,1761516138.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:18.900Z,1761516138.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 9.00 m and bearing: 51.843400 deg. Not drifting fast enough.
2025-10-26T22:02:19.251Z,1761516139.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537429,-0.841715,-0.051823],[0.843281,-0.536896,-0.024886],[-0.006877,-0.057076,0.998346]]
2025-10-26T22:02:19.273Z,1761516139.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:19.276Z,1761516139.276 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-10-26T22:02:19.276Z,1761516139.276 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-26T22:02:19.276Z,1761516139.276 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-10-26T22:02:19.276Z,1761516139.276 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-10-26T22:02:19.664Z,1761516139.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534613,-0.843447,-0.052779],[0.845057,-0.534151,-0.023692],[-0.008209,-0.057267,0.998325]]
2025-10-26T22:02:19.746Z,1761516139.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:20.058Z,1761516140.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531945,-0.845092,-0.053421],[0.846727,-0.531551,-0.022514],[-0.009369,-0.057209,0.998318]]
2025-10-26T22:02:20.100Z,1761516140.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:20.462Z,1761516140.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529362,-0.846667,-0.054141],[0.848331,-0.529034,-0.021400],[-0.010524,-0.057258,0.998304]]
2025-10-26T22:02:20.512Z,1761516140.512 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:02:20.528Z,1761516140.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:20.652Z,1761516140.652 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:02:20.652Z,1761516140.652 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:02:20.868Z,1761516140.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527060,-0.848064,-0.054723],[0.849751,-0.526786,-0.020479],[-0.011460,-0.057295,0.998291]]
2025-10-26T22:02:20.900Z,1761516140.900 [DAT](INFO): DAT read: user:427>

2025-10-26T22:02:20.901Z,1761516140.901 [DAT](INFO): DAT read: Tx time:22:02:19.9895

2025-10-26T22:02:20.901Z,1761516140.901 [DAT](INFO): Ping request sent.
2025-10-26T22:02:20.902Z,1761516140.902 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:02:20.902Z,1761516140.902 [DAT](INFO): publishing transmit ping time
2025-10-26T22:02:20.902Z,1761516140.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-10-26T22:02:20.914Z,1761516140.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:21.153Z,1761516141.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251261
2025-10-26T22:02:21.270Z,1761516141.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525190,-0.849197,-0.055136],[0.850898,-0.524962,-0.019696],[-0.012219,-0.057259,0.998285]]
2025-10-26T22:02:21.305Z,1761516141.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:21.404Z,1761516141.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502837
2025-10-26T22:02:21.656Z,1761516141.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754759
2025-10-26T22:02:21.680Z,1761516141.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523195,-0.850419,-0.055263],[0.852119,-0.522998,-0.019126],[-0.012638,-0.057098,0.998289]]
2025-10-26T22:02:21.741Z,1761516141.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:21.908Z,1761516141.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006658
2025-10-26T22:02:22.083Z,1761516142.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523022,-0.850522,-0.055320],[0.852228,-0.522813,-0.019343],[-0.012471,-0.057262,0.998281]]
2025-10-26T22:02:22.101Z,1761516142.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:22.161Z,1761516142.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259343
2025-10-26T22:02:22.412Z,1761516142.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510748
2025-10-26T22:02:22.489Z,1761516142.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523291,-0.850369,-0.055133],[0.852069,-0.523055,-0.019784],[-0.012014,-0.057330,0.998283]]
2025-10-26T22:02:22.511Z,1761516142.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:22.665Z,1761516142.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763138
2025-10-26T22:02:22.894Z,1761516142.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524308,-0.849778,-0.054576],[0.851457,-0.524020,-0.020612],[-0.011083,-0.057276,0.998297]]
2025-10-26T22:02:22.916Z,1761516142.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014887
2025-10-26T22:02:22.939Z,1761516142.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:23.170Z,1761516143.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268106
2025-10-26T22:02:23.292Z,1761516143.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524800,-0.849450,-0.054941],[0.851159,-0.524469,-0.021447],[-0.010597,-0.058019,0.998259]]
2025-10-26T22:02:23.327Z,1761516143.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:23.421Z,1761516143.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519059
2025-10-26T22:02:23.675Z,1761516143.675 [DAT](INFO): DAT read: Rx Time:22:02:22.4098

2025-10-26T22:02:23.677Z,1761516143.677 [DAT](INFO): Rx dataTimestamp_ set to:1761516143.675703
2025-10-26T22:02:23.679Z,1761516143.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776973
2025-10-26T22:02:23.694Z,1761516143.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523618,-0.849585,-0.063486],[0.851878,-0.523108,-0.025732],[-0.011349,-0.067557,0.997651]]
2025-10-26T22:02:23.773Z,1761516143.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:23.925Z,1761516143.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023086
2025-10-26T22:02:24.100Z,1761516144.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524192,-0.848073,-0.077424],[0.851527,-0.523164,-0.034644],[-0.011125,-0.084089,0.996396]]
2025-10-26T22:02:24.123Z,1761516144.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:02:24.189Z,1761516144.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286652
2025-10-26T22:02:24.442Z,1761516144.442 [DAT](INFO): DAT read: 22:02:22.4098 LVL= 32752, 32753, 22594, 32755, AGC= 47, IDX= 482, 0.44, 1.881, 1.981,-2.256, 3.085, PHS=-1.101,-1.059, 0.898, RAW= 211.1,  12.7, CAL= 212.6,  15.1, ROT= 297.4, -15.1

2025-10-26T22:02:24.443Z,1761516144.443 [DAT](INFO): got valid direction response:
 22:02:22.4098 LVL= 32752, 32753, 22594, 32755, AGC= 47, IDX= 482, 0.44, 1.881, 1.981,-2.256, 3.085, PHS=-1.101,-1.059, 0.898, RAW= 211.1,  12.7, CAL= 212.6,  15.1, ROT= 297.4, -15.1

2025-10-26T22:02:24.444Z,1761516144.444 [DAT](INFO): DAT read: Bearing 303.1, -60.8 (Local)

2025-10-26T22:02:24.444Z,1761516144.444 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.1, -60.8 (Local)

2025-10-26T22:02:24.445Z,1761516144.445 [DAT](INFO): DAT read: Range 11 to 50 : 12.1 m  (Round-trip  16.2 ms) speed -0.2 m/s

2025-10-26T22:02:24.446Z,1761516144.446 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:02:24.447Z,1761516144.447 [DAT](INFO): direction in FSK: [0.444310,-0.857162,0.260505]
2025-10-26T22:02:24.447Z,1761516144.447 [DAT](INFO): publishing direction and range info
2025-10-26T22:02:24.519Z,1761516144.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525946,-0.845965,-0.087888],[0.850458,-0.524321,-0.042536],[-0.010097,-0.097117,0.995222]]
2025-10-26T22:02:24.617Z,1761516144.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.100000 m,
      deltaT: 60.268045 s,
      deltaX: 3.100000 m,
      approachRate: 0.051437 m/s,
      rangeRepo size: 4

2025-10-26T22:02:24.626Z,1761516144.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.026291 m,
      bearing: 60.141890 deg,
      lat: 36.779409 deg,
      lon: -121.859459 deg,
      deltaT: 120.551986 s,
      deltaX: 2.484876 m,
      approachRate: 0.020612 m/s,
      posRepo size: 4

2025-10-26T22:02:24.626Z,1761516144.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:24.935Z,1761516144.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528023,-0.844602,-0.088545],[0.849187,-0.526173,-0.044987],[-0.008593,-0.098945,0.995056]]
2025-10-26T22:02:24.982Z,1761516144.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:25.338Z,1761516145.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530311,-0.843953,-0.080715],[0.847777,-0.528644,-0.042552],[-0.006758,-0.090994,0.995829]]
2025-10-26T22:02:25.356Z,1761516145.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:25.746Z,1761516145.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532695,-0.843353,-0.070658],[0.846292,-0.531322,-0.038554],[-0.005028,-0.080335,0.996755]]
2025-10-26T22:02:25.782Z,1761516145.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:26.184Z,1761516146.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:26.550Z,1761516146.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537677,-0.840814,-0.062729],[0.843148,-0.536371,-0.037513],[-0.002104,-0.073060,0.997325]]
2025-10-26T22:02:26.644Z,1761516146.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:26.958Z,1761516146.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540505,-0.838831,-0.064936],[0.841340,-0.538988,-0.040488],[-0.001037,-0.076517,0.997068]]
2025-10-26T22:02:27.027Z,1761516147.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:27.358Z,1761516147.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543409,-0.836777,-0.067164],[0.839468,-0.541672,-0.043405],[-0.000060,-0.079969,0.996797]]
2025-10-26T22:02:27.388Z,1761516147.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:27.762Z,1761516147.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546199,-0.834919,-0.067649],[0.837655,-0.544358,-0.044818],[0.000594,-0.081146,0.996702]]
2025-10-26T22:02:27.823Z,1761516147.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:28.166Z,1761516148.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548713,-0.833374,-0.066343],[0.836010,-0.546889,-0.044715],[0.000982,-0.079999,0.996794]]
2025-10-26T22:02:28.184Z,1761516148.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:28.204Z,1761516148.204 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:02:28.571Z,1761516148.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551573,-0.831614,-0.064692],[0.834126,-0.549796,-0.044259],[0.001239,-0.078373,0.996923]]
2025-10-26T22:02:28.594Z,1761516148.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:28.975Z,1761516148.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554721,-0.829655,-0.062912],[0.832035,-0.553004,-0.043627],[0.001405,-0.076546,0.997065]]
2025-10-26T22:02:29.017Z,1761516149.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:29.208Z,1761516149.208 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:02:29.378Z,1761516149.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558516,-0.827219,-0.061384],[0.829492,-0.556852,-0.043100],[0.001472,-0.074990,0.997183]]
2025-10-26T22:02:29.404Z,1761516149.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:29.877Z,1761516149.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562740,-0.824462,-0.059893],[0.826633,-0.561142,-0.042399],[0.001348,-0.073369,0.997304]]
2025-10-26T22:02:29.913Z,1761516149.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:30.328Z,1761516150.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:30.771Z,1761516150.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572866,-0.817725,-0.056126],[0.819649,-0.571457,-0.040161],[0.000767,-0.069010,0.997616]]
2025-10-26T22:02:30.833Z,1761516150.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:31.176Z,1761516151.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578967,-0.813521,-0.054597],[0.815351,-0.577646,-0.039077],[0.000252,-0.067140,0.997743]]
2025-10-26T22:02:31.194Z,1761516151.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:31.578Z,1761516151.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586388,-0.808302,-0.052886],[0.810030,-0.585151,-0.038082],[-0.000165,-0.065170,0.997874]]
2025-10-26T22:02:31.606Z,1761516151.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:32.047Z,1761516152.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:32.386Z,1761516152.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604109,-0.795506,-0.047143],[0.796900,-0.603185,-0.033459],[-0.001819,-0.057781,0.998328]]
2025-10-26T22:02:32.415Z,1761516152.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:32.791Z,1761516152.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614270,-0.787908,-0.043283],[0.789091,-0.613537,-0.030127],[-0.002818,-0.052660,0.998609]]
2025-10-26T22:02:32.837Z,1761516152.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:33.195Z,1761516153.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624775,-0.779816,-0.039297],[0.780796,-0.624224,-0.026503],[-0.003862,-0.047242,0.998876]]
2025-10-26T22:02:33.219Z,1761516153.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:33.601Z,1761516153.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636328,-0.770612,-0.035259],[0.771404,-0.635928,-0.023050],[-0.004660,-0.041866,0.999112]]
2025-10-26T22:02:33.634Z,1761516153.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:34.055Z,1761516154.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:34.406Z,1761516154.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660776,-0.750109,-0.026673],[0.750563,-0.660604,-0.016057],[-0.005576,-0.030630,0.999515]]
2025-10-26T22:02:34.444Z,1761516154.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:34.810Z,1761516154.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672995,-0.739338,-0.021395],[0.739626,-0.672912,-0.011930],[-0.005577,-0.023854,0.999700]]
2025-10-26T22:02:34.874Z,1761516154.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:35.216Z,1761516155.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685923,-0.727499,-0.015947],[0.727655,-0.685899,-0.007835],[-0.005238,-0.016978,0.999842]]
2025-10-26T22:02:35.234Z,1761516155.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:35.663Z,1761516155.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:36.022Z,1761516156.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711951,-0.702200,-0.006403],[0.702218,-0.711961,-0.000865],[-0.003952,-0.005112,0.999979]]
2025-10-26T22:02:36.087Z,1761516156.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:36.434Z,1761516156.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724959,-0.688785,-0.003067],[0.688785,-0.724965,0.001346],[-0.003150,-0.001137,0.999994]]
2025-10-26T22:02:36.451Z,1761516156.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:36.830Z,1761516156.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738155,-0.674630,-0.001174],[0.674627,-0.738156,0.001903],[-0.002151,0.000613,0.999997]]
2025-10-26T22:02:36.933Z,1761516156.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:37.284Z,1761516157.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:37.650Z,1761516157.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764824,-0.644232,0.003034],[0.644239,-0.764812,0.004368],[-0.000494,0.005296,0.999986]]
2025-10-26T22:02:37.668Z,1761516157.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:38.057Z,1761516158.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777818,-0.628472,0.004601],[0.628489,-0.777792,0.006422],[-0.000458,0.007887,0.999969]]
2025-10-26T22:02:38.129Z,1761516158.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:38.458Z,1761516158.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790561,-0.612359,0.005351],[0.612382,-0.790521,0.008018],[-0.000680,0.009616,0.999954]]
2025-10-26T22:02:38.483Z,1761516158.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:38.925Z,1761516158.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815630,-0.578547,0.005632],[0.578570,-0.815549,0.011653],[-0.002148,0.012763,0.999916]]
2025-10-26T22:02:38.975Z,1761516158.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:39.326Z,1761516159.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827874,-0.560881,0.006136],[0.560906,-0.827752,0.014533],[-0.003072,0.015473,0.999876]]
2025-10-26T22:02:39.361Z,1761516159.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:39.786Z,1761516159.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839974,-0.542586,0.006633],[0.542612,-0.839799,0.017596],[-0.003977,0.018380,0.999823]]
2025-10-26T22:02:39.837Z,1761516159.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:40.162Z,1761516160.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851893,-0.523655,0.007945],[0.523693,-0.851619,0.022171],[-0.004843,0.023048,0.999723]]
2025-10-26T22:02:40.205Z,1761516160.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:40.567Z,1761516160.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863448,-0.504336,0.010135],[0.504404,-0.862986,0.028834],[-0.005796,0.030009,0.999533]]
2025-10-26T22:02:40.613Z,1761516160.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:40.977Z,1761516160.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874583,-0.484713,0.012596],[0.484834,-0.873867,0.035952],[-0.006419,0.037550,0.999274]]
2025-10-26T22:02:41.034Z,1761516161.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:41.374Z,1761516161.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885383,-0.464669,0.013387],[0.464811,-0.884491,0.040327],[-0.006898,0.041927,0.999097]]
2025-10-26T22:02:41.403Z,1761516161.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:41.782Z,1761516161.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895586,-0.444711,0.012537],[0.444831,-0.894666,0.041196],[-0.007104,0.042472,0.999072]]
2025-10-26T22:02:41.895Z,1761516161.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:42.236Z,1761516162.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:42.594Z,1761516162.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914576,-0.404322,0.008580],[0.404346,-0.913830,0.037662],[-0.007387,0.037914,0.999254]]
2025-10-26T22:02:42.623Z,1761516162.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:42.995Z,1761516162.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923257,-0.384122,0.006817],[0.384113,-0.922604,0.035501],[-0.007348,0.035395,0.999346]]
2025-10-26T22:02:43.039Z,1761516163.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:43.394Z,1761516163.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931576,-0.363491,0.006396],[0.363484,-0.930942,0.035027],[-0.006778,0.034956,0.999366]]
2025-10-26T22:02:43.432Z,1761516163.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:43.801Z,1761516163.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939324,-0.342950,0.007408],[0.342980,-0.938603,0.037258],[-0.005824,0.037538,0.999278]]
2025-10-26T22:02:43.888Z,1761516163.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:44.206Z,1761516164.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946641,-0.322167,0.008899],[0.322258,-0.945795,0.040264],[-0.004555,0.040983,0.999149]]
2025-10-26T22:02:44.242Z,1761516164.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:44.619Z,1761516164.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953488,-0.301256,0.010220],[0.301413,-0.952536,0.042725],[-0.003136,0.043819,0.999035]]
2025-10-26T22:02:44.637Z,1761516164.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:45.010Z,1761516165.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959861,-0.280250,0.011301],[0.280474,-0.958849,0.044073],[-0.001516,0.045473,0.998964]]
2025-10-26T22:02:45.057Z,1761516165.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:45.415Z,1761516165.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965892,-0.258651,0.012356],[0.258945,-0.964887,0.044050],[0.000529,0.045747,0.998953]]
2025-10-26T22:02:45.433Z,1761516165.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:45.820Z,1761516165.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971548,-0.236454,0.013547],[0.236824,-0.970583,0.043396],[0.002888,0.045369,0.998966]]
2025-10-26T22:02:45.847Z,1761516165.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:46.222Z,1761516166.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976855,-0.213338,0.015520],[0.213831,-0.975832,0.045048],[0.005535,0.047324,0.998864]]
2025-10-26T22:02:46.266Z,1761516166.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:46.628Z,1761516166.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981616,-0.190011,0.018051],[0.190678,-0.980449,0.048590],[0.008465,0.051138,0.998656]]
2025-10-26T22:02:46.664Z,1761516166.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:47.030Z,1761516167.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985950,-0.165795,0.020383],[0.166663,-0.984580,0.053161],[0.011255,0.055811,0.998378]]
2025-10-26T22:02:47.042Z,1761516167.042 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050301510524,35.,   0.0,1491.6,  0
2025-10-26T22:02:47.061Z,1761516167.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:47.435Z,1761516167.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989652,-0.141756,0.022211],[0.142824,-0.988063,0.057726],[0.013763,0.060301,0.998085]]
2025-10-26T22:02:47.454Z,1761516167.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:47.838Z,1761516167.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992856,-0.116985,0.023472],[0.118206,-0.991174,0.060019],[0.016244,0.062365,0.997921]]
2025-10-26T22:02:47.869Z,1761516167.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:48.242Z,1761516168.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995454,-0.092013,0.024586],[0.093382,-0.993698,0.062003],[0.018726,0.064017,0.997773]]
2025-10-26T22:02:48.286Z,1761516168.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:48.647Z,1761516168.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997452,-0.066714,0.025264],[0.068170,-0.995746,0.061989],[0.021021,0.063554,0.997757]]
2025-10-26T22:02:48.665Z,1761516168.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:49.052Z,1761516169.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998796,-0.041800,0.025693],[0.043210,-0.997438,0.057008],[0.023245,0.058050,0.998043]]
2025-10-26T22:02:49.098Z,1761516169.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:49.454Z,1761516169.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999532,-0.015627,0.026288],[0.017039,-0.998376,0.054359],[0.025396,0.054782,0.998175]]
2025-10-26T22:02:49.486Z,1761516169.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:49.861Z,1761516169.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999601,0.008569,0.026904],[-0.006998,-0.998294,0.057962],[0.027354,0.057751,0.997956]]
2025-10-26T22:02:49.879Z,1761516169.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:50.262Z,1761516170.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999079,0.033095,0.027322],[-0.031429,-0.997746,0.059288],[0.029222,0.058375,0.997867]]
2025-10-26T22:02:50.320Z,1761516170.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:50.667Z,1761516170.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997994,0.056853,0.027839],[-0.055146,-0.996753,0.058664],[0.031084,0.057011,0.997890]]
2025-10-26T22:02:50.686Z,1761516170.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:51.070Z,1761516171.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996367,0.080117,0.028888],[-0.078296,-0.995157,0.059426],[0.033509,0.056948,0.997815]]
2025-10-26T22:02:51.126Z,1761516171.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:51.474Z,1761516171.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994223,0.102866,0.030634],[-0.101008,-0.993249,0.057051],[0.036295,0.053627,0.997901]]
2025-10-26T22:02:51.495Z,1761516171.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:51.899Z,1761516171.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991496,0.125926,0.032824],[-0.124123,-0.990895,0.052158],[0.039093,0.047640,0.998099]]
2025-10-26T22:02:52.003Z,1761516172.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:52.284Z,1761516172.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988173,0.149355,0.034738],[-0.147615,-0.987870,0.048186],[0.041513,0.042488,0.998234]]
2025-10-26T22:02:52.321Z,1761516172.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:52.686Z,1761516172.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984310,0.172563,0.036816],[-0.170872,-0.984265,0.045003],[0.044002,0.038006,0.998308]]
2025-10-26T22:02:52.725Z,1761516172.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:53.099Z,1761516173.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979814,0.196223,0.038213],[-0.194584,-0.979955,0.042729],[0.045832,0.034431,0.998356]]
2025-10-26T22:02:53.144Z,1761516173.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:53.496Z,1761516173.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974546,0.220753,0.039082],[-0.219063,-0.974750,0.043284],[0.047650,0.033621,0.998298]]
2025-10-26T22:02:53.517Z,1761516173.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:53.898Z,1761516173.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968473,0.246138,0.038418],[-0.244264,-0.968537,0.047654],[0.048939,0.036768,0.998125]]
2025-10-26T22:02:53.928Z,1761516173.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:54.302Z,1761516174.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961750,0.271503,0.036379],[-0.269357,-0.961483,0.054747],[0.049842,0.042854,0.997837]]
2025-10-26T22:02:54.346Z,1761516174.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:54.710Z,1761516174.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954361,0.296766,0.033544],[-0.294365,-0.953667,0.062190],[0.050445,0.049478,0.997500]]
2025-10-26T22:02:54.750Z,1761516174.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:55.113Z,1761516175.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946516,0.321261,0.029963],[-0.318639,-0.945301,0.069821],[0.050755,0.056540,0.997109]]
2025-10-26T22:02:55.174Z,1761516175.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:55.516Z,1761516175.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937855,0.346019,0.026441],[-0.343239,-0.936147,0.076262],[0.051141,0.062447,0.996737]]
2025-10-26T22:02:55.542Z,1761516175.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:55.918Z,1761516175.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929012,0.369336,0.022959],[-0.366448,-0.926834,0.081820],[0.051498,0.067599,0.996383]]
2025-10-26T22:02:55.953Z,1761516175.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:56.327Z,1761516176.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919951,0.391482,0.020768],[-0.388531,-0.917519,0.084864],[0.052278,0.070002,0.996176]]
2025-10-26T22:02:56.363Z,1761516176.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:56.732Z,1761516176.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910525,0.412937,0.020687],[-0.410019,-0.908264,0.083318],[0.053194,0.067381,0.996308]]
2025-10-26T22:02:56.758Z,1761516176.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:57.130Z,1761516177.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900810,0.433622,0.022636],[-0.430774,-0.899010,0.078831],[0.054533,0.061261,0.996631]]
2025-10-26T22:02:57.184Z,1761516177.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:57.535Z,1761516177.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890290,0.454576,0.027298],[-0.451937,-0.889315,0.069800],[0.056006,0.049805,0.997187]]
2025-10-26T22:02:57.556Z,1761516177.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:57.946Z,1761516177.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879254,0.475279,0.031981],[-0.472870,-0.878959,0.061841],[0.057501,0.039251,0.997573]]
2025-10-26T22:02:57.965Z,1761516177.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:58.342Z,1761516178.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866929,0.497263,0.034104],[-0.494967,-0.866940,0.058504],[0.058658,0.033838,0.997705]]
2025-10-26T22:02:58.392Z,1761516178.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:58.747Z,1761516178.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854551,0.518354,0.032437],[-0.515893,-0.854389,0.062237],[0.059975,0.036450,0.997534]]
2025-10-26T22:02:58.772Z,1761516178.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:59.152Z,1761516179.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841637,0.539295,0.028420],[-0.536584,-0.841035,0.068829],[0.061021,0.042679,0.997224]]
2025-10-26T22:02:59.193Z,1761516179.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:59.329Z,1761516179.329 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:02:59.555Z,1761516179.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828494,0.559529,0.022904],[-0.556533,-0.827222,0.077289],[0.062192,0.051286,0.996746]]
2025-10-26T22:02:59.604Z,1761516179.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:02:59.958Z,1761516179.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815409,0.578642,0.016783],[-0.575407,-0.813342,0.085920],[0.063368,0.060403,0.996161]]
2025-10-26T22:02:59.978Z,1761516179.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:00.332Z,1761516180.332 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:03:00.417Z,1761516180.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:00.767Z,1761516180.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788613,0.614827,0.008746],[-0.611385,-0.785556,0.095442],[0.065551,0.069920,0.995397]]
2025-10-26T22:03:00.785Z,1761516180.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:01.170Z,1761516181.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774929,0.632003,0.007526],[-0.628492,-0.771776,0.096748],[0.066954,0.070243,0.995280]]
2025-10-26T22:03:01.217Z,1761516181.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:01.587Z,1761516181.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761798,0.647767,0.007814],[-0.644198,-0.758763,0.096374],[0.068357,0.068383,0.995315]]
2025-10-26T22:03:01.616Z,1761516181.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:01.978Z,1761516181.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749283,0.662130,0.012629],[-0.658552,-0.746976,0.091305],[0.069889,0.060096,0.995743]]
2025-10-26T22:03:01.997Z,1761516181.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:02.384Z,1761516182.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736650,0.675953,0.020834],[-0.672492,-0.735436,0.082999],[0.071425,0.047131,0.996332]]
2025-10-26T22:03:02.421Z,1761516182.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:02.786Z,1761516182.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724460,0.688730,0.028440],[-0.685424,-0.724134,0.076313],[0.073154,0.035792,0.996678]]
2025-10-26T22:03:02.811Z,1761516182.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:03.193Z,1761516183.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713184,0.699940,0.038107],[-0.696986,-0.713868,0.067845],[0.074691,0.021826,0.996968]]
2025-10-26T22:03:03.241Z,1761516183.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:03.645Z,1761516183.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:04.002Z,1761516184.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691533,0.720564,0.050699],[-0.718003,-0.693365,0.060965],[0.079082,0.005757,0.996851]]
2025-10-26T22:03:04.021Z,1761516184.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:04.454Z,1761516184.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:04.806Z,1761516184.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670199,0.739901,0.058144],[-0.737625,-0.672705,0.058122],[0.082118,-0.003935,0.996615]]
2025-10-26T22:03:04.841Z,1761516184.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:05.221Z,1761516185.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659576,0.748920,0.063861],[-0.746997,-0.662560,0.054861],[0.083398,-0.011519,0.996450]]
2025-10-26T22:03:05.264Z,1761516185.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:05.620Z,1761516185.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649081,0.757603,0.068791],[-0.756014,-0.652466,0.052268],[0.084482,-0.018081,0.996261]]
2025-10-26T22:03:05.638Z,1761516185.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:06.025Z,1761516186.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638996,0.765594,0.074494],[-0.764469,-0.642808,0.048832],[0.085271,-0.025745,0.996025]]
2025-10-26T22:03:06.044Z,1761516186.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:06.422Z,1761516186.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629446,0.772796,0.081144],[-0.772273,-0.633715,0.044715],[0.085978,-0.034520,0.995699]]
2025-10-26T22:03:06.466Z,1761516186.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:06.826Z,1761516186.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620505,0.779212,0.088330],[-0.779386,-0.625234,0.040494],[0.086780,-0.043717,0.995268]]
2025-10-26T22:03:06.845Z,1761516186.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:07.305Z,1761516187.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:07.637Z,1761516187.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605556,0.789538,0.099662],[-0.790851,-0.610999,0.035139],[0.088637,-0.057540,0.994401]]
2025-10-26T22:03:07.666Z,1761516187.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:08.039Z,1761516188.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600177,0.792827,0.105892],[-0.794783,-0.606016,0.032637],[0.090048,-0.064573,0.993842]]
2025-10-26T22:03:08.086Z,1761516188.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:08.442Z,1761516188.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596741,0.794270,0.114169],[-0.797141,-0.603089,0.029159],[0.092014,-0.073608,0.993033]]
2025-10-26T22:03:08.499Z,1761516188.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:09.097Z,1761516189.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593904,0.792865,0.136539],[-0.798776,-0.601370,0.017639],[0.096096,-0.098588,0.990478]]
2025-10-26T22:03:09.115Z,1761516189.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:09.498Z,1761516189.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593857,0.790028,0.152281],[-0.798501,-0.601928,0.008832],[0.098640,-0.116352,0.988298]]
2025-10-26T22:03:09.568Z,1761516189.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:10.014Z,1761516190.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594562,0.786204,0.168464],[-0.797642,-0.603131,-0.000379],[0.101308,-0.134600,0.985708]]
2025-10-26T22:03:10.034Z,1761516190.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:10.410Z,1761516190.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596287,0.781950,0.181645],[-0.795964,-0.605302,-0.007197],[0.104323,-0.148875,0.983338]]
2025-10-26T22:03:10.453Z,1761516190.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:10.814Z,1761516190.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598762,0.777459,0.192460],[-0.793768,-0.608080,-0.013093],[0.106852,-0.160609,0.981217]]
2025-10-26T22:03:10.833Z,1761516190.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:11.227Z,1761516191.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600994,0.773141,0.202631],[-0.791774,-0.610522,-0.018910],[0.109091,-0.171803,0.979073]]
2025-10-26T22:03:11.307Z,1761516191.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:11.625Z,1761516191.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603540,0.768695,0.211774],[-0.789535,-0.613226,-0.024236],[0.111235,-0.181830,0.977018]]
2025-10-26T22:03:11.665Z,1761516191.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:12.078Z,1761516192.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:12.430Z,1761516192.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608971,0.761413,0.222273],[-0.784723,-0.619171,-0.028922],[0.115604,-0.192035,0.974555]]
2025-10-26T22:03:12.478Z,1761516192.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:12.834Z,1761516192.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611156,0.758733,0.225417],[-0.782704,-0.621695,-0.029516],[0.117746,-0.194473,0.973815]]
2025-10-26T22:03:12.857Z,1761516192.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:13.238Z,1761516193.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613604,0.757158,0.224058],[-0.780465,-0.624635,-0.026552],[0.119851,-0.191162,0.974214]]
2025-10-26T22:03:13.284Z,1761516193.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:13.702Z,1761516193.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:14.053Z,1761516194.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617877,0.754076,0.222704],[-0.776409,-0.629867,-0.021363],[0.124165,-0.186109,0.974652]]
2025-10-26T22:03:14.097Z,1761516194.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:14.452Z,1761516194.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620213,0.753218,0.219086],[-0.774121,-0.632841,-0.015760],[0.126776,-0.179374,0.975578]]
2025-10-26T22:03:14.488Z,1761516194.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:14.854Z,1761516194.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622405,0.751532,0.218660],[-0.771865,-0.635668,-0.012291],[0.129758,-0.176426,0.975724]]
2025-10-26T22:03:14.890Z,1761516194.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:15.258Z,1761516195.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624130,0.749834,0.219570],[-0.770007,-0.637955,-0.010129],[0.132481,-0.175392,0.975544]]
2025-10-26T22:03:15.276Z,1761516195.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:15.743Z,1761516195.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:16.107Z,1761516196.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627275,0.746217,0.222907],[-0.766544,-0.642148,-0.007411],[0.137609,-0.175517,0.974812]]
2025-10-26T22:03:16.142Z,1761516196.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:16.510Z,1761516196.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628510,0.744174,0.226230],[-0.765115,-0.643847,-0.007727],[0.139907,-0.177949,0.974043]]
2025-10-26T22:03:16.585Z,1761516196.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:17.037Z,1761516197.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:17.483Z,1761516197.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630931,0.741074,0.229644],[-0.762357,-0.647126,-0.006212],[0.144005,-0.178990,0.973255]]
2025-10-26T22:03:17.534Z,1761516197.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:17.887Z,1761516197.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631245,0.741316,0.227995],[-0.762085,-0.647460,-0.004780],[0.144074,-0.176769,0.973651]]
2025-10-26T22:03:17.926Z,1761516197.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:18.290Z,1761516198.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630914,0.741882,0.227065],[-0.762437,-0.647048,-0.004398],[0.143659,-0.175898,0.973870]]
2025-10-26T22:03:18.308Z,1761516198.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:18.698Z,1761516198.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630422,0.742212,0.227354],[-0.762885,-0.646517,-0.004780],[0.143441,-0.176458,0.973801]]
2025-10-26T22:03:18.770Z,1761516198.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:19.187Z,1761516199.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629829,0.742660,0.227534],[-0.763432,-0.645868,-0.005150],[0.143132,-0.176950,0.973756]]
2025-10-26T22:03:19.286Z,1761516199.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:19.603Z,1761516199.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629199,0.743527,0.226444],[-0.763982,-0.645224,-0.004219],[0.142970,-0.175654,0.974015]]
2025-10-26T22:03:19.650Z,1761516199.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:20.065Z,1761516200.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628553,0.744203,0.226018],[-0.764608,-0.644481,-0.004299],[0.142465,-0.175517,0.974114]]
2025-10-26T22:03:20.084Z,1761516200.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:20.446Z,1761516200.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626862,0.745503,0.226427],[-0.766182,-0.642600,-0.005436],[0.141450,-0.176891,0.974013]]
2025-10-26T22:03:20.495Z,1761516200.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:20.850Z,1761516200.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624702,0.747686,0.225195],[-0.768211,-0.640172,-0.005574],[0.139996,-0.176480,0.974298]]
2025-10-26T22:03:20.866Z,1761516200.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:03:20.868Z,1761516200.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:20.904Z,1761516200.904 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:03:20.905Z,1761516200.905 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:03:21.156Z,1761516201.156 [DAT](INFO): DAT read: user:428>

2025-10-26T22:03:21.157Z,1761516201.157 [DAT](INFO): DAT read: Tx time:22:03:20.2895

2025-10-26T22:03:21.157Z,1761516201.157 [DAT](INFO): Ping request sent.
2025-10-26T22:03:21.157Z,1761516201.157 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:03:21.158Z,1761516201.158 [DAT](INFO): publishing transmit ping time
2025-10-26T22:03:21.158Z,1761516201.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-10-26T22:03:21.254Z,1761516201.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622166,0.750078,0.224258],[-0.770585,-0.637306,-0.006256],[0.138229,-0.176702,0.974510]]
2025-10-26T22:03:21.280Z,1761516201.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:21.412Z,1761516201.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253347
2025-10-26T22:03:21.660Z,1761516201.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502949
2025-10-26T22:03:21.745Z,1761516201.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615939,0.757173,0.217505],[-0.776282,-0.630374,-0.003862],[0.134185,-0.171224,0.976052]]
2025-10-26T22:03:21.793Z,1761516201.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:21.912Z,1761516201.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754935
2025-10-26T22:03:22.159Z,1761516202.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:22.164Z,1761516202.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007059
2025-10-26T22:03:22.422Z,1761516202.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261757
2025-10-26T22:03:22.584Z,1761516202.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609757,0.767091,0.199419],[-0.782078,-0.623154,0.005707],[0.128646,-0.152481,0.979898]]
2025-10-26T22:03:22.629Z,1761516202.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:22.669Z,1761516202.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511168
2025-10-26T22:03:22.920Z,1761516202.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762956
2025-10-26T22:03:22.986Z,1761516202.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607492,0.772061,0.186746],[-0.784400,-0.620137,0.012138],[0.125179,-0.139110,0.982333]]
2025-10-26T22:03:23.021Z,1761516203.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:23.172Z,1761516203.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015024
2025-10-26T22:03:23.391Z,1761516203.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606027,0.775696,0.176148],[-0.786089,-0.617893,0.016499],[0.121638,-0.128469,0.984226]]
2025-10-26T22:03:23.414Z,1761516203.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:23.428Z,1761516203.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269542
2025-10-26T22:03:23.676Z,1761516203.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518897
2025-10-26T22:03:23.794Z,1761516203.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605143,0.777463,0.171325],[-0.787332,-0.616325,0.015885],[0.117942,-0.125277,0.985087]]
2025-10-26T22:03:23.843Z,1761516203.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:23.929Z,1761516203.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771944
2025-10-26T22:03:24.180Z,1761516204.180 [DAT](INFO): DAT read: Rx Time:22:03:22.7458

2025-10-26T22:03:24.181Z,1761516204.181 [DAT](INFO): Rx dataTimestamp_ set to:1761516204.180546
2025-10-26T22:03:24.181Z,1761516204.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023978
2025-10-26T22:03:24.199Z,1761516204.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604755,0.778055,0.170004],[-0.788204,-0.615294,0.012130],[0.114040,-0.126662,0.985369]]
2025-10-26T22:03:24.237Z,1761516204.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:24.435Z,1761516204.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277031
2025-10-26T22:03:24.673Z,1761516204.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-10-26T22:03:24.690Z,1761516204.690 [DAT](INFO): DAT read: 22:03:22.7458 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 275,-0.10,-2.655,-0.936,-2.963,-2.064, PHS=-0.489, 1.173,-0.943, RAW= 341.8,   2.7, CAL= 341.3,  -0.2, ROT= 168.7,   0.2

2025-10-26T22:03:24.691Z,1761516204.691 [DAT](INFO): got valid direction response:
 22:03:22.7458 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 275,-0.10,-2.655,-0.936,-2.963,-2.064, PHS=-0.489, 1.173,-0.943, RAW= 341.8,   2.7, CAL= 341.3,  -0.2, ROT= 168.7,   0.2

2025-10-26T22:03:24.692Z,1761516204.692 [DAT](INFO): DAT read: Bearing 204.7,   4.2 (Local)

2025-10-26T22:03:24.692Z,1761516204.692 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.7,   4.2 (Local)

2025-10-26T22:03:24.694Z,1761516204.694 [DAT](INFO): DAT read: Range 11 to 50 : 39.1 m  (Round-trip  52.2 ms) speed -0.5 m/s

2025-10-26T22:03:24.694Z,1761516204.694 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:03:24.695Z,1761516204.695 [DAT](INFO): direction in FSK: [-0.980609,0.195945,-0.003491]
2025-10-26T22:03:24.696Z,1761516204.696 [DAT](INFO): publishing direction and range info
2025-10-26T22:03:25.008Z,1761516205.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605969,0.776372,0.173344],[-0.788221,-0.615392,0.000781],[0.107281,-0.136160,0.984861]]
2025-10-26T22:03:25.069Z,1761516205.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.099998 m,
      deltaT: 60.248129 s,
      deltaX: 26.999998 m,
      approachRate: 0.448147 m/s,
      rangeRepo size: 4

2025-10-26T22:03:25.071Z,1761516205.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.862919 m,
      bearing: 41.178453 deg,
      lat: 36.779392 deg,
      lon: -121.859469 deg,
      deltaT: 60.248129 s,
      deltaX: 26.836628 m,
      approachRate: 0.445435 m/s,
      posRepo size: 4

2025-10-26T22:03:25.076Z,1761516205.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:25.413Z,1761516205.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607812,0.775068,0.172724],[-0.787192,-0.616702,-0.002773],[0.104370,-0.137652,0.984966]]
2025-10-26T22:03:25.436Z,1761516205.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:25.814Z,1761516205.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610374,0.773099,0.172513],[-0.785537,-0.618782,-0.006326],[0.101858,-0.139377,0.984987]]
2025-10-26T22:03:25.858Z,1761516205.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:26.218Z,1761516206.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613908,0.770275,0.172607],[-0.783038,-0.621897,-0.009739],[0.099842,-0.141137,0.984943]]
2025-10-26T22:03:26.237Z,1761516206.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:26.622Z,1761516206.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617871,0.766891,0.173531],[-0.780160,-0.625426,-0.013858],[0.097903,-0.143944,0.984731]]
2025-10-26T22:03:26.676Z,1761516206.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:27.069Z,1761516207.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:27.430Z,1761516207.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625287,0.757933,0.185887],[-0.774724,-0.631541,-0.030979],[0.093915,-0.163382,0.982083]]
2025-10-26T22:03:27.467Z,1761516207.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:27.834Z,1761516207.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628431,0.753461,0.193316],[-0.772458,-0.633736,-0.041076],[0.091562,-0.175142,0.980276]]
2025-10-26T22:03:27.882Z,1761516207.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:28.238Z,1761516208.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631200,0.748967,0.201580],[-0.770483,-0.635336,-0.052004],[0.089122,-0.188139,0.978091]]
2025-10-26T22:03:28.256Z,1761516208.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:28.644Z,1761516208.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632931,0.746647,0.204737],[-0.769368,-0.636106,-0.058661],[0.086436,-0.194646,0.977058]]
2025-10-26T22:03:28.681Z,1761516208.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:29.065Z,1761516209.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634260,0.746186,0.202289],[-0.768592,-0.636856,-0.060677],[0.083552,-0.193963,0.977444]]
2025-10-26T22:03:29.083Z,1761516209.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:29.450Z,1761516209.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635436,0.746300,0.198134],[-0.767907,-0.637657,-0.060928],[0.080871,-0.190864,0.978279]]
2025-10-26T22:03:29.469Z,1761516209.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:29.861Z,1761516209.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636042,0.747190,0.192762],[-0.767668,-0.638054,-0.059775],[0.078329,-0.185997,0.979423]]
2025-10-26T22:03:29.914Z,1761516209.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:30.258Z,1761516210.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636901,0.748159,0.186054],[-0.767183,-0.638873,-0.057192],[0.076076,-0.179163,0.980874]]
2025-10-26T22:03:30.282Z,1761516210.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:30.464Z,1761516210.464 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:03:30.727Z,1761516210.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:31.072Z,1761516211.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636746,0.750573,0.176622],[-0.767902,-0.638022,-0.057052],[0.069867,-0.171956,0.982624]]
2025-10-26T22:03:31.090Z,1761516211.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:31.468Z,1761516211.468 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:03:31.472Z,1761516211.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636407,0.751642,0.173264],[-0.768448,-0.637286,-0.057913],[0.066888,-0.170001,0.983171]]
2025-10-26T22:03:31.497Z,1761516211.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:31.883Z,1761516211.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635678,0.752634,0.171629],[-0.769307,-0.636041,-0.060159],[0.063885,-0.170277,0.983323]]
2025-10-26T22:03:31.976Z,1761516211.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:32.283Z,1761516212.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635176,0.753854,0.168091],[-0.769938,-0.635249,-0.060452],[0.061208,-0.167817,0.983916]]
2025-10-26T22:03:32.312Z,1761516212.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:32.752Z,1761516212.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:33.190Z,1761516213.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634438,0.756072,0.160758],[-0.771057,-0.633664,-0.062780],[0.054401,-0.163784,0.984995]]
2025-10-26T22:03:33.212Z,1761516213.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:33.631Z,1761516213.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634185,0.756424,0.160100],[-0.771512,-0.632700,-0.066783],[0.050779,-0.165872,0.984839]]
2025-10-26T22:03:33.676Z,1761516213.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:33.994Z,1761516213.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633480,0.757493,0.157822],[-0.772334,-0.631394,-0.069584],[0.046939,-0.165972,0.985013]]
2025-10-26T22:03:34.036Z,1761516214.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:34.402Z,1761516214.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633174,0.759239,0.150489],[-0.772810,-0.630950,-0.068316],[0.043083,-0.159555,0.986248]]
2025-10-26T22:03:34.420Z,1761516214.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:34.804Z,1761516214.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633571,0.760287,0.143359],[-0.772692,-0.631185,-0.067472],[0.039188,-0.153520,0.987368]]
2025-10-26T22:03:34.843Z,1761516214.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:35.206Z,1761516215.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633635,0.761312,0.137517],[-0.772819,-0.631040,-0.067384],[0.035478,-0.148972,0.988205]]
2025-10-26T22:03:35.231Z,1761516215.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:35.656Z,1761516215.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633602,0.761967,0.133994],[-0.772998,-0.630653,-0.068930],[0.031981,-0.147251,0.988582]]
2025-10-26T22:03:35.711Z,1761516215.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:36.041Z,1761516216.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633699,0.762138,0.132557],[-0.773044,-0.630272,-0.071842],[0.028793,-0.147999,0.988568]]
2025-10-26T22:03:36.071Z,1761516216.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:36.430Z,1761516216.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634101,0.762420,0.128961],[-0.772827,-0.630395,-0.073077],[0.025581,-0.146002,0.988953]]
2025-10-26T22:03:36.449Z,1761516216.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:36.835Z,1761516216.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633867,0.762993,0.126704],[-0.773125,-0.629737,-0.075563],[0.022136,-0.145854,0.989058]]
2025-10-26T22:03:36.875Z,1761516216.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:37.238Z,1761516217.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633552,0.763552,0.124902],[-0.773476,-0.628947,-0.078487],[0.018628,-0.146334,0.989060]]
2025-10-26T22:03:37.273Z,1761516217.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:37.806Z,1761516217.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:38.088Z,1761516218.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632902,0.764374,0.123156],[-0.774134,-0.627297,-0.084943],[0.012327,-0.149100,0.988745]]
2025-10-26T22:03:38.164Z,1761516218.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:38.490Z,1761516218.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632097,0.764952,0.123701],[-0.774836,-0.625811,-0.089382],[0.009040,-0.152346,0.988286]]
2025-10-26T22:03:38.534Z,1761516218.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:38.900Z,1761516218.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631684,0.765108,0.124838],[-0.775203,-0.624662,-0.094115],[0.005973,-0.156226,0.987703]]
2025-10-26T22:03:38.963Z,1761516218.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:39.302Z,1761516219.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631018,0.765359,0.126653],[-0.775762,-0.623183,-0.099177],[0.003022,-0.160836,0.986977]]
2025-10-26T22:03:39.320Z,1761516219.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:39.837Z,1761516219.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:40.169Z,1761516220.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629356,0.768494,0.115451],[-0.777108,-0.621633,-0.098362],[-0.003823,-0.151623,0.988431]]
2025-10-26T22:03:40.203Z,1761516220.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:40.677Z,1761516220.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629485,0.768541,0.114422],[-0.776990,-0.621483,-0.100225],[-0.005916,-0.151995,0.988364]]
2025-10-26T22:03:40.745Z,1761516220.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:41.184Z,1761516221.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629856,0.768033,0.115785],[-0.776668,-0.621194,-0.104427],[-0.008278,-0.155700,0.987770]]
2025-10-26T22:03:41.220Z,1761516221.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:41.584Z,1761516221.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631003,0.766806,0.117664],[-0.775707,-0.621545,-0.109367],[-0.010730,-0.160283,0.987013]]
2025-10-26T22:03:41.616Z,1761516221.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:41.986Z,1761516221.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632310,0.765870,0.116739],[-0.774600,-0.622392,-0.112352],[-0.013390,-0.161467,0.986787]]
2025-10-26T22:03:42.066Z,1761516222.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:42.392Z,1761516222.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633885,0.764958,0.114144],[-0.773261,-0.623749,-0.114036],[-0.016036,-0.160549,0.986898]]
2025-10-26T22:03:42.415Z,1761516222.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:42.795Z,1761516222.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636130,0.763629,0.110496],[-0.771358,-0.625939,-0.114919],[-0.018592,-0.158336,0.987210]]
2025-10-26T22:03:42.833Z,1761516222.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:43.198Z,1761516223.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638334,0.761941,0.109436],[-0.769455,-0.627600,-0.118564],[-0.021657,-0.159889,0.986897]]
2025-10-26T22:03:43.229Z,1761516223.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:43.602Z,1761516223.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640909,0.759876,0.108736],[-0.767206,-0.629472,-0.123125],[-0.025114,-0.162334,0.986416]]
2025-10-26T22:03:43.620Z,1761516223.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:44.006Z,1761516224.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642940,0.757983,0.109951],[-0.765375,-0.630436,-0.129425],[-0.028785,-0.167367,0.985474]]
2025-10-26T22:03:44.068Z,1761516224.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:44.448Z,1761516224.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:44.814Z,1761516224.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646979,0.754859,0.107727],[-0.761649,-0.633066,-0.138267],[-0.036174,-0.171506,0.984519]]
2025-10-26T22:03:44.858Z,1761516224.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:45.219Z,1761516225.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648383,0.753916,0.105880],[-0.760253,-0.633843,-0.142336],[-0.040198,-0.172783,0.984139]]
2025-10-26T22:03:45.253Z,1761516225.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:45.622Z,1761516225.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649305,0.753532,0.102918],[-0.759246,-0.634393,-0.145226],[-0.044142,-0.172436,0.984031]]
2025-10-26T22:03:45.641Z,1761516225.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:46.040Z,1761516226.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650392,0.753189,0.098469],[-0.758095,-0.635473,-0.146514],[-0.047778,-0.169941,0.984295]]
2025-10-26T22:03:46.100Z,1761516226.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:46.430Z,1761516226.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650828,0.753367,0.094128],[-0.757482,-0.635927,-0.147711],[-0.051422,-0.167435,0.984541]]
2025-10-26T22:03:46.463Z,1761516226.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:46.834Z,1761516226.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650814,0.754198,0.087328],[-0.757229,-0.636426,-0.146851],[-0.055177,-0.161700,0.985296]]
2025-10-26T22:03:46.880Z,1761516226.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:47.284Z,1761516227.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:47.676Z,1761516227.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:48.050Z,1761516228.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646148,0.759590,0.074269],[-0.760174,-0.631848,-0.151340],[-0.068030,-0.154245,0.985688]]
2025-10-26T22:03:48.092Z,1761516228.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:48.454Z,1761516228.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643694,0.762115,0.069559],[-0.761893,-0.629645,-0.151874],[-0.071948,-0.150757,0.985949]]
2025-10-26T22:03:48.492Z,1761516228.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:48.855Z,1761516228.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640995,0.764725,0.065735],[-0.763853,-0.627176,-0.152248],[-0.075200,-0.147802,0.986154]]
2025-10-26T22:03:48.913Z,1761516228.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:49.260Z,1761516229.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637985,0.767492,0.062704],[-0.766042,-0.624262,-0.153223],[-0.078454,-0.145788,0.986200]]
2025-10-26T22:03:49.279Z,1761516229.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:49.704Z,1761516229.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:50.066Z,1761516230.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632605,0.772485,0.055479],[-0.769889,-0.619460,-0.153426],[-0.084152,-0.139770,0.986601]]
2025-10-26T22:03:50.117Z,1761516230.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:50.474Z,1761516230.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630488,0.774426,0.052443],[-0.771337,-0.617557,-0.153826],[-0.086740,-0.137437,0.986705]]
2025-10-26T22:03:50.492Z,1761516230.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:50.884Z,1761516230.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628106,0.776505,0.050226],[-0.773000,-0.615268,-0.154647],[-0.089181,-0.135959,0.986692]]
2025-10-26T22:03:50.923Z,1761516230.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:51.278Z,1761516231.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626829,0.777586,0.049460],[-0.773784,-0.613809,-0.156512],[-0.091342,-0.136378,0.986437]]
2025-10-26T22:03:51.308Z,1761516231.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:51.684Z,1761516231.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625473,0.778606,0.050547],[-0.774601,-0.611866,-0.160045],[-0.093684,-0.139257,0.985815]]
2025-10-26T22:03:51.706Z,1761516231.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:52.087Z,1761516232.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624386,0.779506,0.050127],[-0.775199,-0.610495,-0.162369],[-0.095965,-0.140239,0.985456]]
2025-10-26T22:03:52.128Z,1761516232.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:52.494Z,1761516232.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624338,0.779710,0.047480],[-0.774959,-0.610602,-0.163109],[-0.098186,-0.138630,0.985465]]
2025-10-26T22:03:52.550Z,1761516232.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:52.909Z,1761516232.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624207,0.779943,0.045339],[-0.774748,-0.610484,-0.164542],[-0.100654,-0.137835,0.985327]]
2025-10-26T22:03:52.953Z,1761516232.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:53.299Z,1761516233.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624032,0.780068,0.045587],[-0.774505,-0.609741,-0.168397],[-0.103565,-0.140393,0.984664]]
2025-10-26T22:03:53.317Z,1761516233.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:53.705Z,1761516233.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624386,0.779696,0.047085],[-0.773885,-0.609298,-0.172794],[-0.106038,-0.144328,0.983832]]
2025-10-26T22:03:53.738Z,1761516233.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:54.107Z,1761516234.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624584,0.779442,0.048635],[-0.773389,-0.608682,-0.177130],[-0.108460,-0.148246,0.982985]]
2025-10-26T22:03:54.157Z,1761516234.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:54.527Z,1761516234.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624027,0.779817,0.049747],[-0.773485,-0.607412,-0.181029],[-0.110953,-0.151446,0.982219]]
2025-10-26T22:03:54.574Z,1761516234.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:54.942Z,1761516234.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624075,0.779864,0.048400],[-0.773148,-0.607366,-0.182617],[-0.113020,-0.151387,0.981992]]
2025-10-26T22:03:55.007Z,1761516235.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:55.340Z,1761516235.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623347,0.780500,0.047524],[-0.773362,-0.606383,-0.184963],[-0.115546,-0.152049,0.981596]]
2025-10-26T22:03:55.358Z,1761516235.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:55.812Z,1761516235.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621325,0.782153,0.046816],[-0.774369,-0.603824,-0.189077],[-0.119619,-0.153731,0.980846]]
2025-10-26T22:03:55.831Z,1761516235.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:56.271Z,1761516236.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620485,0.782801,0.047118],[-0.774793,-0.602633,-0.191126],[-0.121219,-0.155098,0.980434]]
2025-10-26T22:03:56.349Z,1761516236.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:56.762Z,1761516236.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619556,0.783780,0.042898],[-0.775374,-0.602569,-0.188959],[-0.122253,-0.150333,0.981047]]
2025-10-26T22:03:56.788Z,1761516236.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:57.187Z,1761516237.187 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,  +151,  -44,A
2025-10-26T22:03:57.208Z,1761516237.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:57.558Z,1761516237.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619588,0.784151,0.034913],[-0.775229,-0.604356,-0.183776],[-0.123009,-0.140931,0.982348]]
2025-10-26T22:03:57.605Z,1761516237.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:57.993Z,1761516237.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619880,0.783912,0.035080],[-0.774970,-0.604568,-0.184168],[-0.123163,-0.141348,0.982269]]
2025-10-26T22:03:58.080Z,1761516238.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:58.368Z,1761516238.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620796,0.783092,0.037138],[-0.774210,-0.604925,-0.186186],[-0.123335,-0.144336,0.981812]]
2025-10-26T22:03:58.386Z,1761516238.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:58.770Z,1761516238.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622374,0.781698,0.039977],[-0.772885,-0.605681,-0.189205],[-0.123688,-0.148654,0.981123]]
2025-10-26T22:03:58.795Z,1761516238.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:59.229Z,1761516239.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:03:59.586Z,1761516239.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627579,0.777176,0.046286],[-0.768616,-0.609005,-0.195811],[-0.123991,-0.158463,0.979549]]
2025-10-26T22:03:59.611Z,1761516239.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:00.026Z,1761516240.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630274,0.774669,0.051405],[-0.766389,-0.610218,-0.200703],[-0.124111,-0.165894,0.978302]]
2025-10-26T22:04:00.071Z,1761516240.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:00.390Z,1761516240.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632883,0.772368,0.053911],[-0.764180,-0.611945,-0.203841],[-0.124449,-0.170205,0.977518]]
2025-10-26T22:04:00.525Z,1761516240.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:00.811Z,1761516240.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635222,0.770263,0.056457],[-0.762102,-0.613276,-0.207588],[-0.125274,-0.174891,0.976586]]
2025-10-26T22:04:00.835Z,1761516240.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:01.267Z,1761516241.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:01.588Z,1761516241.588 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:04:01.660Z,1761516241.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:02.066Z,1761516242.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637102,0.767952,0.065964],[-0.759953,-0.611555,-0.220162],[-0.128733,-0.190395,0.973230]]
2025-10-26T22:04:02.103Z,1761516242.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:02.434Z,1761516242.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636192,0.768954,0.062999],[-0.760402,-0.611103,-0.219867],[-0.130569,-0.187782,0.973494]]
2025-10-26T22:04:02.451Z,1761516242.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:02.592Z,1761516242.592 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:04:02.868Z,1761516242.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:03.242Z,1761516243.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633709,0.772127,0.047246],[-0.761873,-0.612379,-0.211048],[-0.134024,-0.169739,0.976333]]
2025-10-26T22:04:03.347Z,1761516243.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:03.698Z,1761516243.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:04.142Z,1761516244.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:04.481Z,1761516244.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629218,0.776951,0.020800],[-0.765186,-0.614554,-0.191868],[-0.136289,-0.136643,0.981200]]
2025-10-26T22:04:04.528Z,1761516244.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:04.884Z,1761516244.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628635,0.777539,0.015816],[-0.765595,-0.615148,-0.188299],[-0.136681,-0.130480,0.981984]]
2025-10-26T22:04:04.908Z,1761516244.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:05.286Z,1761516245.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628098,0.777887,0.019605],[-0.765954,-0.613630,-0.191761],[-0.137138,-0.135461,0.981246]]
2025-10-26T22:04:05.331Z,1761516245.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:05.690Z,1761516245.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627388,0.778281,0.025733],[-0.766510,-0.611399,-0.196605],[-0.137281,-0.143073,0.980145]]
2025-10-26T22:04:05.737Z,1761516245.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:06.119Z,1761516246.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626979,0.778522,0.028299],[-0.766823,-0.610336,-0.198677],[-0.137403,-0.146266,0.979656]]
2025-10-26T22:04:06.166Z,1761516246.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:06.513Z,1761516246.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626406,0.778955,0.029079],[-0.767229,-0.609526,-0.199592],[-0.137749,-0.147336,0.979447]]
2025-10-26T22:04:06.534Z,1761516246.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:06.939Z,1761516246.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:07.306Z,1761516247.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625890,0.779266,0.031717],[-0.767579,-0.608280,-0.202034],[-0.138146,-0.150796,0.978865]]
2025-10-26T22:04:07.349Z,1761516247.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:07.718Z,1761516247.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625736,0.779219,0.035667],[-0.767727,-0.607128,-0.204917],[-0.138021,-0.155606,0.978129]]
2025-10-26T22:04:07.753Z,1761516247.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:08.154Z,1761516248.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624711,0.779872,0.039185],[-0.768565,-0.605235,-0.207359],[-0.137998,-0.159656,0.977480]]
2025-10-26T22:04:08.200Z,1761516248.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:08.561Z,1761516248.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:08.922Z,1761516248.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623426,0.781043,0.036233],[-0.769686,-0.604889,-0.204189],[-0.137564,-0.155185,0.978261]]
2025-10-26T22:04:08.956Z,1761516248.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:09.326Z,1761516249.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622776,0.781676,0.033647],[-0.770245,-0.604983,-0.201786],[-0.137375,-0.151584,0.978852]]
2025-10-26T22:04:09.388Z,1761516249.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:09.771Z,1761516249.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:10.185Z,1761516250.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622015,0.782407,0.030597],[-0.771039,-0.605236,-0.197960],[-0.136367,-0.146725,0.979732]]
2025-10-26T22:04:10.228Z,1761516250.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:10.583Z,1761516250.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:10.943Z,1761516250.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622059,0.782449,0.028563],[-0.771071,-0.605862,-0.195909],[-0.135983,-0.143891,0.980206]]
2025-10-26T22:04:10.969Z,1761516250.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:11.346Z,1761516251.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622236,0.782336,0.027801],[-0.770950,-0.606244,-0.195204],[-0.135861,-0.142896,0.980368]]
2025-10-26T22:04:11.397Z,1761516251.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:11.750Z,1761516251.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622645,0.782068,0.026141],[-0.770685,-0.607113,-0.193541],[-0.135492,-0.140654,0.980744]]
2025-10-26T22:04:11.785Z,1761516251.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:12.263Z,1761516252.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:12.601Z,1761516252.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:13.014Z,1761516253.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621870,0.782537,0.030222],[-0.771519,-0.605584,-0.195001],[-0.134294,-0.144583,0.980337]]
2025-10-26T22:04:13.041Z,1761516253.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:13.406Z,1761516253.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621347,0.782883,0.031961],[-0.771978,-0.604692,-0.195951],[-0.134080,-0.146426,0.980093]]
2025-10-26T22:04:13.458Z,1761516253.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:13.900Z,1761516253.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:14.371Z,1761516254.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:14.728Z,1761516254.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618391,0.784871,0.039624],[-0.774479,-0.600098,-0.200162],[-0.133323,-0.154466,0.978961]]
2025-10-26T22:04:14.755Z,1761516254.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:15.194Z,1761516255.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:15.532Z,1761516255.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617281,0.785742,0.039673],[-0.775862,-0.599612,-0.196223],[-0.130392,-0.151906,0.979756]]
2025-10-26T22:04:15.568Z,1761516255.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:15.931Z,1761516255.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617048,0.785843,0.041262],[-0.776336,-0.599334,-0.195196],[-0.128663,-0.152479,0.979896]]
2025-10-26T22:04:15.955Z,1761516255.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:16.335Z,1761516256.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616698,0.785974,0.043903],[-0.776922,-0.598717,-0.194757],[-0.126789,-0.154216,0.979868]]
2025-10-26T22:04:16.380Z,1761516256.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:16.743Z,1761516256.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616764,0.785704,0.047650],[-0.777159,-0.598208,-0.195374],[-0.125002,-0.157532,0.979571]]
2025-10-26T22:04:16.762Z,1761516256.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:17.143Z,1761516257.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616798,0.785466,0.051026],[-0.777411,-0.597755,-0.195759],[-0.123261,-0.160412,0.979324]]
2025-10-26T22:04:17.161Z,1761516257.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:17.546Z,1761516257.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617159,0.785023,0.053422],[-0.777410,-0.597877,-0.195391],[-0.121447,-0.162119,0.979269]]
2025-10-26T22:04:17.598Z,1761516257.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:17.951Z,1761516257.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618010,0.784263,0.054724],[-0.777068,-0.598811,-0.193886],[-0.119289,-0.162348,0.979497]]
2025-10-26T22:04:17.973Z,1761516257.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:18.356Z,1761516258.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618643,0.783509,0.058269],[-0.776886,-0.598979,-0.194092],[-0.117171,-0.165342,0.979251]]
2025-10-26T22:04:18.393Z,1761516258.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:18.758Z,1761516258.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619707,0.782553,0.059779],[-0.776404,-0.600137,-0.192440],[-0.114719,-0.165669,0.979486]]
2025-10-26T22:04:18.790Z,1761516258.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:19.162Z,1761516259.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620504,0.781765,0.061786],[-0.776109,-0.600901,-0.191239],[-0.112377,-0.166618,0.979597]]
2025-10-26T22:04:19.181Z,1761516259.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:19.656Z,1761516259.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621456,0.780875,0.063456],[-0.775662,-0.601866,-0.190014],[-0.110185,-0.167306,0.979729]]
2025-10-26T22:04:19.694Z,1761516259.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:20.074Z,1761516260.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622070,0.780287,0.064664],[-0.775394,-0.602498,-0.189103],[-0.108595,-0.167775,0.979826]]
2025-10-26T22:04:20.093Z,1761516260.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:20.517Z,1761516260.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623001,0.779496,0.065236],[-0.775012,-0.603812,-0.186462],[-0.105956,-0.166725,0.980294]]
2025-10-26T22:04:20.566Z,1761516260.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:20.922Z,1761516260.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623529,0.778947,0.066733],[-0.774972,-0.604570,-0.184154],[-0.103102,-0.166542,0.980629]]
2025-10-26T22:04:20.949Z,1761516260.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:04:20.951Z,1761516260.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:21.148Z,1761516261.148 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:04:21.148Z,1761516261.148 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:04:21.400Z,1761516261.400 [DAT](INFO): DAT read: user:429>

2025-10-26T22:04:21.401Z,1761516261.401 [DAT](INFO): DAT read: Tx time:22:04:20.4895

2025-10-26T22:04:21.401Z,1761516261.401 [DAT](INFO): Ping request sent.
2025-10-26T22:04:21.401Z,1761516261.401 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:04:21.402Z,1761516261.402 [DAT](INFO): publishing transmit ping time
2025-10-26T22:04:21.402Z,1761516261.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-10-26T22:04:21.406Z,1761516261.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:21.653Z,1761516261.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251320
2025-10-26T22:04:21.754Z,1761516261.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624454,0.778088,0.068090],[-0.775041,-0.606480,-0.177464],[-0.096787,-0.163590,0.981769]]
2025-10-26T22:04:21.772Z,1761516261.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:21.904Z,1761516261.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502763
2025-10-26T22:04:22.146Z,1761516262.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624474,0.778005,0.068847],[-0.775416,-0.606997,-0.174023],[-0.093601,-0.162058,0.982332]]
2025-10-26T22:04:22.158Z,1761516262.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756565
2025-10-26T22:04:22.180Z,1761516262.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:22.408Z,1761516262.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006890
2025-10-26T22:04:22.550Z,1761516262.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624583,0.777786,0.070313],[-0.775728,-0.607479,-0.170923],[-0.090228,-0.161299,0.982772]]
2025-10-26T22:04:22.609Z,1761516262.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:22.661Z,1761516262.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259114
2025-10-26T22:04:22.912Z,1761516262.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510762
2025-10-26T22:04:22.954Z,1761516262.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624727,0.777516,0.072006],[-0.775982,-0.607919,-0.168183],[-0.086991,-0.160944,0.983122]]
2025-10-26T22:04:23.013Z,1761516263.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:23.164Z,1761516263.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762819
2025-10-26T22:04:23.396Z,1761516263.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624426,0.777533,0.074391],[-0.776570,-0.607770,-0.165996],[-0.083855,-0.161422,0.983316]]
2025-10-26T22:04:23.416Z,1761516263.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014830
2025-10-26T22:04:23.500Z,1761516263.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:23.669Z,1761516263.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267052
2025-10-26T22:04:23.812Z,1761516263.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623001,0.778232,0.078893],[-0.778347,-0.606731,-0.161410],[-0.077748,-0.161965,0.983729]]
2025-10-26T22:04:23.848Z,1761516263.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:23.921Z,1761516263.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519919
2025-10-26T22:04:24.172Z,1761516264.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770748
2025-10-26T22:04:24.214Z,1761516264.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622094,0.778656,0.081818],[-0.779389,-0.605935,-0.159360],[-0.074510,-0.162905,0.983824]]
2025-10-26T22:04:24.232Z,1761516264.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:24.424Z,1761516264.424 [DAT](INFO): DAT read: Rx Time:22:04:23.0071

2025-10-26T22:04:24.425Z,1761516264.425 [DAT](INFO): Rx dataTimestamp_ set to:1761516264.424550
2025-10-26T22:04:24.425Z,1761516264.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023825
2025-10-26T22:04:24.621Z,1761516264.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621306,0.779028,0.084223],[-0.780314,-0.605357,-0.157014],[-0.071333,-0.163274,0.983998]]
2025-10-26T22:04:24.657Z,1761516264.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.86 m.
2025-10-26T22:04:24.676Z,1761516264.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274748
2025-10-26T22:04:24.936Z,1761516264.936 [DAT](INFO): DAT read: 22:04:23.0071 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX=  22, 0.29, 0.861, 2.679, 0.994, 1.469, PHS=-0.506, 1.255,-0.519, RAW= 330.4,  -2.6, CAL= 329.6,  -5.6, ROT= 180.4,   5.6

2025-10-26T22:04:24.938Z,1761516264.938 [DAT](INFO): got valid direction response:
 22:04:23.0071 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX=  22, 0.29, 0.861, 2.679, 0.994, 1.469, PHS=-0.506, 1.255,-0.519, RAW= 330.4,  -2.6, CAL= 329.6,  -5.6, ROT= 180.4,   5.6

2025-10-26T22:04:24.939Z,1761516264.939 [DAT](INFO): DAT read: Bearing 203.5,   4.9 (Local)

2025-10-26T22:04:24.940Z,1761516264.940 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.5,   4.9 (Local)

2025-10-26T22:04:24.941Z,1761516264.941 [DAT](INFO): DAT read: Range 11 to 50 : 85.0 m  (Round-trip  113.4 ms) speed -0.6 m/s

2025-10-26T22:04:24.942Z,1761516264.942 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:04:24.943Z,1761516264.943 [DAT](INFO): direction in FSK: [-0.995203,-0.006948,-0.097583]
2025-10-26T22:04:24.944Z,1761516264.944 [DAT](INFO): publishing direction and range info
2025-10-26T22:04:25.047Z,1761516265.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620222,0.779608,0.086813],[-0.781444,-0.604428,-0.154957],[-0.068333,-0.163947,0.984100]]
2025-10-26T22:04:25.118Z,1761516265.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 85.000000 m,
      deltaT: 60.244607 s,
      deltaX: 45.900002 m,
      approachRate: 0.761894 m/s,
      rangeRepo size: 4

2025-10-26T22:04:25.120Z,1761516265.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.482201 m,
      bearing: 52.873497 deg,
      lat: 36.779391 deg,
      lon: -121.859469 deg,
      deltaT: 60.244607 s,
      deltaX: 45.619282 m,
      approachRate: 0.757234 m/s,
      posRepo size: 4

2025-10-26T22:04:25.120Z,1761516265.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:25.436Z,1761516265.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619206,0.780259,0.088199],[-0.782494,-0.603780,-0.152157],[-0.065469,-0.163232,0.984413]]
2025-10-26T22:04:25.497Z,1761516265.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:25.839Z,1761516265.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618069,0.781000,0.089610],[-0.783628,-0.603014,-0.149335],[-0.062595,-0.162520,0.984718]]
2025-10-26T22:04:25.857Z,1761516265.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:26.244Z,1761516266.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617525,0.781305,0.090688],[-0.784300,-0.602934,-0.146098],[-0.059468,-0.161345,0.985105]]
2025-10-26T22:04:26.270Z,1761516266.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:26.646Z,1761516266.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616702,0.781787,0.092124],[-0.785149,-0.602435,-0.143574],[-0.056746,-0.160873,0.985342]]
2025-10-26T22:04:26.689Z,1761516266.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:27.050Z,1761516267.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616357,0.782001,0.092618],[-0.785612,-0.602570,-0.140438],[-0.054014,-0.159322,0.985748]]
2025-10-26T22:04:27.091Z,1761516267.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:27.458Z,1761516267.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616000,0.782168,0.093581],[-0.786070,-0.602592,-0.137759],[-0.051359,-0.158421,0.986035]]
2025-10-26T22:04:27.516Z,1761516267.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:27.860Z,1761516267.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615855,0.782211,0.094175],[-0.786334,-0.602821,-0.135225],[-0.049004,-0.157332,0.986329]]
2025-10-26T22:04:27.878Z,1761516267.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:28.262Z,1761516268.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615604,0.782319,0.094914],[-0.786642,-0.602818,-0.133433],[-0.047171,-0.156805,0.986502]]
2025-10-26T22:04:28.294Z,1761516268.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:28.666Z,1761516268.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615828,0.781989,0.096174],[-0.786587,-0.603229,-0.131891],[-0.045122,-0.156872,0.986588]]
2025-10-26T22:04:28.721Z,1761516268.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:29.116Z,1761516269.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:29.486Z,1761516269.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615750,0.781432,0.101075],[-0.786838,-0.603023,-0.131336],[-0.041679,-0.160400,0.986172]]
2025-10-26T22:04:29.542Z,1761516269.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:29.878Z,1761516269.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615682,0.781216,0.103140],[-0.786972,-0.602923,-0.130993],[-0.040149,-0.161818,0.986004]]
2025-10-26T22:04:29.904Z,1761516269.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:30.282Z,1761516270.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615517,0.781114,0.104876],[-0.787158,-0.602713,-0.130839],[-0.038989,-0.163088,0.985841]]
2025-10-26T22:04:30.321Z,1761516270.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:30.686Z,1761516270.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615291,0.781055,0.106627],[-0.787412,-0.602532,-0.130144],[-0.037403,-0.164036,0.985745]]
2025-10-26T22:04:30.752Z,1761516270.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:31.093Z,1761516271.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615291,0.780952,0.107382],[-0.787477,-0.602693,-0.129005],[-0.036028,-0.163936,0.985813]]
2025-10-26T22:04:31.111Z,1761516271.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:31.496Z,1761516271.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615380,0.780857,0.107566],[-0.787483,-0.603102,-0.127035],[-0.034323,-0.162881,0.986048]]
2025-10-26T22:04:31.539Z,1761516271.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:31.898Z,1761516271.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615462,0.780713,0.108139],[-0.787488,-0.603424,-0.125467],[-0.032700,-0.162379,0.986187]]
2025-10-26T22:04:31.928Z,1761516271.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:32.307Z,1761516272.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615668,0.780492,0.108564],[-0.787400,-0.603924,-0.123602],[-0.030906,-0.161581,0.986375]]
2025-10-26T22:04:32.325Z,1761516272.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:32.714Z,1761516272.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616129,0.779954,0.109805],[-0.787112,-0.604568,-0.122279],[-0.028988,-0.161768,0.986403]]
2025-10-26T22:04:32.720Z,1761516272.720 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:04:32.759Z,1761516272.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:33.146Z,1761516273.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:33.584Z,1761516273.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617100,0.778839,0.112241],[-0.786481,-0.605904,-0.119705],[-0.025223,-0.162145,0.986444]]
2025-10-26T22:04:33.629Z,1761516273.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:33.724Z,1761516273.724 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:04:33.989Z,1761516273.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617559,0.778245,0.113818],[-0.786184,-0.606541,-0.118414],[-0.023120,-0.162610,0.986420]]
2025-10-26T22:04:34.008Z,1761516274.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:34.461Z,1761516274.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617976,0.777431,0.117072],[-0.785930,-0.606998,-0.117764],[-0.020491,-0.164786,0.986116]]
2025-10-26T22:04:34.550Z,1761516274.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:34.983Z,1761516274.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618548,0.776626,0.119380],[-0.785546,-0.607776,-0.116301],[-0.017766,-0.165716,0.986014]]
2025-10-26T22:04:35.037Z,1761516275.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:35.388Z,1761516275.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619226,0.775781,0.121334],[-0.785070,-0.608729,-0.114517],[-0.014981,-0.166167,0.985984]]
2025-10-26T22:04:35.428Z,1761516275.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:35.789Z,1761516275.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619946,0.775019,0.122528],[-0.784561,-0.609992,-0.111239],[-0.011471,-0.165093,0.986211]]
2025-10-26T22:04:35.829Z,1761516275.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:36.190Z,1761516276.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620436,0.774393,0.123994],[-0.784220,-0.611066,-0.107693],[-0.007628,-0.164055,0.986422]]
2025-10-26T22:04:36.225Z,1761516276.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:36.594Z,1761516276.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621225,0.773627,0.124826],[-0.783623,-0.612496,-0.103845],[-0.003882,-0.162328,0.986729]]
2025-10-26T22:04:36.641Z,1761516276.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:37.047Z,1761516277.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:37.419Z,1761516277.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622248,0.771855,0.130567],[-0.782810,-0.614379,-0.098728],[0.004014,-0.163642,0.986512]]
2025-10-26T22:04:37.437Z,1761516277.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:37.812Z,1761516277.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622098,0.771629,0.132599],[-0.782913,-0.614487,-0.097228],[0.006456,-0.164299,0.986390]]
2025-10-26T22:04:37.855Z,1761516277.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:38.215Z,1761516278.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622061,0.771453,0.133791],[-0.782916,-0.614851,-0.094873],[0.009071,-0.163764,0.986458]]
2025-10-26T22:04:38.233Z,1761516278.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:38.620Z,1761516278.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621505,0.771540,0.135859],[-0.783328,-0.614537,-0.093494],[0.011356,-0.164529,0.986307]]
2025-10-26T22:04:38.657Z,1761516278.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:39.022Z,1761516279.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620969,0.771590,0.138009],[-0.783715,-0.614257,-0.092082],[0.013723,-0.165340,0.986141]]
2025-10-26T22:04:39.049Z,1761516279.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:39.424Z,1761516279.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620427,0.771714,0.139741],[-0.784098,-0.614036,-0.090276],[0.016139,-0.165581,0.986064]]
2025-10-26T22:04:39.456Z,1761516279.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:39.829Z,1761516279.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619587,0.772215,0.140700],[-0.784708,-0.613628,-0.087717],[0.018601,-0.164757,0.986159]]
2025-10-26T22:04:39.866Z,1761516279.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:40.230Z,1761516280.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618625,0.772593,0.142837],[-0.785409,-0.612927,-0.086324],[0.020855,-0.165588,0.985974]]
2025-10-26T22:04:40.254Z,1761516280.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:40.635Z,1761516280.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617379,0.772988,0.146060],[-0.786319,-0.611894,-0.085372],[0.023382,-0.167557,0.985585]]
2025-10-26T22:04:40.684Z,1761516280.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:41.040Z,1761516281.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616388,0.773365,0.148230],[-0.787021,-0.611207,-0.083815],[0.025779,-0.168323,0.985395]]
2025-10-26T22:04:41.058Z,1761516281.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:41.467Z,1761516281.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615404,0.773868,0.149690],[-0.787695,-0.610686,-0.081240],[0.028545,-0.167905,0.985390]]
2025-10-26T22:04:41.500Z,1761516281.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:41.846Z,1761516281.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614777,0.774038,0.151377],[-0.788077,-0.610504,-0.078864],[0.031373,-0.167780,0.985325]]
2025-10-26T22:04:41.890Z,1761516281.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:42.250Z,1761516282.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614188,0.774231,0.152773],[-0.788419,-0.610387,-0.076304],[0.034174,-0.167314,0.985311]]
2025-10-26T22:04:42.269Z,1761516282.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:42.661Z,1761516282.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613770,0.774213,0.154532],[-0.788619,-0.610401,-0.074100],[0.036958,-0.167347,0.985205]]
2025-10-26T22:04:42.732Z,1761516282.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:43.061Z,1761516283.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613601,0.774254,0.154997],[-0.788617,-0.610774,-0.070979],[0.039713,-0.165786,0.985362]]
2025-10-26T22:04:43.080Z,1761516283.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:43.500Z,1761516283.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:43.866Z,1761516283.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613415,0.773859,0.157686],[-0.788458,-0.611535,-0.066017],[0.045343,-0.164825,0.985280]]
2025-10-26T22:04:43.912Z,1761516283.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:44.271Z,1761516284.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613439,0.773482,0.159430],[-0.788266,-0.612023,-0.063755],[0.048262,-0.164783,0.985148]]
2025-10-26T22:04:44.288Z,1761516284.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:44.690Z,1761516284.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613502,0.773022,0.161405],[-0.788032,-0.612538,-0.061670],[0.051194,-0.165027,0.984960]]
2025-10-26T22:04:44.752Z,1761516284.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:45.116Z,1761516285.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:45.482Z,1761516285.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614497,0.771386,0.165401],[-0.786850,-0.614439,-0.057725],[0.057100,-0.165618,0.984536]]
2025-10-26T22:04:45.508Z,1761516285.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:45.886Z,1761516285.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614822,0.770676,0.167487],[-0.786381,-0.615210,-0.055868],[0.059983,-0.166058,0.984290]]
2025-10-26T22:04:45.956Z,1761516285.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:46.293Z,1761516286.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615427,0.769860,0.169009],[-0.785686,-0.616292,-0.053689],[0.062826,-0.165830,0.984151]]
2025-10-26T22:04:46.311Z,1761516286.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:46.720Z,1761516286.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616531,0.768683,0.170342],[-0.784595,-0.617857,-0.051603],[0.065581,-0.165465,0.984033]]
2025-10-26T22:04:46.774Z,1761516286.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:47.098Z,1761516287.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617372,0.767348,0.173289],[-0.783746,-0.618947,-0.051447],[0.067779,-0.167577,0.983526]]
2025-10-26T22:04:47.137Z,1761516287.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:47.502Z,1761516287.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617823,0.766601,0.174976],[-0.783170,-0.619810,-0.049800],[0.070275,-0.167804,0.983312]]
2025-10-26T22:04:47.543Z,1761516287.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:47.907Z,1761516287.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618842,0.765940,0.174269],[-0.782216,-0.621198,-0.047443],[0.071917,-0.165675,0.983555]]
2025-10-26T22:04:47.978Z,1761516287.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:48.313Z,1761516288.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619578,0.765603,0.173133],[-0.781508,-0.622269,-0.045018],[0.073269,-0.163196,0.983869]]
2025-10-26T22:04:48.332Z,1761516288.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:48.745Z,1761516288.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620134,0.765148,0.173155],[-0.780950,-0.623067,-0.043636],[0.074499,-0.162286,0.983928]]
2025-10-26T22:04:48.804Z,1761516288.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:49.118Z,1761516289.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620586,0.764682,0.173596],[-0.780482,-0.623719,-0.042683],[0.075636,-0.161977,0.983892]]
2025-10-26T22:04:49.137Z,1761516289.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:49.522Z,1761516289.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620664,0.764354,0.174757],[-0.780288,-0.624012,-0.041946],[0.076989,-0.162396,0.983718]]
2025-10-26T22:04:49.544Z,1761516289.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:49.946Z,1761516289.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620245,0.764305,0.176448],[-0.780518,-0.623726,-0.041917],[0.078018,-0.163720,0.983417]]
2025-10-26T22:04:50.002Z,1761516290.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:50.330Z,1761516290.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619746,0.764379,0.177875],[-0.780791,-0.623420,-0.041391],[0.079253,-0.164535,0.983182]]
2025-10-26T22:04:50.356Z,1761516290.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:50.771Z,1761516290.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619638,0.764217,0.178943],[-0.780713,-0.623592,-0.040234],[0.080840,-0.164633,0.983037]]
2025-10-26T22:04:50.828Z,1761516290.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:51.139Z,1761516291.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618962,0.764494,0.180096],[-0.781106,-0.623163,-0.039259],[0.082216,-0.164974,0.982865]]
2025-10-26T22:04:51.158Z,1761516291.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:51.542Z,1761516291.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618730,0.764491,0.180904],[-0.781146,-0.623181,-0.038155],[0.083567,-0.164920,0.982760]]
2025-10-26T22:04:51.571Z,1761516291.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:51.953Z,1761516291.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618560,0.764530,0.181323],[-0.781149,-0.623253,-0.036908],[0.084793,-0.164470,0.982731]]
2025-10-26T22:04:52.037Z,1761516292.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:52.390Z,1761516292.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:52.790Z,1761516292.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617611,0.764864,0.183142],[-0.781616,-0.622784,-0.034890],[0.087372,-0.164695,0.982467]]
2025-10-26T22:04:52.839Z,1761516292.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:53.174Z,1761516293.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617257,0.764842,0.184418],[-0.781795,-0.622568,-0.034717],[0.088260,-0.165607,0.982234]]
2025-10-26T22:04:53.192Z,1761516293.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:53.578Z,1761516293.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616854,0.765129,0.184577],[-0.782012,-0.622356,-0.033612],[0.089155,-0.165076,0.982243]]
2025-10-26T22:04:53.602Z,1761516293.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:53.982Z,1761516293.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616360,0.765495,0.184709],[-0.782278,-0.622095,-0.032235],[0.090231,-0.164363,0.982264]]
2025-10-26T22:04:54.032Z,1761516294.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:54.386Z,1761516294.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615982,0.765560,0.185701],[-0.782425,-0.621957,-0.031312],[0.091527,-0.164585,0.982107]]
2025-10-26T22:04:54.404Z,1761516294.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:54.831Z,1761516294.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615460,0.765520,0.187583],[-0.782721,-0.621576,-0.031480],[0.092498,-0.166200,0.981744]]
2025-10-26T22:04:54.873Z,1761516294.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:55.195Z,1761516295.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614911,0.765558,0.189222],[-0.783007,-0.621234,-0.031119],[0.093728,-0.167298,0.981441]]
2025-10-26T22:04:55.228Z,1761516295.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:55.640Z,1761516295.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:56.003Z,1761516296.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614171,0.765659,0.191209],[-0.783261,-0.621009,-0.029157],[0.096419,-0.167674,0.981116]]
2025-10-26T22:04:56.059Z,1761516296.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:56.402Z,1761516296.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614140,0.765480,0.192022],[-0.783122,-0.621231,-0.028158],[0.097735,-0.167670,0.980987]]
2025-10-26T22:04:56.439Z,1761516296.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:56.846Z,1761516296.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613985,0.765434,0.192701],[-0.783099,-0.621302,-0.027219],[0.098891,-0.167616,0.980880]]
2025-10-26T22:04:56.900Z,1761516296.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:57.231Z,1761516297.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613699,0.765607,0.192923],[-0.783213,-0.621199,-0.026243],[0.099752,-0.167205,0.980863]]
2025-10-26T22:04:57.257Z,1761516297.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:57.634Z,1761516297.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613768,0.765860,0.191696],[-0.783093,-0.621417,-0.024616],[0.100271,-0.165224,0.981146]]
2025-10-26T22:04:57.652Z,1761516297.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:58.039Z,1761516298.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613888,0.765557,0.192520],[-0.782906,-0.621661,-0.024409],[0.100995,-0.165710,0.980989]]
2025-10-26T22:04:58.091Z,1761516298.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:58.449Z,1761516298.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614186,0.765527,0.191688],[-0.782574,-0.622138,-0.022862],[0.101755,-0.164051,0.981190]]
2025-10-26T22:04:58.472Z,1761516298.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:58.889Z,1761516298.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614603,0.765242,0.191490],[-0.782135,-0.622730,-0.021744],[0.102607,-0.163134,0.981254]]
2025-10-26T22:04:58.947Z,1761516298.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:59.308Z,1761516299.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:04:59.674Z,1761516299.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614904,0.764501,0.193470],[-0.781746,-0.623209,-0.021990],[0.103761,-0.164766,0.980860]]
2025-10-26T22:04:59.712Z,1761516299.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:00.078Z,1761516300.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615069,0.764207,0.194107],[-0.781518,-0.623508,-0.021628],[0.104499,-0.165001,0.980742]]
2025-10-26T22:05:00.124Z,1761516300.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:00.538Z,1761516300.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615220,0.763910,0.194796],[-0.781308,-0.623780,-0.021382],[0.105175,-0.165350,0.980611]]
2025-10-26T22:05:00.560Z,1761516300.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:01.015Z,1761516301.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614864,0.763969,0.195687],[-0.781516,-0.623520,-0.021345],[0.105708,-0.166057,0.980434]]
2025-10-26T22:05:01.069Z,1761516301.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:01.433Z,1761516301.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614674,0.763952,0.196349],[-0.781609,-0.623405,-0.021302],[0.106131,-0.166562,0.980303]]
2025-10-26T22:05:01.477Z,1761516301.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:01.819Z,1761516301.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614202,0.764097,0.197260],[-0.781926,-0.623003,-0.021420],[0.106527,-0.167399,0.980117]]
2025-10-26T22:05:01.848Z,1761516301.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:02.222Z,1761516302.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613816,0.764257,0.197842],[-0.782190,-0.622671,-0.021435],[0.106808,-0.167907,0.980000]]
2025-10-26T22:05:02.270Z,1761516302.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:02.638Z,1761516302.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611710,0.765497,0.199564],[-0.783842,-0.620560,-0.022283],[0.106784,-0.170057,0.979631]]
2025-10-26T22:05:02.689Z,1761516302.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:03.052Z,1761516303.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610135,0.766884,0.199058],[-0.785139,-0.618926,-0.022085],[0.106266,-0.169763,0.979739]]
2025-10-26T22:05:03.103Z,1761516303.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:03.444Z,1761516303.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608435,0.768484,0.198087],[-0.786546,-0.617152,-0.021663],[0.105602,-0.168985,0.979945]]
2025-10-26T22:05:03.462Z,1761516303.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:03.844Z,1761516303.844 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:05:03.893Z,1761516303.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:04.247Z,1761516304.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605695,0.771464,0.194877],[-0.788837,-0.614276,-0.020031],[0.104255,-0.165859,0.980623]]
2025-10-26T22:05:04.299Z,1761516304.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:04.649Z,1761516304.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604751,0.772587,0.193352],[-0.789605,-0.613321,-0.018983],[0.103921,-0.164152,0.980946]]
2025-10-26T22:05:04.668Z,1761516304.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:04.851Z,1761516304.851 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:05:05.050Z,1761516305.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604057,0.773948,0.190054],[-0.790178,-0.612654,-0.016575],[0.103609,-0.160189,0.981634]]
2025-10-26T22:05:05.099Z,1761516305.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:05.457Z,1761516305.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604207,0.774446,0.187528],[-0.790086,-0.612816,-0.014838],[0.103429,-0.157128,0.982147]]
2025-10-26T22:05:05.499Z,1761516305.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:05.862Z,1761516305.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604085,0.774770,0.186582],[-0.790210,-0.612668,-0.014348],[0.103197,-0.156106,0.982335]]
2025-10-26T22:05:05.880Z,1761516305.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:06.278Z,1761516306.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604488,0.774320,0.187144],[-0.789865,-0.613108,-0.014551],[0.103473,-0.156615,0.982225]]
2025-10-26T22:05:06.346Z,1761516306.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:06.666Z,1761516306.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605506,0.773024,0.189198],[-0.789128,-0.613998,-0.016844],[0.103146,-0.159501,0.981794]]
2025-10-26T22:05:06.704Z,1761516306.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:07.122Z,1761516307.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:07.483Z,1761516307.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608452,0.769931,0.192333],[-0.786843,-0.616830,-0.019966],[0.103264,-0.163484,0.981127]]
2025-10-26T22:05:07.522Z,1761516307.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:07.895Z,1761516307.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610353,0.768369,0.192558],[-0.785333,-0.618740,-0.020304],[0.103542,-0.163614,0.981076]]
2025-10-26T22:05:08.014Z,1761516308.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:08.328Z,1761516308.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612632,0.766221,0.193874],[-0.783495,-0.621029,-0.021400],[0.104005,-0.165009,0.980793]]
2025-10-26T22:05:08.373Z,1761516308.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:08.736Z,1761516308.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614939,0.763662,0.196649],[-0.781588,-0.623357,-0.023372],[0.104734,-0.168071,0.980195]]
2025-10-26T22:05:08.754Z,1761516308.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:09.141Z,1761516309.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616769,0.761651,0.198706],[-0.780076,-0.625188,-0.024922],[0.105247,-0.170377,0.979742]]
2025-10-26T22:05:09.197Z,1761516309.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:09.538Z,1761516309.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618649,0.760050,0.198993],[-0.778515,-0.627127,-0.025022],[0.105776,-0.170399,0.979681]]
2025-10-26T22:05:09.566Z,1761516309.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:09.942Z,1761516309.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620328,0.758330,0.200320],[-0.777109,-0.628831,-0.025965],[0.106277,-0.171778,0.979386]]
2025-10-26T22:05:09.978Z,1761516309.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:10.346Z,1761516310.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620686,0.757842,0.201058],[-0.776789,-0.629209,-0.026364],[0.106527,-0.172544,0.979225]]
2025-10-26T22:05:10.409Z,1761516310.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:10.873Z,1761516310.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621053,0.757509,0.201181],[-0.776460,-0.629620,-0.026246],[0.106786,-0.172509,0.979202]]
2025-10-26T22:05:10.911Z,1761516310.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:11.277Z,1761516311.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621539,0.757019,0.201521],[-0.776086,-0.630057,-0.026806],[0.106677,-0.173059,0.979117]]
2025-10-26T22:05:11.334Z,1761516311.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:11.760Z,1761516311.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621394,0.756870,0.202525],[-0.776367,-0.629608,-0.029125],[0.105467,-0.175332,0.978844]]
2025-10-26T22:05:11.778Z,1761516311.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:12.168Z,1761516312.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621123,0.757415,0.201315],[-0.776771,-0.629078,-0.029794],[0.104076,-0.174881,0.979073]]
2025-10-26T22:05:12.220Z,1761516312.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:12.566Z,1761516312.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620858,0.758371,0.198518],[-0.777205,-0.628556,-0.029498],[0.102410,-0.172603,0.979653]]
2025-10-26T22:05:12.598Z,1761516312.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:12.970Z,1761516312.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620809,0.759528,0.194198],[-0.777461,-0.628307,-0.028002],[0.100748,-0.168365,0.980563]]
2025-10-26T22:05:13.007Z,1761516313.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:13.374Z,1761516313.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620136,0.760770,0.191465],[-0.778240,-0.627344,-0.027943],[0.098856,-0.166335,0.981102]]
2025-10-26T22:05:13.444Z,1761516313.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:13.780Z,1761516313.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619626,0.761642,0.189642],[-0.778812,-0.626635,-0.027952],[0.097547,-0.165015,0.981455]]
2025-10-26T22:05:13.797Z,1761516313.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:14.182Z,1761516314.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618722,0.762242,0.190182],[-0.779702,-0.625437,-0.029890],[0.096163,-0.166779,0.981294]]
2025-10-26T22:05:14.230Z,1761516314.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:14.586Z,1761516314.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617255,0.763774,0.188798],[-0.781053,-0.623730,-0.030298],[0.094618,-0.166163,0.981548]]
2025-10-26T22:05:14.617Z,1761516314.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:14.990Z,1761516314.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616297,0.765234,0.185997],[-0.781943,-0.622668,-0.029149],[0.093509,-0.163403,0.982118]]
2025-10-26T22:05:15.015Z,1761516315.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:15.410Z,1761516315.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615134,0.766632,0.184081],[-0.783000,-0.621354,-0.028792],[0.092307,-0.161846,0.982489]]
2025-10-26T22:05:15.477Z,1761516315.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:15.798Z,1761516315.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613956,0.768167,0.181596],[-0.784064,-0.620049,-0.027972],[0.091111,-0.159556,0.982975]]
2025-10-26T22:05:15.824Z,1761516315.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:16.202Z,1761516316.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613285,0.768974,0.180447],[-0.784702,-0.619237,-0.028089],[0.090140,-0.158823,0.983184]]
2025-10-26T22:05:16.254Z,1761516316.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:16.606Z,1761516316.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613007,0.769231,0.180296],[-0.784994,-0.618837,-0.028725],[0.089478,-0.159140,0.983193]]
2025-10-26T22:05:16.625Z,1761516316.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:17.030Z,1761516317.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612873,0.769365,0.180176],[-0.785170,-0.618583,-0.029381],[0.088850,-0.159476,0.983195]]
2025-10-26T22:05:17.072Z,1761516317.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:17.419Z,1761516317.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612882,0.769809,0.178243],[-0.785319,-0.618386,-0.029561],[0.087467,-0.158095,0.983542]]
2025-10-26T22:05:17.467Z,1761516317.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:17.819Z,1761516317.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613364,0.769524,0.177815],[-0.785006,-0.618758,-0.030062],[0.086891,-0.158025,0.983605]]
2025-10-26T22:05:17.837Z,1761516317.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:18.228Z,1761516318.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613684,0.769325,0.177570],[-0.784862,-0.618887,-0.031160],[0.085924,-0.158490,0.983615]]
2025-10-26T22:05:18.269Z,1761516318.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:18.627Z,1761516318.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614694,0.768624,0.177109],[-0.784192,-0.619670,-0.032434],[0.084820,-0.158824,0.983657]]
2025-10-26T22:05:18.665Z,1761516318.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:19.031Z,1761516319.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616252,0.767261,0.177607],[-0.783100,-0.620921,-0.034790],[0.083587,-0.160524,0.983486]]
2025-10-26T22:05:19.054Z,1761516319.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:19.435Z,1761516319.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617673,0.766057,0.177865],[-0.782057,-0.622151,-0.036274],[0.082871,-0.161506,0.983386]]
2025-10-26T22:05:19.500Z,1761516319.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:19.838Z,1761516319.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619337,0.764673,0.178034],[-0.780809,-0.623633,-0.037683],[0.082213,-0.162349,0.983303]]
2025-10-26T22:05:19.867Z,1761516319.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:20.242Z,1761516320.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620334,0.763914,0.177823],[-0.780072,-0.624509,-0.038431],[0.081694,-0.162555,0.983312]]
2025-10-26T22:05:20.291Z,1761516320.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:20.653Z,1761516320.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623666,0.761365,0.177101],[-0.777495,-0.627631,-0.039756],[0.080885,-0.162489,0.983389]]
2025-10-26T22:05:20.688Z,1761516320.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:21.056Z,1761516321.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625533,0.759493,0.178547],[-0.776004,-0.629356,-0.041580],[0.080790,-0.164563,0.983052]]
2025-10-26T22:05:21.073Z,1761516321.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:05:21.074Z,1761516321.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:21.159Z,1761516321.159 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:05:21.160Z,1761516321.160 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:05:21.408Z,1761516321.408 [DAT](INFO): DAT read: user:430>

2025-10-26T22:05:21.409Z,1761516321.409 [DAT](INFO): DAT read: Tx time:22:05:20.5395

2025-10-26T22:05:21.409Z,1761516321.409 [DAT](INFO): Ping request sent.
2025-10-26T22:05:21.410Z,1761516321.410 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:05:21.410Z,1761516321.410 [DAT](INFO): publishing transmit ping time
2025-10-26T22:05:21.410Z,1761516321.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-10-26T22:05:21.471Z,1761516321.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626837,0.758064,0.180041],[-0.774994,-0.630455,-0.043712],[0.080371,-0.166931,0.982687]]
2025-10-26T22:05:21.533Z,1761516321.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:21.660Z,1761516321.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250753
2025-10-26T22:05:21.863Z,1761516321.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628349,0.756831,0.179957],[-0.773790,-0.631889,-0.044326],[0.080166,-0.167101,0.982675]]
2025-10-26T22:05:21.912Z,1761516321.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502898
2025-10-26T22:05:21.917Z,1761516321.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:22.170Z,1761516322.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759622
2025-10-26T22:05:22.265Z,1761516322.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629135,0.756517,0.178523],[-0.773165,-0.632711,-0.043517],[0.080032,-0.165406,0.982973]]
2025-10-26T22:05:22.317Z,1761516322.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:22.416Z,1761516322.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006779
2025-10-26T22:05:22.668Z,1761516322.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258904
2025-10-26T22:05:22.669Z,1761516322.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629774,0.756519,0.176248],[-0.772645,-0.633460,-0.041801],[0.080023,-0.162503,0.983458]]
2025-10-26T22:05:22.688Z,1761516322.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:22.920Z,1761516322.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510805
2025-10-26T22:05:23.070Z,1761516323.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630084,0.756778,0.174016],[-0.772398,-0.633873,-0.040083],[0.079970,-0.159665,0.983927]]
2025-10-26T22:05:23.095Z,1761516323.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:23.172Z,1761516323.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762866
2025-10-26T22:05:23.424Z,1761516323.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014791
2025-10-26T22:05:23.474Z,1761516323.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630476,0.756638,0.173206],[-0.772103,-0.634250,-0.039808],[0.079736,-0.158831,0.984081]]
2025-10-26T22:05:23.517Z,1761516323.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:23.676Z,1761516323.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266816
2025-10-26T22:05:23.886Z,1761516323.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630361,0.756809,0.172875],[-0.772285,-0.633978,-0.040593],[0.078878,-0.159097,0.984107]]
2025-10-26T22:05:23.924Z,1761516323.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:23.928Z,1761516323.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518888
2025-10-26T22:05:24.181Z,1761516324.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771311
2025-10-26T22:05:24.341Z,1761516324.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:24.433Z,1761516324.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023288
2025-10-26T22:05:24.684Z,1761516324.684 [DAT](INFO): DAT read: Rx Time:22:05:23.1940

2025-10-26T22:05:24.685Z,1761516324.685 [DAT](INFO): Rx dataTimestamp_ set to:1761516324.684649
2025-10-26T22:05:24.685Z,1761516324.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275928
2025-10-26T22:05:24.758Z,1761516324.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:24.937Z,1761516324.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527467
2025-10-26T22:05:25.125Z,1761516325.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627797,0.759372,0.170953],[-0.774618,-0.631069,-0.041452],[0.076406,-0.158446,0.984407]]
2025-10-26T22:05:25.143Z,1761516325.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.48 m.
2025-10-26T22:05:25.195Z,1761516325.195 [DAT](INFO): DAT read: 22:05:23.1940 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 287, 0.24, 1.576, 2.678, 1.724, 1.220, PHS= 0.458, 1.503, 0.459, RAW= 329.9, -39.3, CAL= 329.3, -42.6, ROT= 180.7,  42.6

2025-10-26T22:05:25.200Z,1761516325.200 [DAT](INFO): got valid direction response:
 22:05:23.1940 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 287, 0.24, 1.576, 2.678, 1.724, 1.220, PHS= 0.458, 1.503, 0.459, RAW= 329.9, -39.3, CAL= 329.3, -42.6, ROT= 180.7,  42.6

2025-10-26T22:05:25.202Z,1761516325.202 [DAT](INFO): DAT read: Bearing 239.3,   3.0 (Local)

2025-10-26T22:05:25.202Z,1761516325.202 [DAT](INFO): Local bearing/azimuth received:
 Bearing 239.3,   3.0 (Local)

2025-10-26T22:05:25.218Z,1761516325.218 [DAT](INFO): DAT read: Range 11 to 50 : 187.7 m  (Round-trip  250.3 ms) speed -0.6 m/s

2025-10-26T22:05:25.263Z,1761516325.263 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:05:25.272Z,1761516325.272 [DAT](INFO): direction in FSK: [-0.736042,-0.008993,-0.676876]
2025-10-26T22:05:25.273Z,1761516325.273 [DAT](INFO): publishing direction and range info
2025-10-26T22:05:25.588Z,1761516325.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 187.699997 m,
      deltaT: 60.259346 s,
      deltaX: 102.699997 m,
      approachRate: 1.704300 m/s,
      rangeRepo size: 4

2025-10-26T22:05:25.590Z,1761516325.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 186.557816 m,
      bearing: 60.652528 deg,
      lat: 36.779389 deg,
      lon: -121.859469 deg,
      deltaT: 60.259346 s,
      deltaX: 102.075615 m,
      approachRate: 1.693938 m/s,
      posRepo size: 4

2025-10-26T22:05:25.590Z,1761516325.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.56 m.
2025-10-26T22:05:25.591Z,1761516325.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 187.70 m. Resuming terminal guidance.
2025-10-26T22:05:25.591Z,1761516325.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-10-26T22:05:26.054Z,1761516326.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625055,0.762958,0.164930],[-0.777019,-0.628317,-0.038202],[0.074482,-0.152032,0.985565]]
2025-10-26T22:05:26.070Z,1761516326.070 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-10-26T22:05:26.070Z,1761516326.070 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T22:05:26.070Z,1761516326.070 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-10-26T22:05:26.072Z,1761516326.072 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 187.699997 m (mode  1.000000 count ).
2025-10-26T22:05:26.072Z,1761516326.072 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-10-26T22:05:26.072Z,1761516326.072 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-10-26T22:05:26.510Z,1761516326.510 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-10-26T22:05:26.510Z,1761516326.510 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-10-26T22:05:26.511Z,1761516326.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:05:26.704Z,1761516326.704 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:05:26.704Z,1761516326.704 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:05:26.704Z,1761516326.704 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:05:26.863Z,1761516326.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623228,0.765023,0.162258],[-0.778724,-0.626168,-0.038762],[0.071947,-0.150512,0.985987]]
2025-10-26T22:05:26.892Z,1761516326.892 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-10-26T22:05:26.892Z,1761516326.892 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-10-26T22:05:26.953Z,1761516326.953 [DAT](INFO): DAT read: user:431>

2025-10-26T22:05:26.954Z,1761516326.954 [DAT](INFO): DAT read: Tx time:22:05:26.0895

2025-10-26T22:05:26.955Z,1761516326.955 [DAT](INFO): Ping request sent.
2025-10-26T22:05:26.955Z,1761516326.955 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:05:26.955Z,1761516326.955 [DAT](INFO): publishing transmit ping time
2025-10-26T22:05:26.956Z,1761516326.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001152
2025-10-26T22:05:27.204Z,1761516327.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249741
2025-10-26T22:05:27.317Z,1761516327.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623192,0.765593,0.159684],[-0.778902,-0.625948,-0.038729],[0.070303,-0.148514,0.986408]]
2025-10-26T22:05:27.358Z,1761516327.358 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-10-26T22:05:27.358Z,1761516327.358 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T22:05:27.358Z,1761516327.358 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-10-26T22:05:27.358Z,1761516327.358 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T22:05:27.457Z,1761516327.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501885
2025-10-26T22:05:27.670Z,1761516327.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623367,0.765354,0.160147],[-0.778899,-0.625802,-0.041086],[0.068775,-0.150350,0.986238]]
2025-10-26T22:05:27.709Z,1761516327.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754307
2025-10-26T22:05:27.960Z,1761516327.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005596
2025-10-26T22:05:28.074Z,1761516328.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624914,0.763812,0.161474],[-0.777810,-0.626905,-0.044753],[0.067045,-0.153563,0.985862]]
2025-10-26T22:05:28.212Z,1761516328.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257603
2025-10-26T22:05:28.464Z,1761516328.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509555
2025-10-26T22:05:28.486Z,1761516328.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628721,0.759513,0.166884],[-0.774859,-0.629987,-0.052054],[0.065599,-0.162039,0.984601]]
2025-10-26T22:05:28.521Z,1761516328.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:05:28.717Z,1761516328.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762545
2025-10-26T22:05:28.893Z,1761516328.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635136,0.751843,0.177014],[-0.769693,-0.635235,-0.063626],[0.064608,-0.176657,0.982150]]
2025-10-26T22:05:28.969Z,1761516328.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014099
2025-10-26T22:05:29.220Z,1761516329.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265555
2025-10-26T22:05:29.342Z,1761516329.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644534,0.740461,0.190507],[-0.761850,-0.643000,-0.078326],[0.064499,-0.195621,0.978556]]
2025-10-26T22:05:29.478Z,1761516329.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522793
2025-10-26T22:05:29.693Z,1761516329.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656241,0.725904,0.205941],[-0.751729,-0.652549,-0.095304],[0.065205,-0.217354,0.973912]]
2025-10-26T22:05:29.729Z,1761516329.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774307
2025-10-26T22:05:29.980Z,1761516329.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025575
2025-10-26T22:05:30.094Z,1761516330.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668794,0.709872,0.220900],[-0.740488,-0.662535,-0.112806],[0.066276,-0.239018,0.968751]]
2025-10-26T22:05:30.233Z,1761516330.233 [DAT](INFO): DAT read: Rx Time:22:05:28.7498

2025-10-26T22:05:30.233Z,1761516330.233 [DAT](INFO): Rx dataTimestamp_ set to:1761516330.232823
2025-10-26T22:05:30.234Z,1761516330.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278905
2025-10-26T22:05:30.484Z,1761516330.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529736
2025-10-26T22:05:30.502Z,1761516330.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683207,0.692048,0.233019],[-0.727035,-0.674453,-0.128581],[0.068176,-0.257261,0.963934]]
2025-10-26T22:05:30.596Z,1761516330.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:05:30.742Z,1761516330.742 [DAT](INFO): DAT read: 22:05:28.7498 LVL= 32752, 31505, 32754, 32755, AGC= 75, IDX= 490, 0.40, 2.676,-2.445, 2.730, 2.447, PHS= 0.331, 1.436, 0.239, RAW= 333.9, -31.6, CAL= 333.8, -34.7, ROT= 176.2,  34.7

2025-10-26T22:05:30.743Z,1761516330.743 [DAT](INFO): got valid direction response:
 22:05:28.7498 LVL= 32752, 31505, 32754, 32755, AGC= 75, IDX= 490, 0.40, 2.676,-2.445, 2.730, 2.447, PHS= 0.331, 1.436, 0.239, RAW= 333.9, -31.6, CAL= 333.8, -34.7, ROT= 176.2,  34.7

2025-10-26T22:05:30.744Z,1761516330.744 [DAT](INFO): DAT read: Bearing 227.7,   7.9 (Local)

2025-10-26T22:05:30.744Z,1761516330.744 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.7,   7.9 (Local)

2025-10-26T22:05:30.746Z,1761516330.746 [DAT](INFO): DAT read: Range 11 to 50 : 192.0 m  (Round-trip  256.1 ms) speed -0.4 m/s

2025-10-26T22:05:30.746Z,1761516330.746 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:05:30.747Z,1761516330.747 [DAT](INFO): direction in FSK: [-0.820337,0.054487,-0.569280]
2025-10-26T22:05:30.748Z,1761516330.748 [DAT](INFO): publishing direction and range info
2025-10-26T22:05:30.751Z,1761516330.751 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:05:30.751Z,1761516330.751 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:05:30.751Z,1761516330.751 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:05:30.918Z,1761516330.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699157,0.672162,0.243675],[-0.711471,-0.687749,-0.144257],[0.070623,-0.274227,0.959068]]
2025-10-26T22:05:30.989Z,1761516330.989 [DAT](INFO): DAT read: user:432>

2025-10-26T22:05:30.989Z,1761516330.989 [DAT](INFO): DAT read: Tx time:22:05:30.1395

2025-10-26T22:05:30.990Z,1761516330.990 [DAT](INFO): Ping request sent.
2025-10-26T22:05:30.990Z,1761516330.990 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:05:30.990Z,1761516330.990 [DAT](INFO): publishing transmit ping time
2025-10-26T22:05:30.990Z,1761516330.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-10-26T22:05:30.991Z,1761516330.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 192.000000 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-10-26T22:05:30.994Z,1761516330.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 190.831726 m,
      bearing: 53.116859 deg,
      lat: 36.779389 deg,
      lon: -121.859449 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-10-26T22:05:30.995Z,1761516330.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:31.005Z,1761516331.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 136.505447 m,
      bearing: 53.914317 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 51.843400 deg,
      new cmd heading: 53.914317 deg.

2025-10-26T22:05:31.006Z,1761516331.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.940982 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:31.241Z,1761516331.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251602
2025-10-26T22:05:31.397Z,1761516331.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714782,0.652095,0.252704],[-0.695494,-0.700694,-0.159109],[0.073314,-0.289483,0.954371]]
2025-10-26T22:05:31.461Z,1761516331.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:31.463Z,1761516331.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 136.882309 m,
      bearing: 53.914123 deg,
      approach rate: 0.794676 m/s,
      LOS rate: -0.000408 deg/s,
      cmd heading: 53.914317 deg,
      new cmd heading: 53.914123 deg.

2025-10-26T22:05:31.464Z,1761516331.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.940979 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:31.493Z,1761516331.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503193
2025-10-26T22:05:31.744Z,1761516331.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754540
2025-10-26T22:05:31.782Z,1761516331.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730685,0.631723,0.258893],[-0.678439,-0.714251,-0.171947],[0.076292,-0.301282,0.950478]]
2025-10-26T22:05:31.820Z,1761516331.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:31.822Z,1761516331.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 137.183838 m,
      bearing: 53.910853 deg,
      approach rate: 0.839268 m/s,
      LOS rate: -0.009081 deg/s,
      cmd heading: 53.914122 deg,
      new cmd heading: 53.910853 deg.

2025-10-26T22:05:31.827Z,1761516331.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.940922 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:31.996Z,1761516331.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006608
2025-10-26T22:05:32.233Z,1761516332.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:32.235Z,1761516332.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 137.501389 m,
      bearing: 53.907425 deg,
      approach rate: 0.769855 m/s,
      LOS rate: -0.008291 deg/s,
      cmd heading: 53.910854 deg,
      new cmd heading: 53.907425 deg.

2025-10-26T22:05:32.236Z,1761516332.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.940862 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:32.248Z,1761516332.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258641
2025-10-26T22:05:32.501Z,1761516332.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510827
2025-10-26T22:05:32.591Z,1761516332.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762133,0.592829,0.260207],[-0.642261,-0.742948,-0.188493],[0.081576,-0.310778,0.946976]]
2025-10-26T22:05:32.642Z,1761516332.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:05:32.644Z,1761516332.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:32.647Z,1761516332.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 137.830414 m,
      bearing: 53.904685 deg,
      approach rate: 0.798948 m/s,
      LOS rate: -0.006639 deg/s,
      cmd heading: 53.907425 deg,
      new cmd heading: 53.904685 deg.

2025-10-26T22:05:32.648Z,1761516332.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.940814 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:32.753Z,1761516332.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763354
2025-10-26T22:05:32.998Z,1761516332.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777767,0.573369,0.257540],[-0.622906,-0.757909,-0.193809],[0.084068,-0.311162,0.946631]]
2025-10-26T22:05:33.004Z,1761516333.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014664
2025-10-26T22:05:33.017Z,1761516333.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:33.020Z,1761516333.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 138.119720 m,
      bearing: 53.899273 deg,
      approach rate: 0.776277 m/s,
      LOS rate: -0.014490 deg/s,
      cmd heading: 53.904686 deg,
      new cmd heading: 53.899273 deg.

2025-10-26T22:05:33.021Z,1761516333.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.940720 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:33.256Z,1761516333.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266586
2025-10-26T22:05:33.409Z,1761516333.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792838,0.553928,0.254111],[-0.603293,-0.772407,-0.198556],[0.086292,-0.310726,0.946574]]
2025-10-26T22:05:33.453Z,1761516333.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:33.459Z,1761516333.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 138.458038 m,
      bearing: 53.890622 deg,
      approach rate: 0.775402 m/s,
      LOS rate: -0.019780 deg/s,
      cmd heading: 53.899273 deg,
      new cmd heading: 53.890622 deg.

2025-10-26T22:05:33.462Z,1761516333.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.940569 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:33.509Z,1761516333.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519686
2025-10-26T22:05:33.762Z,1761516333.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772725
2025-10-26T22:05:33.802Z,1761516333.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807269,0.534749,0.249720],[-0.583560,-0.786449,-0.202375],[0.088172,-0.309098,0.946934]]
2025-10-26T22:05:33.845Z,1761516333.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:33.847Z,1761516333.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 138.761093 m,
      bearing: 53.879850 deg,
      approach rate: 0.774272 m/s,
      LOS rate: -0.027460 deg/s,
      cmd heading: 53.890623 deg,
      new cmd heading: 53.879850 deg.

2025-10-26T22:05:33.848Z,1761516333.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.940381 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:34.016Z,1761516334.016 [DAT](INFO): DAT read: Rx Time:22:05:32.7288

2025-10-26T22:05:34.017Z,1761516334.017 [DAT](INFO): Rx dataTimestamp_ set to:1761516334.016550
2025-10-26T22:05:34.017Z,1761516334.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027618
2025-10-26T22:05:34.207Z,1761516334.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821195,0.515447,0.244854],[-0.563556,-0.799975,-0.206020],[0.089685,-0.307172,0.947419]]
2025-10-26T22:05:34.225Z,1761516334.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:34.228Z,1761516334.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 139.055161 m,
      bearing: 53.866485 deg,
      approach rate: 0.773060 m/s,
      LOS rate: -0.035061 deg/s,
      cmd heading: 53.879852 deg,
      new cmd heading: 53.866485 deg.

2025-10-26T22:05:34.229Z,1761516334.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.940148 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:34.269Z,1761516334.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278764
2025-10-26T22:05:34.554Z,1761516334.554 [DAT](INFO): DAT read: 22:05:32.7288 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 212,-0.20, 0.882, 2.990, 1.872, 1.956, PHS=-0.973, 1.079,-0.129, RAW= 305.8,   0.3, CAL= 304.1,  -3.4, ROT= 205.9,   3.4

2025-10-26T22:05:34.555Z,1761516334.555 [DAT](INFO): got valid direction response:
 22:05:32.7288 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 212,-0.20, 0.882, 2.990, 1.872, 1.956, PHS=-0.973, 1.079,-0.129, RAW= 305.8,   0.3, CAL= 304.1,  -3.4, ROT= 205.9,   3.4

2025-10-26T22:05:34.557Z,1761516334.557 [DAT](INFO): DAT read: Bearing 195.3, -27.8 (Local)

2025-10-26T22:05:34.557Z,1761516334.557 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.3, -27.8 (Local)

2025-10-26T22:05:34.596Z,1761516334.596 [DAT](INFO): DAT read: Range 11 to 50 : 138.8 m  (Round-trip  185.1 ms) speed -0.5 m/s

2025-10-26T22:05:34.619Z,1761516334.619 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:05:34.620Z,1761516334.620 [DAT](INFO): direction in FSK: [-0.897974,-0.436033,-0.059306]
2025-10-26T22:05:34.621Z,1761516334.621 [DAT](INFO): publishing direction and range info
2025-10-26T22:05:34.628Z,1761516334.628 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:05:34.628Z,1761516334.628 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:05:34.629Z,1761516334.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:05:34.676Z,1761516334.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847393,0.476944,0.233342],[-0.522913,-0.825882,-0.210907],[0.092122,-0.300739,0.949247]]
2025-10-26T22:05:34.769Z,1761516334.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 138.800003 m,
 deltaT: 3.785661 s,
 deltaX: -53.199997 m,
 approachRate: -14.053027 m/s,
 rangeRepo size: 1
2025-10-26T22:05:34.770Z,1761516334.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:34.773Z,1761516334.773 [DAT](INFO): DAT read: user:433>

2025-10-26T22:05:34.773Z,1761516334.773 [DAT](INFO): DAT read: Tx time:22:05:33.9895

2025-10-26T22:05:34.774Z,1761516334.774 [DAT](INFO): Ping request sent.
2025-10-26T22:05:34.774Z,1761516334.774 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:05:34.774Z,1761516334.774 [DAT](INFO): publishing transmit ping time
2025-10-26T22:05:34.775Z,1761516334.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-10-26T22:05:34.776Z,1761516334.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 139.438660 m,
      bearing: 53.838932 deg,
      approach rate: 0.705835 m/s,
      LOS rate: -0.050572 deg/s,
      cmd heading: 53.866485 deg,
      new cmd heading: 53.838932 deg.

2025-10-26T22:05:34.777Z,1761516334.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.939667 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:34.968Z,1761516334.968 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:05:35.025Z,1761516335.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250709
2025-10-26T22:05:35.095Z,1761516335.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859745,0.458243,0.225504],[-0.502173,-0.838942,-0.209760],[0.093064,-0.293583,0.951393]]
2025-10-26T22:05:35.112Z,1761516335.112 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:05:35.114Z,1761516335.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:35.116Z,1761516335.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 139.698654 m,
      bearing: 53.817784 deg,
      approach rate: 0.753254 m/s,
      LOS rate: -0.061155 deg/s,
      cmd heading: 53.838932 deg,
      new cmd heading: 53.817784 deg.

2025-10-26T22:05:35.117Z,1761516335.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.939298 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:35.277Z,1761516335.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503011
2025-10-26T22:05:35.529Z,1761516335.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754821
2025-10-26T22:05:35.565Z,1761516335.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872055,0.438752,0.216833],[-0.480381,-0.852075,-0.207852],[0.093562,-0.285421,0.953824]]
2025-10-26T22:05:35.622Z,1761516335.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:35.629Z,1761516335.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 140.046753 m,
      bearing: 53.792663 deg,
      approach rate: 0.684883 m/s,
      LOS rate: -0.049303 deg/s,
      cmd heading: 53.817786 deg,
      new cmd heading: 53.792663 deg.

2025-10-26T22:05:35.629Z,1761516335.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.938859 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:35.780Z,1761516335.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006515
2025-10-26T22:05:35.972Z,1761516335.972 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:05:35.996Z,1761516335.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:35.998Z,1761516335.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 140.327682 m,
      bearing: 53.772481 deg,
      approach rate: 0.751798 m/s,
      LOS rate: -0.053902 deg/s,
      cmd heading: 53.792664 deg,
      new cmd heading: 53.772481 deg.

2025-10-26T22:05:35.999Z,1761516335.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.938507 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:36.033Z,1761516336.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258859
2025-10-26T22:05:36.285Z,1761516336.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510759
2025-10-26T22:05:36.408Z,1761516336.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894421,0.400126,0.199778],[-0.437466,-0.875576,-0.204915],[0.092929,-0.270676,0.958175]]
2025-10-26T22:05:36.466Z,1761516336.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:36.469Z,1761516336.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 140.639221 m,
      bearing: 53.740059 deg,
      approach rate: 0.661902 m/s,
      LOS rate: -0.068732 deg/s,
      cmd heading: 53.772481 deg,
      new cmd heading: 53.740059 deg.

2025-10-26T22:05:36.470Z,1761516336.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.937941 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:36.537Z,1761516336.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762696
2025-10-26T22:05:36.788Z,1761516336.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014528
2025-10-26T22:05:36.793Z,1761516336.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904880,0.380260,0.191296],[-0.415486,-0.886721,-0.202726],[0.092538,-0.262923,0.960369]]
2025-10-26T22:05:36.811Z,1761516336.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:36.814Z,1761516336.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 140.866318 m,
      bearing: 53.714202 deg,
      approach rate: 0.658900 m/s,
      LOS rate: -0.074900 deg/s,
      cmd heading: 53.740058 deg,
      new cmd heading: 53.714202 deg.

2025-10-26T22:05:36.814Z,1761516336.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.937490 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:37.047Z,1761516337.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272677
2025-10-26T22:05:37.186Z,1761516337.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914580,0.359709,0.184805],[-0.393880,-0.895903,-0.205466],[0.091659,-0.260707,0.961057]]
2025-10-26T22:05:37.203Z,1761516337.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:05:37.205Z,1761516337.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:37.208Z,1761516337.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 141.123795 m,
      bearing: 53.682327 deg,
      approach rate: 0.653297 m/s,
      LOS rate: -0.080729 deg/s,
      cmd heading: 53.714202 deg,
      new cmd heading: 53.682327 deg.

2025-10-26T22:05:37.209Z,1761516337.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.936933 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:37.293Z,1761516337.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519173
2025-10-26T22:05:37.544Z,1761516337.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770448
2025-10-26T22:05:37.596Z,1761516337.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923957,0.338611,0.177896],[-0.371658,-0.904700,-0.208297],[0.090411,-0.258574,0.961751]]
2025-10-26T22:05:37.637Z,1761516337.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:37.660Z,1761516337.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 141.398148 m,
      bearing: 53.642993 deg,
      approach rate: 0.635131 m/s,
      LOS rate: -0.090883 deg/s,
      cmd heading: 53.682326 deg,
      new cmd heading: 53.642993 deg.

2025-10-26T22:05:37.661Z,1761516337.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.936247 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:37.797Z,1761516337.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022842
2025-10-26T22:05:37.997Z,1761516337.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932983,0.316666,0.171071],[-0.348756,-0.912861,-0.212258],[0.088949,-0.257695,0.962123]]
2025-10-26T22:05:38.019Z,1761516338.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:38.022Z,1761516338.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 141.638550 m,
      bearing: 53.605943 deg,
      approach rate: 0.629039 m/s,
      LOS rate: -0.096780 deg/s,
      cmd heading: 53.642991 deg,
      new cmd heading: 53.605943 deg.

2025-10-26T22:05:38.023Z,1761516338.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.935600 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:38.049Z,1761516338.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274784
2025-10-26T22:05:38.300Z,1761516338.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526426
2025-10-26T22:05:38.444Z,1761516338.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941456,0.294730,0.163690],[-0.325665,-0.920606,-0.215466],[0.087189,-0.256160,0.962694]]
2025-10-26T22:05:38.498Z,1761516338.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:38.500Z,1761516338.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 141.922913 m,
      bearing: 53.554214 deg,
      approach rate: 0.594504 m/s,
      LOS rate: -0.107929 deg/s,
      cmd heading: 53.605944 deg,
      new cmd heading: 53.554214 deg.

2025-10-26T22:05:38.501Z,1761516338.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.934697 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:38.553Z,1761516338.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779325
2025-10-26T22:05:38.802Z,1761516338.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948960,0.273552,0.156983],[-0.303730,-0.926736,-0.221151],[0.084986,-0.257544,0.962522]]
2025-10-26T22:05:38.804Z,1761516338.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030567
2025-10-26T22:05:38.828Z,1761516338.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:38.831Z,1761516338.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 142.117737 m,
      bearing: 53.516675 deg,
      approach rate: 0.589073 m/s,
      LOS rate: -0.113350 deg/s,
      cmd heading: 53.554216 deg,
      new cmd heading: 53.516675 deg.

2025-10-26T22:05:38.832Z,1761516338.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.934042 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:39.057Z,1761516339.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282790
2025-10-26T22:05:39.308Z,1761516339.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534437
2025-10-26T22:05:39.320Z,1761516339.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956216,0.252006,0.148810],[-0.280768,-0.933402,-0.223450],[0.082589,-0.255448,0.963289]]
2025-10-26T22:05:39.337Z,1761516339.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:05:39.339Z,1761516339.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:39.341Z,1761516339.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 142.414093 m,
      bearing: 53.456242 deg,
      approach rate: 0.580717 m/s,
      LOS rate: -0.118173 deg/s,
      cmd heading: 53.516673 deg,
      new cmd heading: 53.456242 deg.

2025-10-26T22:05:39.342Z,1761516339.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.932987 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:39.561Z,1761516339.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787515
2025-10-26T22:05:39.780Z,1761516339.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963073,0.229791,0.140310],[-0.257126,-0.939541,-0.226160],[0.079858,-0.253886,0.963932]]
2025-10-26T22:05:39.812Z,1761516339.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038571
2025-10-26T22:05:39.829Z,1761516339.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:39.831Z,1761516339.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 142.691681 m,
      bearing: 53.392837 deg,
      approach rate: 0.566328 m/s,
      LOS rate: -0.129106 deg/s,
      cmd heading: 53.456243 deg,
      new cmd heading: 53.392837 deg.

2025-10-26T22:05:39.832Z,1761516339.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.931881 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:40.066Z,1761516340.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291711
2025-10-26T22:05:40.185Z,1761516340.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969409,0.207278,0.131464],[-0.233054,-0.945362,-0.227985],[0.077025,-0.251649,0.964749]]
2025-10-26T22:05:40.205Z,1761516340.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:40.207Z,1761516340.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 142.900070 m,
      bearing: 53.342654 deg,
      approach rate: 0.554379 m/s,
      LOS rate: -0.133308 deg/s,
      cmd heading: 53.392839 deg,
      new cmd heading: 53.342654 deg.

2025-10-26T22:05:40.208Z,1761516340.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.931005 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:40.316Z,1761516340.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542521
2025-10-26T22:05:40.568Z,1761516340.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794427
2025-10-26T22:05:40.587Z,1761516340.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975165,0.184620,0.122344],[-0.208866,-0.950340,-0.230715],[0.073673,-0.250539,0.965299]]
2025-10-26T22:05:40.639Z,1761516340.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:40.642Z,1761516340.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 143.124512 m,
      bearing: 53.281821 deg,
      approach rate: 0.516658 m/s,
      LOS rate: -0.139815 deg/s,
      cmd heading: 53.342654 deg,
      new cmd heading: 53.281821 deg.

2025-10-26T22:05:40.642Z,1761516340.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.929943 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:40.821Z,1761516340.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046829
2025-10-26T22:05:40.990Z,1761516340.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980318,0.161681,0.113292],[-0.184502,-0.954489,-0.234329],[0.070250,-0.250620,0.965533]]
2025-10-26T22:05:41.018Z,1761516341.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:41.021Z,1761516341.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 143.320114 m,
      bearing: 53.226108 deg,
      approach rate: 0.515704 m/s,
      LOS rate: -0.146687 deg/s,
      cmd heading: 53.281821 deg,
      new cmd heading: 53.226108 deg.

2025-10-26T22:05:41.022Z,1761516341.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.928971 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:41.074Z,1761516341.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299842
2025-10-26T22:05:41.324Z,1761516341.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550474
2025-10-26T22:05:41.398Z,1761516341.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984847,0.138649,0.104179],[-0.160166,-0.957526,-0.239771],[0.066510,-0.252824,0.965224]]
2025-10-26T22:05:41.416Z,1761516341.416 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:05:41.418Z,1761516341.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:41.421Z,1761516341.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 143.519241 m,
      bearing: 53.166545 deg,
      approach rate: 0.498659 m/s,
      LOS rate: -0.148953 deg/s,
      cmd heading: 53.226107 deg,
      new cmd heading: 53.166545 deg.

2025-10-26T22:05:41.422Z,1761516341.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.927931 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:41.576Z,1761516341.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802553
2025-10-26T22:05:41.828Z,1761516341.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054595
2025-10-26T22:05:41.881Z,1761516341.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:41.883Z,1761516341.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 143.748230 m,
      bearing: 53.096201 deg,
      approach rate: 0.494501 m/s,
      LOS rate: -0.151664 deg/s,
      cmd heading: 53.166544 deg,
      new cmd heading: 53.096201 deg.

2025-10-26T22:05:41.884Z,1761516341.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.926704 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:42.080Z,1761516342.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306442
2025-10-26T22:05:42.208Z,1761516342.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992051,0.092387,0.085432],[-0.111020,-0.962213,-0.248639],[0.059233,-0.256148,0.964821]]
2025-10-26T22:05:42.237Z,1761516342.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:42.240Z,1761516342.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 143.922699 m,
      bearing: 53.037057 deg,
      approach rate: 0.489601 m/s,
      LOS rate: -0.165772 deg/s,
      cmd heading: 53.096200 deg,
      new cmd heading: 53.037057 deg.

2025-10-26T22:05:42.240Z,1761516342.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.925671 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:42.333Z,1761516342.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558863
2025-10-26T22:05:42.584Z,1761516342.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810495
2025-10-26T22:05:42.610Z,1761516342.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994689,0.069484,0.075928],[-0.086551,-0.963914,-0.251750],[0.055696,-0.256985,0.964809]]
2025-10-26T22:05:42.683Z,1761516342.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:42.690Z,1761516342.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 144.125443 m,
      bearing: 52.965457 deg,
      approach rate: 0.454806 m/s,
      LOS rate: -0.160392 deg/s,
      cmd heading: 53.037058 deg,
      new cmd heading: 52.965457 deg.

2025-10-26T22:05:42.690Z,1761516342.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.924422 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:42.836Z,1761516342.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062474
2025-10-26T22:05:43.030Z,1761516343.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996686,0.046754,0.066570],[-0.062231,-0.965253,-0.253798],[0.052391,-0.257099,0.964964]]
2025-10-26T22:05:43.064Z,1761516343.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:43.073Z,1761516343.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 144.300430 m,
      bearing: 52.900786 deg,
      approach rate: 0.458974 m/s,
      LOS rate: -0.169419 deg/s,
      cmd heading: 52.965457 deg,
      new cmd heading: 52.900786 deg.

2025-10-26T22:05:43.074Z,1761516343.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.923293 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:43.088Z,1761516343.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314619
2025-10-26T22:05:43.345Z,1761516343.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570607
2025-10-26T22:05:43.431Z,1761516343.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998075,0.024368,0.057038],[-0.038068,-0.966682,-0.253135],[0.048969,-0.254819,0.965748]]
2025-10-26T22:05:43.462Z,1761516343.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:05:43.464Z,1761516343.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:43.472Z,1761516343.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 144.482468 m,
      bearing: 52.830453 deg,
      approach rate: 0.454681 m/s,
      LOS rate: -0.175450 deg/s,
      cmd heading: 52.900785 deg,
      new cmd heading: 52.830453 deg.

2025-10-26T22:05:43.473Z,1761516343.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.922065 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:43.592Z,1761516343.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818591
2025-10-26T22:05:43.846Z,1761516343.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071977
2025-10-26T22:05:43.902Z,1761516343.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:43.905Z,1761516343.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 144.676300 m,
      bearing: 52.755955 deg,
      approach rate: 0.442544 m/s,
      LOS rate: -0.169860 deg/s,
      cmd heading: 52.830455 deg,
      new cmd heading: 52.755955 deg.

2025-10-26T22:05:43.906Z,1761516343.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.920765 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:44.096Z,1761516344.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322450
2025-10-26T22:05:44.234Z,1761516344.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999068,-0.020444,0.038005],[0.010411,-0.968835,-0.247487],[0.041880,-0.246861,0.968145]]
2025-10-26T22:05:44.263Z,1761516344.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:44.266Z,1761516344.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 144.828445 m,
      bearing: 52.691853 deg,
      approach rate: 0.421843 m/s,
      LOS rate: -0.177547 deg/s,
      cmd heading: 52.755954 deg,
      new cmd heading: 52.691853 deg.

2025-10-26T22:05:44.270Z,1761516344.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.919646 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:44.350Z,1761516344.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575852
2025-10-26T22:05:44.600Z,1761516344.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826451
2025-10-26T22:05:44.639Z,1761516344.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998693,-0.042408,0.028544],[0.034108,-0.968709,-0.245844],[0.038076,-0.244549,0.968889]]
2025-10-26T22:05:44.704Z,1761516344.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:44.708Z,1761516344.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 145.002472 m,
      bearing: 52.619747 deg,
      approach rate: 0.395321 m/s,
      LOS rate: -0.163599 deg/s,
      cmd heading: 52.691853 deg,
      new cmd heading: 52.619747 deg.

2025-10-26T22:05:44.709Z,1761516344.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.918388 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:44.853Z,1761516344.853 [DAT](INFO): Reached modem response timeout
2025-10-26T22:05:44.853Z,1761516344.853 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:05:44.853Z,1761516344.853 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:05:45.050Z,1761516345.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997775,-0.063710,0.019641],[0.056928,-0.967507,-0.246352],[0.034698,-0.244686,0.968981]]
2025-10-26T22:05:45.074Z,1761516345.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:45.076Z,1761516345.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 145.145096 m,
      bearing: 52.558096 deg,
      approach rate: 0.385093 m/s,
      LOS rate: -0.166299 deg/s,
      cmd heading: 52.619747 deg,
      new cmd heading: 52.558096 deg.

2025-10-26T22:05:45.077Z,1761516345.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.917312 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:45.104Z,1761516345.104 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:05:45.357Z,1761516345.357 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:05:45.466Z,1761516345.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996317,-0.085125,0.010351],[0.079933,-0.965629,-0.247326],[0.031049,-0.245588,0.968877]]
2025-10-26T22:05:45.582Z,1761516345.582 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:05:45.592Z,1761516345.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:45.594Z,1761516345.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 145.323151 m,
      bearing: 52.477760 deg,
      approach rate: 0.349220 m/s,
      LOS rate: -0.157369 deg/s,
      cmd heading: 52.558097 deg,
      new cmd heading: 52.477760 deg.

2025-10-26T22:05:45.595Z,1761516345.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.915910 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:45.608Z,1761516345.608 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:05:45.861Z,1761516345.861 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:05:45.909Z,1761516345.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991843,-0.127219,-0.007971],[0.125290,-0.961470,-0.244701],[0.023467,-0.243704,0.969566]]
2025-10-26T22:05:45.963Z,1761516345.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:45.966Z,1761516345.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 145.481186 m,
      bearing: 52.402880 deg,
      approach rate: 0.416499 m/s,
      LOS rate: -0.197132 deg/s,
      cmd heading: 52.477761 deg,
      new cmd heading: 52.402880 deg.

2025-10-26T22:05:45.966Z,1761516345.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.914603 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:46.113Z,1761516346.113 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:05:46.311Z,1761516346.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988671,-0.149083,-0.017432],[0.148847,-0.958830,-0.241848],[0.019341,-0.241703,0.970158]]
2025-10-26T22:05:46.330Z,1761516346.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:46.332Z,1761516346.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 145.613998 m,
      bearing: 52.337094 deg,
      approach rate: 0.362267 m/s,
      LOS rate: -0.179278 deg/s,
      cmd heading: 52.402881 deg,
      new cmd heading: 52.337094 deg.

2025-10-26T22:05:46.333Z,1761516346.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.913455 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:46.366Z,1761516346.366 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:05:46.617Z,1761516346.617 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:05:46.723Z,1761516346.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984967,-0.170528,-0.027566],[0.172075,-0.954574,-0.243267],[0.015170,-0.244353,0.969568]]
2025-10-26T22:05:46.783Z,1761516346.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:46.786Z,1761516346.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 145.765442 m,
      bearing: 52.261180 deg,
      approach rate: 0.336958 m/s,
      LOS rate: -0.168732 deg/s,
      cmd heading: 52.337093 deg,
      new cmd heading: 52.261180 deg.

2025-10-26T22:05:46.786Z,1761516346.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.912130 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:46.870Z,1761516346.870 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:05:47.121Z,1761516347.121 [DAT](INFO): DAT read: Response Not Received

2025-10-26T22:05:47.121Z,1761516347.121 [DAT](INFO): response not received
2025-10-26T22:05:47.121Z,1761516347.121 [DAT](INFO): DAT read: user:434>

2025-10-26T22:05:47.122Z,1761516347.122 [DAT](ERROR): No response from remote modem.
2025-10-26T22:05:47.122Z,1761516347.122 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:05:47.122Z,1761516347.122 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:05:47.132Z,1761516347.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980634,-0.192208,-0.037604],[0.195523,-0.949654,-0.244801],[0.011341,-0.247413,0.968844]]
2025-10-26T22:05:47.197Z,1761516347.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:47.204Z,1761516347.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 145.910233 m,
      bearing: 52.185164 deg,
      approach rate: 0.346209 m/s,
      LOS rate: -0.181580 deg/s,
      cmd heading: 52.261179 deg,
      new cmd heading: 52.185164 deg.

2025-10-26T22:05:47.205Z,1761516347.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.910803 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:47.374Z,1761516347.374 [DAT](INFO): DAT read: Tx time:22:05:46.4395

2025-10-26T22:05:47.374Z,1761516347.374 [DAT](INFO): Ping request sent.
2025-10-26T22:05:47.374Z,1761516347.374 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:05:47.374Z,1761516347.374 [DAT](INFO): publishing transmit ping time
2025-10-26T22:05:47.375Z,1761516347.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-10-26T22:05:47.536Z,1761516347.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975712,-0.213931,-0.047119],[0.218919,-0.944603,-0.244538],[0.007806,-0.248914,0.968494]]
2025-10-26T22:05:47.610Z,1761516347.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:05:47.619Z,1761516347.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:47.624Z,1761516347.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250419
2025-10-26T22:05:47.627Z,1761516347.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 146.033752 m,
      bearing: 52.117205 deg,
      approach rate: 0.294779 m/s,
      LOS rate: -0.162047 deg/s,
      cmd heading: 52.185166 deg,
      new cmd heading: 52.117205 deg.

2025-10-26T22:05:47.632Z,1761516347.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.909617 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:47.877Z,1761516347.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503008
2025-10-26T22:05:47.936Z,1761516347.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969853,-0.237404,-0.054992],[0.243645,-0.940304,-0.237626],[0.004704,-0.243861,0.969799]]
2025-10-26T22:05:47.992Z,1761516347.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:47.994Z,1761516347.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 146.174438 m,
      bearing: 52.042923 deg,
      approach rate: 0.375005 m/s,
      LOS rate: -0.197810 deg/s,
      cmd heading: 52.117205 deg,
      new cmd heading: 52.042923 deg.

2025-10-26T22:05:47.995Z,1761516347.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.908320 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:48.128Z,1761516348.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754233
2025-10-26T22:05:48.346Z,1761516348.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963250,-0.261018,-0.063402],[0.268602,-0.934497,-0.233597],[0.001724,-0.242042,0.970264]]
2025-10-26T22:05:48.373Z,1761516348.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:48.376Z,1761516348.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 146.295929 m,
      bearing: 51.975487 deg,
      approach rate: 0.318065 m/s,
      LOS rate: -0.176404 deg/s,
      cmd heading: 52.042923 deg,
      new cmd heading: 51.975487 deg.

2025-10-26T22:05:48.377Z,1761516348.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.907143 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:48.381Z,1761516348.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006688
2025-10-26T22:05:48.633Z,1761516348.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258766
2025-10-26T22:05:48.744Z,1761516348.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955872,-0.284550,-0.073071],[0.293781,-0.926681,-0.234427],[-0.001007,-0.245549,0.969384]]
2025-10-26T22:05:48.787Z,1761516348.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:48.789Z,1761516348.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 146.424179 m,
      bearing: 51.901314 deg,
      approach rate: 0.310425 m/s,
      LOS rate: -0.179376 deg/s,
      cmd heading: 51.975486 deg,
      new cmd heading: 51.901314 deg.

2025-10-26T22:05:48.790Z,1761516348.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.905849 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:48.885Z,1761516348.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511042
2025-10-26T22:05:49.137Z,1761516349.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762637
2025-10-26T22:05:49.150Z,1761516349.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948484,-0.305749,-0.083043],[0.316806,-0.918188,-0.237832],[-0.003532,-0.251889,0.967750]]
2025-10-26T22:05:49.168Z,1761516349.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:49.170Z,1761516349.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 146.537445 m,
      bearing: 51.832369 deg,
      approach rate: 0.297404 m/s,
      LOS rate: -0.180890 deg/s,
      cmd heading: 51.901313 deg,
      new cmd heading: 51.832369 deg.

2025-10-26T22:05:49.171Z,1761516349.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.904646 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:49.388Z,1761516349.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014403
2025-10-26T22:05:49.551Z,1761516349.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940117,-0.328243,-0.091848],[0.340798,-0.909950,-0.236322],[-0.006007,-0.253472,0.967324]]
2025-10-26T22:05:49.629Z,1761516349.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:05:49.640Z,1761516349.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266436
2025-10-26T22:05:49.644Z,1761516349.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:49.647Z,1761516349.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 146.659729 m,
      bearing: 51.753867 deg,
      approach rate: 0.259281 m/s,
      LOS rate: -0.166310 deg/s,
      cmd heading: 51.832369 deg,
      new cmd heading: 51.753867 deg.

2025-10-26T22:05:49.652Z,1761516349.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.903275 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:49.893Z,1761516349.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519175
2025-10-26T22:05:49.978Z,1761516349.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931066,-0.350723,-0.100544],[0.364753,-0.901142,-0.234306],[-0.008428,-0.254828,0.966950]]
2025-10-26T22:05:50.027Z,1761516350.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:50.031Z,1761516350.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 146.782303 m,
      bearing: 51.675552 deg,
      approach rate: 0.315951 m/s,
      LOS rate: -0.201699 deg/s,
      cmd heading: 51.753866 deg,
      new cmd heading: 51.675552 deg.

2025-10-26T22:05:50.032Z,1761516350.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.901909 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:50.145Z,1761516350.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770795
2025-10-26T22:05:50.375Z,1761516350.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921555,-0.372981,-0.107801],[0.388109,-0.892418,-0.230134],[-0.010368,-0.253920,0.967170]]
2025-10-26T22:05:50.393Z,1761516350.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:50.396Z,1761516350.396 [DAT](INFO): DAT read: Rx Time:22:05:49.0402

2025-10-26T22:05:50.397Z,1761516350.397 [DAT](INFO): Rx dataTimestamp_ set to:1761516350.396680
2025-10-26T22:05:50.397Z,1761516350.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023473
2025-10-26T22:05:50.399Z,1761516350.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 146.882278 m,
      bearing: 51.608195 deg,
      approach rate: 0.272829 m/s,
      LOS rate: -0.183690 deg/s,
      cmd heading: 51.675552 deg,
      new cmd heading: 51.608195 deg.

2025-10-26T22:05:50.400Z,1761516350.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.900733 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:50.648Z,1761516350.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274319
2025-10-26T22:05:50.770Z,1761516350.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911264,-0.395415,-0.115085],[0.411635,-0.882995,-0.225558],[-0.012430,-0.252916,0.967408]]
2025-10-26T22:05:50.877Z,1761516350.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.83 m.
2025-10-26T22:05:50.883Z,1761516350.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.831726 m,
      nav range: 146.996689 m,
      bearing: 51.527419 deg,
      approach rate: 0.236751 m/s,
      LOS rate: -0.167021 deg/s,
      cmd heading: 51.608196 deg,
      new cmd heading: 51.527419 deg.

2025-10-26T22:05:50.884Z,1761516350.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.899323 target range: 190.831726 and range: 192.00 m.
2025-10-26T22:05:50.906Z,1761516350.906 [DAT](INFO): DAT read: 22:05:49.0402 LVL= 32752, 30769, 30642, 32755, AGC= 68, IDX= 506, 0.12,-0.759, 0.633, 1.475, 0.237, PHS=-0.894, 0.441, 1.195, RAW= 249.1,  -8.2, CAL= 247.5, -12.9, ROT= 262.5,  12.9

2025-10-26T22:05:50.907Z,1761516350.907 [DAT](INFO): got valid direction response:
 22:05:49.0402 LVL= 32752, 30769, 30642, 32755, AGC= 68, IDX= 506, 0.12,-0.759, 0.633, 1.475, 0.237, PHS=-0.894, 0.441, 1.195, RAW= 249.1,  -8.2, CAL= 247.5, -12.9, ROT= 262.5,  12.9

2025-10-26T22:05:50.908Z,1761516350.908 [DAT](INFO): DAT read: Bearing 198.8, -60.7 (Local)

2025-10-26T22:05:50.909Z,1761516350.909 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.8, -60.7 (Local)

2025-10-26T22:05:50.910Z,1761516350.910 [DAT](INFO): DAT read: Range 11 to 50 : 147.4 m  (Round-trip  196.6 ms) speed -0.4 m/s

2025-10-26T22:05:50.911Z,1761516350.911 [DAT](INFO): DAT read: user:435>

2025-10-26T22:05:50.913Z,1761516350.913 [DAT](INFO): DAT read: Tx time:22:05:50.1394

2025-10-26T22:05:50.913Z,1761516350.913 [DAT](INFO): Ping request sent.
2025-10-26T22:05:50.913Z,1761516350.913 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:05:50.913Z,1761516350.913 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:05:50.914Z,1761516350.914 [DAT](INFO): direction in FSK: [-0.127232,-0.966422,-0.223250]
2025-10-26T22:05:50.915Z,1761516350.915 [DAT](INFO): publishing transmit ping time
2025-10-26T22:05:50.915Z,1761516350.915 [DAT](INFO): publishing direction and range info
2025-10-26T22:05:50.918Z,1761516350.918 [DAT](INFO): publishing transmit ping time
2025-10-26T22:05:50.919Z,1761516350.919 [DAT](INFO): publishing direction and range info
2025-10-26T22:05:51.176Z,1761516351.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901057,-0.416084,-0.122350],[0.433459,-0.873387,-0.222055],[-0.014466,-0.253118,0.967327]]
2025-10-26T22:05:51.211Z,1761516351.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 147.399994 m,
      deltaT: 20.163975 s,
      deltaX: -44.600006 m,
      approachRate: -2.211866 m/s,
      rangeRepo size: 2

2025-10-26T22:05:51.213Z,1761516351.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 146.503220 m,
      bearing: 57.021500 deg,
      lat: 36.779318 deg,
      lon: -121.859386 deg,
      deltaT: 20.163975 s,
      deltaX: -44.328506 m,
      approachRate: -2.198401 m/s,
      posRepo size: 2

2025-10-26T22:05:51.214Z,1761516351.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.50 m.
2025-10-26T22:05:51.217Z,1761516351.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.503220 m,
      nav range: 146.846649 m,
      bearing: 55.232649 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.167021 deg/s,
      cmd heading: 51.527418 deg,
      new cmd heading: 51.360236 deg.

2025-10-26T22:05:51.217Z,1761516351.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.896405 target range: 146.503220 and range: 147.40 m.
2025-10-26T22:05:51.578Z,1761516351.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890416,-0.436766,-0.128042],[0.454853,-0.864028,-0.215790],[-0.016382,-0.250383,0.968008]]
2025-10-26T22:05:51.676Z,1761516351.676 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:05:51.683Z,1761516351.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.50 m.
2025-10-26T22:05:51.692Z,1761516351.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.503220 m,
      nav range: 146.928329 m,
      bearing: 55.156016 deg,
      approach rate: 0.172808 m/s,
      LOS rate: -0.162039 deg/s,
      cmd heading: 51.360236 deg,
      new cmd heading: 51.130466 deg.

2025-10-26T22:05:51.693Z,1761516351.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.892395 target range: 146.503220 and range: 147.40 m.
2025-10-26T22:05:51.908Z,1761516351.908 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:05:51.908Z,1761516351.908 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:05:51.908Z,1761516351.908 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:05:52.095Z,1761516352.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879429,-0.456768,-0.134042],[0.475675,-0.854091,-0.210384],[-0.018388,-0.248778,0.968386]]
2025-10-26T22:05:52.148Z,1761516352.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.50 m.
2025-10-26T22:05:52.150Z,1761516352.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.503220 m,
      nav range: 147.032303 m,
      bearing: 55.058525 deg,
      approach rate: 0.223845 m/s,
      LOS rate: -0.209740 deg/s,
      cmd heading: 51.130465 deg,
      new cmd heading: 50.838202 deg.

2025-10-26T22:05:52.151Z,1761516352.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.887294 target range: 146.503220 and range: 147.40 m.
2025-10-26T22:05:52.160Z,1761516352.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247332
2025-10-26T22:05:52.412Z,1761516352.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499287
2025-10-26T22:05:52.583Z,1761516352.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867958,-0.476401,-0.140321],[0.496198,-0.843738,-0.204682],[-0.020883,-0.247283,0.968718]]
2025-10-26T22:05:52.660Z,1761516352.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.50 m.
2025-10-26T22:05:52.668Z,1761516352.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754118
2025-10-26T22:05:52.673Z,1761516352.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.503220 m,
      nav range: 147.116165 m,
      bearing: 54.974910 deg,
      approach rate: 0.165391 m/s,
      LOS rate: -0.164810 deg/s,
      cmd heading: 50.838201 deg,
      new cmd heading: 50.587500 deg.

2025-10-26T22:05:52.688Z,1761516352.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.882918 target range: 146.503220 and range: 147.40 m.
2025-10-26T22:05:52.917Z,1761516352.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004146
2025-10-26T22:05:53.095Z,1761516353.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843770,-0.515473,-0.149464],[0.536117,-0.822529,-0.189801],[-0.025101,-0.240279,0.970379]]
2025-10-26T22:05:53.152Z,1761516353.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.50 m.
2025-10-26T22:05:53.154Z,1761516353.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.503220 m,
      nav range: 147.194550 m,
      bearing: 54.885066 deg,
      approach rate: 0.158999 m/s,
      LOS rate: -0.182147 deg/s,
      cmd heading: 50.587499 deg,
      new cmd heading: 50.318113 deg.

2025-10-26T22:05:53.159Z,1761516353.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.878217 target range: 146.503220 and range: 147.40 m.
2025-10-26T22:05:53.169Z,1761516353.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255534
2025-10-26T22:05:53.420Z,1761516353.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507224
2025-10-26T22:05:53.535Z,1761516353.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831555,-0.533488,-0.154619],[0.554795,-0.811188,-0.184870],[-0.026800,-0.239511,0.970524]]
2025-10-26T22:05:53.557Z,1761516353.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.50 m.
2025-10-26T22:05:53.559Z,1761516353.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.503220 m,
      nav range: 147.254074 m,
      bearing: 54.811936 deg,
      approach rate: 0.145464 m/s,
      LOS rate: -0.178639 deg/s,
      cmd heading: 50.318113 deg,
      new cmd heading: 50.098815 deg.

2025-10-26T22:05:53.560Z,1761516353.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.874389 target range: 146.503220 and range: 147.40 m.
2025-10-26T22:05:53.677Z,1761516353.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763095
2025-10-26T22:05:53.924Z,1761516353.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011407
2025-10-26T22:05:53.933Z,1761516353.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818821,-0.551403,-0.159645],[0.573346,-0.799314,-0.179921],[-0.028398,-0.238855,0.970640]]
2025-10-26T22:05:53.982Z,1761516353.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:05:53.984Z,1761516353.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.50 m.
2025-10-26T22:05:53.990Z,1761516353.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.503220 m,
      nav range: 147.299988 m,
      bearing: 54.731870 deg,
      approach rate: 0.107350 m/s,
      LOS rate: -0.187143 deg/s,
      cmd heading: 50.098816 deg,
      new cmd heading: 49.858693 deg.

2025-10-26T22:05:53.992Z,1761516353.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.870198 target range: 146.503220 and range: 147.40 m.
2025-10-26T22:05:54.176Z,1761516354.176 [DAT](INFO): DAT read: Rx Time:22:05:52.7415

2025-10-26T22:05:54.177Z,1761516354.177 [DAT](INFO): Rx dataTimestamp_ set to:1761516354.176487
2025-10-26T22:05:54.177Z,1761516354.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264222
2025-10-26T22:05:54.354Z,1761516354.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805849,-0.568536,-0.165452],[0.591369,-0.786851,-0.176489],[-0.029846,-0.240067,0.970297]]
2025-10-26T22:05:54.374Z,1761516354.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.50 m.
2025-10-26T22:05:54.377Z,1761516354.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.503220 m,
      nav range: 147.338120 m,
      bearing: 54.658173 deg,
      approach rate: 0.097813 m/s,
      LOS rate: -0.188994 deg/s,
      cmd heading: 49.858694 deg,
      new cmd heading: 49.637662 deg.

2025-10-26T22:05:54.378Z,1761516354.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.866341 target range: 146.503220 and range: 147.40 m.
2025-10-26T22:05:54.429Z,1761516354.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515569
2025-10-26T22:05:54.720Z,1761516354.720 [DAT](INFO): DAT read: 22:05:52.7415 LVL= 26288, 20817, 16674, 25123, AGC= 63, IDX= 439, 0.17,-1.688,-0.555, 0.344,-0.695, PHS=-0.891, 0.186, 0.995, RAW= 244.7,  -3.6, CAL= 241.7,  -5.9, ROT= 268.3,   5.9

2025-10-26T22:05:54.722Z,1761516354.722 [DAT](INFO): got valid direction response:
 22:05:52.7415 LVL= 26288, 20817, 16674, 25123, AGC= 63, IDX= 439, 0.17,-1.688,-0.555, 0.344,-0.695, PHS=-0.891, 0.186, 0.995, RAW= 244.7,  -3.6, CAL= 241.7,  -5.9, ROT= 268.3,   5.9

2025-10-26T22:05:54.732Z,1761516354.732 [DAT](INFO): DAT read: Bearing 194.0, -69.1 (Local)

2025-10-26T22:05:54.733Z,1761516354.733 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.0, -69.1 (Local)

2025-10-26T22:05:54.735Z,1761516354.735 [DAT](INFO): DAT read: Range 11 to 50 : 148.4 m  (Round-trip  197.9 ms) speed  0.1 m/s

2025-10-26T22:05:54.740Z,1761516354.740 [DAT](INFO): DAT read: user:436>

2025-10-26T22:05:54.740Z,1761516354.740 [DAT](INFO): DAT read: Tx time:22:05:53.8394

2025-10-26T22:05:54.741Z,1761516354.741 [DAT](INFO): Ping request sent.
2025-10-26T22:05:54.741Z,1761516354.741 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:05:54.741Z,1761516354.741 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:05:54.742Z,1761516354.742 [DAT](INFO): direction in FSK: [-0.029509,-0.994265,-0.102793]
2025-10-26T22:05:54.742Z,1761516354.742 [DAT](INFO): publishing transmit ping time
2025-10-26T22:05:54.743Z,1761516354.743 [DAT](INFO): publishing direction and range info
2025-10-26T22:05:54.749Z,1761516354.749 [DAT](INFO): publishing transmit ping time
2025-10-26T22:05:54.749Z,1761516354.749 [DAT](INFO): publishing direction and range info
2025-10-26T22:05:54.916Z,1761516354.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 148.399994 m,
      deltaT: 3.782383 s,
      deltaX: 1.000000 m,
      approachRate: 0.264384 m/s,
      rangeRepo size: 3

2025-10-26T22:05:54.918Z,1761516354.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 147.497452 m,
      bearing: 52.260232 deg,
      lat: 36.779318 deg,
      lon: -121.859386 deg,
      deltaT: 3.782383 s,
      deltaX: 0.994232 m,
      approachRate: 0.262859 m/s,
      posRepo size: 3

2025-10-26T22:05:54.919Z,1761516354.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.50 m.
2025-10-26T22:05:54.925Z,1761516354.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.497452 m,
      nav range: 147.375488 m,
      bearing: 54.560864 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.188994 deg/s,
      cmd heading: 49.637662 deg,
      new cmd heading: 49.333287 deg.

2025-10-26T22:05:54.926Z,1761516354.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.861028 target range: 147.497452 and range: 148.40 m.
2025-10-26T22:05:55.235Z,1761516355.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779607,-0.600746,-0.176963],[0.625432,-0.761436,-0.170442],[-0.032354,-0.243556,0.969347]]
2025-10-26T22:05:55.261Z,1761516355.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.50 m.
2025-10-26T22:05:55.264Z,1761516355.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.497452 m,
      nav range: 147.394363 m,
      bearing: 54.492114 deg,
      approach rate: 0.053952 m/s,
      LOS rate: -0.196488 deg/s,
      cmd heading: 49.333288 deg,
      new cmd heading: 49.127065 deg.

2025-10-26T22:05:55.265Z,1761516355.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.857429 target range: 147.497452 and range: 148.40 m.
2025-10-26T22:05:55.745Z,1761516355.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.50 m.
2025-10-26T22:05:55.752Z,1761516355.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.497452 m,
      nav range: 147.418442 m,
      bearing: 54.405607 deg,
      approach rate: 0.049715 m/s,
      LOS rate: -0.178583 deg/s,
      cmd heading: 49.127065 deg,
      new cmd heading: 48.867588 deg.

2025-10-26T22:05:55.753Z,1761516355.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.852900 target range: 147.497452 and range: 148.40 m.
2025-10-26T22:05:56.077Z,1761516356.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751946,-0.631418,-0.189442],[0.658407,-0.733638,-0.168153],[-0.032806,-0.251172,0.967386]]
2025-10-26T22:05:56.136Z,1761516356.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:05:56.138Z,1761516356.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.50 m.
2025-10-26T22:05:56.145Z,1761516356.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.497452 m,
      nav range: 147.424133 m,
      bearing: 54.327423 deg,
      approach rate: 0.014485 m/s,
      LOS rate: -0.198970 deg/s,
      cmd heading: 48.867589 deg,
      new cmd heading: 48.633047 deg.

2025-10-26T22:05:56.148Z,1761516356.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.848807 target range: 147.497452 and range: 148.40 m.
2025-10-26T22:05:56.205Z,1761516356.205 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:05:56.205Z,1761516356.205 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:05:56.205Z,1761516356.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:05:56.456Z,1761516356.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715477
2025-10-26T22:05:56.474Z,1761516356.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737770,-0.646951,-0.192744],[0.674287,-0.719848,-0.164790],[-0.032135,-0.251542,0.967313]]
2025-10-26T22:05:56.505Z,1761516356.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.50 m.
2025-10-26T22:05:56.508Z,1761516356.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.497452 m,
      nav range: 147.425629 m,
      bearing: 54.256713 deg,
      approach rate: 0.004079 m/s,
      LOS rate: -0.192860 deg/s,
      cmd heading: 48.633047 deg,
      new cmd heading: 48.420918 deg.

2025-10-26T22:05:56.509Z,1761516356.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.845104 target range: 147.497452 and range: 148.40 m.
2025-10-26T22:05:56.713Z,1761516356.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971497
2025-10-26T22:05:56.878Z,1761516356.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723162,-0.662416,-0.195555],[0.689963,-0.705729,-0.160924],[-0.031410,-0.251300,0.967400]]
2025-10-26T22:05:56.929Z,1761516356.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.50 m.
2025-10-26T22:05:56.932Z,1761516356.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.497452 m,
      nav range: 147.418198 m,
      bearing: 54.175507 deg,
      approach rate: -0.017527 m/s,
      LOS rate: -0.191546 deg/s,
      cmd heading: 48.420919 deg,
      new cmd heading: 48.177290 deg.

2025-10-26T22:05:56.933Z,1761516356.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.840852 target range: 147.497452 and range: 148.40 m.
2025-10-26T22:05:56.961Z,1761516356.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219876
2025-10-26T22:05:57.212Z,1761516357.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471493
2025-10-26T22:05:57.284Z,1761516357.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708049,-0.678077,-0.197176],[0.705492,-0.691409,-0.155674],[-0.030770,-0.249331,0.967929]]
2025-10-26T22:05:57.302Z,1761516357.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.50 m.
2025-10-26T22:05:57.305Z,1761516357.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.497452 m,
      nav range: 147.407928 m,
      bearing: 54.103995 deg,
      approach rate: -0.027493 m/s,
      LOS rate: -0.191466 deg/s,
      cmd heading: 48.177289 deg,
      new cmd heading: 47.962739 deg.

2025-10-26T22:05:57.306Z,1761516357.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.837108 target range: 147.497452 and range: 148.40 m.
2025-10-26T22:05:57.465Z,1761516357.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723751
2025-10-26T22:05:57.720Z,1761516357.720 [DAT](INFO): DAT read: Rx Time:22:05:56.4420

2025-10-26T22:05:57.722Z,1761516357.722 [DAT](INFO): Rx dataTimestamp_ set to:1761516357.720909
2025-10-26T22:05:57.724Z,1761516357.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983136
2025-10-26T22:05:57.797Z,1761516357.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.50 m.
2025-10-26T22:05:57.804Z,1761516357.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.497452 m,
      nav range: 147.394897 m,
      bearing: 54.010860 deg,
      approach rate: -0.026325 m/s,
      LOS rate: -0.188163 deg/s,
      cmd heading: 47.962739 deg,
      new cmd heading: 47.683312 deg.

2025-10-26T22:05:57.805Z,1761516357.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.832231 target range: 147.497452 and range: 148.40 m.
2025-10-26T22:05:57.968Z,1761516357.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227426
2025-10-26T22:05:58.149Z,1761516358.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676325,-0.708526,-0.201432],[0.736009,-0.661003,-0.146168],[-0.029583,-0.247113,0.968535]]
2025-10-26T22:05:58.202Z,1761516358.202 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:05:58.219Z,1761516358.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.50 m.
2025-10-26T22:05:58.224Z,1761516358.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482270
2025-10-26T22:05:58.250Z,1761516358.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.497452 m,
      nav range: 147.368729 m,
      bearing: 53.933987 deg,
      approach rate: -0.062339 m/s,
      LOS rate: -0.183157 deg/s,
      cmd heading: 47.683313 deg,
      new cmd heading: 47.452656 deg.

2025-10-26T22:05:58.258Z,1761516358.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828205 target range: 147.497452 and range: 148.40 m.
2025-10-26T22:05:58.480Z,1761516358.480 [DAT](INFO): DAT read: 22:05:56.4421 LVL= 28448, 25905, 19506, 28819, AGC= 67, IDX= 445, 0.38, 1.422, 2.337,-2.800, 2.386, PHS=-0.862,-0.004, 1.053, RAW= 236.6,  -2.3, CAL= 233.3,  -3.1, ROT= 276.7,   3.1

2025-10-26T22:05:58.481Z,1761516358.481 [DAT](INFO): got valid direction response:
 22:05:56.4421 LVL= 28448, 25905, 19506, 28819, AGC= 67, IDX= 445, 0.38, 1.422, 2.337,-2.800, 2.386, PHS=-0.862,-0.004, 1.053, RAW= 236.6,  -2.3, CAL= 233.3,  -3.1, ROT= 276.7,   3.1

2025-10-26T22:05:58.482Z,1761516358.482 [DAT](INFO): DAT read: Bearing 206.5, -70.8 (Local)

2025-10-26T22:05:58.482Z,1761516358.482 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.5, -70.8 (Local)

2025-10-26T22:05:58.484Z,1761516358.484 [DAT](INFO): DAT read: Range 11 to 50 : 148.8 m  (Round-trip  198.5 ms) speed -0.3 m/s

2025-10-26T22:05:58.485Z,1761516358.485 [DAT](INFO): DAT read: user:437>

2025-10-26T22:05:58.485Z,1761516358.485 [DAT](INFO): DAT read: Tx time:22:05:57.5395

2025-10-26T22:05:58.486Z,1761516358.486 [DAT](INFO): Ping request sent.
2025-10-26T22:05:58.486Z,1761516358.486 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:05:58.486Z,1761516358.486 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:05:58.487Z,1761516358.487 [DAT](INFO): direction in FSK: [0.116500,-0.991717,-0.054079]
2025-10-26T22:05:58.487Z,1761516358.487 [DAT](INFO): publishing transmit ping time
2025-10-26T22:05:58.488Z,1761516358.488 [DAT](INFO): publishing direction and range info
2025-10-26T22:05:58.491Z,1761516358.491 [DAT](INFO): publishing transmit ping time
2025-10-26T22:05:58.491Z,1761516358.491 [DAT](INFO): publishing direction and range info
2025-10-26T22:05:58.584Z,1761516358.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659734,-0.722899,-0.205350],[0.750929,-0.644783,-0.142686],[-0.029258,-0.248338,0.968231]]
2025-10-26T22:05:58.643Z,1761516358.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 148.800003 m,
      deltaT: 3.789477 s,
      deltaX: 0.400009 m,
      approachRate: 0.105558 m/s,
      rangeRepo size: 4

2025-10-26T22:05:58.653Z,1761516358.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 147.895920 m,
      bearing: 48.447531 deg,
      lat: 36.779354 deg,
      lon: -121.859408 deg,
      deltaT: 3.789477 s,
      deltaX: 0.398468 m,
      approachRate: 0.105151 m/s,
      posRepo size: 4

2025-10-26T22:05:58.653Z,1761516358.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m.
2025-10-26T22:05:58.660Z,1761516358.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.895920 m,
      nav range: 148.126831 m,
      bearing: 52.167335 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.183157 deg/s,
      cmd heading: 47.452657 deg,
      new cmd heading: 47.219215 deg.

2025-10-26T22:05:58.661Z,1761516358.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824131 target range: 147.895920 and range: 148.80 m.
2025-10-26T22:05:59.027Z,1761516359.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642285,-0.737516,-0.208662],[0.765917,-0.627879,-0.138341],[-0.028986,-0.248672,0.968154]]
2025-10-26T22:05:59.087Z,1761516359.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m.
2025-10-26T22:05:59.090Z,1761516359.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.895920 m,
      nav range: 148.100327 m,
      bearing: 52.084616 deg,
      approach rate: -0.059604 m/s,
      LOS rate: -0.186055 deg/s,
      cmd heading: 47.219215 deg,
      new cmd heading: 46.971015 deg.

2025-10-26T22:05:59.091Z,1761516359.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.819799 target range: 147.895920 and range: 148.80 m.
2025-10-26T22:05:59.430Z,1761516359.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624709,-0.751280,-0.212878],[0.780315,-0.610789,-0.134332],[-0.029103,-0.250031,0.967800]]
2025-10-26T22:05:59.448Z,1761516359.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m.
2025-10-26T22:05:59.451Z,1761516359.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.895920 m,
      nav range: 148.075363 m,
      bearing: 52.018462 deg,
      approach rate: -0.069053 m/s,
      LOS rate: -0.183024 deg/s,
      cmd heading: 46.971016 deg,
      new cmd heading: 46.772522 deg.

2025-10-26T22:05:59.452Z,1761516359.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.816334 target range: 147.895920 and range: 148.80 m.
2025-10-26T22:05:59.849Z,1761516359.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606048,-0.765591,-0.215816],[0.794885,-0.592939,-0.128765],[-0.029384,-0.249587,0.967906]]
2025-10-26T22:05:59.892Z,1761516359.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m.
2025-10-26T22:05:59.895Z,1761516359.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.895920 m,
      nav range: 148.042480 m,
      bearing: 51.941841 deg,
      approach rate: -0.074080 m/s,
      LOS rate: -0.172656 deg/s,
      cmd heading: 46.772521 deg,
      new cmd heading: 46.542607 deg.

2025-10-26T22:05:59.912Z,1761516359.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.812322 target range: 147.895920 and range: 148.80 m.
2025-10-26T22:06:00.239Z,1761516360.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587530,-0.778896,-0.219382],[0.808648,-0.575168,-0.123569],[-0.029934,-0.250003,0.967782]]
2025-10-26T22:06:00.255Z,1761516360.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:00.257Z,1761516360.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m.
2025-10-26T22:06:00.260Z,1761516360.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.895920 m,
      nav range: 148.011108 m,
      bearing: 51.877479 deg,
      approach rate: -0.085934 m/s,
      LOS rate: -0.176337 deg/s,
      cmd heading: 46.542606 deg,
      new cmd heading: 46.349479 deg.

2025-10-26T22:06:00.261Z,1761516360.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.808951 target range: 147.895920 and range: 148.80 m.
2025-10-26T22:06:00.492Z,1761516360.492 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:06:00.492Z,1761516360.492 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:06:00.492Z,1761516360.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:06:00.644Z,1761516360.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568169,-0.791689,-0.224528],[0.822355,-0.556275,-0.119540],[-0.030261,-0.252560,0.967108]]
2025-10-26T22:06:00.662Z,1761516360.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m.
2025-10-26T22:06:00.665Z,1761516360.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.895920 m,
      nav range: 147.972534 m,
      bearing: 51.807171 deg,
      approach rate: -0.095167 m/s,
      LOS rate: -0.173502 deg/s,
      cmd heading: 46.349479 deg,
      new cmd heading: 46.138502 deg.

2025-10-26T22:06:00.666Z,1761516360.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.805269 target range: 147.895920 and range: 148.80 m.
2025-10-26T22:06:00.743Z,1761516360.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256827
2025-10-26T22:06:00.992Z,1761516360.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506616
2025-10-26T22:06:01.048Z,1761516361.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548574,-0.804194,-0.228777],[0.835559,-0.537157,-0.115340],[-0.030133,-0.254429,0.966622]]
2025-10-26T22:06:01.112Z,1761516361.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m.
2025-10-26T22:06:01.115Z,1761516361.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.895920 m,
      nav range: 147.935394 m,
      bearing: 51.733987 deg,
      approach rate: -0.082577 m/s,
      LOS rate: -0.162758 deg/s,
      cmd heading: 46.138502 deg,
      new cmd heading: 45.918897 deg.

2025-10-26T22:06:01.120Z,1761516361.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.801436 target range: 147.895920 and range: 148.80 m.
2025-10-26T22:06:01.245Z,1761516361.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758935
2025-10-26T22:06:01.453Z,1761516361.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528187,-0.816735,-0.232298],[0.848599,-0.517376,-0.110459],[-0.029969,-0.255471,0.966352]]
2025-10-26T22:06:01.471Z,1761516361.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m.
2025-10-26T22:06:01.474Z,1761516361.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.895920 m,
      nav range: 147.900940 m,
      bearing: 51.673523 deg,
      approach rate: -0.096009 m/s,
      LOS rate: -0.168527 deg/s,
      cmd heading: 45.918897 deg,
      new cmd heading: 45.737461 deg.

2025-10-26T22:06:01.475Z,1761516361.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.798269 target range: 147.895920 and range: 148.80 m.
2025-10-26T22:06:01.498Z,1761516361.498 [DAT](INFO): DAT read: Rx Time:22:06:00.1422

2025-10-26T22:06:01.499Z,1761516361.499 [DAT](INFO): Rx dataTimestamp_ set to:1761516361.498492
2025-10-26T22:06:01.512Z,1761516361.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026021
2025-10-26T22:06:01.748Z,1761516361.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262564
2025-10-26T22:06:01.858Z,1761516361.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507046,-0.829465,-0.234290],[0.861408,-0.497020,-0.104627],[-0.029662,-0.254870,0.966520]]
2025-10-26T22:06:01.979Z,1761516361.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m.
2025-10-26T22:06:01.982Z,1761516361.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.895920 m,
      nav range: 147.862823 m,
      bearing: 51.600719 deg,
      approach rate: -0.075607 m/s,
      LOS rate: -0.144449 deg/s,
      cmd heading: 45.737460 deg,
      new cmd heading: 45.518995 deg.

2025-10-26T22:06:01.983Z,1761516361.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.794456 target range: 147.895920 and range: 148.80 m.
2025-10-26T22:06:02.007Z,1761516362.007 [DAT](INFO): DAT read: 22:06:00.1422 LVL= 32752, 32753, 25330, 28099, AGC= 65, IDX= 431,-0.33, 1.772, 2.204,-2.470, 2.496, PHS=-0.623,-0.248, 1.273, RAW= 220.8,  -4.7, CAL= 219.1,  -7.0, ROT= 290.9,   7.0

2025-10-26T22:06:02.008Z,1761516362.008 [DAT](INFO): got valid direction response:
 22:06:00.1422 LVL= 32752, 32753, 25330, 28099, AGC= 65, IDX= 431,-0.33, 1.772, 2.204,-2.470, 2.496, PHS=-0.623,-0.248, 1.273, RAW= 220.8,  -4.7, CAL= 219.1,  -7.0, ROT= 290.9,   7.0

2025-10-26T22:06:02.009Z,1761516362.009 [DAT](INFO): DAT read: Bearing 220.6, -60.3 (Local)

2025-10-26T22:06:02.009Z,1761516362.009 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.6, -60.3 (Local)

2025-10-26T22:06:02.011Z,1761516362.011 [DAT](INFO): DAT read: Range 11 to 50 : 148.9 m  (Round-trip  198.6 ms) speed  0.3 m/s

2025-10-26T22:06:02.011Z,1761516362.011 [DAT](INFO): DAT read: user:438>

2025-10-26T22:06:02.012Z,1761516362.012 [DAT](INFO): DAT read: Tx time:22:06:01.2395

2025-10-26T22:06:02.012Z,1761516362.012 [DAT](INFO): Ping request sent.
2025-10-26T22:06:02.013Z,1761516362.013 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:06:02.013Z,1761516362.013 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:06:02.014Z,1761516362.014 [DAT](INFO): direction in FSK: [0.354079,-0.927241,-0.121869]
2025-10-26T22:06:02.014Z,1761516362.014 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:02.014Z,1761516362.014 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:02.018Z,1761516362.018 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:02.018Z,1761516362.018 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:02.333Z,1761516362.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463514,-0.853585,-0.237796],[0.885628,-0.454942,-0.093230],[-0.028603,-0.253812,0.966830]]
2025-10-26T22:06:02.362Z,1761516362.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 148.899994 m,
      deltaT: 3.528133 s,
      deltaX: 0.099991 m,
      approachRate: 0.028341 m/s,
      rangeRepo size: 4

2025-10-26T22:06:02.364Z,1761516362.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 147.995331 m,
      bearing: 48.688212 deg,
      lat: 36.779354 deg,
      lon: -121.859437 deg,
      deltaT: 3.528133 s,
      deltaX: 0.099411 m,
      approachRate: 0.028177 m/s,
      posRepo size: 4

2025-10-26T22:06:02.365Z,1761516362.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.00 m.
2025-10-26T22:06:02.368Z,1761516362.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.995331 m,
      nav range: 145.796326 m,
      bearing: 50.906082 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.144449 deg/s,
      cmd heading: 45.518993 deg,
      new cmd heading: 45.351651 deg.

2025-10-26T22:06:02.369Z,1761516362.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791536 target range: 147.995331 and range: 148.90 m.
2025-10-26T22:06:02.731Z,1761516362.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440767,-0.864767,-0.240630],[0.897189,-0.432749,-0.088205],[-0.027855,-0.254768,0.966601]]
2025-10-26T22:06:02.829Z,1761516362.829 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:02.848Z,1761516362.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.00 m.
2025-10-26T22:06:02.850Z,1761516362.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.995331 m,
      nav range: 145.752777 m,
      bearing: 50.842317 deg,
      approach rate: -0.092649 m/s,
      LOS rate: -0.135701 deg/s,
      cmd heading: 45.351650 deg,
      new cmd heading: 45.160298 deg.

2025-10-26T22:06:02.855Z,1761516362.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.788196 target range: 147.995331 and range: 148.90 m.
2025-10-26T22:06:03.008Z,1761516363.008 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:06:03.008Z,1761516363.008 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:06:03.009Z,1761516363.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:06:03.155Z,1761516363.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417552,-0.875859,-0.241910],[0.908248,-0.410249,-0.082349],[-0.027118,-0.254099,0.966798]]
2025-10-26T22:06:03.201Z,1761516363.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.00 m.
2025-10-26T22:06:03.204Z,1761516363.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.995331 m,
      nav range: 145.704834 m,
      bearing: 50.777315 deg,
      approach rate: -0.129816 m/s,
      LOS rate: -0.176064 deg/s,
      cmd heading: 45.160299 deg,
      new cmd heading: 44.965230 deg.

2025-10-26T22:06:03.205Z,1761516363.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784791 target range: 147.995331 and range: 148.90 m.
2025-10-26T22:06:03.261Z,1761516363.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248466
2025-10-26T22:06:03.512Z,1761516363.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499750
2025-10-26T22:06:03.558Z,1761516363.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393388,-0.887127,-0.241354],[0.918993,-0.386974,-0.075513],[-0.026408,-0.251509,0.967495]]
2025-10-26T22:06:03.589Z,1761516363.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.00 m.
2025-10-26T22:06:03.592Z,1761516363.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.995331 m,
      nav range: 145.656570 m,
      bearing: 50.717516 deg,
      approach rate: -0.124291 m/s,
      LOS rate: -0.154049 deg/s,
      cmd heading: 44.965229 deg,
      new cmd heading: 44.785772 deg.

2025-10-26T22:06:03.593Z,1761516363.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.781659 target range: 147.995331 and range: 148.90 m.
2025-10-26T22:06:03.764Z,1761516363.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751829
2025-10-26T22:06:03.963Z,1761516363.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369107,-0.897139,-0.242697],[0.929031,-0.363387,-0.069645],[-0.025711,-0.251180,0.967599]]
2025-10-26T22:06:04.005Z,1761516364.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.00 m.
2025-10-26T22:06:04.009Z,1761516364.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.995331 m,
      nav range: 145.595642 m,
      bearing: 50.652700 deg,
      approach rate: -0.146323 m/s,
      LOS rate: -0.155724 deg/s,
      cmd heading: 44.785772 deg,
      new cmd heading: 44.591244 deg.

2025-10-26T22:06:04.010Z,1761516364.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.778264 target range: 147.995331 and range: 148.90 m.
2025-10-26T22:06:04.016Z,1761516364.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003821
2025-10-26T22:06:04.269Z,1761516364.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256731
2025-10-26T22:06:04.368Z,1761516364.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344931,-0.906381,-0.243917],[0.938294,-0.339890,-0.063862],[-0.025022,-0.250894,0.967691]]
2025-10-26T22:06:04.392Z,1761516364.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.00 m.
2025-10-26T22:06:04.394Z,1761516364.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.995331 m,
      nav range: 145.535690 m,
      bearing: 50.593460 deg,
      approach rate: -0.155106 m/s,
      LOS rate: -0.153330 deg/s,
      cmd heading: 44.591245 deg,
      new cmd heading: 44.413450 deg.

2025-10-26T22:06:04.396Z,1761516364.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.775161 target range: 147.995331 and range: 148.90 m.
2025-10-26T22:06:04.520Z,1761516364.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507764
2025-10-26T22:06:04.772Z,1761516364.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759828
2025-10-26T22:06:04.780Z,1761516364.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320283,-0.915000,-0.245345],[0.946998,-0.316019,-0.057677],[-0.024759,-0.250814,0.967718]]
2025-10-26T22:06:04.876Z,1761516364.876 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:04.878Z,1761516364.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.00 m.
2025-10-26T22:06:04.885Z,1761516364.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.995331 m,
      nav range: 145.459030 m,
      bearing: 50.522864 deg,
      approach rate: -0.157704 m/s,
      LOS rate: -0.145305 deg/s,
      cmd heading: 44.413449 deg,
      new cmd heading: 44.201550 deg.

2025-10-26T22:06:04.886Z,1761516364.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.771463 target range: 147.995331 and range: 148.90 m.
2025-10-26T22:06:05.024Z,1761516365.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011715
2025-10-26T22:06:05.179Z,1761516365.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295962,-0.923156,-0.245334],[0.954891,-0.292474,-0.051407],[-0.024297,-0.249482,0.968075]]
2025-10-26T22:06:05.240Z,1761516365.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.00 m.
2025-10-26T22:06:05.243Z,1761516365.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.995331 m,
      nav range: 145.397202 m,
      bearing: 50.470635 deg,
      approach rate: -0.170727 m/s,
      LOS rate: -0.144281 deg/s,
      cmd heading: 44.201549 deg,
      new cmd heading: 44.044795 deg.

2025-10-26T22:06:05.244Z,1761516365.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.768727 target range: 147.995331 and range: 148.90 m.
2025-10-26T22:06:05.276Z,1761516365.276 [DAT](INFO): DAT read: Rx Time:22:06:03.8419

2025-10-26T22:06:05.277Z,1761516365.277 [DAT](INFO): Rx dataTimestamp_ set to:1761516365.276643
2025-10-26T22:06:05.277Z,1761516365.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264861
2025-10-26T22:06:05.528Z,1761516365.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515700
2025-10-26T22:06:05.582Z,1761516365.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271491,-0.930052,-0.247580],[0.962141,-0.268698,-0.045680],[-0.024040,-0.250608,0.967790]]
2025-10-26T22:06:05.680Z,1761516365.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.00 m.
2025-10-26T22:06:05.683Z,1761516365.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.995331 m,
      nav range: 145.322067 m,
      bearing: 50.411020 deg,
      approach rate: -0.170821 m/s,
      LOS rate: -0.135607 deg/s,
      cmd heading: 44.044796 deg,
      new cmd heading: 43.865859 deg.

2025-10-26T22:06:05.688Z,1761516365.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.765604 target range: 147.995331 and range: 148.90 m.
2025-10-26T22:06:05.790Z,1761516365.790 [DAT](INFO): DAT read: 22:06:03.8419 LVL= 32672, 32545, 20754, 32755, AGC= 65, IDX= 443, 0.37, 0.450, 0.431, 2.325, 0.918, PHS=-0.366,-0.442, 1.363, RAW= 207.9,  -6.3, CAL= 207.2,  -9.1, ROT= 302.8,   9.1

2025-10-26T22:06:05.792Z,1761516365.792 [DAT](INFO): got valid direction response:
 22:06:03.8419 LVL= 32672, 32545, 20754, 32755, AGC= 65, IDX= 443, 0.37, 0.450, 0.431, 2.325, 0.918, PHS=-0.366,-0.442, 1.363, RAW= 207.9,  -6.3, CAL= 207.2,  -9.1, ROT= 302.8,   9.1

2025-10-26T22:06:05.793Z,1761516365.793 [DAT](INFO): DAT read: Bearing 220.6, -50.1 (Local)

2025-10-26T22:06:05.794Z,1761516365.794 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.6, -50.1 (Local)

2025-10-26T22:06:05.808Z,1761516365.808 [DAT](INFO): DAT read: Range 11 to 50 : 148.7 m  (Round-trip  198.3 ms) speed  0.0 m/s

2025-10-26T22:06:05.809Z,1761516365.809 [DAT](INFO): DAT read: user:439>

2025-10-26T22:06:05.817Z,1761516365.817 [DAT](INFO): DAT read: Tx time:22:06:04.9395

2025-10-26T22:06:05.819Z,1761516365.819 [DAT](INFO): Ping request sent.
2025-10-26T22:06:05.819Z,1761516365.819 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:06:05.825Z,1761516365.825 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:06:05.854Z,1761516365.854 [DAT](INFO): direction in FSK: [0.534890,-0.829987,-0.158158]
2025-10-26T22:06:05.855Z,1761516365.855 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:05.861Z,1761516365.861 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:05.881Z,1761516365.881 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:05.881Z,1761516365.881 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:05.986Z,1761516365.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247069,-0.936172,-0.250079],[0.968707,-0.244953,-0.040066],[-0.023749,-0.252152,0.967396]]
2025-10-26T22:06:06.092Z,1761516366.092 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:06:06.094Z,1761516366.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 148.699997 m,
      deltaT: 3.780639 s,
      deltaX: -0.199997 m,
      approachRate: -0.052900 m/s,
      rangeRepo size: 4

2025-10-26T22:06:06.108Z,1761516366.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 147.796204 m,
      bearing: 46.759806 deg,
      lat: 36.779400 deg,
      lon: -121.859467 deg,
      deltaT: 3.780639 s,
      deltaX: -0.199127 m,
      approachRate: -0.052670 m/s,
      posRepo size: 4

2025-10-26T22:06:06.109Z,1761516366.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.80 m.
2025-10-26T22:06:06.115Z,1761516366.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.796204 m,
      nav range: 146.623047 m,
      bearing: 48.126971 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.135607 deg/s,
      cmd heading: 43.865859 deg,
      new cmd heading: 43.697737 deg.

2025-10-26T22:06:06.116Z,1761516366.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.762669 target range: 147.796204 and range: 148.70 m.
2025-10-26T22:06:06.390Z,1761516366.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223316,-0.941917,-0.250844],[0.974472,-0.221841,-0.034522],[-0.023131,-0.252150,0.967412]]
2025-10-26T22:06:06.426Z,1761516366.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.80 m.
2025-10-26T22:06:06.429Z,1761516366.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.796204 m,
      nav range: 146.548309 m,
      bearing: 48.077439 deg,
      approach rate: -0.224520 m/s,
      LOS rate: -0.148875 deg/s,
      cmd heading: 43.697737 deg,
      new cmd heading: 43.549066 deg.

2025-10-26T22:06:06.430Z,1761516366.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.760075 target range: 147.796204 and range: 148.70 m.
2025-10-26T22:06:06.897Z,1761516366.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199214,-0.947521,-0.250036],[0.979692,-0.198486,-0.028390],[-0.022728,-0.250615,0.967820]]
2025-10-26T22:06:06.948Z,1761516366.948 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:06.950Z,1761516366.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.80 m.
2025-10-26T22:06:06.957Z,1761516366.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.796204 m,
      nav range: 146.431320 m,
      bearing: 48.002570 deg,
      approach rate: -0.223518 m/s,
      LOS rate: -0.143158 deg/s,
      cmd heading: 43.549064 deg,
      new cmd heading: 43.324279 deg.

2025-10-26T22:06:06.958Z,1761516366.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.756151 target range: 147.796204 and range: 148.70 m.
2025-10-26T22:06:07.040Z,1761516367.040 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:06:07.040Z,1761516367.040 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:06:07.040Z,1761516367.040 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:06:07.096Z,1761516367.096 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:06:07.293Z,1761516367.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474176
2025-10-26T22:06:07.348Z,1761516367.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175856,-0.952661,-0.248015],[0.984165,-0.175832,-0.022429],[-0.022242,-0.248032,0.968497]]
2025-10-26T22:06:07.366Z,1761516367.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.80 m.
2025-10-26T22:06:07.369Z,1761516367.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.796204 m,
      nav range: 146.329971 m,
      bearing: 47.940823 deg,
      approach rate: -0.243383 m/s,
      LOS rate: -0.148383 deg/s,
      cmd heading: 43.324279 deg,
      new cmd heading: 43.138912 deg.

2025-10-26T22:06:07.370Z,1761516367.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.752916 target range: 147.796204 and range: 148.70 m.
2025-10-26T22:06:07.546Z,1761516367.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726843
2025-10-26T22:06:07.796Z,1761516367.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977849
2025-10-26T22:06:07.812Z,1761516367.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152657,-0.956959,-0.246832],[0.988040,-0.153274,-0.016833],[-0.021724,-0.246450,0.968912]]
2025-10-26T22:06:07.891Z,1761516367.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.80 m.
2025-10-26T22:06:07.913Z,1761516367.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.796204 m,
      nav range: 146.215027 m,
      bearing: 47.874064 deg,
      approach rate: -0.222110 m/s,
      LOS rate: -0.129101 deg/s,
      cmd heading: 43.138911 deg,
      new cmd heading: 42.938477 deg.

2025-10-26T22:06:07.914Z,1761516367.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.749418 target range: 147.796204 and range: 148.70 m.
2025-10-26T22:06:08.049Z,1761516368.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230078
2025-10-26T22:06:08.263Z,1761516368.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.80 m.
2025-10-26T22:06:08.266Z,1761516368.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.796204 m,
      nav range: 146.108536 m,
      bearing: 47.815587 deg,
      approach rate: -0.280731 m/s,
      LOS rate: -0.154270 deg/s,
      cmd heading: 42.938476 deg,
      new cmd heading: 42.762916 deg.

2025-10-26T22:06:08.267Z,1761516368.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.746354 target range: 147.796204 and range: 148.70 m.
2025-10-26T22:06:08.301Z,1761516368.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482073
2025-10-26T22:06:08.552Z,1761516368.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733780
2025-10-26T22:06:08.614Z,1761516368.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107986,-0.963807,-0.243752],[0.993936,-0.109784,-0.006237],[-0.020749,-0.242947,0.969818]]
2025-10-26T22:06:08.636Z,1761516368.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.80 m.
2025-10-26T22:06:08.639Z,1761516368.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.796204 m,
      nav range: 146.008774 m,
      bearing: 47.765561 deg,
      approach rate: -0.267061 m/s,
      LOS rate: -0.134010 deg/s,
      cmd heading: 42.762916 deg,
      new cmd heading: 42.612736 deg.

2025-10-26T22:06:08.640Z,1761516368.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.743733 target range: 147.796204 and range: 148.70 m.
2025-10-26T22:06:08.805Z,1761516368.805 [DAT](INFO): DAT read: Rx Time:22:06:07.5411

2025-10-26T22:06:08.806Z,1761516368.806 [DAT](INFO): Rx dataTimestamp_ set to:1761516368.805592
2025-10-26T22:06:08.807Z,1761516368.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988475
2025-10-26T22:06:09.015Z,1761516369.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085566,-0.966137,-0.243429],[0.996116,-0.088052,-0.000671],[-0.020786,-0.242540,0.969919]]
2025-10-26T22:06:09.050Z,1761516369.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:09.053Z,1761516369.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.80 m.
2025-10-26T22:06:09.057Z,1761516369.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237989
2025-10-26T22:06:09.057Z,1761516369.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.796204 m,
      nav range: 145.887146 m,
      bearing: 47.712538 deg,
      approach rate: -0.292167 m/s,
      LOS rate: -0.127474 deg/s,
      cmd heading: 42.612737 deg,
      new cmd heading: 42.453537 deg.

2025-10-26T22:06:09.058Z,1761516369.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.740954 target range: 147.796204 and range: 148.70 m.
2025-10-26T22:06:09.314Z,1761516369.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494672
2025-10-26T22:06:09.418Z,1761516369.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062810,-0.968264,-0.241910],[0.997800,-0.066073,0.005390],[-0.021203,-0.241039,0.970284]]
2025-10-26T22:06:09.452Z,1761516369.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.80 m.
2025-10-26T22:06:09.455Z,1761516369.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.796204 m,
      nav range: 145.766983 m,
      bearing: 47.662360 deg,
      approach rate: -0.300728 m/s,
      LOS rate: -0.125682 deg/s,
      cmd heading: 42.453536 deg,
      new cmd heading: 42.302879 deg.

2025-10-26T22:06:09.456Z,1761516369.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738325 target range: 147.796204 and range: 148.70 m.
2025-10-26T22:06:09.566Z,1761516369.566 [DAT](INFO): DAT read: 22:06:07.5411 LVL= 32752, 32753, 23026, 32755, AGC= 67, IDX= 434, 0.19,-1.573,-2.308,-0.151,-1.200, PHS=-0.271,-1.063, 1.006, RAW= 187.7,   3.7, CAL= 187.8,   1.2, ROT= 322.2,  -1.2

2025-10-26T22:06:09.567Z,1761516369.567 [DAT](INFO): got valid direction response:
 22:06:07.5411 LVL= 32752, 32753, 23026, 32755, AGC= 67, IDX= 434, 0.19,-1.573,-2.308,-0.151,-1.200, PHS=-0.271,-1.063, 1.006, RAW= 187.7,   3.7, CAL= 187.8,   1.2, ROT= 322.2,  -1.2

2025-10-26T22:06:09.568Z,1761516369.568 [DAT](INFO): DAT read: Bearing 233.3, -37.6 (Local)

2025-10-26T22:06:09.569Z,1761516369.569 [DAT](INFO): Local bearing/azimuth received:
 Bearing 233.3, -37.6 (Local)

2025-10-26T22:06:09.570Z,1761516369.570 [DAT](INFO): DAT read: Range 11 to 50 : 148.0 m  (Round-trip  197.4 ms) speed  0.3 m/s

2025-10-26T22:06:09.571Z,1761516369.571 [DAT](INFO): DAT read: user:440>

2025-10-26T22:06:09.572Z,1761516369.572 [DAT](INFO): DAT read: Tx time:22:06:08.6395

2025-10-26T22:06:09.573Z,1761516369.573 [DAT](INFO): Ping request sent.
2025-10-26T22:06:09.573Z,1761516369.573 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:06:09.573Z,1761516369.573 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:06:09.574Z,1761516369.574 [DAT](INFO): direction in FSK: [0.789982,-0.612772,0.020942]
2025-10-26T22:06:09.574Z,1761516369.574 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:09.575Z,1761516369.575 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:09.578Z,1761516369.578 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:09.578Z,1761516369.578 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:09.834Z,1761516369.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041423,-0.969294,-0.242390],[0.998901,-0.045501,0.011249],[-0.021932,-0.241658,0.970114]]
2025-10-26T22:06:09.903Z,1761516369.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 148.000000 m,
      deltaT: 3.779314 s,
      deltaX: -0.699997 m,
      approachRate: -0.185218 m/s,
      rangeRepo size: 4

2025-10-26T22:06:09.919Z,1761516369.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 147.100021 m,
      bearing: 55.763217 deg,
      lat: 36.779400 deg,
      lon: -121.859467 deg,
      deltaT: 3.779314 s,
      deltaX: -0.696182 m,
      approachRate: -0.184209 m/s,
      posRepo size: 4

2025-10-26T22:06:09.927Z,1761516369.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.10 m.
2025-10-26T22:06:09.941Z,1761516369.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.100021 m,
      nav range: 145.644302 m,
      bearing: 47.613156 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.125682 deg/s,
      cmd heading: 42.302879 deg,
      new cmd heading: 42.136108 deg.

2025-10-26T22:06:09.942Z,1761516369.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.735414 target range: 147.100021 and range: 148.00 m.
2025-10-26T22:06:10.367Z,1761516370.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.10 m.
2025-10-26T22:06:10.370Z,1761516370.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.100021 m,
      nav range: 145.492233 m,
      bearing: 47.557418 deg,
      approach rate: -0.322179 m/s,
      LOS rate: -0.118212 deg/s,
      cmd heading: 42.136106 deg,
      new cmd heading: 41.968718 deg.

2025-10-26T22:06:10.371Z,1761516370.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.732492 target range: 147.100021 and range: 148.00 m.
2025-10-26T22:06:10.682Z,1761516370.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002666,-0.970774,-0.239980],[0.999689,-0.003359,0.024694],[-0.024779,-0.239971,0.970464]]
2025-10-26T22:06:10.709Z,1761516370.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.10 m.
2025-10-26T22:06:10.734Z,1761516370.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.100021 m,
      nav range: 145.380264 m,
      bearing: 47.519762 deg,
      approach rate: -0.326806 m/s,
      LOS rate: -0.109992 deg/s,
      cmd heading: 41.968719 deg,
      new cmd heading: 41.855664 deg.

2025-10-26T22:06:10.735Z,1761516370.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.730519 target range: 147.100021 and range: 148.00 m.
2025-10-26T22:06:11.083Z,1761516371.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025171,-0.971158,-0.237103],[0.999322,0.018066,0.032094],[-0.026885,-0.237750,0.970954]]
2025-10-26T22:06:11.130Z,1761516371.130 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:11.133Z,1761516371.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.10 m.
2025-10-26T22:06:11.136Z,1761516371.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.100021 m,
      nav range: 145.241058 m,
      bearing: 47.477529 deg,
      approach rate: -0.328723 m/s,
      LOS rate: -0.099826 deg/s,
      cmd heading: 41.855662 deg,
      new cmd heading: 41.728840 deg.

2025-10-26T22:06:11.137Z,1761516371.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.728306 target range: 147.100021 and range: 148.00 m.
2025-10-26T22:06:11.325Z,1761516371.325 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:06:11.325Z,1761516371.325 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:06:11.325Z,1761516371.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:06:11.486Z,1761516371.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048229,-0.971543,-0.231900],[0.998409,0.040097,0.039653],[-0.029226,-0.233443,0.971931]]
2025-10-26T22:06:11.516Z,1761516371.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.10 m.
2025-10-26T22:06:11.519Z,1761516371.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.100021 m,
      nav range: 145.113815 m,
      bearing: 47.440643 deg,
      approach rate: -0.331885 m/s,
      LOS rate: -0.096291 deg/s,
      cmd heading: 41.728839 deg,
      new cmd heading: 41.618087 deg.

2025-10-26T22:06:11.520Z,1761516371.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.726373 target range: 147.100021 and range: 148.00 m.
2025-10-26T22:06:11.577Z,1761516371.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004288
2025-10-26T22:06:11.830Z,1761516371.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257189
2025-10-26T22:06:11.900Z,1761516371.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071459,-0.970736,-0.229273],[0.996937,0.062185,0.047430],[-0.031784,-0.231960,0.972206]]
2025-10-26T22:06:11.981Z,1761516371.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.10 m.
2025-10-26T22:06:11.984Z,1761516371.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.100021 m,
      nav range: 144.957748 m,
      bearing: 47.397458 deg,
      approach rate: -0.335856 m/s,
      LOS rate: -0.093035 deg/s,
      cmd heading: 41.618088 deg,
      new cmd heading: 41.488392 deg.

2025-10-26T22:06:11.985Z,1761516371.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.724109 target range: 147.100021 and range: 148.00 m.
2025-10-26T22:06:12.081Z,1761516372.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508343
2025-10-26T22:06:12.310Z,1761516372.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094688,-0.968758,-0.229218],[0.994916,0.084159,0.055306],[-0.034287,-0.233290,0.971803]]
2025-10-26T22:06:12.333Z,1761516372.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760422
2025-10-26T22:06:12.374Z,1761516372.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.10 m.
2025-10-26T22:06:12.378Z,1761516372.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.100021 m,
      nav range: 144.832047 m,
      bearing: 47.368294 deg,
      approach rate: -0.319640 m/s,
      LOS rate: -0.074225 deg/s,
      cmd heading: 41.488393 deg,
      new cmd heading: 41.400824 deg.

2025-10-26T22:06:12.378Z,1761516372.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.722581 target range: 147.100021 and range: 148.00 m.
2025-10-26T22:06:12.585Z,1761516372.585 [DAT](INFO): DAT read: Rx Time:22:06:11.2396

2025-10-26T22:06:12.586Z,1761516372.586 [DAT](INFO): Rx dataTimestamp_ set to:1761516372.585662
2025-10-26T22:06:12.587Z,1761516372.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013976
2025-10-26T22:06:12.707Z,1761516372.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142088,-0.961271,-0.236153],[0.989052,0.128272,0.072954],[-0.039837,-0.243933,0.968973]]
2025-10-26T22:06:12.741Z,1761516372.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.10 m.
2025-10-26T22:06:12.744Z,1761516372.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.100021 m,
      nav range: 144.712051 m,
      bearing: 47.343352 deg,
      approach rate: -0.327239 m/s,
      LOS rate: -0.068076 deg/s,
      cmd heading: 41.400823 deg,
      new cmd heading: 41.325935 deg.

2025-10-26T22:06:12.745Z,1761516372.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.721274 target range: 147.100021 and range: 148.00 m.
2025-10-26T22:06:12.837Z,1761516372.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264371
2025-10-26T22:06:13.095Z,1761516373.095 [DAT](INFO): DAT read: 22:06:11.2396 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 419, 0.44,-2.494, 2.701,-1.294,-2.300, PHS=-0.091,-1.237, 0.962, RAW= 178.6,   3.9, CAL= 178.2,   1.7, ROT= 331.8,  -1.7

2025-10-26T22:06:13.103Z,1761516373.103 [DAT](INFO): got valid direction response:
 22:06:11.2396 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 419, 0.44,-2.494, 2.701,-1.294,-2.300, PHS=-0.091,-1.237, 0.962, RAW= 178.6,   3.9, CAL= 178.2,   1.7, ROT= 331.8,  -1.7

2025-10-26T22:06:13.108Z,1761516373.108 [DAT](INFO): DAT read: Bearing 225.1, -29.4 (Local)

2025-10-26T22:06:13.108Z,1761516373.108 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.1, -29.4 (Local)

2025-10-26T22:06:13.109Z,1761516373.109 [DAT](INFO): DAT read: Range 11 to 50 : 146.9 m  (Round-trip  195.9 ms) speed  0.3 m/s

2025-10-26T22:06:13.110Z,1761516373.110 [DAT](INFO): DAT read: user:441>

2025-10-26T22:06:13.111Z,1761516373.111 [DAT](INFO): DAT read: Tx time:22:06:12.3395

2025-10-26T22:06:13.120Z,1761516373.120 [DAT](INFO): Ping request sent.
2025-10-26T22:06:13.120Z,1761516373.120 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:06:13.121Z,1761516373.121 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:06:13.122Z,1761516373.122 [DAT](INFO): direction in FSK: [0.880915,-0.472343,0.029666]
2025-10-26T22:06:13.122Z,1761516373.122 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:13.122Z,1761516373.122 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:13.141Z,1761516373.141 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:13.142Z,1761516373.142 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:13.162Z,1761516373.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165828,-0.957059,-0.237780],[0.985249,0.150458,0.081523],[-0.042246,-0.247792,0.967892]]
2025-10-26T22:06:13.292Z,1761516373.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 146.899994 m,
      deltaT: 3.527862 s,
      deltaX: -1.100006 m,
      approachRate: -0.311805 m/s,
      rangeRepo size: 4

2025-10-26T22:06:13.294Z,1761516373.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 146.008041 m,
      bearing: 53.515925 deg,
      lat: 36.779400 deg,
      lon: -121.859467 deg,
      deltaT: 3.527862 s,
      deltaX: -1.091980 m,
      approachRate: -0.309530 m/s,
      posRepo size: 4

2025-10-26T22:06:13.295Z,1761516373.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.01 m.
2025-10-26T22:06:13.309Z,1761516373.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.008041 m,
      nav range: 144.520935 m,
      bearing: 47.307382 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.068076 deg/s,
      cmd heading: 41.325933 deg,
      new cmd heading: 41.216707 deg.

2025-10-26T22:06:13.310Z,1761516373.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.719367 target range: 146.008041 and range: 146.90 m.
2025-10-26T22:06:13.567Z,1761516373.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189308,-0.953582,-0.234187],[0.980921,0.172917,0.088845],[-0.044226,-0.246538,0.968123]]
2025-10-26T22:06:13.590Z,1761516373.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:13.592Z,1761516373.592 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:06:13.592Z,1761516373.592 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:06:13.593Z,1761516373.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:06:13.596Z,1761516373.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.01 m.
2025-10-26T22:06:13.598Z,1761516373.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.008041 m,
      nav range: 144.398041 m,
      bearing: 47.285614 deg,
      approach rate: -0.383604 m/s,
      LOS rate: -0.068005 deg/s,
      cmd heading: 41.216708 deg,
      new cmd heading: 41.151349 deg.

2025-10-26T22:06:13.600Z,1761516373.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.718227 target range: 146.008041 and range: 146.90 m.
2025-10-26T22:06:13.844Z,1761516373.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.724020
2025-10-26T22:06:14.002Z,1761516374.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212883,-0.949014,-0.232494],[0.975995,0.195344,0.096298],[-0.045972,-0.247413,0.967819]]
2025-10-26T22:06:14.060Z,1761516374.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.01 m.
2025-10-26T22:06:14.062Z,1761516374.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.008041 m,
      nav range: 144.233948 m,
      bearing: 47.260483 deg,
      approach rate: -0.356999 m/s,
      LOS rate: -0.054735 deg/s,
      cmd heading: 41.151350 deg,
      new cmd heading: 41.075874 deg.

2025-10-26T22:06:14.067Z,1761516374.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.716909 target range: 146.008041 and range: 146.90 m.
2025-10-26T22:06:14.096Z,1761516374.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.976256
2025-10-26T22:06:14.349Z,1761516374.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228542
2025-10-26T22:06:14.399Z,1761516374.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236133,-0.943935,-0.230713],[0.970564,0.217527,0.103379],[-0.047397,-0.248333,0.967515]]
2025-10-26T22:06:14.434Z,1761516374.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.01 m.
2025-10-26T22:06:14.441Z,1761516374.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.008041 m,
      nav range: 144.093552 m,
      bearing: 47.240447 deg,
      approach rate: -0.371186 m/s,
      LOS rate: -0.053025 deg/s,
      cmd heading: 41.075873 deg,
      new cmd heading: 41.015705 deg.

2025-10-26T22:06:14.442Z,1761516374.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.715859 target range: 146.008041 and range: 146.90 m.
2025-10-26T22:06:14.600Z,1761516374.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480158
2025-10-26T22:06:14.818Z,1761516374.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259316,-0.938206,-0.229182],[0.964577,0.239690,0.110180],[-0.048439,-0.249635,0.967128]]
2025-10-26T22:06:14.852Z,1761516374.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732193
2025-10-26T22:06:14.864Z,1761516374.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.01 m.
2025-10-26T22:06:14.866Z,1761516374.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.008041 m,
      nav range: 143.934967 m,
      bearing: 47.219448 deg,
      approach rate: -0.369159 m/s,
      LOS rate: -0.048936 deg/s,
      cmd heading: 41.015706 deg,
      new cmd heading: 40.952640 deg.

2025-10-26T22:06:14.868Z,1761516374.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714758 target range: 146.008041 and range: 146.90 m.
2025-10-26T22:06:15.109Z,1761516375.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987912
2025-10-26T22:06:15.210Z,1761516375.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282176,-0.932668,-0.224737],[0.958110,0.262000,0.115678],[-0.049008,-0.247964,0.967529]]
2025-10-26T22:06:15.257Z,1761516375.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.01 m.
2025-10-26T22:06:15.260Z,1761516375.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.008041 m,
      nav range: 143.759415 m,
      bearing: 47.196670 deg,
      approach rate: -0.445792 m/s,
      LOS rate: -0.057912 deg/s,
      cmd heading: 40.952639 deg,
      new cmd heading: 40.884223 deg.

2025-10-26T22:06:15.261Z,1761516375.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713564 target range: 146.008041 and range: 146.90 m.
2025-10-26T22:06:15.357Z,1761516375.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236310
2025-10-26T22:06:15.608Z,1761516375.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488205
2025-10-26T22:06:15.623Z,1761516375.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304681,-0.926605,-0.220390],[0.951175,0.284026,0.120809],[-0.049346,-0.246438,0.967901]]
2025-10-26T22:06:15.640Z,1761516375.640 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:15.642Z,1761516375.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.01 m.
2025-10-26T22:06:15.645Z,1761516375.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.008041 m,
      nav range: 143.595673 m,
      bearing: 47.177073 deg,
      approach rate: -0.425922 m/s,
      LOS rate: -0.051034 deg/s,
      cmd heading: 40.884221 deg,
      new cmd heading: 40.825362 deg.

2025-10-26T22:06:15.646Z,1761516375.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712537 target range: 146.008041 and range: 146.90 m.
2025-10-26T22:06:15.860Z,1761516375.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740219
2025-10-26T22:06:16.038Z,1761516376.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327176,-0.919812,-0.216567],[0.943668,0.306034,0.125836],[-0.049468,-0.245538,0.968124]]
2025-10-26T22:06:16.088Z,1761516376.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.01 m.
2025-10-26T22:06:16.090Z,1761516376.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.008041 m,
      nav range: 143.396210 m,
      bearing: 47.156405 deg,
      approach rate: -0.447478 m/s,
      LOS rate: -0.046431 deg/s,
      cmd heading: 40.825362 deg,
      new cmd heading: 40.763272 deg.

2025-10-26T22:06:16.091Z,1761516376.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711453 target range: 146.008041 and range: 146.90 m.
2025-10-26T22:06:16.112Z,1761516376.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992127
2025-10-26T22:06:16.364Z,1761516376.364 [DAT](INFO): DAT read: Rx Time:22:06:14.9377

2025-10-26T22:06:16.365Z,1761516376.365 [DAT](INFO): Rx dataTimestamp_ set to:1761516376.364558
2025-10-26T22:06:16.365Z,1761516376.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245153
2025-10-26T22:06:16.422Z,1761516376.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348852,-0.912936,-0.211780],[0.935892,0.327529,0.129734],[-0.049075,-0.243461,0.968668]]
2025-10-26T22:06:16.454Z,1761516376.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.01 m.
2025-10-26T22:06:16.457Z,1761516376.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.008041 m,
      nav range: 143.231750 m,
      bearing: 47.140947 deg,
      approach rate: -0.448908 m/s,
      LOS rate: -0.042241 deg/s,
      cmd heading: 40.763272 deg,
      new cmd heading: 40.716847 deg.

2025-10-26T22:06:16.458Z,1761516376.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710643 target range: 146.008041 and range: 146.90 m.
2025-10-26T22:06:16.616Z,1761516376.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496138
2025-10-26T22:06:16.832Z,1761516376.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370227,-0.905506,-0.207344],[0.927657,0.348653,0.133768],[-0.048837,-0.241869,0.969079]]
2025-10-26T22:06:16.860Z,1761516376.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.01 m.
2025-10-26T22:06:16.863Z,1761516376.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.008041 m,
      nav range: 143.051392 m,
      bearing: 47.125706 deg,
      approach rate: -0.443660 m/s,
      LOS rate: -0.037540 deg/s,
      cmd heading: 40.716848 deg,
      new cmd heading: 40.671064 deg.

2025-10-26T22:06:16.874Z,1761516376.874 [DAT](INFO): DAT read: 22:06:14.9377 LVL= 32752, 32753, 28482, 32755, AGC= 62, IDX= 416, 0.26,-1.485,-2.697,-0.646,-1.474, PHS= 0.091,-1.178, 0.784, RAW= 170.4,   3.5, CAL= 169.5,   1.6, ROT= 340.5,  -1.6

2025-10-26T22:06:16.876Z,1761516376.876 [DAT](INFO): got valid direction response:
 22:06:14.9377 LVL= 32752, 32753, 28482, 32755, AGC= 62, IDX= 416, 0.26,-1.485,-2.697,-0.646,-1.474, PHS= 0.091,-1.178, 0.784, RAW= 170.4,   3.5, CAL= 169.5,   1.6, ROT= 340.5,  -1.6

2025-10-26T22:06:16.877Z,1761516376.877 [DAT](INFO): DAT read: Bearing 214.4, -21.4 (Local)

2025-10-26T22:06:16.877Z,1761516376.877 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.4, -21.4 (Local)

2025-10-26T22:06:16.879Z,1761516376.879 [DAT](INFO): DAT read: Range 11 to 50 : 145.5 m  (Round-trip  194.1 ms) speed  0.4 m/s

2025-10-26T22:06:16.880Z,1761516376.880 [DAT](INFO): DAT read: user:442>

2025-10-26T22:06:16.880Z,1761516376.880 [DAT](INFO): DAT read: Tx time:22:06:16.0395

2025-10-26T22:06:16.881Z,1761516376.881 [DAT](INFO): Ping request sent.
2025-10-26T22:06:16.881Z,1761516376.881 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:06:16.881Z,1761516376.881 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:06:16.882Z,1761516376.882 [DAT](INFO): direction in FSK: [0.942274,-0.333677,0.027922]
2025-10-26T22:06:16.882Z,1761516376.882 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:16.882Z,1761516376.882 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:16.886Z,1761516376.886 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:16.886Z,1761516376.886 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:16.891Z,1761516376.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.709844 target range: 146.008041 and range: 146.90 m.
2025-10-26T22:06:17.231Z,1761516377.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391861,-0.896848,-0.205203],[0.918739,0.369669,0.138793],[-0.048619,-0.242915,0.968828]]
2025-10-26T22:06:17.293Z,1761516377.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 145.500000 m,
      deltaT: 3.780178 s,
      deltaX: -1.399994 m,
      approachRate: -0.370351 m/s,
      rangeRepo size: 4

2025-10-26T22:06:17.301Z,1761516377.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 144.616623 m,
      bearing: 48.389943 deg,
      lat: 36.779388 deg,
      lon: -121.859430 deg,
      deltaT: 3.780178 s,
      deltaX: -1.391418 m,
      approachRate: -0.368083 m/s,
      posRepo size: 4

2025-10-26T22:06:17.303Z,1761516377.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.62 m.
2025-10-26T22:06:17.316Z,1761516377.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.616623 m,
      nav range: 144.335312 m,
      bearing: 48.389420 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037540 deg/s,
      cmd heading: 40.671065 deg,
      new cmd heading: 40.622443 deg.

2025-10-26T22:06:17.317Z,1761516377.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708995 target range: 144.616623 and range: 145.50 m.
2025-10-26T22:06:17.638Z,1761516377.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413040,-0.887522,-0.204212],[0.909437,0.390090,0.144067],[-0.048201,-0.245223,0.968268]]
2025-10-26T22:06:17.655Z,1761516377.655 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:17.657Z,1761516377.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.62 m.
2025-10-26T22:06:17.660Z,1761516377.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.616623 m,
      nav range: 144.146332 m,
      bearing: 48.377053 deg,
      approach rate: -0.517596 m/s,
      LOS rate: -0.033919 deg/s,
      cmd heading: 40.622444 deg,
      new cmd heading: 40.585292 deg.

2025-10-26T22:06:17.661Z,1761516377.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708347 target range: 144.616623 and range: 145.50 m.
2025-10-26T22:06:17.893Z,1761516377.893 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:06:17.893Z,1761516377.893 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:06:17.893Z,1761516377.893 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:06:18.065Z,1761516378.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433663,-0.878389,-0.200918],[0.899802,0.410298,0.148365],[-0.047885,-0.245127,0.968308]]
2025-10-26T22:06:18.108Z,1761516378.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.62 m.
2025-10-26T22:06:18.111Z,1761516378.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.616623 m,
      nav range: 143.928299 m,
      bearing: 48.362547 deg,
      approach rate: -0.483525 m/s,
      LOS rate: -0.032218 deg/s,
      cmd heading: 40.585291 deg,
      new cmd heading: 40.541708 deg.

2025-10-26T22:06:18.112Z,1761516378.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.707586 target range: 144.616623 and range: 145.50 m.
2025-10-26T22:06:18.145Z,1761516378.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264503
2025-10-26T22:06:18.396Z,1761516378.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515655
2025-10-26T22:06:18.446Z,1761516378.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453780,-0.868971,-0.197416],[0.889832,0.429992,0.152660],[-0.047770,-0.244941,0.968360]]
2025-10-26T22:06:18.479Z,1761516378.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.62 m.
2025-10-26T22:06:18.482Z,1761516378.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.616623 m,
      nav range: 143.747757 m,
      bearing: 48.352159 deg,
      approach rate: -0.486356 m/s,
      LOS rate: -0.028017 deg/s,
      cmd heading: 40.541708 deg,
      new cmd heading: 40.510507 deg.

2025-10-26T22:06:18.483Z,1761516378.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.707042 target range: 144.616623 and range: 145.50 m.
2025-10-26T22:06:18.648Z,1761516378.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767615
2025-10-26T22:06:18.850Z,1761516378.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474795,-0.858664,-0.193043],[0.878787,0.450582,0.157191],[-0.047993,-0.244277,0.968517]]
2025-10-26T22:06:18.869Z,1761516378.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.62 m.
2025-10-26T22:06:18.871Z,1761516378.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.616623 m,
      nav range: 143.558685 m,
      bearing: 48.343083 deg,
      approach rate: -0.485731 m/s,
      LOS rate: -0.023348 deg/s,
      cmd heading: 40.510508 deg,
      new cmd heading: 40.483243 deg.

2025-10-26T22:06:18.872Z,1761516378.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.706566 target range: 144.616623 and range: 145.50 m.
2025-10-26T22:06:18.901Z,1761516378.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019936
2025-10-26T22:06:19.152Z,1761516379.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271655
2025-10-26T22:06:19.330Z,1761516379.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494261,-0.848398,-0.189545],[0.867991,0.469612,0.161421],[-0.047936,-0.244307,0.968512]]
2025-10-26T22:06:19.383Z,1761516379.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.62 m.
2025-10-26T22:06:19.386Z,1761516379.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.616623 m,
      nav range: 143.292358 m,
      bearing: 48.332532 deg,
      approach rate: -0.517739 m/s,
      LOS rate: -0.020550 deg/s,
      cmd heading: 40.483242 deg,
      new cmd heading: 40.451529 deg.

2025-10-26T22:06:19.388Z,1761516379.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.706012 target range: 144.616623 and range: 145.50 m.
2025-10-26T22:06:19.406Z,1761516379.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525622
2025-10-26T22:06:19.656Z,1761516379.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775672
2025-10-26T22:06:19.743Z,1761516379.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513356,-0.837876,-0.185551],[0.856828,0.488312,0.165521],[-0.048080,-0.243956,0.968594]]
2025-10-26T22:06:19.760Z,1761516379.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:19.762Z,1761516379.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.62 m.
2025-10-26T22:06:19.765Z,1761516379.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.616623 m,
      nav range: 143.095718 m,
      bearing: 48.326475 deg,
      approach rate: -0.518873 m/s,
      LOS rate: -0.016004 deg/s,
      cmd heading: 40.451529 deg,
      new cmd heading: 40.433334 deg.

2025-10-26T22:06:19.766Z,1761516379.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705695 target range: 144.616623 and range: 145.50 m.
2025-10-26T22:06:19.909Z,1761516379.909 [DAT](INFO): DAT read: Rx Time:22:06:18.6353

2025-10-26T22:06:19.909Z,1761516379.909 [DAT](INFO): Rx dataTimestamp_ set to:1761516379.908798
2025-10-26T22:06:19.910Z,1761516379.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028930
2025-10-26T22:06:20.160Z,1761516380.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279678
2025-10-26T22:06:20.188Z,1761516380.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532758,-0.826507,-0.181811],[0.844859,0.507063,0.170587],[-0.048802,-0.244486,0.968424]]
2025-10-26T22:06:20.257Z,1761516380.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.62 m.
2025-10-26T22:06:20.259Z,1761516380.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.616623 m,
      nav range: 142.836288 m,
      bearing: 48.322444 deg,
      approach rate: -0.524516 m/s,
      LOS rate: -0.008164 deg/s,
      cmd heading: 40.433333 deg,
      new cmd heading: 40.421219 deg.

2025-10-26T22:06:20.260Z,1761516380.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705483 target range: 144.616623 and range: 145.50 m.
2025-10-26T22:06:20.415Z,1761516380.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534133
2025-10-26T22:06:20.651Z,1761516380.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551262,-0.814905,-0.179000],[0.832865,0.524758,0.175971],[-0.049468,-0.246089,0.967984]]
2025-10-26T22:06:20.670Z,1761516380.670 [DAT](INFO): DAT read: 22:06:18.6353 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 423, 0.01, 3.042, 1.591,-2.679, 2.953, PHS= 0.191,-1.317, 0.607, RAW= 161.9,   6.0, CAL= 161.1,   5.4, ROT= 348.9,  -5.4

2025-10-26T22:06:20.672Z,1761516380.672 [DAT](INFO): got valid direction response:
 22:06:18.6353 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 423, 0.01, 3.042, 1.591,-2.679, 2.953, PHS= 0.191,-1.317, 0.607, RAW= 161.9,   6.0, CAL= 161.1,   5.4, ROT= 348.9,  -5.4

2025-10-26T22:06:20.673Z,1761516380.673 [DAT](INFO): DAT read: Bearing 207.2, -14.3 (Local)

2025-10-26T22:06:20.673Z,1761516380.673 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.2, -14.3 (Local)

2025-10-26T22:06:20.674Z,1761516380.674 [DAT](INFO): DAT read: Range 11 to 50 : 143.7 m  (Round-trip  191.6 ms) speed  0.5 m/s

2025-10-26T22:06:20.675Z,1761516380.675 [DAT](INFO): DAT read: user:443>

2025-10-26T22:06:20.676Z,1761516380.676 [DAT](INFO): DAT read: Tx time:22:06:19.7395

2025-10-26T22:06:20.676Z,1761516380.676 [DAT](INFO): Ping request sent.
2025-10-26T22:06:20.676Z,1761516380.676 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:06:20.677Z,1761516380.677 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:06:20.677Z,1761516380.677 [DAT](INFO): direction in FSK: [0.976938,-0.191668,0.094108]
2025-10-26T22:06:20.678Z,1761516380.678 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:20.678Z,1761516380.678 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:20.685Z,1761516380.685 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:20.686Z,1761516380.686 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:20.746Z,1761516380.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 143.699997 m,
      deltaT: 3.796002 s,
      deltaX: -1.800003 m,
      approachRate: -0.474184 m/s,
      rangeRepo size: 4

2025-10-26T22:06:20.753Z,1761516380.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 142.828064 m,
      bearing: 47.105397 deg,
      lat: 36.779388 deg,
      lon: -121.859430 deg,
      deltaT: 3.796002 s,
      deltaX: -1.788559 m,
      approachRate: -0.471169 m/s,
      posRepo size: 4

2025-10-26T22:06:20.754Z,1761516380.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.83 m.
2025-10-26T22:06:20.776Z,1761516380.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.828064 m,
      nav range: 142.602798 m,
      bearing: 48.320871 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008164 deg/s,
      cmd heading: 40.421220 deg,
      new cmd heading: 40.409234 deg.

2025-10-26T22:06:20.777Z,1761516380.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705274 target range: 142.828064 and range: 143.70 m.
2025-10-26T22:06:21.117Z,1761516381.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588498,-0.789237,-0.175427],[0.806904,0.559723,0.188723],[-0.050756,-0.252616,0.966234]]
2025-10-26T22:06:21.173Z,1761516381.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.83 m.
2025-10-26T22:06:21.177Z,1761516381.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.828064 m,
      nav range: 142.368317 m,
      bearing: 48.325593 deg,
      approach rate: -0.548742 m/s,
      LOS rate: 0.011070 deg/s,
      cmd heading: 40.409233 deg,
      new cmd heading: 40.423423 deg.

2025-10-26T22:06:21.178Z,1761516381.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705522 target range: 142.828064 and range: 143.70 m.
2025-10-26T22:06:21.532Z,1761516381.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.83 m.
2025-10-26T22:06:21.534Z,1761516381.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.828064 m,
      nav range: 142.194916 m,
      bearing: 48.329095 deg,
      approach rate: -0.500477 m/s,
      LOS rate: 0.010121 deg/s,
      cmd heading: 40.423423 deg,
      new cmd heading: 40.433942 deg.

2025-10-26T22:06:21.536Z,1761516381.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705705 target range: 142.828064 and range: 143.70 m.
2025-10-26T22:06:21.882Z,1761516381.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606582,-0.776730,-0.169553],[0.793351,0.577565,0.192388],[-0.051506,-0.251215,0.966560]]
2025-10-26T22:06:21.910Z,1761516381.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:21.912Z,1761516381.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.83 m.
2025-10-26T22:06:21.915Z,1761516381.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.828064 m,
      nav range: 142.002731 m,
      bearing: 48.334754 deg,
      approach rate: -0.489460 m/s,
      LOS rate: 0.014432 deg/s,
      cmd heading: 40.433941 deg,
      new cmd heading: 40.450941 deg.

2025-10-26T22:06:21.916Z,1761516381.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.706002 target range: 142.828064 and range: 143.70 m.
2025-10-26T22:06:21.924Z,1761516381.924 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:06:21.924Z,1761516381.924 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:06:21.925Z,1761516381.925 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:06:22.176Z,1761516382.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499978
2025-10-26T22:06:22.302Z,1761516382.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624268,-0.764259,-0.161854],[0.779459,0.595489,0.194517],[-0.052279,-0.247589,0.967454]]
2025-10-26T22:06:22.352Z,1761516382.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.83 m.
2025-10-26T22:06:22.355Z,1761516382.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.828064 m,
      nav range: 141.781372 m,
      bearing: 48.343336 deg,
      approach rate: -0.503600 m/s,
      LOS rate: 0.019555 deg/s,
      cmd heading: 40.450942 deg,
      new cmd heading: 40.476728 deg.

2025-10-26T22:06:22.356Z,1761516382.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.706452 target range: 142.828064 and range: 143.70 m.
2025-10-26T22:06:22.428Z,1761516382.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752216
2025-10-26T22:06:22.680Z,1761516382.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004176
2025-10-26T22:06:22.692Z,1761516382.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642270,-0.750900,-0.153751],[0.764599,0.613630,0.197097],[-0.053653,-0.244147,0.968253]]
2025-10-26T22:06:22.739Z,1761516382.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.83 m.
2025-10-26T22:06:22.746Z,1761516382.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.828064 m,
      nav range: 141.601501 m,
      bearing: 48.352063 deg,
      approach rate: -0.464687 m/s,
      LOS rate: 0.022574 deg/s,
      cmd heading: 40.476729 deg,
      new cmd heading: 40.502943 deg.

2025-10-26T22:06:22.747Z,1761516382.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.706910 target range: 142.828064 and range: 143.70 m.
2025-10-26T22:06:22.932Z,1761516382.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256050
2025-10-26T22:06:23.125Z,1761516383.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676064,-0.724082,-0.136542],[0.734640,0.648049,0.200842],[-0.056940,-0.236091,0.970061]]
2025-10-26T22:06:23.171Z,1761516383.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.83 m.
2025-10-26T22:06:23.173Z,1761516383.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.828064 m,
      nav range: 141.398056 m,
      bearing: 48.375323 deg,
      approach rate: -0.471284 m/s,
      LOS rate: 0.053958 deg/s,
      cmd heading: 40.502943 deg,
      new cmd heading: 40.572822 deg.

2025-10-26T22:06:23.174Z,1761516383.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708129 target range: 142.828064 and range: 143.70 m.
2025-10-26T22:06:23.185Z,1761516383.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508441
2025-10-26T22:06:23.436Z,1761516383.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760056
2025-10-26T22:06:23.547Z,1761516383.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.83 m.
2025-10-26T22:06:23.550Z,1761516383.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.828064 m,
      nav range: 141.236893 m,
      bearing: 48.393798 deg,
      approach rate: -0.427934 m/s,
      LOS rate: 0.049113 deg/s,
      cmd heading: 40.572823 deg,
      new cmd heading: 40.628312 deg.

2025-10-26T22:06:23.551Z,1761516383.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.709098 target range: 142.828064 and range: 143.70 m.
2025-10-26T22:06:23.688Z,1761516383.688 [DAT](INFO): DAT read: Rx Time:22:06:22.3330

2025-10-26T22:06:23.689Z,1761516383.689 [DAT](INFO): Rx dataTimestamp_ set to:1761516383.688675
2025-10-26T22:06:23.689Z,1761516383.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013248
2025-10-26T22:06:23.904Z,1761516383.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691895,-0.710088,-0.130600],[0.719553,0.663305,0.205597],[-0.059364,-0.236225,0.969883]]
2025-10-26T22:06:23.925Z,1761516383.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:23.927Z,1761516383.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.83 m.
2025-10-26T22:06:23.930Z,1761516383.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.828064 m,
      nav range: 141.061737 m,
      bearing: 48.415618 deg,
      approach rate: -0.461675 m/s,
      LOS rate: 0.057585 deg/s,
      cmd heading: 40.628311 deg,
      new cmd heading: 40.693853 deg.

2025-10-26T22:06:23.930Z,1761516383.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710242 target range: 142.828064 and range: 143.70 m.
2025-10-26T22:06:23.940Z,1761516383.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264204
2025-10-26T22:06:24.198Z,1761516384.198 [DAT](INFO): DAT read: 22:06:22.3330 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 416,-0.14,-0.712,-2.400,-0.575,-0.806, PHS= 0.197,-1.549, 0.188, RAW= 149.7,  13.3, CAL= 149.8,  14.7, ROT=   0.2, -14.7

2025-10-26T22:06:24.199Z,1761516384.199 [DAT](INFO): got valid direction response:
 22:06:22.3330 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 416,-0.14,-0.712,-2.400,-0.575,-0.806, PHS= 0.197,-1.549, 0.188, RAW= 149.7,  13.3, CAL= 149.8,  14.7, ROT=   0.2, -14.7

2025-10-26T22:06:24.200Z,1761516384.200 [DAT](INFO): DAT read: Bearing 206.1,  -5.9 (Local)

2025-10-26T22:06:24.200Z,1761516384.200 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.1,  -5.9 (Local)

2025-10-26T22:06:24.202Z,1761516384.202 [DAT](INFO): DAT read: Range 11 to 50 : 141.9 m  (Round-trip  189.3 ms) speed  0.8 m/s

2025-10-26T22:06:24.203Z,1761516384.203 [DAT](INFO): DAT read: user:444>

2025-10-26T22:06:24.204Z,1761516384.204 [DAT](INFO): DAT read: Tx time:22:06:23.4395

2025-10-26T22:06:24.204Z,1761516384.204 [DAT](INFO): Ping request sent.
2025-10-26T22:06:24.204Z,1761516384.204 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:06:24.204Z,1761516384.204 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:06:24.205Z,1761516384.205 [DAT](INFO): direction in FSK: [0.967262,0.003376,0.253758]
2025-10-26T22:06:24.205Z,1761516384.205 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:24.206Z,1761516384.206 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:24.209Z,1761516384.209 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:24.209Z,1761516384.209 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:24.336Z,1761516384.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721862,-0.681529,-0.120138],[0.689011,0.691577,0.216759],[-0.064643,-0.239246,0.968805]]
2025-10-26T22:06:24.434Z,1761516384.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 141.899994 m,
      deltaT: 3.527854 s,
      deltaX: -1.800003 m,
      approachRate: -0.510226 m/s,
      rangeRepo size: 4

2025-10-26T22:06:24.436Z,1761516384.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 141.038406 m,
      bearing: 47.405138 deg,
      lat: 36.779388 deg,
      lon: -121.859430 deg,
      deltaT: 3.527854 s,
      deltaX: -1.789658 m,
      approachRate: -0.507294 m/s,
      posRepo size: 4

2025-10-26T22:06:24.437Z,1761516384.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.04 m.
2025-10-26T22:06:24.447Z,1761516384.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.038406 m,
      nav range: 140.837112 m,
      bearing: 48.451435 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.057585 deg/s,
      cmd heading: 40.693854 deg,
      new cmd heading: 40.781420 deg.

2025-10-26T22:06:24.459Z,1761516384.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711770 target range: 141.038406 and range: 141.90 m.
2025-10-26T22:06:24.726Z,1761516384.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736496,-0.666670,-0.114564],[0.673039,0.705236,0.222849],[-0.067772,-0.241233,0.968098]]
2025-10-26T22:06:24.747Z,1761516384.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.04 m.
2025-10-26T22:06:24.750Z,1761516384.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.038406 m,
      nav range: 140.686142 m,
      bearing: 48.477115 deg,
      approach rate: -0.481257 m/s,
      LOS rate: 0.081949 deg/s,
      cmd heading: 40.781420 deg,
      new cmd heading: 40.858543 deg.

2025-10-26T22:06:24.751Z,1761516384.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713116 target range: 141.038406 and range: 141.90 m.
2025-10-26T22:06:25.155Z,1761516385.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748795,-0.653795,-0.108893],[0.658993,0.716790,0.227905],[-0.070950,-0.242414,0.967575]]
2025-10-26T22:06:25.192Z,1761516385.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.04 m.
2025-10-26T22:06:25.194Z,1761516385.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.038406 m,
      nav range: 140.500565 m,
      bearing: 48.516226 deg,
      approach rate: -0.417844 m/s,
      LOS rate: 0.088178 deg/s,
      cmd heading: 40.858543 deg,
      new cmd heading: 40.976031 deg.

2025-10-26T22:06:25.195Z,1761516385.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.715167 target range: 141.038406 and range: 141.90 m.
2025-10-26T22:06:25.523Z,1761516385.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759469,-0.642212,-0.103779],[0.646296,0.726649,0.232989],[-0.074217,-0.244020,0.966926]]
2025-10-26T22:06:25.557Z,1761516385.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.04 m.
2025-10-26T22:06:25.560Z,1761516385.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.038406 m,
      nav range: 140.355682 m,
      bearing: 48.548069 deg,
      approach rate: -0.396182 m/s,
      LOS rate: 0.087165 deg/s,
      cmd heading: 40.976033 deg,
      new cmd heading: 41.071660 deg.

2025-10-26T22:06:25.561Z,1761516385.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.716836 target range: 141.038406 and range: 141.90 m.
2025-10-26T22:06:25.966Z,1761516385.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:25.968Z,1761516385.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.04 m.
2025-10-26T22:06:25.971Z,1761516385.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.038406 m,
      nav range: 140.179062 m,
      bearing: 48.586993 deg,
      approach rate: -0.430132 m/s,
      LOS rate: 0.094914 deg/s,
      cmd heading: 41.071659 deg,
      new cmd heading: 41.188579 deg.

2025-10-26T22:06:25.972Z,1761516385.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.718876 target range: 141.038406 and range: 141.90 m.
2025-10-26T22:06:26.208Z,1761516386.208 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:06:26.208Z,1761516386.208 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:06:26.209Z,1761516386.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:06:26.330Z,1761516386.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778455,-0.621272,-0.089606],[0.622431,0.745555,0.238174],[-0.081165,-0.241181,0.967080]]
2025-10-26T22:06:26.366Z,1761516386.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.04 m.
2025-10-26T22:06:26.369Z,1761516386.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.038406 m,
      nav range: 139.996780 m,
      bearing: 48.627885 deg,
      approach rate: -0.457960 m/s,
      LOS rate: 0.102869 deg/s,
      cmd heading: 41.188578 deg,
      new cmd heading: 41.311412 deg.

2025-10-26T22:06:26.370Z,1761516386.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.721020 target range: 141.038406 and range: 141.90 m.
2025-10-26T22:06:26.461Z,1761516386.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256566
2025-10-26T22:06:26.713Z,1761516386.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509443
2025-10-26T22:06:26.743Z,1761516386.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784616,-0.614961,-0.078744],[0.614144,0.753545,0.234515],[-0.084880,-0.232365,0.968918]]
2025-10-26T22:06:26.769Z,1761516386.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.04 m.
2025-10-26T22:06:26.776Z,1761516386.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.038406 m,
      nav range: 139.816940 m,
      bearing: 48.669481 deg,
      approach rate: -0.446092 m/s,
      LOS rate: 0.103311 deg/s,
      cmd heading: 41.311412 deg,
      new cmd heading: 41.436360 deg.

2025-10-26T22:06:26.777Z,1761516386.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.723201 target range: 141.038406 and range: 141.90 m.
2025-10-26T22:06:26.965Z,1761516386.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760995
2025-10-26T22:06:27.181Z,1761516387.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789509,-0.609937,-0.068201],[0.607312,0.760365,0.230254],[-0.088583,-0.223207,0.970738]]
2025-10-26T22:06:27.216Z,1761516387.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012525
2025-10-26T22:06:27.224Z,1761516387.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.04 m.
2025-10-26T22:06:27.227Z,1761516387.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.038406 m,
      nav range: 139.605789 m,
      bearing: 48.717088 deg,
      approach rate: -0.463499 m/s,
      LOS rate: 0.104661 deg/s,
      cmd heading: 41.436360 deg,
      new cmd heading: 41.579397 deg.

2025-10-26T22:06:27.228Z,1761516387.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.725697 target range: 141.038406 and range: 141.90 m.
2025-10-26T22:06:27.468Z,1761516387.468 [DAT](INFO): DAT read: Rx Time:22:06:26.0670

2025-10-26T22:06:27.469Z,1761516387.469 [DAT](INFO): Rx dataTimestamp_ set to:1761516387.468551
2025-10-26T22:06:27.469Z,1761516387.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265416
2025-10-26T22:06:27.540Z,1761516387.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793191,-0.606198,-0.058069],[0.601925,0.765973,0.225769],[-0.092382,-0.214031,0.972449]]
2025-10-26T22:06:27.558Z,1761516387.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.04 m.
2025-10-26T22:06:27.561Z,1761516387.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.038406 m,
      nav range: 139.452942 m,
      bearing: 48.752318 deg,
      approach rate: -0.457872 m/s,
      LOS rate: 0.105650 deg/s,
      cmd heading: 41.579398 deg,
      new cmd heading: 41.685202 deg.

2025-10-26T22:06:27.562Z,1761516387.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.727544 target range: 141.038406 and range: 141.90 m.
2025-10-26T22:06:27.724Z,1761516387.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520021
2025-10-26T22:06:27.945Z,1761516387.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795083,-0.604726,-0.046363],[0.598858,0.770670,0.217799],[-0.095978,-0.200933,0.974892]]
2025-10-26T22:06:27.966Z,1761516387.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:27.969Z,1761516387.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.04 m.
2025-10-26T22:06:27.978Z,1761516387.978 [DAT](INFO): DAT read: 22:06:26.0670 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 285,-0.10,-1.213,-2.954,-1.390,-1.495, PHS= 0.384,-1.414, 0.061, RAW= 140.3,  11.7, CAL= 139.7,  12.6, ROT=  10.3, -12.6

2025-10-26T22:06:27.980Z,1761516387.980 [DAT](INFO): got valid direction response:
 22:06:26.0670 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 285,-0.10,-1.213,-2.954,-1.390,-1.495, PHS= 0.384,-1.414, 0.061, RAW= 140.3,  11.7, CAL= 139.7,  12.6, ROT=  10.3, -12.6

2025-10-26T22:06:27.980Z,1761516387.980 [DAT](INFO): DAT read: Bearing 197.0,   2.6 (Local)

2025-10-26T22:06:27.981Z,1761516387.981 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.0,   2.6 (Local)

2025-10-26T22:06:27.982Z,1761516387.982 [DAT](INFO): DAT read: Range 11 to 50 : 167.5 m  (Round-trip  223.4 ms) speed  0.5 m/s

2025-10-26T22:06:27.983Z,1761516387.983 [DAT](INFO): DAT read: user:445>

2025-10-26T22:06:27.984Z,1761516387.984 [DAT](INFO): DAT read: Tx time:22:06:27.1895

2025-10-26T22:06:27.984Z,1761516387.984 [DAT](INFO): Ping request sent.
2025-10-26T22:06:27.984Z,1761516387.984 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:06:27.984Z,1761516387.984 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:06:27.985Z,1761516387.985 [DAT](INFO): direction in FSK: [0.960190,0.174496,0.218143]
2025-10-26T22:06:27.986Z,1761516387.986 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:27.986Z,1761516387.986 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:27.971Z,1761516387.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.038406 m,
      nav range: 139.267227 m,
      bearing: 48.795829 deg,
      approach rate: -0.452543 m/s,
      LOS rate: 0.106169 deg/s,
      cmd heading: 41.685201 deg,
      new cmd heading: 41.815910 deg.

2025-10-26T22:06:27.989Z,1761516387.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.729825 target range: 141.038406 and range: 141.90 m.
2025-10-26T22:06:28.009Z,1761516388.009 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:28.010Z,1761516388.010 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:28.346Z,1761516388.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795058,-0.605521,-0.035034],[0.598256,0.773388,0.209669],[-0.099864,-0.187658,0.977145]]
2025-10-26T22:06:28.414Z,1761516388.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 167.500000 m,
 deltaT: 3.780210 s,
 deltaX: 25.600006 m,
 approachRate: 6.772112 m/s,
 rangeRepo size: 4
2025-10-26T22:06:28.415Z,1761516388.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.04 m.
2025-10-26T22:06:28.422Z,1761516388.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.038406 m,
      nav range: 139.050247 m,
      bearing: 48.839207 deg,
      approach rate: -0.487543 m/s,
      LOS rate: 0.097619 deg/s,
      cmd heading: 41.815910 deg,
      new cmd heading: 41.946245 deg.

2025-10-26T22:06:28.422Z,1761516388.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.732100 target range: 141.038406 and range: 141.90 m.
2025-10-26T22:06:28.750Z,1761516388.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794078,-0.607302,-0.024992],[0.598908,0.774765,0.202605],[-0.103680,-0.175852,0.978941]]
2025-10-26T22:06:28.804Z,1761516388.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.04 m.
2025-10-26T22:06:28.817Z,1761516388.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.038406 m,
      nav range: 138.859558 m,
      bearing: 48.877484 deg,
      approach rate: -0.526771 m/s,
      LOS rate: 0.105886 deg/s,
      cmd heading: 41.946244 deg,
      new cmd heading: 42.061235 deg.

2025-10-26T22:06:28.818Z,1761516388.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.734107 target range: 141.038406 and range: 141.90 m.
2025-10-26T22:06:29.193Z,1761516389.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791276,-0.611273,-0.015101],[0.602006,0.774479,0.194349],[-0.107105,-0.162874,0.980816]]
2025-10-26T22:06:29.249Z,1761516389.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.04 m.
2025-10-26T22:06:29.267Z,1761516389.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.038406 m,
      nav range: 138.602112 m,
      bearing: 48.922126 deg,
      approach rate: -0.544233 m/s,
      LOS rate: 0.094547 deg/s,
      cmd heading: 42.061234 deg,
      new cmd heading: 42.195408 deg.

2025-10-26T22:06:29.272Z,1761516389.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.736449 target range: 141.038406 and range: 141.90 m.
2025-10-26T22:06:29.558Z,1761516389.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787717,-0.616013,-0.005577],[0.606110,0.773372,0.185810],[-0.110148,-0.149746,0.982570]]
2025-10-26T22:06:29.576Z,1761516389.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.04 m.
2025-10-26T22:06:29.579Z,1761516389.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.038406 m,
      nav range: 138.423553 m,
      bearing: 48.952814 deg,
      approach rate: -0.545635 m/s,
      LOS rate: 0.093897 deg/s,
      cmd heading: 42.195406 deg,
      new cmd heading: 42.287589 deg.

2025-10-26T22:06:29.580Z,1761516389.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738058 target range: 141.038406 and range: 141.90 m.
2025-10-26T22:06:29.958Z,1761516389.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783688,-0.621148,0.002858],[0.610805,0.771460,0.178233],[-0.112914,-0.137934,0.983984]]
2025-10-26T22:06:29.990Z,1761516389.990 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:29.993Z,1761516389.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.04 m.
2025-10-26T22:06:29.995Z,1761516389.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.038406 m,
      nav range: 138.196899 m,
      bearing: 48.991311 deg,
      approach rate: -0.543998 m/s,
      LOS rate: 0.092549 deg/s,
      cmd heading: 42.287590 deg,
      new cmd heading: 42.403270 deg.

2025-10-26T22:06:29.996Z,1761516389.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.740077 target range: 141.038406 and range: 141.90 m.
2025-10-26T22:06:30.241Z,1761516390.241 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:06:30.241Z,1761516390.241 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:06:30.241Z,1761516390.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:06:30.427Z,1761516390.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779384,-0.626462,0.010315],[0.615842,0.768996,0.171417],[-0.115319,-0.127248,0.985144]]
2025-10-26T22:06:30.473Z,1761516390.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.04 m.
2025-10-26T22:06:30.476Z,1761516390.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.038406 m,
      nav range: 137.932144 m,
      bearing: 49.030150 deg,
      approach rate: -0.550936 m/s,
      LOS rate: 0.080975 deg/s,
      cmd heading: 42.403269 deg,
      new cmd heading: 42.520008 deg.

2025-10-26T22:06:30.477Z,1761516390.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.742114 target range: 141.038406 and range: 141.90 m.
2025-10-26T22:06:30.494Z,1761516390.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509663
2025-10-26T22:06:30.745Z,1761516390.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760338
2025-10-26T22:06:30.847Z,1761516390.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774815,-0.631953,0.017223],[0.621146,0.766070,0.165271],[-0.117638,-0.117356,0.986098]]
2025-10-26T22:06:30.882Z,1761516390.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.04 m.
2025-10-26T22:06:30.889Z,1761516390.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.038406 m,
      nav range: 137.716354 m,
      bearing: 49.061257 deg,
      approach rate: -0.527927 m/s,
      LOS rate: 0.076223 deg/s,
      cmd heading: 42.520007 deg,
      new cmd heading: 42.613475 deg.

2025-10-26T22:06:30.892Z,1761516390.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.743745 target range: 141.038406 and range: 141.90 m.
2025-10-26T22:06:30.996Z,1761516390.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012170
2025-10-26T22:06:31.248Z,1761516391.248 [DAT](INFO): DAT read: Rx Time:22:06:29.8151

2025-10-26T22:06:31.249Z,1761516391.249 [DAT](INFO): Rx dataTimestamp_ set to:1761516391.248643
2025-10-26T22:06:31.249Z,1761516391.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265237
2025-10-26T22:06:31.270Z,1761516391.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769804,-0.637889,0.022369],[0.626911,0.762212,0.161291],[-0.119936,-0.110140,0.986653]]
2025-10-26T22:06:31.351Z,1761516391.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.04 m.
2025-10-26T22:06:31.353Z,1761516391.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.038406 m,
      nav range: 137.444199 m,
      bearing: 49.096078 deg,
      approach rate: -0.580722 m/s,
      LOS rate: 0.074447 deg/s,
      cmd heading: 42.613475 deg,
      new cmd heading: 42.718144 deg.

2025-10-26T22:06:31.354Z,1761516391.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.745572 target range: 141.038406 and range: 141.90 m.
2025-10-26T22:06:31.500Z,1761516391.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516044
2025-10-26T22:06:31.659Z,1761516391.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765126,-0.643401,0.024851],[0.632072,0.757891,0.161511],[-0.122751,-0.107868,0.986558]]
2025-10-26T22:06:31.684Z,1761516391.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.04 m.
2025-10-26T22:06:31.686Z,1761516391.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.038406 m,
      nav range: 137.256866 m,
      bearing: 49.119536 deg,
      approach rate: -0.561803 m/s,
      LOS rate: 0.070446 deg/s,
      cmd heading: 42.718144 deg,
      new cmd heading: 42.788614 deg.

2025-10-26T22:06:31.688Z,1761516391.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.746802 target range: 141.038406 and range: 141.90 m.
2025-10-26T22:06:31.758Z,1761516391.758 [DAT](INFO): DAT read: 22:06:29.8151 LVL= 29872, 32753, 31218, 32755, AGC= 70, IDX=  45,-0.21,-1.748, 2.710,-1.901,-2.036, PHS= 0.389,-1.493, 0.090, RAW= 141.5,  11.6, CAL= 140.9,  12.5, ROT=   9.1, -12.5

2025-10-26T22:06:31.760Z,1761516391.760 [DAT](INFO): got valid direction response:
 22:06:29.8151 LVL= 29872, 32753, 31218, 32755, AGC= 70, IDX=  45,-0.21,-1.748, 2.710,-1.901,-2.036, PHS= 0.389,-1.493, 0.090, RAW= 141.5,  11.6, CAL= 140.9,  12.5, ROT=   9.1, -12.5

2025-10-26T22:06:31.760Z,1761516391.760 [DAT](INFO): DAT read: Bearing 196.6,   0.8 (Local)

2025-10-26T22:06:31.761Z,1761516391.761 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.6,   0.8 (Local)

2025-10-26T22:06:31.762Z,1761516391.762 [DAT](INFO): DAT read: Range 11 to 50 : 166.0 m  (Round-trip  221.4 ms) speed -0.1 m/s

2025-10-26T22:06:31.763Z,1761516391.763 [DAT](INFO): DAT read: user:446>

2025-10-26T22:06:31.764Z,1761516391.764 [DAT](INFO): DAT read: Tx time:22:06:30.9395

2025-10-26T22:06:31.764Z,1761516391.764 [DAT](INFO): Ping request sent.
2025-10-26T22:06:31.764Z,1761516391.764 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:06:31.764Z,1761516391.764 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:06:31.765Z,1761516391.765 [DAT](INFO): direction in FSK: [0.964008,0.154409,0.216440]
2025-10-26T22:06:31.766Z,1761516391.766 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:31.766Z,1761516391.766 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:31.769Z,1761516391.769 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:31.769Z,1761516391.769 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:32.062Z,1761516392.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760865,-0.648376,0.026353],[0.636629,0.753712,0.163162],[-0.125653,-0.107367,0.986247]]
2025-10-26T22:06:32.145Z,1761516392.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 166.000000 m,
      deltaT: 7.560210 s,
      deltaX: 24.100006 m,
      approachRate: 3.187743 m/s,
      rangeRepo size: 4

2025-10-26T22:06:32.151Z,1761516392.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 164.991165 m,
      bearing: 50.140287 deg,
      lat: 36.779406 deg,
      lon: -121.859430 deg,
      deltaT: 7.560210 s,
      deltaX: 23.952759 m,
      approachRate: 3.168266 m/s,
      posRepo size: 4

2025-10-26T22:06:32.152Z,1761516392.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-10-26T22:06:32.154Z,1761516392.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.991165 m,
      nav range: 138.321960 m,
      bearing: 48.524193 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.070446 deg/s,
      cmd heading: 42.788615 deg,
      new cmd heading: 42.885960 deg.

2025-10-26T22:06:32.160Z,1761516392.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.748501 target range: 164.991165 and range: 166.00 m.
2025-10-26T22:06:32.571Z,1761516392.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756531,-0.653390,0.027265],[0.641204,0.749325,0.165438],[-0.128526,-0.107676,0.985843]]
2025-10-26T22:06:32.606Z,1761516392.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:32.608Z,1761516392.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-10-26T22:06:32.611Z,1761516392.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.991165 m,
      nav range: 138.061356 m,
      bearing: 48.551258 deg,
      approach rate: -0.561832 m/s,
      LOS rate: 0.058459 deg/s,
      cmd heading: 42.885959 deg,
      new cmd heading: 42.967307 deg.

2025-10-26T22:06:32.628Z,1761516392.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.749921 target range: 164.991165 and range: 166.00 m.
2025-10-26T22:06:32.760Z,1761516392.760 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:06:32.760Z,1761516392.760 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:06:32.760Z,1761516392.760 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:06:32.970Z,1761516392.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752587,-0.657880,0.028390],[0.645152,0.745289,0.168291],[-0.131874,-0.108338,0.985328]]
2025-10-26T22:06:32.996Z,1761516392.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-10-26T22:06:32.999Z,1761516392.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.991165 m,
      nav range: 137.850662 m,
      bearing: 48.572697 deg,
      approach rate: -0.543328 m/s,
      LOS rate: 0.055371 deg/s,
      cmd heading: 42.967306 deg,
      new cmd heading: 43.031722 deg.

2025-10-26T22:06:33.001Z,1761516393.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.751045 target range: 164.991165 and range: 166.00 m.
2025-10-26T22:06:33.012Z,1761516393.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248264
2025-10-26T22:06:33.268Z,1761516393.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502678
2025-10-26T22:06:33.374Z,1761516393.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749374,-0.661514,0.028939],[0.648121,0.741748,0.172480],[-0.135564,-0.110496,0.984588]]
2025-10-26T22:06:33.426Z,1761516393.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-10-26T22:06:33.428Z,1761516393.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.991165 m,
      nav range: 137.622665 m,
      bearing: 48.599830 deg,
      approach rate: -0.530868 m/s,
      LOS rate: 0.063281 deg/s,
      cmd heading: 43.031722 deg,
      new cmd heading: 43.113256 deg.

2025-10-26T22:06:33.429Z,1761516393.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.752468 target range: 164.991165 and range: 166.00 m.
2025-10-26T22:06:33.520Z,1761516393.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755966
2025-10-26T22:06:33.775Z,1761516393.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010061
2025-10-26T22:06:33.790Z,1761516393.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746451,-0.664804,0.029075],[0.650671,0.738342,0.177423],[-0.139419,-0.113520,0.983705]]
2025-10-26T22:06:33.816Z,1761516393.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-10-26T22:06:33.819Z,1761516393.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.991165 m,
      nav range: 137.416061 m,
      bearing: 48.624141 deg,
      approach rate: -0.530501 m/s,
      LOS rate: 0.062518 deg/s,
      cmd heading: 43.113257 deg,
      new cmd heading: 43.186300 deg.

2025-10-26T22:06:33.844Z,1761516393.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.753743 target range: 164.991165 and range: 166.00 m.
2025-10-26T22:06:34.024Z,1761516394.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260165
2025-10-26T22:06:34.182Z,1761516394.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744031,-0.667472,0.029976],[0.652609,0.735617,0.181573],[-0.143246,-0.115533,0.982921]]
2025-10-26T22:06:34.200Z,1761516394.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-10-26T22:06:34.203Z,1761516394.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.991165 m,
      nav range: 137.211899 m,
      bearing: 48.647960 deg,
      approach rate: -0.530137 m/s,
      LOS rate: 0.061941 deg/s,
      cmd heading: 43.186299 deg,
      new cmd heading: 43.257862 deg.

2025-10-26T22:06:34.205Z,1761516394.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.754992 target range: 164.991165 and range: 166.00 m.
2025-10-26T22:06:34.282Z,1761516394.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517498
2025-10-26T22:06:34.534Z,1761516394.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769645
2025-10-26T22:06:34.584Z,1761516394.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742351,-0.669204,0.032881],[0.653682,0.734155,0.183620],[-0.147019,-0.114817,0.982447]]
2025-10-26T22:06:34.639Z,1761516394.639 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:34.645Z,1761516394.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-10-26T22:06:34.652Z,1761516394.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.991165 m,
      nav range: 136.985962 m,
      bearing: 48.676106 deg,
      approach rate: -0.507673 m/s,
      LOS rate: 0.063348 deg/s,
      cmd heading: 43.257862 deg,
      new cmd heading: 43.342440 deg.

2025-10-26T22:06:34.653Z,1761516394.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.756468 target range: 164.991165 and range: 166.00 m.
2025-10-26T22:06:34.786Z,1761516394.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021462
2025-10-26T22:06:34.986Z,1761516394.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740826,-0.670795,0.034813],[0.654621,0.732633,0.186333],[-0.150497,-0.115251,0.981870]]
2025-10-26T22:06:35.005Z,1761516395.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-10-26T22:06:35.008Z,1761516395.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.991165 m,
      nav range: 136.794907 m,
      bearing: 48.699835 deg,
      approach rate: -0.531489 m/s,
      LOS rate: 0.066103 deg/s,
      cmd heading: 43.342441 deg,
      new cmd heading: 43.413728 deg.

2025-10-26T22:06:35.009Z,1761516395.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757712 target range: 164.991165 and range: 166.00 m.
2025-10-26T22:06:35.036Z,1761516395.036 [DAT](INFO): DAT read: Rx Time:22:06:33.6011

2025-10-26T22:06:35.037Z,1761516395.037 [DAT](INFO): Rx dataTimestamp_ set to:1761516395.036757
2025-10-26T22:06:35.038Z,1761516395.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273440
2025-10-26T22:06:35.298Z,1761516395.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532920
2025-10-26T22:06:35.468Z,1761516395.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739680,-0.672079,0.034412],[0.655126,0.730830,0.191566],[-0.153896,-0.119153,0.980876]]
2025-10-26T22:06:35.522Z,1761516395.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-10-26T22:06:35.529Z,1761516395.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.991165 m,
      nav range: 136.525620 m,
      bearing: 48.738154 deg,
      approach rate: -0.520214 m/s,
      LOS rate: 0.074170 deg/s,
      cmd heading: 43.413727 deg,
      new cmd heading: 43.528909 deg.

2025-10-26T22:06:35.530Z,1761516395.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.759723 target range: 164.991165 and range: 166.00 m.
2025-10-26T22:06:35.545Z,1761516395.545 [DAT](INFO): DAT read: Range 11 to 50 : 193.1 m  (Round-trip  257.5 ms) speed  0.9 m/s

2025-10-26T22:06:35.546Z,1761516395.546 [DAT](INFO): DAT read: user:447>

2025-10-26T22:06:35.547Z,1761516395.547 [DAT](INFO): DAT read: Tx time:22:06:34.6895

2025-10-26T22:06:35.547Z,1761516395.547 [DAT](INFO): Ping request sent.
2025-10-26T22:06:35.547Z,1761516395.547 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:06:35.548Z,1761516395.548 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-26T22:06:35.548Z,1761516395.548 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:35.548Z,1761516395.548 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:35.883Z,1761516395.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739122,-0.672717,0.033924],[0.654908,0.729503,0.197282],[-0.157463,-0.123599,0.979760]]
2025-10-26T22:06:35.902Z,1761516395.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 193.100006 m,
 deltaT: 3.791949 s,
 deltaX: 27.100006 m,
 approachRate: 7.146722 m/s,
 rangeRepo size: 4
2025-10-26T22:06:35.903Z,1761516395.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-10-26T22:06:35.906Z,1761516395.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.991165 m,
      nav range: 136.319672 m,
      bearing: 48.767541 deg,
      approach rate: -0.543534 m/s,
      LOS rate: 0.077675 deg/s,
      cmd heading: 43.528908 deg,
      new cmd heading: 43.617203 deg.

2025-10-26T22:06:35.907Z,1761516395.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.761264 target range: 164.991165 and range: 166.00 m.
2025-10-26T22:06:36.384Z,1761516396.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737604,-0.674173,0.037830],[0.655008,0.727996,0.202451],[-0.164027,-0.124550,0.978561]]
2025-10-26T22:06:36.431Z,1761516396.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-10-26T22:06:36.434Z,1761516396.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.991165 m,
      nav range: 136.036041 m,
      bearing: 48.810102 deg,
      approach rate: -0.535207 m/s,
      LOS rate: 0.080480 deg/s,
      cmd heading: 43.617202 deg,
      new cmd heading: 43.745152 deg.

2025-10-26T22:06:36.435Z,1761516396.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.763497 target range: 164.991165 and range: 166.00 m.
2025-10-26T22:06:36.801Z,1761516396.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736370,-0.675390,0.040095],[0.655770,0.727051,0.203376],[-0.166509,-0.123467,0.978279]]
2025-10-26T22:06:36.818Z,1761516396.818 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:36.821Z,1761516396.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-10-26T22:06:36.823Z,1761516396.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.991165 m,
      nav range: 135.827850 m,
      bearing: 48.841338 deg,
      approach rate: -0.534805 m/s,
      LOS rate: 0.080361 deg/s,
      cmd heading: 43.745152 deg,
      new cmd heading: 43.839002 deg.

2025-10-26T22:06:36.824Z,1761516396.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.765135 target range: 164.991165 and range: 166.00 m.
2025-10-26T22:06:37.061Z,1761516397.061 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:06:37.061Z,1761516397.061 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:06:37.062Z,1761516397.062 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:06:37.216Z,1761516397.216 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:06:37.224Z,1761516397.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-10-26T22:06:37.227Z,1761516397.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.991165 m,
      nav range: 135.612076 m,
      bearing: 48.873816 deg,
      approach rate: -0.534162 m/s,
      LOS rate: 0.080530 deg/s,
      cmd heading: 43.839002 deg,
      new cmd heading: 43.936593 deg.

2025-10-26T22:06:37.228Z,1761516397.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.766838 target range: 164.991165 and range: 166.00 m.
2025-10-26T22:06:37.316Z,1761516397.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767589
2025-10-26T22:06:37.565Z,1761516397.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018020
2025-10-26T22:06:37.624Z,1761516397.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733073,-0.679054,0.038602],[0.658499,0.722799,0.209617],[-0.170243,-0.128245,0.977021]]
2025-10-26T22:06:37.676Z,1761516397.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-10-26T22:06:37.678Z,1761516397.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.991165 m,
      nav range: 135.377838 m,
      bearing: 48.910731 deg,
      approach rate: -0.518833 m/s,
      LOS rate: 0.081907 deg/s,
      cmd heading: 43.936592 deg,
      new cmd heading: 44.047528 deg.

2025-10-26T22:06:37.684Z,1761516397.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.768774 target range: 164.991165 and range: 166.00 m.
2025-10-26T22:06:37.816Z,1761516397.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268988
2025-10-26T22:06:38.068Z,1761516398.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520784
2025-10-26T22:06:38.168Z,1761516398.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730891,-0.681370,0.039153],[0.660567,0.720668,0.210449],[-0.171610,-0.127952,0.976820]]
2025-10-26T22:06:38.186Z,1761516398.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-10-26T22:06:38.189Z,1761516398.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.991165 m,
      nav range: 135.095428 m,
      bearing: 48.955010 deg,
      approach rate: -0.554053 m/s,
      LOS rate: 0.087053 deg/s,
      cmd heading: 44.047528 deg,
      new cmd heading: 44.180644 deg.

2025-10-26T22:06:38.190Z,1761516398.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.771098 target range: 164.991165 and range: 166.00 m.
2025-10-26T22:06:38.220Z,1761516398.220 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:06:38.328Z,1761516398.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778882
2025-10-26T22:06:38.572Z,1761516398.572 [DAT](INFO): DAT read: Rx Time:22:06:37.3093

2025-10-26T22:06:38.573Z,1761516398.573 [DAT](INFO): Rx dataTimestamp_ set to:1761516398.572607
2025-10-26T22:06:38.573Z,1761516398.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025962
2025-10-26T22:06:38.646Z,1761516398.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-10-26T22:06:38.656Z,1761516398.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.991165 m,
      nav range: 134.850006 m,
      bearing: 48.992494 deg,
      approach rate: -0.533530 m/s,
      LOS rate: 0.081636 deg/s,
      cmd heading: 44.180645 deg,
      new cmd heading: 44.293301 deg.

2025-10-26T22:06:38.657Z,1761516398.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.773064 target range: 164.991165 and range: 166.00 m.
2025-10-26T22:06:38.824Z,1761516398.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276843
2025-10-26T22:06:39.080Z,1761516399.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532343
2025-10-26T22:06:39.150Z,1761516399.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723489,-0.689132,0.040746],[0.668382,0.714026,0.208405],[-0.172712,-0.123544,0.977194]]
2025-10-26T22:06:39.166Z,1761516399.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:39.168Z,1761516399.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-10-26T22:06:39.171Z,1761516399.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.991165 m,
      nav range: 134.551208 m,
      bearing: 49.036809 deg,
      approach rate: -0.571682 m/s,
      LOS rate: 0.084975 deg/s,
      cmd heading: 44.293302 deg,
      new cmd heading: 44.426542 deg.

2025-10-26T22:06:39.172Z,1761516399.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.775389 target range: 164.991165 and range: 166.00 m.
2025-10-26T22:06:39.365Z,1761516399.365 [DAT](INFO): DAT read: 22:06:37.3093 LVL= 27984, 32753, 32754, 27955, AGC= 76, IDX=  13, 0.10, 1.374,-0.050, 1.219, 0.365, PHS= 1.110,-0.371, 0.810, RAW= 138.9, -22.0, CAL= 139.2, -24.4, ROT=  10.8,  24.4

2025-10-26T22:06:39.366Z,1761516399.366 [DAT](INFO): got valid direction response:
 22:06:37.3093 LVL= 27984, 32753, 32754, 27955, AGC= 76, IDX=  13, 0.10, 1.374,-0.050, 1.219, 0.365, PHS= 1.110,-0.371, 0.810, RAW= 138.9, -22.0, CAL= 139.2, -24.4, ROT=  10.8,  24.4

2025-10-26T22:06:39.376Z,1761516399.376 [DAT](INFO): DAT read: Bearing 162.8,   3.6 (Local)

2025-10-26T22:06:39.376Z,1761516399.376 [DAT](INFO): Local bearing/azimuth received:
 Bearing 162.8,   3.6 (Local)

2025-10-26T22:06:39.378Z,1761516399.378 [DAT](INFO): DAT read: Range 11 to 50 : 161.7 m  (Round-trip  215.7 ms) speed  0.3 m/s

2025-10-26T22:06:39.392Z,1761516399.392 [DAT](INFO): DAT read: user:448>

2025-10-26T22:06:39.392Z,1761516399.392 [DAT](INFO): DAT read: Tx time:22:06:38.4395

2025-10-26T22:06:39.393Z,1761516399.393 [DAT](INFO): Ping request sent.
2025-10-26T22:06:39.393Z,1761516399.393 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:06:39.393Z,1761516399.393 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:06:39.394Z,1761516399.394 [DAT](INFO): direction in FSK: [0.894553,0.170645,-0.413104]
2025-10-26T22:06:39.394Z,1761516399.394 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:39.395Z,1761516399.395 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:39.402Z,1761516399.402 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:39.402Z,1761516399.402 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:39.592Z,1761516399.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720918,-0.691767,0.041667],[0.671357,0.712034,0.205639],[-0.171923,-0.120276,0.977740]]
2025-10-26T22:06:39.659Z,1761516399.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 161.699997 m,
      deltaT: 7.578488 s,
      deltaX: -4.300003 m,
      approachRate: -0.567396 m/s,
      rangeRepo size: 4

2025-10-26T22:06:39.665Z,1761516399.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 160.716461 m,
      bearing: 51.343202 deg,
      lat: 36.779406 deg,
      lon: -121.859420 deg,
      deltaT: 7.578488 s,
      deltaX: -4.274704 m,
      approachRate: -0.564058 m/s,
      posRepo size: 4

2025-10-26T22:06:39.665Z,1761516399.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.72 m.
2025-10-26T22:06:39.672Z,1761516399.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.716461 m,
      nav range: 134.998474 m,
      bearing: 49.330873 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.084975 deg/s,
      cmd heading: 44.426542 deg,
      new cmd heading: 44.551367 deg.

2025-10-26T22:06:39.673Z,1761516399.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.777568 target range: 160.716461 and range: 161.70 m.
2025-10-26T22:06:39.990Z,1761516399.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717980,-0.694864,0.040851],[0.674857,0.709283,0.203680],[-0.170505,-0.118670,0.978185]]
2025-10-26T22:06:40.017Z,1761516400.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.72 m.
2025-10-26T22:06:40.036Z,1761516400.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.716461 m,
      nav range: 134.782715 m,
      bearing: 49.360667 deg,
      approach rate: -0.600731 m/s,
      LOS rate: 0.083085 deg/s,
      cmd heading: 44.551367 deg,
      new cmd heading: 44.640889 deg.

2025-10-26T22:06:40.037Z,1761516400.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.779131 target range: 160.716461 and range: 161.70 m.
2025-10-26T22:06:40.413Z,1761516400.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715406,-0.697685,0.037806],[0.677977,0.706245,0.203877],[-0.168942,-0.120223,0.978266]]
2025-10-26T22:06:40.465Z,1761516400.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.72 m.
2025-10-26T22:06:40.472Z,1761516400.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.716461 m,
      nav range: 134.538361 m,
      bearing: 49.394112 deg,
      approach rate: -0.545873 m/s,
      LOS rate: 0.074850 deg/s,
      cmd heading: 44.640890 deg,
      new cmd heading: 44.741408 deg.

2025-10-26T22:06:40.473Z,1761516400.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780885 target range: 160.716461 and range: 161.70 m.
2025-10-26T22:06:40.805Z,1761516400.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713208,-0.700050,0.035556],[0.680688,0.703806,0.203275],[-0.167327,-0.120775,0.978476]]
2025-10-26T22:06:40.825Z,1761516400.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.72 m.
2025-10-26T22:06:40.828Z,1761516400.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.716461 m,
      nav range: 134.324738 m,
      bearing: 49.423096 deg,
      approach rate: -0.592691 m/s,
      LOS rate: 0.080542 deg/s,
      cmd heading: 44.741407 deg,
      new cmd heading: 44.828496 deg.

2025-10-26T22:06:40.829Z,1761516400.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.782405 target range: 160.716461 and range: 161.70 m.
2025-10-26T22:06:41.203Z,1761516401.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710763,-0.702629,0.033583],[0.683615,0.701205,0.202440],[-0.165788,-0.120929,0.978719]]
2025-10-26T22:06:41.221Z,1761516401.221 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:41.223Z,1761516401.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.72 m.
2025-10-26T22:06:41.226Z,1761516401.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.716461 m,
      nav range: 134.100021 m,
      bearing: 49.453276 deg,
      approach rate: -0.564780 m/s,
      LOS rate: 0.075981 deg/s,
      cmd heading: 44.828495 deg,
      new cmd heading: 44.919189 deg.

2025-10-26T22:06:41.227Z,1761516401.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.783988 target range: 160.716461 and range: 161.70 m.
2025-10-26T22:06:41.347Z,1761516401.347 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:06:41.348Z,1761516401.348 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:06:41.349Z,1761516401.349 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:06:41.596Z,1761516401.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.203626
2025-10-26T22:06:41.610Z,1761516401.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709049,-0.704512,0.030200],[0.685640,0.698797,0.203914],[-0.164764,-0.123879,0.978523]]
2025-10-26T22:06:41.660Z,1761516401.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.72 m.
2025-10-26T22:06:41.663Z,1761516401.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.716461 m,
      nav range: 133.861664 m,
      bearing: 49.485278 deg,
      approach rate: -0.545323 m/s,
      LOS rate: 0.073344 deg/s,
      cmd heading: 44.919190 deg,
      new cmd heading: 45.015365 deg.

2025-10-26T22:06:41.680Z,1761516401.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.785666 target range: 160.716461 and range: 161.70 m.
2025-10-26T22:06:41.848Z,1761516401.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455459
2025-10-26T22:06:42.013Z,1761516402.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707515,-0.706204,0.026406],[0.687433,0.696413,0.206021],[-0.163883,-0.127611,0.978191]]
2025-10-26T22:06:42.038Z,1761516402.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.72 m.
2025-10-26T22:06:42.042Z,1761516402.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.716461 m,
      nav range: 133.656326 m,
      bearing: 49.512683 deg,
      approach rate: -0.543316 m/s,
      LOS rate: 0.072626 deg/s,
      cmd heading: 45.015366 deg,
      new cmd heading: 45.097709 deg.

2025-10-26T22:06:42.042Z,1761516402.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787104 target range: 160.716461 and range: 161.70 m.
2025-10-26T22:06:42.101Z,1761516402.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.708058
2025-10-26T22:06:42.355Z,1761516402.355 [DAT](INFO): DAT read: Rx Time:22:06:41.0958

2025-10-26T22:06:42.357Z,1761516402.357 [DAT](INFO): Rx dataTimestamp_ set to:1761516402.355959
2025-10-26T22:06:42.359Z,1761516402.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.965503
2025-10-26T22:06:42.511Z,1761516402.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.72 m.
2025-10-26T22:06:42.514Z,1761516402.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.716461 m,
      nav range: 133.400925 m,
      bearing: 49.548224 deg,
      approach rate: -0.539981 m/s,
      LOS rate: 0.075286 deg/s,
      cmd heading: 45.097711 deg,
      new cmd heading: 45.204537 deg.

2025-10-26T22:06:42.515Z,1761516402.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.788968 target range: 160.716461 and range: 161.70 m.
2025-10-26T22:06:42.604Z,1761516402.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.211428
2025-10-26T22:06:42.861Z,1761516402.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.467825
2025-10-26T22:06:42.964Z,1761516402.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705105,-0.708852,0.018866],[0.690363,0.692304,0.210034],[-0.161943,-0.135072,0.977512]]
2025-10-26T22:06:43.001Z,1761516403.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.72 m.
2025-10-26T22:06:43.004Z,1761516403.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.716461 m,
      nav range: 133.137421 m,
      bearing: 49.584487 deg,
      approach rate: -0.538052 m/s,
      LOS rate: 0.074192 deg/s,
      cmd heading: 45.204538 deg,
      new cmd heading: 45.313542 deg.

2025-10-26T22:06:43.005Z,1761516403.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790870 target range: 160.716461 and range: 161.70 m.
2025-10-26T22:06:43.117Z,1761516403.117 [DAT](INFO): DAT read: 22:06:41.0958 LVL= 32752, 32753, 32754, 24291, AGC= 69, IDX= 306, 0.13, 2.845, 1.405, 2.768, 1.740, PHS= 1.207,-0.290, 0.984, RAW= 142.1, -25.7, CAL= 142.9, -27.3, ROT=   7.1,  27.3

2025-10-26T22:06:43.118Z,1761516403.118 [DAT](INFO): got valid direction response:
 22:06:41.0958 LVL= 32752, 32753, 32754, 24291, AGC= 69, IDX= 306, 0.13, 2.845, 1.405, 2.768, 1.740, PHS= 1.207,-0.290, 0.984, RAW= 142.1, -25.7, CAL= 142.9, -27.3, ROT=   7.1,  27.3

2025-10-26T22:06:43.119Z,1761516403.119 [DAT](INFO): DAT read: Bearing 161.1,   1.0 (Local)

2025-10-26T22:06:43.120Z,1761516403.120 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.1,   1.0 (Local)

2025-10-26T22:06:43.121Z,1761516403.121 [DAT](INFO): DAT read: Range 11 to 50 : 189.0 m  (Round-trip  252.1 ms) speed  0.6 m/s

2025-10-26T22:06:43.122Z,1761516403.122 [DAT](INFO): DAT read: user:449>

2025-10-26T22:06:43.122Z,1761516403.122 [DAT](INFO): DAT read: Tx time:22:06:42.1895

2025-10-26T22:06:43.126Z,1761516403.126 [DAT](INFO): Ping request sent.
2025-10-26T22:06:43.126Z,1761516403.126 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:06:43.128Z,1761516403.128 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:06:43.129Z,1761516403.129 [DAT](INFO): direction in FSK: [0.881803,0.109834,-0.458650]
2025-10-26T22:06:43.130Z,1761516403.130 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:43.130Z,1761516403.130 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:43.133Z,1761516403.133 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:43.133Z,1761516403.133 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:43.334Z,1761516403.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704661,-0.709359,0.016168],[0.691035,0.691272,0.211220],[-0.161007,-0.137666,0.977305]]
2025-10-26T22:06:43.436Z,1761516403.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 189.000000 m,
 deltaT: 3.777882 s,
 deltaX: 27.300003 m,
 approachRate: 7.226272 m/s,
 rangeRepo size: 4
2025-10-26T22:06:43.437Z,1761516403.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.72 m.
2025-10-26T22:06:43.444Z,1761516403.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.716461 m,
      nav range: 132.929581 m,
      bearing: 49.613095 deg,
      approach rate: -0.487426 m/s,
      LOS rate: 0.067195 deg/s,
      cmd heading: 45.313541 deg,
      new cmd heading: 45.399498 deg.

2025-10-26T22:06:43.445Z,1761516403.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.792371 target range: 160.716461 and range: 161.70 m.
2025-10-26T22:06:43.889Z,1761516403.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:43.895Z,1761516403.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.72 m.
2025-10-26T22:06:43.898Z,1761516403.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.716461 m,
      nav range: 132.666412 m,
      bearing: 49.650597 deg,
      approach rate: -0.567233 m/s,
      LOS rate: 0.080994 deg/s,
      cmd heading: 45.399499 deg,
      new cmd heading: 45.512230 deg.

2025-10-26T22:06:43.903Z,1761516403.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.794338 target range: 160.716461 and range: 161.70 m.
2025-10-26T22:06:44.116Z,1761516404.116 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:06:44.116Z,1761516404.116 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:06:44.116Z,1761516404.116 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:06:44.243Z,1761516404.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703758,-0.710342,0.011769],[0.692537,0.689625,0.211682],[-0.158483,-0.140822,0.977268]]
2025-10-26T22:06:44.271Z,1761516404.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.72 m.
2025-10-26T22:06:44.276Z,1761516404.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.716461 m,
      nav range: 132.458786 m,
      bearing: 49.680096 deg,
      approach rate: -0.547903 m/s,
      LOS rate: 0.077965 deg/s,
      cmd heading: 45.512231 deg,
      new cmd heading: 45.600865 deg.

2025-10-26T22:06:44.278Z,1761516404.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.795885 target range: 160.716461 and range: 161.70 m.
2025-10-26T22:06:44.371Z,1761516404.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245454
2025-10-26T22:06:44.620Z,1761516404.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494937
2025-10-26T22:06:44.642Z,1761516404.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703975,-0.710146,0.010569],[0.692680,0.689796,0.210656],[-0.156888,-0.140976,0.977503]]
2025-10-26T22:06:44.690Z,1761516404.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.72 m.
2025-10-26T22:06:44.693Z,1761516404.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.716461 m,
      nav range: 132.233368 m,
      bearing: 49.714902 deg,
      approach rate: -0.536688 m/s,
      LOS rate: 0.083009 deg/s,
      cmd heading: 45.600867 deg,
      new cmd heading: 45.705462 deg.

2025-10-26T22:06:44.694Z,1761516404.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.797711 target range: 160.716461 and range: 161.70 m.
2025-10-26T22:06:44.872Z,1761516404.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746912
2025-10-26T22:06:45.049Z,1761516405.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703934,-0.710205,0.009200],[0.693145,0.689736,0.209320],[-0.155006,-0.140971,0.977804]]
2025-10-26T22:06:45.067Z,1761516405.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.72 m.
2025-10-26T22:06:45.070Z,1761516405.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.716461 m,
      nav range: 132.034729 m,
      bearing: 49.745636 deg,
      approach rate: -0.527151 m/s,
      LOS rate: 0.081687 deg/s,
      cmd heading: 45.705461 deg,
      new cmd heading: 45.797804 deg.

2025-10-26T22:06:45.071Z,1761516405.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.799322 target range: 160.716461 and range: 161.70 m.
2025-10-26T22:06:45.128Z,1761516405.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000970
2025-10-26T22:06:45.376Z,1761516405.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250964
2025-10-26T22:06:45.469Z,1761516405.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703651,-0.710511,0.007036],[0.693927,0.689289,0.208196],[-0.152775,-0.141614,0.978062]]
2025-10-26T22:06:45.522Z,1761516405.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.72 m.
2025-10-26T22:06:45.539Z,1761516405.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.716461 m,
      nav range: 131.797226 m,
      bearing: 49.784266 deg,
      approach rate: -0.521437 m/s,
      LOS rate: 0.084964 deg/s,
      cmd heading: 45.797805 deg,
      new cmd heading: 45.913902 deg.

2025-10-26T22:06:45.540Z,1761516405.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.801349 target range: 160.716461 and range: 161.70 m.
2025-10-26T22:06:45.629Z,1761516405.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503186
2025-10-26T22:06:45.854Z,1761516405.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703388,-0.710784,0.005583],[0.694688,0.689080,0.206345],[-0.150513,-0.141262,0.978463]]
2025-10-26T22:06:45.880Z,1761516405.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755016
2025-10-26T22:06:45.891Z,1761516405.891 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:45.893Z,1761516405.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.72 m.
2025-10-26T22:06:45.896Z,1761516405.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.716461 m,
      nav range: 131.607422 m,
      bearing: 49.815173 deg,
      approach rate: -0.511861 m/s,
      LOS rate: 0.083471 deg/s,
      cmd heading: 45.913901 deg,
      new cmd heading: 46.006757 deg.

2025-10-26T22:06:45.897Z,1761516405.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.802969 target range: 160.716461 and range: 161.70 m.
2025-10-26T22:06:46.132Z,1761516406.132 [DAT](INFO): DAT read: Rx Time:22:06:44.8429

2025-10-26T22:06:46.133Z,1761516406.133 [DAT](INFO): Rx dataTimestamp_ set to:1761516406.132618
2025-10-26T22:06:46.133Z,1761516406.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008010
2025-10-26T22:06:46.264Z,1761516406.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703099,-0.711079,0.004165],[0.695459,0.688853,0.204494],[-0.148281,-0.140883,0.978859]]
2025-10-26T22:06:46.302Z,1761516406.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.72 m.
2025-10-26T22:06:46.305Z,1761516406.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.716461 m,
      nav range: 131.390762 m,
      bearing: 49.850496 deg,
      approach rate: -0.529509 m/s,
      LOS rate: 0.086469 deg/s,
      cmd heading: 46.006757 deg,
      new cmd heading: 46.112899 deg.

2025-10-26T22:06:46.306Z,1761516406.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.804822 target range: 160.716461 and range: 161.70 m.
2025-10-26T22:06:46.385Z,1761516406.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259119
2025-10-26T22:06:46.663Z,1761516406.663 [DAT](INFO): DAT read: 22:06:44.8429 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 405,-0.02,-0.648,-2.024,-0.733,-1.806, PHS= 1.260,-0.173, 1.029, RAW= 141.4, -29.3, CAL= 142.3, -30.2, ROT=   7.7,  30.2

2025-10-26T22:06:46.680Z,1761516406.680 [DAT](INFO): got valid direction response:
 22:06:44.8429 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 405,-0.02,-0.648,-2.024,-0.733,-1.806, PHS= 1.260,-0.173, 1.029, RAW= 141.4, -29.3, CAL= 142.3, -30.2, ROT=   7.7,  30.2

2025-10-26T22:06:46.681Z,1761516406.681 [DAT](INFO): DAT read: Bearing 158.1,   3.0 (Local)

2025-10-26T22:06:46.682Z,1761516406.682 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.1,   3.0 (Local)

2025-10-26T22:06:46.683Z,1761516406.683 [DAT](INFO): DAT read: Range 11 to 50 : 186.9 m  (Round-trip  249.3 ms) speed  0.6 m/s

2025-10-26T22:06:46.684Z,1761516406.684 [DAT](INFO): DAT read: user:450>

2025-10-26T22:06:46.685Z,1761516406.685 [DAT](INFO): DAT read: Tx time:22:06:45.9395

2025-10-26T22:06:46.685Z,1761516406.685 [DAT](INFO): Ping request sent.
2025-10-26T22:06:46.685Z,1761516406.685 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:06:46.685Z,1761516406.685 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:06:46.686Z,1761516406.686 [DAT](INFO): direction in FSK: [0.856482,0.115801,-0.503020]
2025-10-26T22:06:46.687Z,1761516406.687 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:46.687Z,1761516406.687 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:46.692Z,1761516406.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702864,-0.711320,0.002502],[0.696133,0.688573,0.203141],[-0.146221,-0.141039,0.979146]]
2025-10-26T22:06:46.704Z,1761516406.704 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:46.705Z,1761516406.705 [DAT](INFO): publishing direction and range info
2025-10-26T22:06:46.849Z,1761516406.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 186.899994 m,
      deltaT: 7.307118 s,
      deltaX: 25.199997 m,
      approachRate: 3.448692 m/s,
      rangeRepo size: 4

2025-10-26T22:06:46.851Z,1761516406.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 185.760757 m,
      bearing: 47.904851 deg,
      lat: 36.779530 deg,
      lon: -121.859316 deg,
      deltaT: 7.307118 s,
      deltaX: 25.044296 m,
      approachRate: 3.427384 m/s,
      posRepo size: 4

2025-10-26T22:06:46.856Z,1761516406.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:46.859Z,1761516406.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 147.188965 m,
      bearing: 48.102745 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.086469 deg/s,
      cmd heading: 46.112899 deg,
      new cmd heading: 46.254497 deg.

2025-10-26T22:06:46.864Z,1761516406.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.807293 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:47.204Z,1761516407.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:47.207Z,1761516407.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 146.981415 m,
      bearing: 48.128500 deg,
      approach rate: -0.582778 m/s,
      LOS rate: 0.072422 deg/s,
      cmd heading: 46.254495 deg,
      new cmd heading: 46.331872 deg.

2025-10-26T22:06:47.208Z,1761516407.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.808644 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:47.571Z,1761516407.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701683,-0.712489,0.001124],[0.698569,0.688283,0.195620],[-0.140151,-0.136478,0.980679]]
2025-10-26T22:06:47.608Z,1761516407.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:47.610Z,1761516407.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 146.756546 m,
      bearing: 48.154675 deg,
      approach rate: -0.557390 m/s,
      LOS rate: 0.064980 deg/s,
      cmd heading: 46.331871 deg,
      new cmd heading: 46.410516 deg.

2025-10-26T22:06:47.612Z,1761516407.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.810016 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:48.015Z,1761516408.015 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:48.017Z,1761516408.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:48.020Z,1761516408.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 146.527756 m,
      bearing: 48.181390 deg,
      approach rate: -0.558514 m/s,
      LOS rate: 0.065317 deg/s,
      cmd heading: 46.410517 deg,
      new cmd heading: 46.490786 deg.

2025-10-26T22:06:48.021Z,1761516408.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.811417 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:48.148Z,1761516408.148 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:06:48.148Z,1761516408.148 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:06:48.149Z,1761516408.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:06:48.378Z,1761516408.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701411,-0.712757,-0.000927],[0.699546,0.688159,0.192541],[-0.136597,-0.135699,0.981288]]
2025-10-26T22:06:48.396Z,1761516408.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:48.399Z,1761516408.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 146.315628 m,
      bearing: 48.206163 deg,
      approach rate: -0.559913 m/s,
      LOS rate: 0.065483 deg/s,
      cmd heading: 46.490786 deg,
      new cmd heading: 46.565212 deg.

2025-10-26T22:06:48.401Z,1761516408.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715561
2025-10-26T22:06:48.416Z,1761516408.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.812716 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:48.652Z,1761516408.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.967413
2025-10-26T22:06:48.904Z,1761516408.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219297
2025-10-26T22:06:48.972Z,1761516408.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:48.975Z,1761516408.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 145.993073 m,
      bearing: 48.239120 deg,
      approach rate: -0.560185 m/s,
      LOS rate: 0.057364 deg/s,
      cmd heading: 46.565211 deg,
      new cmd heading: 46.664301 deg.

2025-10-26T22:06:48.980Z,1761516408.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.814446 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:49.156Z,1761516409.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471412
2025-10-26T22:06:49.323Z,1761516409.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700072,-0.714064,-0.003404],[0.701585,0.686934,0.189474],[-0.132958,-0.135033,0.981880]]
2025-10-26T22:06:49.341Z,1761516409.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:49.344Z,1761516409.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 145.762527 m,
      bearing: 48.262539 deg,
      approach rate: -0.624831 m/s,
      LOS rate: 0.063572 deg/s,
      cmd heading: 46.664300 deg,
      new cmd heading: 46.734668 deg.

2025-10-26T22:06:49.345Z,1761516409.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.815674 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:49.408Z,1761516409.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723527
2025-10-26T22:06:49.660Z,1761516409.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975363
2025-10-26T22:06:49.797Z,1761516409.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699033,-0.715068,-0.005491],[0.703037,0.685827,0.188097],[-0.130736,-0.135347,0.982135]]
2025-10-26T22:06:49.849Z,1761516409.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:49.856Z,1761516409.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 145.457932 m,
      bearing: 48.289365 deg,
      approach rate: -0.600188 m/s,
      LOS rate: 0.052969 deg/s,
      cmd heading: 46.734668 deg,
      new cmd heading: 46.815313 deg.

2025-10-26T22:06:49.857Z,1761516409.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.817081 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:49.913Z,1761516409.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227572
2025-10-26T22:06:50.164Z,1761516410.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479315
2025-10-26T22:06:50.291Z,1761516410.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697974,-0.716078,-0.008048],[0.704585,0.684676,0.186488],[-0.128030,-0.135835,0.982424]]
2025-10-26T22:06:50.308Z,1761516410.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:50.310Z,1761516410.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:50.313Z,1761516410.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 145.162460 m,
      bearing: 48.315263 deg,
      approach rate: -0.640281 m/s,
      LOS rate: 0.056235 deg/s,
      cmd heading: 46.815312 deg,
      new cmd heading: 46.893165 deg.

2025-10-26T22:06:50.314Z,1761516410.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.818440 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:50.421Z,1761516410.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.736110
2025-10-26T22:06:50.672Z,1761516410.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.987406
2025-10-26T22:06:50.690Z,1761516410.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697027,-0.716969,-0.010405],[0.706062,0.683749,0.184292],[-0.125017,-0.135803,0.982817]]
2025-10-26T22:06:50.789Z,1761516410.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:50.796Z,1761516410.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 144.869232 m,
      bearing: 48.335251 deg,
      approach rate: -0.612125 m/s,
      LOS rate: 0.041810 deg/s,
      cmd heading: 46.893166 deg,
      new cmd heading: 46.953251 deg.

2025-10-26T22:06:50.797Z,1761516410.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.819489 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:50.924Z,1761516410.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.239296
2025-10-26T22:06:51.145Z,1761516411.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:51.148Z,1761516411.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 144.646561 m,
      bearing: 48.350483 deg,
      approach rate: -0.625266 m/s,
      LOS rate: 0.042840 deg/s,
      cmd heading: 46.953251 deg,
      new cmd heading: 46.999019 deg.

2025-10-26T22:06:51.149Z,1761516411.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.820288 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:51.182Z,1761516411.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.496551
2025-10-26T22:06:51.432Z,1761516411.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.747415
2025-10-26T22:06:51.591Z,1761516411.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:51.594Z,1761516411.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 144.341125 m,
      bearing: 48.369793 deg,
      approach rate: -0.685421 m/s,
      LOS rate: 0.043424 deg/s,
      cmd heading: 46.999020 deg,
      new cmd heading: 47.057072 deg.

2025-10-26T22:06:51.595Z,1761516411.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.821301 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:51.685Z,1761516411.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.000056
2025-10-26T22:06:51.938Z,1761516411.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.252725
2025-10-26T22:06:51.950Z,1761516411.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:51.953Z,1761516411.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 144.104034 m,
      bearing: 48.384839 deg,
      approach rate: -0.659306 m/s,
      LOS rate: 0.041908 deg/s,
      cmd heading: 47.057073 deg,
      new cmd heading: 47.102284 deg.

2025-10-26T22:06:51.954Z,1761516411.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.822090 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:52.188Z,1761516412.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.503415
2025-10-26T22:06:52.343Z,1761516412.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:52.345Z,1761516412.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:52.348Z,1761516412.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 143.847839 m,
      bearing: 48.401154 deg,
      approach rate: -0.649366 m/s,
      LOS rate: 0.041427 deg/s,
      cmd heading: 47.102286 deg,
      new cmd heading: 47.151318 deg.

2025-10-26T22:06:52.349Z,1761516412.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.822946 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:52.440Z,1761516412.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.755348
2025-10-26T22:06:52.693Z,1761516412.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.007649
2025-10-26T22:06:52.825Z,1761516412.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687667,-0.725259,-0.033359],[0.718897,0.673772,0.170937],[-0.101497,-0.141529,0.984717]]
2025-10-26T22:06:52.870Z,1761516412.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:52.873Z,1761516412.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 143.493774 m,
      bearing: 48.420892 deg,
      approach rate: -0.674326 m/s,
      LOS rate: 0.037685 deg/s,
      cmd heading: 47.151320 deg,
      new cmd heading: 47.210680 deg.

2025-10-26T22:06:52.874Z,1761516412.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.823982 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:52.945Z,1761516412.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.259562
2025-10-26T22:06:53.196Z,1761516413.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.511288
2025-10-26T22:06:53.359Z,1761516413.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:53.362Z,1761516413.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 143.167252 m,
      bearing: 48.439182 deg,
      approach rate: -0.667504 m/s,
      LOS rate: 0.037475 deg/s,
      cmd heading: 47.210681 deg,
      new cmd heading: 47.265676 deg.

2025-10-26T22:06:53.363Z,1761516413.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824942 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:53.448Z,1761516413.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.763405
2025-10-26T22:06:53.701Z,1761516413.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.015849
2025-10-26T22:06:53.803Z,1761516413.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:53.806Z,1761516413.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 142.883682 m,
      bearing: 48.456926 deg,
      approach rate: -0.639457 m/s,
      LOS rate: 0.040094 deg/s,
      cmd heading: 47.265677 deg,
      new cmd heading: 47.319017 deg.

2025-10-26T22:06:53.807Z,1761516413.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.825873 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:53.952Z,1761516413.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.267363
2025-10-26T22:06:54.131Z,1761516414.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682310,-0.729742,-0.043940],[0.725619,0.668681,0.162305],[-0.089059,-0.142626,0.985762]]
2025-10-26T22:06:54.169Z,1761516414.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:54.172Z,1761516414.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 142.635178 m,
      bearing: 48.471649 deg,
      approach rate: -0.677627 m/s,
      LOS rate: 0.040215 deg/s,
      cmd heading: 47.319018 deg,
      new cmd heading: 47.363262 deg.

2025-10-26T22:06:54.173Z,1761516414.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.826645 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:54.205Z,1761516414.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.520072
2025-10-26T22:06:54.456Z,1761516414.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.771400
2025-10-26T22:06:54.581Z,1761516414.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680466,-0.731217,-0.047818],[0.727848,0.666889,0.159679],[-0.084870,-0.143460,0.986010]]
2025-10-26T22:06:54.644Z,1761516414.644 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:54.646Z,1761516414.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:54.649Z,1761516414.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 142.337173 m,
      bearing: 48.496261 deg,
      approach rate: -0.625165 m/s,
      LOS rate: 0.051741 deg/s,
      cmd heading: 47.363260 deg,
      new cmd heading: 47.437253 deg.

2025-10-26T22:06:54.650Z,1761516414.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827936 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:54.709Z,1761516414.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.024088
2025-10-26T22:06:54.940Z,1761516414.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679008,-0.732365,-0.050901],[0.729692,0.665664,0.156336],[-0.080612,-0.143295,0.986392]]
2025-10-26T22:06:54.961Z,1761516414.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.275709
2025-10-26T22:06:54.984Z,1761516414.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:54.987Z,1761516414.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 142.130829 m,
      bearing: 48.513160 deg,
      approach rate: -0.619339 m/s,
      LOS rate: 0.050794 deg/s,
      cmd heading: 47.437252 deg,
      new cmd heading: 47.488021 deg.

2025-10-26T22:06:54.996Z,1761516414.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828822 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:55.212Z,1761516415.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.527415
2025-10-26T22:06:55.339Z,1761516415.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677676,-0.733347,-0.054384],[0.731375,0.664467,0.153539],[-0.076462,-0.143825,0.986645]]
2025-10-26T22:06:55.373Z,1761516415.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:55.380Z,1761516415.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 141.875168 m,
      bearing: 48.533932 deg,
      approach rate: -0.649573 m/s,
      LOS rate: 0.052872 deg/s,
      cmd heading: 47.488021 deg,
      new cmd heading: 47.550449 deg.

2025-10-26T22:06:55.381Z,1761516415.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.829912 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:55.464Z,1761516415.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.779332
2025-10-26T22:06:55.717Z,1761516415.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.032358
2025-10-26T22:06:55.816Z,1761516415.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:55.819Z,1761516415.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 141.597794 m,
      bearing: 48.564887 deg,
      approach rate: -0.627163 m/s,
      LOS rate: 0.070128 deg/s,
      cmd heading: 47.550449 deg,
      new cmd heading: 47.643495 deg.

2025-10-26T22:06:55.820Z,1761516415.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.831536 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:55.968Z,1761516415.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.283349
2025-10-26T22:06:56.146Z,1761516416.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676714,-0.733583,-0.062568],[0.733036,0.663398,0.150205],[-0.068681,-0.147511,0.986673]]
2025-10-26T22:06:56.181Z,1761516416.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:56.184Z,1761516416.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 141.376236 m,
      bearing: 48.589502 deg,
      approach rate: -0.605960 m/s,
      LOS rate: 0.067429 deg/s,
      cmd heading: 47.643496 deg,
      new cmd heading: 47.717459 deg.

2025-10-26T22:06:56.184Z,1761516416.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.832827 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:56.221Z,1761516416.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.535870
2025-10-26T22:06:56.472Z,1761516416.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.787364
2025-10-26T22:06:56.596Z,1761516416.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676838,-0.733150,-0.066192],[0.733236,0.663476,0.148877],[-0.065232,-0.149300,0.986638]]
2025-10-26T22:06:56.644Z,1761516416.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:56.646Z,1761516416.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 141.096039 m,
      bearing: 48.620732 deg,
      approach rate: -0.605701 m/s,
      LOS rate: 0.067644 deg/s,
      cmd heading: 47.717460 deg,
      new cmd heading: 47.811337 deg.

2025-10-26T22:06:56.648Z,1761516416.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.834465 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:56.726Z,1761516416.726 [DAT](INFO): Reached modem response timeout
2025-10-26T22:06:56.726Z,1761516416.726 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:06:56.727Z,1761516416.727 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:06:56.956Z,1761516416.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676880,-0.732847,-0.069049],[0.733478,0.663602,0.147114],[-0.061991,-0.150224,0.986707]]
2025-10-26T22:06:56.976Z,1761516416.976 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:06:57.051Z,1761516417.051 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:57.053Z,1761516417.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:57.065Z,1761516417.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 140.866531 m,
      bearing: 48.653826 deg,
      approach rate: -0.559736 m/s,
      LOS rate: 0.080841 deg/s,
      cmd heading: 47.811338 deg,
      new cmd heading: 47.910779 deg.

2025-10-26T22:06:57.066Z,1761516417.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.836201 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:57.229Z,1761516417.229 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:06:57.424Z,1761516417.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677294,-0.732221,-0.071592],[0.733343,0.664104,0.145515],[-0.059005,-0.151058,0.986762]]
2025-10-26T22:06:57.442Z,1761516417.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:57.445Z,1761516417.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 140.625595 m,
      bearing: 48.688728 deg,
      approach rate: -0.619643 m/s,
      LOS rate: 0.089915 deg/s,
      cmd heading: 47.910779 deg,
      new cmd heading: 48.015664 deg.

2025-10-26T22:06:57.446Z,1761516417.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.838031 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:57.480Z,1761516417.480 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:06:57.733Z,1761516417.733 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:06:57.822Z,1761516417.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678032,-0.731253,-0.074443],[0.732861,0.664776,0.144868],[-0.056447,-0.152782,0.986647]]
2025-10-26T22:06:57.874Z,1761516417.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:57.877Z,1761516417.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 140.389740 m,
      bearing: 48.730238 deg,
      approach rate: -0.546126 m/s,
      LOS rate: 0.096279 deg/s,
      cmd heading: 48.015663 deg,
      new cmd heading: 48.140402 deg.

2025-10-26T22:06:57.878Z,1761516417.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.840209 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:57.984Z,1761516417.984 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:06:58.226Z,1761516418.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678574,-0.730562,-0.076265],[0.732564,0.665504,0.143017],[-0.053728,-0.152917,0.986777]]
2025-10-26T22:06:58.238Z,1761516418.238 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:06:58.269Z,1761516418.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:58.271Z,1761516418.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 140.177979 m,
      bearing: 48.767700 deg,
      approach rate: -0.536823 m/s,
      LOS rate: 0.095112 deg/s,
      cmd heading: 48.140403 deg,
      new cmd heading: 48.252959 deg.

2025-10-26T22:06:58.272Z,1761516418.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.842173 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:58.488Z,1761516418.488 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:06:58.664Z,1761516418.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678896,-0.730090,-0.077909],[0.732457,0.666049,0.141015],[-0.051062,-0.152799,0.986937]]
2025-10-26T22:06:58.702Z,1761516418.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:58.706Z,1761516418.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 139.929352 m,
      bearing: 48.810854 deg,
      approach rate: -0.574418 m/s,
      LOS rate: 0.099879 deg/s,
      cmd heading: 48.252961 deg,
      new cmd heading: 48.382653 deg.

2025-10-26T22:06:58.724Z,1761516418.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.844437 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:58.744Z,1761516418.744 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:06:58.992Z,1761516418.992 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:06:59.194Z,1761516419.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679827,-0.729071,-0.079312],[0.731920,0.667699,0.135909],[-0.046130,-0.150444,0.987542]]
2025-10-26T22:06:59.211Z,1761516419.211 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:06:59.213Z,1761516419.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:59.216Z,1761516419.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 139.637650 m,
      bearing: 48.861912 deg,
      approach rate: -0.570185 m/s,
      LOS rate: 0.100012 deg/s,
      cmd heading: 48.382652 deg,
      new cmd heading: 48.536147 deg.

2025-10-26T22:06:59.217Z,1761516419.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.847116 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:59.246Z,1761516419.246 [DAT](INFO): DAT read: Response Not Received

2025-10-26T22:06:59.246Z,1761516419.246 [DAT](INFO): response not received
2025-10-26T22:06:59.247Z,1761516419.247 [DAT](INFO): DAT read: user:451>

2025-10-26T22:06:59.249Z,1761516419.249 [DAT](INFO): DAT read: Tx time:22:06:58.3895

2025-10-26T22:06:59.249Z,1761516419.249 [DAT](INFO): Ping request sent.
2025-10-26T22:06:59.249Z,1761516419.249 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:06:59.249Z,1761516419.249 [DAT](INFO): publishing transmit ping time
2025-10-26T22:06:59.250Z,1761516419.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-10-26T22:06:59.497Z,1761516419.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247562
2025-10-26T22:06:59.612Z,1761516419.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679657,-0.729240,-0.079221],[0.732235,0.668073,0.132324],[-0.043570,-0.147943,0.988036]]
2025-10-26T22:06:59.675Z,1761516419.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:06:59.678Z,1761516419.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 139.375732 m,
      bearing: 48.907965 deg,
      approach rate: -0.567162 m/s,
      LOS rate: 0.099911 deg/s,
      cmd heading: 48.536147 deg,
      new cmd heading: 48.674565 deg.

2025-10-26T22:06:59.678Z,1761516419.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.849531 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:06:59.750Z,1761516419.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500281
2025-10-26T22:07:00.000Z,1761516420.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751284
2025-10-26T22:07:00.157Z,1761516420.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:07:00.159Z,1761516420.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 139.111923 m,
      bearing: 48.950184 deg,
      approach rate: -0.547625 m/s,
      LOS rate: 0.087806 deg/s,
      cmd heading: 48.674564 deg,
      new cmd heading: 48.801462 deg.

2025-10-26T22:07:00.160Z,1761516420.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.851746 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:07:00.254Z,1761516420.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004940
2025-10-26T22:07:00.505Z,1761516420.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255740
2025-10-26T22:07:00.584Z,1761516420.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679096,-0.729565,-0.081018],[0.733079,0.668379,0.125960],[-0.037745,-0.144931,0.988721]]
2025-10-26T22:07:00.690Z,1761516420.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:07:00.702Z,1761516420.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 138.867920 m,
      bearing: 48.989353 deg,
      approach rate: -0.457406 m/s,
      LOS rate: 0.073553 deg/s,
      cmd heading: 48.801463 deg,
      new cmd heading: 48.919173 deg.

2025-10-26T22:07:00.703Z,1761516420.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.853801 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:07:00.757Z,1761516420.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507830
2025-10-26T22:07:01.008Z,1761516421.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759302
2025-10-26T22:07:01.079Z,1761516421.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678804,-0.729785,-0.081479],[0.733512,0.668669,0.121830],[-0.034427,-0.142465,0.989201]]
2025-10-26T22:07:01.130Z,1761516421.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:07:01.133Z,1761516421.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 138.568222 m,
      bearing: 49.030090 deg,
      approach rate: -0.680446 m/s,
      LOS rate: 0.092692 deg/s,
      cmd heading: 48.919174 deg,
      new cmd heading: 49.041651 deg.

2025-10-26T22:07:01.134Z,1761516421.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.855938 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:07:01.261Z,1761516421.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012176
2025-10-26T22:07:01.485Z,1761516421.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677716,-0.730700,-0.082337],[0.734680,0.668176,0.117417],[-0.030781,-0.140067,0.989663]]
2025-10-26T22:07:01.501Z,1761516421.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:01.503Z,1761516421.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:07:01.506Z,1761516421.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 138.356049 m,
      bearing: 49.058932 deg,
      approach rate: -0.569274 m/s,
      LOS rate: 0.077502 deg/s,
      cmd heading: 49.041650 deg,
      new cmd heading: 49.128307 deg.

2025-10-26T22:07:01.507Z,1761516421.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.857451 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:07:01.512Z,1761516421.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263338
2025-10-26T22:07:01.765Z,1761516421.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516218
2025-10-26T22:07:01.888Z,1761516421.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676670,-0.731506,-0.083768],[0.735785,0.667618,0.113609],[-0.027180,-0.138511,0.989988]]
2025-10-26T22:07:01.924Z,1761516421.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:07:01.927Z,1761516421.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 138.117783 m,
      bearing: 49.084580 deg,
      approach rate: -0.566075 m/s,
      LOS rate: 0.061040 deg/s,
      cmd heading: 49.128308 deg,
      new cmd heading: 49.205385 deg.

2025-10-26T22:07:01.928Z,1761516421.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.858796 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:07:02.021Z,1761516422.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772173
2025-10-26T22:07:02.273Z,1761516422.273 [DAT](INFO): DAT read: Rx Time:22:07:00.9542

2025-10-26T22:07:02.273Z,1761516422.273 [DAT](INFO): Rx dataTimestamp_ set to:1761516422.272742
2025-10-26T22:07:02.274Z,1761516422.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024480
2025-10-26T22:07:02.294Z,1761516422.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675365,-0.732418,-0.086296],[0.737114,0.666683,0.110438],[-0.023355,-0.138196,0.990130]]
2025-10-26T22:07:02.337Z,1761516422.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.76 m.
2025-10-26T22:07:02.347Z,1761516422.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.760757 m,
      nav range: 137.897598 m,
      bearing: 49.108194 deg,
      approach rate: -0.532734 m/s,
      LOS rate: 0.057225 deg/s,
      cmd heading: 49.205386 deg,
      new cmd heading: 49.276341 deg.

2025-10-26T22:07:02.352Z,1761516422.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.860034 target range: 185.760757 and range: 186.90 m.
2025-10-26T22:07:02.524Z,1761516422.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275239
2025-10-26T22:07:02.745Z,1761516422.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673664,-0.733653,-0.089057],[0.738788,0.665394,0.106974],[-0.019224,-0.137859,0.990265]]
2025-10-26T22:07:02.788Z,1761516422.788 [DAT](INFO): DAT read: 22:07:00.9542 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX=   9, 0.20,-1.838, 2.630,-1.701,-1.985, PHS= 0.250,-1.623, 0.240, RAW= 149.7,  12.1, CAL= 149.7,  13.3, ROT=   0.3, -13.3

2025-10-26T22:07:02.789Z,1761516422.789 [DAT](INFO): got valid direction response:
 22:07:00.9542 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX=   9, 0.20,-1.838, 2.630,-1.701,-1.985, PHS= 0.250,-1.623, 0.240, RAW= 149.7,  12.1, CAL= 149.7,  13.3, ROT=   0.3, -13.3

2025-10-26T22:07:02.790Z,1761516422.790 [DAT](INFO): DAT read: Bearing 204.1,  -2.8 (Local)

2025-10-26T22:07:02.790Z,1761516422.790 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.1,  -2.8 (Local)

2025-10-26T22:07:02.793Z,1761516422.793 [DAT](INFO): DAT read: Range 11 to 50 : 120.4 m  (Round-trip  160.6 ms) speed  0.5 m/s

2025-10-26T22:07:02.793Z,1761516422.793 [DAT](INFO): DAT read: user:452>

2025-10-26T22:07:02.794Z,1761516422.794 [DAT](INFO): DAT read: Tx time:22:07:02.0395

2025-10-26T22:07:02.794Z,1761516422.794 [DAT](INFO): Ping request sent.
2025-10-26T22:07:02.794Z,1761516422.794 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:07:02.795Z,1761516422.795 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:07:02.796Z,1761516422.796 [DAT](INFO): direction in FSK: [0.973166,0.005096,0.230050]
2025-10-26T22:07:02.796Z,1761516422.796 [DAT](INFO): publishing transmit ping time
2025-10-26T22:07:02.796Z,1761516422.796 [DAT](INFO): publishing direction and range info
2025-10-26T22:07:02.800Z,1761516422.800 [DAT](INFO): publishing transmit ping time
2025-10-26T22:07:02.800Z,1761516422.800 [DAT](INFO): publishing direction and range info
2025-10-26T22:07:02.900Z,1761516422.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.400002 m,
      deltaT: 16.144163 s,
      deltaX: -66.499992 m,
      approachRate: -4.119135 m/s,
      rangeRepo size: 4

2025-10-26T22:07:02.902Z,1761516422.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.665077 m,
      bearing: 49.794293 deg,
      lat: 36.779512 deg,
      lon: -121.859349 deg,
      deltaT: 16.144163 s,
      deltaX: -66.095680 m,
      approachRate: -4.094091 m/s,
      posRepo size: 4

2025-10-26T22:07:02.903Z,1761516422.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.67 m.
2025-10-26T22:07:02.910Z,1761516422.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.665077 m,
      nav range: 134.033035 m,
      bearing: 48.944467 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.057225 deg/s,
      cmd heading: 49.276342 deg,
      new cmd heading: 49.371418 deg.

2025-10-26T22:07:02.910Z,1761516422.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.861694 target range: 119.665077 and range: 120.40 m.
2025-10-26T22:07:03.204Z,1761516423.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670114,-0.735911,-0.096858],[0.742183,0.662459,0.101555],[-0.010571,-0.139940,0.990104]]
2025-10-26T22:07:03.246Z,1761516423.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.67 m.
2025-10-26T22:07:03.260Z,1761516423.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.665077 m,
      nav range: 133.799469 m,
      bearing: 48.960632 deg,
      approach rate: -0.658547 m/s,
      LOS rate: 0.045657 deg/s,
      cmd heading: 49.371418 deg,
      new cmd heading: 49.419998 deg.

2025-10-26T22:07:03.261Z,1761516423.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.862542 target range: 119.665077 and range: 120.40 m.
2025-10-26T22:07:03.606Z,1761516423.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667834,-0.737487,-0.100554],[0.744287,0.660610,0.098139],[-0.005949,-0.140381,0.990080]]
2025-10-26T22:07:03.622Z,1761516423.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:03.625Z,1761516423.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.67 m.
2025-10-26T22:07:03.628Z,1761516423.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.665077 m,
      nav range: 133.561234 m,
      bearing: 48.976855 deg,
      approach rate: -0.628175 m/s,
      LOS rate: 0.042852 deg/s,
      cmd heading: 49.419998 deg,
      new cmd heading: 49.468752 deg.

2025-10-26T22:07:03.629Z,1761516423.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.863393 target range: 119.665077 and range: 120.40 m.
2025-10-26T22:07:03.792Z,1761516423.792 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:03.792Z,1761516423.792 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:03.793Z,1761516423.793 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:07:04.010Z,1761516424.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665624,-0.738800,-0.105449],[0.746286,0.658660,0.096048],[-0.001505,-0.142627,0.989775]]
2025-10-26T22:07:04.044Z,1761516424.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249964
2025-10-26T22:07:04.067Z,1761516424.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.67 m.
2025-10-26T22:07:04.074Z,1761516424.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.665077 m,
      nav range: 133.291168 m,
      bearing: 48.989634 deg,
      approach rate: -0.611482 m/s,
      LOS rate: 0.028993 deg/s,
      cmd heading: 49.468752 deg,
      new cmd heading: 49.507166 deg.

2025-10-26T22:07:04.075Z,1761516424.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.864063 target range: 119.665077 and range: 120.40 m.
2025-10-26T22:07:04.297Z,1761516424.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502715
2025-10-26T22:07:04.488Z,1761516424.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663211,-0.740192,-0.110753],[0.748427,0.656466,0.094389],[0.002839,-0.145491,0.989356]]
2025-10-26T22:07:04.507Z,1761516424.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.67 m.
2025-10-26T22:07:04.525Z,1761516424.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.665077 m,
      nav range: 132.997147 m,
      bearing: 49.003175 deg,
      approach rate: -0.668514 m/s,
      LOS rate: 0.030856 deg/s,
      cmd heading: 49.507168 deg,
      new cmd heading: 49.547881 deg.

2025-10-26T22:07:04.526Z,1761516424.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.864774 target range: 119.665077 and range: 120.40 m.
2025-10-26T22:07:04.548Z,1761516424.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754013
2025-10-26T22:07:04.800Z,1761516424.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005890
2025-10-26T22:07:04.894Z,1761516424.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660729,-0.741666,-0.115626],[0.750590,0.654292,0.092283],[0.007210,-0.147762,0.988997]]
2025-10-26T22:07:04.930Z,1761516424.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.67 m.
2025-10-26T22:07:04.933Z,1761516424.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.665077 m,
      nav range: 132.726913 m,
      bearing: 49.011566 deg,
      approach rate: -0.637532 m/s,
      LOS rate: 0.019837 deg/s,
      cmd heading: 49.547879 deg,
      new cmd heading: 49.573105 deg.

2025-10-26T22:07:04.934Z,1761516424.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.865214 target range: 119.665077 and range: 120.40 m.
2025-10-26T22:07:05.053Z,1761516425.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258303
2025-10-26T22:07:05.304Z,1761516425.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510001
2025-10-26T22:07:05.379Z,1761516425.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658326,-0.743271,-0.118979],[0.752648,0.652354,0.089192],[0.011323,-0.148267,0.988883]]
2025-10-26T22:07:05.397Z,1761516425.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.67 m.
2025-10-26T22:07:05.400Z,1761516425.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.665077 m,
      nav range: 132.429459 m,
      bearing: 49.020432 deg,
      approach rate: -0.637676 m/s,
      LOS rate: 0.019050 deg/s,
      cmd heading: 49.573103 deg,
      new cmd heading: 49.599762 deg.

2025-10-26T22:07:05.401Z,1761516425.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.865679 target range: 119.665077 and range: 120.40 m.
2025-10-26T22:07:05.556Z,1761516425.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761971
2025-10-26T22:07:05.778Z,1761516425.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656180,-0.744541,-0.122828],[0.754454,0.650548,0.087103],[0.015053,-0.149823,0.988598]]
2025-10-26T22:07:05.808Z,1761516425.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014028
2025-10-26T22:07:05.830Z,1761516425.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:05.833Z,1761516425.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.67 m.
2025-10-26T22:07:05.836Z,1761516425.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.665077 m,
      nav range: 132.149796 m,
      bearing: 49.030430 deg,
      approach rate: -0.641843 m/s,
      LOS rate: 0.022993 deg/s,
      cmd heading: 49.599761 deg,
      new cmd heading: 49.629817 deg.

2025-10-26T22:07:05.841Z,1761516425.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.866204 target range: 119.665077 and range: 120.40 m.
2025-10-26T22:07:06.061Z,1761516426.061 [DAT](INFO): DAT read: Rx Time:22:07:04.6013

2025-10-26T22:07:06.061Z,1761516426.061 [DAT](INFO): Rx dataTimestamp_ set to:1761516426.061136
2025-10-26T22:07:06.062Z,1761516426.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267550
2025-10-26T22:07:06.182Z,1761516426.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653761,-0.746117,-0.126118],[0.756467,0.648560,0.084424],[0.018805,-0.150598,0.988416]]
2025-10-26T22:07:06.209Z,1761516426.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.67 m.
2025-10-26T22:07:06.212Z,1761516426.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.665077 m,
      nav range: 131.907913 m,
      bearing: 49.038778 deg,
      approach rate: -0.643188 m/s,
      LOS rate: 0.022238 deg/s,
      cmd heading: 49.629818 deg,
      new cmd heading: 49.654907 deg.

2025-10-26T22:07:06.213Z,1761516426.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.866642 target range: 119.665077 and range: 120.40 m.
2025-10-26T22:07:06.314Z,1761516426.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519483
2025-10-26T22:07:06.570Z,1761516426.570 [DAT](INFO): DAT read: 22:07:04.6013 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 412,-0.45,-0.960,-2.627,-0.885,-1.142, PHS= 0.284,-1.440, 0.213, RAW= 147.9,  11.2, CAL= 147.6,  12.2, ROT=   2.4, -12.2

2025-10-26T22:07:06.571Z,1761516426.571 [DAT](INFO): got valid direction response:
 22:07:04.6013 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 412,-0.45,-0.960,-2.627,-0.885,-1.142, PHS= 0.284,-1.440, 0.213, RAW= 147.9,  11.2, CAL= 147.6,  12.2, ROT=   2.4, -12.2

2025-10-26T22:07:06.576Z,1761516426.576 [DAT](INFO): DAT read: Bearing 203.8,   1.2 (Local)

2025-10-26T22:07:06.576Z,1761516426.576 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.8,   1.2 (Local)

2025-10-26T22:07:06.578Z,1761516426.578 [DAT](INFO): DAT read: Range 11 to 50 : 118.2 m  (Round-trip  157.7 ms) speed  0.4 m/s

2025-10-26T22:07:06.579Z,1761516426.579 [DAT](INFO): DAT read: user:453>

2025-10-26T22:07:06.579Z,1761516426.579 [DAT](INFO): DAT read: Tx time:22:07:05.6895

2025-10-26T22:07:06.580Z,1761516426.580 [DAT](INFO): Ping request sent.
2025-10-26T22:07:06.580Z,1761516426.580 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:07:06.580Z,1761516426.580 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:07:06.581Z,1761516426.581 [DAT](INFO): direction in FSK: [0.976559,0.040930,0.211325]
2025-10-26T22:07:06.581Z,1761516426.581 [DAT](INFO): publishing transmit ping time
2025-10-26T22:07:06.582Z,1761516426.582 [DAT](INFO): publishing direction and range info
2025-10-26T22:07:06.585Z,1761516426.585 [DAT](INFO): publishing transmit ping time
2025-10-26T22:07:06.585Z,1761516426.585 [DAT](INFO): publishing direction and range info
2025-10-26T22:07:06.778Z,1761516426.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 118.199997 m,
      deltaT: 3.782019 s,
      deltaX: -2.200005 m,
      approachRate: -0.581701 m/s,
      rangeRepo size: 4

2025-10-26T22:07:06.785Z,1761516426.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 117.478973 m,
      bearing: 53.416552 deg,
      lat: 36.779400 deg,
      lon: -121.859420 deg,
      deltaT: 3.782019 s,
      deltaX: -2.186104 m,
      approachRate: -0.578026 m/s,
      posRepo size: 4

2025-10-26T22:07:06.785Z,1761516426.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.48 m.
2025-10-26T22:07:06.789Z,1761516426.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.478973 m,
      nav range: 118.772415 m,
      bearing: 51.603885 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022238 deg/s,
      cmd heading: 49.654908 deg,
      new cmd heading: 49.692451 deg.

2025-10-26T22:07:06.790Z,1761516426.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.867297 target range: 117.478973 and range: 118.20 m.
2025-10-26T22:07:07.190Z,1761516427.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.48 m.
2025-10-26T22:07:07.193Z,1761516427.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.478973 m,
      nav range: 118.456230 m,
      bearing: 51.628639 deg,
      approach rate: -0.755105 m/s,
      LOS rate: 0.059275 deg/s,
      cmd heading: 49.692450 deg,
      new cmd heading: 49.766911 deg.

2025-10-26T22:07:07.194Z,1761516427.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.868596 target range: 117.478973 and range: 118.20 m.
2025-10-26T22:07:07.510Z,1761516427.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647084,-0.750365,-0.135032],[0.761865,0.643139,0.077034],[0.029041,-0.152723,0.987842]]
2025-10-26T22:07:07.528Z,1761516427.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.48 m.
2025-10-26T22:07:07.531Z,1761516427.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.478973 m,
      nav range: 118.239952 m,
      bearing: 51.644728 deg,
      approach rate: -0.639586 m/s,
      LOS rate: 0.047665 deg/s,
      cmd heading: 49.766910 deg,
      new cmd heading: 49.815264 deg.

2025-10-26T22:07:07.532Z,1761516427.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.869440 target range: 117.478973 and range: 118.20 m.
2025-10-26T22:07:07.914Z,1761516427.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645799,-0.750841,-0.138498],[0.762842,0.642104,0.075986],[0.031877,-0.154724,0.987443]]
2025-10-26T22:07:07.962Z,1761516427.962 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:07.964Z,1761516427.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.48 m.
2025-10-26T22:07:07.966Z,1761516427.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.478973 m,
      nav range: 117.970985 m,
      bearing: 51.669493 deg,
      approach rate: -0.617993 m/s,
      LOS rate: 0.057031 deg/s,
      cmd heading: 49.815264 deg,
      new cmd heading: 49.889729 deg.

2025-10-26T22:07:07.967Z,1761516427.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.870740 target range: 117.478973 and range: 118.20 m.
2025-10-26T22:07:08.077Z,1761516428.077 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:08.077Z,1761516428.077 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:08.077Z,1761516428.077 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:07:08.320Z,1761516428.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644476,-0.751412,-0.141530],[0.763846,0.641047,0.074819],[0.034508,-0.156326,0.987102]]
2025-10-26T22:07:08.328Z,1761516428.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748587
2025-10-26T22:07:08.340Z,1761516428.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.48 m.
2025-10-26T22:07:08.343Z,1761516428.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.478973 m,
      nav range: 117.736900 m,
      bearing: 51.690941 deg,
      approach rate: -0.621085 m/s,
      LOS rate: 0.057021 deg/s,
      cmd heading: 49.889730 deg,
      new cmd heading: 49.954203 deg.

2025-10-26T22:07:08.344Z,1761516428.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.871865 target range: 117.478973 and range: 118.20 m.
2025-10-26T22:07:08.350Z,1761516428.350 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:07:08.580Z,1761516428.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000460
2025-10-26T22:07:08.822Z,1761516428.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.48 m.
2025-10-26T22:07:08.825Z,1761516428.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.478973 m,
      nav range: 117.455437 m,
      bearing: 51.716845 deg,
      approach rate: -0.584423 m/s,
      LOS rate: 0.053916 deg/s,
      cmd heading: 49.954204 deg,
      new cmd heading: 50.032103 deg.

2025-10-26T22:07:08.826Z,1761516428.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.873225 target range: 117.478973 and range: 118.20 m.
2025-10-26T22:07:08.833Z,1761516428.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252614
2025-10-26T22:07:09.085Z,1761516429.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504994
2025-10-26T22:07:09.192Z,1761516429.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.48 m.
2025-10-26T22:07:09.195Z,1761516429.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.478973 m,
      nav range: 117.207771 m,
      bearing: 51.745608 deg,
      approach rate: -0.668865 m/s,
      LOS rate: 0.077843 deg/s,
      cmd heading: 50.032102 deg,
      new cmd heading: 50.118573 deg.

2025-10-26T22:07:09.196Z,1761516429.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.874734 target range: 117.478973 and range: 118.20 m.
2025-10-26T22:07:09.337Z,1761516429.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756913
2025-10-26T22:07:09.352Z,1761516429.352 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:07:09.526Z,1761516429.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640387,-0.753219,-0.150218],[0.766922,0.637703,0.071874],[0.041658,-0.161233,0.986037]]
2025-10-26T22:07:09.570Z,1761516429.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.48 m.
2025-10-26T22:07:09.573Z,1761516429.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.478973 m,
      nav range: 116.972679 m,
      bearing: 51.772396 deg,
      approach rate: -0.622663 m/s,
      LOS rate: 0.071093 deg/s,
      cmd heading: 50.118572 deg,
      new cmd heading: 50.199098 deg.

2025-10-26T22:07:09.574Z,1761516429.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.876140 target range: 117.478973 and range: 118.20 m.
2025-10-26T22:07:09.591Z,1761516429.591 [DAT](INFO): DAT read: Rx Time:22:07:08.2486

2025-10-26T22:07:09.592Z,1761516429.592 [DAT](INFO): Rx dataTimestamp_ set to:1761516429.591484
2025-10-26T22:07:09.592Z,1761516429.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012428
2025-10-26T22:07:09.840Z,1761516429.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260487
2025-10-26T22:07:09.930Z,1761516429.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639773,-0.753365,-0.152092],[0.767310,0.637397,0.070431],[0.043883,-0.161761,0.985854]]
2025-10-26T22:07:09.988Z,1761516429.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:09.990Z,1761516429.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.48 m.
2025-10-26T22:07:09.993Z,1761516429.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.478973 m,
      nav range: 116.724800 m,
      bearing: 51.806280 deg,
      approach rate: -0.589886 m/s,
      LOS rate: 0.080805 deg/s,
      cmd heading: 50.199097 deg,
      new cmd heading: 50.300963 deg.

2025-10-26T22:07:09.994Z,1761516429.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.877917 target range: 117.478973 and range: 118.20 m.
2025-10-26T22:07:10.098Z,1761516430.098 [DAT](INFO): DAT read: 22:07:08.2486 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415, 0.20, 2.347, 0.658, 2.484, 2.155, PHS= 0.294,-1.452, 0.285, RAW= 149.8,  10.1, CAL= 149.5,  11.0, ROT=   0.5, -11.0

2025-10-26T22:07:10.099Z,1761516430.099 [DAT](INFO): got valid direction response:
 22:07:08.2486 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415, 0.20, 2.347, 0.658, 2.484, 2.155, PHS= 0.294,-1.452, 0.285, RAW= 149.8,  10.1, CAL= 149.5,  11.0, ROT=   0.5, -11.0

2025-10-26T22:07:10.100Z,1761516430.100 [DAT](INFO): DAT read: Bearing 203.4,   0.9 (Local)

2025-10-26T22:07:10.101Z,1761516430.101 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.4,   0.9 (Local)

2025-10-26T22:07:10.102Z,1761516430.102 [DAT](INFO): DAT read: Range 11 to 50 : 116.1 m  (Round-trip  154.9 ms) speed  0.7 m/s

2025-10-26T22:07:10.103Z,1761516430.103 [DAT](INFO): DAT read: user:454>

2025-10-26T22:07:10.108Z,1761516430.108 [DAT](INFO): DAT read: Tx time:22:07:09.3395

2025-10-26T22:07:10.109Z,1761516430.109 [DAT](INFO): Ping request sent.
2025-10-26T22:07:10.109Z,1761516430.109 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:07:10.109Z,1761516430.109 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:07:10.110Z,1761516430.110 [DAT](INFO): direction in FSK: [0.981590,0.008566,0.190809]
2025-10-26T22:07:10.110Z,1761516430.110 [DAT](INFO): publishing transmit ping time
2025-10-26T22:07:10.111Z,1761516430.111 [DAT](INFO): publishing direction and range info
2025-10-26T22:07:10.119Z,1761516430.119 [DAT](INFO): publishing transmit ping time
2025-10-26T22:07:10.119Z,1761516430.119 [DAT](INFO): publishing direction and range info
2025-10-26T22:07:10.340Z,1761516430.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639080,-0.753585,-0.153907],[0.767754,0.637034,0.068857],[0.046155,-0.162168,0.985683]]
2025-10-26T22:07:10.388Z,1761516430.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 116.099998 m,
      deltaT: 3.528249 s,
      deltaX: -2.099998 m,
      approachRate: -0.595196 m/s,
      rangeRepo size: 4

2025-10-26T22:07:10.390Z,1761516430.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 115.392769 m,
      bearing: 52.549062 deg,
      lat: 36.779400 deg,
      lon: -121.859432 deg,
      deltaT: 3.528249 s,
      deltaX: -2.086205 m,
      approachRate: -0.591286 m/s,
      posRepo size: 4

2025-10-26T22:07:10.390Z,1761516430.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.39 m.
2025-10-26T22:07:10.394Z,1761516430.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.392769 m,
      nav range: 115.644852 m,
      bearing: 51.504723 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.080805 deg/s,
      cmd heading: 50.300962 deg,
      new cmd heading: 50.397130 deg.

2025-10-26T22:07:10.395Z,1761516430.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.879596 target range: 115.392769 and range: 116.10 m.
2025-10-26T22:07:10.753Z,1761516430.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638860,-0.753520,-0.155131],[0.767820,0.637115,0.067361],[0.048078,-0.162147,0.985595]]
2025-10-26T22:07:10.826Z,1761516430.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.39 m.
2025-10-26T22:07:10.841Z,1761516430.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.392769 m,
      nav range: 115.400177 m,
      bearing: 51.537817 deg,
      approach rate: -0.559023 m/s,
      LOS rate: 0.075773 deg/s,
      cmd heading: 50.397131 deg,
      new cmd heading: 50.496625 deg.

2025-10-26T22:07:10.842Z,1761516430.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.881332 target range: 115.392769 and range: 116.10 m.
2025-10-26T22:07:11.185Z,1761516431.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638083,-0.753673,-0.157570],[0.768238,0.636884,0.064715],[0.051580,-0.162345,0.985385]]
2025-10-26T22:07:11.254Z,1761516431.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.39 m.
2025-10-26T22:07:11.257Z,1761516431.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.392769 m,
      nav range: 115.119431 m,
      bearing: 51.577211 deg,
      approach rate: -0.653034 m/s,
      LOS rate: 0.091857 deg/s,
      cmd heading: 50.496623 deg,
      new cmd heading: 50.615094 deg.

2025-10-26T22:07:11.258Z,1761516431.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.883400 target range: 115.392769 and range: 116.10 m.
2025-10-26T22:07:11.566Z,1761516431.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637719,-0.753685,-0.158975],[0.768450,0.636692,0.064097],[0.052909,-0.163040,0.985200]]
2025-10-26T22:07:11.584Z,1761516431.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.39 m.
2025-10-26T22:07:11.587Z,1761516431.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.392769 m,
      nav range: 114.924225 m,
      bearing: 51.604676 deg,
      approach rate: -0.592324 m/s,
      LOS rate: 0.083479 deg/s,
      cmd heading: 50.615093 deg,
      new cmd heading: 50.697626 deg.

2025-10-26T22:07:11.612Z,1761516431.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.884840 target range: 115.392769 and range: 116.10 m.
2025-10-26T22:07:11.967Z,1761516431.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637090,-0.753942,-0.160272],[0.768877,0.636255,0.063297],[0.054252,-0.163556,0.985041]]
2025-10-26T22:07:12.014Z,1761516432.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:12.016Z,1761516432.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.39 m.
2025-10-26T22:07:12.018Z,1761516432.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.392769 m,
      nav range: 114.681503 m,
      bearing: 51.637539 deg,
      approach rate: -0.562430 m/s,
      LOS rate: 0.076310 deg/s,
      cmd heading: 50.697626 deg,
      new cmd heading: 50.796422 deg.

2025-10-26T22:07:12.020Z,1761516432.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.886565 target range: 115.392769 and range: 116.10 m.
2025-10-26T22:07:12.110Z,1761516432.110 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:12.110Z,1761516432.110 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:12.111Z,1761516432.111 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:07:12.360Z,1761516432.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251393
2025-10-26T22:07:12.373Z,1761516432.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636953,-0.753980,-0.160640],[0.768931,0.636270,0.062491],[0.055094,-0.163325,0.985033]]
2025-10-26T22:07:12.392Z,1761516432.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.39 m.
2025-10-26T22:07:12.395Z,1761516432.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.392769 m,
      nav range: 114.469780 m,
      bearing: 51.666312 deg,
      approach rate: -0.562260 m/s,
      LOS rate: 0.076552 deg/s,
      cmd heading: 50.796421 deg,
      new cmd heading: 50.882900 deg.

2025-10-26T22:07:12.396Z,1761516432.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.888074 target range: 115.392769 and range: 116.10 m.
2025-10-26T22:07:12.614Z,1761516432.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504566
2025-10-26T22:07:12.771Z,1761516432.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637017,-0.753832,-0.161079],[0.768865,0.636335,0.062644],[0.055277,-0.163753,0.984951]]
2025-10-26T22:07:12.793Z,1761516432.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.39 m.
2025-10-26T22:07:12.813Z,1761516432.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.392769 m,
      nav range: 114.246132 m,
      bearing: 51.696832 deg,
      approach rate: -0.558077 m/s,
      LOS rate: 0.076308 deg/s,
      cmd heading: 50.882901 deg,
      new cmd heading: 50.974641 deg.

2025-10-26T22:07:12.821Z,1761516432.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.889675 target range: 115.392769 and range: 116.10 m.
2025-10-26T22:07:12.868Z,1761516432.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758694
2025-10-26T22:07:13.117Z,1761516433.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007887
2025-10-26T22:07:13.172Z,1761516433.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636709,-0.753925,-0.161861],[0.769100,0.636029,0.062859],[0.055557,-0.164511,0.984809]]
2025-10-26T22:07:13.245Z,1761516433.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.39 m.
2025-10-26T22:07:13.252Z,1761516433.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.392769 m,
      nav range: 113.999924 m,
      bearing: 51.729721 deg,
      approach rate: -0.544679 m/s,
      LOS rate: 0.072916 deg/s,
      cmd heading: 50.974641 deg,
      new cmd heading: 51.073521 deg.

2025-10-26T22:07:13.253Z,1761516433.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.891401 target range: 115.392769 and range: 116.10 m.
2025-10-26T22:07:13.369Z,1761516433.369 [DAT](INFO): DAT read: Rx Time:22:07:11.8956

2025-10-26T22:07:13.369Z,1761516433.369 [DAT](INFO): Rx dataTimestamp_ set to:1761516433.368730
2025-10-26T22:07:13.370Z,1761516433.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260636
2025-10-26T22:07:13.574Z,1761516433.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636286,-0.754405,-0.161288],[0.769423,0.635746,0.061771],[0.055937,-0.163402,0.984972]]
2025-10-26T22:07:13.617Z,1761516433.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.39 m.
2025-10-26T22:07:13.620Z,1761516433.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511555
2025-10-26T22:07:13.621Z,1761516433.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.392769 m,
      nav range: 113.788155 m,
      bearing: 51.758078 deg,
      approach rate: -0.571547 m/s,
      LOS rate: 0.076677 deg/s,
      cmd heading: 51.073522 deg,
      new cmd heading: 51.158752 deg.

2025-10-26T22:07:13.622Z,1761516433.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.892889 target range: 115.392769 and range: 116.10 m.
2025-10-26T22:07:13.885Z,1761516433.885 [DAT](INFO): DAT read: 22:07:11.8956 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 417,-0.41, 2.505, 0.850, 2.643, 2.339, PHS= 0.268,-1.445, 0.259, RAW= 149.8,  10.8, CAL= 149.5,  11.8, ROT=   0.5, -11.8

2025-10-26T22:07:13.886Z,1761516433.886 [DAT](INFO): got valid direction response:
 22:07:11.8956 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 417,-0.41, 2.505, 0.850, 2.643, 2.339, PHS= 0.268,-1.445, 0.259, RAW= 149.8,  10.8, CAL= 149.5,  11.8, ROT=   0.5, -11.8

2025-10-26T22:07:13.889Z,1761516433.889 [DAT](INFO): DAT read: Bearing 204.2,   1.8 (Local)

2025-10-26T22:07:13.889Z,1761516433.889 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.2,   1.8 (Local)

2025-10-26T22:07:13.890Z,1761516433.890 [DAT](INFO): DAT read: Range 11 to 50 : 113.9 m  (Round-trip  151.9 ms) speed  0.2 m/s

2025-10-26T22:07:13.891Z,1761516433.891 [DAT](INFO): DAT read: user:455>

2025-10-26T22:07:13.892Z,1761516433.892 [DAT](INFO): DAT read: Tx time:22:07:12.9895

2025-10-26T22:07:13.892Z,1761516433.892 [DAT](INFO): Ping request sent.
2025-10-26T22:07:13.892Z,1761516433.892 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:07:13.893Z,1761516433.893 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:07:13.894Z,1761516433.894 [DAT](INFO): direction in FSK: [0.978830,0.008542,0.204496]
2025-10-26T22:07:13.894Z,1761516433.894 [DAT](INFO): publishing transmit ping time
2025-10-26T22:07:13.894Z,1761516433.894 [DAT](INFO): publishing direction and range info
2025-10-26T22:07:13.898Z,1761516433.898 [DAT](INFO): publishing transmit ping time
2025-10-26T22:07:13.898Z,1761516433.898 [DAT](INFO): publishing direction and range info
2025-10-26T22:07:13.978Z,1761516433.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635875,-0.754834,-0.160900],[0.769738,0.635448,0.060901],[0.056274,-0.162576,0.985090]]
2025-10-26T22:07:14.087Z,1761516434.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 113.900002 m,
      deltaT: 3.782280 s,
      deltaX: -2.199997 m,
      approachRate: -0.581659 m/s,
      rangeRepo size: 4

2025-10-26T22:07:14.093Z,1761516434.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 113.206177 m,
      bearing: 52.913525 deg,
      lat: 36.779366 deg,
      lon: -121.859448 deg,
      deltaT: 3.782280 s,
      deltaX: -2.186592 m,
      approachRate: -0.578115 m/s,
      posRepo size: 4

2025-10-26T22:07:14.093Z,1761516434.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.21 m.
2025-10-26T22:07:14.100Z,1761516434.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.206177 m,
      nav range: 110.134651 m,
      bearing: 52.863222 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.076677 deg/s,
      cmd heading: 51.158752 deg,
      new cmd heading: 51.267003 deg.

2025-10-26T22:07:14.101Z,1761516434.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.894778 target range: 113.206177 and range: 113.90 m.
2025-10-26T22:07:14.411Z,1761516434.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635152,-0.755443,-0.160900],[0.770304,0.634831,0.060172],[0.056687,-0.162161,0.985135]]
2025-10-26T22:07:14.447Z,1761516434.447 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:14.449Z,1761516434.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.21 m.
2025-10-26T22:07:14.452Z,1761516434.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.206177 m,
      nav range: 109.925522 m,
      bearing: 52.891843 deg,
      approach rate: -0.575462 m/s,
      LOS rate: 0.078904 deg/s,
      cmd heading: 51.267004 deg,
      new cmd heading: 51.353028 deg.

2025-10-26T22:07:14.453Z,1761516434.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.896279 target range: 113.206177 and range: 113.90 m.
2025-10-26T22:07:14.628Z,1761516434.628 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:14.628Z,1761516434.628 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:14.628Z,1761516434.628 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:07:14.814Z,1761516434.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634309,-0.756165,-0.160829],[0.770956,0.634137,0.059145],[0.057264,-0.161508,0.985209]]
2025-10-26T22:07:14.884Z,1761516434.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990475
2025-10-26T22:07:14.894Z,1761516434.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.21 m.
2025-10-26T22:07:14.902Z,1761516434.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.206177 m,
      nav range: 109.693977 m,
      bearing: 52.923535 deg,
      approach rate: -0.522069 m/s,
      LOS rate: 0.071609 deg/s,
      cmd heading: 51.353027 deg,
      new cmd heading: 51.448306 deg.

2025-10-26T22:07:14.903Z,1761516434.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.897942 target range: 113.206177 and range: 113.90 m.
2025-10-26T22:07:15.133Z,1761516435.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240431
2025-10-26T22:07:15.227Z,1761516435.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633217,-0.757374,-0.159443],[0.771769,0.633411,0.056248],[0.058392,-0.158670,0.985604]]
2025-10-26T22:07:15.275Z,1761516435.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.21 m.
2025-10-26T22:07:15.278Z,1761516435.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.206177 m,
      nav range: 109.443306 m,
      bearing: 52.957717 deg,
      approach rate: -0.655564 m/s,
      LOS rate: 0.089598 deg/s,
      cmd heading: 51.448304 deg,
      new cmd heading: 51.551085 deg.

2025-10-26T22:07:15.295Z,1761516435.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.899736 target range: 113.206177 and range: 113.90 m.
2025-10-26T22:07:15.385Z,1761516435.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492792
2025-10-26T22:07:15.623Z,1761516435.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632220,-0.758399,-0.158520],[0.772520,0.632681,0.054113],[0.059253,-0.156672,0.985872]]
2025-10-26T22:07:15.636Z,1761516435.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743933
2025-10-26T22:07:15.642Z,1761516435.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.21 m.
2025-10-26T22:07:15.645Z,1761516435.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.206177 m,
      nav range: 109.233978 m,
      bearing: 52.986262 deg,
      approach rate: -0.570054 m/s,
      LOS rate: 0.077885 deg/s,
      cmd heading: 51.551085 deg,
      new cmd heading: 51.636885 deg.

2025-10-26T22:07:15.646Z,1761516435.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.901234 target range: 113.206177 and range: 113.90 m.
2025-10-26T22:07:15.891Z,1761516435.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997746
2025-10-26T22:07:16.026Z,1761516436.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631110,-0.759238,-0.158927],[0.773347,0.631776,0.052848],[0.060282,-0.156259,0.985875]]
2025-10-26T22:07:16.088Z,1761516436.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.21 m.
2025-10-26T22:07:16.090Z,1761516436.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.206177 m,
      nav range: 108.987335 m,
      bearing: 53.013445 deg,
      approach rate: -0.559259 m/s,
      LOS rate: 0.061775 deg/s,
      cmd heading: 51.636886 deg,
      new cmd heading: 51.718617 deg.

2025-10-26T22:07:16.096Z,1761516436.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.902660 target range: 113.206177 and range: 113.90 m.
2025-10-26T22:07:16.141Z,1761516436.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247946
2025-10-26T22:07:16.392Z,1761516436.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499878
2025-10-26T22:07:16.430Z,1761516436.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630181,-0.759845,-0.159712],[0.774009,0.631059,0.051710],[0.061496,-0.156205,0.985808]]
2025-10-26T22:07:16.464Z,1761516436.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:16.466Z,1761516436.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.21 m.
2025-10-26T22:07:16.469Z,1761516436.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.206177 m,
      nav range: 108.762650 m,
      bearing: 53.038180 deg,
      approach rate: -0.586956 m/s,
      LOS rate: 0.064750 deg/s,
      cmd heading: 51.718616 deg,
      new cmd heading: 51.792974 deg.

2025-10-26T22:07:16.470Z,1761516436.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.903958 target range: 113.206177 and range: 113.90 m.
2025-10-26T22:07:16.644Z,1761516436.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751754
2025-10-26T22:07:16.900Z,1761516436.900 [DAT](INFO): DAT read: Rx Time:22:07:15.5426

2025-10-26T22:07:16.902Z,1761516436.902 [DAT](INFO): Rx dataTimestamp_ set to:1761516436.900862
2025-10-26T22:07:16.904Z,1761516436.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010419
2025-10-26T22:07:16.934Z,1761516436.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.21 m.
2025-10-26T22:07:16.945Z,1761516436.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.206177 m,
      nav range: 108.517937 m,
      bearing: 53.065238 deg,
      approach rate: -0.523048 m/s,
      LOS rate: 0.057965 deg/s,
      cmd heading: 51.792973 deg,
      new cmd heading: 51.874331 deg.

2025-10-26T22:07:16.946Z,1761516436.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.905378 target range: 113.206177 and range: 113.90 m.
2025-10-26T22:07:17.149Z,1761516437.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256095
2025-10-26T22:07:17.263Z,1761516437.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628898,-0.760222,-0.162942],[0.774805,0.630206,0.050182],[0.064538,-0.157808,0.985359]]
2025-10-26T22:07:17.369Z,1761516437.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.21 m.
2025-10-26T22:07:17.376Z,1761516437.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.206177 m,
      nav range: 108.238800 m,
      bearing: 53.094242 deg,
      approach rate: -0.641550 m/s,
      LOS rate: 0.066833 deg/s,
      cmd heading: 51.874331 deg,
      new cmd heading: 51.961567 deg.

2025-10-26T22:07:17.377Z,1761516437.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.906900 target range: 113.206177 and range: 113.90 m.
2025-10-26T22:07:17.406Z,1761516437.406 [DAT](INFO): DAT read: 22:07:15.5426 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 418,-0.23, 1.650,-0.036, 1.811, 1.508, PHS= 0.245,-1.499, 0.259, RAW= 150.4,  11.4, CAL= 150.3,  12.5, ROT= 359.7, -12.5

2025-10-26T22:07:17.407Z,1761516437.407 [DAT](INFO): got valid direction response:
 22:07:15.5426 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 418,-0.23, 1.650,-0.036, 1.811, 1.508, PHS= 0.245,-1.499, 0.259, RAW= 150.4,  11.4, CAL= 150.3,  12.5, ROT= 359.7, -12.5

2025-10-26T22:07:17.408Z,1761516437.408 [DAT](INFO): DAT read: Bearing 205.7,   1.5 (Local)

2025-10-26T22:07:17.409Z,1761516437.409 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.7,   1.5 (Local)

2025-10-26T22:07:17.410Z,1761516437.410 [DAT](INFO): DAT read: Range 11 to 50 : 111.7 m  (Round-trip  149.0 ms) speed  0.8 m/s

2025-10-26T22:07:17.411Z,1761516437.411 [DAT](INFO): DAT read: user:456>

2025-10-26T22:07:17.412Z,1761516437.412 [DAT](INFO): DAT read: Tx time:22:07:16.6395

2025-10-26T22:07:17.412Z,1761516437.412 [DAT](INFO): Ping request sent.
2025-10-26T22:07:17.412Z,1761516437.412 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:07:17.412Z,1761516437.412 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:07:17.413Z,1761516437.413 [DAT](INFO): direction in FSK: [0.976283,-0.005112,0.216440]
2025-10-26T22:07:17.414Z,1761516437.414 [DAT](INFO): publishing transmit ping time
2025-10-26T22:07:17.414Z,1761516437.414 [DAT](INFO): publishing direction and range info
2025-10-26T22:07:17.417Z,1761516437.417 [DAT](INFO): publishing transmit ping time
2025-10-26T22:07:17.417Z,1761516437.417 [DAT](INFO): publishing direction and range info
2025-10-26T22:07:17.754Z,1761516437.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628202,-0.760538,-0.164149],[0.775244,0.629751,0.049104],[0.066027,-0.158103,0.985213]]
2025-10-26T22:07:17.793Z,1761516437.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 111.699997 m,
      deltaT: 3.525559 s,
      deltaX: -2.200005 m,
      approachRate: -0.624016 m/s,
      rangeRepo size: 4

2025-10-26T22:07:17.795Z,1761516437.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 111.018814 m,
      bearing: 52.726212 deg,
      lat: 36.779365 deg,
      lon: -121.859453 deg,
      deltaT: 3.525559 s,
      deltaX: -2.187363 m,
      approachRate: -0.620430 m/s,
      posRepo size: 4

2025-10-26T22:07:17.800Z,1761516437.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.02 m.
2025-10-26T22:07:17.802Z,1761516437.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.018814 m,
      nav range: 107.455528 m,
      bearing: 53.061718 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.066833 deg/s,
      cmd heading: 51.961566 deg,
      new cmd heading: 52.046361 deg.

2025-10-26T22:07:17.808Z,1761516437.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.908380 target range: 111.018814 and range: 111.70 m.
2025-10-26T22:07:18.142Z,1761516438.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627471,-0.760752,-0.165942],[0.775689,0.629269,0.048239],[0.067724,-0.158988,0.984955]]
2025-10-26T22:07:18.194Z,1761516438.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.02 m.
2025-10-26T22:07:18.197Z,1761516438.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.018814 m,
      nav range: 107.185677 m,
      bearing: 53.083119 deg,
      approach rate: -0.672012 m/s,
      LOS rate: 0.053428 deg/s,
      cmd heading: 52.046362 deg,
      new cmd heading: 52.110726 deg.

2025-10-26T22:07:18.198Z,1761516438.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.909504 target range: 111.018814 and range: 111.70 m.
2025-10-26T22:07:18.547Z,1761516438.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626664,-0.761113,-0.167331],[0.776195,0.628733,0.047073],[0.069379,-0.159381,0.984776]]
2025-10-26T22:07:18.563Z,1761516438.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:18.565Z,1761516438.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.02 m.
2025-10-26T22:07:18.568Z,1761516438.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.018814 m,
      nav range: 106.943542 m,
      bearing: 53.102288 deg,
      approach rate: -0.651793 m/s,
      LOS rate: 0.051719 deg/s,
      cmd heading: 52.110727 deg,
      new cmd heading: 52.168366 deg.

2025-10-26T22:07:18.569Z,1761516438.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.910510 target range: 111.018814 and range: 111.70 m.
2025-10-26T22:07:18.660Z,1761516438.660 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:18.660Z,1761516438.660 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:18.661Z,1761516438.661 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:07:18.916Z,1761516438.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503068
2025-10-26T22:07:18.973Z,1761516438.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625799,-0.761407,-0.169218],[0.776737,0.628128,0.046214],[0.071103,-0.160358,0.984495]]
2025-10-26T22:07:19.039Z,1761516439.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.02 m.
2025-10-26T22:07:19.042Z,1761516439.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.018814 m,
      nav range: 106.659317 m,
      bearing: 53.126195 deg,
      approach rate: -0.602005 m/s,
      LOS rate: 0.050771 deg/s,
      cmd heading: 52.168367 deg,
      new cmd heading: 52.240278 deg.

2025-10-26T22:07:19.043Z,1761516439.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.911765 target range: 111.018814 and range: 111.70 m.
2025-10-26T22:07:19.165Z,1761516439.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752478
2025-10-26T22:07:19.354Z,1761516439.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624776,-0.762171,-0.169561],[0.777405,0.627453,0.044100],[0.072780,-0.159370,0.984532]]
2025-10-26T22:07:19.391Z,1761516439.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.02 m.
2025-10-26T22:07:19.395Z,1761516439.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.018814 m,
      nav range: 106.426849 m,
      bearing: 53.145698 deg,
      approach rate: -0.657175 m/s,
      LOS rate: 0.055253 deg/s,
      cmd heading: 52.240278 deg,
      new cmd heading: 52.298914 deg.

2025-10-26T22:07:19.396Z,1761516439.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.912788 target range: 111.018814 and range: 111.70 m.
2025-10-26T22:07:19.416Z,1761516439.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004370
2025-10-26T22:07:19.668Z,1761516439.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256219
2025-10-26T22:07:19.758Z,1761516439.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623455,-0.763077,-0.170344],[0.778302,0.626468,0.042228],[0.074492,-0.158907,0.984479]]
2025-10-26T22:07:19.776Z,1761516439.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.02 m.
2025-10-26T22:07:19.779Z,1761516439.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.018814 m,
      nav range: 106.168648 m,
      bearing: 53.167240 deg,
      approach rate: -0.670692 m/s,
      LOS rate: 0.056095 deg/s,
      cmd heading: 52.298912 deg,
      new cmd heading: 52.363698 deg.

2025-10-26T22:07:19.780Z,1761516439.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.913919 target range: 111.018814 and range: 111.70 m.
2025-10-26T22:07:19.923Z,1761516439.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510583
2025-10-26T22:07:20.163Z,1761516440.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621947,-0.763980,-0.171806],[0.779345,0.625260,0.040888],[0.076186,-0.159326,0.984282]]
2025-10-26T22:07:20.172Z,1761516440.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760374
2025-10-26T22:07:20.201Z,1761516440.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.02 m.
2025-10-26T22:07:20.210Z,1761516440.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.018814 m,
      nav range: 105.893860 m,
      bearing: 53.188158 deg,
      approach rate: -0.646969 m/s,
      LOS rate: 0.049377 deg/s,
      cmd heading: 52.363696 deg,
      new cmd heading: 52.426612 deg.

2025-10-26T22:07:20.236Z,1761516440.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.915017 target range: 111.018814 and range: 111.70 m.
2025-10-26T22:07:20.424Z,1761516440.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012190
2025-10-26T22:07:20.566Z,1761516440.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620628,-0.765068,-0.171731],[0.780263,0.624249,0.038782],[0.077532,-0.158065,0.984380]]
2025-10-26T22:07:20.594Z,1761516440.594 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:20.601Z,1761516440.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.02 m.
2025-10-26T22:07:20.607Z,1761516440.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.018814 m,
      nav range: 105.645546 m,
      bearing: 53.206944 deg,
      approach rate: -0.621088 m/s,
      LOS rate: 0.047099 deg/s,
      cmd heading: 52.426613 deg,
      new cmd heading: 52.483104 deg.

2025-10-26T22:07:20.608Z,1761516440.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.916003 target range: 111.018814 and range: 111.70 m.
2025-10-26T22:07:20.677Z,1761516440.677 [DAT](INFO): DAT read: Rx Time:22:07:19.1895

2025-10-26T22:07:20.678Z,1761516440.678 [DAT](INFO): Rx dataTimestamp_ set to:1761516440.677652
2025-10-26T22:07:20.679Z,1761516440.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266721
2025-10-26T22:07:20.931Z,1761516440.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518381
2025-10-26T22:07:21.016Z,1761516441.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619488,-0.765796,-0.172604],[0.781054,0.623320,0.037761],[0.078671,-0.158206,0.984267]]
2025-10-26T22:07:21.073Z,1761516441.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.02 m.
2025-10-26T22:07:21.076Z,1761516441.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.018814 m,
      nav range: 105.328583 m,
      bearing: 53.233502 deg,
      approach rate: -0.670294 m/s,
      LOS rate: 0.056332 deg/s,
      cmd heading: 52.483105 deg,
      new cmd heading: 52.563019 deg.

2025-10-26T22:07:21.077Z,1761516441.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.917398 target range: 111.018814 and range: 111.70 m.
2025-10-26T22:07:21.186Z,1761516441.186 [DAT](INFO): DAT read: 22:07:19.1895 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 402,-0.12, 1.477,-0.190, 1.624, 1.290, PHS= 0.290,-1.435, 0.290, RAW= 150.0,   9.9, CAL= 149.7,  10.8, ROT=   0.3, -10.8

2025-10-26T22:07:21.187Z,1761516441.187 [DAT](INFO): got valid direction response:
 22:07:19.1895 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 402,-0.12, 1.477,-0.190, 1.624, 1.290, PHS= 0.290,-1.435, 0.290, RAW= 150.0,   9.9, CAL= 149.7,  10.8, ROT=   0.3, -10.8

2025-10-26T22:07:21.188Z,1761516441.188 [DAT](INFO): DAT read: Bearing 203.7,   3.2 (Local)

2025-10-26T22:07:21.189Z,1761516441.189 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.7,   3.2 (Local)

2025-10-26T22:07:21.190Z,1761516441.190 [DAT](INFO): DAT read: Range 11 to 50 : 109.3 m  (Round-trip  145.8 ms) speed  0.6 m/s

2025-10-26T22:07:21.191Z,1761516441.191 [DAT](INFO): DAT read: user:457>

2025-10-26T22:07:21.192Z,1761516441.192 [DAT](INFO): DAT read: Tx time:22:07:20.2895

2025-10-26T22:07:21.192Z,1761516441.192 [DAT](INFO): Ping request sent.
2025-10-26T22:07:21.192Z,1761516441.192 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:07:21.193Z,1761516441.193 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:07:21.194Z,1761516441.194 [DAT](INFO): direction in FSK: [0.982274,0.005143,0.187381]
2025-10-26T22:07:21.194Z,1761516441.194 [DAT](INFO): publishing transmit ping time
2025-10-26T22:07:21.194Z,1761516441.194 [DAT](INFO): publishing direction and range info
2025-10-26T22:07:21.197Z,1761516441.197 [DAT](INFO): publishing transmit ping time
2025-10-26T22:07:21.197Z,1761516441.197 [DAT](INFO): publishing direction and range info
2025-10-26T22:07:21.416Z,1761516441.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617870,-0.767043,-0.172863],[0.782192,0.622010,0.035774],[0.080083,-0.157316,0.984296]]
2025-10-26T22:07:21.442Z,1761516441.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 109.300003 m,
      deltaT: 3.780033 s,
      deltaX: -2.399994 m,
      approachRate: -0.634914 m/s,
      rangeRepo size: 4

2025-10-26T22:07:21.444Z,1761516441.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 108.634010 m,
      bearing: 53.751940 deg,
      lat: 36.779362 deg,
      lon: -121.859450 deg,
      deltaT: 3.780033 s,
      deltaX: -2.384804 m,
      approachRate: -0.630895 m/s,
      posRepo size: 4

2025-10-26T22:07:21.445Z,1761516441.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:21.447Z,1761516441.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 105.202057 m,
      bearing: 53.476313 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.056332 deg/s,
      cmd heading: 52.563018 deg,
      new cmd heading: 52.625147 deg.

2025-10-26T22:07:21.448Z,1761516441.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.918482 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:21.818Z,1761516441.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616169,-0.768394,-0.172936],[0.783400,0.620598,0.033788],[0.081361,-0.156297,0.984353]]
2025-10-26T22:07:21.837Z,1761516441.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:21.839Z,1761516441.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 104.942245 m,
      bearing: 53.498271 deg,
      approach rate: -0.656955 m/s,
      LOS rate: 0.055661 deg/s,
      cmd heading: 52.625146 deg,
      new cmd heading: 52.691184 deg.

2025-10-26T22:07:21.840Z,1761516441.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.919635 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:22.294Z,1761516442.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:22.296Z,1761516442.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 104.654663 m,
      bearing: 53.525974 deg,
      approach rate: -0.629227 m/s,
      LOS rate: 0.060781 deg/s,
      cmd heading: 52.691184 deg,
      new cmd heading: 52.774522 deg.

2025-10-26T22:07:22.297Z,1761516442.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.921089 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:22.755Z,1761516442.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613669,-0.770088,-0.174286],[0.785121,0.618547,0.031375],[0.083643,-0.156090,0.984195]]
2025-10-26T22:07:22.776Z,1761516442.776 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:22.778Z,1761516442.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:22.781Z,1761516442.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 104.349220 m,
      bearing: 53.555050 deg,
      approach rate: -0.630313 m/s,
      LOS rate: 0.060176 deg/s,
      cmd heading: 52.774522 deg,
      new cmd heading: 52.862004 deg.

2025-10-26T22:07:22.782Z,1761516442.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.922616 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:22.944Z,1761516442.944 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:22.944Z,1761516442.944 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:22.945Z,1761516442.945 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:07:23.158Z,1761516443.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612763,-0.770496,-0.175665],[0.785742,0.617764,0.031248],[0.084443,-0.157175,0.983954]]
2025-10-26T22:07:23.197Z,1761516443.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004196
2025-10-26T22:07:23.217Z,1761516443.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:23.226Z,1761516443.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 104.079132 m,
      bearing: 53.586836 deg,
      approach rate: -0.615078 m/s,
      LOS rate: 0.072576 deg/s,
      cmd heading: 52.862003 deg,
      new cmd heading: 52.957610 deg.

2025-10-26T22:07:23.230Z,1761516443.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.924285 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:23.448Z,1761516443.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256046
2025-10-26T22:07:23.684Z,1761516443.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610962,-0.771788,-0.176260],[0.786964,0.616308,0.029193],[0.086100,-0.156547,0.983911]]
2025-10-26T22:07:23.702Z,1761516443.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509520
2025-10-26T22:07:23.730Z,1761516443.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:23.737Z,1761516443.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 103.770477 m,
      bearing: 53.622993 deg,
      approach rate: -0.603168 m/s,
      LOS rate: 0.070866 deg/s,
      cmd heading: 52.957609 deg,
      new cmd heading: 53.066400 deg.

2025-10-26T22:07:23.738Z,1761516443.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.926183 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:23.955Z,1761516443.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761972
2025-10-26T22:07:24.177Z,1761516444.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:24.179Z,1761516444.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 103.495735 m,
      bearing: 53.660848 deg,
      approach rate: -0.613909 m/s,
      LOS rate: 0.084813 deg/s,
      cmd heading: 53.066400 deg,
      new cmd heading: 53.180268 deg.

2025-10-26T22:07:24.180Z,1761516444.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.928171 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:24.214Z,1761516444.214 [DAT](INFO): DAT read: 22:07:22.8365 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 403,-0.19,-1.551, 3.113,-1.395,-1.741, PHS= 0.292,-1.385, 0.302, RAW= 150.3,   9.4, CAL= 149.9,  10.2, ROT=   0.1, -10.2

2025-10-26T22:07:24.216Z,1761516444.216 [DAT](INFO): got valid direction response:
 22:07:22.8365 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 403,-0.19,-1.551, 3.113,-1.395,-1.741, PHS= 0.292,-1.385, 0.302, RAW= 150.3,   9.4, CAL= 149.9,  10.2, ROT=   0.1, -10.2

2025-10-26T22:07:24.217Z,1761516444.217 [DAT](INFO): DAT read: Rx Time:22:07:22.8365

2025-10-26T22:07:24.218Z,1761516444.218 [DAT](INFO): Rx dataTimestamp_ set to:1761516444.217252
2025-10-26T22:07:24.219Z,1761516444.219 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-26T22:07:24.224Z,1761516444.224 [DAT](INFO): Received low SNR in chirp
2025-10-26T22:07:24.239Z,1761516444.239 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T22:07:24.240Z,1761516444.240 [DAT](INFO): direction in FSK: [0.984194,0.001718,0.177085]
2025-10-26T22:07:24.252Z,1761516444.252 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:24.252Z,1761516444.252 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:24.252Z,1761516444.252 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:24.457Z,1761516444.457 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:24.457Z,1761516444.457 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:24.457Z,1761516444.457 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:24.536Z,1761516444.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:24.539Z,1761516444.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 103.286934 m,
      bearing: 53.689756 deg,
      approach rate: -0.580184 m/s,
      LOS rate: 0.080487 deg/s,
      cmd heading: 53.180270 deg,
      new cmd heading: 53.267169 deg.

2025-10-26T22:07:24.540Z,1761516444.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.929688 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:24.709Z,1761516444.709 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:24.709Z,1761516444.709 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:24.709Z,1761516444.709 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:24.947Z,1761516444.947 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:24.949Z,1761516444.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:24.952Z,1761516444.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 103.054985 m,
      bearing: 53.722011 deg,
      approach rate: -0.562069 m/s,
      LOS rate: 0.078338 deg/s,
      cmd heading: 53.267170 deg,
      new cmd heading: 53.364153 deg.

2025-10-26T22:07:24.953Z,1761516444.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.931380 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:24.960Z,1761516444.960 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:24.960Z,1761516444.960 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:24.961Z,1761516444.961 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:25.213Z,1761516445.213 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:25.213Z,1761516445.213 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:25.213Z,1761516445.213 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:25.333Z,1761516445.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613177,-0.770385,-0.174700],[0.785371,0.618297,0.030022],[0.084888,-0.155613,0.984164]]
2025-10-26T22:07:25.374Z,1761516445.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:25.393Z,1761516445.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 102.802872 m,
      bearing: 53.764000 deg,
      approach rate: -0.593763 m/s,
      LOS rate: 0.099132 deg/s,
      cmd heading: 53.364152 deg,
      new cmd heading: 53.490428 deg.

2025-10-26T22:07:25.394Z,1761516445.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.933584 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:25.465Z,1761516445.465 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:25.465Z,1761516445.465 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:25.465Z,1761516445.465 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:25.717Z,1761516445.717 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:25.717Z,1761516445.717 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:25.717Z,1761516445.717 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:25.766Z,1761516445.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613705,-0.770347,-0.173008],[0.785002,0.618799,0.029304],[0.084483,-0.153796,0.984484]]
2025-10-26T22:07:25.796Z,1761516445.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:25.799Z,1761516445.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 102.563889 m,
      bearing: 53.804113 deg,
      approach rate: -0.565673 m/s,
      LOS rate: 0.095168 deg/s,
      cmd heading: 53.490428 deg,
      new cmd heading: 53.611046 deg.

2025-10-26T22:07:25.804Z,1761516445.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.935689 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:25.971Z,1761516445.971 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:25.971Z,1761516445.971 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:25.971Z,1761516445.971 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:26.147Z,1761516446.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614748,-0.769140,-0.174666],[0.784292,0.619559,0.032140],[0.083496,-0.156747,0.984103]]
2025-10-26T22:07:26.208Z,1761516446.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:26.213Z,1761516446.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 102.333130 m,
      bearing: 53.843711 deg,
      approach rate: -0.561293 m/s,
      LOS rate: 0.096535 deg/s,
      cmd heading: 53.611046 deg,
      new cmd heading: 53.730108 deg.

2025-10-26T22:07:26.221Z,1761516446.221 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:26.221Z,1761516446.221 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:26.221Z,1761516446.221 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:26.215Z,1761516446.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.937767 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:26.472Z,1761516446.472 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:26.472Z,1761516446.472 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:26.472Z,1761516446.472 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:26.550Z,1761516446.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615485,-0.768642,-0.174266],[0.783814,0.620107,0.033202],[0.082543,-0.157028,0.984139]]
2025-10-26T22:07:26.581Z,1761516446.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:26.584Z,1761516446.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 102.120003 m,
      bearing: 53.880556 deg,
      approach rate: -0.570132 m/s,
      LOS rate: 0.098769 deg/s,
      cmd heading: 53.730110 deg,
      new cmd heading: 53.840875 deg.

2025-10-26T22:07:26.585Z,1761516446.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.939701 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:26.726Z,1761516446.726 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:26.726Z,1761516446.726 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:26.727Z,1761516446.727 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:26.954Z,1761516446.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615688,-0.768826,-0.172730],[0.783810,0.620077,0.033873],[0.081063,-0.156243,0.984387]]
2025-10-26T22:07:26.976Z,1761516446.976 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:26.976Z,1761516446.976 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:26.976Z,1761516446.976 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:26.994Z,1761516446.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:27.001Z,1761516447.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:27.013Z,1761516447.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 101.897232 m,
      bearing: 53.919263 deg,
      approach rate: -0.530542 m/s,
      LOS rate: 0.092384 deg/s,
      cmd heading: 53.840875 deg,
      new cmd heading: 53.957249 deg.

2025-10-26T22:07:27.026Z,1761516447.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.941732 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:27.228Z,1761516447.228 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:27.228Z,1761516447.228 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:27.228Z,1761516447.228 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:27.441Z,1761516447.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:27.443Z,1761516447.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 101.639351 m,
      bearing: 53.964944 deg,
      approach rate: -0.586608 m/s,
      LOS rate: 0.104177 deg/s,
      cmd heading: 53.957248 deg,
      new cmd heading: 54.094640 deg.

2025-10-26T22:07:27.444Z,1761516447.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.944130 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:27.481Z,1761516447.481 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:27.481Z,1761516447.481 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:27.481Z,1761516447.481 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:27.733Z,1761516447.733 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:27.733Z,1761516447.733 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:27.733Z,1761516447.733 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:27.787Z,1761516447.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615040,-0.770561,-0.167218],[0.784641,0.619057,0.033279],[0.077874,-0.151675,0.985358]]
2025-10-26T22:07:27.818Z,1761516447.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:27.821Z,1761516447.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 101.428001 m,
      bearing: 54.002471 deg,
      approach rate: -0.560295 m/s,
      LOS rate: 0.099691 deg/s,
      cmd heading: 54.094641 deg,
      new cmd heading: 54.207454 deg.

2025-10-26T22:07:27.822Z,1761516447.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.946099 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:27.984Z,1761516447.984 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:27.984Z,1761516447.984 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:27.984Z,1761516447.984 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:28.192Z,1761516448.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613992,-0.772231,-0.163317],[0.785630,0.617866,0.032056],[0.076153,-0.147989,0.986053]]
2025-10-26T22:07:28.236Z,1761516448.236 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:28.236Z,1761516448.236 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:28.236Z,1761516448.236 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:28.251Z,1761516448.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:28.253Z,1761516448.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 101.178024 m,
      bearing: 54.038489 deg,
      approach rate: -0.577568 m/s,
      LOS rate: 0.083425 deg/s,
      cmd heading: 54.207455 deg,
      new cmd heading: 54.315776 deg.

2025-10-26T22:07:28.254Z,1761516448.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.947989 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:28.489Z,1761516448.489 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:28.489Z,1761516448.489 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:28.489Z,1761516448.489 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:28.595Z,1761516448.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612257,-0.774175,-0.160604],[0.787114,0.616019,0.031190],[0.074789,-0.145510,0.986526]]
2025-10-26T22:07:28.620Z,1761516448.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:28.622Z,1761516448.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 100.964745 m,
      bearing: 54.069094 deg,
      approach rate: -0.577513 m/s,
      LOS rate: 0.083047 deg/s,
      cmd heading: 54.315775 deg,
      new cmd heading: 54.407784 deg.

2025-10-26T22:07:28.640Z,1761516448.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.949595 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:28.742Z,1761516448.742 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:28.742Z,1761516448.742 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:28.742Z,1761516448.742 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:28.992Z,1761516448.992 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:28.992Z,1761516448.992 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:28.992Z,1761516448.992 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:29.016Z,1761516449.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610509,-0.775907,-0.158896],[0.788570,0.614177,0.030742],[0.073737,-0.144069,0.986817]]
2025-10-26T22:07:29.081Z,1761516449.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:29.104Z,1761516449.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:29.110Z,1761516449.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 100.719826 m,
      bearing: 54.104082 deg,
      approach rate: -0.519872 m/s,
      LOS rate: 0.074448 deg/s,
      cmd heading: 54.407784 deg,
      new cmd heading: 54.513004 deg.

2025-10-26T22:07:29.120Z,1761516449.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.951431 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:29.245Z,1761516449.245 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:29.245Z,1761516449.245 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:29.245Z,1761516449.245 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:29.452Z,1761516449.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608528,-0.777971,-0.156378],[0.790202,0.612127,0.029687],[0.072628,-0.141636,0.987251]]
2025-10-26T22:07:29.496Z,1761516449.496 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:29.496Z,1761516449.496 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:29.496Z,1761516449.496 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:29.504Z,1761516449.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:29.507Z,1761516449.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 100.449966 m,
      bearing: 54.133306 deg,
      approach rate: -0.652828 m/s,
      LOS rate: 0.070885 deg/s,
      cmd heading: 54.513003 deg,
      new cmd heading: 54.600909 deg.

2025-10-26T22:07:29.508Z,1761516449.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.952966 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:29.748Z,1761516449.748 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:29.749Z,1761516449.749 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:29.749Z,1761516449.749 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:29.854Z,1761516449.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606276,-0.780087,-0.154578],[0.792012,0.609822,0.028873],[0.071741,-0.139933,0.987559]]
2025-10-26T22:07:29.884Z,1761516449.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:29.886Z,1761516449.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 100.225647 m,
      bearing: 54.157352 deg,
      approach rate: -0.591697 m/s,
      LOS rate: 0.063571 deg/s,
      cmd heading: 54.600908 deg,
      new cmd heading: 54.673209 deg.

2025-10-26T22:07:29.888Z,1761516449.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.954228 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:30.000Z,1761516450.000 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:30.000Z,1761516450.000 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:30.000Z,1761516450.000 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:30.252Z,1761516450.252 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:30.252Z,1761516450.252 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:30.252Z,1761516450.252 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:30.260Z,1761516450.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603887,-0.782218,-0.153153],[0.793876,0.607445,0.027795],[0.071291,-0.138370,0.987812]]
2025-10-26T22:07:30.337Z,1761516450.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:30.344Z,1761516450.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 99.949211 m,
      bearing: 54.181028 deg,
      approach rate: -0.610057 m/s,
      LOS rate: 0.052394 deg/s,
      cmd heading: 54.673209 deg,
      new cmd heading: 54.744433 deg.

2025-10-26T22:07:30.345Z,1761516450.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.955471 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:30.504Z,1761516450.504 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:30.505Z,1761516450.505 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:30.505Z,1761516450.505 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:30.665Z,1761516450.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600876,-0.784630,-0.152656],[0.796160,0.604494,0.026783],[0.071264,-0.137632,0.987916]]
2025-10-26T22:07:30.683Z,1761516450.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:30.686Z,1761516450.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 99.728966 m,
      bearing: 54.199502 deg,
      approach rate: -0.636614 m/s,
      LOS rate: 0.053518 deg/s,
      cmd heading: 54.744434 deg,
      new cmd heading: 54.799980 deg.

2025-10-26T22:07:30.687Z,1761516450.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.956440 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:30.757Z,1761516450.757 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:30.757Z,1761516450.757 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:30.757Z,1761516450.757 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:31.008Z,1761516451.008 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:31.008Z,1761516451.008 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:31.008Z,1761516451.008 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:07:31.115Z,1761516451.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597713,-0.786937,-0.153197],[0.798528,0.601378,0.026403],[0.071352,-0.138114,0.987843]]
2025-10-26T22:07:31.208Z,1761516451.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:31.216Z,1761516451.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:31.224Z,1761516451.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 99.409920 m,
      bearing: 54.219540 deg,
      approach rate: -0.604073 m/s,
      LOS rate: 0.038060 deg/s,
      cmd heading: 54.799981 deg,
      new cmd heading: 54.860286 deg.

2025-10-26T22:07:31.225Z,1761516451.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.957493 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:31.260Z,1761516451.260 [DAT](INFO): Reached modem response timeout
2025-10-26T22:07:31.261Z,1761516451.261 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:07:31.261Z,1761516451.261 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:07:31.506Z,1761516451.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594585,-0.789426,-0.152566],[0.800827,0.598383,0.024783],[0.071728,-0.136914,0.987983]]
2025-10-26T22:07:31.512Z,1761516451.512 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:07:31.526Z,1761516451.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:31.529Z,1761516451.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 99.198952 m,
      bearing: 54.232387 deg,
      approach rate: -0.670048 m/s,
      LOS rate: 0.040888 deg/s,
      cmd heading: 54.860284 deg,
      new cmd heading: 54.898906 deg.

2025-10-26T22:07:31.530Z,1761516451.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.958167 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:31.764Z,1761516451.764 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:07:31.906Z,1761516451.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591112,-0.792042,-0.152500],[0.803375,0.594999,0.023742],[0.071933,-0.136550,0.988018]]
2025-10-26T22:07:31.948Z,1761516451.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:31.951Z,1761516451.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 98.943047 m,
      bearing: 54.247400 deg,
      approach rate: -0.605591 m/s,
      LOS rate: 0.035620 deg/s,
      cmd heading: 54.898906 deg,
      new cmd heading: 54.944061 deg.

2025-10-26T22:07:31.952Z,1761516451.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.958955 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:32.017Z,1761516452.017 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:07:32.268Z,1761516452.268 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:07:32.322Z,1761516452.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587659,-0.794560,-0.152744],[0.805898,0.591604,0.023100],[0.072010,-0.136671,0.987996]]
2025-10-26T22:07:32.384Z,1761516452.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:32.386Z,1761516452.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 98.663063 m,
      bearing: 54.261235 deg,
      approach rate: -0.649261 m/s,
      LOS rate: 0.032174 deg/s,
      cmd heading: 54.944060 deg,
      new cmd heading: 54.985683 deg.

2025-10-26T22:07:32.392Z,1761516452.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.959681 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:32.520Z,1761516452.520 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:07:32.728Z,1761516452.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584169,-0.797194,-0.152411],[0.808421,0.588195,0.021970],[0.072133,-0.136046,0.988073]]
2025-10-26T22:07:32.764Z,1761516452.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:32.768Z,1761516452.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 98.418236 m,
      bearing: 54.272779 deg,
      approach rate: -0.636036 m/s,
      LOS rate: 0.030066 deg/s,
      cmd heading: 54.985683 deg,
      new cmd heading: 55.020403 deg.

2025-10-26T22:07:32.769Z,1761516452.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.960287 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:32.776Z,1761516452.776 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:07:33.024Z,1761516453.024 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:07:33.178Z,1761516453.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580748,-0.799500,-0.153399],[0.810880,0.584801,0.021961],[0.072150,-0.137142,0.987920]]
2025-10-26T22:07:33.240Z,1761516453.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:33.242Z,1761516453.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:33.245Z,1761516453.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 98.117874 m,
      bearing: 54.291676 deg,
      approach rate: -0.628273 m/s,
      LOS rate: 0.039647 deg/s,
      cmd heading: 55.020404 deg,
      new cmd heading: 55.077267 deg.

2025-10-26T22:07:33.246Z,1761516453.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.961280 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:33.277Z,1761516453.277 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:07:33.528Z,1761516453.528 [DAT](INFO): DAT read: Response Not Received

2025-10-26T22:07:33.529Z,1761516453.529 [DAT](INFO): response not received
2025-10-26T22:07:33.529Z,1761516453.529 [DAT](INFO): DAT read: user:459>

2025-10-26T22:07:33.530Z,1761516453.530 [DAT](INFO): DAT read: Tx time:22:07:32.7395

2025-10-26T22:07:33.530Z,1761516453.530 [DAT](INFO): Ping request sent.
2025-10-26T22:07:33.530Z,1761516453.530 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:07:33.530Z,1761516453.530 [DAT](INFO): publishing transmit ping time
2025-10-26T22:07:33.531Z,1761516453.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-10-26T22:07:33.673Z,1761516453.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574408,-0.803592,-0.155871],[0.815422,0.578412,0.022951],[0.071715,-0.140284,0.987511]]
2025-10-26T22:07:33.721Z,1761516453.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:33.731Z,1761516453.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 97.844414 m,
      bearing: 54.307704 deg,
      approach rate: -0.571561 m/s,
      LOS rate: 0.033595 deg/s,
      cmd heading: 55.077266 deg,
      new cmd heading: 55.125486 deg.

2025-10-26T22:07:33.736Z,1761516453.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.962121 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:33.781Z,1761516453.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250341
2025-10-26T22:07:34.033Z,1761516454.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503218
2025-10-26T22:07:34.085Z,1761516454.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571599,-0.805302,-0.157365],[0.817451,0.575488,0.024228],[0.071051,-0.142487,0.987243]]
2025-10-26T22:07:34.172Z,1761516454.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:34.175Z,1761516454.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 97.590935 m,
      bearing: 54.322112 deg,
      approach rate: -0.561965 m/s,
      LOS rate: 0.032025 deg/s,
      cmd heading: 55.125487 deg,
      new cmd heading: 55.168822 deg.

2025-10-26T22:07:34.180Z,1761516454.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.962878 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:34.284Z,1761516454.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754155
2025-10-26T22:07:34.536Z,1761516454.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006189
2025-10-26T22:07:34.646Z,1761516454.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569109,-0.807146,-0.156939],[0.819294,0.572832,0.024903],[0.069799,-0.142752,0.987294]]
2025-10-26T22:07:34.687Z,1761516454.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:34.713Z,1761516454.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 97.235245 m,
      bearing: 54.345982 deg,
      approach rate: -0.691711 m/s,
      LOS rate: 0.046591 deg/s,
      cmd heading: 55.168821 deg,
      new cmd heading: 55.240694 deg.

2025-10-26T22:07:34.716Z,1761516454.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.964132 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:34.790Z,1761516454.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259205
2025-10-26T22:07:35.040Z,1761516455.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510216
2025-10-26T22:07:35.048Z,1761516455.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567392,-0.808716,-0.155065],[0.820633,0.570894,0.025337],[0.068035,-0.141627,0.987579]]
2025-10-26T22:07:35.078Z,1761516455.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:35.093Z,1761516455.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 96.997902 m,
      bearing: 54.361698 deg,
      approach rate: -0.605571 m/s,
      LOS rate: 0.040196 deg/s,
      cmd heading: 55.240695 deg,
      new cmd heading: 55.287958 deg.

2025-10-26T22:07:35.094Z,1761516455.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.964957 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:35.295Z,1761516455.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764941
2025-10-26T22:07:35.500Z,1761516455.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:35.502Z,1761516455.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:35.505Z,1761516455.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 96.745415 m,
      bearing: 54.390028 deg,
      approach rate: -0.595098 m/s,
      LOS rate: 0.066947 deg/s,
      cmd heading: 55.287957 deg,
      new cmd heading: 55.373169 deg.

2025-10-26T22:07:35.506Z,1761516455.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.966444 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:35.544Z,1761516455.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014262
2025-10-26T22:07:35.797Z,1761516455.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266820
2025-10-26T22:07:35.863Z,1761516455.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565872,-0.810011,-0.153854],[0.821993,0.568769,0.028815],[0.064167,-0.142773,0.987673]]
2025-10-26T22:07:35.889Z,1761516455.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:35.891Z,1761516455.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 96.520935 m,
      bearing: 54.415048 deg,
      approach rate: -0.581060 m/s,
      LOS rate: 0.064915 deg/s,
      cmd heading: 55.373170 deg,
      new cmd heading: 55.448405 deg.

2025-10-26T22:07:35.892Z,1761516455.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.967757 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:36.048Z,1761516456.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518181
2025-10-26T22:07:36.258Z,1761516456.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566225,-0.809866,-0.153317],[0.821913,0.568764,0.031079],[0.062031,-0.143611,0.987688]]
2025-10-26T22:07:36.300Z,1761516456.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770222
2025-10-26T22:07:36.304Z,1761516456.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:36.307Z,1761516456.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 96.286263 m,
      bearing: 54.450933 deg,
      approach rate: -0.565074 m/s,
      LOS rate: 0.086617 deg/s,
      cmd heading: 55.448405 deg,
      new cmd heading: 55.556319 deg.

2025-10-26T22:07:36.308Z,1761516456.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.969641 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:36.553Z,1761516456.553 [DAT](INFO): DAT read: Rx Time:22:07:35.2764

2025-10-26T22:07:36.553Z,1761516456.553 [DAT](INFO): Rx dataTimestamp_ set to:1761516456.552824
2025-10-26T22:07:36.554Z,1761516456.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023470
2025-10-26T22:07:36.663Z,1761516456.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567386,-0.808886,-0.154196],[0.821267,0.569504,0.034447],[0.059952,-0.146181,0.987440]]
2025-10-26T22:07:36.697Z,1761516456.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:36.718Z,1761516456.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 96.066307 m,
      bearing: 54.484897 deg,
      approach rate: -0.559895 m/s,
      LOS rate: 0.086654 deg/s,
      cmd heading: 55.556318 deg,
      new cmd heading: 55.658444 deg.

2025-10-26T22:07:36.724Z,1761516456.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.971423 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:36.806Z,1761516456.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275940
2025-10-26T22:07:37.060Z,1761516457.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528826
2025-10-26T22:07:37.105Z,1761516457.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569511,-0.807127,-0.155573],[0.819941,0.571163,0.038340],[0.057912,-0.149396,0.987080]]
2025-10-26T22:07:37.219Z,1761516457.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.63 m.
2025-10-26T22:07:37.236Z,1761516457.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.634010 m,
      nav range: 95.815903 m,
      bearing: 54.524131 deg,
      approach rate: -0.481290 m/s,
      LOS rate: 0.075606 deg/s,
      cmd heading: 55.658443 deg,
      new cmd heading: 55.776452 deg.

2025-10-26T22:07:37.237Z,1761516457.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.973483 target range: 108.634010 and range: 109.30 m.
2025-10-26T22:07:37.316Z,1761516457.316 [DAT](INFO): DAT read: 22:07:35.2764 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 332,-0.01,-2.162, 2.544,-1.900,-2.287, PHS= 0.227,-1.407, 0.343, RAW= 153.4,   9.9, CAL= 153.2,  10.8, ROT= 356.8, -10.8

2025-10-26T22:07:37.318Z,1761516457.318 [DAT](INFO): got valid direction response:
 22:07:35.2764 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 332,-0.01,-2.162, 2.544,-1.900,-2.287, PHS= 0.227,-1.407, 0.343, RAW= 153.4,   9.9, CAL= 153.2,  10.8, ROT= 356.8, -10.8

2025-10-26T22:07:37.319Z,1761516457.319 [DAT](INFO): DAT read: Bearing 207.9,  -1.1 (Local)

2025-10-26T22:07:37.320Z,1761516457.320 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.9,  -1.1 (Local)

2025-10-26T22:07:37.321Z,1761516457.321 [DAT](INFO): DAT read: Range 11 to 50 : 99.6 m  (Round-trip  132.8 ms) speed  0.6 m/s

2025-10-26T22:07:37.322Z,1761516457.322 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:07:37.323Z,1761516457.323 [DAT](INFO): direction in FSK: [0.980756,-0.054833,0.187381]
2025-10-26T22:07:37.343Z,1761516457.343 [DAT](INFO): publishing direction and range info
2025-10-26T22:07:37.351Z,1761516457.351 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:37.351Z,1761516457.351 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:37.351Z,1761516457.351 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:07:37.560Z,1761516457.560 [DAT](INFO): DAT read: user:460>

2025-10-26T22:07:37.561Z,1761516457.561 [DAT](INFO): DAT read: Tx time:22:07:36.7395

2025-10-26T22:07:37.561Z,1761516457.561 [DAT](INFO): Ping request sent.
2025-10-26T22:07:37.562Z,1761516457.562 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:07:37.562Z,1761516457.562 [DAT](INFO): publishing transmit ping time
2025-10-26T22:07:37.562Z,1761516457.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-10-26T22:07:37.587Z,1761516457.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 99.599998 m,
      deltaT: 16.128259 s,
      deltaX: -9.700005 m,
      approachRate: -0.601429 m/s,
      rangeRepo size: 4

2025-10-26T22:07:37.589Z,1761516457.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 98.993446 m,
      bearing: 53.668033 deg,
      lat: 36.779365 deg,
      lon: -121.859453 deg,
      deltaT: 16.128259 s,
      deltaX: -9.640564 m,
      approachRate: -0.597744 m/s,
      posRepo size: 4

2025-10-26T22:07:37.590Z,1761516457.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.99 m.
2025-10-26T22:07:37.629Z,1761516457.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.993446 m,
      nav range: 95.452164 m,
      bearing: 54.320215 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.075606 deg/s,
      cmd heading: 55.776452 deg,
      new cmd heading: 55.860177 deg.

2025-10-26T22:07:37.630Z,1761516457.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.974944 target range: 98.993446 and range: 99.60 m.
2025-10-26T22:07:37.812Z,1761516457.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250734
2025-10-26T22:07:37.960Z,1761516457.960 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:37.962Z,1761516457.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.99 m.
2025-10-26T22:07:37.965Z,1761516457.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.993446 m,
      nav range: 95.241989 m,
      bearing: 54.354309 deg,
      approach rate: -0.558869 m/s,
      LOS rate: 0.090859 deg/s,
      cmd heading: 55.860176 deg,
      new cmd heading: 55.962684 deg.

2025-10-26T22:07:37.966Z,1761516457.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.976733 target range: 98.993446 and range: 99.60 m.
2025-10-26T22:07:38.064Z,1761516458.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502755
2025-10-26T22:07:38.316Z,1761516458.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754856
2025-10-26T22:07:38.328Z,1761516458.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577995,-0.801283,-0.154492],[0.814385,0.578445,0.046684],[0.051958,-0.152799,0.986890]]
2025-10-26T22:07:38.397Z,1761516458.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.99 m.
2025-10-26T22:07:38.404Z,1761516458.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.993446 m,
      nav range: 95.018845 m,
      bearing: 54.393975 deg,
      approach rate: -0.513511 m/s,
      LOS rate: 0.091497 deg/s,
      cmd heading: 55.962684 deg,
      new cmd heading: 56.081962 deg.

2025-10-26T22:07:38.405Z,1761516458.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.978815 target range: 98.993446 and range: 99.60 m.
2025-10-26T22:07:38.568Z,1761516458.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006640
2025-10-26T22:07:38.735Z,1761516458.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580474,-0.799698,-0.153403],[0.812785,0.580441,0.049696],[0.049300,-0.153531,0.986913]]
2025-10-26T22:07:38.760Z,1761516458.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.99 m.
2025-10-26T22:07:38.763Z,1761516458.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.993446 m,
      nav range: 94.807671 m,
      bearing: 54.432077 deg,
      approach rate: -0.580867 m/s,
      LOS rate: 0.105039 deg/s,
      cmd heading: 56.081963 deg,
      new cmd heading: 56.196523 deg.

2025-10-26T22:07:38.764Z,1761516458.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.980814 target range: 98.993446 and range: 99.60 m.
2025-10-26T22:07:38.821Z,1761516458.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259863
2025-10-26T22:07:39.072Z,1761516459.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510807
2025-10-26T22:07:39.134Z,1761516459.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582264,-0.798605,-0.152312],[0.811661,0.581760,0.052553],[0.046640,-0.154225,0.986934]]
2025-10-26T22:07:39.152Z,1761516459.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.99 m.
2025-10-26T22:07:39.154Z,1761516459.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.993446 m,
      nav range: 94.596413 m,
      bearing: 54.470642 deg,
      approach rate: -0.540195 m/s,
      LOS rate: 0.098831 deg/s,
      cmd heading: 56.196522 deg,
      new cmd heading: 56.312473 deg.

2025-10-26T22:07:39.172Z,1761516459.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.982838 target range: 98.993446 and range: 99.60 m.
2025-10-26T22:07:39.325Z,1761516459.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763235
2025-10-26T22:07:39.484Z,1761516459.484 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:07:39.576Z,1761516459.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014556
2025-10-26T22:07:39.626Z,1761516459.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.99 m.
2025-10-26T22:07:39.629Z,1761516459.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.993446 m,
      nav range: 94.332481 m,
      bearing: 54.511168 deg,
      approach rate: -0.556351 m/s,
      LOS rate: 0.085666 deg/s,
      cmd heading: 56.312471 deg,
      new cmd heading: 56.434391 deg.

2025-10-26T22:07:39.630Z,1761516459.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.984966 target range: 98.993446 and range: 99.60 m.
2025-10-26T22:07:39.829Z,1761516459.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266885
2025-10-26T22:07:39.958Z,1761516459.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585673,-0.795983,-0.152962],[0.809484,0.584060,0.060088],[0.041510,-0.159012,0.986404]]
2025-10-26T22:07:39.987Z,1761516459.987 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:40.006Z,1761516460.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.99 m.
2025-10-26T22:07:40.008Z,1761516460.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.993446 m,
      nav range: 94.133171 m,
      bearing: 54.542357 deg,
      approach rate: -0.525037 m/s,
      LOS rate: 0.082334 deg/s,
      cmd heading: 56.434390 deg,
      new cmd heading: 56.528155 deg.

2025-10-26T22:07:40.009Z,1761516460.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.986602 target range: 98.993446 and range: 99.60 m.
2025-10-26T22:07:40.081Z,1761516460.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519142
2025-10-26T22:07:40.332Z,1761516460.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770736
2025-10-26T22:07:40.362Z,1761516460.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586339,-0.795837,-0.151162],[0.809124,0.584366,0.061927],[0.039050,-0.158619,0.986567]]
2025-10-26T22:07:40.436Z,1761516460.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.99 m.
2025-10-26T22:07:40.438Z,1761516460.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.993446 m,
      nav range: 93.876472 m,
      bearing: 54.570807 deg,
      approach rate: -0.600656 m/s,
      LOS rate: 0.066752 deg/s,
      cmd heading: 56.528155 deg,
      new cmd heading: 56.613738 deg.

2025-10-26T22:07:40.440Z,1761516460.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.988096 target range: 98.993446 and range: 99.60 m.
2025-10-26T22:07:40.490Z,1761516460.490 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:07:40.585Z,1761516460.585 [DAT](INFO): DAT read: Rx Time:22:07:39.2731

2025-10-26T22:07:40.586Z,1761516460.586 [DAT](INFO): Rx dataTimestamp_ set to:1761516460.585762
2025-10-26T22:07:40.587Z,1761516460.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025172
2025-10-26T22:07:40.768Z,1761516460.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586381,-0.796265,-0.148722],[0.809196,0.584171,0.062820],[0.036857,-0.157182,0.986882]]
2025-10-26T22:07:40.791Z,1761516460.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.99 m.
2025-10-26T22:07:40.793Z,1761516460.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.993446 m,
      nav range: 93.665741 m,
      bearing: 54.594291 deg,
      approach rate: -0.589093 m/s,
      LOS rate: 0.065798 deg/s,
      cmd heading: 56.613737 deg,
      new cmd heading: 56.684350 deg.

2025-10-26T22:07:40.794Z,1761516460.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.989329 target range: 98.993446 and range: 99.60 m.
2025-10-26T22:07:40.837Z,1761516460.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275411
2025-10-26T22:07:41.094Z,1761516461.094 [DAT](INFO): DAT read: 22:07:39.2731 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 411,-0.37,-2.919, 1.758,-2.672,-2.998, PHS= 0.182,-1.482, 0.283, RAW= 152.9,  11.8, CAL= 152.9,  13.1, ROT= 357.1, -13.1

2025-10-26T22:07:41.095Z,1761516461.095 [DAT](INFO): got valid direction response:
 22:07:39.2731 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 411,-0.37,-2.919, 1.758,-2.672,-2.998, PHS= 0.182,-1.482, 0.283, RAW= 152.9,  11.8, CAL= 152.9,  13.1, ROT= 357.1, -13.1

2025-10-26T22:07:41.120Z,1761516461.120 [DAT](INFO): DAT read: Bearing 209.5,  -2.3 (Local)

2025-10-26T22:07:41.120Z,1761516461.120 [DAT](INFO): Local bearing/azimuth received:
 Bearing 209.5,  -2.3 (Local)

2025-10-26T22:07:41.121Z,1761516461.121 [DAT](INFO): DAT read: Range 11 to 50 : 97.0 m  (Round-trip  129.4 ms) speed  0.8 m/s

2025-10-26T22:07:41.122Z,1761516461.122 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:07:41.123Z,1761516461.123 [DAT](INFO): direction in FSK: [0.972729,-0.049276,0.226651]
2025-10-26T22:07:41.123Z,1761516461.123 [DAT](INFO): publishing direction and range info
2025-10-26T22:07:41.127Z,1761516461.127 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:41.127Z,1761516461.127 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:41.127Z,1761516461.127 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:07:41.196Z,1761516461.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585846,-0.797150,-0.146069],[0.809675,0.583458,0.063272],[0.034788,-0.155336,0.987249]]
2025-10-26T22:07:41.315Z,1761516461.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 97.000000 m,
      deltaT: 3.779704 s,
      deltaX: -2.599998 m,
      approachRate: -0.687884 m/s,
      rangeRepo size: 4

2025-10-26T22:07:41.321Z,1761516461.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 96.409821 m,
      bearing: 53.312868 deg,
      lat: 36.779365 deg,
      lon: -121.859457 deg,
      deltaT: 3.779704 s,
      deltaX: -2.583626 m,
      approachRate: -0.683552 m/s,
      posRepo size: 4

2025-10-26T22:07:41.322Z,1761516461.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.41 m.
2025-10-26T22:07:41.332Z,1761516461.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.409821 m,
      nav range: 93.117790 m,
      bearing: 54.513413 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.065798 deg/s,
      cmd heading: 56.684351 deg,
      new cmd heading: 56.787652 deg.

2025-10-26T22:07:41.336Z,1761516461.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.991131 target range: 96.409821 and range: 97.00 m.
2025-10-26T22:07:41.340Z,1761516461.340 [DAT](INFO): DAT read: user:461>

2025-10-26T22:07:41.341Z,1761516461.341 [DAT](INFO): DAT read: Tx time:22:07:40.4895

2025-10-26T22:07:41.342Z,1761516461.342 [DAT](INFO): Ping request sent.
2025-10-26T22:07:41.342Z,1761516461.342 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:07:41.342Z,1761516461.342 [DAT](INFO): publishing transmit ping time
2025-10-26T22:07:41.342Z,1761516461.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-10-26T22:07:41.593Z,1761516461.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251337
2025-10-26T22:07:41.719Z,1761516461.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.41 m.
2025-10-26T22:07:41.728Z,1761516461.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.409821 m,
      nav range: 92.861221 m,
      bearing: 54.533052 deg,
      approach rate: -0.667408 m/s,
      LOS rate: 0.051228 deg/s,
      cmd heading: 56.787651 deg,
      new cmd heading: 56.846731 deg.

2025-10-26T22:07:41.729Z,1761516461.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.992163 target range: 96.409821 and range: 97.00 m.
2025-10-26T22:07:41.845Z,1761516461.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503162
2025-10-26T22:07:42.057Z,1761516462.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577495,-0.805495,-0.132956],[0.815874,0.575234,0.058781],[0.029133,-0.142421,0.989377]]
2025-10-26T22:07:42.074Z,1761516462.074 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:42.076Z,1761516462.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.41 m.
2025-10-26T22:07:42.079Z,1761516462.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.409821 m,
      nav range: 92.621223 m,
      bearing: 54.550076 deg,
      approach rate: -0.635344 m/s,
      LOS rate: 0.045184 deg/s,
      cmd heading: 56.846732 deg,
      new cmd heading: 56.897936 deg.

2025-10-26T22:07:42.080Z,1761516462.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.993056 target range: 96.409821 and range: 97.00 m.
2025-10-26T22:07:42.096Z,1761516462.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754767
2025-10-26T22:07:42.349Z,1761516462.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007363
2025-10-26T22:07:42.513Z,1761516462.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.41 m.
2025-10-26T22:07:42.516Z,1761516462.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.409821 m,
      nav range: 92.344505 m,
      bearing: 54.565244 deg,
      approach rate: -0.633650 m/s,
      LOS rate: 0.034837 deg/s,
      cmd heading: 56.897935 deg,
      new cmd heading: 56.943575 deg.

2025-10-26T22:07:42.517Z,1761516462.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.993853 target range: 96.409821 and range: 97.00 m.
2025-10-26T22:07:42.602Z,1761516462.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260062
2025-10-26T22:07:42.852Z,1761516462.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510725
2025-10-26T22:07:42.869Z,1761516462.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570340,-0.811213,-0.129020],[0.820996,0.567956,0.058235],[0.026037,-0.139139,0.989931]]
2025-10-26T22:07:42.894Z,1761516462.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.41 m.
2025-10-26T22:07:42.897Z,1761516462.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.409821 m,
      nav range: 92.104347 m,
      bearing: 54.577176 deg,
      approach rate: -0.629235 m/s,
      LOS rate: 0.031344 deg/s,
      cmd heading: 56.943574 deg,
      new cmd heading: 56.979463 deg.

2025-10-26T22:07:42.898Z,1761516462.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.994479 target range: 96.409821 and range: 97.00 m.
2025-10-26T22:07:43.104Z,1761516463.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762707
2025-10-26T22:07:43.311Z,1761516463.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566052,-0.814405,-0.127787],[0.823998,0.563614,0.058027],[0.024765,-0.138142,0.990103]]
2025-10-26T22:07:43.356Z,1761516463.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014764
2025-10-26T22:07:43.361Z,1761516463.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.41 m.
2025-10-26T22:07:43.364Z,1761516463.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.409821 m,
      nav range: 91.809143 m,
      bearing: 54.584234 deg,
      approach rate: -0.632221 m/s,
      LOS rate: 0.015166 deg/s,
      cmd heading: 56.979463 deg,
      new cmd heading: 57.000707 deg.

2025-10-26T22:07:43.365Z,1761516463.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.994850 target range: 96.409821 and range: 97.00 m.
2025-10-26T22:07:43.609Z,1761516463.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267128
2025-10-26T22:07:43.675Z,1761516463.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561926,-0.817509,-0.126167],[0.826857,0.559436,0.057775],[0.023351,-0.136787,0.990325]]
2025-10-26T22:07:43.716Z,1761516463.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.41 m.
2025-10-26T22:07:43.720Z,1761516463.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.409821 m,
      nav range: 91.588310 m,
      bearing: 54.588854 deg,
      approach rate: -0.623455 m/s,
      LOS rate: 0.013072 deg/s,
      cmd heading: 57.000709 deg,
      new cmd heading: 57.014600 deg.

2025-10-26T22:07:43.722Z,1761516463.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.995093 target range: 96.409821 and range: 97.00 m.
2025-10-26T22:07:43.860Z,1761516463.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518724
2025-10-26T22:07:44.109Z,1761516464.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:44.112Z,1761516464.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770843
2025-10-26T22:07:44.113Z,1761516464.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.41 m.
2025-10-26T22:07:44.116Z,1761516464.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.409821 m,
      nav range: 91.335922 m,
      bearing: 54.594160 deg,
      approach rate: -0.638143 m/s,
      LOS rate: 0.013455 deg/s,
      cmd heading: 57.014601 deg,
      new cmd heading: 57.030565 deg.

2025-10-26T22:07:44.117Z,1761516464.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.995371 target range: 96.409821 and range: 97.00 m.
2025-10-26T22:07:44.364Z,1761516464.364 [DAT](INFO): DAT read: Rx Time:22:07:43.0201

2025-10-26T22:07:44.365Z,1761516464.365 [DAT](INFO): Rx dataTimestamp_ set to:1761516464.364619
2025-10-26T22:07:44.365Z,1761516464.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023810
2025-10-26T22:07:44.478Z,1761516464.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554052,-0.823092,-0.124680],[0.832234,0.551298,0.058803],[0.020335,-0.136343,0.990453]]
2025-10-26T22:07:44.528Z,1761516464.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.41 m.
2025-10-26T22:07:44.531Z,1761516464.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.409821 m,
      nav range: 91.073181 m,
      bearing: 54.599754 deg,
      approach rate: -0.629694 m/s,
      LOS rate: 0.013445 deg/s,
      cmd heading: 57.030567 deg,
      new cmd heading: 57.047396 deg.

2025-10-26T22:07:44.532Z,1761516464.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.995665 target range: 96.409821 and range: 97.00 m.
2025-10-26T22:07:44.617Z,1761516464.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275492
2025-10-26T22:07:44.874Z,1761516464.874 [DAT](INFO): DAT read: 22:07:43.0201 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 412,-0.24,-1.803, 2.927,-1.554,-1.895, PHS= 0.194,-1.416, 0.296, RAW= 153.1,  11.1, CAL= 153.0,  12.3, ROT= 357.0, -12.3

2025-10-26T22:07:44.875Z,1761516464.875 [DAT](INFO): got valid direction response:
 22:07:43.0201 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 412,-0.24,-1.803, 2.927,-1.554,-1.895, PHS= 0.194,-1.416, 0.296, RAW= 153.1,  11.1, CAL= 153.0,  12.3, ROT= 357.0, -12.3

2025-10-26T22:07:44.876Z,1761516464.876 [DAT](INFO): DAT read: Bearing 210.0,  -3.2 (Local)

2025-10-26T22:07:44.876Z,1761516464.876 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.0,  -3.2 (Local)

2025-10-26T22:07:44.877Z,1761516464.877 [DAT](INFO): DAT read: Range 11 to 50 : 94.8 m  (Round-trip  126.4 ms) speed  0.5 m/s

2025-10-26T22:07:44.878Z,1761516464.878 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:07:44.879Z,1761516464.879 [DAT](INFO): direction in FSK: [0.975707,-0.051135,0.213030]
2025-10-26T22:07:44.879Z,1761516464.879 [DAT](INFO): publishing direction and range info
2025-10-26T22:07:44.882Z,1761516464.882 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:44.883Z,1761516464.883 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:44.883Z,1761516464.883 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:07:44.918Z,1761516464.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550925,-0.825166,-0.124833],[0.834347,0.547931,0.060305],[0.018638,-0.137377,0.990343]]
2025-10-26T22:07:45.004Z,1761516465.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 94.800003 m,
      deltaT: 3.779911 s,
      deltaX: -2.199997 m,
      approachRate: -0.582024 m/s,
      rangeRepo size: 4

2025-10-26T22:07:45.006Z,1761516465.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 94.223503 m,
      bearing: 55.302266 deg,
      lat: 36.779365 deg,
      lon: -121.859457 deg,
      deltaT: 3.779911 s,
      deltaX: -2.186317 m,
      approachRate: -0.578404 m/s,
      posRepo size: 4

2025-10-26T22:07:45.007Z,1761516465.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.22 m.
2025-10-26T22:07:45.014Z,1761516465.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.223503 m,
      nav range: 90.785698 m,
      bearing: 54.605224 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013445 deg/s,
      cmd heading: 57.047396 deg,
      new cmd heading: 57.066392 deg.

2025-10-26T22:07:45.019Z,1761516465.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.995996 target range: 94.223503 and range: 94.80 m.
2025-10-26T22:07:45.121Z,1761516465.121 [DAT](INFO): DAT read: user:462>

2025-10-26T22:07:45.122Z,1761516465.122 [DAT](INFO): DAT read: Tx time:22:07:44.2395

2025-10-26T22:07:45.123Z,1761516465.123 [DAT](INFO): Ping request sent.
2025-10-26T22:07:45.123Z,1761516465.123 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:07:45.128Z,1761516465.128 [DAT](INFO): publishing transmit ping time
2025-10-26T22:07:45.128Z,1761516465.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.005430
2025-10-26T22:07:45.359Z,1761516465.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548643,-0.826713,-0.124644],[0.835884,0.545433,0.061657],[0.017012,-0.138016,0.990284]]
2025-10-26T22:07:45.372Z,1761516465.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249578
2025-10-26T22:07:45.396Z,1761516465.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.22 m.
2025-10-26T22:07:45.399Z,1761516465.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.223503 m,
      nav range: 90.536812 m,
      bearing: 54.615833 deg,
      approach rate: -0.627170 m/s,
      LOS rate: 0.026806 deg/s,
      cmd heading: 57.066391 deg,
      new cmd heading: 57.098305 deg.

2025-10-26T22:07:45.424Z,1761516465.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.996553 target range: 94.223503 and range: 94.80 m.
2025-10-26T22:07:45.625Z,1761516465.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501845
2025-10-26T22:07:45.745Z,1761516465.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545868,-0.828774,-0.123134],[0.837727,0.542571,0.061885],[0.015520,-0.136933,0.990459]]
2025-10-26T22:07:45.777Z,1761516465.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.22 m.
2025-10-26T22:07:45.780Z,1761516465.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.223503 m,
      nav range: 90.307030 m,
      bearing: 54.625192 deg,
      approach rate: -0.602974 m/s,
      LOS rate: 0.024623 deg/s,
      cmd heading: 57.098305 deg,
      new cmd heading: 57.126456 deg.

2025-10-26T22:07:45.781Z,1761516465.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.997045 target range: 94.223503 and range: 94.80 m.
2025-10-26T22:07:45.876Z,1761516465.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753673
2025-10-26T22:07:46.128Z,1761516466.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005376
2025-10-26T22:07:46.147Z,1761516466.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543119,-0.830660,-0.122579],[0.839536,0.539686,0.062593],[0.014160,-0.136905,0.990483]]
2025-10-26T22:07:46.166Z,1761516466.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:46.171Z,1761516466.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.22 m.
2025-10-26T22:07:46.195Z,1761516466.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.223503 m,
      nav range: 90.072395 m,
      bearing: 54.634305 deg,
      approach rate: -0.597092 m/s,
      LOS rate: 0.023250 deg/s,
      cmd heading: 57.126456 deg,
      new cmd heading: 57.153865 deg.

2025-10-26T22:07:46.197Z,1761516466.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.997523 target range: 94.223503 and range: 94.80 m.
2025-10-26T22:07:46.380Z,1761516466.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257528
2025-10-26T22:07:46.550Z,1761516466.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540849,-0.832256,-0.121788],[0.841018,0.537334,0.062939],[0.013059,-0.136466,0.990559]]
2025-10-26T22:07:46.596Z,1761516466.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.22 m.
2025-10-26T22:07:46.599Z,1761516466.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.223503 m,
      nav range: 89.813049 m,
      bearing: 54.651505 deg,
      approach rate: -0.608783 m/s,
      LOS rate: 0.040491 deg/s,
      cmd heading: 57.153865 deg,
      new cmd heading: 57.205614 deg.

2025-10-26T22:07:46.600Z,1761516466.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.998426 target range: 94.223503 and range: 94.80 m.
2025-10-26T22:07:46.633Z,1761516466.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509804
2025-10-26T22:07:46.884Z,1761516466.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761510
2025-10-26T22:07:46.959Z,1761516466.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539055,-0.833561,-0.120812],[0.842181,0.535509,0.062933],[0.012237,-0.135670,0.990679]]
2025-10-26T22:07:46.985Z,1761516466.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.22 m.
2025-10-26T22:07:46.987Z,1761516466.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.223503 m,
      nav range: 89.578659 m,
      bearing: 54.666813 deg,
      approach rate: -0.603660 m/s,
      LOS rate: 0.039527 deg/s,
      cmd heading: 57.205614 deg,
      new cmd heading: 57.251657 deg.

2025-10-26T22:07:46.988Z,1761516466.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.999230 target range: 94.223503 and range: 94.80 m.
2025-10-26T22:07:47.136Z,1761516467.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013564
2025-10-26T22:07:47.383Z,1761516467.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537940,-0.834209,-0.121310],[0.842904,0.534268,0.063804],[0.011586,-0.136576,0.990562]]
2025-10-26T22:07:47.388Z,1761516467.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265678
2025-10-26T22:07:47.429Z,1761516467.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.22 m.
2025-10-26T22:07:47.432Z,1761516467.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.223503 m,
      nav range: 89.320686 m,
      bearing: 54.695914 deg,
      approach rate: -0.580467 m/s,
      LOS rate: 0.065671 deg/s,
      cmd heading: 57.251656 deg,
      new cmd heading: 57.339213 deg.

2025-10-26T22:07:47.433Z,1761516467.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.000758 target range: 94.223503 and range: 94.80 m.
2025-10-26T22:07:47.643Z,1761516467.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520467
2025-10-26T22:07:47.764Z,1761516467.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537479,-0.834348,-0.122391],[0.843206,0.533630,0.065140],[0.010962,-0.138212,0.990342]]
2025-10-26T22:07:47.782Z,1761516467.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.22 m.
2025-10-26T22:07:47.786Z,1761516467.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.223503 m,
      nav range: 89.111580 m,
      bearing: 54.719548 deg,
      approach rate: -0.591741 m/s,
      LOS rate: 0.067036 deg/s,
      cmd heading: 57.339213 deg,
      new cmd heading: 57.410279 deg.

2025-10-26T22:07:47.786Z,1761516467.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.001998 target range: 94.223503 and range: 94.80 m.
2025-10-26T22:07:47.893Z,1761516467.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769844
2025-10-26T22:07:48.144Z,1761516468.144 [DAT](INFO): DAT read: Rx Time:22:07:46.7672

2025-10-26T22:07:48.145Z,1761516468.145 [DAT](INFO): Rx dataTimestamp_ set to:1761516468.144672
2025-10-26T22:07:48.146Z,1761516468.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022716
2025-10-26T22:07:48.171Z,1761516468.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537836,-0.833978,-0.123342],[0.842989,0.533762,0.066840],[0.010092,-0.139925,0.990111]]
2025-10-26T22:07:48.230Z,1761516468.230 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:48.236Z,1761516468.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.22 m.
2025-10-26T22:07:48.238Z,1761516468.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.223503 m,
      nav range: 88.853493 m,
      bearing: 54.748936 deg,
      approach rate: -0.574445 m/s,
      LOS rate: 0.065601 deg/s,
      cmd heading: 57.410281 deg,
      new cmd heading: 57.498700 deg.

2025-10-26T22:07:48.244Z,1761516468.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.003542 target range: 94.223503 and range: 94.80 m.
2025-10-26T22:07:48.396Z,1761516468.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273541
2025-10-26T22:07:48.588Z,1761516468.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538502,-0.833231,-0.125466],[0.842577,0.534045,0.069709],[0.008920,-0.143253,0.989646]]
2025-10-26T22:07:48.640Z,1761516468.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.22 m.
2025-10-26T22:07:48.642Z,1761516468.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.223503 m,
      nav range: 88.623314 m,
      bearing: 54.783157 deg,
      approach rate: -0.564566 m/s,
      LOS rate: 0.084155 deg/s,
      cmd heading: 57.498698 deg,
      new cmd heading: 57.601629 deg.

2025-10-26T22:07:48.643Z,1761516468.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.005338 target range: 94.223503 and range: 94.80 m.
2025-10-26T22:07:48.654Z,1761516468.654 [DAT](INFO): DAT read: 22:07:46.7672 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 414, 0.09, 2.506, 0.979, 2.799, 2.513, PHS= 0.095,-1.488, 0.242, RAW= 154.4,  13.8, CAL= 154.7,  15.5, ROT= 355.3, -15.5

2025-10-26T22:07:48.655Z,1761516468.655 [DAT](INFO): got valid direction response:
 22:07:46.7672 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 414, 0.09, 2.506, 0.979, 2.799, 2.513, PHS= 0.095,-1.488, 0.242, RAW= 154.4,  13.8, CAL= 154.7,  15.5, ROT= 355.3, -15.5

2025-10-26T22:07:48.656Z,1761516468.656 [DAT](INFO): DAT read: Bearing 215.0,  -6.3 (Local)

2025-10-26T22:07:48.656Z,1761516468.656 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.0,  -6.3 (Local)

2025-10-26T22:07:48.658Z,1761516468.658 [DAT](INFO): DAT read: Range 11 to 50 : 92.7 m  (Round-trip  123.6 ms) speed  0.5 m/s

2025-10-26T22:07:48.658Z,1761516468.658 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:07:48.659Z,1761516468.659 [DAT](INFO): direction in FSK: [0.960390,-0.078959,0.267238]
2025-10-26T22:07:48.660Z,1761516468.660 [DAT](INFO): publishing direction and range info
2025-10-26T22:07:48.678Z,1761516468.678 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:48.679Z,1761516468.679 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:48.687Z,1761516468.687 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:07:48.900Z,1761516468.900 [DAT](INFO): DAT read: user:463>

2025-10-26T22:07:48.901Z,1761516468.901 [DAT](INFO): DAT read: Tx time:22:07:48.0395

2025-10-26T22:07:48.901Z,1761516468.901 [DAT](INFO): Ping request sent.
2025-10-26T22:07:48.902Z,1761516468.902 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:07:48.902Z,1761516468.902 [DAT](INFO): publishing transmit ping time
2025-10-26T22:07:48.902Z,1761516468.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757
2025-10-26T22:07:48.974Z,1761516468.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540106,-0.832138,-0.125821],[0.841563,0.535345,0.071950],[0.007485,-0.144748,0.989440]]
2025-10-26T22:07:49.021Z,1761516469.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 92.699997 m,
      deltaT: 3.780173 s,
      deltaX: -2.100006 m,
      approachRate: -0.555532 m/s,
      rangeRepo size: 4

2025-10-26T22:07:49.023Z,1761516469.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 92.136124 m,
      bearing: 54.951109 deg,
      lat: 36.779363 deg,
      lon: -121.859456 deg,
      deltaT: 3.780173 s,
      deltaX: -2.087379 m,
      approachRate: -0.552191 m/s,
      posRepo size: 4

2025-10-26T22:07:49.028Z,1761516469.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.14 m.
2025-10-26T22:07:49.033Z,1761516469.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.136124 m,
      nav range: 88.368484 m,
      bearing: 54.950786 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.084155 deg/s,
      cmd heading: 57.601629 deg,
      new cmd heading: 57.697763 deg.

2025-10-26T22:07:49.034Z,1761516469.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.007016 target range: 92.136124 and range: 92.70 m.
2025-10-26T22:07:49.152Z,1761516469.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250860
2025-10-26T22:07:49.408Z,1761516469.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505467
2025-10-26T22:07:49.413Z,1761516469.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541774,-0.831056,-0.125805],[0.840500,0.536796,0.073553],[0.006405,-0.145588,0.989325]]
2025-10-26T22:07:49.478Z,1761516469.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.14 m.
2025-10-26T22:07:49.481Z,1761516469.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.136124 m,
      nav range: 88.107582 m,
      bearing: 55.000617 deg,
      approach rate: -0.570138 m/s,
      LOS rate: 0.109216 deg/s,
      cmd heading: 57.697763 deg,
      new cmd heading: 57.847700 deg.

2025-10-26T22:07:49.481Z,1761516469.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.009633 target range: 92.136124 and range: 92.70 m.
2025-10-26T22:07:49.656Z,1761516469.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754801
2025-10-26T22:07:49.791Z,1761516469.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543767,-0.829548,-0.127152],[0.839220,0.538430,0.076178],[0.005269,-0.148132,0.988954]]
2025-10-26T22:07:49.825Z,1761516469.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.14 m.
2025-10-26T22:07:49.832Z,1761516469.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.136124 m,
      nav range: 87.925140 m,
      bearing: 55.035917 deg,
      approach rate: -0.524632 m/s,
      LOS rate: 0.101720 deg/s,
      cmd heading: 57.847700 deg,
      new cmd heading: 57.953820 deg.

2025-10-26T22:07:49.833Z,1761516469.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.011485 target range: 92.136124 and range: 92.70 m.
2025-10-26T22:07:49.909Z,1761516469.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007015
2025-10-26T22:07:50.162Z,1761516470.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259978
2025-10-26T22:07:50.254Z,1761516470.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:50.256Z,1761516470.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.14 m.
2025-10-26T22:07:50.259Z,1761516470.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.136124 m,
      nav range: 87.685989 m,
      bearing: 55.082424 deg,
      approach rate: -0.555330 m/s,
      LOS rate: 0.108286 deg/s,
      cmd heading: 57.953820 deg,
      new cmd heading: 58.093720 deg.

2025-10-26T22:07:50.260Z,1761516470.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.013927 target range: 92.136124 and range: 92.70 m.
2025-10-26T22:07:50.412Z,1761516470.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510841
2025-10-26T22:07:50.651Z,1761516470.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.14 m.
2025-10-26T22:07:50.654Z,1761516470.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.136124 m,
      nav range: 87.462547 m,
      bearing: 55.130504 deg,
      approach rate: -0.565811 m/s,
      LOS rate: 0.122061 deg/s,
      cmd heading: 58.093716 deg,
      new cmd heading: 58.238324 deg.

2025-10-26T22:07:50.655Z,1761516470.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.016451 target range: 92.136124 and range: 92.70 m.
2025-10-26T22:07:50.666Z,1761516470.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763704
2025-10-26T22:07:50.917Z,1761516470.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015040
2025-10-26T22:07:51.009Z,1761516471.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548388,-0.825981,-0.130487],[0.836222,0.542022,0.083337],[0.001892,-0.154817,0.987941]]
2025-10-26T22:07:51.028Z,1761516471.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.14 m.
2025-10-26T22:07:51.031Z,1761516471.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.136124 m,
      nav range: 87.254845 m,
      bearing: 55.176126 deg,
      approach rate: -0.551792 m/s,
      LOS rate: 0.121490 deg/s,
      cmd heading: 58.238325 deg,
      new cmd heading: 58.375516 deg.

2025-10-26T22:07:51.032Z,1761516471.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.018845 target range: 92.136124 and range: 92.70 m.
2025-10-26T22:07:51.170Z,1761516471.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267984
2025-10-26T22:07:51.424Z,1761516471.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521428
2025-10-26T22:07:51.442Z,1761516471.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549601,-0.824819,-0.132709],[0.835426,0.542849,0.085898],[0.001190,-0.158078,0.987426]]
2025-10-26T22:07:51.503Z,1761516471.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.14 m.
2025-10-26T22:07:51.506Z,1761516471.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.136124 m,
      nav range: 86.986847 m,
      bearing: 55.232429 deg,
      approach rate: -0.563645 m/s,
      LOS rate: 0.118781 deg/s,
      cmd heading: 58.375516 deg,
      new cmd heading: 58.544947 deg.

2025-10-26T22:07:51.507Z,1761516471.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.021802 target range: 92.136124 and range: 92.70 m.
2025-10-26T22:07:51.673Z,1761516471.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771217
2025-10-26T22:07:51.814Z,1761516471.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550719,-0.823731,-0.134818],[0.834690,0.543680,0.087779],[0.000992,-0.160872,0.986975]]
2025-10-26T22:07:51.856Z,1761516471.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.14 m.
2025-10-26T22:07:51.858Z,1761516471.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.136124 m,
      nav range: 86.797157 m,
      bearing: 55.272636 deg,
      approach rate: -0.563523 m/s,
      LOS rate: 0.119705 deg/s,
      cmd heading: 58.544946 deg,
      new cmd heading: 58.665829 deg.

2025-10-26T22:07:51.868Z,1761516471.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.023912 target range: 92.136124 and range: 92.70 m.
2025-10-26T22:07:51.924Z,1761516471.924 [DAT](INFO): DAT read: Rx Time:22:07:50.5641

2025-10-26T22:07:51.925Z,1761516471.925 [DAT](INFO): Rx dataTimestamp_ set to:1761516471.924606
2025-10-26T22:07:51.925Z,1761516471.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023859
2025-10-26T22:07:52.178Z,1761516472.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276005
2025-10-26T22:07:52.220Z,1761516472.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550726,-0.823814,-0.134282],[0.834685,0.543814,0.086993],[0.001359,-0.159992,0.987117]]
2025-10-26T22:07:52.244Z,1761516472.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.14 m.
2025-10-26T22:07:52.246Z,1761516472.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.136124 m,
      nav range: 86.569786 m,
      bearing: 55.321097 deg,
      approach rate: -0.563090 m/s,
      LOS rate: 0.120331 deg/s,
      cmd heading: 58.665827 deg,
      new cmd heading: 58.811593 deg.

2025-10-26T22:07:52.247Z,1761516472.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.026456 target range: 92.136124 and range: 92.70 m.
2025-10-26T22:07:52.441Z,1761516472.441 [DAT](INFO): DAT read: 22:07:50.5641 LVL= 28400, 32753, 27634, 32755, AGC= 72, IDX= 415,-0.49, 2.373, 0.749, 2.670, 2.218, PHS= 0.257,-1.424, 0.408, RAW= 154.3,   8.7, CAL= 153.9,   9.2, ROT= 356.1,  -9.2

2025-10-26T22:07:52.442Z,1761516472.442 [DAT](INFO): got valid direction response:
 22:07:50.5641 LVL= 28400, 32753, 27634, 32755, AGC= 72, IDX= 415,-0.49, 2.373, 0.749, 2.670, 2.218, PHS= 0.257,-1.424, 0.408, RAW= 154.3,   8.7, CAL= 153.9,   9.2, ROT= 356.1,  -9.2

2025-10-26T22:07:52.443Z,1761516472.443 [DAT](INFO): DAT read: Bearing 207.9,  -5.0 (Local)

2025-10-26T22:07:52.447Z,1761516472.447 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.9,  -5.0 (Local)

2025-10-26T22:07:52.449Z,1761516472.449 [DAT](INFO): DAT read: Range 11 to 50 : 90.3 m  (Round-trip  120.5 ms) speed  0.7 m/s

2025-10-26T22:07:52.449Z,1761516472.449 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:07:52.450Z,1761516472.450 [DAT](INFO): direction in FSK: [0.984850,-0.067140,0.159881]
2025-10-26T22:07:52.451Z,1761516472.451 [DAT](INFO): publishing direction and range info
2025-10-26T22:07:52.458Z,1761516472.458 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:52.458Z,1761516472.458 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:52.459Z,1761516472.459 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:07:52.681Z,1761516472.681 [DAT](INFO): DAT read: user:464>

2025-10-26T22:07:52.683Z,1761516472.683 [DAT](INFO): DAT read: Tx time:22:07:51.8395

2025-10-26T22:07:52.684Z,1761516472.684 [DAT](INFO): Ping request sent.
2025-10-26T22:07:52.684Z,1761516472.684 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:07:52.685Z,1761516472.685 [DAT](INFO): publishing transmit ping time
2025-10-26T22:07:52.686Z,1761516472.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001419
2025-10-26T22:07:52.725Z,1761516472.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 90.300003 m,
      deltaT: 3.781671 s,
      deltaX: -2.399994 m,
      approachRate: -0.634638 m/s,
      rangeRepo size: 4

2025-10-26T22:07:52.742Z,1761516472.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 89.750275 m,
      bearing: 54.216329 deg,
      lat: 36.779375 deg,
      lon: -121.859456 deg,
      deltaT: 3.781671 s,
      deltaX: -2.385849 m,
      approachRate: -0.630898 m/s,
      posRepo size: 4

2025-10-26T22:07:52.743Z,1761516472.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.75 m.
2025-10-26T22:07:52.749Z,1761516472.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.750275 m,
      nav range: 87.070435 m,
      bearing: 54.647978 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.120331 deg/s,
      cmd heading: 58.811590 deg,
      new cmd heading: 58.983054 deg.

2025-10-26T22:07:52.750Z,1761516472.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.029449 target range: 89.750275 and range: 90.30 m.
2025-10-26T22:07:52.932Z,1761516472.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247774
2025-10-26T22:07:53.029Z,1761516473.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548176,-0.826513,-0.127981],[0.836361,0.542004,0.082046],[0.001554,-0.152014,0.988377]]
2025-10-26T22:07:53.046Z,1761516473.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:53.048Z,1761516473.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.75 m.
2025-10-26T22:07:53.051Z,1761516473.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.750275 m,
      nav range: 86.852791 m,
      bearing: 54.680833 deg,
      approach rate: -0.659443 m/s,
      LOS rate: 0.099798 deg/s,
      cmd heading: 58.983055 deg,
      new cmd heading: 59.081867 deg.

2025-10-26T22:07:53.052Z,1761516473.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.031173 target range: 89.750275 and range: 90.30 m.
2025-10-26T22:07:53.185Z,1761516473.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500602
2025-10-26T22:07:53.439Z,1761516473.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754149
2025-10-26T22:07:53.478Z,1761516473.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546191,-0.828204,-0.125512],[0.837659,0.540302,0.080001],[0.001557,-0.148833,0.988861]]
2025-10-26T22:07:53.526Z,1761516473.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.75 m.
2025-10-26T22:07:53.529Z,1761516473.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.750275 m,
      nav range: 86.563911 m,
      bearing: 54.716024 deg,
      approach rate: -0.604193 m/s,
      LOS rate: 0.073848 deg/s,
      cmd heading: 59.081867 deg,
      new cmd heading: 59.187793 deg.

2025-10-26T22:07:53.530Z,1761516473.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.033022 target range: 89.750275 and range: 90.30 m.
2025-10-26T22:07:53.688Z,1761516473.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003802
2025-10-26T22:07:53.839Z,1761516473.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544595,-0.829771,-0.122054],[0.838699,0.539007,0.077822],[0.001213,-0.144748,0.989468]]
2025-10-26T22:07:53.857Z,1761516473.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.75 m.
2025-10-26T22:07:53.876Z,1761516473.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.750275 m,
      nav range: 86.364258 m,
      bearing: 54.740279 deg,
      approach rate: -0.603986 m/s,
      LOS rate: 0.073544 deg/s,
      cmd heading: 59.187790 deg,
      new cmd heading: 59.260722 deg.

2025-10-26T22:07:53.877Z,1761516473.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.034295 target range: 89.750275 and range: 90.30 m.
2025-10-26T22:07:53.941Z,1761516473.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256616
2025-10-26T22:07:54.192Z,1761516474.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507920
2025-10-26T22:07:54.248Z,1761516474.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542774,-0.831666,-0.117169],[0.839879,0.537578,0.074927],[0.000673,-0.139076,0.990282]]
2025-10-26T22:07:54.267Z,1761516474.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.75 m.
2025-10-26T22:07:54.269Z,1761516474.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.750275 m,
      nav range: 86.116814 m,
      bearing: 54.770221 deg,
      approach rate: -0.604094 m/s,
      LOS rate: 0.073309 deg/s,
      cmd heading: 59.260722 deg,
      new cmd heading: 59.350807 deg.

2025-10-26T22:07:54.270Z,1761516474.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.035867 target range: 89.750275 and range: 90.30 m.
2025-10-26T22:07:54.450Z,1761516474.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765204
2025-10-26T22:07:54.646Z,1761516474.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541472,-0.832981,-0.113798],[0.840719,0.536499,0.073221],[0.000061,-0.135319,0.990802]]
2025-10-26T22:07:54.697Z,1761516474.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012135
2025-10-26T22:07:54.709Z,1761516474.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.75 m.
2025-10-26T22:07:54.713Z,1761516474.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.750275 m,
      nav range: 85.846542 m,
      bearing: 54.794901 deg,
      approach rate: -0.610569 m/s,
      LOS rate: 0.055929 deg/s,
      cmd heading: 59.350806 deg,
      new cmd heading: 59.425078 deg.

2025-10-26T22:07:54.715Z,1761516474.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.037163 target range: 89.750275 and range: 90.30 m.
2025-10-26T22:07:54.948Z,1761516474.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263909
2025-10-26T22:07:55.050Z,1761516475.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539723,-0.834239,-0.112888],[0.841842,0.534790,0.072806],[-0.000366,-0.134329,0.990937]]
2025-10-26T22:07:55.066Z,1761516475.066 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:55.068Z,1761516475.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.75 m.
2025-10-26T22:07:55.070Z,1761516475.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.750275 m,
      nav range: 85.621063 m,
      bearing: 54.815303 deg,
      approach rate: -0.629211 m/s,
      LOS rate: 0.057083 deg/s,
      cmd heading: 59.425077 deg,
      new cmd heading: 59.486445 deg.

2025-10-26T22:07:55.071Z,1761516475.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.038234 target range: 89.750275 and range: 90.30 m.
2025-10-26T22:07:55.201Z,1761516475.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516005
2025-10-26T22:07:55.456Z,1761516475.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771380
2025-10-26T22:07:55.513Z,1761516475.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538269,-0.835220,-0.112577],[0.842773,0.533284,0.073090],[-0.001011,-0.134219,0.990951]]
2025-10-26T22:07:55.558Z,1761516475.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.75 m.
2025-10-26T22:07:55.569Z,1761516475.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.750275 m,
      nav range: 85.310593 m,
      bearing: 54.833732 deg,
      approach rate: -0.633558 m/s,
      LOS rate: 0.037744 deg/s,
      cmd heading: 59.486447 deg,
      new cmd heading: 59.541935 deg.

2025-10-26T22:07:55.570Z,1761516475.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.039203 target range: 89.750275 and range: 90.30 m.
2025-10-26T22:07:55.705Z,1761516475.705 [DAT](INFO): DAT read: Rx Time:22:07:54.3608

2025-10-26T22:07:55.706Z,1761516475.706 [DAT](INFO): Rx dataTimestamp_ set to:1761516475.705325
2025-10-26T22:07:55.707Z,1761516475.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021813
2025-10-26T22:07:55.880Z,1761516475.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536588,-0.836245,-0.112994],[0.843842,0.531440,0.074175],[-0.001979,-0.135151,0.990823]]
2025-10-26T22:07:55.898Z,1761516475.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.75 m.
2025-10-26T22:07:55.921Z,1761516475.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.750275 m,
      nav range: 85.094887 m,
      bearing: 54.846315 deg,
      approach rate: -0.633546 m/s,
      LOS rate: 0.037052 deg/s,
      cmd heading: 59.541935 deg,
      new cmd heading: 59.579781 deg.

2025-10-26T22:07:55.922Z,1761516475.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.039863 target range: 89.750275 and range: 90.30 m.
2025-10-26T22:07:55.957Z,1761516475.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272105
2025-10-26T22:07:56.214Z,1761516476.214 [DAT](INFO): DAT read: 22:07:54.3608 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 412, 0.04,-0.756,-2.334,-0.431,-0.778, PHS= 0.123,-1.512, 0.302, RAW= 155.1,  12.5, CAL= 155.3,  14.0, ROT= 354.7, -14.0

2025-10-26T22:07:56.215Z,1761516476.215 [DAT](INFO): got valid direction response:
 22:07:54.3608 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 412, 0.04,-0.756,-2.334,-0.431,-0.778, PHS= 0.123,-1.512, 0.302, RAW= 155.1,  12.5, CAL= 155.3,  14.0, ROT= 354.7, -14.0

2025-10-26T22:07:56.216Z,1761516476.216 [DAT](INFO): DAT read: Bearing 214.2,  -7.1 (Local)

2025-10-26T22:07:56.217Z,1761516476.217 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.2,  -7.1 (Local)

2025-10-26T22:07:56.218Z,1761516476.218 [DAT](INFO): DAT read: Range 11 to 50 : 87.8 m  (Round-trip  117.1 ms) speed  0.4 m/s

2025-10-26T22:07:56.219Z,1761516476.219 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:07:56.220Z,1761516476.220 [DAT](INFO): direction in FSK: [0.966147,-0.089627,0.241922]
2025-10-26T22:07:56.221Z,1761516476.221 [DAT](INFO): publishing direction and range info
2025-10-26T22:07:56.224Z,1761516476.224 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:07:56.224Z,1761516476.224 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:07:56.224Z,1761516476.224 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:07:56.293Z,1761516476.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534195,-0.837798,-0.112831],[0.845355,0.528922,0.074940],[-0.003106,-0.135414,0.990784]]
2025-10-26T22:07:56.348Z,1761516476.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 87.800003 m,
      deltaT: 3.778564 s,
      deltaX: -2.500000 m,
      approachRate: -0.661627 m/s,
      rangeRepo size: 4

2025-10-26T22:07:56.350Z,1761516476.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 87.266060 m,
      bearing: 54.393419 deg,
      lat: 36.779378 deg,
      lon: -121.859456 deg,
      deltaT: 3.778564 s,
      deltaX: -2.484215 m,
      approachRate: -0.657449 m/s,
      posRepo size: 4

2025-10-26T22:07:56.351Z,1761516476.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.27 m.
2025-10-26T22:07:56.358Z,1761516476.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.266060 m,
      nav range: 85.033508 m,
      bearing: 54.660713 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.037052 deg/s,
      cmd heading: 59.579781 deg,
      new cmd heading: 59.629268 deg.

2025-10-26T22:07:56.359Z,1761516476.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.040727 target range: 87.266060 and range: 87.80 m.
2025-10-26T22:07:56.464Z,1761516476.464 [DAT](INFO): DAT read: user:465>

2025-10-26T22:07:56.467Z,1761516476.467 [DAT](INFO): DAT read: Tx time:22:07:55.5895

2025-10-26T22:07:56.468Z,1761516476.468 [DAT](INFO): Ping request sent.
2025-10-26T22:07:56.468Z,1761516476.468 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:07:56.469Z,1761516476.469 [DAT](INFO): publishing transmit ping time
2025-10-26T22:07:56.472Z,1761516476.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002626
2025-10-26T22:07:56.692Z,1761516476.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531079,-0.839788,-0.112741],[0.847312,0.525691,0.075580],[-0.004204,-0.135666,0.990746]]
2025-10-26T22:07:56.713Z,1761516476.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244617
2025-10-26T22:07:56.757Z,1761516476.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.27 m.
2025-10-26T22:07:56.776Z,1761516476.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.266060 m,
      nav range: 84.755157 m,
      bearing: 54.667245 deg,
      approach rate: -0.672462 m/s,
      LOS rate: 0.015832 deg/s,
      cmd heading: 59.629266 deg,
      new cmd heading: 59.648926 deg.

2025-10-26T22:07:56.777Z,1761516476.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.041070 target range: 87.266060 and range: 87.80 m.
2025-10-26T22:07:56.964Z,1761516476.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496107
2025-10-26T22:07:57.125Z,1761516477.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527914,-0.841719,-0.113211],[0.849282,0.522369,0.076492],[-0.005247,-0.136529,0.990622]]
2025-10-26T22:07:57.199Z,1761516477.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:57.209Z,1761516477.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.27 m.
2025-10-26T22:07:57.212Z,1761516477.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.266060 m,
      nav range: 84.501801 m,
      bearing: 54.672581 deg,
      approach rate: -0.560561 m/s,
      LOS rate: 0.011841 deg/s,
      cmd heading: 59.648923 deg,
      new cmd heading: 59.664978 deg.

2025-10-26T22:07:57.213Z,1761516477.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.041350 target range: 87.266060 and range: 87.80 m.
2025-10-26T22:07:57.217Z,1761516477.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748275
2025-10-26T22:07:57.474Z,1761516477.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004771
2025-10-26T22:07:57.558Z,1761516477.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524752,-0.843618,-0.113768],[0.851232,0.519058,0.077349],[-0.006201,-0.137432,0.990492]]
2025-10-26T22:07:57.626Z,1761516477.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.27 m.
2025-10-26T22:07:57.642Z,1761516477.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.266060 m,
      nav range: 84.219437 m,
      bearing: 54.676229 deg,
      approach rate: -0.676789 m/s,
      LOS rate: 0.008774 deg/s,
      cmd heading: 59.664981 deg,
      new cmd heading: 59.675963 deg.

2025-10-26T22:07:57.642Z,1761516477.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.041542 target range: 87.266060 and range: 87.80 m.
2025-10-26T22:07:57.722Z,1761516477.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253715
2025-10-26T22:07:57.968Z,1761516477.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521088,-0.846003,-0.112896],[0.853473,0.515379,0.077255],[-0.007174,-0.136611,0.990599]]
2025-10-26T22:07:57.972Z,1761516477.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504178
2025-10-26T22:07:58.040Z,1761516478.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.27 m.
2025-10-26T22:07:58.042Z,1761516478.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.266060 m,
      nav range: 83.946190 m,
      bearing: 54.678985 deg,
      approach rate: -0.661374 m/s,
      LOS rate: 0.006692 deg/s,
      cmd heading: 59.675964 deg,
      new cmd heading: 59.684258 deg.

2025-10-26T22:07:58.048Z,1761516478.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.041687 target range: 87.266060 and range: 87.80 m.
2025-10-26T22:07:58.224Z,1761516478.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756038
2025-10-26T22:07:58.370Z,1761516478.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517445,-0.848484,-0.111023],[0.855678,0.511817,0.076542],[-0.008121,-0.134606,0.990866]]
2025-10-26T22:07:58.389Z,1761516478.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.27 m.
2025-10-26T22:07:58.392Z,1761516478.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.266060 m,
      nav range: 83.715042 m,
      bearing: 54.680663 deg,
      approach rate: -0.661568 m/s,
      LOS rate: 0.004816 deg/s,
      cmd heading: 59.684256 deg,
      new cmd heading: 59.689304 deg.

2025-10-26T22:07:58.393Z,1761516478.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.041775 target range: 87.266060 and range: 87.80 m.
2025-10-26T22:07:58.480Z,1761516478.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010954
2025-10-26T22:07:58.730Z,1761516478.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261536
2025-10-26T22:07:58.786Z,1761516478.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514027,-0.850698,-0.109950],[0.857727,0.508412,0.076304],[-0.009012,-0.133529,0.991004]]
2025-10-26T22:07:58.849Z,1761516478.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.27 m.
2025-10-26T22:07:58.852Z,1761516478.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.266060 m,
      nav range: 83.434319 m,
      bearing: 54.684407 deg,
      approach rate: -0.610497 m/s,
      LOS rate: 0.008168 deg/s,
      cmd heading: 59.689303 deg,
      new cmd heading: 59.700571 deg.

2025-10-26T22:07:58.853Z,1761516478.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.041972 target range: 87.266060 and range: 87.80 m.
2025-10-26T22:07:58.986Z,1761516478.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517724
2025-10-26T22:07:59.194Z,1761516479.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510865,-0.852889,-0.107695],[0.859606,0.505384,0.075263],[-0.009764,-0.131024,0.991331]]
2025-10-26T22:07:59.229Z,1761516479.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:07:59.231Z,1761516479.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.27 m.
2025-10-26T22:07:59.232Z,1761516479.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764236
2025-10-26T22:07:59.235Z,1761516479.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.266060 m,
      nav range: 83.201279 m,
      bearing: 54.686953 deg,
      approach rate: -0.610487 m/s,
      LOS rate: 0.006688 deg/s,
      cmd heading: 59.700573 deg,
      new cmd heading: 59.708232 deg.

2025-10-26T22:07:59.236Z,1761516479.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.042105 target range: 87.266060 and range: 87.80 m.
2025-10-26T22:07:59.484Z,1761516479.484 [DAT](INFO): DAT read: Rx Time:22:07:58.1081

2025-10-26T22:07:59.485Z,1761516479.485 [DAT](INFO): Rx dataTimestamp_ set to:1761516479.484629
2025-10-26T22:07:59.485Z,1761516479.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017241
2025-10-26T22:07:59.586Z,1761516479.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508237,-0.854564,-0.106846],[0.861150,0.502719,0.075461],[-0.010772,-0.130362,0.991408]]
2025-10-26T22:07:59.674Z,1761516479.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.27 m.
2025-10-26T22:07:59.678Z,1761516479.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.266060 m,
      nav range: 82.948380 m,
      bearing: 54.696512 deg,
      approach rate: -0.571129 m/s,
      LOS rate: 0.021653 deg/s,
      cmd heading: 59.708230 deg,
      new cmd heading: 59.736994 deg.

2025-10-26T22:07:59.683Z,1761516479.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.042607 target range: 87.266060 and range: 87.80 m.
2025-10-26T22:07:59.737Z,1761516479.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268328
2025-10-26T22:07:59.994Z,1761516479.994 [DAT](INFO): DAT read: 22:07:58.1081 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 416, 0.26,-1.694, 3.021,-1.326,-1.750, PHS= 0.158,-1.467, 0.380, RAW= 156.3,  10.6, CAL= 156.3,  11.7, ROT= 353.7, -11.7

2025-10-26T22:07:59.995Z,1761516479.995 [DAT](INFO): got valid direction response:
 22:07:58.1081 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 416, 0.26,-1.694, 3.021,-1.326,-1.750, PHS= 0.158,-1.467, 0.380, RAW= 156.3,  10.6, CAL= 156.3,  11.7, ROT= 353.7, -11.7

2025-10-26T22:07:59.996Z,1761516479.996 [DAT](INFO): DAT read: Bearing 213.5,  -8.8 (Local)

2025-10-26T22:07:59.996Z,1761516479.996 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.5,  -8.8 (Local)

2025-10-26T22:08:00.001Z,1761516480.001 [DAT](INFO): DAT read: Range 11 to 50 : 85.8 m  (Round-trip  114.4 ms) speed  0.7 m/s

2025-10-26T22:08:00.003Z,1761516480.003 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:08:00.004Z,1761516480.004 [DAT](INFO): direction in FSK: [0.973309,-0.107454,0.202787]
2025-10-26T22:08:00.004Z,1761516480.004 [DAT](INFO): publishing direction and range info
2025-10-26T22:08:00.008Z,1761516480.008 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:08:00.008Z,1761516480.008 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:08:00.008Z,1761516480.008 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:08:00.032Z,1761516480.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505342,-0.855487,-0.113015],[0.862829,0.499043,0.080511],[-0.012477,-0.138198,0.990326]]
2025-10-26T22:08:00.112Z,1761516480.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 85.800003 m,
      deltaT: 3.779812 s,
      deltaX: -2.000000 m,
      approachRate: -0.529127 m/s,
      rangeRepo size: 4

2025-10-26T22:08:00.114Z,1761516480.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 85.278252 m,
      bearing: 55.050632 deg,
      lat: 36.779378 deg,
      lon: -121.859448 deg,
      deltaT: 3.779812 s,
      deltaX: -1.987808 m,
      approachRate: -0.525901 m/s,
      posRepo size: 4

2025-10-26T22:08:00.114Z,1761516480.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.28 m.
2025-10-26T22:08:00.121Z,1761516480.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.278252 m,
      nav range: 83.300148 m,
      bearing: 54.983217 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021653 deg/s,
      cmd heading: 59.736992 deg,
      new cmd heading: 59.765156 deg.

2025-10-26T22:08:00.122Z,1761516480.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.043099 target range: 85.278252 and range: 85.80 m.
2025-10-26T22:08:00.241Z,1761516480.241 [DAT](INFO): DAT read: user:466>

2025-10-26T22:08:00.241Z,1761516480.241 [DAT](INFO): DAT read: Tx time:22:07:59.3895

2025-10-26T22:08:00.242Z,1761516480.242 [DAT](INFO): Ping request sent.
2025-10-26T22:08:00.242Z,1761516480.242 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:08:00.242Z,1761516480.242 [DAT](INFO): publishing transmit ping time
2025-10-26T22:08:00.243Z,1761516480.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758
2025-10-26T22:08:00.431Z,1761516480.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.28 m.
2025-10-26T22:08:00.434Z,1761516480.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.278252 m,
      nav range: 83.091232 m,
      bearing: 54.991352 deg,
      approach rate: -0.644175 m/s,
      LOS rate: 0.025145 deg/s,
      cmd heading: 59.765159 deg,
      new cmd heading: 59.789624 deg.

2025-10-26T22:08:00.435Z,1761516480.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.043526 target range: 85.278252 and range: 85.80 m.
2025-10-26T22:08:00.496Z,1761516480.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253043
2025-10-26T22:08:00.745Z,1761516480.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502999
2025-10-26T22:08:00.803Z,1761516480.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504683,-0.855548,-0.115469],[0.863206,0.498072,0.082461],[-0.013038,-0.141290,0.989882]]
2025-10-26T22:08:00.850Z,1761516480.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.28 m.
2025-10-26T22:08:00.853Z,1761516480.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.278252 m,
      nav range: 82.852898 m,
      bearing: 55.008683 deg,
      approach rate: -0.568759 m/s,
      LOS rate: 0.041478 deg/s,
      cmd heading: 59.789625 deg,
      new cmd heading: 59.841769 deg.

2025-10-26T22:08:00.854Z,1761516480.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.044436 target range: 85.278252 and range: 85.80 m.
2025-10-26T22:08:00.996Z,1761516480.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754568
2025-10-26T22:08:01.212Z,1761516481.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504166,-0.855816,-0.115739],[0.863503,0.497477,0.082945],[-0.013408,-0.141759,0.989810]]
2025-10-26T22:08:01.245Z,1761516481.245 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:01.248Z,1761516481.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006645
2025-10-26T22:08:01.251Z,1761516481.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.28 m.
2025-10-26T22:08:01.254Z,1761516481.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.278252 m,
      nav range: 82.636696 m,
      bearing: 55.024399 deg,
      approach rate: -0.544806 m/s,
      LOS rate: 0.039706 deg/s,
      cmd heading: 59.841767 deg,
      new cmd heading: 59.889037 deg.

2025-10-26T22:08:01.255Z,1761516481.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.045261 target range: 85.278252 and range: 85.80 m.
2025-10-26T22:08:01.500Z,1761516481.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258552
2025-10-26T22:08:01.620Z,1761516481.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504324,-0.855669,-0.116136],[0.863406,0.497544,0.083548],[-0.013707,-0.142407,0.989713]]
2025-10-26T22:08:01.696Z,1761516481.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.28 m.
2025-10-26T22:08:01.700Z,1761516481.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.278252 m,
      nav range: 82.384018 m,
      bearing: 55.052833 deg,
      approach rate: -0.562926 m/s,
      LOS rate: 0.063540 deg/s,
      cmd heading: 59.889038 deg,
      new cmd heading: 59.974601 deg.

2025-10-26T22:08:01.702Z,1761516481.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.046754 target range: 85.278252 and range: 85.80 m.
2025-10-26T22:08:01.752Z,1761516481.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510670
2025-10-26T22:08:02.005Z,1761516482.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763410
2025-10-26T22:08:02.034Z,1761516482.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504730,-0.855417,-0.116230],[0.863161,0.497855,0.084223],[-0.014180,-0.142835,0.989645]]
2025-10-26T22:08:02.057Z,1761516482.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.28 m.
2025-10-26T22:08:02.059Z,1761516482.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.278252 m,
      nav range: 82.175896 m,
      bearing: 55.076452 deg,
      approach rate: -0.577123 m/s,
      LOS rate: 0.065662 deg/s,
      cmd heading: 59.974600 deg,
      new cmd heading: 60.045637 deg.

2025-10-26T22:08:02.060Z,1761516482.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.047994 target range: 85.278252 and range: 85.80 m.
2025-10-26T22:08:02.257Z,1761516482.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014743
2025-10-26T22:08:02.426Z,1761516482.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505516,-0.854884,-0.116738],[0.862694,0.498508,0.085136],[-0.014587,-0.143747,0.989507]]
2025-10-26T22:08:02.461Z,1761516482.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.28 m.
2025-10-26T22:08:02.468Z,1761516482.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.278252 m,
      nav range: 81.959808 m,
      bearing: 55.101238 deg,
      approach rate: -0.534364 m/s,
      LOS rate: 0.061456 deg/s,
      cmd heading: 60.045634 deg,
      new cmd heading: 60.120189 deg.

2025-10-26T22:08:02.469Z,1761516482.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.049295 target range: 85.278252 and range: 85.80 m.
2025-10-26T22:08:02.510Z,1761516482.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268382
2025-10-26T22:08:02.760Z,1761516482.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518519
2025-10-26T22:08:02.830Z,1761516482.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505876,-0.854470,-0.118196],[0.862479,0.498681,0.086294],[-0.014794,-0.145595,0.989234]]
2025-10-26T22:08:02.874Z,1761516482.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.28 m.
2025-10-26T22:08:02.877Z,1761516482.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.278252 m,
      nav range: 81.720741 m,
      bearing: 55.130668 deg,
      approach rate: -0.578303 m/s,
      LOS rate: 0.071400 deg/s,
      cmd heading: 60.120193 deg,
      new cmd heading: 60.208741 deg.

2025-10-26T22:08:02.878Z,1761516482.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.050841 target range: 85.278252 and range: 85.80 m.
2025-10-26T22:08:03.012Z,1761516483.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770545
2025-10-26T22:08:03.234Z,1761516483.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506371,-0.854001,-0.119455],[0.862181,0.498967,0.087609],[-0.015214,-0.147354,0.988967]]
2025-10-26T22:08:03.251Z,1761516483.251 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:03.253Z,1761516483.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.28 m.
2025-10-26T22:08:03.257Z,1761516483.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.278252 m,
      nav range: 81.509750 m,
      bearing: 55.156856 deg,
      approach rate: -0.557273 m/s,
      LOS rate: 0.069345 deg/s,
      cmd heading: 60.208739 deg,
      new cmd heading: 60.287504 deg.

2025-10-26T22:08:03.258Z,1761516483.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.052215 target range: 85.278252 and range: 85.80 m.
2025-10-26T22:08:03.265Z,1761516483.265 [DAT](INFO): DAT read: Rx Time:22:08:01.9050

2025-10-26T22:08:03.265Z,1761516483.265 [DAT](INFO): Rx dataTimestamp_ set to:1761516483.264762
2025-10-26T22:08:03.266Z,1761516483.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023804
2025-10-26T22:08:03.516Z,1761516483.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274470
2025-10-26T22:08:03.741Z,1761516483.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.28 m.
2025-10-26T22:08:03.744Z,1761516483.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.278252 m,
      nav range: 81.257950 m,
      bearing: 55.195737 deg,
      approach rate: -0.516143 m/s,
      LOS rate: 0.079947 deg/s,
      cmd heading: 60.287505 deg,
      new cmd heading: 60.404512 deg.

2025-10-26T22:08:03.745Z,1761516483.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.054258 target range: 85.278252 and range: 85.80 m.
2025-10-26T22:08:03.774Z,1761516483.774 [DAT](INFO): DAT read: 22:08:01.9050 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 417, 0.41, 1.150,-0.388, 1.530, 1.126, PHS= 0.127,-1.468, 0.360, RAW= 156.7,  11.4, CAL= 156.8,  12.6, ROT= 353.2, -12.6

2025-10-26T22:08:03.775Z,1761516483.775 [DAT](INFO): got valid direction response:
 22:08:01.9050 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 417, 0.41, 1.150,-0.388, 1.530, 1.126, PHS= 0.127,-1.468, 0.360, RAW= 156.7,  11.4, CAL= 156.8,  12.6, ROT= 353.2, -12.6

2025-10-26T22:08:03.776Z,1761516483.776 [DAT](INFO): DAT read: Bearing 214.3,  -9.8 (Local)

2025-10-26T22:08:03.776Z,1761516483.776 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.3,  -9.8 (Local)

2025-10-26T22:08:03.778Z,1761516483.778 [DAT](INFO): DAT read: Range 11 to 50 : 83.5 m  (Round-trip  111.4 ms) speed  0.7 m/s

2025-10-26T22:08:03.778Z,1761516483.778 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:08:03.779Z,1761516483.779 [DAT](INFO): direction in FSK: [0.969052,-0.115552,0.218143]
2025-10-26T22:08:03.780Z,1761516483.780 [DAT](INFO): publishing direction and range info
2025-10-26T22:08:03.783Z,1761516483.783 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:08:03.783Z,1761516483.783 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:08:03.788Z,1761516483.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:08:04.024Z,1761516484.024 [DAT](INFO): DAT read: user:467>

2025-10-26T22:08:04.025Z,1761516484.025 [DAT](INFO): DAT read: Tx time:22:08:03.1395

2025-10-26T22:08:04.026Z,1761516484.026 [DAT](INFO): Ping request sent.
2025-10-26T22:08:04.026Z,1761516484.026 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:08:04.026Z,1761516484.026 [DAT](INFO): publishing transmit ping time
2025-10-26T22:08:04.027Z,1761516484.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001048
2025-10-26T22:08:04.111Z,1761516484.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507550,-0.853195,-0.120210],[0.861467,0.499845,0.089611],[-0.016369,-0.149039,0.988696]]
2025-10-26T22:08:04.157Z,1761516484.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 83.500000 m,
      deltaT: 3.779943 s,
      deltaX: -2.300003 m,
      approachRate: -0.608476 m/s,
      rangeRepo size: 4

2025-10-26T22:08:04.160Z,1761516484.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 82.992104 m,
      bearing: 54.691024 deg,
      lat: 36.779378 deg,
      lon: -121.859453 deg,
      deltaT: 3.779943 s,
      deltaX: -2.286148 m,
      approachRate: -0.604810 m/s,
      posRepo size: 4

2025-10-26T22:08:04.161Z,1761516484.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.99 m.
2025-10-26T22:08:04.181Z,1761516484.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.992104 m,
      nav range: 80.684998 m,
      bearing: 55.021648 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.079947 deg/s,
      cmd heading: 60.404513 deg,
      new cmd heading: 60.503775 deg.

2025-10-26T22:08:04.182Z,1761516484.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.055990 target range: 82.992104 and range: 83.50 m.
2025-10-26T22:08:04.272Z,1761516484.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246731
2025-10-26T22:08:04.509Z,1761516484.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507736,-0.853088,-0.120184],[0.861347,0.499936,0.090253],[-0.016909,-0.149345,0.988641]]
2025-10-26T22:08:04.525Z,1761516484.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498959
2025-10-26T22:08:04.529Z,1761516484.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.99 m.
2025-10-26T22:08:04.532Z,1761516484.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.992104 m,
      nav range: 80.485985 m,
      bearing: 55.052525 deg,
      approach rate: -0.531769 m/s,
      LOS rate: 0.082707 deg/s,
      cmd heading: 60.503776 deg,
      new cmd heading: 60.596634 deg.

2025-10-26T22:08:04.533Z,1761516484.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.057611 target range: 82.992104 and range: 83.50 m.
2025-10-26T22:08:04.776Z,1761516484.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750641
2025-10-26T22:08:04.910Z,1761516484.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508052,-0.852913,-0.120092],[0.861154,0.500199,0.090637],[-0.017236,-0.149466,0.988617]]
2025-10-26T22:08:04.956Z,1761516484.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.99 m.
2025-10-26T22:08:04.959Z,1761516484.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.992104 m,
      nav range: 80.263649 m,
      bearing: 55.087601 deg,
      approach rate: -0.520550 m/s,
      LOS rate: 0.082350 deg/s,
      cmd heading: 60.596632 deg,
      new cmd heading: 60.702152 deg.

2025-10-26T22:08:04.960Z,1761516484.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.059452 target range: 82.992104 and range: 83.50 m.
2025-10-26T22:08:05.029Z,1761516485.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003153
2025-10-26T22:08:05.280Z,1761516485.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254686
2025-10-26T22:08:05.355Z,1761516485.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:05.357Z,1761516485.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.99 m.
2025-10-26T22:08:05.360Z,1761516485.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.992104 m,
      nav range: 80.055229 m,
      bearing: 55.120663 deg,
      approach rate: -0.519509 m/s,
      LOS rate: 0.082625 deg/s,
      cmd heading: 60.702152 deg,
      new cmd heading: 60.801596 deg.

2025-10-26T22:08:05.361Z,1761516485.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.061188 target range: 82.992104 and range: 83.50 m.
2025-10-26T22:08:05.533Z,1761516485.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507028
2025-10-26T22:08:05.776Z,1761516485.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.99 m.
2025-10-26T22:08:05.779Z,1761516485.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.992104 m,
      nav range: 79.823547 m,
      bearing: 55.150336 deg,
      approach rate: -0.552916 m/s,
      LOS rate: 0.071022 deg/s,
      cmd heading: 60.801593 deg,
      new cmd heading: 60.890872 deg.

2025-10-26T22:08:05.780Z,1761516485.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.062746 target range: 82.992104 and range: 83.50 m.
2025-10-26T22:08:05.784Z,1761516485.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758719
2025-10-26T22:08:06.037Z,1761516486.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010902
2025-10-26T22:08:06.122Z,1761516486.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506736,-0.854271,-0.115930],[0.861906,0.499164,0.089176],[-0.018313,-0.145110,0.989246]]
2025-10-26T22:08:06.170Z,1761516486.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.99 m.
2025-10-26T22:08:06.172Z,1761516486.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.992104 m,
      nav range: 79.610092 m,
      bearing: 55.177657 deg,
      approach rate: -0.542802 m/s,
      LOS rate: 0.069660 deg/s,
      cmd heading: 60.890870 deg,
      new cmd heading: 60.973051 deg.

2025-10-26T22:08:06.173Z,1761516486.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.064180 target range: 82.992104 and range: 83.50 m.
2025-10-26T22:08:06.292Z,1761516486.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266163
2025-10-26T22:08:06.527Z,1761516486.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505279,-0.855349,-0.114327],[0.862759,0.497881,0.088102],[-0.018436,-0.143153,0.989529]]
2025-10-26T22:08:06.544Z,1761516486.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518703
2025-10-26T22:08:06.546Z,1761516486.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.99 m.
2025-10-26T22:08:06.566Z,1761516486.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.992104 m,
      nav range: 79.399292 m,
      bearing: 55.204549 deg,
      approach rate: -0.559763 m/s,
      LOS rate: 0.071599 deg/s,
      cmd heading: 60.973051 deg,
      new cmd heading: 61.053941 deg.

2025-10-26T22:08:06.570Z,1761516486.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.065592 target range: 82.992104 and range: 83.50 m.
2025-10-26T22:08:06.797Z,1761516486.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770980
2025-10-26T22:08:06.931Z,1761516486.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504303,-0.856026,-0.113568],[0.863321,0.496929,0.087971],[-0.018870,-0.142410,0.989628]]
2025-10-26T22:08:06.980Z,1761516486.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.99 m.
2025-10-26T22:08:06.983Z,1761516486.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.992104 m,
      nav range: 79.164833 m,
      bearing: 55.230749 deg,
      approach rate: -0.539846 m/s,
      LOS rate: 0.060505 deg/s,
      cmd heading: 61.053941 deg,
      new cmd heading: 61.132774 deg.

2025-10-26T22:08:06.985Z,1761516486.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.066968 target range: 82.992104 and range: 83.50 m.
2025-10-26T22:08:07.049Z,1761516487.049 [DAT](INFO): DAT read: Rx Time:22:08:05.6520

2025-10-26T22:08:07.049Z,1761516487.049 [DAT](INFO): Rx dataTimestamp_ set to:1761516487.048813
2025-10-26T22:08:07.050Z,1761516487.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023923
2025-10-26T22:08:07.300Z,1761516487.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274675
2025-10-26T22:08:07.344Z,1761516487.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502471,-0.857235,-0.112564],[0.864382,0.495187,0.087373],[-0.019159,-0.141200,0.989796]]
2025-10-26T22:08:07.373Z,1761516487.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:07.375Z,1761516487.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.99 m.
2025-10-26T22:08:07.381Z,1761516487.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.992104 m,
      nav range: 78.957115 m,
      bearing: 55.253785 deg,
      approach rate: -0.527045 m/s,
      LOS rate: 0.058603 deg/s,
      cmd heading: 61.132775 deg,
      new cmd heading: 61.202065 deg.

2025-10-26T22:08:07.382Z,1761516487.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.068178 target range: 82.992104 and range: 83.50 m.
2025-10-26T22:08:07.558Z,1761516487.558 [DAT](INFO): DAT read: 22:08:05.6520 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 419,-0.42, 2.093, 0.550, 2.479, 2.102, PHS= 0.094,-1.507, 0.334, RAW= 156.9,  12.4, CAL= 157.2,  13.9, ROT= 352.8, -13.9

2025-10-26T22:08:07.559Z,1761516487.559 [DAT](INFO): got valid direction response:
 22:08:05.6520 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 419,-0.42, 2.093, 0.550, 2.479, 2.102, PHS= 0.094,-1.507, 0.334, RAW= 156.9,  12.4, CAL= 157.2,  13.9, ROT= 352.8, -13.9

2025-10-26T22:08:07.560Z,1761516487.560 [DAT](INFO): DAT read: Bearing 215.8, -10.2 (Local)

2025-10-26T22:08:07.560Z,1761516487.560 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.8, -10.2 (Local)

2025-10-26T22:08:07.561Z,1761516487.561 [DAT](INFO): DAT read: Range 11 to 50 : 81.2 m  (Round-trip  108.3 ms) speed  0.4 m/s

2025-10-26T22:08:07.562Z,1761516487.562 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:08:07.563Z,1761516487.563 [DAT](INFO): direction in FSK: [0.963062,-0.121663,0.240228]
2025-10-26T22:08:07.567Z,1761516487.567 [DAT](INFO): publishing direction and range info
2025-10-26T22:08:07.571Z,1761516487.571 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:08:07.571Z,1761516487.571 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:08:07.571Z,1761516487.571 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:08:07.805Z,1761516487.805 [DAT](INFO): DAT read: user:468>

2025-10-26T22:08:07.806Z,1761516487.806 [DAT](INFO): DAT read: Tx time:22:08:06.9395

2025-10-26T22:08:07.806Z,1761516487.806 [DAT](INFO): Ping request sent.
2025-10-26T22:08:07.806Z,1761516487.806 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:08:07.807Z,1761516487.807 [DAT](INFO): publishing transmit ping time
2025-10-26T22:08:07.807Z,1761516487.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000764
2025-10-26T22:08:07.904Z,1761516487.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500550,-0.858456,-0.111820],[0.865493,0.493355,0.086738],[-0.019294,-0.140197,0.989936]]
2025-10-26T22:08:07.973Z,1761516487.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 81.199997 m,
      deltaT: 3.783842 s,
      deltaX: -2.300003 m,
      approachRate: -0.607849 m/s,
      rangeRepo size: 4

2025-10-26T22:08:07.975Z,1761516487.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 80.706299 m,
      bearing: 54.833852 deg,
      lat: 36.779382 deg,
      lon: -121.859453 deg,
      deltaT: 3.783842 s,
      deltaX: -2.285805 m,
      approachRate: -0.604096 m/s,
      posRepo size: 4

2025-10-26T22:08:07.979Z,1761516487.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.71 m.
2025-10-26T22:08:07.982Z,1761516487.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.706299 m,
      nav range: 78.845634 m,
      bearing: 55.050755 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.058603 deg/s,
      cmd heading: 61.202067 deg,
      new cmd heading: 61.307123 deg.

2025-10-26T22:08:07.983Z,1761516487.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.070011 target range: 80.706299 and range: 81.20 m.
2025-10-26T22:08:08.057Z,1761516488.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250825
2025-10-26T22:08:08.309Z,1761516488.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502063
2025-10-26T22:08:08.468Z,1761516488.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497079,-0.860613,-0.110715],[0.867491,0.490054,0.085482],[-0.019311,-0.138535,0.990169]]
2025-10-26T22:08:08.486Z,1761516488.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.71 m.
2025-10-26T22:08:08.489Z,1761516488.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.706299 m,
      nav range: 78.544426 m,
      bearing: 55.076538 deg,
      approach rate: -0.585607 m/s,
      LOS rate: 0.050319 deg/s,
      cmd heading: 61.307122 deg,
      new cmd heading: 61.384768 deg.

2025-10-26T22:08:08.490Z,1761516488.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.071366 target range: 80.706299 and range: 81.20 m.
2025-10-26T22:08:08.561Z,1761516488.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754038
2025-10-26T22:08:08.813Z,1761516488.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006611
2025-10-26T22:08:08.894Z,1761516488.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495876,-0.861252,-0.111138],[0.868181,0.488851,0.085359],[-0.019186,-0.138815,0.990132]]
2025-10-26T22:08:08.958Z,1761516488.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.71 m.
2025-10-26T22:08:08.965Z,1761516488.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.706299 m,
      nav range: 78.279236 m,
      bearing: 55.093187 deg,
      approach rate: -0.562343 m/s,
      LOS rate: 0.035425 deg/s,
      cmd heading: 61.384768 deg,
      new cmd heading: 61.434885 deg.

2025-10-26T22:08:08.966Z,1761516488.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.072241 target range: 80.706299 and range: 81.20 m.
2025-10-26T22:08:09.065Z,1761516489.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258096
2025-10-26T22:08:09.294Z,1761516489.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494457,-0.862030,-0.111427],[0.868996,0.487470,0.084963],[-0.018924,-0.138840,0.990134]]
2025-10-26T22:08:09.313Z,1761516489.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.71 m.
2025-10-26T22:08:09.316Z,1761516489.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509965
2025-10-26T22:08:09.336Z,1761516489.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.706299 m,
      nav range: 78.059166 m,
      bearing: 55.106823 deg,
      approach rate: -0.620380 m/s,
      LOS rate: 0.038550 deg/s,
      cmd heading: 61.434888 deg,
      new cmd heading: 61.475913 deg.

2025-10-26T22:08:09.337Z,1761516489.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.072957 target range: 80.706299 and range: 81.20 m.
2025-10-26T22:08:09.568Z,1761516489.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761805
2025-10-26T22:08:09.733Z,1761516489.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493178,-0.862677,-0.112090],[0.869732,0.486221,0.084585],[-0.018469,-0.139204,0.990092]]
2025-10-26T22:08:09.781Z,1761516489.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:09.783Z,1761516489.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.71 m.
2025-10-26T22:08:09.785Z,1761516489.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.706299 m,
      nav range: 77.781509 m,
      bearing: 55.122478 deg,
      approach rate: -0.590913 m/s,
      LOS rate: 0.033435 deg/s,
      cmd heading: 61.475910 deg,
      new cmd heading: 61.523041 deg.

2025-10-26T22:08:09.786Z,1761516489.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.073780 target range: 80.706299 and range: 81.20 m.
2025-10-26T22:08:09.821Z,1761516489.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014726
2025-10-26T22:08:10.072Z,1761516490.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265860
2025-10-26T22:08:10.171Z,1761516490.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.71 m.
2025-10-26T22:08:10.174Z,1761516490.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.706299 m,
      nav range: 77.551468 m,
      bearing: 55.135533 deg,
      approach rate: -0.592162 m/s,
      LOS rate: 0.033705 deg/s,
      cmd heading: 61.523038 deg,
      new cmd heading: 61.562319 deg.

2025-10-26T22:08:10.175Z,1761516490.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.074465 target range: 80.706299 and range: 81.20 m.
2025-10-26T22:08:10.324Z,1761516490.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517809
2025-10-26T22:08:10.506Z,1761516490.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490948,-0.863770,-0.113452],[0.871018,0.484094,0.083554],[-0.017250,-0.139840,0.990024]]
2025-10-26T22:08:10.543Z,1761516490.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.71 m.
2025-10-26T22:08:10.546Z,1761516490.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.706299 m,
      nav range: 77.337746 m,
      bearing: 55.147318 deg,
      approach rate: -0.574995 m/s,
      LOS rate: 0.031793 deg/s,
      cmd heading: 61.562319 deg,
      new cmd heading: 61.597771 deg.

2025-10-26T22:08:10.547Z,1761516490.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.075084 target range: 80.706299 and range: 81.20 m.
2025-10-26T22:08:10.577Z,1761516490.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770268
2025-10-26T22:08:10.608Z,1761516490.608 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:08:10.829Z,1761516490.829 [DAT](INFO): DAT read: Rx Time:22:08:09.4492

2025-10-26T22:08:10.830Z,1761516490.830 [DAT](INFO): Rx dataTimestamp_ set to:1761516490.829419
2025-10-26T22:08:10.831Z,1761516490.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024078
2025-10-26T22:08:10.911Z,1761516490.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490481,-0.864029,-0.113499],[0.871298,0.483772,0.082487],[-0.016363,-0.139350,0.990108]]
2025-10-26T22:08:11.014Z,1761516491.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.71 m.
2025-10-26T22:08:11.021Z,1761516491.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.706299 m,
      nav range: 77.075294 m,
      bearing: 55.166342 deg,
      approach rate: -0.556447 m/s,
      LOS rate: 0.040473 deg/s,
      cmd heading: 61.597774 deg,
      new cmd heading: 61.655043 deg.

2025-10-26T22:08:11.022Z,1761516491.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.076084 target range: 80.706299 and range: 81.20 m.
2025-10-26T22:08:11.081Z,1761516491.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274295
2025-10-26T22:08:11.314Z,1761516491.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489632,-0.864304,-0.115064],[0.871793,0.482946,0.082097],[-0.015387,-0.140509,0.989960]]
2025-10-26T22:08:11.338Z,1761516491.338 [DAT](INFO): DAT read: 22:08:09.4492 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 405, 0.02,-2.401, 2.340,-2.022,-2.397, PHS= 0.098,-1.501, 0.331, RAW= 156.7,  12.4, CAL= 157.0,  13.9, ROT= 353.0, -13.9

2025-10-26T22:08:11.339Z,1761516491.339 [DAT](INFO): got valid direction response:
 22:08:09.4492 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 405, 0.02,-2.401, 2.340,-2.022,-2.397, PHS= 0.098,-1.501, 0.331, RAW= 156.7,  12.4, CAL= 157.0,  13.9, ROT= 353.0, -13.9

2025-10-26T22:08:11.340Z,1761516491.340 [DAT](INFO): DAT read: Bearing 215.9,  -9.8 (Local)

2025-10-26T22:08:11.341Z,1761516491.341 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.9,  -9.8 (Local)

2025-10-26T22:08:11.342Z,1761516491.342 [DAT](INFO): DAT read: Range 11 to 50 : 79.1 m  (Round-trip  105.5 ms) speed  0.4 m/s

2025-10-26T22:08:11.342Z,1761516491.342 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:08:11.344Z,1761516491.344 [DAT](INFO): direction in FSK: [0.963481,-0.118301,0.240228]
2025-10-26T22:08:11.345Z,1761516491.345 [DAT](INFO): publishing direction and range info
2025-10-26T22:08:11.348Z,1761516491.348 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:08:11.348Z,1761516491.348 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:08:11.348Z,1761516491.348 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:08:11.376Z,1761516491.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 79.099998 m,
      deltaT: 3.780437 s,
      deltaX: -2.099998 m,
      approachRate: -0.555491 m/s,
      rangeRepo size: 4

2025-10-26T22:08:11.377Z,1761516491.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.71 m.
2025-10-26T22:08:11.385Z,1761516491.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.706299 m,
      nav range: 76.879761 m,
      bearing: 55.180447 deg,
      approach rate: -0.580507 m/s,
      LOS rate: 0.041981 deg/s,
      cmd heading: 61.655045 deg,
      new cmd heading: 61.697467 deg.

2025-10-26T22:08:11.400Z,1761516491.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.076824 target range: 80.706299 and range: 79.10 m.
2025-10-26T22:08:11.584Z,1761516491.584 [DAT](INFO): DAT read: user:469>

2025-10-26T22:08:11.585Z,1761516491.585 [DAT](INFO): DAT read: Tx time:22:08:10.6895

2025-10-26T22:08:11.585Z,1761516491.585 [DAT](INFO): Ping request sent.
2025-10-26T22:08:11.585Z,1761516491.585 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:08:11.586Z,1761516491.586 [DAT](INFO): publishing transmit ping time
2025-10-26T22:08:11.586Z,1761516491.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-10-26T22:08:11.614Z,1761516491.614 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:08:11.762Z,1761516491.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488838,-0.864274,-0.118609],[0.872258,0.482009,0.082664],[-0.014274,-0.143867,0.989494]]
2025-10-26T22:08:11.823Z,1761516491.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.71 m.
2025-10-26T22:08:11.829Z,1761516491.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.706299 m,
      nav range: 76.601334 m,
      bearing: 55.194432 deg,
      approach rate: -0.590813 m/s,
      LOS rate: 0.029784 deg/s,
      cmd heading: 61.697468 deg,
      new cmd heading: 61.739575 deg.

2025-10-26T22:08:11.830Z,1761516491.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.077559 target range: 80.706299 and range: 79.10 m.
2025-10-26T22:08:11.836Z,1761516491.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250976
2025-10-26T22:08:12.089Z,1761516492.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503634
2025-10-26T22:08:12.194Z,1761516492.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488051,-0.864397,-0.120930],[0.872713,0.481168,0.082762],[-0.013352,-0.145929,0.989205]]
2025-10-26T22:08:12.230Z,1761516492.230 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:12.237Z,1761516492.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.71 m.
2025-10-26T22:08:12.239Z,1761516492.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.706299 m,
      nav range: 76.342751 m,
      bearing: 55.207315 deg,
      approach rate: -0.624487 m/s,
      LOS rate: 0.031218 deg/s,
      cmd heading: 61.739576 deg,
      new cmd heading: 61.778355 deg.

2025-10-26T22:08:12.240Z,1761516492.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.078236 target range: 80.706299 and range: 79.10 m.
2025-10-26T22:08:12.340Z,1761516492.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755025
2025-10-26T22:08:12.544Z,1761516492.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487329,-0.864469,-0.123302],[0.873128,0.480372,0.083003],[-0.012523,-0.148108,0.988892]]
2025-10-26T22:08:12.592Z,1761516492.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006811
2025-10-26T22:08:12.598Z,1761516492.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.71 m.
2025-10-26T22:08:12.608Z,1761516492.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.706299 m,
      nav range: 76.146553 m,
      bearing: 55.217008 deg,
      approach rate: -0.543616 m/s,
      LOS rate: 0.026926 deg/s,
      cmd heading: 61.778358 deg,
      new cmd heading: 61.807511 deg.

2025-10-26T22:08:12.609Z,1761516492.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.078745 target range: 80.706299 and range: 79.10 m.
2025-10-26T22:08:12.845Z,1761516492.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259129
2025-10-26T22:08:12.948Z,1761516492.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486482,-0.864822,-0.124170],[0.873609,0.479555,0.082669],[-0.011948,-0.148693,0.988811]]
2025-10-26T22:08:13.012Z,1761516493.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.71 m.
2025-10-26T22:08:13.014Z,1761516493.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.706299 m,
      nav range: 75.885223 m,
      bearing: 55.226890 deg,
      approach rate: -0.656490 m/s,
      LOS rate: 0.024911 deg/s,
      cmd heading: 61.807509 deg,
      new cmd heading: 61.837258 deg.

2025-10-26T22:08:13.019Z,1761516493.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.079264 target range: 80.706299 and range: 79.10 m.
2025-10-26T22:08:13.100Z,1761516493.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513761
2025-10-26T22:08:13.349Z,1761516493.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763288
2025-10-26T22:08:13.352Z,1761516493.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485389,-0.865313,-0.125021],[0.874224,0.478503,0.082256],[-0.011355,-0.149222,0.988738]]
2025-10-26T22:08:13.409Z,1761516493.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.71 m.
2025-10-26T22:08:13.412Z,1761516493.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.706299 m,
      nav range: 75.648735 m,
      bearing: 55.235662 deg,
      approach rate: -0.574539 m/s,
      LOS rate: 0.021377 deg/s,
      cmd heading: 61.837254 deg,
      new cmd heading: 61.863651 deg.

2025-10-26T22:08:13.413Z,1761516493.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.079724 target range: 80.706299 and range: 79.10 m.
2025-10-26T22:08:13.600Z,1761516493.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014962
2025-10-26T22:08:13.786Z,1761516493.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483870,-0.866104,-0.125434],[0.875074,0.477081,0.081482],[-0.010730,-0.149191,0.988750]]
2025-10-26T22:08:13.828Z,1761516493.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.71 m.
2025-10-26T22:08:13.830Z,1761516493.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.706299 m,
      nav range: 75.383522 m,
      bearing: 55.237934 deg,
      approach rate: -0.630433 m/s,
      LOS rate: 0.005421 deg/s,
      cmd heading: 61.863653 deg,
      new cmd heading: 61.870495 deg.

2025-10-26T22:08:13.832Z,1761516493.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.079844 target range: 80.706299 and range: 79.10 m.
2025-10-26T22:08:13.869Z,1761516493.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.283405
2025-10-26T22:08:14.122Z,1761516494.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.536381
2025-10-26T22:08:14.166Z,1761516494.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482415,-0.867026,-0.124668],[0.875883,0.475807,0.080230],[-0.010243,-0.147899,0.988950]]
2025-10-26T22:08:14.216Z,1761516494.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.71 m.
2025-10-26T22:08:14.218Z,1761516494.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.706299 m,
      nav range: 75.153656 m,
      bearing: 55.239641 deg,
      approach rate: -0.593385 m/s,
      LOS rate: 0.004418 deg/s,
      cmd heading: 61.870497 deg,
      new cmd heading: 61.875632 deg.

2025-10-26T22:08:14.219Z,1761516494.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.079934 target range: 80.706299 and range: 79.10 m.
2025-10-26T22:08:14.373Z,1761516494.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787185
2025-10-26T22:08:14.563Z,1761516494.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480742,-0.867870,-0.125252],[0.876809,0.474216,0.079529],[-0.009625,-0.148055,0.988932]]
2025-10-26T22:08:14.579Z,1761516494.579 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:14.581Z,1761516494.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.71 m.
2025-10-26T22:08:14.603Z,1761516494.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.706299 m,
      nav range: 74.929482 m,
      bearing: 55.240986 deg,
      approach rate: -0.612382 m/s,
      LOS rate: 0.003686 deg/s,
      cmd heading: 61.875633 deg,
      new cmd heading: 61.879681 deg.

2025-10-26T22:08:14.604Z,1761516494.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.080004 target range: 80.706299 and range: 79.10 m.
2025-10-26T22:08:14.626Z,1761516494.626 [DAT](INFO): DAT read: Rx Time:22:08:13.1963

2025-10-26T22:08:14.628Z,1761516494.628 [DAT](INFO): Rx dataTimestamp_ set to:1761516494.626650
2025-10-26T22:08:14.629Z,1761516494.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.043172
2025-10-26T22:08:14.876Z,1761516494.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290879
2025-10-26T22:08:15.015Z,1761516495.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478930,-0.868724,-0.126275],[0.877808,0.472465,0.078933],[-0.008910,-0.148648,0.988850]]
2025-10-26T22:08:15.052Z,1761516495.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.71 m.
2025-10-26T22:08:15.054Z,1761516495.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.706299 m,
      nav range: 74.651482 m,
      bearing: 55.235953 deg,
      approach rate: -0.591503 m/s,
      LOS rate: -0.010748 deg/s,
      cmd heading: 61.879683 deg,
      new cmd heading: 61.864528 deg.

2025-10-26T22:08:15.055Z,1761516495.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.079740 target range: 80.706299 and range: 79.10 m.
2025-10-26T22:08:15.138Z,1761516495.138 [DAT](INFO): DAT read: 22:08:13.1963 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 408, 0.18,-0.618,-2.156,-0.193,-0.651, PHS= 0.135,-1.460, 0.414, RAW= 157.9,  10.4, CAL= 157.9,  11.4, ROT= 352.1, -11.4

2025-10-26T22:08:15.140Z,1761516495.140 [DAT](INFO): got valid direction response:
 22:08:13.1963 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 408, 0.18,-0.618,-2.156,-0.193,-0.651, PHS= 0.135,-1.460, 0.414, RAW= 157.9,  10.4, CAL= 157.9,  11.4, ROT= 352.1, -11.4

2025-10-26T22:08:15.141Z,1761516495.141 [DAT](INFO): DAT read: Bearing 213.4,  -9.8 (Local)

2025-10-26T22:08:15.142Z,1761516495.142 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.4,  -9.8 (Local)

2025-10-26T22:08:15.152Z,1761516495.152 [DAT](INFO): DAT read: Range 11 to 50 : 77.0 m  (Round-trip  102.7 ms) speed  0.4 m/s

2025-10-26T22:08:15.153Z,1761516495.153 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:08:15.155Z,1761516495.155 [DAT](INFO): direction in FSK: [0.970968,-0.134733,0.197657]
2025-10-26T22:08:15.155Z,1761516495.155 [DAT](INFO): publishing direction and range info
2025-10-26T22:08:15.175Z,1761516495.175 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:08:15.175Z,1761516495.175 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:08:15.175Z,1761516495.175 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:08:15.371Z,1761516495.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476414,-0.870011,-0.126929],[0.879187,0.470135,0.077483],[-0.007737,-0.148508,0.988881]]
2025-10-26T22:08:15.380Z,1761516495.380 [DAT](INFO): DAT read: user:470>

2025-10-26T22:08:15.381Z,1761516495.381 [DAT](INFO): DAT read: Tx time:22:08:14.5395

2025-10-26T22:08:15.381Z,1761516495.381 [DAT](INFO): Ping request sent.
2025-10-26T22:08:15.382Z,1761516495.382 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:08:15.382Z,1761516495.382 [DAT](INFO): publishing transmit ping time
2025-10-26T22:08:15.382Z,1761516495.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-10-26T22:08:15.445Z,1761516495.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 77.000000 m,
      deltaT: 3.796678 s,
      deltaX: -2.099998 m,
      approachRate: -0.553115 m/s,
      rangeRepo size: 4

2025-10-26T22:08:15.451Z,1761516495.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 76.531601 m,
      bearing: 55.450953 deg,
      lat: 36.779382 deg,
      lon: -121.859450 deg,
      deltaT: 7.577115 s,
      deltaX: -4.174698 m,
      approachRate: -0.550961 m/s,
      posRepo size: 4

2025-10-26T22:08:15.452Z,1761516495.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.53 m.
2025-10-26T22:08:15.455Z,1761516495.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.531601 m,
      nav range: 74.636185 m,
      bearing: 55.341957 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010748 deg/s,
      cmd heading: 61.864527 deg,
      new cmd heading: 61.851846 deg.

2025-10-26T22:08:15.460Z,1761516495.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.079518 target range: 76.531601 and range: 77.00 m.
2025-10-26T22:08:15.634Z,1761516495.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252227
2025-10-26T22:08:15.811Z,1761516495.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473588,-0.871493,-0.127335],[0.880721,0.467504,0.075961],[-0.006670,-0.148120,0.988947]]
2025-10-26T22:08:15.847Z,1761516495.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.53 m.
2025-10-26T22:08:15.850Z,1761516495.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.531601 m,
      nav range: 74.387177 m,
      bearing: 55.333920 deg,
      approach rate: -0.618978 m/s,
      LOS rate: -0.020045 deg/s,
      cmd heading: 61.851844 deg,
      new cmd heading: 61.827652 deg.

2025-10-26T22:08:15.851Z,1761516495.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.079096 target range: 76.531601 and range: 77.00 m.
2025-10-26T22:08:15.884Z,1761516495.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502707
2025-10-26T22:08:16.137Z,1761516496.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755325
2025-10-26T22:08:16.202Z,1761516496.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470588,-0.873167,-0.126992],[0.882338,0.464825,0.073605],[-0.005241,-0.146688,0.989169]]
2025-10-26T22:08:16.221Z,1761516496.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.53 m.
2025-10-26T22:08:16.224Z,1761516496.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.531601 m,
      nav range: 74.164970 m,
      bearing: 55.326125 deg,
      approach rate: -0.594020 m/s,
      LOS rate: -0.020900 deg/s,
      cmd heading: 61.827651 deg,
      new cmd heading: 61.804197 deg.

2025-10-26T22:08:16.225Z,1761516496.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.078687 target range: 76.531601 and range: 77.00 m.
2025-10-26T22:08:16.388Z,1761516496.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006629
2025-10-26T22:08:16.595Z,1761516496.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467800,-0.874982,-0.124776],[0.883827,0.462539,0.070053],[-0.003581,-0.143051,0.989709]]
2025-10-26T22:08:16.622Z,1761516496.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:16.627Z,1761516496.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.53 m.
2025-10-26T22:08:16.633Z,1761516496.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.531601 m,
      nav range: 73.926193 m,
      bearing: 55.317134 deg,
      approach rate: -0.589051 m/s,
      LOS rate: -0.022251 deg/s,
      cmd heading: 61.804196 deg,
      new cmd heading: 61.777137 deg.

2025-10-26T22:08:16.636Z,1761516496.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.078214 target range: 76.531601 and range: 77.00 m.
2025-10-26T22:08:16.642Z,1761516496.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260041
2025-10-26T22:08:16.892Z,1761516496.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510804
2025-10-26T22:08:17.000Z,1761516497.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465289,-0.876390,-0.124283],[0.885157,0.460380,0.067437],[-0.001884,-0.141387,0.989953]]
2025-10-26T22:08:17.054Z,1761516497.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.53 m.
2025-10-26T22:08:17.057Z,1761516497.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.531601 m,
      nav range: 73.671005 m,
      bearing: 55.310110 deg,
      approach rate: -0.596291 m/s,
      LOS rate: -0.016471 deg/s,
      cmd heading: 61.777135 deg,
      new cmd heading: 61.755988 deg.

2025-10-26T22:08:17.058Z,1761516497.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.077845 target range: 76.531601 and range: 77.00 m.
2025-10-26T22:08:17.145Z,1761516497.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763690
2025-10-26T22:08:17.397Z,1761516497.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015069
2025-10-26T22:08:17.411Z,1761516497.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463095,-0.877424,-0.125183],[0.886309,0.458468,0.065300],[0.000097,-0.141190,0.989982]]
2025-10-26T22:08:17.430Z,1761516497.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.53 m.
2025-10-26T22:08:17.433Z,1761516497.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.531601 m,
      nav range: 73.448524 m,
      bearing: 55.303517 deg,
      approach rate: -0.591508 m/s,
      LOS rate: -0.017583 deg/s,
      cmd heading: 61.755989 deg,
      new cmd heading: 61.736149 deg.

2025-10-26T22:08:17.434Z,1761516497.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.077499 target range: 76.531601 and range: 77.00 m.
2025-10-26T22:08:17.649Z,1761516497.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267289
2025-10-26T22:08:17.836Z,1761516497.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461361,-0.877989,-0.127602],[0.887210,0.456938,0.063773],[0.002314,-0.142632,0.989773]]
2025-10-26T22:08:17.872Z,1761516497.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.53 m.
2025-10-26T22:08:17.874Z,1761516497.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.531601 m,
      nav range: 73.186157 m,
      bearing: 55.300971 deg,
      approach rate: -0.594979 m/s,
      LOS rate: -0.005794 deg/s,
      cmd heading: 61.736147 deg,
      new cmd heading: 61.728482 deg.

2025-10-26T22:08:17.895Z,1761516497.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.077365 target range: 76.531601 and range: 77.00 m.
2025-10-26T22:08:17.900Z,1761516497.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518806
2025-10-26T22:08:18.156Z,1761516498.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774406
2025-10-26T22:08:18.209Z,1761516498.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460191,-0.877925,-0.132181],[0.887810,0.455768,0.063788],[0.004242,-0.146706,0.989171]]
2025-10-26T22:08:18.241Z,1761516498.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.53 m.
2025-10-26T22:08:18.244Z,1761516498.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.531601 m,
      nav range: 72.966080 m,
      bearing: 55.298584 deg,
      approach rate: -0.594872 m/s,
      LOS rate: -0.006471 deg/s,
      cmd heading: 61.728483 deg,
      new cmd heading: 61.721302 deg.

2025-10-26T22:08:18.245Z,1761516498.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.077240 target range: 76.531601 and range: 77.00 m.
2025-10-26T22:08:18.404Z,1761516498.404 [DAT](INFO): DAT read: Rx Time:22:08:17.0432

2025-10-26T22:08:18.405Z,1761516498.405 [DAT](INFO): Rx dataTimestamp_ set to:1761516498.404633
2025-10-26T22:08:18.405Z,1761516498.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023834
2025-10-26T22:08:18.611Z,1761516498.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459341,-0.877869,-0.135466],[0.888238,0.455032,0.063078],[0.006267,-0.149300,0.988772]]
2025-10-26T22:08:18.656Z,1761516498.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274781
2025-10-26T22:08:18.663Z,1761516498.663 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:18.665Z,1761516498.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.53 m.
2025-10-26T22:08:18.672Z,1761516498.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.531601 m,
      nav range: 72.727394 m,
      bearing: 55.295793 deg,
      approach rate: -0.562927 m/s,
      LOS rate: -0.006603 deg/s,
      cmd heading: 61.721305 deg,
      new cmd heading: 61.712906 deg.

2025-10-26T22:08:18.673Z,1761516498.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.077093 target range: 76.531601 and range: 77.00 m.
2025-10-26T22:08:18.918Z,1761516498.918 [DAT](INFO): DAT read: 22:08:17.0432 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 408, 0.21, 0.336,-1.174, 0.779, 0.220, PHS= 0.218,-1.349, 0.514, RAW= 158.5,   7.2, CAL= 158.0,   7.2, ROT= 352.0,  -7.2

2025-10-26T22:08:18.922Z,1761516498.922 [DAT](INFO): got valid direction response:
 22:08:17.0432 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 408, 0.21, 0.336,-1.174, 0.779, 0.220, PHS= 0.218,-1.349, 0.514, RAW= 158.5,   7.2, CAL= 158.0,   7.2, ROT= 352.0,  -7.2

2025-10-26T22:08:18.923Z,1761516498.923 [DAT](INFO): DAT read: Bearing 210.5,  -8.7 (Local)

2025-10-26T22:08:18.923Z,1761516498.923 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.5,  -8.7 (Local)

2025-10-26T22:08:18.925Z,1761516498.925 [DAT](INFO): DAT read: Range 11 to 50 : 74.7 m  (Round-trip  99.6 ms) speed  0.5 m/s

2025-10-26T22:08:18.925Z,1761516498.925 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:08:18.926Z,1761516498.926 [DAT](INFO): direction in FSK: [0.982460,-0.138076,0.125333]
2025-10-26T22:08:18.926Z,1761516498.926 [DAT](INFO): publishing direction and range info
2025-10-26T22:08:18.930Z,1761516498.930 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:08:18.930Z,1761516498.930 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:08:18.930Z,1761516498.930 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:08:19.146Z,1761516499.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 74.699997 m,
      deltaT: 3.780246 s,
      deltaX: -2.300003 m,
      approachRate: -0.608427 m/s,
      rangeRepo size: 4

2025-10-26T22:08:19.153Z,1761516499.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 74.245644 m,
      bearing: 55.810257 deg,
      lat: 36.779382 deg,
      lon: -121.859450 deg,
      deltaT: 3.780246 s,
      deltaX: -2.285957 m,
      approachRate: -0.604711 m/s,
      posRepo size: 4

2025-10-26T22:08:19.153Z,1761516499.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.25 m.
2025-10-26T22:08:19.160Z,1761516499.160 [DAT](INFO): DAT read: user:471>

2025-10-26T22:08:19.161Z,1761516499.161 [DAT](INFO): DAT read: Tx time:22:08:18.2895

2025-10-26T22:08:19.161Z,1761516499.161 [DAT](INFO): Ping request sent.
2025-10-26T22:08:19.162Z,1761516499.162 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:08:19.162Z,1761516499.162 [DAT](INFO): publishing transmit ping time
2025-10-26T22:08:19.162Z,1761516499.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-10-26T22:08:19.168Z,1761516499.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.245644 m,
      nav range: 72.459389 m,
      bearing: 55.301187 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006603 deg/s,
      cmd heading: 61.712904 deg,
      new cmd heading: 61.703408 deg.

2025-10-26T22:08:19.169Z,1761516499.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.076928 target range: 74.245644 and range: 74.70 m.
2025-10-26T22:08:19.413Z,1761516499.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251169
2025-10-26T22:08:19.487Z,1761516499.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459131,-0.876729,-0.143336],[0.888310,0.454942,0.062716],[0.010224,-0.156122,0.987685]]
2025-10-26T22:08:19.521Z,1761516499.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.25 m.
2025-10-26T22:08:19.530Z,1761516499.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.245644 m,
      nav range: 72.236336 m,
      bearing: 55.305647 deg,
      approach rate: -0.592689 m/s,
      LOS rate: 0.011887 deg/s,
      cmd heading: 61.703410 deg,
      new cmd heading: 61.716830 deg.

2025-10-26T22:08:19.532Z,1761516499.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.077162 target range: 74.245644 and range: 74.70 m.
2025-10-26T22:08:19.665Z,1761516499.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502972
2025-10-26T22:08:19.890Z,1761516499.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459738,-0.875620,-0.148089],[0.887975,0.455494,0.063447],[0.011898,-0.160668,0.986937]]
2025-10-26T22:08:19.916Z,1761516499.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754909
2025-10-26T22:08:19.952Z,1761516499.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.25 m.
2025-10-26T22:08:19.954Z,1761516499.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.245644 m,
      nav range: 71.995628 m,
      bearing: 55.318876 deg,
      approach rate: -0.564631 m/s,
      LOS rate: 0.031135 deg/s,
      cmd heading: 61.716831 deg,
      new cmd heading: 61.756651 deg.

2025-10-26T22:08:19.960Z,1761516499.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.077857 target range: 74.245644 and range: 74.70 m.
2025-10-26T22:08:20.171Z,1761516500.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009880
2025-10-26T22:08:20.300Z,1761516500.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461222,-0.874299,-0.151251],[0.887191,0.456904,0.064273],[0.012913,-0.163833,0.986404]]
2025-10-26T22:08:20.318Z,1761516500.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.25 m.
2025-10-26T22:08:20.321Z,1761516500.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.245644 m,
      nav range: 71.772758 m,
      bearing: 55.331478 deg,
      approach rate: -0.600995 m/s,
      LOS rate: 0.034088 deg/s,
      cmd heading: 61.756651 deg,
      new cmd heading: 61.794574 deg.

2025-10-26T22:08:20.322Z,1761516500.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.078519 target range: 74.245644 and range: 74.70 m.
2025-10-26T22:08:20.423Z,1761516500.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261168
2025-10-26T22:08:20.672Z,1761516500.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510780
2025-10-26T22:08:20.705Z,1761516500.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463225,-0.873177,-0.151606],[0.886131,0.459039,0.063685],[0.013985,-0.163843,0.986387]]
2025-10-26T22:08:20.762Z,1761516500.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:20.768Z,1761516500.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.25 m.
2025-10-26T22:08:20.770Z,1761516500.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.245644 m,
      nav range: 71.523682 m,
      bearing: 55.346112 deg,
      approach rate: -0.559287 m/s,
      LOS rate: 0.032973 deg/s,
      cmd heading: 61.794572 deg,
      new cmd heading: 61.838626 deg.

2025-10-26T22:08:20.776Z,1761516500.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.079288 target range: 74.245644 and range: 74.70 m.
2025-10-26T22:08:20.924Z,1761516500.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762781
2025-10-26T22:08:21.176Z,1761516501.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014671
2025-10-26T22:08:21.234Z,1761516501.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.25 m.
2025-10-26T22:08:21.237Z,1761516501.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.245644 m,
      nav range: 71.262054 m,
      bearing: 55.372864 deg,
      approach rate: -0.555813 m/s,
      LOS rate: 0.057042 deg/s,
      cmd heading: 61.838627 deg,
      new cmd heading: 61.919178 deg.

2025-10-26T22:08:21.238Z,1761516501.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.080693 target range: 74.245644 and range: 74.70 m.
2025-10-26T22:08:21.432Z,1761516501.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270524
2025-10-26T22:08:21.554Z,1761516501.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467426,-0.871233,-0.149890],[0.883896,0.463561,0.061959],[0.015502,-0.161449,0.986759]]
2025-10-26T22:08:21.588Z,1761516501.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.25 m.
2025-10-26T22:08:21.591Z,1761516501.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.245644 m,
      nav range: 71.077667 m,
      bearing: 55.392588 deg,
      approach rate: -0.521165 m/s,
      LOS rate: 0.055894 deg/s,
      cmd heading: 61.919176 deg,
      new cmd heading: 61.978502 deg.

2025-10-26T22:08:21.596Z,1761516501.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.081729 target range: 74.245644 and range: 74.70 m.
2025-10-26T22:08:21.681Z,1761516501.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519110
2025-10-26T22:08:21.933Z,1761516501.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771014
2025-10-26T22:08:21.966Z,1761516501.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469714,-0.869898,-0.150486],[0.882687,0.465715,0.063037],[0.015248,-0.162441,0.986600]]
2025-10-26T22:08:22.018Z,1761516502.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.25 m.
2025-10-26T22:08:22.026Z,1761516502.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.245644 m,
      nav range: 70.834396 m,
      bearing: 55.421750 deg,
      approach rate: -0.566160 m/s,
      LOS rate: 0.068103 deg/s,
      cmd heading: 61.978503 deg,
      new cmd heading: 62.066291 deg.

2025-10-26T22:08:22.027Z,1761516502.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.083261 target range: 74.245644 and range: 74.70 m.
2025-10-26T22:08:22.185Z,1761516502.185 [DAT](INFO): DAT read: Rx Time:22:08:20.7903

2025-10-26T22:08:22.186Z,1761516502.186 [DAT](INFO): Rx dataTimestamp_ set to:1761516502.185337
2025-10-26T22:08:22.187Z,1761516502.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024890
2025-10-26T22:08:22.363Z,1761516502.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472428,-0.868191,-0.151844],[0.881246,0.468177,0.064926],[0.014722,-0.164485,0.986270]]
2025-10-26T22:08:22.381Z,1761516502.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.25 m.
2025-10-26T22:08:22.384Z,1761516502.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.245644 m,
      nav range: 70.619591 m,
      bearing: 55.448182 deg,
      approach rate: -0.591507 m/s,
      LOS rate: 0.073006 deg/s,
      cmd heading: 62.066291 deg,
      new cmd heading: 62.145828 deg.

2025-10-26T22:08:22.385Z,1761516502.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.084649 target range: 74.245644 and range: 74.70 m.
2025-10-26T22:08:22.437Z,1761516502.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275238
2025-10-26T22:08:22.694Z,1761516502.694 [DAT](INFO): DAT read: 22:08:20.7903 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 410, 0.18,-1.047,-2.557,-0.606,-1.068, PHS= 0.123,-1.444, 0.418, RAW= 158.5,  10.4, CAL= 158.5,  11.4, ROT= 351.5, -11.4

2025-10-26T22:08:22.695Z,1761516502.695 [DAT](INFO): got valid direction response:
 22:08:20.7903 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 410, 0.18,-1.047,-2.557,-0.606,-1.068, PHS= 0.123,-1.444, 0.418, RAW= 158.5,  10.4, CAL= 158.5,  11.4, ROT= 351.5, -11.4

2025-10-26T22:08:22.697Z,1761516502.697 [DAT](INFO): DAT read: Bearing 214.5,  -9.2 (Local)

2025-10-26T22:08:22.697Z,1761516502.697 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.5,  -9.2 (Local)

2025-10-26T22:08:22.699Z,1761516502.699 [DAT](INFO): DAT read: Range 11 to 50 : 72.4 m  (Round-trip  96.6 ms) speed  0.7 m/s

2025-10-26T22:08:22.701Z,1761516502.701 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:08:22.702Z,1761516502.702 [DAT](INFO): direction in FSK: [0.969504,-0.144893,0.197657]
2025-10-26T22:08:22.702Z,1761516502.702 [DAT](INFO): publishing direction and range info
2025-10-26T22:08:22.707Z,1761516502.707 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:08:22.707Z,1761516502.707 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:08:22.713Z,1761516502.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:08:22.767Z,1761516502.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475480,-0.866161,-0.153896],[0.879616,0.470862,0.067564],[0.013943,-0.167495,0.985774]]
2025-10-26T22:08:22.903Z,1761516502.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 72.400002 m,
      deltaT: 3.778950 s,
      deltaX: -2.299995 m,
      approachRate: -0.608633 m/s,
      rangeRepo size: 4

2025-10-26T22:08:22.912Z,1761516502.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 71.959618 m,
      bearing: 55.127816 deg,
      lat: 36.779382 deg,
      lon: -121.859450 deg,
      deltaT: 3.778950 s,
      deltaX: -2.286026 m,
      approachRate: -0.604937 m/s,
      posRepo size: 4

2025-10-26T22:08:22.912Z,1761516502.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.96 m.
2025-10-26T22:08:22.915Z,1761516502.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.959618 m,
      nav range: 70.357613 m,
      bearing: 55.481331 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.073006 deg/s,
      cmd heading: 62.145829 deg,
      new cmd heading: 62.259944 deg.

2025-10-26T22:08:22.920Z,1761516502.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.086641 target range: 71.959618 and range: 72.40 m.
2025-10-26T22:08:22.940Z,1761516502.940 [DAT](INFO): DAT read: user:472>

2025-10-26T22:08:22.941Z,1761516502.941 [DAT](INFO): DAT read: Tx time:22:08:22.0895

2025-10-26T22:08:22.941Z,1761516502.941 [DAT](INFO): Ping request sent.
2025-10-26T22:08:22.942Z,1761516502.942 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:08:22.942Z,1761516502.942 [DAT](INFO): publishing transmit ping time
2025-10-26T22:08:22.942Z,1761516502.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727
2025-10-26T22:08:23.192Z,1761516503.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250791
2025-10-26T22:08:23.228Z,1761516503.228 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:23.230Z,1761516503.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.96 m.
2025-10-26T22:08:23.233Z,1761516503.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.959618 m,
      nav range: 70.142677 m,
      bearing: 55.507546 deg,
      approach rate: -0.655143 m/s,
      LOS rate: 0.080151 deg/s,
      cmd heading: 62.259947 deg,
      new cmd heading: 62.338834 deg.

2025-10-26T22:08:23.234Z,1761516503.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.088018 target range: 71.959618 and range: 72.40 m.
2025-10-26T22:08:23.445Z,1761516503.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502960
2025-10-26T22:08:23.574Z,1761516503.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480075,-0.863321,-0.155576],[0.877130,0.475049,0.070501],[0.013041,-0.170306,0.985305]]
2025-10-26T22:08:23.616Z,1761516503.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.96 m.
2025-10-26T22:08:23.626Z,1761516503.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.959618 m,
      nav range: 69.931549 m,
      bearing: 55.534326 deg,
      approach rate: -0.571810 m/s,
      LOS rate: 0.072748 deg/s,
      cmd heading: 62.338836 deg,
      new cmd heading: 62.419418 deg.

2025-10-26T22:08:23.632Z,1761516503.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.089424 target range: 71.959618 and range: 72.40 m.
2025-10-26T22:08:23.698Z,1761516503.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755945
2025-10-26T22:08:23.949Z,1761516503.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007527
2025-10-26T22:08:23.978Z,1761516503.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481434,-0.862720,-0.154711],[0.876391,0.476370,0.070780],[0.012636,-0.169664,0.985421]]
2025-10-26T22:08:24.036Z,1761516504.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.96 m.
2025-10-26T22:08:24.038Z,1761516504.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.959618 m,
      nav range: 69.677971 m,
      bearing: 55.557577 deg,
      approach rate: -0.581612 m/s,
      LOS rate: 0.053522 deg/s,
      cmd heading: 62.419419 deg,
      new cmd heading: 62.489424 deg.

2025-10-26T22:08:24.039Z,1761516504.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.090646 target range: 71.959618 and range: 72.40 m.
2025-10-26T22:08:24.200Z,1761516504.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258750
2025-10-26T22:08:24.383Z,1761516504.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482199,-0.862334,-0.154483],[0.875975,0.477076,0.071178],[0.012321,-0.169646,0.985428]]
2025-10-26T22:08:24.401Z,1761516504.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.96 m.
2025-10-26T22:08:24.404Z,1761516504.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.959618 m,
      nav range: 69.464714 m,
      bearing: 55.577417 deg,
      approach rate: -0.583396 m/s,
      LOS rate: 0.054442 deg/s,
      cmd heading: 62.489421 deg,
      new cmd heading: 62.549124 deg.

2025-10-26T22:08:24.405Z,1761516504.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.091688 target range: 71.959618 and range: 72.40 m.
2025-10-26T22:08:24.453Z,1761516504.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511695
2025-10-26T22:08:24.705Z,1761516504.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763427
2025-10-26T22:08:24.786Z,1761516504.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482546,-0.862234,-0.153954],[0.875788,0.477406,0.071268],[0.012049,-0.169221,0.985505]]
2025-10-26T22:08:24.827Z,1761516504.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.96 m.
2025-10-26T22:08:24.830Z,1761516504.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.959618 m,
      nav range: 69.225754 m,
      bearing: 55.599880 deg,
      approach rate: -0.560449 m/s,
      LOS rate: 0.052866 deg/s,
      cmd heading: 62.549124 deg,
      new cmd heading: 62.616746 deg.

2025-10-26T22:08:24.831Z,1761516504.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.092868 target range: 71.959618 and range: 72.40 m.
2025-10-26T22:08:24.956Z,1761516504.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014836
2025-10-26T22:08:25.191Z,1761516505.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482191,-0.862555,-0.153265],[0.875981,0.477141,0.070660],[0.012181,-0.168329,0.985656]]
2025-10-26T22:08:25.208Z,1761516505.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266870
2025-10-26T22:08:25.259Z,1761516505.259 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:25.265Z,1761516505.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.96 m.
2025-10-26T22:08:25.272Z,1761516505.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.959618 m,
      nav range: 68.962021 m,
      bearing: 55.616273 deg,
      approach rate: -0.602525 m/s,
      LOS rate: 0.037596 deg/s,
      cmd heading: 62.616743 deg,
      new cmd heading: 62.666111 deg.

2025-10-26T22:08:25.273Z,1761516505.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.093730 target range: 71.959618 and range: 72.40 m.
2025-10-26T22:08:25.460Z,1761516505.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518672
2025-10-26T22:08:25.595Z,1761516505.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480966,-0.863438,-0.152143],[0.876651,0.476090,0.069438],[0.012479,-0.166774,0.985916]]
2025-10-26T22:08:25.639Z,1761516505.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.96 m.
2025-10-26T22:08:25.642Z,1761516505.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.959618 m,
      nav range: 68.745705 m,
      bearing: 55.629586 deg,
      approach rate: -0.577985 m/s,
      LOS rate: 0.035683 deg/s,
      cmd heading: 62.666111 deg,
      new cmd heading: 62.706175 deg.

2025-10-26T22:08:25.643Z,1761516505.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094429 target range: 71.959618 and range: 72.40 m.
2025-10-26T22:08:25.717Z,1761516505.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774993
2025-10-26T22:08:25.970Z,1761516505.970 [DAT](INFO): DAT read: Rx Time:22:08:24.5872

2025-10-26T22:08:25.970Z,1761516505.970 [DAT](INFO): Rx dataTimestamp_ set to:1761516505.970157
2025-10-26T22:08:25.971Z,1761516505.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029413
2025-10-26T22:08:25.998Z,1761516505.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479039,-0.865432,-0.146800],[0.877702,0.474662,0.065844],[0.012697,-0.160388,0.986972]]
2025-10-26T22:08:26.071Z,1761516506.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.96 m.
2025-10-26T22:08:26.078Z,1761516506.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.959618 m,
      nav range: 68.483376 m,
      bearing: 55.635523 deg,
      approach rate: -0.607823 m/s,
      LOS rate: 0.013809 deg/s,
      cmd heading: 62.706177 deg,
      new cmd heading: 62.724057 deg.

2025-10-26T22:08:26.078Z,1761516506.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094741 target range: 71.959618 and range: 72.40 m.
2025-10-26T22:08:26.220Z,1761516506.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278691
2025-10-26T22:08:26.445Z,1761516506.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.96 m.
2025-10-26T22:08:26.448Z,1761516506.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.959618 m,
      nav range: 68.252434 m,
      bearing: 55.640788 deg,
      approach rate: -0.617467 m/s,
      LOS rate: 0.014123 deg/s,
      cmd heading: 62.724059 deg,
      new cmd heading: 62.739906 deg.

2025-10-26T22:08:26.448Z,1761516506.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095018 target range: 71.959618 and range: 72.40 m.
2025-10-26T22:08:26.478Z,1761516506.478 [DAT](INFO): DAT read: 22:08:24.5872 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 411,-0.41,-2.620, 2.150,-2.195,-2.618, PHS= 0.100,-1.471, 0.379, RAW= 158.0,  11.5, CAL= 158.2,  12.8, ROT= 351.8, -12.8

2025-10-26T22:08:26.479Z,1761516506.479 [DAT](INFO): got valid direction response:
 22:08:24.5872 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 411,-0.41,-2.620, 2.150,-2.195,-2.618, PHS= 0.100,-1.471, 0.379, RAW= 158.0,  11.5, CAL= 158.2,  12.8, ROT= 351.8, -12.8

2025-10-26T22:08:26.480Z,1761516506.480 [DAT](INFO): DAT read: Bearing 216.0,  -9.2 (Local)

2025-10-26T22:08:26.480Z,1761516506.480 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.0,  -9.2 (Local)

2025-10-26T22:08:26.482Z,1761516506.482 [DAT](INFO): DAT read: Range 11 to 50 : 70.1 m  (Round-trip  93.5 ms) speed  0.4 m/s

2025-10-26T22:08:26.482Z,1761516506.482 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:08:26.483Z,1761516506.483 [DAT](INFO): direction in FSK: [0.965180,-0.139085,0.221548]
2025-10-26T22:08:26.483Z,1761516506.483 [DAT](INFO): publishing direction and range info
2025-10-26T22:08:26.487Z,1761516506.487 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:08:26.487Z,1761516506.487 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:08:26.487Z,1761516506.487 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:08:26.725Z,1761516506.725 [DAT](INFO): DAT read: user:473>

2025-10-26T22:08:26.726Z,1761516506.726 [DAT](INFO): DAT read: Tx time:22:08:25.8895

2025-10-26T22:08:26.726Z,1761516506.726 [DAT](INFO): Ping request sent.
2025-10-26T22:08:26.726Z,1761516506.726 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:08:26.727Z,1761516506.727 [DAT](INFO): publishing transmit ping time
2025-10-26T22:08:26.728Z,1761516506.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001037
2025-10-26T22:08:26.806Z,1761516506.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474691,-0.869159,-0.138677],[0.880062,0.470977,0.060596],[0.012646,-0.150809,0.988482]]
2025-10-26T22:08:26.858Z,1761516506.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 70.099998 m,
      deltaT: 3.783819 s,
      deltaX: -2.300003 m,
      approachRate: -0.607852 m/s,
      rangeRepo size: 4

2025-10-26T22:08:26.860Z,1761516506.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 69.673965 m,
      bearing: 55.483863 deg,
      lat: 36.779382 deg,
      lon: -121.859450 deg,
      deltaT: 3.783819 s,
      deltaX: -2.285652 m,
      approachRate: -0.604060 m/s,
      posRepo size: 4

2025-10-26T22:08:26.861Z,1761516506.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.67 m.
2025-10-26T22:08:26.864Z,1761516506.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.673965 m,
      nav range: 68.015640 m,
      bearing: 55.647675 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014123 deg/s,
      cmd heading: 62.739905 deg,
      new cmd heading: 62.757392 deg.

2025-10-26T22:08:26.866Z,1761516506.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095323 target range: 69.673965 and range: 70.10 m.
2025-10-26T22:08:26.977Z,1761516506.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250632
2025-10-26T22:08:27.210Z,1761516507.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472344,-0.870894,-0.135778],[0.881321,0.468897,0.058386],[0.012818,-0.147243,0.989017]]
2025-10-26T22:08:27.230Z,1761516507.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503372
2025-10-26T22:08:27.270Z,1761516507.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:27.272Z,1761516507.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.67 m.
2025-10-26T22:08:27.274Z,1761516507.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.673965 m,
      nav range: 67.748131 m,
      bearing: 55.644920 deg,
      approach rate: -0.645499 m/s,
      LOS rate: -0.006675 deg/s,
      cmd heading: 62.757390 deg,
      new cmd heading: 62.749092 deg.

2025-10-26T22:08:27.276Z,1761516507.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095178 target range: 69.673965 and range: 70.10 m.
2025-10-26T22:08:27.483Z,1761516507.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757140
2025-10-26T22:08:27.623Z,1761516507.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470023,-0.872614,-0.132754],[0.882561,0.466813,0.056314],[0.012830,-0.143632,0.989548]]
2025-10-26T22:08:27.655Z,1761516507.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.67 m.
2025-10-26T22:08:27.658Z,1761516507.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.673965 m,
      nav range: 67.509384 m,
      bearing: 55.641932 deg,
      approach rate: -0.623568 m/s,
      LOS rate: -0.007830 deg/s,
      cmd heading: 62.749091 deg,
      new cmd heading: 62.740098 deg.

2025-10-26T22:08:27.658Z,1761516507.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095021 target range: 69.673965 and range: 70.10 m.
2025-10-26T22:08:27.734Z,1761516507.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007099
2025-10-26T22:08:27.985Z,1761516507.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258315
2025-10-26T22:08:28.031Z,1761516508.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467793,-0.873911,-0.132096],[0.883741,0.464703,0.055260],[0.013093,-0.142589,0.989695]]
2025-10-26T22:08:28.082Z,1761516508.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.67 m.
2025-10-26T22:08:28.085Z,1761516508.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.673965 m,
      nav range: 67.263733 m,
      bearing: 55.638392 deg,
      approach rate: -0.574456 m/s,
      LOS rate: -0.008309 deg/s,
      cmd heading: 62.740096 deg,
      new cmd heading: 62.729437 deg.

2025-10-26T22:08:28.086Z,1761516508.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094835 target range: 69.673965 and range: 70.10 m.
2025-10-26T22:08:28.236Z,1761516508.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510146
2025-10-26T22:08:28.422Z,1761516508.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465641,-0.875051,-0.132155],[0.884868,0.462673,0.054242],[0.013680,-0.142197,0.989744]]
2025-10-26T22:08:28.452Z,1761516508.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.67 m.
2025-10-26T22:08:28.454Z,1761516508.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.673965 m,
      nav range: 67.033966 m,
      bearing: 55.634583 deg,
      approach rate: -0.622244 m/s,
      LOS rate: -0.010351 deg/s,
      cmd heading: 62.729434 deg,
      new cmd heading: 62.717967 deg.

2025-10-26T22:08:28.456Z,1761516508.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094635 target range: 69.673965 and range: 70.10 m.
2025-10-26T22:08:28.489Z,1761516508.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762712
2025-10-26T22:08:28.740Z,1761516508.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014190
2025-10-26T22:08:28.833Z,1761516508.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461963,-0.877282,-0.130257],[0.886786,0.459242,0.052031],[0.014174,-0.139547,0.990114]]
2025-10-26T22:08:28.868Z,1761516508.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.67 m.
2025-10-26T22:08:28.870Z,1761516508.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.673965 m,
      nav range: 66.795700 m,
      bearing: 55.629773 deg,
      approach rate: -0.595939 m/s,
      LOS rate: -0.012073 deg/s,
      cmd heading: 62.717966 deg,
      new cmd heading: 62.703485 deg.

2025-10-26T22:08:28.871Z,1761516508.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094382 target range: 69.673965 and range: 70.10 m.
2025-10-26T22:08:28.994Z,1761516508.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267371
2025-10-26T22:08:29.235Z,1761516509.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460263,-0.878172,-0.130278],[0.887665,0.457614,0.051393],[0.014485,-0.139298,0.990145]]
2025-10-26T22:08:29.244Z,1761516509.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518139
2025-10-26T22:08:29.288Z,1761516509.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:29.290Z,1761516509.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.67 m.
2025-10-26T22:08:29.293Z,1761516509.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.673965 m,
      nav range: 66.542198 m,
      bearing: 55.627392 deg,
      approach rate: -0.578390 m/s,
      LOS rate: -0.005454 deg/s,
      cmd heading: 62.703486 deg,
      new cmd heading: 62.696315 deg.

2025-10-26T22:08:29.293Z,1761516509.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094257 target range: 69.673965 and range: 70.10 m.
2025-10-26T22:08:29.496Z,1761516509.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770052
2025-10-26T22:08:29.642Z,1761516509.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459168,-0.878482,-0.132041],[0.888221,0.456529,0.051426],[0.015104,-0.140895,0.989909]]
2025-10-26T22:08:29.676Z,1761516509.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.67 m.
2025-10-26T22:08:29.679Z,1761516509.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.673965 m,
      nav range: 66.327721 m,
      bearing: 55.625130 deg,
      approach rate: -0.554904 m/s,
      LOS rate: -0.005872 deg/s,
      cmd heading: 62.696314 deg,
      new cmd heading: 62.689506 deg.

2025-10-26T22:08:29.680Z,1761516509.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094138 target range: 69.673965 and range: 70.10 m.
2025-10-26T22:08:29.749Z,1761516509.749 [DAT](INFO): DAT read: Rx Time:22:08:28.3843

2025-10-26T22:08:29.749Z,1761516509.749 [DAT](INFO): Rx dataTimestamp_ set to:1761516509.748759
2025-10-26T22:08:29.750Z,1761516509.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023365
2025-10-26T22:08:30.003Z,1761516510.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276572
2025-10-26T22:08:30.049Z,1761516510.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458371,-0.878744,-0.133060],[0.888630,0.455705,0.051662],[0.015238,-0.141922,0.989761]]
2025-10-26T22:08:30.105Z,1761516510.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.67 m.
2025-10-26T22:08:30.110Z,1761516510.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.673965 m,
      nav range: 66.075577 m,
      bearing: 55.622805 deg,
      approach rate: -0.588787 m/s,
      LOS rate: -0.005448 deg/s,
      cmd heading: 62.689505 deg,
      new cmd heading: 62.682505 deg.

2025-10-26T22:08:30.112Z,1761516510.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094016 target range: 69.673965 and range: 70.10 m.
2025-10-26T22:08:30.259Z,1761516510.259 [DAT](INFO): DAT read: 22:08:28.3843 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 413, 0.17,-2.991, 1.776,-2.525,-3.023, PHS= 0.134,-1.439, 0.455, RAW= 159.1,   9.7, CAL= 159.0,  10.4, ROT= 351.0, -10.4

2025-10-26T22:08:30.260Z,1761516510.260 [DAT](INFO): got valid direction response:
 22:08:28.3843 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 413, 0.17,-2.991, 1.776,-2.525,-3.023, PHS= 0.134,-1.439, 0.455, RAW= 159.1,   9.7, CAL= 159.0,  10.4, ROT= 351.0, -10.4

2025-10-26T22:08:30.261Z,1761516510.261 [DAT](INFO): DAT read: Bearing 214.4,  -9.6 (Local)

2025-10-26T22:08:30.261Z,1761516510.261 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.4,  -9.6 (Local)

2025-10-26T22:08:30.262Z,1761516510.262 [DAT](INFO): DAT read: Range 11 to 50 : 68.0 m  (Round-trip  90.7 ms) speed  0.5 m/s

2025-10-26T22:08:30.263Z,1761516510.263 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:08:30.264Z,1761516510.264 [DAT](INFO): direction in FSK: [0.971462,-0.153864,0.180519]
2025-10-26T22:08:30.264Z,1761516510.264 [DAT](INFO): publishing direction and range info
2025-10-26T22:08:30.268Z,1761516510.268 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:08:30.268Z,1761516510.268 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:08:30.268Z,1761516510.268 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:08:30.456Z,1761516510.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458389,-0.878381,-0.135373],[0.888618,0.455615,0.052659],[0.015424,-0.144433,0.989394]]
2025-10-26T22:08:30.478Z,1761516510.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 68.000000 m,
      deltaT: 3.780382 s,
      deltaX: -2.099998 m,
      approachRate: -0.555499 m/s,
      rangeRepo size: 4

2025-10-26T22:08:30.480Z,1761516510.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 67.586845 m,
      bearing: 55.288798 deg,
      lat: 36.779382 deg,
      lon: -121.859451 deg,
      deltaT: 3.780382 s,
      deltaX: -2.087120 m,
      approachRate: -0.552092 m/s,
      posRepo size: 4

2025-10-26T22:08:30.481Z,1761516510.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.59 m.
2025-10-26T22:08:30.504Z,1761516510.504 [DAT](INFO): DAT read: user:474>

2025-10-26T22:08:30.505Z,1761516510.505 [DAT](INFO): DAT read: Tx time:22:08:29.6395

2025-10-26T22:08:30.505Z,1761516510.505 [DAT](INFO): Ping request sent.
2025-10-26T22:08:30.505Z,1761516510.505 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:08:30.506Z,1761516510.506 [DAT](INFO): publishing transmit ping time
2025-10-26T22:08:30.506Z,1761516510.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-10-26T22:08:30.507Z,1761516510.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.586845 m,
      nav range: 65.780296 m,
      bearing: 55.558270 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005448 deg/s,
      cmd heading: 62.682504 deg,
      new cmd heading: 62.676405 deg.

2025-10-26T22:08:30.508Z,1761516510.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.093910 target range: 67.586845 and range: 68.00 m.
2025-10-26T22:08:30.757Z,1761516510.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251404
2025-10-26T22:08:30.858Z,1761516510.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458577,-0.877805,-0.138438],[0.888520,0.455626,0.054201],[0.015498,-0.147860,0.988887]]
2025-10-26T22:08:30.892Z,1761516510.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.59 m.
2025-10-26T22:08:30.895Z,1761516510.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.586845 m,
      nav range: 65.550377 m,
      bearing: 55.555915 deg,
      approach rate: -0.554442 m/s,
      LOS rate: -0.005701 deg/s,
      cmd heading: 62.676404 deg,
      new cmd heading: 62.669312 deg.

2025-10-26T22:08:30.896Z,1761516510.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.093786 target range: 67.586845 and range: 68.00 m.
2025-10-26T22:08:31.009Z,1761516511.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503321
2025-10-26T22:08:31.260Z,1761516511.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754863
2025-10-26T22:08:31.264Z,1761516511.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458844,-0.877142,-0.141721],[0.888375,0.455751,0.055514],[0.015896,-0.151373,0.988349]]
2025-10-26T22:08:31.312Z,1761516511.312 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:31.314Z,1761516511.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.59 m.
2025-10-26T22:08:31.322Z,1761516511.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.586845 m,
      nav range: 65.293900 m,
      bearing: 55.558710 deg,
      approach rate: -0.607608 m/s,
      LOS rate: 0.006649 deg/s,
      cmd heading: 62.669315 deg,
      new cmd heading: 62.677735 deg.

2025-10-26T22:08:31.323Z,1761516511.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.093933 target range: 67.586845 and range: 68.00 m.
2025-10-26T22:08:31.512Z,1761516511.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006891
2025-10-26T22:08:31.674Z,1761516511.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458584,-0.876965,-0.143640],[0.888501,0.455446,0.055986],[0.016323,-0.153299,0.988045]]
2025-10-26T22:08:31.695Z,1761516511.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.59 m.
2025-10-26T22:08:31.698Z,1761516511.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.586845 m,
      nav range: 65.070854 m,
      bearing: 55.561086 deg,
      approach rate: -0.586779 m/s,
      LOS rate: 0.006273 deg/s,
      cmd heading: 62.677736 deg,
      new cmd heading: 62.684889 deg.

2025-10-26T22:08:31.700Z,1761516511.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094058 target range: 67.586845 and range: 68.00 m.
2025-10-26T22:08:31.765Z,1761516511.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260066
2025-10-26T22:08:32.019Z,1761516512.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513340
2025-10-26T22:08:32.070Z,1761516512.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458890,-0.876591,-0.144944],[0.888340,0.455692,0.056542],[0.016486,-0.154706,0.987823]]
2025-10-26T22:08:32.141Z,1761516512.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.59 m.
2025-10-26T22:08:32.147Z,1761516512.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.586845 m,
      nav range: 64.821327 m,
      bearing: 55.564627 deg,
      approach rate: -0.559495 m/s,
      LOS rate: 0.007969 deg/s,
      cmd heading: 62.684888 deg,
      new cmd heading: 62.695550 deg.

2025-10-26T22:08:32.148Z,1761516512.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094244 target range: 67.586845 and range: 68.00 m.
2025-10-26T22:08:32.270Z,1761516512.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764534
2025-10-26T22:08:32.490Z,1761516512.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459137,-0.876353,-0.145598],[0.888209,0.455928,0.056702],[0.016691,-0.155355,0.987718]]
2025-10-26T22:08:32.509Z,1761516512.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.59 m.
2025-10-26T22:08:32.511Z,1761516512.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.586845 m,
      nav range: 64.603859 m,
      bearing: 55.567781 deg,
      approach rate: -0.591022 m/s,
      LOS rate: 0.008601 deg/s,
      cmd heading: 62.695549 deg,
      new cmd heading: 62.705044 deg.

2025-10-26T22:08:32.512Z,1761516512.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094409 target range: 67.586845 and range: 68.00 m.
2025-10-26T22:08:32.520Z,1761516512.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014982
2025-10-26T22:08:32.776Z,1761516512.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270596
2025-10-26T22:08:32.895Z,1761516512.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458868,-0.876433,-0.145963],[0.888343,0.455688,0.056533],[0.016967,-0.155607,0.987673]]
2025-10-26T22:08:32.920Z,1761516512.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.59 m.
2025-10-26T22:08:32.922Z,1761516512.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.586845 m,
      nav range: 64.367638 m,
      bearing: 55.571166 deg,
      approach rate: -0.574104 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 62.705043 deg,
      new cmd heading: 62.715234 deg.

2025-10-26T22:08:32.924Z,1761516512.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094587 target range: 67.586845 and range: 68.00 m.
2025-10-26T22:08:33.029Z,1761516513.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521542
2025-10-26T22:08:33.276Z,1761516513.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770851
2025-10-26T22:08:33.298Z,1761516513.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458254,-0.876865,-0.145295],[0.888649,0.455220,0.055477],[0.017496,-0.154539,0.987832]]
2025-10-26T22:08:33.375Z,1761516513.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:33.381Z,1761516513.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.59 m.
2025-10-26T22:08:33.392Z,1761516513.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.586845 m,
      nav range: 64.099480 m,
      bearing: 55.573421 deg,
      approach rate: -0.581353 m/s,
      LOS rate: 0.004909 deg/s,
      cmd heading: 62.715234 deg,
      new cmd heading: 62.722027 deg.

2025-10-26T22:08:33.393Z,1761516513.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094706 target range: 67.586845 and range: 68.00 m.
2025-10-26T22:08:33.529Z,1761516513.529 [DAT](INFO): DAT read: Rx Time:22:08:32.1313

2025-10-26T22:08:33.529Z,1761516513.529 [DAT](INFO): Rx dataTimestamp_ set to:1761516513.528700
2025-10-26T22:08:33.530Z,1761516513.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024110
2025-10-26T22:08:33.709Z,1761516513.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457871,-0.876845,-0.146620],[0.888840,0.454814,0.055743],[0.017807,-0.155845,0.987621]]
2025-10-26T22:08:33.737Z,1761516513.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.59 m.
2025-10-26T22:08:33.740Z,1761516513.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.586845 m,
      nav range: 63.885040 m,
      bearing: 55.575140 deg,
      approach rate: -0.601930 m/s,
      LOS rate: 0.004843 deg/s,
      cmd heading: 62.722030 deg,
      new cmd heading: 62.727206 deg.

2025-10-26T22:08:33.741Z,1761516513.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094796 target range: 67.586845 and range: 68.00 m.
2025-10-26T22:08:33.780Z,1761516513.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275072
2025-10-26T22:08:34.055Z,1761516514.055 [DAT](INFO): DAT read: 22:08:32.1313 LVL= 32752, 32753, 30402, 32755, AGC= 71, IDX= 414, 0.00,-1.285,-2.716,-0.820,-1.326, PHS= 0.143,-1.344, 0.462, RAW= 159.5,   8.9, CAL= 159.3,   9.3, ROT= 350.7,  -9.3

2025-10-26T22:08:34.062Z,1761516514.062 [DAT](INFO): got valid direction response:
 22:08:32.1313 LVL= 32752, 32753, 30402, 32755, AGC= 71, IDX= 414, 0.00,-1.285,-2.716,-0.820,-1.326, PHS= 0.143,-1.344, 0.462, RAW= 159.5,   8.9, CAL= 159.3,   9.3, ROT= 350.7,  -9.3

2025-10-26T22:08:34.093Z,1761516514.093 [DAT](INFO): DAT read: Bearing 213.6,  -9.8 (Local)

2025-10-26T22:08:34.093Z,1761516514.093 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.6,  -9.8 (Local)

2025-10-26T22:08:34.105Z,1761516514.105 [DAT](INFO): DAT read: Range 11 to 50 : 65.7 m  (Round-trip  87.6 ms) speed  0.4 m/s

2025-10-26T22:08:34.106Z,1761516514.106 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:08:34.132Z,1761516514.132 [DAT](INFO): direction in FSK: [0.973884,-0.159479,0.161604]
2025-10-26T22:08:34.133Z,1761516514.133 [DAT](INFO): publishing direction and range info
2025-10-26T22:08:34.137Z,1761516514.137 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:08:34.137Z,1761516514.137 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:08:34.137Z,1761516514.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:08:34.254Z,1761516514.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 65.699997 m,
      deltaT: 3.783662 s,
      deltaX: -2.300003 m,
      approachRate: -0.607877 m/s,
      rangeRepo size: 4

2025-10-26T22:08:34.257Z,1761516514.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 65.300972 m,
      bearing: 54.979903 deg,
      lat: 36.779383 deg,
      lon: -121.859452 deg,
      deltaT: 3.783662 s,
      deltaX: -2.285873 m,
      approachRate: -0.604143 m/s,
      posRepo size: 4

2025-10-26T22:08:34.258Z,1761516514.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.30 m.
2025-10-26T22:08:34.269Z,1761516514.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.300972 m,
      nav range: 63.599976 m,
      bearing: 55.441891 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004843 deg/s,
      cmd heading: 62.727207 deg,
      new cmd heading: 62.734701 deg.

2025-10-26T22:08:34.270Z,1761516514.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094927 target range: 65.300972 and range: 65.70 m.
2025-10-26T22:08:34.284Z,1761516514.284 [DAT](INFO): DAT read: user:475>

2025-10-26T22:08:34.285Z,1761516514.285 [DAT](INFO): DAT read: Tx time:22:08:33.4895

2025-10-26T22:08:34.285Z,1761516514.285 [DAT](INFO): Ping request sent.
2025-10-26T22:08:34.286Z,1761516514.286 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:08:34.286Z,1761516514.286 [DAT](INFO): publishing transmit ping time
2025-10-26T22:08:34.286Z,1761516514.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-10-26T22:08:34.536Z,1761516514.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250754
2025-10-26T22:08:34.695Z,1761516514.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.30 m.
2025-10-26T22:08:34.699Z,1761516514.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.300972 m,
      nav range: 63.327194 m,
      bearing: 55.446728 deg,
      approach rate: -0.617278 m/s,
      LOS rate: 0.010992 deg/s,
      cmd heading: 62.734700 deg,
      new cmd heading: 62.749273 deg.

2025-10-26T22:08:34.717Z,1761516514.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095181 target range: 65.300972 and range: 65.70 m.
2025-10-26T22:08:34.788Z,1761516514.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502834
2025-10-26T22:08:35.043Z,1761516515.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756896
2025-10-26T22:08:35.096Z,1761516515.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454253,-0.878699,-0.146771],[0.890683,0.451350,0.054467],[0.018385,-0.155469,0.987670]]
2025-10-26T22:08:35.158Z,1761516515.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.30 m.
2025-10-26T22:08:35.161Z,1761516515.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.300972 m,
      nav range: 63.060101 m,
      bearing: 55.447872 deg,
      approach rate: -0.576730 m/s,
      LOS rate: 0.002480 deg/s,
      cmd heading: 62.749276 deg,
      new cmd heading: 62.752722 deg.

2025-10-26T22:08:35.162Z,1761516515.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095242 target range: 65.300972 and range: 65.70 m.
2025-10-26T22:08:35.292Z,1761516515.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006726
2025-10-26T22:08:35.487Z,1761516515.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452724,-0.879218,-0.148380],[0.891465,0.449716,0.055191],[0.018204,-0.157262,0.987389]]
2025-10-26T22:08:35.503Z,1761516515.503 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:35.505Z,1761516515.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.30 m.
2025-10-26T22:08:35.524Z,1761516515.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.300972 m,
      nav range: 62.844231 m,
      bearing: 55.448446 deg,
      approach rate: -0.622866 m/s,
      LOS rate: 0.001663 deg/s,
      cmd heading: 62.752725 deg,
      new cmd heading: 62.754454 deg.

2025-10-26T22:08:35.525Z,1761516515.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095272 target range: 65.300972 and range: 65.70 m.
2025-10-26T22:08:35.544Z,1761516515.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258901
2025-10-26T22:08:35.796Z,1761516515.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510816
2025-10-26T22:08:35.890Z,1761516515.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451215,-0.879879,-0.149056],[0.892230,0.448186,0.055268],[0.018176,-0.157931,0.987283]]
2025-10-26T22:08:35.924Z,1761516515.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.30 m.
2025-10-26T22:08:35.926Z,1761516515.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.300972 m,
      nav range: 62.598015 m,
      bearing: 55.448717 deg,
      approach rate: -0.593892 m/s,
      LOS rate: 0.000655 deg/s,
      cmd heading: 62.754453 deg,
      new cmd heading: 62.755267 deg.

2025-10-26T22:08:35.931Z,1761516515.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095286 target range: 65.300972 and range: 65.70 m.
2025-10-26T22:08:36.051Z,1761516516.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765021
2025-10-26T22:08:36.294Z,1761516516.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449851,-0.880661,-0.148563],[0.892924,0.446830,0.055041],[0.017910,-0.157415,0.987370]]
2025-10-26T22:08:36.300Z,1761516516.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014892
2025-10-26T22:08:36.356Z,1761516516.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.30 m.
2025-10-26T22:08:36.359Z,1761516516.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.300972 m,
      nav range: 62.354706 m,
      bearing: 55.450144 deg,
      approach rate: -0.557086 m/s,
      LOS rate: 0.003282 deg/s,
      cmd heading: 62.755266 deg,
      new cmd heading: 62.759566 deg.

2025-10-26T22:08:36.364Z,1761516516.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095361 target range: 65.300972 and range: 65.70 m.
2025-10-26T22:08:36.552Z,1761516516.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266786
2025-10-26T22:08:36.699Z,1761516516.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448359,-0.881248,-0.149588],[0.893683,0.445219,0.055773],[0.017449,-0.158691,0.987174]]
2025-10-26T22:08:36.747Z,1761516516.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.30 m.
2025-10-26T22:08:36.750Z,1761516516.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.300972 m,
      nav range: 62.121964 m,
      bearing: 55.451147 deg,
      approach rate: -0.601519 m/s,
      LOS rate: 0.002601 deg/s,
      cmd heading: 62.759569 deg,
      new cmd heading: 62.762588 deg.

2025-10-26T22:08:36.751Z,1761516516.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095414 target range: 65.300972 and range: 65.70 m.
2025-10-26T22:08:36.805Z,1761516516.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519198
2025-10-26T22:08:37.059Z,1761516517.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773035
2025-10-26T22:08:37.122Z,1761516517.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447537,-0.881539,-0.150333],[0.894109,0.444229,0.056824],[0.016689,-0.159845,0.987001]]
2025-10-26T22:08:37.158Z,1761516517.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.30 m.
2025-10-26T22:08:37.161Z,1761516517.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.300972 m,
      nav range: 61.873337 m,
      bearing: 55.448639 deg,
      approach rate: -0.598878 m/s,
      LOS rate: -0.006064 deg/s,
      cmd heading: 62.762588 deg,
      new cmd heading: 62.755035 deg.

2025-10-26T22:08:37.162Z,1761516517.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095282 target range: 65.300972 and range: 65.70 m.
2025-10-26T22:08:37.308Z,1761516517.308 [DAT](INFO): DAT read: Rx Time:22:08:35.9782

2025-10-26T22:08:37.309Z,1761516517.309 [DAT](INFO): Rx dataTimestamp_ set to:1761516517.308646
2025-10-26T22:08:37.309Z,1761516517.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023904
2025-10-26T22:08:37.508Z,1761516517.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447260,-0.881563,-0.151016],[0.894267,0.443720,0.058291],[0.015621,-0.161120,0.986811]]
2025-10-26T22:08:37.525Z,1761516517.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:37.527Z,1761516517.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.30 m.
2025-10-26T22:08:37.529Z,1761516517.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.300972 m,
      nav range: 61.660969 m,
      bearing: 55.446412 deg,
      approach rate: -0.576716 m/s,
      LOS rate: -0.006071 deg/s,
      cmd heading: 62.755034 deg,
      new cmd heading: 62.748327 deg.

2025-10-26T22:08:37.530Z,1761516517.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095165 target range: 65.300972 and range: 65.70 m.
2025-10-26T22:08:37.560Z,1761516517.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274812
2025-10-26T22:08:37.818Z,1761516517.818 [DAT](INFO): DAT read: 22:08:35.9782 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 414, 0.00,-0.596,-2.048,-0.130,-0.600, PHS= 0.106,-1.403, 0.426, RAW= 159.4,  10.3, CAL= 159.4,  11.2, ROT= 350.6, -11.2

2025-10-26T22:08:37.819Z,1761516517.819 [DAT](INFO): got valid direction response:
 22:08:35.9782 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 414, 0.00,-0.596,-2.048,-0.130,-0.600, PHS= 0.106,-1.403, 0.426, RAW= 159.4,  10.3, CAL= 159.4,  11.2, ROT= 350.6, -11.2

2025-10-26T22:08:37.830Z,1761516517.830 [DAT](INFO): DAT read: Bearing 215.3, -10.3 (Local)

2025-10-26T22:08:37.830Z,1761516517.830 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.3, -10.3 (Local)

2025-10-26T22:08:37.846Z,1761516517.846 [DAT](INFO): DAT read: Range 11 to 50 : 63.3 m  (Round-trip  84.5 ms) speed  0.4 m/s

2025-10-26T22:08:37.847Z,1761516517.847 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:08:37.848Z,1761516517.848 [DAT](INFO): direction in FSK: [0.967783,-0.160215,0.194234]
2025-10-26T22:08:37.848Z,1761516517.848 [DAT](INFO): publishing direction and range info
2025-10-26T22:08:37.854Z,1761516517.854 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:08:37.855Z,1761516517.855 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:08:37.855Z,1761516517.855 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:08:37.910Z,1761516517.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448289,-0.881200,-0.150081],[0.893774,0.444560,0.059455],[0.014329,-0.160792,0.986884]]
2025-10-26T22:08:37.971Z,1761516517.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.299999 m,
      deltaT: 3.775855 s,
      deltaX: -2.399998 m,
      approachRate: -0.635617 m/s,
      rangeRepo size: 4

2025-10-26T22:08:37.973Z,1761516517.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.915760 m,
      bearing: 55.868451 deg,
      lat: 36.779383 deg,
      lon: -121.859452 deg,
      deltaT: 3.775855 s,
      deltaX: -2.385212 m,
      approachRate: -0.631701 m/s,
      posRepo size: 4

2025-10-26T22:08:37.974Z,1761516517.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.92 m.
2025-10-26T22:08:37.981Z,1761516517.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.915760 m,
      nav range: 61.419983 m,
      bearing: 55.444122 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006071 deg/s,
      cmd heading: 62.748326 deg,
      new cmd heading: 62.740311 deg.

2025-10-26T22:08:37.982Z,1761516517.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095025 target range: 62.915760 and range: 63.30 m.
2025-10-26T22:08:38.066Z,1761516518.066 [DAT](INFO): DAT read: user:476>

2025-10-26T22:08:38.069Z,1761516518.069 [DAT](INFO): DAT read: Tx time:22:08:37.2411

2025-10-26T22:08:38.070Z,1761516518.070 [DAT](INFO): Ping request sent.
2025-10-26T22:08:38.070Z,1761516518.070 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:08:38.071Z,1761516518.071 [DAT](INFO): publishing transmit ping time
2025-10-26T22:08:38.077Z,1761516518.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006666
2025-10-26T22:08:38.316Z,1761516518.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246455
2025-10-26T22:08:38.317Z,1761516518.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449481,-0.880992,-0.147719],[0.893191,0.445703,0.059654],[0.013284,-0.158755,0.987229]]
2025-10-26T22:08:38.379Z,1761516518.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.92 m.
2025-10-26T22:08:38.386Z,1761516518.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.915760 m,
      nav range: 61.187016 m,
      bearing: 55.447013 deg,
      approach rate: -0.565415 m/s,
      LOS rate: 0.007045 deg/s,
      cmd heading: 62.740308 deg,
      new cmd heading: 62.749016 deg.

2025-10-26T22:08:38.387Z,1761516518.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095177 target range: 62.915760 and range: 63.30 m.
2025-10-26T22:08:38.568Z,1761516518.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498466
2025-10-26T22:08:38.725Z,1761516518.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451061,-0.880559,-0.145466],[0.892408,0.447234,0.059913],[0.012300,-0.156839,0.987548]]
2025-10-26T22:08:38.753Z,1761516518.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.92 m.
2025-10-26T22:08:38.756Z,1761516518.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.915760 m,
      nav range: 60.965961 m,
      bearing: 55.450153 deg,
      approach rate: -0.590509 m/s,
      LOS rate: 0.008416 deg/s,
      cmd heading: 62.749016 deg,
      new cmd heading: 62.758468 deg.

2025-10-26T22:08:38.757Z,1761516518.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095342 target range: 62.915760 and range: 63.30 m.
2025-10-26T22:08:38.822Z,1761516518.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752431
2025-10-26T22:08:39.075Z,1761516519.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004968
2025-10-26T22:08:39.142Z,1761516519.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452776,-0.879698,-0.145344],[0.891551,0.448771,0.061163],[0.011422,-0.157275,0.987489]]
2025-10-26T22:08:39.184Z,1761516519.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.92 m.
2025-10-26T22:08:39.186Z,1761516519.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.915760 m,
      nav range: 60.731800 m,
      bearing: 55.456021 deg,
      approach rate: -0.543998 m/s,
      LOS rate: 0.013686 deg/s,
      cmd heading: 62.758469 deg,
      new cmd heading: 62.776143 deg.

2025-10-26T22:08:39.188Z,1761516519.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095650 target range: 62.915760 and range: 63.30 m.
2025-10-26T22:08:39.325Z,1761516519.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254735
2025-10-26T22:08:39.529Z,1761516519.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454848,-0.878094,-0.148538],[0.890508,0.450400,0.064311],[0.010431,-0.161526,0.986813]]
2025-10-26T22:08:39.546Z,1761516519.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:39.548Z,1761516519.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.92 m.
2025-10-26T22:08:39.550Z,1761516519.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.915760 m,
      nav range: 60.534119 m,
      bearing: 55.461419 deg,
      approach rate: -0.542976 m/s,
      LOS rate: 0.014876 deg/s,
      cmd heading: 62.776146 deg,
      new cmd heading: 62.792394 deg.

2025-10-26T22:08:39.551Z,1761516519.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095934 target range: 62.915760 and range: 63.30 m.
2025-10-26T22:08:39.577Z,1761516519.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506700
2025-10-26T22:08:39.828Z,1761516519.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758519
2025-10-26T22:08:39.930Z,1761516519.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457569,-0.876094,-0.151952],[0.889127,0.452573,0.068049],[0.009152,-0.166242,0.986043]]
2025-10-26T22:08:39.955Z,1761516519.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.92 m.
2025-10-26T22:08:39.958Z,1761516519.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.915760 m,
      nav range: 60.312519 m,
      bearing: 55.468123 deg,
      approach rate: -0.544014 m/s,
      LOS rate: 0.016516 deg/s,
      cmd heading: 62.792395 deg,
      new cmd heading: 62.812578 deg.

2025-10-26T22:08:39.959Z,1761516519.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.096286 target range: 62.915760 and range: 63.30 m.
2025-10-26T22:08:40.081Z,1761516520.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011088
2025-10-26T22:08:40.332Z,1761516520.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262659
2025-10-26T22:08:40.337Z,1761516520.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460417,-0.874220,-0.154127],[0.887667,0.454974,0.071037],[0.008021,-0.169520,0.985494]]
2025-10-26T22:08:40.401Z,1761516520.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.92 m.
2025-10-26T22:08:40.408Z,1761516520.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.915760 m,
      nav range: 60.095360 m,
      bearing: 55.483821 deg,
      approach rate: -0.486488 m/s,
      LOS rate: 0.035295 deg/s,
      cmd heading: 62.812578 deg,
      new cmd heading: 62.859843 deg.

2025-10-26T22:08:40.409Z,1761516520.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.097111 target range: 62.915760 and range: 63.30 m.
2025-10-26T22:08:40.586Z,1761516520.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515537
2025-10-26T22:08:40.741Z,1761516520.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462826,-0.872772,-0.155119],[0.886420,0.457083,0.073039],[0.007156,-0.171305,0.985192]]
2025-10-26T22:08:40.768Z,1761516520.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.92 m.
2025-10-26T22:08:40.770Z,1761516520.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.915760 m,
      nav range: 59.898609 m,
      bearing: 55.498634 deg,
      approach rate: -0.537206 m/s,
      LOS rate: 0.040580 deg/s,
      cmd heading: 62.859843 deg,
      new cmd heading: 62.904429 deg.

2025-10-26T22:08:40.771Z,1761516520.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.097889 target range: 62.915760 and range: 63.30 m.
2025-10-26T22:08:40.842Z,1761516520.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772578
2025-10-26T22:08:41.098Z,1761516521.098 [DAT](INFO): DAT read: Rx Time:22:08:39.7271

2025-10-26T22:08:41.100Z,1761516521.100 [DAT](INFO): Rx dataTimestamp_ set to:1761516521.098708
2025-10-26T22:08:41.102Z,1761516521.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031933
2025-10-26T22:08:41.177Z,1761516521.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464541,-0.872116,-0.153673],[0.885529,0.458728,0.073535],[0.006363,-0.170242,0.985382]]
2025-10-26T22:08:41.220Z,1761516521.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.92 m.
2025-10-26T22:08:41.223Z,1761516521.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.915760 m,
      nav range: 59.667065 m,
      bearing: 55.514394 deg,
      approach rate: -0.512681 m/s,
      LOS rate: 0.035031 deg/s,
      cmd heading: 62.904430 deg,
      new cmd heading: 62.951894 deg.

2025-10-26T22:08:41.224Z,1761516521.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.098718 target range: 62.915760 and range: 63.30 m.
2025-10-26T22:08:41.344Z,1761516521.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274647
2025-10-26T22:08:41.590Z,1761516521.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:41.594Z,1761516521.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.92 m.
2025-10-26T22:08:41.606Z,1761516521.606 [DAT](INFO): DAT read: 22:08:39.7271 LVL= 32752, 32753, 30386, 32755, AGC= 71, IDX= 419, 0.34,-1.626,-3.132,-1.174,-1.705, PHS= 0.181,-1.383, 0.487, RAW= 158.8,   8.3, CAL= 158.4,   8.6, ROT= 351.6,  -8.6

2025-10-26T22:08:41.608Z,1761516521.608 [DAT](INFO): got valid direction response:
 22:08:39.7271 LVL= 32752, 32753, 30386, 32755, AGC= 71, IDX= 419, 0.34,-1.626,-3.132,-1.174,-1.705, PHS= 0.181,-1.383, 0.487, RAW= 158.8,   8.3, CAL= 158.4,   8.6, ROT= 351.6,  -8.6

2025-10-26T22:08:41.609Z,1761516521.609 [DAT](INFO): DAT read: Bearing 211.1,  -9.4 (Local)

2025-10-26T22:08:41.610Z,1761516521.610 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.1,  -9.4 (Local)

2025-10-26T22:08:41.615Z,1761516521.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.915760 m,
      nav range: 59.478302 m,
      bearing: 55.527334 deg,
      approach rate: -0.504512 m/s,
      LOS rate: 0.034693 deg/s,
      cmd heading: 62.951893 deg,
      new cmd heading: 62.990834 deg.

2025-10-26T22:08:41.652Z,1761516521.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.099397 target range: 62.915760 and range: 63.30 m.
2025-10-26T22:08:41.656Z,1761516521.656 [DAT](INFO): DAT read: Range 11 to 50 : 61.4 m  (Round-trip  81.9 ms) speed  0.6 m/s

2025-10-26T22:08:41.657Z,1761516521.657 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:08:41.657Z,1761516521.657 [DAT](INFO): direction in FSK: [0.978149,-0.144441,0.149535]
2025-10-26T22:08:41.658Z,1761516521.658 [DAT](INFO): publishing direction and range info
2025-10-26T22:08:41.716Z,1761516521.716 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:08:41.716Z,1761516521.716 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:08:41.716Z,1761516521.717 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:08:41.752Z,1761516521.752 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:08:41.848Z,1761516521.848 [DAT](INFO): DAT read: user:477>

2025-10-26T22:08:41.849Z,1761516521.849 [DAT](INFO): DAT read: Tx time:22:08:41.0911

2025-10-26T22:08:41.850Z,1761516521.850 [DAT](INFO): Ping request sent.
2025-10-26T22:08:41.850Z,1761516521.850 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:08:41.850Z,1761516521.850 [DAT](INFO): publishing transmit ping time
2025-10-26T22:08:41.850Z,1761516521.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-10-26T22:08:42.020Z,1761516522.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467264,-0.870819,-0.152767],[0.884110,0.460955,0.076620],[0.003696,-0.170864,0.985288]]
2025-10-26T22:08:42.048Z,1761516522.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.400002 m,
      deltaT: 3.784389 s,
      deltaX: -1.899998 m,
      approachRate: -0.502062 m/s,
      rangeRepo size: 4

2025-10-26T22:08:42.050Z,1761516522.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.027210 m,
      bearing: 55.331051 deg,
      lat: 36.779385 deg,
      lon: -121.859451 deg,
      deltaT: 3.784389 s,
      deltaX: -1.888550 m,
      approachRate: -0.499037 m/s,
      posRepo size: 4

2025-10-26T22:08:42.051Z,1761516522.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.03 m.
2025-10-26T22:08:42.054Z,1761516522.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.027210 m,
      nav range: 59.446918 m,
      bearing: 55.393473 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.034693 deg/s,
      cmd heading: 62.990832 deg,
      new cmd heading: 63.038086 deg.

2025-10-26T22:08:42.055Z,1761516522.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.100222 target range: 61.027210 and range: 61.40 m.
2025-10-26T22:08:42.101Z,1761516522.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251601
2025-10-26T22:08:42.353Z,1761516522.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503211
2025-10-26T22:08:42.429Z,1761516522.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468783,-0.870496,-0.149932],[0.883311,0.462396,0.077153],[0.002166,-0.168604,0.985681]]
2025-10-26T22:08:42.452Z,1761516522.452 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,       -8.40,      +780.35 +9.43,  0.00
2025-10-26T22:08:42.496Z,1761516522.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.03 m.
2025-10-26T22:08:42.499Z,1761516522.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.027210 m,
      nav range: 59.226612 m,
      bearing: 55.409223 deg,
      approach rate: -0.490625 m/s,
      LOS rate: 0.035204 deg/s,
      cmd heading: 63.038083 deg,
      new cmd heading: 63.085507 deg.

2025-10-26T22:08:42.501Z,1761516522.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.101050 target range: 61.027210 and range: 61.40 m.
2025-10-26T22:08:42.605Z,1761516522.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755235
2025-10-26T22:08:42.757Z,1761516522.757 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:08:42.822Z,1761516522.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470256,-0.870142,-0.147348],[0.882530,0.463780,0.077781],[0.000657,-0.166616,0.986022]]
2025-10-26T22:08:42.856Z,1761516522.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006649
2025-10-26T22:08:42.859Z,1761516522.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.03 m.
2025-10-26T22:08:42.862Z,1761516522.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.027210 m,
      nav range: 59.035915 m,
      bearing: 55.423280 deg,
      approach rate: -0.526208 m/s,
      LOS rate: 0.038916 deg/s,
      cmd heading: 63.085505 deg,
      new cmd heading: 63.127814 deg.

2025-10-26T22:08:42.863Z,1761516522.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.101788 target range: 61.027210 and range: 61.40 m.
2025-10-26T22:08:43.111Z,1761516523.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261331
2025-10-26T22:08:43.228Z,1761516523.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471444,-0.870088,-0.143830],[0.881896,0.465028,0.077513],[-0.000558,-0.163386,0.986562]]
2025-10-26T22:08:43.291Z,1761516523.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.03 m.
2025-10-26T22:08:43.298Z,1761516523.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.027210 m,
      nav range: 58.812305 m,
      bearing: 55.440955 deg,
      approach rate: -0.517463 m/s,
      LOS rate: 0.041058 deg/s,
      cmd heading: 63.127812 deg,
      new cmd heading: 63.181038 deg.

2025-10-26T22:08:43.299Z,1761516523.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.102717 target range: 61.027210 and range: 61.40 m.
2025-10-26T22:08:43.361Z,1761516523.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511557
2025-10-26T22:08:43.613Z,1761516523.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763252
2025-10-26T22:08:43.631Z,1761516523.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472675,-0.870286,-0.138493],[0.881236,0.466529,0.075992],[-0.001524,-0.157964,0.987444]]
2025-10-26T22:08:43.678Z,1761516523.678 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:43.683Z,1761516523.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.03 m.
2025-10-26T22:08:43.686Z,1761516523.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.027210 m,
      nav range: 58.602951 m,
      bearing: 55.458014 deg,
      approach rate: -0.533681 m/s,
      LOS rate: 0.043642 deg/s,
      cmd heading: 63.181039 deg,
      new cmd heading: 63.232399 deg.

2025-10-26T22:08:43.687Z,1761516523.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.103614 target range: 61.027210 and range: 61.40 m.
2025-10-26T22:08:43.864Z,1761516523.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014745
2025-10-26T22:08:44.036Z,1761516524.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473564,-0.870396,-0.134710],[0.880756,0.467593,0.075004],[-0.002294,-0.154166,0.988042]]
2025-10-26T22:08:44.081Z,1761516524.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.03 m.
2025-10-26T22:08:44.092Z,1761516524.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.027210 m,
      nav range: 58.401146 m,
      bearing: 55.474843 deg,
      approach rate: -0.509092 m/s,
      LOS rate: 0.042600 deg/s,
      cmd heading: 63.232402 deg,
      new cmd heading: 63.283062 deg.

2025-10-26T22:08:44.094Z,1761516524.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.104498 target range: 61.027210 and range: 61.40 m.
2025-10-26T22:08:44.117Z,1761516524.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266872
2025-10-26T22:08:44.368Z,1761516524.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518613
2025-10-26T22:08:44.457Z,1761516524.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473467,-0.870473,-0.134560],[0.880806,0.467388,0.075688],[-0.002992,-0.154357,0.988011]]
2025-10-26T22:08:44.514Z,1761516524.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.03 m.
2025-10-26T22:08:44.521Z,1761516524.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.027210 m,
      nav range: 58.159111 m,
      bearing: 55.487271 deg,
      approach rate: -0.557372 m/s,
      LOS rate: 0.028740 deg/s,
      cmd heading: 63.283062 deg,
      new cmd heading: 63.320502 deg.

2025-10-26T22:08:44.522Z,1761516524.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.105151 target range: 61.027210 and range: 61.40 m.
2025-10-26T22:08:44.621Z,1761516524.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771297
2025-10-26T22:08:44.872Z,1761516524.872 [DAT](INFO): DAT read: Rx Time:22:08:43.5742

2025-10-26T22:08:44.873Z,1761516524.873 [DAT](INFO): Rx dataTimestamp_ set to:1761516524.872677
2025-10-26T22:08:44.873Z,1761516524.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023844
2025-10-26T22:08:44.879Z,1761516524.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.03 m.
2025-10-26T22:08:44.882Z,1761516524.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.027210 m,
      nav range: 57.945560 m,
      bearing: 55.498323 deg,
      approach rate: -0.585245 m/s,
      LOS rate: 0.030401 deg/s,
      cmd heading: 63.320505 deg,
      new cmd heading: 63.353784 deg.

2025-10-26T22:08:44.883Z,1761516524.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.105732 target range: 61.027210 and range: 61.40 m.
2025-10-26T22:08:45.124Z,1761516525.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274796
2025-10-26T22:08:45.252Z,1761516525.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471710,-0.871515,-0.133981],[0.881747,0.465644,0.075483],[-0.003397,-0.153744,0.988105]]
2025-10-26T22:08:45.296Z,1761516525.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.03 m.
2025-10-26T22:08:45.298Z,1761516525.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.027210 m,
      nav range: 57.699780 m,
      bearing: 55.504535 deg,
      approach rate: -0.589827 m/s,
      LOS rate: 0.014970 deg/s,
      cmd heading: 63.353782 deg,
      new cmd heading: 63.372496 deg.

2025-10-26T22:08:45.299Z,1761516525.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106059 target range: 61.027210 and range: 61.40 m.
2025-10-26T22:08:45.389Z,1761516525.389 [DAT](INFO): DAT read: 22:08:43.5742 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 405, 0.25,-2.321, 2.465,-1.894,-2.359, PHS= 0.140,-1.414, 0.421, RAW= 158.2,  10.0, CAL= 158.1,  10.8, ROT= 351.9, -10.8

2025-10-26T22:08:45.390Z,1761516525.390 [DAT](INFO): got valid direction response:
 22:08:43.5742 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 405, 0.25,-2.321, 2.465,-1.894,-2.359, PHS= 0.140,-1.414, 0.421, RAW= 158.2,  10.0, CAL= 158.1,  10.8, ROT= 351.9, -10.8

2025-10-26T22:08:45.391Z,1761516525.391 [DAT](INFO): DAT read: Bearing 213.5,  -9.7 (Local)

2025-10-26T22:08:45.391Z,1761516525.391 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.5,  -9.7 (Local)

2025-10-26T22:08:45.393Z,1761516525.393 [DAT](INFO): DAT read: Range 11 to 50 : 59.2 m  (Round-trip  79.0 ms) speed  0.4 m/s

2025-10-26T22:08:45.394Z,1761516525.394 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:08:45.395Z,1761516525.395 [DAT](INFO): direction in FSK: [0.972488,-0.138405,0.187381]
2025-10-26T22:08:45.395Z,1761516525.395 [DAT](INFO): publishing direction and range info
2025-10-26T22:08:45.398Z,1761516525.398 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:08:45.399Z,1761516525.399 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:08:45.399Z,1761516525.399 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:08:45.632Z,1761516525.632 [DAT](INFO): DAT read: user:478>

2025-10-26T22:08:45.633Z,1761516525.633 [DAT](INFO): DAT read: Tx time:22:08:44.7895

2025-10-26T22:08:45.633Z,1761516525.633 [DAT](INFO): Ping request sent.
2025-10-26T22:08:45.634Z,1761516525.634 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:08:45.634Z,1761516525.634 [DAT](INFO): publishing transmit ping time
2025-10-26T22:08:45.634Z,1761516525.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-10-26T22:08:45.655Z,1761516525.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470065,-0.872727,-0.131859],[0.882623,0.464109,0.074699],[-0.003995,-0.151495,0.988450]]
2025-10-26T22:08:45.736Z,1761516525.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.200001 m,
      deltaT: 3.785145 s,
      deltaX: -2.200001 m,
      approachRate: -0.581220 m/s,
      rangeRepo size: 4

2025-10-26T22:08:45.738Z,1761516525.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.840687 m,
      bearing: 55.605002 deg,
      lat: 36.779385 deg,
      lon: -121.859451 deg,
      deltaT: 3.785145 s,
      deltaX: -2.186523 m,
      approachRate: -0.577659 m/s,
      posRepo size: 4

2025-10-26T22:08:45.739Z,1761516525.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.84 m.
2025-10-26T22:08:45.743Z,1761516525.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.20 m.
2025-10-26T22:08:45.746Z,1761516525.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.840687 m,
      nav range: 57.473015 m,
      bearing: 55.501686 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014970 deg/s,
      cmd heading: 63.372496 deg,
      new cmd heading: 63.392068 deg.

2025-10-26T22:08:45.747Z,1761516525.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106400 target range: 58.840687 and range: 59.20 m.
2025-10-26T22:08:45.789Z,1761516525.789 [DockingStepper](INFO): Changing to mode: 2
2025-10-26T22:08:45.885Z,1761516525.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250867
2025-10-26T22:08:46.118Z,1761516526.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467628,-0.874609,-0.127995],[0.883915,0.461976,0.072617],[-0.004381,-0.147095,0.989113]]
2025-10-26T22:08:46.137Z,1761516526.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503070
2025-10-26T22:08:46.137Z,1761516526.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:46.140Z,1761516526.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.84 m.
2025-10-26T22:08:46.140Z,1761516526.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.20 m.
2025-10-26T22:08:46.143Z,1761516526.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.840687 m,
      nav range: 57.218864 m,
      bearing: 55.507133 deg,
      approach rate: -0.622544 m/s,
      LOS rate: 0.013402 deg/s,
      cmd heading: 63.392072 deg,
      new cmd heading: 63.408485 deg.

2025-10-26T22:08:46.144Z,1761516526.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106687 target range: 58.840687 and range: 59.20 m.
2025-10-26T22:08:46.388Z,1761516526.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754779
2025-10-26T22:08:46.514Z,1761516526.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464651,-0.876155,-0.128265],[0.885480,0.458949,0.072733],[-0.004858,-0.147372,0.989069]]
2025-10-26T22:08:46.568Z,1761516526.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.84 m.
2025-10-26T22:08:46.568Z,1761516526.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.20 m.
2025-10-26T22:08:46.572Z,1761516526.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.840687 m,
      nav range: 56.945625 m,
      bearing: 55.509654 deg,
      approach rate: -0.637596 m/s,
      LOS rate: 0.005911 deg/s,
      cmd heading: 63.408485 deg,
      new cmd heading: 63.416083 deg.

2025-10-26T22:08:46.573Z,1761516526.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106820 target range: 58.840687 and range: 59.20 m.
2025-10-26T22:08:46.641Z,1761516526.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007663
2025-10-26T22:08:46.893Z,1761516526.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258957
2025-10-26T22:08:46.914Z,1761516526.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461698,-0.878058,-0.125892],[0.887021,0.456143,0.071609],[-0.005452,-0.144730,0.989456]]
2025-10-26T22:08:46.953Z,1761516526.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.84 m.
2025-10-26T22:08:46.954Z,1761516526.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.20 m.
2025-10-26T22:08:46.957Z,1761516526.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.840687 m,
      nav range: 56.703747 m,
      bearing: 55.511131 deg,
      approach rate: -0.627783 m/s,
      LOS rate: 0.003851 deg/s,
      cmd heading: 63.416087 deg,
      new cmd heading: 63.420538 deg.

2025-10-26T22:08:46.958Z,1761516526.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106897 target range: 58.840687 and range: 59.20 m.
2025-10-26T22:08:47.144Z,1761516527.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510817
2025-10-26T22:08:47.345Z,1761516527.345 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050301570555,35.,   0.0, 0
2025-10-26T22:08:47.384Z,1761516527.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.84 m.
2025-10-26T22:08:47.384Z,1761516527.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.20 m.
2025-10-26T22:08:47.387Z,1761516527.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.840687 m,
      nav range: 56.443172 m,
      bearing: 55.512737 deg,
      approach rate: -0.605169 m/s,
      LOS rate: 0.003747 deg/s,
      cmd heading: 63.420540 deg,
      new cmd heading: 63.425380 deg.

2025-10-26T22:08:47.392Z,1761516527.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106982 target range: 58.840687 and range: 59.20 m.
2025-10-26T22:08:47.396Z,1761516527.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762825
2025-10-26T22:08:47.651Z,1761516527.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017544
2025-10-26T22:08:47.735Z,1761516527.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456730,-0.881064,-0.122977],[0.889586,0.451428,0.069631],[-0.005835,-0.141201,0.989964]]
2025-10-26T22:08:47.753Z,1761516527.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.84 m.
2025-10-26T22:08:47.754Z,1761516527.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.20 m.
2025-10-26T22:08:47.757Z,1761516527.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.840687 m,
      nav range: 56.193718 m,
      bearing: 55.512923 deg,
      approach rate: -0.675094 m/s,
      LOS rate: 0.000504 deg/s,
      cmd heading: 63.425383 deg,
      new cmd heading: 63.425941 deg.

2025-10-26T22:08:47.758Z,1761516527.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106992 target range: 58.840687 and range: 59.20 m.
2025-10-26T22:08:47.900Z,1761516527.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266703
2025-10-26T22:08:48.127Z,1761516528.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454304,-0.882378,-0.122544],[0.890828,0.449083,0.068921],[-0.005782,-0.140476,0.990067]]
2025-10-26T22:08:48.146Z,1761516528.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:48.148Z,1761516528.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.84 m.
2025-10-26T22:08:48.149Z,1761516528.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.20 m.
2025-10-26T22:08:48.153Z,1761516528.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518954
2025-10-26T22:08:48.153Z,1761516528.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.840687 m,
      nav range: 55.943436 m,
      bearing: 55.512423 deg,
      approach rate: -0.633732 m/s,
      LOS rate: -0.001269 deg/s,
      cmd heading: 63.425943 deg,
      new cmd heading: 63.424439 deg.

2025-10-26T22:08:48.154Z,1761516528.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106965 target range: 58.840687 and range: 59.20 m.
2025-10-26T22:08:48.404Z,1761516528.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770701
2025-10-26T22:08:48.531Z,1761516528.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451877,-0.883692,-0.122045],[0.892062,0.446733,0.068236],[-0.005778,-0.139706,0.990176]]
2025-10-26T22:08:48.608Z,1761516528.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.84 m.
2025-10-26T22:08:48.608Z,1761516528.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.20 m.
2025-10-26T22:08:48.611Z,1761516528.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.840687 m,
      nav range: 55.652676 m,
      bearing: 55.511047 deg,
      approach rate: -0.639608 m/s,
      LOS rate: -0.003044 deg/s,
      cmd heading: 63.424440 deg,
      new cmd heading: 63.420288 deg.

2025-10-26T22:08:48.616Z,1761516528.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106893 target range: 58.840687 and range: 59.20 m.
2025-10-26T22:08:48.657Z,1761516528.657 [DAT](INFO): DAT read: Rx Time:22:08:47.2697

2025-10-26T22:08:48.657Z,1761516528.657 [DAT](INFO): Rx dataTimestamp_ set to:1761516528.656767
2025-10-26T22:08:48.658Z,1761516528.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023967
2025-10-26T22:08:48.908Z,1761516528.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274678
2025-10-26T22:08:48.935Z,1761516528.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448530,-0.885763,-0.119354],[0.893749,0.443634,0.066347],[-0.005818,-0.136431,0.990632]]
2025-10-26T22:08:48.968Z,1761516528.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.84 m.
2025-10-26T22:08:48.969Z,1761516528.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.20 m.
2025-10-26T22:08:48.971Z,1761516528.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.840687 m,
      nav range: 55.403458 m,
      bearing: 55.508918 deg,
      approach rate: -0.682428 m/s,
      LOS rate: -0.005854 deg/s,
      cmd heading: 63.420287 deg,
      new cmd heading: 63.413873 deg.

2025-10-26T22:08:48.972Z,1761516528.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106781 target range: 58.840687 and range: 59.20 m.
2025-10-26T22:08:49.166Z,1761516529.166 [DAT](INFO): DAT read: 22:08:47.2697 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 407, 0.27,-2.339, 2.408,-1.900,-2.413, PHS= 0.177,-1.417, 0.469, RAW= 158.3,   8.8, CAL= 158.0,   9.3, ROT= 352.0,  -9.3

2025-10-26T22:08:49.167Z,1761516529.167 [DAT](INFO): got valid direction response:
 22:08:47.2697 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 407, 0.27,-2.339, 2.408,-1.900,-2.413, PHS= 0.177,-1.417, 0.469, RAW= 158.3,   8.8, CAL= 158.0,   9.3, ROT= 352.0,  -9.3

2025-10-26T22:08:49.168Z,1761516529.168 [DAT](INFO): DAT read: Bearing 213.4,  -9.8 (Local)

2025-10-26T22:08:49.168Z,1761516529.168 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.4,  -9.8 (Local)

2025-10-26T22:08:49.169Z,1761516529.169 [DAT](INFO): DAT read: Range 11 to 50 : 57.0 m  (Round-trip  76.0 ms) speed  0.5 m/s

2025-10-26T22:08:49.170Z,1761516529.170 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:08:49.171Z,1761516529.171 [DAT](INFO): direction in FSK: [0.977252,-0.137344,0.161604]
2025-10-26T22:08:49.172Z,1761516529.172 [DAT](INFO): publishing direction and range info
2025-10-26T22:08:49.175Z,1761516529.175 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:08:49.175Z,1761516529.175 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:08:49.175Z,1761516529.175 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:08:49.395Z,1761516529.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 3.778690 s,
      deltaX: -2.200001 m,
      approachRate: -0.582213 m/s,
      rangeRepo size: 4

2025-10-26T22:08:49.412Z,1761516529.412 [DAT](INFO): DAT read: user:479>

2025-10-26T22:08:49.413Z,1761516529.413 [DAT](INFO): DAT read: Tx time:22:08:48.5395

2025-10-26T22:08:49.413Z,1761516529.413 [DAT](INFO): Ping request sent.
2025-10-26T22:08:49.414Z,1761516529.414 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:08:49.414Z,1761516529.414 [DAT](INFO): publishing transmit ping time
2025-10-26T22:08:49.414Z,1761516529.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000767
2025-10-26T22:08:49.421Z,1761516529.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.654224 m,
      bearing: 56.702691 deg,
      lat: 36.779385 deg,
      lon: -121.859449 deg,
      deltaT: 3.778690 s,
      deltaX: -2.186462 m,
      approachRate: -0.578630 m/s,
      posRepo size: 4

2025-10-26T22:08:49.421Z,1761516529.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.65 m.
2025-10-26T22:08:49.422Z,1761516529.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-10-26T22:08:49.426Z,1761516529.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.654224 m,
      nav range: 55.270714 m,
      bearing: 55.612710 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005854 deg/s,
      cmd heading: 63.413874 deg,
      new cmd heading: 63.406386 deg.

2025-10-26T22:08:49.427Z,1761516529.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106650 target range: 56.654224 and range: 57.00 m.
2025-10-26T22:08:49.665Z,1761516529.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251240
2025-10-26T22:08:49.764Z,1761516529.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442711,-0.888433,-0.121220],[0.896645,0.437760,0.066278],[-0.005818,-0.138033,0.990411]]
2025-10-26T22:08:49.782Z,1761516529.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.65 m.
2025-10-26T22:08:49.783Z,1761516529.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-10-26T22:08:49.787Z,1761516529.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.654224 m,
      nav range: 55.004330 m,
      bearing: 55.607928 deg,
      approach rate: -0.686502 m/s,
      LOS rate: -0.012384 deg/s,
      cmd heading: 63.406388 deg,
      new cmd heading: 63.391972 deg.

2025-10-26T22:08:49.788Z,1761516529.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106399 target range: 56.654224 and range: 57.00 m.
2025-10-26T22:08:49.916Z,1761516529.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502773
2025-10-26T22:08:50.168Z,1761516530.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754874
2025-10-26T22:08:50.207Z,1761516530.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:50.209Z,1761516530.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.65 m.
2025-10-26T22:08:50.209Z,1761516530.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-10-26T22:08:50.212Z,1761516530.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.654224 m,
      nav range: 54.717419 m,
      bearing: 55.602725 deg,
      approach rate: -0.672690 m/s,
      LOS rate: -0.012262 deg/s,
      cmd heading: 63.391969 deg,
      new cmd heading: 63.376279 deg.

2025-10-26T22:08:50.213Z,1761516530.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106125 target range: 56.654224 and range: 57.00 m.
2025-10-26T22:08:50.420Z,1761516530.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006818
2025-10-26T22:08:50.642Z,1761516530.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438148,-0.890954,-0.119281],[0.898879,0.433298,0.065336],[-0.006527,-0.135846,0.990709]]
2025-10-26T22:08:50.688Z,1761516530.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.274822
2025-10-26T22:08:50.708Z,1761516530.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.65 m.
2025-10-26T22:08:50.709Z,1761516530.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-10-26T22:08:50.713Z,1761516530.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.654224 m,
      nav range: 54.412369 m,
      bearing: 55.602600 deg,
      approach rate: -0.611858 m/s,
      LOS rate: -0.000254 deg/s,
      cmd heading: 63.376280 deg,
      new cmd heading: 63.375901 deg.

2025-10-26T22:08:50.715Z,1761516530.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106118 target range: 56.654224 and range: 57.00 m.
2025-10-26T22:08:50.940Z,1761516530.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.526840
2025-10-26T22:08:51.039Z,1761516531.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435902,-0.892298,-0.117449],[0.899963,0.431085,0.065050],[-0.007414,-0.134055,0.990946]]
2025-10-26T22:08:51.083Z,1761516531.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.65 m.
2025-10-26T22:08:51.084Z,1761516531.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-10-26T22:08:51.090Z,1761516531.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.654224 m,
      nav range: 54.163490 m,
      bearing: 55.601846 deg,
      approach rate: -0.664731 m/s,
      LOS rate: -0.002021 deg/s,
      cmd heading: 63.375898 deg,
      new cmd heading: 63.373627 deg.

2025-10-26T22:08:51.092Z,1761516531.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106079 target range: 56.654224 and range: 57.00 m.
2025-10-26T22:08:51.192Z,1761516531.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.778751
2025-10-26T22:08:51.445Z,1761516531.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.031718
2025-10-26T22:08:51.491Z,1761516531.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433439,-0.893634,-0.116397],[0.901145,0.428616,0.064998],[-0.008195,-0.133063,0.991074]]
2025-10-26T22:08:51.547Z,1761516531.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.65 m.
2025-10-26T22:08:51.552Z,1761516531.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-10-26T22:08:51.552Z,1761516531.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.00 m.
2025-10-26T22:08:51.552Z,1761516531.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-10-26T22:08:51.555Z,1761516531.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.654224 m,
      nav range: 53.881985 m,
      bearing: 55.606377 deg,
      approach rate: -0.605496 m/s,
      LOS rate: 0.009797 deg/s,
      cmd heading: 63.373630 deg,
      new cmd heading: 63.387294 deg.

2025-10-26T22:08:51.560Z,1761516531.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106317 target range: 56.654224 and range: 57.00 m.
2025-10-26T22:08:51.697Z,1761516531.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.283337
2025-10-26T22:08:51.882Z,1761516531.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432907,-0.893905,-0.116296],[0.901389,0.427915,0.066227],[-0.009436,-0.133498,0.991004]]
2025-10-26T22:08:51.920Z,1761516531.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.65 m.
2025-10-26T22:08:51.923Z,1761516531.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.654224 m,
      nav range: 53.642899 m,
      bearing: 55.610110 deg,
      approach rate: -0.640142 m/s,
      LOS rate: 0.010039 deg/s,
      cmd heading: 63.387291 deg,
      new cmd heading: 63.398539 deg.

2025-10-26T22:08:51.924Z,1761516531.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106513 target range: 56.654224 and range: 57.00 m.
2025-10-26T22:08:51.948Z,1761516531.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534758
2025-10-26T22:08:52.201Z,1761516532.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787707
2025-10-26T22:08:52.335Z,1761516532.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432387,-0.894296,-0.115225],[0.901621,0.427249,0.067368],[-0.011017,-0.133019,0.991052]]
2025-10-26T22:08:52.371Z,1761516532.371 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:52.393Z,1761516532.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.65 m.
2025-10-26T22:08:52.408Z,1761516532.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.654224 m,
      nav range: 53.391293 m,
      bearing: 55.621932 deg,
      approach rate: -0.532223 m/s,
      LOS rate: 0.025125 deg/s,
      cmd heading: 63.398540 deg,
      new cmd heading: 63.434173 deg.

2025-10-26T22:08:52.409Z,1761516532.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.107135 target range: 56.654224 and range: 57.00 m.
2025-10-26T22:08:52.454Z,1761516532.454 [DAT](INFO): DAT read: Rx Time:22:08:51.0166

2025-10-26T22:08:52.455Z,1761516532.455 [DAT](INFO): Rx dataTimestamp_ set to:1761516532.454499
2025-10-26T22:08:52.456Z,1761516532.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.042009
2025-10-26T22:08:52.705Z,1761516532.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291272
2025-10-26T22:08:52.767Z,1761516532.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.65 m.
2025-10-26T22:08:52.778Z,1761516532.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.654224 m,
      nav range: 53.171722 m,
      bearing: 55.632340 deg,
      approach rate: -0.587029 m/s,
      LOS rate: 0.027941 deg/s,
      cmd heading: 63.434173 deg,
      new cmd heading: 63.465526 deg.

2025-10-26T22:08:52.782Z,1761516532.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.107682 target range: 56.654224 and range: 57.00 m.
2025-10-26T22:08:52.962Z,1761516532.962 [DAT](INFO): DAT read: 22:08:51.0166 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 408, 0.34,-0.625,-2.074,-0.160,-0.583, PHS= 0.060,-1.447, 0.378, RAW= 159.4,  11.9, CAL= 159.7,  13.4, ROT= 350.3, -13.4

2025-10-26T22:08:52.963Z,1761516532.963 [DAT](INFO): got valid direction response:
 22:08:51.0166 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 408, 0.34,-0.625,-2.074,-0.160,-0.583, PHS= 0.060,-1.447, 0.378, RAW= 159.4,  11.9, CAL= 159.7,  13.4, ROT= 350.3, -13.4

2025-10-26T22:08:52.964Z,1761516532.964 [DAT](INFO): DAT read: Bearing 217.9, -12.4 (Local)

2025-10-26T22:08:52.965Z,1761516532.965 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.9, -12.4 (Local)

2025-10-26T22:08:52.966Z,1761516532.966 [DAT](INFO): DAT read: Range 11 to 50 : 54.7 m  (Round-trip  73.0 ms) speed  0.5 m/s

2025-10-26T22:08:52.967Z,1761516532.967 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:08:52.968Z,1761516532.968 [DAT](INFO): direction in FSK: [0.958869,-0.163903,0.231748]
2025-10-26T22:08:52.968Z,1761516532.968 [DAT](INFO): publishing direction and range info
2025-10-26T22:08:52.972Z,1761516532.972 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:08:52.972Z,1761516532.972 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:08:52.972Z,1761516532.972 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:08:53.181Z,1761516533.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.700001 m,
      deltaT: 3.796047 s,
      deltaX: -2.299999 m,
      approachRate: -0.605893 m/s,
      rangeRepo size: 4

2025-10-26T22:08:53.183Z,1761516533.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.368130 m,
      bearing: 56.585217 deg,
      lat: 36.779380 deg,
      lon: -121.859446 deg,
      deltaT: 3.796047 s,
      deltaX: -2.286095 m,
      approachRate: -0.602230 m/s,
      posRepo size: 4

2025-10-26T22:08:53.183Z,1761516533.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.37 m.
2025-10-26T22:08:53.186Z,1761516533.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.368130 m,
      nav range: 52.861473 m,
      bearing: 56.344926 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.027941 deg/s,
      cmd heading: 63.465524 deg,
      new cmd heading: 63.500138 deg.

2025-10-26T22:08:53.187Z,1761516533.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.108286 target range: 54.368130 and range: 54.70 m.
2025-10-26T22:08:53.208Z,1761516533.208 [DAT](INFO): DAT read: user:480>

2025-10-26T22:08:53.209Z,1761516533.209 [DAT](INFO): DAT read: Tx time:22:08:52.3395

2025-10-26T22:08:53.209Z,1761516533.209 [DAT](INFO): Ping request sent.
2025-10-26T22:08:53.210Z,1761516533.210 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:08:53.210Z,1761516533.210 [DAT](INFO): publishing transmit ping time
2025-10-26T22:08:53.210Z,1761516533.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-10-26T22:08:53.460Z,1761516533.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250813
2025-10-26T22:08:53.535Z,1761516533.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433066,-0.893031,-0.122269],[0.901208,0.426481,0.077061],[-0.016672,-0.143562,0.989501]]
2025-10-26T22:08:53.621Z,1761516533.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.37 m.
2025-10-26T22:08:53.624Z,1761516533.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.368130 m,
      nav range: 52.631668 m,
      bearing: 56.364283 deg,
      approach rate: -0.521257 m/s,
      LOS rate: 0.044099 deg/s,
      cmd heading: 63.500139 deg,
      new cmd heading: 63.558464 deg.

2025-10-26T22:08:53.625Z,1761516533.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.109304 target range: 54.368130 and range: 54.70 m.
2025-10-26T22:08:53.717Z,1761516533.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505142
2025-10-26T22:08:53.936Z,1761516533.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432930,-0.892973,-0.123173],[0.901248,0.426056,0.078921],[-0.017996,-0.145176,0.989242]]
2025-10-26T22:08:53.955Z,1761516533.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.37 m.
2025-10-26T22:08:53.958Z,1761516533.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.368130 m,
      nav range: 52.442310 m,
      bearing: 56.380317 deg,
      approach rate: -0.567245 m/s,
      LOS rate: 0.048205 deg/s,
      cmd heading: 63.558462 deg,
      new cmd heading: 63.606738 deg.

2025-10-26T22:08:53.959Z,1761516533.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.110147 target range: 54.368130 and range: 54.70 m.
2025-10-26T22:08:53.976Z,1761516533.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.766870
2025-10-26T22:08:54.229Z,1761516534.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.019172
2025-10-26T22:08:54.371Z,1761516534.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433440,-0.892841,-0.122333],[0.900966,0.426353,0.080518],[-0.019733,-0.145118,0.989218]]
2025-10-26T22:08:54.429Z,1761516534.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:54.435Z,1761516534.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.37 m.
2025-10-26T22:08:54.438Z,1761516534.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.368130 m,
      nav range: 52.221447 m,
      bearing: 56.406144 deg,
      approach rate: -0.463612 m/s,
      LOS rate: 0.054443 deg/s,
      cmd heading: 63.606738 deg,
      new cmd heading: 63.684547 deg.

2025-10-26T22:08:54.439Z,1761516534.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.111505 target range: 54.368130 and range: 54.70 m.
2025-10-26T22:08:54.483Z,1761516534.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.273230
2025-10-26T22:08:54.737Z,1761516534.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.527258
2025-10-26T22:08:54.759Z,1761516534.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434058,-0.892251,-0.124430],[0.900626,0.426461,0.083692],[-0.021610,-0.148392,0.988693]]
2025-10-26T22:08:54.778Z,1761516534.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.37 m.
2025-10-26T22:08:54.793Z,1761516534.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.368130 m,
      nav range: 52.040554 m,
      bearing: 56.427550 deg,
      approach rate: -0.521803 m/s,
      LOS rate: 0.061960 deg/s,
      cmd heading: 63.684547 deg,
      new cmd heading: 63.748986 deg.

2025-10-26T22:08:54.794Z,1761516534.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.112630 target range: 54.368130 and range: 54.70 m.
2025-10-26T22:08:54.991Z,1761516534.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.781601
2025-10-26T22:08:55.162Z,1761516535.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435530,-0.890984,-0.128298],[0.899872,0.427245,0.087706],[-0.023330,-0.153651,0.987850]]
2025-10-26T22:08:55.196Z,1761516535.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.37 m.
2025-10-26T22:08:55.199Z,1761516535.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.368130 m,
      nav range: 51.843952 m,
      bearing: 56.451255 deg,
      approach rate: -0.469636 m/s,
      LOS rate: 0.056840 deg/s,
      cmd heading: 63.748983 deg,
      new cmd heading: 63.820368 deg.

2025-10-26T22:08:55.204Z,1761516535.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.113876 target range: 54.368130 and range: 54.70 m.
2025-10-26T22:08:55.244Z,1761516535.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.034129
2025-10-26T22:08:55.496Z,1761516535.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.286839
2025-10-26T22:08:55.574Z,1761516535.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436758,-0.890179,-0.129710],[0.899228,0.427995,0.090611],[-0.025145,-0.156214,0.987403]]
2025-10-26T22:08:55.634Z,1761516535.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.37 m.
2025-10-26T22:08:55.637Z,1761516535.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.368130 m,
      nav range: 51.630177 m,
      bearing: 56.476702 deg,
      approach rate: -0.488073 m/s,
      LOS rate: 0.058340 deg/s,
      cmd heading: 63.820366 deg,
      new cmd heading: 63.897024 deg.

2025-10-26T22:08:55.638Z,1761516535.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.115213 target range: 54.368130 and range: 54.70 m.
2025-10-26T22:08:55.748Z,1761516535.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.538697
2025-10-26T22:08:55.970Z,1761516535.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437295,-0.889888,-0.129892],[0.898917,0.428207,0.092663],[-0.026839,-0.157284,0.987189]]
2025-10-26T22:08:56.000Z,1761516536.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.790794
2025-10-26T22:08:56.006Z,1761516536.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.37 m.
2025-10-26T22:08:56.008Z,1761516536.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.368130 m,
      nav range: 51.449982 m,
      bearing: 56.498418 deg,
      approach rate: -0.485590 m/s,
      LOS rate: 0.058725 deg/s,
      cmd heading: 63.897021 deg,
      new cmd heading: 63.962397 deg.

2025-10-26T22:08:56.009Z,1761516536.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.116354 target range: 54.368130 and range: 54.70 m.
2025-10-26T22:08:56.253Z,1761516536.253 [DAT](INFO): DAT read: Rx Time:22:08:54.8137

2025-10-26T22:08:56.253Z,1761516536.253 [DAT](INFO): Rx dataTimestamp_ set to:1761516536.253122
2025-10-26T22:08:56.254Z,1761516536.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.044338
2025-10-26T22:08:56.402Z,1761516536.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437884,-0.889874,-0.127994],[0.898579,0.428689,0.093713],[-0.028523,-0.156048,0.987338]]
2025-10-26T22:08:56.450Z,1761516536.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:56.456Z,1761516536.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.37 m.
2025-10-26T22:08:56.460Z,1761516536.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.368130 m,
      nav range: 51.222137 m,
      bearing: 56.518109 deg,
      approach rate: -0.508715 m/s,
      LOS rate: 0.044161 deg/s,
      cmd heading: 63.962399 deg,
      new cmd heading: 64.021735 deg.

2025-10-26T22:08:56.461Z,1761516536.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117390 target range: 54.368130 and range: 54.70 m.
2025-10-26T22:08:56.504Z,1761516536.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.294856
2025-10-26T22:08:56.762Z,1761516536.762 [DAT](INFO): DAT read: 22:08:54.8137 LVL= 32752, 32753, 32546, 32755, AGC= 71, IDX= 410,-0.10,-0.686,-2.163,-0.211,-0.738, PHS= 0.154,-1.380, 0.483, RAW= 159.5,   8.7, CAL= 159.2,   9.1, ROT= 350.8,  -9.1

2025-10-26T22:08:56.763Z,1761516536.763 [DAT](INFO): got valid direction response:
 22:08:54.8137 LVL= 32752, 32753, 32546, 32755, AGC= 71, IDX= 410,-0.10,-0.686,-2.163,-0.211,-0.738, PHS= 0.154,-1.380, 0.483, RAW= 159.5,   8.7, CAL= 159.2,   9.1, ROT= 350.8,  -9.1

2025-10-26T22:08:56.764Z,1761516536.764 [DAT](INFO): DAT read: Bearing 213.3, -12.1 (Local)

2025-10-26T22:08:56.764Z,1761516536.764 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.3, -12.1 (Local)

2025-10-26T22:08:56.766Z,1761516536.766 [DAT](INFO): DAT read: Range 11 to 50 : 52.5 m  (Round-trip  70.1 ms) speed  0.5 m/s

2025-10-26T22:08:56.766Z,1761516536.766 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:08:56.767Z,1761516536.767 [DAT](INFO): direction in FSK: [0.974712,-0.157869,0.158158]
2025-10-26T22:08:56.767Z,1761516536.767 [DAT](INFO): publishing direction and range info
2025-10-26T22:08:56.771Z,1761516536.771 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:08:56.771Z,1761516536.771 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:08:56.771Z,1761516536.771 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:08:56.789Z,1761516536.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438107,-0.889950,-0.126694],[0.898411,0.428733,0.095103],[-0.030319,-0.155488,0.987372]]
2025-10-26T22:08:56.878Z,1761516536.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.500000 m,
      deltaT: 3.799823 s,
      deltaX: -2.200001 m,
      approachRate: -0.578975 m/s,
      rangeRepo size: 4

2025-10-26T22:08:56.882Z,1761516536.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.181393 m,
      bearing: 56.368483 deg,
      lat: 36.779384 deg,
      lon: -121.859446 deg,
      deltaT: 3.799823 s,
      deltaX: -2.186737 m,
      approachRate: -0.575484 m/s,
      posRepo size: 4

2025-10-26T22:08:56.883Z,1761516536.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.18 m.
2025-10-26T22:08:56.894Z,1761516536.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.181393 m,
      nav range: 51.298943 m,
      bearing: 56.157911 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.044161 deg/s,
      cmd heading: 64.021733 deg,
      new cmd heading: 64.077856 deg.

2025-10-26T22:08:56.900Z,1761516536.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.118370 target range: 52.181393 and range: 52.50 m.
2025-10-26T22:08:57.008Z,1761516537.008 [DAT](INFO): DAT read: user:481>

2025-10-26T22:08:57.009Z,1761516537.009 [DAT](INFO): DAT read: Tx time:22:08:56.1395

2025-10-26T22:08:57.009Z,1761516537.010 [DAT](INFO): Ping request sent.
2025-10-26T22:08:57.010Z,1761516537.010 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:08:57.010Z,1761516537.010 [DAT](INFO): publishing transmit ping time
2025-10-26T22:08:57.010Z,1761516537.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-10-26T22:08:57.218Z,1761516537.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437936,-0.890328,-0.124613],[0.898424,0.428440,0.096295],[-0.032345,-0.154126,0.987522]]
2025-10-26T22:08:57.236Z,1761516537.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.18 m.
2025-10-26T22:08:57.238Z,1761516537.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.181393 m,
      nav range: 51.112225 m,
      bearing: 56.172883 deg,
      approach rate: -0.520648 m/s,
      LOS rate: 0.041899 deg/s,
      cmd heading: 64.077857 deg,
      new cmd heading: 64.122935 deg.

2025-10-26T22:08:57.240Z,1761516537.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.119156 target range: 52.181393 and range: 52.50 m.
2025-10-26T22:08:57.260Z,1761516537.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250757
2025-10-26T22:08:57.512Z,1761516537.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502692
2025-10-26T22:08:57.602Z,1761516537.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437712,-0.890762,-0.122277],[0.898452,0.428100,0.097546],[-0.034543,-0.152557,0.987691]]
2025-10-26T22:08:57.638Z,1761516537.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.18 m.
2025-10-26T22:08:57.661Z,1761516537.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.181393 m,
      nav range: 50.898426 m,
      bearing: 56.180372 deg,
      approach rate: -0.530816 m/s,
      LOS rate: 0.018673 deg/s,
      cmd heading: 64.122936 deg,
      new cmd heading: 64.145499 deg.

2025-10-26T22:08:57.662Z,1761516537.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.119550 target range: 52.181393 and range: 52.50 m.
2025-10-26T22:08:57.764Z,1761516537.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754729
2025-10-26T22:08:58.020Z,1761516538.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009911
2025-10-26T22:08:58.099Z,1761516538.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436375,-0.891715,-0.120092],[0.898884,0.426140,0.102046],[-0.039820,-0.152479,0.987504]]
2025-10-26T22:08:58.118Z,1761516538.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.18 m.
2025-10-26T22:08:58.121Z,1761516538.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.181393 m,
      nav range: 50.643147 m,
      bearing: 56.188984 deg,
      approach rate: -0.531980 m/s,
      LOS rate: 0.018036 deg/s,
      cmd heading: 64.145496 deg,
      new cmd heading: 64.171461 deg.

2025-10-26T22:08:58.122Z,1761516538.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.120003 target range: 52.181393 and range: 52.50 m.
2025-10-26T22:08:58.268Z,1761516538.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258796
2025-10-26T22:08:58.520Z,1761516538.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510770
2025-10-26T22:08:58.547Z,1761516538.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434811,-0.892459,-0.120239],[0.899532,0.424186,0.104438],[-0.042203,-0.153570,0.987236]]
2025-10-26T22:08:58.623Z,1761516538.623 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:08:58.625Z,1761516538.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.18 m.
2025-10-26T22:08:58.628Z,1761516538.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.181393 m,
      nav range: 50.364532 m,
      bearing: 56.187691 deg,
      approach rate: -0.549676 m/s,
      LOS rate: -0.002565 deg/s,
      cmd heading: 64.171465 deg,
      new cmd heading: 64.167564 deg.

2025-10-26T22:08:58.629Z,1761516538.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.119935 target range: 52.181393 and range: 52.50 m.
2025-10-26T22:08:58.772Z,1761516538.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762743
2025-10-26T22:08:59.025Z,1761516539.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014920
2025-10-26T22:08:59.052Z,1761516539.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433377,-0.893162,-0.120192],[0.900140,0.422489,0.106071],[-0.043959,-0.154158,0.987068]]
2025-10-26T22:08:59.097Z,1761516539.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.18 m.
2025-10-26T22:08:59.107Z,1761516539.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.181393 m,
      nav range: 50.114845 m,
      bearing: 56.186058 deg,
      approach rate: -0.529667 m/s,
      LOS rate: -0.003482 deg/s,
      cmd heading: 64.167565 deg,
      new cmd heading: 64.162641 deg.

2025-10-26T22:08:59.108Z,1761516539.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.119849 target range: 52.181393 and range: 52.50 m.
2025-10-26T22:08:59.276Z,1761516539.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266742
2025-10-26T22:08:59.455Z,1761516539.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431786,-0.894069,-0.119173],[0.900839,0.420828,0.106741],[-0.045282,-0.153445,0.987119]]
2025-10-26T22:08:59.507Z,1761516539.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.18 m.
2025-10-26T22:08:59.514Z,1761516539.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.181393 m,
      nav range: 49.877071 m,
      bearing: 56.171383 deg,
      approach rate: -0.579613 m/s,
      LOS rate: -0.035941 deg/s,
      cmd heading: 64.162640 deg,
      new cmd heading: 64.118408 deg.

2025-10-26T22:08:59.515Z,1761516539.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.119077 target range: 52.181393 and range: 52.50 m.
2025-10-26T22:08:59.528Z,1761516539.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518844
2025-10-26T22:08:59.781Z,1761516539.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771716
2025-10-26T22:08:59.859Z,1761516539.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429265,-0.895805,-0.115175],[0.902003,0.418702,0.105261],[-0.046070,-0.149073,0.987752]]
2025-10-26T22:08:59.878Z,1761516539.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.18 m.
2025-10-26T22:08:59.881Z,1761516539.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.181393 m,
      nav range: 49.655220 m,
      bearing: 56.156919 deg,
      approach rate: -0.598234 m/s,
      LOS rate: -0.039179 deg/s,
      cmd heading: 64.118408 deg,
      new cmd heading: 64.074819 deg.

2025-10-26T22:08:59.881Z,1761516539.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.118317 target range: 52.181393 and range: 52.50 m.
2025-10-26T22:09:00.032Z,1761516540.032 [DAT](INFO): DAT read: Rx Time:22:08:58.6110

2025-10-26T22:09:00.033Z,1761516540.033 [DAT](INFO): Rx dataTimestamp_ set to:1761516540.032680
2025-10-26T22:09:00.033Z,1761516540.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023862
2025-10-26T22:09:00.261Z,1761516540.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427116,-0.896999,-0.113861],[0.902987,0.416636,0.105024],[-0.046768,-0.147672,0.987930]]
2025-10-26T22:09:00.284Z,1761516540.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274798
2025-10-26T22:09:00.287Z,1761516540.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.18 m.
2025-10-26T22:09:00.290Z,1761516540.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.181393 m,
      nav range: 49.421574 m,
      bearing: 56.140924 deg,
      approach rate: -0.570445 m/s,
      LOS rate: -0.039236 deg/s,
      cmd heading: 64.074817 deg,
      new cmd heading: 64.026606 deg.

2025-10-26T22:09:00.291Z,1761516540.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117475 target range: 52.181393 and range: 52.50 m.
2025-10-26T22:09:00.545Z,1761516540.545 [DAT](INFO): DAT read: 22:08:58.6110 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 414,-0.04, 1.145,-0.280, 1.582, 1.155, PHS= 0.092,-1.390, 0.383, RAW= 158.8,  11.1, CAL= 158.9,  12.3, ROT= 351.1, -12.3

2025-10-26T22:09:00.546Z,1761516540.546 [DAT](INFO): got valid direction response:
 22:08:58.6110 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 414,-0.04, 1.145,-0.280, 1.582, 1.155, PHS= 0.092,-1.390, 0.383, RAW= 158.8,  11.1, CAL= 158.9,  12.3, ROT= 351.1, -12.3

2025-10-26T22:09:00.547Z,1761516540.547 [DAT](INFO): DAT read: Bearing 217.4, -13.2 (Local)

2025-10-26T22:09:00.547Z,1761516540.547 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.4, -13.2 (Local)

2025-10-26T22:09:00.549Z,1761516540.549 [DAT](INFO): DAT read: Range 11 to 50 : 50.4 m  (Round-trip  67.3 ms) speed  0.4 m/s

2025-10-26T22:09:00.549Z,1761516540.549 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:09:00.550Z,1761516540.550 [DAT](INFO): direction in FSK: [0.965282,-0.151159,0.213030]
2025-10-26T22:09:00.550Z,1761516540.550 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:00.554Z,1761516540.554 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:09:00.555Z,1761516540.555 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:09:00.555Z,1761516540.555 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:09:00.665Z,1761516540.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424305,-0.898586,-0.111841],[0.904313,0.414120,0.103554],[-0.046737,-0.145078,0.988316]]
2025-10-26T22:09:00.765Z,1761516540.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.400002 m,
      deltaT: 3.780578 s,
      deltaX: -2.099998 m,
      approachRate: -0.555470 m/s,
      rangeRepo size: 4

2025-10-26T22:09:00.767Z,1761516540.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 50.094208 m,
      bearing: 57.928303 deg,
      lat: 36.779380 deg,
      lon: -121.859442 deg,
      deltaT: 3.780578 s,
      deltaX: -2.087185 m,
      approachRate: -0.552081 m/s,
      posRepo size: 4

2025-10-26T22:09:00.772Z,1761516540.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.09 m.
2025-10-26T22:09:00.774Z,1761516540.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.094208 m,
      nav range: 49.183659 m,
      bearing: 56.755259 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.039236 deg/s,
      cmd heading: 64.026603 deg,
      new cmd heading: 63.970461 deg.

2025-10-26T22:09:00.779Z,1761516540.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.116495 target range: 50.094208 and range: 50.40 m.
2025-10-26T22:09:00.788Z,1761516540.788 [DAT](INFO): DAT read: user:482>

2025-10-26T22:09:00.789Z,1761516540.789 [DAT](INFO): DAT read: Tx time:22:08:59.9395

2025-10-26T22:09:00.789Z,1761516540.789 [DAT](INFO): Ping request sent.
2025-10-26T22:09:00.790Z,1761516540.790 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:09:00.790Z,1761516540.790 [DAT](INFO): publishing transmit ping time
2025-10-26T22:09:00.790Z,1761516540.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-10-26T22:09:01.041Z,1761516541.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251359
2025-10-26T22:09:01.153Z,1761516541.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:09:01.155Z,1761516541.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.09 m.
2025-10-26T22:09:01.158Z,1761516541.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.094208 m,
      nav range: 48.940826 m,
      bearing: 56.735587 deg,
      approach rate: -0.621596 m/s,
      LOS rate: -0.050604 deg/s,
      cmd heading: 63.970459 deg,
      new cmd heading: 63.911152 deg.

2025-10-26T22:09:01.159Z,1761516541.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.115460 target range: 50.094208 and range: 50.40 m.
2025-10-26T22:09:01.293Z,1761516541.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503824
2025-10-26T22:09:01.518Z,1761516541.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418937,-0.900813,-0.114141],[0.906879,0.408804,0.102226],[-0.045425,-0.146339,0.988191]]
2025-10-26T22:09:01.544Z,1761516541.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754793
2025-10-26T22:09:01.602Z,1761516541.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.09 m.
2025-10-26T22:09:01.605Z,1761516541.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.094208 m,
      nav range: 48.671490 m,
      bearing: 56.708025 deg,
      approach rate: -0.601885 m/s,
      LOS rate: -0.061934 deg/s,
      cmd heading: 63.911152 deg,
      new cmd heading: 63.828008 deg.

2025-10-26T22:09:01.606Z,1761516541.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.114009 target range: 50.094208 and range: 50.40 m.
2025-10-26T22:09:01.796Z,1761516541.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006676
2025-10-26T22:09:01.919Z,1761516541.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416586,-0.901543,-0.116948],[0.908013,0.406354,0.101925],[-0.044367,-0.148651,0.987894]]
2025-10-26T22:09:01.937Z,1761516541.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.09 m.
2025-10-26T22:09:01.940Z,1761516541.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.094208 m,
      nav range: 48.468369 m,
      bearing: 56.686394 deg,
      approach rate: -0.606649 m/s,
      LOS rate: -0.064876 deg/s,
      cmd heading: 63.828009 deg,
      new cmd heading: 63.762843 deg.

2025-10-26T22:09:01.941Z,1761516541.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.112872 target range: 50.094208 and range: 50.40 m.
2025-10-26T22:09:02.053Z,1761516542.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263655
2025-10-26T22:09:02.300Z,1761516542.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510748
2025-10-26T22:09:02.322Z,1761516542.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414629,-0.902152,-0.119182],[0.908941,0.404295,0.101841],[-0.043691,-0.150555,0.987636]]
2025-10-26T22:09:02.353Z,1761516542.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.09 m.
2025-10-26T22:09:02.356Z,1761516542.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.094208 m,
      nav range: 48.217506 m,
      bearing: 56.658764 deg,
      approach rate: -0.603340 m/s,
      LOS rate: -0.066797 deg/s,
      cmd heading: 63.762842 deg,
      new cmd heading: 63.679522 deg.

2025-10-26T22:09:02.357Z,1761516542.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.111417 target range: 50.094208 and range: 50.40 m.
2025-10-26T22:09:02.552Z,1761516542.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762839
2025-10-26T22:09:02.732Z,1761516542.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413145,-0.902477,-0.121848],[0.909644,0.402636,0.102135],[-0.043114,-0.153035,0.987280]]
2025-10-26T22:09:02.776Z,1761516542.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.09 m.
2025-10-26T22:09:02.779Z,1761516542.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.094208 m,
      nav range: 47.961456 m,
      bearing: 56.636701 deg,
      approach rate: -0.604592 m/s,
      LOS rate: -0.052374 deg/s,
      cmd heading: 63.679520 deg,
      new cmd heading: 63.612978 deg.

2025-10-26T22:09:02.780Z,1761516542.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.110256 target range: 50.094208 and range: 50.40 m.
2025-10-26T22:09:02.821Z,1761516542.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.031739
2025-10-26T22:09:03.073Z,1761516543.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.283004
2025-10-26T22:09:03.130Z,1761516543.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410996,-0.903527,-0.121327],[0.910594,0.400511,0.102028],[-0.043592,-0.152413,0.987355]]
2025-10-26T22:09:03.160Z,1761516543.160 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:09:03.162Z,1761516543.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.09 m.
2025-10-26T22:09:03.165Z,1761516543.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.094208 m,
      nav range: 47.728367 m,
      bearing: 56.615749 deg,
      approach rate: -0.604573 m/s,
      LOS rate: -0.054610 deg/s,
      cmd heading: 63.612980 deg,
      new cmd heading: 63.549817 deg.

2025-10-26T22:09:03.166Z,1761516543.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.109154 target range: 50.094208 and range: 50.40 m.
2025-10-26T22:09:03.324Z,1761516543.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534655
2025-10-26T22:09:03.534Z,1761516543.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408683,-0.904580,-0.121298],[0.911635,0.398247,0.101597],[-0.043596,-0.152101,0.987403]]
2025-10-26T22:09:03.578Z,1761516543.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.788417
2025-10-26T22:09:03.624Z,1761516543.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.09 m.
2025-10-26T22:09:03.627Z,1761516543.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.094208 m,
      nav range: 47.470207 m,
      bearing: 56.599479 deg,
      approach rate: -0.564074 m/s,
      LOS rate: -0.035743 deg/s,
      cmd heading: 63.549815 deg,
      new cmd heading: 63.500740 deg.

2025-10-26T22:09:03.632Z,1761516543.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.108297 target range: 50.094208 and range: 50.40 m.
2025-10-26T22:09:03.828Z,1761516543.828 [DAT](INFO): DAT read: Rx Time:22:09:02.4082

2025-10-26T22:09:03.829Z,1761516543.829 [DAT](INFO): Rx dataTimestamp_ set to:1761516543.828572
2025-10-26T22:09:03.829Z,1761516543.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039768
2025-10-26T22:09:03.939Z,1761516543.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406846,-0.904922,-0.124874],[0.912460,0.396058,0.102737],[-0.043512,-0.155740,0.986839]]
2025-10-26T22:09:03.958Z,1761516543.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.09 m.
2025-10-26T22:09:03.961Z,1761516543.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.094208 m,
      nav range: 47.267502 m,
      bearing: 56.586085 deg,
      approach rate: -0.599871 m/s,
      LOS rate: -0.039806 deg/s,
      cmd heading: 63.500740 deg,
      new cmd heading: 63.460387 deg.

2025-10-26T22:09:03.961Z,1761516543.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.107593 target range: 50.094208 and range: 50.40 m.
2025-10-26T22:09:04.081Z,1761516544.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291481
2025-10-26T22:09:04.338Z,1761516544.338 [DAT](INFO): DAT read: 22:09:02.4082 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 418, 0.48,-2.340, 2.533,-1.830,-2.342, PHS= 0.104,-1.363, 0.468, RAW= 160.8,   9.5, CAL= 160.7,  10.1, ROT= 349.3, -10.1

2025-10-26T22:09:04.339Z,1761516544.339 [DAT](INFO): got valid direction response:
 22:09:02.4082 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 418, 0.48,-2.340, 2.533,-1.830,-2.342, PHS= 0.104,-1.363, 0.468, RAW= 160.8,   9.5, CAL= 160.7,  10.1, ROT= 349.3, -10.1

2025-10-26T22:09:04.340Z,1761516544.340 [DAT](INFO): DAT read: Bearing 215.6, -14.8 (Local)

2025-10-26T22:09:04.340Z,1761516544.340 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.6, -14.8 (Local)

2025-10-26T22:09:04.342Z,1761516544.342 [DAT](INFO): DAT read: Range 11 to 50 : 48.4 m  (Round-trip  64.6 ms) speed  0.9 m/s

2025-10-26T22:09:04.342Z,1761516544.342 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:09:04.348Z,1761516544.348 [DAT](INFO): direction in FSK: [0.967385,-0.182789,0.175367]
2025-10-26T22:09:04.348Z,1761516544.348 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:04.352Z,1761516544.352 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:09:04.352Z,1761516544.352 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:09:04.352Z,1761516544.352 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:09:04.375Z,1761516544.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405970,-0.904814,-0.128450],[0.912834,0.394731,0.104509],[-0.043858,-0.159681,0.986194]]
2025-10-26T22:09:04.426Z,1761516544.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.400002 m,
      deltaT: 3.795441 s,
      deltaX: -2.000000 m,
      approachRate: -0.526948 m/s,
      rangeRepo size: 4

2025-10-26T22:09:04.433Z,1761516544.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.106365 m,
      bearing: 57.142076 deg,
      lat: 36.779379 deg,
      lon: -121.859438 deg,
      deltaT: 3.795441 s,
      deltaX: -1.987843 m,
      approachRate: -0.523745 m/s,
      posRepo size: 4

2025-10-26T22:09:04.434Z,1761516544.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.11 m.
2025-10-26T22:09:04.446Z,1761516544.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.106365 m,
      nav range: 47.225895 m,
      bearing: 56.935609 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.039806 deg/s,
      cmd heading: 63.460387 deg,
      new cmd heading: 63.404549 deg.

2025-10-26T22:09:04.447Z,1761516544.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106618 target range: 48.106365 and range: 48.40 m.
2025-10-26T22:09:04.585Z,1761516544.585 [DAT](INFO): DAT read: user:483>

2025-10-26T22:09:04.585Z,1761516544.585 [DAT](INFO): DAT read: Tx time:22:09:03.7394

2025-10-26T22:09:04.586Z,1761516544.586 [DAT](INFO): Ping request sent.
2025-10-26T22:09:04.586Z,1761516544.586 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:09:04.586Z,1761516544.586 [DAT](INFO): publishing transmit ping time
2025-10-26T22:09:04.587Z,1761516544.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-10-26T22:09:04.836Z,1761516544.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250284
2025-10-26T22:09:04.897Z,1761516544.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.11 m.
2025-10-26T22:09:04.899Z,1761516544.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.106365 m,
      nav range: 46.959896 m,
      bearing: 56.933975 deg,
      approach rate: -0.564271 m/s,
      LOS rate: -0.003486 deg/s,
      cmd heading: 63.404550 deg,
      new cmd heading: 63.399620 deg.

2025-10-26T22:09:04.900Z,1761516544.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106532 target range: 48.106365 and range: 48.40 m.
2025-10-26T22:09:05.090Z,1761516545.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503621
2025-10-26T22:09:05.214Z,1761516545.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405205,-0.904442,-0.133395],[0.913115,0.393191,0.107808],[-0.045056,-0.165489,0.985182]]
2025-10-26T22:09:05.231Z,1761516545.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:09:05.249Z,1761516545.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.11 m.
2025-10-26T22:09:05.256Z,1761516545.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.106365 m,
      nav range: 46.776272 m,
      bearing: 56.932644 deg,
      approach rate: -0.520995 m/s,
      LOS rate: -0.003790 deg/s,
      cmd heading: 63.399619 deg,
      new cmd heading: 63.395612 deg.

2025-10-26T22:09:05.257Z,1761516545.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106462 target range: 48.106365 and range: 48.40 m.
2025-10-26T22:09:05.341Z,1761516545.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754878
2025-10-26T22:09:05.592Z,1761516545.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006390
2025-10-26T22:09:05.618Z,1761516545.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405727,-0.904041,-0.134519],[0.912824,0.393348,0.109681],[-0.046243,-0.167292,0.984822]]
2025-10-26T22:09:05.676Z,1761516545.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.11 m.
2025-10-26T22:09:05.678Z,1761516545.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.106365 m,
      nav range: 46.546749 m,
      bearing: 56.948509 deg,
      approach rate: -0.538066 m/s,
      LOS rate: 0.037374 deg/s,
      cmd heading: 63.395610 deg,
      new cmd heading: 63.443438 deg.

2025-10-26T22:09:05.692Z,1761516545.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.107297 target range: 48.106365 and range: 48.40 m.
2025-10-26T22:09:05.844Z,1761516545.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258514
2025-10-26T22:09:06.022Z,1761516546.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406797,-0.903648,-0.133928],[0.912289,0.394258,0.110856],[-0.047372,-0.167276,0.984771]]
2025-10-26T22:09:06.046Z,1761516546.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.11 m.
2025-10-26T22:09:06.052Z,1761516546.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.106365 m,
      nav range: 46.354374 m,
      bearing: 56.962213 deg,
      approach rate: -0.518646 m/s,
      LOS rate: 0.037101 deg/s,
      cmd heading: 63.443435 deg,
      new cmd heading: 63.484718 deg.

2025-10-26T22:09:06.054Z,1761516546.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.108017 target range: 48.106365 and range: 48.40 m.
2025-10-26T22:09:06.097Z,1761516546.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510606
2025-10-26T22:09:06.348Z,1761516546.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762396
2025-10-26T22:09:06.426Z,1761516546.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408365,-0.903078,-0.132995],[0.911521,0.395668,0.112145],[-0.048654,-0.167024,0.984752]]
2025-10-26T22:09:06.462Z,1761516546.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.11 m.
2025-10-26T22:09:06.476Z,1761516546.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.106365 m,
      nav range: 46.147919 m,
      bearing: 56.977501 deg,
      approach rate: -0.498139 m/s,
      LOS rate: 0.037051 deg/s,
      cmd heading: 63.484716 deg,
      new cmd heading: 63.530784 deg.

2025-10-26T22:09:06.477Z,1761516546.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.108821 target range: 48.106365 and range: 48.40 m.
2025-10-26T22:09:06.601Z,1761516546.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015172
2025-10-26T22:09:06.830Z,1761516546.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410468,-0.902164,-0.132723],[0.910513,0.397539,0.113703],[-0.049817,-0.167517,0.984610]]
2025-10-26T22:09:06.852Z,1761516546.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266524
2025-10-26T22:09:06.879Z,1761516546.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.11 m.
2025-10-26T22:09:06.882Z,1761516546.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.106365 m,
      nav range: 45.926426 m,
      bearing: 57.013577 deg,
      approach rate: -0.529854 m/s,
      LOS rate: 0.086719 deg/s,
      cmd heading: 63.530786 deg,
      new cmd heading: 63.639538 deg.

2025-10-26T22:09:06.883Z,1761516546.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.110719 target range: 48.106365 and range: 48.40 m.
2025-10-26T22:09:07.104Z,1761516547.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518361
2025-10-26T22:09:07.243Z,1761516547.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412883,-0.900898,-0.133826],[0.909372,0.399590,0.115631],[-0.050696,-0.169439,0.984236]]
2025-10-26T22:09:07.276Z,1761516547.276 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:09:07.278Z,1761516547.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.11 m.
2025-10-26T22:09:07.285Z,1761516547.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.106365 m,
      nav range: 45.731441 m,
      bearing: 57.046254 deg,
      approach rate: -0.489005 m/s,
      LOS rate: 0.082299 deg/s,
      cmd heading: 63.639536 deg,
      new cmd heading: 63.737984 deg.

2025-10-26T22:09:07.286Z,1761516547.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.112438 target range: 48.106365 and range: 48.40 m.
2025-10-26T22:09:07.358Z,1761516547.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771629
2025-10-26T22:09:07.608Z,1761516547.608 [DAT](INFO): DAT read: Rx Time:22:09:06.2053

2025-10-26T22:09:07.609Z,1761516547.609 [DAT](INFO): Rx dataTimestamp_ set to:1761516547.608632
2025-10-26T22:09:07.609Z,1761516547.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023541
2025-10-26T22:09:07.657Z,1761516547.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415837,-0.899151,-0.136404],[0.907959,0.401912,0.118644],[-0.051856,-0.173186,0.983523]]
2025-10-26T22:09:07.712Z,1761516547.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.11 m.
2025-10-26T22:09:07.717Z,1761516547.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.106365 m,
      nav range: 45.521626 m,
      bearing: 57.082988 deg,
      approach rate: -0.483524 m/s,
      LOS rate: 0.085045 deg/s,
      cmd heading: 63.737987 deg,
      new cmd heading: 63.848698 deg.

2025-10-26T22:09:07.719Z,1761516547.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.114370 target range: 48.106365 and range: 48.40 m.
2025-10-26T22:09:07.860Z,1761516547.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274420
2025-10-26T22:09:08.096Z,1761516548.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.11 m.
2025-10-26T22:09:08.099Z,1761516548.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.106365 m,
      nav range: 45.338688 m,
      bearing: 57.115297 deg,
      approach rate: -0.476915 m/s,
      LOS rate: 0.084569 deg/s,
      cmd heading: 63.848697 deg,
      new cmd heading: 63.946015 deg.

2025-10-26T22:09:08.100Z,1761516548.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.116068 target range: 48.106365 and range: 48.40 m.
2025-10-26T22:09:08.118Z,1761516548.118 [DAT](INFO): DAT read: 22:09:06.2053 LVL= 32752, 32753, 28642, 32755, AGC= 70, IDX= 406,-0.50, 0.392,-1.035, 0.982, 0.380, PHS= 0.114,-1.370, 0.558, RAW= 162.7,   8.0, CAL= 162.3,   8.2, ROT= 347.7,  -8.2

2025-10-26T22:09:08.119Z,1761516548.119 [DAT](INFO): got valid direction response:
 22:09:06.2053 LVL= 32752, 32753, 28642, 32755, AGC= 70, IDX= 406,-0.50, 0.392,-1.035, 0.982, 0.380, PHS= 0.114,-1.370, 0.558, RAW= 162.7,   8.0, CAL= 162.3,   8.2, ROT= 347.7,  -8.2

2025-10-26T22:09:08.132Z,1761516548.132 [DAT](INFO): DAT read: Bearing 213.6, -16.6 (Local)

2025-10-26T22:09:08.132Z,1761516548.132 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.6, -16.6 (Local)

2025-10-26T22:09:08.134Z,1761516548.134 [DAT](INFO): DAT read: Range 11 to 50 : 46.3 m  (Round-trip  61.8 ms) speed  0.4 m/s

2025-10-26T22:09:08.134Z,1761516548.134 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:09:08.135Z,1761516548.135 [DAT](INFO): direction in FSK: [0.967057,-0.210852,0.142629]
2025-10-26T22:09:08.136Z,1761516548.136 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:08.139Z,1761516548.139 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:09:08.139Z,1761516548.139 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:09:08.151Z,1761516548.151 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:09:08.364Z,1761516548.364 [DAT](INFO): DAT read: user:484>

2025-10-26T22:09:08.365Z,1761516548.365 [DAT](INFO): DAT read: Tx time:22:09:07.5394

2025-10-26T22:09:08.365Z,1761516548.365 [DAT](INFO): Ping request sent.
2025-10-26T22:09:08.366Z,1761516548.366 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:09:08.366Z,1761516548.366 [DAT](INFO): publishing transmit ping time
2025-10-26T22:09:08.366Z,1761516548.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-10-26T22:09:08.591Z,1761516548.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424744,-0.894767,-0.137786],[0.903633,0.409747,0.124718],[-0.055136,-0.177481,0.982578]]
2025-10-26T22:09:08.616Z,1761516548.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250856
2025-10-26T22:09:08.646Z,1761516548.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.299999 m,
      deltaT: 3.779980 s,
      deltaX: -2.100002 m,
      approachRate: -0.555559 m/s,
      rangeRepo size: 4

2025-10-26T22:09:08.648Z,1761516548.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.018955 m,
      bearing: 54.247172 deg,
      lat: 36.779379 deg,
      lon: -121.859442 deg,
      deltaT: 3.779980 s,
      deltaX: -2.087410 m,
      approachRate: -0.552228 m/s,
      posRepo size: 4

2025-10-26T22:09:08.649Z,1761516548.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.02 m.
2025-10-26T22:09:08.651Z,1761516548.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.018955 m,
      nav range: 44.768333 m,
      bearing: 56.911974 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.084569 deg/s,
      cmd heading: 63.946014 deg,
      new cmd heading: 64.085547 deg.

2025-10-26T22:09:08.652Z,1761516548.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.118504 target range: 46.018955 and range: 46.30 m.
2025-10-26T22:09:08.870Z,1761516548.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504263
2025-10-26T22:09:09.041Z,1761516549.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427023,-0.893770,-0.137212],[0.902503,0.411865,0.125915],[-0.056026,-0.177603,0.982506]]
2025-10-26T22:09:09.089Z,1761516549.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.02 m.
2025-10-26T22:09:09.096Z,1761516549.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.018955 m,
      nav range: 44.551487 m,
      bearing: 56.942726 deg,
      approach rate: -0.488389 m/s,
      LOS rate: 0.069598 deg/s,
      cmd heading: 64.085548 deg,
      new cmd heading: 64.178253 deg.

2025-10-26T22:09:09.097Z,1761516549.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.120122 target range: 46.018955 and range: 46.30 m.
2025-10-26T22:09:09.121Z,1761516549.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754997
2025-10-26T22:09:09.373Z,1761516549.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007013
2025-10-26T22:09:09.442Z,1761516549.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429086,-0.892754,-0.137387],[0.901469,0.413667,0.127410],[-0.056913,-0.178520,0.982289]]
2025-10-26T22:09:09.477Z,1761516549.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:09:09.479Z,1761516549.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.02 m.
2025-10-26T22:09:09.482Z,1761516549.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.018955 m,
      nav range: 44.345135 m,
      bearing: 56.972860 deg,
      approach rate: -0.529565 m/s,
      LOS rate: 0.077694 deg/s,
      cmd heading: 64.178254 deg,
      new cmd heading: 64.269077 deg.

2025-10-26T22:09:09.483Z,1761516549.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.121707 target range: 46.018955 and range: 46.30 m.
2025-10-26T22:09:09.625Z,1761516549.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259030
2025-10-26T22:09:09.847Z,1761516549.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430293,-0.892171,-0.137398],[0.900858,0.414726,0.128288],[-0.057473,-0.178978,0.982173]]
2025-10-26T22:09:09.877Z,1761516549.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510957
2025-10-26T22:09:09.887Z,1761516549.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.02 m.
2025-10-26T22:09:09.906Z,1761516549.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.018955 m,
      nav range: 44.125633 m,
      bearing: 56.991087 deg,
      approach rate: -0.538230 m/s,
      LOS rate: 0.044914 deg/s,
      cmd heading: 64.269075 deg,
      new cmd heading: 64.324026 deg.

2025-10-26T22:09:09.907Z,1761516549.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.122666 target range: 46.018955 and range: 46.30 m.
2025-10-26T22:09:10.128Z,1761516550.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762758
2025-10-26T22:09:10.250Z,1761516550.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430429,-0.891806,-0.139333],[0.900742,0.414420,0.130076],[-0.058261,-0.181491,0.981665]]
2025-10-26T22:09:10.277Z,1761516550.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.02 m.
2025-10-26T22:09:10.281Z,1761516550.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.018955 m,
      nav range: 43.917408 m,
      bearing: 57.008507 deg,
      approach rate: -0.532937 m/s,
      LOS rate: 0.044797 deg/s,
      cmd heading: 64.324024 deg,
      new cmd heading: 64.376532 deg.

2025-10-26T22:09:10.282Z,1761516550.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123582 target range: 46.018955 and range: 46.30 m.
2025-10-26T22:09:10.380Z,1761516550.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014932
2025-10-26T22:09:10.632Z,1761516550.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266827
2025-10-26T22:09:10.669Z,1761516550.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429640,-0.892345,-0.138310],[0.901059,0.413618,0.130434],[-0.059184,-0.180665,0.981762]]
2025-10-26T22:09:10.739Z,1761516550.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.02 m.
2025-10-26T22:09:10.746Z,1761516550.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.018955 m,
      nav range: 43.662148 m,
      bearing: 57.013625 deg,
      approach rate: -0.553411 m/s,
      LOS rate: 0.011160 deg/s,
      cmd heading: 64.376534 deg,
      new cmd heading: 64.391977 deg.

2025-10-26T22:09:10.747Z,1761516550.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123852 target range: 46.018955 and range: 46.30 m.
2025-10-26T22:09:10.885Z,1761516550.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519336
2025-10-26T22:09:11.091Z,1761516551.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428000,-0.893652,-0.134916],[0.901809,0.412430,0.129005],[-0.059642,-0.176882,0.982423]]
2025-10-26T22:09:11.109Z,1761516551.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.02 m.
2025-10-26T22:09:11.112Z,1761516551.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.018955 m,
      nav range: 43.446419 m,
      bearing: 57.017597 deg,
      approach rate: -0.582991 m/s,
      LOS rate: 0.010790 deg/s,
      cmd heading: 64.391977 deg,
      new cmd heading: 64.403955 deg.

2025-10-26T22:09:11.113Z,1761516551.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124061 target range: 46.018955 and range: 46.30 m.
2025-10-26T22:09:11.137Z,1761516551.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771040
2025-10-26T22:09:11.389Z,1761516551.389 [DAT](INFO): DAT read: Rx Time:22:09:10.0025

2025-10-26T22:09:11.390Z,1761516551.390 [DAT](INFO): Rx dataTimestamp_ set to:1761516551.389677
2025-10-26T22:09:11.391Z,1761516551.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025265
2025-10-26T22:09:11.494Z,1761516551.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425441,-0.895420,-0.131233],[0.902993,0.410399,0.127182],[-0.060024,-0.172611,0.983160]]
2025-10-26T22:09:11.511Z,1761516551.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:09:11.513Z,1761516551.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.02 m.
2025-10-26T22:09:11.516Z,1761516551.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.018955 m,
      nav range: 43.217709 m,
      bearing: 57.021133 deg,
      approach rate: -0.565796 m/s,
      LOS rate: 0.008794 deg/s,
      cmd heading: 64.403957 deg,
      new cmd heading: 64.414622 deg.

2025-10-26T22:09:11.517Z,1761516551.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124247 target range: 46.018955 and range: 46.30 m.
2025-10-26T22:09:11.641Z,1761516551.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275658
2025-10-26T22:09:11.898Z,1761516551.898 [DAT](INFO): DAT read: 22:09:10.0025 LVL= 32752, 32753, 29666, 32755, AGC= 68, IDX= 408, 0.32,-0.824,-2.272,-0.214,-0.770, PHS= 0.048,-1.457, 0.512, RAW= 163.0,  10.1, CAL= 163.0,  11.0, ROT= 347.0, -11.0

2025-10-26T22:09:11.899Z,1761516551.899 [DAT](INFO): got valid direction response:
 22:09:10.0025 LVL= 32752, 32753, 29666, 32755, AGC= 68, IDX= 408, 0.32,-0.824,-2.272,-0.214,-0.770, PHS= 0.048,-1.457, 0.512, RAW= 163.0,  10.1, CAL= 163.0,  11.0, ROT= 347.0, -11.0

2025-10-26T22:09:11.900Z,1761516551.900 [DAT](INFO): DAT read: Bearing 215.8, -17.8 (Local)

2025-10-26T22:09:11.900Z,1761516551.900 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.8, -17.8 (Local)

2025-10-26T22:09:11.902Z,1761516551.902 [DAT](INFO): DAT read: Range 11 to 50 : 44.1 m  (Round-trip  58.9 ms) speed  0.4 m/s

2025-10-26T22:09:11.902Z,1761516551.902 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:09:11.903Z,1761516551.903 [DAT](INFO): direction in FSK: [0.956468,-0.220818,0.190809]
2025-10-26T22:09:11.903Z,1761516551.903 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:11.907Z,1761516551.907 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:09:11.907Z,1761516551.907 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:09:11.907Z,1761516551.907 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:09:11.927Z,1761516551.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422992,-0.897019,-0.128201],[0.904124,0.408390,0.125613],[-0.060321,-0.169043,0.983761]]
2025-10-26T22:09:12.048Z,1761516552.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 44.099998 m,
      deltaT: 3.780030 s,
      deltaX: -2.200001 m,
      approachRate: -0.582006 m/s,
      rangeRepo size: 4

2025-10-26T22:09:12.056Z,1761516552.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.832371 m,
      bearing: 54.093523 deg,
      lat: 36.779384 deg,
      lon: -121.859442 deg,
      deltaT: 3.780030 s,
      deltaX: -2.186584 m,
      approachRate: -0.578457 m/s,
      posRepo size: 4

2025-10-26T22:09:12.057Z,1761516552.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.83 m.
2025-10-26T22:09:12.066Z,1761516552.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.832371 m,
      nav range: 43.223068 m,
      bearing: 56.379042 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008794 deg/s,
      cmd heading: 64.414619 deg,
      new cmd heading: 64.428575 deg.

2025-10-26T22:09:12.073Z,1761516552.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124491 target range: 43.832371 and range: 44.10 m.
2025-10-26T22:09:12.144Z,1761516552.144 [DAT](INFO): DAT read: user:485>

2025-10-26T22:09:12.145Z,1761516552.145 [DAT](INFO): DAT read: Tx time:22:09:11.2894

2025-10-26T22:09:12.145Z,1761516552.145 [DAT](INFO): Ping request sent.
2025-10-26T22:09:12.146Z,1761516552.146 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:09:12.146Z,1761516552.146 [DAT](INFO): publishing transmit ping time
2025-10-26T22:09:12.146Z,1761516552.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-10-26T22:09:12.386Z,1761516552.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419664,-0.899255,-0.123380],[0.905666,0.405798,0.122867],[-0.060421,-0.163304,0.984724]]
2025-10-26T22:09:12.396Z,1761516552.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250820
2025-10-26T22:09:12.406Z,1761516552.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.83 m.
2025-10-26T22:09:12.409Z,1761516552.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.832371 m,
      nav range: 42.995491 m,
      bearing: 56.365158 deg,
      approach rate: -0.625066 m/s,
      LOS rate: -0.038338 deg/s,
      cmd heading: 64.428573 deg,
      new cmd heading: 64.386699 deg.

2025-10-26T22:09:12.410Z,1761516552.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123760 target range: 43.832371 and range: 44.10 m.
2025-10-26T22:09:12.649Z,1761516552.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502995
2025-10-26T22:09:12.845Z,1761516552.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.83 m.
2025-10-26T22:09:12.848Z,1761516552.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.832371 m,
      nav range: 42.729755 m,
      bearing: 56.341356 deg,
      approach rate: -0.605250 m/s,
      LOS rate: -0.054549 deg/s,
      cmd heading: 64.386697 deg,
      new cmd heading: 64.314848 deg.

2025-10-26T22:09:12.849Z,1761516552.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.122506 target range: 43.832371 and range: 44.10 m.
2025-10-26T22:09:12.893Z,1761516552.893 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:09:12.901Z,1761516552.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755452
2025-10-26T22:09:13.152Z,1761516553.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006679
2025-10-26T22:09:13.182Z,1761516553.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412855,-0.903201,-0.117385],[0.908794,0.399969,0.118817],[-0.060365,-0.155733,0.985953]]
2025-10-26T22:09:13.225Z,1761516553.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.83 m.
2025-10-26T22:09:13.228Z,1761516553.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.832371 m,
      nav range: 42.481766 m,
      bearing: 56.316462 deg,
      approach rate: -0.652821 m/s,
      LOS rate: -0.065914 deg/s,
      cmd heading: 64.314851 deg,
      new cmd heading: 64.239734 deg.

2025-10-26T22:09:13.229Z,1761516553.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.121195 target range: 43.832371 and range: 44.10 m.
2025-10-26T22:09:13.404Z,1761516553.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258684
2025-10-26T22:09:13.637Z,1761516553.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409603,-0.904902,-0.115666],[0.910252,0.396986,0.117657],[-0.060550,-0.153478,0.986295]]
2025-10-26T22:09:13.656Z,1761516553.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510663
2025-10-26T22:09:13.699Z,1761516553.699 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:09:13.710Z,1761516553.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.83 m.
2025-10-26T22:09:13.718Z,1761516553.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.832371 m,
      nav range: 42.193199 m,
      bearing: 56.289504 deg,
      approach rate: -0.595387 m/s,
      LOS rate: -0.056002 deg/s,
      cmd heading: 64.239732 deg,
      new cmd heading: 64.158305 deg.

2025-10-26T22:09:13.724Z,1761516553.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.119774 target range: 43.832371 and range: 44.10 m.
2025-10-26T22:09:13.896Z,1761516553.896 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:09:13.908Z,1761516553.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762694
2025-10-26T22:09:14.028Z,1761516554.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407434,-0.905726,-0.116864],[0.911206,0.394662,0.118093],[-0.060838,-0.154603,0.986102]]
2025-10-26T22:09:14.074Z,1761516554.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.83 m.
2025-10-26T22:09:14.077Z,1761516554.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.832371 m,
      nav range: 41.979080 m,
      bearing: 56.268557 deg,
      approach rate: -0.618843 m/s,
      LOS rate: -0.060849 deg/s,
      cmd heading: 64.158303 deg,
      new cmd heading: 64.095142 deg.

2025-10-26T22:09:14.078Z,1761516554.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.118671 target range: 43.832371 and range: 44.10 m.
2025-10-26T22:09:14.161Z,1761516554.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015078
2025-10-26T22:09:14.412Z,1761516554.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266769
2025-10-26T22:09:14.435Z,1761516554.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404610,-0.906761,-0.118642],[0.912488,0.391734,0.117942],[-0.060470,-0.155980,0.985908]]
2025-10-26T22:09:14.454Z,1761516554.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.83 m.
2025-10-26T22:09:14.457Z,1761516554.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.832371 m,
      nav range: 41.732628 m,
      bearing: 56.243114 deg,
      approach rate: -0.618826 m/s,
      LOS rate: -0.064265 deg/s,
      cmd heading: 64.095144 deg,
      new cmd heading: 64.018362 deg.

2025-10-26T22:09:14.458Z,1761516554.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117331 target range: 43.832371 and range: 44.10 m.
2025-10-26T22:09:14.668Z,1761516554.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522051
2025-10-26T22:09:14.892Z,1761516554.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.83 m.
2025-10-26T22:09:14.895Z,1761516554.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.832371 m,
      nav range: 41.481953 m,
      bearing: 56.219787 deg,
      approach rate: -0.571729 m/s,
      LOS rate: -0.053525 deg/s,
      cmd heading: 64.018359 deg,
      new cmd heading: 63.947955 deg.

2025-10-26T22:09:14.896Z,1761516554.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.116102 target range: 43.832371 and range: 44.10 m.
2025-10-26T22:09:14.916Z,1761516554.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770812
2025-10-26T22:09:15.168Z,1761516555.168 [DAT](INFO): DAT read: Rx Time:22:09:13.7500

2025-10-26T22:09:15.169Z,1761516555.169 [DAT](INFO): Rx dataTimestamp_ set to:1761516555.168622
2025-10-26T22:09:15.169Z,1761516555.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023835
2025-10-26T22:09:15.242Z,1761516555.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400660,-0.907460,-0.126441],[0.914370,0.387242,0.118197],[-0.058296,-0.162971,0.984907]]
2025-10-26T22:09:15.269Z,1761516555.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.83 m.
2025-10-26T22:09:15.277Z,1761516555.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.832371 m,
      nav range: 41.266685 m,
      bearing: 56.198183 deg,
      approach rate: -0.571341 m/s,
      LOS rate: -0.057638 deg/s,
      cmd heading: 63.947953 deg,
      new cmd heading: 63.882804 deg.

2025-10-26T22:09:15.278Z,1761516555.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.114965 target range: 43.832371 and range: 44.10 m.
2025-10-26T22:09:15.420Z,1761516555.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274794
2025-10-26T22:09:15.681Z,1761516555.681 [DAT](INFO): DAT read: 22:09:13.7500 LVL= 32752, 32753, 32114, 32755, AGC= 70, IDX= 414,-0.20, 2.662, 1.261,-3.009, 2.682, PHS= 0.082,-1.375, 0.549, RAW= 163.4,   8.6, CAL= 163.1,   9.0, ROT= 346.9,  -9.0

2025-10-26T22:09:15.683Z,1761516555.683 [DAT](INFO): got valid direction response:
 22:09:13.7500 LVL= 32752, 32753, 32114, 32755, AGC= 70, IDX= 414,-0.20, 2.662, 1.261,-3.009, 2.682, PHS= 0.082,-1.375, 0.549, RAW= 163.4,   8.6, CAL= 163.1,   9.0, ROT= 346.9,  -9.0

2025-10-26T22:09:15.683Z,1761516555.683 [DAT](INFO): DAT read: Bearing 215.2, -18.0 (Local)

2025-10-26T22:09:15.684Z,1761516555.684 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.2, -18.0 (Local)

2025-10-26T22:09:15.685Z,1761516555.685 [DAT](INFO): DAT read: Range 11 to 50 : 42.3 m  (Round-trip  56.4 ms) speed  0.5 m/s

2025-10-26T22:09:15.686Z,1761516555.686 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:09:15.687Z,1761516555.687 [DAT](INFO): direction in FSK: [0.961985,-0.223861,0.156434]
2025-10-26T22:09:15.687Z,1761516555.687 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:15.688Z,1761516555.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399567,-0.907210,-0.131590],[0.914953,0.385804,0.118394],[-0.056641,-0.167705,0.984209]]
2025-10-26T22:09:15.694Z,1761516555.694 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:09:15.695Z,1761516555.695 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:09:15.695Z,1761516555.695 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:09:15.834Z,1761516555.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 42.299999 m,
      deltaT: 3.782646 s,
      deltaX: -1.799999 m,
      approachRate: -0.475857 m/s,
      rangeRepo size: 4

2025-10-26T22:09:15.841Z,1761516555.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.043442 m,
      bearing: 55.090727 deg,
      lat: 36.779393 deg,
      lon: -121.859441 deg,
      deltaT: 3.782646 s,
      deltaX: -1.788929 m,
      approachRate: -0.472931 m/s,
      posRepo size: 4

2025-10-26T22:09:15.842Z,1761516555.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-10-26T22:09:15.848Z,1761516555.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.043442 m,
      nav range: 41.646866 m,
      bearing: 55.090577 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.057638 deg/s,
      cmd heading: 63.882807 deg,
      new cmd heading: 63.785145 deg.

2025-10-26T22:09:15.849Z,1761516555.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.113261 target range: 42.043442 and range: 42.30 m.
2025-10-26T22:09:15.926Z,1761516555.926 [DAT](INFO): DAT read: user:486>

2025-10-26T22:09:15.927Z,1761516555.927 [DAT](INFO): DAT read: Tx time:22:09:15.0894

2025-10-26T22:09:15.927Z,1761516555.927 [DAT](INFO): Ping request sent.
2025-10-26T22:09:15.927Z,1761516555.927 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:09:15.927Z,1761516555.927 [DAT](INFO): publishing transmit ping time
2025-10-26T22:09:15.928Z,1761516555.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000865
2025-10-26T22:09:16.101Z,1761516556.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398379,-0.907469,-0.133396],[0.915701,0.385123,0.114767],[-0.052774,-0.167871,0.984395]]
2025-10-26T22:09:16.118Z,1761516556.118 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:09:16.120Z,1761516556.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-10-26T22:09:16.123Z,1761516556.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.043442 m,
      nav range: 41.476700 m,
      bearing: 55.083087 deg,
      approach rate: -0.594271 m/s,
      LOS rate: -0.026264 deg/s,
      cmd heading: 63.785142 deg,
      new cmd heading: 63.762580 deg.

2025-10-26T22:09:16.124Z,1761516556.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.112867 target range: 42.043442 and range: 42.30 m.
2025-10-26T22:09:16.178Z,1761516556.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250075
2025-10-26T22:09:16.429Z,1761516556.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501354
2025-10-26T22:09:16.502Z,1761516556.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398752,-0.907100,-0.134786],[0.915642,0.385643,0.113488],[-0.050966,-0.168670,0.984354]]
2025-10-26T22:09:16.528Z,1761516556.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-10-26T22:09:16.530Z,1761516556.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.043442 m,
      nav range: 41.255234 m,
      bearing: 55.073350 deg,
      approach rate: -0.543918 m/s,
      LOS rate: -0.024041 deg/s,
      cmd heading: 63.762582 deg,
      new cmd heading: 63.733216 deg.

2025-10-26T22:09:16.532Z,1761516556.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.112355 target range: 42.043442 and range: 42.30 m.
2025-10-26T22:09:16.684Z,1761516556.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755762
2025-10-26T22:09:16.902Z,1761516556.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399634,-0.906415,-0.136767],[0.915378,0.386668,0.112124],[-0.048748,-0.170002,0.984237]]
2025-10-26T22:09:16.932Z,1761516556.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005030
2025-10-26T22:09:16.950Z,1761516556.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-10-26T22:09:16.952Z,1761516556.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.043442 m,
      nav range: 41.040211 m,
      bearing: 55.078272 deg,
      approach rate: -0.509393 m/s,
      LOS rate: 0.011720 deg/s,
      cmd heading: 63.733219 deg,
      new cmd heading: 63.748061 deg.

2025-10-26T22:09:16.953Z,1761516556.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.112614 target range: 42.043442 and range: 42.30 m.
2025-10-26T22:09:17.184Z,1761516557.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257145
2025-10-26T22:09:17.306Z,1761516557.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401468,-0.905047,-0.140402],[0.914666,0.388331,0.112186],[-0.047012,-0.173460,0.983718]]
2025-10-26T22:09:17.335Z,1761516557.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-10-26T22:09:17.338Z,1761516557.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.043442 m,
      nav range: 40.843006 m,
      bearing: 55.083329 deg,
      approach rate: -0.511219 m/s,
      LOS rate: 0.013173 deg/s,
      cmd heading: 63.748061 deg,
      new cmd heading: 63.763306 deg.

2025-10-26T22:09:17.339Z,1761516557.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.112880 target range: 42.043442 and range: 42.30 m.
2025-10-26T22:09:17.436Z,1761516557.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509216
2025-10-26T22:09:17.691Z,1761516557.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763209
2025-10-26T22:09:17.723Z,1761516557.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403788,-0.903427,-0.144133],[0.913719,0.390413,0.112671],[-0.045518,-0.177192,0.983123]]
2025-10-26T22:09:17.778Z,1761516557.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-10-26T22:09:17.781Z,1761516557.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.043442 m,
      nav range: 40.627762 m,
      bearing: 55.104267 deg,
      approach rate: -0.486527 m/s,
      LOS rate: 0.047577 deg/s,
      cmd heading: 63.763306 deg,
      new cmd heading: 63.826451 deg.

2025-10-26T22:09:17.782Z,1761516557.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.113982 target range: 42.043442 and range: 42.30 m.
2025-10-26T22:09:17.940Z,1761516557.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013089
2025-10-26T22:09:18.116Z,1761516558.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406347,-0.902102,-0.145239],[0.912624,0.392919,0.112839],[-0.044726,-0.178400,0.982941]]
2025-10-26T22:09:18.132Z,1761516558.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:09:18.134Z,1761516558.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-10-26T22:09:18.137Z,1761516558.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.043442 m,
      nav range: 40.454422 m,
      bearing: 55.121956 deg,
      approach rate: -0.486176 m/s,
      LOS rate: 0.049828 deg/s,
      cmd heading: 63.826451 deg,
      new cmd heading: 63.879747 deg.

2025-10-26T22:09:18.138Z,1761516558.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.114912 target range: 42.043442 and range: 42.30 m.
2025-10-26T22:09:18.194Z,1761516558.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266060
2025-10-26T22:09:18.444Z,1761516558.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517112
2025-10-26T22:09:18.523Z,1761516558.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409450,-0.901067,-0.142929],[0.911242,0.396254,0.112341],[-0.044591,-0.176241,0.983337]]
2025-10-26T22:09:18.574Z,1761516558.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-10-26T22:09:18.581Z,1761516558.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.043442 m,
      nav range: 40.247383 m,
      bearing: 55.144343 deg,
      approach rate: -0.470484 m/s,
      LOS rate: 0.051135 deg/s,
      cmd heading: 63.879747 deg,
      new cmd heading: 63.947254 deg.

2025-10-26T22:09:18.582Z,1761516558.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.116090 target range: 42.043442 and range: 42.30 m.
2025-10-26T22:09:18.701Z,1761516558.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773526
2025-10-26T22:09:18.923Z,1761516558.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412912,-0.899676,-0.141727],[0.909658,0.399692,0.112996],[-0.045013,-0.175580,0.983436]]
2025-10-26T22:09:18.948Z,1761516558.948 [DAT](INFO): DAT read: Rx Time:22:09:17.5470

2025-10-26T22:09:18.949Z,1761516558.949 [DAT](INFO): Rx dataTimestamp_ set to:1761516558.948557
2025-10-26T22:09:18.949Z,1761516558.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022186
2025-10-26T22:09:18.988Z,1761516558.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-10-26T22:09:18.990Z,1761516558.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.043442 m,
      nav range: 40.045452 m,
      bearing: 55.163528 deg,
      approach rate: -0.493443 m/s,
      LOS rate: 0.047116 deg/s,
      cmd heading: 63.947257 deg,
      new cmd heading: 64.005100 deg.

2025-10-26T22:09:18.996Z,1761516558.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117100 target range: 42.043442 and range: 42.30 m.
2025-10-26T22:09:19.200Z,1761516559.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273099
2025-10-26T22:09:19.360Z,1761516559.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416627,-0.897925,-0.141959],[0.907919,0.403108,0.114838],[-0.045891,-0.176732,0.983189]]
2025-10-26T22:09:19.378Z,1761516559.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-10-26T22:09:19.381Z,1761516559.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.043442 m,
      nav range: 39.849709 m,
      bearing: 55.183433 deg,
      approach rate: -0.495870 m/s,
      LOS rate: 0.050672 deg/s,
      cmd heading: 64.005102 deg,
      new cmd heading: 64.065110 deg.

2025-10-26T22:09:19.382Z,1761516559.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.118147 target range: 42.043442 and range: 42.30 m.
2025-10-26T22:09:19.460Z,1761516559.460 [DAT](INFO): DAT read: 22:09:17.5470 LVL= 32752, 32753, 27554, 32755, AGC= 68, IDX= 416, 0.04,-2.001, 2.871,-1.381,-2.021, PHS= 0.122,-1.346, 0.596, RAW= 163.6,   7.2, CAL= 163.0,   7.1, ROT= 347.0,  -7.1

2025-10-26T22:09:19.461Z,1761516559.461 [DAT](INFO): got valid direction response:
 22:09:17.5470 LVL= 32752, 32753, 27554, 32755, AGC= 68, IDX= 416, 0.04,-2.001, 2.871,-1.381,-2.021, PHS= 0.122,-1.346, 0.596, RAW= 163.6,   7.2, CAL= 163.0,   7.1, ROT= 347.0,  -7.1

2025-10-26T22:09:19.462Z,1761516559.462 [DAT](INFO): DAT read: Bearing 212.8, -16.6 (Local)

2025-10-26T22:09:19.462Z,1761516559.462 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.8, -16.6 (Local)

2025-10-26T22:09:19.464Z,1761516559.464 [DAT](INFO): DAT read: Range 11 to 50 : 40.1 m  (Round-trip  53.5 ms) speed  0.4 m/s

2025-10-26T22:09:19.464Z,1761516559.464 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:09:19.465Z,1761516559.465 [DAT](INFO): direction in FSK: [0.966899,-0.223226,0.123601]
2025-10-26T22:09:19.465Z,1761516559.465 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:19.475Z,1761516559.475 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:09:19.475Z,1761516559.475 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:09:19.480Z,1761516559.480 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:09:19.717Z,1761516559.717 [DAT](INFO): DAT read: user:487>

2025-10-26T22:09:19.724Z,1761516559.724 [DAT](INFO): DAT read: Tx time:22:09:18.8394

2025-10-26T22:09:19.725Z,1761516559.725 [DAT](INFO): Ping request sent.
2025-10-26T22:09:19.726Z,1761516559.726 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:09:19.726Z,1761516559.726 [DAT](INFO): publishing transmit ping time
2025-10-26T22:09:19.733Z,1761516559.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.008421
2025-10-26T22:09:19.857Z,1761516559.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.099998 m,
      deltaT: 3.778148 s,
      deltaX: -2.200001 m,
      approachRate: -0.582296 m/s,
      rangeRepo size: 4

2025-10-26T22:09:19.860Z,1761516559.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 39.856682 m,
      bearing: 53.860522 deg,
      lat: 36.779397 deg,
      lon: -121.859447 deg,
      deltaT: 3.778148 s,
      deltaX: -2.186760 m,
      approachRate: -0.578791 m/s,
      posRepo size: 4

2025-10-26T22:09:19.861Z,1761516559.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.86 m.
2025-10-26T22:09:19.884Z,1761516559.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.856682 m,
      nav range: 39.378551 m,
      bearing: 54.288498 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.050672 deg/s,
      cmd heading: 64.065112 deg,
      new cmd heading: 64.137854 deg.

2025-10-26T22:09:19.885Z,1761516559.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.119417 target range: 39.856682 and range: 40.10 m.
2025-10-26T22:09:19.965Z,1761516559.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.240267
2025-10-26T22:09:20.216Z,1761516560.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.491516
2025-10-26T22:09:20.219Z,1761516560.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423668,-0.894119,-0.145108],[0.904559,0.409172,0.119796],[-0.047738,-0.182013,0.982137]]
2025-10-26T22:09:20.238Z,1761516560.238 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:09:20.240Z,1761516560.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.86 m.
2025-10-26T22:09:20.243Z,1761516560.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.856682 m,
      nav range: 39.189007 m,
      bearing: 54.299586 deg,
      approach rate: -0.494092 m/s,
      LOS rate: 0.029044 deg/s,
      cmd heading: 64.137853 deg,
      new cmd heading: 64.171279 deg.

2025-10-26T22:09:20.244Z,1761516560.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.120000 target range: 39.856682 and range: 40.10 m.
2025-10-26T22:09:20.468Z,1761516560.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743537
2025-10-26T22:09:20.724Z,1761516560.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998343
2025-10-26T22:09:20.779Z,1761516560.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426787,-0.892287,-0.147230],[0.903053,0.411765,0.122251],[-0.048459,-0.185131,0.981518]]
2025-10-26T22:09:20.823Z,1761516560.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.86 m.
2025-10-26T22:09:20.826Z,1761516560.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.856682 m,
      nav range: 38.890938 m,
      bearing: 54.295264 deg,
      approach rate: -0.511694 m/s,
      LOS rate: -0.007476 deg/s,
      cmd heading: 64.171280 deg,
      new cmd heading: 64.158216 deg.

2025-10-26T22:09:20.827Z,1761516560.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.119772 target range: 39.856682 and range: 40.10 m.
2025-10-26T22:09:20.973Z,1761516560.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247738
2025-10-26T22:09:21.167Z,1761516561.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.86 m.
2025-10-26T22:09:21.170Z,1761516561.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.856682 m,
      nav range: 38.715538 m,
      bearing: 54.292690 deg,
      approach rate: -0.509346 m/s,
      LOS rate: -0.007509 deg/s,
      cmd heading: 64.158214 deg,
      new cmd heading: 64.150456 deg.

2025-10-26T22:09:21.171Z,1761516561.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.119637 target range: 39.856682 and range: 40.10 m.
2025-10-26T22:09:21.225Z,1761516561.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499750
2025-10-26T22:09:21.477Z,1761516561.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752016
2025-10-26T22:09:21.579Z,1761516561.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430259,-0.890637,-0.147116],[0.901362,0.414986,0.123828],[-0.049235,-0.185883,0.981338]]
2025-10-26T22:09:21.597Z,1761516561.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.86 m.
2025-10-26T22:09:21.600Z,1761516561.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.856682 m,
      nav range: 38.496956 m,
      bearing: 54.290673 deg,
      approach rate: -0.508864 m/s,
      LOS rate: -0.004722 deg/s,
      cmd heading: 64.150455 deg,
      new cmd heading: 64.144370 deg.

2025-10-26T22:09:21.601Z,1761516561.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.119530 target range: 39.856682 and range: 40.10 m.
2025-10-26T22:09:21.732Z,1761516561.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006746
2025-10-26T22:09:21.980Z,1761516561.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255390
2025-10-26T22:09:21.984Z,1761516561.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431475,-0.890060,-0.147047],[0.900796,0.416232,0.123765],[-0.048953,-0.185860,0.981356]]
2025-10-26T22:09:22.036Z,1761516562.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.86 m.
2025-10-26T22:09:22.041Z,1761516562.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.856682 m,
      nav range: 38.265404 m,
      bearing: 54.273665 deg,
      approach rate: -0.527787 m/s,
      LOS rate: -0.039002 deg/s,
      cmd heading: 64.144369 deg,
      new cmd heading: 64.093036 deg.

2025-10-26T22:09:22.042Z,1761516562.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.118634 target range: 39.856682 and range: 40.10 m.
2025-10-26T22:09:22.232Z,1761516562.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507480
2025-10-26T22:09:22.418Z,1761516562.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:09:22.420Z,1761516562.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.86 m.
2025-10-26T22:09:22.423Z,1761516562.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.856682 m,
      nav range: 38.056343 m,
      bearing: 54.258131 deg,
      approach rate: -0.543661 m/s,
      LOS rate: -0.040618 deg/s,
      cmd heading: 64.093034 deg,
      new cmd heading: 64.046176 deg.

2025-10-26T22:09:22.424Z,1761516562.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117817 target range: 39.856682 and range: 40.10 m.
2025-10-26T22:09:22.485Z,1761516562.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759615
2025-10-26T22:09:22.740Z,1761516562.740 [DAT](INFO): DAT read: Rx Time:22:09:21.2944

2025-10-26T22:09:22.741Z,1761516562.741 [DAT](INFO): Rx dataTimestamp_ set to:1761516562.740295
2025-10-26T22:09:22.743Z,1761516562.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017514
2025-10-26T22:09:22.820Z,1761516562.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429097,-0.891619,-0.144536],[0.902077,0.414834,0.119035],[-0.046175,-0.181460,0.982314]]
2025-10-26T22:09:22.863Z,1761516562.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.86 m.
2025-10-26T22:09:22.865Z,1761516562.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.856682 m,
      nav range: 37.807053 m,
      bearing: 54.229605 deg,
      approach rate: -0.563412 m/s,
      LOS rate: -0.064895 deg/s,
      cmd heading: 64.046178 deg,
      new cmd heading: 63.960037 deg.

2025-10-26T22:09:22.866Z,1761516562.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.116313 target range: 39.856682 and range: 40.10 m.
2025-10-26T22:09:22.988Z,1761516562.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263454
2025-10-26T22:09:23.195Z,1761516563.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426859,-0.892843,-0.143609],[0.903235,0.413166,0.116020],[-0.044253,-0.179237,0.982810]]
2025-10-26T22:09:23.213Z,1761516563.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.86 m.
2025-10-26T22:09:23.239Z,1761516563.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.856682 m,
      nav range: 37.609951 m,
      bearing: 54.206071 deg,
      approach rate: -0.562811 m/s,
      LOS rate: -0.067553 deg/s,
      cmd heading: 63.960036 deg,
      new cmd heading: 63.889063 deg.

2025-10-26T22:09:23.246Z,1761516563.246 [DAT](INFO): DAT read: 22:09:21.2944 LVL= 32752, 32753, 30706, 32755, AGC= 66, IDX= 421,-0.08, 0.990,-0.433, 1.565, 1.011, PHS= 0.081,-1.399, 0.510, RAW= 162.3,   9.4, CAL= 162.2,  10.0, ROT= 347.8, -10.0

2025-10-26T22:09:23.247Z,1761516563.247 [DAT](INFO): got valid direction response:
 22:09:21.2944 LVL= 32752, 32753, 30706, 32755, AGC= 66, IDX= 421,-0.08, 0.990,-0.433, 1.565, 1.011, PHS= 0.081,-1.399, 0.510, RAW= 162.3,   9.4, CAL= 162.2,  10.0, ROT= 347.8, -10.0

2025-10-26T22:09:23.248Z,1761516563.248 [DAT](INFO): DAT read: Bearing 215.3, -16.3 (Local)

2025-10-26T22:09:23.248Z,1761516563.248 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.3, -16.3 (Local)

2025-10-26T22:09:23.250Z,1761516563.250 [DAT](INFO): DAT read: Range 11 to 50 : 38.1 m  (Round-trip  50.8 ms) speed  0.4 m/s

2025-10-26T22:09:23.250Z,1761516563.250 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:09:23.251Z,1761516563.251 [DAT](INFO): direction in FSK: [0.962567,-0.208115,0.173648]
2025-10-26T22:09:23.251Z,1761516563.251 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:23.255Z,1761516563.255 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:09:23.255Z,1761516563.255 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:09:23.259Z,1761516563.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.115075 target range: 39.856682 and range: 40.10 m.
2025-10-26T22:09:23.255Z,1761516563.255 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:09:23.493Z,1761516563.493 [DAT](INFO): DAT read: user:488>

2025-10-26T22:09:23.493Z,1761516563.493 [DAT](INFO): DAT read: Tx time:22:09:22.6394

2025-10-26T22:09:23.494Z,1761516563.494 [DAT](INFO): Ping request sent.
2025-10-26T22:09:23.494Z,1761516563.494 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:09:23.494Z,1761516563.494 [DAT](INFO): publishing transmit ping time
2025-10-26T22:09:23.495Z,1761516563.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-10-26T22:09:23.611Z,1761516563.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423563,-0.894882,-0.140643],[0.904879,0.410723,0.111804],[-0.042286,-0.174621,0.983727]]
2025-10-26T22:09:23.628Z,1761516563.628 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-10-26T22:09:23.628Z,1761516563.628 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T22:09:23.629Z,1761516563.629 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-10-26T22:09:23.630Z,1761516563.630 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  38.099998 m (mode  2.000000 count ).
2025-10-26T22:09:23.630Z,1761516563.630 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-10-26T22:09:23.630Z,1761516563.630 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-10-26T22:09:23.653Z,1761516563.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.099998 m,
      deltaT: 3.787236 s,
      deltaX: -2.000000 m,
      approachRate: -0.528090 m/s,
      rangeRepo size: 4

2025-10-26T22:09:23.655Z,1761516563.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.868832 m,
      bearing: 54.719386 deg,
      lat: 36.779397 deg,
      lon: -121.859447 deg,
      deltaT: 3.787236 s,
      deltaX: -1.987850 m,
      approachRate: -0.524882 m/s,
      posRepo size: 4

2025-10-26T22:09:23.660Z,1761516563.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.87 m.
2025-10-26T22:09:23.663Z,1761516563.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.868832 m,
      nav range: 37.375324 m,
      bearing: 54.176518 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.067553 deg/s,
      cmd heading: 63.889064 deg,
      new cmd heading: 63.799936 deg.

2025-10-26T22:09:23.668Z,1761516563.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.113519 target range: 37.868832 and range: 38.10 m.
2025-10-26T22:09:23.748Z,1761516563.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253321
2025-10-26T22:09:23.997Z,1761516563.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502750
2025-10-26T22:09:24.021Z,1761516564.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420153,-0.896659,-0.139550],[0.906550,0.407882,0.108622],[-0.040477,-0.172146,0.984239]]
2025-10-26T22:09:24.054Z,1761516564.054 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -12.27,      +803.26,       +10.1
2025-10-26T22:09:24.090Z,1761516564.090 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-10-26T22:09:24.090Z,1761516564.090 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-10-26T22:09:24.105Z,1761516564.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.87 m.
2025-10-26T22:09:24.111Z,1761516564.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.868832 m,
      nav range: 37.118923 m,
      bearing: 54.142349 deg,
      approach rate: -0.567284 m/s,
      LOS rate: -0.076120 deg/s,
      cmd heading: 63.799936 deg,
      new cmd heading: 63.696723 deg.

2025-10-26T22:09:24.112Z,1761516564.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.111718 target range: 37.868832 and range: 38.10 m.
2025-10-26T22:09:24.248Z,1761516564.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754511
2025-10-26T22:09:24.418Z,1761516564.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416028,-0.898557,-0.139703],[0.908542,0.404239,0.105557],[-0.038375,-0.170841,0.984551]]
2025-10-26T22:09:24.434Z,1761516564.434 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-10-26T22:09:24.434Z,1761516564.434 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-10-26T22:09:24.435Z,1761516564.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:09:24.453Z,1761516564.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.87 m.
2025-10-26T22:09:24.456Z,1761516564.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.868832 m,
      nav range: 36.922207 m,
      bearing: 54.114431 deg,
      approach rate: -0.564265 m/s,
      LOS rate: -0.080506 deg/s,
      cmd heading: 63.696725 deg,
      new cmd heading: 63.612526 deg.

2025-10-26T22:09:24.457Z,1761516564.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.110248 target range: 37.868832 and range: 38.10 m.
2025-10-26T22:09:24.500Z,1761516564.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006608
2025-10-26T22:09:24.756Z,1761516564.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262028
2025-10-26T22:09:24.905Z,1761516564.905 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-10-26T22:09:24.905Z,1761516564.905 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T22:09:24.905Z,1761516564.905 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-10-26T22:09:24.905Z,1761516564.905 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T22:09:24.912Z,1761516564.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.87 m.
2025-10-26T22:09:24.914Z,1761516564.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.868832 m,
      nav range: 36.656963 m,
      bearing: 54.077131 deg,
      approach rate: -0.583944 m/s,
      LOS rate: -0.082711 deg/s,
      cmd heading: 63.612523 deg,
      new cmd heading: 63.499813 deg.

2025-10-26T22:09:24.923Z,1761516564.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.108281 target range: 37.868832 and range: 38.10 m.
2025-10-26T22:09:25.006Z,1761516565.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511451
2025-10-26T22:09:25.226Z,1761516565.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409346,-0.901863,-0.138128],[0.911710,0.398530,0.099797],[-0.034955,-0.166784,0.985374]]
2025-10-26T22:09:25.244Z,1761516565.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.87 m.
2025-10-26T22:09:25.246Z,1761516565.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.868832 m,
      nav range: 36.442642 m,
      bearing: 54.044121 deg,
      approach rate: -0.637532 m/s,
      LOS rate: -0.098773 deg/s,
      cmd heading: 63.499811 deg,
      new cmd heading: 63.400197 deg.

2025-10-26T22:09:25.256Z,1761516565.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762599
2025-10-26T22:09:25.260Z,1761516565.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106542 target range: 37.868832 and range: 38.10 m.
2025-10-26T22:09:25.508Z,1761516565.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014535
2025-10-26T22:09:25.630Z,1761516565.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406732,-0.902730,-0.140170],[0.912939,0.396047,0.098436],[-0.033348,-0.168004,0.985222]]
2025-10-26T22:09:25.672Z,1761516565.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.87 m.
2025-10-26T22:09:25.674Z,1761516565.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.868832 m,
      nav range: 36.197906 m,
      bearing: 54.004800 deg,
      approach rate: -0.593883 m/s,
      LOS rate: -0.096062 deg/s,
      cmd heading: 63.400200 deg,
      new cmd heading: 63.281440 deg.

2025-10-26T22:09:25.724Z,1761516565.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.104470 target range: 37.868832 and range: 38.10 m.
2025-10-26T22:09:25.764Z,1761516565.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269005
2025-10-26T22:09:26.012Z,1761516566.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518514
2025-10-26T22:09:26.085Z,1761516566.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404383,-0.903905,-0.139394],[0.914044,0.394158,0.095719],[-0.031578,-0.166119,0.985600]]
2025-10-26T22:09:26.148Z,1761516566.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.87 m.
2025-10-26T22:09:26.150Z,1761516566.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.868832 m,
      nav range: 35.915657 m,
      bearing: 53.972325 deg,
      approach rate: -0.573948 m/s,
      LOS rate: -0.066556 deg/s,
      cmd heading: 63.281443 deg,
      new cmd heading: 63.183253 deg.

2025-10-26T22:09:26.151Z,1761516566.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.102756 target range: 37.868832 and range: 38.10 m.
2025-10-26T22:09:26.265Z,1761516566.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770963
2025-10-26T22:09:26.489Z,1761516566.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402057,-0.904343,-0.143224],[0.915181,0.392106,0.093259],[-0.028179,-0.168571,0.985287]]
2025-10-26T22:09:26.506Z,1761516566.506 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:09:26.508Z,1761516566.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.87 m.
2025-10-26T22:09:26.511Z,1761516566.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.868832 m,
      nav range: 35.709038 m,
      bearing: 53.947338 deg,
      approach rate: -0.572611 m/s,
      LOS rate: -0.069649 deg/s,
      cmd heading: 63.183252 deg,
      new cmd heading: 63.107857 deg.

2025-10-26T22:09:26.512Z,1761516566.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.101440 target range: 37.868832 and range: 38.10 m.
2025-10-26T22:09:26.517Z,1761516566.517 [DAT](INFO): DAT read: Rx Time:22:09:25.0917

2025-10-26T22:09:26.517Z,1761516566.517 [DAT](INFO): Rx dataTimestamp_ set to:1761516566.516746
2025-10-26T22:09:26.518Z,1761516566.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023729
2025-10-26T22:09:26.770Z,1761516566.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275768
2025-10-26T22:09:26.910Z,1761516566.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402150,-0.903798,-0.146370],[0.915193,0.392200,0.092743],[-0.026414,-0.171253,0.984873]]
2025-10-26T22:09:26.972Z,1761516566.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.87 m.
2025-10-26T22:09:26.974Z,1761516566.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.868832 m,
      nav range: 35.464657 m,
      bearing: 53.932772 deg,
      approach rate: -0.532096 m/s,
      LOS rate: -0.031934 deg/s,
      cmd heading: 63.107854 deg,
      new cmd heading: 63.063854 deg.

2025-10-26T22:09:26.980Z,1761516566.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.100672 target range: 37.868832 and range: 38.10 m.
2025-10-26T22:09:27.033Z,1761516567.033 [DAT](INFO): DAT read: 22:09:25.0917 LVL= 32752, 32753, 29234, 32755, AGC= 69, IDX= 410,-0.25, 0.530,-0.862, 1.184, 0.548, PHS= 0.084,-1.365, 0.592, RAW= 164.5,   7.9, CAL= 164.1,   8.0, ROT= 345.9,  -8.0

2025-10-26T22:09:27.035Z,1761516567.035 [DAT](INFO): got valid direction response:
 22:09:25.0917 LVL= 32752, 32753, 29234, 32755, AGC= 69, IDX= 410,-0.25, 0.530,-0.862, 1.184, 0.548, PHS= 0.084,-1.365, 0.592, RAW= 164.5,   7.9, CAL= 164.1,   8.0, ROT= 345.9,  -8.0

2025-10-26T22:09:27.037Z,1761516567.037 [DAT](INFO): DAT read: Bearing 214.0, -17.1 (Local)

2025-10-26T22:09:27.037Z,1761516567.037 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.0, -17.1 (Local)

2025-10-26T22:09:27.040Z,1761516567.040 [DAT](INFO): DAT read: Range 11 to 50 : 36.1 m  (Round-trip  48.2 ms) speed  0.4 m/s

2025-10-26T22:09:27.041Z,1761516567.041 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:09:27.043Z,1761516567.043 [DAT](INFO): direction in FSK: [0.960433,-0.241244,0.139173]
2025-10-26T22:09:27.043Z,1761516567.043 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:27.055Z,1761516567.055 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:09:27.055Z,1761516567.055 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:09:27.055Z,1761516567.055 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:09:27.275Z,1761516567.275 [DAT](INFO): DAT read: user:489>

2025-10-26T22:09:27.291Z,1761516567.291 [DAT](INFO): DAT read: Tx time:22:09:26.4394

2025-10-26T22:09:27.295Z,1761516567.295 [DAT](INFO): Ping request sent.
2025-10-26T22:09:27.296Z,1761516567.296 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:09:27.296Z,1761516567.296 [DAT](INFO): publishing transmit ping time
2025-10-26T22:09:27.296Z,1761516567.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000771
2025-10-26T22:09:27.301Z,1761516567.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402509,-0.903385,-0.147923],[0.915076,0.392672,0.091893],[-0.024930,-0.172349,0.984720]]
2025-10-26T22:09:27.357Z,1761516567.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.099998 m,
      deltaT: 3.781225 s,
      deltaX: -2.000000 m,
      approachRate: -0.528929 m/s,
      rangeRepo size: 4

2025-10-26T22:09:27.359Z,1761516567.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.881001 m,
      bearing: 53.768673 deg,
      lat: 36.779397 deg,
      lon: -121.859446 deg,
      deltaT: 3.781225 s,
      deltaX: -1.987831 m,
      approachRate: -0.525711 m/s,
      posRepo size: 4

2025-10-26T22:09:27.362Z,1761516567.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.88 m.
2025-10-26T22:09:27.377Z,1761516567.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.881001 m,
      nav range: 35.338375 m,
      bearing: 54.014322 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.031934 deg/s,
      cmd heading: 63.063854 deg,
      new cmd heading: 63.026590 deg.

2025-10-26T22:09:27.378Z,1761516567.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.100021 target range: 35.881001 and range: 36.10 m.
2025-10-26T22:09:27.529Z,1761516567.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.233515
2025-10-26T22:09:27.702Z,1761516567.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403888,-0.902725,-0.148197],[0.914510,0.394285,0.090614],[-0.023367,-0.172125,0.984798]]
2025-10-26T22:09:27.752Z,1761516567.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.88 m.
2025-10-26T22:09:27.755Z,1761516567.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.881001 m,
      nav range: 35.108997 m,
      bearing: 54.001638 deg,
      approach rate: -0.580638 m/s,
      LOS rate: -0.032316 deg/s,
      cmd heading: 63.026588 deg,
      new cmd heading: 62.988289 deg.

2025-10-26T22:09:27.756Z,1761516567.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.099353 target range: 35.881001 and range: 36.10 m.
2025-10-26T22:09:27.783Z,1761516567.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.487232
2025-10-26T22:09:28.034Z,1761516568.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.738087
2025-10-26T22:09:28.133Z,1761516568.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405096,-0.903058,-0.142769],[0.914010,0.396256,0.086989],[-0.021983,-0.165731,0.985926]]
2025-10-26T22:09:28.197Z,1761516568.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.88 m.
2025-10-26T22:09:28.207Z,1761516568.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.881001 m,
      nav range: 34.859791 m,
      bearing: 54.005494 deg,
      approach rate: -0.559399 m/s,
      LOS rate: 0.008717 deg/s,
      cmd heading: 62.988291 deg,
      new cmd heading: 62.999941 deg.

2025-10-26T22:09:28.208Z,1761516568.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.099556 target range: 35.881001 and range: 36.10 m.
2025-10-26T22:09:28.285Z,1761516568.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989270
2025-10-26T22:09:28.538Z,1761516568.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242017
2025-10-26T22:09:28.560Z,1761516568.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406596,-0.902126,-0.144388],[0.913374,0.397808,0.086580],[-0.020668,-0.167083,0.985726]]
2025-10-26T22:09:28.576Z,1761516568.576 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:09:28.578Z,1761516568.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.88 m.
2025-10-26T22:09:28.593Z,1761516568.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.881001 m,
      nav range: 34.643543 m,
      bearing: 54.009445 deg,
      approach rate: -0.567256 m/s,
      LOS rate: 0.010427 deg/s,
      cmd heading: 62.999944 deg,
      new cmd heading: 63.011869 deg.

2025-10-26T22:09:28.594Z,1761516568.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.099765 target range: 35.881001 and range: 36.10 m.
2025-10-26T22:09:28.788Z,1761516568.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492756
2025-10-26T22:09:28.938Z,1761516568.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408877,-0.901152,-0.144027],[0.912385,0.400324,0.085403],[-0.019304,-0.166327,0.985882]]
2025-10-26T22:09:28.985Z,1761516568.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.88 m.
2025-10-26T22:09:28.988Z,1761516568.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.881001 m,
      nav range: 34.430161 m,
      bearing: 54.024709 deg,
      approach rate: -0.524934 m/s,
      LOS rate: 0.037785 deg/s,
      cmd heading: 63.011869 deg,
      new cmd heading: 63.057947 deg.

2025-10-26T22:09:28.989Z,1761516568.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.100569 target range: 35.881001 and range: 36.10 m.
2025-10-26T22:09:29.041Z,1761516569.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745848
2025-10-26T22:09:29.292Z,1761516569.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996807
2025-10-26T22:09:29.354Z,1761516569.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410870,-0.900185,-0.144406],[0.911520,0.402513,0.084344],[-0.017800,-0.166283,0.985917]]
2025-10-26T22:09:29.373Z,1761516569.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.88 m.
2025-10-26T22:09:29.376Z,1761516569.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.881001 m,
      nav range: 34.226757 m,
      bearing: 54.040188 deg,
      approach rate: -0.524348 m/s,
      LOS rate: 0.040139 deg/s,
      cmd heading: 63.057946 deg,
      new cmd heading: 63.104657 deg.

2025-10-26T22:09:29.377Z,1761516569.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.101384 target range: 35.881001 and range: 36.10 m.
2025-10-26T22:09:29.545Z,1761516569.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249350
2025-10-26T22:09:29.751Z,1761516569.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412997,-0.898832,-0.146743],[0.910585,0.404640,0.084268],[-0.016365,-0.168424,0.985579]]
2025-10-26T22:09:29.778Z,1761516569.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.88 m.
2025-10-26T22:09:29.782Z,1761516569.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.881001 m,
      nav range: 34.014130 m,
      bearing: 54.057347 deg,
      approach rate: -0.524275 m/s,
      LOS rate: 0.042575 deg/s,
      cmd heading: 63.104657 deg,
      new cmd heading: 63.156458 deg.

2025-10-26T22:09:29.783Z,1761516569.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.102288 target range: 35.881001 and range: 36.10 m.
2025-10-26T22:09:29.799Z,1761516569.799 [DAT](INFO): DAT read: Rx Time:22:09:28.6139 

2025-10-26T22:09:29.800Z,1761516569.800 [DAT](INFO): Rx dataTimestamp_ set to:1761516569.799623
2025-10-26T22:09:29.801Z,1761516569.801 [DAT](INFO): DAT read: Bearing 215.3, -16.4 (Local)

2025-10-26T22:09:29.801Z,1761516569.801 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.3, -16.4 (Local)

2025-10-26T22:09:29.804Z,1761516569.804 [DAT](INFO): DAT read: Range 11 to 50 :    34.1 m (trip time 22.7 ms) speed 0.4

2025-10-26T22:09:29.838Z,1761516569.838 [DAT](INFO): DAT read: 22:09:28.6139 LVL= 32752, 32753, 29106, 32755, AGC= 68, IDX= 413, 0.07, 1.392,-0.003, 2.035, 1.427, PHS= 0.066,-1.386, 0.564, RAW= 164.2,   8.7, CAL= 163.9,   9.1, ROT= 346.1,  -9.1

2025-10-26T22:09:29.856Z,1761516569.856 [DAT](INFO): got valid direction response:
 22:09:28.6139 LVL= 32752, 32753, 29106, 32755, AGC= 68, IDX= 413, 0.07, 1.392,-0.003, 2.035, 1.427, PHS= 0.066,-1.386, 0.564, RAW= 164.2,   8.7, CAL= 163.9,   9.1, ROT= 346.1,  -9.1

2025-10-26T22:09:29.857Z,1761516569.857 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:09:29.858Z,1761516569.858 [DAT](INFO): direction in FSK: [0.958499,-0.237204,0.158158]
2025-10-26T22:09:29.858Z,1761516569.858 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:29.861Z,1761516569.861 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.565855
2025-10-26T22:09:30.049Z,1761516570.049 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.753028
2025-10-26T22:09:30.248Z,1761516570.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415665,-0.897610,-0.146691],[0.909395,0.407518,0.083245],[-0.014942,-0.168002,0.985673]]
2025-10-26T22:09:30.287Z,1761516570.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.099998 m,
      deltaT: 2.778457 s,
      deltaX: -2.000000 m,
      approachRate: -0.719824 m/s,
      rangeRepo size: 4

2025-10-26T22:09:30.289Z,1761516570.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.893097 m,
      bearing: 53.269214 deg,
      lat: 36.779398 deg,
      lon: -121.859446 deg,
      deltaT: 2.778457 s,
      deltaX: -1.987904 m,
      approachRate: -0.715470 m/s,
      posRepo size: 4

2025-10-26T22:09:30.290Z,1761516570.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.89 m.
2025-10-26T22:09:30.293Z,1761516570.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.893097 m,
      nav range: 33.834164 m,
      bearing: 53.902778 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.042575 deg/s,
      cmd heading: 63.156457 deg,
      new cmd heading: 63.221352 deg.

2025-10-26T22:09:30.293Z,1761516570.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.103421 target range: 33.893097 and range: 34.10 m.
2025-10-26T22:09:30.301Z,1761516570.301 [DAT](INFO): DAT read: Rx Time:22:09:29.1137 

2025-10-26T22:09:30.302Z,1761516570.302 [DAT](INFO): Rx dataTimestamp_ set to:1761516570.301298
2025-10-26T22:09:30.303Z,1761516570.303 [DAT](INFO): DAT read: Bearing 219.4, -16.1 (Local)

2025-10-26T22:09:30.303Z,1761516570.303 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.4, -16.1 (Local)

2025-10-26T22:09:30.305Z,1761516570.305 [DAT](INFO): DAT read: Range 11 to 50 :    33.8 m (trip time 22.5 ms) speed 0.4

2025-10-26T22:09:30.310Z,1761516570.310 [DAT](INFO): DAT read: 22:09:29.1137 LVL= 32752, 32753, 31938, 32755, AGC= 66, IDX= 507, 0.24, 1.879, 0.500, 2.468, 1.979, PHS= 0.002,-1.433, 0.446, RAW= 163.0,  11.6, CAL= 163.2,  13.1, ROT= 346.8, -13.1

2025-10-26T22:09:30.311Z,1761516570.311 [DAT](INFO): got valid direction response:
 22:09:29.1137 LVL= 32752, 32753, 31938, 32755, AGC= 66, IDX= 507, 0.24, 1.879, 0.500, 2.468, 1.979, PHS= 0.002,-1.433, 0.446, RAW= 163.0,  11.6, CAL= 163.2,  13.1, ROT= 346.8, -13.1

2025-10-26T22:09:30.314Z,1761516570.314 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T22:09:30.315Z,1761516570.315 [DAT](INFO): direction in FSK: [0.948242,-0.222408,0.226651]
2025-10-26T22:09:30.316Z,1761516570.316 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:30.322Z,1761516570.322 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.023610
2025-10-26T22:09:30.552Z,1761516570.552 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.256721
2025-10-26T22:09:30.626Z,1761516570.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417562,-0.896684,-0.146967],[0.908551,0.409650,0.081988],[-0.013312,-0.167762,0.985738]]
2025-10-26T22:09:30.653Z,1761516570.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.799999 m,
      deltaT: 0.501675 s,
      deltaX: -0.299999 m,
      approachRate: -0.597995 m/s,
      rangeRepo size: 4

2025-10-26T22:09:30.656Z,1761516570.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.594887 m,
      bearing: 54.534603 deg,
      lat: 36.779398 deg,
      lon: -121.859447 deg,
      deltaT: 0.501675 s,
      deltaX: -0.298210 m,
      approachRate: -0.594429 m/s,
      posRepo size: 4

2025-10-26T22:09:30.656Z,1761516570.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.59 m.
2025-10-26T22:09:30.659Z,1761516570.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.594887 m,
      nav range: 33.549202 m,
      bearing: 53.815077 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.042575 deg/s,
      cmd heading: 63.221351 deg,
      new cmd heading: 63.268161 deg.

2025-10-26T22:09:30.676Z,1761516570.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.104238 target range: 33.594887 and range: 33.80 m.
2025-10-26T22:09:30.805Z,1761516570.805 [DAT](INFO): DAT read: Rx Time:22:09:29.6135 

2025-10-26T22:09:30.806Z,1761516570.806 [DAT](INFO): Rx dataTimestamp_ set to:1761516570.805315
2025-10-26T22:09:30.807Z,1761516570.807 [DAT](INFO): DAT read: Bearing 214.1, -14.6 (Local)

2025-10-26T22:09:30.807Z,1761516570.807 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.1, -14.6 (Local)

2025-10-26T22:09:30.809Z,1761516570.809 [DAT](INFO): DAT read: Range 11 to 50 :    33.5 m (trip time 22.3 ms) speed 0.4

2025-10-26T22:09:30.814Z,1761516570.814 [DAT](INFO): DAT read: 22:09:29.6135 LVL= 32752, 32753, 26082, 32755, AGC= 65, IDX= 505,-0.25, 2.864, 1.461,-2.825, 2.853, PHS= 0.113,-1.347, 0.561, RAW= 163.0,   7.8, CAL= 162.5,   7.9, ROT= 347.5,  -7.9

2025-10-26T22:09:30.815Z,1761516570.815 [DAT](INFO): got valid direction response:
 22:09:29.6135 LVL= 32752, 32753, 26082, 32755, AGC= 65, IDX= 505,-0.25, 2.864, 1.461,-2.825, 2.853, PHS= 0.113,-1.347, 0.561, RAW= 163.0,   7.8, CAL= 162.5,   7.9, ROT= 347.5,  -7.9

2025-10-26T22:09:30.819Z,1761516570.819 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-10-26T22:09:30.820Z,1761516570.820 [DAT](INFO): direction in FSK: [0.967030,-0.214386,0.137445]
2025-10-26T22:09:30.821Z,1761516570.821 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:30.830Z,1761516570.830 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.534090
2025-10-26T22:09:31.056Z,1761516571.056 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.760907
2025-10-26T22:09:31.076Z,1761516571.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420363,-0.894759,-0.150668],[0.907277,0.412305,0.082783],[-0.011950,-0.171497,0.985112]]
2025-10-26T22:09:31.123Z,1761516571.123 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00,        +0.00,        +0.0 0.00
2025-10-26T22:09:31.143Z,1761516571.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.500000 m,
      deltaT: 0.504017 s,
      deltaX: -0.299999 m,
      approachRate: -0.595217 m/s,
      rangeRepo size: 4

2025-10-26T22:09:31.145Z,1761516571.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.296707 m,
      bearing: 54.181733 deg,
      lat: 36.779394 deg,
      lon: -121.859449 deg,
      deltaT: 0.504017 s,
      deltaX: -0.298180 m,
      approachRate: -0.591606 m/s,
      posRepo size: 4

2025-10-26T22:09:31.146Z,1761516571.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.30 m.
2025-10-26T22:09:31.149Z,1761516571.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.296707 m,
      nav range: 32.864429 m,
      bearing: 54.181612 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.042575 deg/s,
      cmd heading: 63.268158 deg,
      new cmd heading: 63.330657 deg.

2025-10-26T22:09:31.150Z,1761516571.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.105328 target range: 33.296707 and range: 33.50 m.
2025-10-26T22:09:31.310Z,1761516571.310 [DAT](INFO): DAT read: Rx Time:22:09:30.1134 

2025-10-26T22:09:31.311Z,1761516571.311 [DAT](INFO): Rx dataTimestamp_ set to:1761516571.310406
2025-10-26T22:09:31.313Z,1761516571.313 [DAT](INFO): DAT read: Bearing 214.6, -15.2 (Local)

2025-10-26T22:09:31.313Z,1761516571.313 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.6, -15.2 (Local)

2025-10-26T22:09:31.316Z,1761516571.316 [DAT](INFO): DAT read: Range 11 to 50 :    33.3 m (trip time 22.2 ms) speed 0.4

2025-10-26T22:09:31.324Z,1761516571.324 [DAT](INFO): DAT read: 22:09:30.1134 LVL= 32752, 32753, 29650, 32755, AGC= 67, IDX= 504,-0.05,-2.546, 2.346,-1.934,-2.531, PHS= 0.088,-1.361, 0.553, RAW= 163.5,   8.4, CAL= 163.2,   8.7, ROT= 346.8,  -8.7

2025-10-26T22:09:31.325Z,1761516571.325 [DAT](INFO): got valid direction response:
 22:09:30.1134 LVL= 32752, 32753, 29650, 32755, AGC= 67, IDX= 504,-0.05,-2.546, 2.346,-1.934,-2.531, PHS= 0.088,-1.361, 0.553, RAW= 163.5,   8.4, CAL= 163.2,   8.7, ROT= 346.8,  -8.7

2025-10-26T22:09:31.325Z,1761516571.325 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-26T22:09:31.326Z,1761516571.326 [DAT](INFO): direction in FSK: [0.962377,-0.225724,0.151261]
2025-10-26T22:09:31.327Z,1761516571.327 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:31.344Z,1761516571.344 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.048270
2025-10-26T22:09:31.462Z,1761516571.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423247,-0.892491,-0.155953],[0.905951,0.414856,0.084545],[-0.010758,-0.177069,0.984140]]
2025-10-26T22:09:31.510Z,1761516571.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.299999 m,
      deltaT: 0.505091 s,
      deltaX: -0.200001 m,
      approachRate: -0.395970 m/s,
      rangeRepo size: 4

2025-10-26T22:09:31.518Z,1761516571.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.097919 m,
      bearing: 53.505987 deg,
      lat: 36.779397 deg,
      lon: -121.859453 deg,
      deltaT: 0.505091 s,
      deltaX: -0.198788 m,
      approachRate: -0.393568 m/s,
      posRepo size: 4

2025-10-26T22:09:31.524Z,1761516571.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.10 m.
2025-10-26T22:09:31.533Z,1761516571.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.097919 m,
      nav range: 32.593025 m,
      bearing: 53.540393 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.042575 deg/s,
      cmd heading: 63.330655 deg,
      new cmd heading: 63.377581 deg.

2025-10-26T22:09:31.535Z,1761516571.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106147 target range: 33.097919 and range: 33.30 m.
2025-10-26T22:09:31.560Z,1761516571.560 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.264788
2025-10-26T22:09:31.813Z,1761516571.813 [DAT](INFO): DAT read: Rx Time:22:09:30.6131 

2025-10-26T22:09:31.813Z,1761516571.813 [DAT](INFO): Rx dataTimestamp_ set to:1761516571.813197
2025-10-26T22:09:31.815Z,1761516571.815 [DAT](INFO): DAT read: Bearing 217.5, -15.5 (Local)

2025-10-26T22:09:31.815Z,1761516571.815 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.5, -15.5 (Local)

2025-10-26T22:09:31.817Z,1761516571.817 [DAT](INFO): DAT read: Range 11 to 50 :    32.9 m (trip time 21.9 ms) speed 0.4

2025-10-26T22:09:31.860Z,1761516571.860 [DAT](INFO): DAT read: 22:09:30.6131 LVL= 32752, 32753, 31906, 32755, AGC= 64, IDX= 501, 0.08,-1.140,-2.503,-0.555,-1.067, PHS= 0.028,-1.391, 0.468, RAW= 163.1,  10.7, CAL= 163.1,  11.8, ROT= 346.9, -11.8

2025-10-26T22:09:31.869Z,1761516571.869 [DAT](INFO): got valid direction response:
 22:09:30.6131 LVL= 32752, 32753, 31906, 32755, AGC= 64, IDX= 501, 0.08,-1.140,-2.503,-0.555,-1.067, PHS= 0.028,-1.391, 0.468, RAW= 163.1,  10.7, CAL= 163.1,  11.8, ROT= 346.9, -11.8

2025-10-26T22:09:31.870Z,1761516571.870 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-10-26T22:09:31.892Z,1761516571.892 [DAT](INFO): direction in FSK: [0.953393,-0.221862,0.204496]
2025-10-26T22:09:31.893Z,1761516571.893 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:31.917Z,1761516571.917 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.621549
2025-10-26T22:09:31.945Z,1761516571.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425804,-0.890474,-0.160459],[0.904767,0.417207,0.085643],[-0.009318,-0.181645,0.983320]]
2025-10-26T22:09:32.060Z,1761516572.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.900002 m,
      deltaT: 0.502791 s,
      deltaX: -0.399998 m,
      approachRate: -0.795555 m/s,
      rangeRepo size: 4

2025-10-26T22:09:32.062Z,1761516572.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.700321 m,
      bearing: 54.070587 deg,
      lat: 36.779394 deg,
      lon: -121.859453 deg,
      deltaT: 0.502791 s,
      deltaX: -0.397598 m,
      approachRate: -0.790782 m/s,
      posRepo size: 4

2025-10-26T22:09:32.064Z,1761516572.064 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.768795
2025-10-26T22:09:32.063Z,1761516572.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-10-26T22:09:32.070Z,1761516572.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.700321 m,
      nav range: 32.135708 m,
      bearing: 53.862992 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.042575 deg/s,
      cmd heading: 63.377578 deg,
      new cmd heading: 63.447329 deg.

2025-10-26T22:09:32.071Z,1761516572.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.107365 target range: 32.700321 and range: 32.90 m.
2025-10-26T22:09:32.317Z,1761516572.317 [DAT](INFO): DAT read: Rx Time:22:09:31.1129 

2025-10-26T22:09:32.318Z,1761516572.318 [DAT](INFO): Rx dataTimestamp_ set to:1761516572.317444
2025-10-26T22:09:32.319Z,1761516572.319 [DAT](INFO): DAT read: Bearing 212.5, -14.5 (Local)

2025-10-26T22:09:32.319Z,1761516572.319 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.5, -14.5 (Local)

2025-10-26T22:09:32.321Z,1761516572.321 [DAT](INFO): DAT read: Range 11 to 50 :    32.6 m (trip time 21.7 ms) speed 0.4

2025-10-26T22:09:32.336Z,1761516572.336 [DAT](INFO): DAT read: 22:09:31.1129 LVL= 32560, 32753, 26354, 32755, AGC= 65, IDX= 500,-0.48,-2.961, 1.916,-2.345,-2.982, PHS= 0.123,-1.341, 0.592, RAW= 163.5,   7.2, CAL= 162.9,   7.1, ROT= 347.1,  -7.1

2025-10-26T22:09:32.337Z,1761516572.337 [DAT](INFO): got valid direction response:
 22:09:31.1129 LVL= 32560, 32753, 26354, 32755, AGC= 65, IDX= 500,-0.48,-2.961, 1.916,-2.345,-2.982, PHS= 0.123,-1.341, 0.592, RAW= 163.5,   7.2, CAL= 162.9,   7.1, ROT= 347.1,  -7.1

2025-10-26T22:09:32.338Z,1761516572.338 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-26T22:09:32.340Z,1761516572.340 [DAT](INFO): direction in FSK: [0.967287,-0.221538,0.123601]
2025-10-26T22:09:32.341Z,1761516572.341 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:32.344Z,1761516572.344 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.048623
2025-10-26T22:09:32.371Z,1761516572.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427562,-0.889298,-0.162298],[0.903951,0.419012,0.085451],[-0.007987,-0.183245,0.983035]]
2025-10-26T22:09:32.414Z,1761516572.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.599998 m,
      deltaT: 0.504247 s,
      deltaX: -0.300003 m,
      approachRate: -0.594953 m/s,
      rangeRepo size: 4

2025-10-26T22:09:32.432Z,1761516572.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.402138 m,
      bearing: 53.295132 deg,
      lat: 36.779394 deg,
      lon: -121.859453 deg,
      deltaT: 0.504247 s,
      deltaX: -0.298183 m,
      approachRate: -0.591344 m/s,
      posRepo size: 4

2025-10-26T22:09:32.433Z,1761516572.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.40 m.
2025-10-26T22:09:32.440Z,1761516572.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.402138 m,
      nav range: 31.936565 m,
      bearing: 53.842936 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.042575 deg/s,
      cmd heading: 63.447328 deg,
      new cmd heading: 63.493003 deg.

2025-10-26T22:09:32.441Z,1761516572.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.108162 target range: 32.402138 and range: 32.60 m.
2025-10-26T22:09:32.569Z,1761516572.569 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.273310
2025-10-26T22:09:32.775Z,1761516572.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429063,-0.888277,-0.163920],[0.903248,0.420544,0.085350],[-0.006879,-0.184681,0.982774]]
2025-10-26T22:09:32.794Z,1761516572.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:09:32.796Z,1761516572.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.40 m.
2025-10-26T22:09:32.799Z,1761516572.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.402138 m,
      nav range: 31.728519 m,
      bearing: 53.841623 deg,
      approach rate: -0.543493 m/s,
      LOS rate: -0.003452 deg/s,
      cmd heading: 63.493001 deg,
      new cmd heading: 63.489038 deg.

2025-10-26T22:09:32.800Z,1761516572.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.108093 target range: 32.402138 and range: 32.60 m.
2025-10-26T22:09:32.821Z,1761516572.821 [DAT](INFO): DAT read: Rx Time:22:09:31.6127 

2025-10-26T22:09:32.821Z,1761516572.821 [DAT](INFO): Rx dataTimestamp_ set to:1761516572.821167
2025-10-26T22:09:32.823Z,1761516572.823 [DAT](INFO): DAT read: Bearing 214.5, -14.8 (Local)

2025-10-26T22:09:32.823Z,1761516572.823 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.5, -14.8 (Local)

2025-10-26T22:09:32.847Z,1761516572.847 [DAT](INFO): DAT read: Range 11 to 50 :    32.3 m (trip time 21.5 ms) speed 0.5

2025-10-26T22:09:32.856Z,1761516572.856 [DAT](INFO): DAT read: 22:09:31.6127 LVL= 32752, 32753, 30994, 32755, AGC= 64, IDX= 497,-0.12, 2.334, 0.961, 2.927, 2.355, PHS= 0.082,-1.349, 0.528, RAW= 163.2,   8.7, CAL= 162.9,   9.2, ROT= 347.1,  -9.2

2025-10-26T22:09:32.867Z,1761516572.867 [DAT](INFO): got valid direction response:
 22:09:31.6127 LVL= 32752, 32753, 30994, 32755, AGC= 64, IDX= 497,-0.12, 2.334, 0.961, 2.927, 2.355, PHS= 0.082,-1.349, 0.528, RAW= 163.2,   8.7, CAL= 162.9,   9.2, ROT= 347.1,  -9.2

2025-10-26T22:09:32.873Z,1761516572.873 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-26T22:09:32.885Z,1761516572.885 [DAT](INFO): direction in FSK: [0.962222,-0.220378,0.159881]
2025-10-26T22:09:32.887Z,1761516572.887 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:32.940Z,1761516572.940 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.644468
2025-10-26T22:09:33.073Z,1761516573.073 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.776985
2025-10-26T22:09:33.267Z,1761516573.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.299999 m,
      deltaT: 0.503723 s,
      deltaX: -0.299999 m,
      approachRate: -0.595564 m/s,
      rangeRepo size: 4

2025-10-26T22:09:33.269Z,1761516573.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.104019 m,
      bearing: 53.604879 deg,
      lat: 36.779395 deg,
      lon: -121.859454 deg,
      deltaT: 0.503723 s,
      deltaX: -0.298119 m,
      approachRate: -0.591830 m/s,
      posRepo size: 4

2025-10-26T22:09:33.269Z,1761516573.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.10 m.
2025-10-26T22:09:33.272Z,1761516573.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.104019 m,
      nav range: 31.511660 m,
      bearing: 53.604764 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003452 deg/s,
      cmd heading: 63.489040 deg,
      new cmd heading: 63.484174 deg.

2025-10-26T22:09:33.273Z,1761516573.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.108008 target range: 32.104019 and range: 32.30 m.
2025-10-26T22:09:33.326Z,1761516573.326 [DAT](INFO): DAT read: Rx Time:22:09:32.1126 

2025-10-26T22:09:33.326Z,1761516573.326 [DAT](INFO): Rx dataTimestamp_ set to:1761516573.326210
2025-10-26T22:09:33.328Z,1761516573.328 [DAT](INFO): DAT read: Bearing 200.5,   3.9 (Local)

2025-10-26T22:09:33.329Z,1761516573.329 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.5,   3.9 (Local)

2025-10-26T22:09:33.332Z,1761516573.332 [DAT](INFO): DAT read: Range 11 to 50 :    32.1 m (trip time 21.4 ms) speed 0.6

2025-10-26T22:09:33.340Z,1761516573.340 [DAT](INFO): DAT read: 22:09:32.1126 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 512, 0.18, 0.641,-0.930, 0.691, 0.000, PHS= 0.743,-0.885, 0.647, RAW= 147.0,  -6.4, CAL= 147.0,  -7.7, ROT=   3.0,   7.7

2025-10-26T22:09:33.341Z,1761516573.341 [DAT](INFO): got valid direction response:
 22:09:32.1126 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 512, 0.18, 0.641,-0.930, 0.691, 0.000, PHS= 0.743,-0.885, 0.647, RAW= 147.0,  -6.4, CAL= 147.0,  -7.7, ROT=   3.0,   7.7

2025-10-26T22:09:33.341Z,1761516573.341 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-10-26T22:09:33.342Z,1761516573.342 [DAT](INFO): direction in FSK: [0.989625,0.051864,-0.133986]
2025-10-26T22:09:33.342Z,1761516573.342 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:33.380Z,1761516573.380 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.055529
2025-10-26T22:09:33.576Z,1761516573.576 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.280734
2025-10-26T22:09:33.641Z,1761516573.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.099998 m,
      deltaT: 0.505043 s,
      deltaX: -0.200001 m,
      approachRate: -0.396007 m/s,
      rangeRepo size: 4

2025-10-26T22:09:33.643Z,1761516573.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.905300 m,
      bearing: 66.110863 deg,
      lat: 36.779395 deg,
      lon: -121.859454 deg,
      deltaT: 0.505043 s,
      deltaX: -0.198719 m,
      approachRate: -0.393470 m/s,
      posRepo size: 4

2025-10-26T22:09:33.648Z,1761516573.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.91 m.
2025-10-26T22:09:33.651Z,1761516573.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.905300 m,
      nav range: 31.324974 m,
      bearing: 53.594720 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003452 deg/s,
      cmd heading: 63.484177 deg,
      new cmd heading: 63.480302 deg.

2025-10-26T22:09:33.656Z,1761516573.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.107940 target range: 31.905300 and range: 32.10 m.
2025-10-26T22:09:33.829Z,1761516573.829 [DAT](INFO): DAT read: Rx Time:22:09:32.6125 

2025-10-26T22:09:33.829Z,1761516573.829 [DAT](INFO): Rx dataTimestamp_ set to:1761516573.829115
2025-10-26T22:09:33.831Z,1761516573.831 [DAT](INFO): DAT read: Bearing 214.5, -14.4 (Local)

2025-10-26T22:09:33.831Z,1761516573.831 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.5, -14.4 (Local)

2025-10-26T22:09:33.833Z,1761516573.833 [DAT](INFO): DAT read: Range 11 to 50 :    31.8 m (trip time 21.2 ms) speed 0.5

2025-10-26T22:09:33.838Z,1761516573.838 [DAT](INFO): DAT read: 22:09:32.6125 LVL= 32752, 32753, 31842, 32755, AGC= 63, IDX= 510,-0.27, 2.482, 1.100, 3.066, 2.500, PHS= 0.084,-1.355, 0.522, RAW= 162.9,   8.9, CAL= 162.6,   9.3, ROT= 347.4,  -9.3

2025-10-26T22:09:33.839Z,1761516573.839 [DAT](INFO): got valid direction response:
 22:09:32.6125 LVL= 32752, 32753, 31842, 32755, AGC= 63, IDX= 510,-0.27, 2.482, 1.100, 3.066, 2.500, PHS= 0.084,-1.355, 0.522, RAW= 162.9,   8.9, CAL= 162.6,   9.3, ROT= 347.4,  -9.3

2025-10-26T22:09:33.843Z,1761516573.843 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-10-26T22:09:33.853Z,1761516573.853 [DAT](INFO): direction in FSK: [0.963089,-0.215276,0.161604]
2025-10-26T22:09:33.853Z,1761516573.853 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:33.867Z,1761516573.867 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.571436
2025-10-26T22:09:34.078Z,1761516574.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.799999 m,
      deltaT: 0.502905 s,
      deltaX: -0.299999 m,
      approachRate: -0.596533 m/s,
      rangeRepo size: 4

2025-10-26T22:09:34.081Z,1761516574.081 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.784949
2025-10-26T22:09:34.082Z,1761516574.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.607121 m,
      bearing: 53.920221 deg,
      lat: 36.779393 deg,
      lon: -121.859454 deg,
      deltaT: 0.502905 s,
      deltaX: -0.298180 m,
      approachRate: -0.592914 m/s,
      posRepo size: 4

2025-10-26T22:09:34.083Z,1761516574.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.61 m.
2025-10-26T22:09:34.085Z,1761516574.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.607121 m,
      nav range: 30.971380 m,
      bearing: 53.855431 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003452 deg/s,
      cmd heading: 63.480304 deg,
      new cmd heading: 63.475774 deg.

2025-10-26T22:09:34.086Z,1761516574.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.107861 target range: 31.607121 and range: 31.80 m.
2025-10-26T22:09:34.334Z,1761516574.334 [DAT](INFO): DAT read: Rx Time:22:09:33.1124 

2025-10-26T22:09:34.335Z,1761516574.335 [DAT](INFO): Rx dataTimestamp_ set to:1761516574.334441
2025-10-26T22:09:34.337Z,1761516574.337 [DAT](INFO): DAT read: Bearing 214.1, -14.9 (Local)

2025-10-26T22:09:34.337Z,1761516574.337 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.1, -14.9 (Local)

2025-10-26T22:09:34.341Z,1761516574.341 [DAT](INFO): DAT read: Range 11 to 50 :    31.7 m (trip time 21.1 ms) speed 0.4

2025-10-26T22:09:34.349Z,1761516574.349 [DAT](INFO): DAT read: 22:09:33.1124 LVL= 32752, 32753, 30674, 32755, AGC= 66, IDX= 509, 0.13,-2.147, 2.732,-1.531,-2.125, PHS= 0.081,-1.381, 0.550, RAW= 163.5,   8.6, CAL= 163.2,   9.0, ROT= 346.8,  -9.0

2025-10-26T22:09:34.350Z,1761516574.350 [DAT](INFO): got valid direction response:
 22:09:33.1124 LVL= 32752, 32753, 30674, 32755, AGC= 66, IDX= 509, 0.13,-2.147, 2.732,-1.531,-2.125, PHS= 0.081,-1.381, 0.550, RAW= 163.5,   8.6, CAL= 163.2,   9.0, ROT= 346.8,  -9.0

2025-10-26T22:09:34.351Z,1761516574.351 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-26T22:09:34.369Z,1761516574.369 [DAT](INFO): direction in FSK: [0.961592,-0.225540,0.156434]
2025-10-26T22:09:34.369Z,1761516574.369 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:34.394Z,1761516574.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431372,-0.886377,-0.168092],[0.902163,0.422868,0.085354],[-0.004575,-0.188466,0.982069]]
2025-10-26T22:09:34.397Z,1761516574.397 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.101502
2025-10-26T22:09:34.458Z,1761516574.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.700001 m,
      deltaT: 0.505326 s,
      deltaX: -0.099998 m,
      approachRate: -0.197889 m/s,
      rangeRepo size: 4

2025-10-26T22:09:34.460Z,1761516574.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.507729 m,
      bearing: 53.162665 deg,
      lat: 36.779395 deg,
      lon: -121.859454 deg,
      deltaT: 0.505326 s,
      deltaX: -0.099392 m,
      approachRate: -0.196689 m/s,
      posRepo size: 4

2025-10-26T22:09:34.461Z,1761516574.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.51 m.
2025-10-26T22:09:34.468Z,1761516574.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.507729 m,
      nav range: 30.899435 m,
      bearing: 53.535616 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003452 deg/s,
      cmd heading: 63.475776 deg,
      new cmd heading: 63.471844 deg.

2025-10-26T22:09:34.469Z,1761516574.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.107793 target range: 31.507729 and range: 31.70 m.
2025-10-26T22:09:34.584Z,1761516574.584 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.288849
2025-10-26T22:09:34.799Z,1761516574.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431819,-0.886091,-0.168450],[0.901951,0.423348,0.085212],[-0.004192,-0.188730,0.982020]]
2025-10-26T22:09:34.832Z,1761516574.832 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:09:34.834Z,1761516574.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.51 m.
2025-10-26T22:09:34.837Z,1761516574.837 [DAT](INFO): DAT read: Rx Time:22:09:33.6122 

2025-10-26T22:09:34.838Z,1761516574.838 [DAT](INFO): Rx dataTimestamp_ set to:1761516574.837454
2025-10-26T22:09:34.839Z,1761516574.839 [DAT](INFO): DAT read: Bearing 215.1, -14.1 (Local)

2025-10-26T22:09:34.839Z,1761516574.839 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.1, -14.1 (Local)

2025-10-26T22:09:34.841Z,1761516574.841 [DAT](INFO): DAT read: Range 11 to 50 :    31.4 m (trip time 20.9 ms) speed 0.5

2025-10-26T22:09:34.846Z,1761516574.846 [DAT](INFO): DAT read: 22:09:33.6122 LVL= 32752, 32753, 31218, 32755, AGC= 64, IDX= 507,-0.31, 0.743,-0.630, 1.307, 0.768, PHS= 0.077,-1.353, 0.495, RAW= 162.5,   9.3, CAL= 162.3,  10.0, ROT= 347.7, -10.0

2025-10-26T22:09:34.851Z,1761516574.851 [DAT](INFO): got valid direction response:
 22:09:33.6122 LVL= 32752, 32753, 31218, 32755, AGC= 64, IDX= 507,-0.31, 0.743,-0.630, 1.307, 0.768, PHS= 0.077,-1.353, 0.495, RAW= 162.5,   9.3, CAL= 162.3,  10.0, ROT= 347.7, -10.0

2025-10-26T22:09:34.851Z,1761516574.851 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-10-26T22:09:34.852Z,1761516574.852 [DAT](INFO): direction in FSK: [0.962202,-0.209794,0.173648]
2025-10-26T22:09:34.853Z,1761516574.853 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:34.865Z,1761516574.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.507729 m,
      nav range: 30.688896 m,
      bearing: 53.506475 deg,
      approach rate: -0.559132 m/s,
      LOS rate: -0.077921 deg/s,
      cmd heading: 63.471841 deg,
      new cmd heading: 63.383819 deg.

2025-10-26T22:09:34.866Z,1761516574.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106256 target range: 31.507729 and range: 31.70 m.
2025-10-26T22:09:34.876Z,1761516574.876 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.580778
2025-10-26T22:09:35.088Z,1761516575.088 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.792891
2025-10-26T22:09:35.248Z,1761516575.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432077,-0.886338,-0.166475],[0.901829,0.423879,0.083855],[-0.003759,-0.186364,0.982474]]
2025-10-26T22:09:35.301Z,1761516575.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.400000 m,
      deltaT: 0.503013 s,
      deltaX: -0.300001 m,
      approachRate: -0.596408 m/s,
      rangeRepo size: 4

2025-10-26T22:09:35.303Z,1761516575.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.209591 m,
      bearing: 54.172199 deg,
      lat: 36.779393 deg,
      lon: -121.859453 deg,
      deltaT: 0.503013 s,
      deltaX: -0.298138 m,
      approachRate: -0.592704 m/s,
      posRepo size: 4

2025-10-26T22:09:35.304Z,1761516575.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.21 m.
2025-10-26T22:09:35.307Z,1761516575.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.209591 m,
      nav range: 30.370218 m,
      bearing: 53.828345 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.077921 deg/s,
      cmd heading: 63.383821 deg,
      new cmd heading: 63.274693 deg.

2025-10-26T22:09:35.328Z,1761516575.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.104352 target range: 31.209591 and range: 31.40 m.
2025-10-26T22:09:35.341Z,1761516575.341 [DAT](INFO): DAT read: Rx Time:22:09:34.1121 

2025-10-26T22:09:35.341Z,1761516575.341 [DAT](INFO): Rx dataTimestamp_ set to:1761516575.341211
2025-10-26T22:09:35.343Z,1761516575.343 [DAT](INFO): DAT read: Bearing 214.7, -14.0 (Local)

2025-10-26T22:09:35.343Z,1761516575.343 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.7, -14.0 (Local)

2025-10-26T22:09:35.345Z,1761516575.345 [DAT](INFO): DAT read: Range 11 to 50 :    31.2 m (trip time 20.8 ms) speed 0.5

2025-10-26T22:09:35.350Z,1761516575.350 [DAT](INFO): DAT read: 22:09:34.1121 LVL= 32752, 32753, 28402, 32755, AGC= 64, IDX= 506, 0.10,-3.092, 1.783,-2.517,-3.078, PHS= 0.088,-1.377, 0.517, RAW= 162.5,   9.0, CAL= 162.3,   9.5, ROT= 347.7,  -9.5

2025-10-26T22:09:35.354Z,1761516575.354 [DAT](INFO): got valid direction response:
 22:09:34.1121 LVL= 32752, 32753, 28402, 32755, AGC= 64, IDX= 506, 0.10,-3.092, 1.783,-2.517,-3.078, PHS= 0.088,-1.377, 0.517, RAW= 162.5,   9.0, CAL= 162.3,   9.5, ROT= 347.7,  -9.5

2025-10-26T22:09:35.354Z,1761516575.354 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-26T22:09:35.355Z,1761516575.355 [DAT](INFO): direction in FSK: [0.963646,-0.210109,0.165048]
2025-10-26T22:09:35.356Z,1761516575.356 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:35.391Z,1761516575.391 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.063564
2025-10-26T22:09:35.593Z,1761516575.593 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.297241
2025-10-26T22:09:35.662Z,1761516575.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432176,-0.886975,-0.162783],[0.901783,0.424400,0.081687],[-0.003369,-0.182098,0.983275]]
2025-10-26T22:09:35.741Z,1761516575.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.200001 m,
      deltaT: 0.503757 s,
      deltaX: -0.199999 m,
      approachRate: -0.397015 m/s,
      rangeRepo size: 4

2025-10-26T22:09:35.743Z,1761516575.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.010742 m,
      bearing: 54.019631 deg,
      lat: 36.779393 deg,
      lon: -121.859451 deg,
      deltaT: 0.503757 s,
      deltaX: -0.198849 m,
      approachRate: -0.394731 m/s,
      posRepo size: 4

2025-10-26T22:09:35.748Z,1761516575.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.01 m.
2025-10-26T22:09:35.750Z,1761516575.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.010742 m,
      nav range: 30.359201 m,
      bearing: 54.066004 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.077921 deg/s,
      cmd heading: 63.274695 deg,
      new cmd heading: 63.171953 deg.

2025-10-26T22:09:35.755Z,1761516575.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.102559 target range: 31.010742 and range: 31.20 m.
2025-10-26T22:09:35.846Z,1761516575.846 [DAT](INFO): DAT read: Rx Time:22:09:34.6118 

2025-10-26T22:09:35.846Z,1761516575.846 [DAT](INFO): Rx dataTimestamp_ set to:1761516575.846195
2025-10-26T22:09:35.848Z,1761516575.848 [DAT](INFO): DAT read: Bearing 215.7, -14.9 (Local)

2025-10-26T22:09:35.849Z,1761516575.849 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.7, -14.9 (Local)

2025-10-26T22:09:35.852Z,1761516575.852 [DAT](INFO): DAT read: Range 11 to 50 :    30.9 m (trip time 20.6 ms) speed 0.4

2025-10-26T22:09:35.860Z,1761516575.860 [DAT](INFO): DAT read: 22:09:34.6118 LVL= 32752, 32753, 28818, 32755, AGC= 66, IDX= 503, 0.39,-3.015, 1.882,-2.419,-2.966, PHS= 0.052,-1.391, 0.503, RAW= 163.2,   9.8, CAL= 163.1,  10.6, ROT= 346.9, -10.6

2025-10-26T22:09:35.861Z,1761516575.861 [DAT](INFO): got valid direction response:
 22:09:34.6118 LVL= 32752, 32753, 28818, 32755, AGC= 66, IDX= 503, 0.39,-3.015, 1.882,-2.419,-2.966, PHS= 0.052,-1.391, 0.503, RAW= 163.2,   9.8, CAL= 163.1,  10.6, ROT= 346.9, -10.6

2025-10-26T22:09:35.862Z,1761516575.862 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-26T22:09:35.863Z,1761516575.863 [DAT](INFO): direction in FSK: [0.957355,-0.222784,0.183951]
2025-10-26T22:09:35.863Z,1761516575.863 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:35.877Z,1761516575.877 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.581012
2025-10-26T22:09:36.062Z,1761516576.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432208,-0.887639,-0.159040],[0.901769,0.424832,0.079568],[-0.003062,-0.177807,0.984061]]
2025-10-26T22:09:36.097Z,1761516576.097 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.800992
2025-10-26T22:09:36.148Z,1761516576.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.900000 m,
      deltaT: 0.504984 s,
      deltaX: -0.300001 m,
      approachRate: -0.594081 m/s,
      rangeRepo size: 4

2025-10-26T22:09:36.150Z,1761516576.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.712561 m,
      bearing: 53.374588 deg,
      lat: 36.779394 deg,
      lon: -121.859453 deg,
      deltaT: 0.504984 s,
      deltaX: -0.298182 m,
      approachRate: -0.590477 m/s,
      posRepo size: 4

2025-10-26T22:09:36.151Z,1761516576.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.71 m.
2025-10-26T22:09:36.158Z,1761516576.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.712561 m,
      nav range: 29.941660 m,
      bearing: 53.682036 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.077921 deg/s,
      cmd heading: 63.171955 deg,
      new cmd heading: 63.077710 deg.

2025-10-26T22:09:36.159Z,1761516576.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.100914 target range: 30.712561 and range: 30.90 m.
2025-10-26T22:09:36.349Z,1761516576.349 [DAT](INFO): DAT read: Rx Time:22:09:35.1117 

2025-10-26T22:09:36.349Z,1761516576.349 [DAT](INFO): Rx dataTimestamp_ set to:1761516576.349130
2025-10-26T22:09:36.351Z,1761516576.351 [DAT](INFO): DAT read: Bearing 214.9, -14.8 (Local)

2025-10-26T22:09:36.351Z,1761516576.351 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.9, -14.8 (Local)

2025-10-26T22:09:36.353Z,1761516576.353 [DAT](INFO): DAT read: Range 11 to 50 :    30.8 m (trip time 20.5 ms) speed 0.4

2025-10-26T22:09:36.358Z,1761516576.358 [DAT](INFO): DAT read: 22:09:35.1117 LVL= 32752, 32753, 29970, 32755, AGC= 66, IDX= 502,-0.22, 2.884, 1.496,-2.797, 2.919, PHS= 0.067,-1.377, 0.524, RAW= 163.3,   9.2, CAL= 163.1,   9.8, ROT= 346.9,  -9.8

2025-10-26T22:09:36.359Z,1761516576.359 [DAT](INFO): got valid direction response:
 22:09:35.1117 LVL= 32752, 32753, 29970, 32755, AGC= 66, IDX= 502,-0.22, 2.884, 1.496,-2.797, 2.919, PHS= 0.067,-1.377, 0.524, RAW= 163.3,   9.2, CAL= 163.1,   9.8, ROT= 346.9,  -9.8

2025-10-26T22:09:36.359Z,1761516576.359 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-10-26T22:09:36.363Z,1761516576.363 [DAT](INFO): direction in FSK: [0.959764,-0.223344,0.170209]
2025-10-26T22:09:36.364Z,1761516576.364 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:36.370Z,1761516576.370 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.071676
2025-10-26T22:09:36.513Z,1761516576.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433383,-0.887442,-0.156927],[0.901206,0.426261,0.078286],[-0.002583,-0.175352,0.984502]]
2025-10-26T22:09:36.568Z,1761516576.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.799999 m,
      deltaT: 0.502935 s,
      deltaX: -0.100000 m,
      approachRate: -0.198834 m/s,
      rangeRepo size: 4

2025-10-26T22:09:36.570Z,1761516576.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.613167 m,
      bearing: 53.123573 deg,
      lat: 36.779395 deg,
      lon: -121.859453 deg,
      deltaT: 0.502935 s,
      deltaX: -0.099394 m,
      approachRate: -0.197628 m/s,
      posRepo size: 4

2025-10-26T22:09:36.571Z,1761516576.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.61 m.
2025-10-26T22:09:36.578Z,1761516576.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.613167 m,
      nav range: 29.839815 m,
      bearing: 53.452152 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.077921 deg/s,
      cmd heading: 63.077712 deg,
      new cmd heading: 62.979683 deg.

2025-10-26T22:09:36.579Z,1761516576.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.099203 target range: 30.613167 and range: 30.80 m.
2025-10-26T22:09:36.601Z,1761516576.601 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.304983
2025-10-26T22:09:36.853Z,1761516576.853 [DAT](INFO): DAT read: Rx Time:22:09:35.6114 

2025-10-26T22:09:36.853Z,1761516576.853 [DAT](INFO): Rx dataTimestamp_ set to:1761516576.853134
2025-10-26T22:09:36.855Z,1761516576.855 [DAT](INFO): DAT read: Bearing 214.4, -14.9 (Local)

2025-10-26T22:09:36.855Z,1761516576.855 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.4, -14.9 (Local)

2025-10-26T22:09:36.857Z,1761516576.857 [DAT](INFO): DAT read: Range 11 to 50 :    30.3 m (trip time 20.2 ms) speed 0.4

2025-10-26T22:09:36.862Z,1761516576.862 [DAT](INFO): DAT read: 22:09:35.6114 LVL= 32752, 32753, 27410, 32755, AGC= 66, IDX= 499, 0.01,-2.577, 2.303,-1.955,-2.548, PHS= 0.073,-1.388, 0.548, RAW= 163.6,   8.8, CAL= 163.4,   9.3, ROT= 346.6,  -9.3

2025-10-26T22:09:36.863Z,1761516576.863 [DAT](INFO): got valid direction response:
 22:09:35.6114 LVL= 32752, 32753, 27410, 32755, AGC= 66, IDX= 499, 0.01,-2.577, 2.303,-1.955,-2.548, PHS= 0.073,-1.388, 0.548, RAW= 163.6,   8.8, CAL= 163.4,   9.3, ROT= 346.6,  -9.3

2025-10-26T22:09:36.869Z,1761516576.869 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-26T22:09:36.872Z,1761516576.872 [DAT](INFO): direction in FSK: [0.959989,-0.228702,0.161604]
2025-10-26T22:09:36.872Z,1761516576.872 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:36.878Z,1761516576.878 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.581859
2025-10-26T22:09:36.000Z,1761516577.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433672,-0.886898,-0.159188],[0.901068,0.426419,0.079016],[-0.002199,-0.177706,0.984081]]
2025-10-26T22:09:37.105Z,1761516577.105 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.808911
2025-10-26T22:09:37.121Z,1761516577.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.299999 m,
      deltaT: 0.504004 s,
      deltaX: -0.500000 m,
      approachRate: -0.992056 m/s,
      rangeRepo size: 4

2025-10-26T22:09:37.123Z,1761516577.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.116243 m,
      bearing: 52.745102 deg,
      lat: 36.779395 deg,
      lon: -121.859453 deg,
      deltaT: 0.504004 s,
      deltaX: -0.496923 m,
      approachRate: -0.985951 m/s,
      posRepo size: 4

2025-10-26T22:09:37.127Z,1761516577.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.12 m.
2025-10-26T22:09:37.130Z,1761516577.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.116243 m,
      nav range: 29.537334 m,
      bearing: 53.384503 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.077921 deg/s,
      cmd heading: 62.979685 deg,
      new cmd heading: 62.849412 deg.

2025-10-26T22:09:37.131Z,1761516577.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.096929 target range: 30.116243 and range: 30.30 m.
2025-10-26T22:09:37.359Z,1761516577.359 [DAT](INFO): DAT read: Rx Time:22:09:36.1113 

2025-10-26T22:09:37.360Z,1761516577.360 [DAT](INFO): Rx dataTimestamp_ set to:1761516577.359256
2025-10-26T22:09:37.361Z,1761516577.361 [DAT](INFO): DAT read: Bearing 213.8, -14.9 (Local)

2025-10-26T22:09:37.362Z,1761516577.362 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.8, -14.9 (Local)

2025-10-26T22:09:37.365Z,1761516577.365 [DAT](INFO): DAT read: Range 11 to 50 :    30.2 m (trip time 20.1 ms) speed 0.4

2025-10-26T22:09:37.374Z,1761516577.374 [DAT](INFO): DAT read: 22:09:36.1113 LVL= 32752, 32753, 29442, 32755, AGC= 66, IDX= 498, 0.24, 0.136,-1.278, 0.764, 0.155, PHS= 0.083,-1.389, 0.564, RAW= 163.7,   8.5, CAL= 163.4,   8.8, ROT= 346.6,  -8.8

2025-10-26T22:09:37.389Z,1761516577.389 [DAT](INFO): got valid direction response:
 22:09:36.1113 LVL= 32752, 32753, 29442, 32755, AGC= 66, IDX= 498, 0.24, 0.136,-1.278, 0.764, 0.155, PHS= 0.083,-1.389, 0.564, RAW= 163.7,   8.5, CAL= 163.4,   8.8, ROT= 346.6,  -8.8

2025-10-26T22:09:37.389Z,1761516577.389 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-10-26T22:09:37.391Z,1761516577.391 [DAT](INFO): direction in FSK: [0.961325,-0.229020,0.152986]
2025-10-26T22:09:37.391Z,1761516577.391 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:37.442Z,1761516577.442 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.145936
2025-10-26T22:09:37.472Z,1761516577.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433204,-0.886776,-0.161128],[0.901295,0.425917,0.079138],[-0.001550,-0.179507,0.983755]]
2025-10-26T22:09:37.548Z,1761516577.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.200001 m,
      deltaT: 0.506122 s,
      deltaX: -0.099998 m,
      approachRate: -0.197578 m/s,
      rangeRepo size: 4

2025-10-26T22:09:37.550Z,1761516577.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.016851 m,
      bearing: 52.703464 deg,
      lat: 36.779397 deg,
      lon: -121.859454 deg,
      deltaT: 0.506122 s,
      deltaX: -0.099392 m,
      approachRate: -0.196379 m/s,
      posRepo size: 4

2025-10-26T22:09:37.550Z,1761516577.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.02 m.
2025-10-26T22:09:37.557Z,1761516577.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.016851 m,
      nav range: 29.389111 m,
      bearing: 52.909204 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.077921 deg/s,
      cmd heading: 62.849413 deg,
      new cmd heading: 62.750571 deg.

2025-10-26T22:09:37.558Z,1761516577.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095204 target range: 30.016851 and range: 30.20 m.
2025-10-26T22:09:37.609Z,1761516577.609 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.313541
2025-10-26T22:09:37.861Z,1761516577.861 [DAT](INFO): DAT read: Rx Time:22:09:36.6110 

2025-10-26T22:09:37.862Z,1761516577.862 [DAT](INFO): Rx dataTimestamp_ set to:1761516577.861259
2025-10-26T22:09:37.863Z,1761516577.863 [DAT](INFO): DAT read: Bearing 210.7, -14.0 (Local)

2025-10-26T22:09:37.864Z,1761516577.864 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.7, -14.0 (Local)

2025-10-26T22:09:37.866Z,1761516577.866 [DAT](INFO): DAT read: Range 11 to 50 :    29.7 m (trip time 19.8 ms) speed 0.4

2025-10-26T22:09:37.870Z,1761516577.870 [DAT](INFO): DAT read: 22:09:36.6110 LVL= 32752, 32753, 26578, 32755, AGC= 64, IDX= 496,-0.33, 2.920, 1.525,-2.741, 2.876, PHS= 0.145,-1.306, 0.622, RAW= 163.7,   6.3, CAL= 163.0,   5.8, ROT= 347.0,  -5.8

2025-10-26T22:09:37.883Z,1761516577.883 [DAT](INFO): got valid direction response:
 22:09:36.6110 LVL= 32752, 32753, 26578, 32755, AGC= 64, IDX= 496,-0.33, 2.920, 1.525,-2.741, 2.876, PHS= 0.145,-1.306, 0.622, RAW= 163.7,   6.3, CAL= 163.0,   5.8, ROT= 347.0,  -5.8

2025-10-26T22:09:37.884Z,1761516577.884 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-26T22:09:37.885Z,1761516577.885 [DAT](INFO): direction in FSK: [0.969382,-0.223799,0.101056]
2025-10-26T22:09:37.885Z,1761516577.885 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:37.893Z,1761516577.893 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.597013
2025-10-26T22:09:37.898Z,1761516577.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432922,-0.886886,-0.161284],[0.901430,0.425640,0.079084],[-0.001490,-0.179623,0.983734]]
2025-10-26T22:09:38.073Z,1761516578.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.502003 s,
      deltaX: -0.500000 m,
      approachRate: -0.996010 m/s,
      rangeRepo size: 4

2025-10-26T22:09:38.075Z,1761516578.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.519932 m,
      bearing: 52.578017 deg,
      lat: 36.779398 deg,
      lon: -121.859454 deg,
      deltaT: 0.502003 s,
      deltaX: -0.496920 m,
      approachRate: -0.989874 m/s,
      posRepo size: 4

2025-10-26T22:09:38.080Z,1761516578.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.52 m.
2025-10-26T22:09:38.082Z,1761516578.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.519932 m,
      nav range: 29.134649 m,
      bearing: 52.776410 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.077921 deg/s,
      cmd heading: 62.750573 deg,
      new cmd heading: 62.626811 deg.

2025-10-26T22:09:38.088Z,1761516578.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.093044 target range: 29.519932 and range: 29.70 m.
2025-10-26T22:09:38.113Z,1761516578.113 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.816931
2025-10-26T22:09:38.365Z,1761516578.365 [DAT](INFO): DAT read: Rx Time:22:09:37.1110 

2025-10-26T22:09:38.365Z,1761516578.365 [DAT](INFO): Rx dataTimestamp_ set to:1761516578.365079
2025-10-26T22:09:38.367Z,1761516578.367 [DAT](INFO): DAT read: Bearing 211.5, -14.3 (Local)

2025-10-26T22:09:38.367Z,1761516578.367 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.5, -14.3 (Local)

2025-10-26T22:09:38.369Z,1761516578.369 [DAT](INFO): DAT read: Range 11 to 50 :    29.7 m (trip time 19.8 ms) speed 0.4

2025-10-26T22:09:38.374Z,1761516578.374 [DAT](INFO): DAT read: 22:09:37.1110 LVL= 32384, 32753, 23714, 32755, AGC= 66, IDX= 511,-0.08,-1.945, 2.948,-1.320,-1.970, PHS= 0.127,-1.320, 0.606, RAW= 163.8,   6.8, CAL= 163.2,   6.5, ROT= 346.8,  -6.5

2025-10-26T22:09:38.375Z,1761516578.375 [DAT](INFO): got valid direction response:
 22:09:37.1110 LVL= 32384, 32753, 23714, 32755, AGC= 66, IDX= 511,-0.08,-1.945, 2.948,-1.320,-1.970, PHS= 0.127,-1.320, 0.606, RAW= 163.8,   6.8, CAL= 163.2,   6.5, ROT= 346.8,  -6.5

2025-10-26T22:09:38.375Z,1761516578.375 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-26T22:09:38.379Z,1761516578.379 [DAT](INFO): direction in FSK: [0.967321,-0.226883,0.113203]
2025-10-26T22:09:38.379Z,1761516578.379 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:38.383Z,1761516578.383 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.087019
2025-10-26T22:09:38.465Z,1761516578.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431677,-0.887571,-0.160847],[0.902027,0.424529,0.078242],[-0.001161,-0.178864,0.983873]]
2025-10-26T22:09:38.566Z,1761516578.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.503820 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:09:38.580Z,1761516578.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.519932 m,
      bearing: 52.577383 deg,
      lat: 36.779398 deg,
      lon: -121.859454 deg,
      deltaT: 0.503820 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:09:38.581Z,1761516578.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.52 m.
2025-10-26T22:09:38.584Z,1761516578.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.519932 m,
      nav range: 28.907715 m,
      bearing: 52.567598 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.077921 deg/s,
      cmd heading: 62.626810 deg,
      new cmd heading: 62.511491 deg.

2025-10-26T22:09:38.585Z,1761516578.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.091031 target range: 29.519932 and range: 29.70 m.
2025-10-26T22:09:38.616Z,1761516578.616 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.320878
2025-10-26T22:09:38.869Z,1761516578.869 [DAT](INFO): DAT read: Rx Time:22:09:37.6107 

2025-10-26T22:09:38.869Z,1761516578.869 [DAT](INFO): Rx dataTimestamp_ set to:1761516578.869112
2025-10-26T22:09:38.871Z,1761516578.871 [DAT](INFO): DAT read: Bearing 212.3, -14.7 (Local)

2025-10-26T22:09:38.871Z,1761516578.871 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.3, -14.7 (Local)

2025-10-26T22:09:38.873Z,1761516578.873 [DAT](INFO): DAT read: Range 11 to 50 :    29.3 m (trip time 19.5 ms) speed 0.4

2025-10-26T22:09:38.878Z,1761516578.878 [DAT](INFO): DAT read: 22:09:37.6107 LVL= 32304, 32753, 26386, 32755, AGC= 67, IDX= 508, 0.10,-1.586,-2.988,-0.945,-1.590, PHS= 0.106,-1.353, 0.600, RAW= 164.1,   7.4, CAL= 163.6,   7.4, ROT= 346.4,  -7.4

2025-10-26T22:09:38.879Z,1761516578.879 [DAT](INFO): got valid direction response:
 22:09:37.6107 LVL= 32304, 32753, 26386, 32755, AGC= 67, IDX= 508, 0.10,-1.586,-2.988,-0.945,-1.590, PHS= 0.106,-1.353, 0.600, RAW= 164.1,   7.4, CAL= 163.6,   7.4, ROT= 346.4,  -7.4

2025-10-26T22:09:38.898Z,1761516578.898 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-10-26T22:09:38.908Z,1761516578.908 [DAT](INFO): direction in FSK: [0.963866,-0.233184,0.128796]
2025-10-26T22:09:38.909Z,1761516578.909 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:38.912Z,1761516578.912 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.616612
2025-10-26T22:09:38.960Z,1761516578.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428873,-0.889584,-0.157190],[0.903365,0.422406,0.074198],[0.000392,-0.173821,0.984777]]
2025-10-26T22:09:39.086Z,1761516579.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.299999 m,
      deltaT: 0.504033 s,
      deltaX: -0.400002 m,
      approachRate: -0.793602 m/s,
      rangeRepo size: 4

2025-10-26T22:09:39.092Z,1761516579.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.122360 m,
      bearing: 52.468362 deg,
      lat: 36.779399 deg,
      lon: -121.859454 deg,
      deltaT: 0.504033 s,
      deltaX: -0.397572 m,
      approachRate: -0.788781 m/s,
      posRepo size: 4

2025-10-26T22:09:39.093Z,1761516579.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.12 m.
2025-10-26T22:09:39.100Z,1761516579.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.122360 m,
      nav range: 28.665506 m,
      bearing: 52.403750 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.077921 deg/s,
      cmd heading: 62.511490 deg,
      new cmd heading: 62.389979 deg.

2025-10-26T22:09:39.101Z,1761516579.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.088911 target range: 29.122360 and range: 29.30 m.
2025-10-26T22:09:39.121Z,1761516579.121 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.824889
2025-10-26T22:09:39.373Z,1761516579.373 [DAT](INFO): DAT read: Rx Time:22:09:38.1106 

2025-10-26T22:09:39.373Z,1761516579.373 [DAT](INFO): Rx dataTimestamp_ set to:1761516579.373214
2025-10-26T22:09:39.375Z,1761516579.375 [DAT](INFO): DAT read: Bearing 211.3, -14.5 (Local)

2025-10-26T22:09:39.375Z,1761516579.375 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.3, -14.5 (Local)

2025-10-26T22:09:39.377Z,1761516579.377 [DAT](INFO): DAT read: Range 11 to 50 :    29.1 m (trip time 19.4 ms) speed 0.5

2025-10-26T22:09:39.382Z,1761516579.382 [DAT](INFO): DAT read: 22:09:38.1106 LVL= 32752, 32753, 22194, 32755, AGC= 66, IDX= 507, 0.37,-0.310,-1.725, 0.341,-0.337, PHS= 0.129,-1.344, 0.634, RAW= 164.2,   6.6, CAL= 163.6,   6.2, ROT= 346.4,  -6.2

2025-10-26T22:09:39.383Z,1761516579.383 [DAT](INFO): got valid direction response:
 22:09:38.1106 LVL= 32752, 32753, 22194, 32755, AGC= 66, IDX= 507, 0.37,-0.310,-1.725, 0.341,-0.337, PHS= 0.129,-1.344, 0.634, RAW= 164.2,   6.6, CAL= 163.6,   6.2, ROT= 346.4,  -6.2

2025-10-26T22:09:39.387Z,1761516579.387 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-10-26T22:09:39.388Z,1761516579.388 [DAT](INFO): direction in FSK: [0.966276,-0.233767,0.107999]
2025-10-26T22:09:39.388Z,1761516579.388 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:39.392Z,1761516579.392 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.096008
2025-10-26T22:09:39.484Z,1761516579.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427614,-0.890425,-0.155852],[0.903961,0.421392,0.072684],[0.000955,-0.171965,0.985103]]
2025-10-26T22:09:39.611Z,1761516579.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.100000 m,
      deltaT: 0.504102 s,
      deltaX: -0.199999 m,
      approachRate: -0.396743 m/s,
      rangeRepo size: 4

2025-10-26T22:09:39.617Z,1761516579.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.923580 m,
      bearing: 52.323722 deg,
      lat: 36.779399 deg,
      lon: -121.859453 deg,
      deltaT: 0.504102 s,
      deltaX: -0.198780 m,
      approachRate: -0.394325 m/s,
      posRepo size: 4

2025-10-26T22:09:39.618Z,1761516579.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m.
2025-10-26T22:09:39.624Z,1761516579.624 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.328825
2025-10-26T22:09:39.626Z,1761516579.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.923580 m,
      nav range: 28.416634 m,
      bearing: 52.386522 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.077921 deg/s,
      cmd heading: 62.389980 deg,
      new cmd heading: 62.267292 deg.

2025-10-26T22:09:39.627Z,1761516579.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.086769 target range: 28.923580 and range: 29.10 m.
2025-10-26T22:09:39.877Z,1761516579.877 [DAT](INFO): DAT read: Rx Time:22:09:38.6104 

2025-10-26T22:09:39.877Z,1761516579.877 [DAT](INFO): Rx dataTimestamp_ set to:1761516579.877123
2025-10-26T22:09:39.879Z,1761516579.879 [DAT](INFO): DAT read: Bearing 211.9, -14.5 (Local)

2025-10-26T22:09:39.879Z,1761516579.879 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.9, -14.5 (Local)

2025-10-26T22:09:39.881Z,1761516579.881 [DAT](INFO): DAT read: Range 11 to 50 :    28.8 m (trip time 19.2 ms) speed 0.4

2025-10-26T22:09:39.886Z,1761516579.886 [DAT](INFO): DAT read: 22:09:38.6104 LVL= 32752, 32753, 25458, 32755, AGC= 66, IDX= 505,-0.26, 2.732, 1.342,-2.914, 2.718, PHS= 0.117,-1.331, 0.608, RAW= 164.1,   7.0, CAL= 163.5,   6.8, ROT= 346.5,  -6.8

2025-10-26T22:09:39.887Z,1761516579.887 [DAT](INFO): got valid direction response:
 22:09:38.6104 LVL= 32752, 32753, 25458, 32755, AGC= 66, IDX= 505,-0.26, 2.732, 1.342,-2.914, 2.718, PHS= 0.117,-1.331, 0.608, RAW= 164.1,   7.0, CAL= 163.5,   6.8, ROT= 346.5,  -6.8

2025-10-26T22:09:39.893Z,1761516579.893 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-10-26T22:09:39.901Z,1761516579.901 [DAT](INFO): direction in FSK: [0.965530,-0.231803,0.118404]
2025-10-26T22:09:39.901Z,1761516579.901 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:39.911Z,1761516579.911 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.615484
2025-10-26T22:09:39.998Z,1761516579.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426273,-0.891134,-0.155470],[0.904593,0.420255,0.071398],[0.001711,-0.171072,0.985257]]
2025-10-26T22:09:40.129Z,1761516580.129 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.832895
2025-10-26T22:09:40.136Z,1761516580.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.799999 m,
      deltaT: 0.503909 s,
      deltaX: -0.300001 m,
      approachRate: -0.595348 m/s,
      rangeRepo size: 4

2025-10-26T22:09:40.138Z,1761516580.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.625397 m,
      bearing: 52.600804 deg,
      lat: 36.779399 deg,
      lon: -121.859451 deg,
      deltaT: 0.503909 s,
      deltaX: -0.298183 m,
      approachRate: -0.591741 m/s,
      posRepo size: 4

2025-10-26T22:09:40.138Z,1761516580.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.63 m.
2025-10-26T22:09:40.145Z,1761516580.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.625397 m,
      nav range: 28.224583 m,
      bearing: 52.459579 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.077921 deg/s,
      cmd heading: 62.267290 deg,
      new cmd heading: 62.145608 deg.

2025-10-26T22:09:40.146Z,1761516580.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.084646 target range: 28.625397 and range: 28.80 m.
2025-10-26T22:09:40.382Z,1761516580.382 [DAT](INFO): DAT read: Rx Time:22:09:39.1102 

2025-10-26T22:09:40.383Z,1761516580.383 [DAT](INFO): Rx dataTimestamp_ set to:1761516580.382322
2025-10-26T22:09:40.385Z,1761516580.385 [DAT](INFO): DAT read: Bearing 215.0, -15.3 (Local)

2025-10-26T22:09:40.385Z,1761516580.385 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.0, -15.3 (Local)

2025-10-26T22:09:40.387Z,1761516580.387 [DAT](INFO): DAT read: Range 11 to 50 :    28.5 m (trip time 19.0 ms) speed 0.4

2025-10-26T22:09:40.395Z,1761516580.395 [DAT](INFO): DAT read: 22:09:39.1102 LVL= 32752, 32753, 28754, 32755, AGC= 66, IDX= 503,-0.07,-2.831, 2.077,-2.195,-2.777, PHS= 0.048,-1.384, 0.539, RAW= 164.2,   9.2, CAL= 164.0,   9.9, ROT= 346.0,  -9.9

2025-10-26T22:09:40.396Z,1761516580.396 [DAT](INFO): got valid direction response:
 22:09:39.1102 LVL= 32752, 32753, 28754, 32755, AGC= 66, IDX= 503,-0.07,-2.831, 2.077,-2.195,-2.777, PHS= 0.048,-1.384, 0.539, RAW= 164.2,   9.2, CAL= 164.0,   9.9, ROT= 346.0,  -9.9

2025-10-26T22:09:40.396Z,1761516580.396 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-10-26T22:09:40.397Z,1761516580.397 [DAT](INFO): direction in FSK: [0.955847,-0.238319,0.171929]
2025-10-26T22:09:40.398Z,1761516580.398 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:40.402Z,1761516580.402 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.106208
2025-10-26T22:09:40.492Z,1761516580.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425085,-0.891553,-0.156320],[0.905149,0.419218,0.070432],[0.002738,-0.171433,0.985192]]
2025-10-26T22:09:40.565Z,1761516580.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.500000 m,
      deltaT: 0.505199 s,
      deltaX: -0.299999 m,
      approachRate: -0.593824 m/s,
      rangeRepo size: 4

2025-10-26T22:09:40.567Z,1761516580.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.327217 m,
      bearing: 52.713759 deg,
      lat: 36.779399 deg,
      lon: -121.859451 deg,
      deltaT: 0.505199 s,
      deltaX: -0.298180 m,
      approachRate: -0.590222 m/s,
      posRepo size: 4

2025-10-26T22:09:40.575Z,1761516580.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.33 m.
2025-10-26T22:09:40.578Z,1761516580.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.327217 m,
      nav range: 27.989695 m,
      bearing: 52.387514 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.077921 deg/s,
      cmd heading: 62.145610 deg,
      new cmd heading: 62.044571 deg.

2025-10-26T22:09:40.579Z,1761516580.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.082882 target range: 28.327217 and range: 28.50 m.
2025-10-26T22:09:40.634Z,1761516580.634 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.337794
2025-10-26T22:09:40.885Z,1761516580.885 [DAT](INFO): DAT read: Rx Time:22:09:39.6099 

2025-10-26T22:09:40.885Z,1761516580.885 [DAT](INFO): Rx dataTimestamp_ set to:1761516580.885075
2025-10-26T22:09:40.887Z,1761516580.887 [DAT](INFO): DAT read: Bearing 213.6, -15.2 (Local)

2025-10-26T22:09:40.887Z,1761516580.887 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.6, -15.2 (Local)

2025-10-26T22:09:40.889Z,1761516580.889 [DAT](INFO): DAT read: Range 11 to 50 :    28.1 m (trip time 18.7 ms) speed 0.4

2025-10-26T22:09:40.894Z,1761516580.894 [DAT](INFO): DAT read: 22:09:39.6099 LVL= 32752, 32753, 25762, 32755, AGC= 66, IDX= 500, 0.15, 3.021, 1.618,-2.606, 3.049, PHS= 0.074,-1.386, 0.585, RAW= 164.5,   8.3, CAL= 164.1,   8.5, ROT= 345.9,  -8.5

2025-10-26T22:09:40.903Z,1761516580.903 [DAT](INFO): got valid direction response:
 22:09:39.6099 LVL= 32752, 32753, 25762, 32755, AGC= 66, IDX= 500, 0.15, 3.021, 1.618,-2.606, 3.049, PHS= 0.074,-1.386, 0.585, RAW= 164.5,   8.3, CAL= 164.1,   8.5, ROT= 345.9,  -8.5

2025-10-26T22:09:40.903Z,1761516580.903 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-10-26T22:09:40.904Z,1761516580.904 [DAT](INFO): direction in FSK: [0.959219,-0.240939,0.147809]
2025-10-26T22:09:40.905Z,1761516580.905 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:40.908Z,1761516580.908 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.612669
2025-10-26T22:09:40.945Z,1761516580.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423634,-0.891868,-0.158449],[0.905820,0.418047,0.068749],[0.004924,-0.172651,0.984971]]
2025-10-26T22:09:41.067Z,1761516581.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.100000 m,
      deltaT: 0.502753 s,
      deltaX: -0.400000 m,
      approachRate: -0.795619 m/s,
      rangeRepo size: 4

2025-10-26T22:09:41.077Z,1761516581.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.929575 m,
      bearing: 52.472263 deg,
      lat: 36.779399 deg,
      lon: -121.859453 deg,
      deltaT: 0.502753 s,
      deltaX: -0.397642 m,
      approachRate: -0.790929 m/s,
      posRepo size: 4

2025-10-26T22:09:41.077Z,1761516581.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.93 m.
2025-10-26T22:09:41.082Z,1761516581.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.929575 m,
      nav range: 27.613775 m,
      bearing: 52.189719 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.077921 deg/s,
      cmd heading: 62.044571 deg,
      new cmd heading: 61.927010 deg.

2025-10-26T22:09:41.083Z,1761516581.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.080830 target range: 27.929575 and range: 28.10 m.
2025-10-26T22:09:41.137Z,1761516581.137 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.841514
2025-10-26T22:09:41.389Z,1761516581.389 [DAT](INFO): DAT read: Rx Time:22:09:40.1098 

2025-10-26T22:09:41.389Z,1761516581.389 [DAT](INFO): Rx dataTimestamp_ set to:1761516581.389223
2025-10-26T22:09:41.391Z,1761516581.391 [DAT](INFO): DAT read: Bearing 214.5, -15.4 (Local)

2025-10-26T22:09:41.391Z,1761516581.391 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.5, -15.4 (Local)

2025-10-26T22:09:41.393Z,1761516581.393 [DAT](INFO): DAT read: Range 11 to 50 :    27.9 m (trip time 18.6 ms) speed 0.4

2025-10-26T22:09:41.398Z,1761516581.398 [DAT](INFO): DAT read: 22:09:40.1098 LVL= 32752, 32753, 27026, 32755, AGC= 66, IDX= 499, 0.43,-2.099, 2.788,-1.446,-2.052, PHS= 0.054,-1.399, 0.562, RAW= 164.4,   8.9, CAL= 164.2,   9.4, ROT= 345.8,  -9.4

2025-10-26T22:09:41.402Z,1761516581.402 [DAT](INFO): got valid direction response:
 22:09:40.1098 LVL= 32752, 32753, 27026, 32755, AGC= 66, IDX= 499, 0.43,-2.099, 2.788,-1.446,-2.052, PHS= 0.054,-1.399, 0.562, RAW= 164.4,   8.9, CAL= 164.2,   9.4, ROT= 345.8,  -9.4

2025-10-26T22:09:41.403Z,1761516581.403 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-10-26T22:09:41.404Z,1761516581.404 [DAT](INFO): direction in FSK: [0.956428,-0.242014,0.163326]
2025-10-26T22:09:41.404Z,1761516581.404 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:41.416Z,1761516581.416 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.120229
2025-10-26T22:09:41.417Z,1761516581.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423655,-0.891757,-0.159016],[0.905807,0.418146,0.068327],[0.005561,-0.172985,0.984909]]
2025-10-26T22:09:41.554Z,1761516581.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.900000 m,
      deltaT: 0.504148 s,
      deltaX: -0.200001 m,
      approachRate: -0.396710 m/s,
      rangeRepo size: 4

2025-10-26T22:09:41.561Z,1761516581.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.730787 m,
      bearing: 52.529542 deg,
      lat: 36.779396 deg,
      lon: -121.859453 deg,
      deltaT: 0.504148 s,
      deltaX: -0.198788 m,
      approachRate: -0.394304 m/s,
      posRepo size: 4

2025-10-26T22:09:41.561Z,1761516581.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.73 m.
2025-10-26T22:09:41.568Z,1761516581.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.730787 m,
      nav range: 27.174063 m,
      bearing: 52.458031 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.077921 deg/s,
      cmd heading: 61.927010 deg,
      new cmd heading: 61.813010 deg.

2025-10-26T22:09:41.569Z,1761516581.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.078840 target range: 27.730787 and range: 27.90 m.
2025-10-26T22:09:41.641Z,1761516581.641 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.345019
2025-10-26T22:09:41.893Z,1761516581.893 [DAT](INFO): DAT read: Rx Time:22:09:40.6096 

2025-10-26T22:09:41.893Z,1761516581.893 [DAT](INFO): Rx dataTimestamp_ set to:1761516581.893159
2025-10-26T22:09:41.895Z,1761516581.895 [DAT](INFO): DAT read: Bearing 213.0, -14.9 (Local)

2025-10-26T22:09:41.895Z,1761516581.895 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.0, -14.9 (Local)

2025-10-26T22:09:41.897Z,1761516581.897 [DAT](INFO): DAT read: Range 11 to 50 :    27.6 m (trip time 18.4 ms) speed 0.4

2025-10-26T22:09:41.902Z,1761516581.902 [DAT](INFO): DAT read: 22:09:40.6096 LVL= 32752, 32753, 24082, 32755, AGC= 65, IDX= 497,-0.22, 0.801,-0.577, 1.445, 0.817, PHS= 0.086,-1.349, 0.584, RAW= 164.4,   7.9, CAL= 164.0,   8.0, ROT= 346.0,  -8.0

2025-10-26T22:09:41.903Z,1761516581.903 [DAT](INFO): got valid direction response:
 22:09:40.6096 LVL= 32752, 32753, 24082, 32755, AGC= 65, IDX= 497,-0.22, 0.801,-0.577, 1.445, 0.817, PHS= 0.086,-1.349, 0.584, RAW= 164.4,   7.9, CAL= 164.0,   8.0, ROT= 346.0,  -8.0

2025-10-26T22:09:41.907Z,1761516581.907 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-10-26T22:09:41.908Z,1761516581.908 [DAT](INFO): direction in FSK: [0.960853,-0.239567,0.139173]
2025-10-26T22:09:41.908Z,1761516581.908 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:41.921Z,1761516581.921 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.624955
2025-10-26T22:09:41.993Z,1761516581.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.600000 m,
      deltaT: 0.503936 s,
      deltaX: -0.299999 m,
      approachRate: -0.595312 m/s,
      rangeRepo size: 4

2025-10-26T22:09:42.037Z,1761516582.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.432594 m,
      bearing: 52.485937 deg,
      lat: 36.779396 deg,
      lon: -121.859453 deg,
      deltaT: 0.503936 s,
      deltaX: -0.298193 m,
      approachRate: -0.591728 m/s,
      posRepo size: 4

2025-10-26T22:09:42.044Z,1761516582.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.43 m.
2025-10-26T22:09:42.060Z,1761516582.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.432594 m,
      nav range: 26.931293 m,
      bearing: 52.430874 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.077921 deg/s,
      cmd heading: 61.813007 deg,
      new cmd heading: 61.712692 deg.

2025-10-26T22:09:42.061Z,1761516582.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.077090 target range: 27.432594 and range: 27.60 m.
2025-10-26T22:09:42.145Z,1761516582.145 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.849049
2025-10-26T22:09:42.372Z,1761516582.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423492,-0.891532,-0.160703],[0.905873,0.418145,0.067452],[0.007061,-0.174142,0.984695]]
2025-10-26T22:09:42.397Z,1761516582.397 [DAT](INFO): DAT read: Rx Time:22:09:41.1095 

2025-10-26T22:09:42.398Z,1761516582.398 [DAT](INFO): Rx dataTimestamp_ set to:1761516582.397239
2025-10-26T22:09:42.399Z,1761516582.399 [DAT](INFO): DAT read: Bearing 223.6,  -4.0 (Local)

2025-10-26T22:09:42.399Z,1761516582.399 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.6,  -4.0 (Local)

2025-10-26T22:09:42.401Z,1761516582.401 [DAT](INFO): DAT read: Range 11 to 50 :    27.5 m (trip time 18.3 ms) speed 0.4

2025-10-26T22:09:42.406Z,1761516582.406 [DAT](INFO): DAT read: 22:09:41.1095 LVL= 32752, 32753, 23714, 32755, AGC= 65, IDX= 512, 0.00,-2.643, 2.107,-2.468,-2.659, PHS= 0.118,-1.472, 0.147, RAW= 150.9,  14.9, CAL= 151.2,  16.7, ROT= 358.8, -16.7

2025-10-26T22:09:42.407Z,1761516582.407 [DAT](INFO): got valid direction response:
 22:09:41.1095 LVL= 32752, 32753, 23714, 32755, AGC= 65, IDX= 512, 0.00,-2.643, 2.107,-2.468,-2.659, PHS= 0.118,-1.472, 0.147, RAW= 150.9,  14.9, CAL= 151.2,  16.7, ROT= 358.8, -16.7

2025-10-26T22:09:42.411Z,1761516582.411 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-10-26T22:09:42.412Z,1761516582.412 [DAT](INFO): direction in FSK: [0.957612,-0.020059,0.287361]
2025-10-26T22:09:42.412Z,1761516582.412 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:42.420Z,1761516582.420 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.124380
2025-10-26T22:09:42.482Z,1761516582.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.500000 m,
      deltaT: 0.504080 s,
      deltaX: -0.100000 m,
      approachRate: -0.198382 m/s,
      rangeRepo size: 4

2025-10-26T22:09:42.504Z,1761516582.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.333200 m,
      bearing: 66.759707 deg,
      lat: 36.779396 deg,
      lon: -121.859453 deg,
      deltaT: 0.504080 s,
      deltaX: -0.099394 m,
      approachRate: -0.197179 m/s,
      posRepo size: 4

2025-10-26T22:09:42.506Z,1761516582.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.33 m.
2025-10-26T22:09:42.514Z,1761516582.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.333200 m,
      nav range: 26.662512 m,
      bearing: 52.416304 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.077921 deg/s,
      cmd heading: 61.712692 deg,
      new cmd heading: 61.596106 deg.

2025-10-26T22:09:42.524Z,1761516582.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.075055 target range: 27.333200 and range: 27.50 m.
2025-10-26T22:09:42.649Z,1761516582.649 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.352910
2025-10-26T22:09:42.831Z,1761516582.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424008,-0.890860,-0.163048],[0.905626,0.418577,0.068074],[0.007604,-0.176524,0.984267]]
2025-10-26T22:09:42.852Z,1761516582.852 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:09:42.854Z,1761516582.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.33 m.
2025-10-26T22:09:42.858Z,1761516582.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.333200 m,
      nav range: 26.445063 m,
      bearing: 52.364146 deg,
      approach rate: -0.583305 m/s,
      LOS rate: -0.141063 deg/s,
      cmd heading: 61.596108 deg,
      new cmd heading: 61.438348 deg.

2025-10-26T22:09:42.859Z,1761516582.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.072302 target range: 27.333200 and range: 27.50 m.
2025-10-26T22:09:42.904Z,1761516582.904 [DAT](INFO): DAT read: Rx Time:22:09:41.6092 

2025-10-26T22:09:42.904Z,1761516582.904 [DAT](INFO): Rx dataTimestamp_ set to:1761516582.903806
2025-10-26T22:09:42.906Z,1761516582.906 [DAT](INFO): DAT read: Bearing 212.4, -14.7 (Local)

2025-10-26T22:09:42.907Z,1761516582.907 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.4, -14.7 (Local)

2025-10-26T22:09:42.910Z,1761516582.910 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.4

2025-10-26T22:09:42.920Z,1761516582.920 [DAT](INFO): DAT read: 22:09:41.6092 LVL= 32752, 32753, 26290, 32755, AGC= 65, IDX= 509, 0.20, 1.825, 0.412, 2.477, 1.828, PHS= 0.098,-1.371, 0.605, RAW= 164.3,   7.6, CAL= 163.8,   7.6, ROT= 346.2,  -7.6

2025-10-26T22:09:42.921Z,1761516582.921 [DAT](INFO): got valid direction response:
 22:09:41.6092 LVL= 32752, 32753, 26290, 32755, AGC= 65, IDX= 509, 0.20, 1.825, 0.412, 2.477, 1.828, PHS= 0.098,-1.371, 0.605, RAW= 164.3,   7.6, CAL= 163.8,   7.6, ROT= 346.2,  -7.6

2025-10-26T22:09:42.922Z,1761516582.922 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-10-26T22:09:42.923Z,1761516582.923 [DAT](INFO): direction in FSK: [0.962603,-0.236438,0.132256]
2025-10-26T22:09:42.923Z,1761516582.923 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:42.941Z,1761516582.941 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.645095
2025-10-26T22:09:43.153Z,1761516583.153 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.856905
2025-10-26T22:09:43.242Z,1761516583.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425046,-0.889703,-0.166629],[0.905136,0.419398,0.069528],[0.008024,-0.180375,0.983565]]
2025-10-26T22:09:43.290Z,1761516583.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.506567 s,
      deltaX: -0.500000 m,
      approachRate: -0.987036 m/s,
      rangeRepo size: 4

2025-10-26T22:09:43.292Z,1761516583.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.836220 m,
      bearing: 52.595060 deg,
      lat: 36.779396 deg,
      lon: -121.859453 deg,
      deltaT: 0.506567 s,
      deltaX: -0.496981 m,
      approachRate: -0.981076 m/s,
      posRepo size: 4

2025-10-26T22:09:43.293Z,1761516583.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.84 m.
2025-10-26T22:09:43.296Z,1761516583.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.836220 m,
      nav range: 26.260254 m,
      bearing: 52.368730 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.141063 deg/s,
      cmd heading: 61.438351 deg,
      new cmd heading: 61.254128 deg.

2025-10-26T22:09:43.301Z,1761516583.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.069086 target range: 26.836220 and range: 27.00 m.
2025-10-26T22:09:43.406Z,1761516583.406 [DAT](INFO): DAT read: Rx Time:22:09:42.1091 

2025-10-26T22:09:43.407Z,1761516583.407 [DAT](INFO): Rx dataTimestamp_ set to:1761516583.406447
2025-10-26T22:09:43.409Z,1761516583.409 [DAT](INFO): DAT read: Bearing 213.2, -15.1 (Local)

2025-10-26T22:09:43.409Z,1761516583.409 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.2, -15.1 (Local)

2025-10-26T22:09:43.411Z,1761516583.411 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed 0.8

2025-10-26T22:09:43.419Z,1761516583.419 [DAT](INFO): DAT read: 22:09:42.1091 LVL= 32752, 32753, 25842, 32755, AGC= 65, IDX= 509,-0.48, 1.474, 0.088, 2.118, 1.501, PHS= 0.075,-1.368, 0.573, RAW= 164.3,   8.3, CAL= 164.0,   8.6, ROT= 346.0,  -8.6

2025-10-26T22:09:43.420Z,1761516583.420 [DAT](INFO): got valid direction response:
 22:09:42.1091 LVL= 32752, 32753, 25842, 32755, AGC= 65, IDX= 509,-0.48, 1.474, 0.088, 2.118, 1.501, PHS= 0.075,-1.368, 0.573, RAW= 164.3,   8.3, CAL= 164.0,   8.6, ROT= 346.0,  -8.6

2025-10-26T22:09:43.420Z,1761516583.420 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-10-26T22:09:43.421Z,1761516583.421 [DAT](INFO): direction in FSK: [0.959386,-0.239202,0.149535]
2025-10-26T22:09:43.422Z,1761516583.422 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:43.434Z,1761516583.434 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.138487
2025-10-26T22:09:43.638Z,1761516583.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425847,-0.889097,-0.167814],[0.904757,0.420155,0.069893],[0.008366,-0.181595,0.983338]]
2025-10-26T22:09:43.656Z,1761516583.656 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.360838
2025-10-26T22:09:43.730Z,1761516583.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.502641 s,
      deltaX: -0.100000 m,
      approachRate: -0.198950 m/s,
      rangeRepo size: 4

2025-10-26T22:09:43.737Z,1761516583.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.736816 m,
      bearing: 52.538000 deg,
      lat: 36.779396 deg,
      lon: -121.859451 deg,
      deltaT: 0.502641 s,
      deltaX: -0.099403 m,
      approachRate: -0.197762 m/s,
      posRepo size: 4

2025-10-26T22:09:43.738Z,1761516583.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:09:43.745Z,1761516583.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.736816 m,
      nav range: 26.192268 m,
      bearing: 52.572180 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.141063 deg/s,
      cmd heading: 61.254127 deg,
      new cmd heading: 61.069658 deg.

2025-10-26T22:09:43.748Z,1761516583.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.065867 target range: 26.736816 and range: 26.90 m.
2025-10-26T22:09:43.909Z,1761516583.909 [DAT](INFO): DAT read: Rx Time:22:09:42.6089 

2025-10-26T22:09:43.910Z,1761516583.910 [DAT](INFO): Rx dataTimestamp_ set to:1761516583.909261
2025-10-26T22:09:43.911Z,1761516583.911 [DAT](INFO): DAT read: Bearing 212.7, -14.8 (Local)

2025-10-26T22:09:43.911Z,1761516583.911 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.7, -14.8 (Local)

2025-10-26T22:09:43.913Z,1761516583.913 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.4

2025-10-26T22:09:43.934Z,1761516583.934 [DAT](INFO): DAT read: 22:09:42.6089 LVL= 32752, 32753, 24706, 32755, AGC= 64, IDX= 506,-0.16,-0.320,-1.693, 0.316,-0.302, PHS= 0.084,-1.346, 0.574, RAW= 164.2,   8.0, CAL= 163.8,   8.2, ROT= 346.2,  -8.2

2025-10-26T22:09:43.936Z,1761516583.936 [DAT](INFO): got valid direction response:
 22:09:42.6089 LVL= 32752, 32753, 24706, 32755, AGC= 64, IDX= 506,-0.16,-0.320,-1.693, 0.316,-0.302, PHS= 0.084,-1.346, 0.574, RAW= 164.2,   8.0, CAL= 163.8,   8.2, ROT= 346.2,  -8.2

2025-10-26T22:09:43.936Z,1761516583.936 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-10-26T22:09:43.937Z,1761516583.937 [DAT](INFO): direction in FSK: [0.961206,-0.236094,0.142629]
2025-10-26T22:09:43.937Z,1761516583.937 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:43.966Z,1761516583.966 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.670527
2025-10-26T22:09:44.025Z,1761516584.025 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:09:44.115Z,1761516584.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429767,-0.887153,-0.168109],[0.902898,0.424027,0.070546],[0.008698,-0.182103,0.983241]]
2025-10-26T22:09:44.160Z,1761516584.160 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.864853
2025-10-26T22:09:44.255Z,1761516584.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.502814 s,
      deltaX: -0.299999 m,
      approachRate: -0.596641 m/s,
      rangeRepo size: 4

2025-10-26T22:09:44.257Z,1761516584.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.438637 m,
      bearing: 52.420101 deg,
      lat: 36.779396 deg,
      lon: -121.859451 deg,
      deltaT: 0.502814 s,
      deltaX: -0.298180 m,
      approachRate: -0.593022 m/s,
      posRepo size: 4

2025-10-26T22:09:44.258Z,1761516584.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.44 m.
2025-10-26T22:09:44.265Z,1761516584.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.438637 m,
      nav range: 25.936678 m,
      bearing: 52.553586 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.141063 deg/s,
      cmd heading: 61.069657 deg,
      new cmd heading: 60.847431 deg.

2025-10-26T22:09:44.266Z,1761516584.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.061988 target range: 26.438637 and range: 26.60 m.
2025-10-26T22:09:44.413Z,1761516584.413 [DAT](INFO): DAT read: Rx Time:22:09:43.1087 

2025-10-26T22:09:44.413Z,1761516584.413 [DAT](INFO): Rx dataTimestamp_ set to:1761516584.413128
2025-10-26T22:09:44.415Z,1761516584.415 [DAT](INFO): DAT read: Bearing 213.7, -15.1 (Local)

2025-10-26T22:09:44.415Z,1761516584.415 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.7, -15.1 (Local)

2025-10-26T22:09:44.418Z,1761516584.418 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed 0.8

2025-10-26T22:09:44.429Z,1761516584.429 [DAT](INFO): DAT read: 22:09:43.1087 LVL= 32752, 32753, 27186, 32755, AGC= 64, IDX= 504, 0.05, 1.484, 0.108, 2.120, 1.527, PHS= 0.059,-1.374, 0.549, RAW= 164.2,   8.9, CAL= 163.9,   9.4, ROT= 346.1,  -9.4

2025-10-26T22:09:44.430Z,1761516584.430 [DAT](INFO): got valid direction response:
 22:09:43.1087 LVL= 32752, 32753, 27186, 32755, AGC= 64, IDX= 504, 0.05, 1.484, 0.108, 2.120, 1.527, PHS= 0.059,-1.374, 0.549, RAW= 164.2,   8.9, CAL= 163.9,   9.4, ROT= 346.1,  -9.4

2025-10-26T22:09:44.430Z,1761516584.430 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-10-26T22:09:44.431Z,1761516584.431 [DAT](INFO): direction in FSK: [0.957682,-0.237002,0.163326]
2025-10-26T22:09:44.444Z,1761516584.444 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:44.452Z,1761516584.452 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.156475
2025-10-26T22:09:44.601Z,1761516584.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432393,-0.885773,-0.168645],[0.901640,0.426604,0.071091],[0.008974,-0.182797,0.983110]]
2025-10-26T22:09:44.633Z,1761516584.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.503867 s,
      deltaX: -0.300001 m,
      approachRate: -0.595397 m/s,
      rangeRepo size: 4

2025-10-26T22:09:44.635Z,1761516584.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.140457 m,
      bearing: 52.380058 deg,
      lat: 36.779396 deg,
      lon: -121.859451 deg,
      deltaT: 0.503867 s,
      deltaX: -0.298180 m,
      approachRate: -0.591782 m/s,
      posRepo size: 4

2025-10-26T22:09:44.652Z,1761516584.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.14 m.
2025-10-26T22:09:44.654Z,1761516584.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.140457 m,
      nav range: 25.729046 m,
      bearing: 52.580290 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.141063 deg/s,
      cmd heading: 60.847430 deg,
      new cmd heading: 60.685965 deg.

2025-10-26T22:09:44.655Z,1761516584.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.059170 target range: 26.140457 and range: 26.30 m.
2025-10-26T22:09:44.665Z,1761516584.665 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.368933
2025-10-26T22:09:44.918Z,1761516584.918 [DAT](INFO): DAT read: Rx Time:22:09:43.6084 

2025-10-26T22:09:44.918Z,1761516584.918 [DAT](INFO): Rx dataTimestamp_ set to:1761516584.918060
2025-10-26T22:09:44.920Z,1761516584.920 [DAT](INFO): DAT read: Bearing 213.8, -15.0 (Local)

2025-10-26T22:09:44.920Z,1761516584.920 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.8, -15.0 (Local)

2025-10-26T22:09:44.922Z,1761516584.922 [DAT](INFO): DAT read: Range 11 to 50 :    25.8 m (trip time 17.2 ms) speed 0.4

2025-10-26T22:09:44.927Z,1761516584.927 [DAT](INFO): DAT read: 22:09:43.6084 LVL= 32752, 32753, 27298, 32755, AGC= 63, IDX= 501, 0.37, 0.280,-1.089, 0.909, 0.326, PHS= 0.057,-1.370, 0.539, RAW= 164.1,   9.0, CAL= 163.8,   9.6, ROT= 346.2,  -9.6

2025-10-26T22:09:44.943Z,1761516584.943 [DAT](INFO): got valid direction response:
 22:09:43.6084 LVL= 32752, 32753, 27298, 32755, AGC= 63, IDX= 501, 0.37, 0.280,-1.089, 0.909, 0.326, PHS= 0.057,-1.370, 0.539, RAW= 164.1,   9.0, CAL= 163.8,   9.6, ROT= 346.2,  -9.6

2025-10-26T22:09:44.943Z,1761516584.943 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-10-26T22:09:44.944Z,1761516584.944 [DAT](INFO): direction in FSK: [0.957535,-0.235193,0.166769]
2025-10-26T22:09:44.945Z,1761516584.945 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:44.973Z,1761516584.973 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.677074
2025-10-26T22:09:45.028Z,1761516585.028 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:09:45.118Z,1761516585.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435105,-0.884117,-0.170354],[0.900328,0.429239,0.071850],[0.009598,-0.184637,0.982760]]
2025-10-26T22:09:45.169Z,1761516585.169 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.873203
2025-10-26T22:09:45.250Z,1761516585.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.504932 s,
      deltaX: -0.500000 m,
      approachRate: -0.990232 m/s,
      rangeRepo size: 4

2025-10-26T22:09:45.256Z,1761516585.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.643490 m,
      bearing: 52.364164 deg,
      lat: 36.779396 deg,
      lon: -121.859451 deg,
      deltaT: 0.504932 s,
      deltaX: -0.496967 m,
      approachRate: -0.984226 m/s,
      posRepo size: 4

2025-10-26T22:09:45.257Z,1761516585.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.64 m.
2025-10-26T22:09:45.263Z,1761516585.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.643490 m,
      nav range: 25.426088 m,
      bearing: 52.583519 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.141063 deg/s,
      cmd heading: 60.685964 deg,
      new cmd heading: 60.424835 deg.

2025-10-26T22:09:45.264Z,1761516585.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.054612 target range: 25.643490 and range: 25.80 m.
2025-10-26T22:09:45.421Z,1761516585.421 [DAT](INFO): DAT read: Rx Time:22:09:44.1084 

2025-10-26T22:09:45.421Z,1761516585.421 [DAT](INFO): Rx dataTimestamp_ set to:1761516585.421159
2025-10-26T22:09:45.423Z,1761516585.423 [DAT](INFO): DAT read: Bearing 209.9, -13.4 (Local)

2025-10-26T22:09:45.423Z,1761516585.423 [DAT](INFO): Local bearing/azimuth received:
 Bearing 209.9, -13.4 (Local)

2025-10-26T22:09:45.425Z,1761516585.425 [DAT](INFO): DAT read: Range 11 to 50 :    25.8 m (trip time 17.2 ms) speed 0.4

2025-10-26T22:09:45.453Z,1761516585.453 [DAT](INFO): DAT read: 22:09:44.1084 LVL= 29248, 32753, 24722, 32755, AGC= 62, IDX= 501,-0.11,-1.737,-3.125,-1.119,-1.779, PHS= 0.144,-1.300, 0.616, RAW= 163.7,   6.3, CAL= 163.0,   5.8, ROT= 347.0,  -5.8

2025-10-26T22:09:45.455Z,1761516585.455 [DAT](INFO): got valid direction response:
 22:09:44.1084 LVL= 29248, 32753, 24722, 32755, AGC= 62, IDX= 501,-0.11,-1.737,-3.125,-1.119,-1.779, PHS= 0.144,-1.300, 0.616, RAW= 163.7,   6.3, CAL= 163.0,   5.8, ROT= 347.0,  -5.8

2025-10-26T22:09:45.455Z,1761516585.455 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-10-26T22:09:45.472Z,1761516585.472 [DAT](INFO): direction in FSK: [0.969382,-0.223799,0.101056]
2025-10-26T22:09:45.472Z,1761516585.472 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:45.486Z,1761516585.486 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.190020
2025-10-26T22:09:45.581Z,1761516585.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438348,-0.882134,-0.172313],[0.898750,0.432330,0.073074],[0.010035,-0.186898,0.982328]]
2025-10-26T22:09:45.621Z,1761516585.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.503099 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:09:45.623Z,1761516585.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.643490 m,
      bearing: 52.270504 deg,
      lat: 36.779396 deg,
      lon: -121.859451 deg,
      deltaT: 0.503099 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:09:45.624Z,1761516585.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.64 m.
2025-10-26T22:09:45.626Z,1761516585.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.643490 m,
      nav range: 25.232960 m,
      bearing: 52.578815 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.141063 deg/s,
      cmd heading: 60.424833 deg,
      new cmd heading: 60.267770 deg.

2025-10-26T22:09:45.627Z,1761516585.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.051871 target range: 25.643490 and range: 25.80 m.
2025-10-26T22:09:45.676Z,1761516585.676 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.380089
2025-10-26T22:09:45.925Z,1761516585.925 [DAT](INFO): DAT read: Rx Time:22:09:44.6082 

2025-10-26T22:09:45.925Z,1761516585.925 [DAT](INFO): Rx dataTimestamp_ set to:1761516585.925147
2025-10-26T22:09:45.927Z,1761516585.927 [DAT](INFO): DAT read: Bearing 210.1, -13.7 (Local)

2025-10-26T22:09:45.927Z,1761516585.927 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.1, -13.7 (Local)

2025-10-26T22:09:45.929Z,1761516585.929 [DAT](INFO): DAT read: Range 11 to 50 :    25.4 m (trip time 16.9 ms) speed 0.4

2025-10-26T22:09:45.934Z,1761516585.934 [DAT](INFO): DAT read: 22:09:44.6082 LVL= 31824, 32753, 24306, 32755, AGC= 63, IDX= 498, 0.18,-0.971,-2.384,-0.336,-1.004, PHS= 0.135,-1.335, 0.624, RAW= 163.9,   6.6, CAL= 163.2,   6.2, ROT= 346.8,  -6.2

2025-10-26T22:09:45.935Z,1761516585.935 [DAT](INFO): got valid direction response:
 22:09:44.6082 LVL= 31824, 32753, 24306, 32755, AGC= 63, IDX= 498, 0.18,-0.971,-2.384,-0.336,-1.004, PHS= 0.135,-1.335, 0.624, RAW= 163.9,   6.6, CAL= 163.2,   6.2, ROT= 346.8,  -6.2

2025-10-26T22:09:45.939Z,1761516585.939 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-10-26T22:09:45.940Z,1761516585.940 [DAT](INFO): direction in FSK: [0.967884,-0.227015,0.107999]
2025-10-26T22:09:45.940Z,1761516585.940 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:45.944Z,1761516585.944 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.648335
2025-10-26T22:09:46.125Z,1761516586.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.400000 m,
      deltaT: 0.503988 s,
      deltaX: -0.400000 m,
      approachRate: -0.793669 m/s,
      rangeRepo size: 4

2025-10-26T22:09:46.132Z,1761516586.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.245926 m,
      bearing: 52.146190 deg,
      lat: 36.779397 deg,
      lon: -121.859453 deg,
      deltaT: 0.503988 s,
      deltaX: -0.397564 m,
      approachRate: -0.788836 m/s,
      posRepo size: 4

2025-10-26T22:09:46.132Z,1761516586.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.25 m.
2025-10-26T22:09:46.135Z,1761516586.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.245926 m,
      nav range: 24.904362 m,
      bearing: 52.280757 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.141063 deg/s,
      cmd heading: 60.267772 deg,
      new cmd heading: 60.054261 deg.

2025-10-26T22:09:46.140Z,1761516586.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.048145 target range: 25.245926 and range: 25.40 m.
2025-10-26T22:09:46.180Z,1761516586.180 [DAT](INFO): DAT read: Rx Time:22:09:45.1081 

2025-10-26T22:09:46.181Z,1761516586.181 [DAT](INFO): Rx dataTimestamp_ set to:1761516586.180389
2025-10-26T22:09:46.186Z,1761516586.186 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.887447
2025-10-26T22:09:46.429Z,1761516586.429 [DAT](INFO): DAT read: Bearing 210.2, -13.6 (Local)

2025-10-26T22:09:46.429Z,1761516586.429 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.2, -13.6 (Local)

2025-10-26T22:09:46.432Z,1761516586.432 [DAT](INFO): DAT read: Range 11 to 50 :    25.2 m (trip time 16.8 ms) speed 0.4

2025-10-26T22:09:46.437Z,1761516586.437 [DAT](INFO): DAT read: 22:09:45.1081 LVL= 32672, 32753, 25874, 32755, AGC= 62, IDX= 498,-0.32,-1.703,-3.085,-1.084,-1.730, PHS= 0.129,-1.310, 0.603, RAW= 163.8,   6.8, CAL= 163.2,   6.5, ROT= 346.8,  -6.5

2025-10-26T22:09:46.438Z,1761516586.438 [DAT](INFO): got valid direction response:
 22:09:45.1081 LVL= 32672, 32753, 25874, 32755, AGC= 62, IDX= 498,-0.32,-1.703,-3.085,-1.084,-1.730, PHS= 0.129,-1.310, 0.603, RAW= 163.8,   6.8, CAL= 163.2,   6.5, ROT= 346.8,  -6.5

2025-10-26T22:09:46.438Z,1761516586.438 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-10-26T22:09:46.439Z,1761516586.439 [DAT](INFO): direction in FSK: [0.967321,-0.226883,0.113203]
2025-10-26T22:09:46.442Z,1761516586.442 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:46.450Z,1761516586.450 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.154486
2025-10-26T22:09:46.608Z,1761516586.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 0.502708 s,
      deltaX: -0.199999 m,
      approachRate: -0.397843 m/s,
      rangeRepo size: 4

2025-10-26T22:09:46.610Z,1761516586.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.047140 m,
      bearing: 52.201521 deg,
      lat: 36.779397 deg,
      lon: -121.859453 deg,
      deltaT: 0.502708 s,
      deltaX: -0.198786 m,
      approachRate: -0.395430 m/s,
      posRepo size: 4

2025-10-26T22:09:46.611Z,1761516586.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.05 m.
2025-10-26T22:09:46.618Z,1761516586.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.047140 m,
      nav range: 24.684711 m,
      bearing: 52.220574 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.141063 deg/s,
      cmd heading: 60.054261 deg,
      new cmd heading: 59.851721 deg.

2025-10-26T22:09:46.619Z,1761516586.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.044610 target range: 25.047140 and range: 25.20 m.
2025-10-26T22:09:46.685Z,1761516586.685 [DAT](INFO): DAT read: Rx Time:22:09:45.6079 

2025-10-26T22:09:46.687Z,1761516586.687 [DAT](INFO): Rx dataTimestamp_ set to:1761516586.685560
2025-10-26T22:09:46.689Z,1761516586.689 [DAT](INFO): DAT read: Bearing 210.0, -13.1 (Local)

2025-10-26T22:09:46.691Z,1761516586.691 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.0, -13.1 (Local)

2025-10-26T22:09:46.693Z,1761516586.693 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.396933
2025-10-26T22:09:46.934Z,1761516586.934 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed 0.4

2025-10-26T22:09:46.937Z,1761516586.937 [DAT](INFO): DAT read: 22:09:45.6079 LVL= 32752, 32753, 26066, 32755, AGC= 62, IDX= 511, 0.05,-1.581,-2.987,-0.968,-1.617, PHS= 0.138,-1.324, 0.606, RAW= 163.4,-6.4

2025-10-26T22:09:46.938Z,1761516586.938 [DAT](INFO): unknown deviceResponse_: 22:09:45.6079 LVL= 32752, 32753, 26066, 32755, AGC= 62, IDX= 511, 0.05,-1.581,-2.987,-0.968,-1.617, PHS= 0.138,-1.324, 0.606, RAW= 163.4,-6.4

2025-10-26T22:09:46.939Z,1761516586.939 [DAT](ERROR): #Rx 35: Read range message, but no direction.
2025-10-26T22:09:46.940Z,1761516586.940 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.644066
2025-10-26T22:09:46.982Z,1761516586.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451716,-0.874617,-0.176062],[0.892083,0.445411,0.076137],[0.011830,-0.191454,0.981430]]
2025-10-26T22:09:47.042Z,1761516587.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:09:47.049Z,1761516587.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.504001 s,
      deltaX: -0.300001 m,
      approachRate: -0.595239 m/s,
      rangeRepo size: 4

2025-10-26T22:09:47.049Z,1761516587.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.05 m.
2025-10-26T22:09:47.056Z,1761516587.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.047140 m,
      nav range: 24.468948 m,
      bearing: 52.270871 deg,
      approach rate: -0.485352 m/s,
      LOS rate: 0.114140 deg/s,
      cmd heading: 59.851718 deg,
      new cmd heading: 60.003940 deg.

2025-10-26T22:09:47.057Z,1761516587.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.047266 target range: 25.047140 and range: 24.90 m.
2025-10-26T22:09:47.188Z,1761516587.188 [DAT](INFO): DAT read: Rx Time:22:09:46.1078 

2025-10-26T22:09:47.190Z,1761516587.190 [DAT](INFO): Rx dataTimestamp_ set to:1761516587.189170
2025-10-26T22:09:47.194Z,1761516587.194 [DAT](INFO): DAT read: Bearing 209.3, -12.9 (Local)

2025-10-26T22:09:47.195Z,1761516587.195 [DAT](INFO): Local bearing/azimuth received:
 Bearing 209.3, -12.9 (Local)

2025-10-26T22:09:47.214Z,1761516587.214 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed 0.4

2025-10-26T22:09:47.217Z,1761516587.217 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-10-26T22:09:47.260Z,1761516587.260 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.954754
2025-10-26T22:09:47.440Z,1761516587.440 [DAT](INFO): DAT read: 22:09:46.1078 LVL= 31040, 32753, 26786, 32755, AGC= 62, IDX= 510, 0.50,-0.255,-1.674, 0.365,-0.305, PHS= 0.151,-1.324, 0.626, RAW= 163.5,   6.3, CAL= 162.8,   5.8, ROT= 347.2,  -5.8

2025-10-26T22:09:47.441Z,1761516587.441 [DAT](INFO): got valid direction response:
 22:09:46.1078 LVL= 31040, 32753, 26786, 32755, AGC= 62, IDX= 510, 0.50,-0.255,-1.674, 0.365,-0.305, PHS= 0.151,-1.324, 0.626, RAW= 163.5,   6.3, CAL= 162.8,   5.8, ROT= 347.2,  -5.8

2025-10-26T22:09:47.442Z,1761516587.442 [DAT](INFO): #Rx 37: Read direction message, but no range.
2025-10-26T22:09:47.443Z,1761516587.443 [DAT](INFO): direction in FSK: [0.970157,-0.220414,0.101056]
2025-10-26T22:09:47.446Z,1761516587.446 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.150497
2025-10-26T22:09:47.452Z,1761516587.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455305,-0.872759,-0.176036],[0.890252,0.448987,0.076568],[0.012212,-0.191578,0.981401]]
2025-10-26T22:09:47.563Z,1761516587.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.257314 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:09:47.573Z,1761516587.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.748949 m,
      bearing: 51.415834 deg,
      lat: 36.779397 deg,
      lon: -121.859453 deg,
      deltaT: 0.761315 s,
      deltaX: -0.298191 m,
      approachRate: -0.391679 m/s,
      posRepo size: 4

2025-10-26T22:09:47.574Z,1761516587.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-10-26T22:09:47.581Z,1761516587.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.748949 m,
      nav range: 24.220716 m,
      bearing: 52.252227 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.114140 deg/s,
      cmd heading: 60.003943 deg,
      new cmd heading: 60.180059 deg.

2025-10-26T22:09:47.582Z,1761516587.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.050340 target range: 24.748949 and range: 24.90 m.
2025-10-26T22:09:47.693Z,1761516587.693 [DAT](INFO): DAT read: Rx Time:22:09:46.6076 

2025-10-26T22:09:47.694Z,1761516587.694 [DAT](INFO): Rx dataTimestamp_ set to:1761516587.693280
2025-10-26T22:09:47.698Z,1761516587.698 [DAT](INFO): DAT read: Bearing 209.1, -12.7 (Local)

2025-10-26T22:09:47.700Z,1761516587.700 [DAT](INFO): Local bearing/azimuth received:
 Bearing 209.1, -12.7 (Local)

2025-10-26T22:09:47.707Z,1761516587.707 [DAT](INFO): DAT read: Range 11 to 50 :    24.6 m (trip time 16.4 ms) speed 0.4

2025-10-26T22:09:47.711Z,1761516587.711 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-10-26T22:09:47.732Z,1761516587.732 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.419313
2025-10-26T22:09:47.839Z,1761516587.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458758,-0.870521,-0.178142],[0.888465,0.452341,0.077568],[0.013056,-0.193858,0.980943]]
2025-10-26T22:09:47.892Z,1761516587.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.600000 m,
      deltaT: 0.504110 s,
      deltaX: -0.299999 m,
      approachRate: -0.595107 m/s,
      rangeRepo size: 4

2025-10-26T22:09:47.892Z,1761516587.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-10-26T22:09:47.895Z,1761516587.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.748949 m,
      nav range: 24.065325 m,
      bearing: 52.284060 deg,
      approach rate: -0.479166 m/s,
      LOS rate: 0.098796 deg/s,
      cmd heading: 60.180059 deg,
      new cmd heading: 60.276176 deg.

2025-10-26T22:09:47.900Z,1761516587.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.052018 target range: 24.748949 and range: 24.60 m.
2025-10-26T22:09:47.946Z,1761516587.946 [DAT](INFO): DAT read: 22:09:46.6076 LVL= 28400, 32753, 25730, 32755, AGC= 61, IDX= 508,-0.04,-2.516, 2.369,-1.908,-2.565, PHS= 0.151,-1.304, 0.613, RAW= 163.4,   6.3, CAL= 162.7,   5.8, ROT= 347.3,  -5.8

2025-10-26T22:09:47.951Z,1761516587.951 [DAT](INFO): got valid direction response:
 22:09:46.6076 LVL= 28400, 32753, 25730, 32755, AGC= 61, IDX= 508,-0.04,-2.516, 2.369,-1.908,-2.565, PHS= 0.151,-1.304, 0.613, RAW= 163.4,   6.3, CAL= 162.7,   5.8, ROT= 347.3,  -5.8

2025-10-26T22:09:47.958Z,1761516587.958 [DAT](INFO): #Rx 39: Read direction message, but no range.
2025-10-26T22:09:47.959Z,1761516587.959 [DAT](INFO): direction in FSK: [0.970540,-0.218721,0.101056]
2025-10-26T22:09:47.964Z,1761516587.964 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.668476
2025-10-26T22:09:48.196Z,1761516588.196 [DAT](INFO): DAT read: Rx Time:22:09:47.1074 

2025-10-26T22:09:48.198Z,1761516588.198 [DAT](INFO): Rx dataTimestamp_ set to:1761516588.196638
2025-10-26T22:09:48.201Z,1761516588.201 [DAT](INFO): DAT read: Bearing 210.2, -13.0 (Local)

2025-10-26T22:09:48.202Z,1761516588.202 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.2, -13.0 (Local)

2025-10-26T22:09:48.207Z,1761516588.207 [DAT](INFO): DAT read: Range 11 to 50 :    24.3 m (trip time 16.2 ms) speed 0.4

2025-10-26T22:09:48.230Z,1761516588.230 [DAT](ERROR): #Rx 40: Read range message, but no direction.
2025-10-26T22:09:48.264Z,1761516588.264 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.968353
2025-10-26T22:09:48.290Z,1761516588.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462793,-0.868282,-0.178632],[0.886359,0.456378,0.078015],[0.013785,-0.194437,0.980818]]
2025-10-26T22:09:48.331Z,1761516588.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.503358 s,
      deltaX: -0.300001 m,
      approachRate: -0.596000 m/s,
      rangeRepo size: 4

2025-10-26T22:09:48.333Z,1761516588.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.152596 m,
      bearing: 51.051747 deg,
      lat: 36.779398 deg,
      lon: -121.859453 deg,
      deltaT: 1.007468 s,
      deltaX: -0.596354 m,
      approachRate: -0.591933 m/s,
      posRepo size: 4

2025-10-26T22:09:48.334Z,1761516588.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-10-26T22:09:48.385Z,1761516588.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.152596 m,
      nav range: 23.870207 m,
      bearing: 52.222654 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.098796 deg/s,
      cmd heading: 60.276174 deg,
      new cmd heading: 60.407663 deg.

2025-10-26T22:09:48.386Z,1761516588.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.054313 target range: 24.152596 and range: 24.30 m.
2025-10-26T22:09:48.450Z,1761516588.450 [DAT](INFO): DAT read: 22:09:47.1074 LVL= 32752, 32753, 28242, 32755, AGC= 62, IDX= 506, 0.35,-0.827,-2.244,-0.214,-0.850, PHS= 0.126,-1.348, 0.592, RAW= 163.3,   7.2, CAL= 162.8,   7.1, ROT= 347.2,  -7.1

2025-10-26T22:09:48.453Z,1761516588.453 [DAT](INFO): got valid direction response:
 22:09:47.1074 LVL= 32752, 32753, 28242, 32755, AGC= 62, IDX= 506, 0.35,-0.827,-2.244,-0.214,-0.850, PHS= 0.126,-1.348, 0.592, RAW= 163.3,   7.2, CAL= 162.8,   7.1, ROT= 347.2,  -7.1

2025-10-26T22:09:48.453Z,1761516588.453 [DAT](INFO): #Rx 41: Read direction message, but no range.
2025-10-26T22:09:48.455Z,1761516588.455 [DAT](INFO): direction in FSK: [0.967672,-0.219849,0.123601]
2025-10-26T22:09:48.472Z,1761516588.472 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.176620
2025-10-26T22:09:48.643Z,1761516588.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466202,-0.866500,-0.178417],[0.884557,0.459891,0.077835],[0.014608,-0.194107,0.980872]]
2025-10-26T22:09:48.666Z,1761516588.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-10-26T22:09:48.669Z,1761516588.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.152596 m,
      nav range: 23.700617 m,
      bearing: 52.246404 deg,
      approach rate: -0.504604 m/s,
      LOS rate: 0.071173 deg/s,
      cmd heading: 60.407662 deg,
      new cmd heading: 60.479422 deg.

2025-10-26T22:09:48.670Z,1761516588.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.055565 target range: 24.152596 and range: 24.30 m.
2025-10-26T22:09:48.700Z,1761516588.700 [DAT](INFO): DAT read: Rx Time:22:09:47.6072 

2025-10-26T22:09:48.702Z,1761516588.702 [DAT](INFO): Rx dataTimestamp_ set to:1761516588.700820
2025-10-26T22:09:48.705Z,1761516588.705 [DAT](INFO): DAT read: Bearing 209.9, -12.1 (Local)

2025-10-26T22:09:48.707Z,1761516588.707 [DAT](INFO): Local bearing/azimuth received:
 Bearing 209.9, -12.1 (Local)

2025-10-26T22:09:48.713Z,1761516588.713 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed 0.4

2025-10-26T22:09:48.716Z,1761516588.716 [DAT](ERROR): #Rx 42: Read range message, but no direction.
2025-10-26T22:09:48.720Z,1761516588.720 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.423340
2025-10-26T22:09:48.952Z,1761516588.952 [DAT](INFO): DAT read: 22:09:47.6072 LVL= 32752, 32753, 30626, 32755, AGC= 61, IDX= 504,-0.11, 2.399, 0.983, 2.980, 2.358, PHS= 0.143,-1.330, 0.578, RAW= 162.5,   7.1, CAL= 162.0,   6.9, ROT= 348.0,  -6.9

2025-10-26T22:09:48.953Z,1761516588.953 [DAT](INFO): got valid direction response:
 22:09:47.6072 LVL= 32752, 32753, 30626, 32755, AGC= 61, IDX= 504,-0.11, 2.399, 0.983, 2.980, 2.358, PHS= 0.143,-1.330, 0.578, RAW= 162.5,   7.1, CAL= 162.0,   6.9, ROT= 348.0,  -6.9

2025-10-26T22:09:48.954Z,1761516588.954 [DAT](INFO): #Rx 43: Read direction message, but no range.
2025-10-26T22:09:48.954Z,1761516588.954 [DAT](INFO): direction in FSK: [0.971063,-0.206406,0.120137]
2025-10-26T22:09:48.958Z,1761516588.958 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.662413
2025-10-26T22:09:49.055Z,1761516589.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468962,-0.865047,-0.178236],[0.883087,0.462724,0.077740],[0.015225,-0.193855,0.980912]]
2025-10-26T22:09:49.106Z,1761516589.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.504182 s,
      deltaX: -0.299999 m,
      approachRate: -0.595022 m/s,
      rangeRepo size: 4

2025-10-26T22:09:49.115Z,1761516589.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.854443 m,
      bearing: 51.547396 deg,
      lat: 36.779400 deg,
      lon: -121.859454 deg,
      deltaT: 0.504182 s,
      deltaX: -0.298153 m,
      approachRate: -0.591360 m/s,
      posRepo size: 4

2025-10-26T22:09:49.121Z,1761516589.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-10-26T22:09:49.146Z,1761516589.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.854443 m,
      nav range: 23.611910 m,
      bearing: 51.769828 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.071173 deg/s,
      cmd heading: 60.479419 deg,
      new cmd heading: 60.573144 deg.

2025-10-26T22:09:49.166Z,1761516589.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.057201 target range: 23.854443 and range: 24.00 m.
2025-10-26T22:09:49.207Z,1761516589.207 [DAT](INFO): DAT read: Rx Time:22:09:48.1071 

2025-10-26T22:09:49.209Z,1761516589.209 [DAT](INFO): Rx dataTimestamp_ set to:1761516589.207842
2025-10-26T22:09:49.213Z,1761516589.213 [DAT](INFO): DAT read: Bearing 210.2, -12.4 (Local)

2025-10-26T22:09:49.214Z,1761516589.214 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.2, -12.4 (Local)

2025-10-26T22:09:49.236Z,1761516589.236 [DAT](INFO): DAT read: Range 11 to 50 :    23.9 m (trip time 15.9 ms) speed 0.4

2025-10-26T22:09:49.248Z,1761516589.248 [DAT](INFO): DAT read: 22:09:48.1071 LVL= 32752, 32753, 29810, 32755, AGC= 62, IDX= 503, 0.24,-0.895,-2.313,-0.307,-0.921, PHS= 0.129,-1.347, 0.571, RAW= 162.7,   7.5, CAL= 162.2,   7.5, ROT= 347.8,  -7.5

2025-10-26T22:09:49.250Z,1761516589.250 [DAT](INFO): got valid direction response:
 22:09:48.1071 LVL= 32752, 32753, 29810, 32755, AGC= 62, IDX= 503, 0.24,-0.895,-2.313,-0.307,-0.921, PHS= 0.129,-1.347, 0.571, RAW= 162.7,   7.5, CAL= 162.2,   7.5, ROT= 347.8,  -7.5

2025-10-26T22:09:49.250Z,1761516589.250 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-26T22:09:49.251Z,1761516589.251 [DAT](INFO): direction in FSK: [0.969054,-0.209517,0.130526]
2025-10-26T22:09:49.251Z,1761516589.251 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:49.267Z,1761516589.267 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.971067
2025-10-26T22:09:49.455Z,1761516589.455 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.159159
2025-10-26T22:09:49.541Z,1761516589.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471458,-0.863721,-0.178083],[0.881745,0.465312,0.077523],[0.015906,-0.193573,0.980957]]
2025-10-26T22:09:49.613Z,1761516589.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.900000 m,
      deltaT: 0.507022 s,
      deltaX: -0.100000 m,
      approachRate: -0.197231 m/s,
      rangeRepo size: 4

2025-10-26T22:09:49.620Z,1761516589.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.755049 m,
      bearing: 51.298383 deg,
      lat: 36.779401 deg,
      lon: -121.859455 deg,
      deltaT: 0.507022 s,
      deltaX: -0.099394 m,
      approachRate: -0.196035 m/s,
      posRepo size: 4

2025-10-26T22:09:49.621Z,1761516589.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.76 m.
2025-10-26T22:09:49.628Z,1761516589.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.755049 m,
      nav range: 23.339684 m,
      bearing: 51.328072 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.071173 deg/s,
      cmd heading: 60.573143 deg,
      new cmd heading: 60.681477 deg.

2025-10-26T22:09:49.629Z,1761516589.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.059092 target range: 23.755049 and range: 23.90 m.
2025-10-26T22:09:49.714Z,1761516589.714 [DAT](INFO): DAT read: Rx Time:22:09:48.6069 

2025-10-26T22:09:49.717Z,1761516589.717 [DAT](INFO): Rx dataTimestamp_ set to:1761516589.714473
2025-10-26T22:09:49.721Z,1761516589.721 [DAT](INFO): DAT read: Bearing 211.6, -12.1 (Local)

2025-10-26T22:09:49.722Z,1761516589.722 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.6, -12.1 (Local)

2025-10-26T22:09:49.752Z,1761516589.752 [DAT](INFO): DAT read: Range 11 to 50 :    23.6 m (trip time 15.7 ms) speed 0.4

2025-10-26T22:09:49.765Z,1761516589.765 [DAT](INFO): DAT read: 22:09:48.6069 LVL= 32752, 32753, 31730, 32755, AGC= 62, IDX= 501,-0.27, 2.274, 0.875, 2.833, 2.270, PHS= 0.106,-1.350, 0.519, RAW= 162.1,   8.6, CAL= 161.8,   8.9, ROT= 348.2,  -8.9

2025-10-26T22:09:49.766Z,1761516589.766 [DAT](INFO): got valid direction response:
 22:09:48.6069 LVL= 32752, 32753, 31730, 32755, AGC= 62, IDX= 501,-0.27, 2.274, 0.875, 2.833, 2.270, PHS= 0.106,-1.350, 0.519, RAW= 162.1,   8.6, CAL= 161.8,   8.9, ROT= 348.2,  -8.9

2025-10-26T22:09:49.766Z,1761516589.766 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-10-26T22:09:49.776Z,1761516589.776 [DAT](INFO): direction in FSK: [0.967082,-0.202034,0.154710]
2025-10-26T22:09:49.777Z,1761516589.777 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:49.790Z,1761516589.790 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.494473
2025-10-26T22:09:49.961Z,1761516589.961 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.665482
2025-10-26T22:09:50.070Z,1761516590.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.600000 m,
      deltaT: 0.506631 s,
      deltaX: -0.299999 m,
      approachRate: -0.592145 m/s,
      rangeRepo size: 4

2025-10-26T22:09:50.082Z,1761516590.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.456882 m,
      bearing: 51.965528 deg,
      lat: 36.779401 deg,
      lon: -121.859455 deg,
      deltaT: 0.506631 s,
      deltaX: -0.298166 m,
      approachRate: -0.588528 m/s,
      posRepo size: 4

2025-10-26T22:09:50.083Z,1761516590.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m.
2025-10-26T22:09:50.086Z,1761516590.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.456882 m,
      nav range: 23.086565 m,
      bearing: 51.308601 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.071173 deg/s,
      cmd heading: 60.681477 deg,
      new cmd heading: 60.778926 deg.

2025-10-26T22:09:50.086Z,1761516590.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.060792 target range: 23.456882 and range: 23.60 m.
2025-10-26T22:09:50.218Z,1761516590.218 [DAT](INFO): DAT read: Rx Time:22:09:49.1068 

2025-10-26T22:09:50.220Z,1761516590.220 [DAT](INFO): Rx dataTimestamp_ set to:1761516590.218682
2025-10-26T22:09:50.224Z,1761516590.224 [DAT](INFO): DAT read: Bearing 213.1, -12.2 (Local)

2025-10-26T22:09:50.225Z,1761516590.225 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.1, -12.2 (Local)

2025-10-26T22:09:50.233Z,1761516590.233 [DAT](INFO): DAT read: Range 11 to 50 :    23.4 m (trip time 15.6 ms) speed 0.4

2025-10-26T22:09:50.238Z,1761516590.238 [DAT](INFO): DAT read: 22:09:49.1068 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 500,-0.00,-1.545,-2.932,-1.005,-1.520, PHS= 0.077,-1.367, 0.471, RAW= 161.8,   9.8, CAL= 161.7,  10.6, ROT= 348.3, -10.6

2025-10-26T22:09:50.239Z,1761516590.239 [DAT](INFO): got valid direction response:
 22:09:49.1068 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 500,-0.00,-1.545,-2.932,-1.005,-1.520, PHS= 0.077,-1.367, 0.471, RAW= 161.8,   9.8, CAL= 161.7,  10.6, ROT= 348.3, -10.6

2025-10-26T22:09:50.247Z,1761516590.247 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-10-26T22:09:50.252Z,1761516590.252 [DAT](INFO): direction in FSK: [0.962513,-0.199327,0.183951]
2025-10-26T22:09:50.252Z,1761516590.252 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:50.277Z,1761516590.277 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.981298
2025-10-26T22:09:50.465Z,1761516590.465 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.168924
2025-10-26T22:09:50.476Z,1761516590.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474894,-0.861732,-0.178588],[0.879875,0.468886,0.077237],[0.017180,-0.193815,0.980888]]
2025-10-26T22:09:50.561Z,1761516590.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 0.504209 s,
      deltaX: -0.200001 m,
      approachRate: -0.396662 m/s,
      rangeRepo size: 4

2025-10-26T22:09:50.563Z,1761516590.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.258095 m,
      bearing: 52.173600 deg,
      lat: 36.779400 deg,
      lon: -121.859455 deg,
      deltaT: 0.504209 s,
      deltaX: -0.198788 m,
      approachRate: -0.394257 m/s,
      posRepo size: 4

2025-10-26T22:09:50.568Z,1761516590.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.26 m.
2025-10-26T22:09:50.571Z,1761516590.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.258095 m,
      nav range: 22.723021 m,
      bearing: 51.508312 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.071173 deg/s,
      cmd heading: 60.778923 deg,
      new cmd heading: 60.883816 deg.

2025-10-26T22:09:50.576Z,1761516590.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.062623 target range: 23.258095 and range: 23.40 m.
2025-10-26T22:09:50.722Z,1761516590.722 [DAT](INFO): DAT read: Rx Time:22:09:49.6065 

2025-10-26T22:09:50.724Z,1761516590.724 [DAT](INFO): Rx dataTimestamp_ set to:1761516590.722364
2025-10-26T22:09:50.729Z,1761516590.729 [DAT](INFO): DAT read: Bearing 210.0, -11.6 (Local)

2025-10-26T22:09:50.730Z,1761516590.730 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.0, -11.6 (Local)

2025-10-26T22:09:50.735Z,1761516590.735 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed 0.2

2025-10-26T22:09:50.740Z,1761516590.740 [DAT](INFO): DAT read: 22:09:49.6065 LVL= 32752, 32753, 30418, 32755, AGC= 62, IDX= 497, 0.34,-2.502, 2.340,-1.934,-2.541, PHS= 0.141,-1.357, 0.563, RAW= 162.1,   7.5, CAL= 161.6,   7.5, ROT= 348.4,  -7.5

2025-10-26T22:09:50.741Z,1761516590.741 [DAT](INFO): got valid direction response:
 22:09:49.6065 LVL= 32752, 32753, 30418, 32755, AGC= 62, IDX= 497, 0.34,-2.502, 2.340,-1.934,-2.541, PHS= 0.141,-1.357, 0.563, RAW= 162.1,   7.5, CAL= 161.6,   7.5, ROT= 348.4,  -7.5

2025-10-26T22:09:50.742Z,1761516590.742 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-10-26T22:09:50.742Z,1761516590.742 [DAT](INFO): direction in FSK: [0.971195,-0.199358,0.130526]
2025-10-26T22:09:50.743Z,1761516590.743 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:50.747Z,1761516590.747 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.450964
2025-10-26T22:09:50.953Z,1761516590.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.503682 s,
      deltaX: -0.400000 m,
      approachRate: -0.794151 m/s,
      rangeRepo size: 4

2025-10-26T22:09:50.955Z,1761516590.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.860540 m,
      bearing: 51.668376 deg,
      lat: 36.779399 deg,
      lon: -121.859454 deg,
      deltaT: 0.503682 s,
      deltaX: -0.397554 m,
      approachRate: -0.789296 m/s,
      posRepo size: 4

2025-10-26T22:09:50.960Z,1761516590.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.86 m.
2025-10-26T22:09:50.963Z,1761516590.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.860540 m,
      nav range: 22.472967 m,
      bearing: 51.668294 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.071173 deg/s,
      cmd heading: 60.883814 deg,
      new cmd heading: 60.967535 deg.

2025-10-26T22:09:50.968Z,1761516590.968 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.672844
2025-10-26T22:09:50.969Z,1761516590.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.064084 target range: 22.860540 and range: 23.00 m.
2025-10-26T22:09:51.230Z,1761516591.230 [DAT](INFO): DAT read: Rx Time:22:09:50.1065 

2025-10-26T22:09:51.232Z,1761516591.232 [DAT](INFO): Rx dataTimestamp_ set to:1761516591.230857
2025-10-26T22:09:51.235Z,1761516591.235 [DAT](INFO): DAT read: Bearing 246.4, -17.3 (Local)

2025-10-26T22:09:51.235Z,1761516591.235 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.4, -17.3 (Local)

2025-10-26T22:09:51.239Z,1761516591.239 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed 0.4

2025-10-26T22:09:51.244Z,1761516591.244 [DAT](INFO): DAT read: 22:09:50.1065 LVL= 32752, 32753, 31586, 32755, AGC= 62, IDX= 513,-0.27,-2.169, 3.010,-1.701,-1.601, PHS=-0.466,-1.627,-0.143, RAW= 161.9,  30.3, CAL= 164.5,  43.2, ROT= 345.5, -43.2

2025-10-26T22:09:51.245Z,1761516591.245 [DAT](INFO): got valid direction response:
 22:09:50.1065 LVL= 32752, 32753, 31586, 32755, AGC= 62, IDX= 513,-0.27,-2.169, 3.010,-1.701,-1.601, PHS=-0.466,-1.627,-0.143, RAW= 161.9,  30.3, CAL= 164.5,  43.2, ROT= 345.5, -43.2

2025-10-26T22:09:51.245Z,1761516591.245 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-10-26T22:09:51.246Z,1761516591.246 [DAT](INFO): direction in FSK: [0.705749,-0.182519,0.684547]
2025-10-26T22:09:51.246Z,1761516591.246 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:51.250Z,1761516591.250 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.954775
2025-10-26T22:09:51.352Z,1761516591.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473549,-0.863239,-0.174845],[0.880549,0.468427,0.072171],[0.019602,-0.188136,0.981947]]
2025-10-26T22:09:51.433Z,1761516591.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.508493 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:09:51.439Z,1761516591.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.860540 m,
      bearing: 57.558348 deg,
      lat: 36.779399 deg,
      lon: -121.859454 deg,
      deltaT: 0.508493 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:09:51.440Z,1761516591.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.86 m.
2025-10-26T22:09:51.443Z,1761516591.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.860540 m,
      nav range: 22.148676 m,
      bearing: 51.691050 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.071173 deg/s,
      cmd heading: 60.967532 deg,
      new cmd heading: 61.070063 deg.

2025-10-26T22:09:51.464Z,1761516591.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.065874 target range: 22.860540 and range: 23.00 m.
2025-10-26T22:09:51.477Z,1761516591.477 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.180893
2025-10-26T22:09:51.733Z,1761516591.733 [DAT](INFO): DAT read: Rx Time:22:09:50.6062 

2025-10-26T22:09:51.734Z,1761516591.734 [DAT](INFO): Rx dataTimestamp_ set to:1761516591.733845
2025-10-26T22:09:51.736Z,1761516591.736 [DAT](INFO): DAT read: Bearing 209.7, -11.3 (Local)

2025-10-26T22:09:51.736Z,1761516591.736 [DAT](INFO): Local bearing/azimuth received:
 Bearing 209.7, -11.3 (Local)

2025-10-26T22:09:51.738Z,1761516591.738 [DAT](INFO): DAT read: Range 11 to 50 :    22.5 m (trip time 15.0 ms) speed 0.4

2025-10-26T22:09:51.759Z,1761516591.759 [DAT](INFO): DAT read: 22:09:50.6062 LVL= 31088, 32753, 27746, 32755, AGC= 62, IDX= 5, 2.406, 0.975, 2.965, 2.358, PHS= 0.150,-1.338, 0.563, RAW= 161.9,   7.3, CAL= 161.4,   7.2, ROT= 348.6,  -7.2

2025-10-26T22:09:51.760Z,1761516591.760 [DAT](INFO): unknown deviceResponse_: 22:09:50.6062 LVL= 31088, 32753, 27746, 32755, AGC= 62, IDX= 5, 2.406, 0.975, 2.965, 2.358, PHS= 0.150,-1.338, 0.563, RAW= 161.9,   7.3, CAL= 161.4,   7.2, ROT= 348.6,  -7.2

2025-10-26T22:09:51.761Z,1761516591.761 [DAT](ERROR): #Rx 49: Read range message, but no direction.
2025-10-26T22:09:51.762Z,1761516591.762 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.466091
2025-10-26T22:09:51.800Z,1761516591.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471803,-0.864465,-0.173499],[0.881474,0.466952,0.070426],[0.020135,-0.186162,0.982313]]
2025-10-26T22:09:51.842Z,1761516591.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:09:51.849Z,1761516591.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 0.502988 s,
      deltaX: -0.500000 m,
      approachRate: -0.994060 m/s,
      rangeRepo size: 4

2025-10-26T22:09:51.850Z,1761516591.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.86 m.
2025-10-26T22:09:51.855Z,1761516591.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.860540 m,
      nav range: 21.903368 m,
      bearing: 51.586211 deg,
      approach rate: -0.590159 m/s,
      LOS rate: -0.255045 deg/s,
      cmd heading: 61.070060 deg,
      new cmd heading: 60.752024 deg.

2025-10-26T22:09:51.864Z,1761516591.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.060323 target range: 22.860540 and range: 22.50 m.
2025-10-26T22:09:51.981Z,1761516591.981 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.685137
2025-10-26T22:09:52.235Z,1761516592.235 [DAT](INFO): DAT read: Rx Time:22:09:51.1060 

2025-10-26T22:09:52.236Z,1761516592.236 [DAT](INFO): Rx dataTimestamp_ set to:1761516592.235261
2025-10-26T22:09:52.237Z,1761516592.237 [DAT](INFO): DAT read: Bearing 213.0, -12.4 (Local)

2025-10-26T22:09:52.237Z,1761516592.237 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.0, -12.4 (Local)

2025-10-26T22:09:52.239Z,1761516592.239 [DAT](INFO): DAT read: Range 11 to 50 :    22.2 m (trip time 14.8 ms) speed 0.4

2025-10-26T22:09:52.244Z,1761516592.244 [DAT](INFO): DAT read: 22:09:51.1060 LVL= 32752, 32753, 31874, 32755, AGC= 62, IDX= 508, 0.06,-1.846, 3.039,-1.293,-1.820, PHS= 0.076,-1.380, 0.483, RAW= 162.0,   9.7, CAL= 161.9,  10.5, ROT= 348.1, -10.5

2025-10-26T22:09:52.245Z,1761516592.245 [DAT](INFO): got valid direction response:
 22:09:51.1060 LVL= 32752, 32753, 31874, 32755, AGC= 62, IDX= 508, 0.06,-1.846, 3.039,-1.293,-1.820, PHS= 0.076,-1.380, 0.483, RAW= 162.0,   9.7, CAL= 161.9,  10.5, ROT= 348.1, -10.5

2025-10-26T22:09:52.245Z,1761516592.245 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-10-26T22:09:52.246Z,1761516592.246 [DAT](INFO): direction in FSK: [0.962124,-0.202751,0.182236]
2025-10-26T22:09:52.247Z,1761516592.247 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:52.292Z,1761516592.292 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.996639
2025-10-26T22:09:52.307Z,1761516592.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469310,-0.866264,-0.171274],[0.882793,0.464800,0.068102],[0.020614,-0.183160,0.982867]]
2025-10-26T22:09:52.423Z,1761516592.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.200001 m,
      deltaT: 0.501416 s,
      deltaX: -0.299999 m,
      approachRate: -0.598304 m/s,
      rangeRepo size: 4

2025-10-26T22:09:52.425Z,1761516592.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.065409 m,
      bearing: 52.171920 deg,
      lat: 36.779398 deg,
      lon: -121.859454 deg,
      deltaT: 1.004404 s,
      deltaX: -0.795132 m,
      approachRate: -0.791645 m/s,
      posRepo size: 4

2025-10-26T22:09:52.426Z,1761516592.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.07 m.
2025-10-26T22:09:52.433Z,1761516592.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.065409 m,
      nav range: 21.507078 m,
      bearing: 51.740025 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255045 deg/s,
      cmd heading: 60.752026 deg,
      new cmd heading: 60.315742 deg.

2025-10-26T22:09:52.434Z,1761516592.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.052708 target range: 22.065409 and range: 22.20 m.
2025-10-26T22:09:52.486Z,1761516592.486 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.190199
2025-10-26T22:09:52.737Z,1761516592.737 [DAT](INFO): DAT read: Rx Time:22:09:51.6057 

2025-10-26T22:09:52.738Z,1761516592.738 [DAT](INFO): Rx dataTimestamp_ set to:1761516592.737485
2025-10-26T22:09:52.739Z,1761516592.739 [DAT](INFO): DAT read: Bearing 210.3, -12.0 (Local)

2025-10-26T22:09:52.740Z,1761516592.740 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.3, -12.0 (Local)

2025-10-26T22:09:52.742Z,1761516592.742 [DAT](INFO): DAT read: Range 11 to 50 :    21.8 m (trip time 14.5 ms) speed 0.5

2025-10-26T22:09:52.746Z,1761516592.746 [DAT](INFO): DAT read: 22:09:51.6057 LVL= 32752, 32753, 26978, 32755, AGC= 62, IDX= 505, 0.27,-2.713, 2.136,-2.131,-2.740, PHS= 0.130,-1.362, 0.566, RAW= 162.5,   7.7, CAL= 162.0,   7.7, ROT= 348.0,  -7.7

2025-10-26T22:09:52.748Z,1761516592.748 [DAT](INFO): got valid direction response:
 22:09:51.6057 LVL= 32752, 32753, 26978, 32755, AGC= 62, IDX= 505, 0.27,-2.713, 2.136,-2.131,-2.740, PHS= 0.130,-1.362, 0.566, RAW= 162.5,   7.7, CAL= 162.0,   7.7, ROT= 348.0,  -7.7

2025-10-26T22:09:52.748Z,1761516592.748 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-10-26T22:09:52.749Z,1761516592.749 [DAT](INFO): direction in FSK: [0.969328,-0.206037,0.133986]
2025-10-26T22:09:52.749Z,1761516592.749 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:52.754Z,1761516592.754 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.457899
2025-10-26T22:09:52.797Z,1761516592.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466339,-0.868407,-0.168517],[0.884357,0.462194,0.065496],[0.021010,-0.179572,0.983520]]
2025-10-26T22:09:52.854Z,1761516592.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 0.502224 s,
      deltaX: -0.400002 m,
      approachRate: -0.796460 m/s,
      rangeRepo size: 4

2025-10-26T22:09:52.858Z,1761516592.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.667845 m,
      bearing: 51.715741 deg,
      lat: 36.779397 deg,
      lon: -121.859454 deg,
      deltaT: 0.502224 s,
      deltaX: -0.397564 m,
      approachRate: -0.791607 m/s,
      posRepo size: 4

2025-10-26T22:09:52.859Z,1761516592.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.67 m.
2025-10-26T22:09:52.870Z,1761516592.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.667845 m,
      nav range: 21.251625 m,
      bearing: 51.662235 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255045 deg/s,
      cmd heading: 60.315741 deg,
      new cmd heading: 59.983053 deg.

2025-10-26T22:09:52.871Z,1761516592.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.046902 target range: 21.667845 and range: 21.80 m.
2025-10-26T22:09:52.990Z,1761516592.990 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.694393
2025-10-26T22:09:53.130Z,1761516593.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463808,-0.870254,-0.165952],[0.885679,0.459974,0.063217],[0.021319,-0.176301,0.984106]]
2025-10-26T22:09:53.233Z,1761516593.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.67 m.
2025-10-26T22:09:53.241Z,1761516593.241 [DAT](INFO): DAT read: Rx Time:22:09:52.1056 

2025-10-26T22:09:53.241Z,1761516593.241 [DAT](INFO): Rx dataTimestamp_ set to:1761516593.241131
2025-10-26T22:09:53.243Z,1761516593.243 [DAT](INFO): DAT read: Bearing 211.7, -13.0 (Local)

2025-10-26T22:09:53.243Z,1761516593.243 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.7, -13.0 (Local)

2025-10-26T22:09:53.245Z,1761516593.245 [DAT](INFO): DAT read: Range 11 to 50 :    21.6 m (trip time 14.4 ms) speed 0.4

2025-10-26T22:09:53.250Z,1761516593.250 [DAT](INFO): DAT read: 22:09:52.1056 LVL= 32752, 32753, 28546, 32755, AGC= 63, IDX= 504, 0.37, 0.207,-1.213, 0.807, 0.222, PHS= 0.087,-1.390, 0.541, RAW= 163.0,   8.7, CAL= 162.7,   9.2, ROT= 347.3,  -9.2

2025-10-26T22:09:53.251Z,1761516593.251 [DAT](INFO): got valid direction response:
 22:09:52.1056 LVL= 32752, 32753, 28546, 32755, AGC= 63, IDX= 504, 0.37, 0.207,-1.213, 0.807, 0.222, PHS= 0.087,-1.390, 0.541, RAW= 163.0,   8.7, CAL= 162.7,   9.2, ROT= 347.3,  -9.2

2025-10-26T22:09:53.251Z,1761516593.251 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-10-26T22:09:53.252Z,1761516593.252 [DAT](INFO): direction in FSK: [0.962985,-0.217018,0.159881]
2025-10-26T22:09:53.252Z,1761516593.252 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:53.256Z,1761516593.256 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.960548
2025-10-26T22:09:53.262Z,1761516593.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.667845 m,
      nav range: 21.043634 m,
      bearing: 51.559641 deg,
      approach rate: -0.563475 m/s,
      LOS rate: -0.280689 deg/s,
      cmd heading: 59.983056 deg,
      new cmd heading: 59.672235 deg.

2025-10-26T22:09:53.263Z,1761516593.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.041477 target range: 21.667845 and range: 21.80 m.
2025-10-26T22:09:53.493Z,1761516593.493 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.197718
2025-10-26T22:09:53.548Z,1761516593.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461759,-0.871898,-0.163011],[0.886736,0.458284,0.060618],[0.021852,-0.172539,0.984760]]
2025-10-26T22:09:53.613Z,1761516593.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.600000 m,
      deltaT: 0.503646 s,
      deltaX: -0.199999 m,
      approachRate: -0.397102 m/s,
      rangeRepo size: 4

2025-10-26T22:09:53.616Z,1761516593.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.469059 m,
      bearing: 51.500410 deg,
      lat: 36.779397 deg,
      lon: -121.859454 deg,
      deltaT: 0.503646 s,
      deltaX: -0.198786 m,
      approachRate: -0.394693 m/s,
      posRepo size: 4

2025-10-26T22:09:53.616Z,1761516593.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.47 m.
2025-10-26T22:09:53.619Z,1761516593.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.469059 m,
      nav range: 20.819145 m,
      bearing: 51.486912 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.280689 deg/s,
      cmd heading: 59.672235 deg,
      new cmd heading: 59.343521 deg.

2025-10-26T22:09:53.620Z,1761516593.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.035740 target range: 21.469059 and range: 21.60 m.
2025-10-26T22:09:53.746Z,1761516593.746 [DAT](INFO): DAT read: Rx Time:22:09:52.6053 

2025-10-26T22:09:53.747Z,1761516593.747 [DAT](INFO): Rx dataTimestamp_ set to:1761516593.746452
2025-10-26T22:09:53.749Z,1761516593.749 [DAT](INFO): DAT read: Bearing 208.7, -12.8 (Local)

2025-10-26T22:09:53.749Z,1761516593.749 [DAT](INFO): Local bearing/azimuth received:
 Bearing 208.7, -12.8 (Local)

2025-10-26T22:09:53.751Z,1761516593.751 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed 0.4

2025-10-26T22:09:53.756Z,1761516593.756 [DAT](INFO): DAT read: 22:09:52.6053 LVL= 28064, 32017, 23394, 32755, AGC= 63, IDX= 502,-0.46,-1.350,-2.761,-0.723,-1.389, PHS= 0.141,-1.327, 0.622, RAW= 163.7,   6.5, CAL= 163.0,   6.1, ROT= 347.0,  -6.1

2025-10-26T22:09:53.757Z,1761516593.757 [DAT](INFO): got valid direction response:
 22:09:52.6053 LVL= 28064, 32017, 23394, 32755, AGC= 63, IDX= 502,-0.46,-1.350,-2.761,-0.723,-1.389, PHS= 0.141,-1.327, 0.622, RAW= 163.7,   6.5, CAL= 163.0,   6.1, ROT= 347.0,  -6.1

2025-10-26T22:09:53.758Z,1761516593.758 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-10-26T22:09:53.759Z,1761516593.759 [DAT](INFO): direction in FSK: [0.968853,-0.223677,0.106264]
2025-10-26T22:09:53.759Z,1761516593.759 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:53.762Z,1761516593.762 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.466810
2025-10-26T22:09:53.938Z,1761516593.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460110,-0.873038,-0.161565],[0.887575,0.456909,0.058698],[0.022575,-0.170409,0.985115]]
2025-10-26T22:09:53.976Z,1761516593.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.505321 s,
      deltaX: -0.400000 m,
      approachRate: -0.791575 m/s,
      rangeRepo size: 4

2025-10-26T22:09:53.978Z,1761516593.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.071510 m,
      bearing: 50.763375 deg,
      lat: 36.779397 deg,
      lon: -121.859454 deg,
      deltaT: 0.505321 s,
      deltaX: -0.397549 m,
      approachRate: -0.786725 m/s,
      posRepo size: 4

2025-10-26T22:09:53.979Z,1761516593.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-10-26T22:09:53.985Z,1761516593.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.071510 m,
      nav range: 20.589289 m,
      bearing: 51.374630 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.280689 deg/s,
      cmd heading: 59.343518 deg,
      new cmd heading: 59.038350 deg.

2025-10-26T22:09:53.989Z,1761516593.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.030414 target range: 21.071510 and range: 21.20 m.
2025-10-26T22:09:53.997Z,1761516593.997 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.701189
2025-10-26T22:09:54.250Z,1761516594.250 [DAT](INFO): DAT read: Rx Time:22:09:53.1053 

2025-10-26T22:09:54.250Z,1761516594.250 [DAT](INFO): Rx dataTimestamp_ set to:1761516594.250183
2025-10-26T22:09:54.252Z,1761516594.252 [DAT](INFO): DAT read: Bearing 211.8, -13.4 (Local)

2025-10-26T22:09:54.253Z,1761516594.253 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.8, -13.4 (Local)

2025-10-26T22:09:54.257Z,1761516594.257 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed 0.4

2025-10-26T22:09:54.261Z,1761516594.261 [DAT](INFO): DAT read: 22:09:53.1053 LVL= 32144, 32753, 23026, 32755, AGC= 62, IDX= 501,-0.28, 0.178,-1.212, 0.789, 0.203, PHS= 0.078,-1.369, 0.542, RAW= 163.5,   8.7, CAL= 163.2,   9.2, ROT= 346.8,  -9.2

2025-10-26T22:09:54.263Z,1761516594.263 [DAT](INFO): got valid direction response:
 22:09:53.1053 LVL= 32144, 32753, 23026, 32755, AGC= 62, IDX= 501,-0.28, 0.178,-1.212, 0.789, 0.203, PHS= 0.078,-1.369, 0.542, RAW= 163.5,   8.7, CAL= 163.2,   9.2, ROT= 346.8,  -9.2

2025-10-26T22:09:54.263Z,1761516594.263 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-10-26T22:09:54.273Z,1761516594.273 [DAT](INFO): direction in FSK: [0.961055,-0.225414,0.159881]
2025-10-26T22:09:54.273Z,1761516594.273 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:54.286Z,1761516594.286 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.990608
2025-10-26T22:09:54.342Z,1761516594.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458455,-0.874079,-0.160643],[0.888411,0.455500,0.056979],[0.023369,-0.168839,0.985367]]
2025-10-26T22:09:54.455Z,1761516594.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.503731 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:09:54.461Z,1761516594.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.071510 m,
      bearing: 51.168309 deg,
      lat: 36.779398 deg,
      lon: -121.859453 deg,
      deltaT: 0.503731 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:09:54.462Z,1761516594.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-10-26T22:09:54.469Z,1761516594.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.071510 m,
      nav range: 20.387438 m,
      bearing: 51.085127 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.280689 deg/s,
      cmd heading: 59.038352 deg,
      new cmd heading: 58.635058 deg.

2025-10-26T22:09:54.470Z,1761516594.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.023375 target range: 21.071510 and range: 21.20 m.
2025-10-26T22:09:54.502Z,1761516594.502 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.205839
2025-10-26T22:09:54.749Z,1761516594.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457771,-0.874529,-0.160139],[0.888742,0.455007,0.055727],[0.024129,-0.167833,0.985520]]
2025-10-26T22:09:54.753Z,1761516594.753 [DAT](INFO): DAT read: Rx Time:22:09:53.6050 

2025-10-26T22:09:54.753Z,1761516594.753 [DAT](INFO): Rx dataTimestamp_ set to:1761516594.752993
2025-10-26T22:09:54.755Z,1761516594.755 [DAT](INFO): DAT read: Bearing 212.2, -14.1 (Local)

2025-10-26T22:09:54.755Z,1761516594.755 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.2, -14.1 (Local)

2025-10-26T22:09:54.757Z,1761516594.757 [DAT](INFO): DAT read: Range 11 to 50 :    20.7 m (trip time 13.8 ms) speed 0.5

2025-10-26T22:09:54.762Z,1761516594.762 [DAT](INFO): DAT read: 22:09:53.6050 LVL= 32752, 32753, 21426, 32755, AGC= 62, IDX= 498,-0.08,-0.816,-2.181,-0.186,-0.767, PHS= 0.054,-1.368, 0.537, RAW= 164.1,   9.1, CAL= 163.9,   9.7, ROT= 346.1,  -9.7

2025-10-26T22:09:54.763Z,1761516594.763 [DAT](INFO): got valid direction response:
 22:09:53.6050 LVL= 32752, 32753, 21426, 32755, AGC= 62, IDX= 498,-0.08,-0.816,-2.181,-0.186,-0.767, PHS= 0.054,-1.368, 0.537, RAW= 164.1,   9.1, CAL= 163.9,   9.7, ROT= 346.1,  -9.7

2025-10-26T22:09:54.763Z,1761516594.763 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-10-26T22:09:54.764Z,1761516594.764 [DAT](INFO): direction in FSK: [0.956839,-0.236794,0.168489]
2025-10-26T22:09:54.764Z,1761516594.764 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:54.768Z,1761516594.768 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.472298
2025-10-26T22:09:54.818Z,1761516594.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.700001 m,
      deltaT: 0.502810 s,
      deltaX: -0.500000 m,
      approachRate: -0.994411 m/s,
      rangeRepo size: 4

2025-10-26T22:09:54.824Z,1761516594.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.574530 m,
      bearing: 50.582255 deg,
      lat: 36.779398 deg,
      lon: -121.859453 deg,
      deltaT: 0.502810 s,
      deltaX: -0.496981 m,
      approachRate: -0.988406 m/s,
      posRepo size: 4

2025-10-26T22:09:54.825Z,1761516594.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.57 m.
2025-10-26T22:09:54.836Z,1761516594.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.574530 m,
      nav range: 20.191051 m,
      bearing: 50.960601 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.280689 deg/s,
      cmd heading: 58.635057 deg,
      new cmd heading: 58.329326 deg.

2025-10-26T22:09:54.837Z,1761516594.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.018039 target range: 20.574530 and range: 20.70 m.
2025-10-26T22:09:55.005Z,1761516595.005 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.709557
2025-10-26T22:09:55.150Z,1761516595.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458657,-0.874044,-0.160249],[0.888274,0.455947,0.055511],[0.024546,-0.167806,0.985514]]
2025-10-26T22:09:55.260Z,1761516595.260 [DAT](INFO): DAT read: Rx Time:22:09:54.1049 

2025-10-26T22:09:55.262Z,1761516595.262 [DAT](INFO): Rx dataTimestamp_ set to:1761516595.261036
2025-10-26T22:09:55.266Z,1761516595.266 [DAT](INFO): DAT read: Bearing 212.3, -14.0 (Local)

2025-10-26T22:09:55.267Z,1761516595.267 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.3, -14.0 (Local)

2025-10-26T22:09:55.269Z,1761516595.269 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed 0.4

2025-10-26T22:09:55.273Z,1761516595.273 [DAT](INFO): DAT read: 22:09:54.1049 LVL= 32752, 32753, 24290, 32755, AGC= 62, IDX= 497, 0.16, 0.590,-0.809, 1.223, 0.637, PHS= 0.055,-1.402, 0.541, RAW= 163.9,   9.2, CAL= 163.7,   9.9, ROT= 346.3,  -9.9

2025-10-26T22:09:55.275Z,1761516595.275 [DAT](INFO): got valid direction response:
 22:09:54.1049 LVL= 32752, 32753, 24290, 32755, AGC= 62, IDX= 497, 0.16, 0.590,-0.809, 1.223, 0.637, PHS= 0.055,-1.402, 0.541, RAW= 163.9,   9.2, CAL= 163.7,   9.9, ROT= 346.3,  -9.9

2025-10-26T22:09:55.275Z,1761516595.275 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-10-26T22:09:55.284Z,1761516595.284 [DAT](INFO): direction in FSK: [0.957082,-0.233312,0.171929]
2025-10-26T22:09:55.284Z,1761516595.284 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:55.296Z,1761516595.296 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.000494
2025-10-26T22:09:55.302Z,1761516595.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.508043 s,
      deltaX: -0.100000 m,
      approachRate: -0.196834 m/s,
      rangeRepo size: 4

2025-10-26T22:09:55.316Z,1761516595.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.475134 m,
      bearing: 50.756388 deg,
      lat: 36.779398 deg,
      lon: -121.859453 deg,
      deltaT: 0.508043 s,
      deltaX: -0.099396 m,
      approachRate: -0.195644 m/s,
      posRepo size: 4

2025-10-26T22:09:55.317Z,1761516595.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.48 m.
2025-10-26T22:09:55.324Z,1761516595.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.475134 m,
      nav range: 19.941605 m,
      bearing: 50.816201 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.280689 deg/s,
      cmd heading: 58.329324 deg,
      new cmd heading: 57.921712 deg.

2025-10-26T22:09:55.325Z,1761516595.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.010925 target range: 20.475134 and range: 20.60 m.
2025-10-26T22:09:55.510Z,1761516595.510 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.213972
2025-10-26T22:09:55.554Z,1761516595.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460524,-0.872452,-0.163538],[0.887305,0.457581,0.057527],[0.024643,-0.171601,0.984858]]
2025-10-26T22:09:55.621Z,1761516595.621 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:09:55.627Z,1761516595.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.48 m.
2025-10-26T22:09:55.630Z,1761516595.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.475134 m,
      nav range: 19.736448 m,
      bearing: 50.767138 deg,
      approach rate: -0.637486 m/s,
      LOS rate: -0.154038 deg/s,
      cmd heading: 57.921712 deg,
      new cmd heading: 57.772994 deg.

2025-10-26T22:09:55.631Z,1761516595.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.008329 target range: 20.475134 and range: 20.60 m.
2025-10-26T22:09:55.761Z,1761516595.761 [DAT](INFO): DAT read: Rx Time:22:09:54.6046 

2025-10-26T22:09:55.762Z,1761516595.762 [DAT](INFO): Rx dataTimestamp_ set to:1761516595.761267
2025-10-26T22:09:55.763Z,1761516595.763 [DAT](INFO): DAT read: Bearing 211.0, -13.8 (Local)

2025-10-26T22:09:55.763Z,1761516595.763 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.0, -13.8 (Local)

2025-10-26T22:09:55.765Z,1761516595.765 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed 0.4

2025-10-26T22:09:55.770Z,1761516595.770 [DAT](INFO): DAT read: 22:09:54.6046 LVL= 32752, 32753, 23906, 32755, AGC= 60, IDX= 510, 0.42,-0.703,-2.102,-0.070,-0.676, PHS= 0.075,-1.380, 0.562, RAW= 163.9,   8.5, CAL= 163.6,   8.9, ROT= 346.4,  -8.9

2025-10-26T22:09:55.771Z,1761516595.771 [DAT](INFO): got valid direction response:
 22:09:54.6046 LVL= 32752, 32753, 23906, 32755, AGC= 60, IDX= 510, 0.42,-0.703,-2.102,-0.070,-0.676, PHS= 0.075,-1.380, 0.562, RAW= 163.9,   8.5, CAL= 163.6,   8.9, ROT= 346.4,  -8.9

2025-10-26T22:09:55.772Z,1761516595.772 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-10-26T22:09:55.773Z,1761516595.773 [DAT](INFO): direction in FSK: [0.960258,-0.232311,0.154710]
2025-10-26T22:09:55.773Z,1761516595.773 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:55.777Z,1761516595.777 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.481609
2025-10-26T22:09:55.958Z,1761516595.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463871,-0.869540,-0.169481],[0.885570,0.460373,0.061826],[0.024265,-0.178766,0.983592]]
2025-10-26T22:09:56.009Z,1761516596.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.500231 s,
      deltaX: -0.500000 m,
      approachRate: -0.999538 m/s,
      rangeRepo size: 4

2025-10-26T22:09:56.013Z,1761516596.013 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.716969
2025-10-26T22:09:56.013Z,1761516596.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.978191 m,
      bearing: 50.477297 deg,
      lat: 36.779399 deg,
      lon: -121.859454 deg,
      deltaT: 0.500231 s,
      deltaX: -0.496943 m,
      approachRate: -0.993426 m/s,
      posRepo size: 4

2025-10-26T22:09:56.014Z,1761516596.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.98 m.
2025-10-26T22:09:56.037Z,1761516596.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.978191 m,
      nav range: 19.535601 m,
      bearing: 50.558172 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.154038 deg/s,
      cmd heading: 57.772991 deg,
      new cmd heading: 57.595678 deg.

2025-10-26T22:09:56.038Z,1761516596.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.005234 target range: 19.978191 and range: 20.10 m.
2025-10-26T22:09:56.268Z,1761516596.268 [DAT](INFO): DAT read: Rx Time:22:09:55.1045 

2025-10-26T22:09:56.269Z,1761516596.269 [DAT](INFO): Rx dataTimestamp_ set to:1761516596.268416
2025-10-26T22:09:56.270Z,1761516596.270 [DAT](INFO): DAT read: Bearing 211.8, -13.9 (Local)

2025-10-26T22:09:56.270Z,1761516596.270 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.8, -13.9 (Local)

2025-10-26T22:09:56.273Z,1761516596.273 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed 0.4

2025-10-26T22:09:56.277Z,1761516596.277 [DAT](INFO): DAT read: 22:09:55.1045 LVL= 32752, 32753, 25010, 32755, AGC= 58, IDX= 509,-0.27,-2.180, 2.753,-1.572,-2.131, PHS= 0.053,-1.354, 0.515, RAW= 163.7,   9.4, CAL= 163.6,  10.0, ROT= 346.4, -10.0

2025-10-26T22:09:56.278Z,1761516596.278 [DAT](INFO): got valid direction response:
 22:09:55.1045 LVL= 32752, 32753, 25010, 32755, AGC= 58, IDX= 509,-0.27,-2.180, 2.753,-1.572,-2.131, PHS= 0.053,-1.354, 0.515, RAW= 163.7,   9.4, CAL= 163.6,  10.0, ROT= 346.4, -10.0

2025-10-26T22:09:56.278Z,1761516596.278 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-10-26T22:09:56.282Z,1761516596.282 [DAT](INFO): direction in FSK: [0.957195,-0.231570,0.173648]
2025-10-26T22:09:56.283Z,1761516596.283 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:56.290Z,1761516596.290 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.993679
2025-10-26T22:09:56.397Z,1761516596.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467980,-0.866410,-0.174149],[0.883407,0.464031,0.065327],[0.024211,-0.184416,0.982550]]
2025-10-26T22:09:56.492Z,1761516596.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.507149 s,
      deltaX: -0.100000 m,
      approachRate: -0.197181 m/s,
      rangeRepo size: 4

2025-10-26T22:09:56.500Z,1761516596.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.878798 m,
      bearing: 50.476428 deg,
      lat: 36.779399 deg,
      lon: -121.859454 deg,
      deltaT: 0.507149 s,
      deltaX: -0.099394 m,
      approachRate: -0.195985 m/s,
      posRepo size: 4

2025-10-26T22:09:56.502Z,1761516596.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.88 m.
2025-10-26T22:09:56.516Z,1761516596.516 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.220888
2025-10-26T22:09:56.518Z,1761516596.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.878798 m,
      nav range: 19.295803 m,
      bearing: 50.545021 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.154038 deg/s,
      cmd heading: 57.595679 deg,
      new cmd heading: 57.374226 deg.

2025-10-26T22:09:56.518Z,1761516596.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.001369 target range: 19.878798 and range: 20.00 m.
2025-10-26T22:09:56.769Z,1761516596.769 [DAT](INFO): DAT read: Rx Time:22:09:55.6042 

2025-10-26T22:09:56.769Z,1761516596.769 [DAT](INFO): Rx dataTimestamp_ set to:1761516596.769191
2025-10-26T22:09:56.771Z,1761516596.771 [DAT](INFO): DAT read: Bearing 209.0, -13.4 (Local)

2025-10-26T22:09:56.771Z,1761516596.771 [DAT](INFO): Local bearing/azimuth received:
 Bearing 209.0, -13.4 (Local)

2025-10-26T22:09:56.773Z,1761516596.773 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed 0.4

2025-10-26T22:09:56.778Z,1761516596.778 [DAT](INFO): DAT read: 22:09:55.6042 LVL= 29168, 32753, 22386, 32755, AGC= 60, IDX= 506,-0.06, 2.967, 1.578,-2.688, 2.966, PHS= 0.103,-1.342, 0.585, RAW= 163.9,   7.6, CAL= 163.4,   7.6, ROT= 346.6,  -7.6

2025-10-26T22:09:56.779Z,1761516596.779 [DAT](INFO): got valid direction response:
 22:09:55.6042 LVL= 29168, 32753, 22386, 32755, AGC= 60, IDX= 506,-0.06, 2.967, 1.578,-2.688, 2.966, PHS= 0.103,-1.342, 0.585, RAW= 163.9,   7.6, CAL= 163.4,   7.6, ROT= 346.6,  -7.6

2025-10-26T22:09:56.780Z,1761516596.780 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-26T22:09:56.784Z,1761516596.784 [DAT](INFO): direction in FSK: [0.964231,-0.229712,0.132256]
2025-10-26T22:09:56.784Z,1761516596.784 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:56.805Z,1761516596.805 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.509455
2025-10-26T22:09:56.845Z,1761516596.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472384,-0.863265,-0.177841],[0.881070,0.467954,0.068801],[0.023828,-0.189191,0.981651]]
2025-10-26T22:09:56.908Z,1761516596.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.500775 s,
      deltaX: -0.500000 m,
      approachRate: -0.998452 m/s,
      rangeRepo size: 4

2025-10-26T22:09:56.916Z,1761516596.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.381798 m,
      bearing: 50.001279 deg,
      lat: 36.779399 deg,
      lon: -121.859454 deg,
      deltaT: 0.500775 s,
      deltaX: -0.497000 m,
      approachRate: -0.992461 m/s,
      posRepo size: 4

2025-10-26T22:09:56.916Z,1761516596.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m.
2025-10-26T22:09:56.923Z,1761516596.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.381798 m,
      nav range: 19.052502 m,
      bearing: 50.471003 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.154038 deg/s,
      cmd heading: 57.374224 deg,
      new cmd heading: 57.183409 deg.

2025-10-26T22:09:56.924Z,1761516596.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.998039 target range: 19.381798 and range: 19.50 m.
2025-10-26T22:09:57.020Z,1761516597.020 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.724846
2025-10-26T22:09:57.277Z,1761516597.277 [DAT](INFO): DAT read: Rx Time:22:09:56.1041 

2025-10-26T22:09:57.278Z,1761516597.278 [DAT](INFO): Rx dataTimestamp_ set to:1761516597.277521
2025-10-26T22:09:57.283Z,1761516597.283 [DAT](INFO): DAT read: Bearing 209.5, -14.0 (Local)

2025-10-26T22:09:57.284Z,1761516597.284 [DAT](INFO): Local bearing/azimuth received:
 Bearing 209.5, -14.0 (Local)

2025-10-26T22:09:57.291Z,1761516597.291 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed 0.4

2025-10-26T22:09:57.301Z,1761516597.301 [DAT](INFO): DAT read: 22:09:56.1041 LVL= 32752, 32753, 23922, 32755, AGC= 61, IDX= 505, 0.04, 0.624,-0.779, 1.271, 0.647, PHS= 0.079,-1.380, 0.580, RAW= 164.2,   8.2, CAL= 163.9,   8.5, ROT= 346.1,  -8.5

2025-10-26T22:09:57.302Z,1761516597.302 [DAT](INFO): got valid direction response:
 22:09:56.1041 LVL= 32752, 32753, 23922, 32755, AGC= 61, IDX= 505, 0.04, 0.624,-0.779, 1.271, 0.647, PHS= 0.079,-1.380, 0.580, RAW= 164.2,   8.2, CAL= 163.9,   8.5, ROT= 346.1,  -8.5

2025-10-26T22:09:57.302Z,1761516597.302 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-26T22:09:57.339Z,1761516597.339 [DAT](INFO): direction in FSK: [0.960054,-0.237589,0.147809]
2025-10-26T22:09:57.339Z,1761516597.339 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:57.343Z,1761516597.343 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.047188
2025-10-26T22:09:57.372Z,1761516597.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482352,-0.856812,-0.182238],[0.875672,0.477126,0.074492],[0.023125,-0.195513,0.980429]]
2025-10-26T22:09:57.457Z,1761516597.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.508330 s,
      deltaX: -0.100000 m,
      approachRate: -0.196723 m/s,
      rangeRepo size: 4

2025-10-26T22:09:57.464Z,1761516597.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.282404 m,
      bearing: 49.093644 deg,
      lat: 36.779399 deg,
      lon: -121.859454 deg,
      deltaT: 0.508330 s,
      deltaX: -0.099394 m,
      approachRate: -0.195530 m/s,
      posRepo size: 4

2025-10-26T22:09:57.464Z,1761516597.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.28 m.
2025-10-26T22:09:57.467Z,1761516597.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.282404 m,
      nav range: 18.794441 m,
      bearing: 50.474366 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.154038 deg/s,
      cmd heading: 57.183409 deg,
      new cmd heading: 56.925664 deg.

2025-10-26T22:09:57.478Z,1761516597.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.993540 target range: 19.282404 and range: 19.40 m.
2025-10-26T22:09:57.525Z,1761516597.525 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.228933
2025-10-26T22:09:57.777Z,1761516597.777 [DAT](INFO): DAT read: Rx Time:22:09:56.6039 

2025-10-26T22:09:57.777Z,1761516597.777 [DAT](INFO): Rx dataTimestamp_ set to:1761516597.777163
2025-10-26T22:09:57.779Z,1761516597.779 [DAT](INFO): DAT read: Bearing 207.0, -13.2 (Local)

2025-10-26T22:09:57.779Z,1761516597.779 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.0, -13.2 (Local)

2025-10-26T22:09:57.781Z,1761516597.781 [DAT](INFO): DAT read: Range 11 to 50 :    18.9 m (trip time 12.6 ms) speed 0.5

2025-10-26T22:09:57.786Z,1761516597.786 [DAT](INFO): DAT read: 22:09:56.6039 LVL= 28464, 32753, 22098, 32755, AGC= 60, IDX= 502, 0.23,-0.185,-1.608, 0.461,-0.213, PHS= 0.130,-1.349, 0.631, RAW= 164.1,   6.7, CAL= 163.5,   6.3, ROT= 346.5,  -6.3

2025-10-26T22:09:57.787Z,1761516597.787 [DAT](INFO): got valid direction response:
 22:09:56.6039 LVL= 28464, 32753, 22098, 32755, AGC= 60, IDX= 502, 0.23,-0.185,-1.608, 0.461,-0.213, PHS= 0.130,-1.349, 0.631, RAW= 164.1,   6.7, CAL= 163.5,   6.3, ROT= 346.5,  -6.3

2025-10-26T22:09:57.787Z,1761516597.787 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-10-26T22:09:57.788Z,1761516597.788 [DAT](INFO): direction in FSK: [0.966498,-0.232036,0.109734]
2025-10-26T22:09:57.789Z,1761516597.789 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:57.816Z,1761516597.816 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.520868
2025-10-26T22:09:57.849Z,1761516597.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487728,-0.853161,-0.185031],[0.872706,0.481945,0.078182],[0.022473,-0.199610,0.979618]]
2025-10-26T22:09:57.906Z,1761516597.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.900000 m,
      deltaT: 0.499642 s,
      deltaX: -0.500000 m,
      approachRate: -1.000717 m/s,
      rangeRepo size: 4

2025-10-26T22:09:57.912Z,1761516597.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.785439 m,
      bearing: 48.754695 deg,
      lat: 36.779400 deg,
      lon: -121.859456 deg,
      deltaT: 0.499642 s,
      deltaX: -0.496965 m,
      approachRate: -0.994643 m/s,
      posRepo size: 4

2025-10-26T22:09:57.913Z,1761516597.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m.
2025-10-26T22:09:57.920Z,1761516597.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.785439 m,
      nav range: 18.509428 m,
      bearing: 50.126533 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.154038 deg/s,
      cmd heading: 56.925665 deg,
      new cmd heading: 56.718432 deg.

2025-10-26T22:09:57.921Z,1761516597.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.989923 target range: 18.785439 and range: 18.90 m.
2025-10-26T22:09:58.032Z,1761516598.032 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.736303
2025-10-26T22:09:58.263Z,1761516598.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493705,-0.848924,-0.188636],[0.869352,0.487272,0.082420],[0.021949,-0.204683,0.978582]]
2025-10-26T22:09:58.289Z,1761516598.289 [DAT](INFO): DAT read: Rx Time:22:09:57.1039 

2025-10-26T22:09:58.291Z,1761516598.291 [DAT](INFO): Rx dataTimestamp_ set to:1761516598.289954
2025-10-26T22:09:58.301Z,1761516598.301 [DAT](INFO): DAT read: Bearing 207.4, -12.3 (Local)

2025-10-26T22:09:58.301Z,1761516598.301 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.4, -12.3 (Local)

2025-10-26T22:09:58.303Z,1761516598.303 [DAT](INFO): DAT read: Range 11 to 50 :    18.9 m (trip time 12.6 ms) speed 0.4

2025-10-26T22:09:58.324Z,1761516598.324 [DAT](INFO): DAT read: 22:09:57.1039 LVL= 32224, 32753, 28002, 32755, AGC= 60, IDX= 502,-0.20, 2.425, 1.006, 3.023, 2.390, PHS= 0.137,-1.339, 0.589, RAW= 162.9,   7.1, CAL= 162.4,   6.9, ROT= 347.6,  -6.9

2025-10-26T22:09:58.326Z,1761516598.326 [DAT](INFO): got valid direction response:
 22:09:57.1039 LVL= 32224, 32753, 28002, 32755, AGC= 60, IDX= 502,-0.20, 2.425, 1.006, 3.023, 2.390, PHS= 0.137,-1.339, 0.589, RAW= 162.9,   7.1, CAL= 162.4,   6.9, ROT= 347.6,  -6.9

2025-10-26T22:09:58.326Z,1761516598.326 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-10-26T22:09:58.327Z,1761516598.327 [DAT](INFO): direction in FSK: [0.969599,-0.213180,0.120137]
2025-10-26T22:09:58.335Z,1761516598.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:09:58.335Z,1761516598.335 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:58.339Z,1761516598.339 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.043392
2025-10-26T22:09:58.350Z,1761516598.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.900000 m,
      deltaT: 0.512791 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:09:58.350Z,1761516598.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m.
2025-10-26T22:09:58.361Z,1761516598.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.785439 m,
      nav range: 18.294054 m,
      bearing: 50.189683 deg,
      approach rate: -0.485207 m/s,
      LOS rate: 0.143943 deg/s,
      cmd heading: 56.718434 deg,
      new cmd heading: 56.910114 deg.

2025-10-26T22:09:58.362Z,1761516598.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.993269 target range: 18.785439 and range: 18.90 m.
2025-10-26T22:09:58.537Z,1761516598.537 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.240892
2025-10-26T22:09:58.708Z,1761516598.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499553,-0.845289,-0.189561],[0.866017,0.492722,0.085087],[0.021478,-0.206669,0.978175]]
2025-10-26T22:09:58.789Z,1761516598.789 [DAT](INFO): DAT read: Rx Time:22:09:57.6036 

2025-10-26T22:09:58.790Z,1761516598.790 [DAT](INFO): Rx dataTimestamp_ set to:1761516598.789257
2025-10-26T22:09:58.791Z,1761516598.791 [DAT](INFO): DAT read: Bearing 211.7, -13.8 (Local)

2025-10-26T22:09:58.792Z,1761516598.792 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.7, -13.8 (Local)

2025-10-26T22:09:58.794Z,1761516598.794 [DAT](INFO): DAT read: Range 11 to 50 :    18.6 m (trip time 12.4 ms) speed 0.4

2025-10-26T22:09:58.798Z,1761516598.798 [DAT](INFO): DAT read: 22:09:57.6036 LVL= 32752, 32753, 28850, 32755, AGC= 59, IDX= 499,-0.04, 1.713, 0.336, 2.303, 1.784, PHS= 0.031,-1.403, 0.475, RAW= 163.1,  10.6, CAL= 163.1,  11.7, ROT= 346.9, -11.7

2025-10-26T22:09:58.800Z,1761516598.800 [DAT](INFO): got valid direction response:
 22:09:57.6036 LVL= 32752, 32753, 28850, 32755, AGC= 59, IDX= 499,-0.04, 1.713, 0.336, 2.303, 1.784, PHS= 0.031,-1.403, 0.475, RAW= 163.1,  10.6, CAL= 163.1,  11.7, ROT= 346.9, -11.7

2025-10-26T22:09:58.800Z,1761516598.800 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-10-26T22:09:58.801Z,1761516598.801 [DAT](INFO): direction in FSK: [0.953739,-0.221942,0.202787]
2025-10-26T22:09:58.801Z,1761516598.801 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:58.805Z,1761516598.805 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.509495
2025-10-26T22:09:58.811Z,1761516598.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.600000 m,
      deltaT: 0.499303 s,
      deltaX: -0.299999 m,
      approachRate: -0.600836 m/s,
      rangeRepo size: 4

2025-10-26T22:09:58.817Z,1761516598.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.785431 m,
      bearing: 49.251385 deg,
      lat: 36.779402 deg,
      lon: -121.859456 deg,
      deltaT: 0.512791 s,
      deltaX: -0.000008 m,
      approachRate: -0.000015 m/s,
      posRepo size: 4

2025-10-26T22:09:58.818Z,1761516598.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m.
2025-10-26T22:09:58.824Z,1761516598.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.785431 m,
      nav range: 18.286116 m,
      bearing: 49.525463 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.143943 deg/s,
      cmd heading: 56.910113 deg,
      new cmd heading: 57.109099 deg.

2025-10-26T22:09:58.828Z,1761516598.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.996742 target range: 18.785431 and range: 18.60 m.
2025-10-26T22:09:59.041Z,1761516599.041 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.744890
2025-10-26T22:09:59.070Z,1761516599.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505356,-0.841691,-0.190189],[0.862650,0.498200,0.087363],[0.021219,-0.208216,0.977853]]
2025-10-26T22:09:59.113Z,1761516599.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m.
2025-10-26T22:09:59.128Z,1761516599.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.785431 m,
      nav range: 18.133471 m,
      bearing: 49.590949 deg,
      approach rate: -0.503381 m/s,
      LOS rate: 0.217772 deg/s,
      cmd heading: 57.109100 deg,
      new cmd heading: 57.307211 deg.

2025-10-26T22:09:59.129Z,1761516599.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.000200 target range: 18.785431 and range: 18.60 m.
2025-10-26T22:09:59.297Z,1761516599.297 [DAT](INFO): DAT read: Rx Time:22:09:58.1034 

2025-10-26T22:09:59.298Z,1761516599.298 [DAT](INFO): Rx dataTimestamp_ set to:1761516599.297270
2025-10-26T22:09:59.307Z,1761516599.307 [DAT](INFO): DAT read: Bearing 211.6, -14.1 (Local)

2025-10-26T22:09:59.308Z,1761516599.308 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.6, -14.1 (Local)

2025-10-26T22:09:59.323Z,1761516599.323 [DAT](INFO): DAT read: Range 11 to 50 :    18.3 m (trip time 12.2 ms) speed 0.4

2025-10-26T22:09:59.364Z,1761516599.364 [DAT](INFO): DAT read: 22:09:58.1034 LVL= 32752, 32753, 28226, 32755, AGC= 58, IDX= 497, 0.12,-2.003, 2.883,-1.395,-1.920, PHS= 0.019,-1.435, 0.481, RAW= 163.3,  10.8, CAL= 163.4,  12.0, ROT= 346.6, -12.0

2025-10-26T22:09:59.366Z,1761516599.366 [DAT](INFO): got valid direction response:
 22:09:58.1034 LVL= 32752, 32753, 28226, 32755, AGC= 58, IDX= 497, 0.12,-2.003, 2.883,-1.395,-1.920, PHS= 0.019,-1.435, 0.481, RAW= 163.3,  10.8, CAL= 163.4,  12.0, ROT= 346.6, -12.0

2025-10-26T22:09:59.366Z,1761516599.366 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-26T22:09:59.376Z,1761516599.376 [DAT](INFO): direction in FSK: [0.951518,-0.226684,0.207912]
2025-10-26T22:09:59.376Z,1761516599.376 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:59.385Z,1761516599.385 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.089764
2025-10-26T22:09:59.545Z,1761516599.545 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.248898
2025-10-26T22:09:59.551Z,1761516599.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 0.508013 s,
      deltaX: -0.300001 m,
      approachRate: -0.590538 m/s,
      rangeRepo size: 4

2025-10-26T22:09:59.553Z,1761516599.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.189068 m,
      bearing: 48.956917 deg,
      lat: 36.779402 deg,
      lon: -121.859459 deg,
      deltaT: 1.007316 s,
      deltaX: -0.596363 m,
      approachRate: -0.592032 m/s,
      posRepo size: 4

2025-10-26T22:09:59.554Z,1761516599.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-10-26T22:09:59.557Z,1761516599.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.189068 m,
      nav range: 17.694542 m,
      bearing: 49.057225 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.217772 deg/s,
      cmd heading: 57.307213 deg,
      new cmd heading: 57.592676 deg.

2025-10-26T22:09:59.558Z,1761516599.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.005182 target range: 18.189068 and range: 18.30 m.
2025-10-26T22:09:59.797Z,1761516599.797 [DAT](INFO): DAT read: Rx Time:22:09:58.6031 

2025-10-26T22:09:59.797Z,1761516599.797 [DAT](INFO): Rx dataTimestamp_ set to:1761516599.797165
2025-10-26T22:09:59.799Z,1761516599.799 [DAT](INFO): DAT read: Bearing 212.9, -13.9 (Local)

2025-10-26T22:09:59.799Z,1761516599.799 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.9, -13.9 (Local)

2025-10-26T22:09:59.801Z,1761516599.801 [DAT](INFO): DAT read: Range 11 to 50 :    17.9 m (trip time 11.9 ms) speed 0.4

2025-10-26T22:09:59.838Z,1761516599.838 [DAT](INFO): DAT read: 22:09:58.6031 LVL= 32752, 32753, 30242, 32755, AGC= 57, IDX= 510, 0.34,-2.398, 2.493,-1.818,-2.295, PHS=-0.001,-1.451, 0.433, RAW= 162.7,  11.9, CAL= 163.0,  13.5, ROT= 347.0, -13.5

2025-10-26T22:09:59.839Z,1761516599.839 [DAT](INFO): got valid direction response:
 22:09:58.6031 LVL= 32752, 32753, 30242, 32755, AGC= 57, IDX= 510, 0.34,-2.398, 2.493,-1.818,-2.295, PHS=-0.001,-1.451, 0.433, RAW= 162.7,  11.9, CAL= 163.0,  13.5, ROT= 347.0, -13.5

2025-10-26T22:09:59.840Z,1761516599.840 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-10-26T22:09:59.841Z,1761516599.841 [DAT](INFO): direction in FSK: [0.947448,-0.218736,0.233445]
2025-10-26T22:09:59.841Z,1761516599.841 [DAT](INFO): publishing direction and range info
2025-10-26T22:09:59.845Z,1761516599.845 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.549076
2025-10-26T22:09:59.879Z,1761516599.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516826,-0.835009,-0.188812],[0.855850,0.509188,0.090826],[0.020300,-0.208536,0.977804]]
2025-10-26T22:09:59.945Z,1761516599.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 0.499895 s,
      deltaX: -0.400000 m,
      approachRate: -0.800167 m/s,
      rangeRepo size: 4

2025-10-26T22:09:59.947Z,1761516599.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.791521 m,
      bearing: 48.921241 deg,
      lat: 36.779401 deg,
      lon: -121.859459 deg,
      deltaT: 0.499895 s,
      deltaX: -0.397547 m,
      approachRate: -0.795261 m/s,
      posRepo size: 4

2025-10-26T22:09:59.952Z,1761516599.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-10-26T22:09:59.954Z,1761516599.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.791521 m,
      nav range: 17.437737 m,
      bearing: 49.356405 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.217772 deg/s,
      cmd heading: 57.592674 deg,
      new cmd heading: 57.850203 deg.

2025-10-26T22:09:59.960Z,1761516599.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.009676 target range: 17.791521 and range: 17.90 m.
2025-10-26T22:10:00.049Z,1761516600.049 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.752953
2025-10-26T22:10:00.306Z,1761516600.306 [DAT](INFO): DAT read: Rx Time:22:09:59.1031 

2025-10-26T22:10:00.308Z,1761516600.308 [DAT](INFO): Rx dataTimestamp_ set to:1761516600.306196
2025-10-26T22:10:00.312Z,1761516600.312 [DAT](INFO): DAT read: Bearing 214.7, -13.0 (Local)

2025-10-26T22:10:00.313Z,1761516600.313 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.7, -13.0 (Local)

2025-10-26T22:10:00.327Z,1761516600.327 [DAT](INFO): DAT read: Range 11 to 50 :    17.9 m (trip time 11.9 ms) speed 0.4

2025-10-26T22:10:00.352Z,1761516600.352 [DAT](INFO): DAT read: 22:09:59.1031 LVL= 32752, 32753, 30610, 32755, AGC= 58, IDX= 510,-0.27,-2.493, 2.400,-1.970,-2.374, PHS=-0.017,-1.464, 0.359, RAW= 161.3,  13.4, CAL= 161.8,  15.4, ROT= 348.2, -15.4

2025-10-26T22:10:00.353Z,1761516600.353 [DAT](INFO): got valid direction response:
 22:09:59.1031 LVL= 32752, 32753, 30610, 32755, AGC= 58, IDX= 510,-0.27,-2.493, 2.400,-1.970,-2.374, PHS=-0.017,-1.464, 0.359, RAW= 161.3,  13.4, CAL= 161.8,  15.4, ROT= 348.2, -15.4

2025-10-26T22:10:00.354Z,1761516600.354 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-26T22:10:00.355Z,1761516600.355 [DAT](INFO): direction in FSK: [0.943722,-0.197154,0.265556]
2025-10-26T22:10:00.355Z,1761516600.355 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:00.357Z,1761516600.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521221,-0.832408,-0.188217],[0.853184,0.513454,0.091886],[0.020154,-0.208476,0.977820]]
2025-10-26T22:10:00.371Z,1761516600.371 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.074989
2025-10-26T22:10:00.483Z,1761516600.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 0.509031 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:10:00.487Z,1761516600.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.791521 m,
      bearing: 50.237705 deg,
      lat: 36.779401 deg,
      lon: -121.859460 deg,
      deltaT: 0.509031 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:10:00.493Z,1761516600.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-10-26T22:10:00.501Z,1761516600.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.791521 m,
      nav range: 17.102695 m,
      bearing: 49.259463 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.217772 deg/s,
      cmd heading: 57.850200 deg,
      new cmd heading: 58.198469 deg.

2025-10-26T22:10:00.507Z,1761516600.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.015755 target range: 17.791521 and range: 17.90 m.
2025-10-26T22:10:00.553Z,1761516600.553 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.256920
2025-10-26T22:10:00.739Z,1761516600.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525429,-0.829750,-0.188251],[0.850616,0.517324,0.093962],[0.019422,-0.209500,0.977616]]
2025-10-26T22:10:00.755Z,1761516600.755 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:10:00.757Z,1761516600.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-10-26T22:10:00.760Z,1761516600.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.791521 m,
      nav range: 16.947256 m,
      bearing: 49.305571 deg,
      approach rate: -0.555613 m/s,
      LOS rate: 0.166321 deg/s,
      cmd heading: 58.198471 deg,
      new cmd heading: 58.338062 deg.

2025-10-26T22:10:00.761Z,1761516600.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.018191 target range: 17.791521 and range: 17.90 m.
2025-10-26T22:10:00.806Z,1761516600.806 [DAT](INFO): DAT read: Rx Time:22:09:59.6028 

2025-10-26T22:10:00.806Z,1761516600.806 [DAT](INFO): Rx dataTimestamp_ set to:1761516600.805748
2025-10-26T22:10:00.808Z,1761516600.808 [DAT](INFO): DAT read: Bearing 215.0, -12.6 (Local)

2025-10-26T22:10:00.809Z,1761516600.809 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.0, -12.6 (Local)

2025-10-26T22:10:00.812Z,1761516600.812 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed 0.4

2025-10-26T22:10:00.818Z,1761516600.818 [DAT](INFO): DAT read: 22:09:59.6028 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507, 0.02,-2.550, 2.319,-2.047,-2.432, PHS=-0.016,-1.488, 0.341, RAW= 160.6,  13.8, CAL= 161.2,  15.9, ROT= 348.8, -15.9

2025-10-26T22:10:00.819Z,1761516600.819 [DAT](INFO): got valid direction response:
 22:09:59.6028 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507, 0.02,-2.550, 2.319,-2.047,-2.432, PHS=-0.016,-1.488, 0.341, RAW= 160.6,  13.8, CAL= 161.2,  15.9, ROT= 348.8, -15.9

2025-10-26T22:10:00.819Z,1761516600.819 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-10-26T22:10:00.820Z,1761516600.820 [DAT](INFO): direction in FSK: [0.943425,-0.186804,0.273959]
2025-10-26T22:10:00.821Z,1761516600.821 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:00.824Z,1761516600.824 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.528629
2025-10-26T22:10:01.056Z,1761516601.056 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.760818
2025-10-26T22:10:01.091Z,1761516601.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528561,-0.828065,-0.186898],[0.848683,0.520382,0.094546],[0.018968,-0.208591,0.977819]]
2025-10-26T22:10:01.133Z,1761516601.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.499552 s,
      deltaX: -0.500000 m,
      approachRate: -1.000897 m/s,
      rangeRepo size: 4

2025-10-26T22:10:01.135Z,1761516601.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.294537 m,
      bearing: 50.457836 deg,
      lat: 36.779400 deg,
      lon: -121.859461 deg,
      deltaT: 0.499552 s,
      deltaX: -0.496984 m,
      approachRate: -0.994860 m/s,
      posRepo size: 4

2025-10-26T22:10:01.136Z,1761516601.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-10-26T22:10:01.138Z,1761516601.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.294537 m,
      nav range: 16.600212 m,
      bearing: 49.688881 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.166321 deg/s,
      cmd heading: 58.338060 deg,
      new cmd heading: 58.525274 deg.

2025-10-26T22:10:01.140Z,1761516601.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.021459 target range: 17.294537 and range: 17.40 m.
2025-10-26T22:10:01.314Z,1761516601.314 [DAT](INFO): DAT read: Rx Time:22:10:00.1027 

2025-10-26T22:10:01.317Z,1761516601.317 [DAT](INFO): Rx dataTimestamp_ set to:1761516601.316146
2025-10-26T22:10:01.322Z,1761516601.322 [DAT](INFO): DAT read: Bearing 215.5, -12.6 (Local)

2025-10-26T22:10:01.323Z,1761516601.323 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.5, -12.6 (Local)

2025-10-26T22:10:01.346Z,1761516601.346 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed 0.4

2025-10-26T22:10:01.366Z,1761516601.366 [DAT](INFO): DAT read: 22:10:00.1027 LVL= 32752, 32753, 32098, 32755, AGC= 58, IDX= 506, 0.40,-1.447,-2.871,-0.946,-1.315, PHS=-0.030,-1.511, 0.324, RAW= 160.5,  14.3, CAL= 161.2,  16.6, ROT= 348.8, -16.6

2025-10-26T22:10:01.372Z,1761516601.372 [DAT](INFO): got valid direction response:
 22:10:00.1027 LVL= 32752, 32753, 32098, 32755, AGC= 58, IDX= 506, 0.40,-1.447,-2.871,-0.946,-1.315, PHS=-0.030,-1.511, 0.324, RAW= 160.5,  14.3, CAL= 161.2,  16.6, ROT= 348.8, -16.6

2025-10-26T22:10:01.372Z,1761516601.372 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-10-26T22:10:01.375Z,1761516601.375 [DAT](INFO): direction in FSK: [0.940071,-0.186140,0.285688]
2025-10-26T22:10:01.375Z,1761516601.375 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:01.398Z,1761516601.398 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.102135
2025-10-26T22:10:01.553Z,1761516601.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.510398 s,
      deltaX: -0.100000 m,
      approachRate: -0.195926 m/s,
      rangeRepo size: 4

2025-10-26T22:10:01.555Z,1761516601.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.195143 m,
      bearing: 50.615726 deg,
      lat: 36.779398 deg,
      lon: -121.859461 deg,
      deltaT: 0.510398 s,
      deltaX: -0.099394 m,
      approachRate: -0.194738 m/s,
      posRepo size: 4

2025-10-26T22:10:01.556Z,1761516601.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m.
2025-10-26T22:10:01.559Z,1761516601.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.195143 m,
      nav range: 16.248276 m,
      bearing: 50.271363 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.166321 deg/s,
      cmd heading: 58.525275 deg,
      new cmd heading: 58.734857 deg.

2025-10-26T22:10:01.560Z,1761516601.560 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.264809
2025-10-26T22:10:01.564Z,1761516601.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.025117 target range: 17.195143 and range: 17.30 m.
2025-10-26T22:10:01.813Z,1761516601.813 [DAT](INFO): DAT read: Rx Time:22:10:00.6025 

2025-10-26T22:10:01.813Z,1761516601.813 [DAT](INFO): Rx dataTimestamp_ set to:1761516601.813055
2025-10-26T22:10:01.815Z,1761516601.815 [DAT](INFO): DAT read: Bearing 210.1, -10.7 (Local)

2025-10-26T22:10:01.815Z,1761516601.815 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.1, -10.7 (Local)

2025-10-26T22:10:01.817Z,1761516601.817 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed 0.4

2025-10-26T22:10:01.822Z,1761516601.822 [DAT](INFO): DAT read: 22:10:00.6025 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504, 0.00, 0.990,-0.455, 1.482, 0.996, PHS= 0.096,-1.406, 0.442, RAW= 160.1,  10.2, CAL= 160.1,  11.1, ROT= 349.9, -11.1

2025-10-26T22:10:01.823Z,1761516601.823 [DAT](INFO): got valid direction response:
 22:10:00.6025 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504, 0.00, 0.990,-0.455, 1.482, 0.996, PHS= 0.096,-1.406, 0.442, RAW= 160.1,  10.2, CAL= 160.1,  11.1, ROT= 349.9, -11.1

2025-10-26T22:10:01.823Z,1761516601.823 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-10-26T22:10:01.824Z,1761516601.824 [DAT](INFO): direction in FSK: [0.966086,-0.172086,0.192522]
2025-10-26T22:10:01.824Z,1761516601.824 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:01.828Z,1761516601.828 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.532246
2025-10-26T22:10:01.958Z,1761516601.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.496909 s,
      deltaX: -0.299999 m,
      approachRate: -0.603731 m/s,
      rangeRepo size: 4

2025-10-26T22:10:01.964Z,1761516601.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.897020 m,
      bearing: 50.495744 deg,
      lat: 36.779398 deg,
      lon: -121.859461 deg,
      deltaT: 0.496909 s,
      deltaX: -0.298122 m,
      approachRate: -0.599954 m/s,
      posRepo size: 4

2025-10-26T22:10:01.965Z,1761516601.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.90 m.
2025-10-26T22:10:01.972Z,1761516601.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.897020 m,
      nav range: 16.058826 m,
      bearing: 50.356884 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.166321 deg/s,
      cmd heading: 58.734859 deg,
      new cmd heading: 58.936823 deg.

2025-10-26T22:10:01.974Z,1761516601.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.028642 target range: 16.897020 and range: 17.00 m.
2025-10-26T22:10:02.065Z,1761516602.065 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.768967
2025-10-26T22:10:02.321Z,1761516602.321 [DAT](INFO): DAT read: Rx Time:22:10:01.1024 

2025-10-26T22:10:02.322Z,1761516602.322 [DAT](INFO): Rx dataTimestamp_ set to:1761516602.321557
2025-10-26T22:10:02.327Z,1761516602.327 [DAT](INFO): DAT read: Bearing 216.1, -11.1 (Local)

2025-10-26T22:10:02.336Z,1761516602.336 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.1, -11.1 (Local)

2025-10-26T22:10:02.343Z,1761516602.343 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed 0.4

2025-10-26T22:10:02.371Z,1761516602.371 [DAT](INFO): DAT read: 22:10:01.1024 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 503, 0.31,-2.251, 2.594,-1.810,-2.139, PHS=-0.010,-1.505, 0.285, RAW= 158.9,  14.7, CAL= 159.6,  17.0, ROT= 350.4, -17.0

2025-10-26T22:10:02.380Z,1761516602.380 [DAT](INFO): got valid direction response:
 22:10:01.1024 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 503, 0.31,-2.251, 2.594,-1.810,-2.139, PHS=-0.010,-1.505, 0.285, RAW= 158.9,  14.7, CAL= 159.6,  17.0, ROT= 350.4, -17.0

2025-10-26T22:10:02.380Z,1761516602.380 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-10-26T22:10:02.381Z,1761516602.381 [DAT](INFO): direction in FSK: [0.942913,-0.159482,0.292372]
2025-10-26T22:10:02.382Z,1761516602.382 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:02.386Z,1761516602.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530558,-0.828868,-0.177445],[0.847445,0.523267,0.089601],[0.018584,-0.197913,0.980043]]
2025-10-26T22:10:02.402Z,1761516602.402 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.106060
2025-10-26T22:10:02.523Z,1761516602.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.508502 s,
      deltaX: -0.200001 m,
      approachRate: -0.393314 m/s,
      rangeRepo size: 4

2025-10-26T22:10:02.529Z,1761516602.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.698231 m,
      bearing: 51.951484 deg,
      lat: 36.779397 deg,
      lon: -121.859460 deg,
      deltaT: 0.508502 s,
      deltaX: -0.198790 m,
      approachRate: -0.390932 m/s,
      posRepo size: 4

2025-10-26T22:10:02.530Z,1761516602.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-10-26T22:10:02.537Z,1761516602.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.698231 m,
      nav range: 15.708969 m,
      bearing: 50.711146 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.166321 deg/s,
      cmd heading: 58.936821 deg,
      new cmd heading: 59.218704 deg.

2025-10-26T22:10:02.538Z,1761516602.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.033561 target range: 16.698231 and range: 16.80 m.
2025-10-26T22:10:02.568Z,1761516602.568 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.272762
2025-10-26T22:10:02.821Z,1761516602.821 [DAT](INFO): DAT read: Rx Time:22:10:01.6022 

2025-10-26T22:10:02.821Z,1761516602.821 [DAT](INFO): Rx dataTimestamp_ set to:1761516602.821137
2025-10-26T22:10:02.823Z,1761516602.823 [DAT](INFO): DAT read: Bearing 212.5, -11.2 (Local)

2025-10-26T22:10:02.823Z,1761516602.823 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.5, -11.2 (Local)

2025-10-26T22:10:02.825Z,1761516602.825 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.4

2025-10-26T22:10:02.830Z,1761516602.830 [DAT](INFO): DAT read: 22:10:01.6022 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 501,-0.02,-0.406,-1.836, 0.082,-0.352, PHS= 0.048,-1.439, 0.390, RAW= 160.1,  11.9, CAL= 160.4,  13.3, ROT= 349.6, -13.3

2025-10-26T22:10:02.831Z,1761516602.831 [DAT](INFO): got valid direction response:
 22:10:01.6022 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 501,-0.02,-0.406,-1.836, 0.082,-0.352, PHS= 0.048,-1.439, 0.390, RAW= 160.1,  11.9, CAL= 160.4,  13.3, ROT= 349.6, -13.3

2025-10-26T22:10:02.831Z,1761516602.831 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-10-26T22:10:02.832Z,1761516602.832 [DAT](INFO): direction in FSK: [0.957191,-0.175677,0.230050]
2025-10-26T22:10:02.832Z,1761516602.832 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:02.836Z,1761516602.836 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.540375
2025-10-26T22:10:02.874Z,1761516602.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528516,-0.831449,-0.171358],[0.848708,0.522054,0.084585],[0.019130,-0.190137,0.981571]]
2025-10-26T22:10:02.941Z,1761516602.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.499580 s,
      deltaX: -0.299999 m,
      approachRate: -0.600503 m/s,
      rangeRepo size: 4

2025-10-26T22:10:02.944Z,1761516602.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.400030 m,
      bearing: 50.388307 deg,
      lat: 36.779397 deg,
      lon: -121.859458 deg,
      deltaT: 0.499580 s,
      deltaX: -0.298201 m,
      approachRate: -0.596903 m/s,
      posRepo size: 4

2025-10-26T22:10:02.944Z,1761516602.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-10-26T22:10:02.947Z,1761516602.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.400030 m,
      nav range: 15.601552 m,
      bearing: 51.077785 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.166321 deg/s,
      cmd heading: 59.218703 deg,
      new cmd heading: 59.427603 deg.

2025-10-26T22:10:02.956Z,1761516602.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.037207 target range: 16.400030 and range: 16.50 m.
2025-10-26T22:10:03.073Z,1761516603.073 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.777065
2025-10-26T22:10:03.271Z,1761516603.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525357,-0.834724,-0.165033],[0.850651,0.519760,0.079011],[0.019825,-0.181895,0.983118]]
2025-10-26T22:10:03.295Z,1761516603.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:10:03.330Z,1761516603.330 [DAT](INFO): DAT read: Rx Time:22:10:02.1020 

2025-10-26T22:10:03.332Z,1761516603.332 [DAT](INFO): Rx dataTimestamp_ set to:1761516603.330490
2025-10-26T22:10:03.336Z,1761516603.336 [DAT](INFO): DAT read: Bearing 210.2, -10.0 (Local)

2025-10-26T22:10:03.337Z,1761516603.337 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.2, -10.0 (Local)

2025-10-26T22:10:03.352Z,1761516603.352 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed 0.4

2025-10-26T22:10:03.370Z,1761516603.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-10-26T22:10:03.389Z,1761516603.389 [DAT](INFO): DAT read: 22:10:02.1020 LVL= 32752, 32753, 30642, 32755, AGC= 58, IDX= 500,-0.40,-2.173, 2.651,-1.692,-2.185, PHS= 0.114,-1.402, 0.448, RAW= 159.8,   9.9, CAL= 159.7,  10.6, ROT= 350.3, -10.6

2025-10-26T22:10:03.390Z,1761516603.390 [DAT](INFO): got valid direction response:
 22:10:02.1020 LVL= 32752, 32753, 30642, 32755, AGC= 58, IDX= 500,-0.40,-2.173, 2.651,-1.692,-2.185, PHS= 0.114,-1.402, 0.448, RAW= 159.8,   9.9, CAL= 159.7,  10.6, ROT= 350.3, -10.6

2025-10-26T22:10:03.391Z,1761516603.391 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-10-26T22:10:03.400Z,1761516603.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.400030 m,
      nav range: 15.384454 m,
      bearing: 51.055163 deg,
      approach rate: -0.507514 m/s,
      LOS rate: -0.053631 deg/s,
      cmd heading: 59.427604 deg,
      new cmd heading: 59.358780 deg.

2025-10-26T22:10:03.401Z,1761516603.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.036006 target range: 16.400030 and range: 16.50 m.
2025-10-26T22:10:03.404Z,1761516603.404 [DAT](INFO): direction in FSK: [0.968883,-0.165614,0.183951]
2025-10-26T22:10:03.404Z,1761516603.404 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:03.420Z,1761516603.420 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.124401
2025-10-26T22:10:03.577Z,1761516603.577 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.280914
2025-10-26T22:10:03.829Z,1761516603.829 [DAT](INFO): DAT read: Rx Time:22:10:02.6018 

2025-10-26T22:10:03.830Z,1761516603.830 [DAT](INFO): Rx dataTimestamp_ set to:1761516603.829247
2025-10-26T22:10:03.831Z,1761516603.831 [DAT](INFO): DAT read: Bearing 213.5, -11.7 (Local)

2025-10-26T22:10:03.847Z,1761516603.847 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.5, -11.7 (Local)

2025-10-26T22:10:03.849Z,1761516603.849 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.4

2025-10-26T22:10:03.854Z,1761516603.854 [DAT](INFO): DAT read: 22:10:02.6018 LVL= 32752, 32753, 29602, 32755, AGC= 62, IDX= 497,-0.06,-2.728, 2.122,-2.211,-2.652, PHS= 0.026,-1.465, 0.397, RAW= 160.9,  12.2, CAL= 161.2,  13.8, ROT= 348.8, -13.8

2025-10-26T22:10:03.855Z,1761516603.855 [DAT](INFO): got valid direction response:
 22:10:02.6018 LVL= 32752, 32753, 29602, 32755, AGC= 62, IDX= 497,-0.06,-2.728, 2.122,-2.211,-2.652, PHS= 0.026,-1.465, 0.397, RAW= 160.9,  12.2, CAL= 161.2,  13.8, ROT= 348.8, -13.8

2025-10-26T22:10:03.864Z,1761516603.864 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-10-26T22:10:03.865Z,1761516603.865 [DAT](INFO): direction in FSK: [0.952639,-0.188628,0.238533]
2025-10-26T22:10:03.865Z,1761516603.865 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:03.877Z,1761516603.877 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.581570
2025-10-26T22:10:03.882Z,1761516603.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 1.008110 s,
      deltaX: -0.600000 m,
      approachRate: -0.595174 m/s,
      rangeRepo size: 4

2025-10-26T22:10:03.888Z,1761516603.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.101873 m,
      bearing: 50.660411 deg,
      lat: 36.779399 deg,
      lon: -121.859458 deg,
      deltaT: 0.509353 s,
      deltaX: -0.298157 m,
      approachRate: -0.585364 m/s,
      posRepo size: 4

2025-10-26T22:10:03.889Z,1761516603.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-10-26T22:10:03.896Z,1761516603.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.101873 m,
      nav range: 15.274532 m,
      bearing: 50.387773 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.053631 deg/s,
      cmd heading: 59.358777 deg,
      new cmd heading: 59.276265 deg.

2025-10-26T22:10:03.897Z,1761516603.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.034566 target range: 16.101873 and range: 15.90 m.
2025-10-26T22:10:04.080Z,1761516604.080 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.784824
2025-10-26T22:10:04.248Z,1761516604.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513633,-0.844990,-0.148903],[0.857703,0.510302,0.062754],[0.022959,-0.159947,0.986859]]
2025-10-26T22:10:04.271Z,1761516604.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-10-26T22:10:04.274Z,1761516604.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.101873 m,
      nav range: 15.018251 m,
      bearing: 50.282974 deg,
      approach rate: -0.658165 m/s,
      LOS rate: -0.273731 deg/s,
      cmd heading: 59.276261 deg,
      new cmd heading: 58.956503 deg.

2025-10-26T22:10:04.275Z,1761516604.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.028985 target range: 16.101873 and range: 15.90 m.
2025-10-26T22:10:04.338Z,1761516604.338 [DAT](INFO): DAT read: Rx Time:22:10:03.1017 

2025-10-26T22:10:04.340Z,1761516604.340 [DAT](INFO): Rx dataTimestamp_ set to:1761516604.339057
2025-10-26T22:10:04.345Z,1761516604.345 [DAT](INFO): DAT read: Bearing 210.4,   1.9 (Local)

2025-10-26T22:10:04.346Z,1761516604.346 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.4,   1.9 (Local)

2025-10-26T22:10:04.354Z,1761516604.354 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed 0.4

2025-10-26T22:10:04.389Z,1761516604.389 [DAT](INFO): DAT read: 22:10:03.1017 LVL= 32752, 32753, 32146, 32755, AGC= 58, IDX= 512, 0.25, 1.562,-0.426, 1.650, 1.223, PHS= 0.441,-1.604, 0.383, RAW= 148.6,   7.8, CAL= 148.1,   8.4, ROT=   1.9,  -8.4

2025-10-26T22:10:04.390Z,1761516604.390 [DAT](INFO): got valid direction response:
 22:10:03.1017 LVL= 32752, 32753, 32146, 32755, AGC= 58, IDX= 512, 0.25, 1.562,-0.426, 1.650, 1.223, PHS= 0.441,-1.604, 0.383, RAW= 148.6,   7.8, CAL= 148.1,   8.4, ROT=   1.9,  -8.4

2025-10-26T22:10:04.391Z,1761516604.391 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-10-26T22:10:04.417Z,1761516604.417 [DAT](INFO): direction in FSK: [0.988728,0.032800,0.146083]
2025-10-26T22:10:04.417Z,1761516604.417 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:04.425Z,1761516604.425 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.129543
2025-10-26T22:10:04.584Z,1761516604.584 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.288715
2025-10-26T22:10:04.652Z,1761516604.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508919,-0.847826,-0.148975],[0.860469,0.505941,0.060138],[0.024386,-0.158793,0.987011]]
2025-10-26T22:10:04.790Z,1761516604.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.509810 s,
      deltaX: -0.099999 m,
      approachRate: -0.196150 m/s,
      rangeRepo size: 4

2025-10-26T22:10:04.800Z,1761516604.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.704295 m,
      bearing: 62.627930 deg,
      lat: 36.779399 deg,
      lon: -121.859457 deg,
      deltaT: 1.008567 s,
      deltaX: -0.397578 m,
      approachRate: -0.394201 m/s,
      posRepo size: 4

2025-10-26T22:10:04.801Z,1761516604.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-10-26T22:10:04.809Z,1761516604.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.704295 m,
      nav range: 14.782880 m,
      bearing: 50.318710 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.273731 deg/s,
      cmd heading: 58.956506 deg,
      new cmd heading: 58.530752 deg.

2025-10-26T22:10:04.810Z,1761516604.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.021554 target range: 15.704295 and range: 15.80 m.
2025-10-26T22:10:04.837Z,1761516604.837 [DAT](INFO): DAT read: Rx Time:22:10:03.6014 

2025-10-26T22:10:04.837Z,1761516604.837 [DAT](INFO): Rx dataTimestamp_ set to:1761516604.837167
2025-10-26T22:10:04.839Z,1761516604.839 [DAT](INFO): DAT read: Bearing 215.6, -12.0 (Local)

2025-10-26T22:10:04.839Z,1761516604.839 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.6, -12.0 (Local)

2025-10-26T22:10:04.841Z,1761516604.841 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed 0.4

2025-10-26T22:10:04.846Z,1761516604.846 [DAT](INFO): DAT read: 22:10:03.6014 LVL= 32752, 32753, 29042, 32755, AGC= 57, IDX= 509, 0.45,-0.148,-1.566, 0.370,-0.038, PHS=-0.008,-1.483, 0.364, RAW= 161.0,  13.2, CAL= 161.5,  15.2, ROT= 348.5, -15.2

2025-10-26T22:10:04.847Z,1761516604.847 [DAT](INFO): got valid direction response:
 22:10:03.6014 LVL= 32752, 32753, 29042, 32755, AGC= 57, IDX= 509, 0.45,-0.148,-1.566, 0.370,-0.038, PHS=-0.008,-1.483, 0.364, RAW= 161.0,  13.2, CAL= 161.5,  15.2, ROT= 348.5, -15.2

2025-10-26T22:10:04.847Z,1761516604.847 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-10-26T22:10:04.848Z,1761516604.848 [DAT](INFO): direction in FSK: [0.945643,-0.192393,0.262189]
2025-10-26T22:10:04.848Z,1761516604.848 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:04.853Z,1761516604.853 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.557232
2025-10-26T22:10:05.089Z,1761516605.089 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.792892
2025-10-26T22:10:05.092Z,1761516605.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504729,-0.850160,-0.149921],[0.862904,0.501952,0.058653],[0.025389,-0.158971,0.986957]]
2025-10-26T22:10:05.179Z,1761516605.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.498110 s,
      deltaX: -0.500000 m,
      approachRate: -1.003794 m/s,
      rangeRepo size: 4

2025-10-26T22:10:05.216Z,1761516605.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.207324 m,
      bearing: 50.694377 deg,
      lat: 36.779399 deg,
      lon: -121.859457 deg,
      deltaT: 0.498110 s,
      deltaX: -0.496971 m,
      approachRate: -0.997714 m/s,
      posRepo size: 4

2025-10-26T22:10:05.218Z,1761516605.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m.
2025-10-26T22:10:05.231Z,1761516605.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.207324 m,
      nav range: 14.561531 m,
      bearing: 50.198265 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.273731 deg/s,
      cmd heading: 58.530753 deg,
      new cmd heading: 58.220310 deg.

2025-10-26T22:10:05.240Z,1761516605.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.016136 target range: 15.207324 and range: 15.30 m.
2025-10-26T22:10:05.342Z,1761516605.342 [DAT](INFO): DAT read: Rx Time:22:10:04.1014 

2025-10-26T22:10:05.342Z,1761516605.342 [DAT](INFO): Rx dataTimestamp_ set to:1761516605.341793
2025-10-26T22:10:05.344Z,1761516605.344 [DAT](INFO): DAT read: Bearing 215.2, -11.7 (Local)

2025-10-26T22:10:05.345Z,1761516605.345 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.2, -11.7 (Local)

2025-10-26T22:10:05.348Z,1761516605.348 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed 0.5

2025-10-26T22:10:05.361Z,1761516605.361 [DAT](INFO): DAT read: 22:10:04.1014 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 509,-0.27, 0.259,-1.147, 0.767, 0.352, PHS= 0.009,-1.454, 0.371, RAW= 160.8,  12.8, CAL= 161.2,  14.6, ROT= 348.8, -14.6

2025-10-26T22:10:05.365Z,1761516605.365 [DAT](INFO): got valid direction response:
 22:10:04.1014 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 509,-0.27, 0.259,-1.147, 0.767, 0.352, PHS= 0.009,-1.454, 0.371, RAW= 160.8,  12.8, CAL= 161.2,  14.6, ROT= 348.8, -14.6

2025-10-26T22:10:05.366Z,1761516605.366 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-10-26T22:10:05.374Z,1761516605.374 [DAT](INFO): direction in FSK: [0.949279,-0.187963,0.252069]
2025-10-26T22:10:05.374Z,1761516605.374 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:05.420Z,1761516605.420 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.124252
2025-10-26T22:10:05.577Z,1761516605.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500606,-0.852749,-0.149043],[0.865279,0.498112,0.056356],[0.026183,-0.157176,0.987223]]
2025-10-26T22:10:05.593Z,1761516605.593 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.297108
2025-10-26T22:10:05.774Z,1761516605.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.504626 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:10:05.789Z,1761516605.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.207324 m,
      bearing: 51.135783 deg,
      lat: 36.779399 deg,
      lon: -121.859454 deg,
      deltaT: 0.504626 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:10:05.789Z,1761516605.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m.
2025-10-26T22:10:05.800Z,1761516605.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.207324 m,
      nav range: 14.393784 m,
      bearing: 50.822423 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.273731 deg/s,
      cmd heading: 58.220307 deg,
      new cmd heading: 57.722868 deg.

2025-10-26T22:10:05.801Z,1761516605.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.007454 target range: 15.207324 and range: 15.30 m.
2025-10-26T22:10:05.845Z,1761516605.845 [DAT](INFO): DAT read: Rx Time:22:10:04.6011 

2025-10-26T22:10:05.846Z,1761516605.846 [DAT](INFO): Rx dataTimestamp_ set to:1761516605.845312
2025-10-26T22:10:05.847Z,1761516605.847 [DAT](INFO): DAT read: Bearing 216.2, -12.1 (Local)

2025-10-26T22:10:05.847Z,1761516605.847 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.2, -12.1 (Local)

2025-10-26T22:10:05.849Z,1761516605.849 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed 0.4

2025-10-26T22:10:05.854Z,1761516605.854 [DAT](INFO): DAT read: 22:10:04.6011 LVL= 32752, 32753, 30930, 32755, AGC= 56, IDX= 506,-0.16, 0.127,-1.265, 0.644, 0.242, PHS=-0.013,-1.462, 0.358, RAW= 161.1,  13.3, CAL= 161.6,  15.4, ROT= 348.4, -15.4

2025-10-26T22:10:05.855Z,1761516605.855 [DAT](INFO): got valid direction response:
 22:10:04.6011 LVL= 32752, 32753, 30930, 32755, AGC= 56, IDX= 506,-0.16, 0.127,-1.265, 0.644, 0.242, PHS=-0.013,-1.462, 0.358, RAW= 161.1,  13.3, CAL= 161.6,  15.4, ROT= 348.4, -15.4

2025-10-26T22:10:05.856Z,1761516605.856 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-10-26T22:10:05.857Z,1761516605.857 [DAT](INFO): direction in FSK: [0.944404,-0.193858,0.265556]
2025-10-26T22:10:05.857Z,1761516605.857 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:05.872Z,1761516605.872 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.576035
2025-10-26T22:10:06.043Z,1761516606.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496779,-0.855344,-0.146959],[0.867468,0.494574,0.053813],[0.026654,-0.154216,0.987678]]
2025-10-26T22:10:06.096Z,1761516606.096 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.800709
2025-10-26T22:10:06.145Z,1761516606.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.503519 s,
      deltaX: -0.400001 m,
      approachRate: -0.794410 m/s,
      rangeRepo size: 4

2025-10-26T22:10:06.156Z,1761516606.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.809746 m,
      bearing: 51.065268 deg,
      lat: 36.779398 deg,
      lon: -121.859455 deg,
      deltaT: 0.503519 s,
      deltaX: -0.397578 m,
      approachRate: -0.789599 m/s,
      posRepo size: 4

2025-10-26T22:10:06.156Z,1761516606.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-10-26T22:10:06.159Z,1761516606.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.809746 m,
      nav range: 14.062566 m,
      bearing: 50.972658 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.273731 deg/s,
      cmd heading: 57.722871 deg,
      new cmd heading: 57.417661 deg.

2025-10-26T22:10:06.190Z,1761516606.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.002127 target range: 14.809746 and range: 14.90 m.
2025-10-26T22:10:06.351Z,1761516606.351 [DAT](INFO): DAT read: Rx Time:22:10:05.1009 

2025-10-26T22:10:06.353Z,1761516606.353 [DAT](INFO): Rx dataTimestamp_ set to:1761516606.352140
2025-10-26T22:10:06.358Z,1761516606.358 [DAT](INFO): DAT read: Bearing 214.6, -12.9 (Local)

2025-10-26T22:10:06.360Z,1761516606.360 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.6, -12.9 (Local)

2025-10-26T22:10:06.371Z,1761516606.371 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed 0.4

2025-10-26T22:10:06.424Z,1761516606.424 [DAT](INFO): DAT read: 22:10:05.1009 LVL= 32752, 32753, 29426, 32755, AGC= 57, IDX= 505, 0.01, 2.129, 0.730, 2.697, 2.231, PHS=-0.000,-1.457, 0.422, RAW= 162.4,  12.1, CAL= 162.7,  13.8, ROT= 347.3, -13.8

2025-10-26T22:10:06.425Z,1761516606.425 [DAT](INFO): got valid direction response:
 22:10:05.1009 LVL= 32752, 32753, 29426, 32755, AGC= 57, IDX= 505, 0.01, 2.129, 0.730, 2.697, 2.231, PHS=-0.000,-1.457, 0.422, RAW= 162.4,  12.1, CAL= 162.7,  13.8, ROT= 347.3, -13.8

2025-10-26T22:10:06.425Z,1761516606.425 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-10-26T22:10:06.426Z,1761516606.426 [DAT](INFO): direction in FSK: [0.947375,-0.213500,0.238533]
2025-10-26T22:10:06.427Z,1761516606.427 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:06.455Z,1761516606.455 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.158947
2025-10-26T22:10:06.513Z,1761516606.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493775,-0.857295,-0.145711],[0.869184,0.491686,0.052578],[0.026569,-0.152612,0.987929]]
2025-10-26T22:10:06.600Z,1761516606.600 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.304852
2025-10-26T22:10:06.644Z,1761516606.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.600000 m,
      deltaT: 0.506828 s,
      deltaX: -0.299999 m,
      approachRate: -0.591915 m/s,
      rangeRepo size: 4

2025-10-26T22:10:06.646Z,1761516606.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.511564 m,
      bearing: 49.877141 deg,
      lat: 36.779398 deg,
      lon: -121.859455 deg,
      deltaT: 0.506828 s,
      deltaX: -0.298182 m,
      approachRate: -0.588329 m/s,
      posRepo size: 4

2025-10-26T22:10:06.647Z,1761516606.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m.
2025-10-26T22:10:06.661Z,1761516606.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.511564 m,
      nav range: 13.772272 m,
      bearing: 50.848723 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.273731 deg/s,
      cmd heading: 57.417657 deg,
      new cmd heading: 57.014736 deg.

2025-10-26T22:10:06.662Z,1761516606.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.995095 target range: 14.511564 and range: 14.60 m.
2025-10-26T22:10:06.853Z,1761516606.853 [DAT](INFO): DAT read: Rx Time:22:10:05.6006 

2025-10-26T22:10:06.854Z,1761516606.854 [DAT](INFO): Rx dataTimestamp_ set to:1761516606.853278
2025-10-26T22:10:06.855Z,1761516606.855 [DAT](INFO): DAT read: Bearing 214.5, -14.4 (Local)

2025-10-26T22:10:06.855Z,1761516606.855 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.5, -14.4 (Local)

2025-10-26T22:10:06.857Z,1761516606.857 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed 0.4

2025-10-26T22:10:06.862Z,1761516606.862 [DAT](INFO): DAT read: 22:10:05.6006 LVL= 32752, 32753, 28754, 32755, AGC= 57, IDX= 502, 0.19, 1.031,-0.365, 1.664, 1.158, PHS=-0.025,-1.478, 0.462, RAW= 164.0,  11.9, CAL= 164.2,  13.6, ROT= 345.8, -13.6

2025-10-26T22:10:06.863Z,1761516606.863 [DAT](INFO): got valid direction response:
 22:10:05.6006 LVL= 32752, 32753, 28754, 32755, AGC= 57, IDX= 502, 0.19, 1.031,-0.365, 1.664, 1.158, PHS=-0.025,-1.478, 0.462, RAW= 164.0,  11.9, CAL= 164.2,  13.6, ROT= 345.8, -13.6

2025-10-26T22:10:06.863Z,1761516606.863 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-10-26T22:10:06.864Z,1761516606.864 [DAT](INFO): direction in FSK: [0.942263,-0.238429,0.235142]
2025-10-26T22:10:06.865Z,1761516606.865 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:06.873Z,1761516606.873 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.577000
2025-10-26T22:10:06.903Z,1761516606.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491457,-0.858735,-0.145069],[0.870513,0.489351,0.052371],[0.026017,-0.152022,0.988035]]
2025-10-26T22:10:06.992Z,1761516606.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.501138 s,
      deltaX: -0.500000 m,
      approachRate: -0.997729 m/s,
      rangeRepo size: 4

2025-10-26T22:10:07.004Z,1761516607.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.014598 m,
      bearing: 48.484288 deg,
      lat: 36.779399 deg,
      lon: -121.859455 deg,
      deltaT: 0.501138 s,
      deltaX: -0.496966 m,
      approachRate: -0.991676 m/s,
      posRepo size: 4

2025-10-26T22:10:07.004Z,1761516607.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T22:10:07.007Z,1761516607.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.014598 m,
      nav range: 13.611287 m,
      bearing: 50.128249 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.273731 deg/s,
      cmd heading: 57.014734 deg,
      new cmd heading: 56.723611 deg.

2025-10-26T22:10:07.008Z,1761516607.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.990014 target range: 14.014598 and range: 14.10 m.
2025-10-26T22:10:07.105Z,1761516607.105 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.808941
2025-10-26T22:10:07.316Z,1761516607.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489790,-0.859321,-0.147220],[0.871477,0.487429,0.054226],[0.025162,-0.154858,0.987616]]
2025-10-26T22:10:07.357Z,1761516607.357 [DAT](INFO): DAT read: Rx Time:22:10:06.1005 

2025-10-26T22:10:07.358Z,1761516607.358 [DAT](INFO): Rx dataTimestamp_ set to:1761516607.358021
2025-10-26T22:10:07.360Z,1761516607.360 [DAT](INFO): DAT read: Bearing 213.0, -14.2 (Local)

2025-10-26T22:10:07.360Z,1761516607.360 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.0, -14.2 (Local)

2025-10-26T22:10:07.362Z,1761516607.362 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed 0.4

2025-10-26T22:10:07.384Z,1761516607.384 [DAT](INFO): DAT read: 22:10:06.1005 LVL= 32752, 32753, 25234, 32755, AGC= 57, IDX= 501, 0.44, 1.645, 0.254, 2.276, 1.740, PHS= 0.006,-1.442, 0.492, RAW= 164.0,  10.8, CAL= 164.0,  12.1, ROT= 346.0, -12.1

2025-10-26T22:10:07.395Z,1761516607.395 [DAT](INFO): got valid direction response:
 22:10:06.1005 LVL= 32752, 32753, 25234, 32755, AGC= 57, IDX= 501, 0.44, 1.645, 0.254, 2.276, 1.740, PHS= 0.006,-1.442, 0.492, RAW= 164.0,  10.8, CAL= 164.0,  12.1, ROT= 346.0, -12.1

2025-10-26T22:10:07.397Z,1761516607.397 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-10-26T22:10:07.420Z,1761516607.420 [DAT](INFO): direction in FSK: [0.948739,-0.236547,0.209619]
2025-10-26T22:10:07.421Z,1761516607.421 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:07.449Z,1761516607.449 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.153816
2025-10-26T22:10:07.468Z,1761516607.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.504743 s,
      deltaX: -0.100000 m,
      approachRate: -0.198121 m/s,
      rangeRepo size: 4

2025-10-26T22:10:07.477Z,1761516607.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.915204 m,
      bearing: 48.609102 deg,
      lat: 36.779400 deg,
      lon: -121.859455 deg,
      deltaT: 0.504743 s,
      deltaX: -0.099394 m,
      approachRate: -0.196920 m/s,
      posRepo size: 4

2025-10-26T22:10:07.477Z,1761516607.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m.
2025-10-26T22:10:07.486Z,1761516607.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.915204 m,
      nav range: 13.442904 m,
      bearing: 49.646552 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.273731 deg/s,
      cmd heading: 56.723611 deg,
      new cmd heading: 56.336048 deg.

2025-10-26T22:10:07.492Z,1761516607.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.983250 target range: 13.915204 and range: 14.00 m.
2025-10-26T22:10:07.609Z,1761516607.609 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.313251
2025-10-26T22:10:07.780Z,1761516607.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489092,-0.859193,-0.150253],[0.871944,0.486045,0.058931],[0.022397,-0.159835,0.986890]]
2025-10-26T22:10:07.861Z,1761516607.861 [DAT](INFO): DAT read: Rx Time:22:10:06.6003 

2025-10-26T22:10:07.861Z,1761516607.861 [DAT](INFO): Rx dataTimestamp_ set to:1761516607.861164
2025-10-26T22:10:07.863Z,1761516607.863 [DAT](INFO): DAT read: Bearing 213.5, -14.3 (Local)

2025-10-26T22:10:07.863Z,1761516607.863 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.5, -14.3 (Local)

2025-10-26T22:10:07.865Z,1761516607.865 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.5

2025-10-26T22:10:07.870Z,1761516607.870 [DAT](INFO): DAT read: 22:10:06.6003 LVL= 32752, 32753, 26066, 32755, AGC= 57, IDX= 499,-0.40, 0.596,-0.779, 1.215, 0.700, PHS=-0.002,-1.434, 0.471, RAW= 163.8,  11.2, CAL= 163.9,  12.6, ROT= 346.1, -12.6

2025-10-26T22:10:07.872Z,1761516607.872 [DAT](INFO): got valid direction response:
 22:10:06.6003 LVL= 32752, 32753, 26066, 32755, AGC= 57, IDX= 499,-0.40, 0.596,-0.779, 1.215, 0.700, PHS=-0.002,-1.434, 0.471, RAW= 163.8,  11.2, CAL= 163.9,  12.6, ROT= 346.1, -12.6

2025-10-26T22:10:07.872Z,1761516607.872 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-26T22:10:07.873Z,1761516607.873 [DAT](INFO): direction in FSK: [0.947338,-0.234443,0.218143]
2025-10-26T22:10:07.873Z,1761516607.873 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:07.877Z,1761516607.877 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.581440
2025-10-26T22:10:07.922Z,1761516607.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.503143 s,
      deltaX: -0.300000 m,
      approachRate: -0.596252 m/s,
      rangeRepo size: 4

2025-10-26T22:10:07.932Z,1761516607.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.617016 m,
      bearing: 48.918307 deg,
      lat: 36.779400 deg,
      lon: -121.859457 deg,
      deltaT: 0.503143 s,
      deltaX: -0.298188 m,
      approachRate: -0.592651 m/s,
      posRepo size: 4

2025-10-26T22:10:07.933Z,1761516607.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.62 m.
2025-10-26T22:10:07.952Z,1761516607.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.617016 m,
      nav range: 13.079896 m,
      bearing: 48.999195 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.273731 deg/s,
      cmd heading: 56.336049 deg,
      new cmd heading: 55.959058 deg.

2025-10-26T22:10:07.956Z,1761516607.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.976670 target range: 13.617016 and range: 13.70 m.
2025-10-26T22:10:08.116Z,1761516608.116 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.820518
2025-10-26T22:10:08.296Z,1761516608.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490546,-0.857835,-0.153243],[0.871160,0.487017,0.062407],[0.021097,-0.164113,0.986216]]
2025-10-26T22:10:08.329Z,1761516608.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:10:08.335Z,1761516608.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.62 m.
2025-10-26T22:10:08.338Z,1761516608.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.617016 m,
      nav range: 12.856549 m,
      bearing: 48.914931 deg,
      approach rate: -0.544399 m/s,
      LOS rate: -0.208958 deg/s,
      cmd heading: 55.959057 deg,
      new cmd heading: 55.701875 deg.

2025-10-26T22:10:08.339Z,1761516608.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.972181 target range: 13.617016 and range: 13.70 m.
2025-10-26T22:10:08.370Z,1761516608.370 [DAT](INFO): DAT read: Rx Time:22:10:07.1002 

2025-10-26T22:10:08.370Z,1761516608.370 [DAT](INFO): Rx dataTimestamp_ set to:1761516608.370137
2025-10-26T22:10:08.372Z,1761516608.372 [DAT](INFO): DAT read: Bearing 212.5, -14.9 (Local)

2025-10-26T22:10:08.372Z,1761516608.372 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.5, -14.9 (Local)

2025-10-26T22:10:08.374Z,1761516608.374 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.4

2025-10-26T22:10:08.381Z,1761516608.381 [DAT](INFO): DAT read: 22:10:07.1002 LVL= 32752, 32753, 24722, 32755, AGC= 57, IDX= 498,-0.22, 1.740, 0.374, 2.388, 1.836, PHS= 0.006,-1.417, 0.508, RAW= 164.6,  10.5, CAL= 164.6,  11.6, ROT= 345.4, -11.6

2025-10-26T22:10:08.385Z,1761516608.385 [DAT](INFO): got valid direction response:
 22:10:07.1002 LVL= 32752, 32753, 24722, 32755, AGC= 57, IDX= 498,-0.22, 1.740, 0.374, 2.388, 1.836, PHS= 0.006,-1.417, 0.508, RAW= 164.6,  10.5, CAL= 164.6,  11.6, ROT= 345.4, -11.6

2025-10-26T22:10:08.387Z,1761516608.387 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-10-26T22:10:08.393Z,1761516608.393 [DAT](INFO): direction in FSK: [0.947944,-0.246921,0.201078]
2025-10-26T22:10:08.394Z,1761516608.394 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:08.426Z,1761516608.426 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.129742
2025-10-26T22:10:08.621Z,1761516608.621 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.325134
2025-10-26T22:10:08.737Z,1761516608.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492472,-0.856148,-0.156469],[0.870088,0.488537,0.065403],[0.020447,-0.168351,0.985515]]
2025-10-26T22:10:08.836Z,1761516608.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.508973 s,
      deltaX: -0.200000 m,
      approachRate: -0.392948 m/s,
      rangeRepo size: 4

2025-10-26T22:10:08.838Z,1761516608.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.418221 m,
      bearing: 47.960330 deg,
      lat: 36.779401 deg,
      lon: -121.859457 deg,
      deltaT: 0.508973 s,
      deltaX: -0.198794 m,
      approachRate: -0.390579 m/s,
      posRepo size: 4

2025-10-26T22:10:08.838Z,1761516608.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-10-26T22:10:08.845Z,1761516608.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.418221 m,
      nav range: 12.627074 m,
      bearing: 48.821804 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.208958 deg/s,
      cmd heading: 55.701876 deg,
      new cmd heading: 55.388838 deg.

2025-10-26T22:10:08.846Z,1761516608.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.966718 target range: 13.418221 and range: 13.50 m.
2025-10-26T22:10:08.873Z,1761516608.873 [DAT](INFO): DAT read: Rx Time:22:10:07.6000 

2025-10-26T22:10:08.874Z,1761516608.874 [DAT](INFO): Rx dataTimestamp_ set to:1761516608.873246
2025-10-26T22:10:08.875Z,1761516608.875 [DAT](INFO): DAT read: Bearing 212.9, -15.2 (Local)

2025-10-26T22:10:08.875Z,1761516608.875 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.9, -15.2 (Local)

2025-10-26T22:10:08.877Z,1761516608.877 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed 0.5

2025-10-26T22:10:08.882Z,1761516608.882 [DAT](INFO): DAT read: 22:10:07.6000 LVL= 32752, 32753, 24098, 32755, AGC= 57, IDX= 495,-0.07, 1.235,-0.140, 1.893, 1.344, PHS=-0.006,-1.439, 0.505, RAW= 164.7,  10.8, CAL= 164.8,  12.1, ROT= 345.2, -12.1

2025-10-26T22:10:08.883Z,1761516608.883 [DAT](INFO): got valid direction response:
 22:10:07.6000 LVL= 32752, 32753, 24098, 32755, AGC= 57, IDX= 495,-0.07, 1.235,-0.140, 1.893, 1.344, PHS=-0.006,-1.439, 0.505, RAW= 164.7,  10.8, CAL= 164.8,  12.1, ROT= 345.2, -12.1

2025-10-26T22:10:08.883Z,1761516608.883 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-10-26T22:10:08.884Z,1761516608.884 [DAT](INFO): direction in FSK: [0.945344,-0.249771,0.209619]
2025-10-26T22:10:08.885Z,1761516608.885 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:08.897Z,1761516608.897 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.600933
2025-10-26T22:10:09.125Z,1761516609.125 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.829052
2025-10-26T22:10:09.194Z,1761516609.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494762,-0.854076,-0.160514],[0.868790,0.490443,0.068333],[0.020362,-0.173262,0.984665]]
2025-10-26T22:10:09.284Z,1761516609.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.503109 s,
      deltaX: -0.400000 m,
      approachRate: -0.795056 m/s,
      rangeRepo size: 4

2025-10-26T22:10:09.286Z,1761516609.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.020644 m,
      bearing: 47.766099 deg,
      lat: 36.779401 deg,
      lon: -121.859457 deg,
      deltaT: 0.503109 s,
      deltaX: -0.397577 m,
      approachRate: -0.790241 m/s,
      posRepo size: 4

2025-10-26T22:10:09.287Z,1761516609.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-10-26T22:10:09.294Z,1761516609.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.020644 m,
      nav range: 12.420771 m,
      bearing: 48.380417 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.208958 deg/s,
      cmd heading: 55.388839 deg,
      new cmd heading: 55.104880 deg.

2025-10-26T22:10:09.295Z,1761516609.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.961762 target range: 13.020644 and range: 13.10 m.
2025-10-26T22:10:09.377Z,1761516609.377 [DAT](INFO): DAT read: Rx Time:22:10:08.0999 

2025-10-26T22:10:09.378Z,1761516609.378 [DAT](INFO): Rx dataTimestamp_ set to:1761516609.377308
2025-10-26T22:10:09.379Z,1761516609.379 [DAT](INFO): DAT read: Bearing 212.8, -15.7 (Local)

2025-10-26T22:10:09.379Z,1761516609.379 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.8, -15.7 (Local)

2025-10-26T22:10:09.381Z,1761516609.381 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed 0.4

2025-10-26T22:10:09.386Z,1761516609.386 [DAT](INFO): DAT read: 22:10:08.0999 LVL= 32752, 32753, 25410, 32755, AGC= 57, IDX= 510, 0.16, 2.519, 1.139,-3.084, 2.637, PHS=-0.016,-1.452, 0.518, RAW= 165.2,  10.8, CAL= 165.2,  12.1, ROT= 344.8, -12.1

2025-10-26T22:10:09.387Z,1761516609.387 [DAT](INFO): got valid direction response:
 22:10:08.0999 LVL= 32752, 32753, 25410, 32755, AGC= 57, IDX= 510, 0.16, 2.519, 1.139,-3.084, 2.637, PHS=-0.016,-1.452, 0.518, RAW= 165.2,  10.8, CAL= 165.2,  12.1, ROT= 344.8, -12.1

2025-10-26T22:10:09.387Z,1761516609.387 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-10-26T22:10:09.388Z,1761516609.388 [DAT](INFO): direction in FSK: [0.943577,-0.256364,0.209619]
2025-10-26T22:10:09.388Z,1761516609.388 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:09.392Z,1761516609.392 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.096432
2025-10-26T22:10:09.629Z,1761516609.629 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.332901
2025-10-26T22:10:09.658Z,1761516609.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497125,-0.851737,-0.165560],[0.867434,0.492385,0.071515],[0.020607,-0.179165,0.983603]]
2025-10-26T22:10:09.811Z,1761516609.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.504062 s,
      deltaX: -0.200001 m,
      approachRate: -0.396778 m/s,
      rangeRepo size: 4

2025-10-26T22:10:09.821Z,1761516609.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.821856 m,
      bearing: 47.295940 deg,
      lat: 36.779403 deg,
      lon: -121.859457 deg,
      deltaT: 0.504062 s,
      deltaX: -0.198789 m,
      approachRate: -0.394373 m/s,
      posRepo size: 4

2025-10-26T22:10:09.822Z,1761516609.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-10-26T22:10:09.828Z,1761516609.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.821856 m,
      nav range: 12.278797 m,
      bearing: 47.819562 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.208958 deg/s,
      cmd heading: 55.104880 deg,
      new cmd heading: 54.774912 deg.

2025-10-26T22:10:09.829Z,1761516609.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.956003 target range: 12.821856 and range: 12.90 m.
2025-10-26T22:10:09.881Z,1761516609.881 [DAT](INFO): DAT read: Rx Time:22:10:08.5996 

2025-10-26T22:10:09.882Z,1761516609.882 [DAT](INFO): Rx dataTimestamp_ set to:1761516609.881558
2025-10-26T22:10:09.883Z,1761516609.883 [DAT](INFO): DAT read: Bearing 213.7, -15.4 (Local)

2025-10-26T22:10:09.884Z,1761516609.884 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.7, -15.4 (Local)

2025-10-26T22:10:09.886Z,1761516609.886 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.4

2025-10-26T22:10:09.887Z,1761516609.887 [DAT](INFO): DAT read: 22:10:08.5996 LVL= 327

2025-10-26T22:10:09.888Z,1761516609.888 [DAT](INFO): unknown deviceResponse_: 22:10:08.5996 LVL= 327

2025-10-26T22:10:09.889Z,1761516609.889 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-10-26T22:10:09.890Z,1761516609.890 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.594444
2025-10-26T22:10:10.132Z,1761516610.132 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.836796
2025-10-26T22:10:10.234Z,1761516610.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.504250 s,
      deltaX: -0.400000 m,
      approachRate: -0.793257 m/s,
      rangeRepo size: 4

2025-10-26T22:10:10.234Z,1761516610.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-10-26T22:10:10.237Z,1761516610.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.821856 m,
      nav range: 12.061619 m,
      bearing: 47.865654 deg,
      approach rate: -0.513414 m/s,
      LOS rate: 0.110925 deg/s,
      cmd heading: 54.774910 deg,
      new cmd heading: 54.915676 deg.

2025-10-26T22:10:10.238Z,1761516610.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.958459 target range: 12.821856 and range: 12.50 m.
2025-10-26T22:10:10.385Z,1761516610.385 [DAT](INFO): DAT read: Rx Time:22:10:09.0995 

2025-10-26T22:10:10.385Z,1761516610.385 [DAT](INFO): Rx dataTimestamp_ set to:1761516610.385144
2025-10-26T22:10:10.387Z,1761516610.387 [DAT](INFO): DAT read: Bearing 211.6, -15.7 (Local)

2025-10-26T22:10:10.387Z,1761516610.387 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.6, -15.7 (Local)

2025-10-26T22:10:10.389Z,1761516610.389 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.4

2025-10-26T22:10:10.396Z,1761516610.396 [DAT](INFO): DAT read: 22:10:09.0995 LVL= 32752, 32753, 25842, 32755, AGC= 54, IDX= 506,-0.28, 0.076,-1.280, 0.760, 0.182, PHS=-0.004,-1.417, 0.534, RAW= 165.5,  10.2, CAL= 165.4,  11.3, ROT= 344.6, -11.3

2025-10-26T22:10:10.399Z,1761516610.399 [DAT](INFO): got valid direction response:
 22:10:09.0995 LVL= 32752, 32753, 25842, 32755, AGC= 54, IDX= 506,-0.28, 0.076,-1.280, 0.760, 0.182, PHS=-0.004,-1.417, 0.534, RAW= 165.5,  10.2, CAL= 165.4,  11.3, ROT= 344.6, -11.3

2025-10-26T22:10:10.399Z,1761516610.399 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-10-26T22:10:10.400Z,1761516610.400 [DAT](INFO): direction in FSK: [0.945406,-0.260408,0.195946]
2025-10-26T22:10:10.401Z,1761516610.401 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:10.405Z,1761516610.405 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.109245
2025-10-26T22:10:10.582Z,1761516610.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508665,-0.841555,-0.181782],[0.860667,0.502582,0.081635],[0.022660,-0.197979,0.979944]]
2025-10-26T22:10:10.637Z,1761516610.636 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.340885
2025-10-26T22:10:10.642Z,1761516610.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.503586 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:10:10.645Z,1761516610.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.424279 m,
      bearing: 46.444509 deg,
      lat: 36.779404 deg,
      lon: -121.859457 deg,
      deltaT: 1.007836 s,
      deltaX: -0.397576 m,
      approachRate: -0.394485 m/s,
      posRepo size: 4

2025-10-26T22:10:10.645Z,1761516610.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T22:10:10.656Z,1761516610.656 [CTD_Seabird](ERROR): Failed to parse device response: .73
2025-10-26T22:10:10.667Z,1761516610.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.424279 m,
      nav range: 11.931735 m,
      bearing: 47.599767 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.110925 deg/s,
      cmd heading: 54.915677 deg,
      new cmd heading: 55.051710 deg.

2025-10-26T22:10:10.680Z,1761516610.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.960834 target range: 12.424279 and range: 12.50 m.
2025-10-26T22:10:10.889Z,1761516610.889 [DAT](INFO): DAT read: Rx Time:22:10:09.5992 

2025-10-26T22:10:10.889Z,1761516610.889 [DAT](INFO): Rx dataTimestamp_ set to:1761516610.889070
2025-10-26T22:10:10.891Z,1761516610.891 [DAT](INFO): DAT read: Bearing 211.5, -16.0 (Local)

2025-10-26T22:10:10.891Z,1761516610.891 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.5, -16.0 (Local)

2025-10-26T22:10:10.893Z,1761516610.893 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed 0.4

2025-10-26T22:10:10.898Z,1761516610.898 [DAT](INFO): DAT read: 22:10:09.5992 LVL= 32752, 32753, 22578, 32755, AGC= 54, IDX= 503, 0.03, 0.226,-1.142, 0.926, 0.343, PHS=-0.016,-1.440, 0.539, RAW= 165.8,  10.4, CAL= 165.7,  11.6, ROT= 344.3, -11.6

2025-10-26T22:10:10.899Z,1761516610.899 [DAT](INFO): got valid direction response:
 22:10:09.5992 LVL= 32752, 32753, 22578, 32755, AGC= 54, IDX= 503, 0.03, 0.226,-1.142, 0.926, 0.343, PHS=-0.016,-1.440, 0.539, RAW= 165.8,  10.4, CAL= 165.7,  11.6, ROT= 344.3, -11.6

2025-10-26T22:10:10.899Z,1761516610.899 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-10-26T22:10:10.900Z,1761516610.900 [DAT](INFO): direction in FSK: [0.943029,-0.265073,0.201078]
2025-10-26T22:10:10.900Z,1761516610.900 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:10.904Z,1761516610.904 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.608307
2025-10-26T22:10:11.053Z,1761516611.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513301,-0.838017,-0.185066],[0.857869,0.507092,0.083174],[0.024144,-0.201455,0.979200]]
2025-10-26T22:10:11.107Z,1761516611.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.503926 s,
      deltaX: -0.500000 m,
      approachRate: -0.992209 m/s,
      rangeRepo size: 4

2025-10-26T22:10:11.110Z,1761516611.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.927308 m,
      bearing: 45.940128 deg,
      lat: 36.779404 deg,
      lon: -121.859458 deg,
      deltaT: 0.503926 s,
      deltaX: -0.496971 m,
      approachRate: -0.986199 m/s,
      posRepo size: 4

2025-10-26T22:10:11.110Z,1761516611.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-10-26T22:10:11.117Z,1761516611.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.927308 m,
      nav range: 11.713120 m,
      bearing: 47.473434 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.110925 deg/s,
      cmd heading: 55.051711 deg,
      new cmd heading: 55.205105 deg.

2025-10-26T22:10:11.118Z,1761516611.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.963511 target range: 11.927308 and range: 12.00 m.
2025-10-26T22:10:11.141Z,1761516611.141 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.844936
2025-10-26T22:10:11.393Z,1761516611.393 [DAT](INFO): DAT read: Rx Time:22:10:10.0991 

2025-10-26T22:10:11.393Z,1761516611.393 [DAT](INFO): Rx dataTimestamp_ set to:1761516611.393102
2025-10-26T22:10:11.395Z,1761516611.395 [DAT](INFO): DAT read: Bearing 211.4, -15.5 (Local)

2025-10-26T22:10:11.395Z,1761516611.395 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.4, -15.5 (Local)

2025-10-26T22:10:11.397Z,1761516611.397 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed 0.4

2025-10-26T22:10:11.402Z,1761516611.402 [DAT](INFO): DAT read: 22:10:10.0991 LVL= 32752, 32753, 22962, 32755, AGC= 53, IDX= 502, 0.40, 1.930, 0.564, 2.611, 2.044, PHS=-0.011,-1.435, 0.523, RAW= 165.3,  10.5, CAL= 165.3,  11.8, ROT= 344.7, -11.8

2025-10-26T22:10:11.403Z,1761516611.403 [DAT](INFO): got valid direction response:
 22:10:10.0991 LVL= 32752, 32753, 22962, 32755, AGC= 53, IDX= 502, 0.40, 1.930, 0.564, 2.611, 2.044, PHS=-0.011,-1.435, 0.523, RAW= 165.3,  10.5, CAL= 165.3,  11.8, ROT= 344.7, -11.8

2025-10-26T22:10:11.404Z,1761516611.404 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-10-26T22:10:11.405Z,1761516611.405 [DAT](INFO): direction in FSK: [0.944174,-0.258297,0.204496]
2025-10-26T22:10:11.405Z,1761516611.405 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:11.409Z,1761516611.409 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.113213
2025-10-26T22:10:11.522Z,1761516611.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518563,-0.834136,-0.187906],[0.854662,0.512194,0.084920],[0.025409,-0.204632,0.978509]]
2025-10-26T22:10:11.608Z,1761516611.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.504032 s,
      deltaX: -0.100000 m,
      approachRate: -0.198401 m/s,
      rangeRepo size: 4

2025-10-26T22:10:11.610Z,1761516611.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.827913 m,
      bearing: 46.069931 deg,
      lat: 36.779405 deg,
      lon: -121.859459 deg,
      deltaT: 0.504032 s,
      deltaX: -0.099395 m,
      approachRate: -0.197199 m/s,
      posRepo size: 4

2025-10-26T22:10:11.616Z,1761516611.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-10-26T22:10:11.618Z,1761516611.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.827913 m,
      nav range: 11.445224 m,
      bearing: 47.027880 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.110925 deg/s,
      cmd heading: 55.205103 deg,
      new cmd heading: 55.371827 deg.

2025-10-26T22:10:11.621Z,1761516611.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.966421 target range: 11.827913 and range: 11.90 m.
2025-10-26T22:10:11.645Z,1761516611.645 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.349121
2025-10-26T22:10:11.897Z,1761516611.897 [DAT](INFO): DAT read: Rx Time:22:10:10.5989 

2025-10-26T22:10:11.898Z,1761516611.898 [DAT](INFO): Rx dataTimestamp_ set to:1761516611.897357
2025-10-26T22:10:11.899Z,1761516611.899 [DAT](INFO): DAT read: Bearing 211.1, -15.0 (Local)

2025-10-26T22:10:11.899Z,1761516611.899 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.1, -15.0 (Local)

2025-10-26T22:10:11.901Z,1761516611.901 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed 0.4

2025-10-26T22:10:11.906Z,1761516611.906 [DAT](INFO): DAT read: 22:10:10.5989 LVL= 32752, 32753, 24146, 32755, AGC= 52, IDX= 500,-0.06,-0.299,-1.659, 0.359,-0.193, PHS=-0.004,-1.420, 0.508, RAW= 164.8,  10.6, CAL= 164.9,  11.8, ROT= 345.1, -11.8

2025-10-26T22:10:11.907Z,1761516611.907 [DAT](INFO): got valid direction response:
 22:10:10.5989 LVL= 32752, 32753, 24146, 32755, AGC= 52, IDX= 500,-0.06,-0.299,-1.659, 0.359,-0.193, PHS=-0.004,-1.420, 0.508, RAW= 164.8,  10.6, CAL= 164.9,  11.8, ROT= 345.1, -11.8

2025-10-26T22:10:11.907Z,1761516611.907 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-10-26T22:10:11.908Z,1761516611.908 [DAT](INFO): direction in FSK: [0.945954,-0.251699,0.204496]
2025-10-26T22:10:11.909Z,1761516611.909 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:11.916Z,1761516611.916 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.620705
2025-10-26T22:10:11.969Z,1761516611.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524472,-0.830171,-0.189066],[0.851018,0.518021,0.086154],[0.026418,-0.206084,0.978178]]
2025-10-26T22:10:12.029Z,1761516612.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.504255 s,
      deltaX: -0.299999 m,
      approachRate: -0.594936 m/s,
      rangeRepo size: 4

2025-10-26T22:10:12.040Z,1761516612.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.529721 m,
      bearing: 46.089594 deg,
      lat: 36.779405 deg,
      lon: -121.859461 deg,
      deltaT: 0.504255 s,
      deltaX: -0.298192 m,
      approachRate: -0.591352 m/s,
      posRepo size: 4

2025-10-26T22:10:12.040Z,1761516612.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-10-26T22:10:12.043Z,1761516612.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.529721 m,
      nav range: 11.133942 m,
      bearing: 46.361556 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.110925 deg/s,
      cmd heading: 55.371828 deg,
      new cmd heading: 55.511543 deg.

2025-10-26T22:10:12.056Z,1761516612.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.968859 target range: 11.529721 and range: 11.60 m.
2025-10-26T22:10:12.149Z,1761516612.149 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.853527
2025-10-26T22:10:12.338Z,1761516612.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530193,-0.826358,-0.189810],[0.847439,0.523666,0.087302],[0.027254,-0.207139,0.977932]]
2025-10-26T22:10:12.380Z,1761516612.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:10:12.382Z,1761516612.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-10-26T22:10:12.394Z,1761516612.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.529721 m,
      nav range: 10.962109 m,
      bearing: 46.443015 deg,
      approach rate: -0.478696 m/s,
      LOS rate: 0.230486 deg/s,
      cmd heading: 55.511543 deg,
      new cmd heading: 55.759748 deg.

2025-10-26T22:10:12.395Z,1761516612.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.973191 target range: 11.529721 and range: 11.60 m.
2025-10-26T22:10:12.401Z,1761516612.401 [DAT](INFO): DAT read: Rx Time:22:10:11.0988 

2025-10-26T22:10:12.401Z,1761516612.401 [DAT](INFO): Rx dataTimestamp_ set to:1761516612.401205
2025-10-26T22:10:12.403Z,1761516612.403 [DAT](INFO): DAT read: Bearing 211.2, -14.5 (Local)

2025-10-26T22:10:12.403Z,1761516612.403 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.2, -14.5 (Local)

2025-10-26T22:10:12.405Z,1761516612.405 [DAT](INFO): DAT read: Range 11 to 50 :    11.4 m (trip time 7.6 ms) speed 0.4

2025-10-26T22:10:12.410Z,1761516612.410 [DAT](INFO): DAT read: 22:10:11.0988 LVL= 32752, 32753, 25586, 32755, AGC= 53, IDX= 499, 0.40, 1.432, 0.049, 2.074, 1.537, PHS=-0.003,-1.443, 0.493, RAW= 164.3,  11.0, CAL= 164.4,  12.3, ROT= 345.6, -12.3

2025-10-26T22:10:12.411Z,1761516612.411 [DAT](INFO): got valid direction response:
 22:10:11.0988 LVL= 32752, 32753, 25586, 32755, AGC= 53, IDX= 499, 0.40, 1.432, 0.049, 2.074, 1.537, PHS=-0.003,-1.443, 0.493, RAW= 164.3,  11.0, CAL= 164.4,  12.3, ROT= 345.6, -12.3

2025-10-26T22:10:12.411Z,1761516612.411 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-10-26T22:10:12.412Z,1761516612.412 [DAT](INFO): direction in FSK: [0.946350,-0.242981,0.213030]
2025-10-26T22:10:12.413Z,1761516612.413 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:12.420Z,1761516612.420 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.124817
2025-10-26T22:10:12.652Z,1761516612.652 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.356838
2025-10-26T22:10:12.757Z,1761516612.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535947,-0.822779,-0.189195],[0.843801,0.529358,0.088203],[0.027581,-0.206915,0.977970]]
2025-10-26T22:10:12.829Z,1761516612.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.400000 m,
      deltaT: 0.503848 s,
      deltaX: -0.200001 m,
      approachRate: -0.396947 m/s,
      rangeRepo size: 4

2025-10-26T22:10:12.831Z,1761516612.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.330945 m,
      bearing: 45.925099 deg,
      lat: 36.779405 deg,
      lon: -121.859461 deg,
      deltaT: 0.503848 s,
      deltaX: -0.198776 m,
      approachRate: -0.394516 m/s,
      posRepo size: 4

2025-10-26T22:10:12.832Z,1761516612.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-10-26T22:10:12.835Z,1761516612.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.330945 m,
      nav range: 10.780950 m,
      bearing: 46.300950 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.230486 deg/s,
      cmd heading: 55.759749 deg,
      new cmd heading: 56.068230 deg.

2025-10-26T22:10:12.836Z,1761516612.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.978575 target range: 11.330945 and range: 11.40 m.
2025-10-26T22:10:12.905Z,1761516612.905 [DAT](INFO): DAT read: Rx Time:22:10:11.5986 

2025-10-26T22:10:12.906Z,1761516612.906 [DAT](INFO): Rx dataTimestamp_ set to:1761516612.905252
2025-10-26T22:10:12.907Z,1761516612.907 [DAT](INFO): DAT read: Bearing 211.8, -13.4 (Local)

2025-10-26T22:10:12.908Z,1761516612.908 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.8, -13.4 (Local)

2025-10-26T22:10:12.910Z,1761516612.910 [DAT](INFO): DAT read: Range 11 to 50 :    11.1 m (trip time 7.4 ms) speed 0.4

2025-10-26T22:10:12.917Z,1761516612.917 [DAT](INFO): DAT read: 22:10:11.5986 LVL= 32752, 32753, 27858, 32755, AGC= 53, IDX= 497,-0.04,-1.325,-2.707,-0.736,-1.226, PHS= 0.003,-1.436, 0.446, RAW= 163.0,  11.6, CAL= 163.2,  13.1, ROT= 346.8, -13.1

2025-10-26T22:10:12.919Z,1761516612.919 [DAT](INFO): got valid direction response:
 22:10:11.5986 LVL= 32752, 32753, 27858, 32755, AGC= 53, IDX= 497,-0.04,-1.325,-2.707,-0.736,-1.226, PHS= 0.003,-1.436, 0.446, RAW= 163.0,  11.6, CAL= 163.2,  13.1, ROT= 346.8, -13.1

2025-10-26T22:10:12.919Z,1761516612.919 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-10-26T22:10:12.931Z,1761516612.931 [DAT](INFO): direction in FSK: [0.948242,-0.222408,0.226651]
2025-10-26T22:10:12.944Z,1761516612.944 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:12.952Z,1761516612.952 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.651649
2025-10-26T22:10:13.156Z,1761516613.156 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.860668
2025-10-26T22:10:13.159Z,1761516613.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541267,-0.819576,-0.187949],[0.840401,0.534598,0.089055],[0.027490,-0.206155,0.978133]]
2025-10-26T22:10:13.249Z,1761516613.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.504047 s,
      deltaX: -0.299999 m,
      approachRate: -0.595181 m/s,
      rangeRepo size: 4

2025-10-26T22:10:13.251Z,1761516613.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.032763 m,
      bearing: 46.918396 deg,
      lat: 36.779405 deg,
      lon: -121.859461 deg,
      deltaT: 0.504047 s,
      deltaX: -0.298182 m,
      approachRate: -0.591577 m/s,
      posRepo size: 4

2025-10-26T22:10:13.256Z,1761516613.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m.
2025-10-26T22:10:13.258Z,1761516613.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.032763 m,
      nav range: 10.543774 m,
      bearing: 46.605388 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.230486 deg/s,
      cmd heading: 56.068231 deg,
      new cmd heading: 56.358327 deg.

2025-10-26T22:10:13.263Z,1761516613.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.983638 target range: 11.032763 and range: 11.10 m.
2025-10-26T22:10:13.409Z,1761516613.409 [DAT](INFO): DAT read: Rx Time:22:10:12.0985 

2025-10-26T22:10:13.409Z,1761516613.409 [DAT](INFO): Rx dataTimestamp_ set to:1761516613.409132
2025-10-26T22:10:13.411Z,1761516613.411 [DAT](INFO): DAT read: Bearing 210.6,  -0.5 (Local)

2025-10-26T22:10:13.411Z,1761516613.411 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.6,  -0.5 (Local)

2025-10-26T22:10:13.413Z,1761516613.413 [DAT](INFO): DAT read: Range 11 to 50 :    11.0 m (trip time 7.3 ms) speed 0.4

2025-10-26T22:10:13.418Z,1761516613.418 [DAT](INFO): DAT read: 22:10:12.0985 LVL= 32752, 32753, 28194, 32755, AGC= 53, IDX= 512, 0.40, 1.784, 0.201, 1.956, 1.600, PHS= 0.286,-1.353, 0.312, RAW= 150.8,   9.2, CAL= 150.4,   9.9, ROT= 359.6,  -9.9

2025-10-26T22:10:13.419Z,1761516613.419 [DAT](INFO): got valid direction response:
 22:10:12.0985 LVL= 32752, 32753, 28194, 32755, AGC= 53, IDX= 512, 0.40, 1.784, 0.201, 1.956, 1.600, PHS= 0.286,-1.353, 0.312, RAW= 150.8,   9.2, CAL= 150.4,   9.9, ROT= 359.6,  -9.9

2025-10-26T22:10:13.419Z,1761516613.419 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-10-26T22:10:13.420Z,1761516613.420 [DAT](INFO): direction in FSK: [0.985085,-0.006877,0.171929]
2025-10-26T22:10:13.421Z,1761516613.421 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:13.427Z,1761516613.427 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.131397
2025-10-26T22:10:13.580Z,1761516613.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546462,-0.816134,-0.187894],[0.837037,0.539572,0.090722],[0.027341,-0.206850,0.977991]]
2025-10-26T22:10:13.661Z,1761516613.661 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.364857
2025-10-26T22:10:13.762Z,1761516613.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 0.503880 s,
      deltaX: -0.100000 m,
      approachRate: -0.198461 m/s,
      rangeRepo size: 4

2025-10-26T22:10:13.768Z,1761516613.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.933372 m,
      bearing: 58.547370 deg,
      lat: 36.779405 deg,
      lon: -121.859461 deg,
      deltaT: 0.503880 s,
      deltaX: -0.099391 m,
      approachRate: -0.197251 m/s,
      posRepo size: 4

2025-10-26T22:10:13.769Z,1761516613.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.93 m.
2025-10-26T22:10:13.776Z,1761516613.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.933372 m,
      nav range: 10.268587 m,
      bearing: 46.645633 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.230486 deg/s,
      cmd heading: 56.358326 deg,
      new cmd heading: 56.713286 deg.

2025-10-26T22:10:13.777Z,1761516613.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.989834 target range: 10.933372 and range: 11.00 m.
2025-10-26T22:10:13.913Z,1761516613.913 [DAT](INFO): DAT read: Rx Time:22:10:12.5983 

2025-10-26T22:10:13.914Z,1761516613.914 [DAT](INFO): Rx dataTimestamp_ set to:1761516613.913475
2025-10-26T22:10:13.915Z,1761516613.915 [DAT](INFO): DAT read: Bearing 212.1, -12.2 (Local)

2025-10-26T22:10:13.915Z,1761516613.915 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.1, -12.2 (Local)

2025-10-26T22:10:13.917Z,1761516613.917 [DAT](INFO): DAT read: Range 11 to 50 :    10.7 m (trip time 7.1 ms) speed 0.4

2025-10-26T22:10:13.927Z,1761516613.927 [DAT](INFO): DAT read: 22:10:12.5983 LVL= 32752, 32753, 31202, 32755, AGC= 54, IDX= 510,-0.04,-2.664, 2.202,-2.125,-2.570, PHS= 0.008,-1.466, 0.401, RAW= 161.5,  12.4, CAL= 161.9,  14.1, ROT= 348.1, -14.1

2025-10-26T22:10:13.933Z,1761516613.933 [DAT](INFO): got valid direction response:
 22:10:12.5983 LVL= 32752, 32753, 31202, 32755, AGC= 54, IDX= 510,-0.04,-2.664, 2.202,-2.125,-2.570, PHS= 0.008,-1.466, 0.401, RAW= 161.5,  12.4, CAL= 161.9,  14.1, ROT= 348.1, -14.1

2025-10-26T22:10:13.934Z,1761516613.934 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-10-26T22:10:13.935Z,1761516613.935 [DAT](INFO): direction in FSK: [0.949029,-0.199991,0.243615]
2025-10-26T22:10:13.940Z,1761516613.940 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:13.943Z,1761516613.943 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.647423
2025-10-26T22:10:14.012Z,1761516614.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550611,-0.813217,-0.188429],[0.834303,0.543591,0.091909],[0.027686,-0.207813,0.977777]]
2025-10-26T22:10:14.068Z,1761516614.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.504343 s,
      deltaX: -0.300000 m,
      approachRate: -0.594834 m/s,
      rangeRepo size: 4

2025-10-26T22:10:14.070Z,1761516614.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.635188 m,
      bearing: 47.817324 deg,
      lat: 36.779404 deg,
      lon: -121.859460 deg,
      deltaT: 0.504343 s,
      deltaX: -0.298183 m,
      approachRate: -0.591231 m/s,
      posRepo size: 4

2025-10-26T22:10:14.071Z,1761516614.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m.
2025-10-26T22:10:14.078Z,1761516614.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.635188 m,
      nav range: 10.098978 m,
      bearing: 46.944937 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.230486 deg/s,
      cmd heading: 56.713287 deg,
      new cmd heading: 56.924613 deg.

2025-10-26T22:10:14.079Z,1761516614.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.993522 target range: 10.635188 and range: 10.70 m.
2025-10-26T22:10:14.170Z,1761516614.170 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.871288
2025-10-26T22:10:14.400Z,1761516614.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554874,-0.810549,-0.187416],[0.831472,0.547820,0.092453],[0.027733,-0.207131,0.977920]]
2025-10-26T22:10:14.417Z,1761516614.417 [DAT](INFO): DAT read: Rx Time:22:10:13.0981 

2025-10-26T22:10:14.418Z,1761516614.418 [DAT](INFO): Rx dataTimestamp_ set to:1761516614.417236
2025-10-26T22:10:14.419Z,1761516614.419 [DAT](INFO): DAT read: Bearing 212.2, -12.7 (Local)

2025-10-26T22:10:14.420Z,1761516614.420 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.2, -12.7 (Local)

2025-10-26T22:10:14.422Z,1761516614.422 [DAT](INFO): DAT read: Range 11 to 50 :    10.4 m (trip time 6.9 ms) speed 0.4

2025-10-26T22:10:14.427Z,1761516614.427 [DAT](INFO): DAT read: 22:10:13.0981 LVL= 32752, 32753, 30898, 32755, AGC= 55, IDX= 508, 0.30,-1.227,-2.663,-0.672,-1.117, PHS=-0.008,-1.501, 0.402, RAW= 161.8,  12.7, CAL= 162.2,  14.6, ROT= 347.8, -14.6

2025-10-26T22:10:14.428Z,1761516614.428 [DAT](INFO): got valid direction response:
 22:10:13.0981 LVL= 32752, 32753, 30898, 32755, AGC= 55, IDX= 508, 0.30,-1.227,-2.663,-0.672,-1.117, PHS=-0.008,-1.501, 0.402, RAW= 161.8,  12.7, CAL= 162.2,  14.6, ROT= 347.8, -14.6

2025-10-26T22:10:14.428Z,1761516614.428 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-10-26T22:10:14.429Z,1761516614.429 [DAT](INFO): direction in FSK: [0.945854,-0.204501,0.252069]
2025-10-26T22:10:14.429Z,1761516614.429 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:14.445Z,1761516614.445 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.149620
2025-10-26T22:10:14.520Z,1761516614.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.400000 m,
      deltaT: 0.503761 s,
      deltaX: -0.300000 m,
      approachRate: -0.595521 m/s,
      rangeRepo size: 4

2025-10-26T22:10:14.537Z,1761516614.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.337006 m,
      bearing: 47.322026 deg,
      lat: 36.779404 deg,
      lon: -121.859460 deg,
      deltaT: 0.503761 s,
      deltaX: -0.298182 m,
      approachRate: -0.591913 m/s,
      posRepo size: 4

2025-10-26T22:10:14.537Z,1761516614.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m.
2025-10-26T22:10:14.548Z,1761516614.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.337006 m,
      nav range: 9.827837 m,
      bearing: 47.375838 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.230486 deg/s,
      cmd heading: 56.924613 deg,
      new cmd heading: 57.226350 deg.

2025-10-26T22:10:14.549Z,1761516614.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.998788 target range: 10.337006 and range: 10.40 m.
2025-10-26T22:10:14.702Z,1761516614.702 [DAT](INFO): DAT read: Rx Time:22:10:13.5979 

2025-10-26T22:10:14.704Z,1761516614.704 [DAT](INFO): Rx dataTimestamp_ set to:1761516614.702361
2025-10-26T22:10:14.708Z,1761516614.708 [DAT](INFO): DAT read: Bearing 213.3, -11.5 (Local)

2025-10-26T22:10:14.710Z,1761516614.710 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.3, -11.5 (Local)

2025-10-26T22:10:14.717Z,1761516614.717 [DAT](INFO): DAT read: Range 11 to 50 :    10.1 m (trip time 6.7 ms) speed 0.4

2025-10-26T22:10:14.723Z,1761516614.723 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-10-26T22:10:14.724Z,1761516614.724 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.428562
2025-10-26T22:10:14.910Z,1761516614.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:10:14.917Z,1761516614.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.100000 m,
      deltaT: 0.285125 s,
      deltaX: -0.299999 m,
      approachRate: -1.052167 m/s,
      rangeRepo size: 4

2025-10-26T22:10:14.924Z,1761516614.924 [DAT](INFO): DAT read: 22:10:13.5979 LVL= 32752, 32753, 31698, 32755, AGC= 55, IDX= 506,-0.29, 2.229, 0.776, 2.724, 2.337, PHS=-0.006,-1.516, 0.342, RAW= 160.1,  13.7, CAL= 160.7,  15.8, ROT= 349.3, -15.8

2025-10-26T22:10:14.925Z,1761516614.925 [DAT](INFO): got valid direction response:
 22:10:13.5979 LVL= 32752, 32753, 31698, 32755, AGC= 55, IDX= 506,-0.29, 2.229, 0.776, 2.724, 2.337, PHS=-0.006,-1.516, 0.342, RAW= 160.1,  13.7, CAL= 160.7,  15.8, ROT= 349.3, -15.8

2025-10-26T22:10:14.926Z,1761516614.926 [DAT](INFO): #Rx 96: Read direction message, but no range.
2025-10-26T22:10:14.928Z,1761516614.928 [DAT](INFO): direction in FSK: [0.945488,-0.178652,0.272280]
2025-10-26T22:10:14.936Z,1761516614.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m.
2025-10-26T22:10:14.938Z,1761516614.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.337006 m,
      nav range: 9.552105 m,
      bearing: 47.360967 deg,
      approach rate: -0.668292 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 57.226351 deg,
      new cmd heading: 57.180449 deg.

2025-10-26T22:10:14.935Z,1761516614.935 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.639439
2025-10-26T22:10:14.941Z,1761516614.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.997987 target range: 10.337006 and range: 10.10 m.
2025-10-26T22:10:15.176Z,1761516615.176 [DAT](INFO): DAT read: Rx Time:22:10:14.0978 

2025-10-26T22:10:15.177Z,1761516615.177 [DAT](INFO): Rx dataTimestamp_ set to:1761516615.176065
2025-10-26T22:10:15.192Z,1761516615.192 [DAT](INFO): DAT read: Bearing 213.5, -11.1 (Local)

2025-10-26T22:10:15.193Z,1761516615.193 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.5, -11.1 (Local)

2025-10-26T22:10:15.198Z,1761516615.198 [DAT](INFO): DAT read: Range 11 to 50 :     9.9 m (trip time 6.6 ms) speed 0.4

2025-10-26T22:10:15.205Z,1761516615.205 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-10-26T22:10:15.209Z,1761516615.209 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:10:15.221Z,1761516615.221 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.924259
2025-10-26T22:10:15.277Z,1761516615.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560593,-0.806913,-0.186082],[0.827625,0.553489,0.093203],[0.027788,-0.206256,0.978103]]
2025-10-26T22:10:15.344Z,1761516615.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.900000 m,
      deltaT: 0.473704 s,
      deltaX: -0.200001 m,
      approachRate: -0.422206 m/s,
      rangeRepo size: 4

2025-10-26T22:10:15.346Z,1761516615.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.840034 m,
      bearing: 48.670479 deg,
      lat: 36.779404 deg,
      lon: -121.859459 deg,
      deltaT: 0.758829 s,
      deltaX: -0.496971 m,
      approachRate: -0.654918 m/s,
      posRepo size: 4

2025-10-26T22:10:15.347Z,1761516615.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.84 m.
2025-10-26T22:10:15.351Z,1761516615.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.90 m.
2025-10-26T22:10:15.352Z,1761516615.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-10-26T22:10:15.354Z,1761516615.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 9.398211 m,
      bearing: 47.889340 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 57.180448 deg,
      new cmd heading: 57.133359 deg.

2025-10-26T22:10:15.359Z,1761516615.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.997165 target range: 9.840034 and range: 9.90 m.
2025-10-26T22:10:15.429Z,1761516615.429 [DAT](INFO): DAT read: 22:10:14.0978 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505,-0.07,-1.694, 3.126,-1.218,-1.587, PHS=-0.005,-1.525, 0.325, RAW= 159.6,  14.0, CAL= 160.3,  16.1, ROT= 349.7, -16.1

2025-10-26T22:10:15.431Z,1761516615.431 [DAT](INFO): got valid direction response:
 22:10:14.0978 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505,-0.07,-1.694, 3.126,-1.218,-1.587, PHS=-0.005,-1.525, 0.325, RAW= 159.6,  14.0, CAL= 160.3,  16.1, ROT= 349.7, -16.1

2025-10-26T22:10:15.432Z,1761516615.432 [DAT](INFO): #Rx 98: Read direction message, but no range.
2025-10-26T22:10:15.433Z,1761516615.433 [DAT](INFO): direction in FSK: [0.945296,-0.171789,0.277315]
2025-10-26T22:10:15.438Z,1761516615.438 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.142429
2025-10-26T22:10:15.656Z,1761516615.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561997,-0.806697,-0.182753],[0.826673,0.555216,0.091361],[0.027766,-0.202422,0.978905]]
2025-10-26T22:10:15.680Z,1761516615.680 [DAT](INFO): DAT read: Rx Time:22:10:14.5975 

2025-10-26T22:10:15.682Z,1761516615.682 [DAT](INFO): Rx dataTimestamp_ set to:1761516615.680627
2025-10-26T22:10:15.694Z,1761516615.694 [DAT](INFO): DAT read: Bearing 214.4, -11.9 (Local)

2025-10-26T22:10:15.695Z,1761516615.695 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.4, -11.9 (Local)

2025-10-26T22:10:15.711Z,1761516615.711 [DAT](INFO): DAT read: Range 11 to 50 :     9.5 m (trip time 6.3 ms) speed 0.5

2025-10-26T22:10:15.714Z,1761516615.714 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-10-26T22:10:15.736Z,1761516615.736 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.440331
2025-10-26T22:10:15.826Z,1761516615.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.500000 m,
      deltaT: 0.504562 s,
      deltaX: -0.400000 m,
      approachRate: -0.792766 m/s,
      rangeRepo size: 4

2025-10-26T22:10:15.832Z,1761516615.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.442506 m,
      bearing: 48.966097 deg,
      lat: 36.779402 deg,
      lon: -121.859459 deg,
      deltaT: 0.504562 s,
      deltaX: -0.397529 m,
      approachRate: -0.787869 m/s,
      posRepo size: 4

2025-10-26T22:10:15.833Z,1761516615.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.44 m. 9.84 m.
2025-10-26T22:10:15.840Z,1761516615.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 9.112602 m,
      bearing: 47.829073 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 57.133358 deg,
      new cmd heading: 57.079303 deg.

2025-10-26T22:10:15.844Z,1761516615.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.996222 target range: 9.840034 and range: 9.50 m.
2025-10-26T22:10:15.934Z,1761516615.934 [DAT](INFO): DAT read: 22:10:14.5975 LVL= 32752, 32753, 30578, 32755, AGC= 55, IDX= 502, 0.09,-1.721, 3.095,-1.225,-1.582, PHS=-0.037,-1.562, 0.313, RAW= 160.1,  14.8, CAL= 160.9,  17.2, ROT= 349.1, -17.2

2025-10-26T22:10:15.936Z,1761516615.936 [DAT](INFO): got valid direction response:
 22:10:14.5975 LVL= 32752, 32753, 30578, 32755, AGC= 55, IDX= 502, 0.09,-1.721, 3.095,-1.225,-1.582, PHS=-0.037,-1.562, 0.313, RAW= 160.1,  14.8, CAL= 160.9,  17.2, ROT= 349.1, -17.2

2025-10-26T22:10:15.937Z,1761516615.937 [DAT](INFO): #Rx 100: Read direction message, but no range.
2025-10-26T22:10:15.938Z,1761516615.938 [DAT](INFO): direction in FSK: [0.938044,-0.180639,0.295708]
2025-10-26T22:10:15.941Z,1761516615.941 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.645603
2025-10-26T22:10:16.071Z,1761516616.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561898,-0.807741,-0.178393],[0.826733,0.555659,0.088069],[0.027988,-0.196969,0.980010]]
2025-10-26T22:10:16.106Z,1761516616.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-10-26T22:10:16.113Z,1761516616.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 8.943702 m,
      bearing: 47.791917 deg,
      approach rate: -0.601455 m/s,
      LOS rate: -0.134811 deg/s,
      cmd heading: 57.079303 deg,
      new cmd heading: 56.965731 deg.

2025-10-26T22:10:16.114Z,1761516616.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.994240 target range: 9.840034 and range: 9.50 m.
2025-10-26T22:10:16.185Z,1761516616.185 [DAT](INFO): DAT read: Rx Time:22:10:15.0974 

2025-10-26T22:10:16.187Z,1761516616.187 [DAT](INFO): Rx dataTimestamp_ set to:1761516616.185780
2025-10-26T22:10:16.213Z,1761516616.213 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:10:16.228Z,1761516616.228 [DAT](INFO): DAT read: Bearing 214.1, -12.2 (Local)

2025-10-26T22:10:16.228Z,1761516616.228 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.1, -12.2 (Local)

2025-10-26T22:10:16.230Z,1761516616.230 [DAT](INFO): DAT read: Range 11 to 50 :     9.3 m (trip time 6.2 ms) speed 0.5

2025-10-26T22:10:16.241Z,1761516616.241 [DAT](INFO): DAT read: 22:10:15.0974 LVL= 32752, 32753, 31138, 32755, AGC= 55, IDX= 501, 0.24, 0.110,-1.370, 0.628, 0.252, PHS=-0.040,-1.577, 0.332, RAW= 160.6,  14.5, CAL= 161.3,  16.9, ROT= 348.7, -16.9

2025-10-26T22:10:16.242Z,1761516616.242 [DAT](INFO): got valid direction response:
 22:10:15.0974 LVL= 32752, 32753, 31138, 32755, AGC= 55, IDX= 501, 0.24, 0.110,-1.370, 0.628, 0.252, PHS=-0.040,-1.577, 0.332, RAW= 160.6,  14.5, CAL= 161.3,  16.9, ROT= 348.7, -16.9

2025-10-26T22:10:16.243Z,1761516616.243 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-10-26T22:10:16.252Z,1761516616.252 [DAT](INFO): direction in FSK: [0.938265,-0.187484,0.290702]
2025-10-26T22:10:16.253Z,1761516616.253 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:16.260Z,1761516616.260 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.964867
2025-10-26T22:10:16.432Z,1761516616.432 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.136826
2025-10-26T22:10:16.492Z,1761516616.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560565,-0.810002,-0.172232],[0.827635,0.555038,0.083382],[0.028056,-0.189286,0.981521]]
2025-10-26T22:10:16.582Z,1761516616.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 0.505153 s,
      deltaX: -0.200000 m,
      approachRate: -0.395919 m/s,
      rangeRepo size: 4

2025-10-26T22:10:16.588Z,1761516616.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.243716 m,
      bearing: 47.980788 deg,
      lat: 36.779403 deg,
      lon: -121.859459 deg,
      deltaT: 1.009715 s,
      deltaX: -0.596318 m,
      approachRate: -0.590581 m/s,
      posRepo size: 4

2025-10-26T22:10:16.589Z,1761516616.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.84 m.
2025-10-26T22:10:16.596Z,1761516616.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 8.691779 m,
      bearing: 47.732031 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 56.965731 deg,
      new cmd heading: 56.912903 deg.

2025-10-26T22:10:16.596Z,1761516616.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.993318 target range: 9.840034 and range: 9.30 m.
2025-10-26T22:10:16.690Z,1761516616.690 [DAT](INFO): DAT read: Rx Time:22:10:15.5971 

2025-10-26T22:10:16.703Z,1761516616.703 [DAT](INFO): Rx dataTimestamp_ set to:1761516616.690500
2025-10-26T22:10:16.707Z,1761516616.707 [DAT](INFO): DAT read: Bearing 214.5, -12.2 (Local)

2025-10-26T22:10:16.723Z,1761516616.723 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.5, -12.2 (Local)

2025-10-26T22:10:16.730Z,1761516616.730 [DAT](INFO): DAT read: Range 11 to 50 :     8.9 m (trip time 5.9 ms) speed 0.5

2025-10-26T22:10:16.756Z,1761516616.756 [DAT](INFO): DAT read: 22:10:15.5971 LVL= 32752, 32753, 27634, 32755, AGC= 54, IDX= 498, 0.34,-0.813,-2.284,-0.294,-0.666, PHS=-0.045,-1.574, 0.327, RAW= 160.7,  14.7, CAL= 161.4,  17.1, ROT= 348.6, -17.1

2025-10-26T22:10:16.758Z,1761516616.758 [DAT](INFO): got valid direction response:
 22:10:15.5971 LVL= 32752, 32753, 27634, 32755, AGC= 54, IDX= 498, 0.34,-0.813,-2.284,-0.294,-0.666, PHS=-0.045,-1.574, 0.327, RAW= 160.7,  14.7, CAL= 161.4,  17.1, ROT= 348.6, -17.1

2025-10-26T22:10:16.758Z,1761516616.758 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-10-26T22:10:16.759Z,1761516616.759 [DAT](INFO): direction in FSK: [0.936936,-0.188919,0.294040]
2025-10-26T22:10:16.760Z,1761516616.760 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:16.767Z,1761516616.767 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.467499
2025-10-26T22:10:16.937Z,1761516616.937 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.640915
2025-10-26T22:10:17.013Z,1761516617.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.504720 s,
      deltaX: -0.400001 m,
      approachRate: -0.792520 m/s,
      rangeRepo size: 4

2025-10-26T22:10:17.016Z,1761516617.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.846153 m,
      bearing: 47.921657 deg,
      lat: 36.779402 deg,
      lon: -121.859460 deg,
      deltaT: 1.514435 s,
      deltaX: -0.993881 m,
      approachRate: -0.656272 m/s,
      posRepo size: 4

2025-10-26T22:10:17.017Z,1761516617.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.85 m. 9.84 m.
2025-10-26T22:10:17.019Z,1761516617.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 8.425935 m,
      bearing: 47.634006 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 56.912903 deg,
      new cmd heading: 56.864867 deg.

2025-10-26T22:10:17.020Z,1761516617.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.992479 target range: 9.840034 and range: 8.90 m.
2025-10-26T22:10:17.193Z,1761516617.193 [DAT](INFO): DAT read: Rx Time:22:10:16.0970 

2025-10-26T22:10:17.194Z,1761516617.194 [DAT](INFO): Rx dataTimestamp_ set to:1761516617.193576
2025-10-26T22:10:17.214Z,1761516617.214 [DAT](INFO): DAT read: Bearing 213.6, -12.2 (Local)

2025-10-26T22:10:17.220Z,1761516617.220 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.6, -12.2 (Local)

2025-10-26T22:10:17.230Z,1761516617.230 [DAT](INFO): DAT read: Range 11 to 50 :     8.7 m (trip time 5.8 ms) speed 0.5

2025-10-26T22:10:17.249Z,1761516617.249 [DAT](INFO): DAT read: 22:10:16.0970 LVL= 32752, 32753, 28274, 32755, AGC= 52, IDX= 498,-0.47,-0.974,-2.445,-0.444,-0.845, PHS=-0.027,-1.555, 0.358, RAW= 160.9,  13.9, CAL= 161.6,  16.1, ROT= 348.4, -16.1

2025-10-26T22:10:17.250Z,1761516617.250 [DAT](INFO): got valid direction response:
 22:10:16.0970 LVL= 32752, 32753, 28274, 32755, AGC= 52, IDX= 498,-0.47,-0.974,-2.445,-0.444,-0.845, PHS=-0.027,-1.555, 0.358, RAW= 160.9,  13.9, CAL= 161.6,  16.1, ROT= 348.4, -16.1

2025-10-26T22:10:17.251Z,1761516617.251 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-10-26T22:10:17.256Z,1761516617.256 [DAT](INFO): direction in FSK: [0.941155,-0.193191,0.277315]
2025-10-26T22:10:17.256Z,1761516617.256 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:17.264Z,1761516617.264 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.968594
2025-10-26T22:10:17.338Z,1761516617.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555970,-0.814981,-0.163412],[0.830756,0.551271,0.077108],[0.027242,-0.178625,0.983540]]
2025-10-26T22:10:17.394Z,1761516617.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 0.503076 s,
      deltaX: -0.200000 m,
      approachRate: -0.397554 m/s,
      rangeRepo size: 4

2025-10-26T22:10:17.400Z,1761516617.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.647364 m,
      bearing: 47.637555 deg,
      lat: 36.779402 deg,
      lon: -121.859459 deg,
      deltaT: 2.017511 s,
      deltaX: -1.192671 m,
      approachRate: -0.591160 m/s,
      posRepo size: 4

2025-10-26T22:10:17.401Z,1761516617.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.65 m. 9.84 m.
2025-10-26T22:10:17.412Z,1761516617.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 8.209728 m,
      bearing: 47.541994 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 56.864866 deg,
      new cmd heading: 56.822557 deg.

2025-10-26T22:10:17.413Z,1761516617.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.991741 target range: 9.840034 and range: 8.70 m.
2025-10-26T22:10:17.440Z,1761516617.440 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.144852
2025-10-26T22:10:17.724Z,1761516617.724 [DAT](INFO): DAT read: Rx Time:22:10:16.5968 

2025-10-26T22:10:17.725Z,1761516617.725 [DAT](INFO): Rx dataTimestamp_ set to:1761516617.724434
2025-10-26T22:10:17.727Z,1761516617.727 [DAT](INFO): DAT read: Bearing 213.8, -12.8 (Local)

2025-10-26T22:10:17.727Z,1761516617.727 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.8, -12.8 (Local)

2025-10-26T22:10:17.732Z,1761516617.732 [DAT](INFO): DAT read: Range 11 to 50 :     8.4 m (trip time 5.6 ms) speed 0.5

2025-10-26T22:10:17.747Z,1761516617.747 [DAT](INFO): DAT read: 22:10:16.5968 LVL= 32752, 32753, 26786, 32755, AGC= 52, IDX= 511,-0.32,-2.160, 2.664,-1.610,-2.022, PHS=-0.037,-1.552, 0.368, RAW= 161.5,  13.8, CAL= 162.1,  16.1, ROT= 347.9, -16.1

2025-10-26T22:10:17.749Z,1761516617.749 [DAT](INFO): got valid direction response:
 22:10:16.5968 LVL= 32752, 32753, 26786, 32755, AGC= 52, IDX= 511,-0.32,-2.160, 2.664,-1.610,-2.022, PHS=-0.037,-1.552, 0.368, RAW= 161.5,  13.8, CAL= 162.1,  16.1, ROT= 347.9, -16.1

2025-10-26T22:10:17.749Z,1761516617.749 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-10-26T22:10:17.750Z,1761516617.750 [DAT](INFO): direction in FSK: [0.939434,-0.201397,0.277315]
2025-10-26T22:10:17.750Z,1761516617.750 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:17.754Z,1761516617.754 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.458298
2025-10-26T22:10:17.781Z,1761516617.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549307,-0.821057,-0.155332],[0.835209,0.545301,0.071223],[0.026225,-0.168858,0.985291]]
2025-10-26T22:10:17.913Z,1761516617.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.400000 m,
      deltaT: 0.530858 s,
      deltaX: -0.300000 m,
      approachRate: -0.565123 m/s,
      rangeRepo size: 4

2025-10-26T22:10:17.915Z,1761516617.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.349171 m,
      bearing: 47.415841 deg,
      lat: 36.779403 deg,
      lon: -121.859459 deg,
      deltaT: 2.548369 s,
      deltaX: -1.490864 m,
      approachRate: -0.585027 m/s,
      posRepo size: 4

2025-10-26T22:10:17.920Z,1761516617.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.35 m. 9.84 m.
2025-10-26T22:10:17.922Z,1761516617.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 7.916337 m,
      bearing: 47.438151 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 56.822557 deg,
      new cmd heading: 56.764802 deg.

2025-10-26T22:10:17.928Z,1761516617.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.990733 target range: 9.840034 and range: 8.40 m.
2025-10-26T22:10:17.974Z,1761516617.974 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.677826
2025-10-26T22:10:18.225Z,1761516618.225 [DAT](INFO): DAT read: Rx Time:22:10:17.0966 

2025-10-26T22:10:18.225Z,1761516618.225 [DAT](INFO): Rx dataTimestamp_ set to:1761516618.225172
2025-10-26T22:10:18.227Z,1761516618.227 [DAT](INFO): DAT read: Bearing 212.4, -13.6 (Local)

2025-10-26T22:10:18.227Z,1761516618.227 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.4, -13.6 (Local)

2025-10-26T22:10:18.229Z,1761516618.229 [DAT](INFO): DAT read: Range 11 to 50 :     8.1 m (trip time 5.4 ms) speed 0.4

2025-10-26T22:10:18.238Z,1761516618.238 [DAT](INFO): DAT read: 22:10:17.0966 LVL= 32752, 32753, 26754, 32755, AGC= 51, IDX= 509,-0.12, 2.923, 1.469,-2.757, 3.048, PHS=-0.024,-1.534, 0.434, RAW= 162.8,  12.6, CAL= 163.2,  14.4, ROT= 346.8, -14.4

2025-10-26T22:10:18.239Z,1761516618.239 [DAT](INFO): got valid direction response:
 22:10:17.0966 LVL= 32752, 32753, 26754, 32755, AGC= 51, IDX= 509,-0.12, 2.923, 1.469,-2.757, 3.048, PHS=-0.024,-1.534, 0.434, RAW= 162.8,  12.6, CAL= 163.2,  14.4, ROT= 346.8, -14.4

2025-10-26T22:10:18.239Z,1761516618.239 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-10-26T22:10:18.240Z,1761516618.240 [DAT](INFO): direction in FSK: [0.942992,-0.221177,0.248690]
2025-10-26T22:10:18.241Z,1761516618.241 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:18.273Z,1761516618.273 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.976910
2025-10-26T22:10:18.303Z,1761516618.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545723,-0.824167,-0.151447],[0.837567,0.542056,0.068242],[0.025850,-0.164088,0.986107]]
2025-10-26T22:10:18.355Z,1761516618.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.100000 m,
      deltaT: 0.500738 s,
      deltaX: -0.299999 m,
      approachRate: -0.599114 m/s,
      rangeRepo size: 4

2025-10-26T22:10:18.361Z,1761516618.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.050986 m,
      bearing: 46.177304 deg,
      lat: 36.779403 deg,
      lon: -121.859459 deg,
      deltaT: 3.049107 s,
      deltaX: -1.789048 m,
      approachRate: -0.586745 m/s,
      posRepo size: 4

2025-10-26T22:10:18.362Z,1761516618.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 9.84 m.
2025-10-26T22:10:18.369Z,1761516618.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 7.670466 m,
      bearing: 47.337366 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 56.764801 deg,
      new cmd heading: 56.715594 deg.

2025-10-26T22:10:18.370Z,1761516618.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.989874 target range: 9.840034 and range: 8.10 m.
2025-10-26T22:10:18.478Z,1761516618.478 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.182358
2025-10-26T22:10:18.730Z,1761516618.730 [DAT](INFO): DAT read: Rx Time:22:10:17.5963 

2025-10-26T22:10:18.731Z,1761516618.731 [DAT](INFO): Rx dataTimestamp_ set to:1761516618.730117
2025-10-26T22:10:18.733Z,1761516618.733 [DAT](INFO): DAT read: Bearing 212.7, -14.7 (Local)

2025-10-26T22:10:18.734Z,1761516618.734 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.7, -14.7 (Local)

2025-10-26T22:10:18.736Z,1761516618.736 [DAT](INFO): DAT read: Range 11 to 50 :     7.7 m (trip time 5.1 ms) speed 0.4

2025-10-26T22:10:18.747Z,1761516618.747 [DAT](INFO): DAT read: 22:10:17.5963 LVL= 32752, 32753, 22898, 32755, AGC= 51, IDX= 506, 0.05, 3.134, 1.693,-2.495,-2.999, PHS=-0.048,-1.546, 0.460, RAW= 164.1,  12.5, CAL= 164.4,  14.5, ROT= 345.6, -14.5

2025-10-26T22:10:18.748Z,1761516618.748 [DAT](INFO): got valid direction response:
 22:10:17.5963 LVL= 32752, 32753, 22898, 32755, AGC= 51, IDX= 506, 0.05, 3.134, 1.693,-2.495,-2.999, PHS=-0.048,-1.546, 0.460, RAW= 164.1,  12.5, CAL= 164.4,  14.5, ROT= 345.6, -14.5

2025-10-26T22:10:18.749Z,1761516618.749 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-10-26T22:10:18.750Z,1761516618.750 [DAT](INFO): direction in FSK: [0.937732,-0.240768,0.250380]
2025-10-26T22:10:18.750Z,1761516618.750 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:18.798Z,1761516618.798 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.502110
2025-10-26T22:10:18.907Z,1761516618.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.700000 m,
      deltaT: 0.504945 s,
      deltaX: -0.400001 m,
      approachRate: -0.792167 m/s,
      rangeRepo size: 4

2025-10-26T22:10:18.909Z,1761516618.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.653396 m,
      bearing: 44.988656 deg,
      lat: 36.779403 deg,
      lon: -121.859460 deg,
      deltaT: 3.554052 s,
      deltaX: -2.186639 m,
      approachRate: -0.615252 m/s,
      posRepo size: 4

2025-10-26T22:10:18.910Z,1761516618.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.65 m. 9.84 m.
2025-10-26T22:10:18.917Z,1761516618.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 7.364733 m,
      bearing: 47.246141 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 56.715593 deg,
      new cmd heading: 56.654611 deg.

2025-10-26T22:10:18.918Z,1761516618.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.988810 target range: 9.840034 and range: 7.70 m.
2025-10-26T22:10:18.982Z,1761516618.982 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.686043
2025-10-26T22:10:19.233Z,1761516619.233 [DAT](INFO): DAT read: Rx Time:22:10:18.0962 

2025-10-26T22:10:19.233Z,1761516619.233 [DAT](INFO): Rx dataTimestamp_ set to:1761516619.233201
2025-10-26T22:10:19.235Z,1761516619.235 [DAT](INFO): DAT read: Bearing 212.5, -15.5 (Local)

2025-10-26T22:10:19.235Z,1761516619.235 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.5, -15.5 (Local)

2025-10-26T22:10:19.237Z,1761516619.237 [DAT](INFO): DAT read: Range 11 to 50 :     7.5 m (trip time 5.0 ms) speed 0.4

2025-10-26T22:10:19.242Z,1761516619.242 [DAT](INFO): DAT read: 22:10:18.0962 LVL= 32752, 32753, 23762, 32755, AGC= 51, IDX= 505, 0.24,-1.510,-2.939,-0.818,-1.351, PHS=-0.057,-1.544, 0.489, RAW= 165.0,  12.2, CAL= 165.3,  14.1, ROT= 344.7, -14.1

2025-10-26T22:10:19.243Z,1761516619.243 [DAT](INFO): got valid direction response:
 22:10:18.0962 LVL= 32752, 32753, 23762, 32755, AGC= 51, IDX= 505, 0.24,-1.510,-2.939,-0.818,-1.351, PHS=-0.057,-1.544, 0.489, RAW= 165.0,  12.2, CAL= 165.3,  14.1, ROT= 344.7, -14.1

2025-10-26T22:10:19.243Z,1761516619.243 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-10-26T22:10:19.244Z,1761516619.244 [DAT](INFO): direction in FSK: [0.935497,-0.255923,0.243615]
2025-10-26T22:10:19.245Z,1761516619.245 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:19.279Z,1761516619.279 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.979511
2025-10-26T22:10:19.301Z,1761516619.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539755,-0.829803,-0.141746],[0.841447,0.536836,0.061429],[0.025120,-0.152428,0.987995]]
2025-10-26T22:10:19.373Z,1761516619.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.500000 m,
      deltaT: 0.503084 s,
      deltaX: -0.200000 m,
      approachRate: -0.397548 m/s,
      rangeRepo size: 4

2025-10-26T22:10:19.380Z,1761516619.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.454607 m,
      bearing: 44.233596 deg,
      lat: 36.779405 deg,
      lon: -121.859460 deg,
      deltaT: 4.057136 s,
      deltaX: -2.385428 m,
      approachRate: -0.587959 m/s,
      posRepo size: 4

2025-10-26T22:10:19.381Z,1761516619.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.45 m. 9.84 m.
2025-10-26T22:10:19.388Z,1761516619.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 7.116458 m,
      bearing: 47.152576 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 56.654613 deg,
      new cmd heading: 56.602294 deg.

2025-10-26T22:10:19.389Z,1761516619.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.987896 target range: 9.840034 and range: 7.50 m.
2025-10-26T22:10:19.486Z,1761516619.486 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.190018
2025-10-26T22:10:19.738Z,1761516619.738 [DAT](INFO): DAT read: Rx Time:22:10:18.5959 

2025-10-26T22:10:19.739Z,1761516619.739 [DAT](INFO): Rx dataTimestamp_ set to:1761516619.738647
2025-10-26T22:10:19.740Z,1761516619.740 [DAT](INFO): DAT read: Bearing 211.7, -16.4 (Local)

2025-10-26T22:10:19.741Z,1761516619.741 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.7, -16.4 (Local)

2025-10-26T22:10:19.743Z,1761516619.743 [DAT](INFO): DAT read: Range 11 to 50 :     7.1 m (trip time 4.7 ms) speed 0.4

2025-10-26T22:10:19.755Z,1761516619.755 [DAT](INFO): DAT read: 22:10:18.5959 LVL= 32752, 32753, 20882, 32755, AGC= 50, IDX= 503,-0.45, 2.447, 1.039,-3.096, 2.609, PHS=-0.060,-1.525, 0.534, RAW= 166.3,  11.4, CAL= 166.4,  13.1, ROT= 343.6, -13.1

2025-10-26T22:10:19.756Z,1761516619.756 [DAT](INFO): got valid direction response:
 22:10:18.5959 LVL= 32752, 32753, 20882, 32755, AGC= 50, IDX= 503,-0.45, 2.447, 1.039,-3.096, 2.609, PHS=-0.060,-1.525, 0.534, RAW= 166.3,  11.4, CAL= 166.4,  13.1, ROT= 343.6, -13.1

2025-10-26T22:10:19.756Z,1761516619.756 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-10-26T22:10:19.757Z,1761516619.757 [DAT](INFO): direction in FSK: [0.934349,-0.274994,0.226651]
2025-10-26T22:10:19.758Z,1761516619.758 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:19.761Z,1761516619.761 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.465622
2025-10-26T22:10:19.785Z,1761516619.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535029,-0.834256,-0.133267],[0.844469,0.532737,0.055348],[0.024822,-0.142152,0.989534]]
2025-10-26T22:10:19.898Z,1761516619.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.100000 m,
      deltaT: 0.505446 s,
      deltaX: -0.400000 m,
      approachRate: -0.791380 m/s,
      rangeRepo size: 4

2025-10-26T22:10:19.904Z,1761516619.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.057019 m,
      bearing: 43.137299 deg,
      lat: 36.779405 deg,
      lon: -121.859462 deg,
      deltaT: 4.562582 s,
      deltaX: -2.783016 m,
      approachRate: -0.609965 m/s,
      posRepo size: 4

2025-10-26T22:10:19.905Z,1761516619.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.06 m. 9.84 m.
2025-10-26T22:10:19.912Z,1761516619.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 6.825292 m,
      bearing: 47.125468 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 56.602293 deg,
      new cmd heading: 56.543919 deg.

2025-10-26T22:10:19.913Z,1761516619.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.986878 target range: 9.840034 and range: 7.10 m.
2025-10-26T22:10:19.993Z,1761516619.993 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.697746
2025-10-26T22:10:20.245Z,1761516620.245 [DAT](INFO): DAT read: Rx Time:22:10:19.0959 

2025-10-26T22:10:20.246Z,1761516620.246 [DAT](INFO): Rx dataTimestamp_ set to:1761516620.245255
2025-10-26T22:10:20.247Z,1761516620.247 [DAT](INFO): DAT read: Bearing 210.6, -17.4 (Local)

2025-10-26T22:10:20.247Z,1761516620.247 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.6, -17.4 (Local)

2025-10-26T22:10:20.249Z,1761516620.249 [DAT](INFO): DAT read: Range 11 to 50 :     7.1 m (trip time 4.7 ms) speed 0.4

2025-10-26T22:10:20.254Z,1761516620.254 [DAT](INFO): DAT read: 22:10:19.0959 LVL= 32752, 32753, 21426, 32755, AGC= 50, IDX= 502,-0.11, 2.957, 1.572,-2.529, 3.122, PHS=-0.064,-1.505, 0.588, RAW= 167.7,  10.6, CAL= 167.7,  11.9, ROT= 342.3, -11.9

2025-10-26T22:10:20.255Z,1761516620.255 [DAT](INFO): got valid direction response:
 22:10:19.0959 LVL= 32752, 32753, 21426, 32755, AGC= 50, IDX= 502,-0.11, 2.957, 1.572,-2.529, 3.122, PHS=-0.064,-1.505, 0.588, RAW= 167.7,  10.6, CAL= 167.7,  11.9, ROT= 342.3, -11.9

2025-10-26T22:10:20.255Z,1761516620.255 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-26T22:10:20.256Z,1761516620.256 [DAT](INFO): direction in FSK: [0.932188,-0.297499,0.206204]
2025-10-26T22:10:20.257Z,1761516620.257 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:20.272Z,1761516620.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534045,-0.835285,-0.130744],[0.845113,0.531811,0.054417],[0.024077,-0.139555,0.989922]]
2025-10-26T22:10:20.280Z,1761516620.280 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.975643
2025-10-26T22:10:20.337Z,1761516620.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.100000 m,
      deltaT: 0.506608 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:10:20.339Z,1761516620.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.057019 m,
      bearing: 41.694623 deg,
      lat: 36.779406 deg,
      lon: -121.859462 deg,
      deltaT: 5.069190 s,
      deltaX: -2.783016 m,
      approachRate: -0.549006 m/s,
      posRepo size: 4

2025-10-26T22:10:20.348Z,1761516620.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.06 m. 9.84 m.
2025-10-26T22:10:20.350Z,1761516620.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 6.609467 m,
      bearing: 47.101734 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 56.543919 deg,
      new cmd heading: 56.495126 deg.

2025-10-26T22:10:20.356Z,1761516620.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.986026 target range: 9.840034 and range: 7.10 m.
2025-10-26T22:10:20.497Z,1761516620.497 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.201008
2025-10-26T22:10:20.659Z,1761516620.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533908,-0.835304,-0.131183],[0.845224,0.531504,0.055678],[0.023217,-0.140606,0.989793]]
2025-10-26T22:10:20.749Z,1761516620.749 [DAT](INFO): DAT read: Rx Time:22:10:19.5957 

2025-10-26T22:10:20.750Z,1761516620.750 [DAT](INFO): Rx dataTimestamp_ set to:1761516620.749238
2025-10-26T22:10:20.751Z,1761516620.751 [DAT](INFO): DAT read: Bearing 211.5, -18.1 (Local)

2025-10-26T22:10:20.751Z,1761516620.751 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.5, -18.1 (Local)

2025-10-26T22:10:20.753Z,1761516620.753 [DAT](INFO): DAT read: Range 11 to 50 :     6.6 m (trip time 4.4 ms) speed 0.4

2025-10-26T22:10:20.758Z,1761516620.758 [DAT](INFO): DAT read: 22:10:19.5957 LVL= 32752, 32753, 22162, 32755, AGC= 50, IDX= 499, 0.14,-2.583, 2.331,-1.766,-2.389, PHS=-0.092,-1.519, 0.579, RAW= 168.3,  11.1, CAL= 168.3,  12.8, ROT= 341.7, -12.8

2025-10-26T22:10:20.759Z,1761516620.759 [DAT](INFO): got valid direction response:
 22:10:19.5957 LVL= 32752, 32753, 22162, 32755, AGC= 50, IDX= 499, 0.14,-2.583, 2.331,-1.766,-2.389, PHS=-0.092,-1.519, 0.579, RAW= 168.3,  11.1, CAL= 168.3,  12.8, ROT= 341.7, -12.8

2025-10-26T22:10:20.759Z,1761516620.759 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-10-26T22:10:20.760Z,1761516620.760 [DAT](INFO): direction in FSK: [0.925832,-0.306189,0.221548]
2025-10-26T22:10:20.761Z,1761516620.761 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:20.768Z,1761516620.768 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.472744
2025-10-26T22:10:20.817Z,1761516620.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.600000 m,
      deltaT: 0.503983 s,
      deltaX: -0.500000 m,
      approachRate: -0.992097 m/s,
      rangeRepo size: 4

2025-10-26T22:10:20.819Z,1761516620.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.560045 m,
      bearing: 41.242080 deg,
      lat: 36.779406 deg,
      lon: -121.859463 deg,
      deltaT: 5.573173 s,
      deltaX: -3.279990 m,
      approachRate: -0.588532 m/s,
      posRepo size: 4

2025-10-26T22:10:20.824Z,1761516620.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.56 m. 9.84 m.
2025-10-26T22:10:20.827Z,1761516620.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 6.356937 m,
      bearing: 47.165079 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 56.495128 deg,
      new cmd heading: 56.441801 deg.

2025-10-26T22:10:20.836Z,1761516620.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.985095 target range: 9.840034 and range: 6.60 m.
2025-10-26T22:10:21.001Z,1761516621.001 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.705017
2025-10-26T22:10:21.151Z,1761516621.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534754,-0.834454,-0.133136],[0.844707,0.532092,0.057865],[0.022555,-0.143404,0.989407]]
2025-10-26T22:10:21.224Z,1761516621.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:10:21.227Z,1761516621.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-10-26T22:10:21.234Z,1761516621.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 6.167997 m,
      bearing: 47.217412 deg,
      approach rate: -0.459813 m/s,
      LOS rate: 0.131261 deg/s,
      cmd heading: 56.441801 deg,
      new cmd heading: 56.603609 deg.

2025-10-26T22:10:21.235Z,1761516621.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.987919 target range: 9.840034 and range: 6.60 m.
2025-10-26T22:10:21.253Z,1761516621.253 [DAT](INFO): DAT read: Rx Time:22:10:20.0957 

2025-10-26T22:10:21.254Z,1761516621.253 [DAT](INFO): Rx dataTimestamp_ set to:1761516621.253222
2025-10-26T22:10:21.255Z,1761516621.255 [DAT](INFO): DAT read: Bearing 210.1, -19.2 (Local)

2025-10-26T22:10:21.255Z,1761516621.255 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.1, -19.2 (Local)

2025-10-26T22:10:21.257Z,1761516621.257 [DAT](INFO): DAT read: Range 11 to 50 :     6.6 m (trip time 4.4 ms) speed 0.4

2025-10-26T22:10:21.262Z,1761516621.262 [DAT](INFO): DAT read: 22:10:20.0957 LVL= 32752, 32753, 22290, 32755, AGC= 49, IDX= 499,-0.29, 2.401, 1.048,-3.006, 2.598, PHS=-0.095,-1.505, 0.635, RAW= 169.6,  10.3, CAL= 169.6,  11.5, ROT= 340.4, -11.5

2025-10-26T22:10:21.263Z,1761516621.263 [DAT](INFO): got valid direction response:
 22:10:20.0957 LVL= 32752, 32753, 22290, 32755, AGC= 49, IDX= 499,-0.29, 2.401, 1.048,-3.006, 2.598, PHS=-0.095,-1.505, 0.635, RAW= 169.6,  10.3, CAL= 169.6,  11.5, ROT= 340.4, -11.5

2025-10-26T22:10:21.263Z,1761516621.263 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-10-26T22:10:21.264Z,1761516621.264 [DAT](INFO): direction in FSK: [0.923145,-0.328717,0.199368]
2025-10-26T22:10:21.265Z,1761516621.265 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:21.273Z,1761516621.273 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.977322
2025-10-26T22:10:21.507Z,1761516621.507 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.210590
2025-10-26T22:10:21.562Z,1761516621.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536288,-0.833069,-0.135615],[0.843745,0.533350,0.060264],[0.022127,-0.146743,0.988927]]
2025-10-26T22:10:21.589Z,1761516621.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.600000 m,
      deltaT: 0.503984 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:10:21.597Z,1761516621.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.560045 m,
      bearing: 39.685032 deg,
      lat: 36.779407 deg,
      lon: -121.859463 deg,
      deltaT: 6.077157 s,
      deltaX: -3.279990 m,
      approachRate: -0.539724 m/s,
      posRepo size: 4

2025-10-26T22:10:21.601Z,1761516621.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.56 m. 9.84 m.
2025-10-26T22:10:21.630Z,1761516621.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 5.961986 m,
      bearing: 47.281586 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 56.603608 deg,
      new cmd heading: 56.563426 deg.

2025-10-26T22:10:21.638Z,1761516621.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.987218 target range: 9.840034 and range: 6.60 m.
2025-10-26T22:10:21.758Z,1761516621.758 [DAT](INFO): DAT read: Rx Time:22:10:20.5954 

2025-10-26T22:10:21.759Z,1761516621.759 [DAT](INFO): Rx dataTimestamp_ set to:1761516621.758305
2025-10-26T22:10:21.761Z,1761516621.761 [DAT](INFO): DAT read: Bearing 212.3, -19.4 (Local)

2025-10-26T22:10:21.761Z,1761516621.761 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.3, -19.4 (Local)

2025-10-26T22:10:21.765Z,1761516621.765 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed 0.4

2025-10-26T22:10:21.770Z,1761516621.770 [DAT](INFO): DAT read: 22:10:20.5954 LVL= 32752, 32753, 25458, 32755, AGC= 48, IDX= 496, 0.05,-2.980, 1.967,-2.125,-2.741, PHS=-0.136,-1.530, 0.572, RAW= 169.3,  11.8, CAL= 169.5,  13.8, ROT= 340.5, -13.8

2025-10-26T22:10:21.788Z,1761516621.788 [DAT](INFO): got valid direction response:
 22:10:20.5954 LVL= 32752, 32753, 25458, 32755, AGC= 48, IDX= 496, 0.05,-2.980, 1.967,-2.125,-2.741, PHS=-0.136,-1.530, 0.572, RAW= 169.3,  11.8, CAL= 169.5,  13.8, ROT= 340.5, -13.8

2025-10-26T22:10:21.788Z,1761516621.788 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-10-26T22:10:21.789Z,1761516621.789 [DAT](INFO): direction in FSK: [0.915432,-0.324171,0.238533]
2025-10-26T22:10:21.789Z,1761516621.789 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:21.805Z,1761516621.805 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.509098
2025-10-26T22:10:22.004Z,1761516622.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538309,-0.831372,-0.138003],[0.842461,0.535134,0.062384],[0.021986,-0.149844,0.988465]]
2025-10-26T22:10:22.008Z,1761516622.008 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.712875
2025-10-26T22:10:22.092Z,1761516622.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.505083 s,
      deltaX: -0.400000 m,
      approachRate: -0.791949 m/s,
      rangeRepo size: 4

2025-10-26T22:10:22.094Z,1761516622.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.162470 m,
      bearing: 40.027847 deg,
      lat: 36.779409 deg,
      lon: -121.859463 deg,
      deltaT: 6.582240 s,
      deltaX: -3.677564 m,
      approachRate: -0.558710 m/s,
      posRepo size: 4

2025-10-26T22:10:22.095Z,1761516622.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.16 m. 9.84 m.
2025-10-26T22:10:22.112Z,1761516622.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 5.721743 m,
      bearing: 47.392968 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 56.563426 deg,
      new cmd heading: 56.507853 deg.

2025-10-26T22:10:22.113Z,1761516622.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.986248 target range: 9.840034 and range: 6.20 m.
2025-10-26T22:10:22.261Z,1761516622.261 [DAT](INFO): DAT read: Rx Time:22:10:21.0952 

2025-10-26T22:10:22.262Z,1761516622.262 [DAT](INFO): Rx dataTimestamp_ set to:1761516622.261300
2025-10-26T22:10:22.263Z,1761516622.263 [DAT](INFO): DAT read: Bearing 211.2, -20.2 (Local)

2025-10-26T22:10:22.263Z,1761516622.263 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.2, -20.2 (Local)

2025-10-26T22:10:22.265Z,1761516622.265 [DAT](INFO): DAT read: Range 11 to 50 :     6.0 m (trip time 4.0 ms) speed 0.4

2025-10-26T22:10:22.270Z,1761516622.270 [DAT](INFO): DAT read: 22:10:21.0952 LVL= 32752, 32753, 26722, 32755, AGC= 48, IDX= 511,-0.39, 1.663, 0.341, 2.561, 1.906, PHS=-0.141,-1.520, 0.611, RAW= 170.4,  11.2, CAL= 170.4,  13.0, ROT= 339.6, -13.0

2025-10-26T22:10:22.271Z,1761516622.271 [DAT](INFO): got valid direction response:
 22:10:21.0952 LVL= 32752, 32753, 26722, 32755, AGC= 48, IDX= 511,-0.39, 1.663, 0.341, 2.561, 1.906, PHS=-0.141,-1.520, 0.611, RAW= 170.4,  11.2, CAL= 170.4,  13.0, ROT= 339.6, -13.0

2025-10-26T22:10:22.271Z,1761516622.271 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-10-26T22:10:22.272Z,1761516622.272 [DAT](INFO): direction in FSK: [0.913260,-0.339638,0.224951]
2025-10-26T22:10:22.273Z,1761516622.273 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:22.276Z,1761516622.276 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.980797
2025-10-26T22:10:22.398Z,1761516622.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540654,-0.829662,-0.139121],[0.840960,0.537336,0.063690],[0.021913,-0.151430,0.988225]]
2025-10-26T22:10:22.482Z,1761516622.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.000000 m,
      deltaT: 0.502995 s,
      deltaX: -0.200000 m,
      approachRate: -0.397618 m/s,
      rangeRepo size: 4

2025-10-26T22:10:22.500Z,1761516622.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.963681 m,
      bearing: 38.867858 deg,
      lat: 36.779409 deg,
      lon: -121.859464 deg,
      deltaT: 7.085235 s,
      deltaX: -3.876353 m,
      approachRate: -0.547103 m/s,
      posRepo size: 4

2025-10-26T22:10:22.501Z,1761516622.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.96 m. 9.84 m.
2025-10-26T22:10:22.513Z,1761516622.513 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.216980
2025-10-26T22:10:22.514Z,1761516622.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 5.545516 m,
      bearing: 47.485707 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 56.507852 deg,
      new cmd heading: 56.463988 deg.

2025-10-26T22:10:22.515Z,1761516622.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.985483 target range: 9.840034 and range: 6.00 m.
2025-10-26T22:10:22.765Z,1761516622.765 [DAT](INFO): DAT read: Rx Time:22:10:21.5950 

2025-10-26T22:10:22.765Z,1761516622.765 [DAT](INFO): Rx dataTimestamp_ set to:1761516622.765191
2025-10-26T22:10:22.767Z,1761516622.767 [DAT](INFO): DAT read: Bearing 212.1, -20.8 (Local)

2025-10-26T22:10:22.767Z,1761516622.767 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.1, -20.8 (Local)

2025-10-26T22:10:22.769Z,1761516622.769 [DAT](INFO): DAT read: Range 11 to 50 :     5.7 m (trip time 3.8 ms) speed 0.4

2025-10-26T22:10:22.774Z,1761516622.774 [DAT](INFO): DAT read: 22:10:21.5950 LVL= 32752, 32753, 26050, 32755, AGC= 48, IDX= 508, 0.06, 2.108, 0.798, 3.020, 2.384, PHS=-0.174,-1.541, 0.592, RAW= 170.8,  12.0, CAL= 170.9,  14.2, ROT= 339.1, -14.2

2025-10-26T22:10:22.775Z,1761516622.775 [DAT](INFO): got valid direction response:
 22:10:21.5950 LVL= 32752, 32753, 26050, 32755, AGC= 48, IDX= 508, 0.06, 2.108, 0.798, 3.020, 2.384, PHS=-0.174,-1.541, 0.592, RAW= 170.8,  12.0, CAL= 170.9,  14.2, ROT= 339.1, -14.2

2025-10-26T22:10:22.776Z,1761516622.776 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-10-26T22:10:22.777Z,1761516622.777 [DAT](INFO): direction in FSK: [0.905660,-0.345838,0.245307]
2025-10-26T22:10:22.777Z,1761516622.777 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:22.781Z,1761516622.781 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.485641
2025-10-26T22:10:22.802Z,1761516622.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543832,-0.827094,-0.141992],[0.838909,0.540219,0.066300],[0.021871,-0.155174,0.987645]]
2025-10-26T22:10:22.920Z,1761516622.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.700000 m,
      deltaT: 0.503891 s,
      deltaX: -0.300000 m,
      approachRate: -0.595367 m/s,
      rangeRepo size: 4

2025-10-26T22:10:22.922Z,1761516622.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.665511 m,
      bearing: 38.386951 deg,
      lat: 36.779409 deg,
      lon: -121.859465 deg,
      deltaT: 7.589126 s,
      deltaX: -4.174523 m,
      approachRate: -0.550066 m/s,
      posRepo size: 4

2025-10-26T22:10:22.923Z,1761516622.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.67 m. 9.84 m.
2025-10-26T22:10:22.930Z,1761516622.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 5.320359 m,
      bearing: 47.650003 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 56.463989 deg,
      new cmd heading: 56.416196 deg.

2025-10-26T22:10:22.931Z,1761516622.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.984648 target range: 9.840034 and range: 5.70 m.
2025-10-26T22:10:23.018Z,1761516623.018 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.721939
2025-10-26T22:10:23.253Z,1761516623.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546929,-0.824541,-0.144917],[0.836894,0.543004,0.068956],[0.021834,-0.158994,0.987038]]
2025-10-26T22:10:23.269Z,1761516623.269 [DAT](INFO): DAT read: Rx Time:22:10:22.0949 

2025-10-26T22:10:23.270Z,1761516623.270 [DAT](INFO): Rx dataTimestamp_ set to:1761516623.269298
2025-10-26T22:10:23.271Z,1761516623.271 [DAT](INFO): DAT read: Bearing 210.1, -21.9 (Local)

2025-10-26T22:10:23.271Z,1761516623.271 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.1, -21.9 (Local)

2025-10-26T22:10:23.273Z,1761516623.273 [DAT](INFO): DAT read: Range 11 to 50 :     5.6 m (trip time 3.7 ms) speed 0.4

2025-10-26T22:10:23.278Z,1761516623.278 [DAT](INFO): DAT read: 22:10:22.0949 LVL= 32752, 32753, 25394, 32755, AGC= 47, IDX= 508,-0.34, 1.622, 0.328, 2.596, 1.897, PHS=-0.172,-1.524, 0.655, RAW= 172.1,  10.9, CAL= 172.1,  12.7, ROT= 337.9, -12.7

2025-10-26T22:10:23.279Z,1761516623.279 [DAT](INFO): got valid direction response:
 22:10:22.0949 LVL= 32752, 32753, 25394, 32755, AGC= 47, IDX= 508,-0.34, 1.622, 0.328, 2.596, 1.897, PHS=-0.172,-1.524, 0.655, RAW= 172.1,  10.9, CAL= 172.1,  12.7, ROT= 337.9, -12.7

2025-10-26T22:10:23.279Z,1761516623.279 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-10-26T22:10:23.280Z,1761516623.280 [DAT](INFO): direction in FSK: [0.903861,-0.367020,0.219846]
2025-10-26T22:10:23.281Z,1761516623.281 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:23.288Z,1761516623.288 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.992870
2025-10-26T22:10:23.320Z,1761516623.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.600000 m,
      deltaT: 0.504107 s,
      deltaX: -0.100000 m,
      approachRate: -0.198370 m/s,
      rangeRepo size: 4

2025-10-26T22:10:23.322Z,1761516623.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.566116 m,
      bearing: 36.796475 deg,
      lat: 36.779410 deg,
      lon: -121.859465 deg,
      deltaT: 8.093233 s,
      deltaX: -4.273918 m,
      approachRate: -0.528085 m/s,
      posRepo size: 4

2025-10-26T22:10:23.323Z,1761516623.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.57 m. 9.84 m.
2025-10-26T22:10:23.330Z,1761516623.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 5.124310 m,
      bearing: 47.812212 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 56.416198 deg,
      new cmd heading: 56.371249 deg.

2025-10-26T22:10:23.330Z,1761516623.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.983864 target range: 9.840034 and range: 5.60 m.
2025-10-26T22:10:23.521Z,1761516623.521 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.224895
2025-10-26T22:10:23.693Z,1761516623.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549467,-0.821944,-0.149979],[0.835231,0.545037,0.072962],[0.021773,-0.165357,0.985993]]
2025-10-26T22:10:23.773Z,1761516623.773 [DAT](INFO): DAT read: Rx Time:22:10:22.5947 

2025-10-26T22:10:23.774Z,1761516623.774 [DAT](INFO): Rx dataTimestamp_ set to:1761516623.773239
2025-10-26T22:10:23.775Z,1761516623.775 [DAT](INFO): DAT read: Bearing 211.6, -22.0 (Local)

2025-10-26T22:10:23.775Z,1761516623.775 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.6, -22.0 (Local)

2025-10-26T22:10:23.777Z,1761516623.777 [DAT](INFO): DAT read: Range 11 to 50 :     5.3 m (trip time 3.5 ms) speed 0.4

2025-10-26T22:10:23.782Z,1761516623.782 [DAT](INFO): DAT read: 22:10:22.5947 LVL= 32752, 32753, 27058, 32755, AGC= 46, IDX= 505, 0.08, 2.229, 0.941,-3.093, 2.534, PHS=-0.203,-1.548, 0.612, RAW= 171.9,  12.0, CAL= 172.0,  14.3, ROT= 338.0, -14.3

2025-10-26T22:10:23.783Z,1761516623.783 [DAT](INFO): got valid direction response:
 22:10:22.5947 LVL= 32752, 32753, 27058, 32755, AGC= 46, IDX= 505, 0.08, 2.229, 0.941,-3.093, 2.534, PHS=-0.203,-1.548, 0.612, RAW= 171.9,  12.0, CAL= 172.0,  14.3, ROT= 338.0, -14.3

2025-10-26T22:10:23.791Z,1761516623.791 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-10-26T22:10:23.792Z,1761516623.792 [DAT](INFO): direction in FSK: [0.898456,-0.363000,0.246999]
2025-10-26T22:10:23.793Z,1761516623.793 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:23.796Z,1761516623.796 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.500683
2025-10-26T22:10:23.833Z,1761516623.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.300000 m,
      deltaT: 0.503941 s,
      deltaX: -0.300000 m,
      approachRate: -0.595307 m/s,
      rangeRepo size: 4

2025-10-26T22:10:23.834Z,1761516623.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.267932 m,
      bearing: 37.080454 deg,
      lat: 36.779410 deg,
      lon: -121.859466 deg,
      deltaT: 8.597174 s,
      deltaX: -4.572103 m,
      approachRate: -0.531815 m/s,
      posRepo size: 4

2025-10-26T22:10:23.840Z,1761516623.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.27 m. 9.84 m.
2025-10-26T22:10:23.842Z,1761516623.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 4.854129 m,
      bearing: 48.006430 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 56.371249 deg,
      new cmd heading: 56.314232 deg.

2025-10-26T22:10:23.847Z,1761516623.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.982869 target range: 9.840034 and range: 5.30 m.
2025-10-26T22:10:24.025Z,1761516624.025 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.728996
2025-10-26T22:10:24.153Z,1761516624.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553068,-0.817670,-0.159788],[0.832852,0.547627,0.080388],[0.021773,-0.177540,0.983873]]
2025-10-26T22:10:24.219Z,1761516624.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:10:24.225Z,1761516624.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-10-26T22:10:24.233Z,1761516624.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 4.650173 m,
      bearing: 48.176254 deg,
      approach rate: -0.512829 m/s,
      LOS rate: 0.445732 deg/s,
      cmd heading: 56.314234 deg,
      new cmd heading: 56.846032 deg.

2025-10-26T22:10:24.234Z,1761516624.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.992150 target range: 9.840034 and range: 5.30 m.
2025-10-26T22:10:24.277Z,1761516624.277 [DAT](INFO): DAT read: Rx Time:22:10:23.0946 

2025-10-26T22:10:24.278Z,1761516624.278 [DAT](INFO): Rx dataTimestamp_ set to:1761516624.277378
2025-10-26T22:10:24.280Z,1761516624.280 [DAT](INFO): DAT read: Bearing 211.5, -22.8 (Local)

2025-10-26T22:10:24.280Z,1761516624.280 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.5, -22.8 (Local)

2025-10-26T22:10:24.283Z,1761516624.283 [DAT](INFO): DAT read: Range 11 to 50 :     5.1 m (trip time 3.4 ms) speed 0.4

2025-10-26T22:10:24.290Z,1761516624.290 [DAT](INFO): DAT read: 22:10:23.0946 LVL= 32752, 32753, 27890, 32755, AGC= 47, IDX= 505,-0.38, 2.665, 1.392,-2.629, 2.989, PHS=-0.223,-1.552, 0.621, RAW= 172.6,  12.1, CAL= 172.7,  14.5, ROT= 337.3, -14.5

2025-10-26T22:10:24.292Z,1761516624.292 [DAT](INFO): got valid direction response:
 22:10:23.0946 LVL= 32752, 32753, 27890, 32755, AGC= 47, IDX= 505,-0.38, 2.665, 1.392,-2.629, 2.989, PHS=-0.223,-1.552, 0.621, RAW= 172.6,  12.1, CAL= 172.7,  14.5, ROT= 337.3, -14.5

2025-10-26T22:10:24.293Z,1761516624.293 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-10-26T22:10:24.294Z,1761516624.294 [DAT](INFO): direction in FSK: [0.893153,-0.373614,0.250380]
2025-10-26T22:10:24.295Z,1761516624.295 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:24.302Z,1761516624.302 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.005589
2025-10-26T22:10:24.529Z,1761516624.529 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.233002
2025-10-26T22:10:24.563Z,1761516624.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553658,-0.816411,-0.164123],[0.832452,0.547831,0.083100],[0.022068,-0.182633,0.982933]]
2025-10-26T22:10:24.585Z,1761516624.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 0.504139 s,
      deltaX: -0.200000 m,
      approachRate: -0.396717 m/s,
      rangeRepo size: 4

2025-10-26T22:10:24.588Z,1761516624.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.069142 m,
      bearing: 36.423107 deg,
      lat: 36.779410 deg,
      lon: -121.859466 deg,
      deltaT: 9.101313 s,
      deltaX: -4.770893 m,
      approachRate: -0.524198 m/s,
      posRepo size: 4

2025-10-26T22:10:24.589Z,1761516624.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.07 m. 9.84 m.
2025-10-26T22:10:24.591Z,1761516624.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 4.442233 m,
      bearing: 48.366212 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 56.846032 deg,
      new cmd heading: 56.806024 deg.

2025-10-26T22:10:24.592Z,1761516624.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.991452 target range: 9.840034 and range: 5.10 m.
2025-10-26T22:10:24.781Z,1761516624.781 [DAT](INFO): DAT read: Rx Time:22:10:23.5944 

2025-10-26T22:10:24.782Z,1761516624.782 [DAT](INFO): Rx dataTimestamp_ set to:1761516624.781324
2025-10-26T22:10:24.783Z,1761516624.783 [DAT](INFO): DAT read: Bearing 210.9, -23.8 (Local)

2025-10-26T22:10:24.783Z,1761516624.783 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.9, -23.8 (Local)

2025-10-26T22:10:24.785Z,1761516624.785 [DAT](INFO): DAT read: Range 11 to 50 :     4.8 m (trip time 3.2 ms) speed 0.4

2025-10-26T22:10:24.790Z,1761516624.790 [DAT](INFO): DAT read: 22:10:23.5944 LVL= 32752, 32753, 26722, 32755, AGC= 46, IDX= 502, 0.05, 2.300, 1.028,-2.932, 2.647, PHS=-0.245,-1.574, 0.660, RAW= 173.8,  11.9, CAL= 173.8,  14.2, ROT= 336.2, -14.2

2025-10-26T22:10:24.792Z,1761516624.792 [DAT](INFO): got valid direction response:
 22:10:23.5944 LVL= 32752, 32753, 26722, 32755, AGC= 46, IDX= 502, 0.05, 2.300, 1.028,-2.932, 2.647, PHS=-0.245,-1.574, 0.660, RAW= 173.8,  11.9, CAL= 173.8,  14.2, ROT= 336.2, -14.2

2025-10-26T22:10:24.792Z,1761516624.792 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-10-26T22:10:24.793Z,1761516624.793 [DAT](INFO): direction in FSK: [0.887004,-0.391215,0.245307]
2025-10-26T22:10:24.793Z,1761516624.793 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:24.798Z,1761516624.798 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.502762
2025-10-26T22:10:24.965Z,1761516624.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553601,-0.816142,-0.165643],[0.832487,0.547637,0.084016],[0.022143,-0.184407,0.982601]]
2025-10-26T22:10:25.021Z,1761516625.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 0.503946 s,
      deltaX: -0.300000 m,
      approachRate: -0.595301 m/s,
      rangeRepo size: 4

2025-10-26T22:10:25.033Z,1761516625.033 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.736904
2025-10-26T22:10:25.040Z,1761516625.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.770974 m,
      bearing: 35.290451 deg,
      lat: 36.779411 deg,
      lon: -121.859466 deg,
      deltaT: 9.605259 s,
      deltaX: -5.069061 m,
      approachRate: -0.527738 m/s,
      posRepo size: 4

2025-10-26T22:10:25.041Z,1761516625.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.77 m. 9.84 m.
2025-10-26T22:10:25.047Z,1761516625.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 4.198869 m,
      bearing: 48.504666 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 56.806024 deg,
      new cmd heading: 56.757527 deg.

2025-10-26T22:10:25.048Z,1761516625.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.990606 target range: 9.840034 and range: 4.80 m.
2025-10-26T22:10:25.289Z,1761516625.289 [DAT](INFO): DAT read: Rx Time:22:10:24.0943 

2025-10-26T22:10:25.290Z,1761516625.290 [DAT](INFO): Rx dataTimestamp_ set to:1761516625.289245
2025-10-26T22:10:25.292Z,1761516625.292 [DAT](INFO): DAT read: Bearing 206.0, -26.0 (Local)

2025-10-26T22:10:25.292Z,1761516625.292 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.0, -26.0 (Local)

2025-10-26T22:10:25.295Z,1761516625.295 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed 0.4

2025-10-26T22:10:25.302Z,1761516625.302 [DAT](INFO): DAT read: 22:10:24.0943 LVL= 32752, 32753, 24482, 32755, AGC= 48, IDX= 502,-0.40, 1.082,-0.178, 2.302, 1.420, PHS=-0.236,-1.553, 0.838, RAW= 176.6,   9.2, CAL= 176.5,  10.2, ROT= 333.5, -10.2

2025-10-26T22:10:25.303Z,1761516625.303 [DAT](INFO): got valid direction response:
 22:10:24.0943 LVL= 32752, 32753, 24482, 32755, AGC= 48, IDX= 502,-0.40, 1.082,-0.178, 2.302, 1.420, PHS=-0.236,-1.553, 0.838, RAW= 176.6,   9.2, CAL= 176.5,  10.2, ROT= 333.5, -10.2

2025-10-26T22:10:25.304Z,1761516625.304 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-10-26T22:10:25.305Z,1761516625.305 [DAT](INFO): direction in FSK: [0.880790,-0.439146,0.177085]
2025-10-26T22:10:25.305Z,1761516625.305 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:25.370Z,1761516625.370 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.074463
2025-10-26T22:10:25.383Z,1761516625.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552555,-0.817218,-0.163822],[0.833173,0.546881,0.082120],[0.022481,-0.181867,0.983066]]
2025-10-26T22:10:25.434Z,1761516625.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.507921 s,
      deltaX: -0.100000 m,
      approachRate: -0.196882 m/s,
      rangeRepo size: 4

2025-10-26T22:10:25.447Z,1761516625.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.671578 m,
      bearing: 31.898630 deg,
      lat: 36.779412 deg,
      lon: -121.859466 deg,
      deltaT: 10.113180 s,
      deltaX: -5.168457 m,
      approachRate: -0.511061 m/s,
      posRepo size: 4

2025-10-26T22:10:25.452Z,1761516625.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.67 m. 9.84 m.
2025-10-26T22:10:25.457Z,1761516625.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 3.975111 m,
      bearing: 48.643698 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 56.757526 deg,
      new cmd heading: 56.711619 deg.

2025-10-26T22:10:25.459Z,1761516625.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.989804 target range: 9.840034 and range: 4.70 m.
2025-10-26T22:10:25.537Z,1761516625.537 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.241180
2025-10-26T22:10:25.778Z,1761516625.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550590,-0.819244,-0.160281],[0.834466,0.545377,0.078933],[0.022748,-0.177209,0.983910]]
2025-10-26T22:10:25.789Z,1761516625.789 [DAT](INFO): DAT read: Rx Time:22:10:24.5940 

2025-10-26T22:10:25.789Z,1761516625.789 [DAT](INFO): Rx dataTimestamp_ set to:1761516625.789180
2025-10-26T22:10:25.791Z,1761516625.791 [DAT](INFO): DAT read: Bearing 205.8, -27.5 (Local)

2025-10-26T22:10:25.791Z,1761516625.791 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.8, -27.5 (Local)

2025-10-26T22:10:25.793Z,1761516625.793 [DAT](INFO): DAT read: Range 11 to 50 :     4.2 m (trip time 2.8 ms) speed 0.4

2025-10-26T22:10:25.798Z,1761516625.798 [DAT](INFO): DAT read: 22:10:24.5940 LVL= 32752, 32753, 22818, 32755, AGC= 47, IDX= 499,-0.02, 0.135,-1.105, 1.443, 0.513, PHS=-0.276,-1.574, 0.885, RAW= 178.2,   9.1, CAL= 178.0,  10.0, ROT= 332.0, -10.0

2025-10-26T22:10:25.800Z,1761516625.800 [DAT](INFO): got valid direction response:
 22:10:24.5940 LVL= 32752, 32753, 22818, 32755, AGC= 47, IDX= 499,-0.02, 0.135,-1.105, 1.443, 0.513, PHS=-0.276,-1.574, 0.885, RAW= 178.2,   9.1, CAL= 178.0,  10.0, ROT= 332.0, -10.0

2025-10-26T22:10:25.800Z,1761516625.800 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-10-26T22:10:25.801Z,1761516625.801 [DAT](INFO): direction in FSK: [0.869534,-0.462339,0.173648]
2025-10-26T22:10:25.801Z,1761516625.801 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:25.825Z,1761516625.825 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:10:25.825Z,1761516625.825 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:10:25.825Z,1761516625.825 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:10:25.884Z,1761516625.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 0.499935 s,
      deltaX: -0.500000 m,
      approachRate: -1.000130 m/s,
      rangeRepo size: 4

2025-10-26T22:10:25.886Z,1761516625.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.174603 m,
      bearing: 30.419310 deg,
      lat: 36.779412 deg,
      lon: -121.859466 deg,
      deltaT: 10.613115 s,
      deltaX: -5.665431 m,
      approachRate: -0.533814 m/s,
      posRepo size: 4

2025-10-26T22:10:25.888Z,1761516625.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.17 m. 9.84 m.
2025-10-26T22:10:25.890Z,1761516625.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 3.721244 m,
      bearing: 48.673294 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 56.711617 deg,
      new cmd heading: 56.661989 deg.

2025-10-26T22:10:25.891Z,1761516625.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.988938 target range: 9.840034 and range: 4.20 m.
2025-10-26T22:10:26.040Z,1761516626.040 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:10:26.229Z,1761516626.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548046,-0.821528,-0.157283],[0.836127,0.543279,0.075766],[0.023204,-0.173032,0.984643]]
2025-10-26T22:10:26.245Z,1761516626.245 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:10:26.248Z,1761516626.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-10-26T22:10:26.250Z,1761516626.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 3.498200 m,
      bearing: 48.693049 deg,
      approach rate: -0.606243 m/s,
      LOS rate: 0.057120 deg/s,
      cmd heading: 56.661989 deg,
      new cmd heading: 56.725034 deg.

2025-10-26T22:10:26.272Z,1761516626.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.990039 target range: 9.840034 and range: 4.20 m.
2025-10-26T22:10:26.293Z,1761516626.293 [DAT](INFO): DAT read: Rx Time:22:10:25.0938 

2025-10-26T22:10:26.294Z,1761516626.294 [DAT](INFO): Rx dataTimestamp_ set to:1761516626.293331
2025-10-26T22:10:26.295Z,1761516626.295 [DAT](INFO): DAT read: Bearing 207.3, -28.7 (Local)

2025-10-26T22:10:26.295Z,1761516626.295 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.3, -28.7 (Local)

2025-10-26T22:10:26.297Z,1761516626.297 [DAT](INFO): DAT read: Range 11 to 50 :     3.9 m (trip time 2.6 ms) speed 0.4

2025-10-26T22:10:26.302Z,1761516626.302 [DAT](INFO): DAT read: 22:10:25.0938 LVL= 32752, 32449, 22386, 32755, AGC= 47, IDX= 497, 0.25, 1.609, 0.379, 2.987, 2.050, PHS=-0.339,-1.626, 0.893, RAW= 179.3,   9.8, CAL= 179.1,  11.3, ROT= 330.9, -11.3

2025-10-26T22:10:26.303Z,1761516626.303 [DAT](INFO): got valid direction response:
 22:10:25.0938 LVL= 32752, 32449, 22386, 32755, AGC= 47, IDX= 497, 0.25, 1.609, 0.379, 2.987, 2.050, PHS=-0.339,-1.626, 0.893, RAW= 179.3,   9.8, CAL= 179.1,  11.3, ROT= 330.9, -11.3

2025-10-26T22:10:26.304Z,1761516626.304 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:10:26.304Z,1761516626.304 [DAT](INFO): direction in FSK: [0.856834,-0.476908,0.195946]
2025-10-26T22:10:26.305Z,1761516626.305 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:26.312Z,1761516626.312 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:10:26.313Z,1761516626.313 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:10:26.545Z,1761516626.545 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:10:26.619Z,1761516626.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545383,-0.823806,-0.154602],[0.837849,0.541049,0.072630],[0.023814,-0.169144,0.985304]]
2025-10-26T22:10:26.646Z,1761516626.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.900000 m,
      deltaT: 0.504151 s,
      deltaX: -0.300000 m,
      approachRate: -0.595059 m/s,
      rangeRepo size: 4

2025-10-26T22:10:26.651Z,1761516626.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.876418 m,
      bearing: 29.738446 deg,
      lat: 36.779413 deg,
      lon: -121.859466 deg,
      deltaT: 11.117266 s,
      deltaX: -5.963617 m,
      approachRate: -0.536428 m/s,
      posRepo size: 4

2025-10-26T22:10:26.654Z,1761516626.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.84 m.
2025-10-26T22:10:26.683Z,1761516626.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 3.273641 m,
      bearing: 48.704503 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 56.725035 deg,
      new cmd heading: 56.680707 deg.

2025-10-26T22:10:26.690Z,1761516626.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.989265 target range: 9.840034 and range: 3.90 m.
2025-10-26T22:10:26.798Z,1761516626.798 [DAT](INFO): DAT read: Rx Time:22:10:25.5939 

2025-10-26T22:10:26.799Z,1761516626.799 [DAT](INFO): Rx dataTimestamp_ set to:1761516626.798220
2025-10-26T22:10:26.800Z,1761516626.800 [DAT](INFO): DAT read: Range 11 to 50 :     4.1 m (trip time 2.7 ms) speed 0.4

2025-10-26T22:10:26.801Z,1761516626.801 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-26T22:10:26.802Z,1761516626.802 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:10:26.804Z,1761516626.804 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:10:27.022Z,1761516627.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543275,-0.825683,-0.151989],[0.839207,0.539290,0.069993],[0.024174,-0.165575,0.985901]]
2025-10-26T22:10:27.048Z,1761516627.048 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:10:27.082Z,1761516627.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.504889 s,
      deltaX: 0.200000 m,
      approachRate: 0.396126 m/s,
      rangeRepo size: 4

2025-10-26T22:10:27.083Z,1761516627.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-10-26T22:10:27.090Z,1761516627.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 3.023953 m,
      bearing: 48.668826 deg,
      approach rate: -0.573252 m/s,
      LOS rate: -0.088672 deg/s,
      cmd heading: 56.680707 deg,
      new cmd heading: 56.564841 deg.

2025-10-26T22:10:27.091Z,1761516627.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.987243 target range: 9.840034 and range: 4.10 m.
2025-10-26T22:10:27.304Z,1761516627.304 [DAT](INFO): DAT read: Rx Time:22:10:26.0938 

2025-10-26T22:10:27.305Z,1761516627.305 [DAT](INFO): Rx dataTimestamp_ set to:1761516627.304258
2025-10-26T22:10:27.306Z,1761516627.306 [DAT](INFO): DAT read: Range 11 to 50 :     3.9 m (trip time 2.6 ms) speed 0.4

2025-10-26T22:10:27.306Z,1761516627.306 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-26T22:10:27.307Z,1761516627.307 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:10:27.307Z,1761516627.307 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:10:27.426Z,1761516627.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541109,-0.827707,-0.148669],[0.840598,0.537494,0.067048],[0.024413,-0.161251,0.986611]]
2025-10-26T22:10:27.475Z,1761516627.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.900000 m,
      deltaT: 0.506038 s,
      deltaX: -0.200000 m,
      approachRate: -0.395227 m/s,
      rangeRepo size: 4

2025-10-26T22:10:27.476Z,1761516627.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-10-26T22:10:27.478Z,1761516627.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 2.781000 m,
      bearing: 48.616548 deg,
      approach rate: -0.618754 m/s,
      LOS rate: -0.144773 deg/s,
      cmd heading: 56.564840 deg,
      new cmd heading: 56.394306 deg.

2025-10-26T22:10:27.479Z,1761516627.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.984266 target range: 9.840034 and range: 3.90 m.
2025-10-26T22:10:27.552Z,1761516627.552 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:10:27.805Z,1761516627.805 [DAT](INFO): DAT read: Rx Time:22:10:26.5933 

2025-10-26T22:10:27.805Z,1761516627.805 [DAT](INFO): Rx dataTimestamp_ set to:1761516627.805162
2025-10-26T22:10:27.807Z,1761516627.807 [DAT](INFO): DAT read: Bearing 227.9, -30.5 (Local)

2025-10-26T22:10:27.807Z,1761516627.807 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.9, -30.5 (Local)

2025-10-26T22:10:27.809Z,1761516627.809 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.4

2025-10-26T22:10:27.814Z,1761516627.814 [DAT](INFO): DAT read: 22:10:26.5933 LVL= 28192, 25697, 19250, 31027, AGC= 43, IDX= 507, 0.23, 1.250, 0.199, 2.612, 2.083, PHS=-0.730,-1.839, 0.485, RAW= 181.5,  20.1, CAL= 181.3,  28.5, ROT= 328.7, -28.5

2025-10-26T22:10:27.815Z,1761516627.815 [DAT](INFO): got valid direction response:
 22:10:26.5933 LVL= 28192, 25697, 19250, 31027, AGC= 43, IDX= 507, 0.23, 1.250, 0.199, 2.612, 2.083, PHS=-0.730,-1.839, 0.485, RAW= 181.5,  20.1, CAL= 181.3,  28.5, ROT= 328.7, -28.5

2025-10-26T22:10:27.815Z,1761516627.815 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:10:27.816Z,1761516627.816 [DAT](INFO): direction in FSK: [0.750913,-0.456562,0.477159]
2025-10-26T22:10:27.817Z,1761516627.817 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:27.836Z,1761516627.836 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:10:27.836Z,1761516627.836 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:10:27.966Z,1761516627.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539116,-0.829570,-0.145492],[0.841870,0.535845,0.064224],[0.024683,-0.157110,0.987273]]
2025-10-26T22:10:28.048Z,1761516628.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 0.500904 s,
      deltaX: -0.700000 m,
      approachRate: -1.397473 m/s,
      rangeRepo size: 4

2025-10-26T22:10:28.050Z,1761516628.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.180640 m,
      bearing: 30.350829 deg,
      lat: 36.779413 deg,
      lon: -121.859466 deg,
      deltaT: 12.629097 s,
      deltaX: -6.659394 m,
      approachRate: -0.527306 m/s,
      posRepo size: 4

2025-10-26T22:10:28.052Z,1761516628.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.18 m. 9.84 m.
2025-10-26T22:10:28.054Z,1761516628.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 2.447251 m,
      bearing: 48.505142 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 56.394307 deg,
      new cmd heading: 56.330524 deg.

2025-10-26T22:10:28.055Z,1761516628.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.983153 target range: 9.840034 and range: 3.20 m.
2025-10-26T22:10:28.056Z,1761516628.056 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:10:28.309Z,1761516628.309 [DAT](INFO): DAT read: Rx Time:22:10:27.0933 

2025-10-26T22:10:28.310Z,1761516628.310 [DAT](INFO): Rx dataTimestamp_ set to:1761516628.309269
2025-10-26T22:10:28.311Z,1761516628.311 [DAT](INFO): DAT read: Bearing 246.0, -30.8 (Local)

2025-10-26T22:10:28.311Z,1761516628.311 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.0, -30.8 (Local)

2025-10-26T22:10:28.313Z,1761516628.313 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.4

2025-10-26T22:10:28.318Z,1761516628.318 [DAT](INFO): DAT read: 22:10:27.0933 LVL= 32752, 26561, 22658, 32755, AGC= 42, IDX= 507,-0.11,-2.103,-2.702,-0.937,-1.047, PHS=-0.954,-1.611, 0.066, RAW= 187.1,  31.1, CAL= 185.7,  43.5, ROT= 324.3, -43.5

2025-10-26T22:10:28.319Z,1761516628.319 [DAT](INFO): got valid direction response:
 22:10:27.0933 LVL= 32752, 26561, 22658, 32755, AGC= 42, IDX= 507,-0.11,-2.103,-2.702,-0.937,-1.047, PHS=-0.954,-1.611, 0.066, RAW= 187.1,  31.1, CAL= 185.7,  43.5, ROT= 324.3, -43.5

2025-10-26T22:10:28.319Z,1761516628.319 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:10:28.320Z,1761516628.320 [DAT](INFO): direction in FSK: [0.589064,-0.423286,0.688355]
2025-10-26T22:10:28.320Z,1761516628.320 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:28.324Z,1761516628.324 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:10:28.324Z,1761516628.324 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:10:28.483Z,1761516628.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537874,-0.830840,-0.142818],[0.842661,0.534850,0.062116],[0.024778,-0.153758,0.987798]]
2025-10-26T22:10:28.506Z,1761516628.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 0.504107 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:10:28.509Z,1761516628.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.180640 m,
      bearing: 28.743372 deg,
      lat: 36.779413 deg,
      lon: -121.859466 deg,
      deltaT: 13.133204 s,
      deltaX: -6.659394 m,
      approachRate: -0.507065 m/s,
      posRepo size: 4

2025-10-26T22:10:28.510Z,1761516628.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.18 m. 9.84 m.
2025-10-26T22:10:28.512Z,1761516628.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.840034 m,
      nav range: 2.165740 m,
      bearing: 48.374931 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037084 deg/s,
      cmd heading: 56.330524 deg,
      new cmd heading: 56.279541 deg.

2025-10-26T22:10:28.513Z,1761516628.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.982263 target range: 9.840034 and range: 3.20 m.
2025-10-26T22:10:28.560Z,1761516628.560 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:10:28.813Z,1761516628.813 [DAT](INFO): DAT read: Rx Time:22:10:27.5931 

2025-10-26T22:10:28.813Z,1761516628.813 [DAT](INFO): Rx dataTimestamp_ set to:1761516628.813046
2025-10-26T22:10:28.815Z,1761516628.815 [DAT](INFO): DAT read: Bearing 259.1, -37.5 (Local)

2025-10-26T22:10:28.815Z,1761516628.815 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.1, -37.5 (Local)

2025-10-26T22:10:28.817Z,1761516628.817 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed 0.4

2025-10-26T22:10:28.822Z,1761516628.822 [DAT](INFO): DAT read: 22:10:27.5931 LVL= 32752, 32753, 23858, 32755, AGC= 43, IDX= 504, 0.38, 2.691, 2.612,-2.253,-2.161, PHS=-1.329,-1.466,-0.136, RAW= 204.6,  39.3, CAL= 201.8,  49.8, ROT= 308.2, -49.8

2025-10-26T22:10:28.823Z,1761516628.823 [DAT](INFO): got valid direction response:
 22:10:27.5931 LVL= 32752, 32753, 23858, 32755, AGC= 43, IDX= 504, 0.38, 2.691, 2.612,-2.253,-2.161, PHS=-1.329,-1.466,-0.136, RAW= 204.6,  39.3, CAL= 201.8,  49.8, ROT= 308.2, -49.8

2025-10-26T22:10:28.823Z,1761516628.823 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:10:28.824Z,1761516628.824 [DAT](INFO): direction in FSK: [0.399157,-0.507237,0.763796]
2025-10-26T22:10:28.824Z,1761516628.824 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:28.828Z,1761516628.828 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:10:28.828Z,1761516628.828 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:10:29.052Z,1761516629.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.503777 s,
      deltaX: -0.300000 m,
      approachRate: -0.595501 m/s,
      rangeRepo size: 4

2025-10-26T22:10:29.054Z,1761516629.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.882457 m,
      bearing: 12.049445 deg,
      lat: 36.779409 deg,
      lon: -121.859466 deg,
      deltaT: 13.636981 s,
      deltaX: -6.957578 m,
      approachRate: -0.510199 m/s,
      posRepo size: 4

2025-10-26T22:10:29.055Z,1761516629.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.90 m.
2025-10-26T22:10:29.055Z,1761516629.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-10-26T22:10:29.064Z,1761516629.064 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:10:29.317Z,1761516629.317 [DAT](INFO): DAT read: Rx Time:22:10:28.0930 

2025-10-26T22:10:29.317Z,1761516629.317 [DAT](INFO): Rx dataTimestamp_ set to:1761516629.317166
2025-10-26T22:10:29.319Z,1761516629.319 [DAT](INFO): DAT read: Bearing 255.4, -47.1 (Local)

2025-10-26T22:10:29.319Z,1761516629.319 [DAT](INFO): Local bearing/azimuth received:
 Bearing 255.4, -47.1 (Local)

2025-10-26T22:10:29.321Z,1761516629.321 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.4

2025-10-26T22:10:29.326Z,1761516629.326 [DAT](INFO): DAT read: 22:10:28.0930 LVL= 26352, 32753, 24818, 32755, AGC= 46, IDX= 503, 0.18, 0.381, 0.562, 2.529, 2.195, PHS=-1.712,-1.588, 0.290, RAW= 213.2,  28.7, CAL= 210.1,  41.5, ROT= 299.9, -41.5

2025-10-26T22:10:29.327Z,1761516629.327 [DAT](INFO): got valid direction response:
 22:10:28.0930 LVL= 26352, 32753, 24818, 32755, AGC= 46, IDX= 503, 0.18, 0.381, 0.562, 2.529, 2.195, PHS=-1.712,-1.588, 0.290, RAW= 213.2,  28.7, CAL= 210.1,  41.5, ROT= 299.9, -41.5

2025-10-26T22:10:29.327Z,1761516629.327 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:10:29.328Z,1761516629.328 [DAT](INFO): direction in FSK: [0.373345,-0.649267,0.662620]
2025-10-26T22:10:29.328Z,1761516629.328 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:29.332Z,1761516629.332 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:10:29.333Z,1761516629.333 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:10:29.399Z,1761516629.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535369,-0.832433,-0.142953],[0.844231,0.532532,0.060702],[0.025596,-0.153184,0.987866]]
2025-10-26T22:10:29.482Z,1761516629.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504120 s,
      deltaX: -0.200000 m,
      approachRate: -0.396731 m/s,
      rangeRepo size: 4

2025-10-26T22:10:29.488Z,1761516629.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.683667 m,
      bearing: 0.856925 deg,
      lat: 36.779409 deg,
      lon: -121.859466 deg,
      deltaT: 0.504120 s,
      deltaX: -0.198790 m,
      approachRate: -0.394331 m/s,
      posRepo size: 4

2025-10-26T22:10:29.570Z,1761516629.570 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:10:29.805Z,1761516629.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536039,-0.831233,-0.147359],[0.843806,0.532856,0.063688],[0.025581,-0.158482,0.987030]]
2025-10-26T22:10:29.820Z,1761516629.820 [DAT](INFO): DAT read: user:490>

2025-10-26T22:10:29.821Z,1761516629.821 [DAT](INFO): DAT read: Command 'bl' not found

2025-10-26T22:10:29.822Z,1761516629.822 [DAT](INFO): unknown deviceResponse_: Command 'bl' not found

2025-10-26T22:10:29.822Z,1761516629.822 [DAT](INFO): DAT read: Error

2025-10-26T22:10:29.822Z,1761516629.822 [DAT](INFO): unknown deviceResponse_: Error

2025-10-26T22:10:29.823Z,1761516629.823 [DAT](INFO): DAT read: user:491>

2025-10-26T22:10:29.823Z,1761516629.823 [DAT](INFO): DAT read: Tx time:22:10:28.9893

2025-10-26T22:10:29.824Z,1761516629.824 [DAT](INFO): Ping request sent.
2025-10-26T22:10:29.824Z,1761516629.824 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:10:29.824Z,1761516629.824 [DAT](INFO): publishing transmit ping time
2025-10-26T22:10:29.825Z,1761516629.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758
2025-10-26T22:10:29.866Z,1761516629.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:10:30.072Z,1761516630.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248563
2025-10-26T22:10:30.198Z,1761516630.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536006,-0.830335,-0.152451],[0.843828,0.532415,0.066996],[0.025538,-0.164552,0.986038]]
2025-10-26T22:10:30.325Z,1761516630.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500808
2025-10-26T22:10:30.576Z,1761516630.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752504
2025-10-26T22:10:30.602Z,1761516630.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535650,-0.829645,-0.157383],[0.844052,0.531672,0.070002],[0.025600,-0.170336,0.985053]]
2025-10-26T22:10:30.828Z,1761516630.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004593
2025-10-26T22:10:31.006Z,1761516631.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535774,-0.829108,-0.159770],[0.843987,0.531496,0.072097],[0.025141,-0.173471,0.984518]]
2025-10-26T22:10:31.080Z,1761516631.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256563
2025-10-26T22:10:31.332Z,1761516631.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508468
2025-10-26T22:10:31.411Z,1761516631.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535986,-0.829190,-0.158629],[0.843869,0.531691,0.072047],[0.024601,-0.172478,0.984706]]
2025-10-26T22:10:31.584Z,1761516631.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760568
2025-10-26T22:10:31.823Z,1761516631.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535911,-0.830030,-0.154434],[0.843930,0.531883,0.069878],[0.024140,-0.167780,0.985529]]
2025-10-26T22:10:31.836Z,1761516631.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012587
2025-10-26T22:10:31.877Z,1761516631.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:10:32.088Z,1761516632.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264621
2025-10-26T22:10:32.246Z,1761516632.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535781,-0.831058,-0.149269],[0.844029,0.532066,0.067242],[0.023539,-0.162014,0.986508]]
2025-10-26T22:10:32.341Z,1761516632.341 [DAT](INFO): DAT read: Rx Time:22:10:31.1208 

2025-10-26T22:10:32.342Z,1761516632.342 [DAT](INFO): Rx dataTimestamp_ set to:1761516632.341262
2025-10-26T22:10:32.344Z,1761516632.344 [DAT](INFO): DAT read: Bearing 285.4, -42.9 (Local)

2025-10-26T22:10:32.344Z,1761516632.344 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.4, -42.9 (Local)

2025-10-26T22:10:32.347Z,1761516632.347 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed -0.2

2025-10-26T22:10:32.353Z,1761516632.353 [DAT](INFO): DAT read: 22:10:31.1208 LVL= 32752, 27409, 21490, 32755, AGC= 49, IDX= 500, 0.37,-2.625,-2.069,-1.207,-0.715, PHS=-1.808,-1.309,-0.536, RAW= 232.9,  49.3, CAL= 235.3,  56.5, ROT= 274.7, -56.5

2025-10-26T22:10:32.354Z,1761516632.354 [DAT](INFO): got valid direction response:
 22:10:31.1208 LVL= 32752, 27409, 21490, 32755, AGC= 49, IDX= 500, 0.37,-2.625,-2.069,-1.207,-0.715, PHS=-1.808,-1.309,-0.536, RAW= 232.9,  49.3, CAL= 235.3,  56.5, ROT= 274.7, -56.5

2025-10-26T22:10:32.355Z,1761516632.355 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:10:32.364Z,1761516632.364 [DAT](INFO): direction in FSK: [0.045225,-0.550081,0.833886]
2025-10-26T22:10:32.364Z,1761516632.364 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:32.373Z,1761516632.373 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.548935
2025-10-26T22:10:32.592Z,1761516632.592 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.768492
2025-10-26T22:10:32.622Z,1761516632.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536346,-0.830932,-0.147939],[0.843690,0.532588,0.067361],[0.022818,-0.160943,0.986700]]
2025-10-26T22:10:32.665Z,1761516632.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 3.024096 s,
      deltaX: -1.000000 m,
      approachRate: -0.330677 m/s,
      rangeRepo size: 4

2025-10-26T22:10:32.667Z,1761516632.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689714 m,
      bearing: 330.974004 deg,
      lat: 36.779409 deg,
      lon: -121.859466 deg,
      deltaT: 3.024096 s,
      deltaX: -0.993953 m,
      approachRate: -0.328678 m/s,
      posRepo size: 4

2025-10-26T22:10:32.846Z,1761516632.846 [DAT](INFO): DAT read: Rx Time:22:10:31.6207 

2025-10-26T22:10:32.847Z,1761516632.847 [DAT](INFO): Rx dataTimestamp_ set to:1761516632.846560
2025-10-26T22:10:32.849Z,1761516632.849 [DAT](INFO): DAT read: Bearing 302.4, -51.0 (Local)

2025-10-26T22:10:32.849Z,1761516632.849 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.4, -51.0 (Local)

2025-10-26T22:10:32.853Z,1761516632.853 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed -0.2

2025-10-26T22:10:32.860Z,1761516632.860 [DAT](INFO): DAT read: 22:10:31.6207 LVL= 26608, 18641, 15074, 24259, AGC= 46, IDX= 499,-0.21, 2.537,-2.489,-1.761,-1.382, PHS=-2.263,-1.062,-0.423, RAW= 250.0,  39.3, CAL= 252.8,  47.3, ROT= 257.2, -47.3

2025-10-26T22:10:32.862Z,1761516632.862 [DAT](INFO): got valid direction response:
 22:10:31.6207 LVL= 26608, 18641, 15074, 24259, AGC= 46, IDX= 499,-0.21, 2.537,-2.489,-1.761,-1.382, PHS=-2.263,-1.062,-0.423, RAW= 250.0,  39.3, CAL= 252.8,  47.3, ROT= 257.2, -47.3

2025-10-26T22:10:32.862Z,1761516632.862 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T22:10:32.865Z,1761516632.865 [DAT](INFO): direction in FSK: [-0.150245,-0.661307,0.734915]
2025-10-26T22:10:32.865Z,1761516632.865 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:32.870Z,1761516632.870 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.046143
2025-10-26T22:10:33.096Z,1761516633.096 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.272636
2025-10-26T22:10:33.114Z,1761516633.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537610,-0.830174,-0.147603],[0.842904,0.533713,0.068289],[0.022085,-0.161128,0.986686]]
2025-10-26T22:10:33.155Z,1761516633.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.505298 s,
      deltaX: -0.200000 m,
      approachRate: -0.395806 m/s,
      rangeRepo size: 4

2025-10-26T22:10:33.173Z,1761516633.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490923 m,
      bearing: 309.956037 deg,
      lat: 36.779409 deg,
      lon: -121.859466 deg,
      deltaT: 0.505298 s,
      deltaX: -0.198791 m,
      approachRate: -0.393413 m/s,
      posRepo size: 4

2025-10-26T22:10:33.351Z,1761516633.351 [DAT](INFO): DAT read: Rx Time:22:10:32.1207 

2025-10-26T22:10:33.352Z,1761516633.352 [DAT](INFO): Rx dataTimestamp_ set to:1761516633.351266
2025-10-26T22:10:33.353Z,1761516633.353 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed -0.2

2025-10-26T22:10:33.353Z,1761516633.353 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-10-26T22:10:33.354Z,1761516633.354 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.530390
2025-10-26T22:10:33.527Z,1761516633.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538471,-0.829584,-0.147781],[0.842379,0.534358,0.069712],[0.021136,-0.162026,0.986560]]
2025-10-26T22:10:33.546Z,1761516633.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504706 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:10:33.602Z,1761516633.602 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.777662
2025-10-26T22:10:33.853Z,1761516633.853 [DAT](INFO): DAT read: Rx Time:22:10:32.6208 

2025-10-26T22:10:33.853Z,1761516633.853 [DAT](INFO): Rx dataTimestamp_ set to:1761516633.852818
2025-10-26T22:10:33.854Z,1761516633.854 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed -0.3

2025-10-26T22:10:33.855Z,1761516633.855 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-10-26T22:10:33.856Z,1761516633.856 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.032052
2025-10-26T22:10:33.938Z,1761516633.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539359,-0.828845,-0.148686],[0.841830,0.534992,0.071452],[0.020323,-0.163707,0.986300]]
2025-10-26T22:10:33.993Z,1761516633.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:10:34.008Z,1761516634.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.501552 s,
      deltaX: 0.300000 m,
      approachRate: 0.598143 m/s,
      rangeRepo size: 4

2025-10-26T22:10:34.105Z,1761516634.105 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.280891
2025-10-26T22:10:34.337Z,1761516634.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540352,-0.828286,-0.148195],[0.841210,0.535871,0.072172],[0.019634,-0.163661,0.986321]]
2025-10-26T22:10:34.354Z,1761516634.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.80 m.
2025-10-26T22:10:34.357Z,1761516634.357 [DAT](INFO): DAT read: Rx Time:22:10:33.1208 

2025-10-26T22:10:34.357Z,1761516634.357 [DAT](INFO): Rx dataTimestamp_ set to:1761516634.356818
2025-10-26T22:10:34.358Z,1761516634.358 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed -0.4

2025-10-26T22:10:34.359Z,1761516634.359 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-10-26T22:10:34.360Z,1761516634.360 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.536046
2025-10-26T22:10:34.609Z,1761516634.609 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.784905
2025-10-26T22:10:34.738Z,1761516634.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540692,-0.827921,-0.148996],[0.840999,0.536070,0.073145],[0.019314,-0.164854,0.986129]]
2025-10-26T22:10:34.840Z,1761516634.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.504000 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:10:34.861Z,1761516634.861 [DAT](INFO): DAT read: Rx Time:22:10:33.6210 

2025-10-26T22:10:34.861Z,1761516634.861 [DAT](INFO): Rx dataTimestamp_ set to:1761516634.860768
2025-10-26T22:10:34.862Z,1761516634.862 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed -0.4

2025-10-26T22:10:34.863Z,1761516634.863 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-10-26T22:10:34.864Z,1761516634.864 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.039989
2025-10-26T22:10:35.112Z,1761516635.112 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.288586
2025-10-26T22:10:35.264Z,1761516635.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.503950 s,
      deltaX: 0.300000 m,
      approachRate: 0.595297 m/s,
      rangeRepo size: 4

2025-10-26T22:10:35.265Z,1761516635.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.10 m.
2025-10-26T22:10:35.365Z,1761516635.365 [DAT](INFO): DAT read: Rx Time:22:10:34.1211 

2025-10-26T22:10:35.365Z,1761516635.365 [DAT](INFO): Rx dataTimestamp_ set to:1761516635.365169
2025-10-26T22:10:35.367Z,1761516635.367 [DAT](INFO): DAT read: Bearing 346.1, -31.7 (Local)

2025-10-26T22:10:35.368Z,1761516635.368 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.1, -31.7 (Local)

2025-10-26T22:10:35.371Z,1761516635.371 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed -0.4

2025-10-26T22:10:35.385Z,1761516635.385 [DAT](INFO): DAT read: 22:10:34.1211 LVL= 23216, 19441, 17442, 26307, AGC= 42, IDX= 504,-0.29,-1.694, 0.335,-0.514, 0.266, PHS=-1.859, 0.114,-0.824, RAW= 298.4,  28.0, CAL= 299.6,  33.9, ROT= 210.4, -33.9

2025-10-26T22:10:35.386Z,1761516635.386 [DAT](INFO): got valid direction response:
 22:10:34.1211 LVL= 23216, 19441, 17442, 26307, AGC= 42, IDX= 504,-0.29,-1.694, 0.335,-0.514, 0.266, PHS=-1.859, 0.114,-0.824, RAW= 298.4,  28.0, CAL= 299.6,  33.9, ROT= 210.4, -33.9

2025-10-26T22:10:35.386Z,1761516635.386 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-26T22:10:35.388Z,1761516635.388 [DAT](INFO): direction in FSK: [-0.715897,-0.420014,0.557745]
2025-10-26T22:10:35.388Z,1761516635.388 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:35.392Z,1761516635.392 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.567690
2025-10-26T22:10:35.584Z,1761516635.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541081,-0.827297,-0.151034],[0.840754,0.536220,0.074835],[0.019077,-0.167474,0.985692]]
2025-10-26T22:10:35.615Z,1761516635.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.504401 s,
      deltaX: 0.200000 m,
      approachRate: 0.396510 m/s,
      rangeRepo size: 4

2025-10-26T22:10:35.616Z,1761516635.616 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.792617
2025-10-26T22:10:35.620Z,1761516635.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286079 m,
      bearing: 261.019300 deg,
      lat: 36.779410 deg,
      lon: -121.859467 deg,
      deltaT: 2.518609 s,
      deltaX: 0.795156 m,
      approachRate: 0.315712 m/s,
      posRepo size: 4

2025-10-26T22:10:35.870Z,1761516635.870 [DAT](INFO): DAT read: Rx Time:22:10:34.6213 

2025-10-26T22:10:35.870Z,1761516635.870 [DAT](INFO): Rx dataTimestamp_ set to:1761516635.870095
2025-10-26T22:10:35.872Z,1761516635.872 [DAT](INFO): DAT read: Bearing 265.2, -44.4 (Local)

2025-10-26T22:10:35.872Z,1761516635.872 [DAT](INFO): Local bearing/azimuth received:
 Bearing 265.2, -44.4 (Local)

2025-10-26T22:10:35.874Z,1761516635.874 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed -0.4

2025-10-26T22:10:35.879Z,1761516635.879 [DAT](INFO): DAT read: 22:10:34.6213 LVL= 11568, 11185,  7666, 16243, AGC= 41, IDX= 509, 0.21, 1.255, 1.490, 3.052,-3.121, PHS=-1.805,-1.627,-0.154, RAW= 215.6,  38.9, CAL= 213.9,  49.4, ROT= 296.1, -49.4

2025-10-26T22:10:35.880Z,1761516635.880 [DAT](INFO): got valid direction response:
 22:10:34.6213 LVL= 11568, 11185,  7666, 16243, AGC= 41, IDX= 509, 0.21, 1.255, 1.490, 3.052,-3.121, PHS=-1.805,-1.627,-0.154, RAW= 215.6,  38.9, CAL= 213.9,  49.4, ROT= 296.1, -49.4

2025-10-26T22:10:35.881Z,1761516635.881 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-10-26T22:10:35.882Z,1761516635.882 [DAT](INFO): direction in FSK: [0.286301,-0.584413,0.759271]
2025-10-26T22:10:35.882Z,1761516635.882 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:35.895Z,1761516635.895 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.070779
2025-10-26T22:10:35.986Z,1761516635.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541472,-0.826742,-0.152663],[0.840500,0.536471,0.075888],[0.019160,-0.169404,0.985360]]
2025-10-26T22:10:36.084Z,1761516636.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504926 s,
      deltaX: 0.300000 m,
      approachRate: 0.594146 m/s,
      rangeRepo size: 4

2025-10-26T22:10:36.086Z,1761516636.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.584263 m,
      bearing: 358.325828 deg,
      lat: 36.779411 deg,
      lon: -121.859464 deg,
      deltaT: 0.504926 s,
      deltaX: 0.298184 m,
      approachRate: 0.590551 m/s,
      posRepo size: 4

2025-10-26T22:10:36.121Z,1761516636.121 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.296768
2025-10-26T22:10:36.373Z,1761516636.373 [DAT](INFO): DAT read: Rx Time:22:10:35.1214 

2025-10-26T22:10:36.373Z,1761516636.373 [DAT](INFO): Rx dataTimestamp_ set to:1761516636.373102
2025-10-26T22:10:36.375Z,1761516636.375 [DAT](INFO): DAT read: Bearing 273.1, -18.3 (Local)

2025-10-26T22:10:36.375Z,1761516636.375 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.1, -18.3 (Local)

2025-10-26T22:10:36.382Z,1761516636.382 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed -0.4

2025-10-26T22:10:36.391Z,1761516636.391 [DAT](INFO): DAT read: 22:10:35.1214 LVL= 12448, 11281,  9346, 13555, AGC= 43, IDX= 510,-0.41, 2.551, 2.263, 3.041,-2.324, PHS=-1.307,-1.652,-0.963, RAW= 180.0,  66.7, CAL= 179.9,  71.6, ROT= 330.1, -71.6

2025-10-26T22:10:36.408Z,1761516636.408 [DAT](INFO): got valid direction response:
 22:10:35.1214 LVL= 12448, 11281,  9346, 13555, AGC= 43, IDX= 510,-0.41, 2.551, 2.263, 3.041,-2.324, PHS=-1.307,-1.652,-0.963, RAW= 180.0,  66.7, CAL= 179.9,  71.6, ROT= 330.1, -71.6

2025-10-26T22:10:36.409Z,1761516636.409 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-10-26T22:10:36.410Z,1761516636.410 [DAT](INFO): direction in FSK: [0.273635,-0.157347,0.948876]
2025-10-26T22:10:36.410Z,1761516636.410 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:36.446Z,1761516636.446 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.621814
2025-10-26T22:10:36.458Z,1761516636.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541605,-0.826197,-0.155123],[0.840408,0.536434,0.077160],[0.019464,-0.172156,0.984877]]
2025-10-26T22:10:36.518Z,1761516636.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503007 s,
      deltaX: 0.100000 m,
      approachRate: 0.198805 m/s,
      rangeRepo size: 4

2025-10-26T22:10:36.525Z,1761516636.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.683658 m,
      bearing: 59.085248 deg,
      lat: 36.779412 deg,
      lon: -121.859463 deg,
      deltaT: 0.503007 s,
      deltaX: 0.099395 m,
      approachRate: 0.197601 m/s,
      posRepo size: 4

2025-10-26T22:10:36.625Z,1761516636.625 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.801304
2025-10-26T22:10:36.874Z,1761516636.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541547,-0.825957,-0.156594],[0.840430,0.536369,0.077361],[0.020096,-0.173501,0.984629]]
2025-10-26T22:10:36.877Z,1761516636.877 [DAT](INFO): DAT read: Rx Time:22:10:35.6215 

2025-10-26T22:10:36.877Z,1761516636.877 [DAT](INFO): Rx dataTimestamp_ set to:1761516636.877189
2025-10-26T22:10:36.879Z,1761516636.879 [DAT](INFO): DAT read: Bearing 326.4, -15.4 (Local)

2025-10-26T22:10:36.879Z,1761516636.879 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.4, -15.4 (Local)

2025-10-26T22:10:36.881Z,1761516636.881 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed -0.4

2025-10-26T22:10:36.886Z,1761516636.886 [DAT](INFO): DAT read: 22:10:35.6215 LVL= 12368, 11233, 16594, 19267, AGC= 46, IDX= 511,-0.29, 2.462,-2.759, 2.810,-2.268, PHS=-1.451,-0.446,-1.250, RAW= 319.1,  50.4, CAL= 319.3,  54.3, ROT= 190.7, -54.3

2025-10-26T22:10:36.887Z,1761516636.887 [DAT](INFO): got valid direction response:
 22:10:35.6215 LVL= 12368, 11233, 16594, 19267, AGC= 46, IDX= 511,-0.29, 2.462,-2.759, 2.810,-2.268, PHS=-1.451,-0.446,-1.250, RAW= 319.1,  50.4, CAL= 319.3,  54.3, ROT= 190.7, -54.3

2025-10-26T22:10:36.887Z,1761516636.887 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-26T22:10:36.888Z,1761516636.888 [DAT](INFO): direction in FSK: [-0.573395,-0.108344,0.812084]
2025-10-26T22:10:36.889Z,1761516636.889 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:36.908Z,1761516636.908 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.084461
2025-10-26T22:10:37.052Z,1761516637.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.504087 s,
      deltaX: 0.200000 m,
      approachRate: 0.396757 m/s,
      rangeRepo size: 4

2025-10-26T22:10:37.054Z,1761516637.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.882448 m,
      bearing: 233.882069 deg,
      lat: 36.779412 deg,
      lon: -121.859456 deg,
      deltaT: 0.504087 s,
      deltaX: 0.198791 m,
      approachRate: 0.394358 m/s,
      posRepo size: 4

2025-10-26T22:10:37.129Z,1761516637.129 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.305175
2025-10-26T22:10:37.292Z,1761516637.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540944,-0.826362,-0.156543],[0.840804,0.535916,0.076443],[0.020724,-0.172973,0.984708]]
2025-10-26T22:10:37.332Z,1761516637.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:10:37.381Z,1761516637.381 [DAT](INFO): DAT read: Rx Time:22:10:36.1216 

2025-10-26T22:10:37.382Z,1761516637.382 [DAT](INFO): Rx dataTimestamp_ set to:1761516637.381661
2025-10-26T22:10:37.383Z,1761516637.383 [DAT](INFO): DAT read: Bearing 316.3,  27.8 (Local)

2025-10-26T22:10:37.384Z,1761516637.384 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.3,  27.8 (Local)

2025-10-26T22:10:37.386Z,1761516637.386 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed -0.5

2025-10-26T22:10:37.392Z,1761516637.392 [DAT](INFO): DAT read: 22:10:36.1216 LVL= 12960, 10209, 17906, 16547, AGC= 50, IDX= 511,-0.17,-3.011,-2.969, 1.911,-2.286, PHS=-0.623,-0.638,-2.130, RAW=  30.5,  38.6, CAL=  28.5,  44.3, ROT= 121.5, -44.3

2025-10-26T22:10:37.394Z,1761516637.394 [DAT](INFO): got valid direction response:
 22:10:36.1216 LVL= 12960, 10209, 17906, 16547, AGC= 50, IDX= 511,-0.17,-3.011,-2.969, 1.911,-2.286, PHS=-0.623,-0.638,-2.130, RAW=  30.5,  38.6, CAL=  28.5,  44.3, ROT= 121.5, -44.3

2025-10-26T22:10:37.394Z,1761516637.394 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-10-26T22:10:37.396Z,1761516637.396 [DAT](INFO): direction in FSK: [-0.373948,0.610228,0.698415]
2025-10-26T22:10:37.396Z,1761516637.396 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:37.406Z,1761516637.406 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.581838
2025-10-26T22:10:37.632Z,1761516637.632 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.808555
2025-10-26T22:10:37.703Z,1761516637.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540463,-0.826963,-0.155025],[0.841097,0.535716,0.074599],[0.021359,-0.170709,0.985090]]
2025-10-26T22:10:37.744Z,1761516637.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.504472 s,
      deltaX: 0.100000 m,
      approachRate: 0.198227 m/s,
      rangeRepo size: 4

2025-10-26T22:10:37.746Z,1761516637.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.981843 m,
      bearing: 175.476224 deg,
      lat: 36.779412 deg,
      lon: -121.859446 deg,
      deltaT: 0.504472 s,
      deltaX: 0.099395 m,
      approachRate: 0.197027 m/s,
      posRepo size: 4

2025-10-26T22:10:37.888Z,1761516637.888 [DAT](INFO): DAT read: Rx Time:22:10:36.6220 

2025-10-26T22:10:37.890Z,1761516637.890 [DAT](INFO): Rx dataTimestamp_ set to:1761516637.888684
2025-10-26T22:10:37.894Z,1761516637.894 [DAT](INFO): DAT read: Range 11 to 50 :     3.6 m (trip time 2.4 ms) speed -0.5

2025-10-26T22:10:37.896Z,1761516637.896 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-10-26T22:10:37.897Z,1761516637.897 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.073108
2025-10-26T22:10:38.095Z,1761516638.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539971,-0.827481,-0.153972],[0.841408,0.535369,0.073576],[0.021549,-0.169282,0.985332]]
2025-10-26T22:10:38.136Z,1761516638.136 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.312629
2025-10-26T22:10:38.144Z,1761516638.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 0.507023 s,
      deltaX: 0.600000 m,
      approachRate: 1.183378 m/s,
      rangeRepo size: 4

2025-10-26T22:10:38.389Z,1761516638.389 [DAT](INFO): DAT read: Rx Time:22:10:37.1221 

2025-10-26T22:10:38.389Z,1761516638.389 [DAT](INFO): Rx dataTimestamp_ set to:1761516638.388737
2025-10-26T22:10:38.390Z,1761516638.390 [DAT](INFO): DAT read: Range 11 to 50 :     3.8 m (trip time 2.5 ms) speed -0.5

2025-10-26T22:10:38.391Z,1761516638.391 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-10-26T22:10:38.392Z,1761516638.392 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.568011
2025-10-26T22:10:38.503Z,1761516638.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539586,-0.827781,-0.153706],[0.841647,0.535074,0.072973],[0.021839,-0.168741,0.985418]]
2025-10-26T22:10:38.549Z,1761516638.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 0.500053 s,
      deltaX: 0.200000 m,
      approachRate: 0.399958 m/s,
      rangeRepo size: 4

2025-10-26T22:10:38.641Z,1761516638.641 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.816786
2025-10-26T22:10:38.897Z,1761516638.897 [DAT](INFO): DAT read: Rx Time:22:10:37.6222 

2025-10-26T22:10:38.898Z,1761516638.898 [DAT](INFO): Rx dataTimestamp_ set to:1761516638.897475
2025-10-26T22:10:38.899Z,1761516638.899 [DAT](INFO): DAT read: Bearing   2.1,  -2.2 (Local)

2025-10-26T22:10:38.899Z,1761516638.899 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.1,  -2.2 (Local)

2025-10-26T22:10:38.901Z,1761516638.901 [DAT](INFO): DAT read: Range 11 to 50 :     3.9 m (trip time 2.6 ms) speed -0.6

2025-10-26T22:10:38.906Z,1761516638.906 [DAT](INFO): DAT read: 22:10:37.6222 LVL= 18672, 14321, 28850, 24643, AGC= 52, IDX= 499, 0.44, 0.746, 2.346, 0.809, 1.719, PHS=-0.870, 0.672,-0.954, RAW= 332.6,  14.4, CAL= 332.6,  18.2, ROT= 177.4, -18.2

2025-10-26T22:10:38.907Z,1761516638.907 [DAT](INFO): got valid direction response:
 22:10:37.6222 LVL= 18672, 14321, 28850, 24643, AGC= 52, IDX= 499, 0.44, 0.746, 2.346, 0.809, 1.719, PHS=-0.870, 0.672,-0.954, RAW= 332.6,  14.4, CAL= 332.6,  18.2, ROT= 177.4, -18.2

2025-10-26T22:10:38.908Z,1761516638.908 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-10-26T22:10:38.908Z,1761516638.908 [DAT](INFO): direction in FSK: [-0.948994,0.043094,0.312335]
2025-10-26T22:10:38.909Z,1761516638.909 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:38.912Z,1761516638.912 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.088579
2025-10-26T22:10:39.090Z,1761516639.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.900000 m,
      deltaT: 0.508738 s,
      deltaX: 0.100000 m,
      approachRate: 0.196565 m/s,
      rangeRepo size: 4

2025-10-26T22:10:39.096Z,1761516639.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.876396 m,
      bearing: 231.645492 deg,
      lat: 36.779410 deg,
      lon: -121.859446 deg,
      deltaT: 1.515814 s,
      deltaX: 0.894553 m,
      approachRate: 0.590147 m/s,
      posRepo size: 4

2025-10-26T22:10:39.145Z,1761516639.145 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.321312
2025-10-26T22:10:39.397Z,1761516639.397 [DAT](INFO): DAT read: Rx Time:22:10:38.1224 

2025-10-26T22:10:39.397Z,1761516639.397 [DAT](INFO): Rx dataTimestamp_ set to:1761516639.397215
2025-10-26T22:10:39.399Z,1761516639.399 [DAT](INFO): DAT read: Bearing  11.0,  -2.0 (Local)

2025-10-26T22:10:39.399Z,1761516639.399 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.0,  -2.0 (Local)

2025-10-26T22:10:39.401Z,1761516639.401 [DAT](INFO): DAT read: Range 11 to 50 :     4.2 m (trip time 2.8 ms) speed -0.6

2025-10-26T22:10:39.407Z,1761516639.407 [DAT](INFO): DAT read: 22:10:38.1224 LVL= 18224, 11025, 21922, 20003, AGC= 53, IDX= 501,-0.18, 0.595, 2.310, 0.681, 1.476, PHS=-0.779, 0.880,-0.838, RAW= 331.8,   8.8, CAL= 331.2,   9.3, ROT= 178.8,  -9.3

2025-10-26T22:10:39.408Z,1761516639.408 [DAT](INFO): got valid direction response:
 22:10:38.1224 LVL= 18224, 11025, 21922, 20003, AGC= 53, IDX= 501,-0.18, 0.595, 2.310, 0.681, 1.476, PHS=-0.779, 0.880,-0.838, RAW= 331.8,   8.8, CAL= 331.2,   9.3, ROT= 178.8,  -9.3

2025-10-26T22:10:39.408Z,1761516639.408 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-26T22:10:39.409Z,1761516639.409 [DAT](INFO): direction in FSK: [-0.986639,0.020667,0.161604]
2025-10-26T22:10:39.409Z,1761516639.409 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:39.431Z,1761516639.431 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.606426
2025-10-26T22:10:39.448Z,1761516639.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538072,-0.828387,-0.155736],[0.842568,0.533775,0.071857],[0.023602,-0.169882,0.985182]]
2025-10-26T22:10:39.537Z,1761516639.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 0.499740 s,
      deltaX: 0.300000 m,
      approachRate: 0.600312 m/s,
      rangeRepo size: 4

2025-10-26T22:10:39.539Z,1761516639.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.174581 m,
      bearing: 234.671569 deg,
      lat: 36.779406 deg,
      lon: -121.859456 deg,
      deltaT: 0.499740 s,
      deltaX: 0.298184 m,
      approachRate: 0.596679 m/s,
      posRepo size: 4

2025-10-26T22:10:39.649Z,1761516639.649 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.825340
2025-10-26T22:10:39.905Z,1761516639.905 [DAT](INFO): DAT read: Rx Time:22:10:38.6227 

2025-10-26T22:10:39.907Z,1761516639.907 [DAT](INFO): Rx dataTimestamp_ set to:1761516639.905594
2025-10-26T22:10:39.912Z,1761516639.912 [DAT](INFO): DAT read: Bearing  12.6,  -1.1 (Local)

2025-10-26T22:10:39.913Z,1761516639.913 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.6,  -1.1 (Local)

2025-10-26T22:10:39.932Z,1761516639.932 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed -0.6

2025-10-26T22:10:39.939Z,1761516639.939 [DAT](INFO): DAT read: 22:10:38.6227 LVL= 22416, 12785, 24002, 23699, AGC= 54, IDX= 504,-0.02, 1.665,-2.858, 1.723, 2.528, PHS=-0.761, 0.942,-0.849, RAW= 332.5,   7.7, CAL= 331.9,   7.7, ROT= 178.1,  -7.7

2025-10-26T22:10:39.968Z,1761516639.968 [DAT](INFO): got valid direction response:
 22:10:38.6227 LVL= 22416, 12785, 24002, 23699, AGC= 54, IDX= 504,-0.02, 1.665,-2.858, 1.723, 2.528, PHS=-0.761, 0.942,-0.849, RAW= 332.5,   7.7, CAL= 331.9,   7.7, ROT= 178.1,  -7.7

2025-10-26T22:10:39.969Z,1761516639.969 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-10-26T22:10:39.970Z,1761516639.970 [DAT](INFO): direction in FSK: [-0.990438,0.032856,0.133986]
2025-10-26T22:10:39.970Z,1761516639.970 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:39.983Z,1761516639.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.508379 s,
      deltaX: 0.500000 m,
      approachRate: 0.983518 m/s,
      rangeRepo size: 4

2025-10-26T22:10:39.984Z,1761516639.984 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.160131
2025-10-26T22:10:39.998Z,1761516639.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.671557 m,
      bearing: 234.259115 deg,
      lat: 36.779405 deg,
      lon: -121.859463 deg,
      deltaT: 0.508379 s,
      deltaX: 0.496977 m,
      approachRate: 0.977572 m/s,
      posRepo size: 4

2025-10-26T22:10:40.157Z,1761516640.157 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.332274
2025-10-26T22:10:40.307Z,1761516640.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536439,-0.829526,-0.155304],[0.843578,0.532431,0.069948],[0.024665,-0.168534,0.985387]]
2025-10-26T22:10:40.352Z,1761516640.352 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:10:40.406Z,1761516640.406 [DAT](INFO): DAT read: Rx Time:22:10:39.1228 

2025-10-26T22:10:40.407Z,1761516640.407 [DAT](INFO): Rx dataTimestamp_ set to:1761516640.406427
2025-10-26T22:10:40.409Z,1761516640.409 [DAT](INFO): DAT read: Bearing   9.7,  -0.3 (Local)

2025-10-26T22:10:40.409Z,1761516640.409 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.7,  -0.3 (Local)

2025-10-26T22:10:40.414Z,1761516640.414 [DAT](INFO): DAT read: Range 11 to 50 :     4.8 m (trip time 3.2 ms) speed -0.6

2025-10-26T22:10:40.429Z,1761516640.429 [DAT](INFO): DAT read: 22:10:39.1228 LVL= 29168, 18609, 27938, 32755, AGC= 58, IDX= 505, 0.00, 2.311,-2.186, 2.327,-3.057, PHS=-0.813, 0.915,-0.944, RAW= 333.6,   9.4, CAL= 333.2,  10.3, ROT= 176.8, -10.3

2025-10-26T22:10:40.431Z,1761516640.431 [DAT](INFO): got valid direction response:
 22:10:39.1228 LVL= 29168, 18609, 27938, 32755, AGC= 58, IDX= 505, 0.00, 2.311,-2.186, 2.327,-3.057, PHS=-0.813, 0.915,-0.944, RAW= 333.6,   9.4, CAL= 333.2,  10.3, ROT= 176.8, -10.3

2025-10-26T22:10:40.440Z,1761516640.440 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-26T22:10:40.442Z,1761516640.442 [DAT](INFO): direction in FSK: [-0.982351,0.054922,0.178802]
2025-10-26T22:10:40.442Z,1761516640.442 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:40.451Z,1761516640.451 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.626953
2025-10-26T22:10:40.656Z,1761516640.656 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.832515
2025-10-26T22:10:40.747Z,1761516640.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535917,-0.829762,-0.155848],[0.843899,0.531952,0.069726],[0.025048,-0.168887,0.985317]]
2025-10-26T22:10:40.785Z,1761516640.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 0.500833 s,
      deltaX: 0.100000 m,
      approachRate: 0.199668 m/s,
      rangeRepo size: 4

2025-10-26T22:10:40.787Z,1761516640.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.770953 m,
      bearing: 232.694597 deg,
      lat: 36.779405 deg,
      lon: -121.859464 deg,
      deltaT: 0.500833 s,
      deltaX: 0.099395 m,
      approachRate: 0.198460 m/s,
      posRepo size: 4

2025-10-26T22:10:40.933Z,1761516640.933 [DAT](INFO): DAT read: Rx Time:22:10:39.6230 

2025-10-26T22:10:40.934Z,1761516640.934 [DAT](INFO): Rx dataTimestamp_ set to:1761516640.933567
2025-10-26T22:10:40.938Z,1761516640.938 [DAT](INFO): DAT read: Bearing   8.5,   1.6 (Local)

2025-10-26T22:10:40.938Z,1761516640.938 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.5,   1.6 (Local)

2025-10-26T22:10:40.972Z,1761516640.972 [DAT](INFO): DAT read: Range 11 to 50 :     5.1 m (trip time 3.4 ms) speed -0.5

2025-10-26T22:10:40.981Z,1761516640.981 [DAT](INFO): DAT read: 22:10:39.6230 LVL= 31312, 22641, 29026, 32755, AGC= 60, IDX= 507, 0.10,-2.426,-0.630,-2.485,-1.506, PHS=-0.819, 0.920,-1.023, RAW= 335.5,  10.0, CAL= 335.3,  11.2, ROT= 174.7, -11.2

2025-10-26T22:10:40.983Z,1761516640.983 [DAT](INFO): got valid direction response:
 22:10:39.6230 LVL= 31312, 22641, 29026, 32755, AGC= 60, IDX= 507, 0.10,-2.426,-0.630,-2.485,-1.506, PHS=-0.819, 0.920,-1.023, RAW= 335.5,  10.0, CAL= 335.3,  11.2, ROT= 174.7, -11.2

2025-10-26T22:10:40.983Z,1761516640.983 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-26T22:10:40.989Z,1761516640.989 [DAT](INFO): direction in FSK: [-0.976761,0.090611,0.194234]
2025-10-26T22:10:40.989Z,1761516640.989 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:40.997Z,1761516640.997 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.173574
2025-10-26T22:10:41.114Z,1761516641.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535905,-0.829969,-0.154782],[0.843910,0.532005,0.069180],[0.024927,-0.167696,0.985524]]
2025-10-26T22:10:41.161Z,1761516641.161 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.336644
2025-10-26T22:10:41.166Z,1761516641.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 0.527140 s,
      deltaX: 0.300000 m,
      approachRate: 0.569108 m/s,
      rangeRepo size: 4

2025-10-26T22:10:41.168Z,1761516641.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.069138 m,
      bearing: 230.498458 deg,
      lat: 36.779405 deg,
      lon: -121.859464 deg,
      deltaT: 0.527140 s,
      deltaX: 0.298185 m,
      approachRate: 0.565666 m/s,
      posRepo size: 4

2025-10-26T22:10:41.416Z,1761516641.416 [DAT](INFO): DAT read: Rx Time:22:10:40.1231 

2025-10-26T22:10:41.417Z,1761516641.417 [DAT](INFO): Rx dataTimestamp_ set to:1761516641.415822
2025-10-26T22:10:41.419Z,1761516641.419 [DAT](INFO): DAT read: Bearing   8.0,   4.7 (Local)

2025-10-26T22:10:41.420Z,1761516641.420 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.0,   4.7 (Local)

2025-10-26T22:10:41.424Z,1761516641.424 [DAT](INFO): DAT read: Range 11 to 50 :     5.3 m (trip time 3.5 ms) speed -0.5

2025-10-26T22:10:41.432Z,1761516641.432 [DAT](INFO): DAT read: 22:10:40.1231 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508, 0.46, 0.989, 2.797, 0.802, 1.885, PHS=-0.794, 0.957,-1.126, RAW= 338.5,  10.0, CAL= 338.5,  11.2, ROT= 171.5, -11.2

2025-10-26T22:10:41.434Z,1761516641.434 [DAT](INFO): got valid direction response:
 22:10:40.1231 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508, 0.46, 0.989, 2.797, 0.802, 1.885, PHS=-0.794, 0.957,-1.126, RAW= 338.5,  10.0, CAL= 338.5,  11.2, ROT= 171.5, -11.2

2025-10-26T22:10:41.435Z,1761516641.435 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-10-26T22:10:41.438Z,1761516641.438 [DAT](INFO): direction in FSK: [-0.970180,0.144994,0.194234]
2025-10-26T22:10:41.438Z,1761516641.438 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:41.458Z,1761516641.458 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.634430
2025-10-26T22:10:41.575Z,1761516641.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534910,-0.830982,-0.152776],[0.844545,0.531174,0.067809],[0.024802,-0.165298,0.985932]]
2025-10-26T22:10:41.598Z,1761516641.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.300000 m,
      deltaT: 0.482255 s,
      deltaX: 0.200000 m,
      approachRate: 0.414719 m/s,
      rangeRepo size: 4

2025-10-26T22:10:41.621Z,1761516641.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.267928 m,
      bearing: 227.459117 deg,
      lat: 36.779405 deg,
      lon: -121.859464 deg,
      deltaT: 0.482255 s,
      deltaX: 0.198790 m,
      approachRate: 0.412209 m/s,
      posRepo size: 4

2025-10-26T22:10:41.665Z,1761516641.665 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.840768
2025-10-26T22:10:41.923Z,1761516641.923 [DAT](INFO): DAT read: Rx Time:22:10:40.6234 

2025-10-26T22:10:41.925Z,1761516641.925 [DAT](INFO): Rx dataTimestamp_ set to:1761516641.924070
2025-10-26T22:10:41.931Z,1761516641.931 [DAT](INFO): DAT read: Range 11 to 50 :     5.7 m (trip time 3.8 ms) speed -0.8

2025-10-26T22:10:41.934Z,1761516641.934 [DAT](ERROR): #Rx 20: Read range message, but no direction.
2025-10-26T22:10:41.954Z,1761516641.954 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.129252
2025-10-26T22:10:41.979Z,1761516641.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534508,-0.831399,-0.151914],[0.844809,0.530788,0.067543],[0.024478,-0.164440,0.986083]]
2025-10-26T22:10:42.060Z,1761516642.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.700000 m,
      deltaT: 0.508248 s,
      deltaX: 0.400000 m,
      approachRate: 0.787017 m/s,
      rangeRepo size: 4

2025-10-26T22:10:42.168Z,1761516642.168 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.344569
2025-10-26T22:10:42.422Z,1761516642.422 [DAT](INFO): DAT read: Rx Time:22:10:41.1235 

2025-10-26T22:10:42.423Z,1761516642.423 [DAT](INFO): Rx dataTimestamp_ set to:1761516642.422389
2025-10-26T22:10:42.425Z,1761516642.425 [DAT](INFO): DAT read: Bearing  13.8,   9.8 (Local)

2025-10-26T22:10:42.426Z,1761516642.426 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.8,   9.8 (Local)

2025-10-26T22:10:42.430Z,1761516642.430 [DAT](INFO): DAT read: Range 11 to 50 :     5.9 m (trip time 3.9 ms) speed -0.7

2025-10-26T22:10:42.444Z,1761516642.444 [DAT](INFO): DAT read: 22:10:41.1235 LVL= 32752, 28817, 32754, 32755, AGC= 63, IDX= 497, 0.25, 2.883,-1.657, 2.533,-2.709, PHS=-0.589, 1.097,-1.085, RAW= 342.5,   5.9, CAL= 342.2,   4.7, ROT= 167.8,  -4.7

2025-10-26T22:10:42.445Z,1761516642.445 [DAT](INFO): got valid direction response:
 22:10:41.1235 LVL= 32752, 28817, 32754, 32755, AGC= 63, IDX= 497, 0.25, 2.883,-1.657, 2.533,-2.709, PHS=-0.589, 1.097,-1.085, RAW= 342.5,   5.9, CAL= 342.2,   4.7, ROT= 167.8,  -4.7

2025-10-26T22:10:42.446Z,1761516642.446 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-10-26T22:10:42.452Z,1761516642.452 [DAT](INFO): direction in FSK: [-0.974129,0.210614,0.081939]
2025-10-26T22:10:42.453Z,1761516642.453 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:42.466Z,1761516642.466 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.641677
2025-10-26T22:10:42.549Z,1761516642.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533136,-0.832339,-0.151587],[0.845686,0.529399,0.067465],[0.024096,-0.164163,0.986139]]
2025-10-26T22:10:42.604Z,1761516642.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.900000 m,
      deltaT: 0.498319 s,
      deltaX: 0.200000 m,
      approachRate: 0.401350 m/s,
      rangeRepo size: 4

2025-10-26T22:10:42.606Z,1761516642.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.864304 m,
      bearing: 224.988436 deg,
      lat: 36.779405 deg,
      lon: -121.859463 deg,
      deltaT: 1.006567 s,
      deltaX: 0.596375 m,
      approachRate: 0.592485 m/s,
      posRepo size: 4

2025-10-26T22:10:42.611Z,1761516642.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 5.90 m. Rolling out.
2025-10-26T22:10:42.612Z,1761516642.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-10-26T22:10:42.673Z,1761516642.673 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.848685
2025-10-26T22:10:42.756Z,1761516642.756 [DockingStepper](INFO): Changing to mode: 1
2025-10-26T22:10:42.931Z,1761516642.931 [DAT](INFO): DAT read: Rx Time:22:10:41.6239 

2025-10-26T22:10:42.933Z,1761516642.933 [DAT](INFO): Rx dataTimestamp_ set to:1761516642.931752
2025-10-26T22:10:42.937Z,1761516642.937 [DAT](INFO): DAT read: Bearing  16.3,  11.9 (Local)

2025-10-26T22:10:42.939Z,1761516642.939 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.3,  11.9 (Local)

2025-10-26T22:10:42.950Z,1761516642.950 [DAT](INFO): DAT read: Range 11 to 50 :     6.3 m (trip time 4.2 ms) speed -0.5

2025-10-26T22:10:42.971Z,1761516642.971 [DAT](INFO): DAT read: 22:10:41.6239 LVL= 25184, 14097, 19570, 24147, AGC= 63, IDX=   4, 0.43,-1.691, 0.005,-2.109,-1.094, PHS=-0.495, 1.144,-1.059, RAW= 344.3,   4.2, CAL= 343.9,   2.0, ROT= 166.1,  -2.0

2025-10-26T22:10:42.977Z,1761516642.977 [DAT](INFO): got valid direction response:
 22:10:41.6239 LVL= 25184, 14097, 19570, 24147, AGC= 63, IDX=   4, 0.43,-1.691, 0.005,-2.109,-1.094, PHS=-0.495, 1.144,-1.059, RAW= 344.3,   4.2, CAL= 343.9,   2.0, ROT= 166.1,  -2.0

2025-10-26T22:10:42.977Z,1761516642.977 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-10-26T22:10:42.979Z,1761516642.979 [DAT](INFO): direction in FSK: [-0.970125,0.240082,0.034899]
2025-10-26T22:10:42.985Z,1761516642.985 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:43.008Z,1761516643.008 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.179418
2025-10-26T22:10:43.089Z,1761516643.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532037,-0.832805,-0.152884],[0.846402,0.528051,0.069028],[0.023244,-0.166127,0.985830]]
2025-10-26T22:10:43.151Z,1761516643.151 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-10-26T22:10:43.156Z,1761516643.156 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T22:10:43.156Z,1761516643.156 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-10-26T22:10:43.158Z,1761516643.158 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 5.900000 m (mode  5.000000 count ).
2025-10-26T22:10:43.158Z,1761516643.158 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-10-26T22:10:43.158Z,1761516643.158 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-10-26T22:10:43.158Z,1761516643.158 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-10-26T22:10:43.159Z,1761516643.159 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T22:10:43.159Z,1761516643.159 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-10-26T22:10:43.164Z,1761516643.164 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with  1.000000 count pings  5.900000 m (mode  5.000000 count ).
2025-10-26T22:10:43.164Z,1761516643.164 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-10-26T22:10:43.164Z,1761516643.164 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-10-26T22:10:43.175Z,1761516643.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.300000 m,
      deltaT: 0.509363 s,
      deltaX: 0.400000 m,
      approachRate: 0.785295 m/s,
      rangeRepo size: 4

2025-10-26T22:10:43.176Z,1761516643.176 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.352613
2025-10-26T22:10:43.181Z,1761516643.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.261877 m,
      bearing: 223.804804 deg,
      lat: 36.779403 deg,
      lon: -121.859461 deg,
      deltaT: 0.509363 s,
      deltaX: 0.397573 m,
      approachRate: 0.780530 m/s,
      posRepo size: 4

2025-10-26T22:10:43.182Z,1761516643.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.26 m.
2025-10-26T22:10:43.188Z,1761516643.188 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-10-26T22:10:43.188Z,1761516643.188 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-26T22:10:43.188Z,1761516643.188 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-10-26T22:10:43.188Z,1761516643.188 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-10-26T22:10:43.430Z,1761516643.430 [DAT](INFO): DAT read: Rx Time:22:10:42.1241 

2025-10-26T22:10:43.431Z,1761516643.431 [DAT](INFO): Rx dataTimestamp_ set to:1761516643.430492
2025-10-26T22:10:43.433Z,1761516643.433 [DAT](INFO): DAT read: Bearing  19.2,  13.0 (Local)

2025-10-26T22:10:43.434Z,1761516643.434 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.2,  13.0 (Local)

2025-10-26T22:10:43.437Z,1761516643.437 [DAT](INFO): DAT read: Range 11 to 50 :     6.6 m (trip time 4.4 ms) speed -0.5

2025-10-26T22:10:43.447Z,1761516643.447 [DAT](INFO): DAT read: 22:10:42.1241 LVL= 29664, 29009, 32754, 32755, AGC= 63, IDX= 502,-0.33, 1.514,-2.967, 1.026, 2.058, PHS=-0.442, 1.303,-1.076, RAW= 344.9,   2.0, CAL= 344.4,  -0.9, ROT= 165.6,   0.9

2025-10-26T22:10:43.449Z,1761516643.449 [DAT](INFO): got valid direction response:
 22:10:42.1241 LVL= 29664, 29009, 32754, 32755, AGC= 63, IDX= 502,-0.33, 1.514,-2.967, 1.026, 2.058, PHS=-0.442, 1.303,-1.076, RAW= 344.9,   2.0, CAL= 344.4,  -0.9, ROT= 165.6,   0.9

2025-10-26T22:10:43.449Z,1761516643.449 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-10-26T22:10:43.450Z,1761516643.450 [DAT](INFO): direction in FSK: [-0.968464,0.248659,-0.015707]
2025-10-26T22:10:43.450Z,1761516643.450 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:43.455Z,1761516643.455 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.631301
2025-10-26T22:10:43.592Z,1761516643.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530378,-0.833995,-0.152157],[0.847452,0.526421,0.068600],[0.022887,-0.165330,0.985973]]
2025-10-26T22:10:43.618Z,1761516643.618 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-10-26T22:10:43.618Z,1761516643.618 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-10-26T22:10:43.618Z,1761516643.618 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-10-26T22:10:43.618Z,1761516643.618 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-10-26T22:10:43.625Z,1761516643.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.600000 m,
      deltaT: 0.498740 s,
      deltaX: 0.300000 m,
      approachRate: 0.601515 m/s,
      rangeRepo size: 4

2025-10-26T22:10:43.628Z,1761516643.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.560061 m,
      bearing: 223.872659 deg,
      lat: 36.779401 deg,
      lon: -121.859459 deg,
      deltaT: 0.498740 s,
      deltaX: 0.298184 m,
      approachRate: 0.597875 m/s,
      posRepo size: 4

2025-10-26T22:10:43.628Z,1761516643.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.56 m.
2025-10-26T22:10:43.681Z,1761516643.681 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.857216
2025-10-26T22:10:43.938Z,1761516643.938 [DAT](INFO): DAT read: Rx Time:22:10:42.6244 

2025-10-26T22:10:43.944Z,1761516643.944 [DAT](INFO): Rx dataTimestamp_ set to:1761516643.938972
2025-10-26T22:10:43.957Z,1761516643.957 [DAT](INFO): DAT read: Bearing  20.3,  15.2 (Local)

2025-10-26T22:10:43.958Z,1761516643.958 [DAT](INFO): Local bearing/azimuth received:
 Bearing  20.3,  15.2 (Local)

2025-10-26T22:10:43.974Z,1761516643.974 [DAT](INFO): DAT read: Range 11 to 50 :     7.1 m (trip time 4.7 ms) speed -0.5

2025-10-26T22:10:43.000Z,1761516644.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528668,-0.835383,-0.150482],[0.848511,0.524949,0.066765],[0.023221,-0.162982,0.986356]]
2025-10-26T22:10:44.016Z,1761516644.016 [DAT](INFO): DAT read: 22:10:42.6244 LVL= 32752, 29921, 32754, 32755, AGC= 59, IDX= 505,-0.27,-3.094,-1.367, 2.626,-2.646, PHS=-0.346, 1.324,-1.055, RAW= 346.9,   0.7, CAL= 346.4,  -2.2, ROT= 163.6,   2.2

2025-10-26T22:10:44.017Z,1761516644.017 [DAT](INFO): got valid direction response:
 22:10:42.6244 LVL= 32752, 29921, 32754, 32755, AGC= 59, IDX= 505,-0.27,-3.094,-1.367, 2.626,-2.646, PHS=-0.346, 1.324,-1.055, RAW= 346.9,   0.7, CAL= 346.4,  -2.2, ROT= 163.6,   2.2

2025-10-26T22:10:44.018Z,1761516644.018 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-10-26T22:10:44.019Z,1761516644.019 [DAT](INFO): direction in FSK: [-0.958607,0.282133,-0.038388]
2025-10-26T22:10:44.019Z,1761516644.019 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:44.043Z,1761516644.043 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.207217
2025-10-26T22:10:44.097Z,1761516644.097 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-10-26T22:10:44.097Z,1761516644.097 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-10-26T22:10:44.098Z,1761516644.098 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-10-26T22:10:44.098Z,1761516644.098 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-10-26T22:10:44.113Z,1761516644.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.100000 m,
      deltaT: 0.508480 s,
      deltaX: 0.500000 m,
      approachRate: 0.983323 m/s,
      rangeRepo size: 4

2025-10-26T22:10:44.115Z,1761516644.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.057035 m,
      bearing: 222.193568 deg,
      lat: 36.779400 deg,
      lon: -121.859459 deg,
      deltaT: 0.508480 s,
      deltaX: 0.496974 m,
      approachRate: 0.977372 m/s,
      posRepo size: 4

2025-10-26T22:10:44.120Z,1761516644.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.06 m.
2025-10-26T22:10:44.186Z,1761516644.186 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.361554
2025-10-26T22:10:44.402Z,1761516644.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526408,-0.838157,-0.142781],[0.849907,0.523374,0.061131],[0.023491,-0.153530,0.987865]]
2025-10-26T22:10:44.433Z,1761516644.433 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-10-26T22:10:44.433Z,1761516644.433 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T22:10:44.433Z,1761516644.433 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-10-26T22:10:44.433Z,1761516644.433 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T22:10:44.434Z,1761516644.434 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-10-26T22:10:44.435Z,1761516644.435 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T22:10:44.435Z,1761516644.435 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-10-26T22:10:44.440Z,1761516644.440 [DAT](INFO): DAT read: Rx Time:22:10:43.1245 

2025-10-26T22:10:44.440Z,1761516644.440 [DAT](INFO): Rx dataTimestamp_ set to:1761516644.439882
2025-10-26T22:10:44.441Z,1761516644.441 [DAT](INFO): DAT read: Bearing  19.7,  17.1 (Local)

2025-10-26T22:10:44.442Z,1761516644.442 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.7,  17.1 (Local)

2025-10-26T22:10:44.447Z,1761516644.447 [DAT](INFO): DAT read: Range 11 to 50 :     7.2 m (trip time 4.8 ms) speed -0.5

2025-10-26T22:10:44.454Z,1761516644.454 [DAT](INFO): DAT read: 22:10:43.1245 LVL= 28336, 26737, 29682, 32755, AGC= 62, IDX= 506,-0.34,-3.103,-1.573, 2.604,-2.712, PHS=-0.289, 1.184,-1.012, RAW= 348.8,   1.2, CAL= 348.4,  -1.8, ROT= 161.6,   1.8

2025-10-26T22:10:44.455Z,1761516644.455 [DAT](INFO): got valid direction response:
 22:10:43.1245 LVL= 28336, 26737, 29682, 32755, AGC= 62, IDX= 506,-0.34,-3.103,-1.573, 2.604,-2.712, PHS=-0.289, 1.184,-1.012, RAW= 348.8,   1.2, CAL= 348.4,  -1.8, ROT= 161.6,   1.8

2025-10-26T22:10:44.471Z,1761516644.471 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T22:10:44.473Z,1761516644.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.06 m.
2025-10-26T22:10:44.476Z,1761516644.476 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-10-26T22:10:44.476Z,1761516644.476 [DAT](INFO): direction in FSK: [-0.948408,0.315493,-0.031411]
2025-10-26T22:10:44.477Z,1761516644.477 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:44.485Z,1761516644.485 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.660668
2025-10-26T22:10:44.689Z,1761516644.689 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.864783
2025-10-26T22:10:44.886Z,1761516644.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525534,-0.839932,-0.135381],[0.850470,0.522897,0.057265],[0.022692,-0.145233,0.989137]]
2025-10-26T22:10:44.945Z,1761516644.945 [DAT](INFO): DAT read: Rx Time:22:10:43.6247 

2025-10-26T22:10:44.947Z,1761516644.947 [DAT](INFO): Rx dataTimestamp_ set to:1761516644.945829
2025-10-26T22:10:44.951Z,1761516644.951 [DAT](INFO): DAT read: Bearing  19.5,  19.4 (Local)

2025-10-26T22:10:44.952Z,1761516644.952 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.5,  19.4 (Local)

2025-10-26T22:10:44.961Z,1761516644.961 [DAT](INFO): DAT read: Range 11 to 50 :     7.5 m (trip time 5.0 ms) speed -0.6

2025-10-26T22:10:44.990Z,1761516644.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.200000 m,
      deltaT: 0.500910 s,
      deltaX: 0.100000 m,
      approachRate: 0.199636 m/s,
      rangeRepo size: 4

2025-10-26T22:10:44.993Z,1761516644.993 [DAT](INFO): DAT read: 22:10:43.6247 LVL= 24480, 28737, 32754, 32755, AGC= 62, IDX= 508,-0.50,-2.331,-0.961,-2.937,-2.003, PHS=-0.226, 1.086,-0.979, RAW= 351.1,   1.3, CAL= 350.7,  -1.7, ROT= 159.3,   1.7

2025-10-26T22:10:44.994Z,1761516644.994 [DAT](INFO): got valid direction response:
 22:10:43.6247 LVL= 24480, 28737, 32754, 32755, AGC= 62, IDX= 508,-0.50,-2.331,-0.961,-2.937,-2.003, PHS=-0.226, 1.086,-0.979, RAW= 351.1,   1.3, CAL= 350.7,  -1.7, ROT= 159.3,   1.7

2025-10-26T22:10:44.995Z,1761516644.995 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-10-26T22:10:45.000Z,1761516645.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.156434 m,
      bearing: 220.282679 deg,
      lat: 36.779400 deg,
      lon: -121.859459 deg,
      deltaT: 0.500910 s,
      deltaX: 0.099399 m,
      approachRate: 0.198436 m/s,
      posRepo size: 4

2025-10-26T22:10:45.001Z,1761516645.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.16 m.
2025-10-26T22:10:45.004Z,1761516645.004 [DAT](INFO): direction in FSK: [-0.935032,0.353319,-0.029666]
2025-10-26T22:10:45.004Z,1761516645.004 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:45.016Z,1761516645.016 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.191918
2025-10-26T22:10:45.194Z,1761516645.194 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.369282
2025-10-26T22:10:45.445Z,1761516645.445 [DAT](INFO): DAT read: Rx Time:22:10:44.1248 

2025-10-26T22:10:45.445Z,1761516645.445 [DAT](INFO): Rx dataTimestamp_ set to:1761516645.445087
2025-10-26T22:10:45.447Z,1761516645.447 [DAT](INFO): DAT read: Bearing  23.4,  18.6 (Local)

2025-10-26T22:10:45.447Z,1761516645.447 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.4,  18.6 (Local)

2025-10-26T22:10:45.449Z,1761516645.449 [DAT](INFO): DAT read: Range 11 to 50 :     7.7 m (trip time 5.1 ms) speed -0.4

2025-10-26T22:10:45.454Z,1761516645.454 [DAT](INFO): DAT read: 22:10:44.1248 LVL= 18464, 21185, 28194, 32755, AGC= 61, IDX= 508, 0.37,-2.286,-0.764,-2.906,-2.019, PHS=-0.165, 1.300,-0.931, RAW= 349.7,  -2.1, CAL= 349.3,  -5.1, ROT= 160.7,   5.1

2025-10-26T22:10:45.455Z,1761516645.455 [DAT](INFO): got valid direction response:
 22:10:44.1248 LVL= 18464, 21185, 28194, 32755, AGC= 61, IDX= 508, 0.37,-2.286,-0.764,-2.906,-2.019, PHS=-0.165, 1.300,-0.931, RAW= 349.7,  -2.1, CAL= 349.3,  -5.1, ROT= 160.7,   5.1

2025-10-26T22:10:45.455Z,1761516645.455 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-10-26T22:10:45.456Z,1761516645.456 [DAT](INFO): direction in FSK: [-0.940064,0.329206,-0.088894]
2025-10-26T22:10:45.456Z,1761516645.456 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:45.464Z,1761516645.464 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.640566
2025-10-26T22:10:45.534Z,1761516645.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525334,-0.841789,-0.124159],[0.850662,0.522992,0.053417],[0.019969,-0.133679,0.990823]]
2025-10-26T22:10:45.631Z,1761516645.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.700000 m,
      deltaT: 1.005205 s,
      deltaX: 0.500000 m,
      approachRate: 0.497411 m/s,
      rangeRepo size: 4

2025-10-26T22:10:45.637Z,1761516645.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.653408 m,
      bearing: 219.759997 deg,
      lat: 36.779398 deg,
      lon: -121.859458 deg,
      deltaT: 1.005205 s,
      deltaX: 0.496974 m,
      approachRate: 0.494401 m/s,
      posRepo size: 4

2025-10-26T22:10:45.638Z,1761516645.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m.
2025-10-26T22:10:45.701Z,1761516645.701 [DAT](INFO): DAT read: Rx Time:22:10:44.6250 

2025-10-26T22:10:45.702Z,1761516645.702 [DAT](INFO): Rx dataTimestamp_ set to:1761516645.701380
2025-10-26T22:10:45.705Z,1761516645.705 [DAT](INFO): DAT read: Bearing  20.9,  19.5 (Local)

2025-10-26T22:10:45.706Z,1761516645.706 [DAT](INFO): Local bearing/azimuth received:
 Bearing  20.9,  19.5 (Local)

2025-10-26T22:10:45.709Z,1761516645.709 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.884204
2025-10-26T22:10:45.956Z,1761516645.956 [DAT](INFO): DAT read: Range 11 to 50 :     8.1 m (trip time 5.4 ms) speed -0.7

2025-10-26T22:10:45.990Z,1761516645.990 [DAT](INFO): DAT read: 22:10:44.6250 LVL= 27104, 32753, 32754, 32755, AGC= 62, IDX= 511, 0.13,-1.308, 0.035,-1.883,-1.010, PHS=-0.196, 1.090,-0.917, RAW= 350.8,   0.3, CAL= 350.3,  -2.8, ROT= 159.7,   2.8

2025-10-26T22:10:46.020Z,1761516646.020 [DAT](INFO): got valid direction response:
 22:10:44.6250 LVL= 27104, 32753, 32754, 32755, AGC= 62, IDX= 511, 0.13,-1.308, 0.035,-1.883,-1.010, PHS=-0.196, 1.090,-0.917, RAW= 350.8,   0.3, CAL= 350.3,  -2.8, ROT= 159.7,   2.8

2025-10-26T22:10:46.020Z,1761516646.020 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-10-26T22:10:46.021Z,1761516646.021 [DAT](INFO): direction in FSK: [-0.936769,0.346521,-0.048850]
2025-10-26T22:10:46.021Z,1761516646.021 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:46.033Z,1761516646.033 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.209099
2025-10-26T22:10:46.137Z,1761516646.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526648,-0.841550,-0.120144],[0.849891,0.524252,0.053345],[0.018093,-0.130203,0.991322]]
2025-10-26T22:10:46.204Z,1761516646.204 [DAT](INFO): DAT read: Rx Time:22:10:45.1251 

2025-10-26T22:10:46.205Z,1761516646.205 [DAT](INFO): Rx dataTimestamp_ set to:1761516646.204042
2025-10-26T22:10:46.208Z,1761516646.208 [DAT](INFO): DAT read: Bearing 244.8,  25.1 (Local)

2025-10-26T22:10:46.209Z,1761516646.209 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.8,  25.1 (Local)

2025-10-26T22:10:46.214Z,1761516646.214 [DAT](INFO): DAT read: Range 11 to 50 :     8.3 m (trip time 5.5 ms) speed -0.4

2025-10-26T22:10:46.216Z,1761516646.216 [DAT](ERROR): #Rx 29: Read range message, but no direction.
2025-10-26T22:10:46.219Z,1761516646.219 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.395142
2025-10-26T22:10:46.229Z,1761516646.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.100000 m,
      deltaT: 0.503157 s,
      deltaX: 0.400001 m,
      approachRate: 0.794982 m/s,
      rangeRepo size: 4

2025-10-26T22:10:46.246Z,1761516646.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.050992 m,
      bearing: 218.381496 deg,
      lat: 36.779397 deg,
      lon: -121.859453 deg,
      deltaT: 0.503157 s,
      deltaX: 0.397584 m,
      approachRate: 0.790179 m/s,
      posRepo size: 4

2025-10-26T22:10:46.246Z,1761516646.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.05 m.
2025-10-26T22:10:46.336Z,1761516646.336 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:10:46.458Z,1761516646.458 [DAT](INFO): DAT read: 22:10:45.1251 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 512,-0.09, 0.305,-1.293,-0.509, 0.252, PHS= 0.155,-1.499,-0.805, RAW= 114.7,  27.8, CAL= 113.1,  34.6, ROT=  36.9, -34.6

2025-10-26T22:10:46.460Z,1761516646.460 [DAT](INFO): got valid direction response:
 22:10:45.1251 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 512,-0.09, 0.305,-1.293,-0.509, 0.252, PHS= 0.155,-1.499,-0.805, RAW= 114.7,  27.8, CAL= 113.1,  34.6, ROT=  36.9, -34.6

2025-10-26T22:10:46.461Z,1761516646.461 [DAT](INFO): #Rx 30: Read direction message, but no range.
2025-10-26T22:10:46.462Z,1761516646.462 [DAT](INFO): direction in FSK: [0.658250,0.494228,0.567844]
2025-10-26T22:10:46.474Z,1761516646.474 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.649950
2025-10-26T22:10:46.613Z,1761516646.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531690,-0.839604,-0.111228],[0.846814,0.529264,0.052781],[0.014554,-0.122252,0.992392]]
2025-10-26T22:10:46.669Z,1761516646.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.300000 m,
      deltaT: 0.255798 s,
      deltaX: 0.200000 m,
      approachRate: 0.781866 m/s,
      rangeRepo size: 4

2025-10-26T22:10:46.671Z,1761516646.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.249782 m,
      bearing: 98.582666 deg,
      lat: 36.779397 deg,
      lon: -121.859453 deg,
      deltaT: 0.255798 s,
      deltaX: 0.198790 m,
      approachRate: 0.777135 m/s,
      posRepo size: 4

2025-10-26T22:10:46.691Z,1761516646.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.25 m.
2025-10-26T22:10:46.708Z,1761516646.708 [DAT](INFO): DAT read: Rx Time:22:10:45.6254 

2025-10-26T22:10:46.709Z,1761516646.709 [DAT](INFO): Rx dataTimestamp_ set to:1761516646.708675
2025-10-26T22:10:46.714Z,1761516646.714 [DAT](INFO): DAT read: Bearing  21.0,  16.1 (Local)

2025-10-26T22:10:46.716Z,1761516646.716 [DAT](INFO): Local bearing/azimuth received:
 Bearing  21.0,  16.1 (Local)

2025-10-26T22:10:46.718Z,1761516646.718 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.893307
2025-10-26T22:10:46.967Z,1761516646.967 [DAT](INFO): DAT read: Range 11 to 50 :     8.7 m (trip time 5.8 ms) speed -3.7

2025-10-26T22:10:47.016Z,1761516647.016 [DAT](INFO): DAT read: 22:10:45.6254 LVL= 26912, 32753, 30018, 32755, AGC= 66, IDX=   3,-0.24, 2.255,-2.567, 1.787, 2.637, PHS=-0.281, 1.124,-0.894, RAW= 347.2,   0.6, CAL= 346.8,  -2.4, ROT= 163.2,   2.4

2025-10-26T22:10:47.017Z,1761516647.017 [DAT](INFO): got valid direction response:
 22:10:45.6254 LVL= 26912, 32753, 30018, 32755, AGC= 66, IDX=   3,-0.24, 2.255,-2.567, 1.787, 2.637, PHS=-0.281, 1.124,-0.894, RAW= 347.2,   0.6, CAL= 346.8,  -2.4, ROT= 163.2,   2.4

2025-10-26T22:10:47.018Z,1761516647.018 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-10-26T22:10:47.019Z,1761516647.019 [DAT](INFO): direction in FSK: [-0.956480,0.288778,-0.041876]
2025-10-26T22:10:47.019Z,1761516647.019 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:47.052Z,1761516647.052 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.207327
2025-10-26T22:10:47.062Z,1761516647.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533258,-0.838981,-0.108380],[0.845854,0.530754,0.053204],[0.012886,-0.120045,0.992685]]
2025-10-26T22:10:47.138Z,1761516647.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 0.753913 s,
      deltaX: 0.400000 m,
      approachRate: 0.530565 m/s,
      rangeRepo size: 4

2025-10-26T22:10:47.140Z,1761516647.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.647356 m,
      bearing: 221.345320 deg,
      lat: 36.779397 deg,
      lon: -121.859453 deg,
      deltaT: 0.753913 s,
      deltaX: 0.397574 m,
      approachRate: 0.527348 m/s,
      posRepo size: 4

2025-10-26T22:10:47.141Z,1761516647.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.65 m.
2025-10-26T22:10:47.211Z,1761516647.211 [DAT](INFO): DAT read: Rx Time:22:10:46.1254 

2025-10-26T22:10:47.213Z,1761516647.213 [DAT](INFO): Rx dataTimestamp_ set to:1761516647.211979
2025-10-26T22:10:47.216Z,1761516647.216 [DAT](INFO): DAT read: Bearing  17.3,  18.9 (Local)

2025-10-26T22:10:47.217Z,1761516647.217 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.3,  18.9 (Local)

2025-10-26T22:10:47.220Z,1761516647.220 [DAT](INFO): DAT read: Range 11 to 50 :     8.7 m (trip time 5.8 ms) speed 0.0

2025-10-26T22:10:47.222Z,1761516647.222 [DAT](ERROR): #Rx 32: Read range message, but no direction.
2025-10-26T22:10:47.249Z,1761516647.249 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.424126
2025-10-26T22:10:47.340Z,1761516647.340 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:10:47.431Z,1761516647.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535585,-0.837705,-0.106768],[0.844405,0.532943,0.054339],[0.011381,-0.119258,0.992798]]
2025-10-26T22:10:47.456Z,1761516647.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 0.254024 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:10:47.457Z,1761516647.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.65 m.
2025-10-26T22:10:47.464Z,1761516647.464 [DAT](INFO): DAT read: 22:10:46.1254 LVL= 24512, 32753, 32754, 32755, AGC= 65, IDX= 483, 0.23,-1.928,-0.660,-2.438,-1.548, PHS=-0.278, 0.933,-0.934, RAW= 350.3,   3.4, CAL= 349.9,   0.6, ROT= 160.1,  -0.6

2025-10-26T22:10:47.465Z,1761516647.465 [DAT](INFO): got valid direction response:
 22:10:46.1254 LVL= 24512, 32753, 32754, 32755, AGC= 65, IDX= 483, 0.23,-1.928,-0.660,-2.438,-1.548, PHS=-0.278, 0.933,-0.934, RAW= 350.3,   3.4, CAL= 349.9,   0.6, ROT= 160.1,  -0.6

2025-10-26T22:10:47.466Z,1761516647.466 [DAT](INFO): #Rx 33: Read direction message, but no range.
2025-10-26T22:10:47.467Z,1761516647.467 [DAT](INFO): direction in FSK: [-0.940237,0.340361,0.010472]
2025-10-26T22:10:47.470Z,1761516647.470 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.646252
2025-10-26T22:10:47.717Z,1761516647.717 [DAT](INFO): DAT read: Rx Time:22:10:46.6257 

2025-10-26T22:10:47.719Z,1761516647.719 [DAT](INFO): Rx dataTimestamp_ set to:1761516647.717615
2025-10-26T22:10:47.723Z,1761516647.723 [DAT](INFO): DAT read: Bearing  18.8,  14.8 (Local)

2025-10-26T22:10:47.724Z,1761516647.724 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.8,  14.8 (Local)

2025-10-26T22:10:47.730Z,1761516647.730 [DAT](INFO): DAT read: Range 11 to 50 :     9.2 m (trip time 6.1 ms) speed -0.4

2025-10-26T22:10:47.733Z,1761516647.733 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-10-26T22:10:47.768Z,1761516647.768 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.943983
2025-10-26T22:10:47.822Z,1761516647.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537841,-0.836327,-0.106229],[0.842987,0.535012,0.055996],[0.010003,-0.119667,0.992764]]
2025-10-26T22:10:47.902Z,1761516647.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 0.505636 s,
      deltaX: 0.500000 m,
      approachRate: 0.988854 m/s,
      rangeRepo size: 4

2025-10-26T22:10:47.914Z,1761516647.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.144331 m,
      bearing: 217.618855 deg,
      lat: 36.779396 deg,
      lon: -121.859452 deg,
      deltaT: 0.759660 s,
      deltaX: 0.496975 m,
      approachRate: 0.654207 m/s,
      posRepo size: 4

2025-10-26T22:10:47.915Z,1761516647.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.14 m.
2025-10-26T22:10:47.972Z,1761516647.972 [DAT](INFO): DAT read: 22:10:46.6257 LVL= 23280, 32753, 31650, 32755, AGC= 64, IDX= 502, 0.02,-2.591,-1.169,-2.986,-2.144, PHS=-0.345, 1.020,-0.886, RAW= 346.0,   2.5, CAL= 345.5,  -0.4, ROT= 164.5,   0.4

2025-10-26T22:10:47.973Z,1761516647.973 [DAT](INFO): got valid direction response:
 22:10:46.6257 LVL= 23280, 32753, 31650, 32755, AGC= 64, IDX= 502, 0.02,-2.591,-1.169,-2.986,-2.144, PHS=-0.345, 1.020,-0.886, RAW= 346.0,   2.5, CAL= 345.5,  -0.4, ROT= 164.5,   0.4

2025-10-26T22:10:47.973Z,1761516647.973 [DAT](INFO): #Rx 35: Read direction message, but no range.
2025-10-26T22:10:47.974Z,1761516647.974 [DAT](INFO): direction in FSK: [-0.963607,0.267232,-0.006981]
2025-10-26T22:10:47.978Z,1761516647.978 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.153820
2025-10-26T22:10:48.223Z,1761516648.224 [DAT](INFO): DAT read: Rx Time:22:10:47.1258 

2025-10-26T22:10:48.225Z,1761516648.225 [DAT](INFO): Rx dataTimestamp_ set to:1761516648.223910
2025-10-26T22:10:48.230Z,1761516648.230 [DAT](INFO): DAT read: Bearing  19.9,  13.4 (Local)

2025-10-26T22:10:48.231Z,1761516648.231 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.9,  13.4 (Local)

2025-10-26T22:10:48.237Z,1761516648.237 [DAT](INFO): DAT read: Range 11 to 50 :     9.3 m (trip time 6.2 ms) speed -0.4

2025-10-26T22:10:48.240Z,1761516648.240 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-10-26T22:10:48.244Z,1761516648.244 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.418736
2025-10-26T22:10:48.342Z,1761516648.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540735,-0.834511,-0.105817],[0.841147,0.537724,0.057653],[0.008788,-0.120183,0.992713]]
2025-10-26T22:10:48.417Z,1761516648.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 0.506295 s,
      deltaX: 0.100000 m,
      approachRate: 0.197514 m/s,
      rangeRepo size: 4

2025-10-26T22:10:48.424Z,1761516648.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.243727 m,
      bearing: 221.912540 deg,
      lat: 36.779396 deg,
      lon: -121.859452 deg,
      deltaT: 0.506295 s,
      deltaX: 0.099396 m,
      approachRate: 0.196320 m/s,
      posRepo size: 4

2025-10-26T22:10:48.426Z,1761516648.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m.
2025-10-26T22:10:48.472Z,1761516648.472 [DAT](INFO): DAT read: 22:10:47.1258 LVL= 25760, 31569, 32754, 32755, AGC= 63, IDX= 503,-0.29, 1.190, 2.722, 0.827, 1.653, PHS=-0.362, 1.114,-0.870, RAW= 344.3,   1.3, CAL= 343.8,  -1.6, ROT= 166.2,   1.6

2025-10-26T22:10:48.473Z,1761516648.473 [DAT](INFO): got valid direction response:
 22:10:47.1258 LVL= 25760, 31569, 32754, 32755, AGC= 63, IDX= 503,-0.29, 1.190, 2.722, 0.827, 1.653, PHS=-0.362, 1.114,-0.870, RAW= 344.3,   1.3, CAL= 343.8,  -1.6, ROT= 166.2,   1.6

2025-10-26T22:10:48.474Z,1761516648.474 [DAT](INFO): #Rx 37: Read direction message, but no range.
2025-10-26T22:10:48.475Z,1761516648.475 [DAT](INFO): direction in FSK: [-0.970756,0.238441,-0.027922]
2025-10-26T22:10:48.478Z,1761516648.478 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.654276
2025-10-26T22:10:48.725Z,1761516648.725 [DAT](INFO): DAT read: Rx Time:22:10:47.6259 

2025-10-26T22:10:48.727Z,1761516648.727 [DAT](INFO): Rx dataTimestamp_ set to:1761516648.725636
2025-10-26T22:10:48.731Z,1761516648.731 [DAT](INFO): DAT read: Bearing  20.4,  13.6 (Local)

2025-10-26T22:10:48.732Z,1761516648.732 [DAT](INFO): Local bearing/azimuth received:
 Bearing  20.4,  13.6 (Local)

2025-10-26T22:10:48.746Z,1761516648.746 [DAT](INFO): DAT read: Range 11 to 50 :     9.5 m (trip time 6.3 ms) speed -0.4

2025-10-26T22:10:48.749Z,1761516648.749 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-10-26T22:10:48.780Z,1761516648.780 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.955734
2025-10-26T22:10:48.817Z,1761516648.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544295,-0.832228,-0.105546],[0.838861,0.541073,0.059607],[0.007501,-0.120982,0.992626]]
2025-10-26T22:10:48.868Z,1761516648.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.500000 m,
      deltaT: 0.501726 s,
      deltaX: 0.200000 m,
      approachRate: 0.398624 m/s,
      rangeRepo size: 4

2025-10-26T22:10:48.870Z,1761516648.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.442524 m,
      bearing: 223.502290 deg,
      lat: 36.779396 deg,
      lon: -121.859456 deg,
      deltaT: 0.501726 s,
      deltaX: 0.198797 m,
      approachRate: 0.396227 m/s,
      posRepo size: 4

2025-10-26T22:10:48.871Z,1761516648.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.44 m.
2025-10-26T22:10:48.980Z,1761516648.980 [DAT](INFO): DAT read: 22:10:47.6259 LVL= 27248, 23537, 32754, 32755, AGC= 67, IDX= 504, 0.23,-3.134,-1.557, 2.768,-2.685, PHS=-0.348, 1.173,-0.875, RAW= 344.4,   0.5, CAL= 343.9,  -2.4, ROT= 166.1,   2.4

2025-10-26T22:10:48.984Z,1761516648.984 [DAT](INFO): got valid direction response:
 22:10:47.6259 LVL= 27248, 23537, 32754, 32755, AGC= 67, IDX= 504, 0.23,-3.134,-1.557, 2.768,-2.685, PHS=-0.348, 1.173,-0.875, RAW= 344.4,   0.5, CAL= 343.9,  -2.4, ROT= 166.1,   2.4

2025-10-26T22:10:48.986Z,1761516648.986 [DAT](INFO): #Rx 39: Read direction message, but no range.
2025-10-26T22:10:49.010Z,1761516649.010 [DAT](INFO): direction in FSK: [-0.969865,0.240017,-0.041876]
2025-10-26T22:10:49.047Z,1761516649.047 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.214882
2025-10-26T22:10:49.228Z,1761516649.228 [DAT](INFO): DAT read: Rx Time:22:10:48.1260 

2025-10-26T22:10:49.230Z,1761516649.230 [DAT](INFO): Rx dataTimestamp_ set to:1761516649.229050
2025-10-26T22:10:49.237Z,1761516649.237 [DAT](INFO): DAT read: Bearing  21.1,  12.9 (Local)

2025-10-26T22:10:49.238Z,1761516649.238 [DAT](INFO): Local bearing/azimuth received:
 Bearing  21.1,  12.9 (Local)

2025-10-26T22:10:49.276Z,1761516649.276 [DAT](INFO): DAT read: Range 11 to 50 :     9.6 m (trip time 6.4 ms) speed -0.4

2025-10-26T22:10:49.293Z,1761516649.293 [DAT](INFO): DAT read: 22:10:48.1260 LVL= 26864, 19425, 32754, 32755, AGC= 65, IDX= 505,-0.13, 1.111, 2.733, 0.754, 1.561, PHS=-0.348, 1.217,-0.851, RAW= 343.5,  -0.2, CAL= 343.0,  -3.1, ROT= 167.0,   3.1

2025-10-26T22:10:49.294Z,1761516649.294 [DAT](INFO): got valid direction response:
 22:10:48.1260 LVL= 26864, 19425, 32754, 32755, AGC= 65, IDX= 505,-0.13, 1.111, 2.733, 0.754, 1.561, PHS=-0.348, 1.217,-0.851, RAW= 343.5,  -0.2, CAL= 343.0,  -3.1, ROT= 167.0,   3.1

2025-10-26T22:10:49.294Z,1761516649.294 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-10-26T22:10:49.295Z,1761516649.295 [DAT](INFO): direction in FSK: [-0.972944,0.224622,-0.054079]
2025-10-26T22:10:49.308Z,1761516649.308 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:49.316Z,1761516649.316 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.487280
2025-10-26T22:10:49.393Z,1761516649.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.503414 s,
      deltaX: 0.100000 m,
      approachRate: 0.198644 m/s,
      rangeRepo size: 4

2025-10-26T22:10:49.395Z,1761516649.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.541919 m,
      bearing: 224.473443 deg,
      lat: 36.779396 deg,
      lon: -121.859456 deg,
      deltaT: 0.503414 s,
      deltaX: 0.099395 m,
      approachRate: 0.197441 m/s,
      posRepo size: 4

2025-10-26T22:10:49.395Z,1761516649.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:10:49.477Z,1761516649.477 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.652765
2025-10-26T22:10:49.734Z,1761516649.734 [DAT](INFO): DAT read: Rx Time:22:10:48.6262 

2025-10-26T22:10:49.736Z,1761516649.736 [DAT](INFO): Rx dataTimestamp_ set to:1761516649.734826
2025-10-26T22:10:49.745Z,1761516649.745 [DAT](INFO): DAT read: Bearing  19.6,  14.1 (Local)

2025-10-26T22:10:49.746Z,1761516649.746 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.6,  14.1 (Local)

2025-10-26T22:10:49.772Z,1761516649.772 [DAT](INFO): DAT read: Range 11 to 50 :     9.9 m (trip time 6.6 ms) speed -0.4

2025-10-26T22:10:49.785Z,1761516649.785 [DAT](INFO): DAT read: 22:10:48.6262 LVL= 30064, 21489, 32754, 32755, AGC= 65, IDX= 507, 0.30,-1.340, 0.209,-1.729,-0.892, PHS=-0.346, 1.146,-0.881, RAW= 344.8,   0.9, CAL= 344.3,  -2.1, ROT= 165.7,   2.1

2025-10-26T22:10:49.786Z,1761516649.786 [DAT](INFO): got valid direction response:
 22:10:48.6262 LVL= 30064, 21489, 32754, 32755, AGC= 65, IDX= 507, 0.30,-1.340, 0.209,-1.729,-0.892, PHS=-0.346, 1.146,-0.881, RAW= 344.8,   0.9, CAL= 344.3,  -2.1, ROT= 165.7,   2.1

2025-10-26T22:10:49.786Z,1761516649.786 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-10-26T22:10:49.796Z,1761516649.796 [DAT](INFO): direction in FSK: [-0.968365,0.246833,-0.036644]
2025-10-26T22:10:49.796Z,1761516649.796 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:49.812Z,1761516649.812 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=19.988159
2025-10-26T22:10:49.818Z,1761516649.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554199,-0.826152,-0.101663],[0.832361,0.550951,0.060237],[0.006247,-0.118003,0.992994]]
2025-10-26T22:10:49.882Z,1761516649.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.900000 m,
      deltaT: 0.505776 s,
      deltaX: 0.299999 m,
      approachRate: 0.593146 m/s,
      rangeRepo size: 4

2025-10-26T22:10:49.889Z,1761516649.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.840116 m,
      bearing: 222.374302 deg,
      lat: 36.779397 deg,
      lon: -121.859456 deg,
      deltaT: 0.505776 s,
      deltaX: 0.298197 m,
      approachRate: 0.589583 m/s,
      posRepo size: 4

2025-10-26T22:10:49.889Z,1761516649.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.84 m.
2025-10-26T22:10:49.981Z,1761516649.981 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.156748
2025-10-26T22:10:50.238Z,1761516650.238 [DAT](INFO): DAT read: Rx Time:22:10:49.1263 

2025-10-26T22:10:50.240Z,1761516650.240 [DAT](INFO): Rx dataTimestamp_ set to:1761516650.238455
2025-10-26T22:10:50.244Z,1761516650.244 [DAT](INFO): DAT read: Bearing  20.3,  13.8 (Local)

2025-10-26T22:10:50.245Z,1761516650.245 [DAT](INFO): Local bearing/azimuth received:
 Bearing  20.3,  13.8 (Local)

2025-10-26T22:10:50.261Z,1761516650.261 [DAT](INFO): DAT read: Range 11 to 50 :    10.1 m (trip time 6.7 ms) speed -0.4

2025-10-26T22:10:50.296Z,1761516650.296 [DAT](INFO): DAT read: 22:10:49.1263 LVL= 28576, 19425, 32754, 32755, AGC= 64, IDX= 508,-0.02, 2.378,-2.331, 1.996, 2.813, PHS=-0.333, 1.185,-0.861, RAW= 344.4,   0.1, CAL= 344.0,  -2.9, ROT= 166.0,   2.9

2025-10-26T22:10:50.297Z,1761516650.297 [DAT](INFO): got valid direction response:
 22:10:49.1263 LVL= 28576, 19425, 32754, 32755, AGC= 64, IDX= 508,-0.02, 2.378,-2.331, 1.996, 2.813, PHS=-0.333, 1.185,-0.861, RAW= 344.4,   0.1, CAL= 344.0,  -2.9, ROT= 166.0,   2.9

2025-10-26T22:10:50.297Z,1761516650.297 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-10-26T22:10:50.298Z,1761516650.298 [DAT](INFO): direction in FSK: [-0.969053,0.241612,-0.050593]
2025-10-26T22:10:50.298Z,1761516650.298 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:50.318Z,1761516650.318 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.494387
2025-10-26T22:10:50.320Z,1761516650.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556675,-0.824629,-0.100501],[0.830705,0.553509,0.059636],[0.006450,-0.116685,0.993148]]
2025-10-26T22:10:50.406Z,1761516650.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.100000 m,
      deltaT: 0.503629 s,
      deltaX: 0.200001 m,
      approachRate: 0.397119 m/s,
      rangeRepo size: 4

2025-10-26T22:10:50.417Z,1761516650.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.038906 m,
      bearing: 222.587183 deg,
      lat: 36.779398 deg,
      lon: -121.859456 deg,
      deltaT: 0.503629 s,
      deltaX: 0.198791 m,
      approachRate: 0.394716 m/s,
      posRepo size: 4

2025-10-26T22:10:50.418Z,1761516650.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m.
2025-10-26T22:10:50.485Z,1761516650.485 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.660673
2025-10-26T22:10:50.720Z,1761516650.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558436,-0.823526,-0.099772],[0.829517,0.555390,0.058680],[0.007088,-0.115532,0.993279]]
2025-10-26T22:10:50.741Z,1761516650.741 [DAT](INFO): DAT read: Rx Time:22:10:49.6265 

2025-10-26T22:10:50.742Z,1761516650.742 [DAT](INFO): Rx dataTimestamp_ set to:1761516650.741305
2025-10-26T22:10:50.747Z,1761516650.747 [DAT](INFO): DAT read: Bearing  20.1,  14.0 (Local)

2025-10-26T22:10:50.748Z,1761516650.748 [DAT](INFO): Local bearing/azimuth received:
 Bearing  20.1,  14.0 (Local)

2025-10-26T22:10:50.776Z,1761516650.776 [DAT](INFO): DAT read: Range 11 to 50 :    10.4 m (trip time 6.9 ms) speed -0.4

2025-10-26T22:10:50.790Z,1761516650.790 [DAT](INFO): DAT read: 22:10:49.6265 LVL= 27376, 19441, 32754, 32755, AGC= 65, IDX= 511,-0.35, 2.922,-1.795, 2.537,-2.930, PHS=-0.329, 1.180,-0.860, RAW= 344.5,   0.1, CAL= 344.1,  -2.9, ROT= 165.9,   2.9

2025-10-26T22:10:50.791Z,1761516650.791 [DAT](INFO): got valid direction response:
 22:10:49.6265 LVL= 27376, 19441, 32754, 32755, AGC= 65, IDX= 511,-0.35, 2.922,-1.795, 2.537,-2.930, PHS=-0.329, 1.180,-0.860, RAW= 344.5,   0.1, CAL= 344.1,  -2.9, ROT= 165.9,   2.9

2025-10-26T22:10:50.804Z,1761516650.804 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-10-26T22:10:50.804Z,1761516650.804 [DAT](INFO): direction in FSK: [-0.968630,0.243303,-0.050593]
2025-10-26T22:10:50.805Z,1761516650.805 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:50.821Z,1761516650.821 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=20.996645
2025-10-26T22:10:50.853Z,1761516650.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.400000 m,
      deltaT: 0.502850 s,
      deltaX: 0.299999 m,
      approachRate: 0.596598 m/s,
      rangeRepo size: 4

2025-10-26T22:10:50.855Z,1761516650.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.337090 m,
      bearing: 222.360064 deg,
      lat: 36.779398 deg,
      lon: -121.859456 deg,
      deltaT: 0.502850 s,
      deltaX: 0.298184 m,
      approachRate: 0.592989 m/s,
      posRepo size: 4

2025-10-26T22:10:50.860Z,1761516650.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m.
2025-10-26T22:10:50.989Z,1761516650.989 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.164621
2025-10-26T22:10:51.130Z,1761516651.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560159,-0.822471,-0.098812],[0.828349,0.557249,0.057543],[0.007735,-0.114084,0.993441]]
2025-10-26T22:10:51.183Z,1761516651.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m.
2025-10-26T22:10:51.244Z,1761516651.244 [DAT](INFO): DAT read: Rx Time:22:10:50.1266 

2025-10-26T22:10:51.246Z,1761516651.246 [DAT](INFO): Rx dataTimestamp_ set to:1761516651.245105
2025-10-26T22:10:51.251Z,1761516651.251 [DAT](INFO): DAT read: Bearing  19.4,  14.0 (Local)

2025-10-26T22:10:51.252Z,1761516651.252 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.4,  14.0 (Local)

2025-10-26T22:10:51.265Z,1761516651.265 [DAT](INFO): DAT read: Range 11 to 50 :    10.5 m (trip time 7.0 ms) speed -0.3

2025-10-26T22:10:51.274Z,1761516651.274 [DAT](INFO): DAT read: 22:10:50.1266 LVL= 29824, 18817, 32754, 32755, AGC= 64, IDX= 511, 0.17,-2.518,-0.970,-2.901,-2.077, PHS=-0.339, 1.152,-0.868, RAW= 344.6,   0.6, CAL= 344.2,  -2.3, ROT= 165.8,   2.3

2025-10-26T22:10:51.280Z,1761516651.280 [DAT](INFO): got valid direction response:
 22:10:50.1266 LVL= 29824, 18817, 32754, 32755, AGC= 64, IDX= 511, 0.17,-2.518,-0.970,-2.901,-2.077, PHS=-0.339, 1.152,-0.868, RAW= 344.6,   0.6, CAL= 344.2,  -2.3, ROT= 165.8,   2.3

2025-10-26T22:10:51.280Z,1761516651.280 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-26T22:10:51.282Z,1761516651.282 [DAT](INFO): direction in FSK: [-0.968664,0.245110,-0.040132]
2025-10-26T22:10:51.282Z,1761516651.282 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:51.298Z,1761516651.298 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.474092
2025-10-26T22:10:51.492Z,1761516651.492 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.668575
2025-10-26T22:10:51.531Z,1761516651.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560829,-0.822564,-0.094125],[0.827887,0.558348,0.053403],[0.008627,-0.107874,0.994127]]
2025-10-26T22:10:51.564Z,1761516651.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.503800 s,
      deltaX: 0.100000 m,
      approachRate: 0.198492 m/s,
      rangeRepo size: 4

2025-10-26T22:10:51.566Z,1761516651.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.436490 m,
      bearing: 221.997645 deg,
      lat: 36.779398 deg,
      lon: -121.859456 deg,
      deltaT: 0.503800 s,
      deltaX: 0.099400 m,
      approachRate: 0.197300 m/s,
      posRepo size: 4

2025-10-26T22:10:51.567Z,1761516651.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.44 m.
2025-10-26T22:10:51.750Z,1761516651.750 [DAT](INFO): DAT read: Rx Time:22:10:50.6268 

2025-10-26T22:10:51.774Z,1761516651.774 [DAT](INFO): Rx dataTimestamp_ set to:1761516651.750872
2025-10-26T22:10:51.778Z,1761516651.778 [DAT](INFO): DAT read: Bearing  19.4,  13.8 (Local)

2025-10-26T22:10:51.779Z,1761516651.779 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.4,  13.8 (Local)

2025-10-26T22:10:51.781Z,1761516651.781 [DAT](INFO): DAT read: Range 11 to 50 :    10.8 m (trip time 7.2 ms) speed -0.4

2025-10-26T22:10:51.786Z,1761516651.786 [DAT](INFO): DAT read: 22:10:50.6268 LVL= 29296, 19953, 28850, 32755, AGC= 68, IDX=   2,-0.17,-3.133,-1.579, 2.771,-2.689, PHS=-0.343, 1.155,-0.867, RAW= 344.5,   0.6, CAL= 344.0,  -2.3, ROT= 166.0,   2.3

2025-10-26T22:10:51.788Z,1761516651.788 [DAT](INFO): got valid direction response:
 22:10:50.6268 LVL= 29296, 19953, 28850, 32755, AGC= 68, IDX=   2,-0.17,-3.133,-1.579, 2.771,-2.689, PHS=-0.343, 1.155,-0.867, RAW= 344.5,   0.6, CAL= 344.0,  -2.3, ROT= 166.0,   2.3

2025-10-26T22:10:51.789Z,1761516651.789 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-10-26T22:10:51.790Z,1761516651.790 [DAT](INFO): direction in FSK: [-0.969514,0.241727,-0.040132]
2025-10-26T22:10:51.790Z,1761516651.790 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:51.796Z,1761516651.796 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.972235
2025-10-26T22:10:51.938Z,1761516651.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561446,-0.822677,-0.089336],[0.827458,0.559373,0.049141],[0.009544,-0.101512,0.994789]]
2025-10-26T22:10:51.990Z,1761516651.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.505767 s,
      deltaX: 0.300000 m,
      approachRate: 0.593159 m/s,
      rangeRepo size: 4

2025-10-26T22:10:51.993Z,1761516651.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.734675 m,
      bearing: 222.129937 deg,
      lat: 36.779397 deg,
      lon: -121.859456 deg,
      deltaT: 0.505767 s,
      deltaX: 0.298185 m,
      approachRate: 0.589571 m/s,
      posRepo size: 4

2025-10-26T22:10:51.993Z,1761516651.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m.
2025-10-26T22:10:51.997Z,1761516651.997 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.172668
2025-10-26T22:10:52.253Z,1761516652.253 [DAT](INFO): DAT read: Rx Time:22:10:51.1269 

2025-10-26T22:10:52.255Z,1761516652.255 [DAT](INFO): Rx dataTimestamp_ set to:1761516652.253891
2025-10-26T22:10:52.257Z,1761516652.257 [DAT](INFO): DAT read: Bearing  18.6,  14.1 (Local)

2025-10-26T22:10:52.257Z,1761516652.257 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.6,  14.1 (Local)

2025-10-26T22:10:52.260Z,1761516652.260 [DAT](INFO): DAT read: Range 11 to 50 :    11.0 m (trip time 7.3 ms) speed -0.4

2025-10-26T22:10:52.264Z,1761516652.264 [DAT](INFO): DAT read: 22:10:51.1269 LVL= 29920, 19297, 32754, 32755, AGC= 65, IDX= 498, 0.28,-2.245,-0.722,-2.635,-1.793, PHS=-0.350, 1.116,-0.886, RAW= 345.0,   1.4, CAL= 344.5,  -1.6, ROT= 165.5,   1.6

2025-10-26T22:10:52.265Z,1761516652.265 [DAT](INFO): got valid direction response:
 22:10:51.1269 LVL= 29920, 19297, 32754, 32755, AGC= 65, IDX= 498, 0.28,-2.245,-0.722,-2.635,-1.793, PHS=-0.350, 1.116,-0.886, RAW= 345.0,   1.4, CAL= 344.5,  -1.6, ROT= 165.5,   1.6

2025-10-26T22:10:52.266Z,1761516652.266 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-10-26T22:10:52.266Z,1761516652.266 [DAT](INFO): direction in FSK: [-0.967770,0.250282,-0.027922]
2025-10-26T22:10:52.267Z,1761516652.267 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:52.270Z,1761516652.270 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.446617
2025-10-26T22:10:52.364Z,1761516652.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561973,-0.822832,-0.084465],[0.827091,0.560269,0.044932],[0.010351,-0.095111,0.995413]]
2025-10-26T22:10:52.481Z,1761516652.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 0.503019 s,
      deltaX: 0.200000 m,
      approachRate: 0.397599 m/s,
      rangeRepo size: 4

2025-10-26T22:10:52.483Z,1761516652.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.933466 m,
      bearing: 221.507833 deg,
      lat: 36.779397 deg,
      lon: -121.859455 deg,
      deltaT: 0.503019 s,
      deltaX: 0.198791 m,
      approachRate: 0.395195 m/s,
      posRepo size: 4

2025-10-26T22:10:52.488Z,1761516652.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.93 m.
2025-10-26T22:10:52.500Z,1761516652.500 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.676594
2025-10-26T22:10:52.756Z,1761516652.756 [DAT](INFO): DAT read: Rx Time:22:10:51.6270 

2025-10-26T22:10:52.757Z,1761516652.757 [DAT](INFO): Rx dataTimestamp_ set to:1761516652.756350
2025-10-26T22:10:52.758Z,1761516652.758 [DAT](INFO): DAT read: Bearing  19.5,  13.0 (Local)

2025-10-26T22:10:52.758Z,1761516652.758 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.5,  13.0 (Local)

2025-10-26T22:10:52.760Z,1761516652.760 [DAT](INFO): DAT read: Range 11 to 50 :    11.1 m (trip time 7.4 ms) speed -0.4

2025-10-26T22:10:52.775Z,1761516652.775 [DAT](INFO): DAT read: 22:10:51.6270 LVL= 28624, 18673, 32754, 32755, AGC= 64, IDX= 500,-0.11, 2.129,-2.583, 1.772, 2.584, PHS=-0.354, 1.161,-0.857, RAW= 343.9,   0.6, CAL= 343.4,  -2.4, ROT= 166.6,   2.4

2025-10-26T22:10:52.776Z,1761516652.776 [DAT](INFO): got valid direction response:
 22:10:51.6270 LVL= 28624, 18673, 32754, 32755, AGC= 64, IDX= 500,-0.11, 2.129,-2.583, 1.772, 2.584, PHS=-0.354, 1.161,-0.857, RAW= 343.9,   0.6, CAL= 343.4,  -2.4, ROT= 166.6,   2.4

2025-10-26T22:10:52.776Z,1761516652.776 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-10-26T22:10:52.777Z,1761516652.777 [DAT](INFO): direction in FSK: [-0.971923,0.231545,-0.041876]
2025-10-26T22:10:52.777Z,1761516652.777 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:52.828Z,1761516652.828 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.003872
2025-10-26T22:10:52.881Z,1761516652.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562292,-0.822898,-0.081646],[0.826863,0.560829,0.042057],[0.011181,-0.091158,0.995774]]
2025-10-26T22:10:52.940Z,1761516652.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.502459 s,
      deltaX: 0.100000 m,
      approachRate: 0.199022 m/s,
      rangeRepo size: 4

2025-10-26T22:10:52.942Z,1761516652.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.032858 m,
      bearing: 222.640183 deg,
      lat: 36.779397 deg,
      lon: -121.859455 deg,
      deltaT: 0.502459 s,
      deltaX: 0.099392 m,
      approachRate: 0.197811 m/s,
      posRepo size: 4

2025-10-26T22:10:52.943Z,1761516652.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m.
2025-10-26T22:10:53.004Z,1761516653.004 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.180481
2025-10-26T22:10:53.258Z,1761516653.258 [DAT](INFO): DAT read: Rx Time:22:10:52.1271 

2025-10-26T22:10:53.258Z,1761516653.258 [DAT](INFO): Rx dataTimestamp_ set to:1761516653.257786
2025-10-26T22:10:53.260Z,1761516653.260 [DAT](INFO): DAT read: Bearing  18.0,  13.3 (Local)

2025-10-26T22:10:53.261Z,1761516653.261 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.0,  13.3 (Local)

2025-10-26T22:10:53.264Z,1761516653.264 [DAT](INFO): DAT read: Range 11 to 50 :    11.3 m (trip time 7.5 ms) speed -0.2

2025-10-26T22:10:53.270Z,1761516653.270 [DAT](INFO): DAT read: 22:10:52.1271 LVL= 30624, 22929, 32754, 32755, AGC= 67, IDX= 500, 0.21,-3.081,-1.547, 2.838,-2.599, PHS=-0.380, 1.097,-0.890, RAW= 344.3,   2.0, CAL= 343.8,  -1.0, ROT= 166.2,   1.0

2025-10-26T22:10:53.271Z,1761516653.271 [DAT](INFO): got valid direction response:
 22:10:52.1271 LVL= 30624, 22929, 32754, 32755, AGC= 67, IDX= 500, 0.21,-3.081,-1.547, 2.838,-2.599, PHS=-0.380, 1.097,-0.890, RAW= 344.3,   2.0, CAL= 343.8,  -1.0, ROT= 166.2,   1.0

2025-10-26T22:10:53.271Z,1761516653.271 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-10-26T22:10:53.273Z,1761516653.273 [DAT](INFO): direction in FSK: [-0.970986,0.238497,-0.017452]
2025-10-26T22:10:53.273Z,1761516653.273 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:53.305Z,1761516653.305 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.481089
2025-10-26T22:10:53.420Z,1761516653.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563693,-0.822411,-0.076743],[0.825890,0.562593,0.037346],[0.012461,-0.084433,0.996351]]
2025-10-26T22:10:53.509Z,1761516653.509 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.684643
2025-10-26T22:10:53.509Z,1761516653.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.501436 s,
      deltaX: 0.200000 m,
      approachRate: 0.398854 m/s,
      rangeRepo size: 4

2025-10-26T22:10:53.511Z,1761516653.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.231647 m,
      bearing: 222.007495 deg,
      lat: 36.779397 deg,
      lon: -121.859454 deg,
      deltaT: 0.501436 s,
      deltaX: 0.198790 m,
      approachRate: 0.396441 m/s,
      posRepo size: 4

2025-10-26T22:10:53.516Z,1761516653.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-10-26T22:10:53.762Z,1761516653.762 [DAT](INFO): DAT read: Rx Time:22:10:52.6273 

2025-10-26T22:10:53.763Z,1761516653.763 [DAT](INFO): Rx dataTimestamp_ set to:1761516653.762408
2025-10-26T22:10:53.764Z,1761516653.764 [DAT](INFO): DAT read: Bearing  19.3,  12.1 (Local)

2025-10-26T22:10:53.766Z,1761516653.766 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.3,  12.1 (Local)

2025-10-26T22:10:53.772Z,1761516653.772 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed -0.4

2025-10-26T22:10:53.782Z,1761516653.782 [DAT](INFO): DAT read: 22:10:52.6273 LVL= 29168, 21889, 32754, 32755, AGC= 64, IDX= 503,-0.26, 2.748,-1.946, 2.420,-3.057, PHS=-0.377, 1.156,-0.851, RAW= 343.1,   0.8, CAL= 342.6,  -2.1, ROT= 167.4,   2.1

2025-10-26T22:10:53.783Z,1761516653.783 [DAT](INFO): got valid direction response:
 22:10:52.6273 LVL= 29168, 21889, 32754, 32755, AGC= 64, IDX= 503,-0.26, 2.748,-1.946, 2.420,-3.057, PHS=-0.377, 1.156,-0.851, RAW= 343.1,   0.8, CAL= 342.6,  -2.1, ROT= 167.4,   2.1

2025-10-26T22:10:53.784Z,1761516653.784 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-10-26T22:10:53.785Z,1761516653.785 [DAT](INFO): direction in FSK: [-0.975261,0.217997,-0.036644]
2025-10-26T22:10:53.785Z,1761516653.785 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:53.791Z,1761516653.791 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.966970
2025-10-26T22:10:53.930Z,1761516653.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564503,-0.821988,-0.075317],[0.825330,0.563504,0.035962],[0.012881,-0.082462,0.996511]]
2025-10-26T22:10:53.962Z,1761516653.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.504622 s,
      deltaX: 0.300000 m,
      approachRate: 0.594505 m/s,
      rangeRepo size: 4

2025-10-26T22:10:53.964Z,1761516653.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.529819 m,
      bearing: 223.230129 deg,
      lat: 36.779397 deg,
      lon: -121.859455 deg,
      deltaT: 0.504622 s,
      deltaX: 0.298172 m,
      approachRate: 0.590882 m/s,
      posRepo size: 4

2025-10-26T22:10:53.965Z,1761516653.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-10-26T22:10:54.014Z,1761516654.014 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.189539
2025-10-26T22:10:54.265Z,1761516654.265 [DAT](INFO): DAT read: Rx Time:22:10:53.1273 

2025-10-26T22:10:54.265Z,1761516654.265 [DAT](INFO): Rx dataTimestamp_ set to:1761516654.265195
2025-10-26T22:10:54.267Z,1761516654.267 [DAT](INFO): DAT read: Bearing  18.2,  12.5 (Local)

2025-10-26T22:10:54.267Z,1761516654.267 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.2,  12.5 (Local)

2025-10-26T22:10:54.269Z,1761516654.269 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed -0.3

2025-10-26T22:10:54.274Z,1761516654.274 [DAT](INFO): DAT read: 22:10:53.1273 LVL= 30432, 26353, 32754, 32755, AGC= 67, IDX= 503, 0.01, 2.862,-1.869, 2.522,-2.931, PHS=-0.388, 1.107,-0.874, RAW= 343.6,   1.8, CAL= 343.1,  -1.2, ROT= 166.9,   1.2

2025-10-26T22:10:54.285Z,1761516654.285 [DAT](INFO): got valid direction response:
 22:10:53.1273 LVL= 30432, 26353, 32754, 32755, AGC= 67, IDX= 503, 0.01, 2.862,-1.869, 2.522,-2.931, PHS=-0.388, 1.107,-0.874, RAW= 343.6,   1.8, CAL= 343.1,  -1.2, ROT= 166.9,   1.2

2025-10-26T22:10:54.285Z,1761516654.285 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-10-26T22:10:54.286Z,1761516654.286 [DAT](INFO): direction in FSK: [-0.973762,0.226602,-0.020942]
2025-10-26T22:10:54.286Z,1761516654.286 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:54.290Z,1761516654.290 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.466053
2025-10-26T22:10:54.326Z,1761516654.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565028,-0.821602,-0.075591],[0.824964,0.564059,0.035665],[0.013335,-0.082512,0.996501]]
2025-10-26T22:10:54.427Z,1761516654.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.502787 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:10:54.433Z,1761516654.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.529819 m,
      bearing: 222.624039 deg,
      lat: 36.779398 deg,
      lon: -121.859455 deg,
      deltaT: 0.502787 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:10:54.434Z,1761516654.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-10-26T22:10:54.517Z,1761516654.517 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.693535
2025-10-26T22:10:54.760Z,1761516654.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566141,-0.820840,-0.075540],[0.824196,0.565193,0.035461],[0.013587,-0.082336,0.996512]]
2025-10-26T22:10:54.777Z,1761516654.777 [DAT](INFO): DAT read: Rx Time:22:10:53.6275 

2025-10-26T22:10:54.777Z,1761516654.777 [DAT](INFO): Rx dataTimestamp_ set to:1761516654.777100
2025-10-26T22:10:54.779Z,1761516654.779 [DAT](INFO): DAT read: Bearing  18.7,  11.4 (Local)

2025-10-26T22:10:54.779Z,1761516654.779 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.7,  11.4 (Local)

2025-10-26T22:10:54.781Z,1761516654.781 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed -0.1

2025-10-26T22:10:54.786Z,1761516654.786 [DAT](INFO): DAT read: 22:10:53.6275 LVL= 31600, 21425, 32754, 32755, AGC= 65, IDX= 505, 0.29,-1.498, 0.105,-1.810,-0.996, PHS=-0.400, 1.146,-0.858, RAW= 342.6,   1.3, CAL= 342.1,  -1.7, ROT= 167.9,   1.7

2025-10-26T22:10:54.787Z,1761516654.787 [DAT](INFO): got valid direction response:
 22:10:53.6275 LVL= 31600, 21425, 32754, 32755, AGC= 65, IDX= 505, 0.29,-1.498, 0.105,-1.810,-0.996, PHS=-0.400, 1.146,-0.858, RAW= 342.6,   1.3, CAL= 342.1,  -1.7, ROT= 167.9,   1.7

2025-10-26T22:10:54.787Z,1761516654.787 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-10-26T22:10:54.788Z,1761516654.788 [DAT](INFO): direction in FSK: [-0.977353,0.209526,-0.029666]
2025-10-26T22:10:54.788Z,1761516654.788 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:54.792Z,1761516654.792 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.968224
2025-10-26T22:10:54.809Z,1761516654.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.511905 s,
      deltaX: 0.299999 m,
      approachRate: 0.586045 m/s,
      rangeRepo size: 4

2025-10-26T22:10:54.812Z,1761516654.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.828004 m,
      bearing: 223.583091 deg,
      lat: 36.779398 deg,
      lon: -121.859455 deg,
      deltaT: 0.511905 s,
      deltaX: 0.298184 m,
      approachRate: 0.582500 m/s,
      posRepo size: 4

2025-10-26T22:10:54.812Z,1761516654.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-10-26T22:10:55.029Z,1761516655.029 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.205063
2025-10-26T22:10:55.147Z,1761516655.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567265,-0.820008,-0.076140],[0.823417,0.566320,0.035568],[0.013954,-0.082872,0.996463]]
2025-10-26T22:10:55.174Z,1761516655.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-10-26T22:10:55.281Z,1761516655.281 [DAT](INFO): DAT read: Rx Time:22:10:54.1276 

2025-10-26T22:10:55.282Z,1761516655.282 [DAT](INFO): Rx dataTimestamp_ set to:1761516655.281244
2025-10-26T22:10:55.283Z,1761516655.283 [DAT](INFO): DAT read: Bearing  19.0,  10.9 (Local)

2025-10-26T22:10:55.283Z,1761516655.283 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.0,  10.9 (Local)

2025-10-26T22:10:55.285Z,1761516655.285 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed -0.1

2025-10-26T22:10:55.290Z,1761516655.290 [DAT](INFO): DAT read: 22:10:54.1276 LVL= 31616, 19281, 32754, 32755, AGC= 65, IDX= 506,-0.33, 1.871,-2.788, 1.576, 2.374, PHS=-0.402, 1.166,-0.843, RAW= 342.1,   0.9, CAL= 341.6,  -2.0, ROT= 168.4,   2.0

2025-10-26T22:10:55.291Z,1761516655.291 [DAT](INFO): got valid direction response:
 22:10:54.1276 LVL= 31616, 19281, 32754, 32755, AGC= 65, IDX= 506,-0.33, 1.871,-2.788, 1.576, 2.374, PHS=-0.402, 1.166,-0.843, RAW= 342.1,   0.9, CAL= 341.6,  -2.0, ROT= 168.4,   2.0

2025-10-26T22:10:55.292Z,1761516655.292 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-10-26T22:10:55.293Z,1761516655.293 [DAT](INFO): direction in FSK: [-0.978978,0.200956,-0.034899]
2025-10-26T22:10:55.293Z,1761516655.293 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:55.297Z,1761516655.297 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.472853
2025-10-26T22:10:55.532Z,1761516655.532 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.708527
2025-10-26T22:10:55.540Z,1761516655.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568645,-0.819103,-0.075586],[0.822457,0.567759,0.034846],[0.014372,-0.081981,0.996530]]
2025-10-26T22:10:55.601Z,1761516655.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.504144 s,
      deltaX: 0.100000 m,
      approachRate: 0.198357 m/s,
      rangeRepo size: 4

2025-10-26T22:10:55.604Z,1761516655.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.927394 m,
      bearing: 223.929411 deg,
      lat: 36.779399 deg,
      lon: -121.859457 deg,
      deltaT: 0.504144 s,
      deltaX: 0.099390 m,
      approachRate: 0.197146 m/s,
      posRepo size: 4

2025-10-26T22:10:55.604Z,1761516655.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-10-26T22:10:55.785Z,1761516655.785 [DAT](INFO): DAT read: Rx Time:22:10:54.6278 

2025-10-26T22:10:55.786Z,1761516655.786 [DAT](INFO): Rx dataTimestamp_ set to:1761516655.785215
2025-10-26T22:10:55.787Z,1761516655.787 [DAT](INFO): DAT read: Bearing  18.6,  10.8 (Local)

2025-10-26T22:10:55.787Z,1761516655.787 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.6,  10.8 (Local)

2025-10-26T22:10:55.789Z,1761516655.789 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed -0.3

2025-10-26T22:10:55.794Z,1761516655.794 [DAT](INFO): DAT read: 22:10:54.6278 LVL= 31056, 19441, 32754, 32755, AGC= 67, IDX= 508,-0.09, 2.980,-1.687, 2.691,-2.789, PHS=-0.412, 1.147,-0.847, RAW= 342.0,   1.3, CAL= 341.5,  -1.6, ROT= 168.5,   1.6

2025-10-26T22:10:55.795Z,1761516655.795 [DAT](INFO): got valid direction response:
 22:10:54.6278 LVL= 31056, 19441, 32754, 32755, AGC= 67, IDX= 508,-0.09, 2.980,-1.687, 2.691,-2.789, PHS=-0.412, 1.147,-0.847, RAW= 342.0,   1.3, CAL= 341.5,  -1.6, ROT= 168.5,   1.6

2025-10-26T22:10:55.795Z,1761516655.795 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-10-26T22:10:55.796Z,1761516655.796 [DAT](INFO): direction in FSK: [-0.979543,0.199290,-0.027922]
2025-10-26T22:10:55.797Z,1761516655.797 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:55.806Z,1761516655.806 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.981756
2025-10-26T22:10:56.012Z,1761516656.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569885,-0.818341,-0.074489],[0.821595,0.569060,0.033951],[0.014606,-0.080548,0.996644]]
2025-10-26T22:10:56.044Z,1761516656.044 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.220617
2025-10-26T22:10:56.052Z,1761516656.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.503971 s,
      deltaX: 0.300000 m,
      approachRate: 0.595273 m/s,
      rangeRepo size: 4

2025-10-26T22:10:56.054Z,1761516656.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.225581 m,
      bearing: 223.907943 deg,
      lat: 36.779399 deg,
      lon: -121.859458 deg,
      deltaT: 0.503971 s,
      deltaX: 0.298187 m,
      approachRate: 0.591675 m/s,
      posRepo size: 4

2025-10-26T22:10:56.055Z,1761516656.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m.
2025-10-26T22:10:56.297Z,1761516656.297 [DAT](INFO): DAT read: Rx Time:22:10:55.1278 

2025-10-26T22:10:56.297Z,1761516656.297 [DAT](INFO): Rx dataTimestamp_ set to:1761516656.297064
2025-10-26T22:10:56.299Z,1761516656.299 [DAT](INFO): DAT read: Bearing  18.3,  10.7 (Local)

2025-10-26T22:10:56.299Z,1761516656.299 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.3,  10.7 (Local)

2025-10-26T22:10:56.301Z,1761516656.301 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed -0.1

2025-10-26T22:10:56.306Z,1761516656.306 [DAT](INFO): DAT read: 22:10:55.1278 LVL= 28864, 19521, 32754, 32755, AGC= 68, IDX= 508, 0.10, 2.615,-2.061, 2.325, 3.132, PHS=-0.415, 1.136,-0.851, RAW= 342.1,   1.5, CAL= 341.6,  -1.4, ROT= 168.4,   1.4

2025-10-26T22:10:56.307Z,1761516656.307 [DAT](INFO): got valid direction response:
 22:10:55.1278 LVL= 28864, 19521, 32754, 32755, AGC= 68, IDX= 508, 0.10, 2.615,-2.061, 2.325, 3.132, PHS=-0.415, 1.136,-0.851, RAW= 342.1,   1.5, CAL= 341.6,  -1.4, ROT= 168.4,   1.4

2025-10-26T22:10:56.307Z,1761516656.307 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-10-26T22:10:56.308Z,1761516656.308 [DAT](INFO): direction in FSK: [-0.979283,0.201018,-0.024432]
2025-10-26T22:10:56.308Z,1761516656.308 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:56.312Z,1761516656.312 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.488344
2025-10-26T22:10:56.503Z,1761516656.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.511849 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:10:56.509Z,1761516656.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.225581 m,
      bearing: 223.792853 deg,
      lat: 36.779400 deg,
      lon: -121.859458 deg,
      deltaT: 0.511849 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:10:56.509Z,1761516656.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m.
2025-10-26T22:10:56.549Z,1761516656.549 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.724735
2025-10-26T22:10:56.801Z,1761516656.801 [DAT](INFO): DAT read: Rx Time:22:10:55.6279 

2025-10-26T22:10:56.801Z,1761516656.801 [DAT](INFO): Rx dataTimestamp_ set to:1761516656.801141
2025-10-26T22:10:56.803Z,1761516656.803 [DAT](INFO): DAT read: Bearing  17.3,  10.8 (Local)

2025-10-26T22:10:56.803Z,1761516656.803 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.3,  10.8 (Local)

2025-10-26T22:10:56.810Z,1761516656.810 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.4

2025-10-26T22:10:56.815Z,1761516656.815 [DAT](INFO): DAT read: 22:10:55.6279 LVL= 32752, 24337, 32754, 32755, AGC= 70, IDX= 509, 0.34, 1.909,-2.752, 1.609, 2.457, PHS=-0.446, 1.120,-0.891, RAW= 342.2,   2.4, CAL= 341.7,  -0.5, ROT= 168.3,   0.5

2025-10-26T22:10:56.820Z,1761516656.820 [DAT](INFO): got valid direction response:
 22:10:55.6279 LVL= 32752, 24337, 32754, 32755, AGC= 70, IDX= 509, 0.34, 1.909,-2.752, 1.609, 2.457, PHS=-0.446, 1.120,-0.891, RAW= 342.2,   2.4, CAL= 341.7,  -0.5, ROT= 168.3,   0.5

2025-10-26T22:10:56.821Z,1761516656.821 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-10-26T22:10:56.822Z,1761516656.822 [DAT](INFO): direction in FSK: [-0.979186,0.202780,-0.008727]
2025-10-26T22:10:56.822Z,1761516656.822 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:56.826Z,1761516656.826 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.001715
2025-10-26T22:10:56.832Z,1761516656.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572559,-0.816580,-0.073307],[0.819728,0.571798,0.033057],[0.014923,-0.079019,0.996761]]
2025-10-26T22:10:56.873Z,1761516656.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.504077 s,
      deltaX: 0.200000 m,
      approachRate: 0.396764 m/s,
      rangeRepo size: 4

2025-10-26T22:10:56.875Z,1761516656.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.424372 m,
      bearing: 223.435483 deg,
      lat: 36.779400 deg,
      lon: -121.859458 deg,
      deltaT: 0.504077 s,
      deltaX: 0.198791 m,
      approachRate: 0.394365 m/s,
      posRepo size: 4

2025-10-26T22:10:56.882Z,1761516656.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T22:10:57.053Z,1761516657.053 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.228737
2025-10-26T22:10:57.260Z,1761516657.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574084,-0.815594,-0.072347],[0.818656,0.573377,0.032268],[0.015165,-0.077751,0.996857]]
2025-10-26T22:10:57.303Z,1761516657.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T22:10:57.305Z,1761516657.305 [DAT](INFO): DAT read: Rx Time:22:10:56.1280 

2025-10-26T22:10:57.306Z,1761516657.306 [DAT](INFO): Rx dataTimestamp_ set to:1761516657.305294
2025-10-26T22:10:57.307Z,1761516657.307 [DAT](INFO): DAT read: Bearing  18.4,   9.8 (Local)

2025-10-26T22:10:57.307Z,1761516657.307 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.4,   9.8 (Local)

2025-10-26T22:10:57.309Z,1761516657.309 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.2

2025-10-26T22:10:57.356Z,1761516657.356 [DAT](INFO): DAT read: 22:10:56.1280 LVL= 30048, 22001, 32754, 32755, AGC= 69, IDX= 510,-0.30,-2.401,-0.749,-2.663,-1.862, PHS=-0.437, 1.158,-0.844, RAW= 341.1,   1.4, CAL= 340.6,  -1.5, ROT= 169.4,   1.5

2025-10-26T22:10:57.357Z,1761516657.357 [DAT](INFO): got valid direction response:
 22:10:56.1280 LVL= 30048, 22001, 32754, 32755, AGC= 69, IDX= 510,-0.30,-2.401,-0.749,-2.663,-1.862, PHS=-0.437, 1.158,-0.844, RAW= 341.1,   1.4, CAL= 340.6,  -1.5, ROT= 169.4,   1.5

2025-10-26T22:10:57.357Z,1761516657.357 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-10-26T22:10:57.358Z,1761516657.358 [DAT](INFO): direction in FSK: [-0.982598,0.183889,-0.026177]
2025-10-26T22:10:57.359Z,1761516657.359 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:57.366Z,1761516657.366 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.542608
2025-10-26T22:10:57.556Z,1761516657.556 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.732563
2025-10-26T22:10:57.627Z,1761516657.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575578,-0.814559,-0.072135],[0.817604,0.574884,0.032136],[0.015292,-0.077475,0.996877]]
2025-10-26T22:10:57.674Z,1761516657.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.504153 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:10:57.676Z,1761516657.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.424379 m,
      bearing: 224.393023 deg,
      lat: 36.779401 deg,
      lon: -121.859458 deg,
      deltaT: 0.504153 s,
      deltaX: 0.000008 m,
      approachRate: 0.000015 m/s,
      posRepo size: 4

2025-10-26T22:10:57.676Z,1761516657.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-10-26T22:10:57.814Z,1761516657.814 [DAT](INFO): DAT read: Rx Time:22:10:56.6282 

2025-10-26T22:10:57.814Z,1761516657.814 [DAT](INFO): Rx dataTimestamp_ set to:1761516657.813903
2025-10-26T22:10:57.816Z,1761516657.816 [DAT](INFO): DAT read: Bearing  14.7,   2.6 (Local)

2025-10-26T22:10:57.816Z,1761516657.816 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.7,   2.6 (Local)

2025-10-26T22:10:57.818Z,1761516657.818 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed 0.0

2025-10-26T22:10:57.824Z,1761516657.824 [DAT](INFO): DAT read: 22:10:56.6282 LVL= 31264, 23265, 32754, 32755, AGC= 71, IDX= 512,-0.13, 2.323,-1.854, 2.270,-3.083, PHS=-0.775, 1.274,-0.974, RAW= 334.6,   4.5, CAL= 333.8,   2.6, ROT= 176.2,  -2.6

2025-10-26T22:10:57.825Z,1761516657.825 [DAT](INFO): got valid direction response:
 22:10:56.6282 LVL= 31264, 23265, 32754, 32755, AGC= 71, IDX= 512,-0.13, 2.323,-1.854, 2.270,-3.083, PHS=-0.775, 1.274,-0.974, RAW= 334.6,   4.5, CAL= 333.8,   2.6, ROT= 176.2,  -2.6

2025-10-26T22:10:57.826Z,1761516657.826 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-10-26T22:10:57.844Z,1761516657.844 [DAT](INFO): direction in FSK: [-0.996774,0.066206,0.045363]
2025-10-26T22:10:57.844Z,1761516657.844 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:57.850Z,1761516657.850 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.026430
2025-10-26T22:10:58.052Z,1761516658.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577158,-0.813453,-0.071995],[0.816485,0.576485,0.031905],[0.015551,-0.077197,0.996895]]
2025-10-26T22:10:58.061Z,1761516658.061 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.236649
2025-10-26T22:10:58.081Z,1761516658.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.508609 s,
      deltaX: 0.300000 m,
      approachRate: 0.589844 m/s,
      rangeRepo size: 4

2025-10-26T22:10:58.084Z,1761516658.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.722563 m,
      bearing: 230.757163 deg,
      lat: 36.779401 deg,
      lon: -121.859458 deg,
      deltaT: 0.508609 s,
      deltaX: 0.298183 m,
      approachRate: 0.586272 m/s,
      posRepo size: 4

2025-10-26T22:10:58.084Z,1761516658.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.72 m.
2025-10-26T22:10:58.313Z,1761516658.313 [DAT](INFO): DAT read: Rx Time:22:10:57.1281 

2025-10-26T22:10:58.314Z,1761516658.314 [DAT](INFO): Rx dataTimestamp_ set to:1761516658.313319
2025-10-26T22:10:58.315Z,1761516658.315 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed -0.1

2025-10-26T22:10:58.316Z,1761516658.316 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-10-26T22:10:58.317Z,1761516658.317 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.493467
2025-10-26T22:10:58.514Z,1761516658.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.499416 s,
      deltaX: -0.200000 m,
      approachRate: -0.400467 m/s,
      rangeRepo size: 4

2025-10-26T22:10:58.514Z,1761516658.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.72 m.
2025-10-26T22:10:58.564Z,1761516658.564 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.740610
2025-10-26T22:10:58.817Z,1761516658.817 [DAT](INFO): DAT read: Rx Time:22:10:57.6283 

2025-10-26T22:10:58.817Z,1761516658.817 [DAT](INFO): Rx dataTimestamp_ set to:1761516658.817175
2025-10-26T22:10:58.819Z,1761516658.819 [DAT](INFO): DAT read: Bearing  17.3,  10.3 (Local)

2025-10-26T22:10:58.819Z,1761516658.819 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.3,  10.3 (Local)

2025-10-26T22:10:58.821Z,1761516658.821 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed -0.3

2025-10-26T22:10:58.826Z,1761516658.826 [DAT](INFO): DAT read: 22:10:57.6283 LVL= 32752, 30449, 32754, 32755, AGC= 72, IDX=   2, 0.01,-0.023, 1.608,-0.308, 0.524, PHS=-0.445, 1.128,-0.876, RAW= 341.8,   2.1, CAL= 341.3,  -0.7, ROT= 168.7,   0.7

2025-10-26T22:10:58.827Z,1761516658.827 [DAT](INFO): got valid direction response:
 22:10:57.6283 LVL= 32752, 30449, 32754, 32755, AGC= 72, IDX=   2, 0.01,-0.023, 1.608,-0.308, 0.524, PHS=-0.445, 1.128,-0.876, RAW= 341.8,   2.1, CAL= 341.3,  -0.7, ROT= 168.7,   0.7

2025-10-26T22:10:58.827Z,1761516658.827 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-26T22:10:58.828Z,1761516658.828 [DAT](INFO): direction in FSK: [-0.980541,0.195931,-0.012217]
2025-10-26T22:10:58.829Z,1761516658.829 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:58.833Z,1761516658.833 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.008640
2025-10-26T22:10:58.943Z,1761516658.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580659,-0.811098,-0.070395],[0.813992,0.580061,0.030760],[0.015884,-0.075162,0.997045]]
2025-10-26T22:10:58.999Z,1761516658.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.503856 s,
      deltaX: 0.299999 m,
      approachRate: 0.595407 m/s,
      rangeRepo size: 4

2025-10-26T22:10:59.001Z,1761516659.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.821980 m,
      bearing: 223.274576 deg,
      lat: 36.779402 deg,
      lon: -121.859458 deg,
      deltaT: 1.003272 s,
      deltaX: 0.099417 m,
      approachRate: 0.099092 m/s,
      posRepo size: 4

2025-10-26T22:10:59.002Z,1761516659.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-10-26T22:10:59.069Z,1761516659.069 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.245005
2025-10-26T22:10:59.321Z,1761516659.321 [DAT](INFO): DAT read: Rx Time:22:10:58.1283 

2025-10-26T22:10:59.321Z,1761516659.321 [DAT](INFO): Rx dataTimestamp_ set to:1761516659.321034
2025-10-26T22:10:59.323Z,1761516659.323 [DAT](INFO): DAT read: Bearing  17.5,   9.7 (Local)

2025-10-26T22:10:59.323Z,1761516659.323 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.5,   9.7 (Local)

2025-10-26T22:10:59.325Z,1761516659.325 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed 0.0

2025-10-26T22:10:59.330Z,1761516659.330 [DAT](INFO): DAT read: 22:10:58.1283 LVL= 28864, 21409, 32754, 32755, AGC= 69, IDX= 498, 0.10,-0.810, 0.833,-1.073,-0.259, PHS=-0.448, 1.137,-0.858, RAW= 341.2,   1.9, CAL= 340.7,  -1.0, ROT= 169.3,   1.0

2025-10-26T22:10:59.331Z,1761516659.331 [DAT](INFO): got valid direction response:
 22:10:58.1283 LVL= 28864, 21409, 32754, 32755, AGC= 69, IDX= 498, 0.10,-0.810, 0.833,-1.073,-0.259, PHS=-0.448, 1.137,-0.858, RAW= 341.2,   1.9, CAL= 340.7,  -1.0, ROT= 169.3,   1.0

2025-10-26T22:10:59.331Z,1761516659.331 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-26T22:10:59.332Z,1761516659.332 [DAT](INFO): direction in FSK: [-0.982463,0.185638,-0.017452]
2025-10-26T22:10:59.332Z,1761516659.332 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:59.336Z,1761516659.336 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.512011
2025-10-26T22:10:59.340Z,1761516659.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581863,-0.810306,-0.069566],[0.813124,0.581326,0.029827],[0.016272,-0.073921,0.997131]]
2025-10-26T22:10:59.461Z,1761516659.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.503859 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:10:59.468Z,1761516659.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.821980 m,
      bearing: 223.807473 deg,
      lat: 36.779403 deg,
      lon: -121.859458 deg,
      deltaT: 0.503859 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:10:59.468Z,1761516659.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-10-26T22:10:59.575Z,1761516659.575 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.750629
2025-10-26T22:10:59.767Z,1761516659.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583269,-0.809319,-0.069290],[0.812113,0.582751,0.029559],[0.016456,-0.073512,0.997159]]
2025-10-26T22:10:59.790Z,1761516659.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-10-26T22:10:59.829Z,1761516659.829 [DAT](INFO): DAT read: Rx Time:22:10:58.6285 

2025-10-26T22:10:59.829Z,1761516659.829 [DAT](INFO): Rx dataTimestamp_ set to:1761516659.829200
2025-10-26T22:10:59.831Z,1761516659.831 [DAT](INFO): DAT read: Bearing  17.4,   9.7 (Local)

2025-10-26T22:10:59.831Z,1761516659.831 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.4,   9.7 (Local)

2025-10-26T22:10:59.833Z,1761516659.833 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed -0.1

2025-10-26T22:10:59.838Z,1761516659.838 [DAT](INFO): DAT read: 22:10:58.6285 LVL= 32064, 22625, 32754, 32755, AGC= 70, IDX= 500, 0.18, 0.557, 2.212, 0.290, 1.112, PHS=-0.453, 1.145,-0.866, RAW= 341.2,   1.9, CAL= 340.7,  -1.0, ROT= 169.3,   1.0

2025-10-26T22:10:59.839Z,1761516659.839 [DAT](INFO): got valid direction response:
 22:10:58.6285 LVL= 32064, 22625, 32754, 32755, AGC= 70, IDX= 500, 0.18, 0.557, 2.212, 0.290, 1.112, PHS=-0.453, 1.145,-0.866, RAW= 341.2,   1.9, CAL= 340.7,  -1.0, ROT= 169.3,   1.0

2025-10-26T22:10:59.840Z,1761516659.840 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-10-26T22:10:59.841Z,1761516659.841 [DAT](INFO): direction in FSK: [-0.982463,0.185638,-0.017452]
2025-10-26T22:10:59.841Z,1761516659.841 [DAT](INFO): publishing direction and range info
2025-10-26T22:10:59.849Z,1761516659.849 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.024685
2025-10-26T22:11:00.081Z,1761516660.081 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.256712
2025-10-26T22:11:00.142Z,1761516660.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583836,-0.808974,-0.068529],[0.811704,0.583347,0.029033],[0.016489,-0.072576,0.997227]]
2025-10-26T22:11:00.272Z,1761516660.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.508166 s,
      deltaX: 0.300000 m,
      approachRate: 0.590359 m/s,
      rangeRepo size: 4

2025-10-26T22:11:00.274Z,1761516660.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.120161 m,
      bearing: 223.665742 deg,
      lat: 36.779404 deg,
      lon: -121.859458 deg,
      deltaT: 0.508166 s,
      deltaX: 0.298182 m,
      approachRate: 0.586780 m/s,
      posRepo size: 4

2025-10-26T22:11:00.275Z,1761516660.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m.
2025-10-26T22:11:00.335Z,1761516660.335 [DAT](INFO): DAT read: Rx Time:22:10:59.1285 

2025-10-26T22:11:00.335Z,1761516660.335 [DAT](INFO): Rx dataTimestamp_ set to:1761516660.334876
2025-10-26T22:11:00.337Z,1761516660.337 [DAT](INFO): DAT read: Bearing  17.5,  10.3 (Local)

2025-10-26T22:11:00.337Z,1761516660.337 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.5,  10.3 (Local)

2025-10-26T22:11:00.339Z,1761516660.339 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed -0.3

2025-10-26T22:11:00.345Z,1761516660.345 [DAT](INFO): DAT read: 22:10:59.1285 LVL= 31712, 21937, 32754, 32755, AGC= 69, IDX= 500, 0.12, 0.738, 2.382, 0.448, 1.277, PHS=-0.437, 1.150,-0.873, RAW= 341.8,   1.8, CAL= 341.3,  -1.1, ROT= 168.7,   1.1

2025-10-26T22:11:00.347Z,1761516660.347 [DAT](INFO): got valid direction response:
 22:10:59.1285 LVL= 31712, 21937, 32754, 32755, AGC= 69, IDX= 500, 0.12, 0.738, 2.382, 0.448, 1.277, PHS=-0.437, 1.150,-0.873, RAW= 341.8,   1.8, CAL= 341.3,  -1.1, ROT= 168.7,   1.1

2025-10-26T22:11:00.347Z,1761516660.347 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-10-26T22:11:00.356Z,1761516660.356 [DAT](INFO): direction in FSK: [-0.980434,0.195910,-0.019197]
2025-10-26T22:11:00.357Z,1761516660.357 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:00.366Z,1761516660.366 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.542187
2025-10-26T22:11:00.587Z,1761516660.587 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.763145
2025-10-26T22:11:00.642Z,1761516660.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.505676 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:00.645Z,1761516660.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.120161 m,
      bearing: 223.073359 deg,
      lat: 36.779404 deg,
      lon: -121.859458 deg,
      deltaT: 0.505676 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:00.645Z,1761516660.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m.
2025-10-26T22:11:00.841Z,1761516660.841 [DAT](INFO): DAT read: Rx Time:22:10:59.6286 

2025-10-26T22:11:00.841Z,1761516660.841 [DAT](INFO): Rx dataTimestamp_ set to:1761516660.841151
2025-10-26T22:11:00.843Z,1761516660.843 [DAT](INFO): DAT read: Bearing  17.7,  10.0 (Local)

2025-10-26T22:11:00.843Z,1761516660.843 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.7,  10.0 (Local)

2025-10-26T22:11:00.845Z,1761516660.845 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed -0.3

2025-10-26T22:11:00.850Z,1761516660.850 [DAT](INFO): DAT read: 22:10:59.6286 LVL= 30368, 20417, 32754, 32755, AGC= 68, IDX= 501, 0.07, 1.159, 2.817, 0.878, 1.699, PHS=-0.439, 1.162,-0.866, RAW= 341.5,   1.6, CAL= 341.0,  -1.3, ROT= 169.0,   1.3

2025-10-26T22:11:00.852Z,1761516660.852 [DAT](INFO): got valid direction response:
 22:10:59.6286 LVL= 30368, 20417, 32754, 32755, AGC= 68, IDX= 501, 0.07, 1.159, 2.817, 0.878, 1.699, PHS=-0.439, 1.162,-0.866, RAW= 341.5,   1.6, CAL= 341.0,  -1.3, ROT= 169.0,   1.3

2025-10-26T22:11:00.852Z,1761516660.852 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-10-26T22:11:00.853Z,1761516660.853 [DAT](INFO): direction in FSK: [-0.981375,0.190760,-0.022687]
2025-10-26T22:11:00.854Z,1761516660.854 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:00.857Z,1761516660.857 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.033279
2025-10-26T22:11:00.976Z,1761516660.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583872,-0.809041,-0.067428],[0.811679,0.583419,0.028272],[0.016466,-0.071237,0.997323]]
2025-10-26T22:11:01.021Z,1761516661.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.506275 s,
      deltaX: 0.200000 m,
      approachRate: 0.395042 m/s,
      rangeRepo size: 4

2025-10-26T22:11:01.028Z,1761516661.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.318964 m,
      bearing: 223.381441 deg,
      lat: 36.779404 deg,
      lon: -121.859458 deg,
      deltaT: 0.506275 s,
      deltaX: 0.198803 m,
      approachRate: 0.392678 m/s,
      posRepo size: 4

2025-10-26T22:11:01.029Z,1761516661.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.32 m.
2025-10-26T22:11:01.093Z,1761516661.093 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.268744
2025-10-26T22:11:01.345Z,1761516661.345 [DAT](INFO): DAT read: Rx Time:22:11:00.1286 

2025-10-26T22:11:01.345Z,1761516661.345 [DAT](INFO): Rx dataTimestamp_ set to:1761516661.345102
2025-10-26T22:11:01.347Z,1761516661.347 [DAT](INFO): DAT read: Bearing  17.2,  10.2 (Local)

2025-10-26T22:11:01.347Z,1761516661.347 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.2,  10.2 (Local)

2025-10-26T22:11:01.349Z,1761516661.349 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed -0.2

2025-10-26T22:11:01.354Z,1761516661.354 [DAT](INFO): DAT read: 22:11:00.1286 LVL= 31792, 20881, 32754, 32755, AGC= 68, IDX= 501, 0.04, 0.870, 2.511, 0.586, 1.418, PHS=-0.446, 1.137,-0.876, RAW= 341.7,   2.0, CAL= 341.2,  -0.8, ROT= 168.8,   0.8

2025-10-26T22:11:01.355Z,1761516661.355 [DAT](INFO): got valid direction response:
 22:11:00.1286 LVL= 31792, 20881, 32754, 32755, AGC= 68, IDX= 501, 0.04, 0.870, 2.511, 0.586, 1.418, PHS=-0.446, 1.137,-0.876, RAW= 341.7,   2.0, CAL= 341.2,  -0.8, ROT= 168.8,   0.8

2025-10-26T22:11:01.360Z,1761516661.360 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-26T22:11:01.361Z,1761516661.361 [DAT](INFO): direction in FSK: [-0.980860,0.194215,-0.013962]
2025-10-26T22:11:01.361Z,1761516661.361 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:01.364Z,1761516661.364 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.540560
2025-10-26T22:11:01.437Z,1761516661.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584064,-0.808889,-0.067585],[0.811529,0.583654,0.027724],[0.017021,-0.071040,0.997328]]
2025-10-26T22:11:01.538Z,1761516661.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.503951 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:01.541Z,1761516661.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.318964 m,
      bearing: 223.133692 deg,
      lat: 36.779404 deg,
      lon: -121.859458 deg,
      deltaT: 0.503951 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:01.541Z,1761516661.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.32 m.
2025-10-26T22:11:01.597Z,1761516661.597 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.772636
2025-10-26T22:11:01.781Z,1761516661.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583879,-0.809035,-0.067441],[0.811656,0.583502,0.027206],[0.017341,-0.070624,0.997352]]
2025-10-26T22:11:01.816Z,1761516661.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.32 m.
2025-10-26T22:11:01.850Z,1761516661.850 [DAT](INFO): DAT read: Rx Time:22:11:00.6288 

2025-10-26T22:11:01.850Z,1761516661.850 [DAT](INFO): Rx dataTimestamp_ set to:1761516661.850214
2025-10-26T22:11:01.853Z,1761516661.853 [DAT](INFO): DAT read: Bearing  17.5,  10.3 (Local)

2025-10-26T22:11:01.853Z,1761516661.853 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.5,  10.3 (Local)

2025-10-26T22:11:01.856Z,1761516661.856 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.0

2025-10-26T22:11:01.863Z,1761516661.863 [DAT](INFO): DAT read: 22:11:00.6288 LVL= 29936, 21985, 32754, 32755, AGC= 67, IDX= 503, 0.02, 1.997,-2.644, 1.709, 2.537, PHS=-0.438, 1.147,-0.873, RAW= 341.8,   1.8, CAL= 341.3,  -1.1, ROT= 168.7,   1.1

2025-10-26T22:11:01.865Z,1761516661.865 [DAT](INFO): got valid direction response:
 22:11:00.6288 LVL= 29936, 21985, 32754, 32755, AGC= 67, IDX= 503, 0.02, 1.997,-2.644, 1.709, 2.537, PHS=-0.438, 1.147,-0.873, RAW= 341.8,   1.8, CAL= 341.3,  -1.1, ROT= 168.7,   1.1

2025-10-26T22:11:01.866Z,1761516661.866 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-10-26T22:11:01.867Z,1761516661.867 [DAT](INFO): direction in FSK: [-0.980434,0.195910,-0.019197]
2025-10-26T22:11:01.868Z,1761516661.868 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:01.874Z,1761516661.874 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.049881
2025-10-26T22:11:02.100Z,1761516662.100 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.276573
2025-10-26T22:11:02.272Z,1761516662.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.505112 s,
      deltaX: 0.300000 m,
      approachRate: 0.593928 m/s,
      rangeRepo size: 4

2025-10-26T22:11:02.274Z,1761516662.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.617139 m,
      bearing: 223.065697 deg,
      lat: 36.779404 deg,
      lon: -121.859458 deg,
      deltaT: 0.505112 s,
      deltaX: 0.298175 m,
      approachRate: 0.590314 m/s,
      posRepo size: 4

2025-10-26T22:11:02.275Z,1761516662.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.62 m.
2025-10-26T22:11:02.356Z,1761516662.356 [DAT](INFO): DAT read: Rx Time:22:11:01.1288 

2025-10-26T22:11:02.356Z,1761516662.356 [DAT](INFO): Rx dataTimestamp_ set to:1761516662.356197
2025-10-26T22:11:02.358Z,1761516662.358 [DAT](INFO): DAT read: Bearing  17.7,   9.9 (Local)

2025-10-26T22:11:02.358Z,1761516662.358 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.7,   9.9 (Local)

2025-10-26T22:11:02.360Z,1761516662.360 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed -0.7

2025-10-26T22:11:02.365Z,1761516662.365 [DAT](INFO): DAT read: 22:11:01.1288 LVL= 28224, 19681, 32754, 32755, AGC= 66, IDX= 503,-0.03, 0.332, 1.991, 0.054, 0.876, PHS=-0.442, 1.160,-0.867, RAW= 341.5,   1.6, CAL= 341.0,  -1.3, ROT= 169.0,   1.3

2025-10-26T22:11:02.366Z,1761516662.366 [DAT](INFO): got valid direction response:
 22:11:01.1288 LVL= 28224, 19681, 32754, 32755, AGC= 66, IDX= 503,-0.03, 0.332, 1.991, 0.054, 0.876, PHS=-0.442, 1.160,-0.867, RAW= 341.5,   1.6, CAL= 341.0,  -1.3, ROT= 169.0,   1.3

2025-10-26T22:11:02.367Z,1761516662.367 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-26T22:11:02.373Z,1761516662.373 [DAT](INFO): direction in FSK: [-0.981375,0.190760,-0.022687]
2025-10-26T22:11:02.373Z,1761516662.373 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:02.436Z,1761516662.436 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.612495
2025-10-26T22:11:02.588Z,1761516662.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582655,-0.809960,-0.066916],[0.812515,0.582379,0.025586],[0.018247,-0.069278,0.997431]]
2025-10-26T22:11:02.605Z,1761516662.605 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.780636
2025-10-26T22:11:02.664Z,1761516662.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.505983 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:02.666Z,1761516662.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.617139 m,
      bearing: 223.461103 deg,
      lat: 36.779404 deg,
      lon: -121.859458 deg,
      deltaT: 0.505983 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:02.666Z,1761516662.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.62 m.
2025-10-26T22:11:02.857Z,1761516662.857 [DAT](INFO): DAT read: Rx Time:22:11:01.6290 

2025-10-26T22:11:02.857Z,1761516662.857 [DAT](INFO): Rx dataTimestamp_ set to:1761516662.857041
2025-10-26T22:11:02.859Z,1761516662.859 [DAT](INFO): DAT read: Bearing  17.3,  10.3 (Local)

2025-10-26T22:11:02.859Z,1761516662.859 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.3,  10.3 (Local)

2025-10-26T22:11:02.861Z,1761516662.861 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed 0.0

2025-10-26T22:11:02.866Z,1761516662.866 [DAT](INFO): DAT read: 22:11:01.6290 LVL= 30640, 21713, 32754, 32755, AGC= 67, IDX= 505,-0.14, 1.967,-2.684, 1.674, 2.510, PHS=-0.441, 1.134,-0.880, RAW= 342.0,   2.1, CAL= 341.5,  -0.8, ROT= 168.5,   0.8

2025-10-26T22:11:02.867Z,1761516662.867 [DAT](INFO): got valid direction response:
 22:11:01.6290 LVL= 30640, 21713, 32754, 32755, AGC= 67, IDX= 505,-0.14, 1.967,-2.684, 1.674, 2.510, PHS=-0.441, 1.134,-0.880, RAW= 342.0,   2.1, CAL= 341.5,  -0.8, ROT= 168.5,   0.8

2025-10-26T22:11:02.867Z,1761516662.867 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-10-26T22:11:02.868Z,1761516662.868 [DAT](INFO): direction in FSK: [-0.979829,0.199348,-0.013962]
2025-10-26T22:11:02.868Z,1761516662.868 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:02.891Z,1761516662.891 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.051304
2025-10-26T22:11:02.995Z,1761516662.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581403,-0.810792,-0.067726],[0.813395,0.581165,0.025195],[0.018932,-0.069737,0.997386]]
2025-10-26T22:11:03.048Z,1761516663.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.500844 s,
      deltaX: 0.300000 m,
      approachRate: 0.598989 m/s,
      rangeRepo size: 4

2025-10-26T22:11:03.050Z,1761516663.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.915317 m,
      bearing: 223.017364 deg,
      lat: 36.779404 deg,
      lon: -121.859458 deg,
      deltaT: 0.500844 s,
      deltaX: 0.298178 m,
      approachRate: 0.595351 m/s,
      posRepo size: 4

2025-10-26T22:11:03.051Z,1761516663.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m.
2025-10-26T22:11:03.109Z,1761516663.109 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.285503
2025-10-26T22:11:03.361Z,1761516663.361 [DAT](INFO): DAT read: Rx Time:22:11:02.1290 

2025-10-26T22:11:03.361Z,1761516663.361 [DAT](INFO): Rx dataTimestamp_ set to:1761516663.361105
2025-10-26T22:11:03.363Z,1761516663.363 [DAT](INFO): DAT read: Bearing  17.5,  10.1 (Local)

2025-10-26T22:11:03.363Z,1761516663.363 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.5,  10.1 (Local)

2025-10-26T22:11:03.365Z,1761516663.365 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed -0.2

2025-10-26T22:11:03.370Z,1761516663.370 [DAT](INFO): DAT read: 22:11:02.1290 LVL= 29008, 20257, 32754, 32755, AGC= 66, IDX= 505,-0.26, 0.862, 2.511, 0.570, 1.408, PHS=-0.444, 1.148,-0.882, RAW= 341.8,   1.9, CAL= 341.3,  -0.9, ROT= 168.7,   0.9

2025-10-26T22:11:03.371Z,1761516663.371 [DAT](INFO): got valid direction response:
 22:11:02.1290 LVL= 29008, 20257, 32754, 32755, AGC= 66, IDX= 505,-0.26, 0.862, 2.511, 0.570, 1.408, PHS=-0.444, 1.148,-0.882, RAW= 341.8,   1.9, CAL= 341.3,  -0.9, ROT= 168.7,   0.9

2025-10-26T22:11:03.371Z,1761516663.371 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-10-26T22:11:03.372Z,1761516663.372 [DAT](INFO): direction in FSK: [-0.980494,0.195922,-0.015707]
2025-10-26T22:11:03.372Z,1761516663.372 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:03.387Z,1761516663.387 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.562607
2025-10-26T22:11:03.452Z,1761516663.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580556,-0.811369,-0.068074],[0.813987,0.580359,0.024676],[0.019486,-0.069737,0.997375]]
2025-10-26T22:11:03.531Z,1761516663.531 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-10-26T22:11:03.531Z,1761516663.531 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-10-26T22:11:03.531Z,1761516663.531 [RDI_Pathfinder](ERROR): Communications Fault
2025-10-26T22:11:03.585Z,1761516663.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.504064 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:03.587Z,1761516663.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.915317 m,
      bearing: 223.282510 deg,
      lat: 36.779404 deg,
      lon: -121.859458 deg,
      deltaT: 0.504064 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:03.592Z,1761516663.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m.
2025-10-26T22:11:03.613Z,1761516663.613 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.789299
2025-10-26T22:11:03.865Z,1761516663.865 [DAT](INFO): DAT read: Rx Time:22:11:02.6291 

2025-10-26T22:11:03.865Z,1761516663.865 [DAT](INFO): Rx dataTimestamp_ set to:1761516663.865076
2025-10-26T22:11:03.867Z,1761516663.867 [DAT](INFO): DAT read: Bearing  17.3,  10.6 (Local)

2025-10-26T22:11:03.867Z,1761516663.867 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.3,  10.6 (Local)

2025-10-26T22:11:03.869Z,1761516663.869 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed -0.3

2025-10-26T22:11:03.874Z,1761516663.874 [DAT](INFO): DAT read: 22:11:02.6291 LVL= 29120, 21889, 32754, 32755, AGC= 66, IDX= 507,-0.49, 2.611,-2.054, 2.304,-3.136, PHS=-0.434, 1.126,-0.888, RAW= 342.4,   2.2, CAL= 341.9,  -0.7, ROT= 168.1,   0.7

2025-10-26T22:11:03.875Z,1761516663.875 [DAT](INFO): got valid direction response:
 22:11:02.6291 LVL= 29120, 21889, 32754, 32755, AGC= 66, IDX= 507,-0.49, 2.611,-2.054, 2.304,-3.136, PHS=-0.434, 1.126,-0.888, RAW= 342.4,   2.2, CAL= 341.9,  -0.7, ROT= 168.1,   0.7

2025-10-26T22:11:03.875Z,1761516663.875 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-10-26T22:11:03.876Z,1761516663.876 [DAT](INFO): direction in FSK: [-0.978436,0.206189,-0.012217]
2025-10-26T22:11:03.876Z,1761516663.876 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:03.888Z,1761516663.888 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.063919
2025-10-26T22:11:03.948Z,1761516663.948 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-10-26T22:11:03.980Z,1761516663.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578909,-0.812571,-0.067770],[0.815139,0.578797,0.023278],[0.020310,-0.068718,0.997429]]
2025-10-26T22:11:04.064Z,1761516664.064 [RDI_Pathfinder](INFO): Powering down
2025-10-26T22:11:04.089Z,1761516664.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.503971 s,
      deltaX: 0.100000 m,
      approachRate: 0.198425 m/s,
      rangeRepo size: 4

2025-10-26T22:11:04.108Z,1761516664.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.014718 m,
      bearing: 222.783570 deg,
      lat: 36.779404 deg,
      lon: -121.859458 deg,
      deltaT: 0.503971 s,
      deltaX: 0.099401 m,
      approachRate: 0.197236 m/s,
      posRepo size: 4

2025-10-26T22:11:04.108Z,1761516664.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T22:11:04.116Z,1761516664.116 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.292583
2025-10-26T22:11:04.369Z,1761516664.369 [DAT](INFO): DAT read: Rx Time:22:11:03.1291 

2025-10-26T22:11:04.369Z,1761516664.369 [DAT](INFO): Rx dataTimestamp_ set to:1761516664.369178
2025-10-26T22:11:04.371Z,1761516664.371 [DAT](INFO): DAT read: Bearing  16.7,  10.8 (Local)

2025-10-26T22:11:04.371Z,1761516664.371 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.7,  10.8 (Local)

2025-10-26T22:11:04.373Z,1761516664.373 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed -0.3

2025-10-26T22:11:04.379Z,1761516664.379 [DAT](INFO): DAT read: 22:11:03.1291 LVL= 27952, 24737, 32754, 32755, AGC= 66, IDX= 506, 0.29,-3.129,-1.525, 2.840,-2.577, PHS=-0.449, 1.097,-0.910, RAW= 342.6,   2.9, CAL= 342.1,   0.0, ROT= 167.9,  -0.0

2025-10-26T22:11:04.381Z,1761516664.381 [DAT](INFO): got valid direction response:
 22:11:03.1291 LVL= 27952, 24737, 32754, 32755, AGC= 66, IDX= 506, 0.29,-3.129,-1.525, 2.840,-2.577, PHS=-0.449, 1.097,-0.910, RAW= 342.6,   2.9, CAL= 342.1,   0.0, ROT= 167.9,  -0.0

2025-10-26T22:11:04.382Z,1761516664.382 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-10-26T22:11:04.388Z,1761516664.388 [DAT](INFO): direction in FSK: [-0.977783,0.209619,0.000000]
2025-10-26T22:11:04.388Z,1761516664.388 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:04.392Z,1761516664.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576967,-0.813986,-0.067343],[0.816494,0.576943,0.021782],[0.021123,-0.067552,0.997492]]
2025-10-26T22:11:04.398Z,1761516664.398 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.573860
2025-10-26T22:11:04.462Z,1761516664.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.504102 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:04.468Z,1761516664.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.014718 m,
      bearing: 222.674089 deg,
      lat: 36.779404 deg,
      lon: -121.859458 deg,
      deltaT: 0.504102 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:04.469Z,1761516664.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T22:11:04.621Z,1761516664.621 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.796722
2025-10-26T22:11:04.773Z,1761516664.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575208,-0.815233,-0.067315],[0.817713,0.575259,0.020573],[0.021952,-0.066879,0.997520]]
2025-10-26T22:11:04.802Z,1761516664.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-10-26T22:11:04.874Z,1761516664.874 [DAT](INFO): DAT read: Rx Time:22:11:03.6291 

2025-10-26T22:11:04.875Z,1761516664.875 [DAT](INFO): Rx dataTimestamp_ set to:1761516664.874263
2025-10-26T22:11:04.877Z,1761516664.877 [DAT](INFO): DAT read: Bearing  16.0,  10.8 (Local)

2025-10-26T22:11:04.877Z,1761516664.877 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.0,  10.8 (Local)

2025-10-26T22:11:04.881Z,1761516664.881 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed -0.3

2025-10-26T22:11:04.888Z,1761516664.888 [DAT](INFO): DAT read: 22:11:03.6291 LVL= 30992, 21409, 32754, 32755, AGC= 67, IDX= 507, 0.15, 2.822,-1.862, 2.505,-2.898, PHS=-0.462, 1.081,-0.925, RAW= 342.7,   3.4, CAL= 342.3,   0.8, ROT= 167.7,  -0.8

2025-10-26T22:11:04.890Z,1761516664.890 [DAT](INFO): got valid direction response:
 22:11:03.6291 LVL= 30992, 21409, 32754, 32755, AGC= 67, IDX= 507, 0.15, 2.822,-1.862, 2.505,-2.898, PHS=-0.462, 1.081,-0.925, RAW= 342.7,   3.4, CAL= 342.3,   0.8, ROT= 167.7,  -0.8

2025-10-26T22:11:04.891Z,1761516664.891 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-10-26T22:11:04.897Z,1761516664.897 [DAT](INFO): direction in FSK: [-0.976950,0.213010,0.013962]
2025-10-26T22:11:04.897Z,1761516664.897 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:04.903Z,1761516664.903 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.078770
2025-10-26T22:11:05.012Z,1761516665.012 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-10-26T22:11:05.012Z,1761516665.012 [RDI_Pathfinder] No Fault, FailCount= 1
2025-10-26T22:11:05.124Z,1761516665.124 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.300594
2025-10-26T22:11:05.182Z,1761516665.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572619,-0.817049,-0.067365],[0.819503,0.572752,0.019252],[0.022853,-0.066230,0.997543]]
2025-10-26T22:11:05.187Z,1761516665.187 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-10-26T22:11:05.273Z,1761516665.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.505085 s,
      deltaX: 0.200000 m,
      approachRate: 0.395973 m/s,
      rangeRepo size: 4

2025-10-26T22:11:05.277Z,1761516665.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.213514 m,
      bearing: 222.727688 deg,
      lat: 36.779404 deg,
      lon: -121.859457 deg,
      deltaT: 0.505085 s,
      deltaX: 0.198796 m,
      approachRate: 0.393590 m/s,
      posRepo size: 4

2025-10-26T22:11:05.278Z,1761516665.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m.
2025-10-26T22:11:05.383Z,1761516665.383 [DAT](INFO): DAT read: Rx Time:22:11:04.1291 

2025-10-26T22:11:05.384Z,1761516665.384 [DAT](INFO): Rx dataTimestamp_ set to:1761516665.383673
2025-10-26T22:11:05.386Z,1761516665.386 [DAT](INFO): DAT read: Bearing  15.6,  10.7 (Local)

2025-10-26T22:11:05.387Z,1761516665.387 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.6,  10.7 (Local)

2025-10-26T22:11:05.390Z,1761516665.390 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed 0.0

2025-10-26T22:11:05.399Z,1761516665.399 [DAT](INFO): DAT read: 22:11:04.1291 LVL= 30944, 22769, 32754, 32755, AGC= 66, IDX= 507, 0.04, 1.334, 2.941, 1.020, 1.912, PHS=-0.476, 1.074,-0.936, RAW= 342.6,   3.7, CAL= 342.2,   1.4, ROT= 167.8,  -1.4

2025-10-26T22:11:05.401Z,1761516665.401 [DAT](INFO): got valid direction response:
 22:11:04.1291 LVL= 30944, 22769, 32754, 32755, AGC= 66, IDX= 507, 0.04, 1.334, 2.941, 1.020, 1.912, PHS=-0.476, 1.074,-0.936, RAW= 342.6,   3.7, CAL= 342.2,   1.4, ROT= 167.8,  -1.4

2025-10-26T22:11:05.401Z,1761516665.401 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-10-26T22:11:05.403Z,1761516665.403 [DAT](INFO): direction in FSK: [-0.977124,0.211262,0.024432]
2025-10-26T22:11:05.408Z,1761516665.408 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:05.413Z,1761516665.413 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.588890
2025-10-26T22:11:05.579Z,1761516665.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569676,-0.819143,-0.066895],[0.821523,0.569909,0.017419],[0.023855,-0.064879,0.997608]]
2025-10-26T22:11:05.605Z,1761516665.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.509410 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:05.607Z,1761516665.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.213514 m,
      bearing: 222.996944 deg,
      lat: 36.779404 deg,
      lon: -121.859456 deg,
      deltaT: 0.509410 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:05.608Z,1761516665.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m.
2025-10-26T22:11:05.629Z,1761516665.629 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.804672
2025-10-26T22:11:05.883Z,1761516665.883 [DAT](INFO): DAT read: Rx Time:22:11:04.6293 

2025-10-26T22:11:05.884Z,1761516665.884 [DAT](INFO): Rx dataTimestamp_ set to:1761516665.883006
2025-10-26T22:11:05.885Z,1761516665.885 [DAT](INFO): DAT read: Bearing  15.4,  10.5 (Local)

2025-10-26T22:11:05.886Z,1761516665.886 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.4,  10.5 (Local)

2025-10-26T22:11:05.889Z,1761516665.889 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed -0.2

2025-10-26T22:11:05.902Z,1761516665.902 [DAT](INFO): DAT read: 22:11:04.6293 LVL= 32752, 24177, 32754, 32755, AGC= 66, IDX= 509,-0.04, 1.078, 2.685, 0.769, 1.664, PHS=-0.484, 1.065,-0.939, RAW= 342.5,   4.0, CAL= 342.1,   1.7, ROT= 167.9,  -1.7

2025-10-26T22:11:05.905Z,1761516665.905 [DAT](INFO): got valid direction response:
 22:11:04.6293 LVL= 32752, 24177, 32754, 32755, AGC= 66, IDX= 509,-0.04, 1.078, 2.685, 0.769, 1.664, PHS=-0.484, 1.065,-0.939, RAW= 342.5,   4.0, CAL= 342.1,   1.7, ROT= 167.9,  -1.7

2025-10-26T22:11:05.906Z,1761516665.906 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-10-26T22:11:05.914Z,1761516665.914 [DAT](INFO): direction in FSK: [-0.977353,0.209526,0.029666]
2025-10-26T22:11:05.914Z,1761516665.914 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:05.930Z,1761516665.930 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.106514
2025-10-26T22:11:05.983Z,1761516665.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566635,-0.821373,-0.065362],[0.823593,0.566989,0.014798],[0.024905,-0.062217,0.997752]]
2025-10-26T22:11:06.038Z,1761516666.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.600000 m,
      deltaT: 0.499333 s,
      deltaX: 0.300000 m,
      approachRate: 0.600802 m/s,
      rangeRepo size: 4

2025-10-26T22:11:06.044Z,1761516666.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.511695 m,
      bearing: 223.292518 deg,
      lat: 36.779405 deg,
      lon: -121.859456 deg,
      deltaT: 0.499333 s,
      deltaX: 0.298181 m,
      approachRate: 0.597158 m/s,
      posRepo size: 4

2025-10-26T22:11:06.045Z,1761516666.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m.
2025-10-26T22:11:06.133Z,1761516666.133 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.308643
2025-10-26T22:11:06.386Z,1761516666.386 [DAT](INFO): DAT read: Rx Time:22:11:05.1293 

2025-10-26T22:11:06.387Z,1761516666.387 [DAT](INFO): Rx dataTimestamp_ set to:1761516666.386331
2025-10-26T22:11:06.389Z,1761516666.389 [DAT](INFO): DAT read: Bearing  15.4,  10.3 (Local)

2025-10-26T22:11:06.390Z,1761516666.390 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.4,  10.3 (Local)

2025-10-26T22:11:06.393Z,1761516666.393 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed -0.3

2025-10-26T22:11:06.407Z,1761516666.407 [DAT](INFO): DAT read: 22:11:05.1293 LVL= 32752, 24929, 32754, 32755, AGC= 66, IDX= 509,-0.12,-0.621, 0.998,-0.925,-0.027, PHS=-0.492, 1.070,-0.942, RAW= 342.3,   4.0, CAL= 341.9,   1.8, ROT= 168.1,  -1.8

2025-10-26T22:11:06.408Z,1761516666.408 [DAT](INFO): got valid direction response:
 22:11:05.1293 LVL= 32752, 24929, 32754, 32755, AGC= 66, IDX= 509,-0.12,-0.621, 0.998,-0.925,-0.027, PHS=-0.492, 1.070,-0.942, RAW= 342.3,   4.0, CAL= 341.9,   1.8, ROT= 168.1,  -1.8

2025-10-26T22:11:06.409Z,1761516666.409 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-10-26T22:11:06.410Z,1761516666.410 [DAT](INFO): direction in FSK: [-0.978026,0.206102,0.031411]
2025-10-26T22:11:06.410Z,1761516666.410 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:06.430Z,1761516666.430 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.605717
2025-10-26T22:11:06.460Z,1761516666.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563901,-0.823367,-0.063889],[0.825439,0.564353,0.012465],[0.025793,-0.059765,0.997879]]
2025-10-26T22:11:06.606Z,1761516666.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.600000 m,
      deltaT: 0.503325 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:06.608Z,1761516666.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.511695 m,
      bearing: 223.678311 deg,
      lat: 36.779405 deg,
      lon: -121.859456 deg,
      deltaT: 0.503325 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:06.608Z,1761516666.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m.
2025-10-26T22:11:06.636Z,1761516666.636 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.812580
2025-10-26T22:11:06.891Z,1761516666.891 [DAT](INFO): DAT read: Rx Time:22:11:05.6295 

2025-10-26T22:11:06.892Z,1761516666.892 [DAT](INFO): Rx dataTimestamp_ set to:1761516666.891021
2025-10-26T22:11:06.893Z,1761516666.893 [DAT](INFO): DAT read: Bearing  16.3,  10.6 (Local)

2025-10-26T22:11:06.894Z,1761516666.894 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.3,  10.6 (Local)

2025-10-26T22:11:06.898Z,1761516666.898 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed -0.2

2025-10-26T22:11:06.909Z,1761516666.909 [DAT](INFO): DAT read: 22:11:05.6295 LVL= 28752, 23521, 32754, 32755, AGC= 65, IDX= 511,-0.16, 0.553, 2.180, 0.235, 1.133, PHS=-0.478, 1.092,-0.941, RAW= 342.6,   3.6, CAL= 342.1,   1.1, ROT= 167.9,  -1.1

2025-10-26T22:11:06.910Z,1761516666.910 [DAT](INFO): got valid direction response:
 22:11:05.6295 LVL= 28752, 23521, 32754, 32755, AGC= 65, IDX= 511,-0.16, 0.553, 2.180, 0.235, 1.133, PHS=-0.478, 1.092,-0.941, RAW= 342.6,   3.6, CAL= 342.1,   1.1, ROT= 167.9,  -1.1

2025-10-26T22:11:06.910Z,1761516666.910 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-10-26T22:11:06.911Z,1761516666.911 [DAT](INFO): direction in FSK: [-0.977603,0.209580,0.019197]
2025-10-26T22:11:06.915Z,1761516666.915 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:06.919Z,1761516666.919 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.095139
2025-10-26T22:11:06.920Z,1761516666.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561787,-0.824806,-0.063955],[0.826856,0.562298,0.011413],[0.026548,-0.059294,0.997887]]
2025-10-26T22:11:07.004Z,1761516667.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.504690 s,
      deltaX: 0.299999 m,
      approachRate: 0.594423 m/s,
      rangeRepo size: 4

2025-10-26T22:11:07.006Z,1761516667.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.809877 m,
      bearing: 223.661674 deg,
      lat: 36.779405 deg,
      lon: -121.859457 deg,
      deltaT: 0.504690 s,
      deltaX: 0.298182 m,
      approachRate: 0.590823 m/s,
      posRepo size: 4

2025-10-26T22:11:07.007Z,1761516667.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-10-26T22:11:07.140Z,1761516667.140 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.316475
2025-10-26T22:11:07.283Z,1761516667.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559366,-0.826312,-0.065707],[0.828474,0.559908,0.011583],[0.027219,-0.060916,0.997772]]
2025-10-26T22:11:07.349Z,1761516667.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-10-26T22:11:07.394Z,1761516667.394 [DAT](INFO): DAT read: Rx Time:22:11:06.1295 

2025-10-26T22:11:07.395Z,1761516667.395 [DAT](INFO): Rx dataTimestamp_ set to:1761516667.394553
2025-10-26T22:11:07.397Z,1761516667.397 [DAT](INFO): DAT read: Bearing  17.2,  10.6 (Local)

2025-10-26T22:11:07.398Z,1761516667.398 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.2,  10.6 (Local)

2025-10-26T22:11:07.402Z,1761516667.402 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed 0.0

2025-10-26T22:11:07.412Z,1761516667.412 [DAT](INFO): DAT read: 22:11:06.1295 LVL= 28720, 22513, 32754, 32755, AGC= 65, IDX= 511,-0.20,-0.339, 1.283,-0.658, 0.224, PHS=-0.460, 1.105,-0.925, RAW= 342.6,   3.1, CAL= 342.1,   0.3, ROT= 167.9,  -0.3

2025-10-26T22:11:07.413Z,1761516667.413 [DAT](INFO): got valid direction response:
 22:11:06.1295 LVL= 28720, 22513, 32754, 32755, AGC= 65, IDX= 511,-0.20,-0.339, 1.283,-0.658, 0.224, PHS=-0.460, 1.105,-0.925, RAW= 342.6,   3.1, CAL= 342.1,   0.3, ROT= 167.9,  -0.3

2025-10-26T22:11:07.413Z,1761516667.413 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-10-26T22:11:07.414Z,1761516667.414 [DAT](INFO): direction in FSK: [-0.977770,0.209616,0.005236]
2025-10-26T22:11:07.414Z,1761516667.414 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:07.434Z,1761516667.434 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.610245
2025-10-26T22:11:07.644Z,1761516667.644 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.820511
2025-10-26T22:11:07.686Z,1761516667.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557463,-0.827415,-0.067967],[0.829747,0.557997,0.012617],[0.027486,-0.063429,0.997608]]
2025-10-26T22:11:07.744Z,1761516667.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.503532 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:07.746Z,1761516667.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.809877 m,
      bearing: 224.002903 deg,
      lat: 36.779406 deg,
      lon: -121.859458 deg,
      deltaT: 0.503532 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:07.747Z,1761516667.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-10-26T22:11:07.898Z,1761516667.898 [DAT](INFO): DAT read: Rx Time:22:11:06.6296 

2025-10-26T22:11:07.898Z,1761516667.898 [DAT](INFO): Rx dataTimestamp_ set to:1761516667.897953
2025-10-26T22:11:07.902Z,1761516667.902 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed -0.3

2025-10-26T22:11:07.903Z,1761516667.903 [DAT](ERROR): #Rx 77: Read range message, but no direction.
2025-10-26T22:11:07.905Z,1761516667.905 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.081390
2025-10-26T22:11:08.090Z,1761516668.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556481,-0.828004,-0.068830],[0.830395,0.557031,0.012709],[0.027817,-0.064228,0.997547]]
2025-10-26T22:11:08.110Z,1761516668.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.503400 s,
      deltaX: 0.100000 m,
      approachRate: 0.198650 m/s,
      rangeRepo size: 4

2025-10-26T22:11:08.111Z,1761516668.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-10-26T22:11:08.149Z,1761516668.149 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.324913
2025-10-26T22:11:08.401Z,1761516668.401 [DAT](INFO): DAT read: Rx Time:22:11:07.1296 

2025-10-26T22:11:08.402Z,1761516668.402 [DAT](INFO): Rx dataTimestamp_ set to:1761516668.401810
2025-10-26T22:11:08.405Z,1761516668.405 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed -0.2

2025-10-26T22:11:08.405Z,1761516668.405 [DAT](ERROR): #Rx 78: Read range message, but no direction.
2025-10-26T22:11:08.406Z,1761516668.406 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.582249
2025-10-26T22:11:08.494Z,1761516668.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556175,-0.828171,-0.069299],[0.830593,0.556734,0.012764],[0.028010,-0.064658,0.997514]]
2025-10-26T22:11:08.522Z,1761516668.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.503857 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:08.523Z,1761516668.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-10-26T22:11:08.653Z,1761516668.653 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.829166
2025-10-26T22:11:08.905Z,1761516668.905 [DAT](INFO): DAT read: Rx Time:22:11:07.6298 

2025-10-26T22:11:08.906Z,1761516668.906 [DAT](INFO): Rx dataTimestamp_ set to:1761516668.905322
2025-10-26T22:11:08.907Z,1761516668.907 [DAT](INFO): DAT read: Bearing  18.9,  10.0 (Local)

2025-10-26T22:11:08.907Z,1761516668.907 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.9,  10.0 (Local)

2025-10-26T22:11:08.909Z,1761516668.909 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-26T22:11:08.914Z,1761516668.914 [DAT](INFO): DAT read: 22:11:07.6298 LVL= 21680, 18881, 23538, 27363, AGC= 71, IDX=   2, 0.05,-2.502,-0.841,-2.803,-1.960, PHS=-0.440, 1.164,-0.887, RAW= 341.9,   1.8, CAL= 341.5,  -1.1, ROT= 168.5,   1.1

2025-10-26T22:11:08.915Z,1761516668.915 [DAT](INFO): got valid direction response:
 22:11:07.6298 LVL= 21680, 18881, 23538, 27363, AGC= 71, IDX=   2, 0.05,-2.502,-0.841,-2.803,-1.960, PHS=-0.440, 1.164,-0.887, RAW= 341.9,   1.8, CAL= 341.5,  -1.1, ROT= 168.5,   1.1

2025-10-26T22:11:08.916Z,1761516668.916 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-10-26T22:11:08.917Z,1761516668.917 [DAT](INFO): direction in FSK: [-0.979744,0.199331,-0.019197]
2025-10-26T22:11:08.917Z,1761516668.917 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:08.930Z,1761516668.930 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.105892
2025-10-26T22:11:08.950Z,1761516668.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555856,-0.828349,-0.069736],[0.830805,0.556412,0.012980],[0.028050,-0.065152,0.997481]]
2025-10-26T22:11:09.011Z,1761516669.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503512 s,
      deltaX: 0.300000 m,
      approachRate: 0.595815 m/s,
      rangeRepo size: 4

2025-10-26T22:11:09.017Z,1761516669.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.207451 m,
      bearing: 224.794740 deg,
      lat: 36.779407 deg,
      lon: -121.859458 deg,
      deltaT: 1.510769 s,
      deltaX: 0.397573 m,
      approachRate: 0.263160 m/s,
      posRepo size: 4

2025-10-26T22:11:09.018Z,1761516669.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m.
2025-10-26T22:11:09.157Z,1761516669.157 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.332851
2025-10-26T22:11:09.303Z,1761516669.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555694,-0.828555,-0.068561],[0.830925,0.556241,0.012611],[0.027687,-0.063977,0.997567]]
2025-10-26T22:11:09.322Z,1761516669.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m.
2025-10-26T22:11:09.410Z,1761516669.410 [DAT](INFO): DAT read: Rx Time:22:11:08.1298 

2025-10-26T22:11:09.410Z,1761516669.410 [DAT](INFO): Rx dataTimestamp_ set to:1761516669.410146
2025-10-26T22:11:09.412Z,1761516669.412 [DAT](INFO): DAT read: Bearing  17.7,  10.3 (Local)

2025-10-26T22:11:09.413Z,1761516669.413 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.7,  10.3 (Local)

2025-10-26T22:11:09.415Z,1761516669.415 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-26T22:11:09.420Z,1761516669.420 [DAT](INFO): DAT read: 22:11:08.1298 LVL= 32752, 20913, 32754, 32755, AGC= 71, IDX= 498, 0.06, 1.463, 3.118, 1.149, 2.036, PHS=-0.470, 1.127,-0.931, RAW= 342.3,   3.0, CAL= 341.8,   0.1, ROT= 168.2,  -0.1

2025-10-26T22:11:09.421Z,1761516669.421 [DAT](INFO): got valid direction response:
 22:11:08.1298 LVL= 32752, 20913, 32754, 32755, AGC= 71, IDX= 498, 0.06, 1.463, 3.118, 1.149, 2.036, PHS=-0.470, 1.127,-0.931, RAW= 342.3,   3.0, CAL= 341.8,   0.1, ROT= 168.2,  -0.1

2025-10-26T22:11:09.422Z,1761516669.422 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-10-26T22:11:09.423Z,1761516669.423 [DAT](INFO): direction in FSK: [-0.978866,0.204496,0.001745]
2025-10-26T22:11:09.423Z,1761516669.423 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:09.440Z,1761516669.440 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.615936
2025-10-26T22:11:09.660Z,1761516669.660 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.836555
2025-10-26T22:11:09.735Z,1761516669.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555789,-0.828643,-0.066701],[0.830879,0.556324,0.011972],[0.027187,-0.062074,0.997701]]
2025-10-26T22:11:09.791Z,1761516669.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.504824 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:09.797Z,1761516669.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.207451 m,
      bearing: 224.429101 deg,
      lat: 36.779407 deg,
      lon: -121.859458 deg,
      deltaT: 0.504824 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:09.798Z,1761516669.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m.
2025-10-26T22:11:09.913Z,1761516669.913 [DAT](INFO): DAT read: Rx Time:22:11:08.6299 

2025-10-26T22:11:09.914Z,1761516669.914 [DAT](INFO): Rx dataTimestamp_ set to:1761516669.913499
2025-10-26T22:11:09.915Z,1761516669.915 [DAT](INFO): DAT read: Bearing  18.1,  10.8 (Local)

2025-10-26T22:11:09.915Z,1761516669.915 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.1,  10.8 (Local)

2025-10-26T22:11:09.918Z,1761516669.918 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed -0.3

2025-10-26T22:11:09.922Z,1761516669.922 [DAT](INFO): DAT read: 22:11:08.6299 LVL= 32752, 25985, 32754, 32755, AGC= 71, IDX= 500,-0.22,-2.205,-0.582,-2.534,-1.660, PHS=-0.443, 1.123,-0.918, RAW= 342.8,   2.6, CAL= 342.3,  -0.3, ROT= 167.7,   0.3

2025-10-26T22:11:09.928Z,1761516669.928 [DAT](INFO): got valid direction response:
 22:11:08.6299 LVL= 32752, 25985, 32754, 32755, AGC= 71, IDX= 500,-0.22,-2.205,-0.582,-2.534,-1.660, PHS=-0.443, 1.123,-0.918, RAW= 342.8,   2.6, CAL= 342.3,  -0.3, ROT= 167.7,   0.3

2025-10-26T22:11:09.928Z,1761516669.928 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-26T22:11:09.929Z,1761516669.929 [DAT](INFO): direction in FSK: [-0.977032,0.213028,-0.005236]
2025-10-26T22:11:09.929Z,1761516669.929 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:09.933Z,1761516669.933 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.109013
2025-10-26T22:11:10.110Z,1761516670.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555984,-0.828656,-0.064899],[0.830768,0.556501,0.011484],[0.026600,-0.060300,0.997826]]
2025-10-26T22:11:10.157Z,1761516670.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.503353 s,
      deltaX: 0.200000 m,
      approachRate: 0.397335 m/s,
      rangeRepo size: 4

2025-10-26T22:11:10.165Z,1761516670.165 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.340691
2025-10-26T22:11:10.165Z,1761516670.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.406218 m,
      bearing: 223.937276 deg,
      lat: 36.779408 deg,
      lon: -121.859458 deg,
      deltaT: 0.503353 s,
      deltaX: 0.198767 m,
      approachRate: 0.394885 m/s,
      posRepo size: 4

2025-10-26T22:11:10.166Z,1761516670.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m.
2025-10-26T22:11:10.419Z,1761516670.419 [DAT](INFO): DAT read: Rx Time:22:11:09.1299 

2025-10-26T22:11:10.419Z,1761516670.419 [DAT](INFO): Rx dataTimestamp_ set to:1761516670.419172
2025-10-26T22:11:10.421Z,1761516670.421 [DAT](INFO): DAT read: Bearing  16.2,  11.0 (Local)

2025-10-26T22:11:10.421Z,1761516670.421 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.2,  11.0 (Local)

2025-10-26T22:11:10.423Z,1761516670.423 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-26T22:11:10.428Z,1761516670.428 [DAT](INFO): DAT read: 22:11:09.1299 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 499, 0.20, 1.493, 3.102, 1.158, 2.072, PHS=-0.477, 1.075,-0.958, RAW= 343.1,   4.0, CAL= 342.7,   1.7, ROT= 167.3,  -1.7

2025-10-26T22:11:10.429Z,1761516670.429 [DAT](INFO): got valid direction response:
 22:11:09.1299 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 499, 0.20, 1.493, 3.102, 1.158, 2.072, PHS=-0.477, 1.075,-0.958, RAW= 343.1,   4.0, CAL= 342.7,   1.7, ROT= 167.3,  -1.7

2025-10-26T22:11:10.429Z,1761516670.429 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-10-26T22:11:10.430Z,1761516670.430 [DAT](INFO): direction in FSK: [-0.975105,0.219749,0.029666]
2025-10-26T22:11:10.431Z,1761516670.431 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:10.435Z,1761516670.435 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.611023
2025-10-26T22:11:10.541Z,1761516670.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556315,-0.828433,-0.064902],[0.830559,0.556801,0.012019],[0.026181,-0.060592,0.997819]]
2025-10-26T22:11:10.618Z,1761516670.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.505673 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:10.629Z,1761516670.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.406218 m,
      bearing: 223.408748 deg,
      lat: 36.779408 deg,
      lon: -121.859458 deg,
      deltaT: 0.505673 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:10.629Z,1761516670.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m.
2025-10-26T22:11:10.673Z,1761516670.673 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.849396
2025-10-26T22:11:10.925Z,1761516670.925 [DAT](INFO): DAT read: Rx Time:22:11:09.6302 

2025-10-26T22:11:10.926Z,1761516670.926 [DAT](INFO): Rx dataTimestamp_ set to:1761516670.925262
2025-10-26T22:11:10.927Z,1761516670.927 [DAT](INFO): DAT read: Bearing  16.4,  11.2 (Local)

2025-10-26T22:11:10.932Z,1761516670.932 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.4,  11.2 (Local)

2025-10-26T22:11:10.934Z,1761516670.934 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.0

2025-10-26T22:11:10.939Z,1761516670.939 [DAT](INFO): DAT read: 22:11:09.6302 LVL= 32752, 26609, 32754, 32755, AGC= 69, IDX= 502,-0.05,-3.070,-1.460, 2.870,-2.498, PHS=-0.470, 1.083,-0.959, RAW= 343.3,   3.8, CAL= 342.8,   1.4, ROT= 167.2,  -1.4

2025-10-26T22:11:10.940Z,1761516670.940 [DAT](INFO): got valid direction response:
 22:11:09.6302 LVL= 32752, 26609, 32754, 32755, AGC= 69, IDX= 502,-0.05,-3.070,-1.460, 2.870,-2.498, PHS=-0.470, 1.083,-0.959, RAW= 343.3,   3.8, CAL= 342.8,   1.4, ROT= 167.2,  -1.4

2025-10-26T22:11:10.941Z,1761516670.941 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-10-26T22:11:10.942Z,1761516670.942 [DAT](INFO): direction in FSK: [-0.974858,0.221482,0.024432]
2025-10-26T22:11:10.942Z,1761516670.942 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:10.946Z,1761516670.946 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.122116
2025-10-26T22:11:10.968Z,1761516670.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556803,-0.828134,-0.064532],[0.830250,0.557250,0.012514],[0.025597,-0.060546,0.997837]]
2025-10-26T22:11:11.029Z,1761516671.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.506090 s,
      deltaX: 0.400000 m,
      approachRate: 0.790372 m/s,
      rangeRepo size: 4

2025-10-26T22:11:11.040Z,1761516671.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.803791 m,
      bearing: 223.291969 deg,
      lat: 36.779408 deg,
      lon: -121.859457 deg,
      deltaT: 0.506090 s,
      deltaX: 0.397573 m,
      approachRate: 0.785579 m/s,
      posRepo size: 4

2025-10-26T22:11:11.041Z,1761516671.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-10-26T22:11:11.177Z,1761516671.177 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.352634
2025-10-26T22:11:11.322Z,1761516671.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557788,-0.827518,-0.063932],[0.829617,0.558174,0.013321],[0.024662,-0.060470,0.997865]]
2025-10-26T22:11:11.352Z,1761516671.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-10-26T22:11:11.429Z,1761516671.429 [DAT](INFO): DAT read: Rx Time:22:11:10.1302 

2025-10-26T22:11:11.430Z,1761516671.430 [DAT](INFO): Rx dataTimestamp_ set to:1761516671.429251
2025-10-26T22:11:11.431Z,1761516671.431 [DAT](INFO): DAT read: Bearing  16.2,  11.4 (Local)

2025-10-26T22:11:11.431Z,1761516671.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.2,  11.4 (Local)

2025-10-26T22:11:11.433Z,1761516671.433 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.0

2025-10-26T22:11:11.442Z,1761516671.442 [DAT](INFO): DAT read: 22:11:10.1302 LVL= 32752, 27873, 32754, 32755, AGC= 71, IDX= 502,-0.24, 0.830, 2.449, 0.478, 1.407, PHS=-0.475, 1.087,-0.974, RAW= 343.4,   3.9, CAL= 343.0,   1.6, ROT= 167.0,  -1.6

2025-10-26T22:11:11.444Z,1761516671.444 [DAT](INFO): got valid direction response:
 22:11:10.1302 LVL= 32752, 27873, 32754, 32755, AGC= 71, IDX= 502,-0.24, 0.830, 2.449, 0.478, 1.407, PHS=-0.475, 1.087,-0.974, RAW= 343.4,   3.9, CAL= 343.0,   1.6, ROT= 167.0,  -1.6

2025-10-26T22:11:11.445Z,1761516671.445 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-10-26T22:11:11.445Z,1761516671.445 [DAT](INFO): direction in FSK: [-0.973990,0.224863,0.027922]
2025-10-26T22:11:11.446Z,1761516671.446 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:11.458Z,1761516671.458 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.633743
2025-10-26T22:11:11.680Z,1761516671.680 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.856579
2025-10-26T22:11:11.808Z,1761516671.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.503989 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:11.810Z,1761516671.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.803791 m,
      bearing: 223.014748 deg,
      lat: 36.779407 deg,
      lon: -121.859457 deg,
      deltaT: 0.503989 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:11.811Z,1761516671.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-10-26T22:11:11.933Z,1761516671.933 [DAT](INFO): DAT read: Rx Time:22:11:10.6302 

2025-10-26T22:11:11.934Z,1761516671.934 [DAT](INFO): Rx dataTimestamp_ set to:1761516671.933353
2025-10-26T22:11:11.935Z,1761516671.935 [DAT](INFO): DAT read: Bearing  16.6,  12.1 (Local)

2025-10-26T22:11:11.935Z,1761516671.935 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.6,  12.1 (Local)

2025-10-26T22:11:11.937Z,1761516671.937 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.0

2025-10-26T22:11:11.942Z,1761516671.942 [DAT](INFO): DAT read: 22:11:10.6302 LVL= 32752, 29985, 32754, 32755, AGC= 71, IDX= 503,-0.49,-0.078, 1.519,-0.450, 0.478, PHS=-0.453, 1.086,-0.972, RAW= 344.0,   3.7, CAL= 343.6,   1.2, ROT= 166.4,  -1.2

2025-10-26T22:11:11.943Z,1761516671.943 [DAT](INFO): got valid direction response:
 22:11:10.6302 LVL= 32752, 29985, 32754, 32755, AGC= 71, IDX= 503,-0.49,-0.078, 1.519,-0.450, 0.478, PHS=-0.453, 1.086,-0.972, RAW= 344.0,   3.7, CAL= 343.6,   1.2, ROT= 166.4,  -1.2

2025-10-26T22:11:11.943Z,1761516671.943 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-10-26T22:11:11.944Z,1761516671.944 [DAT](INFO): direction in FSK: [-0.971748,0.235091,0.020942]
2025-10-26T22:11:11.945Z,1761516671.945 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:11.949Z,1761516671.949 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.124825
2025-10-26T22:11:12.130Z,1761516672.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560246,-0.825908,-0.063244],[0.828009,0.560510,0.015174],[0.022917,-0.060867,0.997883]]
2025-10-26T22:11:12.164Z,1761516672.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.504102 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:12.166Z,1761516672.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.803799 m,
      bearing: 222.268839 deg,
      lat: 36.779406 deg,
      lon: -121.859455 deg,
      deltaT: 0.504102 s,
      deltaX: 0.000008 m,
      approachRate: 0.000015 m/s,
      posRepo size: 4

2025-10-26T22:11:12.167Z,1761516672.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-10-26T22:11:12.188Z,1761516672.188 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.364258
2025-10-26T22:11:12.437Z,1761516672.437 [DAT](INFO): DAT read: Rx Time:22:11:11.1302 

2025-10-26T22:11:12.437Z,1761516672.437 [DAT](INFO): Rx dataTimestamp_ set to:1761516672.437162
2025-10-26T22:11:12.439Z,1761516672.439 [DAT](INFO): DAT read: Bearing  17.8,  12.3 (Local)

2025-10-26T22:11:12.439Z,1761516672.439 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.8,  12.3 (Local)

2025-10-26T22:11:12.442Z,1761516672.442 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.0

2025-10-26T22:11:12.447Z,1761516672.447 [DAT](INFO): DAT read: 22:11:11.1302 LVL= 31968, 23825, 32754, 32755, AGC= 71, IDX= 502, 0.27,-1.913,-0.293,-2.300,-1.376, PHS=-0.435, 1.128,-0.968, RAW= 344.2,   2.9, CAL= 343.7,   0.0, ROT= 166.3,  -0.0

2025-10-26T22:11:12.448Z,1761516672.448 [DAT](INFO): got valid direction response:
 22:11:11.1302 LVL= 31968, 23825, 32754, 32755, AGC= 71, IDX= 502, 0.27,-1.913,-0.293,-2.300,-1.376, PHS=-0.435, 1.128,-0.968, RAW= 344.2,   2.9, CAL= 343.7,   0.0, ROT= 166.3,  -0.0

2025-10-26T22:11:12.448Z,1761516672.448 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-10-26T22:11:12.449Z,1761516672.449 [DAT](INFO): direction in FSK: [-0.971549,0.236838,0.000000]
2025-10-26T22:11:12.449Z,1761516672.449 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:12.453Z,1761516672.453 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.629116
2025-10-26T22:11:12.538Z,1761516672.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561598,-0.824999,-0.063118],[0.827114,0.561803,0.016147],[0.022138,-0.061274,0.997875]]
2025-10-26T22:11:12.588Z,1761516672.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.503809 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:12.590Z,1761516672.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.803799 m,
      bearing: 222.141255 deg,
      lat: 36.779406 deg,
      lon: -121.859455 deg,
      deltaT: 0.503809 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:12.591Z,1761516672.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-10-26T22:11:12.688Z,1761516672.688 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.864555
2025-10-26T22:11:12.939Z,1761516672.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563055,-0.824023,-0.062887],[0.826147,0.563190,0.017250],[0.021203,-0.061667,0.997872]]
2025-10-26T22:11:12.941Z,1761516672.941 [DAT](INFO): DAT read: Rx Time:22:11:11.6304 

2025-10-26T22:11:12.942Z,1761516672.942 [DAT](INFO): Rx dataTimestamp_ set to:1761516672.941507
2025-10-26T22:11:12.943Z,1761516672.943 [DAT](INFO): DAT read: Bearing  18.5,  12.3 (Local)

2025-10-26T22:11:12.943Z,1761516672.943 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.5,  12.3 (Local)

2025-10-26T22:11:12.946Z,1761516672.946 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed -0.8

2025-10-26T22:11:12.951Z,1761516672.951 [DAT](INFO): DAT read: 22:11:11.6304 LVL= 32752, 20849, 32754, 32755, AGC= 70, IDX= 504, 0.02,-2.456,-0.839,-2.841,-1.945, PHS=-0.408, 1.151,-0.939, RAW= 344.1,   2.1, CAL= 343.7,  -0.8, ROT= 166.3,   0.8

2025-10-26T22:11:12.960Z,1761516672.960 [DAT](INFO): got valid direction response:
 22:11:11.6304 LVL= 32752, 20849, 32754, 32755, AGC= 70, IDX= 504, 0.02,-2.456,-0.839,-2.841,-1.945, PHS=-0.408, 1.151,-0.939, RAW= 344.1,   2.1, CAL= 343.7,  -0.8, ROT= 166.3,   0.8

2025-10-26T22:11:12.960Z,1761516672.960 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-10-26T22:11:12.961Z,1761516672.961 [DAT](INFO): direction in FSK: [-0.971454,0.236815,-0.013962]
2025-10-26T22:11:12.961Z,1761516672.961 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:12.965Z,1761516672.965 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.141190
2025-10-26T22:11:13.013Z,1761516673.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.504345 s,
      deltaX: 0.300001 m,
      approachRate: 0.594833 m/s,
      rangeRepo size: 4

2025-10-26T22:11:13.015Z,1761516673.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.101994 m,
      bearing: 222.085828 deg,
      lat: 36.779406 deg,
      lon: -121.859453 deg,
      deltaT: 0.504345 s,
      deltaX: 0.298195 m,
      approachRate: 0.591252 m/s,
      posRepo size: 4

2025-10-26T22:11:13.023Z,1761516673.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-10-26T22:11:13.193Z,1761516673.193 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.369148
2025-10-26T22:11:13.342Z,1761516673.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564174,-0.823272,-0.062694],[0.825401,0.564259,0.018035],[0.020528,-0.061923,0.997870]]
2025-10-26T22:11:13.372Z,1761516673.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-10-26T22:11:13.445Z,1761516673.445 [DAT](INFO): DAT read: Rx Time:22:11:12.1304 

2025-10-26T22:11:13.446Z,1761516673.446 [DAT](INFO): Rx dataTimestamp_ set to:1761516673.445898
2025-10-26T22:11:13.448Z,1761516673.448 [DAT](INFO): DAT read: Bearing  18.0,  12.2 (Local)

2025-10-26T22:11:13.448Z,1761516673.448 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.0,  12.2 (Local)

2025-10-26T22:11:13.451Z,1761516673.451 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed -0.2

2025-10-26T22:11:13.461Z,1761516673.461 [DAT](INFO): DAT read: 22:11:12.1304 LVL= 29888, 25041, 32754, 32755, AGC= 68, IDX= 487, 0.44,-2.241,-0.622,-2.621,-1.709, PHS=-0.430, 1.133,-0.956, RAW= 344.0,   2.7, CAL= 343.5,  -0.2, ROT= 166.5,   0.2

2025-10-26T22:11:13.463Z,1761516673.463 [DAT](INFO): got valid direction response:
 22:11:12.1304 LVL= 29888, 25041, 32754, 32755, AGC= 68, IDX= 487, 0.44,-2.241,-0.622,-2.621,-1.709, PHS=-0.430, 1.133,-0.956, RAW= 344.0,   2.7, CAL= 343.5,  -0.2, ROT= 166.5,   0.2

2025-10-26T22:11:13.463Z,1761516673.463 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-10-26T22:11:13.472Z,1761516673.472 [DAT](INFO): direction in FSK: [-0.972364,0.233444,-0.003491]
2025-10-26T22:11:13.472Z,1761516673.472 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:13.489Z,1761516673.489 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.664558
2025-10-26T22:11:13.698Z,1761516673.698 [DAT](INFO): DAT read: Rx Time:22:11:12.6305 

2025-10-26T22:11:13.699Z,1761516673.699 [DAT](INFO): Rx dataTimestamp_ set to:1761516673.698409
2025-10-26T22:11:13.701Z,1761516673.701 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.876701
2025-10-26T22:11:13.780Z,1761516673.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565254,-0.822544,-0.062521],[0.824676,0.565293,0.018764],[0.019909,-0.062166,0.997867]]
2025-10-26T22:11:13.830Z,1761516673.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.504391 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:13.836Z,1761516673.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.101994 m,
      bearing: 222.102176 deg,
      lat: 36.779406 deg,
      lon: -121.859453 deg,
      deltaT: 0.504391 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:13.836Z,1761516673.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-10-26T22:11:13.949Z,1761516673.949 [DAT](INFO): DAT read: Bearing  18.2,  12.4 (Local)

2025-10-26T22:11:13.950Z,1761516673.950 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.2,  12.4 (Local)

2025-10-26T22:11:13.952Z,1761516673.952 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed 0.0

2025-10-26T22:11:13.960Z,1761516673.960 [DAT](INFO): DAT read: 22:11:12.6305 LVL= 30864, 24145, 32754, 32755, AGC= 68, IDX= 505,-0.04,-1.197, 0.422,-1.585,-0.673, PHS=-0.422, 1.140,-0.956, RAW= 344.2,   2.6, CAL= 343.7,  -0.4, ROT= 166.3,   0.4

2025-10-26T22:11:13.961Z,1761516673.961 [DAT](INFO): got valid direction response:
 22:11:12.6305 LVL= 30864, 24145, 32754, 32755, AGC= 68, IDX= 505,-0.04,-1.197, 0.422,-1.585,-0.673, PHS=-0.422, 1.140,-0.956, RAW= 344.2,   2.6, CAL= 343.7,  -0.4, ROT= 166.3,   0.4

2025-10-26T22:11:13.962Z,1761516673.962 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-10-26T22:11:13.963Z,1761516673.963 [DAT](INFO): direction in FSK: [-0.971525,0.236832,-0.006981]
2025-10-26T22:11:13.963Z,1761516673.963 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:13.967Z,1761516673.967 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.143002
2025-10-26T22:11:14.203Z,1761516674.203 [DAT](INFO): DAT read: Rx Time:22:11:13.1305 

2025-10-26T22:11:14.205Z,1761516674.205 [DAT](INFO): Rx dataTimestamp_ set to:1761516674.203932
2025-10-26T22:11:14.207Z,1761516674.207 [DAT](INFO): DAT read: Bearing  17.8,  12.8 (Local)

2025-10-26T22:11:14.211Z,1761516674.211 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.8,  12.8 (Local)

2025-10-26T22:11:14.213Z,1761516674.213 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.388832
2025-10-26T22:11:14.245Z,1761516674.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.502058 s,
      deltaX: 0.199999 m,
      approachRate: 0.398358 m/s,
      rangeRepo size: 4

2025-10-26T22:11:14.254Z,1761516674.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.300776 m,
      bearing: 221.913501 deg,
      lat: 36.779406 deg,
      lon: -121.859451 deg,
      deltaT: 0.502058 s,
      deltaX: 0.198782 m,
      approachRate: 0.395934 m/s,
      posRepo size: 4

2025-10-26T22:11:14.255Z,1761516674.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-10-26T22:11:14.454Z,1761516674.454 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed 0.0

2025-10-26T22:11:14.460Z,1761516674.460 [DAT](INFO): DAT read: 22:11:13.1305 LVL= 30080, 26769, 32754, 32755, AGC= 68, IDX= 504, 0.42,-0.407, 1.194,-0.805, 0.115, PHS=-0.420, 1.124,-0.964, RAW= 344.6,   2.8, CAL= 344.1,  -0.1, ROT= 165.9,   0.1

2025-10-26T22:11:14.462Z,1761516674.462 [DAT](INFO): got valid direction response:
 22:11:13.1305 LVL= 30080, 26769, 32754, 32755, AGC= 68, IDX= 504, 0.42,-0.407, 1.194,-0.805, 0.115, PHS=-0.420, 1.124,-0.964, RAW= 344.6,   2.8, CAL= 344.1,  -0.1, ROT= 165.9,   0.1

2025-10-26T22:11:14.462Z,1761516674.462 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-10-26T22:11:14.464Z,1761516674.464 [DAT](INFO): direction in FSK: [-0.969871,0.243615,-0.001745]
2025-10-26T22:11:14.465Z,1761516674.465 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:14.476Z,1761516674.476 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.652134
2025-10-26T22:11:14.554Z,1761516674.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567091,-0.821285,-0.062442],[0.823436,0.567059,0.019964],[0.019012,-0.062739,0.997849]]
2025-10-26T22:11:14.605Z,1761516674.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.504389 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:14.607Z,1761516674.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.300776 m,
      bearing: 221.371039 deg,
      lat: 36.779406 deg,
      lon: -121.859451 deg,
      deltaT: 0.504389 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:14.612Z,1761516674.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-10-26T22:11:14.708Z,1761516674.708 [DAT](INFO): DAT read: Rx Time:22:11:13.6306 

2025-10-26T22:11:14.709Z,1761516674.709 [DAT](INFO): Rx dataTimestamp_ set to:1761516674.708289
2025-10-26T22:11:14.712Z,1761516674.712 [DAT](INFO): DAT read: Bearing  17.8,  12.7 (Local)

2025-10-26T22:11:14.714Z,1761516674.714 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.8,  12.7 (Local)

2025-10-26T22:11:14.718Z,1761516674.718 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.891293
2025-10-26T22:11:14.958Z,1761516674.958 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed -0.2

2025-10-26T22:11:14.966Z,1761516674.966 [DAT](INFO): DAT read: 22:11:13.6306 LVL= 29472, 25313, 32754, 32755, AGC= 68, IDX= 506, 0.08,-0.376, 1.241,-0.776, 0.147, PHS=-0.422, 1.138,-0.967, RAW= 344.5,   2.7, CAL= 344.0,  -0.3, ROT= 166.0,   0.3

2025-10-26T22:11:14.967Z,1761516674.967 [DAT](INFO): got valid direction response:
 22:11:13.6306 LVL= 29472, 25313, 32754, 32755, AGC= 68, IDX= 506, 0.08,-0.376, 1.241,-0.776, 0.147, PHS=-0.422, 1.138,-0.967, RAW= 344.5,   2.7, CAL= 344.0,  -0.3, ROT= 166.0,   0.3

2025-10-26T22:11:14.968Z,1761516674.968 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-10-26T22:11:14.969Z,1761516674.969 [DAT](INFO): direction in FSK: [-0.970282,0.241919,-0.005236]
2025-10-26T22:11:14.969Z,1761516674.969 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:14.972Z,1761516674.972 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.148579
2025-10-26T22:11:14.978Z,1761516674.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567626,-0.820917,-0.062415],[0.823073,0.567571,0.020337],[0.018730,-0.062916,0.997843]]
2025-10-26T22:11:15.028Z,1761516675.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.503321 s,
      deltaX: 0.100000 m,
      approachRate: 0.198681 m/s,
      rangeRepo size: 4

2025-10-26T22:11:15.030Z,1761516675.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.400209 m,
      bearing: 221.445557 deg,
      lat: 36.779406 deg,
      lon: -121.859451 deg,
      deltaT: 0.503321 s,
      deltaX: 0.099434 m,
      approachRate: 0.197556 m/s,
      posRepo size: 4

2025-10-26T22:11:15.030Z,1761516675.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-10-26T22:11:15.233Z,1761516675.233 [DAT](INFO): DAT read: Rx Time:22:11:14.1306 

2025-10-26T22:11:15.234Z,1761516675.234 [DAT](INFO): Rx dataTimestamp_ set to:1761516675.233419
2025-10-26T22:11:15.238Z,1761516675.238 [DAT](INFO): DAT read: Bearing  17.8,  12.5 (Local)

2025-10-26T22:11:15.239Z,1761516675.239 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.8,  12.5 (Local)

2025-10-26T22:11:15.247Z,1761516675.247 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.0

2025-10-26T22:11:15.249Z,1761516675.249 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-10-26T22:11:15.272Z,1761516675.272 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.447842
2025-10-26T22:11:15.365Z,1761516675.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567812,-0.820809,-0.062147],[0.822950,0.567747,0.020405],[0.018535,-0.062730,0.997858]]
2025-10-26T22:11:15.409Z,1761516675.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.277753 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:15.409Z,1761516675.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-10-26T22:11:15.466Z,1761516675.466 [DAT](INFO): DAT read: 22:11:14.1306 LVL= 31472, 25681, 32754, 32755, AGC= 69, IDX= 506,-0.16, 2.441,-2.214, 2.051, 2.968, PHS=-0.425, 1.147,-0.961, RAW= 344.2,   2.5, CAL= 343.7,  -0.4, ROT= 166.3,   0.4

2025-10-26T22:11:15.468Z,1761516675.468 [DAT](INFO): got valid direction response:
 22:11:14.1306 LVL= 31472, 25681, 32754, 32755, AGC= 69, IDX= 506,-0.16, 2.441,-2.214, 2.051, 2.968, PHS=-0.425, 1.147,-0.961, RAW= 344.2,   2.5, CAL= 343.7,  -0.4, ROT= 166.3,   0.4

2025-10-26T22:11:15.468Z,1761516675.468 [DAT](INFO): #Rx 93: Read direction message, but no range.
2025-10-26T22:11:15.469Z,1761516675.469 [DAT](INFO): direction in FSK: [-0.971525,0.236832,-0.006981]
2025-10-26T22:11:15.473Z,1761516675.473 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.649281
2025-10-26T22:11:15.724Z,1761516675.724 [DAT](INFO): DAT read: Rx Time:22:11:14.6307 

2025-10-26T22:11:15.725Z,1761516675.725 [DAT](INFO): Rx dataTimestamp_ set to:1761516675.724322
2025-10-26T22:11:15.737Z,1761516675.737 [DAT](INFO): DAT read: Bearing  16.3,  12.8 (Local)

2025-10-26T22:11:15.738Z,1761516675.738 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.3,  12.8 (Local)

2025-10-26T22:11:15.765Z,1761516675.765 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed -0.2

2025-10-26T22:11:15.798Z,1761516675.798 [DAT](INFO): DAT read: 22:11:14.6307 LVL= 32752, 24465, 32754, 32755, AGC= 68, IDX= 506, 0.41,-2.312,-0.707,-2.712,-1.766, PHS=-0.444, 1.104,-0.990, RAW= 344.6,   3.5, CAL= 344.1,   1.0, ROT= 165.9,  -1.0

2025-10-26T22:11:15.799Z,1761516675.799 [DAT](INFO): got valid direction response:
 22:11:14.6307 LVL= 32752, 24465, 32754, 32755, AGC= 68, IDX= 506, 0.41,-2.312,-0.707,-2.712,-1.766, PHS=-0.444, 1.104,-0.990, RAW= 344.6,   3.5, CAL= 344.1,   1.0, ROT= 165.9,  -1.0

2025-10-26T22:11:15.800Z,1761516675.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567945,-0.820714,-0.062182],[0.822858,0.567878,0.020468],[0.018514,-0.062792,0.997855]]
2025-10-26T22:11:15.804Z,1761516675.804 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-10-26T22:11:15.805Z,1761516675.805 [DAT](INFO): direction in FSK: [-0.969724,0.243578,0.017452]
2025-10-26T22:11:15.805Z,1761516675.805 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:15.817Z,1761516675.817 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.993332
2025-10-26T22:11:15.862Z,1761516675.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.490903 s,
      deltaX: 0.200001 m,
      approachRate: 0.407414 m/s,
      rangeRepo size: 4

2025-10-26T22:11:15.870Z,1761516675.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.599001 m,
      bearing: 221.250227 deg,
      lat: 36.779406 deg,
      lon: -121.859449 deg,
      deltaT: 0.768656 s,
      deltaX: 0.198792 m,
      approachRate: 0.258622 m/s,
      posRepo size: 4

2025-10-26T22:11:15.871Z,1761516675.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m.
2025-10-26T22:11:15.968Z,1761516675.968 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.144573
2025-10-26T22:11:16.173Z,1761516676.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567896,-0.820744,-0.062242],[0.822893,0.567826,0.020522],[0.018499,-0.062872,0.997850]]
2025-10-26T22:11:16.224Z,1761516676.224 [DAT](INFO): DAT read: Rx Time:22:11:15.1306 

2025-10-26T22:11:16.225Z,1761516676.225 [DAT](INFO): Rx dataTimestamp_ set to:1761516676.224212
2025-10-26T22:11:16.228Z,1761516676.228 [DAT](INFO): DAT read: Bearing  17.6,  13.4 (Local)

2025-10-26T22:11:16.229Z,1761516676.229 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.6,  13.4 (Local)

2025-10-26T22:11:16.234Z,1761516676.234 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed -0.2

2025-10-26T22:11:16.236Z,1761516676.236 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-10-26T22:11:16.239Z,1761516676.239 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.414700
2025-10-26T22:11:16.255Z,1761516676.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m.
2025-10-26T22:11:16.477Z,1761516676.477 [DAT](INFO): DAT read: 22:11:15.1306 LVL= 29040, 25745, 32754, 32755, AGC= 69, IDX= 506, 0.15, 1.988,-2.697, 1.568, 2.493, PHS=-0.404, 1.137,-0.969, RAW= 345.0,   2.5, CAL= 344.6,  -0.4, ROT= 165.4,   0.4

2025-10-26T22:11:16.478Z,1761516676.478 [DAT](INFO): got valid direction response:
 22:11:15.1306 LVL= 29040, 25745, 32754, 32755, AGC= 69, IDX= 506, 0.15, 1.988,-2.697, 1.568, 2.493, PHS=-0.404, 1.137,-0.969, RAW= 345.0,   2.5, CAL= 344.6,  -0.4, ROT= 165.4,   0.4

2025-10-26T22:11:16.478Z,1761516676.478 [DAT](INFO): #Rx 96: Read direction message, but no range.
2025-10-26T22:11:16.479Z,1761516676.479 [DAT](INFO): direction in FSK: [-0.967686,0.252063,-0.006981]
2025-10-26T22:11:16.483Z,1761516676.483 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.658833
2025-10-26T22:11:16.622Z,1761516676.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.499890 s,
      deltaX: -0.200001 m,
      approachRate: -0.400090 m/s,
      rangeRepo size: 4

2025-10-26T22:11:16.624Z,1761516676.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.400242 m,
      bearing: 220.833158 deg,
      lat: 36.779406 deg,
      lon: -121.859449 deg,
      deltaT: 0.499890 s,
      deltaX: -0.198759 m,
      approachRate: -0.397606 m/s,
      posRepo size: 4

2025-10-26T22:11:16.624Z,1761516676.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-10-26T22:11:16.728Z,1761516676.728 [DAT](INFO): DAT read: Rx Time:22:11:15.6308 

2025-10-26T22:11:16.730Z,1761516676.730 [DAT](INFO): Rx dataTimestamp_ set to:1761516676.728710
2025-10-26T22:11:16.733Z,1761516676.733 [DAT](INFO): DAT read: Bearing  17.2,  12.8 (Local)

2025-10-26T22:11:16.735Z,1761516676.735 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.2,  12.8 (Local)

2025-10-26T22:11:16.740Z,1761516676.740 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed -0.2

2025-10-26T22:11:16.742Z,1761516676.742 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-10-26T22:11:16.745Z,1761516676.745 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.920986
2025-10-26T22:11:16.980Z,1761516676.980 [DAT](INFO): DAT read: 22:11:15.6308 LVL= 30768, 24785, 32754, 32755, AGC= 68, IDX= 508,-0.11, 1.894,-2.769, 1.493, 2.426, PHS=-0.431, 1.133,-0.977, RAW= 344.4,   2.9, CAL= 344.0,   0.0, ROT= 166.0,  -0.0

2025-10-26T22:11:16.981Z,1761516676.981 [DAT](INFO): got valid direction response:
 22:11:15.6308 LVL= 30768, 24785, 32754, 32755, AGC= 68, IDX= 508,-0.11, 1.894,-2.769, 1.493, 2.426, PHS=-0.431, 1.133,-0.977, RAW= 344.4,   2.9, CAL= 344.0,   0.0, ROT= 166.0,  -0.0

2025-10-26T22:11:16.981Z,1761516676.981 [DAT](INFO): #Rx 98: Read direction message, but no range.
2025-10-26T22:11:16.982Z,1761516676.982 [DAT](INFO): direction in FSK: [-0.970296,0.241922,0.000000]
2025-10-26T22:11:16.986Z,1761516676.986 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.162174
2025-10-26T22:11:17.001Z,1761516677.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565701,-0.822329,-0.061294],[0.824393,0.565695,0.019126],[0.018946,-0.061350,0.997936]]
2025-10-26T22:11:17.058Z,1761516677.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.504498 s,
      deltaX: 0.299999 m,
      approachRate: 0.594649 m/s,
      rangeRepo size: 4

2025-10-26T22:11:17.064Z,1761516677.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.698414 m,
      bearing: 221.561010 deg,
      lat: 36.779406 deg,
      lon: -121.859449 deg,
      deltaT: 0.504498 s,
      deltaX: 0.298172 m,
      approachRate: 0.591027 m/s,
      posRepo size: 4

2025-10-26T22:11:17.065Z,1761516677.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-10-26T22:11:17.253Z,1761516677.253 [DAT](INFO): DAT read: Rx Time:22:11:16.1308 

2025-10-26T22:11:17.253Z,1761516677.253 [DAT](INFO): Rx dataTimestamp_ set to:1761516677.252905
2025-10-26T22:11:17.254Z,1761516677.254 [DAT](INFO): DAT read: Bearing  16.7,  13.1 (Local)

2025-10-26T22:11:17.255Z,1761516677.255 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.7,  13.1 (Local)

2025-10-26T22:11:17.257Z,1761516677.257 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed -0.1

2025-10-26T22:11:17.270Z,1761516677.270 [DAT](INFO): DAT read: 22:11:16.1308 LVL= 32032, 26417, 32754, 32755, AGC= 68, IDX= 507, 0.38,-2.341,-0.739,-2.751,-1.809, PHS=-0.430, 1.115,-0.986, RAW= 344.8,   3.2, CAL= 344.3,   0.5, ROT= 165.7,  -0.5

2025-10-26T22:11:17.271Z,1761516677.271 [DAT](INFO): got valid direction response:
 22:11:16.1308 LVL= 32032, 26417, 32754, 32755, AGC= 68, IDX= 507, 0.38,-2.341,-0.739,-2.751,-1.809, PHS=-0.430, 1.115,-0.986, RAW= 344.8,   3.2, CAL= 344.3,   0.5, ROT= 165.7,  -0.5

2025-10-26T22:11:17.271Z,1761516677.271 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-10-26T22:11:17.272Z,1761516677.272 [DAT](INFO): direction in FSK: [-0.968979,0.246990,0.008727]
2025-10-26T22:11:17.272Z,1761516677.272 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:17.288Z,1761516677.288 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.464390
2025-10-26T22:11:17.403Z,1761516677.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564763,-0.823004,-0.060885],[0.825030,0.564785,0.018500],[0.019161,-0.060680,0.997973]]
2025-10-26T22:11:17.457Z,1761516677.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.524195 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:17.459Z,1761516677.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.698414 m,
      bearing: 221.298576 deg,
      lat: 36.779407 deg,
      lon: -121.859448 deg,
      deltaT: 0.524195 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:17.463Z,1761516677.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-10-26T22:11:17.481Z,1761516677.481 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.656799
2025-10-26T22:11:17.482Z,1761516677.482 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:11:17.737Z,1761516677.737 [DAT](INFO): DAT read: Rx Time:22:11:16.6309 

2025-10-26T22:11:17.738Z,1761516677.738 [DAT](INFO): Rx dataTimestamp_ set to:1761516677.737134
2025-10-26T22:11:17.741Z,1761516677.741 [DAT](INFO): DAT read: Bearing  16.4,  13.4 (Local)

2025-10-26T22:11:17.743Z,1761516677.743 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.4,  13.4 (Local)

2025-10-26T22:11:17.753Z,1761516677.753 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed 0.0

2025-10-26T22:11:17.758Z,1761516677.758 [DAT](INFO): DAT read: 22:11:16.6309 LVL= 30896, 24897, 32754, 32755, AGC= 66, IDX= 509, 0.01, 0.131, 1.719,-0.287, 0.659, PHS=-0.426, 1.105,-0.990, RAW= 345.1,   3.4, CAL= 344.6,   0.7, ROT= 165.4,  -0.7

2025-10-26T22:11:17.759Z,1761516677.759 [DAT](INFO): got valid direction response:
 22:11:16.6309 LVL= 30896, 24897, 32754, 32755, AGC= 66, IDX= 509, 0.01, 0.131, 1.719,-0.287, 0.659, PHS=-0.426, 1.105,-0.990, RAW= 345.1,   3.4, CAL= 344.6,   0.7, ROT= 165.4,  -0.7

2025-10-26T22:11:17.759Z,1761516677.759 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-10-26T22:11:17.760Z,1761516677.760 [DAT](INFO): direction in FSK: [-0.967637,0.252051,0.012217]
2025-10-26T22:11:17.760Z,1761516677.760 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:17.784Z,1761516677.784 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.960426
2025-10-26T22:11:17.905Z,1761516677.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.484229 s,
      deltaX: 0.200001 m,
      approachRate: 0.413029 m/s,
      rangeRepo size: 4

2025-10-26T22:11:17.912Z,1761516677.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.897205 m,
      bearing: 220.988152 deg,
      lat: 36.779407 deg,
      lon: -121.859446 deg,
      deltaT: 0.484229 s,
      deltaX: 0.198792 m,
      approachRate: 0.410532 m/s,
      posRepo size: 4

2025-10-26T22:11:17.912Z,1761516677.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.90 m.
2025-10-26T22:11:17.985Z,1761516677.985 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.160774
2025-10-26T22:11:18.212Z,1761516678.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562870,-0.824338,-0.060361],[0.826313,0.562941,0.017456],[0.019590,-0.059703,0.998024]]
2025-10-26T22:11:18.240Z,1761516678.240 [DAT](INFO): DAT read: Rx Time:22:11:17.1309 

2025-10-26T22:11:18.242Z,1761516678.242 [DAT](INFO): Rx dataTimestamp_ set to:1761516678.240713
2025-10-26T22:11:18.245Z,1761516678.245 [DAT](INFO): DAT read: Bearing  16.7,  13.3 (Local)

2025-10-26T22:11:18.246Z,1761516678.246 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.7,  13.3 (Local)

2025-10-26T22:11:18.252Z,1761516678.252 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed -0.2

2025-10-26T22:11:18.263Z,1761516678.263 [DAT](INFO): DAT read: 22:11:17.1309 LVL= 30016, 25809, 32754, 32755, AGC= 65, IDX= 509,-0.19,-1.562, 0.018,-1.973,-1.038, PHS=-0.422, 1.101,-0.979, RAW= 345.0,   3.2, CAL= 344.5,   0.5, ROT= 165.5,  -0.5

2025-10-26T22:11:18.264Z,1761516678.264 [DAT](INFO): got valid direction response:
 22:11:17.1309 LVL= 30016, 25809, 32754, 32755, AGC= 65, IDX= 509,-0.19,-1.562, 0.018,-1.973,-1.038, PHS=-0.422, 1.101,-0.979, RAW= 345.0,   3.2, CAL= 344.5,   0.5, ROT= 165.5,  -0.5

2025-10-26T22:11:18.264Z,1761516678.264 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-10-26T22:11:18.265Z,1761516678.265 [DAT](INFO): direction in FSK: [-0.968111,0.250370,0.008727]
2025-10-26T22:11:18.266Z,1761516678.266 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:18.285Z,1761516678.285 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.461594
2025-10-26T22:11:18.336Z,1761516678.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.503579 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:18.338Z,1761516678.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.897215 m,
      bearing: 221.229437 deg,
      lat: 36.779407 deg,
      lon: -121.859446 deg,
      deltaT: 0.503579 s,
      deltaX: 0.000010 m,
      approachRate: 0.000019 m/s,
      posRepo size: 4

2025-10-26T22:11:18.338Z,1761516678.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.90 m.
2025-10-26T22:11:18.484Z,1761516678.484 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:11:18.489Z,1761516678.489 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.664886
2025-10-26T22:11:18.615Z,1761516678.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561929,-0.824984,-0.060309],[0.826948,0.562020,0.017056],[0.019824,-0.059457,0.998034]]
2025-10-26T22:11:18.661Z,1761516678.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.90 m.
2025-10-26T22:11:18.744Z,1761516678.744 [DAT](INFO): DAT read: Rx Time:22:11:17.6311 

2025-10-26T22:11:18.745Z,1761516678.745 [DAT](INFO): Rx dataTimestamp_ set to:1761516678.744521
2025-10-26T22:11:18.749Z,1761516678.750 [DAT](INFO): DAT read: Bearing  17.2,  13.5 (Local)

2025-10-26T22:11:18.750Z,1761516678.750 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.2,  13.5 (Local)

2025-10-26T22:11:18.755Z,1761516678.755 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed 0.0

2025-10-26T22:11:18.764Z,1761516678.764 [DAT](INFO): DAT read: 22:11:17.6311 LVL= 29152, 21809, 32754, 32755, AGC= 63, IDX= 511,-0.39,-0.685, 0.905,-1.106,-0.173, PHS=-0.410, 1.123,-0.977, RAW= 345.1,   2.8, CAL= 344.6,  -0.1, ROT= 165.4,   0.1

2025-10-26T22:11:18.769Z,1761516678.769 [DAT](INFO): got valid direction response:
 22:11:17.6311 LVL= 29152, 21809, 32754, 32755, AGC= 63, IDX= 511,-0.39,-0.685, 0.905,-1.106,-0.173, PHS=-0.410, 1.123,-0.977, RAW= 345.1,   2.8, CAL= 344.6,  -0.1, ROT= 165.4,   0.1

2025-10-26T22:11:18.769Z,1761516678.769 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-10-26T22:11:18.770Z,1761516678.770 [DAT](INFO): direction in FSK: [-0.967708,0.252069,-0.001745]
2025-10-26T22:11:18.771Z,1761516678.771 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:18.778Z,1761516678.778 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.954571
2025-10-26T22:11:18.995Z,1761516678.995 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.170788
2025-10-26T22:11:19.018Z,1761516679.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561440,-0.825294,-0.060619],[0.827276,0.561538,0.017027],[0.019988,-0.059708,0.998016]]
2025-10-26T22:11:19.061Z,1761516679.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.503808 s,
      deltaX: 0.299999 m,
      approachRate: 0.595463 m/s,
      rangeRepo size: 4

2025-10-26T22:11:19.066Z,1761516679.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.195396 m,
      bearing: 221.259882 deg,
      lat: 36.779407 deg,
      lon: -121.859446 deg,
      deltaT: 0.503808 s,
      deltaX: 0.298182 m,
      approachRate: 0.591856 m/s,
      posRepo size: 4

2025-10-26T22:11:19.066Z,1761516679.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m.
2025-10-26T22:11:19.249Z,1761516679.249 [DAT](INFO): DAT read: Rx Time:22:11:18.1310 

2025-10-26T22:11:19.250Z,1761516679.250 [DAT](INFO): Rx dataTimestamp_ set to:1761516679.249243
2025-10-26T22:11:19.272Z,1761516679.272 [DAT](INFO): DAT read: Bearing  15.4,  13.1 (Local)

2025-10-26T22:11:19.273Z,1761516679.273 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.4,  13.1 (Local)

2025-10-26T22:11:19.275Z,1761516679.275 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed -0.2

2025-10-26T22:11:19.288Z,1761516679.288 [DAT](INFO): DAT read: 22:11:18.1310 LVL= 32752, 23409, 32754, 32755, AGC= 63, IDX= 510, 0.19, 0.572, 2.163, 0.166, 1.124, PHS=-0.450, 1.084,-1.002, RAW= 344.8,   4.0, CAL= 344.4,   1.6, ROT= 165.6,  -1.6

2025-10-26T22:11:19.289Z,1761516679.289 [DAT](INFO): got valid direction response:
 22:11:18.1310 LVL= 32752, 23409, 32754, 32755, AGC= 63, IDX= 510, 0.19, 0.572, 2.163, 0.166, 1.124, PHS=-0.450, 1.084,-1.002, RAW= 344.8,   4.0, CAL= 344.4,   1.6, ROT= 165.6,  -1.6

2025-10-26T22:11:19.289Z,1761516679.289 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-10-26T22:11:19.290Z,1761516679.290 [DAT](INFO): direction in FSK: [-0.968206,0.248593,0.027922]
2025-10-26T22:11:19.291Z,1761516679.291 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:19.298Z,1761516679.298 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.474518
2025-10-26T22:11:19.422Z,1761516679.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561381,-0.825278,-0.061374],[0.827311,0.561477,0.017316],[0.020170,-0.060496,0.997965]]
2025-10-26T22:11:19.485Z,1761516679.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.504722 s,
      deltaX: -0.199999 m,
      approachRate: -0.396255 m/s,
      rangeRepo size: 4

2025-10-26T22:11:19.487Z,1761516679.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.996607 m,
      bearing: 221.373118 deg,
      lat: 36.779408 deg,
      lon: -121.859446 deg,
      deltaT: 0.504722 s,
      deltaX: -0.198790 m,
      approachRate: -0.393860 m/s,
      posRepo size: 4

2025-10-26T22:11:19.492Z,1761516679.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.00 m.
2025-10-26T22:11:19.497Z,1761516679.497 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.672634
2025-10-26T22:11:19.753Z,1761516679.753 [DAT](INFO): DAT read: Rx Time:22:11:18.6311 

2025-10-26T22:11:19.753Z,1761516679.753 [DAT](INFO): Rx dataTimestamp_ set to:1761516679.753131
2025-10-26T22:11:19.755Z,1761516679.755 [DAT](INFO): DAT read: Bearing  17.2,  13.9 (Local)

2025-10-26T22:11:19.755Z,1761516679.755 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.2,  13.9 (Local)

2025-10-26T22:11:19.757Z,1761516679.757 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed 0.2

2025-10-26T22:11:19.762Z,1761516679.762 [DAT](INFO): DAT read: 22:11:18.6311 LVL= 29680, 20465, 32754, 32755, AGC= 64, IDX= 511, 0.03, 0.267, 1.842,-0.167, 0.769, PHS=-0.400, 1.119,-0.980, RAW= 345.5,   2.8, CAL= 345.1,  -0.1, ROT= 164.9,   0.1

2025-10-26T22:11:19.763Z,1761516679.763 [DAT](INFO): got valid direction response:
 22:11:18.6311 LVL= 29680, 20465, 32754, 32755, AGC= 64, IDX= 511, 0.03, 0.267, 1.842,-0.167, 0.769, PHS=-0.400, 1.119,-0.980, RAW= 345.5,   2.8, CAL= 345.1,  -0.1, ROT= 164.9,   0.1

2025-10-26T22:11:19.764Z,1761516679.764 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-10-26T22:11:19.765Z,1761516679.765 [DAT](INFO): direction in FSK: [-0.965471,0.260504,-0.001745]
2025-10-26T22:11:19.765Z,1761516679.765 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:19.769Z,1761516679.769 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.944824
2025-10-26T22:11:19.832Z,1761516679.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561213,-0.825353,-0.061913],[0.827422,0.561307,0.017501],[0.020308,-0.061050,0.997928]]
2025-10-26T22:11:19.962Z,1761516679.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.503888 s,
      deltaX: 0.199999 m,
      approachRate: 0.396911 m/s,
      rangeRepo size: 4

2025-10-26T22:11:19.965Z,1761516679.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.195396 m,
      bearing: 220.776761 deg,
      lat: 36.779407 deg,
      lon: -121.859446 deg,
      deltaT: 0.503888 s,
      deltaX: 0.198790 m,
      approachRate: 0.394511 m/s,
      posRepo size: 4

2025-10-26T22:11:19.965Z,1761516679.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m.
2025-10-26T22:11:20.001Z,1761516680.001 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.176823
2025-10-26T22:11:20.254Z,1761516680.254 [DAT](INFO): DAT read: Rx Time:22:11:19.1311 

2025-10-26T22:11:20.255Z,1761516680.255 [DAT](INFO): Rx dataTimestamp_ set to:1761516680.254586
2025-10-26T22:11:20.256Z,1761516680.256 [DAT](INFO): DAT read: Bearing  16.7,  13.6 (Local)

2025-10-26T22:11:20.257Z,1761516680.257 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.7,  13.6 (Local)

2025-10-26T22:11:20.259Z,1761516680.259 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed -0.2

2025-10-26T22:11:20.264Z,1761516680.264 [DAT](INFO): DAT read: 22:11:19.1311 LVL= 29216, 20769, 32754, 32755, AGC= 64, IDX= 511,-0.19,-1.478, 0.103,-1.898,-0.960, PHS=-0.416, 1.108,-0.982, RAW= 345.2,   3.1, CAL= 344.7,   0.3, ROT= 165.3,  -0.3

2025-10-26T22:11:20.265Z,1761516680.265 [DAT](INFO): got valid direction response:
 22:11:19.1311 LVL= 29216, 20769, 32754, 32755, AGC= 64, IDX= 511,-0.19,-1.478, 0.103,-1.898,-0.960, PHS=-0.416, 1.108,-0.982, RAW= 345.2,   3.1, CAL= 344.7,   0.3, ROT= 165.3,  -0.3

2025-10-26T22:11:20.265Z,1761516680.265 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-10-26T22:11:20.266Z,1761516680.266 [DAT](INFO): direction in FSK: [-0.967255,0.253754,0.005236]
2025-10-26T22:11:20.266Z,1761516680.266 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:20.270Z,1761516680.270 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.446110
2025-10-26T22:11:20.296Z,1761516680.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561017,-0.825468,-0.062140],[0.827553,0.561113,0.017559],[0.020373,-0.061275,0.997913]]
2025-10-26T22:11:20.389Z,1761516680.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.501455 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:20.391Z,1761516680.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.195389 m,
      bearing: 221.168427 deg,
      lat: 36.779408 deg,
      lon: -121.859445 deg,
      deltaT: 0.501455 s,
      deltaX: -0.000008 m,
      approachRate: -0.000015 m/s,
      posRepo size: 4

2025-10-26T22:11:20.396Z,1761516680.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m.
2025-10-26T22:11:20.505Z,1761516680.505 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.680672
2025-10-26T22:11:20.746Z,1761516680.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m.
2025-10-26T22:11:20.757Z,1761516680.757 [DAT](INFO): DAT read: Rx Time:22:11:19.6312 

2025-10-26T22:11:20.757Z,1761516680.757 [DAT](INFO): Rx dataTimestamp_ set to:1761516680.756893
2025-10-26T22:11:20.758Z,1761516680.758 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed 0.0

2025-10-26T22:11:20.759Z,1761516680.759 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-10-26T22:11:20.760Z,1761516680.760 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.936142
2025-10-26T22:11:21.009Z,1761516681.009 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.184704
2025-10-26T22:11:21.039Z,1761516681.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561689,-0.824976,-0.062606],[0.827103,0.561757,0.018178],[0.020173,-0.061992,0.997873]]
2025-10-26T22:11:21.156Z,1761516681.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.502307 s,
      deltaX: 0.100000 m,
      approachRate: 0.199082 m/s,
      rangeRepo size: 4

2025-10-26T22:11:21.156Z,1761516681.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m.
2025-10-26T22:11:21.262Z,1761516681.262 [DAT](INFO): DAT read: Rx Time:22:11:20.1312 

2025-10-26T22:11:21.263Z,1761516681.263 [DAT](INFO): Rx dataTimestamp_ set to:1761516681.262329
2025-10-26T22:11:21.265Z,1761516681.265 [DAT](INFO): DAT read: Bearing 356.8,   0.9 (Local)

2025-10-26T22:11:21.265Z,1761516681.265 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.8,   0.9 (Local)

2025-10-26T22:11:21.268Z,1761516681.268 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed -0.2

2025-10-26T22:11:21.281Z,1761516681.281 [DAT](INFO): DAT read: 22:11:20.1312 LVL= 29328, 22321, 32754, 32755, AGC= 63, IDX= 512, 0.32, 2.767,-2.083, 2.812,-2.591, PHS=-0.823, 0.553,-0.924, RAW= 333.5,  16.5, CAL= 333.6,  20.9, ROT= 176.4, -20.9

2025-10-26T22:11:21.282Z,1761516681.282 [DAT](INFO): got valid direction response:
 22:11:20.1312 LVL= 29328, 22321, 32754, 32755, AGC= 63, IDX= 512, 0.32, 2.767,-2.083, 2.812,-2.591, PHS=-0.823, 0.553,-0.924, RAW= 333.5,  16.5, CAL= 333.6,  20.9, ROT= 176.4, -20.9

2025-10-26T22:11:21.283Z,1761516681.283 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-10-26T22:11:21.284Z,1761516681.284 [DAT](INFO): direction in FSK: [-0.932361,0.058659,0.356738]
2025-10-26T22:11:21.284Z,1761516681.284 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:21.288Z,1761516681.288 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.464149
2025-10-26T22:11:21.442Z,1761516681.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562657,-0.824276,-0.063135],[0.826448,0.562699,0.018814],[0.020018,-0.062764,0.997828]]
2025-10-26T22:11:21.509Z,1761516681.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.505436 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:21.511Z,1761516681.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.294773 m,
      bearing: 230.827100 deg,
      lat: 36.779408 deg,
      lon: -121.859445 deg,
      deltaT: 1.007743 s,
      deltaX: 0.099384 m,
      approachRate: 0.098621 m/s,
      posRepo size: 4

2025-10-26T22:11:21.513Z,1761516681.513 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.688694
2025-10-26T22:11:21.516Z,1761516681.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-10-26T22:11:21.765Z,1761516681.765 [DAT](INFO): DAT read: Rx Time:22:11:20.6314 

2025-10-26T22:11:21.765Z,1761516681.765 [DAT](INFO): Rx dataTimestamp_ set to:1761516681.765177
2025-10-26T22:11:21.767Z,1761516681.767 [DAT](INFO): DAT read: Bearing  16.1,  13.2 (Local)

2025-10-26T22:11:21.767Z,1761516681.767 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.1,  13.2 (Local)

2025-10-26T22:11:21.769Z,1761516681.769 [DAT](INFO): DAT read: Range 11 to 50 :    17.7 m (trip time 11.8 ms) speed -0.1

2025-10-26T22:11:21.774Z,1761516681.774 [DAT](INFO): DAT read: 22:11:20.6314 LVL= 27104, 18993, 32754, 32755, AGC= 70, IDX=   2, 0.07,-0.044, 1.536,-0.448, 0.488, PHS=-0.430, 1.093,-0.979, RAW= 344.8,   3.4, CAL= 344.4,   0.8, ROT= 165.6,  -0.8

2025-10-26T22:11:21.775Z,1761516681.775 [DAT](INFO): got valid direction response:
 22:11:20.6314 LVL= 27104, 18993, 32754, 32755, AGC= 70, IDX=   2, 0.07,-0.044, 1.536,-0.448, 0.488, PHS=-0.430, 1.093,-0.979, RAW= 344.8,   3.4, CAL= 344.4,   0.8, ROT= 165.6,  -0.8

2025-10-26T22:11:21.775Z,1761516681.775 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-10-26T22:11:21.776Z,1761516681.776 [DAT](INFO): direction in FSK: [-0.968489,0.248665,0.013962]
2025-10-26T22:11:21.777Z,1761516681.777 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:21.780Z,1761516681.780 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.956512
2025-10-26T22:11:21.861Z,1761516681.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564035,-0.823323,-0.063282],[0.825517,0.564042,0.019454],[0.019677,-0.063213,0.997806]]
2025-10-26T22:11:21.972Z,1761516681.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.700001 m,
      deltaT: 0.502848 s,
      deltaX: 0.300001 m,
      approachRate: 0.596604 m/s,
      rangeRepo size: 4

2025-10-26T22:11:21.974Z,1761516681.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.592960 m,
      bearing: 221.232603 deg,
      lat: 36.779408 deg,
      lon: -121.859445 deg,
      deltaT: 0.502848 s,
      deltaX: 0.298187 m,
      approachRate: 0.592997 m/s,
      posRepo size: 4

2025-10-26T22:11:21.974Z,1761516681.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-10-26T22:11:22.018Z,1761516682.018 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.194099
2025-10-26T22:11:22.269Z,1761516682.269 [DAT](INFO): DAT read: Rx Time:22:11:21.1314 

2025-10-26T22:11:22.270Z,1761516682.270 [DAT](INFO): Rx dataTimestamp_ set to:1761516682.269282
2025-10-26T22:11:22.271Z,1761516682.271 [DAT](INFO): DAT read: Bearing  15.3,  12.2 (Local)

2025-10-26T22:11:22.271Z,1761516682.271 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.3,  12.2 (Local)

2025-10-26T22:11:22.273Z,1761516682.273 [DAT](INFO): DAT read: Range 11 to 50 :    17.7 m (trip time 11.8 ms) speed -0.2

2025-10-26T22:11:22.278Z,1761516682.278 [DAT](INFO): DAT read: 22:11:21.1314 LVL= 32496, 22513, 32754, 32755, AGC= 68, IDX= 498, 0.10, 2.363,-2.316, 1.994, 2.929, PHS=-0.464, 1.083,-0.979, RAW= 343.9,   3.9, CAL= 343.5,   1.6, ROT= 166.5,  -1.6

2025-10-26T22:11:22.279Z,1761516682.279 [DAT](INFO): got valid direction response:
 22:11:21.1314 LVL= 32496, 22513, 32754, 32755, AGC= 68, IDX= 498, 0.10, 2.363,-2.316, 1.994, 2.929, PHS=-0.464, 1.083,-0.979, RAW= 343.9,   3.9, CAL= 343.5,   1.6, ROT= 166.5,  -1.6

2025-10-26T22:11:22.280Z,1761516682.280 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-26T22:11:22.281Z,1761516682.281 [DAT](INFO): direction in FSK: [-0.971991,0.233354,0.027922]
2025-10-26T22:11:22.281Z,1761516682.281 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:22.285Z,1761516682.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565619,-0.822287,-0.062608],[0.824441,0.565607,0.019623],[0.019276,-0.062716,0.997845]]
2025-10-26T22:11:22.288Z,1761516682.288 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.463898
2025-10-26T22:11:22.423Z,1761516682.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.700001 m,
      deltaT: 0.504105 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:22.429Z,1761516682.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.592947 m,
      bearing: 221.976424 deg,
      lat: 36.779408 deg,
      lon: -121.859448 deg,
      deltaT: 0.504105 s,
      deltaX: -0.000013 m,
      approachRate: -0.000026 m/s,
      posRepo size: 4

2025-10-26T22:11:22.430Z,1761516682.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-10-26T22:11:22.522Z,1761516682.522 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.697376
2025-10-26T22:11:22.673Z,1761516682.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567305,-0.821175,-0.061939],[0.823293,0.567268,0.019890],[0.018802,-0.062278,0.997882]]
2025-10-26T22:11:22.765Z,1761516682.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-10-26T22:11:22.773Z,1761516682.773 [DAT](INFO): DAT read: Rx Time:22:11:21.6316 

2025-10-26T22:11:22.773Z,1761516682.773 [DAT](INFO): Rx dataTimestamp_ set to:1761516682.773218
2025-10-26T22:11:22.775Z,1761516682.775 [DAT](INFO): DAT read: Bearing  17.2,  13.0 (Local)

2025-10-26T22:11:22.775Z,1761516682.775 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.2,  13.0 (Local)

2025-10-26T22:11:22.777Z,1761516682.777 [DAT](INFO): DAT read: Range 11 to 50 :    18.0 m (trip time 12.0 ms) speed -0.3

2025-10-26T22:11:22.782Z,1761516682.782 [DAT](INFO): DAT read: 22:11:21.6316 LVL= 32752, 24161, 32754, 32755, AGC= 71, IDX= 500,-0.07, 1.421, 3.022, 1.019, 1.935, PHS=-0.411, 1.132,-0.960, RAW= 344.6,   2.6, CAL= 344.2,  -0.4, ROT= 165.8,   0.4

2025-10-26T22:11:22.783Z,1761516682.783 [DAT](INFO): got valid direction response:
 22:11:21.6316 LVL= 32752, 24161, 32754, 32755, AGC= 71, IDX= 500,-0.07, 1.421, 3.022, 1.019, 1.935, PHS=-0.411, 1.132,-0.960, RAW= 344.6,   2.6, CAL= 344.2,  -0.4, ROT= 165.8,   0.4

2025-10-26T22:11:22.783Z,1761516682.783 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-10-26T22:11:22.784Z,1761516682.784 [DAT](INFO): direction in FSK: [-0.969422,0.245301,-0.006981]
2025-10-26T22:11:22.785Z,1761516682.785 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:22.793Z,1761516682.793 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.968639
2025-10-26T22:11:23.024Z,1761516683.024 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.200558
2025-10-26T22:11:23.071Z,1761516683.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569169,-0.819910,-0.061599],[0.822020,0.569086,0.020592],[0.018171,-0.062356,0.997889]]
2025-10-26T22:11:23.114Z,1761516683.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 0.503936 s,
      deltaX: 0.299999 m,
      approachRate: 0.595312 m/s,
      rangeRepo size: 4

2025-10-26T22:11:23.120Z,1761516683.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.891069 m,
      bearing: 221.143970 deg,
      lat: 36.779408 deg,
      lon: -121.859450 deg,
      deltaT: 0.503936 s,
      deltaX: 0.298122 m,
      approachRate: 0.591588 m/s,
      posRepo size: 4

2025-10-26T22:11:23.121Z,1761516683.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-10-26T22:11:23.277Z,1761516683.277 [DAT](INFO): DAT read: Rx Time:22:11:22.1315 

2025-10-26T22:11:23.278Z,1761516683.278 [DAT](INFO): Rx dataTimestamp_ set to:1761516683.277244
2025-10-26T22:11:23.279Z,1761516683.279 [DAT](INFO): DAT read: Bearing  16.4,  13.6 (Local)

2025-10-26T22:11:23.279Z,1761516683.279 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.4,  13.6 (Local)

2025-10-26T22:11:23.281Z,1761516683.281 [DAT](INFO): DAT read: Range 11 to 50 :    17.9 m (trip time 11.9 ms) speed -0.1

2025-10-26T22:11:23.286Z,1761516683.286 [DAT](INFO): DAT read: 22:11:22.1315 LVL= 32752, 21617, 32754, 32755, AGC= 71, IDX= 499, 0.08,-1.213, 0.361,-1.633,-0.698, PHS=-0.413, 1.104,-0.979, RAW= 345.2,   3.1, CAL= 344.8,   0.3, ROT= 165.2,  -0.3

2025-10-26T22:11:23.287Z,1761516683.287 [DAT](INFO): got valid direction response:
 22:11:22.1315 LVL= 32752, 21617, 32754, 32755, AGC= 71, IDX= 499, 0.08,-1.213, 0.361,-1.633,-0.698, PHS=-0.413, 1.104,-0.979, RAW= 345.2,   3.1, CAL= 344.8,   0.3, ROT= 165.2,  -0.3

2025-10-26T22:11:23.288Z,1761516683.288 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-10-26T22:11:23.289Z,1761516683.289 [DAT](INFO): direction in FSK: [-0.966810,0.255442,0.005236]
2025-10-26T22:11:23.289Z,1761516683.289 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:23.297Z,1761516683.297 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.472675
2025-10-26T22:11:23.475Z,1761516683.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571198,-0.818577,-0.060536],[0.820620,0.571106,0.020509],[0.017784,-0.061392,0.997955]]
2025-10-26T22:11:23.505Z,1761516683.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 0.504026 s,
      deltaX: -0.100000 m,
      approachRate: -0.198403 m/s,
      rangeRepo size: 4

2025-10-26T22:11:23.508Z,1761516683.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.791674 m,
      bearing: 220.363830 deg,
      lat: 36.779408 deg,
      lon: -121.859450 deg,
      deltaT: 0.504026 s,
      deltaX: -0.099396 m,
      approachRate: -0.197204 m/s,
      posRepo size: 4

2025-10-26T22:11:23.508Z,1761516683.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-10-26T22:11:23.529Z,1761516683.529 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.704910
2025-10-26T22:11:23.781Z,1761516683.781 [DAT](INFO): DAT read: Rx Time:22:11:22.6315 

2025-10-26T22:11:23.782Z,1761516683.782 [DAT](INFO): Rx dataTimestamp_ set to:1761516683.781239
2025-10-26T22:11:23.783Z,1761516683.783 [DAT](INFO): DAT read: Bearing  14.7,  13.6 (Local)

2025-10-26T22:11:23.783Z,1761516683.783 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.7,  13.6 (Local)

2025-10-26T22:11:23.785Z,1761516683.785 [DAT](INFO): DAT read: Range 11 to 50 :    17.9 m (trip time 11.9 ms) speed 0.0

2025-10-26T22:11:23.790Z,1761516683.790 [DAT](INFO): DAT read: 22:11:22.6315 LVL= 32752, 27377, 32754, 32755, AGC= 69, IDX= 499, 0.38, 1.239, 2.806, 0.819, 1.783, PHS=-0.442, 1.068,-1.007, RAW= 345.3,   4.1, CAL= 344.9,   1.9, ROT= 165.1,  -1.9

2025-10-26T22:11:23.792Z,1761516683.792 [DAT](INFO): got valid direction response:
 22:11:22.6315 LVL= 32752, 27377, 32754, 32755, AGC= 69, IDX= 499, 0.38, 1.239, 2.806, 0.819, 1.783, PHS=-0.442, 1.068,-1.007, RAW= 345.3,   4.1, CAL= 344.9,   1.9, ROT= 165.1,  -1.9

2025-10-26T22:11:23.792Z,1761516683.792 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-10-26T22:11:23.794Z,1761516683.794 [DAT](INFO): direction in FSK: [-0.965845,0.256991,0.033155]
2025-10-26T22:11:23.795Z,1761516683.795 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:23.802Z,1761516683.802 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.978065
2025-10-26T22:11:23.912Z,1761516683.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573534,-0.817027,-0.059379],[0.818998,0.573431,0.020467],[0.017328,-0.060370,0.998026]]
2025-10-26T22:11:23.974Z,1761516683.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 0.503995 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:23.976Z,1761516683.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.791674 m,
      bearing: 220.014397 deg,
      lat: 36.779407 deg,
      lon: -121.859448 deg,
      deltaT: 0.503995 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:23.976Z,1761516683.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-10-26T22:11:24.033Z,1761516684.033 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.209171
2025-10-26T22:11:24.285Z,1761516684.285 [DAT](INFO): DAT read: Rx Time:22:11:23.1315 

2025-10-26T22:11:24.285Z,1761516684.285 [DAT](INFO): Rx dataTimestamp_ set to:1761516684.285173
2025-10-26T22:11:24.287Z,1761516684.287 [DAT](INFO): DAT read: Bearing  14.4,  14.0 (Local)

2025-10-26T22:11:24.287Z,1761516684.287 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.4,  14.0 (Local)

2025-10-26T22:11:24.289Z,1761516684.289 [DAT](INFO): DAT read: Range 11 to 50 :    17.9 m (trip time 11.9 ms) speed -0.1

2025-10-26T22:11:24.294Z,1761516684.294 [DAT](INFO): DAT read: 22:11:23.1315 LVL= 32752, 23921, 32754, 32755, AGC= 69, IDX= 499,-0.08,-0.643, 0.923,-1.080,-0.100, PHS=-0.441, 1.068,-1.023, RAW= 345.6,   4.3, CAL= 345.3,   2.1, ROT= 164.7,  -2.1

2025-10-26T22:11:24.295Z,1761516684.295 [DAT](INFO): got valid direction response:
 22:11:23.1315 LVL= 32752, 23921, 32754, 32755, AGC= 69, IDX= 499,-0.08,-0.643, 0.923,-1.080,-0.100, PHS=-0.441, 1.068,-1.023, RAW= 345.6,   4.3, CAL= 345.3,   2.1, ROT= 164.7,  -2.1

2025-10-26T22:11:24.295Z,1761516684.295 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-10-26T22:11:24.296Z,1761516684.296 [DAT](INFO): direction in FSK: [-0.963910,0.263696,0.036644]
2025-10-26T22:11:24.297Z,1761516684.297 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:24.302Z,1761516684.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575322,-0.815812,-0.058790],[0.817756,0.575186,0.020906],[0.016760,-0.060103,0.998051]]
2025-10-26T22:11:24.304Z,1761516684.304 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.480553
2025-10-26T22:11:24.370Z,1761516684.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 0.503934 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:24.378Z,1761516684.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.791687 m,
      bearing: 219.479997 deg,
      lat: 36.779407 deg,
      lon: -121.859448 deg,
      deltaT: 0.503934 s,
      deltaX: 0.000013 m,
      approachRate: 0.000026 m/s,
      posRepo size: 4

2025-10-26T22:11:24.395Z,1761516684.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-10-26T22:11:24.537Z,1761516684.537 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.712791
2025-10-26T22:11:24.703Z,1761516684.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577291,-0.814408,-0.058947],[0.816373,0.577122,0.021580],[0.016445,-0.060581,0.998028]]
2025-10-26T22:11:24.789Z,1761516684.789 [DAT](INFO): DAT read: Rx Time:22:11:23.6316 

2025-10-26T22:11:24.790Z,1761516684.790 [DAT](INFO): Rx dataTimestamp_ set to:1761516684.789229
2025-10-26T22:11:24.791Z,1761516684.791 [DAT](INFO): DAT read: Bearing  14.7,  13.9 (Local)

2025-10-26T22:11:24.791Z,1761516684.791 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.7,  13.9 (Local)

2025-10-26T22:11:24.793Z,1761516684.793 [DAT](INFO): DAT read: Range 11 to 50 :    18.0 m (trip time 12.0 ms) speed -0.1

2025-10-26T22:11:24.798Z,1761516684.798 [DAT](INFO): DAT read: 22:11:23.6316 LVL= 32752, 26353, 32754, 32755, AGC= 69, IDX= 500, 0.31, 2.519,-2.205, 2.093, 3.054, PHS=-0.433, 1.069,-1.006, RAW= 345.5,   4.0, CAL= 345.1,   1.7, ROT= 164.9,  -1.7

2025-10-26T22:11:24.799Z,1761516684.799 [DAT](INFO): got valid direction response:
 22:11:23.6316 LVL= 32752, 26353, 32754, 32755, AGC= 69, IDX= 500, 0.31, 2.519,-2.205, 2.093, 3.054, PHS=-0.433, 1.069,-1.006, RAW= 345.5,   4.0, CAL= 345.1,   1.7, ROT= 164.9,  -1.7

2025-10-26T22:11:24.799Z,1761516684.799 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-10-26T22:11:24.800Z,1761516684.800 [DAT](INFO): direction in FSK: [-0.965048,0.260390,0.029666]
2025-10-26T22:11:24.801Z,1761516684.801 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:24.805Z,1761516684.805 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.981136
2025-10-26T22:11:24.808Z,1761516684.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 0.504056 s,
      deltaX: 0.100000 m,
      approachRate: 0.198391 m/s,
      rangeRepo size: 4

2025-10-26T22:11:24.809Z,1761516684.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-10-26T22:11:25.041Z,1761516685.041 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.216625
2025-10-26T22:11:25.097Z,1761516685.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579286,-0.812979,-0.059099],[0.814964,0.579085,0.022216],[0.016162,-0.061033,0.998005]]
2025-10-26T22:11:25.120Z,1761516685.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-10-26T22:11:25.293Z,1761516685.293 [DAT](INFO): DAT read: Rx Time:22:11:24.1316 

2025-10-26T22:11:25.294Z,1761516685.294 [DAT](INFO): Rx dataTimestamp_ set to:1761516685.293255
2025-10-26T22:11:25.295Z,1761516685.295 [DAT](INFO): DAT read: Bearing  15.6,  13.7 (Local)

2025-10-26T22:11:25.295Z,1761516685.295 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.6,  13.7 (Local)

2025-10-26T22:11:25.297Z,1761516685.297 [DAT](INFO): DAT read: Range 11 to 50 :    18.0 m (trip time 12.0 ms) speed -0.1

2025-10-26T22:11:25.302Z,1761516685.302 [DAT](INFO): DAT read: 22:11:24.1316 LVL= 32752, 22929, 32754, 32755, AGC= 69, IDX= 500,-0.02,-1.696,-0.115,-2.121,-1.171, PHS=-0.423, 1.102,-0.994, RAW= 345.3,   3.4, CAL= 344.8,   0.7, ROT= 165.2,  -0.7

2025-10-26T22:11:25.303Z,1761516685.303 [DAT](INFO): got valid direction response:
 22:11:24.1316 LVL= 32752, 22929, 32754, 32755, AGC= 69, IDX= 500,-0.02,-1.696,-0.115,-2.121,-1.171, PHS=-0.423, 1.102,-0.994, RAW= 345.3,   3.4, CAL= 344.8,   0.7, ROT= 165.2,  -0.7

2025-10-26T22:11:25.303Z,1761516685.303 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-10-26T22:11:25.304Z,1761516685.304 [DAT](INFO): direction in FSK: [-0.966751,0.255427,0.012217]
2025-10-26T22:11:25.305Z,1761516685.305 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:25.308Z,1761516685.308 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.484627
2025-10-26T22:11:25.494Z,1761516685.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580986,-0.811751,-0.059287],[0.813752,0.580778,0.022457],[0.016204,-0.061292,0.997988]]
2025-10-26T22:11:25.529Z,1761516685.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 0.504026 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:25.531Z,1761516685.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.891083 m,
      bearing: 219.657141 deg,
      lat: 36.779407 deg,
      lon: -121.859447 deg,
      deltaT: 1.008082 s,
      deltaX: 0.099396 m,
      approachRate: 0.098599 m/s,
      posRepo size: 4

2025-10-26T22:11:25.532Z,1761516685.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-10-26T22:11:25.544Z,1761516685.544 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.720608
2025-10-26T22:11:25.801Z,1761516685.801 [DAT](INFO): DAT read: Rx Time:22:11:24.6318 

2025-10-26T22:11:25.802Z,1761516685.802 [DAT](INFO): Rx dataTimestamp_ set to:1761516685.801384
2025-10-26T22:11:25.803Z,1761516685.803 [DAT](INFO): DAT read: Bearing  15.1,  14.0 (Local)

2025-10-26T22:11:25.803Z,1761516685.803 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.1,  14.0 (Local)

2025-10-26T22:11:25.806Z,1761516685.806 [DAT](INFO): DAT read: Range 11 to 50 :    18.3 m (trip time 12.2 ms) speed 0.0

2025-10-26T22:11:25.810Z,1761516685.810 [DAT](INFO): DAT read: 22:11:24.6318 LVL= 32752, 26769, 32754, 32755, AGC= 70, IDX= 502,-0.31, 2.466,-2.244, 2.030, 2.991, PHS=-0.423, 1.094,-1.005, RAW= 345.6,   3.6, CAL= 345.2,   1.0, ROT= 164.8,  -1.0

2025-10-26T22:11:25.811Z,1761516685.811 [DAT](INFO): got valid direction response:
 22:11:24.6318 LVL= 32752, 26769, 32754, 32755, AGC= 70, IDX= 502,-0.31, 2.466,-2.244, 2.030, 2.991, PHS=-0.423, 1.094,-1.005, RAW= 345.6,   3.6, CAL= 345.2,   1.0, ROT= 164.8,  -1.0

2025-10-26T22:11:25.812Z,1761516685.812 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-10-26T22:11:25.813Z,1761516685.813 [DAT](INFO): direction in FSK: [-0.964870,0.262149,0.017452]
2025-10-26T22:11:25.813Z,1761516685.813 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:25.817Z,1761516685.817 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.992870
2025-10-26T22:11:25.898Z,1761516685.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582547,-0.810617,-0.059491],[0.812632,0.582343,0.022495],[0.016409,-0.061448,0.997975]]
2025-10-26T22:11:26.001Z,1761516686.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 0.508129 s,
      deltaX: 0.299999 m,
      approachRate: 0.590400 m/s,
      rangeRepo size: 4

2025-10-26T22:11:26.003Z,1761516686.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.189266 m,
      bearing: 219.131073 deg,
      lat: 36.779407 deg,
      lon: -121.859447 deg,
      deltaT: 0.508129 s,
      deltaX: 0.298183 m,
      approachRate: 0.586826 m/s,
      posRepo size: 4

2025-10-26T22:11:26.012Z,1761516686.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-10-26T22:11:26.049Z,1761516686.049 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.224880
2025-10-26T22:11:26.301Z,1761516686.301 [DAT](INFO): DAT read: Rx Time:22:11:25.1317 

2025-10-26T22:11:26.301Z,1761516686.301 [DAT](INFO): Rx dataTimestamp_ set to:1761516686.301211
2025-10-26T22:11:26.303Z,1761516686.303 [DAT](INFO): DAT read: Bearing  15.2,  14.1 (Local)

2025-10-26T22:11:26.303Z,1761516686.303 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.2,  14.1 (Local)

2025-10-26T22:11:26.305Z,1761516686.305 [DAT](INFO): DAT read: Range 11 to 50 :    18.2 m (trip time 12.1 ms) speed -0.1

2025-10-26T22:11:26.310Z,1761516686.310 [DAT](INFO): DAT read: 22:11:25.1317 LVL= 32672, 23793, 32754, 32755, AGC= 71, IDX= 501, 0.18, 1.639,-3.065, 1.191, 2.158, PHS=-0.416, 1.106,-1.010, RAW= 345.8,   3.4, CAL= 345.4,   0.8, ROT= 164.6,  -0.8

2025-10-26T22:11:26.311Z,1761516686.311 [DAT](INFO): got valid direction response:
 22:11:25.1317 LVL= 32672, 23793, 32754, 32755, AGC= 71, IDX= 501, 0.18, 1.639,-3.065, 1.191, 2.158, PHS=-0.416, 1.106,-1.010, RAW= 345.8,   3.4, CAL= 345.4,   0.8, ROT= 164.6,  -0.8

2025-10-26T22:11:26.312Z,1761516686.312 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-10-26T22:11:26.313Z,1761516686.313 [DAT](INFO): direction in FSK: [-0.964001,0.265530,0.013962]
2025-10-26T22:11:26.313Z,1761516686.313 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:26.323Z,1761516686.323 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.498955
2025-10-26T22:11:26.446Z,1761516686.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.200001 m,
      deltaT: 0.499827 s,
      deltaX: -0.099998 m,
      approachRate: -0.200066 m/s,
      rangeRepo size: 4

2025-10-26T22:11:26.452Z,1761516686.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.089853 m,
      bearing: 218.942363 deg,
      lat: 36.779407 deg,
      lon: -121.859448 deg,
      deltaT: 0.499827 s,
      deltaX: -0.099413 m,
      approachRate: -0.198895 m/s,
      posRepo size: 4

2025-10-26T22:11:26.452Z,1761516686.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.09 m.
2025-10-26T22:11:26.553Z,1761516686.553 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.728897
2025-10-26T22:11:26.757Z,1761516686.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585088,-0.808748,-0.059994],[0.810784,0.584935,0.021915],[0.017369,-0.061465,0.997958]]
2025-10-26T22:11:26.802Z,1761516686.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.09 m.
2025-10-26T22:11:26.805Z,1761516686.805 [DAT](INFO): DAT read: Rx Time:22:11:25.6319 

2025-10-26T22:11:26.806Z,1761516686.806 [DAT](INFO): Rx dataTimestamp_ set to:1761516686.805279
2025-10-26T22:11:26.807Z,1761516686.807 [DAT](INFO): DAT read: Bearing  15.6,  13.4 (Local)

2025-10-26T22:11:26.808Z,1761516686.808 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.6,  13.4 (Local)

2025-10-26T22:11:26.810Z,1761516686.810 [DAT](INFO): DAT read: Range 11 to 50 :    18.5 m (trip time 12.3 ms) speed 0.0

2025-10-26T22:11:26.815Z,1761516686.815 [DAT](INFO): DAT read: 22:11:25.6319 LVL= 31216, 26433, 32754, 32755, AGC= 68, IDX= 503,-0.43, 1.232, 2.812, 0.817, 1.752, PHS=-0.418, 1.104,-0.980, RAW= 345.1,   3.2, CAL= 344.6,   0.4, ROT= 165.4,  -0.4

2025-10-26T22:11:26.816Z,1761516686.816 [DAT](INFO): got valid direction response:
 22:11:25.6319 LVL= 31216, 26433, 32754, 32755, AGC= 68, IDX= 503,-0.43, 1.232, 2.812, 0.817, 1.752, PHS=-0.418, 1.104,-0.980, RAW= 345.1,   3.2, CAL= 344.6,   0.4, ROT= 165.4,  -0.4

2025-10-26T22:11:26.816Z,1761516686.816 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-10-26T22:11:26.817Z,1761516686.817 [DAT](INFO): direction in FSK: [-0.967686,0.252063,0.006981]
2025-10-26T22:11:26.817Z,1761516686.817 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:26.837Z,1761516686.837 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.013439
2025-10-26T22:11:27.056Z,1761516687.056 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.232494
2025-10-26T22:11:27.258Z,1761516687.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586040,-0.808011,-0.060627],[0.810078,0.585931,0.021432],[0.018206,-0.061672,0.997930]]
2025-10-26T22:11:27.281Z,1761516687.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.500000 m,
      deltaT: 0.504068 s,
      deltaX: 0.299999 m,
      approachRate: 0.595156 m/s,
      rangeRepo size: 4

2025-10-26T22:11:27.283Z,1761516687.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.388037 m,
      bearing: 219.514819 deg,
      lat: 36.779407 deg,
      lon: -121.859448 deg,
      deltaT: 0.504068 s,
      deltaX: 0.298183 m,
      approachRate: 0.591554 m/s,
      posRepo size: 4

2025-10-26T22:11:27.284Z,1761516687.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.39 m.
2025-10-26T22:11:27.309Z,1761516687.309 [DAT](INFO): DAT read: Rx Time:22:11:26.1317 

2025-10-26T22:11:27.310Z,1761516687.310 [DAT](INFO): Rx dataTimestamp_ set to:1761516687.309622
2025-10-26T22:11:27.312Z,1761516687.312 [DAT](INFO): DAT read: Bearing  13.9,  12.8 (Local)

2025-10-26T22:11:27.313Z,1761516687.313 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.9,  12.8 (Local)

2025-10-26T22:11:27.316Z,1761516687.316 [DAT](INFO): DAT read: Range 11 to 50 :    18.2 m (trip time 12.1 ms) speed 0.0

2025-10-26T22:11:27.321Z,1761516687.321 [DAT](INFO): DAT read: 22:11:26.1317 LVL= 32752, 24817, 32754, 32755, AGC= 67, IDX= 502,-0.14, 0.968, 2.565, 0.568, 1.530, PHS=-0.460, 1.079,-1.006, RAW= 344.6,   4.2, CAL= 344.2,   2.0, ROT= 165.8,  -2.0

2025-10-26T22:11:27.324Z,1761516687.324 [DAT](INFO): got valid direction response:
 22:11:26.1317 LVL= 32752, 24817, 32754, 32755, AGC= 67, IDX= 502,-0.14, 0.968, 2.565, 0.568, 1.530, PHS=-0.460, 1.079,-1.006, RAW= 344.6,   4.2, CAL= 344.2,   2.0, ROT= 165.8,  -2.0

2025-10-26T22:11:27.324Z,1761516687.324 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-10-26T22:11:27.326Z,1761516687.326 [DAT](INFO): direction in FSK: [-0.968855,0.245158,0.034899]
2025-10-26T22:11:27.326Z,1761516687.326 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:27.388Z,1761516687.388 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.564098
2025-10-26T22:11:27.561Z,1761516687.561 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.736835
2025-10-26T22:11:27.610Z,1761516687.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586946,-0.807283,-0.061552],[0.809400,0.586882,0.021028],[0.019148,-0.062163,0.997882]]
2025-10-26T22:11:27.678Z,1761516687.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.200001 m,
      deltaT: 0.504343 s,
      deltaX: -0.299999 m,
      approachRate: -0.594832 m/s,
      rangeRepo size: 4

2025-10-26T22:11:27.700Z,1761516687.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.089853 m,
      bearing: 219.760386 deg,
      lat: 36.779407 deg,
      lon: -121.859449 deg,
      deltaT: 0.504343 s,
      deltaX: -0.298183 m,
      approachRate: -0.591231 m/s,
      posRepo size: 4

2025-10-26T22:11:27.703Z,1761516687.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.09 m.
2025-10-26T22:11:27.814Z,1761516687.814 [DAT](INFO): DAT read: Rx Time:22:11:26.6318 

2025-10-26T22:11:27.815Z,1761516687.815 [DAT](INFO): Rx dataTimestamp_ set to:1761516687.814483
2025-10-26T22:11:27.817Z,1761516687.817 [DAT](INFO): DAT read: Bearing  15.3,  14.1 (Local)

2025-10-26T22:11:27.817Z,1761516687.817 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.3,  14.1 (Local)

2025-10-26T22:11:27.820Z,1761516687.820 [DAT](INFO): DAT read: Range 11 to 50 :    18.3 m (trip time 12.2 ms) speed -0.1

2025-10-26T22:11:27.825Z,1761516687.825 [DAT](INFO): DAT read: 22:11:26.6318 LVL= 31008, 25073, 32754, 32755, AGC= 68, IDX= 502, 0.16, 2.253,-2.465, 1.801, 2.757, PHS=-0.402, 1.106,-1.000, RAW= 346.0,   3.2, CAL= 345.5,   0.4, ROT= 164.5,  -0.4

2025-10-26T22:11:27.826Z,1761516687.826 [DAT](INFO): got valid direction response:
 22:11:26.6318 LVL= 31008, 25073, 32754, 32755, AGC= 68, IDX= 502, 0.16, 2.253,-2.465, 1.801, 2.757, PHS=-0.402, 1.106,-1.000, RAW= 346.0,   3.2, CAL= 345.5,   0.4, ROT= 164.5,  -0.4

2025-10-26T22:11:27.827Z,1761516687.827 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-10-26T22:11:27.828Z,1761516687.828 [DAT](INFO): direction in FSK: [-0.963607,0.267232,0.006981]
2025-10-26T22:11:27.828Z,1761516687.828 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:27.840Z,1761516687.840 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:11:27.840Z,1761516687.840 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:11:27.840Z,1761516687.840 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:11:28.064Z,1761516688.064 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:11:28.076Z,1761516688.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 0.504861 s,
      deltaX: 0.099998 m,
      approachRate: 0.198071 m/s,
      rangeRepo size: 4

2025-10-26T22:11:28.078Z,1761516688.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.189266 m,
      bearing: 218.550832 deg,
      lat: 36.779407 deg,
      lon: -121.859449 deg,
      deltaT: 0.504861 s,
      deltaX: 0.099413 m,
      approachRate: 0.196911 m/s,
      posRepo size: 4

2025-10-26T22:11:28.079Z,1761516688.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-10-26T22:11:28.317Z,1761516688.317 [DAT](INFO): DAT read: Rx Time:22:11:27.1317 

2025-10-26T22:11:28.317Z,1761516688.317 [DAT](INFO): Rx dataTimestamp_ set to:1761516688.317212
2025-10-26T22:11:28.319Z,1761516688.319 [DAT](INFO): DAT read: Bearing  15.8,  13.3 (Local)

2025-10-26T22:11:28.319Z,1761516688.319 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.8,  13.3 (Local)

2025-10-26T22:11:28.321Z,1761516688.321 [DAT](INFO): DAT read: Range 11 to 50 :    18.2 m (trip time 12.1 ms) speed -0.1

2025-10-26T22:11:28.326Z,1761516688.326 [DAT](INFO): DAT read: 22:11:27.1317 LVL= 30688, 25793, 32754, 32755, AGC= 67, IDX= 502,-0.29,-1.376, 0.220,-1.807,-0.865, PHS=-0.408, 1.130,-0.986, RAW= 345.3,   2.8, CAL= 344.8,  -0.1, ROT= 165.2,   0.1

2025-10-26T22:11:28.327Z,1761516688.327 [DAT](INFO): got valid direction response:
 22:11:27.1317 LVL= 30688, 25793, 32754, 32755, AGC= 67, IDX= 502,-0.29,-1.376, 0.220,-1.807,-0.865, PHS=-0.408, 1.130,-0.986, RAW= 345.3,   2.8, CAL= 344.8,  -0.1, ROT= 165.2,   0.1

2025-10-26T22:11:28.327Z,1761516688.327 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:11:28.328Z,1761516688.328 [DAT](INFO): direction in FSK: [-0.966822,0.255445,-0.001745]
2025-10-26T22:11:28.329Z,1761516688.329 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:28.332Z,1761516688.332 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:11:28.333Z,1761516688.333 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:11:28.418Z,1761516688.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587772,-0.806549,-0.063266],[0.808739,0.587849,0.019361],[0.021575,-0.062545,0.997809]]
2025-10-26T22:11:28.462Z,1761516688.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.200001 m,
      deltaT: 0.502729 s,
      deltaX: -0.099998 m,
      approachRate: -0.198911 m/s,
      rangeRepo size: 4

2025-10-26T22:11:28.477Z,1761516688.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.089874 m,
      bearing: 219.216148 deg,
      lat: 36.779408 deg,
      lon: -121.859449 deg,
      deltaT: 0.502729 s,
      deltaX: -0.099392 m,
      approachRate: -0.197705 m/s,
      posRepo size: 4

2025-10-26T22:11:28.478Z,1761516688.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.09 m.
2025-10-26T22:11:28.569Z,1761516688.569 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:11:28.821Z,1761516688.821 [DAT](INFO): DAT read: Rx Time:22:11:27.6318 

2025-10-26T22:11:28.821Z,1761516688.821 [DAT](INFO): Rx dataTimestamp_ set to:1761516688.821018
2025-10-26T22:11:28.823Z,1761516688.823 [DAT](INFO): DAT read: Bearing  15.8,  13.7 (Local)

2025-10-26T22:11:28.823Z,1761516688.823 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.8,  13.7 (Local)

2025-10-26T22:11:28.825Z,1761516688.825 [DAT](INFO): DAT read: Range 11 to 50 :    18.3 m (trip time 12.2 ms) speed 0.0

2025-10-26T22:11:28.830Z,1761516688.830 [DAT](INFO): DAT read: 22:11:27.6318 LVL= 30832, 28225, 32754, 32755, AGC= 68, IDX= 503, 0.14, 0.681, 2.274, 0.230, 1.184, PHS=-0.402, 1.135,-0.999, RAW= 345.7,   2.8, CAL= 345.3,  -0.1, ROT= 164.7,   0.1

2025-10-26T22:11:28.831Z,1761516688.831 [DAT](INFO): got valid direction response:
 22:11:27.6318 LVL= 30832, 28225, 32754, 32755, AGC= 68, IDX= 503, 0.14, 0.681, 2.274, 0.230, 1.184, PHS=-0.402, 1.135,-0.999, RAW= 345.7,   2.8, CAL= 345.3,  -0.1, ROT= 164.7,   0.1

2025-10-26T22:11:28.831Z,1761516688.831 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:11:28.832Z,1761516688.832 [DAT](INFO): direction in FSK: [-0.964556,0.263873,-0.001745]
2025-10-26T22:11:28.832Z,1761516688.832 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:28.836Z,1761516688.836 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:11:28.836Z,1761516688.836 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:11:28.845Z,1761516688.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587727,-0.806514,-0.064122],[0.808732,0.587895,0.018213],[0.023008,-0.062562,0.997776]]
2025-10-26T22:11:28.976Z,1761516688.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 0.503806 s,
      deltaX: 0.099998 m,
      approachRate: 0.198486 m/s,
      rangeRepo size: 4

2025-10-26T22:11:28.978Z,1761516688.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.189266 m,
      bearing: 218.717525 deg,
      lat: 36.779410 deg,
      lon: -121.859449 deg,
      deltaT: 0.503806 s,
      deltaX: 0.099392 m,
      approachRate: 0.197282 m/s,
      posRepo size: 4

2025-10-26T22:11:28.979Z,1761516688.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-10-26T22:11:29.072Z,1761516689.072 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:11:29.325Z,1761516689.325 [DAT](INFO): DAT read: Rx Time:22:11:28.1318 

2025-10-26T22:11:29.325Z,1761516689.325 [DAT](INFO): Rx dataTimestamp_ set to:1761516689.325037
2025-10-26T22:11:29.327Z,1761516689.327 [DAT](INFO): DAT read: Bearing  15.9,  14.2 (Local)

2025-10-26T22:11:29.327Z,1761516689.327 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.9,  14.2 (Local)

2025-10-26T22:11:29.329Z,1761516689.329 [DAT](INFO): DAT read: Range 11 to 50 :    18.3 m (trip time 12.2 ms) speed 0.0

2025-10-26T22:11:29.334Z,1761516689.334 [DAT](INFO): DAT read: 22:11:28.1318 LVL= 28368, 30001, 32754, 32755, AGC= 69, IDX= 503,-0.26,-1.686,-0.106,-2.160,-1.201, PHS=-0.383, 1.140,-1.003, RAW= 346.3,   2.6, CAL= 345.9,  -0.3, ROT= 164.1,   0.3

2025-10-26T22:11:29.335Z,1761516689.335 [DAT](INFO): got valid direction response:
 22:11:28.1318 LVL= 28368, 30001, 32754, 32755, AGC= 69, IDX= 503,-0.26,-1.686,-0.106,-2.160,-1.201, PHS=-0.383, 1.140,-1.003, RAW= 346.3,   2.6, CAL= 345.9,  -0.3, ROT= 164.1,   0.3

2025-10-26T22:11:29.335Z,1761516689.335 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:11:29.336Z,1761516689.336 [DAT](INFO): direction in FSK: [-0.961728,0.273955,-0.005236]
2025-10-26T22:11:29.336Z,1761516689.336 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:29.342Z,1761516689.342 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:11:29.342Z,1761516689.342 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:11:29.430Z,1761516689.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586826,-0.807054,-0.065564],[0.809294,0.587200,0.015452],[0.026029,-0.062128,0.997729]]
2025-10-26T22:11:29.493Z,1761516689.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 0.504019 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:29.497Z,1761516689.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.189278 m,
      bearing: 218.186769 deg,
      lat: 36.779410 deg,
      lon: -121.859448 deg,
      deltaT: 0.504019 s,
      deltaX: 0.000011 m,
      approachRate: 0.000023 m/s,
      posRepo size: 4

2025-10-26T22:11:29.497Z,1761516689.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-10-26T22:11:29.577Z,1761516689.577 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:11:29.829Z,1761516689.829 [DAT](INFO): DAT read: Rx Time:22:11:28.6319 

2025-10-26T22:11:29.830Z,1761516689.830 [DAT](INFO): Rx dataTimestamp_ set to:1761516689.829264
2025-10-26T22:11:29.831Z,1761516689.831 [DAT](INFO): DAT read: Bearing  15.3,  14.6 (Local)

2025-10-26T22:11:29.831Z,1761516689.831 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.3,  14.6 (Local)

2025-10-26T22:11:29.834Z,1761516689.834 [DAT](INFO): DAT read: Range 11 to 50 :    18.5 m (trip time 12.3 ms) speed -0.1

2025-10-26T22:11:29.839Z,1761516689.839 [DAT](INFO): DAT read: 22:11:28.6319 LVL= 30096, 27297, 32754, 32755, AGC= 70, IDX= 504, 0.20, 1.114, 2.673, 0.630, 1.603, PHS=-0.387, 1.115,-1.017, RAW= 346.7,   3.1, CAL= 346.3,   0.2, ROT= 163.7,  -0.2

2025-10-26T22:11:29.842Z,1761516689.842 [DAT](INFO): got valid direction response:
 22:11:28.6319 LVL= 30096, 27297, 32754, 32755, AGC= 70, IDX= 504, 0.20, 1.114, 2.673, 0.630, 1.603, PHS=-0.387, 1.115,-1.017, RAW= 346.7,   3.1, CAL= 346.3,   0.2, ROT= 163.7,  -0.2

2025-10-26T22:11:29.842Z,1761516689.842 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:11:29.844Z,1761516689.844 [DAT](INFO): direction in FSK: [-0.959799,0.280665,0.003491]
2025-10-26T22:11:29.845Z,1761516689.845 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:29.851Z,1761516689.851 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:11:29.852Z,1761516689.852 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:11:29.970Z,1761516689.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.500000 m,
      deltaT: 0.504227 s,
      deltaX: 0.200001 m,
      approachRate: 0.396648 m/s,
      rangeRepo size: 4

2025-10-26T22:11:29.972Z,1761516689.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.388067 m,
      bearing: 217.760647 deg,
      lat: 36.779410 deg,
      lon: -121.859448 deg,
      deltaT: 0.504227 s,
      deltaX: 0.198790 m,
      approachRate: 0.394246 m/s,
      posRepo size: 4

2025-10-26T22:11:29.973Z,1761516689.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.39 m.
2025-10-26T22:11:30.081Z,1761516690.081 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:11:30.268Z,1761516690.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585211,-0.808084,-0.067291],[0.810355,0.585803,0.012644],[0.029202,-0.061929,0.997653]]
2025-10-26T22:11:30.287Z,1761516690.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.39 m.
2025-10-26T22:11:30.334Z,1761516690.334 [DAT](INFO): DAT read: Rx Time:22:11:29.1319 

2025-10-26T22:11:30.334Z,1761516690.334 [DAT](INFO): Rx dataTimestamp_ set to:1761516690.333786
2025-10-26T22:11:30.336Z,1761516690.336 [DAT](INFO): DAT read: Bearing  14.9,  13.8 (Local)

2025-10-26T22:11:30.337Z,1761516690.337 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.9,  13.8 (Local)

2025-10-26T22:11:30.341Z,1761516690.341 [DAT](INFO): DAT read: Range 11 to 50 :    18.5 m (trip time 12.3 ms) speed -0.2

2025-10-26T22:11:30.350Z,1761516690.350 [DAT](INFO): DAT read: 22:11:29.1319 LVL= 30752, 26465, 32754, 32755, AGC= 70, IDX= 504,-0.06,-1.878,-0.304,-2.339,-1.367, PHS=-0.409, 1.108,-1.016, RAW= 346.1,   3.4, CAL= 345.7,   0.7, ROT= 164.3,  -0.7

2025-10-26T22:11:30.352Z,1761516690.352 [DAT](INFO): got valid direction response:
 22:11:29.1319 LVL= 30752, 26465, 32754, 32755, AGC= 70, IDX= 504,-0.06,-1.878,-0.304,-2.339,-1.367, PHS=-0.409, 1.108,-1.016, RAW= 346.1,   3.4, CAL= 345.7,   0.7, ROT= 164.3,  -0.7

2025-10-26T22:11:30.353Z,1761516690.353 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:11:30.354Z,1761516690.354 [DAT](INFO): direction in FSK: [-0.962620,0.270580,0.012217]
2025-10-26T22:11:30.354Z,1761516690.354 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:30.388Z,1761516690.388 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:11:30.389Z,1761516690.389 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:11:30.584Z,1761516690.584 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:11:30.650Z,1761516690.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584057,-0.808853,-0.068079],[0.811134,0.584750,0.011334],[0.030642,-0.061841,0.997616]]
2025-10-26T22:11:30.674Z,1761516690.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.500000 m,
      deltaT: 0.504522 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:30.694Z,1761516690.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.388088 m,
      bearing: 218.521973 deg,
      lat: 36.779410 deg,
      lon: -121.859447 deg,
      deltaT: 0.504522 s,
      deltaX: 0.000021 m,
      approachRate: 0.000042 m/s,
      posRepo size: 4

2025-10-26T22:11:30.702Z,1761516690.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.39 m.
2025-10-26T22:11:30.839Z,1761516690.839 [DAT](INFO): DAT read: Rx Time:22:11:29.6321 

2025-10-26T22:11:30.840Z,1761516690.840 [DAT](INFO): Rx dataTimestamp_ set to:1761516690.838786
2025-10-26T22:11:30.842Z,1761516690.842 [DAT](INFO): DAT read: Bearing  15.2,  13.7 (Local)

2025-10-26T22:11:30.843Z,1761516690.843 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.2,  13.7 (Local)

2025-10-26T22:11:30.864Z,1761516690.864 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed -0.2

2025-10-26T22:11:30.874Z,1761516690.874 [DAT](INFO): DAT read: 22:11:29.6321 LVL= 32752, 27745, 32754, 32755, AGC= 69, IDX= 506,-0.28,-1.005, 0.574,-1.465,-0.497, PHS=-0.406, 1.116,-1.012, RAW= 346.0,   3.2, CAL= 345.6,   0.4, ROT= 164.4,  -0.4

2025-10-26T22:11:30.880Z,1761516690.880 [DAT](INFO): got valid direction response:
 22:11:29.6321 LVL= 32752, 27745, 32754, 32755, AGC= 69, IDX= 506,-0.28,-1.005, 0.574,-1.465,-0.497, PHS=-0.406, 1.116,-1.012, RAW= 346.0,   3.2, CAL= 345.6,   0.4, ROT= 164.4,  -0.4

2025-10-26T22:11:30.880Z,1761516690.880 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:11:30.881Z,1761516690.881 [DAT](INFO): direction in FSK: [-0.963139,0.268913,0.006981]
2025-10-26T22:11:30.881Z,1761516690.881 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:30.889Z,1761516690.889 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:11:30.889Z,1761516690.889 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:11:31.054Z,1761516691.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582953,-0.809568,-0.069028],[0.811873,0.583745,0.010178],[0.032055,-0.061975,0.997563]]
2025-10-26T22:11:31.088Z,1761516691.088 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:11:31.115Z,1761516691.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.505000 s,
      deltaX: 0.299999 m,
      approachRate: 0.594058 m/s,
      rangeRepo size: 4

2025-10-26T22:11:31.118Z,1761516691.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.686285 m,
      bearing: 218.712584 deg,
      lat: 36.779410 deg,
      lon: -121.859447 deg,
      deltaT: 0.505000 s,
      deltaX: 0.298197 m,
      approachRate: 0.590489 m/s,
      posRepo size: 4

2025-10-26T22:11:31.118Z,1761516691.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m.
2025-10-26T22:11:31.343Z,1761516691.343 [DAT](INFO): DAT read: Rx Time:22:11:30.1321 

2025-10-26T22:11:31.345Z,1761516691.345 [DAT](INFO): Rx dataTimestamp_ set to:1761516691.344338
2025-10-26T22:11:31.347Z,1761516691.347 [DAT](INFO): DAT read: Bearing  16.1,  13.9 (Local)

2025-10-26T22:11:31.347Z,1761516691.347 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.1,  13.9 (Local)

2025-10-26T22:11:31.350Z,1761516691.350 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed -0.2

2025-10-26T22:11:31.358Z,1761516691.358 [DAT](INFO): DAT read: 22:11:30.1321 LVL= 29344, 22465, 32754, 32755, AGC= 69, IDX= 506,-0.44,-2.677,-1.101, 3.137,-2.196, PHS=-0.379, 1.140,-0.994, RAW= 346.3,   2.5, CAL= 345.8,  -0.5, ROT= 164.2,   0.5

2025-10-26T22:11:31.368Z,1761516691.368 [DAT](INFO): got valid direction response:
 22:11:30.1321 LVL= 29344, 22465, 32754, 32755, AGC= 69, IDX= 506,-0.44,-2.677,-1.101, 3.137,-2.196, PHS=-0.379, 1.140,-0.994, RAW= 346.3,   2.5, CAL= 345.8,  -0.5, ROT= 164.2,   0.5

2025-10-26T22:11:31.368Z,1761516691.368 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:11:31.369Z,1761516691.369 [DAT](INFO): direction in FSK: [-0.962181,0.272270,-0.008727]
2025-10-26T22:11:31.370Z,1761516691.370 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:31.397Z,1761516691.397 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:11:31.398Z,1761516691.398 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:11:31.458Z,1761516691.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581524,-0.810544,-0.069623],[0.812850,0.582403,0.009035],[0.033225,-0.061847,0.997532]]
2025-10-26T22:11:31.525Z,1761516691.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.505552 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:31.527Z,1761516691.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.686285 m,
      bearing: 218.656610 deg,
      lat: 36.779410 deg,
      lon: -121.859447 deg,
      deltaT: 0.505552 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:31.532Z,1761516691.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m.
2025-10-26T22:11:31.593Z,1761516691.593 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:11:31.846Z,1761516691.846 [DAT](INFO): DAT read: Rx Time:22:11:30.6322 

2025-10-26T22:11:31.847Z,1761516691.847 [DAT](INFO): Rx dataTimestamp_ set to:1761516691.846408
2025-10-26T22:11:31.853Z,1761516691.853 [DAT](INFO): DAT read: Bearing  14.2,  13.8 (Local)

2025-10-26T22:11:31.854Z,1761516691.854 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.2,  13.8 (Local)

2025-10-26T22:11:31.857Z,1761516691.857 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed -0.1

2025-10-26T22:11:31.868Z,1761516691.868 [DAT](INFO): DAT read: 22:11:30.6322 LVL= 32752, 29937, 32754, 32755, AGC= 69, IDX= 506, 0.28,-1.134, 0.433,-1.598,-0.611, PHS=-0.421, 1.089,-1.032, RAW= 346.2,   3.9, CAL= 345.8,   1.5, ROT= 164.2,  -1.5

2025-10-26T22:11:31.869Z,1761516691.869 [DAT](INFO): got valid direction response:
 22:11:30.6322 LVL= 32752, 29937, 32754, 32755, AGC= 69, IDX= 506, 0.28,-1.134, 0.433,-1.598,-0.611, PHS=-0.421, 1.089,-1.032, RAW= 346.2,   3.9, CAL= 345.8,   1.5, ROT= 164.2,  -1.5

2025-10-26T22:11:31.869Z,1761516691.869 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:11:31.870Z,1761516691.870 [DAT](INFO): direction in FSK: [-0.961888,0.272187,0.026177]
2025-10-26T22:11:31.871Z,1761516691.871 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:31.875Z,1761516691.875 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:11:31.886Z,1761516691.886 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:11:31.919Z,1761516691.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580082,-0.811515,-0.070353],[0.813834,0.581042,0.008045],[0.034349,-0.061923,0.997490]]
2025-10-26T22:11:32.018Z,1761516692.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.502070 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:32.025Z,1761516692.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.686285 m,
      bearing: 218.655134 deg,
      lat: 36.779410 deg,
      lon: -121.859448 deg,
      deltaT: 0.502070 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:32.025Z,1761516692.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m.
2025-10-26T22:11:32.097Z,1761516692.097 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:11:32.275Z,1761516692.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578403,-0.812696,-0.070528],[0.815001,0.579413,0.007266],[0.034960,-0.061683,0.997483]]
2025-10-26T22:11:32.298Z,1761516692.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m.
2025-10-26T22:11:32.350Z,1761516692.350 [DAT](INFO): DAT read: user:492>

2025-10-26T22:11:32.352Z,1761516692.352 [DAT](INFO): DAT read: 120

2025-10-26T22:11:32.352Z,1761516692.352 [DAT](INFO): unknown deviceResponse_: 120

2025-10-26T22:11:32.353Z,1761516692.353 [DAT](INFO): DAT read: Ok

2025-10-26T22:11:32.353Z,1761516692.353 [DAT](INFO): unknown deviceResponse_: Ok

2025-10-26T22:11:32.354Z,1761516692.354 [DAT](INFO): DAT read: user:493>

2025-10-26T22:11:32.356Z,1761516692.356 [DAT](INFO): DAT read: Tx time:22:11:31.5891

2025-10-26T22:11:32.356Z,1761516692.356 [DAT](INFO): Ping request sent.
2025-10-26T22:11:32.356Z,1761516692.356 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:11:32.357Z,1761516692.357 [DAT](INFO): publishing transmit ping time
2025-10-26T22:11:32.357Z,1761516692.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001041
2025-10-26T22:11:32.600Z,1761516692.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243913
2025-10-26T22:11:32.674Z,1761516692.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576382,-0.814130,-0.070541],[0.816402,0.577450,0.006243],[0.035651,-0.061188,0.997489]]
2025-10-26T22:11:32.706Z,1761516692.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m.
2025-10-26T22:11:32.853Z,1761516692.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496616
2025-10-26T22:11:33.078Z,1761516693.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574776,-0.815254,-0.070665],[0.817519,0.575873,0.005763],[0.035996,-0.061083,0.997483]]
2025-10-26T22:11:33.109Z,1761516693.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753099
2025-10-26T22:11:33.181Z,1761516693.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m.
2025-10-26T22:11:33.361Z,1761516693.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004877
2025-10-26T22:11:33.482Z,1761516693.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573200,-0.816338,-0.070948],[0.818610,0.574323,0.005433],[0.036312,-0.061193,0.997465]]
2025-10-26T22:11:33.516Z,1761516693.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m.
2025-10-26T22:11:33.612Z,1761516693.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256080
2025-10-26T22:11:33.865Z,1761516693.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508767
2025-10-26T22:11:33.892Z,1761516693.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571725,-0.817385,-0.070795],[0.819642,0.572853,0.005195],[0.036309,-0.060997,0.997477]]
2025-10-26T22:11:33.965Z,1761516693.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m.
2025-10-26T22:11:34.116Z,1761516694.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759920
2025-10-26T22:11:34.290Z,1761516694.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570276,-0.818439,-0.070302],[0.820659,0.571397,0.004965],[0.036107,-0.060526,0.997513]]
2025-10-26T22:11:34.328Z,1761516694.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m.
2025-10-26T22:11:34.369Z,1761516694.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012659
2025-10-26T22:11:34.620Z,1761516694.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264010
2025-10-26T22:11:34.695Z,1761516694.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568759,-0.819557,-0.069569],[0.821725,0.569865,0.004694],[0.035798,-0.059837,0.997566]]
2025-10-26T22:11:34.737Z,1761516694.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m.
2025-10-26T22:11:34.875Z,1761516694.875 [DAT](INFO): DAT read: Rx Time:22:11:33.7444 

2025-10-26T22:11:34.878Z,1761516694.878 [DAT](INFO): Rx dataTimestamp_ set to:1761516694.874984
2025-10-26T22:11:34.880Z,1761516694.880 [DAT](INFO): DAT read: Bearing  15.9,  12.7 (Local)

2025-10-26T22:11:34.880Z,1761516694.880 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.9,  12.7 (Local)

2025-10-26T22:11:34.882Z,1761516694.882 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed -0.3

2025-10-26T22:11:34.891Z,1761516694.891 [DAT](INFO): DAT read: 22:11:33.7444 LVL= 32752, 25201, 32754, 32755, AGC= 74, IDX=  88,-0.12, 0.183, 1.811,-0.254, 0.718, PHS=-0.433, 1.138,-1.017, RAW= 345.2,   3.3, CAL= 344.7,   0.5, ROT= 165.3,  -0.5

2025-10-26T22:11:34.892Z,1761516694.892 [DAT](INFO): got valid direction response:
 22:11:33.7444 LVL= 32752, 25201, 32754, 32755, AGC= 74, IDX=  88,-0.12, 0.183, 1.811,-0.254, 0.718, PHS=-0.433, 1.138,-1.017, RAW= 345.2,   3.3, CAL= 344.7,   0.5, ROT= 165.3,  -0.5

2025-10-26T22:11:34.893Z,1761516694.893 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:11:34.894Z,1761516694.894 [DAT](INFO): direction in FSK: [-0.967231,0.253748,0.008727]
2025-10-26T22:11:34.894Z,1761516694.894 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:34.914Z,1761516694.914 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.557365
2025-10-26T22:11:35.102Z,1761516695.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567543,-0.820437,-0.069123],[0.822587,0.568618,0.004891],[0.035292,-0.059635,0.997596]]
2025-10-26T22:11:35.124Z,1761516695.124 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.768101
2025-10-26T22:11:35.170Z,1761516695.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 3.028576 s,
      deltaX: 0.700001 m,
      approachRate: 0.231132 m/s,
      rangeRepo size: 4

2025-10-26T22:11:35.172Z,1761516695.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.382042 m,
      bearing: 220.680469 deg,
      lat: 36.779410 deg,
      lon: -121.859449 deg,
      deltaT: 3.028576 s,
      deltaX: 0.695757 m,
      approachRate: 0.229731 m/s,
      posRepo size: 4

2025-10-26T22:11:35.172Z,1761516695.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m.
2025-10-26T22:11:35.377Z,1761516695.377 [DAT](INFO): DAT read: Rx Time:22:11:34.2444 

2025-10-26T22:11:35.377Z,1761516695.377 [DAT](INFO): Rx dataTimestamp_ set to:1761516695.377192
2025-10-26T22:11:35.379Z,1761516695.379 [DAT](INFO): DAT read: Bearing  16.6,  13.3 (Local)

2025-10-26T22:11:35.379Z,1761516695.379 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.6,  13.3 (Local)

2025-10-26T22:11:35.381Z,1761516695.381 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed 0.0

2025-10-26T22:11:35.386Z,1761516695.386 [DAT](INFO): DAT read: 22:11:34.2444 LVL= 28192, 26993, 32754, 32755, AGC= 71, IDX= 504,-0.45,-0.068, 1.542,-0.525, 0.440, PHS=-0.406, 1.147,-1.009, RAW= 345.7,   2.8, CAL= 345.3,  -0.1, ROT= 164.7,   0.1

2025-10-26T22:11:35.387Z,1761516695.387 [DAT](INFO): got valid direction response:
 22:11:34.2444 LVL= 28192, 26993, 32754, 32755, AGC= 71, IDX= 504,-0.45,-0.068, 1.542,-0.525, 0.440, PHS=-0.406, 1.147,-1.009, RAW= 345.7,   2.8, CAL= 345.3,  -0.1, ROT= 164.7,   0.1

2025-10-26T22:11:35.387Z,1761516695.387 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T22:11:35.388Z,1761516695.388 [DAT](INFO): direction in FSK: [-0.964556,0.263873,-0.001745]
2025-10-26T22:11:35.389Z,1761516695.389 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:35.398Z,1761516695.398 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.042034
2025-10-26T22:11:35.502Z,1761516695.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566301,-0.821331,-0.068695],[0.823472,0.567332,0.005316],[0.034607,-0.059579,0.997624]]
2025-10-26T22:11:35.611Z,1761516695.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.502208 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:35.613Z,1761516695.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.382042 m,
      bearing: 220.197555 deg,
      lat: 36.779410 deg,
      lon: -121.859449 deg,
      deltaT: 0.502208 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:35.613Z,1761516695.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m.
2025-10-26T22:11:35.629Z,1761516695.629 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.272316
2025-10-26T22:11:35.881Z,1761516695.881 [DAT](INFO): DAT read: Rx Time:22:11:34.7444 

2025-10-26T22:11:35.881Z,1761516695.881 [DAT](INFO): Rx dataTimestamp_ set to:1761516695.881160
2025-10-26T22:11:35.883Z,1761516695.883 [DAT](INFO): DAT read: Bearing  16.2,  12.7 (Local)

2025-10-26T22:11:35.883Z,1761516695.883 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.2,  12.7 (Local)

2025-10-26T22:11:35.885Z,1761516695.885 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed -0.2

2025-10-26T22:11:35.902Z,1761516695.902 [DAT](INFO): DAT read: 22:11:34.7444 LVL= 32752, 28001, 32754, 32755, AGC= 70, IDX= 504, 0.09, 1.343, 2.955, 0.913, 1.872, PHS=-0.428, 1.127,-1.004, RAW= 345.1,   3.2, CAL= 344.7,   0.5, ROT= 165.3,  -0.5

2025-10-26T22:11:35.903Z,1761516695.903 [DAT](INFO): got valid direction response:
 22:11:34.7444 LVL= 32752, 28001, 32754, 32755, AGC= 70, IDX= 504, 0.09, 1.343, 2.955, 0.913, 1.872, PHS=-0.428, 1.127,-1.004, RAW= 345.1,   3.2, CAL= 344.7,   0.5, ROT= 165.3,  -0.5

2025-10-26T22:11:35.908Z,1761516695.908 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-10-26T22:11:35.909Z,1761516695.909 [DAT](INFO): direction in FSK: [-0.967231,0.253748,0.008727]
2025-10-26T22:11:35.909Z,1761516695.909 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:35.929Z,1761516695.929 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.572387
2025-10-26T22:11:35.943Z,1761516695.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564983,-0.822292,-0.068041],[0.824403,0.565976,0.005532],[0.033961,-0.059219,0.997667]]
2025-10-26T22:11:36.065Z,1761516696.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.503968 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:36.067Z,1761516696.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.382038 m,
      bearing: 220.861047 deg,
      lat: 36.779414 deg,
      lon: -121.859456 deg,
      deltaT: 0.503968 s,
      deltaX: -0.000004 m,
      approachRate: -0.000008 m/s,
      posRepo size: 4

2025-10-26T22:11:36.067Z,1761516696.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m.
2025-10-26T22:11:36.133Z,1761516696.133 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.776488
2025-10-26T22:11:36.310Z,1761516696.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564009,-0.823046,-0.067009],[0.825104,0.564953,0.005727],[0.033143,-0.058520,0.997736]]
2025-10-26T22:11:36.385Z,1761516696.385 [DAT](INFO): DAT read: Rx Time:22:11:35.2444 

2025-10-26T22:11:36.386Z,1761516696.386 [DAT](INFO): Rx dataTimestamp_ set to:1761516696.385240
2025-10-26T22:11:36.387Z,1761516696.387 [DAT](INFO): DAT read: Bearing  16.4,  11.9 (Local)

2025-10-26T22:11:36.387Z,1761516696.387 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.4,  11.9 (Local)

2025-10-26T22:11:36.389Z,1761516696.389 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed 0.0

2025-10-26T22:11:36.394Z,1761516696.394 [DAT](INFO): DAT read: 22:11:35.2444 LVL= 32720, 27377, 32754, 32755, AGC= 71, IDX= 504,-0.28,-1.341, 0.306,-1.745,-0.790, PHS=-0.448, 1.141,-0.998, RAW= 344.3,   3.2, CAL= 343.9,   0.5, ROT= 166.1,  -0.5

2025-10-26T22:11:36.395Z,1761516696.395 [DAT](INFO): got valid direction response:
 22:11:35.2444 LVL= 32720, 27377, 32754, 32755, AGC= 71, IDX= 504,-0.28,-1.341, 0.306,-1.745,-0.790, PHS=-0.448, 1.141,-0.998, RAW= 344.3,   3.2, CAL= 343.9,   0.5, ROT= 166.1,  -0.5

2025-10-26T22:11:36.395Z,1761516696.395 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-26T22:11:36.396Z,1761516696.396 [DAT](INFO): direction in FSK: [-0.970680,0.240219,0.008727]
2025-10-26T22:11:36.397Z,1761516696.397 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:36.404Z,1761516696.404 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.048084
2025-10-26T22:11:36.409Z,1761516696.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.504080 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:36.411Z,1761516696.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.382038 m,
      bearing: 221.729729 deg,
      lat: 36.779414 deg,
      lon: -121.859457 deg,
      deltaT: 0.504080 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:36.412Z,1761516696.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m.
2025-10-26T22:11:36.637Z,1761516696.637 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.280718
2025-10-26T22:11:36.721Z,1761516696.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562789,-0.823982,-0.065734],[0.825968,0.563687,0.005753],[0.032313,-0.057532,0.997821]]
2025-10-26T22:11:36.774Z,1761516696.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m.
2025-10-26T22:11:36.889Z,1761516696.889 [DAT](INFO): DAT read: Rx Time:22:11:35.7445 

2025-10-26T22:11:36.889Z,1761516696.889 [DAT](INFO): Rx dataTimestamp_ set to:1761516696.889010
2025-10-26T22:11:36.891Z,1761516696.891 [DAT](INFO): DAT read: Bearing  17.1,  12.9 (Local)

2025-10-26T22:11:36.891Z,1761516696.891 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.1,  12.9 (Local)

2025-10-26T22:11:36.893Z,1761516696.893 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.0

2025-10-26T22:11:36.899Z,1761516696.899 [DAT](INFO): DAT read: 22:11:35.7445 LVL= 27632, 24817, 32754, 32755, AGC= 69, IDX= 505, 0.07, 1.625,-3.040, 1.189, 2.140, PHS=-0.413, 1.149,-0.995, RAW= 345.2,   2.7, CAL= 344.7,  -0.2, ROT= 165.3,   0.2

2025-10-26T22:11:36.901Z,1761516696.901 [DAT](INFO): got valid direction response:
 22:11:35.7445 LVL= 27632, 24817, 32754, 32755, AGC= 69, IDX= 505, 0.07, 1.625,-3.040, 1.189, 2.140, PHS=-0.413, 1.149,-0.995, RAW= 345.2,   2.7, CAL= 344.7,  -0.2, ROT= 165.3,   0.2

2025-10-26T22:11:36.901Z,1761516696.901 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-10-26T22:11:36.903Z,1761516696.903 [DAT](INFO): direction in FSK: [-0.967262,0.253756,-0.003491]
2025-10-26T22:11:36.903Z,1761516696.903 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:36.907Z,1761516696.907 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.550432
2025-10-26T22:11:37.118Z,1761516697.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561910,-0.824678,-0.064529],[0.826616,0.562730,0.006390],[0.031043,-0.056931,0.997895]]
2025-10-26T22:11:37.140Z,1761516697.140 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.784110
2025-10-26T22:11:37.171Z,1761516697.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.503770 s,
      deltaX: 0.200001 m,
      approachRate: 0.397008 m/s,
      rangeRepo size: 4

2025-10-26T22:11:37.173Z,1761516697.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.580832 m,
      bearing: 221.112263 deg,
      lat: 36.779416 deg,
      lon: -121.859458 deg,
      deltaT: 0.503770 s,
      deltaX: 0.198793 m,
      approachRate: 0.394611 m/s,
      posRepo size: 4

2025-10-26T22:11:37.174Z,1761516697.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.58 m.
2025-10-26T22:11:37.393Z,1761516697.393 [DAT](INFO): DAT read: Rx Time:22:11:36.2445 

2025-10-26T22:11:37.394Z,1761516697.394 [DAT](INFO): Rx dataTimestamp_ set to:1761516697.393278
2025-10-26T22:11:37.395Z,1761516697.395 [DAT](INFO): DAT read: Bearing  17.0,  12.4 (Local)

2025-10-26T22:11:37.399Z,1761516697.399 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.0,  12.4 (Local)

2025-10-26T22:11:37.401Z,1761516697.401 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed -0.2

2025-10-26T22:11:37.406Z,1761516697.406 [DAT](INFO): DAT read: 22:11:36.2445 LVL= 28016, 24401, 32754, 32755, AGC= 69, IDX= 504, 0.38, 1.350, 2.982, 0.932, 1.882, PHS=-0.430, 1.145,-0.994, RAW= 344.7,   2.9, CAL= 344.2,   0.0, ROT= 165.8,  -0.0

2025-10-26T22:11:37.410Z,1761516697.410 [DAT](INFO): got valid direction response:
 22:11:36.2445 LVL= 28016, 24401, 32754, 32755, AGC= 69, IDX= 504, 0.38, 1.350, 2.982, 0.932, 1.882, PHS=-0.430, 1.145,-0.994, RAW= 344.7,   2.9, CAL= 344.2,   0.0, ROT= 165.8,  -0.0

2025-10-26T22:11:37.412Z,1761516697.412 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-26T22:11:37.413Z,1761516697.413 [DAT](INFO): direction in FSK: [-0.969445,0.245307,0.000000]
2025-10-26T22:11:37.413Z,1761516697.413 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:37.422Z,1761516697.422 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.065410
2025-10-26T22:11:37.522Z,1761516697.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561269,-0.825158,-0.063956],[0.827099,0.562006,0.007519],[0.029739,-0.057118,0.997924]]
2025-10-26T22:11:37.565Z,1761516697.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.504268 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:37.567Z,1761516697.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.580832 m,
      bearing: 221.649569 deg,
      lat: 36.779417 deg,
      lon: -121.859460 deg,
      deltaT: 0.504268 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:37.572Z,1761516697.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.58 m.
2025-10-26T22:11:37.645Z,1761516697.645 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.288263
2025-10-26T22:11:37.897Z,1761516697.897 [DAT](INFO): DAT read: Rx Time:22:11:36.7446 

2025-10-26T22:11:37.898Z,1761516697.898 [DAT](INFO): Rx dataTimestamp_ set to:1761516697.897410
2025-10-26T22:11:37.899Z,1761516697.899 [DAT](INFO): DAT read: Bearing  17.0,  12.1 (Local)

2025-10-26T22:11:37.899Z,1761516697.899 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.0,  12.1 (Local)

2025-10-26T22:11:37.901Z,1761516697.901 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed -0.1

2025-10-26T22:11:37.906Z,1761516697.906 [DAT](INFO): DAT read: 22:11:36.7446 LVL= 32544, 27553, 32754, 32755, AGC= 69, IDX= 506,-0.23, 1.337, 2.998, 0.932, 1.887, PHS=-0.448, 1.156,-0.999, RAW= 344.3,   3.0, CAL= 343.8,   0.2, ROT= 166.2,  -0.2

2025-10-26T22:11:37.907Z,1761516697.907 [DAT](INFO): got valid direction response:
 22:11:36.7446 LVL= 32544, 27553, 32754, 32755, AGC= 69, IDX= 506,-0.23, 1.337, 2.998, 0.932, 1.887, PHS=-0.448, 1.156,-0.999, RAW= 344.3,   3.0, CAL= 343.8,   0.2, ROT= 166.2,  -0.2

2025-10-26T22:11:37.908Z,1761516697.908 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-26T22:11:37.909Z,1761516697.909 [DAT](INFO): direction in FSK: [-0.971128,0.238532,0.003491]
2025-10-26T22:11:37.909Z,1761516697.909 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:37.926Z,1761516697.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560624,-0.825647,-0.063303],[0.827583,0.561276,0.008646],[0.028392,-0.057236,0.997957]]
2025-10-26T22:11:37.928Z,1761516697.928 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.571831
2025-10-26T22:11:38.063Z,1761516698.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.504132 s,
      deltaX: 0.099998 m,
      approachRate: 0.198358 m/s,
      rangeRepo size: 4

2025-10-26T22:11:38.069Z,1761516698.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.680223 m,
      bearing: 222.086725 deg,
      lat: 36.779418 deg,
      lon: -121.859460 deg,
      deltaT: 0.504132 s,
      deltaX: 0.099392 m,
      approachRate: 0.197155 m/s,
      posRepo size: 4

2025-10-26T22:11:38.069Z,1761516698.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m.
2025-10-26T22:11:38.149Z,1761516698.149 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.792219
2025-10-26T22:11:38.371Z,1761516698.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560002,-0.826119,-0.062643],[0.828048,0.560573,0.009724],[0.027083,-0.057317,0.997989]]
2025-10-26T22:11:38.390Z,1761516698.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m.
2025-10-26T22:11:38.401Z,1761516698.401 [DAT](INFO): DAT read: Rx Time:22:11:37.2445 

2025-10-26T22:11:38.402Z,1761516698.402 [DAT](INFO): Rx dataTimestamp_ set to:1761516698.401375
2025-10-26T22:11:38.403Z,1761516698.403 [DAT](INFO): DAT read: Bearing  17.3,  12.7 (Local)

2025-10-26T22:11:38.403Z,1761516698.403 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.3,  12.7 (Local)

2025-10-26T22:11:38.405Z,1761516698.405 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.0

2025-10-26T22:11:38.410Z,1761516698.410 [DAT](INFO): DAT read: 22:11:37.2445 LVL= 28656, 22897, 32754, 32755, AGC= 69, IDX= 505,-0.03, 1.073, 2.720, 0.645, 1.605, PHS=-0.430, 1.160,-1.004, RAW= 344.8,   2.9, CAL= 344.3,  -0.1, ROT= 165.7,   0.1

2025-10-26T22:11:38.411Z,1761516698.411 [DAT](INFO): got valid direction response:
 22:11:37.2445 LVL= 28656, 22897, 32754, 32755, AGC= 69, IDX= 505,-0.03, 1.073, 2.720, 0.645, 1.605, PHS=-0.430, 1.160,-1.004, RAW= 344.8,   2.9, CAL= 344.3,  -0.1, ROT= 165.7,   0.1

2025-10-26T22:11:38.412Z,1761516698.412 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-10-26T22:11:38.413Z,1761516698.413 [DAT](INFO): direction in FSK: [-0.969014,0.246999,-0.001745]
2025-10-26T22:11:38.413Z,1761516698.413 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:38.453Z,1761516698.453 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.097092
2025-10-26T22:11:38.652Z,1761516698.652 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.296017
2025-10-26T22:11:38.739Z,1761516698.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559730,-0.826372,-0.061730],[0.828279,0.560211,0.010860],[0.025607,-0.057208,0.998034]]
2025-10-26T22:11:38.762Z,1761516698.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.503965 s,
      deltaX: -0.099998 m,
      approachRate: -0.198423 m/s,
      rangeRepo size: 4

2025-10-26T22:11:38.765Z,1761516698.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.580833 m,
      bearing: 221.667930 deg,
      lat: 36.779418 deg,
      lon: -121.859462 deg,
      deltaT: 0.503965 s,
      deltaX: -0.099390 m,
      approachRate: -0.197216 m/s,
      posRepo size: 4

2025-10-26T22:11:38.765Z,1761516698.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.58 m.
2025-10-26T22:11:38.905Z,1761516698.905 [DAT](INFO): DAT read: Rx Time:22:11:37.7445 

2025-10-26T22:11:38.906Z,1761516698.906 [DAT](INFO): Rx dataTimestamp_ set to:1761516698.905360
2025-10-26T22:11:38.907Z,1761516698.907 [DAT](INFO): DAT read: Bearing  17.4,  13.1 (Local)

2025-10-26T22:11:38.908Z,1761516698.908 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.4,  13.1 (Local)

2025-10-26T22:11:38.910Z,1761516698.910 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.0

2025-10-26T22:11:38.915Z,1761516698.915 [DAT](INFO): DAT read: 22:11:37.7445 LVL= 29104, 25905, 32754, 32755, AGC= 69, IDX= 505, 0.18, 2.446,-2.210, 2.012, 2.969, PHS=-0.421, 1.149,-1.001, RAW= 345.1,   2.9, CAL= 344.6,  -0.1, ROT= 165.4,   0.1

2025-10-26T22:11:38.916Z,1761516698.916 [DAT](INFO): got valid direction response:
 22:11:37.7445 LVL= 29104, 25905, 32754, 32755, AGC= 69, IDX= 505, 0.18, 2.446,-2.210, 2.012, 2.969, PHS=-0.421, 1.149,-1.001, RAW= 345.1,   2.9, CAL= 344.6,  -0.1, ROT= 165.4,   0.1

2025-10-26T22:11:38.916Z,1761516698.916 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-10-26T22:11:38.917Z,1761516698.917 [DAT](INFO): direction in FSK: [-0.967708,0.252069,-0.001745]
2025-10-26T22:11:38.917Z,1761516698.917 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:38.921Z,1761516698.921 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.565043
2025-10-26T22:11:39.138Z,1761516699.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559373,-0.826703,-0.060533],[0.828561,0.559776,0.011666],[0.024241,-0.056681,0.998098]]
2025-10-26T22:11:39.156Z,1761516699.156 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.799857
2025-10-26T22:11:39.212Z,1761516699.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.503985 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:39.214Z,1761516699.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.580824 m,
      bearing: 221.394444 deg,
      lat: 36.779419 deg,
      lon: -121.859462 deg,
      deltaT: 0.503985 s,
      deltaX: -0.000010 m,
      approachRate: -0.000019 m/s,
      posRepo size: 4

2025-10-26T22:11:39.214Z,1761516699.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.58 m.
2025-10-26T22:11:39.413Z,1761516699.413 [DAT](INFO): DAT read: Rx Time:22:11:38.2445 

2025-10-26T22:11:39.414Z,1761516699.414 [DAT](INFO): Rx dataTimestamp_ set to:1761516699.413832
2025-10-26T22:11:39.416Z,1761516699.416 [DAT](INFO): DAT read: Bearing  16.5,  13.0 (Local)

2025-10-26T22:11:39.416Z,1761516699.416 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.5,  13.0 (Local)

2025-10-26T22:11:39.418Z,1761516699.418 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed -0.1

2025-10-26T22:11:39.423Z,1761516699.423 [DAT](INFO): DAT read: 22:11:38.2445 LVL= 29648, 28897, 32754, 32755, AGC= 69, IDX= 504, 0.48, 0.579, 2.208, 0.151, 1.124, PHS=-0.443, 1.128,-1.017, RAW= 345.0,   3.5, CAL= 344.5,   0.9, ROT= 165.5,  -0.9

2025-10-26T22:11:39.424Z,1761516699.424 [DAT](INFO): got valid direction response:
 22:11:38.2445 LVL= 29648, 28897, 32754, 32755, AGC= 69, IDX= 504, 0.48, 0.579, 2.208, 0.151, 1.124, PHS=-0.443, 1.128,-1.017, RAW= 345.0,   3.5, CAL= 344.5,   0.9, ROT= 165.5,  -0.9

2025-10-26T22:11:39.424Z,1761516699.424 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-26T22:11:39.425Z,1761516699.425 [DAT](INFO): direction in FSK: [-0.968028,0.250349,0.015707]
2025-10-26T22:11:39.426Z,1761516699.426 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:39.429Z,1761516699.429 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.072860
2025-10-26T22:11:39.551Z,1761516699.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559142,-0.826967,-0.059046],[0.828757,0.559474,0.012302],[0.022862,-0.055813,0.998179]]
2025-10-26T22:11:39.595Z,1761516699.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.508472 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:39.601Z,1761516699.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.580824 m,
      bearing: 221.463389 deg,
      lat: 36.779420 deg,
      lon: -121.859463 deg,
      deltaT: 0.508472 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:39.602Z,1761516699.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.58 m.
2025-10-26T22:11:39.662Z,1761516699.662 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.304848
2025-10-26T22:11:39.913Z,1761516699.913 [DAT](INFO): DAT read: Rx Time:22:11:38.7446 

2025-10-26T22:11:39.913Z,1761516699.913 [DAT](INFO): Rx dataTimestamp_ set to:1761516699.913115
2025-10-26T22:11:39.915Z,1761516699.915 [DAT](INFO): DAT read: Bearing  17.2,  12.3 (Local)

2025-10-26T22:11:39.915Z,1761516699.915 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.2,  12.3 (Local)

2025-10-26T22:11:39.917Z,1761516699.917 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed -0.1

2025-10-26T22:11:39.925Z,1761516699.925 [DAT](INFO): DAT read: 22:11:38.7446 LVL= 31152, 23585, 32754, 32755, AGC= 67, IDX= 506,-0.12,-0.898, 0.778,-1.308,-0.341, PHS=-0.455, 1.163,-1.011, RAW= 344.2,   3.1, CAL= 343.8,   0.3, ROT= 166.2,  -0.3

2025-10-26T22:11:39.926Z,1761516699.926 [DAT](INFO): got valid direction response:
 22:11:38.7446 LVL= 31152, 23585, 32754, 32755, AGC= 67, IDX= 506,-0.12,-0.898, 0.778,-1.308,-0.341, PHS=-0.455, 1.163,-1.011, RAW= 344.2,   3.1, CAL= 343.8,   0.3, ROT= 166.2,  -0.3

2025-10-26T22:11:39.926Z,1761516699.926 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-10-26T22:11:39.952Z,1761516699.952 [DAT](INFO): direction in FSK: [-0.971121,0.238530,0.005236]
2025-10-26T22:11:39.952Z,1761516699.952 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:39.964Z,1761516699.964 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.607396
2025-10-26T22:11:39.970Z,1761516699.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558885,-0.827244,-0.057578],[0.828969,0.559143,0.013041],[0.021406,-0.055019,0.998256]]
2025-10-26T22:11:40.074Z,1761516700.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.499283 s,
      deltaX: 0.099998 m,
      approachRate: 0.200284 m/s,
      rangeRepo size: 4

2025-10-26T22:11:40.084Z,1761516700.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.680220 m,
      bearing: 222.211158 deg,
      lat: 36.779420 deg,
      lon: -121.859463 deg,
      deltaT: 0.499283 s,
      deltaX: 0.099396 m,
      approachRate: 0.199077 m/s,
      posRepo size: 4

2025-10-26T22:11:40.084Z,1761516700.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m.
2025-10-26T22:11:40.166Z,1761516700.166 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.810051
2025-10-26T22:11:40.376Z,1761516700.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558721,-0.827409,-0.056787],[0.829114,0.558899,0.014195],[0.019993,-0.055014,0.998285]]
2025-10-26T22:11:40.393Z,1761516700.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:11:40.395Z,1761516700.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m.
2025-10-26T22:11:40.421Z,1761516700.421 [DAT](INFO): DAT read: Rx Time:22:11:39.2445 

2025-10-26T22:11:40.421Z,1761516700.421 [DAT](INFO): Rx dataTimestamp_ set to:1761516700.421184
2025-10-26T22:11:40.423Z,1761516700.423 [DAT](INFO): DAT read: Bearing  17.2,  13.8 (Local)

2025-10-26T22:11:40.423Z,1761516700.423 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.2,  13.8 (Local)

2025-10-26T22:11:40.425Z,1761516700.425 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.0

2025-10-26T22:11:40.430Z,1761516700.430 [DAT](INFO): DAT read: 22:11:39.2445 LVL= 27680, 27521, 32754, 32755, AGC= 69, IDX= 505, 0.14,-0.967, 0.648,-1.424,-0.447, PHS=-0.418, 1.140,-1.021, RAW= 345.7,   3.1, CAL= 345.2,   0.3, ROT= 164.8,  -0.3

2025-10-26T22:11:40.431Z,1761516700.431 [DAT](INFO): got valid direction response:
 22:11:39.2445 LVL= 27680, 27521, 32754, 32755, AGC= 69, IDX= 505, 0.14,-0.967, 0.648,-1.424,-0.447, PHS=-0.418, 1.140,-1.021, RAW= 345.7,   3.1, CAL= 345.2,   0.3, ROT= 164.8,  -0.3

2025-10-26T22:11:40.431Z,1761516700.431 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-26T22:11:40.432Z,1761516700.432 [DAT](INFO): direction in FSK: [-0.965003,0.262185,0.005236]
2025-10-26T22:11:40.433Z,1761516700.433 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:40.436Z,1761516700.436 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.080047
2025-10-26T22:11:40.672Z,1761516700.672 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.316001
2025-10-26T22:11:40.754Z,1761516700.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558774,-0.827371,-0.056817],[0.829111,0.558859,0.015879],[0.018615,-0.055981,0.998258]]
2025-10-26T22:11:40.794Z,1761516700.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.508069 s,
      deltaX: -0.099998 m,
      approachRate: -0.196821 m/s,
      rangeRepo size: 4

2025-10-26T22:11:40.800Z,1761516700.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.580826 m,
      bearing: 220.823604 deg,
      lat: 36.779420 deg,
      lon: -121.859463 deg,
      deltaT: 0.508069 s,
      deltaX: -0.099394 m,
      approachRate: -0.195631 m/s,
      posRepo size: 4

2025-10-26T22:11:40.801Z,1761516700.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.58 m.
2025-10-26T22:11:40.928Z,1761516700.928 [DAT](INFO): DAT read: Rx Time:22:11:39.7447 

2025-10-26T22:11:40.929Z,1761516700.929 [DAT](INFO): Rx dataTimestamp_ set to:1761516700.928811
2025-10-26T22:11:40.931Z,1761516700.931 [DAT](INFO): DAT read: Bearing  16.1,  13.7 (Local)

2025-10-26T22:11:40.932Z,1761516700.932 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.1,  13.7 (Local)

2025-10-26T22:11:40.934Z,1761516700.934 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed 0.0

2025-10-26T22:11:40.946Z,1761516700.946 [DAT](INFO): DAT read: 22:11:39.7447 LVL= 27504, 29745, 32754, 32755, AGC= 68, IDX= 506, 0.43, 0.865, 2.473, 0.422, 1.410, PHS=-0.443, 1.108,-1.032, RAW= 345.5,   3.9, CAL= 345.0,   1.5, ROT= 165.0,  -1.5

2025-10-26T22:11:40.947Z,1761516700.947 [DAT](INFO): got valid direction response:
 22:11:39.7447 LVL= 27504, 29745, 32754, 32755, AGC= 68, IDX= 506, 0.43, 0.865, 2.473, 0.422, 1.410, PHS=-0.443, 1.108,-1.032, RAW= 345.5,   3.9, CAL= 345.0,   1.5, ROT= 165.0,  -1.5

2025-10-26T22:11:40.947Z,1761516700.947 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-26T22:11:40.957Z,1761516700.957 [DAT](INFO): direction in FSK: [-0.965595,0.258730,0.026177]
2025-10-26T22:11:40.957Z,1761516700.957 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:40.966Z,1761516700.966 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.609337
2025-10-26T22:11:41.159Z,1761516701.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558653,-0.827424,-0.057237],[0.829218,0.558651,0.017524],[0.017475,-0.057251,0.998207]]
2025-10-26T22:11:41.180Z,1761516701.180 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.824104
2025-10-26T22:11:41.217Z,1761516701.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.507627 s,
      deltaX: 0.299999 m,
      approachRate: 0.590984 m/s,
      rangeRepo size: 4

2025-10-26T22:11:41.220Z,1761516701.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.878996 m,
      bearing: 220.972718 deg,
      lat: 36.779420 deg,
      lon: -121.859463 deg,
      deltaT: 0.507627 s,
      deltaX: 0.298170 m,
      approachRate: 0.587380 m/s,
      posRepo size: 4

2025-10-26T22:11:41.220Z,1761516701.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.88 m.
2025-10-26T22:11:41.433Z,1761516701.433 [DAT](INFO): DAT read: Rx Time:22:11:40.2446 

2025-10-26T22:11:41.433Z,1761516701.433 [DAT](INFO): Rx dataTimestamp_ set to:1761516701.433097
2025-10-26T22:11:41.435Z,1761516701.435 [DAT](INFO): DAT read: Bearing  17.9,  13.5 (Local)

2025-10-26T22:11:41.435Z,1761516701.435 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.9,  13.5 (Local)

2025-10-26T22:11:41.437Z,1761516701.437 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.0

2025-10-26T22:11:41.442Z,1761516701.442 [DAT](INFO): DAT read: 22:11:40.2446 LVL= 26368, 23489, 32754, 32755, AGC= 68, IDX= 506,-0.12,-2.699,-1.051,-3.141,-2.178, PHS=-0.418, 1.172,-1.006, RAW= 345.1,   2.6, CAL= 344.6,  -0.3, ROT= 165.4,   0.3

2025-10-26T22:11:41.443Z,1761516701.443 [DAT](INFO): got valid direction response:
 22:11:40.2446 LVL= 26368, 23489, 32754, 32755, AGC= 68, IDX= 506,-0.12,-2.699,-1.051,-3.141,-2.178, PHS=-0.418, 1.172,-1.006, RAW= 345.1,   2.6, CAL= 344.6,  -0.3, ROT= 165.4,   0.3

2025-10-26T22:11:41.443Z,1761516701.443 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-10-26T22:11:41.444Z,1761516701.444 [DAT](INFO): direction in FSK: [-0.967696,0.252066,-0.005236]
2025-10-26T22:11:41.445Z,1761516701.445 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:41.448Z,1761516701.448 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.092115
2025-10-26T22:11:41.563Z,1761516701.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558609,-0.827470,-0.057008],[0.829270,0.558536,0.018700],[0.016367,-0.057722,0.998199]]
2025-10-26T22:11:41.595Z,1761516701.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.504286 s,
      deltaX: -0.200001 m,
      approachRate: -0.396602 m/s,
      rangeRepo size: 4

2025-10-26T22:11:41.597Z,1761516701.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.680204 m,
      bearing: 221.468717 deg,
      lat: 36.779421 deg,
      lon: -121.859465 deg,
      deltaT: 0.504286 s,
      deltaX: -0.198792 m,
      approachRate: -0.394204 m/s,
      posRepo size: 4

2025-10-26T22:11:41.598Z,1761516701.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m.
2025-10-26T22:11:41.686Z,1761516701.686 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.329165
2025-10-26T22:11:41.937Z,1761516701.937 [DAT](INFO): DAT read: Rx Time:22:11:40.7448 

2025-10-26T22:11:41.937Z,1761516701.937 [DAT](INFO): Rx dataTimestamp_ set to:1761516701.937202
2025-10-26T22:11:41.939Z,1761516701.939 [DAT](INFO): DAT read: Bearing  17.4,  14.3 (Local)

2025-10-26T22:11:41.939Z,1761516701.939 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.4,  14.3 (Local)

2025-10-26T22:11:41.941Z,1761516701.941 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed 0.0

2025-10-26T22:11:41.946Z,1761516701.946 [DAT](INFO): DAT read: 22:11:40.7448 LVL= 26832, 28801, 32754, 32755, AGC= 68, IDX= 507, 0.20, 0.105, 1.724,-0.363, 0.621, PHS=-0.414, 1.148,-1.027, RAW= 345.9,   3.0, CAL= 345.4,   0.2, ROT= 164.6,  -0.2

2025-10-26T22:11:41.947Z,1761516701.947 [DAT](INFO): got valid direction response:
 22:11:40.7448 LVL= 26832, 28801, 32754, 32755, AGC= 68, IDX= 507, 0.20, 0.105, 1.724,-0.363, 0.621, PHS=-0.414, 1.148,-1.027, RAW= 345.9,   3.0, CAL= 345.4,   0.2, ROT= 164.6,  -0.2

2025-10-26T22:11:41.947Z,1761516701.947 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-26T22:11:41.948Z,1761516701.948 [DAT](INFO): direction in FSK: [-0.964090,0.265554,0.003491]
2025-10-26T22:11:41.949Z,1761516701.949 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:41.964Z,1761516701.964 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.607988
2025-10-26T22:11:42.100Z,1761516702.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.504105 s,
      deltaX: 0.300001 m,
      approachRate: 0.595116 m/s,
      rangeRepo size: 4

2025-10-26T22:11:42.102Z,1761516702.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.978407 m,
      bearing: 220.643604 deg,
      lat: 36.779421 deg,
      lon: -121.859465 deg,
      deltaT: 0.504105 s,
      deltaX: 0.298203 m,
      approachRate: 0.591548 m/s,
      posRepo size: 4

2025-10-26T22:11:42.103Z,1761516702.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.98 m.
2025-10-26T22:11:42.191Z,1761516702.191 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.834212
2025-10-26T22:11:42.399Z,1761516702.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558647,-0.827564,-0.055241],[0.829280,0.558482,0.019831],[0.014440,-0.056889,0.998276]]
2025-10-26T22:11:42.418Z,1761516702.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.98 m.
2025-10-26T22:11:42.445Z,1761516702.445 [DAT](INFO): DAT read: Rx Time:22:11:41.2447 

2025-10-26T22:11:42.445Z,1761516702.445 [DAT](INFO): Rx dataTimestamp_ set to:1761516702.445091
2025-10-26T22:11:42.447Z,1761516702.447 [DAT](INFO): DAT read: Bearing  16.5,  13.8 (Local)

2025-10-26T22:11:42.448Z,1761516702.448 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.5,  13.8 (Local)

2025-10-26T22:11:42.450Z,1761516702.450 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed -0.1

2025-10-26T22:11:42.456Z,1761516702.456 [DAT](INFO): DAT read: 22:11:41.2447 LVL= 28256, 30881, 32754, 32755, AGC= 67, IDX= 507,-0.21,-2.911,-1.295, 2.931,-2.369, PHS=-0.439, 1.120,-1.027, RAW= 345.4,   3.6, CAL= 344.9,   1.1, ROT= 165.1,  -1.1

2025-10-26T22:11:42.458Z,1761516702.458 [DAT](INFO): got valid direction response:
 22:11:41.2447 LVL= 28256, 30881, 32754, 32755, AGC= 67, IDX= 507,-0.21,-2.911,-1.295, 2.931,-2.369, PHS=-0.439, 1.120,-1.027, RAW= 345.4,   3.6, CAL= 344.9,   1.1, ROT= 165.1,  -1.1

2025-10-26T22:11:42.458Z,1761516702.458 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-10-26T22:11:42.461Z,1761516702.461 [DAT](INFO): direction in FSK: [-0.966198,0.257085,0.019197]
2025-10-26T22:11:42.461Z,1761516702.461 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:42.467Z,1761516702.467 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.110027
2025-10-26T22:11:42.697Z,1761516702.697 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.340365
2025-10-26T22:11:42.775Z,1761516702.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558478,-0.827707,-0.054800],[0.829409,0.558262,0.020592],[0.013549,-0.056952,0.998285]]
2025-10-26T22:11:42.800Z,1761516702.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.507889 s,
      deltaX: -0.100000 m,
      approachRate: -0.196894 m/s,
      rangeRepo size: 4

2025-10-26T22:11:42.802Z,1761516702.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.879011 m,
      bearing: 221.108037 deg,
      lat: 36.779421 deg,
      lon: -121.859465 deg,
      deltaT: 0.507889 s,
      deltaX: -0.099396 m,
      approachRate: -0.195704 m/s,
      posRepo size: 4

2025-10-26T22:11:42.802Z,1761516702.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.88 m.
2025-10-26T22:11:42.953Z,1761516702.953 [DAT](INFO): DAT read: Rx Time:22:11:41.7448 

2025-10-26T22:11:42.955Z,1761516702.955 [DAT](INFO): Rx dataTimestamp_ set to:1761516702.953681
2025-10-26T22:11:42.957Z,1761516702.957 [DAT](INFO): DAT read: Bearing  17.9,  15.8 (Local)

2025-10-26T22:11:42.958Z,1761516702.958 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.9,  15.8 (Local)

2025-10-26T22:11:42.960Z,1761516702.960 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed 0.0

2025-10-26T22:11:42.997Z,1761516702.997 [DAT](INFO): DAT read: 22:11:41.7448 LVL= 28848, 21633, 32754, 32755, AGC= 68, IDX= 507, 0.26,-2.042,-0.465,-2.555,-1.569, PHS=-0.371, 1.150,-1.030, RAW= 347.1,   2.6, CAL= 346.7,  -0.4, ROT= 163.3,   0.4

2025-10-26T22:11:42.998Z,1761516702.998 [DAT](INFO): got valid direction response:
 22:11:41.7448 LVL= 28848, 21633, 32754, 32755, AGC= 68, IDX= 507, 0.26,-2.042,-0.465,-2.555,-1.569, PHS=-0.371, 1.150,-1.030, RAW= 347.1,   2.6, CAL= 346.7,  -0.4, ROT= 163.3,   0.4

2025-10-26T22:11:42.998Z,1761516702.998 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-26T22:11:43.012Z,1761516703.012 [DAT](INFO): direction in FSK: [-0.957799,0.287353,-0.006981]
2025-10-26T22:11:43.013Z,1761516703.013 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:43.023Z,1761516703.023 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.666201
2025-10-26T22:11:43.178Z,1761516703.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558169,-0.827916,-0.054788],[0.829630,0.557897,0.021576],[0.012703,-0.057496,0.998265]]
2025-10-26T22:11:43.200Z,1761516703.200 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.844049
2025-10-26T22:11:43.253Z,1761516703.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.508590 s,
      deltaX: 0.100000 m,
      approachRate: 0.196623 m/s,
      rangeRepo size: 4

2025-10-26T22:11:43.255Z,1761516703.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.978394 m,
      bearing: 219.409554 deg,
      lat: 36.779419 deg,
      lon: -121.859465 deg,
      deltaT: 0.508590 s,
      deltaX: 0.099382 m,
      approachRate: 0.195408 m/s,
      posRepo size: 4

2025-10-26T22:11:43.255Z,1761516703.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.98 m.
2025-10-26T22:11:43.453Z,1761516703.453 [DAT](INFO): DAT read: Rx Time:22:11:42.2447 

2025-10-26T22:11:43.454Z,1761516703.454 [DAT](INFO): Rx dataTimestamp_ set to:1761516703.453286
2025-10-26T22:11:43.455Z,1761516703.455 [DAT](INFO): DAT read: Bearing  16.5,  14.8 (Local)

2025-10-26T22:11:43.456Z,1761516703.456 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.5,  14.8 (Local)

2025-10-26T22:11:43.458Z,1761516703.458 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed -0.2

2025-10-26T22:11:43.464Z,1761516703.464 [DAT](INFO): DAT read: 22:11:42.2447 LVL= 28352, 28465, 32754, 32755, AGC= 68, IDX= 507,-0.19, 2.974,-1.721, 2.502,-2.789, PHS=-0.418, 1.113,-1.037, RAW= 346.2,   3.6, CAL= 345.8,   1.0, ROT= 164.2,  -1.0

2025-10-26T22:11:43.465Z,1761516703.465 [DAT](INFO): got valid direction response:
 22:11:42.2447 LVL= 28352, 28465, 32754, 32755, AGC= 68, IDX= 507,-0.19, 2.974,-1.721, 2.502,-2.789, PHS=-0.418, 1.113,-1.037, RAW= 346.2,   3.6, CAL= 345.8,   1.0, ROT= 164.2,  -1.0

2025-10-26T22:11:43.465Z,1761516703.465 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-26T22:11:43.466Z,1761516703.466 [DAT](INFO): direction in FSK: [-0.962071,0.272239,0.017452]
2025-10-26T22:11:43.467Z,1761516703.467 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:43.477Z,1761516703.477 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.120428
2025-10-26T22:11:43.582Z,1761516703.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557747,-0.828190,-0.054957],[0.829922,0.557435,0.022267],[0.012193,-0.058029,0.998240]]
2025-10-26T22:11:43.620Z,1761516703.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.499605 s,
      deltaX: -0.100000 m,
      approachRate: -0.200159 m/s,
      rangeRepo size: 4

2025-10-26T22:11:43.622Z,1761516703.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.878998 m,
      bearing: 220.265679 deg,
      lat: 36.779421 deg,
      lon: -121.859465 deg,
      deltaT: 0.499605 s,
      deltaX: -0.099396 m,
      approachRate: -0.198949 m/s,
      posRepo size: 4

2025-10-26T22:11:43.623Z,1761516703.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.88 m.
2025-10-26T22:11:43.705Z,1761516703.705 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.348912
2025-10-26T22:11:43.957Z,1761516703.957 [DAT](INFO): DAT read: Rx Time:22:11:42.7449 

2025-10-26T22:11:43.958Z,1761516703.958 [DAT](INFO): Rx dataTimestamp_ set to:1761516703.957275
2025-10-26T22:11:43.959Z,1761516703.959 [DAT](INFO): DAT read: Bearing  16.1,  16.6 (Local)

2025-10-26T22:11:43.959Z,1761516703.959 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.1,  16.6 (Local)

2025-10-26T22:11:43.961Z,1761516703.961 [DAT](INFO): DAT read: Range 11 to 50 :    20.3 m (trip time 13.5 ms) speed -0.1

2025-10-26T22:11:43.966Z,1761516703.966 [DAT](INFO): DAT read: 22:11:42.7449 LVL= 28576, 29233, 32754, 32755, AGC= 69, IDX= 508, 0.16, 0.808, 2.336, 0.278, 1.293, PHS=-0.383, 1.088,-1.059, RAW= 347.9,   3.8, CAL= 347.5,   1.2, ROT= 162.5,  -1.2

2025-10-26T22:11:43.967Z,1761516703.967 [DAT](INFO): got valid direction response:
 22:11:42.7449 LVL= 28576, 29233, 32754, 32755, AGC= 69, IDX= 508, 0.16, 0.808, 2.336, 0.278, 1.293, PHS=-0.383, 1.088,-1.059, RAW= 347.9,   3.8, CAL= 347.5,   1.2, ROT= 162.5,  -1.2

2025-10-26T22:11:43.967Z,1761516703.967 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-10-26T22:11:43.968Z,1761516703.968 [DAT](INFO): direction in FSK: [-0.953508,0.300640,0.020942]
2025-10-26T22:11:43.969Z,1761516703.969 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:43.986Z,1761516703.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557662,-0.828217,-0.055396],[0.829975,0.557357,0.022245],[0.012452,-0.058383,0.998217]]
2025-10-26T22:11:44.009Z,1761516704.009 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.652632
2025-10-26T22:11:44.133Z,1761516704.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.299999 m,
      deltaT: 0.503989 s,
      deltaX: 0.299999 m,
      approachRate: 0.595250 m/s,
      rangeRepo size: 4

2025-10-26T22:11:44.140Z,1761516704.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.177187 m,
      bearing: 218.563386 deg,
      lat: 36.779419 deg,
      lon: -121.859463 deg,
      deltaT: 0.503989 s,
      deltaX: 0.298189 m,
      approachRate: 0.591658 m/s,
      posRepo size: 4

2025-10-26T22:11:44.140Z,1761516704.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.18 m.
2025-10-26T22:11:44.209Z,1761516704.209 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.852181
2025-10-26T22:11:44.394Z,1761516704.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557418,-0.828357,-0.055777],[0.830132,0.557135,0.021948],[0.012894,-0.058537,0.998202]]
2025-10-26T22:11:44.444Z,1761516704.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.18 m.
2025-10-26T22:11:44.463Z,1761516704.463 [DAT](INFO): DAT read: Rx Time:22:11:43.2448 

2025-10-26T22:11:44.463Z,1761516704.463 [DAT](INFO): Rx dataTimestamp_ set to:1761516704.462918
2025-10-26T22:11:44.465Z,1761516704.465 [DAT](INFO): DAT read: Bearing  16.8,  15.4 (Local)

2025-10-26T22:11:44.465Z,1761516704.465 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.8,  15.4 (Local)

2025-10-26T22:11:44.467Z,1761516704.467 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed -0.1

2025-10-26T22:11:44.490Z,1761516704.490 [DAT](INFO): DAT read: 22:11:43.2448 LVL= 31376, 27073, 32754, 32755, AGC= 68, IDX= 508,-0.21,-1.474, 0.105,-1.965,-0.970, PHS=-0.402, 1.120,-1.039, RAW= 346.7,   3.4, CAL= 346.2,   0.7, ROT= 163.8,  -0.7

2025-10-26T22:11:44.491Z,1761516704.491 [DAT](INFO): got valid direction response:
 22:11:43.2448 LVL= 31376, 27073, 32754, 32755, AGC= 68, IDX= 508,-0.21,-1.474, 0.105,-1.965,-0.970, PHS=-0.402, 1.120,-1.039, RAW= 346.7,   3.4, CAL= 346.2,   0.7, ROT= 163.8,  -0.7

2025-10-26T22:11:44.515Z,1761516704.515 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-10-26T22:11:44.516Z,1761516704.516 [DAT](INFO): direction in FSK: [-0.960222,0.278970,0.012217]
2025-10-26T22:11:44.517Z,1761516704.517 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:44.526Z,1761516704.526 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.169478
2025-10-26T22:11:44.713Z,1761516704.713 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.356175
2025-10-26T22:11:44.796Z,1761516704.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556967,-0.828676,-0.055535],[0.830435,0.556690,0.021773],[0.012873,-0.058246,0.998219]]
2025-10-26T22:11:44.883Z,1761516704.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.505643 s,
      deltaX: -0.199999 m,
      approachRate: -0.395534 m/s,
      rangeRepo size: 4

2025-10-26T22:11:44.885Z,1761516704.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.978397 m,
      bearing: 219.935295 deg,
      lat: 36.779421 deg,
      lon: -121.859462 deg,
      deltaT: 0.505643 s,
      deltaX: -0.198790 m,
      approachRate: -0.393142 m/s,
      posRepo size: 4

2025-10-26T22:11:44.886Z,1761516704.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.98 m.
2025-10-26T22:11:44.970Z,1761516704.970 [DAT](INFO): DAT read: Rx Time:22:11:43.7450 

2025-10-26T22:11:44.971Z,1761516704.971 [DAT](INFO): Rx dataTimestamp_ set to:1761516704.970148
2025-10-26T22:11:44.975Z,1761516704.975 [DAT](INFO): DAT read: Bearing  17.8,  17.7 (Local)

2025-10-26T22:11:44.976Z,1761516704.976 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.8,  17.7 (Local)

2025-10-26T22:11:44.986Z,1761516704.986 [DAT](INFO): DAT read: Range 11 to 50 :    20.4 m (trip time 13.6 ms) speed 0.0

2025-10-26T22:11:45.008Z,1761516705.008 [DAT](INFO): DAT read: 22:11:43.7450 LVL= 29744, 20593, 32754, 32755, AGC= 69, IDX= 509, 0.35, 0.895, 2.425, 0.315, 1.328, PHS=-0.331, 1.142,-1.056, RAW= 348.9,   2.6, CAL= 348.4,  -0.5, ROT= 161.6,   0.5

2025-10-26T22:11:45.010Z,1761516705.010 [DAT](INFO): got valid direction response:
 22:11:43.7450 LVL= 29744, 20593, 32754, 32755, AGC= 69, IDX= 509, 0.35, 0.895, 2.425, 0.315, 1.328, PHS=-0.331, 1.142,-1.056, RAW= 348.9,   2.6, CAL= 348.4,  -0.5, ROT= 161.6,   0.5

2025-10-26T22:11:45.010Z,1761516705.010 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-10-26T22:11:45.011Z,1761516705.011 [DAT](INFO): direction in FSK: [-0.948840,0.315637,-0.008727]
2025-10-26T22:11:45.028Z,1761516705.028 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:45.036Z,1761516705.036 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.679330
2025-10-26T22:11:45.198Z,1761516705.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556682,-0.828877,-0.055384],[0.830627,0.556405,0.021741],[0.012795,-0.058106,0.998228]]
2025-10-26T22:11:45.216Z,1761516705.216 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.860043
2025-10-26T22:11:45.256Z,1761516705.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.400000 m,
      deltaT: 0.507230 s,
      deltaX: 0.299999 m,
      approachRate: 0.591446 m/s,
      rangeRepo size: 4

2025-10-26T22:11:45.258Z,1761516705.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.276596 m,
      bearing: 217.819129 deg,
      lat: 36.779418 deg,
      lon: -121.859461 deg,
      deltaT: 0.507230 s,
      deltaX: 0.298199 m,
      approachRate: 0.587896 m/s,
      posRepo size: 4

2025-10-26T22:11:45.258Z,1761516705.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.28 m.
2025-10-26T22:11:45.471Z,1761516705.471 [DAT](INFO): DAT read: Rx Time:22:11:44.2449 

2025-10-26T22:11:45.471Z,1761516705.471 [DAT](INFO): Rx dataTimestamp_ set to:1761516705.470713
2025-10-26T22:11:45.473Z,1761516705.473 [DAT](INFO): DAT read: Bearing  17.8,  16.6 (Local)

2025-10-26T22:11:45.474Z,1761516705.474 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.8,  16.6 (Local)

2025-10-26T22:11:45.476Z,1761516705.476 [DAT](INFO): DAT read: Range 11 to 50 :    20.3 m (trip time 13.5 ms) speed -0.1

2025-10-26T22:11:45.487Z,1761516705.487 [DAT](INFO): DAT read: 22:11:44.2449 LVL= 27760, 23857, 32754, 32755, AGC= 68, IDX= 509, 0.05,-1.329, 0.228,-1.866,-0.871, PHS=-0.356, 1.145,-1.039, RAW= 347.8,   2.6, CAL= 347.4,  -0.4, ROT= 162.6,   0.4

2025-10-26T22:11:45.488Z,1761516705.488 [DAT](INFO): got valid direction response:
 22:11:44.2449 LVL= 27760, 23857, 32754, 32755, AGC= 68, IDX= 509, 0.05,-1.329, 0.228,-1.866,-0.871, PHS=-0.356, 1.145,-1.039, RAW= 347.8,   2.6, CAL= 347.4,  -0.4, ROT= 162.6,   0.4

2025-10-26T22:11:45.489Z,1761516705.489 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-10-26T22:11:45.490Z,1761516705.490 [DAT](INFO): direction in FSK: [-0.954217,0.299033,-0.006981]
2025-10-26T22:11:45.490Z,1761516705.490 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:45.494Z,1761516705.494 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.137398
2025-10-26T22:11:45.603Z,1761516705.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556060,-0.829303,-0.055257],[0.831043,0.555791,0.021542],[0.012847,-0.057900,0.998240]]
2025-10-26T22:11:45.648Z,1761516705.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.299999 m,
      deltaT: 0.500565 s,
      deltaX: -0.100000 m,
      approachRate: -0.199775 m/s,
      rangeRepo size: 4

2025-10-26T22:11:45.650Z,1761516705.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.177202 m,
      bearing: 218.855952 deg,
      lat: 36.779418 deg,
      lon: -121.859460 deg,
      deltaT: 0.500565 s,
      deltaX: -0.099394 m,
      approachRate: -0.198563 m/s,
      posRepo size: 4

2025-10-26T22:11:45.650Z,1761516705.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.18 m.
2025-10-26T22:11:45.722Z,1761516705.722 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.365378
2025-10-26T22:11:45.976Z,1761516705.976 [DAT](INFO): DAT read: Rx Time:22:11:44.7451 

2025-10-26T22:11:45.978Z,1761516705.978 [DAT](INFO): Rx dataTimestamp_ set to:1761516705.977114
2025-10-26T22:11:45.982Z,1761516705.982 [DAT](INFO): DAT read: Bearing  17.9,  16.5 (Local)

2025-10-26T22:11:45.983Z,1761516705.983 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.9,  16.5 (Local)

2025-10-26T22:11:45.986Z,1761516705.986 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed 0.0

2025-10-26T22:11:46.010Z,1761516706.010 [DAT](INFO): DAT read: 22:11:44.7451 LVL= 30560, 25713, 32754, 32755, AGC= 69, IDX= 511,-0.18, 2.949,-1.771, 2.416,-2.877, PHS=-0.356, 1.151,-1.034, RAW= 347.7,   2.5, CAL= 347.2,  -0.5, ROT= 162.8,   0.5

2025-10-26T22:11:46.024Z,1761516706.024 [DAT](INFO): got valid direction response:
 22:11:44.7451 LVL= 30560, 25713, 32754, 32755, AGC= 69, IDX= 511,-0.18, 2.949,-1.771, 2.416,-2.877, PHS=-0.356, 1.151,-1.034, RAW= 347.7,   2.5, CAL= 347.2,  -0.5, ROT= 162.8,   0.5

2025-10-26T22:11:46.024Z,1761516706.024 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-10-26T22:11:46.025Z,1761516706.025 [DAT](INFO): direction in FSK: [-0.955242,0.295697,-0.008727]
2025-10-26T22:11:46.025Z,1761516706.025 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:46.040Z,1761516706.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555513,-0.829670,-0.055256],[0.831409,0.555245,0.021503],[0.012841,-0.057885,0.998241]]
2025-10-26T22:11:46.049Z,1761516706.049 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.692444
2025-10-26T22:11:46.173Z,1761516706.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.506401 s,
      deltaX: 0.300001 m,
      approachRate: 0.592418 m/s,
      rangeRepo size: 4

2025-10-26T22:11:46.175Z,1761516706.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.475384 m,
      bearing: 219.098697 deg,
      lat: 36.779417 deg,
      lon: -121.859460 deg,
      deltaT: 0.506401 s,
      deltaX: 0.298182 m,
      approachRate: 0.588825 m/s,
      posRepo size: 4

2025-10-26T22:11:46.180Z,1761516706.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.48 m.
2025-10-26T22:11:46.225Z,1761516706.225 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.868599
2025-10-26T22:11:46.413Z,1761516706.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554937,-0.830052,-0.055298],[0.831794,0.554665,0.021563],[0.012774,-0.057962,0.998237]]
2025-10-26T22:11:46.477Z,1761516706.477 [DAT](INFO): DAT read: Rx Time:22:11:45.2451 

2025-10-26T22:11:46.478Z,1761516706.478 [DAT](INFO): Rx dataTimestamp_ set to:1761516706.477279
2025-10-26T22:11:46.479Z,1761516706.479 [DAT](INFO): DAT read: Bearing  17.1,  16.6 (Local)

2025-10-26T22:11:46.479Z,1761516706.479 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.1,  16.6 (Local)

2025-10-26T22:11:46.481Z,1761516706.481 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed -0.1

2025-10-26T22:11:46.486Z,1761516706.486 [DAT](INFO): DAT read: 22:11:45.2451 LVL= 26896, 26161, 32754, 32755, AGC= 68, IDX= 510, 0.29,-2.494,-0.951,-3.023,-2.022, PHS=-0.370, 1.116,-1.045, RAW= 347.8,   3.2, CAL= 347.3,   0.3, ROT= 162.7,  -0.3

2025-10-26T22:11:46.487Z,1761516706.487 [DAT](INFO): got valid direction response:
 22:11:45.2451 LVL= 26896, 26161, 32754, 32755, AGC= 68, IDX= 510, 0.29,-2.494,-0.951,-3.023,-2.022, PHS=-0.370, 1.116,-1.045, RAW= 347.8,   3.2, CAL= 347.3,   0.3, ROT= 162.7,  -0.3

2025-10-26T22:11:46.488Z,1761516706.488 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-10-26T22:11:46.489Z,1761516706.489 [DAT](INFO): direction in FSK: [-0.954748,0.297371,0.005236]
2025-10-26T22:11:46.489Z,1761516706.489 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:46.529Z,1761516706.529 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.172206
2025-10-26T22:11:46.557Z,1761516706.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.500165 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:46.568Z,1761516706.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.475384 m,
      bearing: 218.997312 deg,
      lat: 36.779417 deg,
      lon: -121.859462 deg,
      deltaT: 0.500165 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:46.568Z,1761516706.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.48 m.
2025-10-26T22:11:46.729Z,1761516706.729 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.372648
2025-10-26T22:11:46.848Z,1761516706.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554264,-0.830484,-0.055574],[0.832241,0.553994,0.021560],[0.012883,-0.058201,0.998222]]
2025-10-26T22:11:46.899Z,1761516706.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.48 m.
2025-10-26T22:11:46.985Z,1761516706.985 [DAT](INFO): DAT read: Rx Time:22:11:45.7451 

2025-10-26T22:11:46.987Z,1761516706.987 [DAT](INFO): Rx dataTimestamp_ set to:1761516706.985703
2025-10-26T22:11:46.992Z,1761516706.992 [DAT](INFO): DAT read: Bearing  16.9,  16.1 (Local)

2025-10-26T22:11:46.993Z,1761516706.993 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.9,  16.1 (Local)

2025-10-26T22:11:47.013Z,1761516707.013 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed -0.1

2025-10-26T22:11:47.031Z,1761516707.031 [DAT](INFO): DAT read: 22:11:45.7451 LVL= 30576, 28833, 32754, 32755, AGC= 68, IDX= 511,-0.12, 2.145,-2.573, 1.632, 2.635, PHS=-0.388, 1.120,-1.047, RAW= 347.2,   3.3, CAL= 346.8,   0.5, ROT= 163.2,  -0.5

2025-10-26T22:11:47.033Z,1761516707.033 [DAT](INFO): got valid direction response:
 22:11:45.7451 LVL= 30576, 28833, 32754, 32755, AGC= 68, IDX= 511,-0.12, 2.145,-2.573, 1.632, 2.635, PHS=-0.388, 1.120,-1.047, RAW= 347.2,   3.3, CAL= 346.8,   0.5, ROT= 163.2,  -0.5

2025-10-26T22:11:47.033Z,1761516707.033 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-10-26T22:11:47.034Z,1761516707.034 [DAT](INFO): direction in FSK: [-0.957283,0.289021,0.008727]
2025-10-26T22:11:47.034Z,1761516707.034 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:47.042Z,1761516707.042 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.685680
2025-10-26T22:11:47.218Z,1761516707.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553459,-0.831005,-0.055795],[0.832774,0.553199,0.021424],[0.013062,-0.058322,0.998212]]
2025-10-26T22:11:47.232Z,1761516707.232 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.875974
2025-10-26T22:11:47.290Z,1761516707.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.508424 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:47.292Z,1761516707.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.475376 m,
      bearing: 219.588041 deg,
      lat: 36.779417 deg,
      lon: -121.859462 deg,
      deltaT: 0.508424 s,
      deltaX: -0.000008 m,
      approachRate: -0.000015 m/s,
      posRepo size: 4

2025-10-26T22:11:47.293Z,1761516707.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.48 m.
2025-10-26T22:11:47.485Z,1761516707.485 [DAT](INFO): DAT read: Rx Time:22:11:46.2451 

2025-10-26T22:11:47.486Z,1761516707.486 [DAT](INFO): Rx dataTimestamp_ set to:1761516707.485287
2025-10-26T22:11:47.487Z,1761516707.487 [DAT](INFO): DAT read: Bearing  13.6,  15.5 (Local)

2025-10-26T22:11:47.487Z,1761516707.487 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.6,  15.5 (Local)

2025-10-26T22:11:47.489Z,1761516707.489 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed 0.0

2025-10-26T22:11:47.494Z,1761516707.494 [DAT](INFO): DAT read: 22:11:46.2451 LVL= 28224, 26065, 32754, 32755, AGC= 68, IDX= 510, 0.11,-1.125, 0.407,-1.599,-0.574, PHS=-0.449, 1.026,-1.069, RAW= 346.7,   5.3, CAL= 346.5,   3.7, ROT= 163.5,  -3.7

2025-10-26T22:11:47.495Z,1761516707.495 [DAT](INFO): got valid direction response:
 22:11:46.2451 LVL= 28224, 26065, 32754, 32755, AGC= 68, IDX= 510, 0.11,-1.125, 0.407,-1.599,-0.574, PHS=-0.449, 1.026,-1.069, RAW= 346.7,   5.3, CAL= 346.5,   3.7, ROT= 163.5,  -3.7

2025-10-26T22:11:47.496Z,1761516707.496 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-10-26T22:11:47.497Z,1761516707.497 [DAT](INFO): direction in FSK: [-0.956821,0.283423,0.064532]
2025-10-26T22:11:47.497Z,1761516707.497 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:47.512Z,1761516707.512 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.156006
2025-10-26T22:11:47.630Z,1761516707.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553092,-0.831235,-0.056011],[0.833019,0.552823,0.021598],[0.013011,-0.058604,0.998196]]
2025-10-26T22:11:47.679Z,1761516707.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.499584 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:47.686Z,1761516707.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.475376 m,
      bearing: 219.745093 deg,
      lat: 36.779418 deg,
      lon: -121.859463 deg,
      deltaT: 0.499584 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:11:47.686Z,1761516707.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.48 m.
2025-10-26T22:11:47.738Z,1761516707.738 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.381744
2025-10-26T22:11:47.993Z,1761516707.993 [DAT](INFO): DAT read: Rx Time:22:11:46.7452 

2025-10-26T22:11:47.994Z,1761516707.994 [DAT](INFO): Rx dataTimestamp_ set to:1761516707.993582
2025-10-26T22:11:48.001Z,1761516708.001 [DAT](INFO): DAT read: Bearing   8.8,  31.8 (Local)

2025-10-26T22:11:48.002Z,1761516708.002 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.8,  31.8 (Local)

2025-10-26T22:11:48.034Z,1761516708.034 [DAT](INFO): DAT read: Range 11 to 50 :    20.7 m (trip time 13.8 ms) speed -0.1

2025-10-26T22:11:48.075Z,1761516708.075 [DAT](INFO): DAT read: 22:11:46.7452 LVL= 28912, 27729, 32754, 32755, AGC= 65, IDX= 512,-0.42,-2.069,-1.028,-3.117,-1.823, PHS=-0.144, 0.841,-1.338, RAW=   3.2,   6.8, CAL=   3.2,   6.3, ROT= 146.8,  -6.3

2025-10-26T22:11:48.097Z,1761516708.097 [DAT](INFO): got valid direction response:
 22:11:46.7452 LVL= 28912, 27729, 32754, 32755, AGC= 65, IDX= 512,-0.42,-2.069,-1.028,-3.117,-1.823, PHS=-0.144, 0.841,-1.338, RAW=   3.2,   6.8, CAL=   3.2,   6.3, ROT= 146.8,  -6.3

2025-10-26T22:11:48.097Z,1761516708.097 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-10-26T22:11:48.098Z,1761516708.098 [DAT](INFO): direction in FSK: [-0.831711,0.544256,0.109734]
2025-10-26T22:11:48.098Z,1761516708.098 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:48.114Z,1761516708.114 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.757542
2025-10-26T22:11:48.228Z,1761516708.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.700001 m,
      deltaT: 0.508295 s,
      deltaX: 0.100000 m,
      approachRate: 0.196737 m/s,
      rangeRepo size: 4

2025-10-26T22:11:48.230Z,1761516708.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.574762 m,
      bearing: 202.982882 deg,
      lat: 36.779417 deg,
      lon: -121.859463 deg,
      deltaT: 0.508295 s,
      deltaX: 0.099386 m,
      approachRate: 0.195529 m/s,
      posRepo size: 4

2025-10-26T22:11:48.231Z,1761516708.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.57 m.
2025-10-26T22:11:48.241Z,1761516708.241 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.884104
2025-10-26T22:11:48.493Z,1761516708.493 [DAT](INFO): DAT read: Rx Time:22:11:47.2451 

2025-10-26T22:11:48.494Z,1761516708.494 [DAT](INFO): Rx dataTimestamp_ set to:1761516708.493260
2025-10-26T22:11:48.495Z,1761516708.495 [DAT](INFO): DAT read: Bearing  12.3,  13.6 (Local)

2025-10-26T22:11:48.495Z,1761516708.495 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.3,  13.6 (Local)

2025-10-26T22:11:48.497Z,1761516708.497 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed 0.0

2025-10-26T22:11:48.502Z,1761516708.502 [DAT](INFO): DAT read: 22:11:47.2451 LVL= 32752, 31729, 32754, 32755, AGC= 66, IDX= 511,-0.14,-0.057, 1.493,-0.453, 0.550, PHS=-0.505, 0.989,-1.047, RAW= 344.9,   6.2, CAL= 344.7,   5.2, ROT= 165.3,  -5.2

2025-10-26T22:11:48.504Z,1761516708.504 [DAT](INFO): got valid direction response:
 22:11:47.2451 LVL= 32752, 31729, 32754, 32755, AGC= 66, IDX= 511,-0.14,-0.057, 1.493,-0.453, 0.550, PHS=-0.505, 0.989,-1.047, RAW= 344.9,   6.2, CAL= 344.7,   5.2, ROT= 165.3,  -5.2

2025-10-26T22:11:48.504Z,1761516708.504 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-10-26T22:11:48.505Z,1761516708.505 [DAT](INFO): direction in FSK: [-0.963287,0.252714,0.090633]
2025-10-26T22:11:48.505Z,1761516708.505 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:48.509Z,1761516708.509 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.152727
2025-10-26T22:11:48.552Z,1761516708.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552033,-0.831899,-0.056606],[0.833716,0.551773,0.021538],[0.013316,-0.059083,0.998164]]
2025-10-26T22:11:48.604Z,1761516708.604 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:11:48.614Z,1761516708.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.499678 s,
      deltaX: -0.100000 m,
      approachRate: -0.200130 m/s,
      rangeRepo size: 4

2025-10-26T22:11:48.623Z,1761516708.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.475368 m,
      bearing: 221.530597 deg,
      lat: 36.779419 deg,
      lon: -121.859464 deg,
      deltaT: 0.499678 s,
      deltaX: -0.099394 m,
      approachRate: -0.198916 m/s,
      posRepo size: 4

2025-10-26T22:11:48.628Z,1761516708.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.48 m.
2025-10-26T22:11:48.745Z,1761516708.745 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.388248
2025-10-26T22:11:48.903Z,1761516708.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551586,-0.832195,-0.056603],[0.834010,0.551336,0.021360],[0.013432,-0.058989,0.998168]]
2025-10-26T22:11:48.923Z,1761516708.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.48 m.
2025-10-26T22:11:49.001Z,1761516709.001 [DAT](INFO): DAT read: Rx Time:22:11:47.7453 

2025-10-26T22:11:49.002Z,1761516709.002 [DAT](INFO): Rx dataTimestamp_ set to:1761516709.001267
2025-10-26T22:11:49.008Z,1761516709.008 [DAT](INFO): DAT read: Range 11 to 50 :    20.9 m (trip time 13.9 ms) speed -0.1

2025-10-26T22:11:49.010Z,1761516709.010 [DAT](ERROR): #Rx 29: Read range message, but no direction.
2025-10-26T22:11:49.014Z,1761516709.014 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.656914
2025-10-26T22:11:49.248Z,1761516709.248 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.891993
2025-10-26T22:11:49.306Z,1761516709.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550965,-0.832616,-0.056461],[0.834417,0.550734,0.020979],[0.013627,-0.058671,0.998184]]
2025-10-26T22:11:49.412Z,1761516709.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 0.508007 s,
      deltaX: 0.299999 m,
      approachRate: 0.590542 m/s,
      rangeRepo size: 4

2025-10-26T22:11:49.413Z,1761516709.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.48 m.
2025-10-26T22:11:49.502Z,1761516709.502 [DAT](INFO): DAT read: Rx Time:22:11:48.2452 

2025-10-26T22:11:49.502Z,1761516709.502 [DAT](INFO): Rx dataTimestamp_ set to:1761516709.502081
2025-10-26T22:11:49.504Z,1761516709.504 [DAT](INFO): DAT read: Bearing  12.6,  21.9 (Local)

2025-10-26T22:11:49.505Z,1761516709.505 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.6,  21.9 (Local)

2025-10-26T22:11:49.507Z,1761516709.507 [DAT](INFO): DAT read: Range 11 to 50 :    20.7 m (trip time 13.8 ms) speed -0.1

2025-10-26T22:11:49.515Z,1761516709.515 [DAT](INFO): DAT read: 22:11:48.2452 LVL= 32752, 30193, 32754, 32755, AGC= 67, IDX= 512,-0.31,-1.854,-0.629,-2.478,-1.463, PHS=-0.289, 0.879,-1.059, RAW= 353.2,   5.6, CAL= 353.1,   4.1, ROT= 156.9,  -4.1

2025-10-26T22:11:49.518Z,1761516709.518 [DAT](INFO): got valid direction response:
 22:11:48.2452 LVL= 32752, 30193, 32754, 32755, AGC= 67, IDX= 512,-0.31,-1.854,-0.629,-2.478,-1.463, PHS=-0.289, 0.879,-1.059, RAW= 353.2,   5.6, CAL= 353.1,   4.1, ROT= 156.9,  -4.1

2025-10-26T22:11:49.518Z,1761516709.518 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-10-26T22:11:49.519Z,1761516709.519 [DAT](INFO): direction in FSK: [-0.917467,0.391333,0.071497]
2025-10-26T22:11:49.519Z,1761516709.519 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:49.523Z,1761516709.523 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.166525
2025-10-26T22:11:49.608Z,1761516709.608 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:11:49.719Z,1761516709.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550916,-0.832642,-0.056552],[0.834446,0.550699,0.020769],[0.013850,-0.058631,0.998184]]
2025-10-26T22:11:49.752Z,1761516709.752 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.395958
2025-10-26T22:11:49.874Z,1761516709.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.700001 m,
      deltaT: 0.500814 s,
      deltaX: -0.199999 m,
      approachRate: -0.399348 m/s,
      rangeRepo size: 4

2025-10-26T22:11:49.885Z,1761516709.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.574751 m,
      bearing: 213.294007 deg,
      lat: 36.779419 deg,
      lon: -121.859464 deg,
      deltaT: 1.008821 s,
      deltaX: 0.099382 m,
      approachRate: 0.098513 m/s,
      posRepo size: 4

2025-10-26T22:11:49.885Z,1761516709.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.57 m.
2025-10-26T22:11:50.010Z,1761516710.010 [DAT](INFO): DAT read: Rx Time:22:11:48.7454 

2025-10-26T22:11:50.014Z,1761516710.014 [DAT](INFO): Rx dataTimestamp_ set to:1761516710.011052
2025-10-26T22:11:50.019Z,1761516710.019 [DAT](INFO): DAT read: Bearing  16.1,  16.1 (Local)

2025-10-26T22:11:50.032Z,1761516710.032 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.1,  16.1 (Local)

2025-10-26T22:11:50.052Z,1761516710.052 [DAT](INFO): DAT read: Range 11 to 50 :    21.0 m (trip time 14.0 ms) speed -0.1

2025-10-26T22:11:50.061Z,1761516710.061 [DAT](INFO): DAT read: 22:11:48.7454 LVL= 19088, 16145, 21538, 23827, AGC= 68, IDX=   1, 0.12, 0.146, 1.692,-0.364, 0.645, PHS=-0.397, 1.092,-1.053, RAW= 347.3,   3.8, CAL= 347.0,   1.3, ROT= 163.0,  -1.3

2025-10-26T22:11:50.062Z,1761516710.062 [DAT](INFO): got valid direction response:
 22:11:48.7454 LVL= 19088, 16145, 21538, 23827, AGC= 68, IDX=   1, 0.12, 0.146, 1.692,-0.364, 0.645, PHS=-0.397, 1.092,-1.053, RAW= 347.3,   3.8, CAL= 347.0,   1.3, ROT= 163.0,  -1.3

2025-10-26T22:11:50.062Z,1761516710.062 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-10-26T22:11:50.063Z,1761516710.063 [DAT](INFO): direction in FSK: [-0.956059,0.292296,0.022687]
2025-10-26T22:11:50.067Z,1761516710.067 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:50.071Z,1761516710.071 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.714607
2025-10-26T22:11:50.152Z,1761516710.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551035,-0.832548,-0.056793],[0.834363,0.550829,0.020628],[0.014109,-0.058753,0.998173]]
2025-10-26T22:11:50.257Z,1761516710.257 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.900126
2025-10-26T22:11:50.286Z,1761516710.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 0.508971 s,
      deltaX: 0.299999 m,
      approachRate: 0.589423 m/s,
      rangeRepo size: 4

2025-10-26T22:11:50.296Z,1761516710.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.872925 m,
      bearing: 219.512547 deg,
      lat: 36.779419 deg,
      lon: -121.859464 deg,
      deltaT: 0.508971 s,
      deltaX: 0.298174 m,
      approachRate: 0.585837 m/s,
      posRepo size: 4

2025-10-26T22:11:50.297Z,1761516710.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.87 m.
2025-10-26T22:11:50.509Z,1761516710.509 [DAT](INFO): DAT read: Rx Time:22:11:49.2453 

2025-10-26T22:11:50.509Z,1761516710.509 [DAT](INFO): Rx dataTimestamp_ set to:1761516710.509062
2025-10-26T22:11:50.511Z,1761516710.511 [DAT](INFO): DAT read: Bearing  16.0,  15.7 (Local)

2025-10-26T22:11:50.511Z,1761516710.511 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.0,  15.7 (Local)

2025-10-26T22:11:50.513Z,1761516710.513 [DAT](INFO): DAT read: Range 11 to 50 :    20.9 m (trip time 13.9 ms) speed 0.0

2025-10-26T22:11:50.518Z,1761516710.518 [DAT](INFO): DAT read: 22:11:49.2453 LVL= 27536, 26801, 32754, 32755, AGC= 68, IDX= 497,-0.41, 2.663,-2.063, 2.163,-3.111, PHS=-0.408, 1.093,-1.053, RAW= 347.1,   3.9, CAL= 346.7,   1.5, ROT= 163.3,  -1.5

2025-10-26T22:11:50.519Z,1761516710.519 [DAT](INFO): got valid direction response:
 22:11:49.2453 LVL= 27536, 26801, 32754, 32755, AGC= 68, IDX= 497,-0.41, 2.663,-2.063, 2.163,-3.111, PHS=-0.408, 1.093,-1.053, RAW= 347.1,   3.9, CAL= 346.7,   1.5, ROT= 163.3,  -1.5

2025-10-26T22:11:50.519Z,1761516710.519 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-10-26T22:11:50.520Z,1761516710.520 [DAT](INFO): direction in FSK: [-0.957494,0.287262,0.026177]
2025-10-26T22:11:50.520Z,1761516710.520 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:50.524Z,1761516710.524 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.167652
2025-10-26T22:11:50.617Z,1761516710.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551265,-0.832374,-0.057097],[0.834207,0.551068,0.020565],[0.014346,-0.058967,0.998157]]
2025-10-26T22:11:50.693Z,1761516710.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 0.498010 s,
      deltaX: -0.100000 m,
      approachRate: -0.200800 m/s,
      rangeRepo size: 4

2025-10-26T22:11:50.695Z,1761516710.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.773529 m,
      bearing: 219.785554 deg,
      lat: 36.779419 deg,
      lon: -121.859466 deg,
      deltaT: 0.498010 s,
      deltaX: -0.099396 m,
      approachRate: -0.199586 m/s,
      posRepo size: 4

2025-10-26T22:11:50.695Z,1761516710.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.77 m.
2025-10-26T22:11:50.761Z,1761516710.761 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.404722
2025-10-26T22:11:51.017Z,1761516711.017 [DAT](INFO): DAT read: Rx Time:22:11:49.7453 

2025-10-26T22:11:51.019Z,1761516711.019 [DAT](INFO): Rx dataTimestamp_ set to:1761516711.017865
2025-10-26T22:11:51.025Z,1761516711.025 [DAT](INFO): DAT read: Bearing  37.9,   8.2 (Local)

2025-10-26T22:11:51.026Z,1761516711.026 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.9,   8.2 (Local)

2025-10-26T22:11:51.041Z,1761516711.041 [DAT](INFO): DAT read: Range 11 to 50 :    20.9 m (trip time 13.9 ms) speed 0.0

2025-10-26T22:11:51.103Z,1761516711.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551329,-0.832317,-0.057316],[0.834155,0.551165,0.020070],[0.014886,-0.058876,0.998154]]
2025-10-26T22:11:51.110Z,1761516711.110 [DAT](INFO): DAT read: 22:11:49.7453 LVL= 25520, 25073, 32754, 32755, AGC= 67, IDX= 513,-0.03, 0.785, 2.526, 0.617, 0.827, PHS= 0.061, 1.745,-0.253, RAW= 338.4, -16.4, CAL= 338.3, -19.6, ROT= 171.7,  19.6

2025-10-26T22:11:51.124Z,1761516711.124 [DAT](INFO): got valid direction response:
 22:11:49.7453 LVL= 25520, 25073, 32754, 32755, AGC= 67, IDX= 513,-0.03, 0.785, 2.526, 0.617, 0.827, PHS= 0.061, 1.745,-0.253, RAW= 338.4, -16.4, CAL= 338.3, -19.6, ROT= 171.7,  19.6

2025-10-26T22:11:51.124Z,1761516711.124 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-10-26T22:11:51.125Z,1761516711.125 [DAT](INFO): direction in FSK: [-0.932190,0.135992,-0.335452]
2025-10-26T22:11:51.125Z,1761516711.125 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:51.137Z,1761516711.137 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.780792
2025-10-26T22:11:51.225Z,1761516711.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 0.508803 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:51.231Z,1761516711.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.773512 m,
      bearing: 229.404595 deg,
      lat: 36.779421 deg,
      lon: -121.859466 deg,
      deltaT: 0.508803 s,
      deltaX: -0.000017 m,
      approachRate: -0.000034 m/s,
      posRepo size: 4

2025-10-26T22:11:51.232Z,1761516711.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.77 m.
2025-10-26T22:11:51.266Z,1761516711.266 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.910074
2025-10-26T22:11:51.473Z,1761516711.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551469,-0.832216,-0.057424],[0.834057,0.551323,0.019796],[0.015184,-0.058812,0.998154]]
2025-10-26T22:11:51.509Z,1761516711.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.77 m.
2025-10-26T22:11:51.517Z,1761516711.517 [DAT](INFO): DAT read: Rx Time:22:11:50.2453 

2025-10-26T22:11:51.517Z,1761516711.517 [DAT](INFO): Rx dataTimestamp_ set to:1761516711.516862
2025-10-26T22:11:51.518Z,1761516711.518 [DAT](INFO): DAT read: Range 11 to 50 :    20.9 m (trip time 13.9 ms) speed 0.0

2025-10-26T22:11:51.519Z,1761516711.519 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-10-26T22:11:51.520Z,1761516711.520 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.163565
2025-10-26T22:11:51.768Z,1761516711.768 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.411972
2025-10-26T22:11:51.880Z,1761516711.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551484,-0.832190,-0.057662],[0.834037,0.551371,0.019294],[0.015737,-0.058733,0.998150]]
2025-10-26T22:11:51.900Z,1761516711.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 0.498997 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:51.901Z,1761516711.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.77 m.
2025-10-26T22:11:52.025Z,1761516712.025 [DAT](INFO): DAT read: Rx Time:22:11:50.7454 

2025-10-26T22:11:52.027Z,1761516712.027 [DAT](INFO): Rx dataTimestamp_ set to:1761516712.025801
2025-10-26T22:11:52.034Z,1761516712.034 [DAT](INFO): DAT read: Bearing  17.1,  17.4 (Local)

2025-10-26T22:11:52.036Z,1761516712.036 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.1,  17.4 (Local)

2025-10-26T22:11:52.055Z,1761516712.055 [DAT](INFO): DAT read: Range 11 to 50 :    21.0 m (trip time 14.0 ms) speed 0.0

2025-10-26T22:11:52.086Z,1761516712.086 [DAT](INFO): DAT read: 22:11:50.7454 LVL= 22112, 16801, 25298, 29923, AGC= 71, IDX=   1, 0.32,-1.135, 0.375,-1.702,-0.685, PHS=-0.348, 1.105,-1.061, RAW= 348.8,   3.2, CAL= 348.4,   0.3, ROT= 161.6,  -0.3

2025-10-26T22:11:52.087Z,1761516712.087 [DAT](INFO): got valid direction response:
 22:11:50.7454 LVL= 22112, 16801, 25298, 29923, AGC= 71, IDX=   1, 0.32,-1.135, 0.375,-1.702,-0.685, PHS=-0.348, 1.105,-1.061, RAW= 348.8,   3.2, CAL= 348.4,   0.3, ROT= 161.6,  -0.3

2025-10-26T22:11:52.096Z,1761516712.096 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-10-26T22:11:52.097Z,1761516712.097 [DAT](INFO): direction in FSK: [-0.948863,0.315645,0.005236]
2025-10-26T22:11:52.097Z,1761516712.097 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:52.121Z,1761516712.121 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.764849
2025-10-26T22:11:52.273Z,1761516712.273 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.916256
2025-10-26T22:11:52.280Z,1761516712.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551579,-0.832128,-0.057652],[0.833968,0.551491,0.018854],[0.016105,-0.058480,0.998159]]
2025-10-26T22:11:52.427Z,1761516712.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 0.508939 s,
      deltaX: 0.100000 m,
      approachRate: 0.196488 m/s,
      rangeRepo size: 4

2025-10-26T22:11:52.429Z,1761516712.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.872913 m,
      bearing: 218.126370 deg,
      lat: 36.779419 deg,
      lon: -121.859466 deg,
      deltaT: 1.007936 s,
      deltaX: 0.099401 m,
      approachRate: 0.098619 m/s,
      posRepo size: 4

2025-10-26T22:11:52.430Z,1761516712.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.87 m.
2025-10-26T22:11:52.525Z,1761516712.525 [DAT](INFO): DAT read: Rx Time:22:11:51.2453 

2025-10-26T22:11:52.526Z,1761516712.526 [DAT](INFO): Rx dataTimestamp_ set to:1761516712.525329
2025-10-26T22:11:52.527Z,1761516712.527 [DAT](INFO): DAT read: Bearing  17.4,  17.5 (Local)

2025-10-26T22:11:52.527Z,1761516712.527 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.4,  17.5 (Local)

2025-10-26T22:11:52.529Z,1761516712.529 [DAT](INFO): DAT read: Range 11 to 50 :    20.9 m (trip time 13.9 ms) speed -0.1

2025-10-26T22:11:52.534Z,1761516712.534 [DAT](INFO): DAT read: 22:11:51.2453 LVL= 29744, 22321, 32754, 32755, AGC= 68, IDX= 497,-0.45,-1.512,-0.001,-2.086,-1.069, PHS=-0.341, 1.113,-1.061, RAW= 349.0,   3.1, CAL= 348.5, OT= 161.5,  -0.1

2025-10-26T22:11:52.535Z,1761516712.535 [DAT](INFO): unknown deviceResponse_: 22:11:51.2453 LVL= 29744, 22321, 32754, 32755, AGC= 68, IDX= 497,-0.45,-1.512,-0.001,-2.086,-1.069, PHS=-0.341, 1.113,-1.061, RAW= 349.0,   3.1, CAL= 348.5, OT= 161.5,  -0.1

2025-10-26T22:11:52.535Z,1761516712.535 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-10-26T22:11:52.536Z,1761516712.536 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.179825
2025-10-26T22:11:52.686Z,1761516712.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551416,-0.832238,-0.057618],[0.834064,0.551370,0.018134],[0.016677,-0.058056,0.998174]]
2025-10-26T22:11:52.709Z,1761516712.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 0.499528 s,
      deltaX: -0.100000 m,
      approachRate: -0.200190 m/s,
      rangeRepo size: 4

2025-10-26T22:11:52.710Z,1761516712.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.87 m.
2025-10-26T22:11:52.777Z,1761516712.777 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.420691
2025-10-26T22:11:53.029Z,1761516713.029 [DAT](INFO): DAT read: Rx Time:22:11:51.7454 

2025-10-26T22:11:53.030Z,1761516713.030 [DAT](INFO): Rx dataTimestamp_ set to:1761516713.029492
2025-10-26T22:11:53.031Z,1761516713.031 [DAT](INFO): DAT read: Bearing  16.3,  17.2 (Local)

2025-10-26T22:11:53.031Z,1761516713.031 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.3,  17.2 (Local)

2025-10-26T22:11:53.034Z,1761516713.034 [DAT](INFO): DAT read: Range 11 to 50 :    21.0 m (trip time 14.0 ms) speed -0.1

2025-10-26T22:11:53.040Z,1761516713.040 [DAT](INFO): DAT read: 22:11:51.7454 LVL= 26592, 19761, 28882, 32755, AGC= 69, IDX=   2,-0.22, 0.951, 2.464, 0.386, 1.419, PHS=-0.366, 1.089,-1.078, RAW= 348.8,   3.8, CAL= 348.4,   1.2, ROT= 161.6,  -1.2

2025-10-26T22:11:53.043Z,1761516713.043 [DAT](INFO): got valid direction response:
 22:11:51.7454 LVL= 26592, 19761, 28882, 32755, AGC= 69, IDX=   2,-0.22, 0.951, 2.464, 0.386, 1.419, PHS=-0.366, 1.089,-1.078, RAW= 348.8,   3.8, CAL= 348.4,   1.2, ROT= 161.6,  -1.2

2025-10-26T22:11:53.045Z,1761516713.045 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-10-26T22:11:53.054Z,1761516713.054 [DAT](INFO): direction in FSK: [-0.948668,0.315580,0.020942]
2025-10-26T22:11:53.056Z,1761516713.056 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:53.113Z,1761516713.113 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.756634
2025-10-26T22:11:53.143Z,1761516713.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551514,-0.832170,-0.057668],[0.833988,0.551504,0.017540],[0.017208,-0.057768,0.998182]]
2025-10-26T22:11:53.246Z,1761516713.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 0.504163 s,
      deltaX: 0.100000 m,
      approachRate: 0.198349 m/s,
      rangeRepo size: 4

2025-10-26T22:11:53.253Z,1761516713.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.872940 m,
      bearing: 218.084600 deg,
      lat: 36.779419 deg,
      lon: -121.859466 deg,
      deltaT: 1.003691 s,
      deltaX: 0.000027 m,
      approachRate: 0.000027 m/s,
      posRepo size: 4

2025-10-26T22:11:53.253Z,1761516713.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.87 m.
2025-10-26T22:11:53.281Z,1761516713.281 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.924126
2025-10-26T22:11:53.500Z,1761516713.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551447,-0.832195,-0.057942],[0.834017,0.551481,0.016844],[0.017936,-0.057613,0.998178]]
2025-10-26T22:11:53.518Z,1761516713.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.87 m.
2025-10-26T22:11:53.533Z,1761516713.533 [DAT](INFO): DAT read: Rx Time:22:11:52.2453 

2025-10-26T22:11:53.533Z,1761516713.533 [DAT](INFO): Rx dataTimestamp_ set to:1761516713.533221
2025-10-26T22:11:53.535Z,1761516713.535 [DAT](INFO): DAT read: Bearing  15.6,  18.2 (Local)

2025-10-26T22:11:53.535Z,1761516713.535 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.6,  18.2 (Local)

2025-10-26T22:11:53.537Z,1761516713.537 [DAT](INFO): DAT read: Range 11 to 50 :    20.9 m (trip time 13.9 ms) speed -0.2

2025-10-26T22:11:53.542Z,1761516713.542 [DAT](INFO): DAT read: 22:11:52.2453 LVL= 32752, 31217, 32754, 32755, AGC= 65, IDX= 497, 0.05, 2.276,-2.535, 1.679, 2.730, PHS=-0.352, 1.063,-1.095, RAW= 349.8,   4.1, CAL= 349.5,   1.7, ROT= 160.5,  -1.7

2025-10-26T22:11:53.543Z,1761516713.543 [DAT](INFO): got valid direction response:
 22:11:52.2453 LVL= 32752, 31217, 32754, 32755, AGC= 65, IDX= 497, 0.05, 2.276,-2.535, 1.679, 2.730, PHS=-0.352, 1.063,-1.095, RAW= 349.8,   4.1, CAL= 349.5,   1.7, ROT= 160.5,  -1.7

2025-10-26T22:11:53.543Z,1761516713.543 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-10-26T22:11:53.544Z,1761516713.544 [DAT](INFO): direction in FSK: [-0.942227,0.333660,0.029666]
2025-10-26T22:11:53.545Z,1761516713.545 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:53.556Z,1761516713.556 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.200066
2025-10-26T22:11:53.784Z,1761516713.784 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.427990
2025-10-26T22:11:53.905Z,1761516713.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551568,-0.832087,-0.058349],[0.833922,0.551640,0.016323],[0.018605,-0.057662,0.998163]]
2025-10-26T22:11:53.928Z,1761516713.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 0.503729 s,
      deltaX: -0.100000 m,
      approachRate: -0.198520 m/s,
      rangeRepo size: 4

2025-10-26T22:11:53.930Z,1761516713.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.773544 m,
      bearing: 216.956958 deg,
      lat: 36.779419 deg,
      lon: -121.859463 deg,
      deltaT: 0.503729 s,
      deltaX: -0.099396 m,
      approachRate: -0.197320 m/s,
      posRepo size: 4

2025-10-26T22:11:53.931Z,1761516713.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.77 m.
2025-10-26T22:11:54.037Z,1761516714.037 [DAT](INFO): DAT read: Rx Time:22:11:52.7455 

2025-10-26T22:11:54.038Z,1761516714.038 [DAT](INFO): Rx dataTimestamp_ set to:1761516714.037296
2025-10-26T22:11:54.041Z,1761516714.041 [DAT](INFO): DAT read: Bearing  15.4,  18.0 (Local)

2025-10-26T22:11:54.042Z,1761516714.042 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.4,  18.0 (Local)

2025-10-26T22:11:54.050Z,1761516714.050 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed -0.1

2025-10-26T22:11:54.107Z,1761516714.107 [DAT](INFO): DAT read: 22:11:52.7455 LVL= 28528, 20945, 32754, 32755, AGC= 68, IDX=   3,-0.36, 1.036, 2.518, 0.440, 1.499, PHS=-0.361, 1.064,-1.103, RAW= 349.7,   4.2, CAL= 349.3,   1.9, ROT= 160.7,  -1.9

2025-10-26T22:11:54.116Z,1761516714.116 [DAT](INFO): got valid direction response:
 22:11:52.7455 LVL= 28528, 20945, 32754, 32755, AGC= 68, IDX=   3,-0.36, 1.036, 2.518, 0.440, 1.499, PHS=-0.361, 1.064,-1.103, RAW= 349.7,   4.2, CAL= 349.3,   1.9, ROT= 160.7,  -1.9

2025-10-26T22:11:54.116Z,1761516714.116 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-10-26T22:11:54.117Z,1761516714.117 [DAT](INFO): direction in FSK: [-0.943282,0.330333,0.033155]
2025-10-26T22:11:54.117Z,1761516714.117 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:54.139Z,1761516714.139 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.778751
2025-10-26T22:11:54.288Z,1761516714.288 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.931946
2025-10-26T22:11:54.319Z,1761516714.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551685,-0.831966,-0.058959],[0.833828,0.551797,0.015850],[0.019347,-0.057906,0.998135]]
2025-10-26T22:11:54.410Z,1761516714.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.504075 s,
      deltaX: 0.300001 m,
      approachRate: 0.595152 m/s,
      rangeRepo size: 4

2025-10-26T22:11:54.412Z,1761516714.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.071716 m,
      bearing: 217.138127 deg,
      lat: 36.779418 deg,
      lon: -121.859463 deg,
      deltaT: 0.504075 s,
      deltaX: 0.298172 m,
      approachRate: 0.591523 m/s,
      posRepo size: 4

2025-10-26T22:11:54.412Z,1761516714.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-10-26T22:11:54.541Z,1761516714.541 [DAT](INFO): DAT read: Rx Time:22:11:53.2454 

2025-10-26T22:11:54.541Z,1761516714.541 [DAT](INFO): Rx dataTimestamp_ set to:1761516714.541069
2025-10-26T22:11:54.543Z,1761516714.543 [DAT](INFO): DAT read: Bearing  14.8,  18.6 (Local)

2025-10-26T22:11:54.543Z,1761516714.543 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.8,  18.6 (Local)

2025-10-26T22:11:54.545Z,1761516714.545 [DAT](INFO): DAT read: Range 11 to 50 :    21.0 m (trip time 14.0 ms) speed 0.0

2025-10-26T22:11:54.550Z,1761516714.550 [DAT](INFO): DAT read: 22:11:53.2454 LVL= 32752, 27377, 32754, 32755, AGC= 66, IDX= 498, 0.11, 1.427, 2.877, 0.812, 1.883, PHS=-0.354, 1.039,-1.115, RAW= 350.4,   4.6, CAL= 350.1,   2.5, ROT= 159.9,  -2.5

2025-10-26T22:11:54.551Z,1761516714.551 [DAT](INFO): got valid direction response:
 22:11:53.2454 LVL= 32752, 27377, 32754, 32755, AGC= 66, IDX= 498, 0.11, 1.427, 2.877, 0.812, 1.883, PHS=-0.354, 1.039,-1.115, RAW= 350.4,   4.6, CAL= 350.1,   2.5, ROT= 159.9,  -2.5

2025-10-26T22:11:54.551Z,1761516714.551 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-10-26T22:11:54.552Z,1761516714.552 [DAT](INFO): direction in FSK: [-0.938200,0.343333,0.043619]
2025-10-26T22:11:54.552Z,1761516714.552 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:54.556Z,1761516714.556 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.199787
2025-10-26T22:11:54.716Z,1761516714.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551823,-0.831820,-0.059726],[0.833719,0.551972,0.015470],[0.020099,-0.058331,0.998095]]
2025-10-26T22:11:54.760Z,1761516714.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 0.503773 s,
      deltaX: -0.200001 m,
      approachRate: -0.397006 m/s,
      rangeRepo size: 4

2025-10-26T22:11:54.762Z,1761516714.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.872925 m,
      bearing: 216.300288 deg,
      lat: 36.779418 deg,
      lon: -121.859462 deg,
      deltaT: 0.503773 s,
      deltaX: -0.198792 m,
      approachRate: -0.394605 m/s,
      posRepo size: 4

2025-10-26T22:11:54.763Z,1761516714.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.87 m.
2025-10-26T22:11:54.793Z,1761516714.793 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.436272
2025-10-26T22:11:55.045Z,1761516715.045 [DAT](INFO): DAT read: Rx Time:22:11:53.7455 

2025-10-26T22:11:55.045Z,1761516715.045 [DAT](INFO): Rx dataTimestamp_ set to:1761516715.045169
2025-10-26T22:11:55.047Z,1761516715.047 [DAT](INFO): DAT read: Bearing  15.2,  17.5 (Local)

2025-10-26T22:11:55.047Z,1761516715.047 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.2,  17.5 (Local)

2025-10-26T22:11:55.049Z,1761516715.049 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed -0.1

2025-10-26T22:11:55.057Z,1761516715.057 [DAT](INFO): DAT read: 22:11:53.7455 LVL= 31328, 24945, 32754, 32755, AGC= 67, IDX= 499,-0.21,-0.749, 0.731,-1.326,-0.276, PHS=-0.371, 1.052,-1.095, RAW= 349.3,   4.4, CAL= 349.0,   2.2, ROT= 161.0,  -2.2

2025-10-26T22:11:55.059Z,1761516715.059 [DAT](INFO): got valid direction response:
 22:11:53.7455 LVL= 31328, 24945, 32754, 32755, AGC= 67, IDX= 499,-0.21,-0.749, 0.731,-1.326,-0.276, PHS=-0.371, 1.052,-1.095, RAW= 349.3,   4.4, CAL= 349.0,   2.2, ROT= 161.0,  -2.2

2025-10-26T22:11:55.064Z,1761516715.064 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-10-26T22:11:55.065Z,1761516715.065 [DAT](INFO): direction in FSK: [-0.944822,0.325328,0.038388]
2025-10-26T22:11:55.065Z,1761516715.065 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:55.096Z,1761516715.096 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.718250
2025-10-26T22:11:55.166Z,1761516715.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551964,-0.831672,-0.060482],[0.833608,0.552150,0.015102],[0.020835,-0.058754,0.998055]]
2025-10-26T22:11:55.268Z,1761516715.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.504100 s,
      deltaX: 0.200001 m,
      approachRate: 0.396748 m/s,
      rangeRepo size: 4

2025-10-26T22:11:55.270Z,1761516715.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.071714 m,
      bearing: 217.401819 deg,
      lat: 36.779418 deg,
      lon: -121.859462 deg,
      deltaT: 0.504100 s,
      deltaX: 0.198790 m,
      approachRate: 0.394346 m/s,
      posRepo size: 4

2025-10-26T22:11:55.271Z,1761516715.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-10-26T22:11:55.297Z,1761516715.297 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.940304
2025-10-26T22:11:55.518Z,1761516715.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551889,-0.831669,-0.061206],[0.833637,0.552120,0.014599],[0.021652,-0.059080,0.998018]]
2025-10-26T22:11:55.549Z,1761516715.549 [DAT](INFO): DAT read: Rx Time:22:11:54.2455 

2025-10-26T22:11:55.550Z,1761516715.550 [DAT](INFO): Rx dataTimestamp_ set to:1761516715.549232
2025-10-26T22:11:55.551Z,1761516715.551 [DAT](INFO): DAT read: Bearing  15.0,  17.6 (Local)

2025-10-26T22:11:55.551Z,1761516715.551 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.0,  17.6 (Local)

2025-10-26T22:11:55.553Z,1761516715.553 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed -0.2

2025-10-26T22:11:55.558Z,1761516715.558 [DAT](INFO): DAT read: 22:11:54.2455 LVL= 28128, 24561, 32754, 32755, AGC= 68, IDX= 498, 0.45,-2.413,-0.947,-2.991,-1.943, PHS=-0.368, 1.041,-1.092, RAW= 349.5,   4.5, CAL= 349.2,   2.4, ROT= 160.8,  -2.4

2025-10-26T22:11:55.559Z,1761516715.559 [DAT](INFO): got valid direction response:
 22:11:54.2455 LVL= 28128, 24561, 32754, 32755, AGC= 68, IDX= 498, 0.45,-2.413,-0.947,-2.991,-1.943, PHS=-0.368, 1.041,-1.092, RAW= 349.5,   4.5, CAL= 349.2,   2.4, ROT= 160.8,  -2.4

2025-10-26T22:11:55.559Z,1761516715.559 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-10-26T22:11:55.560Z,1761516715.560 [DAT](INFO): direction in FSK: [-0.943548,0.328578,0.041876]
2025-10-26T22:11:55.561Z,1761516715.561 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:55.564Z,1761516715.564 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.207991
2025-10-26T22:11:55.570Z,1761516715.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.504063 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:55.570Z,1761516715.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-10-26T22:11:55.801Z,1761516715.801 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.444832
2025-10-26T22:11:55.922Z,1761516715.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551835,-0.831657,-0.061848],[0.833653,0.552109,0.014121],[0.022403,-0.059352,0.997986]]
2025-10-26T22:11:55.968Z,1761516715.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-10-26T22:11:56.055Z,1761516716.055 [DAT](INFO): DAT read: Rx Time:22:11:54.7457 

2025-10-26T22:11:56.057Z,1761516716.057 [DAT](INFO): Rx dataTimestamp_ set to:1761516716.055855
2025-10-26T22:11:56.059Z,1761516716.059 [DAT](INFO): DAT read: Bearing  15.0,  18.1 (Local)

2025-10-26T22:11:56.059Z,1761516716.059 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.0,  18.1 (Local)

2025-10-26T22:11:56.061Z,1761516716.061 [DAT](INFO): DAT read: Range 11 to 50 :    21.5 m (trip time 14.3 ms) speed -0.1

2025-10-26T22:11:56.066Z,1761516716.066 [DAT](INFO): DAT read: 22:11:54.7457 LVL= 28912, 22769, 32754, 32755, AGC= 69, IDX= 500, 0.14,-2.216,-0.766,-2.812,-1.758, PHS=-0.356, 1.037,-1.098, RAW= 350.0,   4.5, CAL= 349.7,   2.3, ROT= 160.3,  -2.3

2025-10-26T22:11:56.067Z,1761516716.067 [DAT](INFO): got valid direction response:
 22:11:54.7457 LVL= 28912, 22769, 32754, 32755, AGC= 69, IDX= 500, 0.14,-2.216,-0.766,-2.812,-1.758, PHS=-0.356, 1.037,-1.098, RAW= 350.0,   4.5, CAL= 349.7,   2.3, ROT= 160.3,  -2.3

2025-10-26T22:11:56.068Z,1761516716.068 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-10-26T22:11:56.072Z,1761516716.072 [DAT](INFO): direction in FSK: [-0.940712,0.336824,0.040132]
2025-10-26T22:11:56.073Z,1761516716.073 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:56.138Z,1761516716.138 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.781189
2025-10-26T22:11:56.306Z,1761516716.306 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.949060
2025-10-26T22:11:56.373Z,1761516716.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551603,-0.831783,-0.062222],[0.833787,0.551920,0.013540],[0.023079,-0.059348,0.997971]]
2025-10-26T22:11:56.432Z,1761516716.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.500000 m,
      deltaT: 0.506623 s,
      deltaX: 0.299999 m,
      approachRate: 0.592155 m/s,
      rangeRepo size: 4

2025-10-26T22:11:56.434Z,1761516716.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.369884 m,
      bearing: 216.720467 deg,
      lat: 36.779417 deg,
      lon: -121.859463 deg,
      deltaT: 1.010686 s,
      deltaX: 0.298170 m,
      approachRate: 0.295018 m/s,
      posRepo size: 4

2025-10-26T22:11:56.434Z,1761516716.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.37 m.
2025-10-26T22:11:56.557Z,1761516716.557 [DAT](INFO): DAT read: Rx Time:22:11:55.2456 

2025-10-26T22:11:56.557Z,1761516716.557 [DAT](INFO): Rx dataTimestamp_ set to:1761516716.557107
2025-10-26T22:11:56.559Z,1761516716.559 [DAT](INFO): DAT read: Bearing  15.2,  17.3 (Local)

2025-10-26T22:11:56.559Z,1761516716.559 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.2,  17.3 (Local)

2025-10-26T22:11:56.561Z,1761516716.561 [DAT](INFO): DAT read: Range 11 to 50 :    21.3 m (trip time 14.2 ms) speed -0.1

2025-10-26T22:11:56.566Z,1761516716.566 [DAT](INFO): DAT read: 22:11:55.2456 LVL= 26544, 22001, 32754, 32755, AGC= 68, IDX= 500,-0.19, 1.187, 2.666, 0.616, 1.662, PHS=-0.372, 1.049,-1.090, RAW= 349.2,   4.4, CAL= 348.9,   2.2, ROT= 161.1,  -2.2

2025-10-26T22:11:56.567Z,1761516716.567 [DAT](INFO): got valid direction response:
 22:11:55.2456 LVL= 26544, 22001, 32754, 32755, AGC= 68, IDX= 500,-0.19, 1.187, 2.666, 0.616, 1.662, PHS=-0.372, 1.049,-1.090, RAW= 349.2,   4.4, CAL= 348.9,   2.2, ROT= 161.1,  -2.2

2025-10-26T22:11:56.567Z,1761516716.567 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-26T22:11:56.568Z,1761516716.568 [DAT](INFO): direction in FSK: [-0.945388,0.323678,0.038388]
2025-10-26T22:11:56.569Z,1761516716.569 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:56.572Z,1761516716.572 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.216063
2025-10-26T22:11:56.735Z,1761516716.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551105,-0.832091,-0.062515],[0.834093,0.551478,0.012700],[0.023908,-0.059142,0.997963]]
2025-10-26T22:11:56.776Z,1761516716.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.299999 m,
      deltaT: 0.501252 s,
      deltaX: -0.200001 m,
      approachRate: -0.399002 m/s,
      rangeRepo size: 4

2025-10-26T22:11:56.778Z,1761516716.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.171093 m,
      bearing: 217.557425 deg,
      lat: 36.779419 deg,
      lon: -121.859463 deg,
      deltaT: 0.501252 s,
      deltaX: -0.198792 m,
      approachRate: -0.396590 m/s,
      posRepo size: 4

2025-10-26T22:11:56.778Z,1761516716.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.17 m.
2025-10-26T22:11:56.811Z,1761516716.811 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.453800
2025-10-26T22:11:57.061Z,1761516717.061 [DAT](INFO): DAT read: Rx Time:22:11:55.7458 

2025-10-26T22:11:57.061Z,1761516717.061 [DAT](INFO): Rx dataTimestamp_ set to:1761516717.061168
2025-10-26T22:11:57.063Z,1761516717.063 [DAT](INFO): DAT read: Bearing  14.7,  18.3 (Local)

2025-10-26T22:11:57.063Z,1761516717.063 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.7,  18.3 (Local)

2025-10-26T22:11:57.065Z,1761516717.065 [DAT](INFO): DAT read: Range 11 to 50 :    21.6 m (trip time 14.4 ms) speed 0.0

2025-10-26T22:11:57.070Z,1761516717.070 [DAT](INFO): DAT read: 22:11:55.7458 LVL= 25328, 20065, 32754, 32755, AGC= 68, IDX= 501, 0.24,-0.808, 0.639,-1.414,-0.347, PHS=-0.359, 1.032,-1.110, RAW= 350.2,   4.7, CAL= 349.9,   2.6, ROT= 160.1,  -2.6

2025-10-26T22:11:57.071Z,1761516717.071 [DAT](INFO): got valid direction response:
 22:11:55.7458 LVL= 25328, 20065, 32754, 32755, AGC= 68, IDX= 501, 0.24,-0.808, 0.639,-1.414,-0.347, PHS=-0.359, 1.032,-1.110, RAW= 350.2,   4.7, CAL= 349.9,   2.6, ROT= 160.1,  -2.6

2025-10-26T22:11:57.071Z,1761516717.071 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-10-26T22:11:57.072Z,1761516717.072 [DAT](INFO): direction in FSK: [-0.939320,0.340029,0.045363]
2025-10-26T22:11:57.073Z,1761516717.073 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:57.091Z,1761516717.091 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.734653
2025-10-26T22:11:57.188Z,1761516717.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550758,-0.832322,-0.062499],[0.834305,0.551174,0.011940],[0.024510,-0.058720,0.997974]]
2025-10-26T22:11:57.287Z,1761516717.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.600000 m,
      deltaT: 0.504061 s,
      deltaX: 0.300001 m,
      approachRate: 0.595168 m/s,
      rangeRepo size: 4

2025-10-26T22:11:57.293Z,1761516717.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.469286 m,
      bearing: 216.564285 deg,
      lat: 36.779419 deg,
      lon: -121.859464 deg,
      deltaT: 0.504061 s,
      deltaX: 0.298193 m,
      approachRate: 0.591581 m/s,
      posRepo size: 4

2025-10-26T22:11:57.293Z,1761516717.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.47 m.
2025-10-26T22:11:57.316Z,1761516717.316 [DAT](INFO): DAT read: Rx Time:22:11:56.2457 

2025-10-26T22:11:57.318Z,1761516717.318 [DAT](INFO): Rx dataTimestamp_ set to:1761516717.316744
2025-10-26T22:11:57.322Z,1761516717.322 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.962822
2025-10-26T22:11:57.568Z,1761516717.568 [DAT](INFO): DAT read: Bearing  13.3,  17.3 (Local)

2025-10-26T22:11:57.568Z,1761516717.568 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.3,  17.3 (Local)

2025-10-26T22:11:57.571Z,1761516717.571 [DAT](INFO): DAT read: Range 11 to 50 :    21.5 m (trip time 14.3 ms) speed -0.1

2025-10-26T22:11:57.576Z,1761516717.576 [DAT](INFO): DAT read: 22:11:56.2457 LVL= 29680, 23953, 32754, 32755, AGC= 69, IDX= 501,-0.17, 2.900,-1.923, 2.331,-2.881, PHS=-0.400, 1.002,-1.115, RAW= 349.4,   5.5, CAL= 349.1,   4.0, ROT= 160.9,  -4.0

2025-10-26T22:11:57.578Z,1761516717.578 [DAT](INFO): got valid direction response:
 22:11:56.2457 LVL= 29680, 23953, 32754, 32755, AGC= 69, IDX= 501,-0.17, 2.900,-1.923, 2.331,-2.881, PHS=-0.400, 1.002,-1.115, RAW= 349.4,   5.5, CAL= 349.1,   4.0, ROT= 160.9,  -4.0

2025-10-26T22:11:57.578Z,1761516717.578 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-10-26T22:11:57.580Z,1761516717.580 [DAT](INFO): direction in FSK: [-0.942647,0.326421,0.069756]
2025-10-26T22:11:57.580Z,1761516717.580 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:57.584Z,1761516717.584 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.227921
2025-10-26T22:11:57.657Z,1761516717.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550500,-0.832486,-0.062585],[0.834457,0.550960,0.011218],[0.025143,-0.058400,0.997977]]
2025-10-26T22:11:57.717Z,1761516717.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.500000 m,
      deltaT: 0.505108 s,
      deltaX: -0.100000 m,
      approachRate: -0.197978 m/s,
      rangeRepo size: 4

2025-10-26T22:11:57.724Z,1761516717.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.369890 m,
      bearing: 217.314465 deg,
      lat: 36.779419 deg,
      lon: -121.859464 deg,
      deltaT: 0.505108 s,
      deltaX: -0.099396 m,
      approachRate: -0.196781 m/s,
      posRepo size: 4

2025-10-26T22:11:57.725Z,1761516717.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.37 m.
2025-10-26T22:11:57.821Z,1761516717.821 [DAT](INFO): DAT read: Rx Time:22:11:56.7458 

2025-10-26T22:11:57.823Z,1761516717.823 [DAT](INFO): Rx dataTimestamp_ set to:1761516717.822049
2025-10-26T22:11:57.827Z,1761516717.827 [DAT](INFO): DAT read: Bearing  12.8,  17.8 (Local)

2025-10-26T22:11:57.836Z,1761516717.836 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.8,  17.8 (Local)

2025-10-26T22:11:57.845Z,1761516717.845 [DAT](INFO): DAT read: Range 11 to 50 :    21.8 m (trip time 14.5 ms) speed -0.1

2025-10-26T22:11:57.847Z,1761516717.847 [DAT](ERROR): #Rx 47: Read range message, but no direction.
2025-10-26T22:11:57.854Z,1761516717.854 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.497463
2025-10-26T22:11:58.014Z,1761516718.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550650,-0.832364,-0.062884],[0.834344,0.551137,0.010887],[0.025596,-0.058462,0.997961]]
2025-10-26T22:11:58.034Z,1761516718.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 0.255773 s,
      deltaX: 0.299999 m,
      approachRate: 1.172912 m/s,
      rangeRepo size: 4

2025-10-26T22:11:58.034Z,1761516718.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.37 m.
2025-10-26T22:11:58.074Z,1761516718.074 [DAT](INFO): DAT read: 22:11:56.7458 LVL= 28256, 23793, 32754, 32755, AGC= 68, IDX= 502, 0.18, 0.986, 2.423, 0.402, 1.484, PHS=-0.396, 0.984,-1.126, RAW= 349.9,   5.9, CAL= 349.7,   4.5, ROT= 160.3,  -4.5

2025-10-26T22:11:58.076Z,1761516718.076 [DAT](INFO): got valid direction response:
 22:11:56.7458 LVL= 28256, 23793, 32754, 32755, AGC= 68, IDX= 502, 0.18, 0.986, 2.423, 0.402, 1.484, PHS=-0.396, 0.984,-1.126, RAW= 349.9,   5.9, CAL= 349.7,   4.5, ROT= 160.3,  -4.5

2025-10-26T22:11:58.076Z,1761516718.076 [DAT](INFO): #Rx 48: Read direction message, but no range.
2025-10-26T22:11:58.077Z,1761516718.077 [DAT](INFO): direction in FSK: [-0.938568,0.336056,0.078459]
2025-10-26T22:11:58.084Z,1761516718.084 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.727161
2025-10-26T22:11:58.325Z,1761516718.325 [DAT](INFO): DAT read: Rx Time:22:11:57.2458 

2025-10-26T22:11:58.326Z,1761516718.326 [DAT](INFO): Rx dataTimestamp_ set to:1761516718.325233
2025-10-26T22:11:58.329Z,1761516718.329 [DAT](INFO): DAT read: Bearing  12.0,  17.0 (Local)

2025-10-26T22:11:58.330Z,1761516718.330 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.0,  17.0 (Local)

2025-10-26T22:11:58.332Z,1761516718.332 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.975132
2025-10-26T22:11:58.414Z,1761516718.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550436,-0.832483,-0.063178],[0.834467,0.550960,0.010385],[0.026164,-0.058436,0.997948]]
2025-10-26T22:11:58.507Z,1761516718.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.37 m.
2025-10-26T22:11:58.575Z,1761516718.575 [DAT](INFO): DAT read: Range 11 to 50 :    21.6 m (trip time 14.4 ms) speed -0.1

2025-10-26T22:11:58.582Z,1761516718.582 [DAT](INFO): DAT read: 22:11:57.2458 LVL= 32752, 26353, 32754, 32755, AGC= 69, IDX= 502,-0.22,-2.434,-0.982,-2.989,-1.905, PHS=-0.427, 0.968,-1.128, RAW= 349.2,   6.4, CAL= 349.0,   5.4, ROT= 161.0,  -5.4

2025-10-26T22:11:58.583Z,1761516718.583 [DAT](INFO): got valid direction response:
 22:11:57.2458 LVL= 32752, 26353, 32754, 32755, AGC= 69, IDX= 502,-0.22,-2.434,-0.982,-2.989,-1.905, PHS=-0.427, 0.968,-1.128, RAW= 349.2,   6.4, CAL= 349.0,   5.4, ROT= 161.0,  -5.4

2025-10-26T22:11:58.587Z,1761516718.587 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-10-26T22:11:58.589Z,1761516718.589 [DAT](INFO): direction in FSK: [-0.941322,0.324123,0.094108]
2025-10-26T22:11:58.589Z,1761516718.589 [DAT](INFO): publishing direction and range info
2025-10-26T22:11:58.593Z,1761516718.593 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.236767
2025-10-26T22:11:58.828Z,1761516718.828 [DAT](INFO): DAT read: Rx Time:22:11:57.7458 

2025-10-26T22:11:58.829Z,1761516718.829 [DAT](INFO): Rx dataTimestamp_ set to:1761516718.828462
2025-10-26T22:11:58.832Z,1761516718.832 [DAT](INFO): DAT read: Bearing  12.6,  17.4 (Local)

2025-10-26T22:11:58.833Z,1761516718.833 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.6,  17.4 (Local)

2025-10-26T22:11:58.837Z,1761516718.837 [DAT](INFO): DAT read: Range 11 to 50 :    21.6 m (trip time 14.4 ms) speed -0.1

2025-10-26T22:11:58.844Z,1761516718.844 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-10-26T22:11:58.847Z,1761516718.847 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.489895
2025-10-26T22:11:58.894Z,1761516718.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550385,-0.832492,-0.063511],[0.834488,0.550933,0.010106],[0.026577,-0.058562,0.997930]]
2025-10-26T22:11:58.951Z,1761516718.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.600000 m,
      deltaT: 1.006413 s,
      deltaX: -0.199999 m,
      approachRate: -0.198724 m/s,
      rangeRepo size: 4

2025-10-26T22:11:58.958Z,1761516718.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.469292 m,
      bearing: 217.355410 deg,
      lat: 36.779420 deg,
      lon: -121.859465 deg,
      deltaT: 1.262186 s,
      deltaX: 0.099401 m,
      approachRate: 0.078753 m/s,
      posRepo size: 4

2025-10-26T22:11:58.958Z,1761516718.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.47 m.
2025-10-26T22:11:59.080Z,1761516719.080 [DAT](INFO): DAT read: 22:11:57.7458 LVL= 27536, 23521, 32754, 32755, AGC= 68, IDX= 502, 0.08,-0.505, 0.942,-1.079, 0.005, PHS=-0.408, 0.981,-1.129, RAW= 349.6,   6.0, CAL= 349.4,   4.8, ROT= 160.6,  -4.8

2025-10-26T22:11:59.081Z,1761516719.081 [DAT](INFO): got valid direction response:
 22:11:57.7458 LVL= 27536, 23521, 32754, 32755, AGC= 68, IDX= 502, 0.08,-0.505, 0.942,-1.079, 0.005, PHS=-0.408, 0.981,-1.129, RAW= 349.6,   6.0, CAL= 349.4,   4.8, ROT= 160.6,  -4.8

2025-10-26T22:11:59.082Z,1761516719.082 [DAT](INFO): #Rx 51: Read direction message, but no range.
2025-10-26T22:11:59.083Z,1761516719.083 [DAT](INFO): direction in FSK: [-0.939915,0.330996,0.083678]
2025-10-26T22:11:59.086Z,1761516719.086 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.730013
2025-10-26T22:11:59.223Z,1761516719.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550203,-0.832590,-0.063808],[0.834595,0.550778,0.009782],[0.026999,-0.058636,0.997914]]
2025-10-26T22:11:59.277Z,1761516719.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.47 m.
2025-10-26T22:11:59.332Z,1761516719.332 [DAT](INFO): DAT read: Rx Time:22:11:58.2458 

2025-10-26T22:11:59.334Z,1761516719.334 [DAT](INFO): Rx dataTimestamp_ set to:1761516719.332870
2025-10-26T22:11:59.344Z,1761516719.344 [DAT](INFO): DAT read: Bearing  11.1,  16.0 (Local)

2025-10-26T22:11:59.345Z,1761516719.345 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.1,  16.0 (Local)

2025-10-26T22:11:59.359Z,1761516719.359 [DAT](INFO): DAT read: Range 11 to 50 :    21.6 m (trip time 14.4 ms) speed 0.0

2025-10-26T22:11:59.365Z,1761516719.365 [DAT](ERROR): #Rx 52: Read range message, but no direction.
2025-10-26T22:11:59.372Z,1761516719.372 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.015278
2025-10-26T22:11:59.584Z,1761516719.584 [DAT](INFO): DAT read: 22:11:58.2458 LVL= 28528, 27409, 32754, 32755, AGC= 68, IDX= 502,-0.47,-3.046,-1.597, 2.724,-2.489, PHS=-0.455, 0.937,-1.115, RAW= 348.4,   7.0, CAL= 348.2,   6.4, ROT= 161.8,  -6.4

2025-10-26T22:11:59.585Z,1761516719.585 [DAT](INFO): got valid direction response:
 22:11:58.2458 LVL= 28528, 27409, 32754, 32755, AGC= 68, IDX= 502,-0.47,-3.046,-1.597, 2.724,-2.489, PHS=-0.455, 0.937,-1.115, RAW= 348.4,   7.0, CAL= 348.2,   6.4, ROT= 161.8,  -6.4

2025-10-26T22:11:59.585Z,1761516719.585 [DAT](INFO): #Rx 53: Read direction message, but no range.
2025-10-26T22:11:59.586Z,1761516719.586 [DAT](INFO): direction in FSK: [-0.944052,0.310388,0.111469]
2025-10-26T22:11:59.590Z,1761516719.590 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.233910
2025-10-26T22:11:59.661Z,1761516719.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550087,-0.832667,-0.063804],[0.834664,0.550678,0.009493],[0.027231,-0.058477,0.997917]]
2025-10-26T22:11:59.725Z,1761516719.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.600000 m,
      deltaT: 0.504408 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:11:59.732Z,1761516719.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.469297 m,
      bearing: 218.125514 deg,
      lat: 36.779420 deg,
      lon: -121.859466 deg,
      deltaT: 0.504408 s,
      deltaX: 0.000006 m,
      approachRate: 0.000011 m/s,
      posRepo size: 4

2025-10-26T22:11:59.732Z,1761516719.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.47 m.
2025-10-26T22:11:59.839Z,1761516719.839 [DAT](INFO): DAT read: Rx Time:22:11:58.7458 

2025-10-26T22:11:59.840Z,1761516719.840 [DAT](INFO): Rx dataTimestamp_ set to:1761516719.839036
2025-10-26T22:11:59.843Z,1761516719.843 [DAT](INFO): DAT read: Bearing  13.1,  16.8 (Local)

2025-10-26T22:11:59.844Z,1761516719.844 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.1,  16.8 (Local)

2025-10-26T22:11:59.848Z,1761516719.848 [DAT](INFO): DAT read: Range 11 to 50 :    21.8 m (trip time 14.5 ms) speed 0.0

2025-10-26T22:11:59.850Z,1761516719.850 [DAT](ERROR): #Rx 54: Read range message, but no direction.
2025-10-26T22:11:59.853Z,1761516719.853 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.495996
2025-10-26T22:12:00.032Z,1761516720.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549464,-0.833095,-0.063572],[0.835062,0.550084,0.008882],[0.027570,-0.057967,0.997938]]
2025-10-26T22:12:00.092Z,1761516720.092 [DAT](INFO): DAT read: 22:11:58.7458 LVL= 24304, 23825, 32754, 32755, AGC= 68, IDX= 503, 0.01,-3.046,-1.584, 2.686,-2.532, PHS=-0.412, 0.993,-1.110, RAW= 349.0,   5.8, CAL= 348.8,   4.3, ROT= 161.2,  -4.3

2025-10-26T22:12:00.093Z,1761516720.093 [DAT](INFO): got valid direction response:
 22:11:58.7458 LVL= 24304, 23825, 32754, 32755, AGC= 68, IDX= 503, 0.01,-3.046,-1.584, 2.686,-2.532, PHS=-0.412, 0.993,-1.110, RAW= 349.0,   5.8, CAL= 348.8,   4.3, ROT= 161.2,  -4.3

2025-10-26T22:12:00.094Z,1761516720.094 [DAT](INFO): #Rx 55: Read direction message, but no range.
2025-10-26T22:12:00.095Z,1761516720.095 [DAT](INFO): direction in FSK: [-0.943985,0.321359,0.074979]
2025-10-26T22:12:00.098Z,1761516720.098 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.741800
2025-10-26T22:12:00.207Z,1761516720.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 0.506166 s,
      deltaX: 0.199999 m,
      approachRate: 0.395125 m/s,
      rangeRepo size: 4

2025-10-26T22:12:00.213Z,1761516720.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.668087 m,
      bearing: 217.670824 deg,
      lat: 36.779421 deg,
      lon: -121.859467 deg,
      deltaT: 0.506166 s,
      deltaX: 0.198790 m,
      approachRate: 0.392736 m/s,
      posRepo size: 4

2025-10-26T22:12:00.214Z,1761516720.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.67 m.
2025-10-26T22:12:00.345Z,1761516720.345 [DAT](INFO): DAT read: Rx Time:22:11:59.2458 

2025-10-26T22:12:00.346Z,1761516720.346 [DAT](INFO): Rx dataTimestamp_ set to:1761516720.345462
2025-10-26T22:12:00.350Z,1761516720.350 [DAT](INFO): DAT read: Bearing  12.7,  16.2 (Local)

2025-10-26T22:12:00.351Z,1761516720.351 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.7,  16.2 (Local)

2025-10-26T22:12:00.357Z,1761516720.357 [DAT](INFO): DAT read: Range 11 to 50 :    21.8 m (trip time 14.5 ms) speed 0.1

2025-10-26T22:12:00.360Z,1761516720.360 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-10-26T22:12:00.362Z,1761516720.362 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.005474
2025-10-26T22:12:00.435Z,1761516720.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548920,-0.833467,-0.063401],[0.835412,0.549560,0.008427],[0.027819,-0.057592,0.997953]]
2025-10-26T22:12:00.562Z,1761516720.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 0.506426 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:12:00.562Z,1761516720.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.67 m.
2025-10-26T22:12:00.596Z,1761516720.596 [DAT](INFO): DAT read: 22:11:59.2458 LVL= 23472, 23329, 32754, 32755, AGC= 67, IDX= 502, 0.39, 1.037, 2.512, 0.509, 1.573, PHS=-0.434, 0.984,-1.109, RAW= 348.4,   6.1, CAL= 348.2,   4.9, ROT= 161.8,  -4.9

2025-10-26T22:12:00.597Z,1761516720.597 [DAT](INFO): got valid direction response:
 22:11:59.2458 LVL= 23472, 23329, 32754, 32755, AGC= 67, IDX= 502, 0.39, 1.037, 2.512, 0.509, 1.573, PHS=-0.434, 0.984,-1.109, RAW= 348.4,   6.1, CAL= 348.2,   4.9, ROT= 161.8,  -4.9

2025-10-26T22:12:00.598Z,1761516720.598 [DAT](INFO): #Rx 57: Read direction message, but no range.
2025-10-26T22:12:00.599Z,1761516720.599 [DAT](INFO): direction in FSK: [-0.946500,0.311193,0.085417]
2025-10-26T22:12:00.602Z,1761516720.602 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.245802
2025-10-26T22:12:00.848Z,1761516720.848 [DAT](INFO): DAT read: Rx Time:22:11:59.7459 

2025-10-26T22:12:00.850Z,1761516720.850 [DAT](INFO): Rx dataTimestamp_ set to:1761516720.848906
2025-10-26T22:12:00.853Z,1761516720.853 [DAT](INFO): DAT read: Bearing  13.3,  15.6 (Local)

2025-10-26T22:12:00.854Z,1761516720.854 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.3,  15.6 (Local)

2025-10-26T22:12:00.864Z,1761516720.864 [DAT](INFO): DAT read: Range 11 to 50 :    21.9 m (trip time 14.6 ms) speed 0.0

2025-10-26T22:12:00.866Z,1761516720.866 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-10-26T22:12:00.893Z,1761516720.893 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.536585
2025-10-26T22:12:00.909Z,1761516720.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548390,-0.833811,-0.063471],[0.835753,0.549046,0.008163],[0.028042,-0.057523,0.997950]]
2025-10-26T22:12:00.964Z,1761516720.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.900000 m,
      deltaT: 0.503444 s,
      deltaX: 0.100000 m,
      approachRate: 0.198633 m/s,
      rangeRepo size: 4

2025-10-26T22:12:00.967Z,1761516720.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.767483 m,
      bearing: 218.316109 deg,
      lat: 36.779421 deg,
      lon: -121.859469 deg,
      deltaT: 1.009870 s,
      deltaX: 0.099396 m,
      approachRate: 0.098424 m/s,
      posRepo size: 4

2025-10-26T22:12:00.967Z,1761516720.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.77 m.
2025-10-26T22:12:01.101Z,1761516721.101 [DAT](INFO): DAT read: 22:11:59.7459 LVL= 23696, 22737, 32754, 32755, AGC= 67, IDX= 504,-0.18,-0.538, 0.958,-1.048, 0.002, PHS=-0.438, 1.001,-1.093, RAW= 347.8,   5.8, CAL= 347.6,   4.4, ROT= 162.4,  -4.4

2025-10-26T22:12:01.102Z,1761516721.102 [DAT](INFO): got valid direction response:
 22:11:59.7459 LVL= 23696, 22737, 32754, 32755, AGC= 67, IDX= 504,-0.18,-0.538, 0.958,-1.048, 0.002, PHS=-0.438, 1.001,-1.093, RAW= 347.8,   5.8, CAL= 347.6,   4.4, ROT= 162.4,  -4.4

2025-10-26T22:12:01.102Z,1761516721.102 [DAT](INFO): #Rx 59: Read direction message, but no range.
2025-10-26T22:12:01.103Z,1761516721.103 [DAT](INFO): direction in FSK: [-0.950381,0.301479,0.076719]
2025-10-26T22:12:01.107Z,1761516721.107 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.750286
2025-10-26T22:12:01.353Z,1761516721.353 [DAT](INFO): DAT read: Rx Time:22:12:00.2458 

2025-10-26T22:12:01.354Z,1761516721.354 [DAT](INFO): Rx dataTimestamp_ set to:1761516721.353394
2025-10-26T22:12:01.358Z,1761516721.358 [DAT](INFO): DAT read: Bearing  12.6,  15.5 (Local)

2025-10-26T22:12:01.359Z,1761516721.359 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.6,  15.5 (Local)

2025-10-26T22:12:01.365Z,1761516721.365 [DAT](INFO): DAT read: Range 11 to 50 :    21.8 m (trip time 14.5 ms) speed 0.1

2025-10-26T22:12:01.367Z,1761516721.367 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-10-26T22:12:01.370Z,1761516721.370 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.013083
2025-10-26T22:12:01.410Z,1761516721.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 0.504488 s,
      deltaX: -0.100000 m,
      approachRate: -0.198222 m/s,
      rangeRepo size: 4

2025-10-26T22:12:01.416Z,1761516721.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.668047 m,
      bearing: 218.936967 deg,
      lat: 36.779422 deg,
      lon: -121.859470 deg,
      deltaT: 0.504488 s,
      deltaX: -0.099436 m,
      approachRate: -0.197102 m/s,
      posRepo size: 4

2025-10-26T22:12:01.416Z,1761516721.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.67 m.
2025-10-26T22:12:01.604Z,1761516721.604 [DAT](INFO): DAT read: 22:12:00.2458 LVL= 22368, 22369, 32754, 32755, AGC= 66, IDX= 503,-0.01,-0.692, 0.796,-1.194,-0.142, PHS=-0.448, 0.983,-1.097, RAW= 347.7,   6.2, CAL= 347.5,   5.0, ROT= 162.5,  -5.0

2025-10-26T22:12:01.605Z,1761516721.605 [DAT](INFO): got valid direction response:
 22:12:00.2458 LVL= 22368, 22369, 32754, 32755, AGC= 66, IDX= 503,-0.01,-0.692, 0.796,-1.194,-0.142, PHS=-0.448, 0.983,-1.097, RAW= 347.7,   6.2, CAL= 347.5,   5.0, ROT= 162.5,  -5.0

2025-10-26T22:12:01.606Z,1761516721.606 [DAT](INFO): #Rx 61: Read direction message, but no range.
2025-10-26T22:12:01.607Z,1761516721.607 [DAT](INFO): direction in FSK: [-0.950088,0.299562,0.087156]
2025-10-26T22:12:01.647Z,1761516721.647 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.290394
2025-10-26T22:12:01.693Z,1761516721.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546922,-0.834732,-0.064027],[0.836699,0.547606,0.007887],[0.028478,-0.057885,0.997917]]
2025-10-26T22:12:01.736Z,1761516721.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.67 m.
2025-10-26T22:12:01.856Z,1761516721.856 [DAT](INFO): DAT read: Rx Time:22:12:00.7458 

2025-10-26T22:12:01.858Z,1761516721.858 [DAT](INFO): Rx dataTimestamp_ set to:1761516721.857149
2025-10-26T22:12:01.861Z,1761516721.861 [DAT](INFO): DAT read: Bearing  11.5,  15.4 (Local)

2025-10-26T22:12:01.862Z,1761516721.862 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.5,  15.4 (Local)

2025-10-26T22:12:01.869Z,1761516721.869 [DAT](INFO): DAT read: Range 11 to 50 :    21.8 m (trip time 14.5 ms) speed 0.0

2025-10-26T22:12:01.871Z,1761516721.871 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-10-26T22:12:01.872Z,1761516721.872 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.515678
2025-10-26T22:12:02.074Z,1761516722.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546030,-0.835290,-0.064353],[0.837275,0.546727,0.007782],[0.028684,-0.058130,0.997897]]
2025-10-26T22:12:02.108Z,1761516722.108 [DAT](INFO): DAT read: 22:12:00.7458 LVL= 24080, 23985, 32754, 32755, AGC= 65, IDX= 503, 0.08, 0.964, 2.434, 0.474, 1.530, PHS=-0.464, 0.948,-1.100, RAW= 347.7,   6.8, CAL= 347.5,   6.1, ROT= 162.5,  -6.1

2025-10-26T22:12:02.109Z,1761516722.109 [DAT](INFO): got valid direction response:
 22:12:00.7458 LVL= 24080, 23985, 32754, 32755, AGC= 65, IDX= 503, 0.08, 0.964, 2.434, 0.474, 1.530, PHS=-0.464, 0.948,-1.100, RAW= 347.7,   6.8, CAL= 347.5,   6.1, ROT= 162.5,  -6.1

2025-10-26T22:12:02.110Z,1761516722.110 [DAT](INFO): #Rx 63: Read direction message, but no range.
2025-10-26T22:12:02.111Z,1761516722.111 [DAT](INFO): direction in FSK: [-0.948317,0.299003,0.106264]
2025-10-26T22:12:02.114Z,1761516722.114 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.757858
2025-10-26T22:12:02.183Z,1761516722.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 0.503755 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:12:02.199Z,1761516722.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.668047 m,
      bearing: 219.116121 deg,
      lat: 36.779423 deg,
      lon: -121.859472 deg,
      deltaT: 0.503755 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:12:02.201Z,1761516722.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.67 m.
2025-10-26T22:12:02.361Z,1761516722.361 [DAT](INFO): DAT read: Rx Time:22:12:01.2458 

2025-10-26T22:12:02.362Z,1761516722.362 [DAT](INFO): Rx dataTimestamp_ set to:1761516722.361354
2025-10-26T22:12:02.376Z,1761516722.376 [DAT](INFO): DAT read: Bearing  11.4,  15.6 (Local)

2025-10-26T22:12:02.382Z,1761516722.382 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.4,  15.6 (Local)

2025-10-26T22:12:02.393Z,1761516722.393 [DAT](INFO): DAT read: Range 11 to 50 :    21.6 m (trip time 14.4 ms) speed 0.2

2025-10-26T22:12:02.397Z,1761516722.397 [DAT](INFO): DAT read: 22:12:01.2458 LVL= 25152, 24417, 32754, 32755, AGC= 64, IDX= 502, 0.19, 0.774, 2.237, 0.276, 1.338, PHS=-0.462, 0.944,-1.106, RAW= 347.9,   6.9, CAL= 347.8,   6.2, ROT= 162.2,  -6.2

2025-10-26T22:12:02.398Z,1761516722.398 [DAT](INFO): got valid direction response:
 22:12:01.2458 LVL= 25152, 24417, 32754, 32755, AGC= 64, IDX= 502, 0.19, 0.774, 2.237, 0.276, 1.338, PHS=-0.462, 0.944,-1.106, RAW= 347.9,   6.9, CAL= 347.8,   6.2, ROT= 162.2,  -6.2

2025-10-26T22:12:02.399Z,1761516722.399 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-26T22:12:02.409Z,1761516722.409 [DAT](INFO): direction in FSK: [-0.946560,0.303907,0.107999]
2025-10-26T22:12:02.409Z,1761516722.409 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:02.421Z,1761516722.421 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.064543
2025-10-26T22:12:02.608Z,1761516722.608 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.252054
2025-10-26T22:12:02.652Z,1761516722.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.600000 m,
      deltaT: 0.504205 s,
      deltaX: -0.199999 m,
      approachRate: -0.396662 m/s,
      rangeRepo size: 4

2025-10-26T22:12:02.654Z,1761516722.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.469259 m,
      bearing: 218.812912 deg,
      lat: 36.779424 deg,
      lon: -121.859472 deg,
      deltaT: 0.504205 s,
      deltaX: -0.198788 m,
      approachRate: -0.394260 m/s,
      posRepo size: 4

2025-10-26T22:12:02.654Z,1761516722.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.47 m.
2025-10-26T22:12:02.866Z,1761516722.866 [DAT](INFO): DAT read: Rx Time:22:12:01.7459 

2025-10-26T22:12:02.867Z,1761516722.867 [DAT](INFO): Rx dataTimestamp_ set to:1761516722.866047
2025-10-26T22:12:02.871Z,1761516722.871 [DAT](INFO): DAT read: Bearing  10.8,  15.5 (Local)

2025-10-26T22:12:02.872Z,1761516722.872 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.8,  15.5 (Local)

2025-10-26T22:12:02.874Z,1761516722.874 [DAT](INFO): DAT read: Range 11 to 50 :    21.9 m (trip time 14.6 ms) speed 0.0

2025-10-26T22:12:02.879Z,1761516722.879 [DAT](INFO): DAT read: 22:12:01.7459 LVL= 27632, 26577, 32754, 32755, AGC= 64, IDX= 503, 0.37, 3.085,-1.749, 2.599,-2.626, PHS=-0.470, 0.922,-1.103, RAW= 347.8,   7.3, CAL= 347.7,   6.8, ROT= 162.3,  -6.8

2025-10-26T22:12:02.900Z,1761516722.900 [DAT](INFO): got valid direction response:
 22:12:01.7459 LVL= 27632, 26577, 32754, 32755, AGC= 64, IDX= 503, 0.37, 3.085,-1.749, 2.599,-2.626, PHS=-0.470, 0.922,-1.103, RAW= 347.8,   7.3, CAL= 347.7,   6.8, ROT= 162.3,  -6.8

2025-10-26T22:12:02.900Z,1761516722.900 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-10-26T22:12:02.901Z,1761516722.901 [DAT](INFO): direction in FSK: [-0.945960,0.301894,0.118404]
2025-10-26T22:12:02.901Z,1761516722.901 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:02.914Z,1761516722.914 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.557455
2025-10-26T22:12:02.926Z,1761516722.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544123,-0.836525,-0.064468],[0.838519,0.544815,0.007851],[0.028556,-0.058329,0.997889]]
2025-10-26T22:12:02.991Z,1761516722.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.900000 m,
      deltaT: 0.504693 s,
      deltaX: 0.299999 m,
      approachRate: 0.594419 m/s,
      rangeRepo size: 4

2025-10-26T22:12:03.001Z,1761516723.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.767443 m,
      bearing: 219.013524 deg,
      lat: 36.779425 deg,
      lon: -121.859474 deg,
      deltaT: 0.504693 s,
      deltaX: 0.298183 m,
      approachRate: 0.590821 m/s,
      posRepo size: 4

2025-10-26T22:12:03.002Z,1761516723.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.77 m.
2025-10-26T22:12:03.113Z,1761516723.113 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.756212
2025-10-26T22:12:03.355Z,1761516723.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542800,-0.837389,-0.064406],[0.839377,0.543495,0.007716],[0.028543,-0.058250,0.997894]]
2025-10-26T22:12:03.369Z,1761516723.369 [DAT](INFO): DAT read: Rx Time:22:12:02.2458 

2025-10-26T22:12:03.370Z,1761516723.370 [DAT](INFO): Rx dataTimestamp_ set to:1761516723.369084
2025-10-26T22:12:03.372Z,1761516723.372 [DAT](INFO): DAT read: Bearing  11.3,  15.0 (Local)

2025-10-26T22:12:03.373Z,1761516723.373 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.3,  15.0 (Local)

2025-10-26T22:12:03.375Z,1761516723.375 [DAT](INFO): DAT read: Range 11 to 50 :    21.8 m (trip time 14.5 ms) speed 0.0

2025-10-26T22:12:03.383Z,1761516723.383 [DAT](INFO): DAT read: 22:12:02.2458 LVL= 25312, 26065, 32754, 32755, AGC= 64, IDX= 503,-0.25,-0.128, 1.350,-0.604, 0.452, PHS=-0.478, 0.943,-1.099, RAW= 347.3,   7.0, CAL= 347.1,   6.4, ROT= 162.9,  -6.4

2025-10-26T22:12:03.385Z,1761516723.385 [DAT](INFO): got valid direction response:
 22:12:02.2458 LVL= 25312, 26065, 32754, 32755, AGC= 64, IDX= 503,-0.25,-0.128, 1.350,-0.604, 0.452, PHS=-0.478, 0.943,-1.099, RAW= 347.3,   7.0, CAL= 347.1,   6.4, ROT= 162.9,  -6.4

2025-10-26T22:12:03.385Z,1761516723.385 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-26T22:12:03.386Z,1761516723.386 [DAT](INFO): direction in FSK: [-0.949836,0.292208,0.111469]
2025-10-26T22:12:03.386Z,1761516723.386 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:03.422Z,1761516723.422 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.065636
2025-10-26T22:12:03.513Z,1761516723.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 0.503037 s,
      deltaX: -0.100000 m,
      approachRate: -0.198793 m/s,
      rangeRepo size: 4

2025-10-26T22:12:03.515Z,1761516723.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.668015 m,
      bearing: 219.720075 deg,
      lat: 36.779425 deg,
      lon: -121.859474 deg,
      deltaT: 0.503037 s,
      deltaX: -0.099428 m,
      approachRate: -0.197656 m/s,
      posRepo size: 4

2025-10-26T22:12:03.528Z,1761516723.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.67 m.
2025-10-26T22:12:03.618Z,1761516723.618 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.261904
2025-10-26T22:12:03.780Z,1761516723.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541544,-0.838212,-0.064265],[0.840192,0.542234,0.007695],[0.028397,-0.058162,0.997903]]
2025-10-26T22:12:03.815Z,1761516723.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.67 m.
2025-10-26T22:12:03.872Z,1761516723.872 [DAT](INFO): DAT read: Rx Time:22:12:02.7459 

2025-10-26T22:12:03.872Z,1761516723.872 [DAT](INFO): Rx dataTimestamp_ set to:1761516723.872143
2025-10-26T22:12:03.874Z,1761516723.874 [DAT](INFO): DAT read: Bearing  11.3,  15.4 (Local)

2025-10-26T22:12:03.874Z,1761516723.874 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.3,  15.4 (Local)

2025-10-26T22:12:03.876Z,1761516723.876 [DAT](INFO): DAT read: Range 11 to 50 :    21.9 m (trip time 14.6 ms) speed 0.0

2025-10-26T22:12:03.881Z,1761516723.881 [DAT](INFO): DAT read: 22:12:02.7459 LVL= 24032, 25521, 32754, 32755, AGC= 64, IDX= 504, 0.03, 1.422, 2.890, 0.935, 1.995, PHS=-0.471, 0.940,-1.103, RAW= 347.6,   7.1, CAL= 347.5,   6.4, ROT= 162.5,  -6.4

2025-10-26T22:12:03.882Z,1761516723.882 [DAT](INFO): got valid direction response:
 22:12:02.7459 LVL= 24032, 25521, 32754, 32755, AGC= 64, IDX= 504, 0.03, 1.422, 2.890, 0.935, 1.995, PHS=-0.471, 0.940,-1.103, RAW= 347.6,   7.1, CAL= 347.5,   6.4, ROT= 162.5,  -6.4

2025-10-26T22:12:03.882Z,1761516723.882 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-10-26T22:12:03.888Z,1761516723.888 [DAT](INFO): direction in FSK: [-0.947773,0.298832,0.111469]
2025-10-26T22:12:03.888Z,1761516723.888 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:03.904Z,1761516723.904 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.542831
2025-10-26T22:12:04.120Z,1761516724.120 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.763998
2025-10-26T22:12:04.214Z,1761516724.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540542,-0.838856,-0.064306],[0.840845,0.541219,0.007894],[0.028182,-0.058338,0.997899]]
2025-10-26T22:12:04.373Z,1761516724.373 [DAT](INFO): DAT read: Rx Time:22:12:03.2458 

2025-10-26T22:12:04.374Z,1761516724.374 [DAT](INFO): Rx dataTimestamp_ set to:1761516724.373431
2025-10-26T22:12:04.375Z,1761516724.375 [DAT](INFO): DAT read: Bearing  11.8,  15.7 (Local)

2025-10-26T22:12:04.391Z,1761516724.391 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.8,  15.7 (Local)

2025-10-26T22:12:04.394Z,1761516724.394 [DAT](INFO): DAT read: Range 11 to 50 :    21.8 m (trip time 14.5 ms) speed 0.0

2025-10-26T22:12:04.402Z,1761516724.402 [DAT](INFO): DAT read: 22:12:03.2458 LVL= 23152, 22753, 32754, 32755, AGC= 64, IDX= 503, 0.40,-0.431, 1.041,-0.931, 0.132, PHS=-0.461, 0.954,-1.108, RAW= 347.9,   6.8, CAL= 347.7,   6.0, ROT= 162.3,  -6.0

2025-10-26T22:12:04.404Z,1761516724.404 [DAT](INFO): got valid direction response:
 22:12:03.2458 LVL= 23152, 22753, 32754, 32755, AGC= 64, IDX= 503, 0.40,-0.431, 1.041,-0.931, 0.132, PHS=-0.461, 0.954,-1.108, RAW= 347.9,   6.8, CAL= 347.7,   6.0, ROT= 162.3,  -6.0

2025-10-26T22:12:04.404Z,1761516724.404 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-10-26T22:12:04.405Z,1761516724.405 [DAT](INFO): direction in FSK: [-0.947443,0.302367,0.104528]
2025-10-26T22:12:04.405Z,1761516724.405 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:04.429Z,1761516724.429 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.072674
2025-10-26T22:12:04.476Z,1761516724.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 1.004347 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:12:04.478Z,1761516724.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.668016 m,
      bearing: 219.295481 deg,
      lat: 36.779427 deg,
      lon: -121.859474 deg,
      deltaT: 1.004347 s,
      deltaX: 0.000002 m,
      approachRate: 0.000002 m/s,
      posRepo size: 4

2025-10-26T22:12:04.479Z,1761516724.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.67 m.
2025-10-26T22:12:04.625Z,1761516724.625 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.268181
2025-10-26T22:12:04.737Z,1761516724.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538628,-0.840131,-0.063725],[0.842100,0.539257,0.008353],[0.027347,-0.058162,0.997932]]
2025-10-26T22:12:04.790Z,1761516724.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.67 m.
2025-10-26T22:12:04.878Z,1761516724.878 [DAT](INFO): DAT read: Rx Time:22:12:03.7460 

2025-10-26T22:12:04.879Z,1761516724.879 [DAT](INFO): Rx dataTimestamp_ set to:1761516724.878262
2025-10-26T22:12:04.880Z,1761516724.880 [DAT](INFO): DAT read: Bearing  10.6,  15.0 (Local)

2025-10-26T22:12:04.880Z,1761516724.880 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.6,  15.0 (Local)

2025-10-26T22:12:04.882Z,1761516724.882 [DAT](INFO): DAT read: Range 11 to 50 :    22.1 m (trip time 14.7 ms) speed 0.0

2025-10-26T22:12:04.888Z,1761516724.888 [DAT](INFO): DAT read: 22:12:03.7460 LVL= 25024, 25121, 32754, 32755, AGC= 66, IDX= 505,-0.13,-1.019, 0.450,-1.486,-0.425, PHS=-0.493, 0.920,-1.105, RAW= 347.1,   7.6, CAL= 347.1,   7.3, ROT= 162.9,  -7.3

2025-10-26T22:12:04.889Z,1761516724.889 [DAT](INFO): got valid direction response:
 22:12:03.7460 LVL= 25024, 25121, 32754, 32755, AGC= 66, IDX= 505,-0.13,-1.019, 0.450,-1.486,-0.425, PHS=-0.493, 0.920,-1.105, RAW= 347.1,   7.6, CAL= 347.1,   7.3, ROT= 162.9,  -7.3

2025-10-26T22:12:04.890Z,1761516724.890 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-10-26T22:12:04.891Z,1761516724.891 [DAT](INFO): direction in FSK: [-0.948046,0.291657,0.127065]
2025-10-26T22:12:04.896Z,1761516724.896 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:04.906Z,1761516724.906 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.548943
2025-10-26T22:12:05.125Z,1761516725.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537920,-0.840605,-0.063442],[0.842566,0.538524,0.008623],[0.026917,-0.058092,0.997948]]
2025-10-26T22:12:05.129Z,1761516725.129 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.772156
2025-10-26T22:12:05.201Z,1761516725.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.504831 s,
      deltaX: 0.300001 m,
      approachRate: 0.594261 m/s,
      rangeRepo size: 4

2025-10-26T22:12:05.209Z,1761516725.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.966200 m,
      bearing: 220.010045 deg,
      lat: 36.779427 deg,
      lon: -121.859475 deg,
      deltaT: 0.504831 s,
      deltaX: 0.298183 m,
      approachRate: 0.590660 m/s,
      posRepo size: 4

2025-10-26T22:12:05.209Z,1761516725.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.97 m.
2025-10-26T22:12:05.381Z,1761516725.381 [DAT](INFO): DAT read: Rx Time:22:12:04.2459 

2025-10-26T22:12:05.382Z,1761516725.382 [DAT](INFO): Rx dataTimestamp_ set to:1761516725.381360
2025-10-26T22:12:05.383Z,1761516725.383 [DAT](INFO): DAT read: Bearing  11.5,  15.6 (Local)

2025-10-26T22:12:05.383Z,1761516725.383 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.5,  15.6 (Local)

2025-10-26T22:12:05.386Z,1761516725.386 [DAT](INFO): DAT read: Range 11 to 50 :    21.9 m (trip time 14.6 ms) speed -0.2

2025-10-26T22:12:05.390Z,1761516725.390 [DAT](INFO): DAT read: 22:12:04.2459 LVL= 23152, 22465, 32754, 32755, AGC= 66, IDX= 504, 0.21,-1.593,-0.115,-2.088,-1.018, PHS=-0.472, 0.948,-1.114, RAW= 347.7,   7.0, CAL= 347.6,   6.4, ROT= 162.4,  -6.4

2025-10-26T22:12:05.392Z,1761516725.392 [DAT](INFO): got valid direction response:
 22:12:04.2459 LVL= 23152, 22465, 32754, 32755, AGC= 66, IDX= 504, 0.21,-1.593,-0.115,-2.088,-1.018, PHS=-0.472, 0.948,-1.114, RAW= 347.7,   7.0, CAL= 347.6,   6.4, ROT= 162.4,  -6.4

2025-10-26T22:12:05.393Z,1761516725.393 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-10-26T22:12:05.393Z,1761516725.393 [DAT](INFO): direction in FSK: [-0.947250,0.300486,0.111469]
2025-10-26T22:12:05.394Z,1761516725.394 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:05.398Z,1761516725.398 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.041134
2025-10-26T22:12:05.527Z,1761516725.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537540,-0.840865,-0.063217],[0.842826,0.538109,0.009097],[0.026368,-0.058170,0.997958]]
2025-10-26T22:12:05.604Z,1761516725.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.900000 m,
      deltaT: 0.503098 s,
      deltaX: -0.200001 m,
      approachRate: -0.397538 m/s,
      rangeRepo size: 4

2025-10-26T22:12:05.606Z,1761516725.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.767412 m,
      bearing: 219.580971 deg,
      lat: 36.779428 deg,
      lon: -121.859476 deg,
      deltaT: 0.503098 s,
      deltaX: -0.198788 m,
      approachRate: -0.395127 m/s,
      posRepo size: 4

2025-10-26T22:12:05.606Z,1761516725.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.77 m.
2025-10-26T22:12:05.641Z,1761516725.641 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.284740
2025-10-26T22:12:05.893Z,1761516725.893 [DAT](INFO): DAT read: Rx Time:22:12:04.7460 

2025-10-26T22:12:05.894Z,1761516725.894 [DAT](INFO): Rx dataTimestamp_ set to:1761516725.893390
2025-10-26T22:12:05.895Z,1761516725.895 [DAT](INFO): DAT read: Bearing  10.9,  15.2 (Local)

2025-10-26T22:12:05.895Z,1761516725.895 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.9,  15.2 (Local)

2025-10-26T22:12:05.897Z,1761516725.897 [DAT](INFO): DAT read: Range 11 to 50 :    22.1 m (trip time 14.7 ms) speed 0.0

2025-10-26T22:12:05.902Z,1761516725.902 [DAT](INFO): DAT read: 22:12:04.7460 LVL= 24688, 24465, 32754, 32755, AGC= 67, IDX= 505,-0.43,-2.260,-0.786,-2.738,-1.669, PHS=-0.489, 0.928,-1.113, RAW= 347.4,   7.5, CAL= 347.3,   7.1, ROT= 162.7,  -7.1

2025-10-26T22:12:05.903Z,1761516725.903 [DAT](INFO): got valid direction response:
 22:12:04.7460 LVL= 24688, 24465, 32754, 32755, AGC= 67, IDX= 505,-0.43,-2.260,-0.786,-2.738,-1.669, PHS=-0.489, 0.928,-1.113, RAW= 347.4,   7.5, CAL= 347.3,   7.1, ROT= 162.7,  -7.1

2025-10-26T22:12:05.909Z,1761516725.909 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-10-26T22:12:05.910Z,1761516725.910 [DAT](INFO): direction in FSK: [-0.947440,0.295095,0.123601]
2025-10-26T22:12:05.910Z,1761516725.910 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:05.930Z,1761516725.930 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.573723
2025-10-26T22:12:05.950Z,1761516725.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537385,-0.840982,-0.062970],[0.842947,0.537908,0.009781],[0.025646,-0.058337,0.997967]]
2025-10-26T22:12:06.034Z,1761516726.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.512030 s,
      deltaX: 0.200001 m,
      approachRate: 0.390604 m/s,
      rangeRepo size: 4

2025-10-26T22:12:06.040Z,1761516726.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.966202 m,
      bearing: 219.855072 deg,
      lat: 36.779428 deg,
      lon: -121.859477 deg,
      deltaT: 0.512030 s,
      deltaX: 0.198790 m,
      approachRate: 0.388238 m/s,
      posRepo size: 4

2025-10-26T22:12:06.041Z,1761516726.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.97 m.
2025-10-26T22:12:06.145Z,1761516726.145 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.789009
2025-10-26T22:12:06.371Z,1761516726.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537437,-0.840950,-0.062954],[0.842933,0.537915,0.010547],[0.024994,-0.058734,0.997961]]
2025-10-26T22:12:06.397Z,1761516726.397 [DAT](INFO): DAT read: Rx Time:22:12:05.2459 

2025-10-26T22:12:06.397Z,1761516726.397 [DAT](INFO): Rx dataTimestamp_ set to:1761516726.397175
2025-10-26T22:12:06.399Z,1761516726.399 [DAT](INFO): DAT read: Bearing  10.7,  15.8 (Local)

2025-10-26T22:12:06.399Z,1761516726.399 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.7,  15.8 (Local)

2025-10-26T22:12:06.401Z,1761516726.401 [DAT](INFO): DAT read: Range 11 to 50 :    21.9 m (trip time 14.6 ms) speed 0.0

2025-10-26T22:12:06.406Z,1761516726.406 [DAT](INFO): DAT read: 22:12:05.2459 LVL= 25168, 23825, 32754, 32755, AGC= 67, IDX= 504,-0.15,-1.986,-0.518,-2.490,-1.401, PHS=-0.483, 0.928,-1.133, RAW= 348.0,   7.6, CAL= 347.9,   7.3, ROT= 162.1,  -7.3

2025-10-26T22:12:06.407Z,1761516726.407 [DAT](INFO): got valid direction response:
 22:12:05.2459 LVL= 25168, 23825, 32754, 32755, AGC= 67, IDX= 504,-0.15,-1.986,-0.518,-2.490,-1.401, PHS=-0.483, 0.928,-1.133, RAW= 348.0,   7.6, CAL= 347.9,   7.3, ROT= 162.1,  -7.3

2025-10-26T22:12:06.407Z,1761516726.407 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-10-26T22:12:06.408Z,1761516726.408 [DAT](INFO): direction in FSK: [-0.943881,0.304865,0.127065]
2025-10-26T22:12:06.409Z,1761516726.409 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:06.443Z,1761516726.443 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.070717
2025-10-26T22:12:06.494Z,1761516726.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.900000 m,
      deltaT: 0.503785 s,
      deltaX: -0.200001 m,
      approachRate: -0.396996 m/s,
      rangeRepo size: 4

2025-10-26T22:12:06.501Z,1761516726.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.767406 m,
      bearing: 219.242438 deg,
      lat: 36.779428 deg,
      lon: -121.859477 deg,
      deltaT: 0.503785 s,
      deltaX: -0.198795 m,
      approachRate: -0.394603 m/s,
      posRepo size: 4

2025-10-26T22:12:06.501Z,1761516726.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.77 m.
2025-10-26T22:12:06.649Z,1761516726.649 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.292088
2025-10-26T22:12:06.804Z,1761516726.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.77 m.
2025-10-26T22:12:06.902Z,1761516726.902 [DAT](INFO): DAT read: Rx Time:22:12:05.7460 

2025-10-26T22:12:06.902Z,1761516726.902 [DAT](INFO): Rx dataTimestamp_ set to:1761516726.902076
2025-10-26T22:12:06.904Z,1761516726.904 [DAT](INFO): DAT read: Bearing  10.1,  15.5 (Local)

2025-10-26T22:12:06.905Z,1761516726.905 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.1,  15.5 (Local)

2025-10-26T22:12:06.908Z,1761516726.908 [DAT](INFO): DAT read: Range 11 to 50 :    22.1 m (trip time 14.7 ms) speed -0.1

2025-10-26T22:12:06.914Z,1761516726.914 [DAT](INFO): DAT read: 22:12:05.7460 LVL= 27232, 22481, 32754, 32755, AGC= 66, IDX= 505,-0.01, 2.060,-2.746, 1.564, 2.666, PHS=-0.503, 0.917,-1.145, RAW= 347.7,   8.1, CAL= 347.7,   8.0, ROT= 162.3,  -8.0

2025-10-26T22:12:06.916Z,1761516726.916 [DAT](INFO): got valid direction response:
 22:12:05.7460 LVL= 27232, 22481, 32754, 32755, AGC= 66, IDX= 505,-0.01, 2.060,-2.746, 1.564, 2.666, PHS=-0.503, 0.917,-1.145, RAW= 347.7,   8.1, CAL= 347.7,   8.0, ROT= 162.3,  -8.0

2025-10-26T22:12:06.916Z,1761516726.916 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-10-26T22:12:06.917Z,1761516726.917 [DAT](INFO): direction in FSK: [-0.943390,0.301074,0.139173]
2025-10-26T22:12:06.917Z,1761516726.917 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:06.921Z,1761516726.921 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.564556
2025-10-26T22:12:07.143Z,1761516727.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537857,-0.840735,-0.062248],[0.842713,0.538228,0.012080],[0.023348,-0.058955,0.997988]]
2025-10-26T22:12:07.153Z,1761516727.153 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.796101
2025-10-26T22:12:07.182Z,1761516727.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.504901 s,
      deltaX: 0.200001 m,
      approachRate: 0.396119 m/s,
      rangeRepo size: 4

2025-10-26T22:12:07.188Z,1761516727.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.966188 m,
      bearing: 219.375726 deg,
      lat: 36.779428 deg,
      lon: -121.859479 deg,
      deltaT: 0.504901 s,
      deltaX: 0.198782 m,
      approachRate: 0.393705 m/s,
      posRepo size: 4

2025-10-26T22:12:07.189Z,1761516727.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.97 m.
2025-10-26T22:12:07.406Z,1761516727.406 [DAT](INFO): DAT read: Rx Time:22:12:06.2459 

2025-10-26T22:12:07.407Z,1761516727.407 [DAT](INFO): Rx dataTimestamp_ set to:1761516727.406477
2025-10-26T22:12:07.409Z,1761516727.409 [DAT](INFO): DAT read: Bearing   9.9,  15.6 (Local)

2025-10-26T22:12:07.409Z,1761516727.409 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.9,  15.6 (Local)

2025-10-26T22:12:07.411Z,1761516727.411 [DAT](INFO): DAT read: Range 11 to 50 :    21.9 m (trip time 14.6 ms) speed -0.1

2025-10-26T22:12:07.420Z,1761516727.420 [DAT](INFO): DAT read: 22:12:06.2459 LVL= 23952, 23793, 32754, 32755, AGC= 65, IDX= 504, 0.20, 3.090,-1.722, 2.594,-2.586, PHS=-0.505, 0.909,-1.147, RAW= 347.8,   8.2, CAL= 347.7,   8.2, ROT= 162.3,  -8.2

2025-10-26T22:12:07.421Z,1761516727.421 [DAT](INFO): got valid direction response:
 22:12:06.2459 LVL= 23952, 23793, 32754, 32755, AGC= 65, IDX= 504, 0.20, 3.090,-1.722, 2.594,-2.586, PHS=-0.505, 0.909,-1.147, RAW= 347.8,   8.2, CAL= 347.7,   8.2, ROT= 162.3,  -8.2

2025-10-26T22:12:07.421Z,1761516727.421 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-10-26T22:12:07.422Z,1761516727.422 [DAT](INFO): direction in FSK: [-0.942922,0.300925,0.142629]
2025-10-26T22:12:07.423Z,1761516727.423 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:07.444Z,1761516727.444 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.087158
2025-10-26T22:12:07.547Z,1761516727.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537963,-0.840716,-0.061587],[0.842668,0.538284,0.012669],[0.022501,-0.058713,0.998021]]
2025-10-26T22:12:07.601Z,1761516727.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.900000 m,
      deltaT: 0.504401 s,
      deltaX: -0.200001 m,
      approachRate: -0.396511 m/s,
      rangeRepo size: 4

2025-10-26T22:12:07.604Z,1761516727.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.767399 m,
      bearing: 219.359458 deg,
      lat: 36.779428 deg,
      lon: -121.859478 deg,
      deltaT: 0.504401 s,
      deltaX: -0.198790 m,
      approachRate: -0.394110 m/s,
      posRepo size: 4

2025-10-26T22:12:07.605Z,1761516727.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.77 m.
2025-10-26T22:12:07.657Z,1761516727.657 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.300625
2025-10-26T22:12:07.909Z,1761516727.909 [DAT](INFO): DAT read: Rx Time:22:12:06.7461 

2025-10-26T22:12:07.909Z,1761516727.909 [DAT](INFO): Rx dataTimestamp_ set to:1761516727.909113
2025-10-26T22:12:07.911Z,1761516727.911 [DAT](INFO): DAT read: Bearing   9.4,  15.1 (Local)

2025-10-26T22:12:07.911Z,1761516727.911 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.4,  15.1 (Local)

2025-10-26T22:12:07.913Z,1761516727.913 [DAT](INFO): DAT read: Range 11 to 50 :    22.2 m (trip time 14.8 ms) speed -0.1

2025-10-26T22:12:07.918Z,1761516727.918 [DAT](INFO): DAT read: 22:12:06.7461 LVL= 30816, 25649, 32754, 32755, AGC= 64, IDX= 506,-0.36, 2.995,-1.807, 2.519,-2.662, PHS=-0.524, 0.900,-1.146, RAW= 347.3,   8.5, CAL= 347.3,   8.8, ROT= 162.7,  -8.8

2025-10-26T22:12:07.919Z,1761516727.919 [DAT](INFO): got valid direction response:
 22:12:06.7461 LVL= 30816, 25649, 32754, 32755, AGC= 64, IDX= 506,-0.36, 2.995,-1.807, 2.519,-2.662, PHS=-0.524, 0.900,-1.146, RAW= 347.3,   8.5, CAL= 347.3,   8.8, ROT= 162.7,  -8.8

2025-10-26T22:12:07.919Z,1761516727.919 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-10-26T22:12:07.920Z,1761516727.920 [DAT](INFO): direction in FSK: [-0.943522,0.293874,0.152986]
2025-10-26T22:12:07.921Z,1761516727.921 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:07.924Z,1761516727.924 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.568031
2025-10-26T22:12:07.985Z,1761516727.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538556,-0.840378,-0.061014],[0.842313,0.538820,0.013454],[0.021569,-0.058639,0.998046]]
2025-10-26T22:12:08.034Z,1761516728.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.200001 m,
      deltaT: 0.502636 s,
      deltaX: 0.300001 m,
      approachRate: 0.596856 m/s,
      rangeRepo size: 4

2025-10-26T22:12:08.040Z,1761516728.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.065582 m,
      bearing: 219.686133 deg,
      lat: 36.779428 deg,
      lon: -121.859479 deg,
      deltaT: 0.502636 s,
      deltaX: 0.298183 m,
      approachRate: 0.593239 m/s,
      posRepo size: 4

2025-10-26T22:12:08.040Z,1761516728.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.07 m.
2025-10-26T22:12:08.161Z,1761516728.161 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.804111
2025-10-26T22:12:08.377Z,1761516728.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539067,-0.840081,-0.060587],[0.842006,0.539284,0.014114],[0.020817,-0.058623,0.998063]]
2025-10-26T22:12:08.425Z,1761516728.425 [DAT](INFO): DAT read: Rx Time:22:12:07.2460 

2025-10-26T22:12:08.425Z,1761516728.425 [DAT](INFO): Rx dataTimestamp_ set to:1761516728.425174
2025-10-26T22:12:08.427Z,1761516728.427 [DAT](INFO): DAT read: Bearing   9.6,  15.4 (Local)

2025-10-26T22:12:08.427Z,1761516728.427 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.6,  15.4 (Local)

2025-10-26T22:12:08.429Z,1761516728.429 [DAT](INFO): DAT read: Range 11 to 50 :    22.1 m (trip time 14.7 ms) speed -0.1

2025-10-26T22:12:08.434Z,1761516728.434 [DAT](INFO): DAT read: 22:12:07.2460 LVL= 30576, 24225, 32754, 32755, AGC= 63, IDX= 505,-0.03, 2.641,-2.169, 2.155,-3.023, PHS=-0.516, 0.899,-1.148, RAW= 347.5,   8.5, CAL= 347.5,   8.7, ROT= 162.5,  -8.7

2025-10-26T22:12:08.435Z,1761516728.435 [DAT](INFO): got valid direction response:
 22:12:07.2460 LVL= 30576, 24225, 32754, 32755, AGC= 63, IDX= 505,-0.03, 2.641,-2.169, 2.155,-3.023, PHS=-0.516, 0.899,-1.148, RAW= 347.5,   8.5, CAL= 347.5,   8.7, ROT= 162.5,  -8.7

2025-10-26T22:12:08.435Z,1761516728.435 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-10-26T22:12:08.436Z,1761516728.436 [DAT](INFO): direction in FSK: [-0.942743,0.297246,0.151261]
2025-10-26T22:12:08.437Z,1761516728.437 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:08.440Z,1761516728.440 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.083839
2025-10-26T22:12:08.464Z,1761516728.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.516061 s,
      deltaX: -0.100000 m,
      approachRate: -0.193776 m/s,
      rangeRepo size: 4

2025-10-26T22:12:08.466Z,1761516728.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.966190 m,
      bearing: 219.456910 deg,
      lat: 36.779429 deg,
      lon: -121.859479 deg,
      deltaT: 0.516061 s,
      deltaX: -0.099392 m,
      approachRate: -0.192597 m/s,
      posRepo size: 4

2025-10-26T22:12:08.466Z,1761516728.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.97 m.
2025-10-26T22:12:08.676Z,1761516728.676 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.319901
2025-10-26T22:12:08.762Z,1761516728.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539490,-0.839846,-0.060071],[0.841754,0.539661,0.014749],[0.020031,-0.058522,0.998085]]
2025-10-26T22:12:08.785Z,1761516728.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.97 m.
2025-10-26T22:12:08.929Z,1761516728.929 [DAT](INFO): DAT read: Rx Time:22:12:07.7461 

2025-10-26T22:12:08.929Z,1761516728.929 [DAT](INFO): Rx dataTimestamp_ set to:1761516728.929084
2025-10-26T22:12:08.931Z,1761516728.931 [DAT](INFO): DAT read: Bearing   9.9,  15.9 (Local)

2025-10-26T22:12:08.931Z,1761516728.931 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.9,  15.9 (Local)

2025-10-26T22:12:08.933Z,1761516728.933 [DAT](INFO): DAT read: Range 11 to 50 :    22.2 m (trip time 14.8 ms) speed -0.1

2025-10-26T22:12:08.938Z,1761516728.938 [DAT](INFO): DAT read: 22:12:07.7461 LVL= 24560, 20977, 32754, 32755, AGC= 64, IDX= 506, 0.37,-1.584,-0.123,-2.085,-0.979, PHS=-0.503, 0.901,-1.149, RAW= 348.0,   8.3, CAL= 348.0,   8.4, ROT= 162.0,  -8.4

2025-10-26T22:12:08.939Z,1761516728.939 [DAT](INFO): got valid direction response:
 22:12:07.7461 LVL= 24560, 20977, 32754, 32755, AGC= 64, IDX= 506, 0.37,-1.584,-0.123,-2.085,-0.979, PHS=-0.503, 0.901,-1.149, RAW= 348.0,   8.3, CAL= 348.0,   8.4, ROT= 162.0,  -8.4

2025-10-26T22:12:08.939Z,1761516728.939 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-10-26T22:12:08.940Z,1761516728.940 [DAT](INFO): direction in FSK: [-0.940854,0.305702,0.146083]
2025-10-26T22:12:08.940Z,1761516728.940 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:08.944Z,1761516728.944 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.587708
2025-10-26T22:12:09.163Z,1761516729.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539691,-0.839742,-0.059723],[0.841638,0.539827,0.015237],[0.019445,-0.058489,0.998099]]
2025-10-26T22:12:09.181Z,1761516729.181 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.824200
2025-10-26T22:12:09.232Z,1761516729.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.200001 m,
      deltaT: 0.503910 s,
      deltaX: 0.100000 m,
      approachRate: 0.198449 m/s,
      rangeRepo size: 4

2025-10-26T22:12:09.234Z,1761516729.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.065596 m,
      bearing: 218.931768 deg,
      lat: 36.779429 deg,
      lon: -121.859480 deg,
      deltaT: 0.503910 s,
      deltaX: 0.099405 m,
      approachRate: 0.197268 m/s,
      posRepo size: 4

2025-10-26T22:12:09.235Z,1761516729.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.07 m.
2025-10-26T22:12:09.433Z,1761516729.433 [DAT](INFO): DAT read: Rx Time:22:12:08.2461 

2025-10-26T22:12:09.433Z,1761516729.433 [DAT](INFO): Rx dataTimestamp_ set to:1761516729.433178
2025-10-26T22:12:09.435Z,1761516729.435 [DAT](INFO): DAT read: Bearing   9.7,  15.5 (Local)

2025-10-26T22:12:09.435Z,1761516729.435 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.7,  15.5 (Local)

2025-10-26T22:12:09.439Z,1761516729.439 [DAT](INFO): DAT read: Range 11 to 50 :    22.2 m (trip time 14.8 ms) speed -0.1

2025-10-26T22:12:09.449Z,1761516729.449 [DAT](INFO): DAT read: 22:12:08.2461 LVL= 28224, 24529, 32754, 32755, AGC= 64, IDX= 506,-0.12, 1.004, 2.484, 0.513, 1.623, PHS=-0.517, 0.906,-1.154, RAW= 347.6,   8.4, CAL= 347.6,   8.6, ROT= 162.4,  -8.6

2025-10-26T22:12:09.450Z,1761516729.450 [DAT](INFO): got valid direction response:
 22:12:08.2461 LVL= 28224, 24529, 32754, 32755, AGC= 64, IDX= 506,-0.12, 1.004, 2.484, 0.513, 1.623, PHS=-0.517, 0.906,-1.154, RAW= 347.6,   8.4, CAL= 347.6,   8.6, ROT= 162.4,  -8.6

2025-10-26T22:12:09.450Z,1761516729.450 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-10-26T22:12:09.451Z,1761516729.451 [DAT](INFO): direction in FSK: [-0.942473,0.298970,0.149535]
2025-10-26T22:12:09.452Z,1761516729.452 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:09.479Z,1761516729.479 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.098705
2025-10-26T22:12:09.589Z,1761516729.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539692,-0.839759,-0.059484],[0.841650,0.539796,0.015683],[0.018939,-0.058528,0.998106]]
2025-10-26T22:12:09.644Z,1761516729.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.200001 m,
      deltaT: 0.504094 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:12:09.646Z,1761516729.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.065596 m,
      bearing: 219.318292 deg,
      lat: 36.779430 deg,
      lon: -121.859480 deg,
      deltaT: 0.504094 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:12:09.647Z,1761516729.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.07 m.
2025-10-26T22:12:09.685Z,1761516729.685 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.328709
2025-10-26T22:12:09.937Z,1761516729.937 [DAT](INFO): DAT read: Rx Time:22:12:08.7462 

2025-10-26T22:12:09.937Z,1761516729.937 [DAT](INFO): Rx dataTimestamp_ set to:1761516729.937178
2025-10-26T22:12:09.939Z,1761516729.939 [DAT](INFO): DAT read: Bearing   9.9,  16.7 (Local)

2025-10-26T22:12:09.939Z,1761516729.939 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.9,  16.7 (Local)

2025-10-26T22:12:09.941Z,1761516729.941 [DAT](INFO): DAT read: Range 11 to 50 :    22.4 m (trip time 14.9 ms) speed 0.0

2025-10-26T22:12:09.946Z,1761516729.946 [DAT](INFO): DAT read: 22:12:08.7462 LVL= 24752, 20545, 32754, 32755, AGC= 65, IDX= 507, 0.28,-3.129,-1.693, 2.632,-2.542, PHS=-0.485, 0.894,-1.153, RAW= 348.6,   8.3, CAL= 348.6,   8.3, ROT= 161.4,  -8.3

2025-10-26T22:12:09.947Z,1761516729.947 [DAT](INFO): got valid direction response:
 22:12:08.7462 LVL= 24752, 20545, 32754, 32755, AGC= 65, IDX= 507, 0.28,-3.129,-1.693, 2.632,-2.542, PHS=-0.485, 0.894,-1.153, RAW= 348.6,   8.3, CAL= 348.6,   8.3, ROT= 161.4,  -8.3

2025-10-26T22:12:09.947Z,1761516729.947 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-10-26T22:12:09.948Z,1761516729.948 [DAT](INFO): direction in FSK: [-0.937841,0.315619,0.144356]
2025-10-26T22:12:09.949Z,1761516729.949 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:09.989Z,1761516729.989 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.632099
2025-10-26T22:12:09.995Z,1761516729.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539405,-0.839953,-0.059331],[0.841840,0.539492,0.015932],[0.018627,-0.058541,0.998111]]
2025-10-26T22:12:10.069Z,1761516730.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.400000 m,
      deltaT: 0.504000 s,
      deltaX: 0.199999 m,
      approachRate: 0.396823 m/s,
      rangeRepo size: 4

2025-10-26T22:12:10.071Z,1761516730.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.264383 m,
      bearing: 218.358360 deg,
      lat: 36.779429 deg,
      lon: -121.859480 deg,
      deltaT: 0.504000 s,
      deltaX: 0.198788 m,
      approachRate: 0.394420 m/s,
      posRepo size: 4

2025-10-26T22:12:10.077Z,1761516730.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.26 m.
2025-10-26T22:12:10.188Z,1761516730.188 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.832012
2025-10-26T22:12:10.394Z,1761516730.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538940,-0.840258,-0.059249],[0.842143,0.539015,0.016080],[0.018425,-0.058562,0.998114]]
2025-10-26T22:12:10.439Z,1761516730.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.26 m.
2025-10-26T22:12:10.441Z,1761516730.441 [DAT](INFO): DAT read: Rx Time:22:12:09.2462 

2025-10-26T22:12:10.442Z,1761516730.442 [DAT](INFO): Rx dataTimestamp_ set to:1761516730.441253
2025-10-26T22:12:10.443Z,1761516730.443 [DAT](INFO): DAT read: Bearing  10.6,  16.5 (Local)

2025-10-26T22:12:10.443Z,1761516730.443 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.6,  16.5 (Local)

2025-10-26T22:12:10.445Z,1761516730.445 [DAT](INFO): DAT read: Range 11 to 50 :    22.4 m (trip time 14.9 ms) speed -0.1

2025-10-26T22:12:10.450Z,1761516730.450 [DAT](INFO): DAT read: 22:12:09.2462 LVL= 23376, 22113, 32754, 32755, AGC= 65, IDX= 507,-0.13,-0.604, 0.852,-1.122,-0.018, PHS=-0.483, 0.915,-1.148, RAW= 348.4,   7.9, CAL= 348.4,   7.8, ROT= 161.6,  -7.8

2025-10-26T22:12:10.451Z,1761516730.451 [DAT](INFO): got valid direction response:
 22:12:09.2462 LVL= 23376, 22113, 32754, 32755, AGC= 65, IDX= 507,-0.13,-0.604, 0.852,-1.122,-0.018, PHS=-0.483, 0.915,-1.148, RAW= 348.4,   7.9, CAL= 348.4,   7.8, ROT= 161.6,  -7.8

2025-10-26T22:12:10.452Z,1761516730.452 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-10-26T22:12:10.452Z,1761516730.452 [DAT](INFO): direction in FSK: [-0.940097,0.312728,0.135716]
2025-10-26T22:12:10.453Z,1761516730.453 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:10.477Z,1761516730.477 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.120232
2025-10-26T22:12:10.692Z,1761516730.692 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.336044
2025-10-26T22:12:10.807Z,1761516730.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538104,-0.840819,-0.058879],[0.842681,0.538176,0.015993],[0.018240,-0.058222,0.998137]]
2025-10-26T22:12:10.895Z,1761516730.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.400000 m,
      deltaT: 0.504075 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:12:10.897Z,1761516730.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.264393 m,
      bearing: 218.672441 deg,
      lat: 36.779429 deg,
      lon: -121.859480 deg,
      deltaT: 0.504075 s,
      deltaX: 0.000010 m,
      approachRate: 0.000019 m/s,
      posRepo size: 4

2025-10-26T22:12:10.898Z,1761516730.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.26 m.
2025-10-26T22:12:10.946Z,1761516730.946 [DAT](INFO): DAT read: Rx Time:22:12:09.7462 

2025-10-26T22:12:10.947Z,1761516730.947 [DAT](INFO): Rx dataTimestamp_ set to:1761516730.946319
2025-10-26T22:12:10.949Z,1761516730.949 [DAT](INFO): DAT read: Bearing  10.4,  17.1 (Local)

2025-10-26T22:12:10.949Z,1761516730.949 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.4,  17.1 (Local)

2025-10-26T22:12:10.952Z,1761516730.952 [DAT](INFO): DAT read: Range 11 to 50 :    22.4 m (trip time 14.9 ms) speed -0.1

2025-10-26T22:12:10.958Z,1761516730.958 [DAT](INFO): DAT read: 22:12:09.7462 LVL= 22704, 21601, 32754, 32755, AGC= 66, IDX= 507, 0.27,-0.460, 0.970,-0.999, 0.113, PHS=-0.471, 0.901,-1.156, RAW= 349.1,   8.0, CAL= 349.1,   8.0, ROT= 160.9,  -8.0

2025-10-26T22:12:10.959Z,1761516730.959 [DAT](INFO): got valid direction response:
 22:12:09.7462 LVL= 22704, 21601, 32754, 32755, AGC= 66, IDX= 507, 0.27,-0.460, 0.970,-0.999, 0.113, PHS=-0.471, 0.901,-1.156, RAW= 349.1,   8.0, CAL= 349.1,   8.0, ROT= 160.9,  -8.0

2025-10-26T22:12:10.960Z,1761516730.960 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-26T22:12:10.961Z,1761516730.961 [DAT](INFO): direction in FSK: [-0.935753,0.324034,0.139173]
2025-10-26T22:12:10.961Z,1761516730.961 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:10.980Z,1761516730.980 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.614697
2025-10-26T22:12:11.197Z,1761516731.197 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.840343
2025-10-26T22:12:11.213Z,1761516731.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536792,-0.841689,-0.058424],[0.843517,0.536878,0.015541],[0.018285,-0.057624,0.998171]]
2025-10-26T22:12:11.266Z,1761516731.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.400000 m,
      deltaT: 0.505066 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:12:11.272Z,1761516731.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.264418 m,
      bearing: 218.059601 deg,
      lat: 36.779428 deg,
      lon: -121.859480 deg,
      deltaT: 0.505066 s,
      deltaX: 0.000025 m,
      approachRate: 0.000049 m/s,
      posRepo size: 4

2025-10-26T22:12:11.273Z,1761516731.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.26 m.
2025-10-26T22:12:11.449Z,1761516731.449 [DAT](INFO): DAT read: Rx Time:22:12:10.2462 

2025-10-26T22:12:11.450Z,1761516731.450 [DAT](INFO): Rx dataTimestamp_ set to:1761516731.449291
2025-10-26T22:12:11.451Z,1761516731.451 [DAT](INFO): DAT read: Bearing  10.4,  16.8 (Local)

2025-10-26T22:12:11.451Z,1761516731.451 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.4,  16.8 (Local)

2025-10-26T22:12:11.453Z,1761516731.453 [DAT](INFO): DAT read: Range 11 to 50 :    22.4 m (trip time 14.9 ms) speed 0.0

2025-10-26T22:12:11.458Z,1761516731.458 [DAT](INFO): DAT read: 22:12:10.2462 LVL= 23072, 20209, 32754, 32755, AGC= 66, IDX= 507,-0.19, 2.507,-2.336, 1.980, 3.089, PHS=-0.480, 0.904,-1.153, RAW= 348.7,   8.1, CAL= 348.7,   8.0, ROT= 161.3,  -8.0

2025-10-26T22:12:11.459Z,1761516731.459 [DAT](INFO): got valid direction response:
 22:12:10.2462 LVL= 23072, 20209, 32754, 32755, AGC= 66, IDX= 507,-0.19, 2.507,-2.336, 1.980, 3.089, PHS=-0.480, 0.904,-1.153, RAW= 348.7,   8.1, CAL= 348.7,   8.0, ROT= 161.3,  -8.0

2025-10-26T22:12:11.460Z,1761516731.460 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-10-26T22:12:11.461Z,1761516731.461 [DAT](INFO): direction in FSK: [-0.937992,0.317493,0.139173]
2025-10-26T22:12:11.461Z,1761516731.461 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:11.473Z,1761516731.473 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.116364
2025-10-26T22:12:11.610Z,1761516731.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535609,-0.842464,-0.058108],[0.844267,0.535708,0.015189],[0.018333,-0.057194,0.998195]]
2025-10-26T22:12:11.665Z,1761516731.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.400000 m,
      deltaT: 0.502972 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:12:11.667Z,1761516731.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.264418 m,
      bearing: 218.540599 deg,
      lat: 36.779428 deg,
      lon: -121.859480 deg,
      deltaT: 0.502972 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:12:11.668Z,1761516731.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.26 m.
2025-10-26T22:12:11.701Z,1761516731.701 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.344635
2025-10-26T22:12:11.953Z,1761516731.953 [DAT](INFO): DAT read: Rx Time:22:12:10.7463 

2025-10-26T22:12:11.953Z,1761516731.953 [DAT](INFO): Rx dataTimestamp_ set to:1761516731.953116
2025-10-26T22:12:11.955Z,1761516731.955 [DAT](INFO): DAT read: Bearing  10.0,  17.5 (Local)

2025-10-26T22:12:11.955Z,1761516731.955 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.0,  17.5 (Local)

2025-10-26T22:12:11.957Z,1761516731.957 [DAT](INFO): DAT read: Range 11 to 50 :    22.5 m (trip time 15.0 ms) speed 0.0

2025-10-26T22:12:11.962Z,1761516731.962 [DAT](INFO): DAT read: 22:12:10.7463 LVL= 21920, 23265, 32754, 32755, AGC= 66, IDX= 508, 0.13,-1.974,-0.568,-2.516,-1.406, PHS=-0.466, 0.883,-1.155, RAW= 349.4,   8.3, CAL= 349.4,   8.3, ROT= 160.6,  -8.3

2025-10-26T22:12:11.963Z,1761516731.963 [DAT](INFO): got valid direction response:
 22:12:10.7463 LVL= 21920, 23265, 32754, 32755, AGC= 66, IDX= 508, 0.13,-1.974,-0.568,-2.516,-1.406, PHS=-0.466, 0.883,-1.155, RAW= 349.4,   8.3, CAL= 349.4,   8.3, ROT= 160.6,  -8.3

2025-10-26T22:12:11.964Z,1761516731.964 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-10-26T22:12:11.965Z,1761516731.965 [DAT](INFO): direction in FSK: [-0.933343,0.328682,0.144356]
2025-10-26T22:12:11.965Z,1761516731.965 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:11.978Z,1761516731.978 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.621365
2025-10-26T22:12:12.027Z,1761516732.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534083,-0.843432,-0.058111],[0.845228,0.534201,0.014784],[0.018574,-0.057013,0.998201]]
2025-10-26T22:12:12.093Z,1761516732.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 0.503825 s,
      deltaX: 0.100000 m,
      approachRate: 0.198482 m/s,
      rangeRepo size: 4

2025-10-26T22:12:12.100Z,1761516732.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.363813 m,
      bearing: 217.935097 deg,
      lat: 36.779427 deg,
      lon: -121.859479 deg,
      deltaT: 0.503825 s,
      deltaX: 0.099396 m,
      approachRate: 0.197282 m/s,
      posRepo size: 4

2025-10-26T22:12:12.100Z,1761516732.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-10-26T22:12:12.205Z,1761516732.205 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.848244
2025-10-26T22:12:12.421Z,1761516732.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532625,-0.844331,-0.058436],[0.846140,0.532763,0.014493],[0.018896,-0.057164,0.998186]]
2025-10-26T22:12:12.457Z,1761516732.457 [DAT](INFO): DAT read: Rx Time:22:12:11.2463 

2025-10-26T22:12:12.457Z,1761516732.457 [DAT](INFO): Rx dataTimestamp_ set to:1761516732.457174
2025-10-26T22:12:12.459Z,1761516732.459 [DAT](INFO): DAT read: Bearing  10.0,  17.4 (Local)

2025-10-26T22:12:12.459Z,1761516732.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.0,  17.4 (Local)

2025-10-26T22:12:12.461Z,1761516732.461 [DAT](INFO): DAT read: Range 11 to 50 :    22.5 m (trip time 15.0 ms) speed 0.0

2025-10-26T22:12:12.466Z,1761516732.466 [DAT](INFO): DAT read: 22:12:11.2463 LVL= 23984, 23297, 32754, 32755, AGC= 66, IDX= 508,-0.40, 1.486, 2.898, 0.945, 2.058, PHS=-0.470, 0.886,-1.157, RAW= 349.3,   8.3, CAL= 349.3,   8.3, ROT= 160.7,  -8.3

2025-10-26T22:12:12.467Z,1761516732.467 [DAT](INFO): got valid direction response:
 22:12:11.2463 LVL= 23984, 23297, 32754, 32755, AGC= 66, IDX= 508,-0.40, 1.486, 2.898, 0.945, 2.058, PHS=-0.470, 0.886,-1.157, RAW= 349.3,   8.3, CAL= 349.3,   8.3, ROT= 160.7,  -8.3

2025-10-26T22:12:12.476Z,1761516732.476 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-10-26T22:12:12.477Z,1761516732.477 [DAT](INFO): direction in FSK: [-0.933915,0.327053,0.144356]
2025-10-26T22:12:12.477Z,1761516732.477 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:12.480Z,1761516732.480 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.124088
2025-10-26T22:12:12.524Z,1761516732.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 0.504058 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:12:12.526Z,1761516732.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.363831 m,
      bearing: 218.132690 deg,
      lat: 36.779428 deg,
      lon: -121.859479 deg,
      deltaT: 0.504058 s,
      deltaX: 0.000017 m,
      approachRate: 0.000034 m/s,
      posRepo size: 4

2025-10-26T22:12:12.527Z,1761516732.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-10-26T22:12:12.709Z,1761516732.709 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.352688
2025-10-26T22:12:12.842Z,1761516732.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531030,-0.845308,-0.058833],[0.847135,0.531187,0.014237],[0.019217,-0.057400,0.998166]]
2025-10-26T22:12:12.888Z,1761516732.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-10-26T22:12:12.962Z,1761516732.962 [DAT](INFO): DAT read: Rx Time:22:12:11.7464 

2025-10-26T22:12:12.963Z,1761516732.963 [DAT](INFO): Rx dataTimestamp_ set to:1761516732.962658
2025-10-26T22:12:12.965Z,1761516732.965 [DAT](INFO): DAT read: Bearing   9.4,  17.1 (Local)

2025-10-26T22:12:12.965Z,1761516732.965 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.4,  17.1 (Local)

2025-10-26T22:12:12.968Z,1761516732.968 [DAT](INFO): DAT read: Range 11 to 50 :    22.7 m (trip time 15.1 ms) speed 0.0

2025-10-26T22:12:12.972Z,1761516732.972 [DAT](INFO): DAT read: 22:12:11.7464 LVL= 24288, 26609, 32754, 32755, AGC= 66, IDX= 509,-0.08, 2.890,-1.990, 2.365,-2.810, PHS=-0.482, 0.865,-1.152, RAW= 349.1,   8.7, CAL= 349.1,   9.0, ROT= 160.9,  -9.0

2025-10-26T22:12:12.973Z,1761516732.973 [DAT](INFO): got valid direction response:
 22:12:11.7464 LVL= 24288, 26609, 32754, 32755, AGC= 66, IDX= 509,-0.08, 2.890,-1.990, 2.365,-2.810, PHS=-0.482, 0.865,-1.152, RAW= 349.1,   8.7, CAL= 349.1,   9.0, ROT= 160.9,  -9.0

2025-10-26T22:12:12.974Z,1761516732.974 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-10-26T22:12:12.975Z,1761516732.975 [DAT](INFO): direction in FSK: [-0.933315,0.323189,0.156434]
2025-10-26T22:12:12.975Z,1761516732.975 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:12.984Z,1761516732.984 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.627506
2025-10-26T22:12:13.212Z,1761516733.212 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.855835
2025-10-26T22:12:13.247Z,1761516733.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529420,-0.846298,-0.059114],[0.848136,0.529595,0.013962],[0.019490,-0.057528,0.998154]]
2025-10-26T22:12:13.465Z,1761516733.465 [DAT](INFO): DAT read: Rx Time:22:12:12.2463 

2025-10-26T22:12:13.466Z,1761516733.466 [DAT](INFO): Rx dataTimestamp_ set to:1761516733.465465
2025-10-26T22:12:13.467Z,1761516733.467 [DAT](INFO): DAT read: Bearing   8.1,  17.3 (Local)

2025-10-26T22:12:13.468Z,1761516733.468 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.1,  17.3 (Local)

2025-10-26T22:12:13.470Z,1761516733.470 [DAT](INFO): DAT read: Range 11 to 50 :    22.5 m (trip time 15.0 ms) speed 0.0

2025-10-26T22:12:13.474Z,1761516733.474 [DAT](INFO): DAT read: 22:12:12.2463 LVL= 26528, 28017, 32754, 32755, AGC= 64, IDX= 508, 0.05,-1.739,-0.368,-2.258,-1.148, PHS=-0.488, 0.825,-1.154, RAW= 349.3,   9.4, CAL= 349.4,  10.1, ROT= 160.6, -10.1

2025-10-26T22:12:13.476Z,1761516733.476 [DAT](INFO): got valid direction response:
 22:12:12.2463 LVL= 26528, 28017, 32754, 32755, AGC= 64, IDX= 508, 0.05,-1.739,-0.368,-2.258,-1.148, PHS=-0.488, 0.825,-1.154, RAW= 349.3,   9.4, CAL= 349.4,  10.1, ROT= 160.6, -10.1

2025-10-26T22:12:13.476Z,1761516733.476 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-10-26T22:12:13.477Z,1761516733.477 [DAT](INFO): direction in FSK: [-0.928606,0.327014,0.175367]
2025-10-26T22:12:13.477Z,1761516733.477 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:13.481Z,1761516733.481 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.124676
2025-10-26T22:12:13.491Z,1761516733.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 1.008291 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:12:13.509Z,1761516733.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.562653 m,
      bearing: 218.512556 deg,
      lat: 36.779428 deg,
      lon: -121.859479 deg,
      deltaT: 0.505484 s,
      deltaX: 0.198822 m,
      approachRate: 0.393330 m/s,
      posRepo size: 4

2025-10-26T22:12:13.510Z,1761516733.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m.
2025-10-26T22:12:13.717Z,1761516733.717 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.360504
2025-10-26T22:12:13.752Z,1761516733.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527478,-0.847508,-0.059132],[0.849338,0.527677,0.013467],[0.019789,-0.057326,0.998159]]
2025-10-26T22:12:13.921Z,1761516733.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m.
2025-10-26T22:12:13.970Z,1761516733.970 [DAT](INFO): DAT read: Rx Time:22:12:12.7463 

2025-10-26T22:12:13.970Z,1761516733.970 [DAT](INFO): Rx dataTimestamp_ set to:1761516733.969898
2025-10-26T22:12:13.972Z,1761516733.972 [DAT](INFO): DAT read: Bearing  10.1,  18.6 (Local)

2025-10-26T22:12:13.973Z,1761516733.973 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.1,  18.6 (Local)

2025-10-26T22:12:13.976Z,1761516733.976 [DAT](INFO): DAT read: Range 11 to 50 :    22.5 m (trip time 15.0 ms) speed 0.0

2025-10-26T22:12:13.982Z,1761516733.982 [DAT](INFO): DAT read: 22:12:12.7463 LVL= 22672, 23985, 32754, 32755, AGC= 63, IDX= 508, 0.16, 0.272, 1.647,-0.300, 0.817, PHS=-0.443, 0.875,-1.161, RAW= 350.4,   8.2, CAL= 350.4,   8.2, ROT= 159.6,  -8.2

2025-10-26T22:12:13.989Z,1761516733.989 [DAT](INFO): got valid direction response:
 22:12:12.7463 LVL= 22672, 23985, 32754, 32755, AGC= 63, IDX= 508, 0.16, 0.272, 1.647,-0.300, 0.817, PHS=-0.443, 0.875,-1.161, RAW= 350.4,   8.2, CAL= 350.4,   8.2, ROT= 159.6,  -8.2

2025-10-26T22:12:13.989Z,1761516733.989 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-10-26T22:12:13.990Z,1761516733.990 [DAT](INFO): direction in FSK: [-0.927699,0.345008,0.142629]
2025-10-26T22:12:13.991Z,1761516733.991 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:14.021Z,1761516734.021 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.664310
2025-10-26T22:12:14.159Z,1761516734.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525578,-0.848695,-0.059030],[0.850510,0.525799,0.012972],[0.020028,-0.057024,0.998172]]
2025-10-26T22:12:14.220Z,1761516734.220 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.864090
2025-10-26T22:12:14.230Z,1761516734.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 0.504433 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:12:14.237Z,1761516734.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.363853 m,
      bearing: 217.522453 deg,
      lat: 36.779428 deg,
      lon: -121.859479 deg,
      deltaT: 1.007240 s,
      deltaX: -0.198799 m,
      approachRate: -0.197370 m/s,
      posRepo size: 4

2025-10-26T22:12:14.237Z,1761516734.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-10-26T22:12:14.473Z,1761516734.473 [DAT](INFO): DAT read: Rx Time:22:12:13.2463 

2025-10-26T22:12:14.473Z,1761516734.473 [DAT](INFO): Rx dataTimestamp_ set to:1761516734.473172
2025-10-26T22:12:14.475Z,1761516734.475 [DAT](INFO): DAT read: Bearing   9.3,  18.2 (Local)

2025-10-26T22:12:14.475Z,1761516734.475 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.3,  18.2 (Local)

2025-10-26T22:12:14.477Z,1761516734.477 [DAT](INFO): DAT read: Range 11 to 50 :    22.5 m (trip time 15.0 ms) speed 0.0

2025-10-26T22:12:14.482Z,1761516734.482 [DAT](INFO): DAT read: 22:12:13.2463 LVL= 24480, 25841, 32754, 32755, AGC= 62, IDX= 507, 0.41,-0.193, 1.187,-0.750, 0.374, PHS=-0.464, 0.858,-1.167, RAW= 350.0,   8.7, CAL= 350.0,   9.0, ROT= 160.0,  -9.0

2025-10-26T22:12:14.483Z,1761516734.483 [DAT](INFO): got valid direction response:
 22:12:13.2463 LVL= 24480, 25841, 32754, 32755, AGC= 62, IDX= 507, 0.41,-0.193, 1.187,-0.750, 0.374, PHS=-0.464, 0.858,-1.167, RAW= 350.0,   8.7, CAL= 350.0,   9.0, ROT= 160.0,  -9.0

2025-10-26T22:12:14.483Z,1761516734.483 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-10-26T22:12:14.484Z,1761516734.484 [DAT](INFO): direction in FSK: [-0.928123,0.337809,0.156434]
2025-10-26T22:12:14.485Z,1761516734.485 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:14.533Z,1761516734.533 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.176762
2025-10-26T22:12:14.575Z,1761516734.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523941,-0.849715,-0.058912],[0.851516,0.524178,0.012587],[0.020185,-0.056759,0.998184]]
2025-10-26T22:12:14.681Z,1761516734.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 0.503274 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:12:14.688Z,1761516734.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.363853 m,
      bearing: 217.994716 deg,
      lat: 36.779428 deg,
      lon: -121.859478 deg,
      deltaT: 0.503274 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:12:14.688Z,1761516734.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-10-26T22:12:14.725Z,1761516734.725 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.368671
2025-10-26T22:12:14.964Z,1761516734.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522358,-0.850692,-0.058875],[0.852484,0.522609,0.012274],[0.020327,-0.056602,0.998190]]
2025-10-26T22:12:14.977Z,1761516734.977 [DAT](INFO): DAT read: Rx Time:22:12:13.7465 

2025-10-26T22:12:14.978Z,1761516734.978 [DAT](INFO): Rx dataTimestamp_ set to:1761516734.977524
2025-10-26T22:12:14.979Z,1761516734.979 [DAT](INFO): DAT read: Bearing  10.6,  18.2 (Local)

2025-10-26T22:12:14.980Z,1761516734.980 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.6,  18.2 (Local)

2025-10-26T22:12:14.982Z,1761516734.982 [DAT](INFO): DAT read: Range 11 to 50 :    22.8 m (trip time 15.2 ms) speed 0.0

2025-10-26T22:12:14.987Z,1761516734.987 [DAT](INFO): DAT read: 22:12:13.7465 LVL= 23024, 24817, 32754, 32755, AGC= 60, IDX= 510,-0.20, 0.777, 2.181, 0.212, 1.330, PHS=-0.451, 0.896,-1.162, RAW= 349.9,   8.0, CAL= 349.9,   7.8, ROT= 160.1,  -7.8

2025-10-26T22:12:14.988Z,1761516734.988 [DAT](INFO): got valid direction response:
 22:12:13.7465 LVL= 23024, 24817, 32754, 32755, AGC= 60, IDX= 510,-0.20, 0.777, 2.181, 0.212, 1.330, PHS=-0.451, 0.896,-1.162, RAW= 349.9,   8.0, CAL= 349.9,   7.8, ROT= 160.1,  -7.8

2025-10-26T22:12:14.988Z,1761516734.988 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-10-26T22:12:14.989Z,1761516734.989 [DAT](INFO): direction in FSK: [-0.931588,0.337230,0.135716]
2025-10-26T22:12:14.990Z,1761516734.990 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:15.018Z,1761516735.018 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.661156
2025-10-26T22:12:15.032Z,1761516735.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 0.504352 s,
      deltaX: 0.299999 m,
      approachRate: 0.594821 m/s,
      rangeRepo size: 4

2025-10-26T22:12:15.034Z,1761516735.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.662037 m,
      bearing: 218.258176 deg,
      lat: 36.779428 deg,
      lon: -121.859478 deg,
      deltaT: 0.504352 s,
      deltaX: 0.298183 m,
      approachRate: 0.591221 m/s,
      posRepo size: 4

2025-10-26T22:12:15.035Z,1761516735.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-10-26T22:12:15.228Z,1761516735.228 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.872021
2025-10-26T22:12:15.413Z,1761516735.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521252,-0.851358,-0.059040],[0.853161,0.521504,0.012280],[0.020335,-0.056771,0.998180]]
2025-10-26T22:12:15.481Z,1761516735.481 [DAT](INFO): DAT read: Rx Time:22:12:14.2464 

2025-10-26T22:12:15.482Z,1761516735.482 [DAT](INFO): Rx dataTimestamp_ set to:1761516735.481221
2025-10-26T22:12:15.483Z,1761516735.483 [DAT](INFO): DAT read: Bearing  10.2,  18.6 (Local)

2025-10-26T22:12:15.483Z,1761516735.483 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.2,  18.6 (Local)

2025-10-26T22:12:15.485Z,1761516735.485 [DAT](INFO): DAT read: Range 11 to 50 :    22.7 m (trip time 15.1 ms) speed 0.0

2025-10-26T22:12:15.490Z,1761516735.490 [DAT](INFO): DAT read: 22:12:14.2464 LVL= 24368, 25585, 32754, 32755, AGC= 58, IDX= 509, 0.05, 1.087, 2.471, 0.510, 1.636, PHS=-0.446, 0.880,-1.170, RAW= 350.4,   8.2, CAL= 350.4,   8.2, ROT= 159.6,  -8.2

2025-10-26T22:12:15.504Z,1761516735.504 [DAT](INFO): got valid direction response:
 22:12:14.2464 LVL= 24368, 25585, 32754, 32755, AGC= 58, IDX= 509, 0.05, 1.087, 2.471, 0.510, 1.636, PHS=-0.446, 0.880,-1.170, RAW= 350.4,   8.2, CAL= 350.4,   8.2, ROT= 159.6,  -8.2

2025-10-26T22:12:15.504Z,1761516735.504 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-10-26T22:12:15.505Z,1761516735.505 [DAT](INFO): direction in FSK: [-0.927699,0.345008,0.142629]
2025-10-26T22:12:15.505Z,1761516735.505 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:15.513Z,1761516735.513 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.156818
2025-10-26T22:12:15.534Z,1761516735.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.700001 m,
      deltaT: 0.503697 s,
      deltaX: -0.099998 m,
      approachRate: -0.198529 m/s,
      rangeRepo size: 4

2025-10-26T22:12:15.542Z,1761516735.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.562679 m,
      bearing: 217.815573 deg,
      lat: 36.779427 deg,
      lon: -121.859478 deg,
      deltaT: 0.503697 s,
      deltaX: -0.099358 m,
      approachRate: -0.197257 m/s,
      posRepo size: 4

2025-10-26T22:12:15.543Z,1761516735.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m.
2025-10-26T22:12:15.733Z,1761516735.733 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.376740
2025-10-26T22:12:15.806Z,1761516735.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520701,-0.851675,-0.059331],[0.853502,0.520934,0.012691],[0.020099,-0.057247,0.998158]]
2025-10-26T22:12:15.893Z,1761516735.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m.
2025-10-26T22:12:15.986Z,1761516735.986 [DAT](INFO): DAT read: Rx Time:22:12:14.7465 

2025-10-26T22:12:15.986Z,1761516735.986 [DAT](INFO): Rx dataTimestamp_ set to:1761516735.986070
2025-10-26T22:12:15.989Z,1761516735.989 [DAT](INFO): DAT read: Bearing  10.6,  18.8 (Local)

2025-10-26T22:12:15.989Z,1761516735.989 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.6,  18.8 (Local)

2025-10-26T22:12:15.992Z,1761516735.992 [DAT](INFO): DAT read: Range 11 to 50 :    22.8 m (trip time 15.2 ms) speed -0.1

2025-10-26T22:12:15.998Z,1761516735.998 [DAT](INFO): DAT read: 22:12:14.7465 LVL= 24048, 21793, 32754, 32755, AGC= 59, IDX= 510, 0.37, 2.398,-2.508, 1.814, 2.935, PHS=-0.435, 0.886,-1.165, RAW= 350.6,   8.0, CAL= 350.6,   7.8, ROT= 159.4,  -7.8

2025-10-26T22:12:16.001Z,1761516736.001 [DAT](INFO): got valid direction response:
 22:12:14.7465 LVL= 24048, 21793, 32754, 32755, AGC= 59, IDX= 510, 0.37, 2.398,-2.508, 1.814, 2.935, PHS=-0.435, 0.886,-1.165, RAW= 350.6,   8.0, CAL= 350.6,   7.8, ROT= 159.4,  -7.8

2025-10-26T22:12:16.001Z,1761516736.001 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-10-26T22:12:16.002Z,1761516736.002 [DAT](INFO): direction in FSK: [-0.927399,0.348587,0.135716]
2025-10-26T22:12:16.002Z,1761516736.002 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:16.011Z,1761516736.011 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.654099
2025-10-26T22:12:16.203Z,1761516736.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520038,-0.852069,-0.059487],[0.853911,0.520257,0.012975],[0.019893,-0.057545,0.998145]]
2025-10-26T22:12:16.234Z,1761516736.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 0.504849 s,
      deltaX: 0.099998 m,
      approachRate: 0.198076 m/s,
      rangeRepo size: 4

2025-10-26T22:12:16.236Z,1761516736.236 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.880043
2025-10-26T22:12:16.264Z,1761516736.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.662069 m,
      bearing: 217.711278 deg,
      lat: 36.779427 deg,
      lon: -121.859478 deg,
      deltaT: 0.504849 s,
      deltaX: 0.099390 m,
      approachRate: 0.196871 m/s,
      posRepo size: 4

2025-10-26T22:12:16.264Z,1761516736.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-10-26T22:12:16.491Z,1761516736.491 [DAT](INFO): DAT read: Rx Time:22:12:15.2465 

2025-10-26T22:12:16.491Z,1761516736.491 [DAT](INFO): Rx dataTimestamp_ set to:1761516736.490855
2025-10-26T22:12:16.493Z,1761516736.493 [DAT](INFO): DAT read: Bearing  11.1,  18.2 (Local)

2025-10-26T22:12:16.493Z,1761516736.493 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.1,  18.2 (Local)

2025-10-26T22:12:16.497Z,1761516736.497 [DAT](INFO): DAT read: Range 11 to 50 :    22.8 m (trip time 15.2 ms) speed 0.0

2025-10-26T22:12:16.501Z,1761516736.501 [DAT](INFO): DAT read: 22:12:15.2465 LVL= 23200, 23457, 32754, 32755, AGC= 60, IDX= 510,-0.19,-1.220, 0.185,-1.785,-0.674, PHS=-0.444, 0.905,-1.155, RAW= 349.9,   7.7, CAL= 349.8,   7.4, ROT= 160.2,  -7.4

2025-10-26T22:12:16.502Z,1761516736.502 [DAT](INFO): got valid direction response:
 22:12:15.2465 LVL= 23200, 23457, 32754, 32755, AGC= 60, IDX= 510,-0.19,-1.220, 0.185,-1.785,-0.674, PHS=-0.444, 0.905,-1.155, RAW= 349.9,   7.7, CAL= 349.8,   7.4, ROT= 160.2,  -7.4

2025-10-26T22:12:16.503Z,1761516736.503 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-10-26T22:12:16.509Z,1761516736.509 [DAT](INFO): direction in FSK: [-0.933044,0.335917,0.128796]
2025-10-26T22:12:16.510Z,1761516736.510 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:16.514Z,1761516736.514 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.157143
2025-10-26T22:12:16.612Z,1761516736.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520015,-0.852079,-0.059550],[0.853937,0.520199,0.013595],[0.019394,-0.057922,0.998133]]
2025-10-26T22:12:16.702Z,1761516736.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 0.504785 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:12:16.709Z,1761516736.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.662069 m,
      bearing: 218.524622 deg,
      lat: 36.779427 deg,
      lon: -121.859479 deg,
      deltaT: 0.504785 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:12:16.710Z,1761516736.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-10-26T22:12:16.741Z,1761516736.741 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.384190
2025-10-26T22:12:16.993Z,1761516736.993 [DAT](INFO): DAT read: Rx Time:22:12:15.7465 

2025-10-26T22:12:16.993Z,1761516736.993 [DAT](INFO): Rx dataTimestamp_ set to:1761516736.993123
2025-10-26T22:12:16.995Z,1761516736.995 [DAT](INFO): DAT read: Bearing   8.7,  18.3 (Local)

2025-10-26T22:12:16.995Z,1761516736.995 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.7,  18.3 (Local)

2025-10-26T22:12:17.002Z,1761516737.002 [DAT](INFO): DAT read: Range 11 to 50 :    22.8 m (trip time 15.2 ms) speed -0.1

2025-10-26T22:12:17.007Z,1761516737.007 [DAT](INFO): DAT read: 22:12:15.7465 LVL= 26768, 29937, 32754, 32755, AGC= 64, IDX= 510, 0.14, 0.015, 1.370,-0.534, 0.584, PHS=-0.467, 0.830,-1.162, RAW= 350.1,   9.2, CAL= 350.2,   9.7, ROT= 159.8,  -9.7

2025-10-26T22:12:17.030Z,1761516737.030 [DAT](INFO): got valid direction response:
 22:12:15.7465 LVL= 26768, 29937, 32754, 32755, AGC= 64, IDX= 510, 0.14, 0.015, 1.370,-0.534, 0.584, PHS=-0.467, 0.830,-1.162, RAW= 350.1,   9.2, CAL= 350.2,   9.7, ROT= 159.8,  -9.7

2025-10-26T22:12:17.030Z,1761516737.030 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-10-26T22:12:17.031Z,1761516737.031 [DAT](INFO): direction in FSK: [-0.925076,0.340362,0.168489]
2025-10-26T22:12:17.043Z,1761516737.043 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:17.067Z,1761516737.067 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.710144
2025-10-26T22:12:17.074Z,1761516737.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520219,-0.851980,-0.059176],[0.853834,0.520343,0.014520],[0.018420,-0.058080,0.998142]]
2025-10-26T22:12:17.149Z,1761516737.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 0.502268 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:12:17.151Z,1761516737.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.662069 m,
      bearing: 217.998826 deg,
      lat: 36.779427 deg,
      lon: -121.859480 deg,
      deltaT: 0.502268 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:12:17.155Z,1761516737.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-10-26T22:12:17.245Z,1761516737.245 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.888630
2025-10-26T22:12:17.497Z,1761516737.497 [DAT](INFO): DAT read: Rx Time:22:12:16.2465 

2025-10-26T22:12:17.498Z,1761516737.498 [DAT](INFO): Rx dataTimestamp_ set to:1761516737.497225
2025-10-26T22:12:17.499Z,1761516737.499 [DAT](INFO): DAT read: Bearing  10.4,  18.3 (Local)

2025-10-26T22:12:17.499Z,1761516737.499 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.4,  18.3 (Local)

2025-10-26T22:12:17.501Z,1761516737.501 [DAT](INFO): DAT read: Range 11 to 50 :    22.8 m (trip time 15.2 ms) speed -0.1

2025-10-26T22:12:17.509Z,1761516737.509 [DAT](INFO): DAT read: 22:12:16.2465 LVL= 23648, 24289, 32754, 32755, AGC= 66, IDX= 510,-0.11, 0.249, 1.642,-0.314, 0.804, PHS=-0.453, 0.882,-1.163, RAW= 350.0,   8.2, CAL= 350.0,   8.2, ROT= 160.0,  -8.2

2025-10-26T22:12:17.510Z,1761516737.510 [DAT](INFO): got valid direction response:
 22:12:16.2465 LVL= 23648, 24289, 32754, 32755, AGC= 66, IDX= 510,-0.11, 0.249, 1.642,-0.314, 0.804, PHS=-0.453, 0.882,-1.163, RAW= 350.0,   8.2, CAL= 350.0,   8.2, ROT= 160.0,  -8.2

2025-10-26T22:12:17.511Z,1761516737.511 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-10-26T22:12:17.522Z,1761516737.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520663,-0.851738,-0.058758],[0.853577,0.520749,0.015054],[0.017776,-0.057993,0.998159]]
2025-10-26T22:12:17.528Z,1761516737.528 [DAT](INFO): direction in FSK: [-0.930085,0.338523,0.142629]
2025-10-26T22:12:17.528Z,1761516737.528 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:17.544Z,1761516737.544 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.187618
2025-10-26T22:12:17.569Z,1761516737.569 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  78.10,  81.84,  79.80
2025-10-26T22:12:17.647Z,1761516737.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 0.504102 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:12:17.653Z,1761516737.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.662029 m,
      bearing: 218.240742 deg,
      lat: 36.779429 deg,
      lon: -121.859480 deg,
      deltaT: 0.504102 s,
      deltaX: -0.000040 m,
      approachRate: -0.000079 m/s,
      posRepo size: 4

2025-10-26T22:12:17.654Z,1761516737.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-10-26T22:12:17.749Z,1761516737.749 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.392853
2025-10-26T22:12:17.896Z,1761516737.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521228,-0.851419,-0.058373],[0.853245,0.521277,0.015604],[0.017143,-0.057940,0.998173]]
2025-10-26T22:12:17.916Z,1761516737.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-10-26T22:12:18.002Z,1761516738.002 [DAT](INFO): DAT read: Rx Time:22:12:16.7466 

2025-10-26T22:12:18.003Z,1761516738.003 [DAT](INFO): Rx dataTimestamp_ set to:1761516738.002639
2025-10-26T22:12:18.004Z,1761516738.004 [DAT](INFO): DAT read: Bearing  10.1,  18.9 (Local)

2025-10-26T22:12:18.005Z,1761516738.005 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.1,  18.9 (Local)

2025-10-26T22:12:18.007Z,1761516738.007 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed 0.0

2025-10-26T22:12:18.015Z,1761516738.015 [DAT](INFO): DAT read: 22:12:16.7466 LVL= 23408, 27761, 32754, 32755, AGC= 66, IDX= 5,-1.830,-0.463,-2.413,-1.287, PHS=-0.441, 0.869,-1.170, RAW= 350.7,   8.3, CAL= 350.7,   8.4, ROT= 159.3,  -8.4

2025-10-26T22:12:18.016Z,1761516738.016 [DAT](INFO): unknown deviceResponse_: 22:12:16.7466 LVL= 23408, 27761, 32754, 32755, AGC= 66, IDX= 5,-1.830,-0.463,-2.413,-1.287, PHS=-0.441, 0.869,-1.170, RAW= 350.7,   8.3, CAL= 350.7,   8.4, ROT= 159.3,  -8.4

2025-10-26T22:12:18.017Z,1761516738.017 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-10-26T22:12:18.018Z,1761516738.018 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.661339
2025-10-26T22:12:18.252Z,1761516738.252 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.896076
2025-10-26T22:12:18.306Z,1761516738.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521942,-0.850996,-0.058161],[0.852820,0.521955,0.016188],[0.016581,-0.058050,0.998176]]
2025-10-26T22:12:18.400Z,1761516738.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.505414 s,
      deltaX: 0.200001 m,
      approachRate: 0.395717 m/s,
      rangeRepo size: 4

2025-10-26T22:12:18.402Z,1761516738.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-10-26T22:12:18.506Z,1761516738.506 [DAT](INFO): DAT read: Rx Time:22:12:17.2465 

2025-10-26T22:12:18.507Z,1761516738.507 [DAT](INFO): Rx dataTimestamp_ set to:1761516738.506241
2025-10-26T22:12:18.508Z,1761516738.508 [DAT](INFO): DAT read: Bearing  10.2,  19.1 (Local)

2025-10-26T22:12:18.509Z,1761516738.509 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.2,  19.1 (Local)

2025-10-26T22:12:18.513Z,1761516738.513 [DAT](INFO): DAT read: Range 11 to 50 :    22.8 m (trip time 15.2 ms) speed 0.0

2025-10-26T22:12:18.519Z,1761516738.519 [DAT](INFO): DAT read: 22:12:17.2465 LVL= 25328, 21857, 32754, 32755, AGC= 63, IDX= 510,-0.05,-0.192, 1.187,-0.788, 0.353, PHS=-0.442, 0.880,-1.184, RAW= 350.8,   8.3, CAL= 350.8,   8.3, ROT= 159.2,  -8.3

2025-10-26T22:12:18.532Z,1761516738.532 [DAT](INFO): got valid direction response:
 22:12:17.2465 LVL= 25328, 21857, 32754, 32755, AGC= 63, IDX= 510,-0.05,-0.192, 1.187,-0.788, 0.353, PHS=-0.442, 0.880,-1.184, RAW= 350.8,   8.3, CAL= 350.8,   8.3, ROT= 159.2,  -8.3

2025-10-26T22:12:18.532Z,1761516738.532 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-10-26T22:12:18.533Z,1761516738.533 [DAT](INFO): direction in FSK: [-0.925034,0.351387,0.144356]
2025-10-26T22:12:18.533Z,1761516738.533 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:18.542Z,1761516738.542 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.186020
2025-10-26T22:12:18.705Z,1761516738.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523093,-0.850312,-0.057818],[0.852128,0.523060,0.016914],[0.015860,-0.058116,0.998184]]
2025-10-26T22:12:18.756Z,1761516738.756 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.400009
2025-10-26T22:12:18.913Z,1761516738.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 0.503602 s,
      deltaX: -0.200001 m,
      approachRate: -0.397141 m/s,
      rangeRepo size: 4

2025-10-26T22:12:18.915Z,1761516738.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.661964 m,
      bearing: 217.273337 deg,
      lat: 36.779429 deg,
      lon: -121.859480 deg,
      deltaT: 1.009016 s,
      deltaX: -0.000065 m,
      approachRate: -0.000064 m/s,
      posRepo size: 4

2025-10-26T22:12:18.915Z,1761516738.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-10-26T22:12:19.011Z,1761516739.011 [DAT](INFO): DAT read: Rx Time:22:12:17.7466 

2025-10-26T22:12:19.011Z,1761516739.011 [DAT](INFO): Rx dataTimestamp_ set to:1761516739.010778
2025-10-26T22:12:19.013Z,1761516739.013 [DAT](INFO): DAT read: Bearing  10.1,  20.1 (Local)

2025-10-26T22:12:19.014Z,1761516739.014 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.1,  20.1 (Local)

2025-10-26T22:12:19.017Z,1761516739.017 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed -0.1

2025-10-26T22:12:19.024Z,1761516739.024 [DAT](INFO): DAT read: 22:12:17.7466 LVL= 25840, 20513, 32754, 32755, AGC= 60, IDX= 511, 0.04,-2.681,-1.336, 2.974,-2.160, PHS=-0.419, 0.869,-1.194, RAW= 351.8,   8.3, CAL= 351.9,   8.4, ROT= 158.1,  -8.4

2025-10-26T22:12:19.025Z,1761516739.025 [DAT](INFO): got valid direction response:
 22:12:17.7466 LVL= 25840, 20513, 32754, 32755, AGC= 60, IDX= 511, 0.04,-2.681,-1.336, 2.974,-2.160, PHS=-0.419, 0.869,-1.194, RAW= 351.8,   8.3, CAL= 351.9,   8.4, ROT= 158.1,  -8.4

2025-10-26T22:12:19.026Z,1761516739.026 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-10-26T22:12:19.027Z,1761516739.027 [DAT](INFO): direction in FSK: [-0.917883,0.368986,0.146083]
2025-10-26T22:12:19.027Z,1761516739.027 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:19.035Z,1761516739.035 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.678288
2025-10-26T22:12:19.164Z,1761516739.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523892,-0.849845,-0.057449],[0.851646,0.523832,0.017307],[0.015385,-0.057993,0.998198]]
2025-10-26T22:12:19.233Z,1761516739.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.504537 s,
      deltaX: 0.200001 m,
      approachRate: 0.396405 m/s,
      rangeRepo size: 4

2025-10-26T22:12:19.235Z,1761516739.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.860754 m,
      bearing: 216.121018 deg,
      lat: 36.779429 deg,
      lon: -121.859480 deg,
      deltaT: 0.504537 s,
      deltaX: 0.198790 m,
      approachRate: 0.394004 m/s,
      posRepo size: 4

2025-10-26T22:12:19.243Z,1761516739.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.86 m.
2025-10-26T22:12:19.261Z,1761516739.261 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.904530
2025-10-26T22:12:19.513Z,1761516739.513 [DAT](INFO): DAT read: Rx Time:22:12:18.2465 

2025-10-26T22:12:19.513Z,1761516739.513 [DAT](INFO): Rx dataTimestamp_ set to:1761516739.513126
2025-10-26T22:12:19.515Z,1761516739.515 [DAT](INFO): DAT read: Bearing  10.0,  20.8 (Local)

2025-10-26T22:12:19.515Z,1761516739.515 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.0,  20.8 (Local)

2025-10-26T22:12:19.517Z,1761516739.517 [DAT](INFO): DAT read: Range 11 to 50 :    22.8 m (trip time 15.2 ms) speed -0.1

2025-10-26T22:12:19.522Z,1761516739.522 [DAT](INFO): DAT read: 22:12:18.2465 LVL= 26288, 21489, 32754, 32755, AGC= 58, IDX= 510, 0.24, 2.962,-1.997, 2.311,-2.814, PHS=-0.404, 0.862,-1.202, RAW= 352.5,   8.3, CAL= 352.6,   8.4, ROT= 157.4,  -8.4

2025-10-26T22:12:19.523Z,1761516739.523 [DAT](INFO): got valid direction response:
 22:12:18.2465 LVL= 26288, 21489, 32754, 32755, AGC= 58, IDX= 510, 0.24, 2.962,-1.997, 2.311,-2.814, PHS=-0.404, 0.862,-1.202, RAW= 352.5,   8.3, CAL= 352.6,   8.4, ROT= 157.4,  -8.4

2025-10-26T22:12:19.533Z,1761516739.533 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-10-26T22:12:19.534Z,1761516739.534 [DAT](INFO): direction in FSK: [-0.913306,0.380173,0.146083]
2025-10-26T22:12:19.534Z,1761516739.534 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:19.559Z,1761516739.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524883,-0.849255,-0.057134],[0.851044,0.524794,0.017757],[0.014904,-0.057944,0.998209]]
2025-10-26T22:12:19.562Z,1761516739.562 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.205334
2025-10-26T22:12:19.679Z,1761516739.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 0.502348 s,
      deltaX: -0.200001 m,
      approachRate: -0.398132 m/s,
      rangeRepo size: 4

2025-10-26T22:12:19.681Z,1761516739.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.661961 m,
      bearing: 215.357798 deg,
      lat: 36.779428 deg,
      lon: -121.859480 deg,
      deltaT: 0.502348 s,
      deltaX: -0.198793 m,
      approachRate: -0.395728 m/s,
      posRepo size: 4

2025-10-26T22:12:19.682Z,1761516739.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-10-26T22:12:19.729Z,1761516739.729 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:12:19.766Z,1761516739.766 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.409348
2025-10-26T22:12:19.966Z,1761516739.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525690,-0.848778,-0.056802],[0.850553,0.525579,0.018074],[0.014513,-0.057814,0.998222]]
2025-10-26T22:12:20.017Z,1761516740.017 [DAT](INFO): DAT read: Rx Time:22:12:18.7467 

2025-10-26T22:12:20.017Z,1761516740.017 [DAT](INFO): Rx dataTimestamp_ set to:1761516740.017198
2025-10-26T22:12:20.019Z,1761516740.019 [DAT](INFO): DAT read: Bearing   9.5,  21.0 (Local)

2025-10-26T22:12:20.019Z,1761516740.019 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.5,  21.0 (Local)

2025-10-26T22:12:20.021Z,1761516740.021 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed 0.0

2025-10-26T22:12:20.026Z,1761516740.026 [DAT](INFO): DAT read: 22:12:18.7467 LVL= 26352, 23185, 32754, 32755, AGC= 58, IDX= 511, 0.49,-2.552,-1.242, 3.074,-2.044, PHS=-0.406, 0.848,-1.209, RAW= 352.8,   8.6, CAL= 352.9,   8.8, ROT= 157.1,  -8.8

2025-10-26T22:12:20.027Z,1761516740.027 [DAT](INFO): got valid direction response:
 22:12:18.7467 LVL= 26352, 23185, 32754, 32755, AGC= 58, IDX= 511, 0.49,-2.552,-1.242, 3.074,-2.044, PHS=-0.406, 0.848,-1.209, RAW= 352.8,   8.6, CAL= 352.9,   8.8, ROT= 157.1,  -8.8

2025-10-26T22:12:20.028Z,1761516740.028 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-10-26T22:12:20.029Z,1761516740.029 [DAT](INFO): direction in FSK: [-0.910342,0.384543,0.152986]
2025-10-26T22:12:20.029Z,1761516740.029 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:20.033Z,1761516740.033 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.676563
2025-10-26T22:12:20.041Z,1761516740.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.504072 s,
      deltaX: 0.300001 m,
      approachRate: 0.595155 m/s,
      rangeRepo size: 4

2025-10-26T22:12:20.041Z,1761516740.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-10-26T22:12:20.269Z,1761516740.269 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.912682
2025-10-26T22:12:20.385Z,1761516740.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526273,-0.848436,-0.056511],[0.850196,0.526151,0.018211],[0.014283,-0.057630,0.998236]]
2025-10-26T22:12:20.407Z,1761516740.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-10-26T22:12:20.521Z,1761516740.521 [DAT](INFO): DAT read: Rx Time:22:12:19.2466 

2025-10-26T22:12:20.522Z,1761516740.522 [DAT](INFO): Rx dataTimestamp_ set to:1761516740.521450
2025-10-26T22:12:20.523Z,1761516740.523 [DAT](INFO): DAT read: Bearing   9.0,  21.0 (Local)

2025-10-26T22:12:20.523Z,1761516740.523 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.0,  21.0 (Local)

2025-10-26T22:12:20.526Z,1761516740.526 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed -0.1

2025-10-26T22:12:20.533Z,1761516740.533 [DAT](INFO): DAT read: 22:12:19.2466 LVL= 28288, 23153, 32754, 32755, AGC= 59, IDX= 511,-0.23, 0.513, 1.834,-0.149, 1.033, PHS=-0.418, 0.846,-1.226, RAW= 352.8,   8.9, CAL= 352.8,   9.3, ROT= 157.2,  -9.3

2025-10-26T22:12:20.535Z,1761516740.535 [DAT](INFO): got valid direction response:
 22:12:19.2466 LVL= 28288, 23153, 32754, 32755, AGC= 59, IDX= 511,-0.23, 0.513, 1.834,-0.149, 1.033, PHS=-0.418, 0.846,-1.226, RAW= 352.8,   8.9, CAL= 352.8,   9.3, ROT= 157.2,  -9.3

2025-10-26T22:12:20.536Z,1761516740.536 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-10-26T22:12:20.537Z,1761516740.537 [DAT](INFO): direction in FSK: [-0.909746,0.382422,0.161604]
2025-10-26T22:12:20.537Z,1761516740.537 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:20.541Z,1761516740.541 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.184792
2025-10-26T22:12:20.732Z,1761516740.732 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:12:20.774Z,1761516740.774 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.417316
2025-10-26T22:12:20.798Z,1761516740.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526973,-0.848016,-0.056291],[0.849765,0.526843,0.018332],[0.014110,-0.057494,0.998246]]
2025-10-26T22:12:20.917Z,1761516740.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.504252 s,
      deltaX: -0.100000 m,
      approachRate: -0.198314 m/s,
      rangeRepo size: 4

2025-10-26T22:12:20.925Z,1761516740.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.860752 m,
      bearing: 214.976219 deg,
      lat: 36.779424 deg,
      lon: -121.859475 deg,
      deltaT: 1.008324 s,
      deltaX: 0.198792 m,
      approachRate: 0.197150 m/s,
      posRepo size: 4

2025-10-26T22:12:20.925Z,1761516740.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.86 m.
2025-10-26T22:12:21.025Z,1761516741.025 [DAT](INFO): DAT read: Rx Time:22:12:19.7466 

2025-10-26T22:12:21.025Z,1761516741.025 [DAT](INFO): Rx dataTimestamp_ set to:1761516741.025129
2025-10-26T22:12:21.027Z,1761516741.027 [DAT](INFO): DAT read: Bearing   8.3,  21.0 (Local)

2025-10-26T22:12:21.027Z,1761516741.027 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.3,  21.0 (Local)

2025-10-26T22:12:21.030Z,1761516741.030 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed -0.1

2025-10-26T22:12:21.034Z,1761516741.034 [DAT](INFO): DAT read: 22:12:19.7466 LVL= 26736, 24737, 32754, 32755, AGC= 62, IDX= 511,-0.11, 1.336, 2.640, 0.676, 1.862, PHS=-0.424, 0.823,-1.230, RAW= 352.9,   9.3, CAL= 353.0,  10.0, ROT= 157.0, -10.0

2025-10-26T22:12:21.036Z,1761516741.036 [DAT](INFO): got valid direction response:
 22:12:19.7466 LVL= 26736, 24737, 32754, 32755, AGC= 62, IDX= 511,-0.11, 1.336, 2.640, 0.676, 1.862, PHS=-0.424, 0.823,-1.230, RAW= 352.9,   9.3, CAL= 353.0,  10.0, ROT= 157.0, -10.0

2025-10-26T22:12:21.036Z,1761516741.036 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-10-26T22:12:21.037Z,1761516741.037 [DAT](INFO): direction in FSK: [-0.906520,0.384795,0.173648]
2025-10-26T22:12:21.037Z,1761516741.037 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:21.041Z,1761516741.041 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.684750
2025-10-26T22:12:21.277Z,1761516741.277 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.920799
2025-10-26T22:12:21.352Z,1761516741.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527246,-0.847862,-0.056048],[0.849594,0.527127,0.018105],[0.014194,-0.057164,0.998264]]
2025-10-26T22:12:21.419Z,1761516741.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.503679 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:12:21.421Z,1761516741.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.860781 m,
      bearing: 214.728151 deg,
      lat: 36.779424 deg,
      lon: -121.859475 deg,
      deltaT: 0.503679 s,
      deltaX: 0.000029 m,
      approachRate: 0.000057 m/s,
      posRepo size: 4

2025-10-26T22:12:21.422Z,1761516741.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.86 m.
2025-10-26T22:12:21.529Z,1761516741.529 [DAT](INFO): DAT read: Rx Time:22:12:20.2465 

2025-10-26T22:12:21.529Z,1761516741.529 [DAT](INFO): Rx dataTimestamp_ set to:1761516741.529182
2025-10-26T22:12:21.531Z,1761516741.531 [DAT](INFO): DAT read: Bearing   9.0,  21.9 (Local)

2025-10-26T22:12:21.531Z,1761516741.531 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.0,  21.9 (Local)

2025-10-26T22:12:21.534Z,1761516741.534 [DAT](INFO): DAT read: Range 11 to 50 :    22.8 m (trip time 15.2 ms) speed -0.1

2025-10-26T22:12:21.540Z,1761516741.540 [DAT](INFO): DAT read: 22:12:20.2465 LVL= 29008, 24561, 32754, 32755, AGC= 64, IDX= 510, 0.22,-0.291, 0.989,-0.978, 0.201, PHS=-0.390, 0.833,-1.223, RAW= 353.8,   8.8, CAL= 353.8,   9.1, ROT= 156.2,  -9.1

2025-10-26T22:12:21.541Z,1761516741.541 [DAT](INFO): got valid direction response:
 22:12:20.2465 LVL= 29008, 24561, 32754, 32755, AGC= 64, IDX= 510, 0.22,-0.291, 0.989,-0.978, 0.201, PHS=-0.390, 0.833,-1.223, RAW= 353.8,   8.8, CAL= 353.8,   9.1, ROT= 156.2,  -9.1

2025-10-26T22:12:21.541Z,1761516741.541 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-10-26T22:12:21.542Z,1761516741.542 [DAT](INFO): direction in FSK: [-0.903444,0.398466,0.158158]
2025-10-26T22:12:21.542Z,1761516741.542 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:21.546Z,1761516741.546 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.189648
2025-10-26T22:12:21.781Z,1761516741.781 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.424477
2025-10-26T22:12:21.797Z,1761516741.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527377,-0.847789,-0.055914],[0.849509,0.527274,0.017786],[0.014403,-0.056879,0.998277]]
2025-10-26T22:12:21.922Z,1761516741.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 0.504053 s,
      deltaX: -0.200001 m,
      approachRate: -0.396785 m/s,
      rangeRepo size: 4

2025-10-26T22:12:21.924Z,1761516741.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.661991 m,
      bearing: 213.969950 deg,
      lat: 36.779424 deg,
      lon: -121.859474 deg,
      deltaT: 0.504053 s,
      deltaX: -0.198790 m,
      approachRate: -0.394382 m/s,
      posRepo size: 4

2025-10-26T22:12:21.925Z,1761516741.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-10-26T22:12:22.034Z,1761516742.034 [DAT](INFO): DAT read: Rx Time:22:12:20.7467 

2025-10-26T22:12:22.035Z,1761516742.035 [DAT](INFO): Rx dataTimestamp_ set to:1761516742.034220
2025-10-26T22:12:22.036Z,1761516742.036 [DAT](INFO): DAT read: Bearing  14.6,  32.3 (Local)

2025-10-26T22:12:22.037Z,1761516742.037 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.6,  32.3 (Local)

2025-10-26T22:12:22.039Z,1761516742.039 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed 0.0

2025-10-26T22:12:22.044Z,1761516742.044 [DAT](INFO): DAT read: 22:12:20.7467 LVL= 32368, 30385, 32754, 32755, AGC= 67, IDX= 512,-0.25, 1.765, 2.678, 0.836, 1.921, PHS=-0.054, 0.802,-1.128, RAW=   3.7,   4.6, CAL=   3.6,   2.9, ROT= 146.4,  -2.9

2025-10-26T22:12:22.045Z,1761516742.045 [DAT](INFO): got valid direction response:
 22:12:20.7467 LVL= 32368, 30385, 32754, 32755, AGC= 67, IDX= 512,-0.25, 1.765, 2.678, 0.836, 1.921, PHS=-0.054, 0.802,-1.128, RAW=   3.7,   4.6, CAL=   3.6,   2.9, ROT= 146.4,  -2.9

2025-10-26T22:12:22.045Z,1761516742.045 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-10-26T22:12:22.046Z,1761516742.046 [DAT](INFO): direction in FSK: [-0.831855,0.552683,0.050593]
2025-10-26T22:12:22.047Z,1761516742.047 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:22.083Z,1761516742.083 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.722752
2025-10-26T22:12:22.174Z,1761516742.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527195,-0.847899,-0.055968],[0.849615,0.527120,0.017299],[0.014834,-0.056671,0.998283]]
2025-10-26T22:12:22.197Z,1761516742.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.505038 s,
      deltaX: 0.300001 m,
      approachRate: 0.594017 m/s,
      rangeRepo size: 4

2025-10-26T22:12:22.200Z,1761516742.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.960176 m,
      bearing: 204.491615 deg,
      lat: 36.779424 deg,
      lon: -121.859474 deg,
      deltaT: 0.505038 s,
      deltaX: 0.298185 m,
      approachRate: 0.590422 m/s,
      posRepo size: 4

2025-10-26T22:12:22.201Z,1761516742.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m.
2025-10-26T22:12:22.286Z,1761516742.286 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.929241
2025-10-26T22:12:22.537Z,1761516742.537 [DAT](INFO): DAT read: Rx Time:22:12:21.2466 

2025-10-26T22:12:22.538Z,1761516742.538 [DAT](INFO): Rx dataTimestamp_ set to:1761516742.537391
2025-10-26T22:12:22.539Z,1761516742.539 [DAT](INFO): DAT read: Bearing   8.9,  22.1 (Local)

2025-10-26T22:12:22.539Z,1761516742.539 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.9,  22.1 (Local)

2025-10-26T22:12:22.541Z,1761516742.541 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed 0.0

2025-10-26T22:12:22.547Z,1761516742.547 [DAT](INFO): DAT read: 22:12:21.2466 LVL= 22288, 21489, 32754, 32755, AGC= 67, IDX= 511, 0.02, 0.913, 2.187, 0.219, 1.402, PHS=-0.387, 0.830,-1.227, RAW= 354.0,   8.8, CAL= 354.0,   9.2, ROT= 156.0,  -9.2

2025-10-26T22:12:22.548Z,1761516742.548 [DAT](INFO): got valid direction response:
 22:12:21.2466 LVL= 22288, 21489, 32754, 32755, AGC= 67, IDX= 511, 0.02, 0.913, 2.187, 0.219, 1.402, PHS=-0.387, 0.830,-1.227, RAW= 354.0,   8.8, CAL= 354.0,   9.2, ROT= 156.0,  -9.2

2025-10-26T22:12:22.548Z,1761516742.548 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-10-26T22:12:22.549Z,1761516742.549 [DAT](INFO): direction in FSK: [-0.901794,0.401504,0.159881]
2025-10-26T22:12:22.549Z,1761516742.549 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:22.553Z,1761516742.553 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.196735
2025-10-26T22:12:22.578Z,1761516742.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527379,-0.847771,-0.056168],[0.849497,0.527312,0.017208],[0.015030,-0.056790,0.998273]]
2025-10-26T22:12:22.705Z,1761516742.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.503171 s,
      deltaX: -0.100000 m,
      approachRate: -0.198740 m/s,
      rangeRepo size: 4

2025-10-26T22:12:22.713Z,1761516742.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.860783 m,
      bearing: 213.768574 deg,
      lat: 36.779424 deg,
      lon: -121.859472 deg,
      deltaT: 0.503171 s,
      deltaX: -0.099394 m,
      approachRate: -0.197535 m/s,
      posRepo size: 4

2025-10-26T22:12:22.714Z,1761516742.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.86 m.
2025-10-26T22:12:22.789Z,1761516742.789 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.432926
2025-10-26T22:12:22.982Z,1761516742.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527125,-0.847907,-0.056506],[0.849650,0.527072,0.017041],[0.015334,-0.056993,0.998257]]
2025-10-26T22:12:23.001Z,1761516743.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.86 m.
2025-10-26T22:12:23.041Z,1761516743.041 [DAT](INFO): DAT read: Rx Time:22:12:21.7467 

2025-10-26T22:12:23.041Z,1761516743.041 [DAT](INFO): Rx dataTimestamp_ set to:1761516743.041212
2025-10-26T22:12:23.043Z,1761516743.043 [DAT](INFO): DAT read: Bearing 333.3,  21.4 (Local)

2025-10-26T22:12:23.043Z,1761516743.043 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.3,  21.4 (Local)

2025-10-26T22:12:23.045Z,1761516743.045 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed 0.0

2025-10-26T22:12:23.050Z,1761516743.050 [DAT](INFO): DAT read: 22:12:21.7467 LVL= 27776, 25809, 32754, 32755, AGC= 68, IDX= 512, 0.13, 1.444, 2.204, 0.615, 2.436, PHS=-0.890,-0.186,-1.864, RAW=   5.3,  35.5, CAL=   3.6,  41.1, ROT= 146.4, -41.1

2025-10-26T22:12:23.060Z,1761516743.060 [DAT](INFO): got valid direction response:
 22:12:21.7467 LVL= 27776, 25809, 32754, 32755, AGC= 68, IDX= 512, 0.13, 1.444, 2.204, 0.615, 2.436, PHS=-0.890,-0.186,-1.864, RAW=   5.3,  35.5, CAL=   3.6,  41.1, ROT= 146.4, -41.1

2025-10-26T22:12:23.060Z,1761516743.060 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-10-26T22:12:23.061Z,1761516743.061 [DAT](INFO): direction in FSK: [-0.627659,0.417016,0.657375]
2025-10-26T22:12:23.061Z,1761516743.061 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:23.069Z,1761516743.069 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.712723
2025-10-26T22:12:23.292Z,1761516743.292 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.936073
2025-10-26T22:12:23.397Z,1761516743.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526864,-0.848036,-0.057003],[0.849807,0.526816,0.017082],[0.015544,-0.057441,0.998228]]
2025-10-26T22:12:23.420Z,1761516743.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.503821 s,
      deltaX: 0.100000 m,
      approachRate: 0.198484 m/s,
      rangeRepo size: 4

2025-10-26T22:12:23.422Z,1761516743.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.960197 m,
      bearing: 202.735856 deg,
      lat: 36.779424 deg,
      lon: -121.859471 deg,
      deltaT: 0.503821 s,
      deltaX: 0.099415 m,
      approachRate: 0.197322 m/s,
      posRepo size: 4

2025-10-26T22:12:23.423Z,1761516743.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m.
2025-10-26T22:12:23.550Z,1761516743.550 [DAT](INFO): DAT read: Rx Time:22:12:22.2467 

2025-10-26T22:12:23.554Z,1761516743.554 [DAT](INFO): Rx dataTimestamp_ set to:1761516743.550601
2025-10-26T22:12:23.556Z,1761516743.556 [DAT](INFO): DAT read: Bearing   6.3,  21.5 (Local)

2025-10-26T22:12:23.556Z,1761516743.556 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.3,  21.5 (Local)

2025-10-26T22:12:23.558Z,1761516743.558 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed 0.0

2025-10-26T22:12:23.579Z,1761516743.579 [DAT](INFO): DAT read: 22:12:22.2467 LVL= 25712, 28513, 32754, 32755, AGC= 67, IDX= 511, 0.35, 1.630, 2.882, 0.971, 2.164, PHS=-0.431, 0.763,-1.237, RAW= 353.6,  10.4, CAL= 353.8,  11.7, ROT= 156.2, -11.7

2025-10-26T22:12:23.581Z,1761516743.581 [DAT](INFO): got valid direction response:
 22:12:22.2467 LVL= 25712, 28513, 32754, 32755, AGC= 67, IDX= 511, 0.35, 1.630, 2.882, 0.971, 2.164, PHS=-0.431, 0.763,-1.237, RAW= 353.6,  10.4, CAL= 353.8,  11.7, ROT= 156.2, -11.7

2025-10-26T22:12:23.581Z,1761516743.581 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-10-26T22:12:23.582Z,1761516743.582 [DAT](INFO): direction in FSK: [-0.895949,0.395161,0.202787]
2025-10-26T22:12:23.582Z,1761516743.582 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:23.590Z,1761516743.590 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.233677
2025-10-26T22:12:23.794Z,1761516743.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526229,-0.848403,-0.057409],[0.850196,0.526193,0.016965],[0.015815,-0.057736,0.998207]]
2025-10-26T22:12:23.796Z,1761516743.796 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.439861
2025-10-26T22:12:23.892Z,1761516743.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.509389 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:12:23.894Z,1761516743.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.960197 m,
      bearing: 213.921126 deg,
      lat: 36.779424 deg,
      lon: -121.859471 deg,
      deltaT: 0.509389 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:12:23.895Z,1761516743.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m.
2025-10-26T22:12:24.049Z,1761516744.049 [DAT](INFO): DAT read: Rx Time:22:12:22.7468 

2025-10-26T22:12:24.049Z,1761516744.049 [DAT](INFO): Rx dataTimestamp_ set to:1761516744.049006
2025-10-26T22:12:24.050Z,1761516744.050 [DAT](INFO): DAT read: Range 11 to 50 :    23.3 m (trip time 15.5 ms) speed 0.0

2025-10-26T22:12:24.051Z,1761516744.051 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-10-26T22:12:24.052Z,1761516744.052 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.695717
2025-10-26T22:12:24.194Z,1761516744.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525249,-0.848996,-0.057610],[0.850796,0.525232,0.016659],[0.016115,-0.057765,0.998200]]
2025-10-26T22:12:24.220Z,1761516744.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.299999 m,
      deltaT: 0.498405 s,
      deltaX: 0.199999 m,
      approachRate: 0.401278 m/s,
      rangeRepo size: 4

2025-10-26T22:12:24.221Z,1761516744.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m.
2025-10-26T22:12:24.301Z,1761516744.301 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.944176
2025-10-26T22:12:24.555Z,1761516744.555 [DAT](INFO): DAT read: Rx Time:22:12:23.2467 

2025-10-26T22:12:24.556Z,1761516744.556 [DAT](INFO): Rx dataTimestamp_ set to:1761516744.555688
2025-10-26T22:12:24.557Z,1761516744.557 [DAT](INFO): DAT read: Bearing  26.2,  26.6 (Local)

2025-10-26T22:12:24.558Z,1761516744.558 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.2,  26.6 (Local)

2025-10-26T22:12:24.560Z,1761516744.560 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed 0.0

2025-10-26T22:12:24.564Z,1761516744.564 [DAT](INFO): DAT read: 22:12:23.2467 LVL= 22000, 25233, 32754, 32755, AGC= 66, IDX= 512,-0.05,-1.677,-0.486,-2.520,-1.649, PHS= 0.075, 1.209,-0.915, RAW= 357.8,  -4.1, CAL= 357.4,  -6.9, ROT= 152.6,   6.9

2025-10-26T22:12:24.566Z,1761516744.566 [DAT](INFO): got valid direction response:
 22:12:23.2467 LVL= 22000, 25233, 32754, 32755, AGC= 66, IDX= 512,-0.05,-1.677,-0.486,-2.520,-1.649, PHS= 0.075, 1.209,-0.915, RAW= 357.8,  -4.1, CAL= 357.4,  -6.9, ROT= 152.6,   6.9

2025-10-26T22:12:24.566Z,1761516744.566 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-10-26T22:12:24.567Z,1761516744.567 [DAT](INFO): direction in FSK: [-0.881385,0.456867,-0.120137]
2025-10-26T22:12:24.577Z,1761516744.577 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:24.580Z,1761516744.580 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.224049
2025-10-26T22:12:24.621Z,1761516744.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524203,-0.849646,-0.057559],[0.851437,0.524202,0.016326],[0.016302,-0.057566,0.998209]]
2025-10-26T22:12:24.739Z,1761516744.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.506682 s,
      deltaX: -0.199999 m,
      approachRate: -0.394723 m/s,
      rangeRepo size: 4

2025-10-26T22:12:24.745Z,1761516744.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.960234 m,
      bearing: 211.309437 deg,
      lat: 36.779422 deg,
      lon: -121.859462 deg,
      deltaT: 1.005087 s,
      deltaX: 0.000036 m,
      approachRate: 0.000036 m/s,
      posRepo size: 4

2025-10-26T22:12:24.745Z,1761516744.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m.
2025-10-26T22:12:24.805Z,1761516744.805 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.448956
2025-10-26T22:12:25.003Z,1761516745.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523140,-0.850312,-0.057395],[0.852089,0.523151,0.016027],[0.016399,-0.057290,0.998223]]
2025-10-26T22:12:25.023Z,1761516745.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m.
2025-10-26T22:12:25.060Z,1761516745.060 [DAT](INFO): DAT read: Rx Time:22:12:23.7467 

2025-10-26T22:12:25.060Z,1761516745.060 [DAT](INFO): Rx dataTimestamp_ set to:1761516745.060017
2025-10-26T22:12:25.062Z,1761516745.062 [DAT](INFO): DAT read: Bearing  26.7, -21.9 (Local)

2025-10-26T22:12:25.062Z,1761516745.062 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.7, -21.9 (Local)

2025-10-26T22:12:25.065Z,1761516745.065 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed -0.1

2025-10-26T22:12:25.071Z,1761516745.071 [DAT](INFO): DAT read: 22:12:23.7467 LVL= 26832, 26577, 32754, 32755, AGC= 67, IDX= 512, 0.20,-1.396, 1.124,-0.408,-0.233, PHS=-1.061, 1.402,-0.219, RAW= 310.4,  -1.1, CAL= 308.8,  -4.5, ROT= 201.2,   4.5

2025-10-26T22:12:25.073Z,1761516745.073 [DAT](INFO): got valid direction response:
 22:12:23.7467 LVL= 26832, 26577, 32754, 32755, AGC= 67, IDX= 512, 0.20,-1.396, 1.124,-0.408,-0.233, PHS=-1.061, 1.402,-0.219, RAW= 310.4,  -1.1, CAL= 308.8,  -4.5, ROT= 201.2,   4.5

2025-10-26T22:12:25.073Z,1761516745.073 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-26T22:12:25.075Z,1761516745.075 [DAT](INFO): direction in FSK: [-0.929450,-0.360510,-0.078459]
2025-10-26T22:12:25.075Z,1761516745.075 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:25.086Z,1761516745.086 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.729816
2025-10-26T22:12:25.311Z,1761516745.311 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.953789
2025-10-26T22:12:25.402Z,1761516745.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522133,-0.850944,-0.057195],[0.852709,0.522143,0.015946],[0.016295,-0.057097,0.998236]]
2025-10-26T22:12:25.440Z,1761516745.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.504329 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:12:25.442Z,1761516745.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.960211 m,
      bearing: 259.950496 deg,
      lat: 36.779424 deg,
      lon: -121.859472 deg,
      deltaT: 0.504329 s,
      deltaX: -0.000023 m,
      approachRate: -0.000045 m/s,
      posRepo size: 4

2025-10-26T22:12:25.443Z,1761516745.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m.
2025-10-26T22:12:25.565Z,1761516745.565 [DAT](INFO): DAT read: Rx Time:22:12:24.2467 

2025-10-26T22:12:25.567Z,1761516745.567 [DAT](INFO): Rx dataTimestamp_ set to:1761516745.565656
2025-10-26T22:12:25.572Z,1761516745.572 [DAT](INFO): DAT read: Bearing 335.3,  19.0 (Local)

2025-10-26T22:12:25.573Z,1761516745.573 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.3,  19.0 (Local)

2025-10-26T22:12:25.588Z,1761516745.588 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed 0.0

2025-10-26T22:12:25.593Z,1761516745.593 [DAT](INFO): DAT read: 22:12:24.2467 LVL= 26528, 26033, 32754, 32755, AGC= 68, IDX= 512,-0.43,-2.396,-1.494, 3.102,-1.314, PHS=-0.980,-0.135,-1.911, RAW=   1.6,  34.8, CAL= 359.9,  40.3, ROT= 150.1, -40.3

2025-10-26T22:12:25.594Z,1761516745.594 [DAT](INFO): got valid direction response:
 22:12:24.2467 LVL= 26528, 26033, 32754, 32755, AGC= 68, IDX= 512,-0.43,-2.396,-1.494, 3.102,-1.314, PHS=-0.980,-0.135,-1.911, RAW=   1.6,  34.8, CAL= 359.9,  40.3, ROT= 150.1, -40.3

2025-10-26T22:12:25.595Z,1761516745.595 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-10-26T22:12:25.605Z,1761516745.605 [DAT](INFO): direction in FSK: [-0.661155,0.380181,0.646790]
2025-10-26T22:12:25.605Z,1761516745.605 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:25.613Z,1761516745.613 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.256351
2025-10-26T22:12:25.806Z,1761516745.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521262,-0.851479,-0.057178],[0.853244,0.521263,0.016080],[0.016113,-0.057168,0.998235]]
2025-10-26T22:12:25.815Z,1761516745.815 [DAT](INFO): DAT read: Rx Time:22:12:24.7468 

2025-10-26T22:12:25.817Z,1761516745.817 [DAT](INFO): Rx dataTimestamp_ set to:1761516745.815871
2025-10-26T22:12:25.819Z,1761516745.819 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.461681
2025-10-26T22:12:25.946Z,1761516745.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.505639 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:12:25.952Z,1761516745.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.960211 m,
      bearing: 206.752284 deg,
      lat: 36.779443 deg,
      lon: -121.859462 deg,
      deltaT: 0.505639 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:12:25.953Z,1761516745.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m.
2025-10-26T22:12:26.065Z,1761516746.065 [DAT](INFO): DAT read: Bearing 344.4,  33.2 (Local)

2025-10-26T22:12:26.065Z,1761516746.065 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.4,  33.2 (Local)

2025-10-26T22:12:26.068Z,1761516746.068 [DAT](INFO): DAT read: Range 11 to 50 :    23.3 m (trip time 15.5 ms) speed 0.0

2025-10-26T22:12:26.072Z,1761516746.072 [DAT](INFO): DAT read: 22:12:24.7468 LVL= 25504, 26097, 32754, 32755, AGC= 67, IDX= 513,-0.00,-1.194,-0.736,-1.938,-0.806, PHS=-0.286, 0.115,-1.176, RAW=  12.3,  22.6, CAL=  11.4,  27.2, ROT= 138.6, -27.2

2025-10-26T22:12:26.074Z,1761516746.074 [DAT](INFO): got valid direction response:
 22:12:24.7468 LVL= 25504, 26097, 32754, 32755, AGC= 67, IDX= 513,-0.00,-1.194,-0.736,-1.938,-0.806, PHS=-0.286, 0.115,-1.176, RAW=  12.3,  22.6, CAL=  11.4,  27.2, ROT= 138.6, -27.2

2025-10-26T22:12:26.074Z,1761516746.074 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-10-26T22:12:26.075Z,1761516746.075 [DAT](INFO): direction in FSK: [-0.667161,0.588182,0.457098]
2025-10-26T22:12:26.075Z,1761516746.075 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:26.079Z,1761516746.079 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.722332
2025-10-26T22:12:26.211Z,1761516746.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520611,-0.851876,-0.057204],[0.853649,0.520587,0.016489],[0.015733,-0.057416,0.998226]]
2025-10-26T22:12:26.237Z,1761516746.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.299999 m,
      deltaT: 0.498155 s,
      deltaX: 0.199999 m,
      approachRate: 0.401479 m/s,
      rangeRepo size: 4

2025-10-26T22:12:26.239Z,1761516746.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.158998 m,
      bearing: 196.303150 deg,
      lat: 36.779424 deg,
      lon: -121.859462 deg,
      deltaT: 0.498155 s,
      deltaX: 0.198788 m,
      approachRate: 0.399048 m/s,
      posRepo size: 4

2025-10-26T22:12:26.240Z,1761516746.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.16 m.
2025-10-26T22:12:26.321Z,1761516746.321 [DAT](INFO): DAT read: Rx Time:22:12:25.2468 

2025-10-26T22:12:26.322Z,1761516746.322 [DAT](INFO): Rx dataTimestamp_ set to:1761516746.321473
2025-10-26T22:12:26.334Z,1761516746.334 [DAT](INFO): DAT read: Bearing  23.6,  13.4 (Local)

2025-10-26T22:12:26.335Z,1761516746.335 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.6,  13.4 (Local)

2025-10-26T22:12:26.339Z,1761516746.339 [DAT](INFO): DAT read: Range 11 to 50 :    23.3 m (trip time 15.5 ms) speed 0.0

2025-10-26T22:12:26.388Z,1761516746.388 [DAT](INFO): DAT read: 22:12:25.2468 LVL= 22432, 22305, 32754, 32755, AGC= 67, IDX= 512, 0.40,-1.679,-0.252,-2.012,-1.306, PHS=-0.271, 1.100,-0.750, RAW= 344.5,  -1.0, CAL= 344.0,  -3.9, ROT= 166.0,   3.9

2025-10-26T22:12:26.389Z,1761516746.389 [DAT](INFO): got valid direction response:
 22:12:25.2468 LVL= 22432, 22305, 32754, 32755, AGC= 67, IDX= 512, 0.40,-1.679,-0.252,-2.012,-1.306, PHS=-0.271, 1.100,-0.750, RAW= 344.5,  -1.0, CAL= 344.0,  -3.9, ROT= 166.0,   3.9

2025-10-26T22:12:26.389Z,1761516746.389 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-10-26T22:12:26.390Z,1761516746.390 [DAT](INFO): direction in FSK: [-0.968049,0.241362,-0.068015]
2025-10-26T22:12:26.391Z,1761516746.391 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:26.399Z,1761516746.399 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.042465
2025-10-26T22:12:26.572Z,1761516746.572 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.214592
2025-10-26T22:12:26.614Z,1761516746.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519742,-0.852395,-0.057370],[0.854183,0.519699,0.016848],[0.015454,-0.057761,0.998211]]
2025-10-26T22:12:26.764Z,1761516746.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.299999 m,
      deltaT: 0.257662 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:12:26.767Z,1761516746.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.158937 m,
      bearing: 224.903616 deg,
      lat: 36.779447 deg,
      lon: -121.859462 deg,
      deltaT: 0.257662 s,
      deltaX: -0.000061 m,
      approachRate: -0.000237 m/s,
      posRepo size: 4

2025-10-26T22:12:26.768Z,1761516746.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.16 m.
2025-10-26T22:12:26.824Z,1761516746.824 [DAT](INFO): DAT read: Rx Time:22:12:25.7469 

2025-10-26T22:12:26.825Z,1761516746.825 [DAT](INFO): Rx dataTimestamp_ set to:1761516746.824248
2025-10-26T22:12:26.827Z,1761516746.827 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.470039
2025-10-26T22:12:27.073Z,1761516747.073 [DAT](INFO): DAT read: Bearing   4.8,  20.7 (Local)

2025-10-26T22:12:27.074Z,1761516747.074 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.8,  20.7 (Local)

2025-10-26T22:12:27.076Z,1761516747.076 [DAT](INFO): DAT read: Range 11 to 50 :    23.4 m (trip time 15.6 ms) speed 0.0

2025-10-26T22:12:27.080Z,1761516747.080 [DAT](INFO): DAT read: 22:12:25.7469 LVL= 19632, 17233, 21906, 22595, AGC= 68, IDX=   2,-0.13,-0.406, 0.852,-1.026, 0.167, PHS=-0.471, 0.730,-1.237, RAW= 352.7,  11.4, CAL= 353.0,  13.2, ROT= 157.0, -13.2

2025-10-26T22:12:27.082Z,1761516747.082 [DAT](INFO): got valid direction response:
 22:12:25.7469 LVL= 19632, 17233, 21906, 22595, AGC= 68, IDX=   2,-0.13,-0.406, 0.852,-1.026, 0.167, PHS=-0.471, 0.730,-1.237, RAW= 352.7,  11.4, CAL= 353.0,  13.2, ROT= 157.0, -13.2

2025-10-26T22:12:27.082Z,1761516747.082 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-10-26T22:12:27.083Z,1761516747.083 [DAT](INFO): direction in FSK: [-0.896184,0.380408,0.228351]
2025-10-26T22:12:27.083Z,1761516747.083 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:27.087Z,1761516747.087 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.730358
2025-10-26T22:12:27.120Z,1761516747.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518165,-0.853400,-0.056686],[0.855162,0.518056,0.017754],[0.014215,-0.057676,0.998234]]
2025-10-26T22:12:27.183Z,1761516747.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 0.750439 s,
      deltaX: 0.100000 m,
      approachRate: 0.133256 m/s,
      rangeRepo size: 4

2025-10-26T22:12:27.186Z,1761516747.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.258333 m,
      bearing: 215.177977 deg,
      lat: 36.779447 deg,
      lon: -121.859477 deg,
      deltaT: 0.750439 s,
      deltaX: 0.099396 m,
      approachRate: 0.132450 m/s,
      posRepo size: 4

2025-10-26T22:12:27.186Z,1761516747.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.26 m.
2025-10-26T22:12:27.329Z,1761516747.329 [DAT](INFO): DAT read: Rx Time:22:12:26.2468 

2025-10-26T22:12:27.330Z,1761516747.330 [DAT](INFO): Rx dataTimestamp_ set to:1761516747.329366
2025-10-26T22:12:27.334Z,1761516747.334 [DAT](INFO): DAT read: Bearing   6.3,  21.9 (Local)

2025-10-26T22:12:27.335Z,1761516747.335 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.3,  21.9 (Local)

2025-10-26T22:12:27.342Z,1761516747.342 [DAT](INFO): DAT read: Range 11 to 50 :    23.3 m (trip time 15.5 ms) speed -0.1

2025-10-26T22:12:27.346Z,1761516747.346 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-10-26T22:12:27.350Z,1761516747.350 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.992516
2025-10-26T22:12:27.506Z,1761516747.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517276,-0.853980,-0.056071],[0.855712,0.517137,0.018094],[0.013544,-0.057341,0.998263]]
2025-10-26T22:12:27.599Z,1761516747.599 [DAT](INFO): DAT read: 22:12:26.2468 LVL= 25184, 26673, 32754, 32755, AGC= 65, IDX= 497, 0.16, 0.347, 1.588,-0.311, 0.876, PHS=-0.427, 0.757,-1.232, RAW= 353.7,  10.4, CAL= 353.9,  11.7, ROT= 156.1, -11.7

2025-10-26T22:12:27.607Z,1761516747.607 [DAT](INFO): got valid direction response:
 22:12:26.2468 LVL= 25184, 26673, 32754, 32755, AGC= 65, IDX= 497, 0.16, 0.347, 1.588,-0.311, 0.876, PHS=-0.427, 0.757,-1.232, RAW= 353.7,  10.4, CAL= 353.9,  11.7, ROT= 156.1, -11.7

2025-10-26T22:12:27.616Z,1761516747.616 [DAT](INFO): #Rx 115: Read direction message, but no range.
2025-10-26T22:12:27.617Z,1761516747.617 [DAT](INFO): direction in FSK: [-0.895258,0.396724,0.202787]
2025-10-26T22:12:27.628Z,1761516747.628 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.271767
2025-10-26T22:12:27.647Z,1761516747.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.299999 m,
      deltaT: 0.257454 s,
      deltaX: -0.100000 m,
      approachRate: -0.388420 m/s,
      rangeRepo size: 4

2025-10-26T22:12:27.653Z,1761516747.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.159010 m,
      bearing: 214.419303 deg,
      lat: 36.779427 deg,
      lon: -121.859474 deg,
      deltaT: 0.257454 s,
      deltaX: -0.099323 m,
      approachRate: -0.385790 m/s,
      posRepo size: 4

2025-10-26T22:12:27.654Z,1761516747.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.16 m.
2025-10-26T22:12:27.832Z,1761516747.832 [DAT](INFO): DAT read: Rx Time:22:12:26.7469 

2025-10-26T22:12:27.834Z,1761516747.834 [DAT](INFO): Rx dataTimestamp_ set to:1761516747.832611
2025-10-26T22:12:27.837Z,1761516747.837 [DAT](INFO): DAT read: Bearing   7.3,  22.0 (Local)

2025-10-26T22:12:27.838Z,1761516747.838 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.3,  22.0 (Local)

2025-10-26T22:12:27.840Z,1761516747.840 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.483299
2025-10-26T22:12:27.915Z,1761516747.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516798,-0.854297,-0.055650],[0.856013,0.516612,0.018800],[0.012689,-0.057353,0.998273]]
2025-10-26T22:12:28.042Z,1761516748.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.16 m.
2025-10-26T22:12:28.083Z,1761516748.083 [DAT](INFO): DAT read: Range 11 to 50 :    23.4 m (trip time 15.6 ms) speed 0.0

2025-10-26T22:12:28.089Z,1761516748.089 [DAT](INFO): DAT read: 22:12:26.7469 LVL= 16448, 14801, 25794, 26531, AGC= 68, IDX=   2,-0.37,-0.969, 0.282,-1.629,-0.452, PHS=-0.415, 0.779,-1.221, RAW= 353.6,   9.9, CAL= 353.8,  10.8, ROT= 156.2, -10.8

2025-10-26T22:12:28.091Z,1761516748.091 [DAT](INFO): got valid direction response:
 22:12:26.7469 LVL= 16448, 14801, 25794, 26531, AGC= 68, IDX=   2,-0.37,-0.969, 0.282,-1.629,-0.452, PHS=-0.415, 0.779,-1.221, RAW= 353.6,   9.9, CAL= 353.8,  10.8, ROT= 156.2, -10.8

2025-10-26T22:12:28.092Z,1761516748.092 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-10-26T22:12:28.093Z,1761516748.093 [DAT](INFO): direction in FSK: [-0.898753,0.396398,0.187381]
2025-10-26T22:12:28.093Z,1761516748.093 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:28.099Z,1761516748.099 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.742218
2025-10-26T22:12:28.336Z,1761516748.336 [DAT](INFO): DAT read: Rx Time:22:12:27.2468 

2025-10-26T22:12:28.338Z,1761516748.338 [DAT](INFO): Rx dataTimestamp_ set to:1761516748.337112
2025-10-26T22:12:28.350Z,1761516748.350 [DAT](INFO): DAT read: Bearing   6.8,  21.6 (Local)

2025-10-26T22:12:28.352Z,1761516748.352 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.8,  21.6 (Local)

2025-10-26T22:12:28.357Z,1761516748.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516589,-0.854439,-0.055400],[0.856152,0.516348,0.019692],[0.011780,-0.057604,0.998270]]
2025-10-26T22:12:28.392Z,1761516748.392 [DAT](INFO): DAT read: Range 11 to 50 :    23.3 m (trip time 15.5 ms) speed -0.1

2025-10-26T22:12:28.413Z,1761516748.413 [DAT](INFO): DAT read: 22:12:27.2468 LVL= 24032, 25905, 32754, 32755, AGC= 64, IDX= 497, 0.05,-0.673, 0.582,-1.321,-0.142, PHS=-0.429, 0.768,-1.223, RAW= 353.3,  10.2, CAL= 353.5,  11.4, ROT= 156.5, -11.4

2025-10-26T22:12:28.414Z,1761516748.414 [DAT](INFO): got valid direction response:
 22:12:27.2468 LVL= 24032, 25905, 32754, 32755, AGC= 64, IDX= 497, 0.05,-0.673, 0.582,-1.321,-0.142, PHS=-0.429, 0.768,-1.223, RAW= 353.3,  10.2, CAL= 353.5,  11.4, ROT= 156.5, -11.4

2025-10-26T22:12:28.414Z,1761516748.414 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-10-26T22:12:28.424Z,1761516748.424 [DAT](INFO): direction in FSK: [-0.898968,0.390882,0.197657]
2025-10-26T22:12:28.424Z,1761516748.424 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:28.430Z,1761516748.430 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.073696
2025-10-26T22:12:28.458Z,1761516748.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.299999 m,
      deltaT: 1.007746 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:12:28.465Z,1761516748.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.159056 m,
      bearing: 214.868173 deg,
      lat: 36.779426 deg,
      lon: -121.859476 deg,
      deltaT: 1.007746 s,
      deltaX: 0.000046 m,
      approachRate: 0.000045 m/s,
      posRepo size: 4

2025-10-26T22:12:28.465Z,1761516748.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.16 m.
2025-10-26T22:12:28.589Z,1761516748.589 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.232044
2025-10-26T22:12:28.840Z,1761516748.840 [DAT](INFO): DAT read: Rx Time:22:12:27.7470 

2025-10-26T22:12:28.842Z,1761516748.842 [DAT](INFO): Rx dataTimestamp_ set to:1761516748.840786
2025-10-26T22:12:28.846Z,1761516748.846 [DAT](INFO): DAT read: Bearing   6.6,  21.7 (Local)

2025-10-26T22:12:28.847Z,1761516748.847 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.6,  21.7 (Local)

2025-10-26T22:12:28.870Z,1761516748.870 [DAT](INFO): DAT read: Range 11 to 50 :    23.6 m (trip time 15.7 ms) speed -0.1

2025-10-26T22:12:28.900Z,1761516748.900 [DAT](INFO): DAT read: 22:12:27.7470 LVL= 17568, 15921, 22418, 22499, AGC= 68, IDX=   3,-0.46,-0.889, 0.367,-1.539,-0.352, PHS=-0.434, 0.765,-1.231, RAW= 353.4,  10.4, CAL= 353.6,  11.6, ROT= 156.4, -11.6

2025-10-26T22:12:28.901Z,1761516748.901 [DAT](INFO): got valid direction response:
 22:12:27.7470 LVL= 17568, 15921, 22418, 22499, AGC= 68, IDX=   3,-0.46,-0.889, 0.367,-1.539,-0.352, PHS=-0.434, 0.765,-1.231, RAW= 353.4,  10.4, CAL= 353.6,  11.6, ROT= 156.4, -11.6

2025-10-26T22:12:28.901Z,1761516748.901 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-10-26T22:12:28.902Z,1761516748.902 [DAT](INFO): direction in FSK: [-0.897646,0.392172,0.201078]
2025-10-26T22:12:28.903Z,1761516748.903 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:28.904Z,1761516748.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516687,-0.854388,-0.055278],[0.856108,0.516375,0.020894],[0.010692,-0.058119,0.998252]]
2025-10-26T22:12:28.923Z,1761516748.923 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.566181
2025-10-26T22:12:28.998Z,1761516748.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.600000 m,
      deltaT: 0.503674 s,
      deltaX: 0.300001 m,
      approachRate: 0.595626 m/s,
      rangeRepo size: 4

2025-10-26T22:12:29.004Z,1761516749.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.457243 m,
      bearing: 214.743607 deg,
      lat: 36.779426 deg,
      lon: -121.859477 deg,
      deltaT: 0.503674 s,
      deltaX: 0.298187 m,
      approachRate: 0.592024 m/s,
      posRepo size: 4

2025-10-26T22:12:29.005Z,1761516749.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m.
2025-10-26T22:12:29.089Z,1761516749.089 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.732094
2025-10-26T22:12:29.254Z,1761516749.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516260,-0.854670,-0.054916],[0.856377,0.515894,0.021741],[0.009750,-0.058253,0.998254]]
2025-10-26T22:12:29.309Z,1761516749.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m.
2025-10-26T22:12:29.344Z,1761516749.344 [DAT](INFO): DAT read: Rx Time:22:12:28.2469 

2025-10-26T22:12:29.346Z,1761516749.346 [DAT](INFO): Rx dataTimestamp_ set to:1761516749.344995
2025-10-26T22:12:29.350Z,1761516749.350 [DAT](INFO): DAT read: Bearing   7.5,  21.9 (Local)

2025-10-26T22:12:29.351Z,1761516749.351 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.5,  21.9 (Local)

2025-10-26T22:12:29.363Z,1761516749.363 [DAT](INFO): DAT read: Range 11 to 50 :    23.4 m (trip time 15.6 ms) speed 0.0

2025-10-26T22:12:29.374Z,1761516749.374 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-10-26T22:12:29.388Z,1761516749.388 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.031528
2025-10-26T22:12:29.618Z,1761516749.618 [DAT](INFO): DAT read: 22:12:28.2469 LVL= 23088, 24049, 32754, 32755, AGC= 66, IDX= 498, 0.00,-2.482,-1.217,-3.139,-1.959, PHS=-0.421, 0.787,-1.224, RAW= 353.4,   9.8, CAL= 353.5,  10.8, ROT= 156.5, -10.8

2025-10-26T22:12:29.622Z,1761516749.622 [DAT](INFO): got valid direction response:
 22:12:28.2469 LVL= 23088, 24049, 32754, 32755, AGC= 66, IDX= 498, 0.00,-2.482,-1.217,-3.139,-1.959, PHS=-0.421, 0.787,-1.224, RAW= 353.4,   9.8, CAL= 353.5,  10.8, ROT= 156.5, -10.8

2025-10-26T22:12:29.648Z,1761516749.648 [DAT](INFO): #Rx 120: Read direction message, but no range.
2025-10-26T22:12:29.649Z,1761516749.649 [DAT](INFO): direction in FSK: [-0.900816,0.391686,0.187381]
2025-10-26T22:12:29.656Z,1761516749.656 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:12:29.656Z,1761516749.656 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:12:29.656Z,1761516749.656 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:12:29.702Z,1761516749.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516152,-0.854759,-0.054545],[0.856453,0.515723,0.022761],[0.008675,-0.058464,0.998252]]
2025-10-26T22:12:29.806Z,1761516749.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 0.504209 s,
      deltaX: -0.200001 m,
      approachRate: -0.396662 m/s,
      rangeRepo size: 4

2025-10-26T22:12:29.826Z,1761516749.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.258448 m,
      bearing: 214.909212 deg,
      lat: 36.779426 deg,
      lon: -121.859477 deg,
      deltaT: 0.504209 s,
      deltaX: -0.198795 m,
      approachRate: -0.394272 m/s,
      posRepo size: 4

2025-10-26T22:12:29.832Z,1761516749.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.26 m.
2025-10-26T22:12:29.849Z,1761516749.849 [DAT](INFO): DAT read: Rx Time:22:12:28.7470 

2025-10-26T22:12:29.851Z,1761516749.851 [DAT](INFO): Rx dataTimestamp_ set to:1761516749.849651
2025-10-26T22:12:29.855Z,1761516749.855 [DAT](INFO): DAT read: Bearing   8.0,  22.7 (Local)

2025-10-26T22:12:29.856Z,1761516749.856 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.0,  22.7 (Local)

2025-10-26T22:12:29.879Z,1761516749.879 [DAT](INFO): DAT read: Range 11 to 50 :    23.6 m (trip time 15.7 ms) speed 0.0

2025-10-26T22:12:29.892Z,1761516749.892 [DAT](INFO): DAT read: 22:12:28.7470 LVL= 23984, 24241, 32754, 32755, AGC= 66, IDX= 499, 0.29,-0.220, 1.040,-0.910, 0.285, PHS=-0.403, 0.799,-1.239, RAW= 354.1,   9.5, CAL= 354.2,  10.3, ROT= 155.8, -10.3

2025-10-26T22:12:29.893Z,1761516749.893 [DAT](INFO): got valid direction response:
 22:12:28.7470 LVL= 23984, 24241, 32754, 32755, AGC= 66, IDX= 499, 0.29,-0.220, 1.040,-0.910, 0.285, PHS=-0.403, 0.799,-1.239, RAW= 354.1,   9.5, CAL= 354.2,  10.3, ROT= 155.8, -10.3

2025-10-26T22:12:29.894Z,1761516749.894 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:12:29.895Z,1761516749.895 [DAT](INFO): direction in FSK: [-0.897421,0.403317,0.178802]
2025-10-26T22:12:29.895Z,1761516749.895 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:29.906Z,1761516749.906 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:12:29.907Z,1761516749.907 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:12:30.096Z,1761516750.096 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:12:30.145Z,1761516750.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515893,-0.854962,-0.053803],[0.856619,0.515413,0.023527],[0.007616,-0.058226,0.998274]]
2025-10-26T22:12:30.177Z,1761516750.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.600000 m,
      deltaT: 0.504656 s,
      deltaX: 0.200001 m,
      approachRate: 0.396311 m/s,
      rangeRepo size: 4

2025-10-26T22:12:30.179Z,1761516750.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.457239 m,
      bearing: 214.255234 deg,
      lat: 36.779425 deg,
      lon: -121.859476 deg,
      deltaT: 0.504656 s,
      deltaX: 0.198792 m,
      approachRate: 0.393915 m/s,
      posRepo size: 4

2025-10-26T22:12:30.179Z,1761516750.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m.
2025-10-26T22:12:30.354Z,1761516750.354 [DAT](INFO): DAT read: Rx Time:22:12:29.2470 

2025-10-26T22:12:30.356Z,1761516750.356 [DAT](INFO): Rx dataTimestamp_ set to:1761516750.354444
2025-10-26T22:12:30.362Z,1761516750.362 [DAT](INFO): DAT read: Bearing   8.1,  22.8 (Local)

2025-10-26T22:12:30.372Z,1761516750.372 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.1,  22.8 (Local)

2025-10-26T22:12:30.374Z,1761516750.374 [DAT](INFO): DAT read: Range 11 to 50 :    23.6 m (trip time 15.7 ms) speed 0.0

2025-10-26T22:12:30.382Z,1761516750.382 [DAT](INFO): DAT read: 22:12:29.2470 LVL= 23456, 23153, 32754, 32755, AGC= 66, IDX= 499,-0.41,-2.307,-1.054,-2.993,-1.807, PHS=-0.399, 0.797,-1.231, RAW= 354.1,   9.5, CAL= 354.2,  10.2, ROT= 155.8, -10.2

2025-10-26T22:12:30.400Z,1761516750.400 [DAT](INFO): got valid direction response:
 22:12:29.2470 LVL= 23456, 23153, 32754, 32755, AGC= 66, IDX= 499,-0.41,-2.307,-1.054,-2.993,-1.807, PHS=-0.399, 0.797,-1.231, RAW= 354.1,   9.5, CAL= 354.2,  10.2, ROT= 155.8, -10.2

2025-10-26T22:12:30.400Z,1761516750.400 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:12:30.401Z,1761516750.401 [DAT](INFO): direction in FSK: [-0.897705,0.403444,0.177085]
2025-10-26T22:12:30.401Z,1761516750.401 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:30.417Z,1761516750.417 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:12:30.417Z,1761516750.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:12:30.546Z,1761516750.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515753,-0.855090,-0.053102],[0.856712,0.515224,0.024256],[0.006618,-0.058003,0.998294]]
2025-10-26T22:12:30.603Z,1761516750.603 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:12:30.642Z,1761516750.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.600000 m,
      deltaT: 0.504793 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:12:30.650Z,1761516750.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.457163 m,
      bearing: 214.268261 deg,
      lat: 36.779424 deg,
      lon: -121.859477 deg,
      deltaT: 0.504793 s,
      deltaX: -0.000076 m,
      approachRate: -0.000151 m/s,
      posRepo size: 4

2025-10-26T22:12:30.651Z,1761516750.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m.
2025-10-26T22:12:30.860Z,1761516750.860 [DAT](INFO): DAT read: Rx Time:22:12:29.7471 

2025-10-26T22:12:30.861Z,1761516750.861 [DAT](INFO): Rx dataTimestamp_ set to:1761516750.860255
2025-10-26T22:12:30.874Z,1761516750.874 [DAT](INFO): DAT read: Bearing   7.8,  22.6 (Local)

2025-10-26T22:12:30.875Z,1761516750.875 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.8,  22.6 (Local)

2025-10-26T22:12:30.877Z,1761516750.877 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed -0.1

2025-10-26T22:12:30.895Z,1761516750.895 [DAT](INFO): DAT read: 22:12:29.7471 LVL= 24080, 22225, 32754, 32755, AGC= 67, IDX= 500,-0.20,-0.475, 0.790,-1.156, 0.040, PHS=-0.413, 0.796,-1.240, RAW= 353.8,   9.7, CAL= 354.0,  10.6, ROT= 156.0, -10.6

2025-10-26T22:12:30.900Z,1761516750.900 [DAT](INFO): got valid direction response:
 22:12:29.7471 LVL= 24080, 22225, 32754, 32755, AGC= 67, IDX= 500,-0.20,-0.475, 0.790,-1.156, 0.040, PHS=-0.413, 0.796,-1.240, RAW= 353.8,   9.7, CAL= 354.0,  10.6, ROT= 156.0, -10.6

2025-10-26T22:12:30.901Z,1761516750.901 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:12:30.902Z,1761516750.902 [DAT](INFO): direction in FSK: [-0.897956,0.399796,0.183951]
2025-10-26T22:12:30.902Z,1761516750.902 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:30.910Z,1761516750.910 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:12:30.911Z,1761516750.911 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:12:31.035Z,1761516751.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515815,-0.855106,-0.052234],[0.856683,0.515230,0.025155],[0.005403,-0.057723,0.998318]]
2025-10-26T22:12:31.103Z,1761516751.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.505811 s,
      deltaX: 0.100000 m,
      approachRate: 0.197703 m/s,
      rangeRepo size: 4

2025-10-26T22:12:31.104Z,1761516751.104 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:12:31.114Z,1761516751.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.556559 m,
      bearing: 214.440370 deg,
      lat: 36.779424 deg,
      lon: -121.859477 deg,
      deltaT: 0.505811 s,
      deltaX: 0.099396 m,
      approachRate: 0.196508 m/s,
      posRepo size: 4

2025-10-26T22:12:31.114Z,1761516751.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.56 m.
2025-10-26T22:12:31.361Z,1761516751.361 [DAT](INFO): DAT read: Rx Time:22:12:30.2470 

2025-10-26T22:12:31.362Z,1761516751.362 [DAT](INFO): Rx dataTimestamp_ set to:1761516751.361134
2025-10-26T22:12:31.366Z,1761516751.366 [DAT](INFO): DAT read: Bearing   6.9,  22.0 (Local)

2025-10-26T22:12:31.367Z,1761516751.367 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.9,  22.0 (Local)

2025-10-26T22:12:31.371Z,1761516751.371 [DAT](INFO): DAT read: Range 11 to 50 :    23.6 m (trip time 15.7 ms) speed 0.0

2025-10-26T22:12:31.389Z,1761516751.389 [DAT](INFO): DAT read: 22:12:30.2470 LVL= 23888, 24529, 32754, 32755, AGC= 67, IDX= 499,-0.05,-1.346,-0.082,-2.002,-0.808, PHS=-0.436, 0.771,-1.237, RAW= 353.3,  10.3, CAL= 353.5,  11.5, ROT= 156.5, -11.5

2025-10-26T22:12:31.390Z,1761516751.390 [DAT](INFO): got valid direction response:
 22:12:30.2470 LVL= 23888, 24529, 32754, 32755, AGC= 67, IDX= 499,-0.05,-1.346,-0.082,-2.002,-0.808, PHS=-0.436, 0.771,-1.237, RAW= 353.3,  10.3, CAL= 353.5,  11.5, ROT= 156.5, -11.5

2025-10-26T22:12:31.390Z,1761516751.390 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:12:31.391Z,1761516751.391 [DAT](INFO): direction in FSK: [-0.898650,0.390744,0.199368]
2025-10-26T22:12:31.392Z,1761516751.392 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:31.434Z,1761516751.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515750,-0.855177,-0.051708],[0.856728,0.515113,0.026011],[0.004391,-0.057715,0.998323]]
2025-10-26T22:12:31.440Z,1761516751.440 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:12:31.440Z,1761516751.440 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:12:31.506Z,1761516751.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.600000 m,
      deltaT: 0.500879 s,
      deltaX: -0.100000 m,
      approachRate: -0.199650 m/s,
      rangeRepo size: 4

2025-10-26T22:12:31.512Z,1761516751.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.457142 m,
      bearing: 214.890751 deg,
      lat: 36.779424 deg,
      lon: -121.859477 deg,
      deltaT: 0.500879 s,
      deltaX: -0.099417 m,
      approachRate: -0.198485 m/s,
      posRepo size: 4

2025-10-26T22:12:31.513Z,1761516751.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m.
2025-10-26T22:12:31.611Z,1761516751.611 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:12:31.866Z,1761516751.866 [DAT](INFO): DAT read: Rx Time:22:12:30.7470 

2025-10-26T22:12:31.868Z,1761516751.868 [DAT](INFO): Rx dataTimestamp_ set to:1761516751.866905
2025-10-26T22:12:31.870Z,1761516751.870 [DAT](INFO): DAT read: Bearing   6.8,  22.2 (Local)

2025-10-26T22:12:31.870Z,1761516751.870 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.8,  22.2 (Local)

2025-10-26T22:12:31.873Z,1761516751.873 [DAT](INFO): DAT read: Range 11 to 50 :    23.6 m (trip time 15.7 ms) speed 0.0

2025-10-26T22:12:31.877Z,1761516751.877 [DAT](INFO): DAT read: 22:12:30.7470 LVL= 22864, 24545, 32754, 32755, AGC= 67, IDX= 499, 0.07, 0.205, 1.464,-0.453, 0.742, PHS=-0.435, 0.767,-1.239, RAW= 353.5,  10.4, CAL= 353.7,  11.7, ROT= 156.3, -11.7

2025-10-26T22:12:31.879Z,1761516751.879 [DAT](INFO): got valid direction response:
 22:12:30.7470 LVL= 22864, 24545, 32754, 32755, AGC= 67, IDX= 499, 0.07, 0.205, 1.464,-0.453, 0.742, PHS=-0.435, 0.767,-1.239, RAW= 353.5,  10.4, CAL= 353.7,  11.7, ROT= 156.3, -11.7

2025-10-26T22:12:31.879Z,1761516751.879 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:12:31.880Z,1761516751.880 [DAT](INFO): direction in FSK: [-0.896638,0.393596,0.202787]
2025-10-26T22:12:31.880Z,1761516751.880 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:31.888Z,1761516751.888 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:12:31.888Z,1761516751.888 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:12:31.890Z,1761516751.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515727,-0.855232,-0.051032],[0.856749,0.514981,0.027833],[0.002477,-0.058076,0.998309]]
2025-10-26T22:12:32.024Z,1761516752.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.600000 m,
      deltaT: 0.505771 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:12:32.026Z,1761516752.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.457142 m,
      bearing: 214.671761 deg,
      lat: 36.779424 deg,
      lon: -121.859478 deg,
      deltaT: 0.505771 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:12:32.027Z,1761516752.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m.
2025-10-26T22:12:32.113Z,1761516752.113 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:12:32.301Z,1761516752.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515609,-0.855317,-0.050790],[0.856822,0.514817,0.028627],[0.001662,-0.058279,0.998299]]
2025-10-26T22:12:32.369Z,1761516752.369 [DAT](INFO): DAT read: Rx Time:22:12:31.2469 

2025-10-26T22:12:32.370Z,1761516752.370 [DAT](INFO): Rx dataTimestamp_ set to:1761516752.369208
2025-10-26T22:12:32.371Z,1761516752.371 [DAT](INFO): DAT read: Bearing   7.2,  22.5 (Local)

2025-10-26T22:12:32.372Z,1761516752.372 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.2,  22.5 (Local)

2025-10-26T22:12:32.374Z,1761516752.374 [DAT](INFO): DAT read: Range 11 to 50 :    23.4 m (trip time 15.6 ms) speed 0.0

2025-10-26T22:12:32.378Z,1761516752.378 [DAT](INFO): DAT read: 22:12:31.2469 LVL= 26384, 26529, 32754, 32755, AGC= 66, IDX= 498, 0.21,-0.190, 1.072,-0.862, 0.339, PHS=-0.427, 0.778,-1.245, RAW= 353.7,  10.2, CAL= 353.9,  11.3, ROT= 156.1, -11.3

2025-10-26T22:12:32.381Z,1761516752.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m.
2025-10-26T22:12:32.388Z,1761516752.388 [DAT](INFO): got valid direction response:
 22:12:31.2469 LVL= 26384, 26529, 32754, 32755, AGC= 66, IDX= 498, 0.21,-0.190, 1.072,-0.862, 0.339, PHS=-0.427, 0.778,-1.245, RAW= 353.7,  10.2, CAL= 353.9,  11.3, ROT= 156.1, -11.3

2025-10-26T22:12:32.390Z,1761516752.390 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:12:32.420Z,1761516752.420 [DAT](INFO): direction in FSK: [-0.896531,0.397288,0.195946]
2025-10-26T22:12:32.422Z,1761516752.422 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:32.434Z,1761516752.434 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:12:32.435Z,1761516752.435 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:12:32.619Z,1761516752.619 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:12:32.692Z,1761516752.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515375,-0.855473,-0.050545],[0.856964,0.514543,0.029280],[0.000959,-0.058406,0.998292]]
2025-10-26T22:12:32.765Z,1761516752.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 0.502303 s,
      deltaX: -0.200001 m,
      approachRate: -0.398168 m/s,
      rangeRepo size: 4

2025-10-26T22:12:32.788Z,1761516752.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.258387 m,
      bearing: 214.508920 deg,
      lat: 36.779426 deg,
      lon: -121.859478 deg,
      deltaT: 0.502303 s,
      deltaX: -0.198755 m,
      approachRate: -0.395688 m/s,
      posRepo size: 4

2025-10-26T22:12:32.789Z,1761516752.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.26 m.
2025-10-26T22:12:32.871Z,1761516752.871 [DAT](INFO): DAT read: Rx Time:22:12:31.7471 

2025-10-26T22:12:32.871Z,1761516752.871 [DAT](INFO): Rx dataTimestamp_ set to:1761516752.870892
2025-10-26T22:12:32.873Z,1761516752.873 [DAT](INFO): DAT read: Bearing   5.8,  22.0 (Local)

2025-10-26T22:12:32.873Z,1761516752.873 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.8,  22.0 (Local)

2025-10-26T22:12:32.875Z,1761516752.875 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed 0.0

2025-10-26T22:12:32.880Z,1761516752.880 [DAT](INFO): DAT read: 22:12:31.7471 LVL= 24352, 24561, 32754, 32755, AGC= 66, IDX= 499, 0.36, 1.997,-3.038, 1.353, 2.552, PHS=-0.452, 0.739,-1.242, RAW= 353.3,  11.1, CAL= 353.6,  12.7, ROT= 156.4, -12.7

2025-10-26T22:12:32.881Z,1761516752.881 [DAT](INFO): got valid direction response:
 22:12:31.7471 LVL= 24352, 24561, 32754, 32755, AGC= 66, IDX= 499, 0.36, 1.997,-3.038, 1.353, 2.552, PHS=-0.452, 0.739,-1.242, RAW= 353.3,  11.1, CAL= 353.6,  12.7, ROT= 156.4, -12.7

2025-10-26T22:12:32.881Z,1761516752.881 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:12:32.882Z,1761516752.882 [DAT](INFO): direction in FSK: [-0.893943,0.390554,0.219846]
2025-10-26T22:12:32.882Z,1761516752.882 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:32.898Z,1761516752.898 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:12:32.899Z,1761516752.899 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:12:33.113Z,1761516753.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515052,-0.855685,-0.050247],[0.857159,0.514187,0.029843],[0.000300,-0.058440,0.998291]]
2025-10-26T22:12:33.120Z,1761516753.120 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:12:33.232Z,1761516753.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.501684 s,
      deltaX: 0.300001 m,
      approachRate: 0.597988 m/s,
      rangeRepo size: 4

2025-10-26T22:12:33.234Z,1761516753.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.556572 m,
      bearing: 214.748189 deg,
      lat: 36.779427 deg,
      lon: -121.859478 deg,
      deltaT: 0.501684 s,
      deltaX: 0.298185 m,
      approachRate: 0.594369 m/s,
      posRepo size: 4

2025-10-26T22:12:33.235Z,1761516753.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.56 m.
2025-10-26T22:12:33.374Z,1761516753.374 [DAT](INFO): DAT read: Rx Time:22:12:32.2470 

2025-10-26T22:12:33.374Z,1761516753.374 [DAT](INFO): Rx dataTimestamp_ set to:1761516753.373983
2025-10-26T22:12:33.376Z,1761516753.376 [DAT](INFO): DAT read: Bearing   7.4,  22.1 (Local)

2025-10-26T22:12:33.376Z,1761516753.376 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.4,  22.1 (Local)

2025-10-26T22:12:33.378Z,1761516753.378 [DAT](INFO): DAT read: Range 11 to 50 :    23.6 m (trip time 15.7 ms) speed 0.0

2025-10-26T22:12:33.383Z,1761516753.383 [DAT](INFO): DAT read: 22:12:32.2470 LVL= 22512, 22737, 32754, 32755, AGC= 65, IDX= 499,-0.31,-1.406,-0.136,-2.063,-0.870, PHS=-0.433, 0.779,-1.236, RAW= 353.3,  10.2, CAL= 353.5,  11.3, ROT= 156.5, -11.3

2025-10-26T22:12:33.384Z,1761516753.384 [DAT](INFO): got valid direction response:
 22:12:32.2470 LVL= 22512, 22737, 32754, 32755, AGC= 65, IDX= 499,-0.31,-1.406,-0.136,-2.063,-0.870, PHS=-0.433, 0.779,-1.236, RAW= 353.3,  10.2, CAL= 353.5,  11.3, ROT= 156.5, -11.3

2025-10-26T22:12:33.385Z,1761516753.385 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:12:33.386Z,1761516753.386 [DAT](INFO): direction in FSK: [-0.899283,0.391019,0.195946]
2025-10-26T22:12:33.386Z,1761516753.386 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:33.402Z,1761516753.402 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:12:33.402Z,1761516753.402 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:12:33.522Z,1761516753.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514438,-0.856079,-0.049822],[0.857527,0.513551,0.030204],[-0.000271,-0.058262,0.998301]]
2025-10-26T22:12:33.588Z,1761516753.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.600000 m,
      deltaT: 0.503091 s,
      deltaX: -0.100000 m,
      approachRate: -0.198772 m/s,
      rangeRepo size: 4

2025-10-26T22:12:33.590Z,1761516753.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.457146 m,
      bearing: 214.965392 deg,
      lat: 36.779427 deg,
      lon: -121.859479 deg,
      deltaT: 0.503091 s,
      deltaX: -0.099426 m,
      approachRate: -0.197631 m/s,
      posRepo size: 4

2025-10-26T22:12:33.591Z,1761516753.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m.
2025-10-26T22:12:33.627Z,1761516753.627 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:12:33.879Z,1761516753.879 [DAT](INFO): DAT read: Rx Time:22:12:32.7471 

2025-10-26T22:12:33.880Z,1761516753.880 [DAT](INFO): Rx dataTimestamp_ set to:1761516753.879421
2025-10-26T22:12:33.881Z,1761516753.881 [DAT](INFO): DAT read: Bearing   6.3,  21.9 (Local)

2025-10-26T22:12:33.881Z,1761516753.881 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.3,  21.9 (Local)

2025-10-26T22:12:33.884Z,1761516753.884 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed 0.1

2025-10-26T22:12:33.888Z,1761516753.888 [DAT](INFO): DAT read: 22:12:32.7471 LVL= 24048, 23537, 32754, 32755, AGC= 65, IDX= 500,-0.08, 0.712, 1.982, 0.063, 1.269, PHS=-0.455, 0.758,-1.250, RAW= 353.1,  10.8, CAL= 353.4,  12.3, ROT= 156.6, -12.3

2025-10-26T22:12:33.889Z,1761516753.889 [DAT](INFO): got valid direction response:
 22:12:32.7471 LVL= 24048, 23537, 32754, 32755, AGC= 65, IDX= 500,-0.08, 0.712, 1.982, 0.063, 1.269, PHS=-0.455, 0.758,-1.250, RAW= 353.1,  10.8, CAL= 353.4,  12.3, ROT= 156.6, -12.3

2025-10-26T22:12:33.889Z,1761516753.889 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:12:33.890Z,1761516753.890 [DAT](INFO): direction in FSK: [-0.896688,0.388031,0.213030]
2025-10-26T22:12:33.891Z,1761516753.891 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:33.894Z,1761516753.894 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:12:33.894Z,1761516753.894 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:12:33.918Z,1761516753.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513931,-0.856395,-0.049624],[0.857831,0.513025,0.030506],[-0.000667,-0.058247,0.998302]]
2025-10-26T22:12:34.072Z,1761516754.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.505438 s,
      deltaX: 0.100000 m,
      approachRate: 0.197849 m/s,
      rangeRepo size: 4

2025-10-26T22:12:34.074Z,1761516754.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.556541 m,
      bearing: 215.041648 deg,
      lat: 36.779428 deg,
      lon: -121.859479 deg,
      deltaT: 0.505438 s,
      deltaX: 0.099396 m,
      approachRate: 0.196653 m/s,
      posRepo size: 4

2025-10-26T22:12:34.075Z,1761516754.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.56 m.
2025-10-26T22:12:34.133Z,1761516754.133 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:12:34.385Z,1761516754.385 [DAT](INFO): DAT read: Rx Time:22:12:33.2470 

2025-10-26T22:12:34.385Z,1761516754.385 [DAT](INFO): Rx dataTimestamp_ set to:1761516754.385100
2025-10-26T22:12:34.387Z,1761516754.387 [DAT](INFO): DAT read: Bearing   5.9,  21.8 (Local)

2025-10-26T22:12:34.387Z,1761516754.387 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.9,  21.8 (Local)

2025-10-26T22:12:34.389Z,1761516754.389 [DAT](INFO): DAT read: Range 11 to 50 :    23.6 m (trip time 15.7 ms) speed 0.0

2025-10-26T22:12:34.394Z,1761516754.394 [DAT](INFO): DAT read: 22:12:33.2470 LVL= 23136, 24305, 32754, 32755, AGC= 65, IDX= 499, 0.15, 0.847, 2.107, 0.210, 1.410, PHS=-0.461, 0.742,-1.244, RAW= 353.1,  11.1, CAL= 353.3,  12.8, ROT= 156.7, -12.8

2025-10-26T22:12:34.395Z,1761516754.395 [DAT](INFO): got valid direction response:
 22:12:33.2470 LVL= 23136, 24305, 32754, 32755, AGC= 65, IDX= 499, 0.15, 0.847, 2.107, 0.210, 1.410, PHS=-0.461, 0.742,-1.244, RAW= 353.1,  11.1, CAL= 353.3,  12.8, ROT= 156.7, -12.8

2025-10-26T22:12:34.396Z,1761516754.396 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:12:34.397Z,1761516754.397 [DAT](INFO): direction in FSK: [-0.895622,0.385716,0.221548]
2025-10-26T22:12:34.397Z,1761516754.397 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:34.400Z,1761516754.400 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:12:34.401Z,1761516754.401 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:12:34.490Z,1761516754.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.600000 m,
      deltaT: 0.505679 s,
      deltaX: -0.100000 m,
      approachRate: -0.197755 m/s,
      rangeRepo size: 4

2025-10-26T22:12:34.500Z,1761516754.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.457127 m,
      bearing: 215.113080 deg,
      lat: 36.779428 deg,
      lon: -121.859480 deg,
      deltaT: 0.505679 s,
      deltaX: -0.099415 m,
      approachRate: -0.196597 m/s,
      posRepo size: 4

2025-10-26T22:12:34.501Z,1761516754.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m.
2025-10-26T22:12:34.636Z,1761516754.636 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:12:34.888Z,1761516754.888 [DAT](INFO): DAT read: user:494>

2025-10-26T22:12:34.889Z,1761516754.889 [DAT](INFO): DAT read: 50

2025-10-26T22:12:34.889Z,1761516754.889 [DAT](INFO): unknown deviceResponse_: 50

2025-10-26T22:12:34.889Z,1761516754.889 [DAT](INFO): DAT read: Ok

2025-10-26T22:12:34.890Z,1761516754.890 [DAT](INFO): unknown deviceResponse_: Ok

2025-10-26T22:12:34.890Z,1761516754.890 [DAT](INFO): DAT read: user:495>

2025-10-26T22:12:34.891Z,1761516754.891 [DAT](INFO): DAT read: Tx time:22:12:34.1391

2025-10-26T22:12:34.891Z,1761516754.891 [DAT](INFO): Ping request sent.
2025-10-26T22:12:34.891Z,1761516754.891 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:12:34.891Z,1761516754.891 [DAT](INFO): publishing transmit ping time
2025-10-26T22:12:34.892Z,1761516754.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000849
2025-10-26T22:12:35.018Z,1761516755.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m.
2025-10-26T22:12:35.140Z,1761516755.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249308
2025-10-26T22:12:35.297Z,1761516755.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512070,-0.857542,-0.049058],[0.858943,0.511138,0.030918],[-0.001439,-0.057970,0.998317]]
2025-10-26T22:12:35.320Z,1761516755.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m.
2025-10-26T22:12:35.396Z,1761516755.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505333
2025-10-26T22:12:35.648Z,1761516755.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757270
2025-10-26T22:12:35.746Z,1761516755.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511524,-0.857867,-0.049075],[0.859268,0.510586,0.031004],[-0.001540,-0.058027,0.998314]]
2025-10-26T22:12:35.799Z,1761516755.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m.
2025-10-26T22:12:35.901Z,1761516755.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009886
2025-10-26T22:12:36.137Z,1761516756.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m.
2025-10-26T22:12:36.155Z,1761516756.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263967
2025-10-26T22:12:36.404Z,1761516756.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513248
2025-10-26T22:12:36.552Z,1761516756.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m.
2025-10-26T22:12:36.658Z,1761516756.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767010
2025-10-26T22:12:36.908Z,1761516756.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017223
2025-10-26T22:12:36.979Z,1761516756.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m.
2025-10-26T22:12:37.163Z,1761516757.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272182
2025-10-26T22:12:37.311Z,1761516757.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509598,-0.859009,-0.049138],[0.860411,0.508661,0.030926],[-0.001571,-0.058038,0.998313]]
2025-10-26T22:12:37.344Z,1761516757.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m.
2025-10-26T22:12:37.413Z,1761516757.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521932
2025-10-26T22:12:37.664Z,1761516757.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773266
2025-10-26T22:12:37.763Z,1761516757.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509423,-0.859110,-0.049163],[0.860514,0.508482,0.031000],[-0.001634,-0.058097,0.998310]]
2025-10-26T22:12:37.812Z,1761516757.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m.
2025-10-26T22:12:37.916Z,1761516757.916 [DAT](INFO): DAT read: Rx Time:22:12:36.5753

2025-10-26T22:12:37.917Z,1761516757.917 [DAT](INFO): Rx dataTimestamp_ set to:1761516757.916580
2025-10-26T22:12:37.917Z,1761516757.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026338
2025-10-26T22:12:38.164Z,1761516758.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m.
2025-10-26T22:12:38.169Z,1761516758.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277436
2025-10-26T22:12:38.426Z,1761516758.426 [DAT](INFO): DAT read: 22:12:36.5753 LVL= 26144, 26465, 32754, 32755, AGC= 63, IDX= 501, 0.20,-2.756,-1.540, 2.898,-2.229, PHS=-0.425, 0.734,-1.200, RAW= 353.4,  10.6, CAL= 353.7,  12.0, ROT= 156.3, -12.0

2025-10-26T22:12:38.427Z,1761516758.427 [DAT](INFO): got valid direction response:
 22:12:36.5753 LVL= 26144, 26465, 32754, 32755, AGC= 63, IDX= 501, 0.20,-2.756,-1.540, 2.898,-2.229, PHS=-0.425, 0.734,-1.200, RAW= 353.4,  10.6, CAL= 353.7,  12.0, ROT= 156.3, -12.0

2025-10-26T22:12:38.428Z,1761516758.428 [DAT](INFO): DAT read: Bearing   6.3,  22.3 (Local)

2025-10-26T22:12:38.429Z,1761516758.429 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.3,  22.3 (Local)

2025-10-26T22:12:38.430Z,1761516758.430 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m  (Round-trip  32.1 ms) speed  0.0 m/s

2025-10-26T22:12:38.431Z,1761516758.431 [DAT](INFO): DAT read: user:496>

2025-10-26T22:12:38.431Z,1761516758.431 [DAT](INFO): DAT read: Tx time:22:12:37.6891

2025-10-26T22:12:38.432Z,1761516758.432 [DAT](INFO): Ping request sent.
2025-10-26T22:12:38.432Z,1761516758.432 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:12:38.432Z,1761516758.432 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:12:38.433Z,1761516758.433 [DAT](INFO): direction in FSK: [-0.895653,0.393164,0.207912]
2025-10-26T22:12:38.433Z,1761516758.433 [DAT](INFO): publishing transmit ping time
2025-10-26T22:12:38.434Z,1761516758.434 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:38.437Z,1761516758.437 [DAT](INFO): publishing transmit ping time
2025-10-26T22:12:38.437Z,1761516758.437 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:38.522Z,1761516758.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508598,-0.859585,-0.049413],[0.861003,0.507670,0.030733],[-0.001332,-0.058176,0.998305]]
2025-10-26T22:12:38.563Z,1761516758.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 4.034688 s,
      deltaX: 0.400000 m,
      approachRate: 0.099140 m/s,
      rangeRepo size: 4

2025-10-26T22:12:38.569Z,1761516758.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.854761 m,
      bearing: 215.113423 deg,
      lat: 36.779429 deg,
      lon: -121.859481 deg,
      deltaT: 4.034688 s,
      deltaX: 0.397635 m,
      approachRate: 0.098554 m/s,
      posRepo size: 4

2025-10-26T22:12:38.570Z,1761516758.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-10-26T22:12:38.927Z,1761516758.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508342,-0.859733,-0.049477],[0.861154,0.507418,0.030666],[-0.001259,-0.058196,0.998304]]
2025-10-26T22:12:38.994Z,1761516758.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-10-26T22:12:39.338Z,1761516759.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507767,-0.860077,-0.049404],[0.861494,0.506863,0.030315],[-0.001032,-0.057954,0.998319]]
2025-10-26T22:12:39.357Z,1761516759.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-10-26T22:12:39.777Z,1761516759.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507311,-0.860345,-0.049411],[0.861763,0.506425,0.029983],[-0.000773,-0.057791,0.998328]]
2025-10-26T22:12:39.834Z,1761516759.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-10-26T22:12:40.138Z,1761516760.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506960,-0.860550,-0.049448],[0.861969,0.506091,0.029674],[-0.000511,-0.057666,0.998336]]
2025-10-26T22:12:40.225Z,1761516760.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-10-26T22:12:40.543Z,1761516760.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506619,-0.860735,-0.049718],[0.862170,0.505768,0.029351],[-0.000118,-0.057736,0.998332]]
2025-10-26T22:12:40.566Z,1761516760.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:12:40.568Z,1761516760.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-10-26T22:12:40.688Z,1761516760.688 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:12:40.688Z,1761516760.688 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:12:40.688Z,1761516760.688 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:12:40.940Z,1761516760.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508511
2025-10-26T22:12:40.966Z,1761516760.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506303,-0.860912,-0.049869],[0.862355,0.505465,0.029131],[0.000128,-0.057753,0.998331]]
2025-10-26T22:12:41.031Z,1761516761.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-10-26T22:12:41.192Z,1761516761.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760460
2025-10-26T22:12:41.358Z,1761516761.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505781,-0.861213,-0.049980],[0.862662,0.504964,0.028743],[0.000484,-0.057653,0.998337]]
2025-10-26T22:12:41.397Z,1761516761.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-10-26T22:12:41.445Z,1761516761.445 [DAT](INFO): DAT read: Rx Time:22:12:40.1256

2025-10-26T22:12:41.446Z,1761516761.446 [DAT](INFO): Rx dataTimestamp_ set to:1761516761.445516
2025-10-26T22:12:41.447Z,1761516761.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014442
2025-10-26T22:12:41.697Z,1761516761.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264780
2025-10-26T22:12:41.802Z,1761516761.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505302,-0.861480,-0.050209],[0.862942,0.504506,0.028378],[0.000884,-0.057667,0.998335]]
2025-10-26T22:12:41.860Z,1761516761.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-10-26T22:12:41.957Z,1761516761.957 [DAT](INFO): DAT read: 22:12:40.1256 LVL= 21744, 21489, 32370, 32403, AGC= 62, IDX= 440, 0.33, 1.008, 2.307, 0.431, 1.650, PHS=-0.540, 0.702,-1.263, RAW= 351.3,  12.7, CAL= 351.8,  15.4, ROT= 158.2, -15.4

2025-10-26T22:12:41.958Z,1761516761.958 [DAT](INFO): got valid direction response:
 22:12:40.1256 LVL= 21744, 21489, 32370, 32403, AGC= 62, IDX= 440, 0.33, 1.008, 2.307, 0.431, 1.650, PHS=-0.540, 0.702,-1.263, RAW= 351.3,  12.7, CAL= 351.8,  15.4, ROT= 158.2, -15.4

2025-10-26T22:12:41.959Z,1761516761.959 [DAT](INFO): DAT read: Bearing   2.9,  20.0 (Local)

2025-10-26T22:12:41.960Z,1761516761.960 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.9,  20.0 (Local)

2025-10-26T22:12:41.961Z,1761516761.961 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m  (Round-trip  32.4 ms) speed  0.0 m/s

2025-10-26T22:12:41.962Z,1761516761.962 [DAT](INFO): DAT read: user:497>

2025-10-26T22:12:41.962Z,1761516761.962 [DAT](INFO): DAT read: Tx time:22:12:41.2391

2025-10-26T22:12:41.963Z,1761516761.963 [DAT](INFO): Ping request sent.
2025-10-26T22:12:41.963Z,1761516761.963 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:12:41.963Z,1761516761.963 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:12:41.965Z,1761516761.965 [DAT](INFO): direction in FSK: [-0.895149,0.358034,0.265556]
2025-10-26T22:12:41.965Z,1761516761.965 [DAT](INFO): publishing transmit ping time
2025-10-26T22:12:41.965Z,1761516761.965 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:41.968Z,1761516761.968 [DAT](INFO): publishing transmit ping time
2025-10-26T22:12:41.969Z,1761516761.969 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:42.168Z,1761516762.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504509,-0.861943,-0.050247],[0.863406,0.503739,0.027888],[0.001273,-0.057454,0.998347]]
2025-10-26T22:12:42.196Z,1761516762.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 3.528506 s,
      deltaX: 0.299999 m,
      approachRate: 0.085022 m/s,
      rangeRepo size: 4

2025-10-26T22:12:42.198Z,1761516762.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.152945 m,
      bearing: 217.103617 deg,
      lat: 36.779430 deg,
      lon: -121.859481 deg,
      deltaT: 3.528506 s,
      deltaX: 0.298183 m,
      approachRate: 0.084507 m/s,
      posRepo size: 4

2025-10-26T22:12:42.199Z,1761516762.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-10-26T22:12:42.610Z,1761516762.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-10-26T22:12:42.976Z,1761516762.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502941,-0.862847,-0.050452],[0.864318,0.502215,0.027088],[0.001964,-0.057230,0.998359]]
2025-10-26T22:12:43.016Z,1761516763.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-10-26T22:12:43.374Z,1761516763.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502397,-0.863143,-0.050801],[0.864634,0.501682,0.026886],[0.002279,-0.057432,0.998347]]
2025-10-26T22:12:43.413Z,1761516763.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-10-26T22:12:43.870Z,1761516763.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-10-26T22:12:44.183Z,1761516764.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500537,-0.864191,-0.051352],[0.865710,0.499862,0.026162],[0.003060,-0.057551,0.998338]]
2025-10-26T22:12:44.243Z,1761516764.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-10-26T22:12:44.587Z,1761516764.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499470,-0.864810,-0.051308],[0.866325,0.498813,0.025832],[0.003253,-0.057352,0.998349]]
2025-10-26T22:12:44.616Z,1761516764.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-10-26T22:12:44.972Z,1761516764.972 [DAT](INFO): DAT read: Rx Time:22:12:43.6759

2025-10-26T22:12:44.973Z,1761516764.973 [DAT](INFO): Rx dataTimestamp_ set to:1761516764.972605
2025-10-26T22:12:44.991Z,1761516764.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498481,-0.865376,-0.051387],[0.866894,0.497837,0.025559],[0.003464,-0.057287,0.998352]]
2025-10-26T22:12:45.051Z,1761516765.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-10-26T22:12:45.395Z,1761516765.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497194,-0.866120,-0.051318],[0.867631,0.496570,0.025179],[0.003675,-0.057044,0.998365]]
2025-10-26T22:12:45.413Z,1761516765.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-10-26T22:12:45.491Z,1761516765.491 [DAT](INFO): DAT read: 22:12:43.6759 LVL= 25808, 25073, 32754, 32755, AGC= 63, IDX= 442, 0.48,-2.729,-1.535, 2.963,-2.145, PHS=-0.482, 0.655,-1.219, RAW= 353.0,  12.7, CAL= 353.4,  15.4, ROT= 156.6, -15.4

2025-10-26T22:12:45.500Z,1761516765.500 [DAT](INFO): got valid direction response:
 22:12:43.6759 LVL= 25808, 25073, 32754, 32755, AGC= 63, IDX= 442, 0.48,-2.729,-1.535, 2.963,-2.145, PHS=-0.482, 0.655,-1.219, RAW= 353.0,  12.7, CAL= 353.4,  15.4, ROT= 156.6, -15.4

2025-10-26T22:12:45.501Z,1761516765.501 [DAT](INFO): DAT read: Bearing   2.7,  21.4 (Local)

2025-10-26T22:12:45.501Z,1761516765.501 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.7,  21.4 (Local)

2025-10-26T22:12:45.502Z,1761516765.502 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m  (Round-trip  32.7 ms) speed  0.0 m/s

2025-10-26T22:12:45.503Z,1761516765.503 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T22:12:45.513Z,1761516765.513 [DAT](INFO): direction in FSK: [-0.884803,0.382888,0.265556]
2025-10-26T22:12:45.513Z,1761516765.513 [DAT](INFO): publishing direction and range info
2025-10-26T22:12:45.798Z,1761516765.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496053,-0.866772,-0.051360],[0.868284,0.495437,0.025001],[0.003776,-0.056997,0.998367]]
2025-10-26T22:12:45.898Z,1761516765.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.500000 m,
      deltaT: 3.531434 s,
      deltaX: 0.200001 m,
      approachRate: 0.056634 m/s,
      rangeRepo size: 4

2025-10-26T22:12:45.905Z,1761516765.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.351631 m,
      bearing: 216.095800 deg,
      lat: 36.779430 deg,
      lon: -121.859486 deg,
      deltaT: 3.531434 s,
      deltaX: 0.198687 m,
      approachRate: 0.056262 m/s,
      posRepo size: 4

2025-10-26T22:12:45.905Z,1761516765.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:46.293Z,1761516766.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494055,-0.867892,-0.051704],[0.869422,0.493443,0.024896],[0.003906,-0.057252,0.998352]]
2025-10-26T22:12:46.330Z,1761516766.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:46.691Z,1761516766.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493176,-0.868393,-0.051684],[0.869922,0.492557,0.024983],[0.003762,-0.057282,0.998351]]
2025-10-26T22:12:46.746Z,1761516766.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:47.097Z,1761516767.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492212,-0.868962,-0.051313],[0.870468,0.491585,0.025076],[0.003435,-0.057009,0.998368]]
2025-10-26T22:12:47.149Z,1761516767.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:47.497Z,1761516767.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491458,-0.869412,-0.050904],[0.870897,0.490810,0.025388],[0.002912,-0.056809,0.998381]]
2025-10-26T22:12:47.525Z,1761516767.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:47.921Z,1761516767.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490744,-0.869839,-0.050509],[0.871301,0.490072,0.025781],[0.002328,-0.056661,0.998391]]
2025-10-26T22:12:48.029Z,1761516768.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:48.391Z,1761516768.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490401,-0.870049,-0.050212],[0.871495,0.489692,0.026422],[0.001600,-0.056717,0.998389]]
2025-10-26T22:12:48.417Z,1761516768.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:48.786Z,1761516768.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490385,-0.870074,-0.049936],[0.871505,0.489622,0.027351],[0.000653,-0.056932,0.998378]]
2025-10-26T22:12:48.824Z,1761516768.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:49.191Z,1761516769.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490440,-0.870065,-0.049557],[0.871475,0.489618,0.028383],[-0.000431,-0.057108,0.998368]]
2025-10-26T22:12:49.283Z,1761516769.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:49.597Z,1761516769.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490393,-0.870118,-0.049092],[0.871500,0.489517,0.029344],[-0.001501,-0.057174,0.998363]]
2025-10-26T22:12:49.616Z,1761516769.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:49.999Z,1761516769.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490376,-0.870174,-0.048260],[0.871507,0.489448,0.030277],[-0.002725,-0.056906,0.998376]]
2025-10-26T22:12:50.039Z,1761516770.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:50.402Z,1761516770.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490371,-0.870219,-0.047494],[0.871505,0.489394,0.031176],[-0.003886,-0.056679,0.998385]]
2025-10-26T22:12:50.430Z,1761516770.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:50.807Z,1761516770.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490279,-0.870323,-0.046531],[0.871550,0.489252,0.032134],[-0.005202,-0.056308,0.998400]]
2025-10-26T22:12:50.833Z,1761516770.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:50.872Z,1761516770.872 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:12:51.214Z,1761516771.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490460,-0.870248,-0.046010],[0.871440,0.489371,0.033293],[-0.006457,-0.056424,0.998386]]
2025-10-26T22:12:51.282Z,1761516771.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:51.614Z,1761516771.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490707,-0.870135,-0.045513],[0.871290,0.489552,0.034528],[-0.007763,-0.056598,0.998367]]
2025-10-26T22:12:51.645Z,1761516771.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:51.876Z,1761516771.876 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:12:52.018Z,1761516772.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490845,-0.870079,-0.045087],[0.871200,0.489623,0.035777],[-0.009053,-0.056841,0.998342]]
2025-10-26T22:12:52.064Z,1761516772.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:52.445Z,1761516772.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490759,-0.870152,-0.044628],[0.871236,0.489481,0.036831],[-0.010205,-0.056957,0.998324]]
2025-10-26T22:12:52.478Z,1761516772.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:52.828Z,1761516772.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490602,-0.870271,-0.044017],[0.871310,0.489277,0.037781],[-0.011343,-0.056888,0.998316]]
2025-10-26T22:12:52.852Z,1761516772.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:53.238Z,1761516773.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490187,-0.870538,-0.043365],[0.871529,0.488824,0.038573],[-0.012381,-0.056702,0.998314]]
2025-10-26T22:12:53.334Z,1761516773.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:53.634Z,1761516773.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489621,-0.870885,-0.042798],[0.871836,0.488231,0.039155],[-0.013204,-0.056484,0.998316]]
2025-10-26T22:12:53.676Z,1761516773.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:54.039Z,1761516774.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489117,-0.871187,-0.042403],[0.872106,0.487697,0.039778],[-0.013974,-0.056436,0.998308]]
2025-10-26T22:12:54.105Z,1761516774.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:54.444Z,1761516774.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488038,-0.871815,-0.041929],[0.872701,0.486606,0.040087],[-0.014545,-0.056155,0.998316]]
2025-10-26T22:12:54.483Z,1761516774.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:54.846Z,1761516774.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487432,-0.872159,-0.041819],[0.873029,0.485966,0.040706],[-0.015180,-0.056351,0.998296]]
2025-10-26T22:12:54.881Z,1761516774.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:55.251Z,1761516775.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486512,-0.872669,-0.041898],[0.873535,0.485020,0.041137],[-0.015577,-0.056612,0.998275]]
2025-10-26T22:12:55.308Z,1761516775.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:55.662Z,1761516775.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485595,-0.873175,-0.041979],[0.874039,0.484081,0.041489],[-0.015906,-0.056838,0.998257]]
2025-10-26T22:12:55.681Z,1761516775.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:56.062Z,1761516776.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484174,-0.873964,-0.041978],[0.874824,0.482656,0.041542],[-0.016045,-0.056837,0.998254]]
2025-10-26T22:12:56.098Z,1761516776.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:56.462Z,1761516776.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482735,-0.874766,-0.041835],[0.875616,0.481217,0.041547],[-0.016212,-0.056688,0.998260]]
2025-10-26T22:12:56.492Z,1761516776.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:56.866Z,1761516776.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481272,-0.875583,-0.041623],[0.876418,0.479758,0.041512],[-0.016378,-0.056458,0.998271]]
2025-10-26T22:12:56.885Z,1761516776.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:57.270Z,1761516777.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480022,-0.876270,-0.041587],[0.877100,0.478504,0.041579],[-0.016535,-0.056435,0.998269]]
2025-10-26T22:12:57.328Z,1761516777.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:57.675Z,1761516777.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478538,-0.877080,-0.041625],[0.877912,0.477026,0.041422],[-0.016474,-0.056365,0.998274]]
2025-10-26T22:12:57.694Z,1761516777.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:58.081Z,1761516778.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477315,-0.877744,-0.041658],[0.878575,0.475796,0.041514],[-0.016617,-0.056415,0.998269]]
2025-10-26T22:12:58.127Z,1761516778.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:58.482Z,1761516778.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476203,-0.878342,-0.041790],[0.879177,0.474676,0.041607],[-0.016708,-0.056554,0.998260]]
2025-10-26T22:12:58.501Z,1761516778.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:58.886Z,1761516778.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475117,-0.878916,-0.042074],[0.879764,0.473582,0.041651],[-0.016682,-0.056805,0.998246]]
2025-10-26T22:12:58.906Z,1761516778.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:59.293Z,1761516779.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474070,-0.879473,-0.042252],[0.880329,0.472529,0.041683],[-0.016694,-0.056957,0.998237]]
2025-10-26T22:12:59.330Z,1761516779.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:12:59.695Z,1761516779.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472983,-0.880058,-0.042258],[0.880912,0.471441,0.041669],[-0.016749,-0.056934,0.998237]]
2025-10-26T22:12:59.747Z,1761516779.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:00.108Z,1761516780.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471872,-0.880653,-0.042273],[0.881508,0.470333,0.041598],[-0.016751,-0.056893,0.998240]]
2025-10-26T22:13:00.155Z,1761516780.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:00.503Z,1761516780.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470953,-0.881143,-0.042321],[0.882000,0.469418,0.041501],[-0.016702,-0.056872,0.998242]]
2025-10-26T22:13:00.528Z,1761516780.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:00.908Z,1761516780.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470154,-0.881568,-0.042359],[0.882427,0.468620,0.041458],[-0.016698,-0.056870,0.998242]]
2025-10-26T22:13:00.928Z,1761516780.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:01.310Z,1761516781.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469628,-0.881843,-0.042455],[0.882705,0.468087,0.041543],[-0.016762,-0.056985,0.998234]]
2025-10-26T22:13:01.355Z,1761516781.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:01.726Z,1761516781.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469075,-0.882137,-0.042457],[0.882998,0.467532,0.041574],[-0.016824,-0.056991,0.998233]]
2025-10-26T22:13:01.755Z,1761516781.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:02.134Z,1761516782.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468667,-0.882347,-0.042596],[0.883215,0.467120,0.041589],[-0.016798,-0.057113,0.998226]]
2025-10-26T22:13:02.273Z,1761516782.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:02.527Z,1761516782.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468157,-0.882615,-0.042652],[0.883486,0.466612,0.041530],[-0.016753,-0.057125,0.998226]]
2025-10-26T22:13:02.554Z,1761516782.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:02.928Z,1761516782.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467665,-0.882876,-0.042648],[0.883748,0.466126,0.041428],[-0.016697,-0.057064,0.998231]]
2025-10-26T22:13:02.957Z,1761516782.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:03.330Z,1761516783.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467299,-0.883071,-0.042627],[0.883944,0.465769,0.041258],[-0.016579,-0.056960,0.998239]]
2025-10-26T22:13:03.389Z,1761516783.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:03.743Z,1761516783.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466838,-0.883310,-0.042730],[0.884192,0.465319,0.041024],[-0.016353,-0.056933,0.998244]]
2025-10-26T22:13:03.762Z,1761516783.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:04.163Z,1761516784.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466878,-0.883294,-0.042617],[0.884170,0.465361,0.041034],[-0.016413,-0.056838,0.998249]]
2025-10-26T22:13:04.241Z,1761516784.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:04.611Z,1761516784.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466758,-0.883353,-0.042718],[0.884238,0.465253,0.040790],[-0.016157,-0.056812,0.998254]]
2025-10-26T22:13:04.630Z,1761516784.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:05.011Z,1761516785.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466725,-0.883366,-0.042804],[0.884259,0.465232,0.040550],[-0.015907,-0.056776,0.998260]]
2025-10-26T22:13:05.046Z,1761516785.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:05.476Z,1761516785.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:05.820Z,1761516785.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466520,-0.883470,-0.042891],[0.884377,0.465059,0.039962],[-0.015359,-0.056575,0.998280]]
2025-10-26T22:13:05.845Z,1761516785.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:06.230Z,1761516786.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466464,-0.883494,-0.043008],[0.884413,0.465018,0.039660],[-0.015039,-0.056537,0.998287]]
2025-10-26T22:13:06.277Z,1761516786.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:06.641Z,1761516786.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466436,-0.883504,-0.043112],[0.884433,0.465009,0.039305],[-0.014678,-0.056463,0.998297]]
2025-10-26T22:13:06.746Z,1761516786.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:07.043Z,1761516787.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466526,-0.883445,-0.043349],[0.884393,0.465115,0.038961],[-0.014258,-0.056514,0.998300]]
2025-10-26T22:13:07.084Z,1761516787.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:07.465Z,1761516787.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466335,-0.883532,-0.043626],[0.884501,0.464945,0.038515],[-0.013745,-0.056548,0.998305]]
2025-10-26T22:13:07.533Z,1761516787.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:07.904Z,1761516787.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:08.254Z,1761516788.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465852,-0.883760,-0.044166],[0.884772,0.464510,0.037532],[-0.012654,-0.056561,0.998319]]
2025-10-26T22:13:08.312Z,1761516788.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:08.659Z,1761516788.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465714,-0.883820,-0.044423],[0.884851,0.464391,0.037137],[-0.012193,-0.056603,0.998322]]
2025-10-26T22:13:08.679Z,1761516788.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:09.065Z,1761516789.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465348,-0.884013,-0.044413],[0.885049,0.464047,0.036729],[-0.011859,-0.056399,0.998338]]
2025-10-26T22:13:09.084Z,1761516789.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:09.466Z,1761516789.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464972,-0.884201,-0.044614],[0.885252,0.463694,0.036274],[-0.011386,-0.056361,0.998345]]
2025-10-26T22:13:09.520Z,1761516789.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:09.870Z,1761516789.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464565,-0.884412,-0.044664],[0.885470,0.463309,0.035892],[-0.011050,-0.056223,0.998357]]
2025-10-26T22:13:09.889Z,1761516789.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:10.279Z,1761516790.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464072,-0.884651,-0.045046],[0.885734,0.462832,0.035524],[-0.010578,-0.056385,0.998353]]
2025-10-26T22:13:10.341Z,1761516790.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:10.682Z,1761516790.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463572,-0.884895,-0.045408],[0.886001,0.462343,0.035239],[-0.010189,-0.056568,0.998347]]
2025-10-26T22:13:10.765Z,1761516790.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:11.119Z,1761516791.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:11.494Z,1761516791.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462423,-0.885475,-0.045828],[0.886607,0.461214,0.034777],[-0.009658,-0.056713,0.998344]]
2025-10-26T22:13:11.547Z,1761516791.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:11.892Z,1761516791.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461961,-0.885719,-0.045759],[0.886848,0.460761,0.034631],[-0.009589,-0.056580,0.998352]]
2025-10-26T22:13:11.916Z,1761516791.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:12.294Z,1761516792.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461128,-0.886163,-0.045555],[0.887283,0.459944,0.034366],[-0.009501,-0.056268,0.998371]]
2025-10-26T22:13:12.345Z,1761516792.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:12.717Z,1761516792.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459611,-0.886960,-0.045383],[0.888070,0.458439,0.034142],[-0.009478,-0.055995,0.998386]]
2025-10-26T22:13:12.752Z,1761516792.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:13.113Z,1761516793.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459271,-0.887122,-0.045665],[0.888245,0.458084,0.034361],[-0.009564,-0.056342,0.998366]]
2025-10-26T22:13:13.133Z,1761516793.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:13.521Z,1761516793.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458611,-0.887458,-0.045770],[0.888584,0.457411,0.034550],[-0.009726,-0.056515,0.998354]]
2025-10-26T22:13:13.578Z,1761516793.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:13.952Z,1761516793.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458034,-0.887744,-0.045997],[0.888881,0.456820,0.034736],[-0.009824,-0.056796,0.998337]]
2025-10-26T22:13:13.981Z,1761516793.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:14.355Z,1761516794.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457384,-0.888083,-0.045915],[0.889212,0.456158,0.034970],[-0.010111,-0.056823,0.998333]]
2025-10-26T22:13:14.399Z,1761516794.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:14.762Z,1761516794.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456637,-0.888477,-0.045733],[0.889592,0.455400,0.035167],[-0.010419,-0.056742,0.998334]]
2025-10-26T22:13:14.794Z,1761516794.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:15.162Z,1761516795.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455482,-0.889092,-0.045304],[0.890181,0.454248,0.035168],[-0.010688,-0.056347,0.998354]]
2025-10-26T22:13:15.210Z,1761516795.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:15.566Z,1761516795.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454811,-0.889456,-0.044895],[0.890518,0.453563,0.035477],[-0.011193,-0.056115,0.998362]]
2025-10-26T22:13:15.623Z,1761516795.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:15.993Z,1761516795.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454249,-0.889767,-0.044417],[0.890795,0.452978,0.035978],[-0.011892,-0.055909,0.998365]]
2025-10-26T22:13:16.029Z,1761516796.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:16.396Z,1761516796.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453780,-0.890016,-0.044213],[0.891025,0.452473,0.036647],[-0.012611,-0.056025,0.998350]]
2025-10-26T22:13:16.522Z,1761516796.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:16.798Z,1761516796.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453381,-0.890224,-0.044131],[0.891216,0.452029,0.037460],[-0.013399,-0.056313,0.998323]]
2025-10-26T22:13:16.868Z,1761516796.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:17.208Z,1761516797.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453395,-0.890221,-0.044031],[0.891193,0.451983,0.038560],[-0.014425,-0.056723,0.998286]]
2025-10-26T22:13:17.335Z,1761516797.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:17.609Z,1761516797.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453182,-0.890347,-0.043673],[0.891284,0.451721,0.039505],[-0.015445,-0.056828,0.998264]]
2025-10-26T22:13:17.689Z,1761516797.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:18.013Z,1761516798.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453100,-0.890416,-0.043116],[0.891305,0.451590,0.040534],[-0.016621,-0.056795,0.998248]]
2025-10-26T22:13:18.033Z,1761516798.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:18.414Z,1761516798.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453110,-0.890447,-0.042368],[0.891276,0.451558,0.041495],[-0.017818,-0.056564,0.998240]]
2025-10-26T22:13:18.461Z,1761516798.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:18.818Z,1761516798.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453376,-0.890351,-0.041532],[0.891114,0.451779,0.042568],[-0.019137,-0.056309,0.998230]]
2025-10-26T22:13:18.837Z,1761516798.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:19.225Z,1761516799.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454104,-0.890010,-0.040877],[0.890711,0.452447,0.043877],[-0.020557,-0.056334,0.998200]]
2025-10-26T22:13:19.244Z,1761516799.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:19.626Z,1761516799.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454852,-0.889661,-0.040160],[0.890295,0.453136,0.045185],[-0.022002,-0.056307,0.998171]]
2025-10-26T22:13:19.679Z,1761516799.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:20.033Z,1761516800.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455774,-0.889213,-0.039627],[0.889786,0.453990,0.046616],[-0.023462,-0.056506,0.998127]]
2025-10-26T22:13:20.120Z,1761516800.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:20.511Z,1761516800.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:20.845Z,1761516800.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457796,-0.888228,-0.038392],[0.888668,0.455891,0.049311],[-0.026297,-0.056692,0.998045]]
2025-10-26T22:13:20.899Z,1761516800.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:21.269Z,1761516801.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458780,-0.887761,-0.037447],[0.888116,0.456832,0.050533],[-0.027755,-0.056441,0.998020]]
2025-10-26T22:13:21.364Z,1761516801.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:21.680Z,1761516801.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459703,-0.887321,-0.036534],[0.887596,0.457719,0.051637],[-0.029096,-0.056165,0.997997]]
2025-10-26T22:13:21.755Z,1761516801.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:21.996Z,1761516801.996 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:13:22.074Z,1761516802.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460697,-0.886834,-0.035824],[0.887039,0.458673,0.052727],[-0.030329,-0.056068,0.997966]]
2025-10-26T22:13:22.108Z,1761516802.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:22.478Z,1761516802.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461483,-0.886448,-0.035257],[0.886593,0.459423,0.053700],[-0.031404,-0.056041,0.997934]]
2025-10-26T22:13:22.532Z,1761516802.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:22.885Z,1761516802.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462246,-0.886065,-0.034886],[0.886159,0.460142,0.054688],[-0.032404,-0.056194,0.997894]]
2025-10-26T22:13:22.904Z,1761516802.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:22.000Z,1761516803.000 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:13:23.288Z,1761516803.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462573,-0.885903,-0.034661],[0.885963,0.460438,0.055369],[-0.033092,-0.056320,0.997864]]
2025-10-26T22:13:23.307Z,1761516803.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:23.696Z,1761516803.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462752,-0.885811,-0.034628],[0.885852,0.460587,0.055915],[-0.033581,-0.056550,0.997835]]
2025-10-26T22:13:23.752Z,1761516803.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:24.094Z,1761516804.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462705,-0.885845,-0.034394],[0.885858,0.460525,0.056323],[-0.034054,-0.056529,0.997820]]
2025-10-26T22:13:24.113Z,1761516804.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:24.499Z,1761516804.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462383,-0.886026,-0.034053],[0.886011,0.460202,0.056564],[-0.034446,-0.056325,0.997818]]
2025-10-26T22:13:24.564Z,1761516804.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:24.902Z,1761516804.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461854,-0.886302,-0.034044],[0.886286,0.459674,0.056550],[-0.034472,-0.056291,0.997819]]
2025-10-26T22:13:24.929Z,1761516804.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:25.306Z,1761516805.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461155,-0.886665,-0.034069],[0.886652,0.458979,0.056457],[-0.034422,-0.056243,0.997824]]
2025-10-26T22:13:25.355Z,1761516805.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:25.715Z,1761516805.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460359,-0.887073,-0.034239],[0.887072,0.458185,0.056300],[-0.034255,-0.056291,0.997827]]
2025-10-26T22:13:25.768Z,1761516805.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:26.115Z,1761516806.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459338,-0.887585,-0.034666],[0.887616,0.457166,0.056004],[-0.033860,-0.056495,0.997829]]
2025-10-26T22:13:26.133Z,1761516806.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:26.529Z,1761516806.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458406,-0.888053,-0.035001],[0.888111,0.456239,0.055722],[-0.033515,-0.056628,0.997833]]
2025-10-26T22:13:26.587Z,1761516806.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:26.922Z,1761516806.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457165,-0.888681,-0.035292],[0.888769,0.455017,0.055223],[-0.033017,-0.056612,0.997850]]
2025-10-26T22:13:26.958Z,1761516806.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:27.326Z,1761516807.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456140,-0.889203,-0.035414],[0.889312,0.454017,0.054699],[-0.032560,-0.056445,0.997875]]
2025-10-26T22:13:27.346Z,1761516807.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:27.735Z,1761516807.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455324,-0.889616,-0.035540],[0.889745,0.453224,0.054236],[-0.032141,-0.056316,0.997896]]
2025-10-26T22:13:27.788Z,1761516807.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:28.135Z,1761516808.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454582,-0.889985,-0.035795],[0.890143,0.452502,0.053734],[-0.031625,-0.056289,0.997913]]
2025-10-26T22:13:28.200Z,1761516808.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:28.542Z,1761516808.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454447,-0.890039,-0.036180],[0.890225,0.452367,0.053512],[-0.031262,-0.056527,0.997912]]
2025-10-26T22:13:28.619Z,1761516808.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:28.942Z,1761516808.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454145,-0.890182,-0.036446],[0.890393,0.452076,0.053174],[-0.030858,-0.056599,0.997920]]
2025-10-26T22:13:28.968Z,1761516808.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:29.346Z,1761516809.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454039,-0.890224,-0.036744],[0.890459,0.451974,0.052935],[-0.030516,-0.056754,0.997922]]
2025-10-26T22:13:29.398Z,1761516809.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:29.750Z,1761516809.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453980,-0.890243,-0.037003],[0.890503,0.451926,0.052612],[-0.030115,-0.056837,0.997929]]
2025-10-26T22:13:29.823Z,1761516809.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:30.162Z,1761516810.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454228,-0.890115,-0.037051],[0.890385,0.452187,0.052365],[-0.029857,-0.056776,0.997940]]
2025-10-26T22:13:30.225Z,1761516810.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:30.558Z,1761516810.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454529,-0.889974,-0.036739],[0.890235,0.452512,0.052088],[-0.029732,-0.056382,0.997966]]
2025-10-26T22:13:30.692Z,1761516810.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:30.962Z,1761516810.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455002,-0.889734,-0.036696],[0.890005,0.453008,0.051717],[-0.029391,-0.056191,0.997987]]
2025-10-26T22:13:31.023Z,1761516811.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:31.366Z,1761516811.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455956,-0.889248,-0.036641],[0.889521,0.453970,0.051617],[-0.029266,-0.056128,0.997995]]
2025-10-26T22:13:31.430Z,1761516811.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:31.772Z,1761516811.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456593,-0.888920,-0.036659],[0.889202,0.454619,0.051395],[-0.029020,-0.056064,0.998005]]
2025-10-26T22:13:31.841Z,1761516811.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:32.183Z,1761516812.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457415,-0.888492,-0.036782],[0.888787,0.455445,0.051269],[-0.028800,-0.056143,0.998007]]
2025-10-26T22:13:32.229Z,1761516812.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:32.586Z,1761516812.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458611,-0.887868,-0.036961],[0.888175,0.456633,0.051302],[-0.028671,-0.056355,0.997999]]
2025-10-26T22:13:32.636Z,1761516812.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:32.982Z,1761516812.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459582,-0.887365,-0.036973],[0.887676,0.457607,0.051251],[-0.028559,-0.056374,0.998001]]
2025-10-26T22:13:33.002Z,1761516813.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:33.389Z,1761516813.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460483,-0.886895,-0.037045],[0.887218,0.458520,0.051018],[-0.028262,-0.056360,0.998010]]
2025-10-26T22:13:33.474Z,1761516813.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:33.790Z,1761516813.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461231,-0.886512,-0.036906],[0.886838,0.459289,0.050720],[-0.028013,-0.056123,0.998031]]
2025-10-26T22:13:33.864Z,1761516813.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:34.195Z,1761516814.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462230,-0.885996,-0.036804],[0.886323,0.460302,0.050529],[-0.027828,-0.055977,0.998044]]
2025-10-26T22:13:34.242Z,1761516814.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:34.616Z,1761516814.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462730,-0.885742,-0.036645],[0.886073,0.460830,0.050102],[-0.027490,-0.055654,0.998072]]
2025-10-26T22:13:34.702Z,1761516814.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:35.003Z,1761516815.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463955,-0.885091,-0.036877],[0.885438,0.462051,0.050081],[-0.027287,-0.055888,0.998064]]
2025-10-26T22:13:35.022Z,1761516815.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:35.407Z,1761516815.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464753,-0.884660,-0.037151],[0.885029,0.462849,0.049948],[-0.026992,-0.056093,0.998061]]
2025-10-26T22:13:35.433Z,1761516815.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:35.810Z,1761516815.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465231,-0.884400,-0.037379],[0.884790,0.463338,0.049647],[-0.026589,-0.056170,0.998067]]
2025-10-26T22:13:35.854Z,1761516815.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:36.214Z,1761516816.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465875,-0.884055,-0.037512],[0.884459,0.463990,0.049446],[-0.026308,-0.056213,0.998072]]
2025-10-26T22:13:36.233Z,1761516816.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:36.644Z,1761516816.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466382,-0.883789,-0.037486],[0.884199,0.464511,0.049217],[-0.026085,-0.056099,0.998084]]
2025-10-26T22:13:36.703Z,1761516816.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:37.022Z,1761516817.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466829,-0.883549,-0.037582],[0.883974,0.464974,0.048887],[-0.025719,-0.056044,0.998097]]
2025-10-26T22:13:37.048Z,1761516817.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:37.426Z,1761516817.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467103,-0.883404,-0.037587],[0.883839,0.465268,0.048524],[-0.025378,-0.055887,0.998114]]
2025-10-26T22:13:37.489Z,1761516817.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:37.885Z,1761516817.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:38.235Z,1761516818.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468139,-0.882840,-0.037939],[0.883305,0.466314,0.048206],[-0.024867,-0.056078,0.998117]]
2025-10-26T22:13:38.254Z,1761516818.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:38.685Z,1761516818.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468733,-0.882516,-0.038142],[0.882992,0.466901,0.048251],[-0.024774,-0.056296,0.998107]]
2025-10-26T22:13:38.723Z,1761516818.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:39.042Z,1761516819.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468963,-0.882390,-0.038232],[0.882874,0.467135,0.048150],[-0.024627,-0.056335,0.998108]]
2025-10-26T22:13:39.078Z,1761516819.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:39.490Z,1761516819.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:39.851Z,1761516819.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469226,-0.882246,-0.038320],[0.882744,0.467413,0.047837],[-0.024293,-0.056273,0.998120]]
2025-10-26T22:13:39.880Z,1761516819.880 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   -90,   -480.00
2025-10-26T22:13:39.919Z,1761516819.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:40.258Z,1761516820.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469617,-0.882040,-0.038288],[0.882536,0.467805,0.047838],[-0.024283,-0.056256,0.998121]]
2025-10-26T22:13:40.277Z,1761516820.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:40.696Z,1761516820.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469941,-0.881883,-0.037909],[0.882358,0.468136,0.047878],[-0.024477,-0.055949,0.998134]]
2025-10-26T22:13:40.753Z,1761516820.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:13:40.755Z,1761516820.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:40.956Z,1761516820.956 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:13:40.956Z,1761516820.956 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:13:41.062Z,1761516821.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470543,-0.881573,-0.037667],[0.882029,0.468730,0.048130],[-0.024774,-0.055870,0.998131]]
2025-10-26T22:13:41.081Z,1761516821.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:41.208Z,1761516821.208 [DAT](INFO): DAT read: user:498>

2025-10-26T22:13:41.209Z,1761516821.209 [DAT](INFO): DAT read: Tx time:22:13:40.3390

2025-10-26T22:13:41.209Z,1761516821.209 [DAT](INFO): Ping request sent.
2025-10-26T22:13:41.210Z,1761516821.210 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:13:41.210Z,1761516821.210 [DAT](INFO): publishing transmit ping time
2025-10-26T22:13:41.210Z,1761516821.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-10-26T22:13:41.460Z,1761516821.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250839
2025-10-26T22:13:41.468Z,1761516821.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471156,-0.881249,-0.037580],[0.881695,0.469330,0.048416],[-0.025029,-0.055945,0.998120]]
2025-10-26T22:13:41.490Z,1761516821.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:41.714Z,1761516821.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503916
2025-10-26T22:13:41.872Z,1761516821.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472022,-0.880789,-0.037490],[0.881222,0.470175,0.048824],[-0.025377,-0.056083,0.998104]]
2025-10-26T22:13:41.909Z,1761516821.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:41.965Z,1761516821.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755309
2025-10-26T22:13:42.216Z,1761516822.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006693
2025-10-26T22:13:42.274Z,1761516822.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472761,-0.880394,-0.037453],[0.880817,0.470895,0.049184],[-0.025664,-0.056242,0.998087]]
2025-10-26T22:13:42.300Z,1761516822.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:42.469Z,1761516822.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259109
2025-10-26T22:13:42.724Z,1761516822.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513249
2025-10-26T22:13:42.725Z,1761516822.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473538,-0.879993,-0.037074],[0.880384,0.471657,0.049630],[-0.026188,-0.056141,0.998079]]
2025-10-26T22:13:42.777Z,1761516822.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:42.972Z,1761516822.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762677
2025-10-26T22:13:43.083Z,1761516823.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474291,-0.879598,-0.036821],[0.879966,0.472395,0.050026],[-0.026609,-0.056128,0.998069]]
2025-10-26T22:13:43.102Z,1761516823.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:43.225Z,1761516823.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015099
2025-10-26T22:13:43.477Z,1761516823.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267740
2025-10-26T22:13:43.517Z,1761516823.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:43.729Z,1761516823.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519312
2025-10-26T22:13:43.890Z,1761516823.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475938,-0.878735,-0.036170],[0.879046,0.474011,0.050897],[-0.027580,-0.056019,0.998049]]
2025-10-26T22:13:43.939Z,1761516823.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:43.982Z,1761516823.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772032
2025-10-26T22:13:44.232Z,1761516824.232 [DAT](INFO): DAT read: Rx Time:22:13:42.7791

2025-10-26T22:13:44.233Z,1761516824.233 [DAT](INFO): Rx dataTimestamp_ set to:1761516824.232558
2025-10-26T22:13:44.233Z,1761516824.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023790
2025-10-26T22:13:44.296Z,1761516824.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476804,-0.878278,-0.035862],[0.878561,0.474859,0.051381],[-0.028097,-0.056005,0.998035]]
2025-10-26T22:13:44.315Z,1761516824.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:13:44.484Z,1761516824.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274736
2025-10-26T22:13:44.754Z,1761516824.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477791,-0.877744,-0.035788],[0.878011,0.475821,0.051876],[-0.028505,-0.056208,0.998012]]
2025-10-26T22:13:44.757Z,1761516824.757 [DAT](INFO): DAT read: 22:13:42.7791 LVL= 25712, 20913, 32754, 32755, AGC= 57, IDX= 476,-0.27,-0.081, 0.669,-1.069, 0.323, PHS=-0.302, 0.391,-1.436, RAW=   7.9,  16.6, CAL=   7.9,  20.6, ROT= 142.1, -20.6

2025-10-26T22:13:44.758Z,1761516824.758 [DAT](INFO): got valid direction response:
 22:13:42.7791 LVL= 25712, 20913, 32754, 32755, AGC= 57, IDX= 476,-0.27,-0.081, 0.669,-1.069, 0.323, PHS=-0.302, 0.391,-1.436, RAW=   7.9,  16.6, CAL=   7.9,  20.6, ROT= 142.1, -20.6

2025-10-26T22:13:44.759Z,1761516824.759 [DAT](INFO): DAT read: Bearing 355.6,  35.1 (Local)

2025-10-26T22:13:44.783Z,1761516824.783 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.6,  35.1 (Local)

2025-10-26T22:13:44.785Z,1761516824.785 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m  (Round-trip  35.9 ms) speed -0.1 m/s

2025-10-26T22:13:44.785Z,1761516824.785 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:13:44.786Z,1761516824.786 [DAT](INFO): direction in FSK: [-0.738630,0.575007,0.351842]
2025-10-26T22:13:44.787Z,1761516824.787 [DAT](INFO): publishing direction and range info
2025-10-26T22:13:44.894Z,1761516824.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 59.257860 s,
      deltaX: 2.400000 m,
      approachRate: 0.040501 m/s,
      rangeRepo size: 4

2025-10-26T22:13:44.900Z,1761516824.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.737047 m,
      bearing: 202.287172 deg,
      lat: 36.779433 deg,
      lon: -121.859492 deg,
      deltaT: 59.257860 s,
      deltaX: 2.385416 m,
      approachRate: 0.040255 m/s,
      posRepo size: 4

2025-10-26T22:13:44.900Z,1761516824.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:45.124Z,1761516825.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478344,-0.877458,-0.035411],[0.877696,0.476368,0.052182],[-0.028919,-0.056041,0.998010]]
2025-10-26T22:13:45.237Z,1761516825.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:45.532Z,1761516825.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478701,-0.877277,-0.035076],[0.877491,0.476723,0.052397],[-0.029245,-0.055861,0.998010]]
2025-10-26T22:13:45.577Z,1761516825.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:45.940Z,1761516825.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479967,-0.876594,-0.034866],[0.876777,0.477955,0.053108],[-0.029890,-0.056060,0.997980]]
2025-10-26T22:13:46.008Z,1761516826.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:46.384Z,1761516826.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:46.785Z,1761516826.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480670,-0.876217,-0.034643],[0.876378,0.478642,0.053511],[-0.030306,-0.056081,0.997966]]
2025-10-26T22:13:46.883Z,1761516826.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:47.155Z,1761516827.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480707,-0.876204,-0.034453],[0.876352,0.478682,0.053578],[-0.030454,-0.055949,0.997969]]
2025-10-26T22:13:47.205Z,1761516827.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:47.559Z,1761516827.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480981,-0.876057,-0.034360],[0.876193,0.478945,0.053830],[-0.030702,-0.055998,0.997959]]
2025-10-26T22:13:47.612Z,1761516827.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:47.952Z,1761516827.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480818,-0.876148,-0.034336],[0.876284,0.478785,0.053775],[-0.030675,-0.055944,0.997963]]
2025-10-26T22:13:48.014Z,1761516828.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:48.355Z,1761516828.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481018,-0.876036,-0.034385],[0.876169,0.478973,0.053965],[-0.030805,-0.056085,0.997951]]
2025-10-26T22:13:48.373Z,1761516828.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:48.796Z,1761516828.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480939,-0.876086,-0.034229],[0.876209,0.478896,0.054005],[-0.030921,-0.055965,0.997954]]
2025-10-26T22:13:48.852Z,1761516828.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:49.164Z,1761516829.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480952,-0.876078,-0.034242],[0.876199,0.478904,0.054095],[-0.030993,-0.056020,0.997948]]
2025-10-26T22:13:49.189Z,1761516829.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:49.569Z,1761516829.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480974,-0.876064,-0.034285],[0.876186,0.478923,0.054134],[-0.031005,-0.056077,0.997945]]
2025-10-26T22:13:49.608Z,1761516829.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:49.970Z,1761516829.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481084,-0.876011,-0.034106],[0.876122,0.479037,0.054161],[-0.031107,-0.055937,0.997950]]
2025-10-26T22:13:50.025Z,1761516830.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:50.376Z,1761516830.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481658,-0.875691,-0.034203],[0.875803,0.479595,0.054392],[-0.031227,-0.056154,0.997934]]
2025-10-26T22:13:50.394Z,1761516830.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:50.802Z,1761516830.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482253,-0.875366,-0.034150],[0.875469,0.480180,0.054606],[-0.031402,-0.056231,0.997924]]
2025-10-26T22:13:50.863Z,1761516830.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:51.235Z,1761516831.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:51.590Z,1761516831.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483672,-0.874595,-0.033850],[0.874671,0.481586,0.055003],[-0.031804,-0.056211,0.997912]]
2025-10-26T22:13:51.608Z,1761516831.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:51.993Z,1761516831.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484816,-0.873967,-0.033691],[0.874028,0.482718,0.055313],[-0.032079,-0.056263,0.997901]]
2025-10-26T22:13:52.034Z,1761516832.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:52.394Z,1761516832.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486039,-0.873299,-0.033401],[0.873335,0.483930,0.055659],[-0.032443,-0.056222,0.997891]]
2025-10-26T22:13:52.424Z,1761516832.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:52.802Z,1761516832.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487433,-0.872525,-0.033296],[0.872544,0.485303,0.056103],[-0.032793,-0.056399,0.997870]]
2025-10-26T22:13:52.884Z,1761516832.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:53.120Z,1761516833.120 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:13:53.204Z,1761516833.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488635,-0.871859,-0.033128],[0.871863,0.486495,0.056378],[-0.033038,-0.056431,0.997860]]
2025-10-26T22:13:53.241Z,1761516833.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:53.606Z,1761516833.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489714,-0.871264,-0.032845],[0.871250,0.487576,0.056502],[-0.033214,-0.056286,0.997862]]
2025-10-26T22:13:53.668Z,1761516833.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:54.010Z,1761516834.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491262,-0.870401,-0.032620],[0.870369,0.489115,0.056786],[-0.033471,-0.056288,0.997853]]
2025-10-26T22:13:54.061Z,1761516834.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:54.124Z,1761516834.124 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:13:54.415Z,1761516834.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492504,-0.869709,-0.032349],[0.869663,0.490364,0.056829],[-0.033562,-0.056121,0.997860]]
2025-10-26T22:13:54.433Z,1761516834.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:54.818Z,1761516834.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493676,-0.869049,-0.032220],[0.869000,0.491544,0.056778],[-0.033505,-0.056030,0.997867]]
2025-10-26T22:13:54.878Z,1761516834.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:55.222Z,1761516835.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494683,-0.868476,-0.032225],[0.868434,0.492556,0.056674],[-0.033347,-0.056021,0.997873]]
2025-10-26T22:13:55.269Z,1761516835.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:55.651Z,1761516835.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495407,-0.868066,-0.032157],[0.868027,0.493292,0.056494],[-0.033178,-0.055901,0.997885]]
2025-10-26T22:13:55.670Z,1761516835.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:56.031Z,1761516836.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496303,-0.867554,-0.032146],[0.867522,0.494196,0.056364],[-0.033013,-0.055860,0.997893]]
2025-10-26T22:13:56.082Z,1761516836.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:56.435Z,1761516836.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496964,-0.867172,-0.032235],[0.867153,0.494864,0.056176],[-0.032763,-0.055870,0.997900]]
2025-10-26T22:13:56.453Z,1761516836.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:56.842Z,1761516836.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496997,-0.867145,-0.032465],[0.867153,0.494917,0.055701],[-0.032233,-0.055836,0.997920]]
2025-10-26T22:13:56.865Z,1761516836.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:57.242Z,1761516837.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496854,-0.867216,-0.032743],[0.867255,0.494792,0.055226],[-0.031692,-0.055836,0.997937]]
2025-10-26T22:13:57.287Z,1761516837.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:57.655Z,1761516837.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496537,-0.867389,-0.032989],[0.867456,0.494493,0.054739],[-0.031167,-0.055796,0.997956]]
2025-10-26T22:13:57.674Z,1761516837.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:58.130Z,1761516838.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:58.454Z,1761516838.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495354,-0.868024,-0.034047],[0.868179,0.493336,0.053713],[-0.029828,-0.056166,0.997976]]
2025-10-26T22:13:58.481Z,1761516838.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:58.859Z,1761516838.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494709,-0.868372,-0.034540],[0.868569,0.492706,0.053181],[-0.029163,-0.056310,0.997987]]
2025-10-26T22:13:58.894Z,1761516838.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:59.262Z,1761516839.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493936,-0.868794,-0.034972],[0.869030,0.491951,0.052639],[-0.028528,-0.056392,0.998001]]
2025-10-26T22:13:59.374Z,1761516839.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:13:59.736Z,1761516839.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493157,-0.869227,-0.035223],[0.869488,0.491191,0.052180],[-0.028055,-0.056359,0.998016]]
2025-10-26T22:13:59.782Z,1761516839.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:00.305Z,1761516840.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:00.679Z,1761516840.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492031,-0.869843,-0.035757],[0.870156,0.490098,0.051312],[-0.027109,-0.056361,0.998042]]
2025-10-26T22:14:00.758Z,1761516840.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:01.083Z,1761516841.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491638,-0.870060,-0.035879],[0.870388,0.489721,0.050970],[-0.026776,-0.056287,0.998056]]
2025-10-26T22:14:01.167Z,1761516841.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:01.560Z,1761516841.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492033,-0.869829,-0.036057],[0.870170,0.490117,0.050876],[-0.026581,-0.056408,0.998054]]
2025-10-26T22:14:01.617Z,1761516841.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:02.009Z,1761516842.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492652,-0.869478,-0.036074],[0.869819,0.490729,0.050995],[-0.026636,-0.056501,0.998047]]
2025-10-26T22:14:02.046Z,1761516842.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:02.398Z,1761516842.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493330,-0.869102,-0.035878],[0.869430,0.491405,0.051114],[-0.026793,-0.056410,0.998048]]
2025-10-26T22:14:02.416Z,1761516842.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:02.803Z,1761516842.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494187,-0.868622,-0.035703],[0.868939,0.492263,0.051208],[-0.026905,-0.056330,0.998050]]
2025-10-26T22:14:02.822Z,1761516842.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:03.212Z,1761516843.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495471,-0.867898,-0.035528],[0.868198,0.493531,0.051578],[-0.027231,-0.056401,0.998037]]
2025-10-26T22:14:03.254Z,1761516843.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:03.626Z,1761516843.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496886,-0.867106,-0.035081],[0.867375,0.494939,0.051930],[-0.027666,-0.056232,0.998034]]
2025-10-26T22:14:03.647Z,1761516843.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:04.031Z,1761516844.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498318,-0.866294,-0.034828],[0.866542,0.496361,0.052253],[-0.027979,-0.056219,0.998026]]
2025-10-26T22:14:04.076Z,1761516844.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:04.419Z,1761516844.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499795,-0.865456,-0.034501],[0.865680,0.497829,0.052574],[-0.028324,-0.056143,0.998021]]
2025-10-26T22:14:04.437Z,1761516844.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:04.824Z,1761516844.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501238,-0.864637,-0.034118],[0.864836,0.499270,0.052795],[-0.028615,-0.055970,0.998022]]
2025-10-26T22:14:04.842Z,1761516844.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:05.226Z,1761516845.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502939,-0.863655,-0.033954],[0.863838,0.500956,0.053162],[-0.028904,-0.056068,0.998008]]
2025-10-26T22:14:05.275Z,1761516845.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:05.642Z,1761516845.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504263,-0.862894,-0.033660],[0.863061,0.502282,0.053280],[-0.029069,-0.055918,0.998012]]
2025-10-26T22:14:05.679Z,1761516845.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:06.062Z,1761516846.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505427,-0.862214,-0.033640],[0.862381,0.503444,0.053322],[-0.029039,-0.055961,0.998011]]
2025-10-26T22:14:06.120Z,1761516846.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:06.451Z,1761516846.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506101,-0.861826,-0.033432],[0.861988,0.504134,0.053150],[-0.028952,-0.055717,0.998027]]
2025-10-26T22:14:06.470Z,1761516846.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:06.854Z,1761516846.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506852,-0.861375,-0.033663],[0.861556,0.504888,0.053003],[-0.028660,-0.055867,0.998027]]
2025-10-26T22:14:06.879Z,1761516846.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:07.258Z,1761516847.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507126,-0.861201,-0.033998],[0.861415,0.505176,0.052552],[-0.028083,-0.055937,0.998039]]
2025-10-26T22:14:07.304Z,1761516847.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:07.668Z,1761516847.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507292,-0.861087,-0.034416],[0.861338,0.505359,0.052060],[-0.027436,-0.056054,0.998051]]
2025-10-26T22:14:07.714Z,1761516847.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:08.093Z,1761516848.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507089,-0.861195,-0.034700],[0.861480,0.505187,0.051372],[-0.026711,-0.055944,0.998077]]
2025-10-26T22:14:08.149Z,1761516848.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:08.476Z,1761516848.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506771,-0.861363,-0.035183],[0.861694,0.504900,0.050583],[-0.025806,-0.055951,0.998100]]
2025-10-26T22:14:08.494Z,1761516848.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:08.879Z,1761516848.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506154,-0.861694,-0.035953],[0.862091,0.504316,0.049634],[-0.024637,-0.056117,0.998120]]
2025-10-26T22:14:08.906Z,1761516848.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:09.282Z,1761516849.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505466,-0.862073,-0.036535],[0.862525,0.503670,0.048655],[-0.023543,-0.056106,0.998147]]
2025-10-26T22:14:09.326Z,1761516849.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:09.690Z,1761516849.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504731,-0.862473,-0.037247],[0.862987,0.502974,0.047659],[-0.022370,-0.056198,0.998169]]
2025-10-26T22:14:09.737Z,1761516849.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:10.121Z,1761516850.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503764,-0.863004,-0.038031],[0.863586,0.502057,0.046452],[-0.020994,-0.056243,0.998196]]
2025-10-26T22:14:10.166Z,1761516850.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:10.494Z,1761516850.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502850,-0.863505,-0.038731],[0.864148,0.501189,0.045361],[-0.019758,-0.056279,0.998220]]
2025-10-26T22:14:10.519Z,1761516850.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:10.898Z,1761516850.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502113,-0.863891,-0.039699],[0.864606,0.500492,0.044327],[-0.018424,-0.056581,0.998228]]
2025-10-26T22:14:10.935Z,1761516850.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:11.302Z,1761516851.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501155,-0.864413,-0.040418],[0.865187,0.499583,0.043217],[-0.017165,-0.056627,0.998248]]
2025-10-26T22:14:11.360Z,1761516851.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:11.716Z,1761516851.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500119,-0.864980,-0.041121],[0.865812,0.498604,0.042000],[-0.015827,-0.056608,0.998271]]
2025-10-26T22:14:11.746Z,1761516851.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:12.147Z,1761516852.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499308,-0.865417,-0.041760],[0.866300,0.497841,0.040961],[-0.014658,-0.056629,0.998288]]
2025-10-26T22:14:12.190Z,1761516852.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:12.514Z,1761516852.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498778,-0.865696,-0.042322],[0.866623,0.497354,0.040055],[-0.013627,-0.056656,0.998301]]
2025-10-26T22:14:12.550Z,1761516852.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:12.918Z,1761516852.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498301,-0.865949,-0.042766],[0.866911,0.496919,0.039201],[-0.012695,-0.056609,0.998316]]
2025-10-26T22:14:12.937Z,1761516852.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:13.328Z,1761516853.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498150,-0.866020,-0.043074],[0.867008,0.496800,0.038574],[-0.012007,-0.056561,0.998327]]
2025-10-26T22:14:13.438Z,1761516853.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:13.737Z,1761516853.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498260,-0.865939,-0.043436],[0.866953,0.496933,0.038079],[-0.011390,-0.056630,0.998330]]
2025-10-26T22:14:13.857Z,1761516853.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:14.167Z,1761516854.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498791,-0.865618,-0.043746],[0.866653,0.497478,0.037790],[-0.010949,-0.056762,0.998328]]
2025-10-26T22:14:14.261Z,1761516854.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:14.534Z,1761516854.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499408,-0.865257,-0.043838],[0.866302,0.498109,0.037525],[-0.010633,-0.056717,0.998334]]
2025-10-26T22:14:14.598Z,1761516854.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:14.939Z,1761516854.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500138,-0.864839,-0.043769],[0.865882,0.498850,0.037388],[-0.010500,-0.056598,0.998342]]
2025-10-26T22:14:14.988Z,1761516854.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:15.343Z,1761516855.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501189,-0.864229,-0.043789],[0.865274,0.499897,0.037456],[-0.010480,-0.056662,0.998338]]
2025-10-26T22:14:15.380Z,1761516855.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:15.750Z,1761516855.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502222,-0.863637,-0.043633],[0.864674,0.500929,0.037524],[-0.010550,-0.056574,0.998343]]
2025-10-26T22:14:15.796Z,1761516855.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:16.191Z,1761516856.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503404,-0.862958,-0.043449],[0.863985,0.502107,0.037669],[-0.010691,-0.056502,0.998345]]
2025-10-26T22:14:16.253Z,1761516856.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:16.620Z,1761516856.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504753,-0.862183,-0.043190],[0.863195,0.503447,0.037901],[-0.010934,-0.056412,0.998348]]
2025-10-26T22:14:16.638Z,1761516856.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:17.055Z,1761516857.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:17.422Z,1761516857.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507897,-0.860357,-0.042736],[0.861339,0.506552,0.038738],[-0.011681,-0.056485,0.998335]]
2025-10-26T22:14:17.465Z,1761516857.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:17.826Z,1761516857.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509246,-0.859574,-0.042439],[0.860537,0.507887,0.039072],[-0.012031,-0.056418,0.998335]]
2025-10-26T22:14:17.869Z,1761516857.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:18.296Z,1761516858.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:18.672Z,1761516858.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511887,-0.858021,-0.042078],[0.858960,0.510501,0.039698],[-0.012581,-0.056464,0.998325]]
2025-10-26T22:14:18.700Z,1761516858.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:19.077Z,1761516859.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512781,-0.857494,-0.041945],[0.858425,0.511388,0.039863],[-0.012732,-0.056448,0.998324]]
2025-10-26T22:14:19.117Z,1761516859.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:19.478Z,1761516859.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513301,-0.857185,-0.041911],[0.858116,0.511913,0.039781],[-0.012645,-0.056384,0.998329]]
2025-10-26T22:14:19.539Z,1761516859.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:19.889Z,1761516859.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513815,-0.856879,-0.041874],[0.857808,0.512429,0.039763],[-0.012614,-0.056351,0.998331]]
2025-10-26T22:14:19.912Z,1761516859.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:20.361Z,1761516860.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:20.747Z,1761516860.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514020,-0.856750,-0.042000],[0.857689,0.512642,0.039604],[-0.012399,-0.056380,0.998332]]
2025-10-26T22:14:20.821Z,1761516860.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:21.218Z,1761516861.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:21.555Z,1761516861.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513252,-0.857190,-0.042398],[0.858155,0.511890,0.039227],[-0.011922,-0.056517,0.998330]]
2025-10-26T22:14:21.631Z,1761516861.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:21.958Z,1761516861.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512762,-0.857473,-0.042614],[0.858452,0.511408,0.039025],[-0.011670,-0.056593,0.998329]]
2025-10-26T22:14:21.997Z,1761516861.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:22.362Z,1761516862.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512096,-0.857861,-0.042807],[0.858853,0.510754,0.038758],[-0.011385,-0.056613,0.998331]]
2025-10-26T22:14:22.425Z,1761516862.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:22.780Z,1761516862.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510514,-0.858793,-0.043019],[0.859799,0.509193,0.038306],[-0.010992,-0.056544,0.998340]]
2025-10-26T22:14:22.800Z,1761516862.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:23.198Z,1761516863.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:23.584Z,1761516863.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508918,-0.859739,-0.043019],[0.860746,0.507607,0.038101],[-0.010920,-0.056418,0.998348]]
2025-10-26T22:14:23.642Z,1761516863.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:23.979Z,1761516863.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508529,-0.859968,-0.043046],[0.860973,0.507205,0.038322],[-0.011123,-0.056549,0.998338]]
2025-10-26T22:14:23.999Z,1761516863.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:24.273Z,1761516864.273 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:14:24.389Z,1761516864.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507963,-0.860308,-0.042944],[0.861304,0.506628,0.038522],[-0.011384,-0.056555,0.998335]]
2025-10-26T22:14:24.474Z,1761516864.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:24.872Z,1761516864.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507592,-0.860536,-0.042772],[0.861518,0.506243,0.038788],[-0.011726,-0.056537,0.998332]]
2025-10-26T22:14:24.890Z,1761516864.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:25.266Z,1761516865.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507530,-0.860592,-0.042375],[0.861546,0.506160,0.039239],[-0.012320,-0.056423,0.998331]]
2025-10-26T22:14:25.277Z,1761516865.277 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:14:25.358Z,1761516865.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:25.670Z,1761516865.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507670,-0.860529,-0.041962],[0.861454,0.506279,0.039732],[-0.012946,-0.056319,0.998329]]
2025-10-26T22:14:25.825Z,1761516865.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:26.192Z,1761516866.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507712,-0.860527,-0.041491],[0.861421,0.506303,0.040150],[-0.013544,-0.056126,0.998332]]
2025-10-26T22:14:26.231Z,1761516866.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:26.601Z,1761516866.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508170,-0.860284,-0.040916],[0.861136,0.506728,0.040896],[-0.014449,-0.056016,0.998325]]
2025-10-26T22:14:26.698Z,1761516866.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:27.082Z,1761516867.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508674,-0.860008,-0.040462],[0.860824,0.507198,0.041620],[-0.015271,-0.056002,0.998314]]
2025-10-26T22:14:27.128Z,1761516867.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:27.529Z,1761516867.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509494,-0.859540,-0.040084],[0.860321,0.507973,0.042558],[-0.016218,-0.056168,0.998290]]
2025-10-26T22:14:27.623Z,1761516867.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:27.938Z,1761516867.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510083,-0.859206,-0.039752],[0.859956,0.508522,0.043368],[-0.017047,-0.056307,0.998268]]
2025-10-26T22:14:28.042Z,1761516868.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:28.380Z,1761516868.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510961,-0.858703,-0.039335],[0.859415,0.509356,0.044297],[-0.018002,-0.056439,0.998244]]
2025-10-26T22:14:28.466Z,1761516868.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:28.820Z,1761516868.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512053,-0.858089,-0.038521],[0.858735,0.510397,0.045483],[-0.019367,-0.056369,0.998222]]
2025-10-26T22:14:28.877Z,1761516868.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:29.305Z,1761516869.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:29.662Z,1761516869.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512854,-0.857639,-0.037904],[0.858236,0.511167,0.046246],[-0.020288,-0.056248,0.998211]]
2025-10-26T22:14:29.726Z,1761516869.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:30.108Z,1761516870.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512949,-0.857584,-0.037856],[0.858177,0.511256,0.046369],[-0.020411,-0.056272,0.998207]]
2025-10-26T22:14:30.137Z,1761516870.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:30.510Z,1761516870.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513052,-0.857524,-0.037822],[0.858114,0.511357,0.046416],[-0.020463,-0.056269,0.998206]]
2025-10-26T22:14:30.569Z,1761516870.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:30.918Z,1761516870.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513251,-0.857400,-0.037914],[0.857995,0.511552,0.046465],[-0.020444,-0.056379,0.998200]]
2025-10-26T22:14:30.936Z,1761516870.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:31.320Z,1761516871.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513497,-0.857238,-0.038270],[0.857855,0.511798,0.046329],[-0.020129,-0.056620,0.998193]]
2025-10-26T22:14:31.338Z,1761516871.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:31.785Z,1761516871.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513385,-0.857297,-0.038441],[0.857931,0.511703,0.045970],[-0.019740,-0.056580,0.998203]]
2025-10-26T22:14:31.833Z,1761516871.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:32.212Z,1761516872.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513196,-0.857404,-0.038589],[0.858057,0.511545,0.045377],[-0.019166,-0.056399,0.998224]]
2025-10-26T22:14:32.230Z,1761516872.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:32.611Z,1761516872.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513199,-0.857382,-0.039040],[0.858072,0.511574,0.044765],[-0.018409,-0.056472,0.998234]]
2025-10-26T22:14:32.662Z,1761516872.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:33.015Z,1761516873.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513151,-0.857395,-0.039360],[0.858117,0.511559,0.044081],[-0.017660,-0.056395,0.998252]]
2025-10-26T22:14:33.034Z,1761516873.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:33.476Z,1761516873.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513479,-0.857177,-0.039845],[0.857936,0.511912,0.043494],[-0.016885,-0.056518,0.998259]]
2025-10-26T22:14:33.524Z,1761516873.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:33.829Z,1761516873.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513814,-0.856952,-0.040356],[0.857752,0.512279,0.042792],[-0.015997,-0.056603,0.998269]]
2025-10-26T22:14:33.848Z,1761516873.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:34.227Z,1761516874.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514102,-0.856755,-0.040860],[0.857599,0.512608,0.041917],[-0.014967,-0.056591,0.998285]]
2025-10-26T22:14:34.253Z,1761516874.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:34.631Z,1761516874.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514533,-0.856471,-0.041395],[0.857358,0.513084,0.041019],[-0.013892,-0.056596,0.998300]]
2025-10-26T22:14:34.682Z,1761516874.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:35.036Z,1761516875.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514914,-0.856228,-0.041666],[0.857146,0.513521,0.039964],[-0.012822,-0.056292,0.998332]]
2025-10-26T22:14:35.066Z,1761516875.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:35.473Z,1761516875.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515531,-0.855842,-0.041981],[0.856790,0.514191,0.038970],[-0.011766,-0.056060,0.998358]]
2025-10-26T22:14:35.529Z,1761516875.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:35.842Z,1761516875.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516332,-0.855334,-0.042492],[0.856323,0.515041,0.037995],[-0.010613,-0.056005,0.998374]]
2025-10-26T22:14:35.890Z,1761516875.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:36.247Z,1761516876.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517097,-0.854849,-0.042955],[0.855874,0.515855,0.037058],[-0.009521,-0.055927,0.998389]]
2025-10-26T22:14:36.266Z,1761516876.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:36.650Z,1761516876.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517656,-0.854474,-0.043654],[0.855549,0.516465,0.036068],[-0.008273,-0.056019,0.998395]]
2025-10-26T22:14:36.714Z,1761516876.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:37.066Z,1761516877.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518306,-0.854039,-0.044456],[0.855166,0.517158,0.035180],[-0.007054,-0.056251,0.998392]]
2025-10-26T22:14:37.088Z,1761516877.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:37.559Z,1761516877.559 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for water velocity. Device response is::WS-32768,-32768,V
2025-10-26T22:14:37.587Z,1761516877.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:37.869Z,1761516877.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519045,-0.853502,-0.046109],[0.854736,0.518003,0.033162],[-0.004419,-0.056623,0.998386]]
2025-10-26T22:14:37.888Z,1761516877.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:38.272Z,1761516878.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519177,-0.853378,-0.046909],[0.854661,0.518198,0.032002],[-0.003002,-0.056706,0.998386]]
2025-10-26T22:14:38.291Z,1761516878.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:38.676Z,1761516878.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519061,-0.853422,-0.047394],[0.854736,0.518149,0.030809],[-0.001736,-0.056501,0.998401]]
2025-10-26T22:14:38.736Z,1761516878.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:39.083Z,1761516879.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518928,-0.853472,-0.047944],[0.854818,0.518080,0.029669],[-0.000483,-0.056380,0.998409]]
2025-10-26T22:14:39.102Z,1761516879.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:39.497Z,1761516879.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518545,-0.853670,-0.048571],[0.855050,0.517764,0.028474],[0.000841,-0.056296,0.998414]]
2025-10-26T22:14:39.589Z,1761516879.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:39.961Z,1761516879.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518314,-0.853768,-0.049299],[0.855188,0.517587,0.027520],[0.002021,-0.056424,0.998405]]
2025-10-26T22:14:40.087Z,1761516880.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:40.404Z,1761516880.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:40.763Z,1761516880.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517059,-0.854446,-0.050710],[0.855940,0.516435,0.025731],[0.004202,-0.056709,0.998382]]
2025-10-26T22:14:40.826Z,1761516880.826 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:14:40.828Z,1761516880.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:40.953Z,1761516880.953 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:14:40.953Z,1761516880.953 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:14:41.167Z,1761516881.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516685,-0.854628,-0.051456],[0.856160,0.516099,0.025124],[0.005084,-0.057036,0.998359]]
2025-10-26T22:14:41.204Z,1761516881.204 [DAT](INFO): DAT read: user:499>

2025-10-26T22:14:41.205Z,1761516881.205 [DAT](INFO): DAT read: Tx time:22:14:40.3390

2025-10-26T22:14:41.205Z,1761516881.205 [DAT](INFO): Ping request sent.
2025-10-26T22:14:41.206Z,1761516881.206 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:14:41.206Z,1761516881.206 [DAT](INFO): publishing transmit ping time
2025-10-26T22:14:41.206Z,1761516881.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726
2025-10-26T22:14:41.230Z,1761516881.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:41.457Z,1761516881.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251401
2025-10-26T22:14:41.651Z,1761516881.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:41.709Z,1761516881.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503496
2025-10-26T22:14:41.960Z,1761516881.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754730
2025-10-26T22:14:42.016Z,1761516882.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514879,-0.855696,-0.051809],[0.857237,0.514394,0.023325],[0.006691,-0.056422,0.998385]]
2025-10-26T22:14:42.058Z,1761516882.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:42.213Z,1761516882.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007035
2025-10-26T22:14:42.419Z,1761516882.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514818,-0.855723,-0.051976],[0.857272,0.514339,0.023224],[0.006860,-0.056514,0.998378]]
2025-10-26T22:14:42.465Z,1761516882.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258966
2025-10-26T22:14:42.609Z,1761516882.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:42.717Z,1761516882.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511156
2025-10-26T22:14:42.848Z,1761516882.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515166,-0.855511,-0.052011],[0.857064,0.514675,0.023461],[0.006697,-0.056663,0.998371]]
2025-10-26T22:14:42.934Z,1761516882.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:42.969Z,1761516882.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763003
2025-10-26T22:14:43.220Z,1761516883.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014804
2025-10-26T22:14:43.247Z,1761516883.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515665,-0.855213,-0.051975],[0.856767,0.515146,0.023964],[0.006281,-0.056888,0.998361]]
2025-10-26T22:14:43.301Z,1761516883.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:43.472Z,1761516883.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266847
2025-10-26T22:14:43.652Z,1761516883.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516126,-0.854944,-0.051813],[0.856493,0.515575,0.024527],[0.005745,-0.057037,0.998356]]
2025-10-26T22:14:43.725Z,1761516883.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519467
2025-10-26T22:14:43.753Z,1761516883.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:43.976Z,1761516883.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770827
2025-10-26T22:14:44.073Z,1761516884.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516640,-0.854656,-0.051437],[0.856187,0.516056,0.025085],[0.005105,-0.056999,0.998361]]
2025-10-26T22:14:44.092Z,1761516884.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:44.229Z,1761516884.229 [DAT](INFO): DAT read: Rx Time:22:14:42.7833

2025-10-26T22:14:44.229Z,1761516884.229 [DAT](INFO): Rx dataTimestamp_ set to:1761516884.228733
2025-10-26T22:14:44.230Z,1761516884.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023989
2025-10-26T22:14:44.458Z,1761516884.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517502,-0.854170,-0.050842],[0.855672,0.516872,0.025875],[0.004177,-0.056895,0.998371]]
2025-10-26T22:14:44.476Z,1761516884.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:14:44.481Z,1761516884.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275180
2025-10-26T22:14:44.740Z,1761516884.740 [DAT](INFO): DAT read: 22:14:42.7833 LVL= 27792, 24785, 32754, 32755, AGC= 61, IDX= 471, 0.07, 1.525, 2.055, 0.269, 1.762, PHS=-0.136, 0.338,-1.538, RAW=  16.0,  15.6, CAL=  15.1,  18.9, ROT= 134.9, -18.9

2025-10-26T22:14:44.741Z,1761516884.741 [DAT](INFO): got valid direction response:
 22:14:42.7833 LVL= 27792, 24785, 32754, 32755, AGC= 61, IDX= 471, 0.07, 1.525, 2.055, 0.269, 1.762, PHS=-0.136, 0.338,-1.538, RAW=  16.0,  15.6, CAL=  15.1,  18.9, ROT= 134.9, -18.9

2025-10-26T22:14:44.742Z,1761516884.742 [DAT](INFO): DAT read: Bearing 353.0,  40.5 (Local)

2025-10-26T22:14:44.742Z,1761516884.742 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.0,  40.5 (Local)

2025-10-26T22:14:44.768Z,1761516884.768 [DAT](INFO): DAT read: Range 11 to 50 : 30.0 m  (Round-trip  40.1 ms) speed  0.0 m/s

2025-10-26T22:14:44.768Z,1761516884.768 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:14:44.769Z,1761516884.769 [DAT](INFO): direction in FSK: [-0.667815,0.670150,0.323917]
2025-10-26T22:14:44.770Z,1761516884.770 [DAT](INFO): publishing direction and range info
2025-10-26T22:14:44.866Z,1761516884.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518648,-0.853526,-0.049972],[0.854983,0.517965,0.026778],[0.003028,-0.056614,0.998392]]
2025-10-26T22:14:44.937Z,1761516884.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.000000 m,
      deltaT: 59.994714 s,
      deltaX: 3.100000 m,
      approachRate: 0.051671 m/s,
      rangeRepo size: 4

2025-10-26T22:14:44.939Z,1761516884.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.818544 m,
      bearing: 192.966616 deg,
      lat: 36.779433 deg,
      lon: -121.859495 deg,
      deltaT: 59.994714 s,
      deltaX: 3.081497 m,
      approachRate: 0.051363 m/s,
      posRepo size: 4

2025-10-26T22:14:44.943Z,1761516884.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:45.266Z,1761516885.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519680,-0.852953,-0.049031],[0.854359,0.518945,0.027689],[0.001827,-0.056280,0.998413]]
2025-10-26T22:14:45.285Z,1761516885.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:45.672Z,1761516885.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521071,-0.852148,-0.048249],[0.853513,0.520275,0.028808],[0.000554,-0.056192,0.998420]]
2025-10-26T22:14:45.731Z,1761516885.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:46.116Z,1761516886.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522519,-0.851301,-0.047543],[0.852628,0.521661,0.029932],[-0.000680,-0.056177,0.998421]]
2025-10-26T22:14:46.150Z,1761516886.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:46.518Z,1761516886.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524227,-0.850289,-0.046838],[0.851576,0.523298,0.031274],[-0.002082,-0.056281,0.998413]]
2025-10-26T22:14:46.583Z,1761516886.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:46.930Z,1761516886.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525779,-0.849363,-0.046245],[0.850615,0.524786,0.032464],[-0.003305,-0.056406,0.998402]]
2025-10-26T22:14:46.997Z,1761516886.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:47.350Z,1761516887.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527131,-0.848566,-0.045488],[0.849772,0.526085,0.033505],[-0.004501,-0.056316,0.998403]]
2025-10-26T22:14:47.370Z,1761516887.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:47.753Z,1761516887.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528495,-0.847751,-0.044841],[0.848918,0.527397,0.034506],[-0.005604,-0.056303,0.998398]]
2025-10-26T22:14:47.791Z,1761516887.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:48.182Z,1761516888.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529789,-0.846977,-0.044193],[0.848104,0.528644,0.035435],[-0.006650,-0.056253,0.998394]]
2025-10-26T22:14:48.200Z,1761516888.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:48.590Z,1761516888.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530619,-0.846490,-0.043573],[0.847577,0.529444,0.036075],[-0.007468,-0.056074,0.998399]]
2025-10-26T22:14:48.631Z,1761516888.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:49.097Z,1761516889.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531442,-0.845994,-0.043164],[0.847055,0.530233,0.036761],[-0.008212,-0.056099,0.998391]]
2025-10-26T22:14:49.172Z,1761516889.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:49.547Z,1761516889.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532088,-0.845601,-0.042921],[0.846644,0.530851,0.037305],[-0.008761,-0.056189,0.998382]]
2025-10-26T22:14:49.573Z,1761516889.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:49.934Z,1761516889.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532589,-0.845293,-0.042761],[0.846324,0.531327,0.037780],[-0.009215,-0.056311,0.998371]]
2025-10-26T22:14:49.979Z,1761516889.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:50.338Z,1761516890.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532395,-0.845417,-0.042717],[0.846444,0.531127,0.037900],[-0.009354,-0.056335,0.998368]]
2025-10-26T22:14:50.357Z,1761516890.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:50.746Z,1761516890.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532091,-0.845613,-0.042643],[0.846635,0.530824,0.037885],[-0.009401,-0.056261,0.998372]]
2025-10-26T22:14:50.791Z,1761516890.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:51.146Z,1761516891.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531621,-0.845911,-0.042581],[0.846931,0.530362,0.037746],[-0.009346,-0.056130,0.998380]]
2025-10-26T22:14:51.181Z,1761516891.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:51.561Z,1761516891.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530980,-0.846301,-0.042849],[0.847337,0.529734,0.037445],[-0.008991,-0.056190,0.998380]]
2025-10-26T22:14:51.602Z,1761516891.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:52.017Z,1761516892.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:52.364Z,1761516892.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529333,-0.847302,-0.043430],[0.848375,0.528123,0.036683],[-0.008145,-0.056262,0.998383]]
2025-10-26T22:14:52.382Z,1761516892.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:52.846Z,1761516892.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:53.170Z,1761516893.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527578,-0.848351,-0.044295],[0.849477,0.526409,0.035802],[-0.007056,-0.056516,0.998377]]
2025-10-26T22:14:53.254Z,1761516893.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:53.614Z,1761516893.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526552,-0.848967,-0.044690],[0.850119,0.525419,0.035105],[-0.006322,-0.056476,0.998384]]
2025-10-26T22:14:53.639Z,1761516893.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:54.071Z,1761516894.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:54.409Z,1761516894.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524525,-0.850158,-0.045883],[0.851384,0.523482,0.033355],[-0.004338,-0.056559,0.998390]]
2025-10-26T22:14:54.433Z,1761516894.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:54.812Z,1761516894.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524414,-0.850198,-0.046402],[0.851455,0.523392,0.032924],[-0.003705,-0.056775,0.998380]]
2025-10-26T22:14:54.883Z,1761516894.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:55.215Z,1761516895.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524171,-0.850330,-0.046726],[0.851607,0.523176,0.032432],[-0.003132,-0.056792,0.998381]]
2025-10-26T22:14:55.242Z,1761516895.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:55.396Z,1761516895.396 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:14:55.621Z,1761516895.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524304,-0.850222,-0.047202],[0.851527,0.523328,0.032085],[-0.002577,-0.057016,0.998370]]
2025-10-26T22:14:55.660Z,1761516895.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:56.026Z,1761516896.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524452,-0.850112,-0.047540],[0.851438,0.523501,0.031622],[-0.001995,-0.057061,0.998369]]
2025-10-26T22:14:56.138Z,1761516896.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:56.401Z,1761516896.401 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:14:56.425Z,1761516896.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524964,-0.849785,-0.047736],[0.851123,0.524036,0.031241],[-0.001533,-0.057029,0.998371]]
2025-10-26T22:14:56.452Z,1761516896.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:56.826Z,1761516896.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525487,-0.849443,-0.048050],[0.850801,0.524591,0.030688],[-0.000861,-0.057007,0.998373]]
2025-10-26T22:14:56.881Z,1761516896.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:57.230Z,1761516897.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526082,-0.849073,-0.048099],[0.850434,0.525215,0.030195],[-0.000376,-0.056790,0.998386]]
2025-10-26T22:14:57.276Z,1761516897.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:57.638Z,1761516897.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527035,-0.848470,-0.048298],[0.849844,0.526195,0.029745],[0.000176,-0.056723,0.998390]]
2025-10-26T22:14:57.657Z,1761516897.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:58.048Z,1761516898.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527972,-0.847875,-0.048507],[0.849261,0.527162,0.029255],[0.000766,-0.056641,0.998394]]
2025-10-26T22:14:58.085Z,1761516898.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:58.442Z,1761516898.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529191,-0.847095,-0.048858],[0.848501,0.528404,0.028894],[0.001341,-0.056747,0.998388]]
2025-10-26T22:14:58.474Z,1761516898.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:58.849Z,1761516898.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530407,-0.846317,-0.049151],[0.847741,0.529649,0.028423],[0.001978,-0.056743,0.998387]]
2025-10-26T22:14:58.894Z,1761516898.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:59.250Z,1761516899.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531616,-0.845539,-0.049483],[0.846981,0.530888,0.027948],[0.002639,-0.056769,0.998384]]
2025-10-26T22:14:59.269Z,1761516899.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:14:59.664Z,1761516899.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532449,-0.845002,-0.049686],[0.846455,0.531766,0.027198],[0.003439,-0.056539,0.998394]]
2025-10-26T22:14:59.683Z,1761516899.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:00.059Z,1761516900.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533717,-0.844186,-0.049964],[0.845653,0.533066,0.026681],[0.004110,-0.056492,0.998395]]
2025-10-26T22:15:00.116Z,1761516900.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:00.464Z,1761516900.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534709,-0.843543,-0.050214],[0.845022,0.534098,0.026007],[0.004881,-0.056338,0.998400]]
2025-10-26T22:15:00.483Z,1761516900.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:00.880Z,1761516900.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535865,-0.842780,-0.050699],[0.844285,0.535288,0.025505],[0.005643,-0.056472,0.998388]]
2025-10-26T22:15:00.917Z,1761516900.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:01.270Z,1761516901.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536407,-0.842408,-0.051152],[0.843934,0.535878,0.024707],[0.006598,-0.056422,0.998385]]
2025-10-26T22:15:01.311Z,1761516901.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:01.677Z,1761516901.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537072,-0.841952,-0.051686],[0.843504,0.536582,0.024102],[0.007441,-0.056542,0.998372]]
2025-10-26T22:15:01.706Z,1761516901.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:02.080Z,1761516902.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537491,-0.841646,-0.052301],[0.843228,0.537046,0.023412],[0.008383,-0.056685,0.998357]]
2025-10-26T22:15:02.149Z,1761516902.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:02.482Z,1761516902.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537660,-0.841512,-0.052720],[0.843111,0.537260,0.022692],[0.009229,-0.056650,0.998352]]
2025-10-26T22:15:02.557Z,1761516902.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:02.910Z,1761516902.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537737,-0.841436,-0.053142],[0.843053,0.537379,0.022034],[0.010017,-0.056650,0.998344]]
2025-10-26T22:15:02.973Z,1761516902.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:03.290Z,1761516903.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537535,-0.841540,-0.053544],[0.843173,0.537218,0.021382],[0.010771,-0.056641,0.998337]]
2025-10-26T22:15:03.316Z,1761516903.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:03.701Z,1761516903.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537165,-0.841758,-0.053825],[0.843400,0.536884,0.020779],[0.011407,-0.056558,0.998334]]
2025-10-26T22:15:03.730Z,1761516903.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:04.098Z,1761516904.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536937,-0.841892,-0.054002],[0.843540,0.536679,0.020398],[0.011809,-0.056505,0.998332]]
2025-10-26T22:15:04.145Z,1761516904.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:04.506Z,1761516904.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536350,-0.842248,-0.054283],[0.843905,0.536122,0.019919],[0.012325,-0.056493,0.998327]]
2025-10-26T22:15:04.546Z,1761516904.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:04.930Z,1761516904.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536075,-0.842398,-0.054672],[0.844075,0.535862,0.019732],[0.012675,-0.056725,0.998309]]
2025-10-26T22:15:04.978Z,1761516904.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:05.311Z,1761516905.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535849,-0.842527,-0.054901],[0.844217,0.535639,0.019719],[0.012794,-0.056915,0.998297]]
2025-10-26T22:15:05.330Z,1761516905.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:05.732Z,1761516905.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535659,-0.842644,-0.054956],[0.844338,0.535444,0.019811],[0.012732,-0.057014,0.998292]]
2025-10-26T22:15:05.752Z,1761516905.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:06.118Z,1761516906.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535420,-0.842805,-0.054818],[0.844493,0.535194,0.019973],[0.012504,-0.056987,0.998297]]
2025-10-26T22:15:06.163Z,1761516906.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:06.529Z,1761516906.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535508,-0.842767,-0.054544],[0.844444,0.535258,0.020339],[0.012054,-0.056951,0.998304]]
2025-10-26T22:15:06.605Z,1761516906.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:06.962Z,1761516906.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535848,-0.842574,-0.054193],[0.844237,0.535563,0.020878],[0.011432,-0.056939,0.998312]]
2025-10-26T22:15:07.047Z,1761516907.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:07.331Z,1761516907.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536336,-0.842284,-0.053870],[0.843936,0.536011,0.021528],[0.010742,-0.057010,0.998316]]
2025-10-26T22:15:07.361Z,1761516907.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:07.739Z,1761516907.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536954,-0.841924,-0.053341],[0.843554,0.536581,0.022306],[0.009842,-0.056974,0.998327]]
2025-10-26T22:15:07.782Z,1761516907.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:08.138Z,1761516908.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537840,-0.841386,-0.052890],[0.843000,0.537414,0.023189],[0.008913,-0.057058,0.998331]]
2025-10-26T22:15:08.203Z,1761516908.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:08.542Z,1761516908.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538805,-0.840807,-0.052270],[0.842393,0.538329,0.024017],[0.007945,-0.056973,0.998344]]
2025-10-26T22:15:08.567Z,1761516908.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:08.989Z,1761516908.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540182,-0.839964,-0.051607],[0.841521,0.539642,0.025092],[0.006773,-0.056983,0.998352]]
2025-10-26T22:15:09.049Z,1761516909.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:09.350Z,1761516909.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541486,-0.839173,-0.050811],[0.840691,0.540889,0.026039],[0.005632,-0.056817,0.998369]]
2025-10-26T22:15:09.369Z,1761516909.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:09.760Z,1761516909.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542860,-0.838325,-0.050137],[0.839811,0.542208,0.026990],[0.004558,-0.056757,0.998378]]
2025-10-26T22:15:09.779Z,1761516909.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:10.158Z,1761516910.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544185,-0.837520,-0.049226],[0.838959,0.543480,0.027898],[0.003388,-0.056481,0.998398]]
2025-10-26T22:15:10.210Z,1761516910.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:10.598Z,1761516910.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:11.024Z,1761516911.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546706,-0.835941,-0.048109],[0.837323,0.545905,0.029624],[0.001500,-0.056479,0.998403]]
2025-10-26T22:15:11.077Z,1761516911.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:11.371Z,1761516911.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547639,-0.835358,-0.047620],[0.836714,0.546799,0.030333],[0.000700,-0.056456,0.998405]]
2025-10-26T22:15:11.390Z,1761516911.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:11.774Z,1761516911.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548098,-0.835070,-0.047392],[0.836414,0.547237,0.030716],[0.000285,-0.056475,0.998404]]
2025-10-26T22:15:11.803Z,1761516911.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:12.233Z,1761516912.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:12.628Z,1761516912.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:13.051Z,1761516913.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548627,-0.834742,-0.047056],[0.836067,0.547725,0.031445],[-0.000475,-0.056593,0.998397]]
2025-10-26T22:15:13.103Z,1761516913.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:13.390Z,1761516913.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548002,-0.835160,-0.046928],[0.836477,0.547108,0.031297],[-0.000463,-0.056405,0.998408]]
2025-10-26T22:15:13.419Z,1761516913.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:13.794Z,1761516913.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547381,-0.835562,-0.047014],[0.836883,0.546491,0.031202],[-0.000379,-0.056425,0.998407]]
2025-10-26T22:15:13.813Z,1761516913.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:14.199Z,1761516914.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546633,-0.836038,-0.047265],[0.837373,0.545751,0.031028],[-0.000146,-0.056539,0.998400]]
2025-10-26T22:15:14.311Z,1761516914.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:14.605Z,1761516914.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545867,-0.836520,-0.047582],[0.837872,0.544991,0.030918],[0.000068,-0.056745,0.998389]]
2025-10-26T22:15:14.630Z,1761516914.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:15.056Z,1761516915.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544789,-0.837204,-0.047901],[0.838573,0.543927,0.030638],[0.000404,-0.056860,0.998382]]
2025-10-26T22:15:15.116Z,1761516915.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:15.410Z,1761516915.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543682,-0.837909,-0.048147],[0.839291,0.542837,0.030313],[0.000737,-0.056890,0.998380]]
2025-10-26T22:15:15.465Z,1761516915.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:15.817Z,1761516915.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542820,-0.838458,-0.048325],[0.839849,0.541986,0.030095],[0.000958,-0.056922,0.998378]]
2025-10-26T22:15:15.836Z,1761516915.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:16.220Z,1761516916.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542076,-0.838931,-0.048458],[0.840328,0.541251,0.029923],[0.001124,-0.056941,0.998377]]
2025-10-26T22:15:16.260Z,1761516916.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:16.622Z,1761516916.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541435,-0.839338,-0.048588],[0.840742,0.540616,0.029792],[0.001262,-0.056980,0.998375]]
2025-10-26T22:15:16.650Z,1761516916.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:17.118Z,1761516917.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:17.431Z,1761516917.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541058,-0.839581,-0.048576],[0.840984,0.540238,0.029806],[0.001218,-0.056979,0.998375]]
2025-10-26T22:15:17.496Z,1761516917.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:17.835Z,1761516917.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541445,-0.839338,-0.048461],[0.840736,0.540612,0.030040],[0.000985,-0.057008,0.998373]]
2025-10-26T22:15:17.864Z,1761516917.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:18.238Z,1761516918.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541957,-0.839016,-0.048325],[0.840406,0.541109,0.030310],[0.000719,-0.057039,0.998372]]
2025-10-26T22:15:18.285Z,1761516918.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:18.642Z,1761516918.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542723,-0.838538,-0.048018],[0.839911,0.541855,0.030694],[0.000281,-0.056989,0.998375]]
2025-10-26T22:15:18.660Z,1761516918.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:19.051Z,1761516919.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543558,-0.838015,-0.047703],[0.839372,0.542678,0.030913],[-0.000018,-0.056844,0.998383]]
2025-10-26T22:15:19.128Z,1761516919.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:19.451Z,1761516919.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544688,-0.837300,-0.047374],[0.838639,0.543786,0.031325],[-0.000467,-0.056792,0.998386]]
2025-10-26T22:15:19.572Z,1761516919.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:19.854Z,1761516919.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545903,-0.836526,-0.047064],[0.837848,0.544981,0.031726],[-0.000890,-0.056752,0.998388]]
2025-10-26T22:15:19.897Z,1761516919.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:20.258Z,1761516920.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547296,-0.835632,-0.046768],[0.836938,0.546351,0.032175],[-0.001335,-0.056752,0.998387]]
2025-10-26T22:15:20.331Z,1761516920.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:20.662Z,1761516920.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548687,-0.834729,-0.046587],[0.836027,0.547722,0.032565],[-0.001667,-0.056816,0.998383]]
2025-10-26T22:15:20.693Z,1761516920.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:21.068Z,1761516921.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549888,-0.833949,-0.046393],[0.835236,0.548910,0.032836],[-0.001918,-0.056805,0.998383]]
2025-10-26T22:15:21.091Z,1761516921.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:21.471Z,1761516921.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550732,-0.833400,-0.046233],[0.834680,0.549758,0.032806],[-0.001924,-0.056657,0.998392]]
2025-10-26T22:15:21.530Z,1761516921.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:21.874Z,1761516921.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551629,-0.832818,-0.046036],[0.834087,0.550655,0.032830],[-0.001992,-0.056509,0.998400]]
2025-10-26T22:15:21.900Z,1761516921.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:22.279Z,1761516922.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552657,-0.832133,-0.046103],[0.833407,0.551683,0.032848],[-0.001900,-0.056576,0.998397]]
2025-10-26T22:15:22.317Z,1761516922.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:22.682Z,1761516922.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553311,-0.831694,-0.046170],[0.832973,0.552353,0.032575],[-0.001590,-0.056483,0.998402]]
2025-10-26T22:15:22.721Z,1761516922.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:23.086Z,1761516923.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553938,-0.831266,-0.046367],[0.832557,0.552993,0.032371],[-0.001268,-0.056535,0.998400]]
2025-10-26T22:15:23.117Z,1761516923.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:23.498Z,1761516923.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554268,-0.831025,-0.046742],[0.832338,0.553346,0.031964],[-0.000699,-0.056622,0.998395]]
2025-10-26T22:15:23.543Z,1761516923.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:23.901Z,1761516923.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554733,-0.830686,-0.047242],[0.832028,0.553831,0.031618],[-0.000100,-0.056846,0.998383]]
2025-10-26T22:15:23.920Z,1761516923.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:24.299Z,1761516924.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554461,-0.830844,-0.047664],[0.832210,0.553602,0.030861],[0.000746,-0.056777,0.998387]]
2025-10-26T22:15:24.341Z,1761516924.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:24.705Z,1761516924.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554117,-0.831048,-0.048092],[0.832437,0.553303,0.030084],[0.001609,-0.056704,0.998390]]
2025-10-26T22:15:24.741Z,1761516924.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:25.106Z,1761516925.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553742,-0.831266,-0.048647],[0.832684,0.552972,0.029314],[0.002533,-0.056741,0.998386]]
2025-10-26T22:15:25.149Z,1761516925.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:25.512Z,1761516925.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552977,-0.831750,-0.049070],[0.833189,0.552262,0.028332],[0.003534,-0.056552,0.998393]]
2025-10-26T22:15:25.550Z,1761516925.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:25.914Z,1761516925.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552536,-0.832004,-0.049726],[0.833477,0.551867,0.027558],[0.004514,-0.056672,0.998383]]
2025-10-26T22:15:25.943Z,1761516925.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:26.318Z,1761516926.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551674,-0.832543,-0.050278],[0.834041,0.551058,0.026638],[0.005529,-0.056629,0.998380]]
2025-10-26T22:15:26.370Z,1761516926.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:26.520Z,1761516926.520 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:15:26.727Z,1761516926.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551132,-0.832862,-0.050940],[0.834393,0.550557,0.025968],[0.006417,-0.056816,0.998364]]
2025-10-26T22:15:26.748Z,1761516926.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:27.128Z,1761516927.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550030,-0.833551,-0.051574],[0.835112,0.549508,0.025092],[0.007425,-0.056872,0.998354]]
2025-10-26T22:15:27.146Z,1761516927.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:27.524Z,1761516927.524 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:15:27.667Z,1761516927.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:27.935Z,1761516927.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547914,-0.834876,-0.052650],[0.836485,0.547477,0.023688],[0.009048,-0.057020,0.998332]]
2025-10-26T22:15:27.993Z,1761516927.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:28.338Z,1761516928.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546663,-0.835681,-0.052896],[0.837297,0.546264,0.022999],[0.009675,-0.056863,0.998335]]
2025-10-26T22:15:28.405Z,1761516928.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:28.745Z,1761516928.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545961,-0.836110,-0.053347],[0.837748,0.545588,0.022603],[0.010207,-0.057032,0.998320]]
2025-10-26T22:15:28.784Z,1761516928.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:29.146Z,1761516929.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545244,-0.836560,-0.053626],[0.838211,0.544887,0.022352],[0.010521,-0.057137,0.998311]]
2025-10-26T22:15:29.171Z,1761516929.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:29.550Z,1761516929.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544550,-0.836997,-0.053865],[0.838660,0.544204,0.022180],[0.010749,-0.057253,0.998302]]
2025-10-26T22:15:29.612Z,1761516929.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:29.963Z,1761516929.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543952,-0.837382,-0.053926],[0.839047,0.543609,0.022114],[0.010797,-0.057275,0.998300]]
2025-10-26T22:15:30.015Z,1761516930.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:30.365Z,1761516930.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543806,-0.837484,-0.053817],[0.839145,0.543447,0.022373],[0.010510,-0.057327,0.998300]]
2025-10-26T22:15:30.405Z,1761516930.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:30.766Z,1761516930.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543863,-0.837460,-0.053607],[0.839113,0.543482,0.022725],[0.010103,-0.057341,0.998303]]
2025-10-26T22:15:30.801Z,1761516930.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:31.170Z,1761516931.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544204,-0.837266,-0.053172],[0.838900,0.543788,0.023284],[0.009419,-0.057277,0.998314]]
2025-10-26T22:15:31.189Z,1761516931.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:31.575Z,1761516931.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544874,-0.836857,-0.052747],[0.838474,0.544414,0.023994],[0.008637,-0.057301,0.998320]]
2025-10-26T22:15:31.647Z,1761516931.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:31.989Z,1761516931.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545876,-0.836246,-0.052075],[0.837832,0.545359,0.024921],[0.007559,-0.057233,0.998332]]
2025-10-26T22:15:32.007Z,1761516932.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:32.384Z,1761516932.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547272,-0.835371,-0.051468],[0.836930,0.546693,0.025969],[0.006444,-0.057287,0.998337]]
2025-10-26T22:15:32.517Z,1761516932.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:32.786Z,1761516932.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549002,-0.834276,-0.050801],[0.835805,0.548354,0.027164],[0.005195,-0.057373,0.998339]]
2025-10-26T22:15:32.828Z,1761516932.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:33.191Z,1761516933.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550828,-0.833120,-0.049992],[0.834610,0.550112,0.028345],[0.003886,-0.057337,0.998347]]
2025-10-26T22:15:33.243Z,1761516933.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:33.594Z,1761516933.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552767,-0.831884,-0.049161],[0.833332,0.551985,0.029506],[0.002590,-0.057277,0.998355]]
2025-10-26T22:15:33.670Z,1761516933.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:33.998Z,1761516933.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554841,-0.830556,-0.048247],[0.831955,0.553994,0.030683],[0.001245,-0.057163,0.998364]]
2025-10-26T22:15:34.032Z,1761516934.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:34.403Z,1761516934.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556712,-0.829360,-0.047263],[0.830706,0.555809,0.031696],[-0.000019,-0.056907,0.998379]]
2025-10-26T22:15:34.495Z,1761516934.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:34.858Z,1761516934.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:35.213Z,1761516935.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560823,-0.826683,-0.045525],[0.827932,0.559811,0.033766],[-0.002429,-0.056628,0.998392]]
2025-10-26T22:15:35.231Z,1761516935.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:35.614Z,1761516935.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562642,-0.825473,-0.045022],[0.826694,0.561587,0.034594],[-0.003273,-0.056684,0.998387]]
2025-10-26T22:15:35.670Z,1761516935.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:36.018Z,1761516936.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563877,-0.824665,-0.044388],[0.825849,0.562797,0.035106],[-0.003969,-0.056453,0.998397]]
2025-10-26T22:15:36.053Z,1761516936.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:36.423Z,1761516936.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565030,-0.823886,-0.044194],[0.825059,0.563930,0.035508],[-0.004333,-0.056525,0.998392]]
2025-10-26T22:15:36.508Z,1761516936.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:36.828Z,1761516936.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565755,-0.823390,-0.044169],[0.824562,0.564646,0.035674],[-0.004434,-0.056603,0.998387]]
2025-10-26T22:15:36.856Z,1761516936.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:37.230Z,1761516937.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566065,-0.823178,-0.044135],[0.824348,0.564956,0.035704],[-0.004456,-0.056593,0.998387]]
2025-10-26T22:15:37.271Z,1761516937.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:37.635Z,1761516937.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566093,-0.823146,-0.044380],[0.824331,0.564991,0.035553],[-0.004191,-0.056710,0.998382]]
2025-10-26T22:15:37.684Z,1761516937.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:38.091Z,1761516938.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:38.523Z,1761516938.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:38.851Z,1761516938.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562352,-0.825598,-0.046351],[0.826897,0.561381,0.033054],[-0.001269,-0.056915,0.998378]]
2025-10-26T22:15:38.877Z,1761516938.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:39.254Z,1761516939.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560786,-0.826626,-0.047001],[0.827961,0.559857,0.032271],[-0.000362,-0.057013,0.998373]]
2025-10-26T22:15:39.290Z,1761516939.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:39.659Z,1761516939.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558870,-0.827888,-0.047592],[0.829255,0.557991,0.031346],[0.000605,-0.056984,0.998375]]
2025-10-26T22:15:39.726Z,1761516939.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:40.063Z,1761516940.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556987,-0.829107,-0.048438],[0.830519,0.556159,0.030412],[0.001725,-0.057168,0.998363]]
2025-10-26T22:15:40.081Z,1761516940.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:40.547Z,1761516940.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:40.867Z,1761516940.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553655,-0.831268,-0.049590],[0.832739,0.552905,0.029008],[0.003305,-0.057356,0.998348]]
2025-10-26T22:15:40.963Z,1761516940.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:15:40.970Z,1761516940.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:41.196Z,1761516941.196 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:15:41.197Z,1761516941.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:15:41.271Z,1761516941.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552160,-0.832231,-0.050107],[0.833728,0.551442,0.028435],[0.003967,-0.057476,0.998339]]
2025-10-26T22:15:41.296Z,1761516941.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:41.452Z,1761516941.452 [DAT](INFO): DAT read: user:500>

2025-10-26T22:15:41.456Z,1761516941.456 [DAT](INFO): DAT read: Tx time:22:15:40.5390

2025-10-26T22:15:41.457Z,1761516941.457 [DAT](INFO): Ping request sent.
2025-10-26T22:15:41.457Z,1761516941.457 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:15:41.458Z,1761516941.458 [DAT](INFO): publishing transmit ping time
2025-10-26T22:15:41.464Z,1761516941.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006840
2025-10-26T22:15:41.675Z,1761516941.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550767,-0.833140,-0.050326],[0.834647,0.550079,0.027886],[0.004450,-0.057364,0.998343]]
2025-10-26T22:15:41.701Z,1761516941.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243897
2025-10-26T22:15:41.756Z,1761516941.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:41.953Z,1761516941.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496073
2025-10-26T22:15:42.078Z,1761516942.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550100,-0.833559,-0.050679],[0.835085,0.549421,0.027738],[0.004723,-0.057580,0.998330]]
2025-10-26T22:15:42.117Z,1761516942.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:42.205Z,1761516942.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747623
2025-10-26T22:15:42.460Z,1761516942.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002339
2025-10-26T22:15:42.515Z,1761516942.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549562,-0.833907,-0.050804],[0.835439,0.548886,0.027664],[0.004816,-0.057647,0.998325]]
2025-10-26T22:15:42.597Z,1761516942.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:42.709Z,1761516942.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252220
2025-10-26T22:15:42.886Z,1761516942.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549513,-0.833938,-0.050825],[0.835472,0.548829,0.027808],[0.004705,-0.057744,0.998320]]
2025-10-26T22:15:42.905Z,1761516942.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:42.905Z,1761516942.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 30.00 m and bearing: 178.498905 deg. Not drifting fast enough.
2025-10-26T22:15:42.962Z,1761516942.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504659
2025-10-26T22:15:43.212Z,1761516943.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755298
2025-10-26T22:15:43.328Z,1761516943.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:43.329Z,1761516943.329 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-10-26T22:15:43.329Z,1761516943.329 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-26T22:15:43.329Z,1761516943.329 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-10-26T22:15:43.330Z,1761516943.330 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-10-26T22:15:43.469Z,1761516943.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010925
2025-10-26T22:15:43.694Z,1761516943.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550675,-0.833201,-0.050323],[0.834710,0.549954,0.028444],[0.003976,-0.057668,0.998328]]
2025-10-26T22:15:43.717Z,1761516943.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259983
2025-10-26T22:15:43.773Z,1761516943.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:43.972Z,1761516943.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514812
2025-10-26T22:15:44.098Z,1761516944.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551963,-0.832372,-0.049939],[0.833862,0.551210,0.029026],[0.003366,-0.057664,0.998330]]
2025-10-26T22:15:44.123Z,1761516944.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:44.220Z,1761516944.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763297
2025-10-26T22:15:44.476Z,1761516944.476 [DAT](INFO): DAT read: Rx Time:22:15:42.9884

2025-10-26T22:15:44.477Z,1761516944.477 [DAT](INFO): Rx dataTimestamp_ set to:1761516944.476185
2025-10-26T22:15:44.479Z,1761516944.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021526
2025-10-26T22:15:44.551Z,1761516944.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553496,-0.831390,-0.049330],[0.832848,0.552706,0.029684],[0.002586,-0.057514,0.998341]]
2025-10-26T22:15:44.617Z,1761516944.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:44.725Z,1761516944.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268005
2025-10-26T22:15:44.906Z,1761516944.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555389,-0.830154,-0.048863],[0.831588,0.554562,0.030362],[0.001892,-0.057497,0.998344]]
2025-10-26T22:15:44.942Z,1761516944.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.82 m.
2025-10-26T22:15:44.982Z,1761516944.982 [DAT](INFO): DAT read: 22:15:42.9884 LVL= 23520, 18801, 29426, 29363, AGC= 62, IDX= 492,-0.17, 0.763, 0.826,-0.817, 0.751, PHS= 0.115, 0.120,-1.611, RAW=  29.8,  15.7, CAL=  27.5,  18.1, ROT= 122.5, -18.1

2025-10-26T22:15:44.983Z,1761516944.983 [DAT](INFO): got valid direction response:
 22:15:42.9884 LVL= 23520, 18801, 29426, 29363, AGC= 62, IDX= 492,-0.17, 0.763, 0.826,-0.817, 0.751, PHS= 0.115, 0.120,-1.611, RAW=  29.8,  15.7, CAL=  27.5,  18.1, ROT= 122.5, -18.1

2025-10-26T22:15:44.985Z,1761516944.985 [DAT](INFO): DAT read: Bearing 343.3,  51.4 (Local)

2025-10-26T22:15:44.985Z,1761516944.985 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.3,  51.4 (Local)

2025-10-26T22:15:44.986Z,1761516944.986 [DAT](INFO): DAT read: Range 11 to 50 : 33.9 m  (Round-trip  45.3 ms) speed -0.1 m/s

2025-10-26T22:15:44.987Z,1761516944.987 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:15:44.988Z,1761516944.988 [DAT](INFO): direction in FSK: [-0.510712,0.801657,0.310676]
2025-10-26T22:15:44.988Z,1761516944.988 [DAT](INFO): publishing direction and range info
2025-10-26T22:15:45.310Z,1761516945.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557486,-0.828785,-0.048222],[0.830186,0.556617,0.031125],[0.001045,-0.057385,0.998352]]
2025-10-26T22:15:45.408Z,1761516945.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.900002 m,
      deltaT: 60.243628 s,
      deltaX: 3.900002 m,
      approachRate: 0.064737 m/s,
      rangeRepo size: 4

2025-10-26T22:15:45.410Z,1761516945.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.694752 m,
      bearing: 178.104902 deg,
      lat: 36.779433 deg,
      lon: -121.859496 deg,
      deltaT: 60.243628 s,
      deltaX: 3.876207 m,
      approachRate: 0.064342 m/s,
      posRepo size: 4

2025-10-26T22:15:45.410Z,1761516945.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:45.806Z,1761516945.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:46.122Z,1761516946.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562136,-0.825706,-0.047034],[0.827044,0.561191,0.032591],[-0.000515,-0.057219,0.998362]]
2025-10-26T22:15:46.169Z,1761516946.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:46.565Z,1761516946.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564446,-0.824164,-0.046423],[0.825469,0.563476,0.033091],[-0.001114,-0.056999,0.998374]]
2025-10-26T22:15:46.632Z,1761516946.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:46.928Z,1761516946.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566830,-0.822553,-0.045941],[0.823834,0.565837,0.033570],[-0.001618,-0.056876,0.998380]]
2025-10-26T22:15:46.963Z,1761516946.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:47.330Z,1761516947.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569453,-0.820735,-0.046007],[0.822021,0.568408,0.034562],[-0.002216,-0.057501,0.998343]]
2025-10-26T22:15:47.364Z,1761516947.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:47.742Z,1761516947.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573059,-0.817883,-0.051678],[0.819505,0.571603,0.041010],[-0.004003,-0.065851,0.997821]]
2025-10-26T22:15:47.769Z,1761516947.769 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -26.41,       -3.    8.19,  0.00
2025-10-26T22:15:47.784Z,1761516947.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:48.138Z,1761516948.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576440,-0.814577,-0.064668],[0.817123,0.574113,0.052007],[-0.005237,-0.082820,0.996551]]
2025-10-26T22:15:48.164Z,1761516948.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:48.752Z,1761516948.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578901,-0.811774,-0.076792],[0.815379,0.575669,0.061346],[-0.005592,-0.098128,0.995158]]
2025-10-26T22:15:48.791Z,1761516948.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:49.169Z,1761516949.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580925,-0.809858,-0.081584],[0.813940,0.577339,0.064668],[-0.005271,-0.103972,0.994566]]
2025-10-26T22:15:49.188Z,1761516949.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:49.745Z,1761516949.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582233,-0.809904,-0.071139],[0.813015,0.579641,0.054984],[-0.003297,-0.089850,0.995950]]
2025-10-26T22:15:49.798Z,1761516949.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:50.138Z,1761516950.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582458,-0.810042,-0.067636],[0.812858,0.580234,0.050896],[-0.001983,-0.084623,0.996411]]
2025-10-26T22:15:50.172Z,1761516950.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:50.544Z,1761516950.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582900,-0.809499,-0.070280],[0.812544,0.580656,0.051092],[-0.000550,-0.086888,0.996218]]
2025-10-26T22:15:50.636Z,1761516950.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:50.966Z,1761516950.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583858,-0.808163,-0.077339],[0.811855,0.581303,0.054567],[0.000859,-0.094647,0.995510]]
2025-10-26T22:15:51.013Z,1761516951.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:51.435Z,1761516951.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585215,-0.806483,-0.084318],[0.810875,0.582348,0.057907],[0.002402,-0.102259,0.994755]]
2025-10-26T22:15:51.477Z,1761516951.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:51.915Z,1761516951.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586732,-0.804884,-0.088920],[0.809770,0.583749,0.059245],[0.004221,-0.106766,0.994275]]
2025-10-26T22:15:51.988Z,1761516951.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:52.417Z,1761516952.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588578,-0.803310,-0.090931],[0.808418,0.585653,0.058904],[0.005936,-0.108180,0.994114]]
2025-10-26T22:15:52.468Z,1761516952.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:52.898Z,1761516952.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593592,-0.799034,-0.095883],[0.804713,0.590694,0.059310],[0.009247,-0.112365,0.993624]]
2025-10-26T22:15:52.958Z,1761516952.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:53.298Z,1761516953.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597314,-0.795777,-0.099780],[0.801939,0.594251,0.061316],[0.010501,-0.116643,0.993118]]
2025-10-26T22:15:53.319Z,1761516953.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:53.712Z,1761516953.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601742,-0.791895,-0.103964],[0.798604,0.598470,0.063760],[0.011728,-0.121393,0.992535]]
2025-10-26T22:15:53.775Z,1761516953.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:54.106Z,1761516954.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606809,-0.787539,-0.107544],[0.794745,0.603330,0.066134],[0.012801,-0.125601,0.991998]]
2025-10-26T22:15:54.282Z,1761516954.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:54.521Z,1761516954.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612706,-0.782543,-0.110538],[0.790192,0.609023,0.068467],[0.013741,-0.129296,0.991511]]
2025-10-26T22:15:54.568Z,1761516954.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:54.966Z,1761516954.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619422,-0.776825,-0.113399],[0.784922,0.615508,0.071039],[0.014613,-0.133013,0.991007]]
2025-10-26T22:15:55.024Z,1761516955.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:55.364Z,1761516955.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626884,-0.770457,-0.115810],[0.778959,0.622745,0.073563],[0.015443,-0.136327,0.990544]]
2025-10-26T22:15:55.403Z,1761516955.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:55.925Z,1761516955.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:56.348Z,1761516956.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642617,-0.756765,-0.119791],[0.766027,0.637787,0.080195],[0.015712,-0.143298,0.989555]]
2025-10-26T22:15:56.375Z,1761516956.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:56.750Z,1761516956.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651623,-0.748587,-0.122499],[0.758390,0.646186,0.085373],[0.015248,-0.148533,0.988790]]
2025-10-26T22:15:56.794Z,1761516956.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:57.154Z,1761516957.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660818,-0.740065,-0.124997],[0.750409,0.654654,0.091179],[0.014351,-0.154052,0.987959]]
2025-10-26T22:15:57.177Z,1761516957.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:57.584Z,1761516957.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670478,-0.731000,-0.126883],[0.741813,0.663530,0.097167],[0.013162,-0.159272,0.987147]]
2025-10-26T22:15:57.633Z,1761516957.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:57.645Z,1761516957.645 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:15:58.053Z,1761516958.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:58.404Z,1761516958.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689843,-0.712489,-0.128358],[0.723887,0.681333,0.108500],[0.010149,-0.167765,0.985775]]
2025-10-26T22:15:58.501Z,1761516958.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:58.648Z,1761516958.648 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:15:58.809Z,1761516958.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699918,-0.702683,-0.127872],[0.714178,0.690581,0.114229],[0.008039,-0.171274,0.985191]]
2025-10-26T22:15:58.878Z,1761516958.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:59.214Z,1761516959.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710327,-0.692247,-0.127399],[0.703849,0.700032,0.120631],[0.005676,-0.175357,0.984489]]
2025-10-26T22:15:59.251Z,1761516959.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:15:59.754Z,1761516959.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730327,-0.671742,-0.124034],[0.683097,0.718352,0.131712],[0.000623,-0.180920,0.983498]]
2025-10-26T22:15:59.816Z,1761516959.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:00.179Z,1761516960.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:00.600Z,1761516960.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750903,-0.649264,-0.120836],[0.660394,0.736848,0.144687],[-0.004902,-0.188445,0.982071]]
2025-10-26T22:16:00.619Z,1761516960.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:01.004Z,1761516961.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761095,-0.637778,-0.118212],[0.648590,0.746010,0.150997],[-0.008115,-0.191594,0.981441]]
2025-10-26T22:16:01.061Z,1761516961.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:01.487Z,1761516961.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771357,-0.625939,-0.114930],[0.636290,0.755146,0.157761],[-0.011960,-0.194819,0.980766]]
2025-10-26T22:16:01.522Z,1761516961.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:01.890Z,1761516961.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781286,-0.614300,-0.110582],[0.623963,0.764061,0.163955],[-0.016226,-0.197094,0.980250]]
2025-10-26T22:16:01.965Z,1761516961.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:02.297Z,1761516962.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791374,-0.602011,-0.106349],[0.610980,0.772952,0.171022],[-0.020755,-0.200319,0.979511]]
2025-10-26T22:16:02.315Z,1761516962.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:02.699Z,1761516962.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801227,-0.589636,-0.101806],[0.597826,0.781651,0.177837],[-0.025282,-0.203350,0.978780]]
2025-10-26T22:16:02.798Z,1761516962.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:03.111Z,1761516963.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810899,-0.576927,-0.097967],[0.584422,0.789860,0.185939],[-0.029892,-0.208032,0.977665]]
2025-10-26T22:16:03.160Z,1761516963.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:03.514Z,1761516963.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820653,-0.563696,-0.093672],[0.570407,0.798325,0.193165],[-0.034106,-0.211953,0.976685]]
2025-10-26T22:16:03.533Z,1761516963.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:03.933Z,1761516963.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830165,-0.550517,-0.088074],[0.556210,0.807003,0.198437],[-0.038167,-0.213724,0.976148]]
2025-10-26T22:16:03.989Z,1761516963.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:04.322Z,1761516964.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839278,-0.537446,-0.082245],[0.542079,0.815461,0.202912],[-0.041987,-0.214883,0.975737]]
2025-10-26T22:16:04.348Z,1761516964.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:04.732Z,1761516964.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848441,-0.523631,-0.077198],[0.527319,0.823665,0.208589],[-0.045639,-0.217684,0.974952]]
2025-10-26T22:16:04.790Z,1761516964.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:05.131Z,1761516965.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857777,-0.509018,-0.071545],[0.511641,0.832118,0.214017],[-0.049405,-0.220184,0.974206]]
2025-10-26T22:16:05.193Z,1761516965.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:05.536Z,1761516965.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866613,-0.494604,-0.065945],[0.496154,0.840099,0.219236],[-0.053035,-0.222712,0.973441]]
2025-10-26T22:16:05.554Z,1761516965.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:05.999Z,1761516965.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875342,-0.479722,-0.060353],[0.480186,0.847939,0.224547],[-0.056544,-0.225536,0.972593]]
2025-10-26T22:16:06.036Z,1761516966.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:06.400Z,1761516966.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883942,-0.464480,-0.053900],[0.463727,0.855985,0.228578],[-0.060032,-0.227044,0.972032]]
2025-10-26T22:16:06.443Z,1761516966.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:06.875Z,1761516966.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900492,-0.432967,-0.040663],[0.429533,0.870931,0.238704],[-0.067936,-0.232417,0.970241]]
2025-10-26T22:16:06.950Z,1761516966.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:07.367Z,1761516967.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908003,-0.417676,-0.032825],[0.412652,0.878027,0.242458],[-0.072448,-0.233698,0.969606]]
2025-10-26T22:16:07.464Z,1761516967.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:07.777Z,1761516967.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915495,-0.401627,-0.023742],[0.394791,0.885409,0.245337],[-0.077512,-0.233978,0.969147]]
2025-10-26T22:16:07.866Z,1761516967.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:08.175Z,1761516968.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922805,-0.384982,-0.014864],[0.376373,0.892583,0.248272],[-0.082312,-0.234701,0.968576]]
2025-10-26T22:16:08.261Z,1761516968.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:08.578Z,1761516968.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929707,-0.368242,-0.006596],[0.357873,0.899007,0.252416],[-0.087020,-0.237033,0.967596]]
2025-10-26T22:16:08.620Z,1761516968.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:08.983Z,1761516968.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936274,-0.351266,0.001809],[0.339062,0.905065,0.256700],[-0.091807,-0.239728,0.966489]]
2025-10-26T22:16:09.033Z,1761516969.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:09.444Z,1761516969.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:09.791Z,1761516969.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948532,-0.316076,0.019596],[0.300239,0.917237,0.261788],[-0.100719,-0.242430,0.964926]]
2025-10-26T22:16:09.815Z,1761516969.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:10.195Z,1761516970.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954119,-0.298069,0.028496],[0.280401,0.922818,0.264163],[-0.105035,-0.244053,0.964057]]
2025-10-26T22:16:10.246Z,1761516970.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:10.598Z,1761516970.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959307,-0.279976,0.036657],[0.260512,0.927650,0.267579],[-0.108921,-0.247141,0.962838]]
2025-10-26T22:16:10.617Z,1761516970.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:11.003Z,1761516971.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964152,-0.261446,0.045347],[0.240260,0.932686,0.269022],[-0.112629,-0.248483,0.962066]]
2025-10-26T22:16:11.064Z,1761516971.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:11.421Z,1761516971.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968573,-0.242795,0.054012],[0.219907,0.937368,0.270152],[-0.116220,-0.249784,0.961302]]
2025-10-26T22:16:11.441Z,1761516971.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:11.810Z,1761516971.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972708,-0.223378,0.062782],[0.198841,0.941922,0.270639],[-0.119590,-0.250769,0.960632]]
2025-10-26T22:16:11.840Z,1761516971.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:12.215Z,1761516972.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976269,-0.204312,0.071798],[0.178016,0.945920,0.271194],[-0.123323,-0.251977,0.959843]]
2025-10-26T22:16:12.276Z,1761516972.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:12.619Z,1761516972.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979364,-0.185123,0.081089],[0.157026,0.949584,0.271354],[-0.127235,-0.253021,0.959058]]
2025-10-26T22:16:12.637Z,1761516972.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:13.024Z,1761516973.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981999,-0.165905,0.090299],[0.136028,0.952828,0.271322],[-0.131053,-0.254154,0.958244]]
2025-10-26T22:16:13.061Z,1761516973.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:13.432Z,1761516973.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984110,-0.147146,0.099378],[0.115517,0.955616,0.271024],[-0.134848,-0.255238,0.957429]]
2025-10-26T22:16:13.452Z,1761516973.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:13.830Z,1761516973.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985747,-0.128084,0.109079],[0.094847,0.958602,0.268487],[-0.138952,-0.254315,0.957087]]
2025-10-26T22:16:13.871Z,1761516973.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:14.234Z,1761516974.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986781,-0.110214,0.118813],[0.075712,0.961735,0.263313],[-0.143288,-0.250836,0.957366]]
2025-10-26T22:16:14.296Z,1761516974.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:14.640Z,1761516974.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987342,-0.093378,0.128206],[0.057394,0.963891,0.260038],[-0.147858,-0.249388,0.957049]]
2025-10-26T22:16:14.658Z,1761516974.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:15.043Z,1761516975.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987514,-0.076563,0.137677],[0.039234,0.965946,0.255751],[-0.152569,-0.247156,0.956889]]
2025-10-26T22:16:15.085Z,1761516975.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:15.446Z,1761516975.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987263,-0.061014,0.146934],[0.022211,0.967354,0.252453],[-0.157541,-0.245974,0.956388]]
2025-10-26T22:16:15.482Z,1761516975.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:15.850Z,1761516975.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986734,-0.046081,0.155667],[0.005892,0.968403,0.249321],[-0.162237,-0.245097,0.955828]]
2025-10-26T22:16:15.876Z,1761516975.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:16.284Z,1761516976.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985880,-0.031844,0.164395],[-0.009448,0.969610,0.244474],[-0.167184,-0.242575,0.955619]]
2025-10-26T22:16:16.357Z,1761516976.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:16.728Z,1761516976.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984742,-0.018990,0.172980],[-0.023039,0.971051,0.237760],[-0.172487,-0.238118,0.955797]]
2025-10-26T22:16:16.786Z,1761516976.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:17.124Z,1761516977.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983389,-0.007402,0.181359],[-0.035369,0.972201,0.231461],[-0.178030,-0.234030,0.955790]]
2025-10-26T22:16:17.209Z,1761516977.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:17.527Z,1761516977.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981789,0.003828,0.189936],[-0.046902,0.973733,0.222812],[-0.184094,-0.227662,0.956180]]
2025-10-26T22:16:17.589Z,1761516977.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:18.053Z,1761516978.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980046,0.012836,0.198356],[-0.055846,0.975498,0.212803],[-0.190764,-0.219635,0.956750]]
2025-10-26T22:16:18.103Z,1761516978.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:18.454Z,1761516978.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978240,0.020432,0.206466],[-0.063330,0.977052,0.203367],[-0.197572,-0.212018,0.957086]]
2025-10-26T22:16:18.473Z,1761516978.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:18.859Z,1761516978.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976352,0.026305,0.214581],[-0.069104,0.978469,0.194481],[-0.204845,-0.204710,0.957148]]
2025-10-26T22:16:18.884Z,1761516978.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:19.262Z,1761516979.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974391,0.031607,0.222629],[-0.074257,0.979757,0.185909],[-0.212246,-0.197680,0.957013]]
2025-10-26T22:16:19.334Z,1761516979.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:19.666Z,1761516979.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972572,0.034964,0.229960],[-0.076808,0.981457,0.175620],[-0.219555,-0.188466,0.957223]]
2025-10-26T22:16:19.706Z,1761516979.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:20.070Z,1761516980.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970726,0.037040,0.237315],[-0.078166,0.982970,0.166311],[-0.227113,-0.179992,0.957090]]
2025-10-26T22:16:20.124Z,1761516980.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:20.476Z,1761516980.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968937,0.038198,0.244340],[-0.078430,0.984461,0.157113],[-0.234542,-0.171396,0.956877]]
2025-10-26T22:16:20.560Z,1761516980.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:20.879Z,1761516980.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967142,0.037985,0.251384],[-0.077395,0.985834,0.148796],[-0.242171,-0.163363,0.956382]]
2025-10-26T22:16:20.955Z,1761516980.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:21.290Z,1761516981.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963610,0.037286,0.264697],[-0.074435,0.988487,0.131733],[-0.256738,-0.146642,0.955292]]
2025-10-26T22:16:21.373Z,1761516981.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:21.739Z,1761516981.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:22.094Z,1761516982.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960176,0.033302,0.277406],[-0.069174,0.990295,0.120547],[-0.270699,-0.134935,0.953160]]
2025-10-26T22:16:22.131Z,1761516982.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:22.495Z,1761516982.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958342,0.031178,0.283917],[-0.067018,0.990820,0.117409],[-0.277650,-0.131546,0.951634]]
2025-10-26T22:16:22.520Z,1761516982.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:22.972Z,1761516982.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956424,0.029218,0.290517],[-0.065671,0.991014,0.116530],[-0.284502,-0.130530,0.949748]]
2025-10-26T22:16:22.991Z,1761516982.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:23.372Z,1761516983.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954529,0.027749,0.296824],[-0.064991,0.991080,0.116348],[-0.290947,-0.130348,0.947818]]
2025-10-26T22:16:23.430Z,1761516983.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:23.898Z,1761516983.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952777,0.027417,0.302432],[-0.065309,0.991112,0.115897],[-0.296566,-0.130176,0.946099]]
2025-10-26T22:16:23.926Z,1761516983.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:24.341Z,1761516984.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:24.751Z,1761516984.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949905,0.025044,0.311535],[-0.064776,0.990916,0.117850],[-0.305754,-0.132126,0.942898]]
2025-10-26T22:16:24.770Z,1761516984.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:25.156Z,1761516985.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948798,0.024992,0.314893],[-0.064971,0.990991,0.117112],[-0.309129,-0.131575,0.941874]]
2025-10-26T22:16:25.192Z,1761516985.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:25.558Z,1761516985.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947779,0.024295,0.318001],[-0.065198,0.990796,0.118624],[-0.312192,-0.133162,0.940640]]
2025-10-26T22:16:25.588Z,1761516985.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:25.962Z,1761516985.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946805,0.024548,0.320870],[-0.066438,0.990516,0.120263],[-0.314875,-0.135184,0.939457]]
2025-10-26T22:16:25.981Z,1761516985.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:26.452Z,1761516986.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:26.770Z,1761516986.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945058,0.027300,0.325760],[-0.070377,0.990131,0.121191],[-0.319237,-0.137459,0.937653]]
2025-10-26T22:16:26.795Z,1761516986.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:27.174Z,1761516987.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944294,0.028496,0.327866],[-0.071870,0.990054,0.120944],[-0.321159,-0.137771,0.936951]]
2025-10-26T22:16:27.217Z,1761516987.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:27.601Z,1761516987.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943603,0.029498,0.329763],[-0.073285,0.989925,0.121149],[-0.322867,-0.138484,0.936258]]
2025-10-26T22:16:27.629Z,1761516987.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:28.079Z,1761516988.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942988,0.030777,0.331400],[-0.074245,0.990077,0.119315],[-0.324439,-0.137117,0.935916]]
2025-10-26T22:16:28.158Z,1761516988.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:28.605Z,1761516988.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942020,0.030917,0.334129],[-0.073751,0.990475,0.116280],[-0.327352,-0.134180,0.935327]]
2025-10-26T22:16:28.642Z,1761516988.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:28.780Z,1761516988.780 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:16:29.002Z,1761516989.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941707,0.029586,0.335131],[-0.073114,0.990316,0.118020],[-0.328394,-0.135643,0.934750]]
2025-10-26T22:16:29.033Z,1761516989.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:29.444Z,1761516989.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941653,0.029616,0.335281],[-0.073154,0.990318,0.117977],[-0.328540,-0.135621,0.934702]]
2025-10-26T22:16:29.500Z,1761516989.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:29.784Z,1761516989.784 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:16:29.839Z,1761516989.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941703,0.028067,0.335274],[-0.071364,0.990502,0.117527],[-0.328791,-0.134602,0.934762]]
2025-10-26T22:16:29.873Z,1761516989.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:30.243Z,1761516990.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941940,0.025561,0.334805],[-0.069023,0.990544,0.118566],[-0.328609,-0.134792,0.934798]]
2025-10-26T22:16:30.289Z,1761516990.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:30.647Z,1761516990.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942107,0.023166,0.334512],[-0.066700,0.990622,0.119246],[-0.328612,-0.134654,0.934817]]
2025-10-26T22:16:30.671Z,1761516990.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:31.052Z,1761516991.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942435,0.020412,0.333767],[-0.063020,0.991091,0.117334],[-0.328398,-0.131614,0.935325]]
2025-10-26T22:16:31.071Z,1761516991.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:31.506Z,1761516991.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:31.957Z,1761516991.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942745,0.015155,0.333169],[-0.056948,0.991611,0.116035],[-0.328616,-0.128365,0.935700]]
2025-10-26T22:16:31.975Z,1761516991.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:32.434Z,1761516992.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:32.794Z,1761516992.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:33.170Z,1761516993.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943039,0.005458,0.332638],[-0.046818,0.992092,0.116452],[-0.329372,-0.125392,0.935837]]
2025-10-26T22:16:33.252Z,1761516993.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:33.573Z,1761516993.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943035,0.003742,0.332671],[-0.044924,0.992211,0.116187],[-0.329645,-0.124514,0.935858]]
2025-10-26T22:16:33.699Z,1761516993.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:33.974Z,1761516993.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943034,0.002479,0.332688],[-0.043559,0.992284,0.116078],[-0.329833,-0.123957,0.935866]]
2025-10-26T22:16:34.029Z,1761516994.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:34.388Z,1761516994.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943011,0.000713,0.332761],[-0.041478,0.992451,0.115416],[-0.330167,-0.122641,0.935922]]
2025-10-26T22:16:34.442Z,1761516994.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:34.782Z,1761516994.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943017,-0.000262,0.332744],[-0.038540,0.993183,0.110006],[-0.330504,-0.116562,0.936579]]
2025-10-26T22:16:34.829Z,1761516994.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:35.187Z,1761516995.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942890,-0.001678,0.333100],[-0.035802,0.993684,0.106350],[-0.331174,-0.112202,0.936875]]
2025-10-26T22:16:35.240Z,1761516995.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:35.594Z,1761516995.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942889,-0.002295,0.333100],[-0.035007,0.993756,0.105939],[-0.331264,-0.111549,0.936921]]
2025-10-26T22:16:35.630Z,1761516995.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:35.994Z,1761516995.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942918,-0.002140,0.333017],[-0.035217,0.993732,0.106099],[-0.331157,-0.111770,0.936933]]
2025-10-26T22:16:36.023Z,1761516996.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:36.398Z,1761516996.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942915,-0.002074,0.333028],[-0.035443,0.993677,0.106539],[-0.331143,-0.112261,0.936879]]
2025-10-26T22:16:36.473Z,1761516996.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:36.832Z,1761516996.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942933,-0.001816,0.332979],[-0.036618,0.993355,0.109114],[-0.330964,-0.115080,0.936600]]
2025-10-26T22:16:36.870Z,1761516996.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:37.322Z,1761516997.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:37.770Z,1761516997.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943006,0.002162,0.332768],[-0.042918,0.992418,0.115175],[-0.329996,-0.122892,0.935949]]
2025-10-26T22:16:37.815Z,1761516997.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:38.306Z,1761516998.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943012,0.003970,0.332735],[-0.046748,0.991593,0.120658],[-0.329459,-0.129336,0.935270]]
2025-10-26T22:16:38.343Z,1761516998.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:38.676Z,1761516998.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943000,0.004663,0.332762],[-0.049316,0.990820,0.125872],[-0.329120,-0.135108,0.934573]]
2025-10-26T22:16:38.694Z,1761516998.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:39.078Z,1761516999.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942862,0.004757,0.333150],[-0.051255,0.990067,0.130922],[-0.329218,-0.140517,0.933740]]
2025-10-26T22:16:39.103Z,1761516999.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:39.539Z,1761516999.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:39.988Z,1761516999.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942545,0.004413,0.334050],[-0.052070,0.989633,0.133845],[-0.329996,-0.143549,0.933004]]
2025-10-26T22:16:40.007Z,1761517000.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:40.396Z,1761517000.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942320,0.003452,0.334696],[-0.050656,0.989900,0.132409],[-0.330858,-0.141726,0.932977]]
2025-10-26T22:16:40.448Z,1761517000.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:40.921Z,1761517000.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:41.276Z,1761517001.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942109,0.001411,0.335303],[-0.045933,0.991107,0.124889],[-0.332144,-0.133060,0.933796]]
2025-10-26T22:16:41.314Z,1761517001.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:16:41.337Z,1761517001.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:41.473Z,1761517001.473 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:16:41.473Z,1761517001.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:16:41.683Z,1761517001.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942066,-0.001036,0.335427],[-0.042397,0.991607,0.122138],[-0.332738,-0.129283,0.934115]]
2025-10-26T22:16:41.725Z,1761517001.725 [DAT](INFO): DAT read: user:501>

2025-10-26T22:16:41.726Z,1761517001.726 [DAT](INFO): DAT read: Tx time:22:16:40.8389

2025-10-26T22:16:41.727Z,1761517001.727 [DAT](INFO): Ping request sent.
2025-10-26T22:16:41.727Z,1761517001.727 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:16:41.727Z,1761517001.727 [DAT](INFO): publishing transmit ping time
2025-10-26T22:16:41.728Z,1761517001.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001459
2025-10-26T22:16:41.773Z,1761517001.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:41.976Z,1761517001.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249868
2025-10-26T22:16:42.095Z,1761517002.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942147,-0.005302,0.335158],[-0.037270,0.992018,0.120461],[-0.333122,-0.125983,0.934429]]
2025-10-26T22:16:42.127Z,1761517002.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:42.230Z,1761517002.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503133
2025-10-26T22:16:42.481Z,1761517002.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754173
2025-10-26T22:16:42.498Z,1761517002.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942282,-0.010387,0.334658],[-0.032432,0.991987,0.122104],[-0.333245,-0.125910,0.934395]]
2025-10-26T22:16:42.559Z,1761517002.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:42.734Z,1761517002.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007131
2025-10-26T22:16:42.907Z,1761517002.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942618,-0.013969,0.333581],[-0.028001,0.992297,0.120678],[-0.332697,-0.123094,0.934966]]
2025-10-26T22:16:42.926Z,1761517002.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:42.985Z,1761517002.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258401
2025-10-26T22:16:43.236Z,1761517003.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509829
2025-10-26T22:16:43.318Z,1761517003.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943502,-0.021418,0.330674],[-0.019928,0.992435,0.121141],[-0.330767,-0.120887,0.935938]]
2025-10-26T22:16:43.399Z,1761517003.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:43.490Z,1761517003.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763011
2025-10-26T22:16:43.733Z,1761517003.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944119,-0.023907,0.328736],[-0.017613,0.992281,0.122748],[-0.329134,-0.121679,0.936411]]
2025-10-26T22:16:43.740Z,1761517003.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013870
2025-10-26T22:16:43.796Z,1761517003.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:43.992Z,1761517003.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265890
2025-10-26T22:16:44.123Z,1761517004.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944925,-0.026687,0.326198],[-0.016160,0.991650,0.127941],[-0.326889,-0.126167,0.936603]]
2025-10-26T22:16:44.157Z,1761517004.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:44.245Z,1761517004.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518366
2025-10-26T22:16:44.497Z,1761517004.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770018
2025-10-26T22:16:44.532Z,1761517004.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945921,-0.029926,0.323014],[-0.015327,0.990501,0.136651],[-0.324035,-0.134212,0.936477]]
2025-10-26T22:16:44.578Z,1761517004.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:44.749Z,1761517004.749 [DAT](INFO): DAT read: Rx Time:22:16:43.3296

2025-10-26T22:16:44.750Z,1761517004.750 [DAT](INFO): Rx dataTimestamp_ set to:1761517004.749517
2025-10-26T22:16:44.751Z,1761517004.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024167
2025-10-26T22:16:44.947Z,1761517004.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947003,-0.032143,0.319613],[-0.014789,0.989563,0.143338],[-0.320885,-0.140468,0.936644]]
2025-10-26T22:16:44.966Z,1761517004.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-10-26T22:16:45.000Z,1761517005.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273985
2025-10-26T22:16:45.258Z,1761517005.258 [DAT](INFO): DAT read: 22:16:43.3296 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 339,-0.27,-2.221,-0.646,-2.277,-1.789, PHS=-0.330, 1.188,-0.532, RAW= 336.2,  -4.0, CAL= 335.6,  -7.0, ROT= 174.4,   7.0

2025-10-26T22:16:45.259Z,1761517005.259 [DAT](INFO): got valid direction response:
 22:16:43.3296 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 339,-0.27,-2.221,-0.646,-2.277,-1.789, PHS=-0.330, 1.188,-0.532, RAW= 336.2,  -4.0, CAL= 335.6,  -7.0, ROT= 174.4,   7.0

2025-10-26T22:16:45.260Z,1761517005.260 [DAT](INFO): DAT read: Bearing 332.7,  25.6 (Local)

2025-10-26T22:16:45.260Z,1761517005.260 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.7,  25.6 (Local)

2025-10-26T22:16:45.261Z,1761517005.261 [DAT](INFO): DAT read: Range 11 to 50 : 64.9 m  (Round-trip  86.6 ms) speed -0.6 m/s

2025-10-26T22:16:45.262Z,1761517005.262 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:16:45.263Z,1761517005.263 [DAT](INFO): direction in FSK: [-0.987809,0.096856,-0.121869]
2025-10-26T22:16:45.263Z,1761517005.263 [DAT](INFO): publishing direction and range info
2025-10-26T22:16:45.485Z,1761517005.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.900002 m,
      deltaT: 60.275836 s,
      deltaX: 31.000000 m,
      approachRate: 0.514302 m/s,
      rangeRepo size: 4

2025-10-26T22:16:45.488Z,1761517005.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.580849 m,
      bearing: 174.566190 deg,
      lat: 36.779426 deg,
      lon: -121.859495 deg,
      deltaT: 60.275836 s,
      deltaX: 30.886097 m,
      approachRate: 0.512413 m/s,
      posRepo size: 4

2025-10-26T22:16:45.488Z,1761517005.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:45.900Z,1761517005.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949355,-0.035584,0.312185],[-0.014775,0.987411,0.157481],[-0.313859,-0.154118,0.936878]]
2025-10-26T22:16:45.945Z,1761517005.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:46.425Z,1761517006.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950743,-0.035842,0.307901],[-0.015791,0.986403,0.163583],[-0.309578,-0.160387,0.937250]]
2025-10-26T22:16:46.533Z,1761517006.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:46.807Z,1761517006.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952224,-0.034000,0.303502],[-0.016721,0.986489,0.162974],[-0.304942,-0.160262,0.938790]]
2025-10-26T22:16:46.876Z,1761517006.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:47.210Z,1761517007.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953829,-0.032109,0.298628],[-0.017499,0.986639,0.161979],[-0.299839,-0.159726,0.940524]]
2025-10-26T22:16:47.256Z,1761517007.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:47.699Z,1761517007.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:48.018Z,1761517008.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956777,-0.030048,0.289266],[-0.019041,0.986042,0.165407],[-0.290199,-0.163766,0.942850]]
2025-10-26T22:16:48.051Z,1761517008.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:48.461Z,1761517008.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958147,-0.028237,0.284881],[-0.019375,0.986446,0.162940],[-0.285620,-0.161640,0.944613]]
2025-10-26T22:16:48.515Z,1761517008.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:48.826Z,1761517008.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959352,-0.026470,0.280969],[-0.019732,0.986863,0.160347],[-0.281522,-0.159374,0.946227]]
2025-10-26T22:16:48.874Z,1761517008.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:49.232Z,1761517009.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960479,-0.025046,0.277223],[-0.020433,0.986913,0.159957],[-0.277601,-0.159300,0.947397]]
2025-10-26T22:16:49.250Z,1761517009.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:49.634Z,1761517009.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961640,-0.023577,0.273298],[-0.020736,0.987201,0.158127],[-0.273528,-0.157729,0.948844]]
2025-10-26T22:16:49.677Z,1761517009.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:50.042Z,1761517010.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962806,-0.021566,0.269332],[-0.021269,0.987667,0.155117],[-0.269356,-0.155076,0.950473]]
2025-10-26T22:16:50.075Z,1761517010.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:50.485Z,1761517010.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963846,-0.020088,0.265701],[-0.022235,0.987613,0.155326],[-0.265530,-0.155618,0.951460]]
2025-10-26T22:16:50.551Z,1761517010.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:50.863Z,1761517010.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964842,-0.018207,0.262198],[-0.023766,0.987467,0.156025],[-0.261753,-0.156771,0.952317]]
2025-10-26T22:16:50.882Z,1761517010.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:51.260Z,1761517011.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965881,-0.016862,0.258437],[-0.024711,0.987325,0.156775],[-0.257805,-0.157813,0.953222]]
2025-10-26T22:16:51.283Z,1761517011.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:51.662Z,1761517011.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966891,-0.014558,0.254774],[-0.026552,0.987213,0.157177],[-0.253805,-0.158738,0.954141]]
2025-10-26T22:16:51.715Z,1761517011.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:52.071Z,1761517012.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967883,-0.011636,0.251131],[-0.029050,0.987060,0.157696],[-0.249716,-0.159927,0.955021]]
2025-10-26T22:16:52.105Z,1761517012.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:52.584Z,1761517012.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:52.932Z,1761517012.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970616,-0.001474,0.240631],[-0.037152,0.987073,0.155905],[-0.237750,-0.160264,0.958014]]
2025-10-26T22:16:52.950Z,1761517012.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:53.344Z,1761517013.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971299,0.002583,0.237847],[-0.041181,0.986667,0.157456],[-0.234269,-0.162731,0.958455]]
2025-10-26T22:16:53.367Z,1761517013.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:53.787Z,1761517013.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:54.138Z,1761517014.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972497,0.008316,0.232766],[-0.047430,0.985493,0.162954],[-0.228034,-0.169512,0.958784]]
2025-10-26T22:16:54.156Z,1761517014.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:54.553Z,1761517014.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972956,0.011126,0.230722],[-0.050286,0.985086,0.164553],[-0.225450,-0.171705,0.959005]]
2025-10-26T22:16:54.618Z,1761517014.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:54.942Z,1761517014.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973405,0.013070,0.228719],[-0.052265,0.984713,0.166161],[-0.223050,-0.173696,0.959207]]
2025-10-26T22:16:54.969Z,1761517014.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:55.356Z,1761517015.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973792,0.014988,0.226946],[-0.053956,0.984565,0.166492],[-0.220948,-0.174374,0.959571]]
2025-10-26T22:16:55.383Z,1761517015.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:55.855Z,1761517015.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974247,0.016414,0.224885],[-0.054661,0.984790,0.164924],[-0.218758,-0.172970,0.960326]]
2025-10-26T22:16:55.909Z,1761517015.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:56.369Z,1761517016.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974713,0.016868,0.222823],[-0.054430,0.985035,0.163532],[-0.216730,-0.171525,0.961045]]
2025-10-26T22:16:56.387Z,1761517016.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:56.792Z,1761517016.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975203,0.017499,0.220618],[-0.053184,0.986187,0.156866],[-0.214826,-0.164709,0.962663]]
2025-10-26T22:16:56.862Z,1761517016.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:57.195Z,1761517017.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975721,0.017112,0.218348],[-0.050483,0.987670,0.148187],[-0.213120,-0.155612,0.964554]]
2025-10-26T22:16:57.214Z,1761517017.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:57.702Z,1761517017.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:58.002Z,1761517018.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976519,0.011172,0.215141],[-0.042980,0.988681,0.143743],[-0.211100,-0.149615,0.965946]]
2025-10-26T22:16:58.021Z,1761517018.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:58.412Z,1761517018.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976924,0.008486,0.213417],[-0.039233,0.989338,0.140253],[-0.209951,-0.145390,0.966841]]
2025-10-26T22:16:58.439Z,1761517018.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:58.885Z,1761517018.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:59.214Z,1761517019.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977865,0.002301,0.209224],[-0.030652,0.990727,0.132363],[-0.206979,-0.135847,0.968868]]
2025-10-26T22:16:59.250Z,1761517019.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:59.703Z,1761517019.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978160,-0.000170,0.207853],[-0.027642,0.991011,0.130892],[-0.206007,-0.133779,0.969363]]
2025-10-26T22:16:59.842Z,1761517019.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:16:59.908Z,1761517019.908 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:17:00.265Z,1761517020.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978519,-0.006166,0.206066],[-0.022526,0.990370,0.136598],[-0.204924,-0.138306,0.968957]]
2025-10-26T22:17:00.317Z,1761517020.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:00.664Z,1761517020.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978598,-0.008042,0.205623],[-0.021611,0.989694,0.141557],[-0.204642,-0.142971,0.968339]]
2025-10-26T22:17:00.755Z,1761517020.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:00.912Z,1761517020.912 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:17:01.164Z,1761517021.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978683,-0.008695,0.205192],[-0.022044,0.988884,0.147046],[-0.204189,-0.148435,0.967612]]
2025-10-26T22:17:01.225Z,1761517021.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:01.558Z,1761517021.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978752,-0.008120,0.204886],[-0.023191,0.988421,0.149956],[-0.203731,-0.151521,0.967231]]
2025-10-26T22:17:01.672Z,1761517021.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:01.979Z,1761517021.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978864,-0.007119,0.204390],[-0.025358,0.987457,0.155838],[-0.202936,-0.157727,0.966405]]
2025-10-26T22:17:02.029Z,1761517022.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:02.419Z,1761517022.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:02.787Z,1761517022.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978976,-0.002375,0.203962],[-0.031864,0.985876,0.164419],[-0.201472,-0.167462,0.965073]]
2025-10-26T22:17:02.806Z,1761517022.806 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-2768,V
2025-10-26T22:17:02.856Z,1761517022.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:03.197Z,1761517023.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979001,0.000778,0.203856],[-0.035848,0.985067,0.168399],[-0.200681,-0.172171,0.964409]]
2025-10-26T22:17:03.219Z,1761517023.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:03.594Z,1761517023.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979012,0.004416,0.203754],[-0.040013,0.984473,0.170917],[-0.199835,-0.175483,0.963987]]
2025-10-26T22:17:03.697Z,1761517023.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:04.025Z,1761517024.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978960,0.008212,0.203885],[-0.044386,0.983834,0.173497],[-0.199164,-0.178896,0.963499]]
2025-10-26T22:17:04.063Z,1761517024.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:04.425Z,1761517024.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978959,0.012068,0.203698],[-0.048224,0.983655,0.173487],[-0.198275,-0.179660,0.963540]]
2025-10-26T22:17:04.454Z,1761517024.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:04.838Z,1761517024.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979036,0.016450,0.203024],[-0.051832,0.984043,0.170214],[-0.196984,-0.177169,0.964266]]
2025-10-26T22:17:04.883Z,1761517024.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:05.234Z,1761517025.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979112,0.019316,0.202403],[-0.054089,0.984351,0.167711],[-0.195996,-0.175155,0.964835]]
2025-10-26T22:17:05.259Z,1761517025.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:05.639Z,1761517025.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979144,0.022215,0.201950],[-0.056103,0.984919,0.163670],[-0.195269,-0.171587,0.965623]]
2025-10-26T22:17:05.720Z,1761517025.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:06.040Z,1761517026.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979185,0.024371,0.201501],[-0.057131,0.985720,0.158406],[-0.194763,-0.166621,0.966595]]
2025-10-26T22:17:06.085Z,1761517026.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:06.482Z,1761517026.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:06.850Z,1761517026.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979526,0.027740,0.199400],[-0.057395,0.987836,0.144517],[-0.192965,-0.153003,0.969203]]
2025-10-26T22:17:06.914Z,1761517026.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:07.255Z,1761517027.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979719,0.028663,0.198315],[-0.056767,0.988871,0.137519],[-0.192166,-0.145988,0.970443]]
2025-10-26T22:17:07.274Z,1761517027.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:07.768Z,1761517027.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:08.121Z,1761517028.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:08.472Z,1761517028.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980486,0.026699,0.194768],[-0.051229,0.991205,0.122019],[-0.189798,-0.129616,0.973230]]
2025-10-26T22:17:08.490Z,1761517028.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:08.882Z,1761517028.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980706,0.024427,0.193956],[-0.048544,0.991516,0.120582],[-0.189365,-0.127671,0.973571]]
2025-10-26T22:17:08.918Z,1761517028.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:09.322Z,1761517029.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980807,0.022555,0.193673],[-0.046524,0.991669,0.120120],[-0.189350,-0.126825,0.973685]]
2025-10-26T22:17:09.363Z,1761517029.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:09.842Z,1761517029.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:10.153Z,1761517030.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981451,0.015068,0.191121],[-0.038898,0.991823,0.121553],[-0.187727,-0.126732,0.974011]]
2025-10-26T22:17:10.209Z,1761517030.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:10.558Z,1761517030.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981736,0.012660,0.189829],[-0.036509,0.991776,0.122670],[-0.186715,-0.127360,0.974124]]
2025-10-26T22:17:10.577Z,1761517030.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:11.011Z,1761517031.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:11.362Z,1761517031.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982218,0.009630,0.187495],[-0.034002,0.991293,0.127208],[-0.184638,-0.131321,0.973994]]
2025-10-26T22:17:11.381Z,1761517031.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:11.891Z,1761517031.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:12.246Z,1761517032.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982748,0.006924,0.184818],[-0.031779,0.990758,0.131865],[-0.182197,-0.135463,0.973886]]
2025-10-26T22:17:12.264Z,1761517032.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:12.671Z,1761517032.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982975,0.006172,0.183638],[-0.031311,0.990444,0.134315],[-0.181054,-0.137778,0.973774]]
2025-10-26T22:17:12.691Z,1761517032.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:13.174Z,1761517033.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:13.497Z,1761517033.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983294,0.006296,0.181913],[-0.032259,0.989609,0.140117],[-0.179141,-0.143645,0.973280]]
2025-10-26T22:17:13.528Z,1761517033.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:13.895Z,1761517033.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983422,0.006605,0.181211],[-0.032677,0.989431,0.141273],[-0.178362,-0.144853,0.973244]]
2025-10-26T22:17:13.950Z,1761517033.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:14.352Z,1761517034.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:14.708Z,1761517034.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983594,0.008479,0.180195],[-0.035075,0.988820,0.144930],[-0.176952,-0.148873,0.972895]]
2025-10-26T22:17:14.739Z,1761517034.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:15.107Z,1761517035.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983681,0.010340,0.179626],[-0.036991,0.988643,0.145661],[-0.176079,-0.149928,0.972891]]
2025-10-26T22:17:15.151Z,1761517035.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:15.510Z,1761517035.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983727,0.012396,0.179240],[-0.038865,0.988679,0.144928],[-0.175414,-0.149536,0.973072]]
2025-10-26T22:17:15.550Z,1761517035.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:15.916Z,1761517035.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983761,0.013974,0.178938],[-0.040439,0.988587,0.145122],[-0.174868,-0.150001,0.973099]]
2025-10-26T22:17:15.969Z,1761517035.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:16.326Z,1761517036.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983741,0.016265,0.178856],[-0.042357,0.988809,0.143050],[-0.174528,-0.148300,0.973420]]
2025-10-26T22:17:16.345Z,1761517036.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:16.733Z,1761517036.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983701,0.018866,0.178819],[-0.044478,0.989107,0.140321],[-0.174223,-0.145988,0.973824]]
2025-10-26T22:17:16.756Z,1761517036.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:17.126Z,1761517037.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983648,0.021461,0.178819],[-0.046621,0.989375,0.137712],[-0.173964,-0.143796,0.974197]]
2025-10-26T22:17:17.169Z,1761517037.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:17.537Z,1761517037.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983601,0.023858,0.178775],[-0.048620,0.989592,0.135438],[-0.173683,-0.141909,0.974523]]
2025-10-26T22:17:17.555Z,1761517037.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:17.936Z,1761517037.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983553,0.025604,0.178795],[-0.050233,0.989624,0.134614],[-0.173493,-0.141381,0.974634]]
2025-10-26T22:17:17.977Z,1761517037.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:18.372Z,1761517038.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:18.745Z,1761517038.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983469,0.028144,0.178873],[-0.052607,0.989648,0.133526],[-0.173264,-0.140728,0.974769]]
2025-10-26T22:17:18.801Z,1761517038.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:19.146Z,1761517039.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983461,0.028715,0.178828],[-0.053137,0.989648,0.133316],[-0.173149,-0.140614,0.974806]]
2025-10-26T22:17:19.203Z,1761517039.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:19.556Z,1761517039.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983423,0.029328,0.178937],[-0.053777,0.989609,0.133353],[-0.173167,-0.140765,0.974781]]
2025-10-26T22:17:19.594Z,1761517039.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:19.955Z,1761517039.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983372,0.029378,0.179211],[-0.053854,0.989614,0.133279],[-0.173434,-0.140714,0.974741]]
2025-10-26T22:17:20.005Z,1761517040.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:20.365Z,1761517040.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983281,0.029637,0.179668],[-0.054192,0.989588,0.133339],[-0.173846,-0.140847,0.974649]]
2025-10-26T22:17:20.382Z,1761517040.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:20.764Z,1761517040.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983220,0.029180,0.180076],[-0.053732,0.989657,0.133012],[-0.174332,-0.140456,0.974618]]
2025-10-26T22:17:20.792Z,1761517040.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:21.167Z,1761517041.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983195,0.027912,0.180411],[-0.052357,0.989840,0.132193],[-0.174888,-0.139417,0.974668]]
2025-10-26T22:17:21.210Z,1761517041.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:21.572Z,1761517041.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983142,0.026793,0.180868],[-0.051192,0.989978,0.131614],[-0.175529,-0.138655,0.974661]]
2025-10-26T22:17:21.590Z,1761517041.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:21.977Z,1761517041.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983071,0.025984,0.181375],[-0.050457,0.990010,0.131657],[-0.176142,-0.138580,0.974561]]
2025-10-26T22:17:22.034Z,1761517042.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:22.381Z,1761517042.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983018,0.025387,0.181742],[-0.049961,0.989997,0.131945],[-0.176575,-0.138784,0.974454]]
2025-10-26T22:17:22.403Z,1761517042.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:22.794Z,1761517042.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982972,0.024683,0.182090],[-0.049208,0.990104,0.131425],[-0.177044,-0.138147,0.974459]]
2025-10-26T22:17:22.823Z,1761517042.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:23.186Z,1761517043.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982920,0.023737,0.182495],[-0.048307,0.990153,0.131394],[-0.177579,-0.137965,0.974388]]
2025-10-26T22:17:23.230Z,1761517043.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:23.592Z,1761517043.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982822,0.023488,0.183055],[-0.048195,0.990115,0.131716],[-0.178152,-0.138275,0.974239]]
2025-10-26T22:17:23.610Z,1761517043.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:24.005Z,1761517044.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982785,0.022823,0.183340],[-0.047615,0.990107,0.131990],[-0.178513,-0.138448,0.974148]]
2025-10-26T22:17:24.066Z,1761517044.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:24.399Z,1761517044.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982739,0.022435,0.183631],[-0.047564,0.989892,0.133612],[-0.178777,-0.140040,0.973873]]
2025-10-26T22:17:24.425Z,1761517044.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:24.808Z,1761517044.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982705,0.021316,0.183945],[-0.046510,0.989922,0.133759],[-0.179240,-0.140001,0.973793]]
2025-10-26T22:17:24.845Z,1761517044.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:25.206Z,1761517045.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982648,0.020545,0.184340],[-0.045857,0.989903,0.134122],[-0.179723,-0.140248,0.973668]]
2025-10-26T22:17:25.260Z,1761517045.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:25.614Z,1761517045.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982625,0.019613,0.184561],[-0.044938,0.989955,0.134051],[-0.180078,-0.140015,0.973636]]
2025-10-26T22:17:25.639Z,1761517045.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:26.033Z,1761517046.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982575,0.018828,0.184908],[-0.044368,0.989855,0.134974],[-0.180490,-0.140827,0.973443]]
2025-10-26T22:17:26.086Z,1761517046.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:26.418Z,1761517046.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982551,0.017950,0.185125],[-0.043658,0.989781,0.135747],[-0.180796,-0.141460,0.973294]]
2025-10-26T22:17:26.453Z,1761517046.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:26.823Z,1761517046.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982456,0.017481,0.185671],[-0.043538,0.989585,0.137205],[-0.181339,-0.142882,0.972986]]
2025-10-26T22:17:26.846Z,1761517046.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:27.228Z,1761517047.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982401,0.016744,0.186030],[-0.043056,0.989452,0.138313],[-0.181752,-0.143889,0.972760]]
2025-10-26T22:17:27.266Z,1761517047.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:27.701Z,1761517047.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:28.062Z,1761517048.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982327,0.015313,0.186545],[-0.041996,0.989269,0.139941],[-0.182400,-0.145302,0.972429]]
2025-10-26T22:17:28.098Z,1761517048.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:28.439Z,1761517048.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982323,0.014017,0.186666],[-0.040847,0.989212,0.140679],[-0.182680,-0.145817,0.972299]]
2025-10-26T22:17:28.457Z,1761517048.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:28.846Z,1761517048.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982290,0.013449,0.186884],[-0.040448,0.989124,0.141416],[-0.182950,-0.146471,0.972150]]
2025-10-26T22:17:28.872Z,1761517048.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:29.247Z,1761517049.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982268,0.012954,0.187034],[-0.040142,0.989007,0.142319],[-0.183134,-0.147304,0.971990]]
2025-10-26T22:17:29.323Z,1761517049.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:29.650Z,1761517049.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982311,0.012534,0.186837],[-0.039849,0.988896,0.143169],[-0.182968,-0.148082,0.971902]]
2025-10-26T22:17:29.670Z,1761517049.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:30.086Z,1761517050.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982239,0.012927,0.187191],[-0.040741,0.988517,0.145514],[-0.183160,-0.150556,0.971486]]
2025-10-26T22:17:30.128Z,1761517050.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:30.459Z,1761517050.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982155,0.014064,0.187548],[-0.042203,0.988250,0.146906],[-0.183278,-0.152199,0.971208]]
2025-10-26T22:17:30.485Z,1761517050.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:30.863Z,1761517050.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982112,0.015184,0.187684],[-0.043596,0.987995,0.148204],[-0.183180,-0.153735,0.970984]]
2025-10-26T22:17:30.901Z,1761517050.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:31.041Z,1761517051.041 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:17:31.274Z,1761517051.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982072,0.016772,0.187760],[-0.045488,0.987685,0.149694],[-0.182938,-0.155551,0.970741]]
2025-10-26T22:17:31.324Z,1761517051.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:31.673Z,1761517051.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981939,0.018701,0.188270],[-0.047608,0.987506,0.150215],[-0.183109,-0.156466,0.970562]]
2025-10-26T22:17:31.695Z,1761517051.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:32.044Z,1761517052.044 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:17:32.116Z,1761517052.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981894,0.020055,0.188368],[-0.049221,0.987236,0.151464],[-0.182926,-0.157994,0.970348]]
2025-10-26T22:17:32.164Z,1761517052.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:32.479Z,1761517052.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981808,0.021793,0.188622],[-0.051215,0.986968,0.152550],[-0.182839,-0.159435,0.970129]]
2025-10-26T22:17:32.513Z,1761517052.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:32.886Z,1761517052.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981665,0.024296,0.189059],[-0.053585,0.987021,0.151389],[-0.182927,-0.158744,0.970226]]
2025-10-26T22:17:32.906Z,1761517052.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:33.294Z,1761517053.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981510,0.026518,0.189567],[-0.055877,0.986914,0.151254],[-0.183075,-0.159049,0.970148]]
2025-10-26T22:17:33.355Z,1761517053.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:33.690Z,1761517053.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981320,0.028636,0.190239],[-0.057932,0.986945,0.150275],[-0.183452,-0.158488,0.970168]]
2025-10-26T22:17:33.727Z,1761517053.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:34.143Z,1761517054.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981177,0.030172,0.190739],[-0.059354,0.987026,0.149190],[-0.183763,-0.157703,0.970238]]
2025-10-26T22:17:34.192Z,1761517054.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:34.499Z,1761517054.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981040,0.031270,0.191266],[-0.060247,0.987207,0.147623],[-0.184203,-0.156347,0.970373]]
2025-10-26T22:17:34.517Z,1761517054.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:34.979Z,1761517054.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980688,0.032684,0.192830],[-0.061340,0.987592,0.144565],[-0.185712,-0.153601,0.970524]]
2025-10-26T22:17:35.013Z,1761517055.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:35.441Z,1761517055.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980594,0.032682,0.193306],[-0.060938,0.987976,0.142089],[-0.186338,-0.151111,0.970795]]
2025-10-26T22:17:35.488Z,1761517055.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:35.907Z,1761517055.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980517,0.032476,0.193732],[-0.060429,0.988281,0.140173],[-0.186910,-0.149149,0.970989]]
2025-10-26T22:17:35.926Z,1761517055.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:36.307Z,1761517056.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980445,0.031756,0.194214],[-0.059523,0.988522,0.138854],[-0.187576,-0.147699,0.971082]]
2025-10-26T22:17:36.346Z,1761517056.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:36.720Z,1761517056.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980456,0.030287,0.194396],[-0.057850,0.988780,0.137721],[-0.188043,-0.146275,0.971207]]
2025-10-26T22:17:36.744Z,1761517056.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:37.141Z,1761517057.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980492,0.028718,0.194448],[-0.056144,0.988973,0.137042],[-0.188369,-0.145285,0.971293]]
2025-10-26T22:17:37.213Z,1761517057.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:37.515Z,1761517057.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980514,0.026745,0.194622],[-0.054137,0.989115,0.136823],[-0.188844,-0.144693,0.971289]]
2025-10-26T22:17:37.533Z,1761517057.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:37.957Z,1761517057.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:38.322Z,1761517058.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980581,0.022270,0.194846],[-0.049549,0.989432,0.136273],[-0.189752,-0.143281,0.971321]]
2025-10-26T22:17:38.366Z,1761517058.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:38.733Z,1761517058.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980593,0.020694,0.194961],[-0.047981,0.989505,0.136300],[-0.190095,-0.143009,0.971294]]
2025-10-26T22:17:38.782Z,1761517058.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:39.138Z,1761517059.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980655,0.018819,0.194838],[-0.046143,0.989541,0.136671],[-0.190228,-0.143017,0.971267]]
2025-10-26T22:17:39.222Z,1761517059.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:39.537Z,1761517059.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980682,0.016767,0.194890],[-0.044435,0.989368,0.138479],[-0.190496,-0.144464,0.971000]]
2025-10-26T22:17:39.574Z,1761517059.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:39.942Z,1761517059.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980730,0.015129,0.194783],[-0.042879,0.989357,0.139051],[-0.190606,-0.144724,0.970940]]
2025-10-26T22:17:39.973Z,1761517059.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:40.342Z,1761517060.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980835,0.013282,0.194387],[-0.041403,0.989097,0.141327],[-0.190390,-0.146667,0.970691]]
2025-10-26T22:17:40.389Z,1761517060.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:40.799Z,1761517060.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:41.270Z,1761517061.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:41.571Z,1761517061.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981126,0.010431,0.193090],[-0.039442,0.988346,0.147023],[-0.189307,-0.151864,0.970103]]
2025-10-26T22:17:41.606Z,1761517061.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:17:41.640Z,1761517061.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:41.725Z,1761517061.725 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:17:41.725Z,1761517061.725 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:17:41.970Z,1761517061.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981223,0.010243,0.192605],[-0.039410,0.988169,0.148221],[-0.188808,-0.153028,0.970017]]
2025-10-26T22:17:41.976Z,1761517061.976 [DAT](INFO): DAT read: user:502>

2025-10-26T22:17:41.977Z,1761517061.977 [DAT](INFO): DAT read: Tx time:22:17:41.0889

2025-10-26T22:17:41.977Z,1761517061.977 [DAT](INFO): Ping request sent.
2025-10-26T22:17:41.977Z,1761517061.977 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:17:41.978Z,1761517061.978 [DAT](INFO): publishing transmit ping time
2025-10-26T22:17:41.978Z,1761517061.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-10-26T22:17:42.044Z,1761517062.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:42.232Z,1761517062.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254408
2025-10-26T22:17:42.374Z,1761517062.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981374,0.010126,0.191841],[-0.039801,0.987660,0.151470],[-0.187940,-0.156284,0.969667]]
2025-10-26T22:17:42.431Z,1761517062.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:42.481Z,1761517062.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503831
2025-10-26T22:17:42.733Z,1761517062.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755342
2025-10-26T22:17:42.847Z,1761517062.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:42.985Z,1761517062.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007127
2025-10-26T22:17:43.188Z,1761517063.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981562,0.011319,0.190808],[-0.041234,0.987280,0.153549],[-0.186643,-0.158585,0.969544]]
2025-10-26T22:17:43.241Z,1761517063.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262755
2025-10-26T22:17:43.274Z,1761517063.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:43.492Z,1761517063.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514465
2025-10-26T22:17:43.586Z,1761517063.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981689,0.012409,0.190084],[-0.042248,0.987208,0.153741],[-0.185744,-0.158956,0.969656]]
2025-10-26T22:17:43.651Z,1761517063.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:43.742Z,1761517063.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764435
2025-10-26T22:17:43.993Z,1761517063.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015731
2025-10-26T22:17:44.037Z,1761517064.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981784,0.013802,0.189500],[-0.043611,0.987100,0.154048],[-0.184930,-0.159507,0.969721]]
2025-10-26T22:17:44.067Z,1761517064.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:44.248Z,1761517064.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270254
2025-10-26T22:17:44.430Z,1761517064.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981838,0.015051,0.189124],[-0.044926,0.986941,0.154691],[-0.184326,-0.160378,0.969692]]
2025-10-26T22:17:44.488Z,1761517064.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:44.496Z,1761517064.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519029
2025-10-26T22:17:44.749Z,1761517064.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771436
2025-10-26T22:17:44.932Z,1761517064.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981922,0.017103,0.188513],[-0.046827,0.986902,0.154376],[-0.183403,-0.160413,0.969861]]
2025-10-26T22:17:44.951Z,1761517064.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:45.000Z,1761517065.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023086
2025-10-26T22:17:45.257Z,1761517065.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278984
2025-10-26T22:17:45.392Z,1761517065.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982068,0.020715,0.187387],[-0.050165,0.986825,0.153816],[-0.181732,-0.160458,0.970168]]
2025-10-26T22:17:45.430Z,1761517065.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:45.505Z,1761517065.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527671
2025-10-26T22:17:45.757Z,1761517065.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779399
2025-10-26T22:17:45.790Z,1761517065.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982160,0.023189,0.186610],[-0.052325,0.986877,0.152759],[-0.180619,-0.159798,0.970485]]
2025-10-26T22:17:45.820Z,1761517065.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:46.008Z,1761517066.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031083
2025-10-26T22:17:46.194Z,1761517066.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982312,0.025191,0.185551],[-0.053925,0.986988,0.151483],[-0.179321,-0.158810,0.970888]]
2025-10-26T22:17:46.230Z,1761517066.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:46.264Z,1761517066.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285608
2025-10-26T22:17:46.513Z,1761517066.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535287
2025-10-26T22:17:46.602Z,1761517066.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982435,0.026627,0.184693],[-0.054961,0.987152,0.150037],[-0.178325,-0.157553,0.971276]]
2025-10-26T22:17:46.660Z,1761517066.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:46.766Z,1761517066.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788242
2025-10-26T22:17:47.014Z,1761517067.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982605,0.027604,0.183645],[-0.055520,0.987329,0.148656],[-0.177215,-0.156266,0.971687]]
2025-10-26T22:17:47.016Z,1761517067.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039063
2025-10-26T22:17:47.035Z,1761517067.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:47.271Z,1761517067.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292922
2025-10-26T22:17:47.406Z,1761517067.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982849,0.028134,0.182254],[-0.055544,0.987562,0.147091],[-0.175849,-0.154691,0.972187]]
2025-10-26T22:17:47.451Z,1761517067.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:47.522Z,1761517067.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544516
2025-10-26T22:17:47.772Z,1761517067.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795042
2025-10-26T22:17:47.811Z,1761517067.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983060,0.028157,0.181108],[-0.055150,0.987778,0.145786],[-0.174789,-0.153305,0.972598]]
2025-10-26T22:17:47.829Z,1761517067.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:48.028Z,1761517068.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050651
2025-10-26T22:17:48.216Z,1761517068.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983259,0.028040,0.180044],[-0.054399,0.988200,0.143182],[-0.173904,-0.150579,0.973182]]
2025-10-26T22:17:48.242Z,1761517068.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:48.276Z,1761517068.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299008
2025-10-26T22:17:48.528Z,1761517068.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551011
2025-10-26T22:17:48.618Z,1761517068.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983489,0.027453,0.178875],[-0.053250,0.988569,0.141053],[-0.172958,-0.148250,0.973708]]
2025-10-26T22:17:48.665Z,1761517068.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:48.781Z,1761517068.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803533
2025-10-26T22:17:49.026Z,1761517069.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983676,0.026623,0.177968],[-0.052123,0.988752,0.140187],[-0.172234,-0.147175,0.973999]]
2025-10-26T22:17:49.032Z,1761517069.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054980
2025-10-26T22:17:49.071Z,1761517069.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:49.287Z,1761517069.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309330
2025-10-26T22:17:49.426Z,1761517069.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983889,0.025992,0.176880],[-0.051021,0.989053,0.138463],[-0.171345,-0.145257,0.974444]]
2025-10-26T22:17:49.477Z,1761517069.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:49.536Z,1761517069.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558981
2025-10-26T22:17:49.789Z,1761517069.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811308
2025-10-26T22:17:49.882Z,1761517069.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984101,0.024585,0.175900],[-0.049324,0.989247,0.137688],[-0.170623,-0.144175,0.974731]]
2025-10-26T22:17:49.901Z,1761517069.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:50.040Z,1761517070.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062990
2025-10-26T22:17:50.282Z,1761517070.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984331,0.022946,0.174833],[-0.047368,0.989462,0.136828],[-0.169851,-0.142965,0.975044]]
2025-10-26T22:17:50.292Z,1761517070.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315052
2025-10-26T22:17:50.313Z,1761517070.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:50.545Z,1761517070.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567586
2025-10-26T22:17:50.750Z,1761517070.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984602,0.021302,0.173510],[-0.045658,0.989432,0.137618],[-0.168745,-0.143421,0.975169]]
2025-10-26T22:17:50.797Z,1761517070.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819107
2025-10-26T22:17:50.799Z,1761517070.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:51.048Z,1761517071.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070963
2025-10-26T22:17:51.182Z,1761517071.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984881,0.020048,0.172071],[-0.044333,0.989373,0.138475],[-0.167466,-0.144009,0.975303]]
2025-10-26T22:17:51.201Z,1761517071.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:51.305Z,1761517071.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327611
2025-10-26T22:17:51.552Z,1761517071.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575027
2025-10-26T22:17:51.582Z,1761517071.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985228,0.018589,0.170234],[-0.042821,0.989253,0.139804],[-0.165806,-0.145028,0.975436]]
2025-10-26T22:17:51.631Z,1761517071.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:51.804Z,1761517071.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827076
2025-10-26T22:17:51.986Z,1761517071.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985605,0.017056,0.168201],[-0.041420,0.988938,0.142428],[-0.163911,-0.147344,0.975409]]
2025-10-26T22:17:52.020Z,1761517072.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:52.058Z,1761517072.058 [DAT](INFO): Reached modem response timeout
2025-10-26T22:17:52.470Z,1761517072.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:52.797Z,1761517072.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986253,0.015066,0.164553],[-0.039259,0.988685,0.144776],[-0.160510,-0.149246,0.975686]]
2025-10-26T22:17:52.817Z,1761517072.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:53.198Z,1761517073.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986704,0.014196,0.161905],[-0.038390,0.988346,0.147301],[-0.157927,-0.151558,0.975751]]
2025-10-26T22:17:53.228Z,1761517073.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:53.602Z,1761517073.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987083,0.014113,0.159589],[-0.038400,0.987919,0.150141],[-0.155542,-0.154329,0.975699]]
2025-10-26T22:17:53.649Z,1761517073.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:54.006Z,1761517074.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987333,0.014282,0.158019],[-0.038444,0.987797,0.150925],[-0.153936,-0.155089,0.975834]]
2025-10-26T22:17:54.024Z,1761517074.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:54.324Z,1761517074.324 [DAT](INFO): DAT read: Response Not Received

2025-10-26T22:17:54.325Z,1761517074.325 [DAT](INFO): response not received
2025-10-26T22:17:54.325Z,1761517074.325 [DAT](ERROR): No response from remote modem.
2025-10-26T22:17:54.444Z,1761517074.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987588,0.014762,0.156369],[-0.038793,0.987654,0.151773],[-0.152198,-0.155956,0.975968]]
2025-10-26T22:17:54.487Z,1761517074.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:54.814Z,1761517074.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987893,0.015209,0.154391],[-0.039054,0.987514,0.152612],[-0.150142,-0.156794,0.976152]]
2025-10-26T22:17:54.842Z,1761517074.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:55.220Z,1761517075.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988225,0.015567,0.152216],[-0.039182,0.987387,0.153402],[-0.147908,-0.157560,0.976370]]
2025-10-26T22:17:55.263Z,1761517075.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:55.624Z,1761517075.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988556,0.016409,0.149958],[-0.039627,0.987403,0.153183],[-0.145556,-0.157372,0.976754]]
2025-10-26T22:17:55.680Z,1761517075.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:56.030Z,1761517076.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988866,0.017072,0.147824],[-0.040038,0.987288,0.153818],[-0.143319,-0.158024,0.976979]]
2025-10-26T22:17:56.049Z,1761517076.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:56.483Z,1761517076.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989168,0.017858,0.145696],[-0.040562,0.987177,0.154387],[-0.141070,-0.158625,0.977209]]
2025-10-26T22:17:56.528Z,1761517076.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:56.877Z,1761517076.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989505,0.018633,0.143291],[-0.040821,0.987303,0.153513],[-0.138611,-0.157751,0.977702]]
2025-10-26T22:17:56.907Z,1761517076.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:57.338Z,1761517077.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989870,0.019016,0.140695],[-0.040685,0.987422,0.152786],[-0.136020,-0.156962,0.978193]]
2025-10-26T22:17:57.358Z,1761517077.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:57.752Z,1761517077.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990279,0.019721,0.137692],[-0.040736,0.987613,0.151527],[-0.132998,-0.155663,0.978816]]
2025-10-26T22:17:57.826Z,1761517077.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:58.142Z,1761517078.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990725,0.020074,0.134395],[-0.040365,0.987861,0.150007],[-0.129752,-0.154041,0.979508]]
2025-10-26T22:17:58.161Z,1761517078.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:58.548Z,1761517078.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991170,0.020050,0.131073],[-0.039850,0.987846,0.150239],[-0.126467,-0.154135,0.979923]]
2025-10-26T22:17:58.621Z,1761517078.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:58.950Z,1761517078.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991631,0.019917,0.127558],[-0.039258,0.987760,0.150960],[-0.122990,-0.154704,0.980275]]
2025-10-26T22:17:58.981Z,1761517078.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:59.354Z,1761517079.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992087,0.019358,0.124047],[-0.038126,0.987834,0.150766],[-0.119619,-0.154302,0.980756]]
2025-10-26T22:17:59.393Z,1761517079.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:17:59.844Z,1761517079.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992919,0.018574,0.117330],[-0.036412,0.987745,0.151773],[-0.113073,-0.154970,0.981427]]
2025-10-26T22:17:59.882Z,1761517079.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:00.336Z,1761517080.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993314,0.017872,0.114051],[-0.035263,0.987698,0.152346],[-0.109925,-0.155349,0.981725]]
2025-10-26T22:18:00.354Z,1761517080.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:00.789Z,1761517080.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993706,0.017214,0.110689],[-0.034084,0.987734,0.152378],[-0.106709,-0.155192,0.982104]]
2025-10-26T22:18:00.826Z,1761517080.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:01.186Z,1761517081.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994075,0.016219,0.107483],[-0.032654,0.987691,0.152973],[-0.103679,-0.155576,0.982368]]
2025-10-26T22:18:01.217Z,1761517081.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:01.590Z,1761517081.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994421,0.015375,0.104362],[-0.031489,0.987482,0.154559],[-0.100679,-0.156983,0.982456]]
2025-10-26T22:18:01.637Z,1761517081.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:01.994Z,1761517081.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994753,0.014274,0.101305],[-0.030066,0.987280,0.156125],[-0.097788,-0.158352,0.982529]]
2025-10-26T22:18:02.012Z,1761517082.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:02.164Z,1761517082.164 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:18:02.401Z,1761517082.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995085,0.013240,0.098137],[-0.028647,0.987135,0.157302],[-0.094792,-0.159340,0.982662]]
2025-10-26T22:18:02.420Z,1761517082.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:02.802Z,1761517082.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995384,0.012857,0.095105],[-0.027973,0.986823,0.159367],[-0.091803,-0.161291,0.982628]]
2025-10-26T22:18:02.847Z,1761517082.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:03.172Z,1761517083.172 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:18:03.210Z,1761517083.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995664,0.012392,0.092188],[-0.027133,0.986677,0.160414],[-0.088972,-0.162219,0.982735]]
2025-10-26T22:18:03.250Z,1761517083.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:03.610Z,1761517083.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995968,0.011611,0.088950],[-0.025918,0.986544,0.161426],[-0.085878,-0.163080,0.982868]]
2025-10-26T22:18:03.668Z,1761517083.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:04.015Z,1761517084.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996200,0.011404,0.086341],[-0.025417,0.986300,0.162995],[-0.083299,-0.164570,0.982842]]
2025-10-26T22:18:04.034Z,1761517084.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:04.421Z,1761517084.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996384,0.011231,0.084216],[-0.024935,0.986231,0.163484],[-0.081220,-0.164993,0.982945]]
2025-10-26T22:18:04.439Z,1761517084.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:04.874Z,1761517084.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:05.236Z,1761517085.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996804,0.012078,0.078973],[-0.025068,0.985868,0.165638],[-0.075856,-0.167088,0.983020]]
2025-10-26T22:18:05.278Z,1761517085.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:05.631Z,1761517085.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997012,0.012932,0.076158],[-0.025330,0.986109,0.164157],[-0.072977,-0.165596,0.983490]]
2025-10-26T22:18:05.694Z,1761517085.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:06.040Z,1761517086.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997188,0.013697,0.073674],[-0.025726,0.985976,0.164890],[-0.070382,-0.166322,0.983557]]
2025-10-26T22:18:06.064Z,1761517086.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:06.440Z,1761517086.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997354,0.014880,0.071157],[-0.026495,0.985905,0.165193],[-0.067696,-0.166641,0.983691]]
2025-10-26T22:18:06.471Z,1761517086.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:06.897Z,1761517086.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:07.248Z,1761517087.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997670,0.017358,0.065986],[-0.028093,0.985822,0.165425],[-0.062179,-0.166893,0.984012]]
2025-10-26T22:18:07.267Z,1761517087.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:07.651Z,1761517087.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997809,0.018702,0.063460],[-0.029004,0.985780,0.165521],[-0.059462,-0.166999,0.984162]]
2025-10-26T22:18:07.751Z,1761517087.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:08.052Z,1761517088.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997936,0.020019,0.061024],[-0.029939,0.985627,0.166263],[-0.056818,-0.167747,0.984191]]
2025-10-26T22:18:08.082Z,1761517088.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:08.456Z,1761517088.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998064,0.021024,0.058539],[-0.030544,0.985517,0.166804],[-0.054184,-0.168269,0.984251]]
2025-10-26T22:18:08.475Z,1761517088.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:08.861Z,1761517088.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998171,0.022324,0.056188],[-0.031418,0.985531,0.166560],[-0.051657,-0.168021,0.984429]]
2025-10-26T22:18:08.897Z,1761517088.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:09.266Z,1761517089.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998287,0.022842,0.053861],[-0.031520,0.985585,0.166220],[-0.049288,-0.167633,0.984617]]
2025-10-26T22:18:09.291Z,1761517089.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:09.668Z,1761517089.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998413,0.022847,0.051480],[-0.031124,0.985601,0.166201],[-0.046942,-0.167539,0.984747]]
2025-10-26T22:18:09.754Z,1761517089.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:10.070Z,1761517090.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998526,0.022955,0.049177],[-0.030845,0.985604,0.166233],[-0.044654,-0.167505,0.984859]]
2025-10-26T22:18:10.092Z,1761517090.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:10.512Z,1761517090.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:10.879Z,1761517090.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998748,0.022004,0.044936],[-0.029175,0.985736,0.165751],[-0.040647,-0.166854,0.985143]]
2025-10-26T22:18:10.922Z,1761517090.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:11.283Z,1761517091.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998849,0.021548,0.042864],[-0.028374,0.985777,0.165644],[-0.038685,-0.166670,0.985254]]
2025-10-26T22:18:11.317Z,1761517091.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:11.701Z,1761517091.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998965,0.020200,0.040745],[-0.026681,0.985865,0.165402],[-0.036828,-0.166318,0.985384]]
2025-10-26T22:18:11.766Z,1761517091.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:12.128Z,1761517092.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:12.496Z,1761517092.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999139,0.018648,0.037055],[-0.024525,0.985969,0.165115],[-0.033456,-0.165882,0.985578]]
2025-10-26T22:18:12.521Z,1761517092.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:12.780Z,1761517092.780 [CTD_Seabird](ERROR): Failed to parse device response: 
2025-10-26T22:18:12.899Z,1761517092.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999224,0.017845,0.035114],[-0.023404,0.986036,0.164880],[-0.031682,-0.165574,0.985688]]
2025-10-26T22:18:12.917Z,1761517092.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:13.304Z,1761517093.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999304,0.016804,0.033316],[-0.022051,0.986213,0.164007],[-0.030101,-0.164628,0.985896]]
2025-10-26T22:18:13.328Z,1761517093.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:13.735Z,1761517093.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999372,0.016326,0.031466],[-0.021292,0.986134,0.164581],[-0.028343,-0.165148,0.985862]]
2025-10-26T22:18:13.806Z,1761517093.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:14.112Z,1761517094.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999418,0.016669,0.029760],[-0.021381,0.985933,0.165768],[-0.026578,-0.166308,0.985716]]
2025-10-26T22:18:14.146Z,1761517094.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:14.516Z,1761517094.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999466,0.017038,0.027899],[-0.021438,0.985903,0.165936],[-0.024679,-0.166446,0.985742]]
2025-10-26T22:18:14.534Z,1761517094.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:14.920Z,1761517094.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999493,0.018074,0.026198],[-0.022198,0.985739,0.166808],[-0.022809,-0.167305,0.985641]]
2025-10-26T22:18:14.957Z,1761517094.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:15.322Z,1761517095.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999484,0.020204,0.024981],[-0.024147,0.985279,0.169240],[-0.021194,-0.169756,0.985258]]
2025-10-26T22:18:15.348Z,1761517095.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:15.758Z,1761517095.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999483,0.022116,0.023321],[-0.025770,0.985061,0.170266],[-0.019207,-0.170779,0.985122]]
2025-10-26T22:18:15.832Z,1761517095.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:16.129Z,1761517096.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999472,0.024076,0.021814],[-0.027454,0.984913,0.170858],[-0.017371,-0.171366,0.985054]]
2025-10-26T22:18:16.147Z,1761517096.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:16.567Z,1761517096.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:16.934Z,1761517096.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999414,0.028558,0.018885],[-0.031399,0.984416,0.173032],[-0.013650,-0.173523,0.984735]]
2025-10-26T22:18:16.979Z,1761517096.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:17.338Z,1761517097.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999369,0.030839,0.017636],[-0.033434,0.984276,0.173442],[-0.012009,-0.173923,0.984686]]
2025-10-26T22:18:17.373Z,1761517097.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:17.799Z,1761517097.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999310,0.033193,0.016688],[-0.035574,0.984410,0.172255],[-0.010710,-0.172730,0.984911]]
2025-10-26T22:18:17.823Z,1761517097.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:18.147Z,1761517098.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999270,0.034879,0.015594],[-0.037039,0.984490,0.171488],[-0.009371,-0.171940,0.985063]]
2025-10-26T22:18:18.166Z,1761517098.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:18.547Z,1761517098.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999236,0.036304,0.014477],[-0.038231,0.984869,0.169029],[-0.008121,-0.169453,0.985505]]
2025-10-26T22:18:18.574Z,1761517098.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:18.950Z,1761517098.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999217,0.037274,0.013292],[-0.038975,0.985109,0.167454],[-0.006852,-0.167841,0.985790]]
2025-10-26T22:18:19.002Z,1761517099.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:19.355Z,1761517099.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999252,0.036797,0.011930],[-0.038262,0.985560,0.164950],[-0.005688,-0.165283,0.986230]]
2025-10-26T22:18:19.374Z,1761517099.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:19.819Z,1761517099.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999350,0.034911,0.008971],[-0.035903,0.986220,0.161497],[-0.003209,-0.161714,0.986832]]
2025-10-26T22:18:19.872Z,1761517099.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:20.214Z,1761517100.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:20.572Z,1761517100.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999438,0.032670,0.007459],[-0.033441,0.986675,0.159231],[-0.002158,-0.159391,0.987213]]
2025-10-26T22:18:20.610Z,1761517100.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:20.975Z,1761517100.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999511,0.030700,0.005885],[-0.031244,0.986923,0.158138],[-0.000954,-0.158244,0.987399]]
2025-10-26T22:18:21.030Z,1761517101.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:21.417Z,1761517101.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:21.914Z,1761517101.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:22.231Z,1761517102.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:22.591Z,1761517102.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999753,0.022223,-0.000612],[-0.021864,0.987831,0.153986],[0.004027,-0.153935,0.988073]]
2025-10-26T22:18:22.614Z,1761517102.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:22.996Z,1761517102.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999786,0.020573,-0.002117],[-0.019999,0.987799,0.154447],[0.005269,-0.154372,0.987999]]
2025-10-26T22:18:23.039Z,1761517103.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:23.404Z,1761517103.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999813,0.019027,-0.003543],[-0.018247,0.987724,0.155139],[0.006452,-0.155046,0.987886]]
2025-10-26T22:18:23.430Z,1761517103.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:23.890Z,1761517103.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999814,0.018400,-0.005828],[-0.017251,0.987334,0.157718],[0.008656,-0.157588,0.987467]]
2025-10-26T22:18:23.926Z,1761517103.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:24.287Z,1761517104.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999797,0.018916,-0.006958],[-0.017539,0.986612,0.162139],[0.009931,-0.161984,0.986743]]
2025-10-26T22:18:24.334Z,1761517104.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:24.782Z,1761517104.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999774,0.019514,-0.008413],[-0.017860,0.986139,0.164959],[0.011515,-0.164771,0.986265]]
2025-10-26T22:18:24.808Z,1761517104.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:25.321Z,1761517105.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999720,0.021362,-0.010151],[-0.019341,0.985433,0.168961],[0.013612,-0.168718,0.985570]]
2025-10-26T22:18:25.385Z,1761517105.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:25.747Z,1761517105.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999652,0.023413,-0.012142],[-0.020967,0.984760,0.172649],[0.015999,-0.172335,0.984909]]
2025-10-26T22:18:25.790Z,1761517105.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:26.147Z,1761517106.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999575,0.025311,-0.014430],[-0.022408,0.984405,0.174483],[0.018621,-0.174085,0.984554]]
2025-10-26T22:18:26.218Z,1761517106.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:26.547Z,1761517106.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999480,0.027566,-0.016725],[-0.024205,0.984158,0.175633],[0.021302,-0.175137,0.984314]]
2025-10-26T22:18:26.572Z,1761517106.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:26.950Z,1761517106.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999377,0.030010,-0.018581],[-0.026257,0.983884,0.176872],[0.023590,-0.176274,0.984058]]
2025-10-26T22:18:26.997Z,1761517106.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:27.354Z,1761517107.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999268,0.032242,-0.020612],[-0.028086,0.983768,0.177231],[0.025992,-0.176522,0.983953]]
2025-10-26T22:18:27.374Z,1761517107.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:27.759Z,1761517107.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999135,0.034605,-0.023048],[-0.030003,0.983841,0.176513],[0.028783,-0.175669,0.984028]]
2025-10-26T22:18:27.780Z,1761517107.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:28.162Z,1761517108.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999013,0.036534,-0.025267],[-0.031532,0.983900,0.175914],[0.031287,-0.174943,0.984081]]
2025-10-26T22:18:28.225Z,1761517108.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:28.568Z,1761517108.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998894,0.038083,-0.027566],[-0.032686,0.984022,0.175021],[0.033791,-0.173927,0.984179]]
2025-10-26T22:18:28.586Z,1761517108.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:28.970Z,1761517108.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998765,0.039600,-0.030021],[-0.033792,0.984169,0.173983],[0.036436,-0.172754,0.984291]]
2025-10-26T22:18:29.020Z,1761517109.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:29.374Z,1761517109.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998637,0.040935,-0.032394],[-0.034740,0.984328,0.172891],[0.038964,-0.171530,0.984408]]
2025-10-26T22:18:29.417Z,1761517109.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:29.778Z,1761517109.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998514,0.041859,-0.034884],[-0.035310,0.984665,0.170844],[0.041500,-0.169358,0.984680]]
2025-10-26T22:18:29.796Z,1761517109.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:30.194Z,1761517110.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998419,0.041961,-0.037410],[-0.035053,0.984946,0.169269],[0.043949,-0.167690,0.984860]]
2025-10-26T22:18:30.243Z,1761517110.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:30.588Z,1761517110.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998334,0.041494,-0.040085],[-0.034255,0.985383,0.166877],[0.046424,-0.165226,0.985163]]
2025-10-26T22:18:30.612Z,1761517110.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:30.994Z,1761517110.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998262,0.040569,-0.042734],[-0.033009,0.985782,0.164757],[0.048811,-0.163060,0.985408]]
2025-10-26T22:18:31.043Z,1761517111.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:31.394Z,1761517111.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998190,0.040071,-0.044844],[-0.032196,0.985886,0.164295],[0.050795,-0.162554,0.985391]]
2025-10-26T22:18:31.435Z,1761517111.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:31.798Z,1761517111.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998102,0.039844,-0.046967],[-0.031649,0.985977,0.163854],[0.052836,-0.162057,0.985366]]
2025-10-26T22:18:31.821Z,1761517111.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:32.205Z,1761517112.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998017,0.039135,-0.049304],[-0.030629,0.986184,0.162796],[0.054994,-0.160963,0.985427]]
2025-10-26T22:18:32.245Z,1761517112.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:32.606Z,1761517112.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997933,0.038421,-0.051507],[-0.029587,0.986272,0.162458],[0.057041,-0.160598,0.985370]]
2025-10-26T22:18:32.635Z,1761517112.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:33.025Z,1761517113.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997759,0.036667,-0.055976],[-0.027186,0.986481,0.161607],[0.061145,-0.159722,0.985267]]
2025-10-26T22:18:33.069Z,1761517113.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:33.296Z,1761517113.296 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:18:33.428Z,1761517113.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997676,0.035856,-0.057936],[-0.026002,0.986338,0.162671],[0.062977,-0.160787,0.984978]]
2025-10-26T22:18:33.446Z,1761517113.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:33.823Z,1761517113.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997597,0.034580,-0.060031],[-0.024390,0.986349,0.162855],[0.064843,-0.160999,0.984822]]
2025-10-26T22:18:33.855Z,1761517113.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:34.227Z,1761517114.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997522,0.033460,-0.061889],[-0.022946,0.986295,0.163388],[0.066508,-0.161563,0.984619]]
2025-10-26T22:18:34.270Z,1761517114.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:34.300Z,1761517114.300 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:18:34.651Z,1761517114.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997437,0.032292,-0.063855],[-0.021499,0.986391,0.163008],[0.068250,-0.161217,0.984556]]
2025-10-26T22:18:34.698Z,1761517114.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:35.075Z,1761517115.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997357,0.031218,-0.065612],[-0.020162,0.986442,0.162867],[0.069807,-0.161114,0.984464]]
2025-10-26T22:18:35.116Z,1761517115.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:35.478Z,1761517115.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997290,0.030724,-0.066853],[-0.019416,0.986328,0.163647],[0.070967,-0.161906,0.984251]]
2025-10-26T22:18:35.514Z,1761517115.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:35.882Z,1761517115.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997216,0.029585,-0.068445],[-0.018063,0.986426,0.163208],[0.072345,-0.161518,0.984215]]
2025-10-26T22:18:35.904Z,1761517115.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:36.287Z,1761517116.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997158,0.029417,-0.069352],[-0.017693,0.986306,0.163974],[0.073226,-0.162281,0.984024]]
2025-10-26T22:18:36.340Z,1761517116.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:36.695Z,1761517116.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997076,0.030206,-0.070198],[-0.018223,0.986049,0.165456],[0.074217,-0.163693,0.983716]]
2025-10-26T22:18:36.721Z,1761517116.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:37.094Z,1761517117.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997003,0.030544,-0.071082],[-0.018336,0.985879,0.166455],[0.075163,-0.164653,0.983484]]
2025-10-26T22:18:37.137Z,1761517117.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:37.498Z,1761517117.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996908,0.031089,-0.072165],[-0.018640,0.985754,0.167156],[0.076334,-0.165294,0.983286]]
2025-10-26T22:18:37.517Z,1761517117.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:37.903Z,1761517117.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996841,0.031631,-0.072852],[-0.018980,0.985568,0.168214],[0.077121,-0.166300,0.983055]]
2025-10-26T22:18:37.925Z,1761517117.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:38.307Z,1761517118.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996779,0.032924,-0.073131],[-0.020011,0.985111,0.170754],[0.077664,-0.168740,0.982596]]
2025-10-26T22:18:38.345Z,1761517118.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:38.721Z,1761517118.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996704,0.034431,-0.073453],[-0.021296,0.984757,0.172628],[0.078278,-0.170495,0.982244]]
2025-10-26T22:18:38.749Z,1761517118.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:39.116Z,1761517119.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996625,0.035918,-0.073818],[-0.022574,0.984444,0.174242],[0.078928,-0.171988,0.981932]]
2025-10-26T22:18:39.175Z,1761517119.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:39.518Z,1761517119.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996550,0.037640,-0.073965],[-0.024141,0.984168,0.175586],[0.079403,-0.173194,0.981682]]
2025-10-26T22:18:39.536Z,1761517119.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:39.930Z,1761517119.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996462,0.039404,-0.074239],[-0.025782,0.984012,0.176227],[0.079996,-0.173689,0.981546]]
2025-10-26T22:18:39.948Z,1761517119.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:40.326Z,1761517120.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996363,0.041206,-0.074585],[-0.027563,0.984097,0.175478],[0.080630,-0.172784,0.981654]]
2025-10-26T22:18:40.373Z,1761517120.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:40.776Z,1761517120.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:41.146Z,1761517121.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996114,0.044174,-0.076199],[-0.030221,0.984035,0.175390],[0.082730,-0.172406,0.981546]]
2025-10-26T22:18:41.202Z,1761517121.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:41.540Z,1761517121.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995993,0.046081,-0.076651],[-0.032078,0.984082,0.174797],[0.083485,-0.171638,0.981616]]
2025-10-26T22:18:41.559Z,1761517121.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:41.946Z,1761517121.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995884,0.047646,-0.077104],[-0.033648,0.984239,0.173611],[0.084161,-0.170302,0.981791]]
2025-10-26T22:18:41.977Z,1761517121.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:18:41.979Z,1761517121.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:41.984Z,1761517121.984 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:18:41.984Z,1761517121.984 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:18:42.236Z,1761517122.236 [DAT](INFO): DAT read: user:503>

2025-10-26T22:18:42.237Z,1761517122.237 [DAT](INFO): DAT read: Tx time:22:18:41.3388

2025-10-26T22:18:42.237Z,1761517122.237 [DAT](INFO): Ping request sent.
2025-10-26T22:18:42.237Z,1761517122.237 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:18:42.238Z,1761517122.238 [DAT](INFO): publishing transmit ping time
2025-10-26T22:18:42.238Z,1761517122.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-10-26T22:18:42.347Z,1761517122.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995797,0.048726,-0.077547],[-0.034765,0.984458,0.172147],[0.084730,-0.168728,0.982014]]
2025-10-26T22:18:42.396Z,1761517122.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:42.489Z,1761517122.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251280
2025-10-26T22:18:42.740Z,1761517122.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502833
2025-10-26T22:18:42.758Z,1761517122.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995735,0.049043,-0.078141],[-0.035155,0.984798,0.170111],[0.085295,-0.166639,0.982322]]
2025-10-26T22:18:42.776Z,1761517122.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:42.993Z,1761517122.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755107
2025-10-26T22:18:43.177Z,1761517123.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995668,0.049341,-0.078812],[-0.035582,0.985261,0.167313],[0.085906,-0.163784,0.982749]]
2025-10-26T22:18:43.224Z,1761517123.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:43.244Z,1761517123.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006966
2025-10-26T22:18:43.496Z,1761517123.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258842
2025-10-26T22:18:43.558Z,1761517123.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995586,0.049987,-0.079432],[-0.036139,0.985279,0.167093],[0.086615,-0.163485,0.982736]]
2025-10-26T22:18:43.596Z,1761517123.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:43.749Z,1761517123.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511116
2025-10-26T22:18:43.966Z,1761517123.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995542,0.050168,-0.079871],[-0.036287,0.985353,0.166622],[0.087060,-0.162981,0.982781]]
2025-10-26T22:18:44.000Z,1761517124.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763007
2025-10-26T22:18:44.003Z,1761517124.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:44.256Z,1761517124.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018589
2025-10-26T22:18:44.367Z,1761517124.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995537,0.049845,-0.080128],[-0.036091,0.985674,0.164757],[0.087193,-0.161129,0.983074]]
2025-10-26T22:18:44.419Z,1761517124.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:44.505Z,1761517124.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267207
2025-10-26T22:18:44.756Z,1761517124.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518868
2025-10-26T22:18:44.778Z,1761517124.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995523,0.049395,-0.080588],[-0.035746,0.986014,0.162783],[0.087501,-0.159173,0.983365]]
2025-10-26T22:18:44.797Z,1761517124.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:45.010Z,1761517125.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771970
2025-10-26T22:18:45.199Z,1761517125.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995520,0.048158,-0.081374],[-0.034573,0.986384,0.160782],[0.088009,-0.157248,0.983630]]
2025-10-26T22:18:45.256Z,1761517125.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:45.261Z,1761517125.261 [DAT](INFO): DAT read: Rx Time:22:18:43.9846

2025-10-26T22:18:45.261Z,1761517125.261 [DAT](INFO): Rx dataTimestamp_ set to:1761517125.260696
2025-10-26T22:18:45.262Z,1761517125.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024057
2025-10-26T22:18:45.514Z,1761517125.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276017
2025-10-26T22:18:45.578Z,1761517125.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995466,0.047617,-0.082347],[-0.033879,0.986400,0.160830],[0.088885,-0.157311,0.983541]]
2025-10-26T22:18:45.615Z,1761517125.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.58 m.
2025-10-26T22:18:45.767Z,1761517125.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529326
2025-10-26T22:18:46.005Z,1761517126.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995431,0.046951,-0.083145],[-0.033098,0.986436,0.160777],[0.089566,-0.157291,0.983482]]
2025-10-26T22:18:46.022Z,1761517126.022 [DAT](INFO): DAT read: 22:18:43.9846 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 439,-0.26,-1.927,-0.683,-1.854,-1.985, PHS= 0.161, 1.347, 0.087, RAW= 333.0, -24.7, CAL= 332.9, -28.0, ROT= 177.1,  28.0

2025-10-26T22:18:46.023Z,1761517126.023 [DAT](INFO): got valid direction response:
 22:18:43.9846 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 439,-0.26,-1.927,-0.683,-1.854,-1.985, PHS= 0.161, 1.347, 0.087, RAW= 333.0, -24.7, CAL= 332.9, -28.0, ROT= 177.1,  28.0

2025-10-26T22:18:46.024Z,1761517126.024 [DAT](INFO): DAT read: Bearing   2.9,   2.2 (Local)

2025-10-26T22:18:46.024Z,1761517126.024 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.9,   2.2 (Local)

2025-10-26T22:18:46.026Z,1761517126.026 [DAT](INFO): DAT read: Range 11 to 50 : 181.2 m  (Round-trip  241.6 ms) speed -0.8 m/s

2025-10-26T22:18:46.026Z,1761517126.026 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:18:46.032Z,1761517126.032 [DAT](INFO): direction in FSK: [-0.881817,0.044671,-0.469472]
2025-10-26T22:18:46.032Z,1761517126.032 [DAT](INFO): publishing direction and range info
2025-10-26T22:18:46.101Z,1761517126.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 181.199997 m,
      deltaT: 120.764027 s,
      deltaX: 116.299995 m,
      approachRate: 0.963035 m/s,
      rangeRepo size: 4

2025-10-26T22:18:46.103Z,1761517126.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 180.524399 m,
      bearing: 180.152676 deg,
      lat: 36.779417 deg,
      lon: -121.859497 deg,
      deltaT: 120.764027 s,
      deltaX: 115.943550 m,
      approachRate: 0.960083 m/s,
      posRepo size: 4

2025-10-26T22:18:46.108Z,1761517126.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.52 m.
2025-10-26T22:18:46.109Z,1761517126.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 181.20 m. Resuming terminal guidance.
2025-10-26T22:18:46.110Z,1761517126.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-10-26T22:18:46.460Z,1761517126.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995427,0.046049,-0.083698],[-0.032132,0.986496,0.160602],[0.089963,-0.157178,0.983464]]
2025-10-26T22:18:46.505Z,1761517126.505 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-10-26T22:18:46.505Z,1761517126.505 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T22:18:46.506Z,1761517126.506 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-10-26T22:18:46.507Z,1761517126.507 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 181.199997 m (mode  1.000000 count ).
2025-10-26T22:18:46.507Z,1761517126.507 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-10-26T22:18:46.507Z,1761517126.507 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-10-26T22:18:46.863Z,1761517126.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995434,0.045129,-0.084116],[-0.031151,0.986522,0.160637],[0.090231,-0.157283,0.983423]]
2025-10-26T22:18:46.878Z,1761517126.878 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-10-26T22:18:46.878Z,1761517126.878 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-10-26T22:18:46.879Z,1761517126.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:18:47.027Z,1761517127.027 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:18:47.027Z,1761517127.027 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:18:47.027Z,1761517127.027 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:18:47.266Z,1761517127.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995426,0.044527,-0.084519],[-0.030494,0.986549,0.160598],[0.090533,-0.157286,0.983395]]
2025-10-26T22:18:47.276Z,1761517127.276 [DAT](INFO): DAT read: user:504>

2025-10-26T22:18:47.277Z,1761517127.277 [DAT](INFO): DAT read: Tx time:22:18:46.3888

2025-10-26T22:18:47.277Z,1761517127.277 [DAT](INFO): Ping request sent.
2025-10-26T22:18:47.277Z,1761517127.277 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:18:47.278Z,1761517127.278 [DAT](INFO): publishing transmit ping time
2025-10-26T22:18:47.278Z,1761517127.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-10-26T22:18:47.339Z,1761517127.339 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-10-26T22:18:47.340Z,1761517127.340 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-10-26T22:18:47.528Z,1761517127.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250757
2025-10-26T22:18:47.675Z,1761517127.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995434,0.043869,-0.084778],[-0.029803,0.986575,0.160567],[0.090684,-0.157307,0.983377]]
2025-10-26T22:18:47.691Z,1761517127.691 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-10-26T22:18:47.691Z,1761517127.691 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T22:18:47.691Z,1761517127.691 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-10-26T22:18:47.696Z,1761517127.696 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T22:18:47.781Z,1761517127.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503287
2025-10-26T22:18:48.032Z,1761517128.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754722
2025-10-26T22:18:48.075Z,1761517128.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995527,0.041534,-0.084857],[-0.027737,0.987093,0.157729],[0.090313,-0.154670,0.983830]]
2025-10-26T22:18:48.284Z,1761517128.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006858
2025-10-26T22:18:48.478Z,1761517128.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995645,0.037779,-0.085227],[-0.024387,0.987920,0.153036],[0.089979,-0.150291,0.984539]]
2025-10-26T22:18:48.537Z,1761517128.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258994
2025-10-26T22:18:48.788Z,1761517128.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510787
2025-10-26T22:18:48.882Z,1761517128.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995804,0.032447,-0.085564],[-0.019752,0.989199,0.145242],[0.089353,-0.142942,0.985689]]
2025-10-26T22:18:48.903Z,1761517128.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:18:49.041Z,1761517129.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763307
2025-10-26T22:18:49.287Z,1761517129.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996006,0.022072,-0.086516],[-0.010664,0.991436,0.130158],[0.088648,-0.128715,0.987711]]
2025-10-26T22:18:49.293Z,1761517129.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015013
2025-10-26T22:18:49.544Z,1761517129.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266707
2025-10-26T22:18:49.690Z,1761517129.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996130,0.006608,-0.087640],[0.002882,0.994177,0.107717],[0.087842,-0.107553,0.990311]]
2025-10-26T22:18:49.798Z,1761517129.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520181
2025-10-26T22:18:50.049Z,1761517130.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771016
2025-10-26T22:18:50.094Z,1761517130.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995982,-0.014405,-0.088391],[0.021487,0.996587,0.079706],[0.086941,-0.081285,0.992892]]
2025-10-26T22:18:50.301Z,1761517130.301 [DAT](INFO): DAT read: Rx Time:22:18:49.0391

2025-10-26T22:18:50.302Z,1761517130.302 [DAT](INFO): Rx dataTimestamp_ set to:1761517130.300965
2025-10-26T22:18:50.302Z,1761517130.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024572
2025-10-26T22:18:50.498Z,1761517130.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995339,-0.039828,-0.087826],[0.043998,0.997968,0.046075],[0.085813,-0.049724,0.995070]]
2025-10-26T22:18:50.553Z,1761517130.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275182
2025-10-26T22:18:50.807Z,1761517130.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529348
2025-10-26T22:18:50.903Z,1761517130.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994031,-0.066862,-0.086203],[0.068362,0.997554,0.014556],[0.085019,-0.020362,0.996171]]
2025-10-26T22:18:50.925Z,1761517130.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:18:51.061Z,1761517131.061 [DAT](INFO): DAT read: 22:18:49.0391 LVL= 32752, 29425, 32754, 32755, AGC= 70, IDX= 468, 0.11,-0.823, 0.440,-0.826,-0.976, PHS= 0.254, 1.461, 0.106, RAW= 335.7, -26.6, CAL= 335.6, -29.6, ROT= 174.4,  29.6

2025-10-26T22:18:51.063Z,1761517131.063 [DAT](INFO): got valid direction response:
 22:18:49.0391 LVL= 32752, 29425, 32754, 32755, AGC= 70, IDX= 468, 0.11,-0.823, 0.440,-0.826,-0.976, PHS= 0.254, 1.461, 0.106, RAW= 335.7, -26.6, CAL= 335.6, -29.6, ROT= 174.4,  29.6

2025-10-26T22:18:51.064Z,1761517131.064 [DAT](INFO): DAT read: Bearing   7.6,   2.4 (Local)

2025-10-26T22:18:51.064Z,1761517131.064 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.6,   2.4 (Local)

2025-10-26T22:18:51.065Z,1761517131.065 [DAT](INFO): DAT read: Range 11 to 50 : 184.5 m  (Round-trip  246.1 ms) speed -0.4 m/s

2025-10-26T22:18:51.066Z,1761517131.066 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:18:51.067Z,1761517131.067 [DAT](INFO): direction in FSK: [-0.865345,0.084848,-0.493942]
2025-10-26T22:18:51.067Z,1761517131.067 [DAT](INFO): publishing direction and range info
2025-10-26T22:18:51.070Z,1761517131.070 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:18:51.071Z,1761517131.071 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:18:51.071Z,1761517131.071 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:18:51.306Z,1761517131.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991915,-0.095811,-0.083219],[0.094774,0.995365,-0.016326],[0.084398,0.008307,0.996397]]
2025-10-26T22:18:51.308Z,1761517131.308 [DAT](INFO): DAT read: user:505>

2025-10-26T22:18:51.309Z,1761517131.309 [DAT](INFO): DAT read: Tx time:22:18:50.4388

2025-10-26T22:18:51.309Z,1761517131.309 [DAT](INFO): Ping request sent.
2025-10-26T22:18:51.309Z,1761517131.309 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:18:51.310Z,1761517131.310 [DAT](INFO): publishing transmit ping time
2025-10-26T22:18:51.310Z,1761517131.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-10-26T22:18:51.390Z,1761517131.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 184.500000 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-10-26T22:18:51.393Z,1761517131.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 183.812775 m,
      bearing: 179.270724 deg,
      lat: 36.779416 deg,
      lon: -121.859514 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-10-26T22:18:51.394Z,1761517131.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-10-26T22:18:51.397Z,1761517131.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 183.812775 m,
      nav range: 138.947159 m,
      bearing: 177.038429 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 178.498905 deg,
      new cmd heading: 177.038429 deg.

2025-10-26T22:18:51.397Z,1761517131.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.089904 target range: 183.812775 and range: 184.50 m.
2025-10-26T22:18:51.560Z,1761517131.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250957
2025-10-26T22:18:51.717Z,1761517131.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988818,-0.126942,-0.078261],[0.123275,0.991109,-0.050052],[0.083919,0.039845,0.995676]]
2025-10-26T22:18:51.741Z,1761517131.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-10-26T22:18:51.744Z,1761517131.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 183.812775 m,
      nav range: 139.168533 m,
      bearing: 177.063704 deg,
      approach rate: 0.629864 m/s,
      LOS rate: 0.071797 deg/s,
      cmd heading: 177.038435 deg,
      new cmd heading: 177.063704 deg.

2025-10-26T22:18:51.745Z,1761517131.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.090345 target range: 183.812775 and range: 184.50 m.
2025-10-26T22:18:51.812Z,1761517131.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502963
2025-10-26T22:18:52.064Z,1761517132.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754881
2025-10-26T22:18:52.114Z,1761517132.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984747,-0.158308,-0.072188],[0.152590,0.985138,-0.078863],[0.083600,0.066645,0.994268]]
2025-10-26T22:18:52.153Z,1761517132.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-10-26T22:18:52.157Z,1761517132.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 183.812775 m,
      nav range: 139.420166 m,
      bearing: 177.095821 deg,
      approach rate: 0.611004 m/s,
      LOS rate: 0.077846 deg/s,
      cmd heading: 177.063707 deg,
      new cmd heading: 177.095821 deg.

2025-10-26T22:18:52.158Z,1761517132.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.090905 target range: 183.812775 and range: 184.50 m.
2025-10-26T22:18:52.316Z,1761517132.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006869
2025-10-26T22:18:52.520Z,1761517132.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979834,-0.188743,-0.065589],[0.181787,0.978292,-0.099487],[0.082942,0.085557,0.992875]]
2025-10-26T22:18:52.568Z,1761517132.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258719
2025-10-26T22:18:52.583Z,1761517132.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-10-26T22:18:52.590Z,1761517132.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 183.812775 m,
      nav range: 139.670929 m,
      bearing: 177.125260 deg,
      approach rate: 0.583499 m/s,
      LOS rate: 0.068377 deg/s,
      cmd heading: 177.095822 deg,
      new cmd heading: 177.125260 deg.

2025-10-26T22:18:52.590Z,1761517132.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.091419 target range: 183.812775 and range: 184.50 m.
2025-10-26T22:18:52.821Z,1761517132.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511092
2025-10-26T22:18:53.001Z,1761517133.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:18:53.003Z,1761517133.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-10-26T22:18:53.005Z,1761517133.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 183.812775 m,
      nav range: 139.932678 m,
      bearing: 177.155870 deg,
      approach rate: 0.623608 m/s,
      LOS rate: 0.072792 deg/s,
      cmd heading: 177.125260 deg,
      new cmd heading: 177.155870 deg.

2025-10-26T22:18:53.006Z,1761517133.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.091953 target range: 183.812775 and range: 184.50 m.
2025-10-26T22:18:53.073Z,1761517133.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763134
2025-10-26T22:18:53.324Z,1761517133.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014852
2025-10-26T22:18:53.364Z,1761517133.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967860,-0.245585,-0.054167],[0.237758,0.963738,-0.121166],[0.081959,0.104393,0.991153]]
2025-10-26T22:18:53.418Z,1761517133.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-10-26T22:18:53.425Z,1761517133.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 183.812775 m,
      nav range: 140.182892 m,
      bearing: 177.187256 deg,
      approach rate: 0.602250 m/s,
      LOS rate: 0.075409 deg/s,
      cmd heading: 177.155873 deg,
      new cmd heading: 177.187256 deg.

2025-10-26T22:18:53.426Z,1761517133.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.092501 target range: 183.812775 and range: 184.50 m.
2025-10-26T22:18:53.576Z,1761517133.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266896
2025-10-26T22:18:53.762Z,1761517133.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961184,-0.271307,-0.050171],[0.263587,0.956687,-0.123583],[0.081527,0.105561,0.991065]]
2025-10-26T22:18:53.781Z,1761517133.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-10-26T22:18:53.784Z,1761517133.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 183.812775 m,
      nav range: 140.410477 m,
      bearing: 177.218456 deg,
      approach rate: 0.626829 m/s,
      LOS rate: 0.085792 deg/s,
      cmd heading: 177.187251 deg,
      new cmd heading: 177.218456 deg.

2025-10-26T22:18:53.785Z,1761517133.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.093045 target range: 183.812775 and range: 184.50 m.
2025-10-26T22:18:53.833Z,1761517133.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522921
2025-10-26T22:18:54.080Z,1761517134.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770826
2025-10-26T22:18:54.170Z,1761517134.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953786,-0.296735,-0.047335],[0.289225,0.949300,-0.123202],[0.081494,0.103817,0.991252]]
2025-10-26T22:18:54.189Z,1761517134.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-10-26T22:18:54.192Z,1761517134.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 183.812775 m,
      nav range: 140.653778 m,
      bearing: 177.254653 deg,
      approach rate: 0.596457 m/s,
      LOS rate: 0.088584 deg/s,
      cmd heading: 177.218451 deg,
      new cmd heading: 177.254653 deg.

2025-10-26T22:18:54.193Z,1761517134.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.093677 target range: 183.812775 and range: 184.50 m.
2025-10-26T22:18:54.332Z,1761517134.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022964
2025-10-26T22:18:54.572Z,1761517134.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945984,-0.320979,-0.045686],[0.313837,0.941935,-0.119437],[0.081370,0.098648,0.991790]]
2025-10-26T22:18:54.585Z,1761517134.585 [DAT](INFO): DAT read: Rx Time:22:18:53.0907

2025-10-26T22:18:54.585Z,1761517134.585 [DAT](INFO): Rx dataTimestamp_ set to:1761517134.584705
2025-10-26T22:18:54.586Z,1761517134.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276036
2025-10-26T22:18:54.659Z,1761517134.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-10-26T22:18:54.665Z,1761517134.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 183.812775 m,
      nav range: 140.898712 m,
      bearing: 177.285140 deg,
      approach rate: 0.521392 m/s,
      LOS rate: 0.064786 deg/s,
      cmd heading: 177.254651 deg,
      new cmd heading: 177.285140 deg.

2025-10-26T22:18:54.666Z,1761517134.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.094209 target range: 183.812775 and range: 184.50 m.
2025-10-26T22:18:54.836Z,1761517134.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526744
2025-10-26T22:18:55.027Z,1761517135.027 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:18:55.035Z,1761517135.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-10-26T22:18:55.037Z,1761517135.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 183.812775 m,
      nav range: 141.140900 m,
      bearing: 177.315179 deg,
      approach rate: 0.644302 m/s,
      LOS rate: 0.079777 deg/s,
      cmd heading: 177.285141 deg,
      new cmd heading: 177.315179 deg.

2025-10-26T22:18:55.038Z,1761517135.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.094734 target range: 183.812775 and range: 184.50 m.
2025-10-26T22:18:55.097Z,1761517135.097 [DAT](INFO): DAT read: 22:18:53.0907 LVL= 32752, 28641, 32754, 32755, AGC= 68, IDX= 453,-0.01,-0.904, 0.228,-0.982,-1.123, PHS= 0.321, 1.396, 0.097, RAW= 339.3, -28.1, CAL= 339.2, -30.8, ROT= 170.8,  30.8

2025-10-26T22:18:55.099Z,1761517135.099 [DAT](INFO): got valid direction response:
 22:18:53.0907 LVL= 32752, 28641, 32754, 32755, AGC= 68, IDX= 453,-0.01,-0.904, 0.228,-0.982,-1.123, PHS= 0.321, 1.396, 0.097, RAW= 339.3, -28.1, CAL= 339.2, -30.8, ROT= 170.8,  30.8

2025-10-26T22:18:55.100Z,1761517135.100 [DAT](INFO): DAT read: Bearing  26.2,   1.0 (Local)

2025-10-26T22:18:55.100Z,1761517135.100 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.2,   1.0 (Local)

2025-10-26T22:18:55.102Z,1761517135.102 [DAT](INFO): DAT read: Range 11 to 50 : 185.7 m  (Round-trip  247.7 ms) speed -0.3 m/s

2025-10-26T22:18:55.102Z,1761517135.102 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:18:55.104Z,1761517135.104 [DAT](INFO): direction in FSK: [-0.847910,0.137332,-0.512043]
2025-10-26T22:18:55.104Z,1761517135.104 [DAT](INFO): publishing direction and range info
2025-10-26T22:18:55.108Z,1761517135.108 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:18:55.108Z,1761517135.108 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:18:55.108Z,1761517135.108 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:18:55.342Z,1761517135.342 [DAT](INFO): DAT read: user:506>

2025-10-26T22:18:55.343Z,1761517135.343 [DAT](INFO): DAT read: Tx time:22:18:54.4888

2025-10-26T22:18:55.343Z,1761517135.343 [DAT](INFO): Ping request sent.
2025-10-26T22:18:55.343Z,1761517135.343 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:18:55.343Z,1761517135.343 [DAT](INFO): publishing transmit ping time
2025-10-26T22:18:55.344Z,1761517135.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000844
2025-10-26T22:18:55.398Z,1761517135.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929359,-0.366531,-0.044135],[0.360228,0.926489,-0.108875],[0.080796,0.085286,0.993075]]
2025-10-26T22:18:55.490Z,1761517135.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 185.699997 m,
      deltaT: 4.032900 s,
      deltaX: 1.199997 m,
      approachRate: 0.297552 m/s,
      rangeRepo size: 2

2025-10-26T22:18:55.497Z,1761517135.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 185.003433 m,
      bearing: 188.537217 deg,
      lat: 36.779329 deg,
      lon: -121.859573 deg,
      deltaT: 4.032900 s,
      deltaX: 1.190659 m,
      approachRate: 0.295236 m/s,
      posRepo size: 2

2025-10-26T22:18:55.497Z,1761517135.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:18:55.528Z,1761517135.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 150.922272 m,
      bearing: 179.504473 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.079777 deg/s,
      cmd heading: 177.315181 deg,
      new cmd heading: 177.424108 deg.

2025-10-26T22:18:55.529Z,1761517135.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.096635 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:18:55.593Z,1761517135.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250186
2025-10-26T22:18:55.797Z,1761517135.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920682,-0.387901,-0.043330],[0.381947,0.918240,-0.104650],[0.080381,0.079799,0.993565]]
2025-10-26T22:18:55.816Z,1761517135.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:18:55.818Z,1761517135.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 151.110718 m,
      bearing: 179.523403 deg,
      approach rate: 0.578520 m/s,
      LOS rate: 0.058039 deg/s,
      cmd heading: 177.424108 deg,
      new cmd heading: 177.480825 deg.

2025-10-26T22:18:55.820Z,1761517135.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.097625 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:18:55.844Z,1761517135.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501287
2025-10-26T22:18:56.096Z,1761517136.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753301
2025-10-26T22:18:56.198Z,1761517136.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911387,-0.409448,-0.041552],[0.403683,0.909043,-0.103344],[0.080087,0.077413,0.993777]]
2025-10-26T22:18:56.244Z,1761517136.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:18:56.247Z,1761517136.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 151.336777 m,
      bearing: 179.548211 deg,
      approach rate: 0.554211 m/s,
      LOS rate: 0.060729 deg/s,
      cmd heading: 177.480826 deg,
      new cmd heading: 177.555139 deg.

2025-10-26T22:18:56.252Z,1761517136.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.098922 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:18:56.348Z,1761517136.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005406
2025-10-26T22:18:56.600Z,1761517136.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257236
2025-10-26T22:18:56.656Z,1761517136.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891154,-0.452145,-0.037545],[0.446944,0.889098,-0.098718],[0.078016,0.071192,0.994407]]
2025-10-26T22:18:56.693Z,1761517136.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:18:56.695Z,1761517136.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 151.588837 m,
      bearing: 179.578487 deg,
      approach rate: 0.537235 m/s,
      LOS rate: 0.064423 deg/s,
      cmd heading: 177.555139 deg,
      new cmd heading: 177.645817 deg.

2025-10-26T22:18:56.697Z,1761517136.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.100504 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:18:56.852Z,1761517136.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509259
2025-10-26T22:18:57.068Z,1761517137.068 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:18:57.070Z,1761517137.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:18:57.073Z,1761517137.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 151.789429 m,
      bearing: 179.602507 deg,
      approach rate: 0.531199 m/s,
      LOS rate: 0.063524 deg/s,
      cmd heading: 177.645816 deg,
      new cmd heading: 177.717780 deg.

2025-10-26T22:18:57.074Z,1761517137.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.101760 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:18:57.105Z,1761517137.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761953
2025-10-26T22:18:57.359Z,1761517137.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015348
2025-10-26T22:18:57.430Z,1761517137.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880432,-0.472958,-0.033915],[0.467951,0.878204,-0.098890],[0.076555,0.071196,0.994520]]
2025-10-26T22:18:57.493Z,1761517137.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:18:57.501Z,1761517137.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 151.993286 m,
      bearing: 179.632362 deg,
      approach rate: 0.481840 m/s,
      LOS rate: 0.070473 deg/s,
      cmd heading: 177.717779 deg,
      new cmd heading: 177.807226 deg.

2025-10-26T22:18:57.502Z,1761517137.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.103322 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:18:57.608Z,1761517137.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265371
2025-10-26T22:18:57.837Z,1761517137.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869292,-0.493370,-0.030272],[0.488562,0.866894,-0.099006],[0.075089,0.071276,0.994626]]
2025-10-26T22:18:57.860Z,1761517137.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517338
2025-10-26T22:18:57.877Z,1761517137.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:18:57.884Z,1761517137.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 152.184464 m,
      bearing: 179.662250 deg,
      approach rate: 0.498403 m/s,
      LOS rate: 0.077821 deg/s,
      cmd heading: 177.807227 deg,
      new cmd heading: 177.896779 deg.

2025-10-26T22:18:57.885Z,1761517137.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.104885 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:18:58.113Z,1761517138.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769696
2025-10-26T22:18:58.244Z,1761517138.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844957,-0.534404,-0.021465],[0.529927,0.841953,-0.101453],[0.072289,0.074348,0.994609]]
2025-10-26T22:18:58.263Z,1761517138.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:18:58.266Z,1761517138.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 152.383728 m,
      bearing: 179.697626 deg,
      approach rate: 0.516255 m/s,
      LOS rate: 0.091532 deg/s,
      cmd heading: 177.896785 deg,
      new cmd heading: 178.002773 deg.

2025-10-26T22:18:58.267Z,1761517138.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.106735 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:18:58.368Z,1761517138.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023860
2025-10-26T22:18:58.617Z,1761517138.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274352
2025-10-26T22:18:58.650Z,1761517138.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831794,-0.554812,-0.017363],[0.550523,0.828557,-0.102068],[0.071015,0.075341,0.994626]]
2025-10-26T22:18:58.698Z,1761517138.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:18:58.702Z,1761517138.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 152.585632 m,
      bearing: 179.742613 deg,
      approach rate: 0.464509 m/s,
      LOS rate: 0.103362 deg/s,
      cmd heading: 178.002776 deg,
      new cmd heading: 178.137557 deg.

2025-10-26T22:18:58.720Z,1761517138.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.109087 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:18:58.868Z,1761517138.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525256
2025-10-26T22:18:59.049Z,1761517139.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817988,-0.575065,-0.013986],[0.570981,0.814651,-0.101612],[0.069827,0.075132,0.994726]]
2025-10-26T22:18:59.068Z,1761517139.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:18:59.071Z,1761517139.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 152.755524 m,
      bearing: 179.782523 deg,
      approach rate: 0.458509 m/s,
      LOS rate: 0.107592 deg/s,
      cmd heading: 178.137563 deg,
      new cmd heading: 178.257161 deg.

2025-10-26T22:18:59.072Z,1761517139.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.111174 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:18:59.122Z,1761517139.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778576
2025-10-26T22:18:59.375Z,1761517139.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031588
2025-10-26T22:18:59.451Z,1761517139.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803356,-0.595407,-0.010474],[0.591533,0.799909,-0.101160],[0.068609,0.075071,0.994815]]
2025-10-26T22:18:59.496Z,1761517139.496 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:18:59.498Z,1761517139.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:18:59.501Z,1761517139.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 152.941833 m,
      bearing: 179.839429 deg,
      approach rate: 0.432863 m/s,
      LOS rate: 0.132051 deg/s,
      cmd heading: 178.257159 deg,
      new cmd heading: 178.427668 deg.

2025-10-26T22:18:59.502Z,1761517139.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.114150 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:18:59.625Z,1761517139.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281794
2025-10-26T22:18:59.855Z,1761517139.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787888,-0.615766,-0.008045],[0.612089,0.784484,-0.099660],[0.067679,0.073597,0.994989]]
2025-10-26T22:18:59.873Z,1761517139.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:18:59.877Z,1761517139.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533456
2025-10-26T22:18:59.878Z,1761517139.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 153.101227 m,
      bearing: 179.890595 deg,
      approach rate: 0.425237 m/s,
      LOS rate: 0.136360 deg/s,
      cmd heading: 178.427668 deg,
      new cmd heading: 178.581005 deg.

2025-10-26T22:18:59.879Z,1761517139.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.116827 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:00.129Z,1761517140.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785973
2025-10-26T22:19:00.255Z,1761517140.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771673,-0.636003,-0.004582],[0.632485,0.768124,-0.099741],[0.066956,0.074069,0.995003]]
2025-10-26T22:19:00.281Z,1761517140.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:00.283Z,1761517140.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 153.270340 m,
      bearing: 179.947637 deg,
      approach rate: 0.415291 m/s,
      LOS rate: 0.139924 deg/s,
      cmd heading: 178.581006 deg,
      new cmd heading: 178.751943 deg.

2025-10-26T22:19:00.284Z,1761517140.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.119810 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:00.383Z,1761517140.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039609
2025-10-26T22:19:00.633Z,1761517140.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289555
2025-10-26T22:19:00.658Z,1761517140.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754861,-0.655882,-0.002058],[0.652542,0.751326,-0.098481],[0.066138,0.072997,0.995137]]
2025-10-26T22:19:00.738Z,1761517140.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:00.741Z,1761517140.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 153.437881 m,
      bearing: 180.019628 deg,
      approach rate: 0.366484 m/s,
      LOS rate: 0.157302 deg/s,
      cmd heading: 178.751938 deg,
      new cmd heading: 178.967673 deg.

2025-10-26T22:19:00.742Z,1761517140.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.123575 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:00.884Z,1761517140.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541248
2025-10-26T22:19:01.063Z,1761517141.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737364,-0.675495,0.000859],[0.672342,0.733799,-0.097449],[0.065196,0.072433,0.995240]]
2025-10-26T22:19:01.101Z,1761517141.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:01.109Z,1761517141.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 153.572189 m,
      bearing: 180.080327 deg,
      approach rate: 0.371852 m/s,
      LOS rate: 0.167908 deg/s,
      cmd heading: 178.967677 deg,
      new cmd heading: 179.149614 deg.

2025-10-26T22:19:01.111Z,1761517141.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.126751 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:01.138Z,1761517141.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794433
2025-10-26T22:19:01.391Z,1761517141.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047095
2025-10-26T22:19:01.468Z,1761517141.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719369,-0.694613,0.004594],[0.691619,0.715623,-0.097706],[0.064580,0.073464,0.995205]]
2025-10-26T22:19:01.528Z,1761517141.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:01.530Z,1761517141.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:01.537Z,1761517141.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 153.722122 m,
      bearing: 180.160759 deg,
      approach rate: 0.347992 m/s,
      LOS rate: 0.186500 deg/s,
      cmd heading: 179.149619 deg,
      new cmd heading: 179.390678 deg.

2025-10-26T22:19:01.538Z,1761517141.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.130958 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:01.641Z,1761517141.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297683
2025-10-26T22:19:01.873Z,1761517141.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700327,-0.713769,0.008681],[0.710940,0.696357,-0.098244],[0.064079,0.074974,0.995124]]
2025-10-26T22:19:01.891Z,1761517141.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:01.892Z,1761517141.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549394
2025-10-26T22:19:01.896Z,1761517141.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 153.850906 m,
      bearing: 180.233723 deg,
      approach rate: 0.356438 m/s,
      LOS rate: 0.201774 deg/s,
      cmd heading: 179.390684 deg,
      new cmd heading: 179.609392 deg.

2025-10-26T22:19:01.896Z,1761517141.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.134775 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:02.144Z,1761517142.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801317
2025-10-26T22:19:02.275Z,1761517142.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680496,-0.732665,0.011269],[0.729986,0.676513,-0.097214],[0.063602,0.074380,0.995200]]
2025-10-26T22:19:02.300Z,1761517142.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:02.303Z,1761517142.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 153.983383 m,
      bearing: 180.313185 deg,
      approach rate: 0.323713 m/s,
      LOS rate: 0.194003 deg/s,
      cmd heading: 179.609386 deg,
      new cmd heading: 179.847568 deg.

2025-10-26T22:19:02.324Z,1761517142.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.138932 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:02.400Z,1761517142.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.056818
2025-10-26T22:19:02.648Z,1761517142.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305220
2025-10-26T22:19:02.679Z,1761517142.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660717,-0.750498,0.014332],[0.747966,0.656639,-0.096812],[0.063246,0.074685,0.995200]]
2025-10-26T22:19:02.778Z,1761517142.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:02.785Z,1761517142.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 154.128250 m,
      bearing: 180.408665 deg,
      approach rate: 0.303209 m/s,
      LOS rate: 0.199654 deg/s,
      cmd heading: 179.847569 deg,
      new cmd heading: 180.133738 deg.

2025-10-26T22:19:02.786Z,1761517142.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.143927 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:02.900Z,1761517142.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557348
2025-10-26T22:19:03.083Z,1761517143.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640619,-0.767650,0.017921],[0.765273,0.636374,-0.096880],[0.062965,0.075777,0.995135]]
2025-10-26T22:19:03.102Z,1761517143.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:03.105Z,1761517143.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 154.226044 m,
      bearing: 180.477037 deg,
      approach rate: 0.302305 m/s,
      LOS rate: 0.211221 deg/s,
      cmd heading: 180.133740 deg,
      new cmd heading: 180.338725 deg.

2025-10-26T22:19:03.107Z,1761517143.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.147505 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:03.152Z,1761517143.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809362
2025-10-26T22:19:03.407Z,1761517143.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063729
2025-10-26T22:19:03.488Z,1761517143.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620081,-0.784257,0.020986],[0.782022,0.615731,-0.096527],[0.062780,0.076266,0.995109]]
2025-10-26T22:19:03.548Z,1761517143.548 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:03.550Z,1761517143.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:03.557Z,1761517143.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 154.353516 m,
      bearing: 180.567702 deg,
      approach rate: 0.284301 m/s,
      LOS rate: 0.202042 deg/s,
      cmd heading: 180.338728 deg,
      new cmd heading: 180.610494 deg.

2025-10-26T22:19:03.558Z,1761517143.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.152248 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:03.657Z,1761517143.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313673
2025-10-26T22:19:03.890Z,1761517143.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599224,-0.800259,0.022719],[0.798123,0.594920,-0.095237],[0.062698,0.075201,0.995195]]
2025-10-26T22:19:03.908Z,1761517143.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565362
2025-10-26T22:19:03.910Z,1761517143.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:03.913Z,1761517143.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 154.461151 m,
      bearing: 180.649073 deg,
      approach rate: 0.298648 m/s,
      LOS rate: 0.225617 deg/s,
      cmd heading: 180.610487 deg,
      new cmd heading: 180.854429 deg.

2025-10-26T22:19:03.914Z,1761517143.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.156505 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:04.161Z,1761517144.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817565
2025-10-26T22:19:04.295Z,1761517144.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578489,-0.815272,0.026107],[0.813306,0.574058,-0.094816],[0.062314,0.076083,0.995152]]
2025-10-26T22:19:04.330Z,1761517144.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:04.337Z,1761517144.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 154.572433 m,
      bearing: 180.738571 deg,
      approach rate: 0.265347 m/s,
      LOS rate: 0.213250 deg/s,
      cmd heading: 180.854434 deg,
      new cmd heading: 181.122734 deg.

2025-10-26T22:19:04.338Z,1761517144.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.161188 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:04.416Z,1761517144.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071735
2025-10-26T22:19:04.421Z,1761517144.421 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:19:04.664Z,1761517144.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321239
2025-10-26T22:19:04.708Z,1761517144.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557773,-0.829564,0.026694],[0.827691,0.553544,-0.092291],[0.061785,0.073572,0.995374]]
2025-10-26T22:19:04.767Z,1761517144.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:04.769Z,1761517144.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 154.682510 m,
      bearing: 180.827049 deg,
      approach rate: 0.251934 m/s,
      LOS rate: 0.202355 deg/s,
      cmd heading: 181.122738 deg,
      new cmd heading: 181.387979 deg.

2025-10-26T22:19:04.770Z,1761517144.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.165817 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:04.917Z,1761517144.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573594
2025-10-26T22:19:05.105Z,1761517145.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536994,-0.843082,0.029161],[0.841347,0.532733,-0.091271],[0.061414,0.073547,0.995399]]
2025-10-26T22:19:05.145Z,1761517145.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:05.148Z,1761517145.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 154.776947 m,
      bearing: 180.907845 deg,
      approach rate: 0.249587 m/s,
      LOS rate: 0.213406 deg/s,
      cmd heading: 181.387981 deg,
      new cmd heading: 181.630220 deg.

2025-10-26T22:19:05.149Z,1761517145.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.170045 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:05.168Z,1761517145.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825314
2025-10-26T22:19:05.420Z,1761517145.420 [DAT](INFO): Reached modem response timeout
2025-10-26T22:19:05.420Z,1761517145.420 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:19:05.420Z,1761517145.420 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:19:05.424Z,1761517145.424 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:19:05.559Z,1761517145.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:05.561Z,1761517145.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:05.564Z,1761517145.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 154.887680 m,
      bearing: 180.991146 deg,
      approach rate: 0.265967 m/s,
      LOS rate: 0.199937 deg/s,
      cmd heading: 181.630221 deg,
      new cmd heading: 181.879946 deg.

2025-10-26T22:19:05.565Z,1761517145.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.174404 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:05.673Z,1761517145.673 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:19:05.911Z,1761517145.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495198,-0.868131,0.033567],[0.866673,0.490940,-0.088631],[0.060464,0.072981,0.995499]]
2025-10-26T22:19:05.924Z,1761517145.924 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:19:05.941Z,1761517145.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:05.944Z,1761517145.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 154.977997 m,
      bearing: 181.068075 deg,
      approach rate: 0.237581 m/s,
      LOS rate: 0.202244 deg/s,
      cmd heading: 181.879946 deg,
      new cmd heading: 182.110595 deg.

2025-10-26T22:19:05.945Z,1761517145.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.178430 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:06.176Z,1761517146.176 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:19:06.315Z,1761517146.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474258,-0.879684,0.035149],[0.878343,0.470062,-0.086920],[0.059940,0.072096,0.995595]]
2025-10-26T22:19:06.333Z,1761517146.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:06.336Z,1761517146.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 155.065994 m,
      bearing: 181.147867 deg,
      approach rate: 0.224914 m/s,
      LOS rate: 0.203827 deg/s,
      cmd heading: 182.110602 deg,
      new cmd heading: 182.349842 deg.

2025-10-26T22:19:06.337Z,1761517146.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.182605 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:06.432Z,1761517146.432 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:19:06.680Z,1761517146.680 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:19:06.730Z,1761517146.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453299,-0.890609,0.036554],[0.889374,0.449174,-0.085183],[0.059445,0.071124,0.995695]]
2025-10-26T22:19:06.768Z,1761517146.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:06.771Z,1761517146.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 155.158646 m,
      bearing: 181.232243 deg,
      approach rate: 0.212721 m/s,
      LOS rate: 0.193606 deg/s,
      cmd heading: 182.349836 deg,
      new cmd heading: 182.602812 deg.

2025-10-26T22:19:06.772Z,1761517146.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.187020 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:06.932Z,1761517146.932 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:19:07.131Z,1761517147.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432277,-0.901005,0.036429],[0.899810,0.428358,-0.082773],[0.058974,0.068560,0.995902]]
2025-10-26T22:19:07.150Z,1761517147.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:07.153Z,1761517147.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 155.235413 m,
      bearing: 181.306788 deg,
      approach rate: 0.201218 m/s,
      LOS rate: 0.195296 deg/s,
      cmd heading: 182.602813 deg,
      new cmd heading: 182.826334 deg.

2025-10-26T22:19:07.154Z,1761517147.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.190922 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:07.185Z,1761517147.185 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:19:07.437Z,1761517147.437 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:19:07.533Z,1761517147.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411114,-0.910818,0.037363],[0.909719,0.407308,-0.080693],[0.058278,0.067164,0.996038]]
2025-10-26T22:19:07.581Z,1761517147.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:07.583Z,1761517147.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:07.586Z,1761517147.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 155.321411 m,
      bearing: 181.390205 deg,
      approach rate: 0.198490 m/s,
      LOS rate: 0.192427 deg/s,
      cmd heading: 182.826337 deg,
      new cmd heading: 183.076450 deg.

2025-10-26T22:19:07.587Z,1761517147.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.195287 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:07.689Z,1761517147.689 [DAT](INFO): DAT read: Response Not Received

2025-10-26T22:19:07.690Z,1761517147.690 [DAT](INFO): response not received
2025-10-26T22:19:07.690Z,1761517147.690 [DAT](INFO): DAT read: user:507>

2025-10-26T22:19:07.692Z,1761517147.692 [DAT](INFO): DAT read: Tx time:22:19:06.9388

2025-10-26T22:19:07.692Z,1761517147.692 [DAT](INFO): Ping request sent.
2025-10-26T22:19:07.692Z,1761517147.692 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:19:07.692Z,1761517147.692 [DAT](INFO): publishing transmit ping time
2025-10-26T22:19:07.693Z,1761517147.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001062
2025-10-26T22:19:07.930Z,1761517147.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389863,-0.920038,0.039216],[0.919080,0.386094,-0.078891],[0.057441,0.066799,0.996112]]
2025-10-26T22:19:07.940Z,1761517147.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248255
2025-10-26T22:19:07.954Z,1761517147.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:07.957Z,1761517147.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 155.391022 m,
      bearing: 181.462416 deg,
      approach rate: 0.187529 m/s,
      LOS rate: 0.194446 deg/s,
      cmd heading: 183.076445 deg,
      new cmd heading: 183.292978 deg.

2025-10-26T22:19:07.958Z,1761517147.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.199066 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:08.192Z,1761517148.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500171
2025-10-26T22:19:08.334Z,1761517148.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368241,-0.928802,0.041539],[0.928002,0.364466,-0.077310],[0.056666,0.067017,0.996141]]
2025-10-26T22:19:08.370Z,1761517148.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:08.373Z,1761517148.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 155.462143 m,
      bearing: 181.541677 deg,
      approach rate: 0.170985 m/s,
      LOS rate: 0.190466 deg/s,
      cmd heading: 183.292976 deg,
      new cmd heading: 183.530649 deg.

2025-10-26T22:19:08.374Z,1761517148.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.203214 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:08.445Z,1761517148.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752356
2025-10-26T22:19:08.697Z,1761517148.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004163
2025-10-26T22:19:08.746Z,1761517148.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346611,-0.937010,0.043271],[0.936364,0.342904,-0.075094],[0.055526,0.066546,0.996237]]
2025-10-26T22:19:08.789Z,1761517148.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:08.807Z,1761517148.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 155.525177 m,
      bearing: 181.626862 deg,
      approach rate: 0.150683 m/s,
      LOS rate: 0.203552 deg/s,
      cmd heading: 183.530653 deg,
      new cmd heading: 183.786102 deg.

2025-10-26T22:19:08.808Z,1761517148.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.207673 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:08.949Z,1761517148.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256987
2025-10-26T22:19:09.143Z,1761517149.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324731,-0.944653,0.046703],[0.944247,0.320966,-0.073340],[0.054291,0.067915,0.996213]]
2025-10-26T22:19:09.162Z,1761517149.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:09.177Z,1761517149.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 155.575623 m,
      bearing: 181.701417 deg,
      approach rate: 0.134893 m/s,
      LOS rate: 0.199298 deg/s,
      cmd heading: 183.786102 deg,
      new cmd heading: 184.009694 deg.

2025-10-26T22:19:09.178Z,1761517149.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.211575 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:09.201Z,1761517149.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508339
2025-10-26T22:19:09.452Z,1761517149.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760199
2025-10-26T22:19:09.562Z,1761517149.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302068,-0.952004,0.049429],[0.951781,0.298273,-0.071735],[0.053548,0.068715,0.996198]]
2025-10-26T22:19:09.618Z,1761517149.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:09.625Z,1761517149.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:09.633Z,1761517149.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 155.633240 m,
      bearing: 181.790403 deg,
      approach rate: 0.124666 m/s,
      LOS rate: 0.192468 deg/s,
      cmd heading: 184.009695 deg,
      new cmd heading: 184.276553 deg.

2025-10-26T22:19:09.634Z,1761517149.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.216233 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:09.705Z,1761517149.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013012
2025-10-26T22:19:09.951Z,1761517149.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280048,-0.958680,0.050058],[0.958545,0.276392,-0.069273],[0.052575,0.067382,0.996341]]
2025-10-26T22:19:09.956Z,1761517149.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264224
2025-10-26T22:19:09.987Z,1761517149.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:10.005Z,1761517150.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 155.677719 m,
      bearing: 181.866309 deg,
      approach rate: 0.122909 m/s,
      LOS rate: 0.209688 deg/s,
      cmd heading: 184.276550 deg,
      new cmd heading: 184.504201 deg.

2025-10-26T22:19:10.006Z,1761517150.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.220206 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:10.209Z,1761517150.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516392
2025-10-26T22:19:10.357Z,1761517150.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257246,-0.964989,0.051194],[0.964968,0.253690,-0.066923],[0.051592,0.066616,0.996444]]
2025-10-26T22:19:10.380Z,1761517150.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:10.383Z,1761517150.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 155.721695 m,
      bearing: 181.950437 deg,
      approach rate: 0.111798 m/s,
      LOS rate: 0.213814 deg/s,
      cmd heading: 184.504201 deg,
      new cmd heading: 184.756512 deg.

2025-10-26T22:19:10.384Z,1761517150.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.224609 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:10.461Z,1761517150.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768548
2025-10-26T22:19:10.713Z,1761517150.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020533
2025-10-26T22:19:10.763Z,1761517150.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234046,-0.970751,0.053520],[0.970896,0.230494,-0.065070],[0.050830,0.067192,0.996444]]
2025-10-26T22:19:10.817Z,1761517150.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:10.819Z,1761517150.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 155.756317 m,
      bearing: 182.042057 deg,
      approach rate: 0.079303 m/s,
      LOS rate: 0.209810 deg/s,
      cmd heading: 184.756508 deg,
      new cmd heading: 185.031304 deg.

2025-10-26T22:19:10.820Z,1761517150.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.229405 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:10.964Z,1761517150.964 [DAT](INFO): DAT read: Rx Time:22:19:09.5418

2025-10-26T22:19:10.965Z,1761517150.965 [DAT](INFO): Rx dataTimestamp_ set to:1761517150.964646
2025-10-26T22:19:10.965Z,1761517150.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273270
2025-10-26T22:19:11.163Z,1761517151.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210078,-0.976007,0.057250],[0.976395,0.206435,-0.063533],[0.050190,0.069245,0.996336]]
2025-10-26T22:19:11.190Z,1761517151.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.00 m.
2025-10-26T22:19:11.193Z,1761517151.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.003433 m,
      nav range: 155.781052 m,
      bearing: 182.120737 deg,
      approach rate: 0.066184 m/s,
      LOS rate: 0.210498 deg/s,
      cmd heading: 185.031300 deg,
      new cmd heading: 185.267301 deg.

2025-10-26T22:19:11.194Z,1761517151.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.233524 target range: 185.003433 and range: 185.70 m.
2025-10-26T22:19:11.229Z,1761517151.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537042
2025-10-26T22:19:11.486Z,1761517151.486 [DAT](INFO): DAT read: 22:19:09.5418 LVL= 26400, 27873, 32754, 32755, AGC= 63, IDX= 401,-0.23, 2.416, 1.668, 0.743, 2.021, PHS= 0.497,-0.308,-1.322, RAW=  56.2,  14.2, CAL=  52.2,  17.7, ROT=  97.8, -17.7

2025-10-26T22:19:11.487Z,1761517151.487 [DAT](INFO): got valid direction response:
 22:19:09.5418 LVL= 26400, 27873, 32754, 32755, AGC= 63, IDX= 401,-0.23, 2.416, 1.668, 0.743, 2.021, PHS= 0.497,-0.308,-1.322, RAW=  56.2,  14.2, CAL=  52.2,  17.7, ROT=  97.8, -17.7

2025-10-26T22:19:11.488Z,1761517151.488 [DAT](INFO): DAT read: Bearing   0.2,  72.8 (Local)

2025-10-26T22:19:11.488Z,1761517151.488 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.2,  72.8 (Local)

2025-10-26T22:19:11.489Z,1761517151.489 [DAT](INFO): DAT read: Range 11 to 50 : 149.1 m  (Round-trip  198.9 ms) speed  0.0 m/s

2025-10-26T22:19:11.490Z,1761517151.490 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:19:11.491Z,1761517151.491 [DAT](INFO): direction in FSK: [-0.129291,0.943847,0.304033]
2025-10-26T22:19:11.496Z,1761517151.496 [DAT](INFO): publishing direction and range info
2025-10-26T22:19:11.502Z,1761517151.502 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:19:11.502Z,1761517151.502 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:19:11.524Z,1761517151.524 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:19:11.636Z,1761517151.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185633,-0.980786,0.059988],[0.981357,0.181955,-0.061900],[0.049796,0.070360,0.996278]]
2025-10-26T22:19:11.733Z,1761517151.733 [DAT](INFO): DAT read: user:508>

2025-10-26T22:19:11.734Z,1761517151.734 [DAT](INFO): DAT read: Tx time:22:19:10.8888

2025-10-26T22:19:11.734Z,1761517151.734 [DAT](INFO): Ping request sent.
2025-10-26T22:19:11.734Z,1761517151.734 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:19:11.735Z,1761517151.735 [DAT](INFO): publishing transmit ping time
2025-10-26T22:19:11.735Z,1761517151.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-10-26T22:19:11.768Z,1761517151.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 149.100006 m,
      deltaT: 16.391207 s,
      deltaX: -36.599991 m,
      approachRate: -2.232904 m/s,
      rangeRepo size: 3

2025-10-26T22:19:11.771Z,1761517151.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 148.532410 m,
      bearing: 178.398864 deg,
      lat: 36.779329 deg,
      lon: -121.859573 deg,
      deltaT: 16.391207 s,
      deltaX: -36.471024 m,
      approachRate: -2.225036 m/s,
      posRepo size: 3

2025-10-26T22:19:11.776Z,1761517151.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.53 m.
2025-10-26T22:19:11.778Z,1761517151.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.532410 m,
      nav range: 155.803268 m,
      bearing: 182.234957 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.210498 deg/s,
      cmd heading: 185.267297 deg,
      new cmd heading: 185.628772 deg.

2025-10-26T22:19:11.779Z,1761517151.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.239833 target range: 148.532410 and range: 149.10 m.
2025-10-26T22:19:11.971Z,1761517151.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161334,-0.984914,0.062570],[0.985660,0.157631,-0.060222],[0.049451,0.071389,0.996222]]
2025-10-26T22:19:11.985Z,1761517151.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250127
2025-10-26T22:19:11.993Z,1761517151.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:11.995Z,1761517151.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.53 m.
2025-10-26T22:19:11.998Z,1761517151.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.532410 m,
      nav range: 155.811279 m,
      bearing: 182.295921 deg,
      approach rate: 0.034446 m/s,
      LOS rate: 0.262126 deg/s,
      cmd heading: 185.628778 deg,
      new cmd heading: 185.811658 deg.

2025-10-26T22:19:11.999Z,1761517151.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.243025 target range: 148.532410 and range: 149.10 m.
2025-10-26T22:19:12.236Z,1761517152.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501877
2025-10-26T22:19:12.374Z,1761517152.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137278,-0.988368,0.065453],[0.989310,0.133527,-0.058619],[0.049198,0.072800,0.996132]]
2025-10-26T22:19:12.413Z,1761517152.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.53 m.
2025-10-26T22:19:12.416Z,1761517152.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.532410 m,
      nav range: 155.817291 m,
      bearing: 182.383398 deg,
      approach rate: 0.014386 m/s,
      LOS rate: 0.209309 deg/s,
      cmd heading: 185.811663 deg,
      new cmd heading: 186.074082 deg.

2025-10-26T22:19:12.417Z,1761517152.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.247605 target range: 148.532410 and range: 149.10 m.
2025-10-26T22:19:12.488Z,1761517152.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754090
2025-10-26T22:19:12.740Z,1761517152.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006075
2025-10-26T22:19:12.778Z,1761517152.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112572,-0.991325,0.067834],[0.992426,0.108793,-0.057056],[0.049181,0.073743,0.996064]]
2025-10-26T22:19:12.826Z,1761517152.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.53 m.
2025-10-26T22:19:12.829Z,1761517152.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.532410 m,
      nav range: 155.814468 m,
      bearing: 182.479422 deg,
      approach rate: -0.006833 m/s,
      LOS rate: 0.232423 deg/s,
      cmd heading: 186.074079 deg,
      new cmd heading: 186.362155 deg.

2025-10-26T22:19:12.830Z,1761517152.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.252633 target range: 148.532410 and range: 149.10 m.
2025-10-26T22:19:12.992Z,1761517152.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257893
2025-10-26T22:19:13.182Z,1761517153.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088370,-0.993743,0.068302],[0.994886,0.084688,-0.055052],[0.048924,0.072818,0.996145]]
2025-10-26T22:19:13.210Z,1761517153.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.53 m.
2025-10-26T22:19:13.217Z,1761517153.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.532410 m,
      nav range: 155.806656 m,
      bearing: 182.564998 deg,
      approach rate: -0.020377 m/s,
      LOS rate: 0.223212 deg/s,
      cmd heading: 186.362149 deg,
      new cmd heading: 186.618888 deg.

2025-10-26T22:19:13.218Z,1761517153.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.257114 target range: 148.532410 and range: 149.10 m.
2025-10-26T22:19:13.245Z,1761517153.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510944
2025-10-26T22:19:13.496Z,1761517153.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761993
2025-10-26T22:19:13.622Z,1761517153.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064227,-0.995593,0.068327],[0.996743,0.060654,-0.053138],[0.048759,0.071518,0.996247]]
2025-10-26T22:19:13.659Z,1761517153.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.53 m.
2025-10-26T22:19:13.677Z,1761517153.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.532410 m,
      nav range: 155.788284 m,
      bearing: 182.665104 deg,
      approach rate: -0.040921 m/s,
      LOS rate: 0.223004 deg/s,
      cmd heading: 186.618882 deg,
      new cmd heading: 186.919231 deg.

2025-10-26T22:19:13.678Z,1761517153.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.262356 target range: 148.532410 and range: 149.10 m.
2025-10-26T22:19:13.748Z,1761517153.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014093
2025-10-26T22:19:13.991Z,1761517153.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040217,-0.996760,0.069659],[0.998007,0.036679,-0.051342],[0.048620,0.071585,0.996249]]
2025-10-26T22:19:14.000Z,1761517154.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266078
2025-10-26T22:19:14.032Z,1761517154.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:14.034Z,1761517154.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.53 m.
2025-10-26T22:19:14.041Z,1761517154.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.532410 m,
      nav range: 155.768082 m,
      bearing: 182.747605 deg,
      approach rate: -0.053876 m/s,
      LOS rate: 0.220040 deg/s,
      cmd heading: 186.919233 deg,
      new cmd heading: 187.166767 deg.

2025-10-26T22:19:14.042Z,1761517154.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.266676 target range: 148.532410 and range: 149.10 m.
2025-10-26T22:19:14.254Z,1761517154.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519207
2025-10-26T22:19:14.395Z,1761517154.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015869,-0.997234,0.072609],[0.998700,0.012291,-0.049463],[0.048434,0.073300,0.996133]]
2025-10-26T22:19:14.413Z,1761517154.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.53 m.
2025-10-26T22:19:14.440Z,1761517154.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.532410 m,
      nav range: 155.741821 m,
      bearing: 182.832928 deg,
      approach rate: -0.069177 m/s,
      LOS rate: 0.224802 deg/s,
      cmd heading: 187.166772 deg,
      new cmd heading: 187.422783 deg.

2025-10-26T22:19:14.441Z,1761517154.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.271145 target range: 148.532410 and range: 149.10 m.
2025-10-26T22:19:14.504Z,1761517154.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770108
2025-10-26T22:19:14.756Z,1761517154.756 [DAT](INFO): DAT read: Rx Time:22:19:13.4917

2025-10-26T22:19:14.757Z,1761517154.757 [DAT](INFO): Rx dataTimestamp_ set to:1761517154.756573
2025-10-26T22:19:14.757Z,1761517154.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023028
2025-10-26T22:19:14.811Z,1761517154.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008702,-0.997226,0.073918],[0.998789,-0.012247,-0.047641],[0.048414,0.073414,0.996126]]
2025-10-26T22:19:14.854Z,1761517154.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.53 m.
2025-10-26T22:19:14.857Z,1761517154.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.532410 m,
      nav range: 155.706207 m,
      bearing: 182.929409 deg,
      approach rate: -0.080852 m/s,
      LOS rate: 0.219085 deg/s,
      cmd heading: 187.422781 deg,
      new cmd heading: 187.712288 deg.

2025-10-26T22:19:14.858Z,1761517154.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.276197 target range: 148.532410 and range: 149.10 m.
2025-10-26T22:19:15.008Z,1761517155.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274002
2025-10-26T22:19:15.203Z,1761517155.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032484,-0.996680,0.074653],[0.998302,-0.035969,-0.045821],[0.048354,0.073037,0.996156]]
2025-10-26T22:19:15.233Z,1761517155.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.53 m.
2025-10-26T22:19:15.236Z,1761517155.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.532410 m,
      nav range: 155.670883 m,
      bearing: 183.011415 deg,
      approach rate: -0.093170 m/s,
      LOS rate: 0.216346 deg/s,
      cmd heading: 187.712286 deg,
      new cmd heading: 187.958357 deg.

2025-10-26T22:19:15.237Z,1761517155.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.280492 target range: 148.532410 and range: 149.10 m.
2025-10-26T22:19:15.279Z,1761517155.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.544079
2025-10-26T22:19:15.534Z,1761517155.534 [DAT](INFO): DAT read: 22:19:13.4917 LVL= 22064, 29665, 32754, 31155, AGC= 63, IDX= 448, 0.06,-0.391,-1.259,-2.250,-1.025, PHS= 0.736,-0.189,-1.269, RAW=  57.4,   8.4, CAL=  55.5,   9.3, ROT=  94.5,  -9.3

2025-10-26T22:19:15.535Z,1761517155.535 [DAT](INFO): got valid direction response:
 22:19:13.4917 LVL= 22064, 29665, 32754, 31155, AGC= 63, IDX= 448, 0.06,-0.391,-1.259,-2.250,-1.025, PHS= 0.736,-0.189,-1.269, RAW=  57.4,   8.4, CAL=  55.5,   9.3, ROT=  94.5,  -9.3

2025-10-26T22:19:15.536Z,1761517155.536 [DAT](INFO): DAT read: Bearing  30.3,  81.3 (Local)

2025-10-26T22:19:15.536Z,1761517155.536 [DAT](INFO): Local bearing/azimuth received:
 Bearing  30.3,  81.3 (Local)

2025-10-26T22:19:15.537Z,1761517155.537 [DAT](INFO): DAT read: Range 11 to 50 : 149.1 m  (Round-trip  198.8 ms) speed  0.0 m/s

2025-10-26T22:19:15.538Z,1761517155.538 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:19:15.539Z,1761517155.539 [DAT](INFO): direction in FSK: [-0.077428,0.983814,0.161604]
2025-10-26T22:19:15.539Z,1761517155.539 [DAT](INFO): publishing direction and range info
2025-10-26T22:19:15.543Z,1761517155.543 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:19:15.543Z,1761517155.543 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:19:15.543Z,1761517155.543 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:19:15.672Z,1761517155.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056328,-0.995499,0.076221],[0.997230,-0.059812,-0.044225],[0.048585,0.073518,0.996110]]
2025-10-26T22:19:15.778Z,1761517155.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 149.100006 m,
      deltaT: 4.048215 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:19:15.780Z,1761517155.780 [DAT](INFO): DAT read: user:509>

2025-10-26T22:19:15.781Z,1761517155.781 [DAT](INFO): DAT read: Tx time:22:19:14.8888

2025-10-26T22:19:15.781Z,1761517155.781 [DAT](INFO): Ping request sent.
2025-10-26T22:19:15.782Z,1761517155.782 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:19:15.782Z,1761517155.782 [DAT](INFO): publishing transmit ping time
2025-10-26T22:19:15.783Z,1761517155.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000909
2025-10-26T22:19:15.784Z,1761517155.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 148.531143 m,
      bearing: 188.460800 deg,
      lat: 36.779329 deg,
      lon: -121.859604 deg,
      deltaT: 4.048215 s,
      deltaX: -0.001266 m,
      approachRate: -0.000313 m/s,
      posRepo size: 4

2025-10-26T22:19:15.785Z,1761517155.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.53 m.
2025-10-26T22:19:15.791Z,1761517155.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.531143 m,
      nav range: 155.794678 m,
      bearing: 184.141655 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.216346 deg/s,
      cmd heading: 187.958350 deg,
      new cmd heading: 188.311586 deg.

2025-10-26T22:19:15.793Z,1761517155.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.286657 target range: 148.531143 and range: 149.10 m.
2025-10-26T22:19:16.022Z,1761517156.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079900,-0.993735,0.078148],[0.995616,-0.083384,-0.042383],[0.048633,0.074419,0.996040]]
2025-10-26T22:19:16.032Z,1761517156.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250820
2025-10-26T22:19:16.045Z,1761517156.045 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:16.047Z,1761517156.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.53 m.
2025-10-26T22:19:16.050Z,1761517156.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.531143 m,
      nav range: 155.767212 m,
      bearing: 184.203154 deg,
      approach rate: -0.101860 m/s,
      LOS rate: 0.228112 deg/s,
      cmd heading: 188.311580 deg,
      new cmd heading: 188.496107 deg.

2025-10-26T22:19:16.051Z,1761517156.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.289878 target range: 148.531143 and range: 149.10 m.
2025-10-26T22:19:16.284Z,1761517156.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502701
2025-10-26T22:19:16.423Z,1761517156.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103196,-0.991491,0.079343],[0.993460,-0.106661,-0.040740],[0.048856,0.074620,0.996015]]
2025-10-26T22:19:16.448Z,1761517156.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.53 m.
2025-10-26T22:19:16.451Z,1761517156.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.531143 m,
      nav range: 155.722549 m,
      bearing: 184.290959 deg,
      approach rate: -0.111327 m/s,
      LOS rate: 0.218927 deg/s,
      cmd heading: 188.496105 deg,
      new cmd heading: 188.759593 deg.

2025-10-26T22:19:16.452Z,1761517156.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.294477 target range: 148.531143 and range: 149.10 m.
2025-10-26T22:19:16.537Z,1761517156.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754972
2025-10-26T22:19:16.788Z,1761517156.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006639
2025-10-26T22:19:16.826Z,1761517156.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126274,-0.988865,0.078743],[0.990792,-0.129632,-0.039078],[0.048850,0.073083,0.996129]]
2025-10-26T22:19:16.869Z,1761517156.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.53 m.
2025-10-26T22:19:16.873Z,1761517156.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.531143 m,
      nav range: 155.677094 m,
      bearing: 184.382845 deg,
      approach rate: -0.107864 m/s,
      LOS rate: 0.218103 deg/s,
      cmd heading: 188.759600 deg,
      new cmd heading: 189.035336 deg.

2025-10-26T22:19:16.874Z,1761517156.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.299289 target range: 148.531143 and range: 149.10 m.
2025-10-26T22:19:17.041Z,1761517157.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258990
2025-10-26T22:19:17.231Z,1761517157.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149144,-0.985634,0.079254],[0.987608,-0.152442,-0.037294],[0.048840,0.072709,0.996157]]
2025-10-26T22:19:17.259Z,1761517157.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.53 m.
2025-10-26T22:19:17.262Z,1761517157.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.531143 m,
      nav range: 155.629959 m,
      bearing: 184.467711 deg,
      approach rate: -0.120952 m/s,
      LOS rate: 0.217841 deg/s,
      cmd heading: 189.035334 deg,
      new cmd heading: 189.290008 deg.

2025-10-26T22:19:17.263Z,1761517157.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.303734 target range: 148.531143 and range: 149.10 m.
2025-10-26T22:19:17.293Z,1761517157.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510887
2025-10-26T22:19:17.544Z,1761517157.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762693
2025-10-26T22:19:17.673Z,1761517157.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172544,-0.981699,0.080590],[0.983778,-0.175829,-0.035559],[0.049078,0.073147,0.996113]]
2025-10-26T22:19:17.774Z,1761517157.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.53 m.
2025-10-26T22:19:17.784Z,1761517157.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.531143 m,
      nav range: 155.571701 m,
      bearing: 184.569168 deg,
      approach rate: -0.113214 m/s,
      LOS rate: 0.197237 deg/s,
      cmd heading: 189.290005 deg,
      new cmd heading: 189.594487 deg.

2025-10-26T22:19:17.785Z,1761517157.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.309048 target range: 148.531143 and range: 149.10 m.
2025-10-26T22:19:17.796Z,1761517157.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014810
2025-10-26T22:19:18.042Z,1761517158.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195344,-0.977230,0.082843],[0.979482,-0.198666,-0.033876],[0.049563,0.074526,0.995987]]
2025-10-26T22:19:18.048Z,1761517158.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266853
2025-10-26T22:19:18.076Z,1761517158.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:18.078Z,1761517158.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.53 m.
2025-10-26T22:19:18.083Z,1761517158.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.531143 m,
      nav range: 155.522079 m,
      bearing: 184.647240 deg,
      approach rate: -0.162867 m/s,
      LOS rate: 0.256330 deg/s,
      cmd heading: 189.594481 deg,
      new cmd heading: 189.828772 deg.

2025-10-26T22:19:18.086Z,1761517158.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.313137 target range: 148.531143 and range: 149.10 m.
2025-10-26T22:19:18.300Z,1761517158.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518707
2025-10-26T22:19:18.443Z,1761517158.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217913,-0.972467,0.082590],[0.974696,-0.221168,-0.032441],[0.049814,0.073431,0.996055]]
2025-10-26T22:19:18.461Z,1761517158.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.53 m.
2025-10-26T22:19:18.464Z,1761517158.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.531143 m,
      nav range: 155.463867 m,
      bearing: 184.730657 deg,
      approach rate: -0.152021 m/s,
      LOS rate: 0.217923 deg/s,
      cmd heading: 189.828770 deg,
      new cmd heading: 190.079112 deg.

2025-10-26T22:19:18.465Z,1761517158.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.317506 target range: 148.531143 and range: 149.10 m.
2025-10-26T22:19:18.553Z,1761517158.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770883
2025-10-26T22:19:18.804Z,1761517158.804 [DAT](INFO): DAT read: Rx Time:22:19:17.4913

2025-10-26T22:19:18.805Z,1761517158.805 [DAT](INFO): Rx dataTimestamp_ set to:1761517158.804609
2025-10-26T22:19:18.805Z,1761517158.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023827
2025-10-26T22:19:18.846Z,1761517158.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240719,-0.966999,0.083470],[0.969294,-0.243957,-0.030884],[0.050228,0.073472,0.996032]]
2025-10-26T22:19:18.890Z,1761517158.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.53 m.
2025-10-26T22:19:18.893Z,1761517158.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.531143 m,
      nav range: 155.400375 m,
      bearing: 184.829660 deg,
      approach rate: -0.148134 m/s,
      LOS rate: 0.231081 deg/s,
      cmd heading: 190.079110 deg,
      new cmd heading: 190.376239 deg.

2025-10-26T22:19:18.894Z,1761517158.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.322692 target range: 148.531143 and range: 149.10 m.
2025-10-26T22:19:19.058Z,1761517159.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276250
2025-10-26T22:19:19.287Z,1761517159.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263723,-0.961052,0.082641],[0.963267,-0.266891,-0.029771],[0.050668,0.071754,0.996135]]
2025-10-26T22:19:19.314Z,1761517159.314 [DAT](INFO): DAT read: 22:19:17.4913 LVL= 12624, 25809, 28850, 30243, AGC= 61, IDX= 443,-0.18,-0.777,-1.968,-2.503,-1.385, PHS= 0.710,-0.539,-1.162, RAW=  70.9,  12.0, CAL=  69.5,  16.8, ROT=  80.5, -16.8

2025-10-26T22:19:19.315Z,1761517159.315 [DAT](INFO): got valid direction response:
 22:19:17.4913 LVL= 12624, 25809, 28850, 30243, AGC= 61, IDX= 443,-0.18,-0.777,-1.968,-2.503,-1.385, PHS= 0.710,-0.539,-1.162, RAW=  70.9,  12.0, CAL=  69.5,  16.8, ROT=  80.5, -16.8

2025-10-26T22:19:19.316Z,1761517159.316 [DAT](INFO): DAT read: Bearing 324.9,  75.1 (Local)

2025-10-26T22:19:19.317Z,1761517159.317 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.9,  75.1 (Local)

2025-10-26T22:19:19.318Z,1761517159.318 [DAT](INFO): DAT read: Range 11 to 50 : 148.7 m  (Round-trip  198.3 ms) speed  0.2 m/s

2025-10-26T22:19:19.319Z,1761517159.319 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:19:19.320Z,1761517159.320 [DAT](INFO): direction in FSK: [0.158003,0.944190,0.289032]
2025-10-26T22:19:19.320Z,1761517159.320 [DAT](INFO): publishing direction and range info
2025-10-26T22:19:19.324Z,1761517159.324 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:19:19.324Z,1761517159.324 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:19:19.324Z,1761517159.324 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:19:19.372Z,1761517159.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 148.699997 m,
      deltaT: 3.780062 s,
      deltaX: -0.400009 m,
      approachRate: -0.105821 m/s,
      rangeRepo size: 4

2025-10-26T22:19:19.374Z,1761517159.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 148.130508 m,
      bearing: 186.682616 deg,
      lat: 36.779440 deg,
      lon: -121.859635 deg,
      deltaT: 3.780062 s,
      deltaX: -0.400635 m,
      approachRate: -0.105986 m/s,
      posRepo size: 4

2025-10-26T22:19:19.375Z,1761517159.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.13 m.
2025-10-26T22:19:19.382Z,1761517159.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.130508 m,
      nav range: 143.257523 m,
      bearing: 186.435842 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.231081 deg/s,
      cmd heading: 190.376237 deg,
      new cmd heading: 190.706674 deg.

2025-10-26T22:19:19.383Z,1761517159.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.328459 target range: 148.130508 and range: 148.70 m.
2025-10-26T22:19:19.561Z,1761517159.561 [DAT](INFO): DAT read: user:510>

2025-10-26T22:19:19.561Z,1761517159.561 [DAT](INFO): DAT read: Tx time:22:19:18.6888

2025-10-26T22:19:19.562Z,1761517159.562 [DAT](INFO): Ping request sent.
2025-10-26T22:19:19.562Z,1761517159.562 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:19:19.562Z,1761517159.562 [DAT](INFO): publishing transmit ping time
2025-10-26T22:19:19.562Z,1761517159.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-10-26T22:19:19.717Z,1761517159.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287416,-0.954219,0.082811],[0.956431,-0.290560,-0.028548],[0.051303,0.070998,0.996156]]
2025-10-26T22:19:19.779Z,1761517159.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.13 m.
2025-10-26T22:19:19.781Z,1761517159.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.130508 m,
      nav range: 143.192490 m,
      bearing: 186.549763 deg,
      approach rate: -0.157803 m/s,
      LOS rate: 0.276556 deg/s,
      cmd heading: 190.706668 deg,
      new cmd heading: 191.048583 deg.

2025-10-26T22:19:19.782Z,1761517159.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.334427 target range: 148.130508 and range: 148.70 m.
2025-10-26T22:19:19.812Z,1761517159.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250671
2025-10-26T22:19:20.058Z,1761517160.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311173,-0.946602,0.084354],[0.948950,-0.314309,-0.026538],[0.051634,0.071790,0.996082]]
2025-10-26T22:19:20.065Z,1761517160.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502977
2025-10-26T22:19:20.078Z,1761517160.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:20.082Z,1761517160.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.13 m.
2025-10-26T22:19:20.108Z,1761517160.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.130508 m,
      nav range: 143.142807 m,
      bearing: 186.628377 deg,
      approach rate: -0.163875 m/s,
      LOS rate: 0.259393 deg/s,
      cmd heading: 191.048587 deg,
      new cmd heading: 191.284510 deg.

2025-10-26T22:19:20.110Z,1761517160.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.338545 target range: 148.130508 and range: 148.70 m.
2025-10-26T22:19:20.316Z,1761517160.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754641
2025-10-26T22:19:20.462Z,1761517160.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334924,-0.938453,0.084451],[0.940820,-0.337999,-0.024782],[0.051802,0.071153,0.996119]]
2025-10-26T22:19:20.486Z,1761517160.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.13 m.
2025-10-26T22:19:20.489Z,1761517160.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.130508 m,
      nav range: 143.069016 m,
      bearing: 186.734621 deg,
      approach rate: -0.182486 m/s,
      LOS rate: 0.262875 deg/s,
      cmd heading: 191.284516 deg,
      new cmd heading: 191.603408 deg.

2025-10-26T22:19:20.490Z,1761517160.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.344110 target range: 148.130508 and range: 148.70 m.
2025-10-26T22:19:20.569Z,1761517160.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007116
2025-10-26T22:19:20.821Z,1761517160.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258898
2025-10-26T22:19:20.872Z,1761517160.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358838,-0.929555,0.084637],[0.931959,-0.361844,-0.022816],[0.051834,0.070691,0.996151]]
2025-10-26T22:19:20.909Z,1761517160.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.13 m.
2025-10-26T22:19:20.912Z,1761517160.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.130508 m,
      nav range: 142.984024 m,
      bearing: 186.851427 deg,
      approach rate: -0.201199 m/s,
      LOS rate: 0.276677 deg/s,
      cmd heading: 191.603404 deg,
      new cmd heading: 191.954025 deg.

2025-10-26T22:19:20.913Z,1761517160.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.350230 target range: 148.130508 and range: 148.70 m.
2025-10-26T22:19:21.072Z,1761517161.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510654
2025-10-26T22:19:21.272Z,1761517161.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382983,-0.919937,0.083901],[0.922296,-0.385901,-0.021230],[0.051907,0.069251,0.996248]]
2025-10-26T22:19:21.294Z,1761517161.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.13 m.
2025-10-26T22:19:21.297Z,1761517161.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.130508 m,
      nav range: 142.900085 m,
      bearing: 186.957270 deg,
      approach rate: -0.217853 m/s,
      LOS rate: 0.274865 deg/s,
      cmd heading: 191.954025 deg,
      new cmd heading: 192.271737 deg.

2025-10-26T22:19:21.298Z,1761517161.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.355775 target range: 148.130508 and range: 148.70 m.
2025-10-26T22:19:21.324Z,1761517161.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762532
2025-10-26T22:19:21.578Z,1761517161.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016118
2025-10-26T22:19:21.716Z,1761517161.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406974,-0.909352,0.086322],[0.911961,-0.409871,-0.018227],[0.051956,0.071304,0.996101]]
2025-10-26T22:19:21.769Z,1761517161.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.13 m.
2025-10-26T22:19:21.772Z,1761517161.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.130508 m,
      nav range: 142.787857 m,
      bearing: 187.092615 deg,
      approach rate: -0.236084 m/s,
      LOS rate: 0.284935 deg/s,
      cmd heading: 192.271738 deg,
      new cmd heading: 192.678084 deg.

2025-10-26T22:19:21.773Z,1761517161.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.362867 target range: 148.130508 and range: 148.70 m.
2025-10-26T22:19:21.829Z,1761517161.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267394
2025-10-26T22:19:22.082Z,1761517162.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519777
2025-10-26T22:19:22.085Z,1761517162.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430964,-0.898056,0.088122],[0.900869,-0.433820,-0.015347],[0.052012,0.072772,0.995991]]
2025-10-26T22:19:22.132Z,1761517162.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:22.134Z,1761517162.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.13 m.
2025-10-26T22:19:22.141Z,1761517162.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.130508 m,
      nav range: 142.697403 m,
      bearing: 187.193501 deg,
      approach rate: -0.247985 m/s,
      LOS rate: 0.276760 deg/s,
      cmd heading: 192.678079 deg,
      new cmd heading: 192.980926 deg.

2025-10-26T22:19:22.142Z,1761517162.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.368153 target range: 148.130508 and range: 148.70 m.
2025-10-26T22:19:22.332Z,1761517162.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770598
2025-10-26T22:19:22.483Z,1761517162.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454498,-0.886324,0.088661],[0.889231,-0.457277,-0.012870],[0.051950,0.072991,0.995979]]
2025-10-26T22:19:22.502Z,1761517162.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.13 m.
2025-10-26T22:19:22.504Z,1761517162.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.130508 m,
      nav range: 142.595612 m,
      bearing: 187.298930 deg,
      approach rate: -0.276964 m/s,
      LOS rate: 0.287066 deg/s,
      cmd heading: 192.980930 deg,
      new cmd heading: 193.297439 deg.

2025-10-26T22:19:22.505Z,1761517162.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.373677 target range: 148.130508 and range: 148.70 m.
2025-10-26T22:19:22.585Z,1761517162.585 [DAT](INFO): DAT read: Rx Time:22:19:21.2900

2025-10-26T22:19:22.586Z,1761517162.586 [DAT](INFO): Rx dataTimestamp_ set to:1761517162.585568
2025-10-26T22:19:22.587Z,1761517162.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025241
2025-10-26T22:19:22.836Z,1761517162.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274519
2025-10-26T22:19:22.886Z,1761517162.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478075,-0.873941,0.087586],[0.876784,-0.480754,-0.011205],[0.051900,0.071437,0.996094]]
2025-10-26T22:19:22.936Z,1761517162.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.13 m.
2025-10-26T22:19:22.938Z,1761517162.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.130508 m,
      nav range: 142.470703 m,
      bearing: 187.419379 deg,
      approach rate: -0.287598 m/s,
      LOS rate: 0.277574 deg/s,
      cmd heading: 193.297441 deg,
      new cmd heading: 193.659101 deg.

2025-10-26T22:19:22.940Z,1761517162.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.379989 target range: 148.130508 and range: 148.70 m.
2025-10-26T22:19:23.105Z,1761517163.105 [DAT](INFO): DAT read: 22:19:21.2900 LVL= 18112, 32753, 32754, 29091, AGC= 61, IDX= 430, 0.28, 0.718,-1.106,-0.963,-0.048, PHS= 0.867,-1.013,-0.959, RAW=  91.4,  11.9, CAL=  91.4,  13.6, ROT=  58.6, -13.6

2025-10-26T22:19:23.107Z,1761517163.107 [DAT](INFO): got valid direction response:
 22:19:21.2900 LVL= 18112, 32753, 32754, 29091, AGC= 61, IDX= 430, 0.28, 0.718,-1.106,-0.963,-0.048, PHS= 0.867,-1.013,-0.959, RAW=  91.4,  11.9, CAL=  91.4,  13.6, ROT=  58.6, -13.6

2025-10-26T22:19:23.113Z,1761517163.113 [DAT](INFO): DAT read: Bearing 296.4,  60.1 (Local)

2025-10-26T22:19:23.113Z,1761517163.113 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.4,  60.1 (Local)

2025-10-26T22:19:23.114Z,1761517163.114 [DAT](INFO): DAT read: Range 11 to 50 : 147.7 m  (Round-trip  197.0 ms) speed  0.3 m/s

2025-10-26T22:19:23.115Z,1761517163.115 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:19:23.136Z,1761517163.136 [DAT](INFO): direction in FSK: [0.506401,0.829618,0.235142]
2025-10-26T22:19:23.136Z,1761517163.136 [DAT](INFO): publishing direction and range info
2025-10-26T22:19:23.148Z,1761517163.148 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:19:23.149Z,1761517163.149 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:19:23.149Z,1761517163.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:19:23.290Z,1761517163.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500996,-0.861028,0.087372],[0.863916,-0.503560,-0.008709],[0.051496,0.071119,0.996138]]
2025-10-26T22:19:23.338Z,1761517163.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 147.699997 m,
      deltaT: 3.781604 s,
      deltaX: -1.000000 m,
      approachRate: -0.264438 m/s,
      rangeRepo size: 4

2025-10-26T22:19:23.340Z,1761517163.340 [DAT](INFO): DAT read: user:511>

2025-10-26T22:19:23.341Z,1761517163.341 [DAT](INFO): DAT read: Tx time:22:19:22.4888

2025-10-26T22:19:23.341Z,1761517163.341 [DAT](INFO): Ping request sent.
2025-10-26T22:19:23.342Z,1761517163.342 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:19:23.342Z,1761517163.342 [DAT](INFO): publishing transmit ping time
2025-10-26T22:19:23.342Z,1761517163.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-10-26T22:19:23.357Z,1761517163.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 147.136749 m,
      bearing: 178.931133 deg,
      lat: 36.779456 deg,
      lon: -121.859635 deg,
      deltaT: 3.781604 s,
      deltaX: -0.993759 m,
      approachRate: -0.262788 m/s,
      posRepo size: 4

2025-10-26T22:19:23.358Z,1761517163.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.14 m.
2025-10-26T22:19:23.365Z,1761517163.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.136749 m,
      nav range: 140.650711 m,
      bearing: 187.616707 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.277574 deg/s,
      cmd heading: 193.659099 deg,
      new cmd heading: 193.993155 deg.

2025-10-26T22:19:23.366Z,1761517163.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.385819 target range: 147.136749 and range: 147.70 m.
2025-10-26T22:19:23.593Z,1761517163.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251500
2025-10-26T22:19:23.712Z,1761517163.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524061,-0.847214,0.087113],[0.850122,-0.526544,-0.006655],[0.051507,0.070569,0.996176]]
2025-10-26T22:19:23.778Z,1761517163.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.14 m.
2025-10-26T22:19:23.780Z,1761517163.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.136749 m,
      nav range: 140.504608 m,
      bearing: 187.742339 deg,
      approach rate: -0.331575 m/s,
      LOS rate: 0.285414 deg/s,
      cmd heading: 193.993150 deg,
      new cmd heading: 194.370433 deg.

2025-10-26T22:19:23.781Z,1761517163.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.392404 target range: 147.136749 and range: 147.70 m.
2025-10-26T22:19:23.845Z,1761517163.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502940
2025-10-26T22:19:24.097Z,1761517164.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755296
2025-10-26T22:19:24.121Z,1761517164.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546559,-0.832911,0.086790],[0.835835,-0.548961,-0.004630],[0.051501,0.070011,0.996216]]
2025-10-26T22:19:24.169Z,1761517164.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:24.171Z,1761517164.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.14 m.
2025-10-26T22:19:24.174Z,1761517164.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.136749 m,
      nav range: 140.369766 m,
      bearing: 187.846964 deg,
      approach rate: -0.342970 m/s,
      LOS rate: 0.266367 deg/s,
      cmd heading: 194.370436 deg,
      new cmd heading: 194.684607 deg.

2025-10-26T22:19:24.175Z,1761517164.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.397887 target range: 147.136749 and range: 147.70 m.
2025-10-26T22:19:24.348Z,1761517164.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006668
2025-10-26T22:19:24.502Z,1761517164.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568478,-0.818070,0.087140],[0.821096,-0.570787,-0.001934],[0.051320,0.070450,0.996194]]
2025-10-26T22:19:24.546Z,1761517164.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.14 m.
2025-10-26T22:19:24.549Z,1761517164.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.136749 m,
      nav range: 140.241104 m,
      bearing: 187.941167 deg,
      approach rate: -0.343900 m/s,
      LOS rate: 0.252026 deg/s,
      cmd heading: 194.684611 deg,
      new cmd heading: 194.967478 deg.

2025-10-26T22:19:24.550Z,1761517164.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.402824 target range: 147.136749 and range: 147.70 m.
2025-10-26T22:19:24.602Z,1761517164.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260494
2025-10-26T22:19:24.852Z,1761517164.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510726
2025-10-26T22:19:24.912Z,1761517164.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589942,-0.802822,0.086282],[0.805818,-0.592164,-0.000185],[0.051242,0.069418,0.996271]]
2025-10-26T22:19:24.968Z,1761517164.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.14 m.
2025-10-26T22:19:24.971Z,1761517164.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.136749 m,
      nav range: 140.072464 m,
      bearing: 188.049936 deg,
      approach rate: -0.398317 m/s,
      LOS rate: 0.257215 deg/s,
      cmd heading: 194.967477 deg,
      new cmd heading: 195.294174 deg.

2025-10-26T22:19:24.972Z,1761517164.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.408526 target range: 147.136749 and range: 147.70 m.
2025-10-26T22:19:25.104Z,1761517165.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762751
2025-10-26T22:19:25.318Z,1761517165.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610563,-0.787396,0.084968],[0.790324,-0.612688,0.001349],[0.050996,0.067976,0.996383]]
2025-10-26T22:19:25.357Z,1761517165.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015078
2025-10-26T22:19:25.360Z,1761517165.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.14 m.
2025-10-26T22:19:25.363Z,1761517165.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.136749 m,
      nav range: 139.919708 m,
      bearing: 188.143539 deg,
      approach rate: -0.390074 m/s,
      LOS rate: 0.239283 deg/s,
      cmd heading: 195.294178 deg,
      new cmd heading: 195.575290 deg.

2025-10-26T22:19:25.368Z,1761517165.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.413433 target range: 147.136749 and range: 147.70 m.
2025-10-26T22:19:25.608Z,1761517165.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266742
2025-10-26T22:19:25.724Z,1761517165.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630540,-0.771603,0.083957],[0.774493,-0.632575,0.003008],[0.050788,0.066921,0.996465]]
2025-10-26T22:19:25.808Z,1761517165.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.14 m.
2025-10-26T22:19:25.810Z,1761517165.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.136749 m,
      nav range: 139.739197 m,
      bearing: 188.248780 deg,
      approach rate: -0.407114 m/s,
      LOS rate: 0.237661 deg/s,
      cmd heading: 195.575295 deg,
      new cmd heading: 195.891424 deg.

2025-10-26T22:19:25.815Z,1761517165.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.418950 target range: 147.136749 and range: 147.70 m.
2025-10-26T22:19:25.865Z,1761517165.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523743
2025-10-26T22:19:26.116Z,1761517166.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774585
2025-10-26T22:19:26.120Z,1761517166.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649917,-0.755201,0.085318],[0.758301,-0.651874,0.006296],[0.050862,0.068789,0.996334]]
2025-10-26T22:19:26.169Z,1761517166.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.14 m.
2025-10-26T22:19:26.172Z,1761517166.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.136749 m,
      nav range: 139.578857 m,
      bearing: 188.330459 deg,
      approach rate: -0.438543 m/s,
      LOS rate: 0.223655 deg/s,
      cmd heading: 195.891424 deg,
      new cmd heading: 196.136739 deg.

2025-10-26T22:19:26.173Z,1761517166.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.423232 target range: 147.136749 and range: 147.70 m.
2025-10-26T22:19:26.368Z,1761517166.368 [DAT](INFO): DAT read: Rx Time:22:19:25.0879

2025-10-26T22:19:26.369Z,1761517166.369 [DAT](INFO): Rx dataTimestamp_ set to:1761517166.368603
2025-10-26T22:19:26.369Z,1761517166.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027797
2025-10-26T22:19:26.522Z,1761517166.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668566,-0.738840,0.084474],[0.741922,-0.670438,0.008019],[0.050710,0.068034,0.996393]]
2025-10-26T22:19:26.540Z,1761517166.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:26.542Z,1761517166.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.14 m.
2025-10-26T22:19:26.545Z,1761517166.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.136749 m,
      nav range: 139.416779 m,
      bearing: 188.409272 deg,
      approach rate: -0.434724 m/s,
      LOS rate: 0.211637 deg/s,
      cmd heading: 196.136737 deg,
      new cmd heading: 196.373451 deg.

2025-10-26T22:19:26.546Z,1761517166.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.427363 target range: 147.136749 and range: 147.70 m.
2025-10-26T22:19:26.620Z,1761517166.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278739
2025-10-26T22:19:26.875Z,1761517166.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533175
2025-10-26T22:19:26.926Z,1761517166.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686812,-0.722112,0.082733],[0.725080,-0.688606,0.008976],[0.050489,0.066153,0.996531]]
2025-10-26T22:19:26.971Z,1761517166.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.14 m.
2025-10-26T22:19:26.974Z,1761517166.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.136749 m,
      nav range: 139.225739 m,
      bearing: 188.490382 deg,
      approach rate: -0.444947 m/s,
      LOS rate: 0.189170 deg/s,
      cmd heading: 196.373457 deg,
      new cmd heading: 196.617120 deg.

2025-10-26T22:19:26.975Z,1761517166.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.431616 target range: 147.136749 and range: 147.70 m.
2025-10-26T22:19:27.130Z,1761517167.130 [DAT](INFO): DAT read: 22:19:25.0879 LVL= 28976, 32753, 32754, 32755, AGC= 65, IDX= 425, 0.38, 1.718,-0.331, 0.358, 0.952, PHS= 0.868,-1.239,-0.639, RAW= 106.0,  10.8, CAL= 107.5,  12.2, ROT=  42.5, -12.2

2025-10-26T22:19:27.132Z,1761517167.132 [DAT](INFO): got valid direction response:
 22:19:25.0879 LVL= 28976, 32753, 32754, 32755, AGC= 65, IDX= 425, 0.38, 1.718,-0.331, 0.358, 0.952, PHS= 0.868,-1.239,-0.639, RAW= 106.0,  10.8, CAL= 107.5,  12.2, ROT=  42.5, -12.2

2025-10-26T22:19:27.133Z,1761517167.133 [DAT](INFO): DAT read: Bearing 301.7,  44.5 (Local)

2025-10-26T22:19:27.133Z,1761517167.133 [DAT](INFO): Local bearing/azimuth received:
 Bearing 301.7,  44.5 (Local)

2025-10-26T22:19:27.134Z,1761517167.134 [DAT](INFO): DAT read: Range 11 to 50 : 146.2 m  (Round-trip  195.0 ms) speed  0.1 m/s

2025-10-26T22:19:27.135Z,1761517167.135 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:19:27.136Z,1761517167.136 [DAT](INFO): direction in FSK: [0.720627,0.660333,0.211325]
2025-10-26T22:19:27.137Z,1761517167.137 [DAT](INFO): publishing direction and range info
2025-10-26T22:19:27.140Z,1761517167.140 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:19:27.140Z,1761517167.140 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:19:27.140Z,1761517167.140 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:19:27.334Z,1761517167.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704221,-0.705383,0.080673],[0.708203,-0.705944,0.009561],[0.050206,0.063866,0.996695]]
2025-10-26T22:19:27.376Z,1761517167.376 [DAT](INFO): DAT read: user:512>

2025-10-26T22:19:27.377Z,1761517167.377 [DAT](INFO): DAT read: Tx time:22:19:26.4888

2025-10-26T22:19:27.377Z,1761517167.377 [DAT](INFO): Ping request sent.
2025-10-26T22:19:27.377Z,1761517167.377 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:19:27.378Z,1761517167.378 [DAT](INFO): publishing transmit ping time
2025-10-26T22:19:27.378Z,1761517167.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-10-26T22:19:27.392Z,1761517167.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 146.199997 m,
      deltaT: 4.034523 s,
      deltaX: -1.500000 m,
      approachRate: -0.371791 m/s,
      rangeRepo size: 4

2025-10-26T22:19:27.394Z,1761517167.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 145.639511 m,
      bearing: 177.233104 deg,
      lat: 36.779456 deg,
      lon: -121.859462 deg,
      deltaT: 4.034523 s,
      deltaX: -1.497238 m,
      approachRate: -0.371107 m/s,
      posRepo size: 4

2025-10-26T22:19:27.394Z,1761517167.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.64 m.
2025-10-26T22:19:27.409Z,1761517167.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.639511 m,
      nav range: 137.601730 m,
      bearing: 182.209146 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.189170 deg/s,
      cmd heading: 196.617118 deg,
      new cmd heading: 196.852984 deg.

2025-10-26T22:19:27.410Z,1761517167.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.435733 target range: 145.639511 and range: 146.20 m.
2025-10-26T22:19:27.629Z,1761517167.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251361
2025-10-26T22:19:27.805Z,1761517167.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721290,-0.688298,0.077372],[0.690841,-0.722952,0.008927],[0.049792,0.059891,0.996962]]
2025-10-26T22:19:27.872Z,1761517167.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.64 m.
2025-10-26T22:19:27.875Z,1761517167.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.639511 m,
      nav range: 137.349274 m,
      bearing: 182.281989 deg,
      approach rate: -0.520155 m/s,
      LOS rate: 0.150360 deg/s,
      cmd heading: 196.852978 deg,
      new cmd heading: 197.071908 deg.

2025-10-26T22:19:27.876Z,1761517167.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.439554 target range: 145.639511 and range: 146.20 m.
2025-10-26T22:19:27.881Z,1761517167.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503135
2025-10-26T22:19:28.132Z,1761517168.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755026
2025-10-26T22:19:28.140Z,1761517168.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737440,-0.671311,0.074323],[0.673608,-0.739042,0.008313],[0.049347,0.056194,0.997200]]
2025-10-26T22:19:28.164Z,1761517168.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.64 m.
2025-10-26T22:19:28.167Z,1761517168.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.639511 m,
      nav range: 137.199509 m,
      bearing: 182.323226 deg,
      approach rate: -0.513077 m/s,
      LOS rate: 0.141427 deg/s,
      cmd heading: 197.071913 deg,
      new cmd heading: 197.195758 deg.

2025-10-26T22:19:28.184Z,1761517168.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.441715 target range: 145.639511 and range: 146.20 m.
2025-10-26T22:19:28.385Z,1761517168.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007414
2025-10-26T22:19:28.543Z,1761517168.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753260,-0.653919,0.070633],[0.655904,-0.754813,0.006797],[0.048870,0.051448,0.997479]]
2025-10-26T22:19:28.572Z,1761517168.572 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:28.577Z,1761517168.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.64 m.
2025-10-26T22:19:28.582Z,1761517168.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.639511 m,
      nav range: 136.992249 m,
      bearing: 182.377598 deg,
      approach rate: -0.503117 m/s,
      LOS rate: 0.132185 deg/s,
      cmd heading: 197.195758 deg,
      new cmd heading: 197.359118 deg.

2025-10-26T22:19:28.583Z,1761517168.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.444566 target range: 145.639511 and range: 146.20 m.
2025-10-26T22:19:28.637Z,1761517168.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259208
2025-10-26T22:19:28.888Z,1761517168.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510974
2025-10-26T22:19:28.946Z,1761517168.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768768,-0.635736,0.069547],[0.637661,-0.770281,0.007457],[0.048830,0.050080,0.997551]]
2025-10-26T22:19:28.990Z,1761517168.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.64 m.
2025-10-26T22:19:28.993Z,1761517168.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.639511 m,
      nav range: 136.771027 m,
      bearing: 182.429845 deg,
      approach rate: -0.534541 m/s,
      LOS rate: 0.126451 deg/s,
      cmd heading: 197.359122 deg,
      new cmd heading: 197.516118 deg.

2025-10-26T22:19:28.994Z,1761517168.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.447307 target range: 145.639511 and range: 146.20 m.
2025-10-26T22:19:29.141Z,1761517169.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763220
2025-10-26T22:19:29.354Z,1761517169.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783528,-0.617392,0.070072],[0.619424,-0.784996,0.009782],[0.048967,0.051069,0.997494]]
2025-10-26T22:19:29.390Z,1761517169.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.64 m.
2025-10-26T22:19:29.393Z,1761517169.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015161
2025-10-26T22:19:29.395Z,1761517169.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.639511 m,
      nav range: 136.557831 m,
      bearing: 182.477641 deg,
      approach rate: -0.532444 m/s,
      LOS rate: 0.119552 deg/s,
      cmd heading: 197.516121 deg,
      new cmd heading: 197.659730 deg.

2025-10-26T22:19:29.396Z,1761517169.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.449813 target range: 145.639511 and range: 146.20 m.
2025-10-26T22:19:29.644Z,1761517169.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266940
2025-10-26T22:19:29.754Z,1761517169.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797832,-0.598555,0.072076],[0.600864,-0.799230,0.013949],[0.049257,0.054437,0.997302]]
2025-10-26T22:19:29.780Z,1761517169.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.64 m.
2025-10-26T22:19:29.783Z,1761517169.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.639511 m,
      nav range: 136.350403 m,
      bearing: 182.521698 deg,
      approach rate: -0.532130 m/s,
      LOS rate: 0.113195 deg/s,
      cmd heading: 197.659732 deg,
      new cmd heading: 197.792105 deg.

2025-10-26T22:19:29.786Z,1761517169.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.452123 target range: 145.639511 and range: 146.20 m.
2025-10-26T22:19:29.897Z,1761517169.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519751
2025-10-26T22:19:30.148Z,1761517170.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771064
2025-10-26T22:19:30.160Z,1761517170.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811613,-0.579619,0.072981],[0.582071,-0.812971,0.016489],[0.049774,0.055863,0.997197]]
2025-10-26T22:19:30.212Z,1761517170.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.64 m.
2025-10-26T22:19:30.215Z,1761517170.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.639511 m,
      nav range: 136.115723 m,
      bearing: 182.572552 deg,
      approach rate: -0.542670 m/s,
      LOS rate: 0.117797 deg/s,
      cmd heading: 197.792101 deg,
      new cmd heading: 197.944927 deg.

2025-10-26T22:19:30.216Z,1761517170.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.454791 target range: 145.639511 and range: 146.20 m.
2025-10-26T22:19:30.400Z,1761517170.400 [DAT](INFO): DAT read: Rx Time:22:19:29.0854

2025-10-26T22:19:30.401Z,1761517170.401 [DAT](INFO): Rx dataTimestamp_ set to:1761517170.400502
2025-10-26T22:19:30.401Z,1761517170.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023959
2025-10-26T22:19:30.569Z,1761517170.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825489,-0.559617,0.073467],[0.562147,-0.826838,0.018151],[0.050587,0.056283,0.997132]]
2025-10-26T22:19:30.599Z,1761517170.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:30.601Z,1761517170.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.64 m.
2025-10-26T22:19:30.604Z,1761517170.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.639511 m,
      nav range: 135.904373 m,
      bearing: 182.615811 deg,
      approach rate: -0.543708 m/s,
      LOS rate: 0.111460 deg/s,
      cmd heading: 197.944934 deg,
      new cmd heading: 198.074913 deg.

2025-10-26T22:19:30.605Z,1761517170.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.457059 target range: 145.639511 and range: 146.20 m.
2025-10-26T22:19:30.653Z,1761517170.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275263
2025-10-26T22:19:30.910Z,1761517170.910 [DAT](INFO): DAT read: 22:19:29.0854 LVL= 23360, 32433, 32754, 32755, AGC= 66, IDX= 415, 0.21,-1.197, 3.007,-2.262,-1.910, PHS= 0.816,-1.321,-0.396, RAW= 115.6,   9.7, CAL= 116.8,  10.9, ROT=  33.2, -10.9

2025-10-26T22:19:30.911Z,1761517170.911 [DAT](INFO): got valid direction response:
 22:19:29.0854 LVL= 23360, 32433, 32754, 32755, AGC= 66, IDX= 415, 0.21,-1.197, 3.007,-2.262,-1.910, PHS= 0.816,-1.321,-0.396, RAW= 115.6,   9.7, CAL= 116.8,  10.9, ROT=  33.2, -10.9

2025-10-26T22:19:30.912Z,1761517170.912 [DAT](INFO): DAT read: Bearing 314.9,  35.9 (Local)

2025-10-26T22:19:30.913Z,1761517170.913 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.9,  35.9 (Local)

2025-10-26T22:19:30.914Z,1761517170.914 [DAT](INFO): DAT read: Range 11 to 50 : 144.3 m  (Round-trip  192.4 ms) speed  0.4 m/s

2025-10-26T22:19:30.915Z,1761517170.915 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:19:30.919Z,1761517170.919 [DAT](INFO): direction in FSK: [0.821668,0.537684,0.189095]
2025-10-26T22:19:30.920Z,1761517170.920 [DAT](INFO): publishing direction and range info
2025-10-26T22:19:30.923Z,1761517170.923 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:19:30.923Z,1761517170.923 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:19:30.924Z,1761517170.924 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:19:30.967Z,1761517170.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838879,-0.539257,0.074054],[0.541896,-0.840202,0.020250],[0.051301,0.057117,0.997049]]
2025-10-26T22:19:31.102Z,1761517171.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 144.300003 m,
      deltaT: 3.779636 s,
      deltaX: -1.899994 m,
      approachRate: -0.502692 m/s,
      rangeRepo size: 4

2025-10-26T22:19:31.108Z,1761517171.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 143.747452 m,
      bearing: 180.158847 deg,
      lat: 36.779440 deg,
      lon: -121.859396 deg,
      deltaT: 3.779636 s,
      deltaX: -1.892059 m,
      approachRate: -0.500593 m/s,
      posRepo size: 4

2025-10-26T22:19:31.109Z,1761517171.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.75 m.
2025-10-26T22:19:31.115Z,1761517171.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.747452 m,
      nav range: 137.214966 m,
      bearing: 180.203961 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.111460 deg/s,
      cmd heading: 198.074912 deg,
      new cmd heading: 198.242186 deg.

2025-10-26T22:19:31.124Z,1761517171.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.459979 target range: 143.747452 and range: 144.30 m.
2025-10-26T22:19:31.156Z,1761517171.156 [DAT](INFO): DAT read: user:513>

2025-10-26T22:19:31.157Z,1761517171.157 [DAT](INFO): DAT read: Tx time:22:19:30.2888

2025-10-26T22:19:31.157Z,1761517171.157 [DAT](INFO): Ping request sent.
2025-10-26T22:19:31.157Z,1761517171.157 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:19:31.157Z,1761517171.157 [DAT](INFO): publishing transmit ping time
2025-10-26T22:19:31.158Z,1761517171.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-10-26T22:19:31.398Z,1761517171.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.75 m.
2025-10-26T22:19:31.409Z,1761517171.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251216
2025-10-26T22:19:31.410Z,1761517171.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.747452 m,
      nav range: 137.024124 m,
      bearing: 180.243824 deg,
      approach rate: -0.644404 m/s,
      LOS rate: 0.134792 deg/s,
      cmd heading: 198.242184 deg,
      new cmd heading: 198.361940 deg.

2025-10-26T22:19:31.415Z,1761517171.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.462069 target range: 143.747452 and range: 144.30 m.
2025-10-26T22:19:31.660Z,1761517171.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503094
2025-10-26T22:19:31.774Z,1761517171.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864761,-0.496842,0.073052],[0.499326,-0.866190,0.019693],[0.053493,0.053506,0.997134]]
2025-10-26T22:19:31.825Z,1761517171.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.75 m.
2025-10-26T22:19:31.850Z,1761517171.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.747452 m,
      nav range: 136.787933 m,
      bearing: 180.287260 deg,
      approach rate: -0.560552 m/s,
      LOS rate: 0.103263 deg/s,
      cmd heading: 198.361944 deg,
      new cmd heading: 198.492475 deg.

2025-10-26T22:19:31.858Z,1761517171.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.464347 target range: 143.747452 and range: 144.30 m.
2025-10-26T22:19:31.912Z,1761517171.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755192
2025-10-26T22:19:32.164Z,1761517172.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006997
2025-10-26T22:19:32.180Z,1761517172.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877323,-0.474265,0.073337],[0.476765,-0.878794,0.020402],[0.054772,0.052863,0.997099]]
2025-10-26T22:19:32.228Z,1761517172.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.75 m.
2025-10-26T22:19:32.230Z,1761517172.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.747452 m,
      nav range: 136.523056 m,
      bearing: 180.344329 deg,
      approach rate: -0.648576 m/s,
      LOS rate: 0.140011 deg/s,
      cmd heading: 198.492469 deg,
      new cmd heading: 198.664009 deg.

2025-10-26T22:19:32.231Z,1761517172.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.467341 target range: 143.747452 and range: 144.30 m.
2025-10-26T22:19:32.417Z,1761517172.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259245
2025-10-26T22:19:32.590Z,1761517172.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889613,-0.450921,0.072522],[0.453267,-0.891171,0.019090],[0.056021,0.049855,0.997184]]
2025-10-26T22:19:32.608Z,1761517172.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:32.610Z,1761517172.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.75 m.
2025-10-26T22:19:32.629Z,1761517172.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.747452 m,
      nav range: 136.282791 m,
      bearing: 180.392921 deg,
      approach rate: -0.628405 m/s,
      LOS rate: 0.127314 deg/s,
      cmd heading: 198.664002 deg,
      new cmd heading: 198.810034 deg.

2025-10-26T22:19:32.629Z,1761517172.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.469890 target range: 143.747452 and range: 144.30 m.
2025-10-26T22:19:32.671Z,1761517172.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513930
2025-10-26T22:19:32.921Z,1761517172.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763851
2025-10-26T22:19:32.986Z,1761517172.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901182,-0.427256,0.072966],[0.429667,-0.902753,0.020573],[0.057080,0.049891,0.997122]]
2025-10-26T22:19:33.032Z,1761517173.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.75 m.
2025-10-26T22:19:33.034Z,1761517173.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.747452 m,
      nav range: 136.012314 m,
      bearing: 180.456840 deg,
      approach rate: -0.641312 m/s,
      LOS rate: 0.151856 deg/s,
      cmd heading: 198.810032 deg,
      new cmd heading: 199.002170 deg.

2025-10-26T22:19:33.035Z,1761517173.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.473243 target range: 143.747452 and range: 144.30 m.
2025-10-26T22:19:33.178Z,1761517173.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020659
2025-10-26T22:19:33.402Z,1761517173.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912211,-0.403152,0.073073],[0.405584,-0.913803,0.021578],[0.058075,0.049321,0.997093]]
2025-10-26T22:19:33.428Z,1761517173.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271147
2025-10-26T22:19:33.431Z,1761517173.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.75 m.
2025-10-26T22:19:33.434Z,1761517173.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.747452 m,
      nav range: 135.752716 m,
      bearing: 180.514686 deg,
      approach rate: -0.649270 m/s,
      LOS rate: 0.144952 deg/s,
      cmd heading: 199.002165 deg,
      new cmd heading: 199.176034 deg.

2025-10-26T22:19:33.435Z,1761517173.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.476278 target range: 143.747452 and range: 144.30 m.
2025-10-26T22:19:33.680Z,1761517173.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523131
2025-10-26T22:19:33.794Z,1761517173.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922878,-0.377890,0.074129],[0.380490,-0.924467,0.024264],[0.059361,0.050598,0.996953]]
2025-10-26T22:19:33.813Z,1761517173.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.75 m.
2025-10-26T22:19:33.836Z,1761517173.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.747452 m,
      nav range: 135.500015 m,
      bearing: 180.567567 deg,
      approach rate: -0.661810 m/s,
      LOS rate: 0.138751 deg/s,
      cmd heading: 199.176034 deg,
      new cmd heading: 199.334973 deg.

2025-10-26T22:19:33.837Z,1761517173.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.479052 target range: 143.747452 and range: 144.30 m.
2025-10-26T22:19:33.933Z,1761517173.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775248
2025-10-26T22:19:34.184Z,1761517174.184 [DAT](INFO): DAT read: Rx Time:22:19:32.8823

2025-10-26T22:19:34.185Z,1761517174.185 [DAT](INFO): Rx dataTimestamp_ set to:1761517174.184504
2025-10-26T22:19:34.185Z,1761517174.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028050
2025-10-26T22:19:34.270Z,1761517174.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.75 m.
2025-10-26T22:19:34.274Z,1761517174.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.747452 m,
      nav range: 135.205353 m,
      bearing: 180.640052 deg,
      approach rate: -0.648374 m/s,
      LOS rate: 0.159844 deg/s,
      cmd heading: 199.334973 deg,
      new cmd heading: 199.552902 deg.

2025-10-26T22:19:34.275Z,1761517174.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.482855 target range: 143.747452 and range: 144.30 m.
2025-10-26T22:19:34.437Z,1761517174.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279337
2025-10-26T22:19:34.602Z,1761517174.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942133,-0.326069,0.077879],[0.329207,-0.943742,0.031221],[0.063318,0.055052,0.996474]]
2025-10-26T22:19:34.633Z,1761517174.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:34.635Z,1761517174.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.75 m.
2025-10-26T22:19:34.645Z,1761517174.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.747452 m,
      nav range: 134.945419 m,
      bearing: 180.696482 deg,
      approach rate: -0.707938 m/s,
      LOS rate: 0.153985 deg/s,
      cmd heading: 199.552897 deg,
      new cmd heading: 199.722513 deg.

2025-10-26T22:19:34.648Z,1761517174.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.485816 target range: 143.747452 and range: 144.30 m.
2025-10-26T22:19:34.700Z,1761517174.700 [DAT](INFO): DAT read: 22:19:32.8823 LVL= 30704, 32753, 32754, 32755, AGC= 68, IDX= 415, 0.28,-2.756, 1.618, 2.775, 3.019, PHS= 0.610,-1.356,-0.289, RAW= 122.8,  12.1, CAL= 123.3,  13.3, ROT=  26.7, -13.3

2025-10-26T22:19:34.701Z,1761517174.701 [DAT](INFO): got valid direction response:
 22:19:32.8823 LVL= 30704, 32753, 32754, 32755, AGC= 68, IDX= 415, 0.28,-2.756, 1.618, 2.775, 3.019, PHS= 0.610,-1.356,-0.289, RAW= 122.8,  12.1, CAL= 123.3,  13.3, ROT=  26.7, -13.3

2025-10-26T22:19:34.702Z,1761517174.702 [DAT](INFO): DAT read: Bearing 330.8,  30.0 (Local)

2025-10-26T22:19:34.703Z,1761517174.703 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.8,  30.0 (Local)

2025-10-26T22:19:34.709Z,1761517174.709 [DAT](INFO): DAT read: Range 11 to 50 : 141.9 m  (Round-trip  189.3 ms) speed  0.8 m/s

2025-10-26T22:19:34.710Z,1761517174.710 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:19:34.734Z,1761517174.734 [DAT](INFO): direction in FSK: [0.869410,0.437268,0.230050]
2025-10-26T22:19:34.734Z,1761517174.734 [DAT](INFO): publishing direction and range info
2025-10-26T22:19:34.738Z,1761517174.738 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:19:34.738Z,1761517174.738 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:19:34.738Z,1761517174.738 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:19:34.940Z,1761517174.940 [DAT](INFO): DAT read: user:514>

2025-10-26T22:19:34.941Z,1761517174.941 [DAT](INFO): DAT read: Tx time:22:19:34.0888

2025-10-26T22:19:34.941Z,1761517174.941 [DAT](INFO): Ping request sent.
2025-10-26T22:19:34.941Z,1761517174.941 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:19:34.942Z,1761517174.942 [DAT](INFO): publishing transmit ping time
2025-10-26T22:19:34.942Z,1761517174.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-10-26T22:19:35.006Z,1761517175.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950609,-0.299744,0.080603],[0.303294,-0.952222,0.035865],[0.066002,0.058540,0.996101]]
2025-10-26T22:19:35.106Z,1761517175.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 141.899994 m,
      deltaT: 3.785482 s,
      deltaX: -2.400009 m,
      approachRate: -0.634004 m/s,
      rangeRepo size: 4

2025-10-26T22:19:35.116Z,1761517175.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 141.355484 m,
      bearing: 188.744855 deg,
      lat: 36.779456 deg,
      lon: -121.859396 deg,
      deltaT: 3.785482 s,
      deltaX: -2.391968 m,
      approachRate: -0.631879 m/s,
      posRepo size: 4

2025-10-26T22:19:35.117Z,1761517175.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.36 m.
2025-10-26T22:19:35.124Z,1761517175.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.355484 m,
      nav range: 132.924347 m,
      bearing: 180.776008 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.153985 deg/s,
      cmd heading: 199.722518 deg,
      new cmd heading: 199.939743 deg.

2025-10-26T22:19:35.125Z,1761517175.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.489607 target range: 141.355484 and range: 141.90 m.
2025-10-26T22:19:35.194Z,1761517175.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252554
2025-10-26T22:19:35.414Z,1761517175.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958299,-0.273415,0.083109],[0.277340,-0.959945,0.039850],[0.068885,0.061237,0.995743]]
2025-10-26T22:19:35.445Z,1761517175.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503069
2025-10-26T22:19:35.453Z,1761517175.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.36 m.
2025-10-26T22:19:35.456Z,1761517175.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.355484 m,
      nav range: 132.654892 m,
      bearing: 180.834978 deg,
      approach rate: -0.773682 m/s,
      LOS rate: 0.169663 deg/s,
      cmd heading: 199.939745 deg,
      new cmd heading: 200.117013 deg.

2025-10-26T22:19:35.457Z,1761517175.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492701 target range: 141.355484 and range: 141.90 m.
2025-10-26T22:19:35.565Z,1761517175.565 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:19:35.696Z,1761517175.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754885
2025-10-26T22:19:35.865Z,1761517175.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.36 m.
2025-10-26T22:19:35.868Z,1761517175.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.355484 m,
      nav range: 132.374466 m,
      bearing: 180.896635 deg,
      approach rate: -0.681615 m/s,
      LOS rate: 0.150184 deg/s,
      cmd heading: 200.117016 deg,
      new cmd heading: 200.302379 deg.

2025-10-26T22:19:35.873Z,1761517175.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.495936 target range: 141.355484 and range: 141.90 m.
2025-10-26T22:19:35.948Z,1761517175.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006973
2025-10-26T22:19:36.200Z,1761517176.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258900
2025-10-26T22:19:36.218Z,1761517176.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971450,-0.220304,0.088036],[0.225076,-0.973136,0.048449],[0.074997,0.066880,0.994938]]
2025-10-26T22:19:36.265Z,1761517176.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.36 m.
2025-10-26T22:19:36.272Z,1761517176.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.355484 m,
      nav range: 132.079330 m,
      bearing: 180.955302 deg,
      approach rate: -0.736796 m/s,
      LOS rate: 0.146787 deg/s,
      cmd heading: 200.302373 deg,
      new cmd heading: 200.478767 deg.

2025-10-26T22:19:36.274Z,1761517176.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.499015 target range: 141.355484 and range: 141.90 m.
2025-10-26T22:19:36.458Z,1761517176.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516372
2025-10-26T22:19:36.568Z,1761517176.568 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:19:36.622Z,1761517176.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976795,-0.194209,0.090301],[0.199421,-0.978495,0.052719],[0.078121,0.069503,0.994518]]
2025-10-26T22:19:36.646Z,1761517176.646 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:36.648Z,1761517176.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.36 m.
2025-10-26T22:19:36.651Z,1761517176.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.355484 m,
      nav range: 131.805527 m,
      bearing: 181.006238 deg,
      approach rate: -0.715348 m/s,
      LOS rate: 0.133355 deg/s,
      cmd heading: 200.478770 deg,
      new cmd heading: 200.631897 deg.

2025-10-26T22:19:36.668Z,1761517176.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.501687 target range: 141.355484 and range: 141.90 m.
2025-10-26T22:19:36.709Z,1761517176.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767571
2025-10-26T22:19:36.960Z,1761517176.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018926
2025-10-26T22:19:37.027Z,1761517177.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981405,-0.168592,0.091767],[0.173990,-0.983246,0.054350],[0.081066,0.069306,0.994296]]
2025-10-26T22:19:37.112Z,1761517177.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.36 m.
2025-10-26T22:19:37.114Z,1761517177.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.355484 m,
      nav range: 131.484924 m,
      bearing: 181.059048 deg,
      approach rate: -0.692106 m/s,
      LOS rate: 0.114282 deg/s,
      cmd heading: 200.631903 deg,
      new cmd heading: 200.790717 deg.

2025-10-26T22:19:37.119Z,1761517177.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.504459 target range: 141.355484 and range: 141.90 m.
2025-10-26T22:19:37.212Z,1761517177.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270877
2025-10-26T22:19:37.434Z,1761517177.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985302,-0.143037,0.093380],[0.148691,-0.987259,0.056663],[0.084085,0.069715,0.994017]]
2025-10-26T22:19:37.464Z,1761517177.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523029
2025-10-26T22:19:37.480Z,1761517177.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.36 m.
2025-10-26T22:19:37.483Z,1761517177.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.355484 m,
      nav range: 131.221558 m,
      bearing: 181.099290 deg,
      approach rate: -0.713588 m/s,
      LOS rate: 0.109255 deg/s,
      cmd heading: 200.790718 deg,
      new cmd heading: 200.911688 deg.

2025-10-26T22:19:37.493Z,1761517177.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.506571 target range: 141.355484 and range: 141.90 m.
2025-10-26T22:19:37.717Z,1761517177.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775406
2025-10-26T22:19:37.834Z,1761517177.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988427,-0.118268,0.094999],[0.124163,-0.990523,0.058727],[0.087153,0.069843,0.993744]]
2025-10-26T22:19:37.876Z,1761517177.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.36 m.
2025-10-26T22:19:37.878Z,1761517177.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.355484 m,
      nav range: 130.928284 m,
      bearing: 181.140755 deg,
      approach rate: -0.746005 m/s,
      LOS rate: 0.105712 deg/s,
      cmd heading: 200.911695 deg,
      new cmd heading: 201.036369 deg.

2025-10-26T22:19:37.880Z,1761517177.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.508747 target range: 141.355484 and range: 141.90 m.
2025-10-26T22:19:37.972Z,1761517177.972 [DAT](INFO): DAT read: Rx Time:22:19:36.7093

2025-10-26T22:19:37.972Z,1761517177.972 [DAT](INFO): Rx dataTimestamp_ set to:1761517177.971887
2025-10-26T22:19:37.973Z,1761517177.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031561
2025-10-26T22:19:38.220Z,1761517178.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278857
2025-10-26T22:19:38.238Z,1761517178.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990894,-0.093915,0.096483],[0.099996,-0.993163,0.060240],[0.090166,0.069339,0.993510]]
2025-10-26T22:19:38.306Z,1761517178.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.36 m.
2025-10-26T22:19:38.313Z,1761517178.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.355484 m,
      nav range: 130.612732 m,
      bearing: 181.173281 deg,
      approach rate: -0.729513 m/s,
      LOS rate: 0.075377 deg/s,
      cmd heading: 201.036373 deg,
      new cmd heading: 201.134186 deg.

2025-10-26T22:19:38.314Z,1761517178.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.510454 target range: 141.355484 and range: 141.90 m.
2025-10-26T22:19:38.475Z,1761517178.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533299
2025-10-26T22:19:38.644Z,1761517178.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992783,-0.069399,0.097806],[0.075612,-0.995251,0.061305],[0.093087,0.068258,0.993315]]
2025-10-26T22:19:38.661Z,1761517178.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:38.663Z,1761517178.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.36 m.
2025-10-26T22:19:38.666Z,1761517178.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.355484 m,
      nav range: 130.353027 m,
      bearing: 181.197242 deg,
      approach rate: -0.727584 m/s,
      LOS rate: 0.067261 deg/s,
      cmd heading: 201.134181 deg,
      new cmd heading: 201.206206 deg.

2025-10-26T22:19:38.667Z,1761517178.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.511711 target range: 141.355484 and range: 141.90 m.
2025-10-26T22:19:38.733Z,1761517178.733 [DAT](INFO): DAT read: 22:19:36.7093 LVL= 26288, 31073, 29618, 28147, AGC= 72, IDX= 212,-0.07,-0.580,-1.550,-0.539,-1.634, PHS= 1.156, 0.129, 1.051, RAW= 144.7, -40.2, CAL= 145.8, -39.1, ROT=   4.2,  39.1

2025-10-26T22:19:38.734Z,1761517178.734 [DAT](INFO): got valid direction response:
 22:19:36.7093 LVL= 26288, 31073, 29618, 28147, AGC= 72, IDX= 212,-0.07,-0.580,-1.550,-0.539,-1.634, PHS= 1.156, 0.129, 1.051, RAW= 144.7, -40.2, CAL= 145.8, -39.1, ROT=   4.2,  39.1

2025-10-26T22:19:38.735Z,1761517178.735 [DAT](INFO): DAT read: Bearing 291.0,   4.3 (Local)

2025-10-26T22:19:38.736Z,1761517178.736 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.0,   4.3 (Local)

2025-10-26T22:19:38.737Z,1761517178.737 [DAT](INFO): DAT read: Range 11 to 50 : 162.3 m  (Round-trip  216.4 ms) speed  0.4 m/s

2025-10-26T22:19:38.738Z,1761517178.738 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:19:38.739Z,1761517178.739 [DAT](INFO): direction in FSK: [0.773962,0.056836,-0.630676]
2025-10-26T22:19:38.739Z,1761517178.739 [DAT](INFO): publishing direction and range info
2025-10-26T22:19:38.742Z,1761517178.742 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:19:38.743Z,1761517178.743 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:19:38.743Z,1761517178.743 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:19:38.977Z,1761517178.977 [DAT](INFO): DAT read: user:515>

2025-10-26T22:19:38.977Z,1761517178.977 [DAT](INFO): DAT read: Tx time:22:19:38.0888

2025-10-26T22:19:38.978Z,1761517178.978 [DAT](INFO): Ping request sent.
2025-10-26T22:19:38.978Z,1761517178.978 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:19:38.978Z,1761517178.978 [DAT](INFO): publishing transmit ping time
2025-10-26T22:19:38.978Z,1761517178.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-10-26T22:19:39.048Z,1761517179.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994043,-0.044927,0.099302],[0.051396,-0.996652,0.063584],[0.096113,0.068309,0.993024]]
2025-10-26T22:19:39.149Z,1761517179.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 162.300003 m,
 deltaT: 4.035085 s,
 deltaX: 20.400009 m,
 approachRate: 5.055658 m/s,
 rangeRepo size: 4
2025-10-26T22:19:39.149Z,1761517179.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.36 m.
2025-10-26T22:19:39.156Z,1761517179.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.355484 m,
      nav range: 130.027756 m,
      bearing: 181.213897 deg,
      approach rate: -0.670351 m/s,
      LOS rate: 0.034410 deg/s,
      cmd heading: 201.206212 deg,
      new cmd heading: 201.256303 deg.

2025-10-26T22:19:39.157Z,1761517179.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.512585 target range: 141.355484 and range: 141.90 m.
2025-10-26T22:19:39.229Z,1761517179.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250975
2025-10-26T22:19:39.458Z,1761517179.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994730,-0.020716,0.100413],[0.027517,-0.997386,0.066817],[0.098766,0.069228,0.992700]]
2025-10-26T22:19:39.481Z,1761517179.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502811
2025-10-26T22:19:39.490Z,1761517179.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.36 m.
2025-10-26T22:19:39.493Z,1761517179.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.355484 m,
      nav range: 129.772568 m,
      bearing: 181.224281 deg,
      approach rate: -0.746666 m/s,
      LOS rate: 0.030444 deg/s,
      cmd heading: 201.256305 deg,
      new cmd heading: 201.287520 deg.

2025-10-26T22:19:39.494Z,1761517179.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.513130 target range: 141.355484 and range: 141.90 m.
2025-10-26T22:19:39.733Z,1761517179.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754843
2025-10-26T22:19:39.855Z,1761517179.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994828,0.003008,0.101531],[0.004099,-0.997559,0.069710],[0.101492,0.069766,0.992387]]
2025-10-26T22:19:39.881Z,1761517179.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.36 m.
2025-10-26T22:19:39.883Z,1761517179.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.355484 m,
      nav range: 129.500931 m,
      bearing: 181.232528 deg,
      approach rate: -0.695232 m/s,
      LOS rate: 0.021151 deg/s,
      cmd heading: 201.287519 deg,
      new cmd heading: 201.312311 deg.

2025-10-26T22:19:39.884Z,1761517179.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.513563 target range: 141.355484 and range: 141.90 m.
2025-10-26T22:19:39.988Z,1761517179.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009786
2025-10-26T22:19:40.236Z,1761517180.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258582
2025-10-26T22:19:40.259Z,1761517180.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994360,0.027320,0.102475],[-0.019993,-0.997215,0.071856],[0.104152,0.069402,0.992137]]
2025-10-26T22:19:40.311Z,1761517180.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.36 m.
2025-10-26T22:19:40.314Z,1761517180.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.355484 m,
      nav range: 129.201263 m,
      bearing: 181.231036 deg,
      approach rate: -0.696810 m/s,
      LOS rate: -0.003477 deg/s,
      cmd heading: 201.312313 deg,
      new cmd heading: 201.307827 deg.

2025-10-26T22:19:40.314Z,1761517180.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.513484 target range: 141.355484 and range: 141.90 m.
2025-10-26T22:19:40.488Z,1761517180.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510619
2025-10-26T22:19:40.662Z,1761517180.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993301,0.051309,0.103540],[-0.043699,-0.996265,0.074478],[0.106974,0.069454,0.991833]]
2025-10-26T22:19:40.692Z,1761517180.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:40.694Z,1761517180.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.36 m.
2025-10-26T22:19:40.697Z,1761517180.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.355484 m,
      nav range: 128.937607 m,
      bearing: 181.226920 deg,
      approach rate: -0.688199 m/s,
      LOS rate: -0.010766 deg/s,
      cmd heading: 201.307832 deg,
      new cmd heading: 201.295458 deg.

2025-10-26T22:19:40.698Z,1761517180.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.513268 target range: 141.355484 and range: 141.90 m.
2025-10-26T22:19:40.741Z,1761517180.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762884
2025-10-26T22:19:40.995Z,1761517180.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016536
2025-10-26T22:19:41.081Z,1761517181.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991659,0.075415,0.104519],[-0.067559,-0.994757,0.076775],[0.109761,0.069073,0.991555]]
2025-10-26T22:19:41.118Z,1761517181.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.36 m.
2025-10-26T22:19:41.121Z,1761517181.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.355484 m,
      nav range: 128.655029 m,
      bearing: 181.213419 deg,
      approach rate: -0.665706 m/s,
      LOS rate: -0.031876 deg/s,
      cmd heading: 201.295456 deg,
      new cmd heading: 201.254863 deg.

2025-10-26T22:19:41.122Z,1761517181.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.512560 target range: 141.355484 and range: 141.90 m.
2025-10-26T22:19:41.245Z,1761517181.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266911
2025-10-26T22:19:41.480Z,1761517181.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989459,0.099376,0.105334],[-0.091275,-0.992676,0.079136],[0.112427,0.068688,0.991283]]
2025-10-26T22:19:41.496Z,1761517181.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518763
2025-10-26T22:19:41.500Z,1761517181.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.36 m.
2025-10-26T22:19:41.503Z,1761517181.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.355484 m,
      nav range: 128.402786 m,
      bearing: 181.198580 deg,
      approach rate: -0.660191 m/s,
      LOS rate: -0.038913 deg/s,
      cmd heading: 201.254857 deg,
      new cmd heading: 201.210254 deg.

2025-10-26T22:19:41.505Z,1761517181.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.511781 target range: 141.355484 and range: 141.90 m.
2025-10-26T22:19:41.748Z,1761517181.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770598
2025-10-26T22:19:41.882Z,1761517181.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986815,0.122088,0.106260],[-0.113945,-0.990292,0.079617],[0.114948,0.066460,0.991146]]
2025-10-26T22:19:41.900Z,1761517181.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.36 m.
2025-10-26T22:19:41.903Z,1761517181.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.355484 m,
      nav range: 128.137421 m,
      bearing: 181.180128 deg,
      approach rate: -0.663578 m/s,
      LOS rate: -0.046237 deg/s,
      cmd heading: 201.210256 deg,
      new cmd heading: 201.154785 deg.

2025-10-26T22:19:41.904Z,1761517181.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.510813 target range: 141.355484 and range: 141.90 m.
2025-10-26T22:19:42.005Z,1761517182.005 [DAT](INFO): DAT read: Rx Time:22:19:40.7053

2025-10-26T22:19:42.006Z,1761517182.006 [DAT](INFO): Rx dataTimestamp_ set to:1761517182.005547
2025-10-26T22:19:42.010Z,1761517182.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031969
2025-10-26T22:19:42.252Z,1761517182.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274588
2025-10-26T22:19:42.284Z,1761517182.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980058,0.167245,0.107314],[-0.158461,-0.983631,0.085789],[0.119905,0.067073,0.990517]]
2025-10-26T22:19:42.327Z,1761517182.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.36 m.
2025-10-26T22:19:42.330Z,1761517182.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.355484 m,
      nav range: 127.861031 m,
      bearing: 181.150569 deg,
      approach rate: -0.647475 m/s,
      LOS rate: -0.069396 deg/s,
      cmd heading: 201.154781 deg,
      new cmd heading: 201.065911 deg.

2025-10-26T22:19:42.331Z,1761517182.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.509262 target range: 141.355484 and range: 141.90 m.
2025-10-26T22:19:42.521Z,1761517182.521 [DAT](INFO): DAT read: 22:19:40.7053 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 395,-0.18, 2.974, 1.309,-3.098, 2.761, PHS= 0.315,-1.407, 0.380, RAW= 151.8,   8.2, CAL= 151.4,   8.7, ROT= 358.6,  -8.7

2025-10-26T22:19:42.522Z,1761517182.522 [DAT](INFO): got valid direction response:
 22:19:40.7053 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 395,-0.18, 2.974, 1.309,-3.098, 2.761, PHS= 0.315,-1.407, 0.380, RAW= 151.8,   8.2, CAL= 151.4,   8.7, ROT= 358.6,  -8.7

2025-10-26T22:19:42.523Z,1761517182.523 [DAT](INFO): DAT read: Bearing 352.0,   5.6 (Local)

2025-10-26T22:19:42.523Z,1761517182.523 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.0,   5.6 (Local)

2025-10-26T22:19:42.524Z,1761517182.524 [DAT](INFO): DAT read: Range 11 to 50 : 159.3 m  (Round-trip  212.4 ms) speed  0.4 m/s

2025-10-26T22:19:42.525Z,1761517182.525 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:19:42.526Z,1761517182.526 [DAT](INFO): direction in FSK: [0.988199,-0.024151,0.151261]
2025-10-26T22:19:42.526Z,1761517182.526 [DAT](INFO): publishing direction and range info
2025-10-26T22:19:42.552Z,1761517182.552 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:19:42.553Z,1761517182.553 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:19:42.553Z,1761517182.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:19:42.688Z,1761517182.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975955,0.189527,0.107664],[-0.180376,-0.979539,0.089260],[0.122378,0.067694,0.990172]]
2025-10-26T22:19:42.726Z,1761517182.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 159.300003 m,
      deltaT: 7.816430 s,
      deltaX: 17.400009 m,
      approachRate: 2.226081 m/s,
      rangeRepo size: 4

2025-10-26T22:19:42.729Z,1761517182.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 158.688751 m,
      bearing: 188.423675 deg,
      lat: 36.779426 deg,
      lon: -121.859469 deg,
      deltaT: 7.816430 s,
      deltaX: 17.333267 m,
      approachRate: 2.217543 m/s,
      posRepo size: 4

2025-10-26T22:19:42.730Z,1761517182.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.69 m.
2025-10-26T22:19:42.734Z,1761517182.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.688751 m,
      nav range: 131.145569 m,
      bearing: 183.914358 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.069396 deg/s,
      cmd heading: 201.065907 deg,
      new cmd heading: 200.983104 deg.

2025-10-26T22:19:42.757Z,1761517182.757 [DAT](INFO): DAT read: user:516>

2025-10-26T22:19:42.757Z,1761517182.757 [DAT](INFO): DAT read: Tx time:22:19:41.8888

2025-10-26T22:19:42.758Z,1761517182.758 [DAT](INFO): Ping request sent.
2025-10-26T22:19:42.758Z,1761517182.758 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:19:42.758Z,1761517182.758 [DAT](INFO): publishing transmit ping time
2025-10-26T22:19:42.759Z,1761517182.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-10-26T22:19:42.772Z,1761517182.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.507817 target range: 158.688751 and range: 159.30 m.
2025-10-26T22:19:43.012Z,1761517183.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253725
2025-10-26T22:19:43.093Z,1761517183.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971608,0.210446,0.108125],[-0.201022,-0.975274,0.091817],[0.124774,0.067474,0.989888]]
2025-10-26T22:19:43.127Z,1761517183.127 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:43.129Z,1761517183.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.69 m.
2025-10-26T22:19:43.152Z,1761517183.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.688751 m,
      nav range: 130.876221 m,
      bearing: 183.888131 deg,
      approach rate: -0.665952 m/s,
      LOS rate: -0.064979 deg/s,
      cmd heading: 200.983097 deg,
      new cmd heading: 200.904254 deg.

2025-10-26T22:19:43.153Z,1761517183.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.506441 target range: 158.688751 and range: 159.30 m.
2025-10-26T22:19:43.261Z,1761517183.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502990
2025-10-26T22:19:43.499Z,1761517183.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967047,0.229449,0.110335],[-0.220668,-0.971526,0.086273],[0.126989,0.059082,0.990143]]
2025-10-26T22:19:43.513Z,1761517183.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754822
2025-10-26T22:19:43.531Z,1761517183.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.69 m.
2025-10-26T22:19:43.533Z,1761517183.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.688751 m,
      nav range: 130.616074 m,
      bearing: 183.860208 deg,
      approach rate: -0.648343 m/s,
      LOS rate: -0.069729 deg/s,
      cmd heading: 200.904250 deg,
      new cmd heading: 200.820314 deg.

2025-10-26T22:19:43.534Z,1761517183.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.504976 target range: 158.688751 and range: 159.30 m.
2025-10-26T22:19:43.764Z,1761517183.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006541
2025-10-26T22:19:43.897Z,1761517183.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962232,0.247409,0.113571],[-0.239516,-0.967692,0.078767],[0.129389,0.048590,0.990403]]
2025-10-26T22:19:43.917Z,1761517183.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.69 m.
2025-10-26T22:19:43.920Z,1761517183.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.688751 m,
      nav range: 130.366943 m,
      bearing: 183.831020 deg,
      approach rate: -0.643877 m/s,
      LOS rate: -0.075580 deg/s,
      cmd heading: 200.820320 deg,
      new cmd heading: 200.732589 deg.

2025-10-26T22:19:43.921Z,1761517183.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.503445 target range: 158.688751 and range: 159.30 m.
2025-10-26T22:19:44.019Z,1761517184.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260738
2025-10-26T22:19:44.268Z,1761517184.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510481
2025-10-26T22:19:44.298Z,1761517184.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957463,0.263508,0.117590],[-0.256513,-0.963901,0.071379],[0.132154,0.038179,0.990494]]
2025-10-26T22:19:44.345Z,1761517184.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.69 m.
2025-10-26T22:19:44.348Z,1761517184.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.688751 m,
      nav range: 130.090851 m,
      bearing: 183.799804 deg,
      approach rate: -0.645815 m/s,
      LOS rate: -0.073171 deg/s,
      cmd heading: 200.732593 deg,
      new cmd heading: 200.638749 deg.

2025-10-26T22:19:44.349Z,1761517184.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.501807 target range: 158.688751 and range: 159.30 m.
2025-10-26T22:19:44.520Z,1761517184.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762633
2025-10-26T22:19:44.709Z,1761517184.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953081,0.277059,0.121960],[-0.271061,-0.960457,0.063629],[0.134766,0.027585,0.990493]]
2025-10-26T22:19:44.737Z,1761517184.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.69 m.
2025-10-26T22:19:44.739Z,1761517184.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.688751 m,
      nav range: 129.841537 m,
      bearing: 183.769621 deg,
      approach rate: -0.636705 m/s,
      LOS rate: -0.077233 deg/s,
      cmd heading: 200.638747 deg,
      new cmd heading: 200.548021 deg.

2025-10-26T22:19:44.740Z,1761517184.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.500223 target range: 158.688751 and range: 159.30 m.
2025-10-26T22:19:44.773Z,1761517184.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015016
2025-10-26T22:19:45.030Z,1761517185.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268793
2025-10-26T22:19:45.106Z,1761517185.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948876,0.288929,0.127102],[-0.284071,-0.957212,0.055219],[0.137618,0.016290,0.990351]]
2025-10-26T22:19:45.165Z,1761517185.165 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:45.167Z,1761517185.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.69 m.
2025-10-26T22:19:45.174Z,1761517185.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.688751 m,
      nav range: 129.577286 m,
      bearing: 183.740214 deg,
      approach rate: -0.614359 m/s,
      LOS rate: -0.068506 deg/s,
      cmd heading: 200.548028 deg,
      new cmd heading: 200.459629 deg.

2025-10-26T22:19:45.174Z,1761517185.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.498681 target range: 158.688751 and range: 159.30 m.
2025-10-26T22:19:45.277Z,1761517185.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519123
2025-10-26T22:19:45.521Z,1761517185.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944860,0.299578,0.132261],[-0.295861,-0.954055,0.047382],[0.140379,0.005639,0.990082]]
2025-10-26T22:19:45.528Z,1761517185.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770567
2025-10-26T22:19:45.548Z,1761517185.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.69 m.
2025-10-26T22:19:45.553Z,1761517185.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.688751 m,
      nav range: 129.321091 m,
      bearing: 183.709975 deg,
      approach rate: -0.672908 m/s,
      LOS rate: -0.079583 deg/s,
      cmd heading: 200.459632 deg,
      new cmd heading: 200.368734 deg.

2025-10-26T22:19:45.555Z,1761517185.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.497094 target range: 158.688751 and range: 159.30 m.
2025-10-26T22:19:45.780Z,1761517185.780 [DAT](INFO): DAT read: Rx Time:22:19:44.5026

2025-10-26T22:19:45.781Z,1761517185.781 [DAT](INFO): Rx dataTimestamp_ set to:1761517185.780600
2025-10-26T22:19:45.781Z,1761517185.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023603
2025-10-26T22:19:45.921Z,1761517185.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941319,0.308298,0.137371],[-0.305695,-0.951281,0.040196],[0.143070,-0.004156,0.989704]]
2025-10-26T22:19:45.943Z,1761517185.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.69 m.
2025-10-26T22:19:45.962Z,1761517185.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.688751 m,
      nav range: 129.063461 m,
      bearing: 183.678060 deg,
      approach rate: -0.651410 m/s,
      LOS rate: -0.080858 deg/s,
      cmd heading: 200.368736 deg,
      new cmd heading: 200.272799 deg.

2025-10-26T22:19:45.963Z,1761517185.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.495420 target range: 158.688751 and range: 159.30 m.
2025-10-26T22:19:46.036Z,1761517186.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277870
2025-10-26T22:19:46.288Z,1761517186.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529122
2025-10-26T22:19:46.335Z,1761517186.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938093,0.315455,0.143076],[-0.314206,-0.948821,0.031843],[0.145798,-0.015083,0.989199]]
2025-10-26T22:19:46.387Z,1761517186.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.69 m.
2025-10-26T22:19:46.390Z,1761517186.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.688751 m,
      nav range: 128.782608 m,
      bearing: 183.650297 deg,
      approach rate: -0.655701 m/s,
      LOS rate: -0.064959 deg/s,
      cmd heading: 200.272799 deg,
      new cmd heading: 200.189328 deg.

2025-10-26T22:19:46.391Z,1761517186.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.493963 target range: 158.688751 and range: 159.30 m.
2025-10-26T22:19:46.546Z,1761517186.546 [DAT](INFO): DAT read: 22:19:44.5026 LVL= 32752, 32753, 28802, 32755, AGC= 71, IDX= 415, 0.28,-0.162,-1.547, 0.440,-0.191, PHS= 0.131,-1.310, 0.587, RAW= 163.3,   7.0, CAL= 162.7,   6.7, ROT= 347.3,  -6.7

2025-10-26T22:19:46.553Z,1761517186.553 [DAT](INFO): got valid direction response:
 22:19:44.5026 LVL= 32752, 32753, 28802, 32755, AGC= 71, IDX= 415, 0.28,-0.162,-1.547, 0.440,-0.191, PHS= 0.131,-1.310, 0.587, RAW= 163.3,   7.0, CAL= 162.7,   6.7, ROT= 347.3,  -6.7

2025-10-26T22:19:46.555Z,1761517186.555 [DAT](INFO): DAT read: Bearing   0.4,  -4.8 (Local)

2025-10-26T22:19:46.555Z,1761517186.555 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.4,  -4.8 (Local)

2025-10-26T22:19:46.562Z,1761517186.562 [DAT](INFO): DAT read: Range 11 to 50 : 157.2 m  (Round-trip  209.6 ms) speed  0.6 m/s

2025-10-26T22:19:46.563Z,1761517186.563 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:19:46.569Z,1761517186.569 [DAT](INFO): direction in FSK: [0.968872,-0.218345,0.116671]
2025-10-26T22:19:46.570Z,1761517186.570 [DAT](INFO): publishing direction and range info
2025-10-26T22:19:46.584Z,1761517186.584 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:19:46.584Z,1761517186.584 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:19:46.584Z,1761517186.584 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:19:46.737Z,1761517186.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935353,0.320790,0.149023],[-0.320958,-0.946800,0.023585],[0.148661,-0.025770,0.988552]]
2025-10-26T22:19:46.765Z,1761517186.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 157.199997 m,
      deltaT: 4.030869 s,
      deltaX: -2.100006 m,
      approachRate: -0.520981 m/s,
      rangeRepo size: 4

2025-10-26T22:19:46.767Z,1761517186.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 156.591217 m,
      bearing: 186.041546 deg,
      lat: 36.779411 deg,
      lon: -121.859556 deg,
      deltaT: 4.030869 s,
      deltaX: -2.097534 m,
      approachRate: -0.520368 m/s,
      posRepo size: 4

2025-10-26T22:19:46.783Z,1761517186.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:46.786Z,1761517186.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 130.913559 m,
      bearing: 186.972593 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.064959 deg/s,
      cmd heading: 200.189334 deg,
      new cmd heading: 200.112794 deg.

2025-10-26T22:19:46.787Z,1761517186.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492627 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:46.788Z,1761517186.788 [DAT](INFO): DAT read: user:517>

2025-10-26T22:19:46.789Z,1761517186.789 [DAT](INFO): DAT read: Tx time:22:19:45.9388

2025-10-26T22:19:46.789Z,1761517186.789 [DAT](INFO): Ping request sent.
2025-10-26T22:19:46.790Z,1761517186.790 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:19:46.790Z,1761517186.790 [DAT](INFO): publishing transmit ping time
2025-10-26T22:19:46.790Z,1761517186.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726
2025-10-26T22:19:47.043Z,1761517187.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252917
2025-10-26T22:19:47.134Z,1761517187.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933122,0.324162,0.155568],[-0.326086,-0.945241,0.013711],[0.151494,-0.037935,0.987730]]
2025-10-26T22:19:47.187Z,1761517187.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:47.189Z,1761517187.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:47.192Z,1761517187.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 130.626755 m,
      bearing: 186.957957 deg,
      approach rate: -0.674740 m/s,
      LOS rate: -0.034509 deg/s,
      cmd heading: 200.112795 deg,
      new cmd heading: 200.068790 deg.

2025-10-26T22:19:47.193Z,1761517187.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.491859 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:47.293Z,1761517187.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503745
2025-10-26T22:19:47.546Z,1761517187.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756108
2025-10-26T22:19:47.565Z,1761517187.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931261,0.326216,0.162281],[-0.330032,-0.943963,0.003636],[0.154374,-0.050172,0.986738]]
2025-10-26T22:19:47.596Z,1761517187.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:47.598Z,1761517187.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 130.354996 m,
      bearing: 186.943352 deg,
      approach rate: -0.668921 m/s,
      LOS rate: -0.036023 deg/s,
      cmd heading: 200.068795 deg,
      new cmd heading: 200.024890 deg.

2025-10-26T22:19:47.599Z,1761517187.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.491093 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:47.796Z,1761517187.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006656
2025-10-26T22:19:47.942Z,1761517187.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929587,0.327371,0.169397],[-0.333355,-0.942773,-0.007354],[0.157295,-0.063306,0.985520]]
2025-10-26T22:19:47.972Z,1761517187.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:47.974Z,1761517187.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 130.104553 m,
      bearing: 186.929274 deg,
      approach rate: -0.665739 m/s,
      LOS rate: -0.037496 deg/s,
      cmd heading: 200.024890 deg,
      new cmd heading: 199.982573 deg.

2025-10-26T22:19:47.975Z,1761517187.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.490354 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:48.049Z,1761517188.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259523
2025-10-26T22:19:48.300Z,1761517188.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510765
2025-10-26T22:19:48.351Z,1761517188.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927997,0.327854,0.177013],[-0.336191,-0.941612,-0.018491],[0.160615,-0.076670,0.984035]]
2025-10-26T22:19:48.411Z,1761517188.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:48.414Z,1761517188.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 129.819244 m,
      bearing: 186.920472 deg,
      approach rate: -0.654648 m/s,
      LOS rate: -0.020240 deg/s,
      cmd heading: 199.982570 deg,
      new cmd heading: 199.956108 deg.

2025-10-26T22:19:48.415Z,1761517188.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.489892 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:48.553Z,1761517188.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762719
2025-10-26T22:19:48.751Z,1761517188.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926799,0.327145,0.184445],[-0.338066,-0.940633,-0.030335],[0.163571,-0.090469,0.982375]]
2025-10-26T22:19:48.780Z,1761517188.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:48.782Z,1761517188.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 129.551102 m,
      bearing: 186.911736 deg,
      approach rate: -0.720697 m/s,
      LOS rate: -0.023529 deg/s,
      cmd heading: 199.956110 deg,
      new cmd heading: 199.929848 deg.

2025-10-26T22:19:48.783Z,1761517188.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.489434 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:48.813Z,1761517188.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023135
2025-10-26T22:19:49.068Z,1761517189.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277536
2025-10-26T22:19:49.214Z,1761517189.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:49.217Z,1761517189.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:49.219Z,1761517189.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 129.246719 m,
      bearing: 186.906669 deg,
      approach rate: -0.696323 m/s,
      LOS rate: -0.011620 deg/s,
      cmd heading: 199.929841 deg,
      new cmd heading: 199.914603 deg.

2025-10-26T22:19:49.220Z,1761517189.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.489168 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:49.317Z,1761517189.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527491
2025-10-26T22:19:49.568Z,1761517189.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778808
2025-10-26T22:19:49.575Z,1761517189.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924806,0.324117,0.199203],[-0.340613,-0.938648,-0.054059],[0.169460,-0.117845,0.978466]]
2025-10-26T22:19:49.593Z,1761517189.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:49.596Z,1761517189.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 128.984772 m,
      bearing: 186.901585 deg,
      approach rate: -0.695423 m/s,
      LOS rate: -0.013524 deg/s,
      cmd heading: 199.914596 deg,
      new cmd heading: 199.899314 deg.

2025-10-26T22:19:49.597Z,1761517189.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488901 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:49.820Z,1761517189.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030841
2025-10-26T22:19:49.964Z,1761517189.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923835,0.322739,0.205837],[-0.341729,-0.937646,-0.063573],[0.172485,-0.129072,0.976519]]
2025-10-26T22:19:49.983Z,1761517189.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:49.986Z,1761517189.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 128.714630 m,
      bearing: 186.896005 deg,
      approach rate: -0.693325 m/s,
      LOS rate: -0.014351 deg/s,
      cmd heading: 199.899310 deg,
      new cmd heading: 199.882536 deg.

2025-10-26T22:19:49.987Z,1761517189.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488608 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:50.074Z,1761517190.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284602
2025-10-26T22:19:50.324Z,1761517190.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534726
2025-10-26T22:19:50.366Z,1761517190.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922885,0.322035,0.211132],[-0.342803,-0.936833,-0.069503],[0.175413,-0.136520,0.974983]]
2025-10-26T22:19:50.414Z,1761517190.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:50.441Z,1761517190.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 128.410980 m,
      bearing: 186.894311 deg,
      approach rate: -0.703647 m/s,
      LOS rate: -0.003933 deg/s,
      cmd heading: 199.882535 deg,
      new cmd heading: 199.877443 deg.

2025-10-26T22:19:50.442Z,1761517190.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488519 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:50.576Z,1761517190.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786748
2025-10-26T22:19:50.773Z,1761517190.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921890,0.322177,0.215221],[-0.344030,-0.936177,-0.072219],[0.178218,-0.140621,0.973891]]
2025-10-26T22:19:50.792Z,1761517190.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:50.795Z,1761517190.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 128.145294 m,
      bearing: 186.892604 deg,
      approach rate: -0.703344 m/s,
      LOS rate: -0.004529 deg/s,
      cmd heading: 199.877440 deg,
      new cmd heading: 199.872307 deg.

2025-10-26T22:19:50.796Z,1761517190.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488430 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:50.829Z,1761517190.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039288
2025-10-26T22:19:51.081Z,1761517191.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291076
2025-10-26T22:19:51.308Z,1761517191.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:51.310Z,1761517191.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:51.313Z,1761517191.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 127.775848 m,
      bearing: 186.892766 deg,
      approach rate: -0.713695 m/s,
      LOS rate: 0.000314 deg/s,
      cmd heading: 199.872304 deg,
      new cmd heading: 199.872791 deg.

2025-10-26T22:19:51.314Z,1761517191.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488438 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:51.332Z,1761517191.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542828
2025-10-26T22:19:51.584Z,1761517191.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794736
2025-10-26T22:19:51.654Z,1761517191.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919888,0.322834,0.222675],[-0.346559,-0.934928,-0.076201],[0.183585,-0.147267,0.971910]]
2025-10-26T22:19:51.680Z,1761517191.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:51.683Z,1761517191.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 127.511467 m,
      bearing: 186.892474 deg,
      approach rate: -0.713513 m/s,
      LOS rate: -0.000790 deg/s,
      cmd heading: 199.872796 deg,
      new cmd heading: 199.871917 deg.

2025-10-26T22:19:51.684Z,1761517191.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488423 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:51.837Z,1761517191.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047294
2025-10-26T22:19:52.091Z,1761517192.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.301229
2025-10-26T22:19:52.105Z,1761517192.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919023,0.323058,0.225898],[-0.347512,-0.934477,-0.077388],[0.186095,-0.149624,0.971072]]
2025-10-26T22:19:52.194Z,1761517192.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:52.201Z,1761517192.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 127.191727 m,
      bearing: 186.891933 deg,
      approach rate: -0.622043 m/s,
      LOS rate: -0.001055 deg/s,
      cmd heading: 199.871921 deg,
      new cmd heading: 199.870294 deg.

2025-10-26T22:19:52.202Z,1761517192.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488395 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:52.344Z,1761517192.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.554801
2025-10-26T22:19:52.510Z,1761517192.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918039,0.323494,0.229249],[-0.348841,-0.933828,-0.079223],[0.188451,-0.152701,0.970138]]
2025-10-26T22:19:52.590Z,1761517192.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:52.596Z,1761517192.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.806817
2025-10-26T22:19:52.599Z,1761517192.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 126.880424 m,
      bearing: 186.888595 deg,
      approach rate: -0.786146 m/s,
      LOS rate: -0.008451 deg/s,
      cmd heading: 199.870296 deg,
      new cmd heading: 199.860257 deg.

2025-10-26T22:19:52.604Z,1761517192.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488219 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:52.849Z,1761517192.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.059199
2025-10-26T22:19:52.930Z,1761517192.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917180,0.323862,0.232152],[-0.349903,-0.933334,-0.080348],[0.190654,-0.154925,0.969355]]
2025-10-26T22:19:52.949Z,1761517192.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:52.952Z,1761517192.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 126.599617 m,
      bearing: 186.885397 deg,
      approach rate: -0.782322 m/s,
      LOS rate: -0.008928 deg/s,
      cmd heading: 199.860255 deg,
      new cmd heading: 199.850642 deg.

2025-10-26T22:19:52.953Z,1761517192.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488052 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:53.103Z,1761517193.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.313467
2025-10-26T22:19:53.330Z,1761517193.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916559,0.323846,0.234614],[-0.350368,-0.933125,-0.080749],[0.192774,-0.156212,0.968729]]
2025-10-26T22:19:53.353Z,1761517193.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.563081
2025-10-26T22:19:53.381Z,1761517193.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:53.383Z,1761517193.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:53.386Z,1761517193.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 126.280472 m,
      bearing: 186.874637 deg,
      approach rate: -0.735914 m/s,
      LOS rate: -0.024874 deg/s,
      cmd heading: 199.850638 deg,
      new cmd heading: 199.818277 deg.

2025-10-26T22:19:53.387Z,1761517193.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.487487 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:53.605Z,1761517193.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.815443
2025-10-26T22:19:53.742Z,1761517193.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916215,0.323076,0.237005],[-0.350087,-0.933183,-0.081292],[0.194906,-0.157454,0.968101]]
2025-10-26T22:19:53.767Z,1761517193.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:53.770Z,1761517193.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 125.996994 m,
      bearing: 186.865058 deg,
      approach rate: -0.737557 m/s,
      LOS rate: -0.024979 deg/s,
      cmd heading: 199.818277 deg,
      new cmd heading: 199.789476 deg.

2025-10-26T22:19:53.771Z,1761517193.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.486984 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:53.858Z,1761517193.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.068648
2025-10-26T22:19:54.112Z,1761517194.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.322607
2025-10-26T22:19:54.143Z,1761517194.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915702,0.322920,0.239191],[-0.350302,-0.933099,-0.081338],[0.196923,-0.158270,0.967560]]
2025-10-26T22:19:54.308Z,1761517194.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:54.311Z,1761517194.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 125.595901 m,
      bearing: 186.836847 deg,
      approach rate: -0.741103 m/s,
      LOS rate: -0.052292 deg/s,
      cmd heading: 199.789481 deg,
      new cmd heading: 199.704577 deg.

2025-10-26T22:19:54.312Z,1761517194.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.485502 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:54.365Z,1761517194.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.575497
2025-10-26T22:19:54.616Z,1761517194.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.826788
2025-10-26T22:19:54.629Z,1761517194.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915512,0.321913,0.241269],[-0.349615,-0.933359,-0.081307],[0.199017,-0.158789,0.967046]]
2025-10-26T22:19:54.683Z,1761517194.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:54.701Z,1761517194.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 125.324524 m,
      bearing: 186.817736 deg,
      approach rate: -0.725159 m/s,
      LOS rate: -0.051179 deg/s,
      cmd heading: 199.704582 deg,
      new cmd heading: 199.647124 deg.

2025-10-26T22:19:54.702Z,1761517194.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.484500 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:54.868Z,1761517194.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.078649
2025-10-26T22:19:55.042Z,1761517195.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915576,0.319925,0.243656],[-0.348081,-0.933893,-0.081750],[0.201395,-0.159660,0.966410]]
2025-10-26T22:19:55.104Z,1761517195.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:55.106Z,1761517195.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 125.024155 m,
      bearing: 186.796702 deg,
      approach rate: -0.720426 m/s,
      LOS rate: -0.050569 deg/s,
      cmd heading: 199.647126 deg,
      new cmd heading: 199.583874 deg.

2025-10-26T22:19:55.112Z,1761517195.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.483396 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:55.121Z,1761517195.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.330924
2025-10-26T22:19:55.373Z,1761517195.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.583007
2025-10-26T22:19:55.445Z,1761517195.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915648,0.317977,0.245927],[-0.346576,-0.934411,-0.082222],[0.203653,-0.160519,0.965795]]
2025-10-26T22:19:55.515Z,1761517195.515 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:55.519Z,1761517195.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:55.525Z,1761517195.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 124.701881 m,
      bearing: 186.762673 deg,
      approach rate: -0.770178 m/s,
      LOS rate: -0.081535 deg/s,
      cmd heading: 199.583879 deg,
      new cmd heading: 199.481527 deg.

2025-10-26T22:19:55.526Z,1761517195.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.481609 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:55.626Z,1761517195.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.836092
2025-10-26T22:19:55.876Z,1761517195.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.086862
2025-10-26T22:19:55.903Z,1761517195.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:55.906Z,1761517195.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 124.433769 m,
      bearing: 186.734225 deg,
      approach rate: -0.696603 m/s,
      LOS rate: -0.074073 deg/s,
      cmd heading: 199.481521 deg,
      new cmd heading: 199.395992 deg.

2025-10-26T22:19:55.907Z,1761517195.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.480117 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:56.128Z,1761517196.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.338736
2025-10-26T22:19:56.260Z,1761517196.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916044,0.312939,0.250865],[-0.342557,-0.935775,-0.083538],[0.208611,-0.162460,0.964411]]
2025-10-26T22:19:56.321Z,1761517196.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:56.327Z,1761517196.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 124.131004 m,
      bearing: 186.688640 deg,
      approach rate: -0.724968 m/s,
      LOS rate: -0.109417 deg/s,
      cmd heading: 199.395994 deg,
      new cmd heading: 199.258908 deg.

2025-10-26T22:19:56.328Z,1761517196.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.477724 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:56.380Z,1761517196.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.590825
2025-10-26T22:19:56.632Z,1761517196.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.842793
2025-10-26T22:19:56.655Z,1761517196.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916317,0.309734,0.253827],[-0.340222,-0.936450,-0.085496],[0.211216,-0.164699,0.963464]]
2025-10-26T22:19:56.681Z,1761517196.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:56.691Z,1761517196.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 123.855827 m,
      bearing: 186.647343 deg,
      approach rate: -0.762620 m/s,
      LOS rate: -0.114704 deg/s,
      cmd heading: 199.258912 deg,
      new cmd heading: 199.134746 deg.

2025-10-26T22:19:56.701Z,1761517196.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.475557 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:56.884Z,1761517196.884 [DAT](INFO): Reached modem response timeout
2025-10-26T22:19:56.884Z,1761517196.884 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:19:56.884Z,1761517196.884 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:19:57.062Z,1761517197.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916817,0.306195,0.256302],[-0.337293,-0.937403,-0.086649],[0.213727,-0.165891,0.962705]]
2025-10-26T22:19:57.080Z,1761517197.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:57.083Z,1761517197.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 123.559547 m,
      bearing: 186.603118 deg,
      approach rate: -0.742902 m/s,
      LOS rate: -0.111159 deg/s,
      cmd heading: 199.134753 deg,
      new cmd heading: 199.001757 deg.

2025-10-26T22:19:57.084Z,1761517197.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.473236 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:57.138Z,1761517197.138 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:19:57.388Z,1761517197.388 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:19:57.462Z,1761517197.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917156,0.303053,0.258812],[-0.334760,-0.938213,-0.087704],[0.216242,-0.167078,0.961938]]
2025-10-26T22:19:57.524Z,1761517197.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:57.529Z,1761517197.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:57.534Z,1761517197.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 123.252708 m,
      bearing: 186.550582 deg,
      approach rate: -0.686691 m/s,
      LOS rate: -0.117864 deg/s,
      cmd heading: 199.001755 deg,
      new cmd heading: 198.843758 deg.

2025-10-26T22:19:57.536Z,1761517197.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.470478 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:57.641Z,1761517197.641 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:19:57.880Z,1761517197.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917535,0.299830,0.261212],[-0.332016,-0.939135,-0.088264],[0.218849,-0.167712,0.961238]]
2025-10-26T22:19:57.895Z,1761517197.895 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:19:57.905Z,1761517197.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:57.908Z,1761517197.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 122.961784 m,
      bearing: 186.500930 deg,
      approach rate: -0.769864 m/s,
      LOS rate: -0.131704 deg/s,
      cmd heading: 198.843759 deg,
      new cmd heading: 198.694451 deg.

2025-10-26T22:19:57.909Z,1761517197.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.467872 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:58.145Z,1761517198.145 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:19:58.284Z,1761517198.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917589,0.296908,0.264342],[-0.330038,-0.939646,-0.090225],[0.221599,-0.170033,0.960199]]
2025-10-26T22:19:58.333Z,1761517198.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:58.336Z,1761517198.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 122.662262 m,
      bearing: 186.447578 deg,
      approach rate: -0.699498 m/s,
      LOS rate: -0.124902 deg/s,
      cmd heading: 198.694451 deg,
      new cmd heading: 198.534004 deg.

2025-10-26T22:19:58.337Z,1761517198.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.465072 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:58.397Z,1761517198.397 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:19:58.648Z,1761517198.648 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:19:58.739Z,1761517198.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:58.742Z,1761517198.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 122.379791 m,
      bearing: 186.397007 deg,
      approach rate: -0.696174 m/s,
      LOS rate: -0.124924 deg/s,
      cmd heading: 198.534010 deg,
      new cmd heading: 198.381948 deg.

2025-10-26T22:19:58.743Z,1761517198.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.462418 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:58.900Z,1761517198.900 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:19:59.097Z,1761517199.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917724,0.292093,0.269190],[-0.326128,-0.940952,-0.090828],[0.226765,-0.171146,0.958795]]
2025-10-26T22:19:59.115Z,1761517199.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:59.118Z,1761517199.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 122.115547 m,
      bearing: 186.349983 deg,
      approach rate: -0.702992 m/s,
      LOS rate: -0.125374 deg/s,
      cmd heading: 198.381943 deg,
      new cmd heading: 198.240564 deg.

2025-10-26T22:19:59.119Z,1761517199.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.459950 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:59.153Z,1761517199.153 [DAT](INFO): DAT read: Response Not Received

2025-10-26T22:19:59.153Z,1761517199.153 [DAT](INFO): response not received
2025-10-26T22:19:59.153Z,1761517199.153 [DAT](INFO): DAT read: user:518>

2025-10-26T22:19:59.154Z,1761517199.154 [DAT](INFO): DAT read: Tx time:22:19:58.3888

2025-10-26T22:19:59.154Z,1761517199.154 [DAT](INFO): Ping request sent.
2025-10-26T22:19:59.154Z,1761517199.154 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:19:59.154Z,1761517199.154 [DAT](INFO): publishing transmit ping time
2025-10-26T22:19:59.155Z,1761517199.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-10-26T22:19:59.405Z,1761517199.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250230
2025-10-26T22:19:59.503Z,1761517199.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917461,0.288609,0.273808],[-0.323528,-0.941798,-0.091353],[0.231506,-0.172397,0.957436]]
2025-10-26T22:19:59.572Z,1761517199.572 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:19:59.575Z,1761517199.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:59.585Z,1761517199.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 121.810097 m,
      bearing: 186.299793 deg,
      approach rate: -0.664369 m/s,
      LOS rate: -0.109439 deg/s,
      cmd heading: 198.240558 deg,
      new cmd heading: 198.089612 deg.

2025-10-26T22:19:59.586Z,1761517199.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.457316 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:19:59.657Z,1761517199.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502738
2025-10-26T22:19:59.908Z,1761517199.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754015
2025-10-26T22:19:59.920Z,1761517199.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917060,0.287593,0.276209],[-0.323011,-0.941943,-0.091685],[0.233805,-0.173299,0.956714]]
2025-10-26T22:19:59.957Z,1761517199.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:19:59.960Z,1761517199.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 121.529335 m,
      bearing: 186.253452 deg,
      approach rate: -0.733954 m/s,
      LOS rate: -0.121422 deg/s,
      cmd heading: 198.089611 deg,
      new cmd heading: 197.950267 deg.

2025-10-26T22:19:59.961Z,1761517199.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.454884 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:20:00.161Z,1761517200.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006817
2025-10-26T22:20:00.383Z,1761517200.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:20:00.386Z,1761517200.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 121.233086 m,
      bearing: 186.212745 deg,
      approach rate: -0.695480 m/s,
      LOS rate: -0.095798 deg/s,
      cmd heading: 197.950261 deg,
      new cmd heading: 197.827842 deg.

2025-10-26T22:20:00.388Z,1761517200.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.452747 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:20:00.412Z,1761517200.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258093
2025-10-26T22:20:00.664Z,1761517200.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509921
2025-10-26T22:20:00.720Z,1761517200.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916084,0.286122,0.280934],[-0.322631,-0.941976,-0.092683],[0.238115,-0.175544,0.955241]]
2025-10-26T22:20:00.750Z,1761517200.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:20:00.753Z,1761517200.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 120.978012 m,
      bearing: 186.177478 deg,
      approach rate: -0.694558 m/s,
      LOS rate: -0.096234 deg/s,
      cmd heading: 197.827837 deg,
      new cmd heading: 197.721813 deg.

2025-10-26T22:20:00.754Z,1761517200.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.450897 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:20:00.917Z,1761517200.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762984
2025-10-26T22:20:01.168Z,1761517201.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014139
2025-10-26T22:20:01.169Z,1761517201.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915440,0.286600,0.282543],[-0.323115,-0.941932,-0.091437],[0.239931,-0.174999,0.954887]]
2025-10-26T22:20:01.187Z,1761517201.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:20:01.190Z,1761517201.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 120.675125 m,
      bearing: 186.135295 deg,
      approach rate: -0.693454 m/s,
      LOS rate: -0.096820 deg/s,
      cmd heading: 197.721819 deg,
      new cmd heading: 197.594952 deg.

2025-10-26T22:20:01.191Z,1761517201.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.448683 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:20:01.420Z,1761517201.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265942
2025-10-26T22:20:01.573Z,1761517201.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914847,0.287346,0.283702],[-0.323743,-0.941854,-0.090013],[0.241341,-0.174195,0.954678]]
2025-10-26T22:20:01.609Z,1761517201.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:01.611Z,1761517201.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:20:01.633Z,1761517201.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 120.381454 m,
      bearing: 186.106057 deg,
      approach rate: -0.693341 m/s,
      LOS rate: -0.069198 deg/s,
      cmd heading: 197.594955 deg,
      new cmd heading: 197.507027 deg.

2025-10-26T22:20:01.634Z,1761517201.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.447148 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:20:01.673Z,1761517201.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518140
2025-10-26T22:20:01.924Z,1761517201.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770026
2025-10-26T22:20:02.054Z,1761517202.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914407,0.288308,0.284144],[-0.324870,-0.941445,-0.090225],[0.241493,-0.174812,0.954527]]
2025-10-26T22:20:02.074Z,1761517202.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:20:02.077Z,1761517202.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 120.059158 m,
      bearing: 186.073583 deg,
      approach rate: -0.695565 m/s,
      LOS rate: -0.070270 deg/s,
      cmd heading: 197.507023 deg,
      new cmd heading: 197.409342 deg.

2025-10-26T22:20:02.078Z,1761517202.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.445443 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:20:02.176Z,1761517202.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022022
2025-10-26T22:20:02.428Z,1761517202.428 [DAT](INFO): DAT read: Rx Time:22:20:00.9558

2025-10-26T22:20:02.429Z,1761517202.429 [DAT](INFO): Rx dataTimestamp_ set to:1761517202.428597
2025-10-26T22:20:02.429Z,1761517202.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275075
2025-10-26T22:20:02.470Z,1761517202.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913762,0.289357,0.285153],[-0.326201,-0.940962,-0.090462],[0.242142,-0.175678,0.954204]]
2025-10-26T22:20:02.535Z,1761517202.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:20:02.542Z,1761517202.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 119.753075 m,
      bearing: 186.054273 deg,
      approach rate: -0.664404 m/s,
      LOS rate: -0.042023 deg/s,
      cmd heading: 197.409338 deg,
      new cmd heading: 197.351259 deg.

2025-10-26T22:20:02.543Z,1761517202.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.444429 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:20:02.680Z,1761517202.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526004
2025-10-26T22:20:02.862Z,1761517202.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913238,0.290290,0.285880],[-0.327426,-0.940489,-0.090959],[0.242462,-0.176672,0.953939]]
2025-10-26T22:20:02.890Z,1761517202.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.59 m.
2025-10-26T22:20:02.893Z,1761517202.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.591217 m,
      nav range: 119.483589 m,
      bearing: 186.036987 deg,
      approach rate: -0.757328 m/s,
      LOS rate: -0.048689 deg/s,
      cmd heading: 197.351254 deg,
      new cmd heading: 197.299278 deg.

2025-10-26T22:20:02.894Z,1761517202.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.443522 target range: 156.591217 and range: 157.20 m.
2025-10-26T22:20:02.941Z,1761517202.941 [DAT](INFO): DAT read: 22:20:00.9558 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 448, 0.00, 1.582, 0.233, 2.199, 1.565, PHS= 0.119,-1.287, 0.590, RAW= 164.0,   6.9, CAL= 163.4,   6.7, ROT= 346.6,  -6.7

2025-10-26T22:20:02.942Z,1761517202.942 [DAT](INFO): got valid direction response:
 22:20:00.9558 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 448, 0.00, 1.582, 0.233, 2.199, 1.565, PHS= 0.119,-1.287, 0.590, RAW= 164.0,   6.9, CAL= 163.4,   6.7, ROT= 346.6,  -6.7

2025-10-26T22:20:02.944Z,1761517202.944 [DAT](INFO): DAT read: Bearing 356.6,  -0.3 (Local)

2025-10-26T22:20:02.944Z,1761517202.944 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.6,  -0.3 (Local)

2025-10-26T22:20:02.946Z,1761517202.946 [DAT](INFO): DAT read: Range 11 to 50 : 122.1 m  (Round-trip  162.8 ms) speed  0.5 m/s

2025-10-26T22:20:02.947Z,1761517202.947 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:20:02.949Z,1761517202.949 [DAT](INFO): direction in FSK: [0.966132,-0.230165,0.116671]
2025-10-26T22:20:02.949Z,1761517202.949 [DAT](INFO): publishing direction and range info
2025-10-26T22:20:02.955Z,1761517202.955 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:02.955Z,1761517202.955 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:02.955Z,1761517202.955 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:20:03.185Z,1761517203.185 [DAT](INFO): DAT read: user:519>

2025-10-26T22:20:03.185Z,1761517203.185 [DAT](INFO): DAT read: Tx time:22:20:02.3388

2025-10-26T22:20:03.186Z,1761517203.186 [DAT](INFO): Ping request sent.
2025-10-26T22:20:03.186Z,1761517203.186 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:20:03.186Z,1761517203.186 [DAT](INFO): publishing transmit ping time
2025-10-26T22:20:03.186Z,1761517203.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000718
2025-10-26T22:20:03.303Z,1761517203.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912609,0.291518,0.286641],[-0.329015,-0.939865,-0.091664],[0.242682,-0.177962,0.953643]]
2025-10-26T22:20:03.380Z,1761517203.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 122.099998 m,
      deltaT: 16.395880 s,
      deltaX: -35.099998 m,
      approachRate: -2.140782 m/s,
      rangeRepo size: 4

2025-10-26T22:20:03.382Z,1761517203.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 121.581314 m,
      bearing: 186.990786 deg,
      lat: 36.779411 deg,
      lon: -121.859569 deg,
      deltaT: 16.395880 s,
      deltaX: -35.009903 m,
      approachRate: -2.135287 m/s,
      posRepo size: 4

2025-10-26T22:20:03.382Z,1761517203.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.58 m.
2025-10-26T22:20:03.385Z,1761517203.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.581314 m,
      nav range: 119.256821 m,
      bearing: 186.570833 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.048689 deg/s,
      cmd heading: 197.299276 deg,
      new cmd heading: 197.227954 deg.

2025-10-26T22:20:03.386Z,1761517203.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.442277 target range: 121.581314 and range: 122.10 m.
2025-10-26T22:20:03.437Z,1761517203.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251524
2025-10-26T22:20:03.688Z,1761517203.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502620
2025-10-26T22:20:03.732Z,1761517203.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911917,0.293025,0.287304],[-0.330848,-0.939163,-0.092265],[0.242790,-0.179191,0.953385]]
2025-10-26T22:20:03.757Z,1761517203.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:03.763Z,1761517203.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.58 m.
2025-10-26T22:20:03.766Z,1761517203.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.581314 m,
      nav range: 118.983337 m,
      bearing: 186.560479 deg,
      approach rate: -0.718785 m/s,
      LOS rate: -0.027276 deg/s,
      cmd heading: 197.227955 deg,
      new cmd heading: 197.196822 deg.

2025-10-26T22:20:03.767Z,1761517203.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.441734 target range: 121.581314 and range: 122.10 m.
2025-10-26T22:20:03.940Z,1761517203.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754615
2025-10-26T22:20:04.117Z,1761517204.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911803,0.293228,0.287459],[-0.331745,-0.938589,-0.094849],[0.241994,-0.181847,0.953085]]
2025-10-26T22:20:04.135Z,1761517204.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.58 m.
2025-10-26T22:20:04.138Z,1761517204.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.581314 m,
      nav range: 118.704086 m,
      bearing: 186.549671 deg,
      approach rate: -0.743726 m/s,
      LOS rate: -0.028854 deg/s,
      cmd heading: 197.196823 deg,
      new cmd heading: 197.164321 deg.

2025-10-26T22:20:04.139Z,1761517204.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.441167 target range: 121.581314 and range: 122.10 m.
2025-10-26T22:20:04.193Z,1761517204.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007506
2025-10-26T22:20:04.444Z,1761517204.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258589
2025-10-26T22:20:04.529Z,1761517204.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911880,0.293245,0.287196],[-0.332207,-0.938225,-0.096809],[0.241066,-0.183687,0.952967]]
2025-10-26T22:20:04.575Z,1761517204.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.58 m.
2025-10-26T22:20:04.578Z,1761517204.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.581314 m,
      nav range: 118.383881 m,
      bearing: 186.542703 deg,
      approach rate: -0.726899 m/s,
      LOS rate: -0.015860 deg/s,
      cmd heading: 197.164325 deg,
      new cmd heading: 197.143366 deg.

2025-10-26T22:20:04.579Z,1761517204.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.440801 target range: 121.581314 and range: 122.10 m.
2025-10-26T22:20:04.701Z,1761517204.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515652
2025-10-26T22:20:04.925Z,1761517204.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912091,0.292993,0.286785],[-0.332346,-0.937978,-0.098708],[0.240078,-0.185342,0.952896]]
2025-10-26T22:20:04.943Z,1761517204.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.58 m.
2025-10-26T22:20:04.946Z,1761517204.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.581314 m,
      nav range: 118.116295 m,
      bearing: 186.536808 deg,
      approach rate: -0.727511 m/s,
      LOS rate: -0.016063 deg/s,
      cmd heading: 197.143370 deg,
      new cmd heading: 197.125645 deg.

2025-10-26T22:20:04.947Z,1761517204.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.440491 target range: 121.581314 and range: 122.10 m.
2025-10-26T22:20:04.949Z,1761517204.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762788
2025-10-26T22:20:05.201Z,1761517205.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014806
2025-10-26T22:20:05.362Z,1761517205.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912227,0.293251,0.286087],[-0.332787,-0.937689,-0.099965],[0.238946,-0.186397,0.952975]]
2025-10-26T22:20:05.399Z,1761517205.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.58 m.
2025-10-26T22:20:05.402Z,1761517205.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.581314 m,
      nav range: 117.774010 m,
      bearing: 186.525281 deg,
      approach rate: -0.750594 m/s,
      LOS rate: -0.025352 deg/s,
      cmd heading: 197.125639 deg,
      new cmd heading: 197.090956 deg.

2025-10-26T22:20:05.403Z,1761517205.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.439886 target range: 121.581314 and range: 122.10 m.
2025-10-26T22:20:05.453Z,1761517205.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266820
2025-10-26T22:20:05.705Z,1761517205.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519074
2025-10-26T22:20:05.765Z,1761517205.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912550,0.292771,0.285548],[-0.332658,-0.937530,-0.101859],[0.237888,-0.187941,0.952936]]
2025-10-26T22:20:05.782Z,1761517205.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:05.784Z,1761517205.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.58 m.
2025-10-26T22:20:05.787Z,1761517205.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.581314 m,
      nav range: 117.485443 m,
      bearing: 186.515520 deg,
      approach rate: -0.749843 m/s,
      LOS rate: -0.025427 deg/s,
      cmd heading: 197.090955 deg,
      new cmd heading: 197.061600 deg.

2025-10-26T22:20:05.788Z,1761517205.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.439374 target range: 121.581314 and range: 122.10 m.
2025-10-26T22:20:05.956Z,1761517205.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770602
2025-10-26T22:20:06.166Z,1761517206.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913131,0.291785,0.284698],[-0.331960,-0.937563,-0.103816],[0.236631,-0.189306,0.952979]]
2025-10-26T22:20:06.204Z,1761517206.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.58 m.
2025-10-26T22:20:06.211Z,1761517206.211 [DAT](INFO): DAT read: Rx Time:22:20:04.9023

2025-10-26T22:20:06.212Z,1761517206.212 [DAT](INFO): Rx dataTimestamp_ set to:1761517206.211596
2025-10-26T22:20:06.212Z,1761517206.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026718
2025-10-26T22:20:06.213Z,1761517206.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.581314 m,
      nav range: 117.172142 m,
      bearing: 186.504977 deg,
      approach rate: -0.744873 m/s,
      LOS rate: -0.025133 deg/s,
      cmd heading: 197.061599 deg,
      new cmd heading: 197.029885 deg.

2025-10-26T22:20:06.214Z,1761517206.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.438820 target range: 121.581314 and range: 122.10 m.
2025-10-26T22:20:06.461Z,1761517206.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275222
2025-10-26T22:20:06.572Z,1761517206.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913771,0.290680,0.283774],[-0.331039,-0.937708,-0.105437],[0.235449,-0.190286,0.953077]]
2025-10-26T22:20:06.609Z,1761517206.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.58 m.
2025-10-26T22:20:06.628Z,1761517206.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.581314 m,
      nav range: 116.866066 m,
      bearing: 186.487653 deg,
      approach rate: -0.756741 m/s,
      LOS rate: -0.042944 deg/s,
      cmd heading: 197.029880 deg,
      new cmd heading: 196.977771 deg.

2025-10-26T22:20:06.629Z,1761517206.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.437911 target range: 121.581314 and range: 122.10 m.
2025-10-26T22:20:06.694Z,1761517206.694 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:20:06.721Z,1761517206.721 [DAT](INFO): DAT read: 22:20:04.9023 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 410,-0.27, 2.982, 1.677,-2.756, 2.977, PHS= 0.107,-1.255, 0.506, RAW= 162.5,   8.1, CAL= 162.1,   8.3, ROT= 347.9,  -8.3

2025-10-26T22:20:06.722Z,1761517206.722 [DAT](INFO): got valid direction response:
 22:20:04.9023 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 410,-0.27, 2.982, 1.677,-2.756, 2.977, PHS= 0.107,-1.255, 0.506, RAW= 162.5,   8.1, CAL= 162.1,   8.3, ROT= 347.9,  -8.3

2025-10-26T22:20:06.737Z,1761517206.737 [DAT](INFO): DAT read: Bearing 356.8,   0.4 (Local)

2025-10-26T22:20:06.737Z,1761517206.737 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.8,   0.4 (Local)

2025-10-26T22:20:06.739Z,1761517206.739 [DAT](INFO): DAT read: Range 11 to 50 : 119.4 m  (Round-trip  159.3 ms) speed  0.5 m/s

2025-10-26T22:20:06.739Z,1761517206.739 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:20:06.740Z,1761517206.740 [DAT](INFO): direction in FSK: [0.967542,-0.207423,0.144356]
2025-10-26T22:20:06.741Z,1761517206.741 [DAT](INFO): publishing direction and range info
2025-10-26T22:20:06.745Z,1761517206.745 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:06.745Z,1761517206.745 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:06.745Z,1761517206.745 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:20:06.965Z,1761517206.965 [DAT](INFO): DAT read: user:520>

2025-10-26T22:20:06.965Z,1761517206.965 [DAT](INFO): DAT read: Tx time:22:20:06.0888

2025-10-26T22:20:06.966Z,1761517206.966 [DAT](INFO): Ping request sent.
2025-10-26T22:20:06.966Z,1761517206.966 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:20:06.966Z,1761517206.966 [DAT](INFO): publishing transmit ping time
2025-10-26T22:20:06.967Z,1761517206.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-10-26T22:20:07.058Z,1761517207.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 119.400002 m,
      deltaT: 3.779999 s,
      deltaX: -2.699997 m,
      approachRate: -0.714285 m/s,
      rangeRepo size: 4

2025-10-26T22:20:07.064Z,1761517207.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 118.873367 m,
      bearing: 188.871339 deg,
      lat: 36.779411 deg,
      lon: -121.859569 deg,
      deltaT: 3.779999 s,
      deltaX: -2.707947 m,
      approachRate: -0.716388 m/s,
      posRepo size: 4

2025-10-26T22:20:07.065Z,1761517207.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.87 m.
2025-10-26T22:20:07.075Z,1761517207.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.873367 m,
      nav range: 116.548668 m,
      bearing: 186.469591 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.042944 deg/s,
      cmd heading: 196.977765 deg,
      new cmd heading: 196.920049 deg.

2025-10-26T22:20:07.077Z,1761517207.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.436903 target range: 118.873367 and range: 119.40 m.
2025-10-26T22:20:07.216Z,1761517207.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250559
2025-10-26T22:20:07.401Z,1761517207.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915144,0.288452,0.281613],[-0.328696,-0.938354,-0.107006],[0.233387,-0.190491,0.953543]]
2025-10-26T22:20:07.444Z,1761517207.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.87 m.
2025-10-26T22:20:07.446Z,1761517207.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.873367 m,
      nav range: 116.247810 m,
      bearing: 186.443714 deg,
      approach rate: -0.778311 m/s,
      LOS rate: -0.067116 deg/s,
      cmd heading: 196.920050 deg,
      new cmd heading: 196.842219 deg.

2025-10-26T22:20:07.448Z,1761517207.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.435545 target range: 118.873367 and range: 119.40 m.
2025-10-26T22:20:07.468Z,1761517207.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502632
2025-10-26T22:20:07.696Z,1761517207.696 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:20:07.721Z,1761517207.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755251
2025-10-26T22:20:07.802Z,1761517207.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915894,0.287128,0.280527],[-0.327164,-0.938868,-0.107196],[0.232599,-0.189958,0.953841]]
2025-10-26T22:20:07.850Z,1761517207.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:07.857Z,1761517207.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.87 m.
2025-10-26T22:20:07.864Z,1761517207.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.873367 m,
      nav range: 115.951485 m,
      bearing: 186.418356 deg,
      approach rate: -0.717188 m/s,
      LOS rate: -0.061530 deg/s,
      cmd heading: 196.842213 deg,
      new cmd heading: 196.765944 deg.

2025-10-26T22:20:07.865Z,1761517207.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.434214 target range: 118.873367 and range: 119.40 m.
2025-10-26T22:20:07.974Z,1761517207.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007528
2025-10-26T22:20:08.186Z,1761517208.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916453,0.286145,0.279704],[-0.325934,-0.939321,-0.106972],[0.232122,-0.189200,0.954108]]
2025-10-26T22:20:08.209Z,1761517208.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.87 m.
2025-10-26T22:20:08.212Z,1761517208.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.873367 m,
      nav range: 115.689835 m,
      bearing: 186.396039 deg,
      approach rate: -0.743071 m/s,
      LOS rate: -0.063522 deg/s,
      cmd heading: 196.765947 deg,
      new cmd heading: 196.698846 deg.

2025-10-26T22:20:08.213Z,1761517208.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.433043 target range: 118.873367 and range: 119.40 m.
2025-10-26T22:20:08.232Z,1761517208.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266638
2025-10-26T22:20:08.486Z,1761517208.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519897
2025-10-26T22:20:08.590Z,1761517208.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916930,0.285054,0.279254],[-0.324761,-0.939710,-0.107123],[0.231882,-0.188915,0.954223]]
2025-10-26T22:20:08.694Z,1761517208.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.87 m.
2025-10-26T22:20:08.697Z,1761517208.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.873367 m,
      nav range: 115.334145 m,
      bearing: 186.353618 deg,
      approach rate: -0.732733 m/s,
      LOS rate: -0.087658 deg/s,
      cmd heading: 196.698848 deg,
      new cmd heading: 196.571193 deg.

2025-10-26T22:20:08.699Z,1761517208.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.430815 target range: 118.873367 and range: 119.40 m.
2025-10-26T22:20:08.737Z,1761517208.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770758
2025-10-26T22:20:08.992Z,1761517208.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026251
2025-10-26T22:20:09.041Z,1761517209.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917601,0.283494,0.278640],[-0.323081,-0.940268,-0.107304],[0.231577,-0.188486,0.954382]]
2025-10-26T22:20:09.091Z,1761517209.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.87 m.
2025-10-26T22:20:09.093Z,1761517209.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.873367 m,
      nav range: 115.045593 m,
      bearing: 186.319288 deg,
      approach rate: -0.728101 m/s,
      LOS rate: -0.086843 deg/s,
      cmd heading: 196.571191 deg,
      new cmd heading: 196.467942 deg.

2025-10-26T22:20:09.094Z,1761517209.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.429013 target range: 118.873367 and range: 119.40 m.
2025-10-26T22:20:09.240Z,1761517209.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274558
2025-10-26T22:20:09.442Z,1761517209.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918460,0.281787,0.277537],[-0.320895,-0.941117,-0.106418],[0.231207,-0.186800,0.954803]]
2025-10-26T22:20:09.493Z,1761517209.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526736
2025-10-26T22:20:09.523Z,1761517209.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.87 m.
2025-10-26T22:20:09.542Z,1761517209.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.873367 m,
      nav range: 114.743820 m,
      bearing: 186.275906 deg,
      approach rate: -0.699368 m/s,
      LOS rate: -0.100804 deg/s,
      cmd heading: 196.467946 deg,
      new cmd heading: 196.337457 deg.

2025-10-26T22:20:09.542Z,1761517209.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.426735 target range: 118.873367 and range: 119.40 m.
2025-10-26T22:20:09.744Z,1761517209.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778644
2025-10-26T22:20:09.853Z,1761517209.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919335,0.279987,0.276461],[-0.318464,-0.942115,-0.104879],[0.231093,-0.184462,0.955285]]
2025-10-26T22:20:09.913Z,1761517209.913 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:09.915Z,1761517209.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.87 m.
2025-10-26T22:20:09.918Z,1761517209.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.873367 m,
      nav range: 114.475670 m,
      bearing: 186.237539 deg,
      approach rate: -0.682415 m/s,
      LOS rate: -0.097867 deg/s,
      cmd heading: 196.337462 deg,
      new cmd heading: 196.222095 deg.

2025-10-26T22:20:09.919Z,1761517209.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.424722 target range: 118.873367 and range: 119.40 m.
2025-10-26T22:20:09.998Z,1761517209.998 [DAT](INFO): DAT read: Rx Time:22:20:08.6843

2025-10-26T22:20:09.999Z,1761517209.999 [DAT](INFO): Rx dataTimestamp_ set to:1761517209.998491
2025-10-26T22:20:10.000Z,1761517210.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034289
2025-10-26T22:20:10.248Z,1761517210.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282716
2025-10-26T22:20:10.268Z,1761517210.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920371,0.277692,0.275327],[-0.315341,-0.943415,-0.102612],[0.231253,-0.181263,0.955859]]
2025-10-26T22:20:10.310Z,1761517210.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.87 m.
2025-10-26T22:20:10.317Z,1761517210.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.873367 m,
      nav range: 114.189049 m,
      bearing: 186.196844 deg,
      approach rate: -0.725709 m/s,
      LOS rate: -0.103297 deg/s,
      cmd heading: 196.222100 deg,
      new cmd heading: 196.099708 deg.

2025-10-26T22:20:10.318Z,1761517210.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.422585 target range: 118.873367 and range: 119.40 m.
2025-10-26T22:20:10.510Z,1761517210.510 [DAT](INFO): DAT read: 22:20:08.6843 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 261, 0.10,-3.071, 1.913,-2.494, 3.138, PHS= 0.176,-1.181, 0.607, RAW= 163.4,   5.0, CAL= 162.4,   4.0, ROT= 347.6,  -4.0

2025-10-26T22:20:10.513Z,1761517210.513 [DAT](INFO): got valid direction response:
 22:20:08.6843 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 261, 0.10,-3.071, 1.913,-2.494, 3.138, PHS= 0.176,-1.181, 0.607, RAW= 163.4,   5.0, CAL= 162.4,   4.0, ROT= 347.6,  -4.0

2025-10-26T22:20:10.514Z,1761517210.514 [DAT](INFO): DAT read: Bearing 351.7,   0.2 (Local)

2025-10-26T22:20:10.515Z,1761517210.515 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.7,   0.2 (Local)

2025-10-26T22:20:10.533Z,1761517210.533 [DAT](INFO): DAT read: Range 11 to 50 : 143.5 m  (Round-trip  191.4 ms) speed  0.7 m/s

2025-10-26T22:20:10.534Z,1761517210.534 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:20:10.535Z,1761517210.535 [DAT](INFO): direction in FSK: [0.974293,-0.214212,0.069756]
2025-10-26T22:20:10.535Z,1761517210.535 [DAT](INFO): publishing direction and range info
2025-10-26T22:20:10.550Z,1761517210.550 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:10.550Z,1761517210.550 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:10.550Z,1761517210.550 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:20:10.662Z,1761517210.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921428,0.275028,0.274464],[-0.312080,-0.944660,-0.101110],[0.231467,-0.178820,0.956267]]
2025-10-26T22:20:10.743Z,1761517210.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 143.500000 m,
 deltaT: 3.788271 s,
 deltaX: 24.099998 m,
 approachRate: 6.361741 m/s,
 rangeRepo size: 4
2025-10-26T22:20:10.747Z,1761517210.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.87 m.
2025-10-26T22:20:10.750Z,1761517210.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.873367 m,
      nav range: 113.904747 m,
      bearing: 186.150177 deg,
      approach rate: -0.658089 m/s,
      LOS rate: -0.108293 deg/s,
      cmd heading: 196.099703 deg,
      new cmd heading: 195.959352 deg.

2025-10-26T22:20:10.751Z,1761517210.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.420136 target range: 118.873367 and range: 119.40 m.
2025-10-26T22:20:10.753Z,1761517210.753 [DAT](INFO): DAT read: user:521>

2025-10-26T22:20:10.753Z,1761517210.753 [DAT](INFO): DAT read: Tx time:22:20:09.9388

2025-10-26T22:20:10.754Z,1761517210.754 [DAT](INFO): Ping request sent.
2025-10-26T22:20:10.754Z,1761517210.754 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:20:10.754Z,1761517210.754 [DAT](INFO): publishing transmit ping time
2025-10-26T22:20:10.755Z,1761517210.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000718
2025-10-26T22:20:11.008Z,1761517211.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254300
2025-10-26T22:20:11.059Z,1761517211.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922346,0.272132,0.274268],[-0.309171,-0.945573,-0.101515],[0.231715,-0.178428,0.956280]]
2025-10-26T22:20:11.086Z,1761517211.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.87 m.
2025-10-26T22:20:11.089Z,1761517211.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.873367 m,
      nav range: 113.640129 m,
      bearing: 186.106982 deg,
      approach rate: -0.769024 m/s,
      LOS rate: -0.125823 deg/s,
      cmd heading: 195.959357 deg,
      new cmd heading: 195.829471 deg.

2025-10-26T22:20:11.090Z,1761517211.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.417869 target range: 118.873367 and range: 119.40 m.
2025-10-26T22:20:11.257Z,1761517211.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503597
2025-10-26T22:20:11.510Z,1761517211.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755976
2025-10-26T22:20:11.550Z,1761517211.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923954,0.266225,0.274649],[-0.303499,-0.947271,-0.102794],[0.232801,-0.178333,0.956034]]
2025-10-26T22:20:11.604Z,1761517211.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.87 m.
2025-10-26T22:20:11.606Z,1761517211.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.873367 m,
      nav range: 113.292290 m,
      bearing: 186.051072 deg,
      approach rate: -0.672282 m/s,
      LOS rate: -0.108391 deg/s,
      cmd heading: 195.829474 deg,
      new cmd heading: 195.661229 deg.

2025-10-26T22:20:11.612Z,1761517211.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.414933 target range: 118.873367 and range: 119.40 m.
2025-10-26T22:20:11.760Z,1761517211.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006638
2025-10-26T22:20:11.952Z,1761517211.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925004,0.262366,0.274831],[-0.299964,-0.948223,-0.104377],[0.233216,-0.178988,0.955810]]
2025-10-26T22:20:11.969Z,1761517211.969 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:11.971Z,1761517211.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.87 m.
2025-10-26T22:20:11.986Z,1761517211.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.873367 m,
      nav range: 113.026398 m,
      bearing: 186.008648 deg,
      approach rate: -0.723914 m/s,
      LOS rate: -0.115774 deg/s,
      cmd heading: 195.661233 deg,
      new cmd heading: 195.533662 deg.

2025-10-26T22:20:11.986Z,1761517211.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.412706 target range: 118.873367 and range: 119.40 m.
2025-10-26T22:20:12.013Z,1761517212.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258911
2025-10-26T22:20:12.264Z,1761517212.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510494
2025-10-26T22:20:12.355Z,1761517212.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926733,0.258318,0.272834],[-0.295803,-0.949361,-0.105900],[0.231662,-0.178846,0.956215]]
2025-10-26T22:20:12.374Z,1761517212.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.87 m.
2025-10-26T22:20:12.377Z,1761517212.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.873367 m,
      nav range: 112.745926 m,
      bearing: 185.964400 deg,
      approach rate: -0.695268 m/s,
      LOS rate: -0.109960 deg/s,
      cmd heading: 195.533658 deg,
      new cmd heading: 195.400584 deg.

2025-10-26T22:20:12.378Z,1761517212.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.410383 target range: 118.873367 and range: 119.40 m.
2025-10-26T22:20:12.518Z,1761517212.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763848
2025-10-26T22:20:12.768Z,1761517212.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014453
2025-10-26T22:20:12.831Z,1761517212.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928843,0.254786,0.268951],[-0.292134,-0.950171,-0.108780],[0.227834,-0.179609,0.956991]]
2025-10-26T22:20:12.868Z,1761517212.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.87 m.
2025-10-26T22:20:12.870Z,1761517212.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.873367 m,
      nav range: 112.400200 m,
      bearing: 185.915713 deg,
      approach rate: -0.700917 m/s,
      LOS rate: -0.099012 deg/s,
      cmd heading: 195.400579 deg,
      new cmd heading: 195.254067 deg.

2025-10-26T22:20:12.871Z,1761517212.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.407826 target range: 118.873367 and range: 119.40 m.
2025-10-26T22:20:13.021Z,1761517213.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267204
2025-10-26T22:20:13.226Z,1761517213.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931290,0.251197,0.263817],[-0.288590,-0.950700,-0.113514],[0.222297,-0.181849,0.957870]]
2025-10-26T22:20:13.248Z,1761517213.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.87 m.
2025-10-26T22:20:13.251Z,1761517213.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.873367 m,
      nav range: 112.135277 m,
      bearing: 185.878805 deg,
      approach rate: -0.696047 m/s,
      LOS rate: -0.097199 deg/s,
      cmd heading: 195.254071 deg,
      new cmd heading: 195.143086 deg.

2025-10-26T22:20:13.272Z,1761517213.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518641
2025-10-26T22:20:13.280Z,1761517213.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.405889 target range: 118.873367 and range: 119.40 m.
2025-10-26T22:20:13.527Z,1761517213.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772979
2025-10-26T22:20:13.631Z,1761517213.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933869,0.247958,0.257694],[-0.285343,-0.951011,-0.118986],[0.215566,-0.184648,0.958872]]
2025-10-26T22:20:13.674Z,1761517213.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.87 m.
2025-10-26T22:20:13.677Z,1761517213.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.873367 m,
      nav range: 111.831749 m,
      bearing: 185.842734 deg,
      approach rate: -0.712252 m/s,
      LOS rate: -0.084872 deg/s,
      cmd heading: 195.143081 deg,
      new cmd heading: 195.034575 deg.

2025-10-26T22:20:13.678Z,1761517213.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.403996 target range: 118.873367 and range: 119.40 m.
2025-10-26T22:20:13.777Z,1761517213.777 [DAT](INFO): DAT read: Rx Time:22:20:12.4947

2025-10-26T22:20:13.777Z,1761517213.777 [DAT](INFO): Rx dataTimestamp_ set to:1761517213.776714
2025-10-26T22:20:13.778Z,1761517213.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023706
2025-10-26T22:20:14.029Z,1761517214.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275121
2025-10-26T22:20:14.037Z,1761517214.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936390,0.245822,0.250490],[-0.282663,-0.951288,-0.123099],[0.208027,-0.186073,0.960261]]
2025-10-26T22:20:14.055Z,1761517214.055 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:14.057Z,1761517214.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.87 m.
2025-10-26T22:20:14.060Z,1761517214.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.873367 m,
      nav range: 111.560677 m,
      bearing: 185.810843 deg,
      approach rate: -0.707622 m/s,
      LOS rate: -0.083453 deg/s,
      cmd heading: 195.034576 deg,
      new cmd heading: 194.938670 deg.

2025-10-26T22:20:14.061Z,1761517214.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.402322 target range: 118.873367 and range: 119.40 m.
2025-10-26T22:20:14.283Z,1761517214.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528906
2025-10-26T22:20:14.478Z,1761517214.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938952,0.244031,0.242523],[-0.279936,-0.951688,-0.126196],[0.200011,-0.186383,0.961903]]
2025-10-26T22:20:14.538Z,1761517214.538 [DAT](INFO): DAT read: 22:20:12.4947 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX=  30, 0.09,-0.878,-2.165,-0.328,-0.833, PHS= 0.057,-1.286, 0.461, RAW= 162.8,   9.7, CAL= 162.7,  10.5, ROT= 347.3, -10.5

2025-10-26T22:20:14.539Z,1761517214.539 [DAT](INFO): got valid direction response:
 22:20:12.4947 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX=  30, 0.09,-0.878,-2.165,-0.328,-0.833, PHS= 0.057,-1.286, 0.461, RAW= 162.8,   9.7, CAL= 162.7,  10.5, ROT= 347.3, -10.5

2025-10-26T22:20:14.540Z,1761517214.540 [DAT](INFO): DAT read: Bearing 356.2,  -2.1 (Local)

2025-10-26T22:20:14.540Z,1761517214.540 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.2,  -2.1 (Local)

2025-10-26T22:20:14.542Z,1761517214.542 [DAT](INFO): DAT read: Range 11 to 50 : 113.7 m  (Round-trip  151.7 ms) speed  0.4 m/s

2025-10-26T22:20:14.542Z,1761517214.542 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:20:14.543Z,1761517214.543 [DAT](INFO): direction in FSK: [0.959199,-0.216165,0.182236]
2025-10-26T22:20:14.544Z,1761517214.544 [DAT](INFO): publishing direction and range info
2025-10-26T22:20:14.547Z,1761517214.547 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:14.547Z,1761517214.547 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:14.549Z,1761517214.549 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:20:14.629Z,1761517214.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 113.699997 m,
      deltaT: 7.819433 s,
      deltaX: -5.700005 m,
      approachRate: -0.728954 m/s,
      rangeRepo size: 4

2025-10-26T22:20:14.636Z,1761517214.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 113.161072 m,
      bearing: 185.390349 deg,
      lat: 36.779476 deg,
      lon: -121.859569 deg,
      deltaT: 7.819433 s,
      deltaX: -5.712296 m,
      approachRate: -0.730526 m/s,
      posRepo size: 4

2025-10-26T22:20:14.636Z,1761517214.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.16 m.
2025-10-26T22:20:14.639Z,1761517214.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.161072 m,
      nav range: 104.041855 m,
      bearing: 186.170393 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.083453 deg/s,
      cmd heading: 194.938667 deg,
      new cmd heading: 194.795573 deg.

2025-10-26T22:20:14.644Z,1761517214.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.399824 target range: 113.161072 and range: 113.70 m.
2025-10-26T22:20:14.784Z,1761517214.784 [DAT](INFO): DAT read: user:522>

2025-10-26T22:20:14.785Z,1761517214.785 [DAT](INFO): DAT read: Tx time:22:20:13.8888

2025-10-26T22:20:14.786Z,1761517214.786 [DAT](INFO): Ping request sent.
2025-10-26T22:20:14.786Z,1761517214.786 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:20:14.786Z,1761517214.786 [DAT](INFO): publishing transmit ping time
2025-10-26T22:20:14.786Z,1761517214.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729
2025-10-26T22:20:14.896Z,1761517214.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941502,0.242194,0.234340],[-0.277144,-0.952060,-0.129509],[0.191740,-0.186880,0.963489]]
2025-10-26T22:20:14.927Z,1761517214.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.16 m.
2025-10-26T22:20:14.934Z,1761517214.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.161072 m,
      nav range: 103.793137 m,
      bearing: 186.144511 deg,
      approach rate: -0.833939 m/s,
      LOS rate: -0.086990 deg/s,
      cmd heading: 194.795574 deg,
      new cmd heading: 194.717741 deg.

2025-10-26T22:20:14.935Z,1761517214.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.398466 target range: 113.161072 and range: 113.70 m.
2025-10-26T22:20:15.037Z,1761517215.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251560
2025-10-26T22:20:15.288Z,1761517215.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502691
2025-10-26T22:20:15.293Z,1761517215.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943884,0.240764,0.226087],[-0.274480,-0.952555,-0.131525],[0.183694,-0.186201,0.965187]]
2025-10-26T22:20:15.336Z,1761517215.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.16 m.
2025-10-26T22:20:15.339Z,1761517215.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.161072 m,
      nav range: 103.489891 m,
      bearing: 186.113374 deg,
      approach rate: -0.740577 m/s,
      LOS rate: -0.076264 deg/s,
      cmd heading: 194.717738 deg,
      new cmd heading: 194.624053 deg.

2025-10-26T22:20:15.340Z,1761517215.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.396831 target range: 113.161072 and range: 113.70 m.
2025-10-26T22:20:15.540Z,1761517215.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754706
2025-10-26T22:20:15.756Z,1761517215.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.16 m.
2025-10-26T22:20:15.759Z,1761517215.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.161072 m,
      nav range: 103.178596 m,
      bearing: 186.088473 deg,
      approach rate: -0.741649 m/s,
      LOS rate: -0.059503 deg/s,
      cmd heading: 194.624055 deg,
      new cmd heading: 194.549128 deg.

2025-10-26T22:20:15.764Z,1761517215.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.395523 target range: 113.161072 and range: 113.70 m.
2025-10-26T22:20:15.792Z,1761517215.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006574
2025-10-26T22:20:16.044Z,1761517216.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258646
2025-10-26T22:20:16.105Z,1761517216.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948117,0.239492,0.209087],[-0.270304,-0.953461,-0.133598],[0.167360,-0.183183,0.968728]]
2025-10-26T22:20:16.122Z,1761517216.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:16.125Z,1761517216.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.16 m.
2025-10-26T22:20:16.127Z,1761517216.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.161072 m,
      nav range: 102.905075 m,
      bearing: 186.067308 deg,
      approach rate: -0.742667 m/s,
      LOS rate: -0.057621 deg/s,
      cmd heading: 194.549128 deg,
      new cmd heading: 194.485463 deg.

2025-10-26T22:20:16.128Z,1761517216.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.394412 target range: 113.161072 and range: 113.70 m.
2025-10-26T22:20:16.296Z,1761517216.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510760
2025-10-26T22:20:16.543Z,1761517216.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949863,0.239700,0.200761],[-0.268930,-0.953859,-0.133526],[0.159492,-0.180822,0.970498]]
2025-10-26T22:20:16.548Z,1761517216.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762708
2025-10-26T22:20:16.605Z,1761517216.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.16 m.
2025-10-26T22:20:16.612Z,1761517216.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.161072 m,
      nav range: 102.540230 m,
      bearing: 186.043299 deg,
      approach rate: -0.758880 m/s,
      LOS rate: -0.050115 deg/s,
      cmd heading: 194.485457 deg,
      new cmd heading: 194.413175 deg.

2025-10-26T22:20:16.613Z,1761517216.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.393150 target range: 113.161072 and range: 113.70 m.
2025-10-26T22:20:16.800Z,1761517216.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014618
2025-10-26T22:20:16.932Z,1761517216.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951751,0.239435,0.191941],[-0.266800,-0.954661,-0.132061],[0.151619,-0.176899,0.972481]]
2025-10-26T22:20:16.950Z,1761517216.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.16 m.
2025-10-26T22:20:16.954Z,1761517216.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.161072 m,
      nav range: 102.267929 m,
      bearing: 186.025687 deg,
      approach rate: -0.789014 m/s,
      LOS rate: -0.051170 deg/s,
      cmd heading: 194.413179 deg,
      new cmd heading: 194.360201 deg.

2025-10-26T22:20:16.955Z,1761517216.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.392226 target range: 113.161072 and range: 113.70 m.
2025-10-26T22:20:17.052Z,1761517217.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266743
2025-10-26T22:20:17.304Z,1761517217.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518561
2025-10-26T22:20:17.334Z,1761517217.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953612,0.238648,0.183497],[-0.264483,-0.955306,-0.132055],[0.143781,-0.174461,0.974110]]
2025-10-26T22:20:17.366Z,1761517217.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.16 m.
2025-10-26T22:20:17.370Z,1761517217.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.161072 m,
      nav range: 101.946419 m,
      bearing: 186.005284 deg,
      approach rate: -0.772737 m/s,
      LOS rate: -0.049192 deg/s,
      cmd heading: 194.360205 deg,
      new cmd heading: 194.298803 deg.

2025-10-26T22:20:17.371Z,1761517217.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.391154 target range: 113.161072 and range: 113.70 m.
2025-10-26T22:20:17.556Z,1761517217.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770674
2025-10-26T22:20:17.809Z,1761517217.809 [DAT](INFO): DAT read: Rx Time:22:20:16.4404

2025-10-26T22:20:17.809Z,1761517217.809 [DAT](INFO): Rx dataTimestamp_ set to:1761517217.808705
2025-10-26T22:20:17.810Z,1761517217.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023816
2025-10-26T22:20:17.846Z,1761517217.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.16 m.
2025-10-26T22:20:17.853Z,1761517217.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.161072 m,
      nav range: 101.598404 m,
      bearing: 185.980683 deg,
      approach rate: -0.725884 m/s,
      LOS rate: -0.051487 deg/s,
      cmd heading: 194.298801 deg,
      new cmd heading: 194.224747 deg.

2025-10-26T22:20:17.854Z,1761517217.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.389861 target range: 113.161072 and range: 113.70 m.
2025-10-26T22:20:18.060Z,1761517218.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274665
2025-10-26T22:20:18.190Z,1761517218.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:18.213Z,1761517218.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.16 m.
2025-10-26T22:20:18.234Z,1761517218.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.161072 m,
      nav range: 101.321030 m,
      bearing: 185.960954 deg,
      approach rate: -0.765126 m/s,
      LOS rate: -0.054571 deg/s,
      cmd heading: 194.224748 deg,
      new cmd heading: 194.165399 deg.

2025-10-26T22:20:18.242Z,1761517218.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.388825 target range: 113.161072 and range: 113.70 m.
2025-10-26T22:20:18.323Z,1761517218.323 [DAT](INFO): DAT read: 22:20:16.4404 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 403,-0.41,-0.664,-2.100,-0.064,-0.721, PHS= 0.160,-1.334, 0.613, RAW= 162.9,   6.4, CAL= 162.2,   6.0, ROT= 347.8,  -6.0

2025-10-26T22:20:18.325Z,1761517218.325 [DAT](INFO): got valid direction response:
 22:20:16.4404 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 403,-0.41,-0.664,-2.100,-0.064,-0.721, PHS= 0.160,-1.334, 0.613, RAW= 162.9,   6.4, CAL= 162.2,   6.0, ROT= 347.8,  -6.0

2025-10-26T22:20:18.326Z,1761517218.326 [DAT](INFO): DAT read: Bearing 349.2,  -5.2 (Local)

2025-10-26T22:20:18.326Z,1761517218.326 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.2,  -5.2 (Local)

2025-10-26T22:20:18.329Z,1761517218.329 [DAT](INFO): DAT read: Range 11 to 50 : 110.5 m  (Round-trip  147.4 ms) speed  1.3 m/s

2025-10-26T22:20:18.330Z,1761517218.330 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:20:18.331Z,1761517218.331 [DAT](INFO): direction in FSK: [0.972061,-0.210167,0.104528]
2025-10-26T22:20:18.331Z,1761517218.331 [DAT](INFO): publishing direction and range info
2025-10-26T22:20:18.353Z,1761517218.353 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:18.353Z,1761517218.353 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:18.354Z,1761517218.354 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:20:18.567Z,1761517218.567 [DAT](INFO): DAT read: user:523>

2025-10-26T22:20:18.570Z,1761517218.570 [DAT](INFO): DAT read: Tx time:22:20:17.7388

2025-10-26T22:20:18.571Z,1761517218.571 [DAT](INFO): Ping request sent.
2025-10-26T22:20:18.571Z,1761517218.571 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:20:18.571Z,1761517218.571 [DAT](INFO): publishing transmit ping time
2025-10-26T22:20:18.572Z,1761517218.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001235
2025-10-26T22:20:18.585Z,1761517218.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959199,0.233495,0.159425],[-0.255986,-0.956622,-0.139091],[0.120032,-0.174227,0.977362]]
2025-10-26T22:20:18.670Z,1761517218.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 110.500000 m,
      deltaT: 3.782975 s,
      deltaX: -3.199997 m,
      approachRate: -0.845894 m/s,
      rangeRepo size: 4

2025-10-26T22:20:18.676Z,1761517218.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 109.976189 m,
      bearing: 183.695897 deg,
      lat: 36.779476 deg,
      lon: -121.859569 deg,
      deltaT: 3.782975 s,
      deltaX: -3.184883 m,
      approachRate: -0.841899 m/s,
      posRepo size: 4

2025-10-26T22:20:18.677Z,1761517218.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:18.684Z,1761517218.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 100.969162 m,
      bearing: 185.934997 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.054571 deg/s,
      cmd heading: 194.165394 deg,
      new cmd heading: 194.089933 deg.

2025-10-26T22:20:18.685Z,1761517218.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.387508 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:18.816Z,1761517218.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245715
2025-10-26T22:20:18.966Z,1761517218.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960830,0.231885,0.151772],[-0.253412,-0.956818,-0.142415],[0.112195,-0.175297,0.978102]]
2025-10-26T22:20:18.992Z,1761517218.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:18.997Z,1761517218.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 100.716400 m,
      bearing: 185.916660 deg,
      approach rate: -0.786071 m/s,
      LOS rate: -0.057169 deg/s,
      cmd heading: 194.089934 deg,
      new cmd heading: 194.034786 deg.

2025-10-26T22:20:18.998Z,1761517218.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.386546 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:19.070Z,1761517219.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498579
2025-10-26T22:20:19.320Z,1761517219.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749570
2025-10-26T22:20:19.367Z,1761517219.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962470,0.229612,0.144674],[-0.250461,-0.956792,-0.147712],[0.104507,-0.178404,0.978392]]
2025-10-26T22:20:19.386Z,1761517219.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:19.397Z,1761517219.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 100.409477 m,
      bearing: 185.894845 deg,
      approach rate: -0.777607 m/s,
      LOS rate: -0.055438 deg/s,
      cmd heading: 194.034787 deg,
      new cmd heading: 193.969142 deg.

2025-10-26T22:20:19.398Z,1761517219.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.385400 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:19.572Z,1761517219.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001528
2025-10-26T22:20:19.823Z,1761517219.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:19.824Z,1761517219.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253720
2025-10-26T22:20:19.827Z,1761517219.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 100.076050 m,
      bearing: 185.869079 deg,
      approach rate: -0.763070 m/s,
      LOS rate: -0.059163 deg/s,
      cmd heading: 193.969135 deg,
      new cmd heading: 193.891580 deg.

2025-10-26T22:20:19.828Z,1761517219.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.384047 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:20.076Z,1761517220.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505700
2025-10-26T22:20:20.329Z,1761517220.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757770
2025-10-26T22:20:20.357Z,1761517220.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:20.359Z,1761517220.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:20.362Z,1761517220.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 99.667145 m,
      bearing: 185.837244 deg,
      approach rate: -0.762595 m/s,
      LOS rate: -0.059615 deg/s,
      cmd heading: 193.891585 deg,
      new cmd heading: 193.795688 deg.

2025-10-26T22:20:20.363Z,1761517220.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.382373 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:20.585Z,1761517220.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014191
2025-10-26T22:20:20.797Z,1761517220.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967882,0.223138,0.115819],[-0.239146,-0.959269,-0.150372],[0.077548,-0.173240,0.981822]]
2025-10-26T22:20:20.832Z,1761517220.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261688
2025-10-26T22:20:20.852Z,1761517220.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:20.854Z,1761517220.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 99.298523 m,
      bearing: 185.809606 deg,
      approach rate: -0.747901 m/s,
      LOS rate: -0.056283 deg/s,
      cmd heading: 193.795689 deg,
      new cmd heading: 193.712468 deg.

2025-10-26T22:20:20.880Z,1761517220.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.380920 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:21.087Z,1761517221.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516476
2025-10-26T22:20:21.317Z,1761517221.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968910,0.221895,0.109435],[-0.236833,-0.959779,-0.150777],[0.071577,-0.172007,0.982492]]
2025-10-26T22:20:21.336Z,1761517221.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765719
2025-10-26T22:20:21.361Z,1761517221.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:21.367Z,1761517221.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 98.923706 m,
      bearing: 185.781841 deg,
      approach rate: -0.736354 m/s,
      LOS rate: -0.054754 deg/s,
      cmd heading: 193.712470 deg,
      new cmd heading: 193.628858 deg.

2025-10-26T22:20:21.368Z,1761517221.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.379461 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:21.591Z,1761517221.591 [DAT](INFO): DAT read: Rx Time:22:20:20.2867

2025-10-26T22:20:21.593Z,1761517221.593 [DAT](INFO): Rx dataTimestamp_ set to:1761517221.592132
2025-10-26T22:20:21.595Z,1761517221.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023823
2025-10-26T22:20:21.710Z,1761517221.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969755,0.221121,0.103352],[-0.235016,-0.960229,-0.150759],[0.065906,-0.170488,0.983153]]
2025-10-26T22:20:21.763Z,1761517221.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:21.765Z,1761517221.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 98.612831 m,
      bearing: 185.755841 deg,
      approach rate: -0.773561 m/s,
      LOS rate: -0.064900 deg/s,
      cmd heading: 193.628855 deg,
      new cmd heading: 193.550611 deg.

2025-10-26T22:20:21.766Z,1761517221.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.378095 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:21.841Z,1761517221.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270405
2025-10-26T22:20:22.109Z,1761517222.109 [DAT](INFO): DAT read: 22:20:20.2867 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 396, 0.24,-2.248, 2.625,-1.761,-2.343, PHS= 0.197,-1.270, 0.538, RAW= 160.2,   6.5, CAL= 159.6,   6.2, ROT= 350.4,  -6.2

2025-10-26T22:20:22.110Z,1761517222.110 [DAT](INFO): got valid direction response:
 22:20:20.2867 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 396, 0.24,-2.248, 2.625,-1.761,-2.343, PHS= 0.197,-1.270, 0.538, RAW= 160.2,   6.5, CAL= 159.6,   6.2, ROT= 350.4,  -6.2

2025-10-26T22:20:22.111Z,1761517222.111 [DAT](INFO): DAT read: $Error in header

2025-10-26T22:20:22.111Z,1761517222.111 [DAT](INFO): Received a bad header
2025-10-26T22:20:22.124Z,1761517222.124 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T22:20:22.125Z,1761517222.125 [DAT](INFO): direction in FSK: [0.980229,-0.165794,0.107999]
2025-10-26T22:20:22.148Z,1761517222.148 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:22.148Z,1761517222.148 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:22.148Z,1761517222.148 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:22.158Z,1761517222.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970597,0.219920,0.097858],[-0.233029,-0.960350,-0.153054],[0.060319,-0.171357,0.983361]]
2025-10-26T22:20:22.213Z,1761517222.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:22.220Z,1761517222.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 98.285751 m,
      bearing: 185.728726 deg,
      approach rate: -0.726632 m/s,
      LOS rate: -0.060439 deg/s,
      cmd heading: 193.550609 deg,
      new cmd heading: 193.468992 deg.

2025-10-26T22:20:22.221Z,1761517222.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.376671 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:22.344Z,1761517222.344 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:22.344Z,1761517222.344 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:22.344Z,1761517222.344 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:22.524Z,1761517222.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971117,0.219596,0.093323],[-0.232295,-0.959471,-0.159547],[0.054505,-0.176618,0.982769]]
2025-10-26T22:20:22.556Z,1761517222.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:22.558Z,1761517222.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:22.561Z,1761517222.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 98.012726 m,
      bearing: 185.706104 deg,
      approach rate: -0.791000 m/s,
      LOS rate: -0.065722 deg/s,
      cmd heading: 193.468988 deg,
      new cmd heading: 193.400933 deg.

2025-10-26T22:20:22.562Z,1761517222.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.375483 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:22.598Z,1761517222.598 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:22.599Z,1761517222.599 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:22.599Z,1761517222.599 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:22.848Z,1761517222.848 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:22.848Z,1761517222.848 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:22.848Z,1761517222.848 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:23.048Z,1761517223.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971527,0.219963,0.088049],[-0.231893,-0.958998,-0.162938],[0.048599,-0.178716,0.982700]]
2025-10-26T22:20:23.100Z,1761517223.100 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:23.100Z,1761517223.100 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:23.100Z,1761517223.100 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:23.175Z,1761517223.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:23.177Z,1761517223.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 97.543755 m,
      bearing: 185.659146 deg,
      approach rate: -0.760402 m/s,
      LOS rate: -0.076505 deg/s,
      cmd heading: 193.400932 deg,
      new cmd heading: 193.259381 deg.

2025-10-26T22:20:23.178Z,1761517223.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.373013 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:23.352Z,1761517223.352 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:23.352Z,1761517223.352 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:23.352Z,1761517223.352 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:23.510Z,1761517223.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972107,0.219815,0.081784],[-0.230515,-0.959766,-0.160352],[0.043246,-0.174732,0.983666]]
2025-10-26T22:20:23.558Z,1761517223.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:23.573Z,1761517223.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 97.266388 m,
      bearing: 185.631384 deg,
      approach rate: -0.723430 m/s,
      LOS rate: -0.072615 deg/s,
      cmd heading: 193.259383 deg,
      new cmd heading: 193.175860 deg.

2025-10-26T22:20:23.581Z,1761517223.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.371555 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:23.608Z,1761517223.608 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:23.609Z,1761517223.609 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:23.609Z,1761517223.609 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:23.856Z,1761517223.856 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:23.856Z,1761517223.856 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:23.856Z,1761517223.856 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:24.042Z,1761517224.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973371,0.218161,0.070391],[-0.226665,-0.961815,-0.153410],[0.034235,-0.165280,0.985652]]
2025-10-26T22:20:24.103Z,1761517224.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:24.106Z,1761517224.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 96.842003 m,
      bearing: 185.585270 deg,
      approach rate: -0.778901 m/s,
      LOS rate: -0.085006 deg/s,
      cmd heading: 193.175863 deg,
      new cmd heading: 193.036916 deg.

2025-10-26T22:20:24.107Z,1761517224.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.369130 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:24.108Z,1761517224.108 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:24.108Z,1761517224.108 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:24.108Z,1761517224.108 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:24.361Z,1761517224.361 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:24.361Z,1761517224.361 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:24.361Z,1761517224.361 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:24.445Z,1761517224.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974019,0.216526,0.066354],[-0.224409,-0.962209,-0.154257],[0.030445,-0.165140,0.985800]]
2025-10-26T22:20:24.517Z,1761517224.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:24.519Z,1761517224.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 96.547440 m,
      bearing: 185.553443 deg,
      approach rate: -0.711935 m/s,
      LOS rate: -0.077158 deg/s,
      cmd heading: 193.036910 deg,
      new cmd heading: 192.941138 deg.

2025-10-26T22:20:24.520Z,1761517224.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.367458 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:24.617Z,1761517224.617 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:24.617Z,1761517224.617 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:24.617Z,1761517224.617 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:24.864Z,1761517224.864 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:24.864Z,1761517224.864 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:24.864Z,1761517224.864 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:24.898Z,1761517224.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:24.900Z,1761517224.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:24.905Z,1761517224.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 96.225700 m,
      bearing: 185.515317 deg,
      approach rate: -0.838100 m/s,
      LOS rate: -0.099647 deg/s,
      cmd heading: 192.941137 deg,
      new cmd heading: 192.826376 deg.

2025-10-26T22:20:24.906Z,1761517224.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.365455 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:25.120Z,1761517225.120 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:25.121Z,1761517225.121 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:25.121Z,1761517225.121 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:25.250Z,1761517225.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974942,0.214342,0.059538],[-0.221181,-0.962616,-0.156365],[0.023796,-0.165615,0.985903]]
2025-10-26T22:20:25.269Z,1761517225.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:25.271Z,1761517225.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 95.937057 m,
      bearing: 185.481494 deg,
      approach rate: -0.784162 m/s,
      LOS rate: -0.092165 deg/s,
      cmd heading: 192.826376 deg,
      new cmd heading: 192.724601 deg.

2025-10-26T22:20:25.272Z,1761517225.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.363679 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:25.368Z,1761517225.368 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:25.368Z,1761517225.368 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:25.368Z,1761517225.368 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:25.622Z,1761517225.622 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:25.623Z,1761517225.623 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:25.623Z,1761517225.623 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:25.749Z,1761517225.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975520,0.212600,0.056226],[-0.218958,-0.962774,-0.158507],[0.020434,-0.166938,0.985756]]
2025-10-26T22:20:25.794Z,1761517225.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:25.797Z,1761517225.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 95.533340 m,
      bearing: 185.433506 deg,
      approach rate: -0.768272 m/s,
      LOS rate: -0.091706 deg/s,
      cmd heading: 192.724606 deg,
      new cmd heading: 192.580035 deg.

2025-10-26T22:20:25.798Z,1761517225.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.361156 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:25.873Z,1761517225.873 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:25.873Z,1761517225.873 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:25.873Z,1761517225.873 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:26.125Z,1761517226.125 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:26.126Z,1761517226.126 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:26.126Z,1761517226.126 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:26.150Z,1761517226.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976125,0.210736,0.052638],[-0.216546,-0.963069,-0.160021],[0.016972,-0.167599,0.985709]]
2025-10-26T22:20:26.168Z,1761517226.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:26.171Z,1761517226.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 95.245766 m,
      bearing: 185.399521 deg,
      approach rate: -0.768916 m/s,
      LOS rate: -0.091144 deg/s,
      cmd heading: 192.580039 deg,
      new cmd heading: 192.477775 deg.

2025-10-26T22:20:26.172Z,1761517226.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.359371 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:26.376Z,1761517226.376 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:26.377Z,1761517226.377 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:26.377Z,1761517226.377 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:26.571Z,1761517226.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976569,0.209211,0.050432],[-0.214735,-0.962763,-0.164242],[0.014193,-0.171223,0.985130]]
2025-10-26T22:20:26.590Z,1761517226.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:26.613Z,1761517226.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 94.921661 m,
      bearing: 185.361365 deg,
      approach rate: -0.768469 m/s,
      LOS rate: -0.090778 deg/s,
      cmd heading: 192.477777 deg,
      new cmd heading: 192.362920 deg.

2025-10-26T22:20:26.614Z,1761517226.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.357366 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:26.630Z,1761517226.630 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:26.631Z,1761517226.631 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:26.631Z,1761517226.631 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:26.881Z,1761517226.881 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:26.881Z,1761517226.881 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:26.881Z,1761517226.881 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:27.028Z,1761517227.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977079,0.207256,0.048604],[-0.212539,-0.962640,-0.167786],[0.012014,-0.174270,0.984625]]
2025-10-26T22:20:27.071Z,1761517227.071 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:27.073Z,1761517227.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:27.076Z,1761517227.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 94.538803 m,
      bearing: 185.314196 deg,
      approach rate: -0.792574 m/s,
      LOS rate: -0.098043 deg/s,
      cmd heading: 192.362921 deg,
      new cmd heading: 192.220840 deg.

2025-10-26T22:20:27.077Z,1761517227.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.354887 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:27.133Z,1761517227.133 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:27.133Z,1761517227.133 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:27.133Z,1761517227.133 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:27.384Z,1761517227.384 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:27.384Z,1761517227.384 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:27.384Z,1761517227.384 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:27.430Z,1761517227.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977614,0.205194,0.046540],[-0.210152,-0.963114,-0.168070],[0.010337,-0.174088,0.984676]]
2025-10-26T22:20:27.459Z,1761517227.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:27.462Z,1761517227.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 94.231735 m,
      bearing: 185.276556 deg,
      approach rate: -0.794782 m/s,
      LOS rate: -0.097741 deg/s,
      cmd heading: 192.220839 deg,
      new cmd heading: 192.107551 deg.

2025-10-26T22:20:27.465Z,1761517227.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.352909 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:27.639Z,1761517227.639 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:27.639Z,1761517227.639 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:27.639Z,1761517227.639 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:27.837Z,1761517227.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978211,0.202817,0.044369],[-0.207415,-0.964043,-0.166136],[0.009079,-0.171718,0.985104]]
2025-10-26T22:20:27.888Z,1761517227.888 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:27.888Z,1761517227.888 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:27.888Z,1761517227.888 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:27.909Z,1761517227.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:27.916Z,1761517227.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 93.885078 m,
      bearing: 185.237805 deg,
      approach rate: -0.770828 m/s,
      LOS rate: -0.086486 deg/s,
      cmd heading: 192.107554 deg,
      new cmd heading: 191.990870 deg.

2025-10-26T22:20:27.917Z,1761517227.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.350873 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:28.142Z,1761517228.142 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:28.142Z,1761517228.142 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:28.142Z,1761517228.142 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:28.238Z,1761517228.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978891,0.199895,0.042583],[-0.204209,-0.965143,-0.163700],[0.008376,-0.168941,0.985591]]
2025-10-26T22:20:28.280Z,1761517228.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:28.283Z,1761517228.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 93.599983 m,
      bearing: 185.206309 deg,
      approach rate: -0.769720 m/s,
      LOS rate: -0.085293 deg/s,
      cmd heading: 191.990867 deg,
      new cmd heading: 191.896092 deg.

2025-10-26T22:20:28.284Z,1761517228.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.349219 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:28.392Z,1761517228.392 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:28.392Z,1761517228.392 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:28.392Z,1761517228.392 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:20:28.644Z,1761517228.644 [DAT](INFO): Reached modem response timeout
2025-10-26T22:20:28.644Z,1761517228.644 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:28.645Z,1761517228.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:20:28.651Z,1761517228.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979557,0.196913,0.041162],[-0.201016,-0.966090,-0.162059],[0.007855,-0.167020,0.985922]]
2025-10-26T22:20:28.747Z,1761517228.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:28.750Z,1761517228.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 93.264183 m,
      bearing: 185.169658 deg,
      approach rate: -0.723982 m/s,
      LOS rate: -0.079304 deg/s,
      cmd heading: 191.896091 deg,
      new cmd heading: 191.785741 deg.

2025-10-26T22:20:28.751Z,1761517228.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.347293 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:28.899Z,1761517228.899 [DAT](INFO): DAT read: 

2025-10-26T22:20:28.900Z,1761517228.900 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:29.148Z,1761517229.148 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:29.150Z,1761517229.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980400,0.192637,0.041305],[-0.196867,-0.966019,-0.167482],[0.007638,-0.172332,0.985009]]
2025-10-26T22:20:29.204Z,1761517229.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:29.206Z,1761517229.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:29.209Z,1761517229.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 92.868065 m,
      bearing: 185.135623 deg,
      approach rate: -0.856244 m/s,
      LOS rate: -0.073883 deg/s,
      cmd heading: 191.785742 deg,
      new cmd heading: 191.683202 deg.

2025-10-26T22:20:29.210Z,1761517229.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.345503 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:29.400Z,1761517229.400 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:29.547Z,1761517229.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980624,0.191196,0.042668],[-0.195747,-0.964919,-0.174968],[0.007718,-0.179930,0.983649]]
2025-10-26T22:20:29.573Z,1761517229.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:29.576Z,1761517229.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 92.559692 m,
      bearing: 185.109101 deg,
      approach rate: -0.840245 m/s,
      LOS rate: -0.072507 deg/s,
      cmd heading: 191.683208 deg,
      new cmd heading: 191.603377 deg.

2025-10-26T22:20:29.577Z,1761517229.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.344110 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:29.652Z,1761517229.652 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:29.904Z,1761517229.904 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:29.954Z,1761517229.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980711,0.190381,0.044284],[-0.195285,-0.964020,-0.180357],[0.008354,-0.185526,0.982604]]
2025-10-26T22:20:30.014Z,1761517230.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:30.017Z,1761517230.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 92.209320 m,
      bearing: 185.087026 deg,
      approach rate: -0.793417 m/s,
      LOS rate: -0.050177 deg/s,
      cmd heading: 191.603376 deg,
      new cmd heading: 191.536902 deg.

2025-10-26T22:20:30.018Z,1761517230.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.342950 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:30.156Z,1761517230.156 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:30.409Z,1761517230.409 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:30.467Z,1761517230.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980655,0.190262,0.046004],[-0.195531,-0.963124,-0.184822],[0.009143,-0.190242,0.981695]]
2025-10-26T22:20:30.516Z,1761517230.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:30.518Z,1761517230.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 91.829468 m,
      bearing: 185.062796 deg,
      approach rate: -0.758281 m/s,
      LOS rate: -0.048570 deg/s,
      cmd heading: 191.536905 deg,
      new cmd heading: 191.463913 deg.

2025-10-26T22:20:30.519Z,1761517230.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.341676 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:30.660Z,1761517230.660 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:30.913Z,1761517230.913 [DAT](INFO): DAT read: Response Not Received

2025-10-26T22:20:30.913Z,1761517230.913 [DAT](INFO): response not received
2025-10-26T22:20:30.914Z,1761517230.914 [DAT](INFO): DAT read: user:525>Tx time:22:20:30.1888

2025-10-26T22:20:30.914Z,1761517230.914 [DAT](ERROR): No response from remote modem.
2025-10-26T22:20:30.914Z,1761517230.914 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:30.914Z,1761517230.914 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:20:30.996Z,1761517230.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:30.998Z,1761517230.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 91.452080 m,
      bearing: 185.044240 deg,
      approach rate: -0.788370 m/s,
      LOS rate: -0.038925 deg/s,
      cmd heading: 191.463917 deg,
      new cmd heading: 191.408018 deg.

2025-10-26T22:20:30.999Z,1761517230.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.340700 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:31.164Z,1761517231.164 [DAT](INFO): DAT read: 

2025-10-26T22:20:31.165Z,1761517231.165 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:31.307Z,1761517231.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980172,0.192115,0.048524],[-0.197833,-0.962621,-0.184992],[0.011170,-0.190924,0.981541]]
2025-10-26T22:20:31.324Z,1761517231.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:31.326Z,1761517231.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:31.345Z,1761517231.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 91.163956 m,
      bearing: 185.029534 deg,
      approach rate: -0.866653 m/s,
      LOS rate: -0.044372 deg/s,
      cmd heading: 191.408019 deg,
      new cmd heading: 191.363764 deg.

2025-10-26T22:20:31.346Z,1761517231.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.339928 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:31.417Z,1761517231.417 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:31.670Z,1761517231.670 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:31.754Z,1761517231.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979834,0.193531,0.049714],[-0.199397,-0.963113,-0.180707],[0.012908,-0.186975,0.982280]]
2025-10-26T22:20:31.843Z,1761517231.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:31.850Z,1761517231.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 90.762596 m,
      bearing: 185.016721 deg,
      approach rate: -0.777295 m/s,
      LOS rate: -0.024925 deg/s,
      cmd heading: 191.363760 deg,
      new cmd heading: 191.325149 deg.

2025-10-26T22:20:31.851Z,1761517231.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.339254 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:31.920Z,1761517231.920 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:32.172Z,1761517232.172 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:32.199Z,1761517232.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979562,0.194569,0.051008],[-0.200607,-0.963535,-0.177080],[0.014694,-0.183693,0.982874]]
2025-10-26T22:20:32.218Z,1761517232.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:32.220Z,1761517232.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 90.460091 m,
      bearing: 185.006775 deg,
      approach rate: -0.807355 m/s,
      LOS rate: -0.026634 deg/s,
      cmd heading: 191.325155 deg,
      new cmd heading: 191.295217 deg.

2025-10-26T22:20:32.221Z,1761517232.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.338731 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:32.424Z,1761517232.424 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:32.612Z,1761517232.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979259,0.195563,0.052983],[-0.201924,-0.963520,-0.175656],[0.016698,-0.182712,0.983025]]
2025-10-26T22:20:32.631Z,1761517232.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:32.633Z,1761517232.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 90.134254 m,
      bearing: 184.995715 deg,
      approach rate: -0.788780 m/s,
      LOS rate: -0.026870 deg/s,
      cmd heading: 191.295212 deg,
      new cmd heading: 191.261913 deg.

2025-10-26T22:20:32.634Z,1761517232.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.338150 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:32.677Z,1761517232.677 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:32.928Z,1761517232.928 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:33.018Z,1761517233.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978902,0.196780,0.055036],[-0.203447,-0.963684,-0.172983],[0.018997,-0.180531,0.983386]]
2025-10-26T22:20:33.064Z,1761517233.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:33.066Z,1761517233.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 89.794975 m,
      bearing: 184.987304 deg,
      approach rate: -0.784315 m/s,
      LOS rate: -0.019516 deg/s,
      cmd heading: 191.261908 deg,
      new cmd heading: 191.236581 deg.

2025-10-26T22:20:33.067Z,1761517233.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.337708 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:33.181Z,1761517233.181 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:33.432Z,1761517233.432 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:33.474Z,1761517233.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978652,0.197557,0.056672],[-0.204398,-0.964384,-0.167886],[0.021487,-0.175886,0.984176]]
2025-10-26T22:20:33.508Z,1761517233.508 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:33.510Z,1761517233.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:33.514Z,1761517233.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 89.453682 m,
      bearing: 184.978589 deg,
      approach rate: -0.763646 m/s,
      LOS rate: -0.019576 deg/s,
      cmd heading: 191.236581 deg,
      new cmd heading: 191.210335 deg.

2025-10-26T22:20:33.514Z,1761517233.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.337250 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:33.685Z,1761517233.685 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:33.936Z,1761517233.936 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:33.975Z,1761517233.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978425,0.197513,0.060605],[-0.204851,-0.965562,-0.160395],[0.026838,-0.169349,0.985191]]
2025-10-26T22:20:34.037Z,1761517234.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:34.041Z,1761517234.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 89.044388 m,
      bearing: 184.967080 deg,
      approach rate: -0.776696 m/s,
      LOS rate: -0.021941 deg/s,
      cmd heading: 191.210340 deg,
      new cmd heading: 191.175654 deg.

2025-10-26T22:20:34.042Z,1761517234.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.336645 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:34.189Z,1761517234.189 [DAT](INFO): DAT read: Rx Time:22:20:32.7239

2025-10-26T22:20:34.190Z,1761517234.190 [DAT](INFO): Rx dataTimestamp_ set to:1761517234.189231
2025-10-26T22:20:34.190Z,1761517234.190 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:34.396Z,1761517234.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978409,0.196762,0.063242],[-0.204541,-0.965722,-0.159826],[0.029627,-0.169311,0.985117]]
2025-10-26T22:20:34.440Z,1761517234.440 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:34.441Z,1761517234.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.98 m.
2025-10-26T22:20:34.444Z,1761517234.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.976189 m,
      nav range: 88.710648 m,
      bearing: 184.957683 deg,
      approach rate: -0.829162 m/s,
      LOS rate: -0.023435 deg/s,
      cmd heading: 191.175656 deg,
      new cmd heading: 191.147359 deg.

2025-10-26T22:20:34.445Z,1761517234.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.336151 target range: 109.976189 and range: 110.50 m.
2025-10-26T22:20:34.701Z,1761517234.701 [DAT](INFO): DAT read: 22:20:32.7239 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 313,-0.06, 0.836,-0.639, 1.371, 0.798, PHS= 0.140,-1.392, 0.529, RAW= 161.0,   8.3, CAL= 160.7,   8.5, ROT= 349.3,  -8.5

2025-10-26T22:20:34.702Z,1761517234.702 [DAT](INFO): got valid direction response:
 22:20:32.7239 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 313,-0.06, 0.836,-0.639, 1.371, 0.798, PHS= 0.140,-1.392, 0.529, RAW= 161.0,   8.3, CAL= 160.7,   8.5, ROT= 349.3,  -8.5

2025-10-26T22:20:34.705Z,1761517234.705 [DAT](INFO): DAT read: Bearing 347.2, -10.9 (Local)

2025-10-26T22:20:34.705Z,1761517234.705 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.2, -10.9 (Local)

2025-10-26T22:20:34.707Z,1761517234.707 [DAT](INFO): DAT read: Range 11 to 50 : 98.1 m  (Round-trip  130.9 ms) speed  0.7 m/s

2025-10-26T22:20:34.708Z,1761517234.708 [DAT](INFO): DAT read: Tx time:22:20:33.7888

2025-10-26T22:20:34.709Z,1761517234.709 [DAT](INFO): Ping request sent.
2025-10-26T22:20:34.709Z,1761517234.709 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:20:34.709Z,1761517234.709 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:20:34.711Z,1761517234.711 [DAT](INFO): direction in FSK: [0.971820,-0.183627,0.147809]
2025-10-26T22:20:34.713Z,1761517234.713 [DAT](INFO): publishing transmit ping time
2025-10-26T22:20:34.713Z,1761517234.713 [DAT](INFO): publishing direction and range info
2025-10-26T22:20:34.817Z,1761517234.817 [DAT](INFO): publishing transmit ping time
2025-10-26T22:20:34.817Z,1761517234.817 [DAT](INFO): publishing direction and range info
2025-10-26T22:20:35.006Z,1761517235.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 98.099998 m,
      deltaT: 16.377246 s,
      deltaX: -12.400002 m,
      approachRate: -0.757148 m/s,
      rangeRepo size: 4

2025-10-26T22:20:35.024Z,1761517235.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 97.628609 m,
      bearing: 182.639474 deg,
      lat: 36.779425 deg,
      lon: -121.859552 deg,
      deltaT: 16.377246 s,
      deltaX: -12.347580 m,
      approachRate: -0.753947 m/s,
      posRepo size: 4

2025-10-26T22:20:35.025Z,1761517235.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.63 m.
2025-10-26T22:20:35.031Z,1761517235.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.628609 m,
      nav range: 93.824608 m,
      bearing: 183.742633 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023435 deg/s,
      cmd heading: 191.147352 deg,
      new cmd heading: 191.107607 deg.

2025-10-26T22:20:35.032Z,1761517235.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.335457 target range: 97.628609 and range: 98.10 m.
2025-10-26T22:20:35.324Z,1761517235.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978448,0.193831,0.071201],[-0.203175,-0.965255,-0.164327],[0.036875,-0.175252,0.983833]]
2025-10-26T22:20:35.342Z,1761517235.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.63 m.
2025-10-26T22:20:35.345Z,1761517235.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.628609 m,
      nav range: 93.559357 m,
      bearing: 183.728402 deg,
      approach rate: -0.786304 m/s,
      LOS rate: -0.042305 deg/s,
      cmd heading: 191.107614 deg,
      new cmd heading: 191.064801 deg.

2025-10-26T22:20:35.346Z,1761517235.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.334710 target range: 97.628609 and range: 98.10 m.
2025-10-26T22:20:35.739Z,1761517235.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978435,0.192085,0.075951],[-0.202474,-0.964645,-0.168715],[0.040858,-0.180455,0.982734]]
2025-10-26T22:20:35.811Z,1761517235.811 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:35.825Z,1761517235.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.63 m.
2025-10-26T22:20:35.831Z,1761517235.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.628609 m,
      nav range: 93.224648 m,
      bearing: 183.710487 deg,
      approach rate: -0.693855 m/s,
      LOS rate: -0.037271 deg/s,
      cmd heading: 191.064802 deg,
      new cmd heading: 191.010864 deg.

2025-10-26T22:20:35.832Z,1761517235.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.333768 target range: 97.628609 and range: 98.10 m.
2025-10-26T22:20:35.953Z,1761517235.953 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:35.953Z,1761517235.953 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:35.954Z,1761517235.954 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:20:36.136Z,1761517236.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978356,0.190621,0.080516],[-0.202005,-0.964185,-0.171877],[0.044869,-0.184422,0.981822]]
2025-10-26T22:20:36.181Z,1761517236.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.63 m.
2025-10-26T22:20:36.184Z,1761517236.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.628609 m,
      nav range: 92.916672 m,
      bearing: 183.687116 deg,
      approach rate: -0.863626 m/s,
      LOS rate: -0.065752 deg/s,
      cmd heading: 191.010857 deg,
      new cmd heading: 190.940514 deg.

2025-10-26T22:20:36.185Z,1761517236.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.332541 target range: 97.628609 and range: 98.10 m.
2025-10-26T22:20:36.204Z,1761517236.204 [DAT](INFO): DAT read: user:526>

2025-10-26T22:20:36.205Z,1761517236.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496269
2025-10-26T22:20:36.458Z,1761517236.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748852
2025-10-26T22:20:36.539Z,1761517236.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978206,0.189393,0.085104],[-0.201726,-0.963958,-0.173469],[0.049183,-0.186856,0.981155]]
2025-10-26T22:20:36.563Z,1761517236.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.63 m.
2025-10-26T22:20:36.565Z,1761517236.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.628609 m,
      nav range: 92.628860 m,
      bearing: 183.665192 deg,
      approach rate: -0.754802 m/s,
      LOS rate: -0.057675 deg/s,
      cmd heading: 190.940520 deg,
      new cmd heading: 190.874544 deg.

2025-10-26T22:20:36.566Z,1761517236.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.331389 target range: 97.628609 and range: 98.10 m.
2025-10-26T22:20:36.709Z,1761517236.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999729
2025-10-26T22:20:36.946Z,1761517236.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977935,0.188780,0.089472],[-0.201960,-0.963857,-0.173760],[0.053436,-0.187996,0.980715]]
2025-10-26T22:20:36.961Z,1761517236.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251824
2025-10-26T22:20:37.014Z,1761517237.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.63 m.
2025-10-26T22:20:37.031Z,1761517237.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.628609 m,
      nav range: 92.285019 m,
      bearing: 183.628994 deg,
      approach rate: -0.761797 m/s,
      LOS rate: -0.080498 deg/s,
      cmd heading: 190.874540 deg,
      new cmd heading: 190.765541 deg.

2025-10-26T22:20:37.036Z,1761517237.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.329487 target range: 97.628609 and range: 98.10 m.
2025-10-26T22:20:37.212Z,1761517237.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503485
2025-10-26T22:20:37.349Z,1761517237.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977710,0.188095,0.093290],[-0.201881,-0.964261,-0.171598],[0.057679,-0.186607,0.980740]]
2025-10-26T22:20:37.373Z,1761517237.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.63 m.
2025-10-26T22:20:37.376Z,1761517237.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.628609 m,
      nav range: 92.014389 m,
      bearing: 183.600305 deg,
      approach rate: -0.753957 m/s,
      LOS rate: -0.080160 deg/s,
      cmd heading: 190.765544 deg,
      new cmd heading: 190.679225 deg.

2025-10-26T22:20:37.377Z,1761517237.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.327980 target range: 97.628609 and range: 98.10 m.
2025-10-26T22:20:37.466Z,1761517237.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756893
2025-10-26T22:20:37.717Z,1761517237.717 [DAT](INFO): DAT read: Rx Time:22:20:36.3202

2025-10-26T22:20:37.718Z,1761517237.718 [DAT](INFO): Rx dataTimestamp_ set to:1761517237.717445
2025-10-26T22:20:37.719Z,1761517237.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009357
2025-10-26T22:20:37.768Z,1761517237.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977314,0.188279,0.096994],[-0.202687,-0.964295,-0.170449],[0.061439,-0.186241,0.980581]]
2025-10-26T22:20:37.819Z,1761517237.819 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:20:37.919Z,1761517237.919 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768,
2025-10-26T22:20:37.938Z,1761517237.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:37.944Z,1761517237.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.63 m.
2025-10-26T22:20:37.949Z,1761517237.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.628609 m,
      nav range: 91.583458 m,
      bearing: 183.554023 deg,
      approach rate: -0.755665 m/s,
      LOS rate: -0.081542 deg/s,
      cmd heading: 190.679224 deg,
      new cmd heading: 190.539723 deg.

2025-10-26T22:20:37.969Z,1761517237.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260216
2025-10-26T22:20:37.971Z,1761517237.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.325546 target range: 97.628609 and range: 98.10 m.
2025-10-26T22:20:38.226Z,1761517238.226 [DAT](INFO): DAT read: 22:20:36.3202 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 404,-0.47, 2.592, 1.105, 3.115, 2.549, PHS= 0.145,-1.399, 0.522, RAW= 160.7,   8.4, CAL= 160.3,   8.6, ROT= 349.7,  -8.6

2025-10-26T22:20:38.227Z,1761517238.227 [DAT](INFO): got valid direction response:
 22:20:36.3202 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 404,-0.47, 2.592, 1.105, 3.115, 2.549, PHS= 0.145,-1.399, 0.522, RAW= 160.7,   8.4, CAL= 160.3,   8.6, ROT= 349.7,  -8.6

2025-10-26T22:20:38.228Z,1761517238.228 [DAT](INFO): DAT read: Bearing 346.6,  -8.6 (Local)

2025-10-26T22:20:38.229Z,1761517238.229 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.6,  -8.6 (Local)

2025-10-26T22:20:38.230Z,1761517238.230 [DAT](INFO): DAT read: Range 11 to 50 : 95.4 m  (Round-trip  127.2 ms) speed  0.6 m/s

2025-10-26T22:20:38.231Z,1761517238.231 [DAT](INFO): DAT read: user:527>Tx time:22:20:37.3888

2025-10-26T22:20:38.232Z,1761517238.232 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:20:38.233Z,1761517238.233 [DAT](INFO): direction in FSK: [0.972823,-0.176792,0.149535]
2025-10-26T22:20:38.233Z,1761517238.233 [DAT](INFO): publishing direction and range info
2025-10-26T22:20:38.236Z,1761517238.236 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:38.236Z,1761517238.236 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:38.237Z,1761517238.237 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:20:38.341Z,1761517238.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976533,0.189035,0.103193],[-0.204432,-0.964356,-0.168006],[0.067756,-0.185159,0.980370]]
2025-10-26T22:20:38.420Z,1761517238.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 95.400002 m,
      deltaT: 3.527825 s,
      deltaX: -2.699997 m,
      approachRate: -0.765343 m/s,
      rangeRepo size: 4

2025-10-26T22:20:38.422Z,1761517238.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 94.943741 m,
      bearing: 183.164003 deg,
      lat: 36.779417 deg,
      lon: -121.859546 deg,
      deltaT: 3.527825 s,
      deltaX: -2.684868 m,
      approachRate: -0.761055 m/s,
      posRepo size: 4

2025-10-26T22:20:38.423Z,1761517238.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.94 m.
2025-10-26T22:20:38.430Z,1761517238.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.943741 m,
      nav range: 92.044174 m,
      bearing: 183.164037 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.081542 deg/s,
      cmd heading: 190.539725 deg,
      new cmd heading: 190.424153 deg.

2025-10-26T22:20:38.431Z,1761517238.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.323529 target range: 94.943741 and range: 95.40 m.
2025-10-26T22:20:38.474Z,1761517238.474 [DAT](INFO): DAT read: 

2025-10-26T22:20:38.475Z,1761517238.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765675
2025-10-26T22:20:38.725Z,1761517238.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016349
2025-10-26T22:20:38.768Z,1761517238.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976313,0.188770,0.105731],[-0.204594,-0.964443,-0.167304],[0.070389,-0.184973,0.980220]]
2025-10-26T22:20:38.821Z,1761517238.821 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:20:38.874Z,1761517238.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.94 m.
2025-10-26T22:20:38.881Z,1761517238.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.943741 m,
      nav range: 91.718651 m,
      bearing: 183.127083 deg,
      approach rate: -0.710156 m/s,
      LOS rate: -0.080906 deg/s,
      cmd heading: 190.424158 deg,
      new cmd heading: 190.312901 deg.

2025-10-26T22:20:38.882Z,1761517238.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.321587 target range: 94.943741 and range: 95.40 m.
2025-10-26T22:20:38.977Z,1761517238.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.268246
2025-10-26T22:20:39.208Z,1761517239.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975975,0.189268,0.107940],[-0.205374,-0.964566,-0.165632],[0.072767,-0.183821,0.980263]]
2025-10-26T22:20:39.228Z,1761517239.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.519308
2025-10-26T22:20:39.285Z,1761517239.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.94 m.
2025-10-26T22:20:39.288Z,1761517239.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.943741 m,
      nav range: 91.371025 m,
      bearing: 183.070874 deg,
      approach rate: -0.845130 m/s,
      LOS rate: -0.137171 deg/s,
      cmd heading: 190.312894 deg,
      new cmd heading: 190.143627 deg.

2025-10-26T22:20:39.289Z,1761517239.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.318632 target range: 94.943741 and range: 95.40 m.
2025-10-26T22:20:39.483Z,1761517239.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.774057
2025-10-26T22:20:39.606Z,1761517239.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975886,0.189140,0.108961],[-0.204901,-0.965852,-0.158574],[0.075248,-0.177077,0.981316]]
2025-10-26T22:20:39.640Z,1761517239.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.94 m.
2025-10-26T22:20:39.643Z,1761517239.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.943741 m,
      nav range: 91.113388 m,
      bearing: 183.028944 deg,
      approach rate: -0.725344 m/s,
      LOS rate: -0.118382 deg/s,
      cmd heading: 190.143628 deg,
      new cmd heading: 190.017483 deg.

2025-10-26T22:20:39.649Z,1761517239.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.316431 target range: 94.943741 and range: 95.40 m.
2025-10-26T22:20:39.738Z,1761517239.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.028620
2025-10-26T22:20:39.988Z,1761517239.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.279415
2025-10-26T22:20:40.017Z,1761517240.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975979,0.187512,0.110923],[-0.203367,-0.966734,-0.155136],[0.078143,-0.173967,0.981646]]
2025-10-26T22:20:40.071Z,1761517240.071 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:40.073Z,1761517240.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.94 m.
2025-10-26T22:20:40.084Z,1761517240.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.943741 m,
      nav range: 90.780121 m,
      bearing: 182.967154 deg,
      approach rate: -0.769670 m/s,
      LOS rate: -0.143225 deg/s,
      cmd heading: 190.017488 deg,
      new cmd heading: 189.831439 deg.

2025-10-26T22:20:40.085Z,1761517240.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.313184 target range: 94.943741 and range: 95.40 m.
2025-10-26T22:20:40.240Z,1761517240.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531382
2025-10-26T22:20:40.421Z,1761517240.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976124,0.185212,0.113486],[-0.201585,-0.967020,-0.155680],[0.080909,-0.174840,0.981267]]
2025-10-26T22:20:40.439Z,1761517240.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.94 m.
2025-10-26T22:20:40.444Z,1761517240.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.943741 m,
      nav range: 90.508377 m,
      bearing: 182.916756 deg,
      approach rate: -0.743674 m/s,
      LOS rate: -0.138338 deg/s,
      cmd heading: 189.831434 deg,
      new cmd heading: 189.679786 deg.

2025-10-26T22:20:40.446Z,1761517240.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.310537 target range: 94.943741 and range: 95.40 m.
2025-10-26T22:20:40.492Z,1761517240.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.783538
2025-10-26T22:20:40.744Z,1761517240.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035555
2025-10-26T22:20:40.822Z,1761517240.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976368,0.181838,0.116793],[-0.198880,-0.967478,-0.156309],[0.084572,-0.175843,0.980779]]
2025-10-26T22:20:40.904Z,1761517240.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.94 m.
2025-10-26T22:20:40.907Z,1761517240.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.943741 m,
      nav range: 90.207184 m,
      bearing: 182.861097 deg,
      approach rate: -0.647258 m/s,
      LOS rate: -0.120010 deg/s,
      cmd heading: 189.679790 deg,
      new cmd heading: 189.512255 deg.

2025-10-26T22:20:40.916Z,1761517240.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.307613 target range: 94.943741 and range: 95.40 m.
2025-10-26T22:20:40.997Z,1761517240.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.288134
2025-10-26T22:20:41.249Z,1761517241.249 [DAT](INFO): DAT read: Rx Time:22:20:39.9165

2025-10-26T22:20:41.249Z,1761517241.249 [DAT](INFO): Rx dataTimestamp_ set to:1761517241.248716
2025-10-26T22:20:41.250Z,1761517241.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.540614
2025-10-26T22:20:41.252Z,1761517241.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976667,0.177779,0.120479],[-0.195625,-0.967941,-0.157546],[0.088608,-0.177439,0.980135]]
2025-10-26T22:20:41.315Z,1761517241.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.94 m.
2025-10-26T22:20:41.322Z,1761517241.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.943741 m,
      nav range: 89.870827 m,
      bearing: 182.798210 deg,
      approach rate: -0.819931 m/s,
      LOS rate: -0.153872 deg/s,
      cmd heading: 189.512259 deg,
      new cmd heading: 189.322893 deg.

2025-10-26T22:20:41.323Z,1761517241.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.304308 target range: 94.943741 and range: 95.40 m.
2025-10-26T22:20:41.500Z,1761517241.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.791269
2025-10-26T22:20:41.650Z,1761517241.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976907,0.173480,0.124733],[-0.192241,-0.968425,-0.158733],[0.093258,-0.179046,0.979411]]
2025-10-26T22:20:41.722Z,1761517241.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.94 m.
2025-10-26T22:20:41.737Z,1761517241.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.943741 m,
      nav range: 89.576134 m,
      bearing: 182.743401 deg,
      approach rate: -0.725841 m/s,
      LOS rate: -0.135440 deg/s,
      cmd heading: 189.322899 deg,
      new cmd heading: 189.157932 deg.

2025-10-26T22:20:41.738Z,1761517241.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.301429 target range: 94.943741 and range: 95.40 m.
2025-10-26T22:20:41.758Z,1761517241.758 [DAT](INFO): DAT read: 22:20:39.9165 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 397, 0.47,-1.173,-2.646,-0.639,-1.253, PHS= 0.182,-1.348, 0.570, RAW= 161.0,   6.9, CAL= 160.4,   6.6, ROT= 349.6,  -6.6

2025-10-26T22:20:41.760Z,1761517241.760 [DAT](INFO): got valid direction response:
 22:20:39.9165 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 397, 0.47,-1.173,-2.646,-0.639,-1.253, PHS= 0.182,-1.348, 0.570, RAW= 161.0,   6.9, CAL= 160.4,   6.6, ROT= 349.6,  -6.6

2025-10-26T22:20:41.761Z,1761517241.761 [DAT](INFO): DAT read: Bearing 343.9,  -6.6 (Local)

2025-10-26T22:20:41.761Z,1761517241.761 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.9,  -6.6 (Local)

2025-10-26T22:20:41.762Z,1761517241.762 [DAT](INFO): DAT read: Range 11 to 50 : 92.6 m  (Round-trip  123.5 ms) speed  0.7 m/s

2025-10-26T22:20:41.764Z,1761517241.764 [DAT](INFO): DAT read: user:528>Tx time:22:20:40.9888

2025-10-26T22:20:41.764Z,1761517241.764 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:20:41.765Z,1761517241.765 [DAT](INFO): direction in FSK: [0.977053,-0.179323,0.114937]
2025-10-26T22:20:41.765Z,1761517241.765 [DAT](INFO): publishing direction and range info
2025-10-26T22:20:41.769Z,1761517241.769 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:41.769Z,1761517241.769 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:41.769Z,1761517241.769 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:20:42.004Z,1761517242.004 [DAT](INFO): DAT read: 

2025-10-26T22:20:42.005Z,1761517242.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.295934
2025-10-26T22:20:42.099Z,1761517242.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977321,0.168097,0.128793],[-0.187619,-0.969367,-0.158515],[0.098202,-0.179084,0.978920]]
2025-10-26T22:20:42.149Z,1761517242.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 92.599998 m,
      deltaT: 3.532094 s,
      deltaX: -2.800003 m,
      approachRate: -0.792732 m/s,
      rangeRepo size: 4

2025-10-26T22:20:42.151Z,1761517242.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 92.156158 m,
      bearing: 181.635530 deg,
      lat: 36.779417 deg,
      lon: -121.859533 deg,
      deltaT: 3.532094 s,
      deltaX: -2.787582 m,
      approachRate: -0.789215 m/s,
      posRepo size: 4

2025-10-26T22:20:42.152Z,1761517242.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.16 m.
2025-10-26T22:20:42.154Z,1761517242.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.156158 m,
      nav range: 89.183937 m,
      bearing: 181.902148 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.135440 deg/s,
      cmd heading: 189.157936 deg,
      new cmd heading: 188.984103 deg.

2025-10-26T22:20:42.156Z,1761517242.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.298395 target range: 92.156158 and range: 92.60 m.
2025-10-26T22:20:42.257Z,1761517242.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.547684
2025-10-26T22:20:42.502Z,1761517242.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977814,0.161906,0.132912],[-0.182380,-0.970123,-0.159996],[0.103036,-0.180687,0.978129]]
2025-10-26T22:20:42.509Z,1761517242.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.799773
2025-10-26T22:20:42.521Z,1761517242.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:42.523Z,1761517242.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.16 m.
2025-10-26T22:20:42.526Z,1761517242.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.156158 m,
      nav range: 88.903831 m,
      bearing: 181.847942 deg,
      approach rate: -0.747542 m/s,
      LOS rate: -0.145122 deg/s,
      cmd heading: 188.984108 deg,
      new cmd heading: 188.820976 deg.

2025-10-26T22:20:42.527Z,1761517242.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.295548 target range: 92.156158 and range: 92.60 m.
2025-10-26T22:20:42.760Z,1761517242.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.051443
2025-10-26T22:20:42.934Z,1761517242.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978361,0.155288,0.136728],[-0.177007,-0.970366,-0.164492],[0.107133,-0.185135,0.976856]]
2025-10-26T22:20:42.994Z,1761517242.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.16 m.
2025-10-26T22:20:43.012Z,1761517243.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.303480
2025-10-26T22:20:43.015Z,1761517243.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.156158 m,
      nav range: 88.558678 m,
      bearing: 181.791326 deg,
      approach rate: -0.732280 m/s,
      LOS rate: -0.120585 deg/s,
      cmd heading: 188.820976 deg,
      new cmd heading: 188.650466 deg.

2025-10-26T22:20:43.020Z,1761517243.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.292572 target range: 92.156158 and range: 92.60 m.
2025-10-26T22:20:43.264Z,1761517243.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.555401
2025-10-26T22:20:43.310Z,1761517243.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978853,0.148846,0.140329],[-0.172064,-0.970086,-0.171251],[0.110641,-0.191775,0.975183]]
2025-10-26T22:20:43.339Z,1761517243.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.16 m.
2025-10-26T22:20:43.342Z,1761517243.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.156158 m,
      nav range: 88.302376 m,
      bearing: 181.749821 deg,
      approach rate: -0.743518 m/s,
      LOS rate: -0.120751 deg/s,
      cmd heading: 188.650467 deg,
      new cmd heading: 188.525593 deg.

2025-10-26T22:20:43.343Z,1761517243.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.290392 target range: 92.156158 and range: 92.60 m.
2025-10-26T22:20:43.516Z,1761517243.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.807457
2025-10-26T22:20:43.722Z,1761517243.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979216,0.143011,0.143817],[-0.167895,-0.969378,-0.179211],[0.113784,-0.199633,0.973242]]
2025-10-26T22:20:43.764Z,1761517243.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.16 m.
2025-10-26T22:20:43.766Z,1761517243.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.156158 m,
      nav range: 88.003113 m,
      bearing: 181.701853 deg,
      approach rate: -0.705202 m/s,
      LOS rate: -0.113419 deg/s,
      cmd heading: 188.525597 deg,
      new cmd heading: 188.381205 deg.

2025-10-26T22:20:43.768Z,1761517243.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.059518
2025-10-26T22:20:43.769Z,1761517243.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.287872 target range: 92.156158 and range: 92.60 m.
2025-10-26T22:20:44.021Z,1761517244.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.311632
2025-10-26T22:20:44.119Z,1761517244.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979558,0.137758,0.146590],[-0.163958,-0.968956,-0.185046],[0.116548,-0.205298,0.971735]]
2025-10-26T22:20:44.157Z,1761517244.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.16 m.
2025-10-26T22:20:44.159Z,1761517244.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.156158 m,
      nav range: 87.693253 m,
      bearing: 181.660326 deg,
      approach rate: -0.787991 m/s,
      LOS rate: -0.105980 deg/s,
      cmd heading: 188.381207 deg,
      new cmd heading: 188.256184 deg.

2025-10-26T22:20:44.160Z,1761517244.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.285690 target range: 92.156158 and range: 92.60 m.
2025-10-26T22:20:44.273Z,1761517244.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.563845
2025-10-26T22:20:44.524Z,1761517244.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.815420
2025-10-26T22:20:44.576Z,1761517244.576 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:44.578Z,1761517244.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.16 m.
2025-10-26T22:20:44.585Z,1761517244.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.156158 m,
      nav range: 87.393021 m,
      bearing: 181.619802 deg,
      approach rate: -0.712969 m/s,
      LOS rate: -0.096562 deg/s,
      cmd heading: 188.256187 deg,
      new cmd heading: 188.134200 deg.

2025-10-26T22:20:44.586Z,1761517244.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.283561 target range: 92.156158 and range: 92.60 m.
2025-10-26T22:20:44.776Z,1761517244.776 [DAT](INFO): DAT read: Rx Time:22:20:43.5128

2025-10-26T22:20:44.777Z,1761517244.777 [DAT](INFO): Rx dataTimestamp_ set to:1761517244.776617
2025-10-26T22:20:44.777Z,1761517244.777 [DAT](INFO): Reached modem response timeout
2025-10-26T22:20:44.777Z,1761517244.777 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:44.778Z,1761517244.778 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:20:44.968Z,1761517244.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979616,0.131466,0.151885],[-0.160009,-0.967798,-0.194328],[0.121447,-0.214670,0.969106]]
2025-10-26T22:20:45.014Z,1761517245.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.16 m.
2025-10-26T22:20:45.017Z,1761517245.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.156158 m,
      nav range: 87.053993 m,
      bearing: 181.593362 deg,
      approach rate: -0.777762 m/s,
      LOS rate: -0.060894 deg/s,
      cmd heading: 188.134200 deg,
      new cmd heading: 188.054570 deg.

2025-10-26T22:20:45.017Z,1761517245.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.282171 target range: 92.156158 and range: 92.60 m.
2025-10-26T22:20:45.029Z,1761517245.029 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:45.283Z,1761517245.283 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:20:45.388Z,1761517245.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.16 m.
2025-10-26T22:20:45.390Z,1761517245.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.156158 m,
      nav range: 86.773224 m,
      bearing: 181.571307 deg,
      approach rate: -0.751345 m/s,
      LOS rate: -0.059210 deg/s,
      cmd heading: 188.054574 deg,
      new cmd heading: 187.988195 deg.

2025-10-26T22:20:45.392Z,1761517245.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.281013 target range: 92.156158 and range: 92.60 m.
2025-10-26T22:20:45.544Z,1761517245.544 [DAT](INFO): DAT read: 22:20:43.5128 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 408, 0.15,-1.343,-2.820,-0.853,-1.413, PHS= 0.171,-1.362, 0.516, RAW= 159.9,   7.8, CAL= 159.5,   8.0, ROT= 350.5,  -8.0

2025-10-26T22:20:45.546Z,1761517245.546 [DAT](INFO): got valid direction response:
 22:20:43.5128 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 408, 0.15,-1.343,-2.820,-0.853,-1.413, PHS= 0.171,-1.362, 0.516, RAW= 159.9,   7.8, CAL= 159.5,   8.0, ROT= 350.5,  -8.0

2025-10-26T22:20:45.547Z,1761517245.547 [DAT](INFO): DAT read: Bearing 343.5,  -4.1 (Local)

2025-10-26T22:20:45.548Z,1761517245.548 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.5,  -4.1 (Local)

2025-10-26T22:20:45.549Z,1761517245.549 [DAT](INFO): DAT read: Range 11 to 50 : 89.9 m  (Round-trip  119.9 ms) speed  0.3 m/s

2025-10-26T22:20:45.550Z,1761517245.550 [DAT](INFO): DAT read: user:529>

2025-10-26T22:20:45.551Z,1761517245.551 [DAT](INFO): DAT read: Tx time:22:20:44.5888

2025-10-26T22:20:45.551Z,1761517245.551 [DAT](INFO): Ping request sent.
2025-10-26T22:20:45.551Z,1761517245.551 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:20:45.552Z,1761517245.552 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:20:45.553Z,1761517245.553 [DAT](INFO): direction in FSK: [0.976687,-0.163441,0.139173]
2025-10-26T22:20:45.553Z,1761517245.553 [DAT](INFO): publishing transmit ping time
2025-10-26T22:20:45.553Z,1761517245.553 [DAT](INFO): publishing direction and range info
2025-10-26T22:20:45.557Z,1761517245.557 [DAT](INFO): publishing transmit ping time
2025-10-26T22:20:45.557Z,1761517245.557 [DAT](INFO): publishing direction and range info
2025-10-26T22:20:45.755Z,1761517245.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979205,0.129171,0.156437],[-0.159657,-0.966414,-0.201381],[0.125170,-0.222170,0.966940]]
2025-10-26T22:20:45.794Z,1761517245.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 89.900002 m,
      deltaT: 3.780232 s,
      deltaX: -2.699997 m,
      approachRate: -0.714241 m/s,
      rangeRepo size: 4

2025-10-26T22:20:45.796Z,1761517245.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 89.473534 m,
      bearing: 181.558910 deg,
      lat: 36.779417 deg,
      lon: -121.859533 deg,
      deltaT: 3.780232 s,
      deltaX: -2.682625 m,
      approachRate: -0.709646 m/s,
      posRepo size: 4

2025-10-26T22:20:45.797Z,1761517245.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.47 m.
2025-10-26T22:20:45.804Z,1761517245.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.473534 m,
      nav range: 86.485634 m,
      bearing: 181.541931 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.059210 deg/s,
      cmd heading: 187.988198 deg,
      new cmd heading: 187.916029 deg.

2025-10-26T22:20:45.805Z,1761517245.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.279753 target range: 89.473534 and range: 89.90 m.
2025-10-26T22:20:46.245Z,1761517246.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.47 m.
2025-10-26T22:20:46.247Z,1761517246.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.473534 m,
      nav range: 86.122017 m,
      bearing: 181.523693 deg,
      approach rate: -0.806418 m/s,
      LOS rate: -0.040618 deg/s,
      cmd heading: 187.916030 deg,
      new cmd heading: 187.861086 deg.

2025-10-26T22:20:46.248Z,1761517246.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.278795 target range: 89.473534 and range: 89.90 m.
2025-10-26T22:20:46.590Z,1761517246.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978459,0.129404,0.160851],[-0.160726,-0.966490,-0.200159],[0.129560,-0.221700,0.966469]]
2025-10-26T22:20:46.607Z,1761517246.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:46.625Z,1761517246.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.47 m.
2025-10-26T22:20:46.628Z,1761517246.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.473534 m,
      nav range: 85.841148 m,
      bearing: 181.509296 deg,
      approach rate: -0.738255 m/s,
      LOS rate: -0.037967 deg/s,
      cmd heading: 187.861088 deg,
      new cmd heading: 187.817755 deg.

2025-10-26T22:20:46.629Z,1761517246.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.278038 target range: 89.473534 and range: 89.90 m.
2025-10-26T22:20:46.792Z,1761517246.792 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:46.792Z,1761517246.792 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:46.793Z,1761517246.793 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:20:47.004Z,1761517247.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977944,0.130553,0.163037],[-0.161878,-0.967020,-0.196642],[0.131988,-0.218697,0.966825]]
2025-10-26T22:20:47.044Z,1761517247.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493278
2025-10-26T22:20:47.045Z,1761517247.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.47 m.
2025-10-26T22:20:47.064Z,1761517247.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.473534 m,
      nav range: 85.499443 m,
      bearing: 181.501480 deg,
      approach rate: -0.816660 m/s,
      LOS rate: -0.018755 deg/s,
      cmd heading: 187.817758 deg,
      new cmd heading: 187.794215 deg.

2025-10-26T22:20:47.065Z,1761517247.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.277627 target range: 89.473534 and range: 89.90 m.
2025-10-26T22:20:47.297Z,1761517247.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746011
2025-10-26T22:20:47.398Z,1761517247.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977452,0.131389,0.165301],[-0.162789,-0.967480,-0.193602],[0.134488,-0.216146,0.967054]]
2025-10-26T22:20:47.421Z,1761517247.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.47 m.
2025-10-26T22:20:47.440Z,1761517247.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.473534 m,
      nav range: 85.202698 m,
      bearing: 181.494498 deg,
      approach rate: -0.785735 m/s,
      LOS rate: -0.018553 deg/s,
      cmd heading: 187.794221 deg,
      new cmd heading: 187.773201 deg.

2025-10-26T22:20:47.442Z,1761517247.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.277261 target range: 89.473534 and range: 89.90 m.
2025-10-26T22:20:47.549Z,1761517247.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997350
2025-10-26T22:20:47.800Z,1761517247.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249324
2025-10-26T22:20:47.807Z,1761517247.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977031,0.132121,0.167199],[-0.163381,-0.968157,-0.189682],[0.136813,-0.212642,0.967505]]
2025-10-26T22:20:47.859Z,1761517247.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.47 m.
2025-10-26T22:20:47.862Z,1761517247.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.473534 m,
      nav range: 84.859329 m,
      bearing: 181.486285 deg,
      approach rate: -0.783930 m/s,
      LOS rate: -0.018826 deg/s,
      cmd heading: 187.773197 deg,
      new cmd heading: 187.748459 deg.

2025-10-26T22:20:47.863Z,1761517247.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.276829 target range: 89.473534 and range: 89.90 m.
2025-10-26T22:20:48.052Z,1761517248.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501150
2025-10-26T22:20:48.206Z,1761517248.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976693,0.132755,0.168661],[-0.163367,-0.969449,-0.182973],[0.139218,-0.206262,0.968542]]
2025-10-26T22:20:48.257Z,1761517248.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.47 m.
2025-10-26T22:20:48.260Z,1761517248.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.473534 m,
      nav range: 84.542015 m,
      bearing: 181.475897 deg,
      approach rate: -0.796909 m/s,
      LOS rate: -0.026185 deg/s,
      cmd heading: 187.748458 deg,
      new cmd heading: 187.717179 deg.

2025-10-26T22:20:48.261Z,1761517248.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.276283 target range: 89.473534 and range: 89.90 m.
2025-10-26T22:20:48.305Z,1761517248.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753905
2025-10-26T22:20:48.556Z,1761517248.556 [DAT](INFO): DAT read: Rx Time:22:20:47.1091

2025-10-26T22:20:48.557Z,1761517248.557 [DAT](INFO): Rx dataTimestamp_ set to:1761517248.556518
2025-10-26T22:20:48.557Z,1761517248.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006177
2025-10-26T22:20:48.610Z,1761517248.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976471,0.132719,0.169973],[-0.162834,-0.970529,-0.177648],[0.141386,-0.201145,0.969304]]
2025-10-26T22:20:48.638Z,1761517248.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:48.640Z,1761517248.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.47 m.
2025-10-26T22:20:48.643Z,1761517248.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.473534 m,
      nav range: 84.237892 m,
      bearing: 181.466014 deg,
      approach rate: -0.794320 m/s,
      LOS rate: -0.025906 deg/s,
      cmd heading: 187.717176 deg,
      new cmd heading: 187.687420 deg.

2025-10-26T22:20:48.644Z,1761517248.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.275764 target range: 89.473534 and range: 89.90 m.
2025-10-26T22:20:48.808Z,1761517248.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257199
2025-10-26T22:20:49.029Z,1761517249.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976447,0.131231,0.171257],[-0.161039,-0.971540,-0.173715],[0.143586,-0.197202,0.969791]]
2025-10-26T22:20:49.066Z,1761517249.066 [DAT](INFO): DAT read: 22:20:47.1091 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 403, 0.18,-1.760, 3.021,-1.260,-1.885, PHS= 0.227,-1.333, 0.581, RAW= 160.0,   6.0, CAL= 159.3,   5.6, ROT= 350.7,  -5.6

2025-10-26T22:20:49.068Z,1761517249.068 [DAT](INFO): got valid direction response:
 22:20:47.1091 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 403, 0.18,-1.760, 3.021,-1.260,-1.885, PHS= 0.227,-1.333, 0.581, RAW= 160.0,   6.0, CAL= 159.3,   5.6, ROT= 350.7,  -5.6

2025-10-26T22:20:49.069Z,1761517249.069 [DAT](INFO): DAT read: Bearing 340.5,  -2.2 (Local)

2025-10-26T22:20:49.070Z,1761517249.070 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.5,  -2.2 (Local)

2025-10-26T22:20:49.071Z,1761517249.071 [DAT](INFO): DAT read: Range 11 to 50 : 87.2 m  (Round-trip  116.3 ms) speed  1.0 m/s

2025-10-26T22:20:49.072Z,1761517249.072 [DAT](INFO): DAT read: user:530>

2025-10-26T22:20:49.073Z,1761517249.073 [DAT](INFO): DAT read: Tx time:22:20:48.1887

2025-10-26T22:20:49.073Z,1761517249.073 [DAT](INFO): Ping request sent.
2025-10-26T22:20:49.073Z,1761517249.073 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:20:49.073Z,1761517249.073 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:20:49.074Z,1761517249.074 [DAT](INFO): direction in FSK: [0.982146,-0.160832,0.097583]
2025-10-26T22:20:49.075Z,1761517249.075 [DAT](INFO): publishing transmit ping time
2025-10-26T22:20:49.075Z,1761517249.075 [DAT](INFO): publishing direction and range info
2025-10-26T22:20:49.078Z,1761517249.078 [DAT](INFO): publishing transmit ping time
2025-10-26T22:20:49.078Z,1761517249.078 [DAT](INFO): publishing direction and range info
2025-10-26T22:20:49.186Z,1761517249.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 87.199997 m,
      deltaT: 3.527609 s,
      deltaX: -2.700005 m,
      approachRate: -0.765392 m/s,
      rangeRepo size: 4

2025-10-26T22:20:49.192Z,1761517249.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 86.787849 m,
      bearing: 181.121505 deg,
      lat: 36.779417 deg,
      lon: -121.859533 deg,
      deltaT: 3.527609 s,
      deltaX: -2.685684 m,
      approachRate: -0.761333 m/s,
      posRepo size: 4

2025-10-26T22:20:49.193Z,1761517249.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.79 m.
2025-10-26T22:20:49.200Z,1761517249.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.787849 m,
      nav range: 83.830635 m,
      bearing: 181.440087 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025906 deg/s,
      cmd heading: 187.687424 deg,
      new cmd heading: 187.645064 deg.

2025-10-26T22:20:49.201Z,1761517249.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.275024 target range: 86.787849 and range: 87.20 m.
2025-10-26T22:20:49.556Z,1761517249.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.79 m.
2025-10-26T22:20:49.568Z,1761517249.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.787849 m,
      nav range: 83.532310 m,
      bearing: 181.420934 deg,
      approach rate: -0.804181 m/s,
      LOS rate: -0.051815 deg/s,
      cmd heading: 187.645063 deg,
      new cmd heading: 187.587399 deg.

2025-10-26T22:20:49.569Z,1761517249.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.274018 target range: 86.787849 and range: 87.20 m.
2025-10-26T22:20:49.898Z,1761517249.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976232,0.127347,0.175365],[-0.158242,-0.971721,-0.175262],[0.148087,-0.198847,0.968778]]
2025-10-26T22:20:49.918Z,1761517249.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.79 m.
2025-10-26T22:20:49.920Z,1761517249.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.787849 m,
      nav range: 83.226807 m,
      bearing: 181.401775 deg,
      approach rate: -0.845295 m/s,
      LOS rate: -0.053206 deg/s,
      cmd heading: 187.587403 deg,
      new cmd heading: 187.529714 deg.

2025-10-26T22:20:49.921Z,1761517249.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.273011 target range: 86.787849 and range: 87.20 m.
2025-10-26T22:20:50.303Z,1761517250.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976363,0.123998,0.177030],[-0.155453,-0.971931,-0.176590],[0.150165,-0.199935,0.968234]]
2025-10-26T22:20:50.347Z,1761517250.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.79 m.
2025-10-26T22:20:50.366Z,1761517250.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.787849 m,
      nav range: 82.892899 m,
      bearing: 181.363277 deg,
      approach rate: -0.778304 m/s,
      LOS rate: -0.090096 deg/s,
      cmd heading: 187.529715 deg,
      new cmd heading: 187.413756 deg.

2025-10-26T22:20:50.366Z,1761517250.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.270987 target range: 86.787849 and range: 87.20 m.
2025-10-26T22:20:50.755Z,1761517250.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977099,0.115070,0.178985],[-0.147455,-0.972611,-0.179680],[0.153407,-0.201958,0.967305]]
2025-10-26T22:20:50.775Z,1761517250.775 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:50.777Z,1761517250.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.79 m.
2025-10-26T22:20:50.780Z,1761517250.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.787849 m,
      nav range: 82.552948 m,
      bearing: 181.325750 deg,
      approach rate: -0.789038 m/s,
      LOS rate: -0.087459 deg/s,
      cmd heading: 187.413752 deg,
      new cmd heading: 187.300709 deg.

2025-10-26T22:20:50.781Z,1761517250.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.269014 target range: 86.787849 and range: 87.20 m.
2025-10-26T22:20:50.824Z,1761517250.824 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:50.824Z,1761517250.824 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:50.825Z,1761517250.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:20:51.077Z,1761517251.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003456
2025-10-26T22:20:51.200Z,1761517251.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.79 m.
2025-10-26T22:20:51.203Z,1761517251.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.787849 m,
      nav range: 82.222511 m,
      bearing: 181.271696 deg,
      approach rate: -0.782102 m/s,
      LOS rate: -0.128453 deg/s,
      cmd heading: 187.300712 deg,
      new cmd heading: 187.137899 deg.

2025-10-26T22:20:51.204Z,1761517251.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.266172 target range: 86.787849 and range: 87.20 m.
2025-10-26T22:20:51.328Z,1761517251.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255243
2025-10-26T22:20:51.553Z,1761517251.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977969,0.106366,0.179621],[-0.138881,-0.973918,-0.179432],[0.155851,-0.200425,0.967233]]
2025-10-26T22:20:51.576Z,1761517251.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.79 m.
2025-10-26T22:20:51.580Z,1761517251.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507434
2025-10-26T22:20:51.579Z,1761517251.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.787849 m,
      nav range: 81.931267 m,
      bearing: 181.225524 deg,
      approach rate: -0.773346 m/s,
      LOS rate: -0.123037 deg/s,
      cmd heading: 187.137894 deg,
      new cmd heading: 186.998886 deg.

2025-10-26T22:20:51.584Z,1761517251.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.263746 target range: 86.787849 and range: 87.20 m.
2025-10-26T22:20:51.832Z,1761517251.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759363
2025-10-26T22:20:51.962Z,1761517251.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978402,0.102336,0.179604],[-0.134684,-0.974711,-0.178320],[0.156814,-0.198658,0.967442]]
2025-10-26T22:20:52.020Z,1761517252.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.79 m.
2025-10-26T22:20:52.044Z,1761517252.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.787849 m,
      nav range: 81.613892 m,
      bearing: 181.175793 deg,
      approach rate: -0.725015 m/s,
      LOS rate: -0.114048 deg/s,
      cmd heading: 186.998886 deg,
      new cmd heading: 186.849113 deg.

2025-10-26T22:20:52.051Z,1761517252.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.261132 target range: 86.787849 and range: 87.20 m.
2025-10-26T22:20:52.085Z,1761517252.085 [DAT](INFO): DAT read: Rx Time:22:20:50.7053

2025-10-26T22:20:52.085Z,1761517252.085 [DAT](INFO): Rx dataTimestamp_ set to:1761517252.084833
2025-10-26T22:20:52.086Z,1761517252.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012612
2025-10-26T22:20:52.337Z,1761517252.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263611
2025-10-26T22:20:52.358Z,1761517252.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978808,0.098673,0.179442],[-0.130845,-0.975410,-0.177356],[0.157529,-0.197076,0.967650]]
2025-10-26T22:20:52.554Z,1761517252.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.79 m.
2025-10-26T22:20:52.561Z,1761517252.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.787849 m,
      nav range: 81.181732 m,
      bearing: 181.088147 deg,
      approach rate: -0.800009 m/s,
      LOS rate: -0.163113 deg/s,
      cmd heading: 186.849114 deg,
      new cmd heading: 186.584778 deg.

2025-10-26T22:20:52.562Z,1761517252.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.256519 target range: 86.787849 and range: 87.20 m.
2025-10-26T22:20:52.594Z,1761517252.594 [DAT](INFO): DAT read: 22:20:50.7053 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 397,-0.13, 1.507,-0.045, 1.984, 1.356, PHS= 0.253,-1.356, 0.584, RAW= 159.2,   5.8, CAL= 158.4,   5.4, ROT= 351.6,  -5.4

2025-10-26T22:20:52.596Z,1761517252.596 [DAT](INFO): got valid direction response:
 22:20:50.7053 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 397,-0.13, 1.507,-0.045, 1.984, 1.356, PHS= 0.253,-1.356, 0.584, RAW= 159.2,   5.8, CAL= 158.4,   5.4, ROT= 351.6,  -5.4

2025-10-26T22:20:52.597Z,1761517252.597 [DAT](INFO): DAT read: Bearing 338.5,  -0.5 (Local)

2025-10-26T22:20:52.597Z,1761517252.597 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.5,  -0.5 (Local)

2025-10-26T22:20:52.598Z,1761517252.598 [DAT](INFO): DAT read: Range 11 to 50 : 84.3 m  (Round-trip  112.5 ms) speed  0.4 m/s

2025-10-26T22:20:52.599Z,1761517252.599 [DAT](INFO): DAT read: user:531>

2025-10-26T22:20:52.600Z,1761517252.600 [DAT](INFO): DAT read: Tx time:22:20:51.7887

2025-10-26T22:20:52.600Z,1761517252.600 [DAT](INFO): Ping request sent.
2025-10-26T22:20:52.600Z,1761517252.600 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:20:52.601Z,1761517252.601 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:20:52.602Z,1761517252.602 [DAT](INFO): direction in FSK: [0.984882,-0.145435,0.094108]
2025-10-26T22:20:52.602Z,1761517252.602 [DAT](INFO): publishing transmit ping time
2025-10-26T22:20:52.602Z,1761517252.602 [DAT](INFO): publishing direction and range info
2025-10-26T22:20:52.606Z,1761517252.606 [DAT](INFO): publishing transmit ping time
2025-10-26T22:20:52.606Z,1761517252.606 [DAT](INFO): publishing direction and range info
2025-10-26T22:20:52.913Z,1761517252.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979153,0.095721,0.179159],[-0.127695,-0.975995,-0.176430],[0.157970,-0.195629,0.967871]]
2025-10-26T22:20:52.982Z,1761517252.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 84.300003 m,
      deltaT: 3.528152 s,
      deltaX: -2.899994 m,
      approachRate: -0.821958 m/s,
      rangeRepo size: 4

2025-10-26T22:20:52.988Z,1761517252.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 83.901497 m,
      bearing: 180.025268 deg,
      lat: 36.779419 deg,
      lon: -121.859528 deg,
      deltaT: 3.528152 s,
      deltaX: -2.886353 m,
      approachRate: -0.818092 m/s,
      posRepo size: 4

2025-10-26T22:20:52.989Z,1761517252.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.90 m.
2025-10-26T22:20:52.995Z,1761517252.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.901497 m,
      nav range: 80.672340 m,
      bearing: 180.745455 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.163113 deg/s,
      cmd heading: 186.584772 deg,
      new cmd heading: 186.375943 deg.

2025-10-26T22:20:52.996Z,1761517252.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.252874 target range: 83.901497 and range: 84.30 m.
2025-10-26T22:20:53.365Z,1761517253.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979321,0.092486,0.179936],[-0.124844,-0.976124,-0.177755],[0.159200,-0.196543,0.967485]]
2025-10-26T22:20:53.429Z,1761517253.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:53.453Z,1761517253.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.90 m.
2025-10-26T22:20:53.456Z,1761517253.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.901497 m,
      nav range: 80.320168 m,
      bearing: 180.666410 deg,
      approach rate: -0.745833 m/s,
      LOS rate: -0.168137 deg/s,
      cmd heading: 186.375946 deg,
      new cmd heading: 186.137771 deg.

2025-10-26T22:20:53.457Z,1761517253.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.248717 target range: 83.901497 and range: 84.30 m.
2025-10-26T22:20:53.596Z,1761517253.596 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:53.596Z,1761517253.596 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:53.596Z,1761517253.596 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:20:53.767Z,1761517253.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979443,0.089728,0.180668],[-0.122346,-0.976326,-0.178380],[0.160385,-0.196817,0.967233]]
2025-10-26T22:20:53.823Z,1761517253.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.90 m.
2025-10-26T22:20:53.826Z,1761517253.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.901497 m,
      nav range: 80.038147 m,
      bearing: 180.603141 deg,
      approach rate: -0.763311 m/s,
      LOS rate: -0.171847 deg/s,
      cmd heading: 186.137777 deg,
      new cmd heading: 185.947301 deg.

2025-10-26T22:20:53.827Z,1761517253.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.245393 target range: 83.901497 and range: 84.30 m.
2025-10-26T22:20:53.848Z,1761517253.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247893
2025-10-26T22:20:54.100Z,1761517254.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499925
2025-10-26T22:20:54.171Z,1761517254.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979558,0.087376,0.181194],[-0.119946,-0.976802,-0.177403],[0.161489,-0.195510,0.967314]]
2025-10-26T22:20:54.209Z,1761517254.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.90 m.
2025-10-26T22:20:54.212Z,1761517254.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.901497 m,
      nav range: 79.740005 m,
      bearing: 180.541986 deg,
      approach rate: -0.772361 m/s,
      LOS rate: -0.159018 deg/s,
      cmd heading: 185.947297 deg,
      new cmd heading: 185.763148 deg.

2025-10-26T22:20:54.213Z,1761517254.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.242178 target range: 83.901497 and range: 84.30 m.
2025-10-26T22:20:54.352Z,1761517254.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751872
2025-10-26T22:20:54.574Z,1761517254.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979510,0.086093,0.182067],[-0.117920,-0.978027,-0.171927],[0.163264,-0.189874,0.968139]]
2025-10-26T22:20:54.597Z,1761517254.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.90 m.
2025-10-26T22:20:54.608Z,1761517254.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007938
2025-10-26T22:20:54.616Z,1761517254.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.901497 m,
      nav range: 79.454521 m,
      bearing: 180.483430 deg,
      approach rate: -0.738014 m/s,
      LOS rate: -0.151918 deg/s,
      cmd heading: 185.763141 deg,
      new cmd heading: 185.586844 deg.

2025-10-26T22:20:54.617Z,1761517254.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.239101 target range: 83.901497 and range: 84.30 m.
2025-10-26T22:20:54.862Z,1761517254.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261749
2025-10-26T22:20:54.978Z,1761517254.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979536,0.084500,0.182671],[-0.115539,-0.979236,-0.166578],[0.164802,-0.184275,0.968960]]
2025-10-26T22:20:55.005Z,1761517255.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.90 m.
2025-10-26T22:20:55.007Z,1761517255.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.901497 m,
      nav range: 79.153534 m,
      bearing: 180.421785 deg,
      approach rate: -0.736009 m/s,
      LOS rate: -0.151316 deg/s,
      cmd heading: 185.586840 deg,
      new cmd heading: 185.401201 deg.

2025-10-26T22:20:55.008Z,1761517255.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.235861 target range: 83.901497 and range: 84.30 m.
2025-10-26T22:20:55.113Z,1761517255.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512640
2025-10-26T22:20:55.364Z,1761517255.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763837
2025-10-26T22:20:55.382Z,1761517255.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979441,0.083140,0.183799],[-0.114237,-0.979543,-0.165665],[0.166266,-0.183256,0.968903]]
2025-10-26T22:20:55.453Z,1761517255.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:55.455Z,1761517255.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.90 m.
2025-10-26T22:20:55.462Z,1761517255.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.901497 m,
      nav range: 78.840874 m,
      bearing: 180.369549 deg,
      approach rate: -0.694077 m/s,
      LOS rate: -0.116419 deg/s,
      cmd heading: 185.401196 deg,
      new cmd heading: 185.243867 deg.

2025-10-26T22:20:55.463Z,1761517255.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.233115 target range: 83.901497 and range: 84.30 m.
2025-10-26T22:20:55.617Z,1761517255.617 [DAT](INFO): DAT read: Rx Time:22:20:54.3016

2025-10-26T22:20:55.617Z,1761517255.617 [DAT](INFO): Rx dataTimestamp_ set to:1761517255.616748
2025-10-26T22:20:55.618Z,1761517255.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017093
2025-10-26T22:20:55.809Z,1761517255.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979262,0.081619,0.185429],[-0.112700,-0.980034,-0.163804],[0.168358,-0.181305,0.968909]]
2025-10-26T22:20:55.838Z,1761517255.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.90 m.
2025-10-26T22:20:55.841Z,1761517255.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.901497 m,
      nav range: 78.554817 m,
      bearing: 180.321726 deg,
      approach rate: -0.746798 m/s,
      LOS rate: -0.125303 deg/s,
      cmd heading: 185.243869 deg,
      new cmd heading: 185.099879 deg.

2025-10-26T22:20:55.842Z,1761517255.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.230602 target range: 83.901497 and range: 84.30 m.
2025-10-26T22:20:55.868Z,1761517255.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267921
2025-10-26T22:20:56.126Z,1761517256.126 [DAT](INFO): DAT read: 22:20:54.3016 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406, 0.02, 2.314, 0.866, 2.749, 2.247, PHS= 0.169,-1.336, 0.458, RAW= 158.6,   8.6, CAL= 158.3,   8.9, ROT= 351.7,  -8.9

2025-10-26T22:20:56.127Z,1761517256.127 [DAT](INFO): got valid direction response:
 22:20:54.3016 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406, 0.02, 2.314, 0.866, 2.749, 2.247, PHS= 0.169,-1.336, 0.458, RAW= 158.6,   8.6, CAL= 158.3,   8.9, ROT= 351.7,  -8.9

2025-10-26T22:20:56.128Z,1761517256.128 [DAT](INFO): DAT read: Bearing 341.3,  -0.1 (Local)

2025-10-26T22:20:56.128Z,1761517256.128 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.3,  -0.1 (Local)

2025-10-26T22:20:56.129Z,1761517256.129 [DAT](INFO): DAT read: Range 11 to 50 : 81.5 m  (Round-trip  108.7 ms) speed  0.4 m/s

2025-10-26T22:20:56.130Z,1761517256.130 [DAT](INFO): DAT read: user:532>

2025-10-26T22:20:56.130Z,1761517256.130 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:20:56.132Z,1761517256.132 [DAT](INFO): direction in FSK: [0.977612,-0.142618,0.154710]
2025-10-26T22:20:56.132Z,1761517256.132 [DAT](INFO): publishing direction and range info
2025-10-26T22:20:56.136Z,1761517256.136 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:20:56.136Z,1761517256.136 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:20:56.136Z,1761517256.136 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:20:56.198Z,1761517256.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979048,0.079379,0.187521],[-0.110986,-0.980101,-0.164574],[0.170726,-0.181938,0.968376]]
2025-10-26T22:20:56.305Z,1761517256.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 81.500000 m,
      deltaT: 3.531724 s,
      deltaX: -2.800003 m,
      approachRate: -0.792815 m/s,
      rangeRepo size: 4

2025-10-26T22:20:56.312Z,1761517256.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 81.112549 m,
      bearing: 179.645220 deg,
      lat: 36.779419 deg,
      lon: -121.859527 deg,
      deltaT: 3.531724 s,
      deltaX: -2.788948 m,
      approachRate: -0.789685 m/s,
      posRepo size: 4

2025-10-26T22:20:56.312Z,1761517256.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.11 m.
2025-10-26T22:20:56.315Z,1761517256.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.112549 m,
      nav range: 78.218292 m,
      bearing: 180.229887 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.125303 deg/s,
      cmd heading: 185.099875 deg,
      new cmd heading: 184.924440 deg.

2025-10-26T22:20:56.320Z,1761517256.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.227540 target range: 81.112549 and range: 81.50 m.
2025-10-26T22:20:56.373Z,1761517256.373 [DAT](INFO): DAT read: Txtie:22:20:55.4387

2025-10-26T22:20:56.373Z,1761517256.373 [DAT](INFO): unknown deviceResponse_: Txtie:22:20:55.4387

2025-10-26T22:20:56.374Z,1761517256.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773024
2025-10-26T22:20:56.624Z,1761517256.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023844
2025-10-26T22:20:56.663Z,1761517256.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978837,0.076911,0.189640],[-0.109483,-0.979730,-0.167759],[0.172893,-0.184971,0.967416]]
2025-10-26T22:20:56.690Z,1761517256.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.11 m.
2025-10-26T22:20:56.693Z,1761517256.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.112549 m,
      nav range: 77.927040 m,
      bearing: 180.196032 deg,
      approach rate: -0.755191 m/s,
      LOS rate: -0.088112 deg/s,
      cmd heading: 184.924435 deg,
      new cmd heading: 184.822489 deg.

2025-10-26T22:20:56.694Z,1761517256.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.225761 target range: 81.112549 and range: 81.50 m.
2025-10-26T22:20:56.876Z,1761517256.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.275879
2025-10-26T22:20:57.054Z,1761517257.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978696,0.074215,0.191434],[-0.107553,-0.979538,-0.170112],[0.174892,-0.187077,0.966651]]
2025-10-26T22:20:57.115Z,1761517257.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.11 m.
2025-10-26T22:20:57.132Z,1761517257.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.530479
2025-10-26T22:20:57.138Z,1761517257.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.112549 m,
      nav range: 77.647194 m,
      bearing: 180.163631 deg,
      approach rate: -0.661308 m/s,
      LOS rate: -0.076842 deg/s,
      cmd heading: 184.822487 deg,
      new cmd heading: 184.724935 deg.

2025-10-26T22:20:57.144Z,1761517257.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.224058 target range: 81.112549 and range: 81.50 m.
2025-10-26T22:20:57.381Z,1761517257.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.780244
2025-10-26T22:20:57.465Z,1761517257.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978582,0.071248,0.193132],[-0.105795,-0.978879,-0.174938],[0.176589,-0.191624,0.965452]]
2025-10-26T22:20:57.521Z,1761517257.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:57.523Z,1761517257.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.11 m.
2025-10-26T22:20:57.526Z,1761517257.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.112549 m,
      nav range: 77.318466 m,
      bearing: 180.138219 deg,
      approach rate: -0.803042 m/s,
      LOS rate: -0.062341 deg/s,
      cmd heading: 184.724939 deg,
      new cmd heading: 184.648380 deg.

2025-10-26T22:20:57.527Z,1761517257.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.222722 target range: 81.112549 and range: 81.50 m.
2025-10-26T22:20:57.632Z,1761517257.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.031852
2025-10-26T22:20:57.884Z,1761517257.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.283976
2025-10-26T22:20:57.964Z,1761517257.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978142,0.065912,0.197217],[-0.103023,-0.977458,-0.184289],[0.180624,-0.200579,0.962883]]
2025-10-26T22:20:57.984Z,1761517257.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.11 m.
2025-10-26T22:20:57.986Z,1761517257.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.112549 m,
      nav range: 76.979034 m,
      bearing: 180.112281 deg,
      approach rate: -0.737179 m/s,
      LOS rate: -0.056580 deg/s,
      cmd heading: 184.648386 deg,
      new cmd heading: 184.570230 deg.

2025-10-26T22:20:57.987Z,1761517257.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.221358 target range: 81.112549 and range: 81.50 m.
2025-10-26T22:20:58.139Z,1761517258.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.538121
2025-10-26T22:20:58.361Z,1761517258.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977893,0.064021,0.199065],[-0.102094,-0.976978,-0.187326],[0.182489,-0.203508,0.961916]]
2025-10-26T22:20:58.388Z,1761517258.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.787964
2025-10-26T22:20:58.400Z,1761517258.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.11 m.
2025-10-26T22:20:58.402Z,1761517258.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.112549 m,
      nav range: 76.665787 m,
      bearing: 180.099615 deg,
      approach rate: -0.753111 m/s,
      LOS rate: -0.030576 deg/s,
      cmd heading: 184.570235 deg,
      new cmd heading: 184.532082 deg.

2025-10-26T22:20:58.420Z,1761517258.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.220692 target range: 81.112549 and range: 81.50 m.
2025-10-26T22:20:58.641Z,1761517258.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.040674
2025-10-26T22:20:58.834Z,1761517258.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977748,0.063034,0.200088],[-0.101542,-0.976816,-0.188466],[0.183570,-0.204590,0.961481]]
2025-10-26T22:20:58.855Z,1761517258.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.11 m.
2025-10-26T22:20:58.857Z,1761517258.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.112549 m,
      nav range: 76.324768 m,
      bearing: 180.085833 deg,
      approach rate: -0.749177 m/s,
      LOS rate: -0.030414 deg/s,
      cmd heading: 184.532081 deg,
      new cmd heading: 184.490549 deg.

2025-10-26T22:20:58.858Z,1761517258.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.219968 target range: 81.112549 and range: 81.50 m.
2025-10-26T22:20:58.892Z,1761517258.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.291923
2025-10-26T22:20:59.154Z,1761517259.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553029
2025-10-26T22:20:59.285Z,1761517259.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.11 m.
2025-10-26T22:20:59.288Z,1761517259.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.112549 m,
      nav range: 76.004402 m,
      bearing: 180.072309 deg,
      approach rate: -0.744026 m/s,
      LOS rate: -0.031541 deg/s,
      cmd heading: 184.490554 deg,
      new cmd heading: 184.449811 deg.

2025-10-26T22:20:59.289Z,1761517259.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.219256 target range: 81.112549 and range: 81.50 m.
2025-10-26T22:20:59.397Z,1761517259.397 [DAT](INFO): DAT read: Rx Time:22:20:57.9480

2025-10-26T22:20:59.397Z,1761517259.397 [DAT](INFO): Rx dataTimestamp_ set to:1761517259.397041
2025-10-26T22:20:59.398Z,1761517259.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.797387
2025-10-26T22:20:59.642Z,1761517259.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977609,0.061402,0.201271],[-0.100196,-0.976922,-0.188640],[0.185044,-0.204583,0.961200]]
2025-10-26T22:20:59.648Z,1761517259.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.047951
2025-10-26T22:20:59.668Z,1761517259.668 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:20:59.670Z,1761517259.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.11 m.
2025-10-26T22:20:59.693Z,1761517259.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.112549 m,
      nav range: 75.724594 m,
      bearing: 180.060692 deg,
      approach rate: -0.726216 m/s,
      LOS rate: -0.030261 deg/s,
      cmd heading: 184.449805 deg,
      new cmd heading: 184.414826 deg.

2025-10-26T22:20:59.694Z,1761517259.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.218646 target range: 81.112549 and range: 81.50 m.
2025-10-26T22:20:59.907Z,1761517259.907 [DAT](INFO): DAT read: 22:20:57.9480 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 401, 0.47, 0.943,-0.511, 1.348, 0.850, PHS= 0.195,-1.316, 0.454, RAW= 157.8,   8.1, CAL= 157.4,   8.4, ROT= 352.6,  -8.4

2025-10-26T22:20:59.909Z,1761517259.909 [DAT](INFO): got valid direction response:
 22:20:57.9480 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 401, 0.47, 0.943,-0.511, 1.348, 0.850, PHS= 0.195,-1.316, 0.454, RAW= 157.8,   8.1, CAL= 157.4,   8.4, ROT= 352.6,  -8.4

2025-10-26T22:20:59.911Z,1761517259.911 [DAT](INFO): DAT read: Bearing 338.8,   1.7 (Local)

2025-10-26T22:20:59.912Z,1761517259.912 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.8,   1.7 (Local)

2025-10-26T22:20:59.915Z,1761517259.915 [DAT](INFO): DAT read: Range 11 to 50 : 78.8 m  (Round-trip  105.1 ms) speed  0.5 m/s

2025-10-26T22:20:59.917Z,1761517259.917 [DAT](INFO): DAT read: user:533>

2025-10-26T22:20:59.918Z,1761517259.918 [DAT](INFO): DAT read: Tx time:22:20:59.0387

2025-10-26T22:20:59.919Z,1761517259.919 [DAT](INFO): Ping request sent.
2025-10-26T22:20:59.919Z,1761517259.919 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:20:59.919Z,1761517259.919 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:20:59.921Z,1761517259.921 [DAT](INFO): direction in FSK: [0.981033,-0.127414,0.146083]
2025-10-26T22:20:59.921Z,1761517259.921 [DAT](INFO): publishing transmit ping time
2025-10-26T22:20:59.922Z,1761517259.922 [DAT](INFO): publishing direction and range info
2025-10-26T22:20:59.930Z,1761517259.930 [DAT](INFO): publishing transmit ping time
2025-10-26T22:20:59.931Z,1761517259.931 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:00.060Z,1761517260.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977544,0.061214,0.201646],[-0.100149,-0.976866,-0.188953],[0.185414,-0.204904,0.961060]]
2025-10-26T22:21:00.178Z,1761517260.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 78.800003 m,
      deltaT: 3.780045 s,
      deltaX: -2.699997 m,
      approachRate: -0.714276 m/s,
      rangeRepo size: 4

2025-10-26T22:21:00.184Z,1761517260.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 78.421715 m,
      bearing: 180.084720 deg,
      lat: 36.779426 deg,
      lon: -121.859527 deg,
      deltaT: 3.780045 s,
      deltaX: -2.690834 m,
      approachRate: -0.711852 m/s,
      posRepo size: 4

2025-10-26T22:21:00.184Z,1761517260.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.42 m.
2025-10-26T22:21:00.187Z,1761517260.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.421715 m,
      nav range: 74.653748 m,
      bearing: 180.047712 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.030261 deg/s,
      cmd heading: 184.414821 deg,
      new cmd heading: 184.368847 deg.

2025-10-26T22:21:00.189Z,1761517260.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.217843 target range: 78.421715 and range: 78.80 m.
2025-10-26T22:21:00.520Z,1761517260.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977663,0.060854,0.201177],[-0.099317,-0.977323,-0.187020],[0.185234,-0.202823,0.961536]]
2025-10-26T22:21:00.585Z,1761517260.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.42 m.
2025-10-26T22:21:00.587Z,1761517260.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.421715 m,
      nav range: 74.290695 m,
      bearing: 180.028833 deg,
      approach rate: -0.890478 m/s,
      LOS rate: -0.046532 deg/s,
      cmd heading: 184.368840 deg,
      new cmd heading: 184.311926 deg.

2025-10-26T22:21:00.588Z,1761517260.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.216850 target range: 78.421715 and range: 78.80 m.
2025-10-26T22:21:00.915Z,1761517260.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977704,0.060555,0.201066],[-0.098594,-0.977792,-0.184940],[0.185402,-0.200640,0.961961]]
2025-10-26T22:21:01.011Z,1761517261.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.42 m.
2025-10-26T22:21:01.013Z,1761517261.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.421715 m,
      nav range: 73.974281 m,
      bearing: 180.012431 deg,
      approach rate: -0.742625 m/s,
      LOS rate: -0.038661 deg/s,
      cmd heading: 184.311931 deg,
      new cmd heading: 184.262514 deg.

2025-10-26T22:21:01.014Z,1761517261.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.215987 target range: 78.421715 and range: 78.80 m.
2025-10-26T22:21:01.307Z,1761517261.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977848,0.060246,0.200461],[-0.097410,-0.978638,-0.181047],[0.185271,-0.196564,0.962828]]
2025-10-26T22:21:01.383Z,1761517261.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.42 m.
2025-10-26T22:21:01.390Z,1761517261.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.421715 m,
      nav range: 73.708313 m,
      bearing: 179.993020 deg,
      approach rate: -0.714477 m/s,
      LOS rate: -0.052332 deg/s,
      cmd heading: 184.262508 deg,
      new cmd heading: 184.204065 deg.

2025-10-26T22:21:01.391Z,1761517261.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.214967 target range: 78.421715 and range: 78.80 m.
2025-10-26T22:21:01.737Z,1761517261.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978006,0.059833,0.199809],[-0.095994,-0.979605,-0.176521],[0.185172,-0.191819,0.963803]]
2025-10-26T22:21:01.782Z,1761517261.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:01.785Z,1761517261.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.42 m.
2025-10-26T22:21:01.787Z,1761517261.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.421715 m,
      nav range: 73.402679 m,
      bearing: 179.970913 deg,
      approach rate: -0.760990 m/s,
      LOS rate: -0.055274 deg/s,
      cmd heading: 184.204068 deg,
      new cmd heading: 184.137470 deg.

2025-10-26T22:21:01.788Z,1761517261.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.213805 target range: 78.421715 and range: 78.80 m.
2025-10-26T22:21:01.921Z,1761517261.921 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:21:01.922Z,1761517261.922 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:21:01.922Z,1761517261.922 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:21:02.175Z,1761517262.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256016
2025-10-26T22:21:02.181Z,1761517262.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978158,0.058870,0.199351],[-0.094045,-0.980621,-0.171867],[0.185370,-0.186861,0.964739]]
2025-10-26T22:21:02.260Z,1761517262.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.42 m.
2025-10-26T22:21:02.263Z,1761517262.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.421715 m,
      nav range: 73.047348 m,
      bearing: 179.936624 deg,
      approach rate: -0.748531 m/s,
      LOS rate: -0.072583 deg/s,
      cmd heading: 184.137474 deg,
      new cmd heading: 184.034108 deg.

2025-10-26T22:21:02.264Z,1761517262.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.212001 target range: 78.421715 and range: 78.80 m.
2025-10-26T22:21:02.425Z,1761517262.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505973
2025-10-26T22:21:02.538Z,1761517262.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978390,0.056761,0.198826],[-0.091306,-0.981353,-0.169145],[0.185517,-0.183644,0.965328]]
2025-10-26T22:21:02.557Z,1761517262.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.42 m.
2025-10-26T22:21:02.576Z,1761517262.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.421715 m,
      nav range: 72.824722 m,
      bearing: 179.915468 deg,
      approach rate: -0.748075 m/s,
      LOS rate: -0.071307 deg/s,
      cmd heading: 184.034106 deg,
      new cmd heading: 183.970444 deg.

2025-10-26T22:21:02.577Z,1761517262.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.210890 target range: 78.421715 and range: 78.80 m.
2025-10-26T22:21:02.677Z,1761517262.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757964
2025-10-26T22:21:02.929Z,1761517262.929 [DAT](INFO): DAT read: Rx Time:22:21:01.5444

2025-10-26T22:21:02.930Z,1761517262.930 [DAT](INFO): Rx dataTimestamp_ set to:1761517262.929678
2025-10-26T22:21:02.931Z,1761517262.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011809
2025-10-26T22:21:02.963Z,1761517262.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978455,0.055453,0.198874],[-0.090011,-0.981465,-0.169187],[0.185806,-0.183443,0.965311]]
2025-10-26T22:21:02.981Z,1761517262.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.42 m.
2025-10-26T22:21:02.984Z,1761517262.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.421715 m,
      nav range: 72.507599 m,
      bearing: 179.885440 deg,
      approach rate: -0.747346 m/s,
      LOS rate: -0.071074 deg/s,
      cmd heading: 183.970449 deg,
      new cmd heading: 183.879971 deg.

2025-10-26T22:21:02.985Z,1761517262.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.209311 target range: 78.421715 and range: 78.80 m.
2025-10-26T22:21:03.184Z,1761517263.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263954
2025-10-26T22:21:03.371Z,1761517263.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978650,0.052756,0.198648],[-0.087327,-0.981651,-0.169517],[0.186060,-0.183245,0.965299]]
2025-10-26T22:21:03.414Z,1761517263.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.42 m.
2025-10-26T22:21:03.440Z,1761517263.440 [DAT](INFO): DAT read: 22:21:01.5444 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412, 0.40,-1.213,-2.736,-0.813,-1.392, PHS= 0.281,-1.298, 0.535, RAW= 157.3,   5.7, CAL= 156.6,   5.4, ROT= 353.4,  -5.4

2025-10-26T22:21:03.441Z,1761517263.441 [DAT](INFO): got valid direction response:
 22:21:01.5444 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412, 0.40,-1.213,-2.736,-0.813,-1.392, PHS= 0.281,-1.298, 0.535, RAW= 157.3,   5.7, CAL= 156.6,   5.4, ROT= 353.4,  -5.4

2025-10-26T22:21:03.442Z,1761517263.442 [DAT](INFO): DAT read: Bearing 335.7,   3.3 (Local)

2025-10-26T22:21:03.442Z,1761517263.442 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.7,   3.3 (Local)

2025-10-26T22:21:03.444Z,1761517263.444 [DAT](INFO): DAT read: Range 11 to 50 : 76.1 m  (Round-trip  101.5 ms) speed  0.8 m/s

2025-10-26T22:21:03.445Z,1761517263.445 [DAT](INFO): DAT read: user:534>

2025-10-26T22:21:03.445Z,1761517263.445 [DAT](INFO): DAT read: Tx time:22:21:02.6387

2025-10-26T22:21:03.446Z,1761517263.446 [DAT](INFO): Ping request sent.
2025-10-26T22:21:03.446Z,1761517263.446 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:21:03.446Z,1761517263.446 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:21:03.447Z,1761517263.447 [DAT](INFO): direction in FSK: [0.988964,-0.114427,0.094108]
2025-10-26T22:21:03.447Z,1761517263.447 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:03.448Z,1761517263.448 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:03.451Z,1761517263.451 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:03.451Z,1761517263.451 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:03.458Z,1761517263.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.421715 m,
      nav range: 72.194084 m,
      bearing: 179.845724 deg,
      approach rate: -0.724834 m/s,
      LOS rate: -0.092222 deg/s,
      cmd heading: 183.879976 deg,
      new cmd heading: 183.760309 deg.

2025-10-26T22:21:03.458Z,1761517263.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.207222 target range: 78.421715 and range: 78.80 m.
2025-10-26T22:21:03.776Z,1761517263.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978856,0.048720,0.198662],[-0.084175,-0.981116,-0.174144],[0.186426,-0.187185,0.964473]]
2025-10-26T22:21:03.808Z,1761517263.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 76.099998 m,
      deltaT: 3.532590 s,
      deltaX: -2.700005 m,
      approachRate: -0.764313 m/s,
      rangeRepo size: 4

2025-10-26T22:21:03.810Z,1761517263.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 75.732231 m,
      bearing: 179.242157 deg,
      lat: 36.779422 deg,
      lon: -121.859519 deg,
      deltaT: 3.532590 s,
      deltaX: -2.689484 m,
      approachRate: -0.761335 m/s,
      posRepo size: 4

2025-10-26T22:21:03.811Z,1761517263.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.73 m.
2025-10-26T22:21:03.813Z,1761517263.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.732231 m,
      nav range: 72.325539 m,
      bearing: 179.242151 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.092222 deg/s,
      cmd heading: 183.760311 deg,
      new cmd heading: 183.651507 deg.

2025-10-26T22:21:03.814Z,1761517263.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.205323 target range: 75.732231 and range: 76.10 m.
2025-10-26T22:21:04.251Z,1761517264.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979063,0.045492,0.198411],[-0.081431,-0.980849,-0.176932],[0.186562,-0.189384,0.964017]]
2025-10-26T22:21:04.293Z,1761517264.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:04.295Z,1761517264.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.73 m.
2025-10-26T22:21:04.298Z,1761517264.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.732231 m,
      nav range: 71.964439 m,
      bearing: 179.186861 deg,
      approach rate: -0.740133 m/s,
      LOS rate: -0.113895 deg/s,
      cmd heading: 183.651506 deg,
      new cmd heading: 183.484805 deg.

2025-10-26T22:21:04.300Z,1761517264.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.202414 target range: 75.732231 and range: 76.10 m.
2025-10-26T22:21:04.444Z,1761517264.444 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:21:04.444Z,1761517264.444 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:21:04.444Z,1761517264.444 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:21:04.646Z,1761517264.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979374,0.041940,0.197654],[-0.078073,-0.980795,-0.178734],[0.186362,-0.190479,0.963840]]
2025-10-26T22:21:04.688Z,1761517264.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.73 m.
2025-10-26T22:21:04.697Z,1761517264.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251130
2025-10-26T22:21:04.691Z,1761517264.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.732231 m,
      nav range: 71.692421 m,
      bearing: 179.145615 deg,
      approach rate: -0.691118 m/s,
      LOS rate: -0.105191 deg/s,
      cmd heading: 183.484809 deg,
      new cmd heading: 183.360602 deg.

2025-10-26T22:21:04.703Z,1761517264.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.200246 target range: 75.732231 and range: 76.10 m.
2025-10-26T22:21:04.949Z,1761517264.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502842
2025-10-26T22:21:05.160Z,1761517265.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979605,0.038451,0.197221],[-0.074932,-0.980624,-0.181004],[0.186440,-0.192091,0.963505]]
2025-10-26T22:21:05.203Z,1761517265.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756765
2025-10-26T22:21:05.231Z,1761517265.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.73 m.
2025-10-26T22:21:05.254Z,1761517265.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.732231 m,
      nav range: 71.311966 m,
      bearing: 179.088414 deg,
      approach rate: -0.703485 m/s,
      LOS rate: -0.106333 deg/s,
      cmd heading: 183.360608 deg,
      new cmd heading: 183.188090 deg.

2025-10-26T22:21:05.260Z,1761517265.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.197235 target range: 75.732231 and range: 76.10 m.
2025-10-26T22:21:05.452Z,1761517265.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006544
2025-10-26T22:21:05.593Z,1761517265.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979881,0.031124,0.197140],[-0.068883,-0.979810,-0.187689],[0.187318,-0.197492,0.962241]]
2025-10-26T22:21:05.637Z,1761517265.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.73 m.
2025-10-26T22:21:05.640Z,1761517265.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.732231 m,
      nav range: 70.975929 m,
      bearing: 179.032860 deg,
      approach rate: -0.823335 m/s,
      LOS rate: -0.136759 deg/s,
      cmd heading: 183.188091 deg,
      new cmd heading: 183.020641 deg.

2025-10-26T22:21:05.641Z,1761517265.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.194313 target range: 75.732231 and range: 76.10 m.
2025-10-26T22:21:05.705Z,1761517265.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259363
2025-10-26T22:21:05.960Z,1761517265.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514335
2025-10-26T22:21:05.999Z,1761517265.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979942,0.029037,0.197154],[-0.066826,-0.979925,-0.187831],[0.187742,-0.197239,0.962211]]
2025-10-26T22:21:06.018Z,1761517266.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.73 m.
2025-10-26T22:21:06.021Z,1761517266.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.732231 m,
      nav range: 70.694618 m,
      bearing: 178.986431 deg,
      approach rate: -0.739782 m/s,
      LOS rate: -0.122583 deg/s,
      cmd heading: 183.020643 deg,
      new cmd heading: 182.880802 deg.

2025-10-26T22:21:06.021Z,1761517266.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.191872 target range: 75.732231 and range: 76.10 m.
2025-10-26T22:21:06.211Z,1761517266.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764581
2025-10-26T22:21:06.406Z,1761517266.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979938,0.027298,0.197424],[-0.064999,-0.980188,-0.187098],[0.188405,-0.196177,0.962298]]
2025-10-26T22:21:06.460Z,1761517266.460 [DAT](INFO): DAT read: Rx Time:22:21:05.1409

2025-10-26T22:21:06.461Z,1761517266.461 [DAT](INFO): Rx dataTimestamp_ set to:1761517266.460493
2025-10-26T22:21:06.461Z,1761517266.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015457
2025-10-26T22:21:06.581Z,1761517266.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:06.588Z,1761517266.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.73 m.
2025-10-26T22:21:06.590Z,1761517266.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.732231 m,
      nav range: 70.288330 m,
      bearing: 178.921896 deg,
      approach rate: -0.718294 m/s,
      LOS rate: -0.114754 deg/s,
      cmd heading: 182.880801 deg,
      new cmd heading: 182.686078 deg.

2025-10-26T22:21:06.591Z,1761517266.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.188473 target range: 75.732231 and range: 76.10 m.
2025-10-26T22:21:06.713Z,1761517266.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267153
2025-10-26T22:21:06.892Z,1761517266.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979939,0.025527,0.197655],[-0.063285,-0.980290,-0.187153],[0.188982,-0.195907,0.962240]]
2025-10-26T22:21:06.970Z,1761517266.970 [DAT](INFO): DAT read: 22:21:05.1409 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 408,-0.36, 1.941, 0.416, 2.321, 1.841, PHS= 0.201,-1.381, 0.436, RAW= 156.8,   8.7, CAL= 156.5,   9.2, ROT= 353.5,  -9.2

2025-10-26T22:21:06.971Z,1761517266.971 [DAT](INFO): got valid direction response:
 22:21:05.1409 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 408,-0.36, 1.941, 0.416, 2.321, 1.841, PHS= 0.201,-1.381, 0.436, RAW= 156.8,   8.7, CAL= 156.5,   9.2, ROT= 353.5,  -9.2

2025-10-26T22:21:06.972Z,1761517266.972 [DAT](INFO): DAT read: Bearing 337.7,   2.7 (Local)

2025-10-26T22:21:06.973Z,1761517266.973 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.7,   2.7 (Local)

2025-10-26T22:21:06.974Z,1761517266.974 [DAT](INFO): DAT read: Range 11 to 50 : 73.4 m  (Round-trip  97.9 ms) speed  0.7 m/s

2025-10-26T22:21:06.975Z,1761517266.975 [DAT](INFO): DAT read: user:535>

2025-10-26T22:21:06.976Z,1761517266.976 [DAT](INFO): DAT read: Tx time:22:21:06.2388

2025-10-26T22:21:06.976Z,1761517266.976 [DAT](INFO): Ping request sent.
2025-10-26T22:21:06.976Z,1761517266.976 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:21:06.976Z,1761517266.976 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:21:06.977Z,1761517266.977 [DAT](INFO): direction in FSK: [0.980791,-0.111747,0.159881]
2025-10-26T22:21:06.978Z,1761517266.978 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:06.978Z,1761517266.978 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:06.989Z,1761517266.989 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:06.989Z,1761517266.989 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:07.167Z,1761517267.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 73.400002 m,
      deltaT: 3.531514 s,
      deltaX: -2.699997 m,
      approachRate: -0.764544 m/s,
      rangeRepo size: 4

2025-10-26T22:21:07.177Z,1761517267.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 73.045441 m,
      bearing: 178.921481 deg,
      lat: 36.779436 deg,
      lon: -121.859519 deg,
      deltaT: 3.531514 s,
      deltaX: -2.686790 m,
      approachRate: -0.760804 m/s,
      posRepo size: 4

2025-10-26T22:21:07.178Z,1761517267.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.05 m.
2025-10-26T22:21:07.191Z,1761517267.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.045441 m,
      nav range: 68.305710 m,
      bearing: 178.828700 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.114754 deg/s,
      cmd heading: 182.686073 deg,
      new cmd heading: 182.485495 deg.

2025-10-26T22:21:07.192Z,1761517267.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.184973 target range: 73.045441 and range: 73.40 m.
2025-10-26T22:21:07.585Z,1761517267.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979670,0.025662,0.198969],[-0.063469,-0.980490,-0.186042],[0.190312,-0.194888,0.962185]]
2025-10-26T22:21:07.629Z,1761517267.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.05 m.
2025-10-26T22:21:07.652Z,1761517267.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.045441 m,
      nav range: 67.955399 m,
      bearing: 178.769861 deg,
      approach rate: -0.756241 m/s,
      LOS rate: -0.127675 deg/s,
      cmd heading: 182.485497 deg,
      new cmd heading: 182.308070 deg.

2025-10-26T22:21:07.653Z,1761517267.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.181876 target range: 73.045441 and range: 73.40 m.
2025-10-26T22:21:07.984Z,1761517267.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979567,0.026175,0.199408],[-0.063595,-0.980934,-0.183641],[0.190799,-0.192570,0.962555]]
2025-10-26T22:21:08.024Z,1761517268.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.05 m.
2025-10-26T22:21:08.026Z,1761517268.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.045441 m,
      nav range: 67.668571 m,
      bearing: 178.721174 deg,
      approach rate: -0.727583 m/s,
      LOS rate: -0.124025 deg/s,
      cmd heading: 182.308076 deg,
      new cmd heading: 182.161398 deg.

2025-10-26T22:21:08.028Z,1761517268.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.179316 target range: 73.045441 and range: 73.40 m.
2025-10-26T22:21:08.387Z,1761517268.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979438,0.026676,0.199972],[-0.063983,-0.981122,-0.182500],[0.191329,-0.191542,0.962655]]
2025-10-26T22:21:08.458Z,1761517268.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.05 m.
2025-10-26T22:21:08.460Z,1761517268.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.045441 m,
      nav range: 67.352257 m,
      bearing: 178.669639 deg,
      approach rate: -0.728587 m/s,
      LOS rate: -0.119262 deg/s,
      cmd heading: 182.161391 deg,
      new cmd heading: 182.006059 deg.

2025-10-26T22:21:08.461Z,1761517268.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.176605 target range: 73.045441 and range: 73.40 m.
2025-10-26T22:21:08.791Z,1761517268.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979307,0.026564,0.200629],[-0.064041,-0.981081,-0.182699],[0.191980,-0.191767,0.962481]]
2025-10-26T22:21:08.816Z,1761517268.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:08.818Z,1761517268.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.05 m.
2025-10-26T22:21:08.821Z,1761517268.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.045441 m,
      nav range: 67.089645 m,
      bearing: 178.626458 deg,
      approach rate: -0.727863 m/s,
      LOS rate: -0.120150 deg/s,
      cmd heading: 182.006059 deg,
      new cmd heading: 181.876010 deg.

2025-10-26T22:21:08.822Z,1761517268.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.174335 target range: 73.045441 and range: 73.40 m.
2025-10-26T22:21:08.940Z,1761517268.940 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:21:08.980Z,1761517268.980 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:21:08.980Z,1761517268.980 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:21:08.981Z,1761517268.981 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:21:09.196Z,1761517269.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979140,0.026125,0.201501],[-0.063589,-0.981283,-0.181771],[0.192980,-0.190792,0.962474]]
2025-10-26T22:21:09.219Z,1761517269.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.05 m.
2025-10-26T22:21:09.221Z,1761517269.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.045441 m,
      nav range: 66.797821 m,
      bearing: 178.578178 deg,
      approach rate: -0.729034 m/s,
      LOS rate: -0.121139 deg/s,
      cmd heading: 181.876012 deg,
      new cmd heading: 181.730540 deg.

2025-10-26T22:21:09.222Z,1761517269.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.171796 target range: 73.045441 and range: 73.40 m.
2025-10-26T22:21:09.232Z,1761517269.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256396
2025-10-26T22:21:09.484Z,1761517269.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508216
2025-10-26T22:21:09.599Z,1761517269.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978944,0.025344,0.202548],[-0.062250,-0.982063,-0.177983],[0.194403,-0.186844,0.962962]]
2025-10-26T22:21:09.643Z,1761517269.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.05 m.
2025-10-26T22:21:09.646Z,1761517269.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.045441 m,
      nav range: 66.490334 m,
      bearing: 178.535620 deg,
      approach rate: -0.724699 m/s,
      LOS rate: -0.100767 deg/s,
      cmd heading: 181.730543 deg,
      new cmd heading: 181.602277 deg.

2025-10-26T22:21:09.647Z,1761517269.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.169558 target range: 73.045441 and range: 73.40 m.
2025-10-26T22:21:09.741Z,1761517269.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765248
2025-10-26T22:21:09.944Z,1761517269.944 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:21:09.995Z,1761517269.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018569
2025-10-26T22:21:10.009Z,1761517270.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978816,0.024106,0.203319],[-0.059681,-0.983512,-0.170709],[0.195851,-0.179227,0.964116]]
2025-10-26T22:21:10.029Z,1761517270.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.05 m.
2025-10-26T22:21:10.031Z,1761517270.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.045441 m,
      nav range: 66.210861 m,
      bearing: 178.497286 deg,
      approach rate: -0.724626 m/s,
      LOS rate: -0.099812 deg/s,
      cmd heading: 181.602272 deg,
      new cmd heading: 181.486786 deg.

2025-10-26T22:21:10.032Z,1761517270.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.167542 target range: 73.045441 and range: 73.40 m.
2025-10-26T22:21:10.245Z,1761517270.245 [DAT](INFO): DAT read: Rx Time:22:21:08.7375

2025-10-26T22:21:10.245Z,1761517270.245 [DAT](INFO): Rx dataTimestamp_ set to:1761517270.245090
2025-10-26T22:21:10.246Z,1761517270.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269945
2025-10-26T22:21:10.417Z,1761517270.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978686,0.020806,0.204304],[-0.055777,-0.984388,-0.166942],[0.197641,-0.174780,0.964567]]
2025-10-26T22:21:10.465Z,1761517270.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.05 m.
2025-10-26T22:21:10.468Z,1761517270.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.045441 m,
      nav range: 65.898041 m,
      bearing: 178.462992 deg,
      approach rate: -0.716323 m/s,
      LOS rate: -0.078902 deg/s,
      cmd heading: 181.486787 deg,
      new cmd heading: 181.383417 deg.

2025-10-26T22:21:10.469Z,1761517270.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.165738 target range: 73.045441 and range: 73.40 m.
2025-10-26T22:21:10.512Z,1761517270.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535463
2025-10-26T22:21:10.755Z,1761517270.755 [DAT](INFO): DAT read: 22:21:08.7375 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 404, 0.46, 2.495, 1.008, 2.879, 2.414, PHS= 0.183,-1.360, 0.421, RAW= 157.1,   9.1, CAL= 156.8,   9.6, ROT= 353.2,  -9.6

2025-10-26T22:21:10.756Z,1761517270.756 [DAT](INFO): got valid direction response:
 22:21:08.7375 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 404, 0.46, 2.495, 1.008, 2.879, 2.414, PHS= 0.183,-1.360, 0.421, RAW= 157.1,   9.1, CAL= 156.8,   9.6, ROT= 353.2,  -9.6

2025-10-26T22:21:10.757Z,1761517270.757 [DAT](INFO): DAT read: Bearing 337.8,   3.0 (Local)

2025-10-26T22:21:10.757Z,1761517270.757 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.8,   3.0 (Local)

2025-10-26T22:21:10.759Z,1761517270.759 [DAT](INFO): DAT read: Range 11 to 50 : 70.8 m  (Round-trip  94.5 ms) speed  0.7 m/s

2025-10-26T22:21:10.772Z,1761517270.772 [DAT](INFO): DAT read: user:536>

2025-10-26T22:21:10.772Z,1761517270.772 [DAT](INFO): DAT read: Tx time:22:21:09.8388

2025-10-26T22:21:10.773Z,1761517270.773 [DAT](INFO): Ping request sent.
2025-10-26T22:21:10.773Z,1761517270.773 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:21:10.773Z,1761517270.773 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:21:10.774Z,1761517270.774 [DAT](INFO): direction in FSK: [0.979060,-0.116746,0.166769]
2025-10-26T22:21:10.774Z,1761517270.774 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:10.775Z,1761517270.775 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:10.829Z,1761517270.829 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:10.830Z,1761517270.830 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:10.852Z,1761517270.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978582,0.016624,0.205185],[-0.051749,-0.984592,-0.167035],[0.199246,-0.174076,0.964364]]
2025-10-26T22:21:10.933Z,1761517270.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 70.800003 m,
      deltaT: 3.784224 s,
      deltaX: -2.599998 m,
      approachRate: -0.687063 m/s,
      rangeRepo size: 4

2025-10-26T22:21:10.935Z,1761517270.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 70.451134 m,
      bearing: 177.746925 deg,
      lat: 36.779437 deg,
      lon: -121.859519 deg,
      deltaT: 3.784224 s,
      deltaX: -2.594307 m,
      approachRate: -0.685558 m/s,
      posRepo size: 4

2025-10-26T22:21:10.940Z,1761517270.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.45 m.
2025-10-26T22:21:10.942Z,1761517270.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.451134 m,
      nav range: 65.473587 m,
      bearing: 178.427755 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.078902 deg/s,
      cmd heading: 181.383419 deg,
      new cmd heading: 181.272869 deg.

2025-10-26T22:21:10.948Z,1761517270.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.163808 target range: 70.451134 and range: 70.80 m.
2025-10-26T22:21:11.281Z,1761517271.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978448,0.011420,0.206177],[-0.047110,-0.984483,-0.169038],[0.201048,-0.175108,0.963803]]
2025-10-26T22:21:11.361Z,1761517271.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:11.368Z,1761517271.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.45 m.
2025-10-26T22:21:11.370Z,1761517271.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.451134 m,
      nav range: 65.144417 m,
      bearing: 178.393470 deg,
      approach rate: -0.763655 m/s,
      LOS rate: -0.079940 deg/s,
      cmd heading: 181.272865 deg,
      new cmd heading: 181.169493 deg.

2025-10-26T22:21:11.391Z,1761517271.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.162004 target range: 70.451134 and range: 70.80 m.
2025-10-26T22:21:11.510Z,1761517271.510 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:21:11.510Z,1761517271.510 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:21:11.510Z,1761517271.510 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:21:11.707Z,1761517271.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978332,0.005409,0.206970],[-0.042121,-0.983953,-0.173385],[0.202710,-0.178346,0.962861]]
2025-10-26T22:21:11.764Z,1761517271.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991483
2025-10-26T22:21:11.803Z,1761517271.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.45 m.
2025-10-26T22:21:11.810Z,1761517271.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.451134 m,
      nav range: 64.835876 m,
      bearing: 178.367525 deg,
      approach rate: -0.701877 m/s,
      LOS rate: -0.059302 deg/s,
      cmd heading: 181.169497 deg,
      new cmd heading: 181.091291 deg.

2025-10-26T22:21:11.811Z,1761517271.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.160639 target range: 70.451134 and range: 70.80 m.
2025-10-26T22:21:12.016Z,1761517272.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243433
2025-10-26T22:21:12.139Z,1761517272.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978310,-0.000939,0.207144],[-0.037300,-0.982846,-0.180618],[0.203760,-0.184427,0.961493]]
2025-10-26T22:21:12.174Z,1761517272.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.45 m.
2025-10-26T22:21:12.182Z,1761517272.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.451134 m,
      nav range: 64.569794 m,
      bearing: 178.346042 deg,
      approach rate: -0.717208 m/s,
      LOS rate: -0.058144 deg/s,
      cmd heading: 181.091292 deg,
      new cmd heading: 181.026578 deg.

2025-10-26T22:21:12.182Z,1761517272.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.159510 target range: 70.451134 and range: 70.80 m.
2025-10-26T22:21:12.272Z,1761517272.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498796
2025-10-26T22:21:12.520Z,1761517272.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747422
2025-10-26T22:21:12.552Z,1761517272.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978357,-0.007173,0.206802],[-0.033538,-0.980688,-0.192682],[0.204190,-0.195447,0.959222]]
2025-10-26T22:21:12.612Z,1761517272.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.45 m.
2025-10-26T22:21:12.615Z,1761517272.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.451134 m,
      nav range: 64.255241 m,
      bearing: 178.327438 deg,
      approach rate: -0.717704 m/s,
      LOS rate: -0.042657 deg/s,
      cmd heading: 181.026582 deg,
      new cmd heading: 180.970496 deg.

2025-10-26T22:21:12.620Z,1761517272.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.158531 target range: 70.451134 and range: 70.80 m.
2025-10-26T22:21:12.773Z,1761517272.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999806
2025-10-26T22:21:12.960Z,1761517272.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978326,-0.012449,0.206694],[-0.030630,-0.978510,-0.203911],[0.204791,-0.205823,0.956921]]
2025-10-26T22:21:12.979Z,1761517272.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.45 m.
2025-10-26T22:21:12.982Z,1761517272.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.451134 m,
      nav range: 63.969601 m,
      bearing: 178.311029 deg,
      approach rate: -0.779528 m/s,
      LOS rate: -0.044981 deg/s,
      cmd heading: 180.970493 deg,
      new cmd heading: 180.921046 deg.

2025-10-26T22:21:12.982Z,1761517272.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.157668 target range: 70.451134 and range: 70.80 m.
2025-10-26T22:21:13.025Z,1761517273.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252181
2025-10-26T22:21:13.276Z,1761517273.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503300
2025-10-26T22:21:13.385Z,1761517273.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978191,-0.015771,0.207106],[-0.028964,-0.977013,-0.211202],[0.205676,-0.212594,0.955249]]
2025-10-26T22:21:13.450Z,1761517273.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:13.453Z,1761517273.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.45 m.
2025-10-26T22:21:13.455Z,1761517273.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.451134 m,
      nav range: 63.622005 m,
      bearing: 178.281625 deg,
      approach rate: -0.733470 m/s,
      LOS rate: -0.062383 deg/s,
      cmd heading: 180.921042 deg,
      new cmd heading: 180.832351 deg.

2025-10-26T22:21:13.456Z,1761517273.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.156120 target range: 70.451134 and range: 70.80 m.
2025-10-26T22:21:13.529Z,1761517273.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755619
2025-10-26T22:21:13.773Z,1761517273.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977965,-0.017823,0.208005],[-0.027827,-0.976329,-0.214491],[0.206904,-0.215553,0.954320]]
2025-10-26T22:21:13.781Z,1761517273.781 [DAT](INFO): DAT read: Rx Time:22:21:12.3338

2025-10-26T22:21:13.781Z,1761517273.781 [DAT](INFO): Rx dataTimestamp_ set to:1761517273.780721
2025-10-26T22:21:13.782Z,1761517273.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008626
2025-10-26T22:21:13.794Z,1761517273.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.45 m.
2025-10-26T22:21:13.797Z,1761517273.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.451134 m,
      nav range: 63.370937 m,
      bearing: 178.260431 deg,
      approach rate: -0.735069 m/s,
      LOS rate: -0.062298 deg/s,
      cmd heading: 180.832346 deg,
      new cmd heading: 180.768510 deg.

2025-10-26T22:21:13.798Z,1761517273.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.155006 target range: 70.451134 and range: 70.80 m.
2025-10-26T22:21:14.032Z,1761517274.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259487
2025-10-26T22:21:14.173Z,1761517274.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977775,-0.018863,0.208806],[-0.027128,-0.976189,-0.215218],[0.207894,-0.216099,0.953982]]
2025-10-26T22:21:14.261Z,1761517274.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.45 m.
2025-10-26T22:21:14.263Z,1761517274.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.451134 m,
      nav range: 63.028553 m,
      bearing: 178.231470 deg,
      approach rate: -0.734127 m/s,
      LOS rate: -0.062435 deg/s,
      cmd heading: 180.768511 deg,
      new cmd heading: 180.681155 deg.

2025-10-26T22:21:14.264Z,1761517274.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.153481 target range: 70.451134 and range: 70.80 m.
2025-10-26T22:21:14.290Z,1761517274.290 [DAT](INFO): DAT read: 22:21:12.3338 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 399, 0.19,-0.854,-2.444,-0.550,-1.158, PHS= 0.406,-1.241, 0.564, RAW= 154.5,   3.2, CAL= 153.4,   2.6, ROT= 356.6,  -2.6

2025-10-26T22:21:14.292Z,1761517274.292 [DAT](INFO): got valid direction response:
 22:21:12.3338 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 399, 0.19,-0.854,-2.444,-0.550,-1.158, PHS= 0.406,-1.241, 0.564, RAW= 154.5,   3.2, CAL= 153.4,   2.6, ROT= 356.6,  -2.6

2025-10-26T22:21:14.293Z,1761517274.293 [DAT](INFO): DAT read: Bearing 329.5,   8.2 (Local)

2025-10-26T22:21:14.293Z,1761517274.293 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.5,   8.2 (Local)

2025-10-26T22:21:14.294Z,1761517274.294 [DAT](INFO): DAT read: Range 11 to 50 : 68.1 m  (Round-trip  90.9 ms) speed  0.4 m/s

2025-10-26T22:21:14.295Z,1761517274.295 [DAT](INFO): DAT read: user:537>

2025-10-26T22:21:14.296Z,1761517274.296 [DAT](INFO): DAT read: Tx time:22:21:13.4388

2025-10-26T22:21:14.296Z,1761517274.296 [DAT](INFO): Ping request sent.
2025-10-26T22:21:14.296Z,1761517274.296 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:21:14.297Z,1761517274.297 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:21:14.302Z,1761517274.302 [DAT](INFO): direction in FSK: [0.997212,-0.059245,0.045363]
2025-10-26T22:21:14.302Z,1761517274.302 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:14.302Z,1761517274.302 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:14.306Z,1761517274.306 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:14.306Z,1761517274.306 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:14.694Z,1761517274.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977365,-0.019035,0.210701],[-0.027011,-0.976566,-0.213516],[0.209827,-0.214374,0.953948]]
2025-10-26T22:21:14.793Z,1761517274.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 68.099998 m,
      deltaT: 3.535996 s,
      deltaX: -2.700005 m,
      approachRate: -0.763577 m/s,
      rangeRepo size: 4

2025-10-26T22:21:14.795Z,1761517274.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 67.766518 m,
      bearing: 178.737984 deg,
      lat: 36.779436 deg,
      lon: -121.859521 deg,
      deltaT: 3.535996 s,
      deltaX: -2.684616 m,
      approachRate: -0.759225 m/s,
      posRepo size: 4

2025-10-26T22:21:14.801Z,1761517274.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.77 m.
2025-10-26T22:21:14.807Z,1761517274.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.766518 m,
      nav range: 62.777256 m,
      bearing: 178.300762 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.062435 deg/s,
      cmd heading: 180.681152 deg,
      new cmd heading: 180.581520 deg.

2025-10-26T22:21:14.808Z,1761517274.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.151742 target range: 67.766518 and range: 68.10 m.
2025-10-26T22:21:15.152Z,1761517275.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.77 m.
2025-10-26T22:21:15.155Z,1761517275.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.766518 m,
      nav range: 62.500885 m,
      bearing: 178.272392 deg,
      approach rate: -0.768468 m/s,
      LOS rate: -0.079232 deg/s,
      cmd heading: 180.581514 deg,
      new cmd heading: 180.496029 deg.

2025-10-26T22:21:15.156Z,1761517275.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.150250 target range: 67.766518 and range: 68.10 m.
2025-10-26T22:21:15.586Z,1761517275.586 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:15.588Z,1761517275.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.77 m.
2025-10-26T22:21:15.591Z,1761517275.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.766518 m,
      nav range: 62.172977 m,
      bearing: 178.235892 deg,
      approach rate: -0.751406 m/s,
      LOS rate: -0.084081 deg/s,
      cmd heading: 180.496027 deg,
      new cmd heading: 180.385950 deg.

2025-10-26T22:21:15.592Z,1761517275.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.148329 target range: 67.766518 and range: 68.10 m.
2025-10-26T22:21:15.796Z,1761517275.796 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:21:15.796Z,1761517275.796 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:21:15.796Z,1761517275.796 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:21:15.939Z,1761517275.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976272,-0.017926,0.215805],[-0.026829,-0.978877,-0.202680],[0.214880,-0.203661,0.955170]]
2025-10-26T22:21:16.014Z,1761517276.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.77 m.
2025-10-26T22:21:16.017Z,1761517276.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.766518 m,
      nav range: 61.854187 m,
      bearing: 178.200039 deg,
      approach rate: -0.749716 m/s,
      LOS rate: -0.084753 deg/s,
      cmd heading: 180.385952 deg,
      new cmd heading: 180.277837 deg.

2025-10-26T22:21:16.018Z,1761517276.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.146442 target range: 67.766518 and range: 68.10 m.
2025-10-26T22:21:16.049Z,1761517276.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752870
2025-10-26T22:21:16.300Z,1761517276.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003728
2025-10-26T22:21:16.326Z,1761517276.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976024,-0.017518,0.216956],[-0.026338,-0.979927,-0.197610],[0.216062,-0.198586,0.955971]]
2025-10-26T22:21:16.419Z,1761517276.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.77 m.
2025-10-26T22:21:16.422Z,1761517276.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.766518 m,
      nav range: 61.598213 m,
      bearing: 178.171088 deg,
      approach rate: -0.637712 m/s,
      LOS rate: -0.072426 deg/s,
      cmd heading: 180.277843 deg,
      new cmd heading: 180.190629 deg.

2025-10-26T22:21:16.423Z,1761517276.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.144920 target range: 67.766518 and range: 68.10 m.
2025-10-26T22:21:16.553Z,1761517276.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255981
2025-10-26T22:21:16.725Z,1761517276.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975833,-0.017207,0.217839],[-0.025817,-0.980834,-0.193126],[0.216987,-0.194083,0.956686]]
2025-10-26T22:21:16.782Z,1761517276.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.77 m.
2025-10-26T22:21:16.785Z,1761517276.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.766518 m,
      nav range: 61.284008 m,
      bearing: 178.131410 deg,
      approach rate: -0.856327 m/s,
      LOS rate: -0.108690 deg/s,
      cmd heading: 180.190636 deg,
      new cmd heading: 180.070994 deg.

2025-10-26T22:21:16.786Z,1761517276.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.142832 target range: 67.766518 and range: 68.10 m.
2025-10-26T22:21:16.804Z,1761517276.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507829
2025-10-26T22:21:17.056Z,1761517277.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759824
2025-10-26T22:21:17.122Z,1761517277.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975704,-0.017714,0.218376],[-0.025036,-0.981183,-0.191450],[0.217658,-0.192265,0.956901]]
2025-10-26T22:21:17.150Z,1761517277.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.77 m.
2025-10-26T22:21:17.153Z,1761517277.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.766518 m,
      nav range: 61.013107 m,
      bearing: 178.097067 deg,
      approach rate: -0.735526 m/s,
      LOS rate: -0.093659 deg/s,
      cmd heading: 180.070998 deg,
      new cmd heading: 179.967512 deg.

2025-10-26T22:21:17.154Z,1761517277.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.141026 target range: 67.766518 and range: 68.10 m.
2025-10-26T22:21:17.308Z,1761517277.308 [DAT](INFO): DAT read: Rx Time:22:21:15.9303

2025-10-26T22:21:17.309Z,1761517277.309 [DAT](INFO): Rx dataTimestamp_ set to:1761517277.308566
2025-10-26T22:21:17.309Z,1761517277.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012869
2025-10-26T22:21:17.526Z,1761517277.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975613,-0.017384,0.218810],[-0.024936,-0.981628,-0.189169],[0.218079,-0.190012,0.957255]]
2025-10-26T22:21:17.560Z,1761517277.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263949
2025-10-26T22:21:17.585Z,1761517277.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.77 m.
2025-10-26T22:21:17.587Z,1761517277.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.766518 m,
      nav range: 60.694992 m,
      bearing: 178.047029 deg,
      approach rate: -0.732581 m/s,
      LOS rate: -0.115837 deg/s,
      cmd heading: 179.967507 deg,
      new cmd heading: 179.816604 deg.

2025-10-26T22:21:17.588Z,1761517277.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.138392 target range: 67.766518 and range: 68.10 m.
2025-10-26T22:21:17.818Z,1761517277.818 [DAT](INFO): DAT read: 22:21:15.9303 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 411,-0.03, 0.924,-0.726, 1.230, 0.576, PHS= 0.450,-1.257, 0.610, RAW= 154.4,   2.2, CAL= 153.2,   1.5, ROT= 356.8,  -1.5

2025-10-26T22:21:17.819Z,1761517277.819 [DAT](INFO): got valid direction response:
 22:21:15.9303 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 411,-0.03, 0.924,-0.726, 1.230, 0.576, PHS= 0.450,-1.257, 0.610, RAW= 154.4,   2.2, CAL= 153.2,   1.5, ROT= 356.8,  -1.5

2025-10-26T22:21:17.820Z,1761517277.820 [DAT](INFO): DAT read: Bearing 327.5,   9.6 (Local)

2025-10-26T22:21:17.821Z,1761517277.821 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.5,   9.6 (Local)

2025-10-26T22:21:17.822Z,1761517277.822 [DAT](INFO): DAT read: Range 11 to 50 : 65.5 m  (Round-trip  87.4 ms) speed  0.7 m/s

2025-10-26T22:21:17.823Z,1761517277.823 [DAT](INFO): DAT read: user:538>

2025-10-26T22:21:17.835Z,1761517277.835 [DAT](INFO): DAT read: Tx time:22:21:17.0388

2025-10-26T22:21:17.849Z,1761517277.849 [DAT](INFO): Ping request sent.
2025-10-26T22:21:17.851Z,1761517277.851 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:21:17.863Z,1761517277.863 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:21:17.864Z,1761517277.864 [DAT](INFO): direction in FSK: [0.998099,-0.055803,0.026177]
2025-10-26T22:21:17.865Z,1761517277.865 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:17.865Z,1761517277.865 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:17.872Z,1761517277.872 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:17.872Z,1761517277.872 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:17.934Z,1761517277.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975513,-0.018061,0.219197],[-0.023943,-0.981979,-0.187467],[0.218633,-0.188125,0.957501]]
2025-10-26T22:21:18.016Z,1761517278.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 65.500000 m,
      deltaT: 3.527724 s,
      deltaX: -2.599998 m,
      approachRate: -0.737019 m/s,
      rangeRepo size: 4

2025-10-26T22:21:18.018Z,1761517278.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 65.179321 m,
      bearing: 178.460169 deg,
      lat: 36.779422 deg,
      lon: -121.859521 deg,
      deltaT: 3.527724 s,
      deltaX: -2.587196 m,
      approachRate: -0.733390 m/s,
      posRepo size: 4

2025-10-26T22:21:18.019Z,1761517278.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.18 m.
2025-10-26T22:21:18.025Z,1761517278.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.179321 m,
      nav range: 61.961487 m,
      bearing: 178.050853 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.115837 deg/s,
      cmd heading: 179.816601 deg,
      new cmd heading: 179.668408 deg.

2025-10-26T22:21:18.026Z,1761517278.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.135805 target range: 65.179321 and range: 65.50 m.
2025-10-26T22:21:18.336Z,1761517278.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975367,-0.018511,0.219808],[-0.023269,-0.982279,-0.185974],[0.219356,-0.186507,0.957652]]
2025-10-26T22:21:18.353Z,1761517278.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:18.355Z,1761517278.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.18 m.
2025-10-26T22:21:18.381Z,1761517278.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.179321 m,
      nav range: 61.691803 m,
      bearing: 178.009323 deg,
      approach rate: -0.783448 m/s,
      LOS rate: -0.121176 deg/s,
      cmd heading: 179.668413 deg,
      new cmd heading: 179.543277 deg.

2025-10-26T22:21:18.390Z,1761517278.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.133621 target range: 65.179321 and range: 65.50 m.
2025-10-26T22:21:18.568Z,1761517278.568 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:21:18.568Z,1761517278.568 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:21:18.568Z,1761517278.568 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:21:18.745Z,1761517278.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975184,-0.018180,0.220647],[-0.022945,-0.982957,-0.182397],[0.220202,-0.182934,0.958147]]
2025-10-26T22:21:18.810Z,1761517278.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.18 m.
2025-10-26T22:21:18.817Z,1761517278.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.179321 m,
      nav range: 61.373508 m,
      bearing: 177.958604 deg,
      approach rate: -0.700414 m/s,
      LOS rate: -0.112186 deg/s,
      cmd heading: 179.543270 deg,
      new cmd heading: 179.390325 deg.

2025-10-26T22:21:18.818Z,1761517278.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.130952 target range: 65.179321 and range: 65.50 m.
2025-10-26T22:21:18.821Z,1761517278.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.971030
2025-10-26T22:21:19.073Z,1761517279.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.224020
2025-10-26T22:21:19.145Z,1761517279.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975010,-0.018217,0.221412],[-0.022567,-0.983356,-0.180283],[0.221011,-0.180774,0.958371]]
2025-10-26T22:21:19.164Z,1761517279.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.18 m.
2025-10-26T22:21:19.167Z,1761517279.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.179321 m,
      nav range: 61.099640 m,
      bearing: 177.914616 deg,
      approach rate: -0.773205 m/s,
      LOS rate: -0.124746 deg/s,
      cmd heading: 179.390329 deg,
      new cmd heading: 179.257775 deg.

2025-10-26T22:21:19.169Z,1761517279.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.128638 target range: 65.179321 and range: 65.50 m.
2025-10-26T22:21:19.324Z,1761517279.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474827
2025-10-26T22:21:19.551Z,1761517279.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974809,-0.018615,0.222261],[-0.021820,-0.983772,-0.178091],[0.221970,-0.178455,0.958584]]
2025-10-26T22:21:19.576Z,1761517279.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726986
2025-10-26T22:21:19.607Z,1761517279.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.18 m.
2025-10-26T22:21:19.630Z,1761517279.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.179321 m,
      nav range: 60.778706 m,
      bearing: 177.859102 deg,
      approach rate: -0.724158 m/s,
      LOS rate: -0.125924 deg/s,
      cmd heading: 179.257768 deg,
      new cmd heading: 179.090347 deg.

2025-10-26T22:21:19.631Z,1761517279.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.125716 target range: 65.179321 and range: 65.50 m.
2025-10-26T22:21:19.828Z,1761517279.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978867
2025-10-26T22:21:19.953Z,1761517279.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974701,-0.020204,0.222599],[-0.020001,-0.984027,-0.176894],[0.222618,-0.176871,0.958727]]
2025-10-26T22:21:19.976Z,1761517279.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.18 m.
2025-10-26T22:21:19.979Z,1761517279.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.179321 m,
      nav range: 60.515167 m,
      bearing: 177.813533 deg,
      approach rate: -0.713838 m/s,
      LOS rate: -0.123970 deg/s,
      cmd heading: 179.090347 deg,
      new cmd heading: 178.953043 deg.

2025-10-26T22:21:19.980Z,1761517279.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.123320 target range: 65.179321 and range: 65.50 m.
2025-10-26T22:21:20.081Z,1761517280.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231264
2025-10-26T22:21:20.332Z,1761517280.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482884
2025-10-26T22:21:20.355Z,1761517280.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974682,-0.022329,0.222476],[-0.017859,-0.984048,-0.177005],[0.222879,-0.176497,0.958735]]
2025-10-26T22:21:20.399Z,1761517280.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:20.415Z,1761517280.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.18 m.
2025-10-26T22:21:20.442Z,1761517280.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.179321 m,
      nav range: 60.223629 m,
      bearing: 177.763274 deg,
      approach rate: -0.667055 m/s,
      LOS rate: -0.115550 deg/s,
      cmd heading: 178.953046 deg,
      new cmd heading: 178.801542 deg.

2025-10-26T22:21:20.450Z,1761517280.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.120676 target range: 65.179321 and range: 65.50 m.
2025-10-26T22:21:20.585Z,1761517280.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735336
2025-10-26T22:21:20.759Z,1761517280.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974762,-0.026597,0.221656],[-0.014727,-0.983054,-0.182723],[0.222760,-0.181376,0.957852]]
2025-10-26T22:21:20.807Z,1761517280.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.18 m.
2025-10-26T22:21:20.826Z,1761517280.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.179321 m,
      nav range: 59.917229 m,
      bearing: 177.712279 deg,
      approach rate: -0.778482 m/s,
      LOS rate: -0.130229 deg/s,
      cmd heading: 178.801539 deg,
      new cmd heading: 178.647770 deg.

2025-10-26T22:21:20.827Z,1761517280.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.117992 target range: 65.179321 and range: 65.50 m.
2025-10-26T22:21:20.836Z,1761517280.836 [DAT](INFO): DAT read: Rx Time:22:21:19.5268

2025-10-26T22:21:20.837Z,1761517280.837 [DAT](INFO): Rx dataTimestamp_ set to:1761517280.836675
2025-10-26T22:21:20.837Z,1761517280.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988045
2025-10-26T22:21:21.088Z,1761517281.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238932
2025-10-26T22:21:21.163Z,1761517281.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974915,-0.031041,0.220401],[-0.011398,-0.981966,-0.188714],[0.222284,-0.186492,0.956980]]
2025-10-26T22:21:21.189Z,1761517281.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.18 m.
2025-10-26T22:21:21.192Z,1761517281.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.179321 m,
      nav range: 59.646538 m,
      bearing: 177.667727 deg,
      approach rate: -0.707990 m/s,
      LOS rate: -0.117054 deg/s,
      cmd heading: 178.647764 deg,
      new cmd heading: 178.513502 deg.

2025-10-26T22:21:21.193Z,1761517281.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.115648 target range: 65.179321 and range: 65.50 m.
2025-10-26T22:21:21.351Z,1761517281.351 [DAT](INFO): DAT read: 22:21:19.5268 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 407,-0.42, 1.742, 0.187, 2.023, 1.525, PHS= 0.318,-1.293, 0.453, RAW= 154.0,   6.3, CAL= 153.3,   6.4, ROT= 356.7,  -6.4

2025-10-26T22:21:21.352Z,1761517281.352 [DAT](INFO): got valid direction response:
 22:21:19.5268 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 407,-0.42, 1.742, 0.187, 2.023, 1.525, PHS= 0.318,-1.293, 0.453, RAW= 154.0,   6.3, CAL= 153.3,   6.4, ROT= 356.7,  -6.4

2025-10-26T22:21:21.353Z,1761517281.353 [DAT](INFO): DAT read: Bearing 332.7,   8.7 (Local)

2025-10-26T22:21:21.354Z,1761517281.354 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.7,   8.7 (Local)

2025-10-26T22:21:21.355Z,1761517281.355 [DAT](INFO): DAT read: Range 11 to 50 : 62.8 m  (Round-trip  83.8 ms) speed  0.7 m/s

2025-10-26T22:21:21.356Z,1761517281.356 [DAT](INFO): DAT read: user:539>

2025-10-26T22:21:21.357Z,1761517281.357 [DAT](INFO): DAT read: Tx time:22:21:20.6404

2025-10-26T22:21:21.357Z,1761517281.357 [DAT](INFO): Ping request sent.
2025-10-26T22:21:21.357Z,1761517281.357 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:21:21.357Z,1761517281.357 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:21:21.358Z,1761517281.358 [DAT](INFO): direction in FSK: [0.992120,-0.057205,0.111469]
2025-10-26T22:21:21.359Z,1761517281.359 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:21.359Z,1761517281.359 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:21.375Z,1761517281.375 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:21.380Z,1761517281.380 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:21.566Z,1761517281.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975138,-0.035134,0.218794],[-0.007496,-0.981556,-0.191027],[0.221470,-0.187917,0.956890]]
2025-10-26T22:21:21.741Z,1761517281.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.799999 m,
      deltaT: 3.529289 s,
      deltaX: -2.700001 m,
      approachRate: -0.765027 m/s,
      rangeRepo size: 4

2025-10-26T22:21:21.743Z,1761517281.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.491318 m,
      bearing: 178.331040 deg,
      lat: 36.779426 deg,
      lon: -121.859525 deg,
      deltaT: 3.529289 s,
      deltaX: -2.688004 m,
      approachRate: -0.761627 m/s,
      posRepo size: 4

2025-10-26T22:21:21.748Z,1761517281.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T22:21:21.750Z,1761517281.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.491318 m,
      nav range: 58.843773 m,
      bearing: 177.996839 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117054 deg/s,
      cmd heading: 178.513496 deg,
      new cmd heading: 178.320010 deg.

2025-10-26T22:21:21.755Z,1761517281.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.112271 target range: 62.491318 and range: 62.80 m.
2025-10-26T22:21:22.205Z,1761517282.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975669,-0.044604,0.214663],[0.002129,-0.980968,-0.194156],[0.219238,-0.188975,0.957196]]
2025-10-26T22:21:22.232Z,1761517282.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T22:21:22.234Z,1761517282.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.491318 m,
      nav range: 58.452942 m,
      bearing: 177.943462 deg,
      approach rate: -0.795713 m/s,
      LOS rate: -0.109401 deg/s,
      cmd heading: 178.320011 deg,
      new cmd heading: 178.158808 deg.

2025-10-26T22:21:22.251Z,1761517282.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.109458 target range: 62.491318 and range: 62.80 m.
2025-10-26T22:21:22.611Z,1761517282.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975929,-0.049463,0.212406],[0.006247,-0.979881,-0.199483],[0.218000,-0.193355,0.956603]]
2025-10-26T22:21:22.678Z,1761517282.678 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:22.681Z,1761517282.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T22:21:22.684Z,1761517282.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.491318 m,
      nav range: 58.134155 m,
      bearing: 177.898416 deg,
      approach rate: -0.709512 m/s,
      LOS rate: -0.100805 deg/s,
      cmd heading: 178.158805 deg,
      new cmd heading: 178.022928 deg.

2025-10-26T22:21:22.685Z,1761517282.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.107086 target range: 62.491318 and range: 62.80 m.
2025-10-26T22:21:22.857Z,1761517282.857 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:21:22.857Z,1761517282.857 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:21:22.857Z,1761517282.857 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:21:23.106Z,1761517283.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976099,-0.054486,0.210383],[0.010703,-0.978939,-0.203870],[0.217061,-0.196746,0.956125]]
2025-10-26T22:21:23.108Z,1761517283.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751273
2025-10-26T22:21:23.154Z,1761517283.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T22:21:23.158Z,1761517283.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.491318 m,
      nav range: 57.795940 m,
      bearing: 177.851663 deg,
      approach rate: -0.713836 m/s,
      LOS rate: -0.099254 deg/s,
      cmd heading: 178.022925 deg,
      new cmd heading: 177.881845 deg.

2025-10-26T22:21:23.159Z,1761517283.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.104624 target range: 62.491318 and range: 62.80 m.
2025-10-26T22:21:23.361Z,1761517283.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003465
2025-10-26T22:21:23.537Z,1761517283.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976254,-0.059339,0.208342],[0.014968,-0.977931,-0.208392],[0.216110,-0.200325,0.955597]]
2025-10-26T22:21:23.592Z,1761517283.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T22:21:23.595Z,1761517283.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.491318 m,
      nav range: 57.480404 m,
      bearing: 177.809103 deg,
      approach rate: -0.720586 m/s,
      LOS rate: -0.097727 deg/s,
      cmd heading: 177.881840 deg,
      new cmd heading: 177.753460 deg.

2025-10-26T22:21:23.596Z,1761517283.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.102383 target range: 62.491318 and range: 62.80 m.
2025-10-26T22:21:23.612Z,1761517283.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255362
2025-10-26T22:21:23.864Z,1761517283.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507196
2025-10-26T22:21:23.936Z,1761517283.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976385,-0.064262,0.206260],[0.019287,-0.976852,-0.213045],[0.215176,-0.204036,0.955023]]
2025-10-26T22:21:23.954Z,1761517283.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T22:21:23.957Z,1761517283.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.491318 m,
      nav range: 57.219357 m,
      bearing: 177.774728 deg,
      approach rate: -0.721484 m/s,
      LOS rate: -0.095441 deg/s,
      cmd heading: 177.753460 deg,
      new cmd heading: 177.649863 deg.

2025-10-26T22:21:23.958Z,1761517283.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.100575 target range: 62.491318 and range: 62.80 m.
2025-10-26T22:21:24.117Z,1761517284.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759465
2025-10-26T22:21:24.342Z,1761517284.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976457,-0.069259,0.204290],[0.023546,-0.975618,-0.218211],[0.214422,-0.208263,0.954280]]
2025-10-26T22:21:24.369Z,1761517284.369 [DAT](INFO): DAT read: Rx Time:22:21:23.1248

2025-10-26T22:21:24.370Z,1761517284.370 [DAT](INFO): Rx dataTimestamp_ set to:1761517284.369728
2025-10-26T22:21:24.372Z,1761517284.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014055
2025-10-26T22:21:24.408Z,1761517284.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T22:21:24.411Z,1761517284.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.491318 m,
      nav range: 56.908562 m,
      bearing: 177.734795 deg,
      approach rate: -0.684460 m/s,
      LOS rate: -0.088423 deg/s,
      cmd heading: 177.649860 deg,
      new cmd heading: 177.529409 deg.

2025-10-26T22:21:24.416Z,1761517284.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.098473 target range: 62.491318 and range: 62.80 m.
2025-10-26T22:21:24.623Z,1761517284.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266133
2025-10-26T22:21:24.799Z,1761517284.799 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:24.802Z,1761517284.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T22:21:24.804Z,1761517284.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.491318 m,
      nav range: 56.603020 m,
      bearing: 177.694677 deg,
      approach rate: -0.776929 m/s,
      LOS rate: -0.102563 deg/s,
      cmd heading: 177.529403 deg,
      new cmd heading: 177.408398 deg.

2025-10-26T22:21:24.805Z,1761517284.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.096361 target range: 62.491318 and range: 62.80 m.
2025-10-26T22:21:24.874Z,1761517284.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517092
2025-10-26T22:21:25.130Z,1761517285.130 [DAT](INFO): DAT read: 22:21:23.1248 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 403,-0.33,-1.208,-2.826,-0.983,-1.504, PHS= 0.398,-1.277, 0.477, RAW= 152.3,   4.7, CAL= 151.4,   4.7, ROT= 358.6,  -4.7

2025-10-26T22:21:25.132Z,1761517285.132 [DAT](INFO): got valid direction response:
 22:21:23.1248 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 403,-0.33,-1.208,-2.826,-0.983,-1.504, PHS= 0.398,-1.277, 0.477, RAW= 152.3,   4.7, CAL= 151.4,   4.7, ROT= 358.6,  -4.7

2025-10-26T22:21:25.133Z,1761517285.133 [DAT](INFO): DAT read: Bearing 329.5,  10.3 (Local)

2025-10-26T22:21:25.133Z,1761517285.133 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.5,  10.3 (Local)

2025-10-26T22:21:25.135Z,1761517285.135 [DAT](INFO): DAT read: Range 11 to 50 : 60.2 m  (Round-trip  80.3 ms) speed  0.6 m/s

2025-10-26T22:21:25.136Z,1761517285.136 [DAT](INFO): DAT read: user:540>

2025-10-26T22:21:25.136Z,1761517285.136 [DAT](INFO): DAT read: Tx time:22:21:24.2387

2025-10-26T22:21:25.137Z,1761517285.137 [DAT](INFO): Ping request sent.
2025-10-26T22:21:25.137Z,1761517285.137 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:21:25.137Z,1761517285.137 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:21:25.138Z,1761517285.138 [DAT](INFO): direction in FSK: [0.996340,-0.024350,0.081939]
2025-10-26T22:21:25.138Z,1761517285.138 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:25.139Z,1761517285.139 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:25.142Z,1761517285.142 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:25.142Z,1761517285.142 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:25.233Z,1761517285.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976356,-0.079839,0.200884],[0.035091,-0.975507,-0.217153],[0.213301,-0.204969,0.955244]]
2025-10-26T22:21:25.292Z,1761517285.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.200001 m,
      deltaT: 3.782791 s,
      deltaX: -2.599998 m,
      approachRate: -0.687323 m/s,
      rangeRepo size: 4

2025-10-26T22:21:25.294Z,1761517285.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 59.905991 m,
      bearing: 177.544719 deg,
      lat: 36.779417 deg,
      lon: -121.859525 deg,
      deltaT: 3.782791 s,
      deltaX: -2.585327 m,
      approachRate: -0.683444 m/s,
      posRepo size: 4

2025-10-26T22:21:25.295Z,1761517285.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.91 m.
2025-10-26T22:21:25.302Z,1761517285.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.905991 m,
      nav range: 57.219360 m,
      bearing: 177.692890 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.102563 deg/s,
      cmd heading: 177.408399 deg,
      new cmd heading: 177.258898 deg.

2025-10-26T22:21:25.303Z,1761517285.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.093751 target range: 59.905991 and range: 60.20 m.
2025-10-26T22:21:25.644Z,1761517285.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976243,-0.083018,0.200143],[0.038645,-0.975590,-0.216171],[0.213204,-0.203301,0.955622]]
2025-10-26T22:21:25.679Z,1761517285.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.91 m.
2025-10-26T22:21:25.682Z,1761517285.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.905991 m,
      nav range: 56.912540 m,
      bearing: 177.659480 deg,
      approach rate: -0.783213 m/s,
      LOS rate: -0.085746 deg/s,
      cmd heading: 177.258900 deg,
      new cmd heading: 177.158128 deg.

2025-10-26T22:21:25.683Z,1761517285.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.091993 target range: 59.905991 and range: 60.20 m.
2025-10-26T22:21:26.043Z,1761517286.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976110,-0.085674,0.199673],[0.041355,-0.975436,-0.216368],[0.213306,-0.202941,0.955675]]
2025-10-26T22:21:26.061Z,1761517286.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.91 m.
2025-10-26T22:21:26.064Z,1761517286.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.905991 m,
      nav range: 56.630867 m,
      bearing: 177.629284 deg,
      approach rate: -0.737008 m/s,
      LOS rate: -0.079402 deg/s,
      cmd heading: 177.158127 deg,
      new cmd heading: 177.067089 deg.

2025-10-26T22:21:26.065Z,1761517286.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.090404 target range: 59.905991 and range: 60.20 m.
2025-10-26T22:21:26.484Z,1761517286.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.91 m.
2025-10-26T22:21:26.486Z,1761517286.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.905991 m,
      nav range: 56.322788 m,
      bearing: 177.595910 deg,
      approach rate: -0.729801 m/s,
      LOS rate: -0.079492 deg/s,
      cmd heading: 177.067094 deg,
      new cmd heading: 176.966424 deg.

2025-10-26T22:21:26.487Z,1761517286.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.088647 target range: 59.905991 and range: 60.20 m.
2025-10-26T22:21:26.926Z,1761517286.926 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:26.945Z,1761517286.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.91 m.
2025-10-26T22:21:26.948Z,1761517286.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.905991 m,
      nav range: 56.001019 m,
      bearing: 177.562315 deg,
      approach rate: -0.696842 m/s,
      LOS rate: -0.073172 deg/s,
      cmd heading: 176.966417 deg,
      new cmd heading: 176.865055 deg.

2025-10-26T22:21:26.949Z,1761517286.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.086878 target range: 59.905991 and range: 60.20 m.
2025-10-26T22:21:27.140Z,1761517287.140 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:21:27.140Z,1761517287.140 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:21:27.141Z,1761517287.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:21:27.275Z,1761517287.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975540,-0.090026,0.200542],[0.045762,-0.975477,-0.215294],[0.215006,-0.200850,0.955736]]
2025-10-26T22:21:27.294Z,1761517287.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.91 m.
2025-10-26T22:21:27.296Z,1761517287.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.905991 m,
      nav range: 55.737846 m,
      bearing: 177.535765 deg,
      approach rate: -0.755367 m/s,
      LOS rate: -0.076564 deg/s,
      cmd heading: 176.865057 deg,
      new cmd heading: 176.785032 deg.

2025-10-26T22:21:27.297Z,1761517287.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.085481 target range: 59.905991 and range: 60.20 m.
2025-10-26T22:21:27.394Z,1761517287.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256821
2025-10-26T22:21:27.644Z,1761517287.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507495
2025-10-26T22:21:27.679Z,1761517287.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975214,-0.091556,0.201433],[0.046863,-0.975187,-0.216364],[0.216244,-0.201561,0.955307]]
2025-10-26T22:21:27.786Z,1761517287.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.91 m.
2025-10-26T22:21:27.789Z,1761517287.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.905991 m,
      nav range: 55.387085 m,
      bearing: 177.492983 deg,
      approach rate: -0.712851 m/s,
      LOS rate: -0.087497 deg/s,
      cmd heading: 176.785035 deg,
      new cmd heading: 176.655876 deg.

2025-10-26T22:21:27.790Z,1761517287.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.083227 target range: 59.905991 and range: 60.20 m.
2025-10-26T22:21:27.897Z,1761517287.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759942
2025-10-26T22:21:28.082Z,1761517288.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974840,-0.092256,0.202920],[0.047003,-0.974941,-0.217442],[0.217895,-0.202433,0.954747]]
2025-10-26T22:21:28.107Z,1761517288.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.91 m.
2025-10-26T22:21:28.110Z,1761517288.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.905991 m,
      nav range: 55.157509 m,
      bearing: 177.464720 deg,
      approach rate: -0.714556 m/s,
      LOS rate: -0.088333 deg/s,
      cmd heading: 176.655876 deg,
      new cmd heading: 176.570736 deg.

2025-10-26T22:21:28.112Z,1761517288.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.081741 target range: 59.905991 and range: 60.20 m.
2025-10-26T22:21:28.149Z,1761517288.149 [DAT](INFO): DAT read: Rx Time:22:21:26.7197

2025-10-26T22:21:28.149Z,1761517288.149 [DAT](INFO): Rx dataTimestamp_ set to:1761517288.148740
2025-10-26T22:21:28.150Z,1761517288.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012751
2025-10-26T22:21:28.400Z,1761517288.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263542
2025-10-26T22:21:28.514Z,1761517288.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974347,-0.092140,0.205323],[0.046889,-0.975438,-0.215225],[0.220111,-0.200077,0.954736]]
2025-10-26T22:21:28.614Z,1761517288.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.91 m.
2025-10-26T22:21:28.626Z,1761517288.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.905991 m,
      nav range: 54.802071 m,
      bearing: 177.420415 deg,
      approach rate: -0.701420 m/s,
      LOS rate: -0.087999 deg/s,
      cmd heading: 176.570731 deg,
      new cmd heading: 176.436954 deg.

2025-10-26T22:21:28.627Z,1761517288.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.079406 target range: 59.905991 and range: 60.20 m.
2025-10-26T22:21:28.659Z,1761517288.659 [DAT](INFO): DAT read: 22:21:26.7197 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 399, 0.03,-2.432, 2.255,-2.252,-2.717, PHS= 0.387,-1.267, 0.421, RAW= 151.0,   5.5, CAL= 150.3,   5.7, ROT= 359.7,  -5.7

2025-10-26T22:21:28.661Z,1761517288.661 [DAT](INFO): got valid direction response:
 22:21:26.7197 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 399, 0.03,-2.432, 2.255,-2.252,-2.717, PHS= 0.387,-1.267, 0.421, RAW= 151.0,   5.5, CAL= 150.3,   5.7, ROT= 359.7,  -5.7

2025-10-26T22:21:28.662Z,1761517288.662 [DAT](INFO): DAT read: Bearing 329.9,  11.3 (Local)

2025-10-26T22:21:28.663Z,1761517288.663 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.9,  11.3 (Local)

2025-10-26T22:21:28.665Z,1761517288.665 [DAT](INFO): DAT read: Range 11 to 50 : 57.6 m  (Round-trip  76.8 ms) speed  0.6 m/s

2025-10-26T22:21:28.666Z,1761517288.666 [DAT](INFO): DAT read: user:541>

2025-10-26T22:21:28.667Z,1761517288.667 [DAT](INFO): DAT read: Tx time:22:21:27.8387

2025-10-26T22:21:28.668Z,1761517288.668 [DAT](INFO): Ping request sent.
2025-10-26T22:21:28.669Z,1761517288.669 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:21:28.669Z,1761517288.669 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:21:28.670Z,1761517288.670 [DAT](INFO): direction in FSK: [0.995042,-0.005210,0.099320]
2025-10-26T22:21:28.671Z,1761517288.671 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:28.672Z,1761517288.672 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:28.702Z,1761517288.702 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:28.703Z,1761517288.703 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:28.911Z,1761517288.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973891,-0.091775,0.207641],[0.046259,-0.975678,-0.214273],[0.222255,-0.199073,0.954449]]
2025-10-26T22:21:29.007Z,1761517289.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.599998 m,
      deltaT: 3.527874 s,
      deltaX: -2.600002 m,
      approachRate: -0.736988 m/s,
      rangeRepo size: 4

2025-10-26T22:21:29.013Z,1761517289.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.301521 m,
      bearing: 178.197573 deg,
      lat: 36.779417 deg,
      lon: -121.859525 deg,
      deltaT: 3.527874 s,
      deltaX: -2.604469 m,
      approachRate: -0.738255 m/s,
      posRepo size: 4

2025-10-26T22:21:29.014Z,1761517289.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-10-26T22:21:29.014Z,1761517289.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-10-26T22:21:29.022Z,1761517289.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.301521 m,
      nav range: 54.525986 m,
      bearing: 177.394200 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087999 deg/s,
      cmd heading: 176.436955 deg,
      new cmd heading: 176.333343 deg.

2025-10-26T22:21:29.023Z,1761517289.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.077597 target range: 57.301521 and range: 57.60 m.
2025-10-26T22:21:29.061Z,1761517289.061 [DockingStepper](INFO): Changing to mode: 2
2025-10-26T22:21:29.315Z,1761517289.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973428,-0.091454,0.209939],[0.045704,-0.975935,-0.213220],[0.224387,-0.197960,0.954182]]
2025-10-26T22:21:29.338Z,1761517289.338 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:29.340Z,1761517289.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-10-26T22:21:29.341Z,1761517289.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-10-26T22:21:29.344Z,1761517289.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.301521 m,
      nav range: 54.275284 m,
      bearing: 177.361189 deg,
      approach rate: -0.750856 m/s,
      LOS rate: -0.099325 deg/s,
      cmd heading: 176.333341 deg,
      new cmd heading: 176.233851 deg.

2025-10-26T22:21:29.345Z,1761517289.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.075861 target range: 57.301521 and range: 57.60 m.
2025-10-26T22:21:29.411Z,1761517289.411 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:21:29.411Z,1761517289.411 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:21:29.412Z,1761517289.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:21:29.664Z,1761517289.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995765
2025-10-26T22:21:29.724Z,1761517289.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972937,-0.093685,0.211229],[0.047601,-0.975777,-0.213526],[0.226116,-0.197693,0.953829]]
2025-10-26T22:21:29.774Z,1761517289.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-10-26T22:21:29.775Z,1761517289.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-10-26T22:21:29.778Z,1761517289.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.301521 m,
      nav range: 53.970119 m,
      bearing: 177.323989 deg,
      approach rate: -0.702841 m/s,
      LOS rate: -0.086163 deg/s,
      cmd heading: 176.233852 deg,
      new cmd heading: 176.121620 deg.

2025-10-26T22:21:29.779Z,1761517289.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.073902 target range: 57.301521 and range: 57.60 m.
2025-10-26T22:21:29.916Z,1761517289.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247826
2025-10-26T22:21:30.122Z,1761517290.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972566,-0.094750,0.212457],[0.048542,-0.975848,-0.212989],[0.227506,-0.196832,0.953676]]
2025-10-26T22:21:30.151Z,1761517290.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-10-26T22:21:30.152Z,1761517290.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-10-26T22:21:30.155Z,1761517290.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.301521 m,
      nav range: 53.704849 m,
      bearing: 177.291574 deg,
      approach rate: -0.704021 m/s,
      LOS rate: -0.086453 deg/s,
      cmd heading: 176.121619 deg,
      new cmd heading: 176.023894 deg.

2025-10-26T22:21:30.156Z,1761517290.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.072196 target range: 57.301521 and range: 57.60 m.
2025-10-26T22:21:30.168Z,1761517290.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499834
2025-10-26T22:21:30.420Z,1761517290.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751675
2025-10-26T22:21:30.526Z,1761517290.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972326,-0.094931,0.213472],[0.048702,-0.976011,-0.212205],[0.228496,-0.195936,0.953624]]
2025-10-26T22:21:30.549Z,1761517290.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-10-26T22:21:30.549Z,1761517290.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-10-26T22:21:30.553Z,1761517290.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.301521 m,
      nav range: 53.428307 m,
      bearing: 177.257477 deg,
      approach rate: -0.695000 m/s,
      LOS rate: -0.086134 deg/s,
      cmd heading: 176.023892 deg,
      new cmd heading: 175.921073 deg.

2025-10-26T22:21:30.577Z,1761517290.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.070402 target range: 57.301521 and range: 57.60 m.
2025-10-26T22:21:30.673Z,1761517290.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004695
2025-10-26T22:21:30.924Z,1761517290.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255788
2025-10-26T22:21:30.996Z,1761517290.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-10-26T22:21:30.996Z,1761517290.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-10-26T22:21:30.999Z,1761517290.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.301521 m,
      nav range: 53.113449 m,
      bearing: 177.230737 deg,
      approach rate: -0.705023 m/s,
      LOS rate: -0.060231 deg/s,
      cmd heading: 175.921071 deg,
      new cmd heading: 175.840375 deg.

2025-10-26T22:21:31.000Z,1761517291.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.068994 target range: 57.301521 and range: 57.60 m.
2025-10-26T22:21:31.176Z,1761517291.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507769
2025-10-26T22:21:31.330Z,1761517291.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971651,-0.095168,0.216419],[0.049886,-0.977323,-0.205795],[0.231096,-0.189165,0.954364]]
2025-10-26T22:21:31.364Z,1761517291.364 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:31.369Z,1761517291.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-10-26T22:21:31.370Z,1761517291.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-10-26T22:21:31.375Z,1761517291.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.301521 m,
      nav range: 52.858173 m,
      bearing: 177.209172 deg,
      approach rate: -0.686821 m/s,
      LOS rate: -0.058301 deg/s,
      cmd heading: 175.840379 deg,
      new cmd heading: 175.775372 deg.

2025-10-26T22:21:31.379Z,1761517291.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.067859 target range: 57.301521 and range: 57.60 m.
2025-10-26T22:21:31.428Z,1761517291.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759878
2025-10-26T22:21:31.684Z,1761517291.684 [DAT](INFO): DAT read: Rx Time:22:21:30.3162

2025-10-26T22:21:31.685Z,1761517291.685 [DAT](INFO): Rx dataTimestamp_ set to:1761517291.684459
2025-10-26T22:21:31.686Z,1761517291.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017024
2025-10-26T22:21:31.751Z,1761517291.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971395,-0.096446,0.217004],[0.050642,-0.976924,-0.207497],[0.232009,-0.190572,0.953863]]
2025-10-26T22:21:31.798Z,1761517291.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-10-26T22:21:31.798Z,1761517291.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-10-26T22:21:31.801Z,1761517291.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.301521 m,
      nav range: 52.549488 m,
      bearing: 177.187730 deg,
      approach rate: -0.717147 m/s,
      LOS rate: -0.050108 deg/s,
      cmd heading: 175.775369 deg,
      new cmd heading: 175.710664 deg.

2025-10-26T22:21:31.802Z,1761517291.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.066730 target range: 57.301521 and range: 57.60 m.
2025-10-26T22:21:31.933Z,1761517291.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263945
2025-10-26T22:21:32.158Z,1761517292.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971016,-0.097522,0.218215],[0.052135,-0.977410,-0.204819],[0.233260,-0.187506,0.954165]]
2025-10-26T22:21:32.178Z,1761517292.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-10-26T22:21:32.178Z,1761517292.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-10-26T22:21:32.181Z,1761517292.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.301521 m,
      nav range: 52.280888 m,
      bearing: 177.169328 deg,
      approach rate: -0.706527 m/s,
      LOS rate: -0.048653 deg/s,
      cmd heading: 175.710660 deg,
      new cmd heading: 175.655170 deg.

2025-10-26T22:21:32.182Z,1761517292.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.065761 target range: 57.301521 and range: 57.60 m.
2025-10-26T22:21:32.190Z,1761517292.190 [DAT](INFO): DAT read: 22:21:30.3162 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 411,-0.05,-0.636,-2.303,-0.466,-1.032, PHS= 0.497,-1.226, 0.521, RAW= 150.7,   2.4, CAL= 149.6,   2.2, ROT=   0.4,  -2.2

2025-10-26T22:21:32.191Z,1761517292.191 [DAT](INFO): got valid direction response:
 22:21:30.3162 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 411,-0.05,-0.636,-2.303,-0.466,-1.032, PHS= 0.497,-1.226, 0.521, RAW= 150.7,   2.4, CAL= 149.6,   2.2, ROT=   0.4,  -2.2

2025-10-26T22:21:32.192Z,1761517292.192 [DAT](INFO): DAT read: Bearing 326.2,  13.8 (Local)

2025-10-26T22:21:32.193Z,1761517292.193 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.2,  13.8 (Local)

2025-10-26T22:21:32.194Z,1761517292.194 [DAT](INFO): DAT read: Range 11 to 50 : 54.9 m  (Round-trip  73.3 ms) speed  0.6 m/s

2025-10-26T22:21:32.195Z,1761517292.195 [DAT](INFO): DAT read: user:542>

2025-10-26T22:21:32.196Z,1761517292.196 [DAT](INFO): DAT read: Tx time:22:21:31.4387

2025-10-26T22:21:32.196Z,1761517292.196 [DAT](INFO): Ping request sent.
2025-10-26T22:21:32.196Z,1761517292.196 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:21:32.196Z,1761517292.196 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:21:32.197Z,1761517292.197 [DAT](INFO): direction in FSK: [0.999239,0.006976,0.038388]
2025-10-26T22:21:32.197Z,1761517292.197 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:32.198Z,1761517292.198 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:32.201Z,1761517292.201 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:32.202Z,1761517292.202 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:32.558Z,1761517292.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970705,-0.098282,0.219253],[0.052438,-0.977175,-0.205864],[0.234481,-0.188336,0.953702]]
2025-10-26T22:21:32.655Z,1761517292.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.900002 m,
      deltaT: 3.532085 s,
      deltaX: -2.699997 m,
      approachRate: -0.764420 m/s,
      rangeRepo size: 4

2025-10-26T22:21:32.661Z,1761517292.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.620228 m,
      bearing: 177.757596 deg,
      lat: 36.779417 deg,
      lon: -121.859529 deg,
      deltaT: 3.532085 s,
      deltaX: -2.681293 m,
      approachRate: -0.759125 m/s,
      posRepo size: 4

2025-10-26T22:21:32.662Z,1761517292.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.62 m.
2025-10-26T22:21:32.662Z,1761517292.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.90 m.
2025-10-26T22:21:32.669Z,1761517292.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.620228 m,
      nav range: 51.981556 m,
      bearing: 177.517706 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.048653 deg/s,
      cmd heading: 175.655171 deg,
      new cmd heading: 175.585628 deg.

2025-10-26T22:21:32.670Z,1761517292.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.064547 target range: 54.620228 and range: 54.90 m.
2025-10-26T22:21:33.021Z,1761517293.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970244,-0.098135,0.221352],[0.051183,-0.976652,-0.208643],[0.236659,-0.191105,0.952613]]
2025-10-26T22:21:33.083Z,1761517293.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.62 m.
2025-10-26T22:21:33.092Z,1761517293.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.90 m.
2025-10-26T22:21:33.095Z,1761517293.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.620228 m,
      nav range: 51.641418 m,
      bearing: 177.506418 deg,
      approach rate: -0.793636 m/s,
      LOS rate: -0.026512 deg/s,
      cmd heading: 175.585626 deg,
      new cmd heading: 175.551539 deg.

2025-10-26T22:21:33.105Z,1761517293.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.063952 target range: 54.620228 and range: 54.90 m.
2025-10-26T22:21:33.580Z,1761517293.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969592,-0.098294,0.224118],[0.050201,-0.976204,-0.210962],[0.239521,-0.193296,0.951455]]
2025-10-26T22:21:33.656Z,1761517293.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:33.672Z,1761517293.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.62 m.
2025-10-26T22:21:33.674Z,1761517293.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.90 m.
2025-10-26T22:21:33.683Z,1761517293.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.620228 m,
      nav range: 51.250576 m,
      bearing: 177.492814 deg,
      approach rate: -0.670045 m/s,
      LOS rate: -0.023502 deg/s,
      cmd heading: 175.551544 deg,
      new cmd heading: 175.510418 deg.

2025-10-26T22:21:33.688Z,1761517293.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.063235 target range: 54.620228 and range: 54.90 m.
2025-10-26T22:21:33.696Z,1761517293.696 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:21:33.696Z,1761517293.696 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:21:33.697Z,1761517293.697 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:21:33.949Z,1761517293.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752707
2025-10-26T22:21:34.161Z,1761517294.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968335,-0.096396,0.230295],[0.045906,-0.975471,-0.215286],[0.245399,-0.197897,0.949008]]
2025-10-26T22:21:34.201Z,1761517294.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004476
2025-10-26T22:21:34.222Z,1761517294.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.62 m.
2025-10-26T22:21:34.223Z,1761517294.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.90 m.
2025-10-26T22:21:34.230Z,1761517294.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.620228 m,
      nav range: 50.835369 m,
      bearing: 177.472247 deg,
      approach rate: -0.746844 m/s,
      LOS rate: -0.037295 deg/s,
      cmd heading: 175.510412 deg,
      new cmd heading: 175.448210 deg.

2025-10-26T22:21:34.231Z,1761517294.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.062149 target range: 54.620228 and range: 54.90 m.
2025-10-26T22:21:34.453Z,1761517294.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256576
2025-10-26T22:21:34.692Z,1761517294.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967959,-0.094629,0.232596],[0.044134,-0.975969,-0.213395],[0.247200,-0.196293,0.948874]]
2025-10-26T22:21:34.705Z,1761517294.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508728
2025-10-26T22:21:34.753Z,1761517294.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.62 m.
2025-10-26T22:21:34.753Z,1761517294.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.90 m.
2025-10-26T22:21:34.756Z,1761517294.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.620228 m,
      nav range: 50.446491 m,
      bearing: 177.440795 deg,
      approach rate: -0.732783 m/s,
      LOS rate: -0.059725 deg/s,
      cmd heading: 175.448217 deg,
      new cmd heading: 175.353131 deg.

2025-10-26T22:21:34.757Z,1761517294.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.060489 target range: 54.620228 and range: 54.90 m.
2025-10-26T22:21:34.956Z,1761517294.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760350
2025-10-26T22:21:35.114Z,1761517295.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.62 m.
2025-10-26T22:21:35.115Z,1761517295.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.90 m.
2025-10-26T22:21:35.115Z,1761517295.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 54.90 m.
2025-10-26T22:21:35.115Z,1761517295.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-10-26T22:21:35.118Z,1761517295.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.620228 m,
      nav range: 50.193104 m,
      bearing: 177.420038 deg,
      approach rate: -0.701021 m/s,
      LOS rate: -0.057717 deg/s,
      cmd heading: 175.353127 deg,
      new cmd heading: 175.290541 deg.

2025-10-26T22:21:35.119Z,1761517295.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.059397 target range: 54.620228 and range: 54.90 m.
2025-10-26T22:21:35.209Z,1761517295.209 [DAT](INFO): DAT read: Rx Time:22:21:33.9129

2025-10-26T22:21:35.209Z,1761517295.209 [DAT](INFO): Rx dataTimestamp_ set to:1761517295.208870
2025-10-26T22:21:35.210Z,1761517295.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013657
2025-10-26T22:21:35.460Z,1761517295.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264265
2025-10-26T22:21:35.482Z,1761517295.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967934,-0.087673,0.235408],[0.038064,-0.977487,-0.207534],[0.248303,-0.191918,0.949480]]
2025-10-26T22:21:35.501Z,1761517295.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.62 m.
2025-10-26T22:21:35.504Z,1761517295.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.620228 m,
      nav range: 49.922226 m,
      bearing: 177.395569 deg,
      approach rate: -0.700276 m/s,
      LOS rate: -0.063598 deg/s,
      cmd heading: 175.290535 deg,
      new cmd heading: 175.216733 deg.

2025-10-26T22:21:35.505Z,1761517295.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.058109 target range: 54.620228 and range: 54.90 m.
2025-10-26T22:21:35.730Z,1761517295.730 [DAT](INFO): DAT read: 22:21:33.9129 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 409, 0.13,-2.668, 1.961,-2.479,-3.141, PHS= 0.575,-1.137, 0.618, RAW= 151.2,  -0.7, CAL= 150.2,  -1.4, ROT= 359.8,   1.4

2025-10-26T22:21:35.732Z,1761517295.732 [DAT](INFO): got valid direction response:
 22:21:33.9129 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 409, 0.13,-2.668, 1.961,-2.479,-3.141, PHS= 0.575,-1.137, 0.618, RAW= 151.2,  -0.7, CAL= 150.2,  -1.4, ROT= 359.8,   1.4

2025-10-26T22:21:35.733Z,1761517295.733 [DAT](INFO): DAT read: Bearing 323.0,  14.8 (Local)

2025-10-26T22:21:35.734Z,1761517295.734 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.0,  14.8 (Local)

2025-10-26T22:21:35.736Z,1761517295.736 [DAT](INFO): DAT read: Range 11 to 50 : 52.5 m  (Round-trip  70.0 ms) speed  0.7 m/s

2025-10-26T22:21:35.737Z,1761517295.737 [DAT](INFO): DAT read: user:543>

2025-10-26T22:21:35.739Z,1761517295.739 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:21:35.742Z,1761517295.742 [DAT](INFO): direction in FSK: [0.999695,-0.003490,-0.024432]
2025-10-26T22:21:35.742Z,1761517295.742 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:35.746Z,1761517295.746 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:21:35.746Z,1761517295.746 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:21:35.747Z,1761517295.747 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:21:35.965Z,1761517295.965 [DAT](INFO): DAT read: Tx time:22:21:35.0388

2025-10-26T22:21:35.965Z,1761517295.965 [DAT](INFO): Ping request sent.
2025-10-26T22:21:35.965Z,1761517295.965 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:21:35.965Z,1761517295.965 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:35.966Z,1761517295.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-10-26T22:21:36.000Z,1761517296.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.500000 m,
      deltaT: 3.532587 s,
      deltaX: -2.400002 m,
      approachRate: -0.679389 m/s,
      rangeRepo size: 4

2025-10-26T22:21:36.002Z,1761517296.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.219307 m,
      bearing: 177.262114 deg,
      lat: 36.779417 deg,
      lon: -121.859529 deg,
      deltaT: 3.532587 s,
      deltaX: -2.400921 m,
      approachRate: -0.679649 m/s,
      posRepo size: 4

2025-10-26T22:21:36.003Z,1761517296.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.22 m.
2025-10-26T22:21:36.010Z,1761517296.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.219307 m,
      nav range: 49.610703 m,
      bearing: 177.351457 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.063598 deg/s,
      cmd heading: 175.216728 deg,
      new cmd heading: 175.122415 deg.

2025-10-26T22:21:36.011Z,1761517296.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.056463 target range: 52.219307 and range: 52.50 m.
2025-10-26T22:21:36.217Z,1761517296.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251544
2025-10-26T22:21:36.449Z,1761517296.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969595,-0.080554,0.231076],[0.034142,-0.979563,-0.198221],[0.242320,-0.184305,0.952529]]
2025-10-26T22:21:36.468Z,1761517296.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503324
2025-10-26T22:21:36.548Z,1761517296.548 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:36.550Z,1761517296.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.22 m.
2025-10-26T22:21:36.553Z,1761517296.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.219307 m,
      nav range: 49.217094 m,
      bearing: 177.292696 deg,
      approach rate: -0.709857 m/s,
      LOS rate: -0.106820 deg/s,
      cmd heading: 175.122417 deg,
      new cmd heading: 174.944726 deg.

2025-10-26T22:21:36.554Z,1761517296.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.053361 target range: 52.219307 and range: 52.50 m.
2025-10-26T22:21:36.721Z,1761517296.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756014
2025-10-26T22:21:36.972Z,1761517296.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007342
2025-10-26T22:21:36.982Z,1761517296.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.22 m.
2025-10-26T22:21:37.001Z,1761517297.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.219307 m,
      nav range: 48.933529 m,
      bearing: 177.234803 deg,
      approach rate: -0.655769 m/s,
      LOS rate: -0.134659 deg/s,
      cmd heading: 174.944722 deg,
      new cmd heading: 174.770037 deg.

2025-10-26T22:21:37.002Z,1761517297.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.050313 target range: 52.219307 and range: 52.50 m.
2025-10-26T22:21:37.225Z,1761517297.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259826
2025-10-26T22:21:37.387Z,1761517297.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971727,-0.080255,0.222049],[0.037508,-0.980987,-0.190416],[0.233109,-0.176704,0.956261]]
2025-10-26T22:21:37.434Z,1761517297.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.22 m.
2025-10-26T22:21:37.437Z,1761517297.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.219307 m,
      nav range: 48.646763 m,
      bearing: 177.176480 deg,
      approach rate: -0.634660 m/s,
      LOS rate: -0.129839 deg/s,
      cmd heading: 174.770034 deg,
      new cmd heading: 174.594034 deg.

2025-10-26T22:21:37.438Z,1761517297.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.047241 target range: 52.219307 and range: 52.50 m.
2025-10-26T22:21:37.477Z,1761517297.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511623
2025-10-26T22:21:37.732Z,1761517297.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765888
2025-10-26T22:21:37.783Z,1761517297.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972881,-0.082211,0.216206],[0.040889,-0.981112,-0.189067],[0.227665,-0.175099,0.957867]]
2025-10-26T22:21:37.890Z,1761517297.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.22 m.
2025-10-26T22:21:37.897Z,1761517297.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.219307 m,
      nav range: 48.381115 m,
      bearing: 177.101927 deg,
      approach rate: -0.582901 m/s,
      LOS rate: -0.164488 deg/s,
      cmd heading: 174.594033 deg,
      new cmd heading: 174.369146 deg.

2025-10-26T22:21:37.898Z,1761517297.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.043316 target range: 52.219307 and range: 52.50 m.
2025-10-26T22:21:37.982Z,1761517297.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016919
2025-10-26T22:21:38.186Z,1761517298.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973931,-0.085484,0.210119],[0.044832,-0.980543,-0.191116],[0.222368,-0.176714,0.958814]]
2025-10-26T22:21:38.206Z,1761517298.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.22 m.
2025-10-26T22:21:38.209Z,1761517298.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.219307 m,
      nav range: 48.152325 m,
      bearing: 177.038276 deg,
      approach rate: -0.723827 m/s,
      LOS rate: -0.202329 deg/s,
      cmd heading: 174.369142 deg,
      new cmd heading: 174.177284 deg.

2025-10-26T22:21:38.210Z,1761517298.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.039967 target range: 52.219307 and range: 52.50 m.
2025-10-26T22:21:38.232Z,1761517298.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267210
2025-10-26T22:21:38.484Z,1761517298.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519259
2025-10-26T22:21:38.590Z,1761517298.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975059,-0.088880,0.203371],[0.048518,-0.979511,-0.195459],[0.216576,-0.180717,0.959394]]
2025-10-26T22:21:38.617Z,1761517298.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:38.620Z,1761517298.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.22 m.
2025-10-26T22:21:38.622Z,1761517298.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.219307 m,
      nav range: 47.895077 m,
      bearing: 176.967375 deg,
      approach rate: -0.622134 m/s,
      LOS rate: -0.172390 deg/s,
      cmd heading: 174.177282 deg,
      new cmd heading: 173.963438 deg.

2025-10-26T22:21:38.624Z,1761517298.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.036235 target range: 52.219307 and range: 52.50 m.
2025-10-26T22:21:38.741Z,1761517298.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775485
2025-10-26T22:21:38.988Z,1761517298.988 [DAT](INFO): DAT read: Rx Time:22:21:37.5099

2025-10-26T22:21:38.989Z,1761517298.989 [DAT](INFO): Rx dataTimestamp_ set to:1761517298.988640
2025-10-26T22:21:38.989Z,1761517298.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024382
2025-10-26T22:21:39.060Z,1761517299.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.22 m.
2025-10-26T22:21:39.063Z,1761517299.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.219307 m,
      nav range: 47.613300 m,
      bearing: 176.879241 deg,
      approach rate: -0.640547 m/s,
      LOS rate: -0.201537 deg/s,
      cmd heading: 173.963443 deg,
      new cmd heading: 173.697477 deg.

2025-10-26T22:21:39.064Z,1761517299.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.031593 target range: 52.219307 and range: 52.50 m.
2025-10-26T22:21:39.240Z,1761517299.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275181
2025-10-26T22:21:39.402Z,1761517299.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976732,-0.098094,0.190713],[0.058756,-0.977635,-0.201935],[0.206256,-0.186031,0.960651]]
2025-10-26T22:21:39.432Z,1761517299.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.22 m.
2025-10-26T22:21:39.434Z,1761517299.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.219307 m,
      nav range: 47.376907 m,
      bearing: 176.807904 deg,
      approach rate: -0.635602 m/s,
      LOS rate: -0.192765 deg/s,
      cmd heading: 173.697475 deg,
      new cmd heading: 173.482397 deg.

2025-10-26T22:21:39.435Z,1761517299.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.027839 target range: 52.219307 and range: 52.50 m.
2025-10-26T22:21:39.500Z,1761517299.500 [DAT](INFO): DAT read: 22:21:37.5099 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 410,-0.13, 0.710,-0.947, 0.928, 0.336, PHS= 0.476,-1.238, 0.547, RAW= 152.0,   2.5, CAL= 150.9,   2.1, ROT= 359.1,  -2.1

2025-10-26T22:21:39.501Z,1761517299.501 [DAT](INFO): got valid direction response:
 22:21:37.5099 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 410,-0.13, 0.710,-0.947, 0.928, 0.336, PHS= 0.476,-1.238, 0.547, RAW= 152.0,   2.5, CAL= 150.9,   2.1, ROT= 359.1,  -2.1

2025-10-26T22:21:39.502Z,1761517299.502 [DAT](INFO): DAT read: Bearing 325.3,  11.6 (Local)

2025-10-26T22:21:39.503Z,1761517299.503 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.3,  11.6 (Local)

2025-10-26T22:21:39.504Z,1761517299.504 [DAT](INFO): DAT read: Range 11 to 50 : 50.1 m  (Round-trip  66.9 ms) speed  0.5 m/s

2025-10-26T22:21:39.505Z,1761517299.505 [DAT](INFO): DAT read: user:544>

2025-10-26T22:21:39.506Z,1761517299.506 [DAT](INFO): DAT read: Tx time:22:21:38.6388

2025-10-26T22:21:39.506Z,1761517299.506 [DAT](INFO): Ping request sent.
2025-10-26T22:21:39.506Z,1761517299.506 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:21:39.506Z,1761517299.506 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:21:39.508Z,1761517299.508 [DAT](INFO): direction in FSK: [0.999205,-0.015697,0.036644]
2025-10-26T22:21:39.508Z,1761517299.508 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:39.508Z,1761517299.508 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:39.511Z,1761517299.511 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:39.512Z,1761517299.512 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:39.806Z,1761517299.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977390,-0.102910,0.184712],[0.063928,-0.976508,-0.205781],[0.201550,-0.189320,0.961008]]
2025-10-26T22:21:39.884Z,1761517299.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.099998 m,
      deltaT: 3.776244 s,
      deltaX: -2.400002 m,
      approachRate: -0.635553 m/s,
      rangeRepo size: 4

2025-10-26T22:21:39.886Z,1761517299.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.806644 m,
      bearing: 175.766920 deg,
      lat: 36.779411 deg,
      lon: -121.859528 deg,
      deltaT: 3.776244 s,
      deltaX: -2.412663 m,
      approachRate: -0.638905 m/s,
      posRepo size: 4

2025-10-26T22:21:39.886Z,1761517299.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.81 m.
2025-10-26T22:21:39.889Z,1761517299.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.806644 m,
      nav range: 47.736137 m,
      bearing: 176.602442 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.192765 deg/s,
      cmd heading: 173.482393 deg,
      new cmd heading: 173.221297 deg.

2025-10-26T22:21:39.890Z,1761517299.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.023282 target range: 49.806644 and range: 50.10 m.
2025-10-26T22:21:40.064Z,1761517300.064 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:21:40.210Z,1761517300.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977989,-0.107664,0.178734],[0.068687,-0.974972,-0.211451],[0.197027,-0.194520,0.960907]]
2025-10-26T22:21:40.247Z,1761517300.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.81 m.
2025-10-26T22:21:40.251Z,1761517300.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.806644 m,
      nav range: 47.514889 m,
      bearing: 176.535784 deg,
      approach rate: -0.608025 m/s,
      LOS rate: -0.184040 deg/s,
      cmd heading: 173.221302 deg,
      new cmd heading: 173.020397 deg.

2025-10-26T22:21:40.252Z,1761517300.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.019776 target range: 49.806644 and range: 50.10 m.
2025-10-26T22:21:40.614Z,1761517300.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978470,-0.112345,0.173135],[0.073772,-0.973827,-0.214986],[0.192756,-0.197585,0.961148]]
2025-10-26T22:21:40.636Z,1761517300.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:40.638Z,1761517300.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.81 m.
2025-10-26T22:21:40.641Z,1761517300.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.806644 m,
      nav range: 47.261677 m,
      bearing: 176.460536 deg,
      approach rate: -0.647684 m/s,
      LOS rate: -0.193507 deg/s,
      cmd heading: 173.020399 deg,
      new cmd heading: 172.793445 deg.

2025-10-26T22:21:40.642Z,1761517300.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.015815 target range: 49.806644 and range: 50.10 m.
2025-10-26T22:21:40.755Z,1761517300.755 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:21:40.756Z,1761517300.756 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:21:40.756Z,1761517300.756 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:21:41.004Z,1761517301.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498120
2025-10-26T22:21:41.020Z,1761517301.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978876,-0.116441,0.168059],[0.078534,-0.973060,-0.216765],[0.188772,-0.198988,0.961649]]
2025-10-26T22:21:41.068Z,1761517301.068 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:21:41.123Z,1761517301.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.81 m.
2025-10-26T22:21:41.126Z,1761517301.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.806644 m,
      nav range: 46.971676 m,
      bearing: 176.377868 deg,
      approach rate: -0.597178 m/s,
      LOS rate: -0.171283 deg/s,
      cmd heading: 172.793445 deg,
      new cmd heading: 172.543911 deg.

2025-10-26T22:21:41.127Z,1761517301.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.011459 target range: 49.806644 and range: 50.10 m.
2025-10-26T22:21:41.257Z,1761517301.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750671
2025-10-26T22:21:41.444Z,1761517301.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979271,-0.120082,0.163124],[0.083318,-0.972840,-0.215965],[0.184627,-0.197897,0.962678]]
2025-10-26T22:21:41.501Z,1761517301.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.81 m.
2025-10-26T22:21:41.508Z,1761517301.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002235
2025-10-26T22:21:41.510Z,1761517301.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.806644 m,
      nav range: 46.750080 m,
      bearing: 176.315343 deg,
      approach rate: -0.586290 m/s,
      LOS rate: -0.166211 deg/s,
      cmd heading: 172.543911 deg,
      new cmd heading: 172.355447 deg.

2025-10-26T22:21:41.511Z,1761517301.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.008170 target range: 49.806644 and range: 50.10 m.
2025-10-26T22:21:41.764Z,1761517301.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256545
2025-10-26T22:21:41.855Z,1761517301.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979681,-0.123180,0.158275],[0.087310,-0.972402,-0.216357],[0.180558,-0.198142,0.963400]]
2025-10-26T22:21:41.920Z,1761517301.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.81 m.
2025-10-26T22:21:41.923Z,1761517301.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.806644 m,
      nav range: 46.491699 m,
      bearing: 176.259934 deg,
      approach rate: -0.616737 m/s,
      LOS rate: -0.132991 deg/s,
      cmd heading: 172.355452 deg,
      new cmd heading: 172.188304 deg.

2025-10-26T22:21:41.924Z,1761517301.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.005253 target range: 49.806644 and range: 50.10 m.
2025-10-26T22:21:42.012Z,1761517302.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506298
2025-10-26T22:21:42.250Z,1761517302.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980027,-0.126423,0.153508],[0.091349,-0.971846,-0.217187],[0.176644,-0.198826,0.963984]]
2025-10-26T22:21:42.264Z,1761517302.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758193
2025-10-26T22:21:42.292Z,1761517302.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.81 m.
2025-10-26T22:21:42.295Z,1761517302.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.806644 m,
      nav range: 46.266445 m,
      bearing: 176.212317 deg,
      approach rate: -0.605733 m/s,
      LOS rate: -0.128671 deg/s,
      cmd heading: 172.188304 deg,
      new cmd heading: 172.044757 deg.

2025-10-26T22:21:42.296Z,1761517302.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.002748 target range: 49.806644 and range: 50.10 m.
2025-10-26T22:21:42.516Z,1761517302.516 [DAT](INFO): DAT read: Rx Time:22:21:41.1070

2025-10-26T22:21:42.517Z,1761517302.517 [DAT](INFO): Rx dataTimestamp_ set to:1761517302.516588
2025-10-26T22:21:42.517Z,1761517302.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011243
2025-10-26T22:21:42.658Z,1761517302.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980373,-0.128908,0.149173],[0.094558,-0.971365,-0.217963],[0.172998,-0.199580,0.964489]]
2025-10-26T22:21:42.685Z,1761517302.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:42.687Z,1761517302.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.81 m.
2025-10-26T22:21:42.690Z,1761517302.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.806644 m,
      nav range: 46.028122 m,
      bearing: 176.162440 deg,
      approach rate: -0.603194 m/s,
      LOS rate: -0.126891 deg/s,
      cmd heading: 172.044761 deg,
      new cmd heading: 171.894356 deg.

2025-10-26T22:21:42.691Z,1761517302.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.000123 target range: 49.806644 and range: 50.10 m.
2025-10-26T22:21:42.772Z,1761517302.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265602
2025-10-26T22:21:43.026Z,1761517303.026 [DAT](INFO): DAT read: 22:21:41.1070 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 413,-0.31,-3.121, 1.561,-2.922, 2.919, PHS= 0.345,-1.313, 0.398, RAW= 151.6,   6.8, CAL= 150.9,   7.2, ROT= 359.1,  -7.2

2025-10-26T22:21:43.028Z,1761517303.028 [DAT](INFO): got valid direction response:
 22:21:41.1070 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 413,-0.31,-3.121, 1.561,-2.922, 2.919, PHS= 0.345,-1.313, 0.398, RAW= 151.6,   6.8, CAL= 150.9,   7.2, ROT= 359.1,  -7.2

2025-10-26T22:21:43.029Z,1761517303.029 [DAT](INFO): DAT read: Bearing 328.3,   8.1 (Local)

2025-10-26T22:21:43.029Z,1761517303.029 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.3,   8.1 (Local)

2025-10-26T22:21:43.030Z,1761517303.030 [DAT](INFO): DAT read: Range 11 to 50 : 48.0 m  (Round-trip  64.0 ms) speed  0.5 m/s

2025-10-26T22:21:43.031Z,1761517303.031 [DAT](INFO): DAT read: user:545>

2025-10-26T22:21:43.033Z,1761517303.033 [DAT](INFO): DAT read: Tx time:22:21:42.2388

2025-10-26T22:21:43.033Z,1761517303.033 [DAT](INFO): Ping request sent.
2025-10-26T22:21:43.033Z,1761517303.033 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:21:43.033Z,1761517303.033 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:21:43.034Z,1761517303.034 [DAT](INFO): direction in FSK: [0.991992,-0.015583,0.125333]
2025-10-26T22:21:43.035Z,1761517303.035 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:43.035Z,1761517303.035 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:43.038Z,1761517303.038 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:43.038Z,1761517303.038 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:43.204Z,1761517303.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.000000 m,
      deltaT: 3.527065 s,
      deltaX: -2.099998 m,
      approachRate: -0.595395 m/s,
      rangeRepo size: 4

2025-10-26T22:21:43.206Z,1761517303.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.714874 m,
      bearing: 175.098757 deg,
      lat: 36.779411 deg,
      lon: -121.859528 deg,
      deltaT: 3.527065 s,
      deltaX: -2.091770 m,
      approachRate: -0.593063 m/s,
      posRepo size: 4

2025-10-26T22:21:43.207Z,1761517303.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.71 m.
2025-10-26T22:21:43.214Z,1761517303.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.714874 m,
      nav range: 45.728924 m,
      bearing: 176.115766 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.126891 deg/s,
      cmd heading: 171.894360 deg,
      new cmd heading: 171.699505 deg.

2025-10-26T22:21:43.215Z,1761517303.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.996722 target range: 47.714874 and range: 48.00 m.
2025-10-26T22:21:43.516Z,1761517303.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980886,-0.134270,0.140836],[0.101630,-0.970723,-0.217644],[0.165936,-0.199171,0.965814]]
2025-10-26T22:21:43.554Z,1761517303.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.71 m.
2025-10-26T22:21:43.557Z,1761517303.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.714874 m,
      nav range: 45.514866 m,
      bearing: 176.083949 deg,
      approach rate: -0.607415 m/s,
      LOS rate: -0.090709 deg/s,
      cmd heading: 171.699508 deg,
      new cmd heading: 171.603609 deg.

2025-10-26T22:21:43.558Z,1761517303.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.995048 target range: 47.714874 and range: 48.00 m.
2025-10-26T22:21:43.920Z,1761517303.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981210,-0.135930,0.136930],[0.104273,-0.970714,-0.216427],[0.162339,-0.198082,0.966649]]
2025-10-26T22:21:43.957Z,1761517303.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.71 m.
2025-10-26T22:21:43.973Z,1761517303.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.714874 m,
      nav range: 45.264477 m,
      bearing: 176.058001 deg,
      approach rate: -0.616988 m/s,
      LOS rate: -0.064293 deg/s,
      cmd heading: 171.603612 deg,
      new cmd heading: 171.525338 deg.

2025-10-26T22:21:43.980Z,1761517303.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.993682 target range: 47.714874 and range: 48.00 m.
2025-10-26T22:21:44.322Z,1761517304.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981504,-0.137407,0.133298],[0.106549,-0.970575,-0.215945],[0.159048,-0.197748,0.967264]]
2025-10-26T22:21:44.360Z,1761517304.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.71 m.
2025-10-26T22:21:44.365Z,1761517304.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.714874 m,
      nav range: 45.028915 m,
      bearing: 176.034014 deg,
      approach rate: -0.585781 m/s,
      LOS rate: -0.059961 deg/s,
      cmd heading: 171.525339 deg,
      new cmd heading: 171.453002 deg.

2025-10-26T22:21:44.367Z,1761517304.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.992419 target range: 47.714874 and range: 48.00 m.
2025-10-26T22:21:44.733Z,1761517304.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981706,-0.139513,0.129575],[0.109547,-0.970466,-0.214931],[0.155734,-0.196804,0.967995]]
2025-10-26T22:21:44.775Z,1761517304.775 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:44.782Z,1761517304.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.71 m.
2025-10-26T22:21:44.787Z,1761517304.787 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:21:44.787Z,1761517304.787 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:21:44.788Z,1761517304.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:21:44.821Z,1761517304.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.714874 m,
      nav range: 44.792374 m,
      bearing: 176.010583 deg,
      approach rate: -0.561240 m/s,
      LOS rate: -0.055890 deg/s,
      cmd heading: 171.453007 deg,
      new cmd heading: 171.382340 deg.

2025-10-26T22:21:44.829Z,1761517304.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.991186 target range: 47.714874 and range: 48.00 m.
2025-10-26T22:21:45.036Z,1761517305.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003221
2025-10-26T22:21:45.226Z,1761517305.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.71 m.
2025-10-26T22:21:45.246Z,1761517305.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.714874 m,
      nav range: 44.513920 m,
      bearing: 175.994920 deg,
      approach rate: -0.624866 m/s,
      LOS rate: -0.035367 deg/s,
      cmd heading: 171.382342 deg,
      new cmd heading: 171.335060 deg.

2025-10-26T22:21:45.246Z,1761517305.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.990361 target range: 47.714874 and range: 48.00 m.
2025-10-26T22:21:45.289Z,1761517305.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255964
2025-10-26T22:21:45.540Z,1761517305.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507093
2025-10-26T22:21:45.577Z,1761517305.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982168,-0.142742,0.122353],[0.114304,-0.970083,-0.214182],[0.149265,-0.196378,0.969101]]
2025-10-26T22:21:45.619Z,1761517305.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.71 m.
2025-10-26T22:21:45.626Z,1761517305.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.714874 m,
      nav range: 44.288486 m,
      bearing: 175.983487 deg,
      approach rate: -0.574890 m/s,
      LOS rate: -0.029306 deg/s,
      cmd heading: 171.335063 deg,
      new cmd heading: 171.300588 deg.

2025-10-26T22:21:45.626Z,1761517305.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.989759 target range: 47.714874 and range: 48.00 m.
2025-10-26T22:21:45.793Z,1761517305.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759573
2025-10-26T22:21:45.978Z,1761517305.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982417,-0.143962,0.118879],[0.116110,-0.969730,-0.214809],[0.146205,-0.197229,0.969394]]
2025-10-26T22:21:46.038Z,1761517306.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.71 m.
2025-10-26T22:21:46.045Z,1761517306.045 [DAT](INFO): DAT read: Rx Time:22:21:44.7043

2025-10-26T22:21:46.045Z,1761517306.045 [DAT](INFO): Rx dataTimestamp_ set to:1761517306.044786
2025-10-26T22:21:46.046Z,1761517306.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012417
2025-10-26T22:21:46.053Z,1761517306.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.714874 m,
      nav range: 44.031036 m,
      bearing: 175.969976 deg,
      approach rate: -0.613103 m/s,
      LOS rate: -0.032363 deg/s,
      cmd heading: 171.300584 deg,
      new cmd heading: 171.259815 deg.

2025-10-26T22:21:46.054Z,1761517306.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.989048 target range: 47.714874 and range: 48.00 m.
2025-10-26T22:21:46.298Z,1761517306.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264413
2025-10-26T22:21:46.382Z,1761517306.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982629,-0.145480,0.115218],[0.118290,-0.969386,-0.215170],[0.142994,-0.197803,0.969756]]
2025-10-26T22:21:46.424Z,1761517306.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.71 m.
2025-10-26T22:21:46.427Z,1761517306.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.714874 m,
      nav range: 43.812805 m,
      bearing: 175.959033 deg,
      approach rate: -0.569222 m/s,
      LOS rate: -0.028686 deg/s,
      cmd heading: 171.259822 deg,
      new cmd heading: 171.226828 deg.

2025-10-26T22:21:46.428Z,1761517306.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.988472 target range: 47.714874 and range: 48.00 m.
2025-10-26T22:21:46.554Z,1761517306.554 [DAT](INFO): DAT read: 22:21:44.7043 LVL= 31472, 32753, 31890, 32755, AGC= 65, IDX= 417, 0.15,-1.239,-2.887,-1.042,-1.550, PHS= 0.412,-1.292, 0.464, RAW= 151.5,   4.9, CAL= 150.6,   4.9, ROT= 359.4,  -4.9

2025-10-26T22:21:46.556Z,1761517306.556 [DAT](INFO): got valid direction response:
 22:21:44.7043 LVL= 31472, 32753, 31890, 32755, AGC= 65, IDX= 417, 0.15,-1.239,-2.887,-1.042,-1.550, PHS= 0.412,-1.292, 0.464, RAW= 151.5,   4.9, CAL= 150.6,   4.9, ROT= 359.4,  -4.9

2025-10-26T22:21:46.557Z,1761517306.557 [DAT](INFO): DAT read: Bearing 324.7,   7.0 (Local)

2025-10-26T22:21:46.557Z,1761517306.557 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.7,   7.0 (Local)

2025-10-26T22:21:46.558Z,1761517306.558 [DAT](INFO): DAT read: Range 11 to 50 : 46.0 m  (Round-trip  61.4 ms) speed  0.4 m/s

2025-10-26T22:21:46.559Z,1761517306.559 [DAT](INFO): DAT read: user:546>

2025-10-26T22:21:46.560Z,1761517306.560 [DAT](INFO): DAT read: Tx time:22:21:45.8388

2025-10-26T22:21:46.561Z,1761517306.561 [DAT](INFO): Ping request sent.
2025-10-26T22:21:46.561Z,1761517306.561 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:21:46.561Z,1761517306.561 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:21:46.562Z,1761517306.562 [DAT](INFO): direction in FSK: [0.996291,-0.010434,0.085417]
2025-10-26T22:21:46.562Z,1761517306.562 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:46.562Z,1761517306.562 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:46.566Z,1761517306.566 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:46.566Z,1761517306.566 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:46.790Z,1761517306.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982786,-0.147347,0.111448],[0.120912,-0.969097,-0.215013],[0.139686,-0.197836,0.970231]]
2025-10-26T22:21:46.888Z,1761517306.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.000000 m,
      deltaT: 3.528187 s,
      deltaX: -2.000000 m,
      approachRate: -0.566863 m/s,
      rangeRepo size: 4

2025-10-26T22:21:46.890Z,1761517306.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.724190 m,
      bearing: 173.388426 deg,
      lat: 36.779406 deg,
      lon: -121.859519 deg,
      deltaT: 3.528187 s,
      deltaX: -1.990685 m,
      approachRate: -0.564223 m/s,
      posRepo size: 4

2025-10-26T22:21:46.891Z,1761517306.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.72 m.
2025-10-26T22:21:46.898Z,1761517306.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.724190 m,
      nav range: 44.157978 m,
      bearing: 175.039864 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028686 deg/s,
      cmd heading: 171.226832 deg,
      new cmd heading: 171.187107 deg.

2025-10-26T22:21:46.899Z,1761517306.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.987779 target range: 45.724190 and range: 46.00 m.
2025-10-26T22:21:47.222Z,1761517307.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983235,-0.150077,0.103570],[0.125146,-0.968493,-0.215315],[0.132620,-0.198744,0.971037]]
2025-10-26T22:21:47.265Z,1761517307.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:47.267Z,1761517307.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.72 m.
2025-10-26T22:21:47.270Z,1761517307.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.724190 m,
      nav range: 43.925259 m,
      bearing: 175.019168 deg,
      approach rate: -0.606911 m/s,
      LOS rate: -0.054259 deg/s,
      cmd heading: 171.187108 deg,
      new cmd heading: 171.124690 deg.

2025-10-26T22:21:47.271Z,1761517307.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.986689 target range: 45.724190 and range: 46.00 m.
2025-10-26T22:21:47.305Z,1761517307.305 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:21:47.305Z,1761517307.305 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:21:47.305Z,1761517307.305 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:21:47.556Z,1761517307.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995728
2025-10-26T22:21:47.622Z,1761517307.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983387,-0.151663,0.099746],[0.127552,-0.968301,-0.214764],[0.129156,-0.198473,0.971559]]
2025-10-26T22:21:47.661Z,1761517307.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.72 m.
2025-10-26T22:21:47.668Z,1761517307.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.724190 m,
      nav range: 43.704353 m,
      bearing: 175.000009 deg,
      approach rate: -0.559941 m/s,
      LOS rate: -0.048808 deg/s,
      cmd heading: 171.124693 deg,
      new cmd heading: 171.066927 deg.

2025-10-26T22:21:47.669Z,1761517307.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.985681 target range: 45.724190 and range: 46.00 m.
2025-10-26T22:21:47.812Z,1761517307.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250358
2025-10-26T22:21:48.026Z,1761517308.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983552,-0.152821,0.096288],[0.129521,-0.968266,-0.213740],[0.125896,-0.197753,0.972134]]
2025-10-26T22:21:48.041Z,1761517308.041 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,    0,  .00,        2032
2025-10-26T22:21:48.060Z,1761517308.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499820
2025-10-26T22:21:48.077Z,1761517308.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.72 m.
2025-10-26T22:21:48.084Z,1761517308.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.724190 m,
      nav range: 43.459324 m,
      bearing: 174.979145 deg,
      approach rate: -0.589613 m/s,
      LOS rate: -0.050488 deg/s,
      cmd heading: 171.066924 deg,
      new cmd heading: 171.003979 deg.

2025-10-26T22:21:48.085Z,1761517308.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.984582 target range: 45.724190 and range: 46.00 m.
2025-10-26T22:21:48.313Z,1761517308.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752549
2025-10-26T22:21:48.433Z,1761517308.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983642,-0.154440,0.092715],[0.132081,-0.968357,-0.211754],[0.122485,-0.196044,0.972915]]
2025-10-26T22:21:48.451Z,1761517308.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.72 m.
2025-10-26T22:21:48.454Z,1761517308.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.724190 m,
      nav range: 43.226742 m,
      bearing: 174.959868 deg,
      approach rate: -0.621510 m/s,
      LOS rate: -0.051790 deg/s,
      cmd heading: 171.003977 deg,
      new cmd heading: 170.945834 deg.

2025-10-26T22:21:48.455Z,1761517308.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.983568 target range: 45.724190 and range: 46.00 m.
2025-10-26T22:21:48.565Z,1761517308.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003964
2025-10-26T22:21:48.816Z,1761517308.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255755
2025-10-26T22:21:48.906Z,1761517308.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983715,-0.156089,0.089115],[0.134563,-0.968273,-0.210572],[0.119156,-0.195152,0.973508]]
2025-10-26T22:21:48.944Z,1761517308.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.72 m.
2025-10-26T22:21:48.947Z,1761517308.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.724190 m,
      nav range: 42.950199 m,
      bearing: 174.903500 deg,
      approach rate: -0.560959 m/s,
      LOS rate: -0.115076 deg/s,
      cmd heading: 170.945838 deg,
      new cmd heading: 170.775647 deg.

2025-10-26T22:21:48.964Z,1761517308.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.980597 target range: 45.724190 and range: 46.00 m.
2025-10-26T22:21:49.068Z,1761517309.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507747
2025-10-26T22:21:49.321Z,1761517309.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760804
2025-10-26T22:21:49.397Z,1761517309.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983796,-0.157185,0.086243],[0.136476,-0.968489,-0.208334],[0.116272,-0.193188,0.974248]]
2025-10-26T22:21:49.430Z,1761517309.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:49.440Z,1761517309.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.72 m.
2025-10-26T22:21:49.443Z,1761517309.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.724190 m,
      nav range: 42.685482 m,
      bearing: 174.849445 deg,
      approach rate: -0.534774 m/s,
      LOS rate: -0.109878 deg/s,
      cmd heading: 170.775643 deg,
      new cmd heading: 170.612473 deg.

2025-10-26T22:21:49.444Z,1761517309.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.977749 target range: 45.724190 and range: 46.00 m.
2025-10-26T22:21:49.572Z,1761517309.572 [DAT](INFO): DAT read: Rx Time:22:21:48.3015

2025-10-26T22:21:49.573Z,1761517309.573 [DAT](INFO): Rx dataTimestamp_ set to:1761517309.572640
2025-10-26T22:21:49.573Z,1761517309.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012821
2025-10-26T22:21:49.796Z,1761517309.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983753,-0.159159,0.083061],[0.139266,-0.968507,-0.206396],[0.113295,-0.191475,0.974937]]
2025-10-26T22:21:49.816Z,1761517309.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.72 m.
2025-10-26T22:21:49.819Z,1761517309.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.724190 m,
      nav range: 42.460609 m,
      bearing: 174.803784 deg,
      approach rate: -0.596055 m/s,
      LOS rate: -0.121672 deg/s,
      cmd heading: 170.612470 deg,
      new cmd heading: 170.474762 deg.

2025-10-26T22:21:49.820Z,1761517309.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.975346 target range: 45.724190 and range: 46.00 m.
2025-10-26T22:21:49.824Z,1761517309.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263820
2025-10-26T22:21:50.082Z,1761517310.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520881
2025-10-26T22:21:50.198Z,1761517310.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983798,-0.160298,0.080285],[0.141140,-0.968639,-0.204494],[0.110547,-0.189849,0.975570]]
2025-10-26T22:21:50.249Z,1761517310.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.72 m.
2025-10-26T22:21:50.252Z,1761517310.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.724190 m,
      nav range: 42.217583 m,
      bearing: 174.737807 deg,
      approach rate: -0.562481 m/s,
      LOS rate: -0.153582 deg/s,
      cmd heading: 170.474760 deg,
      new cmd heading: 170.275689 deg.

2025-10-26T22:21:50.253Z,1761517310.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.971871 target range: 45.724190 and range: 46.00 m.
2025-10-26T22:21:50.340Z,1761517310.340 [DAT](INFO): DAT read: 22:21:48.3015 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 421,-0.34, 2.501, 0.818, 2.673, 2.229, PHS= 0.374,-1.366, 0.400, RAW= 150.8,   6.8, CAL= 150.1,   7.2, ROT= 359.9,  -7.2

2025-10-26T22:21:50.342Z,1761517310.342 [DAT](INFO): got valid direction response:
 22:21:48.3015 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 421,-0.34, 2.501, 0.818, 2.673, 2.229, PHS= 0.374,-1.366, 0.400, RAW= 150.8,   6.8, CAL= 150.1,   7.2, ROT= 359.9,  -7.2

2025-10-26T22:21:50.344Z,1761517310.344 [DAT](INFO): DAT read: Bearing 325.1,   5.3 (Local)

2025-10-26T22:21:50.345Z,1761517310.345 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.1,   5.3 (Local)

2025-10-26T22:21:50.347Z,1761517310.347 [DAT](INFO): DAT read: Range 11 to 50 : 43.8 m  (Round-trip  58.5 ms) speed  0.4 m/s

2025-10-26T22:21:50.349Z,1761517310.349 [DAT](INFO): DAT read: user:547>

2025-10-26T22:21:50.349Z,1761517310.349 [DAT](INFO): DAT read: Tx time:22:21:49.4388

2025-10-26T22:21:50.350Z,1761517310.350 [DAT](INFO): Ping request sent.
2025-10-26T22:21:50.350Z,1761517310.350 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:21:50.351Z,1761517310.351 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:21:50.353Z,1761517310.353 [DAT](INFO): direction in FSK: [0.992113,-0.001732,0.125333]
2025-10-26T22:21:50.354Z,1761517310.354 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:50.354Z,1761517310.354 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:50.373Z,1761517310.373 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:50.373Z,1761517310.373 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:50.603Z,1761517310.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983649,-0.162587,0.077455],[0.144086,-0.968491,-0.203136],[0.108042,-0.188655,0.976082]]
2025-10-26T22:21:50.630Z,1761517310.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.799999 m,
      deltaT: 3.781151 s,
      deltaX: -2.200001 m,
      approachRate: -0.581834 m/s,
      rangeRepo size: 4

2025-10-26T22:21:50.632Z,1761517310.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.536869 m,
      bearing: 172.966712 deg,
      lat: 36.779406 deg,
      lon: -121.859519 deg,
      deltaT: 3.781151 s,
      deltaX: -2.187321 m,
      approachRate: -0.578480 m/s,
      posRepo size: 4

2025-10-26T22:21:50.633Z,1761517310.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.54 m.
2025-10-26T22:21:50.656Z,1761517310.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.536869 m,
      nav range: 42.068996 m,
      bearing: 174.611119 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.153582 deg/s,
      cmd heading: 170.275687 deg,
      new cmd heading: 170.100336 deg.

2025-10-26T22:21:50.657Z,1761517310.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.968811 target range: 43.536869 and range: 43.80 m.
2025-10-26T22:21:51.006Z,1761517311.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983538,-0.164439,0.074922],[0.146555,-0.968436,-0.201629],[0.105712,-0.187329,0.976592]]
2025-10-26T22:21:51.124Z,1761517311.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.54 m.
2025-10-26T22:21:51.127Z,1761517311.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.536869 m,
      nav range: 41.787342 m,
      bearing: 174.523506 deg,
      approach rate: -0.569556 m/s,
      LOS rate: -0.178364 deg/s,
      cmd heading: 170.100342 deg,
      new cmd heading: 169.835733 deg.

2025-10-26T22:21:51.144Z,1761517311.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.964193 target range: 43.536869 and range: 43.80 m.
2025-10-26T22:21:51.462Z,1761517311.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983416,-0.166221,0.072551],[0.148957,-0.968459,-0.199749],[0.103465,-0.185629,0.977157]]
2025-10-26T22:21:51.488Z,1761517311.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:51.490Z,1761517311.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.54 m.
2025-10-26T22:21:51.493Z,1761517311.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.536869 m,
      nav range: 41.579853 m,
      bearing: 174.458826 deg,
      approach rate: -0.566350 m/s,
      LOS rate: -0.177428 deg/s,
      cmd heading: 169.835727 deg,
      new cmd heading: 169.640719 deg.

2025-10-26T22:21:51.494Z,1761517311.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.960789 target range: 43.536869 and range: 43.80 m.
2025-10-26T22:21:51.588Z,1761517311.588 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:21:51.588Z,1761517311.588 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:21:51.589Z,1761517311.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:21:51.841Z,1761517311.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490895
2025-10-26T22:21:51.867Z,1761517311.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983280,-0.168013,0.070231],[0.151252,-0.968295,-0.198816],[0.101408,-0.184869,0.977517]]
2025-10-26T22:21:51.957Z,1761517311.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.54 m.
2025-10-26T22:21:51.961Z,1761517311.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.536869 m,
      nav range: 41.316219 m,
      bearing: 174.376515 deg,
      approach rate: -0.563965 m/s,
      LOS rate: -0.177204 deg/s,
      cmd heading: 169.640725 deg,
      new cmd heading: 169.392218 deg.

2025-10-26T22:21:51.962Z,1761517311.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.956452 target range: 43.536869 and range: 43.80 m.
2025-10-26T22:21:52.092Z,1761517312.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742667
2025-10-26T22:21:52.293Z,1761517312.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983194,-0.169516,0.067781],[0.153234,-0.968075,-0.198367],[0.099244,-0.184647,0.977781]]
2025-10-26T22:21:52.346Z,1761517312.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996407
2025-10-26T22:21:52.378Z,1761517312.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.54 m.
2025-10-26T22:21:52.381Z,1761517312.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.536869 m,
      nav range: 41.075798 m,
      bearing: 174.302260 deg,
      approach rate: -0.572279 m/s,
      LOS rate: -0.177784 deg/s,
      cmd heading: 169.392216 deg,
      new cmd heading: 169.168150 deg.

2025-10-26T22:21:52.382Z,1761517312.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.952541 target range: 43.536869 and range: 43.80 m.
2025-10-26T22:21:52.597Z,1761517312.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247594
2025-10-26T22:21:52.693Z,1761517312.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983007,-0.171384,0.065765],[0.155517,-0.967852,-0.197680],[0.097530,-0.184093,0.978058]]
2025-10-26T22:21:52.739Z,1761517312.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.54 m.
2025-10-26T22:21:52.742Z,1761517312.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.536869 m,
      nav range: 40.882458 m,
      bearing: 174.242527 deg,
      approach rate: -0.566628 m/s,
      LOS rate: -0.175890 deg/s,
      cmd heading: 169.168145 deg,
      new cmd heading: 168.988098 deg.

2025-10-26T22:21:52.743Z,1761517312.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.949399 target range: 43.536869 and range: 43.80 m.
2025-10-26T22:21:52.849Z,1761517312.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499233
2025-10-26T22:21:53.094Z,1761517313.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982849,-0.173055,0.063713],[0.157561,-0.967560,-0.197489],[0.095822,-0.184063,0.978233]]
2025-10-26T22:21:53.100Z,1761517313.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750790
2025-10-26T22:21:53.140Z,1761517313.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.54 m.
2025-10-26T22:21:53.146Z,1761517313.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.536869 m,
      nav range: 40.640018 m,
      bearing: 174.167531 deg,
      approach rate: -0.576070 m/s,
      LOS rate: -0.179263 deg/s,
      cmd heading: 168.988101 deg,
      new cmd heading: 168.761773 deg.

2025-10-26T22:21:53.148Z,1761517313.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.945449 target range: 43.536869 and range: 43.80 m.
2025-10-26T22:21:53.354Z,1761517313.354 [DAT](INFO): DAT read: Rx Time:22:21:51.8989

2025-10-26T22:21:53.354Z,1761517313.354 [DAT](INFO): Rx dataTimestamp_ set to:1761517313.354144
2025-10-26T22:21:53.355Z,1761517313.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005284
2025-10-26T22:21:53.500Z,1761517313.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982798,-0.174053,0.061751],[0.158830,-0.967191,-0.198282],[0.094237,-0.185063,0.978198]]
2025-10-26T22:21:53.517Z,1761517313.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:53.519Z,1761517313.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.54 m.
2025-10-26T22:21:53.522Z,1761517313.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.536869 m,
      nav range: 40.423679 m,
      bearing: 174.100272 deg,
      approach rate: -0.570433 m/s,
      LOS rate: -0.178294 deg/s,
      cmd heading: 168.761776 deg,
      new cmd heading: 168.558920 deg.

2025-10-26T22:21:53.524Z,1761517313.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.941908 target range: 43.536869 and range: 43.80 m.
2025-10-26T22:21:53.608Z,1761517313.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258205
2025-10-26T22:21:53.866Z,1761517313.866 [DAT](INFO): DAT read: 22:21:51.8989 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 410, 0.37, 0.716,-0.895, 0.922, 0.507, PHS= 0.311,-1.357, 0.371, RAW= 151.8,   8.0, CAL= 151.3,   8.5, ROT= 358.7,  -8.5

2025-10-26T22:21:53.867Z,1761517313.867 [DAT](INFO): got valid direction response:
 22:21:51.8989 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 410, 0.37, 0.716,-0.895, 0.922, 0.507, PHS= 0.311,-1.357, 0.371, RAW= 151.8,   8.0, CAL= 151.3,   8.5, ROT= 358.7,  -8.5

2025-10-26T22:21:53.868Z,1761517313.868 [DAT](INFO): DAT read: Bearing 325.5,   3.0 (Local)

2025-10-26T22:21:53.869Z,1761517313.869 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.5,   3.0 (Local)

2025-10-26T22:21:53.870Z,1761517313.870 [DAT](INFO): DAT read: Range 11 to 50 : 42.0 m  (Round-trip  56.0 ms) speed  0.4 m/s

2025-10-26T22:21:53.871Z,1761517313.871 [DAT](INFO): DAT read: user:548>

2025-10-26T22:21:53.872Z,1761517313.872 [DAT](INFO): DAT read: Tx time:22:21:52.9887

2025-10-26T22:21:53.872Z,1761517313.872 [DAT](INFO): Ping request sent.
2025-10-26T22:21:53.872Z,1761517313.872 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:21:53.872Z,1761517313.872 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:21:53.873Z,1761517313.873 [DAT](INFO): direction in FSK: [0.988761,-0.022438,0.147809]
2025-10-26T22:21:53.873Z,1761517313.873 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:53.874Z,1761517313.874 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:53.909Z,1761517313.909 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:53.909Z,1761517313.909 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:53.986Z,1761517313.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982728,-0.174942,0.060336],[0.159917,-0.966899,-0.198828],[0.093123,-0.185745,0.978175]]
2025-10-26T22:21:54.126Z,1761517314.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 42.000000 m,
      deltaT: 3.530714 s,
      deltaX: -1.799999 m,
      approachRate: -0.509812 m/s,
      rangeRepo size: 4

2025-10-26T22:21:54.133Z,1761517314.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 41.747635 m,
      bearing: 171.083906 deg,
      lat: 36.779404 deg,
      lon: -121.859505 deg,
      deltaT: 3.530714 s,
      deltaX: -1.789234 m,
      approachRate: -0.506763 m/s,
      posRepo size: 4

2025-10-26T22:21:54.134Z,1761517314.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.75 m.
2025-10-26T22:21:54.141Z,1761517314.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.747635 m,
      nav range: 40.393509 m,
      bearing: 172.300104 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.178294 deg/s,
      cmd heading: 168.558919 deg,
      new cmd heading: 168.234371 deg.

2025-10-26T22:21:54.142Z,1761517314.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.936244 target range: 41.747635 and range: 42.00 m.
2025-10-26T22:21:54.387Z,1761517314.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982605,-0.175997,0.059272],[0.161293,-0.966973,-0.197350],[0.092047,-0.184356,0.978540]]
2025-10-26T22:21:54.470Z,1761517314.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.75 m.
2025-10-26T22:21:54.473Z,1761517314.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.747635 m,
      nav range: 40.189320 m,
      bearing: 172.243781 deg,
      approach rate: -0.593798 m/s,
      LOS rate: -0.164623 deg/s,
      cmd heading: 168.234376 deg,
      new cmd heading: 168.064549 deg.

2025-10-26T22:21:54.473Z,1761517314.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.933280 target range: 41.747635 and range: 42.00 m.
2025-10-26T22:21:54.790Z,1761517314.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982497,-0.177131,0.057648],[0.162693,-0.966700,-0.197542],[0.090719,-0.184705,0.978598]]
2025-10-26T22:21:54.857Z,1761517314.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.75 m.
2025-10-26T22:21:54.864Z,1761517314.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.747635 m,
      nav range: 39.979858 m,
      bearing: 172.185841 deg,
      approach rate: -0.540898 m/s,
      LOS rate: -0.150404 deg/s,
      cmd heading: 168.064550 deg,
      new cmd heading: 167.889820 deg.

2025-10-26T22:21:54.865Z,1761517314.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.930230 target range: 41.747635 and range: 42.00 m.
2025-10-26T22:21:55.195Z,1761517315.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982438,-0.177950,0.056120],[0.163590,-0.966119,-0.199631],[0.089743,-0.186944,0.978263]]
2025-10-26T22:21:55.257Z,1761517315.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.75 m.
2025-10-26T22:21:55.260Z,1761517315.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.747635 m,
      nav range: 39.746811 m,
      bearing: 172.135772 deg,
      approach rate: -0.582089 m/s,
      LOS rate: -0.125791 deg/s,
      cmd heading: 167.889820 deg,
      new cmd heading: 167.738734 deg.

2025-10-26T22:21:55.261Z,1761517315.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.927593 target range: 41.747635 and range: 42.00 m.
2025-10-26T22:21:55.598Z,1761517315.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982432,-0.178420,0.054717],[0.164266,-0.965889,-0.200190],[0.088568,-0.187685,0.978228]]
2025-10-26T22:21:55.643Z,1761517315.643 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:55.645Z,1761517315.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.75 m.
2025-10-26T22:21:55.648Z,1761517315.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.747635 m,
      nav range: 39.530598 m,
      bearing: 172.089016 deg,
      approach rate: -0.557590 m/s,
      LOS rate: -0.121239 deg/s,
      cmd heading: 167.738736 deg,
      new cmd heading: 167.597700 deg.

2025-10-26T22:21:55.649Z,1761517315.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.925132 target range: 41.747635 and range: 42.00 m.
2025-10-26T22:21:55.876Z,1761517315.876 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:21:55.876Z,1761517315.876 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:21:55.876Z,1761517315.876 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:21:56.085Z,1761517316.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.75 m.
2025-10-26T22:21:56.088Z,1761517316.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.747635 m,
      nav range: 39.290157 m,
      bearing: 172.045300 deg,
      approach rate: -0.546833 m/s,
      LOS rate: -0.100032 deg/s,
      cmd heading: 167.597707 deg,
      new cmd heading: 167.465756 deg.

2025-10-26T22:21:56.089Z,1761517316.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.922829 target range: 41.747635 and range: 42.00 m.
2025-10-26T22:21:56.129Z,1761517316.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257100
2025-10-26T22:21:56.380Z,1761517316.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508334
2025-10-26T22:21:56.414Z,1761517316.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982167,-0.180887,0.051270],[0.167119,-0.964869,-0.202727],[0.086140,-0.190543,0.977892]]
2025-10-26T22:21:56.433Z,1761517316.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.75 m.
2025-10-26T22:21:56.437Z,1761517316.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.747635 m,
      nav range: 39.099606 m,
      bearing: 172.011130 deg,
      approach rate: -0.546880 m/s,
      LOS rate: -0.098546 deg/s,
      cmd heading: 167.465761 deg,
      new cmd heading: 167.362751 deg.

2025-10-26T22:21:56.438Z,1761517316.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.921031 target range: 41.747635 and range: 42.00 m.
2025-10-26T22:21:56.637Z,1761517316.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763916
2025-10-26T22:21:56.822Z,1761517316.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982096,-0.181693,0.049753],[0.167985,-0.964192,-0.205218],[0.085258,-0.193186,0.977451]]
2025-10-26T22:21:56.854Z,1761517316.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.75 m.
2025-10-26T22:21:56.857Z,1761517316.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.747635 m,
      nav range: 38.871834 m,
      bearing: 171.970188 deg,
      approach rate: -0.541562 m/s,
      LOS rate: -0.097914 deg/s,
      cmd heading: 167.362748 deg,
      new cmd heading: 167.239205 deg.

2025-10-26T22:21:56.858Z,1761517316.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.918875 target range: 41.747635 and range: 42.00 m.
2025-10-26T22:21:56.884Z,1761517316.884 [DAT](INFO): DAT read: Rx Time:22:21:55.4461

2025-10-26T22:21:56.885Z,1761517316.885 [DAT](INFO): Rx dataTimestamp_ set to:1761517316.884523
2025-10-26T22:21:56.885Z,1761517316.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013321
2025-10-26T22:21:57.137Z,1761517317.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264920
2025-10-26T22:21:57.266Z,1761517317.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981919,-0.182890,0.048852],[0.169353,-0.963998,-0.205006],[0.084586,-0.193026,0.977541]]
2025-10-26T22:21:57.303Z,1761517317.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.75 m.
2025-10-26T22:21:57.306Z,1761517317.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.747635 m,
      nav range: 38.616386 m,
      bearing: 171.927268 deg,
      approach rate: -0.568667 m/s,
      LOS rate: -0.096180 deg/s,
      cmd heading: 167.239204 deg,
      new cmd heading: 167.109591 deg.

2025-10-26T22:21:57.307Z,1761517317.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.916613 target range: 41.747635 and range: 42.00 m.
2025-10-26T22:21:57.397Z,1761517317.397 [DAT](INFO): DAT read: 22:21:55.4461 LVL= 32752, 32753, 31986, 32755, AGC= 66, IDX= 415,-0.49,-1.541, 3.038,-1.310,-1.808, PHS= 0.368,-1.392, 0.454, RAW= 152.4,   6.4, CAL= 151.7,   6.6, ROT= 358.3,  -6.6

2025-10-26T22:21:57.398Z,1761517317.398 [DAT](INFO): got valid direction response:
 22:21:55.4461 LVL= 32752, 32753, 31986, 32755, AGC= 66, IDX= 415,-0.49,-1.541, 3.038,-1.310,-1.808, PHS= 0.368,-1.392, 0.454, RAW= 152.4,   6.4, CAL= 151.7,   6.6, ROT= 358.3,  -6.6

2025-10-26T22:21:57.399Z,1761517317.399 [DAT](INFO): DAT read: Bearing 322.2,   2.4 (Local)

2025-10-26T22:21:57.399Z,1761517317.399 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.2,   2.4 (Local)

2025-10-26T22:21:57.401Z,1761517317.401 [DAT](INFO): DAT read: Range 11 to 50 : 39.9 m  (Round-trip  53.3 ms) speed  0.4 m/s

2025-10-26T22:21:57.402Z,1761517317.402 [DAT](INFO): DAT read: user:549>

2025-10-26T22:21:57.402Z,1761517317.402 [DAT](INFO): DAT read: Tx time:22:21:56.5387

2025-10-26T22:21:57.403Z,1761517317.403 [DAT](INFO): Ping request sent.
2025-10-26T22:21:57.403Z,1761517317.403 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:21:57.403Z,1761517317.403 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:21:57.404Z,1761517317.404 [DAT](INFO): direction in FSK: [0.992936,-0.029470,0.114937]
2025-10-26T22:21:57.404Z,1761517317.404 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:57.405Z,1761517317.405 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:57.408Z,1761517317.408 [DAT](INFO): publishing transmit ping time
2025-10-26T22:21:57.408Z,1761517317.408 [DAT](INFO): publishing direction and range info
2025-10-26T22:21:57.645Z,1761517317.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981786,-0.183835,0.047973],[0.170425,-0.963745,-0.205305],[0.083976,-0.193389,0.977522]]
2025-10-26T22:21:57.693Z,1761517317.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.900002 m,
      deltaT: 3.528570 s,
      deltaX: -2.099998 m,
      approachRate: -0.595142 m/s,
      rangeRepo size: 4

2025-10-26T22:21:57.695Z,1761517317.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 39.660301 m,
      bearing: 169.766084 deg,
      lat: 36.779404 deg,
      lon: -121.859504 deg,
      deltaT: 3.528570 s,
      deltaX: -2.087334 m,
      approachRate: -0.591552 m/s,
      posRepo size: 4

2025-10-26T22:21:57.700Z,1761517317.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.66 m.
2025-10-26T22:21:57.708Z,1761517317.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.660301 m,
      nav range: 38.420773 m,
      bearing: 171.866337 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.096180 deg/s,
      cmd heading: 167.109594 deg,
      new cmd heading: 166.997293 deg.

2025-10-26T22:21:57.710Z,1761517317.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.914653 target range: 39.660301 and range: 39.90 m.
2025-10-26T22:21:58.054Z,1761517318.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981602,-0.185122,0.046781],[0.171712,-0.962994,-0.207742],[0.083508,-0.195887,0.977064]]
2025-10-26T22:21:58.093Z,1761517318.093 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-10-26T22:21:58.093Z,1761517318.093 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T22:21:58.093Z,1761517318.093 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-10-26T22:21:58.094Z,1761517318.094 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  39.900002 m (mode  2.000000 count ).
2025-10-26T22:21:58.094Z,1761517318.094 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-10-26T22:21:58.094Z,1761517318.094 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-10-26T22:21:58.095Z,1761517318.095 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:21:58.117Z,1761517318.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.66 m.
2025-10-26T22:21:58.124Z,1761517318.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.660301 m,
      nav range: 38.184574 m,
      bearing: 171.818159 deg,
      approach rate: -0.555524 m/s,
      LOS rate: -0.114014 deg/s,
      cmd heading: 166.997292 deg,
      new cmd heading: 166.851862 deg.

2025-10-26T22:21:58.125Z,1761517318.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.912114 target range: 39.660301 and range: 39.90 m.
2025-10-26T22:21:58.144Z,1761517318.144 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:21:58.144Z,1761517318.144 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:21:58.145Z,1761517318.145 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:21:58.397Z,1761517318.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993820
2025-10-26T22:21:58.446Z,1761517318.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981364,-0.186702,0.045462],[0.173487,-0.962588,-0.208149],[0.082623,-0.196383,0.977040]]
2025-10-26T22:21:58.462Z,1761517318.462 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-10-26T22:21:58.462Z,1761517318.462 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-10-26T22:21:58.465Z,1761517318.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.66 m.
2025-10-26T22:21:58.468Z,1761517318.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.660301 m,
      nav range: 37.974094 m,
      bearing: 171.775312 deg,
      approach rate: -0.605952 m/s,
      LOS rate: -0.124035 deg/s,
      cmd heading: 166.851864 deg,
      new cmd heading: 166.722612 deg.

2025-10-26T22:21:58.468Z,1761517318.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.909858 target range: 39.660301 and range: 39.90 m.
2025-10-26T22:21:58.648Z,1761517318.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245549
2025-10-26T22:21:58.852Z,1761517318.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980955,-0.188989,0.044841],[0.176061,-0.962653,-0.205675],[0.082037,-0.193863,0.977592]]
2025-10-26T22:21:58.876Z,1761517318.876 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-10-26T22:21:58.876Z,1761517318.876 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-10-26T22:21:58.878Z,1761517318.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.66 m.
2025-10-26T22:21:58.881Z,1761517318.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.660301 m,
      nav range: 37.741184 m,
      bearing: 171.728188 deg,
      approach rate: -0.563339 m/s,
      LOS rate: -0.114681 deg/s,
      cmd heading: 166.722609 deg,
      new cmd heading: 166.580366 deg.

2025-10-26T22:21:58.882Z,1761517318.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.907376 target range: 39.660301 and range: 39.90 m.
2025-10-26T22:21:58.900Z,1761517318.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497662
2025-10-26T22:21:59.153Z,1761517319.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749886
2025-10-26T22:21:59.252Z,1761517319.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980351,-0.192404,0.043501],[0.179696,-0.962039,-0.205401],[0.081369,-0.193548,0.977711]]
2025-10-26T22:21:59.292Z,1761517319.292 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-10-26T22:21:59.292Z,1761517319.292 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T22:21:59.292Z,1761517319.292 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-10-26T22:21:59.292Z,1761517319.292 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T22:21:59.294Z,1761517319.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.66 m.
2025-10-26T22:21:59.297Z,1761517319.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.660301 m,
      nav range: 37.518780 m,
      bearing: 171.670486 deg,
      approach rate: -0.534287 m/s,
      LOS rate: -0.139442 deg/s,
      cmd heading: 166.580364 deg,
      new cmd heading: 166.406230 deg.

2025-10-26T22:21:59.298Z,1761517319.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.904337 target range: 39.660301 and range: 39.90 m.
2025-10-26T22:21:59.406Z,1761517319.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002993
2025-10-26T22:21:59.655Z,1761517319.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979806,-0.195426,0.042295],[0.182880,-0.961399,-0.205587],[0.080839,-0.193700,0.977724]]
2025-10-26T22:21:59.656Z,1761517319.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253699
2025-10-26T22:21:59.690Z,1761517319.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.66 m.
2025-10-26T22:21:59.693Z,1761517319.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.660301 m,
      nav range: 37.314751 m,
      bearing: 171.617985 deg,
      approach rate: -0.515468 m/s,
      LOS rate: -0.133365 deg/s,
      cmd heading: 166.406235 deg,
      new cmd heading: 166.247872 deg.

2025-10-26T22:21:59.694Z,1761517319.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.901573 target range: 39.660301 and range: 39.90 m.
2025-10-26T22:21:59.908Z,1761517319.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505477
2025-10-26T22:22:00.129Z,1761517320.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:22:00.131Z,1761517320.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.66 m.
2025-10-26T22:22:00.134Z,1761517320.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.660301 m,
      nav range: 37.064693 m,
      bearing: 171.543655 deg,
      approach rate: -0.566995 m/s,
      LOS rate: -0.169677 deg/s,
      cmd heading: 166.247870 deg,
      new cmd heading: 166.023377 deg.

2025-10-26T22:22:00.135Z,1761517320.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.897655 target range: 39.660301 and range: 39.90 m.
2025-10-26T22:22:00.161Z,1761517320.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757852
2025-10-26T22:22:00.414Z,1761517320.414 [DAT](INFO): DAT read: Rx Time:22:21:58.9937

2025-10-26T22:22:00.415Z,1761517320.415 [DAT](INFO): Rx dataTimestamp_ set to:1761517320.414421
2025-10-26T22:22:00.415Z,1761517320.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012514
2025-10-26T22:22:00.468Z,1761517320.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978424,-0.202747,0.039761],[0.190475,-0.959714,-0.206562],[0.080039,-0.194532,0.977625]]
2025-10-26T22:22:00.487Z,1761517320.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.66 m.
2025-10-26T22:22:00.506Z,1761517320.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.660301 m,
      nav range: 36.869087 m,
      bearing: 171.487267 deg,
      approach rate: -0.550284 m/s,
      LOS rate: -0.159476 deg/s,
      cmd heading: 166.023375 deg,
      new cmd heading: 165.853312 deg.

2025-10-26T22:22:00.507Z,1761517320.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.894686 target range: 39.660301 and range: 39.90 m.
2025-10-26T22:22:00.664Z,1761517320.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261562
2025-10-26T22:22:00.870Z,1761517320.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977672,-0.206668,0.038032],[0.194467,-0.958401,-0.208924],[0.079628,-0.196863,0.977192]]
2025-10-26T22:22:00.888Z,1761517320.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.66 m.
2025-10-26T22:22:00.891Z,1761517320.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.660301 m,
      nav range: 36.648430 m,
      bearing: 171.424492 deg,
      approach rate: -0.550140 m/s,
      LOS rate: -0.157450 deg/s,
      cmd heading: 165.853317 deg,
      new cmd heading: 165.663861 deg.

2025-10-26T22:22:00.892Z,1761517320.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.891380 target range: 39.660301 and range: 39.90 m.
2025-10-26T22:22:00.923Z,1761517320.923 [DAT](INFO): DAT read: 22:21:58.9937 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 421, 0.32, 2.987, 1.357,-3.105, 2.726, PHS= 0.363,-1.324, 0.408, RAW= 151.3,   6.5, CAL= 150.6,   6.9, ROT= 359.4,  -6.9

2025-10-26T22:22:00.925Z,1761517320.925 [DAT](INFO): got valid direction response:
 22:21:58.9937 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 421, 0.32, 2.987, 1.357,-3.105, 2.726, PHS= 0.363,-1.324, 0.408, RAW= 151.3,   6.5, CAL= 150.6,   6.9, ROT= 359.4,  -6.9

2025-10-26T22:22:00.926Z,1761517320.926 [DAT](INFO): DAT read: Bearing 320.9,   3.2 (Local)

2025-10-26T22:22:00.927Z,1761517320.927 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.9,   3.2 (Local)

2025-10-26T22:22:00.929Z,1761517320.929 [DAT](INFO): DAT read: Range 11 to 50 : 38.1 m  (Round-trip  50.8 ms) speed  0.4 m/s

2025-10-26T22:22:00.930Z,1761517320.930 [DAT](INFO): DAT read: user:550>

2025-10-26T22:22:00.931Z,1761517320.931 [DAT](INFO): DAT read: Tx time:22:22:00.0887

2025-10-26T22:22:00.931Z,1761517320.931 [DAT](INFO): Ping request sent.
2025-10-26T22:22:00.931Z,1761517320.931 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:22:00.932Z,1761517320.932 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:22:00.933Z,1761517320.933 [DAT](INFO): direction in FSK: [0.992703,-0.010396,0.120137]
2025-10-26T22:22:00.934Z,1761517320.934 [DAT](INFO): publishing transmit ping time
2025-10-26T22:22:00.934Z,1761517320.934 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:00.939Z,1761517320.939 [DAT](INFO): publishing transmit ping time
2025-10-26T22:22:00.947Z,1761517320.947 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:01.272Z,1761517321.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976927,-0.210458,0.036337],[0.198303,-0.957032,-0.211579],[0.079304,-0.199492,0.976685]]
2025-10-26T22:22:01.358Z,1761517321.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.099998 m,
      deltaT: 3.527408 s,
      deltaX: -1.800003 m,
      approachRate: -0.510291 m/s,
      rangeRepo size: 4

2025-10-26T22:22:01.365Z,1761517321.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.871037 m,
      bearing: 169.335649 deg,
      lat: 36.779404 deg,
      lon: -121.859495 deg,
      deltaT: 3.527408 s,
      deltaX: -1.789265 m,
      approachRate: -0.507246 m/s,
      posRepo size: 4

2025-10-26T22:22:01.365Z,1761517321.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.87 m.
2025-10-26T22:22:01.372Z,1761517321.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.871037 m,
      nav range: 36.579060 m,
      bearing: 170.043805 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.157450 deg/s,
      cmd heading: 165.663861 deg,
      new cmd heading: 165.441798 deg.

2025-10-26T22:22:01.373Z,1761517321.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.887504 target range: 37.871037 and range: 38.10 m.
2025-10-26T22:22:01.701Z,1761517321.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976198,-0.214092,0.034684],[0.201980,-0.955676,-0.214211],[0.079008,-0.202107,0.976171]]
2025-10-26T22:22:01.732Z,1761517321.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.87 m.
2025-10-26T22:22:01.736Z,1761517321.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.871037 m,
      nav range: 36.351410 m,
      bearing: 169.966718 deg,
      approach rate: -0.609476 m/s,
      LOS rate: -0.207673 deg/s,
      cmd heading: 165.441798 deg,
      new cmd heading: 165.209091 deg.

2025-10-26T22:22:01.737Z,1761517321.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.883443 target range: 37.871037 and range: 38.10 m.
2025-10-26T22:22:02.110Z,1761517322.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975556,-0.217219,0.033274],[0.205170,-0.954555,-0.216170],[0.078718,-0.204059,0.975789]]
2025-10-26T22:22:02.162Z,1761517322.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:22:02.164Z,1761517322.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.87 m.
2025-10-26T22:22:02.176Z,1761517322.176 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:22:02.176Z,1761517322.176 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:22:02.177Z,1761517322.177 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:22:02.183Z,1761517322.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.871037 m,
      nav range: 36.118977 m,
      bearing: 169.871537 deg,
      approach rate: -0.536731 m/s,
      LOS rate: -0.221206 deg/s,
      cmd heading: 165.209094 deg,
      new cmd heading: 164.921714 deg.

2025-10-26T22:22:02.184Z,1761517322.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.878427 target range: 37.871037 and range: 38.10 m.
2025-10-26T22:22:02.432Z,1761517322.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500646
2025-10-26T22:22:02.502Z,1761517322.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974753,-0.220910,0.032491],[0.208993,-0.953868,-0.215541],[0.078608,-0.203308,0.975954]]
2025-10-26T22:22:02.521Z,1761517322.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.87 m.
2025-10-26T22:22:02.524Z,1761517322.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.871037 m,
      nav range: 35.927837 m,
      bearing: 169.793548 deg,
      approach rate: -0.535420 m/s,
      LOS rate: -0.219623 deg/s,
      cmd heading: 164.921720 deg,
      new cmd heading: 164.686513 deg.

2025-10-26T22:22:02.525Z,1761517322.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.874322 target range: 37.871037 and range: 38.10 m.
2025-10-26T22:22:02.680Z,1761517322.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748873
2025-10-26T22:22:02.910Z,1761517322.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974011,-0.224227,0.032009],[0.212423,-0.953352,-0.214467],[0.078605,-0.202093,0.976207]]
2025-10-26T22:22:02.930Z,1761517322.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.87 m.
2025-10-26T22:22:02.933Z,1761517322.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001270
2025-10-26T22:22:02.934Z,1761517322.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.871037 m,
      nav range: 35.710190 m,
      bearing: 169.704943 deg,
      approach rate: -0.532832 m/s,
      LOS rate: -0.218241 deg/s,
      cmd heading: 164.686516 deg,
      new cmd heading: 164.419081 deg.

2025-10-26T22:22:02.936Z,1761517322.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.869654 target range: 37.871037 and range: 38.10 m.
2025-10-26T22:22:03.184Z,1761517323.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252982
2025-10-26T22:22:03.317Z,1761517323.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973306,-0.227367,0.031306],[0.215693,-0.952768,-0.213798],[0.078438,-0.201338,0.976376]]
2025-10-26T22:22:03.369Z,1761517323.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.87 m.
2025-10-26T22:22:03.372Z,1761517323.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.871037 m,
      nav range: 35.468807 m,
      bearing: 169.617965 deg,
      approach rate: -0.549286 m/s,
      LOS rate: -0.199273 deg/s,
      cmd heading: 164.419087 deg,
      new cmd heading: 164.156378 deg.

2025-10-26T22:22:03.373Z,1761517323.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.865069 target range: 37.871037 and range: 38.10 m.
2025-10-26T22:22:03.441Z,1761517323.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509655
2025-10-26T22:22:03.692Z,1761517323.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760822
2025-10-26T22:22:03.733Z,1761517323.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972693,-0.230060,0.030674],[0.218492,-0.952229,-0.213356],[0.078294,-0.200828,0.976493]]
2025-10-26T22:22:03.755Z,1761517323.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.87 m.
2025-10-26T22:22:03.758Z,1761517323.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.871037 m,
      nav range: 35.256954 m,
      bearing: 169.541637 deg,
      approach rate: -0.548956 m/s,
      LOS rate: -0.198969 deg/s,
      cmd heading: 164.156384 deg,
      new cmd heading: 163.926026 deg.

2025-10-26T22:22:03.759Z,1761517323.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.861049 target range: 37.871037 and range: 38.10 m.
2025-10-26T22:22:03.944Z,1761517323.944 [DAT](INFO): DAT read: Rx Time:22:22:02.5413

2025-10-26T22:22:03.945Z,1761517323.945 [DAT](INFO): Rx dataTimestamp_ set to:1761517323.944617
2025-10-26T22:22:03.945Z,1761517323.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013986
2025-10-26T22:22:04.145Z,1761517324.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971999,-0.233056,0.030046],[0.221570,-0.951570,-0.213122],[0.078260,-0.200497,0.976564]]
2025-10-26T22:22:04.193Z,1761517324.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:22:04.195Z,1761517324.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.87 m.
2025-10-26T22:22:04.196Z,1761517324.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264961
2025-10-26T22:22:04.200Z,1761517324.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.871037 m,
      nav range: 35.007690 m,
      bearing: 169.468957 deg,
      approach rate: -0.566783 m/s,
      LOS rate: -0.166439 deg/s,
      cmd heading: 163.926029 deg,
      new cmd heading: 163.706437 deg.

2025-10-26T22:22:04.201Z,1761517324.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.857216 target range: 37.871037 and range: 38.10 m.
2025-10-26T22:22:04.457Z,1761517324.457 [DAT](INFO): DAT read: 22:22:02.5413 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 412, 0.01, 0.717,-0.931, 0.891, 0.491, PHS= 0.328,-1.377, 0.356, RAW= 150.8,   8.1, CAL= 150.3,   8.7, ROT= 359.7,  -8.7

2025-10-26T22:22:04.458Z,1761517324.458 [DAT](INFO): got valid direction response:
 22:22:02.5413 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 412, 0.01, 0.717,-0.931, 0.891, 0.491, PHS= 0.328,-1.377, 0.356, RAW= 150.8,   8.1, CAL= 150.3,   8.7, ROT= 359.7,  -8.7

2025-10-26T22:22:04.459Z,1761517324.459 [DAT](INFO): DAT read: Bearing 321.5,   2.8 (Local)

2025-10-26T22:22:04.459Z,1761517324.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.5,   2.8 (Local)

2025-10-26T22:22:04.461Z,1761517324.461 [DAT](INFO): DAT read: Range 11 to 50 : 36.3 m  (Round-trip  48.4 ms) speed  0.5 m/s

2025-10-26T22:22:04.461Z,1761517324.461 [DAT](INFO): DAT read: user:551>

2025-10-26T22:22:04.462Z,1761517324.462 [DAT](INFO): DAT read: Tx time:22:22:03.6387

2025-10-26T22:22:04.462Z,1761517324.462 [DAT](INFO): Ping request sent.
2025-10-26T22:22:04.462Z,1761517324.462 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:22:04.463Z,1761517324.463 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:22:04.464Z,1761517324.464 [DAT](INFO): direction in FSK: [0.988480,-0.005176,0.151261]
2025-10-26T22:22:04.465Z,1761517324.465 [DAT](INFO): publishing transmit ping time
2025-10-26T22:22:04.465Z,1761517324.465 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:04.468Z,1761517324.468 [DAT](INFO): publishing transmit ping time
2025-10-26T22:22:04.469Z,1761517324.469 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:04.472Z,1761517324.472 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.009617
2025-10-26T22:22:04.559Z,1761517324.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971552,-0.235041,0.029031],[0.223568,-0.950682,-0.214993],[0.078132,-0.202386,0.976184]]
2025-10-26T22:22:04.648Z,1761517324.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.299999 m,
      deltaT: 3.532406 s,
      deltaX: -1.799999 m,
      approachRate: -0.509567 m/s,
      rangeRepo size: 4

2025-10-26T22:22:04.650Z,1761517324.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.081852 m,
      bearing: 168.549207 deg,
      lat: 36.779402 deg,
      lon: -121.859489 deg,
      deltaT: 3.532406 s,
      deltaX: -1.789185 m,
      approachRate: -0.506506 m/s,
      posRepo size: 4

2025-10-26T22:22:04.651Z,1761517324.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:22:04.658Z,1761517324.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.081852 m,
      nav range: 35.022636 m,
      bearing: 168.568729 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.166439 deg/s,
      cmd heading: 163.706438 deg,
      new cmd heading: 163.482453 deg.

2025-10-26T22:22:04.659Z,1761517324.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.853307 target range: 36.081852 and range: 36.30 m.
2025-10-26T22:22:04.701Z,1761517324.701 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.238721
2025-10-26T22:22:04.952Z,1761517324.952 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.489772
2025-10-26T22:22:04.958Z,1761517324.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970919,-0.237697,0.028585],[0.226310,-0.950181,-0.214335],[0.078108,-0.201633,0.976342]]
2025-10-26T22:22:04.977Z,1761517324.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:22:04.980Z,1761517324.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.081852 m,
      nav range: 34.816833 m,
      bearing: 168.504196 deg,
      approach rate: -0.617228 m/s,
      LOS rate: -0.194687 deg/s,
      cmd heading: 163.482449 deg,
      new cmd heading: 163.287706 deg.

2025-10-26T22:22:04.981Z,1761517324.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.849908 target range: 36.081852 and range: 36.30 m.
2025-10-26T22:22:05.205Z,1761517325.205 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.742814
2025-10-26T22:22:05.358Z,1761517325.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970494,-0.239516,0.027820],[0.228180,-0.949551,-0.215145],[0.077947,-0.202449,0.976186]]
2025-10-26T22:22:05.418Z,1761517325.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:22:05.421Z,1761517325.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.081852 m,
      nav range: 34.579247 m,
      bearing: 168.435051 deg,
      approach rate: -0.542196 m/s,
      LOS rate: -0.158879 deg/s,
      cmd heading: 163.287707 deg,
      new cmd heading: 163.078849 deg.

2025-10-26T22:22:05.422Z,1761517325.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.846263 target range: 36.081852 and range: 36.30 m.
2025-10-26T22:22:05.458Z,1761517325.458 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.995100
2025-10-26T22:22:05.709Z,1761517325.709 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.246280
2025-10-26T22:22:05.770Z,1761517325.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969941,-0.241754,0.027755],[0.230488,-0.949291,-0.213828],[0.078042,-0.201004,0.976477]]
2025-10-26T22:22:05.874Z,1761517325.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:22:05.877Z,1761517325.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.081852 m,
      nav range: 34.306862 m,
      bearing: 168.355644 deg,
      approach rate: -0.593105 m/s,
      LOS rate: -0.174278 deg/s,
      cmd heading: 163.078853 deg,
      new cmd heading: 162.838743 deg.

2025-10-26T22:22:05.878Z,1761517325.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.842072 target range: 36.081852 and range: 36.30 m.
2025-10-26T22:22:05.962Z,1761517325.962 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.499018
2025-10-26T22:22:06.186Z,1761517326.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969433,-0.243838,0.027238],[0.232699,-0.948938,-0.212999],[0.077784,-0.200150,0.976673]]
2025-10-26T22:22:06.212Z,1761517326.212 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.749999
2025-10-26T22:22:06.246Z,1761517326.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:22:06.252Z,1761517326.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:22:06.260Z,1761517326.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.081852 m,
      nav range: 34.099281 m,
      bearing: 168.304287 deg,
      approach rate: -0.549116 m/s,
      LOS rate: -0.136683 deg/s,
      cmd heading: 162.838745 deg,
      new cmd heading: 162.683735 deg.

2025-10-26T22:22:06.261Z,1761517326.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839367 target range: 36.081852 and range: 36.30 m.
2025-10-26T22:22:06.464Z,1761517326.464 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.001840
2025-10-26T22:22:06.572Z,1761517326.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969012,-0.245596,0.026425],[0.234584,-0.948478,-0.212977],[0.077370,-0.200178,0.976700]]
2025-10-26T22:22:06.612Z,1761517326.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:22:06.615Z,1761517326.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.081852 m,
      nav range: 33.878311 m,
      bearing: 168.249660 deg,
      approach rate: -0.615235 m/s,
      LOS rate: -0.153087 deg/s,
      cmd heading: 162.683741 deg,
      new cmd heading: 162.518791 deg.

2025-10-26T22:22:06.632Z,1761517326.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.836488 target range: 36.081852 and range: 36.30 m.
2025-10-26T22:22:06.718Z,1761517326.718 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.255350
2025-10-26T22:22:06.969Z,1761517326.969 [DAT](INFO): DAT read: Rx Time:22:22:05.8136 

2025-10-26T22:22:06.970Z,1761517326.970 [DAT](INFO): Rx dataTimestamp_ set to:1761517326.969292
2025-10-26T22:22:06.971Z,1761517326.971 [DAT](INFO): DAT read: Bearing 320.5,   2.8 (Local)

2025-10-26T22:22:06.971Z,1761517326.971 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.5,   2.8 (Local)

2025-10-26T22:22:06.973Z,1761517326.973 [DAT](INFO): DAT read: Range 11 to 50 :    34.4 m (trip time 22.9 ms) speed 0.4

2025-10-26T22:22:06.978Z,1761517326.978 [DAT](INFO): DAT read: 22:22:05.8136 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 417, 0.02, 0.187,-1.490, 0.353,-0.056, PHS= 0.345,-1.389, 0.365, RAW= 150.6,   7.8, CAL= 150.0,   8.4, ROT= 360.0,  -8.4

2025-10-26T22:22:06.980Z,1761517326.980 [DAT](INFO): got valid direction response:
 22:22:05.8136 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 417, 0.02, 0.187,-1.490, 0.353,-0.056, PHS= 0.345,-1.389, 0.365, RAW= 150.6,   7.8, CAL= 150.0,   8.4, ROT= 360.0,  -8.4

2025-10-26T22:22:06.980Z,1761517326.980 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T22:22:06.981Z,1761517326.981 [DAT](INFO): direction in FSK: [0.989272,0.000000,0.146083]
2025-10-26T22:22:06.981Z,1761517326.981 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:06.985Z,1761517326.985 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.522537
2025-10-26T22:22:06.994Z,1761517326.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968515,-0.247620,0.025730],[0.236731,-0.948020,-0.212643],[0.077048,-0.199857,0.976791]]
2025-10-26T22:22:07.074Z,1761517327.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.400002 m,
      deltaT: 2.521061 s,
      deltaX: -1.899998 m,
      approachRate: -0.753650 m/s,
      rangeRepo size: 4

2025-10-26T22:22:07.083Z,1761517327.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.193348 m,
      bearing: 167.984457 deg,
      lat: 36.779402 deg,
      lon: -121.859488 deg,
      deltaT: 2.521061 s,
      deltaX: -1.888504 m,
      approachRate: -0.749091 m/s,
      posRepo size: 4

2025-10-26T22:22:07.084Z,1761517327.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.19 m.
2025-10-26T22:22:07.087Z,1761517327.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.193348 m,
      nav range: 33.629051 m,
      bearing: 168.124902 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.153087 deg/s,
      cmd heading: 162.518792 deg,
      new cmd heading: 162.306721 deg.

2025-10-26T22:22:07.098Z,1761517327.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.832787 target range: 34.193348 and range: 34.40 m.
2025-10-26T22:22:07.221Z,1761517327.221 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.758699
2025-10-26T22:22:07.459Z,1761517327.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968016,-0.249653,0.024876],[0.238898,-0.947494,-0.212562],[0.076637,-0.199821,0.976831]]
2025-10-26T22:22:07.473Z,1761517327.473 [DAT](INFO): DAT read: Rx Time:22:22:06.3133 

2025-10-26T22:22:07.473Z,1761517327.473 [DAT](INFO): Rx dataTimestamp_ set to:1761517327.473136
2025-10-26T22:22:07.475Z,1761517327.475 [DAT](INFO): DAT read: Bearing 319.8,   3.1 (Local)

2025-10-26T22:22:07.475Z,1761517327.475 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.8,   3.1 (Local)

2025-10-26T22:22:07.477Z,1761517327.477 [DAT](INFO): DAT read: Range 11 to 50 :    33.9 m (trip time 22.6 ms) speed 0.4

2025-10-26T22:22:07.482Z,1761517327.482 [DAT](INFO): DAT read: 22:22:06.3133 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510, 0.26,-1.400,-3.067,-1.241,-1.660, PHS= 0.362,-1.361, 0.376, RAW= 150.4,   7.3, CAL= 149.8,   7.7, ROT=   0.2,  -7.7

2025-10-26T22:22:07.483Z,1761517327.483 [DAT](INFO): got valid direction response:
 22:22:06.3133 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510, 0.26,-1.400,-3.067,-1.241,-1.660, PHS= 0.362,-1.361, 0.376, RAW= 150.4,   7.3, CAL= 149.8,   7.7, ROT=   0.2,  -7.7

2025-10-26T22:22:07.483Z,1761517327.483 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-10-26T22:22:07.484Z,1761517327.484 [DAT](INFO): direction in FSK: [0.990977,0.003459,0.133986]
2025-10-26T22:22:07.485Z,1761517327.485 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:07.492Z,1761517327.492 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.029768
2025-10-26T22:22:07.690Z,1761517327.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.900002 m,
      deltaT: 0.503844 s,
      deltaX: -0.500000 m,
      approachRate: -0.992371 m/s,
      rangeRepo size: 4

2025-10-26T22:22:07.697Z,1761517327.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.696350 m,
      bearing: 167.907909 deg,
      lat: 36.779402 deg,
      lon: -121.859488 deg,
      deltaT: 0.503844 s,
      deltaX: -0.496998 m,
      approachRate: -0.986412 m/s,
      posRepo size: 4

2025-10-26T22:22:07.700Z,1761517327.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.70 m.
2025-10-26T22:22:07.704Z,1761517327.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.696350 m,
      nav range: 33.274754 m,
      bearing: 168.022679 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.153087 deg/s,
      cmd heading: 162.306714 deg,
      new cmd heading: 162.023699 deg.

2025-10-26T22:22:07.706Z,1761517327.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.827847 target range: 33.696350 and range: 33.90 m.
2025-10-26T22:22:07.725Z,1761517327.725 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.262762
2025-10-26T22:22:07.978Z,1761517327.978 [DAT](INFO): DAT read: Rx Time:22:22:06.8133 

2025-10-26T22:22:07.979Z,1761517327.979 [DAT](INFO): Rx dataTimestamp_ set to:1761517327.978227
2025-10-26T22:22:07.996Z,1761517327.996 [DAT](INFO): DAT read: Bearing 319.7,   2.7 (Local)

2025-10-26T22:22:07.996Z,1761517327.996 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.7,   2.7 (Local)

2025-10-26T22:22:07.998Z,1761517327.998 [DAT](INFO): DAT read: Range 11 to 50 :    33.9 m (trip time 22.6 ms) speed 0.5

2025-10-26T22:22:08.007Z,1761517328.007 [DAT](INFO): DAT read: 22:22:06.8133 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510,-0.30, 3.105, 1.433,-3.006, 2.853, PHS= 0.354,-1.375, 0.381, RAW= 150.7,   7.4, CAL= 150.2,   7.9, ROT= 359.8,  -7.9

2025-10-26T22:22:08.036Z,1761517328.036 [DAT](INFO): got valid direction response:
 22:22:06.8133 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510,-0.30, 3.105, 1.433,-3.006, 2.853, PHS= 0.354,-1.375, 0.381, RAW= 150.7,   7.4, CAL= 150.2,   7.9, ROT= 359.8,  -7.9

2025-10-26T22:22:08.037Z,1761517328.037 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-26T22:22:08.038Z,1761517328.038 [DAT](INFO): direction in FSK: [0.990503,-0.003458,0.137445]
2025-10-26T22:22:08.038Z,1761517328.038 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:08.050Z,1761517328.050 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.587242
2025-10-26T22:22:08.101Z,1761517328.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966856,-0.254256,0.023321],[0.243739,-0.946332,-0.212243],[0.076034,-0.199524,0.976939]]
2025-10-26T22:22:08.228Z,1761517328.228 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.766028
2025-10-26T22:22:08.232Z,1761517328.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.900002 m,
      deltaT: 0.505091 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:22:08.234Z,1761517328.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.696350 m,
      bearing: 167.264300 deg,
      lat: 36.779403 deg,
      lon: -121.859488 deg,
      deltaT: 0.505091 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:22:08.235Z,1761517328.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.70 m.
2025-10-26T22:22:08.238Z,1761517328.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.696350 m,
      nav range: 32.858212 m,
      bearing: 167.935601 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.153087 deg/s,
      cmd heading: 162.023698 deg,
      new cmd heading: 161.776679 deg.

2025-10-26T22:22:08.239Z,1761517328.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.823536 target range: 33.696350 and range: 33.90 m.
2025-10-26T22:22:08.481Z,1761517328.481 [DAT](INFO): DAT read: Rx Time:22:22:07.3130 

2025-10-26T22:22:08.481Z,1761517328.481 [DAT](INFO): Rx dataTimestamp_ set to:1761517328.481066
2025-10-26T22:22:08.483Z,1761517328.483 [DAT](INFO): DAT read: Bearing 320.2,   2.8 (Local)

2025-10-26T22:22:08.483Z,1761517328.483 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.2,   2.8 (Local)

2025-10-26T22:22:08.485Z,1761517328.485 [DAT](INFO): DAT read: Range 11 to 50 :    33.5 m (trip time 22.3 ms) speed 0.4

2025-10-26T22:22:08.490Z,1761517328.490 [DAT](INFO): DAT read: 22:22:07.3130 LVL= 32208, 32753, 32754, 32755, AGC= 62, IDX= 507, 0.01, 2.016, 0.352, 2.178, 1.776, PHS= 0.342,-1.379, 0.358, RAW= 150.5,   7.9, CAL= 149.9,   8.5, ROT=   0.1,  -8.5

2025-10-26T22:22:08.491Z,1761517328.491 [DAT](INFO): got valid direction response:
 22:22:07.3130 LVL= 32208, 32753, 32754, 32755, AGC= 62, IDX= 507, 0.01, 2.016, 0.352, 2.178, 1.776, PHS= 0.342,-1.379, 0.358, RAW= 150.5,   7.9, CAL= 149.9,   8.5, ROT=   0.1,  -8.5

2025-10-26T22:22:08.491Z,1761517328.491 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-10-26T22:22:08.492Z,1761517328.492 [DAT](INFO): direction in FSK: [0.989014,0.001726,0.147809]
2025-10-26T22:22:08.492Z,1761517328.492 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:08.496Z,1761517328.496 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.033484
2025-10-26T22:22:08.507Z,1761517328.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966320,-0.256331,0.022819],[0.245802,-0.945600,-0.213125],[0.076208,-0.200338,0.976758]]
2025-10-26T22:22:08.628Z,1761517328.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.500000 m,
      deltaT: 0.502839 s,
      deltaX: -0.400002 m,
      approachRate: -0.795486 m/s,
      rangeRepo size: 4

2025-10-26T22:22:08.630Z,1761517328.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.298752 m,
      bearing: 167.572094 deg,
      lat: 36.779405 deg,
      lon: -121.859488 deg,
      deltaT: 0.502839 s,
      deltaX: -0.397598 m,
      approachRate: -0.790707 m/s,
      posRepo size: 4

2025-10-26T22:22:08.635Z,1761517328.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.30 m.
2025-10-26T22:22:08.638Z,1761517328.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.298752 m,
      nav range: 32.455807 m,
      bearing: 167.830258 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.153087 deg/s,
      cmd heading: 161.776678 deg,
      new cmd heading: 161.594776 deg.

2025-10-26T22:22:08.639Z,1761517328.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.820361 target range: 33.298752 and range: 33.50 m.
2025-10-26T22:22:08.733Z,1761517328.733 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.270437
2025-10-26T22:22:08.954Z,1761517328.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:22:08.956Z,1761517328.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.30 m.
2025-10-26T22:22:08.958Z,1761517328.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.298752 m,
      nav range: 32.252937 m,
      bearing: 167.797350 deg,
      approach rate: -0.611093 m/s,
      LOS rate: -0.099751 deg/s,
      cmd heading: 161.594776 deg,
      new cmd heading: 161.495430 deg.

2025-10-26T22:22:08.960Z,1761517328.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.818627 target range: 33.298752 and range: 33.50 m.
2025-10-26T22:22:08.985Z,1761517328.985 [DAT](INFO): DAT read: Rx Time:22:22:07.8129 

2025-10-26T22:22:08.986Z,1761517328.986 [DAT](INFO): Rx dataTimestamp_ set to:1761517328.985557
2025-10-26T22:22:08.987Z,1761517328.987 [DAT](INFO): DAT read: Bearing 319.6,   3.5 (Local)

2025-10-26T22:22:08.988Z,1761517328.988 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.6,   3.5 (Local)

2025-10-26T22:22:08.990Z,1761517328.990 [DAT](INFO): DAT read: Range 11 to 50 :    33.3 m (trip time 22.2 ms) speed 0.5

2025-10-26T22:22:08.994Z,1761517328.994 [DAT](INFO): DAT read: 22:22:07.8129 LVL= 31856, 32753, 32754, 32755, AGC= 61, IDX= 506, 0.29,-2.832, 1.796,-2.690,-3.093, PHS= 0.363,-1.349, 0.359, RAW= 149.9,   7.4, CAL= 149.3,   7.9, ROT=   0.7,  -7.9

2025-10-26T22:22:08.996Z,1761517328.996 [DAT](INFO): got valid direction response:
 22:22:07.8129 LVL= 31856, 32753, 32754, 32755, AGC= 61, IDX= 506, 0.29,-2.832, 1.796,-2.690,-3.093, PHS= 0.363,-1.349, 0.359, RAW= 149.9,   7.4, CAL= 149.3,   7.9, ROT=   0.7,  -7.9

2025-10-26T22:22:08.996Z,1761517328.996 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-26T22:22:08.997Z,1761517328.997 [DAT](INFO): direction in FSK: [0.990436,0.012101,0.137445]
2025-10-26T22:22:08.997Z,1761517328.997 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:09.001Z,1761517329.001 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.538511
2025-10-26T22:22:09.242Z,1761517329.242 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.779655
2025-10-26T22:22:09.291Z,1761517329.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964935,-0.261568,0.021959],[0.250981,-0.943898,-0.214628],[0.076867,-0.201591,0.976449]]
2025-10-26T22:22:09.358Z,1761517329.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.299999 m,
      deltaT: 0.504491 s,
      deltaX: -0.200001 m,
      approachRate: -0.396441 m/s,
      rangeRepo size: 4

2025-10-26T22:22:09.360Z,1761517329.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.100014 m,
      bearing: 167.742950 deg,
      lat: 36.779405 deg,
      lon: -121.859487 deg,
      deltaT: 0.504491 s,
      deltaX: -0.198738 m,
      approachRate: -0.393938 m/s,
      posRepo size: 4

2025-10-26T22:22:09.361Z,1761517329.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.10 m.
2025-10-26T22:22:09.364Z,1761517329.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.100014 m,
      nav range: 32.041504 m,
      bearing: 167.612623 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.099751 deg/s,
      cmd heading: 161.495424 deg,
      new cmd heading: 161.375167 deg.

2025-10-26T22:22:09.365Z,1761517329.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.816528 target range: 33.100014 and range: 33.30 m.
2025-10-26T22:22:09.493Z,1761517329.493 [DAT](INFO): DAT read: Rx Time:22:22:08.3126 

2025-10-26T22:22:09.494Z,1761517329.494 [DAT](INFO): Rx dataTimestamp_ set to:1761517329.493304
2025-10-26T22:22:09.495Z,1761517329.495 [DAT](INFO): DAT read: Bearing 321.9,   2.3 (Local)

2025-10-26T22:22:09.495Z,1761517329.495 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.9,   2.3 (Local)

2025-10-26T22:22:09.497Z,1761517329.497 [DAT](INFO): DAT read: Range 11 to 50 :    32.9 m (trip time 21.9 ms) speed 0.4

2025-10-26T22:22:09.502Z,1761517329.502 [DAT](INFO): DAT read: 22:22:08.3126 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504,-0.36, 0.369,-1.265, 0.525, 0.185, PHS= 0.286,-1.405, 0.296, RAW= 150.3,   9.7, CAL= 149.9,  10.6, ROT=   0.1, -10.6

2025-10-26T22:22:09.503Z,1761517329.503 [DAT](INFO): got valid direction response:
 22:22:08.3126 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504,-0.36, 0.369,-1.265, 0.525, 0.185, PHS= 0.286,-1.405, 0.296, RAW= 150.3,   9.7, CAL= 149.9,  10.6, ROT=   0.1, -10.6

2025-10-26T22:22:09.504Z,1761517329.504 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-26T22:22:09.505Z,1761517329.505 [DAT](INFO): direction in FSK: [0.982934,0.001716,0.183951]
2025-10-26T22:22:09.505Z,1761517329.505 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:09.509Z,1761517329.509 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.046216
2025-10-26T22:22:09.698Z,1761517329.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964297,-0.263983,0.021090],[0.253385,-0.942865,-0.216339],[0.076995,-0.203271,0.976091]]
2025-10-26T22:22:09.744Z,1761517329.744 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.282012
2025-10-26T22:22:09.760Z,1761517329.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.900002 m,
      deltaT: 0.507747 s,
      deltaX: -0.399998 m,
      approachRate: -0.787789 m/s,
      rangeRepo size: 4

2025-10-26T22:22:09.762Z,1761517329.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.702419 m,
      bearing: 167.599752 deg,
      lat: 36.779405 deg,
      lon: -121.859487 deg,
      deltaT: 0.507747 s,
      deltaX: -0.397594 m,
      approachRate: -0.783056 m/s,
      posRepo size: 4

2025-10-26T22:22:09.762Z,1761517329.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-10-26T22:22:09.769Z,1761517329.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.702419 m,
      nav range: 31.826378 m,
      bearing: 167.583865 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.099751 deg/s,
      cmd heading: 161.375172 deg,
      new cmd heading: 161.256306 deg.

2025-10-26T22:22:09.770Z,1761517329.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.814454 target range: 32.702419 and range: 32.90 m.
2025-10-26T22:22:09.998Z,1761517329.998 [DAT](INFO): DAT read: Rx Time:22:22:08.8125 

2025-10-26T22:22:09.998Z,1761517329.998 [DAT](INFO): Rx dataTimestamp_ set to:1761517329.998157
2025-10-26T22:22:10.009Z,1761517330.009 [DAT](INFO): DAT read: Bearing 318.6,   3.8 (Local)

2025-10-26T22:22:10.009Z,1761517330.009 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.6,   3.8 (Local)

2025-10-26T22:22:10.011Z,1761517330.011 [DAT](INFO): DAT read: Range 11 to 50 :    32.7 m (trip time 21.8 ms) speed 0.4

2025-10-26T22:22:10.018Z,1761517330.018 [DAT](INFO): DAT read: 22:22:08.8125 LVL= 30144, 32753, 32754, 32755, AGC= 62, IDX= 502,-0.09, 0.534,-1.128, 0.669, 0.251, PHS= 0.385,-1.334, 0.374, RAW= 149.7,   6.8, CAL= 149.1,   7.2, ROT=   0.9,  -7.2

2025-10-26T22:22:10.023Z,1761517330.023 [DAT](INFO): got valid direction response:
 22:22:08.8125 LVL= 30144, 32753, 32754, 32755, AGC= 62, IDX= 502,-0.09, 0.534,-1.128, 0.669, 0.251, PHS= 0.385,-1.334, 0.374, RAW= 149.7,   6.8, CAL= 149.1,   7.2, ROT=   0.9,  -7.2

2025-10-26T22:22:10.023Z,1761517330.023 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-10-26T22:22:10.036Z,1761517330.036 [DAT](INFO): direction in FSK: [0.991992,0.015583,0.125333]
2025-10-26T22:22:10.037Z,1761517330.037 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:10.048Z,1761517330.048 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.585303
2025-10-26T22:22:10.102Z,1761517330.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963522,-0.266848,0.020423],[0.256248,-0.941876,-0.217271],[0.077214,-0.204112,0.975898]]
2025-10-26T22:22:10.221Z,1761517330.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.700001 m,
      deltaT: 0.504853 s,
      deltaX: -0.200001 m,
      approachRate: -0.396156 m/s,
      rangeRepo size: 4

2025-10-26T22:22:10.223Z,1761517330.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.503624 m,
      bearing: 167.497981 deg,
      lat: 36.779403 deg,
      lon: -121.859486 deg,
      deltaT: 0.504853 s,
      deltaX: -0.198795 m,
      approachRate: -0.393769 m/s,
      posRepo size: 4

2025-10-26T22:22:10.228Z,1761517330.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.50 m.
2025-10-26T22:22:10.230Z,1761517330.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.503624 m,
      nav range: 31.772081 m,
      bearing: 167.514053 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.099751 deg/s,
      cmd heading: 161.256313 deg,
      new cmd heading: 161.116974 deg.

2025-10-26T22:22:10.236Z,1761517330.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.812022 target range: 32.503624 and range: 32.70 m.
2025-10-26T22:22:10.248Z,1761517330.248 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.785986
2025-10-26T22:22:10.501Z,1761517330.501 [DAT](INFO): DAT read: Rx Time:22:22:09.3123 

2025-10-26T22:22:10.502Z,1761517330.502 [DAT](INFO): Rx dataTimestamp_ set to:1761517330.501633
2025-10-26T22:22:10.503Z,1761517330.503 [DAT](INFO): DAT read: Bearing 318.5,   4.0 (Local)

2025-10-26T22:22:10.504Z,1761517330.504 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.5,   4.0 (Local)

2025-10-26T22:22:10.506Z,1761517330.506 [DAT](INFO): DAT read: Range 11 to 50 :    32.3 m (trip time 21.5 ms) speed 0.4

2025-10-26T22:22:10.510Z,1761517330.510 [DAT](INFO): DAT read: 22:22:09.3123 LVL= 30400, 30961, 32162, 32755, AGC= 61, IDX= 499, 0.05, 1.617,-0.075, 1.747, 1.329, PHS= 0.390,-1.359, 0.374, RAW= 149.5,   6.9, CAL= 149.0,   7.4, ROT=   1.0,  -7.4

2025-10-26T22:22:10.512Z,1761517330.512 [DAT](INFO): got valid direction response:
 22:22:09.3123 LVL= 30400, 30961, 32162, 32755, AGC= 61, IDX= 499, 0.05, 1.617,-0.075, 1.747, 1.329, PHS= 0.390,-1.359, 0.374, RAW= 149.5,   6.9, CAL= 149.0,   7.4, ROT=   1.0,  -7.4

2025-10-26T22:22:10.512Z,1761517330.512 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-10-26T22:22:10.513Z,1761517330.513 [DAT](INFO): direction in FSK: [0.991520,0.017307,0.128796]
2025-10-26T22:22:10.513Z,1761517330.513 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:10.517Z,1761517330.517 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.054556
2025-10-26T22:22:10.543Z,1761517330.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962618,-0.270110,0.020176],[0.259470,-0.940944,-0.217486],[0.077729,-0.204121,0.975855]]
2025-10-26T22:22:10.665Z,1761517330.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.299999 m,
      deltaT: 0.503476 s,
      deltaX: -0.400002 m,
      approachRate: -0.794480 m/s,
      rangeRepo size: 4

2025-10-26T22:22:10.672Z,1761517330.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.106026 m,
      bearing: 167.447726 deg,
      lat: 36.779404 deg,
      lon: -121.859486 deg,
      deltaT: 0.503476 s,
      deltaX: -0.397598 m,
      approachRate: -0.789706 m/s,
      posRepo size: 4

2025-10-26T22:22:10.673Z,1761517330.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.11 m.
2025-10-26T22:22:10.679Z,1761517330.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.106026 m,
      nav range: 31.460077 m,
      bearing: 167.466952 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.099751 deg/s,
      cmd heading: 161.116977 deg,
      new cmd heading: 160.983923 deg.

2025-10-26T22:22:10.680Z,1761517330.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.809700 target range: 32.106026 and range: 32.30 m.
2025-10-26T22:22:10.754Z,1761517330.754 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.291208
2025-10-26T22:22:10.992Z,1761517330.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961790,-0.273115,0.019192],[0.262387,-0.939486,-0.220271],[0.078190,-0.206819,0.975250]]
2025-10-26T22:22:11.005Z,1761517331.005 [DAT](INFO): DAT read: Rx Time:22:22:09.8122 

2025-10-26T22:22:11.006Z,1761517331.006 [DAT](INFO): Rx dataTimestamp_ set to:1761517331.005245
2025-10-26T22:22:11.007Z,1761517331.007 [DAT](INFO): DAT read: Bearing 319.0,   4.5 (Local)

2025-10-26T22:22:11.007Z,1761517331.007 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.0,   4.5 (Local)

2025-10-26T22:22:11.009Z,1761517331.009 [DAT](INFO): DAT read: Range 11 to 50 :    32.1 m (trip time 21.4 ms) speed 0.4

2025-10-26T22:22:11.015Z,1761517331.015 [DAT](INFO): DAT read: 22:22:09.8122 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498, 0.15,-2.005, 2.604,-1.898,-2.284, PHS= 0.381,-1.350, 0.342, RAW= 148.9,   7.4, CAL= 148.3,   7.9, ROT=   1.7,  -7.9

2025-10-26T22:22:11.016Z,1761517331.016 [DAT](INFO): got valid direction response:
 22:22:09.8122 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498, 0.15,-2.005, 2.604,-1.898,-2.284, PHS= 0.381,-1.350, 0.342, RAW= 148.9,   7.4, CAL= 148.3,   7.9, ROT=   1.7,  -7.9

2025-10-26T22:22:11.016Z,1761517331.016 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-26T22:22:11.017Z,1761517331.017 [DAT](INFO): direction in FSK: [0.990074,0.029385,0.137445]
2025-10-26T22:22:11.017Z,1761517331.017 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:11.027Z,1761517331.027 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.564257
2025-10-26T22:22:11.051Z,1761517331.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.099998 m,
      deltaT: 0.503612 s,
      deltaX: -0.200001 m,
      approachRate: -0.397133 m/s,
      rangeRepo size: 4

2025-10-26T22:22:11.057Z,1761517331.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.907269 m,
      bearing: 168.094501 deg,
      lat: 36.779403 deg,
      lon: -121.859487 deg,
      deltaT: 0.503612 s,
      deltaX: -0.198757 m,
      approachRate: -0.394663 m/s,
      posRepo size: 4

2025-10-26T22:22:11.058Z,1761517331.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.91 m.
2025-10-26T22:22:11.065Z,1761517331.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.907269 m,
      nav range: 31.288778 m,
      bearing: 167.570000 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.099751 deg/s,
      cmd heading: 160.983925 deg,
      new cmd heading: 160.868575 deg.

2025-10-26T22:22:11.066Z,1761517331.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.807686 target range: 31.907269 and range: 32.10 m.
2025-10-26T22:22:11.201Z,1761517331.201 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:22:11.257Z,1761517331.257 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.794291
2025-10-26T22:22:11.449Z,1761517331.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960822,-0.276591,0.017846],[0.265891,-0.938001,-0.222388],[0.078250,-0.208930,0.974795]]
2025-10-26T22:22:11.497Z,1761517331.497 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:22:11.499Z,1761517331.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.91 m.
2025-10-26T22:22:11.502Z,1761517331.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.907269 m,
      nav range: 31.018770 m,
      bearing: 167.532578 deg,
      approach rate: -0.601693 m/s,
      LOS rate: -0.084117 deg/s,
      cmd heading: 160.868577 deg,
      new cmd heading: 160.755335 deg.

2025-10-26T22:22:11.503Z,1761517331.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.805710 target range: 31.907269 and range: 32.10 m.
2025-10-26T22:22:11.509Z,1761517331.509 [DAT](INFO): DAT read: Rx Time:22:22:10.3119 

2025-10-26T22:22:11.510Z,1761517331.510 [DAT](INFO): Rx dataTimestamp_ set to:1761517331.509292
2025-10-26T22:22:11.511Z,1761517331.511 [DAT](INFO): DAT read: Bearing 319.4,   4.7 (Local)

2025-10-26T22:22:11.511Z,1761517331.511 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.4,   4.7 (Local)

2025-10-26T22:22:11.513Z,1761517331.513 [DAT](INFO): DAT read: Range 11 to 50 :    31.7 m (trip time 21.1 ms) speed 0.4

2025-10-26T22:22:11.522Z,1761517331.522 [DAT](INFO): DAT read: 22:22:10.3119 LVL= 32496, 32753, 32754, 32755, AGC= 65, IDX= 495, 0.24,-1.026,-2.731,-0.934,-1.305, PHS= 0.381,-1.382, 0.326, RAW= 148.4,   7.8, CAL= 147.9,   8.4, ROT=   2.1,  -8.4

2025-10-26T22:22:11.523Z,1761517331.523 [DAT](INFO): got valid direction response:
 22:22:10.3119 LVL= 32496, 32753, 32754, 32755, AGC= 65, IDX= 495, 0.24,-1.026,-2.731,-0.934,-1.305, PHS= 0.381,-1.382, 0.326, RAW= 148.4,   7.8, CAL= 147.9,   8.4, ROT=   2.1,  -8.4

2025-10-26T22:22:11.524Z,1761517331.524 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-10-26T22:22:11.524Z,1761517331.524 [DAT](INFO): direction in FSK: [0.988608,0.036251,0.146083]
2025-10-26T22:22:11.525Z,1761517331.525 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:11.544Z,1761517331.544 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.081999
2025-10-26T22:22:11.764Z,1761517331.764 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.302004
2025-10-26T22:22:11.838Z,1761517331.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959912,-0.279807,0.016654],[0.269103,-0.936559,-0.224590],[0.078439,-0.211105,0.974311]]
2025-10-26T22:22:11.862Z,1761517331.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.700001 m,
      deltaT: 0.504047 s,
      deltaX: -0.399998 m,
      approachRate: -0.793572 m/s,
      rangeRepo size: 4

2025-10-26T22:22:11.886Z,1761517331.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.509693 m,
      bearing: 168.233554 deg,
      lat: 36.779403 deg,
      lon: -121.859488 deg,
      deltaT: 0.504047 s,
      deltaX: -0.397575 m,
      approachRate: -0.788767 m/s,
      posRepo size: 4

2025-10-26T22:22:11.893Z,1761517331.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.51 m.
2025-10-26T22:22:11.918Z,1761517331.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.509693 m,
      nav range: 30.808594 m,
      bearing: 167.601076 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.084117 deg/s,
      cmd heading: 160.755332 deg,
      new cmd heading: 160.663996 deg.

2025-10-26T22:22:11.932Z,1761517331.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804116 target range: 31.509693 and range: 31.70 m.
2025-10-26T22:22:12.017Z,1761517332.017 [DAT](INFO): DAT read: Rx Time:22:22:10.8118 

2025-10-26T22:22:12.018Z,1761517332.018 [DAT](INFO): Rx dataTimestamp_ set to:1761517332.017333
2025-10-26T22:22:12.036Z,1761517332.036 [DAT](INFO): DAT read: Bearing 321.2,   4.0 (Local)

2025-10-26T22:22:12.036Z,1761517332.036 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.2,   4.0 (Local)

2025-10-26T22:22:12.038Z,1761517332.038 [DAT](INFO): DAT read: Range 11 to 50 :    31.5 m (trip time 21.0 ms) speed 0.4

2025-10-26T22:22:12.051Z,1761517332.051 [DAT](INFO): DAT read: 22:22:10.8118 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 510, 0.40, 0.912,-0.794, 1.006, 0.686, PHS= 0.328,-1.435, 0.276, RAW= 148.5,   9.6, CAL= 148.1,  10.4, ROT=   1.9, -10.4

2025-10-26T22:22:12.052Z,1761517332.052 [DAT](INFO): got valid direction response:
 22:22:10.8118 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 510, 0.40, 0.912,-0.794, 1.006, 0.686, PHS= 0.328,-1.435, 0.276, RAW= 148.5,   9.6, CAL= 148.1,  10.4, ROT=   1.9, -10.4

2025-10-26T22:22:12.052Z,1761517332.052 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-26T22:22:12.053Z,1761517332.053 [DAT](INFO): direction in FSK: [0.983031,0.032610,0.180519]
2025-10-26T22:22:12.054Z,1761517332.054 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:12.071Z,1761517332.071 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.608249
2025-10-26T22:22:12.206Z,1761517332.206 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:22:12.268Z,1761517332.268 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.806011
2025-10-26T22:22:12.301Z,1761517332.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959078,-0.282710,0.015616],[0.272048,-0.935387,-0.225925],[0.078478,-0.212431,0.974020]]
2025-10-26T22:22:12.369Z,1761517332.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.500000 m,
      deltaT: 0.508041 s,
      deltaX: -0.200001 m,
      approachRate: -0.393671 m/s,
      rangeRepo size: 4

2025-10-26T22:22:12.371Z,1761517332.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.310892 m,
      bearing: 168.324698 deg,
      lat: 36.779403 deg,
      lon: -121.859490 deg,
      deltaT: 0.508041 s,
      deltaX: -0.198801 m,
      approachRate: -0.391309 m/s,
      posRepo size: 4

2025-10-26T22:22:12.372Z,1761517332.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.31 m.
2025-10-26T22:22:12.375Z,1761517332.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.310892 m,
      nav range: 30.488495 m,
      bearing: 167.988777 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.084117 deg/s,
      cmd heading: 160.663999 deg,
      new cmd heading: 160.535916 deg.

2025-10-26T22:22:12.376Z,1761517332.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.801880 target range: 31.310892 and range: 31.50 m.
2025-10-26T22:22:12.522Z,1761517332.522 [DAT](INFO): DAT read: Rx Time:22:22:11.3116 

2025-10-26T22:22:12.523Z,1761517332.523 [DAT](INFO): Rx dataTimestamp_ set to:1761517332.522248
2025-10-26T22:22:12.524Z,1761517332.524 [DAT](INFO): DAT read: Bearing 318.8,   4.7 (Local)

2025-10-26T22:22:12.524Z,1761517332.524 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.8,   4.7 (Local)

2025-10-26T22:22:12.526Z,1761517332.526 [DAT](INFO): DAT read: Range 11 to 50 :    31.2 m (trip time 20.8 ms) speed 0.4

2025-10-26T22:22:12.532Z,1761517332.532 [DAT](INFO): DAT read: 22:22:11.3116 LVL= 31616, 32753, 32754, 32755, AGC= 64, IDX= 508,-0.18,-2.713, 1.851,-2.621,-3.001, PHS= 0.391,-1.386, 0.337, RAW= 148.5,   7.6, CAL= 148.0,   8.2, ROT=   2.0,  -8.2

2025-10-26T22:22:12.533Z,1761517332.533 [DAT](INFO): got valid direction response:
 22:22:11.3116 LVL= 31616, 32753, 32754, 32755, AGC= 64, IDX= 508,-0.18,-2.713, 1.851,-2.621,-3.001, PHS= 0.391,-1.386, 0.337, RAW= 148.5,   7.6, CAL= 148.0,   8.2, ROT=   2.0,  -8.2

2025-10-26T22:22:12.534Z,1761517332.534 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-26T22:22:12.535Z,1761517332.535 [DAT](INFO): direction in FSK: [0.989173,0.034543,0.142629]
2025-10-26T22:22:12.535Z,1761517332.535 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:12.538Z,1761517332.538 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.075925
2025-10-26T22:22:12.746Z,1761517332.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958019,-0.286319,0.014858],[0.275746,-0.934355,-0.225709],[0.078507,-0.212137,0.974081]]
2025-10-26T22:22:12.773Z,1761517332.773 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.310303
2025-10-26T22:22:12.775Z,1761517332.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.200001 m,
      deltaT: 0.504915 s,
      deltaX: -0.299999 m,
      approachRate: -0.594158 m/s,
      rangeRepo size: 4

2025-10-26T22:22:12.777Z,1761517332.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.012800 m,
      bearing: 167.701246 deg,
      lat: 36.779403 deg,
      lon: -121.859490 deg,
      deltaT: 0.504915 s,
      deltaX: -0.298092 m,
      approachRate: -0.590380 m/s,
      posRepo size: 4

2025-10-26T22:22:12.778Z,1761517332.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.01 m.
2025-10-26T22:22:12.781Z,1761517332.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.012800 m,
      nav range: 30.273964 m,
      bearing: 167.950334 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.084117 deg/s,
      cmd heading: 160.535919 deg,
      new cmd heading: 160.433550 deg.

2025-10-26T22:22:12.782Z,1761517332.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.800094 target range: 31.012800 and range: 31.20 m.
2025-10-26T22:22:13.026Z,1761517333.026 [DAT](INFO): DAT read: Rx Time:22:22:11.8115 

2025-10-26T22:22:13.026Z,1761517333.026 [DAT](INFO): Rx dataTimestamp_ set to:1761517333.025913
2025-10-26T22:22:13.028Z,1761517333.028 [DAT](INFO): DAT read: Bearing 317.4,   5.8 (Local)

2025-10-26T22:22:13.029Z,1761517333.029 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.4,   5.8 (Local)

2025-10-26T22:22:13.031Z,1761517333.031 [DAT](INFO): DAT read: Range 11 to 50 :    31.2 m (trip time 20.8 ms) speed 0.4

2025-10-26T22:22:13.037Z,1761517333.037 [DAT](INFO): DAT read: 22:22:11.8115 LVL= 31552, 32369, 32754, 32755, AGC= 63, IDX= 507, 0.08,-0.181,-1.914,-0.118,-0.521, PHS= 0.442,-1.348, 0.359, RAW= 147.6,   6.3, CAL= 147.1,   6.8, ROT=   2.9,  -6.8

2025-10-26T22:22:13.038Z,1761517333.038 [DAT](INFO): got valid direction response:
 22:22:11.8115 LVL= 31552, 32369, 32754, 32755, AGC= 63, IDX= 507, 0.08,-0.181,-1.914,-0.118,-0.521, PHS= 0.442,-1.348, 0.359, RAW= 147.6,   6.3, CAL= 147.1,   6.8, ROT=   2.9,  -6.8

2025-10-26T22:22:13.039Z,1761517333.039 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-10-26T22:22:13.040Z,1761517333.040 [DAT](INFO): direction in FSK: [0.991694,0.050237,0.118404]
2025-10-26T22:22:13.040Z,1761517333.040 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:13.048Z,1761517333.048 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.584648
2025-10-26T22:22:13.145Z,1761517333.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957063,-0.289546,0.013931],[0.279044,-0.933236,-0.226284],[0.078521,-0.212681,0.973962]]
2025-10-26T22:22:13.276Z,1761517333.276 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.814008
2025-10-26T22:22:13.282Z,1761517333.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.200001 m,
      deltaT: 0.503665 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:22:13.294Z,1761517333.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.012800 m,
      bearing: 168.081571 deg,
      lat: 36.779403 deg,
      lon: -121.859490 deg,
      deltaT: 0.503665 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:22:13.300Z,1761517333.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.01 m.
2025-10-26T22:22:13.309Z,1761517333.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.012800 m,
      nav range: 30.074593 m,
      bearing: 167.920723 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.084117 deg/s,
      cmd heading: 160.433548 deg,
      new cmd heading: 160.305479 deg.

2025-10-26T22:22:13.311Z,1761517333.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.797858 target range: 31.012800 and range: 31.20 m.
2025-10-26T22:22:13.529Z,1761517333.529 [DAT](INFO): DAT read: Rx Time:22:22:12.3112 

2025-10-26T22:22:13.529Z,1761517333.529 [DAT](INFO): Rx dataTimestamp_ set to:1761517333.529078
2025-10-26T22:22:13.531Z,1761517333.531 [DAT](INFO): DAT read: Bearing 320.4,   5.7 (Local)

2025-10-26T22:22:13.531Z,1761517333.531 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.4,   5.7 (Local)

2025-10-26T22:22:13.533Z,1761517333.533 [DAT](INFO): DAT read: Range 11 to 50 :    30.8 m (trip time 20.5 ms) speed 0.4

2025-10-26T22:22:13.538Z,1761517333.538 [DAT](INFO): DAT read: 22:22:12.3112 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 504, 0.37,-0.295,-1.998,-0.255,-0.558, PHS= 0.365,-1.395, 0.259, RAW= 146.9,   9.1, CAL= 146.5,   9.8, ROT=   3.5,  -9.8

2025-10-26T22:22:13.539Z,1761517333.539 [DAT](INFO): got valid direction response:
 22:22:12.3112 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 504, 0.37,-0.295,-1.998,-0.255,-0.558, PHS= 0.365,-1.395, 0.259, RAW= 146.9,   9.1, CAL= 146.5,   9.8, ROT=   3.5,  -9.8

2025-10-26T22:22:13.539Z,1761517333.539 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-26T22:22:13.540Z,1761517333.540 [DAT](INFO): direction in FSK: [0.983570,0.060158,0.170209]
2025-10-26T22:22:13.540Z,1761517333.540 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:13.544Z,1761517333.544 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.081492
2025-10-26T22:22:13.680Z,1761517333.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955001,-0.296344,0.012418],[0.285984,-0.931103,-0.226407],[0.078656,-0.212667,0.973954]]
2025-10-26T22:22:13.780Z,1761517333.780 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.317979
2025-10-26T22:22:13.811Z,1761517333.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.799999 m,
      deltaT: 0.503165 s,
      deltaX: -0.400002 m,
      approachRate: -0.794971 m/s,
      rangeRepo size: 4

2025-10-26T22:22:13.819Z,1761517333.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.615124 m,
      bearing: 168.936527 deg,
      lat: 36.779403 deg,
      lon: -121.859491 deg,
      deltaT: 0.503165 s,
      deltaX: -0.397676 m,
      approachRate: -0.790350 m/s,
      posRepo size: 4

2025-10-26T22:22:13.828Z,1761517333.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.62 m.
2025-10-26T22:22:13.831Z,1761517333.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.615124 m,
      nav range: 29.771992 m,
      bearing: 168.040605 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.084117 deg/s,
      cmd heading: 160.305482 deg,
      new cmd heading: 160.172282 deg.

2025-10-26T22:22:13.836Z,1761517333.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.795534 target range: 30.615124 and range: 30.80 m.
2025-10-26T22:22:14.033Z,1761517334.033 [DAT](INFO): DAT read: Rx Time:22:22:12.8111 

2025-10-26T22:22:14.034Z,1761517334.034 [DAT](INFO): Rx dataTimestamp_ set to:1761517334.033307
2025-10-26T22:22:14.035Z,1761517334.035 [DAT](INFO): DAT read: Bearing 318.4,   5.8 (Local)

2025-10-26T22:22:14.035Z,1761517334.035 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.4,   5.8 (Local)

2025-10-26T22:22:14.037Z,1761517334.037 [DAT](INFO): DAT read: Range 11 to 50 :    30.6 m (trip time 20.4 ms) speed 0.4

2025-10-26T22:22:14.062Z,1761517334.062 [DAT](INFO): DAT read: 22:22:12.8111 LVL= 31696, 32753, 32754, 32755, AGC= 63, IDX= 503,-0.04, 2.247, 0.535, 2.301, 1.939, PHS= 0.410,-1.359, 0.318, RAW= 147.3,   7.4, CAL= 146.8,   8.0, ROT=   3.2,  -8.0

2025-10-26T22:22:14.068Z,1761517334.068 [DAT](INFO): got valid direction response:
 22:22:12.8111 LVL= 31696, 32753, 32754, 32755, AGC= 63, IDX= 503,-0.04, 2.247, 0.535, 2.301, 1.939, PHS= 0.410,-1.359, 0.318, RAW= 147.3,   7.4, CAL= 146.8,   8.0, ROT=   3.2,  -8.0

2025-10-26T22:22:14.068Z,1761517334.068 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-10-26T22:22:14.069Z,1761517334.069 [DAT](INFO): direction in FSK: [0.988724,0.055278,0.139173]
2025-10-26T22:22:14.069Z,1761517334.069 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:14.100Z,1761517334.100 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.637539
2025-10-26T22:22:14.168Z,1761517334.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953901,-0.299882,0.011994],[0.289614,-0.930250,-0.225298],[0.078721,-0.211438,0.974216]]
2025-10-26T22:22:14.209Z,1761517334.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.600000 m,
      deltaT: 0.504229 s,
      deltaX: -0.199999 m,
      approachRate: -0.396643 m/s,
      rangeRepo size: 4

2025-10-26T22:22:14.216Z,1761517334.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.416327 m,
      bearing: 168.003999 deg,
      lat: 36.779402 deg,
      lon: -121.859491 deg,
      deltaT: 0.504229 s,
      deltaX: -0.198797 m,
      approachRate: -0.394260 m/s,
      posRepo size: 4

2025-10-26T22:22:14.219Z,1761517334.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.42 m.
2025-10-26T22:22:14.254Z,1761517334.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.416327 m,
      nav range: 29.674948 m,
      bearing: 167.956340 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.084117 deg/s,
      cmd heading: 160.172280 deg,
      new cmd heading: 160.071567 deg.

2025-10-26T22:22:14.262Z,1761517334.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.793776 target range: 30.416327 and range: 30.60 m.
2025-10-26T22:22:14.284Z,1761517334.284 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.821991
2025-10-26T22:22:14.537Z,1761517334.537 [DAT](INFO): DAT read: Rx Time:22:22:13.3108 

2025-10-26T22:22:14.537Z,1761517334.537 [DAT](INFO): Rx dataTimestamp_ set to:1761517334.537162
2025-10-26T22:22:14.539Z,1761517334.539 [DAT](INFO): DAT read: Bearing 318.4,   6.5 (Local)

2025-10-26T22:22:14.539Z,1761517334.539 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.4,   6.5 (Local)

2025-10-26T22:22:14.541Z,1761517334.541 [DAT](INFO): DAT read: Range 11 to 50 :    30.2 m (trip time 20.1 ms) speed 0.5

2025-10-26T22:22:14.546Z,1761517334.546 [DAT](INFO): DAT read: 22:22:13.3108 LVL= 29808, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.32, 1.557,-0.154, 1.588, 1.241, PHS= 0.418,-1.350, 0.303, RAW= 146.7,   7.4, CAL= 146.2,   8.0, ROT=   3.8,  -8.0

2025-10-26T22:22:14.547Z,1761517334.547 [DAT](INFO): got valid direction response:
 22:22:13.3108 LVL= 29808, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.32, 1.557,-0.154, 1.588, 1.241, PHS= 0.418,-1.350, 0.303, RAW= 146.7,   7.4, CAL= 146.2,   8.0, ROT=   3.8,  -8.0

2025-10-26T22:22:14.552Z,1761517334.552 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-26T22:22:14.553Z,1761517334.553 [DAT](INFO): direction in FSK: [0.988091,0.065629,0.139173]
2025-10-26T22:22:14.554Z,1761517334.554 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:14.565Z,1761517334.565 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.102859
2025-10-26T22:22:14.568Z,1761517334.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952696,-0.303709,0.011471],[0.293511,-0.929190,-0.224628],[0.078881,-0.210635,0.974377]]
2025-10-26T22:22:14.671Z,1761517334.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.200001 m,
      deltaT: 0.503855 s,
      deltaX: -0.400000 m,
      approachRate: -0.793878 m/s,
      rangeRepo size: 4

2025-10-26T22:22:14.677Z,1761517334.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.018726 m,
      bearing: 168.355540 deg,
      lat: 36.779401 deg,
      lon: -121.859491 deg,
      deltaT: 0.503855 s,
      deltaX: -0.397600 m,
      approachRate: -0.789116 m/s,
      posRepo size: 4

2025-10-26T22:22:14.678Z,1761517334.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.02 m.
2025-10-26T22:22:14.685Z,1761517334.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.018726 m,
      nav range: 29.464731 m,
      bearing: 167.885347 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.084117 deg/s,
      cmd heading: 160.071562 deg,
      new cmd heading: 159.955126 deg.

2025-10-26T22:22:14.686Z,1761517334.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.791744 target range: 30.018726 and range: 30.20 m.
2025-10-26T22:22:14.790Z,1761517334.790 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.327342
2025-10-26T22:22:14.974Z,1761517334.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951360,-0.307887,0.010931],[0.297788,-0.928090,-0.223542],[0.078971,-0.209413,0.974633]]
2025-10-26T22:22:14.991Z,1761517334.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:22:15.001Z,1761517335.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.02 m.
2025-10-26T22:22:15.008Z,1761517335.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.018726 m,
      nav range: 29.292099 m,
      bearing: 167.826458 deg,
      approach rate: -0.521272 m/s,
      LOS rate: -0.178867 deg/s,
      cmd heading: 159.955121 deg,
      new cmd heading: 159.777413 deg.

2025-10-26T22:22:15.009Z,1761517335.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.788642 target range: 30.018726 and range: 30.20 m.
2025-10-26T22:22:15.044Z,1761517335.044 [DAT](INFO): DAT read: Rx Time:22:22:13.8108 

2025-10-26T22:22:15.044Z,1761517335.044 [DAT](INFO): Rx dataTimestamp_ set to:1761517335.043893
2025-10-26T22:22:15.045Z,1761517335.045 [DAT](INFO): DAT read: Bearing 318.8,   6.5 (Local)

2025-10-26T22:22:15.046Z,1761517335.046 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.8,   6.5 (Local)

2025-10-26T22:22:15.048Z,1761517335.048 [DAT](INFO): DAT read: Range 11 to 50 :    30.2 m (trip time 20.1 ms) speed 0.4

2025-10-26T22:22:15.053Z,1761517335.053 [DAT](INFO): DAT read: 22:22:13.8108 LVL= 31072, 32753, 32754, 32755, AGC= 60, IDX= 500,-0.08,-0.220,-1.904,-0.192,-0.519, PHS= 0.401,-1.340, 0.283, RAW= 146.5,   7.8, CAL= 146.1,   8.5, ROT=   3.9,  -8.5

2025-10-26T22:22:15.054Z,1761517335.054 [DAT](INFO): got valid direction response:
 22:22:13.8108 LVL= 31072, 32753, 32754, 32755, AGC= 60, IDX= 500,-0.08,-0.220,-1.904,-0.192,-0.519, PHS= 0.401,-1.340, 0.283, RAW= 146.5,   7.8, CAL= 146.1,   8.5, ROT=   3.9,  -8.5

2025-10-26T22:22:15.055Z,1761517335.055 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-26T22:22:15.072Z,1761517335.072 [DAT](INFO): direction in FSK: [0.986726,0.067268,0.147809]
2025-10-26T22:22:15.073Z,1761517335.073 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:15.082Z,1761517335.082 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.619833
2025-10-26T22:22:15.294Z,1761517335.294 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.831397
2025-10-26T22:22:15.370Z,1761517335.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949979,-0.312147,0.010164],[0.302279,-0.927156,-0.221378],[0.078526,-0.207232,0.975135]]
2025-10-26T22:22:15.472Z,1761517335.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.200001 m,
      deltaT: 0.506731 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:22:15.474Z,1761517335.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.018900 m,
      bearing: 168.012085 deg,
      lat: 36.779400 deg,
      lon: -121.859492 deg,
      deltaT: 0.506731 s,
      deltaX: 0.000174 m,
      approachRate: 0.000343 m/s,
      posRepo size: 4

2025-10-26T22:22:15.475Z,1761517335.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.02 m.
2025-10-26T22:22:15.478Z,1761517335.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.018900 m,
      nav range: 29.127569 m,
      bearing: 167.913104 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.178867 deg/s,
      cmd heading: 159.777413 deg,
      new cmd heading: 159.525141 deg.

2025-10-26T22:22:15.479Z,1761517335.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.784239 target range: 30.018900 and range: 30.20 m.
2025-10-26T22:22:15.547Z,1761517335.547 [DAT](INFO): DAT read: Rx Time:22:22:14.3105 

2025-10-26T22:22:15.549Z,1761517335.549 [DAT](INFO): Rx dataTimestamp_ set to:1761517335.547037
2025-10-26T22:22:15.550Z,1761517335.550 [DAT](INFO): DAT read: Bearing 320.1,   6.3 (Local)

2025-10-26T22:22:15.550Z,1761517335.550 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.1,   6.3 (Local)

2025-10-26T22:22:15.552Z,1761517335.552 [DAT](INFO): DAT read: Range 11 to 50 :    29.7 m (trip time 19.8 ms) speed 0.4

2025-10-26T22:22:15.559Z,1761517335.559 [DAT](INFO): DAT read: 22:22:14.3105 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 497, 0.24,-0.124,-1.823,-0.102,-0.391, PHS= 0.369,-1.388, 0.245, RAW= 146.4,   9.2, CAL= 146.0,  10.0, ROT=   4.0, -10.0

2025-10-26T22:22:15.561Z,1761517335.561 [DAT](INFO): got valid direction response:
 22:22:14.3105 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 497, 0.24,-0.124,-1.823,-0.102,-0.391, PHS= 0.369,-1.388, 0.245, RAW= 146.4,   9.2, CAL= 146.0,  10.0, ROT=   4.0, -10.0

2025-10-26T22:22:15.562Z,1761517335.562 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-10-26T22:22:15.563Z,1761517335.563 [DAT](INFO): direction in FSK: [0.982409,0.068697,0.173648]
2025-10-26T22:22:15.564Z,1761517335.564 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:15.572Z,1761517335.572 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.109300
2025-10-26T22:22:15.778Z,1761517335.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948416,-0.316912,0.008641],[0.307265,-0.925576,-0.221129],[0.078077,-0.207067,0.975206]]
2025-10-26T22:22:15.801Z,1761517335.801 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.338286
2025-10-26T22:22:15.845Z,1761517335.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.503144 s,
      deltaX: -0.500000 m,
      approachRate: -0.993751 m/s,
      rangeRepo size: 4

2025-10-26T22:22:15.847Z,1761517335.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.522049 m,
      bearing: 168.142687 deg,
      lat: 36.779401 deg,
      lon: -121.859494 deg,
      deltaT: 0.503144 s,
      deltaX: -0.496851 m,
      approachRate: -0.987493 m/s,
      posRepo size: 4

2025-10-26T22:22:15.847Z,1761517335.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.52 m.
2025-10-26T22:22:15.850Z,1761517335.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.522049 m,
      nav range: 28.818672 m,
      bearing: 168.118863 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.178867 deg/s,
      cmd heading: 159.525147 deg,
      new cmd heading: 159.327588 deg.

2025-10-26T22:22:15.851Z,1761517335.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.780791 target range: 29.522049 and range: 29.70 m.
2025-10-26T22:22:16.053Z,1761517336.053 [DAT](INFO): DAT read: Rx Time:22:22:14.8105 

2025-10-26T22:22:16.053Z,1761517336.053 [DAT](INFO): Rx dataTimestamp_ set to:1761517336.053175
2025-10-26T22:22:16.055Z,1761517336.055 [DAT](INFO): DAT read: Bearing 320.5,   6.5 (Local)

2025-10-26T22:22:16.055Z,1761517336.055 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.5,   6.5 (Local)

2025-10-26T22:22:16.057Z,1761517336.057 [DAT](INFO): DAT read: Range 11 to 50 :    29.7 m (trip time 19.8 ms) speed 0.4

2025-10-26T22:22:16.065Z,1761517336.065 [DAT](INFO): DAT read: 22:22:14.8105 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 513,-0.30,-0.407,-2.645,-0.434,-0.775, PHS= 0.469,-1.825, 0.297, RAW= 146.1,   9.6, CAL= 145.7,  10.5, ROT=   4.3, -10.5

2025-10-26T22:22:16.067Z,1761517336.067 [DAT](INFO): got valid direction response:
 22:22:14.8105 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 513,-0.30,-0.407,-2.645,-0.434,-0.775, PHS= 0.469,-1.825, 0.297, RAW= 146.1,   9.6, CAL= 145.7,  10.5, ROT=   4.3, -10.5

2025-10-26T22:22:16.067Z,1761517336.067 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-10-26T22:22:16.069Z,1761517336.069 [DAT](INFO): direction in FSK: [0.980487,0.073723,0.182236]
2025-10-26T22:22:16.069Z,1761517336.069 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:16.110Z,1761517336.110 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.646725
2025-10-26T22:22:16.238Z,1761517336.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.506138 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:22:16.263Z,1761517336.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.522049 m,
      bearing: 168.551421 deg,
      lat: 36.779400 deg,
      lon: -121.859494 deg,
      deltaT: 0.506138 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:22:16.266Z,1761517336.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.52 m.
2025-10-26T22:22:16.289Z,1761517336.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.522049 m,
      nav range: 28.705332 m,
      bearing: 168.069370 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.178867 deg/s,
      cmd heading: 159.327591 deg,
      new cmd heading: 159.114070 deg.

2025-10-26T22:22:16.297Z,1761517336.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.777064 target range: 29.522049 and range: 29.70 m.
2025-10-26T22:22:16.309Z,1761517336.309 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.845448
2025-10-26T22:22:16.557Z,1761517336.557 [DAT](INFO): DAT read: Rx Time:22:22:15.3102 

2025-10-26T22:22:16.557Z,1761517336.557 [DAT](INFO): Rx dataTimestamp_ set to:1761517336.557079
2025-10-26T22:22:16.559Z,1761517336.559 [DAT](INFO): DAT read: Bearing 324.4,   5.2 (Local)

2025-10-26T22:22:16.559Z,1761517336.559 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.4,   5.2 (Local)

2025-10-26T22:22:16.561Z,1761517336.561 [DAT](INFO): DAT read: Range 11 to 50 :    29.3 m (trip time 19.5 ms) speed 0.4

2025-10-26T22:22:16.566Z,1761517336.566 [DAT](INFO): DAT read: 22:22:15.3102 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 510,-0.03,-1.533, 3.075,-1.516,-1.677, PHS= 0.246,-1.487, 0.117, RAW= 146.2,  13.4, CAL= 145.9,  14.6, ROT=   4.1, -14.6

2025-10-26T22:22:16.567Z,1761517336.567 [DAT](INFO): got valid direction response:
 22:22:15.3102 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 510,-0.03,-1.533, 3.075,-1.516,-1.677, PHS= 0.246,-1.487, 0.117, RAW= 146.2,  13.4, CAL= 145.9,  14.6, ROT=   4.1, -14.6

2025-10-26T22:22:16.567Z,1761517336.567 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-10-26T22:22:16.569Z,1761517336.569 [DAT](INFO): direction in FSK: [0.965233,0.069189,0.252069]
2025-10-26T22:22:16.569Z,1761517336.569 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:16.573Z,1761517336.573 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.110034
2025-10-26T22:22:16.652Z,1761517336.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945406,-0.325842,0.005835],[0.316580,-0.922490,-0.220884],[0.077356,-0.206978,0.975283]]
2025-10-26T22:22:16.757Z,1761517336.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.299999 m,
      deltaT: 0.503904 s,
      deltaX: -0.400002 m,
      approachRate: -0.793805 m/s,
      rangeRepo size: 4

2025-10-26T22:22:16.772Z,1761517336.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.124445 m,
      bearing: 168.728598 deg,
      lat: 36.779401 deg,
      lon: -121.859494 deg,
      deltaT: 0.503904 s,
      deltaX: -0.397604 m,
      approachRate: -0.789047 m/s,
      posRepo size: 4

2025-10-26T22:22:16.773Z,1761517336.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.12 m.
2025-10-26T22:22:16.780Z,1761517336.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.124445 m,
      nav range: 28.359758 m,
      bearing: 167.966619 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.178867 deg/s,
      cmd heading: 159.114065 deg,
      new cmd heading: 158.835473 deg.

2025-10-26T22:22:16.781Z,1761517336.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.772202 target range: 29.124445 and range: 29.30 m.
2025-10-26T22:22:16.809Z,1761517336.809 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.346667
2025-10-26T22:22:17.061Z,1761517337.061 [DAT](INFO): DAT read: Rx Time:22:22:15.8101 

2025-10-26T22:22:17.061Z,1761517337.061 [DAT](INFO): Rx dataTimestamp_ set to:1761517337.061139
2025-10-26T22:22:17.063Z,1761517337.063 [DAT](INFO): DAT read: Bearing 321.9,   5.8 (Local)

2025-10-26T22:22:17.063Z,1761517337.063 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.9,   5.8 (Local)

2025-10-26T22:22:17.065Z,1761517337.065 [DAT](INFO): DAT read: Range 11 to 50 :    29.1 m (trip time 19.4 ms) speed 0.4

2025-10-26T22:22:17.070Z,1761517337.070 [DAT](INFO): DAT read: 22:22:15.8101 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.23, 1.274,-0.437, 1.294, 1.063, PHS= 0.313,-1.455, 0.187, RAW= 146.3,  11.2, CAL= 146.0,  12.2, ROT=   4.0, -12.2

2025-10-26T22:22:17.071Z,1761517337.071 [DAT](INFO): got valid direction response:
 22:22:15.8101 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.23, 1.274,-0.437, 1.294, 1.063, PHS= 0.313,-1.455, 0.187, RAW= 146.3,  11.2, CAL= 146.0,  12.2, ROT=   4.0, -12.2

2025-10-26T22:22:17.072Z,1761517337.072 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-10-26T22:22:17.076Z,1761517337.076 [DAT](INFO): direction in FSK: [0.975035,0.068181,0.211325]
2025-10-26T22:22:17.076Z,1761517337.076 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:17.082Z,1761517337.082 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.619264
2025-10-26T22:22:17.173Z,1761517337.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943936,-0.330092,0.004959],[0.320973,-0.921166,-0.220066],[0.077210,-0.206137,0.975472]]
2025-10-26T22:22:17.222Z,1761517337.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.100000 m,
      deltaT: 0.504060 s,
      deltaX: -0.199999 m,
      approachRate: -0.396776 m/s,
      rangeRepo size: 4

2025-10-26T22:22:17.232Z,1761517337.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.925526 m,
      bearing: 167.798967 deg,
      lat: 36.779402 deg,
      lon: -121.859494 deg,
      deltaT: 0.504060 s,
      deltaX: -0.198919 m,
      approachRate: -0.394634 m/s,
      posRepo size: 4

2025-10-26T22:22:17.233Z,1761517337.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.93 m.
2025-10-26T22:22:17.240Z,1761517337.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.925526 m,
      nav range: 28.026691 m,
      bearing: 167.867093 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.178867 deg/s,
      cmd heading: 158.835475 deg,
      new cmd heading: 158.586371 deg.

2025-10-26T22:22:17.241Z,1761517337.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.767854 target range: 28.925526 and range: 29.10 m.
2025-10-26T22:22:17.314Z,1761517337.314 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.851198
2025-10-26T22:22:17.566Z,1761517337.566 [DAT](INFO): DAT read: Rx Time:22:22:16.3099 

2025-10-26T22:22:17.567Z,1761517337.567 [DAT](INFO): Rx dataTimestamp_ set to:1761517337.566686
2025-10-26T22:22:17.569Z,1761517337.569 [DAT](INFO): DAT read: Bearing 319.1,   6.9 (Local)

2025-10-26T22:22:17.569Z,1761517337.569 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.1,   6.9 (Local)

2025-10-26T22:22:17.572Z,1761517337.572 [DAT](INFO): DAT read: Range 11 to 50 :    28.8 m (trip time 19.2 ms) speed 0.4

2025-10-26T22:22:17.576Z,1761517337.576 [DAT](INFO): DAT read: 22:22:16.3099 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507,-0.30,-2.371, 2.216,-2.361,-2.659, PHS= 0.389,-1.364, 0.254, RAW= 146.0,   8.6, CAL= 145.6,   9.3, ROT=   4.4,  -9.3

2025-10-26T22:22:17.577Z,1761517337.577 [DAT](INFO): got valid direction response:
 22:22:16.3099 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507,-0.30,-2.371, 2.216,-2.361,-2.659, PHS= 0.389,-1.364, 0.254, RAW= 146.0,   8.6, CAL= 145.6,   9.3, ROT=   4.4,  -9.3

2025-10-26T22:22:17.578Z,1761517337.578 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-10-26T22:22:17.579Z,1761517337.579 [DAT](INFO): direction in FSK: [0.983947,0.075711,0.161604]
2025-10-26T22:22:17.579Z,1761517337.579 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:17.583Z,1761517337.583 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.120645
2025-10-26T22:22:17.673Z,1761517337.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941157,-0.337959,0.002518],[0.329162,-0.918297,-0.219962],[0.076650,-0.206190,0.975505]]
2025-10-26T22:22:17.804Z,1761517337.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.799999 m,
      deltaT: 0.505547 s,
      deltaX: -0.300001 m,
      approachRate: -0.593419 m/s,
      rangeRepo size: 4

2025-10-26T22:22:17.812Z,1761517337.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.627251 m,
      bearing: 167.045883 deg,
      lat: 36.779402 deg,
      lon: -121.859494 deg,
      deltaT: 0.505547 s,
      deltaX: -0.298275 m,
      approachRate: -0.590005 m/s,
      posRepo size: 4

2025-10-26T22:22:17.813Z,1761517337.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.63 m.
2025-10-26T22:22:17.817Z,1761517337.817 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.354087
2025-10-26T22:22:17.821Z,1761517337.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.627251 m,
      nav range: 27.740507 m,
      bearing: 167.739007 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.178867 deg/s,
      cmd heading: 158.586365 deg,
      new cmd heading: 158.276589 deg.

2025-10-26T22:22:17.821Z,1761517337.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.762448 target range: 28.627251 and range: 28.80 m.
2025-10-26T22:22:18.069Z,1761517338.069 [DAT](INFO): DAT read: Rx Time:22:22:16.8097 

2025-10-26T22:22:18.069Z,1761517338.069 [DAT](INFO): Rx dataTimestamp_ set to:1761517338.069104
2025-10-26T22:22:18.071Z,1761517338.071 [DAT](INFO): DAT read: Bearing 319.0,   7.1 (Local)

2025-10-26T22:22:18.071Z,1761517338.071 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.0,   7.1 (Local)

2025-10-26T22:22:18.073Z,1761517338.073 [DAT](INFO): DAT read: Range 11 to 50 :    28.5 m (trip time 19.0 ms) speed 0.4

2025-10-26T22:22:18.078Z,1761517338.078 [DAT](INFO): DAT read: 22:22:16.8097 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505, 0.02,-1.092,-2.808,-1.089,-1.388, PHS= 0.399,-1.374, 0.255, RAW= 145.8,   8.5, CAL= 145.4,   9.2, ROT=   4.6,  -9.2

2025-10-26T22:22:18.079Z,1761517338.079 [DAT](INFO): got valid direction response:
 22:22:16.8097 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505, 0.02,-1.092,-2.808,-1.089,-1.388, PHS= 0.399,-1.374, 0.255, RAW= 145.8,   8.5, CAL= 145.4,   9.2, ROT=   4.6,  -9.2

2025-10-26T22:22:18.079Z,1761517338.079 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-10-26T22:22:18.082Z,1761517338.082 [DAT](INFO): direction in FSK: [0.983957,0.079167,0.159881]
2025-10-26T22:22:18.082Z,1761517338.082 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:18.086Z,1761517338.086 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.623350
2025-10-26T22:22:18.193Z,1761517338.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939891,-0.341467,0.002308],[0.332796,-0.917498,-0.217817],[0.076494,-0.203956,0.975987]]
2025-10-26T22:22:18.245Z,1761517338.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.500000 m,
      deltaT: 0.502418 s,
      deltaX: -0.299999 m,
      approachRate: -0.597111 m/s,
      rangeRepo size: 4

2025-10-26T22:22:18.252Z,1761517338.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.329052 m,
      bearing: 166.981073 deg,
      lat: 36.779401 deg,
      lon: -121.859494 deg,
      deltaT: 0.502418 s,
      deltaX: -0.298199 m,
      approachRate: -0.593527 m/s,
      posRepo size: 4

2025-10-26T22:22:18.252Z,1761517338.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.33 m.
2025-10-26T22:22:18.255Z,1761517338.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.329052 m,
      nav range: 27.590580 m,
      bearing: 167.672303 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.178867 deg/s,
      cmd heading: 158.276588 deg,
      new cmd heading: 158.036933 deg.

2025-10-26T22:22:18.265Z,1761517338.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.758265 target range: 28.329052 and range: 28.50 m.
2025-10-26T22:22:18.324Z,1761517338.324 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.860136
2025-10-26T22:22:18.573Z,1761517338.573 [DAT](INFO): DAT read: Rx Time:22:22:17.3094 

2025-10-26T22:22:18.573Z,1761517338.573 [DAT](INFO): Rx dataTimestamp_ set to:1761517338.573188
2025-10-26T22:22:18.575Z,1761517338.575 [DAT](INFO): DAT read: Bearing 321.1,   6.1 (Local)

2025-10-26T22:22:18.575Z,1761517338.575 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.1,   6.1 (Local)

2025-10-26T22:22:18.578Z,1761517338.578 [DAT](INFO): DAT read: Range 11 to 50 :    28.1 m (trip time 18.7 ms) speed 0.4

2025-10-26T22:22:18.582Z,1761517338.582 [DAT](INFO): DAT read: 22:22:17.3094 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 502, 0.37,-1.568, 3.023,-1.550,-1.795, PHS= 0.329,-1.420, 0.201, RAW= 146.2,  10.5, CAL= 145.9,  11.5, ROT=   4.1, -11.5

2025-10-26T22:22:18.584Z,1761517338.584 [DAT](INFO): got valid direction response:
 22:22:17.3094 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 502, 0.37,-1.568, 3.023,-1.550,-1.795, PHS= 0.329,-1.420, 0.201, RAW= 146.2,  10.5, CAL= 145.9,  11.5, ROT=   4.1, -11.5

2025-10-26T22:22:18.585Z,1761517338.585 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-10-26T22:22:18.585Z,1761517338.585 [DAT](INFO): direction in FSK: [0.977417,0.070062,0.199368]
2025-10-26T22:22:18.586Z,1761517338.586 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:18.590Z,1761517338.590 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.127180
2025-10-26T22:22:18.657Z,1761517338.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938955,-0.344033,0.002050],[0.335443,-0.916800,-0.216694],[0.076429,-0.202778,0.976237]]
2025-10-26T22:22:18.767Z,1761517338.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.100000 m,
      deltaT: 0.504084 s,
      deltaX: -0.400000 m,
      approachRate: -0.793518 m/s,
      rangeRepo size: 4

2025-10-26T22:22:18.781Z,1761517338.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.931450 m,
      bearing: 166.822014 deg,
      lat: 36.779404 deg,
      lon: -121.859491 deg,
      deltaT: 0.504084 s,
      deltaX: -0.397602 m,
      approachRate: -0.788762 m/s,
      posRepo size: 4

2025-10-26T22:22:18.783Z,1761517338.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.93 m.
2025-10-26T22:22:18.796Z,1761517338.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.931450 m,
      nav range: 27.141409 m,
      bearing: 166.888333 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.178867 deg/s,
      cmd heading: 158.036931 deg,
      new cmd heading: 157.757118 deg.

2025-10-26T22:22:18.798Z,1761517338.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.753381 target range: 27.931450 and range: 28.10 m.
2025-10-26T22:22:18.824Z,1761517338.824 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.361999
2025-10-26T22:22:19.078Z,1761517339.078 [DAT](INFO): DAT read: Rx Time:22:22:17.8094 

2025-10-26T22:22:19.078Z,1761517339.078 [DAT](INFO): Rx dataTimestamp_ set to:1761517339.077751
2025-10-26T22:22:19.079Z,1761517339.079 [DAT](INFO): DAT read: Bearing 323.8,   5.5 (Local)

2025-10-26T22:22:19.080Z,1761517339.080 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.8,   5.5 (Local)

2025-10-26T22:22:19.082Z,1761517339.082 [DAT](INFO): DAT read: Range 11 to 50 :    28.1 m (trip time 18.7 ms) speed 0.4

2025-10-26T22:22:19.086Z,1761517339.086 [DAT](INFO): DAT read: 22:22:17.8094 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 502,-0.26,-1.126,-2.794,-1.109,-1.278, PHS= 0.254,-1.471, 0.125, RAW= 146.2,  13.1, CAL= 145.9,  14.3, ROT=   4.1, -14.3

2025-10-26T22:22:19.088Z,1761517339.088 [DAT](INFO): got valid direction response:
 22:22:17.8094 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 502,-0.26,-1.126,-2.794,-1.109,-1.278, PHS= 0.254,-1.471, 0.125, RAW= 146.2,  13.1, CAL= 145.9,  14.3, ROT=   4.1, -14.3

2025-10-26T22:22:19.088Z,1761517339.088 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-10-26T22:22:19.089Z,1761517339.089 [DAT](INFO): direction in FSK: [0.966536,0.069282,0.246999]
2025-10-26T22:22:19.090Z,1761517339.090 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:19.093Z,1761517339.093 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.630696
2025-10-26T22:22:19.149Z,1761517339.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938249,-0.345952,0.002276],[0.337274,-0.916140,-0.216641],[0.077032,-0.202495,0.976249]]
2025-10-26T22:22:19.205Z,1761517339.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.100000 m,
      deltaT: 0.504563 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:22:19.207Z,1761517339.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.931572 m,
      bearing: 167.337354 deg,
      lat: 36.779404 deg,
      lon: -121.859491 deg,
      deltaT: 0.504563 s,
      deltaX: 0.000122 m,
      approachRate: 0.000242 m/s,
      posRepo size: 4

2025-10-26T22:22:19.212Z,1761517339.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.93 m.
2025-10-26T22:22:19.214Z,1761517339.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.931572 m,
      nav range: 26.924841 m,
      bearing: 166.789468 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.178867 deg/s,
      cmd heading: 157.757125 deg,
      new cmd heading: 157.522126 deg.

2025-10-26T22:22:19.220Z,1761517339.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.749280 target range: 27.931572 and range: 28.10 m.
2025-10-26T22:22:19.332Z,1761517339.332 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.868293
2025-10-26T22:22:19.533Z,1761517339.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937476,-0.348042,0.002449],[0.339287,-0.915418,-0.216550],[0.077610,-0.202180,0.976268]]
2025-10-26T22:22:19.568Z,1761517339.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:22:19.570Z,1761517339.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.93 m.
2025-10-26T22:22:19.581Z,1761517339.581 [DAT](INFO): DAT read: Rx Time:22:22:18.3091 

2025-10-26T22:22:19.582Z,1761517339.582 [DAT](INFO): Rx dataTimestamp_ set to:1761517339.581350
2025-10-26T22:22:19.583Z,1761517339.583 [DAT](INFO): DAT read: Bearing 320.0,   6.4 (Local)

2025-10-26T22:22:19.583Z,1761517339.583 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.0,   6.4 (Local)

2025-10-26T22:22:19.585Z,1761517339.585 [DAT](INFO): DAT read: Range 11 to 50 :    27.6 m (trip time 18.4 ms) speed 0.4

2025-10-26T22:22:19.590Z,1761517339.590 [DAT](INFO): DAT read: 22:22:18.3091 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499,-0.10,-0.671,-2.375,-0.650,-0.928, PHS= 0.358,-1.402, 0.233, RAW= 146.4,   9.6, CAL= 145.9,  10.4, ROT=   4.1, -10.4

2025-10-26T22:22:19.591Z,1761517339.591 [DAT](INFO): got valid direction response:
 22:22:18.3091 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499,-0.10,-0.671,-2.375,-0.650,-0.928, PHS= 0.358,-1.402, 0.233, RAW= 146.4,   9.6, CAL= 145.9,  10.4, ROT=   4.1, -10.4

2025-10-26T22:22:19.591Z,1761517339.591 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-10-26T22:22:19.592Z,1761517339.592 [DAT](INFO): direction in FSK: [0.981054,0.070323,0.180519]
2025-10-26T22:22:19.593Z,1761517339.593 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:19.596Z,1761517339.596 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.133741
2025-10-26T22:22:19.605Z,1761517339.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.931572 m,
      nav range: 26.710592 m,
      bearing: 166.738134 deg,
      approach rate: -0.585203 m/s,
      LOS rate: -0.141339 deg/s,
      cmd heading: 157.522126 deg,
      new cmd heading: 157.366889 deg.

2025-10-26T22:22:19.606Z,1761517339.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.746570 target range: 27.931572 and range: 28.10 m.
2025-10-26T22:22:19.833Z,1761517339.833 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.370072
2025-10-26T22:22:19.945Z,1761517339.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936806,-0.349835,0.003138],[0.340954,-0.914961,-0.215861],[0.078387,-0.201150,0.976419]]
2025-10-26T22:22:20.039Z,1761517340.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.600000 m,
      deltaT: 0.503599 s,
      deltaX: -0.500000 m,
      approachRate: -0.992853 m/s,
      rangeRepo size: 4

2025-10-26T22:22:20.041Z,1761517340.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.434784 m,
      bearing: 166.226399 deg,
      lat: 36.779402 deg,
      lon: -121.859491 deg,
      deltaT: 0.503599 s,
      deltaX: -0.496788 m,
      approachRate: -0.986475 m/s,
      posRepo size: 4

2025-10-26T22:22:20.042Z,1761517340.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.43 m.
2025-10-26T22:22:20.046Z,1761517340.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.434784 m,
      nav range: 26.598558 m,
      bearing: 166.591629 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.141339 deg/s,
      cmd heading: 157.366889 deg,
      new cmd heading: 157.168610 deg.

2025-10-26T22:22:20.046Z,1761517340.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.743110 target range: 27.434784 and range: 27.60 m.
2025-10-26T22:22:20.086Z,1761517340.086 [DAT](INFO): DAT read: Rx Time:22:22:18.8090 

2025-10-26T22:22:20.087Z,1761517340.087 [DAT](INFO): Rx dataTimestamp_ set to:1761517340.086201
2025-10-26T22:22:20.089Z,1761517340.089 [DAT](INFO): DAT read: Bearing 316.1,   7.8 (Local)

2025-10-26T22:22:20.089Z,1761517340.089 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.1,   7.8 (Local)

2025-10-26T22:22:20.092Z,1761517340.092 [DAT](INFO): DAT read: Range 11 to 50 :    27.5 m (trip time 18.3 ms) speed 0.4

2025-10-26T22:22:20.099Z,1761517340.099 [DAT](INFO): DAT read: 22:22:18.8090 LVL= 32528, 32561, 32754, 32755, AGC= 62, IDX= 498, 0.08, 2.557, 0.826, 2.566, 2.186, PHS= 0.474,-1.315, 0.336, RAW= 146.1,   5.9, CAL= 145.5,   6.4, ROT=   4.5,  -6.4

2025-10-26T22:22:20.104Z,1761517340.104 [DAT](INFO): got valid direction response:
 22:22:18.8090 LVL= 32528, 32561, 32754, 32755, AGC= 62, IDX= 498, 0.08, 2.557, 0.826, 2.566, 2.186, PHS= 0.474,-1.315, 0.336, RAW= 146.1,   5.9, CAL= 145.5,   6.4, ROT=   4.5,  -6.4

2025-10-26T22:22:20.105Z,1761517340.105 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-10-26T22:22:20.106Z,1761517340.106 [DAT](INFO): direction in FSK: [0.990704,0.077970,0.111469]
2025-10-26T22:22:20.106Z,1761517340.106 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:20.114Z,1761517340.114 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.652009
2025-10-26T22:22:20.340Z,1761517340.340 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.876416
2025-10-26T22:22:20.509Z,1761517340.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.500000 m,
      deltaT: 0.504851 s,
      deltaX: -0.100000 m,
      approachRate: -0.198079 m/s,
      rangeRepo size: 4

2025-10-26T22:22:20.511Z,1761517340.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.335382 m,
      bearing: 165.759120 deg,
      lat: 36.779402 deg,
      lon: -121.859491 deg,
      deltaT: 0.504851 s,
      deltaX: -0.099401 m,
      approachRate: -0.196893 m/s,
      posRepo size: 4

2025-10-26T22:22:20.512Z,1761517340.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.34 m.
2025-10-26T22:22:20.515Z,1761517340.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.335382 m,
      nav range: 26.337427 m,
      bearing: 166.561677 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.141339 deg/s,
      cmd heading: 157.168609 deg,
      new cmd heading: 156.969053 deg.

2025-10-26T22:22:20.516Z,1761517340.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.739627 target range: 27.335382 and range: 27.50 m.
2025-10-26T22:22:20.589Z,1761517340.589 [DAT](INFO): DAT read: Rx Time:22:22:19.3087 

2025-10-26T22:22:20.590Z,1761517340.590 [DAT](INFO): Rx dataTimestamp_ set to:1761517340.589297
2025-10-26T22:22:20.591Z,1761517340.591 [DAT](INFO): DAT read: Bearing 316.5,   7.8 (Local)

2025-10-26T22:22:20.591Z,1761517340.591 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.5,   7.8 (Local)

2025-10-26T22:22:20.593Z,1761517340.593 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.4

2025-10-26T22:22:20.598Z,1761517340.598 [DAT](INFO): DAT read: 22:22:19.3087 LVL= 32048, 32753, 32754, 32755, AGC= 62, IDX= 495, 0.28, 2.620, 0.893, 2.626, 2.261, PHS= 0.462,-1.323, 0.321, RAW= 145.9,   6.3, CAL= 145.5,   6.9, ROT=   4.5,  -6.9

2025-10-26T22:22:20.599Z,1761517340.599 [DAT](INFO): got valid direction response:
 22:22:19.3087 LVL= 32048, 32753, 32754, 32755, AGC= 62, IDX= 495, 0.28, 2.620, 0.893, 2.626, 2.261, PHS= 0.462,-1.323, 0.321, RAW= 145.9,   6.3, CAL= 145.5,   6.9, ROT=   4.5,  -6.9

2025-10-26T22:22:20.599Z,1761517340.599 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-10-26T22:22:20.600Z,1761517340.600 [DAT](INFO): direction in FSK: [0.989697,0.077891,0.120137]
2025-10-26T22:22:20.601Z,1761517340.601 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:20.604Z,1761517340.604 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.141661
2025-10-26T22:22:20.840Z,1761517340.840 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.377911
2025-10-26T22:22:20.952Z,1761517340.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934880,-0.354897,0.006957],[0.345440,-0.914128,-0.212229],[0.081679,-0.196005,0.977195]]
2025-10-26T22:22:21.005Z,1761517341.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.503096 s,
      deltaX: -0.500000 m,
      approachRate: -0.993846 m/s,
      rangeRepo size: 4

2025-10-26T22:22:21.007Z,1761517341.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.838432 m,
      bearing: 165.558456 deg,
      lat: 36.779402 deg,
      lon: -121.859489 deg,
      deltaT: 0.503096 s,
      deltaX: -0.496950 m,
      approachRate: -0.987784 m/s,
      posRepo size: 4

2025-10-26T22:22:21.008Z,1761517341.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.84 m.
2025-10-26T22:22:21.011Z,1761517341.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.838432 m,
      nav range: 26.093037 m,
      bearing: 166.158320 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.141339 deg/s,
      cmd heading: 156.969058 deg,
      new cmd heading: 156.758778 deg.

2025-10-26T22:22:21.012Z,1761517341.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.735957 target range: 26.838432 and range: 27.00 m.
2025-10-26T22:22:21.093Z,1761517341.093 [DAT](INFO): DAT read: Rx Time:22:22:19.8087 

2025-10-26T22:22:21.094Z,1761517341.094 [DAT](INFO): Rx dataTimestamp_ set to:1761517341.093350
2025-10-26T22:22:21.095Z,1761517341.095 [DAT](INFO): DAT read: Bearing 316.7,   7.5 (Local)

2025-10-26T22:22:21.095Z,1761517341.095 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.7,   7.5 (Local)

2025-10-26T22:22:21.098Z,1761517341.098 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.4

2025-10-26T22:22:21.102Z,1761517341.102 [DAT](INFO): DAT read: 22:22:19.8087 LVL= 29968, 32753, 32754, 32755, AGC= 61, IDX= 511,-0.34, 2.149, 0.423, 2.166, 1.803, PHS= 0.448,-1.334, 0.319, RAW= 146.3,   6.6, CAL= 145.8,   7.2, ROT=   4.2,  -7.2

2025-10-26T22:22:21.104Z,1761517341.104 [DAT](INFO): got valid direction response:
 22:22:19.8087 LVL= 29968, 32753, 32754, 32755, AGC= 61, IDX= 511,-0.34, 2.149, 0.423, 2.166, 1.803, PHS= 0.448,-1.334, 0.319, RAW= 146.3,   6.6, CAL= 145.8,   7.2, ROT=   4.2,  -7.2

2025-10-26T22:22:21.104Z,1761517341.104 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-10-26T22:22:21.105Z,1761517341.105 [DAT](INFO): direction in FSK: [0.989450,0.072661,0.125333]
2025-10-26T22:22:21.105Z,1761517341.105 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:21.109Z,1761517341.109 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.646345
2025-10-26T22:22:21.348Z,1761517341.348 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.885105
2025-10-26T22:22:21.455Z,1761517341.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933988,-0.357217,0.007934],[0.347555,-0.913430,-0.211783],[0.082899,-0.195045,0.977285]]
2025-10-26T22:22:21.575Z,1761517341.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.504053 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:22:21.593Z,1761517341.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.838432 m,
      bearing: 165.188002 deg,
      lat: 36.779401 deg,
      lon: -121.859485 deg,
      deltaT: 0.504053 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:22:21.594Z,1761517341.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.84 m.
2025-10-26T22:22:21.597Z,1761517341.597 [DAT](INFO): DAT read: Rx Time:22:22:20.3084 

2025-10-26T22:22:21.598Z,1761517341.598 [DAT](INFO): Rx dataTimestamp_ set to:1761517341.597250
2025-10-26T22:22:21.599Z,1761517341.599 [DAT](INFO): DAT read: Bearing 317.1,   7.7 (Local)

2025-10-26T22:22:21.599Z,1761517341.599 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.1,   7.7 (Local)

2025-10-26T22:22:21.601Z,1761517341.601 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.4

2025-10-26T22:22:21.606Z,1761517341.606 [DAT](INFO): DAT read: 22:22:20.3084 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.01, 0.853,-0.851, 0.863, 0.519, PHS= 0.436,-1.325, 0.301, RAW= 146.0,   7.0, CAL= 145.5,   7.6, ROT=   4.5,  -7.6

2025-10-26T22:22:21.607Z,1761517341.607 [DAT](INFO): got valid direction response:
 22:22:20.3084 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.01, 0.853,-0.851, 0.863, 0.519, PHS= 0.436,-1.325, 0.301, RAW= 146.0,   7.0, CAL= 145.5,   7.6, ROT=   4.5,  -7.6

2025-10-26T22:22:21.608Z,1761517341.608 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-10-26T22:22:21.609Z,1761517341.609 [DAT](INFO): direction in FSK: [0.988160,0.077770,0.132256]
2025-10-26T22:22:21.609Z,1761517341.609 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:21.613Z,1761517341.613 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.150633
2025-10-26T22:22:21.616Z,1761517341.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.838432 m,
      nav range: 26.061375 m,
      bearing: 165.600371 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.141339 deg/s,
      cmd heading: 156.758784 deg,
      new cmd heading: 156.517309 deg.

2025-10-26T22:22:21.617Z,1761517341.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.731742 target range: 26.838432 and range: 27.00 m.
2025-10-26T22:22:21.849Z,1761517341.849 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.386030
2025-10-26T22:22:22.047Z,1761517342.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932470,-0.361202,0.005701],[0.351199,-0.910117,-0.219878],[0.084609,-0.203028,0.975511]]
2025-10-26T22:22:22.097Z,1761517342.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.503900 s,
      deltaX: -0.400000 m,
      approachRate: -0.793808 m/s,
      rangeRepo size: 4

2025-10-26T22:22:22.099Z,1761517342.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.440878 m,
      bearing: 165.397446 deg,
      lat: 36.779399 deg,
      lon: -121.859485 deg,
      deltaT: 0.503900 s,
      deltaX: -0.397554 m,
      approachRate: -0.788955 m/s,
      posRepo size: 4

2025-10-26T22:22:22.101Z,1761517342.101 [DAT](INFO): DAT read: Rx Time:22:22:20.8083 

2025-10-26T22:22:22.102Z,1761517342.102 [DAT](INFO): Rx dataTimestamp_ set to:1761517342.101311
2025-10-26T22:22:22.103Z,1761517342.103 [DAT](INFO): DAT read: Bearing 322.3,   6.3 (Local)

2025-10-26T22:22:22.103Z,1761517342.103 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.3,   6.3 (Local)

2025-10-26T22:22:22.105Z,1761517342.105 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed 0.4

2025-10-26T22:22:22.110Z,1761517342.110 [DAT](INFO): DAT read: 22:22:20.8083 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 506, 0.35, 0.631,-1.026, 0.644, 0.449, PHS= 0.283,-1.430, 0.151, RAW= 146.0,  12.0, CAL= 145.7,  13.2, ROT=   4.3, -13.2

2025-10-26T22:22:22.111Z,1761517342.111 [DAT](INFO): got valid direction response:
 22:22:20.8083 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 506, 0.35, 0.631,-1.026, 0.644, 0.449, PHS= 0.283,-1.430, 0.151, RAW= 146.0,  12.0, CAL= 145.7,  13.2, ROT=   4.3, -13.2

2025-10-26T22:22:22.112Z,1761517342.112 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-10-26T22:22:22.112Z,1761517342.112 [DAT](INFO): direction in FSK: [0.970838,0.072998,0.228351]
2025-10-26T22:22:22.113Z,1761517342.113 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:22.126Z,1761517342.126 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.663956
2025-10-26T22:22:22.128Z,1761517342.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.44 m.
2025-10-26T22:22:22.131Z,1761517342.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.440878 m,
      nav range: 25.891346 m,
      bearing: 165.673967 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.141339 deg/s,
      cmd heading: 156.517309 deg,
      new cmd heading: 156.295829 deg.

2025-10-26T22:22:22.132Z,1761517342.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.727877 target range: 26.440878 and range: 26.60 m.
2025-10-26T22:22:22.356Z,1761517342.356 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.892433
2025-10-26T22:22:22.484Z,1761517342.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931554,-0.363570,0.004886],[0.353524,-0.908792,-0.221626],[0.085017,-0.204730,0.975119]]
2025-10-26T22:22:22.605Z,1761517342.605 [DAT](INFO): DAT read: Rx Time:22:22:21.3081 

2025-10-26T22:22:22.605Z,1761517342.605 [DAT](INFO): Rx dataTimestamp_ set to:1761517342.605170
2025-10-26T22:22:22.607Z,1761517342.607 [DAT](INFO): DAT read: Bearing 323.4,   6.0 (Local)

2025-10-26T22:22:22.607Z,1761517342.607 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.4,   6.0 (Local)

2025-10-26T22:22:22.609Z,1761517342.609 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed 0.4

2025-10-26T22:22:22.614Z,1761517342.614 [DAT](INFO): DAT read: 22:22:21.3081 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 504,-0.24, 3.104, 1.436, 3.113, 2.954, PHS= 0.252,-1.473, 0.115, RAW= 145.9,  13.3, CAL= 145.6,  14.5, ROT=   4.4, -14.5

2025-10-26T22:22:22.615Z,1761517342.615 [DAT](INFO): got valid direction response:
 22:22:21.3081 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 504,-0.24, 3.104, 1.436, 3.113, 2.954, PHS= 0.252,-1.473, 0.115, RAW= 145.9,  13.3, CAL= 145.6,  14.5, ROT=   4.4, -14.5

2025-10-26T22:22:22.615Z,1761517342.615 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-10-26T22:22:22.616Z,1761517342.616 [DAT](INFO): direction in FSK: [0.965294,0.074275,0.250380]
2025-10-26T22:22:22.617Z,1761517342.617 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:22.620Z,1761517342.620 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.157854
2025-10-26T22:22:22.630Z,1761517342.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 1.007920 s,
      deltaX: -0.600000 m,
      approachRate: -0.595286 m/s,
      rangeRepo size: 4

2025-10-26T22:22:22.637Z,1761517342.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.142672 m,
      bearing: 166.323101 deg,
      lat: 36.779399 deg,
      lon: -121.859485 deg,
      deltaT: 0.504061 s,
      deltaX: -0.298206 m,
      approachRate: -0.591608 m/s,
      posRepo size: 4

2025-10-26T22:22:22.638Z,1761517342.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.14 m.
2025-10-26T22:22:22.649Z,1761517342.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.142672 m,
      nav range: 25.576389 m,
      bearing: 165.748603 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.141339 deg/s,
      cmd heading: 156.295833 deg,
      new cmd heading: 156.069958 deg.

2025-10-26T22:22:22.650Z,1761517342.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.723935 target range: 26.142672 and range: 26.00 m.
2025-10-26T22:22:22.857Z,1761517342.857 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.394100
2025-10-26T22:22:22.981Z,1761517342.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930533,-0.366178,0.004660],[0.356180,-0.907937,-0.220875],[0.085111,-0.203871,0.975291]]
2025-10-26T22:22:23.040Z,1761517343.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.14 m.
2025-10-26T22:22:23.043Z,1761517343.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.142672 m,
      nav range: 25.300098 m,
      bearing: 165.817430 deg,
      approach rate: -0.679490 m/s,
      LOS rate: 0.171116 deg/s,
      cmd heading: 156.069959 deg,
      new cmd heading: 156.278693 deg.

2025-10-26T22:22:23.044Z,1761517343.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.727578 target range: 26.142672 and range: 26.00 m.
2025-10-26T22:22:23.110Z,1761517343.110 [DAT](INFO): DAT read: Rx Time:22:22:21.8080 

2025-10-26T22:22:23.111Z,1761517343.111 [DAT](INFO): Rx dataTimestamp_ set to:1761517343.110155
2025-10-26T22:22:23.113Z,1761517343.113 [DAT](INFO): DAT read: Bearing 321.9,   6.9 (Local)

2025-10-26T22:22:23.113Z,1761517343.113 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.9,   6.9 (Local)

2025-10-26T22:22:23.121Z,1761517343.121 [DAT](INFO): DAT read: Range 11 to 50 :    25.8 m (trip time 17.2 ms) speed 02:21.8080 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 503,-0.01,-1.684, 2.902,-1.694,-1.886, PHS= 0.304,0.148, RAW= 145.4,  11.9, CAL= 145.0,  12.9, ROT=   5.0, -12.9

2025-10-26T22:22:23.122Z,1761517343.122 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-10-26T22:22:23.148Z,1761517343.148 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.660786
2025-10-26T22:22:23.365Z,1761517343.365 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.901505
2025-10-26T22:22:23.445Z,1761517343.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929679,-0.368349,0.003947],[0.358356,-0.906836,-0.221877],[0.085307,-0.204860,0.975067]]
2025-10-26T22:22:23.488Z,1761517343.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:22:23.490Z,1761517343.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.504985 s,
      deltaX: -0.200001 m,
      approachRate: -0.396053 m/s,
      rangeRepo size: 4

2025-10-26T22:22:23.491Z,1761517343.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.14 m.
2025-10-26T22:22:23.494Z,1761517343.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.142672 m,
      nav range: 25.016985 m,
      bearing: 165.892856 deg,
      approach rate: -0.623617 m/s,
      LOS rate: 0.168023 deg/s,
      cmd heading: 156.278690 deg,
      new cmd heading: 156.507528 deg.

2025-10-26T22:22:23.495Z,1761517343.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.731572 target range: 26.142672 and range: 25.80 m.
2025-10-26T22:22:23.613Z,1761517343.613 [DAT](INFO): DAT read: Rx Time:22:22:22.3077 

2025-10-26T22:22:23.614Z,1761517343.614 [DAT](INFO): Rx dataTimestamp_ set to:1761517343.613556
2025-10-26T22:22:23.616Z,1761517343.616 [DAT](INFO): DAT read: Bearing 322.4,   7.0 (Local)

2025-10-26T22:22:23.617Z,1761517343.617 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.4,   7.0 (Local)

2025-10-26T22:22:23.620Z,1761517343.620 [DAT](INFO): DAT read: Range 11 to 50 :    25.4 m (trip time 16.9 ms) speed 0.5

2025-10-26T22:22:23.625Z,1761517343.625 [DAT](INFO): DAT read: 22:22:22.3077 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500, 0.09,-1.545, 3.037,-1.569,-1.732, PHS= 0.289,-1.469, 0.120, RAW= 145.0,  12.6, CAL= 144.6,  13.7, ROT=   5.4, -13.7

2025-10-26T22:22:23.626Z,1761517343.626 [DAT](INFO): got valid direction response:
 22:22:22.3077 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500, 0.09,-1.545, 3.037,-1.569,-1.732, PHS= 0.289,-1.469, 0.120, RAW= 145.0,  12.6, CAL= 144.6,  13.7, ROT=   5.4, -13.7

2025-10-26T22:22:23.627Z,1761517343.627 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-10-26T22:22:23.628Z,1761517343.628 [DAT](INFO): direction in FSK: [0.967237,0.091431,0.236838]
2025-10-26T22:22:23.629Z,1761517343.629 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:23.637Z,1761517343.637 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.174999
2025-10-26T22:22:23.811Z,1761517343.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929116,-0.369775,0.003051],[0.359788,-0.905867,-0.223511],[0.085413,-0.206570,0.974697]]
2025-10-26T22:22:23.856Z,1761517343.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.400000 m,
      deltaT: 0.503401 s,
      deltaX: -0.400000 m,
      approachRate: -0.794594 m/s,
      rangeRepo size: 4

2025-10-26T22:22:23.858Z,1761517343.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.248026 m,
      bearing: 167.167872 deg,
      lat: 36.779404 deg,
      lon: -121.859489 deg,
      deltaT: 1.512245 s,
      deltaX: -0.894646 m,
      approachRate: -0.591601 m/s,
      posRepo size: 4

2025-10-26T22:22:23.859Z,1761517343.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.25 m.
2025-10-26T22:22:23.864Z,1761517343.864 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.402021
2025-10-26T22:22:23.872Z,1761517343.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.248026 m,
      nav range: 24.253725 m,
      bearing: 166.546458 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.168023 deg/s,
      cmd heading: 156.507528 deg,
      new cmd heading: 156.691963 deg.

2025-10-26T22:22:23.873Z,1761517343.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.734791 target range: 25.248026 and range: 25.40 m.
2025-10-26T22:22:24.121Z,1761517344.121 [DAT](INFO): DAT read: Rx Time:22:22:22.8076 

2025-10-26T22:22:24.121Z,1761517344.121 [DAT](INFO): Rx dataTimestamp_ set to:1761517344.121109
2025-10-26T22:22:24.123Z,1761517344.123 [DAT](INFO): DAT read: Bearing 322.5,   7.4 (Local)

2025-10-26T22:22:24.123Z,1761517344.123 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.5,   7.4 (Local)

2025-10-26T22:22:24.125Z,1761517344.125 [DAT](INFO): DAT read: Range 11 to 50 :    25.2 m (trip time 16.8 ms) speed 0.5

2025-10-26T22:22:24.131Z,1761517344.131 [DAT](INFO): DAT read: 22:22:22.8076 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.19,-0.132,-1.829,-0.171,-0.318, PHS= 0.289,-1.465, 0.103, RAW= 144.5,  12.8, CAL= 144.1,  14.0, ROT=   5.9, -14.0

2025-10-26T22:22:24.133Z,1761517344.133 [DAT](INFO): got valid direction response:
 22:22:22.8076 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.19,-0.132,-1.829,-0.171,-0.318, PHS= 0.289,-1.465, 0.103, RAW= 144.5,  12.8, CAL= 144.1,  14.0, ROT=   5.9, -14.0

2025-10-26T22:22:24.134Z,1761517344.134 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-10-26T22:22:24.135Z,1761517344.135 [DAT](INFO): direction in FSK: [0.965156,0.099739,0.241922]
2025-10-26T22:22:24.135Z,1761517344.135 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:24.139Z,1761517344.139 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.676310
2025-10-26T22:22:24.312Z,1761517344.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 0.507553 s,
      deltaX: -0.199999 m,
      approachRate: -0.394045 m/s,
      rangeRepo size: 4

2025-10-26T22:22:24.314Z,1761517344.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.049223 m,
      bearing: 167.733572 deg,
      lat: 36.779404 deg,
      lon: -121.859490 deg,
      deltaT: 0.507553 s,
      deltaX: -0.198803 m,
      approachRate: -0.391689 m/s,
      posRepo size: 4

2025-10-26T22:22:24.314Z,1761517344.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.05 m.
2025-10-26T22:22:24.321Z,1761517344.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.049223 m,
      nav range: 23.964266 m,
      bearing: 166.871537 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.168023 deg/s,
      cmd heading: 156.691957 deg,
      new cmd heading: 156.919481 deg.

2025-10-26T22:22:24.322Z,1761517344.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.738762 target range: 25.049223 and range: 25.20 m.
2025-10-26T22:22:24.374Z,1761517344.374 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.910370
2025-10-26T22:22:24.621Z,1761517344.621 [DAT](INFO): DAT read: Rx Time:22:22:23.3073 

2025-10-26T22:22:24.621Z,1761517344.621 [DAT](INFO): Rx dataTimestamp_ set to:1761517344.621116
2025-10-26T22:22:24.623Z,1761517344.623 [DAT](INFO): DAT read: Bearing 316.6,   9.5 (Local)

2025-10-26T22:22:24.623Z,1761517344.623 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.6,   9.5 (Local)

2025-10-26T22:22:24.625Z,1761517344.625 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed 0.5

2025-10-26T22:22:24.630Z,1761517344.630 [DAT](INFO): DAT read: 22:22:23.3073 LVL= 32416, 32753, 32754, 32755, AGC= 60, IDX= 496, 0.01, 1.593,-0.174, 1.522, 1.224, PHS= 0.471,-1.353, 0.254, RAW= 143.7,   7.3, CAL= 143.3,   8.0, ROT=   6.7,  -8.0

2025-10-26T22:22:24.631Z,1761517344.631 [DAT](INFO): got valid direction response:
 22:22:23.3073 LVL= 32416, 32753, 32754, 32755, AGC= 60, IDX= 496, 0.01, 1.593,-0.174, 1.522, 1.224, PHS= 0.471,-1.353, 0.254, RAW= 143.7,   7.3, CAL= 143.3,   8.0, ROT=   6.7,  -8.0

2025-10-26T22:22:24.631Z,1761517344.631 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-10-26T22:22:24.632Z,1761517344.632 [DAT](INFO): direction in FSK: [0.983505,0.115535,0.139173]
2025-10-26T22:22:24.633Z,1761517344.633 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:24.637Z,1761517344.637 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.174534
2025-10-26T22:22:24.763Z,1761517344.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928419,-0.371532,0.001510],[0.361591,-0.904496,-0.226139],[0.085383,-0.209405,0.974094]]
2025-10-26T22:22:24.870Z,1761517344.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.500007 s,
      deltaX: -0.300001 m,
      approachRate: -0.599994 m/s,
      rangeRepo size: 4

2025-10-26T22:22:24.873Z,1761517344.873 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.410311
2025-10-26T22:22:24.877Z,1761517344.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.750990 m,
      bearing: 167.057823 deg,
      lat: 36.779404 deg,
      lon: -121.859490 deg,
      deltaT: 0.500007 s,
      deltaX: -0.298233 m,
      approachRate: -0.596458 m/s,
      posRepo size: 4

2025-10-26T22:22:24.884Z,1761517344.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-10-26T22:22:24.914Z,1761517344.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.750990 m,
      nav range: 23.633196 m,
      bearing: 166.955205 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.168023 deg/s,
      cmd heading: 156.919484 deg,
      new cmd heading: 157.202755 deg.

2025-10-26T22:22:24.922Z,1761517344.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.743706 target range: 24.750990 and range: 24.90 m.
2025-10-26T22:22:25.125Z,1761517345.125 [DAT](INFO): DAT read: Rx Time:22:22:23.8071 

2025-10-26T22:22:25.125Z,1761517345.125 [DAT](INFO): Rx dataTimestamp_ set to:1761517345.125114
2025-10-26T22:22:25.127Z,1761517345.127 [DAT](INFO): DAT read: Bearing 315.0,   9.9 (Local)

2025-10-26T22:22:25.127Z,1761517345.127 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.0,   9.9 (Local)

2025-10-26T22:22:25.129Z,1761517345.129 [DAT](INFO): DAT read: Range 11 to 50 :    24.6 m (trip time 16.4 ms) speed 0.5

2025-10-26T22:22:25.134Z,1761517345.134 [DAT](INFO): DAT read: 22:22:23.8071 LVL= 32400, 32753, 32754, 32755, AGC= 61, IDX= 510,-0.02, 1.933, 0.140, 1.856, 1.518, PHS= 0.517,-1.333, 0.294, RAW= 143.7,   6.0, CAL= 143.2,   6.6, ROT=   6.8,  -6.6

2025-10-26T22:22:25.135Z,1761517345.135 [DAT](INFO): got valid direction response:
 22:22:23.8071 LVL= 32400, 32753, 32754, 32755, AGC= 61, IDX= 510,-0.02, 1.933, 0.140, 1.856, 1.518, PHS= 0.517,-1.333, 0.294, RAW= 143.7,   6.0, CAL= 143.2,   6.6, ROT=   6.8,  -6.6

2025-10-26T22:22:25.135Z,1761517345.135 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-10-26T22:22:25.136Z,1761517345.136 [DAT](INFO): direction in FSK: [0.986385,0.117619,0.114937]
2025-10-26T22:22:25.136Z,1761517345.136 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:25.141Z,1761517345.141 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.678028
2025-10-26T22:22:25.288Z,1761517345.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927000,-0.375059,0.001461],[0.365176,-0.903448,-0.224562],[0.085544,-0.207635,0.974459]]
2025-10-26T22:22:25.342Z,1761517345.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.600000 m,
      deltaT: 0.503998 s,
      deltaX: -0.299999 m,
      approachRate: -0.595239 m/s,
      rangeRepo size: 4

2025-10-26T22:22:25.350Z,1761517345.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.452787 m,
      bearing: 166.609854 deg,
      lat: 36.779404 deg,
      lon: -121.859490 deg,
      deltaT: 0.503998 s,
      deltaX: -0.298203 m,
      approachRate: -0.591674 m/s,
      posRepo size: 4

2025-10-26T22:22:25.382Z,1761517345.382 [DAT](INFO): DAT read: Rx Time:22:22:24.3068 

2025-10-26T22:22:25.385Z,1761517345.385 [DAT](INFO): Rx dataTimestamp_ set to:1761517345.383515
2025-10-26T22:22:25.389Z,1761517345.389 [DAT](INFO): DAT read: Bearing 317.7,  10.5 (Local)

2025-10-26T22:22:25.391Z,1761517345.391 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.7,  10.5 (Local)

2025-10-26T22:22:25.394Z,1761517345.394 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.930836
2025-10-26T22:22:25.397Z,1761517345.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.45 m.
2025-10-26T22:22:25.429Z,1761517345.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.452787 m,
      nav range: 23.400578 m,
      bearing: 167.042121 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.168023 deg/s,
      cmd heading: 157.202760 deg,
      new cmd heading: 157.440729 deg.

2025-10-26T22:22:25.436Z,1761517345.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.747859 target range: 24.452787 and range: 24.60 m.
2025-10-26T22:22:25.631Z,1761517345.631 [DAT](INFO): DAT read: Range 11 to 50 :    24.2 m (trip time 16.1 ms) speed 0.4

2025-10-26T22:22:25.642Z,1761517345.642 [DAT](INFO): DAT read: 22:22:24.3068 LVL= 30704, 32753, 32754, 32755, AGC= 66, IDX= 507, 0.11, 1.432,-0.322, 1.315, 1.080, PHS= 0.453,-1.358, 0.191, RAW= 142.3,   8.5, CAL= 141.9,   9.3, ROT=   8.1,  -9.3

2025-10-26T22:22:25.643Z,1761517345.643 [DAT](INFO): got valid direction response:
 22:22:24.3068 LVL= 30704, 32753, 32754, 32755, AGC= 66, IDX= 507, 0.11, 1.432,-0.322, 1.315, 1.080, PHS= 0.453,-1.358, 0.191, RAW= 142.3,   8.5, CAL= 141.9,   9.3, ROT=   8.1,  -9.3

2025-10-26T22:22:25.644Z,1761517345.644 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-10-26T22:22:25.645Z,1761517345.645 [DAT](INFO): direction in FSK: [0.977011,0.139049,0.161604]
2025-10-26T22:22:25.645Z,1761517345.645 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:25.649Z,1761517345.649 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.186241
2025-10-26T22:22:25.896Z,1761517345.896 [DAT](INFO): DAT read: Rx Time:22:22:24.8068 

2025-10-26T22:22:25.898Z,1761517345.898 [DAT](INFO): Rx dataTimestamp_ set to:1761517345.896689
2025-10-26T22:22:25.901Z,1761517345.901 [DAT](INFO): DAT read: Bearing 319.6,  10.1 (Local)

2025-10-26T22:22:25.902Z,1761517345.902 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.6,  10.1 (Local)

2025-10-26T22:22:25.907Z,1761517345.907 [DAT](INFO): DAT read: Range 11 to 50 :    24.2 m (trip time 16.1 ms) speed 0.4

2025-10-26T22:22:25.940Z,1761517345.940 [DAT](INFO): DAT read: 22:22:24.8068 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 507,-0.07, 1.510,-0.231, 1.392, 1.216, PHS= 0.396,-1.402, 0.132, RAW= 142.2,  10.4, CAL= 141.7,  11.3, ROT=   8.3, -11.3

2025-10-26T22:22:25.941Z,1761517345.941 [DAT](INFO): got valid direction response:
 22:22:24.8068 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 507,-0.07, 1.510,-0.231, 1.392, 1.216, PHS= 0.396,-1.402, 0.132, RAW= 142.2,  10.4, CAL= 141.7,  11.3, ROT=   8.3, -11.3

2025-10-26T22:22:25.941Z,1761517345.941 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-10-26T22:22:25.942Z,1761517345.942 [DAT](INFO): direction in FSK: [0.970343,0.141558,0.195946]
2025-10-26T22:22:25.943Z,1761517345.943 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:25.962Z,1761517345.962 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.499874
2025-10-26T22:22:25.992Z,1761517345.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926260,-0.376885,0.000666],[0.367384,-0.903302,-0.221528],[0.084092,-0.204948,0.975154]]
2025-10-26T22:22:26.094Z,1761517346.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.200001 m,
      deltaT: 0.771575 s,
      deltaX: -0.400000 m,
      approachRate: -0.518420 m/s,
      rangeRepo size: 4

2025-10-26T22:22:26.100Z,1761517346.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.055218 m,
      bearing: 168.990725 deg,
      lat: 36.779399 deg,
      lon: -121.859492 deg,
      deltaT: 0.771575 s,
      deltaX: -0.397570 m,
      approachRate: -0.515270 m/s,
      posRepo size: 4

2025-10-26T22:22:26.101Z,1761517346.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.06 m.
2025-10-26T22:22:26.108Z,1761517346.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.055218 m,
      nav range: 23.432859 m,
      bearing: 167.767360 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.168023 deg/s,
      cmd heading: 157.440723 deg,
      new cmd heading: 157.820073 deg.

2025-10-26T22:22:26.109Z,1761517346.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.754480 target range: 24.055218 and range: 24.20 m.
2025-10-26T22:22:26.144Z,1761517346.144 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.681936
2025-10-26T22:22:26.402Z,1761517346.402 [DAT](INFO): DAT read: Rx Time:22:22:25.3065 

2025-10-26T22:22:26.408Z,1761517346.408 [DAT](INFO): Rx dataTimestamp_ set to:1761517346.406166
2025-10-26T22:22:26.413Z,1761517346.413 [DAT](INFO): DAT read: Bearing 319.3,  10.5 (Local)

2025-10-26T22:22:26.415Z,1761517346.415 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.3,  10.5 (Local)

2025-10-26T22:22:26.447Z,1761517346.447 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed 0.6

2025-10-26T22:22:26.475Z,1761517346.475 [DAT](INFO): DAT read: 22:22:25.3065 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 504, 0.19,-0.304,-2.046,-0.436,-0.610, PHS= 0.409,-1.391, 0.130, RAW= 141.8,  10.2, CAL= 141.3,  11.1, ROT=   8.7, -11.1

2025-10-26T22:22:26.484Z,1761517346.484 [DAT](INFO): got valid direction response:
 22:22:25.3065 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 504, 0.19,-0.304,-2.046,-0.436,-0.610, PHS= 0.409,-1.391, 0.130, RAW= 141.8,  10.2, CAL= 141.3,  11.1, ROT=   8.7, -11.1

2025-10-26T22:22:26.485Z,1761517346.485 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-10-26T22:22:26.486Z,1761517346.486 [DAT](INFO): direction in FSK: [0.970002,0.148431,0.192522]
2025-10-26T22:22:26.486Z,1761517346.486 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:26.498Z,1761517346.498 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.035122
2025-10-26T22:22:26.613Z,1761517346.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.509477 s,
      deltaX: -0.500000 m,
      approachRate: -0.981399 m/s,
      rangeRepo size: 4

2025-10-26T22:22:26.615Z,1761517346.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.558210 m,
      bearing: 169.339308 deg,
      lat: 36.779399 deg,
      lon: -121.859494 deg,
      deltaT: 0.509477 s,
      deltaX: -0.497007 m,
      approachRate: -0.975525 m/s,
      posRepo size: 4

2025-10-26T22:22:26.620Z,1761517346.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.56 m.
2025-10-26T22:22:26.622Z,1761517346.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.558210 m,
      nav range: 23.123898 m,
      bearing: 168.186201 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.168023 deg/s,
      cmd heading: 157.820072 deg,
      new cmd heading: 158.079036 deg.

2025-10-26T22:22:26.627Z,1761517346.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.759000 target range: 23.558210 and range: 23.70 m.
2025-10-26T22:22:26.648Z,1761517346.648 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.186016
2025-10-26T22:22:26.855Z,1761517346.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923515,-0.383529,-0.005022],[0.375846,-0.902247,-0.211400],[0.076547,-0.197119,0.977387]]
2025-10-26T22:22:26.905Z,1761517346.905 [DAT](INFO): DAT read: Rx Time:22:22:25.8065 

2025-10-26T22:22:26.906Z,1761517346.906 [DAT](INFO): Rx dataTimestamp_ set to:1761517346.905448
2025-10-26T22:22:26.910Z,1761517346.910 [DAT](INFO): DAT read: Bearing 318.6,  10.4 (Local)

2025-10-26T22:22:26.912Z,1761517346.912 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.6,  10.4 (Local)

2025-10-26T22:22:26.918Z,1761517346.918 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed 0.5

2025-10-26T22:22:26.920Z,1761517346.920 [DAT](ERROR): #Rx 42: Read range message, but no direction.
2025-10-26T22:22:26.925Z,1761517346.925 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.460094
2025-10-26T22:22:26.937Z,1761517346.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:22:26.944Z,1761517346.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.499282 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:22:26.945Z,1761517346.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.56 m.
2025-10-26T22:22:26.952Z,1761517346.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.558210 m,
      nav range: 22.971006 m,
      bearing: 168.178893 deg,
      approach rate: -0.460696 m/s,
      LOS rate: -0.022167 deg/s,
      cmd heading: 158.079032 deg,
      new cmd heading: 158.056963 deg.

2025-10-26T22:22:26.953Z,1761517346.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.758614 target range: 23.558210 and range: 23.70 m.
2025-10-26T22:22:27.156Z,1761517347.156 [DAT](INFO): DAT read: 22:22:25.8065 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 504,-0.37,-2.468, 2.059,-2.601,-2.794, PHS= 0.429,-1.385, 0.150, RAW= 141.8,   9.6, CAL= 141.3,  10.4, ROT=   8.7, -10.4

2025-10-26T22:22:27.157Z,1761517347.157 [DAT](INFO): got valid direction response:
 22:22:25.8065 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 504,-0.37,-2.468, 2.059,-2.601,-2.794, PHS= 0.429,-1.385, 0.150, RAW= 141.8,   9.6, CAL= 141.3,  10.4, ROT=   8.7, -10.4

2025-10-26T22:22:27.158Z,1761517347.158 [DAT](INFO): #Rx 43: Read direction message, but no range.
2025-10-26T22:22:27.158Z,1761517347.158 [DAT](INFO): direction in FSK: [0.972254,0.148776,0.180519]
2025-10-26T22:22:27.204Z,1761517347.204 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.736244
2025-10-26T22:22:27.300Z,1761517347.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922224,-0.386564,-0.008397],[0.379766,-0.901500,-0.207548],[0.072661,-0.194595,0.978189]]
2025-10-26T22:22:27.342Z,1761517347.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.56 m.
2025-10-26T22:22:27.349Z,1761517347.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.558210 m,
      nav range: 22.740955 m,
      bearing: 168.169804 deg,
      approach rate: -0.571181 m/s,
      LOS rate: -0.022795 deg/s,
      cmd heading: 158.056957 deg,
      new cmd heading: 158.029413 deg.

2025-10-26T22:22:27.350Z,1761517347.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.758134 target range: 23.558210 and range: 23.70 m.
2025-10-26T22:22:27.424Z,1761517347.424 [DAT](INFO): DAT read: Rx Time:22:22:26.3062 

2025-10-26T22:22:27.426Z,1761517347.426 [DAT](INFO): Rx dataTimestamp_ set to:1761517347.424551
2025-10-26T22:22:27.442Z,1761517347.442 [DAT](INFO): DAT read: Bearing 318.5,  10.4 (Local)

2025-10-26T22:22:27.448Z,1761517347.448 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.5,  10.4 (Local)

2025-10-26T22:22:27.459Z,1761517347.459 [DAT](INFO): DAT read: Range 11 to 50 :    23.3 m (trip time 15.5 ms) speed 0.4

2025-10-26T22:22:27.472Z,1761517347.472 [DAT](INFO): DAT read: 22:22:26.3062 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 501,-0.09, 2.621, 0.871, 2.485, 2.294, PHS= 0.429,-1.378, 0.148, RAW= 141.7,   9.5, CAL= 141.2,  10.4, ROT=   8.8, -10.4

2025-10-26T22:22:27.474Z,1761517347.474 [DAT](INFO): got valid direction response:
 22:22:26.3062 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 501,-0.09, 2.621, 0.871, 2.485, 2.294, PHS= 0.429,-1.378, 0.148, RAW= 141.7,   9.5, CAL= 141.2,  10.4, ROT=   8.8, -10.4

2025-10-26T22:22:27.474Z,1761517347.474 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-26T22:22:27.475Z,1761517347.475 [DAT](INFO): direction in FSK: [0.971993,0.150473,0.180519]
2025-10-26T22:22:27.476Z,1761517347.476 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:27.479Z,1761517347.479 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.016554
2025-10-26T22:22:27.668Z,1761517347.668 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.205889
2025-10-26T22:22:27.694Z,1761517347.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920752,-0.389949,-0.012443],[0.384101,-0.900428,-0.204194],[0.068421,-0.192791,0.978851]]
2025-10-26T22:22:27.805Z,1761517347.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.299999 m,
      deltaT: 0.519103 s,
      deltaX: -0.400002 m,
      approachRate: -0.770563 m/s,
      rangeRepo size: 4

2025-10-26T22:22:27.811Z,1761517347.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.160610 m,
      bearing: 168.125495 deg,
      lat: 36.779398 deg,
      lon: -121.859494 deg,
      deltaT: 1.018385 s,
      deltaX: -0.397600 m,
      approachRate: -0.390422 m/s,
      posRepo size: 4

2025-10-26T22:22:27.812Z,1761517347.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.16 m.
2025-10-26T22:22:27.815Z,1761517347.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.160610 m,
      nav range: 22.623066 m,
      bearing: 168.125464 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022795 deg/s,
      cmd heading: 158.029417 deg,
      new cmd heading: 157.997775 deg.

2025-10-26T22:22:27.820Z,1761517347.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.757581 target range: 23.160610 and range: 23.30 m.
2025-10-26T22:22:27.925Z,1761517347.925 [DAT](INFO): DAT read: Rx Time:22:22:26.8061 

2025-10-26T22:22:27.927Z,1761517347.927 [DAT](INFO): Rx dataTimestamp_ set to:1761517347.925995
2025-10-26T22:22:27.932Z,1761517347.932 [DAT](INFO): DAT read: Bearing 318.8,  10.0 (Local)

2025-10-26T22:22:27.933Z,1761517347.933 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.8,  10.0 (Local)

2025-10-26T22:22:27.937Z,1761517347.937 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed 0.4

2025-10-26T22:22:27.942Z,1761517347.942 [DAT](INFO): DAT read: 22:22:26.8061 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 500, 0.07,-0.510,-2.247,-0.641,-0.823, PHS= 0.414,-1.380, 0.137, RAW= 141.8,   9.9, CAL= 141.3,  10.8, ROT=   8.7, -10.8

2025-10-26T22:22:27.943Z,1761517347.943 [DAT](INFO): got valid direction response:
 22:22:26.8061 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 500, 0.07,-0.510,-2.247,-0.641,-0.823, PHS= 0.414,-1.380, 0.137, RAW= 141.8,   9.9, CAL= 141.3,  10.8, ROT=   8.7, -10.8

2025-10-26T22:22:27.944Z,1761517347.944 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-10-26T22:22:27.944Z,1761517347.944 [DAT](INFO): direction in FSK: [0.970985,0.148582,0.187381]
2025-10-26T22:22:27.945Z,1761517347.945 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:27.949Z,1761517347.949 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.486588
2025-10-26T22:22:28.172Z,1761517348.172 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.709993
2025-10-26T22:22:28.242Z,1761517348.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919609,-0.392454,-0.017308],[0.387640,-0.899424,-0.201919],[0.063677,-0.192396,0.979249]]
2025-10-26T22:22:28.316Z,1761517348.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.501444 s,
      deltaX: -0.199999 m,
      approachRate: -0.398846 m/s,
      rangeRepo size: 4

2025-10-26T22:22:28.324Z,1761517348.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.961807 m,
      bearing: 167.882996 deg,
      lat: 36.779398 deg,
      lon: -121.859494 deg,
      deltaT: 0.501444 s,
      deltaX: -0.198803 m,
      approachRate: -0.396461 m/s,
      posRepo size: 4

2025-10-26T22:22:28.325Z,1761517348.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m.
2025-10-26T22:22:28.329Z,1761517348.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.961807 m,
      nav range: 22.367191 m,
      bearing: 168.022651 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022795 deg/s,
      cmd heading: 157.997780 deg,
      new cmd heading: 157.963154 deg.

2025-10-26T22:22:28.330Z,1761517348.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.756977 target range: 22.961807 and range: 23.10 m.
2025-10-26T22:22:28.442Z,1761517348.442 [DAT](INFO): DAT read: Rx Time:22:22:27.3058 

2025-10-26T22:22:28.444Z,1761517348.444 [DAT](INFO): Rx dataTimestamp_ set to:1761517348.442585
2025-10-26T22:22:28.448Z,1761517348.448 [DAT](INFO): DAT read: Bearing 320.2,  10.1 (Local)

2025-10-26T22:22:28.449Z,1761517348.449 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.2,  10.1 (Local)

2025-10-26T22:22:28.455Z,1761517348.455 [DAT](INFO): DAT read: Range 11 to 50 :    22.7 m (trip time 15.1 ms) speed 0.4

2025-10-26T22:22:28.490Z,1761517348.490 [DAT](INFO): DAT read: 22:22:27.3058 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 497, 0.07, 2.190, 0.437, 2.039, 1.901, PHS= 0.391,-1.419, 0.094, RAW= 141.2,  11.1, CAL= 140.6,  12.1, ROT=   9.4, -12.1

2025-10-26T22:22:28.491Z,1761517348.491 [DAT](INFO): got valid direction response:
 22:22:27.3058 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 497, 0.07, 2.190, 0.437, 2.039, 1.901, PHS= 0.391,-1.419, 0.094, RAW= 141.2,  11.1, CAL= 140.6,  12.1, ROT=   9.4, -12.1

2025-10-26T22:22:28.504Z,1761517348.504 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-10-26T22:22:28.505Z,1761517348.505 [DAT](INFO): direction in FSK: [0.964654,0.159697,0.209619]
2025-10-26T22:22:28.505Z,1761517348.505 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:28.514Z,1761517348.514 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.050821
2025-10-26T22:22:28.690Z,1761517348.690 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.227850
2025-10-26T22:22:28.792Z,1761517348.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918749,-0.394271,-0.021230],[0.390467,-0.899271,-0.197096],[0.058618,-0.189371,0.980154]]
2025-10-26T22:22:28.878Z,1761517348.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.700001 m,
      deltaT: 0.516590 s,
      deltaX: -0.400000 m,
      approachRate: -0.774308 m/s,
      rangeRepo size: 4

2025-10-26T22:22:28.895Z,1761517348.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.564220 m,
      bearing: 168.632239 deg,
      lat: 36.779399 deg,
      lon: -121.859498 deg,
      deltaT: 0.516590 s,
      deltaX: -0.397587 m,
      approachRate: -0.769637 m/s,
      posRepo size: 4

2025-10-26T22:22:28.902Z,1761517348.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m.
2025-10-26T22:22:28.932Z,1761517348.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.564220 m,
      nav range: 21.949854 m,
      bearing: 168.632210 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022795 deg/s,
      cmd heading: 157.963151 deg,
      new cmd heading: 157.925659 deg.

2025-10-26T22:22:28.934Z,1761517348.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.756323 target range: 22.564220 and range: 22.70 m.
2025-10-26T22:22:28.941Z,1761517348.941 [DAT](INFO): DAT read: Rx Time:22:22:27.8056 

2025-10-26T22:22:28.942Z,1761517348.942 [DAT](INFO): Rx dataTimestamp_ set to:1761517348.941256
2025-10-26T22:22:28.943Z,1761517348.943 [DAT](INFO): DAT read: Bearing 316.3,  10.2 (Local)

2025-10-26T22:22:28.943Z,1761517348.943 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.3,  10.2 (Local)

2025-10-26T22:22:28.945Z,1761517348.945 [DAT](INFO): DAT read: Range 11 to 50 :    22.4 m (trip time 14.9 ms) speed 0.4

2025-10-26T22:22:28.950Z,1761517348.950 [DAT](INFO): DAT read: 22:22:27.8056 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 511, 0.14,-0.170,-1.966,-0.315,-0.571, PHS= 0.503,-1.350, 0.212, RAW= 141.6,   7.4, CAL= 141.2,   8.2, ROT=   8.8,  -8.2

2025-10-26T22:22:28.951Z,1761517348.951 [DAT](INFO): got valid direction response:
 22:22:27.8056 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 511, 0.14,-0.170,-1.966,-0.315,-0.571, PHS= 0.503,-1.350, 0.212, RAW= 141.6,   7.4, CAL= 141.2,   8.2, ROT=   8.8,  -8.2

2025-10-26T22:22:28.951Z,1761517348.951 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-10-26T22:22:28.952Z,1761517348.952 [DAT](INFO): direction in FSK: [0.978125,0.151422,0.142629]
2025-10-26T22:22:28.953Z,1761517348.953 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:28.960Z,1761517348.960 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.497948
2025-10-26T22:22:29.192Z,1761517349.192 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.729998
2025-10-26T22:22:29.312Z,1761517349.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916693,-0.398648,-0.027471],[0.396626,-0.899372,-0.183896],[0.048603,-0.179472,0.982562]]
2025-10-26T22:22:29.337Z,1761517349.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.400000 m,
      deltaT: 0.498671 s,
      deltaX: -0.300001 m,
      approachRate: -0.601601 m/s,
      rangeRepo size: 4

2025-10-26T22:22:29.338Z,1761517349.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.266014 m,
      bearing: 166.791264 deg,
      lat: 36.779398 deg,
      lon: -121.859494 deg,
      deltaT: 0.498671 s,
      deltaX: -0.298206 m,
      approachRate: -0.598002 m/s,
      posRepo size: 4

2025-10-26T22:22:29.355Z,1761517349.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.27 m.
2025-10-26T22:22:29.358Z,1761517349.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.266014 m,
      nav range: 21.878004 m,
      bearing: 167.752149 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022795 deg/s,
      cmd heading: 157.925653 deg,
      new cmd heading: 157.893079 deg.

2025-10-26T22:22:29.364Z,1761517349.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.755754 target range: 22.266014 and range: 22.40 m.
2025-10-26T22:22:29.449Z,1761517349.449 [DAT](INFO): DAT read: Rx Time:22:22:28.3054 

2025-10-26T22:22:29.451Z,1761517349.451 [DAT](INFO): Rx dataTimestamp_ set to:1761517349.449811
2025-10-26T22:22:29.455Z,1761517349.455 [DAT](INFO): DAT read: Bearing 317.5,   8.9 (Local)

2025-10-26T22:22:29.456Z,1761517349.456 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.5,   8.9 (Local)

2025-10-26T22:22:29.463Z,1761517349.463 [DAT](INFO): DAT read: Range 11 to 50 :    22.1 m (trip time 14.7 ms) speed 0.4

2025-10-26T22:22:29.501Z,1761517349.501 [DAT](INFO): DAT read: 22:22:28.3054 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.10, 2.388, 0.604, 2.273, 2.040, PHS= 0.450,-1.390, 0.189, RAW= 142.5,   8.7, CAL= 142.0,   9.6, ROT=   8.0,  -9.6

2025-10-26T22:22:29.502Z,1761517349.502 [DAT](INFO): got valid direction response:
 22:22:28.3054 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.10, 2.388, 0.604, 2.273, 2.040, PHS= 0.450,-1.390, 0.189, RAW= 142.5,   8.7, CAL= 142.0,   9.6, ROT=   8.0,  -9.6

2025-10-26T22:22:29.503Z,1761517349.503 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-10-26T22:22:29.510Z,1761517349.510 [DAT](INFO): direction in FSK: [0.976400,0.137224,0.166769]
2025-10-26T22:22:29.511Z,1761517349.511 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:29.528Z,1761517349.528 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.065392
2025-10-26T22:22:29.699Z,1761517349.699 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.236708
2025-10-26T22:22:29.797Z,1761517349.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916140,-0.399753,-0.029763],[0.398457,-0.900017,-0.176638],[0.043825,-0.173685,0.983826]]
2025-10-26T22:22:29.894Z,1761517349.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.508555 s,
      deltaX: -0.299999 m,
      approachRate: -0.589905 m/s,
      rangeRepo size: 4

2025-10-26T22:22:29.915Z,1761517349.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.967840 m,
      bearing: 166.104727 deg,
      lat: 36.779398 deg,
      lon: -121.859494 deg,
      deltaT: 0.508555 s,
      deltaX: -0.298174 m,
      approachRate: -0.586316 m/s,
      posRepo size: 4

2025-10-26T22:22:29.922Z,1761517349.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.97 m.
2025-10-26T22:22:29.931Z,1761517349.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.967840 m,
      nav range: 21.666517 m,
      bearing: 167.451084 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022795 deg/s,
      cmd heading: 157.893073 deg,
      new cmd heading: 157.855416 deg.

2025-10-26T22:22:29.936Z,1761517349.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.755097 target range: 21.967840 and range: 22.10 m.
2025-10-26T22:22:29.953Z,1761517349.953 [DAT](INFO): DAT read: Rx Time:22:22:28.8054 

2025-10-26T22:22:29.953Z,1761517349.953 [DAT](INFO): Rx dataTimestamp_ set to:1761517349.953210
2025-10-26T22:22:29.955Z,1761517349.955 [DAT](INFO): DAT read: Bearing 321.7,   7.3 (Local)

2025-10-26T22:22:29.955Z,1761517349.955 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.7,   7.3 (Local)

2025-10-26T22:22:29.957Z,1761517349.957 [DAT](INFO): DAT read: Range 11 to 50 :    22.1 m (trip time 14.7 ms) speed 0.4

2025-10-26T22:22:29.962Z,1761517349.962 [DAT](INFO): DAT read: 22:22:28.8054 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 509,-0.17,-0.189,-1.927,-0.279,-0.403, PHS= 0.316,-1.479, 0.080, RAW= 143.1,  12.8, CAL= 142.5,  13.9, ROT=   7.5, -13.9

2025-10-26T22:22:29.964Z,1761517349.964 [DAT](INFO): got valid direction response:
 22:22:28.8054 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 509,-0.17,-0.189,-1.927,-0.279,-0.403, PHS= 0.316,-1.479, 0.080, RAW= 143.1,  12.8, CAL= 142.5,  13.9, ROT=   7.5, -13.9

2025-10-26T22:22:29.964Z,1761517349.964 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-10-26T22:22:29.965Z,1761517349.965 [DAT](INFO): direction in FSK: [0.962412,0.126704,0.240228]
2025-10-26T22:22:29.965Z,1761517349.965 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:29.973Z,1761517349.973 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.510496
2025-10-26T22:22:30.205Z,1761517350.205 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.742817
2025-10-26T22:22:30.263Z,1761517350.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915946,-0.400008,-0.032205],[0.399378,-0.900762,-0.170663],[0.039257,-0.169180,0.984803]]
2025-10-26T22:22:30.322Z,1761517350.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.503399 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:22:30.328Z,1761517350.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.967840 m,
      bearing: 166.293883 deg,
      lat: 36.779399 deg,
      lon: -121.859490 deg,
      deltaT: 0.503399 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:22:30.329Z,1761517350.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.97 m.
2025-10-26T22:22:30.344Z,1761517350.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.967840 m,
      nav range: 21.462038 m,
      bearing: 166.454099 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022795 deg/s,
      cmd heading: 157.855412 deg,
      new cmd heading: 157.825668 deg.

2025-10-26T22:22:30.345Z,1761517350.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.754578 target range: 21.967840 and range: 22.10 m.
2025-10-26T22:22:30.461Z,1761517350.461 [DAT](INFO): DAT read: Rx Time:22:22:29.3051 

2025-10-26T22:22:30.465Z,1761517350.465 [DAT](INFO): Rx dataTimestamp_ set to:1761517350.462093
2025-10-26T22:22:30.472Z,1761517350.472 [DAT](INFO): DAT read: Bearing 322.8,   6.8 (Local)

2025-10-26T22:22:30.474Z,1761517350.474 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.8,   6.8 (Local)

2025-10-26T22:22:30.517Z,1761517350.517 [DAT](INFO): DAT read: Range 11 to 50 :    21.6 m (trip time 14.4 ms) speed 0.4

2025-10-26T22:22:30.532Z,1761517350.532 [DAT](INFO): DAT read: 22:22:29.3051 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 506, 0.20, 0.899,-0.836, 0.812, 0.714, PHS= 0.287,-1.505, 0.055, RAW= 143.1,  13.7, CAL= 142.6,  14.8, ROT=   7.4, -14.8

2025-10-26T22:22:30.533Z,1761517350.533 [DAT](INFO): got valid direction response:
 22:22:29.3051 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 506, 0.20, 0.899,-0.836, 0.812, 0.714, PHS= 0.287,-1.505, 0.055, RAW= 143.1,  13.7, CAL= 142.6,  14.8, ROT=   7.4, -14.8

2025-10-26T22:22:30.533Z,1761517350.533 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-10-26T22:22:30.534Z,1761517350.534 [DAT](INFO): direction in FSK: [0.958771,0.124523,0.255446]
2025-10-26T22:22:30.535Z,1761517350.535 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:30.542Z,1761517350.542 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.079958
2025-10-26T22:22:30.709Z,1761517350.709 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.246183
2025-10-26T22:22:30.744Z,1761517350.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916092,-0.399457,-0.034771],[0.399436,-0.901583,-0.166130],[0.035013,-0.166079,0.985491]]
2025-10-26T22:22:30.832Z,1761517350.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.600000 m,
      deltaT: 0.508883 s,
      deltaX: -0.500000 m,
      approachRate: -0.982544 m/s,
      rangeRepo size: 4

2025-10-26T22:22:30.834Z,1761517350.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.470831 m,
      bearing: 166.308072 deg,
      lat: 36.779400 deg,
      lon: -121.859490 deg,
      deltaT: 0.508883 s,
      deltaX: -0.497009 m,
      approachRate: -0.976667 m/s,
      posRepo size: 4

2025-10-26T22:22:30.835Z,1761517350.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.47 m.
2025-10-26T22:22:30.849Z,1761517350.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.470831 m,
      nav range: 21.128475 m,
      bearing: 166.276241 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022795 deg/s,
      cmd heading: 157.825673 deg,
      new cmd heading: 157.791071 deg.

2025-10-26T22:22:30.850Z,1761517350.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.753974 target range: 21.470831 and range: 21.60 m.
2025-10-26T22:22:30.963Z,1761517350.963 [DAT](INFO): DAT read: Rx Time:22:22:29.8051 

2025-10-26T22:22:30.963Z,1761517350.963 [DAT](INFO): Rx dataTimestamp_ set to:1761517350.962781
2025-10-26T22:22:30.965Z,1761517350.965 [DAT](INFO): DAT read: Bearing 320.7,   6.1 (Local)

2025-10-26T22:22:30.966Z,1761517350.966 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.7,   6.1 (Local)

2025-10-26T22:22:30.969Z,1761517350.969 [DAT](INFO): DAT read: Range 11 to 50 :    21.6 m (trip time 14.4 ms) speed 0.4

2025-10-26T22:22:30.975Z,1761517350.975 [DAT](INFO): DAT read: 22:22:29.8051 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 506,-0.18, 0.342,-1.394, 0.284, 0.111, PHS= 0.333,-1.460, 0.129, RAW= 144.0,  11.7, CAL= 143.6,  12.8, ROT=   6.4, -12.8

2025-10-26T22:22:30.998Z,1761517350.998 [DAT](INFO): got valid direction response:
 22:22:29.8051 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 506,-0.18, 0.342,-1.394, 0.284, 0.111, PHS= 0.333,-1.460, 0.129, RAW= 144.0,  11.7, CAL= 143.6,  12.8, ROT=   6.4, -12.8

2025-10-26T22:22:30.999Z,1761517350.999 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-10-26T22:22:31.000Z,1761517351.000 [DAT](INFO): direction in FSK: [0.969072,0.108699,0.221548]
2025-10-26T22:22:31.001Z,1761517351.001 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:31.021Z,1761517351.021 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.558702
2025-10-26T22:22:31.213Z,1761517351.213 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.750057
2025-10-26T22:22:31.218Z,1761517351.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916393,-0.398574,-0.036921],[0.399079,-0.902609,-0.161347],[0.030984,-0.162591,0.986207]]
2025-10-26T22:22:31.247Z,1761517351.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.600000 m,
      deltaT: 0.500688 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:22:31.249Z,1761517351.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.470848 m,
      bearing: 164.936006 deg,
      lat: 36.779401 deg,
      lon: -121.859490 deg,
      deltaT: 0.500688 s,
      deltaX: 0.000017 m,
      approachRate: 0.000034 m/s,
      posRepo size: 4

2025-10-26T22:22:31.250Z,1761517351.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.47 m.
2025-10-26T22:22:31.253Z,1761517351.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.470848 m,
      nav range: 20.818155 m,
      bearing: 166.075410 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022795 deg/s,
      cmd heading: 157.791071 deg,
      new cmd heading: 157.762428 deg.

2025-10-26T22:22:31.253Z,1761517351.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.753474 target range: 21.470848 and range: 21.60 m.
2025-10-26T22:22:31.471Z,1761517351.471 [DAT](INFO): DAT read: Rx Time:22:22:30.3048 

2025-10-26T22:22:31.473Z,1761517351.473 [DAT](INFO): Rx dataTimestamp_ set to:1761517351.472312
2025-10-26T22:22:31.478Z,1761517351.478 [DAT](INFO): DAT read: Bearing 320.2,   5.4 (Local)

2025-10-26T22:22:31.481Z,1761517351.481 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.2,   5.4 (Local)

2025-10-26T22:22:31.489Z,1761517351.489 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed 0.4

2025-10-26T22:22:31.521Z,1761517351.521 [DAT](INFO): DAT read: 22:22:30.3048 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 503, 0.26, 1.200,-0.545, 1.161, 0.959, PHS= 0.343,-1.460, 0.158, RAW= 144.7,  11.2, CAL= 144.2,  12.2, ROT=   5.8, -12.2

2025-10-26T22:22:31.522Z,1761517351.522 [DAT](INFO): got valid direction response:
 22:22:30.3048 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 503, 0.26, 1.200,-0.545, 1.161, 0.959, PHS= 0.343,-1.460, 0.158, RAW= 144.7,  11.2, CAL= 144.2,  12.2, ROT=   5.8, -12.2

2025-10-26T22:22:31.522Z,1761517351.522 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-10-26T22:22:31.523Z,1761517351.523 [DAT](INFO): direction in FSK: [0.972412,0.098774,0.211325]
2025-10-26T22:22:31.528Z,1761517351.528 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:31.538Z,1761517351.538 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.075562
2025-10-26T22:22:31.610Z,1761517351.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916796,-0.397440,-0.039070],[0.398443,-0.903703,-0.156726],[0.026981,-0.159253,0.986869]]
2025-10-26T22:22:31.709Z,1761517351.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.509531 s,
      deltaX: -0.400000 m,
      approachRate: -0.785035 m/s,
      rangeRepo size: 4

2025-10-26T22:22:31.717Z,1761517351.717 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.254559
2025-10-26T22:22:31.719Z,1761517351.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.073240 m,
      bearing: 164.236532 deg,
      lat: 36.779401 deg,
      lon: -121.859488 deg,
      deltaT: 0.509531 s,
      deltaX: -0.397608 m,
      approachRate: -0.780341 m/s,
      posRepo size: 4

2025-10-26T22:22:31.724Z,1761517351.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-10-26T22:22:31.733Z,1761517351.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.073240 m,
      nav range: 20.599491 m,
      bearing: 165.580321 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022795 deg/s,
      cmd heading: 157.762425 deg,
      new cmd heading: 157.731180 deg.

2025-10-26T22:22:31.734Z,1761517351.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.752928 target range: 21.073240 and range: 21.20 m.
2025-10-26T22:22:31.971Z,1761517351.971 [DAT](INFO): DAT read: Rx Time:22:22:30.8048 

2025-10-26T22:22:31.971Z,1761517351.971 [DAT](INFO): Rx dataTimestamp_ set to:1761517351.970741
2025-10-26T22:22:31.973Z,1761517351.973 [DAT](INFO): DAT read: Bearing 320.2,   4.7 (Local)

2025-10-26T22:22:31.973Z,1761517351.973 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.2,   4.7 (Local)

2025-10-26T22:22:31.976Z,1761517351.976 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed 0.4

2025-10-26T22:22:31.981Z,1761517351.981 [DAT](INFO): DAT read: 22:22:30.8048 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 503,-0.03, 0.524,-1.206, 0.505, 0.293, PHS= 0.333,-1.455, 0.168, RAW= 145.2,  11.2, CAL= 144.8,  12.2, ROT=   5.2, -12.2

2025-10-26T22:22:31.983Z,1761517351.983 [DAT](INFO): got valid direction response:
 22:22:30.8048 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 503,-0.03, 0.524,-1.206, 0.505, 0.293, PHS= 0.333,-1.455, 0.168, RAW= 145.2,  11.2, CAL= 144.8,  12.2, ROT=   5.2, -12.2

2025-10-26T22:22:31.983Z,1761517351.983 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-10-26T22:22:31.984Z,1761517351.984 [DAT](INFO): direction in FSK: [0.973393,0.088586,0.211325]
2025-10-26T22:22:31.984Z,1761517351.984 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:31.000Z,1761517352.000 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.532427
2025-10-26T22:22:32.057Z,1761517352.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917585,-0.395501,-0.040205],[0.396830,-0.905214,-0.152033],[0.023735,-0.155458,0.987557]]
2025-10-26T22:22:32.109Z,1761517352.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.498429 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:22:32.119Z,1761517352.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.073280 m,
      bearing: 163.697598 deg,
      lat: 36.779401 deg,
      lon: -121.859485 deg,
      deltaT: 0.498429 s,
      deltaX: 0.000040 m,
      approachRate: 0.000080 m/s,
      posRepo size: 4

2025-10-26T22:22:32.120Z,1761517352.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-10-26T22:22:32.123Z,1761517352.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.073280 m,
      nav range: 20.455992 m,
      bearing: 164.789732 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022795 deg/s,
      cmd heading: 157.731184 deg,
      new cmd heading: 157.703438 deg.

2025-10-26T22:22:32.128Z,1761517352.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.752444 target range: 21.073280 and range: 21.20 m.
2025-10-26T22:22:32.221Z,1761517352.221 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.758917
2025-10-26T22:22:32.451Z,1761517352.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919799,-0.390009,-0.043167],[0.391955,-0.908014,-0.147924],[0.018495,-0.152980,0.988056]]
2025-10-26T22:22:32.473Z,1761517352.473 [DAT](INFO): DAT read: Rx Time:22:22:31.3046 

2025-10-26T22:22:32.474Z,1761517352.474 [DAT](INFO): Rx dataTimestamp_ set to:1761517352.473589
2025-10-26T22:22:32.475Z,1761517352.475 [DAT](INFO): DAT read: Bearing 321.0,   3.6 (Local)

2025-10-26T22:22:32.476Z,1761517352.476 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.0,   3.6 (Local)

2025-10-26T22:22:32.478Z,1761517352.478 [DAT](INFO): DAT read: Range 11 to 50 :    20.9 m (trip time 13.9 ms) speed 0.4

2025-10-26T22:22:32.484Z,1761517352.484 [DAT](INFO): DAT read: 22:22:31.3046 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500, 0.47, 0.910,-0.802, 0.917, 0.709, PHS= 0.303,-1.466, 0.164, RAW= 145.9,  11.7, CAL= 145.6,  12.8, ROT=   4.4, -12.8

2025-10-26T22:22:32.493Z,1761517352.493 [DAT](INFO): got valid direction response:
 22:22:31.3046 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500, 0.47, 0.910,-0.802, 0.917, 0.709, PHS= 0.303,-1.466, 0.164, RAW= 145.9,  11.7, CAL= 145.6,  12.8, ROT=   4.4, -12.8

2025-10-26T22:22:32.494Z,1761517352.494 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-10-26T22:22:32.496Z,1761517352.496 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:22:32.518Z,1761517352.518 [DAT](INFO): direction in FSK: [0.972275,0.074813,0.221548]
2025-10-26T22:22:32.519Z,1761517352.519 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:32.533Z,1761517352.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-10-26T22:22:32.553Z,1761517352.553 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.090548
2025-10-26T22:22:32.555Z,1761517352.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.073280 m,
      nav range: 20.270006 m,
      bearing: 164.723029 deg,
      approach rate: -0.448785 m/s,
      LOS rate: -0.162430 deg/s,
      cmd heading: 157.703440 deg,
      new cmd heading: 157.501498 deg.

2025-10-26T22:22:32.560Z,1761517352.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.748920 target range: 21.073280 and range: 21.20 m.
2025-10-26T22:22:32.725Z,1761517352.725 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.262875
2025-10-26T22:22:32.857Z,1761517352.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921108,-0.386892,-0.043296],[0.388969,-0.909970,-0.143730],[0.016209,-0.149232,0.988669]]
2025-10-26T22:22:32.977Z,1761517352.977 [DAT](INFO): DAT read: Rx Time:22:22:31.8044 

2025-10-26T22:22:32.978Z,1761517352.978 [DAT](INFO): Rx dataTimestamp_ set to:1761517352.977231
2025-10-26T22:22:32.979Z,1761517352.979 [DAT](INFO): DAT read: Bearing 323.0,   2.8 (Local)

2025-10-26T22:22:32.979Z,1761517352.979 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.0,   2.8 (Local)

2025-10-26T22:22:32.981Z,1761517352.981 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed 0.4

2025-10-26T22:22:32.986Z,1761517352.986 [DAT](INFO): DAT read: 22:22:31.8044 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 499, 0.02, 0.921,-0.772, 0.936, 0.777, PHS= 0.246,-1.504, 0.115, RAW= 146.2,  13.5, CAL= 145.9,  14.7, ROT=   4.1, -14.7

2025-10-26T22:22:32.987Z,1761517352.987 [DAT](INFO): got valid direction response:
 22:22:31.8044 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 499, 0.02, 0.921,-0.772, 0.936, 0.777, PHS= 0.246,-1.504, 0.115, RAW= 146.2,  13.5, CAL= 145.9,  14.7, ROT=   4.1, -14.7

2025-10-26T22:22:32.987Z,1761517352.987 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-10-26T22:22:32.988Z,1761517352.988 [DAT](INFO): direction in FSK: [0.964792,0.069157,0.253758]
2025-10-26T22:22:32.989Z,1761517352.989 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:32.996Z,1761517352.996 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.534018
2025-10-26T22:22:33.015Z,1761517353.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 1.006490 s,
      deltaX: -0.600000 m,
      approachRate: -0.596132 m/s,
      rangeRepo size: 4

2025-10-26T22:22:33.021Z,1761517353.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.476978 m,
      bearing: 163.417458 deg,
      lat: 36.779403 deg,
      lon: -121.859483 deg,
      deltaT: 1.006490 s,
      deltaX: -0.596302 m,
      approachRate: -0.592457 m/s,
      posRepo size: 4

2025-10-26T22:22:33.024Z,1761517353.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.48 m.
2025-10-26T22:22:33.026Z,1761517353.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.476978 m,
      nav range: 19.901962 m,
      bearing: 164.052139 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.162430 deg/s,
      cmd heading: 157.501498 deg,
      new cmd heading: 157.263897 deg.

2025-10-26T22:22:33.028Z,1761517353.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.744773 target range: 20.476978 and range: 20.60 m.
2025-10-26T22:22:33.229Z,1761517353.229 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.766336
2025-10-26T22:22:33.251Z,1761517353.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922133,-0.384471,-0.043036],[0.386608,-0.911673,-0.139238],[0.014298,-0.145034,0.989323]]
2025-10-26T22:22:33.307Z,1761517353.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.48 m.
2025-10-26T22:22:33.314Z,1761517353.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.476978 m,
      nav range: 19.735977 m,
      bearing: 164.027933 deg,
      approach rate: -0.559966 m/s,
      LOS rate: -0.082347 deg/s,
      cmd heading: 157.263904 deg,
      new cmd heading: 157.190675 deg.

2025-10-26T22:22:33.315Z,1761517353.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.743495 target range: 20.476978 and range: 20.60 m.
2025-10-26T22:22:33.481Z,1761517353.481 [DAT](INFO): DAT read: Rx Time:22:22:32.3042 

2025-10-26T22:22:33.482Z,1761517353.482 [DAT](INFO): Rx dataTimestamp_ set to:1761517353.481617
2025-10-26T22:22:33.489Z,1761517353.489 [DAT](INFO): DAT read: Bearing 323.2,   1.9 (Local)

2025-10-26T22:22:33.490Z,1761517353.490 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.2,   1.9 (Local)

2025-10-26T22:22:33.498Z,1761517353.498 [DAT](INFO): DAT read: Range 11 to 50 :    20.3 m (trip time 13.5 ms) speed 0.4

2025-10-26T22:22:33.550Z,1761517353.550 [DAT](INFO): DAT read: 22:22:32.3042 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 497,-0.44,-0.780,-2.463,-0.737,-0.909, PHS= 0.232,-1.509, 0.128, RAW= 147.0,  13.5, CAL= 146.8,  14.8, ROT=   3.2, -14.8

2025-10-26T22:22:33.551Z,1761517353.551 [DAT](INFO): got valid direction response:
 22:22:32.3042 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 497,-0.44,-0.780,-2.463,-0.737,-0.909, PHS= 0.232,-1.509, 0.128, RAW= 147.0,  13.5, CAL= 146.8,  14.8, ROT=   3.2, -14.8

2025-10-26T22:22:33.569Z,1761517353.569 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-10-26T22:22:33.570Z,1761517353.570 [DAT](INFO): direction in FSK: [0.965316,0.053970,0.255446]
2025-10-26T22:22:33.570Z,1761517353.570 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:33.582Z,1761517353.582 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.119690
2025-10-26T22:22:33.655Z,1761517353.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923224,-0.381648,-0.044749],[0.384061,-0.912693,-0.139602],[0.012436,-0.146070,0.989196]]
2025-10-26T22:22:33.708Z,1761517353.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.299999 m,
      deltaT: 0.504386 s,
      deltaX: -0.300001 m,
      approachRate: -0.594785 m/s,
      rangeRepo size: 4

2025-10-26T22:22:33.712Z,1761517353.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.178770 m,
      bearing: 162.798075 deg,
      lat: 36.779403 deg,
      lon: -121.859481 deg,
      deltaT: 0.504386 s,
      deltaX: -0.298208 m,
      approachRate: -0.591230 m/s,
      posRepo size: 4

2025-10-26T22:22:33.713Z,1761517353.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.18 m.
2025-10-26T22:22:33.733Z,1761517353.733 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.270334
2025-10-26T22:22:33.735Z,1761517353.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.178770 m,
      nav range: 19.559635 m,
      bearing: 163.556216 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.082347 deg/s,
      cmd heading: 157.190670 deg,
      new cmd heading: 157.091923 deg.

2025-10-26T22:22:33.740Z,1761517353.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.741771 target range: 20.178770 and range: 20.30 m.
2025-10-26T22:22:33.985Z,1761517353.985 [DAT](INFO): DAT read: Rx Time:22:22:32.8041 

2025-10-26T22:22:33.986Z,1761517353.986 [DAT](INFO): Rx dataTimestamp_ set to:1761517353.985224
2025-10-26T22:22:33.987Z,1761517353.987 [DAT](INFO): DAT read: Bearing 311.0,   3.4 (Local)

2025-10-26T22:22:33.987Z,1761517353.987 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.0,   3.4 (Local)

2025-10-26T22:22:33.989Z,1761517353.989 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed 0.4

2025-10-26T22:22:33.994Z,1761517353.994 [DAT](INFO): DAT read: 22:22:32.8041 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 512,-0.05, 1.853,-0.357, 1.905, 1.255, PHS= 0.699,-1.567, 0.606, RAW= 147.9,   2.4, CAL= 147.1,   2.4, ROT=   2.9,  -2.4

2025-10-26T22:22:33.995Z,1761517353.995 [DAT](INFO): got valid direction response:
 22:22:32.8041 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 512,-0.05, 1.853,-0.357, 1.905, 1.255, PHS= 0.699,-1.567, 0.606, RAW= 147.9,   2.4, CAL= 147.1,   2.4, ROT=   2.9,  -2.4

2025-10-26T22:22:33.995Z,1761517353.995 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-10-26T22:22:33.996Z,1761517353.996 [DAT](INFO): direction in FSK: [0.997843,0.050549,0.041876]
2025-10-26T22:22:33.997Z,1761517353.997 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:34.001Z,1761517354.001 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.538540
2025-10-26T22:22:34.059Z,1761517354.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924441,-0.378557,-0.045865],[0.381161,-0.913809,-0.140248],[0.011180,-0.147133,0.989053]]
2025-10-26T22:22:34.119Z,1761517354.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.503607 s,
      deltaX: -0.199999 m,
      approachRate: -0.397133 m/s,
      rangeRepo size: 4

2025-10-26T22:22:34.125Z,1761517354.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.980070 m,
      bearing: 160.815615 deg,
      lat: 36.779403 deg,
      lon: -121.859481 deg,
      deltaT: 0.503607 s,
      deltaX: -0.198700 m,
      approachRate: -0.394554 m/s,
      posRepo size: 4

2025-10-26T22:22:34.126Z,1761517354.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.98 m.
2025-10-26T22:22:34.133Z,1761517354.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.980070 m,
      nav range: 19.346846 m,
      bearing: 163.482723 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.082347 deg/s,
      cmd heading: 157.091919 deg,
      new cmd heading: 156.990339 deg.

2025-10-26T22:22:34.134Z,1761517354.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.739998 target range: 19.980070 and range: 20.10 m.
2025-10-26T22:22:34.237Z,1761517354.237 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.774862
2025-10-26T22:22:34.460Z,1761517354.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925510,-0.375712,-0.047672],[0.378595,-0.914555,-0.142320],[0.009872,-0.149767,0.988672]]
2025-10-26T22:22:34.489Z,1761517354.489 [DAT](INFO): DAT read: Rx Time:22:22:33.3039 

2025-10-26T22:22:34.489Z,1761517354.489 [DAT](INFO): Rx dataTimestamp_ set to:1761517354.489170
2025-10-26T22:22:34.491Z,1761517354.491 [DAT](INFO): DAT read: Bearing 320.9,   1.1 (Local)

2025-10-26T22:22:34.491Z,1761517354.491 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.9,   1.1 (Local)

2025-10-26T22:22:34.493Z,1761517354.493 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.4

2025-10-26T22:22:34.502Z,1761517354.502 [DAT](INFO): DAT read: 22:22:33.3039 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 509, 0.18, 2.943, 1.255, 3.017, 2.762, PHS= 0.282,-1.462, 0.211, RAW= 147.9,  11.3, CAL= 147.7,  12.4, ROT=   2.3, -12.4

2025-10-26T22:22:34.507Z,1761517354.507 [DAT](INFO): got valid direction response:
 22:22:33.3039 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 509, 0.18, 2.943, 1.255, 3.017, 2.762, PHS= 0.282,-1.462, 0.211, RAW= 147.9,  11.3, CAL= 147.7,  12.4, ROT=   2.3, -12.4

2025-10-26T22:22:34.508Z,1761517354.508 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-10-26T22:22:34.509Z,1761517354.509 [DAT](INFO): direction in FSK: [0.975885,0.039196,0.214735]
2025-10-26T22:22:34.509Z,1761517354.509 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:34.569Z,1761517354.569 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.105921
2025-10-26T22:22:34.741Z,1761517354.741 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.278255
2025-10-26T22:22:34.765Z,1761517354.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.503946 s,
      deltaX: -0.400000 m,
      approachRate: -0.793735 m/s,
      rangeRepo size: 4

2025-10-26T22:22:34.776Z,1761517354.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.582457 m,
      bearing: 161.917273 deg,
      lat: 36.779403 deg,
      lon: -121.859479 deg,
      deltaT: 0.503946 s,
      deltaX: -0.397614 m,
      approachRate: -0.789000 m/s,
      posRepo size: 4

2025-10-26T22:22:34.777Z,1761517354.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.58 m.
2025-10-26T22:22:34.786Z,1761517354.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.582457 m,
      nav range: 19.011108 m,
      bearing: 162.949886 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.082347 deg/s,
      cmd heading: 156.990341 deg,
      new cmd heading: 156.832136 deg.

2025-10-26T22:22:34.792Z,1761517354.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.737237 target range: 19.582457 and range: 19.70 m.
2025-10-26T22:22:34.993Z,1761517354.993 [DAT](INFO): DAT read: Rx Time:22:22:33.8039 

2025-10-26T22:22:34.993Z,1761517354.993 [DAT](INFO): Rx dataTimestamp_ set to:1761517354.993190
2025-10-26T22:22:34.995Z,1761517354.995 [DAT](INFO): DAT read: Bearing 318.0,   1.7 (Local)

2025-10-26T22:22:34.995Z,1761517354.995 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.0,   1.7 (Local)

2025-10-26T22:22:34.997Z,1761517354.997 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.4

2025-10-26T22:22:35.002Z,1761517355.002 [DAT](INFO): DAT read: 22:22:33.8039 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 509,-0.44, 2.607, 0.941, 2.681, 2.350, PHS= 0.359,-1.364, 0.287, RAW= 147.9,   8.6, CAL= 147.4,   9.3, ROT=   2.6,  -9.3

2025-10-26T22:22:35.003Z,1761517355.003 [DAT](INFO): got valid direction response:
 22:22:33.8039 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 509,-0.44, 2.607, 0.941, 2.681, 2.350, PHS= 0.359,-1.364, 0.287, RAW= 147.9,   8.6, CAL= 147.4,   9.3, ROT=   2.6,  -9.3

2025-10-26T22:22:35.004Z,1761517355.004 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-26T22:22:35.004Z,1761517355.004 [DAT](INFO): direction in FSK: [0.985840,0.044767,0.161604]
2025-10-26T22:22:35.005Z,1761517355.005 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:35.008Z,1761517355.008 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.545868
2025-10-26T22:22:35.136Z,1761517355.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926587,-0.372648,-0.050704],[0.375984,-0.914825,-0.147415],[0.008549,-0.155657,0.987774]]
2025-10-26T22:22:35.257Z,1761517355.257 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.794418
2025-10-26T22:22:35.264Z,1761517355.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.504020 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:22:35.272Z,1761517355.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.582422 m,
      bearing: 161.944917 deg,
      lat: 36.779403 deg,
      lon: -121.859474 deg,
      deltaT: 0.504020 s,
      deltaX: -0.000034 m,
      approachRate: -0.000068 m/s,
      posRepo size: 4

2025-10-26T22:22:35.273Z,1761517355.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.58 m.
2025-10-26T22:22:35.282Z,1761517355.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.582422 m,
      nav range: 18.826811 m,
      bearing: 161.939308 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.082347 deg/s,
      cmd heading: 156.832140 deg,
      new cmd heading: 156.712900 deg.

2025-10-26T22:22:35.288Z,1761517355.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.735156 target range: 19.582422 and range: 19.70 m.
2025-10-26T22:22:35.501Z,1761517355.501 [DAT](INFO): DAT read: Rx Time:22:22:34.3036 

2025-10-26T22:22:35.502Z,1761517355.502 [DAT](INFO): Rx dataTimestamp_ set to:1761517355.501246
2025-10-26T22:22:35.503Z,1761517355.503 [DAT](INFO): DAT read: Bearing 320.7,   0.1 (Local)

2025-10-26T22:22:35.503Z,1761517355.503 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.7,   0.1 (Local)

2025-10-26T22:22:35.505Z,1761517355.505 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed 0.4

2025-10-26T22:22:35.512Z,1761517355.512 [DAT](INFO): DAT read: 22:22:34.3036 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506,-0.19,-3.125, 1.456,-3.027, 2.977, PHS= 0.283,-1.475, 0.236, RAW= 148.6,  11.0, CAL= 148.4,  12.1, ROT=   1.6, -12.1

2025-10-26T22:22:35.516Z,1761517355.516 [DAT](INFO): got valid direction response:
 22:22:34.3036 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506,-0.19,-3.125, 1.456,-3.027, 2.977, PHS= 0.283,-1.475, 0.236, RAW= 148.6,  11.0, CAL= 148.4,  12.1, ROT=   1.6, -12.1

2025-10-26T22:22:35.517Z,1761517355.517 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-26T22:22:35.565Z,1761517355.565 [DAT](INFO): direction in FSK: [0.977402,0.027301,0.209619]
2025-10-26T22:22:35.566Z,1761517355.566 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:35.582Z,1761517355.582 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.119370
2025-10-26T22:22:35.614Z,1761517355.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927411,-0.370198,-0.053495],[0.373975,-0.914979,-0.151516],[0.007144,-0.160523,0.987006]]
2025-10-26T22:22:35.749Z,1761517355.749 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.286053
2025-10-26T22:22:35.789Z,1761517355.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.508056 s,
      deltaX: -0.500000 m,
      approachRate: -0.984143 m/s,
      rangeRepo size: 4

2025-10-26T22:22:35.791Z,1761517355.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.085407 m,
      bearing: 161.591451 deg,
      lat: 36.779402 deg,
      lon: -121.859473 deg,
      deltaT: 0.508056 s,
      deltaX: -0.497015 m,
      approachRate: -0.978268 m/s,
      posRepo size: 4

2025-10-26T22:22:35.800Z,1761517355.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.09 m.
2025-10-26T22:22:35.802Z,1761517355.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.085407 m,
      nav range: 18.661898 m,
      bearing: 161.591413 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.082347 deg/s,
      cmd heading: 156.712899 deg,
      new cmd heading: 156.577718 deg.

2025-10-26T22:22:35.808Z,1761517355.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.732797 target range: 19.085407 and range: 19.20 m.
2025-10-26T22:22:36.001Z,1761517356.001 [DAT](INFO): DAT read: Rx Time:22:22:34.8035 

2025-10-26T22:22:36.001Z,1761517356.001 [DAT](INFO): Rx dataTimestamp_ set to:1761517356.001080
2025-10-26T22:22:36.003Z,1761517356.003 [DAT](INFO): DAT read: Bearing 320.2,   0.2 (Local)

2025-10-26T22:22:36.003Z,1761517356.003 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.2,   0.2 (Local)

2025-10-26T22:22:36.005Z,1761517356.005 [DAT](INFO): DAT read: Range 11 to 50 :    19.1 m (trip time 12.7 ms) speed 0.4

2025-10-26T22:22:36.009Z,1761517356.009 [DAT](INFO): DAT read: 22:22:34.8035 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505, 0.00,-0.676,-2.388,-0.585,-0.878, PHS= 0.304,-1.465, 0.249, RAW= 148.4,CAL= 148.1,  11.4, ROT=   1.9, -11.4

2025-10-26T22:22:36.011Z,1761517356.011 [DAT](INFO): unknown deviceResponse_: 22:22:34.8035 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505, 0.00,-0.676,-2.388,-0.585,-0.878, PHS= 0.304,-1.465, 0.249, RAW= 148.4,CAL= 148.1,  11.4, ROT=   1.9, -11.4

2025-10-26T22:22:36.011Z,1761517356.011 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-10-26T22:22:36.012Z,1761517356.012 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.549440
2025-10-26T22:22:36.110Z,1761517356.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928760,-0.366078,-0.058232],[0.370662,-0.915599,-0.155847],[0.003735,-0.166329,0.986063]]
2025-10-26T22:22:36.163Z,1761517356.163 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:22:36.166Z,1761517356.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.100000 m,
      deltaT: 0.499834 s,
      deltaX: -0.100000 m,
      approachRate: -0.200067 m/s,
      rangeRepo size: 4

2025-10-26T22:22:36.166Z,1761517356.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.09 m.
2025-10-26T22:22:36.169Z,1761517356.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.085407 m,
      nav range: 18.423822 m,
      bearing: 161.585073 deg,
      approach rate: -0.631591 m/s,
      LOS rate: -0.017038 deg/s,
      cmd heading: 156.577715 deg,
      new cmd heading: 156.558449 deg.

2025-10-26T22:22:36.170Z,1761517356.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.732460 target range: 19.085407 and range: 19.10 m.
2025-10-26T22:22:36.254Z,1761517356.254 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.791237
2025-10-26T22:22:36.486Z,1761517356.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928965,-0.365178,-0.060580],[0.370163,-0.915524,-0.157467],[0.002041,-0.168705,0.985664]]
2025-10-26T22:22:36.505Z,1761517356.505 [DAT](INFO): DAT read: Rx Time:22:22:35.3032 

2025-10-26T22:22:36.505Z,1761517356.505 [DAT](INFO): Rx dataTimestamp_ set to:1761517356.505062
2025-10-26T22:22:36.507Z,1761517356.507 [DAT](INFO): DAT read: Bearing 317.7,   1.0 (Local)

2025-10-26T22:22:36.507Z,1761517356.507 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.7,   1.0 (Local)

2025-10-26T22:22:36.509Z,1761517356.509 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.5

2025-10-26T22:22:36.514Z,1761517356.514 [DAT](INFO): DAT read: 22:22:35.3032 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 502, 0.17,-0.407,-2.124,-0.327,-0.682, PHS= 0.377,-1.396, 0.311, RAW= 148.1,   8.2, CAL= 147.7,   8.8, ROT=   2.3,  -8.8

2025-10-26T22:22:36.515Z,1761517356.515 [DAT](INFO): got valid direction response:
 22:22:35.3032 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 502, 0.17,-0.407,-2.124,-0.327,-0.682, PHS= 0.377,-1.396, 0.311, RAW= 148.1,   8.2, CAL= 147.7,   8.8, ROT=   2.3,  -8.8

2025-10-26T22:22:36.515Z,1761517356.515 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-10-26T22:22:36.516Z,1761517356.516 [DAT](INFO): direction in FSK: [0.987432,0.039659,0.152986]
2025-10-26T22:22:36.516Z,1761517356.516 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:36.520Z,1761517356.520 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.057419
2025-10-26T22:22:36.644Z,1761517356.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.503982 s,
      deltaX: -0.300001 m,
      approachRate: -0.595262 m/s,
      rangeRepo size: 4

2025-10-26T22:22:36.646Z,1761517356.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.687817 m,
      bearing: 162.035862 deg,
      lat: 36.779400 deg,
      lon: -121.859473 deg,
      deltaT: 1.003816 s,
      deltaX: -0.397591 m,
      approachRate: -0.396079 m/s,
      posRepo size: 4

2025-10-26T22:22:36.646Z,1761517356.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m.
2025-10-26T22:22:36.653Z,1761517356.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.687817 m,
      nav range: 18.416639 m,
      bearing: 161.822186 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017038 deg/s,
      cmd heading: 156.558454 deg,
      new cmd heading: 156.534240 deg.

2025-10-26T22:22:36.654Z,1761517356.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.732038 target range: 18.687817 and range: 18.80 m.
2025-10-26T22:22:36.758Z,1761517356.758 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.295486
2025-10-26T22:22:36.967Z,1761517356.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928544,-0.365764,-0.063425],[0.371222,-0.914824,-0.159034],[0.000146,-0.171215,0.985234]]
2025-10-26T22:22:37.009Z,1761517357.009 [DAT](INFO): DAT read: Rx Time:22:22:35.8030 

2025-10-26T22:22:37.010Z,1761517357.010 [DAT](INFO): Rx dataTimestamp_ set to:1761517357.009220
2025-10-26T22:22:37.011Z,1761517357.011 [DAT](INFO): DAT read: Bearing 316.2,   0.3 (Local)

2025-10-26T22:22:37.011Z,1761517357.011 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.2,   0.3 (Local)

2025-10-26T22:22:37.013Z,1761517357.013 [DAT](INFO): DAT read: Range 11 to 50 :    18.5 m (trip time 12.3 ms) speed 0.4

2025-10-26T22:22:37.018Z,1761517357.018 [DAT](INFO): DAT read: 22:22:35.8030 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.39,-1.046,-2.776,-0.937,-1.350, PHS= 0.406,-1.382, 0.369, RAW= 149.0,   6.9, CAL= 148.4,   7.4, ROT=   1.6,  -7.4

2025-10-26T22:22:37.019Z,1761517357.019 [DAT](INFO): got valid direction response:
 22:22:35.8030 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.39,-1.046,-2.776,-0.937,-1.350, PHS= 0.406,-1.382, 0.369, RAW= 149.0,   6.9, CAL= 148.4,   7.4, ROT=   1.6,  -7.4

2025-10-26T22:22:37.019Z,1761517357.019 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-10-26T22:22:37.020Z,1761517357.020 [DAT](INFO): direction in FSK: [0.991285,0.027689,0.128796]
2025-10-26T22:22:37.021Z,1761517357.021 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:37.029Z,1761517357.029 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.566406
2025-10-26T22:22:37.034Z,1761517357.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.500000 m,
      deltaT: 0.504158 s,
      deltaX: -0.299999 m,
      approachRate: -0.595050 m/s,
      rangeRepo size: 4

2025-10-26T22:22:37.057Z,1761517357.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.389654 m,
      bearing: 161.058061 deg,
      lat: 36.779400 deg,
      lon: -121.859473 deg,
      deltaT: 0.504158 s,
      deltaX: -0.298162 m,
      approachRate: -0.591407 m/s,
      posRepo size: 4

2025-10-26T22:22:37.058Z,1761517357.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.39 m.
2025-10-26T22:22:37.060Z,1761517357.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.389654 m,
      nav range: 18.172409 m,
      bearing: 161.799682 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017038 deg/s,
      cmd heading: 156.534234 deg,
      new cmd heading: 156.514048 deg.

2025-10-26T22:22:37.061Z,1761517357.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.731685 target range: 18.389654 and range: 18.50 m.
2025-10-26T22:22:37.264Z,1761517357.264 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.801498
2025-10-26T22:22:37.390Z,1761517357.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928057,-0.366607,-0.065647],[0.372434,-0.914390,-0.158696],[-0.001848,-0.171728,0.985143]]
2025-10-26T22:22:37.451Z,1761517357.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.39 m.
2025-10-26T22:22:37.458Z,1761517357.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.389654 m,
      nav range: 17.927961 m,
      bearing: 161.780611 deg,
      approach rate: -0.586543 m/s,
      LOS rate: -0.046385 deg/s,
      cmd heading: 156.514044 deg,
      new cmd heading: 156.456051 deg.

2025-10-26T22:22:37.463Z,1761517357.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.730673 target range: 18.389654 and range: 18.50 m.
2025-10-26T22:22:37.514Z,1761517357.514 [DAT](INFO): DAT read: Rx Time:22:22:36.3028 

2025-10-26T22:22:37.515Z,1761517357.515 [DAT](INFO): Rx dataTimestamp_ set to:1761517357.514381
2025-10-26T22:22:37.516Z,1761517357.516 [DAT](INFO): DAT read: Bearing 316.3,  -0.0 (Local)

2025-10-26T22:22:37.516Z,1761517357.516 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.3,  -0.0 (Local)

2025-10-26T22:22:37.518Z,1761517357.518 [DAT](INFO): DAT read: Range 11 to 50 :    18.2 m (trip time 12.1 ms) speed 0.4

2025-10-26T22:22:37.524Z,1761517357.524 [DAT](INFO): DAT read: 22:22:36.3028 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 498,-0.37, 2.357, 0.600, 2.470, 2.053, PHS= 0.406,-1.408, 0.373, RAW= 149.1,   7.1, CAL= 148.5,   7.5, ROT=   1.5,  -7.5

2025-10-26T22:22:37.525Z,1761517357.525 [DAT](INFO): got valid direction response:
 22:22:36.3028 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 498,-0.37, 2.357, 0.600, 2.470, 2.053, PHS= 0.406,-1.408, 0.373, RAW= 149.1,   7.1, CAL= 148.5,   7.5, ROT=   1.5,  -7.5

2025-10-26T22:22:37.526Z,1761517357.526 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-26T22:22:37.532Z,1761517357.532 [DAT](INFO): direction in FSK: [0.991105,0.025953,0.130526]
2025-10-26T22:22:37.533Z,1761517357.533 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:37.598Z,1761517357.598 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.135414
2025-10-26T22:22:37.765Z,1761517357.765 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.303009
2025-10-26T22:22:37.799Z,1761517357.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927117,-0.368590,-0.067795],[0.374753,-0.913601,-0.157777],[-0.003782,-0.171684,0.985145]]
2025-10-26T22:22:37.874Z,1761517357.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.200001 m,
      deltaT: 0.505161 s,
      deltaX: -0.299999 m,
      approachRate: -0.593869 m/s,
      rangeRepo size: 4

2025-10-26T22:22:37.945Z,1761517357.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.091446 m,
      bearing: 160.760860 deg,
      lat: 36.779399 deg,
      lon: -121.859473 deg,
      deltaT: 0.505161 s,
      deltaX: -0.298208 m,
      approachRate: -0.590323 m/s,
      posRepo size: 4

2025-10-26T22:22:37.945Z,1761517357.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.09 m.
2025-10-26T22:22:37.953Z,1761517357.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.091446 m,
      nav range: 17.794687 m,
      bearing: 161.781974 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.046385 deg/s,
      cmd heading: 156.456056 deg,
      new cmd heading: 156.398160 deg.

2025-10-26T22:22:37.954Z,1761517357.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.729663 target range: 18.091446 and range: 18.20 m.
2025-10-26T22:22:38.018Z,1761517358.018 [DAT](INFO): DAT read: Rx Time:22:22:36.8027 

2025-10-26T22:22:38.019Z,1761517358.019 [DAT](INFO): Rx dataTimestamp_ set to:1761517358.018257
2025-10-26T22:22:38.021Z,1761517358.021 [DAT](INFO): DAT read: Bearing 319.4,  -0.5 (Local)

2025-10-26T22:22:38.022Z,1761517358.022 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.4,  -0.5 (Local)

2025-10-26T22:22:38.024Z,1761517358.024 [DAT](INFO): DAT read: Range 11 to 50 :    18.0 m (trip time 12.0 ms) speed 0.5

2025-10-26T22:22:38.030Z,1761517358.030 [DAT](INFO): DAT read: 22:22:36.8027 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 497,-0.22,-2.301, 2.264,-2.203,-2.522, PHS= 0.323,-1.452, 0.276, RAW= 148.7,   9.8, CAL= 148.3,  10.6, ROT=   1.7, -10.6

2025-10-26T22:22:38.031Z,1761517358.031 [DAT](INFO): got valid direction response:
 22:22:36.8027 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 497,-0.22,-2.301, 2.264,-2.203,-2.522, PHS= 0.323,-1.452, 0.276, RAW= 148.7,   9.8, CAL= 148.3,  10.6, ROT=   1.7, -10.6

2025-10-26T22:22:38.031Z,1761517358.031 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-10-26T22:22:38.037Z,1761517358.037 [DAT](INFO): direction in FSK: [0.982503,0.029160,0.183951]
2025-10-26T22:22:38.037Z,1761517358.037 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:38.066Z,1761517358.066 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.603054
2025-10-26T22:22:38.207Z,1761517358.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925835,-0.371285,-0.070544],[0.377878,-0.912450,-0.156980],[-0.006084,-0.171995,0.985079]]
2025-10-26T22:22:38.243Z,1761517358.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 0.503876 s,
      deltaX: -0.200001 m,
      approachRate: -0.396925 m/s,
      rangeRepo size: 4

2025-10-26T22:22:38.260Z,1761517358.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.892637 m,
      bearing: 161.309323 deg,
      lat: 36.779399 deg,
      lon: -121.859471 deg,
      deltaT: 0.503876 s,
      deltaX: -0.198809 m,
      approachRate: -0.394559 m/s,
      posRepo size: 4

2025-10-26T22:22:38.261Z,1761517358.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-10-26T22:22:38.269Z,1761517358.269 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.806568
2025-10-26T22:22:38.278Z,1761517358.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.892637 m,
      nav range: 17.626093 m,
      bearing: 161.303303 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.046385 deg/s,
      cmd heading: 156.398163 deg,
      new cmd heading: 156.345903 deg.

2025-10-26T22:22:38.297Z,1761517358.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.728751 target range: 17.892637 and range: 18.00 m.
2025-10-26T22:22:38.522Z,1761517358.522 [DAT](INFO): DAT read: Rx Time:22:22:37.3024 

2025-10-26T22:22:38.523Z,1761517358.523 [DAT](INFO): Rx dataTimestamp_ set to:1761517358.522367
2025-10-26T22:22:38.525Z,1761517358.525 [DAT](INFO): DAT read: Bearing 323.3,   0.3 (Local)

2025-10-26T22:22:38.525Z,1761517358.525 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.3,   0.3 (Local)

2025-10-26T22:22:38.527Z,1761517358.527 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed 0.4

2025-10-26T22:22:38.532Z,1761517358.532 [DAT](INFO): DAT read: 22:22:37.3024 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 510, 0.11, 2.208, 0.568, 2.250, 2.071, PHS= 0.239,-1.459, 0.134, RAW= 146.8,  13.1, CAL= 146.6,  14.4, ROT=   3.4, -14.4

2025-10-26T22:22:38.533Z,1761517358.533 [DAT](INFO): got valid direction response:
 22:22:37.3024 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 510, 0.11, 2.208, 0.568, 2.250, 2.071, PHS= 0.239,-1.459, 0.134, RAW= 146.8,  13.1, CAL= 146.6,  14.4, ROT=   3.4, -14.4

2025-10-26T22:22:38.533Z,1761517358.533 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-26T22:22:38.534Z,1761517358.534 [DAT](INFO): direction in FSK: [0.966878,0.057443,0.248690]
2025-10-26T22:22:38.535Z,1761517358.535 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:38.538Z,1761517358.538 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.075737
2025-10-26T22:22:38.669Z,1761517358.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924535,-0.373660,-0.074920],[0.381006,-0.910572,-0.160289],[-0.008327,-0.176738,0.984223]]
2025-10-26T22:22:38.774Z,1761517358.774 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.311420
2025-10-26T22:22:38.792Z,1761517358.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.504110 s,
      deltaX: -0.400000 m,
      approachRate: -0.793477 m/s,
      rangeRepo size: 4

2025-10-26T22:22:38.794Z,1761517358.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.495024 m,
      bearing: 163.525286 deg,
      lat: 36.779399 deg,
      lon: -121.859471 deg,
      deltaT: 0.504110 s,
      deltaX: -0.397614 m,
      approachRate: -0.788744 m/s,
      posRepo size: 4

2025-10-26T22:22:38.794Z,1761517358.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-10-26T22:22:38.799Z,1761517358.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.495024 m,
      nav range: 17.363644 m,
      bearing: 161.153223 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.046385 deg/s,
      cmd heading: 156.345899 deg,
      new cmd heading: 156.270118 deg.

2025-10-26T22:22:38.812Z,1761517358.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.727428 target range: 17.495024 and range: 17.60 m.
2025-10-26T22:22:39.025Z,1761517359.025 [DAT](INFO): DAT read: Rx Time:22:22:37.8024 

2025-10-26T22:22:39.026Z,1761517359.026 [DAT](INFO): Rx dataTimestamp_ set to:1761517359.025957
2025-10-26T22:22:39.029Z,1761517359.029 [DAT](INFO): DAT read: Bearing 320.2,   0.6 (Local)

2025-10-26T22:22:39.030Z,1761517359.030 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.2,   0.6 (Local)

2025-10-26T22:22:39.033Z,1761517359.033 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed 0.4

2025-10-26T22:22:39.038Z,1761517359.038 [DAT](INFO): DAT read: 22:22:37.8024 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 510,-0.19,-3.107, 1.469,-3.064, 2.953, PHS= 0.325,-1.439, 0.222, RAW= 147.0,  10.4, CAL= 146.7,  11.4, ROT=   3.3, -11.4

2025-10-26T22:22:39.039Z,1761517359.039 [DAT](INFO): got valid direction response:
 22:22:37.8024 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 510,-0.19,-3.107, 1.469,-3.064, 2.953, PHS= 0.325,-1.439, 0.222, RAW= 147.0,  10.4, CAL= 146.7,  11.4, ROT=   3.3, -11.4

2025-10-26T22:22:39.039Z,1761517359.039 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-10-26T22:22:39.040Z,1761517359.040 [DAT](INFO): direction in FSK: [0.978646,0.056428,0.197657]
2025-10-26T22:22:39.041Z,1761517359.041 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:39.056Z,1761517359.056 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.593094
2025-10-26T22:22:39.131Z,1761517359.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923301,-0.376019,-0.078255],[0.383940,-0.909041,-0.161970],[-0.010233,-0.179592,0.983688]]
2025-10-26T22:22:39.188Z,1761517359.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.503590 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:22:39.190Z,1761517359.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.494997 m,
      bearing: 162.723946 deg,
      lat: 36.779399 deg,
      lon: -121.859471 deg,
      deltaT: 0.503590 s,
      deltaX: -0.000027 m,
      approachRate: -0.000053 m/s,
      posRepo size: 4

2025-10-26T22:22:39.191Z,1761517359.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-10-26T22:22:39.198Z,1761517359.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.494997 m,
      nav range: 17.162975 m,
      bearing: 161.040794 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.046385 deg/s,
      cmd heading: 156.270111 deg,
      new cmd heading: 156.214950 deg.

2025-10-26T22:22:39.198Z,1761517359.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.726465 target range: 17.494997 and range: 17.60 m.
2025-10-26T22:22:39.277Z,1761517359.277 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.814835
2025-10-26T22:22:39.518Z,1761517359.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921902,-0.378826,-0.081158],[0.387225,-0.907668,-0.161849],[-0.012352,-0.180636,0.983473]]
2025-10-26T22:22:39.529Z,1761517359.529 [DAT](INFO): DAT read: Rx Time:22:22:38.3021 

2025-10-26T22:22:39.530Z,1761517359.530 [DAT](INFO): Rx dataTimestamp_ set to:1761517359.529296
2025-10-26T22:22:39.531Z,1761517359.531 [DAT](INFO): DAT read: Bearing 321.9,   0.2 (Local)

2025-10-26T22:22:39.531Z,1761517359.531 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.9,   0.2 (Local)

2025-10-26T22:22:39.533Z,1761517359.533 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed 0.6

2025-10-26T22:22:39.538Z,1761517359.538 [DAT](INFO): DAT read: 22:22:38.3021 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 507, 0.00,-3.109, 1.516,-3.069, 3.005, PHS= 0.271,-1.445, 0.165, RAW= 146.8,  12.1, CAL= 146.6,  13.3, ROT=   3.4, -13.3

2025-10-26T22:22:39.539Z,1761517359.539 [DAT](INFO): got valid direction response:
 22:22:38.3021 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 507, 0.00,-3.109, 1.516,-3.069, 3.005, PHS= 0.271,-1.445, 0.165, RAW= 146.8,  12.1, CAL= 146.6,  13.3, ROT=   3.4, -13.3

2025-10-26T22:22:39.540Z,1761517359.540 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-10-26T22:22:39.540Z,1761517359.540 [DAT](INFO): direction in FSK: [0.971466,0.057716,0.230050]
2025-10-26T22:22:39.541Z,1761517359.541 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:39.597Z,1761517359.597 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.133526
2025-10-26T22:22:39.663Z,1761517359.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.503339 s,
      deltaX: -0.500000 m,
      approachRate: -0.993366 m/s,
      rangeRepo size: 4

2025-10-26T22:22:39.666Z,1761517359.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.997980 m,
      bearing: 162.980308 deg,
      lat: 36.779399 deg,
      lon: -121.859476 deg,
      deltaT: 0.503339 s,
      deltaX: -0.497017 m,
      approachRate: -0.987440 m/s,
      posRepo size: 4

2025-10-26T22:22:39.667Z,1761517359.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.00 m.
2025-10-26T22:22:39.674Z,1761517359.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.997980 m,
      nav range: 16.813606 m,
      bearing: 162.404663 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.046385 deg/s,
      cmd heading: 156.214950 deg,
      new cmd heading: 156.148329 deg.

2025-10-26T22:22:39.675Z,1761517359.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.725302 target range: 16.997980 and range: 17.10 m.
2025-10-26T22:22:39.781Z,1761517359.781 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.318054
2025-10-26T22:22:39.996Z,1761517359.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920493,-0.381619,-0.084019],[0.390496,-0.906248,-0.161947],[-0.014340,-0.181881,0.983216]]
2025-10-26T22:22:40.033Z,1761517360.033 [DAT](INFO): DAT read: Rx Time:22:22:38.8020 

2025-10-26T22:22:40.034Z,1761517360.034 [DAT](INFO): Rx dataTimestamp_ set to:1761517360.033510
2025-10-26T22:22:40.035Z,1761517360.035 [DAT](INFO): DAT read: Bearing 321.7,   0.0 (Local)

2025-10-26T22:22:40.036Z,1761517360.036 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.7,   0.0 (Local)

2025-10-26T22:22:40.038Z,1761517360.038 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed 0.4

2025-10-26T22:22:40.042Z,1761517360.042 [DAT](INFO): DAT read: 22:22:38.8020 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 506, 0.01, 1.112,-0.559, 1.154, 0.939, PHS= 0.276,-1.453, 0.172, RAW= 146.9,  12.0, CAL= 146.6,  13.1, ROT=   3.4, -13.1

2025-10-26T22:22:40.044Z,1761517360.044 [DAT](INFO): got valid direction response:
 22:22:38.8020 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 506, 0.01, 1.112,-0.559, 1.154, 0.939, PHS= 0.276,-1.453, 0.172, RAW= 146.9,  12.0, CAL= 146.6,  13.1, ROT=   3.4, -13.1

2025-10-26T22:22:40.044Z,1761517360.044 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-10-26T22:22:40.045Z,1761517360.045 [DAT](INFO): direction in FSK: [0.972262,0.057763,0.226651]
2025-10-26T22:22:40.045Z,1761517360.045 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:40.054Z,1761517360.054 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.591251
2025-10-26T22:22:40.092Z,1761517360.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.504214 s,
      deltaX: -0.100000 m,
      approachRate: -0.198329 m/s,
      rangeRepo size: 4

2025-10-26T22:22:40.094Z,1761517360.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.898607 m,
      bearing: 162.752201 deg,
      lat: 36.779399 deg,
      lon: -121.859478 deg,
      deltaT: 0.504214 s,
      deltaX: -0.099373 m,
      approachRate: -0.197085 m/s,
      posRepo size: 4

2025-10-26T22:22:40.094Z,1761517360.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.90 m.
2025-10-26T22:22:40.113Z,1761517360.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.898607 m,
      nav range: 16.533989 m,
      bearing: 162.721291 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.046385 deg/s,
      cmd heading: 156.148329 deg,
      new cmd heading: 156.089239 deg.

2025-10-26T22:22:40.114Z,1761517360.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.724271 target range: 16.898607 and range: 17.00 m.
2025-10-26T22:22:40.285Z,1761517360.285 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.822128
2025-10-26T22:22:40.433Z,1761517360.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919140,-0.384228,-0.086891],[0.393602,-0.904759,-0.162755],[-0.016081,-0.183795,0.982833]]
2025-10-26T22:22:40.457Z,1761517360.457 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:22:40.460Z,1761517360.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.90 m.
2025-10-26T22:22:40.462Z,1761517360.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.898607 m,
      nav range: 16.345461 m,
      bearing: 162.600692 deg,
      approach rate: -0.505659 m/s,
      LOS rate: -0.327193 deg/s,
      cmd heading: 156.089234 deg,
      new cmd heading: 155.723271 deg.

2025-10-26T22:22:40.464Z,1761517360.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.717884 target range: 16.898607 and range: 17.00 m.
2025-10-26T22:22:40.538Z,1761517360.538 [DAT](INFO): DAT read: Rx Time:22:22:39.3017 

2025-10-26T22:22:40.539Z,1761517360.539 [DAT](INFO): Rx dataTimestamp_ set to:1761517360.538129
2025-10-26T22:22:40.541Z,1761517360.541 [DAT](INFO): DAT read: Bearing 319.0,  -0.5 (Local)

2025-10-26T22:22:40.541Z,1761517360.541 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.0,  -0.5 (Local)

2025-10-26T22:22:40.545Z,1761517360.545 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.4

2025-10-26T22:22:40.551Z,1761517360.551 [DAT](INFO): DAT read: 22:22:39.3017 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503,-0.00,-2.900, 1.667,-2.829,-3.133, PHS= 0.335,-1.438, 0.259, RAW= 147.8,   9.8, CAL= 147.5,  10.6, ROT=   2.5, -10.6

2025-10-26T22:22:40.557Z,1761517360.557 [DAT](INFO): got valid direction response:
 22:22:39.3017 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503,-0.00,-2.900, 1.667,-2.829,-3.133, PHS= 0.335,-1.438, 0.259, RAW= 147.8,   9.8, CAL= 147.5,  10.6, ROT=   2.5, -10.6

2025-10-26T22:22:40.558Z,1761517360.558 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-10-26T22:22:40.564Z,1761517360.564 [DAT](INFO): direction in FSK: [0.982000,0.042875,0.183951]
2025-10-26T22:22:40.564Z,1761517360.564 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:40.573Z,1761517360.573 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.109509
2025-10-26T22:22:40.788Z,1761517360.788 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.325855
2025-10-26T22:22:40.804Z,1761517360.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917742,-0.386621,-0.090964],[0.396765,-0.902856,-0.165617],[-0.018096,-0.188085,0.981986]]
2025-10-26T22:22:40.934Z,1761517360.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.504619 s,
      deltaX: -0.500000 m,
      approachRate: -0.990847 m/s,
      rangeRepo size: 4

2025-10-26T22:22:40.948Z,1761517360.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.401636 m,
      bearing: 161.073307 deg,
      lat: 36.779400 deg,
      lon: -121.859478 deg,
      deltaT: 0.504619 s,
      deltaX: -0.496971 m,
      approachRate: -0.984844 m/s,
      posRepo size: 4

2025-10-26T22:22:40.949Z,1761517360.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-10-26T22:22:40.956Z,1761517360.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.401636 m,
      nav range: 16.080029 m,
      bearing: 162.406025 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.327193 deg/s,
      cmd heading: 155.723272 deg,
      new cmd heading: 155.258010 deg.

2025-10-26T22:22:40.957Z,1761517360.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.709764 target range: 16.401636 and range: 16.50 m.
2025-10-26T22:22:41.041Z,1761517361.041 [DAT](INFO): DAT read: Rx Time:22:22:39.8015 

2025-10-26T22:22:41.042Z,1761517361.042 [DAT](INFO): Rx dataTimestamp_ set to:1761517361.041359
2025-10-26T22:22:41.043Z,1761517361.043 [DAT](INFO): DAT read: Bearing 315.7,  -1.1 (Local)

2025-10-26T22:22:41.043Z,1761517361.043 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.7,  -1.1 (Local)

2025-10-26T22:22:41.045Z,1761517361.045 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed 0.4

2025-10-26T22:22:41.050Z,1761517361.050 [DAT](INFO): DAT read: 22:22:39.8015 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 502,-0.42, 1.230,-0.540, 1.345, 0.923, PHS= 0.410,-1.418, 0.378, RAW= 149.1,   7.0, CAL= 148.6,   7.5, ROT=   1.4,  -7.5

2025-10-26T22:22:41.051Z,1761517361.051 [DAT](INFO): got valid direction response:
 22:22:39.8015 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 502,-0.42, 1.230,-0.540, 1.345, 0.923, PHS= 0.410,-1.418, 0.378, RAW= 149.1,   7.0, CAL= 148.6,   7.5, ROT=   1.4,  -7.5

2025-10-26T22:22:41.052Z,1761517361.052 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-10-26T22:22:41.053Z,1761517361.053 [DAT](INFO): direction in FSK: [0.991149,0.024223,0.130526]
2025-10-26T22:22:41.053Z,1761517361.053 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:41.075Z,1761517361.075 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.612167
2025-10-26T22:22:41.223Z,1761517361.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916719,-0.387978,-0.095389],[0.399026,-0.901093,-0.169735],[-0.020101,-0.193662,0.980862]]
2025-10-26T22:22:41.274Z,1761517361.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.503230 s,
      deltaX: -0.299999 m,
      approachRate: -0.596147 m/s,
      rangeRepo size: 4

2025-10-26T22:22:41.278Z,1761517361.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.103426 m,
      bearing: 159.304146 deg,
      lat: 36.779400 deg,
      lon: -121.859476 deg,
      deltaT: 0.503230 s,
      deltaX: -0.298210 m,
      approachRate: -0.592592 m/s,
      posRepo size: 4

2025-10-26T22:22:41.278Z,1761517361.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-10-26T22:22:41.281Z,1761517361.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.103426 m,
      nav range: 15.930862 m,
      bearing: 161.798887 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.327193 deg/s,
      cmd heading: 155.258014 deg,
      new cmd heading: 154.924578 deg.

2025-10-26T22:22:41.282Z,1761517361.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.703944 target range: 16.103426 and range: 16.20 m.
2025-10-26T22:22:41.292Z,1761517361.292 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.829769
2025-10-26T22:22:41.545Z,1761517361.545 [DAT](INFO): DAT read: Rx Time:22:22:40.3013 

2025-10-26T22:22:41.545Z,1761517361.545 [DAT](INFO): Rx dataTimestamp_ set to:1761517361.545172
2025-10-26T22:22:41.547Z,1761517361.547 [DAT](INFO): DAT read: Bearing 321.9,  -2.1 (Local)

2025-10-26T22:22:41.547Z,1761517361.547 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.9,  -2.1 (Local)

2025-10-26T22:22:41.550Z,1761517361.550 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.4

2025-10-26T22:22:41.554Z,1761517361.554 [DAT](INFO): DAT read: 22:22:40.3013 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 499, 0.01, 1.817, 0.123, 1.903, 1.677, PHS= 0.243,-1.509, 0.183, RAW= 148.3,  12.5, CAL= 148.1,  13.8, ROT=   1.9, -13.8

2025-10-26T22:22:41.556Z,1761517361.556 [DAT](INFO): got valid direction response:
 22:22:40.3013 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 499, 0.01, 1.817, 0.123, 1.903, 1.677, PHS= 0.243,-1.509, 0.183, RAW= 148.3,  12.5, CAL= 148.1,  13.8, ROT=   1.9, -13.8

2025-10-26T22:22:41.556Z,1761517361.556 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-10-26T22:22:41.557Z,1761517361.557 [DAT](INFO): direction in FSK: [0.970600,0.032198,0.238533]
2025-10-26T22:22:41.557Z,1761517361.557 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:41.561Z,1761517361.561 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.098537
2025-10-26T22:22:41.796Z,1761517361.796 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.334007
2025-10-26T22:22:41.816Z,1761517361.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.503813 s,
      deltaX: -0.300001 m,
      approachRate: -0.595461 m/s,
      rangeRepo size: 4

2025-10-26T22:22:41.818Z,1761517361.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.805213 m,
      bearing: 161.039525 deg,
      lat: 36.779400 deg,
      lon: -121.859476 deg,
      deltaT: 0.503813 s,
      deltaX: -0.298213 m,
      approachRate: -0.591912 m/s,
      posRepo size: 4

2025-10-26T22:22:41.819Z,1761517361.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m.
2025-10-26T22:22:41.826Z,1761517361.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.805213 m,
      nav range: 15.660228 m,
      bearing: 161.292507 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.327193 deg/s,
      cmd heading: 154.924577 deg,
      new cmd heading: 154.399983 deg.

2025-10-26T22:22:41.827Z,1761517361.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.694788 target range: 15.805213 and range: 15.90 m.
2025-10-26T22:22:42.054Z,1761517362.054 [DAT](INFO): DAT read: Rx Time:22:22:40.8013 

2025-10-26T22:22:42.055Z,1761517362.055 [DAT](INFO): Rx dataTimestamp_ set to:1761517362.054359
2025-10-26T22:22:42.056Z,1761517362.056 [DAT](INFO): DAT read: Bearing 323.3,  -3.7 (Local)

2025-10-26T22:22:42.057Z,1761517362.057 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.3,  -3.7 (Local)

2025-10-26T22:22:42.059Z,1761517362.059 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.4

2025-10-26T22:22:42.063Z,1761517362.063 [DAT](INFO): DAT read: 22:22:40.8013 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 499,-0.14,-0.860,-2.505,-0.741,-0.939, PHS= 0.180,-1.521, 0.154, RAW= 149.2,  14.0, CAL= 149.3,  15.5, ROT=   0.7, -15.5

2025-10-26T22:22:42.065Z,1761517362.065 [DAT](INFO): got valid direction response:
 22:22:40.8013 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 499,-0.14,-0.860,-2.505,-0.741,-0.939, PHS= 0.180,-1.521, 0.154, RAW= 149.2,  14.0, CAL= 149.3,  15.5, ROT=   0.7, -15.5

2025-10-26T22:22:42.065Z,1761517362.065 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-10-26T22:22:42.066Z,1761517362.066 [DAT](INFO): direction in FSK: [0.963559,0.011773,0.267238]
2025-10-26T22:22:42.066Z,1761517362.066 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:42.070Z,1761517362.070 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.608028
2025-10-26T22:22:42.207Z,1761517362.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914697,-0.391203,-0.101441],[0.403245,-0.900156,-0.164659],[-0.026898,-0.191519,0.981120]]
2025-10-26T22:22:42.264Z,1761517362.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.509187 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:22:42.272Z,1761517362.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.805198 m,
      bearing: 159.910484 deg,
      lat: 36.779401 deg,
      lon: -121.859474 deg,
      deltaT: 0.509187 s,
      deltaX: -0.000015 m,
      approachRate: -0.000030 m/s,
      posRepo size: 4

2025-10-26T22:22:42.273Z,1761517362.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m.
2025-10-26T22:22:42.281Z,1761517362.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.805198 m,
      nav range: 15.405718 m,
      bearing: 160.348450 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.327193 deg/s,
      cmd heading: 154.399978 deg,
      new cmd heading: 153.957816 deg.

2025-10-26T22:22:42.282Z,1761517362.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.687071 target range: 15.805198 and range: 15.90 m.
2025-10-26T22:22:42.300Z,1761517362.300 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.838013
2025-10-26T22:22:42.335Z,1761517362.335 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:22:42.553Z,1761517362.553 [DAT](INFO): DAT read: Rx Time:22:22:41.3010 

2025-10-26T22:22:42.553Z,1761517362.553 [DAT](INFO): Rx dataTimestamp_ set to:1761517362.553143
2025-10-26T22:22:42.555Z,1761517362.555 [DAT](INFO): DAT read: Bearing 322.5,  -3.6 (Local)

2025-10-26T22:22:42.555Z,1761517362.555 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.5,  -3.6 (Local)

2025-10-26T22:22:42.557Z,1761517362.557 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed 0.4

2025-10-26T22:22:42.562Z,1761517362.562 [DAT](INFO): DAT read: 22:22:41.3010 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 496, 0.39,-2.058, 2.544,-1.936,-2.164, PHS= 0.207,-1.531, 0.184, RAW= 149.3,  13.1, CAL= 149.3,  14.5, ROT=   0.7, -14.5

2025-10-26T22:22:42.563Z,1761517362.563 [DAT](INFO): got valid direction response:
 22:22:41.3010 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 496, 0.39,-2.058, 2.544,-1.936,-2.164, PHS= 0.207,-1.531, 0.184, RAW= 149.3,  13.1, CAL= 149.3,  14.5, ROT=   0.7, -14.5

2025-10-26T22:22:42.563Z,1761517362.563 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-10-26T22:22:42.564Z,1761517362.564 [DAT](INFO): direction in FSK: [0.968075,0.011828,0.250380]
2025-10-26T22:22:42.564Z,1761517362.564 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:42.568Z,1761517362.568 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.105942
2025-10-26T22:22:42.606Z,1761517362.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914223,-0.391813,-0.103335],[0.404169,-0.899998,-0.163249],[-0.029039,-0.191011,0.981158]]
2025-10-26T22:22:42.752Z,1761517362.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.498784 s,
      deltaX: -0.400000 m,
      approachRate: -0.801950 m/s,
      rangeRepo size: 4

2025-10-26T22:22:42.768Z,1761517362.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.407583 m,
      bearing: 159.640755 deg,
      lat: 36.779402 deg,
      lon: -121.859473 deg,
      deltaT: 0.498784 s,
      deltaX: -0.397614 m,
      approachRate: -0.797168 m/s,
      posRepo size: 4

2025-10-26T22:22:42.768Z,1761517362.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m.
2025-10-26T22:22:42.778Z,1761517362.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.407583 m,
      nav range: 15.160667 m,
      bearing: 159.801067 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.327193 deg/s,
      cmd heading: 153.957819 deg,
      new cmd heading: 153.501943 deg.

2025-10-26T22:22:42.778Z,1761517362.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679114 target range: 15.407583 and range: 15.50 m.
2025-10-26T22:22:42.804Z,1761517362.804 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.341961
2025-10-26T22:22:43.057Z,1761517363.057 [DAT](INFO): DAT read: Rx Time:22:22:41.8010 

2025-10-26T22:22:43.058Z,1761517363.058 [DAT](INFO): Rx dataTimestamp_ set to:1761517363.057493
2025-10-26T22:22:43.059Z,1761517363.059 [DAT](INFO): DAT read: Bearing 314.6,  -2.7 (Local)

2025-10-26T22:22:43.059Z,1761517363.059 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.6,  -2.7 (Local)

2025-10-26T22:22:43.061Z,1761517363.061 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed 0.4

2025-10-26T22:22:43.066Z,1761517363.066 [DAT](INFO): DAT read: 22:22:41.8010 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 512,-0.09,-1.056,-2.981,-0.890,-1.402, PHS= 0.447,-1.534, 0.468, RAW= 150.5,   6.3, CAL= 149.8,   6.6, ROT=   0.2,  -6.6

2025-10-26T22:22:43.079Z,1761517363.079 [DAT](INFO): got valid direction response:
 22:22:41.8010 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 512,-0.09,-1.056,-2.981,-0.890,-1.402, PHS= 0.447,-1.534, 0.468, RAW= 150.5,   6.3, CAL= 149.8,   6.6, ROT=   0.2,  -6.6

2025-10-26T22:22:43.080Z,1761517363.080 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-10-26T22:22:43.081Z,1761517363.081 [DAT](INFO): direction in FSK: [0.993367,0.003468,0.114937]
2025-10-26T22:22:43.081Z,1761517363.081 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:43.101Z,1761517363.101 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.638367
2025-10-26T22:22:43.117Z,1761517363.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913513,-0.393236,-0.104211],[0.405632,-0.899961,-0.159794],[-0.030949,-0.188245,0.981634]]
2025-10-26T22:22:43.260Z,1761517363.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.504350 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:22:43.267Z,1761517363.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.407502 m,
      bearing: 157.497425 deg,
      lat: 36.779402 deg,
      lon: -121.859473 deg,
      deltaT: 0.504350 s,
      deltaX: -0.000081 m,
      approachRate: -0.000161 m/s,
      posRepo size: 4

2025-10-26T22:22:43.280Z,1761517363.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m.
2025-10-26T22:22:43.283Z,1761517363.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.407502 m,
      nav range: 14.887400 m,
      bearing: 159.501022 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.327193 deg/s,
      cmd heading: 153.501945 deg,
      new cmd heading: 152.991029 deg.

2025-10-26T22:22:43.288Z,1761517363.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.670197 target range: 15.407502 and range: 15.50 m.
2025-10-26T22:22:43.309Z,1761517363.309 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.846027
2025-10-26T22:22:43.336Z,1761517363.336 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:22:43.561Z,1761517363.561 [DAT](INFO): DAT read: Rx Time:22:22:42.3007 

2025-10-26T22:22:43.562Z,1761517363.562 [DAT](INFO): Rx dataTimestamp_ set to:1761517363.561935
2025-10-26T22:22:43.565Z,1761517363.565 [DAT](INFO): DAT read: Bearing 320.8,  -3.6 (Local)

2025-10-26T22:22:43.565Z,1761517363.565 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.8,  -3.6 (Local)

2025-10-26T22:22:43.567Z,1761517363.567 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed 0.4

2025-10-26T22:22:43.572Z,1761517363.572 [DAT](INFO): DAT read: 22:22:42.3007 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 509, 0.33,-1.291,-2.990,-1.158,-1.438, PHS= 0.248,-1.507, 0.236, RAW= 149.6,  11.7, CAL= 149.5,  12.9, ROT=   0.5, -12.9

2025-10-26T22:22:43.573Z,1761517363.573 [DAT](INFO): got valid direction response:
 22:22:42.3007 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 509, 0.33,-1.291,-2.990,-1.158,-1.438, PHS= 0.248,-1.507, 0.236, RAW= 149.6,  11.7, CAL= 149.5,  12.9, ROT=   0.5, -12.9

2025-10-26T22:22:43.573Z,1761517363.573 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-10-26T22:22:43.574Z,1761517363.574 [DAT](INFO): direction in FSK: [0.974724,0.008506,0.223250]
2025-10-26T22:22:43.574Z,1761517363.574 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:43.578Z,1761517363.578 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.115383
2025-10-26T22:22:43.665Z,1761517363.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912941,-0.394424,-0.104733],[0.406777,-0.900106,-0.156020],[-0.032733,-0.185040,0.982186]]
2025-10-26T22:22:43.812Z,1761517363.812 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.350018
2025-10-26T22:22:43.823Z,1761517363.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.504442 s,
      deltaX: -0.500000 m,
      approachRate: -0.991194 m/s,
      rangeRepo size: 4

2025-10-26T22:22:43.833Z,1761517363.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.910486 m,
      bearing: 158.882582 deg,
      lat: 36.779402 deg,
      lon: -121.859473 deg,
      deltaT: 0.504442 s,
      deltaX: -0.497016 m,
      approachRate: -0.985279 m/s,
      posRepo size: 4

2025-10-26T22:22:43.834Z,1761517363.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m.
2025-10-26T22:22:43.845Z,1761517363.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.910486 m,
      nav range: 14.605126 m,
      bearing: 159.287232 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.327193 deg/s,
      cmd heading: 152.991033 deg,
      new cmd heading: 152.422352 deg.

2025-10-26T22:22:43.846Z,1761517363.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660272 target range: 14.910486 and range: 15.00 m.
2025-10-26T22:22:44.071Z,1761517364.071 [DAT](INFO): DAT read: Rx Time:22:22:42.8007 

2025-10-26T22:22:44.072Z,1761517364.072 [DAT](INFO): Rx dataTimestamp_ set to:1761517364.072070
2025-10-26T22:22:44.074Z,1761517364.074 [DAT](INFO): DAT read: Bearing 320.7,  -4.6 (Local)

2025-10-26T22:22:44.074Z,1761517364.074 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.7,  -4.6 (Local)

2025-10-26T22:22:44.076Z,1761517364.076 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed 0.4

2025-10-26T22:22:44.086Z,1761517364.086 [DAT](INFO): DAT read: 22:22:42.8007 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 509,-0.05,-1.569, 3.037,-1.400,-1.697, PHS= 0.230,-1.505, 0.252, RAW= 150.6,  11.7, CAL= 150.5,  12.9, ROT= 359.5, -12.9

2025-10-26T22:22:44.102Z,1761517364.102 [DAT](INFO): got valid direction response:
 22:22:42.8007 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 509,-0.05,-1.569, 3.037,-1.400,-1.697, PHS= 0.230,-1.505, 0.252, RAW= 150.6,  11.7, CAL= 150.5,  12.9, ROT= 359.5, -12.9

2025-10-26T22:22:44.102Z,1761517364.102 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-10-26T22:22:44.104Z,1761517364.104 [DAT](INFO): direction in FSK: [0.974724,-0.008506,0.223250]
2025-10-26T22:22:44.104Z,1761517364.104 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:44.137Z,1761517364.137 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.674877
2025-10-26T22:22:44.201Z,1761517364.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911638,-0.396905,-0.106691],[0.409495,-0.899329,-0.153369],[-0.035078,-0.183507,0.982392]]
2025-10-26T22:22:44.246Z,1761517364.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.510135 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:22:44.260Z,1761517364.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.910313 m,
      bearing: 157.714524 deg,
      lat: 36.779402 deg,
      lon: -121.859471 deg,
      deltaT: 0.510135 s,
      deltaX: -0.000174 m,
      approachRate: -0.000340 m/s,
      posRepo size: 4

2025-10-26T22:22:44.261Z,1761517364.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m.
2025-10-26T22:22:44.270Z,1761517364.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.910313 m,
      nav range: 14.444436 m,
      bearing: 158.717664 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.327193 deg/s,
      cmd heading: 152.422351 deg,
      new cmd heading: 152.008039 deg.

2025-10-26T22:22:44.280Z,1761517364.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.653041 target range: 14.910313 and range: 15.00 m.
2025-10-26T22:22:44.317Z,1761517364.317 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.854126
2025-10-26T22:22:44.569Z,1761517364.569 [DAT](INFO): DAT read: Rx Time:22:22:43.3004 

2025-10-26T22:22:44.569Z,1761517364.569 [DAT](INFO): Rx dataTimestamp_ set to:1761517364.569063
2025-10-26T22:22:44.571Z,1761517364.571 [DAT](INFO): DAT read: Bearing 322.4,  -4.5 (Local)

2025-10-26T22:22:44.571Z,1761517364.571 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.4,  -4.5 (Local)

2025-10-26T22:22:44.573Z,1761517364.573 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed 0.4

2025-10-26T22:22:44.578Z,1761517364.578 [DAT](INFO): DAT read: 22:22:43.3004 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 506, 0.44,-0.483,-2.145,-0.339,-0.576, PHS= 0.194,-1.525, 0.192, RAW= 149.9,  13.2, CAL= 150.0,  14.6, ROT=   0.0, -14.6

2025-10-26T22:22:44.579Z,1761517364.579 [DAT](INFO): got valid direction response:
 22:22:43.3004 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 506, 0.44,-0.483,-2.145,-0.339,-0.576, PHS= 0.194,-1.525, 0.192, RAW= 149.9,  13.2, CAL= 150.0,  14.6, ROT=   0.0, -14.6

2025-10-26T22:22:44.579Z,1761517364.579 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-10-26T22:22:44.584Z,1761517364.584 [DAT](INFO): direction in FSK: [0.967709,0.000000,0.252069]
2025-10-26T22:22:44.585Z,1761517364.585 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:44.588Z,1761517364.588 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.125778
2025-10-26T22:22:44.605Z,1761517364.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910449,-0.399226,-0.108169],[0.412064,-0.898125,-0.153540],[-0.035852,-0.184363,0.982204]]
2025-10-26T22:22:44.762Z,1761517364.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.600000 m,
      deltaT: 0.496993 s,
      deltaX: -0.400000 m,
      approachRate: -0.804840 m/s,
      rangeRepo size: 4

2025-10-26T22:22:44.770Z,1761517364.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.512705 m,
      bearing: 158.376684 deg,
      lat: 36.779402 deg,
      lon: -121.859471 deg,
      deltaT: 0.496993 s,
      deltaX: -0.397608 m,
      approachRate: -0.800027 m/s,
      posRepo size: 4

2025-10-26T22:22:44.775Z,1761517364.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m.
2025-10-26T22:22:44.778Z,1761517364.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.512705 m,
      nav range: 14.234567 m,
      bearing: 158.463656 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.327193 deg/s,
      cmd heading: 152.008046 deg,
      new cmd heading: 151.500985 deg.

2025-10-26T22:22:44.788Z,1761517364.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.644191 target range: 14.512705 and range: 14.60 m.
2025-10-26T22:22:44.821Z,1761517364.821 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.358028
2025-10-26T22:22:45.073Z,1761517365.073 [DAT](INFO): DAT read: Rx Time:22:22:43.8003 

2025-10-26T22:22:45.073Z,1761517365.073 [DAT](INFO): Rx dataTimestamp_ set to:1761517365.073191
2025-10-26T22:22:45.075Z,1761517365.075 [DAT](INFO): DAT read: Bearing 321.2,  -4.8 (Local)

2025-10-26T22:22:45.075Z,1761517365.075 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.2,  -4.8 (Local)

2025-10-26T22:22:45.077Z,1761517365.077 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed 0.4

2025-10-26T22:22:45.082Z,1761517365.082 [DAT](INFO): DAT read: 22:22:43.8003 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 505,-0.02,-1.160,-2.832,-0.998,-1.269, PHS= 0.211,-1.517, 0.228, RAW= 150.5,  12.4, CAL= 150.4,  13.7, ROT= 359.6, -13.7

2025-10-26T22:22:45.083Z,1761517365.083 [DAT](INFO): got valid direction response:
 22:22:43.8003 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 505,-0.02,-1.160,-2.832,-0.998,-1.269, PHS= 0.211,-1.517, 0.228, RAW= 150.5,  12.4, CAL= 150.4,  13.7, ROT= 359.6, -13.7

2025-10-26T22:22:45.083Z,1761517365.083 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-10-26T22:22:45.084Z,1761517365.084 [DAT](INFO): direction in FSK: [0.971525,-0.006783,0.236838]
2025-10-26T22:22:45.085Z,1761517365.085 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:45.096Z,1761517365.096 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.633904
2025-10-26T22:22:45.097Z,1761517365.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908850,-0.402382,-0.109910],[0.415530,-0.896390,-0.154341],[-0.036418,-0.185943,0.981885]]
2025-10-26T22:22:45.226Z,1761517365.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.504128 s,
      deltaX: -0.200001 m,
      approachRate: -0.396726 m/s,
      rangeRepo size: 4

2025-10-26T22:22:45.232Z,1761517365.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.313999 m,
      bearing: 157.617035 deg,
      lat: 36.779402 deg,
      lon: -121.859469 deg,
      deltaT: 0.504128 s,
      deltaX: -0.198706 m,
      approachRate: -0.394157 m/s,
      posRepo size: 4

2025-10-26T22:22:45.236Z,1761517365.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m.
2025-10-26T22:22:45.240Z,1761517365.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.313999 m,
      nav range: 14.029373 m,
      bearing: 157.617002 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.327193 deg/s,
      cmd heading: 151.500986 deg,
      new cmd heading: 151.045381 deg.

2025-10-26T22:22:45.242Z,1761517365.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.636239 target range: 14.313999 and range: 14.40 m.
2025-10-26T22:22:45.326Z,1761517365.326 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.862881
2025-10-26T22:22:45.489Z,1761517365.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907333,-0.405336,-0.111574],[0.418813,-0.894597,-0.155860],[-0.036638,-0.188146,0.981457]]
2025-10-26T22:22:45.514Z,1761517365.514 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:22:45.516Z,1761517365.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m.
2025-10-26T22:22:45.519Z,1761517365.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.313999 m,
      nav range: 13.870878 m,
      bearing: 157.521347 deg,
      approach rate: -0.544372 m/s,
      LOS rate: -0.332293 deg/s,
      cmd heading: 151.045385 deg,
      new cmd heading: 150.755144 deg.

2025-10-26T22:22:45.520Z,1761517365.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.631174 target range: 14.313999 and range: 14.40 m.
2025-10-26T22:22:45.577Z,1761517365.577 [DAT](INFO): DAT read: Rx Time:22:22:44.3000 

2025-10-26T22:22:45.578Z,1761517365.578 [DAT](INFO): Rx dataTimestamp_ set to:1761517365.577245
2025-10-26T22:22:45.579Z,1761517365.579 [DAT](INFO): DAT read: Bearing 322.1,  -4.8 (Local)

2025-10-26T22:22:45.579Z,1761517365.579 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.1,  -4.8 (Local)

2025-10-26T22:22:45.581Z,1761517365.581 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed 0.4

2025-10-26T22:22:45.586Z,1761517365.586 [DAT](INFO): DAT read: 22:22:44.3000 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 502, 0.49,-1.032,-2.687,-0.882,-1.116, PHS= 0.186,-1.526, 0.190, RAW= 150.1,  13.3, CAL= 150.2,  14.8, ROT= 359.8, -14.8

2025-10-26T22:22:45.587Z,1761517365.587 [DAT](INFO): got valid direction response:
 22:22:44.3000 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 502, 0.49,-1.032,-2.687,-0.882,-1.116, PHS= 0.186,-1.526, 0.190, RAW= 150.1,  13.3, CAL= 150.2,  14.8, ROT= 359.8, -14.8

2025-10-26T22:22:45.588Z,1761517365.588 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-10-26T22:22:45.589Z,1761517365.589 [DAT](INFO): direction in FSK: [0.966817,-0.003375,0.255446]
2025-10-26T22:22:45.589Z,1761517365.589 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:45.593Z,1761517365.593 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.130135
2025-10-26T22:22:45.829Z,1761517365.829 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.366302
2025-10-26T22:22:45.935Z,1761517365.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905950,-0.407856,-0.113613],[0.421793,-0.892686,-0.158751],[-0.036674,-0.191742,0.980760]]
2025-10-26T22:22:45.991Z,1761517365.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.504054 s,
      deltaX: -0.400000 m,
      approachRate: -0.793565 m/s,
      rangeRepo size: 4

2025-10-26T22:22:45.993Z,1761517365.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.916404 m,
      bearing: 157.716790 deg,
      lat: 36.779402 deg,
      lon: -121.859470 deg,
      deltaT: 0.504054 s,
      deltaX: -0.397595 m,
      approachRate: -0.788795 m/s,
      posRepo size: 4

2025-10-26T22:22:45.994Z,1761517365.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m.
2025-10-26T22:22:46.013Z,1761517366.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.916404 m,
      nav range: 13.588742 m,
      bearing: 157.716758 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.332293 deg/s,
      cmd heading: 150.755143 deg,
      new cmd heading: 150.282993 deg.

2025-10-26T22:22:46.014Z,1761517366.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.622933 target range: 13.916404 and range: 14.00 m.
2025-10-26T22:22:46.082Z,1761517366.082 [DAT](INFO): DAT read: Rx Time:22:22:44.8000 

2025-10-26T22:22:46.083Z,1761517366.083 [DAT](INFO): Rx dataTimestamp_ set to:1761517366.082489
2025-10-26T22:22:46.084Z,1761517366.084 [DAT](INFO): DAT read: Bearing 321.9,  -4.6 (Local)

2025-10-26T22:22:46.085Z,1761517366.085 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.9,  -4.6 (Local)

2025-10-26T22:22:46.087Z,1761517366.087 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed 0.4

2025-10-26T22:22:46.110Z,1761517366.110 [DAT](INFO): DAT read: 22:22:44.8000 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 502, 0.03,-0.354,-2.015,-0.216,-0.442, PHS= 0.190,-1.528, 0.182, RAW= 149.8,  13.4, CAL= 149.8,  14.9, ROT=   0.2, -14.9

2025-10-26T22:22:46.128Z,1761517366.128 [DAT](INFO): got valid direction response:
 22:22:44.8000 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 502, 0.03,-0.354,-2.015,-0.216,-0.442, PHS= 0.190,-1.528, 0.182, RAW= 149.8,  13.4, CAL= 149.8,  14.9, ROT=   0.2, -14.9

2025-10-26T22:22:46.128Z,1761517366.128 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-26T22:22:46.129Z,1761517366.129 [DAT](INFO): direction in FSK: [0.966370,0.003373,0.257133]
2025-10-26T22:22:46.129Z,1761517366.129 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:46.137Z,1761517366.137 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.674557
2025-10-26T22:22:46.324Z,1761517366.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904545,-0.410114,-0.116638],[0.424807,-0.890295,-0.164054],[-0.036561,-0.197943,0.979531]]
2025-10-26T22:22:46.333Z,1761517366.333 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.870102
2025-10-26T22:22:46.429Z,1761517366.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.505244 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:22:46.435Z,1761517366.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.916404 m,
      bearing: 158.027844 deg,
      lat: 36.779402 deg,
      lon: -121.859470 deg,
      deltaT: 0.505244 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:22:46.436Z,1761517366.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m.
2025-10-26T22:22:46.439Z,1761517366.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.916404 m,
      nav range: 13.399679 m,
      bearing: 157.598078 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.332293 deg/s,
      cmd heading: 150.282999 deg,
      new cmd heading: 149.845824 deg.

2025-10-26T22:22:46.448Z,1761517366.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.615303 target range: 13.916404 and range: 14.00 m.
2025-10-26T22:22:46.585Z,1761517366.585 [DAT](INFO): DAT read: Rx Time:22:22:45.2999 

2025-10-26T22:22:46.586Z,1761517366.586 [DAT](INFO): Rx dataTimestamp_ set to:1761517366.585564
2025-10-26T22:22:46.587Z,1761517366.587 [DAT](INFO): DAT read: Bearing 320.9,  -5.0 (Local)

2025-10-26T22:22:46.588Z,1761517366.588 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.9,  -5.0 (Local)

2025-10-26T22:22:46.590Z,1761517366.590 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.4

2025-10-26T22:22:46.594Z,1761517366.594 [DAT](INFO): DAT read: 22:22:45.2999 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500,-0.40,-3.089, 1.522,-2.935, 3.096, PHS= 0.200,-1.529, 0.208, RAW= 150.2,  12.9, CAL= 150.2,  14.3, ROT= 359.8, -14.3

2025-10-26T22:22:46.598Z,1761517366.598 [DAT](INFO): got valid direction response:
 22:22:45.2999 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500,-0.40,-3.089, 1.522,-2.935, 3.096, PHS= 0.200,-1.529, 0.208, RAW= 150.2,  12.9, CAL= 150.2,  14.3, ROT= 359.8, -14.3

2025-10-26T22:22:46.599Z,1761517366.599 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-10-26T22:22:46.600Z,1761517366.600 [DAT](INFO): direction in FSK: [0.969010,-0.003383,0.246999]
2025-10-26T22:22:46.600Z,1761517366.600 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:46.636Z,1761517366.636 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.173489
2025-10-26T22:22:46.788Z,1761517366.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902451,-0.413839,-0.119664],[0.429244,-0.887349,-0.168410],[-0.036489,-0.203347,0.978427]]
2025-10-26T22:22:46.836Z,1761517366.836 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.373825
2025-10-26T22:22:46.938Z,1761517366.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.503075 s,
      deltaX: -0.300000 m,
      approachRate: -0.596333 m/s,
      rangeRepo size: 4

2025-10-26T22:22:46.944Z,1761517366.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.618247 m,
      bearing: 157.312803 deg,
      lat: 36.779402 deg,
      lon: -121.859470 deg,
      deltaT: 0.503075 s,
      deltaX: -0.298157 m,
      approachRate: -0.592669 m/s,
      posRepo size: 4

2025-10-26T22:22:46.945Z,1761517366.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.62 m.
2025-10-26T22:22:46.952Z,1761517366.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.618247 m,
      nav range: 13.133780 m,
      bearing: 157.408935 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.332293 deg/s,
      cmd heading: 149.845826 deg,
      new cmd heading: 149.338825 deg.

2025-10-26T22:22:46.953Z,1761517366.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.606454 target range: 13.618247 and range: 13.70 m.
2025-10-26T22:22:47.089Z,1761517367.089 [DAT](INFO): DAT read: Rx Time:22:22:45.7998 

2025-10-26T22:22:47.090Z,1761517367.090 [DAT](INFO): Rx dataTimestamp_ set to:1761517367.089365
2025-10-26T22:22:47.091Z,1761517367.091 [DAT](INFO): DAT read: Bearing 319.9,  -4.6 (Local)

2025-10-26T22:22:47.091Z,1761517367.091 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.9,  -4.6 (Local)

2025-10-26T22:22:47.093Z,1761517367.093 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.4

2025-10-26T22:22:47.098Z,1761517367.098 [DAT](INFO): DAT read: 22:22:45.7998 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 499, 0.06,-1.628, 2.981,-1.485,-1.750, PHS= 0.224,-1.507, 0.221, RAW= 149.9,  12.2, CAL= 149.9,  13.5, ROT=   0.1, -13.5

2025-10-26T22:22:47.099Z,1761517367.099 [DAT](INFO): got valid direction response:
 22:22:45.7998 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 499, 0.06,-1.628, 2.981,-1.485,-1.750, PHS= 0.224,-1.507, 0.221, RAW= 149.9,  12.2, CAL= 149.9,  13.5, ROT=   0.1, -13.5

2025-10-26T22:22:47.100Z,1761517367.100 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-10-26T22:22:47.101Z,1761517367.101 [DAT](INFO): direction in FSK: [0.972368,0.001697,0.233445]
2025-10-26T22:22:47.101Z,1761517367.101 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:47.105Z,1761517367.105 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.642323
2025-10-26T22:22:47.288Z,1761517367.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897982,-0.421459,-0.126491],[0.438566,-0.880657,-0.179174],[-0.035881,-0.216369,0.975652]]
2025-10-26T22:22:47.312Z,1761517367.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.503801 s,
      deltaX: -0.200000 m,
      approachRate: -0.396982 m/s,
      rangeRepo size: 4

2025-10-26T22:22:47.314Z,1761517367.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.419440 m,
      bearing: 157.018844 deg,
      lat: 36.779400 deg,
      lon: -121.859469 deg,
      deltaT: 0.503801 s,
      deltaX: -0.198807 m,
      approachRate: -0.394614 m/s,
      posRepo size: 4

2025-10-26T22:22:47.314Z,1761517367.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-10-26T22:22:47.317Z,1761517367.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.419440 m,
      nav range: 13.094502 m,
      bearing: 157.156337 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.332293 deg/s,
      cmd heading: 149.338821 deg,
      new cmd heading: 148.966378 deg.

2025-10-26T22:22:47.318Z,1761517367.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.599954 target range: 13.419440 and range: 13.50 m.
2025-10-26T22:22:47.341Z,1761517367.341 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.878063
2025-10-26T22:22:47.593Z,1761517367.593 [DAT](INFO): DAT read: Rx Time:22:22:46.2996 

2025-10-26T22:22:47.593Z,1761517367.593 [DAT](INFO): Rx dataTimestamp_ set to:1761517367.593118
2025-10-26T22:22:47.595Z,1761517367.595 [DAT](INFO): DAT read: Bearing 320.5,  -4.7 (Local)

2025-10-26T22:22:47.595Z,1761517367.595 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.5,  -4.7 (Local)

2025-10-26T22:22:47.597Z,1761517367.597 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed 0.4

2025-10-26T22:22:47.602Z,1761517367.602 [DAT](INFO): DAT read: 22:22:46.2996 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 497,-0.40, 2.124, 0.449, 2.256, 2.021, PHS= 0.205,-1.527, 0.191, RAW= 149.6,  13.1, CAL= 149.6,  14.5, ROT=   0.4, -14.5

2025-10-26T22:22:47.603Z,1761517367.603 [DAT](INFO): got valid direction response:
 22:22:46.2996 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 497,-0.40, 2.124, 0.449, 2.256, 2.021, PHS= 0.205,-1.527, 0.191, RAW= 149.6,  13.1, CAL= 149.6,  14.5, ROT=   0.4, -14.5

2025-10-26T22:22:47.604Z,1761517367.604 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-10-26T22:22:47.605Z,1761517367.605 [DAT](INFO): direction in FSK: [0.968124,0.006759,0.250380]
2025-10-26T22:22:47.605Z,1761517367.605 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:47.609Z,1761517367.609 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.146381
2025-10-26T22:22:47.686Z,1761517367.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895146,-0.426818,-0.128607],[0.444317,-0.877583,-0.180086],[-0.036000,-0.218345,0.975207]]
2025-10-26T22:22:47.799Z,1761517367.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.503753 s,
      deltaX: -0.300000 m,
      approachRate: -0.595530 m/s,
      rangeRepo size: 4

2025-10-26T22:22:47.805Z,1761517367.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.121230 m,
      bearing: 157.194932 deg,
      lat: 36.779400 deg,
      lon: -121.859469 deg,
      deltaT: 0.503753 s,
      deltaX: -0.298210 m,
      approachRate: -0.591977 m/s,
      posRepo size: 4

2025-10-26T22:22:47.806Z,1761517367.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m.
2025-10-26T22:22:47.811Z,1761517367.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.121230 m,
      nav range: 12.834689 m,
      bearing: 157.194899 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.332293 deg/s,
      cmd heading: 148.966385 deg,
      new cmd heading: 148.480659 deg.

2025-10-26T22:22:47.820Z,1761517367.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.591476 target range: 13.121230 and range: 13.20 m.
2025-10-26T22:22:47.845Z,1761517367.845 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.382065
2025-10-26T22:22:48.098Z,1761517368.098 [DAT](INFO): DAT read: Rx Time:22:22:46.7995 

2025-10-26T22:22:48.099Z,1761517368.099 [DAT](INFO): Rx dataTimestamp_ set to:1761517368.098436
2025-10-26T22:22:48.101Z,1761517368.101 [DAT](INFO): DAT read: Bearing 316.1,  -5.2 (Local)

2025-10-26T22:22:48.101Z,1761517368.101 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.1,  -5.2 (Local)

2025-10-26T22:22:48.119Z,1761517368.119 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed 0.4

2025-10-26T22:22:48.145Z,1761517368.145 [DAT](INFO): DAT read: 22:22:46.7995 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 512,-0.06,-2.053, 2.134,-1.850,-2.296, PHS= 0.345,-1.808, 0.40251.3,   9.8, CAL= 151.0,  10.6, ROT= 359.0, -10.6

2025-10-26T22:22:48.146Z,1761517368.146 [DAT](INFO): unknown deviceResponse_: 22:22:46.7995 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 512,-0.06,-2.053, 2.134,-1.850,-2.296, PHS= 0.345,-1.808, 0.40251.3,   9.8, CAL= 151.0,  10.6, ROT= 359.0, -10.6

2025-10-26T22:22:48.146Z,1761517368.146 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-10-26T22:22:48.152Z,1761517368.152 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.684761
2025-10-26T22:22:48.192Z,1761517368.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892221,-0.432433,-0.130169],[0.450170,-0.874567,-0.180224],[-0.035907,-0.219397,0.974975]]
2025-10-26T22:22:48.260Z,1761517368.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:22:48.280Z,1761517368.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.505318 s,
      deltaX: -0.099999 m,
      approachRate: -0.197894 m/s,
      rangeRepo size: 4

2025-10-26T22:22:48.281Z,1761517368.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m.
2025-10-26T22:22:48.284Z,1761517368.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.121230 m,
      nav range: 12.597421 m,
      bearing: 157.027386 deg,
      approach rate: -0.510451 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 148.480663 deg,
      new cmd heading: 147.968672 deg.

2025-10-26T22:22:48.285Z,1761517368.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.582541 target range: 13.121230 and range: 13.10 m.
2025-10-26T22:22:48.349Z,1761517368.349 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.886852
2025-10-26T22:22:48.601Z,1761517368.601 [DAT](INFO): DAT read: Rx Time:22:22:47.2992 

2025-10-26T22:22:48.601Z,1761517368.601 [DAT](INFO): Rx dataTimestamp_ set to:1761517368.601064
2025-10-26T22:22:48.603Z,1761517368.603 [DAT](INFO): DAT read: Bearing 319.7,  -3.9 (Local)

2025-10-26T22:22:48.603Z,1761517368.603 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.7,  -3.9 (Local)

2025-10-26T22:22:48.605Z,1761517368.605 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed 0.4

2025-10-26T22:22:48.610Z,1761517368.610 [DAT](INFO): DAT read: 22:22:47.2992 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 509, 0.22,-2.204, 2.391,-2.097,-2.323, PHS= 0.221,-1.525, 0.182, RAW= 148.9,  12.9, CAL= 148.8,  14.3, ROT=   1.2, -14.3

2025-10-26T22:22:48.611Z,1761517368.611 [DAT](INFO): got valid direction response:
 22:22:47.2992 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 509, 0.22,-2.204, 2.391,-2.097,-2.323, PHS= 0.221,-1.525, 0.182, RAW= 148.9,  12.9, CAL= 148.8,  14.3, ROT=   1.2, -14.3

2025-10-26T22:22:48.611Z,1761517368.611 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-10-26T22:22:48.612Z,1761517368.612 [DAT](INFO): direction in FSK: [0.968803,0.020294,0.246999]
2025-10-26T22:22:48.612Z,1761517368.612 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:48.616Z,1761517368.616 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=44.153408
2025-10-26T22:22:48.628Z,1761517368.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889353,-0.437771,-0.131938],[0.455820,-0.871489,-0.180931],[-0.035776,-0.221051,0.974606]]
2025-10-26T22:22:48.852Z,1761517368.852 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=44.389980
2025-10-26T22:22:48.939Z,1761517368.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.502628 s,
      deltaX: -0.500000 m,
      approachRate: -0.994771 m/s,
      rangeRepo size: 4

2025-10-26T22:22:48.945Z,1761517368.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.524888 m,
      bearing: 157.221341 deg,
      lat: 36.779400 deg,
      lon: -121.859469 deg,
      deltaT: 1.007946 s,
      deltaX: -0.596342 m,
      approachRate: -0.591641 m/s,
      posRepo size: 4

2025-10-26T22:22:48.946Z,1761517368.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-10-26T22:22:48.953Z,1761517368.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.524888 m,
      nav range: 12.296024 m,
      bearing: 156.909880 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 147.968672 deg,
      new cmd heading: 147.224645 deg.

2025-10-26T22:22:48.954Z,1761517368.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569555 target range: 12.524888 and range: 12.60 m.
2025-10-26T22:22:49.105Z,1761517369.105 [DAT](INFO): DAT read: Rx Time:22:22:47.7991 

2025-10-26T22:22:49.105Z,1761517369.105 [DAT](INFO): Rx dataTimestamp_ set to:1761517369.105076
2025-10-26T22:22:49.107Z,1761517369.107 [DAT](INFO): DAT read: Bearing 319.7,  -4.3 (Local)

2025-10-26T22:22:49.107Z,1761517369.107 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.7,  -4.3 (Local)

2025-10-26T22:22:49.109Z,1761517369.109 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.4

2025-10-26T22:22:49.114Z,1761517369.114 [DAT](INFO): DAT read: 22:22:47.7991 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 508,-0.32, 2.298, 0.623, 2.413, 2.195, PHS= 0.205,-1.527, 0.174, RAW= 149.1,  13.3, CAL= 149.1,  14.7, ROT=   0.9, -14.7

2025-10-26T22:22:49.115Z,1761517369.115 [DAT](INFO): got valid direction response:
 22:22:47.7991 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 508,-0.32, 2.298, 0.623, 2.413, 2.195, PHS= 0.205,-1.527, 0.174, RAW= 149.1,  13.3, CAL= 149.1,  14.7, ROT=   0.9, -14.7

2025-10-26T22:22:49.115Z,1761517369.115 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-10-26T22:22:49.116Z,1761517369.116 [DAT](INFO): direction in FSK: [0.967148,0.015193,0.253758]
2025-10-26T22:22:49.116Z,1761517369.116 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:49.120Z,1761517369.120 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.657539
2025-10-26T22:22:49.298Z,1761517369.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883379,-0.448844,-0.134835],[0.467292,-0.865519,-0.180322],[-0.035765,-0.222300,0.974322]]
2025-10-26T22:22:49.356Z,1761517369.356 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.893997
2025-10-26T22:22:49.463Z,1761517369.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.504012 s,
      deltaX: -0.100000 m,
      approachRate: -0.198409 m/s,
      rangeRepo size: 4

2025-10-26T22:22:49.465Z,1761517369.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.425485 m,
      bearing: 156.300956 deg,
      lat: 36.779400 deg,
      lon: -121.859469 deg,
      deltaT: 0.504012 s,
      deltaX: -0.099403 m,
      approachRate: -0.197224 m/s,
      posRepo size: 4

2025-10-26T22:22:49.466Z,1761517369.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m.
2025-10-26T22:22:49.469Z,1761517369.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.425485 m,
      nav range: 12.007763 m,
      bearing: 156.546870 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 147.224646 deg,
      new cmd heading: 146.647767 deg.

2025-10-26T22:22:49.470Z,1761517369.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559486 target range: 12.425485 and range: 12.50 m.
2025-10-26T22:22:49.609Z,1761517369.609 [DAT](INFO): DAT read: Rx Time:22:22:48.2988 

2025-10-26T22:22:49.609Z,1761517369.609 [DAT](INFO): Rx dataTimestamp_ set to:1761517369.609160
2025-10-26T22:22:49.611Z,1761517369.611 [DAT](INFO): DAT read: Bearing 315.9,  -2.5 (Local)

2025-10-26T22:22:49.611Z,1761517369.611 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.9,  -2.5 (Local)

2025-10-26T22:22:49.613Z,1761517369.613 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed 0.4

2025-10-26T22:22:49.618Z,1761517369.618 [DAT](INFO): DAT read: 22:22:48.2988 LVL= 32240, 32753, 32754, 32755, AGC= 53, IDX= 505,-0.01, 1.093,-0.650, 1.184, 0.872, PHS= 0.323,-1.477, 0.268, RAW= 148.5,  10.0, CAL= 148.1,  10.9, ROT=   1.9, -10.9

2025-10-26T22:22:49.619Z,1761517369.619 [DAT](INFO): got valid direction response:
 22:22:48.2988 LVL= 32240, 32753, 32754, 32755, AGC= 53, IDX= 505,-0.01, 1.093,-0.650, 1.184, 0.872, PHS= 0.323,-1.477, 0.268, RAW= 148.5,  10.0, CAL= 148.1,  10.9, ROT=   1.9, -10.9

2025-10-26T22:22:49.619Z,1761517369.619 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-10-26T22:22:49.620Z,1761517369.620 [DAT](INFO): direction in FSK: [0.981419,0.032557,0.189095]
2025-10-26T22:22:49.620Z,1761517369.620 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:49.624Z,1761517369.624 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.161625
2025-10-26T22:22:49.822Z,1761517369.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880660,-0.453713,-0.136316],[0.472425,-0.862555,-0.181145],[-0.035392,-0.223926,0.973963]]
2025-10-26T22:22:49.861Z,1761517369.861 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.398251
2025-10-26T22:22:49.976Z,1761517369.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.504084 s,
      deltaX: -0.300000 m,
      approachRate: -0.595139 m/s,
      rangeRepo size: 4

2025-10-26T22:22:49.978Z,1761517369.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.127297 m,
      bearing: 156.082072 deg,
      lat: 36.779400 deg,
      lon: -121.859468 deg,
      deltaT: 0.504084 s,
      deltaX: -0.298187 m,
      approachRate: -0.591543 m/s,
      posRepo size: 4

2025-10-26T22:22:49.979Z,1761517369.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m.
2025-10-26T22:22:49.986Z,1761517369.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.127297 m,
      nav range: 11.768047 m,
      bearing: 156.126177 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 146.647768 deg,
      new cmd heading: 146.082631 deg.

2025-10-26T22:22:49.987Z,1761517369.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.549623 target range: 12.127297 and range: 12.20 m.
2025-10-26T22:22:50.113Z,1761517370.113 [DAT](INFO): DAT read: Rx Time:22:22:48.7987 

2025-10-26T22:22:50.114Z,1761517370.114 [DAT](INFO): Rx dataTimestamp_ set to:1761517370.113242
2025-10-26T22:22:50.115Z,1761517370.115 [DAT](INFO): DAT read: Bearing 316.7,  -3.1 (Local)

2025-10-26T22:22:50.115Z,1761517370.115 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.7,  -3.1 (Local)

2025-10-26T22:22:50.117Z,1761517370.117 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed 0.4

2025-10-26T22:22:50.122Z,1761517370.122 [DAT](INFO): DAT read: 22:22:48.7987 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 504, 0.12,-1.412,-3.122,-1.315,-1.591, PHS= 0.281,-1.486, 0.232, RAW= 148.6,  11.2, CAL= 148.4,  12.2, ROT=   1.6, -12.2

2025-10-26T22:22:50.123Z,1761517370.123 [DAT](INFO): got valid direction response:
 22:22:48.7987 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 504, 0.12,-1.412,-3.122,-1.315,-1.591, PHS= 0.281,-1.486, 0.232, RAW= 148.6,  11.2, CAL= 148.4,  12.2, ROT=   1.6, -12.2

2025-10-26T22:22:50.124Z,1761517370.124 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-10-26T22:22:50.124Z,1761517370.124 [DAT](INFO): direction in FSK: [0.977035,0.027291,0.211325]
2025-10-26T22:22:50.125Z,1761517370.125 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:50.136Z,1761517370.136 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.673965
2025-10-26T22:22:50.296Z,1761517370.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877328,-0.459770,-0.137501],[0.478615,-0.859187,-0.180899],[-0.034967,-0.224518,0.973842]]
2025-10-26T22:22:50.353Z,1761517370.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.504082 s,
      deltaX: -0.200000 m,
      approachRate: -0.396760 m/s,
      rangeRepo size: 4

2025-10-26T22:22:50.355Z,1761517370.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.928490 m,
      bearing: 155.693112 deg,
      lat: 36.779399 deg,
      lon: -121.859468 deg,
      deltaT: 0.504082 s,
      deltaX: -0.198808 m,
      approachRate: -0.394396 m/s,
      posRepo size: 4

2025-10-26T22:22:50.367Z,1761517370.367 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.904011
2025-10-26T22:22:50.377Z,1761517370.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-10-26T22:22:50.400Z,1761517370.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.928490 m,
      nav range: 11.661784 m,
      bearing: 155.958359 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 146.082624 deg,
      new cmd heading: 145.667286 deg.

2025-10-26T22:22:50.417Z,1761517370.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.542374 target range: 11.928490 and range: 12.00 m.
2025-10-26T22:22:50.617Z,1761517370.617 [DAT](INFO): DAT read: Rx Time:22:22:49.2984 

2025-10-26T22:22:50.618Z,1761517370.618 [DAT](INFO): Rx dataTimestamp_ set to:1761517370.617328
2025-10-26T22:22:50.619Z,1761517370.619 [DAT](INFO): DAT read: Bearing 316.5,  -3.0 (Local)

2025-10-26T22:22:50.620Z,1761517370.620 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.5,  -3.0 (Local)

2025-10-26T22:22:50.622Z,1761517370.622 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed 0.4

2025-10-26T22:22:50.626Z,1761517370.626 [DAT](INFO): DAT read: 22:22:49.2984 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 501, 0.38,-3.107, 1.466,-3.015, 2.999, PHS= 0.279,-1.488, 0.224, RAW= 148.4,  11.3, CAL= 148.2,  12.4, ROT=   1.8, -12.4

2025-10-26T22:22:50.628Z,1761517370.628 [DAT](INFO): got valid direction response:
 22:22:49.2984 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 501, 0.38,-3.107, 1.466,-3.015, 2.999, PHS= 0.279,-1.488, 0.224, RAW= 148.4,  11.3, CAL= 148.2,  12.4, ROT=   1.8, -12.4

2025-10-26T22:22:50.628Z,1761517370.628 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-10-26T22:22:50.629Z,1761517370.629 [DAT](INFO): direction in FSK: [0.976190,0.030678,0.214735]
2025-10-26T22:22:50.629Z,1761517370.629 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:50.633Z,1761517370.633 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=46.170422
2025-10-26T22:22:50.824Z,1761517370.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874122,-0.465340,-0.139176],[0.484479,-0.855712,-0.181763],[-0.034513,-0.226311,0.973444]]
2025-10-26T22:22:50.872Z,1761517370.872 [DAT](INFO): DAT read: Rx Time:22:22:49.7984 

2025-10-26T22:22:50.874Z,1761517370.874 [DAT](INFO): Rx dataTimestamp_ set to:1761517370.872587
2025-10-26T22:22:50.877Z,1761517370.877 [DAT](INFO): DAT read: Bearing 315.4,  -2.7 (Local)

2025-10-26T22:22:50.878Z,1761517370.878 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.4,  -2.7 (Local)

2025-10-26T22:22:50.880Z,1761517370.880 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=46.417171
2025-10-26T22:22:51.005Z,1761517371.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.504086 s,
      deltaX: -0.400000 m,
      approachRate: -0.793515 m/s,
      rangeRepo size: 4

2025-10-26T22:22:51.007Z,1761517371.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.530848 m,
      bearing: 155.570880 deg,
      lat: 36.779399 deg,
      lon: -121.859467 deg,
      deltaT: 0.504086 s,
      deltaX: -0.397642 m,
      approachRate: -0.788838 m/s,
      posRepo size: 4

2025-10-26T22:22:51.008Z,1761517371.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-10-26T22:22:51.010Z,1761517371.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.530848 m,
      nav range: 11.356284 m,
      bearing: 155.680945 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 145.667281 deg,
      new cmd heading: 144.949370 deg.

2025-10-26T22:22:51.011Z,1761517371.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.529844 target range: 11.530848 and range: 11.60 m.
2025-10-26T22:22:51.122Z,1761517371.122 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed 0.4

2025-10-26T22:22:51.127Z,1761517371.127 [DAT](INFO): DAT read: 22:22:49.7984 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 501,-0.26, 2.911, 1.198, 2.999, 2.716, PHS= 0.297,-1.473, 0.239, RAW= 148.4,  10.8, CAL= 148.1,  11.8, ROT=   1.9, -11.8

2025-10-26T22:22:51.128Z,1761517371.128 [DAT](INFO): got valid direction response:
 22:22:49.7984 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 501,-0.26, 2.911, 1.198, 2.999, 2.716, PHS= 0.297,-1.473, 0.239, RAW= 148.4,  10.8, CAL= 148.1,  11.8, ROT=   1.9, -11.8

2025-10-26T22:22:51.128Z,1761517371.128 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-10-26T22:22:51.129Z,1761517371.129 [DAT](INFO): direction in FSK: [0.978329,0.032455,0.204496]
2025-10-26T22:22:51.129Z,1761517371.129 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:51.133Z,1761517371.133 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=46.670879
2025-10-26T22:22:51.308Z,1761517371.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867633,-0.476500,-0.141985],[0.496066,-0.848915,-0.182379],[-0.033629,-0.228673,0.972922]]
2025-10-26T22:22:51.340Z,1761517371.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.502689 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:22:51.342Z,1761517371.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.530848 m,
      bearing: 154.794791 deg,
      lat: 36.779398 deg,
      lon: -121.859467 deg,
      deltaT: 0.502689 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:22:51.343Z,1761517371.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-10-26T22:22:51.345Z,1761517371.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.530848 m,
      nav range: 11.197275 m,
      bearing: 155.601367 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 144.949373 deg,
      new cmd heading: 144.580336 deg.

2025-10-26T22:22:51.346Z,1761517371.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.523403 target range: 11.530848 and range: 11.60 m.
2025-10-26T22:22:51.378Z,1761517371.378 [DAT](INFO): DAT read: Rx Time:22:22:50.2981 

2025-10-26T22:22:51.382Z,1761517371.382 [DAT](INFO): Rx dataTimestamp_ set to:1761517371.378419
2025-10-26T22:22:51.385Z,1761517371.385 [DAT](INFO): DAT read: Bearing 315.3,  -2.3 (Local)

2025-10-26T22:22:51.386Z,1761517371.386 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.3,  -2.3 (Local)

2025-10-26T22:22:51.391Z,1761517371.391 [DAT](INFO): DAT read: Range 11 to 50 :    11.1 m (trip time 7.4 ms) speed 0.4

2025-10-26T22:22:51.393Z,1761517371.393 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-10-26T22:22:51.405Z,1761517371.405 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.942379
2025-10-26T22:22:51.632Z,1761517371.632 [DAT](INFO): DAT read: 22:22:50.2981 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 498,-0.06, 1.629,-0.095, 1.701, 1.430, PHS= 0.301,-1.480, 0.227, RAW= 147.9,  10.9, CAL= 147.6,  11.9, ROT=   2.4, -11.9

2025-10-26T22:22:51.633Z,1761517371.633 [DAT](INFO): got valid direction response:
 22:22:50.2981 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 498,-0.06, 1.629,-0.095, 1.701, 1.430, PHS= 0.301,-1.480, 0.227, RAW= 147.9,  10.9, CAL= 147.6,  11.9, ROT=   2.4, -11.9

2025-10-26T22:22:51.634Z,1761517371.634 [DAT](INFO): #Rx 93: Read direction message, but no range.
2025-10-26T22:22:51.635Z,1761517371.635 [DAT](INFO): direction in FSK: [0.977651,0.040976,0.206204]
2025-10-26T22:22:51.641Z,1761517371.641 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=47.178532
2025-10-26T22:22:51.715Z,1761517371.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864003,-0.482824,-0.142756],[0.502389,-0.845445,-0.181186],[-0.033211,-0.228264,0.973033]]
2025-10-26T22:22:51.828Z,1761517371.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.258402 s,
      deltaX: -0.500000 m,
      approachRate: -1.934970 m/s,
      rangeRepo size: 4

2025-10-26T22:22:51.830Z,1761517371.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.033829 m,
      bearing: 154.878062 deg,
      lat: 36.779398 deg,
      lon: -121.859467 deg,
      deltaT: 0.258402 s,
      deltaX: -0.497019 m,
      approachRate: -1.923433 m/s,
      posRepo size: 4

2025-10-26T22:22:51.830Z,1761517371.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m.
2025-10-26T22:22:51.837Z,1761517371.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.033829 m,
      nav range: 10.968707 m,
      bearing: 155.512279 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 144.580338 deg,
      new cmd heading: 144.047551 deg.

2025-10-26T22:22:51.838Z,1761517371.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.514104 target range: 11.033829 and range: 11.10 m.
2025-10-26T22:22:51.884Z,1761517371.884 [DAT](INFO): DAT read: Rx Time:22:22:50.7980 

2025-10-26T22:22:51.886Z,1761517371.886 [DAT](INFO): Rx dataTimestamp_ set to:1761517371.884928
2025-10-26T22:22:51.889Z,1761517371.889 [DAT](INFO): DAT read: Bearing 315.1,  -1.9 (Local)

2025-10-26T22:22:51.890Z,1761517371.890 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.1,  -1.9 (Local)

2025-10-26T22:22:51.895Z,1761517371.895 [DAT](INFO): DAT read: Range 11 to 50 :    11.0 m (trip time 7.3 ms) speed 0.4

2025-10-26T22:22:51.897Z,1761517371.897 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-10-26T22:22:51.901Z,1761517371.901 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.437721
2025-10-26T22:22:52.138Z,1761517372.138 [DAT](INFO): DAT read: 22:22:50.7980 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 497, 0.12,-1.482, 3.086,-1.427,-1.682, PHS= 0.302,-1.470, 0.211, RAW= 147.4,  11.1, CAL= 147.1,  12.1, ROT=   2.9, -12.1

2025-10-26T22:22:52.140Z,1761517372.140 [DAT](INFO): got valid direction response:
 22:22:50.7980 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 497, 0.12,-1.482, 3.086,-1.427,-1.682, PHS= 0.302,-1.470, 0.211, RAW= 147.4,  11.1, CAL= 147.1,  12.1, ROT=   2.9, -12.1

2025-10-26T22:22:52.141Z,1761517372.141 [DAT](INFO): #Rx 95: Read direction message, but no range.
2025-10-26T22:22:52.141Z,1761517372.141 [DAT](INFO): direction in FSK: [0.976531,0.049469,0.209619]
2025-10-26T22:22:52.150Z,1761517372.150 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.687668
2025-10-26T22:22:52.244Z,1761517372.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860371,-0.489071,-0.143425],[0.508626,-0.841902,-0.180281],[-0.032579,-0.228059,0.973102]]
2025-10-26T22:22:52.302Z,1761517372.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 0.506509 s,
      deltaX: -0.100000 m,
      approachRate: -0.197431 m/s,
      rangeRepo size: 4

2025-10-26T22:22:52.304Z,1761517372.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.934392 m,
      bearing: 154.991204 deg,
      lat: 36.779398 deg,
      lon: -121.859466 deg,
      deltaT: 0.506509 s,
      deltaX: -0.099437 m,
      approachRate: -0.196318 m/s,
      posRepo size: 4

2025-10-26T22:22:52.305Z,1761517372.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.93 m.
2025-10-26T22:22:52.323Z,1761517372.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.934392 m,
      nav range: 10.690214 m,
      bearing: 155.110021 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 144.047556 deg,
      new cmd heading: 143.520895 deg.

2025-10-26T22:22:52.324Z,1761517372.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.504912 target range: 10.934392 and range: 11.00 m.
2025-10-26T22:22:52.389Z,1761517372.389 [DAT](INFO): DAT read: Rx Time:22:22:51.2977 

2025-10-26T22:22:52.390Z,1761517372.390 [DAT](INFO): Rx dataTimestamp_ set to:1761517372.389252
2025-10-26T22:22:52.394Z,1761517372.394 [DAT](INFO): DAT read: Bearing 314.1,  -1.2 (Local)

2025-10-26T22:22:52.396Z,1761517372.396 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.1,  -1.2 (Local)

2025-10-26T22:22:52.407Z,1761517372.407 [DAT](INFO): DAT read: Range 11 to 50 :    10.5 m (trip time 7.0 ms) speed 0.4

2025-10-26T22:22:52.410Z,1761517372.410 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-10-26T22:22:52.460Z,1761517372.460 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.987926
2025-10-26T22:22:52.641Z,1761517372.641 [DAT](INFO): DAT read: 22:22:51.2977 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 510, 0.44, 2.938, 1.217, 2.973, 2.714, PHS= 0.325,-1.452, 0.215, RAW= 146.8,  10.6, CAL= 146.5,  11.6, ROT=   3.5, -11.6

2025-10-26T22:22:52.642Z,1761517372.642 [DAT](INFO): got valid direction response:
 22:22:51.2977 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 510, 0.44, 2.938, 1.217, 2.973, 2.714, PHS= 0.325,-1.452, 0.215, RAW= 146.8,  10.6, CAL= 146.5,  11.6, ROT=   3.5, -11.6

2025-10-26T22:22:52.642Z,1761517372.642 [DAT](INFO): #Rx 97: Read direction message, but no range.
2025-10-26T22:22:52.643Z,1761517372.643 [DAT](INFO): direction in FSK: [0.977748,0.059802,0.201078]
2025-10-26T22:22:52.646Z,1761517372.646 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.183800
2025-10-26T22:22:52.717Z,1761517372.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856908,-0.494619,-0.145124],[0.514461,-0.838242,-0.180777],[-0.032233,-0.229570,0.972758]]
2025-10-26T22:22:52.783Z,1761517372.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.504324 s,
      deltaX: -0.500000 m,
      approachRate: -0.991426 m/s,
      rangeRepo size: 4

2025-10-26T22:22:52.804Z,1761517372.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.437374 m,
      bearing: 155.081747 deg,
      lat: 36.779399 deg,
      lon: -121.859466 deg,
      deltaT: 0.504324 s,
      deltaX: -0.497018 m,
      approachRate: -0.985513 m/s,
      posRepo size: 4

2025-10-26T22:22:52.806Z,1761517372.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.44 m.
2025-10-26T22:22:52.843Z,1761517372.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.437374 m,
      nav range: 10.404963 m,
      bearing: 155.013013 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 143.520894 deg,
      new cmd heading: 142.992261 deg.

2025-10-26T22:22:52.849Z,1761517372.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.495686 target range: 10.437374 and range: 10.50 m.
2025-10-26T22:22:52.895Z,1761517372.895 [DAT](INFO): DAT read: Rx Time:22:22:51.7976 

2025-10-26T22:22:52.897Z,1761517372.897 [DAT](INFO): Rx dataTimestamp_ set to:1761517372.896292
2025-10-26T22:22:52.902Z,1761517372.902 [DAT](INFO): DAT read: Bearing 314.8,  -1.2 (Local)

2025-10-26T22:22:52.905Z,1761517372.905 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.8,  -1.2 (Local)

2025-10-26T22:22:52.953Z,1761517372.953 [DAT](INFO): DAT read: Range 11 to 50 :    10.4 m (trip time 6.9 ms) speed 0.4

2025-10-26T22:22:52.970Z,1761517372.970 [DAT](INFO): DAT read: 22:22:51.7976 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 509,-0.22, 0.861,-0.874, 0.884, 0.661, PHS= 0.302,-1.490, 0.179, RAW= 146.5,  11.6, CAL= 146.2,  12.7, ROT=   3.8, -12.7

2025-10-26T22:22:52.971Z,1761517372.971 [DAT](INFO): got valid direction response:
 22:22:51.7976 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 509,-0.22, 0.861,-0.874, 0.884, 0.661, PHS= 0.302,-1.490, 0.179, RAW= 146.5,  11.6, CAL= 146.2,  12.7, ROT=   3.8, -12.7

2025-10-26T22:22:52.971Z,1761517372.971 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-10-26T22:22:52.985Z,1761517372.985 [DAT](INFO): direction in FSK: [0.973390,0.064652,0.219846]
2025-10-26T22:22:52.985Z,1761517372.985 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:52.997Z,1761517372.997 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.534382
2025-10-26T22:22:53.142Z,1761517373.142 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.679913
2025-10-26T22:22:53.402Z,1761517373.402 [DAT](INFO): DAT read: Rx Time:22:22:52.2973 

2025-10-26T22:22:53.404Z,1761517373.404 [DAT](INFO): Rx dataTimestamp_ set to:1761517373.402488
2025-10-26T22:22:53.411Z,1761517373.411 [DAT](INFO): DAT read: Bearing 315.5,  -0.7 (Local)

2025-10-26T22:22:53.412Z,1761517373.412 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.5,  -0.7 (Local)

2025-10-26T22:22:53.420Z,1761517373.420 [DAT](INFO): DAT read: Range 11 to 50 :     9.9 m (trip time 6.6 ms) speed 0.4

2025-10-26T22:22:53.423Z,1761517373.423 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-10-26T22:22:53.438Z,1761517373.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850272,-0.504496,-0.150069],[0.525419,-0.830437,-0.185227],[-0.031177,-0.236342,0.971169]]
2025-10-26T22:22:53.444Z,1761517373.444 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.981667
2025-10-26T22:22:53.548Z,1761517373.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.900000 m,
      deltaT: 1.013236 s,
      deltaX: -0.600000 m,
      approachRate: -0.592162 m/s,
      rangeRepo size: 4

2025-10-26T22:22:53.550Z,1761517373.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.841003 m,
      bearing: 154.973948 deg,
      lat: 36.779399 deg,
      lon: -121.859466 deg,
      deltaT: 1.013236 s,
      deltaX: -0.596371 m,
      approachRate: -0.588580 m/s,
      posRepo size: 4

2025-10-26T22:22:53.551Z,1761517373.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.84 m.
2025-10-26T22:22:53.556Z,1761517373.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.90 m.
2025-10-26T22:22:53.556Z,1761517373.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-10-26T22:22:53.559Z,1761517373.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 9.914885 m,
      bearing: 154.874049 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 142.992264 deg,
      new cmd heading: 142.147502 deg.

2025-10-26T22:22:53.564Z,1761517373.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.480942 target range: 9.841003 and range: 9.90 m.
2025-10-26T22:22:53.655Z,1761517373.655 [DAT](INFO): DAT read: 22:22:52.2973 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 506,-0.02, 0.485,-1.236, 0.480, 0.304, PHS= 0.283,-1.495, 0.132, RAW= 145.6,  12.6, CAL= 145.3,  13.8, ROT=   4.7, -13.8

2025-10-26T22:22:53.657Z,1761517373.657 [DAT](INFO): got valid direction response:
 22:22:52.2973 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 506,-0.02, 0.485,-1.236, 0.480, 0.304, PHS= 0.283,-1.495, 0.132, RAW= 145.6,  12.6, CAL= 145.3,  13.8, ROT=   4.7, -13.8

2025-10-26T22:22:53.658Z,1761517373.658 [DAT](INFO): #Rx 100: Read direction message, but no range.
2025-10-26T22:22:53.661Z,1761517373.661 [DAT](INFO): direction in FSK: [0.967869,0.079573,0.238533]
2025-10-26T22:22:53.670Z,1761517373.670 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.206963
2025-10-26T22:22:53.906Z,1761517373.906 [DAT](INFO): DAT read: Rx Time:22:22:52.7972 

2025-10-26T22:22:53.908Z,1761517373.908 [DAT](INFO): Rx dataTimestamp_ set to:1761517373.906311
2025-10-26T22:22:53.929Z,1761517373.929 [DAT](INFO): DAT read: Bearing 314.6,   0.4 (Local)

2025-10-26T22:22:53.929Z,1761517373.929 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.6,   0.4 (Local)

2025-10-26T22:22:53.931Z,1761517373.931 [DAT](INFO): DAT read: Range 11 to 50 :     9.8 m (trip time 6.5 ms) speed 0.4

2025-10-26T22:22:53.972Z,1761517373.972 [DAT](INFO): DAT read: 22:22:52.7972 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 505, 0.25, 2.459, 0.727, 2.424, 2.244, PHS= 0.317,-1.472, 0.136, RAW= 144.7,  11.9, CAL= 144.3,  13.0, ROT=   5.7, -13.0

2025-10-26T22:22:53.973Z,1761517373.973 [DAT](INFO): got valid direction response:
 22:22:52.7972 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 505, 0.25, 2.459, 0.727, 2.424, 2.244, PHS= 0.317,-1.472, 0.136, RAW= 144.7,  11.9, CAL= 144.3,  13.0, ROT=   5.7, -13.0

2025-10-26T22:22:53.974Z,1761517373.974 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-10-26T22:22:53.974Z,1761517373.974 [DAT](INFO): direction in FSK: [0.969552,0.096774,0.224951]
2025-10-26T22:22:53.975Z,1761517373.975 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:53.978Z,1761517373.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846956,-0.509793,-0.150922],[0.530777,-0.827149,-0.184662],[-0.030695,-0.236507,0.971145]]
2025-10-26T22:22:53.987Z,1761517373.987 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.524326
2025-10-26T22:22:54.085Z,1761517374.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.503823 s,
      deltaX: -0.099999 m,
      approachRate: -0.198481 m/s,
      rangeRepo size: 4

2025-10-26T22:22:54.087Z,1761517374.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.741611 m,
      bearing: 156.512689 deg,
      lat: 36.779399 deg,
      lon: -121.859466 deg,
      deltaT: 0.503823 s,
      deltaX: -0.099392 m,
      approachRate: -0.197276 m/s,
      posRepo size: 4

2025-10-26T22:22:54.092Z,1761517374.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.84 m.
2025-10-26T22:22:54.095Z,1761517374.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 9.613892 m,
      bearing: 154.888031 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 142.147506 deg,
      new cmd heading: 141.556465 deg.

2025-10-26T22:22:54.096Z,1761517374.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.470626 target range: 9.841003 and range: 9.80 m.
2025-10-26T22:22:54.152Z,1761517374.152 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.689945
2025-10-26T22:22:54.409Z,1761517374.409 [DAT](INFO): DAT read: Rx Time:22:22:53.2970 

2025-10-26T22:22:54.411Z,1761517374.411 [DAT](INFO): Rx dataTimestamp_ set to:1761517374.409756
2025-10-26T22:22:54.421Z,1761517374.421 [DAT](INFO): DAT read: Bearing 315.3,   0.2 (Local)

2025-10-26T22:22:54.422Z,1761517374.422 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.3,   0.2 (Local)

2025-10-26T22:22:54.426Z,1761517374.426 [DAT](INFO): DAT read: Range 11 to 50 :     9.5 m (trip time 6.3 ms) speed 0.4

2025-10-26T22:22:54.431Z,1761517374.431 [DAT](INFO): DAT read: 22:22:53.2970 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 503,-0.49, 0.130,-1.587, 0.092,-0.051, PHS= 0.283,-1.491, 0.099, RAW= 144.6,  13.1, CAL= 144.2,  14.2, ROT=   5.8, -14.2

2025-10-26T22:22:54.453Z,1761517374.453 [DAT](INFO): got valid direction response:
 22:22:53.2970 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 503,-0.49, 0.130,-1.587, 0.092,-0.051, PHS= 0.283,-1.491, 0.099, RAW= 144.6,  13.1, CAL= 144.2,  14.2, ROT=   5.8, -14.2

2025-10-26T22:22:54.454Z,1761517374.454 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-10-26T22:22:54.455Z,1761517374.455 [DAT](INFO): direction in FSK: [0.964482,0.097969,0.245307]
2025-10-26T22:22:54.462Z,1761517374.462 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:54.474Z,1761517374.474 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.008617
2025-10-26T22:22:54.556Z,1761517374.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839958,-0.520747,-0.152621],[0.541759,-0.820852,-0.180827],[-0.031114,-0.234571,0.971601]]
2025-10-26T22:22:54.621Z,1761517374.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.500000 m,
      deltaT: 0.503445 s,
      deltaX: -0.300000 m,
      approachRate: -0.595895 m/s,
      rangeRepo size: 4

2025-10-26T22:22:54.623Z,1761517374.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.443398 m,
      bearing: 156.124246 deg,
      lat: 36.779399 deg,
      lon: -121.859467 deg,
      deltaT: 1.007268 s,
      deltaX: -0.397605 m,
      approachRate: -0.394736 m/s,
      posRepo size: 4

2025-10-26T22:22:54.628Z,1761517374.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.44 m. 9.84 m.
2025-10-26T22:22:54.630Z,1761517374.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 9.312626 m,
      bearing: 154.926741 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 141.556463 deg,
      new cmd heading: 140.966223 deg.

2025-10-26T22:22:54.636Z,1761517374.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.460325 target range: 9.841003 and range: 9.50 m.
2025-10-26T22:22:54.657Z,1761517374.657 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.194111
2025-10-26T22:22:54.913Z,1761517374.913 [DAT](INFO): DAT read: Rx Time:22:22:53.7969 

2025-10-26T22:22:54.927Z,1761517374.927 [DAT](INFO): Rx dataTimestamp_ set to:1761517374.914109
2025-10-26T22:22:54.929Z,1761517374.929 [DAT](INFO): DAT read: Bearing 315.7,   0.5 (Local)

2025-10-26T22:22:54.929Z,1761517374.929 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.7,   0.5 (Local)

2025-10-26T22:22:54.931Z,1761517374.931 [DAT](INFO): DAT read: Range 11 to 50 :     9.3 m (trip time 6.2 ms) speed 0.4

2025-10-26T22:22:54.936Z,1761517374.936 [DAT](INFO): DAT read: 22:22:53.7969 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 502,-0.27, 2.502, 0.773, 2.445, 2.332, PHS= 0.272,-1.513, 0.070, RAW= 144.1,  13.7, CAL= 143.6,  15.0, ROT=   6.4, -15.0

2025-10-26T22:22:54.937Z,1761517374.937 [DAT](INFO): got valid direction response:
 22:22:53.7969 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 502,-0.27, 2.502, 0.773, 2.445, 2.332, PHS= 0.272,-1.513, 0.070, RAW= 144.1,  13.7, CAL= 143.6,  15.0, ROT=   6.4, -15.0

2025-10-26T22:22:54.937Z,1761517374.937 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-10-26T22:22:54.938Z,1761517374.938 [DAT](INFO): direction in FSK: [0.959906,0.107671,0.258819]
2025-10-26T22:22:54.939Z,1761517374.939 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:54.950Z,1761517374.950 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.487953
2025-10-26T22:22:55.105Z,1761517375.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 0.504353 s,
      deltaX: -0.200000 m,
      approachRate: -0.396547 m/s,
      rangeRepo size: 4

2025-10-26T22:22:55.107Z,1761517375.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.244557 m,
      bearing: 156.890189 deg,
      lat: 36.779399 deg,
      lon: -121.859468 deg,
      deltaT: 1.511621 s,
      deltaX: -0.596446 m,
      approachRate: -0.394574 m/s,
      posRepo size: 4

2025-10-26T22:22:55.108Z,1761517375.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.84 m.
2025-10-26T22:22:55.110Z,1761517375.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 9.071685 m,
      bearing: 154.898288 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 140.966225 deg,
      new cmd heading: 140.433346 deg.

2025-10-26T22:22:55.119Z,1761517375.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.451024 target range: 9.841003 and range: 9.30 m.
2025-10-26T22:22:55.162Z,1761517375.162 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.699322
2025-10-26T22:22:55.422Z,1761517375.422 [DAT](INFO): DAT read: Rx Time:22:22:54.2966 

2025-10-26T22:22:55.424Z,1761517375.424 [DAT](INFO): Rx dataTimestamp_ set to:1761517375.422820
2025-10-26T22:22:55.425Z,1761517375.425 [DAT](INFO): DAT read: Bearing 313.6,   1.9 (Local)

2025-10-26T22:22:55.426Z,1761517375.426 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.6,   1.9 (Local)

2025-10-26T22:22:55.428Z,1761517375.428 [DAT](INFO): DAT read: Range 11 to 50 :     8.9 m (trip time 5.9 ms) speed 0.4

2025-10-26T22:22:55.432Z,1761517375.432 [DAT](INFO): DAT read: 22:22:54.2966 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 499, 0.01, 2.220, 0.460, 2.127, 1.980, PHS= 0.342,-1.475, 0.103, RAW= 143.0,  12.0, CAL= 142.5,  13.1, ROT=   7.5, -13.1

2025-10-26T22:22:55.434Z,1761517375.434 [DAT](INFO): got valid direction response:
 22:22:54.2966 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 499, 0.01, 2.220, 0.460, 2.127, 1.980, PHS= 0.342,-1.475, 0.103, RAW= 143.0,  12.0, CAL= 142.5,  13.1, ROT=   7.5, -13.1

2025-10-26T22:22:55.434Z,1761517375.434 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-10-26T22:22:55.435Z,1761517375.435 [DAT](INFO): direction in FSK: [0.965643,0.127129,0.226651]
2025-10-26T22:22:55.435Z,1761517375.435 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:55.439Z,1761517375.439 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.976177
2025-10-26T22:22:55.484Z,1761517375.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831837,-0.532647,-0.155995],[0.554008,-0.813812,-0.175454],[-0.033495,-0.232371,0.972050]]
2025-10-26T22:22:55.545Z,1761517375.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.508711 s,
      deltaX: -0.400001 m,
      approachRate: -0.786302 m/s,
      rangeRepo size: 4

2025-10-26T22:22:55.547Z,1761517375.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.846942 m,
      bearing: 156.624267 deg,
      lat: 36.779399 deg,
      lon: -121.859469 deg,
      deltaT: 2.020332 s,
      deltaX: -0.994061 m,
      approachRate: -0.492029 m/s,
      posRepo size: 4

2025-10-26T22:22:55.549Z,1761517375.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.85 m. 9.84 m.
2025-10-26T22:22:55.551Z,1761517375.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 8.867454 m,
      bearing: 154.891981 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 140.433348 deg,
      new cmd heading: 139.948681 deg.

2025-10-26T22:22:55.552Z,1761517375.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.442565 target range: 9.841003 and range: 8.90 m.
2025-10-26T22:22:55.667Z,1761517375.667 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.204376
2025-10-26T22:22:55.909Z,1761517375.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827636,-0.538453,-0.158388],[0.560177,-0.810027,-0.173375],[-0.034944,-0.232217,0.972036]]
2025-10-26T22:22:55.928Z,1761517375.928 [DAT](INFO): DAT read: Rx Time:22:22:54.7965 

2025-10-26T22:22:55.928Z,1761517375.928 [DAT](INFO): Rx dataTimestamp_ set to:1761517375.927788
2025-10-26T22:22:55.929Z,1761517375.929 [DAT](INFO): DAT read: Bearing 315.0,   1.8 (Local)

2025-10-26T22:22:55.930Z,1761517375.930 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.0,   1.8 (Local)

2025-10-26T22:22:55.936Z,1761517375.936 [DAT](INFO): DAT read: Range 11 to 50 :     8.7 m (trip time 5.8 ms) speed 0.4

2025-10-26T22:22:55.941Z,1761517375.941 [DAT](INFO): DAT read: 22:22:54.7965 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 498, 0.33,-1.873, 2.674,-1.976,-2.065, PHS= 0.295,-1.498, 0.046, RAW= 142.6,  13.7, CAL= 142.1,  14.8, ROT=   7.9, -14.8

2025-10-26T22:22:55.942Z,1761517375.942 [DAT](INFO): got valid direction response:
 22:22:54.7965 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 498, 0.33,-1.873, 2.674,-1.976,-2.065, PHS= 0.295,-1.498, 0.046, RAW= 142.6,  13.7, CAL= 142.1,  14.8, ROT=   7.9, -14.8

2025-10-26T22:22:55.942Z,1761517375.942 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-10-26T22:22:55.943Z,1761517375.943 [DAT](INFO): direction in FSK: [0.957648,0.132885,0.255446]
2025-10-26T22:22:55.948Z,1761517375.948 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:55.965Z,1761517375.965 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.502556
2025-10-26T22:22:56.078Z,1761517376.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 0.504968 s,
      deltaX: -0.200000 m,
      approachRate: -0.396064 m/s,
      rangeRepo size: 4

2025-10-26T22:22:56.108Z,1761517376.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.648114 m,
      bearing: 156.970709 deg,
      lat: 36.779399 deg,
      lon: -121.859469 deg,
      deltaT: 2.525300 s,
      deltaX: -1.192889 m,
      approachRate: -0.472375 m/s,
      posRepo size: 4

2025-10-26T22:22:56.109Z,1761517376.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.65 m. 9.84 m.
2025-10-26T22:22:56.111Z,1761517376.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 8.621357 m,
      bearing: 154.825605 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 139.948677 deg,
      new cmd heading: 139.361536 deg.

2025-10-26T22:22:56.112Z,1761517376.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432318 target range: 9.841003 and range: 8.70 m.
2025-10-26T22:22:56.169Z,1761517376.169 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.706924
2025-10-26T22:22:56.425Z,1761517376.425 [DAT](INFO): DAT read: Rx Time:22:22:55.2963 

2025-10-26T22:22:56.425Z,1761517376.425 [DAT](INFO): Rx dataTimestamp_ set to:1761517376.424769
2025-10-26T22:22:56.426Z,1761517376.426 [DAT](INFO): DAT read: Bearing 316.3,   2.4 (Local)

2025-10-26T22:22:56.427Z,1761517376.427 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.3,   2.4 (Local)

2025-10-26T22:22:56.429Z,1761517376.429 [DAT](INFO): DAT read: Range 11 to 50 :     8.4 m (trip time 5.6 ms) speed 0.4

2025-10-26T22:22:56.433Z,1761517376.433 [DAT](INFO): DAT read: 22:22:55.2963 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 496,-0.01, 0.851,-0.861, 0.719, 0.692, PHS= 0.261,-1.508,-0.017, RAW= 141.6,  15.2, CAL= 140.9,  16.3, ROT=   9.1, -16.3

2025-10-26T22:22:56.435Z,1761517376.435 [DAT](INFO): got valid direction response:
 22:22:55.2963 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 496,-0.01, 0.851,-0.861, 0.719, 0.692, PHS= 0.261,-1.508,-0.017, RAW= 141.6,  15.2, CAL= 140.9,  16.3, ROT=   9.1, -16.3

2025-10-26T22:22:56.435Z,1761517376.435 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-10-26T22:22:56.437Z,1761517376.437 [DAT](INFO): direction in FSK: [0.947725,0.151801,0.280667]
2025-10-26T22:22:56.437Z,1761517376.437 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:56.441Z,1761517376.441 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.978500
2025-10-26T22:22:56.488Z,1761517376.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823012,-0.544778,-0.160839],[0.566839,-0.805965,-0.170627],[-0.036677,-0.231598,0.972120]]
2025-10-26T22:22:56.562Z,1761517376.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.400000 m,
      deltaT: 0.496981 s,
      deltaX: -0.300000 m,
      approachRate: -0.603645 m/s,
      rangeRepo size: 4

2025-10-26T22:22:56.568Z,1761517376.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.349903 m,
      bearing: 157.989920 deg,
      lat: 36.779399 deg,
      lon: -121.859469 deg,
      deltaT: 3.022281 s,
      deltaX: -1.491100 m,
      approachRate: -0.493369 m/s,
      posRepo size: 4

2025-10-26T22:22:56.569Z,1761517376.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.35 m. 9.84 m.
2025-10-26T22:22:56.576Z,1761517376.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 8.388900 m,
      bearing: 154.772009 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 139.361541 deg,
      new cmd heading: 138.828381 deg.

2025-10-26T22:22:56.577Z,1761517376.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.423012 target range: 9.841003 and range: 8.40 m.
2025-10-26T22:22:56.674Z,1761517376.674 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.211044
2025-10-26T22:22:56.926Z,1761517376.926 [DAT](INFO): DAT read: Rx Time:22:22:55.7963 

2025-10-26T22:22:56.927Z,1761517376.927 [DAT](INFO): Rx dataTimestamp_ set to:1761517376.926367
2025-10-26T22:22:56.928Z,1761517376.928 [DAT](INFO): DAT read: Bearing 310.0,   4.9 (Local)

2025-10-26T22:22:56.928Z,1761517376.928 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.0,   4.9 (Local)

2025-10-26T22:22:56.930Z,1761517376.930 [DAT](INFO): DAT read: Range 11 to 50 :     8.4 m (trip time 5.6 ms) speed 0.4

2025-10-26T22:22:56.935Z,1761517376.935 [DAT](INFO): DAT read: 22:22:55.7963 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 512,-0.22,-0.608,-2.595,-0.831,-1.021, PHS= 0.515,-1.529, 0.146, RAW= 140.3,   9.2, CAL= 139.8,  10.1, ROT=  10.2, -10.1

2025-10-26T22:22:56.936Z,1761517376.936 [DAT](INFO): got valid direction response:
 22:22:55.7963 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 512,-0.22,-0.608,-2.595,-0.831,-1.021, PHS= 0.515,-1.529, 0.146, RAW= 140.3,   9.2, CAL= 139.8,  10.1, ROT=  10.2, -10.1

2025-10-26T22:22:56.936Z,1761517376.936 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-10-26T22:22:56.937Z,1761517376.937 [DAT](INFO): direction in FSK: [0.968944,0.174340,0.175367]
2025-10-26T22:22:56.938Z,1761517376.938 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:56.941Z,1761517376.941 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.478893
2025-10-26T22:22:57.100Z,1761517377.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.400000 m,
      deltaT: 0.501598 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:22:57.102Z,1761517377.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.349924 m,
      bearing: 157.634975 deg,
      lat: 36.779399 deg,
      lon: -121.859470 deg,
      deltaT: 3.523879 s,
      deltaX: -1.491079 m,
      approachRate: -0.423136 m/s,
      posRepo size: 4

2025-10-26T22:22:57.103Z,1761517377.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.35 m. 9.84 m.
2025-10-26T22:22:57.110Z,1761517377.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 8.157809 m,
      bearing: 154.608334 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 138.828376 deg,
      new cmd heading: 138.240058 deg.

2025-10-26T22:22:57.115Z,1761517377.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.412744 target range: 9.841003 and range: 8.40 m.
2025-10-26T22:22:57.177Z,1761517377.177 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.714573
2025-10-26T22:22:57.429Z,1761517377.429 [DAT](INFO): DAT read: Rx Time:22:22:56.2960 

2025-10-26T22:22:57.430Z,1761517377.430 [DAT](INFO): Rx dataTimestamp_ set to:1761517377.429220
2025-10-26T22:22:57.431Z,1761517377.431 [DAT](INFO): DAT read: Bearing 312.5,   5.3 (Local)

2025-10-26T22:22:57.431Z,1761517377.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.5,   5.3 (Local)

2025-10-26T22:22:57.433Z,1761517377.433 [DAT](INFO): DAT read: Range 11 to 50 :     8.0 m (trip time 5.3 ms) speed 0.4

2025-10-26T22:22:57.439Z,1761517377.439 [DAT](INFO): DAT read: 22:22:56.2960 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 509, 0.34,-1.855, 2.609,-2.085,-2.163, PHS= 0.410,-1.466, 0.034, RAW= 139.1,  11.9, CAL= 138.5,  12.9, ROT=  11.5, -12.9

2025-10-26T22:22:57.441Z,1761517377.441 [DAT](INFO): got valid direction response:
 22:22:56.2960 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 509, 0.34,-1.855, 2.609,-2.085,-2.163, PHS= 0.410,-1.466, 0.034, RAW= 139.1,  11.9, CAL= 138.5,  12.9, ROT=  11.5, -12.9

2025-10-26T22:22:57.441Z,1761517377.441 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-10-26T22:22:57.442Z,1761517377.442 [DAT](INFO): direction in FSK: [0.955193,0.194336,0.223250]
2025-10-26T22:22:57.442Z,1761517377.442 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:57.446Z,1761517377.446 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.983261
2025-10-26T22:22:57.457Z,1761517377.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806458,-0.566192,-0.170446],[0.589750,-0.791014,-0.162766],[-0.042668,-0.231784,0.971831]]
2025-10-26T22:22:57.549Z,1761517377.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.000000 m,
      deltaT: 0.502853 s,
      deltaX: -0.400000 m,
      approachRate: -0.795460 m/s,
      rangeRepo size: 4

2025-10-26T22:22:57.551Z,1761517377.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.952309 m,
      bearing: 157.881893 deg,
      lat: 36.779399 deg,
      lon: -121.859470 deg,
      deltaT: 4.026732 s,
      deltaX: -1.888695 m,
      approachRate: -0.469039 m/s,
      posRepo size: 4

2025-10-26T22:22:57.556Z,1761517377.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.95 m. 9.84 m.
2025-10-26T22:22:57.559Z,1761517377.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 7.957074 m,
      bearing: 154.499218 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 138.240064 deg,
      new cmd heading: 137.740908 deg.

2025-10-26T22:22:57.564Z,1761517377.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.404032 target range: 9.841003 and range: 8.00 m.
2025-10-26T22:22:57.681Z,1761517377.681 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.218071
2025-10-26T22:22:57.823Z,1761517377.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800491,-0.573162,-0.175211],[0.597661,-0.785266,-0.161735],[-0.044887,-0.234185,0.971155]]
2025-10-26T22:22:57.868Z,1761517377.868 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:22:57.906Z,1761517377.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-10-26T22:22:57.934Z,1761517377.934 [DAT](INFO): DAT read: Rx Time:22:22:56.7959 

2025-10-26T22:22:57.935Z,1761517377.935 [DAT](INFO): Rx dataTimestamp_ set to:1761517377.934638
2025-10-26T22:22:57.936Z,1761517377.936 [DAT](INFO): DAT read: Bearing 312.5,   4.9 (Local)

2025-10-26T22:22:57.937Z,1761517377.937 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.5,   4.9 (Local)

2025-10-26T22:22:57.939Z,1761517377.939 [DAT](INFO): DAT read: Range 11 to 50 :     7.8 m (trip time 5.2 ms) speed 0.4

2025-10-26T22:22:57.955Z,1761517377.955 [DAT](INFO): DAT read: 22:22:56.7959 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 508,-0.09,-2.429, 2.040,-2.650,-2.714, PHS= 0.388,-1.484, 0.020, RAW= 139.3,  12.5, CAL= 138.7,  13.5, ROT=  11.3, -13.5

2025-10-26T22:22:57.956Z,1761517377.956 [DAT](INFO): got valid direction response:
 22:22:56.7959 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 508,-0.09,-2.429, 2.040,-2.650,-2.714, PHS= 0.388,-1.484, 0.020, RAW= 139.3,  12.5, CAL= 138.7,  13.5, ROT=  11.3, -13.5

2025-10-26T22:22:57.956Z,1761517377.956 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-26T22:22:57.957Z,1761517377.957 [DAT](INFO): direction in FSK: [0.953520,0.190532,0.233445]
2025-10-26T22:22:57.958Z,1761517377.958 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:57.965Z,1761517377.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 7.816051 m,
      bearing: 154.429796 deg,
      approach rate: -0.404430 m/s,
      LOS rate: -0.202682 deg/s,
      cmd heading: 137.740914 deg,
      new cmd heading: 137.528892 deg.

2025-10-26T22:22:57.966Z,1761517377.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.400332 target range: 9.841003 and range: 8.00 m.
2025-10-26T22:22:57.973Z,1761517377.973 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.510902
2025-10-26T22:22:58.185Z,1761517378.185 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.722157
2025-10-26T22:22:58.304Z,1761517378.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.800000 m,
      deltaT: 0.505418 s,
      deltaX: -0.200000 m,
      approachRate: -0.395712 m/s,
      rangeRepo size: 4

2025-10-26T22:22:58.306Z,1761517378.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.753525 m,
      bearing: 157.277236 deg,
      lat: 36.779398 deg,
      lon: -121.859470 deg,
      deltaT: 4.532150 s,
      deltaX: -2.087479 m,
      approachRate: -0.460593 m/s,
      posRepo size: 4

2025-10-26T22:22:58.308Z,1761517378.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.75 m. 9.84 m.
2025-10-26T22:22:58.310Z,1761517378.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 7.635628 m,
      bearing: 154.282819 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 137.528892 deg,
      new cmd heading: 137.081340 deg.

2025-10-26T22:22:58.311Z,1761517378.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.392521 target range: 9.841003 and range: 7.80 m.
2025-10-26T22:22:58.437Z,1761517378.437 [DAT](INFO): DAT read: Rx Time:22:22:57.2957 

2025-10-26T22:22:58.438Z,1761517378.438 [DAT](INFO): Rx dataTimestamp_ set to:1761517378.437414
2025-10-26T22:22:58.439Z,1761517378.439 [DAT](INFO): DAT read: Bearing 312.0,   5.2 (Local)

2025-10-26T22:22:58.439Z,1761517378.439 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.0,   5.2 (Local)

2025-10-26T22:22:58.441Z,1761517378.441 [DAT](INFO): DAT read: Range 11 to 50 :     7.4 m (trip time 4.9 ms) speed 0.4

2025-10-26T22:22:58.447Z,1761517378.447 [DAT](INFO): DAT read: 22:22:57.2957 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 505, 0.42,-1.383, 3.085,-1.618,-1.676, PHS= 0.395,-1.477, 0.015, RAW= 138.9,  12.4, CAL= 138.3,  13.4, ROT=  11.7, -13.4

2025-10-26T22:22:58.448Z,1761517378.448 [DAT](INFO): got valid direction response:
 22:22:57.2957 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 505, 0.42,-1.383, 3.085,-1.618,-1.676, PHS= 0.395,-1.477, 0.015, RAW= 138.9,  12.4, CAL= 138.3,  13.4, ROT=  11.7, -13.4

2025-10-26T22:22:58.448Z,1761517378.448 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-10-26T22:22:58.449Z,1761517378.449 [DAT](INFO): direction in FSK: [0.952564,0.197267,0.231748]
2025-10-26T22:22:58.450Z,1761517378.450 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:58.454Z,1761517378.454 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.991512
2025-10-26T22:22:58.630Z,1761517378.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787777,-0.588238,-0.182709],[0.614052,-0.773321,-0.157844],[-0.048442,-0.236539,0.970414]]
2025-10-26T22:22:58.682Z,1761517378.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.400000 m,
      deltaT: 0.502776 s,
      deltaX: -0.400000 m,
      approachRate: -0.795583 m/s,
      rangeRepo size: 4

2025-10-26T22:22:58.684Z,1761517378.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.355908 m,
      bearing: 156.466062 deg,
      lat: 36.779398 deg,
      lon: -121.859470 deg,
      deltaT: 5.034926 s,
      deltaX: -2.485096 m,
      approachRate: -0.493571 m/s,
      posRepo size: 4

2025-10-26T22:22:58.685Z,1761517378.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.36 m. 9.84 m.
2025-10-26T22:22:58.688Z,1761517378.688 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.226021
2025-10-26T22:22:58.692Z,1761517378.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 7.492196 m,
      bearing: 154.184074 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 137.081337 deg,
      new cmd heading: 136.664918 deg.

2025-10-26T22:22:58.693Z,1761517378.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.385253 target range: 9.841003 and range: 7.40 m.
2025-10-26T22:22:58.943Z,1761517378.943 [DAT](INFO): DAT read: Rx Time:22:22:57.7957 

2025-10-26T22:22:58.943Z,1761517378.943 [DAT](INFO): Rx dataTimestamp_ set to:1761517378.943012
2025-10-26T22:22:58.945Z,1761517378.945 [DAT](INFO): DAT read: Bearing 314.1,   4.5 (Local)

2025-10-26T22:22:58.945Z,1761517378.945 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.1,   4.5 (Local)

2025-10-26T22:22:58.947Z,1761517378.947 [DAT](INFO): DAT read: Range 11 to 50 :     7.4 m (trip time 4.9 ms) speed 0.4

2025-10-26T22:22:58.968Z,1761517378.968 [DAT](INFO): DAT read: 22:22:57.7957 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 505, 0.00, 0.207,-1.565,-0.018,-0.003, PHS= 0.311,-1.517,-0.060, RAW= 138.9,  15.0, CAL= 138.1,  16.1, ROT=  11.9, -16.1

2025-10-26T22:22:58.969Z,1761517378.969 [DAT](INFO): got valid direction response:
 22:22:57.7957 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 505, 0.00, 0.207,-1.565,-0.018,-0.003, PHS= 0.311,-1.517,-0.060, RAW= 138.9,  15.0, CAL= 138.1,  16.1, ROT=  11.9, -16.1

2025-10-26T22:22:58.969Z,1761517378.969 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-10-26T22:22:58.970Z,1761517378.970 [DAT](INFO): direction in FSK: [0.940131,0.198117,0.277315]
2025-10-26T22:22:58.970Z,1761517378.970 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:58.987Z,1761517378.987 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.524586
2025-10-26T22:22:59.035Z,1761517379.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781580,-0.595357,-0.186233],[0.621802,-0.767445,-0.156171],[-0.049947,-0.237860,0.970014]]
2025-10-26T22:22:59.122Z,1761517379.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.400000 m,
      deltaT: 0.505598 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:22:59.128Z,1761517379.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.355896 m,
      bearing: 156.714169 deg,
      lat: 36.779398 deg,
      lon: -121.859470 deg,
      deltaT: 5.540524 s,
      deltaX: -2.485107 m,
      approachRate: -0.448533 m/s,
      posRepo size: 4

2025-10-26T22:22:59.129Z,1761517379.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.36 m. 9.84 m.
2025-10-26T22:22:59.136Z,1761517379.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 7.308404 m,
      bearing: 154.001933 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 136.664914 deg,
      new cmd heading: 136.180484 deg.

2025-10-26T22:22:59.137Z,1761517379.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.376798 target range: 9.841003 and range: 7.40 m.
2025-10-26T22:22:59.193Z,1761517379.193 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.730789
2025-10-26T22:22:59.440Z,1761517379.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775086,-0.603012,-0.188727],[0.629742,-0.761637,-0.152753],[-0.051630,-0.237246,0.970077]]
2025-10-26T22:22:59.445Z,1761517379.445 [DAT](INFO): DAT read: Rx Time:22:22:58.2955 

2025-10-26T22:22:59.445Z,1761517379.445 [DAT](INFO): Rx dataTimestamp_ set to:1761517379.445038
2025-10-26T22:22:59.447Z,1761517379.447 [DAT](INFO): DAT read: Bearing 314.0,   4.8 (Local)

2025-10-26T22:22:59.447Z,1761517379.447 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.0,   4.8 (Local)

2025-10-26T22:22:59.450Z,1761517379.450 [DAT](INFO): DAT read: Range 11 to 50 :     7.1 m (trip time 4.7 ms) speed 0.4

2025-10-26T22:22:59.454Z,1761517379.454 [DAT](INFO): DAT read: 22:22:58.2955 LVL= 32752, 32753, 32754, 32755, AGC= 47, IDX= 503,-0.32,-1.138,-2.910,-1.376,-1.343, PHS= 0.307,-1.522,-0.076, RAW= 138.5,  15.3, CAL= 137.6,  16.4, ROT=  12.4, -16.4

2025-10-26T22:22:59.456Z,1761517379.456 [DAT](INFO): got valid direction response:
 22:22:58.2955 LVL= 32752, 32753, 32754, 32755, AGC= 47, IDX= 503,-0.32,-1.138,-2.910,-1.376,-1.343, PHS= 0.307,-1.522,-0.076, RAW= 138.5,  15.3, CAL= 137.6,  16.4, ROT=  12.4, -16.4

2025-10-26T22:22:59.456Z,1761517379.456 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-10-26T22:22:59.457Z,1761517379.457 [DAT](INFO): direction in FSK: [0.936935,0.205999,0.282341]
2025-10-26T22:22:59.458Z,1761517379.458 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:59.461Z,1761517379.461 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.998775
2025-10-26T22:22:59.528Z,1761517379.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.100000 m,
      deltaT: 0.502026 s,
      deltaX: -0.300000 m,
      approachRate: -0.597579 m/s,
      rangeRepo size: 4

2025-10-26T22:22:59.530Z,1761517379.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.057683 m,
      bearing: 156.657019 deg,
      lat: 36.779398 deg,
      lon: -121.859470 deg,
      deltaT: 6.042550 s,
      deltaX: -2.783320 m,
      approachRate: -0.460620 m/s,
      posRepo size: 4

2025-10-26T22:22:59.531Z,1761517379.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.06 m. 9.84 m.
2025-10-26T22:22:59.538Z,1761517379.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 7.149828 m,
      bearing: 153.850186 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 136.180489 deg,
      new cmd heading: 135.743015 deg.

2025-10-26T22:22:59.538Z,1761517379.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.369163 target range: 9.841003 and range: 7.10 m.
2025-10-26T22:22:59.697Z,1761517379.697 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.234089
2025-10-26T22:22:59.843Z,1761517379.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768791,-0.610306,-0.191014],[0.637283,-0.755998,-0.149455],[-0.053192,-0.236630,0.970143]]
2025-10-26T22:22:59.925Z,1761517379.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:22:59.940Z,1761517379.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-10-26T22:22:59.943Z,1761517379.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 6.993914 m,
      bearing: 153.706712 deg,
      approach rate: -0.374135 m/s,
      LOS rate: -0.351959 deg/s,
      cmd heading: 135.743016 deg,
      new cmd heading: 135.303006 deg.

2025-10-26T22:22:59.949Z,1761517379.949 [DAT](INFO): DAT read: Rx Time:22:22:58.7954 

2025-10-26T22:22:59.950Z,1761517379.950 [DAT](INFO): Rx dataTimestamp_ set to:1761517379.949243
2025-10-26T22:22:59.951Z,1761517379.951 [DAT](INFO): DAT read: Bearing 313.0,   4.8 (Local)

2025-10-26T22:22:59.956Z,1761517379.956 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.0,   4.8 (Local)

2025-10-26T22:22:59.958Z,1761517379.958 [DAT](INFO): DAT read: Range 11 to 50 :     6.9 m (trip time 4.6 ms) speed 0.4

2025-10-26T22:22:59.963Z,1761517379.963 [DAT](INFO): DAT read: 22:22:58.7954 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 502, 0.21, 1.952, 0.159, 1.711, 1.729, PHS= 0.325,-1.525,-0.062, RAW= 138.6,  14.8, CAL= 137.7,  15.9, ROT=  12.3, -15.9

2025-10-26T22:22:59.964Z,1761517379.964 [DAT](INFO): got valid direction response:
 22:22:58.7954 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 502, 0.21, 1.952, 0.159, 1.711, 1.729, PHS= 0.325,-1.525,-0.062, RAW= 138.6,  14.8, CAL= 137.7,  15.9, ROT=  12.3, -15.9

2025-10-26T22:22:59.964Z,1761517379.964 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-10-26T22:22:59.965Z,1761517379.965 [DAT](INFO): direction in FSK: [0.939665,0.204880,0.273959]
2025-10-26T22:22:59.966Z,1761517379.966 [DAT](INFO): publishing direction and range info
2025-10-26T22:22:59.969Z,1761517379.969 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.506905
2025-10-26T22:22:59.971Z,1761517379.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.361483 target range: 9.841003 and range: 7.10 m.
2025-10-26T22:23:00.200Z,1761517380.200 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.737839
2025-10-26T22:23:00.266Z,1761517380.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762325,-0.617692,-0.193177],[0.644881,-0.750191,-0.146091],[-0.054680,-0.235945,0.970227]]
2025-10-26T22:23:00.314Z,1761517380.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.900000 m,
      deltaT: 0.504205 s,
      deltaX: -0.200000 m,
      approachRate: -0.396664 m/s,
      rangeRepo size: 4

2025-10-26T22:23:00.316Z,1761517380.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.858886 m,
      bearing: 155.288116 deg,
      lat: 36.779399 deg,
      lon: -121.859470 deg,
      deltaT: 6.546755 s,
      deltaX: -2.982117 m,
      approachRate: -0.455511 m/s,
      posRepo size: 4

2025-10-26T22:23:00.317Z,1761517380.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.86 m. 9.84 m.
2025-10-26T22:23:00.320Z,1761517380.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 6.808726 m,
      bearing: 153.518333 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 135.303001 deg,
      new cmd heading: 134.886841 deg.

2025-10-26T22:23:00.321Z,1761517380.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.354219 target range: 9.841003 and range: 6.90 m.
2025-10-26T22:23:00.454Z,1761517380.454 [DAT](INFO): DAT read: Rx Time:22:22:59.2952 

2025-10-26T22:23:00.455Z,1761517380.455 [DAT](INFO): Rx dataTimestamp_ set to:1761517380.454512
2025-10-26T22:23:00.457Z,1761517380.457 [DAT](INFO): DAT read: Bearing 312.6,   4.7 (Local)

2025-10-26T22:23:00.458Z,1761517380.458 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.6,   4.7 (Local)

2025-10-26T22:23:00.460Z,1761517380.460 [DAT](INFO): DAT read: Range 11 to 50 :     6.6 m (trip time 4.4 ms) speed 0.4

2025-10-26T22:23:00.467Z,1761517380.467 [DAT](INFO): DAT read: 22:22:59.2952 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 500,-0.04,-0.803,-2.582,-1.041,-1.019, PHS= 0.319,-1.518,-0.066, RAW= 138.6,  14.9, CAL= 137.7,  16.0, ROT=  12.3, -16.0

2025-10-26T22:23:00.472Z,1761517380.472 [DAT](INFO): got valid direction response:
 22:22:59.2952 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 500,-0.04,-0.803,-2.582,-1.041,-1.019, PHS= 0.319,-1.518,-0.066, RAW= 138.6,  14.9, CAL= 137.7,  16.0, ROT=  12.3, -16.0

2025-10-26T22:23:00.472Z,1761517380.472 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-10-26T22:23:00.473Z,1761517380.473 [DAT](INFO): direction in FSK: [0.939196,0.204778,0.275637]
2025-10-26T22:23:00.473Z,1761517380.473 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:00.477Z,1761517380.477 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.014442
2025-10-26T22:23:00.654Z,1761517380.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756196,-0.624108,-0.196614],[0.651963,-0.744246,-0.145063],[-0.055794,-0.237881,0.969691]]
2025-10-26T22:23:00.689Z,1761517380.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.600000 m,
      deltaT: 0.505269 s,
      deltaX: -0.300000 m,
      approachRate: -0.593744 m/s,
      rangeRepo size: 4

2025-10-26T22:23:00.692Z,1761517380.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.560674 m,
      bearing: 154.795417 deg,
      lat: 36.779400 deg,
      lon: -121.859470 deg,
      deltaT: 7.052024 s,
      deltaX: -3.280330 m,
      approachRate: -0.465161 m/s,
      posRepo size: 4

2025-10-26T22:23:00.693Z,1761517380.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.56 m. 9.84 m.
2025-10-26T22:23:00.695Z,1761517380.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 6.649014 m,
      bearing: 153.360717 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 134.886838 deg,
      new cmd heading: 134.472928 deg.

2025-10-26T22:23:00.696Z,1761517380.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.346995 target range: 9.841003 and range: 6.60 m.
2025-10-26T22:23:00.705Z,1761517380.705 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.242458
2025-10-26T22:23:00.961Z,1761517380.961 [DAT](INFO): DAT read: Rx Time:22:22:59.7952 

2025-10-26T22:23:00.962Z,1761517380.962 [DAT](INFO): Rx dataTimestamp_ set to:1761517380.961106
2025-10-26T22:23:00.966Z,1761517380.966 [DAT](INFO): DAT read: Bearing 312.8,   4.4 (Local)

2025-10-26T22:23:00.967Z,1761517380.967 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.8,   4.4 (Local)

2025-10-26T22:23:00.974Z,1761517380.974 [DAT](INFO): DAT read: Range 11 to 50 :     6.6 m (trip time 4.4 ms) speed 0.4

2025-10-26T22:23:00.979Z,1761517380.979 [DAT](INFO): DAT read: 22:22:59.7952 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 500,-0.37, 0.125,-1.626,-0.107,-0.068, PHS= 0.296,-1.513,-0.082, RAW= 138.6,  15.5, CAL= 137.7,  16.6, ROT=  12.3, -16.6

2025-10-26T22:23:00.980Z,1761517380.980 [DAT](INFO): got valid direction response:
 22:22:59.7952 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 500,-0.37, 0.125,-1.626,-0.107,-0.068, PHS= 0.296,-1.513,-0.082, RAW= 138.6,  15.5, CAL= 137.7,  16.6, ROT=  12.3, -16.6

2025-10-26T22:23:00.981Z,1761517380.981 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-10-26T22:23:00.982Z,1761517380.982 [DAT](INFO): direction in FSK: [0.936325,0.204152,0.285688]
2025-10-26T22:23:00.982Z,1761517380.982 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:00.986Z,1761517380.986 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.523182
2025-10-26T22:23:01.191Z,1761517381.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.600000 m,
      deltaT: 0.506594 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:01.193Z,1761517381.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.560670 m,
      bearing: 154.931734 deg,
      lat: 36.779399 deg,
      lon: -121.859468 deg,
      deltaT: 7.558618 s,
      deltaX: -3.280333 m,
      approachRate: -0.433986 m/s,
      posRepo size: 4

2025-10-26T22:23:01.194Z,1761517381.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.56 m. 9.84 m.
2025-10-26T22:23:01.197Z,1761517381.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 6.426985 m,
      bearing: 153.240798 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 134.472928 deg,
      new cmd heading: 133.920843 deg.

2025-10-26T22:23:01.198Z,1761517381.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.337360 target range: 9.841003 and range: 6.60 m.
2025-10-26T22:23:01.209Z,1761517381.209 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.746078
2025-10-26T22:23:01.461Z,1761517381.461 [DAT](INFO): DAT read: Rx Time:22:23:00.2949 

2025-10-26T22:23:01.461Z,1761517381.461 [DAT](INFO): Rx dataTimestamp_ set to:1761517381.461180
2025-10-26T22:23:01.463Z,1761517381.463 [DAT](INFO): DAT read: Bearing 310.3,   4.3 (Local)

2025-10-26T22:23:01.463Z,1761517381.463 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.3,   4.3 (Local)

2025-10-26T22:23:01.465Z,1761517381.465 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed 0.4

2025-10-26T22:23:01.470Z,1761517381.470 [DAT](INFO): DAT read: 22:23:00.2949 LVL= 32752, 32753, 32754, 32755, AGC= 44, IDX= 497, 0.38,-1.395, 3.095,-1.623,-1.645, PHS= 0.352,-1.499,-0.022, RAW= 139.0,  13.7, CAL= 138.2,  14.8, ROT=  11.8, -14.8

2025-10-26T22:23:01.471Z,1761517381.471 [DAT](INFO): got valid direction response:
 22:23:00.2949 LVL= 32752, 32753, 32754, 32755, AGC= 44, IDX= 497, 0.38,-1.395, 3.095,-1.623,-1.645, PHS= 0.352,-1.499,-0.022, RAW= 139.0,  13.7, CAL= 138.2,  14.8, ROT=  11.8, -14.8

2025-10-26T22:23:01.471Z,1761517381.471 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-10-26T22:23:01.472Z,1761517381.472 [DAT](INFO): direction in FSK: [0.946392,0.197712,0.255446]
2025-10-26T22:23:01.473Z,1761517381.473 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:01.509Z,1761517381.509 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.046070
2025-10-26T22:23:01.548Z,1761517381.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745289,-0.635121,-0.202894],[0.664216,-0.733716,-0.143100],[-0.057981,-0.241416,0.968688]]
2025-10-26T22:23:01.602Z,1761517381.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.500074 s,
      deltaX: -0.400000 m,
      approachRate: -0.799882 m/s,
      rangeRepo size: 4

2025-10-26T22:23:01.608Z,1761517381.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.163054 m,
      bearing: 153.143726 deg,
      lat: 36.779400 deg,
      lon: -121.859468 deg,
      deltaT: 8.058692 s,
      deltaX: -3.677949 m,
      approachRate: -0.456395 m/s,
      posRepo size: 4

2025-10-26T22:23:01.609Z,1761517381.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.16 m. 9.84 m.
2025-10-26T22:23:01.624Z,1761517381.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 6.255591 m,
      bearing: 153.168671 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 133.920844 deg,
      new cmd heading: 133.467647 deg.

2025-10-26T22:23:01.625Z,1761517381.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.329450 target range: 9.841003 and range: 6.20 m.
2025-10-26T22:23:01.714Z,1761517381.714 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.250851
2025-10-26T22:23:01.976Z,1761517381.976 [DAT](INFO): DAT read: Rx Time:22:23:00.7948 

2025-10-26T22:23:01.976Z,1761517381.976 [DAT](INFO): Rx dataTimestamp_ set to:1761517381.976142
2025-10-26T22:23:01.978Z,1761517381.978 [DAT](INFO): DAT read: Bearing 308.8,   4.8 (Local)

2025-10-26T22:23:01.978Z,1761517381.978 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.8,   4.8 (Local)

2025-10-26T22:23:01.980Z,1761517381.980 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed 0.4

2025-10-26T22:23:01.985Z,1761517381.985 [DAT](INFO): DAT read: 22:23:00.7948 LVL= 32752, 32753, 32754, 32755, AGC= 46, IDX= 512, 0.17,-2.198, 2.104,-2.473,-2.522, PHS= 0.427,-1.612, 0.006, RAW= 138.7,  12.6, CAL= 138.1,  13.6, ROT=  11.9, -13.6

2025-10-26T22:23:01.986Z,1761517381.986 [DAT](INFO): got valid direction response:
 22:23:00.7948 LVL= 32752, 32753, 32754, 32755, AGC= 46, IDX= 512, 0.17,-2.198, 2.104,-2.473,-2.522, PHS= 0.427,-1.612, 0.006, RAW= 138.7,  12.6, CAL= 138.1,  13.6, ROT=  11.9, -13.6

2025-10-26T22:23:01.986Z,1761517381.986 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-10-26T22:23:01.987Z,1761517381.987 [DAT](INFO): direction in FSK: [0.951073,0.200422,0.235142]
2025-10-26T22:23:01.988Z,1761517381.988 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:01.991Z,1761517381.991 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.528828
2025-10-26T22:23:01.993Z,1761517381.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740345,-0.641114,-0.202144],[0.669655,-0.729657,-0.138428],[-0.058748,-0.237852,0.969523]]
2025-10-26T22:23:02.104Z,1761517382.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.514962 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:02.106Z,1761517382.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.163054 m,
      bearing: 152.503847 deg,
      lat: 36.779399 deg,
      lon: -121.859468 deg,
      deltaT: 8.573654 s,
      deltaX: -3.677950 m,
      approachRate: -0.428983 m/s,
      posRepo size: 4

2025-10-26T22:23:02.107Z,1761517382.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.16 m. 9.84 m.
2025-10-26T22:23:02.128Z,1761517382.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 6.018177 m,
      bearing: 153.289816 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 133.467647 deg,
      new cmd heading: 132.919674 deg.

2025-10-26T22:23:02.129Z,1761517382.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.319886 target range: 9.841003 and range: 6.20 m.
2025-10-26T22:23:02.226Z,1761517382.226 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.763287
2025-10-26T22:23:02.477Z,1761517382.477 [DAT](INFO): DAT read: Rx Time:22:23:01.2946 

2025-10-26T22:23:02.478Z,1761517382.478 [DAT](INFO): Rx dataTimestamp_ set to:1761517382.477230
2025-10-26T22:23:02.479Z,1761517382.479 [DAT](INFO): DAT read: Bearing 309.5,   4.9 (Local)

2025-10-26T22:23:02.479Z,1761517382.479 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.5,   4.9 (Local)

2025-10-26T22:23:02.481Z,1761517382.481 [DAT](INFO): DAT read: Range 11 to 50 :     5.9 m (trip time 3.9 ms) speed 0.4

2025-10-26T22:23:02.487Z,1761517382.487 [DAT](INFO): DAT read: 22:23:01.2946 LVL= 32752, 32753, 32754, 32755, AGC= 44, IDX= 510,-0.10, 0.146,-1.637,-0.096,-0.107, PHS= 0.355,-1.484,-0.033, RAW= 138.5,  13.8, CAL= 137.7,  14.8, ROT=  12.3, -14.8

2025-10-26T22:23:02.488Z,1761517382.488 [DAT](INFO): got valid direction response:
 22:23:01.2946 LVL= 32752, 32753, 32754, 32755, AGC= 44, IDX= 510,-0.10, 0.146,-1.637,-0.096,-0.107, PHS= 0.355,-1.484,-0.033, RAW= 138.5,  13.8, CAL= 137.7,  14.8, ROT=  12.3, -14.8

2025-10-26T22:23:02.488Z,1761517382.488 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-10-26T22:23:02.489Z,1761517382.489 [DAT](INFO): direction in FSK: [0.944631,0.205963,0.255446]
2025-10-26T22:23:02.490Z,1761517382.490 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:02.493Z,1761517382.493 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.030888
2025-10-26T22:23:02.618Z,1761517382.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.900000 m,
      deltaT: 0.501088 s,
      deltaX: -0.300000 m,
      approachRate: -0.598697 m/s,
      rangeRepo size: 4

2025-10-26T22:23:02.629Z,1761517382.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.864841 m,
      bearing: 153.154486 deg,
      lat: 36.779399 deg,
      lon: -121.859467 deg,
      deltaT: 9.074742 s,
      deltaX: -3.976162 m,
      approachRate: -0.438157 m/s,
      posRepo size: 4

2025-10-26T22:23:02.630Z,1761517382.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.86 m. 9.84 m.
2025-10-26T22:23:02.636Z,1761517382.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 5.763310 m,
      bearing: 153.430991 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 132.919675 deg,
      new cmd heading: 132.348235 deg.

2025-10-26T22:23:02.637Z,1761517382.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.309912 target range: 9.841003 and range: 5.90 m.
2025-10-26T22:23:02.730Z,1761517382.730 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.267212
2025-10-26T22:23:02.985Z,1761517382.985 [DAT](INFO): DAT read: Rx Time:22:23:01.7945 

2025-10-26T22:23:02.987Z,1761517382.987 [DAT](INFO): Rx dataTimestamp_ set to:1761517382.985810
2025-10-26T22:23:02.991Z,1761517382.991 [DAT](INFO): DAT read: Bearing 307.3,   5.2 (Local)

2025-10-26T22:23:02.992Z,1761517382.992 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.3,   5.2 (Local)

2025-10-26T22:23:02.999Z,1761517382.999 [DAT](INFO): DAT read: Range 11 to 50 :     5.7 m (trip time 3.8 ms) speed 0.4

2025-10-26T22:23:03.005Z,1761517383.005 [DAT](INFO): DAT read: 22:23:01.7945 LVL= 32752, 32753, 32754, 32755, AGC= 45, IDX= 509, 0.36,-2.964, 1.495, 3.068, 3.007, PHS= 0.413,-1.467, 0.017, RAW= 138.5,  12.1, CAL= 137.9,  13.1, ROT=  12.1, -13.1

2025-10-26T22:23:03.006Z,1761517383.006 [DAT](INFO): got valid direction response:
 22:23:01.7945 LVL= 32752, 32753, 32754, 32755, AGC= 45, IDX= 509, 0.36,-2.964, 1.495, 3.068, 3.007, PHS= 0.413,-1.467, 0.017, RAW= 138.5,  12.1, CAL= 137.9,  13.1, ROT=  12.1, -13.1

2025-10-26T22:23:03.006Z,1761517383.006 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-10-26T22:23:03.007Z,1761517383.007 [DAT](INFO): direction in FSK: [0.952337,0.204163,0.226651]
2025-10-26T22:23:03.010Z,1761517383.010 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:03.014Z,1761517383.014 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.551235
2025-10-26T22:23:03.031Z,1761517383.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725886,-0.657628,-0.201531],[0.685112,-0.717250,-0.127173],[-0.060916,-0.230385,0.971191]]
2025-10-26T22:23:03.178Z,1761517383.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.700000 m,
      deltaT: 0.508580 s,
      deltaX: -0.200000 m,
      approachRate: -0.393252 m/s,
      rangeRepo size: 4

2025-10-26T22:23:03.184Z,1761517383.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.666038 m,
      bearing: 151.289201 deg,
      lat: 36.779399 deg,
      lon: -121.859465 deg,
      deltaT: 9.583322 s,
      deltaX: -4.174966 m,
      approachRate: -0.435649 m/s,
      posRepo size: 4

2025-10-26T22:23:03.185Z,1761517383.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.67 m. 9.84 m.
2025-10-26T22:23:03.192Z,1761517383.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 5.459448 m,
      bearing: 153.909153 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 132.348234 deg,
      new cmd heading: 131.732235 deg.

2025-10-26T22:23:03.192Z,1761517383.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299161 target range: 9.841003 and range: 5.70 m.
2025-10-26T22:23:03.234Z,1761517383.234 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.770897
2025-10-26T22:23:03.437Z,1761517383.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721694,-0.661602,-0.203569],[0.689488,-0.713131,-0.126688],[-0.061354,-0.231789,0.970829]]
2025-10-26T22:23:03.479Z,1761517383.479 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:23:03.481Z,1761517383.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-10-26T22:23:03.485Z,1761517383.485 [DAT](INFO): DAT read: Rx Time:22:23:02.2943 

2025-10-26T22:23:03.486Z,1761517383.486 [DAT](INFO): Rx dataTimestamp_ set to:1761517383.485278
2025-10-26T22:23:03.487Z,1761517383.487 [DAT](INFO): DAT read: Bearing 310.0,   3.9 (Local)

2025-10-26T22:23:03.488Z,1761517383.488 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.0,   3.9 (Local)

2025-10-26T22:23:03.490Z,1761517383.490 [DAT](INFO): DAT read: Range 11 to 50 :     5.4 m (trip time 3.6 ms) speed 0.4

2025-10-26T22:23:03.495Z,1761517383.495 [DAT](INFO): DAT read: 22:23:02.2943 LVL= 32752, 32753, 32754, 32755, AGC= 44, IDX= 507,-0.20, 1.895, 0.147, 1.681, 1.700, PHS= 0.296,-1.508,-0.063, RAW= 139.1,  15.2, CAL= 138.3,  16.3, ROT=  11.7, -16.3

2025-10-26T22:23:03.496Z,1761517383.496 [DAT](INFO): got valid direction response:
 22:23:02.2943 LVL= 32752, 32753, 32754, 32755, AGC= 44, IDX= 507,-0.20, 1.895, 0.147, 1.681, 1.700, PHS= 0.296,-1.508,-0.063, RAW= 139.1,  15.2, CAL= 138.3,  16.3, ROT=  11.7, -16.3

2025-10-26T22:23:03.497Z,1761517383.497 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-10-26T22:23:03.498Z,1761517383.498 [DAT](INFO): direction in FSK: [0.939863,0.194636,0.280667]
2025-10-26T22:23:03.498Z,1761517383.498 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:03.510Z,1761517383.510 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:23:03.510Z,1761517383.510 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:23:03.510Z,1761517383.510 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:23:03.524Z,1761517383.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 5.287232 m,
      bearing: 154.216620 deg,
      approach rate: -0.566308 m/s,
      LOS rate: 1.043987 deg/s,
      cmd heading: 131.732233 deg,
      new cmd heading: 132.684588 deg.

2025-10-26T22:23:03.525Z,1761517383.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.315783 target range: 9.841003 and range: 5.70 m.
2025-10-26T22:23:03.737Z,1761517383.737 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:23:03.838Z,1761517383.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717222,-0.665718,-0.205944],[0.694108,-0.708661,-0.126544],[-0.061702,-0.233707,0.970347]]
2025-10-26T22:23:03.950Z,1761517383.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.400000 m,
      deltaT: 0.499468 s,
      deltaX: -0.300000 m,
      approachRate: -0.600639 m/s,
      rangeRepo size: 4

2025-10-26T22:23:03.994Z,1761517383.994 [DAT](INFO): DAT read: Rx Time:22:23:02.7942 

2025-10-26T22:23:03.995Z,1761517383.995 [DAT](INFO): Rx dataTimestamp_ set to:1761517383.994191
2025-10-26T22:23:03.999Z,1761517383.999 [DAT](INFO): DAT read: Bearing 309.5,   4.0 (Local)

2025-10-26T22:23:03.000Z,1761517384.000 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.5,   4.0 (Local)

2025-10-26T22:23:04.002Z,1761517384.002 [DAT](INFO): DAT read: Range 11 to 50 :     5.3 m (trip time 3.5 ms) speed 0.4

2025-10-26T22:23:04.006Z,1761517384.006 [DAT](INFO): DAT read: 22:23:02.7942 LVL= 32752, 32753, 32754, 32755, AGC= 43, IDX= 506, 0.12,-1.146,-2.886,-1.367,-1.347, PHS= 0.303,-1.494,-0.064, RAW= 138.9,  15.1, CAL= 138.0,  16.2, ROT=  12.0, -16.2

2025-10-26T22:23:04.007Z,1761517384.007 [DAT](INFO): got valid direction response:
 22:23:02.7942 LVL= 32752, 32753, 32754, 32755, AGC= 43, IDX= 506, 0.12,-1.146,-2.886,-1.367,-1.347, PHS= 0.303,-1.494,-0.064, RAW= 138.9,  15.1, CAL= 138.0,  16.2, ROT=  12.0, -16.2

2025-10-26T22:23:04.008Z,1761517384.008 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:23:04.009Z,1761517384.009 [DAT](INFO): direction in FSK: [0.939309,0.199656,0.278991]
2025-10-26T22:23:04.009Z,1761517384.009 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:04.012Z,1761517384.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.367826 m,
      bearing: 150.928780 deg,
      lat: 36.779399 deg,
      lon: -121.859465 deg,
      deltaT: 10.082790 s,
      deltaX: -4.473178 m,
      approachRate: -0.443645 m/s,
      posRepo size: 4

2025-10-26T22:23:04.015Z,1761517384.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.37 m. 9.84 m.
2025-10-26T22:23:04.021Z,1761517384.021 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:23:04.021Z,1761517384.021 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:23:04.026Z,1761517384.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 5.047768 m,
      bearing: 154.697856 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 132.684594 deg,
      new cmd heading: 132.171813 deg.

2025-10-26T22:23:04.027Z,1761517384.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.306833 target range: 9.841003 and range: 5.40 m.
2025-10-26T22:23:04.241Z,1761517384.241 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:23:04.380Z,1761517384.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712716,-0.670021,-0.207624],[0.698719,-0.704231,-0.125896],[-0.061862,-0.234799,0.970073]]
2025-10-26T22:23:04.493Z,1761517384.493 [DAT](INFO): DAT read: Rx Time:22:23:03.2939 

2025-10-26T22:23:04.494Z,1761517384.494 [DAT](INFO): Rx dataTimestamp_ set to:1761517384.493242
2025-10-26T22:23:04.495Z,1761517384.495 [DAT](INFO): DAT read: Bearing 307.9,   4.3 (Local)

2025-10-26T22:23:04.495Z,1761517384.495 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.9,   4.3 (Local)

2025-10-26T22:23:04.497Z,1761517384.497 [DAT](INFO): DAT read: Range 11 to 50 :     4.8 m (trip time 3.2 ms) speed 0.4

2025-10-26T22:23:04.502Z,1761517384.502 [DAT](INFO): DAT read: 22:23:03.2939 LVL= 32752, 32753, 32754, 32755, AGC= 42, IDX= 504,-0.31, 0.707,-1.064, 0.475, 0.463, PHS= 0.345,-1.483,-0.032, RAW= 138.7,  13.9, CAL= 138.0,  15.0, ROT=  12.0, -15.0

2025-10-26T22:23:04.503Z,1761517384.503 [DAT](INFO): got valid direction response:
 22:23:03.2939 LVL= 32752, 32753, 32754, 32755, AGC= 42, IDX= 504,-0.31, 0.707,-1.064, 0.475, 0.463, PHS= 0.345,-1.483,-0.032, RAW= 138.7,  13.9, CAL= 138.0,  15.0, ROT=  12.0, -15.0

2025-10-26T22:23:04.503Z,1761517384.503 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:23:04.504Z,1761517384.504 [DAT](INFO): direction in FSK: [0.944818,0.200827,0.258819]
2025-10-26T22:23:04.504Z,1761517384.504 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:04.528Z,1761517384.528 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:23:04.528Z,1761517384.528 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:23:04.608Z,1761517384.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 1.007964 s,
      deltaX: -0.600000 m,
      approachRate: -0.595259 m/s,
      rangeRepo size: 4

2025-10-26T22:23:04.610Z,1761517384.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.771404 m,
      bearing: 150.568934 deg,
      lat: 36.779399 deg,
      lon: -121.859462 deg,
      deltaT: 11.090754 s,
      deltaX: -5.069599 m,
      approachRate: -0.457101 m/s,
      posRepo size: 4

2025-10-26T22:23:04.615Z,1761517384.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.77 m. 9.84 m.
2025-10-26T22:23:04.618Z,1761517384.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 4.692140 m,
      bearing: 155.656905 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 132.171810 deg,
      new cmd heading: 131.448406 deg.

2025-10-26T22:23:04.619Z,1761517384.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.294208 target range: 9.841003 and range: 4.80 m.
2025-10-26T22:23:04.745Z,1761517384.745 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:23:04.828Z,1761517384.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707408,-0.675452,-0.208181],[0.704065,-0.699320,-0.123468],[-0.062189,-0.233915,0.970266]]
2025-10-26T22:23:04.927Z,1761517384.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-10-26T22:23:04.934Z,1761517384.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 4.521131 m,
      bearing: 156.190653 deg,
      approach rate: -0.529049 m/s,
      LOS rate: 1.713688 deg/s,
      cmd heading: 131.448411 deg,
      new cmd heading: 133.109732 deg.

2025-10-26T22:23:04.935Z,1761517384.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.323203 target range: 9.841003 and range: 4.80 m.
2025-10-26T22:23:05.003Z,1761517385.003 [DAT](INFO): DAT read: Rx Time:22:23:03.7939 

2025-10-26T22:23:05.005Z,1761517385.005 [DAT](INFO): Rx dataTimestamp_ set to:1761517385.003580
2025-10-26T22:23:05.011Z,1761517385.011 [DAT](INFO): DAT read: Bearing 306.7,   4.3 (Local)

2025-10-26T22:23:05.012Z,1761517385.012 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.7,   4.3 (Local)

2025-10-26T22:23:05.024Z,1761517385.024 [DAT](INFO): DAT read: Range 11 to 50 :     4.8 m (trip time 3.2 ms) speed 0.4

2025-10-26T22:23:05.039Z,1761517385.039 [DAT](INFO): DAT read: 22:23:03.7939 LVL= 32752, 32753, 32754, 32755, AGC= 42, IDX= 503,-0.02, 3.136, 1.364, 2.906, 2.876, PHS= 0.362,-1.467,-0.014, RAW= 138.8,  13.3, CAL= 138.0,  14.3, ROT=  12.0, -14.3

2025-10-26T22:23:05.044Z,1761517385.044 [DAT](INFO): got valid direction response:
 22:23:03.7939 LVL= 32752, 32753, 32754, 32755, AGC= 42, IDX= 503,-0.02, 3.136, 1.364, 2.906, 2.876, PHS= 0.362,-1.467,-0.014, RAW= 138.8,  13.3, CAL= 138.0,  14.3, ROT=  12.0, -14.3

2025-10-26T22:23:05.045Z,1761517385.045 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:23:05.045Z,1761517385.045 [DAT](INFO): direction in FSK: [0.947840,0.201470,0.246999]
2025-10-26T22:23:05.046Z,1761517385.046 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:05.060Z,1761517385.060 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:23:05.060Z,1761517385.060 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:23:05.248Z,1761517385.248 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:23:05.298Z,1761517385.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697102,-0.686046,-0.208301],[0.714230,-0.689867,-0.118150],[-0.062644,-0.231138,0.970902]]
2025-10-26T22:23:05.389Z,1761517385.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 0.510338 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:05.406Z,1761517385.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.771400 m,
      bearing: 149.107611 deg,
      lat: 36.779399 deg,
      lon: -121.859462 deg,
      deltaT: 11.601092 s,
      deltaX: -5.069603 m,
      approachRate: -0.436994 m/s,
      posRepo size: 4

2025-10-26T22:23:05.414Z,1761517385.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.77 m. 9.84 m.
2025-10-26T22:23:05.421Z,1761517385.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 4.264599 m,
      bearing: 157.269594 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 133.109732 deg,
      new cmd heading: 132.631288 deg.

2025-10-26T22:23:05.422Z,1761517385.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.314853 target range: 9.841003 and range: 4.80 m.
2025-10-26T22:23:05.502Z,1761517385.502 [DAT](INFO): DAT read: Rx Time:22:23:04.2936 

2025-10-26T22:23:05.503Z,1761517385.503 [DAT](INFO): Rx dataTimestamp_ set to:1761517385.502246
2025-10-26T22:23:05.505Z,1761517385.505 [DAT](INFO): DAT read: Bearing 305.1,   4.7 (Local)

2025-10-26T22:23:05.505Z,1761517385.505 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.1,   4.7 (Local)

2025-10-26T22:23:05.507Z,1761517385.507 [DAT](INFO): DAT read: Range 11 to 50 :     4.4 m (trip time 2.9 ms) speed 0.4

2025-10-26T22:23:05.512Z,1761517385.512 [DAT](INFO): DAT read: 22:23:04.2936 LVL= 32752, 32753, 32754, 32755, AGC= 42, IDX= 500, 0.22,-2.822, 1.674,-3.061,-3.119, PHS= 0.400,-1.445, 0.014, RAW= 138.6,  12.2, CAL= 137.9,  13.2, ROT=  12.1, -13.2

2025-10-26T22:23:05.513Z,1761517385.513 [DAT](INFO): got valid direction response:
 22:23:04.2936 LVL= 32752, 32753, 32754, 32755, AGC= 42, IDX= 500, 0.22,-2.822, 1.674,-3.061,-3.119, PHS= 0.400,-1.445, 0.014, RAW= 138.6,  12.2, CAL= 137.9,  13.2, ROT=  12.1, -13.2

2025-10-26T22:23:05.513Z,1761517385.513 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:23:05.514Z,1761517385.514 [DAT](INFO): direction in FSK: [0.951949,0.204080,0.228351]
2025-10-26T22:23:05.515Z,1761517385.515 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:05.519Z,1761517385.519 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:23:05.520Z,1761517385.520 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:23:05.700Z,1761517385.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691569,-0.691409,-0.209012],[0.719552,-0.684719,-0.115776],[-0.063066,-0.230462,0.971036]]
2025-10-26T22:23:05.752Z,1761517385.752 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:23:05.775Z,1761517385.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.400000 m,
      deltaT: 0.498666 s,
      deltaX: -0.400000 m,
      approachRate: -0.802140 m/s,
      rangeRepo size: 4

2025-10-26T22:23:05.779Z,1761517385.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.373784 m,
      bearing: 148.516924 deg,
      lat: 36.779399 deg,
      lon: -121.859461 deg,
      deltaT: 12.099758 s,
      deltaX: -5.467220 m,
      approachRate: -0.451845 m/s,
      posRepo size: 4

2025-10-26T22:23:05.784Z,1761517385.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.37 m. 9.84 m.
2025-10-26T22:23:05.786Z,1761517385.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 4.044153 m,
      bearing: 158.339419 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 132.631291 deg,
      new cmd heading: 132.176464 deg.

2025-10-26T22:23:05.791Z,1761517385.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.306915 target range: 9.841003 and range: 4.40 m.
2025-10-26T22:23:06.009Z,1761517386.009 [DAT](INFO): DAT read: Rx Time:22:23:04.7934 

2025-10-26T22:23:06.011Z,1761517386.011 [DAT](INFO): Rx dataTimestamp_ set to:1761517386.009912
2025-10-26T22:23:06.015Z,1761517386.015 [DAT](INFO): DAT read: Bearing 306.3,   4.1 (Local)

2025-10-26T22:23:06.016Z,1761517386.016 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.3,   4.1 (Local)

2025-10-26T22:23:06.027Z,1761517386.027 [DAT](INFO): DAT read: Range 11 to 50 :     4.1 m (trip time 2.7 ms) speed 0.4

2025-10-26T22:23:06.045Z,1761517386.045 [DAT](INFO): DAT read: 22:23:04.7934 LVL= 32752, 32753, 32754, 32755, AGC= 39, IDX= 499,-0.45, 2.357, 0.627, 2.135, 2.126, PHS= 0.333,-1.454,-0.035, RAW= 138.8,  14.0, CAL= 138.0,  15.1, ROT=  12.0, -15.1

2025-10-26T22:23:06.046Z,1761517386.046 [DAT](INFO): got valid direction response:
 22:23:04.7934 LVL= 32752, 32753, 32754, 32755, AGC= 39, IDX= 499,-0.45, 2.357, 0.627, 2.135, 2.126, PHS= 0.333,-1.454,-0.035, RAW= 138.8,  14.0, CAL= 138.0,  15.1, ROT=  12.0, -15.1

2025-10-26T22:23:06.047Z,1761517386.047 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:23:06.057Z,1761517386.057 [DAT](INFO): direction in FSK: [0.944375,0.200733,0.260505]
2025-10-26T22:23:06.058Z,1761517386.058 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:06.065Z,1761517386.065 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:23:06.066Z,1761517386.066 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:23:06.254Z,1761517386.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.507666 s,
      deltaX: -0.300000 m,
      approachRate: -0.590940 m/s,
      rangeRepo size: 4

2025-10-26T22:23:06.256Z,1761517386.256 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:23:06.260Z,1761517386.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.075569 m,
      bearing: 148.831669 deg,
      lat: 36.779400 deg,
      lon: -121.859457 deg,
      deltaT: 12.607424 s,
      deltaX: -5.765435 m,
      approachRate: -0.457305 m/s,
      posRepo size: 4

2025-10-26T22:23:06.261Z,1761517386.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.08 m. 9.84 m.
2025-10-26T22:23:06.268Z,1761517386.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 3.797650 m,
      bearing: 159.835353 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 132.176468 deg,
      new cmd heading: 131.648855 deg.

2025-10-26T22:23:06.269Z,1761517386.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.297706 target range: 9.841003 and range: 4.10 m.
2025-10-26T22:23:06.510Z,1761517386.510 [DAT](INFO): DAT read: Rx Time:22:23:05.2932 

2025-10-26T22:23:06.510Z,1761517386.510 [DAT](INFO): Rx dataTimestamp_ set to:1761517386.510133
2025-10-26T22:23:06.512Z,1761517386.512 [DAT](INFO): DAT read: Bearing 305.9,   4.8 (Local)

2025-10-26T22:23:06.513Z,1761517386.513 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.9,   4.8 (Local)

2025-10-26T22:23:06.516Z,1761517386.516 [DAT](INFO): DAT read: Range 11 to 50 :     3.8 m (trip time 2.5 ms) speed 0.4

2025-10-26T22:23:06.521Z,1761517386.521 [DAT](INFO): DAT read: 22:23:05.2932 LVL= 32752, 32753, 32754, 32755, AGC= 37, IDX= 496,-0.14, 0.501,-1.221, 0.256, 0.262, PHS= 0.341,-1.438,-0.051, RAW= 137.9,  14.1, CAL= 137.1,  15.1, ROT=  12.9, -15.1

2025-10-26T22:23:06.522Z,1761517386.522 [DAT](INFO): got valid direction response:
 22:23:05.2932 LVL= 32752, 32753, 32754, 32755, AGC= 37, IDX= 496,-0.14, 0.501,-1.221, 0.256, 0.262, PHS= 0.341,-1.438,-0.051, RAW= 137.9,  14.1, CAL= 137.1,  15.1, ROT=  12.9, -15.1

2025-10-26T22:23:06.522Z,1761517386.522 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:23:06.525Z,1761517386.526 [DAT](INFO): direction in FSK: [0.941105,0.215542,0.260505]
2025-10-26T22:23:06.526Z,1761517386.526 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:06.529Z,1761517386.529 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:23:06.530Z,1761517386.530 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:23:06.624Z,1761517386.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681221,-0.700873,-0.211458],[0.729297,-0.674859,-0.112655],[-0.063748,-0.230959,0.970873]]
2025-10-26T22:23:06.709Z,1761517386.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 0.500221 s,
      deltaX: -0.300000 m,
      approachRate: -0.599735 m/s,
      rangeRepo size: 4

2025-10-26T22:23:06.718Z,1761517386.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.777356 m,
      bearing: 148.878092 deg,
      lat: 36.779400 deg,
      lon: -121.859457 deg,
      deltaT: 13.107645 s,
      deltaX: -6.063647 m,
      approachRate: -0.462604 m/s,
      posRepo size: 4

2025-10-26T22:23:06.724Z,1761517386.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.84 m.
2025-10-26T22:23:06.734Z,1761517386.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 3.554700 m,
      bearing: 161.601035 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.367169 deg/s,
      cmd heading: 131.648850 deg,
      new cmd heading: 131.153207 deg.

2025-10-26T22:23:06.740Z,1761517386.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.289055 target range: 9.841003 and range: 3.80 m.
2025-10-26T22:23:06.760Z,1761517386.760 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:23:07.015Z,1761517387.015 [DAT](INFO): DAT read: user:552>

2025-10-26T22:23:07.017Z,1761517387.017 [DAT](INFO): DAT read: 20

2025-10-26T22:23:07.018Z,1761517387.018 [DAT](INFO): unknown deviceResponse_: 20

2025-10-26T22:23:07.020Z,1761517387.020 [DAT](INFO): DAT read: Ok

2025-10-26T22:23:07.021Z,1761517387.021 [DAT](INFO): unknown deviceResponse_: Ok

2025-10-26T22:23:07.022Z,1761517387.022 [DAT](INFO): DAT read: user:553>

2025-10-26T22:23:07.025Z,1761517387.025 [DAT](INFO): DAT read: Tx time:22:23:06.2387

2025-10-26T22:23:07.026Z,1761517387.026 [DAT](INFO): Ping request sent.
2025-10-26T22:23:07.027Z,1761517387.027 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:23:07.030Z,1761517387.030 [DAT](INFO): publishing transmit ping time
2025-10-26T22:23:07.033Z,1761517387.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.005703
2025-10-26T22:23:07.135Z,1761517387.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676361,-0.705157,-0.212813],[0.733719,-0.670405,-0.110512],[-0.064743,-0.230891,0.970823]]
2025-10-26T22:23:07.214Z,1761517387.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:23:07.222Z,1761517387.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-10-26T22:23:07.236Z,1761517387.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 3.288867 m,
      bearing: 163.905959 deg,
      approach rate: -0.512314 m/s,
      LOS rate: 4.799794 deg/s,
      cmd heading: 131.153210 deg,
      new cmd heading: 138.582951 deg.

2025-10-26T22:23:07.237Z,1761517387.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.418729 target range: 9.841003 and range: 3.80 m.
2025-10-26T22:23:07.264Z,1761517387.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.238078
2025-10-26T22:23:07.516Z,1761517387.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.489968
2025-10-26T22:23:07.682Z,1761517387.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667600,-0.713205,-0.213657],[0.741411,-0.663049,-0.103322],[-0.067975,-0.227386,0.971429]]
2025-10-26T22:23:07.728Z,1761517387.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-10-26T22:23:07.733Z,1761517387.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 3.039604 m,
      bearing: 166.566332 deg,
      approach rate: -0.493988 m/s,
      LOS rate: 5.702633 deg/s,
      cmd heading: 138.582954 deg,
      new cmd heading: 147.151019 deg.

2025-10-26T22:23:07.735Z,1761517387.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568270 target range: 9.841003 and range: 3.80 m.
2025-10-26T22:23:07.769Z,1761517387.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.742135
2025-10-26T22:23:08.024Z,1761517388.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997338
2025-10-26T22:23:08.093Z,1761517388.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663460,-0.717200,-0.213179],[0.744918,-0.659867,-0.098351],[-0.070133,-0.224053,0.972050]]
2025-10-26T22:23:08.138Z,1761517388.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-10-26T22:23:08.141Z,1761517388.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 2.855162 m,
      bearing: 168.828454 deg,
      approach rate: -0.448445 m/s,
      LOS rate: 5.853818 deg/s,
      cmd heading: 147.151016 deg,
      new cmd heading: 154.336000 deg.

2025-10-26T22:23:08.142Z,1761517388.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.693671 target range: 9.841003 and range: 3.80 m.
2025-10-26T22:23:08.272Z,1761517388.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246108
2025-10-26T22:23:08.494Z,1761517388.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659677,-0.720871,-0.212535],[0.748027,-0.657129,-0.092930],[-0.072673,-0.220286,0.972724]]
2025-10-26T22:23:08.524Z,1761517388.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497875
2025-10-26T22:23:08.530Z,1761517388.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-10-26T22:23:08.534Z,1761517388.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 2.696004 m,
      bearing: 171.110654 deg,
      approach rate: -0.405634 m/s,
      LOS rate: 6.158222 deg/s,
      cmd heading: 154.336006 deg,
      new cmd heading: 161.546565 deg.

2025-10-26T22:23:08.536Z,1761517388.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.819520 target range: 9.841003 and range: 3.80 m.
2025-10-26T22:23:08.780Z,1761517388.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752739
2025-10-26T22:23:08.895Z,1761517388.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656906,-0.723713,-0.211459],[0.750211,-0.655377,-0.087551],[-0.075224,-0.216151,0.973458]]
2025-10-26T22:23:08.914Z,1761517388.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-10-26T22:23:08.917Z,1761517388.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 2.531236 m,
      bearing: 173.881745 deg,
      approach rate: -0.429330 m/s,
      LOS rate: 7.687536 deg/s,
      cmd heading: 161.546569 deg,
      new cmd heading: 170.328123 deg.

2025-10-26T22:23:08.918Z,1761517388.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.972787 target range: 9.841003 and range: 3.80 m.
2025-10-26T22:23:09.037Z,1761517389.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010041
2025-10-26T22:23:09.284Z,1761517389.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257932
2025-10-26T22:23:09.299Z,1761517389.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654361,-0.726628,-0.209341],[0.752100,-0.654120,-0.080455],[-0.078474,-0.210092,0.974527]]
2025-10-26T22:23:09.347Z,1761517389.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:23:09.350Z,1761517389.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m.
2025-10-26T22:23:09.352Z,1761517389.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.841003 m,
      nav range: 2.376272 m,
      bearing: 176.671140 deg,
      approach rate: -0.355947 m/s,
      LOS rate: 6.822291 deg/s,
      cmd heading: 170.328129 deg,
      new cmd heading: 179.167698 deg.

2025-10-26T22:23:09.353Z,1761517389.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.127066 target range: 9.841003 and range: 3.80 m.
2025-10-26T22:23:09.537Z,1761517389.537 [DAT](INFO): DAT read: Rx Time:22:23:08.3706 

2025-10-26T22:23:09.537Z,1761517389.537 [DAT](INFO): Rx dataTimestamp_ set to:1761517389.537096
2025-10-26T22:23:09.539Z,1761517389.539 [DAT](INFO): DAT read: Bearing 299.1,  16.2 (Local)

2025-10-26T22:23:09.539Z,1761517389.539 [DAT](INFO): Local bearing/azimuth received:
 Bearing 299.1,  16.2 (Local)

2025-10-26T22:23:09.541Z,1761517389.541 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.3

2025-10-26T22:23:09.546Z,1761517389.546 [DAT](INFO): DAT read: 22:23:08.3706 LVL= 28496, 32753, 32754, 32755, AGC= 45, IDX= 504, 0.21, 2.371, 0.640, 1.780, 1.813, PHS= 0.661,-1.128,-0.077, RAW= 125.8,   7.0, CAL= 126.4,   8.3, ROT=  23.6,  -8.3

2025-10-26T22:23:09.547Z,1761517389.547 [DAT](INFO): got valid direction response:
 22:23:08.3706 LVL= 28496, 32753, 32754, 32755, AGC= 45, IDX= 504, 0.21, 2.371, 0.640, 1.780, 1.813, PHS= 0.661,-1.128,-0.077, RAW= 125.8,   7.0, CAL= 126.4,   8.3, ROT=  23.6,  -8.3

2025-10-26T22:23:09.547Z,1761517389.547 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:23:09.548Z,1761517389.548 [DAT](INFO): direction in FSK: [0.906765,0.396156,0.144356]
2025-10-26T22:23:09.548Z,1761517389.548 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:09.552Z,1761517389.552 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.525592
2025-10-26T22:23:09.704Z,1761517389.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653190,-0.728915,-0.205003],[0.752774,-0.654336,-0.071945],[-0.081699,-0.201314,0.976114]]
2025-10-26T22:23:09.765Z,1761517389.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 3.026963 s,
      deltaX: -1.800000 m,
      approachRate: -0.594655 m/s,
      rangeRepo size: 4

2025-10-26T22:23:09.771Z,1761517389.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.988085 m,
      bearing: 155.605394 deg,
      lat: 36.779400 deg,
      lon: -121.859457 deg,
      deltaT: 16.134608 s,
      deltaX: -7.852919 m,
      approachRate: -0.486713 m/s,
      posRepo size: 4

2025-10-26T22:23:09.772Z,1761517389.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.00 m.
2025-10-26T22:23:09.772Z,1761517389.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-10-26T22:23:09.789Z,1761517389.789 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.762194
2025-10-26T22:23:10.045Z,1761517390.045 [DAT](INFO): DAT read: Rx Time:22:23:08.8705 

2025-10-26T22:23:10.046Z,1761517390.046 [DAT](INFO): Rx dataTimestamp_ set to:1761517390.045136
2025-10-26T22:23:10.050Z,1761517390.050 [DAT](INFO): DAT read: Bearing 291.3,  30.2 (Local)

2025-10-26T22:23:10.051Z,1761517390.051 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.3,  30.2 (Local)

2025-10-26T22:23:10.058Z,1761517390.058 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.3

2025-10-26T22:23:10.079Z,1761517390.079 [DAT](INFO): DAT read: 22:23:08.8705 LVL= 24272, 32593, 31586, 29299, AGC= 44, IDX= 503,-0.05, 1.911, 0.258, 1.022, 1.055, PHS= 0.957,-0.753,-0.077, RAW= 113.1,  -1.7, CAL= 114.3,  -1.7, ROT=  35.7,   1.7

2025-10-26T22:23:10.089Z,1761517390.089 [DAT](INFO): got valid direction response:
 22:23:08.8705 LVL= 24272, 32593, 31586, 29299, AGC= 44, IDX= 503,-0.05, 1.911, 0.258, 1.022, 1.055, PHS= 0.957,-0.753,-0.077, RAW= 113.1,  -1.7, CAL= 114.3,  -1.7, ROT=  35.7,   1.7

2025-10-26T22:23:10.090Z,1761517390.090 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T22:23:10.091Z,1761517390.091 [DAT](INFO): direction in FSK: [0.811726,0.583284,-0.029666]
2025-10-26T22:23:10.091Z,1761517390.091 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:10.111Z,1761517390.111 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.084403
2025-10-26T22:23:10.262Z,1761517390.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.508040 s,
      deltaX: -0.200000 m,
      approachRate: -0.393670 m/s,
      rangeRepo size: 4

2025-10-26T22:23:10.272Z,1761517390.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.789271 m,
      bearing: 166.294091 deg,
      lat: 36.779401 deg,
      lon: -121.859457 deg,
      deltaT: 0.508040 s,
      deltaX: -0.198814 m,
      approachRate: -0.391335 m/s,
      posRepo size: 4

2025-10-26T22:23:10.293Z,1761517390.293 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.266322
2025-10-26T22:23:10.513Z,1761517390.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657432,-0.729598,-0.188334],[0.748096,-0.661907,-0.047236],[-0.090196,-0.171946,0.980968]]
2025-10-26T22:23:10.545Z,1761517390.545 [DAT](INFO): DAT read: Rx Time:22:23:09.3704 

2025-10-26T22:23:10.546Z,1761517390.546 [DAT](INFO): Rx dataTimestamp_ set to:1761517390.545249
2025-10-26T22:23:10.547Z,1761517390.547 [DAT](INFO): DAT read: Bearing 284.0,  40.5 (Local)

2025-10-26T22:23:10.547Z,1761517390.547 [DAT](INFO): Local bearing/azimuth received:
 Bearing 284.0,  40.5 (Local)

2025-10-26T22:23:10.549Z,1761517390.549 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.3

2025-10-26T22:23:10.558Z,1761517390.558 [DAT](INFO): DAT read: 22:23:09.3704 LVL= 19648, 29297, 29474, 32755, AGC= 39, IDX= 501, 0.12,-1.170,-2.696,-2.181,-2.166, PHS= 1.098,-0.485,-0.059, RAW= 105.1,  -7.9, CAL= 104.8,  -8.8, ROT=  45.2,   8.8

2025-10-26T22:23:10.564Z,1761517390.564 [DAT](INFO): got valid direction response:
 22:23:09.3704 LVL= 19648, 29297, 29474, 32755, AGC= 39, IDX= 501, 0.12,-1.170,-2.696,-2.181,-2.166, PHS= 1.098,-0.485,-0.059, RAW= 105.1,  -7.9, CAL= 104.8,  -8.8, ROT=  45.2,   8.8

2025-10-26T22:23:10.564Z,1761517390.564 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-10-26T22:23:10.565Z,1761517390.565 [DAT](INFO): direction in FSK: [0.696340,0.701218,-0.152986]
2025-10-26T22:23:10.565Z,1761517390.565 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:10.569Z,1761517390.569 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.542875
2025-10-26T22:23:10.797Z,1761517390.797 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.770392
2025-10-26T22:23:10.920Z,1761517390.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664074,-0.727144,-0.173979],[0.741566,-0.670241,-0.029271],[-0.095324,-0.148454,0.984314]]
2025-10-26T22:23:11.006Z,1761517391.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.500113 s,
      deltaX: -0.100000 m,
      approachRate: -0.199955 m/s,
      rangeRepo size: 4

2025-10-26T22:23:11.012Z,1761517391.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689867 m,
      bearing: 176.920692 deg,
      lat: 36.779402 deg,
      lon: -121.859457 deg,
      deltaT: 0.500113 s,
      deltaX: -0.099404 m,
      approachRate: -0.198763 m/s,
      posRepo size: 4

2025-10-26T22:23:11.051Z,1761517391.051 [DAT](INFO): DAT read: Rx Time:22:23:09.8707 

2025-10-26T22:23:11.051Z,1761517391.051 [DAT](INFO): Rx dataTimestamp_ set to:1761517391.050736
2025-10-26T22:23:11.056Z,1761517391.056 [DAT](INFO): DAT read: Bearing 278.7,  43.1 (Local)

2025-10-26T22:23:11.057Z,1761517391.057 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.7,  43.1 (Local)

2025-10-26T22:23:11.072Z,1761517391.072 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.2

2025-10-26T22:23:11.133Z,1761517391.133 [DAT](INFO): DAT read: 22:23:09.8707 LVL= 20352, 32753, 31458, 29939, AGC= 40, IDX= 501, 0.11, 0.745,-0.726,-0.293,-0.323, PHS= 1.169,-0.358,-0.014, RAW= 102.4, -11.5, CAL= 101.9, -12.3, ROT=  48.1,  12.3

2025-10-26T22:23:11.134Z,1761517391.134 [DAT](INFO): got valid direction response:
 22:23:09.8707 LVL= 20352, 32753, 31458, 29939, AGC= 40, IDX= 501, 0.11, 0.745,-0.726,-0.293,-0.323, PHS= 1.169,-0.358,-0.014, RAW= 102.4, -11.5, CAL= 101.9, -12.3, ROT=  48.1,  12.3

2025-10-26T22:23:11.135Z,1761517391.135 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-26T22:23:11.144Z,1761517391.144 [DAT](INFO): direction in FSK: [0.652503,0.727226,-0.213030]
2025-10-26T22:23:11.145Z,1761517391.145 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:11.153Z,1761517391.153 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.126180
2025-10-26T22:23:11.300Z,1761517391.300 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.274080
2025-10-26T22:23:11.479Z,1761517391.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673117,-0.722761,-0.156620],[0.732647,-0.680560,-0.008144],[-0.100703,-0.120230,0.987625]]
2025-10-26T22:23:11.540Z,1761517391.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.505487 s,
      deltaX: 0.400000 m,
      approachRate: 0.791316 m/s,
      rangeRepo size: 4

2025-10-26T22:23:11.542Z,1761517391.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087482 m,
      bearing: 180.930680 deg,
      lat: 36.779402 deg,
      lon: -121.859460 deg,
      deltaT: 0.505487 s,
      deltaX: 0.397615 m,
      approachRate: 0.786598 m/s,
      posRepo size: 4

2025-10-26T22:23:11.553Z,1761517391.553 [DAT](INFO): DAT read: Rx Time:22:23:10.3706 

2025-10-26T22:23:11.553Z,1761517391.553 [DAT](INFO): Rx dataTimestamp_ set to:1761517391.552743
2025-10-26T22:23:11.554Z,1761517391.554 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.3

2025-10-26T22:23:11.555Z,1761517391.555 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-10-26T22:23:11.556Z,1761517391.556 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.529454
2025-10-26T22:23:11.808Z,1761517391.808 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.781774
2025-10-26T22:23:11.885Z,1761517391.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683520,-0.716917,-0.137224],[0.722219,-0.691496,0.015258],[-0.105829,-0.088677,0.990422]]
2025-10-26T22:23:11.902Z,1761517391.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:23:11.905Z,1761517391.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.502007 s,
      deltaX: -0.100000 m,
      approachRate: -0.199200 m/s,
      rangeRepo size: 4

2025-10-26T22:23:11.905Z,1761517391.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.00 m.
2025-10-26T22:23:12.063Z,1761517392.063 [DAT](INFO): DAT read: Rx Time:22:23:10.8703 

2025-10-26T22:23:12.065Z,1761517392.065 [DAT](INFO): Rx dataTimestamp_ set to:1761517392.063669
2025-10-26T22:23:12.070Z,1761517392.070 [DAT](INFO): DAT read: Bearing 240.6,  45.7 (Local)

2025-10-26T22:23:12.071Z,1761517392.071 [DAT](INFO): Local bearing/azimuth received:
 Bearing 240.6,  45.7 (Local)

2025-10-26T22:23:12.094Z,1761517392.094 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.1

2025-10-26T22:23:12.121Z,1761517392.121 [DAT](INFO): DAT read: 22:23:10.8703 LVL= 16208, 28625, 24786, 24979, AGC= 32, IDX= 500, 0.04,-3.015, 2.196, 2.195, 1.777, PHS= 1.593, 0.464, 0.374, RAW=  86.2, -36.2, CAL=  88.6, -35.4, ROT=  61.4,  35.4

2025-10-26T22:23:12.123Z,1761517392.123 [DAT](INFO): got valid direction response:
 22:23:10.8703 LVL= 16208, 28625, 24786, 24979, AGC= 32, IDX= 500, 0.04,-3.015, 2.196, 2.195, 1.777, PHS= 1.593, 0.464, 0.374, RAW=  86.2, -36.2, CAL=  88.6, -35.4, ROT=  61.4,  35.4

2025-10-26T22:23:12.123Z,1761517392.123 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-26T22:23:12.128Z,1761517392.128 [DAT](INFO): direction in FSK: [0.390195,0.715668,-0.579281]
2025-10-26T22:23:12.128Z,1761517392.128 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:12.136Z,1761517392.136 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.109841
2025-10-26T22:23:12.308Z,1761517392.308 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.282035
2025-10-26T22:23:12.344Z,1761517392.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.510926 s,
      deltaX: -0.500000 m,
      approachRate: -0.978615 m/s,
      rangeRepo size: 4

2025-10-26T22:23:12.346Z,1761517392.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.491054 m,
      bearing: 197.582820 deg,
      lat: 36.779402 deg,
      lon: -121.859462 deg,
      deltaT: 1.012933 s,
      deltaX: -0.596428 m,
      approachRate: -0.588813 m/s,
      posRepo size: 4

2025-10-26T22:23:12.346Z,1761517392.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 1.50 m.
2025-10-26T22:23:12.561Z,1761517392.561 [DAT](INFO): DAT read: Rx Time:22:23:11.3701 

2025-10-26T22:23:12.562Z,1761517392.562 [DAT](INFO): Rx dataTimestamp_ set to:1761517392.561406
2025-10-26T22:23:12.563Z,1761517392.563 [DAT](INFO): DAT read: Bearing 216.1,  46.8 (Local)

2025-10-26T22:23:12.563Z,1761517392.563 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.1,  46.8 (Local)

2025-10-26T22:23:12.565Z,1761517392.565 [DAT](INFO): DAT read: Range 11 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-10-26T22:23:12.570Z,1761517392.570 [DAT](INFO): DAT read: 22:23:11.3701 LVL= 25504, 31521, 30962, 26451, AGC= 29, IDX= 499,-0.07, 3.060, 2.459, 2.122, 1.685, PHS= 1.477, 0.819, 0.394, RAW=  67.1, -45.2, CAL=  68.9, -44.2, ROT=  81.1,  44.2

2025-10-26T22:23:12.572Z,1761517392.572 [DAT](INFO): got valid direction response:
 22:23:11.3701 LVL= 25504, 31521, 30962, 26451, AGC= 29, IDX= 499,-0.07, 3.060, 2.459, 2.122, 1.685, PHS= 1.477, 0.819, 0.394, RAW=  67.1, -45.2, CAL=  68.9, -44.2, ROT=  81.1,  44.2

2025-10-26T22:23:12.572Z,1761517392.572 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-26T22:23:12.573Z,1761517392.573 [DAT](INFO): direction in FSK: [0.110914,0.708279,-0.697165]
2025-10-26T22:23:12.574Z,1761517392.574 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:12.578Z,1761517392.578 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.551492
2025-10-26T22:23:12.756Z,1761517392.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 0.497737 s,
      deltaX: -0.300000 m,
      approachRate: -0.602728 m/s,
      rangeRepo size: 4

2025-10-26T22:23:12.758Z,1761517392.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.192843 m,
      bearing: 220.742305 deg,
      lat: 36.779402 deg,
      lon: -121.859462 deg,
      deltaT: 0.497737 s,
      deltaX: -0.298211 m,
      approachRate: -0.599133 m/s,
      posRepo size: 4

2025-10-26T22:23:12.813Z,1761517392.813 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.786910
2025-10-26T22:23:13.065Z,1761517393.065 [DAT](INFO): DAT read: Rx Time:22:23:11.8701 

2025-10-26T22:23:13.066Z,1761517393.066 [DAT](INFO): Rx dataTimestamp_ set to:1761517393.065156
2025-10-26T22:23:13.070Z,1761517393.070 [DAT](INFO): DAT read: Bearing 205.1,  39.2 (Local)

2025-10-26T22:23:13.071Z,1761517393.071 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.1,  39.2 (Local)

2025-10-26T22:23:13.073Z,1761517393.073 [DAT](INFO): DAT read: Range 1:     1.2 m (trip time 0.8 ms) speed 0.0

2025-10-26T22:23:13.073Z,1761517393.073 [DAT](INFO): unknown deviceResponse_: Range 1:     1.2 m (trip time 0.8 ms) speed 0.0

2025-10-26T22:23:13.077Z,1761517393.077 [DAT](INFO): DAT read: 22:23:11.8701 LVL= 32752, 32753, 32754, 32755, AGC= 30, IDX= 498, 0.09,-2.504,-2.918, 2.842, 2.168, PHS= 1.713, 1.242, 0.630, RAW=  55.7, -53.4, CAL=  58.0, -52.1, ROT=  92.0,  52.1

2025-10-26T22:23:13.079Z,1761517393.079 [DAT](INFO): got valid direction response:
 22:23:11.8701 LVL= 32752, 32753, 32754, 32755, AGC= 30, IDX= 498, 0.09,-2.504,-2.918, 2.842, 2.168, PHS= 1.713, 1.242, 0.630, RAW=  55.7, -53.4, CAL=  58.0, -52.1, ROT=  92.0,  52.1

2025-10-26T22:23:13.079Z,1761517393.079 [DAT](INFO): #Rx 8: Read direction message, but no range.
2025-10-26T22:23:13.080Z,1761517393.080 [DAT](INFO): direction in FSK: [-0.021438,0.613911,-0.789084]
2025-10-26T22:23:13.095Z,1761517393.095 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.068100
2025-10-26T22:23:13.212Z,1761517393.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723416,-0.683707,-0.095992],[0.680212,-0.729617,0.070503],[-0.118241,-0.014293,0.992882]]
2025-10-26T22:23:13.317Z,1761517393.317 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.290363
2025-10-26T22:23:13.570Z,1761517393.570 [DAT](INFO): DAT read: Rx Time:22:23:12.3700 

2025-10-26T22:23:13.570Z,1761517393.570 [DAT](INFO): Rx dataTimestamp_ set to:1761517393.569811
2025-10-26T22:23:13.571Z,1761517393.571 [DAT](INFO): DAT read: Bearing 176.7,  27.9 (Local)

2025-10-26T22:23:13.572Z,1761517393.572 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.7,  27.9 (Local)

2025-10-26T22:23:13.574Z,1761517393.574 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed -0.1

2025-10-26T22:23:13.576Z,1761517393.576 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:23:13.580Z,1761517393.580 [DAT](INFO): DAT read: 22:23:12.3700 LVL= 32752, 32753, 32754, 32755, AGC= 30, IDX= 497, 0.26, 1.475, 1.868, 0.940, 0.368, PHS= 1.209, 1.545, 0.528, RAW=  11.1, -52.3, CAL=  13.5, -52.2, ROT= 136.5,  52.2

2025-10-26T22:23:13.581Z,1761517393.581 [DAT](INFO): got valid direction response:
 22:23:12.3700 LVL= 32752, 32753, 32754, 32755, AGC= 30, IDX= 497, 0.26, 1.475, 1.868, 0.940, 0.368, PHS= 1.209, 1.545, 0.528, RAW=  11.1, -52.3, CAL=  13.5, -52.2, ROT= 136.5,  52.2

2025-10-26T22:23:13.581Z,1761517393.581 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-10-26T22:23:13.582Z,1761517393.582 [DAT](INFO): direction in FSK: [-0.444587,0.421897,-0.790155]
2025-10-26T22:23:13.583Z,1761517393.583 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:13.586Z,1761517393.586 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.559973
2025-10-26T22:23:13.638Z,1761517393.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738890,-0.668811,-0.082052],[0.662796,-0.743329,0.090347],[-0.121416,0.012373,0.992525]]
2025-10-26T22:23:13.713Z,1761517393.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 1.008405 s,
      deltaX: -0.100000 m,
      approachRate: -0.099167 m/s,
      rangeRepo size: 4

2025-10-26T22:23:13.721Z,1761517393.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.093439 m,
      bearing: 279.288930 deg,
      lat: 36.779402 deg,
      lon: -121.859464 deg,
      deltaT: 1.008405 s,
      deltaX: -0.099404 m,
      approachRate: -0.098575 m/s,
      posRepo size: 4

2025-10-26T22:23:13.821Z,1761517393.821 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.794242
2025-10-26T22:23:14.036Z,1761517394.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754521,-0.652424,-0.071000],[0.644395,-0.757006,0.108153],[-0.124309,0.035852,0.991596]]
2025-10-26T22:23:14.053Z,1761517394.053 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:23:14.073Z,1761517394.073 [DAT](INFO): DAT read: Rx Time:22:23:12.8702 

2025-10-26T22:23:14.073Z,1761517394.073 [DAT](INFO): Rx dataTimestamp_ set to:1761517394.073029
2025-10-26T22:23:14.075Z,1761517394.075 [DAT](INFO): DAT read: Bearing 165.6,  24.7 (Local)

2025-10-26T22:23:14.075Z,1761517394.075 [DAT](INFO): Local bearing/azimuth received:
 Bearing 165.6,  24.7 (Local)

2025-10-26T22:23:14.077Z,1761517394.077 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed -0.1

2025-10-26T22:23:14.091Z,1761517394.091 [DAT](INFO): DAT read: 22:23:12.8702 LVL= 30064, 28657, 30146, 26931, AGC= 26, IDX= 499, 0.03,-1.889,-1.186,-2.356,-2.729, PHS= 0.942, 1.588, 0.329, RAW= 359.2, -42.8, CAL=   0.5, -43.7, ROT= 149.5,  43.7

2025-10-26T22:23:14.096Z,1761517394.096 [DAT](INFO): got valid direction response:
 22:23:12.8702 LVL= 30064, 28657, 30146, 26931, AGC= 26, IDX= 499, 0.03,-1.889,-1.186,-2.356,-2.729, PHS= 0.942, 1.588, 0.329, RAW= 359.2, -42.8, CAL=   0.5, -43.7, ROT= 149.5,  43.7

2025-10-26T22:23:14.097Z,1761517394.097 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-26T22:23:14.101Z,1761517394.101 [DAT](INFO): direction in FSK: [-0.622930,0.366934,-0.690882]
2025-10-26T22:23:14.102Z,1761517394.102 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:14.152Z,1761517394.152 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.125662
2025-10-26T22:23:14.325Z,1761517394.325 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.298147
2025-10-26T22:23:14.434Z,1761517394.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769800,-0.635135,-0.063339],[0.625566,-0.770448,0.122791],[-0.126788,0.054902,0.990409]]
2025-10-26T22:23:14.532Z,1761517394.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.503218 s,
      deltaX: 0.300000 m,
      approachRate: 0.596163 m/s,
      rangeRepo size: 4

2025-10-26T22:23:14.534Z,1761517394.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.391649 m,
      bearing: 290.971541 deg,
      lat: 36.779405 deg,
      lon: -121.859465 deg,
      deltaT: 0.503218 s,
      deltaX: 0.298209 m,
      approachRate: 0.592604 m/s,
      posRepo size: 4

2025-10-26T22:23:14.577Z,1761517394.577 [DAT](INFO): DAT read: Rx Time:22:23:13.3701 

2025-10-26T22:23:14.577Z,1761517394.577 [DAT](INFO): Rx dataTimestamp_ set to:1761517394.577202
2025-10-26T22:23:14.579Z,1761517394.579 [DAT](INFO): DAT read: Bearing 161.8,  16.9 (Local)

2025-10-26T22:23:14.580Z,1761517394.580 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:23:14.579Z,1761517394.579 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.8,  16.9 (Local)

2025-10-26T22:23:14.583Z,1761517394.583 [DAT](INFO): DAT read: Range 11 to 50 :     1.2 m (trip time 0.8 ms) speed -0.2

2025-10-26T22:23:14.588Z,1761517394.588 [DAT](INFO): DAT read: 22:23:13.3701 LVL= 32752, 28641, 32754, 31971, AGC= 30, IDX= 499,-0.44,-1.893,-0.946,-2.157,-2.529, PHS= 0.738, 1.628, 0.328, RAW= 348.0, -39.6, CAL= 348.7, -41.7, ROT= 161.3,  41.7

2025-10-26T22:23:14.589Z,1761517394.589 [DAT](INFO): got valid direction response:
 22:23:13.3701 LVL= 32752, 28641, 32754, 31971, AGC= 30, IDX= 499,-0.44,-1.893,-0.946,-2.157,-2.529, PHS= 0.738, 1.628, 0.328, RAW= 348.0, -39.6, CAL= 348.7, -41.7, ROT= 161.3,  41.7

2025-10-26T22:23:14.589Z,1761517394.589 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-10-26T22:23:14.590Z,1761517394.590 [DAT](INFO): direction in FSK: [-0.707223,0.239382,-0.665230]
2025-10-26T22:23:14.591Z,1761517394.591 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:14.620Z,1761517394.620 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.593745
2025-10-26T22:23:14.828Z,1761517394.828 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.801989
2025-10-26T22:23:14.999Z,1761517394.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799890,-0.597113,-0.060266],[0.585696,-0.798588,0.138625],[-0.130903,0.075587,0.988509]]
2025-10-26T22:23:15.023Z,1761517395.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 0.504173 s,
      deltaX: -0.200000 m,
      approachRate: -0.396689 m/s,
      rangeRepo size: 4

2025-10-26T22:23:15.032Z,1761517395.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.192842 m,
      bearing: 303.563955 deg,
      lat: 36.779408 deg,
      lon: -121.859466 deg,
      deltaT: 0.504173 s,
      deltaX: -0.198807 m,
      approachRate: -0.394323 m/s,
      posRepo size: 4

2025-10-26T22:23:15.033Z,1761517395.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.20 m.
2025-10-26T22:23:15.081Z,1761517395.081 [DAT](INFO): DAT read: Rx Time:22:23:13.8703 

2025-10-26T22:23:15.082Z,1761517395.082 [DAT](INFO): Rx dataTimestamp_ set to:1761517395.081333
2025-10-26T22:23:15.083Z,1761517395.083 [DAT](INFO): DAT read: Bearing 149.0,   6.2 (Local)

2025-10-26T22:23:15.083Z,1761517395.083 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.0,   6.2 (Local)

2025-10-26T22:23:15.085Z,1761517395.085 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed -0.3

2025-10-26T22:23:15.090Z,1761517395.090 [DAT](INFO): DAT read: 22:23:13.8703 LVL= 32752, 30833, 32754, 32755, AGC= 29, IDX= 501,-0.12, 0.303, 1.607, 0.393, 0.196, PHS= 0.209, 1.456, 0.153, RAW= 332.2, -26.7, CAL= 332.1, -30.0, ROT= 177.9,  30.0

2025-10-26T22:23:15.091Z,1761517395.091 [DAT](INFO): got valid direction response:
 22:23:13.8703 LVL= 32752, 30833, 32754, 32755, AGC= 29, IDX= 501,-0.12, 0.303, 1.607, 0.393, 0.196, PHS= 0.209, 1.456, 0.153, RAW= 332.2, -26.7, CAL= 332.1, -30.0, ROT= 177.9,  30.0

2025-10-26T22:23:15.092Z,1761517395.092 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-26T22:23:15.093Z,1761517395.093 [DAT](INFO): direction in FSK: [-0.865444,0.031734,-0.500000]
2025-10-26T22:23:15.093Z,1761517395.093 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:15.127Z,1761517395.127 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.099861
2025-10-26T22:23:15.333Z,1761517395.333 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.306155
2025-10-26T22:23:15.401Z,1761517395.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818191,-0.571975,-0.058373],[0.559744,-0.815634,0.146384],[-0.131339,0.087096,0.987504]]
2025-10-26T22:23:15.504Z,1761517395.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504131 s,
      deltaX: 0.300000 m,
      approachRate: 0.595083 m/s,
      rangeRepo size: 4

2025-10-26T22:23:15.506Z,1761517395.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.491052 m,
      bearing: 320.944268 deg,
      lat: 36.779408 deg,
      lon: -121.859466 deg,
      deltaT: 0.504131 s,
      deltaX: 0.298210 m,
      approachRate: 0.591533 m/s,
      posRepo size: 4

2025-10-26T22:23:15.507Z,1761517395.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 1.50 m.
2025-10-26T22:23:15.585Z,1761517395.585 [DAT](INFO): DAT read: Rx Time:22:23:14.3703 

2025-10-26T22:23:15.586Z,1761517395.586 [DAT](INFO): Rx dataTimestamp_ set to:1761517395.585363
2025-10-26T22:23:15.587Z,1761517395.587 [DAT](INFO): DAT read: Bearing 141.0,   6.1 (Local)

2025-10-26T22:23:15.587Z,1761517395.587 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.0,   6.1 (Local)

2025-10-26T22:23:15.590Z,1761517395.590 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed -0.3

2025-10-26T22:23:15.594Z,1761517395.594 [DAT](INFO): DAT read: 22:23:14.3703 LVL= 32752, 26801, 32754, 32755, AGC= 29, IDX= 501, 0.04,-0.117, 1.332, 0.018, 0.051, PHS=-0.066, 1.326,-0.077, RAW= 330.4, -16.7, CAL= 330.6, -20.1, ROT= 179.4,  20.1

2025-10-26T22:23:15.596Z,1761517395.596 [DAT](INFO): got valid direction response:
 22:23:14.3703 LVL= 32752, 26801, 32754, 32755, AGC= 29, IDX= 501, 0.04,-0.117, 1.332, 0.018, 0.051, PHS=-0.066, 1.326,-0.077, RAW= 330.4, -16.7, CAL= 330.6, -20.1, ROT= 179.4,  20.1

2025-10-26T22:23:15.596Z,1761517395.596 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-26T22:23:15.597Z,1761517395.597 [DAT](INFO): direction in FSK: [-0.939043,0.009834,-0.343660]
2025-10-26T22:23:15.597Z,1761517395.597 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:15.601Z,1761517395.601 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.574782
2025-10-26T22:23:15.836Z,1761517395.836 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.810029
2025-10-26T22:23:15.981Z,1761517395.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837042,-0.544666,-0.051956],[0.530822,-0.831428,0.164182],[-0.132622,0.109847,0.985061]]
2025-10-26T22:23:16.085Z,1761517396.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504030 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:16.089Z,1761517396.089 [DAT](INFO): DAT read: Rx Time:22:23:14.8706 

2025-10-26T22:23:16.090Z,1761517396.090 [DAT](INFO): Rx dataTimestamp_ set to:1761517396.089261
2025-10-26T22:23:16.091Z,1761517396.091 [DAT](INFO): DAT read: Bearing 140.4,   8.0 (Local)

2025-10-26T22:23:16.091Z,1761517396.091 [DAT](INFO): Local bearing/azimuth received:
 Bearing 140.4,   8.0 (Local)

2025-10-26T22:23:16.093Z,1761517396.093 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed -0.1

2025-10-26T22:23:16.123Z,1761517396.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.491051 m,
      bearing: 324.810954 deg,
      lat: 36.779409 deg,
      lon: -121.859466 deg,
      deltaT: 0.504030 s,
      deltaX: -0.000001 m,
      approachRate: -0.000002 m/s,
      posRepo size: 4

2025-10-26T22:23:16.129Z,1761517396.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.50 m.
2025-10-26T22:23:16.132Z,1761517396.132 [DAT](INFO): DAT read: 22:23:14.8706 LVL= 32752, 24049, 32754, 32755, AGC= 30, IDX= 503, 0.22, 0.785, 2.261, 0.856, 1.007, PHS=-0.120, 1.299,-0.195, RAW= 332.5, -13.4, CAL= 332.5, -16.7, ROT= 177.5,  16.7

2025-10-26T22:23:16.146Z,1761517396.146 [DAT](INFO): got valid direction response:
 22:23:14.8706 LVL= 32752, 24049, 32754, 32755, AGC= 30, IDX= 503, 0.22, 0.785, 2.261, 0.856, 1.007, PHS=-0.120, 1.299,-0.195, RAW= 332.5, -13.4, CAL= 332.5, -16.7, ROT= 177.5,  16.7

2025-10-26T22:23:16.156Z,1761517396.156 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-10-26T22:23:16.168Z,1761517396.168 [DAT](INFO): direction in FSK: [-0.956911,0.041780,-0.287361]
2025-10-26T22:23:16.169Z,1761517396.169 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:16.193Z,1761517396.193 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.166881
2025-10-26T22:23:16.341Z,1761517396.341 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.314458
2025-10-26T22:23:16.514Z,1761517396.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877901,-0.472468,-0.077869],[0.453931,-0.872921,0.178763],[-0.152433,0.121589,0.980806]]
2025-10-26T22:23:16.590Z,1761517396.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503898 s,
      deltaX: 0.500000 m,
      approachRate: 0.992264 m/s,
      rangeRepo size: 4

2025-10-26T22:23:16.593Z,1761517396.593 [DAT](INFO): DAT read: Rx Time:22:23:15.3705 

2025-10-26T22:23:16.594Z,1761517396.594 [DAT](INFO): Rx dataTimestamp_ set to:1761517396.593316
2025-10-26T22:23:16.595Z,1761517396.595 [DAT](INFO): DAT read: Bearing 141.7,   9.0 (Local)

2025-10-26T22:23:16.595Z,1761517396.595 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.7,   9.0 (Local)

2025-10-26T22:23:16.597Z,1761517396.597 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed -0.3

2025-10-26T22:23:16.602Z,1761517396.602 [DAT](INFO): DAT read: 22:23:15.3705 LVL= 31136, 24561, 32130, 32755, AGC= 32, IDX= 503,-0.13, 0.317, 1.813, 0.359, 0.578, PHS=-0.159, 1.280,-0.263, RAW= 333.4, -11.5, CAL= 333.3, -14.7, ROT= 176.7,  14.7

2025-10-26T22:23:16.604Z,1761517396.604 [DAT](INFO): got valid direction response:
 22:23:15.3705 LVL= 31136, 24561, 32130, 32755, AGC= 32, IDX= 503,-0.13, 0.317, 1.813, 0.359, 0.578, PHS=-0.159, 1.280,-0.263, RAW= 333.4, -11.5, CAL= 333.3, -14.7, ROT= 176.7,  14.7

2025-10-26T22:23:16.604Z,1761517396.604 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-26T22:23:16.605Z,1761517396.605 [DAT](INFO): direction in FSK: [-0.965664,0.055680,-0.253758]
2025-10-26T22:23:16.606Z,1761517396.606 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:16.609Z,1761517396.609 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.582894
2025-10-26T22:23:16.612Z,1761517396.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.988068 m,
      bearing: 328.214291 deg,
      lat: 36.779410 deg,
      lon: -121.859466 deg,
      deltaT: 0.503898 s,
      deltaX: 0.497017 m,
      approachRate: 0.986344 m/s,
      posRepo size: 4

2025-10-26T22:23:16.613Z,1761517396.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.00 m.
2025-10-26T22:23:16.845Z,1761517396.845 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.818401
2025-10-26T22:23:17.021Z,1761517397.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.504055 s,
      deltaX: -0.200000 m,
      approachRate: -0.396782 m/s,
      rangeRepo size: 4

2025-10-26T22:23:17.023Z,1761517397.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.789261 m,
      bearing: 327.674674 deg,
      lat: 36.779410 deg,
      lon: -121.859465 deg,
      deltaT: 0.504055 s,
      deltaX: -0.198807 m,
      approachRate: -0.394415 m/s,
      posRepo size: 4

2025-10-26T22:23:17.100Z,1761517397.100 [DAT](INFO): DAT read: Rx Time:22:23:15.8706 

2025-10-26T22:23:17.100Z,1761517397.100 [DAT](INFO): Rx dataTimestamp_ set to:1761517397.099766
2025-10-26T22:23:17.101Z,1761517397.101 [DAT](INFO): DAT read: Bearing 141.9,  12.6 (Local)

2025-10-26T22:23:17.102Z,1761517397.102 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.9,  12.6 (Local)

2025-10-26T22:23:17.104Z,1761517397.104 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed -0.2

2025-10-26T22:23:17.110Z,1761517397.110 [DAT](INFO): DAT read: 22:23:15.8706 LVL= 30112, 20593, 32754, 32755, AGC= 37, IDX= 503, 0.48,-0.690, 0.872,-0.710,-0.362, PHS=-0.226, 1.279,-0.392, RAW= 335.2,  -8.3, CAL= 334.8, -11.4, ROT= 175.2,  11.4

2025-10-26T22:23:17.112Z,1761517397.112 [DAT](INFO): got valid direction response:
 22:23:15.8706 LVL= 30112, 20593, 32754, 32755, AGC= 37, IDX= 503, 0.48,-0.690, 0.872,-0.710,-0.362, PHS=-0.226, 1.279,-0.392, RAW= 335.2,  -8.3, CAL= 334.8, -11.4, ROT= 175.2,  11.4

2025-10-26T22:23:17.113Z,1761517397.113 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-10-26T22:23:17.114Z,1761517397.114 [DAT](INFO): direction in FSK: [-0.976833,0.082027,-0.197657]
2025-10-26T22:23:17.115Z,1761517397.115 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:17.119Z,1761517397.119 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.092615
2025-10-26T22:23:17.327Z,1761517397.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902564,-0.425620,-0.065014],[0.387608,-0.868957,0.307690],[-0.187453,0.252510,0.949263]]
2025-10-26T22:23:17.353Z,1761517397.353 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.326129
2025-10-26T22:23:17.417Z,1761517397.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.506450 s,
      deltaX: 0.200000 m,
      approachRate: 0.394906 m/s,
      rangeRepo size: 4

2025-10-26T22:23:17.419Z,1761517397.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.988069 m,
      bearing: 329.283481 deg,
      lat: 36.779410 deg,
      lon: -121.859464 deg,
      deltaT: 0.506450 s,
      deltaX: 0.198807 m,
      approachRate: 0.392551 m/s,
      posRepo size: 4

2025-10-26T22:23:17.605Z,1761517397.605 [DAT](INFO): DAT read: Rx Time:22:23:16.3706 

2025-10-26T22:23:17.605Z,1761517397.605 [DAT](INFO): Rx dataTimestamp_ set to:1761517397.605124
2025-10-26T22:23:17.607Z,1761517397.607 [DAT](INFO): DAT read: Bearing 146.6,   3.6 (Local)

2025-10-26T22:23:17.607Z,1761517397.607 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.6,   3.6 (Local)

2025-10-26T22:23:17.610Z,1761517397.610 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed -0.4

2025-10-26T22:23:17.615Z,1761517397.615 [DAT](INFO): DAT read: 22:23:16.3706 LVL= 32752, 23281, 32754, 32755, AGC= 44, IDX= 504, 0.28,-1.639,-0.024,-1.403,-1.302, PHS=-0.235, 1.322,-0.146, RAW= 327.1, -12.4, CAL= 327.1, -15.8, ROT= 182.9,  15.8

2025-10-26T22:23:17.617Z,1761517397.617 [DAT](INFO): got valid direction response:
 22:23:16.3706 LVL= 32752, 23281, 32754, 32755, AGC= 44, IDX= 504, 0.28,-1.639,-0.024,-1.403,-1.302, PHS=-0.235, 1.322,-0.146, RAW= 327.1, -12.4, CAL= 327.1, -15.8, ROT= 182.9,  15.8

2025-10-26T22:23:17.617Z,1761517397.617 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-26T22:23:17.618Z,1761517397.618 [DAT](INFO): direction in FSK: [-0.960986,-0.048681,-0.272280]
2025-10-26T22:23:17.618Z,1761517397.618 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:17.622Z,1761517397.622 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.595658
2025-10-26T22:23:17.758Z,1761517397.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915014,-0.387574,-0.111959],[0.350388,-0.901055,0.255594],[-0.199943,0.194643,0.960280]]
2025-10-26T22:23:17.798Z,1761517397.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.505358 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:17.805Z,1761517397.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.988069 m,
      bearing: 338.679988 deg,
      lat: 36.779409 deg,
      lon: -121.859464 deg,
      deltaT: 0.505358 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:23:17.857Z,1761517397.857 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.830813
2025-10-26T22:23:18.109Z,1761517398.109 [DAT](INFO): DAT read: Rx Time:22:23:16.8708 

2025-10-26T22:23:18.109Z,1761517398.109 [DAT](INFO): Rx dataTimestamp_ set to:1761517398.109168
2025-10-26T22:23:18.111Z,1761517398.111 [DAT](INFO): DAT read: Bearing 141.4,   2.7 (Local)

2025-10-26T22:23:18.111Z,1761517398.111 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.4,   2.7 (Local)

2025-10-26T22:23:18.113Z,1761517398.113 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed -0.2

2025-10-26T22:23:18.118Z,1761517398.118 [DAT](INFO): DAT read: 22:23:16.8708 LVL= 32752, 28961, 32754, 32755, AGC= 48, IDX= 505,-0.01,-1.644,-0.077,-1.300,-1.094, PHS=-0.448, 1.062,-0.250, RAW= 323.1,  -5.2, CAL= 322.4,  -8.4, ROT= 187.6,   8.4

2025-10-26T22:23:18.119Z,1761517398.119 [DAT](INFO): got valid direction response:
 22:23:16.8708 LVL= 32752, 28961, 32754, 32755, AGC= 48, IDX= 505,-0.01,-1.644,-0.077,-1.300,-1.094, PHS=-0.448, 1.062,-0.250, RAW= 323.1,  -5.2, CAL= 322.4,  -8.4, ROT= 187.6,   8.4

2025-10-26T22:23:18.119Z,1761517398.119 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-26T22:23:18.120Z,1761517398.120 [DAT](INFO): direction in FSK: [-0.980582,-0.130838,-0.146083]
2025-10-26T22:23:18.121Z,1761517398.121 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:18.124Z,1761517398.124 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.097929
2025-10-26T22:23:18.237Z,1761517398.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930099,-0.332880,-0.155261],[0.303851,-0.934791,0.183959],[-0.206372,0.123924,0.970594]]
2025-10-26T22:23:18.354Z,1761517398.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.504044 s,
      deltaX: 0.300000 m,
      approachRate: 0.595186 m/s,
      rangeRepo size: 4

2025-10-26T22:23:18.360Z,1761517398.360 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.334087
2025-10-26T22:23:18.361Z,1761517398.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286280 m,
      bearing: 348.304065 deg,
      lat: 36.779409 deg,
      lon: -121.859464 deg,
      deltaT: 0.504044 s,
      deltaX: 0.298211 m,
      approachRate: 0.591637 m/s,
      posRepo size: 4

2025-10-26T22:23:18.564Z,1761517398.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943891,-0.274101,-0.184223],[0.255814,-0.959610,0.117079],[-0.208874,0.063383,0.975886]]
2025-10-26T22:23:18.586Z,1761517398.586 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:23:18.589Z,1761517398.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.30 m.
2025-10-26T22:23:18.613Z,1761517398.613 [DAT](INFO): DAT read: Rx Time:22:23:17.3707 

2025-10-26T22:23:18.614Z,1761517398.614 [DAT](INFO): Rx dataTimestamp_ set to:1761517398.613759
2025-10-26T22:23:18.616Z,1761517398.616 [DAT](INFO): DAT read: Bearing 144.2,  12.2 (Local)

2025-10-26T22:23:18.617Z,1761517398.617 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.2,  12.2 (Local)

2025-10-26T22:23:18.619Z,1761517398.619 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-26T22:23:18.626Z,1761517398.626 [DAT](INFO): DAT read: 22:23:17.3707 LVL= 32752, 27569, 32754, 32755, AGC= 48, IDX= 504, 0.23, 2.282,-2.449, 2.387, 2.787, PHS=-0.403, 1.092,-0.444, RAW= 331.3,  -3.3, CAL= 330.6,  -6.3, ROT= 179.4,   6.3

2025-10-26T22:23:18.627Z,1761517398.627 [DAT](INFO): got valid direction response:
 22:23:17.3707 LVL= 32752, 27569, 32754, 32755, AGC= 48, IDX= 504, 0.23, 2.282,-2.449, 2.387, 2.787, PHS=-0.403, 1.092,-0.444, RAW= 331.3,  -3.3, CAL= 330.6,  -6.3, ROT= 179.4,   6.3

2025-10-26T22:23:18.627Z,1761517398.627 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-10-26T22:23:18.628Z,1761517398.628 [DAT](INFO): direction in FSK: [-0.993906,0.010409,-0.109734]
2025-10-26T22:23:18.629Z,1761517398.629 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:18.640Z,1761517398.640 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.613997
2025-10-26T22:23:18.864Z,1761517398.864 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.838013
2025-10-26T22:23:19.004Z,1761517399.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953752,-0.224074,-0.200372],[0.212510,-0.974061,0.077751],[-0.212596,0.031574,0.976630]]
2025-10-26T22:23:19.117Z,1761517399.117 [DAT](INFO): DAT read: Rx Time:22:23:17.8707 

2025-10-26T22:23:19.118Z,1761517399.118 [DAT](INFO): Rx dataTimestamp_ set to:1761517399.117229
2025-10-26T22:23:19.119Z,1761517399.119 [DAT](INFO): DAT read: Bearing 151.8,  21.2 (Local)

2025-10-26T22:23:19.119Z,1761517399.119 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.8,  21.2 (Local)

2025-10-26T22:23:19.121Z,1761517399.121 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed -0.3

2025-10-26T22:23:19.126Z,1761517399.126 [DAT](INFO): DAT read: 22:23:17.8707 LVL= 32752, 24817, 32754, 32755, AGC= 45, IDX= 505, 0.33,-0.357, 1.152,-0.537,-0.057, PHS=-0.198, 1.253,-0.524, RAW= 339.9,  -6.5, CAL= 339.5,  -9.5, ROT= 170.5,   9.5

2025-10-26T22:23:19.127Z,1761517399.127 [DAT](INFO): got valid direction response:
 22:23:17.8707 LVL= 32752, 24817, 32754, 32755, AGC= 45, IDX= 505, 0.33,-0.357, 1.152,-0.537,-0.057, PHS=-0.198, 1.253,-0.524, RAW= 339.9,  -6.5, CAL= 339.5,  -9.5, ROT= 170.5,   9.5

2025-10-26T22:23:19.127Z,1761517399.127 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-10-26T22:23:19.128Z,1761517399.128 [DAT](INFO): direction in FSK: [-0.972759,0.162784,-0.165048]
2025-10-26T22:23:19.129Z,1761517399.129 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:19.133Z,1761517399.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 1.008061 s,
      deltaX: -0.200000 m,
      approachRate: -0.198401 m/s,
      rangeRepo size: 4

2025-10-26T22:23:19.135Z,1761517399.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087470 m,
      bearing: 346.635185 deg,
      lat: 36.779409 deg,
      lon: -121.859460 deg,
      deltaT: 0.504591 s,
      deltaX: -0.198810 m,
      approachRate: -0.394002 m/s,
      posRepo size: 4

2025-10-26T22:23:19.136Z,1761517399.136 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.110120
2025-10-26T22:23:19.369Z,1761517399.369 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.342438
2025-10-26T22:23:19.517Z,1761517399.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960582,-0.184829,-0.207654],[0.176516,-0.982585,0.058038],[-0.214765,0.019096,0.976479]]
2025-10-26T22:23:19.598Z,1761517399.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.10 m.
2025-10-26T22:23:19.621Z,1761517399.621 [DAT](INFO): DAT read: Rx Time:22:23:18.3708 

2025-10-26T22:23:19.622Z,1761517399.622 [DAT](INFO): Rx dataTimestamp_ set to:1761517399.621257
2025-10-26T22:23:19.623Z,1761517399.623 [DAT](INFO): DAT read: Bearing 157.0,  20.6 (Local)

2025-10-26T22:23:19.623Z,1761517399.623 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.0,  20.6 (Local)

2025-10-26T22:23:19.625Z,1761517399.625 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed -0.2

2025-10-26T22:23:19.630Z,1761517399.630 [DAT](INFO): DAT read: 22:23:18.3708 LVL= 32752, 32369, 32754, 32755, AGC= 44, IDX= 506,-0.02, 3.141,-1.647, 2.988,-2.899, PHS=-0.141, 1.297,-0.440, RAW= 339.3,  -8.9, CAL= 338.9, -12.0, ROT= 171.1,  12.0

2025-10-26T22:23:19.631Z,1761517399.631 [DAT](INFO): got valid direction response:
 22:23:18.3708 LVL= 32752, 32369, 32754, 32755, AGC= 44, IDX= 506,-0.02, 3.141,-1.647, 2.988,-2.899, PHS=-0.141, 1.297,-0.440, RAW= 339.3,  -8.9, CAL= 338.9, -12.0, ROT= 171.1,  12.0

2025-10-26T22:23:19.632Z,1761517399.632 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-10-26T22:23:19.632Z,1761517399.632 [DAT](INFO): direction in FSK: [-0.966371,0.151329,-0.207912]
2025-10-26T22:23:19.633Z,1761517399.633 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:19.649Z,1761517399.649 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.622955
2025-10-26T22:23:19.872Z,1761517399.872 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.845964
2025-10-26T22:23:19.920Z,1761517399.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966036,-0.150601,-0.209986],[0.143983,-0.988485,0.046545],[-0.214578,0.014730,0.976596]]
2025-10-26T22:23:20.021Z,1761517400.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.504028 s,
      deltaX: 0.300000 m,
      approachRate: 0.595205 m/s,
      rangeRepo size: 4

2025-10-26T22:23:20.023Z,1761517400.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.385680 m,
      bearing: 342.637770 deg,
      lat: 36.779405 deg,
      lon: -121.859459 deg,
      deltaT: 1.007498 s,
      deltaX: 0.298210 m,
      approachRate: 0.295991 m/s,
      posRepo size: 4

2025-10-26T22:23:20.127Z,1761517400.127 [DAT](INFO): DAT read: Rx Time:22:23:18.8709 

2025-10-26T22:23:20.129Z,1761517400.129 [DAT](INFO): Rx dataTimestamp_ set to:1761517400.128318
2025-10-26T22:23:20.131Z,1761517400.131 [DAT](INFO): DAT read: Bearing 149.9,  22.4 (Local)

2025-10-26T22:23:20.131Z,1761517400.131 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.9,  22.4 (Local)

2025-10-26T22:23:20.134Z,1761517400.134 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed -0.3

2025-10-26T22:23:20.142Z,1761517400.142 [DAT](INFO): DAT read: 22:23:18.8709 LVL= 32752, 32753, 32754, 32755, AGC= 44, IDX= 508, 0.03,-2.231,-0.895,-2.397,-1.811, PHS=-0.318, 0.962,-0.629, RAW= 340.6,  -0.2, CAL= 340.2,  -3.1, ROT= 169.8,   3.1

2025-10-26T22:23:20.144Z,1761517400.144 [DAT](INFO): got valid direction response:
 22:23:18.8709 LVL= 32752, 32753, 32754, 32755, AGC= 44, IDX= 508, 0.03,-2.231,-0.895,-2.397,-1.811, PHS=-0.318, 0.962,-0.629, RAW= 340.6,  -0.2, CAL= 340.2,  -3.1, ROT= 169.8,   3.1

2025-10-26T22:23:20.144Z,1761517400.144 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-10-26T22:23:20.145Z,1761517400.145 [DAT](INFO): direction in FSK: [-0.982755,0.176826,-0.054079]
2025-10-26T22:23:20.145Z,1761517400.145 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:20.154Z,1761517400.154 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.127911
2025-10-26T22:23:20.367Z,1761517400.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970305,-0.120592,-0.209681],[0.115391,-0.992634,0.036908],[-0.212587,0.011617,0.977073]]
2025-10-26T22:23:20.376Z,1761517400.376 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.350061
2025-10-26T22:23:20.474Z,1761517400.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.507061 s,
      deltaX: 0.200000 m,
      approachRate: 0.394429 m/s,
      rangeRepo size: 4

2025-10-26T22:23:20.497Z,1761517400.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.584485 m,
      bearing: 342.864786 deg,
      lat: 36.779405 deg,
      lon: -121.859459 deg,
      deltaT: 0.507061 s,
      deltaX: 0.198805 m,
      approachRate: 0.392073 m/s,
      posRepo size: 4

2025-10-26T22:23:20.629Z,1761517400.629 [DAT](INFO): DAT read: Rx Time:22:23:19.3709 

2025-10-26T22:23:20.629Z,1761517400.629 [DAT](INFO): Rx dataTimestamp_ set to:1761517400.629126
2025-10-26T22:23:20.631Z,1761517400.631 [DAT](INFO): DAT read: Bearing 153.2,  23.0 (Local)

2025-10-26T22:23:20.631Z,1761517400.631 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.2,  23.0 (Local)

2025-10-26T22:23:20.633Z,1761517400.633 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed -0.4

2025-10-26T22:23:20.638Z,1761517400.638 [DAT](INFO): DAT read: 22:23:19.3709 LVL= 32752, 31297, 32754, 32755, AGC= 40, IDX= 508, 0.04,-0.870, 0.594,-1.096,-0.461, PHS=-0.307, 1.099,-0.679, RAW= 341.4,  -1.4, CAL= 341.0,  -4.3, ROT= 169.0,   4.3

2025-10-26T22:23:20.639Z,1761517400.639 [DAT](INFO): got valid direction response:
 22:23:19.3709 LVL= 32752, 31297, 32754, 32755, AGC= 40, IDX= 508, 0.04,-0.870, 0.594,-1.096,-0.461, PHS=-0.307, 1.099,-0.679, RAW= 341.4,  -1.4, CAL= 341.0,  -4.3, ROT= 169.0,   4.3

2025-10-26T22:23:20.639Z,1761517400.639 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-10-26T22:23:20.640Z,1761517400.640 [DAT](INFO): direction in FSK: [-0.978864,0.190272,-0.074979]
2025-10-26T22:23:20.641Z,1761517400.641 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:20.644Z,1761517400.644 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.617930
2025-10-26T22:23:20.808Z,1761517400.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.500808 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:20.810Z,1761517400.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.584485 m,
      bearing: 342.091885 deg,
      lat: 36.779405 deg,
      lon: -121.859459 deg,
      deltaT: 0.500808 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:23:20.811Z,1761517400.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.60 m.
2025-10-26T22:23:20.881Z,1761517400.881 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.854170
2025-10-26T22:23:21.133Z,1761517401.133 [DAT](INFO): DAT read: Rx Time:22:23:19.8710 

2025-10-26T22:23:21.134Z,1761517401.134 [DAT](INFO): Rx dataTimestamp_ set to:1761517401.133291
2025-10-26T22:23:21.135Z,1761517401.135 [DAT](INFO): DAT read: Bearing 153.4,  23.2 (Local)

2025-10-26T22:23:21.135Z,1761517401.135 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.4,  23.2 (Local)

2025-10-26T22:23:21.137Z,1761517401.137 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed -0.3

2025-10-26T22:23:21.142Z,1761517401.142 [DAT](INFO): DAT read: 22:23:19.8710 LVL= 32752, 30801, 32754, 32755, AGC= 39, IDX= 509, 0.29,-0.014, 1.371,-0.234, 0.405, PHS=-0.317, 1.011,-0.683, RAW= 341.8,  -0.1, CAL= 341.4,  -3.1, ROT= 168.6,   3.1

2025-10-26T22:23:21.143Z,1761517401.143 [DAT](INFO): got valid direction response:
 22:23:19.8710 LVL= 32752, 30801, 32754, 32755, AGC= 39, IDX= 509, 0.29,-0.014, 1.371,-0.234, 0.405, PHS=-0.317, 1.011,-0.683, RAW= 341.8,  -0.1, CAL= 341.4,  -3.1, ROT= 168.6,   3.1

2025-10-26T22:23:21.144Z,1761517401.144 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-10-26T22:23:21.145Z,1761517401.145 [DAT](INFO): direction in FSK: [-0.978837,0.197368,-0.054079]
2025-10-26T22:23:21.145Z,1761517401.145 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:21.149Z,1761517401.149 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.122176
2025-10-26T22:23:21.236Z,1761517401.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976237,-0.068103,-0.205726],[0.067119,-0.997676,0.011765],[-0.206049,-0.002323,0.978539]]
2025-10-26T22:23:21.384Z,1761517401.384 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.357900
2025-10-26T22:23:21.432Z,1761517401.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504165 s,
      deltaX: 0.100000 m,
      approachRate: 0.198348 m/s,
      rangeRepo size: 4

2025-10-26T22:23:21.434Z,1761517401.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.683871 m,
      bearing: 344.562433 deg,
      lat: 36.779405 deg,
      lon: -121.859459 deg,
      deltaT: 0.504165 s,
      deltaX: 0.099386 m,
      approachRate: 0.197130 m/s,
      posRepo size: 4

2025-10-26T22:23:21.435Z,1761517401.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.70 m.
2025-10-26T22:23:21.637Z,1761517401.637 [DAT](INFO): DAT read: Rx Time:22:23:20.3711 

2025-10-26T22:23:21.638Z,1761517401.638 [DAT](INFO): Rx dataTimestamp_ set to:1761517401.637388
2025-10-26T22:23:21.639Z,1761517401.639 [DAT](INFO): DAT read: Bearing 155.0,  23.3 (Local)

2025-10-26T22:23:21.640Z,1761517401.640 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.0,  23.3 (Local)

2025-10-26T22:23:21.643Z,1761517401.643 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed -0.4

2025-10-26T22:23:21.648Z,1761517401.648 [DAT](INFO): DAT read: 22:23:20.3711 LVL= 32752, 32097, 32754, 32755, AGC= 37, IDX= 510, 0.04,-0.105, 1.272,-0.335, 0.300, PHS=-0.304, 1.017,-0.680, RAW= 342.2,  -0.4, CAL= 341.7,  -3.4, ROT= 168.3,   3.4

2025-10-26T22:23:21.649Z,1761517401.649 [DAT](INFO): got valid direction response:
 22:23:20.3711 LVL= 32752, 32097, 32754, 32755, AGC= 37, IDX= 510, 0.04,-0.105, 1.272,-0.335, 0.300, PHS=-0.304, 1.017,-0.680, RAW= 342.2,  -0.4, CAL= 341.7,  -3.4, ROT= 168.3,   3.4

2025-10-26T22:23:21.650Z,1761517401.650 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-10-26T22:23:21.651Z,1761517401.651 [DAT](INFO): direction in FSK: [-0.977499,0.202430,-0.059306]
2025-10-26T22:23:21.651Z,1761517401.651 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:21.721Z,1761517401.721 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.694517
2025-10-26T22:23:21.876Z,1761517401.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979976,-0.026353,-0.197365],[0.030277,-0.999399,-0.016889],[-0.196802,-0.022526,0.980185]]
2025-10-26T22:23:21.889Z,1761517401.889 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.862161
2025-10-26T22:23:21.902Z,1761517401.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.504097 s,
      deltaX: 0.200000 m,
      approachRate: 0.396749 m/s,
      rangeRepo size: 4

2025-10-26T22:23:21.904Z,1761517401.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.882676 m,
      bearing: 346.533973 deg,
      lat: 36.779405 deg,
      lon: -121.859459 deg,
      deltaT: 0.504097 s,
      deltaX: 0.198805 m,
      approachRate: 0.394379 m/s,
      posRepo size: 4

2025-10-26T22:23:22.141Z,1761517402.141 [DAT](INFO): DAT read: Rx Time:22:23:20.8714 

2025-10-26T22:23:22.142Z,1761517402.142 [DAT](INFO): Rx dataTimestamp_ set to:1761517402.141402
2025-10-26T22:23:22.143Z,1761517402.143 [DAT](INFO): DAT read: Bearing 158.0,  25.5 (Local)

2025-10-26T22:23:22.143Z,1761517402.143 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.0,  25.5 (Local)

2025-10-26T22:23:22.145Z,1761517402.145 [DAT](INFO): DAT read: Range 11 to 50 :     3.3 m (trip time 2.2 ms) speed -0.4

2025-10-26T22:23:22.150Z,1761517402.150 [DAT](INFO): DAT read: 22:23:20.8714 LVL= 32752, 26529, 32754, 32755, AGC= 41, IDX= 512, 0.32, 1.891,-3.110, 1.599, 2.201, PHS=-0.208, 1.017,-0.646, RAW= 344.7,  -2.2, CAL= 344.3,  -5.2, ROT= 165.7,   5.2

2025-10-26T22:23:22.153Z,1761517402.153 [DAT](INFO): got valid direction response:
 22:23:20.8714 LVL= 32752, 26529, 32754, 32755, AGC= 41, IDX= 512, 0.32, 1.891,-3.110, 1.599, 2.201, PHS=-0.208, 1.017,-0.646, RAW= 344.7,  -2.2, CAL= 344.3,  -5.2, ROT= 165.7,   5.2

2025-10-26T22:23:22.154Z,1761517402.154 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-10-26T22:23:22.157Z,1761517402.157 [DAT](INFO): direction in FSK: [-0.965028,0.245983,-0.090633]
2025-10-26T22:23:22.157Z,1761517402.157 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:22.163Z,1761517402.163 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.135875
2025-10-26T22:23:22.306Z,1761517402.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981369,-0.009246,-0.191911],[0.015106,-0.999463,-0.029095],[-0.191539,-0.031451,0.980981]]
2025-10-26T22:23:22.384Z,1761517402.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 0.504014 s,
      deltaX: 0.400000 m,
      approachRate: 0.793628 m/s,
      rangeRepo size: 4

2025-10-26T22:23:22.386Z,1761517402.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.280280 m,
      bearing: 345.001169 deg,
      lat: 36.779405 deg,
      lon: -121.859459 deg,
      deltaT: 0.504014 s,
      deltaX: 0.397604 m,
      approachRate: 0.788876 m/s,
      posRepo size: 4

2025-10-26T22:23:22.393Z,1761517402.393 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.366129
2025-10-26T22:23:22.645Z,1761517402.645 [DAT](INFO): DAT read: Rx Time:22:23:21.3714 

2025-10-26T22:23:22.645Z,1761517402.645 [DAT](INFO): Rx dataTimestamp_ set to:1761517402.645136
2025-10-26T22:23:22.647Z,1761517402.647 [DAT](INFO): DAT read: Bearing 151.1,  24.0 (Local)

2025-10-26T22:23:22.647Z,1761517402.647 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.1,  24.0 (Local)

2025-10-26T22:23:22.649Z,1761517402.649 [DAT](INFO): DAT read: Range 11 to 50 :     3.3 m (trip time 2.2 ms) speed -0.4

2025-10-26T22:23:22.654Z,1761517402.654 [DAT](INFO): DAT read: 22:23:21.3714 LVL= 32752, 30433, 32754, 32755, AGC= 41, IDX= 513, 0.13,-0.318, 0.986,-0.583, 0.163, PHS=-0.379, 0.868,-0.790, RAW= 343.8,   4.1, CAL= 343.4,   1.8, ROT= 166.6,  -1.8

2025-10-26T22:23:22.655Z,1761517402.655 [DAT](INFO): got valid direction response:
 22:23:21.3714 LVL= 32752, 30433, 32754, 32755, AGC= 41, IDX= 513, 0.13,-0.318, 0.986,-0.583, 0.163, PHS=-0.379, 0.868,-0.790, RAW= 343.8,   4.1, CAL= 343.4,   1.8, ROT= 166.6,  -1.8

2025-10-26T22:23:22.655Z,1761517402.655 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-10-26T22:23:22.656Z,1761517402.656 [DAT](INFO): direction in FSK: [-0.972296,0.231633,0.031411]
2025-10-26T22:23:22.656Z,1761517402.656 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:22.661Z,1761517402.661 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.634377
2025-10-26T22:23:22.729Z,1761517402.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982546,0.004217,-0.185971],[0.002813,-0.999292,-0.037519],[-0.185998,-0.037388,0.981839]]
2025-10-26T22:23:22.800Z,1761517402.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 0.503734 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:22.802Z,1761517402.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.280280 m,
      bearing: 346.090480 deg,
      lat: 36.779405 deg,
      lon: -121.859460 deg,
      deltaT: 0.503734 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:23:22.897Z,1761517402.897 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.870140
2025-10-26T22:23:23.123Z,1761517403.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983561,0.015361,-0.179924],[-0.007202,-0.998920,-0.045910],[-0.180435,-0.043859,0.982609]]
2025-10-26T22:23:23.149Z,1761517403.149 [DAT](INFO): DAT read: Rx Time:22:23:21.8717 

2025-10-26T22:23:23.150Z,1761517403.150 [DAT](INFO): Rx dataTimestamp_ set to:1761517403.149424
2025-10-26T22:23:23.151Z,1761517403.151 [DAT](INFO): DAT read: Bearing 153.4,  20.9 (Local)

2025-10-26T22:23:23.151Z,1761517403.151 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.4,  20.9 (Local)

2025-10-26T22:23:23.153Z,1761517403.153 [DAT](INFO): DAT read: Range 11 to 50 :     3.8 m (trip time 2.5 ms) speed -0.4

2025-10-26T22:23:23.158Z,1761517403.158 [DAT](INFO): DAT read: 22:23:21.8717 LVL= 32752, 32753, 32754, 32755, AGC= 45, IDX=   4,-0.03, 2.479,-2.413, 2.286, 2.991, PHS=-0.410, 0.924,-0.749, RAW= 341.0,   3.1, CAL= 340.5,   0.4, ROT= 169.5,  -0.4

2025-10-26T22:23:23.159Z,1761517403.159 [DAT](INFO): got valid direction response:
 22:23:21.8717 LVL= 32752, 32753, 32754, 32755, AGC= 45, IDX=   4,-0.03, 2.479,-2.413, 2.286, 2.991, PHS=-0.410, 0.924,-0.749, RAW= 341.0,   3.1, CAL= 340.5,   0.4, ROT= 169.5,  -0.4

2025-10-26T22:23:23.160Z,1761517403.160 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-10-26T22:23:23.161Z,1761517403.161 [DAT](INFO): direction in FSK: [-0.983231,0.182231,0.006981]
2025-10-26T22:23:23.161Z,1761517403.161 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:23.165Z,1761517403.165 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.138166
2025-10-26T22:23:23.224Z,1761517403.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 0.504288 s,
      deltaX: 0.500000 m,
      approachRate: 0.991497 m/s,
      rangeRepo size: 4

2025-10-26T22:23:23.226Z,1761517403.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.777280 m,
      bearing: 349.743122 deg,
      lat: 36.779406 deg,
      lon: -121.859460 deg,
      deltaT: 0.504288 s,
      deltaX: 0.497000 m,
      approachRate: 0.985547 m/s,
      posRepo size: 4

2025-10-26T22:23:23.403Z,1761517403.403 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.376308
2025-10-26T22:23:23.587Z,1761517403.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:23:23.662Z,1761517403.662 [DAT](INFO): DAT read: Rx Time:22:23:22.3718 

2025-10-26T22:23:23.663Z,1761517403.663 [DAT](INFO): Rx dataTimestamp_ set to:1761517403.662581
2025-10-26T22:23:23.665Z,1761517403.665 [DAT](INFO): DAT read: Bearing 154.2,  19.8 (Local)

2025-10-26T22:23:23.665Z,1761517403.665 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.2,  19.8 (Local)

2025-10-26T22:23:23.668Z,1761517403.668 [DAT](INFO): DAT read: Range 11 to 50 :     3.9 m (trip time 2.6 ms) speed -0.4

2025-10-26T22:23:23.674Z,1761517403.674 [DAT](INFO): DAT read: 22:23:22.3718 LVL= 32752, 30449, 32754, 32755, AGC= 42, IDX= 501,-0.16,-0.058, 1.358,-0.234, 0.464, PHS=-0.420, 0.939,-0.742, RAW= 340.4,   2.9, CAL= 339.9,   0.1, ROT= 170.1,  -0.1

2025-10-26T22:23:23.676Z,1761517403.676 [DAT](INFO): got valid direction response:
 22:23:22.3718 LVL= 32752, 30449, 32754, 32755, AGC= 42, IDX= 501,-0.16,-0.058, 1.358,-0.234, 0.464, PHS=-0.420, 0.939,-0.742, RAW= 340.4,   2.9, CAL= 339.9,   0.1, ROT= 170.1,  -0.1

2025-10-26T22:23:23.676Z,1761517403.676 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-10-26T22:23:23.678Z,1761517403.678 [DAT](INFO): direction in FSK: [-0.985108,0.171929,0.001745]
2025-10-26T22:23:23.678Z,1761517403.678 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:23.718Z,1761517403.718 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.691910
2025-10-26T22:23:23.912Z,1761517403.912 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.885990
2025-10-26T22:23:23.930Z,1761517403.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985493,0.029897,-0.167064],[-0.020990,-0.998275,-0.054824],[-0.168415,-0.050522,0.984421]]
2025-10-26T22:23:24.033Z,1761517404.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.900000 m,
      deltaT: 0.513157 s,
      deltaX: 0.100000 m,
      approachRate: 0.194872 m/s,
      rangeRepo size: 4

2025-10-26T22:23:24.039Z,1761517404.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.876682 m,
      bearing: 351.199468 deg,
      lat: 36.779407 deg,
      lon: -121.859461 deg,
      deltaT: 0.513157 s,
      deltaX: 0.099402 m,
      approachRate: 0.193707 m/s,
      posRepo size: 4

2025-10-26T22:23:24.166Z,1761517404.166 [DAT](INFO): DAT read: Rx Time:22:23:22.8721 

2025-10-26T22:23:24.166Z,1761517404.166 [DAT](INFO): Rx dataTimestamp_ set to:1761517404.166110
2025-10-26T22:23:24.168Z,1761517404.168 [DAT](INFO): DAT read: Bearing 155.8,  18.5 (Local)

2025-10-26T22:23:24.169Z,1761517404.169 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.8,  18.5 (Local)

2025-10-26T22:23:24.172Z,1761517404.172 [DAT](INFO): DAT read: Range 11 to 50 :     4.4 m (trip time 2.9 ms) speed -0.4

2025-10-26T22:23:24.177Z,1761517404.177 [DAT](INFO): DAT read: 22:23:22.8721 LVL= 32752, 28801, 32754, 32755, AGC= 43, IDX= 503, 0.45, 2.769,-2.056, 2.617,-2.994, PHS=-0.418, 0.983,-0.717, RAW= 339.5,   1.9, CAL= 338.9,  -0.9, ROT= 171.1,   0.9

2025-10-26T22:23:24.178Z,1761517404.178 [DAT](INFO): got valid direction response:
 22:23:22.8721 LVL= 32752, 28801, 32754, 32755, AGC= 43, IDX= 503, 0.45, 2.769,-2.056, 2.617,-2.994, PHS=-0.418, 0.983,-0.717, RAW= 339.5,   1.9, CAL= 338.9,  -0.9, ROT= 171.1,   0.9

2025-10-26T22:23:24.178Z,1761517404.178 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-10-26T22:23:24.179Z,1761517404.179 [DAT](INFO): direction in FSK: [-0.987838,0.154691,-0.015707]
2025-10-26T22:23:24.184Z,1761517404.184 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:24.193Z,1761517404.193 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.166309
2025-10-26T22:23:24.393Z,1761517404.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986482,0.033011,-0.160511],[-0.024670,-0.998253,-0.053688],[-0.162003,-0.049003,0.985573]]
2025-10-26T22:23:24.416Z,1761517404.416 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.390099
2025-10-26T22:23:24.519Z,1761517404.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.400000 m,
      deltaT: 0.503529 s,
      deltaX: 0.500000 m,
      approachRate: 0.992991 m/s,
      rangeRepo size: 4

2025-10-26T22:23:24.521Z,1761517404.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.373693 m,
      bearing: 352.505142 deg,
      lat: 36.779409 deg,
      lon: -121.859461 deg,
      deltaT: 0.503529 s,
      deltaX: 0.497010 m,
      approachRate: 0.987054 m/s,
      posRepo size: 4

2025-10-26T22:23:24.670Z,1761517404.670 [DAT](INFO): DAT read: Rx Time:22:23:23.3721 

2025-10-26T22:23:24.670Z,1761517404.670 [DAT](INFO): Rx dataTimestamp_ set to:1761517404.669902
2025-10-26T22:23:24.672Z,1761517404.672 [DAT](INFO): DAT read: Bearing 157.5,  16.4 (Local)

2025-10-26T22:23:24.673Z,1761517404.673 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.5,  16.4 (Local)

2025-10-26T22:23:24.675Z,1761517404.675 [DAT](INFO): DAT read: Range 11 to 50 :     4.4 m (trip time 2.9 ms) speed -0.4

2025-10-26T22:23:24.680Z,1761517404.680 [DAT](INFO): DAT read: 22:23:23.3721 LVL= 32752, 30705, 32754, 32755, AGC= 43, IDX= 504,-0.00, 1.235, 2.771, 1.126, 1.764, PHS=-0.427, 1.053,-0.681, RAW= 337.8,   0.7, CAL= 337.2,  -2.2, ROT= 172.8,   2.2

2025-10-26T22:23:24.681Z,1761517404.681 [DAT](INFO): got valid direction response:
 22:23:23.3721 LVL= 32752, 30705, 32754, 32755, AGC= 43, IDX= 504,-0.00, 1.235, 2.771, 1.126, 1.764, PHS=-0.427, 1.053,-0.681, RAW= 337.8,   0.7, CAL= 337.2,  -2.2, ROT= 172.8,   2.2

2025-10-26T22:23:24.681Z,1761517404.681 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-10-26T22:23:24.683Z,1761517404.683 [DAT](INFO): direction in FSK: [-0.991383,0.125241,-0.038388]
2025-10-26T22:23:24.684Z,1761517404.684 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:24.718Z,1761517404.718 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.690950
2025-10-26T22:23:24.798Z,1761517404.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987426,0.034591,-0.154252],[-0.026348,-0.998129,-0.055166],[-0.155872,-0.050409,0.986490]]
2025-10-26T22:23:24.877Z,1761517404.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.400000 m,
      deltaT: 0.503792 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:24.888Z,1761517404.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.373693 m,
      bearing: 354.412670 deg,
      lat: 36.779410 deg,
      lon: -121.859461 deg,
      deltaT: 0.503792 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:23:24.921Z,1761517404.921 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.894140
2025-10-26T22:23:25.173Z,1761517405.173 [DAT](INFO): DAT read: Rx Time:22:23:23.8722 

2025-10-26T22:23:25.173Z,1761517405.173 [DAT](INFO): Rx dataTimestamp_ set to:1761517405.173127
2025-10-26T22:23:25.175Z,1761517405.175 [DAT](INFO): DAT read: Bearing 156.8,  15.0 (Local)

2025-10-26T22:23:25.175Z,1761517405.175 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.8,  15.0 (Local)

2025-10-26T22:23:25.177Z,1761517405.177 [DAT](INFO): DAT read: Range 11 to 50 :     4.5 m (trip time 3.0 ms) speed -0.4

2025-10-26T22:23:25.185Z,1761517405.185 [DAT](INFO): DAT read: 22:23:23.8722 LVL= 32752, 32753, 32754, 32755, AGC= 47, IDX= 505, 0.14,-2.243,-0.765,-2.312,-1.702, PHS=-0.439, 0.981,-0.654, RAW= 337.0,   1.5, CAL= 336.3,  -1.4, ROT= 173.7,   1.4

2025-10-26T22:23:25.188Z,1761517405.188 [DAT](INFO): got valid direction response:
 22:23:23.8722 LVL= 32752, 32753, 32754, 32755, AGC= 47, IDX= 505, 0.14,-2.243,-0.765,-2.312,-1.702, PHS=-0.439, 0.981,-0.654, RAW= 337.0,   1.5, CAL= 336.3,  -1.4, ROT= 173.7,   1.4

2025-10-26T22:23:25.189Z,1761517405.189 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-10-26T22:23:25.191Z,1761517405.191 [DAT](INFO): direction in FSK: [-0.993664,0.109702,-0.024432]
2025-10-26T22:23:25.191Z,1761517405.191 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:25.198Z,1761517405.198 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.171215
2025-10-26T22:23:25.425Z,1761517405.425 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.398361
2025-10-26T22:23:25.436Z,1761517405.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.500000 m,
      deltaT: 0.503225 s,
      deltaX: 0.100000 m,
      approachRate: 0.198718 m/s,
      rangeRepo size: 4

2025-10-26T22:23:25.454Z,1761517405.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.473098 m,
      bearing: 355.260911 deg,
      lat: 36.779411 deg,
      lon: -121.859461 deg,
      deltaT: 0.503225 s,
      deltaX: 0.099406 m,
      approachRate: 0.197537 m/s,
      posRepo size: 4

2025-10-26T22:23:25.678Z,1761517405.678 [DAT](INFO): DAT read: Rx Time:22:23:24.3723 

2025-10-26T22:23:25.679Z,1761517405.679 [DAT](INFO): Rx dataTimestamp_ set to:1761517405.678056
2025-10-26T22:23:25.681Z,1761517405.681 [DAT](INFO): DAT read: Bearing 156.2,  14.1 (Local)

2025-10-26T22:23:25.682Z,1761517405.682 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.2,  14.1 (Local)

2025-10-26T22:23:25.686Z,1761517405.686 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed -0.4

2025-10-26T22:23:25.704Z,1761517405.704 [DAT](INFO): DAT read: 22:23:24.3723 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 505, 0.26,-1.585,-0.140,-1.639,-1.037, PHS=-0.446, 0.943,-0.646, RAW= 336.6,   2.0, CAL= 335.9,  -0.8, ROT= 174.1,   0.8

2025-10-26T22:23:25.706Z,1761517405.706 [DAT](INFO): got valid direction response:
 22:23:24.3723 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 505, 0.26,-1.585,-0.140,-1.639,-1.037, PHS=-0.446, 0.943,-0.646, RAW= 336.6,   2.0, CAL= 335.9,  -0.8, ROT= 174.1,   0.8

2025-10-26T22:23:25.707Z,1761517405.707 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-10-26T22:23:25.720Z,1761517405.720 [DAT](INFO): direction in FSK: [-0.994606,0.102782,-0.013962]
2025-10-26T22:23:25.721Z,1761517405.721 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:25.739Z,1761517405.739 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.712154
2025-10-26T22:23:25.884Z,1761517405.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989953,0.038367,-0.136089],[-0.026723,-0.995904,-0.086377],[-0.138845,-0.081873,0.986924]]
2025-10-26T22:23:25.928Z,1761517405.928 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.902086
2025-10-26T22:23:25.930Z,1761517405.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.504929 s,
      deltaX: 0.200000 m,
      approachRate: 0.396095 m/s,
      rangeRepo size: 4

2025-10-26T22:23:25.936Z,1761517405.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.671903 m,
      bearing: 355.694037 deg,
      lat: 36.779411 deg,
      lon: -121.859462 deg,
      deltaT: 0.504929 s,
      deltaX: 0.198804 m,
      approachRate: 0.393727 m/s,
      posRepo size: 4

2025-10-26T22:23:26.184Z,1761517406.184 [DAT](INFO): DAT read: Rx Time:22:23:24.8725 

2025-10-26T22:23:26.185Z,1761517406.185 [DAT](INFO): Rx dataTimestamp_ set to:1761517406.183943
2025-10-26T22:23:26.187Z,1761517406.187 [DAT](INFO): DAT read: Bearing 156.3,  13.5 (Local)

2025-10-26T22:23:26.188Z,1761517406.188 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.3,  13.5 (Local)

2025-10-26T22:23:26.191Z,1761517406.191 [DAT](INFO): DAT read: Range 11 to 50 :     5.0 m (trip time 3.3 ms) speed -0.4

2025-10-26T22:23:26.209Z,1761517406.209 [DAT](INFO): DAT read: 22:23:24.8725 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 508,-0.15, 2.229,-2.590, 2.178, 2.780, PHS=-0.450, 0.957,-0.647, RAW= 336.5,   1.9, CAL= 335.7,  -1.0, ROT= 174.3,   1.0

2025-10-26T22:23:26.211Z,1761517406.211 [DAT](INFO): got valid direction response:
 22:23:24.8725 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 508,-0.15, 2.229,-2.590, 2.178, 2.780, PHS=-0.450, 0.957,-0.647, RAW= 336.5,   1.9, CAL= 335.7,  -1.0, ROT= 174.3,   1.0

2025-10-26T22:23:26.220Z,1761517406.220 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-10-26T22:23:26.222Z,1761517406.222 [DAT](INFO): direction in FSK: [-0.994904,0.099304,-0.017452]
2025-10-26T22:23:26.222Z,1761517406.222 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:26.231Z,1761517406.231 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.204212
2025-10-26T22:23:26.433Z,1761517406.433 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.406118
2025-10-26T22:23:26.471Z,1761517406.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990703,0.037099,-0.130883],[-0.024473,-0.995004,-0.096788],[-0.133820,-0.092685,0.986662]]
2025-10-26T22:23:26.573Z,1761517406.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.000000 m,
      deltaT: 0.505887 s,
      deltaX: 0.300000 m,
      approachRate: 0.593018 m/s,
      rangeRepo size: 4

2025-10-26T22:23:26.575Z,1761517406.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.970105 m,
      bearing: 355.802839 deg,
      lat: 36.779411 deg,
      lon: -121.859462 deg,
      deltaT: 0.505887 s,
      deltaX: 0.298203 m,
      approachRate: 0.589465 m/s,
      posRepo size: 4

2025-10-26T22:23:26.687Z,1761517406.687 [DAT](INFO): DAT read: Rx Time:22:23:25.3726 

2025-10-26T22:23:26.688Z,1761517406.688 [DAT](INFO): Rx dataTimestamp_ set to:1761517406.687377
2025-10-26T22:23:26.690Z,1761517406.690 [DAT](INFO): DAT read: Bearing 158.2,  11.6 (Local)

2025-10-26T22:23:26.690Z,1761517406.690 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.2,  11.6 (Local)

2025-10-26T22:23:26.694Z,1761517406.694 [DAT](INFO): DAT read: Range 11 to 50 :     5.1 m (trip time 3.4 ms) speed -0.4

2025-10-26T22:23:26.705Z,1761517406.705 [DAT](INFO): DAT read: 22:23:25.3726 LVL= 32752, 30705, 32754, 32755, AGC= 48, IDX= 508, 0.45,-1.329, 0.206,-1.336,-0.784, PHS=-0.443, 1.035,-0.596, RAW= 334.9,   0.1, CAL= 334.1,  -2.8, ROT= 175.9,   2.8

2025-10-26T22:23:26.706Z,1761517406.706 [DAT](INFO): got valid direction response:
 22:23:25.3726 LVL= 32752, 30705, 32754, 32755, AGC= 48, IDX= 508, 0.45,-1.329, 0.206,-1.336,-0.784, PHS=-0.443, 1.035,-0.596, RAW= 334.9,   0.1, CAL= 334.1,  -2.8, ROT= 175.9,   2.8

2025-10-26T22:23:26.722Z,1761517406.722 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-10-26T22:23:26.736Z,1761517406.736 [DAT](INFO): direction in FSK: [-0.996250,0.071412,-0.048850]
2025-10-26T22:23:26.736Z,1761517406.736 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:26.756Z,1761517406.756 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.729912
2025-10-26T22:23:26.866Z,1761517406.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991419,0.035778,-0.125730],[-0.022213,-0.993937,-0.107679],[-0.128821,-0.103962,0.986203]]
2025-10-26T22:23:26.899Z,1761517406.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 0.503434 s,
      deltaX: 0.100000 m,
      approachRate: 0.198636 m/s,
      rangeRepo size: 4

2025-10-26T22:23:26.901Z,1761517406.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.069507 m,
      bearing: 357.495088 deg,
      lat: 36.779411 deg,
      lon: -121.859463 deg,
      deltaT: 0.503434 s,
      deltaX: 0.099402 m,
      approachRate: 0.197448 m/s,
      posRepo size: 4

2025-10-26T22:23:26.937Z,1761517406.937 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.910545
2025-10-26T22:23:27.190Z,1761517407.190 [DAT](INFO): DAT read: Rx Time:22:23:25.8728 

2025-10-26T22:23:27.191Z,1761517407.191 [DAT](INFO): Rx dataTimestamp_ set to:1761517407.190361
2025-10-26T22:23:27.193Z,1761517407.193 [DAT](INFO): DAT read: Bearing 158.5,   8.5 (Local)

2025-10-26T22:23:27.193Z,1761517407.193 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.5,   8.5 (Local)

2025-10-26T22:23:27.197Z,1761517407.197 [DAT](INFO): DAT read: Range 11 to 50 :     5.4 m (trip time 3.6 ms) speed -0.4

2025-10-26T22:23:27.221Z,1761517407.221 [DAT](INFO): DAT read: 22:23:25.8728 LVL= 32752, 26529, 32754, 32755, AGC= 48, IDX= 511,-0.11,-1.792,-0.167,-1.713,-1.193, PHS=-0.497, 1.071,-0.564, RAW= 332.1,  -0.1, CAL= 331.2,  -3.0, ROT= 178.8,   3.0

2025-10-26T22:23:27.222Z,1761517407.222 [DAT](INFO): got valid direction response:
 22:23:25.8728 LVL= 32752, 26529, 32754, 32755, AGC= 48, IDX= 511,-0.11,-1.792,-0.167,-1.713,-1.193, PHS=-0.497, 1.071,-0.564, RAW= 332.1,  -0.1, CAL= 331.2,  -3.0, ROT= 178.8,   3.0

2025-10-26T22:23:27.223Z,1761517407.223 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-10-26T22:23:27.224Z,1761517407.224 [DAT](INFO): direction in FSK: [-0.998411,0.020914,-0.052336]
2025-10-26T22:23:27.224Z,1761517407.224 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:27.244Z,1761517407.244 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.217651
2025-10-26T22:23:27.262Z,1761517407.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992088,0.033706,-0.120934],[-0.019696,-0.993144,-0.115227],[-0.123989,-0.111933,0.985950]]
2025-10-26T22:23:27.378Z,1761517407.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.400000 m,
      deltaT: 0.502984 s,
      deltaX: 0.300000 m,
      approachRate: 0.596441 m/s,
      rangeRepo size: 4

2025-10-26T22:23:27.384Z,1761517407.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.367695 m,
      bearing: 0.282898 deg,
      lat: 36.779412 deg,
      lon: -121.859463 deg,
      deltaT: 0.502984 s,
      deltaX: 0.298188 m,
      approachRate: 0.592838 m/s,
      posRepo size: 4

2025-10-26T22:23:27.444Z,1761517407.444 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.416859
2025-10-26T22:23:27.698Z,1761517407.698 [DAT](INFO): DAT read: Rx Time:22:23:26.3728 

2025-10-26T22:23:27.699Z,1761517407.699 [DAT](INFO): Rx dataTimestamp_ set to:1761517407.698802
2025-10-26T22:23:27.701Z,1761517407.701 [DAT](INFO): DAT read: Bearing 159.0,   6.0 (Local)

2025-10-26T22:23:27.702Z,1761517407.702 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.0,   6.0 (Local)

2025-10-26T22:23:27.707Z,1761517407.707 [DAT](INFO): DAT read: Range 11 to 50 :     5.4 m (trip time 3.6 ms) speed -0.4

2025-10-26T22:23:27.715Z,1761517407.715 [DAT](INFO): DAT read: 22:23:26.3728 LVL= 32752, 23713, 32754, 32755, AGC= 48, IDX= 511, 0.04, 0.152, 1.869, 0.298, 0.792, PHS=-0.538, 1.122,-0.538, RAW= 330.0,  -0.6, CAL= 329.1,  -3.5, ROT= 180.9,   3.5

2025-10-26T22:23:27.732Z,1761517407.732 [DAT](INFO): got valid direction response:
 22:23:26.3728 LVL= 32752, 23713, 32754, 32755, AGC= 48, IDX= 511, 0.04, 0.152, 1.869, 0.298, 0.792, PHS=-0.538, 1.122,-0.538, RAW= 330.0,  -0.6, CAL= 329.1,  -3.5, ROT= 180.9,   3.5

2025-10-26T22:23:27.733Z,1761517407.733 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-10-26T22:23:27.734Z,1761517407.734 [DAT](INFO): direction in FSK: [-0.998012,-0.015678,-0.061049]
2025-10-26T22:23:27.735Z,1761517407.735 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:27.739Z,1761517407.739 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.712675
2025-10-26T22:23:27.779Z,1761517407.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993303,0.027333,-0.112260],[-0.013299,-0.992204,-0.123911],[-0.114772,-0.121589,0.985923]]
2025-10-26T22:23:27.890Z,1761517407.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.400000 m,
      deltaT: 0.508441 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:27.896Z,1761517407.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.367695 m,
      bearing: 2.088924 deg,
      lat: 36.779412 deg,
      lon: -121.859463 deg,
      deltaT: 0.508441 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:23:27.950Z,1761517407.950 [DAT](INFO): DAT read: Rx Time:22:23:26.8730 

2025-10-26T22:23:27.952Z,1761517407.952 [DAT](INFO): Rx dataTimestamp_ set to:1761517407.950684
2025-10-26T22:23:27.954Z,1761517407.954 [DAT](INFO): DAT read: 164.6,   8.9 (Local)

2025-10-26T22:23:27.956Z,1761517407.956 [DAT](INFO): Local bearing/azimuth received:
 164.6,   8.9 (Local)

2025-10-26T22:23:27.958Z,1761517407.958 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.931231
2025-10-26T22:23:28.200Z,1761517408.200 [DAT](INFO): DAT read: Range 11 to 50 :     5.7 m (trip time 3.8 ms) speed -0.4

2025-10-26T22:23:28.219Z,1761517408.219 [DAT](INFO): DAT read: 22:23:26.8730 LVL= 32752, 23969, 32754, 32755, AGC= 52, IDX= 513, 0.05, 2.763,-1.972, 2.846,-3.107, PHS=-0.311, 1.179,-0.374, RAW= 332.0,  -6.5, CAL= 331.6,  -9.6, ROT= 178.4,   9.6

2025-10-26T22:23:28.220Z,1761517408.220 [DAT](INFO): got valid direction response:
 22:23:26.8730 LVL= 32752, 23969, 32754, 32755, AGC= 52, IDX= 513, 0.05, 2.763,-1.972, 2.846,-3.107, PHS=-0.311, 1.179,-0.374, RAW= 332.0,  -6.5, CAL= 331.6,  -9.6, ROT= 178.4,   9.6

2025-10-26T22:23:28.221Z,1761517408.221 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-10-26T22:23:28.222Z,1761517408.222 [DAT](INFO): direction in FSK: [-0.985612,0.027531,-0.166769]
2025-10-26T22:23:28.222Z,1761517408.222 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:28.233Z,1761517408.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993847,0.023990,-0.108136],[-0.010006,-0.991718,-0.128048],[-0.110313,-0.126178,0.985855]]
2025-10-26T22:23:28.274Z,1761517408.274 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.247475
2025-10-26T22:23:28.387Z,1761517408.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.700000 m,
      deltaT: 0.497341 s,
      deltaX: 0.300000 m,
      approachRate: 0.603207 m/s,
      rangeRepo size: 4

2025-10-26T22:23:28.389Z,1761517408.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.665911 m,
      bearing: 0.224642 deg,
      lat: 36.779412 deg,
      lon: -121.859464 deg,
      deltaT: 0.497341 s,
      deltaX: 0.298216 m,
      approachRate: 0.599621 m/s,
      posRepo size: 4

2025-10-26T22:23:28.454Z,1761517408.454 [DAT](INFO): DAT read: Rx Time:22:23:27.3731 

2025-10-26T22:23:28.456Z,1761517408.456 [DAT](INFO): Rx dataTimestamp_ set to:1761517408.454785
2025-10-26T22:23:28.460Z,1761517408.460 [DAT](INFO): DAT read: Bearing 158.1,   1.0 (Local)

2025-10-26T22:23:28.461Z,1761517408.461 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.1,   1.0 (Local)

2025-10-26T22:23:28.471Z,1761517408.471 [DAT](INFO): DAT read: Range 11 to 50 :     5.9 m (trip time 3.9 ms) speed -0.4

2025-10-26T22:23:28.474Z,1761517408.474 [DAT](ERROR): #Rx 39: Read range message, but no direction.
2025-10-26T22:23:28.482Z,1761517408.482 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.454868
2025-10-26T22:23:28.709Z,1761517408.709 [DAT](INFO): DAT read: 22:23:27.3731 LVL= 32752, 21729, 32754, 32755, AGC= 55, IDX=   2,-0.40, 1.315, 3.117, 1.596, 2.057, PHS=-0.640, 1.105,-0.505, RAW= 326.0,   0.5, CAL= 324.7,  -2.5, ROT= 185.3,   2.5

2025-10-26T22:23:28.711Z,1761517408.711 [DAT](INFO): got valid direction response:
 22:23:27.3731 LVL= 32752, 21729, 32754, 32755, AGC= 55, IDX=   2,-0.40, 1.315, 3.117, 1.596, 2.057, PHS=-0.640, 1.105,-0.505, RAW= 326.0,   0.5, CAL= 324.7,  -2.5, ROT= 185.3,   2.5

2025-10-26T22:23:28.712Z,1761517408.712 [DAT](INFO): #Rx 40: Read direction message, but no range.
2025-10-26T22:23:28.714Z,1761517408.714 [DAT](INFO): direction in FSK: [-0.994777,-0.092283,-0.043619]
2025-10-26T22:23:28.742Z,1761517408.742 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.715752
2025-10-26T22:23:28.847Z,1761517408.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994294,0.021373,-0.104510],[-0.007410,-0.991194,-0.132208],[-0.106415,-0.130679,0.985697]]
2025-10-26T22:23:28.916Z,1761517408.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.900000 m,
      deltaT: 0.258642 s,
      deltaX: 0.200000 m,
      approachRate: 0.773271 m/s,
      rangeRepo size: 4

2025-10-26T22:23:28.918Z,1761517408.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.864715 m,
      bearing: 6.021593 deg,
      lat: 36.779412 deg,
      lon: -121.859462 deg,
      deltaT: 0.258642 s,
      deltaX: 0.198804 m,
      approachRate: 0.768645 m/s,
      posRepo size: 4

2025-10-26T22:23:28.956Z,1761517408.956 [DAT](INFO): DAT read: Rx Time:22:23:27.8732 

2025-10-26T22:23:28.958Z,1761517408.958 [DAT](INFO): Rx dataTimestamp_ set to:1761517408.957227
2025-10-26T22:23:28.963Z,1761517408.963 [DAT](INFO): DAT read: Bearing 158.4,  -0.7 (Local)

2025-10-26T22:23:28.964Z,1761517408.964 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.4,  -0.7 (Local)

2025-10-26T22:23:28.979Z,1761517408.979 [DAT](INFO): DAT read: Range 11 to 50 :     6.0 m (trip time 4.0 ms) speed -0.4

2025-10-26T22:23:28.986Z,1761517408.986 [DAT](ERROR): #Rx 41: Read range message, but no direction.
2025-10-26T22:23:28.999Z,1761517408.999 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.971411
2025-10-26T22:23:29.212Z,1761517409.212 [DAT](INFO): DAT read: 22:23:27.8732 LVL= 32752, 23873, 32754, 32755, AGC= 51, IDX= 499, 0.07, 1.294,-3.128, 1.627, 2.065, PHS=-0.669, 1.135,-0.483, RAW= 324.6,   0.2, CAL= 323.3,  -2.8, ROT= 186.7,   2.8

2025-10-26T22:23:29.214Z,1761517409.214 [DAT](INFO): got valid direction response:
 22:23:27.8732 LVL= 32752, 23873, 32754, 32755, AGC= 51, IDX= 499, 0.07, 1.294,-3.128, 1.627, 2.065, PHS=-0.669, 1.135,-0.483, RAW= 324.6,   0.2, CAL= 323.3,  -2.8, ROT= 186.7,   2.8

2025-10-26T22:23:29.214Z,1761517409.214 [DAT](INFO): #Rx 42: Read direction message, but no range.
2025-10-26T22:23:29.215Z,1761517409.215 [DAT](INFO): direction in FSK: [-0.991985,-0.116531,-0.048850]
2025-10-26T22:23:29.218Z,1761517409.218 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.191935
2025-10-26T22:23:29.322Z,1761517409.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995057,0.016691,-0.097890],[-0.002846,-0.990162,-0.139899],[-0.099262,-0.138929,0.985315]]
2025-10-26T22:23:29.461Z,1761517409.461 [DAT](INFO): DAT read: Rx Time:22:23:28.3733 

2025-10-26T22:23:29.462Z,1761517409.462 [DAT](INFO): Rx dataTimestamp_ set to:1761517409.461294
2025-10-26T22:23:29.467Z,1761517409.467 [DAT](INFO): DAT read: Bearing 158.2,  -2.5 (Local)

2025-10-26T22:23:29.468Z,1761517409.468 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.2,  -2.5 (Local)

2025-10-26T22:23:29.479Z,1761517409.479 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed -0.4

2025-10-26T22:23:29.485Z,1761517409.485 [DAT](ERROR): #Rx 43: Read range message, but no direction.
2025-10-26T22:23:29.512Z,1761517409.512 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.485558
2025-10-26T22:23:29.574Z,1761517409.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 1.006509 s,
      deltaX: 0.300000 m,
      approachRate: 0.298060 m/s,
      rangeRepo size: 4

2025-10-26T22:23:29.585Z,1761517409.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.162886 m,
      bearing: 7.199228 deg,
      lat: 36.779412 deg,
      lon: -121.859462 deg,
      deltaT: 1.006509 s,
      deltaX: 0.298171 m,
      approachRate: 0.296242 m/s,
      posRepo size: 4

2025-10-26T22:23:29.715Z,1761517409.715 [DAT](INFO): DAT read: 22:23:28.3733 LVL= 32752, 22865, 32754, 32755, AGC= 52, IDX= 500,-0.33,-1.229, 0.643,-0.846,-0.431, PHS=-0.696, 1.119,-0.459, RAW= 323.1,   0.4, CAL= 321.6,  -2.6, ROT= 188.4,   2.6

2025-10-26T22:23:29.717Z,1761517409.717 [DAT](INFO): got valid direction response:
 22:23:28.3733 LVL= 32752, 22865, 32754, 32755, AGC= 52, IDX= 500,-0.33,-1.229, 0.643,-0.846,-0.431, PHS=-0.696, 1.119,-0.459, RAW= 323.1,   0.4, CAL= 321.6,  -2.6, ROT= 188.4,   2.6

2025-10-26T22:23:29.718Z,1761517409.718 [DAT](INFO): #Rx 44: Read direction message, but no range.
2025-10-26T22:23:29.719Z,1761517409.719 [DAT](INFO): direction in FSK: [-0.988254,-0.145932,-0.045363]
2025-10-26T22:23:29.728Z,1761517409.728 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.702080
2025-10-26T22:23:29.964Z,1761517409.964 [DAT](INFO): DAT read: Rx Time:22:23:28.8735 

2025-10-26T22:23:29.966Z,1761517409.966 [DAT](INFO): Rx dataTimestamp_ set to:1761517409.964719
2025-10-26T22:23:29.969Z,1761517409.969 [DAT](INFO): DAT read: Bearing 158.9,  -3.4 (Local)

2025-10-26T22:23:29.970Z,1761517409.970 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.9,  -3.4 (Local)

2025-10-26T22:23:29.979Z,1761517409.979 [DAT](INFO): DAT read: Range 11 to 50 :     6.3 m (trip time 4.2 ms) speed -0.4

2025-10-26T22:23:30.024Z,1761517410.024 [DAT](INFO): DAT read: 22:23:28.8735 LVL= 32752, 25633, 32754, 32755, AGC= 53, IDX= 502, 0.26, 0.475, 2.377, 0.891, 1.276, PHS=-0.699, 1.147,-0.429, RAW= 322.2,  -0.2, CAL= 320.8,  -3.3, ROT= 189.2,   3.3

2025-10-26T22:23:30.025Z,1761517410.025 [DAT](INFO): got valid direction response:
 22:23:28.8735 LVL= 32752, 25633, 32754, 32755, AGC= 53, IDX= 502, 0.26, 0.475, 2.377, 0.891, 1.276, PHS=-0.699, 1.147,-0.429, RAW= 322.2,  -0.2, CAL= 320.8,  -3.3, ROT= 189.2,   3.3

2025-10-26T22:23:30.026Z,1761517410.026 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-10-26T22:23:30.026Z,1761517410.026 [DAT](INFO): direction in FSK: [-0.985499,-0.159616,-0.057564]
2025-10-26T22:23:30.027Z,1761517410.027 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:30.043Z,1761517410.043 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.016594
2025-10-26T22:23:30.065Z,1761517410.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995337,0.015117,-0.095262],[-0.001150,-0.989430,-0.145003],[-0.096447,-0.144218,0.984835]]
2025-10-26T22:23:30.161Z,1761517410.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.300000 m,
      deltaT: 0.503425 s,
      deltaX: 0.100000 m,
      approachRate: 0.198640 m/s,
      rangeRepo size: 4

2025-10-26T22:23:30.167Z,1761517410.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.262277 m,
      bearing: 9.655580 deg,
      lat: 36.779412 deg,
      lon: -121.859459 deg,
      deltaT: 0.503425 s,
      deltaX: 0.099391 m,
      approachRate: 0.197431 m/s,
      posRepo size: 4

2025-10-26T22:23:30.213Z,1761517410.213 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.186180
2025-10-26T22:23:30.469Z,1761517410.469 [DAT](INFO): DAT read: Rx Time:22:23:29.3736 

2025-10-26T22:23:30.470Z,1761517410.470 [DAT](INFO): Rx dataTimestamp_ set to:1761517410.469297
2025-10-26T22:23:30.474Z,1761517410.474 [DAT](INFO): DAT read: Bearing 157.2,  -5.1 (Local)

2025-10-26T22:23:30.475Z,1761517410.475 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.2,  -5.1 (Local)

2025-10-26T22:23:30.489Z,1761517410.489 [DAT](INFO): DAT read: Range 11 to 50 :     6.5 m (trip time 4.3 ms) speed -0.4

2025-10-26T22:23:30.492Z,1761517410.492 [DAT](ERROR): #Rx 46: Read range message, but no direction.
2025-10-26T22:23:30.527Z,1761517410.527 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.468237
2025-10-26T22:23:30.549Z,1761517410.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995743,0.013371,-0.091194],[0.000862,-0.988027,-0.154277],[-0.092165,-0.153699,0.983810]]
2025-10-26T22:23:30.608Z,1761517410.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:23:30.611Z,1761517410.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.500000 m,
      deltaT: 0.504578 s,
      deltaX: 0.200000 m,
      approachRate: 0.396370 m/s,
      rangeRepo size: 4

2025-10-26T22:23:30.722Z,1761517410.722 [DAT](INFO): DAT read: 22:23:29.3736 LVL= 32752, 27041, 32754, 32755, AGC= 53, IDX= 503,-0.01,-1.227, 0.661,-0.783,-0.374, PHS=-0.751, 1.080,-0.452, RAW= 321.3,   1.5, CAL= 319.6,  -1.5, ROT= 190.4,   1.5

2025-10-26T22:23:30.724Z,1761517410.724 [DAT](INFO): got valid direction response:
 22:23:29.3736 LVL= 32752, 27041, 32754, 32755, AGC= 53, IDX= 503,-0.01,-1.227, 0.661,-0.783,-0.374, PHS=-0.751, 1.080,-0.452, RAW= 321.3,   1.5, CAL= 319.6,  -1.5, ROT= 190.4,   1.5

2025-10-26T22:23:30.724Z,1761517410.724 [DAT](INFO): #Rx 47: Read direction message, but no range.
2025-10-26T22:23:30.726Z,1761517410.726 [DAT](INFO): direction in FSK: [-0.983234,-0.180457,-0.026177]
2025-10-26T22:23:30.730Z,1761517410.730 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.704098
2025-10-26T22:23:30.973Z,1761517410.973 [DAT](INFO): DAT read: Rx Time:22:23:29.8739 

2025-10-26T22:23:30.975Z,1761517410.975 [DAT](INFO): Rx dataTimestamp_ set to:1761517410.973654
2025-10-26T22:23:30.979Z,1761517410.979 [DAT](INFO): DAT read: Bearing 157.9,  -5.7 (Local)

2025-10-26T22:23:30.980Z,1761517410.980 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.9,  -5.7 (Local)

2025-10-26T22:23:30.988Z,1761517410.988 [DAT](INFO): DAT read: Range 11 to 50 :     6.9 m (trip time 4.6 ms) speed -0.5

2025-10-26T22:23:30.991Z,1761517410.991 [DAT](ERROR): #Rx 48: Read range message, but no direction.
2025-10-26T22:23:30.998Z,1761517410.998 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.971476
2025-10-26T22:23:31.032Z,1761517411.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995906,0.012094,-0.089579],[0.002080,-0.987682,-0.156463],[-0.090368,-0.156009,0.983613]]
2025-10-26T22:23:31.101Z,1761517411.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.900000 m,
      deltaT: 0.504357 s,
      deltaX: 0.400000 m,
      approachRate: 0.793089 m/s,
      rangeRepo size: 4

2025-10-26T22:23:31.102Z,1761517411.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.858685 m,
      bearing: 10.430376 deg,
      lat: 36.779412 deg,
      lon: -121.859459 deg,
      deltaT: 1.008935 s,
      deltaX: 0.596407 m,
      approachRate: 0.591126 m/s,
      posRepo size: 4

2025-10-26T22:23:31.226Z,1761517411.226 [DAT](INFO): DAT read: 22:23:29.8739 LVL= 32752, 23665, 32754, 32755, AGC= 52, IDX= 506,-0.11,-1.686, 0.228,-1.216,-0.832, PHS=-0.752, 1.106,-0.428, RAW= 320.6,   0.9, CAL= 318.9,  -2.1, ROT= 191.1,   2.1

2025-10-26T22:23:31.228Z,1761517411.228 [DAT](INFO): got valid direction response:
 22:23:29.8739 LVL= 32752, 23665, 32754, 32755, AGC= 52, IDX= 506,-0.11,-1.686, 0.228,-1.216,-0.832, PHS=-0.752, 1.106,-0.428, RAW= 320.6,   0.9, CAL= 318.9,  -2.1, ROT= 191.1,   2.1

2025-10-26T22:23:31.228Z,1761517411.228 [DAT](INFO): #Rx 49: Read direction message, but no range.
2025-10-26T22:23:31.229Z,1761517411.229 [DAT](INFO): direction in FSK: [-0.980634,-0.192393,-0.036644]
2025-10-26T22:23:31.233Z,1761517411.233 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.206347
2025-10-26T22:23:31.422Z,1761517411.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996015,0.011834,-0.088403],[0.002335,-0.987360,-0.158476],[-0.089161,-0.158051,0.983397]]
2025-10-26T22:23:31.477Z,1761517411.477 [DAT](INFO): DAT read: Rx Time:22:23:30.3740 

2025-10-26T22:23:31.480Z,1761517411.480 [DAT](INFO): Rx dataTimestamp_ set to:1761517411.478030
2025-10-26T22:23:31.487Z,1761517411.487 [DAT](INFO): DAT read: Bearing 157.6,  -6.2 (Local)

2025-10-26T22:23:31.488Z,1761517411.488 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.6,  -6.2 (Local)

2025-10-26T22:23:31.516Z,1761517411.516 [DAT](INFO): DAT read: Range 11 to 50 :     7.1 m (trip time 4.7 ms) speed -0.5

2025-10-26T22:23:31.540Z,1761517411.540 [DAT](INFO): DAT read: 22:23:30.3740 LVL= 32752, 25361, 32754, 32755, AGC= 52, IDX= 507,-0.19,-3.070,-1.167,-2.592,-2.211, PHS=-0.756, 1.089,-0.424, RAW= 320.3,   1.1, CAL= 318.6,  -1.9, ROT= 191.4,   1.9

2025-10-26T22:23:31.542Z,1761517411.542 [DAT](INFO): got valid direction response:
 22:23:30.3740 LVL= 32752, 25361, 32754, 32755, AGC= 52, IDX= 507,-0.19,-3.070,-1.167,-2.592,-2.211, PHS=-0.756, 1.089,-0.424, RAW= 320.3,   1.1, CAL= 318.6,  -1.9, ROT= 191.4,   1.9

2025-10-26T22:23:31.542Z,1761517411.542 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-10-26T22:23:31.543Z,1761517411.543 [DAT](INFO): direction in FSK: [-0.979732,-0.197549,-0.033155]
2025-10-26T22:23:31.555Z,1761517411.555 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:31.559Z,1761517411.559 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.532627
2025-10-26T22:23:31.601Z,1761517411.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.100000 m,
      deltaT: 0.504376 s,
      deltaX: 0.200000 m,
      approachRate: 0.396529 m/s,
      rangeRepo size: 4

2025-10-26T22:23:31.619Z,1761517411.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.057533 m,
      bearing: 11.464119 deg,
      lat: 36.779411 deg,
      lon: -121.859456 deg,
      deltaT: 0.504376 s,
      deltaX: 0.198849 m,
      approachRate: 0.394247 m/s,
      posRepo size: 4

2025-10-26T22:23:31.726Z,1761517411.726 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.699142
2025-10-26T22:23:31.874Z,1761517411.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996141,0.011251,-0.087039],[0.002615,-0.987504,-0.157574],[-0.087724,-0.157193,0.983664]]
2025-10-26T22:23:31.981Z,1761517411.981 [DAT](INFO): DAT read: Rx Time:22:23:30.8743 

2025-10-26T22:23:31.983Z,1761517411.983 [DAT](INFO): Rx dataTimestamp_ set to:1761517411.981887
2025-10-26T22:23:31.988Z,1761517411.988 [DAT](INFO): DAT read: Bearing 158.8,  -7.3 (Local)

2025-10-26T22:23:31.990Z,1761517411.990 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.8,  -7.3 (Local)

2025-10-26T22:23:32.001Z,1761517412.001 [DAT](INFO): DAT read: Range 11 to 50 :     7.5 m (trip time 5.0 ms) speed -0.5

2025-10-26T22:23:32.010Z,1761517412.010 [DAT](INFO): DAT read: 22:23:30.8743 LVL= 32752, 23249, 32754, 32755, AGC= 52, IDX= 510,-0.21,-3.098,-1.136,-2.566,-2.234, PHS=-0.762, 1.143,-0.376, RAW= 319.0,  -0.1, CAL= 317.4,  -3.1, ROT= 192.6,   3.1

2025-10-26T22:23:32.016Z,1761517412.016 [DAT](INFO): got valid direction response:
 22:23:30.8743 LVL= 32752, 23249, 32754, 32755, AGC= 52, IDX= 510,-0.21,-3.098,-1.136,-2.566,-2.234, PHS=-0.762, 1.143,-0.376, RAW= 319.0,  -0.1, CAL= 317.4,  -3.1, ROT= 192.6,   3.1

2025-10-26T22:23:32.016Z,1761517412.016 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-10-26T22:23:32.017Z,1761517412.017 [DAT](INFO): direction in FSK: [-0.974489,-0.217824,-0.054079]
2025-10-26T22:23:32.017Z,1761517412.017 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:32.037Z,1761517412.037 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.010593
2025-10-26T22:23:32.229Z,1761517412.229 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.202677
2025-10-26T22:23:32.281Z,1761517412.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996229,0.010866,-0.086078],[0.002711,-0.987744,-0.156058],[-0.086719,-0.155703,0.983990]]
2025-10-26T22:23:32.304Z,1761517412.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.500000 m,
      deltaT: 0.503857 s,
      deltaX: 0.400000 m,
      approachRate: 0.793876 m/s,
      rangeRepo size: 4

2025-10-26T22:23:32.306Z,1761517412.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.455157 m,
      bearing: 12.792655 deg,
      lat: 36.779411 deg,
      lon: -121.859456 deg,
      deltaT: 0.503857 s,
      deltaX: 0.397624 m,
      approachRate: 0.789159 m/s,
      posRepo size: 4

2025-10-26T22:23:32.307Z,1761517412.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 7.50 m. Rolling out.
2025-10-26T22:23:32.307Z,1761517412.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-10-26T22:23:32.385Z,1761517412.385 [DockingStepper](INFO): Changing to mode: 1
2025-10-26T22:23:32.486Z,1761517412.486 [DAT](INFO): DAT read: Rx Time:22:23:31.3744 

2025-10-26T22:23:32.488Z,1761517412.488 [DAT](INFO): Rx dataTimestamp_ set to:1761517412.486763
2025-10-26T22:23:32.493Z,1761517412.493 [DAT](INFO): DAT read: Bearing 160.0,  -7.8 (Local)

2025-10-26T22:23:32.494Z,1761517412.494 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.0,  -7.8 (Local)

2025-10-26T22:23:32.504Z,1761517412.504 [DAT](INFO): DAT read: Range 11 to 50 :     7.7 m (trip time 5.1 ms) speed -0.5

2025-10-26T22:23:32.513Z,1761517412.513 [DAT](INFO): DAT read: 22:23:31.3744 LVL= 32752, 27025, 32754, 32755, AGC= 53, IDX= 511,-0.22, 1.184,-3.125, 1.745, 2.027, PHS=-0.741, 1.176,-0.326, RAW= 318.1,  -1.3, CAL= 316.7,  -4.4, ROT= 193.3,   4.4

2025-10-26T22:23:32.514Z,1761517412.514 [DAT](INFO): got valid direction response:
 22:23:31.3744 LVL= 32752, 27025, 32754, 32755, AGC= 53, IDX= 511,-0.22, 1.184,-3.125, 1.745, 2.027, PHS=-0.741, 1.176,-0.326, RAW= 318.1,  -1.3, CAL= 316.7,  -4.4, ROT= 193.3,   4.4

2025-10-26T22:23:32.514Z,1761517412.514 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-10-26T22:23:32.528Z,1761517412.528 [DAT](INFO): direction in FSK: [-0.970311,-0.229372,-0.076719]
2025-10-26T22:23:32.528Z,1761517412.528 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:32.541Z,1761517412.541 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.514790
2025-10-26T22:23:32.733Z,1761517412.733 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.706455
2025-10-26T22:23:32.745Z,1761517412.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996301,0.010659,-0.085266],[0.002671,-0.987956,-0.154714],[-0.085888,-0.154369,0.984273]]
2025-10-26T22:23:32.774Z,1761517412.774 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 22.43 mm.
2025-10-26T22:23:32.797Z,1761517412.797 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-10-26T22:23:32.797Z,1761517412.797 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T22:23:32.798Z,1761517412.798 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-10-26T22:23:32.799Z,1761517412.799 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 7.500000 m (mode  5.000000 count ).
2025-10-26T22:23:32.799Z,1761517412.799 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-10-26T22:23:32.799Z,1761517412.799 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-10-26T22:23:32.804Z,1761517412.804 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-10-26T22:23:32.804Z,1761517412.804 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T22:23:32.804Z,1761517412.804 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-10-26T22:23:32.805Z,1761517412.805 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with  1.000000 count pings  7.500000 m (mode  5.000000 count ).
2025-10-26T22:23:32.805Z,1761517412.805 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-10-26T22:23:32.805Z,1761517412.805 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-10-26T22:23:32.825Z,1761517412.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.700000 m,
      deltaT: 0.504876 s,
      deltaX: 0.200000 m,
      approachRate: 0.396136 m/s,
      rangeRepo size: 4

2025-10-26T22:23:32.827Z,1761517412.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.653961 m,
      bearing: 13.656920 deg,
      lat: 36.779411 deg,
      lon: -121.859454 deg,
      deltaT: 0.504876 s,
      deltaX: 0.198804 m,
      approachRate: 0.393768 m/s,
      posRepo size: 4

2025-10-26T22:23:32.831Z,1761517412.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m.
2025-10-26T22:23:32.833Z,1761517412.833 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-10-26T22:23:32.833Z,1761517412.833 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-26T22:23:32.833Z,1761517412.833 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-10-26T22:23:32.834Z,1761517412.834 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-10-26T22:23:32.986Z,1761517412.986 [DAT](INFO): DAT read: Rx Time:22:23:31.8746 

2025-10-26T22:23:32.987Z,1761517412.987 [DAT](INFO): Rx dataTimestamp_ set to:1761517412.986456
2025-10-26T22:23:32.988Z,1761517412.988 [DAT](INFO): DAT read: Range 11 to 50 :     8.0 m (trip time 5.3 ms) speed -0.5

2025-10-26T22:23:32.989Z,1761517412.989 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-10-26T22:23:32.990Z,1761517412.990 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.963217
2025-10-26T22:23:33.236Z,1761517413.236 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.210007
2025-10-26T22:23:33.334Z,1761517413.334 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-10-26T22:23:33.334Z,1761517413.334 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-10-26T22:23:33.335Z,1761517413.335 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-10-26T22:23:33.335Z,1761517413.335 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-10-26T22:23:33.338Z,1761517413.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.000000 m,
      deltaT: 0.499693 s,
      deltaX: 0.300000 m,
      approachRate: 0.600369 m/s,
      rangeRepo size: 4

2025-10-26T22:23:33.338Z,1761517413.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m.
2025-10-26T22:23:33.495Z,1761517413.495 [DAT](INFO): DAT read: Rx Time:22:23:32.3747 

2025-10-26T22:23:33.497Z,1761517413.497 [DAT](INFO): Rx dataTimestamp_ set to:1761517413.496286
2025-10-26T22:23:33.501Z,1761517413.501 [DAT](INFO): DAT read: Bearing 157.5,  -8.2 (Local)

2025-10-26T22:23:33.501Z,1761517413.501 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.5,  -8.2 (Local)

2025-10-26T22:23:33.503Z,1761517413.503 [DAT](INFO): DAT read: Range 11 to 50 :     8.1 m (trip time 5.4 ms) speed -0.6

2025-10-26T22:23:33.528Z,1761517413.528 [DAT](INFO): DAT read: 22:23:32.3747 LVL= 32752, 23809, 32754, 32755, AGC= 56, IDX=   2,-0.34, 1.006, 2.969, 1.558, 1.901, PHS=-0.793, 1.113,-0.387, RAW= 318.3,   0.8, CAL= 316.6,  -2.3, ROT= 193.4,   2.3

2025-10-26T22:23:33.529Z,1761517413.529 [DAT](INFO): got valid direction response:
 22:23:32.3747 LVL= 32752, 23809, 32754, 32755, AGC= 56, IDX=   2,-0.34, 1.006, 2.969, 1.558, 1.901, PHS=-0.793, 1.113,-0.387, RAW= 318.3,   0.8, CAL= 316.6,  -2.3, ROT= 193.4,   2.3

2025-10-26T22:23:33.530Z,1761517413.530 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-10-26T22:23:33.531Z,1761517413.531 [DAT](INFO): direction in FSK: [-0.971992,-0.231561,-0.040132]
2025-10-26T22:23:33.531Z,1761517413.531 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:33.535Z,1761517413.535 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.508396
2025-10-26T22:23:33.717Z,1761517413.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996444,0.003530,-0.084185],[0.008678,-0.989508,-0.144215],[-0.083811,-0.144433,0.985959]]
2025-10-26T22:23:33.740Z,1761517413.740 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.714020
2025-10-26T22:23:33.830Z,1761517413.830 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-10-26T22:23:33.830Z,1761517413.830 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-10-26T22:23:33.830Z,1761517413.830 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-10-26T22:23:33.830Z,1761517413.830 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-10-26T22:23:33.837Z,1761517413.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.100000 m,
      deltaT: 0.509830 s,
      deltaX: 0.100000 m,
      approachRate: 0.196145 m/s,
      rangeRepo size: 4

2025-10-26T22:23:33.840Z,1761517413.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.051554 m,
      bearing: 13.128127 deg,
      lat: 36.779411 deg,
      lon: -121.859452 deg,
      deltaT: 1.009523 s,
      deltaX: 0.397593 m,
      approachRate: 0.393842 m/s,
      posRepo size: 4

2025-10-26T22:23:33.840Z,1761517413.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.05 m.
2025-10-26T22:23:33.998Z,1761517413.998 [DAT](INFO): DAT read: Rx Time:22:23:32.8750 

2025-10-26T22:23:33.000Z,1761517414.000 [DAT](INFO): Rx dataTimestamp_ set to:1761517413.998454
2025-10-26T22:23:34.001Z,1761517414.001 [DAT](INFO): DAT read: Bearing 158.9,  -8.6 (Local)

2025-10-26T22:23:34.002Z,1761517414.002 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.9,  -8.6 (Local)

2025-10-26T22:23:34.005Z,1761517414.005 [DAT](INFO): DAT read: Range 11 to 50 :     8.6 m (trip time 5.7 ms) speed -0.5

2025-10-26T22:23:34.020Z,1761517414.020 [DAT](INFO): DAT read: 22:23:32.8750 LVL= 32752, 27633, 32754, 32755, AGC= 53, IDX= 501,-0.27, 1.557,-2.726, 2.145, 2.434, PHS=-0.775, 1.168,-0.333, RAW= 317.5,  -0.7, CAL= 315.9,  -3.8, ROT= 194.1,   3.8

2025-10-26T22:23:34.022Z,1761517414.022 [DAT](INFO): got valid direction response:
 22:23:32.8750 LVL= 32752, 27633, 32754, 32755, AGC= 53, IDX= 501,-0.27, 1.557,-2.726, 2.145, 2.434, PHS=-0.775, 1.168,-0.333, RAW= 317.5,  -0.7, CAL= 315.9,  -3.8, ROT= 194.1,   3.8

2025-10-26T22:23:34.022Z,1761517414.022 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-10-26T22:23:34.029Z,1761517414.029 [DAT](INFO): direction in FSK: [-0.967740,-0.243079,-0.066274]
2025-10-26T22:23:34.029Z,1761517414.029 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:34.058Z,1761517414.058 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.031698
2025-10-26T22:23:34.202Z,1761517414.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996513,0.001063,-0.083425],[0.010350,-0.990620,-0.136253],[-0.082787,-0.136641,0.987155]]
2025-10-26T22:23:34.243Z,1761517414.243 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-10-26T22:23:34.243Z,1761517414.243 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T22:23:34.243Z,1761517414.243 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-10-26T22:23:34.243Z,1761517414.243 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T22:23:34.244Z,1761517414.244 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.218090
2025-10-26T22:23:34.245Z,1761517414.245 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-10-26T22:23:34.246Z,1761517414.246 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T22:23:34.246Z,1761517414.246 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-10-26T22:23:34.246Z,1761517414.246 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T22:23:34.261Z,1761517414.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.502168 s,
      deltaX: 0.500000 m,
      approachRate: 0.995683 m/s,
      rangeRepo size: 4

2025-10-26T22:23:34.263Z,1761517414.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.548553 m,
      bearing: 13.891787 deg,
      lat: 36.779411 deg,
      lon: -121.859452 deg,
      deltaT: 0.502168 s,
      deltaX: 0.496999 m,
      approachRate: 0.989706 m/s,
      posRepo size: 4

2025-10-26T22:23:34.267Z,1761517414.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.55 m.
2025-10-26T22:23:34.504Z,1761517414.504 [DAT](INFO): DAT read: Rx Time:22:23:33.3750 

2025-10-26T22:23:34.504Z,1761517414.504 [DAT](INFO): Rx dataTimestamp_ set to:1761517414.504168
2025-10-26T22:23:34.506Z,1761517414.506 [DAT](INFO): DAT read: Bearing 159.1,  -9.1 (Local)

2025-10-26T22:23:34.506Z,1761517414.506 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.1,  -9.1 (Local)

2025-10-26T22:23:34.509Z,1761517414.509 [DAT](INFO): DAT read: Range 11 to 50 :     8.7 m (trip time 5.8 ms) speed -0.5

2025-10-26T22:23:34.513Z,1761517414.513 [DAT](INFO): DAT read: 22:23:33.3750 LVL= 32752, 27121, 32754, 32755, AGC= 53, IDX= 502,-0.30, 0.038, 2.041, 0.644, 0.910, PHS=-0.771, 1.176,-0.310, RAW= 316.9,  -1.1, CAL= 315.4,  -4.2, ROT= 194.6,   4.2

2025-10-26T22:23:34.514Z,1761517414.514 [DAT](INFO): got valid direction response:
 22:23:33.3750 LVL= 32752, 27121, 32754, 32755, AGC= 53, IDX= 502,-0.30, 0.038, 2.041, 0.644, 0.910, PHS=-0.771, 1.176,-0.310, RAW= 316.9,  -1.1, CAL= 315.4,  -4.2, ROT= 194.6,   4.2

2025-10-26T22:23:34.515Z,1761517414.515 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-10-26T22:23:34.521Z,1761517414.521 [DAT](INFO): direction in FSK: [-0.965110,-0.251393,-0.073238]
2025-10-26T22:23:34.521Z,1761517414.521 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:34.525Z,1761517414.525 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.498405
2025-10-26T22:23:34.602Z,1761517414.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996573,-0.001650,-0.082705],[0.012404,-0.991477,-0.129687],[-0.081786,-0.130268,0.988100]]
2025-10-26T22:23:34.693Z,1761517414.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 0.505714 s,
      deltaX: 0.099999 m,
      approachRate: 0.197739 m/s,
      rangeRepo size: 4

2025-10-26T22:23:34.698Z,1761517414.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.647953 m,
      bearing: 14.298139 deg,
      lat: 36.779410 deg,
      lon: -121.859451 deg,
      deltaT: 0.505714 s,
      deltaX: 0.099401 m,
      approachRate: 0.196555 m/s,
      posRepo size: 4

2025-10-26T22:23:34.699Z,1761517414.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.65 m.
2025-10-26T22:23:34.749Z,1761517414.749 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.722174
2025-10-26T22:23:35.002Z,1761517415.002 [DAT](INFO): DAT read: Rx Time:22:23:33.8752 

2025-10-26T22:23:35.002Z,1761517415.002 [DAT](INFO): Rx dataTimestamp_ set to:1761517415.001725
2025-10-26T22:23:35.003Z,1761517415.003 [DAT](INFO): DAT read: Bearing 158.2,  -8.8 (Local)

2025-10-26T22:23:35.004Z,1761517415.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.2,  -8.8 (Local)

2025-10-26T22:23:35.006Z,1761517415.006 [DAT](INFO): DAT read: Range 11 to 50 :     9.0 m (trip time 6.0 ms) speed -0.5

2025-10-26T22:23:35.010Z,1761517415.010 [DAT](INFO): DAT read: 22:23:33.8752 LVL= 32752, 27553, 32754, 32755, AGC= 52, IDX= 505,-0.45, 2.423,-1.866, 3.010,-2.980, PHS=-0.779, 1.159,-0.338, RAW= 317.4,  -0.5, CAL= 315.9,  -3.6, ROT= 194.1,   3.6

2025-10-26T22:23:35.012Z,1761517415.012 [DAT](INFO): got valid direction response:
 22:23:33.8752 LVL= 32752, 27553, 32754, 32755, AGC= 52, IDX= 505,-0.45, 2.423,-1.866, 3.010,-2.980, PHS=-0.779, 1.159,-0.338, RAW= 317.4,  -0.5, CAL= 315.9,  -3.6, ROT= 194.1,   3.6

2025-10-26T22:23:35.012Z,1761517415.012 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-10-26T22:23:35.013Z,1761517415.013 [DAT](INFO): direction in FSK: [-0.967958,-0.243134,-0.062791]
2025-10-26T22:23:35.013Z,1761517415.013 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:35.025Z,1761517415.025 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.999098
2025-10-26T22:23:35.033Z,1761517415.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996631,-0.004524,-0.081892],[0.014658,-0.992227,-0.123578],[-0.080696,-0.124362,0.988950]]
2025-10-26T22:23:35.114Z,1761517415.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.000000 m,
      deltaT: 0.497557 s,
      deltaX: 0.300000 m,
      approachRate: 0.602946 m/s,
      rangeRepo size: 4

2025-10-26T22:23:35.120Z,1761517415.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.946159 m,
      bearing: 13.595589 deg,
      lat: 36.779410 deg,
      lon: -121.859450 deg,
      deltaT: 0.497557 s,
      deltaX: 0.298206 m,
      approachRate: 0.599341 m/s,
      posRepo size: 4

2025-10-26T22:23:35.121Z,1761517415.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.95 m.
2025-10-26T22:23:35.253Z,1761517415.253 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.226145
2025-10-26T22:23:35.505Z,1761517415.505 [DAT](INFO): DAT read: Rx Time:22:23:34.3752 

2025-10-26T22:23:35.506Z,1761517415.506 [DAT](INFO): Rx dataTimestamp_ set to:1761517415.505337
2025-10-26T22:23:35.507Z,1761517415.507 [DAT](INFO): DAT read: Bearing 156.4,  -8.4 (Local)

2025-10-26T22:23:35.507Z,1761517415.507 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.4,  -8.4 (Local)

2025-10-26T22:23:35.509Z,1761517415.509 [DAT](INFO): DAT read: Range 11 to 50 :     9.0 m (trip time 6.0 ms) speed -0.5

2025-10-26T22:23:35.514Z,1761517415.514 [DAT](INFO): DAT read: 22:23:34.3752 LVL= 32752, 27873, 32754, 32755, AGC= 53, IDX= 505, 0.26,-3.083,-1.118,-2.533,-2.185, PHS=-0.796, 1.112,-0.392, RAW= 318.4,   0.9, CAL= 316.7,  -2.2, ROT= 193.3,   2.2

2025-10-26T22:23:35.515Z,1761517415.515 [DAT](INFO): got valid direction response:
 22:23:34.3752 LVL= 32752, 27873, 32754, 32755, AGC= 53, IDX= 505, 0.26,-3.083,-1.118,-2.533,-2.185, PHS=-0.796, 1.112,-0.392, RAW= 318.4,   0.9, CAL= 316.7,  -2.2, ROT= 193.3,   2.2

2025-10-26T22:23:35.516Z,1761517415.516 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-10-26T22:23:35.516Z,1761517415.516 [DAT](INFO): direction in FSK: [-0.972462,-0.229880,-0.038388]
2025-10-26T22:23:35.517Z,1761517415.517 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:35.524Z,1761517415.524 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.498123
2025-10-26T22:23:35.550Z,1761517415.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.000000 m,
      deltaT: 0.503612 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:35.556Z,1761517415.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.946132 m,
      bearing: 12.656577 deg,
      lat: 36.779410 deg,
      lon: -121.859450 deg,
      deltaT: 0.503612 s,
      deltaX: -0.000028 m,
      approachRate: -0.000055 m/s,
      posRepo size: 4

2025-10-26T22:23:35.557Z,1761517415.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.95 m.
2025-10-26T22:23:35.757Z,1761517415.757 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.730873
2025-10-26T22:23:35.892Z,1761517415.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996826,-0.008661,-0.079140],[0.017829,-0.993102,-0.115893],[-0.077590,-0.116936,0.990104]]
2025-10-26T22:23:36.001Z,1761517416.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.95 m.
2025-10-26T22:23:36.010Z,1761517416.010 [DAT](INFO): DAT read: Rx Time:22:23:34.8755 

2025-10-26T22:23:36.010Z,1761517416.010 [DAT](INFO): Rx dataTimestamp_ set to:1761517416.009721
2025-10-26T22:23:36.011Z,1761517416.011 [DAT](INFO): DAT read: Bearing 158.6,  -9.4 (Local)

2025-10-26T22:23:36.012Z,1761517416.012 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.6,  -9.4 (Local)

2025-10-26T22:23:36.014Z,1761517416.014 [DAT](INFO): DAT read: Range 11 to 50 :     9.5 m (trip time 6.3 ms) speed -0.4

2025-10-26T22:23:36.018Z,1761517416.018 [DAT](INFO): DAT read: 22:23:34.8755 LVL= 32752, 27617, 32754, 32755, AGC= 54, IDX= 508, 0.12,-2.173,-0.161,-1.563,-1.299, PHS=-0.772, 1.183,-0.308, RAW= 316.9,  -1.2, CAL= 315.4,  -4.3, ROT= 194.6,   4.3

2025-10-26T22:23:36.028Z,1761517416.028 [DAT](INFO): got valid direction response:
 22:23:34.8755 LVL= 32752, 27617, 32754, 32755, AGC= 54, IDX= 508, 0.12,-2.173,-0.161,-1.563,-1.299, PHS=-0.772, 1.183,-0.308, RAW= 316.9,  -1.2, CAL= 315.4,  -4.3, ROT= 194.6,   4.3

2025-10-26T22:23:36.029Z,1761517416.029 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-26T22:23:36.030Z,1761517416.030 [DAT](INFO): direction in FSK: [-0.964985,-0.251360,-0.074979]
2025-10-26T22:23:36.030Z,1761517416.030 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:36.046Z,1761517416.046 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.019381
2025-10-26T22:23:36.260Z,1761517416.260 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.234074
2025-10-26T22:23:36.294Z,1761517416.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996919,-0.010304,-0.077760],[0.019048,-0.993462,-0.112563],[-0.076092,-0.113697,0.990597]]
2025-10-26T22:23:36.334Z,1761517416.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.500000 m,
      deltaT: 0.504384 s,
      deltaX: 0.500000 m,
      approachRate: 0.991308 m/s,
      rangeRepo size: 4

2025-10-26T22:23:36.339Z,1761517416.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.443133 m,
      bearing: 13.878740 deg,
      lat: 36.779410 deg,
      lon: -121.859450 deg,
      deltaT: 0.504384 s,
      deltaX: 0.497002 m,
      approachRate: 0.985364 m/s,
      posRepo size: 4

2025-10-26T22:23:36.339Z,1761517416.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.44 m.
2025-10-26T22:23:36.513Z,1761517416.513 [DAT](INFO): DAT read: Rx Time:22:23:35.3756 

2025-10-26T22:23:36.513Z,1761517416.513 [DAT](INFO): Rx dataTimestamp_ set to:1761517416.513196
2025-10-26T22:23:36.515Z,1761517416.515 [DAT](INFO): DAT read: Bearing 159.5, -10.2 (Local)

2025-10-26T22:23:36.515Z,1761517416.515 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.5, -10.2 (Local)

2025-10-26T22:23:36.517Z,1761517416.517 [DAT](INFO): DAT read: Range 11 to 50 :     9.6 m (trip time 6.4 ms) speed -0.4

2025-10-26T22:23:36.522Z,1761517416.522 [DAT](INFO): DAT read: 22:23:35.3756 LVL= 32752, 26545, 32754, 32755, AGC= 53, IDX= 509,-0.11, 1.145,-3.085, 1.795, 2.017, PHS=-0.770, 1.226,-0.266, RAW= 315.9,  -2.1, CAL= 314.6,  -5.3, ROT= 195.4,   5.3

2025-10-26T22:23:36.523Z,1761517416.523 [DAT](INFO): got valid direction response:
 22:23:35.3756 LVL= 32752, 26545, 32754, 32755, AGC= 53, IDX= 509,-0.11, 1.145,-3.085, 1.795, 2.017, PHS=-0.770, 1.226,-0.266, RAW= 315.9,  -2.1, CAL= 314.6,  -5.3, ROT= 195.4,   5.3

2025-10-26T22:23:36.524Z,1761517416.524 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-26T22:23:36.525Z,1761517416.525 [DAT](INFO): direction in FSK: [-0.959974,-0.264421,-0.092371]
2025-10-26T22:23:36.525Z,1761517416.525 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:36.533Z,1761517416.533 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.506275
2025-10-26T22:23:36.706Z,1761517416.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997015,-0.012084,-0.076257],[0.020347,-0.993886,-0.108520],[-0.074479,-0.109748,0.991165]]
2025-10-26T22:23:36.765Z,1761517416.765 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.738132
2025-10-26T22:23:36.767Z,1761517416.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.503475 s,
      deltaX: 0.100000 m,
      approachRate: 0.198620 m/s,
      rangeRepo size: 4

2025-10-26T22:23:36.769Z,1761517416.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.542535 m,
      bearing: 14.673230 deg,
      lat: 36.779410 deg,
      lon: -121.859450 deg,
      deltaT: 0.503475 s,
      deltaX: 0.099401 m,
      approachRate: 0.197431 m/s,
      posRepo size: 4

2025-10-26T22:23:36.770Z,1761517416.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:23:37.017Z,1761517417.017 [DAT](INFO): DAT read: Rx Time:22:23:35.8757 

2025-10-26T22:23:37.017Z,1761517417.017 [DAT](INFO): Rx dataTimestamp_ set to:1761517417.017159
2025-10-26T22:23:37.019Z,1761517417.019 [DAT](INFO): DAT read: Bearing 155.6,  -9.2 (Local)

2025-10-26T22:23:37.019Z,1761517417.019 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.6,  -9.2 (Local)

2025-10-26T22:23:37.021Z,1761517417.021 [DAT](INFO): DAT read: Range 11 to 50 :     9.8 m (trip time 6.5 ms) speed -0.4

2025-10-26T22:23:37.026Z,1761517417.026 [DAT](INFO): DAT read: 22:23:35.8757 LVL= 32752, 28289, 32754, 32755, AGC= 54, IDX= 510, 0.39,-2.499,-0.526,-1.939,-1.586, PHS=-0.811, 1.105,-0.397, RAW= 318.1,   1.2, CAL= 316.3,  -1.8, ROT= 193.7,   1.8

2025-10-26T22:23:37.027Z,1761517417.027 [DAT](INFO): got valid direction response:
 22:23:35.8757 LVL= 32752, 28289, 32754, 32755, AGC= 54, IDX= 510, 0.39,-2.499,-0.526,-1.939,-1.586, PHS=-0.811, 1.105,-0.397, RAW= 318.1,   1.2, CAL= 316.3,  -1.8, ROT= 193.7,   1.8

2025-10-26T22:23:37.028Z,1761517417.028 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-10-26T22:23:37.029Z,1761517417.029 [DAT](INFO): direction in FSK: [-0.971070,-0.236721,-0.031411]
2025-10-26T22:23:37.029Z,1761517417.029 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:37.033Z,1761517417.033 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.006336
2025-10-26T22:23:37.102Z,1761517417.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997109,-0.014211,-0.074648],[0.021870,-0.994461,-0.102806],[-0.072774,-0.104141,0.991896]]
2025-10-26T22:23:37.155Z,1761517417.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.503963 s,
      deltaX: 0.200000 m,
      approachRate: 0.396854 m/s,
      rangeRepo size: 4

2025-10-26T22:23:37.161Z,1761517417.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.741333 m,
      bearing: 12.582823 deg,
      lat: 36.779409 deg,
      lon: -121.859450 deg,
      deltaT: 0.503963 s,
      deltaX: 0.198798 m,
      approachRate: 0.394470 m/s,
      posRepo size: 4

2025-10-26T22:23:37.162Z,1761517417.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.74 m.
2025-10-26T22:23:37.270Z,1761517417.270 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.243555
2025-10-26T22:23:37.521Z,1761517417.521 [DAT](INFO): DAT read: Rx Time:22:23:36.3758 

2025-10-26T22:23:37.521Z,1761517417.521 [DAT](INFO): Rx dataTimestamp_ set to:1761517417.521176
2025-10-26T22:23:37.523Z,1761517417.523 [DAT](INFO): DAT read: Bearing 158.4, -11.2 (Local)

2025-10-26T22:23:37.523Z,1761517417.523 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.4, -11.2 (Local)

2025-10-26T22:23:37.526Z,1761517417.526 [DAT](INFO): DAT read: Range 11 to 50 :     9.9 m (trip time 6.6 ms) speed -0.4

2025-10-26T22:23:37.531Z,1761517417.531 [DAT](INFO): DAT read: 22:23:36.3758 LVL= 32752, 26897, 32754, 32755, AGC= 54, IDX= 511, 0.09, 1.681,-2.557, 2.341, 2.578, PHS=-0.796, 1.193,-0.282, RAW= 315.6,  -1.3, CAL= 314.1,  -4.5, ROT= 195.9,   4.5

2025-10-26T22:23:37.532Z,1761517417.532 [DAT](INFO): got valid direction response:
 22:23:36.3758 LVL= 32752, 26897, 32754, 32755, AGC= 54, IDX= 511, 0.09, 1.681,-2.557, 2.341, 2.578, PHS=-0.796, 1.193,-0.282, RAW= 315.6,  -1.3, CAL= 314.1,  -4.5, ROT= 195.9,   4.5

2025-10-26T22:23:37.533Z,1761517417.533 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-10-26T22:23:37.534Z,1761517417.534 [DAT](INFO): direction in FSK: [-0.958777,-0.273115,-0.078459]
2025-10-26T22:23:37.534Z,1761517417.534 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:37.538Z,1761517417.538 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.511229
2025-10-26T22:23:37.542Z,1761517417.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997204,-0.016334,-0.072919],[0.023519,-0.994830,-0.098789],[-0.070928,-0.100227,0.992433]]
2025-10-26T22:23:37.648Z,1761517417.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.900000 m,
      deltaT: 0.504017 s,
      deltaX: 0.099999 m,
      approachRate: 0.198405 m/s,
      rangeRepo size: 4

2025-10-26T22:23:37.650Z,1761517417.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.840734 m,
      bearing: 14.888780 deg,
      lat: 36.779409 deg,
      lon: -121.859450 deg,
      deltaT: 0.504017 s,
      deltaX: 0.099401 m,
      approachRate: 0.197218 m/s,
      posRepo size: 4

2025-10-26T22:23:37.651Z,1761517417.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.84 m.
2025-10-26T22:23:37.773Z,1761517417.773 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.746906
2025-10-26T22:23:37.909Z,1761517417.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997322,-0.017594,-0.070989],[0.024488,-0.994941,-0.097434],[-0.068915,-0.098911,0.992707]]
2025-10-26T22:23:37.931Z,1761517417.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.84 m.
2025-10-26T22:23:38.025Z,1761517418.025 [DAT](INFO): DAT read: Rx Time:22:23:36.8760 

2025-10-26T22:23:38.025Z,1761517418.025 [DAT](INFO): Rx dataTimestamp_ set to:1761517418.024767
2025-10-26T22:23:38.026Z,1761517418.026 [DAT](INFO): DAT read: Range 11 to 50 :    10.2 m (trip time 6.8 ms) speed -0.4

2025-10-26T22:23:38.027Z,1761517418.027 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-10-26T22:23:38.028Z,1761517418.028 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.002094
2025-10-26T22:23:38.277Z,1761517418.277 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.250290
2025-10-26T22:23:38.344Z,1761517418.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997476,-0.017564,-0.068798],[0.023985,-0.995317,-0.093642],[-0.066831,-0.095056,0.993226]]
2025-10-26T22:23:38.364Z,1761517418.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.503591 s,
      deltaX: 0.300000 m,
      approachRate: 0.595722 m/s,
      rangeRepo size: 4

2025-10-26T22:23:38.364Z,1761517418.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.84 m.
2025-10-26T22:23:38.530Z,1761517418.530 [DAT](INFO): DAT read: Rx Time:22:23:37.3761 

2025-10-26T22:23:38.530Z,1761517418.530 [DAT](INFO): Rx dataTimestamp_ set to:1761517418.529765
2025-10-26T22:23:38.532Z,1761517418.532 [DAT](INFO): DAT read: Bearing 156.0, -11.8 (Local)

2025-10-26T22:23:38.533Z,1761517418.533 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.0, -11.8 (Local)

2025-10-26T22:23:38.535Z,1761517418.535 [DAT](INFO): DAT read: Range 11 to 50 :    10.4 m (trip time 6.9 ms) speed -0.4

2025-10-26T22:23:38.539Z,1761517418.539 [DAT](INFO): DAT read: 22:23:37.3761 LVL= 32752, 21617, 29602, 32755, AGC= 57, IDX=   2, 0.13, 2.402,-1.875, 3.042,-2.943, PHS=-0.836, 1.113,-0.342, RAW= 315.9,   0.7, CAL= 314.0,  -2.3, ROT= 196.0,   2.3

2025-10-26T22:23:38.540Z,1761517418.540 [DAT](INFO): got valid direction response:
 22:23:37.3761 LVL= 32752, 21617, 29602, 32755, AGC= 57, IDX=   2, 0.13, 2.402,-1.875, 3.042,-2.943, PHS=-0.836, 1.113,-0.342, RAW= 315.9,   0.7, CAL= 314.0,  -2.3, ROT= 196.0,   2.3

2025-10-26T22:23:38.541Z,1761517418.541 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-26T22:23:38.542Z,1761517418.542 [DAT](INFO): direction in FSK: [-0.960487,-0.275415,-0.040132]
2025-10-26T22:23:38.542Z,1761517418.542 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:38.546Z,1761517418.546 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.519226
2025-10-26T22:23:38.744Z,1761517418.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997626,-0.017423,-0.066628],[0.023375,-0.995701,-0.089623],[-0.064780,-0.090967,0.993745]]
2025-10-26T22:23:38.780Z,1761517418.780 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.754084
2025-10-26T22:23:38.796Z,1761517418.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.400000 m,
      deltaT: 0.504998 s,
      deltaX: 0.200000 m,
      approachRate: 0.396041 m/s,
      rangeRepo size: 4

2025-10-26T22:23:38.798Z,1761517418.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.337752 m,
      bearing: 14.812940 deg,
      lat: 36.779408 deg,
      lon: -121.859449 deg,
      deltaT: 1.008589 s,
      deltaX: 0.497018 m,
      approachRate: 0.492785 m/s,
      posRepo size: 4

2025-10-26T22:23:38.798Z,1761517418.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m.
2025-10-26T22:23:39.033Z,1761517419.033 [DAT](INFO): DAT read: Rx Time:22:23:37.8763 

2025-10-26T22:23:39.034Z,1761517419.034 [DAT](INFO): Rx dataTimestamp_ set to:1761517419.033327
2025-10-26T22:23:39.035Z,1761517419.035 [DAT](INFO): DAT read: Bearing 155.5, -12.5 (Local)

2025-10-26T22:23:39.035Z,1761517419.035 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.5, -12.5 (Local)

2025-10-26T22:23:39.037Z,1761517419.037 [DAT](INFO): DAT read: Range 11 to 50 :    10.7 m (trip time 7.1 ms) speed -0.4

2025-10-26T22:23:39.042Z,1761517419.042 [DAT](INFO): DAT read: 22:23:37.8763 LVL= 32752, 25393, 32754, 32755, AGC= 55, IDX= 501,-0.24, 1.699,-2.562, 2.356, 2.659, PHS=-0.858, 1.107,-0.347, RAW= 315.5,   1.1, CAL= 313.5,  -1.9, ROT= 196.5,   1.9

2025-10-26T22:23:39.043Z,1761517419.043 [DAT](INFO): got valid direction response:
 22:23:37.8763 LVL= 32752, 25393, 32754, 32755, AGC= 55, IDX= 501,-0.24, 1.699,-2.562, 2.356, 2.659, PHS=-0.858, 1.107,-0.347, RAW= 315.5,   1.1, CAL= 313.5,  -1.9, ROT= 196.5,   1.9

2025-10-26T22:23:39.044Z,1761517419.044 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-10-26T22:23:39.045Z,1761517419.045 [DAT](INFO): direction in FSK: [-0.958293,-0.283859,-0.033155]
2025-10-26T22:23:39.045Z,1761517419.045 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:39.049Z,1761517419.049 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.022247
2025-10-26T22:23:39.147Z,1761517419.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997766,-0.017630,-0.064441],[0.023135,-0.996052,-0.085702],[-0.062676,-0.087001,0.994235]]
2025-10-26T22:23:39.220Z,1761517419.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.503562 s,
      deltaX: 0.300000 m,
      approachRate: 0.595756 m/s,
      rangeRepo size: 4

2025-10-26T22:23:39.225Z,1761517419.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.635962 m,
      bearing: 15.293506 deg,
      lat: 36.779408 deg,
      lon: -121.859449 deg,
      deltaT: 0.503562 s,
      deltaX: 0.298209 m,
      approachRate: 0.592200 m/s,
      posRepo size: 4

2025-10-26T22:23:39.226Z,1761517419.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m.
2025-10-26T22:23:39.285Z,1761517419.285 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.258808
2025-10-26T22:23:39.539Z,1761517419.539 [DAT](INFO): DAT read: Rx Time:22:23:38.3764 

2025-10-26T22:23:39.540Z,1761517419.540 [DAT](INFO): Rx dataTimestamp_ set to:1761517419.539544
2025-10-26T22:23:39.541Z,1761517419.541 [DAT](INFO): DAT read: Bearing 154.3, -12.8 (Local)

2025-10-26T22:23:39.541Z,1761517419.541 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.3, -12.8 (Local)

2025-10-26T22:23:39.544Z,1761517419.544 [DAT](INFO): DAT read: Range 11 to 50 :    10.8 m (trip time 7.2 ms) speed -0.4

2025-10-26T22:23:39.548Z,1761517419.548 [DAT](INFO): DAT read: 22:23:38.3764 LVL= 32752, 25713, 32754, 32755, AGC= 55, IDX= 501, 0.13, 2.616,-1.668,-3.022,-2.690, PHS=-0.874, 1.068,-0.376, RAW= 315.7,   2.1, CAL= 313.6,  -0.9, ROT= 196.4,   0.9

2025-10-26T22:23:39.549Z,1761517419.549 [DAT](INFO): got valid direction response:
 22:23:38.3764 LVL= 32752, 25713, 32754, 32755, AGC= 55, IDX= 501, 0.13, 2.616,-1.668,-3.022,-2.690, PHS=-0.874, 1.068,-0.376, RAW= 315.7,   2.1, CAL= 313.6,  -0.9, ROT= 196.4,   0.9

2025-10-26T22:23:39.550Z,1761517419.550 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-26T22:23:39.551Z,1761517419.551 [DAT](INFO): direction in FSK: [-0.959196,-0.282307,-0.015707]
2025-10-26T22:23:39.551Z,1761517419.551 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:39.560Z,1761517419.560 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.533676
2025-10-26T22:23:39.579Z,1761517419.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997896,-0.018264,-0.062216],[0.023307,-0.996415,-0.081323],[-0.060507,-0.082601,0.994744]]
2025-10-26T22:23:39.703Z,1761517419.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.506217 s,
      deltaX: 0.100000 m,
      approachRate: 0.197545 m/s,
      rangeRepo size: 4

2025-10-26T22:23:39.718Z,1761517419.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.735364 m,
      bearing: 15.116328 deg,
      lat: 36.779408 deg,
      lon: -121.859449 deg,
      deltaT: 0.506217 s,
      deltaX: 0.099402 m,
      approachRate: 0.196363 m/s,
      posRepo size: 4

2025-10-26T22:23:39.719Z,1761517419.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.74 m.
2025-10-26T22:23:39.789Z,1761517419.789 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.762371
2025-10-26T22:23:40.041Z,1761517420.041 [DAT](INFO): DAT read: Rx Time:22:23:38.8766 

2025-10-26T22:23:40.042Z,1761517420.042 [DAT](INFO): Rx dataTimestamp_ set to:1761517420.041320
2025-10-26T22:23:40.043Z,1761517420.043 [DAT](INFO): DAT read: Bearing 153.8, -13.5 (Local)

2025-10-26T22:23:40.043Z,1761517420.043 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.8, -13.5 (Local)

2025-10-26T22:23:40.045Z,1761517420.045 [DAT](INFO): DAT read: Range 11 to 50 :    11.1 m (trip time 7.4 ms) speed -0.4

2025-10-26T22:23:40.050Z,1761517420.050 [DAT](INFO): DAT read: 22:23:38.8766 LVL= 32752, 25713, 32754, 32755, AGC= 55, IDX= 504,-0.34, 2.734,-1.536,-2.887,-2.551, PHS=-0.896, 1.060,-0.380, RAW= 315.3,   2.5, CAL= 313.1,  -0.5, ROT= 196.9,   0.5

2025-10-26T22:23:40.051Z,1761517420.051 [DAT](INFO): got valid direction response:
 22:23:38.8766 LVL= 32752, 25713, 32754, 32755, AGC= 55, IDX= 504,-0.34, 2.734,-1.536,-2.887,-2.551, PHS=-0.896, 1.060,-0.380, RAW= 315.3,   2.5, CAL= 313.1,  -0.5, ROT= 196.9,   0.5

2025-10-26T22:23:40.052Z,1761517420.052 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-10-26T22:23:40.052Z,1761517420.052 [DAT](INFO): direction in FSK: [-0.956777,-0.290691,-0.008727]
2025-10-26T22:23:40.053Z,1761517420.053 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:40.057Z,1761517420.057 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.030346
2025-10-26T22:23:40.193Z,1761517420.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998121,-0.019973,-0.057932],[0.024393,-0.996762,-0.076621],[-0.056214,-0.077890,0.995376]]
2025-10-26T22:23:40.254Z,1761517420.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.501776 s,
      deltaX: 0.300000 m,
      approachRate: 0.597877 m/s,
      rangeRepo size: 4

2025-10-26T22:23:40.260Z,1761517420.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.033537 m,
      bearing: 15.527107 deg,
      lat: 36.779408 deg,
      lon: -121.859449 deg,
      deltaT: 0.501776 s,
      deltaX: 0.298173 m,
      approachRate: 0.594235 m/s,
      posRepo size: 4

2025-10-26T22:23:40.260Z,1761517420.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m.
2025-10-26T22:23:40.293Z,1761517420.293 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.266365
2025-10-26T22:23:40.545Z,1761517420.545 [DAT](INFO): DAT read: Rx Time:22:23:39.3767 

2025-10-26T22:23:40.546Z,1761517420.546 [DAT](INFO): Rx dataTimestamp_ set to:1761517420.545489
2025-10-26T22:23:40.547Z,1761517420.547 [DAT](INFO): DAT read: Bearing 155.8, -14.7 (Local)

2025-10-26T22:23:40.548Z,1761517420.548 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.8, -14.7 (Local)

2025-10-26T22:23:40.550Z,1761517420.550 [DAT](INFO): DAT read: Range 11 to 50 :    11.3 m (trip time 7.5 ms) speed -0.4

2025-10-26T22:23:40.555Z,1761517420.555 [DAT](INFO): DAT read: 22:23:39.3767 LVL= 32752, 26257, 32754, 32755, AGC= 56, IDX= 504, 0.08, 2.310,-1.914, 3.029,-2.995, PHS=-0.876, 1.126,-0.302, RAW= 313.9,   0.6, CAL= 311.9,  -2.5, ROT= 198.1,   2.5

2025-10-26T22:23:40.556Z,1761517420.556 [DAT](INFO): got valid direction response:
 22:23:39.3767 LVL= 32752, 26257, 32754, 32755, AGC= 56, IDX= 504, 0.08, 2.310,-1.914, 3.029,-2.995, PHS=-0.876, 1.126,-0.302, RAW= 313.9,   0.6, CAL= 311.9,  -2.5, ROT= 198.1,   2.5

2025-10-26T22:23:40.557Z,1761517420.557 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-10-26T22:23:40.558Z,1761517420.558 [DAT](INFO): direction in FSK: [-0.949611,-0.310381,-0.043619]
2025-10-26T22:23:40.558Z,1761517420.558 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:40.562Z,1761517420.562 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.535454
2025-10-26T22:23:40.653Z,1761517420.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998229,-0.021002,-0.055666],[0.025105,-0.996937,-0.074066],[-0.053940,-0.075332,0.995699]]
2025-10-26T22:23:40.782Z,1761517420.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.504169 s,
      deltaX: 0.200000 m,
      approachRate: 0.396692 m/s,
      rangeRepo size: 4

2025-10-26T22:23:40.789Z,1761517420.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.232339 m,
      bearing: 16.795784 deg,
      lat: 36.779408 deg,
      lon: -121.859448 deg,
      deltaT: 0.504169 s,
      deltaX: 0.198802 m,
      approachRate: 0.394316 m/s,
      posRepo size: 4

2025-10-26T22:23:40.789Z,1761517420.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-10-26T22:23:40.796Z,1761517420.796 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.770100
2025-10-26T22:23:41.050Z,1761517421.050 [DAT](INFO): DAT read: Rx Time:22:23:39.8768 

2025-10-26T22:23:41.051Z,1761517421.051 [DAT](INFO): Rx dataTimestamp_ set to:1761517421.050004
2025-10-26T22:23:41.052Z,1761517421.052 [DAT](INFO): DAT read: Bearing 153.9, -15.0 (Local)

2025-10-26T22:23:41.053Z,1761517421.053 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.9, -15.0 (Local)

2025-10-26T22:23:41.055Z,1761517421.055 [DAT](INFO): DAT read: Range 11 to 50 :    11.4 m (trip time 7.6 ms) speed -0.4

2025-10-26T22:23:41.060Z,1761517421.060 [DAT](INFO): DAT read: 22:23:39.8768 LVL= 32752, 23537, 32754, 32755, AGC= 56, IDX= 505, 0.41,-2.711,-0.667,-2.004,-1.697, PHS=-0.912, 1.075,-0.352, RAW= 314.1,   2.2, CAL= 311.9,  -0.8, ROT= 198.1,   0.8

2025-10-26T22:23:41.061Z,1761517421.061 [DAT](INFO): got valid direction response:
 22:23:39.8768 LVL= 32752, 23537, 32754, 32755, AGC= 56, IDX= 505, 0.41,-2.711,-0.667,-2.004,-1.697, PHS=-0.912, 1.075,-0.352, RAW= 314.1,   2.2, CAL= 311.9,  -0.8, ROT= 198.1,   0.8

2025-10-26T22:23:41.062Z,1761517421.062 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-10-26T22:23:41.063Z,1761517421.063 [DAT](INFO): direction in FSK: [-0.950423,-0.310646,-0.013962]
2025-10-26T22:23:41.063Z,1761517421.063 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:41.067Z,1761517421.067 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.040199
2025-10-26T22:23:41.213Z,1761517421.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998307,-0.022537,-0.053625],[0.026391,-0.997035,-0.072281],[-0.051837,-0.073574,0.995942]]
2025-10-26T22:23:41.260Z,1761517421.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.400000 m,
      deltaT: 0.504515 s,
      deltaX: 0.099999 m,
      approachRate: 0.198209 m/s,
      rangeRepo size: 4

2025-10-26T22:23:41.262Z,1761517421.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.331700 m,
      bearing: 16.626832 deg,
      lat: 36.779408 deg,
      lon: -121.859448 deg,
      deltaT: 0.504515 s,
      deltaX: 0.099361 m,
      approachRate: 0.196944 m/s,
      posRepo size: 4

2025-10-26T22:23:41.263Z,1761517421.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-10-26T22:23:41.301Z,1761517421.301 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.274673
2025-10-26T22:23:41.556Z,1761517421.556 [DAT](INFO): DAT read: Rx Time:22:23:40.3769 

2025-10-26T22:23:41.558Z,1761517421.558 [DAT](INFO): Rx dataTimestamp_ set to:1761517421.557145
2025-10-26T22:23:41.562Z,1761517421.562 [DAT](INFO): DAT read: Bearing 154.5, -16.0 (Local)

2025-10-26T22:23:41.563Z,1761517421.563 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.5, -16.0 (Local)

2025-10-26T22:23:41.570Z,1761517421.570 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed -0.4

2025-10-26T22:23:41.592Z,1761517421.592 [DAT](INFO): DAT read: 22:23:40.3769 LVL= 32752, 22113, 32754, 32755, AGC= 56, IDX= 506,-0.13, 1.346,-2.859, 2.090, 2.369, PHS=-0.921, 1.100,-0.323, RAW= 313.3,   1.6, CAL= 311.1,  -1.4, ROT= 198.9,   1.4

2025-10-26T22:23:41.593Z,1761517421.593 [DAT](INFO): got valid direction response:
 22:23:40.3769 LVL= 32752, 22113, 32754, 32755, AGC= 56, IDX= 506,-0.13, 1.346,-2.859, 2.090, 2.369, PHS=-0.921, 1.100,-0.323, RAW= 313.3,   1.6, CAL= 311.1,  -1.4, ROT= 198.9,   1.4

2025-10-26T22:23:41.593Z,1761517421.593 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-10-26T22:23:41.594Z,1761517421.594 [DAT](INFO): direction in FSK: [-0.945803,-0.323821,-0.024432]
2025-10-26T22:23:41.594Z,1761517421.594 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:41.610Z,1761517421.610 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.583958
2025-10-26T22:23:41.663Z,1761517421.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998380,-0.023952,-0.051618],[0.027613,-0.997064,-0.071418],[-0.049756,-0.072727,0.996110]]
2025-10-26T22:23:41.804Z,1761517421.804 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.778122
2025-10-26T22:23:41.807Z,1761517421.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.507141 s,
      deltaX: 0.200001 m,
      approachRate: 0.394369 m/s,
      rangeRepo size: 4

2025-10-26T22:23:41.809Z,1761517421.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.530503 m,
      bearing: 17.386658 deg,
      lat: 36.779408 deg,
      lon: -121.859447 deg,
      deltaT: 0.507141 s,
      deltaX: 0.198803 m,
      approachRate: 0.392007 m/s,
      posRepo size: 4

2025-10-26T22:23:41.810Z,1761517421.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-10-26T22:23:42.057Z,1761517422.057 [DAT](INFO): DAT read: Rx Time:22:23:40.8771 

2025-10-26T22:23:42.058Z,1761517422.058 [DAT](INFO): Rx dataTimestamp_ set to:1761517422.057521
2025-10-26T22:23:42.059Z,1761517422.059 [DAT](INFO): DAT read: Bearing 154.3, -16.4 (Local)

2025-10-26T22:23:42.060Z,1761517422.060 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.3, -16.4 (Local)

2025-10-26T22:23:42.062Z,1761517422.062 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed -0.4

2025-10-26T22:23:42.066Z,1761517422.066 [DAT](INFO): DAT read: 22:23:40.8771 LVL= 32752, 24177, 32754, 32755, AGC= 57, IDX= 508, 0.16,-2.119,-0.041,-1.366,-1.093, PHS=-0.924, 1.096,-0.317, RAW= 313.0,   1.6, CAL= 310.8,  -1.4, ROT= 199.2,   1.4

2025-10-26T22:23:42.067Z,1761517422.067 [DAT](INFO): got valid direction response:
 22:23:40.8771 LVL= 32752, 24177, 32754, 32755, AGC= 57, IDX= 508, 0.16,-2.119,-0.041,-1.366,-1.093, PHS=-0.924, 1.096,-0.317, RAW= 313.0,   1.6, CAL= 310.8,  -1.4, ROT= 199.2,   1.4

2025-10-26T22:23:42.068Z,1761517422.068 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-10-26T22:23:42.069Z,1761517422.069 [DAT](INFO): direction in FSK: [-0.944094,-0.328768,-0.024432]
2025-10-26T22:23:42.069Z,1761517422.069 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:42.113Z,1761517422.113 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.086872
2025-10-26T22:23:42.207Z,1761517422.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998510,-0.027568,-0.047095],[0.030870,-0.997007,-0.070884],[-0.045000,-0.072232,0.996372]]
2025-10-26T22:23:42.248Z,1761517422.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.500376 s,
      deltaX: 0.299999 m,
      approachRate: 0.599548 m/s,
      rangeRepo size: 4

2025-10-26T22:23:42.250Z,1761517422.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.828660 m,
      bearing: 17.495804 deg,
      lat: 36.779407 deg,
      lon: -121.859446 deg,
      deltaT: 0.500376 s,
      deltaX: 0.298157 m,
      approachRate: 0.595865 m/s,
      posRepo size: 4

2025-10-26T22:23:42.250Z,1761517422.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-10-26T22:23:42.309Z,1761517422.309 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.282219
2025-10-26T22:23:42.573Z,1761517422.573 [DAT](INFO): DAT read: Rx Time:22:23:41.3771 

2025-10-26T22:23:42.573Z,1761517422.573 [DAT](INFO): Rx dataTimestamp_ set to:1761517422.572890
2025-10-26T22:23:42.574Z,1761517422.574 [DAT](INFO): DAT read: Bearing 153.6, -17.2 (Local)

2025-10-26T22:23:42.575Z,1761517422.575 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.6, -17.2 (Local)

2025-10-26T22:23:42.577Z,1761517422.577 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed -0.4

2025-10-26T22:23:42.582Z,1761517422.582 [DAT](INFO): DAT read: 22:23:41.3771 LVL= 32752, 23537, 32754, 32755, AGC= 57, IDX= 509,-0.39, 1.713,-2.496, 2.477, 2.756, PHS=-0.942, 1.075,-0.323, RAW= 312.6,   2.1, CAL= 310.3,  -0.9, ROT= 199.7,   0.9

2025-10-26T22:23:42.583Z,1761517422.583 [DAT](INFO): got valid direction response:
 22:23:41.3771 LVL= 32752, 23537, 32754, 32755, AGC= 57, IDX= 509,-0.39, 1.713,-2.496, 2.477, 2.756, PHS=-0.942, 1.075,-0.323, RAW= 312.6,   2.1, CAL= 310.3,  -0.9, ROT= 199.7,   0.9

2025-10-26T22:23:42.583Z,1761517422.583 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-10-26T22:23:42.589Z,1761517422.589 [DAT](INFO): direction in FSK: [-0.941354,-0.337054,-0.015707]
2025-10-26T22:23:42.590Z,1761517422.590 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:42.595Z,1761517422.595 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.568314
2025-10-26T22:23:42.803Z,1761517422.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.515369 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:42.805Z,1761517422.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.828660 m,
      bearing: 17.968913 deg,
      lat: 36.779407 deg,
      lon: -121.859445 deg,
      deltaT: 0.515369 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:23:42.806Z,1761517422.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-10-26T22:23:42.825Z,1761517422.825 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.798145
2025-10-26T22:23:43.077Z,1761517423.077 [DAT](INFO): DAT read: Rx Time:22:23:41.8774 

2025-10-26T22:23:43.078Z,1761517423.078 [DAT](INFO): Rx dataTimestamp_ set to:1761517423.077527
2025-10-26T22:23:43.079Z,1761517423.079 [DAT](INFO): DAT read: Bearing 154.9, -17.7 (Local)

2025-10-26T22:23:43.080Z,1761517423.080 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.9, -17.7 (Local)

2025-10-26T22:23:43.082Z,1761517423.082 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed -0.4

2025-10-26T22:23:43.086Z,1761517423.086 [DAT](INFO): DAT read: 22:23:41.8774 LVL= 32752, 21681, 32754, 32755, AGC= 57, IDX= 511,-0.01, 2.772,-1.411,-2.712,-2.484, PHS=-0.925, 1.119,-0.271, RAW= 311.8,   0.9, CAL= 309.7,  -2.3, ROT= 200.3,   2.3

2025-10-26T22:23:43.087Z,1761517423.087 [DAT](INFO): got valid direction response:
 22:23:41.8774 LVL= 32752, 21681, 32754, 32755, AGC= 57, IDX= 511,-0.01, 2.772,-1.411,-2.712,-2.484, PHS=-0.925, 1.119,-0.271, RAW= 311.8,   0.9, CAL= 309.7,  -2.3, ROT= 200.3,   2.3

2025-10-26T22:23:43.088Z,1761517423.088 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-10-26T22:23:43.089Z,1761517423.089 [DAT](INFO): direction in FSK: [-0.937133,-0.346656,-0.040132]
2025-10-26T22:23:43.089Z,1761517423.089 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:43.093Z,1761517423.093 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.066776
2025-10-26T22:23:43.224Z,1761517423.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998573,-0.032235,-0.042586],[0.035207,-0.996856,-0.070982],[-0.040164,-0.072380,0.996568]]
2025-10-26T22:23:43.324Z,1761517423.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.504637 s,
      deltaX: 0.400001 m,
      approachRate: 0.792650 m/s,
      rangeRepo size: 4

2025-10-26T22:23:43.326Z,1761517423.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.226246 m,
      bearing: 18.391156 deg,
      lat: 36.779407 deg,
      lon: -121.859444 deg,
      deltaT: 0.504637 s,
      deltaX: 0.397586 m,
      approachRate: 0.787865 m/s,
      posRepo size: 4

2025-10-26T22:23:43.326Z,1761517423.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m.
2025-10-26T22:23:43.328Z,1761517423.328 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.302116
2025-10-26T22:23:43.585Z,1761517423.585 [DAT](INFO): DAT read: Rx Time:22:23:42.3774 

2025-10-26T22:23:43.587Z,1761517423.587 [DAT](INFO): Rx dataTimestamp_ set to:1761517423.585941
2025-10-26T22:23:43.593Z,1761517423.593 [DAT](INFO): DAT read: Bearing 154.7, -18.1 (Local)

2025-10-26T22:23:43.594Z,1761517423.594 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.7, -18.1 (Local)

2025-10-26T22:23:43.612Z,1761517423.612 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed -0.4

2025-10-26T22:23:43.640Z,1761517423.640 [DAT](INFO): DAT read: 22:23:42.3774 LVL= 32752, 24753, 32754, 32755, AGC= 57, IDX= 511, 0.29, 2.720,-1.466,-2.759,-2.534, PHS=-0.927, 1.113,-0.270, RAW= 311.6,   0.9, CAL= 309.6,  -2.2, ROT= 200.4,   2.2

2025-10-26T22:23:43.641Z,1761517423.641 [DAT](INFO): got valid direction response:
 22:23:42.3774 LVL= 32752, 24753, 32754, 32755, AGC= 57, IDX= 511, 0.29, 2.720,-1.466,-2.759,-2.534, PHS=-0.927, 1.113,-0.270, RAW= 311.6,   0.9, CAL= 309.6,  -2.2, ROT= 200.4,   2.2

2025-10-26T22:23:43.641Z,1761517423.641 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-10-26T22:23:43.642Z,1761517423.642 [DAT](INFO): direction in FSK: [-0.936591,-0.348315,-0.038388]
2025-10-26T22:23:43.642Z,1761517423.642 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:43.646Z,1761517423.646 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.619736
2025-10-26T22:23:43.758Z,1761517423.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998598,-0.036166,-0.038651],[0.038971,-0.996463,-0.074445],[-0.035822,-0.075847,0.996476]]
2025-10-26T22:23:43.831Z,1761517423.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.508414 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:43.833Z,1761517423.833 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.806320
2025-10-26T22:23:43.837Z,1761517423.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.226246 m,
      bearing: 18.271213 deg,
      lat: 36.779406 deg,
      lon: -121.859444 deg,
      deltaT: 0.508414 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:23:43.837Z,1761517423.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m.
2025-10-26T22:23:44.085Z,1761517424.085 [DAT](INFO): DAT read: Rx Time:22:23:42.8776 

2025-10-26T22:23:44.085Z,1761517424.085 [DAT](INFO): Rx dataTimestamp_ set to:1761517424.085061
2025-10-26T22:23:44.087Z,1761517424.087 [DAT](INFO): DAT read: Bearing 145.7, -28.8 (Local)

2025-10-26T22:23:44.087Z,1761517424.087 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.7, -28.8 (Local)

2025-10-26T22:23:44.089Z,1761517424.089 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.4

2025-10-26T22:23:44.094Z,1761517424.094 [DAT](INFO): DAT read: 22:23:42.8776 LVL= 32752, 22353, 32754, 32755, AGC= 57, IDX= 514,-0.25,-1.652, 0.303,-0.616,-0.427, PHS=-1.123, 0.776,-0.233, RAW= 302.1,   7.1, CAL= 299.6,   6.7, ROT= 210.4,  -6.7

2025-10-26T22:23:44.095Z,1761517424.095 [DAT](INFO): got valid direction response:
 22:23:42.8776 LVL= 32752, 22353, 32754, 32755, AGC= 57, IDX= 514,-0.25,-1.652, 0.303,-0.616,-0.427, PHS=-1.123, 0.776,-0.233, RAW= 302.1,   7.1, CAL= 299.6,   6.7, ROT= 210.4,  -6.7

2025-10-26T22:23:44.095Z,1761517424.095 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-10-26T22:23:44.096Z,1761517424.096 [DAT](INFO): direction in FSK: [-0.856623,-0.502578,0.116671]
2025-10-26T22:23:44.096Z,1761517424.096 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:44.101Z,1761517424.101 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.074142
2025-10-26T22:23:44.187Z,1761517424.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998616,-0.037790,-0.036582],[0.040476,-0.996307,-0.075718],[-0.033585,-0.077094,0.996458]]
2025-10-26T22:23:44.274Z,1761517424.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.499120 s,
      deltaX: 0.200000 m,
      approachRate: 0.400705 m/s,
      rangeRepo size: 4

2025-10-26T22:23:44.280Z,1761517424.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.425033 m,
      bearing: 27.719082 deg,
      lat: 36.779405 deg,
      lon: -121.859443 deg,
      deltaT: 0.499120 s,
      deltaX: 0.198787 m,
      approachRate: 0.398274 m/s,
      posRepo size: 4

2025-10-26T22:23:44.281Z,1761517424.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m.
2025-10-26T22:23:44.337Z,1761517424.337 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.310135
2025-10-26T22:23:44.586Z,1761517424.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998631,-0.039243,-0.034589],[0.041763,-0.996276,-0.075426],[-0.031501,-0.076767,0.996551]]
2025-10-26T22:23:44.593Z,1761517424.593 [DAT](INFO): DAT read: Rx Time:22:23:43.3777 

2025-10-26T22:23:44.595Z,1761517424.595 [DAT](INFO): Rx dataTimestamp_ set to:1761517424.593755
2025-10-26T22:23:44.598Z,1761517424.598 [DAT](INFO): DAT read: Bearing 152.0, -18.9 (Local)

2025-10-26T22:23:44.599Z,1761517424.599 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.0, -18.9 (Local)

2025-10-26T22:23:44.601Z,1761517424.601 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed -0.4

2025-10-26T22:23:44.607Z,1761517424.607 [DAT](INFO): DAT read: 22:23:43.3777 LVL= 32752, 20961, 27602, 32755, AGC= 59, IDX=   2,-0.01, 1.829,-2.377, 2.620, 2.912, PHS=-0.981, 1.039,-0.336, RAW= 311.8,   3.1, CAL= 309.3,   0.2, ROT= 200.7,  -0.2

2025-10-26T22:23:44.608Z,1761517424.608 [DAT](INFO): got valid direction response:
 22:23:43.3777 LVL= 32752, 20961, 27602, 32755, AGC= 59, IDX=   2,-0.01, 1.829,-2.377, 2.620, 2.912, PHS=-0.981, 1.039,-0.336, RAW= 311.8,   3.1, CAL= 309.3,   0.2, ROT= 200.7,  -0.2

2025-10-26T22:23:44.609Z,1761517424.609 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-10-26T22:23:44.610Z,1761517424.610 [DAT](INFO): direction in FSK: [-0.935438,-0.353473,0.003491]
2025-10-26T22:23:44.610Z,1761517424.610 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:44.618Z,1761517424.618 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.591423
2025-10-26T22:23:44.768Z,1761517424.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.508694 s,
      deltaX: 0.100000 m,
      approachRate: 0.196583 m/s,
      rangeRepo size: 4

2025-10-26T22:23:44.770Z,1761517424.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.524433 m,
      bearing: 18.263822 deg,
      lat: 36.779405 deg,
      lon: -121.859443 deg,
      deltaT: 0.508694 s,
      deltaX: 0.099401 m,
      approachRate: 0.195403 m/s,
      posRepo size: 4

2025-10-26T22:23:44.771Z,1761517424.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-10-26T22:23:44.792Z,1761517424.792 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:23:44.841Z,1761517424.841 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.814129
2025-10-26T22:23:45.041Z,1761517425.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998666,-0.040212,-0.032394],[0.042533,-0.996315,-0.074476],[-0.029280,-0.075754,0.996697]]
2025-10-26T22:23:45.060Z,1761517425.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-10-26T22:23:45.093Z,1761517425.093 [DAT](INFO): DAT read: Rx Time:22:23:43.8778 

2025-10-26T22:23:45.094Z,1761517425.094 [DAT](INFO): Rx dataTimestamp_ set to:1761517425.093484
2025-10-26T22:23:45.095Z,1761517425.095 [DAT](INFO): DAT read: Bearing 154.2, -19.0 (Local)

2025-10-26T22:23:45.095Z,1761517425.095 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.2, -19.0 (Local)

2025-10-26T22:23:45.097Z,1761517425.097 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed -0.4

2025-10-26T22:23:45.102Z,1761517425.102 [DAT](INFO): DAT read: 22:23:43.8778 LVL= 32752, 23281, 32754, 32755, AGC= 54, IDX= 499, 0.31, 2.624,-1.557,-2.842,-2.614, PHS=-0.943, 1.102,-0.272, RAW= 311.2,   1.3, CAL= 309.1,  -1.9, ROT= 200.9,   1.9

2025-10-26T22:23:45.103Z,1761517425.103 [DAT](INFO): got valid direction response:
 22:23:43.8778 LVL= 32752, 23281, 32754, 32755, AGC= 54, IDX= 499, 0.31, 2.624,-1.557,-2.842,-2.614, PHS=-0.943, 1.102,-0.272, RAW= 311.2,   1.3, CAL= 309.1,  -1.9, ROT= 200.9,   1.9

2025-10-26T22:23:45.104Z,1761517425.104 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-10-26T22:23:45.105Z,1761517425.105 [DAT](INFO): direction in FSK: [-0.933691,-0.356542,-0.033155]
2025-10-26T22:23:45.105Z,1761517425.105 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:45.113Z,1761517425.113 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.086472
2025-10-26T22:23:45.345Z,1761517425.345 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.318176
2025-10-26T22:23:45.451Z,1761517425.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998708,-0.040912,-0.030127],[0.043000,-0.996458,-0.072266],[-0.027064,-0.073468,0.996930]]
2025-10-26T22:23:45.544Z,1761517425.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.499729 s,
      deltaX: 0.200000 m,
      approachRate: 0.400217 m/s,
      rangeRepo size: 4

2025-10-26T22:23:45.552Z,1761517425.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.723260 m,
      bearing: 18.516648 deg,
      lat: 36.779405 deg,
      lon: -121.859443 deg,
      deltaT: 0.499729 s,
      deltaX: 0.198827 m,
      approachRate: 0.397869 m/s,
      posRepo size: 4

2025-10-26T22:23:45.552Z,1761517425.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.72 m.
2025-10-26T22:23:45.602Z,1761517425.602 [DAT](INFO): DAT read: Rx Time:22:23:44.3778 

2025-10-26T22:23:45.604Z,1761517425.604 [DAT](INFO): Rx dataTimestamp_ set to:1761517425.602292
2025-10-26T22:23:45.608Z,1761517425.608 [DAT](INFO): DAT read: Bearing 152.8, -19.8 (Local)

2025-10-26T22:23:45.609Z,1761517425.609 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.8, -19.8 (Local)

2025-10-26T22:23:45.630Z,1761517425.630 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed -0.4

2025-10-26T22:23:45.665Z,1761517425.665 [DAT](INFO): DAT read: 22:23:44.3778 LVL= 32752, 22897, 32754, 32755, AGC= 56, IDX= 500,-0.30,-0.699, 1.410, 0.126, 0.386, PHS=-0.983, 1.069,-0.304, RAW= 311.0,   2.4, CAL= 308.7,  -0.7, ROT= 201.3,   0.7

2025-10-26T22:23:45.667Z,1761517425.667 [DAT](INFO): got valid direction response:
 22:23:44.3778 LVL= 32752, 22897, 32754, 32755, AGC= 56, IDX= 500,-0.30,-0.699, 1.410, 0.126, 0.386, PHS=-0.983, 1.069,-0.304, RAW= 311.0,   2.4, CAL= 308.7,  -0.7, ROT= 201.3,   0.7

2025-10-26T22:23:45.684Z,1761517425.684 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-10-26T22:23:45.685Z,1761517425.685 [DAT](INFO): direction in FSK: [-0.931622,-0.363224,-0.012217]
2025-10-26T22:23:45.685Z,1761517425.685 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:45.690Z,1761517425.690 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.664040
2025-10-26T22:23:45.796Z,1761517425.796 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:23:45.848Z,1761517425.848 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.822014
2025-10-26T22:23:46.015Z,1761517426.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998734,-0.041654,-0.028212],[0.043538,-0.996606,-0.069862],[-0.025206,-0.071002,0.997158]]
2025-10-26T22:23:46.063Z,1761517426.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.508808 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:46.065Z,1761517426.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.723260 m,
      bearing: 18.814524 deg,
      lat: 36.779404 deg,
      lon: -121.859443 deg,
      deltaT: 0.508808 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:23:46.065Z,1761517426.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.72 m.
2025-10-26T22:23:46.102Z,1761517426.102 [DAT](INFO): DAT read: Rx Time:22:23:44.8781 

2025-10-26T22:23:46.102Z,1761517426.102 [DAT](INFO): Rx dataTimestamp_ set to:1761517426.102017
2025-10-26T22:23:46.104Z,1761517426.104 [DAT](INFO): DAT read: Bearing 152.7, -19.9 (Local)

2025-10-26T22:23:46.104Z,1761517426.104 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.7, -19.9 (Local)

2025-10-26T22:23:46.106Z,1761517426.106 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed -0.4

2025-10-26T22:23:46.116Z,1761517426.116 [DAT](INFO): DAT read: 22:23:44.8781 LVL= 32752, 24529, 32754, 32755, AGC= 56, IDX= 502,-0.04, 1.119,-3.063, 1.941, 2.200, PHS=-0.979, 1.066,-0.303, RAW= 311.1,   2.4, CAL= 308.8,  -0.7, ROT= 201.2,   0.7

2025-10-26T22:23:46.117Z,1761517426.117 [DAT](INFO): got valid direction response:
 22:23:44.8781 LVL= 32752, 24529, 32754, 32755, AGC= 56, IDX= 502,-0.04, 1.119,-3.063, 1.941, 2.200, PHS=-0.979, 1.066,-0.303, RAW= 311.1,   2.4, CAL= 308.8,  -0.7, ROT= 201.2,   0.7

2025-10-26T22:23:46.117Z,1761517426.117 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-10-26T22:23:46.118Z,1761517426.118 [DAT](INFO): direction in FSK: [-0.932254,-0.361598,-0.012217]
2025-10-26T22:23:46.119Z,1761517426.119 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:46.122Z,1761517426.122 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.095924
2025-10-26T22:23:46.352Z,1761517426.352 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.325920
2025-10-26T22:23:46.428Z,1761517426.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998778,-0.041886,-0.026248],[0.043604,-0.996684,-0.068698],[-0.023283,-0.069758,0.997292]]
2025-10-26T22:23:46.511Z,1761517426.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.499725 s,
      deltaX: 0.400000 m,
      approachRate: 0.800439 m/s,
      rangeRepo size: 4

2025-10-26T22:23:46.518Z,1761517426.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.120874 m,
      bearing: 18.710214 deg,
      lat: 36.779404 deg,
      lon: -121.859443 deg,
      deltaT: 0.499725 s,
      deltaX: 0.397614 m,
      approachRate: 0.795667 m/s,
      posRepo size: 4

2025-10-26T22:23:46.519Z,1761517426.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m.
2025-10-26T22:23:46.611Z,1761517426.611 [DAT](INFO): DAT read: Rx Time:22:23:45.3781 

2025-10-26T22:23:46.613Z,1761517426.613 [DAT](INFO): Rx dataTimestamp_ set to:1761517426.611757
2025-10-26T22:23:46.617Z,1761517426.617 [DAT](INFO): DAT read: Bearing 153.7, -20.2 (Local)

2025-10-26T22:23:46.618Z,1761517426.618 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.7, -20.2 (Local)

2025-10-26T22:23:46.629Z,1761517426.629 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed -0.4

2025-10-26T22:23:46.634Z,1761517426.634 [DAT](INFO): DAT read: 22:23:45.3781 LVL= 32752, 23409, 32754, 32755, AGC= 56, IDX= 502, 0.19, 1.077,-3.091, 1.917, 2.142, PHS=-0.963, 1.095,-0.270, RAW= 310.7,   1.5, CAL= 308.5,  -1.6, ROT= 201.5,   1.6

2025-10-26T22:23:46.635Z,1761517426.635 [DAT](INFO): got valid direction response:
 22:23:45.3781 LVL= 32752, 23409, 32754, 32755, AGC= 56, IDX= 502, 0.19, 1.077,-3.091, 1.917, 2.142, PHS=-0.963, 1.095,-0.270, RAW= 310.7,   1.5, CAL= 308.5,  -1.6, ROT= 201.5,   1.6

2025-10-26T22:23:46.645Z,1761517426.645 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-10-26T22:23:46.646Z,1761517426.646 [DAT](INFO): direction in FSK: [-0.930055,-0.366358,-0.027922]
2025-10-26T22:23:46.647Z,1761517426.647 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:46.679Z,1761517426.679 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.651627
2025-10-26T22:23:46.826Z,1761517426.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998843,-0.041518,-0.024261],[0.043056,-0.996841,-0.066743],[-0.021413,-0.067711,0.997475]]
2025-10-26T22:23:46.857Z,1761517426.857 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.830128
2025-10-26T22:23:46.876Z,1761517426.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.509740 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:46.878Z,1761517426.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.120874 m,
      bearing: 19.090815 deg,
      lat: 36.779404 deg,
      lon: -121.859443 deg,
      deltaT: 0.509740 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:23:46.879Z,1761517426.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m.
2025-10-26T22:23:47.109Z,1761517427.109 [DAT](INFO): DAT read: Rx Time:22:23:45.8783 

2025-10-26T22:23:47.109Z,1761517427.109 [DAT](INFO): Rx dataTimestamp_ set to:1761517427.109106
2025-10-26T22:23:47.111Z,1761517427.111 [DAT](INFO): DAT read: Bearing 153.5, -20.5 (Local)

2025-10-26T22:23:47.111Z,1761517427.111 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.5, -20.5 (Local)

2025-10-26T22:23:47.113Z,1761517427.113 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed -0.4

2025-10-26T22:23:47.118Z,1761517427.118 [DAT](INFO): DAT read: 22:23:45.8783 LVL= 32752, 24177, 32754, 32755, AGC= 57, IDX= 505,-0.46, 1.327,-2.839, 2.171, 2.400, PHS=-0.971, 1.089,-0.273, RAW= 310.6,   1.7, CAL= 308.4,  -1.5, ROT= 201.6,   1.5

2025-10-26T22:23:47.119Z,1761517427.119 [DAT](INFO): got valid direction response:
 22:23:45.8783 LVL= 32752, 24177, 32754, 32755, AGC= 57, IDX= 505,-0.46, 1.327,-2.839, 2.171, 2.400, PHS=-0.971, 1.089,-0.273, RAW= 310.6,   1.7, CAL= 308.4,  -1.5, ROT= 201.6,   1.5

2025-10-26T22:23:47.121Z,1761517427.121 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-26T22:23:47.126Z,1761517427.126 [DAT](INFO): direction in FSK: [-0.929458,-0.367998,-0.026177]
2025-10-26T22:23:47.127Z,1761517427.127 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:47.177Z,1761517427.177 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.148682
2025-10-26T22:23:47.240Z,1761517427.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998896,-0.041398,-0.022218],[0.042752,-0.997009,-0.064385],[-0.019486,-0.065264,0.997678]]
2025-10-26T22:23:47.304Z,1761517427.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.497349 s,
      deltaX: 0.300000 m,
      approachRate: 0.603199 m/s,
      rangeRepo size: 4

2025-10-26T22:23:47.306Z,1761517427.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.419060 m,
      bearing: 19.201377 deg,
      lat: 36.779404 deg,
      lon: -121.859442 deg,
      deltaT: 0.497349 s,
      deltaX: 0.298185 m,
      approachRate: 0.599550 m/s,
      posRepo size: 4

2025-10-26T22:23:47.307Z,1761517427.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-10-26T22:23:47.361Z,1761517427.361 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.334137
2025-10-26T22:23:47.617Z,1761517427.617 [DAT](INFO): DAT read: Rx Time:22:23:46.3783 

2025-10-26T22:23:47.618Z,1761517427.618 [DAT](INFO): Rx dataTimestamp_ set to:1761517427.617476
2025-10-26T22:23:47.627Z,1761517427.627 [DAT](INFO): DAT read: Bearing 153.5, -21.0 (Local)

2025-10-26T22:23:47.632Z,1761517427.632 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.5, -21.0 (Local)

2025-10-26T22:23:47.638Z,1761517427.638 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed -0.4

2025-10-26T22:23:47.686Z,1761517427.686 [DAT](INFO): DAT read: 22:23:46.3783 LVL= 32752, 23761, 32754, 32755, AGC= 58, IDX= 505,-0.17,-0.296, 1.832, 0.566, 0.788, PHS=-0.982, 1.089,-0.267, RAW= 310.1,   1.8, CAL= 307.9,  -1.4, ROT= 202.1,   1.4

2025-10-26T22:23:47.687Z,1761517427.687 [DAT](INFO): got valid direction response:
 22:23:46.3783 LVL= 32752, 23761, 32754, 32755, AGC= 58, IDX= 505,-0.17,-0.296, 1.832, 0.566, 0.788, PHS=-0.982, 1.089,-0.267, RAW= 310.1,   1.8, CAL= 307.9,  -1.4, ROT= 202.1,   1.4

2025-10-26T22:23:47.692Z,1761517427.692 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-10-26T22:23:47.693Z,1761517427.693 [DAT](INFO): direction in FSK: [-0.926252,-0.376112,-0.024432]
2025-10-26T22:23:47.693Z,1761517427.693 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:47.705Z,1761517427.705 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.678726
2025-10-26T22:23:47.711Z,1761517427.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998959,-0.040998,-0.020013],[0.042179,-0.997140,-0.062704],[-0.017385,-0.063483,0.997831]]
2025-10-26T22:23:47.825Z,1761517427.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.508370 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:47.827Z,1761517427.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.419060 m,
      bearing: 19.727138 deg,
      lat: 36.779403 deg,
      lon: -121.859441 deg,
      deltaT: 0.508370 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:23:47.832Z,1761517427.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-10-26T22:23:47.864Z,1761517427.864 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.838093
2025-10-26T22:23:48.119Z,1761517428.119 [DAT](INFO): DAT read: Rx Time:22:23:46.8786 

2025-10-26T22:23:48.119Z,1761517428.119 [DAT](INFO): Rx dataTimestamp_ set to:1761517428.118781
2025-10-26T22:23:48.120Z,1761517428.120 [DAT](INFO): DAT read: Bearing 154.4, -21.2 (Local)

2025-10-26T22:23:48.121Z,1761517428.121 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.4, -21.2 (Local)

2025-10-26T22:23:48.126Z,1761517428.126 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed2:23:46.8786 LVL= 32752, 21233, 3102, AGC= 58, IDX= 507,-0.00, 2.331,-1.820,-3.081,-2.888, PHS=-0.962, 1.113,-0.23309.9,   1.0, .9,  -2.3, ROT= 202.1,   2.3

2025-10-26T22:23:48.126Z,1761517428.126 [DAT](ERROR): #Rx 83: Read range message, but no direction.
2025-10-26T22:23:48.127Z,1761517428.127 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.101082
2025-10-26T22:23:48.211Z,1761517428.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999063,-0.040316,-0.015711],[0.041170,-0.997441,-0.058447],[-0.013315,-0.059039,0.998167]]
2025-10-26T22:23:48.310Z,1761517428.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.501305 s,
      deltaX: 0.500000 m,
      approachRate: 0.997397 m/s,
      rangeRepo size: 4

2025-10-26T22:23:48.311Z,1761517428.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-10-26T22:23:48.369Z,1761517428.369 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.342258
2025-10-26T22:23:48.625Z,1761517428.625 [DAT](INFO): DAT read: Rx Time:22:23:47.3786 

2025-10-26T22:23:48.626Z,1761517428.626 [DAT](INFO): Rx dataTimestamp_ set to:1761517428.625492
2025-10-26T22:23:48.631Z,1761517428.631 [DAT](INFO): DAT read: Bearing 153.1, -21.1 (Local)

2025-10-26T22:23:48.632Z,1761517428.632 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.1, -21.1 (Local)

2025-10-26T22:23:48.639Z,1761517428.639 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed -0.4

2025-10-26T22:23:48.727Z,1761517428.727 [DAT](INFO): DAT read: 22:23:47.3786 LVL= 32752, 22321, 32754, 32755, AGC= 59, IDX= 507, 0.17, 2.457,-1.720,-2.982,-2.750, PHS=-0.975, 1.074,-0.277, RAW= 310.4,   2.0, CAL= 308.2,  -1.2, ROT= 201.8,   1.2

2025-10-26T22:23:48.745Z,1761517428.745 [DAT](INFO): got valid direction response:
 22:23:47.3786 LVL= 32752, 22321, 32754, 32755, AGC= 59, IDX= 507, 0.17, 2.457,-1.720,-2.982,-2.750, PHS=-0.975, 1.074,-0.277, RAW= 310.4,   2.0, CAL= 308.2,  -1.2, ROT= 201.8,   1.2

2025-10-26T22:23:48.745Z,1761517428.745 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-10-26T22:23:48.746Z,1761517428.746 [DAT](INFO): direction in FSK: [-0.928282,-0.371286,-0.020942]
2025-10-26T22:23:48.747Z,1761517428.747 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:48.765Z,1761517428.765 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.738907
2025-10-26T22:23:48.770Z,1761517428.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999144,-0.039082,-0.013594],[0.039814,-0.997491,-0.058533],[-0.011272,-0.059024,0.998193]]
2025-10-26T22:23:48.872Z,1761517428.872 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.846111
2025-10-26T22:23:48.879Z,1761517428.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.506711 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:48.881Z,1761517428.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.916101 m,
      bearing: 19.550902 deg,
      lat: 36.779404 deg,
      lon: -121.859440 deg,
      deltaT: 1.008016 s,
      deltaX: 0.497041 m,
      approachRate: 0.493088 m/s,
      posRepo size: 4

2025-10-26T22:23:48.882Z,1761517428.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m.
2025-10-26T22:23:49.125Z,1761517429.125 [DAT](INFO): DAT read: Rx Time:22:23:47.8787 

2025-10-26T22:23:49.125Z,1761517429.125 [DAT](INFO): Rx dataTimestamp_ set to:1761517429.125141
2025-10-26T22:23:49.127Z,1761517429.127 [DAT](INFO): DAT read: Bearing 153.9, -20.9 (Local)

2025-10-26T22:23:49.127Z,1761517429.127 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.9, -20.9 (Local)

2025-10-26T22:23:49.129Z,1761517429.129 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed -0.3

2025-10-26T22:23:49.134Z,1761517429.134 [DAT](INFO): DAT read: 22:23:47.8787 LVL= 32752, 28593, 32754, 32755, AGC= 58, IDX= 508, 0.36, 2.863,-1.315,-2.582,-2.367, PHS=-0.951, 1.097,-0.258, RAW= 310.6,   1.3, CAL= 308.5,  -2.0, ROT= 201.5,   2.0

2025-10-26T22:23:49.135Z,1761517429.135 [DAT](INFO): got valid direction response:
 22:23:47.8787 LVL= 32752, 28593, 32754, 32755, AGC= 58, IDX= 508, 0.36, 2.863,-1.315,-2.582,-2.367, PHS=-0.951, 1.097,-0.258, RAW= 310.6,   1.3, CAL= 308.5,  -2.0, ROT= 201.5,   2.0

2025-10-26T22:23:49.135Z,1761517429.135 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-10-26T22:23:49.136Z,1761517429.136 [DAT](INFO): direction in FSK: [-0.929851,-0.366278,-0.034899]
2025-10-26T22:23:49.136Z,1761517429.136 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:49.140Z,1761517429.140 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.113625
2025-10-26T22:23:49.256Z,1761517429.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999229,-0.037579,-0.011378],[0.038181,-0.997566,-0.058341],[-0.009158,-0.058731,0.998232]]
2025-10-26T22:23:49.323Z,1761517429.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.499649 s,
      deltaX: 0.100000 m,
      approachRate: 0.200141 m/s,
      rangeRepo size: 4

2025-10-26T22:23:49.329Z,1761517429.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.015521 m,
      bearing: 19.385618 deg,
      lat: 36.779404 deg,
      lon: -121.859440 deg,
      deltaT: 0.499649 s,
      deltaX: 0.099421 m,
      approachRate: 0.198981 m/s,
      posRepo size: 4

2025-10-26T22:23:49.329Z,1761517429.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-10-26T22:23:49.378Z,1761517429.378 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.350845
2025-10-26T22:23:49.633Z,1761517429.633 [DAT](INFO): DAT read: Rx Time:22:23:48.3787 

2025-10-26T22:23:49.634Z,1761517429.634 [DAT](INFO): Rx dataTimestamp_ set to:1761517429.633087
2025-10-26T22:23:49.638Z,1761517429.638 [DAT](INFO): DAT read: Bearing 151.5, -21.5 (Local)

2025-10-26T22:23:49.639Z,1761517429.639 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.5, -21.5 (Local)

2025-10-26T22:23:49.669Z,1761517429.669 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed -0.4

2025-10-26T22:23:49.720Z,1761517429.720 [DAT](INFO): DAT read: 22:23:48.3787 LVL= 32752, 25777, 32754, 32755, AGC= 58, IDX= 509,-0.35,-0.127, 1.975, 0.710, 0.985, PHS=-1.009, 1.035,-0.318, RAW= 310.6,   3.3, CAL= 308.2,   0.3, ROT= 201.8,  -0.3

2025-10-26T22:23:49.721Z,1761517429.721 [DAT](INFO): got valid direction response:
 22:23:48.3787 LVL= 32752, 25777, 32754, 32755, AGC= 58, IDX= 509,-0.35,-0.127, 1.975, 0.710, 0.985, PHS=-1.009, 1.035,-0.318, RAW= 310.6,   3.3, CAL= 308.2,   0.3, ROT= 201.8,  -0.3

2025-10-26T22:23:49.722Z,1761517429.722 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-10-26T22:23:49.732Z,1761517429.732 [DAT](INFO): direction in FSK: [-0.928473,-0.371363,0.005236]
2025-10-26T22:23:49.732Z,1761517429.732 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:49.749Z,1761517429.749 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.722454
2025-10-26T22:23:49.750Z,1761517429.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999342,-0.035621,-0.006839],[0.035951,-0.997763,-0.056357],[-0.004816,-0.056566,0.998387]]
2025-10-26T22:23:49.880Z,1761517429.880 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.854031
2025-10-26T22:23:49.885Z,1761517429.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.507946 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:49.887Z,1761517429.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.015521 m,
      bearing: 19.695229 deg,
      lat: 36.779404 deg,
      lon: -121.859440 deg,
      deltaT: 0.507946 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:23:49.896Z,1761517429.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-10-26T22:23:50.133Z,1761517430.133 [DAT](INFO): DAT read: Rx Time:22:23:48.8790 

2025-10-26T22:23:50.133Z,1761517430.133 [DAT](INFO): Rx dataTimestamp_ set to:1761517430.133202
2025-10-26T22:23:50.135Z,1761517430.135 [DAT](INFO): DAT read: Bearing 154.1, -22.1 (Local)

2025-10-26T22:23:50.135Z,1761517430.135 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.1, -22.1 (Local)

2025-10-26T22:23:50.137Z,1761517430.137 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed -0.3

2025-10-26T22:23:50.145Z,1761517430.145 [DAT](INFO): DAT read: 22:23:48.8790 LVL= 32752, 20593, 28978, 32755, AGC= 59, IDX= 511,-0.14, 1.258,-2.891, 2.138, 2.332, PHS=-0.973, 1.105,-0.238, RAW= 309.6,   1.2, CAL= 307.6,  -2.1, ROT= 202.4,   2.1

2025-10-26T22:23:50.148Z,1761517430.148 [DAT](INFO): got valid direction response:
 22:23:48.8790 LVL= 32752, 20593, 28978, 32755, AGC= 59, IDX= 511,-0.14, 1.258,-2.891, 2.138, 2.332, PHS=-0.973, 1.105,-0.238, RAW= 309.6,   1.2, CAL= 307.6,  -2.1, ROT= 202.4,   2.1

2025-10-26T22:23:50.149Z,1761517430.149 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-10-26T22:23:50.150Z,1761517430.150 [DAT](INFO): direction in FSK: [-0.923925,-0.380814,-0.036644]
2025-10-26T22:23:50.150Z,1761517430.150 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:50.157Z,1761517430.157 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.130692
2025-10-26T22:23:50.308Z,1761517430.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999397,-0.034444,-0.004495],[0.034643,-0.997810,-0.056347],[-0.002545,-0.056468,0.998401]]
2025-10-26T22:23:50.333Z,1761517430.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.600000 m,
      deltaT: 0.500115 s,
      deltaX: 0.500000 m,
      approachRate: 0.999770 m/s,
      rangeRepo size: 4

2025-10-26T22:23:50.335Z,1761517430.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.512492 m,
      bearing: 20.491338 deg,
      lat: 36.779404 deg,
      lon: -121.859440 deg,
      deltaT: 0.500115 s,
      deltaX: 0.496971 m,
      approachRate: 0.993714 m/s,
      posRepo size: 4

2025-10-26T22:23:50.336Z,1761517430.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m.
2025-10-26T22:23:50.386Z,1761517430.386 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.359440
2025-10-26T22:23:50.642Z,1761517430.642 [DAT](INFO): DAT read: Rx Time:22:23:49.3790 

2025-10-26T22:23:50.645Z,1761517430.645 [DAT](INFO): Rx dataTimestamp_ set to:1761517430.643626
2025-10-26T22:23:50.651Z,1761517430.651 [DAT](INFO): DAT read: Bearing 153.0, -22.1 (Local)

2025-10-26T22:23:50.652Z,1761517430.652 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.0, -22.1 (Local)

2025-10-26T22:23:50.662Z,1761517430.662 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed -0.3

2025-10-26T22:23:50.713Z,1761517430.713 [DAT](INFO): DAT read: 22:23:49.3790 LVL= 32752, 22913, 31794, 32755, AGC= 59, IDX= 511, 0.00, 0.944, 3.065, 1.807, 2.036, PHS=-0.990, 1.075,-0.273, RAW= 310.0,   2.1, CAL= 307.8,  -1.1, ROT= 202.2,   1.1

2025-10-26T22:23:50.714Z,1761517430.714 [DAT](INFO): got valid direction response:
 22:23:49.3790 LVL= 32752, 22913, 31794, 32755, AGC= 59, IDX= 511, 0.00, 0.944, 3.065, 1.807, 2.036, PHS=-0.990, 1.075,-0.273, RAW= 310.0,   2.1, CAL= 307.8,  -1.1, ROT= 202.2,   1.1

2025-10-26T22:23:50.715Z,1761517430.715 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-10-26T22:23:50.728Z,1761517430.728 [DAT](INFO): direction in FSK: [-0.925700,-0.377771,-0.019197]
2025-10-26T22:23:50.729Z,1761517430.729 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:50.745Z,1761517430.745 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.718979
2025-10-26T22:23:50.753Z,1761517430.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999443,-0.033282,-0.002391],[0.033364,-0.997855,-0.056322],[-0.000511,-0.056371,0.998410]]
2025-10-26T22:23:50.866Z,1761517430.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.600000 m,
      deltaT: 0.510424 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:50.872Z,1761517430.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.512492 m,
      bearing: 20.313590 deg,
      lat: 36.779404 deg,
      lon: -121.859439 deg,
      deltaT: 0.510424 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:23:50.873Z,1761517430.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m.
2025-10-26T22:23:50.888Z,1761517430.888 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.862064
2025-10-26T22:23:51.143Z,1761517431.143 [DAT](INFO): DAT read: Rx Time:22:23:49.8791 

2025-10-26T22:23:51.144Z,1761517431.144 [DAT](INFO): Rx dataTimestamp_ set to:1761517431.143358
2025-10-26T22:23:51.146Z,1761517431.146 [DAT](INFO): DAT read: Bearing 161.8, -28.0 (Local)

2025-10-26T22:23:51.147Z,1761517431.147 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.8, -28.0 (Local)

2025-10-26T22:23:51.150Z,1761517431.150 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed -0.3

2025-10-26T22:23:51.180Z,1761517431.180 [DAT](INFO): DAT read: 22:23:49.8791 LVL= 32752, 19537, 25778, 32755, AGC= 59, IDX= 513, 0.12, 1.043,-3.087, 2.182, 2.045, PHS=-0.900, 1.197, 0.093, RAW= 301.8,  -4.3, CAL= 301.1,  -8.5, ROT= 208.9,   8.5

2025-10-26T22:23:51.181Z,1761517431.181 [DAT](INFO): got valid direction response:
 22:23:49.8791 LVL= 32752, 19537, 25778, 32755, AGC= 59, IDX= 513, 0.12, 1.043,-3.087, 2.182, 2.045, PHS=-0.900, 1.197, 0.093, RAW= 301.8,  -4.3, CAL= 301.1,  -8.5, ROT= 208.9,   8.5

2025-10-26T22:23:51.181Z,1761517431.181 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-10-26T22:23:51.182Z,1761517431.182 [DAT](INFO): direction in FSK: [-0.865848,-0.477974,-0.147809]
2025-10-26T22:23:51.182Z,1761517431.182 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:51.198Z,1761517431.198 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.172020
2025-10-26T22:23:51.310Z,1761517431.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.499732 s,
      deltaX: 0.299999 m,
      approachRate: 0.600320 m/s,
      rangeRepo size: 4

2025-10-26T22:23:51.318Z,1761517431.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.810687 m,
      bearing: 27.368906 deg,
      lat: 36.779403 deg,
      lon: -121.859437 deg,
      deltaT: 0.499732 s,
      deltaX: 0.298195 m,
      approachRate: 0.596710 m/s,
      posRepo size: 4

2025-10-26T22:23:51.324Z,1761517431.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-10-26T22:23:51.393Z,1761517431.393 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.366299
2025-10-26T22:23:51.647Z,1761517431.647 [DAT](INFO): DAT read: Rx Time:22:23:50.3791 

2025-10-26T22:23:51.647Z,1761517431.647 [DAT](INFO): Rx dataTimestamp_ set to:1761517431.646931
2025-10-26T22:23:51.650Z,1761517431.650 [DAT](INFO): DAT read: Bearing 168.7, -19.2 (Local)

2025-10-26T22:23:51.650Z,1761517431.650 [DAT](INFO): Local bearing/azimuth received:
 Bearing 168.7, -19.2 (Local)

2025-10-26T22:23:51.664Z,1761517431.664 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed -0.3

2025-10-26T22:23:51.725Z,1761517431.725 [DAT](INFO): DAT read: 22:23:50.3791 LVL= 32752, 24513, 32754, 32755, AGC= 61, IDX= 513, 0.27,-0.368, 1.687, 0.517, 0.293, PHS=-0.559, 1.439, 0.180, RAW= 308.6, -12.1, CAL= 309.2, -16.1, ROT= 200.8,  16.1

2025-10-26T22:23:51.726Z,1761517431.726 [DAT](INFO): got valid direction response:
 22:23:50.3791 LVL= 32752, 24513, 32754, 32755, AGC= 61, IDX= 513, 0.27,-0.368, 1.687, 0.517, 0.293, PHS=-0.559, 1.439, 0.180, RAW= 308.6, -12.1, CAL= 309.2, -16.1, ROT= 200.8,  16.1

2025-10-26T22:23:51.727Z,1761517431.727 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-10-26T22:23:51.736Z,1761517431.736 [DAT](INFO): direction in FSK: [-0.898161,-0.341179,-0.277315]
2025-10-26T22:23:51.736Z,1761517431.736 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:51.748Z,1761517431.748 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.721855
2025-10-26T22:23:51.761Z,1761517431.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999504,-0.031247,0.003863],[0.030990,-0.998027,-0.054612],[0.005561,-0.054465,0.998500]]
2025-10-26T22:23:51.848Z,1761517431.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.503573 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:51.850Z,1761517431.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.810687 m,
      bearing: 19.865195 deg,
      lat: 36.779402 deg,
      lon: -121.859437 deg,
      deltaT: 0.503573 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:23:51.850Z,1761517431.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-10-26T22:23:51.897Z,1761517431.897 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.870747
2025-10-26T22:23:52.150Z,1761517432.150 [DAT](INFO): DAT read: Rx Time:22:23:50.8793 

2025-10-26T22:23:52.151Z,1761517432.151 [DAT](INFO): Rx dataTimestamp_ set to:1761517432.150552
2025-10-26T22:23:52.153Z,1761517432.153 [DAT](INFO): DAT read: Bearing 152.9, -22.2 (Local)

2025-10-26T22:23:52.154Z,1761517432.154 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.9, -22.2 (Local)

2025-10-26T22:23:52.157Z,1761517432.157 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed -0.3

2025-10-26T22:23:52.166Z,1761517432.166 [DAT](INFO): DAT read: 22:23:50.8793 LVL= 32752, 20177, 28082, 32755, AGC= 61, IDX=   3, 0.43,-2.932,-0.826,-2.085,-1.850, PHS=-0.980, 1.069,-0.279, RAW= 310.3,   2.1, CAL= 308.1,  -1.0, ROT= 201.9,   1.0

2025-10-26T22:23:52.171Z,1761517432.171 [DAT](INFO): got valid direction response:
 22:23:50.8793 LVL= 32752, 20177, 28082, 32755, AGC= 61, IDX=   3, 0.43,-2.932,-0.826,-2.085,-1.850, PHS=-0.980, 1.069,-0.279, RAW= 310.3,   2.1, CAL= 308.1,  -1.0, ROT= 201.9,   1.0

2025-10-26T22:23:52.172Z,1761517432.172 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-10-26T22:23:52.173Z,1761517432.173 [DAT](INFO): direction in FSK: [-0.927695,-0.372931,-0.017452]
2025-10-26T22:23:52.173Z,1761517432.173 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:52.188Z,1761517432.188 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.161732
2025-10-26T22:23:52.232Z,1761517432.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999491,-0.031375,0.005783],[0.031015,-0.998041,-0.054331],[0.007476,-0.054124,0.998506]]
2025-10-26T22:23:52.275Z,1761517432.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.503621 s,
      deltaX: 0.300000 m,
      approachRate: 0.595686 m/s,
      rangeRepo size: 4

2025-10-26T22:23:52.283Z,1761517432.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.108925 m,
      bearing: 20.143918 deg,
      lat: 36.779403 deg,
      lon: -121.859437 deg,
      deltaT: 0.503621 s,
      deltaX: 0.298238 m,
      approachRate: 0.592187 m/s,
      posRepo size: 4

2025-10-26T22:23:52.287Z,1761517432.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m.
2025-10-26T22:23:52.400Z,1761517432.400 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.374043
2025-10-26T22:23:52.659Z,1761517432.659 [DAT](INFO): DAT read: Rx Time:22:23:51.3793 

2025-10-26T22:23:52.661Z,1761517432.661 [DAT](INFO): Rx dataTimestamp_ set to:1761517432.659824
2025-10-26T22:23:52.666Z,1761517432.666 [DAT](INFO): DAT read: Bearing 152.4, -22.8 (Local)

2025-10-26T22:23:52.667Z,1761517432.667 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.4, -22.8 (Local)

2025-10-26T22:23:52.675Z,1761517432.675 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed -0.3

2025-10-26T22:23:52.723Z,1761517432.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999459,-0.031971,0.007675],[0.031502,-0.997994,-0.054917],[0.009415,-0.054645,0.998461]]
2025-10-26T22:23:52.724Z,1761517432.724 [DAT](INFO): DAT read: 22:23:51.3793 LVL= 32752, 26065, 32754, 32755, AGC= 60, IDX= 500,-0.35, 0.035, 2.149, 0.897, 1.140, PHS=-1.002, 1.054,-0.287, RAW= 310.0,   2.6, CAL= 307.6,  -0.6, ROT= 202.4,   0.6

2025-10-26T22:23:52.726Z,1761517432.726 [DAT](INFO): got valid direction response:
 22:23:51.3793 LVL= 32752, 26065, 32754, 32755, AGC= 60, IDX= 500,-0.35, 0.035, 2.149, 0.897, 1.140, PHS=-1.002, 1.054,-0.287, RAW= 310.0,   2.6, CAL= 307.6,  -0.6, ROT= 202.4,   0.6

2025-10-26T22:23:52.726Z,1761517432.726 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-10-26T22:23:52.740Z,1761517432.740 [DAT](INFO): direction in FSK: [-0.924495,-0.381049,-0.010472]
2025-10-26T22:23:52.740Z,1761517432.740 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:52.752Z,1761517432.752 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.725838
2025-10-26T22:23:52.814Z,1761517432.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.509272 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:52.820Z,1761517432.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.108925 m,
      bearing: 20.593585 deg,
      lat: 36.779403 deg,
      lon: -121.859437 deg,
      deltaT: 0.509272 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:23:52.821Z,1761517432.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m.
2025-10-26T22:23:52.904Z,1761517432.904 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.878101
2025-10-26T22:23:53.165Z,1761517433.165 [DAT](INFO): DAT read: Rx Time:22:23:51.8794 

2025-10-26T22:23:53.166Z,1761517433.166 [DAT](INFO): Rx dataTimestamp_ set to:1761517433.165272
2025-10-26T22:23:53.169Z,1761517433.169 [DAT](INFO): DAT read: Bearing 152.7, -23.1 (Local)

2025-10-26T22:23:53.169Z,1761517433.169 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.7, -23.1 (Local)

2025-10-26T22:23:53.171Z,1761517433.171 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed -0.3

2025-10-26T22:23:53.197Z,1761517433.197 [DAT](INFO): DAT read: 22:23:51.8794 L2, 25329, 31218, 32755, AGC= 59, IDX= 501,-0.21,-0.197, 1.931, 0.678, 0.912, PHS=-1.007, 1.064,-0.278, RAW= 309.7,   2.5, CAL= 307.4,  -0.8, ROT= 202.6,   0.8

2025-10-26T22:23:53.197Z,1761517433.197 [DAT](INFO): unknown deviceResponse_: 22:23:51.8794 L2, 25329, 31218, 32755, AGC= 59, IDX= 501,-0.21,-0.197, 1.931, 0.678, 0.912, PHS=-1.007, 1.064,-0.278, RAW= 309.7,   2.5, CAL= 307.4,  -0.8, ROT= 202.6,   0.8

2025-10-26T22:23:53.198Z,1761517433.198 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-10-26T22:23:53.199Z,1761517433.199 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.172153
2025-10-26T22:23:53.220Z,1761517433.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999427,-0.032492,0.009467],[0.031912,-0.997919,-0.056020],[0.011268,-0.055686,0.998385]]
2025-10-26T22:23:53.260Z,1761517433.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.505448 s,
      deltaX: 0.100000 m,
      approachRate: 0.197845 m/s,
      rangeRepo size: 4

2025-10-26T22:23:53.261Z,1761517433.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m.
2025-10-26T22:23:53.409Z,1761517433.409 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.382309
2025-10-26T22:23:53.606Z,1761517433.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999378,-0.033423,0.011258],[0.032746,-0.997908,-0.055748],[0.013097,-0.055345,0.998381]]
2025-10-26T22:23:53.643Z,1761517433.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m.
2025-10-26T22:23:53.663Z,1761517433.663 [DAT](INFO): DAT read: Rx Time:22:23:52.3795 

2025-10-26T22:23:53.664Z,1761517433.664 [DAT](INFO): Rx dataTimestamp_ set to:1761517433.663363
2025-10-26T22:23:53.667Z,1761517433.667 [DAT](INFO): DAT read: Bearing 152.2, -23.2 (Local)

2025-10-26T22:23:53.668Z,1761517433.668 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.2, -23.2 (Local)

2025-10-26T22:23:53.672Z,1761517433.672 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed -0.3

2025-10-26T22:23:53.682Z,1761517433.682 [DAT](INFO): DAT read: 22:23:52.3795 LVL= 32752, 25121, 32754, 32755, AGC= 60, IDX= 501,-0.10,-1.756, 0.357,-0.893,-0.645, PHS=-1.009, 1.047,-0.292, RAW= 309.9,   2.8, CAL= 307.5,  -0.4, ROT= 202.5,   0.4

2025-10-26T22:23:53.694Z,1761517433.694 [DAT](INFO): got valid direction response:
 22:23:52.3795 LVL= 32752, 25121, 32754, 32755, AGC= 60, IDX= 501,-0.10,-1.756, 0.357,-0.893,-0.645, PHS=-1.009, 1.047,-0.292, RAW= 309.9,   2.8, CAL= 307.5,  -0.4, ROT= 202.5,   0.4

2025-10-26T22:23:53.695Z,1761517433.695 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-10-26T22:23:53.715Z,1761517433.715 [DAT](INFO): direction in FSK: [-0.923857,-0.382674,-0.006981]
2025-10-26T22:23:53.716Z,1761517433.716 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:53.752Z,1761517433.752 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.726048
2025-10-26T22:23:53.912Z,1761517433.912 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.885876
2025-10-26T22:23:54.166Z,1761517434.166 [DAT](INFO): DAT read: Rx Time:22:23:52.8797 

2025-10-26T22:23:54.167Z,1761517434.167 [DAT](INFO): Rx dataTimestamp_ set to:1761517434.166665
2025-10-26T22:23:54.168Z,1761517434.168 [DAT](INFO): DAT read: Bearing 152.3, -23.2 (Local)

2025-10-26T22:23:54.169Z,1761517434.169 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.3, -23.2 (Local)

2025-10-26T22:23:54.171Z,1761517434.171 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed -0.3

2025-10-26T22:23:54.176Z,1761517434.176 [DAT](INFO): DAT read: 22:23:52.8797 LVL= 32752, 23873, 32754, 32755, AGC= 59, IDX= 503,-0.01,-0.250, 1.863, 0.612, 0.857, PHS=-1.005, 1.051,-0.289, RAW= 309.9,   2.7, CAL= 307.6,  -0.5, ROT= 202.4,   0.5

2025-10-26T22:23:54.177Z,1761517434.177 [DAT](INFO): got valid direction response:
 22:23:52.8797 LVL= 32752, 23873, 32754, 32755, AGC= 59, IDX= 503,-0.01,-0.250, 1.863, 0.612, 0.857, PHS=-1.005, 1.051,-0.289, RAW= 309.9,   2.7, CAL= 307.6,  -0.5, ROT= 202.4,   0.5

2025-10-26T22:23:54.177Z,1761517434.177 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-10-26T22:23:54.178Z,1761517434.178 [DAT](INFO): direction in FSK: [-0.924511,-0.381056,-0.008727]
2025-10-26T22:23:54.178Z,1761517434.178 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:54.190Z,1761517434.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 1.001393 s,
      deltaX: 0.500000 m,
      approachRate: 0.499304 m/s,
      rangeRepo size: 4

2025-10-26T22:23:54.198Z,1761517434.198 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.171406
2025-10-26T22:23:54.199Z,1761517434.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.407096 m,
      bearing: 20.610374 deg,
      lat: 36.779403 deg,
      lon: -121.859437 deg,
      deltaT: 1.003539 s,
      deltaX: 0.298171 m,
      approachRate: 0.297120 m/s,
      posRepo size: 4

2025-10-26T22:23:54.200Z,1761517434.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m.
2025-10-26T22:23:54.416Z,1761517434.416 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.390091
2025-10-26T22:23:54.538Z,1761517434.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m.
2025-10-26T22:23:54.672Z,1761517434.672 [DAT](INFO): DAT read: Rx Time:22:23:53.3797 

2025-10-26T22:23:54.672Z,1761517434.672 [DAT](INFO): Rx dataTimestamp_ set to:1761517434.672092
2025-10-26T22:23:54.674Z,1761517434.674 [DAT](INFO): DAT read: Bearing 152.3, -23.5 (Local)

2025-10-26T22:23:54.674Z,1761517434.674 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.3, -23.5 (Local)

2025-10-26T22:23:54.676Z,1761517434.676 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed -0.3

2025-10-26T22:23:54.681Z,1761517434.681 [DAT](INFO): DAT read: 22:23:53.3797 LVL= 32752, 23121, 32754, 32755, AGC= 59, IDX= 503, 0.06,-0.467, 1.648, 0.398, 0.643, PHS=-1.008, 1.050,-0.289, RAW= 309.9,   2.8, CAL= 307.5,  -0.4, ROT= 202.5,   0.4

2025-10-26T22:23:54.693Z,1761517434.693 [DAT](INFO): got valid direction response:
 22:23:53.3797 LVL= 32752, 23121, 32754, 32755, AGC= 59, IDX= 503, 0.06,-0.467, 1.648, 0.398, 0.643, PHS=-1.008, 1.050,-0.289, RAW= 309.9,   2.8, CAL= 307.5,  -0.4, ROT= 202.5,   0.4

2025-10-26T22:23:54.694Z,1761517434.694 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-10-26T22:23:54.702Z,1761517434.702 [DAT](INFO): direction in FSK: [-0.923857,-0.382674,-0.006981]
2025-10-26T22:23:54.729Z,1761517434.729 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:54.758Z,1761517434.758 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.732048
2025-10-26T22:23:54.924Z,1761517434.924 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.897861
2025-10-26T22:23:54.928Z,1761517434.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.505427 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:54.930Z,1761517434.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.705285 m,
      bearing: 20.610374 deg,
      lat: 36.779403 deg,
      lon: -121.859438 deg,
      deltaT: 1.008729 s,
      deltaX: 0.298189 m,
      approachRate: 0.295609 m/s,
      posRepo size: 4

2025-10-26T22:23:54.930Z,1761517434.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.71 m.
2025-10-26T22:23:55.174Z,1761517435.174 [DAT](INFO): DAT read: Rx Time:22:23:53.8799 

2025-10-26T22:23:55.174Z,1761517435.174 [DAT](INFO): Rx dataTimestamp_ set to:1761517435.173809
2025-10-26T22:23:55.176Z,1761517435.176 [DAT](INFO): DAT read: Bearing 152.0, -23.8 (Local)

2025-10-26T22:23:55.176Z,1761517435.176 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.0, -23.8 (Local)

2025-10-26T22:23:55.178Z,1761517435.178 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed -0.3

2025-10-26T22:23:55.195Z,1761517435.195 [DAT](INFO): DAT read: 22:23:53.8799 LVL= 32752, 25201, 32754, 32755, AGC= 58, IDX= 505, 0.14, 0.332, 2.444, 1.198, 1.451, PHS=-1.016, 1.038,-0.297, RAW= 309.8,   3.1, CAL= 307.4,  -0.1, ROT= 202.6,   0.1

2025-10-26T22:23:55.196Z,1761517435.196 [DAT](INFO): got valid direction response:
 22:23:53.8799 LVL= 32752, 25201, 32754, 32755, AGC= 58, IDX= 505, 0.14, 0.332, 2.444, 1.198, 1.451, PHS=-1.016, 1.038,-0.297, RAW= 309.8,   3.1, CAL= 307.4,  -0.1, ROT= 202.6,   0.1

2025-10-26T22:23:55.196Z,1761517435.196 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-10-26T22:23:55.197Z,1761517435.197 [DAT](INFO): direction in FSK: [-0.923209,-0.384295,-0.001745]
2025-10-26T22:23:55.197Z,1761517435.197 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:55.205Z,1761517435.205 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.178738
2025-10-26T22:23:55.243Z,1761517435.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999047,-0.039758,0.018026],[0.038718,-0.997747,-0.054788],[0.020163,-0.054038,0.998335]]
2025-10-26T22:23:55.293Z,1761517435.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.501717 s,
      deltaX: 0.300000 m,
      approachRate: 0.597947 m/s,
      rangeRepo size: 4

2025-10-26T22:23:55.295Z,1761517435.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.003517 m,
      bearing: 20.351573 deg,
      lat: 36.779403 deg,
      lon: -121.859439 deg,
      deltaT: 0.501717 s,
      deltaX: 0.298232 m,
      approachRate: 0.594423 m/s,
      posRepo size: 4

2025-10-26T22:23:55.295Z,1761517435.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-10-26T22:23:55.424Z,1761517435.424 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.398037
2025-10-26T22:23:55.655Z,1761517435.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998957,-0.041351,0.019351],[0.040220,-0.997643,-0.055596],[0.021604,-0.054760,0.998266]]
2025-10-26T22:23:55.677Z,1761517435.677 [DAT](INFO): DAT read: Rx Time:22:23:54.3799 

2025-10-26T22:23:55.678Z,1761517435.678 [DAT](INFO): Rx dataTimestamp_ set to:1761517435.677508
2025-10-26T22:23:55.679Z,1761517435.679 [DAT](INFO): DAT read: Bearing 152.9, -23.9 (Local)

2025-10-26T22:23:55.680Z,1761517435.680 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.9, -23.9 (Local)

2025-10-26T22:23:55.682Z,1761517435.682 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed -0.3

2025-10-26T22:23:55.686Z,1761517435.686 [DAT](INFO): DAT read: 22:23:54.3799 LVL= 32752, 26033, 32642, 32755, AGC= 58, IDX= 505, 0.21,-0.587, 1.542, 0.291, 0.521, PHS=-1.006, 1.066,-0.274, RAW= 309.6,   2.4, CAL= 307.3,  -0.9, ROT= 202.7,   0.9

2025-10-26T22:23:55.688Z,1761517435.688 [DAT](INFO): got valid direction response:
 22:23:54.3799 LVL= 32752, 26033, 32642, 32755, AGC= 58, IDX= 505, 0.21,-0.587, 1.542, 0.291, 0.521, PHS=-1.006, 1.066,-0.274, RAW= 309.6,   2.4, CAL= 307.3,  -0.9, ROT= 202.7,   0.9

2025-10-26T22:23:55.688Z,1761517435.688 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-10-26T22:23:55.689Z,1761517435.689 [DAT](INFO): direction in FSK: [-0.922424,-0.385858,-0.015707]
2025-10-26T22:23:55.689Z,1761517435.689 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:55.693Z,1761517435.693 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.666470
2025-10-26T22:23:55.780Z,1761517435.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.503699 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:55.782Z,1761517435.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.003517 m,
      bearing: 20.411425 deg,
      lat: 36.779404 deg,
      lon: -121.859439 deg,
      deltaT: 0.503699 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:23:55.782Z,1761517435.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-10-26T22:23:55.928Z,1761517435.928 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.902088
2025-10-26T22:23:56.050Z,1761517436.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998859,-0.042985,0.020829],[0.041789,-0.997623,-0.054797],[0.023135,-0.053864,0.998280]]
2025-10-26T22:23:56.126Z,1761517436.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-10-26T22:23:56.181Z,1761517436.181 [DAT](INFO): DAT read: Rx Time:22:23:54.8800 

2025-10-26T22:23:56.181Z,1761517436.181 [DAT](INFO): Rx dataTimestamp_ set to:1761517436.181190
2025-10-26T22:23:56.183Z,1761517436.183 [DAT](INFO): DAT read: Bearing 152.3, -24.2 (Local)

2025-10-26T22:23:56.184Z,1761517436.184 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.3, -24.2 (Local)

2025-10-26T22:23:56.186Z,1761517436.186 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed -0.3

2025-10-26T22:23:56.198Z,1761517436.198 [DAT](INFO): DAT read: 22:23:54.8800 LVL= 32752, 26321, 32754, 32755, AGC= 59, IDX= 506, 0.29,-0.152, 1.963, 0.724, 0.968, PHS=-1.018, 1.041,-0.288, RAW= 309.5,   3.0, CAL= 307.1,  -0.2, ROT= 202.9,   0.2

2025-10-26T22:23:56.204Z,1761517436.204 [DAT](INFO): got valid direction response:
 22:23:54.8800 LVL= 32752, 26321, 32754, 32755, AGC= 59, IDX= 506, 0.29,-0.152, 1.963, 0.724, 0.968, PHS=-1.018, 1.041,-0.288, RAW= 309.5,   3.0, CAL= 307.1,  -0.2, ROT= 202.9,   0.2

2025-10-26T22:23:56.205Z,1761517436.205 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-10-26T22:23:56.206Z,1761517436.206 [DAT](INFO): direction in FSK: [-0.921180,-0.389121,-0.003491]
2025-10-26T22:23:56.207Z,1761517436.207 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:56.220Z,1761517436.220 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.193977
2025-10-26T22:23:56.433Z,1761517436.433 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.406296
2025-10-26T22:23:56.505Z,1761517436.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998777,-0.044194,0.022186],[0.042929,-0.997585,-0.054600],[0.024545,-0.053581,0.998262]]
2025-10-26T22:23:56.672Z,1761517436.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.503682 s,
      deltaX: 0.100000 m,
      approachRate: 0.198539 m/s,
      rangeRepo size: 4

2025-10-26T22:23:56.674Z,1761517436.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.102922 m,
      bearing: 20.415881 deg,
      lat: 36.779404 deg,
      lon: -121.859440 deg,
      deltaT: 0.503682 s,
      deltaX: 0.099405 m,
      approachRate: 0.197357 m/s,
      posRepo size: 4

2025-10-26T22:23:56.675Z,1761517436.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-10-26T22:23:56.685Z,1761517436.685 [DAT](INFO): DAT read: Rx Time:22:23:55.3800 

2025-10-26T22:23:56.686Z,1761517436.686 [DAT](INFO): Rx dataTimestamp_ set to:1761517436.685229
2025-10-26T22:23:56.687Z,1761517436.687 [DAT](INFO): DAT read: Bearing 153.1, -24.5 (Local)

2025-10-26T22:23:56.687Z,1761517436.687 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.1, -24.5 (Local)

2025-10-26T22:23:56.689Z,1761517436.689 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed -0.3

2025-10-26T22:23:56.694Z,1761517436.694 [DAT](INFO): DAT read: 22:23:55.3800 LVL= 32752, 23489, 32754, 32755, AGC= 59, IDX= 506, 0.33,-1.035, 1.102,-0.140, 0.080, PHS=-1.012, 1.067,-0.264, RAW= 309.2,   2.3, CAL= 306.9,  -1.0, ROT= 203.1,   1.0

2025-10-26T22:23:56.696Z,1761517436.696 [DAT](INFO): got valid direction response:
 22:23:55.3800 LVL= 32752, 23489, 32754, 32755, AGC= 59, IDX= 506, 0.33,-1.035, 1.102,-0.140, 0.080, PHS=-1.012, 1.067,-0.264, RAW= 309.2,   2.3, CAL= 306.9,  -1.0, ROT= 203.1,   1.0

2025-10-26T22:23:56.697Z,1761517436.697 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-10-26T22:23:56.705Z,1761517436.705 [DAT](INFO): direction in FSK: [-0.919681,-0.392277,-0.017452]
2025-10-26T22:23:56.705Z,1761517436.705 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:56.767Z,1761517436.767 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.739525
2025-10-26T22:23:56.936Z,1761517436.936 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.910019
2025-10-26T22:23:57.040Z,1761517437.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998664,-0.045300,0.024880],[0.043865,-0.997497,-0.055464],[0.027331,-0.054299,0.998151]]
2025-10-26T22:23:57.152Z,1761517437.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.504039 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:57.155Z,1761517437.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.102922 m,
      bearing: 20.609754 deg,
      lat: 36.779403 deg,
      lon: -121.859440 deg,
      deltaT: 0.504039 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:23:57.161Z,1761517437.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-10-26T22:23:57.191Z,1761517437.191 [DAT](INFO): DAT read: Rx Time:22:23:55.8802 

2025-10-26T22:23:57.192Z,1761517437.192 [DAT](INFO): Rx dataTimestamp_ set to:1761517437.191282
2025-10-26T22:23:57.193Z,1761517437.193 [DAT](INFO): DAT read: Bearing 153.7, -24.8 (Local)

2025-10-26T22:23:57.193Z,1761517437.193 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.7, -24.8 (Local)

2025-10-26T22:23:57.200Z,1761517437.200 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed -0.3

2025-10-26T22:23:57.206Z,1761517437.206 [DAT](INFO): DAT read: 22:23:55.8802 LVL= 32752, 23617, 30034, 32755, AGC= 61, IDX= 508, 0.44,-0.241, 1.906, 0.670, 0.868, PHS=-1.007, 1.083,-0.242, RAW= 308.8,   1.8, CAL= 306.6,  -1.5, ROT= 203.4,   1.5

2025-10-26T22:23:57.212Z,1761517437.212 [DAT](INFO): got valid direction response:
 22:23:55.8802 LVL= 32752, 23617, 30034, 32755, AGC= 61, IDX= 508, 0.44,-0.241, 1.906, 0.670, 0.868, PHS=-1.007, 1.083,-0.242, RAW= 308.8,   1.8, CAL= 306.6,  -1.5, ROT= 203.4,   1.5

2025-10-26T22:23:57.212Z,1761517437.212 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-10-26T22:23:57.213Z,1761517437.213 [DAT](INFO): direction in FSK: [-0.917440,-0.397012,-0.026177]
2025-10-26T22:23:57.213Z,1761517437.213 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:57.217Z,1761517437.217 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.190842
2025-10-26T22:23:57.440Z,1761517437.440 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.414104
2025-10-26T22:23:57.442Z,1761517437.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998619,-0.045535,0.026213],[0.044053,-0.997538,-0.054567],[0.028633,-0.053337,0.998166]]
2025-10-26T22:23:57.543Z,1761517437.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.506053 s,
      deltaX: 0.299999 m,
      approachRate: 0.592822 m/s,
      rangeRepo size: 4

2025-10-26T22:23:57.549Z,1761517437.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.401146 m,
      bearing: 20.929600 deg,
      lat: 36.779404 deg,
      lon: -121.859441 deg,
      deltaT: 0.506053 s,
      deltaX: 0.298223 m,
      approachRate: 0.589313 m/s,
      posRepo size: 4

2025-10-26T22:23:57.550Z,1761517437.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-10-26T22:23:57.693Z,1761517437.693 [DAT](INFO): DAT read: Rx Time:22:23:56.3802 

2025-10-26T22:23:57.694Z,1761517437.694 [DAT](INFO): Rx dataTimestamp_ set to:1761517437.693326
2025-10-26T22:23:57.695Z,1761517437.695 [DAT](INFO): DAT read: Bearing 153.9, -24.8 (Local)

2025-10-26T22:23:57.695Z,1761517437.695 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.9, -24.8 (Local)

2025-10-26T22:23:57.698Z,1761517437.698 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed -0.3

2025-10-26T22:23:57.705Z,1761517437.705 [DAT](INFO): DAT read: 22:23:56.3802 LVL= 32752, 25777, 30194, 32755, AGC= 62, IDX= 509,-0.43,-2.526,-0.383,-1.616,-1.426, PHS=-0.998, 1.088,-0.233, RAW= 308.8,   1.6, CAL= 306.7,  -1.8, ROT= 203.3,   1.8

2025-10-26T22:23:57.706Z,1761517437.706 [DAT](INFO): got valid direction response:
 22:23:56.3802 LVL= 32752, 25777, 30194, 32755, AGC= 62, IDX= 509,-0.43,-2.526,-0.383,-1.616,-1.426, PHS=-0.998, 1.088,-0.233, RAW= 308.8,   1.6, CAL= 306.7,  -1.8, ROT= 203.3,   1.8

2025-10-26T22:23:57.707Z,1761517437.707 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-10-26T22:23:57.709Z,1761517437.709 [DAT](INFO): direction in FSK: [-0.917993,-0.395350,-0.031411]
2025-10-26T22:23:57.709Z,1761517437.709 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:57.718Z,1761517437.718 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.691967
2025-10-26T22:23:57.838Z,1761517437.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998621,-0.044933,0.027133],[0.043405,-0.997571,-0.054487],[0.029516,-0.053234,0.998146]]
2025-10-26T22:23:57.947Z,1761517437.947 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.920235
2025-10-26T22:23:57.955Z,1761517437.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.502044 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:58.012Z,1761517438.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.401146 m,
      bearing: 20.885719 deg,
      lat: 36.779403 deg,
      lon: -121.859441 deg,
      deltaT: 0.502044 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:23:58.012Z,1761517438.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-10-26T22:23:58.197Z,1761517438.197 [DAT](INFO): DAT read: Rx Time:22:23:56.8804 

2025-10-26T22:23:58.197Z,1761517438.197 [DAT](INFO): Rx dataTimestamp_ set to:1761517438.197202
2025-10-26T22:23:58.199Z,1761517438.199 [DAT](INFO): DAT read: Bearing 153.5, -25.3 (Local)

2025-10-26T22:23:58.199Z,1761517438.199 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.5, -25.3 (Local)

2025-10-26T22:23:58.205Z,1761517438.205 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed -0.2

2025-10-26T22:23:58.215Z,1761517438.215 [DAT](INFO): DAT read: 22:23:56.8804 LVL= 32752, 24801, 2755, AGC= 62, IDX= 511,-0.35,-1.344, 0.801,-0.423,-0.228, PHS=-1.014, 1.074,-0.239, RAW= 308.5,   2.0, CAL= 306.3,  -1.4, ROT= 203.7,   1.4

2025-10-26T22:23:58.224Z,1761517438.224 [DAT](INFO): unknown deviceResponse_: 22:23:56.8804 LVL= 32752, 24801, 2755, AGC= 62, IDX= 511,-0.35,-1.344, 0.801,-0.423,-0.228, PHS=-1.014, 1.074,-0.239, RAW= 308.5,   2.0, CAL= 306.3,  -1.4, ROT= 203.7,   1.4

2025-10-26T22:23:58.224Z,1761517438.224 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-10-26T22:23:58.226Z,1761517438.226 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.199265
2025-10-26T22:23:58.305Z,1761517438.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.503876 s,
      deltaX: 0.299999 m,
      approachRate: 0.595383 m/s,
      rangeRepo size: 4

2025-10-26T22:23:58.305Z,1761517438.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-10-26T22:23:58.452Z,1761517438.452 [DAT](INFO): DAT read: Rx Time:22:23:57.3804 

2025-10-26T22:23:58.453Z,1761517438.453 [DAT](INFO): Rx dataTimestamp_ set to:1761517438.452154
2025-10-26T22:23:58.456Z,1761517438.456 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.428387
2025-10-26T22:23:58.662Z,1761517438.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998649,-0.043310,0.028729],[0.041698,-0.997640,-0.054541],[0.031023,-0.053269,0.998098]]
2025-10-26T22:23:58.702Z,1761517438.702 [DAT](INFO): DAT read: Bearing 153.7, -25.4 (Local)

2025-10-26T22:23:58.702Z,1761517438.702 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.7, -25.4 (Local)

2025-10-26T22:23:58.705Z,1761517438.705 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed -0.3

2025-10-26T22:23:58.712Z,1761517438.712 [DAT](INFO): DAT read: 22:23:57.3804 LVL= 32752, 24721, 29938, 32755, AGC= 62, IDX= 511,-0.31,-2.791,-0.644,-1.869,-1.681, PHS=-1.008, 1.081,-0.233, RAW= 308.5,   1.8, CAL= 306.3,  -1.6, ROT= 203.7,   1.6

2025-10-26T22:23:58.714Z,1761517438.714 [DAT](INFO): got valid direction response:
 22:23:57.3804 LVL= 32752, 24721, 29938, 32755, AGC= 62, IDX= 511,-0.31,-2.791,-0.644,-1.869,-1.681, PHS=-1.008, 1.081,-0.233, RAW= 308.5,   1.8, CAL= 306.3,  -1.6, ROT= 203.7,   1.6

2025-10-26T22:23:58.714Z,1761517438.714 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-10-26T22:23:58.718Z,1761517438.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-10-26T22:23:58.720Z,1761517438.720 [DAT](INFO): direction in FSK: [-0.915306,-0.401791,-0.027922]
2025-10-26T22:23:58.720Z,1761517438.720 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:58.733Z,1761517438.733 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.707108
2025-10-26T22:23:58.956Z,1761517438.956 [DAT](INFO): DAT read: Rx Time:22:23:57.8806 

2025-10-26T22:23:58.957Z,1761517438.957 [DAT](INFO): Rx dataTimestamp_ set to:1761517438.956400
2025-10-26T22:23:58.960Z,1761517438.960 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.932648
2025-10-26T22:23:59.058Z,1761517439.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998674,-0.041984,0.029794],[0.040320,-0.997705,-0.054401],[0.032010,-0.053127,0.998075]]
2025-10-26T22:23:59.170Z,1761517439.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.503018 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:23:59.176Z,1761517439.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.699368 m,
      bearing: 21.451726 deg,
      lat: 36.779403 deg,
      lon: -121.859441 deg,
      deltaT: 1.006894 s,
      deltaX: 0.298222 m,
      approachRate: 0.296180 m/s,
      posRepo size: 4

2025-10-26T22:23:59.176Z,1761517439.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-10-26T22:23:59.205Z,1761517439.205 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed -0.2

2025-10-26T22:23:59.206Z,1761517439.206 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-10-26T22:23:59.207Z,1761517439.207 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.180187
2025-10-26T22:23:59.460Z,1761517439.460 [DAT](INFO): DAT read: Rx Time:22:23:58.3806 

2025-10-26T22:23:59.461Z,1761517439.461 [DAT](INFO): Rx dataTimestamp_ set to:1761517439.460147
2025-10-26T22:23:59.465Z,1761517439.465 [DAT](INFO): DAT read: Bearing 151.2, -28.6 (Local)

2025-10-26T22:23:59.465Z,1761517439.465 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.2, -28.6 (Local)

2025-10-26T22:23:59.468Z,1761517439.468 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.440487
2025-10-26T22:23:59.569Z,1761517439.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998720,-0.039991,0.030972],[0.038263,-0.997780,-0.054499],[0.033083,-0.053244,0.998033]]
2025-10-26T22:23:59.613Z,1761517439.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.503560 s,
      deltaX: 0.300001 m,
      approachRate: 0.595760 m/s,
      rangeRepo size: 4

2025-10-26T22:23:59.614Z,1761517439.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-10-26T22:23:59.717Z,1761517439.717 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed -0.2

2025-10-26T22:23:59.725Z,1761517439.725 [DAT](INFO): DAT read: 22:23:58.3806 LVL= 32752, 22161, 31394, 32755, AGC= 61, IDX= 513,-0.36, 1.488,-2.465, 2.570, 2.785, PHS=-1.195, 1.078,-0.259, RAW= 305.8,   3.8, CAL= 303.4,   0.6, ROT= 206.6,  -0.6

2025-10-26T22:23:59.729Z,1761517439.729 [DAT](INFO): got valid direction response:
 22:23:58.3806 LVL= 32752, 22161, 31394, 32755, AGC= 61, IDX= 513,-0.36, 1.488,-2.465, 2.570, 2.785, PHS=-1.195, 1.078,-0.259, RAW= 305.8,   3.8, CAL= 303.4,   0.6, ROT= 206.6,  -0.6

2025-10-26T22:23:59.730Z,1761517439.730 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-10-26T22:23:59.744Z,1761517439.744 [DAT](INFO): direction in FSK: [-0.894105,-0.447735,0.010472]
2025-10-26T22:23:59.744Z,1761517439.744 [DAT](INFO): publishing direction and range info
2025-10-26T22:23:59.752Z,1761517439.752 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.720890
2025-10-26T22:23:59.967Z,1761517439.967 [DAT](INFO): DAT read: Rx Time:22:23:58.8808 

2025-10-26T22:23:59.969Z,1761517439.969 [DAT](INFO): Rx dataTimestamp_ set to:1761517439.968369
2025-10-26T22:23:59.972Z,1761517439.972 [DAT](INFO): DAT read: Bearing 153.5, -26.0 (Local)

2025-10-26T22:23:59.973Z,1761517439.973 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.5, -26.0 (Local)

2025-10-26T22:23:59.977Z,1761517439.977 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed 0.0

2025-10-26T22:23:59.979Z,1761517439.979 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-10-26T22:23:59.982Z,1761517439.982 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.955212
2025-10-26T22:23:59.990Z,1761517439.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998781,-0.037542,0.032048],[0.035745,-0.997851,-0.054908],[0.034040,-0.053696,0.997977]]
2025-10-26T22:24:00.088Z,1761517440.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.764589 s,
      deltaX: 0.299999 m,
      approachRate: 0.392367 m/s,
      rangeRepo size: 4

2025-10-26T22:24:00.090Z,1761517440.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.295807 m,
      bearing: 24.471534 deg,
      lat: 36.779402 deg,
      lon: -121.859441 deg,
      deltaT: 1.268149 s,
      deltaX: 0.596439 m,
      approachRate: 0.470323 m/s,
      posRepo size: 4

2025-10-26T22:24:00.090Z,1761517440.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m.
2025-10-26T22:24:00.220Z,1761517440.220 [DAT](INFO): DAT read: 22:23:58.8808 LVL= 29536, 19249, 26434, 31811, AGC= 65, IDX=   2, 0.49, 0.671, 2.829, 1.610, 1.791, PHS=-1.017, 1.083,-0.225, RAW= 308.1,   1.8, CAL= 306.0,  -1.6, ROT= 204.0,   1.6

2025-10-26T22:24:00.221Z,1761517440.221 [DAT](INFO): got valid direction response:
 22:23:58.8808 LVL= 29536, 19249, 26434, 31811, AGC= 65, IDX=   2, 0.49, 0.671, 2.829, 1.610, 1.791, PHS=-1.017, 1.083,-0.225, RAW= 308.1,   1.8, CAL= 306.0,  -1.6, ROT= 204.0,   1.6

2025-10-26T22:24:00.221Z,1761517440.221 [DAT](INFO): #Rx 108: Read direction message, but no range.
2025-10-26T22:24:00.222Z,1761517440.222 [DAT](INFO): direction in FSK: [-0.913189,-0.406578,-0.027922]
2025-10-26T22:24:00.226Z,1761517440.226 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.199924
2025-10-26T22:24:00.382Z,1761517440.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998840,-0.035037,0.033027],[0.033193,-0.997945,-0.054813],[0.034880,-0.053653,0.997950]]
2025-10-26T22:24:00.439Z,1761517440.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m.
2025-10-26T22:24:00.472Z,1761517440.472 [DAT](INFO): DAT read: Rx Time:22:23:59.3808 

2025-10-26T22:24:00.474Z,1761517440.474 [DAT](INFO): Rx dataTimestamp_ set to:1761517440.472682
2025-10-26T22:24:00.477Z,1761517440.477 [DAT](INFO): DAT read: Bearing 153.5, -26.1 (Local)

2025-10-26T22:24:00.478Z,1761517440.478 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.5, -26.1 (Local)

2025-10-26T22:24:00.482Z,1761517440.482 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed -0.2

2025-10-26T22:24:00.494Z,1761517440.494 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-10-26T22:24:00.506Z,1761517440.506 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.478794
2025-10-26T22:24:00.726Z,1761517440.726 [DAT](INFO): DAT read: 22:23:59.3808 LVL= 32576, 21777, 28578, 32755, AGC= 62, IDX= 498, 0.31, 0.396, 2.560, 1.342, 1.517, PHS=-1.018, 1.089,-0.219, RAW= 307.9,   1.6, CAL= 305.8,  -1.8, ROT= 204.2,   1.8

2025-10-26T22:24:00.728Z,1761517440.728 [DAT](INFO): got valid direction response:
 22:23:59.3808 LVL= 32576, 21777, 28578, 32755, AGC= 62, IDX= 498, 0.31, 0.396, 2.560, 1.342, 1.517, PHS=-1.018, 1.089,-0.219, RAW= 307.9,   1.6, CAL= 305.8,  -1.8, ROT= 204.2,   1.8

2025-10-26T22:24:00.728Z,1761517440.728 [DAT](INFO): #Rx 110: Read direction message, but no range.
2025-10-26T22:24:00.730Z,1761517440.730 [DAT](INFO): direction in FSK: [-0.911670,-0.409721,-0.031411]
2025-10-26T22:24:00.734Z,1761517440.734 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.707859
2025-10-26T22:24:00.850Z,1761517440.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998891,-0.032763,0.033808],[0.030921,-0.998082,-0.053638],[0.035500,-0.052533,0.997988]]
2025-10-26T22:24:00.976Z,1761517440.976 [DAT](INFO): DAT read: Rx Time:22:23:59.8810 

2025-10-26T22:24:00.977Z,1761517440.977 [DAT](INFO): Rx dataTimestamp_ set to:1761517440.976639
2025-10-26T22:24:00.981Z,1761517440.981 [DAT](INFO): DAT read: Bearing 153.0, -26.0 (Local)

2025-10-26T22:24:00.982Z,1761517440.982 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.0, -26.0 (Local)

2025-10-26T22:24:00.989Z,1761517440.989 [DAT](INFO): DAT read: Range 11 to 50 :    17.7 m (trip time 11.8 ms) speed -0.2

2025-10-26T22:24:00.996Z,1761517440.996 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-10-26T22:24:01.007Z,1761517441.007 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.972420
2025-10-26T22:24:01.015Z,1761517441.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.700001 m,
      deltaT: 1.008270 s,
      deltaX: 0.300001 m,
      approachRate: 0.297540 m/s,
      rangeRepo size: 4

2025-10-26T22:24:01.021Z,1761517441.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.594027 m,
      bearing: 22.505398 deg,
      lat: 36.779403 deg,
      lon: -121.859439 deg,
      deltaT: 1.008270 s,
      deltaX: 0.298220 m,
      approachRate: 0.295774 m/s,
      posRepo size: 4

2025-10-26T22:24:01.021Z,1761517441.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-10-26T22:24:01.228Z,1761517441.228 [DAT](INFO): DAT read: 22:23:59.8810 LVL= 32752, 21921, 28498, 32755, AGC= 62, IDX= 500, 0.21, 0.899, 3.053, 1.832, 2.022, PHS=-1.021, 1.076,-0.234, RAW= 308.2,   2.0, CAL= 306.0,  -1.4, ROT= 204.0,   1.4

2025-10-26T22:24:01.229Z,1761517441.229 [DAT](INFO): got valid direction response:
 22:23:59.8810 LVL= 32752, 21921, 28498, 32755, AGC= 62, IDX= 500, 0.21, 0.899, 3.053, 1.832, 2.022, PHS=-1.021, 1.076,-0.234, RAW= 308.2,   2.0, CAL= 306.0,  -1.4, ROT= 204.0,   1.4

2025-10-26T22:24:01.230Z,1761517441.230 [DAT](INFO): #Rx 112: Read direction message, but no range.
2025-10-26T22:24:01.231Z,1761517441.231 [DAT](INFO): direction in FSK: [-0.913273,-0.406615,-0.024432]
2025-10-26T22:24:01.235Z,1761517441.235 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.208797
2025-10-26T22:24:01.276Z,1761517441.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998928,-0.030506,0.034829],[0.028615,-0.998154,-0.053565],[0.036398,-0.052511,0.997957]]
2025-10-26T22:24:01.339Z,1761517441.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-10-26T22:24:01.481Z,1761517441.481 [DAT](INFO): DAT read: Rx Time:22:24:00.3810 

2025-10-26T22:24:01.482Z,1761517441.482 [DAT](INFO): Rx dataTimestamp_ set to:1761517441.481438
2025-10-26T22:24:01.486Z,1761517441.486 [DAT](INFO): DAT read: Bearing 152.5, -25.8 (Local)

2025-10-26T22:24:01.487Z,1761517441.487 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.5, -25.8 (Local)

2025-10-26T22:24:01.500Z,1761517441.500 [DAT](INFO): DAT read: Range 11 to 50 :    17.7 m (trip time 11.8 ms) speed -0.2

2025-10-26T22:24:01.502Z,1761517441.502 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-10-26T22:24:01.508Z,1761517441.508 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.481647
2025-10-26T22:24:01.670Z,1761517441.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998959,-0.028301,0.035774],[0.026364,-0.998219,-0.053511],[0.037224,-0.052512,0.997926]]
2025-10-26T22:24:01.736Z,1761517441.736 [DAT](INFO): DAT read: 22:24:00.3810 LVL= 32752, 22961, 29906, 32755, AGC= 61, IDX= 500, 0.10,-0.773, 1.374, 0.150, 0.353, PHS=-1.024, 1.066,-0.247, RAW= 308.4,   2.3, CAL= 306.2,  -1.1, ROT= 203.8,   1.1

2025-10-26T22:24:01.737Z,1761517441.737 [DAT](INFO): got valid direction response:
 22:24:00.3810 LVL= 32752, 22961, 29906, 32755, AGC= 61, IDX= 500, 0.10,-0.773, 1.374, 0.150, 0.353, PHS=-1.024, 1.066,-0.247, RAW= 308.4,   2.3, CAL= 306.2,  -1.1, ROT= 203.8,   1.1

2025-10-26T22:24:01.737Z,1761517441.737 [DAT](INFO): #Rx 114: Read direction message, but no range.
2025-10-26T22:24:01.738Z,1761517441.738 [DAT](INFO): direction in FSK: [-0.914791,-0.403471,-0.019197]
2025-10-26T22:24:01.742Z,1761517441.742 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.715233
2025-10-26T22:24:01.749Z,1761517441.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.700001 m,
      deltaT: 0.504799 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:01.749Z,1761517441.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-10-26T22:24:01.985Z,1761517441.985 [DAT](INFO): DAT read: Rx Time:22:24:00.8811 

2025-10-26T22:24:01.986Z,1761517441.986 [DAT](INFO): Rx dataTimestamp_ set to:1761517441.985093
2025-10-26T22:24:01.990Z,1761517441.990 [DAT](INFO): DAT read: Bearing 152.9, -25.5 (Local)

2025-10-26T22:24:01.991Z,1761517441.991 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.9, -25.5 (Local)

2025-10-26T22:24:01.996Z,1761517441.996 [DAT](INFO): DAT read: Range 11 to 50 :    17.9 m (trip time 11.9 ms) speed -0.1

2025-10-26T22:24:01.998Z,1761517441.998 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-10-26T22:24:02.002Z,1761517442.002 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.974773
2025-10-26T22:24:02.079Z,1761517442.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998987,-0.026269,0.036550],[0.024294,-0.998274,-0.053474],[0.037891,-0.052532,0.997900]]
2025-10-26T22:24:02.182Z,1761517442.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 0.503655 s,
      deltaX: 0.199999 m,
      approachRate: 0.397095 m/s,
      rangeRepo size: 4

2025-10-26T22:24:02.197Z,1761517442.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.792812 m,
      bearing: 22.443991 deg,
      lat: 36.779403 deg,
      lon: -121.859432 deg,
      deltaT: 1.008454 s,
      deltaX: 0.198786 m,
      approachRate: 0.197119 m/s,
      posRepo size: 4

2025-10-26T22:24:02.197Z,1761517442.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-10-26T22:24:02.236Z,1761517442.236 [DAT](INFO): DAT read: 22:24:00.8811 LVL= 32752, 23313, 29986, 32755, AGC= 61, IDX= 501,-0.00,-2.279,-0.139,-1.366,-1.171, PHS=-1.007, 1.077,-0.239, RAW= 308.7,   1.9, CAL= 306.5,  -1.5, ROT= 203.5,   1.5

2025-10-26T22:24:02.237Z,1761517442.237 [DAT](INFO): got valid direction response:
 22:24:00.8811 LVL= 32752, 23313, 29986, 32755, AGC= 61, IDX= 501,-0.00,-2.279,-0.139,-1.366,-1.171, PHS=-1.007, 1.077,-0.239, RAW= 308.7,   1.9, CAL= 306.5,  -1.5, ROT= 203.5,   1.5

2025-10-26T22:24:02.238Z,1761517442.238 [DAT](INFO): #Rx 116: Read direction message, but no range.
2025-10-26T22:24:02.239Z,1761517442.239 [DAT](INFO): direction in FSK: [-0.916746,-0.398612,-0.026177]
2025-10-26T22:24:02.242Z,1761517442.242 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.215645
2025-10-26T22:24:02.489Z,1761517442.489 [DAT](INFO): DAT read: Rx Time:22:24:01.3811 

2025-10-26T22:24:02.490Z,1761517442.490 [DAT](INFO): Rx dataTimestamp_ set to:1761517442.489688
2025-10-26T22:24:02.494Z,1761517442.494 [DAT](INFO): DAT read: Bearing 152.4, -25.3 (Local)

2025-10-26T22:24:02.495Z,1761517442.495 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.4, -25.3 (Local)

2025-10-26T22:24:02.508Z,1761517442.508 [DAT](INFO): DAT read: Range 11 to 50 :    17.9 m (trip time 11.9 ms) speed -0.2

2025-10-26T22:24:02.521Z,1761517442.521 [DAT](INFO): DAT read: 22:24:01.3811 LVL= 32752, 26097, 32754, 32755, AGC= 63, IDX= 501,-0.10, 1.088,-3.055, 1.990, 2.202, PHS=-1.012, 1.071,-0.256, RAW= 309.0,   2.2, CAL= 306.8,  -1.1, ROT= 203.2,   1.1

2025-10-26T22:24:02.522Z,1761517442.522 [DAT](INFO): got valid direction response:
 22:24:01.3811 LVL= 32752, 26097, 32754, 32755, AGC= 63, IDX= 501,-0.10, 1.088,-3.055, 1.990, 2.202, PHS=-1.012, 1.071,-0.256, RAW= 309.0,   2.2, CAL= 306.8,  -1.1, ROT= 203.2,   1.1

2025-10-26T22:24:02.522Z,1761517442.522 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-10-26T22:24:02.537Z,1761517442.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999006,-0.024776,0.037046],[0.022784,-0.998321,-0.053251],[0.038303,-0.052354,0.997894]]
2025-10-26T22:24:02.543Z,1761517442.543 [DAT](INFO): direction in FSK: [-0.918966,-0.393869,-0.019197]
2025-10-26T22:24:02.544Z,1761517442.544 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:02.555Z,1761517442.555 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.520798
2025-10-26T22:24:02.605Z,1761517442.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 0.504595 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:02.607Z,1761517442.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.792791 m,
      bearing: 21.931942 deg,
      lat: 36.779404 deg,
      lon: -121.859432 deg,
      deltaT: 0.504595 s,
      deltaX: -0.000021 m,
      approachRate: -0.000042 m/s,
      posRepo size: 4

2025-10-26T22:24:02.616Z,1761517442.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-10-26T22:24:02.737Z,1761517442.737 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.710316
2025-10-26T22:24:02.914Z,1761517442.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999020,-0.023678,0.037395],[0.021682,-0.998365,-0.052888],[0.038586,-0.052026,0.997900]]
2025-10-26T22:24:02.992Z,1761517442.992 [DAT](INFO): DAT read: Rx Time:22:24:01.8812 

2025-10-26T22:24:02.994Z,1761517442.994 [DAT](INFO): Rx dataTimestamp_ set to:1761517442.992815
2025-10-26T22:24:02.997Z,1761517442.997 [DAT](INFO): DAT read: Bearing 152.1, -25.1 (Local)

2025-10-26T22:24:02.998Z,1761517442.998 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.1, -25.1 (Local)

2025-10-26T22:24:03.006Z,1761517443.006 [DAT](INFO): DAT read: Range 11 to 50 :    18.0 m (trip time 12.0 ms) speed 0.0

2025-10-26T22:24:03.018Z,1761517443.018 [DAT](INFO): DAT read: 22:24:01.8812 LVL= 32752, 27057, 32754, 32755, AGC= 63, IDX= 503,-0.24, 1.266,-2.879, 2.160, 2.382, PHS=-1.014, 1.067,-0.266, RAW= 309.2,   2.4, CAL= 307.0,  -0.9, ROT= 203.0,   0.9

2025-10-26T22:24:03.019Z,1761517443.019 [DAT](INFO): got valid direction response:
 22:24:01.8812 LVL= 32752, 27057, 32754, 32755, AGC= 63, IDX= 503,-0.24, 1.266,-2.879, 2.160, 2.382, PHS=-1.014, 1.067,-0.266, RAW= 309.2,   2.4, CAL= 307.0,  -0.9, ROT= 203.0,   0.9

2025-10-26T22:24:03.024Z,1761517443.024 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-10-26T22:24:03.025Z,1761517443.025 [DAT](INFO): direction in FSK: [-0.920391,-0.390683,-0.015707]
2025-10-26T22:24:03.025Z,1761517443.025 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:03.033Z,1761517443.033 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.006924
2025-10-26T22:24:03.241Z,1761517443.241 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.214188
2025-10-26T22:24:03.266Z,1761517443.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 0.503127 s,
      deltaX: 0.100000 m,
      approachRate: 0.198758 m/s,
      rangeRepo size: 4

2025-10-26T22:24:03.272Z,1761517443.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.892178 m,
      bearing: 21.783183 deg,
      lat: 36.779404 deg,
      lon: -121.859432 deg,
      deltaT: 0.503127 s,
      deltaX: 0.099386 m,
      approachRate: 0.197537 m/s,
      posRepo size: 4

2025-10-26T22:24:03.273Z,1761517443.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-10-26T22:24:03.497Z,1761517443.497 [DAT](INFO): DAT read: Rx Time:22:24:02.3812 

2025-10-26T22:24:03.498Z,1761517443.498 [DAT](INFO): Rx dataTimestamp_ set to:1761517443.497278
2025-10-26T22:24:03.502Z,1761517443.502 [DAT](INFO): DAT read: Bearing 152.8, -25.3 (Local)

2025-10-26T22:24:03.503Z,1761517443.503 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.8, -25.3 (Local)

2025-10-26T22:24:03.507Z,1761517443.507 [DAT](INFO): DAT read: Range 11 to 50 :    18.0 m (trip time 12.0 ms) speed -0.2

2025-10-26T22:24:03.522Z,1761517443.522 [DAT](INFO): DAT read: 22:24:02.3812 LVL= 32752, 22913, 31554, 32755, AGC= 63, IDX= 502, 0.49, 1.878,-2.265, 2.785, 2.981, PHS=-1.001, 1.082,-0.240, RAW= 308.9,   1.8, CAL= 306.7,  -1.6, ROT= 203.3,   1.6

2025-10-26T22:24:03.523Z,1761517443.523 [DAT](INFO): got valid direction response:
 22:24:02.3812 LVL= 32752, 22913, 31554, 32755, AGC= 63, IDX= 502, 0.49, 1.878,-2.265, 2.785, 2.981, PHS=-1.001, 1.082,-0.240, RAW= 308.9,   1.8, CAL= 306.7,  -1.6, ROT= 203.3,   1.6

2025-10-26T22:24:03.532Z,1761517443.532 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-10-26T22:24:03.533Z,1761517443.533 [DAT](INFO): direction in FSK: [-0.918088,-0.395391,-0.027922]
2025-10-26T22:24:03.533Z,1761517443.533 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:03.545Z,1761517443.545 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.518559
2025-10-26T22:24:03.554Z,1761517443.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999030,-0.023331,0.037354],[0.021324,-0.998352,-0.053275],[0.038536,-0.052427,0.997881]]
2025-10-26T22:24:03.663Z,1761517443.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 0.504463 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:03.669Z,1761517443.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.892178 m,
      bearing: 22.147443 deg,
      lat: 36.779404 deg,
      lon: -121.859434 deg,
      deltaT: 0.504463 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:03.670Z,1761517443.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-10-26T22:24:03.745Z,1761517443.745 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.718784
2025-10-26T22:24:03.934Z,1761517443.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999016,-0.024598,0.036897],[0.022608,-0.998317,-0.053411],[0.038149,-0.052524,0.997891]]
2025-10-26T22:24:04.000Z,1761517444.000 [DAT](INFO): DAT read: Rx Time:22:24:02.8814 

2025-10-26T22:24:04.002Z,1761517444.002 [DAT](INFO): Rx dataTimestamp_ set to:1761517444.000892
2025-10-26T22:24:04.006Z,1761517444.006 [DAT](INFO): DAT read: Bearing 152.7, -25.3 (Local)

2025-10-26T22:24:04.007Z,1761517444.007 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.7, -25.3 (Local)

2025-10-26T22:24:04.009Z,1761517444.009 [DAT](INFO): DAT read: Range 11 to 50 :    18.3 m (trip time 12.2 ms) speed -0.2

2025-10-26T22:24:04.014Z,1761517444.014 [DAT](INFO): DAT read: 22:24:02.8814 LVL= 32752, 23393, 31474, 32755, AGC= 62, IDX= 504, 0.21,-2.777,-0.636,-1.868,-1.671, PHS=-1.004, 1.079,-0.241, RAW= 308.8,   1.8, CAL= 306.6,  -1.5, ROT= 203.4,   1.5

2025-10-26T22:24:04.017Z,1761517444.017 [DAT](INFO): got valid direction response:
 22:24:02.8814 LVL= 32752, 23393, 31474, 32755, AGC= 62, IDX= 504, 0.21,-2.777,-0.636,-1.868,-1.671, PHS=-1.004, 1.079,-0.241, RAW= 308.8,   1.8, CAL= 306.6,  -1.5, ROT= 203.4,   1.5

2025-10-26T22:24:04.017Z,1761517444.017 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-10-26T22:24:04.018Z,1761517444.018 [DAT](INFO): direction in FSK: [-0.917440,-0.397012,-0.026177]
2025-10-26T22:24:04.018Z,1761517444.018 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:04.022Z,1761517444.022 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:24:04.022Z,1761517444.022 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:24:04.022Z,1761517444.022 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:24:04.137Z,1761517444.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 0.503614 s,
      deltaX: 0.299999 m,
      approachRate: 0.595693 m/s,
      rangeRepo size: 4

2025-10-26T22:24:04.145Z,1761517444.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.190380 m,
      bearing: 22.166899 deg,
      lat: 36.779404 deg,
      lon: -121.859434 deg,
      deltaT: 0.503614 s,
      deltaX: 0.298203 m,
      approachRate: 0.592125 m/s,
      posRepo size: 4

2025-10-26T22:24:04.146Z,1761517444.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-10-26T22:24:04.249Z,1761517444.249 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:24:04.412Z,1761517444.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998998,-0.026262,0.036244],[0.024296,-0.998263,-0.053671],[0.037590,-0.052736,0.997901]]
2025-10-26T22:24:04.505Z,1761517444.505 [DAT](INFO): DAT read: Rx Time:22:24:03.3814 

2025-10-26T22:24:04.506Z,1761517444.506 [DAT](INFO): Rx dataTimestamp_ set to:1761517444.505055
2025-10-26T22:24:04.508Z,1761517444.508 [DAT](INFO): DAT read: Bearing 153.1, -25.3 (Local)

2025-10-26T22:24:04.509Z,1761517444.509 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.1, -25.3 (Local)

2025-10-26T22:24:04.511Z,1761517444.511 [DAT](INFO): DAT read: Range 11 to 50 :    18.3 m (trip time 12.2 ms) speed -0.2

2025-10-26T22:24:04.516Z,1761517444.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-10-26T22:24:04.517Z,1761517444.517 [DAT](INFO): DAT read: 22:24:03.3814 LVL= 32752, 24945, 30306, 32755, AGC= 62, IDX= 504,-0.01, 2.084,-2.055, 2.996,-3.100, PHS=-0.998, 1.090,-0.231, RAW= 308.7,   1.5, CAL= 306.6,  -1.8, ROT= 203.4,   1.8

2025-10-26T22:24:04.518Z,1761517444.518 [DAT](INFO): got valid direction response:
 22:24:03.3814 LVL= 32752, 24945, 30306, 32755, AGC= 62, IDX= 504,-0.01, 2.084,-2.055, 2.996,-3.100, PHS=-0.998, 1.090,-0.231, RAW= 308.7,   1.5, CAL= 306.6,  -1.8, ROT= 203.4,   1.8

2025-10-26T22:24:04.518Z,1761517444.518 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:24:04.519Z,1761517444.519 [DAT](INFO): direction in FSK: [-0.917302,-0.396952,-0.031411]
2025-10-26T22:24:04.528Z,1761517444.528 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:04.542Z,1761517444.542 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:24:04.542Z,1761517444.542 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:24:04.758Z,1761517444.758 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:24:04.802Z,1761517444.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998960,-0.028374,0.035696],[0.026422,-0.998190,-0.054016],[0.037164,-0.053017,0.997902]]
2025-10-26T22:24:04.918Z,1761517444.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 0.504163 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:04.941Z,1761517444.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.190380 m,
      bearing: 21.966366 deg,
      lat: 36.779403 deg,
      lon: -121.859434 deg,
      deltaT: 0.504163 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:04.942Z,1761517444.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-10-26T22:24:05.013Z,1761517445.013 [DAT](INFO): DAT read: Rx Time:22:24:03.8814 

2025-10-26T22:24:05.014Z,1761517445.014 [DAT](INFO): Rx dataTimestamp_ set to:1761517445.013300
2025-10-26T22:24:05.015Z,1761517445.015 [DAT](INFO): DAT read: Bearing 153.0, -25.3 (Local)

2025-10-26T22:24:05.015Z,1761517445.015 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.0, -25.3 (Local)

2025-10-26T22:24:05.017Z,1761517445.017 [DAT](INFO): DAT read: Range 11 to 50 :    18.3 m (trip time 12.2 ms) speed -0.2

2025-10-26T22:24:05.022Z,1761517445.022 [DAT](INFO): DAT read: 22:24:03.8814 LVL= 32752, 23361, 29938, 32755, AGC= 60, IDX= 505,-0.28, 2.598,-1.529,-2.768,-2.577, PHS=-1.006, 1.093,-0.234, RAW= 308.7,   1.6, CAL= 306.6,  -1.7, ROT= 203.4,   1.7

2025-10-26T22:24:05.023Z,1761517445.023 [DAT](INFO): got valid direction response:
 22:24:03.8814 LVL= 32752, 23361, 29938, 32755, AGC= 60, IDX= 505,-0.28, 2.598,-1.529,-2.768,-2.577, PHS=-1.006, 1.093,-0.234, RAW= 308.7,   1.6, CAL= 306.6,  -1.7, ROT= 203.4,   1.7

2025-10-26T22:24:05.024Z,1761517445.024 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:24:05.025Z,1761517445.025 [DAT](INFO): direction in FSK: [-0.917351,-0.396973,-0.029666]
2025-10-26T22:24:05.025Z,1761517445.025 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:05.032Z,1761517445.032 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:24:05.033Z,1761517445.033 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:24:05.264Z,1761517445.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:24:05.297Z,1761517445.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998909,-0.030592,0.035276],[0.028648,-0.998111,-0.054344],[0.036872,-0.053274,0.997899]]
2025-10-26T22:24:05.394Z,1761517445.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 0.508245 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:05.400Z,1761517445.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.190374 m,
      bearing: 21.832049 deg,
      lat: 36.779403 deg,
      lon: -121.859435 deg,
      deltaT: 0.508245 s,
      deltaX: -0.000006 m,
      approachRate: -0.000011 m/s,
      posRepo size: 4

2025-10-26T22:24:05.401Z,1761517445.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-10-26T22:24:05.517Z,1761517445.517 [DAT](INFO): DAT read: Rx Time:22:24:04.3814 

2025-10-26T22:24:05.518Z,1761517445.518 [DAT](INFO): Rx dataTimestamp_ set to:1761517445.517372
2025-10-26T22:24:05.519Z,1761517445.519 [DAT](INFO): DAT read: Bearing 153.0, -25.6 (Local)

2025-10-26T22:24:05.519Z,1761517445.519 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.0, -25.6 (Local)

2025-10-26T22:24:05.521Z,1761517445.521 [DAT](INFO): DAT read: Range 11 to 50 :    18.3 m (trip time 12.2 ms) speed -0.2

2025-10-26T22:24:05.526Z,1761517445.526 [DAT](INFO): DAT read: 22:24:04.3814 LVL= 32752, 23025, 26786, 32755, AGC= 62, IDX= 504, 0.44, 3.049,-1.093,-2.314,-2.126, PHS=-1.006, 1.078,-0.232, RAW= 308.4,   1.8, CAL= 306.3,  -1.6, ROT= 203.7,   1.6

2025-10-26T22:24:05.528Z,1761517445.528 [DAT](INFO): got valid direction response:
 22:24:04.3814 LVL= 32752, 23025, 26786, 32755, AGC= 62, IDX= 504, 0.44, 3.049,-1.093,-2.314,-2.126, PHS=-1.006, 1.078,-0.232, RAW= 308.4,   1.8, CAL= 306.3,  -1.6, ROT= 203.7,   1.6

2025-10-26T22:24:05.528Z,1761517445.528 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:24:05.529Z,1761517445.529 [DAT](INFO): direction in FSK: [-0.915306,-0.401791,-0.027922]
2025-10-26T22:24:05.530Z,1761517445.530 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:05.533Z,1761517445.533 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:24:05.534Z,1761517445.534 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:24:05.704Z,1761517445.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998855,-0.032861,0.034767],[0.030925,-0.998017,-0.054819],[0.036500,-0.053681,0.997891]]
2025-10-26T22:24:05.764Z,1761517445.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 0.504072 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:05.766Z,1761517445.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.190374 m,
      bearing: 21.994313 deg,
      lat: 36.779402 deg,
      lon: -121.859437 deg,
      deltaT: 0.504072 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:05.767Z,1761517445.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-10-26T22:24:05.768Z,1761517445.768 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:24:06.021Z,1761517446.021 [DAT](INFO): DAT read: Rx Time:22:24:04.8816 

2025-10-26T22:24:06.022Z,1761517446.022 [DAT](INFO): Rx dataTimestamp_ set to:1761517446.021331
2025-10-26T22:24:06.023Z,1761517446.023 [DAT](INFO): DAT read: Bearing 153.8, -26.0 (Local)

2025-10-26T22:24:06.023Z,1761517446.023 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.8, -26.0 (Local)

2025-10-26T22:24:06.025Z,1761517446.025 [DAT](INFO): DAT read: Range 11 to 50 :    18.6 m (trip time 12.4 ms) speed -0.2

2025-10-26T22:24:06.030Z,1761517446.030 [DAT](INFO): DAT read: 22:24:04.8816 LVL= 32752, 23409, 30194, 32755, AGC= 63, IDX= 506, 0.25,-1.375, 0.794,-0.425,-0.261, PHS=-1.011, 1.100,-0.208, RAW= 307.9,   1.3, CAL= 305.8,  -2.1, ROT= 204.2,   2.1

2025-10-26T22:24:06.032Z,1761517446.032 [DAT](INFO): got valid direction response:
 22:24:04.8816 LVL= 32752, 23409, 30194, 32755, AGC= 63, IDX= 506, 0.25,-1.375, 0.794,-0.425,-0.261, PHS=-1.011, 1.100,-0.208, RAW= 307.9,   1.3, CAL= 305.8,  -2.1, ROT= 204.2,   2.1

2025-10-26T22:24:06.032Z,1761517446.032 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:24:06.033Z,1761517446.033 [DAT](INFO): direction in FSK: [-0.911508,-0.409648,-0.036644]
2025-10-26T22:24:06.033Z,1761517446.033 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:06.037Z,1761517446.037 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:24:06.037Z,1761517446.037 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:24:06.071Z,1761517446.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998791,-0.035210,0.034309],[0.033289,-0.997930,-0.055030],[0.036175,-0.053821,0.997895]]
2025-10-26T22:24:06.208Z,1761517446.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.600000 m,
      deltaT: 0.503959 s,
      deltaX: 0.300001 m,
      approachRate: 0.595289 m/s,
      rangeRepo size: 4

2025-10-26T22:24:06.210Z,1761517446.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.488579 m,
      bearing: 22.389604 deg,
      lat: 36.779403 deg,
      lon: -121.859438 deg,
      deltaT: 0.503959 s,
      deltaX: 0.298204 m,
      approachRate: 0.591724 m/s,
      posRepo size: 4

2025-10-26T22:24:06.211Z,1761517446.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.49 m.
2025-10-26T22:24:06.272Z,1761517446.272 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:24:06.525Z,1761517446.525 [DAT](INFO): DAT read: Rx Time:22:24:05.3816 

2025-10-26T22:24:06.526Z,1761517446.526 [DAT](INFO): Rx dataTimestamp_ set to:1761517446.525318
2025-10-26T22:24:06.527Z,1761517446.527 [DAT](INFO): DAT read: Bearing 153.9, -26.0 (Local)

2025-10-26T22:24:06.527Z,1761517446.527 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.9, -26.0 (Local)

2025-10-26T22:24:06.530Z,1761517446.530 [DAT](INFO): DAT read: Range 11 to 50 :    18.6 m (trip time 12.4 ms) speed -0.3

2025-10-26T22:24:06.539Z,1761517446.539 [DAT](INFO): DAT read: 22:24:05.3816 LVL= 32448, 22305, 28786, 32755, AGC= 62, IDX= 506, 0.27,-3.085,-0.927,-2.137,-1.977, PHS=-1.007, 1.095,-0.204, RAW= 307.8,   1.3, CAL= 305.7,  -2.2, ROT= 204.3,   2.2

2025-10-26T22:24:06.544Z,1761517446.544 [DAT](INFO): got valid direction response:
 22:24:05.3816 LVL= 32448, 22305, 28786, 32755, AGC= 62, IDX= 506, 0.27,-3.085,-0.927,-2.137,-1.977, PHS=-1.007, 1.095,-0.204, RAW= 307.8,   1.3, CAL= 305.7,  -2.2, ROT= 204.3,   2.2

2025-10-26T22:24:06.544Z,1761517446.544 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:24:06.545Z,1761517446.545 [DAT](INFO): direction in FSK: [-0.910731,-0.411211,-0.038388]
2025-10-26T22:24:06.545Z,1761517446.545 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:06.548Z,1761517446.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998732,-0.037415,0.033694],[0.035532,-0.997863,-0.054843],[0.035674,-0.053576,0.997926]]
2025-10-26T22:24:06.568Z,1761517446.568 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:24:06.568Z,1761517446.568 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:24:06.648Z,1761517446.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.600000 m,
      deltaT: 0.503987 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:06.650Z,1761517446.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.488543 m,
      bearing: 22.366529 deg,
      lat: 36.779402 deg,
      lon: -121.859439 deg,
      deltaT: 0.503987 s,
      deltaX: -0.000036 m,
      approachRate: -0.000072 m/s,
      posRepo size: 4

2025-10-26T22:24:06.651Z,1761517446.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.49 m.
2025-10-26T22:24:06.776Z,1761517446.776 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:24:07.007Z,1761517447.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998614,-0.041340,0.032567],[0.039522,-0.997724,-0.054634],[0.034752,-0.053271,0.997975]]
2025-10-26T22:24:07.030Z,1761517447.030 [DAT](INFO): DAT read: Rx Time:22:24:05.8818 

2025-10-26T22:24:07.030Z,1761517447.030 [DAT](INFO): Rx dataTimestamp_ set to:1761517447.029722
2025-10-26T22:24:07.032Z,1761517447.032 [DAT](INFO): DAT read: Bearing 154.2, -26.7 (Local)

2025-10-26T22:24:07.032Z,1761517447.032 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.2, -26.7 (Local)

2025-10-26T22:24:07.034Z,1761517447.034 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed -0.3

2025-10-26T22:24:07.039Z,1761517447.039 [DAT](INFO): DAT read: 22:24:05.8818 LVL= 32752, 24241, 31058, 32755, AGC= 62, IDX= 508, 0.33,-2.207,-0.030,-1.228,-1.083, PHS=-1.022, 1.098,-0.189, RAW= 307.0,   1.2, CAL= 305.1,  -2.3, ROT= 204.9,   2.3

2025-10-26T22:24:07.040Z,1761517447.040 [DAT](INFO): got valid direction response:
 22:24:05.8818 LVL= 32752, 24241, 31058, 32755, AGC= 62, IDX= 508, 0.33,-2.207,-0.030,-1.228,-1.083, PHS=-1.022, 1.098,-0.189, RAW= 307.0,   1.2, CAL= 305.1,  -2.3, ROT= 204.9,   2.3

2025-10-26T22:24:07.040Z,1761517447.040 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:24:07.041Z,1761517447.041 [DAT](INFO): direction in FSK: [-0.906313,-0.420697,-0.040132]
2025-10-26T22:24:07.041Z,1761517447.041 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:07.045Z,1761517447.045 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:24:07.045Z,1761517447.045 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:24:07.147Z,1761517447.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.504404 s,
      deltaX: 0.199999 m,
      approachRate: 0.396505 m/s,
      rangeRepo size: 4

2025-10-26T22:24:07.153Z,1761517447.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.687344 m,
      bearing: 22.741842 deg,
      lat: 36.779402 deg,
      lon: -121.859439 deg,
      deltaT: 0.504404 s,
      deltaX: 0.198801 m,
      approachRate: 0.394131 m/s,
      posRepo size: 4

2025-10-26T22:24:07.154Z,1761517447.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m.
2025-10-26T22:24:07.280Z,1761517447.280 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:24:07.418Z,1761517447.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998566,-0.042875,0.032046],[0.041103,-0.997691,-0.054065],[0.034290,-0.052670,0.998023]]
2025-10-26T22:24:07.507Z,1761517447.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m.
2025-10-26T22:24:07.533Z,1761517447.533 [DAT](INFO): DAT read: Rx Time:22:24:06.3818 

2025-10-26T22:24:07.534Z,1761517447.534 [DAT](INFO): Rx dataTimestamp_ set to:1761517447.533273
2025-10-26T22:24:07.535Z,1761517447.535 [DAT](INFO): DAT read: Bearing 153.9, -27.0 (Local)

2025-10-26T22:24:07.535Z,1761517447.535 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.9, -27.0 (Local)

2025-10-26T22:24:07.537Z,1761517447.537 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed -0.3

2025-10-26T22:24:07.542Z,1761517447.542 [DAT](INFO): DAT read: 22:24:06.3818 LVL= 31776, 20977, 28050, 32755, AGC= 62, IDX= 508, 0.48, 2.319,-1.784,-2.978,-2.827, PHS=-1.035, 1.088,-0.195, RAW= 306.9,   1.5, CAL= 304.8,  -2.0, ROT= 205.2,   2.0

2025-10-26T22:24:07.543Z,1761517447.543 [DAT](INFO): got valid direction response:
 22:24:06.3818 LVL= 31776, 20977, 28050, 32755, AGC= 62, IDX= 508, 0.48, 2.319,-1.784,-2.978,-2.827, PHS=-1.035, 1.088,-0.195, RAW= 306.9,   1.5, CAL= 304.8,  -2.0, ROT= 205.2,   2.0

2025-10-26T22:24:07.543Z,1761517447.543 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:24:07.544Z,1761517447.544 [DAT](INFO): direction in FSK: [-0.904276,-0.425520,-0.034899]
2025-10-26T22:24:07.545Z,1761517447.545 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:07.548Z,1761517447.548 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:24:07.548Z,1761517447.548 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:24:07.784Z,1761517447.784 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:24:07.791Z,1761517447.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998515,-0.044236,0.031781],[0.042511,-0.997687,-0.053035],[0.034053,-0.051606,0.998087]]
2025-10-26T22:24:07.847Z,1761517447.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.503551 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:07.853Z,1761517447.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.687407 m,
      bearing: 22.849736 deg,
      lat: 36.779402 deg,
      lon: -121.859439 deg,
      deltaT: 0.503551 s,
      deltaX: 0.000063 m,
      approachRate: 0.000125 m/s,
      posRepo size: 4

2025-10-26T22:24:07.854Z,1761517447.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m.
2025-10-26T22:24:08.038Z,1761517448.038 [DAT](INFO): DAT read: Rx Time:22:24:06.8820 

2025-10-26T22:24:08.038Z,1761517448.038 [DAT](INFO): Rx dataTimestamp_ set to:1761517448.038196
2025-10-26T22:24:08.040Z,1761517448.040 [DAT](INFO): DAT read: Bearing 153.9, -27.5 (Local)

2025-10-26T22:24:08.041Z,1761517448.041 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.9, -27.5 (Local)

2025-10-26T22:24:08.044Z,1761517448.044 [DAT](INFO): DAT read: Range 11 to 50 :    19.1 m (trip time 12.7 ms) speed -0.3

2025-10-26T22:24:08.050Z,1761517448.050 [DAT](INFO): DAT read: 22:24:06.8820 LVL= 32752, 24785, 32754, 32755, AGC= 60, IDX= 511,-0.39, 1.797,-2.290, 2.805, 2.952, PHS=-1.053, 1.086,-0.192, RAW= 306.4,   1.7, CAL= 304.3,  -1.8, ROT= 205.7,   1.8

2025-10-26T22:24:08.052Z,1761517448.052 [DAT](INFO): got valid direction response:
 22:24:06.8820 LVL= 32752, 24785, 32754, 32755, AGC= 60, IDX= 511,-0.39, 1.797,-2.290, 2.805, 2.952, PHS=-1.053, 1.086,-0.192, RAW= 306.4,   1.7, CAL= 304.3,  -1.8, ROT= 205.7,   1.8

2025-10-26T22:24:08.053Z,1761517448.053 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:24:08.054Z,1761517448.054 [DAT](INFO): direction in FSK: [-0.900632,-0.433445,-0.031411]
2025-10-26T22:24:08.055Z,1761517448.055 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:08.058Z,1761517448.058 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:24:08.058Z,1761517448.058 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:24:08.236Z,1761517448.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998483,-0.045158,0.031519],[0.043487,-0.997708,-0.051844],[0.033788,-0.050394,0.998158]]
2025-10-26T22:24:08.288Z,1761517448.288 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:24:08.323Z,1761517448.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.100000 m,
      deltaT: 0.504923 s,
      deltaX: 0.300001 m,
      approachRate: 0.594152 m/s,
      rangeRepo size: 4

2025-10-26T22:24:08.329Z,1761517448.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.985672 m,
      bearing: 23.280306 deg,
      lat: 36.779403 deg,
      lon: -121.859440 deg,
      deltaT: 0.504923 s,
      deltaX: 0.298265 m,
      approachRate: 0.590715 m/s,
      posRepo size: 4

2025-10-26T22:24:08.330Z,1761517448.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.99 m.
2025-10-26T22:24:08.541Z,1761517448.541 [DAT](INFO): DAT read: Rx Time:22:24:07.3820 

2025-10-26T22:24:08.542Z,1761517448.542 [DAT](INFO): Rx dataTimestamp_ set to:1761517448.541446
2025-10-26T22:24:08.543Z,1761517448.543 [DAT](INFO): DAT read: Bearing 154.2, -27.9 (Local)

2025-10-26T22:24:08.544Z,1761517448.544 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.2, -27.9 (Local)

2025-10-26T22:24:08.546Z,1761517448.546 [DAT](INFO): DAT read: Range 11 to 50 :    19.1 m (trip time 12.7 ms) speed -0.2

2025-10-26T22:24:08.550Z,1761517448.550 [DAT](INFO): DAT read: 22:24:07.3820 LVL= 32752, 24289, 31026, 32755, AGC= 60, IDX= 511,-0.40, 0.291, 2.501, 1.319, 1.453, PHS=-1.061, 1.093,-0.178, RAW= 305.9,   1.6, CAL= 303.9,  -2.0, ROT= 206.1,   2.0

2025-10-26T22:24:08.552Z,1761517448.552 [DAT](INFO): got valid direction response:
 22:24:07.3820 LVL= 32752, 24289, 31026, 32755, AGC= 60, IDX= 511,-0.40, 0.291, 2.501, 1.319, 1.453, PHS=-1.061, 1.093,-0.178, RAW= 305.9,   1.6, CAL= 303.9,  -2.0, ROT= 206.1,   2.0

2025-10-26T22:24:08.552Z,1761517448.552 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:24:08.553Z,1761517448.553 [DAT](INFO): direction in FSK: [-0.897481,-0.439671,-0.034899]
2025-10-26T22:24:08.553Z,1761517448.553 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:08.557Z,1761517448.557 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:24:08.557Z,1761517448.557 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:24:08.645Z,1761517448.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998494,-0.044908,0.031525],[0.043260,-0.997755,-0.051124],[0.033750,-0.049684,0.998195]]
2025-10-26T22:24:08.711Z,1761517448.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.100000 m,
      deltaT: 0.503250 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:08.722Z,1761517448.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.985672 m,
      bearing: 23.704511 deg,
      lat: 36.779403 deg,
      lon: -121.859440 deg,
      deltaT: 0.503250 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:08.723Z,1761517448.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.99 m.
2025-10-26T22:24:08.793Z,1761517448.793 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:24:09.045Z,1761517449.045 [DAT](INFO): DAT read: Rx Time:22:24:07.8821 

2025-10-26T22:24:09.045Z,1761517449.045 [DAT](INFO): Rx dataTimestamp_ set to:1761517449.045193
2025-10-26T22:24:09.047Z,1761517449.047 [DAT](INFO): DAT read: Bearing 139.5, -35.4 (Local)

2025-10-26T22:24:09.047Z,1761517449.047 [DAT](INFO): Local bearing/azimuth received:
 Bearing 139.5, -35.4 (Local)

2025-10-26T22:24:09.049Z,1761517449.049 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed -0.2

2025-10-26T22:24:09.054Z,1761517449.054 [DAT](INFO): DAT read: 22:24:07.8821 LVL= 32240, 22817, 30322, 32755, AGC= 61, IDX= 512,-0.49,-2.111,-0.040,-0.929,-0.729, PHS=-1.281, 0.734,-0.245, RAW= 299.1,   9.1, CAL= 296.6,  10.7, ROT= 213.4, -10.7

2025-10-26T22:24:09.055Z,1761517449.055 [DAT](INFO): got valid direction response:
 22:24:07.8821 LVL= 32240, 22817, 30322, 32755, AGC= 61, IDX= 512,-0.49,-2.111,-0.040,-0.929,-0.729, PHS=-1.281, 0.734,-0.245, RAW= 299.1,   9.1, CAL= 296.6,  10.7, ROT= 213.4, -10.7

2025-10-26T22:24:09.055Z,1761517449.055 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:24:09.056Z,1761517449.056 [DAT](INFO): direction in FSK: [-0.820332,-0.540909,0.185667]
2025-10-26T22:24:09.057Z,1761517449.057 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:09.060Z,1761517449.060 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:24:09.061Z,1761517449.061 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:24:09.075Z,1761517449.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998512,-0.044663,0.031298],[0.043057,-0.997809,-0.050239],[0.033473,-0.048816,0.998247]]
2025-10-26T22:24:09.205Z,1761517449.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.503747 s,
      deltaX: 0.100000 m,
      approachRate: 0.198513 m/s,
      rangeRepo size: 4

2025-10-26T22:24:09.207Z,1761517449.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.085073 m,
      bearing: 30.245248 deg,
      lat: 36.779403 deg,
      lon: -121.859440 deg,
      deltaT: 0.503747 s,
      deltaX: 0.099401 m,
      approachRate: 0.197324 m/s,
      posRepo size: 4

2025-10-26T22:24:09.224Z,1761517449.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.09 m.
2025-10-26T22:24:09.296Z,1761517449.296 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:24:09.482Z,1761517449.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998567,-0.043272,0.031478],[0.041677,-0.997895,-0.049684],[0.033562,-0.048301,0.998269]]
2025-10-26T22:24:09.537Z,1761517449.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.09 m.
2025-10-26T22:24:09.548Z,1761517449.548 [DAT](INFO): DAT read: user:554>

2025-10-26T22:24:09.549Z,1761517449.549 [DAT](INFO): DAT read: 0

2025-10-26T22:24:09.549Z,1761517449.549 [DAT](INFO): unknown deviceResponse_: 0

2025-10-26T22:24:09.550Z,1761517449.550 [DAT](INFO): DAT read: Ok

2025-10-26T22:24:09.550Z,1761517449.550 [DAT](INFO): unknown deviceResponse_: Ok

2025-10-26T22:24:09.550Z,1761517449.550 [DAT](INFO): DAT read: user:555>

2025-10-26T22:24:09.551Z,1761517449.551 [DAT](INFO): DAT read: Tx time:22:24:08.8386

2025-10-26T22:24:09.551Z,1761517449.551 [DAT](INFO): Ping request sent.
2025-10-26T22:24:09.551Z,1761517449.551 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:24:09.552Z,1761517449.552 [DAT](INFO): publishing transmit ping time
2025-10-26T22:24:09.552Z,1761517449.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761
2025-10-26T22:24:09.800Z,1761517449.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248968
2025-10-26T22:24:09.863Z,1761517449.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998633,-0.041653,0.031567],[0.040074,-0.997989,-0.049117],[0.033549,-0.047785,0.998294]]
2025-10-26T22:24:10.052Z,1761517450.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500999
2025-10-26T22:24:10.148Z,1761517450.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.09 m.
2025-10-26T22:24:10.305Z,1761517450.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753122
2025-10-26T22:24:10.416Z,1761517450.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998706,-0.039722,0.031764],[0.038153,-0.998092,-0.048552],[0.033632,-0.047278,0.998315]]
2025-10-26T22:24:10.474Z,1761517450.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.09 m.
2025-10-26T22:24:10.558Z,1761517450.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006278
2025-10-26T22:24:10.786Z,1761517450.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998804,-0.036980,0.031999],[0.035406,-0.998200,-0.048412],[0.033732,-0.047221,0.998315]]
2025-10-26T22:24:10.808Z,1761517450.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256994
2025-10-26T22:24:10.836Z,1761517450.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.09 m.
2025-10-26T22:24:11.060Z,1761517451.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509022
2025-10-26T22:24:11.312Z,1761517451.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760989
2025-10-26T22:24:11.314Z,1761517451.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.09 m.
2025-10-26T22:24:11.565Z,1761517451.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013069
2025-10-26T22:24:11.594Z,1761517451.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999006,-0.030438,0.032576],[0.028831,-0.998397,-0.048714],[0.034007,-0.047726,0.998281]]
2025-10-26T22:24:11.657Z,1761517451.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.09 m.
2025-10-26T22:24:11.816Z,1761517451.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265025
2025-10-26T22:24:12.027Z,1761517452.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999078,-0.027557,0.032913],[0.025943,-0.998487,-0.048491],[0.034199,-0.047592,0.998281]]
2025-10-26T22:24:12.071Z,1761517452.071 [DAT](INFO): DAT read: Rx Time:22:24:10.9937 

2025-10-26T22:24:12.073Z,1761517452.073 [DAT](INFO): Rx dataTimestamp_ set to:1761517452.071819
2025-10-26T22:24:12.075Z,1761517452.075 [DAT](INFO): DAT read: Bearing 153.9, -29.9 (Local)

2025-10-26T22:24:12.076Z,1761517452.076 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.9, -29.9 (Local)

2025-10-26T22:24:12.078Z,1761517452.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526270
2025-10-26T22:24:12.181Z,1761517452.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.09 m.
2025-10-26T22:24:12.322Z,1761517452.322 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed -0.2

2025-10-26T22:24:12.327Z,1761517452.327 [DAT](INFO): DAT read: 22:24:10.9937 LVL= 29776, 19697, 25778, 32755, AGC= 65, IDX=  86,-0.24,-1.260, 0.967,-0.162,-0.048, PHS=-1.111, 1.060,-0.158, RAW= 304.0,   2.3, CAL= 301.9,  -1.5, ROT= 208.1,   1.5

2025-10-26T22:24:12.328Z,1761517452.328 [DAT](INFO): got valid direction response:
 22:24:10.9937 LVL= 29776, 19697, 25778, 32755, AGC= 65, IDX=  86,-0.24,-1.260, 0.967,-0.162,-0.048, PHS=-1.111, 1.060,-0.158, RAW= 304.0,   2.3, CAL= 301.9,  -1.5, ROT= 208.1,   1.5

2025-10-26T22:24:12.328Z,1761517452.328 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:24:12.329Z,1761517452.329 [DAT](INFO): direction in FSK: [-0.881825,-0.470851,-0.026177]
2025-10-26T22:24:12.330Z,1761517452.330 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:12.333Z,1761517452.333 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.781829
2025-10-26T22:24:12.420Z,1761517452.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999145,-0.024758,0.033124],[0.023147,-0.998572,-0.048155],[0.034269,-0.047347,0.998290]]
2025-10-26T22:24:12.444Z,1761517452.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 3.274683 s,
      deltaX: 0.199999 m,
      approachRate: 0.061074 m/s,
      rangeRepo size: 4

2025-10-26T22:24:12.446Z,1761517452.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.283995 m,
      bearing: 26.826394 deg,
      lat: 36.779402 deg,
      lon: -121.859440 deg,
      deltaT: 3.274683 s,
      deltaX: 0.198921 m,
      approachRate: 0.060745 m/s,
      posRepo size: 4

2025-10-26T22:24:12.446Z,1761517452.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.28 m.
2025-10-26T22:24:12.576Z,1761517452.576 [DAT](INFO): DAT read: Rx Time:22:24:11.4936 

2025-10-26T22:24:12.577Z,1761517452.577 [DAT](INFO): Rx dataTimestamp_ set to:1761517452.576432
2025-10-26T22:24:12.581Z,1761517452.581 [DAT](INFO): DAT read: Bearing 153.4, -30.4 (Local)

2025-10-26T22:24:12.581Z,1761517452.581 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.4, -30.4 (Local)

2025-10-26T22:24:12.586Z,1761517452.586 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed -0.1

2025-10-26T22:24:12.588Z,1761517452.588 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-10-26T22:24:12.591Z,1761517452.591 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.038858
2025-10-26T22:24:12.822Z,1761517452.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999199,-0.021979,0.033449],[0.020369,-0.998652,-0.047735],[0.034453,-0.047016,0.998300]]
2025-10-26T22:24:12.828Z,1761517452.828 [DAT](INFO): DAT read: 22:24:11.4936 LVL= 32752, 21905, 30626, 32755, AGC= 62, IDX= 501, 0.19,-0.030, 2.193, 1.077, 1.197, PHS=-1.125, 1.041,-0.164, RAW= 303.7,   2.7, CAL= 301.5,  -1.0, ROT= 208.5,   1.0

2025-10-26T22:24:12.829Z,1761517452.829 [DAT](INFO): got valid direction response:
 22:24:11.4936 LVL= 32752, 21905, 30626, 32755, AGC= 62, IDX= 501, 0.19,-0.030, 2.193, 1.077, 1.197, PHS=-1.125, 1.041,-0.164, RAW= 303.7,   2.7, CAL= 301.5,  -1.0, ROT= 208.5,   1.0

2025-10-26T22:24:12.830Z,1761517452.830 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-26T22:24:12.831Z,1761517452.831 [DAT](INFO): direction in FSK: [-0.878683,-0.477086,-0.017452]
2025-10-26T22:24:12.834Z,1761517452.834 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.282527
2025-10-26T22:24:12.897Z,1761517452.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.256556 s,
      deltaX: -0.199999 m,
      approachRate: -0.779552 m/s,
      rangeRepo size: 4

2025-10-26T22:24:12.899Z,1761517452.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.085192 m,
      bearing: 27.356481 deg,
      lat: 36.779396 deg,
      lon: -121.859431 deg,
      deltaT: 0.256556 s,
      deltaX: -0.198803 m,
      approachRate: -0.774891 m/s,
      posRepo size: 4

2025-10-26T22:24:12.900Z,1761517452.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.09 m.
2025-10-26T22:24:13.081Z,1761517453.081 [DAT](INFO): DAT read: Rx Time:22:24:11.9937 

2025-10-26T22:24:13.083Z,1761517453.083 [DAT](INFO): Rx dataTimestamp_ set to:1761517453.081972
2025-10-26T22:24:13.086Z,1761517453.086 [DAT](INFO): DAT read: Bearing 153.2, -30.3 (Local)

2025-10-26T22:24:13.087Z,1761517453.087 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.2, -30.3 (Local)

2025-10-26T22:24:13.093Z,1761517453.093 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed -0.2

2025-10-26T22:24:13.094Z,1761517453.094 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-10-26T22:24:13.102Z,1761517453.102 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.550107
2025-10-26T22:24:13.227Z,1761517453.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999241,-0.019449,0.033744],[0.017848,-0.998729,-0.047132],[0.034618,-0.046494,0.998319]]
2025-10-26T22:24:13.241Z,1761517453.241 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-
2025-10-26T22:24:13.278Z,1761517453.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.505540 s,
      deltaX: 0.199999 m,
      approachRate: 0.395614 m/s,
      rangeRepo size: 4

2025-10-26T22:24:13.278Z,1761517453.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.09 m.
2025-10-26T22:24:13.334Z,1761517453.334 [DAT](INFO): DAT read: 22:24:11.9937 LVL= 32752, 22065, 31090, 32755, AGC= 61, IDX= 502,-0.14,-2.612,-0.383,-1.505,-1.379, PHS=-1.131, 1.041,-0.171, RAW= 303.8,   2.8, CAL= 301.6,  -0.9, ROT= 208.4,   0.9

2025-10-26T22:24:13.338Z,1761517453.338 [DAT](INFO): got valid direction response:
 22:24:11.9937 LVL= 32752, 22065, 31090, 32755, AGC= 61, IDX= 502,-0.14,-2.612,-0.383,-1.505,-1.379, PHS=-1.131, 1.041,-0.171, RAW= 303.8,   2.8, CAL= 301.6,  -0.9, ROT= 208.4,   0.9

2025-10-26T22:24:13.345Z,1761517453.345 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-10-26T22:24:13.347Z,1761517453.347 [DAT](INFO): direction in FSK: [-0.879540,-0.475566,-0.015707]
2025-10-26T22:24:13.352Z,1761517453.352 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.800376
2025-10-26T22:24:13.584Z,1761517453.584 [DAT](INFO): DAT read: Rx Time:22:24:12.4936 

2025-10-26T22:24:13.585Z,1761517453.585 [DAT](INFO): Rx dataTimestamp_ set to:1761517453.584152
2025-10-26T22:24:13.588Z,1761517453.588 [DAT](INFO): DAT read: Bearing 153.8, -30.2 (Local)

2025-10-26T22:24:13.589Z,1761517453.589 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.8, -30.2 (Local)

2025-10-26T22:24:13.594Z,1761517453.594 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed -0.1

2025-10-26T22:24:13.596Z,1761517453.596 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-10-26T22:24:13.599Z,1761517453.599 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.046856
2025-10-26T22:24:13.665Z,1761517453.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999281,-0.016677,0.034035],[0.015079,-0.998795,-0.046706],[0.034773,-0.046159,0.998329]]
2025-10-26T22:24:13.722Z,1761517453.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.502180 s,
      deltaX: -0.199999 m,
      approachRate: -0.398261 m/s,
      rangeRepo size: 4

2025-10-26T22:24:13.729Z,1761517453.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.085217 m,
      bearing: 27.555047 deg,
      lat: 36.779393 deg,
      lon: -121.859430 deg,
      deltaT: 1.007720 s,
      deltaX: 0.000025 m,
      approachRate: 0.000025 m/s,
      posRepo size: 4

2025-10-26T22:24:13.729Z,1761517453.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.09 m.
2025-10-26T22:24:13.838Z,1761517453.838 [DAT](INFO): DAT read: 22:24:12.4936 LVL= 32752, 23185, 28034, 32755, AGC= 61, IDX= 501, 0.29,-1.813, 0.417,-0.702,-0.594, PHS=-1.117, 1.056,-0.152, RAW= 303.7,   2.3, CAL= 301.6,  -1.5, ROT= 208.4,   1.5

2025-10-26T22:24:13.840Z,1761517453.840 [DAT](INFO): got valid direction response:
 22:24:12.4936 LVL= 32752, 23185, 28034, 32755, AGC= 61, IDX= 501, 0.29,-1.813, 0.417,-0.702,-0.594, PHS=-1.117, 1.056,-0.152, RAW= 303.7,   2.3, CAL= 301.6,  -1.5, ROT= 208.4,   1.5

2025-10-26T22:24:13.840Z,1761517453.840 [DAT](INFO): #Rx 7: Read direction message, but no range.
2025-10-26T22:24:13.841Z,1761517453.841 [DAT](INFO): direction in FSK: [-0.879347,-0.475461,-0.026177]
2025-10-26T22:24:13.845Z,1761517453.845 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=4.293795
2025-10-26T22:24:14.057Z,1761517454.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999316,-0.014283,0.034098],[0.012698,-0.998849,-0.046249],[0.034719,-0.045784,0.998348]]
2025-10-26T22:24:14.088Z,1761517454.088 [DAT](INFO): DAT read: Rx Time:22:24:12.9938 

2025-10-26T22:24:14.089Z,1761517454.089 [DAT](INFO): Rx dataTimestamp_ set to:1761517454.088339
2025-10-26T22:24:14.093Z,1761517454.093 [DAT](INFO): DAT read: Bearing 154.4, -29.6 (Local)

2025-10-26T22:24:14.093Z,1761517454.093 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.4, -29.6 (Local)

2025-10-26T22:24:14.098Z,1761517454.098 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed -0.2

2025-10-26T22:24:14.105Z,1761517454.105 [DAT](ERROR): #Rx 8: Read range message, but no direction.
2025-10-26T22:24:14.113Z,1761517454.113 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=4.561561
2025-10-26T22:24:14.219Z,1761517454.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.504187 s,
      deltaX: 0.299999 m,
      approachRate: 0.595016 m/s,
      rangeRepo size: 4

2025-10-26T22:24:14.225Z,1761517454.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.383423 m,
      bearing: 27.725881 deg,
      lat: 36.779393 deg,
      lon: -121.859430 deg,
      deltaT: 0.504187 s,
      deltaX: 0.298206 m,
      approachRate: 0.591460 m/s,
      posRepo size: 4

2025-10-26T22:24:14.226Z,1761517454.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m.
2025-10-26T22:24:14.341Z,1761517454.341 [DAT](INFO): DAT read: 22:24:12.9938 LVL= 32752, 23345, 29794, 32755, AGC= 62, IDX= 503,-0.08,-1.959, 0.265,-0.865,-0.764, PHS=-1.093, 1.074,-0.145, RAW= 304.1,   1.8, CAL= 302.1,  -2.0, ROT= 207.9,   2.0

2025-10-26T22:24:14.342Z,1761517454.342 [DAT](INFO): got valid direction response:
 22:24:12.9938 LVL= 32752, 23345, 29794, 32755, AGC= 62, IDX= 503,-0.08,-1.959, 0.265,-0.865,-0.764, PHS=-1.093, 1.074,-0.145, RAW= 304.1,   1.8, CAL= 302.1,  -2.0, ROT= 207.9,   2.0

2025-10-26T22:24:14.342Z,1761517454.342 [DAT](INFO): #Rx 9: Read direction message, but no range.
2025-10-26T22:24:14.343Z,1761517454.343 [DAT](INFO): direction in FSK: [-0.883227,-0.467645,-0.034899]
2025-10-26T22:24:14.347Z,1761517454.347 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=4.795122
2025-10-26T22:24:14.469Z,1761517454.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999348,-0.011929,0.034064],[0.010356,-0.998889,-0.045983],[0.034574,-0.045600,0.998361]]
2025-10-26T22:24:14.487Z,1761517454.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m.
2025-10-26T22:24:14.606Z,1761517454.606 [DAT](INFO): DAT read: Rx Time:22:24:13.4937 

2025-10-26T22:24:14.608Z,1761517454.608 [DAT](INFO): Rx dataTimestamp_ set to:1761517454.606777
2025-10-26T22:24:14.612Z,1761517454.612 [DAT](INFO): DAT read: Bearing 154.3, -29.5 (Local)

2025-10-26T22:24:14.613Z,1761517454.613 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.3, -29.5 (Local)

2025-10-26T22:24:14.619Z,1761517454.619 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed -0.1

2025-10-26T22:24:14.626Z,1761517454.626 [DAT](INFO): DAT read: 22:24:13.4937 LVL= 32752, 23921, 27730, 32755, AGC= 62, IDX= 503,-0.42, 2.428,-1.640,-2.770,-2.663, PHS=-1.090, 1.068,-0.151, RAW= 304.3,   1.9, CAL= 302.2,  -1.8, ROT= 207.8,   1.8

2025-10-26T22:24:14.632Z,1761517454.632 [DAT](INFO): got valid direction response:
 22:24:13.4937 LVL= 32752, 23921, 27730, 32755, AGC= 62, IDX= 503,-0.42, 2.428,-1.640,-2.770,-2.663, PHS=-1.090, 1.068,-0.151, RAW= 304.3,   1.9, CAL= 302.2,  -1.8, ROT= 207.8,   1.8

2025-10-26T22:24:14.633Z,1761517454.633 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-26T22:24:14.634Z,1761517454.634 [DAT](INFO): direction in FSK: [-0.884144,-0.466157,-0.031411]
2025-10-26T22:24:14.634Z,1761517454.634 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:14.642Z,1761517454.642 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=5.090294
2025-10-26T22:24:14.852Z,1761517454.852 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=5.300893
2025-10-26T22:24:14.868Z,1761517454.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999362,-0.010022,0.034270],[0.008451,-0.998920,-0.045681],[0.034691,-0.045362,0.998368]]
2025-10-26T22:24:14.911Z,1761517454.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.518438 s,
      deltaX: -0.100000 m,
      approachRate: -0.192888 m/s,
      rangeRepo size: 4

2025-10-26T22:24:14.921Z,1761517454.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.283981 m,
      bearing: 27.387186 deg,
      lat: 36.779393 deg,
      lon: -121.859430 deg,
      deltaT: 0.518438 s,
      deltaX: -0.099442 m,
      approachRate: -0.191810 m/s,
      posRepo size: 4

2025-10-26T22:24:14.921Z,1761517454.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.28 m.
2025-10-26T22:24:15.109Z,1761517455.109 [DAT](INFO): DAT read: Rx Time:22:24:13.9939 

2025-10-26T22:24:15.112Z,1761517455.112 [DAT](INFO): Rx dataTimestamp_ set to:1761517455.110191
2025-10-26T22:24:15.116Z,1761517455.116 [DAT](INFO): DAT read: Bearing 153.4, -29.2 (Local)

2025-10-26T22:24:15.118Z,1761517455.118 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.4, -29.2 (Local)

2025-10-26T22:24:15.131Z,1761517455.131 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed -0.2

2025-10-26T22:24:15.141Z,1761517455.141 [DAT](INFO): DAT read: 22:24:13.9939 LVL= 32752, 22353, 28354, 32755, AGC= 61, IDX= 504, 0.20,-1.602, 0.608,-0.533,-0.396, PHS=-1.103, 1.049,-0.180, RAW= 304.7,   2.5, CAL= 302.5,  -1.1, ROT= 207.5,   1.1

2025-10-26T22:24:15.142Z,1761517455.142 [DAT](INFO): got valid direction response:
 22:24:13.9939 LVL= 32752, 22353, 28354, 32755, AGC= 61, IDX= 504, 0.20,-1.602, 0.608,-0.533,-0.396, PHS=-1.103, 1.049,-0.180, RAW= 304.7,   2.5, CAL= 302.5,  -1.1, ROT= 207.5,   1.1

2025-10-26T22:24:15.143Z,1761517455.143 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-10-26T22:24:15.148Z,1761517455.148 [DAT](INFO): direction in FSK: [-0.886847,-0.461664,-0.019197]
2025-10-26T22:24:15.149Z,1761517455.149 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:15.166Z,1761517455.166 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=5.614963
2025-10-26T22:24:15.275Z,1761517455.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999380,-0.008203,0.034244],[0.006637,-0.998938,-0.045595],[0.034582,-0.045340,0.998373]]
2025-10-26T22:24:15.348Z,1761517455.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.503414 s,
      deltaX: 0.300001 m,
      approachRate: 0.595933 m/s,
      rangeRepo size: 4

2025-10-26T22:24:15.350Z,1761517455.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.582193 m,
      bearing: 27.152017 deg,
      lat: 36.779393 deg,
      lon: -121.859430 deg,
      deltaT: 0.503414 s,
      deltaX: 0.298212 m,
      approachRate: 0.592379 m/s,
      posRepo size: 4

2025-10-26T22:24:15.350Z,1761517455.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.58 m.
2025-10-26T22:24:15.356Z,1761517455.356 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=5.805000
2025-10-26T22:24:15.613Z,1761517455.613 [DAT](INFO): DAT read: Rx Time:22:24:14.4939 

2025-10-26T22:24:15.619Z,1761517455.619 [DAT](INFO): Rx dataTimestamp_ set to:1761517455.614327
2025-10-26T22:24:15.621Z,1761517455.621 [DAT](INFO): DAT read: Bearing 153.9, -29.5 (Local)

2025-10-26T22:24:15.622Z,1761517455.622 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.9, -29.5 (Local)

2025-10-26T22:24:15.631Z,1761517455.631 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed -0.1

2025-10-26T22:24:15.652Z,1761517455.652 [DAT](INFO): DAT read: 22:24:14.4939 LVL= 32752, 21473, 31618, 32755, AGC= 61, IDX= 504, 0.01, 2.125,-1.936,-3.071,-2.953, PHS=-1.103, 1.062,-0.162, RAW= 304.3,   2.2, CAL= 302.2,  -1.5, ROT= 207.8,   1.5

2025-10-26T22:24:15.653Z,1761517455.653 [DAT](INFO): got valid direction response:
 22:24:14.4939 LVL= 32752, 21473, 31618, 32755, AGC= 61, IDX= 504, 0.01, 2.125,-1.936,-3.071,-2.953, PHS=-1.103, 1.062,-0.162, RAW= 304.3,   2.2, CAL= 302.2,  -1.5, ROT= 207.8,   1.5

2025-10-26T22:24:15.654Z,1761517455.654 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-26T22:24:15.655Z,1761517455.655 [DAT](INFO): direction in FSK: [-0.884278,-0.466227,-0.026177]
2025-10-26T22:24:15.655Z,1761517455.655 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:15.679Z,1761517455.679 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=6.127231
2025-10-26T22:24:15.691Z,1761517455.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999396,-0.007009,0.034043],[0.005441,-0.998929,-0.045943],[0.034329,-0.045730,0.998364]]
2025-10-26T22:24:15.779Z,1761517455.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.504136 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:15.789Z,1761517455.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.582193 m,
      bearing: 27.542417 deg,
      lat: 36.779393 deg,
      lon: -121.859429 deg,
      deltaT: 0.504136 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:15.789Z,1761517455.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.58 m.
2025-10-26T22:24:15.861Z,1761517455.861 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=6.309662
2025-10-26T22:24:15.916Z,1761517455.916 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:24:16.117Z,1761517456.117 [DAT](INFO): DAT read: Rx Time:22:24:14.9941 

2025-10-26T22:24:16.118Z,1761517456.118 [DAT](INFO): Rx dataTimestamp_ set to:1761517456.117838
2025-10-26T22:24:16.121Z,1761517456.121 [DAT](INFO): DAT read: Bearing 153.3, -29.1 (Local)

2025-10-26T22:24:16.121Z,1761517456.121 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.3, -29.1 (Local)

2025-10-26T22:24:16.124Z,1761517456.124 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed -0.2

2025-10-26T22:24:16.131Z,1761517456.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999407,-0.006343,0.033834],[0.004766,-0.998909,-0.046466],[0.034092,-0.046277,0.998347]]
2025-10-26T22:24:16.134Z,1761517456.134 [DAT](INFO): DAT read: 22:24:14.9941 LVL= 32752, 21409, 28066, 32755, AGC= 62, IDX= 506,-0.15, 1.889,-2.179, 2.957, 3.099, PHS=-1.108, 1.050,-0.187, RAW= 304.8,   2.6, CAL= 302.6,  -1.0, ROT= 207.4,   1.0

2025-10-26T22:24:16.141Z,1761517456.141 [DAT](INFO): got valid direction response:
 22:24:14.9941 LVL= 32752, 21409, 28066, 32755, AGC= 62, IDX= 506,-0.15, 1.889,-2.179, 2.957, 3.099, PHS=-1.108, 1.050,-0.187, RAW= 304.8,   2.6, CAL= 302.6,  -1.0, ROT= 207.4,   1.0

2025-10-26T22:24:16.143Z,1761517456.143 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-26T22:24:16.148Z,1761517456.148 [DAT](INFO): direction in FSK: [-0.887680,-0.460130,-0.017452]
2025-10-26T22:24:16.149Z,1761517456.149 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:16.184Z,1761517456.184 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=6.632898
2025-10-26T22:24:16.286Z,1761517456.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.503511 s,
      deltaX: 0.299999 m,
      approachRate: 0.595815 m/s,
      rangeRepo size: 4

2025-10-26T22:24:16.292Z,1761517456.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.880379 m,
      bearing: 27.152872 deg,
      lat: 36.779393 deg,
      lon: -121.859429 deg,
      deltaT: 0.503511 s,
      deltaX: 0.298185 m,
      approachRate: 0.592212 m/s,
      posRepo size: 4

2025-10-26T22:24:16.292Z,1761517456.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.88 m.
2025-10-26T22:24:16.365Z,1761517456.365 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=6.813269
2025-10-26T22:24:16.528Z,1761517456.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999416,-0.006093,0.033614],[0.004523,-0.998905,-0.046563],[0.033861,-0.046383,0.998350]]
2025-10-26T22:24:16.602Z,1761517456.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.88 m.
2025-10-26T22:24:16.619Z,1761517456.619 [DAT](INFO): DAT read: Rx Time:22:24:15.4940 

2025-10-26T22:24:16.620Z,1761517456.620 [DAT](INFO): Rx dataTimestamp_ set to:1761517456.619550
2025-10-26T22:24:16.622Z,1761517456.622 [DAT](INFO): DAT read: Bearing 153.4, -29.1 (Local)

2025-10-26T22:24:16.622Z,1761517456.622 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.4, -29.1 (Local)

2025-10-26T22:24:16.626Z,1761517456.626 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed -0.2

2025-10-26T22:24:16.632Z,1761517456.632 [DAT](INFO): DAT read: 22:24:15.4940 LVL= 32752, 21169, 28530, 32755, AGC= 62, IDX= 506,-0.37, 0.294, 2.512, 1.363, 1.503, PHS=-1.106, 1.054,-0.183, RAW= 304.8,   2.5, CAL= 302.6,  -1.1, ROT= 207.4,   1.1

2025-10-26T22:24:16.633Z,1761517456.633 [DAT](INFO): got valid direction response:
 22:24:15.4940 LVL= 32752, 21169, 28530, 32755, AGC= 62, IDX= 506,-0.37, 0.294, 2.512, 1.363, 1.503, PHS=-1.106, 1.054,-0.183, RAW= 304.8,   2.5, CAL= 302.6,  -1.1, ROT= 207.4,   1.1

2025-10-26T22:24:16.633Z,1761517456.633 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-10-26T22:24:16.634Z,1761517456.634 [DAT](INFO): direction in FSK: [-0.887652,-0.460115,-0.019197]
2025-10-26T22:24:16.634Z,1761517456.634 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:16.638Z,1761517456.638 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=7.086480
2025-10-26T22:24:16.868Z,1761517456.868 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=7.316928
2025-10-26T22:24:16.920Z,1761517456.920 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:24:16.935Z,1761517456.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999424,-0.005983,0.033412],[0.004409,-0.998885,-0.046995],[0.033656,-0.046820,0.998336]]
2025-10-26T22:24:16.984Z,1761517456.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.501712 s,
      deltaX: -0.200001 m,
      approachRate: -0.398637 m/s,
      rangeRepo size: 4

2025-10-26T22:24:16.986Z,1761517456.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.681574 m,
      bearing: 27.178464 deg,
      lat: 36.779393 deg,
      lon: -121.859429 deg,
      deltaT: 0.501712 s,
      deltaX: -0.198805 m,
      approachRate: -0.396253 m/s,
      posRepo size: 4

2025-10-26T22:24:16.987Z,1761517456.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m.
2025-10-26T22:24:17.122Z,1761517457.122 [DAT](INFO): DAT read: Rx Time:22:24:15.9941 

2025-10-26T22:24:17.123Z,1761517457.123 [DAT](INFO): Rx dataTimestamp_ set to:1761517457.122374
2025-10-26T22:24:17.125Z,1761517457.125 [DAT](INFO): DAT read: Bearing 153.7, -29.2 (Local)

2025-10-26T22:24:17.126Z,1761517457.126 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.7, -29.2 (Local)

2025-10-26T22:24:17.129Z,1761517457.129 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed -0.2

2025-10-26T22:24:17.134Z,1761517457.134 [DAT](INFO): DAT read: 22:24:15.9941 LVL= 32752, 24305, 27570, 32755, AGC= 62, IDX= 506, 0.26, 2.608,-1.472,-2.606,-2.479, PHS=-1.095, 1.052,-0.171, RAW= 304.6,   2.3, CAL= 302.5,  -1.3, ROT= 207.5,   1.3

2025-10-26T22:24:17.136Z,1761517457.136 [DAT](INFO): got valid direction response:
 22:24:15.9941 LVL= 32752, 24305, 27570, 32755, AGC= 62, IDX= 506, 0.26, 2.608,-1.472,-2.606,-2.479, PHS=-1.095, 1.052,-0.171, RAW= 304.6,   2.3, CAL= 302.5,  -1.3, ROT= 207.5,   1.3

2025-10-26T22:24:17.136Z,1761517457.136 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-26T22:24:17.137Z,1761517457.137 [DAT](INFO): direction in FSK: [-0.886783,-0.461630,-0.022687]
2025-10-26T22:24:17.137Z,1761517457.137 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:17.141Z,1761517457.141 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=7.589306
2025-10-26T22:24:17.334Z,1761517457.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999430,-0.006029,0.033228],[0.004460,-0.998880,-0.047096],[0.033475,-0.046921,0.998338]]
2025-10-26T22:24:17.372Z,1761517457.372 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=7.820982
2025-10-26T22:24:17.396Z,1761517457.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.502824 s,
      deltaX: 0.200001 m,
      approachRate: 0.397755 m/s,
      rangeRepo size: 4

2025-10-26T22:24:17.398Z,1761517457.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.880394 m,
      bearing: 27.286630 deg,
      lat: 36.779393 deg,
      lon: -121.859429 deg,
      deltaT: 0.502824 s,
      deltaX: 0.198820 m,
      approachRate: 0.395407 m/s,
      posRepo size: 4

2025-10-26T22:24:17.398Z,1761517457.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.88 m.
2025-10-26T22:24:17.626Z,1761517457.626 [DAT](INFO): DAT read: Rx Time:22:24:16.4941 

2025-10-26T22:24:17.627Z,1761517457.627 [DAT](INFO): Rx dataTimestamp_ set to:1761517457.626604
2025-10-26T22:24:17.629Z,1761517457.629 [DAT](INFO): DAT read: Bearing 154.6, -29.3 (Local)

2025-10-26T22:24:17.629Z,1761517457.629 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.6, -29.3 (Local)

2025-10-26T22:24:17.640Z,1761517457.640 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed -0.2

2025-10-26T22:24:17.658Z,1761517457.658 [DAT](INFO): DAT read: 22:24:16.4941 LVL= 32752, 20721, 26002, 32755, AGC= 62, IDX= 506, 0.03, 1.659,-2.409, 2.743, 2.844, PHS=-1.083, 1.075,-0.145, RAW= 304.3,   1.7, CAL= 302.3,  -2.1, ROT= 207.7,   2.1

2025-10-26T22:24:17.659Z,1761517457.659 [DAT](INFO): got valid direction response:
 22:24:16.4941 LVL= 32752, 20721, 26002, 32755, AGC= 62, IDX= 506, 0.03, 1.659,-2.409, 2.743, 2.844, PHS=-1.083, 1.075,-0.145, RAW= 304.3,   1.7, CAL= 302.3,  -2.1, ROT= 207.7,   2.1

2025-10-26T22:24:17.660Z,1761517457.660 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-10-26T22:24:17.661Z,1761517457.661 [DAT](INFO): direction in FSK: [-0.884799,-0.464530,-0.036644]
2025-10-26T22:24:17.661Z,1761517457.661 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:17.706Z,1761517457.706 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=8.154405
2025-10-26T22:24:17.749Z,1761517457.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999434,-0.006288,0.033060],[0.004732,-0.998887,-0.046935],[0.033319,-0.046752,0.998351]]
2025-10-26T22:24:17.853Z,1761517457.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.504230 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:17.871Z,1761517457.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.880394 m,
      bearing: 27.516253 deg,
      lat: 36.779393 deg,
      lon: -121.859431 deg,
      deltaT: 0.504230 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:17.872Z,1761517457.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.88 m.
2025-10-26T22:24:17.877Z,1761517457.877 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=8.325095
2025-10-26T22:24:18.129Z,1761517458.129 [DAT](INFO): DAT read: Rx Time:22:24:16.9943 

2025-10-26T22:24:18.129Z,1761517458.129 [DAT](INFO): Rx dataTimestamp_ set to:1761517458.129076
2025-10-26T22:24:18.131Z,1761517458.131 [DAT](INFO): DAT read: Bearing 154.9, -29.1 (Local)

2025-10-26T22:24:18.131Z,1761517458.131 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.9, -29.1 (Local)

2025-10-26T22:24:18.133Z,1761517458.133 [DAT](INFO): DAT read: Range 11 to 50 :    20.3 m (trip time 13.5 ms) speed 0.0

2025-10-26T22:24:18.138Z,1761517458.138 [DAT](INFO): DAT read: 22:24:16.9943 LVL= 31648, 23505, 28146, 32755, AGC= 62, IDX= 508,-0.15, 1.732,-2.333, 2.816, 2.911, PHS=-1.077, 1.084,-0.139, RAW= 304.4,   1.4, CAL= 302.4,  -2.3, ROT= 207.6,   2.3

2025-10-26T22:24:18.139Z,1761517458.139 [DAT](INFO): got valid direction response:
 22:24:16.9943 LVL= 31648, 23505, 28146, 32755, AGC= 62, IDX= 508,-0.15, 1.732,-2.333, 2.816, 2.911, PHS=-1.077, 1.084,-0.139, RAW= 304.4,   1.4, CAL= 302.4,  -2.3, ROT= 207.6,   2.3

2025-10-26T22:24:18.139Z,1761517458.139 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-26T22:24:18.140Z,1761517458.140 [DAT](INFO): direction in FSK: [-0.885490,-0.462923,-0.040132]
2025-10-26T22:24:18.140Z,1761517458.140 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:18.149Z,1761517458.149 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=8.597279
2025-10-26T22:24:18.167Z,1761517458.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999441,-0.006872,0.032714],[0.005329,-0.998879,-0.047028],[0.033001,-0.046828,0.998358]]
2025-10-26T22:24:18.309Z,1761517458.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.299999 m,
      deltaT: 0.502472 s,
      deltaX: 0.299999 m,
      approachRate: 0.597047 m/s,
      rangeRepo size: 4

2025-10-26T22:24:18.311Z,1761517458.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.178591 m,
      bearing: 27.393217 deg,
      lat: 36.779393 deg,
      lon: -121.859431 deg,
      deltaT: 0.502472 s,
      deltaX: 0.298197 m,
      approachRate: 0.593460 m/s,
      posRepo size: 4

2025-10-26T22:24:18.315Z,1761517458.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.18 m.
2025-10-26T22:24:18.381Z,1761517458.381 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=8.829619
2025-10-26T22:24:18.604Z,1761517458.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999440,-0.007459,0.032617],[0.005927,-0.998887,-0.046800],[0.032929,-0.046580,0.998372]]
2025-10-26T22:24:18.633Z,1761517458.633 [DAT](INFO): DAT read: Rx Time:22:24:17.4943 

2025-10-26T22:24:18.633Z,1761517458.633 [DAT](INFO): Rx dataTimestamp_ set to:1761517458.633217
2025-10-26T22:24:18.635Z,1761517458.635 [DAT](INFO): DAT read: Bearing 153.0, -29.4 (Local)

2025-10-26T22:24:18.635Z,1761517458.635 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.0, -29.4 (Local)

2025-10-26T22:24:18.637Z,1761517458.637 [DAT](INFO): DAT read: Range 11 to 50 :    20.3 m (trip time 13.5 ms) speed -0.3

2025-10-26T22:24:18.642Z,1761517458.642 [DAT](INFO): DAT read: 22:24:17.4943 LVL= 32752, 23457, 31090, 32755, AGC= 62, IDX= 508,-0.24,-0.805, 1.410, 0.276, 0.420, PHS=-1.122, 1.035,-0.188, RAW= 304.4,   3.0, CAL= 302.2,  -0.7, ROT= 207.8,   0.7

2025-10-26T22:24:18.643Z,1761517458.643 [DAT](INFO): got valid direction response:
 22:24:17.4943 LVL= 32752, 23457, 31090, 32755, AGC= 62, IDX= 508,-0.24,-0.805, 1.410, 0.276, 0.420, PHS=-1.122, 1.035,-0.188, RAW= 304.4,   3.0, CAL= 302.2,  -0.7, ROT= 207.8,   0.7

2025-10-26T22:24:18.643Z,1761517458.643 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-26T22:24:18.644Z,1761517458.644 [DAT](INFO): direction in FSK: [-0.884515,-0.466352,-0.012217]
2025-10-26T22:24:18.645Z,1761517458.645 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:18.652Z,1761517458.652 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=9.100805
2025-10-26T22:24:18.737Z,1761517458.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.299999 m,
      deltaT: 0.504141 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:18.740Z,1761517458.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.178591 m,
      bearing: 27.467818 deg,
      lat: 36.779393 deg,
      lon: -121.859431 deg,
      deltaT: 0.504141 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:18.740Z,1761517458.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.18 m.
2025-10-26T22:24:18.884Z,1761517458.884 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=9.332847
2025-10-26T22:24:18.970Z,1761517458.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999441,-0.007977,0.032464],[0.006454,-0.998886,-0.046745],[0.032801,-0.046510,0.998379]]
2025-10-26T22:24:19.010Z,1761517459.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.18 m.
2025-10-26T22:24:19.137Z,1761517459.137 [DAT](INFO): DAT read: Rx Time:22:24:17.9945 

2025-10-26T22:24:19.137Z,1761517459.137 [DAT](INFO): Rx dataTimestamp_ set to:1761517459.137188
2025-10-26T22:24:19.139Z,1761517459.139 [DAT](INFO): DAT read: Bearing 151.6, -30.1 (Local)

2025-10-26T22:24:19.139Z,1761517459.139 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.6, -30.1 (Local)

2025-10-26T22:24:19.141Z,1761517459.141 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed -0.2

2025-10-26T22:24:19.146Z,1761517459.146 [DAT](INFO): DAT read: 22:24:17.9945 LVL= 32752, 23361, 32754, 32755, AGC= 58, IDX= 510,-0.32, 0.420, 2.642, 1.521, 1.685, PHS=-1.163, 1.002,-0.208, RAW= 303.9,   4.0, CAL= 301.5,   0.6, ROT= 208.5,  -0.6

2025-10-26T22:24:19.147Z,1761517459.147 [DAT](INFO): got valid direction response:
 22:24:17.9945 LVL= 32752, 23361, 32754, 32755, AGC= 58, IDX= 510,-0.32, 0.420, 2.642, 1.521, 1.685, PHS=-1.163, 1.002,-0.208, RAW= 303.9,   4.0, CAL= 301.5,   0.6, ROT= 208.5,  -0.6

2025-10-26T22:24:19.148Z,1761517459.148 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-10-26T22:24:19.149Z,1761517459.149 [DAT](INFO): direction in FSK: [-0.878769,-0.477133,0.010472]
2025-10-26T22:24:19.149Z,1761517459.149 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:19.153Z,1761517459.153 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=9.601212
2025-10-26T22:24:19.374Z,1761517459.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999439,-0.008535,0.032378],[0.007017,-0.998884,-0.046715],[0.032741,-0.046462,0.998383]]
2025-10-26T22:24:19.388Z,1761517459.388 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=9.836917
2025-10-26T22:24:19.456Z,1761517459.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.503971 s,
      deltaX: 0.300001 m,
      approachRate: 0.595275 m/s,
      rangeRepo size: 4

2025-10-26T22:24:19.458Z,1761517459.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.476753 m,
      bearing: 28.030893 deg,
      lat: 36.779393 deg,
      lon: -121.859431 deg,
      deltaT: 0.503971 s,
      deltaX: 0.298162 m,
      approachRate: 0.591626 m/s,
      posRepo size: 4

2025-10-26T22:24:19.459Z,1761517459.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.48 m.
2025-10-26T22:24:19.642Z,1761517459.642 [DAT](INFO): DAT read: Rx Time:22:24:18.4945 

2025-10-26T22:24:19.643Z,1761517459.643 [DAT](INFO): Rx dataTimestamp_ set to:1761517459.642220
2025-10-26T22:24:19.644Z,1761517459.644 [DAT](INFO): DAT read: Bearing 153.5, -30.1 (Local)

2025-10-26T22:24:19.644Z,1761517459.644 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.5, -30.1 (Local)

2025-10-26T22:24:19.646Z,1761517459.646 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed -0.2

2025-10-26T22:24:19.651Z,1761517459.651 [DAT](INFO): DAT read: 22:24:18.4945 LVL= 32752, 24161, 32082, 32755, AGC= 59, IDX= 510,-0.41,-0.891, 1.334, 0.224, 0.341, PHS=-1.131, 1.038,-0.162, RAW= 303.5,   2.7, CAL= 301.3,  -1.0, ROT= 208.7,   1.0

2025-10-26T22:24:19.652Z,1761517459.652 [DAT](INFO): got valid direction response:
 22:24:18.4945 LVL= 32752, 24161, 32082, 32755, AGC= 59, IDX= 510,-0.41,-0.891, 1.334, 0.224, 0.341, PHS=-1.131, 1.038,-0.162, RAW= 303.5,   2.7, CAL= 301.3,  -1.0, ROT= 208.7,   1.0

2025-10-26T22:24:19.652Z,1761517459.652 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-10-26T22:24:19.653Z,1761517459.653 [DAT](INFO): direction in FSK: [-0.877013,-0.480150,-0.017452]
2025-10-26T22:24:19.654Z,1761517459.654 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:19.682Z,1761517459.682 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=10.130774
2025-10-26T22:24:19.778Z,1761517459.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999438,-0.009572,0.032140],[0.008068,-0.998880,-0.046613],[0.032550,-0.046327,0.998396]]
2025-10-26T22:24:19.862Z,1761517459.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.505032 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:19.872Z,1761517459.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.476753 m,
      bearing: 28.260695 deg,
      lat: 36.779393 deg,
      lon: -121.859431 deg,
      deltaT: 0.505032 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:19.873Z,1761517459.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.48 m.
2025-10-26T22:24:19.892Z,1761517459.892 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=10.340891
2025-10-26T22:24:20.149Z,1761517460.149 [DAT](INFO): DAT read: Rx Time:22:24:18.9946 

2025-10-26T22:24:20.149Z,1761517460.149 [DAT](INFO): Rx dataTimestamp_ set to:1761517460.148829
2025-10-26T22:24:20.150Z,1761517460.150 [DAT](INFO): DAT read: Range 11 to 50 :    20.7 m (trip time 13.8 ms) speed -0.3

2025-10-26T22:24:20.151Z,1761517460.151 [DAT](ERROR): #Rx 21: Read range message, but no direction.
2025-10-26T22:24:20.152Z,1761517460.152 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=10.600641
2025-10-26T22:24:20.206Z,1761517460.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999432,-0.010859,0.031914],[0.009369,-0.998875,-0.046479],[0.032383,-0.046154,0.998409]]
2025-10-26T22:24:20.276Z,1761517460.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.700001 m,
      deltaT: 0.506609 s,
      deltaX: 0.100000 m,
      approachRate: 0.197392 m/s,
      rangeRepo size: 4

2025-10-26T22:24:20.277Z,1761517460.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.48 m.
2025-10-26T22:24:20.396Z,1761517460.396 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=10.844843
2025-10-26T22:24:20.625Z,1761517460.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999423,-0.011840,0.031837],[0.010353,-0.998866,-0.046481],[0.032351,-0.046124,0.998412]]
2025-10-26T22:24:20.645Z,1761517460.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.48 m.
2025-10-26T22:24:20.649Z,1761517460.649 [DAT](INFO): DAT read: Rx Time:22:24:19.4946 

2025-10-26T22:24:20.650Z,1761517460.650 [DAT](INFO): Rx dataTimestamp_ set to:1761517460.649502
2025-10-26T22:24:20.651Z,1761517460.651 [DAT](INFO): DAT read: Bearing 165.2, -41.2 (Local)

2025-10-26T22:24:20.651Z,1761517460.651 [DAT](INFO): Local bearing/azimuth received:
 Bearing 165.2, -41.2 (Local)

2025-10-26T22:24:20.654Z,1761517460.654 [DAT](INFO): DAT read: Range 11 to 50 :    20.7 m (trip time 13.8 ms) speed -0.3

2025-10-26T22:24:20.674Z,1761517460.674 [DAT](INFO): DAT read: 22:24:19.4946 LVL= 32752, 23953, 32754, 32755, AGC= 60, IDX= 512,-0.47, 2.396,-1.516,-2.211,-2.631, PHS=-1.155, 1.160, 0.376, RAW= 289.4,  -3.8, CAL= 289.0,  -8.8, ROT= 221.0,   8.8

2025-10-26T22:24:20.676Z,1761517460.676 [DAT](INFO): got valid direction response:
 22:24:19.4946 LVL= 32752, 23953, 32754, 32755, AGC= 60, IDX= 512,-0.47, 2.396,-1.516,-2.211,-2.631, PHS=-1.155, 1.160, 0.376, RAW= 289.4,  -3.8, CAL= 289.0,  -8.8, ROT= 221.0,   8.8

2025-10-26T22:24:20.676Z,1761517460.676 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-10-26T22:24:20.677Z,1761517460.677 [DAT](INFO): direction in FSK: [-0.745825,-0.648336,-0.152986]
2025-10-26T22:24:20.677Z,1761517460.677 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:20.693Z,1761517460.693 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=11.141430
2025-10-26T22:24:20.900Z,1761517460.900 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=11.348989
2025-10-26T22:24:20.992Z,1761517460.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999412,-0.013094,0.031685],[0.011617,-0.998856,-0.046378],[0.032256,-0.045983,0.998421]]
2025-10-26T22:24:21.015Z,1761517461.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.700001 m,
      deltaT: 0.500673 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:21.021Z,1761517461.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.576138 m,
      bearing: 40.777254 deg,
      lat: 36.779393 deg,
      lon: -121.859430 deg,
      deltaT: 1.007282 s,
      deltaX: 0.099384 m,
      approachRate: 0.098666 m/s,
      posRepo size: 4

2025-10-26T22:24:21.021Z,1761517461.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.58 m.
2025-10-26T22:24:21.153Z,1761517461.153 [DAT](INFO): DAT read: Rx Time:22:24:19.9947 

2025-10-26T22:24:21.154Z,1761517461.154 [DAT](INFO): Rx dataTimestamp_ set to:1761517461.153285
2025-10-26T22:24:21.155Z,1761517461.155 [DAT](INFO): DAT read: Bearing 159.9, -32.7 (Local)

2025-10-26T22:24:21.155Z,1761517461.155 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.9, -32.7 (Local)

2025-10-26T22:24:21.158Z,1761517461.158 [DAT](INFO): DAT read: Range 11 to 50 :    20.9 m (trip time 13.9 ms) speed -0.3

2025-10-26T22:24:21.162Z,1761517461.162 [DAT](INFO): DAT read: 22:24:19.9947 LVL= 32752, 22673, 31634, 32755, AGC= 60, IDX= 512, 0.35,-0.944, 1.077, 0.207, 0.095, PHS=-0.937, 1.027, 0.069, RAW= 299.2,  -1.9, CAL= 298.1,  -6.1, ROT= 211.9,   6.1

2025-10-26T22:24:21.164Z,1761517461.164 [DAT](INFO): got valid direction response:
 22:24:19.9947 LVL= 32752, 22673, 31634, 32755, AGC= 60, IDX= 512, 0.35,-0.944, 1.077, 0.207, 0.095, PHS=-0.937, 1.027, 0.069, RAW= 299.2,  -1.9, CAL= 298.1,  -6.1, ROT= 211.9,   6.1

2025-10-26T22:24:21.164Z,1761517461.164 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-10-26T22:24:21.165Z,1761517461.165 [DAT](INFO): direction in FSK: [-0.844165,-0.525446,-0.106264]
2025-10-26T22:24:21.165Z,1761517461.165 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:21.169Z,1761517461.169 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=11.617501
2025-10-26T22:24:21.394Z,1761517461.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999403,-0.014048,0.031568],[0.012571,-0.998837,-0.046536],[0.032185,-0.046112,0.998418]]
2025-10-26T22:24:21.404Z,1761517461.404 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=11.852960
2025-10-26T22:24:21.459Z,1761517461.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 0.503783 s,
      deltaX: 0.199999 m,
      approachRate: 0.396994 m/s,
      rangeRepo size: 4

2025-10-26T22:24:21.473Z,1761517461.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.774933 m,
      bearing: 31.485502 deg,
      lat: 36.779393 deg,
      lon: -121.859430 deg,
      deltaT: 0.503783 s,
      deltaX: 0.198795 m,
      approachRate: 0.394605 m/s,
      posRepo size: 4

2025-10-26T22:24:21.473Z,1761517461.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.77 m.
2025-10-26T22:24:21.657Z,1761517461.657 [DAT](INFO): DAT read: Rx Time:22:24:20.4947 

2025-10-26T22:24:21.657Z,1761517461.657 [DAT](INFO): Rx dataTimestamp_ set to:1761517461.657188
2025-10-26T22:24:21.659Z,1761517461.659 [DAT](INFO): DAT read: Bearing 159.7, -37.4 (Local)

2025-10-26T22:24:21.659Z,1761517461.659 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.7, -37.4 (Local)

2025-10-26T22:24:21.662Z,1761517461.662 [DAT](INFO): DAT read: Range 11 to 50 :    20.9 m (trip time 13.9 ms) speed -0.3

2025-10-26T22:24:21.666Z,1761517461.666 [DAT](INFO): DAT read: 22:24:20.4947 LVL= 32752, 25665, 31122, 32755, AGC= 61, IDX= 512, 0.28,-2.022, 0.583,-0.395,-0.600, PHS=-1.320, 1.228, 0.161, RAW= 294.7,  -0.6, CAL= 293.5,  -5.2, ROT= 216.5,   5.2

2025-10-26T22:24:21.670Z,1761517461.670 [DAT](INFO): got valid direction response:
 22:24:20.4947 LVL= 32752, 25665, 31122, 32755, AGC= 61, IDX= 512, 0.28,-2.022, 0.583,-0.395,-0.600, PHS=-1.320, 1.228, 0.161, RAW= 294.7,  -0.6, CAL= 293.5,  -5.2, ROT= 216.5,   5.2

2025-10-26T22:24:21.671Z,1761517461.671 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-10-26T22:24:21.676Z,1761517461.676 [DAT](INFO): direction in FSK: [-0.800548,-0.592375,-0.090633]
2025-10-26T22:24:21.676Z,1761517461.676 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:21.680Z,1761517461.680 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=12.128776
2025-10-26T22:24:21.807Z,1761517461.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999398,-0.014841,0.031360],[0.013360,-0.998809,-0.046919],[0.032019,-0.046472,0.998406]]
2025-10-26T22:24:21.855Z,1761517461.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 0.503903 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:21.861Z,1761517461.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.774933 m,
      bearing: 35.982413 deg,
      lat: 36.779387 deg,
      lon: -121.859423 deg,
      deltaT: 0.503903 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:21.862Z,1761517461.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.77 m.
2025-10-26T22:24:21.909Z,1761517461.909 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=12.357660
2025-10-26T22:24:22.165Z,1761517462.165 [DAT](INFO): DAT read: Rx Time:22:24:20.9949 

2025-10-26T22:24:22.166Z,1761517462.166 [DAT](INFO): Rx dataTimestamp_ set to:1761517462.165431
2025-10-26T22:24:22.170Z,1761517462.170 [DAT](INFO): DAT read: Bearing 151.5, -30.2 (Local)

2025-10-26T22:24:22.170Z,1761517462.170 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.5, -30.2 (Local)

2025-10-26T22:24:22.172Z,1761517462.172 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed -0.3

2025-10-26T22:24:22.177Z,1761517462.177 [DAT](INFO): DAT read: 22:24:20.9949 LVL= 30144, 16449, 20050, 32755, AGC= 63, IDX=   2, 0.13, 2.633,-1.474,-2.566,-2.405, PHS=-1.143, 0.976,-0.205, RAW= 303.8,   4.1, CAL= 301.4,   0.8, ROT= 208.6,  -0.8

2025-10-26T22:24:22.178Z,1761517462.178 [DAT](INFO): got valid direction response:
 22:24:20.9949 LVL= 30144, 16449, 20050, 32755, AGC= 63, IDX=   2, 0.13, 2.633,-1.474,-2.566,-2.405, PHS=-1.143, 0.976,-0.205, RAW= 303.8,   4.1, CAL= 301.4,   0.8, ROT= 208.6,  -0.8

2025-10-26T22:24:22.178Z,1761517462.178 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-10-26T22:24:22.179Z,1761517462.179 [DAT](INFO): direction in FSK: [-0.877897,-0.478645,0.013962]
2025-10-26T22:24:22.180Z,1761517462.180 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:22.207Z,1761517462.207 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=12.631643
2025-10-26T22:24:22.229Z,1761517462.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999390,-0.015734,0.031178],[0.014250,-0.998781,-0.047254],[0.031883,-0.046781,0.998396]]
2025-10-26T22:24:22.328Z,1761517462.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.508243 s,
      deltaX: 0.300001 m,
      approachRate: 0.590271 m/s,
      rangeRepo size: 4

2025-10-26T22:24:22.330Z,1761517462.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.073181 m,
      bearing: 27.704266 deg,
      lat: 36.779387 deg,
      lon: -121.859423 deg,
      deltaT: 0.508243 s,
      deltaX: 0.298248 m,
      approachRate: 0.586822 m/s,
      posRepo size: 4

2025-10-26T22:24:22.330Z,1761517462.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-10-26T22:24:22.413Z,1761517462.413 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=12.861242
2025-10-26T22:24:22.627Z,1761517462.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999384,-0.016523,0.030972],[0.015037,-0.998754,-0.047585],[0.031720,-0.047090,0.998387]]
2025-10-26T22:24:22.659Z,1761517462.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-10-26T22:24:22.665Z,1761517462.665 [DAT](INFO): DAT read: Rx Time:22:24:21.4949 

2025-10-26T22:24:22.666Z,1761517462.666 [DAT](INFO): Rx dataTimestamp_ set to:1761517462.665229
2025-10-26T22:24:22.667Z,1761517462.667 [DAT](INFO): DAT read: Bearing 152.0, -30.9 (Local)

2025-10-26T22:24:22.668Z,1761517462.668 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.0, -30.9 (Local)

2025-10-26T22:24:22.670Z,1761517462.670 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed -0.2

2025-10-26T22:24:22.675Z,1761517462.675 [DAT](INFO): DAT read: 22:24:21.4949 LVL= 32752, 23425, 26034, 32755, AGC= 60, IDX= 498, 0.17, 0.766, 2.969, 1.888, 2.031, PHS=-1.163, 0.983,-0.188, RAW= 303.0,   4.0, CAL= 300.6,   0.5, ROT= 209.4,  -0.5

2025-10-26T22:24:22.676Z,1761517462.676 [DAT](INFO): got valid direction response:
 22:24:21.4949 LVL= 32752, 23425, 26034, 32755, AGC= 60, IDX= 498, 0.17, 0.766, 2.969, 1.888, 2.031, PHS=-1.163, 0.983,-0.188, RAW= 303.0,   4.0, CAL= 300.6,   0.5, ROT= 209.4,  -0.5

2025-10-26T22:24:22.676Z,1761517462.676 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-10-26T22:24:22.677Z,1761517462.677 [DAT](INFO): direction in FSK: [-0.871181,-0.490885,0.008727]
2025-10-26T22:24:22.677Z,1761517462.677 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:22.702Z,1761517462.702 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.150386
2025-10-26T22:24:22.917Z,1761517462.917 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.365559
2025-10-26T22:24:23.018Z,1761517463.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999364,-0.017463,0.031089],[0.015971,-0.998738,-0.047609],[0.031882,-0.047082,0.998382]]
2025-10-26T22:24:23.054Z,1761517463.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.499798 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:23.056Z,1761517463.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.073181 m,
      bearing: 28.420594 deg,
      lat: 36.779387 deg,
      lon: -121.859423 deg,
      deltaT: 0.499798 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:23.056Z,1761517463.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-10-26T22:24:23.170Z,1761517463.170 [DAT](INFO): DAT read: Rx Time:22:24:21.9951 

2025-10-26T22:24:23.170Z,1761517463.170 [DAT](INFO): Rx dataTimestamp_ set to:1761517463.170095
2025-10-26T22:24:23.172Z,1761517463.172 [DAT](INFO): DAT read: Bearing 148.5, -30.3 (Local)

2025-10-26T22:24:23.172Z,1761517463.172 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.5, -30.3 (Local)

2025-10-26T22:24:23.174Z,1761517463.174 [DAT](INFO): DAT read: Range 11 to 50 :    21.5 m (trip time 14.3 ms) speed -0.2

2025-10-26T22:24:23.179Z,1761517463.179 [DAT](INFO): DAT read: 22:24:21.9951 LVL= 32752, 21217, 26514, 32755, AGC= 61, IDX= 500, 0.13, 0.846, 3.031, 1.936, 2.138, PHS=-1.189, 0.938,-0.246, RAW= 303.7,   5.4, CAL= 301.3,   3.4, ROT= 208.7,  -3.4

2025-10-26T22:24:23.180Z,1761517463.180 [DAT](INFO): got valid direction response:
 22:24:21.9951 LVL= 32752, 21217, 26514, 32755, AGC= 61, IDX= 500, 0.13, 0.846, 3.031, 1.936, 2.138, PHS=-1.189, 0.938,-0.246, RAW= 303.7,   5.4, CAL= 301.3,   3.4, ROT= 208.7,  -3.4

2025-10-26T22:24:23.181Z,1761517463.181 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-10-26T22:24:23.182Z,1761517463.182 [DAT](INFO): direction in FSK: [-0.875602,-0.479378,0.059306]
2025-10-26T22:24:23.182Z,1761517463.182 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:23.186Z,1761517463.186 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=13.634194
2025-10-26T22:24:23.415Z,1761517463.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999352,-0.018167,0.031081],[0.016675,-0.998726,-0.047617],[0.031907,-0.047068,0.998382]]
2025-10-26T22:24:23.420Z,1761517463.420 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=13.868931
2025-10-26T22:24:23.628Z,1761517463.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.500000 m,
      deltaT: 0.504866 s,
      deltaX: 0.299999 m,
      approachRate: 0.594216 m/s,
      rangeRepo size: 4

2025-10-26T22:24:23.630Z,1761517463.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.371429 m,
      bearing: 27.517097 deg,
      lat: 36.779394 deg,
      lon: -121.859436 deg,
      deltaT: 0.504866 s,
      deltaX: 0.298248 m,
      approachRate: 0.590747 m/s,
      posRepo size: 4

2025-10-26T22:24:23.630Z,1761517463.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.37 m.
2025-10-26T22:24:23.674Z,1761517463.674 [DAT](INFO): DAT read: Rx Time:22:24:22.4951 

2025-10-26T22:24:23.675Z,1761517463.675 [DAT](INFO): Rx dataTimestamp_ set to:1761517463.674137
2025-10-26T22:24:23.677Z,1761517463.677 [DAT](INFO): DAT read: Bearing 149.8, -30.0 (Local)

2025-10-26T22:24:23.677Z,1761517463.677 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.8, -30.0 (Local)

2025-10-26T22:24:23.681Z,1761517463.681 [DAT](INFO): DAT read: Range 11 to 50 :    21.5 m (trip time 14.3 ms) speed -0.2

2025-10-26T22:24:23.688Z,1761517463.688 [DAT](INFO): DAT read: 22:24:22.4951 LVL= 32752, 24561, 26306, 32755, AGC= 62, IDX= 500, 0.03,-0.583, 1.602, 0.498, 0.686, PHS=-1.167, 0.961,-0.232, RAW= 304.0,   4.8, CAL= 301.6,   2.2, ROT= 208.4,  -2.2

2025-10-26T22:24:23.690Z,1761517463.690 [DAT](INFO): got valid direction response:
 22:24:22.4951 LVL= 32752, 24561, 26306, 32755, AGC= 62, IDX= 500, 0.03,-0.583, 1.602, 0.498, 0.686, PHS=-1.167, 0.961,-0.232, RAW= 304.0,   4.8, CAL= 301.6,   2.2, ROT= 208.4,  -2.2

2025-10-26T22:24:23.690Z,1761517463.690 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-10-26T22:24:23.692Z,1761517463.692 [DAT](INFO): direction in FSK: [-0.879000,-0.475274,0.038388]
2025-10-26T22:24:23.693Z,1761517463.693 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:23.718Z,1761517463.718 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.166556
2025-10-26T22:24:23.865Z,1761517463.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999342,-0.018883,0.030978],[0.017400,-0.998722,-0.047443],[0.031834,-0.046872,0.998393]]
2025-10-26T22:24:23.925Z,1761517463.925 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.373065
2025-10-26T22:24:23.926Z,1761517463.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.500000 m,
      deltaT: 0.504042 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:23.932Z,1761517463.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.371429 m,
      bearing: 27.244852 deg,
      lat: 36.779396 deg,
      lon: -121.859436 deg,
      deltaT: 0.504042 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:23.932Z,1761517463.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.37 m.
2025-10-26T22:24:24.181Z,1761517464.181 [DAT](INFO): DAT read: Rx Time:22:24:22.9953 

2025-10-26T22:24:24.183Z,1761517464.183 [DAT](INFO): Rx dataTimestamp_ set to:1761517464.181692
2025-10-26T22:24:24.186Z,1761517464.186 [DAT](INFO): DAT read: Bearing 151.0, -30.4 (Local)

2025-10-26T22:24:24.187Z,1761517464.187 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.0, -30.4 (Local)

2025-10-26T22:24:24.198Z,1761517464.198 [DAT](INFO): DAT read: Range 11 to 50 :    21.8 m (trip time 14.5 ms) speed -0.2

2025-10-26T22:24:24.212Z,1761517464.212 [DAT](INFO): DAT read: 22:24:22.9953 LVL= 32752, 22001, 26082, 32755, AGC= 61, IDX= 502,-0.15,-0.454, 1.750, 0.648, 0.814, PHS=-1.167, 0.980,-0.211, RAW= 303.6,   4.3, CAL= 301.2,   1.2, ROT= 208.8,  -1.2

2025-10-26T22:24:24.213Z,1761517464.213 [DAT](INFO): got valid direction response:
 22:24:22.9953 LVL= 32752, 22001, 26082, 32755, AGC= 61, IDX= 502,-0.15,-0.454, 1.750, 0.648, 0.814, PHS=-1.167, 0.980,-0.211, RAW= 303.6,   4.3, CAL= 301.2,   1.2, ROT= 208.8,  -1.2

2025-10-26T22:24:24.213Z,1761517464.213 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-10-26T22:24:24.214Z,1761517464.214 [DAT](INFO): direction in FSK: [-0.876114,-0.481648,0.020942]
2025-10-26T22:24:24.215Z,1761517464.215 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:24.235Z,1761517464.235 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=14.683170
2025-10-26T22:24:24.283Z,1761517464.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999331,-0.019445,0.030982],[0.017969,-0.998723,-0.047221],[0.031861,-0.046633,0.998404]]
2025-10-26T22:24:24.396Z,1761517464.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 0.507555 s,
      deltaX: 0.299999 m,
      approachRate: 0.591067 m/s,
      rangeRepo size: 4

2025-10-26T22:24:24.398Z,1761517464.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.669653 m,
      bearing: 27.668604 deg,
      lat: 36.779397 deg,
      lon: -121.859438 deg,
      deltaT: 0.507555 s,
      deltaX: 0.298223 m,
      approachRate: 0.587569 m/s,
      posRepo size: 4

2025-10-26T22:24:24.399Z,1761517464.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.67 m.
2025-10-26T22:24:24.429Z,1761517464.429 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=14.877134
2025-10-26T22:24:24.681Z,1761517464.681 [DAT](INFO): DAT read: Rx Time:22:24:23.4952 

2025-10-26T22:24:24.682Z,1761517464.682 [DAT](INFO): Rx dataTimestamp_ set to:1761517464.681274
2025-10-26T22:24:24.683Z,1761517464.683 [DAT](INFO): DAT read: Bearing 151.7, -30.5 (Local)

2025-10-26T22:24:24.683Z,1761517464.683 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.7, -30.5 (Local)

2025-10-26T22:24:24.685Z,1761517464.685 [DAT](INFO): DAT read: Range 11 to 50 :    21.6 m (trip time 14.4 ms) speed -0.1

2025-10-26T22:24:24.690Z,1761517464.690 [DAT](INFO): DAT read: 22:24:23.4952 LVL= 32752, 21201, 22898, 32755, AGC= 59, IDX= 501, 0.44, 0.129, 2.327, 1.234, 1.386, PHS=-1.155, 0.986,-0.196, RAW= 303.4,   4.0, CAL= 301.0,   0.5, ROT= 209.0,  -0.5

2025-10-26T22:24:24.691Z,1761517464.691 [DAT](INFO): got valid direction response:
 22:24:23.4952 LVL= 32752, 21201, 22898, 32755, AGC= 59, IDX= 501, 0.44, 0.129, 2.327, 1.234, 1.386, PHS=-1.155, 0.986,-0.196, RAW= 303.4,   4.0, CAL= 301.0,   0.5, ROT= 209.0,  -0.5

2025-10-26T22:24:24.692Z,1761517464.692 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-10-26T22:24:24.692Z,1761517464.692 [DAT](INFO): direction in FSK: [-0.874586,-0.484791,0.008727]
2025-10-26T22:24:24.693Z,1761517464.693 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:24.701Z,1761517464.701 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.149827
2025-10-26T22:24:24.742Z,1761517464.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999335,-0.019261,0.030947],[0.017786,-0.998724,-0.047270],[0.031818,-0.046688,0.998403]]
2025-10-26T22:24:24.809Z,1761517464.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.600000 m,
      deltaT: 0.499582 s,
      deltaX: -0.199999 m,
      approachRate: -0.400332 m/s,
      rangeRepo size: 4

2025-10-26T22:24:24.811Z,1761517464.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.470850 m,
      bearing: 27.918035 deg,
      lat: 36.779397 deg,
      lon: -121.859439 deg,
      deltaT: 0.499582 s,
      deltaX: -0.198803 m,
      approachRate: -0.397939 m/s,
      posRepo size: 4

2025-10-26T22:24:24.820Z,1761517464.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.47 m.
2025-10-26T22:24:24.932Z,1761517464.932 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.381026
2025-10-26T22:24:25.154Z,1761517465.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999330,-0.019311,0.031092],[0.017835,-0.998732,-0.047083],[0.031962,-0.046497,0.998407]]
2025-10-26T22:24:25.189Z,1761517465.189 [DAT](INFO): DAT read: Rx Time:22:24:23.9953 

2025-10-26T22:24:25.190Z,1761517465.190 [DAT](INFO): Rx dataTimestamp_ set to:1761517465.189265
2025-10-26T22:24:25.195Z,1761517465.195 [DAT](INFO): DAT read: Bearing 151.3, -30.1 (Local)

2025-10-26T22:24:25.196Z,1761517465.196 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.3, -30.1 (Local)

2025-10-26T22:24:25.200Z,1761517465.200 [DAT](INFO): DAT read: Range 11 to 50 :    21.8 m (trip time 14.5 ms) speed -0.1

2025-10-26T22:24:25.204Z,1761517465.204 [DAT](INFO): DAT read: 22:24:23.9953 LVL= 32752, 19345, 22706, 32755, AGC= 59, IDX= 502, 0.03, 1.362,-2.738, 2.443, 2.610, PHS=-1.146, 0.981,-0.211, RAW= 304.0,   4.1, CAL= 301.6,   0.9, ROT= 208.4,  -0.9

2025-10-26T22:24:25.206Z,1761517465.206 [DAT](INFO): got valid direction response:
 22:24:23.9953 LVL= 32752, 19345, 22706, 32755, AGC= 59, IDX= 502, 0.03, 1.362,-2.738, 2.443, 2.610, PHS=-1.146, 0.981,-0.211, RAW= 304.0,   4.1, CAL= 301.6,   0.9, ROT= 208.4,  -0.9

2025-10-26T22:24:25.206Z,1761517465.206 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-10-26T22:24:25.207Z,1761517465.207 [DAT](INFO): direction in FSK: [-0.879540,-0.475566,0.015707]
2025-10-26T22:24:25.207Z,1761517465.207 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:25.211Z,1761517465.211 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=15.659412
2025-10-26T22:24:25.363Z,1761517465.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 0.507991 s,
      deltaX: 0.199999 m,
      approachRate: 0.393706 m/s,
      rangeRepo size: 4

2025-10-26T22:24:25.373Z,1761517465.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.669647 m,
      bearing: 27.294082 deg,
      lat: 36.779398 deg,
      lon: -121.859439 deg,
      deltaT: 0.507991 s,
      deltaX: 0.198797 m,
      approachRate: 0.391340 m/s,
      posRepo size: 4

2025-10-26T22:24:25.373Z,1761517465.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.67 m.
2025-10-26T22:24:25.437Z,1761517465.437 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=15.885438
2025-10-26T22:24:25.631Z,1761517465.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999342,-0.018521,0.031183],[0.017034,-0.998737,-0.047273],[0.032020,-0.046711,0.998395]]
2025-10-26T22:24:25.689Z,1761517465.689 [DAT](INFO): DAT read: Rx Time:22:24:24.4953 

2025-10-26T22:24:25.689Z,1761517465.689 [DAT](INFO): Rx dataTimestamp_ set to:1761517465.689152
2025-10-26T22:24:25.691Z,1761517465.691 [DAT](INFO): DAT read: Bearing 149.5, -29.8 (Local)

2025-10-26T22:24:25.691Z,1761517465.691 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.5, -29.8 (Local)

2025-10-26T22:24:25.693Z,1761517465.693 [DAT](INFO): DAT read: Range 11 to 50 :    21.8 m (trip time 14.5 ms) speed -0.1

2025-10-26T22:24:25.699Z,1761517465.699 [DAT](INFO): DAT read: 22:24:24.4953 LVL= 32752, 19057, 25042, 32755, AGC= 59, IDX= 502,-0.38, 0.021, 2.203, 1.088, 1.286, PHS=-1.163, 0.962,-0.243, RAW= 304.4,   4.9, CAL= 302.0,   2.4, ROT= 208.0,  -2.4

2025-10-26T22:24:25.705Z,1761517465.705 [DAT](INFO): got valid direction response:
 22:24:24.4953 LVL= 32752, 19057, 25042, 32755, AGC= 59, IDX= 502,-0.38, 0.021, 2.203, 1.088, 1.286, PHS=-1.163, 0.962,-0.243, RAW= 304.4,   4.9, CAL= 302.0,   2.4, ROT= 208.0,  -2.4

2025-10-26T22:24:25.705Z,1761517465.705 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-10-26T22:24:25.706Z,1761517465.706 [DAT](INFO): direction in FSK: [-0.882173,-0.469060,0.041876]
2025-10-26T22:24:25.707Z,1761517465.707 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:25.713Z,1761517465.713 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.161636
2025-10-26T22:24:25.716Z,1761517465.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.67 m.
2025-10-26T22:24:25.941Z,1761517465.941 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.389191
2025-10-26T22:24:26.026Z,1761517466.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999354,-0.017806,0.031209],[0.016316,-0.998744,-0.047379],[0.032013,-0.046839,0.998389]]
2025-10-26T22:24:26.108Z,1761517466.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 0.499887 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:26.119Z,1761517466.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.669647 m,
      bearing: 26.896406 deg,
      lat: 36.779399 deg,
      lon: -121.859440 deg,
      deltaT: 0.499887 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:26.124Z,1761517466.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.67 m.
2025-10-26T22:24:26.198Z,1761517466.198 [DAT](INFO): DAT read: Rx Time:22:24:24.9954 

2025-10-26T22:24:26.200Z,1761517466.200 [DAT](INFO): Rx dataTimestamp_ set to:1761517466.198423
2025-10-26T22:24:26.204Z,1761517466.204 [DAT](INFO): DAT read: Bearing 147.0, -29.3 (Local)

2025-10-26T22:24:26.205Z,1761517466.205 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.0, -29.3 (Local)

2025-10-26T22:24:26.213Z,1761517466.213 [DAT](INFO): DAT read: Range 11 to 50 :    21.9 m (trip time 14.6 ms) speed -0.1

2025-10-26T22:24:26.228Z,1761517466.228 [DAT](INFO): DAT read: 22:24:24.9954 LVL= 32752, 20865, 25314, 32755, AGC= 61, IDX= 503, 0.04,-3.138,-0.975,-2.097,-1.857, PHS=-1.179, 0.927,-0.284, RAW= 304.9,   5.9, CAL= 302.6,   4.5, ROT= 207.4,  -4.5

2025-10-26T22:24:26.229Z,1761517466.229 [DAT](INFO): got valid direction response:
 22:24:24.9954 LVL= 32752, 20865, 25314, 32755, AGC= 61, IDX= 503, 0.04,-3.138,-0.975,-2.097,-1.857, PHS=-1.179, 0.927,-0.284, RAW= 304.9,   5.9, CAL= 302.6,   4.5, ROT= 207.4,  -4.5

2025-10-26T22:24:26.230Z,1761517466.230 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-10-26T22:24:26.231Z,1761517466.231 [DAT](INFO): direction in FSK: [-0.885079,-0.458781,0.078459]
2025-10-26T22:24:26.231Z,1761517466.231 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:26.245Z,1761517466.245 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.693710
2025-10-26T22:24:26.431Z,1761517466.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999360,-0.017230,0.031362],[0.015736,-0.998758,-0.047280],[0.032137,-0.046756,0.998389]]
2025-10-26T22:24:26.444Z,1761517466.444 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.892790
2025-10-26T22:24:26.504Z,1761517466.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.900000 m,
      deltaT: 0.509271 s,
      deltaX: 0.100000 m,
      approachRate: 0.196360 m/s,
      rangeRepo size: 4

2025-10-26T22:24:26.506Z,1761517466.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.769005 m,
      bearing: 26.212356 deg,
      lat: 36.779399 deg,
      lon: -121.859441 deg,
      deltaT: 0.509271 s,
      deltaX: 0.099358 m,
      approachRate: 0.195098 m/s,
      posRepo size: 4

2025-10-26T22:24:26.507Z,1761517466.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.77 m.
2025-10-26T22:24:26.697Z,1761517466.697 [DAT](INFO): DAT read: Rx Time:22:24:25.4954 

2025-10-26T22:24:26.698Z,1761517466.698 [DAT](INFO): Rx dataTimestamp_ set to:1761517466.697352
2025-10-26T22:24:26.700Z,1761517466.700 [DAT](INFO): DAT read: Bearing 150.5, -29.3 (Local)

2025-10-26T22:24:26.700Z,1761517466.700 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.5, -29.3 (Local)

2025-10-26T22:24:26.703Z,1761517466.703 [DAT](INFO): DAT read: Range 11 to 50 :    21.9 m (trip time 14.6 ms) speed -0.1

2025-10-26T22:24:26.709Z,1761517466.709 [DAT](INFO): DAT read: 22:24:25.4954 LVL= 32752, 24721, 30418, 32755, AGC= 58, IDX= 503,-0.46, 1.177,-2.941, 2.223, 2.412, PHS=-1.133, 0.975,-0.233, RAW= 304.8,   4.3, CAL= 302.4,   1.4, ROT= 207.6,  -1.4

2025-10-26T22:24:26.711Z,1761517466.711 [DAT](INFO): got valid direction response:
 22:24:25.4954 LVL= 32752, 24721, 30418, 32755, AGC= 58, IDX= 503,-0.46, 1.177,-2.941, 2.223, 2.412, PHS=-1.133, 0.975,-0.233, RAW= 304.8,   4.3, CAL= 302.4,   1.4, ROT= 207.6,  -1.4

2025-10-26T22:24:26.713Z,1761517466.713 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-10-26T22:24:26.718Z,1761517466.718 [DAT](INFO): direction in FSK: [-0.885939,-0.463158,0.024432]
2025-10-26T22:24:26.719Z,1761517466.719 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:26.725Z,1761517466.725 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.173065
2025-10-26T22:24:26.834Z,1761517466.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999366,-0.016419,0.031607],[0.014920,-0.998780,-0.047079],[0.032342,-0.046577,0.998391]]
2025-10-26T22:24:26.885Z,1761517466.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.900000 m,
      deltaT: 0.498929 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:26.887Z,1761517466.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.769005 m,
      bearing: 26.634109 deg,
      lat: 36.779399 deg,
      lon: -121.859443 deg,
      deltaT: 0.498929 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:26.892Z,1761517466.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.77 m.
2025-10-26T22:24:26.950Z,1761517466.950 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.397825
2025-10-26T22:24:27.205Z,1761517467.205 [DAT](INFO): DAT read: Rx Time:22:24:25.9955 

2025-10-26T22:24:27.206Z,1761517467.206 [DAT](INFO): Rx dataTimestamp_ set to:1761517467.205024
2025-10-26T22:24:27.210Z,1761517467.210 [DAT](INFO): DAT read: Bearing 150.2, -29.7 (Local)

2025-10-26T22:24:27.211Z,1761517467.211 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.2, -29.7 (Local)

2025-10-26T22:24:27.218Z,1761517467.218 [DAT](INFO): DAT read: Range 11 to 50 :    22.1 m (trip time 14.7 ms) speed 0.0

2025-10-26T22:24:27.234Z,1761517467.234 [DAT](INFO): DAT read: 22:24:25.9955 LVL= 32752, 19281, 23602, 32755, AGC= 58, IDX= 504,-0.00, 2.296,-1.818,-2.927,-2.742, PHS=-1.143, 0.969,-0.229, RAW= 304.4,   4.4, CAL= 302.0,   1.6, ROT= 208.0,  -1.6

2025-10-26T22:24:27.240Z,1761517467.240 [DAT](INFO): got valid direction response:
 22:24:25.9955 LVL= 32752, 19281, 23602, 32755, AGC= 58, IDX= 504,-0.00, 2.296,-1.818,-2.927,-2.742, PHS=-1.143, 0.969,-0.229, RAW= 304.4,   4.4, CAL= 302.0,   1.6, ROT= 208.0,  -1.6

2025-10-26T22:24:27.240Z,1761517467.240 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-10-26T22:24:27.241Z,1761517467.241 [DAT](INFO): direction in FSK: [-0.882603,-0.469288,0.027922]
2025-10-26T22:24:27.241Z,1761517467.241 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:27.277Z,1761517467.277 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.725515
2025-10-26T22:24:27.285Z,1761517467.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999375,-0.015601,0.031707],[0.014109,-0.998807,-0.046751],[0.032398,-0.046275,0.998403]]
2025-10-26T22:24:27.383Z,1761517467.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.507672 s,
      deltaX: 0.200001 m,
      approachRate: 0.393957 m/s,
      rangeRepo size: 4

2025-10-26T22:24:27.389Z,1761517467.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.967777 m,
      bearing: 27.069479 deg,
      lat: 36.779399 deg,
      lon: -121.859443 deg,
      deltaT: 0.507672 s,
      deltaX: 0.198772 m,
      approachRate: 0.391537 m/s,
      posRepo size: 4

2025-10-26T22:24:27.389Z,1761517467.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.97 m.
2025-10-26T22:24:27.453Z,1761517467.453 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.901312
2025-10-26T22:24:27.645Z,1761517467.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999384,-0.014448,0.031971],[0.012951,-0.998832,-0.046554],[0.032606,-0.046111,0.998404]]
2025-10-26T22:24:27.664Z,1761517467.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.97 m.
2025-10-26T22:24:27.705Z,1761517467.705 [DAT](INFO): DAT read: Rx Time:22:24:26.4954 

2025-10-26T22:24:27.706Z,1761517467.706 [DAT](INFO): Rx dataTimestamp_ set to:1761517467.705680
2025-10-26T22:24:27.708Z,1761517467.708 [DAT](INFO): DAT read: Bearing 145.5, -29.3 (Local)

2025-10-26T22:24:27.709Z,1761517467.709 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.5, -29.3 (Local)

2025-10-26T22:24:27.712Z,1761517467.712 [DAT](INFO): DAT read: Range 11 to 50 :    21.9 m (trip time 14.6 ms) speed -0.1

2025-10-26T22:24:27.718Z,1761517467.718 [DAT](INFO): DAT read: 22:24:26.4954 LVL= 32752, 22769, 27314, 32755, AGC= 60, IDX= 503, 0.40, 1.392,-2.738, 2.430, 2.685, PHS=-1.191, 0.906,-0.299, RAW= 304.9,   6.5, CAL= 302.6,   5.6, ROT= 207.4,  -5.6

2025-10-26T22:24:27.720Z,1761517467.720 [DAT](INFO): got valid direction response:
 22:24:26.4954 LVL= 32752, 22769, 27314, 32755, AGC= 60, IDX= 503, 0.40, 1.392,-2.738, 2.430, 2.685, PHS=-1.191, 0.906,-0.299, RAW= 304.9,   6.5, CAL= 302.6,   5.6, ROT= 207.4,  -5.6

2025-10-26T22:24:27.720Z,1761517467.720 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-10-26T22:24:27.721Z,1761517467.721 [DAT](INFO): direction in FSK: [-0.883578,-0.458003,0.097583]
2025-10-26T22:24:27.722Z,1761517467.722 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:27.727Z,1761517467.727 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.175276
2025-10-26T22:24:27.956Z,1761517467.956 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.404898
2025-10-26T22:24:28.046Z,1761517468.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999391,-0.013006,0.032366],[0.011492,-0.998852,-0.046507],[0.032934,-0.046107,0.998393]]
2025-10-26T22:24:28.143Z,1761517468.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.900000 m,
      deltaT: 0.500656 s,
      deltaX: -0.200001 m,
      approachRate: -0.399477 m/s,
      rangeRepo size: 4

2025-10-26T22:24:28.149Z,1761517468.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.768974 m,
      bearing: 26.395614 deg,
      lat: 36.779399 deg,
      lon: -121.859444 deg,
      deltaT: 0.500656 s,
      deltaX: -0.198803 m,
      approachRate: -0.397085 m/s,
      posRepo size: 4

2025-10-26T22:24:28.150Z,1761517468.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.77 m.
2025-10-26T22:24:28.215Z,1761517468.215 [DAT](INFO): DAT read: Rx Time:22:24:26.9956 

2025-10-26T22:24:28.217Z,1761517468.217 [DAT](INFO): Rx dataTimestamp_ set to:1761517468.215629
2025-10-26T22:24:28.221Z,1761517468.221 [DAT](INFO): DAT read: Bearing 149.5, -29.8 (Local)

2025-10-26T22:24:28.222Z,1761517468.222 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.5, -29.8 (Local)

2025-10-26T22:24:28.231Z,1761517468.231 [DAT](INFO): DAT read: Range 11 to 50 :    22.2 m (trip time 14.8 ms) speed 0.0

2025-10-26T22:24:28.259Z,1761517468.259 [DAT](INFO): DAT read: 22:24:26.9956 LVL= 32752, 18129, 21234, 32755, AGC= 58, IDX= 505,-0.16, 1.094,-3.003, 2.162, 2.357, PHS=-1.160, 0.968,-0.239, RAW= 304.4,   4.7, CAL= 302.0,   2.1, ROT= 208.0,  -2.1

2025-10-26T22:24:28.273Z,1761517468.273 [DAT](INFO): got valid direction response:
 22:24:26.9956 LVL= 32752, 18129, 21234, 32755, AGC= 58, IDX= 505,-0.16, 1.094,-3.003, 2.162, 2.357, PHS=-1.160, 0.968,-0.239, RAW= 304.4,   4.7, CAL= 302.0,   2.1, ROT= 208.0,  -2.1

2025-10-26T22:24:28.274Z,1761517468.274 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-10-26T22:24:28.275Z,1761517468.275 [DAT](INFO): direction in FSK: [-0.882355,-0.469156,0.036644]
2025-10-26T22:24:28.275Z,1761517468.275 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:28.284Z,1761517468.284 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.732725
2025-10-26T22:24:28.450Z,1761517468.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999404,-0.011313,0.032623],[0.009785,-0.998864,-0.046635],[0.033114,-0.046288,0.998379]]
2025-10-26T22:24:28.461Z,1761517468.461 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.909027
2025-10-26T22:24:28.506Z,1761517468.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.200001 m,
      deltaT: 0.509949 s,
      deltaX: 0.300001 m,
      approachRate: 0.588296 m/s,
      rangeRepo size: 4

2025-10-26T22:24:28.524Z,1761517468.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.067192 m,
      bearing: 27.288727 deg,
      lat: 36.779399 deg,
      lon: -121.859444 deg,
      deltaT: 0.509949 s,
      deltaX: 0.298218 m,
      approachRate: 0.584799 m/s,
      posRepo size: 4

2025-10-26T22:24:28.525Z,1761517468.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.07 m.
2025-10-26T22:24:28.714Z,1761517468.714 [DAT](INFO): DAT read: Rx Time:22:24:27.4955 

2025-10-26T22:24:28.715Z,1761517468.715 [DAT](INFO): Rx dataTimestamp_ set to:1761517468.713987
2025-10-26T22:24:28.716Z,1761517468.716 [DAT](INFO): DAT read: Bearing 150.0, -29.6 (Local)

2025-10-26T22:24:28.717Z,1761517468.717 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.0, -29.6 (Local)

2025-10-26T22:24:28.720Z,1761517468.720 [DAT](INFO): DAT read: Range 11 to 50 :    22.1 m (trip time 14.7 ms) speed -0.1

2025-10-26T22:24:28.726Z,1761517468.726 [DAT](INFO): DAT read: 22:24:27.4955 LVL= 32352, 17585, 20034, 32755, AGC= 58, IDX= 504, 0.08, 1.913,-2.201, 2.969,-3.126, PHS=-1.142, 0.971,-0.232, RAW= 304.6,   4.4, CAL= 302.2,   1.6, ROT= 207.8,  -1.6

2025-10-26T22:24:28.744Z,1761517468.744 [DAT](INFO): got valid direction response:
 22:24:27.4955 LVL= 32352, 17585, 20034, 32755, AGC= 58, IDX= 504, 0.08, 1.913,-2.201, 2.969,-3.126, PHS=-1.142, 0.971,-0.232, RAW= 304.6,   4.4, CAL= 302.2,   1.6, ROT= 207.8,  -1.6

2025-10-26T22:24:28.745Z,1761517468.745 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-10-26T22:24:28.760Z,1761517468.760 [DAT](INFO): direction in FSK: [-0.884236,-0.466205,0.027922]
2025-10-26T22:24:28.761Z,1761517468.761 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:28.777Z,1761517468.777 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.225798
2025-10-26T22:24:28.855Z,1761517468.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999405,-0.010208,0.032946],[0.008672,-0.998884,-0.046421],[0.033383,-0.046108,0.998379]]
2025-10-26T22:24:28.881Z,1761517468.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.498358 s,
      deltaX: -0.100000 m,
      approachRate: -0.200660 m/s,
      rangeRepo size: 4

2025-10-26T22:24:28.883Z,1761517468.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.967791 m,
      bearing: 27.181467 deg,
      lat: 36.779399 deg,
      lon: -121.859441 deg,
      deltaT: 0.498358 s,
      deltaX: -0.099401 m,
      approachRate: -0.199458 m/s,
      posRepo size: 4

2025-10-26T22:24:28.884Z,1761517468.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.97 m.
2025-10-26T22:24:28.965Z,1761517468.965 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.413088
2025-10-26T22:24:29.221Z,1761517469.221 [DAT](INFO): DAT read: Rx Time:22:24:27.9956 

2025-10-26T22:24:29.222Z,1761517469.222 [DAT](INFO): Rx dataTimestamp_ set to:1761517469.221378
2025-10-26T22:24:29.226Z,1761517469.226 [DAT](INFO): DAT read: Bearing 149.7, -29.2 (Local)

2025-10-26T22:24:29.253Z,1761517469.253 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.7, -29.2 (Local)

2025-10-26T22:24:29.259Z,1761517469.259 [DAT](INFO): DAT read: Range 11 to 50 :    22.2 m (trip time 14.8 ms) speed 0.0

2025-10-26T22:24:29.288Z,1761517469.288 [DAT](INFO): DAT read: 22:24:27.9956 LVL= 32752, 18497, 21730, 32755, AGC= 59, IDX= 504, 0.43, 2.757,-1.362,-2.487,-2.288, PHS=-1.136, 0.971,-0.242, RAW= 305.0,   4.5, CAL= 302.6,   1.8, ROT= 207.4,  -1.8

2025-10-26T22:24:29.289Z,1761517469.289 [DAT](INFO): got valid direction response:
 22:24:27.9956 LVL= 32752, 18497, 21730, 32755, AGC= 59, IDX= 504, 0.43, 2.757,-1.362,-2.487,-2.288, PHS=-1.136, 0.971,-0.242, RAW= 305.0,   4.5, CAL= 302.6,   1.8, ROT= 207.4,  -1.8

2025-10-26T22:24:29.289Z,1761517469.289 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-10-26T22:24:29.290Z,1761517469.290 [DAT](INFO): direction in FSK: [-0.887377,-0.459973,0.031411]
2025-10-26T22:24:29.291Z,1761517469.291 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:29.302Z,1761517469.302 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.750837
2025-10-26T22:24:29.304Z,1761517469.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999409,-0.008693,0.033260],[0.007143,-0.998896,-0.046437],[0.033627,-0.046172,0.998367]]
2025-10-26T22:24:29.459Z,1761517469.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.200001 m,
      deltaT: 0.507391 s,
      deltaX: 0.100000 m,
      approachRate: 0.197087 m/s,
      rangeRepo size: 4

2025-10-26T22:24:29.461Z,1761517469.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.067204 m,
      bearing: 26.858225 deg,
      lat: 36.779398 deg,
      lon: -121.859441 deg,
      deltaT: 0.507391 s,
      deltaX: 0.099413 m,
      approachRate: 0.195930 m/s,
      posRepo size: 4

2025-10-26T22:24:29.461Z,1761517469.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.07 m.
2025-10-26T22:24:29.468Z,1761517469.468 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.916988
2025-10-26T22:24:29.697Z,1761517469.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999409,-0.007287,0.033580],[0.005722,-0.998903,-0.046483],[0.033882,-0.046264,0.998354]]
2025-10-26T22:24:29.722Z,1761517469.722 [DAT](INFO): DAT read: Rx Time:22:24:28.4955 

2025-10-26T22:24:29.723Z,1761517469.723 [DAT](INFO): Rx dataTimestamp_ set to:1761517469.722417
2025-10-26T22:24:29.725Z,1761517469.725 [DAT](INFO): DAT read: Bearing 149.7, -29.7 (Local)

2025-10-26T22:24:29.725Z,1761517469.725 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.7, -29.7 (Local)

2025-10-26T22:24:29.728Z,1761517469.728 [DAT](INFO): DAT read: Range 11 to 50 :    22.1 m (trip time 14.7 ms) speed 0.0

2025-10-26T22:24:29.735Z,1761517469.735 [DAT](INFO): DAT read: 22:24:28.4955 LVL= 32752, 17393, 22114, 32755, AGC= 59, IDX= 504,-0.02,-0.731, 1.454, 0.334, 0.526, PHS=-1.155, 0.973,-0.236, RAW= 304.5,   4.6, CAL= 302.1,   1.8, ROT= 207.9,  -1.8

2025-10-26T22:24:29.736Z,1761517469.736 [DAT](INFO): got valid direction response:
 22:24:28.4955 LVL= 32752, 17393, 22114, 32755, AGC= 59, IDX= 504,-0.02,-0.731, 1.454, 0.334, 0.526, PHS=-1.155, 0.973,-0.236, RAW= 304.5,   4.6, CAL= 302.1,   1.8, ROT= 207.9,  -1.8

2025-10-26T22:24:29.736Z,1761517469.736 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-10-26T22:24:29.737Z,1761517469.737 [DAT](INFO): direction in FSK: [-0.883330,-0.467699,0.031411]
2025-10-26T22:24:29.738Z,1761517469.738 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:29.741Z,1761517469.741 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.189760
2025-10-26T22:24:29.778Z,1761517469.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.501039 s,
      deltaX: -0.100000 m,
      approachRate: -0.199586 m/s,
      rangeRepo size: 4

2025-10-26T22:24:29.784Z,1761517469.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.967802 m,
      bearing: 27.438347 deg,
      lat: 36.779398 deg,
      lon: -121.859441 deg,
      deltaT: 0.501039 s,
      deltaX: -0.099401 m,
      approachRate: -0.198391 m/s,
      posRepo size: 4

2025-10-26T22:24:29.785Z,1761517469.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.97 m.
2025-10-26T22:24:29.973Z,1761517469.973 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.421587
2025-10-26T22:24:30.161Z,1761517470.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999402,-0.005129,0.034208],[0.003534,-0.998910,-0.046544],[0.034409,-0.046396,0.998330]]
2025-10-26T22:24:30.180Z,1761517470.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.97 m.
2025-10-26T22:24:30.229Z,1761517470.229 [DAT](INFO): DAT read: Rx Time:22:24:28.9957 

2025-10-26T22:24:30.231Z,1761517470.231 [DAT](INFO): Rx dataTimestamp_ set to:1761517470.230103
2025-10-26T22:24:30.236Z,1761517470.236 [DAT](INFO): DAT read: Bearing 146.1, -29.6 (Local)

2025-10-26T22:24:30.237Z,1761517470.237 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.1, -29.6 (Local)

2025-10-26T22:24:30.256Z,1761517470.256 [DAT](INFO): DAT read: Range 11 to 50 :    22.4 m (trip time 14.9 ms) speed -0.1

2025-10-26T22:24:30.292Z,1761517470.292 [DAT](INFO): DAT read: 22:24:28.9957 LVL= 32752, 20241, 25314, 32755, AGC= 60, IDX= 506,-0.45,-0.546, 1.633, 0.510, 0.754, PHS=-1.198, 0.924,-0.288, RAW= 304.7,   6.1, CAL= 302.3,   4.9, ROT= 207.7,  -4.9

2025-10-26T22:24:30.293Z,1761517470.293 [DAT](INFO): got valid direction response:
 22:24:28.9957 LVL= 32752, 20241, 25314, 32755, AGC= 60, IDX= 506,-0.45,-0.546, 1.633, 0.510, 0.754, PHS=-1.198, 0.924,-0.288, RAW= 304.7,   6.1, CAL= 302.3,   4.9, ROT= 207.7,  -4.9

2025-10-26T22:24:30.294Z,1761517470.294 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-10-26T22:24:30.294Z,1761517470.294 [DAT](INFO): direction in FSK: [-0.882158,-0.463143,0.085417]
2025-10-26T22:24:30.295Z,1761517470.295 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:30.303Z,1761517470.303 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.751097
2025-10-26T22:24:30.476Z,1761517470.476 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.924896
2025-10-26T22:24:30.651Z,1761517470.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.400000 m,
      deltaT: 0.507686 s,
      deltaX: 0.299999 m,
      approachRate: 0.590915 m/s,
      rangeRepo size: 4

2025-10-26T22:24:30.653Z,1761517470.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.265980 m,
      bearing: 27.186022 deg,
      lat: 36.779398 deg,
      lon: -121.859441 deg,
      deltaT: 0.507686 s,
      deltaX: 0.298178 m,
      approachRate: 0.587327 m/s,
      posRepo size: 4

2025-10-26T22:24:30.653Z,1761517470.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.27 m.
2025-10-26T22:24:30.730Z,1761517470.730 [DAT](INFO): DAT read: Rx Time:22:24:29.4956 

2025-10-26T22:24:30.731Z,1761517470.731 [DAT](INFO): Rx dataTimestamp_ set to:1761517470.730234
2025-10-26T22:24:30.733Z,1761517470.733 [DAT](INFO): DAT read: Bearing 149.8, -29.8 (Local)

2025-10-26T22:24:30.733Z,1761517470.733 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.8, -29.8 (Local)

2025-10-26T22:24:30.737Z,1761517470.737 [DAT](INFO): DAT read: Range 11 to 50 :    22.2 m (trip time 14.8 ms) speed -0.1

2025-10-26T22:24:30.742Z,1761517470.742 [DAT](INFO): DAT read: 22:24:29.4956 LVL= 32496, 19057, 21394, 32755, AGC= 59, IDX= 505, 0.14,-2.052, 0.120,-0.991,-0.804, PHS=-1.146, 0.969,-0.231, RAW= 304.4,   4.5, CAL= 302.0,   1.7, ROT= 208.0,  -1.7

2025-10-26T22:24:30.744Z,1761517470.744 [DAT](INFO): got valid direction response:
 22:24:29.4956 LVL= 32496, 19057, 21394, 32755, AGC= 59, IDX= 505, 0.14,-2.052, 0.120,-0.991,-0.804, PHS=-1.146, 0.969,-0.231, RAW= 304.4,   4.5, CAL= 302.0,   1.7, ROT= 208.0,  -1.7

2025-10-26T22:24:30.744Z,1761517470.744 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-10-26T22:24:30.745Z,1761517470.745 [DAT](INFO): direction in FSK: [-0.882559,-0.469265,0.029666]
2025-10-26T22:24:30.745Z,1761517470.745 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:30.749Z,1761517470.749 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.197521
2025-10-26T22:24:30.964Z,1761517470.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999393,-0.004461,0.034539],[0.002868,-0.998935,-0.046060],[0.034708,-0.045933,0.998341]]
2025-10-26T22:24:30.981Z,1761517470.981 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.429047
2025-10-26T22:24:31.035Z,1761517471.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.200001 m,
      deltaT: 0.500131 s,
      deltaX: -0.199999 m,
      approachRate: -0.399893 m/s,
      rangeRepo size: 4

2025-10-26T22:24:31.045Z,1761517471.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.067179 m,
      bearing: 27.708008 deg,
      lat: 36.779397 deg,
      lon: -121.859441 deg,
      deltaT: 0.500131 s,
      deltaX: -0.198801 m,
      approachRate: -0.397498 m/s,
      posRepo size: 4

2025-10-26T22:24:31.045Z,1761517471.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.07 m.
2025-10-26T22:24:31.238Z,1761517471.238 [DAT](INFO): DAT read: Rx Time:22:24:29.9958 

2025-10-26T22:24:31.242Z,1761517471.242 [DAT](INFO): Rx dataTimestamp_ set to:1761517471.240753
2025-10-26T22:24:31.249Z,1761517471.249 [DAT](INFO): DAT read: Bearing 148.6, -29.2 (Local)

2025-10-26T22:24:31.250Z,1761517471.250 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.6, -29.2 (Local)

2025-10-26T22:24:31.264Z,1761517471.264 [DAT](INFO): DAT read: Range 11 to 50 :    22.5 m (trip time 15.0 ms) speed -0.1

2025-10-26T22:24:31.296Z,1761517471.296 [DAT](INFO): DAT read: 22:24:29.9958 LVL= 32752, 22433, 24850, 32755, AGC= 63, IDX= 507,-0.15,-2.736,-0.577,-1.696,-1.485, PHS=-1.149, 0.954,-0.255, RAW= 304.9,   5.0, CAL= 302.5,   2.7, ROT= 207.5,  -2.7

2025-10-26T22:24:31.297Z,1761517471.297 [DAT](INFO): got valid direction response:
 22:24:29.9958 LVL= 32752, 22433, 24850, 32755, AGC= 63, IDX= 507,-0.15,-2.736,-0.577,-1.696,-1.485, PHS=-1.149, 0.954,-0.255, RAW= 304.9,   5.0, CAL= 302.5,   2.7, ROT= 207.5,  -2.7

2025-10-26T22:24:31.298Z,1761517471.298 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-10-26T22:24:31.299Z,1761517471.299 [DAT](INFO): direction in FSK: [-0.886026,-0.461236,0.047106]
2025-10-26T22:24:31.299Z,1761517471.299 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:31.316Z,1761517471.316 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.764423
2025-10-26T22:24:31.375Z,1761517471.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999392,-0.004410,0.034596],[0.002822,-0.998946,-0.045811],[0.034762,-0.045685,0.998351]]
2025-10-26T22:24:31.481Z,1761517471.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 0.510519 s,
      deltaX: 0.299999 m,
      approachRate: 0.587636 m/s,
      rangeRepo size: 4

2025-10-26T22:24:31.483Z,1761517471.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.365385 m,
      bearing: 27.155656 deg,
      lat: 36.779397 deg,
      lon: -121.859441 deg,
      deltaT: 0.510519 s,
      deltaX: 0.298206 m,
      approachRate: 0.584124 m/s,
      posRepo size: 4

2025-10-26T22:24:31.485Z,1761517471.485 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.933096
2025-10-26T22:24:31.488Z,1761517471.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.37 m.
2025-10-26T22:24:31.737Z,1761517471.737 [DAT](INFO): DAT read: Rx Time:22:24:30.4957 

2025-10-26T22:24:31.737Z,1761517471.737 [DAT](INFO): Rx dataTimestamp_ set to:1761517471.737174
2025-10-26T22:24:31.739Z,1761517471.739 [DAT](INFO): DAT read: Bearing 148.5, -29.6 (Local)

2025-10-26T22:24:31.739Z,1761517471.739 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.5, -29.6 (Local)

2025-10-26T22:24:31.741Z,1761517471.741 [DAT](INFO): DAT read: Range 11 to 50 :    22.4 m (trip time 14.9 ms) speed -0.1

2025-10-26T22:24:31.746Z,1761517471.746 [DAT](INFO): DAT read: 22:24:30.4957 LVL= 32752, 21809, 23026, 32755, AGC= 61, IDX= 506, 0.38,-2.776,-0.605,-1.720,-1.514, PHS=-1.160, 0.954,-0.250, RAW= 304.6,   5.0, CAL= 302.2,   2.7, ROT= 207.8,  -2.7

2025-10-26T22:24:31.747Z,1761517471.747 [DAT](INFO): got valid direction response:
 22:24:30.4957 LVL= 32752, 21809, 23026, 32755, AGC= 61, IDX= 506, 0.38,-2.776,-0.605,-1.720,-1.514, PHS=-1.160, 0.954,-0.250, RAW= 304.6,   5.0, CAL= 302.2,   2.7, ROT= 207.8,  -2.7

2025-10-26T22:24:31.747Z,1761517471.747 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-26T22:24:31.748Z,1761517471.748 [DAT](INFO): direction in FSK: [-0.883599,-0.465869,0.047106]
2025-10-26T22:24:31.749Z,1761517471.749 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:31.772Z,1761517471.772 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.220915
2025-10-26T22:24:31.802Z,1761517471.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999390,-0.004693,0.034619],[0.003115,-0.998960,-0.045487],[0.034797,-0.045351,0.998365]]
2025-10-26T22:24:31.866Z,1761517471.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.400000 m,
      deltaT: 0.496421 s,
      deltaX: -0.100000 m,
      approachRate: -0.201443 m/s,
      rangeRepo size: 4

2025-10-26T22:24:31.872Z,1761517471.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.265982 m,
      bearing: 27.439497 deg,
      lat: 36.779396 deg,
      lon: -121.859441 deg,
      deltaT: 0.496421 s,
      deltaX: -0.099403 m,
      approachRate: -0.200240 m/s,
      posRepo size: 4

2025-10-26T22:24:31.873Z,1761517471.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.27 m.
2025-10-26T22:24:31.988Z,1761517471.988 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.436958
2025-10-26T22:24:32.228Z,1761517472.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999392,-0.005016,0.034496],[0.003450,-0.998966,-0.045322],[0.034688,-0.045176,0.998377]]
2025-10-26T22:24:32.242Z,1761517472.242 [DAT](INFO): DAT read: Rx Time:22:24:30.9958 

2025-10-26T22:24:32.242Z,1761517472.242 [DAT](INFO): Rx dataTimestamp_ set to:1761517472.242184
2025-10-26T22:24:32.244Z,1761517472.244 [DAT](INFO): DAT read: Bearing 147.3, -29.6 (Local)

2025-10-26T22:24:32.244Z,1761517472.244 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.3, -29.6 (Local)

2025-10-26T22:24:32.246Z,1761517472.246 [DAT](INFO): DAT read: Range 11 to 50 :    22.7 m (trip time 15.1 ms) speed 0.0

2025-10-26T22:24:32.262Z,1761517472.262 [DAT](INFO): DAT read: 22:24:30.9958 LVL= 32752, 22929, 24482, 32755, AGC= 61, IDX= 508,-0.00,-1.762, 0.409,-0.705,-0.483, PHS=-1.177, 0.938,-0.266, RAW= 304.6,   5.6, CAL= 302.2,   3.7, ROT= 207.8,  -3.7

2025-10-26T22:24:32.270Z,1761517472.270 [DAT](INFO): got valid direction response:
 22:24:30.9958 LVL= 32752, 22929, 24482, 32755, AGC= 61, IDX= 508,-0.00,-1.762, 0.409,-0.705,-0.483, PHS=-1.177, 0.938,-0.266, RAW= 304.6,   5.6, CAL= 302.2,   3.7, ROT= 207.8,  -3.7

2025-10-26T22:24:32.271Z,1761517472.271 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-10-26T22:24:32.278Z,1761517472.278 [DAT](INFO): direction in FSK: [-0.882737,-0.465415,0.064532]
2025-10-26T22:24:32.279Z,1761517472.279 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:32.328Z,1761517472.328 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.776655
2025-10-26T22:24:32.376Z,1761517472.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.700001 m,
      deltaT: 0.505010 s,
      deltaX: 0.300001 m,
      approachRate: 0.594050 m/s,
      rangeRepo size: 4

2025-10-26T22:24:32.378Z,1761517472.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.564232 m,
      bearing: 27.364852 deg,
      lat: 36.779397 deg,
      lon: -121.859441 deg,
      deltaT: 0.505010 s,
      deltaX: 0.298250 m,
      approachRate: 0.590583 m/s,
      posRepo size: 4

2025-10-26T22:24:32.378Z,1761517472.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m.
2025-10-26T22:24:32.493Z,1761517472.493 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.941053
2025-10-26T22:24:32.634Z,1761517472.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999397,-0.005600,0.034264],[0.004047,-0.998969,-0.045226],[0.034482,-0.045060,0.998389]]
2025-10-26T22:24:32.745Z,1761517472.745 [DAT](INFO): DAT read: Rx Time:22:24:31.4958 

2025-10-26T22:24:32.746Z,1761517472.746 [DAT](INFO): Rx dataTimestamp_ set to:1761517472.745226
2025-10-26T22:24:32.747Z,1761517472.747 [DAT](INFO): DAT read: Bearing 148.1, -29.8 (Local)

2025-10-26T22:24:32.747Z,1761517472.747 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.1, -29.8 (Local)

2025-10-26T22:24:32.749Z,1761517472.749 [DAT](INFO): DAT read: Range 11 to 50 :    22.7 m (trip time 15.1 ms) speed -0.2

2025-10-26T22:24:32.754Z,1761517472.754 [DAT](INFO): DAT read: 22:24:31.4958 LVL= 32752, 21073, 23906, 32755, AGC= 60, IDX= 508,-0.42,-3.092,-0.922,-2.029,-1.822, PHS=-1.168, 0.946,-0.250, RAW= 304.4,   5.2, CAL= 302.0,   3.0, ROT= 208.0,  -3.0

2025-10-26T22:24:32.755Z,1761517472.755 [DAT](INFO): got valid direction response:
 22:24:31.4958 LVL= 32752, 21073, 23906, 32755, AGC= 60, IDX= 508,-0.42,-3.092,-0.922,-2.029,-1.822, PHS=-1.168, 0.946,-0.250, RAW= 304.4,   5.2, CAL= 302.0,   3.0, ROT= 208.0,  -3.0

2025-10-26T22:24:32.755Z,1761517472.755 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-10-26T22:24:32.756Z,1761517472.756 [DAT](INFO): direction in FSK: [-0.881738,-0.468828,0.052336]
2025-10-26T22:24:32.757Z,1761517472.757 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:32.776Z,1761517472.776 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.224924
2025-10-26T22:24:32.829Z,1761517472.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.700001 m,
      deltaT: 0.503042 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:32.841Z,1761517472.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.564232 m,
      bearing: 27.570336 deg,
      lat: 36.779398 deg,
      lon: -121.859440 deg,
      deltaT: 0.503042 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:32.841Z,1761517472.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m.
2025-10-26T22:24:32.996Z,1761517472.996 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.444906
2025-10-26T22:24:33.035Z,1761517473.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999400,-0.006468,0.034014],[0.004928,-0.998967,-0.045163],[0.034271,-0.044969,0.998400]]
2025-10-26T22:24:33.134Z,1761517473.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:24:33.140Z,1761517473.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m.
2025-10-26T22:24:33.249Z,1761517473.249 [DAT](INFO): DAT read: Rx Time:22:24:31.9958 

2025-10-26T22:24:33.249Z,1761517473.249 [DAT](INFO): Rx dataTimestamp_ set to:1761517473.249080
2025-10-26T22:24:33.251Z,1761517473.251 [DAT](INFO): DAT read: Bearing 148.9, -29.4 (Local)

2025-10-26T22:24:33.253Z,1761517473.253 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.9, -29.4 (Local)

2025-10-26T22:24:33.259Z,1761517473.259 [DAT](INFO): DAT read: Range 11 to 50 :    22.7 m (trip time 15.1 ms) speed 0.0

2025-10-26T22:24:33.281Z,1761517473.281 [DAT](INFO): DAT read: 22:24:31.9958 LVL= 32752, 20049, 22226, 32755, AGC= 59, IDX= 508, 0.08,-1.036, 1.147, 0.020, 0.225, PHS=-1.159, 0.967,-0.249, RAW= 304.7,   4.8, CAL= 302.3,   2.3, ROT= 207.7,  -2.3

2025-10-26T22:24:33.285Z,1761517473.285 [DAT](INFO): got valid direction response:
 22:24:31.9958 LVL= 32752, 20049, 22226, 32755, AGC= 59, IDX= 508, 0.08,-1.036, 1.147, 0.020, 0.225, PHS=-1.159, 0.967,-0.249, RAW= 304.7,   4.8, CAL= 302.3,   2.3, ROT= 207.7,  -2.3

2025-10-26T22:24:33.287Z,1761517473.287 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-10-26T22:24:33.298Z,1761517473.298 [DAT](INFO): direction in FSK: [-0.884680,-0.464468,0.040132]
2025-10-26T22:24:33.299Z,1761517473.299 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:33.319Z,1761517473.319 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.767286
2025-10-26T22:24:33.441Z,1761517473.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999404,-0.007547,0.033678],[0.006022,-0.998962,-0.045155],[0.033984,-0.044925,0.998412]]
2025-10-26T22:24:33.501Z,1761517473.501 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.949255
2025-10-26T22:24:33.532Z,1761517473.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.700001 m,
      deltaT: 0.503854 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:33.534Z,1761517473.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.564169 m,
      bearing: 27.197787 deg,
      lat: 36.779398 deg,
      lon: -121.859441 deg,
      deltaT: 0.503854 s,
      deltaX: -0.000063 m,
      approachRate: -0.000125 m/s,
      posRepo size: 4

2025-10-26T22:24:33.535Z,1761517473.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m.
2025-10-26T22:24:33.753Z,1761517473.753 [DAT](INFO): DAT read: Rx Time:22:24:32.4958 

2025-10-26T22:24:33.753Z,1761517473.753 [DAT](INFO): Rx dataTimestamp_ set to:1761517473.753171
2025-10-26T22:24:33.755Z,1761517473.755 [DAT](INFO): DAT read: Bearing 149.4, -29.3 (Local)

2025-10-26T22:24:33.755Z,1761517473.755 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.4, -29.3 (Local)

2025-10-26T22:24:33.762Z,1761517473.762 [DAT](INFO): DAT read: Range 11 to 50 :    22.7 m (trip time 15.1 ms) speed -0.2

2025-10-26T22:24:33.767Z,1761517473.767 [DAT](INFO): DAT read: 22:24:32.4958 LVL= 32752, 18929, 22050, 32755, AGC= 59, IDX= 508,-0.26,-3.019,-0.856,-1.974,-1.776, PHS=-1.141, 0.966,-0.242, RAW= 304.8,   4.6, CAL= 302.4,   1.9, ROT= 207.6,  -1.9

2025-10-26T22:24:33.768Z,1761517473.768 [DAT](INFO): got valid direction response:
 22:24:32.4958 LVL= 32752, 18929, 22050, 32755, AGC= 59, IDX= 508,-0.26,-3.019,-0.856,-1.974,-1.776, PHS=-1.141, 0.966,-0.242, RAW= 304.8,   4.6, CAL= 302.4,   1.9, ROT= 207.6,  -1.9

2025-10-26T22:24:33.768Z,1761517473.768 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-10-26T22:24:33.769Z,1761517473.769 [DAT](INFO): direction in FSK: [-0.885716,-0.463041,0.033155]
2025-10-26T22:24:33.770Z,1761517473.770 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:33.773Z,1761517473.773 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.222004
2025-10-26T22:24:33.858Z,1761517473.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999410,-0.008667,0.033247],[0.007153,-0.998944,-0.045391],[0.033605,-0.045126,0.998416]]
2025-10-26T22:24:33.925Z,1761517473.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.700001 m,
      deltaT: 0.504091 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:33.932Z,1761517473.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.564169 m,
      bearing: 27.054968 deg,
      lat: 36.779398 deg,
      lon: -121.859441 deg,
      deltaT: 0.504091 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:33.932Z,1761517473.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m.
2025-10-26T22:24:34.005Z,1761517474.005 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.453695
2025-10-26T22:24:34.246Z,1761517474.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999419,-0.009812,0.032637],[0.008313,-0.998918,-0.045751],[0.033051,-0.045454,0.998420]]
2025-10-26T22:24:34.257Z,1761517474.257 [DAT](INFO): DAT read: Rx Time:22:24:32.9959 

2025-10-26T22:24:34.257Z,1761517474.257 [DAT](INFO): Rx dataTimestamp_ set to:1761517474.257048
2025-10-26T22:24:34.259Z,1761517474.259 [DAT](INFO): DAT read: Bearing 147.9, -28.5 (Local)

2025-10-26T22:24:34.259Z,1761517474.259 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.9, -28.5 (Local)

2025-10-26T22:24:34.261Z,1761517474.261 [DAT](INFO): DAT read: Range 11 to 50 :    22.8 m (trip time 15.2 ms) speed -0.2

2025-10-26T22:24:34.267Z,1761517474.267 [DAT](INFO): DAT read: 22:24:32.9959 LVL= 32752, 19761, 25778, 32755, AGC= 59, IDX= 509, 0.20, 0.357, 2.515, 1.373, 1.608, PHS=-1.149, 0.952,-0.279, RAW= 305.7,   5.3, CAL= 303.3,   3.3, ROT= 206.7,  -3.3

2025-10-26T22:24:34.271Z,1761517474.271 [DAT](INFO): got valid direction response:
 22:24:32.9959 LVL= 32752, 19761, 25778, 32755, AGC= 59, IDX= 509, 0.20, 0.357, 2.515, 1.373, 1.608, PHS=-1.149, 0.952,-0.279, RAW= 305.7,   5.3, CAL= 303.3,   3.3, ROT= 206.7,  -3.3

2025-10-26T22:24:34.271Z,1761517474.271 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-10-26T22:24:34.272Z,1761517474.272 [DAT](INFO): direction in FSK: [-0.891890,-0.448574,0.057564]
2025-10-26T22:24:34.272Z,1761517474.272 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:34.276Z,1761517474.276 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.724398
2025-10-26T22:24:34.432Z,1761517474.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 0.503877 s,
      deltaX: 0.099998 m,
      approachRate: 0.198458 m/s,
      rangeRepo size: 4

2025-10-26T22:24:34.434Z,1761517474.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.663578 m,
      bearing: 26.011680 deg,
      lat: 36.779398 deg,
      lon: -121.859443 deg,
      deltaT: 0.503877 s,
      deltaX: 0.099409 m,
      approachRate: 0.197288 m/s,
      posRepo size: 4

2025-10-26T22:24:34.434Z,1761517474.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-10-26T22:24:34.509Z,1761517474.509 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.957478
2025-10-26T22:24:34.687Z,1761517474.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999423,-0.010965,0.032134],[0.009474,-0.998888,-0.046193],[0.032605,-0.045862,0.998416]]
2025-10-26T22:24:34.754Z,1761517474.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-10-26T22:24:34.761Z,1761517474.761 [DAT](INFO): DAT read: Rx Time:22:24:33.4958 

2025-10-26T22:24:34.761Z,1761517474.761 [DAT](INFO): Rx dataTimestamp_ set to:1761517474.761174
2025-10-26T22:24:34.763Z,1761517474.763 [DAT](INFO): DAT read: Bearing 149.0, -28.8 (Local)

2025-10-26T22:24:34.763Z,1761517474.763 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.0, -28.8 (Local)

2025-10-26T22:24:34.765Z,1761517474.765 [DAT](INFO): DAT read: Range 11 to 50 :    22.7 m (trip time 15.1 ms) speed -0.1

2025-10-26T22:24:34.770Z,1761517474.770 [DAT](INFO): DAT read: 22:24:33.4958 LVL= 32752, 19777, 21618, 32755, AGC= 59, IDX= 509,-0.06,-2.459,-0.300,-1.433,-1.218, PHS=-1.139, 0.963,-0.259, RAW= 305.4,   4.8, CAL= 303.0,   2.4, ROT= 207.0,  -2.4

2025-10-26T22:24:34.771Z,1761517474.771 [DAT](INFO): got valid direction response:
 22:24:33.4958 LVL= 32752, 19777, 21618, 32755, AGC= 59, IDX= 509,-0.06,-2.459,-0.300,-1.433,-1.218, PHS=-1.139, 0.963,-0.259, RAW= 305.4,   4.8, CAL= 303.0,   2.4, ROT= 207.0,  -2.4

2025-10-26T22:24:34.771Z,1761517474.771 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-10-26T22:24:34.772Z,1761517474.772 [DAT](INFO): direction in FSK: [-0.890225,-0.453592,0.041876]
2025-10-26T22:24:34.773Z,1761517474.773 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:34.776Z,1761517474.776 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.225000
2025-10-26T22:24:35.013Z,1761517475.013 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.461187
2025-10-26T22:24:35.125Z,1761517475.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999424,-0.012689,0.031488],[0.011225,-0.998866,-0.046264],[0.032039,-0.045884,0.998433]]
2025-10-26T22:24:35.149Z,1761517475.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.700001 m,
      deltaT: 0.504126 s,
      deltaX: -0.099998 m,
      approachRate: -0.198360 m/s,
      rangeRepo size: 4

2025-10-26T22:24:35.151Z,1761517475.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.564178 m,
      bearing: 26.193558 deg,
      lat: 36.779398 deg,
      lon: -121.859445 deg,
      deltaT: 0.504126 s,
      deltaX: -0.099400 m,
      approachRate: -0.197172 m/s,
      posRepo size: 4

2025-10-26T22:24:35.151Z,1761517475.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m.
2025-10-26T22:24:35.265Z,1761517475.265 [DAT](INFO): DAT read: Rx Time:22:24:33.9960 

2025-10-26T22:24:35.267Z,1761517475.267 [DAT](INFO): Rx dataTimestamp_ set to:1761517475.265545
2025-10-26T22:24:35.271Z,1761517475.271 [DAT](INFO): DAT read: Bearing 148.8, -28.6 (Local)

2025-10-26T22:24:35.272Z,1761517475.272 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.8, -28.6 (Local)

2025-10-26T22:24:35.274Z,1761517475.274 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed -0.2

2025-10-26T22:24:35.278Z,1761517475.278 [DAT](INFO): DAT read: 22:24:33.9960 LVL= 32752, 18465, 23378, 32755, AGC= 58, IDX= 511,-0.32,-1.206, 0.948,-0.187, 0.034, PHS=-1.138, 0.959,-0.265, RAW= 305.5,   4.9, CAL= 303.1,   2.6, ROT= 206.9,  -2.6

2025-10-26T22:24:35.284Z,1761517475.284 [DAT](INFO): got valid direction response:
 22:24:33.9960 LVL= 32752, 18465, 23378, 32755, AGC= 58, IDX= 511,-0.32,-1.206, 0.948,-0.187, 0.034, PHS=-1.138, 0.959,-0.265, RAW= 305.5,   4.9, CAL= 303.1,   2.6, ROT= 206.9,  -2.6

2025-10-26T22:24:35.286Z,1761517475.286 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-10-26T22:24:35.300Z,1761517475.300 [DAT](INFO): direction in FSK: [-0.890880,-0.451969,0.045363]
2025-10-26T22:24:35.301Z,1761517475.301 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:35.365Z,1761517475.365 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.795294
2025-10-26T22:24:35.490Z,1761517475.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999421,-0.014130,0.030952],[0.012687,-0.998846,-0.046324],[0.031571,-0.045904,0.998447]]
2025-10-26T22:24:35.516Z,1761517475.516 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.964966
2025-10-26T22:24:35.542Z,1761517475.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.504371 s,
      deltaX: 0.299999 m,
      approachRate: 0.594799 m/s,
      rangeRepo size: 4

2025-10-26T22:24:35.566Z,1761517475.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.862265 m,
      bearing: 25.999198 deg,
      lat: 36.779398 deg,
      lon: -121.859449 deg,
      deltaT: 0.504371 s,
      deltaX: 0.298086 m,
      approachRate: 0.591006 m/s,
      posRepo size: 4

2025-10-26T22:24:35.573Z,1761517475.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.86 m.
2025-10-26T22:24:35.770Z,1761517475.770 [DAT](INFO): DAT read: Rx Time:22:24:34.4959 

2025-10-26T22:24:35.770Z,1761517475.770 [DAT](INFO): Rx dataTimestamp_ set to:1761517475.769942
2025-10-26T22:24:35.772Z,1761517475.772 [DAT](INFO): DAT read: Bearing 148.1, -28.4 (Local)

2025-10-26T22:24:35.772Z,1761517475.772 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.1, -28.4 (Local)

2025-10-26T22:24:35.774Z,1761517475.774 [DAT](INFO): DAT read: Range 11 to 50 :    22.8 m (trip time 15.2 ms) speed -0.2

2025-10-26T22:24:35.780Z,1761517475.780 [DAT](INFO): DAT read: 22:24:34.4959 LVL= 32576, 17121, 20722, 32755, AGC= 58, IDX= 510, 0.27,-0.731, 1.419, 0.278, 0.514, PHS=-1.143, 0.951,-0.279, RAW= 305.8,   5.2, CAL= 303.4,   3.2, ROT= 206.6,  -3.2

2025-10-26T22:24:35.781Z,1761517475.781 [DAT](INFO): got valid direction response:
 22:24:34.4959 LVL= 32576, 17121, 20722, 32755, AGC= 58, IDX= 510, 0.27,-0.731, 1.419, 0.278, 0.514, PHS=-1.143, 0.951,-0.279, RAW= 305.8,   5.2, CAL= 303.4,   3.2, ROT= 206.6,  -3.2

2025-10-26T22:24:35.782Z,1761517475.782 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-10-26T22:24:35.784Z,1761517475.784 [DAT](INFO): direction in FSK: [-0.892760,-0.447061,0.055822]
2025-10-26T22:24:35.785Z,1761517475.785 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:35.789Z,1761517475.789 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.237785
2025-10-26T22:24:35.922Z,1761517475.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999409,-0.015646,0.030622],[0.014222,-0.998832,-0.046169],[0.031309,-0.045706,0.998464]]
2025-10-26T22:24:35.946Z,1761517475.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 0.504397 s,
      deltaX: -0.200001 m,
      approachRate: -0.396515 m/s,
      rangeRepo size: 4

2025-10-26T22:24:35.949Z,1761517475.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.663462 m,
      bearing: 25.579770 deg,
      lat: 36.779400 deg,
      lon: -121.859451 deg,
      deltaT: 0.504397 s,
      deltaX: -0.198803 m,
      approachRate: -0.394140 m/s,
      posRepo size: 4

2025-10-26T22:24:35.949Z,1761517475.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-10-26T22:24:36.021Z,1761517476.021 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.469879
2025-10-26T22:24:36.273Z,1761517476.273 [DAT](INFO): DAT read: Rx Time:22:24:34.9961 

2025-10-26T22:24:36.273Z,1761517476.273 [DAT](INFO): Rx dataTimestamp_ set to:1761517476.273088
2025-10-26T22:24:36.275Z,1761517476.275 [DAT](INFO): DAT read: Bearing 150.8, -25.4 (Local)

2025-10-26T22:24:36.275Z,1761517476.275 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.8, -25.4 (Local)

2025-10-26T22:24:36.277Z,1761517476.277 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed -0.1

2025-10-26T22:24:36.282Z,1761517476.282 [DAT](INFO): DAT read: 22:24:34.9961 LVL= 32752, 20337, 23778, 32755, AGC= 59, IDX= 512, 0.05,-2.106, 0.013,-1.203,-0.956, PHS=-1.048, 1.014,-0.291, RAW= 308.7,   3.6, CAL= 306.3,   0.7, ROT= 203.7,  -0.7

2025-10-26T22:24:36.283Z,1761517476.283 [DAT](INFO): got valid direction response:
 22:24:34.9961 LVL= 32752, 20337, 23778, 32755, AGC= 59, IDX= 512, 0.05,-2.106, 0.013,-1.203,-0.956, PHS=-1.048, 1.014,-0.291, RAW= 308.7,   3.6, CAL= 306.3,   0.7, ROT= 203.7,  -0.7

2025-10-26T22:24:36.283Z,1761517476.283 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-10-26T22:24:36.284Z,1761517476.284 [DAT](INFO): direction in FSK: [-0.915594,-0.401918,0.012217]
2025-10-26T22:24:36.284Z,1761517476.284 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:36.288Z,1761517476.288 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.736788
2025-10-26T22:24:36.405Z,1761517476.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999402,-0.016849,0.030193],[0.015448,-0.998820,-0.046053],[0.030933,-0.045559,0.998483]]
2025-10-26T22:24:36.524Z,1761517476.524 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.973000
2025-10-26T22:24:36.636Z,1761517476.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.503146 s,
      deltaX: 0.300001 m,
      approachRate: 0.596251 m/s,
      rangeRepo size: 4

2025-10-26T22:24:36.638Z,1761517476.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.961632 m,
      bearing: 22.751628 deg,
      lat: 36.779400 deg,
      lon: -121.859451 deg,
      deltaT: 0.503146 s,
      deltaX: 0.298170 m,
      approachRate: 0.592611 m/s,
      posRepo size: 4

2025-10-26T22:24:36.638Z,1761517476.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m.
2025-10-26T22:24:36.777Z,1761517476.777 [DAT](INFO): DAT read: Rx Time:22:24:35.4961 

2025-10-26T22:24:36.777Z,1761517476.777 [DAT](INFO): Rx dataTimestamp_ set to:1761517476.777117
2025-10-26T22:24:36.779Z,1761517476.779 [DAT](INFO): DAT read: Bearing 159.2, -20.6 (Local)

2025-10-26T22:24:36.779Z,1761517476.779 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.2, -20.6 (Local)

2025-10-26T22:24:36.782Z,1761517476.782 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed -0.2

2025-10-26T22:24:36.786Z,1761517476.786 [DAT](INFO): DAT read: 22:24:35.4961 LVL= 31984, 18145, 19906, 32755, AGC= 58, IDX= 512,-0.13, 0.944,-2.866, 1.875, 1.972, PHS=-0.926, 1.490,-0.141, RAW= 311.4,  -4.0, CAL= 310.4,  -7.4, ROT= 199.6,   7.4

2025-10-26T22:24:36.788Z,1761517476.788 [DAT](INFO): got valid direction response:
 22:24:35.4961 LVL= 31984, 18145, 19906, 32755, AGC= 58, IDX= 512,-0.13, 0.944,-2.866, 1.875, 1.972, PHS=-0.926, 1.490,-0.141, RAW= 311.4,  -4.0, CAL= 310.4,  -7.4, ROT= 199.6,   7.4

2025-10-26T22:24:36.788Z,1761517476.788 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-10-26T22:24:36.789Z,1761517476.789 [DAT](INFO): direction in FSK: [-0.934211,-0.332658,-0.128796]
2025-10-26T22:24:36.789Z,1761517476.789 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:36.814Z,1761517476.814 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.262835
2025-10-26T22:24:36.876Z,1761517476.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999400,-0.017516,0.029883],[0.016128,-0.998807,-0.046101],[0.030655,-0.045591,0.998490]]
2025-10-26T22:24:36.944Z,1761517476.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.504029 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:36.946Z,1761517476.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.961632 m,
      bearing: 19.053038 deg,
      lat: 36.779401 deg,
      lon: -121.859455 deg,
      deltaT: 0.504029 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:36.947Z,1761517476.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m.
2025-10-26T22:24:37.029Z,1761517477.029 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.477482
2025-10-26T22:24:37.262Z,1761517477.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999391,-0.018347,0.029674],[0.016974,-0.998803,-0.045880],[0.030480,-0.045348,0.998506]]
2025-10-26T22:24:37.280Z,1761517477.280 [DAT](INFO): DAT read: Rx Time:22:24:35.9961 

2025-10-26T22:24:37.281Z,1761517477.281 [DAT](INFO): Rx dataTimestamp_ set to:1761517477.280567
2025-10-26T22:24:37.282Z,1761517477.282 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed -0.2

2025-10-26T22:24:37.283Z,1761517477.283 [DAT](ERROR): #Rx 55: Read range message, but no direction.
2025-10-26T22:24:37.284Z,1761517477.284 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.732195
2025-10-26T22:24:37.310Z,1761517477.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.503450 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:37.311Z,1761517477.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m.
2025-10-26T22:24:37.532Z,1761517477.532 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.980879
2025-10-26T22:24:37.744Z,1761517477.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m.
2025-10-26T22:24:37.785Z,1761517477.785 [DAT](INFO): DAT read: Rx Time:22:24:36.4961 

2025-10-26T22:24:37.786Z,1761517477.786 [DAT](INFO): Rx dataTimestamp_ set to:1761517477.785239
2025-10-26T22:24:37.787Z,1761517477.787 [DAT](INFO): DAT read: Bearing 144.7, -32.2 (Local)

2025-10-26T22:24:37.787Z,1761517477.787 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.7, -32.2 (Local)

2025-10-26T22:24:37.789Z,1761517477.789 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed -0.1

2025-10-26T22:24:37.794Z,1761517477.794 [DAT](INFO): DAT read: 22:24:36.4961 LVL= 32752, 18273, 21874, 32755, AGC= 58, IDX= 512, 0.15, 1.084,-2.840, 2.309, 2.539, PHS=-1.353, 0.948,-0.275, RAW= 302.1,   6.9, CAL= 299.6,   6.2, ROT= 210.4,  -6.2

2025-10-26T22:24:37.795Z,1761517477.795 [DAT](INFO): got valid direction response:
 22:24:36.4961 LVL= 32752, 18273, 21874, 32755, AGC= 58, IDX= 512, 0.15, 1.084,-2.840, 2.309, 2.539, PHS=-1.353, 0.948,-0.275, RAW= 302.1,   6.9, CAL= 299.6,   6.2, ROT= 210.4,  -6.2

2025-10-26T22:24:37.795Z,1761517477.795 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-10-26T22:24:37.796Z,1761517477.796 [DAT](INFO): direction in FSK: [-0.857469,-0.503074,0.107999]
2025-10-26T22:24:37.797Z,1761517477.797 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:37.801Z,1761517477.801 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.249289
2025-10-26T22:24:38.037Z,1761517478.037 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.485245
2025-10-26T22:24:38.127Z,1761517478.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999400,-0.018264,0.029412],[0.016896,-0.998794,-0.046089],[0.030219,-0.045564,0.998504]]
2025-10-26T22:24:38.151Z,1761517478.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.504672 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:38.153Z,1761517478.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.961634 m,
      bearing: 29.056935 deg,
      lat: 36.779401 deg,
      lon: -121.859455 deg,
      deltaT: 1.008122 s,
      deltaX: 0.000002 m,
      approachRate: 0.000002 m/s,
      posRepo size: 4

2025-10-26T22:24:38.153Z,1761517478.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m.
2025-10-26T22:24:38.290Z,1761517478.290 [DAT](INFO): DAT read: Rx Time:22:24:36.9963 

2025-10-26T22:24:38.291Z,1761517478.291 [DAT](INFO): Rx dataTimestamp_ set to:1761517478.290671
2025-10-26T22:24:38.292Z,1761517478.292 [DAT](INFO): DAT read: Bearing 146.8, -29.0 (Local)

2025-10-26T22:24:38.293Z,1761517478.293 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.8, -29.0 (Local)

2025-10-26T22:24:38.295Z,1761517478.295 [DAT](INFO): DAT read: Range 11 to 50 :    23.4 m (trip time 15.6 ms) speed -0.1

2025-10-26T22:24:38.313Z,1761517478.313 [DAT](INFO): DAT read: 22:24:36.9963 LVL= 32752, 18929, 21842, 32755, AGC= 61, IDX=   2,-0.12, 2.389,-1.737,-2.864,-2.622, PHS=-1.171, 0.930,-0.286, RAW= 305.2,   5.8, CAL= 302.8,   4.3, ROT= 207.2,  -4.3

2025-10-26T22:24:38.314Z,1761517478.314 [DAT](INFO): got valid direction response:
 22:24:36.9963 LVL= 32752, 18929, 21842, 32755, AGC= 61, IDX=   2,-0.12, 2.389,-1.737,-2.864,-2.622, PHS=-1.171, 0.930,-0.286, RAW= 305.2,   5.8, CAL= 302.8,   4.3, ROT= 207.2,  -4.3

2025-10-26T22:24:38.314Z,1761517478.314 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-10-26T22:24:38.315Z,1761517478.315 [DAT](INFO): direction in FSK: [-0.886913,-0.455811,0.074979]
2025-10-26T22:24:38.316Z,1761517478.316 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:38.386Z,1761517478.386 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.767689
2025-10-26T22:24:38.540Z,1761517478.540 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.988976
2025-10-26T22:24:38.554Z,1761517478.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999414,-0.017614,0.029351],[0.016244,-0.998796,-0.046284],[0.030130,-0.045781,0.998497]]
2025-10-26T22:24:38.658Z,1761517478.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 0.505432 s,
      deltaX: 0.299999 m,
      approachRate: 0.593550 m/s,
      rangeRepo size: 4

2025-10-26T22:24:38.660Z,1761517478.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.259876 m,
      bearing: 26.003791 deg,
      lat: 36.779402 deg,
      lon: -121.859456 deg,
      deltaT: 0.505432 s,
      deltaX: 0.298243 m,
      approachRate: 0.590075 m/s,
      posRepo size: 4

2025-10-26T22:24:38.660Z,1761517478.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.26 m.
2025-10-26T22:24:38.793Z,1761517478.793 [DAT](INFO): DAT read: Rx Time:22:24:37.4963 

2025-10-26T22:24:38.794Z,1761517478.794 [DAT](INFO): Rx dataTimestamp_ set to:1761517478.793488
2025-10-26T22:24:38.795Z,1761517478.795 [DAT](INFO): DAT read: Bearing 146.4, -29.1 (Local)

2025-10-26T22:24:38.796Z,1761517478.796 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.4, -29.1 (Local)

2025-10-26T22:24:38.798Z,1761517478.798 [DAT](INFO): DAT read: Range 11 to 50 :    23.4 m (trip time 15.6 ms) speed -0.2

2025-10-26T22:24:38.802Z,1761517478.802 [DAT](INFO): DAT read: 22:24:37.4963 LVL= 32752, 18561, 21554, 32755, AGC= 58, IDX= 497, 0.45, 2.700,-1.428,-2.553,-2.306, PHS=-1.176, 0.923,-0.291, RAW= 305.2,   6.0, CAL= 302.8,   4.7, ROT= 207.2,  -4.7

2025-10-26T22:24:38.804Z,1761517478.804 [DAT](INFO): got valid direction response:
 22:24:37.4963 LVL= 32752, 18561, 21554, 32755, AGC= 58, IDX= 497, 0.45, 2.700,-1.428,-2.553,-2.306, PHS=-1.176, 0.923,-0.291, RAW= 305.2,   6.0, CAL= 302.8,   4.7, ROT= 207.2,  -4.7

2025-10-26T22:24:38.804Z,1761517478.804 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-10-26T22:24:38.805Z,1761517478.805 [DAT](INFO): direction in FSK: [-0.886426,-0.455561,0.081939]
2025-10-26T22:24:38.806Z,1761517478.806 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:38.809Z,1761517478.809 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.257904
2025-10-26T22:24:38.955Z,1761517478.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999417,-0.017088,0.029573],[0.015713,-0.998813,-0.046110],[0.030326,-0.045618,0.998498]]
2025-10-26T22:24:38.987Z,1761517478.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 0.502817 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:38.989Z,1761517478.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.259876 m,
      bearing: 26.012814 deg,
      lat: 36.779402 deg,
      lon: -121.859457 deg,
      deltaT: 0.502817 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:38.990Z,1761517478.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.26 m.
2025-10-26T22:24:39.045Z,1761517479.045 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.493790
2025-10-26T22:24:39.297Z,1761517479.297 [DAT](INFO): DAT read: Rx Time:22:24:37.9965 

2025-10-26T22:24:39.297Z,1761517479.297 [DAT](INFO): Rx dataTimestamp_ set to:1761517479.297147
2025-10-26T22:24:39.299Z,1761517479.299 [DAT](INFO): DAT read: Bearing 146.5, -29.0 (Local)

2025-10-26T22:24:39.299Z,1761517479.299 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.5, -29.0 (Local)

2025-10-26T22:24:39.301Z,1761517479.301 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed -0.1

2025-10-26T22:24:39.306Z,1761517479.306 [DAT](INFO): DAT read: 22:24:37.9965 LVL= 32304, 19137, 21618, 32755, AGC= 61, IDX=   3, 0.07,-2.330,-0.173,-1.300,-1.054, PHS=-1.174, 0.926,-0.291, RAW= 305.2,   6.0, CAL= 302.9,   4.6, ROT= 207.1,  -4.6

2025-10-26T22:24:39.307Z,1761517479.307 [DAT](INFO): got valid direction response:
 22:24:37.9965 LVL= 32304, 19137, 21618, 32755, AGC= 61, IDX=   3, 0.07,-2.330,-0.173,-1.300,-1.054, PHS=-1.174, 0.926,-0.291, RAW= 305.2,   6.0, CAL= 302.9,   4.6, ROT= 207.1,  -4.6

2025-10-26T22:24:39.307Z,1761517479.307 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-26T22:24:39.308Z,1761517479.308 [DAT](INFO): direction in FSK: [-0.887345,-0.454078,0.080199]
2025-10-26T22:24:39.309Z,1761517479.309 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:39.312Z,1761517479.312 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.760820
2025-10-26T22:24:39.449Z,1761517479.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999431,-0.015407,0.030018],[0.014034,-0.998868,-0.045450],[0.030684,-0.045003,0.998515]]
2025-10-26T22:24:39.535Z,1761517479.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.503659 s,
      deltaX: 0.300001 m,
      approachRate: 0.595643 m/s,
      rangeRepo size: 4

2025-10-26T22:24:39.541Z,1761517479.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.558100 m,
      bearing: 26.017498 deg,
      lat: 36.779402 deg,
      lon: -121.859456 deg,
      deltaT: 0.503659 s,
      deltaX: 0.298223 m,
      approachRate: 0.592114 m/s,
      posRepo size: 4

2025-10-26T22:24:39.542Z,1761517479.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.56 m.
2025-10-26T22:24:39.549Z,1761517479.549 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.997261
2025-10-26T22:24:39.802Z,1761517479.802 [DAT](INFO): DAT read: Rx Time:22:24:38.4965 

2025-10-26T22:24:39.802Z,1761517479.802 [DAT](INFO): Rx dataTimestamp_ set to:1761517479.802078
2025-10-26T22:24:39.804Z,1761517479.804 [DAT](INFO): DAT read: Bearing 146.8, -29.3 (Local)

2025-10-26T22:24:39.804Z,1761517479.804 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.8, -29.3 (Local)

2025-10-26T22:24:39.806Z,1761517479.806 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed -0.2

2025-10-26T22:24:39.811Z,1761517479.811 [DAT](INFO): DAT read: 22:24:38.4965 LVL= 32752, 16945, 20034, 32755, AGC= 57, IDX= 499,-0.24, 1.300,-2.822, 2.341, 2.577, PHS=-1.175, 0.929,-0.281, RAW= 304.9,   5.8, CAL= 302.6,   4.3, ROT= 207.4,  -4.3

2025-10-26T22:24:39.812Z,1761517479.812 [DAT](INFO): got valid direction response:
 22:24:38.4965 LVL= 32752, 16945, 20034, 32755, AGC= 57, IDX= 499,-0.24, 1.300,-2.822, 2.341, 2.577, PHS=-1.175, 0.929,-0.281, RAW= 304.9,   5.8, CAL= 302.6,   4.3, ROT= 207.4,  -4.3

2025-10-26T22:24:39.812Z,1761517479.812 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-26T22:24:39.813Z,1761517479.813 [DAT](INFO): direction in FSK: [-0.885316,-0.458904,0.074979]
2025-10-26T22:24:39.813Z,1761517479.813 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:39.818Z,1761517479.818 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.266104
2025-10-26T22:24:39.839Z,1761517479.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999447,-0.013951,0.030190],[0.012574,-0.998893,-0.045321],[0.030789,-0.044917,0.998516]]
2025-10-26T22:24:39.934Z,1761517479.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.504931 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:39.940Z,1761517479.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.558100 m,
      bearing: 26.417135 deg,
      lat: 36.779402 deg,
      lon: -121.859456 deg,
      deltaT: 0.504931 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:39.941Z,1761517479.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.56 m.
2025-10-26T22:24:40.053Z,1761517480.053 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.501017
2025-10-26T22:24:40.243Z,1761517480.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999456,-0.012325,0.030591],[0.010934,-0.998918,-0.045211],[0.031115,-0.044851,0.998509]]
2025-10-26T22:24:40.269Z,1761517480.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.56 m.
2025-10-26T22:24:40.305Z,1761517480.305 [DAT](INFO): DAT read: Rx Time:22:24:38.9965 

2025-10-26T22:24:40.305Z,1761517480.305 [DAT](INFO): Rx dataTimestamp_ set to:1761517480.305219
2025-10-26T22:24:40.307Z,1761517480.307 [DAT](INFO): DAT read: Bearing 146.0, -29.2 (Local)

2025-10-26T22:24:40.307Z,1761517480.307 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.0, -29.2 (Local)

2025-10-26T22:24:40.309Z,1761517480.309 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed -0.1

2025-10-26T22:24:40.314Z,1761517480.314 [DAT](INFO): DAT read: 22:24:38.9965 LVL= 32752, 18257, 22674, 32755, AGC= 58, IDX= 499, 0.23,-2.449,-0.292,-1.413,-1.164, PHS=-1.183, 0.917,-0.293, RAW= 305.0,   6.2, CAL= 302.7,   5.0, ROT= 207.3,  -5.0

2025-10-26T22:24:40.315Z,1761517480.315 [DAT](INFO): got valid direction response:
 22:24:38.9965 LVL= 32752, 18257, 22674, 32755, AGC= 58, IDX= 499, 0.23,-2.449,-0.292,-1.413,-1.164, PHS=-1.183, 0.917,-0.293, RAW= 305.0,   6.2, CAL= 302.7,   5.0, ROT= 207.3,  -5.0

2025-10-26T22:24:40.316Z,1761517480.316 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-10-26T22:24:40.317Z,1761517480.317 [DAT](INFO): direction in FSK: [-0.885236,-0.456904,0.087156]
2025-10-26T22:24:40.317Z,1761517480.317 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:40.321Z,1761517480.321 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.769144
2025-10-26T22:24:40.557Z,1761517480.557 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.005285
2025-10-26T22:24:40.648Z,1761517480.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999462,-0.010823,0.030952],[0.009421,-0.998938,-0.045110],[0.031407,-0.044794,0.998502]]
2025-10-26T22:24:40.719Z,1761517480.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.503141 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:40.726Z,1761517480.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.558117 m,
      bearing: 26.459483 deg,
      lat: 36.779402 deg,
      lon: -121.859456 deg,
      deltaT: 0.503141 s,
      deltaX: 0.000017 m,
      approachRate: 0.000034 m/s,
      posRepo size: 4

2025-10-26T22:24:40.726Z,1761517480.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.56 m.
2025-10-26T22:24:40.810Z,1761517480.810 [DAT](INFO): DAT read: Rx Time:22:24:39.4964 

2025-10-26T22:24:40.811Z,1761517480.811 [DAT](INFO): Rx dataTimestamp_ set to:1761517480.810148
2025-10-26T22:24:40.812Z,1761517480.812 [DAT](INFO): DAT read: Bearing 146.4, -29.3 (Local)

2025-10-26T22:24:40.812Z,1761517480.812 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.4, -29.3 (Local)

2025-10-26T22:24:40.814Z,1761517480.814 [DAT](INFO): DAT read: Range 11 to 50 :    23.6 m (trip time 15.7 ms) speed -0.2

2025-10-26T22:24:40.828Z,1761517480.828 [DAT](INFO): DAT read: 22:24:39.4964 LVL= 30512, 16737, 20466, 32755, AGC= 57, IDX= 499,-0.13, 1.249,-2.870, 2.294, 2.533, PHS=-1.182, 0.924,-0.283, RAW= 304.8,   6.0, CAL= 302.5,   4.6, ROT= 207.5,  -4.6

2025-10-26T22:24:40.829Z,1761517480.829 [DAT](INFO): got valid direction response:
 22:24:39.4964 LVL= 30512, 16737, 20466, 32755, AGC= 57, IDX= 499,-0.13, 1.249,-2.870, 2.294, 2.533, PHS=-1.182, 0.924,-0.283, RAW= 304.8,   6.0, CAL= 302.5,   4.6, ROT= 207.5,  -4.6

2025-10-26T22:24:40.830Z,1761517480.830 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-10-26T22:24:40.840Z,1761517480.840 [DAT](INFO): direction in FSK: [-0.884154,-0.460261,0.080199]
2025-10-26T22:24:40.840Z,1761517480.840 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:40.848Z,1761517480.848 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.296711
2025-10-26T22:24:41.052Z,1761517481.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999470,-0.009105,0.031248],[0.007689,-0.998951,-0.045138],[0.031626,-0.044874,0.998492]]
2025-10-26T22:24:41.062Z,1761517481.062 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.509907
2025-10-26T22:24:41.140Z,1761517481.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.600000 m,
      deltaT: 0.504929 s,
      deltaX: -0.100000 m,
      approachRate: -0.198048 m/s,
      rangeRepo size: 4

2025-10-26T22:24:41.142Z,1761517481.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.458715 m,
      bearing: 26.779279 deg,
      lat: 36.779401 deg,
      lon: -121.859456 deg,
      deltaT: 0.504929 s,
      deltaX: -0.099401 m,
      approachRate: -0.196862 m/s,
      posRepo size: 4

2025-10-26T22:24:41.143Z,1761517481.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m.
2025-10-26T22:24:41.313Z,1761517481.313 [DAT](INFO): DAT read: Rx Time:22:24:39.9965 

2025-10-26T22:24:41.313Z,1761517481.313 [DAT](INFO): Rx dataTimestamp_ set to:1761517481.313155
2025-10-26T22:24:41.315Z,1761517481.315 [DAT](INFO): DAT read: Bearing 145.8, -29.2 (Local)

2025-10-26T22:24:41.315Z,1761517481.315 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.8, -29.2 (Local)

2025-10-26T22:24:41.317Z,1761517481.317 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed 0.0

2025-10-26T22:24:41.322Z,1761517481.322 [DAT](INFO): DAT read: 22:24:39.9965 LVL= 32752, 18417, 22866, 32755, AGC= 58, IDX= 500, 0.30,-2.044, 0.118,-1.003,-0.755, PHS=-1.186, 0.918,-0.292, RAW= 304.9,   6.2, CAL= 302.6,   5.0, ROT= 207.4,  -5.0

2025-10-26T22:24:41.323Z,1761517481.323 [DAT](INFO): got valid direction response:
 22:24:39.9965 LVL= 32752, 18417, 22866, 32755, AGC= 58, IDX= 500, 0.30,-2.044, 0.118,-1.003,-0.755, PHS=-1.186, 0.918,-0.292, RAW= 304.9,   6.2, CAL= 302.6,   5.0, ROT= 207.4,  -5.0

2025-10-26T22:24:41.336Z,1761517481.336 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-10-26T22:24:41.337Z,1761517481.337 [DAT](INFO): direction in FSK: [-0.884437,-0.458448,0.087156]
2025-10-26T22:24:41.337Z,1761517481.337 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:41.357Z,1761517481.357 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.805202
2025-10-26T22:24:41.454Z,1761517481.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999472,-0.007810,0.031524],[0.006389,-0.998970,-0.044925],[0.031843,-0.044700,0.998493]]
2025-10-26T22:24:41.568Z,1761517481.568 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.015297
2025-10-26T22:24:41.648Z,1761517481.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.503007 s,
      deltaX: 0.100000 m,
      approachRate: 0.198805 m/s,
      rangeRepo size: 4

2025-10-26T22:24:41.650Z,1761517481.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.558109 m,
      bearing: 26.732670 deg,
      lat: 36.779401 deg,
      lon: -121.859455 deg,
      deltaT: 0.503007 s,
      deltaX: 0.099394 m,
      approachRate: 0.197599 m/s,
      posRepo size: 4

2025-10-26T22:24:41.651Z,1761517481.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.56 m.
2025-10-26T22:24:41.817Z,1761517481.817 [DAT](INFO): DAT read: Rx Time:22:24:40.4965 

2025-10-26T22:24:41.818Z,1761517481.818 [DAT](INFO): Rx dataTimestamp_ set to:1761517481.817333
2025-10-26T22:24:41.819Z,1761517481.819 [DAT](INFO): DAT read: Bearing 145.4, -29.3 (Local)

2025-10-26T22:24:41.819Z,1761517481.819 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.4, -29.3 (Local)

2025-10-26T22:24:41.821Z,1761517481.821 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed -0.1

2025-10-26T22:24:41.826Z,1761517481.826 [DAT](INFO): DAT read: 22:24:40.4965 LVL= 32752, 21281, 23618, 32755, AGC= 58, IDX= 500,-0.10, 1.134,-2.981, 2.181, 2.433, PHS=-1.197, 0.914,-0.296, RAW= 304.8,   6.4, CAL= 302.5,   5.3, ROT= 207.5,  -5.3

2025-10-26T22:24:41.827Z,1761517481.827 [DAT](INFO): got valid direction response:
 22:24:40.4965 LVL= 32752, 21281, 23618, 32755, AGC= 58, IDX= 500,-0.10, 1.134,-2.981, 2.181, 2.433, PHS=-1.197, 0.914,-0.296, RAW= 304.8,   6.4, CAL= 302.5,   5.3, ROT= 207.5,  -5.3

2025-10-26T22:24:41.827Z,1761517481.827 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-26T22:24:41.828Z,1761517481.828 [DAT](INFO): direction in FSK: [-0.883219,-0.459774,0.092371]
2025-10-26T22:24:41.829Z,1761517481.829 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:41.833Z,1761517481.833 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.281502
2025-10-26T22:24:41.913Z,1761517481.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999471,-0.006626,0.031836],[0.005199,-0.998987,-0.044690],[0.032100,-0.044500,0.998494]]
2025-10-26T22:24:41.961Z,1761517481.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.504178 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:41.963Z,1761517481.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.558109 m,
      bearing: 26.884922 deg,
      lat: 36.779400 deg,
      lon: -121.859455 deg,
      deltaT: 0.504178 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:41.967Z,1761517481.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.56 m.
2025-10-26T22:24:42.074Z,1761517482.074 [DAT](INFO): DAT read: Rx Time:22:24:40.9966 

2025-10-26T22:24:42.076Z,1761517482.076 [DAT](INFO): Rx dataTimestamp_ set to:1761517482.074899
2025-10-26T22:24:42.083Z,1761517482.083 [DAT](INFO): DAT read: Bearing 145.8, -29.0 (Local)

2025-10-26T22:24:42.086Z,1761517482.086 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.8, -29.0 (Local)

2025-10-26T22:24:42.090Z,1761517482.090 [DAT](INFO): DAT read: Range 11 to 50 :    23.9 m (trip time 15.9 ms) speed -0.1

2025-10-26T22:24:42.098Z,1761517482.098 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-10-26T22:24:42.111Z,1761517482.111 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.558472
2025-10-26T22:24:42.294Z,1761517482.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999473,-0.005093,0.032052],[0.003654,-0.998989,-0.044801],[0.032248,-0.044660,0.998482]]
2025-10-26T22:24:42.324Z,1761517482.324 [DAT](INFO): DAT read: 22:24:40.9966 LVL= 32752, 17169, 23970, 32755, AGC= 57, IDX= 501, 0.30,-1.893, 0.264,-0.861,-0.610, PHS=-1.181, 0.919,-0.294, RAW= 305.1,   6.1, CAL= 302.8,   4.9, ROT= 207.2,  -4.9

2025-10-26T22:24:42.325Z,1761517482.325 [DAT](INFO): got valid direction response:
 22:24:40.9966 LVL= 32752, 17169, 23970, 32755, AGC= 57, IDX= 501, 0.30,-1.893, 0.264,-0.861,-0.610, PHS=-1.181, 0.919,-0.294, RAW= 305.1,   6.1, CAL= 302.8,   4.9, ROT= 207.2,  -4.9

2025-10-26T22:24:42.326Z,1761517482.326 [DAT](INFO): #Rx 66: Read direction message, but no range.
2025-10-26T22:24:42.326Z,1761517482.326 [DAT](INFO): direction in FSK: [-0.886166,-0.455427,0.085417]
2025-10-26T22:24:42.330Z,1761517482.330 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.778488
2025-10-26T22:24:42.345Z,1761517482.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.900000 m,
      deltaT: 0.257566 s,
      deltaX: 0.199999 m,
      approachRate: 0.776496 m/s,
      rangeRepo size: 4

2025-10-26T22:24:42.347Z,1761517482.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.756910 m,
      bearing: 26.694772 deg,
      lat: 36.779400 deg,
      lon: -121.859455 deg,
      deltaT: 0.257566 s,
      deltaX: 0.198801 m,
      approachRate: 0.771845 m/s,
      posRepo size: 4

2025-10-26T22:24:42.348Z,1761517482.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.76 m.
2025-10-26T22:24:42.577Z,1761517482.577 [DAT](INFO): DAT read: Rx Time:22:24:41.4966 

2025-10-26T22:24:42.579Z,1761517482.579 [DAT](INFO): Rx dataTimestamp_ set to:1761517482.577681
2025-10-26T22:24:42.582Z,1761517482.582 [DAT](INFO): DAT read: Bearing 145.9, -29.4 (Local)

2025-10-26T22:24:42.584Z,1761517482.584 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.9, -29.4 (Local)

2025-10-26T22:24:42.587Z,1761517482.587 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.034740
2025-10-26T22:24:42.758Z,1761517482.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.76 m.
2025-10-26T22:24:42.827Z,1761517482.827 [DAT](INFO): DAT read: Range 11 to 50 :    23.9 m (trip time 15.9 ms) speed 0.1

2025-10-26T22:24:42.836Z,1761517482.836 [DAT](INFO): DAT read: 22:24:41.4966 LVL= 32752, 19409, 22498, 32755, AGC= 58, IDX= 501,-0.09, 1.176,-2.941, 2.226, 2.467, PHS=-1.190, 0.920,-0.285, RAW= 304.7,   6.1, CAL= 302.3,   4.8, ROT= 207.7,  -4.8

2025-10-26T22:24:42.838Z,1761517482.838 [DAT](INFO): got valid direction response:
 22:24:41.4966 LVL= 32752, 19409, 22498, 32755, AGC= 58, IDX= 501,-0.09, 1.176,-2.941, 2.226, 2.467, PHS=-1.190, 0.920,-0.285, RAW= 304.7,   6.1, CAL= 302.3,   4.8, ROT= 207.7,  -4.8

2025-10-26T22:24:42.839Z,1761517482.839 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-10-26T22:24:42.840Z,1761517482.840 [DAT](INFO): direction in FSK: [-0.882288,-0.463212,0.083678]
2025-10-26T22:24:42.840Z,1761517482.840 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:42.874Z,1761517482.874 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.322281
2025-10-26T22:24:43.081Z,1761517483.081 [DAT](INFO): DAT read: Rx Time:22:24:41.9967 

2025-10-26T22:24:43.083Z,1761517483.083 [DAT](INFO): Rx dataTimestamp_ set to:1761517483.081993
2025-10-26T22:24:43.086Z,1761517483.086 [DAT](INFO): DAT read: Bearing 146.2, -29.3 (Local)

2025-10-26T22:24:43.101Z,1761517483.101 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.2, -29.3 (Local)

2025-10-26T22:24:43.144Z,1761517483.144 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed -0.1

2025-10-26T22:24:43.165Z,1761517483.165 [DAT](INFO): DAT read: 22:24:41.9967 LVL= 31056, 16465, 20562, 32755, AGC= 57, IDX= 502, 0.35,-2.519,-0.364,-1.479,-1.239, PHS=-1.178, 0.921,-0.283, RAW= 304.9,   6.0, CAL= 302.5,   4.6, ROT= 207.5,  -4.6

2025-10-26T22:24:43.166Z,1761517483.166 [DAT](INFO): got valid direction response:
 22:24:41.9967 LVL= 31056, 16465, 20562, 32755, AGC= 57, IDX= 502, 0.35,-2.519,-0.364,-1.479,-1.239, PHS=-1.178, 0.921,-0.283, RAW= 304.9,   6.0, CAL= 302.5,   4.6, ROT= 207.5,  -4.6

2025-10-26T22:24:43.166Z,1761517483.166 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-10-26T22:24:43.167Z,1761517483.167 [DAT](INFO): direction in FSK: [-0.884154,-0.460261,0.080199]
2025-10-26T22:24:43.168Z,1761517483.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999480,-0.003501,0.032048],[0.002065,-0.998997,-0.044727],[0.032173,-0.044638,0.998485]]
2025-10-26T22:24:43.180Z,1761517483.180 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:43.190Z,1761517483.190 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.638802
2025-10-26T22:24:43.230Z,1761517483.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 1.007094 s,
      deltaX: 0.100000 m,
      approachRate: 0.099296 m/s,
      rangeRepo size: 4

2025-10-26T22:24:43.236Z,1761517483.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.856348 m,
      bearing: 27.101938 deg,
      lat: 36.779400 deg,
      lon: -121.859455 deg,
      deltaT: 1.007094 s,
      deltaX: 0.099438 m,
      approachRate: 0.098737 m/s,
      posRepo size: 4

2025-10-26T22:24:43.237Z,1761517483.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.86 m.
2025-10-26T22:24:43.329Z,1761517483.329 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.777302
2025-10-26T22:24:43.515Z,1761517483.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999487,-0.002938,0.031902],[0.001510,-0.999000,-0.044682],[0.032001,-0.044611,0.998492]]
2025-10-26T22:24:43.585Z,1761517483.585 [DAT](INFO): DAT read: Rx Time:22:24:42.4967 

2025-10-26T22:24:43.587Z,1761517483.587 [DAT](INFO): Rx dataTimestamp_ set to:1761517483.585858
2025-10-26T22:24:43.591Z,1761517483.591 [DAT](INFO): DAT read: Bearing 143.9, -29.5 (Local)

2025-10-26T22:24:43.592Z,1761517483.592 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.9, -29.5 (Local)

2025-10-26T22:24:43.605Z,1761517483.605 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed 0.0

2025-10-26T22:24:43.616Z,1761517483.616 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-10-26T22:24:43.624Z,1761517483.624 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.072929
2025-10-26T22:24:43.626Z,1761517483.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.503865 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:43.627Z,1761517483.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.86 m.
2025-10-26T22:24:43.837Z,1761517483.837 [DAT](INFO): DAT read: 22:24:42.4967 LVL= 32752, 24497, 26162, 32755, AGC= 59, IDX= 502,-0.05, 0.453, 2.622, 1.507, 1.776, PHS=-1.220, 0.892,-0.313, RAW= 304.6,   7.0, CAL= 302.3,   6.6, ROT= 207.7,  -6.6

2025-10-26T22:24:43.838Z,1761517483.838 [DAT](INFO): got valid direction response:
 22:24:42.4967 LVL= 32752, 24497, 26162, 32755, AGC= 59, IDX= 502,-0.05, 0.453, 2.622, 1.507, 1.776, PHS=-1.220, 0.892,-0.313, RAW= 304.6,   7.0, CAL= 302.3,   6.6, ROT= 207.7,  -6.6

2025-10-26T22:24:43.839Z,1761517483.839 [DAT](INFO): #Rx 70: Read direction message, but no range.
2025-10-26T22:24:43.840Z,1761517483.840 [DAT](INFO): direction in FSK: [-0.879526,-0.461761,0.114937]
2025-10-26T22:24:43.843Z,1761517483.843 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.291431
2025-10-26T22:24:44.009Z,1761517484.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999493,-0.002643,0.031724],[0.001230,-0.999010,-0.044472],[0.031810,-0.044410,0.998507]]
2025-10-26T22:24:44.033Z,1761517484.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.86 m.
2025-10-26T22:24:44.089Z,1761517484.089 [DAT](INFO): DAT read: Rx Time:22:24:42.9967 

2025-10-26T22:24:44.091Z,1761517484.091 [DAT](INFO): Rx dataTimestamp_ set to:1761517484.089685
2025-10-26T22:24:44.098Z,1761517484.098 [DAT](INFO): DAT read: Bearing 145.4, -29.3 (Local)

2025-10-26T22:24:44.100Z,1761517484.100 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.4, -29.3 (Local)

2025-10-26T22:24:44.121Z,1761517484.121 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed -0.1

2025-10-26T22:24:44.128Z,1761517484.128 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-10-26T22:24:44.129Z,1761517484.129 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.577511
2025-10-26T22:24:44.340Z,1761517484.340 [DAT](INFO): DAT read: 22:24:42.9967 LVL= 32752, 20097, 22818, 32755, AGC= 59, IDX= 502, 0.42, 1.809,-2.318, 2.851, 3.101, PHS=-1.190, 0.909,-0.294, RAW= 304.8,   6.4, CAL= 302.4,   5.3, ROT= 207.6,  -5.3

2025-10-26T22:24:44.341Z,1761517484.341 [DAT](INFO): got valid direction response:
 22:24:42.9967 LVL= 32752, 20097, 22818, 32755, AGC= 59, IDX= 502, 0.42, 1.809,-2.318, 2.851, 3.101, PHS=-1.190, 0.909,-0.294, RAW= 304.8,   6.4, CAL= 302.4,   5.3, ROT= 207.6,  -5.3

2025-10-26T22:24:44.342Z,1761517484.342 [DAT](INFO): #Rx 72: Read direction message, but no range.
2025-10-26T22:24:44.343Z,1761517484.343 [DAT](INFO): direction in FSK: [-0.882415,-0.461315,0.092371]
2025-10-26T22:24:44.346Z,1761517484.346 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.794682
2025-10-26T22:24:44.427Z,1761517484.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999503,-0.002594,0.031408],[0.001203,-0.999021,-0.044211],[0.031492,-0.044152,0.998528]]
2025-10-26T22:24:44.526Z,1761517484.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.503827 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:44.532Z,1761517484.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.856319 m,
      bearing: 27.217304 deg,
      lat: 36.779400 deg,
      lon: -121.859454 deg,
      deltaT: 1.007692 s,
      deltaX: -0.000029 m,
      approachRate: -0.000028 m/s,
      posRepo size: 4

2025-10-26T22:24:44.532Z,1761517484.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.86 m.
2025-10-26T22:24:44.592Z,1761517484.592 [DAT](INFO): DAT read: Rx Time:22:24:43.4967 

2025-10-26T22:24:44.594Z,1761517484.594 [DAT](INFO): Rx dataTimestamp_ set to:1761517484.592995
2025-10-26T22:24:44.600Z,1761517484.600 [DAT](INFO): DAT read: Bearing 145.8, -29.0 (Local)

2025-10-26T22:24:44.601Z,1761517484.601 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.8, -29.0 (Local)

2025-10-26T22:24:44.632Z,1761517484.632 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed 0.0

2025-10-26T22:24:44.641Z,1761517484.641 [DAT](INFO): DAT read: 22:24:43.4967 LVL= 32752, 19921, 23122, 32755, AGC= 59, IDX= 502,-0.04,-0.881, 1.276, 0.155, 0.405, PHS=-1.184, 0.916,-0.294, RAW= 305.0,   6.2, CAL= 302.7,   5.1, ROT= 207.3,  -5.1

2025-10-26T22:24:44.643Z,1761517484.643 [DAT](INFO): got valid direction response:
 22:24:43.4967 LVL= 32752, 19921, 23122, 32755, AGC= 59, IDX= 502,-0.04,-0.881, 1.276, 0.155, 0.405, PHS=-1.184, 0.916,-0.294, RAW= 305.0,   6.2, CAL= 302.7,   5.1, ROT= 207.3,  -5.1

2025-10-26T22:24:44.643Z,1761517484.643 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-10-26T22:24:44.649Z,1761517484.649 [DAT](INFO): direction in FSK: [-0.885099,-0.456834,0.088894]
2025-10-26T22:24:44.649Z,1761517484.649 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:44.665Z,1761517484.665 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.113682
2025-10-26T22:24:44.841Z,1761517484.841 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.289009
2025-10-26T22:24:44.901Z,1761517484.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.503310 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:44.908Z,1761517484.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.856319 m,
      bearing: 26.928746 deg,
      lat: 36.779400 deg,
      lon: -121.859454 deg,
      deltaT: 0.503310 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:44.908Z,1761517484.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.86 m.
2025-10-26T22:24:45.096Z,1761517485.096 [DAT](INFO): DAT read: Rx Time:22:24:43.9968 

2025-10-26T22:24:45.098Z,1761517485.098 [DAT](INFO): Rx dataTimestamp_ set to:1761517485.097187
2025-10-26T22:24:45.102Z,1761517485.102 [DAT](INFO): DAT read: Bearing 145.7, -29.3 (Local)

2025-10-26T22:24:45.103Z,1761517485.103 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.7, -29.3 (Local)

2025-10-26T22:24:45.142Z,1761517485.142 [DAT](INFO): DAT read: Range 11 to 50 :    24.2 m (trip time 16.1 ms) speed 0.0

2025-10-26T22:24:45.151Z,1761517485.151 [DAT](INFO): DAT read: 22:24:43.9968 LVL= 32368, 21153, 23506, 32755, AGC= 59, IDX= 503, 0.36, 1.998,-2.130, 3.042,-2.997, PHS=-1.187, 0.912,-0.288, RAW= 304.7,   6.2, CAL= 302.4,   5.1, ROT= 207.6,  -5.1

2025-10-26T22:24:45.157Z,1761517485.157 [DAT](INFO): got valid direction response:
 22:24:43.9968 LVL= 32368, 21153, 23506, 32755, AGC= 59, IDX= 503, 0.36, 1.998,-2.130, 3.042,-2.997, PHS=-1.187, 0.912,-0.288, RAW= 304.7,   6.2, CAL= 302.4,   5.1, ROT= 207.6,  -5.1

2025-10-26T22:24:45.157Z,1761517485.157 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-10-26T22:24:45.158Z,1761517485.158 [DAT](INFO): direction in FSK: [-0.882695,-0.461462,0.088894]
2025-10-26T22:24:45.158Z,1761517485.158 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:45.162Z,1761517485.162 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.610744
2025-10-26T22:24:45.214Z,1761517485.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999517,-0.002395,0.030996],[0.001033,-0.999037,-0.043868],[0.031071,-0.043815,0.998556]]
2025-10-26T22:24:45.268Z,1761517485.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.200001 m,
      deltaT: 0.504192 s,
      deltaX: 0.200001 m,
      approachRate: 0.396676 m/s,
      rangeRepo size: 4

2025-10-26T22:24:45.270Z,1761517485.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.055124 m,
      bearing: 27.240761 deg,
      lat: 36.779400 deg,
      lon: -121.859454 deg,
      deltaT: 0.504192 s,
      deltaX: 0.198805 m,
      approachRate: 0.394304 m/s,
      posRepo size: 4

2025-10-26T22:24:45.271Z,1761517485.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.06 m.
2025-10-26T22:24:45.345Z,1761517485.345 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.793373
2025-10-26T22:24:45.600Z,1761517485.600 [DAT](INFO): DAT read: Rx Time:22:24:44.4968 

2025-10-26T22:24:45.602Z,1761517485.602 [DAT](INFO): Rx dataTimestamp_ set to:1761517485.601064
2025-10-26T22:24:45.610Z,1761517485.610 [DAT](INFO): DAT read: Bearing 145.7, -29.4 (Local)

2025-10-26T22:24:45.611Z,1761517485.611 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.7, -29.4 (Local)

2025-10-26T22:24:45.626Z,1761517485.626 [DAT](INFO): DAT read: Range 11 to 50 :    24.2 m (trip time 16.1 ms) speed 0.1

2025-10-26T22:24:45.635Z,1761517485.635 [DAT](INFO): DAT read: 22:24:44.4968 LVL= 32752, 20881, 23538, 32755, AGC= 59, IDX= 503,-0.12,-0.861, 1.319, 0.197, 0.443, PHS=-1.203, 0.920,-0.291, RAW= 304.7,   6.3, CAL= 302.3,   5.1, ROT= 207.7,  -5.1

2025-10-26T22:24:45.644Z,1761517485.644 [DAT](INFO): got valid direction response:
 22:24:44.4968 LVL= 32752, 20881, 23538, 32755, AGC= 59, IDX= 503,-0.12,-0.861, 1.319, 0.197, 0.443, PHS=-1.203, 0.920,-0.291, RAW= 304.7,   6.3, CAL= 302.3,   5.1, ROT= 207.7,  -5.1

2025-10-26T22:24:45.644Z,1761517485.644 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-10-26T22:24:45.645Z,1761517485.645 [DAT](INFO): direction in FSK: [-0.881888,-0.463002,0.088894]
2025-10-26T22:24:45.646Z,1761517485.646 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:45.653Z,1761517485.653 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.102016
2025-10-26T22:24:45.673Z,1761517485.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999523,-0.002184,0.030797],[0.000832,-0.999038,-0.043847],[0.030863,-0.043800,0.998564]]
2025-10-26T22:24:45.795Z,1761517485.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.200001 m,
      deltaT: 0.503877 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:45.797Z,1761517485.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.055075 m,
      bearing: 27.352647 deg,
      lat: 36.779400 deg,
      lon: -121.859454 deg,
      deltaT: 0.503877 s,
      deltaX: -0.000050 m,
      approachRate: -0.000098 m/s,
      posRepo size: 4

2025-10-26T22:24:45.798Z,1761517485.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.06 m.
2025-10-26T22:24:45.849Z,1761517485.849 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.297039
2025-10-26T22:24:46.104Z,1761517486.104 [DAT](INFO): DAT read: Rx Time:22:24:44.9969 

2025-10-26T22:24:46.105Z,1761517486.105 [DAT](INFO): Rx dataTimestamp_ set to:1761517486.104414
2025-10-26T22:24:46.109Z,1761517486.109 [DAT](INFO): DAT read: Bearing 144.5, -29.4 (Local)

2025-10-26T22:24:46.110Z,1761517486.110 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.5, -29.4 (Local)

2025-10-26T22:24:46.115Z,1761517486.115 [DAT](INFO): DAT read: Range 11 to 50 :    24.3 m (trip time 16.2 ms) speed -0.1

2025-10-26T22:24:46.161Z,1761517486.161 [DAT](INFO): DAT read: 22:24:44.9969 LVL= 32752, 20161, 25570, 32755, AGC= 59, IDX= 504, 0.22, 2.772,-1.352,-2.463,-2.202, PHS=-1.207, 0.895,-0.305, RAW= 304.7,   6.8, CAL= 302.3,   6.2, ROT= 207.7,  -6.2

2025-10-26T22:24:46.162Z,1761517486.162 [DAT](INFO): got valid direction response:
 22:24:44.9969 LVL= 32752, 20161, 25570, 32755, AGC= 59, IDX= 504, 0.22, 2.772,-1.352,-2.463,-2.202, PHS=-1.207, 0.895,-0.305, RAW= 304.7,   6.8, CAL= 302.3,   6.2, ROT= 207.7,  -6.2

2025-10-26T22:24:46.163Z,1761517486.163 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-10-26T22:24:46.177Z,1761517486.177 [DAT](INFO): direction in FSK: [-0.880215,-0.462123,0.107999]
2025-10-26T22:24:46.177Z,1761517486.177 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:46.189Z,1761517486.189 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.637196
2025-10-26T22:24:46.197Z,1761517486.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999553,-0.001727,0.029843],[0.000411,-0.999029,-0.044053],[0.029890,-0.044021,0.998583]]
2025-10-26T22:24:46.335Z,1761517486.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.503350 s,
      deltaX: 0.099998 m,
      approachRate: 0.198666 m/s,
      rangeRepo size: 4

2025-10-26T22:24:46.345Z,1761517486.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.154474 m,
      bearing: 27.318953 deg,
      lat: 36.779400 deg,
      lon: -121.859454 deg,
      deltaT: 0.503350 s,
      deltaX: 0.099400 m,
      approachRate: 0.197476 m/s,
      posRepo size: 4

2025-10-26T22:24:46.345Z,1761517486.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-10-26T22:24:46.353Z,1761517486.353 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.801041
2025-10-26T22:24:46.609Z,1761517486.609 [DAT](INFO): DAT read: Rx Time:22:24:45.4969 

2025-10-26T22:24:46.610Z,1761517486.610 [DAT](INFO): Rx dataTimestamp_ set to:1761517486.609002
2025-10-26T22:24:46.614Z,1761517486.614 [DAT](INFO): DAT read: Bearing 146.5, -29.4 (Local)

2025-10-26T22:24:46.615Z,1761517486.615 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.5, -29.4 (Local)

2025-10-26T22:24:46.626Z,1761517486.626 [DAT](INFO): DAT read: Range 11 to 50 :    24.3 m (trip time 16.2 ms) speed -0.2

2025-10-26T22:24:46.640Z,1761517486.640 [DAT](INFO): DAT read: 22:24:45.4969 LVL= 32752, 19505, 20834, 32755, AGC= 57, IDX= 504,-0.21, 0.013, 2.182, 1.066, 1.301, PHS=-1.186, 0.926,-0.278, RAW= 304.6,   5.9, CAL= 302.3,   4.5, ROT= 207.7,  -4.5

2025-10-26T22:24:46.641Z,1761517486.641 [DAT](INFO): got valid direction response:
 22:24:45.4969 LVL= 32752, 19505, 20834, 32755, AGC= 57, IDX= 504,-0.21, 0.013, 2.182, 1.066, 1.301, PHS=-1.186, 0.926,-0.278, RAW= 304.6,   5.9, CAL= 302.3,   4.5, ROT= 207.7,  -4.5

2025-10-26T22:24:46.641Z,1761517486.641 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-10-26T22:24:46.642Z,1761517486.642 [DAT](INFO): direction in FSK: [-0.882664,-0.463409,0.078459]
2025-10-26T22:24:46.643Z,1761517486.643 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:46.678Z,1761517486.678 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.126865
2025-10-26T22:24:46.680Z,1761517486.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999565,-0.001421,0.029460],[0.000118,-0.999023,-0.044182],[0.029494,-0.044159,0.998589]]
2025-10-26T22:24:46.837Z,1761517486.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.504588 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:46.839Z,1761517486.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.154514 m,
      bearing: 27.426334 deg,
      lat: 36.779400 deg,
      lon: -121.859455 deg,
      deltaT: 0.504588 s,
      deltaX: 0.000040 m,
      approachRate: 0.000079 m/s,
      posRepo size: 4

2025-10-26T22:24:46.839Z,1761517486.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-10-26T22:24:46.856Z,1761517486.856 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.304996
2025-10-26T22:24:47.040Z,1761517487.040 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:24:47.120Z,1761517487.120 [DAT](INFO): DAT read: Rx Time:22:24:45.9970 

2025-10-26T22:24:47.121Z,1761517487.121 [DAT](INFO): Rx dataTimestamp_ set to:1761517487.120362
2025-10-26T22:24:47.125Z,1761517487.125 [DAT](INFO): DAT read: Bearing 145.5, -29.4 (Local)

2025-10-26T22:24:47.125Z,1761517487.125 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.5, -29.4 (Local)

2025-10-26T22:24:47.132Z,1761517487.132 [DAT](INFO): DAT read: Range 11 to 50 :    24.5 m (trip time 16.3 ms) speed -0.1

2025-10-26T22:24:47.145Z,1761517487.145 [DAT](INFO): DAT read: 22:24:45.9970 LVL= 32752, 20369, 24242, 32755, AGC= 59, IDX= 505, 0.18,-2.865,-0.703,-1.817,-1.568, PHS=-1.195, 0.909,-0.293, RAW= 304.7,   6.4, CAL= 302.3,   5.4, ROT= 207.7,  -5.4

2025-10-26T22:24:47.146Z,1761517487.146 [DAT](INFO): got valid direction response:
 22:24:45.9970 LVL= 32752, 20369, 24242, 32755, AGC= 59, IDX= 505, 0.18,-2.865,-0.703,-1.817,-1.568, PHS=-1.195, 0.909,-0.293, RAW= 304.7,   6.4, CAL= 302.3,   5.4, ROT= 207.7,  -5.4

2025-10-26T22:24:47.146Z,1761517487.146 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-10-26T22:24:47.156Z,1761517487.156 [DAT](INFO): direction in FSK: [-0.881464,-0.462779,0.094108]
2025-10-26T22:24:47.156Z,1761517487.156 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:47.181Z,1761517487.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999575,-0.000672,0.029160],[-0.000625,-0.999012,-0.044442],[0.029161,-0.044441,0.998586]]
2025-10-26T22:24:47.185Z,1761517487.185 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.633842
2025-10-26T22:24:47.253Z,1761517487.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.500000 m,
      deltaT: 0.511360 s,
      deltaX: 0.200001 m,
      approachRate: 0.391115 m/s,
      rangeRepo size: 4

2025-10-26T22:24:47.255Z,1761517487.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.353317 m,
      bearing: 27.420068 deg,
      lat: 36.779400 deg,
      lon: -121.859455 deg,
      deltaT: 0.511360 s,
      deltaX: 0.198803 m,
      approachRate: 0.388773 m/s,
      posRepo size: 4

2025-10-26T22:24:47.255Z,1761517487.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:24:47.371Z,1761517487.371 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.818371
2025-10-26T22:24:47.549Z,1761517487.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999579,0.000042,0.029030],[-0.001339,-0.999003,-0.044629],[0.028999,-0.044649,0.998582]]
2025-10-26T22:24:47.625Z,1761517487.625 [DAT](INFO): DAT read: Rx Time:22:24:46.4970 

2025-10-26T22:24:47.625Z,1761517487.625 [DAT](INFO): Rx dataTimestamp_ set to:1761517487.625107
2025-10-26T22:24:47.627Z,1761517487.627 [DAT](INFO): DAT read: Bearing 146.0, -29.6 (Local)

2025-10-26T22:24:47.627Z,1761517487.627 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.0, -29.6 (Local)

2025-10-26T22:24:47.629Z,1761517487.629 [DAT](INFO): DAT read: Range 11 to 50 :    24.5 m (trip time 16.3 ms) speed -0.2

2025-10-26T22:24:47.635Z,1761517487.635 [DAT](INFO): DAT read: 22:24:46.4970 LVL= 32752, 19745, 25074, 32755, AGC= 59, IDX= 505,-0.18,-0.223, 1.949, 0.835, 1.076, PHS=-1.197, 0.917,-0.285, RAW= 304.5,   6.2, CAL= 302.1,   5.0, ROT= 207.9,  -5.0

2025-10-26T22:24:47.636Z,1761517487.636 [DAT](INFO): got valid direction response:
 22:24:46.4970 LVL= 32752, 19745, 25074, 32755, AGC= 59, IDX= 505,-0.18,-0.223, 1.949, 0.835, 1.076, PHS=-1.197, 0.917,-0.285, RAW= 304.5,   6.2, CAL= 302.1,   5.0, ROT= 207.9,  -5.0

2025-10-26T22:24:47.636Z,1761517487.636 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-10-26T22:24:47.637Z,1761517487.637 [DAT](INFO): direction in FSK: [-0.880403,-0.466149,0.087156]
2025-10-26T22:24:47.637Z,1761517487.637 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:47.653Z,1761517487.653 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.101765
2025-10-26T22:24:47.760Z,1761517487.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.500000 m,
      deltaT: 0.504745 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:47.762Z,1761517487.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.353306 m,
      bearing: 27.681068 deg,
      lat: 36.779400 deg,
      lon: -121.859455 deg,
      deltaT: 0.504745 s,
      deltaX: -0.000011 m,
      approachRate: -0.000023 m/s,
      posRepo size: 4

2025-10-26T22:24:47.763Z,1761517487.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:24:47.874Z,1761517487.874 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.322590
2025-10-26T22:24:48.044Z,1761517488.044 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:24:48.070Z,1761517488.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999588,0.000137,0.028709],[-0.001414,-0.999011,-0.044448],[0.028675,-0.044471,0.998599]]
2025-10-26T22:24:48.126Z,1761517488.126 [DAT](INFO): DAT read: Rx Time:22:24:46.9970 

2025-10-26T22:24:48.127Z,1761517488.127 [DAT](INFO): Rx dataTimestamp_ set to:1761517488.126397
2025-10-26T22:24:48.128Z,1761517488.128 [DAT](INFO): DAT read: Bearing 145.7, -29.6 (Local)

2025-10-26T22:24:48.128Z,1761517488.128 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.7, -29.6 (Local)

2025-10-26T22:24:48.130Z,1761517488.130 [DAT](INFO): DAT read: Range 11 to 50 :    24.5 m (trip time 16.3 ms) speed -0.1

2025-10-26T22:24:48.135Z,1761517488.135 [DAT](INFO): DAT read: 22:24:46.9970 LVL= 32752, 19185, 24290, 32755, AGC= 59, IDX= 505, 0.27, 1.804,-2.313, 2.860, 3.104, PHS=-1.198, 0.911,-0.288, RAW= 304.5,   6.3, CAL= 302.1,   5.3, ROT= 207.9,  -5.3

2025-10-26T22:24:48.136Z,1761517488.136 [DAT](INFO): got valid direction response:
 22:24:46.9970 LVL= 32752, 19185, 24290, 32755, AGC= 59, IDX= 505, 0.27, 1.804,-2.313, 2.860, 3.104, PHS=-1.198, 0.911,-0.288, RAW= 304.5,   6.3, CAL= 302.1,   5.3, ROT= 207.9,  -5.3

2025-10-26T22:24:48.136Z,1761517488.136 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-10-26T22:24:48.137Z,1761517488.137 [DAT](INFO): direction in FSK: [-0.879987,-0.465929,0.092371]
2025-10-26T22:24:48.138Z,1761517488.138 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:48.145Z,1761517488.145 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.593784
2025-10-26T22:24:48.217Z,1761517488.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.500000 m,
      deltaT: 0.501290 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:48.219Z,1761517488.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.353306 m,
      bearing: 27.671210 deg,
      lat: 36.779400 deg,
      lon: -121.859455 deg,
      deltaT: 0.501290 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:48.223Z,1761517488.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:24:48.376Z,1761517488.376 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.824856
2025-10-26T22:24:48.629Z,1761517488.629 [DAT](INFO): DAT read: Rx Time:22:24:47.4970 

2025-10-26T22:24:48.630Z,1761517488.630 [DAT](INFO): Rx dataTimestamp_ set to:1761517488.629520
2025-10-26T22:24:48.631Z,1761517488.631 [DAT](INFO): DAT read: Bearing 145.9, -29.7 (Local)

2025-10-26T22:24:48.631Z,1761517488.631 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.9, -29.7 (Local)

2025-10-26T22:24:48.634Z,1761517488.634 [DAT](INFO): DAT read: Range 11 to 50 :    24.5 m (trip time 16.3 ms) speed -0.2

2025-10-26T22:24:48.656Z,1761517488.656 [DAT](INFO): DAT read: 22:24:47.4970 LVL= 32752, 19105, 24562, 32755, AGC= 59, IDX= 505,-0.07,-0.665, 1.515, 0.403, 0.643, PHS=-1.206, 0.917,-0.283, RAW= 304.3,   6.3, CAL= 301.9,   5.1, ROT= 208.1,  -5.1

2025-10-26T22:24:48.657Z,1761517488.657 [DAT](INFO): got valid direction response:
 22:24:47.4970 LVL= 32752, 19105, 24562, 32755, AGC= 59, IDX= 505,-0.07,-0.665, 1.515, 0.403, 0.643, PHS=-1.206, 0.917,-0.283, RAW= 304.3,   6.3, CAL= 301.9,   5.1, ROT= 208.1,  -5.1

2025-10-26T22:24:48.657Z,1761517488.657 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-26T22:24:48.658Z,1761517488.658 [DAT](INFO): direction in FSK: [-0.878635,-0.469147,0.088894]
2025-10-26T22:24:48.658Z,1761517488.658 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:48.716Z,1761517488.716 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.164577
2025-10-26T22:24:48.789Z,1761517488.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.500000 m,
      deltaT: 0.503123 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:48.792Z,1761517488.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.353302 m,
      bearing: 27.881488 deg,
      lat: 36.779400 deg,
      lon: -121.859455 deg,
      deltaT: 0.503123 s,
      deltaX: -0.000004 m,
      approachRate: -0.000008 m/s,
      posRepo size: 4

2025-10-26T22:24:48.792Z,1761517488.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m.
2025-10-26T22:24:48.881Z,1761517488.881 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.329117
2025-10-26T22:24:49.136Z,1761517489.136 [DAT](INFO): DAT read: Rx Time:22:24:47.9971 

2025-10-26T22:24:49.136Z,1761517489.136 [DAT](INFO): Rx dataTimestamp_ set to:1761517489.135988
2025-10-26T22:24:49.138Z,1761517489.138 [DAT](INFO): DAT read: Bearing 145.9, -29.9 (Local)

2025-10-26T22:24:49.138Z,1761517489.138 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.9, -29.9 (Local)

2025-10-26T22:24:49.140Z,1761517489.140 [DAT](INFO): DAT read: Range 11 to 50 :    24.6 m (trip time 16.4 ms) speed 0.0

2025-10-26T22:24:49.146Z,1761517489.146 [DAT](INFO): DAT read: 22:24:47.9971 LVL= 32752, 20065, 24306, 32755, AGC= 59, IDX= 507,-0.50, 0.116, 2.293, 1.188, 1.424, PHS=-1.206, 0.914,-0.280, RAW= 304.2,   6.3, CAL= 301.8,   5.1, ROT= 208.2,  -5.1

2025-10-26T22:24:49.148Z,1761517489.148 [DAT](INFO): got valid direction response:
 22:24:47.9971 LVL= 32752, 20065, 24306, 32755, AGC= 59, IDX= 507,-0.50, 0.116, 2.293, 1.188, 1.424, PHS=-1.206, 0.914,-0.280, RAW= 304.2,   6.3, CAL= 301.8,   5.1, ROT= 208.2,  -5.1

2025-10-26T22:24:49.148Z,1761517489.148 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-10-26T22:24:49.150Z,1761517489.150 [DAT](INFO): direction in FSK: [-0.877814,-0.470680,0.088894]
2025-10-26T22:24:49.150Z,1761517489.150 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:49.154Z,1761517489.154 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.602123
2025-10-26T22:24:49.204Z,1761517489.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999610,0.001466,0.027896],[-0.002697,-0.999022,-0.044143],[0.027804,-0.044201,0.998636]]
2025-10-26T22:24:49.253Z,1761517489.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.600000 m,
      deltaT: 0.506468 s,
      deltaX: 0.100000 m,
      approachRate: 0.197447 m/s,
      rangeRepo size: 4

2025-10-26T22:24:49.255Z,1761517489.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.452703 m,
      bearing: 28.058425 deg,
      lat: 36.779400 deg,
      lon: -121.859455 deg,
      deltaT: 0.506468 s,
      deltaX: 0.099401 m,
      approachRate: 0.196264 m/s,
      posRepo size: 4

2025-10-26T22:24:49.263Z,1761517489.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.45 m.
2025-10-26T22:24:49.384Z,1761517489.384 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.832951
2025-10-26T22:24:49.637Z,1761517489.637 [DAT](INFO): DAT read: Rx Time:22:24:48.4971 

2025-10-26T22:24:49.637Z,1761517489.637 [DAT](INFO): Rx dataTimestamp_ set to:1761517489.637074
2025-10-26T22:24:49.639Z,1761517489.639 [DAT](INFO): DAT read: Bearing 146.3, -30.0 (Local)

2025-10-26T22:24:49.639Z,1761517489.639 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.3, -30.0 (Local)

2025-10-26T22:24:49.641Z,1761517489.641 [DAT](INFO): DAT read: Range 11 to 50 :    24.6 m (trip time 16.4 ms) speed -0.1

2025-10-26T22:24:49.646Z,1761517489.646 [DAT](INFO): DAT read: 22:24:48.4971 LVL= 32640, 19217, 22754, 32755, AGC= 58, IDX= 506, 0.06, 0.629, 2.809, 1.708, 1.936, PHS=-1.205, 0.918,-0.272, RAW= 304.0,   6.1, CAL= 301.6,   4.8, ROT= 208.4,  -4.8

2025-10-26T22:24:49.647Z,1761517489.647 [DAT](INFO): got valid direction response:
 22:24:48.4971 LVL= 32640, 19217, 22754, 32755, AGC= 58, IDX= 506, 0.06, 0.629, 2.809, 1.708, 1.936, PHS=-1.205, 0.918,-0.272, RAW= 304.0,   6.1, CAL= 301.6,   4.8, ROT= 208.4,  -4.8

2025-10-26T22:24:49.647Z,1761517489.647 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-10-26T22:24:49.648Z,1761517489.648 [DAT](INFO): direction in FSK: [-0.876564,-0.473956,0.083678]
2025-10-26T22:24:49.648Z,1761517489.648 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:49.652Z,1761517489.652 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.100483
2025-10-26T22:24:49.698Z,1761517489.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999608,0.002441,0.027876],[-0.003676,-0.999009,-0.044358],[0.027740,-0.044443,0.998627]]
2025-10-26T22:24:49.869Z,1761517489.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.600000 m,
      deltaT: 0.501086 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:49.871Z,1761517489.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.452688 m,
      bearing: 28.328748 deg,
      lat: 36.779400 deg,
      lon: -121.859454 deg,
      deltaT: 0.501086 s,
      deltaX: -0.000015 m,
      approachRate: -0.000030 m/s,
      posRepo size: 4

2025-10-26T22:24:49.871Z,1761517489.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.45 m.
2025-10-26T22:24:49.888Z,1761517489.888 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.336769
2025-10-26T22:24:50.141Z,1761517490.141 [DAT](INFO): DAT read: Rx Time:22:24:48.9973 

2025-10-26T22:24:50.141Z,1761517490.141 [DAT](INFO): Rx dataTimestamp_ set to:1761517490.141214
2025-10-26T22:24:50.143Z,1761517490.143 [DAT](INFO): DAT read: Bearing 146.7, -30.1 (Local)

2025-10-26T22:24:50.143Z,1761517490.143 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.7, -30.1 (Local)

2025-10-26T22:24:50.145Z,1761517490.145 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed -0.1

2025-10-26T22:24:50.150Z,1761517490.150 [DAT](INFO): DAT read: 22:24:48.9973 LVL= 32048, 19745, 22946, 32755, AGC= 58, IDX= 508,-0.26, 0.118, 2.297, 1.198, 1.421, PHS=-1.201, 0.921,-0.267, RAW= 304.0,   6.0, CAL= 301.6,   4.5, ROT= 208.4,  -4.5

2025-10-26T22:24:50.151Z,1761517490.151 [DAT](INFO): got valid direction response:
 22:24:48.9973 LVL= 32048, 19745, 22946, 32755, AGC= 58, IDX= 508,-0.26, 0.118, 2.297, 1.198, 1.421, PHS=-1.201, 0.921,-0.267, RAW= 304.0,   6.0, CAL= 301.6,   4.5, ROT= 208.4,  -4.5

2025-10-26T22:24:50.151Z,1761517490.151 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-10-26T22:24:50.152Z,1761517490.152 [DAT](INFO): direction in FSK: [-0.876937,-0.474158,0.078459]
2025-10-26T22:24:50.153Z,1761517490.153 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:50.197Z,1761517490.197 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.645020
2025-10-26T22:24:50.198Z,1761517490.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999610,0.002978,0.027768],[-0.004209,-0.999006,-0.044370],[0.027608,-0.044470,0.998629]]
2025-10-26T22:24:50.282Z,1761517490.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.504140 s,
      deltaX: 0.299999 m,
      approachRate: 0.595071 m/s,
      rangeRepo size: 4

2025-10-26T22:24:50.288Z,1761517490.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.750891 m,
      bearing: 28.375175 deg,
      lat: 36.779400 deg,
      lon: -121.859454 deg,
      deltaT: 0.504140 s,
      deltaX: 0.298203 m,
      approachRate: 0.591507 m/s,
      posRepo size: 4

2025-10-26T22:24:50.288Z,1761517490.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-10-26T22:24:50.393Z,1761517490.393 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.841511
2025-10-26T22:24:50.645Z,1761517490.645 [DAT](INFO): DAT read: Rx Time:22:24:49.4972 

2025-10-26T22:24:50.645Z,1761517490.645 [DAT](INFO): Rx dataTimestamp_ set to:1761517490.645134
2025-10-26T22:24:50.647Z,1761517490.647 [DAT](INFO): DAT read: Bearing 146.1, -30.2 (Local)

2025-10-26T22:24:50.647Z,1761517490.647 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.1, -30.2 (Local)

2025-10-26T22:24:50.650Z,1761517490.650 [DAT](INFO): DAT read: Range 11 to 50 :    24.8 m (trip time 16.5 ms) speed -0.1

2025-10-26T22:24:50.654Z,1761517490.654 [DAT](INFO): DAT read: 22:24:49.4972 LVL= 32752, 19217, 24114, 32755, AGC= 58, IDX= 507, 0.24, 0.874, 3.053, 1.959, 2.186, PHS=-1.209, 0.913,-0.271, RAW= 303.8,   6.2, CAL= 301.4,   5.0, ROT= 208.6,  -5.0

2025-10-26T22:24:50.664Z,1761517490.664 [DAT](INFO): got valid direction response:
 22:24:49.4972 LVL= 32752, 19217, 24114, 32755, AGC= 58, IDX= 507, 0.24, 0.874, 3.053, 1.959, 2.186, PHS=-1.209, 0.913,-0.271, RAW= 303.8,   6.2, CAL= 301.4,   5.0, ROT= 208.6,  -5.0

2025-10-26T22:24:50.664Z,1761517490.664 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-10-26T22:24:50.665Z,1761517490.665 [DAT](INFO): direction in FSK: [-0.874642,-0.476870,0.087156]
2025-10-26T22:24:50.665Z,1761517490.665 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:50.685Z,1761517490.685 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.133732
2025-10-26T22:24:50.806Z,1761517490.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.799999 m,
      deltaT: 0.503920 s,
      deltaX: -0.100000 m,
      approachRate: -0.198445 m/s,
      rangeRepo size: 4

2025-10-26T22:24:50.812Z,1761517490.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.651503 m,
      bearing: 28.548556 deg,
      lat: 36.779400 deg,
      lon: -121.859454 deg,
      deltaT: 0.503920 s,
      deltaX: -0.099388 m,
      approachRate: -0.197230 m/s,
      posRepo size: 4

2025-10-26T22:24:50.812Z,1761517490.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.65 m.
2025-10-26T22:24:50.898Z,1761517490.898 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.346966
2025-10-26T22:24:51.050Z,1761517491.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999623,0.003598,0.027224],[-0.004777,-0.999048,-0.043369],[0.027042,-0.043483,0.998688]]
2025-10-26T22:24:51.144Z,1761517491.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.65 m.
2025-10-26T22:24:51.149Z,1761517491.149 [DAT](INFO): DAT read: Rx Time:22:24:49.9974 

2025-10-26T22:24:51.150Z,1761517491.150 [DAT](INFO): Rx dataTimestamp_ set to:1761517491.149310
2025-10-26T22:24:51.151Z,1761517491.151 [DAT](INFO): DAT read: Bearing 146.3, -30.4 (Local)

2025-10-26T22:24:51.151Z,1761517491.151 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.3, -30.4 (Local)

2025-10-26T22:24:51.153Z,1761517491.153 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed -0.1

2025-10-26T22:24:51.158Z,1761517491.158 [DAT](INFO): DAT read: 22:24:49.9974 LVL= 32752, 18977, 24818, 32755, AGC= 59, IDX= 509,-0.04,-0.027, 2.166, 1.073, 1.293, PHS=-1.218, 0.917,-0.264, RAW= 303.5,   6.2, CAL= 301.1,   4.8, ROT= 208.9,  -4.8

2025-10-26T22:24:51.159Z,1761517491.159 [DAT](INFO): got valid direction response:
 22:24:49.9974 LVL= 32752, 18977, 24818, 32755, AGC= 59, IDX= 509,-0.04,-0.027, 2.166, 1.073, 1.293, PHS=-1.218, 0.917,-0.264, RAW= 303.5,   6.2, CAL= 301.1,   4.8, ROT= 208.9,  -4.8

2025-10-26T22:24:51.160Z,1761517491.160 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-10-26T22:24:51.161Z,1761517491.161 [DAT](INFO): direction in FSK: [-0.872394,-0.481587,0.083678]
2025-10-26T22:24:51.161Z,1761517491.161 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:51.169Z,1761517491.169 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.617088
2025-10-26T22:24:51.400Z,1761517491.400 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.848824
2025-10-26T22:24:51.438Z,1761517491.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999628,0.003837,0.027002],[-0.005002,-0.999053,-0.043211],[0.026811,-0.043330,0.998701]]
2025-10-26T22:24:51.481Z,1761517491.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.504176 s,
      deltaX: 0.100000 m,
      approachRate: 0.198344 m/s,
      rangeRepo size: 4

2025-10-26T22:24:51.488Z,1761517491.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.750885 m,
      bearing: 28.912303 deg,
      lat: 36.779400 deg,
      lon: -121.859454 deg,
      deltaT: 0.504176 s,
      deltaX: 0.099382 m,
      approachRate: 0.197118 m/s,
      posRepo size: 4

2025-10-26T22:24:51.489Z,1761517491.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-10-26T22:24:51.653Z,1761517491.653 [DAT](INFO): DAT read: Rx Time:22:24:50.4973 

2025-10-26T22:24:51.654Z,1761517491.654 [DAT](INFO): Rx dataTimestamp_ set to:1761517491.653412
2025-10-26T22:24:51.655Z,1761517491.655 [DAT](INFO): DAT read: Bearing 146.1, -30.7 (Local)

2025-10-26T22:24:51.655Z,1761517491.655 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.1, -30.7 (Local)

2025-10-26T22:24:51.657Z,1761517491.657 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed -0.1

2025-10-26T22:24:51.662Z,1761517491.662 [DAT](INFO): DAT read: 22:24:50.4973 LVL= 32752, 20385, 23762, 32755, AGC= 59, IDX= 509,-0.35,-1.740, 0.448,-0.634,-0.417, PHS=-1.222, 0.910,-0.261, RAW= 303.3,   6.3, CAL= 300.8,   5.0, ROT= 209.2,  -5.0

2025-10-26T22:24:51.664Z,1761517491.664 [DAT](INFO): got valid direction response:
 22:24:50.4973 LVL= 32752, 20385, 23762, 32755, AGC= 59, IDX= 509,-0.35,-1.740, 0.448,-0.634,-0.417, PHS=-1.222, 0.910,-0.261, RAW= 303.3,   6.3, CAL= 300.8,   5.0, ROT= 209.2,  -5.0

2025-10-26T22:24:51.664Z,1761517491.664 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-10-26T22:24:51.665Z,1761517491.665 [DAT](INFO): direction in FSK: [-0.869600,-0.486003,0.087156]
2025-10-26T22:24:51.665Z,1761517491.665 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:51.669Z,1761517491.669 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.117970
2025-10-26T22:24:51.904Z,1761517491.904 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.352947
2025-10-26T22:24:51.956Z,1761517491.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999635,0.004298,0.026682],[-0.005452,-0.999045,-0.043349],[0.026470,-0.043478,0.998704]]
2025-10-26T22:24:52.006Z,1761517492.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.504102 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:52.009Z,1761517492.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.750885 m,
      bearing: 29.227304 deg,
      lat: 36.779400 deg,
      lon: -121.859453 deg,
      deltaT: 0.504102 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:52.010Z,1761517492.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-10-26T22:24:52.157Z,1761517492.157 [DAT](INFO): DAT read: Rx Time:22:24:50.9974 

2025-10-26T22:24:52.158Z,1761517492.158 [DAT](INFO): Rx dataTimestamp_ set to:1761517492.157269
2025-10-26T22:24:52.159Z,1761517492.159 [DAT](INFO): DAT read: Bearing 146.3, -30.8 (Local)

2025-10-26T22:24:52.159Z,1761517492.159 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.3, -30.8 (Local)

2025-10-26T22:24:52.161Z,1761517492.161 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed -0.2

2025-10-26T22:24:52.166Z,1761517492.166 [DAT](INFO): DAT read: 22:24:50.9974 LVL= 32752, 18737, 23026, 32755, AGC= 58, IDX= 509, 0.19,-0.133, 2.059, 0.979, 1.192, PHS=-1.223, 0.912,-0.257, RAW= 303.1,   6.2, CAL= 300.7,   4.9, ROT= 209.3,  -4.9

2025-10-26T22:24:52.167Z,1761517492.167 [DAT](INFO): got valid direction response:
 22:24:50.9974 LVL= 32752, 18737, 23026, 32755, AGC= 58, IDX= 509, 0.19,-0.133, 2.059, 0.979, 1.192, PHS=-1.223, 0.912,-0.257, RAW= 303.1,   6.2, CAL= 300.7,   4.9, ROT= 209.3,  -4.9

2025-10-26T22:24:52.167Z,1761517492.167 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-10-26T22:24:52.168Z,1761517492.168 [DAT](INFO): direction in FSK: [-0.868882,-0.487594,0.085417]
2025-10-26T22:24:52.169Z,1761517492.169 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:52.172Z,1761517492.172 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.620914
2025-10-26T22:24:52.346Z,1761517492.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999641,0.004712,0.026385],[-0.005862,-0.999027,-0.043702],[0.026153,-0.043841,0.998696]]
2025-10-26T22:24:52.384Z,1761517492.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.503857 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:52.386Z,1761517492.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.750885 m,
      bearing: 29.354464 deg,
      lat: 36.779400 deg,
      lon: -121.859453 deg,
      deltaT: 0.503857 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:52.387Z,1761517492.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-10-26T22:24:52.408Z,1761517492.408 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.856972
2025-10-26T22:24:52.661Z,1761517492.661 [DAT](INFO): DAT read: Rx Time:22:24:51.4974 

2025-10-26T22:24:52.661Z,1761517492.661 [DAT](INFO): Rx dataTimestamp_ set to:1761517492.661161
2025-10-26T22:24:52.663Z,1761517492.663 [DAT](INFO): DAT read: Bearing 146.0, -31.0 (Local)

2025-10-26T22:24:52.663Z,1761517492.663 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.0, -31.0 (Local)

2025-10-26T22:24:52.665Z,1761517492.665 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed -0.1

2025-10-26T22:24:52.670Z,1761517492.670 [DAT](INFO): DAT read: 22:24:51.4974 LVL= 32752, 20449, 24690, 32755, AGC= 59, IDX= 509,-0.05,-3.105,-0.915,-1.984,-1.774, PHS=-1.229, 0.903,-0.254, RAW= 302.8,   6.3, CAL= 300.4,   5.1, ROT= 209.6,  -5.1

2025-10-26T22:24:52.671Z,1761517492.671 [DAT](INFO): got valid direction response:
 22:24:51.4974 LVL= 32752, 20449, 24690, 32755, AGC= 59, IDX= 509,-0.05,-3.105,-0.915,-1.984,-1.774, PHS=-1.229, 0.903,-0.254, RAW= 302.8,   6.3, CAL= 300.4,   5.1, ROT= 209.6,  -5.1

2025-10-26T22:24:52.671Z,1761517492.671 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-10-26T22:24:52.672Z,1761517492.672 [DAT](INFO): direction in FSK: [-0.866053,-0.491987,0.088894]
2025-10-26T22:24:52.673Z,1761517492.673 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:52.689Z,1761517492.689 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.137817
2025-10-26T22:24:52.844Z,1761517492.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.503892 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:52.846Z,1761517492.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.750849 m,
      bearing: 29.643762 deg,
      lat: 36.779398 deg,
      lon: -121.859453 deg,
      deltaT: 0.503892 s,
      deltaX: -0.000036 m,
      approachRate: -0.000072 m/s,
      posRepo size: 4

2025-10-26T22:24:52.847Z,1761517492.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-10-26T22:24:52.913Z,1761517492.913 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.361126
2025-10-26T22:24:53.154Z,1761517493.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999665,0.004379,0.025503],[-0.005498,-0.999017,-0.043976],[0.025285,-0.044101,0.998707]]
2025-10-26T22:24:53.165Z,1761517493.165 [DAT](INFO): DAT read: Rx Time:22:24:51.9975 

2025-10-26T22:24:53.166Z,1761517493.166 [DAT](INFO): Rx dataTimestamp_ set to:1761517493.165221
2025-10-26T22:24:53.167Z,1761517493.167 [DAT](INFO): DAT read: Bearing 146.1, -31.1 (Local)

2025-10-26T22:24:53.167Z,1761517493.167 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.1, -31.1 (Local)

2025-10-26T22:24:53.169Z,1761517493.169 [DAT](INFO): DAT read: Range 11 to 50 :    25.1 m (trip time 16.7 ms) speed -0.1

2025-10-26T22:24:53.174Z,1761517493.174 [DAT](INFO): DAT read: 22:24:51.9975 LVL= 32752, 19889, 24898, 32755, AGC= 59, IDX= 511,-0.36,-2.354,-0.157,-1.224,-1.017, PHS=-1.234, 0.905,-0.251, RAW= 302.7,   6.3, CAL= 300.2,   5.1, ROT= 209.8,  -5.1

2025-10-26T22:24:53.175Z,1761517493.175 [DAT](INFO): got valid direction response:
 22:24:51.9975 LVL= 32752, 19889, 24898, 32755, AGC= 59, IDX= 511,-0.36,-2.354,-0.157,-1.224,-1.017, PHS=-1.234, 0.905,-0.251, RAW= 302.7,   6.3, CAL= 300.2,   5.1, ROT= 209.8,  -5.1

2025-10-26T22:24:53.175Z,1761517493.175 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-10-26T22:24:53.176Z,1761517493.176 [DAT](INFO): direction in FSK: [-0.864330,-0.495006,0.088894]
2025-10-26T22:24:53.177Z,1761517493.177 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:53.180Z,1761517493.180 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.628658
2025-10-26T22:24:53.256Z,1761517493.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.504060 s,
      deltaX: 0.200001 m,
      approachRate: 0.396780 m/s,
      rangeRepo size: 4

2025-10-26T22:24:53.258Z,1761517493.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.949652 m,
      bearing: 29.823249 deg,
      lat: 36.779398 deg,
      lon: -121.859453 deg,
      deltaT: 0.504060 s,
      deltaX: 0.198803 m,
      approachRate: 0.394403 m/s,
      posRepo size: 4

2025-10-26T22:24:53.258Z,1761517493.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.95 m.
2025-10-26T22:24:53.417Z,1761517493.417 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.865051
2025-10-26T22:24:53.626Z,1761517493.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999684,0.004052,0.024827],[-0.005142,-0.999019,-0.043988],[0.024625,-0.044102,0.998724]]
2025-10-26T22:24:53.669Z,1761517493.669 [DAT](INFO): DAT read: Rx Time:22:24:52.4975 

2025-10-26T22:24:53.669Z,1761517493.669 [DAT](INFO): Rx dataTimestamp_ set to:1761517493.669212
2025-10-26T22:24:53.671Z,1761517493.671 [DAT](INFO): DAT read: Bearing 146.9, -31.4 (Local)

2025-10-26T22:24:53.671Z,1761517493.671 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.9, -31.4 (Local)

2025-10-26T22:24:53.673Z,1761517493.673 [DAT](INFO): DAT read: Range 11 to 50 :    25.1 m (trip time 16.7 ms) speed -0.1

2025-10-26T22:24:53.678Z,1761517493.678 [DAT](INFO): DAT read: 22:24:52.4975 LVL= 32752, 19649, 23090, 32755, AGC= 58, IDX= 510, 0.18,-1.033, 1.169, 0.107, 0.299, PHS=-1.231, 0.915,-0.236, RAW= 302.4,   6.0, CAL= 300.0,   4.4, ROT= 210.0,  -4.4

2025-10-26T22:24:53.680Z,1761517493.680 [DAT](INFO): got valid direction response:
 22:24:52.4975 LVL= 32752, 19649, 23090, 32755, AGC= 58, IDX= 510, 0.18,-1.033, 1.169, 0.107, 0.299, PHS=-1.231, 0.915,-0.236, RAW= 302.4,   6.0, CAL= 300.0,   4.4, ROT= 210.0,  -4.4

2025-10-26T22:24:53.680Z,1761517493.680 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-10-26T22:24:53.681Z,1761517493.681 [DAT](INFO): direction in FSK: [-0.863473,-0.498526,0.076719]
2025-10-26T22:24:53.681Z,1761517493.681 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:53.689Z,1761517493.689 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.137619
2025-10-26T22:24:53.694Z,1761517493.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.503991 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:53.696Z,1761517493.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.949648 m,
      bearing: 30.039853 deg,
      lat: 36.779398 deg,
      lon: -121.859453 deg,
      deltaT: 0.503991 s,
      deltaX: -0.000004 m,
      approachRate: -0.000008 m/s,
      posRepo size: 4

2025-10-26T22:24:53.697Z,1761517493.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.95 m.
2025-10-26T22:24:53.921Z,1761517493.921 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.369370
2025-10-26T22:24:53.966Z,1761517493.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999703,0.003283,0.024132],[-0.004336,-0.999034,-0.043728],[0.023966,-0.043819,0.998752]]
2025-10-26T22:24:54.009Z,1761517494.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.95 m.
2025-10-26T22:24:54.173Z,1761517494.173 [DAT](INFO): DAT read: Rx Time:22:24:52.9977 

2025-10-26T22:24:54.173Z,1761517494.173 [DAT](INFO): Rx dataTimestamp_ set to:1761517494.172810
2025-10-26T22:24:54.174Z,1761517494.174 [DAT](INFO): DAT read: Range 11 to 50 :    25.4 m (trip time 16.9 ms) speed -0.1

2025-10-26T22:24:54.175Z,1761517494.175 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-10-26T22:24:54.178Z,1761517494.178 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.626297
2025-10-26T22:24:54.367Z,1761517494.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999725,0.002685,0.023306],[-0.003698,-0.999045,-0.043541],[0.023167,-0.043615,0.998780]]
2025-10-26T22:24:54.386Z,1761517494.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.400000 m,
      deltaT: 0.503598 s,
      deltaX: 0.299999 m,
      approachRate: 0.595712 m/s,
      rangeRepo size: 4

2025-10-26T22:24:54.387Z,1761517494.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.95 m.
2025-10-26T22:24:54.425Z,1761517494.425 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.873470
2025-10-26T22:24:54.677Z,1761517494.677 [DAT](INFO): DAT read: Rx Time:22:24:53.4976 

2025-10-26T22:24:54.678Z,1761517494.678 [DAT](INFO): Rx dataTimestamp_ set to:1761517494.677380
2025-10-26T22:24:54.679Z,1761517494.679 [DAT](INFO): DAT read: Bearing 146.3, -37.5 (Local)

2025-10-26T22:24:54.679Z,1761517494.679 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.3, -37.5 (Local)

2025-10-26T22:24:54.681Z,1761517494.681 [DAT](INFO): DAT read: Range 11 to 50 :    25.2 m (trip time 16.8 ms) speed -0.2

2025-10-26T22:24:54.702Z,1761517494.702 [DAT](INFO): DAT read: 22:24:53.4976 LVL= 32752, 16801, 21538, 32755, AGC= 57, IDX= 512,-0.43, 0.723, 3.133, 2.187, 2.270, PHS=-1.445, 0.908,-0.127, RAW= 296.0,   6.6, CAL= 293.7,   4.9, ROT= 216.3,  -4.9

2025-10-26T22:24:54.732Z,1761517494.732 [DAT](INFO): got valid direction response:
 22:24:53.4976 LVL= 32752, 16801, 21538, 32755, AGC= 57, IDX= 512,-0.43, 0.723, 3.133, 2.187, 2.270, PHS=-1.445, 0.908,-0.127, RAW= 296.0,   6.6, CAL= 293.7,   4.9, ROT= 216.3,  -4.9

2025-10-26T22:24:54.733Z,1761517494.733 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-10-26T22:24:54.734Z,1761517494.734 [DAT](INFO): direction in FSK: [-0.802983,-0.589850,0.085417]
2025-10-26T22:24:54.734Z,1761517494.734 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:54.742Z,1761517494.742 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.190758
2025-10-26T22:24:54.770Z,1761517494.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999742,0.002327,0.022587],[-0.003307,-0.999050,-0.043455],[0.022465,-0.043518,0.998800]]
2025-10-26T22:24:54.854Z,1761517494.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 0.504570 s,
      deltaX: -0.199999 m,
      approachRate: -0.396375 m/s,
      rangeRepo size: 4

2025-10-26T22:24:54.860Z,1761517494.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.049059 m,
      bearing: 36.213126 deg,
      lat: 36.779398 deg,
      lon: -121.859452 deg,
      deltaT: 1.008168 s,
      deltaX: 0.099411 m,
      approachRate: 0.098606 m/s,
      posRepo size: 4

2025-10-26T22:24:54.861Z,1761517494.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.05 m.
2025-10-26T22:24:54.929Z,1761517494.929 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.377773
2025-10-26T22:24:55.174Z,1761517495.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999760,0.001953,0.021820],[-0.002901,-0.999051,-0.043464],[0.021714,-0.043517,0.998817]]
2025-10-26T22:24:55.181Z,1761517495.181 [DAT](INFO): DAT read: Rx Time:22:24:53.9978 

2025-10-26T22:24:55.181Z,1761517495.181 [DAT](INFO): Rx dataTimestamp_ set to:1761517495.180970
2025-10-26T22:24:55.183Z,1761517495.183 [DAT](INFO): DAT read: Bearing 163.4, -27.4 (Local)

2025-10-26T22:24:55.183Z,1761517495.183 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.4, -27.4 (Local)

2025-10-26T22:24:55.185Z,1761517495.185 [DAT](INFO): DAT read: Range 11 to 50 :    25.5 m (trip time 17.0 ms) speed -0.1

2025-10-26T22:24:55.190Z,1761517495.190 [DAT](INFO): DAT read: 22:24:53.9978 LVL= 31168, 16369, 20402, 32755, AGC= 57, IDX= 513, 0.13,-2.316,-0.128,-1.198,-1.368, PHS=-0.846, 1.285, 0.126, RAW= 302.9,  -6.2, CAL= 302.6, -10.3, ROT= 207.4,  10.3

2025-10-26T22:24:55.191Z,1761517495.191 [DAT](INFO): got valid direction response:
 22:24:53.9978 LVL= 31168, 16369, 20402, 32755, AGC= 57, IDX= 513, 0.13,-2.316,-0.128,-1.198,-1.368, PHS=-0.846, 1.285, 0.126, RAW= 302.9,  -6.2, CAL= 302.6, -10.3, ROT= 207.4,  10.3

2025-10-26T22:24:55.191Z,1761517495.191 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-10-26T22:24:55.196Z,1761517495.196 [DAT](INFO): direction in FSK: [-0.873508,-0.452784,-0.178802]
2025-10-26T22:24:55.196Z,1761517495.196 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:55.200Z,1761517495.200 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.648468
2025-10-26T22:24:55.262Z,1761517495.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 0.503590 s,
      deltaX: 0.299999 m,
      approachRate: 0.595721 m/s,
      rangeRepo size: 4

2025-10-26T22:24:55.272Z,1761517495.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.347261 m,
      bearing: 28.044336 deg,
      lat: 36.779398 deg,
      lon: -121.859452 deg,
      deltaT: 0.503590 s,
      deltaX: 0.298203 m,
      approachRate: 0.592153 m/s,
      posRepo size: 4

2025-10-26T22:24:55.273Z,1761517495.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.35 m.
2025-10-26T22:24:55.432Z,1761517495.432 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.880947
2025-10-26T22:24:55.653Z,1761517495.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999777,0.002241,0.020998],[-0.003160,-0.999034,-0.043822],[0.020879,-0.043878,0.998819]]
2025-10-26T22:24:55.685Z,1761517495.685 [DAT](INFO): DAT read: Rx Time:22:24:54.4978 

2025-10-26T22:24:55.686Z,1761517495.686 [DAT](INFO): Rx dataTimestamp_ set to:1761517495.685321
2025-10-26T22:24:55.687Z,1761517495.687 [DAT](INFO): DAT read: Bearing 135.3, -34.9 (Local)

2025-10-26T22:24:55.687Z,1761517495.687 [DAT](INFO): Local bearing/azimuth received:
 Bearing 135.3, -34.9 (Local)

2025-10-26T22:24:55.689Z,1761517495.689 [DAT](INFO): DAT read: Range 11 to 50 :    25.5 m (trip time 17.0 ms) speed -0.2

2025-10-26T22:24:55.694Z,1761517495.694 [DAT](INFO): DAT read: 22:24:54.4978 LVL= 32752, 22625, 25330, 32755, AGC= 59, IDX= 513,-0.14, 1.366,-2.476, 2.765, 3.045, PHS=-1.577, 0.808,-0.323, RAW= 298.3,  10.6, CAL= 295.7,  13.9, ROT= 214.3, -13.9

2025-10-26T22:24:55.695Z,1761517495.695 [DAT](INFO): got valid direction response:
 22:24:54.4978 LVL= 32752, 22625, 25330, 32755, AGC= 59, IDX= 513,-0.14, 1.366,-2.476, 2.765, 3.045, PHS=-1.577, 0.808,-0.323, RAW= 298.3,  10.6, CAL= 295.7,  13.9, ROT= 214.3, -13.9

2025-10-26T22:24:55.696Z,1761517495.696 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-10-26T22:24:55.697Z,1761517495.697 [DAT](INFO): direction in FSK: [-0.801907,-0.547024,0.240228]
2025-10-26T22:24:55.697Z,1761517495.697 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:55.702Z,1761517495.702 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.150894
2025-10-26T22:24:55.757Z,1761517495.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 0.504351 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:55.759Z,1761517495.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.347240 m,
      bearing: 33.762450 deg,
      lat: 36.779398 deg,
      lon: -121.859452 deg,
      deltaT: 0.504351 s,
      deltaX: -0.000021 m,
      approachRate: -0.000042 m/s,
      posRepo size: 4

2025-10-26T22:24:55.759Z,1761517495.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.35 m.
2025-10-26T22:24:55.936Z,1761517495.936 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.384846
2025-10-26T22:24:56.016Z,1761517496.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999795,0.002306,0.020092],[-0.003189,-0.999027,-0.043997],[0.019971,-0.044052,0.998830]]
2025-10-26T22:24:56.066Z,1761517496.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.35 m.
2025-10-26T22:24:56.191Z,1761517496.191 [DAT](INFO): DAT read: Rx Time:22:24:54.9978 

2025-10-26T22:24:56.192Z,1761517496.192 [DAT](INFO): Rx dataTimestamp_ set to:1761517496.190920
2025-10-26T22:24:56.193Z,1761517496.193 [DAT](INFO): DAT read: Bearing 137.9, -32.5 (Local)

2025-10-26T22:24:56.194Z,1761517496.194 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.9, -32.5 (Local)

2025-10-26T22:24:56.196Z,1761517496.196 [DAT](INFO): DAT read: Range 11 to 50 :    25.5 m (trip time 17.0 ms) speed -0.2

2025-10-26T22:24:56.201Z,1761517496.201 [DAT](INFO): DAT read: 22:24:54.9978 LVL= 32752, 20545, 24466, 32755, AGC= 59, IDX= 513, 0.41, 2.897,-0.815,-2.015,-1.685, PHS=-1.599, 0.915,-0.374, RAW= 300.8,   9.8, CAL= 298.3,  12.1, ROT= 211.7, -12.1

2025-10-26T22:24:56.202Z,1761517496.202 [DAT](INFO): got valid direction response:
 22:24:54.9978 LVL= 32752, 20545, 24466, 32755, AGC= 59, IDX= 513, 0.41, 2.897,-0.815,-2.015,-1.685, PHS=-1.599, 0.915,-0.374, RAW= 300.8,   9.8, CAL= 298.3,  12.1, ROT= 211.7, -12.1

2025-10-26T22:24:56.202Z,1761517496.202 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-10-26T22:24:56.203Z,1761517496.203 [DAT](INFO): direction in FSK: [-0.831909,-0.513797,0.209619]
2025-10-26T22:24:56.203Z,1761517496.203 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:56.207Z,1761517496.207 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.655514
2025-10-26T22:24:56.418Z,1761517496.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999815,0.002480,0.019072],[-0.003320,-0.999020,-0.044130],[0.018944,-0.044185,0.998844]]
2025-10-26T22:24:56.441Z,1761517496.441 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.889111
2025-10-26T22:24:56.447Z,1761517496.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 0.505599 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:56.465Z,1761517496.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.347233 m,
      bearing: 31.271645 deg,
      lat: 36.779393 deg,
      lon: -121.859452 deg,
      deltaT: 0.505599 s,
      deltaX: -0.000008 m,
      approachRate: -0.000015 m/s,
      posRepo size: 4

2025-10-26T22:24:56.465Z,1761517496.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.35 m.
2025-10-26T22:24:56.693Z,1761517496.693 [DAT](INFO): DAT read: Rx Time:22:24:55.4978 

2025-10-26T22:24:56.693Z,1761517496.693 [DAT](INFO): Rx dataTimestamp_ set to:1761517496.693179
2025-10-26T22:24:56.695Z,1761517496.695 [DAT](INFO): DAT read: Bearing 150.5, -27.9 (Local)

2025-10-26T22:24:56.695Z,1761517496.695 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.5, -27.9 (Local)

2025-10-26T22:24:56.697Z,1761517496.697 [DAT](INFO): DAT read: Range 11 to 50 :    25.5 m (trip time 17.0 ms) speed -0.1

2025-10-26T22:24:56.704Z,1761517496.704 [DAT](INFO): DAT read: 22:24:55.4978 LVL= 32752, 16865, 20802, 32755, AGC= 57, IDX= 513, 0.03, 1.790,-1.937, 2.981,-3.058, PHS=-1.333, 1.166,-0.288, RAW= 305.4,   4.2, CAL= 303.0,   1.3, ROT= 207.0,  -1.3

2025-10-26T22:24:56.706Z,1761517496.706 [DAT](INFO): got valid direction response:
 22:24:55.4978 LVL= 32752, 16865, 20802, 32755, AGC= 57, IDX= 513, 0.03, 1.790,-1.937, 2.981,-3.058, PHS=-1.333, 1.166,-0.288, RAW= 305.4,   4.2, CAL= 303.0,   1.3, ROT= 207.0,  -1.3

2025-10-26T22:24:56.706Z,1761517496.706 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-10-26T22:24:56.709Z,1761517496.709 [DAT](INFO): direction in FSK: [-0.890777,-0.453874,0.022687]
2025-10-26T22:24:56.709Z,1761517496.709 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:56.715Z,1761517496.715 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.163246
2025-10-26T22:24:56.824Z,1761517496.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999831,0.002604,0.018219],[-0.003405,-0.999022,-0.044089],[0.018087,-0.044143,0.998861]]
2025-10-26T22:24:56.867Z,1761517496.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 0.502259 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:24:56.869Z,1761517496.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.347233 m,
      bearing: 27.105060 deg,
      lat: 36.779393 deg,
      lon: -121.859454 deg,
      deltaT: 0.502259 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:24:56.870Z,1761517496.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.35 m.
2025-10-26T22:24:56.945Z,1761517496.945 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.393959
2025-10-26T22:24:57.197Z,1761517497.197 [DAT](INFO): DAT read: Rx Time:22:24:55.9980 

2025-10-26T22:24:57.197Z,1761517497.197 [DAT](INFO): Rx dataTimestamp_ set to:1761517497.197154
2025-10-26T22:24:57.199Z,1761517497.199 [DAT](INFO): DAT read: Bearing 148.3, -31.9 (Local)

2025-10-26T22:24:57.199Z,1761517497.199 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.3, -31.9 (Local)

2025-10-26T22:24:57.201Z,1761517497.201 [DAT](INFO): DAT read: Range 11 to 50 :    25.8 m (trip time 17.2 ms) speed -0.1

2025-10-26T22:24:57.206Z,1761517497.206 [DAT](INFO): DAT read: 22:24:55.9980 LVL= 25152, 14753, 18226, 28451, AGC= 60, IDX=   3,-0.30,-2.755,-0.560,-1.585,-1.430, PHS=-1.223, 0.915,-0.199, RAW= 301.4,   5.5, CAL= 299.0,   3.4, ROT= 211.0,  -3.4

2025-10-26T22:24:57.207Z,1761517497.207 [DAT](INFO): got valid direction response:
 22:24:55.9980 LVL= 25152, 14753, 18226, 28451, AGC= 60, IDX=   3,-0.30,-2.755,-0.560,-1.585,-1.430, PHS=-1.223, 0.915,-0.199, RAW= 301.4,   5.5, CAL= 299.0,   3.4, ROT= 211.0,  -3.4

2025-10-26T22:24:57.222Z,1761517497.222 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-10-26T22:24:57.223Z,1761517497.223 [DAT](INFO): direction in FSK: [-0.855659,-0.514131,0.059306]
2025-10-26T22:24:57.224Z,1761517497.224 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:57.259Z,1761517497.259 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.675716
2025-10-26T22:24:57.268Z,1761517497.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999845,0.002878,0.017379],[-0.003641,-0.999025,-0.043997],[0.017236,-0.044054,0.998880]]
2025-10-26T22:24:57.316Z,1761517497.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.503975 s,
      deltaX: 0.299999 m,
      approachRate: 0.595266 m/s,
      rangeRepo size: 4

2025-10-26T22:24:57.318Z,1761517497.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.645435 m,
      bearing: 31.017431 deg,
      lat: 36.779399 deg,
      lon: -121.859454 deg,
      deltaT: 0.503975 s,
      deltaX: 0.298203 m,
      approachRate: 0.591701 m/s,
      posRepo size: 4

2025-10-26T22:24:57.318Z,1761517497.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.65 m.
2025-10-26T22:24:57.448Z,1761517497.448 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.896904
2025-10-26T22:24:57.702Z,1761517497.702 [DAT](INFO): DAT read: Rx Time:22:24:56.4979 

2025-10-26T22:24:57.702Z,1761517497.702 [DAT](INFO): Rx dataTimestamp_ set to:1761517497.702154
2025-10-26T22:24:57.704Z,1761517497.704 [DAT](INFO): DAT read: Bearing 148.9, -32.4 (Local)

2025-10-26T22:24:57.705Z,1761517497.705 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.9, -32.4 (Local)

2025-10-26T22:24:57.708Z,1761517497.708 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed -0.1

2025-10-26T22:24:57.719Z,1761517497.719 [DAT](INFO): DAT read: 22:24:56.4979 LVL= 32320, 18449, 20674, 32755, AGC= 58, IDX= 498, 0.15,-1.653, 0.557,-0.456,-0.319, PHS=-1.231, 0.921,-0.181, RAW= 300.8,   5.3, CAL= 298.4,   2.9, ROT= 211.6,  -2.9

2025-10-26T22:24:57.727Z,1761517497.727 [DAT](INFO): got valid direction response:
 22:24:56.4979 LVL= 32320, 18449, 20674, 32755, AGC= 58, IDX= 498, 0.15,-1.653, 0.557,-0.456,-0.319, PHS=-1.231, 0.921,-0.181, RAW= 300.8,   5.3, CAL= 298.4,   2.9, ROT= 211.6,  -2.9

2025-10-26T22:24:57.732Z,1761517497.732 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-10-26T22:24:57.733Z,1761517497.733 [DAT](INFO): direction in FSK: [-0.850636,-0.523315,0.050593]
2025-10-26T22:24:57.734Z,1761517497.734 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:57.787Z,1761517497.787 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.235462
2025-10-26T22:24:57.864Z,1761517497.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.505000 s,
      deltaX: -0.099998 m,
      approachRate: -0.198017 m/s,
      rangeRepo size: 4

2025-10-26T22:24:57.866Z,1761517497.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.546047 m,
      bearing: 31.640473 deg,
      lat: 36.779397 deg,
      lon: -121.859451 deg,
      deltaT: 0.505000 s,
      deltaX: -0.099388 m,
      approachRate: -0.196808 m/s,
      posRepo size: 4

2025-10-26T22:24:57.867Z,1761517497.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.55 m.
2025-10-26T22:24:57.953Z,1761517497.953 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.401009
2025-10-26T22:24:58.205Z,1761517498.205 [DAT](INFO): DAT read: Rx Time:22:24:56.9981 

2025-10-26T22:24:58.205Z,1761517498.205 [DAT](INFO): Rx dataTimestamp_ set to:1761517498.205120
2025-10-26T22:24:58.207Z,1761517498.207 [DAT](INFO): DAT read: Bearing 148.8, -32.4 (Local)

2025-10-26T22:24:58.207Z,1761517498.207 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.8, -32.4 (Local)

2025-10-26T22:24:58.210Z,1761517498.210 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed 0.0

2025-10-26T22:24:58.214Z,1761517498.214 [DAT](INFO): DAT read: 22:24:56.9981 LVL= 32144, 17553, 21714, 32755, AGC= 58, IDX= 500,-0.20,-1.893, 0.323,-0.692,-0.554, PHS=-1.237, 0.922,-0.182, RAW= 300.8,   5.4, CAL= 298.4,   3.0, ROT= 211.6,  -3.0

2025-10-26T22:24:58.227Z,1761517498.227 [DAT](INFO): got valid direction response:
 22:24:56.9981 LVL= 32144, 17553, 21714, 32755, AGC= 58, IDX= 500,-0.20,-1.893, 0.323,-0.692,-0.554, PHS=-1.237, 0.922,-0.182, RAW= 300.8,   5.4, CAL= 298.4,   3.0, ROT= 211.6,  -3.0

2025-10-26T22:24:58.227Z,1761517498.227 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-10-26T22:24:58.234Z,1761517498.234 [DAT](INFO): direction in FSK: [-0.850560,-0.523268,0.052336]
2025-10-26T22:24:58.234Z,1761517498.234 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:58.242Z,1761517498.242 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.690468
2025-10-26T22:24:58.307Z,1761517498.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999871,0.005197,0.015174],[-0.005858,-0.999023,-0.043810],[0.014931,-0.043893,0.998925]]
2025-10-26T22:24:58.368Z,1761517498.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.502966 s,
      deltaX: 0.299999 m,
      approachRate: 0.596460 m/s,
      rangeRepo size: 4

2025-10-26T22:24:58.370Z,1761517498.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.844250 m,
      bearing: 31.767718 deg,
      lat: 36.779399 deg,
      lon: -121.859451 deg,
      deltaT: 0.502966 s,
      deltaX: 0.298203 m,
      approachRate: 0.592888 m/s,
      posRepo size: 4

2025-10-26T22:24:58.370Z,1761517498.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.84 m.
2025-10-26T22:24:58.458Z,1761517498.458 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.906116
2025-10-26T22:24:58.710Z,1761517498.710 [DAT](INFO): DAT read: Rx Time:22:24:57.4980 

2025-10-26T22:24:58.711Z,1761517498.711 [DAT](INFO): Rx dataTimestamp_ set to:1761517498.710502
2025-10-26T22:24:58.713Z,1761517498.713 [DAT](INFO): DAT read: Bearing 148.4, -32.4 (Local)

2025-10-26T22:24:58.713Z,1761517498.713 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.4, -32.4 (Local)

2025-10-26T22:24:58.717Z,1761517498.717 [DAT](INFO): DAT read: Range 11 to 50 :    25.8 m (trip time 17.2 ms) speed -0.1

2025-10-26T22:24:58.723Z,1761517498.723 [DAT](INFO): DAT read: 22:24:57.4980 LVL= 32752, 17393, 23378, 32755, AGC= 58, IDX= 499, 0.20,-1.281, 0.934,-0.082, 0.062, PHS=-1.241, 0.917,-0.187, RAW= 300.8,   5.5, CAL= 298.4,   3.3, ROT= 211.6,  -3.3

2025-10-26T22:24:58.729Z,1761517498.729 [DAT](INFO): got valid direction response:
 22:24:57.4980 LVL= 32752, 17393, 23378, 32755, AGC= 58, IDX= 499, 0.20,-1.281, 0.934,-0.082, 0.062, PHS=-1.241, 0.917,-0.187, RAW= 300.8,   5.5, CAL= 298.4,   3.3, ROT= 211.6,  -3.3

2025-10-26T22:24:58.729Z,1761517498.729 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-10-26T22:24:58.731Z,1761517498.731 [DAT](INFO): direction in FSK: [-0.850315,-0.523117,0.057564]
2025-10-26T22:24:58.735Z,1761517498.735 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:58.739Z,1761517498.739 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.187408
2025-10-26T22:24:58.741Z,1761517498.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999873,0.006325,0.014628],[-0.006959,-0.999019,-0.043728],[0.014337,-0.043825,0.998936]]
2025-10-26T22:24:58.873Z,1761517498.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.505382 s,
      deltaX: -0.200001 m,
      approachRate: -0.395742 m/s,
      rangeRepo size: 4

2025-10-26T22:24:58.877Z,1761517498.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.645452 m,
      bearing: 31.818722 deg,
      lat: 36.779399 deg,
      lon: -121.859450 deg,
      deltaT: 0.505382 s,
      deltaX: -0.198797 m,
      approachRate: -0.393360 m/s,
      posRepo size: 4

2025-10-26T22:24:58.878Z,1761517498.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.65 m.
2025-10-26T22:24:58.961Z,1761517498.961 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.409065
2025-10-26T22:24:59.145Z,1761517499.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999868,0.007681,0.014292],[-0.008299,-0.999012,-0.043663],[0.013943,-0.043776,0.998944]]
2025-10-26T22:24:59.164Z,1761517499.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.65 m.
2025-10-26T22:24:59.214Z,1761517499.214 [DAT](INFO): DAT read: Rx Time:22:24:57.9982 

2025-10-26T22:24:59.214Z,1761517499.214 [DAT](INFO): Rx dataTimestamp_ set to:1761517499.213817
2025-10-26T22:24:59.216Z,1761517499.216 [DAT](INFO): DAT read: Bearing 148.4, -32.4 (Local)

2025-10-26T22:24:59.217Z,1761517499.217 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.4, -32.4 (Local)

2025-10-26T22:24:59.220Z,1761517499.220 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed 0.0

2025-10-26T22:24:59.226Z,1761517499.226 [DAT](INFO): DAT read: 22:24:57.9982 LVL= 32752, 16961, 22242, 32755, AGC= 58, IDX= 501,-0.20,-1.553, 0.662,-0.352,-0.209, PHS=-1.241, 0.916,-0.186, RAW= 300.7,   5.5, CAL= 298.4,   3.3, ROT= 211.6,  -3.3

2025-10-26T22:24:59.229Z,1761517499.229 [DAT](INFO): got valid direction response:
 22:24:57.9982 LVL= 32752, 16961, 22242, 32755, AGC= 58, IDX= 501,-0.20,-1.553, 0.662,-0.352,-0.209, PHS=-1.241, 0.916,-0.186, RAW= 300.7,   5.5, CAL= 298.4,   3.3, ROT= 211.6,  -3.3

2025-10-26T22:24:59.230Z,1761517499.230 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-10-26T22:24:59.231Z,1761517499.231 [DAT](INFO): direction in FSK: [-0.850315,-0.523117,0.057564]
2025-10-26T22:24:59.232Z,1761517499.232 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:59.249Z,1761517499.249 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.697113
2025-10-26T22:24:59.464Z,1761517499.464 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.912952
2025-10-26T22:24:59.536Z,1761517499.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999863,0.008988,0.013904],[-0.009585,-0.999007,-0.043513],[0.013499,-0.043640,0.998956]]
2025-10-26T22:24:59.718Z,1761517499.718 [DAT](INFO): DAT read: Rx Time:22:24:58.4981 

2025-10-26T22:24:59.719Z,1761517499.719 [DAT](INFO): Rx dataTimestamp_ set to:1761517499.718124
2025-10-26T22:24:59.720Z,1761517499.720 [DAT](INFO): DAT read: Bearing 148.9, -32.5 (Local)

2025-10-26T22:24:59.721Z,1761517499.721 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.9, -32.5 (Local)

2025-10-26T22:24:59.724Z,1761517499.724 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed 0.0

2025-10-26T22:24:59.732Z,1761517499.732 [DAT](INFO): DAT read: 22:24:58.4981 LVL= 32752, 17761, 21874, 32755, AGC= 58, IDX= 500, 0.15,-1.017, 1.186, 0.183, 0.315, PHS=-1.230, 0.916,-0.176, RAW= 300.6,   5.3, CAL= 298.2,   2.9, ROT= 211.8,  -2.9

2025-10-26T22:24:59.733Z,1761517499.733 [DAT](INFO): got valid direction response:
 22:24:58.4981 LVL= 32752, 17761, 21874, 32755, AGC= 58, IDX= 500, 0.15,-1.017, 1.186, 0.183, 0.315, PHS=-1.230, 0.916,-0.176, RAW= 300.6,   5.3, CAL= 298.2,   2.9, ROT= 211.8,  -2.9

2025-10-26T22:24:59.734Z,1761517499.734 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-10-26T22:24:59.735Z,1761517499.735 [DAT](INFO): direction in FSK: [-0.848804,-0.526281,0.050593]
2025-10-26T22:24:59.743Z,1761517499.743 [DAT](INFO): publishing direction and range info
2025-10-26T22:24:59.747Z,1761517499.747 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.195457
2025-10-26T22:24:59.849Z,1761517499.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 1.007622 s,
      deltaX: 0.200001 m,
      approachRate: 0.198488 m/s,
      rangeRepo size: 4

2025-10-26T22:24:59.855Z,1761517499.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.844229 m,
      bearing: 32.189390 deg,
      lat: 36.779397 deg,
      lon: -121.859450 deg,
      deltaT: 1.007622 s,
      deltaX: 0.198776 m,
      approachRate: 0.197273 m/s,
      posRepo size: 4

2025-10-26T22:24:59.856Z,1761517499.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.84 m.
2025-10-26T22:24:59.969Z,1761517499.969 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.417362
2025-10-26T22:25:00.144Z,1761517500.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999855,0.010383,0.013531],[-0.010961,-0.998998,-0.043393],[0.013067,-0.043535,0.998966]]
2025-10-26T22:25:00.196Z,1761517500.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.84 m.
2025-10-26T22:25:00.221Z,1761517500.221 [DAT](INFO): DAT read: Rx Time:22:24:58.9982 

2025-10-26T22:25:00.222Z,1761517500.222 [DAT](INFO): Rx dataTimestamp_ set to:1761517500.221317
2025-10-26T22:25:00.223Z,1761517500.223 [DAT](INFO): DAT read: Bearing 148.0, -32.3 (Local)

2025-10-26T22:25:00.223Z,1761517500.223 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.0, -32.3 (Local)

2025-10-26T22:25:00.225Z,1761517500.225 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed -0.1

2025-10-26T22:25:00.230Z,1761517500.230 [DAT](INFO): DAT read: 22:24:58.9982 LVL= 32752, 17793, 22226, 32755, AGC= 58, IDX= 501,-0.33,-2.516,-0.310,-1.322,-1.174, PHS=-1.240, 0.909,-0.192, RAW= 300.8,   5.7, CAL= 298.4,   3.6, ROT= 211.6,  -3.6

2025-10-26T22:25:00.231Z,1761517500.231 [DAT](INFO): got valid direction response:
 22:24:58.9982 LVL= 32752, 17793, 22226, 32755, AGC= 58, IDX= 501,-0.33,-2.516,-0.310,-1.322,-1.174, PHS=-1.240, 0.909,-0.192, RAW= 300.8,   5.7, CAL= 298.4,   3.6, ROT= 211.6,  -3.6

2025-10-26T22:25:00.232Z,1761517500.232 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-10-26T22:25:00.233Z,1761517500.233 [DAT](INFO): direction in FSK: [-0.850046,-0.522952,0.062791]
2025-10-26T22:25:00.233Z,1761517500.233 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:00.238Z,1761517500.238 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.686703
2025-10-26T22:25:00.472Z,1761517500.472 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.920792
2025-10-26T22:25:00.638Z,1761517500.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999832,0.013037,0.012891],[-0.013582,-0.998975,-0.043169],[0.012315,-0.043337,0.998985]]
2025-10-26T22:25:00.730Z,1761517500.730 [DAT](INFO): DAT read: Rx Time:22:24:59.4981 

2025-10-26T22:25:00.732Z,1761517500.732 [DAT](INFO): Rx dataTimestamp_ set to:1761517500.730743
2025-10-26T22:25:00.736Z,1761517500.736 [DAT](INFO): DAT read: Bearing 148.3, -32.5 (Local)

2025-10-26T22:25:00.738Z,1761517500.738 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.3, -32.5 (Local)

2025-10-26T22:25:00.740Z,1761517500.740 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed 0.0

2025-10-26T22:25:00.756Z,1761517500.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.503193 s,
      deltaX: 0.100000 m,
      approachRate: 0.198732 m/s,
      rangeRepo size: 4

2025-10-26T22:25:00.758Z,1761517500.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.943640 m,
      bearing: 32.191349 deg,
      lat: 36.779397 deg,
      lon: -121.859449 deg,
      deltaT: 0.503193 s,
      deltaX: 0.099411 m,
      approachRate: 0.197560 m/s,
      posRepo size: 4

2025-10-26T22:25:00.758Z,1761517500.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-10-26T22:25:00.761Z,1761517500.761 [DAT](INFO): DAT read: 22:24:59.4981 LVL= 32752, 19153, 21490, 32755, AGC= 58, IDX= 500, 0.02,-2.504,-0.300,-1.306,-1.164, PHS=-1.238, 0.909,-0.186, RAW= 300.7,   5.6, CAL= 298.3,   3.4, ROT= 211.7,  -3.4

2025-10-26T22:25:00.762Z,1761517500.762 [DAT](INFO): got valid direction response:
 22:24:59.4981 LVL= 32752, 19153, 21490, 32755, AGC= 58, IDX= 500, 0.02,-2.504,-0.300,-1.306,-1.164, PHS=-1.238, 0.909,-0.186, RAW= 300.7,   5.6, CAL= 298.3,   3.4, ROT= 211.7,  -3.4

2025-10-26T22:25:00.762Z,1761517500.762 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-10-26T22:25:00.771Z,1761517500.771 [DAT](INFO): direction in FSK: [-0.849314,-0.524547,0.059306]
2025-10-26T22:25:00.772Z,1761517500.772 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:00.779Z,1761517500.779 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.223652
2025-10-26T22:25:00.976Z,1761517500.976 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.424908
2025-10-26T22:25:01.010Z,1761517501.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999817,0.014340,0.012654],[-0.014873,-0.998960,-0.043100],[0.012023,-0.043280,0.998991]]
2025-10-26T22:25:01.150Z,1761517501.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.509426 s,
      deltaX: -0.100000 m,
      approachRate: -0.196300 m/s,
      rangeRepo size: 4

2025-10-26T22:25:01.156Z,1761517501.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.844238 m,
      bearing: 32.374871 deg,
      lat: 36.779397 deg,
      lon: -121.859449 deg,
      deltaT: 0.509426 s,
      deltaX: -0.099401 m,
      approachRate: -0.195124 m/s,
      posRepo size: 4

2025-10-26T22:25:01.157Z,1761517501.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.84 m.
2025-10-26T22:25:01.230Z,1761517501.230 [DAT](INFO): DAT read: Rx Time:22:24:59.9982 

2025-10-26T22:25:01.231Z,1761517501.231 [DAT](INFO): Rx dataTimestamp_ set to:1761517501.230536
2025-10-26T22:25:01.233Z,1761517501.233 [DAT](INFO): DAT read: Bearing 148.8, -32.6 (Local)

2025-10-26T22:25:01.233Z,1761517501.233 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.8, -32.6 (Local)

2025-10-26T22:25:01.236Z,1761517501.236 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed -0.1

2025-10-26T22:25:01.241Z,1761517501.241 [DAT](INFO): DAT read: 22:24:59.9982 LVL= 32624, 18609, 21042, 32755, AGC= 58, IDX= 501, 0.43,-0.988, 1.231, 0.224, 0.357, PHS=-1.243, 0.919,-0.177, RAW= 300.5,   5.4, CAL= 298.1,   3.0, ROT= 211.9,  -3.0

2025-10-26T22:25:01.242Z,1761517501.242 [DAT](INFO): got valid direction response:
 22:24:59.9982 LVL= 32624, 18609, 21042, 32755, AGC= 58, IDX= 501, 0.43,-0.988, 1.231, 0.224, 0.357, PHS=-1.243, 0.919,-0.177, RAW= 300.5,   5.4, CAL= 298.1,   3.0, ROT= 211.9,  -3.0

2025-10-26T22:25:01.243Z,1761517501.243 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-10-26T22:25:01.244Z,1761517501.244 [DAT](INFO): direction in FSK: [-0.847808,-0.527714,0.052336]
2025-10-26T22:25:01.244Z,1761517501.244 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:01.248Z,1761517501.248 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.696266
2025-10-26T22:25:01.409Z,1761517501.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999798,0.015689,0.012531],[-0.016215,-0.998941,-0.043048],[0.011842,-0.043243,0.998994]]
2025-10-26T22:25:01.451Z,1761517501.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.499793 s,
      deltaX: 0.100000 m,
      approachRate: 0.200084 m/s,
      rangeRepo size: 4

2025-10-26T22:25:01.457Z,1761517501.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.943640 m,
      bearing: 32.669577 deg,
      lat: 36.779397 deg,
      lon: -121.859449 deg,
      deltaT: 0.499793 s,
      deltaX: 0.099401 m,
      approachRate: 0.198885 m/s,
      posRepo size: 4

2025-10-26T22:25:01.457Z,1761517501.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-10-26T22:25:01.481Z,1761517501.481 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.929295
2025-10-26T22:25:01.737Z,1761517501.737 [DAT](INFO): DAT read: Rx Time:22:25:00.4982 

2025-10-26T22:25:01.738Z,1761517501.738 [DAT](INFO): Rx dataTimestamp_ set to:1761517501.737575
2025-10-26T22:25:01.739Z,1761517501.739 [DAT](INFO): DAT read: Bearing 148.1, -32.5 (Local)

2025-10-26T22:25:01.740Z,1761517501.740 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.1, -32.5 (Local)

2025-10-26T22:25:01.742Z,1761517501.742 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed -0.1

2025-10-26T22:25:01.746Z,1761517501.746 [DAT](INFO): DAT read: 22:25:00.4982 LVL= 32752, 19505, 22402, 32755, AGC= 58, IDX= 501,-0.09, 2.391,-1.685,-2.688,-2.546, PHS=-1.244, 0.906,-0.186, RAW= 300.5,   5.7, CAL= 298.2,   3.6, ROT= 211.8,  -3.6

2025-10-26T22:25:01.748Z,1761517501.748 [DAT](INFO): got valid direction response:
 22:25:00.4982 LVL= 32752, 19505, 22402, 32755, AGC= 58, IDX= 501,-0.09, 2.391,-1.685,-2.688,-2.546, PHS=-1.244, 0.906,-0.186, RAW= 300.5,   5.7, CAL= 298.2,   3.6, ROT= 211.8,  -3.6

2025-10-26T22:25:01.748Z,1761517501.748 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-10-26T22:25:01.749Z,1761517501.749 [DAT](INFO): direction in FSK: [-0.848216,-0.525916,0.062791]
2025-10-26T22:25:01.749Z,1761517501.749 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:01.753Z,1761517501.753 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.201672
2025-10-26T22:25:01.810Z,1761517501.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999780,0.016947,0.012331],[-0.017463,-0.998921,-0.043039],[0.011588,-0.043244,0.998997]]
2025-10-26T22:25:01.905Z,1761517501.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.507039 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:25:01.911Z,1761517501.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.943630 m,
      bearing: 32.615761 deg,
      lat: 36.779396 deg,
      lon: -121.859449 deg,
      deltaT: 0.507039 s,
      deltaX: -0.000010 m,
      approachRate: -0.000019 m/s,
      posRepo size: 4

2025-10-26T22:25:01.912Z,1761517501.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-10-26T22:25:01.985Z,1761517501.985 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.433086
2025-10-26T22:25:02.215Z,1761517502.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999764,0.017982,0.012217],[-0.018492,-0.998906,-0.042962],[0.011431,-0.043178,0.999002]]
2025-10-26T22:25:02.234Z,1761517502.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-10-26T22:25:02.237Z,1761517502.237 [DAT](INFO): DAT read: Rx Time:22:25:00.9983 

2025-10-26T22:25:02.238Z,1761517502.238 [DAT](INFO): Rx dataTimestamp_ set to:1761517502.237520
2025-10-26T22:25:02.239Z,1761517502.239 [DAT](INFO): DAT read: Bearing 149.2, -32.6 (Local)

2025-10-26T22:25:02.240Z,1761517502.240 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.2, -32.6 (Local)

2025-10-26T22:25:02.242Z,1761517502.242 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed 0.0

2025-10-26T22:25:02.247Z,1761517502.247 [DAT](INFO): DAT read: 22:25:00.9983 LVL= 32752, 18337, 21362, 32755, AGC= 58, IDX= 502, 0.27,-1.554, 0.661,-0.341,-0.215, PHS=-1.237, 0.921,-0.170, RAW= 300.4,   5.3, CAL= 298.0,   2.7, ROT= 212.0,  -2.7

2025-10-26T22:25:02.248Z,1761517502.248 [DAT](INFO): got valid direction response:
 22:25:00.9983 LVL= 32752, 18337, 21362, 32755, AGC= 58, IDX= 502, 0.27,-1.554, 0.661,-0.341,-0.215, PHS=-1.237, 0.921,-0.170, RAW= 300.4,   5.3, CAL= 298.0,   2.7, ROT= 212.0,  -2.7

2025-10-26T22:25:02.248Z,1761517502.248 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-10-26T22:25:02.249Z,1761517502.249 [DAT](INFO): direction in FSK: [-0.847107,-0.529331,0.047106]
2025-10-26T22:25:02.250Z,1761517502.250 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:02.282Z,1761517502.282 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.730785
2025-10-26T22:25:02.493Z,1761517502.493 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.941483
2025-10-26T22:25:02.641Z,1761517502.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999749,0.018799,0.012147],[-0.019303,-0.998896,-0.042822],[0.011329,-0.043046,0.999009]]
2025-10-26T22:25:02.666Z,1761517502.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.499945 s,
      deltaX: 0.199999 m,
      approachRate: 0.400042 m/s,
      rangeRepo size: 4

2025-10-26T22:25:02.668Z,1761517502.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.142422 m,
      bearing: 32.961117 deg,
      lat: 36.779396 deg,
      lon: -121.859449 deg,
      deltaT: 0.499945 s,
      deltaX: 0.198792 m,
      approachRate: 0.397627 m/s,
      posRepo size: 4

2025-10-26T22:25:02.668Z,1761517502.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.14 m.
2025-10-26T22:25:02.749Z,1761517502.749 [DAT](INFO): DAT read: Rx Time:22:25:01.4983 

2025-10-26T22:25:02.750Z,1761517502.750 [DAT](INFO): Rx dataTimestamp_ set to:1761517502.749160
2025-10-26T22:25:02.754Z,1761517502.754 [DAT](INFO): DAT read: Bearing 148.7, -32.4 (Local)

2025-10-26T22:25:02.756Z,1761517502.756 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.7, -32.4 (Local)

2025-10-26T22:25:02.762Z,1761517502.762 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed -0.1

2025-10-26T22:25:02.771Z,1761517502.771 [DAT](INFO): DAT read: 22:25:01.4983 LVL= 30976, 16497, 21042, 32755, AGC= 57, IDX= 502,-0.17, 1.305,-2.771, 2.509, 2.644, PHS=-1.237, 0.913,-0.180, RAW= 300.5,   5.5, CAL= 298.2,   3.1, ROT= 211.8,  -3.1

2025-10-26T22:25:02.772Z,1761517502.772 [DAT](INFO): got valid direction response:
 22:25:01.4983 LVL= 30976, 16497, 21042, 32755, AGC= 57, IDX= 502,-0.17, 1.305,-2.771, 2.509, 2.644, PHS=-1.237, 0.913,-0.180, RAW= 300.5,   5.5, CAL= 298.2,   3.1, ROT= 211.8,  -3.1

2025-10-26T22:25:02.773Z,1761517502.773 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-26T22:25:02.774Z,1761517502.774 [DAT](INFO): direction in FSK: [-0.848649,-0.526185,0.054079]
2025-10-26T22:25:02.774Z,1761517502.774 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:02.778Z,1761517502.778 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.226204
2025-10-26T22:25:02.999Z,1761517502.999 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.447510
2025-10-26T22:25:03.065Z,1761517503.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999737,0.019434,0.012152],[-0.019936,-0.998892,-0.042635],[0.011310,-0.042866,0.999017]]
2025-10-26T22:25:03.253Z,1761517503.253 [DAT](INFO): DAT read: Rx Time:22:25:01.9984 

2025-10-26T22:25:03.254Z,1761517503.254 [DAT](INFO): Rx dataTimestamp_ set to:1761517503.253310
2025-10-26T22:25:03.255Z,1761517503.255 [DAT](INFO): DAT read: Bearing 148.1, -32.8 (Local)

2025-10-26T22:25:03.271Z,1761517503.271 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.1, -32.8 (Local)

2025-10-26T22:25:03.273Z,1761517503.273 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed -0.1

2025-10-26T22:25:03.278Z,1761517503.278 [DAT](INFO): DAT read: 22:25:01.9984 LVL= 32752, 21649, 24290, 32755, AGC= 59, IDX= 503, 0.17,-1.605, 0.602,-0.387,-0.253, PHS=-1.250, 0.901,-0.178, RAW= 300.1,   5.7, CAL= 297.7,   3.6, ROT= 212.3,  -3.6

2025-10-26T22:25:03.296Z,1761517503.296 [DAT](INFO): got valid direction response:
 22:25:01.9984 LVL= 32752, 21649, 24290, 32755, AGC= 59, IDX= 503, 0.17,-1.605, 0.602,-0.387,-0.253, PHS=-1.250, 0.901,-0.178, RAW= 300.1,   5.7, CAL= 297.7,   3.6, ROT= 212.3,  -3.6

2025-10-26T22:25:03.296Z,1761517503.296 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-10-26T22:25:03.297Z,1761517503.297 [DAT](INFO): direction in FSK: [-0.843594,-0.533298,0.062791]
2025-10-26T22:25:03.297Z,1761517503.297 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:03.313Z,1761517503.313 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.761528
2025-10-26T22:25:03.314Z,1761517503.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 1.015790 s,
      deltaX: 0.100000 m,
      approachRate: 0.098446 m/s,
      rangeRepo size: 4

2025-10-26T22:25:03.325Z,1761517503.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.142422 m,
      bearing: 32.781093 deg,
      lat: 36.779396 deg,
      lon: -121.859449 deg,
      deltaT: 0.511640 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:25:03.325Z,1761517503.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.14 m.
2025-10-26T22:25:03.504Z,1761517503.504 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.952892
2025-10-26T22:25:03.565Z,1761517503.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999729,0.019893,0.012061],[-0.020389,-0.998891,-0.042451],[0.011203,-0.042685,0.999026]]
2025-10-26T22:25:03.672Z,1761517503.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.14 m.
2025-10-26T22:25:03.762Z,1761517503.762 [DAT](INFO): DAT read: Rx Time:22:25:02.4984 

2025-10-26T22:25:03.764Z,1761517503.764 [DAT](INFO): Rx dataTimestamp_ set to:1761517503.763062
2025-10-26T22:25:03.768Z,1761517503.768 [DAT](INFO): DAT read: Bearing 147.9, -32.1 (Local)

2025-10-26T22:25:03.768Z,1761517503.768 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.9, -32.1 (Local)

2025-10-26T22:25:03.770Z,1761517503.770 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed -0.1

2025-10-26T22:25:03.775Z,1761517503.775 [DAT](INFO): DAT read: 22:25:02.4984 LVL= 32752, 19953, 22066, 32755, AGC= 57, IDX= 503,-0.24, 0.992,-3.081, 2.187, 2.339, PHS=-1.245, 0.908,-0.196, RAW= 300.8,   5.8, CAL= 298.4,   3.8, ROT= 211.6,  -3.8

2025-10-26T22:25:03.776Z,1761517503.776 [DAT](INFO): got valid direction response:
 22:25:02.4984 LVL= 32752, 19953, 22066, 32755, AGC= 57, IDX= 503,-0.24, 0.992,-3.081, 2.187, 2.339, PHS=-1.245, 0.908,-0.196, RAW= 300.8,   5.8, CAL= 298.4,   3.8, ROT= 211.6,  -3.8

2025-10-26T22:25:03.776Z,1761517503.776 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-10-26T22:25:03.777Z,1761517503.777 [DAT](INFO): direction in FSK: [-0.849854,-0.522834,0.066274]
2025-10-26T22:25:03.778Z,1761517503.778 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:03.781Z,1761517503.781 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.229862
2025-10-26T22:25:03.966Z,1761517503.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999718,0.020492,0.012005],[-0.020985,-0.998875,-0.042514],[0.011121,-0.042754,0.999024]]
2025-10-26T22:25:04.009Z,1761517504.009 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.457031
2025-10-26T22:25:04.078Z,1761517504.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.509752 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:25:04.094Z,1761517504.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.241793 m,
      bearing: 32.612327 deg,
      lat: 36.779396 deg,
      lon: -121.859449 deg,
      deltaT: 1.013902 s,
      deltaX: 0.099371 m,
      approachRate: 0.098008 m/s,
      posRepo size: 4

2025-10-26T22:25:04.104Z,1761517504.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.24 m.
2025-10-26T22:25:04.261Z,1761517504.261 [DAT](INFO): DAT read: Rx Time:22:25:02.9986 

2025-10-26T22:25:04.261Z,1761517504.261 [DAT](INFO): Rx dataTimestamp_ set to:1761517504.261111
2025-10-26T22:25:04.263Z,1761517504.263 [DAT](INFO): DAT read: Bearing 149.4, -32.6 (Local)

2025-10-26T22:25:04.263Z,1761517504.263 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.4, -32.6 (Local)

2025-10-26T22:25:04.265Z,1761517504.265 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed 0.0

2025-10-26T22:25:04.285Z,1761517504.285 [DAT](INFO): DAT read: 22:25:02.9986 LVL= 31216, 16481, 19314, 32755, AGC= 57, IDX= 505, 0.15,-0.989, 1.227, 0.228, 0.351, PHS=-1.238, 0.921,-0.168, RAW= 300.3,   5.2, CAL= 297.9,   2.6, ROT= 212.1,  -2.6

2025-10-26T22:25:04.286Z,1761517504.286 [DAT](INFO): got valid direction response:
 22:25:02.9986 LVL= 31216, 16481, 19314, 32755, AGC= 57, IDX= 505, 0.15,-0.989, 1.227, 0.228, 0.351, PHS=-1.238, 0.921,-0.168, RAW= 300.3,   5.2, CAL= 297.9,   2.6, ROT= 212.1,  -2.6

2025-10-26T22:25:04.287Z,1761517504.287 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-10-26T22:25:04.292Z,1761517504.292 [DAT](INFO): direction in FSK: [-0.846250,-0.530852,0.045363]
2025-10-26T22:25:04.292Z,1761517504.292 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:04.300Z,1761517504.300 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.748493
2025-10-26T22:25:04.370Z,1761517504.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999710,0.020914,0.011953],[-0.021406,-0.998863,-0.042606],[0.011049,-0.042850,0.999020]]
2025-10-26T22:25:04.433Z,1761517504.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.498049 s,
      deltaX: 0.300001 m,
      approachRate: 0.602353 m/s,
      rangeRepo size: 4

2025-10-26T22:25:04.439Z,1761517504.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.539997 m,
      bearing: 33.187054 deg,
      lat: 36.779396 deg,
      lon: -121.859447 deg,
      deltaT: 0.498049 s,
      deltaX: 0.298204 m,
      approachRate: 0.598745 m/s,
      posRepo size: 4

2025-10-26T22:25:04.440Z,1761517504.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.54 m.
2025-10-26T22:25:04.514Z,1761517504.514 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.962513
2025-10-26T22:25:04.769Z,1761517504.769 [DAT](INFO): DAT read: Rx Time:22:25:03.4986 

2025-10-26T22:25:04.771Z,1761517504.771 [DAT](INFO): Rx dataTimestamp_ set to:1761517504.769730
2025-10-26T22:25:04.775Z,1761517504.775 [DAT](INFO): DAT read: Bearing 148.7, -32.3 (Local)

2025-10-26T22:25:04.777Z,1761517504.777 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.7, -32.3 (Local)

2025-10-26T22:25:04.783Z,1761517504.783 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed -0.1

2025-10-26T22:25:04.821Z,1761517504.821 [DAT](INFO): DAT read: 22:25:03.4986 LVL= 32752, 17041, 21218, 32755, AGC= 57, IDX= 505,-0.24, 2.122,-1.956,-2.961,-2.822, PHS=-1.237, 0.911,-0.183, RAW= 300.6,   5.5, CAL= 298.2,   3.2, ROT= 211.8,  -3.2

2025-10-26T22:25:04.822Z,1761517504.822 [DAT](INFO): got valid direction response:
 22:25:03.4986 LVL= 32752, 17041, 21218, 32755, AGC= 57, IDX= 505,-0.24, 2.122,-1.956,-2.961,-2.822, PHS=-1.237, 0.911,-0.183, RAW= 300.6,   5.5, CAL= 298.2,   3.2, ROT= 211.8,  -3.2

2025-10-26T22:25:04.823Z,1761517504.823 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-10-26T22:25:04.836Z,1761517504.836 [DAT](INFO): direction in FSK: [-0.848568,-0.526134,0.055822]
2025-10-26T22:25:04.836Z,1761517504.836 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:04.847Z,1761517504.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999707,0.021066,0.011933],[-0.021557,-0.998860,-0.042584],[0.011023,-0.042829,0.999022]]
2025-10-26T22:25:04.848Z,1761517504.848 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.296680
2025-10-26T22:25:04.936Z,1761517504.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.508619 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:25:04.938Z,1761517504.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.540014 m,
      bearing: 32.870443 deg,
      lat: 36.779397 deg,
      lon: -121.859449 deg,
      deltaT: 0.508619 s,
      deltaX: 0.000017 m,
      approachRate: 0.000034 m/s,
      posRepo size: 4

2025-10-26T22:25:04.939Z,1761517504.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.54 m.
2025-10-26T22:25:05.018Z,1761517505.018 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.466671
2025-10-26T22:25:05.216Z,1761517505.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.54 m.
2025-10-26T22:25:05.270Z,1761517505.270 [DAT](INFO): DAT read: Rx Time:22:25:03.9986 

2025-10-26T22:25:05.271Z,1761517505.271 [DAT](INFO): Rx dataTimestamp_ set to:1761517505.269919
2025-10-26T22:25:05.272Z,1761517505.272 [DAT](INFO): DAT read: Bearing 149.9, -32.4 (Local)

2025-10-26T22:25:05.273Z,1761517505.273 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.9, -32.4 (Local)

2025-10-26T22:25:05.275Z,1761517505.275 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed -0.1

2025-10-26T22:25:05.280Z,1761517505.280 [DAT](INFO): DAT read: 22:25:03.9986 LVL= 31856, 16721, 19874, 32755, AGC= 57, IDX= 505, 0.16,-1.648, 0.555,-0.444,-0.322, PHS=-1.224, 0.922,-0.166, RAW= 300.5,   5.1, CAL= 298.1,   2.3, ROT= 211.9,  -2.3

2025-10-26T22:25:05.281Z,1761517505.281 [DAT](INFO): got valid direction response:
 22:25:03.9986 LVL= 31856, 16721, 19874, 32755, AGC= 57, IDX= 505, 0.16,-1.648, 0.555,-0.444,-0.322, PHS=-1.224, 0.922,-0.166, RAW= 300.5,   5.1, CAL= 298.1,   2.3, ROT= 211.9,  -2.3

2025-10-26T22:25:05.282Z,1761517505.282 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-10-26T22:25:05.283Z,1761517505.283 [DAT](INFO): direction in FSK: [-0.848288,-0.528013,0.040132]
2025-10-26T22:25:05.283Z,1761517505.283 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:05.287Z,1761517505.287 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.735195
2025-10-26T22:25:05.522Z,1761517505.522 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.970081
2025-10-26T22:25:05.626Z,1761517505.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999712,0.020887,0.011800],[-0.021372,-0.998865,-0.042578],[0.010898,-0.042817,0.999023]]
2025-10-26T22:25:05.660Z,1761517505.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.500189 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:25:05.662Z,1761517505.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.539989 m,
      bearing: 32.998191 deg,
      lat: 36.779398 deg,
      lon: -121.859449 deg,
      deltaT: 0.500189 s,
      deltaX: -0.000025 m,
      approachRate: -0.000050 m/s,
      posRepo size: 4

2025-10-26T22:25:05.663Z,1761517505.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.54 m.
2025-10-26T22:25:05.778Z,1761517505.778 [DAT](INFO): DAT read: Rx Time:22:25:04.4986 

2025-10-26T22:25:05.780Z,1761517505.780 [DAT](INFO): Rx dataTimestamp_ set to:1761517505.778331
2025-10-26T22:25:05.784Z,1761517505.784 [DAT](INFO): DAT read: Bearing 148.1, -32.5 (Local)

2025-10-26T22:25:05.785Z,1761517505.785 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.1, -32.5 (Local)

2025-10-26T22:25:05.798Z,1761517505.798 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed -0.1

2025-10-26T22:25:05.811Z,1761517505.811 [DAT](INFO): DAT read: 22:25:04.4986 LVL= 32752, 20001, 23314, 32755, AGC= 59, IDX= 505,-0.18, 1.451,-2.625, 2.657, 2.803, PHS=-1.250, 0.900,-0.190, RAW= 300.5,   5.9, CAL= 298.1,   3.9, ROT= 211.9,  -3.9

2025-10-26T22:25:05.813Z,1761517505.813 [DAT](INFO): got valid direction response:
 22:25:04.4986 LVL= 32752, 20001, 23314, 32755, AGC= 59, IDX= 505,-0.18, 1.451,-2.625, 2.657, 2.803, PHS=-1.250, 0.900,-0.190, RAW= 300.5,   5.9, CAL= 298.1,   3.9, ROT= 211.9,  -3.9

2025-10-26T22:25:05.813Z,1761517505.813 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-10-26T22:25:05.814Z,1761517505.814 [DAT](INFO): direction in FSK: [-0.847006,-0.527215,0.068015]
2025-10-26T22:25:05.814Z,1761517505.814 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:05.846Z,1761517505.846 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.294159
2025-10-26T22:25:05.986Z,1761517505.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999710,0.020921,0.011940],[-0.021414,-0.998858,-0.042712],[0.011032,-0.042955,0.999016]]
2025-10-26T22:25:06.025Z,1761517506.025 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.473408
2025-10-26T22:25:06.070Z,1761517506.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.508412 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:25:06.094Z,1761517506.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.539989 m,
      bearing: 32.931931 deg,
      lat: 36.779398 deg,
      lon: -121.859450 deg,
      deltaT: 0.508412 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:25:06.100Z,1761517506.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.54 m.
2025-10-26T22:25:06.278Z,1761517506.278 [DAT](INFO): DAT read: Rx Time:22:25:04.9987 

2025-10-26T22:25:06.278Z,1761517506.278 [DAT](INFO): Rx dataTimestamp_ set to:1761517506.278129
2025-10-26T22:25:06.280Z,1761517506.280 [DAT](INFO): DAT read: Bearing 150.0, -32.4 (Local)

2025-10-26T22:25:06.281Z,1761517506.281 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.0, -32.4 (Local)

2025-10-26T22:25:06.283Z,1761517506.283 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed -0.1

2025-10-26T22:25:06.291Z,1761517506.291 [DAT](INFO): DAT read: 22:25:04.9987 LVL= 29936, 17681, 18930, 32755, AGC= 58, IDX= 506, 0.31,-1.096, 1.112, 0.107, 0.232, PHS=-1.226, 0.925,-0.169, RAW= 300.6,   5.1, CAL= 298.2,   2.4, ROT= 211.8,  -2.4

2025-10-26T22:25:06.294Z,1761517506.294 [DAT](INFO): got valid direction response:
 22:25:04.9987 LVL= 29936, 17681, 18930, 32755, AGC= 58, IDX= 506, 0.31,-1.096, 1.112, 0.107, 0.232, PHS=-1.226, 0.925,-0.169, RAW= 300.6,   5.1, CAL= 298.2,   2.4, ROT= 211.8,  -2.4

2025-10-26T22:25:06.294Z,1761517506.294 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-10-26T22:25:06.295Z,1761517506.295 [DAT](INFO): direction in FSK: [-0.849147,-0.526494,0.041876]
2025-10-26T22:25:06.296Z,1761517506.296 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:06.300Z,1761517506.300 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.747810
2025-10-26T22:25:06.497Z,1761517506.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999719,0.020505,0.011877],[-0.020995,-0.998868,-0.042674],[0.010988,-0.042911,0.999018]]
2025-10-26T22:25:06.530Z,1761517506.530 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.978088
2025-10-26T22:25:06.547Z,1761517506.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.499798 s,
      deltaX: 0.199999 m,
      approachRate: 0.400159 m/s,
      rangeRepo size: 4

2025-10-26T22:25:06.549Z,1761517506.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.738808 m,
      bearing: 32.871912 deg,
      lat: 36.779398 deg,
      lon: -121.859450 deg,
      deltaT: 0.499798 s,
      deltaX: 0.198818 m,
      approachRate: 0.397797 m/s,
      posRepo size: 4

2025-10-26T22:25:06.550Z,1761517506.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:25:06.786Z,1761517506.786 [DAT](INFO): DAT read: Rx Time:22:25:05.4987 

2025-10-26T22:25:06.792Z,1761517506.792 [DAT](INFO): Rx dataTimestamp_ set to:1761517506.786217
2025-10-26T22:25:06.800Z,1761517506.800 [DAT](INFO): DAT read: Bearing 149.1, -32.4 (Local)

2025-10-26T22:25:06.801Z,1761517506.801 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.1, -32.4 (Local)

2025-10-26T22:25:06.820Z,1761517506.820 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed -0.2

2025-10-26T22:25:06.845Z,1761517506.845 [DAT](INFO): DAT read: 22:25:05.4987 LVL= 32448, 17457, 22002, 32755, AGC= 58, IDX= 506, 0.00, 2.745,-1.344,-2.343,-2.206, PHS=-1.230, 0.908,-0.181, RAW= 300.6,   5.5, CAL= 298.2,   3.2, ROT= 211.8,  -3.2

2025-10-26T22:25:06.846Z,1761517506.846 [DAT](INFO): got valid direction response:
 22:25:05.4987 LVL= 32448, 17457, 22002, 32755, AGC= 58, IDX= 506, 0.00, 2.745,-1.344,-2.343,-2.206, PHS=-1.230, 0.908,-0.181, RAW= 300.6,   5.5, CAL= 298.2,   3.2, ROT= 211.8,  -3.2

2025-10-26T22:25:06.847Z,1761517506.847 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-10-26T22:25:06.856Z,1761517506.856 [DAT](INFO): direction in FSK: [-0.848568,-0.526134,0.055822]
2025-10-26T22:25:06.856Z,1761517506.856 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:06.868Z,1761517506.868 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.316807
2025-10-26T22:25:06.898Z,1761517506.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999720,0.020436,0.011953],[-0.020930,-0.998866,-0.042765],[0.011065,-0.043003,0.999014]]
2025-10-26T22:25:07.007Z,1761517507.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.508088 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:25:07.014Z,1761517507.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.738808 m,
      bearing: 32.833714 deg,
      lat: 36.779399 deg,
      lon: -121.859451 deg,
      deltaT: 0.508088 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:25:07.015Z,1761517507.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-10-26T22:25:07.033Z,1761517507.033 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.481709
2025-10-26T22:25:07.285Z,1761517507.285 [DAT](INFO): DAT read: Rx Time:22:25:05.9989 

2025-10-26T22:25:07.285Z,1761517507.285 [DAT](INFO): Rx dataTimestamp_ set to:1761517507.285119
2025-10-26T22:25:07.287Z,1761517507.287 [DAT](INFO): DAT read: Bearing 148.9, -32.2 (Local)

2025-10-26T22:25:07.287Z,1761517507.287 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.9, -32.2 (Local)

2025-10-26T22:25:07.294Z,1761517507.294 [DAT](INFO): DAT read: Range 11 to 50 :    27.2 m (trip time 18.1 ms) speed -0.1

2025-10-26T22:25:07.299Z,1761517507.299 [DAT](INFO): DAT read: 22:25:05.9989 LVL= 32752, 18865, 21058, 32755, AGC= 58, IDX= 508,-0.29, 2.702,-1.383,-2.392,-2.247, PHS=-1.232, 0.908,-0.189, RAW= 300.8,   5.6, CAL= 298.5,   3.4, ROT= 211.5,  -3.4

2025-10-26T22:25:07.312Z,1761517507.312 [DAT](INFO): got valid direction response:
 22:25:05.9989 LVL= 32752, 18865, 21058, 32755, AGC= 58, IDX= 508,-0.29, 2.702,-1.383,-2.392,-2.247, PHS=-1.232, 0.908,-0.189, RAW= 300.8,   5.6, CAL= 298.5,   3.4, ROT= 211.5,  -3.4

2025-10-26T22:25:07.313Z,1761517507.313 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-10-26T22:25:07.314Z,1761517507.314 [DAT](INFO): direction in FSK: [-0.851139,-0.521579,0.059306]
2025-10-26T22:25:07.314Z,1761517507.314 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:07.318Z,1761517507.318 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.766048
2025-10-26T22:25:07.334Z,1761517507.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999728,0.019951,0.012062],[-0.020448,-0.998883,-0.042599],[0.011198,-0.042834,0.999019]]
2025-10-26T22:25:07.421Z,1761517507.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.200001 m,
      deltaT: 0.498902 s,
      deltaX: 0.300001 m,
      approachRate: 0.601323 m/s,
      rangeRepo size: 4

2025-10-26T22:25:07.428Z,1761517507.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.037010 m,
      bearing: 32.498038 deg,
      lat: 36.779399 deg,
      lon: -121.859451 deg,
      deltaT: 0.498902 s,
      deltaX: 0.298203 m,
      approachRate: 0.597718 m/s,
      posRepo size: 4

2025-10-26T22:25:07.428Z,1761517507.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.04 m.
2025-10-26T22:25:07.537Z,1761517507.537 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.984829
2025-10-26T22:25:07.710Z,1761517507.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999733,0.019624,0.012185],[-0.020125,-0.998896,-0.042456],[0.011339,-0.042690,0.999024]]
2025-10-26T22:25:07.762Z,1761517507.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.04 m.
2025-10-26T22:25:07.795Z,1761517507.795 [DAT](INFO): DAT read: Rx Time:22:25:06.4988 

2025-10-26T22:25:07.797Z,1761517507.797 [DAT](INFO): Rx dataTimestamp_ set to:1761517507.795894
2025-10-26T22:25:07.801Z,1761517507.801 [DAT](INFO): DAT read: Bearing 149.0, -32.4 (Local)

2025-10-26T22:25:07.802Z,1761517507.802 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.0, -32.4 (Local)

2025-10-26T22:25:07.809Z,1761517507.809 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed -0.1

2025-10-26T22:25:07.829Z,1761517507.829 [DAT](INFO): DAT read: 22:25:06.4988 LVL= 32752, 18865, 22418, 32755, AGC= 58, IDX= 507, 0.24,-2.520,-0.322,-1.324,-1.185, PHS=-1.233, 0.908,-0.184, RAW= 300.6,   5.5, CAL= 298.3,   3.3, ROT= 211.7,  -3.3

2025-10-26T22:25:07.830Z,1761517507.830 [DAT](INFO): got valid direction response:
 22:25:06.4988 LVL= 32752, 18865, 22418, 32755, AGC= 58, IDX= 507, 0.24,-2.520,-0.322,-1.324,-1.185, PHS=-1.233, 0.908,-0.184, RAW= 300.6,   5.5, CAL= 298.3,   3.3, ROT= 211.7,  -3.3

2025-10-26T22:25:07.831Z,1761517507.831 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-10-26T22:25:07.840Z,1761517507.840 [DAT](INFO): direction in FSK: [-0.849400,-0.524600,0.057564]
2025-10-26T22:25:07.840Z,1761517507.840 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:07.852Z,1761517507.852 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.300407
2025-10-26T22:25:08.041Z,1761517508.041 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.489815
2025-10-26T22:25:08.135Z,1761517508.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999729,0.019759,0.012286],[-0.020266,-0.998888,-0.042575],[0.011431,-0.042812,0.999018]]
2025-10-26T22:25:08.189Z,1761517508.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.510775 s,
      deltaX: -0.200001 m,
      approachRate: -0.391563 m/s,
      rangeRepo size: 4

2025-10-26T22:25:08.197Z,1761517508.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.838209 m,
      bearing: 32.691431 deg,
      lat: 36.779400 deg,
      lon: -121.859452 deg,
      deltaT: 0.510775 s,
      deltaX: -0.198801 m,
      approachRate: -0.389215 m/s,
      posRepo size: 4

2025-10-26T22:25:08.197Z,1761517508.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.84 m.
2025-10-26T22:25:08.293Z,1761517508.293 [DAT](INFO): DAT read: Rx Time:22:25:06.9990 

2025-10-26T22:25:08.293Z,1761517508.293 [DAT](INFO): Rx dataTimestamp_ set to:1761517508.293192
2025-10-26T22:25:08.295Z,1761517508.295 [DAT](INFO): DAT read: Bearing 148.3, -31.9 (Local)

2025-10-26T22:25:08.295Z,1761517508.295 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.3, -31.9 (Local)

2025-10-26T22:25:08.298Z,1761517508.298 [DAT](INFO): DAT read: Range 11 to 50 :    27.3 m (trip time 18.2 ms) speed -0.1

2025-10-26T22:25:08.303Z,1761517508.303 [DAT](INFO): DAT read: 22:25:06.9990 LVL= 32752, 23121, 24002, 32755, AGC= 57, IDX= 509,-0.07,-2.772,-0.592,-1.603,-1.444, PHS=-1.226, 0.897,-0.203, RAW= 301.2,   5.8, CAL= 298.8,   4.0, ROT= 211.2,  -4.0

2025-10-26T22:25:08.304Z,1761517508.304 [DAT](INFO): got valid direction response:
 22:25:06.9990 LVL= 32752, 23121, 24002, 32755, AGC= 57, IDX= 509,-0.07,-2.772,-0.592,-1.603,-1.444, PHS=-1.226, 0.897,-0.203, RAW= 301.2,   5.8, CAL= 298.8,   4.0, ROT= 211.2,  -4.0

2025-10-26T22:25:08.304Z,1761517508.304 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-10-26T22:25:08.305Z,1761517508.305 [DAT](INFO): direction in FSK: [-0.853281,-0.516765,0.069756]
2025-10-26T22:25:08.305Z,1761517508.305 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:08.309Z,1761517508.309 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:25:08.309Z,1761517508.309 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:25:08.310Z,1761517508.310 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:25:08.544Z,1761517508.544 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:25:08.567Z,1761517508.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 0.497298 s,
      deltaX: 0.299999 m,
      approachRate: 0.603258 m/s,
      rangeRepo size: 4

2025-10-26T22:25:08.573Z,1761517508.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.136431 m,
      bearing: 32.161535 deg,
      lat: 36.779400 deg,
      lon: -121.859453 deg,
      deltaT: 0.497298 s,
      deltaX: 0.298222 m,
      approachRate: 0.599684 m/s,
      posRepo size: 4

2025-10-26T22:25:08.574Z,1761517508.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.14 m.
2025-10-26T22:25:08.801Z,1761517508.801 [DAT](INFO): DAT read: Rx Time:22:25:07.4990 

2025-10-26T22:25:08.802Z,1761517508.802 [DAT](INFO): Rx dataTimestamp_ set to:1761517508.801244
2025-10-26T22:25:08.807Z,1761517508.807 [DAT](INFO): DAT read: Bearing 149.0, -32.1 (Local)

2025-10-26T22:25:08.808Z,1761517508.808 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.0, -32.1 (Local)

2025-10-26T22:25:08.827Z,1761517508.827 [DAT](INFO): DAT read: Range 11 to 50 :    27.3 m (trip time 18.2 ms) speed -0.1

2025-10-26T22:25:08.876Z,1761517508.876 [DAT](INFO): DAT read: 22:25:07.4990 LVL= 32752, 19985, 21650, 32755, AGC= 59, IDX= 509,-0.50, 2.206,-1.878,-2.891,-2.742, PHS=-1.233, 0.909,-0.193, RAW= 301.0,   5.6, CAL= 298.6,   3.5, ROT= 211.4,  -3.5

2025-10-26T22:25:08.877Z,1761517508.877 [DAT](INFO): got valid direction response:
 22:25:07.4990 LVL= 32752, 19985, 21650, 32755, AGC= 59, IDX= 509,-0.50, 2.206,-1.878,-2.891,-2.742, PHS=-1.233, 0.909,-0.193, RAW= 301.0,   5.6, CAL= 298.6,   3.5, ROT= 211.4,  -3.5

2025-10-26T22:25:08.877Z,1761517508.877 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:25:08.878Z,1761517508.878 [DAT](INFO): direction in FSK: [-0.851959,-0.520038,0.061049]
2025-10-26T22:25:08.879Z,1761517508.879 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:08.886Z,1761517508.886 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:25:08.886Z,1761517508.886 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:25:09.038Z,1761517509.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 0.508052 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:25:09.045Z,1761517509.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.136431 m,
      bearing: 32.382922 deg,
      lat: 36.779402 deg,
      lon: -121.859455 deg,
      deltaT: 0.508052 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:25:09.045Z,1761517509.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.14 m.
2025-10-26T22:25:09.048Z,1761517509.048 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:25:09.301Z,1761517509.301 [DAT](INFO): DAT read: Rx Time:22:25:07.9990 

2025-10-26T22:25:09.302Z,1761517509.302 [DAT](INFO): Rx dataTimestamp_ set to:1761517509.301243
2025-10-26T22:25:09.303Z,1761517509.303 [DAT](INFO): DAT read: Bearing 147.6, -32.3 (Local)

2025-10-26T22:25:09.303Z,1761517509.303 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.6, -32.3 (Local)

2025-10-26T22:25:09.305Z,1761517509.305 [DAT](INFO): DAT read: Range 11 to 50 :    27.3 m (trip time 18.2 ms) speed -0.1

2025-10-26T22:25:09.314Z,1761517509.314 [DAT](INFO): DAT read: 22:25:07.9990 LVL= 32752, 20785, 23458, 32755, AGC= 59, IDX= 509, 0.11,-2.813,-0.631,-1.629,-1.468, PHS=-1.243, 0.881,-0.205, RAW= 300.8,   6.2, CAL= 298.4,   4.7, ROT= 211.6,  -4.7

2025-10-26T22:25:09.315Z,1761517509.315 [DAT](INFO): got valid direction response:
 22:25:07.9990 LVL= 32752, 20785, 23458, 32755, AGC= 59, IDX= 509, 0.11,-2.813,-0.631,-1.629,-1.468, PHS=-1.243, 0.881,-0.205, RAW= 300.8,   6.2, CAL= 298.4,   4.7, ROT= 211.6,  -4.7

2025-10-26T22:25:09.316Z,1761517509.316 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:25:09.317Z,1761517509.317 [DAT](INFO): direction in FSK: [-0.848863,-0.522224,0.081939]
2025-10-26T22:25:09.317Z,1761517509.317 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:09.320Z,1761517509.320 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:25:09.320Z,1761517509.320 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:25:09.333Z,1761517509.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999712,0.020147,0.013051],[-0.020685,-0.998882,-0.042499],[0.012180,-0.042757,0.999011]]
2025-10-26T22:25:09.414Z,1761517509.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 0.499999 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:25:09.420Z,1761517509.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.136431 m,
      bearing: 32.553820 deg,
      lat: 36.779402 deg,
      lon: -121.859456 deg,
      deltaT: 0.499999 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:25:09.421Z,1761517509.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.14 m.
2025-10-26T22:25:09.552Z,1761517509.552 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:25:09.732Z,1761517509.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999696,0.020740,0.013291],[-0.021288,-0.998869,-0.042507],[0.012394,-0.042777,0.999008]]
2025-10-26T22:25:09.763Z,1761517509.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.14 m.
2025-10-26T22:25:09.809Z,1761517509.809 [DAT](INFO): DAT read: Rx Time:22:25:08.4990 

2025-10-26T22:25:09.811Z,1761517509.811 [DAT](INFO): Rx dataTimestamp_ set to:1761517509.809489
2025-10-26T22:25:09.816Z,1761517509.816 [DAT](INFO): DAT read: Bearing 147.5, -32.0 (Local)

2025-10-26T22:25:09.817Z,1761517509.817 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.5, -32.0 (Local)

2025-10-26T22:25:09.824Z,1761517509.824 [DAT](INFO): DAT read: Range 11 to 50 :    27.3 m (trip time 18.2 ms) speed -0.1

2025-10-26T22:25:09.866Z,1761517509.866 [DAT](INFO): DAT read: 22:25:08.4990 LVL= 32752, 21969, 23474, 32755, AGC= 58, IDX= 509,-0.14,-0.047, 2.149, 1.132, 1.304, PHS=-1.249, 0.890,-0.216, RAW= 301.1,   6.2, CAL= 298.7,   4.8, ROT= 211.3,  -4.8

2025-10-26T22:25:09.871Z,1761517509.871 [DAT](INFO): got valid direction response:
 22:25:08.4990 LVL= 32752, 21969, 23474, 32755, AGC= 58, IDX= 509,-0.14,-0.047, 2.149, 1.132, 1.304, PHS=-1.249, 0.890,-0.216, RAW= 301.1,   6.2, CAL= 298.7,   4.8, ROT= 211.3,  -4.8

2025-10-26T22:25:09.872Z,1761517509.872 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:25:09.873Z,1761517509.873 [DAT](INFO): direction in FSK: [-0.851462,-0.517697,0.083678]
2025-10-26T22:25:09.874Z,1761517509.874 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:09.881Z,1761517509.881 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:25:09.882Z,1761517509.882 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:25:10.056Z,1761517510.056 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:25:10.136Z,1761517510.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999680,0.021349,0.013565],[-0.021908,-0.998857,-0.042476],[0.012643,-0.042760,0.999005]]
2025-10-26T22:25:10.219Z,1761517510.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 0.508246 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:25:10.221Z,1761517510.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.136526 m,
      bearing: 32.318207 deg,
      lat: 36.779402 deg,
      lon: -121.859456 deg,
      deltaT: 0.508246 s,
      deltaX: 0.000095 m,
      approachRate: 0.000188 m/s,
      posRepo size: 4

2025-10-26T22:25:10.222Z,1761517510.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.14 m.
2025-10-26T22:25:10.309Z,1761517510.309 [DAT](INFO): DAT read: Rx Time:22:25:08.9992 

2025-10-26T22:25:10.310Z,1761517510.310 [DAT](INFO): Rx dataTimestamp_ set to:1761517510.309300
2025-10-26T22:25:10.311Z,1761517510.311 [DAT](INFO): DAT read: Bearing 148.6, -31.9 (Local)

2025-10-26T22:25:10.311Z,1761517510.311 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.6, -31.9 (Local)

2025-10-26T22:25:10.313Z,1761517510.313 [DAT](INFO): DAT read: Range 11 to 50 :    27.6 m (trip time 18.4 ms) speed -0.1

2025-10-26T22:25:10.323Z,1761517510.323 [DAT](INFO): DAT read: 22:25:08.9992 LVL= 32752, 19361, 20370, 32755, AGC= 57, IDX= 510, 0.46, 1.622,-2.479, 2.795, 2.951, PHS=-1.227, 0.897,-0.201, RAW= 301.1,   5.8, CAL= 298.7,   3.9, ROT= 211.3,  -3.9

2025-10-26T22:25:10.333Z,1761517510.333 [DAT](INFO): got valid direction response:
 22:25:08.9992 LVL= 32752, 19361, 20370, 32755, AGC= 57, IDX= 510, 0.46, 1.622,-2.479, 2.795, 2.951, PHS=-1.227, 0.897,-0.201, RAW= 301.1,   5.8, CAL= 298.7,   3.9, ROT= 211.3,  -3.9

2025-10-26T22:25:10.333Z,1761517510.333 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:25:10.335Z,1761517510.335 [DAT](INFO): direction in FSK: [-0.852480,-0.518316,0.068015]
2025-10-26T22:25:10.339Z,1761517510.339 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:10.343Z,1761517510.343 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:25:10.347Z,1761517510.347 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:25:10.544Z,1761517510.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999659,0.022186,0.013797],[-0.022754,-0.998836,-0.042526],[0.012837,-0.042825,0.999000]]
2025-10-26T22:25:10.561Z,1761517510.561 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:25:10.622Z,1761517510.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.600000 m,
      deltaT: 0.499811 s,
      deltaX: 0.300001 m,
      approachRate: 0.600229 m/s,
      rangeRepo size: 4

2025-10-26T22:25:10.629Z,1761517510.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.434732 m,
      bearing: 32.405070 deg,
      lat: 36.779403 deg,
      lon: -121.859457 deg,
      deltaT: 0.499811 s,
      deltaX: 0.298206 m,
      approachRate: 0.596638 m/s,
      posRepo size: 4

2025-10-26T22:25:10.629Z,1761517510.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.43 m.
2025-10-26T22:25:10.813Z,1761517510.813 [DAT](INFO): DAT read: Rx Time:22:25:09.4991 

2025-10-26T22:25:10.814Z,1761517510.814 [DAT](INFO): Rx dataTimestamp_ set to:1761517510.813217
2025-10-26T22:25:10.815Z,1761517510.815 [DAT](INFO): DAT read: Bearing 147.8, -31.6 (Local)

2025-10-26T22:25:10.815Z,1761517510.815 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.8, -31.6 (Local)

2025-10-26T22:25:10.817Z,1761517510.817 [DAT](INFO): DAT read: Range 11 to 50 :    27.5 m (trip time 18.3 ms) speed -0.1

2025-10-26T22:25:10.828Z,1761517510.828 [DAT](INFO): DAT read: 22:25:09.4991 LVL= 32752, 19569, 23026, 32755, AGC= 58, IDX= 510, 0.05, 0.653, 2.835, 1.812, 1.986, PHS=-1.232, 0.894,-0.218, RAW= 301.5,   6.1, CAL= 299.1,   4.5, ROT= 210.9,  -4.5

2025-10-26T22:25:10.832Z,1761517510.832 [DAT](INFO): got valid direction response:
 22:25:09.4991 LVL= 32752, 19569, 23026, 32755, AGC= 58, IDX= 510, 0.05, 0.653, 2.835, 1.812, 1.986, PHS=-1.232, 0.894,-0.218, RAW= 301.5,   6.1, CAL= 299.1,   4.5, ROT= 210.9,  -4.5

2025-10-26T22:25:10.834Z,1761517510.834 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:25:10.840Z,1761517510.840 [DAT](INFO): direction in FSK: [-0.855420,-0.511958,0.078459]
2025-10-26T22:25:10.841Z,1761517510.841 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:10.913Z,1761517510.913 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:25:10.914Z,1761517510.914 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:25:10.950Z,1761517510.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999633,0.023237,0.013953],[-0.023812,-0.998810,-0.042571],[0.012948,-0.042888,0.998996]]
2025-10-26T22:25:11.068Z,1761517511.068 [DAT](INFO): DAT read: Rx Time:22:25:09.9993 

2025-10-26T22:25:11.070Z,1761517511.070 [DAT](INFO): Rx dataTimestamp_ set to:1761517511.068808
2025-10-26T22:25:11.072Z,1761517511.072 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:25:11.079Z,1761517511.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.500000 m,
      deltaT: 0.503917 s,
      deltaX: -0.100000 m,
      approachRate: -0.198446 m/s,
      rangeRepo size: 4

2025-10-26T22:25:11.085Z,1761517511.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.335331 m,
      bearing: 32.038929 deg,
      lat: 36.779403 deg,
      lon: -121.859457 deg,
      deltaT: 0.503917 s,
      deltaX: -0.099401 m,
      approachRate: -0.197258 m/s,
      posRepo size: 4

2025-10-26T22:25:11.085Z,1761517511.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.34 m.
2025-10-26T22:25:11.318Z,1761517511.318 [DAT](INFO): DAT read: Range 11 to 50 :    27.8 m (trip time 18.5 ms) speed -0.1

2025-10-26T22:25:11.319Z,1761517511.319 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-26T22:25:11.320Z,1761517511.320 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:25:11.320Z,1761517511.320 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:25:11.365Z,1761517511.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999603,0.024331,0.014218],[-0.024916,-0.998784,-0.042552],[0.013165,-0.042890,0.998993]]
2025-10-26T22:25:11.399Z,1761517511.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.799999 m,
      deltaT: 0.503444 s,
      deltaX: 0.299999 m,
      approachRate: 0.595894 m/s,
      rangeRepo size: 4

2025-10-26T22:25:11.404Z,1761517511.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.34 m.
2025-10-26T22:25:11.572Z,1761517511.572 [DAT](INFO): DAT read: Rx Time:22:25:10.4992 

2025-10-26T22:25:11.573Z,1761517511.573 [DAT](INFO): Rx dataTimestamp_ set to:1761517511.572264
2025-10-26T22:25:11.576Z,1761517511.576 [DAT](INFO): DAT read: Bearing 147.2, -32.1 (Local)

2025-10-26T22:25:11.577Z,1761517511.577 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.2, -32.1 (Local)

2025-10-26T22:25:11.578Z,1761517511.578 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:25:11.754Z,1761517511.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999572,0.025428,0.014446],[-0.026022,-0.998758,-0.042498],[0.013347,-0.042856,0.998992]]
2025-10-26T22:25:11.784Z,1761517511.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.34 m.
2025-10-26T22:25:11.827Z,1761517511.827 [DAT](INFO): DAT read: Range 11 to 50 :    27.6 m (trip time 18.4 ms) speed 0.0

2025-10-26T22:25:11.854Z,1761517511.854 [DAT](INFO): DAT read: 22:25:10.4992 LVL= 32752, 21281, 23314, 32755, AGC= 59, IDX= 511, 0.06, 1.400,-2.704, 2.575, 2.748, PHS=-1.246, 0.877,-0.217, RAW= 301.0,   6.4, CAL= 298.6,   5.2, ROT= 211.4,  -5.2

2025-10-26T22:25:11.866Z,1761517511.866 [DAT](INFO): got valid direction response:
 22:25:10.4992 LVL= 32752, 21281, 23314, 32755, AGC= 59, IDX= 511, 0.06, 1.400,-2.704, 2.575, 2.748, PHS=-1.246, 0.877,-0.217, RAW= 301.0,   6.4, CAL= 298.6,   5.2, ROT= 211.4,  -5.2

2025-10-26T22:25:11.872Z,1761517511.872 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:25:11.880Z,1761517511.880 [DAT](INFO): direction in FSK: [-0.850038,-0.518865,0.090633]
2025-10-26T22:25:11.881Z,1761517511.881 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:11.891Z,1761517511.891 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:25:11.891Z,1761517511.891 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:25:12.075Z,1761517512.075 [DAT](INFO): DAT read: user:556>

2025-10-26T22:25:12.078Z,1761517512.078 [DAT](INFO): DAT read: Command 'tr50' not found

2025-10-26T22:25:12.078Z,1761517512.078 [DAT](INFO): unknown deviceResponse_: Command 'tr50' not found

2025-10-26T22:25:12.078Z,1761517512.078 [DAT](INFO): DAT read: Error

2025-10-26T22:25:12.079Z,1761517512.079 [DAT](INFO): unknown deviceResponse_: Error

2025-10-26T22:25:12.079Z,1761517512.079 [DAT](INFO): DAT read: user:557>

2025-10-26T22:25:12.080Z,1761517512.080 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:25:12.158Z,1761517512.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999538,0.026607,0.014693],[-0.027209,-0.998731,-0.042369],[0.013547,-0.042749,0.998994]]
2025-10-26T22:25:12.230Z,1761517512.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.600000 m,
      deltaT: 0.503640 s,
      deltaX: -0.199999 m,
      approachRate: -0.397107 m/s,
      rangeRepo size: 4

2025-10-26T22:25:12.241Z,1761517512.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.434742 m,
      bearing: 32.702000 deg,
      lat: 36.779402 deg,
      lon: -121.859458 deg,
      deltaT: 1.007084 s,
      deltaX: 0.099411 m,
      approachRate: 0.098712 m/s,
      posRepo size: 4

2025-10-26T22:25:12.241Z,1761517512.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.43 m.
2025-10-26T22:25:12.325Z,1761517512.325 [DAT](INFO): DAT read: Tx time:22:25:11.3885

2025-10-26T22:25:12.325Z,1761517512.325 [DAT](INFO): Ping request sent.
2025-10-26T22:25:12.325Z,1761517512.325 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:25:12.325Z,1761517512.325 [DAT](INFO): publishing transmit ping time
2025-10-26T22:25:12.326Z,1761517512.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000771
2025-10-26T22:25:12.576Z,1761517512.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251266
2025-10-26T22:25:12.636Z,1761517512.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999451,0.029444,0.015209],[-0.030062,-0.998660,-0.042116],[0.013949,-0.042550,0.998997]]
2025-10-26T22:25:12.655Z,1761517512.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.43 m.
2025-10-26T22:25:12.829Z,1761517512.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503582
2025-10-26T22:25:13.064Z,1761517513.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999405,0.030868,0.015379],[-0.031490,-0.998620,-0.042041],[0.014060,-0.042501,0.998998]]
2025-10-26T22:25:13.080Z,1761517513.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755382
2025-10-26T22:25:13.167Z,1761517513.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.43 m.
2025-10-26T22:25:13.332Z,1761517513.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007321
2025-10-26T22:25:13.438Z,1761517513.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999360,0.032198,0.015611],[-0.032827,-0.998583,-0.041895],[0.014240,-0.042380,0.999000]]
2025-10-26T22:25:13.483Z,1761517513.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.43 m.
2025-10-26T22:25:13.585Z,1761517513.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260440
2025-10-26T22:25:13.840Z,1761517513.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514014
2025-10-26T22:25:13.849Z,1761517513.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999309,0.033599,0.015908],[-0.034239,-0.998539,-0.041806],[0.014480,-0.042322,0.998999]]
2025-10-26T22:25:13.942Z,1761517513.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.43 m.
2025-10-26T22:25:14.088Z,1761517514.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763269
2025-10-26T22:25:14.320Z,1761517514.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.43 m.
2025-10-26T22:25:14.340Z,1761517514.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015316
2025-10-26T22:25:14.592Z,1761517514.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267361
2025-10-26T22:25:14.671Z,1761517514.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999224,0.035902,0.016185],[-0.036550,-0.998461,-0.041709],[0.014662,-0.042268,0.998999]]
2025-10-26T22:25:14.689Z,1761517514.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.43 m.
2025-10-26T22:25:14.844Z,1761517514.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519401
2025-10-26T22:25:15.071Z,1761517515.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999188,0.036840,0.016306],[-0.037493,-0.998426,-0.041699],[0.014744,-0.042277,0.998997]]
2025-10-26T22:25:15.097Z,1761517515.097 [DAT](INFO): DAT read: Rx Time:22:25:13.8300

2025-10-26T22:25:15.097Z,1761517515.097 [DAT](INFO): Rx dataTimestamp_ set to:1761517515.096896
2025-10-26T22:25:15.098Z,1761517515.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772714
2025-10-26T22:25:15.118Z,1761517515.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.43 m.
2025-10-26T22:25:15.349Z,1761517515.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023963
2025-10-26T22:25:15.474Z,1761517515.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999153,0.037697,0.016480],[-0.038357,-0.998392,-0.041746],[0.014880,-0.042343,0.998992]]
2025-10-26T22:25:15.542Z,1761517515.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.43 m.
2025-10-26T22:25:15.604Z,1761517515.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278176
2025-10-26T22:25:15.858Z,1761517515.858 [DAT](INFO): DAT read: 22:25:13.8300 LVL= 32752, 17793, 21490, 32755, AGC= 61, IDX=  27, 0.05, 0.818, 3.001, 1.974, 2.165, PHS=-1.245, 0.881,-0.235, RAW= 301.6,   6.6, CAL= 299.2,   5.5, ROT= 210.8,  -5.5

2025-10-26T22:25:15.859Z,1761517515.859 [DAT](INFO): got valid direction response:
 22:25:13.8300 LVL= 32752, 17793, 21490, 32755, AGC= 61, IDX=  27, 0.05, 0.818, 3.001, 1.974, 2.165, PHS=-1.245, 0.881,-0.235, RAW= 301.6,   6.6, CAL= 299.2,   5.5, ROT= 210.8,  -5.5

2025-10-26T22:25:15.860Z,1761517515.860 [DAT](INFO): DAT read: Bearing 146.7, -31.6 (Local)

2025-10-26T22:25:15.860Z,1761517515.860 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.7, -31.6 (Local)

2025-10-26T22:25:15.862Z,1761517515.862 [DAT](INFO): DAT read: Range 11 to 50 : 28.0 m  (Round-trip  37.4 ms) speed  0.0 m/s

2025-10-26T22:25:15.862Z,1761517515.862 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:25:15.886Z,1761517515.886 [DAT](INFO): direction in FSK: [-0.855005,-0.509686,0.095846]
2025-10-26T22:25:15.887Z,1761517515.887 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:15.970Z,1761517515.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999138,0.038047,0.016591],[-0.038708,-0.998386,-0.041558],[0.014983,-0.042164,0.998998]]
2025-10-26T22:25:16.081Z,1761517516.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.000000 m,
      deltaT: 4.031636 s,
      deltaX: 0.400000 m,
      approachRate: 0.099215 m/s,
      rangeRepo size: 4

2025-10-26T22:25:16.083Z,1761517516.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.832344 m,
      bearing: 32.747200 deg,
      lat: 36.779403 deg,
      lon: -121.859459 deg,
      deltaT: 4.031636 s,
      deltaX: 0.397602 m,
      approachRate: 0.098621 m/s,
      posRepo size: 4

2025-10-26T22:25:16.088Z,1761517516.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:16.305Z,1761517516.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999124,0.038409,0.016619],[-0.039071,-0.998372,-0.041548],[0.014996,-0.042161,0.998998]]
2025-10-26T22:25:16.383Z,1761517516.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:16.749Z,1761517516.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999130,0.038218,0.016705],[-0.038881,-0.998388,-0.041348],[0.015098,-0.041961,0.999005]]
2025-10-26T22:25:16.794Z,1761517516.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:17.150Z,1761517517.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999141,0.037907,0.016727],[-0.038569,-0.998406,-0.041207],[0.015138,-0.041817,0.999011]]
2025-10-26T22:25:17.214Z,1761517517.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:17.554Z,1761517517.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999156,0.037509,0.016760],[-0.038172,-0.998421,-0.041219],[0.015187,-0.041824,0.999010]]
2025-10-26T22:25:17.585Z,1761517517.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:17.983Z,1761517517.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999169,0.037204,0.016653],[-0.037867,-0.998423,-0.041435],[0.015085,-0.042031,0.999002]]
2025-10-26T22:25:18.077Z,1761517518.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:18.164Z,1761517518.164 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:25:18.362Z,1761517518.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999196,0.036484,0.016606],[-0.037147,-0.998447,-0.041520],[0.015065,-0.042103,0.999000]]
2025-10-26T22:25:18.382Z,1761517518.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:18.773Z,1761517518.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999235,0.035439,0.016523],[-0.036099,-0.998487,-0.041492],[0.015028,-0.042057,0.999002]]
2025-10-26T22:25:18.792Z,1761517518.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:19.168Z,1761517519.168 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:25:19.221Z,1761517519.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:19.603Z,1761517519.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999322,0.033233,0.015862],[-0.033865,-0.998571,-0.041351],[0.014465,-0.041860,0.999019]]
2025-10-26T22:25:19.621Z,1761517519.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:20.024Z,1761517520.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999372,0.031925,0.015391],[-0.032538,-0.998614,-0.041359],[0.014049,-0.041834,0.999026]]
2025-10-26T22:25:20.101Z,1761517520.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:20.406Z,1761517520.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999422,0.030613,0.014797],[-0.031204,-0.998651,-0.041503],[0.013506,-0.041940,0.999029]]
2025-10-26T22:25:20.440Z,1761517520.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:20.810Z,1761517520.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999466,0.029435,0.014159],[-0.030004,-0.998676,-0.041781],[0.012910,-0.042183,0.999026]]
2025-10-26T22:25:20.829Z,1761517520.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:21.216Z,1761517521.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999519,0.028001,0.013355],[-0.028538,-0.998716,-0.041859],[0.012166,-0.042219,0.999034]]
2025-10-26T22:25:21.252Z,1761517521.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:21.618Z,1761517521.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999572,0.026542,0.012297],[-0.027035,-0.998759,-0.041829],[0.011172,-0.042143,0.999049]]
2025-10-26T22:25:21.644Z,1761517521.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:22.049Z,1761517522.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999617,0.025274,0.011283],[-0.025725,-0.998793,-0.041835],[0.010212,-0.042109,0.999061]]
2025-10-26T22:25:22.118Z,1761517522.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:22.434Z,1761517522.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999662,0.023956,0.010116],[-0.024359,-0.998829,-0.041793],[0.009103,-0.042026,0.999075]]
2025-10-26T22:25:22.452Z,1761517522.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:22.839Z,1761517522.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999696,0.022987,0.008891],[-0.023340,-0.998851,-0.041863],[0.007919,-0.042058,0.999084]]
2025-10-26T22:25:22.857Z,1761517522.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:23.242Z,1761517523.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999730,0.022014,0.007503],[-0.022310,-0.998866,-0.042048],[0.006569,-0.042204,0.999087]]
2025-10-26T22:25:23.290Z,1761517523.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:23.646Z,1761517523.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999765,0.020808,0.005998],[-0.021042,-0.998892,-0.042090],[0.005116,-0.042206,0.999096]]
2025-10-26T22:25:23.666Z,1761517523.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:24.078Z,1761517524.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999794,0.019793,0.004460],[-0.019964,-0.998908,-0.042231],[0.003619,-0.042312,0.999098]]
2025-10-26T22:25:24.128Z,1761517524.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:24.471Z,1761517524.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999815,0.019004,0.002934],[-0.019111,-0.998916,-0.042446],[0.002125,-0.042494,0.999094]]
2025-10-26T22:25:24.495Z,1761517524.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:24.876Z,1761517524.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999834,0.018142,0.001341],[-0.018183,-0.998926,-0.042609],[0.000566,-0.042627,0.999091]]
2025-10-26T22:25:24.895Z,1761517524.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:25.278Z,1761517525.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999851,0.017266,-0.000229],[-0.017241,-0.998938,-0.042719],[-0.000966,-0.042709,0.999087]]
2025-10-26T22:25:25.333Z,1761517525.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:25.683Z,1761517525.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999868,0.016116,-0.001956],[-0.016018,-0.998961,-0.042658],[-0.002642,-0.042621,0.999088]]
2025-10-26T22:25:25.737Z,1761517525.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:26.104Z,1761517526.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999880,0.015106,-0.003542],[-0.014942,-0.998981,-0.042577],[-0.004181,-0.042519,0.999087]]
2025-10-26T22:25:26.206Z,1761517526.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:26.502Z,1761517526.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999889,0.013999,-0.005042],[-0.013772,-0.999004,-0.042436],[-0.005631,-0.042361,0.999086]]
2025-10-26T22:25:26.555Z,1761517526.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:26.894Z,1761517526.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999894,0.013031,-0.006547],[-0.012742,-0.999023,-0.042326],[-0.007092,-0.042238,0.999082]]
2025-10-26T22:25:26.937Z,1761517526.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:27.298Z,1761517527.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999895,0.012159,-0.007929],[-0.011812,-0.999033,-0.042349],[-0.008437,-0.042251,0.999071]]
2025-10-26T22:25:27.360Z,1761517527.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:27.706Z,1761517527.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999895,0.011308,-0.009097],[-0.010913,-0.999041,-0.042404],[-0.009568,-0.042300,0.999059]]
2025-10-26T22:25:27.752Z,1761517527.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:28.136Z,1761517528.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999894,0.010346,-0.010213],[-0.009904,-0.999053,-0.042379],[-0.010642,-0.042274,0.999049]]
2025-10-26T22:25:28.182Z,1761517528.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:28.519Z,1761517528.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999893,0.009487,-0.011138],[-0.009006,-0.999060,-0.042411],[-0.011530,-0.042307,0.999038]]
2025-10-26T22:25:28.538Z,1761517528.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:28.914Z,1761517528.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999894,0.008322,-0.011929],[-0.007810,-0.999075,-0.042283],[-0.012270,-0.042186,0.999034]]
2025-10-26T22:25:28.949Z,1761517528.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:29.318Z,1761517529.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999898,0.006884,-0.012550],[-0.006351,-0.999095,-0.042068],[-0.012828,-0.041984,0.999036]]
2025-10-26T22:25:29.428Z,1761517529.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:29.732Z,1761517529.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999898,0.005672,-0.013081],[-0.005118,-0.999104,-0.042006],[-0.013307,-0.041935,0.999032]]
2025-10-26T22:25:29.758Z,1761517529.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:30.160Z,1761517530.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999899,0.004394,-0.013513],[-0.003824,-0.999113,-0.041933],[-0.013685,-0.041877,0.999029]]
2025-10-26T22:25:30.226Z,1761517530.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:30.530Z,1761517530.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999901,0.003030,-0.013738],[-0.002453,-0.999121,-0.041856],[-0.013853,-0.041819,0.999029]]
2025-10-26T22:25:30.561Z,1761517530.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:30.991Z,1761517530.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999902,0.001485,-0.013929],[-0.000902,-0.999126,-0.041793],[-0.013979,-0.041776,0.999029]]
2025-10-26T22:25:31.040Z,1761517531.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:31.344Z,1761517531.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999903,-0.000022,-0.013910],[0.000605,-0.999121,-0.041925],[-0.013896,-0.041929,0.999024]]
2025-10-26T22:25:31.426Z,1761517531.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:31.745Z,1761517531.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999908,-0.001488,-0.013464],[0.002061,-0.999088,-0.042652],[-0.013388,-0.042676,0.998999]]
2025-10-26T22:25:31.770Z,1761517531.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:32.190Z,1761517532.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999904,-0.003096,-0.013518],[0.003673,-0.999074,-0.042859],[-0.013373,-0.042904,0.998990]]
2025-10-26T22:25:32.245Z,1761517532.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:32.550Z,1761517532.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999898,-0.004811,-0.013455],[0.005386,-0.999060,-0.043008],[-0.013235,-0.043076,0.998984]]
2025-10-26T22:25:32.568Z,1761517532.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:32.955Z,1761517532.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999891,-0.006614,-0.013231],[0.007178,-0.999048,-0.043029],[-0.012934,-0.043119,0.998986]]
2025-10-26T22:25:32.978Z,1761517532.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:33.361Z,1761517533.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999877,-0.008717,-0.013067],[0.009268,-0.999043,-0.042754],[-0.012682,-0.042870,0.999000]]
2025-10-26T22:25:33.422Z,1761517533.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:25:33.428Z,1761517533.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:33.500Z,1761517533.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:25:33.501Z,1761517533.501 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:25:33.752Z,1761517533.752 [DAT](INFO): DAT read: user:558>

2025-10-26T22:25:33.753Z,1761517533.753 [DAT](INFO): DAT read: Tx time:22:25:32.8384

2025-10-26T22:25:33.753Z,1761517533.753 [DAT](INFO): Ping request sent.
2025-10-26T22:25:33.753Z,1761517533.753 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:25:33.754Z,1761517533.754 [DAT](INFO): publishing transmit ping time
2025-10-26T22:25:33.754Z,1761517533.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-10-26T22:25:33.793Z,1761517533.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999868,-0.010177,-0.012673],[0.010710,-0.999029,-0.042726],[-0.012226,-0.042856,0.999006]]
2025-10-26T22:25:33.837Z,1761517533.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:34.005Z,1761517534.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251068
2025-10-26T22:25:34.210Z,1761517534.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999856,-0.011706,-0.012303],[0.012220,-0.999018,-0.042590],[-0.011792,-0.042734,0.999017]]
2025-10-26T22:25:34.257Z,1761517534.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503018
2025-10-26T22:25:34.265Z,1761517534.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:34.508Z,1761517534.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754876
2025-10-26T22:25:34.571Z,1761517534.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999843,-0.013126,-0.011912],[0.013621,-0.999002,-0.042545],[-0.011342,-0.042701,0.999024]]
2025-10-26T22:25:34.625Z,1761517534.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:34.760Z,1761517534.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006778
2025-10-26T22:25:34.981Z,1761517534.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999832,-0.014201,-0.011575],[0.014683,-0.998981,-0.042667],[-0.010957,-0.042830,0.999022]]
2025-10-26T22:25:35.022Z,1761517535.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.268490
2025-10-26T22:25:35.045Z,1761517535.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:35.272Z,1761517535.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518833
2025-10-26T22:25:35.382Z,1761517535.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999825,-0.014999,-0.011160],[0.015463,-0.998965,-0.042788],[-0.010507,-0.042953,0.999022]]
2025-10-26T22:25:35.470Z,1761517535.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:35.525Z,1761517535.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771174
2025-10-26T22:25:35.776Z,1761517535.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022985
2025-10-26T22:25:35.785Z,1761517535.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999820,-0.015606,-0.010760],[0.016053,-0.998955,-0.042794],[-0.010081,-0.042959,0.999026]]
2025-10-26T22:25:35.824Z,1761517535.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:36.029Z,1761517536.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275976
2025-10-26T22:25:36.204Z,1761517536.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999817,-0.016096,-0.010321],[0.016522,-0.998956,-0.042590],[-0.009625,-0.042752,0.999039]]
2025-10-26T22:25:36.280Z,1761517536.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526938
2025-10-26T22:25:36.293Z,1761517536.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:36.532Z,1761517536.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778897
2025-10-26T22:25:36.592Z,1761517536.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999820,-0.016210,-0.009865],[0.016615,-0.998960,-0.042458],[-0.009166,-0.042614,0.999050]]
2025-10-26T22:25:36.615Z,1761517536.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:36.785Z,1761517536.785 [DAT](INFO): DAT read: Rx Time:22:25:35.2832

2025-10-26T22:25:36.786Z,1761517536.786 [DAT](INFO): Rx dataTimestamp_ set to:1761517536.785527
2025-10-26T22:25:36.786Z,1761517536.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032874
2025-10-26T22:25:37.002Z,1761517537.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999833,-0.015795,-0.009209],[0.016171,-0.998972,-0.042352],[-0.008531,-0.042494,0.999060]]
2025-10-26T22:25:37.027Z,1761517537.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.83 m.
2025-10-26T22:25:37.036Z,1761517537.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282948
2025-10-26T22:25:37.294Z,1761517537.294 [DAT](INFO): DAT read: 22:25:35.2832 LVL= 29936, 19185, 19346, 32755, AGC= 57, IDX= 476, 0.19,-2.754,-0.611,-1.584,-1.367, PHS=-1.285, 0.801,-0.261, RAW= 300.6,   8.3, CAL= 298.1,   9.0, ROT= 211.9,  -9.0

2025-10-26T22:25:37.295Z,1761517537.295 [DAT](INFO): got valid direction response:
 22:25:35.2832 LVL= 29936, 19185, 19346, 32755, AGC= 57, IDX= 476, 0.19,-2.754,-0.611,-1.584,-1.367, PHS=-1.285, 0.801,-0.261, RAW= 300.6,   8.3, CAL= 298.1,   9.0, ROT= 211.9,  -9.0

2025-10-26T22:25:37.296Z,1761517537.296 [DAT](INFO): DAT read: Bearing 140.4, -31.2 (Local)

2025-10-26T22:25:37.296Z,1761517537.296 [DAT](INFO): Local bearing/azimuth received:
 Bearing 140.4, -31.2 (Local)

2025-10-26T22:25:37.297Z,1761517537.297 [DAT](INFO): DAT read: Range 11 to 50 : 30.4 m  (Round-trip  40.6 ms) speed -0.1 m/s

2025-10-26T22:25:37.298Z,1761517537.298 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:25:37.299Z,1761517537.299 [DAT](INFO): direction in FSK: [-0.838519,-0.521932,0.156434]
2025-10-26T22:25:37.299Z,1761517537.299 [DAT](INFO): publishing direction and range info
2025-10-26T22:25:37.401Z,1761517537.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999855,-0.014740,-0.008468],[0.015083,-0.999001,-0.042075],[-0.007840,-0.042197,0.999079]]
2025-10-26T22:25:37.493Z,1761517537.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.400000 m,
      deltaT: 21.435829 s,
      deltaX: 2.400000 m,
      approachRate: 0.111962 m/s,
      rangeRepo size: 4

2025-10-26T22:25:37.501Z,1761517537.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.219248 m,
      bearing: 30.729840 deg,
      lat: 36.779404 deg,
      lon: -121.859460 deg,
      deltaT: 21.435829 s,
      deltaX: 2.386904 m,
      approachRate: 0.111351 m/s,
      posRepo size: 4

2025-10-26T22:25:37.501Z,1761517537.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:37.803Z,1761517537.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999889,-0.012745,-0.007715],[0.013052,-0.999071,-0.041078],[-0.007185,-0.041174,0.999126]]
2025-10-26T22:25:37.835Z,1761517537.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:38.293Z,1761517538.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:38.672Z,1761517538.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:39.070Z,1761517539.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999972,-0.005478,-0.005125],[0.005683,-0.999144,-0.040967],[-0.004897,-0.040995,0.999147]]
2025-10-26T22:25:39.147Z,1761517539.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:39.481Z,1761517539.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999984,-0.003617,-0.004394],[0.003795,-0.999139,-0.041311],[-0.004241,-0.041327,0.999137]]
2025-10-26T22:25:39.561Z,1761517539.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:39.874Z,1761517539.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999991,-0.001818,-0.003848],[0.001976,-0.999137,-0.041497],[-0.003769,-0.041505,0.999131]]
2025-10-26T22:25:39.916Z,1761517539.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:40.312Z,1761517540.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999995,0.000198,-0.003295],[-0.000060,-0.999134,-0.041608],[-0.003300,-0.041607,0.999129]]
2025-10-26T22:25:40.383Z,1761517540.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:40.687Z,1761517540.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999994,0.001839,-0.002859],[-0.001720,-0.999144,-0.041343],[-0.002933,-0.041338,0.999141]]
2025-10-26T22:25:40.712Z,1761517540.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:41.088Z,1761517541.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999991,0.003327,-0.002546],[-0.003220,-0.999156,-0.040945],[-0.002680,-0.040937,0.999158]]
2025-10-26T22:25:41.106Z,1761517541.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:41.494Z,1761517541.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999983,0.005309,-0.002219],[-0.005214,-0.999152,-0.040850],[-0.002434,-0.040838,0.999163]]
2025-10-26T22:25:41.541Z,1761517541.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:41.893Z,1761517541.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999971,0.007401,-0.001997],[-0.007314,-0.999135,-0.040937],[-0.002298,-0.040921,0.999160]]
2025-10-26T22:25:41.912Z,1761517541.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:42.341Z,1761517542.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999957,0.009090,-0.002000],[-0.009000,-0.999119,-0.040981],[-0.002371,-0.040961,0.999158]]
2025-10-26T22:25:42.377Z,1761517542.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:42.705Z,1761517542.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999942,0.010550,-0.002321],[-0.010446,-0.999104,-0.041005],[-0.002751,-0.040978,0.999156]]
2025-10-26T22:25:42.794Z,1761517542.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:43.105Z,1761517543.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999927,0.011836,-0.002633],[-0.011718,-0.999090,-0.041022],[-0.003117,-0.040988,0.999155]]
2025-10-26T22:25:43.155Z,1761517543.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:43.522Z,1761517543.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999909,0.013123,-0.003233],[-0.012979,-0.999070,-0.041114],[-0.003770,-0.041069,0.999149]]
2025-10-26T22:25:43.578Z,1761517543.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:43.924Z,1761517543.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999888,0.014461,-0.003787],[-0.014292,-0.999040,-0.041414],[-0.004382,-0.041355,0.999135]]
2025-10-26T22:25:43.942Z,1761517543.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:44.370Z,1761517544.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999870,0.015480,-0.004495],[-0.015280,-0.999013,-0.041707],[-0.005136,-0.041633,0.999120]]
2025-10-26T22:25:44.408Z,1761517544.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:44.739Z,1761517544.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999853,0.016275,-0.005304],[-0.016039,-0.998992,-0.041916],[-0.005981,-0.041825,0.999107]]
2025-10-26T22:25:44.757Z,1761517544.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:45.136Z,1761517545.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999837,0.016940,-0.006288],[-0.016662,-0.998977,-0.042035],[-0.006993,-0.041923,0.999096]]
2025-10-26T22:25:45.163Z,1761517545.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:45.544Z,1761517545.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999822,0.017401,-0.007215],[-0.017084,-0.998973,-0.041968],[-0.007938,-0.041837,0.999093]]
2025-10-26T22:25:45.588Z,1761517545.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:45.989Z,1761517545.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999808,0.017758,-0.008313],[-0.017395,-0.998973,-0.041831],[-0.009048,-0.041679,0.999090]]
2025-10-26T22:25:46.015Z,1761517546.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:46.403Z,1761517546.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999789,0.018232,-0.009418],[-0.017823,-0.998968,-0.041773],[-0.010169,-0.041597,0.999083]]
2025-10-26T22:25:46.445Z,1761517546.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:46.763Z,1761517546.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999760,0.019221,-0.010556],[-0.018761,-0.998938,-0.042072],[-0.011354,-0.041864,0.999059]]
2025-10-26T22:25:46.789Z,1761517546.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:47.158Z,1761517547.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999729,0.020086,-0.011770],[-0.019571,-0.998912,-0.042332],[-0.012608,-0.042090,0.999034]]
2025-10-26T22:25:47.176Z,1761517547.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:47.563Z,1761517547.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999696,0.020985,-0.012931],[-0.020417,-0.998884,-0.042591],[-0.013810,-0.042314,0.999009]]
2025-10-26T22:25:47.599Z,1761517547.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:47.984Z,1761517547.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999660,0.021931,-0.014084],[-0.021312,-0.998861,-0.042683],[-0.015004,-0.042368,0.998989]]
2025-10-26T22:25:48.006Z,1761517548.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:48.391Z,1761517548.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999621,0.022951,-0.015184],[-0.022286,-0.998841,-0.042652],[-0.016145,-0.042298,0.998975]]
2025-10-26T22:25:48.487Z,1761517548.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:48.773Z,1761517548.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999584,0.023898,-0.016156],[-0.023196,-0.998834,-0.042343],[-0.017149,-0.041951,0.998972]]
2025-10-26T22:25:48.792Z,1761517548.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:49.184Z,1761517549.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999535,0.025164,-0.017222],[-0.024422,-0.998818,-0.042014],[-0.018259,-0.041574,0.998969]]
2025-10-26T22:25:49.203Z,1761517549.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:49.304Z,1761517549.304 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:25:49.591Z,1761517549.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999476,0.026801,-0.018142],[-0.026024,-0.998787,-0.041799],[-0.019240,-0.041305,0.998961]]
2025-10-26T22:25:49.628Z,1761517549.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:50.029Z,1761517550.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999408,0.028661,-0.019055],[-0.027848,-0.998744,-0.041662],[-0.020225,-0.041107,0.998950]]
2025-10-26T22:25:50.080Z,1761517550.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:50.308Z,1761517550.308 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:25:50.394Z,1761517550.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999323,0.031076,-0.019675],[-0.030233,-0.998670,-0.041766],[-0.020947,-0.041143,0.998934]]
2025-10-26T22:25:50.485Z,1761517550.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:50.804Z,1761517550.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999242,0.033165,-0.020400],[-0.032296,-0.998615,-0.041540],[-0.021749,-0.040849,0.998929]]
2025-10-26T22:25:50.841Z,1761517550.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:51.211Z,1761517551.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999158,0.035312,-0.020870],[-0.034431,-0.998558,-0.041178],[-0.022294,-0.040425,0.998934]]
2025-10-26T22:25:51.230Z,1761517551.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:51.622Z,1761517551.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999074,0.037439,-0.021202],[-0.036554,-0.998504,-0.040666],[-0.022693,-0.039854,0.998948]]
2025-10-26T22:25:51.701Z,1761517551.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:52.017Z,1761517552.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998969,0.040098,-0.021283],[-0.039216,-0.998415,-0.040380],[-0.022869,-0.039504,0.998958]]
2025-10-26T22:25:52.106Z,1761517552.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:52.437Z,1761517552.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998861,0.042708,-0.021267],[-0.041831,-0.998319,-0.040107],[-0.022945,-0.039172,0.998969]]
2025-10-26T22:25:52.548Z,1761517552.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:52.823Z,1761517552.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998724,0.045816,-0.021227],[-0.044935,-0.998178,-0.040263],[-0.023033,-0.039258,0.998964]]
2025-10-26T22:25:52.860Z,1761517552.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:53.219Z,1761517553.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998583,0.048914,-0.020958],[-0.048036,-0.998023,-0.040532],[-0.022899,-0.039468,0.998958]]
2025-10-26T22:25:53.264Z,1761517553.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:53.621Z,1761517553.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998453,0.051640,-0.020633],[-0.050771,-0.997883,-0.040637],[-0.022688,-0.039527,0.998961]]
2025-10-26T22:25:53.681Z,1761517553.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:54.031Z,1761517554.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998323,0.054227,-0.020260],[-0.053369,-0.997744,-0.040728],[-0.022423,-0.039578,0.998965]]
2025-10-26T22:25:54.050Z,1761517554.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:54.530Z,1761517554.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:54.833Z,1761517554.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998128,0.058022,-0.019323],[-0.057214,-0.997558,-0.040060],[-0.021600,-0.038880,0.999010]]
2025-10-26T22:25:54.877Z,1761517554.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:55.248Z,1761517555.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998056,0.059370,-0.018977],[-0.058584,-0.997497,-0.039581],[-0.021280,-0.038393,0.999036]]
2025-10-26T22:25:55.267Z,1761517555.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:55.651Z,1761517555.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997983,0.060741,-0.018440],[-0.059979,-0.997422,-0.039392],[-0.020785,-0.038207,0.999054]]
2025-10-26T22:25:55.715Z,1761517555.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:56.065Z,1761517556.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997915,0.062016,-0.017902],[-0.061273,-0.997342,-0.039435],[-0.020299,-0.038256,0.999062]]
2025-10-26T22:25:56.084Z,1761517556.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:56.473Z,1761517556.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997865,0.062937,-0.017448],[-0.062208,-0.997279,-0.039566],[-0.019891,-0.038396,0.999065]]
2025-10-26T22:25:56.556Z,1761517556.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:56.862Z,1761517556.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997845,0.063368,-0.017011],[-0.062655,-0.997249,-0.039594],[-0.019473,-0.038443,0.999071]]
2025-10-26T22:25:56.910Z,1761517556.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:57.266Z,1761517557.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997849,0.063439,-0.016524],[-0.062747,-0.997247,-0.039518],[-0.018986,-0.038396,0.999082]]
2025-10-26T22:25:57.284Z,1761517557.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:57.745Z,1761517557.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:58.104Z,1761517558.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997901,0.062745,-0.016013],[-0.062074,-0.997292,-0.039444],[-0.018445,-0.038367,0.999093]]
2025-10-26T22:25:58.122Z,1761517558.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:58.480Z,1761517558.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997942,0.062153,-0.015760],[-0.061492,-0.997326,-0.039479],[-0.018172,-0.038429,0.999096]]
2025-10-26T22:25:58.533Z,1761517558.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:58.883Z,1761517558.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997975,0.061709,-0.015448],[-0.061055,-0.997344,-0.039717],[-0.017857,-0.038694,0.999092]]
2025-10-26T22:25:58.948Z,1761517558.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:59.286Z,1761517559.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998011,0.061167,-0.015254],[-0.060518,-0.997370,-0.039880],[-0.017653,-0.038877,0.999088]]
2025-10-26T22:25:59.311Z,1761517559.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:25:59.690Z,1761517559.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998066,0.060314,-0.015052],[-0.059676,-0.997427,-0.039723],[-0.017409,-0.038748,0.999097]]
2025-10-26T22:25:59.774Z,1761517559.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:00.096Z,1761517560.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998104,0.059738,-0.014814],[-0.059112,-0.997465,-0.039609],[-0.017143,-0.038658,0.999105]]
2025-10-26T22:26:00.114Z,1761517560.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:00.533Z,1761517560.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998150,0.059008,-0.014670],[-0.058392,-0.997518,-0.039353],[-0.016956,-0.038423,0.999118]]
2025-10-26T22:26:00.622Z,1761517560.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:00.976Z,1761517560.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998175,0.058637,-0.014442],[-0.058030,-0.997538,-0.039369],[-0.016715,-0.038459,0.999120]]
2025-10-26T22:26:01.021Z,1761517561.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:01.306Z,1761517561.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998169,0.058836,-0.014035],[-0.058238,-0.997511,-0.039742],[-0.016339,-0.038852,0.999111]]
2025-10-26T22:26:01.325Z,1761517561.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:01.715Z,1761517561.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998134,0.059536,-0.013561],[-0.058947,-0.997445,-0.040368],[-0.015930,-0.039494,0.999093]]
2025-10-26T22:26:01.768Z,1761517561.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:02.114Z,1761517562.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998120,0.059835,-0.013296],[-0.059251,-0.997416,-0.040637],[-0.015693,-0.039773,0.999086]]
2025-10-26T22:26:02.134Z,1761517562.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:02.519Z,1761517562.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998103,0.060202,-0.012881],[-0.059638,-0.997399,-0.040470],[-0.015284,-0.039625,0.999098]]
2025-10-26T22:26:02.538Z,1761517562.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:02.926Z,1761517562.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998071,0.060806,-0.012512],[-0.060258,-0.997370,-0.040280],[-0.014929,-0.039449,0.999110]]
2025-10-26T22:26:02.994Z,1761517562.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:03.326Z,1761517563.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998037,0.061451,-0.012071],[-0.060924,-0.997339,-0.040032],[-0.014499,-0.039218,0.999125]]
2025-10-26T22:26:03.356Z,1761517563.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:03.744Z,1761517563.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997985,0.062369,-0.011688],[-0.061858,-0.997287,-0.039902],[-0.014145,-0.039099,0.999135]]
2025-10-26T22:26:03.792Z,1761517563.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:04.154Z,1761517564.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997875,0.064175,-0.011286],[-0.063673,-0.997157,-0.040309],[-0.013841,-0.039505,0.999124]]
2025-10-26T22:26:04.208Z,1761517564.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:04.539Z,1761517564.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997777,0.065769,-0.010766],[-0.065283,-0.997042,-0.040558],[-0.013402,-0.039765,0.999119]]
2025-10-26T22:26:04.565Z,1761517564.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:05.062Z,1761517565.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:05.356Z,1761517565.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997640,0.067908,-0.010094],[-0.067447,-0.996897,-0.040592],[-0.012819,-0.039815,0.999125]]
2025-10-26T22:26:05.402Z,1761517565.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:05.834Z,1761517565.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:06.157Z,1761517566.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997514,0.069839,-0.009443],[-0.069405,-0.996770,-0.040399],[-0.012234,-0.039643,0.999139]]
2025-10-26T22:26:06.208Z,1761517566.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:06.600Z,1761517566.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:06.968Z,1761517566.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997434,0.071004,-0.009139],[-0.070582,-0.996692,-0.040281],[-0.011969,-0.039533,0.999147]]
2025-10-26T22:26:07.014Z,1761517567.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:07.377Z,1761517567.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997412,0.071299,-0.009213],[-0.070873,-0.996668,-0.040361],[-0.012060,-0.039604,0.999143]]
2025-10-26T22:26:07.412Z,1761517567.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:07.778Z,1761517567.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997396,0.071528,-0.009215],[-0.071099,-0.996644,-0.040569],[-0.012086,-0.039808,0.999134]]
2025-10-26T22:26:07.836Z,1761517567.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:08.189Z,1761517568.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997419,0.071187,-0.009388],[-0.070752,-0.996669,-0.040552],[-0.012243,-0.039783,0.999133]]
2025-10-26T22:26:08.207Z,1761517568.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:08.620Z,1761517568.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:08.990Z,1761517568.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997468,0.070411,-0.010023],[-0.069951,-0.996724,-0.040604],[-0.012849,-0.039800,0.999125]]
2025-10-26T22:26:09.036Z,1761517569.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:09.397Z,1761517569.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997504,0.069811,-0.010560],[-0.069330,-0.996767,-0.040602],[-0.013361,-0.039768,0.999120]]
2025-10-26T22:26:09.421Z,1761517569.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:09.802Z,1761517569.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997562,0.068909,-0.011062],[-0.068410,-0.996834,-0.040522],[-0.013819,-0.039667,0.999117]]
2025-10-26T22:26:09.844Z,1761517569.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:10.202Z,1761517570.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997610,0.068122,-0.011595],[-0.067600,-0.996885,-0.040630],[-0.014326,-0.039749,0.999107]]
2025-10-26T22:26:10.231Z,1761517570.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:10.606Z,1761517570.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997652,0.067400,-0.012197],[-0.066851,-0.996925,-0.040880],[-0.014914,-0.039968,0.999090]]
2025-10-26T22:26:10.625Z,1761517570.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:11.010Z,1761517571.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997712,0.066393,-0.012790],[-0.065818,-0.996987,-0.041054],[-0.015477,-0.040118,0.999075]]
2025-10-26T22:26:11.079Z,1761517571.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:11.422Z,1761517571.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997786,0.065150,-0.013394],[-0.064552,-0.997068,-0.041080],[-0.016031,-0.040124,0.999066]]
2025-10-26T22:26:11.448Z,1761517571.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:11.818Z,1761517571.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997851,0.064023,-0.013942],[-0.063403,-0.997140,-0.041141],[-0.016536,-0.040169,0.999056]]
2025-10-26T22:26:11.874Z,1761517571.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:12.223Z,1761517572.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997932,0.062578,-0.014689],[-0.061931,-0.997237,-0.041019],[-0.017215,-0.040024,0.999050]]
2025-10-26T22:26:12.241Z,1761517572.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:12.626Z,1761517572.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998001,0.061341,-0.015235],[-0.060673,-0.997315,-0.040998],[-0.017709,-0.039992,0.999043]]
2025-10-26T22:26:12.645Z,1761517572.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:13.032Z,1761517573.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998071,0.060045,-0.015772],[-0.059357,-0.997396,-0.040975],[-0.018191,-0.039959,0.999036]]
2025-10-26T22:26:13.121Z,1761517573.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:13.441Z,1761517573.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998151,0.058526,-0.016405],[-0.057815,-0.997488,-0.040928],[-0.018760,-0.039904,0.999027]]
2025-10-26T22:26:13.474Z,1761517573.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:13.838Z,1761517573.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998207,0.057414,-0.016928],[-0.056679,-0.997546,-0.041108],[-0.019247,-0.040074,0.999011]]
2025-10-26T22:26:13.887Z,1761517573.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:14.249Z,1761517574.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998265,0.056239,-0.017455],[-0.055480,-0.997606,-0.041284],[-0.019735,-0.040244,0.998995]]
2025-10-26T22:26:14.273Z,1761517574.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:14.674Z,1761517574.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998379,0.053924,-0.018186],[-0.053132,-0.997724,-0.041515],[-0.020384,-0.040481,0.998972]]
2025-10-26T22:26:14.733Z,1761517574.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:15.071Z,1761517575.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998451,0.052474,-0.018515],[-0.051673,-0.997807,-0.041368],[-0.020645,-0.040347,0.998972]]
2025-10-26T22:26:15.108Z,1761517575.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:15.492Z,1761517575.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:15.870Z,1761517575.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998537,0.050576,-0.019131],[-0.049751,-0.997904,-0.041387],[-0.021184,-0.040374,0.998960]]
2025-10-26T22:26:15.940Z,1761517575.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:16.269Z,1761517576.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998558,0.050083,-0.019347],[-0.049248,-0.997926,-0.041458],[-0.021384,-0.040445,0.998953]]
2025-10-26T22:26:16.288Z,1761517576.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:16.671Z,1761517576.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998575,0.049709,-0.019418],[-0.048871,-0.997944,-0.041476],[-0.021440,-0.040468,0.998951]]
2025-10-26T22:26:16.710Z,1761517576.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:17.076Z,1761517577.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998569,0.049856,-0.019345],[-0.049018,-0.997930,-0.041621],[-0.021380,-0.040613,0.998946]]
2025-10-26T22:26:17.137Z,1761517577.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:17.481Z,1761517577.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998555,0.050160,-0.019310],[-0.049321,-0.997911,-0.041722],[-0.021363,-0.040709,0.998943]]
2025-10-26T22:26:17.500Z,1761517577.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:17.901Z,1761517577.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998535,0.050547,-0.019294],[-0.049707,-0.997890,-0.041778],[-0.021365,-0.040758,0.998941]]
2025-10-26T22:26:18.011Z,1761517578.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:18.317Z,1761517578.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998524,0.050820,-0.019154],[-0.049989,-0.997883,-0.041594],[-0.021227,-0.040575,0.998951]]
2025-10-26T22:26:18.357Z,1761517578.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:18.688Z,1761517578.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998504,0.051278,-0.019009],[-0.050456,-0.997866,-0.041448],[-0.021094,-0.040426,0.998960]]
2025-10-26T22:26:18.755Z,1761517578.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:19.094Z,1761517579.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998482,0.051764,-0.018821],[-0.050953,-0.997847,-0.041305],[-0.020919,-0.040283,0.998969]]
2025-10-26T22:26:19.147Z,1761517579.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:19.502Z,1761517579.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998455,0.052316,-0.018741],[-0.051508,-0.997821,-0.041244],[-0.020858,-0.040215,0.998973]]
2025-10-26T22:26:19.539Z,1761517579.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:19.940Z,1761517579.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998446,0.052520,-0.018634],[-0.051722,-0.997820,-0.040992],[-0.020746,-0.039964,0.998986]]
2025-10-26T22:26:20.014Z,1761517580.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:20.304Z,1761517580.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998418,0.053135,-0.018413],[-0.052345,-0.997785,-0.041051],[-0.020553,-0.040023,0.998987]]
2025-10-26T22:26:20.330Z,1761517580.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:20.428Z,1761517580.428 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:26:20.714Z,1761517580.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998408,0.053359,-0.018303],[-0.052574,-0.997775,-0.041009],[-0.020451,-0.039981,0.998991]]
2025-10-26T22:26:20.750Z,1761517580.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:21.113Z,1761517581.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998410,0.053329,-0.018250],[-0.052547,-0.997779,-0.040939],[-0.020393,-0.039915,0.998995]]
2025-10-26T22:26:21.170Z,1761517581.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:21.432Z,1761517581.432 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:26:21.516Z,1761517581.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998421,0.053155,-0.018142],[-0.052378,-0.997789,-0.040915],[-0.020277,-0.039900,0.998998]]
2025-10-26T22:26:21.534Z,1761517581.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:21.947Z,1761517581.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998455,0.052518,-0.018167],[-0.051742,-0.997825,-0.040846],[-0.020273,-0.039843,0.999000]]
2025-10-26T22:26:21.000Z,1761517582.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:22.322Z,1761517582.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998512,0.051445,-0.018081],[-0.050676,-0.997886,-0.040682],[-0.020136,-0.039705,0.999009]]
2025-10-26T22:26:22.352Z,1761517582.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:22.735Z,1761517582.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998566,0.050370,-0.018121],[-0.049599,-0.997938,-0.040731],[-0.020135,-0.039774,0.999006]]
2025-10-26T22:26:22.757Z,1761517582.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:23.134Z,1761517583.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998629,0.049087,-0.018167],[-0.048314,-0.997998,-0.040804],[-0.020134,-0.039870,0.999002]]
2025-10-26T22:26:23.202Z,1761517583.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:23.534Z,1761517583.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998684,0.047954,-0.018162],[-0.047177,-0.998042,-0.041069],[-0.020096,-0.040158,0.998991]]
2025-10-26T22:26:23.560Z,1761517583.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:23.972Z,1761517583.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998773,0.046022,-0.018277],[-0.045242,-0.998135,-0.040995],[-0.020130,-0.040118,0.998992]]
2025-10-26T22:26:24.025Z,1761517584.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:24.342Z,1761517584.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998846,0.044367,-0.018410],[-0.043582,-0.998205,-0.041081],[-0.020200,-0.040232,0.998986]]
2025-10-26T22:26:24.361Z,1761517584.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:24.750Z,1761517584.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998938,0.042278,-0.018325],[-0.041500,-0.998300,-0.040918],[-0.020024,-0.040115,0.998994]]
2025-10-26T22:26:24.771Z,1761517584.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:25.150Z,1761517585.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999021,0.040170,-0.018516],[-0.039388,-0.998389,-0.040830],[-0.020127,-0.040060,0.998995]]
2025-10-26T22:26:25.193Z,1761517585.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:25.554Z,1761517585.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999091,0.038393,-0.018516],[-0.037611,-0.998457,-0.040863],[-0.020056,-0.040129,0.998993]]
2025-10-26T22:26:25.588Z,1761517585.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:25.998Z,1761517585.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999162,0.036598,-0.018342],[-0.035824,-0.998521,-0.040886],[-0.019811,-0.040195,0.998995]]
2025-10-26T22:26:26.035Z,1761517586.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:26.364Z,1761517586.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999225,0.034907,-0.018215],[-0.034138,-0.998579,-0.040926],[-0.019618,-0.040272,0.998996]]
2025-10-26T22:26:26.382Z,1761517586.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:26.766Z,1761517586.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999273,0.033573,-0.018073],[-0.032809,-0.998620,-0.041012],[-0.019425,-0.040390,0.998995]]
2025-10-26T22:26:26.794Z,1761517586.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:27.170Z,1761517587.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999315,0.032446,-0.017826],[-0.031691,-0.998652,-0.041119],[-0.019137,-0.040526,0.998995]]
2025-10-26T22:26:27.214Z,1761517587.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:27.574Z,1761517587.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999351,0.031361,-0.017696],[-0.030612,-0.998685,-0.041134],[-0.018963,-0.040565,0.998997]]
2025-10-26T22:26:27.593Z,1761517587.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:28.029Z,1761517588.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999390,0.030258,-0.017416],[-0.029524,-0.998723,-0.041002],[-0.018634,-0.040463,0.999007]]
2025-10-26T22:26:28.066Z,1761517588.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:28.387Z,1761517588.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999420,0.029387,-0.017178],[-0.028664,-0.998752,-0.040904],[-0.018359,-0.040388,0.999015]]
2025-10-26T22:26:28.417Z,1761517588.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:28.806Z,1761517588.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999451,0.028501,-0.016885],[-0.027793,-0.998783,-0.040748],[-0.018026,-0.040257,0.999027]]
2025-10-26T22:26:28.847Z,1761517588.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:29.203Z,1761517589.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999473,0.027867,-0.016621],[-0.027171,-0.998801,-0.040723],[-0.017735,-0.040250,0.999032]]
2025-10-26T22:26:29.258Z,1761517589.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:29.594Z,1761517589.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999491,0.027395,-0.016332],[-0.026710,-0.998813,-0.040737],[-0.017429,-0.040280,0.999036]]
2025-10-26T22:26:29.623Z,1761517589.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:30.035Z,1761517590.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999509,0.026820,-0.016193],[-0.026142,-0.998829,-0.040721],[-0.017266,-0.040278,0.999039]]
2025-10-26T22:26:30.094Z,1761517590.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:30.414Z,1761517590.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999525,0.026293,-0.016061],[-0.025621,-0.998842,-0.040717],[-0.017113,-0.040286,0.999042]]
2025-10-26T22:26:30.433Z,1761517590.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:30.806Z,1761517590.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999542,0.025758,-0.015902],[-0.025093,-0.998857,-0.040689],[-0.016932,-0.040271,0.999045]]
2025-10-26T22:26:30.928Z,1761517590.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:31.210Z,1761517591.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999546,0.025680,-0.015767],[-0.025016,-0.998847,-0.040965],[-0.016801,-0.040552,0.999036]]
2025-10-26T22:26:31.273Z,1761517591.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:31.614Z,1761517591.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999564,0.024919,-0.015857],[-0.024253,-0.998869,-0.040886],[-0.016858,-0.040484,0.999038]]
2025-10-26T22:26:31.659Z,1761517591.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:32.048Z,1761517592.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999590,0.023802,-0.015948],[-0.023138,-0.998907,-0.040612],[-0.016897,-0.040227,0.999048]]
2025-10-26T22:26:32.140Z,1761517592.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:32.436Z,1761517592.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999612,0.022744,-0.016053],[-0.022080,-0.998941,-0.040375],[-0.016955,-0.040005,0.999056]]
2025-10-26T22:26:32.475Z,1761517592.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:32.826Z,1761517592.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999624,0.022164,-0.016133],[-0.021496,-0.998950,-0.040461],[-0.017013,-0.040099,0.999051]]
2025-10-26T22:26:32.868Z,1761517592.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:33.235Z,1761517593.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999626,0.021880,-0.016381],[-0.021198,-0.998946,-0.040714],[-0.017255,-0.040351,0.999037]]
2025-10-26T22:26:33.286Z,1761517593.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:33.650Z,1761517593.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999638,0.021126,-0.016652],[-0.020434,-0.998961,-0.040725],[-0.017495,-0.040370,0.999032]]
2025-10-26T22:26:33.667Z,1761517593.667 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:26:33.669Z,1761517593.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:33.777Z,1761517593.777 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:26:33.777Z,1761517593.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:26:34.029Z,1761517594.029 [DAT](INFO): DAT read: user:559>

2025-10-26T22:26:34.030Z,1761517594.030 [DAT](INFO): DAT read: Tx time:22:26:33.1383

2025-10-26T22:26:34.030Z,1761517594.030 [DAT](INFO): Ping request sent.
2025-10-26T22:26:34.030Z,1761517594.030 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:26:34.030Z,1761517594.030 [DAT](INFO): publishing transmit ping time
2025-10-26T22:26:34.031Z,1761517594.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-10-26T22:26:34.200Z,1761517594.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:34.281Z,1761517594.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250498
2025-10-26T22:26:34.448Z,1761517594.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999654,0.019853,-0.017234],[-0.019134,-0.998979,-0.040921],[-0.018029,-0.040577,0.999014]]
2025-10-26T22:26:34.467Z,1761517594.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:34.538Z,1761517594.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507732
2025-10-26T22:26:34.788Z,1761517594.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758292
2025-10-26T22:26:34.857Z,1761517594.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999665,0.018898,-0.017653],[-0.018166,-0.999004,-0.040748],[-0.018405,-0.040414,0.999013]]
2025-10-26T22:26:34.917Z,1761517594.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:35.041Z,1761517595.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010514
2025-10-26T22:26:35.252Z,1761517595.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999669,0.018507,-0.017865],[-0.017765,-0.999007,-0.040849],[-0.018603,-0.040519,0.999006]]
2025-10-26T22:26:35.293Z,1761517595.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262632
2025-10-26T22:26:35.304Z,1761517595.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:35.545Z,1761517595.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514460
2025-10-26T22:26:35.654Z,1761517595.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999673,0.017997,-0.018165],[-0.017242,-0.999017,-0.040848],[-0.018882,-0.040521,0.999000]]
2025-10-26T22:26:35.672Z,1761517595.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:35.796Z,1761517595.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766184
2025-10-26T22:26:36.048Z,1761517596.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018334
2025-10-26T22:26:36.067Z,1761517596.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999673,0.017647,-0.018504],[-0.016878,-0.999020,-0.040911],[-0.019208,-0.040585,0.998991]]
2025-10-26T22:26:36.126Z,1761517596.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:36.300Z,1761517596.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270288
2025-10-26T22:26:36.462Z,1761517596.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999680,0.016959,-0.018778],[-0.016182,-0.999038,-0.040759],[-0.019451,-0.040443,0.998993]]
2025-10-26T22:26:36.512Z,1761517596.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:36.555Z,1761517596.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524994
2025-10-26T22:26:36.805Z,1761517596.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774515
2025-10-26T22:26:36.881Z,1761517596.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999682,0.016673,-0.018913],[-0.015891,-0.999042,-0.040768],[-0.019575,-0.040455,0.998990]]
2025-10-26T22:26:36.927Z,1761517596.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:37.056Z,1761517597.056 [DAT](INFO): DAT read: Rx Time:22:26:35.5909

2025-10-26T22:26:37.057Z,1761517597.057 [DAT](INFO): Rx dataTimestamp_ set to:1761517597.056627
2025-10-26T22:26:37.057Z,1761517597.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027389
2025-10-26T22:26:37.271Z,1761517597.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999679,0.016536,-0.019209],[-0.015740,-0.999042,-0.040844],[-0.019866,-0.040529,0.998981]]
2025-10-26T22:26:37.317Z,1761517597.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286651
2025-10-26T22:26:37.328Z,1761517597.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.22 m.
2025-10-26T22:26:37.574Z,1761517597.574 [DAT](INFO): DAT read: 22:26:35.5909 LVL= 27232, 19313, 20722, 29171, AGC= 55, IDX= 507, 0.29, 1.574,-2.649, 2.959, 3.034, PHS=-1.358, 0.645,-0.119, RAW= 292.2,   9.5, CAL= 289.7,  11.7, ROT= 220.3, -11.7

2025-10-26T22:26:37.575Z,1761517597.575 [DAT](INFO): got valid direction response:
 22:26:35.5909 LVL= 27232, 19313, 20722, 29171, AGC= 55, IDX= 507, 0.29, 1.574,-2.649, 2.959, 3.034, PHS=-1.358, 0.645,-0.119, RAW= 292.2,   9.5, CAL= 289.7,  11.7, ROT= 220.3, -11.7

2025-10-26T22:26:37.576Z,1761517597.576 [DAT](INFO): DAT read: Bearing 136.9, -38.6 (Local)

2025-10-26T22:26:37.576Z,1761517597.576 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.9, -38.6 (Local)

2025-10-26T22:26:37.578Z,1761517597.578 [DAT](INFO): DAT read: Range 11 to 50 : 36.3 m  (Round-trip  48.4 ms) speed  0.0 m/s

2025-10-26T22:26:37.578Z,1761517597.578 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:26:37.579Z,1761517597.579 [DAT](INFO): direction in FSK: [-0.746822,-0.633351,0.202787]
2025-10-26T22:26:37.580Z,1761517597.580 [DAT](INFO): publishing direction and range info
2025-10-26T22:26:37.678Z,1761517597.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999681,0.016086,-0.019454],[-0.015283,-0.999053,-0.040727],[-0.020091,-0.040417,0.998981]]
2025-10-26T22:26:37.703Z,1761517597.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.299999 m,
      deltaT: 60.280300 s,
      deltaX: 5.900000 m,
      approachRate: 0.097876 m/s,
      rangeRepo size: 4

2025-10-26T22:26:37.722Z,1761517597.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.084225 m,
      bearing: 40.964174 deg,
      lat: 36.779404 deg,
      lon: -121.859460 deg,
      deltaT: 60.280300 s,
      deltaX: 5.864977 m,
      approachRate: 0.097295 m/s,
      posRepo size: 4

2025-10-26T22:26:37.723Z,1761517597.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:38.079Z,1761517598.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999680,0.015844,-0.019698],[-0.015031,-0.999057,-0.040744],[-0.020325,-0.040435,0.998975]]
2025-10-26T22:26:38.186Z,1761517598.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:38.484Z,1761517598.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999688,0.015163,-0.019865],[-0.014348,-0.999075,-0.040544],[-0.020462,-0.040246,0.998980]]
2025-10-26T22:26:38.491Z,1761517598.491 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050302145649,35.0, +10.6, 92.0,  0
2025-10-26T22:26:38.508Z,1761517598.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:38.903Z,1761517598.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999690,0.014753,-0.020042],[-0.013931,-0.999081,-0.040535],[-0.020621,-0.040244,0.998977]]
2025-10-26T22:26:38.925Z,1761517598.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:39.290Z,1761517599.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999696,0.014146,-0.020192],[-0.013320,-0.999090,-0.040510],[-0.020746,-0.040229,0.998975]]
2025-10-26T22:26:39.334Z,1761517599.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:39.694Z,1761517599.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999706,0.013318,-0.020281],[-0.012490,-0.999104,-0.040438],[-0.020802,-0.040173,0.998976]]
2025-10-26T22:26:39.720Z,1761517599.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:40.101Z,1761517600.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999714,0.012521,-0.020384],[-0.011689,-0.999113,-0.040463],[-0.020872,-0.040214,0.998973]]
2025-10-26T22:26:40.119Z,1761517600.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:40.502Z,1761517600.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999721,0.011785,-0.020479],[-0.010947,-0.999117,-0.040569],[-0.020939,-0.040334,0.998967]]
2025-10-26T22:26:40.546Z,1761517600.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:40.911Z,1761517600.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999729,0.010709,-0.020692],[-0.009865,-0.999132,-0.040482],[-0.021108,-0.040267,0.998966]]
2025-10-26T22:26:40.945Z,1761517600.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:41.311Z,1761517601.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999737,0.009356,-0.020937],[-0.008506,-0.999151,-0.040318],[-0.021296,-0.040130,0.998967]]
2025-10-26T22:26:41.371Z,1761517601.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:41.722Z,1761517601.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999743,0.008075,-0.021167],[-0.007217,-0.999162,-0.040297],[-0.021474,-0.040134,0.998964]]
2025-10-26T22:26:41.745Z,1761517601.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:42.120Z,1761517602.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999751,0.006631,-0.021311],[-0.005770,-0.999175,-0.040190],[-0.021560,-0.040057,0.998965]]
2025-10-26T22:26:42.148Z,1761517602.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:42.525Z,1761517602.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999758,0.005109,-0.021396],[-0.004247,-0.999184,-0.040161],[-0.021584,-0.040061,0.998964]]
2025-10-26T22:26:42.583Z,1761517602.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:42.960Z,1761517602.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999757,0.003778,-0.021725],[-0.002899,-0.999182,-0.040332],[-0.021860,-0.040259,0.998950]]
2025-10-26T22:26:43.003Z,1761517603.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:43.347Z,1761517603.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999756,0.002326,-0.021952],[-0.001436,-0.999180,-0.040469],[-0.022028,-0.040428,0.998940]]
2025-10-26T22:26:43.421Z,1761517603.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:43.740Z,1761517603.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999756,0.000733,-0.022090],[0.000162,-0.999181,-0.040455],[-0.022102,-0.040448,0.998937]]
2025-10-26T22:26:43.818Z,1761517603.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:44.141Z,1761517604.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999755,-0.000681,-0.022120],[0.001578,-0.999177,-0.040539],[-0.022074,-0.040564,0.998933]]
2025-10-26T22:26:44.166Z,1761517604.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:44.546Z,1761517604.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999749,-0.001873,-0.022341],[0.002782,-0.999168,-0.040690],[-0.022246,-0.040742,0.998922]]
2025-10-26T22:26:44.595Z,1761517604.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:44.947Z,1761517604.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999742,-0.003580,-0.022427],[0.004486,-0.999172,-0.040440],[-0.022264,-0.040530,0.998930]]
2025-10-26T22:26:44.992Z,1761517604.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:45.350Z,1761517605.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999739,-0.004423,-0.022400],[0.005330,-0.999161,-0.040605],[-0.022202,-0.040713,0.998924]]
2025-10-26T22:26:45.408Z,1761517605.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:45.759Z,1761517605.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999731,-0.005717,-0.022490],[0.006624,-0.999158,-0.040478],[-0.022240,-0.040616,0.998927]]
2025-10-26T22:26:45.778Z,1761517605.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:46.166Z,1761517606.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999729,-0.006367,-0.022406],[0.007272,-0.999150,-0.040575],[-0.022129,-0.040727,0.998925]]
2025-10-26T22:26:46.185Z,1761517606.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:46.577Z,1761517606.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999724,-0.007218,-0.022370],[0.008120,-0.999147,-0.040477],[-0.022059,-0.040648,0.998930]]
2025-10-26T22:26:46.657Z,1761517606.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:46.975Z,1761517606.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999726,-0.007672,-0.022113],[0.008563,-0.999144,-0.040481],[-0.021783,-0.040659,0.998936]]
2025-10-26T22:26:46.993Z,1761517606.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:47.390Z,1761517607.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999727,-0.008093,-0.021936],[0.008976,-0.999142,-0.040426],[-0.021590,-0.040612,0.998942]]
2025-10-26T22:26:47.452Z,1761517607.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:47.786Z,1761517607.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999732,-0.008298,-0.021594],[0.009164,-0.999145,-0.040322],[-0.021241,-0.040509,0.998953]]
2025-10-26T22:26:47.810Z,1761517607.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:48.194Z,1761517608.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999739,-0.008325,-0.021298],[0.009178,-0.999147,-0.040267],[-0.020945,-0.040452,0.998962]]
2025-10-26T22:26:48.239Z,1761517608.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:48.590Z,1761517608.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999749,-0.007990,-0.020906],[0.008828,-0.999149,-0.040294],[-0.020566,-0.040468,0.998969]]
2025-10-26T22:26:48.627Z,1761517608.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:48.993Z,1761517608.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999760,-0.007866,-0.020445],[0.008684,-0.999153,-0.040226],[-0.020111,-0.040393,0.998981]]
2025-10-26T22:26:49.024Z,1761517609.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:49.399Z,1761517609.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999769,-0.007483,-0.020133],[0.008289,-0.999155,-0.040266],[-0.019815,-0.040424,0.998986]]
2025-10-26T22:26:49.443Z,1761517609.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:49.798Z,1761517609.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999782,-0.006973,-0.019696],[0.007764,-0.999155,-0.040358],[-0.019398,-0.040502,0.998991]]
2025-10-26T22:26:49.817Z,1761517609.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:50.204Z,1761517610.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999792,-0.006523,-0.019350],[0.007301,-0.999157,-0.040409],[-0.019070,-0.040541,0.998996]]
2025-10-26T22:26:50.222Z,1761517610.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:50.607Z,1761517610.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999803,-0.005844,-0.018967],[0.006610,-0.999155,-0.040560],[-0.018714,-0.040677,0.998997]]
2025-10-26T22:26:50.650Z,1761517610.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:51.050Z,1761517611.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:51.415Z,1761517611.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999816,-0.005809,-0.018290],[0.006541,-0.999170,-0.040213],[-0.018041,-0.040325,0.999024]]
2025-10-26T22:26:51.469Z,1761517611.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:51.553Z,1761517611.553 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:26:51.818Z,1761517611.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999822,-0.005826,-0.017954],[0.006543,-0.999172,-0.040163],[-0.017706,-0.040274,0.999032]]
2025-10-26T22:26:51.845Z,1761517611.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:52.222Z,1761517612.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999825,-0.006059,-0.017677],[0.006764,-0.999174,-0.040076],[-0.017419,-0.040189,0.999040]]
2025-10-26T22:26:52.256Z,1761517612.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:52.556Z,1761517612.556 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:26:52.626Z,1761517612.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999822,-0.006624,-0.017652],[0.007327,-0.999171,-0.040036],[-0.017372,-0.040158,0.999042]]
2025-10-26T22:26:52.677Z,1761517612.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:53.038Z,1761517613.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999817,-0.007312,-0.017698],[0.008016,-0.999167,-0.040015],[-0.017390,-0.040150,0.999042]]
2025-10-26T22:26:53.057Z,1761517613.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:53.434Z,1761517613.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999810,-0.008145,-0.017701],[0.008848,-0.999160,-0.040018],[-0.017361,-0.040167,0.999042]]
2025-10-26T22:26:53.479Z,1761517613.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:53.838Z,1761517613.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999796,-0.009257,-0.017925],[0.009969,-0.999147,-0.040064],[-0.017539,-0.040234,0.999036]]
2025-10-26T22:26:53.888Z,1761517613.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:54.244Z,1761517614.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999780,-0.010583,-0.018082],[0.011300,-0.999135,-0.040028],[-0.017642,-0.040224,0.999035]]
2025-10-26T22:26:54.263Z,1761517614.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:54.646Z,1761517614.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999758,-0.012039,-0.018438],[0.012769,-0.999117,-0.040035],[-0.017940,-0.040261,0.999028]]
2025-10-26T22:26:54.690Z,1761517614.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:55.050Z,1761517615.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999733,-0.013518,-0.018753],[0.014261,-0.999095,-0.040063],[-0.018194,-0.040320,0.999021]]
2025-10-26T22:26:55.085Z,1761517615.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:55.454Z,1761517615.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999697,-0.015402,-0.019223],[0.016160,-0.999070,-0.039969],[-0.018590,-0.040268,0.999016]]
2025-10-26T22:26:55.523Z,1761517615.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:55.868Z,1761517615.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999661,-0.017024,-0.019701],[0.017804,-0.999036,-0.040125],[-0.018998,-0.040462,0.999000]]
2025-10-26T22:26:55.887Z,1761517615.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:56.264Z,1761517616.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999619,-0.018938,-0.020071],[0.019731,-0.999002,-0.040084],[-0.019292,-0.040465,0.998995]]
2025-10-26T22:26:56.282Z,1761517616.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:56.666Z,1761517616.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999576,-0.020649,-0.020541],[0.021462,-0.998963,-0.040153],[-0.019690,-0.040576,0.998982]]
2025-10-26T22:26:56.774Z,1761517616.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:57.112Z,1761517617.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999500,-0.023531,-0.021117],[0.024366,-0.998895,-0.040194],[-0.020147,-0.040689,0.998969]]
2025-10-26T22:26:57.137Z,1761517617.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:57.555Z,1761517617.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:57.882Z,1761517617.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999465,-0.024629,-0.021513],[0.025480,-0.998866,-0.040214],[-0.020498,-0.040740,0.998959]]
2025-10-26T22:26:57.925Z,1761517617.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:58.286Z,1761517618.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999437,-0.025556,-0.021719],[0.026413,-0.998845,-0.040136],[-0.020668,-0.040687,0.998958]]
2025-10-26T22:26:58.321Z,1761517618.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:58.690Z,1761517618.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999429,-0.025806,-0.021820],[0.026669,-0.998835,-0.040209],[-0.020757,-0.040768,0.998953]]
2025-10-26T22:26:58.747Z,1761517618.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:59.108Z,1761517619.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999426,-0.025877,-0.021866],[0.026742,-0.998834,-0.040202],[-0.020801,-0.040764,0.998952]]
2025-10-26T22:26:59.126Z,1761517619.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:59.573Z,1761517619.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:26:59.908Z,1761517619.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999460,-0.024761,-0.021623],[0.025616,-0.998863,-0.040199],[-0.020603,-0.040731,0.998958]]
2025-10-26T22:26:59.934Z,1761517619.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:00.312Z,1761517620.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999480,-0.024070,-0.021474],[0.024917,-0.998886,-0.040070],[-0.020486,-0.040584,0.998966]]
2025-10-26T22:27:00.349Z,1761517620.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:00.740Z,1761517620.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999496,-0.023448,-0.021411],[0.024289,-0.998908,-0.039923],[-0.020452,-0.040422,0.998973]]
2025-10-26T22:27:00.823Z,1761517620.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:01.120Z,1761517621.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999521,-0.022614,-0.021109],[0.023441,-0.998932,-0.039825],[-0.020186,-0.040300,0.998984]]
2025-10-26T22:27:01.138Z,1761517621.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:01.530Z,1761517621.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999545,-0.021692,-0.020970],[0.022515,-0.998952,-0.039844],[-0.020083,-0.040298,0.998986]]
2025-10-26T22:27:01.576Z,1761517621.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:01.931Z,1761517621.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999569,-0.020813,-0.020708],[0.021628,-0.998969,-0.039925],[-0.019856,-0.040355,0.998988]]
2025-10-26T22:27:01.966Z,1761517621.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:02.343Z,1761517622.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999575,-0.020570,-0.020644],[0.021379,-0.998981,-0.039760],[-0.019805,-0.040185,0.998996]]
2025-10-26T22:27:02.395Z,1761517622.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:02.744Z,1761517622.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999583,-0.020288,-0.020532],[0.021094,-0.998984,-0.039815],[-0.019704,-0.040231,0.998996]]
2025-10-26T22:27:02.780Z,1761517622.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:03.196Z,1761517623.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:03.557Z,1761517623.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999578,-0.020754,-0.020329],[0.021548,-0.998982,-0.039640],[-0.019486,-0.040062,0.999007]]
2025-10-26T22:27:03.613Z,1761517623.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:03.942Z,1761517623.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999564,-0.021351,-0.020408],[0.022147,-0.998971,-0.039590],[-0.019542,-0.040025,0.999008]]
2025-10-26T22:27:03.972Z,1761517623.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:04.354Z,1761517624.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999544,-0.022068,-0.020622],[0.022872,-0.998953,-0.039619],[-0.019726,-0.040073,0.999002]]
2025-10-26T22:27:04.384Z,1761517624.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:04.750Z,1761517624.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999511,-0.023221,-0.020945],[0.024037,-0.998927,-0.039587],[-0.020003,-0.040071,0.998997]]
2025-10-26T22:27:04.808Z,1761517624.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:05.155Z,1761517625.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999479,-0.024351,-0.021172],[0.025178,-0.998894,-0.039718],[-0.020181,-0.040230,0.998987]]
2025-10-26T22:27:05.174Z,1761517625.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:05.579Z,1761517625.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999441,-0.025656,-0.021449],[0.026496,-0.998854,-0.039851],[-0.020402,-0.040397,0.998975]]
2025-10-26T22:27:05.638Z,1761517625.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:05.962Z,1761517625.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999391,-0.027203,-0.021862],[0.028061,-0.998808,-0.039934],[-0.020750,-0.040523,0.998963]]
2025-10-26T22:27:06.004Z,1761517626.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:06.366Z,1761517626.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999335,-0.028898,-0.022242],[0.029768,-0.998763,-0.039828],[-0.021064,-0.040464,0.998959]]
2025-10-26T22:27:06.385Z,1761517626.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:06.771Z,1761517626.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999285,-0.030277,-0.022669],[0.031165,-0.998718,-0.039891],[-0.021432,-0.040569,0.998947]]
2025-10-26T22:27:06.809Z,1761517626.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:07.174Z,1761517627.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999236,-0.031645,-0.022942],[0.032543,-0.998674,-0.039891],[-0.021649,-0.040607,0.998941]]
2025-10-26T22:27:07.203Z,1761517627.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:07.605Z,1761517627.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999167,-0.033437,-0.023397],[0.034345,-0.998626,-0.039570],[-0.022042,-0.040341,0.998943]]
2025-10-26T22:27:07.645Z,1761517627.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:07.986Z,1761517627.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999135,-0.034231,-0.023633],[0.035153,-0.998591,-0.039753],[-0.022239,-0.040549,0.998930]]
2025-10-26T22:27:08.005Z,1761517628.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:08.387Z,1761517628.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999095,-0.035149,-0.023930],[0.036083,-0.998558,-0.039753],[-0.022498,-0.040581,0.998923]]
2025-10-26T22:27:08.406Z,1761517628.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:08.790Z,1761517628.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999073,-0.035655,-0.024110],[0.036598,-0.998533,-0.039895],[-0.022652,-0.040740,0.998913]]
2025-10-26T22:27:08.866Z,1761517628.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:09.194Z,1761517629.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999041,-0.036416,-0.024301],[0.037364,-0.998510,-0.039775],[-0.022816,-0.040644,0.998913]]
2025-10-26T22:27:09.236Z,1761517629.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:09.640Z,1761517629.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999020,-0.036857,-0.024516],[0.037811,-0.998497,-0.039661],[-0.023018,-0.040549,0.998912]]
2025-10-26T22:27:09.676Z,1761517629.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:10.012Z,1761517630.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999014,-0.037037,-0.024486],[0.037988,-0.998494,-0.039580],[-0.022983,-0.040471,0.998916]]
2025-10-26T22:27:10.031Z,1761517630.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:10.406Z,1761517630.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999020,-0.036950,-0.024365],[0.037895,-0.998498,-0.039557],[-0.022867,-0.040442,0.998920]]
2025-10-26T22:27:10.442Z,1761517630.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:10.810Z,1761517630.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999020,-0.036975,-0.024337],[0.037917,-0.998502,-0.039435],[-0.022843,-0.040319,0.998926]]
2025-10-26T22:27:10.867Z,1761517630.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:11.219Z,1761517631.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999040,-0.036570,-0.024103],[0.037504,-0.998516,-0.039488],[-0.022623,-0.040354,0.998929]]
2025-10-26T22:27:11.254Z,1761517631.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:11.677Z,1761517631.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999059,-0.036191,-0.023898],[0.037118,-0.998528,-0.039555],[-0.022432,-0.040405,0.998932]]
2025-10-26T22:27:11.752Z,1761517631.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:12.022Z,1761517632.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999081,-0.035712,-0.023688],[0.036633,-0.998542,-0.039653],[-0.022237,-0.040484,0.998933]]
2025-10-26T22:27:12.041Z,1761517632.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:12.427Z,1761517632.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999094,-0.035567,-0.023373],[0.036473,-0.998552,-0.039532],[-0.021933,-0.040349,0.998945]]
2025-10-26T22:27:12.446Z,1761517632.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:12.841Z,1761517632.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999121,-0.034991,-0.023066],[0.035886,-0.998571,-0.039605],[-0.021647,-0.040398,0.998949]]
2025-10-26T22:27:12.878Z,1761517632.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:13.268Z,1761517633.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:13.694Z,1761517633.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999159,-0.034246,-0.022535],[0.035117,-0.998603,-0.039473],[-0.021152,-0.040231,0.998967]]
2025-10-26T22:27:13.758Z,1761517633.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:14.046Z,1761517634.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999180,-0.033832,-0.022235],[0.034694,-0.998614,-0.039566],[-0.020866,-0.040305,0.998969]]
2025-10-26T22:27:14.065Z,1761517634.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:14.448Z,1761517634.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999194,-0.033581,-0.021994],[0.034434,-0.998623,-0.039589],[-0.020634,-0.040314,0.998974]]
2025-10-26T22:27:14.466Z,1761517634.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:14.853Z,1761517634.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999208,-0.033346,-0.021709],[0.034188,-0.998630,-0.039608],[-0.020359,-0.040319,0.998979]]
2025-10-26T22:27:14.896Z,1761517634.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:15.258Z,1761517635.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999210,-0.033381,-0.021555],[0.034215,-0.998632,-0.039545],[-0.020205,-0.040251,0.998985]]
2025-10-26T22:27:15.309Z,1761517635.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:15.720Z,1761517635.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999220,-0.033267,-0.021285],[0.034091,-0.998635,-0.039560],[-0.019940,-0.040255,0.998990]]
2025-10-26T22:27:15.768Z,1761517635.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:16.069Z,1761517636.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999221,-0.033356,-0.021094],[0.034170,-0.998636,-0.039483],[-0.019748,-0.040173,0.998998]]
2025-10-26T22:27:16.087Z,1761517636.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:16.470Z,1761517636.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999207,-0.033789,-0.021055],[0.034597,-0.998629,-0.039290],[-0.019698,-0.039987,0.999006]]
2025-10-26T22:27:16.496Z,1761517636.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:16.881Z,1761517636.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999207,-0.033861,-0.020951],[0.034665,-0.998625,-0.039323],[-0.019591,-0.040018,0.999007]]
2025-10-26T22:27:16.940Z,1761517636.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:17.274Z,1761517637.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999200,-0.034104,-0.020898],[0.034908,-0.998614,-0.039392],[-0.019526,-0.040090,0.999005]]
2025-10-26T22:27:17.302Z,1761517637.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:17.719Z,1761517637.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999180,-0.034614,-0.020989],[0.035422,-0.998595,-0.039418],[-0.019595,-0.040129,0.999002]]
2025-10-26T22:27:17.800Z,1761517637.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:18.082Z,1761517638.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999161,-0.035202,-0.020946],[0.036010,-0.998571,-0.039498],[-0.019525,-0.040219,0.999000]]
2025-10-26T22:27:18.138Z,1761517638.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:18.486Z,1761517638.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999137,-0.035841,-0.020985],[0.036652,-0.998542,-0.039641],[-0.019533,-0.040376,0.998994]]
2025-10-26T22:27:18.505Z,1761517638.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:18.891Z,1761517638.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999104,-0.036710,-0.021075],[0.037525,-0.998508,-0.039680],[-0.019587,-0.040436,0.998990]]
2025-10-26T22:27:18.948Z,1761517638.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:19.296Z,1761517639.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999050,-0.038069,-0.021209],[0.038885,-0.998463,-0.039479],[-0.019674,-0.040267,0.998995]]
2025-10-26T22:27:19.327Z,1761517639.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:19.710Z,1761517639.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998998,-0.039268,-0.021482],[0.040093,-0.998417,-0.039458],[-0.019898,-0.040280,0.998990]]
2025-10-26T22:27:19.802Z,1761517639.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:20.102Z,1761517640.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998940,-0.040586,-0.021698],[0.041417,-0.998366,-0.039368],[-0.020065,-0.040225,0.998989]]
2025-10-26T22:27:20.155Z,1761517640.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:20.507Z,1761517640.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998881,-0.041912,-0.021912],[0.042752,-0.998309,-0.039378],[-0.020225,-0.040271,0.998984]]
2025-10-26T22:27:20.526Z,1761517640.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:20.910Z,1761517640.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998830,-0.043006,-0.022123],[0.043857,-0.998256,-0.039526],[-0.020385,-0.040450,0.998974]]
2025-10-26T22:27:20.961Z,1761517640.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:21.323Z,1761517641.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998748,-0.044693,-0.022462],[0.045554,-0.998184,-0.039404],[-0.020660,-0.040378,0.998971]]
2025-10-26T22:27:21.343Z,1761517641.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:21.740Z,1761517641.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998686,-0.045976,-0.022624],[0.046843,-0.998125,-0.039404],[-0.020770,-0.040412,0.998967]]
2025-10-26T22:27:21.830Z,1761517641.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:22.122Z,1761517642.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998632,-0.047095,-0.022706],[0.047965,-0.998072,-0.039403],[-0.020807,-0.040438,0.998965]]
2025-10-26T22:27:22.166Z,1761517642.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:22.526Z,1761517642.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998576,-0.048162,-0.022922],[0.049039,-0.998021,-0.039372],[-0.020980,-0.040440,0.998962]]
2025-10-26T22:27:22.561Z,1761517642.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:22.688Z,1761517642.688 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:27:22.930Z,1761517642.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998540,-0.048877,-0.022999],[0.049760,-0.997979,-0.039526],[-0.021021,-0.040613,0.998954]]
2025-10-26T22:27:22.986Z,1761517642.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:23.337Z,1761517643.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998513,-0.049377,-0.023125],[0.050266,-0.997951,-0.039587],[-0.021123,-0.040691,0.998949]]
2025-10-26T22:27:23.356Z,1761517643.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:23.692Z,1761517643.692 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:27:23.753Z,1761517643.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998494,-0.049775,-0.023073],[0.050662,-0.997930,-0.039601],[-0.021054,-0.040711,0.998949]]
2025-10-26T22:27:23.813Z,1761517643.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:24.142Z,1761517644.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998492,-0.049798,-0.023113],[0.050690,-0.997923,-0.039743],[-0.021086,-0.040855,0.998943]]
2025-10-26T22:27:24.185Z,1761517644.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:24.546Z,1761517644.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998504,-0.049635,-0.022946],[0.050522,-0.997928,-0.039834],[-0.020921,-0.040934,0.998943]]
2025-10-26T22:27:24.565Z,1761517644.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:24.952Z,1761517644.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998512,-0.049470,-0.022948],[0.050355,-0.997940,-0.039746],[-0.020934,-0.040842,0.998946]]
2025-10-26T22:27:24.989Z,1761517644.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:25.354Z,1761517645.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998527,-0.049240,-0.022770],[0.050114,-0.997959,-0.039567],[-0.020775,-0.040650,0.998957]]
2025-10-26T22:27:25.385Z,1761517645.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:25.773Z,1761517645.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998563,-0.048597,-0.022570],[0.049462,-0.997995,-0.039491],[-0.020605,-0.040551,0.998965]]
2025-10-26T22:27:25.885Z,1761517645.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:26.174Z,1761517646.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998607,-0.047759,-0.022427],[0.048618,-0.998038,-0.039459],[-0.020498,-0.040494,0.998969]]
2025-10-26T22:27:26.227Z,1761517646.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:26.566Z,1761517646.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998658,-0.046740,-0.022299],[0.047595,-0.998085,-0.039501],[-0.020410,-0.040510,0.998971]]
2025-10-26T22:27:26.596Z,1761517646.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:26.970Z,1761517646.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998701,-0.045935,-0.022071],[0.046780,-0.998127,-0.039432],[-0.020218,-0.040414,0.998978]]
2025-10-26T22:27:27.017Z,1761517647.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:27.374Z,1761517647.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998748,-0.044969,-0.021903],[0.045809,-0.998169,-0.039499],[-0.020087,-0.040453,0.998980]]
2025-10-26T22:27:27.396Z,1761517647.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:27.793Z,1761517647.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998783,-0.044273,-0.021747],[0.045105,-0.998204,-0.039418],[-0.019963,-0.040351,0.998986]]
2025-10-26T22:27:27.843Z,1761517647.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:28.182Z,1761517648.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998806,-0.043748,-0.021740],[0.044580,-0.998229,-0.039378],[-0.019979,-0.040300,0.998988]]
2025-10-26T22:27:28.234Z,1761517648.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:28.586Z,1761517648.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998827,-0.043320,-0.021654],[0.044147,-0.998253,-0.039279],[-0.019915,-0.040189,0.998994]]
2025-10-26T22:27:28.605Z,1761517648.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:28.991Z,1761517648.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998846,-0.042868,-0.021655],[0.043696,-0.998269,-0.039352],[-0.019930,-0.040253,0.998991]]
2025-10-26T22:27:29.043Z,1761517649.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:29.410Z,1761517649.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998833,-0.043119,-0.021764],[0.043948,-0.998265,-0.039184],[-0.020036,-0.040095,0.998995]]
2025-10-26T22:27:29.466Z,1761517649.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:29.812Z,1761517649.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998818,-0.043359,-0.021957],[0.044195,-0.998256,-0.039143],[-0.020222,-0.040067,0.998992]]
2025-10-26T22:27:29.834Z,1761517649.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:30.202Z,1761517650.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998802,-0.043670,-0.022069],[0.044512,-0.998240,-0.039183],[-0.020319,-0.040119,0.998988]]
2025-10-26T22:27:30.250Z,1761517650.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:30.611Z,1761517650.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998780,-0.044087,-0.022258],[0.044939,-0.998215,-0.039343],[-0.020483,-0.040296,0.998978]]
2025-10-26T22:27:30.630Z,1761517650.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:31.021Z,1761517651.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998751,-0.044673,-0.022388],[0.045531,-0.998185,-0.039408],[-0.020587,-0.040378,0.998972]]
2025-10-26T22:27:31.093Z,1761517651.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:31.414Z,1761517651.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998695,-0.045767,-0.022644],[0.046632,-0.998139,-0.039297],[-0.020804,-0.040302,0.998971]]
2025-10-26T22:27:31.447Z,1761517651.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:31.829Z,1761517651.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998633,-0.046984,-0.022922],[0.047857,-0.998087,-0.039151],[-0.021039,-0.040195,0.998970]]
2025-10-26T22:27:31.868Z,1761517651.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:32.224Z,1761517652.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998570,-0.048142,-0.023237],[0.049027,-0.998030,-0.039142],[-0.021307,-0.040225,0.998963]]
2025-10-26T22:27:32.261Z,1761517652.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:32.626Z,1761517652.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998513,-0.049177,-0.023505],[0.050073,-0.997976,-0.039186],[-0.021530,-0.040305,0.998955]]
2025-10-26T22:27:32.651Z,1761517652.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:33.030Z,1761517653.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998441,-0.050489,-0.023787],[0.051394,-0.997912,-0.039115],[-0.021762,-0.040277,0.998952]]
2025-10-26T22:27:33.077Z,1761517653.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:33.467Z,1761517653.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:33.845Z,1761517653.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998327,-0.052465,-0.024305],[0.053395,-0.997800,-0.039299],[-0.022190,-0.040531,0.998932]]
2025-10-26T22:27:33.861Z,1761517653.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:27:33.863Z,1761517653.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:34.076Z,1761517654.076 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:27:34.076Z,1761517654.076 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:27:34.326Z,1761517654.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:34.328Z,1761517654.328 [DAT](INFO): DAT read: user:560>

2025-10-26T22:27:34.329Z,1761517654.329 [DAT](INFO): DAT read: Tx time:22:27:33.4383

2025-10-26T22:27:34.329Z,1761517654.329 [DAT](INFO): Ping request sent.
2025-10-26T22:27:34.330Z,1761517654.330 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:27:34.330Z,1761517654.330 [DAT](INFO): publishing transmit ping time
2025-10-26T22:27:34.330Z,1761517654.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726
2025-10-26T22:27:34.580Z,1761517654.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250783
2025-10-26T22:27:34.646Z,1761517654.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998217,-0.054400,-0.024560],[0.055334,-0.997702,-0.039110],[-0.022376,-0.040399,0.998933]]
2025-10-26T22:27:34.665Z,1761517654.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:34.832Z,1761517654.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502769
2025-10-26T22:27:35.051Z,1761517655.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998181,-0.055005,-0.024667],[0.055942,-0.997670,-0.039061],[-0.022461,-0.040370,0.998932]]
2025-10-26T22:27:35.084Z,1761517655.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754870
2025-10-26T22:27:35.100Z,1761517655.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:35.336Z,1761517655.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006816
2025-10-26T22:27:35.454Z,1761517655.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998167,-0.055239,-0.024713],[0.056181,-0.997651,-0.039195],[-0.022490,-0.040511,0.998926]]
2025-10-26T22:27:35.496Z,1761517655.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:35.589Z,1761517655.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259383
2025-10-26T22:27:35.841Z,1761517655.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510974
2025-10-26T22:27:35.868Z,1761517655.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998165,-0.055285,-0.024690],[0.056227,-0.997645,-0.039267],[-0.022461,-0.040584,0.998924]]
2025-10-26T22:27:35.887Z,1761517655.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:36.101Z,1761517656.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770923
2025-10-26T22:27:36.262Z,1761517656.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998158,-0.055426,-0.024657],[0.056366,-0.997639,-0.039232],[-0.022424,-0.040550,0.998926]]
2025-10-26T22:27:36.344Z,1761517656.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014837
2025-10-26T22:27:36.351Z,1761517656.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:36.596Z,1761517656.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266752
2025-10-26T22:27:36.666Z,1761517656.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998176,-0.055131,-0.024585],[0.056071,-0.997652,-0.039323],[-0.022360,-0.040630,0.998924]]
2025-10-26T22:27:36.685Z,1761517656.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:36.848Z,1761517656.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518724
2025-10-26T22:27:37.070Z,1761517657.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998193,-0.054875,-0.024496],[0.055811,-0.997667,-0.039320],[-0.022281,-0.040616,0.998926]]
2025-10-26T22:27:37.100Z,1761517657.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770859
2025-10-26T22:27:37.131Z,1761517657.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:37.352Z,1761517657.352 [DAT](INFO): DAT read: Rx Time:22:27:35.8998

2025-10-26T22:27:37.353Z,1761517657.353 [DAT](INFO): Rx dataTimestamp_ set to:1761517657.352592
2025-10-26T22:27:37.353Z,1761517657.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023853
2025-10-26T22:27:37.475Z,1761517657.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998205,-0.054680,-0.024423],[0.055610,-0.997683,-0.039198],[-0.022223,-0.040486,0.998933]]
2025-10-26T22:27:37.494Z,1761517657.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.08 m.
2025-10-26T22:27:37.604Z,1761517657.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274788
2025-10-26T22:27:37.862Z,1761517657.862 [DAT](INFO): DAT read: 22:27:35.8998 LVL= 21600, 15729, 17122, 22003, AGC= 60, IDX=  23, 0.12, 3.051,-1.392,-1.445,-1.673, PHS=-1.458, 0.326, 0.184, RAW= 274.1,  11.0, CAL= 273.2,  14.0, ROT= 236.8, -14.0

2025-10-26T22:27:37.863Z,1761517657.863 [DAT](INFO): got valid direction response:
 22:27:35.8998 LVL= 21600, 15729, 17122, 22003, AGC= 60, IDX=  23, 0.12, 3.051,-1.392,-1.445,-1.673, PHS=-1.458, 0.326, 0.184, RAW= 274.1,  11.0, CAL= 273.2,  14.0, ROT= 236.8, -14.0

2025-10-26T22:27:37.872Z,1761517657.872 [DAT](INFO): DAT read: Bearing 127.7, -54.2 (Local)

2025-10-26T22:27:37.872Z,1761517657.872 [DAT](INFO): Local bearing/azimuth received:
 Bearing 127.7, -54.2 (Local)

2025-10-26T22:27:37.873Z,1761517657.873 [DAT](INFO): DAT read: Range 11 to 50 : 42.9 m  (Round-trip  57.3 ms) speed -0.2 m/s

2025-10-26T22:27:37.874Z,1761517657.874 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:27:37.875Z,1761517657.875 [DAT](INFO): direction in FSK: [-0.531298,-0.811909,0.241922]
2025-10-26T22:27:37.880Z,1761517657.880 [DAT](INFO): publishing direction and range info
2025-10-26T22:27:37.886Z,1761517657.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998226,-0.054281,-0.024470],[0.055213,-0.997706,-0.039160],[-0.022289,-0.040441,0.998933]]
2025-10-26T22:27:37.973Z,1761517657.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 42.900002 m,
      deltaT: 60.287765 s,
      deltaX: 6.600002 m,
      approachRate: 0.109475 m/s,
      rangeRepo size: 4

2025-10-26T22:27:37.975Z,1761517657.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.645596 m,
      bearing: 53.604794 deg,
      lat: 36.779407 deg,
      lon: -121.859485 deg,
      deltaT: 60.287765 s,
      deltaX: 6.561371 m,
      approachRate: 0.108834 m/s,
      posRepo size: 4

2025-10-26T22:27:37.981Z,1761517657.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:38.294Z,1761517658.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998247,-0.053888,-0.024470],[0.054818,-0.997732,-0.039075],[-0.022308,-0.040348,0.998937]]
2025-10-26T22:27:38.333Z,1761517658.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:38.687Z,1761517658.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998255,-0.053716,-0.024521],[0.054646,-0.997746,-0.038957],[-0.022373,-0.040229,0.998940]]
2025-10-26T22:27:38.729Z,1761517658.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:39.091Z,1761517659.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998282,-0.053279,-0.024395],[0.054203,-0.997770,-0.038950],[-0.022265,-0.040205,0.998943]]
2025-10-26T22:27:39.149Z,1761517659.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:39.494Z,1761517659.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998301,-0.052966,-0.024278],[0.053886,-0.997787,-0.038945],[-0.022161,-0.040187,0.998946]]
2025-10-26T22:27:39.513Z,1761517659.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:39.913Z,1761517659.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998320,-0.052600,-0.024291],[0.053523,-0.997802,-0.039057],[-0.022184,-0.040292,0.998942]]
2025-10-26T22:27:39.946Z,1761517659.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:40.313Z,1761517660.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998332,-0.052411,-0.024232],[0.053333,-0.997810,-0.039120],[-0.022129,-0.040347,0.998941]]
2025-10-26T22:27:40.366Z,1761517660.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:40.710Z,1761517660.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998316,-0.052706,-0.024222],[0.053625,-0.997800,-0.038991],[-0.022114,-0.040224,0.998946]]
2025-10-26T22:27:40.756Z,1761517660.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:41.124Z,1761517661.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998295,-0.053097,-0.024235],[0.054014,-0.997783,-0.038885],[-0.022116,-0.040128,0.998950]]
2025-10-26T22:27:41.179Z,1761517661.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:41.516Z,1761517661.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998248,-0.053989,-0.024206],[0.054898,-0.997746,-0.038584],[-0.022068,-0.039845,0.998962]]
2025-10-26T22:27:41.545Z,1761517661.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:41.920Z,1761517661.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998212,-0.054633,-0.024260],[0.055543,-0.997711,-0.038568],[-0.022098,-0.039846,0.998961]]
2025-10-26T22:27:41.955Z,1761517661.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:42.322Z,1761517662.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998171,-0.055331,-0.024358],[0.056247,-0.997668,-0.038655],[-0.022162,-0.039954,0.998956]]
2025-10-26T22:27:42.370Z,1761517662.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:42.732Z,1761517662.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998128,-0.056111,-0.024336],[0.057028,-0.997620,-0.038748],[-0.022104,-0.040063,0.998953]]
2025-10-26T22:27:42.757Z,1761517662.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:43.191Z,1761517663.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998025,-0.057969,-0.024205],[0.058882,-0.997509,-0.038856],[-0.021893,-0.040204,0.998952]]
2025-10-26T22:27:43.231Z,1761517663.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:43.570Z,1761517663.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:43.941Z,1761517663.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997983,-0.058713,-0.024137],[0.059626,-0.997458,-0.039015],[-0.021784,-0.040376,0.998947]]
2025-10-26T22:27:43.964Z,1761517663.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:44.361Z,1761517664.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997914,-0.060033,-0.023760],[0.060933,-0.997372,-0.039186],[-0.021345,-0.040552,0.998949]]
2025-10-26T22:27:44.432Z,1761517664.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:44.755Z,1761517664.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997897,-0.060409,-0.023503],[0.061303,-0.997343,-0.039365],[-0.021062,-0.040723,0.998948]]
2025-10-26T22:27:44.789Z,1761517664.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:45.186Z,1761517665.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997890,-0.060657,-0.023145],[0.061539,-0.997323,-0.039501],[-0.020687,-0.040842,0.998951]]
2025-10-26T22:27:45.241Z,1761517665.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:45.562Z,1761517665.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997881,-0.060915,-0.022884],[0.061788,-0.997305,-0.039568],[-0.020412,-0.040898,0.998955]]
2025-10-26T22:27:45.581Z,1761517665.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:45.975Z,1761517665.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997886,-0.060956,-0.022519],[0.061812,-0.997304,-0.039534],[-0.020048,-0.040843,0.998964]]
2025-10-26T22:27:45.998Z,1761517665.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:46.378Z,1761517666.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997912,-0.060690,-0.022118],[0.061530,-0.997323,-0.039514],[-0.019661,-0.040793,0.998974]]
2025-10-26T22:27:46.467Z,1761517666.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:46.780Z,1761517666.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997952,-0.060175,-0.021689],[0.060997,-0.997356,-0.039506],[-0.019255,-0.040748,0.998984]]
2025-10-26T22:27:46.808Z,1761517666.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:47.215Z,1761517667.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997991,-0.059626,-0.021410],[0.060435,-0.997394,-0.039399],[-0.019005,-0.040614,0.998994]]
2025-10-26T22:27:47.252Z,1761517667.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:47.580Z,1761517667.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998044,-0.058873,-0.021029],[0.059665,-0.997445,-0.039276],[-0.018663,-0.040453,0.999007]]
2025-10-26T22:27:47.604Z,1761517667.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:47.983Z,1761517667.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998117,-0.057717,-0.020765],[0.058500,-0.997512,-0.039331],[-0.018443,-0.040472,0.999010]]
2025-10-26T22:27:48.014Z,1761517668.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:48.387Z,1761517668.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998172,-0.056800,-0.020670],[0.057579,-0.997567,-0.039294],[-0.018388,-0.040412,0.999014]]
2025-10-26T22:27:48.422Z,1761517668.422 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-10-26T22:27:48.422Z,1761517668.422 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-10-26T22:27:48.422Z,1761517668.422 [RDI_Pathfinder](ERROR): Communications Fault
2025-10-26T22:27:48.444Z,1761517668.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:48.647Z,1761517668.647 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-10-26T22:27:48.796Z,1761517668.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998252,-0.055459,-0.020420],[0.056232,-0.997638,-0.039452],[-0.018184,-0.040531,0.999013]]
2025-10-26T22:27:48.872Z,1761517668.872 [RDI_Pathfinder](INFO): Powering down
2025-10-26T22:27:48.910Z,1761517668.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:49.194Z,1761517669.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998293,-0.054757,-0.020295],[0.055523,-0.997684,-0.039288],[-0.018096,-0.040347,0.999022]]
2025-10-26T22:27:49.221Z,1761517669.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:49.598Z,1761517669.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998336,-0.054015,-0.020201],[0.054775,-0.997729,-0.039190],[-0.018038,-0.040232,0.999027]]
2025-10-26T22:27:49.635Z,1761517669.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:49.836Z,1761517669.836 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-10-26T22:27:49.836Z,1761517669.836 [RDI_Pathfinder] No Fault, FailCount= 1
2025-10-26T22:27:50.002Z,1761517670.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998358,-0.053603,-0.020177],[0.054360,-0.997758,-0.039039],[-0.018040,-0.040072,0.999034]]
2025-10-26T22:27:50.006Z,1761517670.006 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-10-26T22:27:50.022Z,1761517670.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:50.408Z,1761517670.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998369,-0.053360,-0.020298],[0.054121,-0.997773,-0.038982],[-0.018173,-0.040017,0.999034]]
2025-10-26T22:27:50.426Z,1761517670.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:50.811Z,1761517670.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998355,-0.053516,-0.020556],[0.054286,-0.997768,-0.038886],[-0.018429,-0.039938,0.999032]]
2025-10-26T22:27:50.839Z,1761517670.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:51.214Z,1761517671.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998340,-0.053709,-0.020789],[0.054489,-0.997753,-0.038993],[-0.018648,-0.040061,0.999023]]
2025-10-26T22:27:51.253Z,1761517671.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:51.618Z,1761517671.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998290,-0.054514,-0.021105],[0.055308,-0.997703,-0.039099],[-0.018925,-0.040200,0.999012]]
2025-10-26T22:27:51.636Z,1761517671.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:52.029Z,1761517672.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998224,-0.055556,-0.021524],[0.056367,-0.997644,-0.039111],[-0.019300,-0.040255,0.999003]]
2025-10-26T22:27:52.047Z,1761517672.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:52.427Z,1761517672.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998132,-0.057002,-0.021973],[0.057829,-0.997561,-0.039087],[-0.019692,-0.040284,0.998994]]
2025-10-26T22:27:52.446Z,1761517672.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:52.830Z,1761517672.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998014,-0.058837,-0.022489],[0.059682,-0.997457,-0.038950],[-0.020140,-0.040215,0.998988]]
2025-10-26T22:27:52.860Z,1761517672.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:53.234Z,1761517673.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997900,-0.060541,-0.023046],[0.061408,-0.997352,-0.038976],[-0.020626,-0.040309,0.998974]]
2025-10-26T22:27:53.289Z,1761517673.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:53.638Z,1761517673.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997763,-0.062555,-0.023565],[0.063440,-0.997228,-0.038875],[-0.021068,-0.040283,0.998966]]
2025-10-26T22:27:53.656Z,1761517673.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:53.812Z,1761517673.812 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:27:54.049Z,1761517674.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997609,-0.064725,-0.024218],[0.065632,-0.997091,-0.038751],[-0.021639,-0.040248,0.998955]]
2025-10-26T22:27:54.067Z,1761517674.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:54.446Z,1761517674.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997472,-0.066555,-0.024901],[0.067490,-0.996965,-0.038808],[-0.022243,-0.040390,0.998936]]
2025-10-26T22:27:54.472Z,1761517674.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:54.816Z,1761517674.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:27:54.850Z,1761517674.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997342,-0.068278,-0.025421],[0.069233,-0.996845,-0.038823],[-0.022690,-0.040479,0.998923]]
2025-10-26T22:27:54.885Z,1761517674.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:55.264Z,1761517675.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997216,-0.069895,-0.025986],[0.070873,-0.996729,-0.038826],[-0.023187,-0.040559,0.998908]]
2025-10-26T22:27:55.303Z,1761517675.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:55.664Z,1761517675.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997106,-0.071303,-0.026366],[0.072294,-0.996630,-0.038769],[-0.023512,-0.040563,0.998900]]
2025-10-26T22:27:55.737Z,1761517675.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:56.080Z,1761517676.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997030,-0.072246,-0.026660],[0.073249,-0.996559,-0.038791],[-0.023765,-0.040629,0.998892]]
2025-10-26T22:27:56.098Z,1761517676.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:56.466Z,1761517676.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996968,-0.072983,-0.027001],[0.073998,-0.996506,-0.038734],[-0.024080,-0.040615,0.998885]]
2025-10-26T22:27:56.485Z,1761517676.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:56.870Z,1761517676.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996925,-0.073480,-0.027230],[0.074500,-0.996475,-0.038572],[-0.024300,-0.040483,0.998885]]
2025-10-26T22:27:56.888Z,1761517676.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:57.280Z,1761517677.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996951,-0.073137,-0.027190],[0.074158,-0.996496,-0.038684],[-0.024266,-0.040583,0.998882]]
2025-10-26T22:27:57.300Z,1761517677.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:57.678Z,1761517677.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996966,-0.072942,-0.027159],[0.073960,-0.996514,-0.038587],[-0.024250,-0.040479,0.998886]]
2025-10-26T22:27:57.707Z,1761517677.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:58.082Z,1761517678.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997011,-0.072322,-0.027194],[0.073341,-0.996561,-0.038567],[-0.024312,-0.040446,0.998886]]
2025-10-26T22:27:58.117Z,1761517678.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:58.486Z,1761517678.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997078,-0.071462,-0.026981],[0.072472,-0.996626,-0.038519],[-0.024138,-0.040362,0.998894]]
2025-10-26T22:27:58.505Z,1761517678.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:58.892Z,1761517678.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997192,-0.070006,-0.026603],[0.071004,-0.996728,-0.038630],[-0.023811,-0.040410,0.998899]]
2025-10-26T22:27:58.911Z,1761517678.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:59.311Z,1761517679.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997300,-0.068555,-0.026336],[0.069543,-0.996830,-0.038655],[-0.023602,-0.040383,0.998905]]
2025-10-26T22:27:59.349Z,1761517679.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:27:59.699Z,1761517679.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997422,-0.066919,-0.025915],[0.067893,-0.996941,-0.038728],[-0.023244,-0.040388,0.998914]]
2025-10-26T22:27:59.762Z,1761517679.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:00.108Z,1761517680.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997551,-0.065170,-0.025383],[0.066125,-0.997057,-0.038790],[-0.022780,-0.040374,0.998925]]
2025-10-26T22:28:00.127Z,1761517680.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:00.512Z,1761517680.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997672,-0.063498,-0.024856],[0.064433,-0.997167,-0.038802],[-0.022321,-0.040314,0.998938]]
2025-10-26T22:28:00.530Z,1761517680.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:00.921Z,1761517680.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997778,-0.061995,-0.024426],[0.062913,-0.997264,-0.038811],[-0.021953,-0.040262,0.998948]]
2025-10-26T22:28:00.957Z,1761517680.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:01.321Z,1761517681.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997879,-0.060590,-0.023809],[0.061484,-0.997353,-0.038818],[-0.021394,-0.040199,0.998963]]
2025-10-26T22:28:01.364Z,1761517681.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:01.731Z,1761517681.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997964,-0.059345,-0.023380],[0.060223,-0.997428,-0.038866],[-0.021014,-0.040195,0.998971]]
2025-10-26T22:28:01.782Z,1761517681.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:02.132Z,1761517682.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998039,-0.058265,-0.022865],[0.059126,-0.997491,-0.038943],[-0.020539,-0.040218,0.998980]]
2025-10-26T22:28:02.150Z,1761517682.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:02.530Z,1761517682.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998080,-0.057698,-0.022505],[0.058542,-0.997528,-0.038864],[-0.020207,-0.040107,0.998991]]
2025-10-26T22:28:02.559Z,1761517682.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:02.934Z,1761517682.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998113,-0.057233,-0.022229],[0.058067,-0.997555,-0.038887],[-0.019949,-0.040104,0.998996]]
2025-10-26T22:28:02.969Z,1761517682.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:03.341Z,1761517683.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998123,-0.057160,-0.021973],[0.057982,-0.997564,-0.038783],[-0.019703,-0.039984,0.999006]]
2025-10-26T22:28:03.422Z,1761517683.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:03.750Z,1761517683.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998121,-0.057261,-0.021805],[0.058078,-0.997555,-0.038882],[-0.019525,-0.040075,0.999006]]
2025-10-26T22:28:03.815Z,1761517683.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:04.142Z,1761517684.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998087,-0.057860,-0.021762],[0.058674,-0.997522,-0.038820],[-0.019462,-0.040022,0.999009]]
2025-10-26T22:28:04.171Z,1761517684.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:04.546Z,1761517684.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998038,-0.058679,-0.021826],[0.059496,-0.997472,-0.038857],[-0.019491,-0.040080,0.999006]]
2025-10-26T22:28:04.590Z,1761517684.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:04.951Z,1761517684.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997987,-0.059514,-0.021903],[0.060336,-0.997415,-0.039022],[-0.019524,-0.040265,0.998998]]
2025-10-26T22:28:04.969Z,1761517684.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:05.355Z,1761517685.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997904,-0.060861,-0.022012],[0.061686,-0.997333,-0.039019],[-0.019578,-0.040295,0.998996]]
2025-10-26T22:28:05.388Z,1761517685.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:05.763Z,1761517685.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997809,-0.062336,-0.022185],[0.063169,-0.997238,-0.039070],[-0.019688,-0.040386,0.998990]]
2025-10-26T22:28:05.805Z,1761517685.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:06.162Z,1761517686.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997692,-0.064053,-0.022535],[0.064900,-0.997126,-0.039086],[-0.019967,-0.040458,0.998982]]
2025-10-26T22:28:06.193Z,1761517686.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:06.566Z,1761517686.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997564,-0.065932,-0.022770],[0.066785,-0.997005,-0.039007],[-0.020130,-0.040433,0.998979]]
2025-10-26T22:28:06.627Z,1761517686.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:06.972Z,1761517686.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997439,-0.067660,-0.023165],[0.068529,-0.996886,-0.039018],[-0.020453,-0.040505,0.998970]]
2025-10-26T22:28:06.990Z,1761517686.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:07.374Z,1761517687.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997287,-0.069760,-0.023499],[0.070637,-0.996748,-0.038791],[-0.020716,-0.040345,0.998971]]
2025-10-26T22:28:07.403Z,1761517687.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:07.778Z,1761517687.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997161,-0.071366,-0.024001],[0.072264,-0.996628,-0.038877],[-0.021145,-0.040501,0.998956]]
2025-10-26T22:28:07.821Z,1761517687.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:08.202Z,1761517688.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997021,-0.073179,-0.024365],[0.074089,-0.996498,-0.038775],[-0.021442,-0.040465,0.998951]]
2025-10-26T22:28:08.254Z,1761517688.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:08.588Z,1761517688.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996892,-0.074820,-0.024669],[0.075739,-0.996377,-0.038692],[-0.021685,-0.040440,0.998947]]
2025-10-26T22:28:08.625Z,1761517688.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:08.990Z,1761517688.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996764,-0.076413,-0.024964],[0.077339,-0.996260,-0.038532],[-0.021927,-0.040338,0.998945]]
2025-10-26T22:28:09.016Z,1761517689.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:09.395Z,1761517689.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996666,-0.077577,-0.025271],[0.078515,-0.996169,-0.038515],[-0.022186,-0.040371,0.998938]]
2025-10-26T22:28:09.422Z,1761517689.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:09.806Z,1761517689.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996588,-0.078459,-0.025605],[0.079411,-0.996096,-0.038566],[-0.022479,-0.040467,0.998928]]
2025-10-26T22:28:09.876Z,1761517689.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:10.213Z,1761517690.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996554,-0.078895,-0.025621],[0.079849,-0.996057,-0.038653],[-0.022471,-0.040565,0.998924]]
2025-10-26T22:28:10.250Z,1761517690.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:10.606Z,1761517690.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996508,-0.079431,-0.025736],[0.080389,-0.996015,-0.038619],[-0.022565,-0.040553,0.998923]]
2025-10-26T22:28:10.650Z,1761517690.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:11.010Z,1761517691.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996503,-0.079452,-0.025880],[0.080418,-0.996009,-0.038707],[-0.022702,-0.040653,0.998915]]
2025-10-26T22:28:11.029Z,1761517691.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:11.416Z,1761517691.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996520,-0.079219,-0.025915],[0.080188,-0.996025,-0.038788],[-0.022739,-0.040731,0.998911]]
2025-10-26T22:28:11.435Z,1761517691.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:11.819Z,1761517691.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996557,-0.078816,-0.025735],[0.079778,-0.996058,-0.038774],[-0.022577,-0.040693,0.998917]]
2025-10-26T22:28:11.863Z,1761517691.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:12.230Z,1761517692.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996603,-0.078284,-0.025585],[0.079239,-0.996103,-0.038719],[-0.022454,-0.040614,0.998923]]
2025-10-26T22:28:12.278Z,1761517692.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:12.626Z,1761517692.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996685,-0.077312,-0.025336],[0.078259,-0.996178,-0.038792],[-0.022240,-0.040646,0.998926]]
2025-10-26T22:28:12.692Z,1761517692.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:13.033Z,1761517693.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996769,-0.076350,-0.024936],[0.077280,-0.996257,-0.038714],[-0.021887,-0.040516,0.998939]]
2025-10-26T22:28:13.052Z,1761517693.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:13.528Z,1761517693.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:13.840Z,1761517693.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997024,-0.073215,-0.024126],[0.074118,-0.996489,-0.038942],[-0.021190,-0.040614,0.998950]]
2025-10-26T22:28:13.876Z,1761517693.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:14.257Z,1761517694.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997154,-0.071581,-0.023654],[0.072466,-0.996609,-0.038966],[-0.020784,-0.040569,0.998961]]
2025-10-26T22:28:14.276Z,1761517694.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:14.650Z,1761517694.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997281,-0.069922,-0.023270],[0.070792,-0.996731,-0.038941],[-0.020471,-0.040482,0.998971]]
2025-10-26T22:28:14.698Z,1761517694.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:15.066Z,1761517695.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997412,-0.068199,-0.022779],[0.069050,-0.996853,-0.038935],[-0.020052,-0.040407,0.998982]]
2025-10-26T22:28:15.111Z,1761517695.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:15.454Z,1761517695.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997527,-0.066641,-0.022319],[0.067473,-0.996964,-0.038873],[-0.019661,-0.040282,0.998995]]
2025-10-26T22:28:15.480Z,1761517695.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:15.858Z,1761517695.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997633,-0.065162,-0.021959],[0.065981,-0.997064,-0.038864],[-0.019362,-0.040221,0.999003]]
2025-10-26T22:28:15.910Z,1761517695.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:16.272Z,1761517696.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997724,-0.063859,-0.021635],[0.064664,-0.997152,-0.038810],[-0.019095,-0.040121,0.999012]]
2025-10-26T22:28:16.309Z,1761517696.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:16.668Z,1761517696.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997813,-0.062592,-0.021236],[0.063382,-0.997234,-0.038821],[-0.018748,-0.040082,0.999020]]
2025-10-26T22:28:16.733Z,1761517696.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:17.070Z,1761517697.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997878,-0.061624,-0.021008],[0.062407,-0.997293,-0.038891],[-0.018555,-0.040119,0.999023]]
2025-10-26T22:28:17.105Z,1761517697.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:17.475Z,1761517697.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997918,-0.061043,-0.020804],[0.061817,-0.997332,-0.038840],[-0.018377,-0.040045,0.999029]]
2025-10-26T22:28:17.493Z,1761517697.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:17.878Z,1761517697.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997936,-0.060772,-0.020748],[0.061544,-0.997348,-0.038847],[-0.018333,-0.040044,0.999030]]
2025-10-26T22:28:17.936Z,1761517697.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:18.294Z,1761517698.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997933,-0.060788,-0.020845],[0.061565,-0.997345,-0.038899],[-0.018425,-0.040102,0.999026]]
2025-10-26T22:28:18.321Z,1761517698.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:18.686Z,1761517698.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997908,-0.061180,-0.020911],[0.061959,-0.997321,-0.038895],[-0.018475,-0.040109,0.999024]]
2025-10-26T22:28:18.751Z,1761517698.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:19.090Z,1761517699.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997837,-0.062227,-0.021180],[0.063013,-0.997260,-0.038753],[-0.018710,-0.040004,0.999024]]
2025-10-26T22:28:19.108Z,1761517699.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:19.496Z,1761517699.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997774,-0.063128,-0.021501],[0.063929,-0.997197,-0.038872],[-0.018987,-0.040160,0.999013]]
2025-10-26T22:28:19.514Z,1761517699.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:19.900Z,1761517699.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997674,-0.064563,-0.021848],[0.065377,-0.997103,-0.038872],[-0.019275,-0.040210,0.999005]]
2025-10-26T22:28:19.937Z,1761517699.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:20.302Z,1761517700.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997549,-0.066318,-0.022334],[0.067151,-0.996987,-0.038840],[-0.019691,-0.040244,0.998996]]
2025-10-26T22:28:20.336Z,1761517700.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:20.714Z,1761517700.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997411,-0.068143,-0.022971],[0.069000,-0.996860,-0.038851],[-0.020252,-0.040335,0.998981]]
2025-10-26T22:28:20.801Z,1761517700.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:21.143Z,1761517701.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:21.517Z,1761517701.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997099,-0.072181,-0.024171],[0.073085,-0.996568,-0.038872],[-0.021282,-0.040526,0.998952]]
2025-10-26T22:28:21.543Z,1761517701.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:21.918Z,1761517701.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996927,-0.074339,-0.024721],[0.075262,-0.996410,-0.038771],[-0.021750,-0.040512,0.998942]]
2025-10-26T22:28:21.966Z,1761517701.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:22.322Z,1761517702.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996755,-0.076432,-0.025239],[0.077374,-0.996249,-0.038736],[-0.022184,-0.040563,0.998931]]
2025-10-26T22:28:22.340Z,1761517702.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:22.736Z,1761517702.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996589,-0.078399,-0.025766],[0.079360,-0.996095,-0.038675],[-0.022633,-0.040588,0.998920]]
2025-10-26T22:28:22.797Z,1761517702.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:23.132Z,1761517703.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996417,-0.080391,-0.026260],[0.081367,-0.995939,-0.038521],[-0.023057,-0.040520,0.998913]]
2025-10-26T22:28:23.151Z,1761517703.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:23.535Z,1761517703.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996279,-0.081957,-0.026678],[0.082948,-0.995811,-0.038468],[-0.023414,-0.040538,0.998904]]
2025-10-26T22:28:23.563Z,1761517703.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:23.958Z,1761517703.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996170,-0.083166,-0.027008],[0.084170,-0.995710,-0.038427],[-0.023697,-0.040553,0.998896]]
2025-10-26T22:28:24.033Z,1761517704.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:24.361Z,1761517704.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996075,-0.084174,-0.027380],[0.085190,-0.995625,-0.038375],[-0.024030,-0.040557,0.998888]]
2025-10-26T22:28:24.379Z,1761517704.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:24.747Z,1761517704.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996026,-0.084714,-0.027498],[0.085736,-0.995577,-0.038408],[-0.024123,-0.040613,0.998884]]
2025-10-26T22:28:24.800Z,1761517704.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:24.936Z,1761517704.936 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:28:25.150Z,1761517705.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996000,-0.084987,-0.027598],[0.086014,-0.995551,-0.038468],[-0.024206,-0.040688,0.998879]]
2025-10-26T22:28:25.193Z,1761517705.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:25.555Z,1761517705.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996011,-0.084822,-0.027702],[0.085857,-0.995560,-0.038580],[-0.024306,-0.040805,0.998871]]
2025-10-26T22:28:25.574Z,1761517705.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:25.940Z,1761517705.940 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:28:25.961Z,1761517705.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996019,-0.084743,-0.027661],[0.085772,-0.995574,-0.038422],[-0.024283,-0.040642,0.998879]]
2025-10-26T22:28:26.002Z,1761517706.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:26.362Z,1761517706.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996079,-0.084080,-0.027525],[0.085105,-0.995629,-0.038466],[-0.024171,-0.040658,0.998881]]
2025-10-26T22:28:26.394Z,1761517706.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:26.768Z,1761517706.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996146,-0.083337,-0.027367],[0.084355,-0.995696,-0.038398],[-0.024049,-0.040559,0.998888]]
2025-10-26T22:28:26.834Z,1761517706.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:27.230Z,1761517707.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996352,-0.081062,-0.026676],[0.082051,-0.995890,-0.038342],[-0.023458,-0.040391,0.998909]]
2025-10-26T22:28:27.248Z,1761517707.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:27.614Z,1761517707.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996485,-0.079518,-0.026343],[0.080497,-0.996011,-0.038490],[-0.023178,-0.040475,0.998912]]
2025-10-26T22:28:27.646Z,1761517707.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:28.074Z,1761517708.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:28.422Z,1761517708.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996754,-0.076405,-0.025368],[0.077349,-0.996258,-0.038570],[-0.022326,-0.040407,0.998934]]
2025-10-26T22:28:28.441Z,1761517708.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:28.827Z,1761517708.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996902,-0.074609,-0.024917],[0.075538,-0.996391,-0.038719],[-0.021938,-0.040481,0.998939]]
2025-10-26T22:28:28.881Z,1761517708.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:29.248Z,1761517709.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997030,-0.073015,-0.024500],[0.073929,-0.996511,-0.038744],[-0.021586,-0.040440,0.998949]]
2025-10-26T22:28:29.328Z,1761517709.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:29.650Z,1761517709.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997144,-0.071633,-0.023925],[0.072523,-0.996617,-0.038661],[-0.021074,-0.040286,0.998966]]
2025-10-26T22:28:29.691Z,1761517709.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:30.055Z,1761517710.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997271,-0.070028,-0.023397],[0.070899,-0.996730,-0.038771],[-0.020606,-0.040325,0.998974]]
2025-10-26T22:28:30.108Z,1761517710.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:30.460Z,1761517710.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997359,-0.068918,-0.022909],[0.069768,-0.996814,-0.038649],[-0.020172,-0.040145,0.998990]]
2025-10-26T22:28:30.478Z,1761517710.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:30.862Z,1761517710.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997447,-0.067843,-0.022289],[0.068668,-0.996892,-0.038623],[-0.019600,-0.040055,0.999005]]
2025-10-26T22:28:30.910Z,1761517710.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:31.266Z,1761517711.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997531,-0.066727,-0.021892],[0.067540,-0.996962,-0.038789],[-0.019237,-0.040172,0.999008]]
2025-10-26T22:28:31.284Z,1761517711.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:31.670Z,1761517711.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997575,-0.066190,-0.021531],[0.066989,-0.996999,-0.038793],[-0.018899,-0.040141,0.999015]]
2025-10-26T22:28:31.697Z,1761517711.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:32.076Z,1761517712.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997608,-0.065803,-0.021171],[0.066589,-0.997024,-0.038848],[-0.018552,-0.040165,0.999021]]
2025-10-26T22:28:32.113Z,1761517712.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:32.478Z,1761517712.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997606,-0.065884,-0.021000],[0.066663,-0.997021,-0.038809],[-0.018381,-0.040116,0.999026]]
2025-10-26T22:28:32.506Z,1761517712.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:32.506Z,1761517712.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 42.90 m and bearing: 59.124043 deg. Not drifting fast enough.
2025-10-26T22:28:32.882Z,1761517712.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997595,-0.066151,-0.020709],[0.066916,-0.997006,-0.038744],[-0.018084,-0.040036,0.999035]]
2025-10-26T22:28:32.926Z,1761517712.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:32.928Z,1761517712.928 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-10-26T22:28:32.929Z,1761517712.929 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-26T22:28:32.929Z,1761517712.929 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-10-26T22:28:32.929Z,1761517712.929 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-10-26T22:28:33.336Z,1761517713.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:33.707Z,1761517713.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997504,-0.067524,-0.020663],[0.068286,-0.996914,-0.038717],[-0.017985,-0.040031,0.999037]]
2025-10-26T22:28:33.754Z,1761517713.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:34.094Z,1761517714.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997423,-0.068643,-0.020847],[0.069411,-0.996837,-0.038693],[-0.018125,-0.040040,0.999034]]
2025-10-26T22:28:34.138Z,1761517714.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:28:34.140Z,1761517714.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:34.368Z,1761517714.368 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:28:34.368Z,1761517714.368 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:28:34.498Z,1761517714.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997313,-0.070116,-0.021241],[0.070899,-0.996734,-0.038655],[-0.018461,-0.040057,0.999027]]
2025-10-26T22:28:34.534Z,1761517714.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:34.620Z,1761517714.620 [DAT](INFO): DAT read: user:561>

2025-10-26T22:28:34.621Z,1761517714.621 [DAT](INFO): DAT read: Tx time:22:28:33.7382

2025-10-26T22:28:34.621Z,1761517714.621 [DAT](INFO): Ping request sent.
2025-10-26T22:28:34.621Z,1761517714.621 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:28:34.622Z,1761517714.622 [DAT](INFO): publishing transmit ping time
2025-10-26T22:28:34.622Z,1761517714.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-10-26T22:28:34.873Z,1761517714.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251406
2025-10-26T22:28:35.063Z,1761517715.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997190,-0.071763,-0.021508],[0.072554,-0.996619,-0.038556],[-0.018669,-0.040008,0.999025]]
2025-10-26T22:28:35.116Z,1761517715.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:35.124Z,1761517715.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503084
2025-10-26T22:28:35.379Z,1761517715.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758094
2025-10-26T22:28:35.467Z,1761517715.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997073,-0.073269,-0.021857],[0.074074,-0.996505,-0.038607],[-0.018952,-0.040113,0.999015]]
2025-10-26T22:28:35.486Z,1761517715.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:35.628Z,1761517715.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006902
2025-10-26T22:28:35.883Z,1761517715.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261249
2025-10-26T22:28:35.916Z,1761517715.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996926,-0.075077,-0.022427],[0.075903,-0.996368,-0.038600],[-0.019448,-0.040184,0.999003]]
2025-10-26T22:28:35.959Z,1761517715.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:36.132Z,1761517716.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510944
2025-10-26T22:28:36.274Z,1761517716.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996741,-0.077332,-0.022952],[0.078173,-0.996202,-0.038348],[-0.019899,-0.040018,0.999001]]
2025-10-26T22:28:36.310Z,1761517716.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:36.385Z,1761517716.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763560
2025-10-26T22:28:36.636Z,1761517716.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014980
2025-10-26T22:28:36.687Z,1761517716.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996565,-0.079391,-0.023542],[0.080252,-0.996042,-0.038203],[-0.020416,-0.039961,0.998993]]
2025-10-26T22:28:36.737Z,1761517716.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:36.892Z,1761517716.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269479
2025-10-26T22:28:37.083Z,1761517717.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996364,-0.081630,-0.024384],[0.082530,-0.995846,-0.038476],[-0.021142,-0.040348,0.998962]]
2025-10-26T22:28:37.120Z,1761517717.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:37.140Z,1761517717.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518846
2025-10-26T22:28:37.393Z,1761517717.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771342
2025-10-26T22:28:37.486Z,1761517717.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996146,-0.083745,-0.026070],[0.084773,-0.995548,-0.041195],[-0.022504,-0.043246,0.998811]]
2025-10-26T22:28:37.514Z,1761517717.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:37.644Z,1761517717.644 [DAT](INFO): DAT read: Rx Time:22:28:36.2077

2025-10-26T22:28:37.645Z,1761517717.645 [DAT](INFO): Rx dataTimestamp_ set to:1761517717.644660
2025-10-26T22:28:37.645Z,1761517717.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024108
2025-10-26T22:28:37.901Z,1761517717.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278692
2025-10-26T22:28:37.942Z,1761517717.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995849,-0.086156,-0.029371],[0.087617,-0.994758,-0.052722],[-0.024675,-0.055076,0.998177]]
2025-10-26T22:28:38.040Z,1761517718.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.65 m.
2025-10-26T22:28:38.154Z,1761517718.154 [DAT](INFO): DAT read: 22:28:36.2077 LVL= 27552, 16561, 18162, 27955, AGC= 59, IDX= 505,-0.34,-2.184,-0.549, 0.014,-0.641, PHS=-1.442, 0.137, 0.611, RAW= 257.3,   7.5, CAL= 255.5,   6.8, ROT= 254.5,  -6.8

2025-10-26T22:28:38.155Z,1761517718.155 [DAT](INFO): got valid direction response:
 22:28:36.2077 LVL= 27552, 16561, 18162, 27955, AGC= 59, IDX= 505,-0.34,-2.184,-0.549, 0.014,-0.641, PHS=-1.442, 0.137, 0.611, RAW= 257.3,   7.5, CAL= 255.5,   6.8, ROT= 254.5,  -6.8

2025-10-26T22:28:38.156Z,1761517718.156 [DAT](INFO): DAT read: Bearing 131.7, -72.9 (Local)

2025-10-26T22:28:38.156Z,1761517718.156 [DAT](INFO): Local bearing/azimuth received:
 Bearing 131.7, -72.9 (Local)

2025-10-26T22:28:38.157Z,1761517718.157 [DAT](INFO): DAT read: Range 11 to 50 : 48.9 m  (Round-trip  65.3 ms) speed -0.2 m/s

2025-10-26T22:28:38.158Z,1761517718.158 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:28:38.159Z,1761517718.159 [DAT](INFO): direction in FSK: [-0.265358,-0.956852,0.118404]
2025-10-26T22:28:38.160Z,1761517718.160 [DAT](INFO): publishing direction and range info
2025-10-26T22:28:38.504Z,1761517718.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995632,-0.086925,-0.034083],[0.089403,-0.992811,-0.079580],[-0.026920,-0.082280,0.996246]]
2025-10-26T22:28:38.527Z,1761517718.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.900002 m,
      deltaT: 60.291985 s,
      deltaX: 6.000000 m,
      approachRate: 0.099516 m/s,
      rangeRepo size: 4

2025-10-26T22:28:38.529Z,1761517718.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.609070 m,
      bearing: 69.469829 deg,
      lat: 36.779407 deg,
      lon: -121.859485 deg,
      deltaT: 60.291985 s,
      deltaX: 5.963474 m,
      approachRate: 0.098910 m/s,
      posRepo size: 4

2025-10-26T22:28:38.530Z,1761517718.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:39.000Z,1761517719.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:39.423Z,1761517719.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:39.763Z,1761517719.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995648,-0.087498,-0.032078],[0.089314,-0.994172,-0.060382],[-0.026608,-0.062985,0.997660]]
2025-10-26T22:28:39.782Z,1761517719.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:40.233Z,1761517720.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995811,-0.086056,-0.030900],[0.087674,-0.994603,-0.055487],[-0.025958,-0.057964,0.997981]]
2025-10-26T22:28:40.270Z,1761517720.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:40.837Z,1761517720.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996472,-0.078508,-0.029678],[0.080214,-0.994877,-0.061523],[-0.024696,-0.063687,0.997664]]
2025-10-26T22:28:40.872Z,1761517720.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:41.356Z,1761517721.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996911,-0.072979,-0.029010],[0.074733,-0.995093,-0.064838],[-0.024136,-0.066806,0.997474]]
2025-10-26T22:28:41.427Z,1761517721.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:41.758Z,1761517721.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997366,-0.066980,-0.027824],[0.068651,-0.995571,-0.064236],[-0.023398,-0.065977,0.997547]]
2025-10-26T22:28:41.793Z,1761517721.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:42.162Z,1761517722.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997839,-0.060101,-0.026565],[0.061635,-0.996213,-0.061319],[-0.022779,-0.062824,0.997765]]
2025-10-26T22:28:42.223Z,1761517722.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:42.566Z,1761517722.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998300,-0.052505,-0.025311],[0.053894,-0.996876,-0.057736],[-0.022201,-0.059002,0.998011]]
2025-10-26T22:28:42.585Z,1761517722.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:42.999Z,1761517722.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998742,-0.043975,-0.024114],[0.045242,-0.997473,-0.054781],[-0.021644,-0.055803,0.998207]]
2025-10-26T22:28:43.053Z,1761517723.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:43.469Z,1761517723.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:43.823Z,1761517723.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999443,-0.024718,-0.022431],[0.025817,-0.998410,-0.050119],[-0.021157,-0.050670,0.998491]]
2025-10-26T22:28:43.841Z,1761517723.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:44.350Z,1761517724.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:44.775Z,1761517724.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999766,-0.002852,-0.021455],[0.003831,-0.998947,-0.045728],[-0.021302,-0.045799,0.998724]]
2025-10-26T22:28:44.794Z,1761517724.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:45.189Z,1761517725.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999725,0.009067,-0.021651],[-0.008141,-0.999065,-0.042459],[-0.022016,-0.042271,0.998864]]
2025-10-26T22:28:45.240Z,1761517725.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:45.583Z,1761517725.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999510,0.021818,-0.022456],[-0.020945,-0.999044,-0.038381],[-0.023272,-0.037892,0.999011]]
2025-10-26T22:28:45.604Z,1761517725.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:46.042Z,1761517726.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998589,0.046691,-0.025279],[-0.045996,-0.998565,-0.027426],[-0.026524,-0.026225,0.999304]]
2025-10-26T22:28:46.088Z,1761517726.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:46.434Z,1761517726.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:46.798Z,1761517726.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997870,0.059267,-0.027262],[-0.058650,-0.998017,-0.022871],[-0.028563,-0.021223,0.999367]]
2025-10-26T22:28:46.824Z,1761517726.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:47.202Z,1761517727.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996946,0.072237,-0.029660],[-0.071697,-0.997247,-0.018897],[-0.030943,-0.016712,0.999381]]
2025-10-26T22:28:47.250Z,1761517727.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:47.613Z,1761517727.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994543,0.098218,-0.035187],[-0.097857,-0.995130,-0.011831],[-0.036178,-0.008323,0.999311]]
2025-10-26T22:28:47.640Z,1761517727.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:48.052Z,1761517728.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993043,0.111433,-0.038065],[-0.111183,-0.993762,-0.008641],[-0.038791,-0.004349,0.999238]]
2025-10-26T22:28:48.087Z,1761517728.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:48.423Z,1761517728.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991355,0.124640,-0.040999],[-0.124528,-0.992202,-0.005294],[-0.041339,-0.000142,0.999145]]
2025-10-26T22:28:48.493Z,1761517728.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:48.825Z,1761517728.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989482,0.137715,-0.044281],[-0.137729,-0.990466,-0.002738],[-0.044236,0.003390,0.999015]]
2025-10-26T22:28:48.843Z,1761517728.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:49.225Z,1761517729.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987322,0.151442,-0.047548],[-0.151569,-0.988446,-0.000945],[-0.047142,0.006273,0.998868]]
2025-10-26T22:28:49.269Z,1761517729.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:49.626Z,1761517729.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984919,0.165262,-0.051222],[-0.165548,-0.986201,0.001363],[-0.050290,0.009822,0.998686]]
2025-10-26T22:28:49.670Z,1761517729.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:50.050Z,1761517730.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982199,0.179502,-0.055361],[-0.179991,-0.983660,0.003940],[-0.053749,0.013834,0.998459]]
2025-10-26T22:28:50.125Z,1761517730.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:50.440Z,1761517730.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979080,0.194610,-0.059401],[-0.195312,-0.980722,0.006199],[-0.057049,0.017671,0.998215]]
2025-10-26T22:28:50.481Z,1761517730.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:50.839Z,1761517730.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975783,0.209335,-0.063453],[-0.210204,-0.977630,0.007270],[-0.060512,0.020432,0.997958]]
2025-10-26T22:28:50.868Z,1761517730.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:51.242Z,1761517731.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971927,0.225376,-0.067551],[-0.226413,-0.973999,0.008013],[-0.063989,0.023082,0.997684]]
2025-10-26T22:28:51.294Z,1761517731.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:51.646Z,1761517731.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967897,0.240921,-0.071646],[-0.242154,-0.970197,0.008931],[-0.067359,0.025993,0.997390]]
2025-10-26T22:28:51.698Z,1761517731.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:52.060Z,1761517732.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963139,0.258015,-0.076104],[-0.259483,-0.965697,0.009908],[-0.070937,0.029291,0.997051]]
2025-10-26T22:28:52.137Z,1761517732.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:52.454Z,1761517732.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957806,0.275870,-0.080649],[-0.277651,-0.960613,0.011547],[-0.074287,0.033452,0.996676]]
2025-10-26T22:28:52.501Z,1761517732.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:52.858Z,1761517732.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951883,0.294330,-0.085373],[-0.296427,-0.954971,0.012737],[-0.077779,0.037431,0.996268]]
2025-10-26T22:28:52.876Z,1761517732.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:53.335Z,1761517733.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:53.681Z,1761517733.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937957,0.333650,-0.094413],[-0.336273,-0.941676,0.012909],[-0.084599,0.043856,0.995449]]
2025-10-26T22:28:53.701Z,1761517733.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:54.071Z,1761517734.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930019,0.353929,-0.098986],[-0.356829,-0.934083,0.012715],[-0.087961,0.047146,0.995008]]
2025-10-26T22:28:54.119Z,1761517734.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:54.474Z,1761517734.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921434,0.374509,-0.103450],[-0.377605,-0.925896,0.011423],[-0.091506,0.049589,0.994569]]
2025-10-26T22:28:54.541Z,1761517734.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:54.874Z,1761517734.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912256,0.394968,-0.108579],[-0.398406,-0.917142,0.011112],[-0.095193,0.053396,0.994026]]
2025-10-26T22:28:54.900Z,1761517734.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:55.278Z,1761517735.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902596,0.415028,-0.114330],[-0.418910,-0.907959,0.011176],[-0.099169,0.057982,0.993380]]
2025-10-26T22:28:55.322Z,1761517735.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:55.736Z,1761517735.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:56.081Z,1761517736.081 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:28:56.093Z,1761517736.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881545,0.455419,-0.124382],[-0.459783,-0.888002,0.007285],[-0.107133,0.063611,0.992208]]
2025-10-26T22:28:56.111Z,1761517736.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:56.490Z,1761517736.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870155,0.475498,-0.129355],[-0.480062,-0.877222,0.004724],[-0.111227,0.066209,0.991587]]
2025-10-26T22:28:56.533Z,1761517736.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:56.894Z,1761517736.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858262,0.495548,-0.133482],[-0.500112,-0.865960,0.000764],[-0.115212,0.067412,0.991051]]
2025-10-26T22:28:56.913Z,1761517736.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:57.084Z,1761517737.084 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:28:57.300Z,1761517737.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846110,0.514977,-0.137463],[-0.519451,-0.854491,-0.003855],[-0.119446,0.068144,0.990499]]
2025-10-26T22:28:57.338Z,1761517737.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:57.709Z,1761517737.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833316,0.534391,-0.141460],[-0.538706,-0.842445,-0.009071],[-0.124020,0.068646,0.989902]]
2025-10-26T22:28:57.736Z,1761517737.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:58.106Z,1761517738.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820234,0.553171,-0.145664],[-0.557368,-0.830148,-0.014011],[-0.128673,0.069696,0.989235]]
2025-10-26T22:28:58.161Z,1761517738.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:58.510Z,1761517738.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807133,0.571052,-0.149785],[-0.575136,-0.817841,-0.018823],[-0.133249,0.070954,0.988539]]
2025-10-26T22:28:58.560Z,1761517738.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:58.915Z,1761517738.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793497,0.588872,-0.153597],[-0.592687,-0.805057,-0.024606],[-0.138144,0.071510,0.987827]]
2025-10-26T22:28:58.934Z,1761517738.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:59.318Z,1761517739.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779390,0.606562,-0.156949],[-0.610012,-0.791793,-0.030798],[-0.142952,0.071737,0.987126]]
2025-10-26T22:28:59.364Z,1761517739.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:28:59.728Z,1761517739.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765148,0.623832,-0.159319],[-0.626785,-0.778299,-0.037312],[-0.147275,0.071310,0.986522]]
2025-10-26T22:28:59.759Z,1761517739.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:00.126Z,1761517740.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750188,0.641140,-0.161731],[-0.643479,-0.764166,-0.044564],[-0.152161,0.070639,0.985828]]
2025-10-26T22:29:00.154Z,1761517740.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:00.532Z,1761517740.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734633,0.658033,-0.165250],[-0.660102,-0.749508,-0.050038],[-0.156783,0.072322,0.984982]]
2025-10-26T22:29:00.568Z,1761517740.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:00.935Z,1761517740.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718997,0.674060,-0.169369],[-0.676034,-0.734839,-0.054672],[-0.161311,0.075190,0.984035]]
2025-10-26T22:29:00.963Z,1761517740.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:01.338Z,1761517741.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703009,0.690070,-0.171992],[-0.691630,-0.719704,-0.060609],[-0.165608,0.076347,0.983232]]
2025-10-26T22:29:01.389Z,1761517741.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:01.745Z,1761517741.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686542,0.706552,-0.171595],[-0.706931,-0.703839,-0.069703],[-0.170024,0.073451,0.982699]]
2025-10-26T22:29:01.764Z,1761517741.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:02.165Z,1761517742.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670011,0.722452,-0.170727],[-0.721554,-0.687840,-0.078968],[-0.174483,0.070279,0.982149]]
2025-10-26T22:29:02.185Z,1761517742.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:02.550Z,1761517742.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653554,0.738275,-0.166784],[-0.735368,-0.671533,-0.090973],[-0.179164,0.063192,0.981788]]
2025-10-26T22:29:02.601Z,1761517742.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:02.955Z,1761517742.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637808,0.753434,-0.159809],[-0.747934,-0.655419,-0.104979],[-0.183837,0.052570,0.981550]]
2025-10-26T22:29:02.973Z,1761517742.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:03.380Z,1761517743.380 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000503025.0, +1.0,1492.0,  0
2025-10-26T22:29:03.396Z,1761517743.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:03.762Z,1761517743.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607273,0.781443,-0.143409],[-0.770789,-0.623240,-0.132118],[-0.192621,0.030306,0.980805]]
2025-10-26T22:29:03.792Z,1761517743.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:04.172Z,1761517744.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592985,0.793721,-0.135560],[-0.780715,-0.607949,-0.144506],[-0.197111,0.020144,0.980174]]
2025-10-26T22:29:04.206Z,1761517744.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:04.573Z,1761517744.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579798,0.803942,-0.132329],[-0.789425,-0.594497,-0.152907],[-0.201598,0.015809,0.979341]]
2025-10-26T22:29:04.626Z,1761517744.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:04.976Z,1761517744.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567733,0.812380,-0.133109],[-0.796992,-0.582902,-0.158206],[-0.206112,0.016268,0.978393]]
2025-10-26T22:29:04.994Z,1761517744.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:05.378Z,1761517745.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557090,0.819606,-0.133783],[-0.803351,-0.572690,-0.163258],[-0.210423,0.016525,0.977471]]
2025-10-26T22:29:05.423Z,1761517745.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:05.783Z,1761517745.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547908,0.826286,-0.130569],[-0.808513,-0.563124,-0.170875],[-0.214718,0.011943,0.976603]]
2025-10-26T22:29:05.824Z,1761517745.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:06.190Z,1761517746.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539908,0.832522,-0.124119],[-0.812789,-0.553980,-0.180224],[-0.218800,0.003578,0.975763]]
2025-10-26T22:29:06.208Z,1761517746.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:06.591Z,1761517746.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533532,0.837712,-0.116541],[-0.815913,-0.546076,-0.189967],[-0.222778,-0.006266,0.974849]]
2025-10-26T22:29:06.639Z,1761517746.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:07.114Z,1761517747.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528630,0.842028,-0.107417],[-0.818136,-0.539139,-0.199957],[-0.226282,-0.017821,0.973899]]
2025-10-26T22:29:07.156Z,1761517747.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:07.514Z,1761517747.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525310,0.845134,-0.098986],[-0.819403,-0.533787,-0.208927],[-0.229409,-0.028642,0.972909]]
2025-10-26T22:29:07.569Z,1761517747.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:07.919Z,1761517747.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523196,0.847339,-0.091012],[-0.819930,-0.529613,-0.217313],[-0.232338,-0.039074,0.971850]]
2025-10-26T22:29:07.938Z,1761517747.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:08.374Z,1761517748.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522203,0.848704,-0.083703],[-0.819771,-0.526601,-0.225094],[-0.235116,-0.048927,0.970735]]
2025-10-26T22:29:08.440Z,1761517748.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:08.745Z,1761517748.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521875,0.849645,-0.075829],[-0.819157,-0.523971,-0.233315],[-0.237967,-0.059645,0.969440]]
2025-10-26T22:29:08.764Z,1761517748.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:09.157Z,1761517749.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522150,0.850174,-0.067552],[-0.818126,-0.521688,-0.241892],[-0.240891,-0.071038,0.967949]]
2025-10-26T22:29:09.189Z,1761517749.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:09.550Z,1761517749.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522531,0.850612,-0.058492],[-0.817011,-0.519147,-0.250958],[-0.243834,-0.083345,0.966229]]
2025-10-26T22:29:09.659Z,1761517749.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:10.003Z,1761517750.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523320,0.850707,-0.049340],[-0.815708,-0.516857,-0.259767],[-0.246487,-0.095695,0.964410]]
2025-10-26T22:29:10.022Z,1761517750.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:10.433Z,1761517750.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523942,0.850719,-0.041975],[-0.814418,-0.514798,-0.267779],[-0.249413,-0.106115,0.962566]]
2025-10-26T22:29:10.476Z,1761517750.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:10.819Z,1761517750.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524521,0.850557,-0.037822],[-0.813054,-0.513585,-0.274178],[-0.252629,-0.113060,0.960935]]
2025-10-26T22:29:10.843Z,1761517750.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:11.245Z,1761517751.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526750,0.849345,-0.033867],[-0.809622,-0.513454,-0.284389],[-0.258933,-0.122382,0.958111]]
2025-10-26T22:29:11.273Z,1761517751.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:11.682Z,1761517751.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:12.060Z,1761517752.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:12.512Z,1761517752.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:12.865Z,1761517752.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:13.300Z,1761517753.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:13.651Z,1761517753.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539226,0.842113,-0.008925],[-0.795968,-0.513083,-0.321217],[-0.275080,-0.166105,0.946964]]
2025-10-26T22:29:13.713Z,1761517753.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:14.052Z,1761517754.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541057,0.840986,-0.000836],[-0.794247,-0.511313,-0.328223],[-0.276458,-0.176923,0.944600]]
2025-10-26T22:29:14.070Z,1761517754.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:14.474Z,1761517754.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542461,0.840052,0.007038],[-0.792819,-0.509154,-0.334963],[-0.277803,-0.187284,0.942205]]
2025-10-26T22:29:14.515Z,1761517754.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:14.850Z,1761517754.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542857,0.839677,0.015782],[-0.792200,-0.505744,-0.341528],[-0.278792,-0.197903,0.939739]]
2025-10-26T22:29:14.869Z,1761517754.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:15.316Z,1761517755.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542365,0.839910,0.019804],[-0.792325,-0.503514,-0.344520],[-0.279394,-0.202547,0.938570]]
2025-10-26T22:29:15.334Z,1761517755.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:15.737Z,1761517755.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541180,0.840717,0.017868],[-0.792841,-0.503051,-0.344009],[-0.280226,-0.200337,0.938796]]
2025-10-26T22:29:15.798Z,1761517755.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:16.250Z,1761517756.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539350,0.841972,0.013623],[-0.793799,-0.502959,-0.341928],[-0.281042,-0.195232,0.939628]]
2025-10-26T22:29:16.285Z,1761517756.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:16.716Z,1761517756.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537447,0.843270,0.006802],[-0.794811,-0.503833,-0.338272],[-0.281828,-0.187209,0.941024]]
2025-10-26T22:29:16.783Z,1761517756.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:17.115Z,1761517757.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535491,0.844540,0.001110],[-0.795710,-0.504089,-0.335766],[-0.283008,-0.180683,0.941945]]
2025-10-26T22:29:17.150Z,1761517757.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:17.514Z,1761517757.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533052,0.846077,-0.002958],[-0.796955,-0.503272,-0.334036],[-0.284109,-0.175701,0.942556]]
2025-10-26T22:29:17.568Z,1761517757.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:17.919Z,1761517757.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530712,0.847499,-0.009505],[-0.798040,-0.503454,-0.331160],[-0.285443,-0.168165,0.943527]]
2025-10-26T22:29:17.937Z,1761517757.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:18.356Z,1761517758.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:18.733Z,1761517758.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529149,0.847891,-0.032892],[-0.798415,-0.510648,-0.319017],[-0.287288,-0.142546,0.947178]]
2025-10-26T22:29:18.787Z,1761517758.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:19.139Z,1761517759.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529794,0.847023,-0.043252],[-0.797724,-0.514980,-0.313738],[-0.288017,-0.131713,0.948524]]
2025-10-26T22:29:19.173Z,1761517759.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:19.548Z,1761517759.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531178,0.845985,-0.046462],[-0.796742,-0.517407,-0.312238],[-0.288188,-0.128835,0.948867]]
2025-10-26T22:29:19.600Z,1761517759.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:20.053Z,1761517760.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535453,0.843201,-0.047984],[-0.794189,-0.522029,-0.311045],[-0.287322,-0.128442,0.949183]]
2025-10-26T22:29:20.072Z,1761517760.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:20.451Z,1761517760.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539063,0.841139,-0.043546],[-0.792063,-0.523838,-0.313418],[-0.286439,-0.134461,0.948616]]
2025-10-26T22:29:20.545Z,1761517760.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:21.011Z,1761517761.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542581,0.839269,-0.035126],[-0.790204,-0.524152,-0.317559],[-0.284928,-0.144545,0.947588]]
2025-10-26T22:29:21.057Z,1761517761.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:21.470Z,1761517761.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546294,0.837173,-0.026552],[-0.788420,-0.524665,-0.321124],[-0.282767,-0.154494,0.946665]]
2025-10-26T22:29:21.529Z,1761517761.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:21.870Z,1761517761.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549492,0.835287,-0.018847],[-0.787034,-0.525056,-0.323873],[-0.280422,-0.163133,0.945913]]
2025-10-26T22:29:21.918Z,1761517761.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:22.277Z,1761517762.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552052,0.833701,-0.013469],[-0.786052,-0.525753,-0.325124],[-0.278138,-0.168898,0.945575]]
2025-10-26T22:29:22.313Z,1761517762.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:22.678Z,1761517762.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554019,0.832444,-0.010041],[-0.785291,-0.526566,-0.325647],[-0.276370,-0.172529,0.945438]]
2025-10-26T22:29:22.752Z,1761517762.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:23.085Z,1761517763.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555106,0.831769,-0.004193],[-0.785222,-0.525691,-0.327222],[-0.274377,-0.178351,0.944938]]
2025-10-26T22:29:23.112Z,1761517763.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:23.539Z,1761517763.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:23.915Z,1761517763.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553399,0.832902,0.004827],[-0.787463,-0.521302,-0.328856],[-0.271389,-0.185790,0.944368]]
2025-10-26T22:29:23.952Z,1761517763.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:24.315Z,1761517764.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550726,0.834679,0.003343],[-0.789481,-0.519595,-0.326712],[-0.270963,-0.182568,0.945118]]
2025-10-26T22:29:24.346Z,1761517764.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:24.725Z,1761517764.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547280,0.836948,-0.001633],[-0.791906,-0.518456,-0.322627],[-0.270868,-0.175274,0.946525]]
2025-10-26T22:29:24.773Z,1761517764.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:25.130Z,1761517765.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543243,0.839519,-0.009723],[-0.794583,-0.517836,-0.316992],[-0.271156,-0.164478,0.948378]]
2025-10-26T22:29:25.149Z,1761517765.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:25.528Z,1761517765.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538746,0.842301,-0.016761],[-0.797459,-0.516279,-0.312274],[-0.271682,-0.154870,0.949844]]
2025-10-26T22:29:25.596Z,1761517765.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:25.932Z,1761517765.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533984,0.845139,-0.024534],[-0.800520,-0.514704,-0.307000],[-0.272085,-0.144293,0.951393]]
2025-10-26T22:29:25.977Z,1761517765.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:26.334Z,1761517766.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529414,0.847730,-0.032785],[-0.803365,-0.513377,-0.301744],[-0.272629,-0.133410,0.952825]]
2025-10-26T22:29:26.354Z,1761517766.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:26.744Z,1761517766.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525187,0.850184,-0.036945],[-0.805954,-0.510862,-0.299094],[-0.273159,-0.127304,0.953508]]
2025-10-26T22:29:26.803Z,1761517766.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:27.144Z,1761517767.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521357,0.852551,-0.036656],[-0.808395,-0.507199,-0.298743],[-0.273285,-0.126119,0.953629]]
2025-10-26T22:29:27.163Z,1761517767.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:27.208Z,1761517767.208 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:29:27.547Z,1761517767.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518327,0.854394,-0.036714],[-0.810374,-0.504430,-0.298069],[-0.273188,-0.124745,0.953838]]
2025-10-26T22:29:27.601Z,1761517767.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:28.004Z,1761517768.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:28.212Z,1761517768.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:29:28.365Z,1761517768.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515142,0.856441,-0.033725],[-0.812923,-0.500679,-0.297451],[-0.271635,-0.125813,0.954141]]
2025-10-26T22:29:28.383Z,1761517768.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:28.759Z,1761517768.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515319,0.856474,-0.029968],[-0.813334,-0.499784,-0.297833],[-0.270064,-0.129105,0.954148]]
2025-10-26T22:29:28.807Z,1761517768.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:29.162Z,1761517769.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515921,0.856305,-0.023826],[-0.813419,-0.498426,-0.299870],[-0.268655,-0.135328,0.953683]]
2025-10-26T22:29:29.181Z,1761517769.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:29.566Z,1761517769.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517030,0.855766,-0.018565],[-0.813217,-0.497860,-0.301354],[-0.267131,-0.140711,0.953332]]
2025-10-26T22:29:29.598Z,1761517769.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:30.129Z,1761517770.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520375,0.853788,-0.015955],[-0.812413,-0.500740,-0.298739],[-0.263049,-0.142495,0.954202]]
2025-10-26T22:29:30.166Z,1761517770.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:30.516Z,1761517770.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521583,0.853074,-0.014724],[-0.812288,-0.501778,-0.297332],[-0.261034,-0.143123,0.954661]]
2025-10-26T22:29:30.534Z,1761517770.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:30.984Z,1761517770.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523130,0.852138,-0.013985],[-0.812150,-0.503422,-0.294922],[-0.258355,-0.142925,0.955419]]
2025-10-26T22:29:31.031Z,1761517771.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:31.389Z,1761517771.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523970,0.851671,-0.010554],[-0.812504,-0.503514,-0.293787],[-0.255524,-0.145361,0.955813]]
2025-10-26T22:29:31.409Z,1761517771.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:31.792Z,1761517771.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524110,0.851623,-0.006798],[-0.813337,-0.502883,-0.292561],[-0.252571,-0.147805,0.956223]]
2025-10-26T22:29:31.830Z,1761517771.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:32.195Z,1761517772.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524524,0.851367,-0.007022],[-0.813952,-0.503857,-0.289154],[-0.249714,-0.145952,0.957257]]
2025-10-26T22:29:32.224Z,1761517772.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:32.615Z,1761517772.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524608,0.851310,-0.007576],[-0.814785,-0.504640,-0.285419],[-0.246803,-0.143560,0.958373]]
2025-10-26T22:29:32.644Z,1761517772.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:33.002Z,1761517773.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524710,0.851214,-0.010683],[-0.815493,-0.506212,-0.280572],[-0.244235,-0.138507,0.959773]]
2025-10-26T22:29:33.058Z,1761517773.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:33.415Z,1761517773.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524970,0.851030,-0.012414],[-0.816077,-0.507444,-0.276619],[-0.241711,-0.135086,0.960899]]
2025-10-26T22:29:33.434Z,1761517773.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:33.856Z,1761517773.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525301,0.850827,-0.012365],[-0.816675,-0.508190,-0.273470],[-0.238960,-0.133556,0.961801]]
2025-10-26T22:29:33.911Z,1761517773.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:34.266Z,1761517774.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525302,0.850816,-0.013055],[-0.817382,-0.508806,-0.270193],[-0.236526,-0.131262,0.962718]]
2025-10-26T22:29:34.311Z,1761517774.311 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:29:34.313Z,1761517774.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:34.400Z,1761517774.400 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:29:34.400Z,1761517774.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:29:34.652Z,1761517774.652 [DAT](INFO): DAT read: user:562>

2025-10-26T22:29:34.653Z,1761517774.653 [DAT](INFO): DAT read: Tx time:22:29:33.7382

2025-10-26T22:29:34.653Z,1761517774.653 [DAT](INFO): Ping request sent.
2025-10-26T22:29:34.653Z,1761517774.653 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:29:34.654Z,1761517774.654 [DAT](INFO): publishing transmit ping time
2025-10-26T22:29:34.654Z,1761517774.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-10-26T22:29:34.692Z,1761517774.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525990,0.850388,-0.013224],[-0.817746,-0.509951,-0.266912],[-0.233722,-0.129579,0.963630]]
2025-10-26T22:29:34.786Z,1761517774.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:34.905Z,1761517774.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251250
2025-10-26T22:29:35.066Z,1761517775.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526166,0.850352,-0.007133],[-0.818476,-0.508683,-0.267094],[-0.230753,-0.134697,0.963644]]
2025-10-26T22:29:35.125Z,1761517775.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:35.156Z,1761517775.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502911
2025-10-26T22:29:35.408Z,1761517775.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754807
2025-10-26T22:29:35.470Z,1761517775.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526142,0.850396,0.001119],[-0.819347,-0.506578,-0.268419],[-0.227695,-0.142143,0.963302]]
2025-10-26T22:29:35.491Z,1761517775.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:35.660Z,1761517775.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006829
2025-10-26T22:29:35.876Z,1761517775.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525404,0.850800,0.009500],[-0.820752,-0.503841,-0.269278],[-0.224315,-0.149276,0.963016]]
2025-10-26T22:29:35.912Z,1761517775.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258980
2025-10-26T22:29:35.934Z,1761517775.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:36.165Z,1761517776.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511786
2025-10-26T22:29:36.278Z,1761517776.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524426,0.851368,0.012270],[-0.822252,-0.502645,-0.266928],[-0.221086,-0.150073,0.963638]]
2025-10-26T22:29:36.307Z,1761517776.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:36.416Z,1761517776.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762820
2025-10-26T22:29:36.668Z,1761517776.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014752
2025-10-26T22:29:36.684Z,1761517776.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523000,0.852236,0.012836],[-0.824023,-0.501722,-0.263175],[-0.217848,-0.148218,0.964663]]
2025-10-26T22:29:36.705Z,1761517776.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:36.920Z,1761517776.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266969
2025-10-26T22:29:37.099Z,1761517777.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521720,0.853027,0.012378],[-0.825716,-0.501263,-0.258704],[-0.214477,-0.145192,0.965877]]
2025-10-26T22:29:37.172Z,1761517777.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518941
2025-10-26T22:29:37.206Z,1761517777.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:37.424Z,1761517777.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770807
2025-10-26T22:29:37.595Z,1761517777.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:37.677Z,1761517777.677 [DAT](INFO): DAT read: Rx Time:22:29:36.2553

2025-10-26T22:29:37.678Z,1761517777.678 [DAT](INFO): Rx dataTimestamp_ set to:1761517777.677221
2025-10-26T22:29:37.679Z,1761517777.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024824
2025-10-26T22:29:37.928Z,1761517777.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274786
2025-10-26T22:29:37.950Z,1761517777.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517917,0.855327,0.013322],[-0.829867,-0.498599,-0.250439],[-0.207565,-0.140762,0.968041]]
2025-10-26T22:29:37.977Z,1761517777.977 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050302175611,0.6,   0.0,1492.0,  0
2025-10-26T22:29:38.026Z,1761517778.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.61 m.
2025-10-26T22:29:38.186Z,1761517778.186 [DAT](INFO): DAT read: 22:29:36.2553 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 401, 0.02, 2.059,-2.476, 2.289, 2.662, PHS=-0.501, 1.190,-0.418, RAW= 327.5,  -3.3, CAL= 326.7,  -6.4, ROT= 183.3,   6.4

2025-10-26T22:29:38.187Z,1761517778.187 [DAT](INFO): got valid direction response:
 22:29:36.2553 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 401, 0.02, 2.059,-2.476, 2.289, 2.662, PHS=-0.501, 1.190,-0.418, RAW= 327.5,  -3.3, CAL= 326.7,  -6.4, ROT= 183.3,   6.4

2025-10-26T22:29:38.188Z,1761517778.188 [DAT](INFO): DAT read: Bearing 209.7,  10.2 (Local)

2025-10-26T22:29:38.189Z,1761517778.189 [DAT](INFO): Local bearing/azimuth received:
 Bearing 209.7,  10.2 (Local)

2025-10-26T22:29:38.190Z,1761517778.190 [DAT](INFO): DAT read: Range 11 to 50 : 84.6 m  (Round-trip  112.9 ms) speed -0.8 m/s

2025-10-26T22:29:38.191Z,1761517778.191 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:29:38.192Z,1761517778.192 [DAT](INFO): direction in FSK: [-0.992120,-0.057205,-0.111469]
2025-10-26T22:29:38.192Z,1761517778.192 [DAT](INFO): publishing direction and range info
2025-10-26T22:29:38.380Z,1761517778.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516313,0.856310,0.012421],[-0.831831,-0.497999,-0.245059],[-0.203660,-0.136859,0.969429]]
2025-10-26T22:29:38.445Z,1761517778.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 84.599998 m,
      deltaT: 60.032360 s,
      deltaX: 35.699997 m,
      approachRate: 0.594679 m/s,
      rangeRepo size: 4

2025-10-26T22:29:38.448Z,1761517778.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.196060 m,
      bearing: 62.335846 deg,
      lat: 36.779407 deg,
      lon: -121.859485 deg,
      deltaT: 60.032360 s,
      deltaX: 35.586990 m,
      approachRate: 0.592797 m/s,
      posRepo size: 4

2025-10-26T22:29:38.448Z,1761517778.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:38.821Z,1761517778.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514394,0.857434,0.014315],[-0.833957,-0.496282,-0.241287],[-0.199784,-0.136055,0.970348]]
2025-10-26T22:29:38.874Z,1761517778.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:39.203Z,1761517779.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512159,0.858767,0.014566],[-0.836234,-0.494707,-0.236597],[-0.195976,-0.133356,0.971498]]
2025-10-26T22:29:39.221Z,1761517779.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:39.618Z,1761517779.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509803,0.860138,0.016220],[-0.838399,-0.492515,-0.233484],[-0.192840,-0.132630,0.972225]]
2025-10-26T22:29:39.644Z,1761517779.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:40.006Z,1761517780.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507301,0.861589,0.017613],[-0.840606,-0.490238,-0.230323],[-0.189809,-0.131649,0.972955]]
2025-10-26T22:29:40.062Z,1761517780.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:40.412Z,1761517780.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505458,0.862661,0.018097],[-0.842343,-0.488791,-0.227028],[-0.187003,-0.129997,0.973720]]
2025-10-26T22:29:40.433Z,1761517780.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:40.851Z,1761517780.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503591,0.863677,0.021392],[-0.844054,-0.486565,-0.225452],[-0.184309,-0.131592,0.974019]]
2025-10-26T22:29:40.903Z,1761517780.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:41.224Z,1761517781.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501845,0.864481,0.028703],[-0.845684,-0.483426,-0.226091],[-0.181576,-0.137737,0.973683]]
2025-10-26T22:29:41.251Z,1761517781.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:41.631Z,1761517781.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500451,0.865198,0.031328],[-0.847070,-0.481845,-0.224272],[-0.178944,-0.138774,0.974023]]
2025-10-26T22:29:41.668Z,1761517781.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:42.031Z,1761517782.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499876,0.865567,0.030307],[-0.847987,-0.482005,-0.220428],[-0.176187,-0.135886,0.974932]]
2025-10-26T22:29:42.108Z,1761517782.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:42.445Z,1761517782.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499423,0.865831,0.030219],[-0.848822,-0.482033,-0.217131],[-0.173432,-0.134091,0.975675]]
2025-10-26T22:29:42.469Z,1761517782.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:42.886Z,1761517782.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499464,0.865018,0.047755],[-0.849917,-0.478573,-0.220473],[-0.167859,-0.150706,0.974223]]
2025-10-26T22:29:42.929Z,1761517782.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:43.277Z,1761517783.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499799,0.864295,0.056524],[-0.850241,-0.477130,-0.222346],[-0.165203,-0.159187,0.973328]]
2025-10-26T22:29:43.312Z,1761517783.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:43.707Z,1761517783.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:44.055Z,1761517784.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500953,0.863202,0.062678],[-0.850042,-0.477114,-0.223137],[-0.162708,-0.165060,0.972770]]
2025-10-26T22:29:44.124Z,1761517784.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:44.510Z,1761517784.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:44.960Z,1761517784.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:45.272Z,1761517785.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510760,0.856154,0.078263],[-0.845801,-0.484087,-0.224233],[-0.154092,-0.180724,0.971388]]
2025-10-26T22:29:45.291Z,1761517785.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:45.675Z,1761517785.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513714,0.853570,0.086695],[-0.844352,-0.485051,-0.227586],[-0.152210,-0.190115,0.969891]]
2025-10-26T22:29:45.703Z,1761517785.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:46.091Z,1761517786.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516173,0.851476,0.092482],[-0.843168,-0.486211,-0.229493],[-0.150442,-0.196436,0.968907]]
2025-10-26T22:29:46.127Z,1761517786.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:46.484Z,1761517786.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518577,0.849709,0.095251],[-0.842046,-0.488181,-0.229429],[-0.148448,-0.199183,0.968653]]
2025-10-26T22:29:46.525Z,1761517786.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:46.955Z,1761517786.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:47.334Z,1761517787.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521702,0.847614,0.096836],[-0.841112,-0.492045,-0.224551],[-0.142685,-0.198598,0.969639]]
2025-10-26T22:29:47.371Z,1761517787.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:47.738Z,1761517787.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522156,0.847192,0.098078],[-0.841380,-0.492919,-0.221608],[-0.139400,-0.198235,0.970191]]
2025-10-26T22:29:47.765Z,1761517787.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:48.139Z,1761517788.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522158,0.847313,0.097019],[-0.841972,-0.494042,-0.216809],[-0.135774,-0.194896,0.971381]]
2025-10-26T22:29:48.185Z,1761517788.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:48.550Z,1761517788.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522000,0.847863,0.092977],[-0.842649,-0.495739,-0.210206],[-0.132133,-0.188075,0.973226]]
2025-10-26T22:29:48.598Z,1761517788.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:48.980Z,1761517788.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521210,0.848626,0.090413],[-0.843700,-0.496418,-0.204305],[-0.128496,-0.182767,0.974723]]
2025-10-26T22:29:49.033Z,1761517789.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:49.354Z,1761517789.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520227,0.849698,0.085894],[-0.844804,-0.497257,-0.197591],[-0.125181,-0.175355,0.976514]]
2025-10-26T22:29:49.383Z,1761517789.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:49.758Z,1761517789.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519639,0.850712,0.079143],[-0.845643,-0.498893,-0.189721],[-0.121915,-0.165513,0.978643]]
2025-10-26T22:29:49.794Z,1761517789.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:50.162Z,1761517790.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519147,0.851630,0.072201],[-0.846377,-0.500513,-0.182026],[-0.118881,-0.155608,0.980639]]
2025-10-26T22:29:50.219Z,1761517790.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:50.584Z,1761517790.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518753,0.852240,0.067689],[-0.847031,-0.501617,-0.175837],[-0.115901,-0.148550,0.982089]]
2025-10-26T22:29:50.603Z,1761517790.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:51.065Z,1761517791.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518637,0.852507,0.065180],[-0.847487,-0.502506,-0.171038],[-0.113057,-0.143946,0.983106]]
2025-10-26T22:29:51.118Z,1761517791.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:51.544Z,1761517791.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518129,0.852666,0.067106],[-0.848123,-0.502053,-0.169204],[-0.110583,-0.144584,0.983294]]
2025-10-26T22:29:51.617Z,1761517791.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:52.084Z,1761517792.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516703,0.852861,0.075139],[-0.849652,-0.499990,-0.167637],[-0.105403,-0.150460,0.982981]]
2025-10-26T22:29:52.120Z,1761517792.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:52.508Z,1761517792.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:52.870Z,1761517792.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515476,0.853241,0.079142],[-0.850695,-0.498457,-0.166908],[-0.102964,-0.153363,0.982791]]
2025-10-26T22:29:52.890Z,1761517792.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:53.293Z,1761517793.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514305,0.853376,0.085085],[-0.852067,-0.497203,-0.163617],[-0.097323,-0.156647,0.982848]]
2025-10-26T22:29:53.351Z,1761517793.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:53.682Z,1761517793.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513825,0.853388,0.087823],[-0.852667,-0.496726,-0.161929],[-0.094564,-0.158088,0.982886]]
2025-10-26T22:29:53.731Z,1761517793.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:54.090Z,1761517794.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513337,0.853474,0.089812],[-0.853287,-0.496437,-0.159534],[-0.091572,-0.158530,0.983099]]
2025-10-26T22:29:54.132Z,1761517794.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:54.489Z,1761517794.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513014,0.853471,0.091671],[-0.853774,-0.496294,-0.157362],[-0.088808,-0.158995,0.983277]]
2025-10-26T22:29:54.507Z,1761517794.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:54.889Z,1761517794.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513054,0.853083,0.094994],[-0.854034,-0.496244,-0.156099],[-0.086025,-0.161215,0.983163]]
2025-10-26T22:29:54.914Z,1761517794.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:55.290Z,1761517795.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513285,0.852731,0.096893],[-0.854165,-0.496633,-0.154137],[-0.083317,-0.161879,0.983287]]
2025-10-26T22:29:55.334Z,1761517795.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:55.694Z,1761517795.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513411,0.852379,0.099295],[-0.854361,-0.496864,-0.152293],[-0.080475,-0.163023,0.983335]]
2025-10-26T22:29:55.722Z,1761517795.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:56.102Z,1761517796.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513540,0.851984,0.101985],[-0.854554,-0.497071,-0.150526],[-0.077552,-0.164453,0.983332]]
2025-10-26T22:29:56.150Z,1761517796.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:56.502Z,1761517796.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513816,0.851455,0.104965],[-0.854636,-0.497353,-0.149121],[-0.074765,-0.166327,0.983232]]
2025-10-26T22:29:56.538Z,1761517796.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:56.906Z,1761517796.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513995,0.851026,0.107531],[-0.854749,-0.497580,-0.147712],[-0.072201,-0.167835,0.983168]]
2025-10-26T22:29:56.925Z,1761517796.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:57.313Z,1761517797.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514416,0.850468,0.109913],[-0.854721,-0.498110,-0.146074],[-0.069482,-0.169088,0.983149]]
2025-10-26T22:29:57.350Z,1761517797.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:57.728Z,1761517797.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514338,0.850278,0.111728],[-0.854962,-0.498208,-0.144320],[-0.067048,-0.169753,0.983203]]
2025-10-26T22:29:57.813Z,1761517797.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:58.119Z,1761517798.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514374,0.849953,0.114018],[-0.855163,-0.498431,-0.142348],[-0.064159,-0.170724,0.983228]]
2025-10-26T22:29:58.195Z,1761517798.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:58.332Z,1761517798.332 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:29:58.522Z,1761517798.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514005,0.849888,0.116142],[-0.855595,-0.498296,-0.140207],[-0.061287,-0.171438,0.983287]]
2025-10-26T22:29:58.583Z,1761517798.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:58.927Z,1761517798.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513549,0.850079,0.116764],[-0.856075,-0.498342,-0.137081],[-0.058342,-0.170357,0.983654]]
2025-10-26T22:29:58.981Z,1761517798.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:59.330Z,1761517799.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513584,0.850157,0.116034],[-0.856244,-0.499060,-0.133360],[-0.055469,-0.167846,0.984252]]
2025-10-26T22:29:59.336Z,1761517799.336 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:29:59.376Z,1761517799.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:29:59.738Z,1761517799.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513480,0.850139,0.116631],[-0.856489,-0.499432,-0.130361],[-0.052576,-0.166830,0.984583]]
2025-10-26T22:29:59.769Z,1761517799.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:00.195Z,1761517800.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:00.603Z,1761517800.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:00.948Z,1761517800.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515127,0.848980,0.117803],[-0.855993,-0.502545,-0.121348],[-0.043820,-0.163348,0.985595]]
2025-10-26T22:30:00.967Z,1761517800.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:01.351Z,1761517801.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515484,0.848749,0.117901],[-0.855903,-0.503357,-0.118583],[-0.041301,-0.162040,0.985920]]
2025-10-26T22:30:01.395Z,1761517801.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:01.792Z,1761517801.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:02.185Z,1761517802.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517247,0.848040,0.115259],[-0.855058,-0.506327,-0.111841],[-0.036487,-0.156403,0.987019]]
2025-10-26T22:30:02.265Z,1761517802.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:02.571Z,1761517802.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518006,0.847253,0.117607],[-0.854692,-0.507175,-0.110793],[-0.034222,-0.157909,0.986860]]
2025-10-26T22:30:02.589Z,1761517802.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:02.966Z,1761517802.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518332,0.846697,0.120148],[-0.854576,-0.507552,-0.109961],[-0.032123,-0.159672,0.986647]]
2025-10-26T22:30:03.001Z,1761517803.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:03.370Z,1761517803.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519137,0.845850,0.122615],[-0.854165,-0.508421,-0.109129],[-0.029967,-0.161386,0.986436]]
2025-10-26T22:30:03.421Z,1761517803.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:03.811Z,1761517803.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:04.264Z,1761517804.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519097,0.845019,0.128376],[-0.854334,-0.508498,-0.107436],[-0.025506,-0.165446,0.985889]]
2025-10-26T22:30:04.316Z,1761517804.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:04.666Z,1761517804.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518759,0.844952,0.130177],[-0.854598,-0.508331,-0.106122],[-0.023494,-0.166301,0.985795]]
2025-10-26T22:30:04.686Z,1761517804.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:05.129Z,1761517805.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518403,0.844978,0.131419],[-0.854880,-0.508330,-0.103829],[-0.020929,-0.166173,0.985874]]
2025-10-26T22:30:05.212Z,1761517805.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:05.594Z,1761517805.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517715,0.845017,0.133856],[-0.855362,-0.507914,-0.101882],[-0.018104,-0.167241,0.985750]]
2025-10-26T22:30:05.632Z,1761517805.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:05.994Z,1761517805.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517066,0.845081,0.135948],[-0.855815,-0.507651,-0.099349],[-0.014944,-0.167716,0.985722]]
2025-10-26T22:30:06.035Z,1761517806.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:06.398Z,1761517806.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516692,0.845049,0.137553],[-0.856095,-0.507791,-0.096175],[-0.011424,-0.167451,0.985814]]
2025-10-26T22:30:06.450Z,1761517806.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:06.806Z,1761517806.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516340,0.844953,0.139457],[-0.856350,-0.507977,-0.092870],[-0.007630,-0.167377,0.985864]]
2025-10-26T22:30:06.836Z,1761517806.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:07.254Z,1761517807.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515621,0.844877,0.142541],[-0.856808,-0.507679,-0.090230],[-0.003868,-0.168655,0.985668]]
2025-10-26T22:30:07.301Z,1761517807.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:07.610Z,1761517807.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514947,0.844185,0.148934],[-0.857222,-0.507097,-0.089572],[-0.000091,-0.173794,0.984782]]
2025-10-26T22:30:07.646Z,1761517807.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:08.015Z,1761517808.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513729,0.843863,0.154848],[-0.857945,-0.506033,-0.088664],[0.003538,-0.178400,0.983952]]
2025-10-26T22:30:08.064Z,1761517808.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:08.420Z,1761517808.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512443,0.843754,0.159630],[-0.858691,-0.505046,-0.087050],[0.007172,-0.181681,0.983331]]
2025-10-26T22:30:08.474Z,1761517808.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:08.825Z,1761517808.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511001,0.843908,0.163393],[-0.859512,-0.504035,-0.084779],[0.010810,-0.183760,0.982912]]
2025-10-26T22:30:08.844Z,1761517808.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:09.267Z,1761517809.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509470,0.844796,0.163584],[-0.860368,-0.503289,-0.080418],[0.014393,-0.181713,0.983246]]
2025-10-26T22:30:09.322Z,1761517809.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:09.630Z,1761517809.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508328,0.845611,0.162922],[-0.860976,-0.502988,-0.075654],[0.017974,-0.178729,0.983734]]
2025-10-26T22:30:09.648Z,1761517809.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:10.099Z,1761517810.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:10.438Z,1761517810.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505259,0.847214,0.164140],[-0.862613,-0.501282,-0.067929],[0.024730,-0.175911,0.984095]]
2025-10-26T22:30:10.486Z,1761517810.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:10.945Z,1761517810.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501536,0.849278,0.164891],[-0.864549,-0.499032,-0.059351],[0.031881,-0.172323,0.984525]]
2025-10-26T22:30:10.977Z,1761517810.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:11.402Z,1761517811.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:11.851Z,1761517811.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497149,0.851715,0.165605],[-0.866792,-0.496079,-0.050766],[0.038915,-0.168783,0.984885]]
2025-10-26T22:30:11.932Z,1761517811.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:12.347Z,1761517812.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495033,0.852760,0.166562],[-0.867843,-0.494614,-0.046971],[0.042328,-0.167802,0.984912]]
2025-10-26T22:30:12.433Z,1761517812.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:12.847Z,1761517812.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492809,0.853926,0.167184],[-0.868960,-0.492966,-0.043514],[0.045258,-0.166720,0.984965]]
2025-10-26T22:30:12.883Z,1761517812.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:13.247Z,1761517813.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491014,0.854994,0.167005],[-0.869823,-0.491757,-0.039792],[0.048104,-0.164803,0.985153]]
2025-10-26T22:30:13.353Z,1761517813.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:13.659Z,1761517813.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489480,0.855972,0.166498],[-0.870551,-0.490726,-0.036453],[0.050502,-0.162788,0.985368]]
2025-10-26T22:30:13.678Z,1761517813.678 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 92.76, 153.70, 173.23, 166.44
2025-10-26T22:30:13.699Z,1761517813.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:14.062Z,1761517814.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488003,0.856723,0.166971],[-0.871247,-0.489674,-0.033877],[0.052738,-0.162005,0.985380]]
2025-10-26T22:30:14.111Z,1761517814.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:14.467Z,1761517814.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487018,0.857137,0.167719],[-0.871670,-0.489064,-0.031744],[0.054816,-0.161656,0.985324]]
2025-10-26T22:30:14.545Z,1761517814.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:14.873Z,1761517814.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486614,0.856695,0.171115],[-0.871756,-0.488949,-0.031140],[0.056989,-0.164324,0.984759]]
2025-10-26T22:30:14.897Z,1761517814.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:15.275Z,1761517815.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486073,0.855921,0.176444],[-0.871943,-0.488553,-0.032107],[0.058721,-0.169456,0.983787]]
2025-10-26T22:30:15.366Z,1761517815.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:15.678Z,1761517815.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485940,0.855298,0.179797],[-0.871899,-0.488635,-0.032045],[0.060447,-0.172337,0.983182]]
2025-10-26T22:30:15.743Z,1761517815.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:16.082Z,1761517816.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486310,0.855228,0.179131],[-0.871581,-0.489336,-0.029947],[0.062043,-0.170691,0.983369]]
2025-10-26T22:30:16.105Z,1761517816.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:16.557Z,1761517816.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:16.890Z,1761517816.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488289,0.853927,0.179952],[-0.870324,-0.491653,-0.028526],[0.064115,-0.170546,0.983262]]
2025-10-26T22:30:16.919Z,1761517816.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:17.301Z,1761517817.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491367,0.850290,0.188589],[-0.868464,-0.494696,-0.032348],[0.065789,-0.179677,0.981523]]
2025-10-26T22:30:17.362Z,1761517817.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:17.706Z,1761517817.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492548,0.848406,0.193916],[-0.867729,-0.495820,-0.034765],[0.066653,-0.185390,0.980402]]
2025-10-26T22:30:17.762Z,1761517817.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:18.109Z,1761517818.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493683,0.847212,0.196236],[-0.867009,-0.497040,-0.035312],[0.067620,-0.187571,0.979921]]
2025-10-26T22:30:18.128Z,1761517818.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:18.521Z,1761517818.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495542,0.846337,0.195324],[-0.865853,-0.499151,-0.033875],[0.068826,-0.185908,0.980154]]
2025-10-26T22:30:18.581Z,1761517818.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:18.913Z,1761517818.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496898,0.845494,0.195529],[-0.865030,-0.500588,-0.033694],[0.069391,-0.185880,0.980119]]
2025-10-26T22:30:18.951Z,1761517818.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:19.320Z,1761517819.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498242,0.844174,0.197801],[-0.864225,-0.501891,-0.034937],[0.069782,-0.188352,0.979619]]
2025-10-26T22:30:19.338Z,1761517819.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:19.730Z,1761517819.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499565,0.842580,0.201229],[-0.863405,-0.503188,-0.036525],[0.070481,-0.191989,0.978863]]
2025-10-26T22:30:19.795Z,1761517819.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:20.122Z,1761517820.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500392,0.841785,0.202499],[-0.862871,-0.504085,-0.036754],[0.071138,-0.193122,0.978592]]
2025-10-26T22:30:20.152Z,1761517820.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:20.536Z,1761517820.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501520,0.841460,0.201055],[-0.862168,-0.505376,-0.035520],[0.071720,-0.191157,0.978936]]
2025-10-26T22:30:20.581Z,1761517820.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:20.933Z,1761517820.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502765,0.841073,0.199556],[-0.861387,-0.506799,-0.034177],[0.072390,-0.189078,0.979290]]
2025-10-26T22:30:20.951Z,1761517820.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:21.336Z,1761517821.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504137,0.840672,0.197776],[-0.860524,-0.508363,-0.032641],[0.073102,-0.186646,0.979704]]
2025-10-26T22:30:21.355Z,1761517821.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:21.741Z,1761517821.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505260,0.840131,0.197212],[-0.859824,-0.509584,-0.032032],[0.073585,-0.185752,0.979837]]
2025-10-26T22:30:21.793Z,1761517821.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:22.142Z,1761517822.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506621,0.839758,0.195297],[-0.858953,-0.511159,-0.030279],[0.074401,-0.183091,0.980277]]
2025-10-26T22:30:22.160Z,1761517822.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:22.546Z,1761517822.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508214,0.839081,0.194066],[-0.857924,-0.512969,-0.028786],[0.075396,-0.181124,0.980566]]
2025-10-26T22:30:22.604Z,1761517822.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:22.952Z,1761517822.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509753,0.838190,0.193878],[-0.856909,-0.514721,-0.027738],[0.076543,-0.180275,0.980633]]
2025-10-26T22:30:22.970Z,1761517822.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:23.355Z,1761517823.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511513,0.837309,0.193050],[-0.855754,-0.516713,-0.026318],[0.077715,-0.178665,0.980836]]
2025-10-26T22:30:23.383Z,1761517823.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:23.758Z,1761517823.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513372,0.836218,0.192843],[-0.854541,-0.518761,-0.025411],[0.078790,-0.177838,0.980901]]
2025-10-26T22:30:23.812Z,1761517823.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:24.163Z,1761517824.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514989,0.834641,0.195348],[-0.853491,-0.520437,-0.026417],[0.079617,-0.180333,0.980378]]
2025-10-26T22:30:24.181Z,1761517824.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:24.568Z,1761517824.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516379,0.832614,0.200268],[-0.852530,-0.521907,-0.028368],[0.080901,-0.185383,0.979330]]
2025-10-26T22:30:24.610Z,1761517824.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:24.970Z,1761517824.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517323,0.830820,0.205218],[-0.851836,-0.522933,-0.030267],[0.082169,-0.190469,0.978248]]
2025-10-26T22:30:25.010Z,1761517825.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:25.412Z,1761517825.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:25.778Z,1761517825.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516191,0.829724,0.212378],[-0.852258,-0.522180,-0.031370],[0.084871,-0.197194,0.976684]]
2025-10-26T22:30:25.846Z,1761517825.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:26.185Z,1761517826.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514009,0.830631,0.214119],[-0.853456,-0.520272,-0.030495],[0.086070,-0.198416,0.976331]]
2025-10-26T22:30:26.269Z,1761517826.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:26.663Z,1761517826.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:26.991Z,1761517826.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507413,0.836416,0.207220],[-0.857260,-0.514373,-0.022948],[0.087394,-0.189285,0.978025]]
2025-10-26T22:30:27.041Z,1761517827.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:27.394Z,1761517827.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503645,0.840454,0.199947],[-0.859464,-0.510901,-0.017387],[0.087540,-0.180604,0.979652]]
2025-10-26T22:30:27.447Z,1761517827.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:27.872Z,1761517827.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:28.202Z,1761517828.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496828,0.847421,0.187190],[-0.863450,-0.504364,-0.008427],[0.087271,-0.165816,0.982288]]
2025-10-26T22:30:28.228Z,1761517828.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:28.662Z,1761517828.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:29.019Z,1761517829.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492921,0.854683,0.162931],[-0.865766,-0.500416,0.005788],[0.086480,-0.138207,0.986621]]
2025-10-26T22:30:29.038Z,1761517829.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:29.416Z,1761517829.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492632,0.856340,0.154906],[-0.865937,-0.500044,0.010456],[0.086413,-0.128988,0.987874]]
2025-10-26T22:30:29.434Z,1761517829.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:29.456Z,1761517829.456 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:30:29.877Z,1761517829.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:30.222Z,1761517830.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494154,0.855855,0.152720],[-0.865174,-0.501367,0.010270],[0.085358,-0.127054,0.988216]]
2025-10-26T22:30:30.241Z,1761517830.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:30.460Z,1761517830.460 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:30:30.626Z,1761517830.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495556,0.854283,0.156925],[-0.864463,-0.502655,0.006501],[0.084433,-0.132435,0.987589]]
2025-10-26T22:30:30.686Z,1761517830.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:31.033Z,1761517831.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497394,0.852113,0.162796],[-0.863511,-0.504328,0.001476],[0.083360,-0.139842,0.986659]]
2025-10-26T22:30:31.056Z,1761517831.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:31.434Z,1761517831.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499388,0.850085,0.167235],[-0.862450,-0.506135,-0.002627],[0.082410,-0.145544,0.985914]]
2025-10-26T22:30:31.461Z,1761517831.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:31.843Z,1761517831.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502347,0.848694,0.165428],[-0.860782,-0.508966,-0.002744],[0.081868,-0.143776,0.986218]]
2025-10-26T22:30:31.903Z,1761517831.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:32.242Z,1761517832.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506139,0.846354,0.165858],[-0.858556,-0.512706,-0.003726],[0.081883,-0.144284,0.986143]]
2025-10-26T22:30:32.260Z,1761517832.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:32.648Z,1761517832.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509835,0.843018,0.171433],[-0.856294,-0.516441,-0.006993],[0.082639,-0.150362,0.985171]]
2025-10-26T22:30:32.719Z,1761517832.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:33.050Z,1761517833.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513264,0.839617,0.177772],[-0.854142,-0.519936,-0.010427],[0.083675,-0.157195,0.984016]]
2025-10-26T22:30:33.079Z,1761517833.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:33.504Z,1761517833.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:33.861Z,1761517833.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520629,0.830417,0.198377],[-0.849234,-0.527636,-0.020055],[0.088017,-0.178909,0.979921]]
2025-10-26T22:30:33.926Z,1761517833.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:34.266Z,1761517834.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523980,0.826241,0.206810],[-0.846826,-0.531393,-0.022540],[0.091274,-0.186942,0.978122]]
2025-10-26T22:30:34.284Z,1761517834.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:34.666Z,1761517834.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526715,0.823342,0.211375],[-0.844784,-0.534630,-0.022600],[0.094400,-0.190470,0.977144]]
2025-10-26T22:30:34.716Z,1761517834.716 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:30:34.719Z,1761517834.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:34.936Z,1761517834.936 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:30:34.937Z,1761517834.937 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:30:35.070Z,1761517835.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529045,0.820434,0.216793],[-0.843040,-0.537323,-0.023834],[0.096933,-0.195375,0.975927]]
2025-10-26T22:30:35.107Z,1761517835.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:35.188Z,1761517835.188 [DAT](INFO): DAT read: user:563>

2025-10-26T22:30:35.189Z,1761517835.189 [DAT](INFO): DAT read: Tx time:22:30:34.2881

2025-10-26T22:30:35.190Z,1761517835.190 [DAT](INFO): Ping request sent.
2025-10-26T22:30:35.190Z,1761517835.190 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:30:35.190Z,1761517835.190 [DAT](INFO): publishing transmit ping time
2025-10-26T22:30:35.191Z,1761517835.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001095
2025-10-26T22:30:35.440Z,1761517835.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250551
2025-10-26T22:30:35.475Z,1761517835.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529945,0.818358,0.222372],[-0.842294,-0.538394,-0.025950],[0.098487,-0.201054,0.974617]]
2025-10-26T22:30:35.529Z,1761517835.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:35.692Z,1761517835.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502504
2025-10-26T22:30:35.883Z,1761517835.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531068,0.816869,0.225148],[-0.841495,-0.539579,-0.027205],[0.099263,-0.203909,0.973945]]
2025-10-26T22:30:35.944Z,1761517835.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754621
2025-10-26T22:30:35.939Z,1761517835.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:36.197Z,1761517836.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006846
2025-10-26T22:30:36.384Z,1761517836.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531854,0.815167,0.229420],[-0.840981,-0.540228,-0.030088],[0.099412,-0.208940,0.972862]]
2025-10-26T22:30:36.406Z,1761517836.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:36.448Z,1761517836.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258604
2025-10-26T22:30:36.702Z,1761517836.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511738
2025-10-26T22:30:36.789Z,1761517836.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531482,0.814768,0.231689],[-0.841265,-0.539678,-0.031957],[0.099000,-0.211896,0.972265]]
2025-10-26T22:30:36.867Z,1761517836.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:36.952Z,1761517836.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762587
2025-10-26T22:30:37.205Z,1761517837.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014894
2025-10-26T22:30:37.308Z,1761517837.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531036,0.816492,0.226588],[-0.841680,-0.539155,-0.029777],[0.097853,-0.206527,0.973536]]
2025-10-26T22:30:37.338Z,1761517837.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:37.457Z,1761517837.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266673
2025-10-26T22:30:37.709Z,1761517837.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519218
2025-10-26T22:30:37.733Z,1761517837.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530569,0.820281,0.213626],[-0.842265,-0.538526,-0.024045],[0.095319,-0.192688,0.976620]]
2025-10-26T22:30:37.796Z,1761517837.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:37.960Z,1761517837.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770487
2025-10-26T22:30:38.147Z,1761517838.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:38.214Z,1761517838.214 [DAT](INFO): DAT read: Rx Time:22:30:36.9354

2025-10-26T22:30:38.214Z,1761517838.214 [DAT](INFO): Rx dataTimestamp_ set to:1761517838.213778
2025-10-26T22:30:38.215Z,1761517838.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024797
2025-10-26T22:30:38.464Z,1761517838.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274589
2025-10-26T22:30:38.528Z,1761517838.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526941,0.823298,0.210983],[-0.844907,-0.534320,-0.025172],[0.092008,-0.191526,0.977166]]
2025-10-26T22:30:38.573Z,1761517838.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m.
2025-10-26T22:30:38.720Z,1761517838.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529303
2025-10-26T22:30:38.932Z,1761517838.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524092,0.825756,0.208458],[-0.846847,-0.531267,-0.024605],[0.090429,-0.189427,0.977722]]
2025-10-26T22:30:38.978Z,1761517838.978 [DAT](INFO): DAT read: 22:30:36.9354 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 229, 0.33, 0.101, 1.356, 0.167,-0.160, PHS= 0.363, 1.561, 0.283, RAW= 333.2, -32.2, CAL= 333.0, -35.3, ROT= 177.0,  35.3

2025-10-26T22:30:38.980Z,1761517838.980 [DAT](INFO): got valid direction response:
 22:30:36.9354 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 229, 0.33, 0.101, 1.356, 0.167,-0.160, PHS= 0.363, 1.561, 0.283, RAW= 333.2, -32.2, CAL= 333.0, -35.3, ROT= 177.0,  35.3

2025-10-26T22:30:38.981Z,1761517838.981 [DAT](INFO): DAT read: Bearing 235.7,   4.2 (Local)

2025-10-26T22:30:38.981Z,1761517838.981 [DAT](INFO): Local bearing/azimuth received:
 Bearing 235.7,   4.2 (Local)

2025-10-26T22:30:38.992Z,1761517838.992 [DAT](INFO): DAT read: Range 11 to 50 : 182.3 m  (Round-trip  243.1 ms) speed -0.3 m/s

2025-10-26T22:30:38.993Z,1761517838.993 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:30:38.994Z,1761517838.994 [DAT](INFO): direction in FSK: [-0.815019,0.042713,-0.577858]
2025-10-26T22:30:38.995Z,1761517838.995 [DAT](INFO): publishing direction and range info
2025-10-26T22:30:39.031Z,1761517839.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 182.300003 m,
      deltaT: 60.787764 s,
      deltaX: 97.700005 m,
      approachRate: 1.607231 m/s,
      rangeRepo size: 4

2025-10-26T22:30:39.034Z,1761517839.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 181.432022 m,
      bearing: 63.361358 deg,
      lat: 36.779369 deg,
      lon: -121.859439 deg,
      deltaT: 60.787764 s,
      deltaX: 97.235962 m,
      approachRate: 1.599598 m/s,
      posRepo size: 4

2025-10-26T22:30:39.034Z,1761517839.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.43 m.
2025-10-26T22:30:39.034Z,1761517839.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 182.30 m. Resuming terminal guidance.
2025-10-26T22:30:39.034Z,1761517839.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-10-26T22:30:39.331Z,1761517839.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520653,0.829555,0.201891],[-0.849132,-0.527750,-0.021325],[0.088858,-0.182535,0.979176]]
2025-10-26T22:30:39.354Z,1761517839.354 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-10-26T22:30:39.354Z,1761517839.354 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T22:30:39.354Z,1761517839.354 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-10-26T22:30:39.376Z,1761517839.376 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 182.300003 m (mode  1.000000 count ).
2025-10-26T22:30:39.376Z,1761517839.376 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-10-26T22:30:39.376Z,1761517839.376 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-10-26T22:30:39.800Z,1761517839.800 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-10-26T22:30:39.800Z,1761517839.800 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-10-26T22:30:39.801Z,1761517839.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:30:39.977Z,1761517839.977 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:30:39.978Z,1761517839.978 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:30:39.978Z,1761517839.978 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:30:40.134Z,1761517840.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515229,0.837273,0.183066],[-0.852657,-0.522362,-0.010670],[0.086693,-0.161590,0.983043]]
2025-10-26T22:30:40.163Z,1761517840.163 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-10-26T22:30:40.163Z,1761517840.163 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-10-26T22:30:40.228Z,1761517840.228 [DAT](INFO): DAT read: user:564>

2025-10-26T22:30:40.229Z,1761517840.229 [DAT](INFO): DAT read: Tx time:22:30:39.3381

2025-10-26T22:30:40.229Z,1761517840.229 [DAT](INFO): Ping request sent.
2025-10-26T22:30:40.229Z,1761517840.229 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:30:40.230Z,1761517840.230 [DAT](INFO): publishing transmit ping time
2025-10-26T22:30:40.230Z,1761517840.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000797
2025-10-26T22:30:40.482Z,1761517840.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251871
2025-10-26T22:30:40.538Z,1761517840.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513309,0.841364,0.169176],[-0.853931,-0.520377,-0.002981],[0.085527,-0.145995,0.985581]]
2025-10-26T22:30:40.630Z,1761517840.630 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-10-26T22:30:40.630Z,1761517840.630 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T22:30:40.630Z,1761517840.630 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-10-26T22:30:40.630Z,1761517840.630 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T22:30:40.734Z,1761517840.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503751
2025-10-26T22:30:40.948Z,1761517840.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511811,0.844956,0.155235],[-0.854948,-0.518694,0.004520],[0.084339,-0.130404,0.987867]]
2025-10-26T22:30:40.985Z,1761517840.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755811
2025-10-26T22:30:41.237Z,1761517841.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007110
2025-10-26T22:30:41.346Z,1761517841.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510186,0.847730,0.145137],[-0.856034,-0.516830,0.009622],[0.083168,-0.119333,0.989365]]
2025-10-26T22:30:41.489Z,1761517841.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259787
2025-10-26T22:30:41.743Z,1761517841.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512990
2025-10-26T22:30:41.838Z,1761517841.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:30:41.994Z,1761517841.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764395
2025-10-26T22:30:42.245Z,1761517842.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015098
2025-10-26T22:30:42.497Z,1761517842.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267762
2025-10-26T22:30:42.559Z,1761517842.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490092,0.863522,0.118910],[-0.868171,-0.495773,0.022100],[0.078036,-0.092403,0.992659]]
2025-10-26T22:30:42.752Z,1761517842.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521403
2025-10-26T22:30:42.976Z,1761517842.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477504,0.873137,0.098084],[-0.875351,-0.482384,0.032664],[0.075835,-0.070261,0.994642]]
2025-10-26T22:30:43.001Z,1761517843.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771062
2025-10-26T22:30:43.252Z,1761517843.252 [DAT](INFO): DAT read: Rx Time:22:30:41.9892

2025-10-26T22:30:43.253Z,1761517843.253 [DAT](INFO): Rx dataTimestamp_ set to:1761517843.252567
2025-10-26T22:30:43.253Z,1761517843.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023917
2025-10-26T22:30:43.366Z,1761517843.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461769,0.883932,0.073715],[-0.883964,-0.465467,0.044138],[0.073326,-0.044780,0.996302]]
2025-10-26T22:30:43.505Z,1761517843.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275929
2025-10-26T22:30:43.761Z,1761517843.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530664
2025-10-26T22:30:43.813Z,1761517843.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442042,0.895902,0.044260],[-0.894173,-0.444026,0.057414],[0.071090,-0.014197,0.997369]]
2025-10-26T22:30:43.848Z,1761517843.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:30:44.014Z,1761517844.014 [DAT](INFO): DAT read: 22:30:41.9892 LVL= 32752, 30609, 32754, 32755, AGC= 69, IDX= 461,-0.13, 1.610, 2.791, 1.734, 1.384, PHS= 0.328, 1.452, 0.307, RAW= 330.9, -33.0, CAL= 330.6, -36.4, ROT= 179.4,  36.4

2025-10-26T22:30:44.015Z,1761517844.015 [DAT](INFO): got valid direction response:
 22:30:41.9892 LVL= 32752, 30609, 32754, 32755, AGC= 69, IDX= 461,-0.13, 1.610, 2.791, 1.734, 1.384, PHS= 0.328, 1.452, 0.307, RAW= 330.9, -33.0, CAL= 330.6, -36.4, ROT= 179.4,  36.4

2025-10-26T22:30:44.016Z,1761517844.016 [DAT](INFO): DAT read: Bearing 241.4,  -1.0 (Local)

2025-10-26T22:30:44.016Z,1761517844.016 [DAT](INFO): Local bearing/azimuth received:
 Bearing 241.4,  -1.0 (Local)

2025-10-26T22:30:44.017Z,1761517844.017 [DAT](INFO): DAT read: Range 11 to 50 : 185.1 m  (Round-trip  246.9 ms) speed -0.2 m/s

2025-10-26T22:30:44.018Z,1761517844.018 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:30:44.019Z,1761517844.019 [DAT](INFO): direction in FSK: [-0.804850,0.008429,-0.593419]
2025-10-26T22:30:44.019Z,1761517844.019 [DAT](INFO): publishing direction and range info
2025-10-26T22:30:44.023Z,1761517844.023 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:30:44.023Z,1761517844.023 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:30:44.023Z,1761517844.023 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:30:44.178Z,1761517844.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420196,0.907412,0.006267],[-0.904809,-0.419496,0.073101],[0.068961,0.025047,0.997305]]
2025-10-26T22:30:44.221Z,1761517844.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 185.100006 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-10-26T22:30:44.228Z,1761517844.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 184.222321 m,
      bearing: 63.336530 deg,
      lat: 36.779351 deg,
      lon: -121.859432 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-10-26T22:30:44.229Z,1761517844.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.22 m.
2025-10-26T22:30:44.231Z,1761517844.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 184.222321 m,
      nav range: 132.416718 m,
      bearing: 61.088637 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 59.124043 deg,
      new cmd heading: 61.088637 deg.

2025-10-26T22:30:44.236Z,1761517844.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.066198 target range: 184.222321 and range: 185.10 m.
2025-10-26T22:30:44.260Z,1761517844.260 [DAT](INFO): DAT read: user:565>

2025-10-26T22:30:44.261Z,1761517844.261 [DAT](INFO): DAT read: Tx time:22:30:43.3881

2025-10-26T22:30:44.261Z,1761517844.261 [DAT](INFO): Ping request sent.
2025-10-26T22:30:44.262Z,1761517844.262 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:30:44.262Z,1761517844.262 [DAT](INFO): publishing transmit ping time
2025-10-26T22:30:44.262Z,1761517844.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000764
2025-10-26T22:30:44.512Z,1761517844.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250755
2025-10-26T22:30:44.582Z,1761517844.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396871,0.917314,-0.032081],[-0.915424,-0.393018,0.086806],[0.067020,0.063818,0.995709]]
2025-10-26T22:30:44.616Z,1761517844.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.22 m.
2025-10-26T22:30:44.618Z,1761517844.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 184.222321 m,
      nav range: 132.742035 m,
      bearing: 61.105793 deg,
      approach rate: 0.823417 m/s,
      LOS rate: 0.043318 deg/s,
      cmd heading: 61.088638 deg,
      new cmd heading: 61.105793 deg.

2025-10-26T22:30:44.619Z,1761517844.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.066497 target range: 184.222321 and range: 185.10 m.
2025-10-26T22:30:44.768Z,1761517844.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505223
2025-10-26T22:30:44.997Z,1761517844.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373269,0.925703,-0.061183],[-0.925412,-0.366876,0.094944],[0.065444,0.092059,0.993601]]
2025-10-26T22:30:45.017Z,1761517845.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755066
2025-10-26T22:30:45.063Z,1761517845.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.22 m.
2025-10-26T22:30:45.066Z,1761517845.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 184.222321 m,
      nav range: 133.070786 m,
      bearing: 61.121279 deg,
      approach rate: 0.741132 m/s,
      LOS rate: 0.034825 deg/s,
      cmd heading: 61.105796 deg,
      new cmd heading: 61.121279 deg.

2025-10-26T22:30:45.067Z,1761517845.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.066768 target range: 184.222321 and range: 185.10 m.
2025-10-26T22:30:45.269Z,1761517845.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007277
2025-10-26T22:30:45.390Z,1761517845.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348612,0.933829,-0.080205],[-0.935081,-0.340682,0.097774],[0.063979,0.109084,0.991971]]
2025-10-26T22:30:45.408Z,1761517845.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.22 m.
2025-10-26T22:30:45.411Z,1761517845.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 184.222321 m,
      nav range: 133.356812 m,
      bearing: 61.137873 deg,
      approach rate: 0.819211 m/s,
      LOS rate: 0.047424 deg/s,
      cmd heading: 61.121280 deg,
      new cmd heading: 61.137873 deg.

2025-10-26T22:30:45.428Z,1761517845.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.067057 target range: 184.222321 and range: 185.10 m.
2025-10-26T22:30:45.521Z,1761517845.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259006
2025-10-26T22:30:45.775Z,1761517845.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512944
2025-10-26T22:30:45.825Z,1761517845.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323594,0.941483,-0.094321],[-0.944106,-0.314648,0.098290],[0.062861,0.120855,0.990678]]
2025-10-26T22:30:45.866Z,1761517845.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:30:45.868Z,1761517845.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.22 m.
2025-10-26T22:30:45.870Z,1761517845.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 184.222321 m,
      nav range: 133.705215 m,
      bearing: 61.153560 deg,
      approach rate: 0.757769 m/s,
      LOS rate: 0.034030 deg/s,
      cmd heading: 61.137870 deg,
      new cmd heading: 61.153560 deg.

2025-10-26T22:30:45.871Z,1761517845.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.067331 target range: 184.222321 and range: 185.10 m.
2025-10-26T22:30:46.024Z,1761517846.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762786
2025-10-26T22:30:46.198Z,1761517846.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298546,0.949083,-0.100557],[-0.952428,-0.289510,0.095213],[0.061253,0.124199,0.990365]]
2025-10-26T22:30:46.233Z,1761517846.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.22 m.
2025-10-26T22:30:46.235Z,1761517846.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 184.222321 m,
      nav range: 133.969528 m,
      bearing: 61.168421 deg,
      approach rate: 0.724579 m/s,
      LOS rate: 0.040661 deg/s,
      cmd heading: 61.153559 deg,
      new cmd heading: 61.168421 deg.

2025-10-26T22:30:46.236Z,1761517846.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.067590 target range: 184.222321 and range: 185.10 m.
2025-10-26T22:30:46.277Z,1761517846.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015484
2025-10-26T22:30:46.528Z,1761517846.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266620
2025-10-26T22:30:46.602Z,1761517846.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272954,0.956797,-0.100174],[-0.960178,-0.264496,0.090001],[0.059617,0.120751,0.990891]]
2025-10-26T22:30:46.645Z,1761517846.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.22 m.
2025-10-26T22:30:46.648Z,1761517846.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 184.222321 m,
      nav range: 134.279175 m,
      bearing: 61.189393 deg,
      approach rate: 0.785068 m/s,
      LOS rate: 0.053048 deg/s,
      cmd heading: 61.168422 deg,
      new cmd heading: 61.189393 deg.

2025-10-26T22:30:46.649Z,1761517846.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.067956 target range: 184.222321 and range: 185.10 m.
2025-10-26T22:30:46.783Z,1761517846.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520682
2025-10-26T22:30:47.010Z,1761517847.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247199,0.964123,-0.096744],[-0.967204,-0.239501,0.084589],[0.058384,0.114482,0.991708]]
2025-10-26T22:30:47.032Z,1761517847.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770882
2025-10-26T22:30:47.068Z,1761517847.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.22 m.
2025-10-26T22:30:47.071Z,1761517847.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 184.222321 m,
      nav range: 134.576767 m,
      bearing: 61.208836 deg,
      approach rate: 0.674474 m/s,
      LOS rate: 0.043970 deg/s,
      cmd heading: 61.189390 deg,
      new cmd heading: 61.208836 deg.

2025-10-26T22:30:47.076Z,1761517847.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.068296 target range: 184.222321 and range: 185.10 m.
2025-10-26T22:30:47.286Z,1761517847.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023968
2025-10-26T22:30:47.448Z,1761517847.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.22 m.
2025-10-26T22:30:47.450Z,1761517847.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 184.222321 m,
      nav range: 134.859329 m,
      bearing: 61.227217 deg,
      approach rate: 0.744708 m/s,
      LOS rate: 0.048340 deg/s,
      cmd heading: 61.208836 deg,
      new cmd heading: 61.227217 deg.

2025-10-26T22:30:47.451Z,1761517847.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.068617 target range: 184.222321 and range: 185.10 m.
2025-10-26T22:30:47.538Z,1761517847.538 [DAT](INFO): DAT read: Rx Time:22:30:46.0421

2025-10-26T22:30:47.538Z,1761517847.538 [DAT](INFO): Rx dataTimestamp_ set to:1761517847.537982
2025-10-26T22:30:47.539Z,1761517847.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277553
2025-10-26T22:30:47.792Z,1761517847.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529509
2025-10-26T22:30:47.865Z,1761517847.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194815,0.977432,-0.081697],[-0.979193,-0.188987,0.073926],[0.056818,0.094399,0.993912]]
2025-10-26T22:30:47.908Z,1761517847.908 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:30:47.910Z,1761517847.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.22 m.
2025-10-26T22:30:47.913Z,1761517847.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 184.222321 m,
      nav range: 135.164871 m,
      bearing: 61.252754 deg,
      approach rate: 0.660544 m/s,
      LOS rate: 0.055083 deg/s,
      cmd heading: 61.227216 deg,
      new cmd heading: 61.252754 deg.

2025-10-26T22:30:47.914Z,1761517847.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.069062 target range: 184.222321 and range: 185.10 m.
2025-10-26T22:30:48.046Z,1761517848.046 [DAT](INFO): DAT read: 22:30:46.0421 LVL= 32752, 27201, 32754, 32755, AGC= 72, IDX= 458, 0.12, 0.034, 1.169, 0.015,-0.241, PHS= 0.377, 1.455, 0.211, RAW= 337.0, -31.7, CAL= 336.9, -34.5, ROT= 173.1,  34.5

2025-10-26T22:30:48.048Z,1761517848.048 [DAT](INFO): got valid direction response:
 22:30:46.0421 LVL= 32752, 27201, 32754, 32755, AGC= 72, IDX= 458, 0.12, 0.034, 1.169, 0.015,-0.241, PHS= 0.377, 1.455, 0.211, RAW= 337.0, -31.7, CAL= 336.9, -34.5, ROT= 173.1,  34.5

2025-10-26T22:30:48.048Z,1761517848.048 [DAT](INFO): DAT read: Bearing 255.3,  -0.6 (Local)

2025-10-26T22:30:48.049Z,1761517848.049 [DAT](INFO): Local bearing/azimuth received:
 Bearing 255.3,  -0.6 (Local)

2025-10-26T22:30:48.050Z,1761517848.050 [DAT](INFO): DAT read: Range 11 to 50 : 187.4 m  (Round-trip  249.9 ms) speed -1.0 m/s

2025-10-26T22:30:48.051Z,1761517848.051 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:30:48.053Z,1761517848.053 [DAT](INFO): direction in FSK: [-0.818157,0.099008,-0.566406]
2025-10-26T22:30:48.053Z,1761517848.053 [DAT](INFO): publishing direction and range info
2025-10-26T22:30:48.057Z,1761517848.057 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:30:48.057Z,1761517848.057 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:30:48.057Z,1761517848.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:30:48.218Z,1761517848.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167401,0.983012,-0.075255],[-0.984310,-0.162327,0.069165],[0.055774,0.085653,0.994763]]
2025-10-26T22:30:48.273Z,1761517848.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 187.399994 m,
      deltaT: 4.032515 s,
      deltaX: 2.299988 m,
      approachRate: 0.570361 m/s,
      rangeRepo size: 2

2025-10-26T22:30:48.276Z,1761517848.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 186.508377 m,
      bearing: 69.736898 deg,
      lat: 36.779350 deg,
      lon: -121.859324 deg,
      deltaT: 4.032515 s,
      deltaX: 2.286057 m,
      approachRate: 0.566906 m/s,
      posRepo size: 2

2025-10-26T22:30:48.277Z,1761517848.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:48.280Z,1761517848.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 143.807159 m,
      bearing: 63.166629 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.055083 deg/s,
      cmd heading: 61.252754 deg,
      new cmd heading: 61.312603 deg.

2025-10-26T22:30:48.281Z,1761517848.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.070107 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:48.292Z,1761517848.292 [DAT](INFO): DAT read: user:566>

2025-10-26T22:30:48.293Z,1761517848.293 [DAT](INFO): DAT read: Tx time:22:30:47.4381

2025-10-26T22:30:48.294Z,1761517848.294 [DAT](INFO): Ping request sent.
2025-10-26T22:30:48.294Z,1761517848.294 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:30:48.294Z,1761517848.294 [DAT](INFO): publishing transmit ping time
2025-10-26T22:30:48.294Z,1761517848.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000768
2025-10-26T22:30:48.544Z,1761517848.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250673
2025-10-26T22:30:48.624Z,1761517848.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140568,0.986997,-0.077956],[-0.988549,-0.135552,0.066308],[0.054879,0.086384,0.994749]]
2025-10-26T22:30:48.643Z,1761517848.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:48.645Z,1761517848.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 144.069260 m,
      bearing: 63.189503 deg,
      approach rate: 0.708343 m/s,
      LOS rate: 0.061704 deg/s,
      cmd heading: 61.312600 deg,
      new cmd heading: 61.381095 deg.

2025-10-26T22:30:48.646Z,1761517848.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.071302 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:48.800Z,1761517848.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505373
2025-10-26T22:30:49.026Z,1761517849.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114602,0.989831,-0.084272],[-0.991921,-0.109372,0.064269],[0.054399,0.090956,0.994368]]
2025-10-26T22:30:49.049Z,1761517849.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754766
2025-10-26T22:30:49.092Z,1761517849.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:49.095Z,1761517849.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 144.344360 m,
      bearing: 63.217363 deg,
      approach rate: 0.618264 m/s,
      LOS rate: 0.062494 deg/s,
      cmd heading: 61.381093 deg,
      new cmd heading: 61.464514 deg.

2025-10-26T22:30:49.100Z,1761517849.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.072758 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:49.300Z,1761517849.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006736
2025-10-26T22:30:49.433Z,1761517849.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088690,0.992479,-0.084382],[-0.994608,-0.083671,0.061277],[0.053756,0.089362,0.994548]]
2025-10-26T22:30:49.452Z,1761517849.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:49.458Z,1761517849.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 144.572784 m,
      bearing: 63.242942 deg,
      approach rate: 0.626939 m/s,
      LOS rate: 0.070095 deg/s,
      cmd heading: 61.464517 deg,
      new cmd heading: 61.541134 deg.

2025-10-26T22:30:49.461Z,1761517849.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.074095 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:49.554Z,1761517849.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260199
2025-10-26T22:30:49.804Z,1761517849.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510705
2025-10-26T22:30:49.941Z,1761517849.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:30:49.943Z,1761517849.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:49.946Z,1761517849.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 144.882446 m,
      bearing: 63.281966 deg,
      approach rate: 0.630634 m/s,
      LOS rate: 0.079302 deg/s,
      cmd heading: 61.541131 deg,
      new cmd heading: 61.657952 deg.

2025-10-26T22:30:49.947Z,1761517849.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.076134 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:50.056Z,1761517850.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762735
2025-10-26T22:30:50.249Z,1761517850.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035609,0.996842,-0.070974],[-0.998077,-0.031867,0.053173],[0.050743,0.072731,0.996060]]
2025-10-26T22:30:50.267Z,1761517850.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:50.270Z,1761517850.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 145.083694 m,
      bearing: 63.311898 deg,
      approach rate: 0.621102 m/s,
      LOS rate: 0.092252 deg/s,
      cmd heading: 61.657955 deg,
      new cmd heading: 61.747628 deg.

2025-10-26T22:30:50.272Z,1761517850.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.077699 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:50.309Z,1761517850.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015064
2025-10-26T22:30:50.560Z,1761517850.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266641
2025-10-26T22:30:50.650Z,1761517850.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009376,0.997321,-0.072551],[-0.998749,-0.005776,0.049668],[0.049116,0.072926,0.996127]]
2025-10-26T22:30:50.743Z,1761517850.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:50.745Z,1761517850.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 145.375397 m,
      bearing: 63.358612 deg,
      approach rate: 0.613371 m/s,
      LOS rate: 0.098028 deg/s,
      cmd heading: 61.747629 deg,
      new cmd heading: 61.887486 deg.

2025-10-26T22:30:50.746Z,1761517850.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.080140 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:50.816Z,1761517850.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522100
2025-10-26T22:30:51.064Z,1761517851.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770498
2025-10-26T22:30:51.069Z,1761517851.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017496,0.996934,-0.076266],[-0.998726,0.021036,0.045869],[0.047332,0.075366,0.996032]]
2025-10-26T22:30:51.153Z,1761517851.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:51.160Z,1761517851.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 145.627014 m,
      bearing: 63.406179 deg,
      approach rate: 0.613388 m/s,
      LOS rate: 0.115759 deg/s,
      cmd heading: 61.887483 deg,
      new cmd heading: 62.029939 deg.

2025-10-26T22:30:51.161Z,1761517851.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.082627 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:51.316Z,1761517851.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022680
2025-10-26T22:30:51.485Z,1761517851.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043661,0.995226,-0.087287],[-0.998011,0.047426,0.041539],[0.045480,0.085299,0.995317]]
2025-10-26T22:30:51.548Z,1761517851.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:51.550Z,1761517851.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 145.860825 m,
      bearing: 63.453284 deg,
      approach rate: 0.592171 m/s,
      LOS rate: 0.119112 deg/s,
      cmd heading: 62.029941 deg,
      new cmd heading: 62.171029 deg.

2025-10-26T22:30:51.551Z,1761517851.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.085089 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:51.569Z,1761517851.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275439
2025-10-26T22:30:51.820Z,1761517851.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526702
2025-10-26T22:30:51.930Z,1761517851.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069138,0.992701,-0.098821],[-0.996666,0.073035,0.036371],[0.043323,0.095977,0.994440]]
2025-10-26T22:30:52.005Z,1761517852.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:30:52.008Z,1761517852.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:52.010Z,1761517852.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 146.167496 m,
      bearing: 63.519722 deg,
      approach rate: 0.666985 m/s,
      LOS rate: 0.144194 deg/s,
      cmd heading: 62.171032 deg,
      new cmd heading: 62.369926 deg.

2025-10-26T22:30:52.011Z,1761517852.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.088561 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:52.074Z,1761517852.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779700
2025-10-26T22:30:52.324Z,1761517852.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030712
2025-10-26T22:30:52.333Z,1761517852.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093865,0.990195,-0.103452],[-0.994734,0.097572,0.031366],[0.041153,0.099964,0.994140]]
2025-10-26T22:30:52.353Z,1761517852.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:52.355Z,1761517852.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 146.383377 m,
      bearing: 63.569098 deg,
      approach rate: 0.625377 m/s,
      LOS rate: 0.142824 deg/s,
      cmd heading: 62.369927 deg,
      new cmd heading: 62.517836 deg.

2025-10-26T22:30:52.356Z,1761517852.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.091142 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:52.576Z,1761517852.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282645
2025-10-26T22:30:52.741Z,1761517852.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117574,0.987728,-0.102809],[-0.992271,0.120986,0.027576],[0.039676,0.098772,0.994319]]
2025-10-26T22:30:52.760Z,1761517852.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:52.762Z,1761517852.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 146.634766 m,
      bearing: 63.629553 deg,
      approach rate: 0.617905 m/s,
      LOS rate: 0.148342 deg/s,
      cmd heading: 62.517835 deg,
      new cmd heading: 62.698888 deg.

2025-10-26T22:30:52.764Z,1761517852.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094302 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:52.829Z,1761517852.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535015
2025-10-26T22:30:53.080Z,1761517853.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786629
2025-10-26T22:30:53.138Z,1761517853.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140951,0.985261,-0.096923],[-0.989257,0.144000,0.025186],[0.038772,0.092332,0.994973]]
2025-10-26T22:30:53.195Z,1761517853.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:53.202Z,1761517853.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 146.915619 m,
      bearing: 63.699830 deg,
      approach rate: 0.645202 m/s,
      LOS rate: 0.161139 deg/s,
      cmd heading: 62.698889 deg,
      new cmd heading: 62.909318 deg.

2025-10-26T22:30:53.202Z,1761517853.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.097975 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:53.334Z,1761517853.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040013
2025-10-26T22:30:53.542Z,1761517853.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164149,0.982044,-0.092974],[-0.985696,0.166946,0.023088],[0.038195,0.087855,0.995401]]
2025-10-26T22:30:53.577Z,1761517853.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:53.580Z,1761517853.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 147.168106 m,
      bearing: 63.766012 deg,
      approach rate: 0.660799 m/s,
      LOS rate: 0.172911 deg/s,
      cmd heading: 62.909321 deg,
      new cmd heading: 63.107525 deg.

2025-10-26T22:30:53.581Z,1761517853.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.101434 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:53.585Z,1761517853.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290787
2025-10-26T22:30:53.837Z,1761517853.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542994
2025-10-26T22:30:53.954Z,1761517853.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186620,0.978252,-0.090532],[-0.981693,0.189261,0.021448],[0.038116,0.084872,0.995663]]
2025-10-26T22:30:54.008Z,1761517854.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:30:54.010Z,1761517854.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:54.014Z,1761517854.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 147.454453 m,
      bearing: 63.840570 deg,
      approach rate: 0.661007 m/s,
      LOS rate: 0.171775 deg/s,
      cmd heading: 63.107526 deg,
      new cmd heading: 63.330762 deg.

2025-10-26T22:30:54.014Z,1761517854.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.105330 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:54.089Z,1761517854.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794903
2025-10-26T22:30:54.340Z,1761517854.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046741
2025-10-26T22:30:54.352Z,1761517854.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209055,0.974130,-0.085828],[-0.977153,0.211526,0.020683],[0.038303,0.079544,0.996095]]
2025-10-26T22:30:54.382Z,1761517854.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:54.389Z,1761517854.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 147.689377 m,
      bearing: 63.904528 deg,
      approach rate: 0.630791 m/s,
      LOS rate: 0.171460 deg/s,
      cmd heading: 63.330764 deg,
      new cmd heading: 63.522333 deg.

2025-10-26T22:30:54.390Z,1761517854.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.108674 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:54.592Z,1761517854.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298596
2025-10-26T22:30:54.755Z,1761517854.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231519,0.969572,-0.079554],[-0.972053,0.233829,0.020927],[0.038892,0.072486,0.996611]]
2025-10-26T22:30:54.844Z,1761517854.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550709
2025-10-26T22:30:54.839Z,1761517854.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:54.862Z,1761517854.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 147.989777 m,
      bearing: 63.989974 deg,
      approach rate: 0.657933 m/s,
      LOS rate: 0.186763 deg/s,
      cmd heading: 63.522330 deg,
      new cmd heading: 63.778146 deg.

2025-10-26T22:30:54.863Z,1761517854.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.113139 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:55.096Z,1761517855.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802676
2025-10-26T22:30:55.320Z,1761517855.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:55.322Z,1761517855.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 148.294479 m,
      bearing: 64.069618 deg,
      approach rate: 0.634656 m/s,
      LOS rate: 0.165548 deg/s,
      cmd heading: 63.778148 deg,
      new cmd heading: 64.016589 deg.

2025-10-26T22:30:55.323Z,1761517855.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117300 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:55.362Z,1761517855.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.068423
2025-10-26T22:30:55.613Z,1761517855.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.318853
2025-10-26T22:30:55.635Z,1761517855.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277058,0.957980,-0.074250],[-0.960067,0.279129,0.018922],[0.038852,0.066043,0.997060]]
2025-10-26T22:30:55.680Z,1761517855.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:55.683Z,1761517855.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 148.535629 m,
      bearing: 64.138962 deg,
      approach rate: 0.668142 m/s,
      LOS rate: 0.191815 deg/s,
      cmd heading: 64.016590 deg,
      new cmd heading: 64.224282 deg.

2025-10-26T22:30:55.684Z,1761517855.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.120925 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:55.864Z,1761517855.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.570604
2025-10-26T22:30:56.034Z,1761517856.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300057,0.951532,-0.067472],[-0.953157,0.301897,0.018715],[0.038178,0.058696,0.997546]]
2025-10-26T22:30:56.114Z,1761517856.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:30:56.116Z,1761517856.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.822716
2025-10-26T22:30:56.118Z,1761517856.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:56.121Z,1761517856.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 148.803207 m,
      bearing: 64.214275 deg,
      approach rate: 0.611424 m/s,
      LOS rate: 0.171783 deg/s,
      cmd heading: 64.224282 deg,
      new cmd heading: 64.449814 deg.

2025-10-26T22:30:56.121Z,1761517856.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124861 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:56.369Z,1761517856.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.075216
2025-10-26T22:30:56.438Z,1761517856.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322658,0.944539,-0.061132],[-0.945787,0.324270,0.018311],[0.037119,0.051910,0.997962]]
2025-10-26T22:30:56.485Z,1761517856.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:56.488Z,1761517856.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 149.014694 m,
      bearing: 64.276598 deg,
      approach rate: 0.575388 m/s,
      LOS rate: 0.169320 deg/s,
      cmd heading: 64.449815 deg,
      new cmd heading: 64.636518 deg.

2025-10-26T22:30:56.489Z,1761517856.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.128120 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:56.620Z,1761517856.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.326548
2025-10-26T22:30:56.842Z,1761517856.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346072,0.936256,-0.060488],[-0.937536,0.347544,0.015468],[0.035504,0.051357,0.998049]]
2025-10-26T22:30:56.861Z,1761517856.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:56.864Z,1761517856.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 149.248367 m,
      bearing: 64.348791 deg,
      approach rate: 0.621870 m/s,
      LOS rate: 0.191826 deg/s,
      cmd heading: 64.636518 deg,
      new cmd heading: 64.852759 deg.

2025-10-26T22:30:56.865Z,1761517856.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.131894 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:56.872Z,1761517856.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.578710
2025-10-26T22:30:57.125Z,1761517857.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.831094
2025-10-26T22:30:57.249Z,1761517857.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369631,0.926507,-0.070406],[-0.928569,0.371070,0.008114],[0.033643,0.062377,0.997486]]
2025-10-26T22:30:57.306Z,1761517857.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:57.312Z,1761517857.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 149.478577 m,
      bearing: 64.419540 deg,
      approach rate: 0.517854 m/s,
      LOS rate: 0.158903 deg/s,
      cmd heading: 64.852755 deg,
      new cmd heading: 65.064673 deg.

2025-10-26T22:30:57.313Z,1761517857.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.135593 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:57.377Z,1761517857.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.083512
2025-10-26T22:30:57.628Z,1761517857.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334534
2025-10-26T22:30:57.655Z,1761517857.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393709,0.915488,-0.082913],[-0.918684,0.394991,-0.001014],[0.031821,0.076570,0.996556]]
2025-10-26T22:30:57.673Z,1761517857.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:57.676Z,1761517857.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 149.685135 m,
      bearing: 64.486140 deg,
      approach rate: 0.561576 m/s,
      LOS rate: 0.180818 deg/s,
      cmd heading: 65.064676 deg,
      new cmd heading: 65.264200 deg.

2025-10-26T22:30:57.677Z,1761517857.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.139075 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:57.884Z,1761517857.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.589852
2025-10-26T22:30:58.054Z,1761517858.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418134,0.903936,-0.089800],[-0.907879,0.419154,-0.008097],[0.030321,0.084914,0.995927]]
2025-10-26T22:30:58.111Z,1761517858.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:58.113Z,1761517858.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 149.894516 m,
      bearing: 64.554741 deg,
      approach rate: 0.478786 m/s,
      LOS rate: 0.156649 deg/s,
      cmd heading: 65.264199 deg,
      new cmd heading: 65.469714 deg.

2025-10-26T22:30:58.114Z,1761517858.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.142662 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:58.136Z,1761517858.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.841501
2025-10-26T22:30:58.384Z,1761517858.384 [DAT](INFO): Reached modem response timeout
2025-10-26T22:30:58.384Z,1761517858.384 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:30:58.385Z,1761517858.385 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:30:58.471Z,1761517858.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442501,0.892238,-0.090017],[-0.896291,0.443305,-0.011953],[0.029240,0.085971,0.995868]]
2025-10-26T22:30:58.489Z,1761517858.489 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:30:58.491Z,1761517858.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:58.493Z,1761517858.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 150.075180 m,
      bearing: 64.617019 deg,
      approach rate: 0.475640 m/s,
      LOS rate: 0.163764 deg/s,
      cmd heading: 65.469713 deg,
      new cmd heading: 65.656322 deg.

2025-10-26T22:30:58.494Z,1761517858.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.145919 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:58.636Z,1761517858.636 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:30:58.863Z,1761517858.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466296,0.880095,-0.089444],[-0.884161,0.466949,-0.014767],[0.028769,0.085969,0.995882]]
2025-10-26T22:30:58.881Z,1761517858.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:58.884Z,1761517858.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 150.255737 m,
      bearing: 64.682458 deg,
      approach rate: 0.462354 m/s,
      LOS rate: 0.167368 deg/s,
      cmd heading: 65.656320 deg,
      new cmd heading: 65.852400 deg.

2025-10-26T22:30:58.885Z,1761517858.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.149341 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:58.888Z,1761517858.888 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:30:59.140Z,1761517859.140 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:30:59.266Z,1761517859.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489462,0.867515,-0.088565],[-0.871555,0.490002,-0.017039],[0.028615,0.085530,0.995925]]
2025-10-26T22:30:59.313Z,1761517859.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:59.316Z,1761517859.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 150.431702 m,
      bearing: 64.753976 deg,
      approach rate: 0.407151 m/s,
      LOS rate: 0.165285 deg/s,
      cmd heading: 65.852401 deg,
      new cmd heading: 66.066702 deg.

2025-10-26T22:30:59.317Z,1761517859.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.153081 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:59.393Z,1761517859.393 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:30:59.644Z,1761517859.644 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:30:59.678Z,1761517859.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511824,0.854731,-0.086433],[-0.858616,0.512290,-0.018399],[0.028552,0.083629,0.996088]]
2025-10-26T22:30:59.696Z,1761517859.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:30:59.701Z,1761517859.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 150.584015 m,
      bearing: 64.818947 deg,
      approach rate: 0.397590 m/s,
      LOS rate: 0.169426 deg/s,
      cmd heading: 66.066699 deg,
      new cmd heading: 66.261415 deg.

2025-10-26T22:30:59.702Z,1761517859.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.156480 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:30:59.897Z,1761517859.897 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:31:00.148Z,1761517860.148 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:31:00.172Z,1761517860.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555508,0.827506,-0.081513],[-0.831064,0.555750,-0.021790],[0.027270,0.079847,0.996434]]
2025-10-26T22:31:00.219Z,1761517860.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:31:00.222Z,1761517860.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 150.762711 m,
      bearing: 64.909324 deg,
      approach rate: 0.341731 m/s,
      LOS rate: 0.172628 deg/s,
      cmd heading: 66.261414 deg,
      new cmd heading: 66.532220 deg.

2025-10-26T22:31:00.223Z,1761517860.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.161206 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:31:00.400Z,1761517860.400 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:31:00.562Z,1761517860.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576205,0.813618,-0.077544],[-0.816882,0.576363,-0.022584],[0.026319,0.076358,0.996733]]
2025-10-26T22:31:00.596Z,1761517860.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:00.598Z,1761517860.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:31:00.600Z,1761517860.600 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:31:00.605Z,1761517860.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 150.882614 m,
      bearing: 64.972992 deg,
      approach rate: 0.316682 m/s,
      LOS rate: 0.168023 deg/s,
      cmd heading: 66.532217 deg,
      new cmd heading: 66.723070 deg.

2025-10-26T22:31:00.606Z,1761517860.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.164537 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:31:00.653Z,1761517860.653 [DAT](INFO): DAT read: Response Not Received

2025-10-26T22:31:00.653Z,1761517860.653 [DAT](INFO): response not received
2025-10-26T22:31:00.653Z,1761517860.653 [DAT](INFO): DAT read: user:567>

2025-10-26T22:31:00.654Z,1761517860.654 [DAT](INFO): DAT read: Tx time:22:30:59.8881

2025-10-26T22:31:00.654Z,1761517860.654 [DAT](INFO): Ping request sent.
2025-10-26T22:31:00.654Z,1761517860.654 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:31:00.655Z,1761517860.655 [DAT](INFO): publishing transmit ping time
2025-10-26T22:31:00.655Z,1761517860.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-10-26T22:31:00.904Z,1761517860.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249828
2025-10-26T22:31:01.049Z,1761517861.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596204,0.799727,-0.070555],[-0.802440,0.596356,-0.021204],[0.025118,0.069258,0.997282]]
2025-10-26T22:31:01.086Z,1761517861.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:31:01.090Z,1761517861.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 151.042740 m,
      bearing: 65.066134 deg,
      approach rate: 0.328348 m/s,
      LOS rate: 0.190790 deg/s,
      cmd heading: 66.723073 deg,
      new cmd heading: 67.002200 deg.

2025-10-26T22:31:01.091Z,1761517861.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.169409 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:31:01.157Z,1761517861.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501987
2025-10-26T22:31:01.408Z,1761517861.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753883
2025-10-26T22:31:01.457Z,1761517861.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615508,0.785442,-0.065042],[-0.787764,0.615642,-0.020349],[0.024060,0.063763,0.997675]]
2025-10-26T22:31:01.488Z,1761517861.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:31:01.490Z,1761517861.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 151.165817 m,
      bearing: 65.141296 deg,
      approach rate: 0.306333 m/s,
      LOS rate: 0.186923 deg/s,
      cmd heading: 67.002202 deg,
      new cmd heading: 67.227504 deg.

2025-10-26T22:31:01.491Z,1761517861.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.173341 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:31:01.604Z,1761517861.604 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:31:01.661Z,1761517861.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006126
2025-10-26T22:31:01.851Z,1761517861.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634280,0.770511,-0.063257],[-0.772765,0.634298,-0.022387],[0.022875,0.063082,0.997746]]
2025-10-26T22:31:01.870Z,1761517861.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:31:01.873Z,1761517861.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 151.278809 m,
      bearing: 65.213864 deg,
      approach rate: 0.294904 m/s,
      LOS rate: 0.189260 deg/s,
      cmd heading: 67.227503 deg,
      new cmd heading: 67.445045 deg.

2025-10-26T22:31:01.874Z,1761517861.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.177138 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:31:01.912Z,1761517861.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257883
2025-10-26T22:31:02.164Z,1761517862.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509819
2025-10-26T22:31:02.255Z,1761517862.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652167,0.755457,-0.062949],[-0.757748,0.652074,-0.024844],[0.022278,0.063902,0.997708]]
2025-10-26T22:31:02.293Z,1761517862.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:31:02.296Z,1761517862.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 151.408615 m,
      bearing: 65.300493 deg,
      approach rate: 0.307037 m/s,
      LOS rate: 0.204732 deg/s,
      cmd heading: 67.445044 deg,
      new cmd heading: 67.704707 deg.

2025-10-26T22:31:02.297Z,1761517862.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.181670 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:31:02.416Z,1761517862.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761941
2025-10-26T22:31:02.658Z,1761517862.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668548,0.741172,-0.060884],[-0.743347,0.668423,-0.025401],[0.021870,0.062240,0.997822]]
2025-10-26T22:31:02.668Z,1761517862.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013929
2025-10-26T22:31:02.678Z,1761517862.678 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:02.700Z,1761517862.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:31:02.709Z,1761517862.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 151.522644 m,
      bearing: 65.380241 deg,
      approach rate: 0.295132 m/s,
      LOS rate: 0.206250 deg/s,
      cmd heading: 67.704708 deg,
      new cmd heading: 67.943771 deg.

2025-10-26T22:31:02.710Z,1761517862.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.185843 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:31:02.920Z,1761517862.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265794
2025-10-26T22:31:03.068Z,1761517863.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685082,0.725862,-0.061538],[-0.728135,0.684868,-0.027843],[0.021935,0.063883,0.997716]]
2025-10-26T22:31:03.149Z,1761517863.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:31:03.156Z,1761517863.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 151.657272 m,
      bearing: 65.472795 deg,
      approach rate: 0.286819 m/s,
      LOS rate: 0.197006 deg/s,
      cmd heading: 67.943771 deg,
      new cmd heading: 68.221183 deg.

2025-10-26T22:31:03.157Z,1761517863.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.190684 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:31:03.173Z,1761517863.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517976
2025-10-26T22:31:03.428Z,1761517863.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773670
2025-10-26T22:31:03.486Z,1761517863.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701652,0.709559,-0.064889],[-0.712155,0.701293,-0.031999],[0.022801,0.068663,0.997379]]
2025-10-26T22:31:03.506Z,1761517863.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:31:03.509Z,1761517863.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 151.777878 m,
      bearing: 65.560086 deg,
      approach rate: 0.337673 m/s,
      LOS rate: 0.244205 deg/s,
      cmd heading: 68.221186 deg,
      new cmd heading: 68.482850 deg.

2025-10-26T22:31:03.510Z,1761517863.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.195251 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:31:03.676Z,1761517863.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021746
2025-10-26T22:31:03.891Z,1761517863.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718168,0.692488,-0.068520],[-0.695458,0.717642,-0.036444],[0.023936,0.073826,0.996984]]
2025-10-26T22:31:03.930Z,1761517863.930 [DAT](INFO): DAT read: Rx Time:22:31:02.4877

2025-10-26T22:31:03.930Z,1761517863.930 [DAT](INFO): Rx dataTimestamp_ set to:1761517863.929719
2025-10-26T22:31:03.932Z,1761517863.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277027
2025-10-26T22:31:03.953Z,1761517863.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.51 m.
2025-10-26T22:31:03.973Z,1761517863.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.508377 m,
      nav range: 151.896378 m,
      bearing: 65.650651 deg,
      approach rate: 0.265437 m/s,
      LOS rate: 0.202705 deg/s,
      cmd heading: 68.482851 deg,
      new cmd heading: 68.754331 deg.

2025-10-26T22:31:03.974Z,1761517863.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.199989 target range: 186.508377 and range: 187.40 m.
2025-10-26T22:31:04.180Z,1761517864.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525970
2025-10-26T22:31:04.349Z,1761517864.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734509,0.674748,-0.072199],[-0.678120,0.733822,-0.040725],[0.025502,0.078873,0.996558]]
2025-10-26T22:31:04.446Z,1761517864.446 [DAT](INFO): DAT read: 22:31:02.4877 LVL= 27184, 23249, 31954, 27555, AGC= 67, IDX= 350, 0.26,-1.422,-2.072, 3.125,-1.823, PHS= 0.503,-0.204,-1.380, RAW=  51.8,  13.1, CAL=  48.3,  15.3, ROT= 101.7, -15.3

2025-10-26T22:31:04.447Z,1761517864.447 [DAT](INFO): got valid direction response:
 22:31:02.4877 LVL= 27184, 23249, 31954, 27555, AGC= 67, IDX= 350, 0.26,-1.422,-2.072, 3.125,-1.823, PHS= 0.503,-0.204,-1.380, RAW=  51.8,  13.1, CAL=  48.3,  15.3, ROT= 101.7, -15.3

2025-10-26T22:31:04.450Z,1761517864.450 [DAT](INFO): DAT read: Bearing 237.5,  73.1 (Local)

2025-10-26T22:31:04.450Z,1761517864.450 [DAT](INFO): Local bearing/azimuth received:
 Bearing 237.5,  73.1 (Local)

2025-10-26T22:31:04.480Z,1761517864.480 [DAT](INFO): DAT read: Range 11 to 50 : 146.6 m  (Round-trip  195.5 ms) speed -0.3 m/s

2025-10-26T22:31:04.481Z,1761517864.481 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:31:04.482Z,1761517864.482 [DAT](INFO): direction in FSK: [-0.195600,0.944517,0.263873]
2025-10-26T22:31:04.482Z,1761517864.482 [DAT](INFO): publishing direction and range info
2025-10-26T22:31:04.500Z,1761517864.500 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:31:04.500Z,1761517864.500 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:31:04.500Z,1761517864.500 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:31:04.517Z,1761517864.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 146.600006 m,
      deltaT: 16.392184 s,
      deltaX: -40.799988 m,
      approachRate: -2.488990 m/s,
      rangeRepo size: 3

2025-10-26T22:31:04.528Z,1761517864.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 145.902573 m,
      bearing: 59.787017 deg,
      lat: 36.779351 deg,
      lon: -121.859324 deg,
      deltaT: 16.392184 s,
      deltaX: -40.605804 m,
      approachRate: -2.477144 m/s,
      posRepo size: 3

2025-10-26T22:31:04.528Z,1761517864.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.90 m.
2025-10-26T22:31:04.531Z,1761517864.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.902573 m,
      nav range: 152.135712 m,
      bearing: 65.725176 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.202705 deg/s,
      cmd heading: 68.754330 deg,
      new cmd heading: 69.097301 deg.

2025-10-26T22:31:04.536Z,1761517864.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.205975 target range: 145.902573 and range: 146.60 m.
2025-10-26T22:31:04.684Z,1761517864.684 [DAT](INFO): DAT read: user:568>

2025-10-26T22:31:04.685Z,1761517864.685 [DAT](INFO): DAT read: Tx time:22:31:03.8381

2025-10-26T22:31:04.685Z,1761517864.685 [DAT](INFO): Ping request sent.
2025-10-26T22:31:04.686Z,1761517864.686 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:31:04.686Z,1761517864.686 [DAT](INFO): publishing transmit ping time
2025-10-26T22:31:04.686Z,1761517864.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-10-26T22:31:04.882Z,1761517864.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:04.884Z,1761517864.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.90 m.
2025-10-26T22:31:04.886Z,1761517864.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.902573 m,
      nav range: 152.259003 m,
      bearing: 65.814606 deg,
      approach rate: 0.335648 m/s,
      LOS rate: 0.243268 deg/s,
      cmd heading: 69.097301 deg,
      new cmd heading: 69.365372 deg.

2025-10-26T22:31:04.888Z,1761517864.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.210654 target range: 145.902573 and range: 146.60 m.
2025-10-26T22:31:04.937Z,1761517864.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251285
2025-10-26T22:31:05.188Z,1761517865.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502724
2025-10-26T22:31:05.320Z,1761517865.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765128,0.639062,-0.078612],[-0.643193,0.764227,-0.047539],[0.029697,0.086936,0.995771]]
2025-10-26T22:31:05.397Z,1761517865.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.90 m.
2025-10-26T22:31:05.399Z,1761517865.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.902573 m,
      nav range: 152.405914 m,
      bearing: 65.927871 deg,
      approach rate: 0.286572 m/s,
      LOS rate: 0.220726 deg/s,
      cmd heading: 69.365373 deg,
      new cmd heading: 69.704835 deg.

2025-10-26T22:31:05.400Z,1761517865.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.216579 target range: 145.902573 and range: 146.60 m.
2025-10-26T22:31:05.444Z,1761517865.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758082
2025-10-26T22:31:05.692Z,1761517865.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006844
2025-10-26T22:31:05.750Z,1761517865.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793916,0.602042,-0.085112],[-0.607097,0.792638,-0.056200],[0.033629,0.096289,0.994785]]
2025-10-26T22:31:05.781Z,1761517865.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.90 m.
2025-10-26T22:31:05.784Z,1761517865.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.902573 m,
      nav range: 152.514740 m,
      bearing: 66.022220 deg,
      approach rate: 0.283059 m/s,
      LOS rate: 0.245231 deg/s,
      cmd heading: 69.704833 deg,
      new cmd heading: 69.987677 deg.

2025-10-26T22:31:05.785Z,1761517865.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.221515 target range: 145.902573 and range: 146.60 m.
2025-10-26T22:31:05.945Z,1761517865.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259425
2025-10-26T22:31:06.197Z,1761517866.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510989
2025-10-26T22:31:06.212Z,1761517866.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807916,0.582560,-0.088851],[-0.588216,0.806343,-0.061743],[0.035676,0.102147,0.994129]]
2025-10-26T22:31:06.254Z,1761517866.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.90 m.
2025-10-26T22:31:06.257Z,1761517866.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.902573 m,
      nav range: 152.643295 m,
      bearing: 66.132175 deg,
      approach rate: 0.271697 m/s,
      LOS rate: 0.232190 deg/s,
      cmd heading: 69.987678 deg,
      new cmd heading: 70.317261 deg.

2025-10-26T22:31:06.258Z,1761517866.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.227268 target range: 145.902573 and range: 146.60 m.
2025-10-26T22:31:06.449Z,1761517866.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763393
2025-10-26T22:31:06.602Z,1761517866.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821747,0.562525,-0.091088],[-0.568607,0.819968,-0.065861],[0.037641,0.105914,0.993663]]
2025-10-26T22:31:06.629Z,1761517866.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.90 m.
2025-10-26T22:31:06.631Z,1761517866.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.902573 m,
      nav range: 152.739502 m,
      bearing: 66.219686 deg,
      approach rate: 0.256910 m/s,
      LOS rate: 0.233541 deg/s,
      cmd heading: 70.317262 deg,
      new cmd heading: 70.579627 deg.

2025-10-26T22:31:06.632Z,1761517866.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.231847 target range: 145.902573 and range: 146.60 m.
2025-10-26T22:31:06.701Z,1761517866.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015264
2025-10-26T22:31:06.953Z,1761517866.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267494
2025-10-26T22:31:07.018Z,1761517867.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834637,0.543791,-0.087590],[-0.549392,0.833274,-0.061825],[0.039366,0.099723,0.994236]]
2025-10-26T22:31:07.039Z,1761517867.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:07.042Z,1761517867.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.90 m.
2025-10-26T22:31:07.045Z,1761517867.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.902573 m,
      nav range: 152.839600 m,
      bearing: 66.316476 deg,
      approach rate: 0.242301 m/s,
      LOS rate: 0.234141 deg/s,
      cmd heading: 70.579630 deg,
      new cmd heading: 70.869808 deg.

2025-10-26T22:31:07.046Z,1761517867.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.236912 target range: 145.902573 and range: 146.60 m.
2025-10-26T22:31:07.205Z,1761517867.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519279
2025-10-26T22:31:07.411Z,1761517867.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846886,0.525195,-0.083388],[-0.530161,0.846078,-0.055521],[0.041394,0.091229,0.994969]]
2025-10-26T22:31:07.456Z,1761517867.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770745
2025-10-26T22:31:07.487Z,1761517867.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.90 m.
2025-10-26T22:31:07.490Z,1761517867.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.902573 m,
      nav range: 152.941193 m,
      bearing: 66.417230 deg,
      approach rate: 0.230148 m/s,
      LOS rate: 0.228094 deg/s,
      cmd heading: 70.869811 deg,
      new cmd heading: 71.171867 deg.

2025-10-26T22:31:07.491Z,1761517867.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.242183 target range: 145.902573 and range: 146.60 m.
2025-10-26T22:31:07.710Z,1761517867.710 [DAT](INFO): DAT read: Rx Time:22:31:06.4393

2025-10-26T22:31:07.710Z,1761517867.710 [DAT](INFO): Rx dataTimestamp_ set to:1761517867.709707
2025-10-26T22:31:07.711Z,1761517867.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025288
2025-10-26T22:31:07.849Z,1761517867.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.90 m.
2025-10-26T22:31:07.851Z,1761517867.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.902573 m,
      nav range: 153.028214 m,
      bearing: 66.503044 deg,
      approach rate: 0.238199 m/s,
      LOS rate: 0.234762 deg/s,
      cmd heading: 71.171869 deg,
      new cmd heading: 71.429163 deg.

2025-10-26T22:31:07.852Z,1761517867.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.246674 target range: 145.902573 and range: 146.60 m.
2025-10-26T22:31:07.960Z,1761517867.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274830
2025-10-26T22:31:08.215Z,1761517868.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529098
2025-10-26T22:31:08.264Z,1761517868.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870351,0.486251,-0.077770],[-0.490355,0.870292,-0.046298],[0.045170,0.078431,0.995896]]
2025-10-26T22:31:08.343Z,1761517868.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.90 m.
2025-10-26T22:31:08.350Z,1761517868.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.902573 m,
      nav range: 153.124939 m,
      bearing: 66.613195 deg,
      approach rate: 0.195610 m/s,
      LOS rate: 0.222621 deg/s,
      cmd heading: 71.429162 deg,
      new cmd heading: 71.759403 deg.

2025-10-26T22:31:08.351Z,1761517868.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.252438 target range: 145.902573 and range: 146.60 m.
2025-10-26T22:31:08.471Z,1761517868.471 [DAT](INFO): DAT read: 22:31:06.4393 LVL= 19408, 22513, 31010, 28563, AGC= 67, IDX= 446, 0.20, 2.238, 1.475, 0.455, 1.543, PHS= 0.796,-0.023,-1.133, RAW=  55.0,   4.3, CAL=  54.4,   2.8, ROT=  95.6,  -2.8

2025-10-26T22:31:08.473Z,1761517868.473 [DAT](INFO): got valid direction response:
 22:31:06.4393 LVL= 19408, 22513, 31010, 28563, AGC= 67, IDX= 446, 0.20, 2.238, 1.475, 0.455, 1.543, PHS= 0.796,-0.023,-1.133, RAW=  55.0,   4.3, CAL=  54.4,   2.8, ROT=  95.6,  -2.8

2025-10-26T22:31:08.473Z,1761517868.473 [DAT](INFO): DAT read: Bearing 311.4,  81.8 (Local)

2025-10-26T22:31:08.474Z,1761517868.474 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.4,  81.8 (Local)

2025-10-26T22:31:08.475Z,1761517868.475 [DAT](INFO): DAT read: Range 11 to 50 : 147.7 m  (Round-trip  197.0 ms) speed -0.1 m/s

2025-10-26T22:31:08.476Z,1761517868.476 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:31:08.477Z,1761517868.477 [DAT](INFO): direction in FSK: [-0.097466,0.994039,0.048850]
2025-10-26T22:31:08.478Z,1761517868.478 [DAT](INFO): publishing direction and range info
2025-10-26T22:31:08.481Z,1761517868.481 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:31:08.481Z,1761517868.481 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:31:08.482Z,1761517868.482 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:31:08.678Z,1761517868.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882003,0.464510,-0.079384],[-0.468875,0.881898,-0.049110],[0.047196,0.080536,0.995634]]
2025-10-26T22:31:08.709Z,1761517868.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 147.699997 m,
      deltaT: 4.031722 s,
      deltaX: 1.099991 m,
      approachRate: 0.272834 m/s,
      rangeRepo size: 4

2025-10-26T22:31:08.713Z,1761517868.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 146.996902 m,
      bearing: 67.988378 deg,
      lat: 36.779343 deg,
      lon: -121.859324 deg,
      deltaT: 4.031722 s,
      deltaX: 1.094330 m,
      approachRate: 0.271430 m/s,
      posRepo size: 4

2025-10-26T22:31:08.714Z,1761517868.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m.
2025-10-26T22:31:08.717Z,1761517868.717 [DAT](INFO): DAT read: user:569>

2025-10-26T22:31:08.718Z,1761517868.718 [DAT](INFO): DAT read: Tx time:22:31:07.8381

2025-10-26T22:31:08.719Z,1761517868.719 [DAT](INFO): Ping request sent.
2025-10-26T22:31:08.719Z,1761517868.719 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:31:08.719Z,1761517868.719 [DAT](INFO): publishing transmit ping time
2025-10-26T22:31:08.720Z,1761517868.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001486
2025-10-26T22:31:08.740Z,1761517868.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.996902 m,
      nav range: 152.803589 m,
      bearing: 67.037352 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.222621 deg/s,
      cmd heading: 71.759402 deg,
      new cmd heading: 72.002580 deg.

2025-10-26T22:31:08.741Z,1761517868.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.256682 target range: 146.996902 and range: 147.70 m.
2025-10-26T22:31:08.969Z,1761517868.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250545
2025-10-26T22:31:09.091Z,1761517869.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893180,0.442539,-0.079931],[-0.446974,0.893170,-0.049618],[0.049434,0.080045,0.995565]]
2025-10-26T22:31:09.220Z,1761517869.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501784
2025-10-26T22:31:09.245Z,1761517869.245 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:09.247Z,1761517869.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m.
2025-10-26T22:31:09.250Z,1761517869.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.996902 m,
      nav range: 152.894119 m,
      bearing: 67.159640 deg,
      approach rate: 0.167768 m/s,
      LOS rate: 0.226485 deg/s,
      cmd heading: 72.002577 deg,
      new cmd heading: 72.369217 deg.

2025-10-26T22:31:09.251Z,1761517869.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.263081 target range: 146.996902 and range: 147.70 m.
2025-10-26T22:31:09.472Z,1761517869.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753753
2025-10-26T22:31:09.560Z,1761517869.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904025,0.419702,-0.081172],[-0.424327,0.904051,-0.051375],[0.051821,0.080888,0.995375]]
2025-10-26T22:31:09.588Z,1761517869.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m.
2025-10-26T22:31:09.591Z,1761517869.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.996902 m,
      nav range: 152.945724 m,
      bearing: 67.236217 deg,
      approach rate: 0.151085 m/s,
      LOS rate: 0.224119 deg/s,
      cmd heading: 72.369215 deg,
      new cmd heading: 72.598867 deg.

2025-10-26T22:31:09.608Z,1761517869.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.267089 target range: 146.996902 and range: 147.70 m.
2025-10-26T22:31:09.725Z,1761517869.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006160
2025-10-26T22:31:09.966Z,1761517869.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914224,0.396489,-0.083608],[-0.401538,0.914159,-0.055514],[0.054420,0.084323,0.994951]]
2025-10-26T22:31:09.976Z,1761517869.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257647
2025-10-26T22:31:10.036Z,1761517870.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m.
2025-10-26T22:31:10.039Z,1761517870.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.996902 m,
      nav range: 153.004303 m,
      bearing: 67.332622 deg,
      approach rate: 0.130751 m/s,
      LOS rate: 0.215099 deg/s,
      cmd heading: 72.598866 deg,
      new cmd heading: 72.887967 deg.

2025-10-26T22:31:10.040Z,1761517870.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.272135 target range: 146.996902 and range: 147.70 m.
2025-10-26T22:31:10.229Z,1761517870.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510226
2025-10-26T22:31:10.366Z,1761517870.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924161,0.372369,-0.085258],[-0.377724,0.924073,-0.058432],[0.057026,0.086205,0.994644]]
2025-10-26T22:31:10.453Z,1761517870.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m.
2025-10-26T22:31:10.460Z,1761517870.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.996902 m,
      nav range: 153.048386 m,
      bearing: 67.426305 deg,
      approach rate: 0.105784 m/s,
      LOS rate: 0.224743 deg/s,
      cmd heading: 72.887968 deg,
      new cmd heading: 73.168933 deg.

2025-10-26T22:31:10.464Z,1761517870.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.277039 target range: 146.996902 and range: 147.70 m.
2025-10-26T22:31:10.481Z,1761517870.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762336
2025-10-26T22:31:10.733Z,1761517870.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014247
2025-10-26T22:31:10.770Z,1761517870.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933271,0.348735,-0.085966],[-0.354228,0.933250,-0.059728],[0.059398,0.086194,0.994506]]
2025-10-26T22:31:10.800Z,1761517870.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m.
2025-10-26T22:31:10.803Z,1761517870.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.996902 m,
      nav range: 153.082275 m,
      bearing: 67.509861 deg,
      approach rate: 0.097672 m/s,
      LOS rate: 0.240761 deg/s,
      cmd heading: 73.168934 deg,
      new cmd heading: 73.419547 deg.

2025-10-26T22:31:10.808Z,1761517870.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.281413 target range: 146.996902 and range: 147.70 m.
2025-10-26T22:31:10.984Z,1761517870.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265695
2025-10-26T22:31:11.186Z,1761517871.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941963,0.324302,-0.086799],[-0.329993,0.941960,-0.061773],[0.061728,0.086831,0.994309]]
2025-10-26T22:31:11.236Z,1761517871.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517724
2025-10-26T22:31:11.247Z,1761517871.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:11.249Z,1761517871.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m.
2025-10-26T22:31:11.256Z,1761517871.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.996902 m,
      nav range: 153.113281 m,
      bearing: 67.610895 deg,
      approach rate: 0.069047 m/s,
      LOS rate: 0.224945 deg/s,
      cmd heading: 73.419548 deg,
      new cmd heading: 73.722584 deg.

2025-10-26T22:31:11.257Z,1761517871.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.286702 target range: 146.996902 and range: 147.70 m.
2025-10-26T22:31:11.489Z,1761517871.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770029
2025-10-26T22:31:11.578Z,1761517871.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950014,0.299187,-0.089223],[-0.305488,0.949773,-0.067891],[0.064430,0.091754,0.993695]]
2025-10-26T22:31:11.610Z,1761517871.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m.
2025-10-26T22:31:11.613Z,1761517871.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.996902 m,
      nav range: 153.134506 m,
      bearing: 67.698861 deg,
      approach rate: 0.058785 m/s,
      LOS rate: 0.243598 deg/s,
      cmd heading: 73.722583 deg,
      new cmd heading: 73.986441 deg.

2025-10-26T22:31:11.614Z,1761517871.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.291307 target range: 146.996902 and range: 147.70 m.
2025-10-26T22:31:11.741Z,1761517871.741 [DAT](INFO): DAT read: Rx Time:22:31:10.4398

2025-10-26T22:31:11.741Z,1761517871.741 [DAT](INFO): Rx dataTimestamp_ set to:1761517871.740738
2025-10-26T22:31:11.742Z,1761517871.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022912
2025-10-26T22:31:11.993Z,1761517871.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273857
2025-10-26T22:31:12.031Z,1761517872.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m.
2025-10-26T22:31:12.034Z,1761517872.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.996902 m,
      nav range: 153.158249 m,
      bearing: 67.795562 deg,
      approach rate: 0.056439 m/s,
      LOS rate: 0.229837 deg/s,
      cmd heading: 73.986440 deg,
      new cmd heading: 74.276497 deg.

2025-10-26T22:31:12.035Z,1761517872.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.296369 target range: 146.996902 and range: 147.70 m.
2025-10-26T22:31:12.256Z,1761517872.256 [DAT](INFO): DAT read: 22:31:10.4398 LVL= 21232, 25553, 27682, 31987, AGC= 61, IDX= 435, 0.11, 2.712, 1.694, 0.996, 2.119, PHS= 0.695,-0.380,-1.168, RAW=  65.1,  10.6, CAL=  62.9,  13.8, ROT=  87.1, -13.8

2025-10-26T22:31:12.257Z,1761517872.257 [DAT](INFO): got valid direction response:
 22:31:10.4398 LVL= 21232, 25553, 27682, 31987, AGC= 61, IDX= 435, 0.11, 2.712, 1.694, 0.996, 2.119, PHS= 0.695,-0.380,-1.168, RAW=  65.1,  10.6, CAL=  62.9,  13.8, ROT=  87.1, -13.8

2025-10-26T22:31:12.258Z,1761517872.258 [DAT](INFO): DAT read: Bearing 220.5,  81.4 (Local)

2025-10-26T22:31:12.259Z,1761517872.259 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.5,  81.4 (Local)

2025-10-26T22:31:12.280Z,1761517872.280 [DAT](INFO): DAT read: Range 11 to 50 : 148.1 m  (Round-trip  197.5 ms) speed  0.0 m/s

2025-10-26T22:31:12.281Z,1761517872.281 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:31:12.282Z,1761517872.282 [DAT](INFO): direction in FSK: [0.049133,0.969891,0.238533]
2025-10-26T22:31:12.283Z,1761517872.283 [DAT](INFO): publishing direction and range info
2025-10-26T22:31:12.294Z,1761517872.294 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:31:12.295Z,1761517872.295 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:31:12.295Z,1761517872.295 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:31:12.386Z,1761517872.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964077,0.249822,-0.090250],[-0.256151,0.964317,-0.066935],[0.070308,0.087649,0.993667]]
2025-10-26T22:31:12.479Z,1761517872.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 148.100006 m,
      deltaT: 3.781412 s,
      deltaX: 0.400009 m,
      approachRate: 0.105783 m/s,
      rangeRepo size: 4

2025-10-26T22:31:12.485Z,1761517872.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 147.397598 m,
      bearing: 73.525878 deg,
      lat: 36.779298 deg,
      lon: -121.859386 deg,
      deltaT: 3.781412 s,
      deltaX: 0.400696 m,
      approachRate: 0.105965 m/s,
      posRepo size: 4

2025-10-26T22:31:12.486Z,1761517872.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.40 m.
2025-10-26T22:31:12.493Z,1761517872.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.397598 m,
      nav range: 146.266968 m,
      bearing: 68.884505 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.229837 deg/s,
      cmd heading: 74.276497 deg,
      new cmd heading: 74.584948 deg.

2025-10-26T22:31:12.493Z,1761517872.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.301753 target range: 147.397598 and range: 148.10 m.
2025-10-26T22:31:12.496Z,1761517872.496 [DAT](INFO): DAT read: user:570>

2025-10-26T22:31:12.497Z,1761517872.497 [DAT](INFO): DAT read: Tx time:22:31:11.6881

2025-10-26T22:31:12.497Z,1761517872.497 [DAT](INFO): Ping request sent.
2025-10-26T22:31:12.498Z,1761517872.498 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:31:12.498Z,1761517872.498 [DAT](INFO): publishing transmit ping time
2025-10-26T22:31:12.498Z,1761517872.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757
2025-10-26T22:31:12.752Z,1761517872.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254366
2025-10-26T22:31:12.806Z,1761517872.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970012,0.225777,-0.090007],[-0.231778,0.970735,-0.062869],[0.073179,0.081846,0.993955]]
2025-10-26T22:31:12.861Z,1761517872.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.40 m.
2025-10-26T22:31:12.867Z,1761517872.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.397598 m,
      nav range: 146.277390 m,
      bearing: 68.978212 deg,
      approach rate: 0.027240 m/s,
      LOS rate: 0.244911 deg/s,
      cmd heading: 74.584949 deg,
      new cmd heading: 74.866048 deg.

2025-10-26T22:31:12.868Z,1761517872.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.306659 target range: 147.397598 and range: 148.10 m.
2025-10-26T22:31:13.000Z,1761517873.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502664
2025-10-26T22:31:13.215Z,1761517873.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975288,0.201547,-0.090510],[-0.207446,0.976326,-0.061260],[0.076021,0.078522,0.994010]]
2025-10-26T22:31:13.252Z,1761517873.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754777
2025-10-26T22:31:13.301Z,1761517873.301 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:13.303Z,1761517873.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.40 m.
2025-10-26T22:31:13.322Z,1761517873.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.397598 m,
      nav range: 146.282166 m,
      bearing: 69.086627 deg,
      approach rate: 0.010810 m/s,
      LOS rate: 0.245371 deg/s,
      cmd heading: 74.866045 deg,
      new cmd heading: 75.191274 deg.

2025-10-26T22:31:13.352Z,1761517873.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.312335 target range: 147.397598 and range: 148.10 m.
2025-10-26T22:31:13.504Z,1761517873.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006646
2025-10-26T22:31:13.611Z,1761517873.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979918,0.177820,-0.090222],[-0.183296,0.981433,-0.056500],[0.078500,0.071903,0.994318]]
2025-10-26T22:31:13.640Z,1761517873.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.40 m.
2025-10-26T22:31:13.643Z,1761517873.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.397598 m,
      nav range: 146.281036 m,
      bearing: 69.168324 deg,
      approach rate: -0.003342 m/s,
      LOS rate: 0.241813 deg/s,
      cmd heading: 75.191271 deg,
      new cmd heading: 75.436363 deg.

2025-10-26T22:31:13.644Z,1761517873.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.316613 target range: 147.397598 and range: 148.10 m.
2025-10-26T22:31:13.756Z,1761517873.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258834
2025-10-26T22:31:14.008Z,1761517874.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510848
2025-10-26T22:31:14.019Z,1761517874.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983937,0.154363,-0.089666],[-0.159216,0.985991,-0.049720],[0.080735,0.063198,0.994730]]
2025-10-26T22:31:14.043Z,1761517874.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.40 m.
2025-10-26T22:31:14.045Z,1761517874.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.397598 m,
      nav range: 146.274094 m,
      bearing: 69.265338 deg,
      approach rate: -0.017263 m/s,
      LOS rate: 0.241242 deg/s,
      cmd heading: 75.436366 deg,
      new cmd heading: 75.727420 deg.

2025-10-26T22:31:14.046Z,1761517874.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.321693 target range: 147.397598 and range: 148.10 m.
2025-10-26T22:31:14.263Z,1761517874.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765801
2025-10-26T22:31:14.425Z,1761517874.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987354,0.130994,-0.089284],[-0.135495,0.989694,-0.046333],[0.082295,0.057845,0.994928]]
2025-10-26T22:31:14.484Z,1761517874.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.40 m.
2025-10-26T22:31:14.487Z,1761517874.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.397598 m,
      nav range: 146.263321 m,
      bearing: 69.370763 deg,
      approach rate: -0.024402 m/s,
      LOS rate: 0.238825 deg/s,
      cmd heading: 75.727421 deg,
      new cmd heading: 76.043716 deg.

2025-10-26T22:31:14.488Z,1761517874.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.327213 target range: 147.397598 and range: 148.10 m.
2025-10-26T22:31:14.513Z,1761517874.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015064
2025-10-26T22:31:14.764Z,1761517874.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266776
2025-10-26T22:31:14.822Z,1761517874.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990198,0.107453,-0.089233],[-0.111895,0.992638,-0.046363],[0.083594,0.055893,0.994931]]
2025-10-26T22:31:14.851Z,1761517874.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.40 m.
2025-10-26T22:31:14.854Z,1761517874.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.397598 m,
      nav range: 146.249390 m,
      bearing: 69.458438 deg,
      approach rate: -0.037988 m/s,
      LOS rate: 0.239095 deg/s,
      cmd heading: 76.043713 deg,
      new cmd heading: 76.306761 deg.

2025-10-26T22:31:14.855Z,1761517874.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331804 target range: 147.397598 and range: 148.10 m.
2025-10-26T22:31:15.016Z,1761517875.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518731
2025-10-26T22:31:15.248Z,1761517875.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992438,0.084492,-0.089038],[-0.088953,0.994908,-0.047380],[0.084582,0.054942,0.994901]]
2025-10-26T22:31:15.268Z,1761517875.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770793
2025-10-26T22:31:15.310Z,1761517875.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:15.312Z,1761517875.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.40 m.
2025-10-26T22:31:15.315Z,1761517875.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.397598 m,
      nav range: 146.228882 m,
      bearing: 69.570685 deg,
      approach rate: -0.044438 m/s,
      LOS rate: 0.243258 deg/s,
      cmd heading: 76.306764 deg,
      new cmd heading: 76.643546 deg.

2025-10-26T22:31:15.316Z,1761517875.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.337682 target range: 147.397598 and range: 148.10 m.
2025-10-26T22:31:15.521Z,1761517875.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023453
2025-10-26T22:31:15.630Z,1761517875.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994199,0.060777,-0.088734],[-0.065481,0.996545,-0.051100],[0.085322,0.056614,0.994744]]
2025-10-26T22:31:15.657Z,1761517875.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.40 m.
2025-10-26T22:31:15.661Z,1761517875.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.397598 m,
      nav range: 146.208786 m,
      bearing: 69.654753 deg,
      approach rate: -0.058290 m/s,
      LOS rate: 0.243883 deg/s,
      cmd heading: 76.643547 deg,
      new cmd heading: 76.895786 deg.

2025-10-26T22:31:15.662Z,1761517875.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.342085 target range: 147.397598 and range: 148.10 m.
2025-10-26T22:31:15.772Z,1761517875.772 [DAT](INFO): DAT read: Rx Time:22:31:14.2897

2025-10-26T22:31:15.773Z,1761517875.773 [DAT](INFO): Rx dataTimestamp_ set to:1761517875.772607
2025-10-26T22:31:15.774Z,1761517875.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275820
2025-10-26T22:31:16.025Z,1761517876.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527027
2025-10-26T22:31:16.037Z,1761517876.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995328,0.038458,-0.088560],[-0.043648,0.997394,-0.057438],[0.086120,0.061035,0.994413]]
2025-10-26T22:31:16.129Z,1761517876.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.40 m.
2025-10-26T22:31:16.131Z,1761517876.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.397598 m,
      nav range: 146.176025 m,
      bearing: 69.767199 deg,
      approach rate: -0.069483 m/s,
      LOS rate: 0.238542 deg/s,
      cmd heading: 76.895786 deg,
      new cmd heading: 77.233195 deg.

2025-10-26T22:31:16.136Z,1761517876.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347974 target range: 147.397598 and range: 148.10 m.
2025-10-26T22:31:16.282Z,1761517876.282 [DAT](INFO): DAT read: 22:31:14.2897 LVL= 17328, 29937, 24562, 25779, AGC= 67, IDX= 434, 0.28, 1.884, 0.403, 0.218, 1.181, PHS= 0.805,-0.734,-1.007, RAW=  82.0,  11.1, CAL=  81.5,  13.0, ROT=  68.5, -13.0

2025-10-26T22:31:16.283Z,1761517876.283 [DAT](INFO): got valid direction response:
 22:31:14.2897 LVL= 17328, 29937, 24562, 25779, AGC= 67, IDX= 434, 0.28, 1.884, 0.403, 0.218, 1.181, PHS= 0.805,-0.734,-1.007, RAW=  82.0,  11.1, CAL=  81.5,  13.0, ROT=  68.5, -13.0

2025-10-26T22:31:16.284Z,1761517876.284 [DAT](INFO): DAT read: Bearing 170.0,  70.7 (Local)

2025-10-26T22:31:16.285Z,1761517876.285 [DAT](INFO): Local bearing/azimuth received:
 Bearing 170.0,  70.7 (Local)

2025-10-26T22:31:16.286Z,1761517876.286 [DAT](INFO): DAT read: Range 11 to 50 : 148.0 m  (Round-trip  197.4 ms) speed  0.0 m/s

2025-10-26T22:31:16.287Z,1761517876.287 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:31:16.288Z,1761517876.288 [DAT](INFO): direction in FSK: [0.357108,0.906571,0.224951]
2025-10-26T22:31:16.288Z,1761517876.288 [DAT](INFO): publishing direction and range info
2025-10-26T22:31:16.307Z,1761517876.307 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:31:16.307Z,1761517876.307 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:31:16.307Z,1761517876.307 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:31:16.457Z,1761517876.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995969,0.015909,-0.088274],[-0.021999,0.997412,-0.068449],[0.086956,0.070115,0.993742]]
2025-10-26T22:31:16.499Z,1761517876.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 148.000000 m,
      deltaT: 4.030317 s,
      deltaX: -0.100006 m,
      approachRate: -0.024813 m/s,
      rangeRepo size: 4

2025-10-26T22:31:16.517Z,1761517876.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 147.295349 m,
      bearing: 68.319508 deg,
      lat: 36.779298 deg,
      lon: -121.859417 deg,
      deltaT: 4.030317 s,
      deltaX: -0.102249 m,
      approachRate: -0.025370 m/s,
      posRepo size: 4

2025-10-26T22:31:16.517Z,1761517876.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.30 m.
2025-10-26T22:31:16.524Z,1761517876.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.295349 m,
      nav range: 143.525848 m,
      bearing: 69.470753 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.238542 deg/s,
      cmd heading: 77.233197 deg,
      new cmd heading: 77.497494 deg.

2025-10-26T22:31:16.525Z,1761517876.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352586 target range: 147.295349 and range: 148.00 m.
2025-10-26T22:31:16.528Z,1761517876.528 [DAT](INFO): DAT read: user:571>

2025-10-26T22:31:16.529Z,1761517876.529 [DAT](INFO): DAT read: Tx time:22:31:15.6881

2025-10-26T22:31:16.529Z,1761517876.529 [DAT](INFO): Ping request sent.
2025-10-26T22:31:16.530Z,1761517876.530 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:31:16.530Z,1761517876.530 [DAT](INFO): publishing transmit ping time
2025-10-26T22:31:16.530Z,1761517876.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-10-26T22:31:16.781Z,1761517876.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251177
2025-10-26T22:31:16.886Z,1761517876.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996149,-0.006583,-0.087426],[-0.000493,0.996740,-0.080677],[0.087672,0.080410,0.992899]]
2025-10-26T22:31:16.926Z,1761517876.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.30 m.
2025-10-26T22:31:16.950Z,1761517876.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.295349 m,
      nav range: 143.488602 m,
      bearing: 69.570179 deg,
      approach rate: -0.087104 m/s,
      LOS rate: 0.232576 deg/s,
      cmd heading: 77.497491 deg,
      new cmd heading: 77.795846 deg.

2025-10-26T22:31:16.956Z,1761517876.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357794 target range: 147.295349 and range: 148.00 m.
2025-10-26T22:31:17.033Z,1761517877.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503047
2025-10-26T22:31:17.284Z,1761517877.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754805
2025-10-26T22:31:17.289Z,1761517877.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995886,-0.029002,-0.085853],[0.021405,0.995880,-0.088118],[0.088054,0.085918,0.992403]]
2025-10-26T22:31:17.341Z,1761517877.341 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:17.343Z,1761517877.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.30 m.
2025-10-26T22:31:17.346Z,1761517877.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.295349 m,
      nav range: 143.445114 m,
      bearing: 69.675434 deg,
      approach rate: -0.104182 m/s,
      LOS rate: 0.252231 deg/s,
      cmd heading: 77.795848 deg,
      new cmd heading: 78.111703 deg.

2025-10-26T22:31:17.347Z,1761517877.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363306 target range: 147.295349 and range: 148.00 m.
2025-10-26T22:31:17.536Z,1761517877.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006735
2025-10-26T22:31:17.682Z,1761517877.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995148,-0.050242,-0.084591],[0.042448,0.994896,-0.091541],[0.088758,0.087507,0.992202]]
2025-10-26T22:31:17.703Z,1761517877.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.30 m.
2025-10-26T22:31:17.728Z,1761517877.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.295349 m,
      nav range: 143.404938 m,
      bearing: 69.762141 deg,
      approach rate: -0.111589 m/s,
      LOS rate: 0.240895 deg/s,
      cmd heading: 78.111703 deg,
      new cmd heading: 78.371895 deg.

2025-10-26T22:31:17.729Z,1761517877.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.367848 target range: 147.295349 and range: 148.00 m.
2025-10-26T22:31:17.789Z,1761517877.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259651
2025-10-26T22:31:18.040Z,1761517878.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510760
2025-10-26T22:31:18.092Z,1761517878.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993918,-0.071472,-0.083780],[0.063554,0.993575,-0.093645],[0.089935,0.087751,0.992074]]
2025-10-26T22:31:18.171Z,1761517878.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.30 m.
2025-10-26T22:31:18.174Z,1761517878.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.295349 m,
      nav range: 143.346756 m,
      bearing: 69.875398 deg,
      approach rate: -0.124306 m/s,
      LOS rate: 0.242073 deg/s,
      cmd heading: 78.371892 deg,
      new cmd heading: 78.711797 deg.

2025-10-26T22:31:18.175Z,1761517878.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.373780 target range: 147.295349 and range: 148.00 m.
2025-10-26T22:31:18.295Z,1761517878.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765225
2025-10-26T22:31:18.523Z,1761517878.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992245,-0.091987,-0.083597],[0.084526,0.992457,-0.088797],[0.091135,0.081042,0.992536]]
2025-10-26T22:31:18.545Z,1761517878.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014940
2025-10-26T22:31:18.604Z,1761517878.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.30 m.
2025-10-26T22:31:18.607Z,1761517878.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.295349 m,
      nav range: 143.286804 m,
      bearing: 69.977112 deg,
      approach rate: -0.138328 m/s,
      LOS rate: 0.234785 deg/s,
      cmd heading: 78.711797 deg,
      new cmd heading: 79.017064 deg.

2025-10-26T22:31:18.620Z,1761517878.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.379108 target range: 147.295349 and range: 148.00 m.
2025-10-26T22:31:18.796Z,1761517878.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266699
2025-10-26T22:31:18.973Z,1761517878.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.30 m.
2025-10-26T22:31:18.976Z,1761517878.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.295349 m,
      nav range: 143.235931 m,
      bearing: 70.064089 deg,
      approach rate: -0.137986 m/s,
      LOS rate: 0.235998 deg/s,
      cmd heading: 79.017065 deg,
      new cmd heading: 79.278087 deg.

2025-10-26T22:31:18.977Z,1761517878.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.383664 target range: 147.295349 and range: 148.00 m.
2025-10-26T22:31:19.050Z,1761517879.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520563
2025-10-26T22:31:19.300Z,1761517879.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770870
2025-10-26T22:31:19.331Z,1761517879.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987592,-0.132967,-0.083555],[0.126355,0.988753,-0.080008],[0.093253,0.068457,0.993286]]
2025-10-26T22:31:19.395Z,1761517879.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:19.397Z,1761517879.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.30 m.
2025-10-26T22:31:19.400Z,1761517879.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.295349 m,
      nav range: 143.166794 m,
      bearing: 70.162178 deg,
      approach rate: -0.163098 m/s,
      LOS rate: 0.231507 deg/s,
      cmd heading: 79.278088 deg,
      new cmd heading: 79.572493 deg.

2025-10-26T22:31:19.401Z,1761517879.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.388802 target range: 147.295349 and range: 148.00 m.
2025-10-26T22:31:19.552Z,1761517879.552 [DAT](INFO): DAT read: Rx Time:22:31:18.2890

2025-10-26T22:31:19.553Z,1761517879.553 [DAT](INFO): Rx dataTimestamp_ set to:1761517879.552613
2025-10-26T22:31:19.553Z,1761517879.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023896
2025-10-26T22:31:19.734Z,1761517879.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984385,-0.155379,-0.082731],[0.148810,0.985590,-0.080427],[0.094035,0.066860,0.993321]]
2025-10-26T22:31:19.774Z,1761517879.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.30 m.
2025-10-26T22:31:19.781Z,1761517879.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.295349 m,
      nav range: 143.104279 m,
      bearing: 70.244213 deg,
      approach rate: -0.175185 m/s,
      LOS rate: 0.229986 deg/s,
      cmd heading: 79.572496 deg,
      new cmd heading: 79.818708 deg.

2025-10-26T22:31:19.782Z,1761517879.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.393099 target range: 147.295349 and range: 148.00 m.
2025-10-26T22:31:19.805Z,1761517879.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275121
2025-10-26T22:31:20.060Z,1761517880.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529223
2025-10-26T22:31:20.132Z,1761517880.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980600,-0.178380,-0.081272],[0.171751,0.981690,-0.082375],[0.094478,0.066818,0.993282]]
2025-10-26T22:31:20.150Z,1761517880.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.30 m.
2025-10-26T22:31:20.158Z,1761517880.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.295349 m,
      nav range: 143.029434 m,
      bearing: 70.335302 deg,
      approach rate: -0.188681 m/s,
      LOS rate: 0.229754 deg/s,
      cmd heading: 79.818711 deg,
      new cmd heading: 80.092119 deg.

2025-10-26T22:31:20.159Z,1761517880.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.397871 target range: 147.295349 and range: 148.00 m.
2025-10-26T22:31:20.333Z,1761517880.333 [DAT](INFO): DAT read: 22:31:18.2890 LVL= 26160, 32753, 32754, 32755, AGC= 63, IDX= 427,-0.00, 0.216,-1.727,-1.243,-0.657, PHS= 0.976,-1.024,-0.629, RAW= 100.7,   7.4, CAL= 101.4,   7.6, ROT=  48.6,  -7.6

2025-10-26T22:31:20.334Z,1761517880.334 [DAT](INFO): got valid direction response:
 22:31:18.2890 LVL= 26160, 32753, 32754, 32755, AGC= 63, IDX= 427,-0.00, 0.216,-1.727,-1.243,-0.657, PHS= 0.976,-1.024,-0.629, RAW= 100.7,   7.4, CAL= 101.4,   7.6, ROT=  48.6,  -7.6

2025-10-26T22:31:20.335Z,1761517880.335 [DAT](INFO): DAT read: Bearing 160.1,  53.8 (Local)

2025-10-26T22:31:20.339Z,1761517880.339 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.1,  53.8 (Local)

2025-10-26T22:31:20.341Z,1761517880.341 [DAT](INFO): DAT read: Range 11 to 50 : 147.5 m  (Round-trip  196.7 ms) speed  0.2 m/s

2025-10-26T22:31:20.342Z,1761517880.342 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:31:20.348Z,1761517880.348 [DAT](INFO): direction in FSK: [0.655503,0.743522,0.132256]
2025-10-26T22:31:20.349Z,1761517880.349 [DAT](INFO): publishing direction and range info
2025-10-26T22:31:20.362Z,1761517880.362 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:31:20.362Z,1761517880.362 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:31:20.363Z,1761517880.363 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:31:20.561Z,1761517880.561 [DAT](INFO): DAT read: user:572>

2025-10-26T22:31:20.561Z,1761517880.561 [DAT](INFO): DAT read: Tx time:22:31:19.7381

2025-10-26T22:31:20.562Z,1761517880.562 [DAT](INFO): Ping request sent.
2025-10-26T22:31:20.562Z,1761517880.562 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:31:20.562Z,1761517880.562 [DAT](INFO): publishing transmit ping time
2025-10-26T22:31:20.563Z,1761517880.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-10-26T22:31:20.623Z,1761517880.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 147.500000 m,
      deltaT: 4.033794 s,
      deltaX: -0.500000 m,
      approachRate: -0.123953 m/s,
      rangeRepo size: 4

2025-10-26T22:31:20.637Z,1761517880.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 146.791534 m,
      bearing: 59.013488 deg,
      lat: 36.779309 deg,
      lon: -121.859469 deg,
      deltaT: 4.033794 s,
      deltaX: -0.503815 m,
      approachRate: -0.124898 m/s,
      posRepo size: 4

2025-10-26T22:31:20.638Z,1761517880.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.79 m.
2025-10-26T22:31:20.645Z,1761517880.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.791534 m,
      nav range: 139.011261 m,
      bearing: 69.306117 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.229754 deg/s,
      cmd heading: 80.092116 deg,
      new cmd heading: 80.417387 deg.

2025-10-26T22:31:20.646Z,1761517880.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.403548 target range: 146.791534 and range: 147.50 m.
2025-10-26T22:31:20.812Z,1761517880.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250549
2025-10-26T22:31:20.949Z,1761517880.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970965,-0.226442,-0.077139],[0.219167,0.971290,-0.092527],[0.095877,0.072934,0.992718]]
2025-10-26T22:31:20.972Z,1761517880.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.79 m.
2025-10-26T22:31:20.974Z,1761517880.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.791534 m,
      nav range: 138.924225 m,
      bearing: 69.392050 deg,
      approach rate: -0.249265 m/s,
      LOS rate: 0.246259 deg/s,
      cmd heading: 80.417384 deg,
      new cmd heading: 80.675342 deg.

2025-10-26T22:31:20.976Z,1761517880.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.408050 target range: 146.791534 and range: 147.50 m.
2025-10-26T22:31:21.064Z,1761517881.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502667
2025-10-26T22:31:21.319Z,1761517881.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756764
2025-10-26T22:31:21.347Z,1761517881.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964881,-0.251739,-0.075051],[0.243998,0.964713,-0.098962],[0.097316,0.077174,0.992257]]
2025-10-26T22:31:21.395Z,1761517881.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:21.397Z,1761517881.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.79 m.
2025-10-26T22:31:21.403Z,1761517881.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.791534 m,
      nav range: 138.818527 m,
      bearing: 69.484555 deg,
      approach rate: -0.248283 m/s,
      LOS rate: 0.217459 deg/s,
      cmd heading: 80.675339 deg,
      new cmd heading: 80.953063 deg.

2025-10-26T22:31:21.405Z,1761517881.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.412897 target range: 146.791534 and range: 147.50 m.
2025-10-26T22:31:21.568Z,1761517881.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006605
2025-10-26T22:31:21.751Z,1761517881.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958119,-0.276912,-0.072992],[0.268577,0.957353,-0.106500],[0.099370,0.082436,0.991630]]
2025-10-26T22:31:21.813Z,1761517881.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.79 m.
2025-10-26T22:31:21.815Z,1761517881.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.791534 m,
      nav range: 138.709747 m,
      bearing: 69.574146 deg,
      approach rate: -0.261920 m/s,
      LOS rate: 0.215888 deg/s,
      cmd heading: 80.953062 deg,
      new cmd heading: 81.222046 deg.

2025-10-26T22:31:21.816Z,1761517881.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.417592 target range: 146.791534 and range: 147.50 m.
2025-10-26T22:31:21.820Z,1761517881.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258645
2025-10-26T22:31:22.072Z,1761517882.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510572
2025-10-26T22:31:22.162Z,1761517882.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950369,-0.303282,-0.069419],[0.294221,0.948621,-0.116412],[0.101158,0.090210,0.990772]]
2025-10-26T22:31:22.180Z,1761517882.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.79 m.
2025-10-26T22:31:22.182Z,1761517882.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.791534 m,
      nav range: 138.608688 m,
      bearing: 69.652333 deg,
      approach rate: -0.275061 m/s,
      LOS rate: 0.212964 deg/s,
      cmd heading: 81.222048 deg,
      new cmd heading: 81.456779 deg.

2025-10-26T22:31:22.184Z,1761517882.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.421689 target range: 146.791534 and range: 147.50 m.
2025-10-26T22:31:22.328Z,1761517882.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765172
2025-10-26T22:31:22.564Z,1761517882.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933128,-0.354156,-0.062010],[0.344394,0.929952,-0.128772],[0.103272,0.098805,0.989734]]
2025-10-26T22:31:22.576Z,1761517882.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014533
2025-10-26T22:31:22.610Z,1761517882.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.79 m.
2025-10-26T22:31:22.613Z,1761517882.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.791534 m,
      nav range: 138.477463 m,
      bearing: 69.741229 deg,
      approach rate: -0.305410 m/s,
      LOS rate: 0.207090 deg/s,
      cmd heading: 81.456781 deg,
      new cmd heading: 81.723721 deg.

2025-10-26T22:31:22.613Z,1761517882.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.426348 target range: 146.791534 and range: 147.50 m.
2025-10-26T22:31:22.832Z,1761517882.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269974
2025-10-26T22:31:22.966Z,1761517882.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923862,-0.377845,-0.060937],[0.368256,0.920958,-0.127369],[0.104246,0.095231,0.989982]]
2025-10-26T22:31:22.985Z,1761517882.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.79 m.
2025-10-26T22:31:22.988Z,1761517882.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.791534 m,
      nav range: 138.358078 m,
      bearing: 69.817950 deg,
      approach rate: -0.317758 m/s,
      LOS rate: 0.204377 deg/s,
      cmd heading: 81.723719 deg,
      new cmd heading: 81.954077 deg.

2025-10-26T22:31:22.989Z,1761517882.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.430368 target range: 146.791534 and range: 147.50 m.
2025-10-26T22:31:23.081Z,1761517883.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519012
2025-10-26T22:31:23.354Z,1761517883.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.792255
2025-10-26T22:31:23.390Z,1761517883.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914255,-0.400433,-0.061567],[0.391254,0.912111,-0.122368],[0.105156,0.087787,0.990573]]
2025-10-26T22:31:23.512Z,1761517883.512 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:23.514Z,1761517883.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.79 m.
2025-10-26T22:31:23.533Z,1761517883.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.791534 m,
      nav range: 138.190140 m,
      bearing: 69.921469 deg,
      approach rate: -0.317872 m/s,
      LOS rate: 0.196177 deg/s,
      cmd heading: 81.954074 deg,
      new cmd heading: 82.265005 deg.

2025-10-26T22:31:23.534Z,1761517883.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.435795 target range: 146.791534 and range: 147.50 m.
2025-10-26T22:31:23.587Z,1761517883.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024685
2025-10-26T22:31:23.837Z,1761517883.837 [DAT](INFO): DAT read: Rx Time:22:31:22.3375

2025-10-26T22:31:23.837Z,1761517883.837 [DAT](INFO): Rx dataTimestamp_ set to:1761517883.836727
2025-10-26T22:31:23.838Z,1761517883.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275789
2025-10-26T22:31:23.847Z,1761517883.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904317,-0.422015,-0.064147],[0.413583,0.903426,-0.113003],[0.105641,0.075660,0.991522]]
2025-10-26T22:31:23.904Z,1761517883.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.79 m.
2025-10-26T22:31:23.913Z,1761517883.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.791534 m,
      nav range: 138.065292 m,
      bearing: 69.994896 deg,
      approach rate: -0.324440 m/s,
      LOS rate: 0.190988 deg/s,
      cmd heading: 82.265005 deg,
      new cmd heading: 82.485485 deg.

2025-10-26T22:31:23.915Z,1761517883.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.439643 target range: 146.791534 and range: 147.50 m.
2025-10-26T22:31:24.088Z,1761517884.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526456
2025-10-26T22:31:24.246Z,1761517884.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894179,-0.442739,-0.066529],[0.434987,0.894297,-0.104977],[0.105974,0.064929,0.992247]]
2025-10-26T22:31:24.296Z,1761517884.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.79 m.
2025-10-26T22:31:24.299Z,1761517884.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.791534 m,
      nav range: 137.933929 m,
      bearing: 70.068721 deg,
      approach rate: -0.330082 m/s,
      LOS rate: 0.185680 deg/s,
      cmd heading: 82.485483 deg,
      new cmd heading: 82.707167 deg.

2025-10-26T22:31:24.300Z,1761517884.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.443512 target range: 146.791534 and range: 147.50 m.
2025-10-26T22:31:24.359Z,1761517884.359 [DAT](INFO): DAT read: 22:31:22.3375 LVL= 32368, 32753, 32754, 32755, AGC= 64, IDX= 428,-0.45,-2.430, 1.900, 2.864,-3.060, PHS= 0.732,-1.278,-0.403, RAW= 115.7,  10.9, CAL= 116.9,  12.2, ROT=  33.1, -12.2

2025-10-26T22:31:24.362Z,1761517884.362 [DAT](INFO): got valid direction response:
 22:31:22.3375 LVL= 32368, 32753, 32754, 32755, AGC= 64, IDX= 428,-0.45,-2.430, 1.900, 2.864,-3.060, PHS= 0.732,-1.278,-0.403, RAW= 115.7,  10.9, CAL= 116.9,  12.2, ROT=  33.1, -12.2

2025-10-26T22:31:24.369Z,1761517884.369 [DAT](INFO): DAT read: Bearing 177.7,  39.0 (Local)

2025-10-26T22:31:24.370Z,1761517884.370 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.7,  39.0 (Local)

2025-10-26T22:31:24.374Z,1761517884.374 [DAT](INFO): DAT read: Range 11 to 50 : 146.4 m  (Round-trip  195.2 ms) speed  0.3 m/s

2025-10-26T22:31:24.393Z,1761517884.393 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:31:24.397Z,1761517884.397 [DAT](INFO): direction in FSK: [0.818800,0.533769,0.211325]
2025-10-26T22:31:24.398Z,1761517884.398 [DAT](INFO): publishing direction and range info
2025-10-26T22:31:24.434Z,1761517884.434 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:31:24.434Z,1761517884.434 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:31:24.434Z,1761517884.434 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:31:24.593Z,1761517884.593 [DAT](INFO): DAT read: user:573>

2025-10-26T22:31:24.594Z,1761517884.594 [DAT](INFO): DAT read: Tx time:22:31:23.7882

2025-10-26T22:31:24.595Z,1761517884.595 [DAT](INFO): Ping request sent.
2025-10-26T22:31:24.595Z,1761517884.595 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:31:24.595Z,1761517884.595 [DAT](INFO): publishing transmit ping time
2025-10-26T22:31:24.596Z,1761517884.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001164
2025-10-26T22:31:24.663Z,1761517884.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883455,-0.463495,-0.068407],[0.456313,0.884330,-0.098684],[0.106234,0.055968,0.992765]]
2025-10-26T22:31:24.747Z,1761517884.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 146.399994 m,
      deltaT: 4.031380 s,
      deltaX: -1.100006 m,
      approachRate: -0.272861 m/s,
      rangeRepo size: 4

2025-10-26T22:31:24.749Z,1761517884.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 145.696594 m,
      bearing: 60.770815 deg,
      lat: 36.779309 deg,
      lon: -121.859469 deg,
      deltaT: 4.031380 s,
      deltaX: -1.094940 m,
      approachRate: -0.271604 m/s,
      posRepo size: 4

2025-10-26T22:31:24.750Z,1761517884.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.70 m.
2025-10-26T22:31:24.752Z,1761517884.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.696594 m,
      nav range: 137.776154 m,
      bearing: 70.153641 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.185680 deg/s,
      cmd heading: 82.707164 deg,
      new cmd heading: 82.957644 deg.

2025-10-26T22:31:24.753Z,1761517884.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.447884 target range: 145.696594 and range: 146.40 m.
2025-10-26T22:31:24.845Z,1761517884.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250189
2025-10-26T22:31:25.068Z,1761517885.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872576,-0.483423,-0.070090],[0.476767,0.874075,-0.093199],[0.106318,0.047906,0.993177]]
2025-10-26T22:31:25.087Z,1761517885.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.70 m.
2025-10-26T22:31:25.090Z,1761517885.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.696594 m,
      nav range: 137.654327 m,
      bearing: 70.216419 deg,
      approach rate: -0.357798 m/s,
      LOS rate: 0.184540 deg/s,
      cmd heading: 82.957640 deg,
      new cmd heading: 83.146141 deg.

2025-10-26T22:31:25.090Z,1761517885.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.451174 target range: 145.696594 and range: 146.40 m.
2025-10-26T22:31:25.097Z,1761517885.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501932
2025-10-26T22:31:25.352Z,1761517885.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756087
2025-10-26T22:31:25.518Z,1761517885.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:25.521Z,1761517885.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.70 m.
2025-10-26T22:31:25.524Z,1761517885.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.696594 m,
      nav range: 137.504166 m,
      bearing: 70.294445 deg,
      approach rate: -0.345922 m/s,
      LOS rate: 0.179942 deg/s,
      cmd heading: 83.146140 deg,
      new cmd heading: 83.380472 deg.

2025-10-26T22:31:25.524Z,1761517885.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.455264 target range: 145.696594 and range: 146.40 m.
2025-10-26T22:31:25.601Z,1761517885.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005817
2025-10-26T22:31:25.852Z,1761517885.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257548
2025-10-26T22:31:25.874Z,1761517885.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849395,-0.523418,-0.067538],[0.517111,0.850992,-0.091702],[0.105472,0.042967,0.993493]]
2025-10-26T22:31:25.934Z,1761517885.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.70 m.
2025-10-26T22:31:25.937Z,1761517885.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.696594 m,
      nav range: 137.360626 m,
      bearing: 70.362540 deg,
      approach rate: -0.346961 m/s,
      LOS rate: 0.164769 deg/s,
      cmd heading: 83.380470 deg,
      new cmd heading: 83.584967 deg.

2025-10-26T22:31:25.938Z,1761517885.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.458833 target range: 145.696594 and range: 146.40 m.
2025-10-26T22:31:26.104Z,1761517886.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509602
2025-10-26T22:31:26.274Z,1761517886.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837564,-0.542494,-0.064704],[0.536299,0.838986,-0.092116],[0.104258,0.042452,0.993644]]
2025-10-26T22:31:26.308Z,1761517886.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.70 m.
2025-10-26T22:31:26.311Z,1761517886.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.696594 m,
      nav range: 137.218460 m,
      bearing: 70.427188 deg,
      approach rate: -0.380141 m/s,
      LOS rate: 0.173043 deg/s,
      cmd heading: 83.584966 deg,
      new cmd heading: 83.779110 deg.

2025-10-26T22:31:26.320Z,1761517886.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.462221 target range: 145.696594 and range: 146.40 m.
2025-10-26T22:31:26.361Z,1761517886.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765227
2025-10-26T22:31:26.609Z,1761517886.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013880
2025-10-26T22:31:26.685Z,1761517886.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825020,-0.561744,-0.061530],[0.555649,0.826227,-0.092755],[0.102943,0.042336,0.993786]]
2025-10-26T22:31:26.758Z,1761517886.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.70 m.
2025-10-26T22:31:26.768Z,1761517886.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.696594 m,
      nav range: 137.051010 m,
      bearing: 70.502783 deg,
      approach rate: -0.372889 m/s,
      LOS rate: 0.168547 deg/s,
      cmd heading: 83.779107 deg,
      new cmd heading: 84.006169 deg.

2025-10-26T22:31:26.769Z,1761517886.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.466184 target range: 145.696594 and range: 146.40 m.
2025-10-26T22:31:26.860Z,1761517886.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265698
2025-10-26T22:31:27.094Z,1761517887.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811989,-0.580928,-0.056541],[0.574722,0.812676,-0.096188],[0.101827,0.045608,0.993756]]
2025-10-26T22:31:27.112Z,1761517887.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517664
2025-10-26T22:31:27.114Z,1761517887.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.70 m.
2025-10-26T22:31:27.117Z,1761517887.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.696594 m,
      nav range: 136.914139 m,
      bearing: 70.561949 deg,
      approach rate: -0.383487 m/s,
      LOS rate: 0.165936 deg/s,
      cmd heading: 84.006170 deg,
      new cmd heading: 84.183843 deg.

2025-10-26T22:31:27.118Z,1761517887.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.469285 target range: 145.696594 and range: 146.40 m.
2025-10-26T22:31:27.368Z,1761517887.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772274
2025-10-26T22:31:27.492Z,1761517887.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798207,-0.600332,-0.049676],[0.593810,0.798030,-0.102650],[0.101267,0.052438,0.993476]]
2025-10-26T22:31:27.528Z,1761517887.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:27.530Z,1761517887.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.70 m.
2025-10-26T22:31:27.533Z,1761517887.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.696594 m,
      nav range: 136.760696 m,
      bearing: 70.626905 deg,
      approach rate: -0.368970 m/s,
      LOS rate: 0.156371 deg/s,
      cmd heading: 84.183844 deg,
      new cmd heading: 84.378931 deg.

2025-10-26T22:31:27.534Z,1761517887.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.472690 target range: 145.696594 and range: 146.40 m.
2025-10-26T22:31:27.618Z,1761517887.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022460
2025-10-26T22:31:27.868Z,1761517887.868 [DAT](INFO): DAT read: Rx Time:22:31:26.3857

2025-10-26T22:31:27.869Z,1761517887.869 [DAT](INFO): Rx dataTimestamp_ set to:1761517887.868561
2025-10-26T22:31:27.869Z,1761517887.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274616
2025-10-26T22:31:27.927Z,1761517887.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783855,-0.619599,-0.040847],[0.612696,0.782454,-0.111222],[0.100874,0.062155,0.992956]]
2025-10-26T22:31:27.965Z,1761517887.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.70 m.
2025-10-26T22:31:27.968Z,1761517887.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.696594 m,
      nav range: 136.601166 m,
      bearing: 70.691463 deg,
      approach rate: -0.367151 m/s,
      LOS rate: 0.148749 deg/s,
      cmd heading: 84.378934 deg,
      new cmd heading: 84.572832 deg.

2025-10-26T22:31:27.969Z,1761517887.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476074 target range: 145.696594 and range: 146.40 m.
2025-10-26T22:31:28.120Z,1761517888.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525615
2025-10-26T22:31:28.298Z,1761517888.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769010,-0.638362,-0.033444],[0.631178,0.766556,-0.118351],[0.101188,0.069904,0.992408]]
2025-10-26T22:31:28.351Z,1761517888.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.70 m.
2025-10-26T22:31:28.354Z,1761517888.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.696594 m,
      nav range: 136.457184 m,
      bearing: 70.747156 deg,
      approach rate: -0.372979 m/s,
      LOS rate: 0.144424 deg/s,
      cmd heading: 84.572830 deg,
      new cmd heading: 84.740086 deg.

2025-10-26T22:31:28.355Z,1761517888.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.478994 target range: 145.696594 and range: 146.40 m.
2025-10-26T22:31:28.380Z,1761517888.380 [DAT](INFO): DAT read: 22:31:26.3856 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 425, 0.11,-0.551,-2.454,-1.440,-1.253, PHS= 0.804,-1.156,-0.231, RAW= 118.2,   6.9, CAL= 119.5,   8.0, ROT=  30.5,  -8.0

2025-10-26T22:31:28.384Z,1761517888.384 [DAT](INFO): got valid direction response:
 22:31:26.3856 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 425, 0.11,-0.551,-2.454,-1.440,-1.253, PHS= 0.804,-1.156,-0.231, RAW= 118.2,   6.9, CAL= 119.5,   8.0, ROT=  30.5,  -8.0

2025-10-26T22:31:28.387Z,1761517888.387 [DAT](INFO): DAT read: Bearing 186.4,  36.1 (Local)

2025-10-26T22:31:28.389Z,1761517888.389 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.4,  36.1 (Local)

2025-10-26T22:31:28.397Z,1761517888.397 [DAT](INFO): DAT read: Range 11 to 50 : 144.9 m  (Round-trip  193.3 ms) speed  0.5 m/s

2025-10-26T22:31:28.413Z,1761517888.413 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:31:28.427Z,1761517888.427 [DAT](INFO): direction in FSK: [0.853244,0.502599,0.139173]
2025-10-26T22:31:28.436Z,1761517888.436 [DAT](INFO): publishing direction and range info
2025-10-26T22:31:28.450Z,1761517888.450 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:31:28.450Z,1761517888.450 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:31:28.450Z,1761517888.450 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:31:28.625Z,1761517888.625 [DAT](INFO): DAT read: user:574>

2025-10-26T22:31:28.626Z,1761517888.626 [DAT](INFO): DAT read: Tx time:22:31:27.7881

2025-10-26T22:31:28.627Z,1761517888.627 [DAT](INFO): Ping request sent.
2025-10-26T22:31:28.627Z,1761517888.627 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:31:28.627Z,1761517888.627 [DAT](INFO): publishing transmit ping time
2025-10-26T22:31:28.628Z,1761517888.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001207
2025-10-26T22:31:28.877Z,1761517888.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250039
2025-10-26T22:31:28.920Z,1761517888.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753489,-0.656876,-0.027717],[0.649494,0.750240,-0.123679],[0.102036,0.075189,0.991935]]
2025-10-26T22:31:28.985Z,1761517888.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 144.899994 m,
      deltaT: 4.030776 s,
      deltaX: -1.500000 m,
      approachRate: -0.372137 m/s,
      rangeRepo size: 4

2025-10-26T22:31:28.987Z,1761517888.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 144.205688 m,
      bearing: 71.326790 deg,
      lat: 36.779309 deg,
      lon: -121.859469 deg,
      deltaT: 4.030776 s,
      deltaX: -1.490906 m,
      approachRate: -0.369881 m/s,
      posRepo size: 4

2025-10-26T22:31:28.988Z,1761517888.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.21 m.
2025-10-26T22:31:28.990Z,1761517888.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.205688 m,
      nav range: 136.207336 m,
      bearing: 70.840578 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.144424 deg/s,
      cmd heading: 84.740087 deg,
      new cmd heading: 85.014584 deg.

2025-10-26T22:31:28.992Z,1761517888.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.483784 target range: 144.205688 and range: 144.90 m.
2025-10-26T22:31:29.128Z,1761517889.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501784
2025-10-26T22:31:29.384Z,1761517889.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756564
2025-10-26T22:31:29.471Z,1761517889.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720697,-0.693004,-0.018480],[0.685371,0.716259,-0.131300],[0.104227,0.081962,0.991171]]
2025-10-26T22:31:29.509Z,1761517889.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.21 m.
2025-10-26T22:31:29.512Z,1761517889.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.205688 m,
      nav range: 135.984619 m,
      bearing: 70.912924 deg,
      approach rate: -0.424635 m/s,
      LOS rate: 0.138162 deg/s,
      cmd heading: 85.014586 deg,
      new cmd heading: 85.231978 deg.

2025-10-26T22:31:29.513Z,1761517889.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.487579 target range: 144.205688 and range: 144.90 m.
2025-10-26T22:31:29.633Z,1761517889.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005891
2025-10-26T22:31:29.885Z,1761517889.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257967
2025-10-26T22:31:29.950Z,1761517889.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703466,-0.710629,-0.011927],[0.702879,0.698085,-0.136521],[0.105342,0.087655,0.990565]]
2025-10-26T22:31:29.967Z,1761517889.967 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:29.969Z,1761517889.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.21 m.
2025-10-26T22:31:29.972Z,1761517889.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.205688 m,
      nav range: 135.791504 m,
      bearing: 70.972693 deg,
      approach rate: -0.419243 m/s,
      LOS rate: 0.129939 deg/s,
      cmd heading: 85.231977 deg,
      new cmd heading: 85.411537 deg.

2025-10-26T22:31:29.973Z,1761517889.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.490713 target range: 144.205688 and range: 144.90 m.
2025-10-26T22:31:30.136Z,1761517890.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509673
2025-10-26T22:31:30.350Z,1761517890.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685672,-0.727873,-0.007469],[0.720079,0.679760,-0.139329],[0.106491,0.090155,0.990218]]
2025-10-26T22:31:30.372Z,1761517890.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.21 m.
2025-10-26T22:31:30.375Z,1761517890.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.205688 m,
      nav range: 135.619476 m,
      bearing: 71.023357 deg,
      approach rate: -0.427328 m/s,
      LOS rate: 0.126012 deg/s,
      cmd heading: 85.411536 deg,
      new cmd heading: 85.563721 deg.

2025-10-26T22:31:30.390Z,1761517890.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763149
2025-10-26T22:31:30.397Z,1761517890.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.493369 target range: 144.205688 and range: 144.90 m.
2025-10-26T22:31:30.644Z,1761517890.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016608
2025-10-26T22:31:30.759Z,1761517890.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668139,-0.744017,-0.005398],[0.736264,0.662188,-0.139361],[0.107261,0.089138,0.990227]]
2025-10-26T22:31:30.796Z,1761517890.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.21 m.
2025-10-26T22:31:30.799Z,1761517890.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.205688 m,
      nav range: 135.441238 m,
      bearing: 71.072485 deg,
      approach rate: -0.420230 m/s,
      LOS rate: 0.115981 deg/s,
      cmd heading: 85.563720 deg,
      new cmd heading: 85.711298 deg.

2025-10-26T22:31:30.800Z,1761517890.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.495944 target range: 144.205688 and range: 144.90 m.
2025-10-26T22:31:30.893Z,1761517890.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266304
2025-10-26T22:31:31.144Z,1761517891.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517781
2025-10-26T22:31:31.166Z,1761517891.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650462,-0.759531,-0.003412],[0.751828,0.644490,-0.139237],[0.107954,0.088003,0.990253]]
2025-10-26T22:31:31.185Z,1761517891.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.21 m.
2025-10-26T22:31:31.188Z,1761517891.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.205688 m,
      nav range: 135.275406 m,
      bearing: 71.116000 deg,
      approach rate: -0.426522 m/s,
      LOS rate: 0.112057 deg/s,
      cmd heading: 85.711299 deg,
      new cmd heading: 85.842004 deg.

2025-10-26T22:31:31.189Z,1761517891.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.498226 target range: 144.205688 and range: 144.90 m.
2025-10-26T22:31:31.398Z,1761517891.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771098
2025-10-26T22:31:31.566Z,1761517891.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632313,-0.774704,-0.003656],[0.767100,0.626753,-0.136884],[0.108336,0.083749,0.990580]]
2025-10-26T22:31:31.648Z,1761517891.648 [DAT](INFO): DAT read: Rx Time:22:31:30.3835

2025-10-26T22:31:31.649Z,1761517891.649 [DAT](INFO): Rx dataTimestamp_ set to:1761517891.648683
2025-10-26T22:31:31.650Z,1761517891.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022881
2025-10-26T22:31:31.667Z,1761517891.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.21 m.
2025-10-26T22:31:31.670Z,1761517891.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.205688 m,
      nav range: 135.056961 m,
      bearing: 71.165238 deg,
      approach rate: -0.453070 m/s,
      LOS rate: 0.102288 deg/s,
      cmd heading: 85.842002 deg,
      new cmd heading: 85.989954 deg.

2025-10-26T22:31:31.671Z,1761517891.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.500808 target range: 144.205688 and range: 144.90 m.
2025-10-26T22:31:31.725Z,1761517891.725 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:31:31.904Z,1761517891.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277575
2025-10-26T22:31:32.013Z,1761517892.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613826,-0.789432,-0.003848],[0.781933,0.608651,-0.134632],[0.108625,0.079632,0.990888]]
2025-10-26T22:31:32.037Z,1761517892.037 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:32.040Z,1761517892.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.21 m.
2025-10-26T22:31:32.042Z,1761517892.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.205688 m,
      nav range: 134.886429 m,
      bearing: 71.201626 deg,
      approach rate: -0.458014 m/s,
      LOS rate: 0.097855 deg/s,
      cmd heading: 85.989951 deg,
      new cmd heading: 86.099254 deg.

2025-10-26T22:31:32.064Z,1761517892.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.502715 target range: 144.205688 and range: 144.90 m.
2025-10-26T22:31:32.156Z,1761517892.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528902
2025-10-26T22:31:32.413Z,1761517892.413 [DAT](INFO): DAT read: 22:31:30.3835 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 419,-0.09,-2.674, 1.922,-3.025,-3.034, PHS= 0.463,-1.282,-0.035, RAW= 133.9,  11.0, CAL= 133.5,  12.1, ROT=  16.5, -12.1

2025-10-26T22:31:32.414Z,1761517892.414 [DAT](INFO): got valid direction response:
 22:31:30.3835 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 419,-0.09,-2.674, 1.922,-3.025,-3.034, PHS= 0.463,-1.282,-0.035, RAW= 133.9,  11.0, CAL= 133.5,  12.1, ROT=  16.5, -12.1

2025-10-26T22:31:32.415Z,1761517892.415 [DAT](INFO): DAT read: Bearing 204.5,  23.1 (Local)

2025-10-26T22:31:32.416Z,1761517892.416 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.5,  23.1 (Local)

2025-10-26T22:31:32.417Z,1761517892.417 [DAT](INFO): DAT read: Range 11 to 50 : 143.4 m  (Round-trip  191.3 ms) speed  0.0 m/s

2025-10-26T22:31:32.418Z,1761517892.418 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:31:32.419Z,1761517892.419 [DAT](INFO): direction in FSK: [0.937518,0.277705,0.209619]
2025-10-26T22:31:32.419Z,1761517892.419 [DAT](INFO): publishing direction and range info
2025-10-26T22:31:32.426Z,1761517892.426 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:31:32.426Z,1761517892.426 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:31:32.427Z,1761517892.427 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:31:32.505Z,1761517892.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595345,-0.803452,-0.005333],[0.796031,0.590722,-0.131842],[0.109079,0.074246,0.991256]]
2025-10-26T22:31:32.656Z,1761517892.656 [DAT](INFO): DAT read: user:575>

2025-10-26T22:31:32.657Z,1761517892.657 [DAT](INFO): DAT read: Tx time:22:31:31.7881

2025-10-26T22:31:32.657Z,1761517892.657 [DAT](INFO): Ping request sent.
2025-10-26T22:31:32.657Z,1761517892.657 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:31:32.658Z,1761517892.658 [DAT](INFO): publishing transmit ping time
2025-10-26T22:31:32.658Z,1761517892.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755
2025-10-26T22:31:32.703Z,1761517892.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 143.399994 m,
      deltaT: 4.031850 s,
      deltaX: -1.500000 m,
      approachRate: -0.372038 m/s,
      rangeRepo size: 4

2025-10-26T22:31:32.707Z,1761517892.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 142.715240 m,
      bearing: 69.279544 deg,
      lat: 36.779349 deg,
      lon: -121.859486 deg,
      deltaT: 4.031850 s,
      deltaX: -1.490448 m,
      approachRate: -0.369669 m/s,
      posRepo size: 4

2025-10-26T22:31:32.712Z,1761517892.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:32.721Z,1761517892.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 134.686752 m,
      bearing: 69.279068 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.097855 deg/s,
      cmd heading: 86.099254 deg,
      new cmd heading: 86.293725 deg.

2025-10-26T22:31:32.722Z,1761517892.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.506110 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:32.728Z,1761517892.728 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:31:32.909Z,1761517892.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251878
2025-10-26T22:31:33.056Z,1761517893.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555915,-0.831239,0.000452],[0.823618,0.550744,-0.135408],[0.112308,0.075647,0.990790]]
2025-10-26T22:31:33.110Z,1761517893.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:33.113Z,1761517893.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 134.476349 m,
      bearing: 69.307734 deg,
      approach rate: -0.515368 m/s,
      LOS rate: 0.070325 deg/s,
      cmd heading: 86.293723 deg,
      new cmd heading: 86.379856 deg.

2025-10-26T22:31:33.114Z,1761517893.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.507613 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:33.161Z,1761517893.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503419
2025-10-26T22:31:33.413Z,1761517893.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755503
2025-10-26T22:31:33.516Z,1761517893.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536090,-0.844155,0.003214],[0.836346,0.530607,-0.137778],[0.114600,0.076550,0.990458]]
2025-10-26T22:31:33.553Z,1761517893.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:33.556Z,1761517893.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 134.252243 m,
      bearing: 69.332230 deg,
      approach rate: -0.506349 m/s,
      LOS rate: 0.055441 deg/s,
      cmd heading: 86.379859 deg,
      new cmd heading: 86.453471 deg.

2025-10-26T22:31:33.557Z,1761517893.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.508898 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:33.664Z,1761517893.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006974
2025-10-26T22:31:33.916Z,1761517893.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258997
2025-10-26T22:31:33.918Z,1761517893.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516314,-0.856376,0.006362],[0.848364,0.510440,-0.140463],[0.117041,0.077920,0.990066]]
2025-10-26T22:31:33.955Z,1761517893.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:33.961Z,1761517893.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 134.055771 m,
      bearing: 69.351704 deg,
      approach rate: -0.488873 m/s,
      LOS rate: 0.048528 deg/s,
      cmd heading: 86.453475 deg,
      new cmd heading: 86.511982 deg.

2025-10-26T22:31:33.962Z,1761517893.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.509919 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:34.172Z,1761517894.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514534
2025-10-26T22:31:34.310Z,1761517894.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497067,-0.867667,0.008824],[0.859482,0.490930,-0.142404],[0.119227,0.078368,0.989769]]
2025-10-26T22:31:34.328Z,1761517894.328 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:34.330Z,1761517894.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:34.333Z,1761517894.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 133.855820 m,
      bearing: 69.369577 deg,
      approach rate: -0.532611 m/s,
      LOS rate: 0.047679 deg/s,
      cmd heading: 86.511982 deg,
      new cmd heading: 86.565681 deg.

2025-10-26T22:31:34.334Z,1761517894.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.510856 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:34.420Z,1761517894.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763000
2025-10-26T22:31:34.672Z,1761517894.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014877
2025-10-26T22:31:34.721Z,1761517894.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477689,-0.878459,0.011087],[0.870048,0.471291,-0.144574],[0.121777,0.078708,0.989432]]
2025-10-26T22:31:34.770Z,1761517894.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:34.773Z,1761517894.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 133.615280 m,
      bearing: 69.381033 deg,
      approach rate: -0.546445 m/s,
      LOS rate: 0.026070 deg/s,
      cmd heading: 86.565681 deg,
      new cmd heading: 86.600108 deg.

2025-10-26T22:31:34.774Z,1761517894.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.511457 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:34.925Z,1761517894.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267306
2025-10-26T22:31:35.123Z,1761517895.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457906,-0.888878,0.014769],[0.880266,0.451021,-0.147351],[0.124316,0.080473,0.988974]]
2025-10-26T22:31:35.141Z,1761517895.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:35.145Z,1761517895.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 133.412109 m,
      bearing: 69.388768 deg,
      approach rate: -0.547283 m/s,
      LOS rate: 0.020870 deg/s,
      cmd heading: 86.600105 deg,
      new cmd heading: 86.623348 deg.

2025-10-26T22:31:35.146Z,1761517895.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.511863 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:35.177Z,1761517895.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519216
2025-10-26T22:31:35.428Z,1761517895.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770927
2025-10-26T22:31:35.541Z,1761517895.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438091,-0.898801,0.015299],[0.890009,0.431288,-0.147900],[0.126334,0.078409,0.988884]]
2025-10-26T22:31:35.584Z,1761517895.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:35.587Z,1761517895.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 133.160828 m,
      bearing: 69.392588 deg,
      approach rate: -0.567879 m/s,
      LOS rate: 0.008649 deg/s,
      cmd heading: 86.623348 deg,
      new cmd heading: 86.634830 deg.

2025-10-26T22:31:35.588Z,1761517895.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.512063 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:35.681Z,1761517895.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023298
2025-10-26T22:31:35.932Z,1761517895.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274901
2025-10-26T22:31:35.936Z,1761517895.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418315,-0.908201,0.013562],[0.899282,0.412016,-0.146744],[0.127686,0.073581,0.989081]]
2025-10-26T22:31:35.957Z,1761517895.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:35.960Z,1761517895.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 132.948410 m,
      bearing: 69.393794 deg,
      approach rate: -0.569391 m/s,
      LOS rate: 0.003238 deg/s,
      cmd heading: 86.634830 deg,
      new cmd heading: 86.638454 deg.

2025-10-26T22:31:35.961Z,1761517895.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.512126 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:36.184Z,1761517896.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526927
2025-10-26T22:31:36.330Z,1761517896.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398168,-0.917242,0.011363],[0.908274,0.392480,-0.144904],[0.128452,0.068017,0.989380]]
2025-10-26T22:31:36.356Z,1761517896.356 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:36.358Z,1761517896.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:36.365Z,1761517896.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 132.725052 m,
      bearing: 69.392902 deg,
      approach rate: -0.556829 m/s,
      LOS rate: -0.002229 deg/s,
      cmd heading: 86.638457 deg,
      new cmd heading: 86.635774 deg.

2025-10-26T22:31:36.366Z,1761517896.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.512079 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:36.437Z,1761517896.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779468
2025-10-26T22:31:36.688Z,1761517896.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030987
2025-10-26T22:31:36.744Z,1761517896.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377578,-0.925934,0.009034],[0.917011,0.372550,-0.142470],[0.128552,0.062078,0.989758]]
2025-10-26T22:31:36.797Z,1761517896.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:36.800Z,1761517896.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 132.463913 m,
      bearing: 69.387812 deg,
      approach rate: -0.594686 m/s,
      LOS rate: -0.011614 deg/s,
      cmd heading: 86.635772 deg,
      new cmd heading: 86.620473 deg.

2025-10-26T22:31:36.801Z,1761517896.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.511812 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:36.941Z,1761517896.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283334
2025-10-26T22:31:37.138Z,1761517897.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356124,-0.934418,0.006263],[0.925555,0.351808,-0.139924],[0.128544,0.055627,0.990142]]
2025-10-26T22:31:37.169Z,1761517897.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:37.172Z,1761517897.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 132.247421 m,
      bearing: 69.381374 deg,
      approach rate: -0.582264 m/s,
      LOS rate: -0.017342 deg/s,
      cmd heading: 86.620473 deg,
      new cmd heading: 86.601129 deg.

2025-10-26T22:31:37.173Z,1761517897.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.511475 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:37.201Z,1761517897.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.543597
2025-10-26T22:31:37.452Z,1761517897.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794887
2025-10-26T22:31:37.570Z,1761517897.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333717,-0.942619,0.010116],[0.933853,0.329111,-0.140016],[0.128653,0.056173,0.990098]]
2025-10-26T22:31:37.623Z,1761517897.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:37.626Z,1761517897.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 131.991364 m,
      bearing: 69.373493 deg,
      approach rate: -0.584643 m/s,
      LOS rate: -0.018031 deg/s,
      cmd heading: 86.601130 deg,
      new cmd heading: 86.577439 deg.

2025-10-26T22:31:37.627Z,1761517897.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.511061 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:37.705Z,1761517897.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047569
2025-10-26T22:31:37.951Z,1761517897.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310205,-0.950405,0.022438],[0.941877,0.304047,-0.142911],[0.129001,0.065466,0.989481]]
2025-10-26T22:31:37.956Z,1761517897.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298985
2025-10-26T22:31:38.041Z,1761517898.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:38.061Z,1761517898.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 131.738449 m,
      bearing: 69.362882 deg,
      approach rate: -0.582609 m/s,
      LOS rate: -0.024489 deg/s,
      cmd heading: 86.577436 deg,
      new cmd heading: 86.545543 deg.

2025-10-26T22:31:38.062Z,1761517898.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.510505 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:38.208Z,1761517898.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550940
2025-10-26T22:31:38.380Z,1761517898.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286643,-0.957275,0.038208],[0.949262,0.278406,-0.146260],[0.129373,0.078194,0.988508]]
2025-10-26T22:31:38.440Z,1761517898.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:38.442Z,1761517898.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:38.448Z,1761517898.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 131.508392 m,
      bearing: 69.350644 deg,
      approach rate: -0.574625 m/s,
      LOS rate: -0.030621 deg/s,
      cmd heading: 86.545546 deg,
      new cmd heading: 86.508767 deg.

2025-10-26T22:31:38.449Z,1761517898.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.509863 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:38.460Z,1761517898.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803004
2025-10-26T22:31:38.714Z,1761517898.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.056657
2025-10-26T22:31:38.832Z,1761517898.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:38.835Z,1761517898.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 131.286621 m,
      bearing: 69.341978 deg,
      approach rate: -0.567445 m/s,
      LOS rate: -0.022211 deg/s,
      cmd heading: 86.508765 deg,
      new cmd heading: 86.482724 deg.

2025-10-26T22:31:38.836Z,1761517898.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.509408 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:38.964Z,1761517898.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307020
2025-10-26T22:31:39.174Z,1761517899.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239164,-0.969261,0.057743],[0.962129,0.228553,-0.148566],[0.130802,0.091088,0.987215]]
2025-10-26T22:31:39.216Z,1761517899.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558985
2025-10-26T22:31:39.220Z,1761517899.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:39.223Z,1761517899.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 131.071365 m,
      bearing: 69.328738 deg,
      approach rate: -0.555295 m/s,
      LOS rate: -0.034213 deg/s,
      cmd heading: 86.482721 deg,
      new cmd heading: 86.442935 deg.

2025-10-26T22:31:39.224Z,1761517899.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.508714 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:39.468Z,1761517899.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810912
2025-10-26T22:31:39.601Z,1761517899.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217206,-0.973779,0.067652],[0.967117,0.205290,-0.150133],[0.132308,0.098038,0.986348]]
2025-10-26T22:31:39.652Z,1761517899.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:39.654Z,1761517899.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 130.849304 m,
      bearing: 69.317956 deg,
      approach rate: -0.514242 m/s,
      LOS rate: -0.025011 deg/s,
      cmd heading: 86.442936 deg,
      new cmd heading: 86.410535 deg.

2025-10-26T22:31:39.656Z,1761517899.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.508148 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:39.723Z,1761517899.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.065442
2025-10-26T22:31:39.972Z,1761517899.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314952
2025-10-26T22:31:40.023Z,1761517900.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:40.025Z,1761517900.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 130.659576 m,
      bearing: 69.308716 deg,
      approach rate: -0.511747 m/s,
      LOS rate: -0.024960 deg/s,
      cmd heading: 86.410533 deg,
      new cmd heading: 86.382771 deg.

2025-10-26T22:31:40.026Z,1761517900.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.507664 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:40.224Z,1761517900.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566848
2025-10-26T22:31:40.398Z,1761517900.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177768,-0.982329,0.058555],[0.974579,0.167496,-0.148800],[0.136363,0.083518,0.987132]]
2025-10-26T22:31:40.418Z,1761517900.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:40.421Z,1761517900.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 130.457977 m,
      bearing: 69.295346 deg,
      approach rate: -0.509904 m/s,
      LOS rate: -0.033867 deg/s,
      cmd heading: 86.382768 deg,
      new cmd heading: 86.342599 deg.

2025-10-26T22:31:40.422Z,1761517900.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.506963 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:40.477Z,1761517900.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.819085
2025-10-26T22:31:40.729Z,1761517900.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071374
2025-10-26T22:31:40.790Z,1761517900.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159742,-0.985848,0.050857],[0.977327,0.150688,-0.148745],[0.138977,0.073465,0.987567]]
2025-10-26T22:31:40.831Z,1761517900.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:40.833Z,1761517900.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:40.837Z,1761517900.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 130.265991 m,
      bearing: 69.283270 deg,
      approach rate: -0.462068 m/s,
      LOS rate: -0.029108 deg/s,
      cmd heading: 86.342600 deg,
      new cmd heading: 86.306317 deg.

2025-10-26T22:31:40.838Z,1761517900.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.506329 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:40.982Z,1761517900.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.324343
2025-10-26T22:31:41.227Z,1761517901.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:41.230Z,1761517901.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 130.083633 m,
      bearing: 69.271766 deg,
      approach rate: -0.463281 m/s,
      LOS rate: -0.029267 deg/s,
      cmd heading: 86.306318 deg,
      new cmd heading: 86.271757 deg.

2025-10-26T22:31:41.231Z,1761517901.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.505726 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:41.233Z,1761517901.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575073
2025-10-26T22:31:41.485Z,1761517901.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827921
2025-10-26T22:31:41.629Z,1761517901.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129108,-0.991164,0.030425],[0.980819,0.123122,-0.151116],[0.146034,0.049352,0.988048]]
2025-10-26T22:31:41.666Z,1761517901.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:41.685Z,1761517901.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 129.900208 m,
      bearing: 69.263208 deg,
      approach rate: -0.417623 m/s,
      LOS rate: -0.019511 deg/s,
      cmd heading: 86.271757 deg,
      new cmd heading: 86.246049 deg.

2025-10-26T22:31:41.686Z,1761517901.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.505278 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:41.737Z,1761517901.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079117
2025-10-26T22:31:41.988Z,1761517901.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330891
2025-10-26T22:31:42.004Z,1761517902.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116418,-0.993092,0.014685],[0.981772,0.112830,-0.152946],[0.150233,0.032223,0.988125]]
2025-10-26T22:31:42.042Z,1761517902.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:42.049Z,1761517902.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 129.751633 m,
      bearing: 69.255543 deg,
      approach rate: -0.395060 m/s,
      LOS rate: -0.020406 deg/s,
      cmd heading: 86.246049 deg,
      new cmd heading: 86.223026 deg.

2025-10-26T22:31:42.050Z,1761517902.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.504876 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:42.240Z,1761517902.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582930
2025-10-26T22:31:42.410Z,1761517902.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105142,-0.994451,0.003470],[0.982331,0.103316,-0.156051],[0.154827,0.019817,0.987743]]
2025-10-26T22:31:42.428Z,1761517902.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:42.431Z,1761517902.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 129.582489 m,
      bearing: 69.246042 deg,
      approach rate: -0.438204 m/s,
      LOS rate: -0.024647 deg/s,
      cmd heading: 86.223024 deg,
      new cmd heading: 86.194483 deg.

2025-10-26T22:31:42.432Z,1761517902.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.504377 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:42.493Z,1761517902.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.835084
2025-10-26T22:31:42.744Z,1761517902.744 [DAT](INFO): Reached modem response timeout
2025-10-26T22:31:42.744Z,1761517902.744 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:31:42.745Z,1761517902.745 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:31:42.810Z,1761517902.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095447,-0.995418,-0.005690],[0.982631,0.095132,-0.159330],[0.159141,0.009616,0.987209]]
2025-10-26T22:31:42.860Z,1761517902.860 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:42.862Z,1761517902.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:42.867Z,1761517902.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 129.402481 m,
      bearing: 69.235046 deg,
      approach rate: -0.415455 m/s,
      LOS rate: -0.025412 deg/s,
      cmd heading: 86.194481 deg,
      new cmd heading: 86.161449 deg.

2025-10-26T22:31:42.869Z,1761517902.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.503801 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:42.997Z,1761517902.997 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:31:43.216Z,1761517903.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087566,-0.996036,-0.015614],[0.982755,0.088940,-0.162120],[0.162866,-0.001148,0.986648]]
2025-10-26T22:31:43.234Z,1761517903.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:43.237Z,1761517903.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 129.247482 m,
      bearing: 69.225055 deg,
      approach rate: -0.415836 m/s,
      LOS rate: -0.026838 deg/s,
      cmd heading: 86.161450 deg,
      new cmd heading: 86.131439 deg.

2025-10-26T22:31:43.238Z,1761517903.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.503277 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:43.248Z,1761517903.248 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:31:43.500Z,1761517903.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:31:43.656Z,1761517903.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081760,-0.996337,-0.025049],[0.982719,0.084779,-0.164548],[0.166069,-0.011163,0.986051]]
2025-10-26T22:31:43.718Z,1761517903.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:43.727Z,1761517903.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 129.049026 m,
      bearing: 69.210106 deg,
      approach rate: -0.410295 m/s,
      LOS rate: -0.030954 deg/s,
      cmd heading: 86.131438 deg,
      new cmd heading: 86.086521 deg.

2025-10-26T22:31:43.733Z,1761517903.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.502493 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:43.752Z,1761517903.752 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:31:44.004Z,1761517904.004 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:31:44.062Z,1761517904.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077668,-0.996380,-0.034569],[0.982519,0.082380,-0.166941],[0.169185,-0.020998,0.985361]]
2025-10-26T22:31:44.081Z,1761517904.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:44.084Z,1761517904.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 128.880295 m,
      bearing: 69.197041 deg,
      approach rate: -0.464297 m/s,
      LOS rate: -0.035998 deg/s,
      cmd heading: 86.086523 deg,
      new cmd heading: 86.047276 deg.

2025-10-26T22:31:44.085Z,1761517904.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.501808 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:44.257Z,1761517904.257 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:31:44.462Z,1761517904.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075435,-0.996111,-0.045519],[0.982153,0.082110,-0.169214],[0.172293,-0.031942,0.984528]]
2025-10-26T22:31:44.481Z,1761517904.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:44.501Z,1761517904.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 128.707581 m,
      bearing: 69.183452 deg,
      approach rate: -0.432619 m/s,
      LOS rate: -0.034082 deg/s,
      cmd heading: 86.047276 deg,
      new cmd heading: 86.006457 deg.

2025-10-26T22:31:44.502Z,1761517904.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.501096 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:44.508Z,1761517904.508 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:31:44.760Z,1761517904.760 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:31:44.879Z,1761517904.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073941,-0.995404,-0.060864],[0.981725,0.083385,-0.171065],[0.175353,-0.047103,0.983378]]
2025-10-26T22:31:44.929Z,1761517904.929 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:44.931Z,1761517904.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:44.934Z,1761517904.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 128.494827 m,
      bearing: 69.162387 deg,
      approach rate: -0.472402 m/s,
      LOS rate: -0.046851 deg/s,
      cmd heading: 86.006459 deg,
      new cmd heading: 85.943159 deg.

2025-10-26T22:31:44.935Z,1761517904.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.499991 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:45.013Z,1761517905.013 [DAT](INFO): DAT read: Response Not Received

2025-10-26T22:31:45.014Z,1761517905.014 [DAT](INFO): response not received
2025-10-26T22:31:45.014Z,1761517905.014 [DAT](INFO): DAT read: user:576>

2025-10-26T22:31:45.015Z,1761517905.015 [DAT](INFO): DAT read: Tx time:22:31:44.2381

2025-10-26T22:31:45.016Z,1761517905.016 [DAT](INFO): Ping request sent.
2025-10-26T22:31:45.016Z,1761517905.016 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:31:45.016Z,1761517905.016 [DAT](INFO): publishing transmit ping time
2025-10-26T22:31:45.017Z,1761517905.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001041
2025-10-26T22:31:45.264Z,1761517905.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248512
2025-10-26T22:31:45.272Z,1761517905.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074224,-0.994308,-0.076441],[0.981211,0.086505,-0.172457],[0.178088,-0.062204,0.982046]]
2025-10-26T22:31:45.351Z,1761517905.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:45.354Z,1761517905.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 128.296143 m,
      bearing: 69.142603 deg,
      approach rate: -0.473102 m/s,
      LOS rate: -0.047181 deg/s,
      cmd heading: 85.943157 deg,
      new cmd heading: 85.883714 deg.

2025-10-26T22:31:45.355Z,1761517905.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.498954 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:45.517Z,1761517905.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500663
2025-10-26T22:31:45.692Z,1761517905.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074999,-0.993053,-0.090670],[0.980628,0.089948,-0.174004],[0.180950,-0.075864,0.980562]]
2025-10-26T22:31:45.768Z,1761517905.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752576
2025-10-26T22:31:45.784Z,1761517905.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:45.787Z,1761517905.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 128.074570 m,
      bearing: 69.114582 deg,
      approach rate: -0.511608 m/s,
      LOS rate: -0.064814 deg/s,
      cmd heading: 85.883714 deg,
      new cmd heading: 85.799503 deg.

2025-10-26T22:31:45.789Z,1761517905.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.497484 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:46.020Z,1761517906.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004431
2025-10-26T22:31:46.080Z,1761517906.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076508,-0.991321,-0.106908],[0.980026,0.094507,-0.174977],[0.183562,-0.091386,0.978751]]
2025-10-26T22:31:46.131Z,1761517906.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:46.133Z,1761517906.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 127.892090 m,
      bearing: 69.091454 deg,
      approach rate: -0.526761 m/s,
      LOS rate: -0.066858 deg/s,
      cmd heading: 85.799504 deg,
      new cmd heading: 85.730022 deg.

2025-10-26T22:31:46.134Z,1761517906.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.496271 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:46.273Z,1761517906.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257170
2025-10-26T22:31:46.483Z,1761517906.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077473,-0.989075,-0.125411],[0.979399,0.099029,-0.175984],[0.186481,-0.109193,0.976372]]
2025-10-26T22:31:46.524Z,1761517906.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508605
2025-10-26T22:31:46.527Z,1761517906.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:46.529Z,1761517906.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 127.687912 m,
      bearing: 69.065445 deg,
      approach rate: -0.515443 m/s,
      LOS rate: -0.065765 deg/s,
      cmd heading: 85.730021 deg,
      new cmd heading: 85.651869 deg.

2025-10-26T22:31:46.530Z,1761517906.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.494907 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:46.777Z,1761517906.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761003
2025-10-26T22:31:46.893Z,1761517906.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078679,-0.986821,-0.141402],[0.978800,0.103375,-0.176816],[0.189103,-0.124492,0.974034]]
2025-10-26T22:31:46.935Z,1761517906.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:46.937Z,1761517906.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:46.940Z,1761517906.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 127.448143 m,
      bearing: 69.031602 deg,
      approach rate: -0.584500 m/s,
      LOS rate: -0.082654 deg/s,
      cmd heading: 85.651870 deg,
      new cmd heading: 85.550153 deg.

2025-10-26T22:31:46.941Z,1761517906.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.493132 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:47.029Z,1761517907.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013072
2025-10-26T22:31:47.280Z,1761517907.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264555
2025-10-26T22:31:47.298Z,1761517907.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079974,-0.984975,-0.153063],[0.978224,0.107057,-0.177809],[0.191524,-0.135510,0.972088]]
2025-10-26T22:31:47.317Z,1761517907.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:47.319Z,1761517907.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 127.225655 m,
      bearing: 69.000139 deg,
      approach rate: -0.585921 m/s,
      LOS rate: -0.083003 deg/s,
      cmd heading: 85.550155 deg,
      new cmd heading: 85.455601 deg.

2025-10-26T22:31:47.320Z,1761517907.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.491482 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:47.533Z,1761517907.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516827
2025-10-26T22:31:47.770Z,1761517907.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:47.774Z,1761517907.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 126.949638 m,
      bearing: 68.957610 deg,
      approach rate: -0.608915 m/s,
      LOS rate: -0.094027 deg/s,
      cmd heading: 85.455598 deg,
      new cmd heading: 85.327733 deg.

2025-10-26T22:31:47.775Z,1761517907.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.489250 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:47.786Z,1761517907.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770153
2025-10-26T22:31:48.041Z,1761517908.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024376
2025-10-26T22:31:48.133Z,1761517908.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:48.136Z,1761517908.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 126.728241 m,
      bearing: 68.923357 deg,
      approach rate: -0.609542 m/s,
      LOS rate: -0.094470 deg/s,
      cmd heading: 85.327736 deg,
      new cmd heading: 85.224797 deg.

2025-10-26T22:31:48.137Z,1761517908.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.487453 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:48.288Z,1761517908.288 [DAT](INFO): DAT read: Rx Time:22:31:46.8220

2025-10-26T22:31:48.289Z,1761517908.289 [DAT](INFO): Rx dataTimestamp_ set to:1761517908.288491
2025-10-26T22:31:48.289Z,1761517908.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273420
2025-10-26T22:31:48.503Z,1761517908.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081093,-0.982257,-0.169099],[0.976884,0.111996,-0.182085],[0.197792,-0.150424,0.968633]]
2025-10-26T22:31:48.528Z,1761517908.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.72 m.
2025-10-26T22:31:48.530Z,1761517908.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.715240 m,
      nav range: 126.488457 m,
      bearing: 68.886173 deg,
      approach rate: -0.608131 m/s,
      LOS rate: -0.094484 deg/s,
      cmd heading: 85.224799 deg,
      new cmd heading: 85.113034 deg.

2025-10-26T22:31:48.531Z,1761517908.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.485503 target range: 142.715240 and range: 143.40 m.
2025-10-26T22:31:48.540Z,1761517908.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524530
2025-10-26T22:31:48.798Z,1761517908.798 [DAT](INFO): DAT read: 22:31:46.8220 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 286,-0.25, 1.468, 0.257, 2.085, 1.578, PHS=-0.008,-1.277, 0.462, RAW= 165.2,  10.6, CAL= 165.2,  11.8, ROT= 344.8, -11.8

2025-10-26T22:31:48.799Z,1761517908.799 [DAT](INFO): got valid direction response:
 22:31:46.8220 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 286,-0.25, 1.468, 0.257, 2.085, 1.578, PHS=-0.008,-1.277, 0.462, RAW= 165.2,  10.6, CAL= 165.2,  11.8, ROT= 344.8, -11.8

2025-10-26T22:31:48.800Z,1761517908.800 [DAT](INFO): DAT read: Bearing 238.1,  -5.2 (Local)

2025-10-26T22:31:48.800Z,1761517908.800 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.1,  -5.2 (Local)

2025-10-26T22:31:48.801Z,1761517908.801 [DAT](INFO): DAT read: Range 11 to 50 : 134.7 m  (Round-trip  179.7 ms) speed  0.3 m/s

2025-10-26T22:31:48.802Z,1761517908.802 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:31:48.803Z,1761517908.803 [DAT](INFO): direction in FSK: [0.944623,-0.256648,0.204496]
2025-10-26T22:31:48.803Z,1761517908.803 [DAT](INFO): publishing direction and range info
2025-10-26T22:31:48.807Z,1761517908.807 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:31:48.807Z,1761517908.807 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:31:48.807Z,1761517908.807 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:31:48.984Z,1761517908.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 134.699997 m,
      deltaT: 16.388079 s,
      deltaX: -8.699997 m,
      approachRate: -0.530873 m/s,
      rangeRepo size: 4

2025-10-26T22:31:49.000Z,1761517909.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 134.047714 m,
      bearing: 71.054155 deg,
      lat: 36.779349 deg,
      lon: -121.859518 deg,
      deltaT: 16.388079 s,
      deltaX: -8.667526 m,
      approachRate: -0.528892 m/s,
      posRepo size: 4

2025-10-26T22:31:49.001Z,1761517909.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.05 m.
2025-10-26T22:31:49.007Z,1761517909.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.047714 m,
      nav range: 123.554222 m,
      bearing: 68.368196 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.094484 deg/s,
      cmd heading: 85.113036 deg,
      new cmd heading: 84.984695 deg.

2025-10-26T22:31:49.008Z,1761517909.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.483263 target range: 134.047714 and range: 134.70 m.
2025-10-26T22:31:49.044Z,1761517909.044 [DAT](INFO): DAT read: user:577>

2025-10-26T22:31:49.046Z,1761517909.046 [DAT](INFO): DAT read: Tx time:22:31:48.1881

2025-10-26T22:31:49.046Z,1761517909.046 [DAT](INFO): Ping request sent.
2025-10-26T22:31:49.046Z,1761517909.046 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:31:49.047Z,1761517909.047 [DAT](INFO): publishing transmit ping time
2025-10-26T22:31:49.048Z,1761517909.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001250
2025-10-26T22:31:49.296Z,1761517909.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250020
2025-10-26T22:31:49.399Z,1761517909.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074027,-0.980938,-0.179666],[0.976265,0.108053,-0.187697],[0.203533,-0.161507,0.965655]]
2025-10-26T22:31:49.432Z,1761517909.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:49.434Z,1761517909.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.05 m.
2025-10-26T22:31:49.437Z,1761517909.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.047714 m,
      nav range: 123.284248 m,
      bearing: 68.325659 deg,
      approach rate: -0.594526 m/s,
      LOS rate: -0.093879 deg/s,
      cmd heading: 84.984697 deg,
      new cmd heading: 84.856807 deg.

2025-10-26T22:31:49.438Z,1761517909.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.481031 target range: 134.047714 and range: 134.70 m.
2025-10-26T22:31:49.549Z,1761517909.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502938
2025-10-26T22:31:49.799Z,1761517909.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069532,-0.980930,-0.181498],[0.976186,0.104382,-0.190172],[0.205491,-0.163953,0.964828]]
2025-10-26T22:31:49.800Z,1761517909.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754113
2025-10-26T22:31:49.848Z,1761517909.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.05 m.
2025-10-26T22:31:49.850Z,1761517909.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.047714 m,
      nav range: 123.023117 m,
      bearing: 68.283081 deg,
      approach rate: -0.631825 m/s,
      LOS rate: -0.103238 deg/s,
      cmd heading: 84.856809 deg,
      new cmd heading: 84.728805 deg.

2025-10-26T22:31:49.868Z,1761517909.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.478797 target range: 134.047714 and range: 134.70 m.
2025-10-26T22:31:50.053Z,1761517910.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006944
2025-10-26T22:31:50.304Z,1761517910.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258086
2025-10-26T22:31:50.344Z,1761517910.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.05 m.
2025-10-26T22:31:50.347Z,1761517910.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.047714 m,
      nav range: 122.721481 m,
      bearing: 68.233661 deg,
      approach rate: -0.607176 m/s,
      LOS rate: -0.099725 deg/s,
      cmd heading: 84.728804 deg,
      new cmd heading: 84.580179 deg.

2025-10-26T22:31:50.348Z,1761517910.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476203 target range: 134.047714 and range: 134.70 m.
2025-10-26T22:31:50.556Z,1761517910.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510013
2025-10-26T22:31:50.738Z,1761517910.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062618,-0.981988,-0.178263],[0.975983,0.097591,-0.194765],[0.208654,-0.161786,0.964515]]
2025-10-26T22:31:50.809Z,1761517910.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762305
2025-10-26T22:31:50.822Z,1761517910.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.05 m.
2025-10-26T22:31:50.828Z,1761517910.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.047714 m,
      nav range: 122.451241 m,
      bearing: 68.190355 deg,
      approach rate: -0.566254 m/s,
      LOS rate: -0.090941 deg/s,
      cmd heading: 84.580179 deg,
      new cmd heading: 84.449976 deg.

2025-10-26T22:31:50.829Z,1761517910.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.473930 target range: 134.047714 and range: 134.70 m.
2025-10-26T22:31:51.062Z,1761517911.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015722
2025-10-26T22:31:51.156Z,1761517911.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061196,-0.983399,-0.170827],[0.975753,0.094975,-0.197196],[0.210146,-0.154617,0.965366]]
2025-10-26T22:31:51.178Z,1761517911.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.05 m.
2025-10-26T22:31:51.181Z,1761517911.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.047714 m,
      nav range: 122.236359 m,
      bearing: 68.155569 deg,
      approach rate: -0.602101 m/s,
      LOS rate: -0.097642 deg/s,
      cmd heading: 84.449975 deg,
      new cmd heading: 84.345434 deg.

2025-10-26T22:31:51.182Z,1761517911.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.472106 target range: 134.047714 and range: 134.70 m.
2025-10-26T22:31:51.313Z,1761517911.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266287
2025-10-26T22:31:51.558Z,1761517911.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061596,-0.985025,-0.161031],[0.975400,0.093621,-0.199573],[0.211660,-0.144776,0.966561]]
2025-10-26T22:31:51.565Z,1761517911.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518409
2025-10-26T22:31:51.601Z,1761517911.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:51.607Z,1761517911.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.05 m.
2025-10-26T22:31:51.610Z,1761517911.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.047714 m,
      nav range: 122.003784 m,
      bearing: 68.117759 deg,
      approach rate: -0.547690 m/s,
      LOS rate: -0.089208 deg/s,
      cmd heading: 84.345432 deg,
      new cmd heading: 84.231786 deg.

2025-10-26T22:31:51.611Z,1761517911.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.470122 target range: 134.047714 and range: 134.70 m.
2025-10-26T22:31:51.820Z,1761517911.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772746
2025-10-26T22:31:52.022Z,1761517912.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.05 m.
2025-10-26T22:31:52.024Z,1761517912.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.047714 m,
      nav range: 121.761391 m,
      bearing: 68.082642 deg,
      approach rate: -0.579190 m/s,
      LOS rate: -0.084079 deg/s,
      cmd heading: 84.231785 deg,
      new cmd heading: 84.126222 deg.

2025-10-26T22:31:52.025Z,1761517912.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.468280 target range: 134.047714 and range: 134.70 m.
2025-10-26T22:31:52.069Z,1761517912.069 [DAT](INFO): DAT read: Rx Time:22:31:50.7691

2025-10-26T22:31:52.070Z,1761517912.070 [DAT](INFO): Rx dataTimestamp_ set to:1761517912.069374
2025-10-26T22:31:52.071Z,1761517912.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024205
2025-10-26T22:31:52.320Z,1761517912.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273943
2025-10-26T22:31:52.380Z,1761517912.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069757,-0.986641,-0.147221],[0.974286,0.099079,-0.202360],[0.214243,-0.129319,0.968182]]
2025-10-26T22:31:52.466Z,1761517912.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.05 m.
2025-10-26T22:31:52.469Z,1761517912.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.047714 m,
      nav range: 121.517776 m,
      bearing: 68.048128 deg,
      approach rate: -0.548498 m/s,
      LOS rate: -0.077863 deg/s,
      cmd heading: 84.126224 deg,
      new cmd heading: 84.022476 deg.

2025-10-26T22:31:52.470Z,1761517912.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.466469 target range: 134.047714 and range: 134.70 m.
2025-10-26T22:31:52.596Z,1761517912.596 [DAT](INFO): DAT read: 22:31:50.7691 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 415, 0.05,-1.311,-2.527,-0.687,-1.214, PHS= 0.005,-1.269, 0.483, RAW= 165.3,  10.0, CAL= 165.2,  11.0, ROT= 344.8, -11.0

2025-10-26T22:31:52.597Z,1761517912.597 [DAT](INFO): got valid direction response:
 22:31:50.7691 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 415, 0.05,-1.311,-2.527,-0.687,-1.214, PHS= 0.005,-1.269, 0.483, RAW= 165.3,  10.0, CAL= 165.2,  11.0, ROT= 344.8, -11.0

2025-10-26T22:31:52.598Z,1761517912.598 [DAT](INFO): DAT read: Bearing 237.7,  -4.7 (Local)

2025-10-26T22:31:52.598Z,1761517912.598 [DAT](INFO): Local bearing/azimuth received:
 Bearing 237.7,  -4.7 (Local)

2025-10-26T22:31:52.600Z,1761517912.600 [DAT](INFO): DAT read: Range 11 to 50 : 132.6 m  (Round-trip  176.8 ms) speed  0.4 m/s

2025-10-26T22:31:52.600Z,1761517912.600 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:31:52.601Z,1761517912.601 [DAT](INFO): direction in FSK: [0.947286,-0.257372,0.190809]
2025-10-26T22:31:52.602Z,1761517912.602 [DAT](INFO): publishing direction and range info
2025-10-26T22:31:52.613Z,1761517912.613 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:31:52.613Z,1761517912.613 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:31:52.613Z,1761517912.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:31:52.824Z,1761517912.824 [DAT](INFO): DAT read: user:578>

2025-10-26T22:31:52.825Z,1761517912.825 [DAT](INFO): DAT read: Tx time:22:31:51.9881

2025-10-26T22:31:52.825Z,1761517912.825 [DAT](INFO): Ping request sent.
2025-10-26T22:31:52.825Z,1761517912.825 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:31:52.826Z,1761517912.826 [DAT](INFO): publishing transmit ping time
2025-10-26T22:31:52.826Z,1761517912.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-10-26T22:31:52.863Z,1761517912.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077478,-0.985353,-0.151912],[0.973462,0.107675,-0.201934],[0.215333,-0.132236,0.967546]]
2025-10-26T22:31:52.966Z,1761517912.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 132.600006 m,
      deltaT: 3.781550 s,
      deltaX: -2.099991 m,
      approachRate: -0.555325 m/s,
      rangeRepo size: 4

2025-10-26T22:31:52.968Z,1761517912.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 131.954117 m,
      bearing: 70.802834 deg,
      lat: 36.779308 deg,
      lon: -121.859512 deg,
      deltaT: 3.781550 s,
      deltaX: -2.093597 m,
      approachRate: -0.553635 m/s,
      posRepo size: 4

2025-10-26T22:31:52.969Z,1761517912.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.95 m.
2025-10-26T22:31:52.971Z,1761517912.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.954117 m,
      nav range: 120.095222 m,
      bearing: 70.121631 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.077863 deg/s,
      cmd heading: 84.022474 deg,
      new cmd heading: 83.905855 deg.

2025-10-26T22:31:52.972Z,1761517912.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.464433 target range: 131.954117 and range: 132.60 m.
2025-10-26T22:31:53.078Z,1761517913.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253004
2025-10-26T22:31:53.246Z,1761517913.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087658,-0.982680,-0.163265],[0.972425,0.119970,-0.199992],[0.216115,-0.141232,0.966099]]
2025-10-26T22:31:53.292Z,1761517913.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.95 m.
2025-10-26T22:31:53.295Z,1761517913.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.954117 m,
      nav range: 119.916435 m,
      bearing: 70.103017 deg,
      approach rate: -0.545989 m/s,
      LOS rate: -0.056930 deg/s,
      cmd heading: 83.905855 deg,
      new cmd heading: 83.849929 deg.

2025-10-26T22:31:53.296Z,1761517913.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.463457 target range: 131.954117 and range: 132.60 m.
2025-10-26T22:31:53.329Z,1761517913.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503571
2025-10-26T22:31:53.580Z,1761517913.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754986
2025-10-26T22:31:53.650Z,1761517913.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098487,-0.979820,-0.173936],[0.971127,0.132795,-0.198185],[0.217283,-0.149395,0.964608]]
2025-10-26T22:31:53.695Z,1761517913.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:53.697Z,1761517913.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.95 m.
2025-10-26T22:31:53.702Z,1761517913.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.954117 m,
      nav range: 119.698021 m,
      bearing: 70.081482 deg,
      approach rate: -0.539849 m/s,
      LOS rate: -0.053324 deg/s,
      cmd heading: 83.849929 deg,
      new cmd heading: 83.785207 deg.

2025-10-26T22:31:53.703Z,1761517913.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.462328 target range: 131.954117 and range: 132.60 m.
2025-10-26T22:31:53.833Z,1761517913.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007976
2025-10-26T22:31:54.084Z,1761517914.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259055
2025-10-26T22:31:54.110Z,1761517914.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.95 m.
2025-10-26T22:31:54.133Z,1761517914.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.954117 m,
      nav range: 119.482658 m,
      bearing: 70.060954 deg,
      approach rate: -0.521062 m/s,
      LOS rate: -0.049756 deg/s,
      cmd heading: 83.785207 deg,
      new cmd heading: 83.723511 deg.

2025-10-26T22:31:54.134Z,1761517914.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.461251 target range: 131.954117 and range: 132.60 m.
2025-10-26T22:31:54.336Z,1761517914.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510860
2025-10-26T22:31:54.485Z,1761517914.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.95 m.
2025-10-26T22:31:54.488Z,1761517914.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.954117 m,
      nav range: 119.287689 m,
      bearing: 70.042305 deg,
      approach rate: -0.520548 m/s,
      LOS rate: -0.049871 deg/s,
      cmd heading: 83.723509 deg,
      new cmd heading: 83.667472 deg.

2025-10-26T22:31:54.489Z,1761517914.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.460273 target range: 131.954117 and range: 132.60 m.
2025-10-26T22:31:54.592Z,1761517914.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766798
2025-10-26T22:31:54.840Z,1761517914.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014989
2025-10-26T22:31:54.873Z,1761517914.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132599,-0.968712,-0.209797],[0.966146,0.173585,-0.190868],[0.221314,-0.177386,0.958934]]
2025-10-26T22:31:54.922Z,1761517914.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.95 m.
2025-10-26T22:31:54.925Z,1761517914.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.954117 m,
      nav range: 119.062790 m,
      bearing: 70.024296 deg,
      approach rate: -0.514587 m/s,
      LOS rate: -0.041284 deg/s,
      cmd heading: 83.667475 deg,
      new cmd heading: 83.613345 deg.

2025-10-26T22:31:54.926Z,1761517914.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.459328 target range: 131.954117 and range: 132.60 m.
2025-10-26T22:31:55.092Z,1761517915.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266855
2025-10-26T22:31:55.269Z,1761517915.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143143,-0.964863,-0.220337],[0.964361,0.186034,-0.188148],[0.222527,-0.185552,0.957106]]
2025-10-26T22:31:55.288Z,1761517915.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.95 m.
2025-10-26T22:31:55.290Z,1761517915.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.954117 m,
      nav range: 118.874046 m,
      bearing: 70.010172 deg,
      approach rate: -0.516185 m/s,
      LOS rate: -0.038688 deg/s,
      cmd heading: 83.613345 deg,
      new cmd heading: 83.570906 deg.

2025-10-26T22:31:55.292Z,1761517915.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.458588 target range: 131.954117 and range: 132.60 m.
2025-10-26T22:31:55.354Z,1761517915.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527360
2025-10-26T22:31:55.596Z,1761517915.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771048
2025-10-26T22:31:55.686Z,1761517915.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152626,-0.961037,-0.230462],[0.962707,0.197286,-0.185131],[0.223385,-0.193612,0.955308]]
2025-10-26T22:31:55.732Z,1761517915.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:55.735Z,1761517915.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.95 m.
2025-10-26T22:31:55.738Z,1761517915.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.954117 m,
      nav range: 118.646225 m,
      bearing: 69.994196 deg,
      approach rate: -0.509910 m/s,
      LOS rate: -0.035828 deg/s,
      cmd heading: 83.570909 deg,
      new cmd heading: 83.522888 deg.

2025-10-26T22:31:55.738Z,1761517915.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.457749 target range: 131.954117 and range: 132.60 m.
2025-10-26T22:31:55.850Z,1761517915.850 [DAT](INFO): DAT read: Rx Time:22:31:54.5668

2025-10-26T22:31:55.851Z,1761517915.851 [DAT](INFO): Rx dataTimestamp_ set to:1761517915.850647
2025-10-26T22:31:55.852Z,1761517915.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026548
2025-10-26T22:31:56.078Z,1761517916.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160388,-0.958229,-0.236797],[0.961173,0.206197,-0.183380],[0.224547,-0.198191,0.954096]]
2025-10-26T22:31:56.100Z,1761517916.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274991
2025-10-26T22:31:56.125Z,1761517916.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.95 m.
2025-10-26T22:31:56.128Z,1761517916.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.954117 m,
      nav range: 118.440338 m,
      bearing: 69.980562 deg,
      approach rate: -0.526972 m/s,
      LOS rate: -0.034956 deg/s,
      cmd heading: 83.522886 deg,
      new cmd heading: 83.481915 deg.

2025-10-26T22:31:56.129Z,1761517916.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.457034 target range: 131.954117 and range: 132.60 m.
2025-10-26T22:31:56.356Z,1761517916.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529843
2025-10-26T22:31:56.481Z,1761517916.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166532,-0.956708,-0.238697],[0.959851,0.212705,-0.182872],[0.225727,-0.198659,0.953720]]
2025-10-26T22:31:56.500Z,1761517916.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.95 m.
2025-10-26T22:31:56.503Z,1761517916.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.954117 m,
      nav range: 118.244812 m,
      bearing: 69.968193 deg,
      approach rate: -0.521174 m/s,
      LOS rate: -0.033024 deg/s,
      cmd heading: 83.481912 deg,
      new cmd heading: 83.444743 deg.

2025-10-26T22:31:56.504Z,1761517916.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.456385 target range: 131.954117 and range: 132.60 m.
2025-10-26T22:31:56.613Z,1761517916.613 [DAT](INFO): DAT read: 22:31:54.5668 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 424, 0.19,-0.281,-1.539, 0.205,-0.319, PHS= 0.140,-1.175, 0.480, RAW= 161.2,   7.4, CAL= 160.7,   7.3, ROT= 349.3,  -7.3

2025-10-26T22:31:56.614Z,1761517916.614 [DAT](INFO): got valid direction response:
 22:31:54.5668 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 424, 0.19,-0.281,-1.539, 0.205,-0.319, PHS= 0.140,-1.175, 0.480, RAW= 161.2,   7.4, CAL= 160.7,   7.3, ROT= 349.3,  -7.3

2025-10-26T22:31:56.616Z,1761517916.616 [DAT](INFO): DAT read: Bearing 227.8,   1.1 (Local)

2025-10-26T22:31:56.616Z,1761517916.616 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.8,   1.1 (Local)

2025-10-26T22:31:56.617Z,1761517916.617 [DAT](INFO): DAT read: Range 11 to 50 : 130.9 m  (Round-trip  174.6 ms) speed  0.4 m/s

2025-10-26T22:31:56.618Z,1761517916.618 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:31:56.619Z,1761517916.619 [DAT](INFO): direction in FSK: [0.974648,-0.184162,0.127065]
2025-10-26T22:31:56.619Z,1761517916.619 [DAT](INFO): publishing direction and range info
2025-10-26T22:31:56.623Z,1761517916.623 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:31:56.623Z,1761517916.623 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:31:56.623Z,1761517916.623 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:31:56.860Z,1761517916.860 [DAT](INFO): DAT read: user:579>

2025-10-26T22:31:56.864Z,1761517916.864 [DAT](INFO): DAT read: Tx time:22:31:55.9881

2025-10-26T22:31:56.865Z,1761517916.865 [DAT](INFO): Ping request sent.
2025-10-26T22:31:56.865Z,1761517916.865 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:31:56.865Z,1761517916.865 [DAT](INFO): publishing transmit ping time
2025-10-26T22:31:56.866Z,1761517916.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001090
2025-10-26T22:31:56.886Z,1761517916.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170974,-0.955363,-0.240936],[0.958782,0.217652,-0.182661],[0.226947,-0.199775,0.953197]]
2025-10-26T22:31:56.971Z,1761517916.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 130.899994 m,
      deltaT: 4.031044 s,
      deltaX: -1.700012 m,
      approachRate: -0.421730 m/s,
      rangeRepo size: 4

2025-10-26T22:31:56.973Z,1761517916.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 130.243439 m,
      bearing: 70.297787 deg,
      lat: 36.779308 deg,
      lon: -121.859486 deg,
      deltaT: 4.031044 s,
      deltaX: -1.710678 m,
      approachRate: -0.424376 m/s,
      posRepo size: 4

2025-10-26T22:31:56.974Z,1761517916.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.24 m.
2025-10-26T22:31:56.977Z,1761517916.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.243439 m,
      nav range: 120.197540 m,
      bearing: 70.337207 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.033024 deg/s,
      cmd heading: 83.444742 deg,
      new cmd heading: 83.398165 deg.

2025-10-26T22:31:56.978Z,1761517916.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.455573 target range: 130.243439 and range: 130.90 m.
2025-10-26T22:31:57.108Z,1761517917.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243632
2025-10-26T22:31:57.284Z,1761517917.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173587,-0.955038,-0.240356],[0.958016,0.220308,-0.183495],[0.228197,-0.198412,0.953183]]
2025-10-26T22:31:57.302Z,1761517917.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.24 m.
2025-10-26T22:31:57.305Z,1761517917.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.243439 m,
      nav range: 120.009758 m,
      bearing: 70.327168 deg,
      approach rate: -0.565902 m/s,
      LOS rate: -0.030299 deg/s,
      cmd heading: 83.398167 deg,
      new cmd heading: 83.368005 deg.

2025-10-26T22:31:57.306Z,1761517917.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.455046 target range: 130.243439 and range: 130.90 m.
2025-10-26T22:31:57.362Z,1761517917.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497137
2025-10-26T22:31:57.613Z,1761517917.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747913
2025-10-26T22:31:57.686Z,1761517917.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174152,-0.955942,-0.236319],[0.957703,0.220253,-0.185186],[0.229077,-0.194073,0.953866]]
2025-10-26T22:31:57.721Z,1761517917.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.24 m.
2025-10-26T22:31:57.745Z,1761517917.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.243439 m,
      nav range: 119.778648 m,
      bearing: 70.314843 deg,
      approach rate: -0.551983 m/s,
      LOS rate: -0.029494 deg/s,
      cmd heading: 83.368005 deg,
      new cmd heading: 83.330958 deg.

2025-10-26T22:31:57.746Z,1761517917.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.454400 target range: 130.243439 and range: 130.90 m.
2025-10-26T22:31:57.866Z,1761517917.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000960
2025-10-26T22:31:58.087Z,1761517918.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172235,-0.958392,-0.227640],[0.957812,0.216912,-0.188537],[0.230070,-0.185564,0.955319]]
2025-10-26T22:31:58.117Z,1761517918.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251721
2025-10-26T22:31:58.155Z,1761517918.155 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:31:58.161Z,1761517918.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.24 m.
2025-10-26T22:31:58.168Z,1761517918.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.243439 m,
      nav range: 119.534622 m,
      bearing: 70.300282 deg,
      approach rate: -0.554143 m/s,
      LOS rate: -0.033132 deg/s,
      cmd heading: 83.330958 deg,
      new cmd heading: 83.287187 deg.

2025-10-26T22:31:58.169Z,1761517918.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.453636 target range: 130.243439 and range: 130.90 m.
2025-10-26T22:31:58.370Z,1761517918.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504893
2025-10-26T22:31:58.501Z,1761517918.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169056,-0.962616,-0.211639],[0.958122,0.210864,-0.193747],[0.231131,-0.170022,0.957951]]
2025-10-26T22:31:58.576Z,1761517918.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.24 m.
2025-10-26T22:31:58.579Z,1761517918.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.243439 m,
      nav range: 119.297638 m,
      bearing: 70.285721 deg,
      approach rate: -0.571070 m/s,
      LOS rate: -0.035158 deg/s,
      cmd heading: 83.287190 deg,
      new cmd heading: 83.243420 deg.

2025-10-26T22:31:58.580Z,1761517918.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.452872 target range: 130.243439 and range: 130.90 m.
2025-10-26T22:31:58.620Z,1761517918.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755591
2025-10-26T22:31:58.875Z,1761517918.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009698
2025-10-26T22:31:58.918Z,1761517918.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164982,-0.967173,-0.193282],[0.958525,0.203403,-0.199640],[0.232400,-0.152329,0.960618]]
2025-10-26T22:31:58.989Z,1761517918.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.24 m.
2025-10-26T22:31:58.997Z,1761517918.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.243439 m,
      nav range: 119.068970 m,
      bearing: 70.273241 deg,
      approach rate: -0.554093 m/s,
      LOS rate: -0.030300 deg/s,
      cmd heading: 83.243422 deg,
      new cmd heading: 83.205909 deg.

2025-10-26T22:31:59.000Z,1761517919.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.452217 target range: 130.243439 and range: 130.90 m.
2025-10-26T22:31:59.129Z,1761517919.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263871
2025-10-26T22:31:59.376Z,1761517919.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511617
2025-10-26T22:31:59.441Z,1761517919.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156236,-0.973977,-0.164190],[0.959297,0.189220,-0.209629],[0.235242,-0.124756,0.963897]]
2025-10-26T22:31:59.489Z,1761517919.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.24 m.
2025-10-26T22:31:59.491Z,1761517919.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.243439 m,
      nav range: 118.771950 m,
      bearing: 70.255660 deg,
      approach rate: -0.594511 m/s,
      LOS rate: -0.035279 deg/s,
      cmd heading: 83.205911 deg,
      new cmd heading: 83.153035 deg.

2025-10-26T22:31:59.492Z,1761517919.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.451294 target range: 130.243439 and range: 130.90 m.
2025-10-26T22:31:59.629Z,1761517919.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764171
2025-10-26T22:31:59.885Z,1761517919.885 [DAT](INFO): DAT read: Rx Time:22:31:58.5634

2025-10-26T22:31:59.887Z,1761517919.887 [DAT](INFO): Rx dataTimestamp_ set to:1761517919.885827
2025-10-26T22:31:59.889Z,1761517919.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023816
2025-10-26T22:31:59.907Z,1761517919.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153202,-0.975975,-0.154925],[0.959559,0.184391,-0.212711],[0.236168,-0.116072,0.964755]]
2025-10-26T22:31:59.972Z,1761517919.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.24 m.
2025-10-26T22:31:59.974Z,1761517919.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.243439 m,
      nav range: 118.485420 m,
      bearing: 70.242263 deg,
      approach rate: -0.593492 m/s,
      LOS rate: -0.027816 deg/s,
      cmd heading: 83.153032 deg,
      new cmd heading: 83.112744 deg.

2025-10-26T22:31:59.975Z,1761517919.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.450591 target range: 130.243439 and range: 130.90 m.
2025-10-26T22:32:00.133Z,1761517920.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267981
2025-10-26T22:32:00.390Z,1761517920.390 [DAT](INFO): DAT read: 22:31:58.5634 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 405, 0.42, 2.866, 1.561,-2.914, 2.864, PHS= 0.105,-1.258, 0.462, RAW= 161.4,   8.8, CAL= 161.1,   9.3, ROT= 348.9,  -9.3

2025-10-26T22:32:00.391Z,1761517920.391 [DAT](INFO): got valid direction response:
 22:31:58.5634 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 405, 0.42, 2.866, 1.561,-2.914, 2.864, PHS= 0.105,-1.258, 0.462, RAW= 161.4,   8.8, CAL= 161.1,   9.3, ROT= 348.9,  -9.3

2025-10-26T22:32:00.392Z,1761517920.392 [DAT](INFO): DAT read: Bearing 229.2,   1.4 (Local)

2025-10-26T22:32:00.392Z,1761517920.392 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.2,   1.4 (Local)

2025-10-26T22:32:00.394Z,1761517920.394 [DAT](INFO): DAT read: Range 11 to 50 : 128.3 m  (Round-trip  171.1 ms) speed  0.4 m/s

2025-10-26T22:32:00.394Z,1761517920.394 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:32:00.395Z,1761517920.395 [DAT](INFO): direction in FSK: [0.968394,-0.189991,0.161604]
2025-10-26T22:32:00.396Z,1761517920.396 [DAT](INFO): publishing direction and range info
2025-10-26T22:32:00.399Z,1761517920.399 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:32:00.399Z,1761517920.399 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:32:00.403Z,1761517920.403 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:32:00.422Z,1761517920.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150789,-0.977299,-0.148825],[0.959727,0.180820,-0.215008],[0.237037,-0.110411,0.965206]]
2025-10-26T22:32:00.480Z,1761517920.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 128.300003 m,
      deltaT: 3.779476 s,
      deltaX: -2.599991 m,
      approachRate: -0.687924 m/s,
      rangeRepo size: 4

2025-10-26T22:32:00.482Z,1761517920.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 127.652382 m,
      bearing: 70.322347 deg,
      lat: 36.779302 deg,
      lon: -121.859502 deg,
      deltaT: 3.779476 s,
      deltaX: -2.591057 m,
      approachRate: -0.685560 m/s,
      posRepo size: 4

2025-10-26T22:32:00.483Z,1761517920.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.65 m.
2025-10-26T22:32:00.491Z,1761517920.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.652382 m,
      nav range: 116.629265 m,
      bearing: 70.321936 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.027816 deg/s,
      cmd heading: 83.112747 deg,
      new cmd heading: 83.070726 deg.

2025-10-26T22:32:00.512Z,1761517920.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.449858 target range: 127.652382 and range: 128.30 m.
2025-10-26T22:32:00.637Z,1761517920.637 [DAT](INFO): DAT read: user:580>

2025-10-26T22:32:00.638Z,1761517920.638 [DAT](INFO): DAT read: Tx time:22:31:59.7881

2025-10-26T22:32:00.638Z,1761517920.638 [DAT](INFO): Ping request sent.
2025-10-26T22:32:00.638Z,1761517920.638 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:32:00.638Z,1761517920.638 [DAT](INFO): publishing transmit ping time
2025-10-26T22:32:00.639Z,1761517920.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723
2025-10-26T22:32:00.798Z,1761517920.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148964,-0.977873,-0.146882],[0.959879,0.178685,-0.216111],[0.237575,-0.108796,0.965257]]
2025-10-26T22:32:00.871Z,1761517920.871 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:00.892Z,1761517920.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252899
2025-10-26T22:32:00.918Z,1761517920.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.65 m.
2025-10-26T22:32:00.930Z,1761517920.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.652382 m,
      nav range: 116.406868 m,
      bearing: 70.310986 deg,
      approach rate: -0.540543 m/s,
      LOS rate: -0.026665 deg/s,
      cmd heading: 83.070728 deg,
      new cmd heading: 83.037816 deg.

2025-10-26T22:32:00.931Z,1761517920.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.449283 target range: 127.652382 and range: 128.30 m.
2025-10-26T22:32:01.140Z,1761517921.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502286
2025-10-26T22:32:01.260Z,1761517921.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147111,-0.978084,-0.147342],[0.960070,0.177034,-0.216623],[0.237960,-0.109591,0.965073]]
2025-10-26T22:32:01.333Z,1761517921.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.65 m.
2025-10-26T22:32:01.339Z,1761517921.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.652382 m,
      nav range: 116.123344 m,
      bearing: 70.297706 deg,
      approach rate: -0.636342 m/s,
      LOS rate: -0.029879 deg/s,
      cmd heading: 83.037813 deg,
      new cmd heading: 82.997875 deg.

2025-10-26T22:32:01.375Z,1761517921.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.448586 target range: 127.652382 and range: 128.30 m.
2025-10-26T22:32:01.399Z,1761517921.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760782
2025-10-26T22:32:01.648Z,1761517921.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010255
2025-10-26T22:32:01.677Z,1761517921.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145781,-0.977779,-0.150649],[0.960247,0.176490,-0.216282],[0.238064,-0.113131,0.964638]]
2025-10-26T22:32:01.737Z,1761517921.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.65 m.
2025-10-26T22:32:01.744Z,1761517921.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.652382 m,
      nav range: 115.908607 m,
      bearing: 70.287461 deg,
      approach rate: -0.530126 m/s,
      LOS rate: -0.025337 deg/s,
      cmd heading: 82.997877 deg,
      new cmd heading: 82.967087 deg.

2025-10-26T22:32:01.745Z,1761517921.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.448049 target range: 127.652382 and range: 128.30 m.
2025-10-26T22:32:01.904Z,1761517921.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264997
2025-10-26T22:32:02.075Z,1761517922.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145137,-0.977025,-0.156068],[0.960397,0.177037,-0.215164],[0.237850,-0.118659,0.964027]]
2025-10-26T22:32:02.140Z,1761517922.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.65 m.
2025-10-26T22:32:02.143Z,1761517922.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.652382 m,
      nav range: 115.656189 m,
      bearing: 70.277564 deg,
      approach rate: -0.626268 m/s,
      LOS rate: -0.024610 deg/s,
      cmd heading: 82.967086 deg,
      new cmd heading: 82.937329 deg.

2025-10-26T22:32:02.147Z,1761517922.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.447529 target range: 127.652382 and range: 128.30 m.
2025-10-26T22:32:02.152Z,1761517922.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514353
2025-10-26T22:32:02.406Z,1761517922.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767323
2025-10-26T22:32:02.480Z,1761517922.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144200,-0.976169,-0.162175],[0.960615,0.177432,-0.213862],[0.237541,-0.124949,0.963308]]
2025-10-26T22:32:02.499Z,1761517922.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.65 m.
2025-10-26T22:32:02.502Z,1761517922.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.652382 m,
      nav range: 115.449036 m,
      bearing: 70.269318 deg,
      approach rate: -0.577532 m/s,
      LOS rate: -0.023030 deg/s,
      cmd heading: 82.937327 deg,
      new cmd heading: 82.912546 deg.

2025-10-26T22:32:02.503Z,1761517922.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.447097 target range: 127.652382 and range: 128.30 m.
2025-10-26T22:32:02.656Z,1761517922.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018235
2025-10-26T22:32:02.864Z,1761517922.864 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:32:02.886Z,1761517922.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143039,-0.975865,-0.165005],[0.960843,0.176899,-0.213277],[0.237319,-0.128037,0.962957]]
2025-10-26T22:32:02.911Z,1761517922.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272348
2025-10-26T22:32:02.976Z,1761517922.976 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:02.978Z,1761517922.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.65 m.
2025-10-26T22:32:02.985Z,1761517922.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.652382 m,
      nav range: 115.178947 m,
      bearing: 70.258364 deg,
      approach rate: -0.563076 m/s,
      LOS rate: -0.022890 deg/s,
      cmd heading: 82.912547 deg,
      new cmd heading: 82.879609 deg.

2025-10-26T22:32:02.986Z,1761517922.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.446522 target range: 127.652382 and range: 128.30 m.
2025-10-26T22:32:03.160Z,1761517923.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522250
2025-10-26T22:32:03.287Z,1761517923.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141671,-0.976701,-0.161195],[0.961042,0.174744,-0.214158],[0.237336,-0.124575,0.963407]]
2025-10-26T22:32:03.381Z,1761517923.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.65 m.
2025-10-26T22:32:03.388Z,1761517923.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.652382 m,
      nav range: 114.976677 m,
      bearing: 70.250324 deg,
      approach rate: -0.502397 m/s,
      LOS rate: -0.020006 deg/s,
      cmd heading: 82.879612 deg,
      new cmd heading: 82.855448 deg.

2025-10-26T22:32:03.389Z,1761517923.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.446100 target range: 127.652382 and range: 128.30 m.
2025-10-26T22:32:03.413Z,1761517923.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774393
2025-10-26T22:32:03.664Z,1761517923.664 [DAT](INFO): DAT read: Rx Time:22:32:02.3606

2025-10-26T22:32:03.665Z,1761517923.665 [DAT](INFO): Rx dataTimestamp_ set to:1761517923.664587
2025-10-26T22:32:03.665Z,1761517923.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027321
2025-10-26T22:32:03.690Z,1761517923.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140641,-0.977535,-0.156988],[0.961146,0.172847,-0.215226],[0.237526,-0.120618,0.963863]]
2025-10-26T22:32:03.754Z,1761517923.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.65 m.
2025-10-26T22:32:03.761Z,1761517923.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.652382 m,
      nav range: 114.739319 m,
      bearing: 70.240721 deg,
      approach rate: -0.637102 m/s,
      LOS rate: -0.025827 deg/s,
      cmd heading: 82.855447 deg,
      new cmd heading: 82.826580 deg.

2025-10-26T22:32:03.761Z,1761517923.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.445597 target range: 127.652382 and range: 128.30 m.
2025-10-26T22:32:03.869Z,1761517923.869 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:32:03.922Z,1761517923.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283364
2025-10-26T22:32:04.095Z,1761517924.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140106,-0.977950,-0.154868],[0.961151,0.171899,-0.215961],[0.237820,-0.118594,0.964042]]
2025-10-26T22:32:04.180Z,1761517924.180 [DAT](INFO): DAT read: 22:32:02.3606 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 408, 0.05, 3.116, 1.778,-2.632, 3.051, PHS= 0.167,-1.228, 0.556, RAW= 162.0,   6.3, CAL= 161.3,   5.9, ROT= 348.7,  -5.9

2025-10-26T22:32:04.182Z,1761517924.182 [DAT](INFO): got valid direction response:
 22:32:02.3606 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 408, 0.05, 3.116, 1.778,-2.632, 3.051, PHS= 0.167,-1.228, 0.556, RAW= 162.0,   6.3, CAL= 161.3,   5.9, ROT= 348.7,  -5.9

2025-10-26T22:32:04.182Z,1761517924.182 [DAT](INFO): DAT read: Bearing 225.8,   1.9 (Local)

2025-10-26T22:32:04.183Z,1761517924.183 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.8,   1.9 (Local)

2025-10-26T22:32:04.185Z,1761517924.185 [DAT](INFO): DAT read: Range 11 to 50 : 126.2 m  (Round-trip  168.3 ms) speed  0.4 m/s

2025-10-26T22:32:04.186Z,1761517924.186 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:32:04.187Z,1761517924.187 [DAT](INFO): direction in FSK: [0.975420,-0.194908,0.102793]
2025-10-26T22:32:04.187Z,1761517924.187 [DAT](INFO): publishing direction and range info
2025-10-26T22:32:04.219Z,1761517924.219 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:32:04.219Z,1761517924.219 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:32:04.219Z,1761517924.219 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:32:04.234Z,1761517924.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 126.199997 m,
      deltaT: 3.785449 s,
      deltaX: -2.100006 m,
      approachRate: -0.554757 m/s,
      rangeRepo size: 4

2025-10-26T22:32:04.236Z,1761517924.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 125.559891 m,
      bearing: 70.552910 deg,
      lat: 36.779302 deg,
      lon: -121.859502 deg,
      deltaT: 3.785449 s,
      deltaX: -2.092491 m,
      approachRate: -0.552772 m/s,
      posRepo size: 4

2025-10-26T22:32:04.237Z,1761517924.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.56 m.
2025-10-26T22:32:04.249Z,1761517924.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.559891 m,
      nav range: 114.480537 m,
      bearing: 70.229759 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025827 deg/s,
      cmd heading: 82.826583 deg,
      new cmd heading: 82.789868 deg.

2025-10-26T22:32:04.250Z,1761517924.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.444956 target range: 125.559891 and range: 126.20 m.
2025-10-26T22:32:04.420Z,1761517924.420 [DAT](INFO): DAT read: user:581>

2025-10-26T22:32:04.421Z,1761517924.421 [DAT](INFO): DAT read: Tx time:22:32:03.5881

2025-10-26T22:32:04.422Z,1761517924.422 [DAT](INFO): Ping request sent.
2025-10-26T22:32:04.422Z,1761517924.422 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:32:04.422Z,1761517924.422 [DAT](INFO): publishing transmit ping time
2025-10-26T22:32:04.422Z,1761517924.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-10-26T22:32:04.673Z,1761517924.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251616
2025-10-26T22:32:04.740Z,1761517924.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144173,-0.977245,-0.155582],[0.960249,0.176142,-0.216554],[0.239031,-0.118176,0.963794]]
2025-10-26T22:32:04.765Z,1761517924.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.56 m.
2025-10-26T22:32:04.768Z,1761517924.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.559891 m,
      nav range: 114.174294 m,
      bearing: 70.217389 deg,
      approach rate: -0.569828 m/s,
      LOS rate: -0.023078 deg/s,
      cmd heading: 82.789870 deg,
      new cmd heading: 82.752662 deg.

2025-10-26T22:32:04.769Z,1761517924.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.444306 target range: 125.559891 and range: 126.20 m.
2025-10-26T22:32:04.927Z,1761517924.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504792
2025-10-26T22:32:05.127Z,1761517925.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148674,-0.976567,-0.155605],[0.959219,0.180671,-0.217386],[0.240405,-0.116940,0.963603]]
2025-10-26T22:32:05.171Z,1761517925.171 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:05.173Z,1761517925.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.56 m.
2025-10-26T22:32:05.176Z,1761517925.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754805
2025-10-26T22:32:05.177Z,1761517925.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.559891 m,
      nav range: 113.950729 m,
      bearing: 70.206701 deg,
      approach rate: -0.548024 m/s,
      LOS rate: -0.026252 deg/s,
      cmd heading: 82.752660 deg,
      new cmd heading: 82.720532 deg.

2025-10-26T22:32:05.178Z,1761517925.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.443746 target range: 125.559891 and range: 126.20 m.
2025-10-26T22:32:05.429Z,1761517925.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007357
2025-10-26T22:32:05.636Z,1761517925.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154560,-0.974930,-0.160068],[0.958093,0.187454,-0.216608],[0.241183,-0.119881,0.963047]]
2025-10-26T22:32:05.680Z,1761517925.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258638
2025-10-26T22:32:05.735Z,1761517925.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.56 m.
2025-10-26T22:32:05.772Z,1761517925.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.559891 m,
      nav range: 113.682213 m,
      bearing: 70.194649 deg,
      approach rate: -0.478039 m/s,
      LOS rate: -0.021508 deg/s,
      cmd heading: 82.720530 deg,
      new cmd heading: 82.684288 deg.

2025-10-26T22:32:05.773Z,1761517925.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.443113 target range: 125.559891 and range: 126.20 m.
2025-10-26T22:32:05.935Z,1761517925.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512881
2025-10-26T22:32:06.184Z,1761517926.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762796
2025-10-26T22:32:06.194Z,1761517926.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161492,-0.972418,-0.168296],[0.956911,0.195998,-0.214259],[0.241335,-0.126443,0.962169]]
2025-10-26T22:32:06.260Z,1761517926.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.56 m.
2025-10-26T22:32:06.263Z,1761517926.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.559891 m,
      nav range: 113.345192 m,
      bearing: 70.181757 deg,
      approach rate: -0.642036 m/s,
      LOS rate: -0.024632 deg/s,
      cmd heading: 82.684289 deg,
      new cmd heading: 82.645499 deg.

2025-10-26T22:32:06.264Z,1761517926.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.442436 target range: 125.559891 and range: 126.20 m.
2025-10-26T22:32:06.436Z,1761517926.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014618
2025-10-26T22:32:06.590Z,1761517926.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168866,-0.969143,-0.179572],[0.955649,0.205588,-0.210875],[0.241285,-0.135998,0.960878]]
2025-10-26T22:32:06.629Z,1761517926.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.56 m.
2025-10-26T22:32:06.636Z,1761517926.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.559891 m,
      nav range: 113.143349 m,
      bearing: 70.174764 deg,
      approach rate: -0.545617 m/s,
      LOS rate: -0.018936 deg/s,
      cmd heading: 82.645501 deg,
      new cmd heading: 82.624486 deg.

2025-10-26T22:32:06.637Z,1761517926.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.442069 target range: 125.559891 and range: 126.20 m.
2025-10-26T22:32:06.689Z,1761517926.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267807
2025-10-26T22:32:06.940Z,1761517926.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518749
2025-10-26T22:32:07.136Z,1761517927.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.56 m.
2025-10-26T22:32:07.138Z,1761517927.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.559891 m,
      nav range: 112.852905 m,
      bearing: 70.162438 deg,
      approach rate: -0.573970 m/s,
      LOS rate: -0.024421 deg/s,
      cmd heading: 82.624484 deg,
      new cmd heading: 82.587411 deg.

2025-10-26T22:32:07.139Z,1761517927.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.441422 target range: 125.559891 and range: 126.20 m.
2025-10-26T22:32:07.193Z,1761517927.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771558
2025-10-26T22:32:07.446Z,1761517927.446 [DAT](INFO): DAT read: Rx Time:22:32:06.1580

2025-10-26T22:32:07.446Z,1761517927.446 [DAT](INFO): Rx dataTimestamp_ set to:1761517927.445952
2025-10-26T22:32:07.447Z,1761517927.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025105
2025-10-26T22:32:07.469Z,1761517927.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:07.476Z,1761517927.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.56 m.
2025-10-26T22:32:07.478Z,1761517927.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.559891 m,
      nav range: 112.670143 m,
      bearing: 70.154649 deg,
      approach rate: -0.543953 m/s,
      LOS rate: -0.023220 deg/s,
      cmd heading: 82.587410 deg,
      new cmd heading: 82.564005 deg.

2025-10-26T22:32:07.479Z,1761517927.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.441014 target range: 125.559891 and range: 126.20 m.
2025-10-26T22:32:07.698Z,1761517927.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276107
2025-10-26T22:32:07.998Z,1761517927.998 [DAT](INFO): DAT read: 22:32:06.1580 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413, 0.13, 0.818,-0.535, 1.267, 0.743, PHS= 0.177,-1.233, 0.480, RAW= 159.5,   7.3, CAL= 159.0,   7.3, ROT= 351.0,  -7.3

2025-10-26T22:32:08.020Z,1761517928.020 [DAT](INFO): got valid direction response:
 22:32:06.1580 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413, 0.13, 0.818,-0.535, 1.267, 0.743, PHS= 0.177,-1.233, 0.480, RAW= 159.5,   7.3, CAL= 159.0,   7.3, ROT= 351.0,  -7.3

2025-10-26T22:32:08.020Z,1761517928.020 [DAT](INFO): DAT read: Bearing 224.6,   3.9 (Local)

2025-10-26T22:32:08.021Z,1761517928.021 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.6,   3.9 (Local)

2025-10-26T22:32:08.022Z,1761517928.022 [DAT](INFO): DAT read: Range 11 to 50 : 124.2 m  (Round-trip  165.7 ms) speed  0.4 m/s

2025-10-26T22:32:08.023Z,1761517928.023 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:32:08.032Z,1761517928.032 [DAT](INFO): direction in FSK: [0.979683,-0.155166,0.127065]
2025-10-26T22:32:08.032Z,1761517928.032 [DAT](INFO): publishing direction and range info
2025-10-26T22:32:08.044Z,1761517928.044 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:32:08.044Z,1761517928.044 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:32:08.045Z,1761517928.045 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:32:08.049Z,1761517928.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189962,-0.959431,-0.208343],[0.952865,0.231298,-0.196341],[0.236565,-0.161225,0.958146]]
2025-10-26T22:32:08.146Z,1761517928.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 124.199997 m,
      deltaT: 3.780917 s,
      deltaX: -2.000000 m,
      approachRate: -0.528972 m/s,
      rangeRepo size: 4

2025-10-26T22:32:08.152Z,1761517928.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 123.531197 m,
      bearing: 70.530754 deg,
      lat: 36.779302 deg,
      lon: -121.859483 deg,
      deltaT: 3.780917 s,
      deltaX: -2.028694 m,
      approachRate: -0.536561 m/s,
      posRepo size: 4

2025-10-26T22:32:08.153Z,1761517928.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.53 m.
2025-10-26T22:32:08.160Z,1761517928.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.531197 m,
      nav range: 113.862991 m,
      bearing: 70.429114 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023220 deg/s,
      cmd heading: 82.564003 deg,
      new cmd heading: 82.517069 deg.

2025-10-26T22:32:08.161Z,1761517928.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.440194 target range: 123.531197 and range: 124.20 m.
2025-10-26T22:32:08.205Z,1761517928.205 [DAT](INFO): DAT read: user:582>

2025-10-26T22:32:08.206Z,1761517928.206 [DAT](INFO): DAT read: Tx time:22:32:07.3881

2025-10-26T22:32:08.207Z,1761517928.207 [DAT](INFO): Ping request sent.
2025-10-26T22:32:08.207Z,1761517928.207 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:32:08.208Z,1761517928.208 [DAT](INFO): publishing transmit ping time
2025-10-26T22:32:08.209Z,1761517928.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002103
2025-10-26T22:32:08.452Z,1761517928.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245703
2025-10-26T22:32:08.618Z,1761517928.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188987,-0.961468,-0.199659],[0.954257,0.227786,-0.193667],[0.231684,-0.153925,0.960536]]
2025-10-26T22:32:08.665Z,1761517928.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.53 m.
2025-10-26T22:32:08.668Z,1761517928.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.531197 m,
      nav range: 113.554939 m,
      bearing: 70.418449 deg,
      approach rate: -0.592374 m/s,
      LOS rate: -0.020564 deg/s,
      cmd heading: 82.517066 deg,
      new cmd heading: 82.484984 deg.

2025-10-26T22:32:08.669Z,1761517928.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.439635 target range: 123.531197 and range: 124.20 m.
2025-10-26T22:32:08.705Z,1761517928.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498066
2025-10-26T22:32:08.956Z,1761517928.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749633
2025-10-26T22:32:09.050Z,1761517929.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186653,-0.962698,-0.195890],[0.955553,0.224219,-0.191428],[0.228209,-0.151453,0.961760]]
2025-10-26T22:32:09.093Z,1761517929.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.53 m.
2025-10-26T22:32:09.096Z,1761517929.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.531197 m,
      nav range: 113.291748 m,
      bearing: 70.409538 deg,
      approach rate: -0.614815 m/s,
      LOS rate: -0.020865 deg/s,
      cmd heading: 82.484984 deg,
      new cmd heading: 82.458189 deg.

2025-10-26T22:32:09.097Z,1761517929.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.439167 target range: 123.531197 and range: 124.20 m.
2025-10-26T22:32:09.211Z,1761517929.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004511
2025-10-26T22:32:09.421Z,1761517929.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182668,-0.964439,-0.191023],[0.957280,0.218765,-0.189093],[0.224158,-0.148322,0.963200]]
2025-10-26T22:32:09.440Z,1761517929.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.53 m.
2025-10-26T22:32:09.443Z,1761517929.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.531197 m,
      nav range: 113.085136 m,
      bearing: 70.402052 deg,
      approach rate: -0.595440 m/s,
      LOS rate: -0.021613 deg/s,
      cmd heading: 82.458190 deg,
      new cmd heading: 82.435691 deg.

2025-10-26T22:32:09.460Z,1761517929.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.438774 target range: 123.531197 and range: 124.20 m.
2025-10-26T22:32:09.464Z,1761517929.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257769
2025-10-26T22:32:09.717Z,1761517929.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510427
2025-10-26T22:32:09.841Z,1761517929.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177097,-0.966451,-0.186036],[0.959407,0.211679,-0.186359],[0.219487,-0.145481,0.964708]]
2025-10-26T22:32:09.873Z,1761517929.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:09.875Z,1761517929.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.53 m.
2025-10-26T22:32:09.902Z,1761517929.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.531197 m,
      nav range: 112.830254 m,
      bearing: 70.391990 deg,
      approach rate: -0.586405 m/s,
      LOS rate: -0.023201 deg/s,
      cmd heading: 82.435691 deg,
      new cmd heading: 82.405438 deg.

2025-10-26T22:32:09.903Z,1761517929.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.438246 target range: 123.531197 and range: 124.20 m.
2025-10-26T22:32:09.969Z,1761517929.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762179
2025-10-26T22:32:10.220Z,1761517930.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013718
2025-10-26T22:32:10.258Z,1761517930.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170680,-0.968687,-0.180318],[0.961648,0.203643,-0.183744],[0.214711,-0.142041,0.966294]]
2025-10-26T22:32:10.303Z,1761517930.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.53 m.
2025-10-26T22:32:10.305Z,1761517930.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.531197 m,
      nav range: 112.561806 m,
      bearing: 70.381975 deg,
      approach rate: -0.627539 m/s,
      LOS rate: -0.023467 deg/s,
      cmd heading: 82.405440 deg,
      new cmd heading: 82.375324 deg.

2025-10-26T22:32:10.306Z,1761517930.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.437721 target range: 123.531197 and range: 124.20 m.
2025-10-26T22:32:10.472Z,1761517930.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265674
2025-10-26T22:32:10.630Z,1761517930.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163926,-0.971267,-0.172535],[0.963948,0.194876,-0.181183],[0.209600,-0.136614,0.968197]]
2025-10-26T22:32:10.652Z,1761517930.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.53 m.
2025-10-26T22:32:10.654Z,1761517930.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.531197 m,
      nav range: 112.346741 m,
      bearing: 70.373103 deg,
      approach rate: -0.616654 m/s,
      LOS rate: -0.025489 deg/s,
      cmd heading: 82.375326 deg,
      new cmd heading: 82.348657 deg.

2025-10-26T22:32:10.672Z,1761517930.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.437255 target range: 123.531197 and range: 124.20 m.
2025-10-26T22:32:10.725Z,1761517930.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518298
2025-10-26T22:32:10.976Z,1761517930.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769630
2025-10-26T22:32:11.076Z,1761517931.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157242,-0.973823,-0.164145],[0.966172,0.186102,-0.178545],[0.204419,-0.130517,0.970143]]
2025-10-26T22:32:11.128Z,1761517931.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.53 m.
2025-10-26T22:32:11.130Z,1761517931.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.531197 m,
      nav range: 112.070808 m,
      bearing: 70.368463 deg,
      approach rate: -0.579741 m/s,
      LOS rate: -0.009772 deg/s,
      cmd heading: 82.348654 deg,
      new cmd heading: 82.334700 deg.

2025-10-26T22:32:11.131Z,1761517931.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.437012 target range: 123.531197 and range: 124.20 m.
2025-10-26T22:32:11.229Z,1761517931.229 [DAT](INFO): DAT read: Rx Time:22:32:09.9550

2025-10-26T22:32:11.229Z,1761517931.229 [DAT](INFO): Rx dataTimestamp_ set to:1761517931.228918
2025-10-26T22:32:11.230Z,1761517931.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023061
2025-10-26T22:32:11.438Z,1761517931.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150960,-0.976137,-0.156104],[0.968250,0.177837,-0.175686],[0.199255,-0.124626,0.971991]]
2025-10-26T22:32:11.466Z,1761517931.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.53 m.
2025-10-26T22:32:11.469Z,1761517931.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.531197 m,
      nav range: 111.874619 m,
      bearing: 70.364447 deg,
      approach rate: -0.579254 m/s,
      LOS rate: -0.011879 deg/s,
      cmd heading: 82.334700 deg,
      new cmd heading: 82.322630 deg.

2025-10-26T22:32:11.470Z,1761517931.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.436801 target range: 123.531197 and range: 124.20 m.
2025-10-26T22:32:11.481Z,1761517931.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273828
2025-10-26T22:32:11.736Z,1761517931.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528528
2025-10-26T22:32:11.850Z,1761517931.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145186,-0.978180,-0.148610],[0.970188,0.170210,-0.172521],[0.194052,-0.119132,0.973731]]
2025-10-26T22:32:11.928Z,1761517931.928 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:11.930Z,1761517931.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.53 m.
2025-10-26T22:32:11.933Z,1761517931.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.531197 m,
      nav range: 111.604942 m,
      bearing: 70.358011 deg,
      approach rate: -0.580892 m/s,
      LOS rate: -0.013897 deg/s,
      cmd heading: 82.322631 deg,
      new cmd heading: 82.303276 deg.

2025-10-26T22:32:11.934Z,1761517931.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.436463 target range: 123.531197 and range: 124.20 m.
2025-10-26T22:32:11.994Z,1761517931.994 [DAT](INFO): DAT read: 22:32:09.9550 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415, 0.20,-0.944,-2.236,-0.436,-0.928, PHS= 0.087,-1.263, 0.448, RAW= 161.6,   9.4, CAL= 161.4,  10.0, ROT= 348.6, -10.0

2025-10-26T22:32:11.997Z,1761517931.997 [DAT](INFO): got valid direction response:
 22:32:09.9550 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415, 0.20,-0.944,-2.236,-0.436,-0.928, PHS= 0.087,-1.263, 0.448, RAW= 161.6,   9.4, CAL= 161.4,  10.0, ROT= 348.6, -10.0

2025-10-26T22:32:11.997Z,1761517931.997 [DAT](INFO): DAT read: Bearing 227.4,  -0.8 (Local)

2025-10-26T22:32:11.998Z,1761517931.998 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.4,  -0.8 (Local)

2025-10-26T22:32:11.999Z,1761517931.999 [DAT](INFO): DAT read: Range 11 to 50 : 122.0 m  (Round-trip  162.7 ms) speed  0.4 m/s

2025-10-26T22:32:11.000Z,1761517932.000 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:32:12.001Z,1761517932.001 [DAT](INFO): direction in FSK: [0.965379,-0.194654,0.173648]
2025-10-26T22:32:12.001Z,1761517932.001 [DAT](INFO): publishing direction and range info
2025-10-26T22:32:12.004Z,1761517932.004 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:32:12.005Z,1761517932.005 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:32:12.005Z,1761517932.005 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:32:12.236Z,1761517932.236 [DAT](INFO): DAT read: user:583>

2025-10-26T22:32:12.237Z,1761517932.237 [DAT](INFO): DAT read: Tx time:22:32:11.3881

2025-10-26T22:32:12.237Z,1761517932.237 [DAT](INFO): Ping request sent.
2025-10-26T22:32:12.237Z,1761517932.237 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:32:12.238Z,1761517932.238 [DAT](INFO): publishing transmit ping time
2025-10-26T22:32:12.238Z,1761517932.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727
2025-10-26T22:32:12.257Z,1761517932.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140232,-0.979464,-0.144860],[0.971956,0.164073,-0.168469],[0.188777,-0.117173,0.975004]]
2025-10-26T22:32:12.379Z,1761517932.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 122.000000 m,
      deltaT: 4.033909 s,
      deltaX: -2.199997 m,
      approachRate: -0.545376 m/s,
      rangeRepo size: 4

2025-10-26T22:32:12.385Z,1761517932.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 121.284424 m,
      bearing: 71.066343 deg,
      lat: 36.779302 deg,
      lon: -121.859477 deg,
      deltaT: 4.033909 s,
      deltaX: -2.246773 m,
      approachRate: -0.556972 m/s,
      posRepo size: 4

2025-10-26T22:32:12.386Z,1761517932.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.28 m.
2025-10-26T22:32:12.393Z,1761517932.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.284424 m,
      nav range: 111.838417 m,
      bearing: 70.446952 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013897 deg/s,
      cmd heading: 82.303274 deg,
      new cmd heading: 82.284597 deg.

2025-10-26T22:32:12.394Z,1761517932.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.436137 target range: 121.284424 and range: 122.00 m.
2025-10-26T22:32:12.489Z,1761517932.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251701
2025-10-26T22:32:12.650Z,1761517932.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136296,-0.980485,-0.141679],[0.973486,0.159076,-0.164378],[0.183708,-0.115518,0.976170]]
2025-10-26T22:32:12.696Z,1761517932.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.28 m.
2025-10-26T22:32:12.700Z,1761517932.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.284424 m,
      nav range: 111.642685 m,
      bearing: 70.446690 deg,
      approach rate: -0.616891 m/s,
      LOS rate: -0.000827 deg/s,
      cmd heading: 82.284600 deg,
      new cmd heading: 82.283813 deg.

2025-10-26T22:32:12.701Z,1761517932.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.436123 target range: 121.284424 and range: 122.00 m.
2025-10-26T22:32:12.741Z,1761517932.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503576
2025-10-26T22:32:12.992Z,1761517932.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754888
2025-10-26T22:32:13.095Z,1761517933.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133176,-0.981099,-0.140390],[0.974841,0.155218,-0.159975],[0.178743,-0.115553,0.977087]]
2025-10-26T22:32:13.154Z,1761517933.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.28 m.
2025-10-26T22:32:13.157Z,1761517933.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.284424 m,
      nav range: 111.408249 m,
      bearing: 70.453911 deg,
      approach rate: -0.511431 m/s,
      LOS rate: 0.015787 deg/s,
      cmd heading: 82.283815 deg,
      new cmd heading: 82.305524 deg.

2025-10-26T22:32:13.158Z,1761517933.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.436502 target range: 121.284424 and range: 122.00 m.
2025-10-26T22:32:13.245Z,1761517933.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006993
2025-10-26T22:32:13.492Z,1761517933.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131207,-0.981297,-0.140858],[0.975936,0.152818,-0.155547],[0.174163,-0.117059,0.977734]]
2025-10-26T22:32:13.497Z,1761517933.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259203
2025-10-26T22:32:13.513Z,1761517933.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.28 m.
2025-10-26T22:32:13.516Z,1761517933.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.284424 m,
      nav range: 111.224457 m,
      bearing: 70.459383 deg,
      approach rate: -0.512322 m/s,
      LOS rate: 0.015279 deg/s,
      cmd heading: 82.305521 deg,
      new cmd heading: 82.321965 deg.

2025-10-26T22:32:13.516Z,1761517933.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.436789 target range: 121.284424 and range: 122.00 m.
2025-10-26T22:32:13.748Z,1761517933.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510968
2025-10-26T22:32:13.891Z,1761517933.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130226,-0.981138,-0.142863],[0.976865,0.151619,-0.150817],[0.169633,-0.119918,0.978184]]
2025-10-26T22:32:13.917Z,1761517933.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.28 m.
2025-10-26T22:32:13.920Z,1761517933.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.284424 m,
      nav range: 111.017242 m,
      bearing: 70.465454 deg,
      approach rate: -0.512415 m/s,
      LOS rate: 0.015041 deg/s,
      cmd heading: 82.321961 deg,
      new cmd heading: 82.340209 deg.

2025-10-26T22:32:13.921Z,1761517933.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.437108 target range: 121.284424 and range: 122.00 m.
2025-10-26T22:32:14.001Z,1761517934.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763146
2025-10-26T22:32:14.252Z,1761517934.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014822
2025-10-26T22:32:14.294Z,1761517934.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129864,-0.980903,-0.144795],[0.977588,0.151069,-0.146628],[0.165702,-0.122508,0.978537]]
2025-10-26T22:32:14.358Z,1761517934.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:14.382Z,1761517934.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.28 m.
2025-10-26T22:32:14.384Z,1761517934.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.284424 m,
      nav range: 110.805222 m,
      bearing: 70.477230 deg,
      approach rate: -0.456309 m/s,
      LOS rate: 0.025391 deg/s,
      cmd heading: 82.340212 deg,
      new cmd heading: 82.375606 deg.

2025-10-26T22:32:14.385Z,1761517934.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.437726 target range: 121.284424 and range: 122.00 m.
2025-10-26T22:32:14.504Z,1761517934.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266848
2025-10-26T22:32:14.699Z,1761517934.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129902,-0.980639,-0.146537],[0.978179,0.150914,-0.142796],[0.162146,-0.124790,0.978844]]
2025-10-26T22:32:14.742Z,1761517934.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.28 m.
2025-10-26T22:32:14.749Z,1761517934.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.284424 m,
      nav range: 110.631828 m,
      bearing: 70.486883 deg,
      approach rate: -0.481562 m/s,
      LOS rate: 0.026853 deg/s,
      cmd heading: 82.375606 deg,
      new cmd heading: 82.404613 deg.

2025-10-26T22:32:14.750Z,1761517934.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.438232 target range: 121.284424 and range: 122.00 m.
2025-10-26T22:32:14.757Z,1761517934.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519008
2025-10-26T22:32:15.012Z,1761517935.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774734
2025-10-26T22:32:15.136Z,1761517935.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130508,-0.980330,-0.148060],[0.978653,0.151293,-0.139097],[0.158761,-0.126746,0.979148]]
2025-10-26T22:32:15.194Z,1761517935.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.28 m.
2025-10-26T22:32:15.201Z,1761517935.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.284424 m,
      nav range: 110.418396 m,
      bearing: 70.500126 deg,
      approach rate: -0.472307 m/s,
      LOS rate: 0.029361 deg/s,
      cmd heading: 82.404614 deg,
      new cmd heading: 82.444418 deg.

2025-10-26T22:32:15.202Z,1761517935.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.438927 target range: 121.284424 and range: 122.00 m.
2025-10-26T22:32:15.261Z,1761517935.261 [DAT](INFO): DAT read: Rx Time:22:32:13.9524

2025-10-26T22:32:15.261Z,1761517935.261 [DAT](INFO): Rx dataTimestamp_ set to:1761517935.260699
2025-10-26T22:32:15.262Z,1761517935.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024035
2025-10-26T22:32:15.512Z,1761517935.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274927
2025-10-26T22:32:15.547Z,1761517935.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131789,-0.980153,-0.148095],[0.979007,0.152131,-0.135651],[0.155488,-0.127109,0.979626]]
2025-10-26T22:32:15.589Z,1761517935.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.28 m.
2025-10-26T22:32:15.592Z,1761517935.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.284424 m,
      nav range: 110.232048 m,
      bearing: 70.511837 deg,
      approach rate: -0.471613 m/s,
      LOS rate: 0.029689 deg/s,
      cmd heading: 82.444420 deg,
      new cmd heading: 82.479613 deg.

2025-10-26T22:32:15.593Z,1761517935.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.439541 target range: 121.284424 and range: 122.00 m.
2025-10-26T22:32:15.771Z,1761517935.771 [DAT](INFO): DAT read: 22:32:13.9524 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 421,-0.38,-1.540,-2.800,-0.944,-1.474, PHS= 0.036,-1.281, 0.486, RAW= 164.2,   9.6, CAL= 164.1,  10.3, ROT= 345.9, -10.3

2025-10-26T22:32:15.773Z,1761517935.773 [DAT](INFO): got valid direction response:
 22:32:13.9524 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 421,-0.38,-1.540,-2.800,-0.944,-1.474, PHS= 0.036,-1.281, 0.486, RAW= 164.2,   9.6, CAL= 164.1,  10.3, ROT= 345.9, -10.3

2025-10-26T22:32:15.773Z,1761517935.773 [DAT](INFO): DAT read: Bearing 229.8,  -5.7 (Local)

2025-10-26T22:32:15.774Z,1761517935.774 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.8,  -5.7 (Local)

2025-10-26T22:32:15.775Z,1761517935.775 [DAT](INFO): DAT read: Range 11 to 50 : 120.0 m  (Round-trip  160.1 ms) speed  0.6 m/s

2025-10-26T22:32:15.776Z,1761517935.776 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:32:15.777Z,1761517935.777 [DAT](INFO): direction in FSK: [0.954243,-0.239689,0.178802]
2025-10-26T22:32:15.777Z,1761517935.777 [DAT](INFO): publishing direction and range info
2025-10-26T22:32:15.782Z,1761517935.782 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:32:15.782Z,1761517935.782 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:32:15.782Z,1761517935.782 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:32:15.950Z,1761517935.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133151,-0.979895,-0.148584],[0.979275,0.153161,-0.132525],[0.152618,-0.127859,0.979980]]
2025-10-26T22:32:15.992Z,1761517935.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.000000 m,
      deltaT: 3.780690 s,
      deltaX: -2.000000 m,
      approachRate: -0.529004 m/s,
      rangeRepo size: 4

2025-10-26T22:32:15.994Z,1761517935.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.286888 m,
      bearing: 69.009056 deg,
      lat: 36.779302 deg,
      lon: -121.859471 deg,
      deltaT: 3.780690 s,
      deltaX: -1.997536 m,
      approachRate: -0.528352 m/s,
      posRepo size: 4

2025-10-26T22:32:15.995Z,1761517935.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.29 m.
2025-10-26T22:32:15.998Z,1761517935.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.286888 m,
      nav range: 110.528763 m,
      bearing: 70.615675 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.029689 deg/s,
      cmd heading: 82.479616 deg,
      new cmd heading: 82.515456 deg.

2025-10-26T22:32:15.998Z,1761517935.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.440166 target range: 119.286888 and range: 120.00 m.
2025-10-26T22:32:16.017Z,1761517936.017 [DAT](INFO): DAT read: user:584>

2025-10-26T22:32:16.018Z,1761517936.018 [DAT](INFO): DAT read: Tx time:22:32:15.1381

2025-10-26T22:32:16.018Z,1761517936.018 [DAT](INFO): Ping request sent.
2025-10-26T22:32:16.019Z,1761517936.019 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:32:16.019Z,1761517936.019 [DAT](INFO): publishing transmit ping time
2025-10-26T22:32:16.032Z,1761517936.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.013177
2025-10-26T22:32:16.268Z,1761517936.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249807
2025-10-26T22:32:16.354Z,1761517936.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134778,-0.979355,-0.150660],[0.979447,0.154702,-0.129428],[0.150063,-0.130119,0.980077]]
2025-10-26T22:32:16.404Z,1761517936.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:16.406Z,1761517936.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.29 m.
2025-10-26T22:32:16.409Z,1761517936.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.286888 m,
      nav range: 110.326546 m,
      bearing: 70.627605 deg,
      approach rate: -0.487146 m/s,
      LOS rate: 0.028793 deg/s,
      cmd heading: 82.515454 deg,
      new cmd heading: 82.551311 deg.

2025-10-26T22:32:16.410Z,1761517936.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.440792 target range: 119.286888 and range: 120.00 m.
2025-10-26T22:32:16.520Z,1761517936.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501631
2025-10-26T22:32:16.773Z,1761517936.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754039
2025-10-26T22:32:16.796Z,1761517936.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.29 m.
2025-10-26T22:32:16.799Z,1761517936.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.286888 m,
      nav range: 110.138344 m,
      bearing: 70.638749 deg,
      approach rate: -0.483025 m/s,
      LOS rate: 0.028649 deg/s,
      cmd heading: 82.551312 deg,
      new cmd heading: 82.584800 deg.

2025-10-26T22:32:16.825Z,1761517936.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.441377 target range: 119.286888 and range: 120.00 m.
2025-10-26T22:32:17.027Z,1761517937.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008416
2025-10-26T22:32:17.175Z,1761517937.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137674,-0.978252,-0.155139],[0.979747,0.157495,-0.123661],[0.145405,-0.134972,0.980123]]
2025-10-26T22:32:17.212Z,1761517937.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.29 m.
2025-10-26T22:32:17.215Z,1761517937.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.286888 m,
      nav range: 109.929756 m,
      bearing: 70.643673 deg,
      approach rate: -0.501175 m/s,
      LOS rate: 0.011853 deg/s,
      cmd heading: 82.584801 deg,
      new cmd heading: 82.599601 deg.

2025-10-26T22:32:17.216Z,1761517937.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.441635 target range: 119.286888 and range: 120.00 m.
2025-10-26T22:32:17.277Z,1761517937.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258661
2025-10-26T22:32:17.528Z,1761517937.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509768
2025-10-26T22:32:17.567Z,1761517937.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139248,-0.977419,-0.158941],[0.979856,0.159201,-0.120569],[0.143150,-0.138951,0.979898]]
2025-10-26T22:32:17.605Z,1761517937.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.29 m.
2025-10-26T22:32:17.609Z,1761517937.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.286888 m,
      nav range: 109.737106 m,
      bearing: 70.648361 deg,
      approach rate: -0.490098 m/s,
      LOS rate: 0.011948 deg/s,
      cmd heading: 82.599602 deg,
      new cmd heading: 82.613691 deg.

2025-10-26T22:32:17.610Z,1761517937.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.441881 target range: 119.286888 and range: 120.00 m.
2025-10-26T22:32:17.780Z,1761517937.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761741
2025-10-26T22:32:17.970Z,1761517937.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140577,-0.976853,-0.161234],[0.980007,0.160451,-0.117655],[0.140802,-0.141470,0.979878]]
2025-10-26T22:32:17.989Z,1761517937.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.29 m.
2025-10-26T22:32:18.008Z,1761517938.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.286888 m,
      nav range: 109.540825 m,
      bearing: 70.653263 deg,
      approach rate: -0.511423 m/s,
      LOS rate: 0.012796 deg/s,
      cmd heading: 82.613693 deg,
      new cmd heading: 82.628426 deg.

2025-10-26T22:32:18.009Z,1761517938.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.442138 target range: 119.286888 and range: 120.00 m.
2025-10-26T22:32:18.032Z,1761517938.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013838
2025-10-26T22:32:18.284Z,1761517938.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265823
2025-10-26T22:32:18.396Z,1761517938.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141061,-0.976644,-0.162075],[0.980266,0.160692,-0.115141],[0.138496,-0.142634,0.980038]]
2025-10-26T22:32:18.441Z,1761517938.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:18.443Z,1761517938.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.29 m.
2025-10-26T22:32:18.446Z,1761517938.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.286888 m,
      nav range: 109.287636 m,
      bearing: 70.652299 deg,
      approach rate: -0.557702 m/s,
      LOS rate: -0.002128 deg/s,
      cmd heading: 82.628425 deg,
      new cmd heading: 82.625527 deg.

2025-10-26T22:32:18.447Z,1761517938.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.442088 target range: 119.286888 and range: 120.00 m.
2025-10-26T22:32:18.537Z,1761517938.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517907
2025-10-26T22:32:18.778Z,1761517938.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141282,-0.976507,-0.162706],[0.980545,0.160659,-0.112783],[0.136274,-0.143607,0.980207]]
2025-10-26T22:32:18.788Z,1761517938.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769794
2025-10-26T22:32:18.819Z,1761517938.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.29 m.
2025-10-26T22:32:18.837Z,1761517938.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.286888 m,
      nav range: 109.087120 m,
      bearing: 70.651536 deg,
      approach rate: -0.534337 m/s,
      LOS rate: -0.002038 deg/s,
      cmd heading: 82.625529 deg,
      new cmd heading: 82.623234 deg.

2025-10-26T22:32:18.838Z,1761517938.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.442047 target range: 119.286888 and range: 120.00 m.
2025-10-26T22:32:19.040Z,1761517939.040 [DAT](INFO): DAT read: Rx Time:22:32:17.6996

2025-10-26T22:32:19.041Z,1761517939.041 [DAT](INFO): Rx dataTimestamp_ set to:1761517939.040635
2025-10-26T22:32:19.041Z,1761517939.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022831
2025-10-26T22:32:19.204Z,1761517939.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141025,-0.976354,-0.163842],[0.980839,0.160261,-0.110774],[0.134413,-0.145080,0.980247]]
2025-10-26T22:32:19.250Z,1761517939.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.29 m.
2025-10-26T22:32:19.253Z,1761517939.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.286888 m,
      nav range: 108.822220 m,
      bearing: 70.644129 deg,
      approach rate: -0.614350 m/s,
      LOS rate: -0.017220 deg/s,
      cmd heading: 82.623234 deg,
      new cmd heading: 82.600959 deg.

2025-10-26T22:32:19.254Z,1761517939.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.441659 target range: 119.286888 and range: 120.00 m.
2025-10-26T22:32:19.293Z,1761517939.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274508
2025-10-26T22:32:19.550Z,1761517939.550 [DAT](INFO): DAT read: 22:32:17.6996 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 407,-0.11, 1.042,-0.243, 1.641, 1.126, PHS= 0.018,-1.324, 0.471, RAW= 164.0,  10.4, CAL= 164.0,  11.4, ROT= 346.0, -11.4

2025-10-26T22:32:19.551Z,1761517939.551 [DAT](INFO): got valid direction response:
 22:32:17.6996 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 407,-0.11, 1.042,-0.243, 1.641, 1.126, PHS= 0.018,-1.324, 0.471, RAW= 164.0,  10.4, CAL= 164.0,  11.4, ROT= 346.0, -11.4

2025-10-26T22:32:19.552Z,1761517939.552 [DAT](INFO): DAT read: Bearing 231.0,  -7.1 (Local)

2025-10-26T22:32:19.552Z,1761517939.552 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.0,  -7.1 (Local)

2025-10-26T22:32:19.554Z,1761517939.554 [DAT](INFO): DAT read: Range 11 to 50 : 117.9 m  (Round-trip  157.2 ms) speed  0.5 m/s

2025-10-26T22:32:19.554Z,1761517939.554 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:32:19.555Z,1761517939.555 [DAT](INFO): direction in FSK: [0.951153,-0.237149,0.197657]
2025-10-26T22:32:19.556Z,1761517939.556 [DAT](INFO): publishing direction and range info
2025-10-26T22:32:19.559Z,1761517939.559 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:32:19.559Z,1761517939.559 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:32:19.559Z,1761517939.559 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:32:19.586Z,1761517939.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140079,-0.976484,-0.163882],[0.981207,0.159084,-0.109204],[0.132707,-0.145505,0.980417]]
2025-10-26T22:32:19.651Z,1761517939.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 117.900002 m,
      deltaT: 3.779038 s,
      deltaX: -2.099998 m,
      approachRate: -0.555697 m/s,
      rangeRepo size: 4

2025-10-26T22:32:19.665Z,1761517939.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 117.199127 m,
      bearing: 69.175502 deg,
      lat: 36.779305 deg,
      lon: -121.859471 deg,
      deltaT: 3.779038 s,
      deltaX: -2.087761 m,
      approachRate: -0.552458 m/s,
      posRepo size: 4

2025-10-26T22:32:19.666Z,1761517939.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.20 m.
2025-10-26T22:32:19.673Z,1761517939.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.199127 m,
      nav range: 108.723267 m,
      bearing: 70.453165 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017220 deg/s,
      cmd heading: 82.600961 deg,
      new cmd heading: 82.580249 deg.

2025-10-26T22:32:19.674Z,1761517939.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.441297 target range: 117.199127 and range: 117.90 m.
2025-10-26T22:32:19.797Z,1761517939.797 [DAT](INFO): DAT read: user:585>

2025-10-26T22:32:19.797Z,1761517939.797 [DAT](INFO): DAT read: Tx time:22:32:18.9382

2025-10-26T22:32:19.798Z,1761517939.798 [DAT](INFO): Ping request sent.
2025-10-26T22:32:19.798Z,1761517939.798 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:32:19.798Z,1761517939.798 [DAT](INFO): publishing transmit ping time
2025-10-26T22:32:19.798Z,1761517939.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-10-26T22:32:19.990Z,1761517939.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138703,-0.976610,-0.164298],[0.981636,0.157519,-0.107607],[0.130970,-0.146356,0.980524]]
2025-10-26T22:32:20.017Z,1761517940.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.20 m.
2025-10-26T22:32:20.020Z,1761517940.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.199127 m,
      nav range: 108.491882 m,
      bearing: 70.445930 deg,
      approach rate: -0.630468 m/s,
      LOS rate: -0.019755 deg/s,
      cmd heading: 82.580252 deg,
      new cmd heading: 82.558501 deg.

2025-10-26T22:32:20.021Z,1761517940.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.440918 target range: 117.199127 and range: 117.90 m.
2025-10-26T22:32:20.048Z,1761517940.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250526
2025-10-26T22:32:20.300Z,1761517940.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502657
2025-10-26T22:32:20.454Z,1761517940.454 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:20.456Z,1761517940.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.20 m.
2025-10-26T22:32:20.459Z,1761517940.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.199127 m,
      nav range: 108.213348 m,
      bearing: 70.430975 deg,
      approach rate: -0.635091 m/s,
      LOS rate: -0.034188 deg/s,
      cmd heading: 82.558505 deg,
      new cmd heading: 82.513523 deg.

2025-10-26T22:32:20.460Z,1761517940.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.440133 target range: 117.199127 and range: 117.90 m.
2025-10-26T22:32:20.553Z,1761517940.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755155
2025-10-26T22:32:20.799Z,1761517940.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134416,-0.977159,-0.164601],[0.982658,0.152854,-0.104969],[0.127731,-0.147638,0.980759]]
2025-10-26T22:32:20.806Z,1761517940.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007809
2025-10-26T22:32:20.851Z,1761517940.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.20 m.
2025-10-26T22:32:20.854Z,1761517940.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.199127 m,
      nav range: 107.961891 m,
      bearing: 70.416793 deg,
      approach rate: -0.636905 m/s,
      LOS rate: -0.036002 deg/s,
      cmd heading: 82.513521 deg,
      new cmd heading: 82.470879 deg.

2025-10-26T22:32:20.854Z,1761517940.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.439388 target range: 117.199127 and range: 117.90 m.
2025-10-26T22:32:21.056Z,1761517941.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258526
2025-10-26T22:32:21.239Z,1761517941.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132524,-0.977661,-0.163144],[0.983126,0.150595,-0.103851],[0.126100,-0.146628,0.981121]]
2025-10-26T22:32:21.288Z,1761517941.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.20 m.
2025-10-26T22:32:21.290Z,1761517941.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.199127 m,
      nav range: 107.684700 m,
      bearing: 70.400425 deg,
      approach rate: -0.634820 m/s,
      LOS rate: -0.037583 deg/s,
      cmd heading: 82.470880 deg,
      new cmd heading: 82.421649 deg.

2025-10-26T22:32:21.291Z,1761517941.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.438529 target range: 117.199127 and range: 117.90 m.
2025-10-26T22:32:21.309Z,1761517941.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511724
2025-10-26T22:32:21.561Z,1761517941.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762912
2025-10-26T22:32:21.642Z,1761517941.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130637,-0.977896,-0.163261],[0.983588,0.148505,-0.102470],[0.124450,-0.147195,0.981247]]
2025-10-26T22:32:21.741Z,1761517941.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.20 m.
2025-10-26T22:32:21.745Z,1761517941.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.199127 m,
      nav range: 107.391426 m,
      bearing: 70.382699 deg,
      approach rate: -0.646123 m/s,
      LOS rate: -0.039160 deg/s,
      cmd heading: 82.421648 deg,
      new cmd heading: 82.368325 deg.

2025-10-26T22:32:21.746Z,1761517941.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.437598 target range: 117.199127 and range: 117.90 m.
2025-10-26T22:32:21.817Z,1761517941.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018870
2025-10-26T22:32:22.064Z,1761517942.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266526
2025-10-26T22:32:22.069Z,1761517942.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128911,-0.978150,-0.163111],[0.984043,0.146522,-0.100950],[0.122643,-0.147494,0.981430]]
2025-10-26T22:32:22.123Z,1761517942.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.20 m.
2025-10-26T22:32:22.126Z,1761517942.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.199127 m,
      nav range: 107.163849 m,
      bearing: 70.368652 deg,
      approach rate: -0.602243 m/s,
      LOS rate: -0.037251 deg/s,
      cmd heading: 82.368325 deg,
      new cmd heading: 82.326095 deg.

2025-10-26T22:32:22.131Z,1761517942.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.436861 target range: 117.199127 and range: 117.90 m.
2025-10-26T22:32:22.318Z,1761517942.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519872
2025-10-26T22:32:22.472Z,1761517942.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127097,-0.978568,-0.162020],[0.984465,0.144401,-0.099885],[0.121140,-0.146808,0.981719]]
2025-10-26T22:32:22.534Z,1761517942.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:22.537Z,1761517942.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.20 m.
2025-10-26T22:32:22.539Z,1761517942.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.199127 m,
      nav range: 106.885193 m,
      bearing: 70.355203 deg,
      approach rate: -0.667494 m/s,
      LOS rate: -0.032301 deg/s,
      cmd heading: 82.326094 deg,
      new cmd heading: 82.285641 deg.

2025-10-26T22:32:22.540Z,1761517942.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.436155 target range: 117.199127 and range: 117.90 m.
2025-10-26T22:32:22.569Z,1761517942.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770982
2025-10-26T22:32:22.822Z,1761517942.822 [DAT](INFO): DAT read: Rx Time:22:32:21.4965

2025-10-26T22:32:22.823Z,1761517942.823 [DAT](INFO): Rx dataTimestamp_ set to:1761517942.822340
2025-10-26T22:32:22.824Z,1761517942.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026068
2025-10-26T22:32:22.875Z,1761517942.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125562,-0.978880,-0.161330],[0.984844,0.142600,-0.098734],[0.119655,-0.146487,0.981949]]
2025-10-26T22:32:22.912Z,1761517942.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.20 m.
2025-10-26T22:32:22.915Z,1761517942.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.199127 m,
      nav range: 106.647606 m,
      bearing: 70.343474 deg,
      approach rate: -0.632496 m/s,
      LOS rate: -0.031295 deg/s,
      cmd heading: 82.285639 deg,
      new cmd heading: 82.250372 deg.

2025-10-26T22:32:22.916Z,1761517942.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.435540 target range: 117.199127 and range: 117.90 m.
2025-10-26T22:32:23.072Z,1761517943.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274500
2025-10-26T22:32:23.336Z,1761517943.336 [DAT](INFO): DAT read: 22:32:21.4965 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 407, 0.33,-0.395,-1.661, 0.209,-0.374, PHS= 0.081,-1.241, 0.539, RAW= 164.3,   7.8, CAL= 163.9,   7.9, ROT= 346.1,  -7.9

2025-10-26T22:32:23.337Z,1761517943.337 [DAT](INFO): got valid direction response:
 22:32:21.4965 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 407, 0.33,-0.395,-1.661, 0.209,-0.374, PHS= 0.081,-1.241, 0.539, RAW= 164.3,   7.8, CAL= 163.9,   7.9, ROT= 346.1,  -7.9

2025-10-26T22:32:23.338Z,1761517943.338 [DAT](INFO): DAT read: Bearing 227.1,  -7.9 (Local)

2025-10-26T22:32:23.338Z,1761517943.338 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.1,  -7.9 (Local)

2025-10-26T22:32:23.340Z,1761517943.340 [DAT](INFO): DAT read: Range 11 to 50 : 115.5 m  (Round-trip  154.1 ms) speed  0.4 m/s

2025-10-26T22:32:23.341Z,1761517943.341 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:32:23.342Z,1761517943.342 [DAT](INFO): direction in FSK: [0.961504,-0.237948,0.137445]
2025-10-26T22:32:23.342Z,1761517943.342 [DAT](INFO): publishing direction and range info
2025-10-26T22:32:23.346Z,1761517943.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124425,-0.979280,-0.159779],[0.985178,0.141092,-0.097556],[0.118078,-0.145272,0.982320]]
2025-10-26T22:32:23.353Z,1761517943.353 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:32:23.354Z,1761517943.354 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:32:23.354Z,1761517943.354 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:32:23.513Z,1761517943.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 115.500000 m,
      deltaT: 3.780973 s,
      deltaX: -2.400002 m,
      approachRate: -0.634758 m/s,
      rangeRepo size: 4

2025-10-26T22:32:23.514Z,1761517943.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 114.814682 m,
      bearing: 69.830431 deg,
      lat: 36.779325 deg,
      lon: -121.859471 deg,
      deltaT: 3.780973 s,
      deltaX: -2.384445 m,
      approachRate: -0.630643 m/s,
      posRepo size: 4

2025-10-26T22:32:23.516Z,1761517943.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.81 m.
2025-10-26T22:32:23.518Z,1761517943.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.814682 m,
      nav range: 107.051781 m,
      bearing: 69.226265 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.031295 deg/s,
      cmd heading: 82.250374 deg,
      new cmd heading: 82.194089 deg.

2025-10-26T22:32:23.527Z,1761517943.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.434557 target range: 114.814682 and range: 115.50 m.
2025-10-26T22:32:23.577Z,1761517943.577 [DAT](INFO): DAT read: user:586>

2025-10-26T22:32:23.578Z,1761517943.578 [DAT](INFO): DAT read: Tx time:22:32:22.6882

2025-10-26T22:32:23.578Z,1761517943.578 [DAT](INFO): Ping request sent.
2025-10-26T22:32:23.579Z,1761517943.579 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:32:23.579Z,1761517943.579 [DAT](INFO): publishing transmit ping time
2025-10-26T22:32:23.580Z,1761517943.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001147
2025-10-26T22:32:23.829Z,1761517943.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250683
2025-10-26T22:32:23.858Z,1761517943.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123636,-0.979304,-0.160240],[0.985678,0.139858,-0.094221],[0.114682,-0.146296,0.982571]]
2025-10-26T22:32:23.877Z,1761517943.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.81 m.
2025-10-26T22:32:23.879Z,1761517943.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.814682 m,
      nav range: 106.816574 m,
      bearing: 69.215548 deg,
      approach rate: -0.644965 m/s,
      LOS rate: -0.029452 deg/s,
      cmd heading: 82.194087 deg,
      new cmd heading: 82.161865 deg.

2025-10-26T22:32:23.880Z,1761517943.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.433995 target range: 114.814682 and range: 115.50 m.
2025-10-26T22:32:24.081Z,1761517944.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501936
2025-10-26T22:32:24.262Z,1761517944.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124257,-0.979057,-0.161270],[0.985839,0.140258,-0.091918],[0.112613,-0.147565,0.982620]]
2025-10-26T22:32:24.322Z,1761517944.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.81 m.
2025-10-26T22:32:24.345Z,1761517944.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.765930
2025-10-26T22:32:24.386Z,1761517944.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.814682 m,
      nav range: 106.569534 m,
      bearing: 69.209243 deg,
      approach rate: -0.555066 m/s,
      LOS rate: -0.014201 deg/s,
      cmd heading: 82.161862 deg,
      new cmd heading: 82.142900 deg.

2025-10-26T22:32:24.386Z,1761517944.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.433664 target range: 114.814682 and range: 115.50 m.
2025-10-26T22:32:24.597Z,1761517944.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.018129
2025-10-26T22:32:24.694Z,1761517944.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125186,-0.979057,-0.160546],[0.985957,0.140795,-0.089809],[0.110532,-0.147049,0.982934]]
2025-10-26T22:32:24.719Z,1761517944.719 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:24.722Z,1761517944.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.81 m.
2025-10-26T22:32:24.726Z,1761517944.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.814682 m,
      nav range: 106.342094 m,
      bearing: 69.203517 deg,
      approach rate: -0.568124 m/s,
      LOS rate: -0.014331 deg/s,
      cmd heading: 82.142901 deg,
      new cmd heading: 82.125689 deg.

2025-10-26T22:32:24.728Z,1761517944.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.433364 target range: 114.814682 and range: 115.50 m.
2025-10-26T22:32:24.850Z,1761517944.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.271070
2025-10-26T22:32:25.097Z,1761517945.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126668,-0.979094,-0.159155],[0.986018,0.141793,-0.087538],[0.108275,-0.145842,0.983365]]
2025-10-26T22:32:25.100Z,1761517945.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.521856
2025-10-26T22:32:25.180Z,1761517945.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.81 m.
2025-10-26T22:32:25.182Z,1761517945.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.814682 m,
      nav range: 106.080772 m,
      bearing: 69.197110 deg,
      approach rate: -0.570649 m/s,
      LOS rate: -0.014027 deg/s,
      cmd heading: 82.125689 deg,
      new cmd heading: 82.106418 deg.

2025-10-26T22:32:25.184Z,1761517945.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.433027 target range: 114.814682 and range: 115.50 m.
2025-10-26T22:32:25.352Z,1761517945.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.773807
2025-10-26T22:32:25.503Z,1761517945.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129001,-0.978784,-0.159186],[0.985982,0.143732,-0.084743],[0.105826,-0.146022,0.983605]]
2025-10-26T22:32:25.591Z,1761517945.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.81 m.
2025-10-26T22:32:25.594Z,1761517945.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.814682 m,
      nav range: 105.880608 m,
      bearing: 69.198286 deg,
      approach rate: -0.491210 m/s,
      LOS rate: 0.002891 deg/s,
      cmd heading: 82.106421 deg,
      new cmd heading: 82.109956 deg.

2025-10-26T22:32:25.595Z,1761517945.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.433089 target range: 114.814682 and range: 115.50 m.
2025-10-26T22:32:25.605Z,1761517945.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026107
2025-10-26T22:32:25.856Z,1761517945.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277790
2025-10-26T22:32:25.906Z,1761517945.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131538,-0.978453,-0.159145],[0.985910,0.145860,-0.081893],[0.103341,-0.146130,0.983853]]
2025-10-26T22:32:25.955Z,1761517945.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.81 m.
2025-10-26T22:32:25.958Z,1761517945.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.814682 m,
      nav range: 105.693665 m,
      bearing: 69.199639 deg,
      approach rate: -0.508988 m/s,
      LOS rate: 0.003691 deg/s,
      cmd heading: 82.109959 deg,
      new cmd heading: 82.114027 deg.

2025-10-26T22:32:25.959Z,1761517945.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.433160 target range: 114.814682 and range: 115.50 m.
2025-10-26T22:32:26.108Z,1761517946.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529704
2025-10-26T22:32:26.332Z,1761517946.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133973,-0.977673,-0.161882],[0.985828,0.148129,-0.078742],[0.100964,-0.149039,0.983663]]
2025-10-26T22:32:26.360Z,1761517946.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781888
2025-10-26T22:32:26.424Z,1761517946.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.81 m.
2025-10-26T22:32:26.427Z,1761517946.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.814682 m,
      nav range: 105.475662 m,
      bearing: 69.207127 deg,
      approach rate: -0.464499 m/s,
      LOS rate: 0.015988 deg/s,
      cmd heading: 82.114023 deg,
      new cmd heading: 82.136534 deg.

2025-10-26T22:32:26.432Z,1761517946.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.433553 target range: 114.814682 and range: 115.50 m.
2025-10-26T22:32:26.612Z,1761517946.612 [DAT](INFO): DAT read: Rx Time:22:32:25.2441

2025-10-26T22:32:26.613Z,1761517946.613 [DAT](INFO): Rx dataTimestamp_ set to:1761517946.612554
2025-10-26T22:32:26.613Z,1761517946.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034781
2025-10-26T22:32:26.720Z,1761517946.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136314,-0.977034,-0.163779],[0.985748,0.150223,-0.075721],[0.098585,-0.151123,0.983587]]
2025-10-26T22:32:26.753Z,1761517946.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:26.755Z,1761517946.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.81 m.
2025-10-26T22:32:26.758Z,1761517946.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.814682 m,
      nav range: 105.313644 m,
      bearing: 69.212911 deg,
      approach rate: -0.489208 m/s,
      LOS rate: 0.017491 deg/s,
      cmd heading: 82.136535 deg,
      new cmd heading: 82.153913 deg.

2025-10-26T22:32:26.759Z,1761517946.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.433856 target range: 114.814682 and range: 115.50 m.
2025-10-26T22:32:26.869Z,1761517946.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289985
2025-10-26T22:32:27.118Z,1761517947.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138334,-0.976507,-0.165219],[0.985670,0.152007,-0.073138],[0.096534,-0.152733,0.983541]]
2025-10-26T22:32:27.126Z,1761517947.126 [DAT](INFO): DAT read: 22:32:25.2441 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 415,-0.10,-1.377,-2.636,-0.774,-1.296, PHS= 0.021,-1.296, 0.478, RAW= 164.4,  10.0, CAL= 164.3,  11.0, ROT= 345.7, -11.0

2025-10-26T22:32:27.127Z,1761517947.127 [DAT](INFO): got valid direction response:
 22:32:25.2441 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 415,-0.10,-1.377,-2.636,-0.774,-1.296, PHS= 0.021,-1.296, 0.478, RAW= 164.4,  10.0, CAL= 164.3,  11.0, ROT= 345.7, -11.0

2025-10-26T22:32:27.128Z,1761517947.128 [DAT](INFO): DAT read: Bearing 229.2,  -9.7 (Local)

2025-10-26T22:32:27.128Z,1761517947.128 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.2,  -9.7 (Local)

2025-10-26T22:32:27.129Z,1761517947.129 [DAT](INFO): DAT read: Range 11 to 50 : 113.7 m  (Round-trip  151.7 ms) speed  0.4 m/s

2025-10-26T22:32:27.130Z,1761517947.130 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:32:27.131Z,1761517947.131 [DAT](INFO): direction in FSK: [0.951212,-0.242461,0.190809]
2025-10-26T22:32:27.131Z,1761517947.131 [DAT](INFO): publishing direction and range info
2025-10-26T22:32:27.135Z,1761517947.135 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:32:27.135Z,1761517947.135 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:32:27.135Z,1761517947.135 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:32:27.229Z,1761517947.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 113.699997 m,
      deltaT: 3.794984 s,
      deltaX: -1.800003 m,
      approachRate: -0.474311 m/s,
      rangeRepo size: 4

2025-10-26T22:32:27.236Z,1761517947.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 113.025368 m,
      bearing: 69.201568 deg,
      lat: 36.779328 deg,
      lon: -121.859466 deg,
      deltaT: 3.794984 s,
      deltaX: -1.789314 m,
      approachRate: -0.471495 m/s,
      posRepo size: 4

2025-10-26T22:32:27.237Z,1761517947.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.03 m.
2025-10-26T22:32:27.244Z,1761517947.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.025368 m,
      nav range: 105.680283 m,
      bearing: 69.111547 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.017491 deg/s,
      cmd heading: 82.153911 deg,
      new cmd heading: 82.178733 deg.

2025-10-26T22:32:27.245Z,1761517947.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.434289 target range: 113.025368 and range: 113.70 m.
2025-10-26T22:32:27.374Z,1761517947.374 [DAT](INFO): DAT read: user:587>

2025-10-26T22:32:27.375Z,1761517947.375 [DAT](INFO): DAT read: Tx time:22:32:26.4882

2025-10-26T22:32:27.381Z,1761517947.381 [DAT](INFO): Ping request sent.
2025-10-26T22:32:27.381Z,1761517947.381 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:32:27.381Z,1761517947.381 [DAT](INFO): publishing transmit ping time
2025-10-26T22:32:27.382Z,1761517947.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006547
2025-10-26T22:32:27.603Z,1761517947.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140633,-0.975850,-0.167148],[0.985533,0.154109,-0.070531],[0.094587,-0.154811,0.983406]]
2025-10-26T22:32:27.624Z,1761517947.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249149
2025-10-26T22:32:27.656Z,1761517947.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.03 m.
2025-10-26T22:32:27.659Z,1761517947.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.025368 m,
      nav range: 105.463669 m,
      bearing: 69.119948 deg,
      approach rate: -0.506546 m/s,
      LOS rate: 0.019686 deg/s,
      cmd heading: 82.178732 deg,
      new cmd heading: 82.203988 deg.

2025-10-26T22:32:27.660Z,1761517947.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.434730 target range: 113.025368 and range: 113.70 m.
2025-10-26T22:32:27.877Z,1761517947.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501252
2025-10-26T22:32:28.008Z,1761517948.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142218,-0.975271,-0.169174],[0.985461,0.155556,-0.068326],[0.092953,-0.156997,0.983215]]
2025-10-26T22:32:28.027Z,1761517948.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.03 m.
2025-10-26T22:32:28.030Z,1761517948.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.025368 m,
      nav range: 105.292091 m,
      bearing: 69.126763 deg,
      approach rate: -0.462383 m/s,
      LOS rate: 0.018396 deg/s,
      cmd heading: 82.203990 deg,
      new cmd heading: 82.224469 deg.

2025-10-26T22:32:28.032Z,1761517948.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.435088 target range: 113.025368 and range: 113.70 m.
2025-10-26T22:32:28.129Z,1761517948.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753564
2025-10-26T22:32:28.388Z,1761517948.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.012337
2025-10-26T22:32:28.458Z,1761517948.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143880,-0.974978,-0.169459],[0.985291,0.157093,-0.067263],[0.092201,-0.157289,0.983239]]
2025-10-26T22:32:28.536Z,1761517948.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.03 m.
2025-10-26T22:32:28.547Z,1761517948.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.025368 m,
      nav range: 105.067329 m,
      bearing: 69.135793 deg,
      approach rate: -0.441219 m/s,
      LOS rate: 0.017765 deg/s,
      cmd heading: 82.224467 deg,
      new cmd heading: 82.251617 deg.

2025-10-26T22:32:28.548Z,1761517948.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.435562 target range: 113.025368 and range: 113.70 m.
2025-10-26T22:32:28.642Z,1761517948.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266266
2025-10-26T22:32:28.880Z,1761517948.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146097,-0.974964,-0.167631],[0.985103,0.158915,-0.065712],[0.090706,-0.155533,0.983657]]
2025-10-26T22:32:28.892Z,1761517948.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517172
2025-10-26T22:32:28.902Z,1761517948.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:28.904Z,1761517948.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.03 m.
2025-10-26T22:32:28.907Z,1761517948.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.025368 m,
      nav range: 104.888222 m,
      bearing: 69.143237 deg,
      approach rate: -0.487584 m/s,
      LOS rate: 0.020299 deg/s,
      cmd heading: 82.251617 deg,
      new cmd heading: 82.273987 deg.

2025-10-26T22:32:28.908Z,1761517948.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.435952 target range: 113.025368 and range: 113.70 m.
2025-10-26T22:32:29.145Z,1761517949.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769649
2025-10-26T22:32:29.345Z,1761517949.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148123,-0.975127,-0.164882],[0.984927,0.160511,-0.064465],[0.089327,-0.152848,0.984204]]
2025-10-26T22:32:29.396Z,1761517949.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021108
2025-10-26T22:32:29.401Z,1761517949.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.03 m.
2025-10-26T22:32:29.408Z,1761517949.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.025368 m,
      nav range: 104.655731 m,
      bearing: 69.150306 deg,
      approach rate: -0.467073 m/s,
      LOS rate: 0.014233 deg/s,
      cmd heading: 82.273986 deg,
      new cmd heading: 82.295240 deg.

2025-10-26T22:32:29.409Z,1761517949.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.436323 target range: 113.025368 and range: 113.70 m.
2025-10-26T22:32:29.648Z,1761517949.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273173
2025-10-26T22:32:29.731Z,1761517949.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149955,-0.975235,-0.162575],[0.984783,0.161939,-0.063080],[0.087845,-0.150642,0.984678]]
2025-10-26T22:32:29.767Z,1761517949.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.03 m.
2025-10-26T22:32:29.774Z,1761517949.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.025368 m,
      nav range: 104.475929 m,
      bearing: 69.155982 deg,
      approach rate: -0.492179 m/s,
      LOS rate: 0.015564 deg/s,
      cmd heading: 82.295242 deg,
      new cmd heading: 82.312299 deg.

2025-10-26T22:32:29.775Z,1761517949.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.436621 target range: 113.025368 and range: 113.70 m.
2025-10-26T22:32:29.901Z,1761517949.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525768
2025-10-26T22:32:30.152Z,1761517950.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777099
2025-10-26T22:32:30.173Z,1761517950.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.03 m.
2025-10-26T22:32:30.176Z,1761517950.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.025368 m,
      nav range: 104.270500 m,
      bearing: 69.162491 deg,
      approach rate: -0.505683 m/s,
      LOS rate: 0.016055 deg/s,
      cmd heading: 82.312297 deg,
      new cmd heading: 82.331863 deg.

2025-10-26T22:32:30.177Z,1761517950.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.436962 target range: 113.025368 and range: 113.70 m.
2025-10-26T22:32:30.405Z,1761517950.405 [DAT](INFO): DAT read: Rx Time:22:32:29.0415

2025-10-26T22:32:30.405Z,1761517950.405 [DAT](INFO): Rx dataTimestamp_ set to:1761517950.404705
2025-10-26T22:32:30.406Z,1761517950.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030251
2025-10-26T22:32:30.531Z,1761517950.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153205,-0.974656,-0.163013],[0.984519,0.164759,-0.059807],[0.085149,-0.151326,0.984810]]
2025-10-26T22:32:30.594Z,1761517950.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.03 m.
2025-10-26T22:32:30.601Z,1761517950.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.025368 m,
      nav range: 104.064049 m,
      bearing: 69.164170 deg,
      approach rate: -0.490551 m/s,
      LOS rate: 0.003997 deg/s,
      cmd heading: 82.331865 deg,
      new cmd heading: 82.336912 deg.

2025-10-26T22:32:30.602Z,1761517950.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.437050 target range: 113.025368 and range: 113.70 m.
2025-10-26T22:32:30.657Z,1761517950.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281629
2025-10-26T22:32:30.914Z,1761517950.914 [DAT](INFO): DAT read: 22:32:29.0415 LVL= 32240, 32753, 27554, 32755, AGC= 69, IDX= 420,-0.36,-0.858,-2.110,-0.244,-0.903, PHS= 0.146,-1.162, 0.614, RAW= 164.7,   5.1, CAL= 163.9,   4.1, ROT= 346.1,  -4.1

2025-10-26T22:32:30.915Z,1761517950.915 [DAT](INFO): got valid direction response:
 22:32:29.0415 LVL= 32240, 32753, 27554, 32755, AGC= 69, IDX= 420,-0.36,-0.858,-2.110,-0.244,-0.903, PHS= 0.146,-1.162, 0.614, RAW= 164.7,   5.1, CAL= 163.9,   4.1, ROT= 346.1,  -4.1

2025-10-26T22:32:30.916Z,1761517950.916 [DAT](INFO): DAT read: Bearing 222.3,  -9.0 (Local)

2025-10-26T22:32:30.916Z,1761517950.916 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.3,  -9.0 (Local)

2025-10-26T22:32:30.918Z,1761517950.918 [DAT](INFO): DAT read: Range 11 to 50 : 111.8 m  (Round-trip  149.1 ms) speed  0.7 m/s

2025-10-26T22:32:30.918Z,1761517950.918 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:32:30.919Z,1761517950.919 [DAT](INFO): direction in FSK: [0.968232,-0.239613,0.071497]
2025-10-26T22:32:30.920Z,1761517950.920 [DAT](INFO): publishing direction and range info
2025-10-26T22:32:30.923Z,1761517950.923 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:32:30.923Z,1761517950.923 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:32:30.923Z,1761517950.923 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:32:30.942Z,1761517950.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154442,-0.974381,-0.163491],[0.984412,0.165853,-0.058532],[0.084148,-0.151903,0.984807]]
2025-10-26T22:32:30.998Z,1761517950.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 111.800003 m,
      deltaT: 3.788064 s,
      deltaX: -1.899994 m,
      approachRate: -0.501574 m/s,
      rangeRepo size: 4

2025-10-26T22:32:31.005Z,1761517951.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 111.137733 m,
      bearing: 67.785006 deg,
      lat: 36.779331 deg,
      lon: -121.859449 deg,
      deltaT: 3.788064 s,
      deltaX: -1.887634 m,
      approachRate: -0.498311 m/s,
      posRepo size: 4

2025-10-26T22:32:31.005Z,1761517951.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.14 m.
2025-10-26T22:32:31.040Z,1761517951.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.137733 m,
      nav range: 105.383575 m,
      bearing: 69.268819 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003997 deg/s,
      cmd heading: 82.336913 deg,
      new cmd heading: 82.341754 deg.

2025-10-26T22:32:31.041Z,1761517951.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.437135 target range: 111.137733 and range: 111.80 m.
2025-10-26T22:32:31.160Z,1761517951.160 [DAT](INFO): DAT read: user:588>

2025-10-26T22:32:31.161Z,1761517951.161 [DAT](INFO): DAT read: Tx time:22:32:30.2882

2025-10-26T22:32:31.161Z,1761517951.161 [DAT](INFO): Ping request sent.
2025-10-26T22:32:31.162Z,1761517951.162 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:32:31.162Z,1761517951.162 [DAT](INFO): publishing transmit ping time
2025-10-26T22:32:31.162Z,1761517951.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-10-26T22:32:31.388Z,1761517951.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155759,-0.974426,-0.161966],[0.984331,0.166832,-0.057094],[0.082655,-0.150535,0.985143]]
2025-10-26T22:32:31.412Z,1761517951.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250795
2025-10-26T22:32:31.439Z,1761517951.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:31.441Z,1761517951.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.14 m.
2025-10-26T22:32:31.444Z,1761517951.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.137733 m,
      nav range: 105.124657 m,
      bearing: 69.264638 deg,
      approach rate: -0.583876 m/s,
      LOS rate: -0.009451 deg/s,
      cmd heading: 82.341755 deg,
      new cmd heading: 82.329182 deg.

2025-10-26T22:32:31.445Z,1761517951.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.436915 target range: 111.137733 and range: 111.80 m.
2025-10-26T22:32:31.665Z,1761517951.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503508
2025-10-26T22:32:31.764Z,1761517951.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156681,-0.974344,-0.161572],[0.984285,0.167535,-0.055814],[0.081451,-0.150288,0.985281]]
2025-10-26T22:32:31.795Z,1761517951.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.14 m.
2025-10-26T22:32:31.800Z,1761517951.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.137733 m,
      nav range: 104.932060 m,
      bearing: 69.261610 deg,
      approach rate: -0.545367 m/s,
      LOS rate: -0.008590 deg/s,
      cmd heading: 82.329181 deg,
      new cmd heading: 82.320081 deg.

2025-10-26T22:32:31.802Z,1761517951.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.436756 target range: 111.137733 and range: 111.80 m.
2025-10-26T22:32:31.917Z,1761517951.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755458
2025-10-26T22:32:32.166Z,1761517952.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157013,-0.974286,-0.161594],[0.984294,0.167749,-0.055008],[0.080701,-0.150419,0.985323]]
2025-10-26T22:32:32.168Z,1761517952.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006772
2025-10-26T22:32:32.192Z,1761517952.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.14 m.
2025-10-26T22:32:32.195Z,1761517952.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.137733 m,
      nav range: 104.709152 m,
      bearing: 69.258128 deg,
      approach rate: -0.560086 m/s,
      LOS rate: -0.008767 deg/s,
      cmd heading: 82.320083 deg,
      new cmd heading: 82.309616 deg.

2025-10-26T22:32:32.196Z,1761517952.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.436574 target range: 111.137733 and range: 111.80 m.
2025-10-26T22:32:32.420Z,1761517952.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258830
2025-10-26T22:32:32.570Z,1761517952.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156556,-0.974521,-0.160620],[0.984397,0.167187,-0.054874],[0.080329,-0.149523,0.985490]]
2025-10-26T22:32:32.617Z,1761517952.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.14 m.
2025-10-26T22:32:32.619Z,1761517952.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.137733 m,
      nav range: 104.462212 m,
      bearing: 69.249133 deg,
      approach rate: -0.581744 m/s,
      LOS rate: -0.021242 deg/s,
      cmd heading: 82.309619 deg,
      new cmd heading: 82.282569 deg.

2025-10-26T22:32:32.620Z,1761517952.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.436102 target range: 111.137733 and range: 111.80 m.
2025-10-26T22:32:32.673Z,1761517952.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510910
2025-10-26T22:32:32.924Z,1761517952.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762764
2025-10-26T22:32:32.985Z,1761517952.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156268,-0.974715,-0.159724],[0.984482,0.166779,-0.054588],[0.079846,-0.148715,0.985651]]
2025-10-26T22:32:33.004Z,1761517953.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.14 m.
2025-10-26T22:32:33.007Z,1761517953.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.137733 m,
      nav range: 104.236992 m,
      bearing: 69.240858 deg,
      approach rate: -0.581103 m/s,
      LOS rate: -0.021396 deg/s,
      cmd heading: 82.282572 deg,
      new cmd heading: 82.257694 deg.

2025-10-26T22:32:33.008Z,1761517953.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.435668 target range: 111.137733 and range: 111.80 m.
2025-10-26T22:32:33.177Z,1761517953.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014937
2025-10-26T22:32:33.430Z,1761517953.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268811
2025-10-26T22:32:33.498Z,1761517953.498 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   -63,  +57,A
2025-10-26T22:32:33.525Z,1761517953.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:33.527Z,1761517953.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.14 m.
2025-10-26T22:32:33.530Z,1761517953.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.137733 m,
      nav range: 103.933846 m,
      bearing: 69.229664 deg,
      approach rate: -0.580073 m/s,
      LOS rate: -0.021483 deg/s,
      cmd heading: 82.257696 deg,
      new cmd heading: 82.224015 deg.

2025-10-26T22:32:33.531Z,1761517953.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.435080 target range: 111.137733 and range: 111.80 m.
2025-10-26T22:32:33.680Z,1761517953.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518713
2025-10-26T22:32:33.854Z,1761517953.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153515,-0.975597,-0.156986],[0.984971,0.163804,-0.054772],[0.079150,-0.146218,0.986081]]
2025-10-26T22:32:33.890Z,1761517953.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.14 m.
2025-10-26T22:32:33.900Z,1761517953.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.137733 m,
      nav range: 103.732185 m,
      bearing: 69.221881 deg,
      approach rate: -0.554883 m/s,
      LOS rate: -0.021457 deg/s,
      cmd heading: 82.224017 deg,
      new cmd heading: 82.200622 deg.

2025-10-26T22:32:33.901Z,1761517953.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.434672 target range: 111.137733 and range: 111.80 m.
2025-10-26T22:32:33.933Z,1761517953.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771366
2025-10-26T22:32:33.996Z,1761517953.996 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:32:34.184Z,1761517954.184 [DAT](INFO): DAT read: Rx Time:22:32:32.8383

2025-10-26T22:32:34.185Z,1761517954.185 [DAT](INFO): Rx dataTimestamp_ set to:1761517954.184595
2025-10-26T22:32:34.185Z,1761517954.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023838
2025-10-26T22:32:34.319Z,1761517954.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.14 m.
2025-10-26T22:32:34.326Z,1761517954.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.137733 m,
      nav range: 103.475395 m,
      bearing: 69.211926 deg,
      approach rate: -0.599242 m/s,
      LOS rate: -0.023288 deg/s,
      cmd heading: 82.200623 deg,
      new cmd heading: 82.170684 deg.

2025-10-26T22:32:34.327Z,1761517954.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.434149 target range: 111.137733 and range: 111.80 m.
2025-10-26T22:32:34.436Z,1761517954.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274792
2025-10-26T22:32:34.694Z,1761517954.694 [DAT](INFO): DAT read: 22:32:32.8383 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 405,-0.25, 2.904, 1.616,-2.759, 2.948, PHS= 0.058,-1.287, 0.533, RAW= 164.6,   8.6, CAL= 164.3,   8.9, ROT= 345.7,  -8.9

2025-10-26T22:32:34.695Z,1761517954.695 [DAT](INFO): got valid direction response:
 22:32:32.8383 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 405,-0.25, 2.904, 1.616,-2.759, 2.948, PHS= 0.058,-1.287, 0.533, RAW= 164.6,   8.6, CAL= 164.3,   8.9, ROT= 345.7,  -8.9

2025-10-26T22:32:34.696Z,1761517954.696 [DAT](INFO): DAT read: Bearing 226.7, -10.4 (Local)

2025-10-26T22:32:34.697Z,1761517954.697 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.7, -10.4 (Local)

2025-10-26T22:32:34.699Z,1761517954.699 [DAT](INFO): DAT read: Range 11 to 50 : 109.5 m  (Round-trip  146.0 ms) speed  0.4 m/s

2025-10-26T22:32:34.700Z,1761517954.700 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:32:34.701Z,1761517954.701 [DAT](INFO): direction in FSK: [0.957349,-0.244025,0.154710]
2025-10-26T22:32:34.701Z,1761517954.701 [DAT](INFO): publishing direction and range info
2025-10-26T22:32:34.706Z,1761517954.706 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:32:34.707Z,1761517954.707 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:32:34.707Z,1761517954.707 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:32:34.805Z,1761517954.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150580,-0.976354,-0.155105],[0.985569,0.160532,-0.053699],[0.077328,-0.144781,0.986437]]
2025-10-26T22:32:34.903Z,1761517954.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 109.500000 m,
      deltaT: 3.779889 s,
      deltaX: -2.300003 m,
      approachRate: -0.608484 m/s,
      rangeRepo size: 4

2025-10-26T22:32:34.906Z,1761517954.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 108.852303 m,
      bearing: 68.198847 deg,
      lat: 36.779332 deg,
      lon: -121.859436 deg,
      deltaT: 3.779889 s,
      deltaX: -2.285431 m,
      approachRate: -0.604629 m/s,
      posRepo size: 4

2025-10-26T22:32:34.906Z,1761517954.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.85 m.
2025-10-26T22:32:34.913Z,1761517954.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.852303 m,
      nav range: 104.202667 m,
      bearing: 69.395249 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023288 deg/s,
      cmd heading: 82.170686 deg,
      new cmd heading: 82.130177 deg.

2025-10-26T22:32:34.914Z,1761517954.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.433442 target range: 108.852303 and range: 109.50 m.
2025-10-26T22:32:34.940Z,1761517954.940 [DAT](INFO): DAT read: user:589>

2025-10-26T22:32:34.941Z,1761517954.941 [DAT](INFO): DAT read: Tx time:22:32:34.0881

2025-10-26T22:32:34.941Z,1761517954.941 [DAT](INFO): Ping request sent.
2025-10-26T22:32:34.942Z,1761517954.942 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:32:34.942Z,1761517954.942 [DAT](INFO): publishing transmit ping time
2025-10-26T22:32:34.942Z,1761517954.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756
2025-10-26T22:32:35.000Z,1761517955.000 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:32:35.177Z,1761517955.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148199,-0.977329,-0.151211],[0.986035,0.157770,-0.053329],[0.075976,-0.141197,0.987062]]
2025-10-26T22:32:35.192Z,1761517955.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250810
2025-10-26T22:32:35.198Z,1761517955.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.85 m.
2025-10-26T22:32:35.201Z,1761517955.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.852303 m,
      nav range: 104.012695 m,
      bearing: 69.381241 deg,
      approach rate: -0.633696 m/s,
      LOS rate: -0.046810 deg/s,
      cmd heading: 82.130177 deg,
      new cmd heading: 82.088078 deg.

2025-10-26T22:32:35.202Z,1761517955.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.432707 target range: 108.852303 and range: 109.50 m.
2025-10-26T22:32:35.444Z,1761517955.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502783
2025-10-26T22:32:35.578Z,1761517955.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145525,-0.978199,-0.148153],[0.986548,0.154747,-0.052693],[0.074471,-0.138492,0.987560]]
2025-10-26T22:32:35.628Z,1761517955.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:35.630Z,1761517955.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.85 m.
2025-10-26T22:32:35.633Z,1761517955.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.852303 m,
      nav range: 103.742294 m,
      bearing: 69.359611 deg,
      approach rate: -0.626847 m/s,
      LOS rate: -0.050274 deg/s,
      cmd heading: 82.088075 deg,
      new cmd heading: 82.023016 deg.

2025-10-26T22:32:35.634Z,1761517955.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.431572 target range: 108.852303 and range: 109.50 m.
2025-10-26T22:32:35.697Z,1761517955.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754924
2025-10-26T22:32:35.948Z,1761517955.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006776
2025-10-26T22:32:35.994Z,1761517955.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143275,-0.978718,-0.146913],[0.987005,0.152216,-0.051485],[0.072752,-0.137628,0.987809]]
2025-10-26T22:32:36.087Z,1761517956.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.85 m.
2025-10-26T22:32:36.090Z,1761517956.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.852303 m,
      nav range: 103.456276 m,
      bearing: 69.336237 deg,
      approach rate: -0.625457 m/s,
      LOS rate: -0.051256 deg/s,
      cmd heading: 82.023018 deg,
      new cmd heading: 81.952700 deg.

2025-10-26T22:32:36.091Z,1761517956.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.430344 target range: 108.852303 and range: 109.50 m.
2025-10-26T22:32:36.202Z,1761517956.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260073
2025-10-26T22:32:36.440Z,1761517956.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140659,-0.979130,-0.146698],[0.987496,0.149399,-0.050316],[0.071182,-0.137786,0.987901]]
2025-10-26T22:32:36.453Z,1761517956.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510902
2025-10-26T22:32:36.524Z,1761517956.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.85 m.
2025-10-26T22:32:36.526Z,1761517956.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.852303 m,
      nav range: 103.181206 m,
      bearing: 69.314507 deg,
      approach rate: -0.630481 m/s,
      LOS rate: -0.049938 deg/s,
      cmd heading: 81.952701 deg,
      new cmd heading: 81.887339 deg.

2025-10-26T22:32:36.527Z,1761517956.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.429204 target range: 108.852303 and range: 109.50 m.
2025-10-26T22:32:36.707Z,1761517956.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765287
2025-10-26T22:32:36.956Z,1761517956.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014809
2025-10-26T22:32:36.960Z,1761517956.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139152,-0.979573,-0.145168],[0.987834,0.147588,-0.049010],[0.069434,-0.136582,0.988192]]
2025-10-26T22:32:37.000Z,1761517957.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.85 m.
2025-10-26T22:32:37.003Z,1761517957.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.852303 m,
      nav range: 102.881187 m,
      bearing: 69.290410 deg,
      approach rate: -0.630374 m/s,
      LOS rate: -0.050779 deg/s,
      cmd heading: 81.887343 deg,
      new cmd heading: 81.814840 deg.

2025-10-26T22:32:37.004Z,1761517957.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.427938 target range: 108.852303 and range: 109.50 m.
2025-10-26T22:32:37.208Z,1761517957.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266769
2025-10-26T22:32:37.363Z,1761517957.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137977,-0.979890,-0.144144],[0.988121,0.146133,-0.047567],[0.067675,-0.135868,0.988413]]
2025-10-26T22:32:37.386Z,1761517957.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.85 m.
2025-10-26T22:32:37.424Z,1761517957.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.852303 m,
      nav range: 102.640175 m,
      bearing: 69.270783 deg,
      approach rate: -0.624359 m/s,
      LOS rate: -0.050965 deg/s,
      cmd heading: 81.814840 deg,
      new cmd heading: 81.755821 deg.

2025-10-26T22:32:37.433Z,1761517957.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.426908 target range: 108.852303 and range: 109.50 m.
2025-10-26T22:32:37.463Z,1761517957.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521195
2025-10-26T22:32:37.713Z,1761517957.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771654
2025-10-26T22:32:37.877Z,1761517957.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137813,-0.980119,-0.142737],[0.988501,0.145160,-0.042358],[0.062236,-0.135258,0.988854]]
2025-10-26T22:32:37.941Z,1761517957.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:37.943Z,1761517957.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.85 m.
2025-10-26T22:32:37.946Z,1761517957.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.852303 m,
      nav range: 102.308205 m,
      bearing: 69.247067 deg,
      approach rate: -0.594952 m/s,
      LOS rate: -0.042641 deg/s,
      cmd heading: 81.755821 deg,
      new cmd heading: 81.684443 deg.

2025-10-26T22:32:37.947Z,1761517957.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.425663 target range: 108.852303 and range: 109.50 m.
2025-10-26T22:32:37.965Z,1761517957.965 [DAT](INFO): DAT read: Rx Time:22:32:36.6356

2025-10-26T22:32:37.965Z,1761517957.965 [DAT](INFO): Rx dataTimestamp_ set to:1761517957.964721
2025-10-26T22:32:37.966Z,1761517957.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023956
2025-10-26T22:32:38.216Z,1761517958.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274802
2025-10-26T22:32:38.474Z,1761517958.474 [DAT](INFO): DAT read: 22:32:36.6356 LVL= 3253, 32754, 32755, AGC= 74, IDX= 409,-0.48, 2.496, 1.180,-3.132, 2.526, PHS= 0.072,-1.301, 0.582, RAW= 165.2,   7.7, CAL= 164.8,   7.8, ROT= 345.2,  -7.8

2025-10-26T22:32:38.474Z,1761517958.474 [DAT](INFO): unknown deviceResponse_: 22:32:36.6356 LVL= 3253, 32754, 32755, AGC= 74, IDX= 409,-0.48, 2.496, 1.180,-3.132, 2.526, PHS= 0.072,-1.301, 0.582, RAW= 165.2,   7.7, CAL= 164.8,   7.8, ROT= 345.2,  -7.8

2025-10-26T22:32:38.475Z,1761517958.475 [DAT](INFO): DAT read: Bearing 226.4, -12.1 (Local)

2025-10-26T22:32:38.476Z,1761517958.476 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.4, -12.1 (Local)

2025-10-26T22:32:38.477Z,1761517958.477 [DAT](INFO): DAT read: Range 11 to 50 : 107.4 m  (Round-trip  143.3 ms) speed  0.3 m/s

2025-10-26T22:32:38.478Z,1761517958.478 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-26T22:32:38.478Z,1761517958.478 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:32:38.478Z,1761517958.478 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:32:38.479Z,1761517958.479 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:32:38.498Z,1761517958.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137808,-0.979501,-0.146923],[0.988702,0.144874,-0.038480],[0.058976,-0.139960,0.988399]]
2025-10-26T22:32:38.654Z,1761517958.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 107.400002 m,
      deltaT: 3.780193 s,
      deltaX: -2.099998 m,
      approachRate: -0.555527 m/s,
      rangeRepo size: 4

2025-10-26T22:32:38.655Z,1761517958.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.85 m.
2025-10-26T22:32:38.674Z,1761517958.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.852303 m,
      nav range: 101.886810 m,
      bearing: 69.216711 deg,
      approach rate: -0.593238 m/s,
      LOS rate: -0.042912 deg/s,
      cmd heading: 81.684445 deg,
      new cmd heading: 81.593000 deg.

2025-10-26T22:32:38.674Z,1761517958.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.424067 target range: 108.852303 and range: 107.40 m.
2025-10-26T22:32:38.721Z,1761517958.721 [DAT](INFO): DAT read: user:590>

2025-10-26T22:32:38.722Z,1761517958.722 [DAT](INFO): DAT read: Tx time:22:32:37.8381

2025-10-26T22:32:38.723Z,1761517958.723 [DAT](INFO): Ping request sent.
2025-10-26T22:32:38.723Z,1761517958.723 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:32:38.723Z,1761517958.723 [DAT](INFO): publishing transmit ping time
2025-10-26T22:32:38.724Z,1761517958.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001160
2025-10-26T22:32:38.965Z,1761517958.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138617,-0.978799,-0.150793],[0.988807,0.145274,-0.034008],[0.055193,-0.144391,0.987980]]
2025-10-26T22:32:38.972Z,1761517958.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249704
2025-10-26T22:32:38.996Z,1761517958.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.85 m.
2025-10-26T22:32:38.999Z,1761517958.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.852303 m,
      nav range: 101.683846 m,
      bearing: 69.202081 deg,
      approach rate: -0.592740 m/s,
      LOS rate: -0.042811 deg/s,
      cmd heading: 81.593003 deg,
      new cmd heading: 81.549025 deg.

2025-10-26T22:32:39.024Z,1761517959.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.423299 target range: 108.852303 and range: 107.40 m.
2025-10-26T22:32:39.224Z,1761517959.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501538
2025-10-26T22:32:39.374Z,1761517959.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139439,-0.978595,-0.151357],[0.988891,0.145562,-0.030101],[0.051488,-0.145478,0.988021]]
2025-10-26T22:32:39.417Z,1761517959.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.85 m.
2025-10-26T22:32:39.439Z,1761517959.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.852303 m,
      nav range: 101.437622 m,
      bearing: 69.184362 deg,
      approach rate: -0.585689 m/s,
      LOS rate: -0.042250 deg/s,
      cmd heading: 81.549023 deg,
      new cmd heading: 81.495737 deg.

2025-10-26T22:32:39.450Z,1761517959.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.422369 target range: 108.852303 and range: 107.40 m.
2025-10-26T22:32:39.480Z,1761517959.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756419
2025-10-26T22:32:39.729Z,1761517959.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006161
2025-10-26T22:32:39.898Z,1761517959.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.85 m.
2025-10-26T22:32:39.901Z,1761517959.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.852303 m,
      nav range: 101.187393 m,
      bearing: 69.177908 deg,
      approach rate: -0.519775 m/s,
      LOS rate: -0.013439 deg/s,
      cmd heading: 81.495734 deg,
      new cmd heading: 81.476324 deg.

2025-10-26T22:32:39.902Z,1761517959.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.422030 target range: 108.852303 and range: 107.40 m.
2025-10-26T22:32:39.980Z,1761517959.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257721
2025-10-26T22:32:40.237Z,1761517960.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513697
2025-10-26T22:32:40.322Z,1761517960.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145410,-0.978124,-0.148761],[0.988599,0.149586,-0.017220],[0.039096,-0.144561,0.988723]]
2025-10-26T22:32:40.339Z,1761517960.339 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:40.341Z,1761517960.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.85 m.
2025-10-26T22:32:40.364Z,1761517960.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.852303 m,
      nav range: 100.959030 m,
      bearing: 69.172749 deg,
      approach rate: -0.514870 m/s,
      LOS rate: -0.011658 deg/s,
      cmd heading: 81.476323 deg,
      new cmd heading: 81.460810 deg.

2025-10-26T22:32:40.365Z,1761517960.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.421759 target range: 108.852303 and range: 107.40 m.
2025-10-26T22:32:40.488Z,1761517960.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764255
2025-10-26T22:32:40.738Z,1761517960.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015033
2025-10-26T22:32:40.813Z,1761517960.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148152,-0.977595,-0.149529],[0.988344,0.151713,-0.012632],[0.035034,-0.145915,0.988677]]
2025-10-26T22:32:40.856Z,1761517960.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.85 m.
2025-10-26T22:32:40.858Z,1761517960.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.852303 m,
      nav range: 100.719437 m,
      bearing: 69.175444 deg,
      approach rate: -0.466170 m/s,
      LOS rate: 0.005256 deg/s,
      cmd heading: 81.460811 deg,
      new cmd heading: 81.468916 deg.

2025-10-26T22:32:40.859Z,1761517960.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.421901 target range: 108.852303 and range: 107.40 m.
2025-10-26T22:32:40.988Z,1761517960.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265646
2025-10-26T22:32:41.240Z,1761517961.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517595
2025-10-26T22:32:41.268Z,1761517961.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150966,-0.976851,-0.151565],[0.988044,0.153958,-0.008132],[0.031278,-0.148525,0.988414]]
2025-10-26T22:32:41.320Z,1761517961.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.85 m.
2025-10-26T22:32:41.323Z,1761517961.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.852303 m,
      nav range: 100.514961 m,
      bearing: 69.178070 deg,
      approach rate: -0.460188 m/s,
      LOS rate: 0.005922 deg/s,
      cmd heading: 81.468919 deg,
      new cmd heading: 81.476813 deg.

2025-10-26T22:32:41.328Z,1761517961.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.422039 target range: 108.852303 and range: 107.40 m.
2025-10-26T22:32:41.495Z,1761517961.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771752
2025-10-26T22:32:41.670Z,1761517961.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153507,-0.976006,-0.154429],[0.987759,0.155942,-0.003704],[0.027697,-0.151970,0.987997]]
2025-10-26T22:32:41.736Z,1761517961.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.85 m.
2025-10-26T22:32:41.738Z,1761517961.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.852303 m,
      nav range: 100.329201 m,
      bearing: 69.186015 deg,
      approach rate: -0.425763 m/s,
      LOS rate: 0.018243 deg/s,
      cmd heading: 81.476814 deg,
      new cmd heading: 81.500693 deg.

2025-10-26T22:32:41.744Z,1761517961.744 [DAT](INFO): DAT read: Rx Time:22:32:40.3832

2025-10-26T22:32:41.745Z,1761517961.745 [DAT](INFO): Rx dataTimestamp_ set to:1761517961.744605
2025-10-26T22:32:41.745Z,1761517961.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022695
2025-10-26T22:32:41.760Z,1761517961.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.422455 target range: 108.852303 and range: 107.40 m.
2025-10-26T22:32:41.996Z,1761517961.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273650
2025-10-26T22:32:42.074Z,1761517962.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155960,-0.975241,-0.156785],[0.987470,0.157803,0.000697],[0.024062,-0.154929,0.987633]]
2025-10-26T22:32:42.103Z,1761517962.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.85 m.
2025-10-26T22:32:42.106Z,1761517962.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.852303 m,
      nav range: 100.160042 m,
      bearing: 69.193496 deg,
      approach rate: -0.460708 m/s,
      LOS rate: 0.020410 deg/s,
      cmd heading: 81.500693 deg,
      new cmd heading: 81.523174 deg.

2025-10-26T22:32:42.107Z,1761517962.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.422848 target range: 108.852303 and range: 107.40 m.
2025-10-26T22:32:42.254Z,1761517962.254 [DAT](INFO): DAT read: 22:32:40.3832 LVL= 31280, 32753, 25122, 32755, AGC= 72, IDX= 415, 0.03, 2.606, 1.267,-3.027, 2.539, PHS= 0.169,-1.227, 0.673, RAW= 164.8,   4.6, CAL= 163.9,   3.4, ROT= 346.1,  -3.4

2025-10-26T22:32:42.255Z,1761517962.255 [DAT](INFO): got valid direction response:
 22:32:40.3832 LVL= 31280, 32753, 25122, 32755, AGC= 72, IDX= 415, 0.03, 2.606, 1.267,-3.027, 2.539, PHS= 0.169,-1.227, 0.673, RAW= 164.8,   4.6, CAL= 163.9,   3.4, ROT= 346.1,  -3.4

2025-10-26T22:32:42.256Z,1761517962.256 [DAT](INFO): DAT read: Bearing 221.3, -12.8 (Local)

2025-10-26T22:32:42.256Z,1761517962.256 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.3, -12.8 (Local)

2025-10-26T22:32:42.258Z,1761517962.258 [DAT](INFO): DAT read: Range 11 to 50 : 105.6 m  (Round-trip  140.9 ms) speed  0.4 m/s

2025-10-26T22:32:42.258Z,1761517962.258 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:32:42.259Z,1761517962.259 [DAT](INFO): direction in FSK: [0.969008,-0.239805,0.059306]
2025-10-26T22:32:42.260Z,1761517962.260 [DAT](INFO): publishing direction and range info
2025-10-26T22:32:42.263Z,1761517962.263 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:32:42.263Z,1761517962.263 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:32:42.264Z,1761517962.264 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:32:42.503Z,1761517962.503 [DAT](INFO): DAT read: user:591>

2025-10-26T22:32:42.510Z,1761517962.510 [DAT](INFO): DAT read: Tx time:22:32:41.6381

2025-10-26T22:32:42.511Z,1761517962.511 [DAT](INFO): Ping request sent.
2025-10-26T22:32:42.511Z,1761517962.511 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:32:42.515Z,1761517962.515 [DAT](INFO): publishing transmit ping time
2025-10-26T22:32:42.517Z,1761517962.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006199
2025-10-26T22:32:42.574Z,1761517962.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158225,-0.974861,-0.156877],[0.987191,0.159474,0.004676],[0.020460,-0.155608,0.987607]]
2025-10-26T22:32:42.673Z,1761517962.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 105.599998 m,
      deltaT: 3.779936 s,
      deltaX: -1.800003 m,
      approachRate: -0.476199 m/s,
      rangeRepo size: 4

2025-10-26T22:32:42.675Z,1761517962.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 104.976181 m,
      bearing: 67.644689 deg,
      lat: 36.779353 deg,
      lon: -121.859434 deg,
      deltaT: 7.560129 s,
      deltaX: -3.876122 m,
      approachRate: -0.512706 m/s,
      posRepo size: 4

2025-10-26T22:32:42.676Z,1761517962.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.98 m.
2025-10-26T22:32:42.678Z,1761517962.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.976181 m,
      nav range: 100.952377 m,
      bearing: 68.001341 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.020410 deg/s,
      cmd heading: 81.523171 deg,
      new cmd heading: 81.558019 deg.

2025-10-26T22:32:42.680Z,1761517962.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.423456 target range: 104.976181 and range: 105.60 m.
2025-10-26T22:32:42.754Z,1761517962.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243657
2025-10-26T22:32:42.963Z,1761517962.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160874,-0.974416,-0.156949],[0.986835,0.161482,0.008952],[0.016622,-0.156323,0.987566]]
2025-10-26T22:32:42.997Z,1761517962.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:42.999Z,1761517962.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.98 m.
2025-10-26T22:32:43.009Z,1761517963.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498408
2025-10-26T22:32:43.013Z,1761517963.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.976181 m,
      nav range: 100.820107 m,
      bearing: 68.008448 deg,
      approach rate: -0.404908 m/s,
      LOS rate: 0.021784 deg/s,
      cmd heading: 81.558018 deg,
      new cmd heading: 81.579367 deg.

2025-10-26T22:32:43.014Z,1761517963.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.423829 target range: 104.976181 and range: 105.60 m.
2025-10-26T22:32:43.260Z,1761517963.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749657
2025-10-26T22:32:43.366Z,1761517963.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162956,-0.974264,-0.155738],[0.986547,0.162985,0.012670],[0.013039,-0.155708,0.987717]]
2025-10-26T22:32:43.428Z,1761517963.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.98 m.
2025-10-26T22:32:43.431Z,1761517963.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.976181 m,
      nav range: 100.634888 m,
      bearing: 68.018649 deg,
      approach rate: -0.432006 m/s,
      LOS rate: 0.023836 deg/s,
      cmd heading: 81.579370 deg,
      new cmd heading: 81.610028 deg.

2025-10-26T22:32:43.432Z,1761517963.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.424364 target range: 104.976181 and range: 105.60 m.
2025-10-26T22:32:43.516Z,1761517963.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004190
2025-10-26T22:32:43.764Z,1761517963.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253707
2025-10-26T22:32:43.777Z,1761517963.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165030,-0.974360,-0.152933],[0.986245,0.164491,0.016263],[0.009310,-0.153513,0.988103]]
2025-10-26T22:32:43.841Z,1761517963.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.98 m.
2025-10-26T22:32:43.844Z,1761517963.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.976181 m,
      nav range: 100.463936 m,
      bearing: 68.025342 deg,
      approach rate: -0.413606 m/s,
      LOS rate: 0.016220 deg/s,
      cmd heading: 81.610030 deg,
      new cmd heading: 81.630143 deg.

2025-10-26T22:32:43.845Z,1761517963.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.424715 target range: 104.976181 and range: 105.60 m.
2025-10-26T22:32:44.016Z,1761517964.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505574
2025-10-26T22:32:44.230Z,1761517964.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166668,-0.974401,-0.150877],[0.985997,0.165585,0.019804],[0.005686,-0.152065,0.988354]]
2025-10-26T22:32:44.254Z,1761517964.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.98 m.
2025-10-26T22:32:44.257Z,1761517964.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.976181 m,
      nav range: 100.288307 m,
      bearing: 68.032412 deg,
      approach rate: -0.424984 m/s,
      LOS rate: 0.017138 deg/s,
      cmd heading: 81.630145 deg,
      new cmd heading: 81.651392 deg.

2025-10-26T22:32:44.258Z,1761517964.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.425086 target range: 104.976181 and range: 105.60 m.
2025-10-26T22:32:44.270Z,1761517964.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759189
2025-10-26T22:32:44.524Z,1761517964.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013106
2025-10-26T22:32:44.630Z,1761517964.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168343,-0.974249,-0.150002],[0.985726,0.166727,0.023376],[0.002235,-0.151796,0.988409]]
2025-10-26T22:32:44.685Z,1761517964.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.98 m.
2025-10-26T22:32:44.688Z,1761517964.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.976181 m,
      nav range: 100.100899 m,
      bearing: 68.036076 deg,
      approach rate: -0.434638 m/s,
      LOS rate: 0.008515 deg/s,
      cmd heading: 81.651394 deg,
      new cmd heading: 81.662408 deg.

2025-10-26T22:32:44.689Z,1761517964.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.425278 target range: 104.976181 and range: 105.60 m.
2025-10-26T22:32:44.774Z,1761517964.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262998
2025-10-26T22:32:45.026Z,1761517965.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514788
2025-10-26T22:32:45.112Z,1761517965.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170654,-0.974365,-0.146596],[0.985325,0.168236,0.028827],[-0.003426,-0.149364,0.988776]]
2025-10-26T22:32:45.129Z,1761517965.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:45.147Z,1761517965.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.98 m.
2025-10-26T22:32:45.150Z,1761517965.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.976181 m,
      nav range: 99.907471 m,
      bearing: 68.040144 deg,
      approach rate: -0.433954 m/s,
      LOS rate: 0.009144 deg/s,
      cmd heading: 81.662411 deg,
      new cmd heading: 81.674639 deg.

2025-10-26T22:32:45.151Z,1761517965.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.425491 target range: 104.976181 and range: 105.60 m.
2025-10-26T22:32:45.277Z,1761517965.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765875
2025-10-26T22:32:45.532Z,1761517965.532 [DAT](INFO): DAT read: Rx Time:22:32:44.1805

2025-10-26T22:32:45.533Z,1761517965.533 [DAT](INFO): Rx dataTimestamp_ set to:1761517965.532311
2025-10-26T22:32:45.535Z,1761517965.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023715
2025-10-26T22:32:45.626Z,1761517965.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171512,-0.974339,-0.145766],[0.985169,0.168876,0.030364],[-0.004969,-0.148812,0.988853]]
2025-10-26T22:32:45.662Z,1761517965.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.98 m.
2025-10-26T22:32:45.665Z,1761517965.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.976181 m,
      nav range: 99.657555 m,
      bearing: 68.041436 deg,
      approach rate: -0.470595 m/s,
      LOS rate: 0.002437 deg/s,
      cmd heading: 81.674637 deg,
      new cmd heading: 81.678520 deg.

2025-10-26T22:32:45.666Z,1761517965.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.425559 target range: 104.976181 and range: 105.60 m.
2025-10-26T22:32:45.782Z,1761517965.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270834
2025-10-26T22:32:46.038Z,1761517966.038 [DAT](INFO): DAT read: 22:32:44.1805 LVL= 32752, 32753, 30130, 32755, AGC= 75, IDX= 420, 0.09,-1.382,-2.777,-0.697,-1.382, PHS= 0.102,-1.350, 0.640, RAW= 165.2,   6.9, CAL= 164.6,   6.6, ROT= 345.4,  -6.6

2025-10-26T22:32:46.039Z,1761517966.039 [DAT](INFO): got valid direction response:
 22:32:44.1805 LVL= 32752, 32753, 30130, 32755, AGC= 75, IDX= 420, 0.09,-1.382,-2.777,-0.697,-1.382, PHS= 0.102,-1.350, 0.640, RAW= 165.2,   6.9, CAL= 164.6,   6.6, ROT= 345.4,  -6.6

2025-10-26T22:32:46.040Z,1761517966.040 [DAT](INFO): DAT read: Bearing 223.5, -15.4 (Local)

2025-10-26T22:32:46.040Z,1761517966.040 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.5, -15.4 (Local)

2025-10-26T22:32:46.042Z,1761517966.042 [DAT](INFO): DAT read: Range 11 to 50 : 103.6 m  (Round-trip  138.2 ms) speed  0.7 m/s

2025-10-26T22:32:46.042Z,1761517966.042 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:32:46.044Z,1761517966.044 [DAT](INFO): direction in FSK: [0.961296,-0.250399,0.114937]
2025-10-26T22:32:46.045Z,1761517966.045 [DAT](INFO): publishing direction and range info
2025-10-26T22:32:46.048Z,1761517966.048 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:32:46.048Z,1761517966.048 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:32:46.048Z,1761517966.048 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:32:46.093Z,1761517966.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171499,-0.974823,-0.142505],[0.985164,0.168759,0.031188],[-0.006353,-0.145740,0.989303]]
2025-10-26T22:32:46.152Z,1761517966.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 103.599998 m,
      deltaT: 3.783967 s,
      deltaX: -2.000000 m,
      approachRate: -0.528546 m/s,
      rangeRepo size: 4

2025-10-26T22:32:46.154Z,1761517966.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 102.988503 m,
      bearing: 66.626890 deg,
      lat: 36.779367 deg,
      lon: -121.859421 deg,
      deltaT: 3.783967 s,
      deltaX: -1.987679 m,
      approachRate: -0.525290 m/s,
      posRepo size: 4

2025-10-26T22:32:46.154Z,1761517966.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.99 m.
2025-10-26T22:32:46.161Z,1761517966.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.988503 m,
      nav range: 101.127403 m,
      bearing: 67.452335 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002437 deg/s,
      cmd heading: 81.678517 deg,
      new cmd heading: 81.682060 deg.

2025-10-26T22:32:46.162Z,1761517966.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.425621 target range: 102.988503 and range: 103.60 m.
2025-10-26T22:32:46.286Z,1761517966.286 [DAT](INFO): DAT read: user:592>

2025-10-26T22:32:46.288Z,1761517966.288 [DAT](INFO): DAT read: Tx time:22:32:45.4381

2025-10-26T22:32:46.288Z,1761517966.288 [DAT](INFO): Ping request sent.
2025-10-26T22:32:46.288Z,1761517966.288 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:32:46.289Z,1761517966.289 [DAT](INFO): publishing transmit ping time
2025-10-26T22:32:46.289Z,1761517966.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001055
2025-10-26T22:32:46.474Z,1761517966.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170590,-0.975369,-0.139840],[0.985316,0.167824,0.031429],[-0.007186,-0.143148,0.989675]]
2025-10-26T22:32:46.493Z,1761517966.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.99 m.
2025-10-26T22:32:46.496Z,1761517966.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.988503 m,
      nav range: 100.955399 m,
      bearing: 67.452166 deg,
      approach rate: -0.496951 m/s,
      LOS rate: -0.000489 deg/s,
      cmd heading: 81.682062 deg,
      new cmd heading: 81.681554 deg.

2025-10-26T22:32:46.497Z,1761517966.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.425612 target range: 102.988503 and range: 103.60 m.
2025-10-26T22:32:46.540Z,1761517966.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250461
2025-10-26T22:32:46.790Z,1761517966.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502022
2025-10-26T22:32:46.874Z,1761517966.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170041,-0.975490,-0.139660],[0.985404,0.167166,0.032153],[-0.008019,-0.143089,0.989677]]
2025-10-26T22:32:46.921Z,1761517966.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.99 m.
2025-10-26T22:32:46.924Z,1761517966.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.988503 m,
      nav range: 100.733200 m,
      bearing: 67.444740 deg,
      approach rate: -0.519131 m/s,
      LOS rate: -0.017388 deg/s,
      cmd heading: 81.681556 deg,
      new cmd heading: 81.659229 deg.

2025-10-26T22:32:46.925Z,1761517966.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.425222 target range: 102.988503 and range: 103.60 m.
2025-10-26T22:32:47.044Z,1761517967.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754953
2025-10-26T22:32:47.294Z,1761517967.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005457
2025-10-26T22:32:47.296Z,1761517967.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169080,-0.975691,-0.139420],[0.985566,0.166160,0.032411],[-0.008457,-0.142888,0.989703]]
2025-10-26T22:32:47.313Z,1761517967.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:47.316Z,1761517967.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.99 m.
2025-10-26T22:32:47.318Z,1761517967.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.988503 m,
      nav range: 100.528404 m,
      bearing: 67.437754 deg,
      approach rate: -0.519071 m/s,
      LOS rate: -0.017744 deg/s,
      cmd heading: 81.659228 deg,
      new cmd heading: 81.638226 deg.

2025-10-26T22:32:47.319Z,1761517967.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.424856 target range: 102.988503 and range: 103.60 m.
2025-10-26T22:32:47.545Z,1761517967.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256506
2025-10-26T22:32:47.684Z,1761517967.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167442,-0.976127,-0.138348],[0.985844,0.164554,0.032143],[-0.008610,-0.141771,0.989862]]
2025-10-26T22:32:47.753Z,1761517967.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.99 m.
2025-10-26T22:32:47.760Z,1761517967.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.988503 m,
      nav range: 100.280609 m,
      bearing: 67.422738 deg,
      approach rate: -0.566032 m/s,
      LOS rate: -0.034386 deg/s,
      cmd heading: 81.638225 deg,
      new cmd heading: 81.593066 deg.

2025-10-26T22:32:47.761Z,1761517967.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.424068 target range: 102.988503 and range: 103.60 m.
2025-10-26T22:32:47.797Z,1761517967.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509011
2025-10-26T22:32:48.050Z,1761517968.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761090
2025-10-26T22:32:48.102Z,1761517968.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165576,-0.976514,-0.137859],[0.986159,0.162724,0.031791],[-0.008611,-0.141215,0.989941]]
2025-10-26T22:32:48.122Z,1761517968.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.99 m.
2025-10-26T22:32:48.124Z,1761517968.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.988503 m,
      nav range: 100.063751 m,
      bearing: 67.409301 deg,
      approach rate: -0.588566 m/s,
      LOS rate: -0.036547 deg/s,
      cmd heading: 81.593064 deg,
      new cmd heading: 81.552667 deg.

2025-10-26T22:32:48.125Z,1761517968.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.423362 target range: 102.988503 and range: 103.60 m.
2025-10-26T22:32:48.300Z,1761517968.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012224
2025-10-26T22:32:48.494Z,1761517968.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163433,-0.976945,-0.137359],[0.986519,0.160657,0.031135],[-0.008350,-0.140596,0.990032]]
2025-10-26T22:32:48.513Z,1761517968.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.99 m.
2025-10-26T22:32:48.536Z,1761517968.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.988503 m,
      nav range: 99.838661 m,
      bearing: 67.395013 deg,
      approach rate: -0.575542 m/s,
      LOS rate: -0.036616 deg/s,
      cmd heading: 81.552664 deg,
      new cmd heading: 81.509702 deg.

2025-10-26T22:32:48.537Z,1761517968.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.422613 target range: 102.988503 and range: 103.60 m.
2025-10-26T22:32:48.557Z,1761517968.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268621
2025-10-26T22:32:48.811Z,1761517968.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523082
2025-10-26T22:32:48.899Z,1761517968.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160657,-0.977572,-0.136173],[0.986981,0.158055,0.029783],[-0.007593,-0.139185,0.990237]]
2025-10-26T22:32:48.942Z,1761517968.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.99 m.
2025-10-26T22:32:48.945Z,1761517968.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.988503 m,
      nav range: 99.574173 m,
      bearing: 67.375010 deg,
      approach rate: -0.615606 m/s,
      LOS rate: -0.046681 deg/s,
      cmd heading: 81.509702 deg,
      new cmd heading: 81.449534 deg.

2025-10-26T22:32:48.946Z,1761517968.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.421563 target range: 102.988503 and range: 103.60 m.
2025-10-26T22:32:49.061Z,1761517969.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772969
2025-10-26T22:32:49.306Z,1761517969.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158278,-0.978024,-0.135710],[0.987369,0.155788,0.028847],[-0.007071,-0.138562,0.990329]]
2025-10-26T22:32:49.312Z,1761517969.312 [DAT](INFO): DAT read: Rx Time:22:32:47.9777

2025-10-26T22:32:49.313Z,1761517969.313 [DAT](INFO): Rx dataTimestamp_ set to:1761517969.312687
2025-10-26T22:32:49.313Z,1761517969.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025347
2025-10-26T22:32:49.326Z,1761517969.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:49.329Z,1761517969.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.99 m.
2025-10-26T22:32:49.331Z,1761517969.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.988503 m,
      nav range: 99.336060 m,
      bearing: 67.356578 deg,
      approach rate: -0.616449 m/s,
      LOS rate: -0.047833 deg/s,
      cmd heading: 81.449535 deg,
      new cmd heading: 81.394106 deg.

2025-10-26T22:32:49.332Z,1761517969.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.420595 target range: 102.988503 and range: 103.60 m.
2025-10-26T22:32:49.566Z,1761517969.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278124
2025-10-26T22:32:49.710Z,1761517969.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155106,-0.978502,-0.135925],[0.987880,0.152795,0.027343],[-0.005986,-0.138519,0.990342]]
2025-10-26T22:32:49.809Z,1761517969.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.99 m.
2025-10-26T22:32:49.812Z,1761517969.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.988503 m,
      nav range: 99.034843 m,
      bearing: 67.331585 deg,
      approach rate: -0.627186 m/s,
      LOS rate: -0.052198 deg/s,
      cmd heading: 81.394108 deg,
      new cmd heading: 81.318901 deg.

2025-10-26T22:32:49.813Z,1761517969.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.419283 target range: 102.988503 and range: 103.60 m.
2025-10-26T22:32:49.838Z,1761517969.838 [DAT](INFO): DAT read: 22:32:47.9777 LVL= 32752, 32753, 29330, 32755, AGC= 74, IDX= 407, 0.11, 1.127,-0.221, 1.826, 1.122, PHS= 0.107,-1.298, 0.660, RAW= 165.9,   6.1, CAL= 165.2,   5.5, ROT= 344.8,  -5.5

2025-10-26T22:32:49.839Z,1761517969.839 [DAT](INFO): got valid direction response:
 22:32:47.9777 LVL= 32752, 32753, 29330, 32755, AGC= 74, IDX= 407, 0.11, 1.127,-0.221, 1.826, 1.122, PHS= 0.107,-1.298, 0.660, RAW= 165.9,   6.1, CAL= 165.2,   5.5, ROT= 344.8,  -5.5

2025-10-26T22:32:49.841Z,1761517969.841 [DAT](INFO): DAT read: Bearing 223.7, -16.1 (Local)

2025-10-26T22:32:49.843Z,1761517969.843 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.7, -16.1 (Local)

2025-10-26T22:32:49.846Z,1761517969.846 [DAT](INFO): DAT read: Range 11 to 50 : 101.5 m  (Round-trip  135.4 ms) speed  0.4 m/s

2025-10-26T22:32:49.864Z,1761517969.864 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:32:49.865Z,1761517969.865 [DAT](INFO): direction in FSK: [0.960574,-0.260982,0.095846]
2025-10-26T22:32:49.865Z,1761517969.865 [DAT](INFO): publishing direction and range info
2025-10-26T22:32:49.873Z,1761517969.873 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:32:49.873Z,1761517969.873 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:32:49.874Z,1761517969.874 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:32:50.084Z,1761517970.084 [DAT](INFO): DAT read: user:593>

2025-10-26T22:32:50.085Z,1761517970.085 [DAT](INFO): DAT read: Tx time:22:32:49.2381

2025-10-26T22:32:50.085Z,1761517970.085 [DAT](INFO): Ping request sent.
2025-10-26T22:32:50.085Z,1761517970.085 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:32:50.086Z,1761517970.086 [DAT](INFO): publishing transmit ping time
2025-10-26T22:32:50.086Z,1761517970.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-10-26T22:32:50.171Z,1761517970.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151917,-0.978917,-0.136541],[0.988382,0.149791,0.025777],[-0.004781,-0.138871,0.990299]]
2025-10-26T22:32:50.217Z,1761517970.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 101.500000 m,
      deltaT: 3.799986 s,
      deltaX: -2.099998 m,
      approachRate: -0.552633 m/s,
      rangeRepo size: 4

2025-10-26T22:32:50.220Z,1761517970.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 100.900665 m,
      bearing: 66.954073 deg,
      lat: 36.779369 deg,
      lon: -121.859419 deg,
      deltaT: 3.799986 s,
      deltaX: -2.087837 m,
      approachRate: -0.549433 m/s,
      posRepo size: 4

2025-10-26T22:32:50.221Z,1761517970.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m.
2025-10-26T22:32:50.232Z,1761517970.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.900665 m,
      nav range: 99.028091 m,
      bearing: 67.212023 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.052198 deg/s,
      cmd heading: 81.318900 deg,
      new cmd heading: 81.255027 deg.

2025-10-26T22:32:50.233Z,1761517970.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.418168 target range: 100.900665 and range: 101.50 m.
2025-10-26T22:32:50.337Z,1761517970.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251643
2025-10-26T22:32:50.594Z,1761517970.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507523
2025-10-26T22:32:50.648Z,1761517970.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148910,-0.979357,-0.136691],[0.988843,0.146939,0.024455],[-0.003865,-0.138808,0.990312]]
2025-10-26T22:32:50.699Z,1761517970.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m.
2025-10-26T22:32:50.703Z,1761517970.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.900665 m,
      nav range: 98.706161 m,
      bearing: 67.181624 deg,
      approach rate: -0.668833 m/s,
      LOS rate: -0.063362 deg/s,
      cmd heading: 81.255024 deg,
      new cmd heading: 81.163530 deg.

2025-10-26T22:32:50.705Z,1761517970.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.416571 target range: 100.900665 and range: 101.50 m.
2025-10-26T22:32:50.840Z,1761517970.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754878
2025-10-26T22:32:51.092Z,1761517971.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006912
2025-10-26T22:32:51.118Z,1761517971.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142837,-0.980075,-0.138024],[0.989745,0.141197,0.021648],[-0.001728,-0.139701,0.990192]]
2025-10-26T22:32:51.204Z,1761517971.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m.
2025-10-26T22:32:51.207Z,1761517971.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.900665 m,
      nav range: 98.379906 m,
      bearing: 67.149405 deg,
      approach rate: -0.644874 m/s,
      LOS rate: -0.063894 deg/s,
      cmd heading: 81.163527 deg,
      new cmd heading: 81.066551 deg.

2025-10-26T22:32:51.208Z,1761517971.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.414878 target range: 100.900665 and range: 101.50 m.
2025-10-26T22:32:51.344Z,1761517971.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258932
2025-10-26T22:32:51.510Z,1761517971.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140314,-0.980211,-0.139635],[0.990107,0.138848,0.020237],[-0.000448,-0.141093,0.989996]]
2025-10-26T22:32:51.555Z,1761517971.555 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:51.557Z,1761517971.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m.
2025-10-26T22:32:51.560Z,1761517971.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.900665 m,
      nav range: 98.152924 m,
      bearing: 67.126506 deg,
      approach rate: -0.643164 m/s,
      LOS rate: -0.065034 deg/s,
      cmd heading: 81.066552 deg,
      new cmd heading: 80.997697 deg.

2025-10-26T22:32:51.561Z,1761517971.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.413677 target range: 100.900665 and range: 101.50 m.
2025-10-26T22:32:51.597Z,1761517971.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511634
2025-10-26T22:32:51.849Z,1761517971.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763154
2025-10-26T22:32:51.948Z,1761517971.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138426,-0.980276,-0.141059],[0.990373,0.137089,0.019204],[0.000512,-0.142359,0.989815]]
2025-10-26T22:32:52.069Z,1761517972.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m.
2025-10-26T22:32:52.075Z,1761517972.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.900665 m,
      nav range: 97.834686 m,
      bearing: 67.097603 deg,
      approach rate: -0.621906 m/s,
      LOS rate: -0.056667 deg/s,
      cmd heading: 80.997697 deg,
      new cmd heading: 80.910705 deg.

2025-10-26T22:32:52.076Z,1761517972.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.412158 target range: 100.900665 and range: 101.50 m.
2025-10-26T22:32:52.100Z,1761517972.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014790
2025-10-26T22:32:52.352Z,1761517972.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266877
2025-10-26T22:32:52.384Z,1761517972.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137311,-0.980056,-0.143652],[0.990527,0.136067,0.018496],[0.001419,-0.144831,0.989455]]
2025-10-26T22:32:52.457Z,1761517972.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m.
2025-10-26T22:32:52.464Z,1761517972.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.900665 m,
      nav range: 97.597198 m,
      bearing: 67.075738 deg,
      approach rate: -0.612227 m/s,
      LOS rate: -0.056503 deg/s,
      cmd heading: 80.910708 deg,
      new cmd heading: 80.844954 deg.

2025-10-26T22:32:52.465Z,1761517972.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.411011 target range: 100.900665 and range: 101.50 m.
2025-10-26T22:32:52.604Z,1761517972.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518958
2025-10-26T22:32:52.787Z,1761517972.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136518,-0.979861,-0.145724],[0.990635,0.135366,0.017839],[0.002247,-0.146795,0.989164]]
2025-10-26T22:32:52.856Z,1761517972.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770908
2025-10-26T22:32:52.862Z,1761517972.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m.
2025-10-26T22:32:52.865Z,1761517972.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.900665 m,
      nav range: 97.352203 m,
      bearing: 67.054279 deg,
      approach rate: -0.603884 m/s,
      LOS rate: -0.053027 deg/s,
      cmd heading: 80.844954 deg,
      new cmd heading: 80.780414 deg.

2025-10-26T22:32:52.866Z,1761517972.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.409884 target range: 100.900665 and range: 101.50 m.
2025-10-26T22:32:53.109Z,1761517973.109 [DAT](INFO): DAT read: Rx Time:22:32:51.7749

2025-10-26T22:32:53.109Z,1761517973.109 [DAT](INFO): Rx dataTimestamp_ set to:1761517973.108791
2025-10-26T22:32:53.110Z,1761517973.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024115
2025-10-26T22:32:53.182Z,1761517973.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136144,-0.979507,-0.148430],[0.990685,0.135038,0.017557],[0.002847,-0.149438,0.988767]]
2025-10-26T22:32:53.225Z,1761517973.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m.
2025-10-26T22:32:53.227Z,1761517973.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.900665 m,
      nav range: 97.135986 m,
      bearing: 67.035191 deg,
      approach rate: -0.596978 m/s,
      LOS rate: -0.052819 deg/s,
      cmd heading: 80.780415 deg,
      new cmd heading: 80.723024 deg.

2025-10-26T22:32:53.228Z,1761517973.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.408882 target range: 100.900665 and range: 101.50 m.
2025-10-26T22:32:53.360Z,1761517973.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274745
2025-10-26T22:32:53.610Z,1761517973.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135943,-0.979192,-0.150674],[0.990711,0.134858,0.017445],[0.003237,-0.151646,0.988430]]
2025-10-26T22:32:53.618Z,1761517973.618 [DAT](INFO): DAT read: 22:32:51.7749 LVL= 32304, 32753, 25186, 32755, AGC= 71, IDX= 411,-0.06,-2.675, 2.304,-1.978,-2.647, PHS= 0.073,-1.288, 0.625, RAW= 166.3,   7.0, CAL= 165.7,   6.7, ROT= 344.3,  -6.7

2025-10-26T22:32:53.619Z,1761517973.619 [DAT](INFO): got valid direction response:
 22:32:51.7749 LVL= 32304, 32753, 25186, 32755, AGC= 71, IDX= 411,-0.06,-2.675, 2.304,-1.978,-2.647, PHS= 0.073,-1.288, 0.625, RAW= 166.3,   7.0, CAL= 165.7,   6.7, ROT= 344.3,  -6.7

2025-10-26T22:32:53.620Z,1761517973.620 [DAT](INFO): DAT read: Bearing 224.8, -16.5 (Local)

2025-10-26T22:32:53.621Z,1761517973.621 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.8, -16.5 (Local)

2025-10-26T22:32:53.626Z,1761517973.626 [DAT](INFO): DAT read: Range 11 to 50 : 99.4 m  (Round-trip  132.6 ms) speed  0.3 m/s

2025-10-26T22:32:53.627Z,1761517973.627 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:32:53.628Z,1761517973.628 [DAT](INFO): direction in FSK: [0.956117,-0.268752,0.116671]
2025-10-26T22:32:53.628Z,1761517973.628 [DAT](INFO): publishing direction and range info
2025-10-26T22:32:53.646Z,1761517973.646 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:32:53.646Z,1761517973.646 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:32:53.647Z,1761517973.647 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:32:53.791Z,1761517973.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 99.400002 m,
      deltaT: 3.780053 s,
      deltaX: -2.099998 m,
      approachRate: -0.555547 m/s,
      rangeRepo size: 4

2025-10-26T22:32:53.797Z,1761517973.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 98.812912 m,
      bearing: 67.641002 deg,
      lat: 36.779369 deg,
      lon: -121.859410 deg,
      deltaT: 3.780053 s,
      deltaX: -2.087753 m,
      approachRate: -0.552308 m/s,
      posRepo size: 4

2025-10-26T22:32:53.798Z,1761517973.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.81 m.
2025-10-26T22:32:53.812Z,1761517973.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.812912 m,
      nav range: 97.567917 m,
      bearing: 67.191925 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.052819 deg/s,
      cmd heading: 80.723021 deg,
      new cmd heading: 80.633423 deg.

2025-10-26T22:32:53.813Z,1761517973.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.407319 target range: 98.812912 and range: 99.40 m.
2025-10-26T22:32:53.865Z,1761517973.865 [DAT](INFO): DAT read: user:594>

2025-10-26T22:32:53.867Z,1761517973.867 [DAT](INFO): DAT read: Tx time:22:32:53.0381

2025-10-26T22:32:53.867Z,1761517973.867 [DAT](INFO): Ping request sent.
2025-10-26T22:32:53.867Z,1761517973.867 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:32:53.868Z,1761517973.868 [DAT](INFO): publishing transmit ping time
2025-10-26T22:32:53.869Z,1761517973.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001154
2025-10-26T22:32:54.116Z,1761517974.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249380
2025-10-26T22:32:54.117Z,1761517974.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:54.136Z,1761517974.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.81 m.
2025-10-26T22:32:54.138Z,1761517974.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.812912 m,
      nav range: 97.349724 m,
      bearing: 67.178174 deg,
      approach rate: -0.662128 m/s,
      LOS rate: -0.041821 deg/s,
      cmd heading: 80.633423 deg,
      new cmd heading: 80.592078 deg.

2025-10-26T22:32:54.144Z,1761517974.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.406597 target range: 98.812912 and range: 99.40 m.
2025-10-26T22:32:54.371Z,1761517974.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504215
2025-10-26T22:32:54.472Z,1761517974.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136887,-0.978481,-0.154391],[0.990581,0.135738,0.018010],[0.003334,-0.155402,0.987846]]
2025-10-26T22:32:54.490Z,1761517974.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.81 m.
2025-10-26T22:32:54.494Z,1761517974.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.812912 m,
      nav range: 97.133347 m,
      bearing: 67.164595 deg,
      approach rate: -0.583978 m/s,
      LOS rate: -0.036731 deg/s,
      cmd heading: 80.592079 deg,
      new cmd heading: 80.551250 deg.

2025-10-26T22:32:54.494Z,1761517974.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405885 target range: 98.812912 and range: 99.40 m.
2025-10-26T22:32:54.623Z,1761517974.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755273
2025-10-26T22:32:54.872Z,1761517974.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005368
2025-10-26T22:32:54.877Z,1761517974.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138092,-0.977733,-0.158016],[0.990414,0.136856,0.018735],[0.003308,-0.159088,0.987259]]
2025-10-26T22:32:54.915Z,1761517974.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.81 m.
2025-10-26T22:32:54.917Z,1761517974.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.812912 m,
      nav range: 96.915436 m,
      bearing: 67.158075 deg,
      approach rate: -0.513209 m/s,
      LOS rate: -0.015389 deg/s,
      cmd heading: 80.551249 deg,
      new cmd heading: 80.531646 deg.

2025-10-26T22:32:54.918Z,1761517974.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405542 target range: 98.812912 and range: 99.40 m.
2025-10-26T22:32:55.125Z,1761517975.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257514
2025-10-26T22:32:55.287Z,1761517975.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139481,-0.977188,-0.160149],[0.990220,0.138130,0.019594],[0.002975,-0.161316,0.986898]]
2025-10-26T22:32:55.307Z,1761517975.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.81 m.
2025-10-26T22:32:55.309Z,1761517975.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.812912 m,
      nav range: 96.714226 m,
      bearing: 67.152192 deg,
      approach rate: -0.513216 m/s,
      LOS rate: -0.015038 deg/s,
      cmd heading: 80.531646 deg,
      new cmd heading: 80.513959 deg.

2025-10-26T22:32:55.310Z,1761517975.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405234 target range: 98.812912 and range: 99.40 m.
2025-10-26T22:32:55.377Z,1761517975.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509594
2025-10-26T22:32:55.628Z,1761517975.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761278
2025-10-26T22:32:55.728Z,1761517975.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141712,-0.976790,-0.160620],[0.989905,0.140207,0.020728],[0.002274,-0.161936,0.986799]]
2025-10-26T22:32:55.806Z,1761517975.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.81 m.
2025-10-26T22:32:55.817Z,1761517975.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.812912 m,
      nav range: 96.503029 m,
      bearing: 67.155904 deg,
      approach rate: -0.422856 m/s,
      LOS rate: 0.007449 deg/s,
      cmd heading: 80.513956 deg,
      new cmd heading: 80.525118 deg.

2025-10-26T22:32:55.818Z,1761517975.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405428 target range: 98.812912 and range: 99.40 m.
2025-10-26T22:32:55.880Z,1761517975.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013407
2025-10-26T22:32:56.114Z,1761517976.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144406,-0.976038,-0.162776],[0.989518,0.142665,0.022397],[0.001363,-0.164304,0.986409]]
2025-10-26T22:32:56.133Z,1761517976.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265453
2025-10-26T22:32:56.133Z,1761517976.133 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:56.135Z,1761517976.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.81 m.
2025-10-26T22:32:56.138Z,1761517976.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.812912 m,
      nav range: 96.350670 m,
      bearing: 67.158831 deg,
      approach rate: -0.463372 m/s,
      LOS rate: 0.008916 deg/s,
      cmd heading: 80.525116 deg,
      new cmd heading: 80.533911 deg.

2025-10-26T22:32:56.139Z,1761517976.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405582 target range: 98.812912 and range: 99.40 m.
2025-10-26T22:32:56.384Z,1761517976.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517199
2025-10-26T22:32:56.513Z,1761517976.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147625,-0.975255,-0.164573],[0.989043,0.145648,0.024085],[0.000481,-0.166325,0.986071]]
2025-10-26T22:32:56.532Z,1761517976.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.81 m.
2025-10-26T22:32:56.535Z,1761517976.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.812912 m,
      nav range: 96.175293 m,
      bearing: 67.162544 deg,
      approach rate: -0.441716 m/s,
      LOS rate: 0.009368 deg/s,
      cmd heading: 80.533914 deg,
      new cmd heading: 80.545072 deg.

2025-10-26T22:32:56.536Z,1761517976.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405777 target range: 98.812912 and range: 99.40 m.
2025-10-26T22:32:56.636Z,1761517976.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769395
2025-10-26T22:32:56.888Z,1761517976.888 [DAT](INFO): DAT read: Rx Time:22:32:55.5726

2025-10-26T22:32:56.889Z,1761517976.889 [DAT](INFO): Rx dataTimestamp_ set to:1761517976.888613
2025-10-26T22:32:56.889Z,1761517976.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022403
2025-10-26T22:32:56.914Z,1761517976.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150866,-0.974661,-0.165156],[0.988554,0.148653,0.025749],[-0.000546,-0.167150,0.985931]]
2025-10-26T22:32:56.978Z,1761517976.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.81 m.
2025-10-26T22:32:56.997Z,1761517976.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.812912 m,
      nav range: 95.997673 m,
      bearing: 67.176011 deg,
      approach rate: -0.398366 m/s,
      LOS rate: 0.030260 deg/s,
      cmd heading: 80.545074 deg,
      new cmd heading: 80.585550 deg.

2025-10-26T22:32:56.998Z,1761517976.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.406483 target range: 98.812912 and range: 99.40 m.
2025-10-26T22:32:57.140Z,1761517977.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273365
2025-10-26T22:32:57.398Z,1761517977.398 [DAT](INFO): DAT read: 22:32:55.5726 LVL= 32752, 32753, 26914, 32755, AGC= 72, IDX= 419, 0.39,-3.140, 1.870,-2.445,-3.095, PHS= 0.057,-1.273, 0.606, RAW= 166.5,   7.3, CAL= 166.0,   7.2, ROT= 344.0,  -7.2

2025-10-26T22:32:57.399Z,1761517977.399 [DAT](INFO): got valid direction response:
 22:32:55.5726 LVL= 32752, 32753, 26914, 32755, AGC= 72, IDX= 419, 0.39,-3.140, 1.870,-2.445,-3.095, PHS= 0.057,-1.273, 0.606, RAW= 166.5,   7.3, CAL= 166.0,   7.2, ROT= 344.0,  -7.2

2025-10-26T22:32:57.400Z,1761517977.400 [DAT](INFO): DAT read: Bearing 223.7, -17.0 (Local)

2025-10-26T22:32:57.400Z,1761517977.400 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.7, -17.0 (Local)

2025-10-26T22:32:57.402Z,1761517977.402 [DAT](INFO): DAT read: Range 11 to 50 : 97.7 m  (Round-trip  130.3 ms) speed  0.4 m/s

2025-10-26T22:32:57.402Z,1761517977.402 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:32:57.403Z,1761517977.403 [DAT](INFO): direction in FSK: [0.953682,-0.273464,0.125333]
2025-10-26T22:32:57.404Z,1761517977.404 [DAT](INFO): publishing direction and range info
2025-10-26T22:32:57.407Z,1761517977.407 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:32:57.407Z,1761517977.407 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:32:57.411Z,1761517977.411 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:32:57.437Z,1761517977.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 97.699997 m,
      deltaT: 3.780037 s,
      deltaX: -1.700005 m,
      approachRate: -0.449732 m/s,
      rangeRepo size: 4

2025-10-26T22:32:57.453Z,1761517977.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 97.122635 m,
      bearing: 66.710079 deg,
      lat: 36.779376 deg,
      lon: -121.859410 deg,
      deltaT: 3.780037 s,
      deltaX: -1.690277 m,
      approachRate: -0.447159 m/s,
      posRepo size: 4

2025-10-26T22:32:57.454Z,1761517977.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.12 m.
2025-10-26T22:32:57.457Z,1761517977.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.122635 m,
      nav range: 96.114418 m,
      bearing: 66.808483 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.030260 deg/s,
      cmd heading: 80.585550 deg,
      new cmd heading: 80.627152 deg.

2025-10-26T22:32:57.458Z,1761517977.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.407209 target range: 97.122635 and range: 97.70 m.
2025-10-26T22:32:57.644Z,1761517977.644 [DAT](INFO): DAT read: user:595>

2025-10-26T22:32:57.645Z,1761517977.645 [DAT](INFO): DAT read: Tx time:22:32:56.7881

2025-10-26T22:32:57.646Z,1761517977.646 [DAT](INFO): Ping request sent.
2025-10-26T22:32:57.646Z,1761517977.646 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:32:57.646Z,1761517977.646 [DAT](INFO): publishing transmit ping time
2025-10-26T22:32:57.646Z,1761517977.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-10-26T22:32:57.796Z,1761517977.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158428,-0.973361,-0.165735],[0.987365,0.155622,0.029866],[-0.003278,-0.168372,0.985718]]
2025-10-26T22:32:57.889Z,1761517977.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.12 m.
2025-10-26T22:32:57.894Z,1761517977.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.122635 m,
      nav range: 95.927780 m,
      bearing: 66.825630 deg,
      approach rate: -0.412214 m/s,
      LOS rate: 0.037947 deg/s,
      cmd heading: 80.627152 deg,
      new cmd heading: 80.678696 deg.

2025-10-26T22:32:57.895Z,1761517977.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.408109 target range: 97.122635 and range: 97.70 m.
2025-10-26T22:32:57.896Z,1761517977.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250797
2025-10-26T22:32:58.149Z,1761517978.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503720
2025-10-26T22:32:58.204Z,1761517978.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162770,-0.972398,-0.167176],[0.986651,0.159548,0.032621],[-0.005048,-0.170254,0.985387]]
2025-10-26T22:32:58.235Z,1761517978.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:32:58.237Z,1761517978.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.12 m.
2025-10-26T22:32:58.240Z,1761517978.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.122635 m,
      nav range: 95.797798 m,
      bearing: 66.837946 deg,
      approach rate: -0.373410 m/s,
      LOS rate: 0.035428 deg/s,
      cmd heading: 80.678693 deg,
      new cmd heading: 80.715690 deg.

2025-10-26T22:32:58.241Z,1761517978.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.408755 target range: 97.122635 and range: 97.70 m.
2025-10-26T22:32:58.401Z,1761517978.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755105
2025-10-26T22:32:58.606Z,1761517978.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166327,-0.971916,-0.166480],[0.986049,0.162816,0.034615],[-0.006537,-0.169915,0.985437]]
2025-10-26T22:32:58.637Z,1761517978.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.12 m.
2025-10-26T22:32:58.640Z,1761517978.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.122635 m,
      nav range: 95.645248 m,
      bearing: 66.852779 deg,
      approach rate: -0.380958 m/s,
      LOS rate: 0.037100 deg/s,
      cmd heading: 80.715692 deg,
      new cmd heading: 80.760261 deg.

2025-10-26T22:32:58.641Z,1761517978.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.409532 target range: 97.122635 and range: 97.70 m.
2025-10-26T22:32:58.655Z,1761517978.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009073
2025-10-26T22:32:58.905Z,1761517978.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258976
2025-10-26T22:32:59.011Z,1761517979.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170235,-0.971631,-0.164177],[0.985371,0.166489,0.036415],[-0.008049,-0.167974,0.985759]]
2025-10-26T22:32:59.051Z,1761517979.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.12 m.
2025-10-26T22:32:59.073Z,1761517979.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.122635 m,
      nav range: 95.496338 m,
      bearing: 66.870513 deg,
      approach rate: -0.361774 m/s,
      LOS rate: 0.043151 deg/s,
      cmd heading: 80.760259 deg,
      new cmd heading: 80.813544 deg.

2025-10-26T22:32:59.074Z,1761517979.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.410462 target range: 97.122635 and range: 97.70 m.
2025-10-26T22:32:59.159Z,1761517979.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513592
2025-10-26T22:32:59.412Z,1761517979.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766561
2025-10-26T22:32:59.416Z,1761517979.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173949,-0.971237,-0.162606],[0.984708,0.169942,0.038344],[-0.009608,-0.166790,0.985946]]
2025-10-26T22:32:59.462Z,1761517979.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.12 m.
2025-10-26T22:32:59.469Z,1761517979.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.122635 m,
      nav range: 95.357216 m,
      bearing: 66.887465 deg,
      approach rate: -0.337240 m/s,
      LOS rate: 0.041155 deg/s,
      cmd heading: 80.813542 deg,
      new cmd heading: 80.864474 deg.

2025-10-26T22:32:59.469Z,1761517979.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.411351 target range: 97.122635 and range: 97.70 m.
2025-10-26T22:32:59.664Z,1761517979.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018809
2025-10-26T22:32:59.818Z,1761517979.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177655,-0.971015,-0.159900],[0.984028,0.173419,0.040181],[-0.011287,-0.164484,0.986315]]
2025-10-26T22:32:59.876Z,1761517979.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.12 m.
2025-10-26T22:32:59.878Z,1761517979.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.122635 m,
      nav range: 95.193741 m,
      bearing: 66.902646 deg,
      approach rate: -0.395938 m/s,
      LOS rate: 0.036830 deg/s,
      cmd heading: 80.864474 deg,
      new cmd heading: 80.910093 deg.

2025-10-26T22:32:59.879Z,1761517979.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.412148 target range: 97.122635 and range: 97.70 m.
2025-10-26T22:32:59.917Z,1761517979.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270865
2025-10-26T22:33:00.168Z,1761517980.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522555
2025-10-26T22:33:00.224Z,1761517980.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180742,-0.970632,-0.158763],[0.983451,0.176311,0.041682],[-0.012466,-0.163670,0.986436]]
2025-10-26T22:33:00.240Z,1761517980.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:00.242Z,1761517980.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.12 m.
2025-10-26T22:33:00.246Z,1761517980.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.122635 m,
      nav range: 95.042946 m,
      bearing: 66.916994 deg,
      approach rate: -0.409760 m/s,
      LOS rate: 0.039050 deg/s,
      cmd heading: 80.910093 deg,
      new cmd heading: 80.953206 deg.

2025-10-26T22:33:00.249Z,1761517980.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.412900 target range: 97.122635 and range: 97.70 m.
2025-10-26T22:33:00.421Z,1761517980.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775190
2025-10-26T22:33:00.674Z,1761517980.674 [DAT](INFO): DAT read: Rx Time:22:32:59.3202

2025-10-26T22:33:00.675Z,1761517980.675 [DAT](INFO): Rx dataTimestamp_ set to:1761517980.673938
2025-10-26T22:33:00.675Z,1761517980.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029456
2025-10-26T22:33:00.806Z,1761517980.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185198,-0.970671,-0.153295],[0.982595,0.180621,0.043393],[-0.014432,-0.158664,0.987227]]
2025-10-26T22:33:00.856Z,1761517980.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.12 m.
2025-10-26T22:33:00.858Z,1761517980.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.122635 m,
      nav range: 94.767197 m,
      bearing: 66.931435 deg,
      approach rate: -0.449938 m/s,
      LOS rate: 0.023633 deg/s,
      cmd heading: 80.953205 deg,
      new cmd heading: 80.996657 deg.

2025-10-26T22:33:00.859Z,1761517980.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.413658 target range: 97.122635 and range: 97.70 m.
2025-10-26T22:33:00.925Z,1761517980.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278910
2025-10-26T22:33:01.182Z,1761517981.182 [DAT](INFO): DAT read: 22:32:59.3202 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 411,-0.43,-1.425,-2.750,-0.786,-1.448, PHS= 0.125,-1.257, 0.618, RAW= 164.7,   6.1, CAL= 164.0,   5.6, ROT= 346.0,  -5.6

2025-10-26T22:33:01.183Z,1761517981.183 [DAT](INFO): got valid direction response:
 22:32:59.3202 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 411,-0.43,-1.425,-2.750,-0.786,-1.448, PHS= 0.125,-1.257, 0.618, RAW= 164.7,   6.1, CAL= 164.0,   5.6, ROT= 346.0,  -5.6

2025-10-26T22:33:01.184Z,1761517981.184 [DAT](INFO): DAT read: Bearing 221.0, -14.9 (Local)

2025-10-26T22:33:01.185Z,1761517981.185 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.0, -14.9 (Local)

2025-10-26T22:33:01.186Z,1761517981.186 [DAT](INFO): DAT read: Range 11 to 50 : 95.9 m  (Round-trip  127.9 ms) speed  0.4 m/s

2025-10-26T22:33:01.186Z,1761517981.186 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:33:01.188Z,1761517981.188 [DAT](INFO): direction in FSK: [0.965665,-0.240767,0.097583]
2025-10-26T22:33:01.188Z,1761517981.188 [DAT](INFO): publishing direction and range info
2025-10-26T22:33:01.192Z,1761517981.192 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:33:01.192Z,1761517981.192 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:33:01.192Z,1761517981.192 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:33:01.395Z,1761517981.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 95.900002 m,
      deltaT: 3.784108 s,
      deltaX: -1.799995 m,
      approachRate: -0.475672 m/s,
      rangeRepo size: 4

2025-10-26T22:33:01.405Z,1761517981.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 95.333298 m,
      bearing: 66.389956 deg,
      lat: 36.779377 deg,
      lon: -121.859413 deg,
      deltaT: 3.784108 s,
      deltaX: -1.789337 m,
      approachRate: -0.472856 m/s,
      posRepo size: 4

2025-10-26T22:33:01.406Z,1761517981.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.33 m.
2025-10-26T22:33:01.413Z,1761517981.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.333298 m,
      nav range: 94.342041 m,
      bearing: 66.803261 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.023633 deg/s,
      cmd heading: 80.996659 deg,
      new cmd heading: 81.034856 deg.

2025-10-26T22:33:01.413Z,1761517981.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.414325 target range: 95.333298 and range: 95.90 m.
2025-10-26T22:33:01.428Z,1761517981.428 [DAT](INFO): DAT read: user:596>

2025-10-26T22:33:01.429Z,1761517981.429 [DAT](INFO): DAT read: Tx time:22:33:00.5381

2025-10-26T22:33:01.429Z,1761517981.429 [DAT](INFO): Ping request sent.
2025-10-26T22:33:01.430Z,1761517981.430 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:33:01.430Z,1761517981.430 [DAT](INFO): publishing transmit ping time
2025-10-26T22:33:01.430Z,1761517981.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-10-26T22:33:01.680Z,1761517981.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250619
2025-10-26T22:33:01.862Z,1761517981.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187520,-0.971088,-0.147733],[0.982145,0.183054,0.043392],[-0.015095,-0.153232,0.988075]]
2025-10-26T22:33:01.898Z,1761517981.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.33 m.
2025-10-26T22:33:01.901Z,1761517981.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.333298 m,
      nav range: 94.069580 m,
      bearing: 66.801420 deg,
      approach rate: -0.540255 m/s,
      LOS rate: -0.003660 deg/s,
      cmd heading: 81.034853 deg,
      new cmd heading: 81.029315 deg.

2025-10-26T22:33:01.902Z,1761517981.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.414228 target range: 95.333298 and range: 95.90 m.
2025-10-26T22:33:01.932Z,1761517981.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502818
2025-10-26T22:33:02.185Z,1761517982.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755104
2025-10-26T22:33:02.305Z,1761517982.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:02.307Z,1761517982.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.33 m.
2025-10-26T22:33:02.310Z,1761517982.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.333298 m,
      nav range: 93.859283 m,
      bearing: 66.799992 deg,
      approach rate: -0.514500 m/s,
      LOS rate: -0.003501 deg/s,
      cmd heading: 81.029314 deg,
      new cmd heading: 81.025020 deg.

2025-10-26T22:33:02.311Z,1761517982.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.414153 target range: 95.333298 and range: 95.90 m.
2025-10-26T22:33:02.436Z,1761517982.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006664
2025-10-26T22:33:02.673Z,1761517982.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183567,-0.972446,-0.143710],[0.982913,0.179554,0.040526],[-0.013605,-0.148694,0.988790]]
2025-10-26T22:33:02.688Z,1761517982.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258798
2025-10-26T22:33:02.694Z,1761517982.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.33 m.
2025-10-26T22:33:02.697Z,1761517982.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.333298 m,
      nav range: 93.660660 m,
      bearing: 66.798224 deg,
      approach rate: -0.513111 m/s,
      LOS rate: -0.004576 deg/s,
      cmd heading: 81.025018 deg,
      new cmd heading: 81.019704 deg.

2025-10-26T22:33:02.698Z,1761517982.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.414061 target range: 95.333298 and range: 95.90 m.
2025-10-26T22:33:02.941Z,1761517982.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511247
2025-10-26T22:33:03.070Z,1761517983.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180980,-0.973100,-0.142555],[0.983407,0.177209,0.038828],[-0.012522,-0.147217,0.989025]]
2025-10-26T22:33:03.107Z,1761517983.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.33 m.
2025-10-26T22:33:03.110Z,1761517983.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.333298 m,
      nav range: 93.419724 m,
      bearing: 66.787647 deg,
      approach rate: -0.583771 m/s,
      LOS rate: -0.025696 deg/s,
      cmd heading: 81.019704 deg,
      new cmd heading: 80.987888 deg.

2025-10-26T22:33:03.111Z,1761517983.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.413505 target range: 95.333298 and range: 95.90 m.
2025-10-26T22:33:03.193Z,1761517983.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763513
2025-10-26T22:33:03.445Z,1761517983.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014967
2025-10-26T22:33:03.475Z,1761517983.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178491,-0.973683,-0.141710],[0.983875,0.174942,0.037220],[-0.011450,-0.146069,0.989208]]
2025-10-26T22:33:03.511Z,1761517983.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.33 m.
2025-10-26T22:33:03.515Z,1761517983.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.333298 m,
      nav range: 93.184647 m,
      bearing: 66.776924 deg,
      approach rate: -0.582008 m/s,
      LOS rate: -0.026613 deg/s,
      cmd heading: 80.987889 deg,
      new cmd heading: 80.955641 deg.

2025-10-26T22:33:03.516Z,1761517983.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.412943 target range: 95.333298 and range: 95.90 m.
2025-10-26T22:33:03.696Z,1761517983.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266641
2025-10-26T22:33:03.878Z,1761517983.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175466,-0.974367,-0.140783],[0.984433,0.172174,0.035327],[-0.010183,-0.144790,0.989410]]
2025-10-26T22:33:03.924Z,1761517983.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.33 m.
2025-10-26T22:33:03.928Z,1761517983.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.333298 m,
      nav range: 92.922318 m,
      bearing: 66.757257 deg,
      approach rate: -0.634335 m/s,
      LOS rate: -0.047691 deg/s,
      cmd heading: 80.955644 deg,
      new cmd heading: 80.896476 deg.

2025-10-26T22:33:03.929Z,1761517983.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.411910 target range: 95.333298 and range: 95.90 m.
2025-10-26T22:33:03.950Z,1761517983.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520144
2025-10-26T22:33:04.200Z,1761517984.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770697
2025-10-26T22:33:04.286Z,1761517984.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172289,-0.975059,-0.139916],[0.985007,0.169262,0.033347],[-0.008833,-0.143564,0.989602]]
2025-10-26T22:33:04.307Z,1761517984.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:04.309Z,1761517984.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.33 m.
2025-10-26T22:33:04.312Z,1761517984.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.333298 m,
      nav range: 92.678429 m,
      bearing: 66.738394 deg,
      approach rate: -0.633705 m/s,
      LOS rate: -0.049143 deg/s,
      cmd heading: 80.896474 deg,
      new cmd heading: 80.839734 deg.

2025-10-26T22:33:04.313Z,1761517984.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.410920 target range: 95.333298 and range: 95.90 m.
2025-10-26T22:33:04.452Z,1761517984.452 [DAT](INFO): DAT read: Rx Time:22:33:03.0673

2025-10-26T22:33:04.453Z,1761517984.453 [DAT](INFO): Rx dataTimestamp_ set to:1761517984.452684
2025-10-26T22:33:04.454Z,1761517984.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023872
2025-10-26T22:33:04.690Z,1761517984.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169040,-0.975816,-0.138593],[0.985581,0.166286,0.031299],[-0.007496,-0.141885,0.989855]]
2025-10-26T22:33:04.705Z,1761517984.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275469
2025-10-26T22:33:04.734Z,1761517984.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.33 m.
2025-10-26T22:33:04.756Z,1761517984.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.333298 m,
      nav range: 92.423866 m,
      bearing: 66.718090 deg,
      approach rate: -0.599381 m/s,
      LOS rate: -0.047937 deg/s,
      cmd heading: 80.839735 deg,
      new cmd heading: 80.778657 deg.

2025-10-26T22:33:04.757Z,1761517984.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.409854 target range: 95.333298 and range: 95.90 m.
2025-10-26T22:33:04.962Z,1761517984.962 [DAT](INFO): DAT read: 22:33:03.0673 LVL= 32752, 32753, 31794, 32755, AGC= 74, IDX= 413, 0.16, 1.797, 0.448, 2.475, 1.796, PHS= 0.103,-1.303, 0.634, RAW= 165.4,   6.6, CAL= 164.8,   6.2, ROT= 345.2,  -6.2

2025-10-26T22:33:04.964Z,1761517984.964 [DAT](INFO): got valid direction response:
 22:33:03.0673 LVL= 32752, 32753, 31794, 32755, AGC= 74, IDX= 413, 0.16, 1.797, 0.448, 2.475, 1.796, PHS= 0.103,-1.303, 0.634, RAW= 165.4,   6.6, CAL= 164.8,   6.2, ROT= 345.2,  -6.2

2025-10-26T22:33:04.965Z,1761517984.965 [DAT](INFO): DAT read: Bearing 221.5, -15.7 (Local)

2025-10-26T22:33:04.966Z,1761517984.966 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.5, -15.7 (Local)

2025-10-26T22:33:04.973Z,1761517984.973 [DAT](INFO): DAT read: Range 11 to 50 : 93.7 m  (Round-trip  125.0 ms) speed  0.5 m/s

2025-10-26T22:33:04.975Z,1761517984.975 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:33:04.976Z,1761517984.976 [DAT](INFO): direction in FSK: [0.961168,-0.253952,0.107999]
2025-10-26T22:33:04.976Z,1761517984.976 [DAT](INFO): publishing direction and range info
2025-10-26T22:33:04.980Z,1761517984.980 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:33:04.980Z,1761517984.980 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:33:04.980Z,1761517984.980 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:33:05.126Z,1761517985.126 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:33:05.208Z,1761517985.208 [DAT](INFO): DAT read: user:597>

2025-10-26T22:33:05.209Z,1761517985.209 [DAT](INFO): DAT read: Tx time:22:33:04.3381

2025-10-26T22:33:05.209Z,1761517985.209 [DAT](INFO): Ping request sent.
2025-10-26T22:33:05.209Z,1761517985.209 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:33:05.210Z,1761517985.210 [DAT](INFO): publishing transmit ping time
2025-10-26T22:33:05.210Z,1761517985.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-10-26T22:33:05.278Z,1761517985.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165399,-0.976454,-0.138497],[0.986208,0.162895,0.029305],[-0.006054,-0.141433,0.989929]]
2025-10-26T22:33:05.393Z,1761517985.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 93.699997 m,
      deltaT: 3.780079 s,
      deltaX: -2.200005 m,
      approachRate: -0.582000 m/s,
      rangeRepo size: 4

2025-10-26T22:33:05.395Z,1761517985.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 93.146698 m,
      bearing: 66.688967 deg,
      lat: 36.779377 deg,
      lon: -121.859410 deg,
      deltaT: 3.780079 s,
      deltaX: -2.186600 m,
      approachRate: -0.578453 m/s,
      posRepo size: 4

2025-10-26T22:33:05.396Z,1761517985.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.15 m.
2025-10-26T22:33:05.399Z,1761517985.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.146698 m,
      nav range: 92.221268 m,
      bearing: 66.740921 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.047937 deg/s,
      cmd heading: 80.778660 deg,
      new cmd heading: 80.683970 deg.

2025-10-26T22:33:05.400Z,1761517985.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.408201 target range: 93.146698 and range: 93.70 m.
2025-10-26T22:33:05.466Z,1761517985.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256105
2025-10-26T22:33:05.717Z,1761517985.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507126
2025-10-26T22:33:05.885Z,1761517985.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158154,-0.977873,-0.136938],[0.987410,0.156188,0.025050],[-0.003107,-0.139176,0.990263]]
2025-10-26T22:33:05.969Z,1761517985.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759188
2025-10-26T22:33:06.011Z,1761517986.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.15 m.
2025-10-26T22:33:06.014Z,1761517986.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.146698 m,
      nav range: 91.790344 m,
      bearing: 66.694892 deg,
      approach rate: -0.696825 m/s,
      LOS rate: -0.074780 deg/s,
      cmd heading: 80.683973 deg,
      new cmd heading: 80.545238 deg.

2025-10-26T22:33:06.015Z,1761517986.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405780 target range: 93.146698 and range: 93.70 m.
2025-10-26T22:33:06.128Z,1761517986.128 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:33:06.220Z,1761517986.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010813
2025-10-26T22:33:06.440Z,1761517986.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155259,-0.978324,-0.137030],[0.987871,0.153427,0.023902],[-0.002360,-0.139078,0.990279]]
2025-10-26T22:33:06.472Z,1761517986.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263023
2025-10-26T22:33:06.480Z,1761517986.480 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:06.482Z,1761517986.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.15 m.
2025-10-26T22:33:06.485Z,1761517986.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.146698 m,
      nav range: 91.464249 m,
      bearing: 66.659152 deg,
      approach rate: -0.692017 m/s,
      LOS rate: -0.076116 deg/s,
      cmd heading: 80.545238 deg,
      new cmd heading: 80.437635 deg.

2025-10-26T22:33:06.486Z,1761517986.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.403902 target range: 93.146698 and range: 93.70 m.
2025-10-26T22:33:06.725Z,1761517986.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515400
2025-10-26T22:33:06.884Z,1761517986.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152562,-0.978277,-0.140354],[0.988292,0.150715,0.023756],[-0.002086,-0.142335,0.989816]]
2025-10-26T22:33:06.952Z,1761517986.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.15 m.
2025-10-26T22:33:06.954Z,1761517986.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.146698 m,
      nav range: 91.159180 m,
      bearing: 66.631225 deg,
      approach rate: -0.649182 m/s,
      LOS rate: -0.059627 deg/s,
      cmd heading: 80.437635 deg,
      new cmd heading: 80.353574 deg.

2025-10-26T22:33:06.956Z,1761517986.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.402434 target range: 93.146698 and range: 93.70 m.
2025-10-26T22:33:06.977Z,1761517986.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767065
2025-10-26T22:33:07.228Z,1761517987.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018871
2025-10-26T22:33:07.273Z,1761517987.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150510,-0.978352,-0.142034],[0.988607,0.148679,0.023478],[-0.001852,-0.143950,0.989583]]
2025-10-26T22:33:07.312Z,1761517987.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.15 m.
2025-10-26T22:33:07.315Z,1761517987.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.146698 m,
      nav range: 90.924370 m,
      bearing: 66.609287 deg,
      approach rate: -0.651725 m/s,
      LOS rate: -0.061046 deg/s,
      cmd heading: 80.353576 deg,
      new cmd heading: 80.287593 deg.

2025-10-26T22:33:07.316Z,1761517987.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.401283 target range: 93.146698 and range: 93.70 m.
2025-10-26T22:33:07.481Z,1761517987.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271075
2025-10-26T22:33:07.650Z,1761517987.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149139,-0.978327,-0.143644],[0.988815,0.147310,0.023345],[-0.001679,-0.145519,0.989354]]
2025-10-26T22:33:07.684Z,1761517987.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.15 m.
2025-10-26T22:33:07.687Z,1761517987.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.146698 m,
      nav range: 90.683228 m,
      bearing: 66.586422 deg,
      approach rate: -0.647971 m/s,
      LOS rate: -0.061604 deg/s,
      cmd heading: 80.287596 deg,
      new cmd heading: 80.218819 deg.

2025-10-26T22:33:07.688Z,1761517987.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.400082 target range: 93.146698 and range: 93.70 m.
2025-10-26T22:33:07.734Z,1761517987.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523888
2025-10-26T22:33:07.985Z,1761517987.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775178
2025-10-26T22:33:08.055Z,1761517988.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148625,-0.978056,-0.146003],[0.988892,0.146711,0.023855],[-0.001911,-0.147926,0.988997]]
2025-10-26T22:33:08.094Z,1761517988.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.15 m.
2025-10-26T22:33:08.114Z,1761517988.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.146698 m,
      nav range: 90.433884 m,
      bearing: 66.570394 deg,
      approach rate: -0.610773 m/s,
      LOS rate: -0.039369 deg/s,
      cmd heading: 80.218816 deg,
      new cmd heading: 80.170600 deg.

2025-10-26T22:33:08.115Z,1761517988.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.399241 target range: 93.146698 and range: 93.70 m.
2025-10-26T22:33:08.238Z,1761517988.238 [DAT](INFO): DAT read: Rx Time:22:33:06.8646

2025-10-26T22:33:08.239Z,1761517988.239 [DAT](INFO): Rx dataTimestamp_ set to:1761517988.238193
2025-10-26T22:33:08.240Z,1761517988.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030475
2025-10-26T22:33:08.458Z,1761517988.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148861,-0.977627,-0.148613],[0.988855,0.146812,0.024722],[-0.002351,-0.150637,0.988586]]
2025-10-26T22:33:08.486Z,1761517988.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:08.488Z,1761517988.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278979
2025-10-26T22:33:08.504Z,1761517988.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.15 m.
2025-10-26T22:33:08.507Z,1761517988.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.146698 m,
      nav range: 90.192528 m,
      bearing: 66.554835 deg,
      approach rate: -0.586889 m/s,
      LOS rate: -0.037935 deg/s,
      cmd heading: 80.170602 deg,
      new cmd heading: 80.123801 deg.

2025-10-26T22:33:08.512Z,1761517988.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.398424 target range: 93.146698 and range: 93.70 m.
2025-10-26T22:33:08.751Z,1761517988.751 [DAT](INFO): DAT read: 22:33:06.8646 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 418,-0.32,-1.859, 3.139,-1.215,-1.812, PHS= 0.055,-1.288, 0.553, RAW= 165.2,   8.3, CAL= 164.8,   8.6, ROT= 345.2,  -8.6

2025-10-26T22:33:08.753Z,1761517988.753 [DAT](INFO): got valid direction response:
 22:33:06.8646 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 418,-0.32,-1.859, 3.139,-1.215,-1.812, PHS= 0.055,-1.288, 0.553, RAW= 165.2,   8.3, CAL= 164.8,   8.6, ROT= 345.2,  -8.6

2025-10-26T22:33:08.755Z,1761517988.755 [DAT](INFO): DAT read: Bearing 223.7, -16.3 (Local)

2025-10-26T22:33:08.755Z,1761517988.755 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.7, -16.3 (Local)

2025-10-26T22:33:08.757Z,1761517988.757 [DAT](INFO): DAT read: Range 11 to 50 : 91.7 m  (Round-trip  122.3 ms) speed  0.3 m/s

2025-10-26T22:33:08.758Z,1761517988.758 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:33:08.760Z,1761517988.760 [DAT](INFO): direction in FSK: [0.955953,-0.252574,0.149535]
2025-10-26T22:33:08.761Z,1761517988.761 [DAT](INFO): publishing direction and range info
2025-10-26T22:33:08.768Z,1761517988.768 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:33:08.768Z,1761517988.768 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:33:08.768Z,1761517988.768 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:33:08.926Z,1761517988.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150210,-0.977122,-0.150566],[0.988649,0.147979,0.025974],[-0.003099,-0.152759,0.988259]]
2025-10-26T22:33:08.992Z,1761517988.992 [DAT](INFO): DAT read: user:598>

2025-10-26T22:33:08.993Z,1761517988.993 [DAT](INFO): DAT read: Tx time:22:33:08.1381

2025-10-26T22:33:08.994Z,1761517988.994 [DAT](INFO): Ping request sent.
2025-10-26T22:33:08.994Z,1761517988.994 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:33:08.994Z,1761517988.994 [DAT](INFO): publishing transmit ping time
2025-10-26T22:33:08.994Z,1761517988.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-10-26T22:33:09.012Z,1761517989.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 91.699997 m,
      deltaT: 3.784354 s,
      deltaX: -2.000000 m,
      approachRate: -0.528492 m/s,
      rangeRepo size: 4

2025-10-26T22:33:09.014Z,1761517989.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 91.158546 m,
      bearing: 68.023822 deg,
      lat: 36.779376 deg,
      lon: -121.859410 deg,
      deltaT: 3.784354 s,
      deltaX: -1.988152 m,
      approachRate: -0.525361 m/s,
      posRepo size: 4

2025-10-26T22:33:09.015Z,1761517989.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.16 m.
2025-10-26T22:33:09.022Z,1761517989.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.158546 m,
      nav range: 89.875755 m,
      bearing: 66.629295 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037935 deg/s,
      cmd heading: 80.123802 deg,
      new cmd heading: 80.066496 deg.

2025-10-26T22:33:09.023Z,1761517989.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.397424 target range: 91.158546 and range: 91.70 m.
2025-10-26T22:33:09.245Z,1761517989.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251016
2025-10-26T22:33:09.347Z,1761517989.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152112,-0.976714,-0.151301],[0.988356,0.149729,0.027085],[-0.003800,-0.153659,0.988117]]
2025-10-26T22:33:09.376Z,1761517989.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.16 m.
2025-10-26T22:33:09.379Z,1761517989.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.158546 m,
      nav range: 89.668579 m,
      bearing: 66.623703 deg,
      approach rate: -0.562788 m/s,
      LOS rate: -0.015224 deg/s,
      cmd heading: 80.066496 deg,
      new cmd heading: 80.049683 deg.

2025-10-26T22:33:09.380Z,1761517989.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.397130 target range: 91.158546 and range: 91.70 m.
2025-10-26T22:33:09.496Z,1761517989.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502697
2025-10-26T22:33:09.750Z,1761517989.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756204
2025-10-26T22:33:09.800Z,1761517989.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.16 m.
2025-10-26T22:33:09.802Z,1761517989.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.158546 m,
      nav range: 89.440392 m,
      bearing: 66.617515 deg,
      approach rate: -0.538534 m/s,
      LOS rate: -0.014643 deg/s,
      cmd heading: 80.049680 deg,
      new cmd heading: 80.031067 deg.

2025-10-26T22:33:09.804Z,1761517989.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.396806 target range: 91.158546 and range: 91.70 m.
2025-10-26T22:33:10.001Z,1761517990.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007140
2025-10-26T22:33:10.209Z,1761517990.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.16 m.
2025-10-26T22:33:10.212Z,1761517990.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.158546 m,
      nav range: 89.248207 m,
      bearing: 66.624733 deg,
      approach rate: -0.469097 m/s,
      LOS rate: 0.017656 deg/s,
      cmd heading: 80.031068 deg,
      new cmd heading: 80.052769 deg.

2025-10-26T22:33:10.213Z,1761517990.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.397184 target range: 91.158546 and range: 91.70 m.
2025-10-26T22:33:10.253Z,1761517990.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259167
2025-10-26T22:33:10.505Z,1761517990.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511237
2025-10-26T22:33:10.561Z,1761517990.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160475,-0.974648,-0.155916],[0.987018,0.157399,0.031964],[-0.006612,-0.159021,0.987253]]
2025-10-26T22:33:10.578Z,1761517990.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:10.580Z,1761517990.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.16 m.
2025-10-26T22:33:10.582Z,1761517990.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.158546 m,
      nav range: 89.074600 m,
      bearing: 66.632195 deg,
      approach rate: -0.468494 m/s,
      LOS rate: 0.020177 deg/s,
      cmd heading: 80.052768 deg,
      new cmd heading: 80.075198 deg.

2025-10-26T22:33:10.584Z,1761517990.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.397576 target range: 91.158546 and range: 91.70 m.
2025-10-26T22:33:10.757Z,1761517990.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762969
2025-10-26T22:33:10.962Z,1761517990.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164356,-0.973855,-0.156826],[0.986367,0.160942,0.034315],[-0.008178,-0.160328,0.987030]]
2025-10-26T22:33:11.005Z,1761517991.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.16 m.
2025-10-26T22:33:11.009Z,1761517991.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015155
2025-10-26T22:33:11.010Z,1761517991.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.158546 m,
      nav range: 88.889977 m,
      bearing: 66.647170 deg,
      approach rate: -0.433448 m/s,
      LOS rate: 0.035231 deg/s,
      cmd heading: 80.075198 deg,
      new cmd heading: 80.120217 deg.

2025-10-26T22:33:11.011Z,1761517991.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.398362 target range: 91.158546 and range: 91.70 m.
2025-10-26T22:33:11.261Z,1761517991.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267566
2025-10-26T22:33:11.367Z,1761517991.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168413,-0.973049,-0.157521],[0.985670,0.164682,0.036539],[-0.009613,-0.161417,0.986839]]
2025-10-26T22:33:11.385Z,1761517991.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.16 m.
2025-10-26T22:33:11.388Z,1761517991.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.158546 m,
      nav range: 88.725632 m,
      bearing: 66.660983 deg,
      approach rate: -0.433048 m/s,
      LOS rate: 0.036465 deg/s,
      cmd heading: 80.120216 deg,
      new cmd heading: 80.161732 deg.

2025-10-26T22:33:11.389Z,1761517991.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.399086 target range: 91.158546 and range: 91.70 m.
2025-10-26T22:33:11.513Z,1761517991.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518814
2025-10-26T22:33:11.768Z,1761517991.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774095
2025-10-26T22:33:11.821Z,1761517991.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.16 m.
2025-10-26T22:33:11.824Z,1761517991.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.158546 m,
      nav range: 88.536873 m,
      bearing: 66.676912 deg,
      approach rate: -0.432728 m/s,
      LOS rate: 0.036595 deg/s,
      cmd heading: 80.161730 deg,
      new cmd heading: 80.209618 deg.

2025-10-26T22:33:11.825Z,1761517991.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.399922 target range: 91.158546 and range: 91.70 m.
2025-10-26T22:33:12.016Z,1761517992.016 [DAT](INFO): DAT read: Rx Time:22:33:10.6622

2025-10-26T22:33:12.017Z,1761517992.017 [DAT](INFO): Rx dataTimestamp_ set to:1761517992.016535
2025-10-26T22:33:12.017Z,1761517992.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023632
2025-10-26T22:33:12.174Z,1761517992.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176444,-0.971082,-0.160832],[0.984231,0.171981,0.041371],[-0.012515,-0.165596,0.986114]]
2025-10-26T22:33:12.217Z,1761517992.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.16 m.
2025-10-26T22:33:12.220Z,1761517992.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.158546 m,
      nav range: 88.371986 m,
      bearing: 66.696855 deg,
      approach rate: -0.416322 m/s,
      LOS rate: 0.050449 deg/s,
      cmd heading: 80.209616 deg,
      new cmd heading: 80.269558 deg.

2025-10-26T22:33:12.221Z,1761517992.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.400968 target range: 91.158546 and range: 91.70 m.
2025-10-26T22:33:12.269Z,1761517992.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275154
2025-10-26T22:33:12.526Z,1761517992.526 [DAT](INFO): DAT read: 22:33:10.6622 LVL= 32752, 32753, 30114, 32755, AGC= 74, IDX= 425,-0.16,-2.476, 2.513,-1.782,-2.428, PHS= 0.053,-1.298, 0.602, RAW= 166.3,   7.6, CAL= 165.9,   7.7, ROT= 344.1,  -7.7

2025-10-26T22:33:12.527Z,1761517992.527 [DAT](INFO): got valid direction response:
 22:33:10.6622 LVL= 32752, 32753, 30114, 32755, AGC= 74, IDX= 425,-0.16,-2.476, 2.513,-1.782,-2.428, PHS= 0.053,-1.298, 0.602, RAW= 166.3,   7.6, CAL= 165.9,   7.7, ROT= 344.1,  -7.7

2025-10-26T22:33:12.528Z,1761517992.528 [DAT](INFO): DAT read: Bearing 221.3, -17.3 (Local)

2025-10-26T22:33:12.528Z,1761517992.528 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.3, -17.3 (Local)

2025-10-26T22:33:12.530Z,1761517992.530 [DAT](INFO): DAT read: Range 11 to 50 : 89.9 m  (Round-trip  119.9 ms) speed  0.7 m/s

2025-10-26T22:33:12.530Z,1761517992.530 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:33:12.531Z,1761517992.531 [DAT](INFO): direction in FSK: [0.953070,-0.271489,0.133986]
2025-10-26T22:33:12.532Z,1761517992.532 [DAT](INFO): publishing direction and range info
2025-10-26T22:33:12.535Z,1761517992.535 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:33:12.535Z,1761517992.535 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:33:12.535Z,1761517992.535 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:33:12.592Z,1761517992.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180138,-0.970455,-0.160523],[0.983547,0.175442,0.043081],[-0.013646,-0.165642,0.986092]]
2025-10-26T22:33:12.653Z,1761517992.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 89.900002 m,
      deltaT: 3.779345 s,
      deltaX: -1.799995 m,
      approachRate: -0.476272 m/s,
      rangeRepo size: 4

2025-10-26T22:33:12.655Z,1761517992.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 89.368591 m,
      bearing: 65.207863 deg,
      lat: 36.779378 deg,
      lon: -121.859413 deg,
      deltaT: 3.779345 s,
      deltaX: -1.789955 m,
      approachRate: -0.473615 m/s,
      posRepo size: 4

2025-10-26T22:33:12.660Z,1761517992.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.37 m.
2025-10-26T22:33:12.668Z,1761517992.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.368591 m,
      nav range: 88.035500 m,
      bearing: 66.507536 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.050449 deg/s,
      cmd heading: 80.269558 deg,
      new cmd heading: 80.335395 deg.

2025-10-26T22:33:12.669Z,1761517992.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.402117 target range: 89.368591 and range: 89.90 m.
2025-10-26T22:33:12.772Z,1761517992.772 [DAT](INFO): DAT read: user:599>

2025-10-26T22:33:12.773Z,1761517992.773 [DAT](INFO): DAT read: Tx time:22:33:11.8881

2025-10-26T22:33:12.773Z,1761517992.773 [DAT](INFO): Ping request sent.
2025-10-26T22:33:12.774Z,1761517992.774 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:33:12.774Z,1761517992.774 [DAT](INFO): publishing transmit ping time
2025-10-26T22:33:12.774Z,1761517992.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729
2025-10-26T22:33:12.986Z,1761517992.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183222,-0.970087,-0.159253],[0.982962,0.178365,0.044401],[-0.014668,-0.164675,0.986239]]
2025-10-26T22:33:13.024Z,1761517993.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250815
2025-10-26T22:33:13.040Z,1761517993.040 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:13.042Z,1761517993.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.37 m.
2025-10-26T22:33:13.045Z,1761517993.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.368591 m,
      nav range: 87.870872 m,
      bearing: 66.523709 deg,
      approach rate: -0.421964 m/s,
      LOS rate: 0.041532 deg/s,
      cmd heading: 80.335394 deg,
      new cmd heading: 80.384005 deg.

2025-10-26T22:33:13.046Z,1761517993.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.402966 target range: 89.368591 and range: 89.90 m.
2025-10-26T22:33:13.277Z,1761517993.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503284
2025-10-26T22:33:13.386Z,1761517993.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185407,-0.969791,-0.158522],[0.982540,0.180415,0.045447],[-0.015474,-0.164180,0.986309]]
2025-10-26T22:33:13.438Z,1761517993.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.37 m.
2025-10-26T22:33:13.445Z,1761517993.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.368591 m,
      nav range: 87.725212 m,
      bearing: 66.538290 deg,
      approach rate: -0.368158 m/s,
      LOS rate: 0.036915 deg/s,
      cmd heading: 80.384005 deg,
      new cmd heading: 80.427821 deg.

2025-10-26T22:33:13.446Z,1761517993.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.403730 target range: 89.368591 and range: 89.90 m.
2025-10-26T22:33:13.529Z,1761517993.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755545
2025-10-26T22:33:13.780Z,1761517993.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006689
2025-10-26T22:33:13.804Z,1761517993.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186380,-0.969662,-0.158169],[0.982345,0.181275,0.046242],[-0.016167,-0.163995,0.986329]]
2025-10-26T22:33:13.822Z,1761517993.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.37 m.
2025-10-26T22:33:13.825Z,1761517993.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.368591 m,
      nav range: 87.557343 m,
      bearing: 66.555266 deg,
      approach rate: -0.436867 m/s,
      LOS rate: 0.044263 deg/s,
      cmd heading: 80.427820 deg,
      new cmd heading: 80.478846 deg.

2025-10-26T22:33:13.826Z,1761517993.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.404621 target range: 89.368591 and range: 89.90 m.
2025-10-26T22:33:14.041Z,1761517994.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266593
2025-10-26T22:33:14.194Z,1761517994.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187802,-0.970006,-0.154331],[0.982062,0.182744,0.046460],[-0.016863,-0.160288,0.986926]]
2025-10-26T22:33:14.250Z,1761517994.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.37 m.
2025-10-26T22:33:14.258Z,1761517994.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.368591 m,
      nav range: 87.357384 m,
      bearing: 66.566339 deg,
      approach rate: -0.467008 m/s,
      LOS rate: 0.025920 deg/s,
      cmd heading: 80.478849 deg,
      new cmd heading: 80.512143 deg.

2025-10-26T22:33:14.260Z,1761517994.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405202 target range: 89.368591 and range: 89.90 m.
2025-10-26T22:33:14.292Z,1761517994.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518847
2025-10-26T22:33:14.545Z,1761517994.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771124
2025-10-26T22:33:14.601Z,1761517994.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188320,-0.970429,-0.151005],[0.981956,0.183352,0.046300],[-0.017244,-0.156999,0.987448]]
2025-10-26T22:33:14.619Z,1761517994.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.37 m.
2025-10-26T22:33:14.622Z,1761517994.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.368591 m,
      nav range: 87.177780 m,
      bearing: 66.576441 deg,
      approach rate: -0.487230 m/s,
      LOS rate: 0.027462 deg/s,
      cmd heading: 80.512146 deg,
      new cmd heading: 80.542515 deg.

2025-10-26T22:33:14.623Z,1761517994.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405732 target range: 89.368591 and range: 89.90 m.
2025-10-26T22:33:14.799Z,1761517994.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025664
2025-10-26T22:33:15.012Z,1761517995.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188032,-0.970676,-0.149775],[0.982009,0.183101,0.046182],[-0.017404,-0.155764,0.987641]]
2025-10-26T22:33:15.049Z,1761517995.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274930
2025-10-26T22:33:15.056Z,1761517995.056 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:15.058Z,1761517995.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.37 m.
2025-10-26T22:33:15.061Z,1761517995.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.368591 m,
      nav range: 86.956665 m,
      bearing: 66.577247 deg,
      approach rate: -0.503870 m/s,
      LOS rate: 0.001842 deg/s,
      cmd heading: 80.542513 deg,
      new cmd heading: 80.544937 deg.

2025-10-26T22:33:15.062Z,1761517995.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405774 target range: 89.368591 and range: 89.90 m.
2025-10-26T22:33:15.300Z,1761517995.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526752
2025-10-26T22:33:15.406Z,1761517995.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187424,-0.971249,-0.146791],[0.982123,0.182630,0.045604],[-0.017485,-0.152714,0.988116]]
2025-10-26T22:33:15.441Z,1761517995.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.37 m.
2025-10-26T22:33:15.444Z,1761517995.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.368591 m,
      nav range: 86.769356 m,
      bearing: 66.577900 deg,
      approach rate: -0.488893 m/s,
      LOS rate: 0.001708 deg/s,
      cmd heading: 80.544937 deg,
      new cmd heading: 80.546901 deg.

2025-10-26T22:33:15.445Z,1761517995.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405809 target range: 89.368591 and range: 89.90 m.
2025-10-26T22:33:15.553Z,1761517995.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779114
2025-10-26T22:33:15.804Z,1761517995.804 [DAT](INFO): DAT read: Rx Time:22:33:14.4091

2025-10-26T22:33:15.805Z,1761517995.805 [DAT](INFO): Rx dataTimestamp_ set to:1761517995.804571
2025-10-26T22:33:15.805Z,1761517995.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031805
2025-10-26T22:33:15.859Z,1761517995.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.37 m.
2025-10-26T22:33:15.862Z,1761517995.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.368591 m,
      nav range: 86.549614 m,
      bearing: 66.578670 deg,
      approach rate: -0.526165 m/s,
      LOS rate: 0.001848 deg/s,
      cmd heading: 80.546898 deg,
      new cmd heading: 80.549213 deg.

2025-10-26T22:33:15.863Z,1761517995.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405849 target range: 89.368591 and range: 89.90 m.
2025-10-26T22:33:16.056Z,1761517996.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282761
2025-10-26T22:33:16.234Z,1761517996.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185100,-0.972627,-0.140478],[0.982564,0.180622,0.044096],[-0.017516,-0.146191,0.989101]]
2025-10-26T22:33:16.314Z,1761517996.314 [DAT](INFO): DAT read: 22:33:14.4091 LVL= 29344, 32753, 27362, 32755, AGC= 71, IDX= 409, 0.31,-0.512,-1.895, 0.179,-0.553, PHS= 0.143,-1.297, 0.688, RAW= 165.4,   5.3, CAL= 164.6,   4.4, ROT= 345.4,  -4.4

2025-10-26T22:33:16.315Z,1761517996.315 [DAT](INFO): got valid direction response:
 22:33:14.4091 LVL= 29344, 32753, 27362, 32755, AGC= 71, IDX= 409, 0.31,-0.512,-1.895, 0.179,-0.553, PHS= 0.143,-1.297, 0.688, RAW= 165.4,   5.3, CAL= 164.6,   4.4, ROT= 345.4,  -4.4

2025-10-26T22:33:16.316Z,1761517996.316 [DAT](INFO): DAT read: Bearing 217.9, -15.6 (Local)

2025-10-26T22:33:16.317Z,1761517996.317 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.9, -15.6 (Local)

2025-10-26T22:33:16.318Z,1761517996.318 [DAT](INFO): DAT read: Range 11 to 50 : 87.6 m  (Round-trip  116.8 ms) speed  0.4 m/s

2025-10-26T22:33:16.319Z,1761517996.319 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:33:16.320Z,1761517996.320 [DAT](INFO): direction in FSK: [0.964857,-0.251327,0.076719]
2025-10-26T22:33:16.321Z,1761517996.321 [DAT](INFO): publishing direction and range info
2025-10-26T22:33:16.325Z,1761517996.325 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:33:16.325Z,1761517996.325 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:33:16.325Z,1761517996.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:33:16.344Z,1761517996.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 87.599998 m,
      deltaT: 3.787977 s,
      deltaX: -2.300003 m,
      approachRate: -0.607185 m/s,
      rangeRepo size: 4

2025-10-26T22:33:16.346Z,1761517996.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 87.081985 m,
      bearing: 65.533140 deg,
      lat: 36.779383 deg,
      lon: -121.859413 deg,
      deltaT: 3.787977 s,
      deltaX: -2.286606 m,
      approachRate: -0.603648 m/s,
      posRepo size: 4

2025-10-26T22:33:16.347Z,1761517996.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.08 m.
2025-10-26T22:33:16.353Z,1761517996.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.081985 m,
      nav range: 86.560112 m,
      bearing: 66.175899 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001848 deg/s,
      cmd heading: 80.549213 deg,
      new cmd heading: 80.551896 deg.

2025-10-26T22:33:16.354Z,1761517996.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405896 target range: 87.081985 and range: 87.60 m.
2025-10-26T22:33:16.565Z,1761517996.565 [DAT](INFO): DAT read: user:600>

2025-10-26T22:33:16.568Z,1761517996.568 [DAT](INFO): DAT read: Tx time:22:33:15.6881

2025-10-26T22:33:16.568Z,1761517996.568 [DAT](INFO): Ping request sent.
2025-10-26T22:33:16.568Z,1761517996.568 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:33:16.568Z,1761517996.568 [DAT](INFO): publishing transmit ping time
2025-10-26T22:33:16.569Z,1761517996.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000775
2025-10-26T22:33:16.624Z,1761517996.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183769,-0.972940,-0.140062],[0.982818,0.179364,0.043557],[-0.017257,-0.145660,0.989184]]
2025-10-26T22:33:16.668Z,1761517996.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.08 m.
2025-10-26T22:33:16.674Z,1761517996.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.081985 m,
      nav range: 86.356483 m,
      bearing: 66.166974 deg,
      approach rate: -0.635230 m/s,
      LOS rate: -0.027909 deg/s,
      cmd heading: 80.551897 deg,
      new cmd heading: 80.525058 deg.

2025-10-26T22:33:16.684Z,1761517996.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405427 target range: 87.081985 and range: 87.60 m.
2025-10-26T22:33:16.812Z,1761517996.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244044
2025-10-26T22:33:17.044Z,1761517997.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182227,-0.973479,-0.138321],[0.983110,0.177956,0.042747],[-0.016998,-0.143774,0.989464]]
2025-10-26T22:33:17.064Z,1761517997.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496089
2025-10-26T22:33:17.098Z,1761517997.098 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:17.100Z,1761517997.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.08 m.
2025-10-26T22:33:17.103Z,1761517997.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.081985 m,
      nav range: 86.090645 m,
      bearing: 66.147603 deg,
      approach rate: -0.609075 m/s,
      LOS rate: -0.044518 deg/s,
      cmd heading: 80.525062 deg,
      new cmd heading: 80.466770 deg.

2025-10-26T22:33:17.104Z,1761517997.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.404410 target range: 87.081985 and range: 87.60 m.
2025-10-26T22:33:17.318Z,1761517997.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749368
2025-10-26T22:33:17.426Z,1761517997.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180258,-0.974020,-0.137081],[0.983480,0.176132,0.041757],[-0.016528,-0.142344,0.989679]]
2025-10-26T22:33:17.444Z,1761517997.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.08 m.
2025-10-26T22:33:17.447Z,1761517997.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.081985 m,
      nav range: 85.885635 m,
      bearing: 66.132314 deg,
      approach rate: -0.594437 m/s,
      LOS rate: -0.044437 deg/s,
      cmd heading: 80.466773 deg,
      new cmd heading: 80.420796 deg.

2025-10-26T22:33:17.448Z,1761517997.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.403608 target range: 87.081985 and range: 87.60 m.
2025-10-26T22:33:17.568Z,1761517997.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000103
2025-10-26T22:33:17.821Z,1761517997.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252355
2025-10-26T22:33:17.832Z,1761517997.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178877,-0.974232,-0.137385],[0.983731,0.174737,0.041723],[-0.016642,-0.142614,0.989639]]
2025-10-26T22:33:17.863Z,1761517997.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.08 m.
2025-10-26T22:33:17.866Z,1761517997.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.081985 m,
      nav range: 85.637711 m,
      bearing: 66.113489 deg,
      approach rate: -0.593002 m/s,
      LOS rate: -0.045158 deg/s,
      cmd heading: 80.420799 deg,
      new cmd heading: 80.364160 deg.

2025-10-26T22:33:17.866Z,1761517997.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.402619 target range: 87.081985 and range: 87.60 m.
2025-10-26T22:33:18.072Z,1761517998.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504039
2025-10-26T22:33:18.244Z,1761517998.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177813,-0.974376,-0.137748],[0.983921,0.173647,0.041794],[-0.016803,-0.142964,0.989585]]
2025-10-26T22:33:18.300Z,1761517998.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.08 m.
2025-10-26T22:33:18.303Z,1761517998.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.081985 m,
      nav range: 85.376862 m,
      bearing: 66.087915 deg,
      approach rate: -0.597543 m/s,
      LOS rate: -0.058764 deg/s,
      cmd heading: 80.364163 deg,
      new cmd heading: 80.287205 deg.

2025-10-26T22:33:18.304Z,1761517998.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.401276 target range: 87.081985 and range: 87.60 m.
2025-10-26T22:33:18.324Z,1761517998.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756061
2025-10-26T22:33:18.576Z,1761517998.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008025
2025-10-26T22:33:18.638Z,1761517998.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176336,-0.974698,-0.137366],[0.984189,0.172222,0.041372],[-0.016667,-0.142489,0.989656]]
2025-10-26T22:33:18.734Z,1761517998.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.08 m.
2025-10-26T22:33:18.738Z,1761517998.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.081985 m,
      nav range: 85.122063 m,
      bearing: 66.062520 deg,
      approach rate: -0.586632 m/s,
      LOS rate: -0.058642 deg/s,
      cmd heading: 80.287207 deg,
      new cmd heading: 80.210795 deg.

2025-10-26T22:33:18.740Z,1761517998.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.399943 target range: 87.081985 and range: 87.60 m.
2025-10-26T22:33:18.829Z,1761517998.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260620
2025-10-26T22:33:19.076Z,1761517999.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175065,-0.974683,-0.139090],[0.984415,0.170889,0.041515],[-0.016695,-0.144191,0.989409]]
2025-10-26T22:33:19.081Z,1761517999.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512263
2025-10-26T22:33:19.144Z,1761517999.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:19.146Z,1761517999.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.08 m.
2025-10-26T22:33:19.153Z,1761517999.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.081985 m,
      nav range: 84.885582 m,
      bearing: 66.038796 deg,
      approach rate: -0.573057 m/s,
      LOS rate: -0.057649 deg/s,
      cmd heading: 80.210798 deg,
      new cmd heading: 80.139429 deg.

2025-10-26T22:33:19.154Z,1761517999.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.398697 target range: 87.081985 and range: 87.60 m.
2025-10-26T22:33:19.333Z,1761517999.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764227
2025-10-26T22:33:19.451Z,1761517999.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173786,-0.975030,-0.138253],[0.984643,0.169673,0.041087],[-0.016604,-0.143271,0.989544]]
2025-10-26T22:33:19.491Z,1761517999.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.08 m.
2025-10-26T22:33:19.509Z,1761517999.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.081985 m,
      nav range: 84.665268 m,
      bearing: 66.016379 deg,
      approach rate: -0.639645 m/s,
      LOS rate: -0.065255 deg/s,
      cmd heading: 80.139429 deg,
      new cmd heading: 80.072002 deg.

2025-10-26T22:33:19.510Z,1761517999.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.397520 target range: 87.081985 and range: 87.60 m.
2025-10-26T22:33:19.585Z,1761517999.585 [DAT](INFO): DAT read: Rx Time:22:33:18.2064

2025-10-26T22:33:19.586Z,1761517999.586 [DAT](INFO): Rx dataTimestamp_ set to:1761517999.585426
2025-10-26T22:33:19.587Z,1761517999.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018249
2025-10-26T22:33:19.836Z,1761517999.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267939
2025-10-26T22:33:19.851Z,1761517999.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172872,-0.975053,-0.139236],[0.984802,0.168713,0.041230],[-0.016711,-0.144247,0.989401]]
2025-10-26T22:33:19.900Z,1761517999.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.08 m.
2025-10-26T22:33:19.902Z,1761517999.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.081985 m,
      nav range: 84.420815 m,
      bearing: 65.991205 deg,
      approach rate: -0.597115 m/s,
      LOS rate: -0.061670 deg/s,
      cmd heading: 80.072002 deg,
      new cmd heading: 79.996261 deg.

2025-10-26T22:33:19.904Z,1761517999.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.396198 target range: 87.081985 and range: 87.60 m.
2025-10-26T22:33:20.100Z,1761518000.100 [DAT](INFO): DAT read: 22:33:18.2064 LVL= 32752, 32753, 26050, 32755, AGC= 72, IDX= 414,-0.21,-2.229, 2.728,-1.544,-2.273, PHS= 0.146,-1.237, 0.685, RAW= 165.8,   4.8, CAL= 164.9,   3.7, ROT= 345.1,  -3.7

2025-10-26T22:33:20.102Z,1761518000.102 [DAT](INFO): got valid direction response:
 22:33:18.2064 LVL= 32752, 32753, 26050, 32755, AGC= 72, IDX= 414,-0.21,-2.229, 2.728,-1.544,-2.273, PHS= 0.146,-1.237, 0.685, RAW= 165.8,   4.8, CAL= 164.9,   3.7, ROT= 345.1,  -3.7

2025-10-26T22:33:20.103Z,1761518000.103 [DAT](INFO): DAT read: Bearing 216.8, -16.1 (Local)

2025-10-26T22:33:20.104Z,1761518000.104 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.8, -16.1 (Local)

2025-10-26T22:33:20.106Z,1761518000.106 [DAT](INFO): DAT read: Range 11 to 50 : 85.5 m  (Round-trip  114.1 ms) speed  0.4 m/s

2025-10-26T22:33:20.107Z,1761518000.107 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:33:20.108Z,1761518000.108 [DAT](INFO): direction in FSK: [0.964362,-0.256597,0.064532]
2025-10-26T22:33:20.108Z,1761518000.108 [DAT](INFO): publishing direction and range info
2025-10-26T22:33:20.116Z,1761518000.116 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:33:20.116Z,1761518000.116 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:33:20.117Z,1761518000.117 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:33:20.259Z,1761518000.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172048,-0.974850,-0.141660],[0.984948,0.167803,0.041477],[-0.016663,-0.146664,0.989046]]
2025-10-26T22:33:20.322Z,1761518000.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 85.500000 m,
      deltaT: 3.782742 s,
      deltaX: -2.099998 m,
      approachRate: -0.555152 m/s,
      rangeRepo size: 4

2025-10-26T22:33:20.324Z,1761518000.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.994797 m,
      bearing: 65.895015 deg,
      lat: 36.779386 deg,
      lon: -121.859410 deg,
      deltaT: 3.782742 s,
      deltaX: -2.087189 m,
      approachRate: -0.551766 m/s,
      posRepo size: 4

2025-10-26T22:33:20.324Z,1761518000.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.99 m.
2025-10-26T22:33:20.327Z,1761518000.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.994797 m,
      nav range: 84.548889 m,
      bearing: 65.853674 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.061670 deg/s,
      cmd heading: 79.996262 deg,
      new cmd heading: 79.918383 deg.

2025-10-26T22:33:20.328Z,1761518000.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.394839 target range: 84.994797 and range: 85.50 m.
2025-10-26T22:33:20.340Z,1761518000.340 [DAT](INFO): DAT read: user:601>

2025-10-26T22:33:20.341Z,1761518000.341 [DAT](INFO): DAT read: Tx time:22:33:19.4881

2025-10-26T22:33:20.341Z,1761518000.341 [DAT](INFO): Ping request sent.
2025-10-26T22:33:20.341Z,1761518000.341 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:33:20.342Z,1761518000.342 [DAT](INFO): publishing transmit ping time
2025-10-26T22:33:20.342Z,1761518000.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759
2025-10-26T22:33:20.592Z,1761518000.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250909
2025-10-26T22:33:20.658Z,1761518000.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171259,-0.974990,-0.141649],[0.985082,0.167001,0.041511],[-0.016818,-0.146645,0.989046]]
2025-10-26T22:33:20.770Z,1761518000.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.99 m.
2025-10-26T22:33:20.790Z,1761518000.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.994797 m,
      nav range: 84.276031 m,
      bearing: 65.825947 deg,
      approach rate: -0.608125 m/s,
      LOS rate: -0.061997 deg/s,
      cmd heading: 79.918384 deg,
      new cmd heading: 79.834932 deg.

2025-10-26T22:33:20.791Z,1761518000.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.393382 target range: 84.994797 and range: 85.50 m.
2025-10-26T22:33:20.846Z,1761518000.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504241
2025-10-26T22:33:21.097Z,1761518001.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755157
2025-10-26T22:33:21.111Z,1761518001.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170279,-0.974866,-0.143673],[0.985255,0.165967,0.041567],[-0.016677,-0.148633,0.988752]]
2025-10-26T22:33:21.186Z,1761518001.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:21.189Z,1761518001.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.99 m.
2025-10-26T22:33:21.195Z,1761518001.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.994797 m,
      nav range: 84.040344 m,
      bearing: 65.804789 deg,
      approach rate: -0.562455 m/s,
      LOS rate: -0.050634 deg/s,
      cmd heading: 79.834932 deg,
      new cmd heading: 79.771280 deg.

2025-10-26T22:33:21.196Z,1761518001.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.392272 target range: 84.994797 and range: 85.50 m.
2025-10-26T22:33:21.348Z,1761518001.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006846
2025-10-26T22:33:21.500Z,1761518001.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169901,-0.975002,-0.143193],[0.985316,0.165576,0.041685],[-0.016934,-0.148173,0.988816]]
2025-10-26T22:33:21.533Z,1761518001.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.99 m.
2025-10-26T22:33:21.536Z,1761518001.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.994797 m,
      nav range: 83.840439 m,
      bearing: 65.786696 deg,
      approach rate: -0.579601 m/s,
      LOS rate: -0.052583 deg/s,
      cmd heading: 79.771282 deg,
      new cmd heading: 79.716875 deg.

2025-10-26T22:33:21.537Z,1761518001.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.391322 target range: 84.994797 and range: 85.50 m.
2025-10-26T22:33:21.601Z,1761518001.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259446
2025-10-26T22:33:21.852Z,1761518001.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510972
2025-10-26T22:33:21.953Z,1761518001.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.99 m.
2025-10-26T22:33:21.955Z,1761518001.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.994797 m,
      nav range: 83.598030 m,
      bearing: 65.764640 deg,
      approach rate: -0.578540 m/s,
      LOS rate: -0.052793 deg/s,
      cmd heading: 79.716873 deg,
      new cmd heading: 79.650512 deg.

2025-10-26T22:33:21.956Z,1761518001.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.390164 target range: 84.994797 and range: 85.50 m.
2025-10-26T22:33:22.108Z,1761518002.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765623
2025-10-26T22:33:22.306Z,1761518002.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169676,-0.975007,-0.143429],[0.985357,0.165363,0.041561],[-0.016805,-0.148381,0.988788]]
2025-10-26T22:33:22.351Z,1761518002.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.99 m.
2025-10-26T22:33:22.354Z,1761518002.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.994797 m,
      nav range: 83.381409 m,
      bearing: 65.748649 deg,
      approach rate: -0.543338 m/s,
      LOS rate: -0.040212 deg/s,
      cmd heading: 79.650511 deg,
      new cmd heading: 79.602415 deg.

2025-10-26T22:33:22.355Z,1761518002.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.389324 target range: 84.994797 and range: 85.50 m.
2025-10-26T22:33:22.356Z,1761518002.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015050
2025-10-26T22:33:22.608Z,1761518002.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267024
2025-10-26T22:33:22.717Z,1761518002.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170714,-0.974598,-0.144968],[0.985174,0.166294,0.042170],[-0.016992,-0.150018,0.988537]]
2025-10-26T22:33:22.768Z,1761518002.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.99 m.
2025-10-26T22:33:22.771Z,1761518002.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.994797 m,
      nav range: 83.167122 m,
      bearing: 65.732901 deg,
      approach rate: -0.513909 m/s,
      LOS rate: -0.037865 deg/s,
      cmd heading: 79.602412 deg,
      new cmd heading: 79.555046 deg.

2025-10-26T22:33:22.772Z,1761518002.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.388497 target range: 84.994797 and range: 85.50 m.
2025-10-26T22:33:22.861Z,1761518002.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519633
2025-10-26T22:33:23.115Z,1761518003.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773222
2025-10-26T22:33:23.138Z,1761518003.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171294,-0.974487,-0.145031],[0.985067,0.166811,0.042623],[-0.017343,-0.150167,0.988509]]
2025-10-26T22:33:23.254Z,1761518003.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:23.284Z,1761518003.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.99 m.
2025-10-26T22:33:23.309Z,1761518003.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.994797 m,
      nav range: 82.924973 m,
      bearing: 65.719454 deg,
      approach rate: -0.477520 m/s,
      LOS rate: -0.026594 deg/s,
      cmd heading: 79.555045 deg,
      new cmd heading: 79.514587 deg.

2025-10-26T22:33:23.310Z,1761518003.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.387791 target range: 84.994797 and range: 85.50 m.
2025-10-26T22:33:23.365Z,1761518003.365 [DAT](INFO): DAT read: Rx Time:22:33:22.0041

2025-10-26T22:33:23.365Z,1761518003.365 [DAT](INFO): Rx dataTimestamp_ set to:1761518003.364753
2025-10-26T22:33:23.366Z,1761518003.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024164
2025-10-26T22:33:23.617Z,1761518003.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275212
2025-10-26T22:33:23.652Z,1761518003.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172952,-0.973854,-0.147299],[0.984769,0.168276,0.043731],[-0.017801,-0.152618,0.988125]]
2025-10-26T22:33:23.671Z,1761518003.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.99 m.
2025-10-26T22:33:23.674Z,1761518003.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.994797 m,
      nav range: 82.684868 m,
      bearing: 65.706309 deg,
      approach rate: -0.606608 m/s,
      LOS rate: -0.033307 deg/s,
      cmd heading: 79.514590 deg,
      new cmd heading: 79.475040 deg.

2025-10-26T22:33:23.675Z,1761518003.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.387101 target range: 84.994797 and range: 85.50 m.
2025-10-26T22:33:23.877Z,1761518003.877 [DAT](INFO): DAT read: 22:33:22.0041 LVL= 32752, 32753, 27490, 32755, AGC= 72, IDX= 421, 0.08, 3.040, 1.726,-2.586, 3.064, PHS= 0.078,-1.293, 0.589, RAW= 165.2,   7.5, CAL= 164.8,   7.4, ROT= 345.2,  -7.4

2025-10-26T22:33:23.880Z,1761518003.880 [DAT](INFO): got valid direction response:
 22:33:22.0041 LVL= 32752, 32753, 27490, 32755, AGC= 72, IDX= 421, 0.08, 3.040, 1.726,-2.586, 3.064, PHS= 0.078,-1.293, 0.589, RAW= 165.2,   7.5, CAL= 164.8,   7.4, ROT= 345.2,  -7.4

2025-10-26T22:33:23.881Z,1761518003.881 [DAT](INFO): DAT read: Bearing 220.1, -16.5 (Local)

2025-10-26T22:33:23.881Z,1761518003.881 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.1, -16.5 (Local)

2025-10-26T22:33:23.882Z,1761518003.882 [DAT](INFO): DAT read: Range 11 to 50 : 83.8 m  (Round-trip  111.8 ms) speed  0.4 m/s

2025-10-26T22:33:23.883Z,1761518003.883 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:33:23.884Z,1761518003.884 [DAT](INFO): direction in FSK: [0.958771,-0.253318,0.128796]
2025-10-26T22:33:23.884Z,1761518003.884 [DAT](INFO): publishing direction and range info
2025-10-26T22:33:23.888Z,1761518003.888 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:33:23.888Z,1761518003.888 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:33:23.888Z,1761518003.888 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:33:24.056Z,1761518004.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174797,-0.973159,-0.149691],[0.984434,0.169907,0.044955],[-0.018315,-0.155219,0.987710]]
2025-10-26T22:33:24.084Z,1761518004.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 83.800003 m,
      deltaT: 3.777466 s,
      deltaX: -1.699997 m,
      approachRate: -0.450036 m/s,
      rangeRepo size: 4

2025-10-26T22:33:24.087Z,1761518004.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 83.305038 m,
      bearing: 66.466531 deg,
      lat: 36.779386 deg,
      lon: -121.859409 deg,
      deltaT: 3.777466 s,
      deltaX: -1.689758 m,
      approachRate: -0.447326 m/s,
      posRepo size: 4

2025-10-26T22:33:24.090Z,1761518004.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.31 m.
2025-10-26T22:33:24.117Z,1761518004.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.305038 m,
      nav range: 82.609650 m,
      bearing: 65.737318 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.033307 deg/s,
      cmd heading: 79.475036 deg,
      new cmd heading: 79.433894 deg.

2025-10-26T22:33:24.123Z,1761518004.123 [DAT](INFO): DAT read: user:602>

2025-10-26T22:33:24.126Z,1761518004.126 [DAT](INFO): DAT read: Tx time:22:33:23.2381

2025-10-26T22:33:24.127Z,1761518004.127 [DAT](INFO): Ping request sent.
2025-10-26T22:33:24.128Z,1761518004.128 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:33:24.129Z,1761518004.129 [DAT](INFO): publishing transmit ping time
2025-10-26T22:33:24.131Z,1761518004.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003524
2025-10-26T22:33:24.160Z,1761518004.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.386383 target range: 83.305038 and range: 83.80 m.
2025-10-26T22:33:24.372Z,1761518004.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245618
2025-10-26T22:33:24.458Z,1761518004.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176341,-0.972924,-0.149411],[0.984153,0.171398,0.045439],[-0.018600,-0.155056,0.987731]]
2025-10-26T22:33:24.515Z,1761518004.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.31 m.
2025-10-26T22:33:24.521Z,1761518004.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.305038 m,
      nav range: 82.385223 m,
      bearing: 65.731599 deg,
      approach rate: -0.519900 m/s,
      LOS rate: -0.013286 deg/s,
      cmd heading: 79.433891 deg,
      new cmd heading: 79.416686 deg.

2025-10-26T22:33:24.522Z,1761518004.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.386083 target range: 83.305038 and range: 83.80 m.
2025-10-26T22:33:24.626Z,1761518004.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498824
2025-10-26T22:33:24.862Z,1761518004.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177493,-0.972838,-0.148601],[0.983942,0.172534,0.045725],[-0.018844,-0.154331,0.987840]]
2025-10-26T22:33:24.877Z,1761518004.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749748
2025-10-26T22:33:24.894Z,1761518004.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.31 m.
2025-10-26T22:33:24.897Z,1761518004.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.305038 m,
      nav range: 82.175514 m,
      bearing: 65.726402 deg,
      approach rate: -0.552160 m/s,
      LOS rate: -0.013717 deg/s,
      cmd heading: 79.416686 deg,
      new cmd heading: 79.401057 deg.

2025-10-26T22:33:24.898Z,1761518004.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.385810 target range: 83.305038 and range: 83.80 m.
2025-10-26T22:33:25.132Z,1761518005.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004358
2025-10-26T22:33:25.266Z,1761518005.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179500,-0.972478,-0.148545],[0.983568,0.174440,0.046531],[-0.019338,-0.154456,0.987810]]
2025-10-26T22:33:25.309Z,1761518005.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:25.311Z,1761518005.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.31 m.
2025-10-26T22:33:25.314Z,1761518005.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.305038 m,
      nav range: 81.955605 m,
      bearing: 65.721017 deg,
      approach rate: -0.527835 m/s,
      LOS rate: -0.012960 deg/s,
      cmd heading: 79.401058 deg,
      new cmd heading: 79.384859 deg.

2025-10-26T22:33:25.315Z,1761518005.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.385527 target range: 83.305038 and range: 83.80 m.
2025-10-26T22:33:25.381Z,1761518005.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254056
2025-10-26T22:33:25.632Z,1761518005.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505657
2025-10-26T22:33:25.670Z,1761518005.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181581,-0.972034,-0.148927],[0.983176,0.176399,0.047407],[-0.019811,-0.155029,0.987711]]
2025-10-26T22:33:25.705Z,1761518005.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.31 m.
2025-10-26T22:33:25.709Z,1761518005.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.305038 m,
      nav range: 81.748985 m,
      bearing: 65.716234 deg,
      approach rate: -0.525212 m/s,
      LOS rate: -0.012191 deg/s,
      cmd heading: 79.384857 deg,
      new cmd heading: 79.370470 deg.

2025-10-26T22:33:25.710Z,1761518005.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.385276 target range: 83.305038 and range: 83.80 m.
2025-10-26T22:33:25.884Z,1761518005.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757718
2025-10-26T22:33:26.077Z,1761518006.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183167,-0.971726,-0.148994],[0.982872,0.177883,0.048165],[-0.020299,-0.155264,0.987664]]
2025-10-26T22:33:26.096Z,1761518006.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.31 m.
2025-10-26T22:33:26.098Z,1761518006.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.305038 m,
      nav range: 81.540710 m,
      bearing: 65.711621 deg,
      approach rate: -0.532668 m/s,
      LOS rate: -0.011826 deg/s,
      cmd heading: 79.370473 deg,
      new cmd heading: 79.356601 deg.

2025-10-26T22:33:26.099Z,1761518006.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.385034 target range: 83.305038 and range: 83.80 m.
2025-10-26T22:33:26.140Z,1761518006.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013032
2025-10-26T22:33:26.388Z,1761518006.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261684
2025-10-26T22:33:26.480Z,1761518006.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184531,-0.971423,-0.149283],[0.982604,0.179115,0.049062],[-0.020921,-0.155740,0.987577]]
2025-10-26T22:33:26.537Z,1761518006.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.31 m.
2025-10-26T22:33:26.545Z,1761518006.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.305038 m,
      nav range: 81.316933 m,
      bearing: 65.706384 deg,
      approach rate: -0.506436 m/s,
      LOS rate: -0.011886 deg/s,
      cmd heading: 79.356601 deg,
      new cmd heading: 79.340845 deg.

2025-10-26T22:33:26.546Z,1761518006.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384759 target range: 83.305038 and range: 83.80 m.
2025-10-26T22:33:26.641Z,1761518006.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514248
2025-10-26T22:33:26.893Z,1761518006.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765963
2025-10-26T22:33:26.901Z,1761518006.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186053,-0.971179,-0.148984],[0.982302,0.180522,0.049941],[-0.021607,-0.155639,0.987578]]
2025-10-26T22:33:26.939Z,1761518006.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.31 m.
2025-10-26T22:33:26.942Z,1761518006.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.305038 m,
      nav range: 81.103104 m,
      bearing: 65.701587 deg,
      approach rate: -0.537245 m/s,
      LOS rate: -0.012084 deg/s,
      cmd heading: 79.340843 deg,
      new cmd heading: 79.326415 deg.

2025-10-26T22:33:26.943Z,1761518006.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384507 target range: 83.305038 and range: 83.80 m.
2025-10-26T22:33:27.147Z,1761518007.147 [DAT](INFO): DAT read: Rx Time:22:33:25.7512

2025-10-26T22:33:27.149Z,1761518007.149 [DAT](INFO): Rx dataTimestamp_ set to:1761518007.148062
2025-10-26T22:33:27.151Z,1761518007.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023808
2025-10-26T22:33:27.302Z,1761518007.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187387,-0.970642,-0.150798],[0.982032,0.181629,0.051220],[-0.022327,-0.157686,0.987237]]
2025-10-26T22:33:27.354Z,1761518007.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:27.360Z,1761518007.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.31 m.
2025-10-26T22:33:27.362Z,1761518007.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.305038 m,
      nav range: 80.880089 m,
      bearing: 65.698319 deg,
      approach rate: -0.530417 m/s,
      LOS rate: -0.007794 deg/s,
      cmd heading: 79.326418 deg,
      new cmd heading: 79.316587 deg.

2025-10-26T22:33:27.376Z,1761518007.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384336 target range: 83.305038 and range: 83.80 m.
2025-10-26T22:33:27.396Z,1761518007.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269672
2025-10-26T22:33:27.654Z,1761518007.654 [DAT](INFO): DAT read: 22:33:25.7512 LVL= 29840, 32753, 22770, 32755, AGC= 71, IDX= 408,-0.04,-2.458, 2.513,-1.772,-2.480, PHS= 0.125,-1.245, 0.664, RAW= 165.9,   5.4, CAL= 165.1,   4.5, ROT= 344.9,  -4.5

2025-10-26T22:33:27.655Z,1761518007.655 [DAT](INFO): got valid direction response:
 22:33:25.7512 LVL= 29840, 32753, 22770, 32755, AGC= 71, IDX= 408,-0.04,-2.458, 2.513,-1.772,-2.480, PHS= 0.125,-1.245, 0.664, RAW= 165.9,   5.4, CAL= 165.1,   4.5, ROT= 344.9,  -4.5

2025-10-26T22:33:27.656Z,1761518007.656 [DAT](INFO): DAT read: Bearing 215.9, -16.7 (Local)

2025-10-26T22:33:27.656Z,1761518007.656 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.9, -16.7 (Local)

2025-10-26T22:33:27.658Z,1761518007.658 [DAT](INFO): DAT read: Range 11 to 50 : 81.6 m  (Round-trip  108.9 ms) speed  0.4 m/s

2025-10-26T22:33:27.658Z,1761518007.658 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:33:27.660Z,1761518007.660 [DAT](INFO): direction in FSK: [0.962496,-0.259702,0.078459]
2025-10-26T22:33:27.660Z,1761518007.660 [DAT](INFO): publishing direction and range info
2025-10-26T22:33:27.663Z,1761518007.663 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:33:27.681Z,1761518007.681 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:33:27.681Z,1761518007.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:33:27.752Z,1761518007.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187699,-0.970683,-0.150143],[0.981968,0.181935,0.051372],[-0.022550,-0.157078,0.987329]]
2025-10-26T22:33:27.814Z,1761518007.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 81.599998 m,
      deltaT: 3.780124 s,
      deltaX: -2.200005 m,
      approachRate: -0.581993 m/s,
      rangeRepo size: 4

2025-10-26T22:33:27.828Z,1761518007.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 81.117737 m,
      bearing: 64.979441 deg,
      lat: 36.779392 deg,
      lon: -121.859412 deg,
      deltaT: 3.780124 s,
      deltaX: -2.187302 m,
      approachRate: -0.578632 m/s,
      posRepo size: 4

2025-10-26T22:33:27.829Z,1761518007.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.12 m.
2025-10-26T22:33:27.836Z,1761518007.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.117737 m,
      nav range: 80.600296 m,
      bearing: 65.190627 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007794 deg/s,
      cmd heading: 79.316589 deg,
      new cmd heading: 79.305891 deg.

2025-10-26T22:33:27.837Z,1761518007.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384149 target range: 81.117737 and range: 81.60 m.
2025-10-26T22:33:27.901Z,1761518007.901 [DAT](INFO): DAT read: user:603>

2025-10-26T22:33:27.902Z,1761518007.902 [DAT](INFO): DAT read: Tx time:22:33:27.0381

2025-10-26T22:33:27.903Z,1761518007.903 [DAT](INFO): Ping request sent.
2025-10-26T22:33:27.903Z,1761518007.903 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:33:27.903Z,1761518007.903 [DAT](INFO): publishing transmit ping time
2025-10-26T22:33:27.904Z,1761518007.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001167
2025-10-26T22:33:28.154Z,1761518008.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250986
2025-10-26T22:33:28.198Z,1761518008.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189080,-0.970377,-0.150392],[0.981683,0.183148,0.052490],[-0.023391,-0.157562,0.987232]]
2025-10-26T22:33:28.270Z,1761518008.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.12 m.
2025-10-26T22:33:28.272Z,1761518008.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.117737 m,
      nav range: 80.361160 m,
      bearing: 65.180841 deg,
      approach rate: -0.523891 m/s,
      LOS rate: -0.021505 deg/s,
      cmd heading: 79.305893 deg,
      new cmd heading: 79.276445 deg.

2025-10-26T22:33:28.273Z,1761518008.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.383635 target range: 81.117737 and range: 81.60 m.
2025-10-26T22:33:28.404Z,1761518008.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501216
2025-10-26T22:33:28.594Z,1761518008.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190164,-0.970035,-0.151228],[0.981456,0.184051,0.053574],[-0.024135,-0.158611,0.987046]]
2025-10-26T22:33:28.633Z,1761518008.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.12 m.
2025-10-26T22:33:28.636Z,1761518008.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.117737 m,
      nav range: 80.185966 m,
      bearing: 65.173764 deg,
      approach rate: -0.482556 m/s,
      LOS rate: -0.019535 deg/s,
      cmd heading: 79.276448 deg,
      new cmd heading: 79.255172 deg.

2025-10-26T22:33:28.637Z,1761518008.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.383264 target range: 81.117737 and range: 81.60 m.
2025-10-26T22:33:28.657Z,1761518008.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753445
2025-10-26T22:33:28.909Z,1761518008.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005730
2025-10-26T22:33:28.998Z,1761518008.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190782,-0.970027,-0.150498],[0.981322,0.184613,0.054081],[-0.024676,-0.158005,0.987130]]
2025-10-26T22:33:29.027Z,1761518009.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.12 m.
2025-10-26T22:33:29.030Z,1761518009.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.117737 m,
      nav range: 79.974533 m,
      bearing: 65.165283 deg,
      approach rate: -0.536376 m/s,
      LOS rate: -0.021571 deg/s,
      cmd heading: 79.255172 deg,
      new cmd heading: 79.229663 deg.

2025-10-26T22:33:29.031Z,1761518009.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.382818 target range: 81.117737 and range: 81.60 m.
2025-10-26T22:33:29.166Z,1761518009.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260166
2025-10-26T22:33:29.402Z,1761518009.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191888,-0.969915,-0.149815],[0.981087,0.185617,0.054909],[-0.025449,-0.157517,0.987188]]
2025-10-26T22:33:29.412Z,1761518009.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509417
2025-10-26T22:33:29.464Z,1761518009.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:29.466Z,1761518009.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.12 m.
2025-10-26T22:33:29.477Z,1761518009.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.117737 m,
      nav range: 79.749641 m,
      bearing: 65.159479 deg,
      approach rate: -0.512311 m/s,
      LOS rate: -0.013259 deg/s,
      cmd heading: 79.229662 deg,
      new cmd heading: 79.212201 deg.

2025-10-26T22:33:29.478Z,1761518009.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.382514 target range: 81.117737 and range: 81.60 m.
2025-10-26T22:33:29.664Z,1761518009.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761214
2025-10-26T22:33:29.812Z,1761518009.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192672,-0.969927,-0.148723],[0.980911,0.186316,0.055680],[-0.026296,-0.156612,0.987310]]
2025-10-26T22:33:29.831Z,1761518009.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.12 m.
2025-10-26T22:33:29.834Z,1761518009.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.117737 m,
      nav range: 79.553818 m,
      bearing: 65.154519 deg,
      approach rate: -0.536497 m/s,
      LOS rate: -0.013622 deg/s,
      cmd heading: 79.212204 deg,
      new cmd heading: 79.197287 deg.

2025-10-26T22:33:29.835Z,1761518009.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.382253 target range: 81.117737 and range: 81.60 m.
2025-10-26T22:33:29.917Z,1761518009.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014377
2025-10-26T22:33:30.168Z,1761518010.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265386
2025-10-26T22:33:30.255Z,1761518010.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193548,-0.969904,-0.147733],[0.980714,0.187094,0.056538],[-0.027196,-0.155826,0.987410]]
2025-10-26T22:33:30.296Z,1761518010.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.12 m.
2025-10-26T22:33:30.299Z,1761518010.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.117737 m,
      nav range: 79.315002 m,
      bearing: 65.147252 deg,
      approach rate: -0.512979 m/s,
      LOS rate: -0.015658 deg/s,
      cmd heading: 79.197287 deg,
      new cmd heading: 79.175417 deg.

2025-10-26T22:33:30.316Z,1761518010.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.381872 target range: 81.117737 and range: 81.60 m.
2025-10-26T22:33:30.421Z,1761518010.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517594
2025-10-26T22:33:30.649Z,1761518010.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.12 m.
2025-10-26T22:33:30.652Z,1761518010.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.117737 m,
      nav range: 79.133240 m,
      bearing: 65.141690 deg,
      approach rate: -0.515358 m/s,
      LOS rate: -0.015804 deg/s,
      cmd heading: 79.175416 deg,
      new cmd heading: 79.158694 deg.

2025-10-26T22:33:30.653Z,1761518010.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.381580 target range: 81.117737 and range: 81.60 m.
2025-10-26T22:33:30.672Z,1761518010.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769347
2025-10-26T22:33:30.924Z,1761518010.924 [DAT](INFO): DAT read: Rx Time:22:33:29.5486

2025-10-26T22:33:30.925Z,1761518010.925 [DAT](INFO): Rx dataTimestamp_ set to:1761518010.924654
2025-10-26T22:33:30.925Z,1761518010.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022468
2025-10-26T22:33:31.019Z,1761518011.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194931,-0.969938,-0.145680],[0.980389,0.188294,0.058169],[-0.028990,-0.154162,0.987620]]
2025-10-26T22:33:31.044Z,1761518011.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.12 m.
2025-10-26T22:33:31.047Z,1761518011.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.117737 m,
      nav range: 78.929970 m,
      bearing: 65.135664 deg,
      approach rate: -0.514326 m/s,
      LOS rate: -0.015289 deg/s,
      cmd heading: 79.158696 deg,
      new cmd heading: 79.140569 deg.

2025-10-26T22:33:31.048Z,1761518011.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.381263 target range: 81.117737 and range: 81.60 m.
2025-10-26T22:33:31.179Z,1761518011.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275856
2025-10-26T22:33:31.422Z,1761518011.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195646,-0.969980,-0.144434],[0.980215,0.188914,0.059072],[-0.030013,-0.153134,0.987750]]
2025-10-26T22:33:31.434Z,1761518011.434 [DAT](INFO): DAT read: 22:33:29.5486 LVL= 31840, 32753, 29218, 32755, AGC= 72, IDX= 413,-0.09, 2.735, 1.386,-2.859, 2.726, PHS= 0.111,-1.294, 0.655, RAW= 165.7,   6.1, CAL= 165.0,   5.5, ROT= 345.0,  -5.5

2025-10-26T22:33:31.435Z,1761518011.435 [DAT](INFO): got valid direction response:
 22:33:29.5486 LVL= 31840, 32753, 29218, 32755, AGC= 72, IDX= 413,-0.09, 2.735, 1.386,-2.859, 2.726, PHS= 0.111,-1.294, 0.655, RAW= 165.7,   6.1, CAL= 165.0,   5.5, ROT= 345.0,  -5.5

2025-10-26T22:33:31.437Z,1761518011.437 [DAT](INFO): DAT read: Bearing 215.7, -17.2 (Local)

2025-10-26T22:33:31.437Z,1761518011.437 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.7, -17.2 (Local)

2025-10-26T22:33:31.438Z,1761518011.438 [DAT](INFO): DAT read: Range 11 to 50 : 79.7 m  (Round-trip  106.3 ms) speed  0.4 m/s

2025-10-26T22:33:31.439Z,1761518011.439 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:33:31.440Z,1761518011.440 [DAT](INFO): direction in FSK: [0.961479,-0.257627,0.095846]
2025-10-26T22:33:31.440Z,1761518011.440 [DAT](INFO): publishing direction and range info
2025-10-26T22:33:31.460Z,1761518011.460 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:33:31.460Z,1761518011.460 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:33:31.460Z,1761518011.460 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:33:31.581Z,1761518011.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 79.699997 m,
      deltaT: 3.779789 s,
      deltaX: -1.900002 m,
      approachRate: -0.502674 m/s,
      rangeRepo size: 4

2025-10-26T22:33:31.583Z,1761518011.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 79.228973 m,
      bearing: 64.752524 deg,
      lat: 36.779392 deg,
      lon: -121.859412 deg,
      deltaT: 3.779789 s,
      deltaX: -1.888763 m,
      approachRate: -0.499701 m/s,
      posRepo size: 4

2025-10-26T22:33:31.584Z,1761518011.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.23 m.
2025-10-26T22:33:31.587Z,1761518011.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.228973 m,
      nav range: 78.658821 m,
      bearing: 65.128509 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015289 deg/s,
      cmd heading: 79.140569 deg,
      new cmd heading: 79.115984 deg.

2025-10-26T22:33:31.596Z,1761518011.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.380834 target range: 79.228973 and range: 79.70 m.
2025-10-26T22:33:31.681Z,1761518011.681 [DAT](INFO): DAT read: user:604>

2025-10-26T22:33:31.681Z,1761518011.681 [DAT](INFO): DAT read: Tx time:22:33:30.8381

2025-10-26T22:33:31.682Z,1761518011.682 [DAT](INFO): Ping request sent.
2025-10-26T22:33:31.682Z,1761518011.682 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:33:31.682Z,1761518011.682 [DAT](INFO): publishing transmit ping time
2025-10-26T22:33:31.683Z,1761518011.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000767
2025-10-26T22:33:31.916Z,1761518011.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196322,-0.970443,-0.140347],[0.980021,0.189542,0.060277],[-0.031894,-0.149376,0.988266]]
2025-10-26T22:33:31.932Z,1761518011.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250551
2025-10-26T22:33:31.996Z,1761518011.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:31.998Z,1761518011.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.23 m.
2025-10-26T22:33:32.001Z,1761518012.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.228973 m,
      nav range: 78.428452 m,
      bearing: 65.122548 deg,
      approach rate: -0.551313 m/s,
      LOS rate: -0.014306 deg/s,
      cmd heading: 79.115987 deg,
      new cmd heading: 79.098053 deg.

2025-10-26T22:33:32.002Z,1761518012.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.380521 target range: 79.228973 and range: 79.70 m.
2025-10-26T22:33:32.185Z,1761518012.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502773
2025-10-26T22:33:32.304Z,1761518012.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196948,-0.970469,-0.139292],[0.979866,0.190091,0.061063],[-0.032782,-0.148513,0.988367]]
2025-10-26T22:33:32.385Z,1761518012.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.23 m.
2025-10-26T22:33:32.393Z,1761518012.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.228973 m,
      nav range: 78.220482 m,
      bearing: 65.113242 deg,
      approach rate: -0.538075 m/s,
      LOS rate: -0.024142 deg/s,
      cmd heading: 79.098051 deg,
      new cmd heading: 79.070058 deg.

2025-10-26T22:33:32.394Z,1761518012.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.380033 target range: 79.228973 and range: 79.70 m.
2025-10-26T22:33:32.436Z,1761518012.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754699
2025-10-26T22:33:32.689Z,1761518012.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006969
2025-10-26T22:33:32.736Z,1761518012.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197487,-0.970563,-0.137864],[0.979728,0.190583,0.061740],[-0.033648,-0.147262,0.988525]]
2025-10-26T22:33:32.772Z,1761518012.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.23 m.
2025-10-26T22:33:32.774Z,1761518012.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.228973 m,
      nav range: 78.003754 m,
      bearing: 65.103590 deg,
      approach rate: -0.560518 m/s,
      LOS rate: -0.025032 deg/s,
      cmd heading: 79.070061 deg,
      new cmd heading: 79.041024 deg.

2025-10-26T22:33:32.775Z,1761518012.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.379526 target range: 79.228973 and range: 79.70 m.
2025-10-26T22:33:32.940Z,1761518012.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258598
2025-10-26T22:33:33.124Z,1761518013.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197807,-0.970666,-0.136671],[0.979636,0.190855,0.062357],[-0.034443,-0.146223,0.988652]]
2025-10-26T22:33:33.160Z,1761518013.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.23 m.
2025-10-26T22:33:33.162Z,1761518013.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.228973 m,
      nav range: 77.790413 m,
      bearing: 65.094097 deg,
      approach rate: -0.549551 m/s,
      LOS rate: -0.024520 deg/s,
      cmd heading: 79.041025 deg,
      new cmd heading: 79.012469 deg.

2025-10-26T22:33:33.183Z,1761518013.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.379028 target range: 79.228973 and range: 79.70 m.
2025-10-26T22:33:33.195Z,1761518013.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513342
2025-10-26T22:33:33.445Z,1761518013.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763556
2025-10-26T22:33:33.564Z,1761518013.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198297,-0.970643,-0.136127],[0.979513,0.191275,0.062995],[-0.035108,-0.145829,0.988687]]
2025-10-26T22:33:33.615Z,1761518013.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.23 m.
2025-10-26T22:33:33.618Z,1761518013.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.228973 m,
      nav range: 77.536125 m,
      bearing: 65.081798 deg,
      approach rate: -0.558232 m/s,
      LOS rate: -0.027089 deg/s,
      cmd heading: 79.012468 deg,
      new cmd heading: 78.975449 deg.

2025-10-26T22:33:33.619Z,1761518013.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.378382 target range: 79.228973 and range: 79.70 m.
2025-10-26T22:33:33.697Z,1761518013.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014774
2025-10-26T22:33:33.948Z,1761518013.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266621
2025-10-26T22:33:33.966Z,1761518013.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198604,-0.970699,-0.135275],[0.979429,0.191545,0.063472],[-0.035701,-0.145098,0.988773]]
2025-10-26T22:33:33.996Z,1761518013.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.23 m.
2025-10-26T22:33:33.998Z,1761518013.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.228973 m,
      nav range: 77.323692 m,
      bearing: 65.071517 deg,
      approach rate: -0.558630 m/s,
      LOS rate: -0.027109 deg/s,
      cmd heading: 78.975449 deg,
      new cmd heading: 78.944522 deg.

2025-10-26T22:33:33.999Z,1761518013.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.377842 target range: 79.228973 and range: 79.70 m.
2025-10-26T22:33:34.202Z,1761518014.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520514
2025-10-26T22:33:34.370Z,1761518014.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199144,-0.970469,-0.136131],[0.979294,0.191916,0.064434],[-0.036405,-0.146144,0.988593]]
2025-10-26T22:33:34.432Z,1761518014.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:34.434Z,1761518014.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.23 m.
2025-10-26T22:33:34.437Z,1761518014.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.228973 m,
      nav range: 77.083824 m,
      bearing: 65.056951 deg,
      approach rate: -0.546898 m/s,
      LOS rate: -0.033314 deg/s,
      cmd heading: 78.944522 deg,
      new cmd heading: 78.900687 deg.

2025-10-26T22:33:34.438Z,1761518014.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.377077 target range: 79.228973 and range: 79.70 m.
2025-10-26T22:33:34.455Z,1761518014.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773635
2025-10-26T22:33:34.706Z,1761518014.706 [DAT](INFO): DAT read: Rx Time:22:33:33.3458

2025-10-26T22:33:34.706Z,1761518014.706 [DAT](INFO): Rx dataTimestamp_ set to:1761518014.706079
2025-10-26T22:33:34.707Z,1761518014.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025242
2025-10-26T22:33:34.777Z,1761518014.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199651,-0.970367,-0.136117],[0.979163,0.192308,0.065247],[-0.037137,-0.146307,0.988542]]
2025-10-26T22:33:34.859Z,1761518014.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.23 m.
2025-10-26T22:33:34.861Z,1761518014.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.228973 m,
      nav range: 76.851036 m,
      bearing: 65.042816 deg,
      approach rate: -0.548262 m/s,
      LOS rate: -0.033391 deg/s,
      cmd heading: 78.900686 deg,
      new cmd heading: 78.858153 deg.

2025-10-26T22:33:34.862Z,1761518014.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.376334 target range: 79.228973 and range: 79.70 m.
2025-10-26T22:33:34.957Z,1761518014.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275492
2025-10-26T22:33:35.203Z,1761518015.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199454,-0.970334,-0.136637],[0.979187,0.192016,0.065745],[-0.037558,-0.146906,0.988437]]
2025-10-26T22:33:35.218Z,1761518015.218 [DAT](INFO): DAT read: 22:33:33.3458 LVL= 32752, 32753, 31074, 32755, AGC= 72, IDX= 418,-0.16,-0.988,-2.332,-0.345,-1.030, PHS= 0.144,-1.257, 0.640, RAW= 164.6,   5.6, CAL= 163.8,   4.9, ROT= 346.2,  -4.9

2025-10-26T22:33:35.219Z,1761518015.219 [DAT](INFO): got valid direction response:
 22:33:33.3458 LVL= 32752, 32753, 31074, 32755, AGC= 72, IDX= 418,-0.16,-0.988,-2.332,-0.345,-1.030, PHS= 0.144,-1.257, 0.640, RAW= 164.6,   5.6, CAL= 163.8,   4.9, ROT= 346.2,  -4.9

2025-10-26T22:33:35.222Z,1761518015.222 [DAT](INFO): DAT read: Bearing 214.0, -16.3 (Local)

2025-10-26T22:33:35.228Z,1761518015.228 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.0, -16.3 (Local)

2025-10-26T22:33:35.230Z,1761518015.230 [DAT](INFO): DAT read: Range 11 to 50 : 77.7 m  (Round-trip  103.6 ms) speed  0.5 m/s

2025-10-26T22:33:35.230Z,1761518015.230 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:33:35.236Z,1761518015.236 [DAT](INFO): direction in FSK: [0.967585,-0.237661,0.085417]
2025-10-26T22:33:35.237Z,1761518015.237 [DAT](INFO): publishing direction and range info
2025-10-26T22:33:35.304Z,1761518015.304 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:33:35.304Z,1761518015.304 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:33:35.304Z,1761518015.304 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:33:35.428Z,1761518015.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 77.699997 m,
      deltaT: 3.780575 s,
      deltaX: -2.000000 m,
      approachRate: -0.529020 m/s,
      rangeRepo size: 4

2025-10-26T22:33:35.430Z,1761518015.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 77.241089 m,
      bearing: 65.584257 deg,
      lat: 36.779387 deg,
      lon: -121.859409 deg,
      deltaT: 3.780575 s,
      deltaX: -1.987885 m,
      approachRate: -0.525815 m/s,
      posRepo size: 4

2025-10-26T22:33:35.431Z,1761518015.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.24 m.
2025-10-26T22:33:35.437Z,1761518015.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.241089 m,
      nav range: 76.634773 m,
      bearing: 65.468650 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.033391 deg/s,
      cmd heading: 78.858154 deg,
      new cmd heading: 78.802368 deg.

2025-10-26T22:33:35.438Z,1761518015.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.375361 target range: 77.241089 and range: 77.70 m.
2025-10-26T22:33:35.460Z,1761518015.460 [DAT](INFO): DAT read: user:605>

2025-10-26T22:33:35.461Z,1761518015.461 [DAT](INFO): DAT read: Tx time:22:33:34.6881

2025-10-26T22:33:35.461Z,1761518015.461 [DAT](INFO): Ping request sent.
2025-10-26T22:33:35.461Z,1761518015.461 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:33:35.462Z,1761518015.462 [DAT](INFO): publishing transmit ping time
2025-10-26T22:33:35.462Z,1761518015.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-10-26T22:33:35.715Z,1761518015.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253103
2025-10-26T22:33:35.784Z,1761518015.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199673,-0.970063,-0.138232],[0.979121,0.192041,0.066646],[-0.038104,-0.148653,0.988155]]
2025-10-26T22:33:35.813Z,1761518015.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.24 m.
2025-10-26T22:33:35.816Z,1761518015.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.241089 m,
      nav range: 76.398453 m,
      bearing: 65.450919 deg,
      approach rate: -0.593706 m/s,
      LOS rate: -0.044683 deg/s,
      cmd heading: 78.802365 deg,
      new cmd heading: 78.749007 deg.

2025-10-26T22:33:35.817Z,1761518015.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.374429 target range: 77.241089 and range: 77.70 m.
2025-10-26T22:33:35.965Z,1761518015.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503177
2025-10-26T22:33:36.186Z,1761518016.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199780,-0.970094,-0.137858],[0.979083,0.192109,0.067011],[-0.038523,-0.148362,0.988182]]
2025-10-26T22:33:36.218Z,1761518016.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756131
2025-10-26T22:33:36.238Z,1761518016.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.24 m.
2025-10-26T22:33:36.241Z,1761518016.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.241089 m,
      nav range: 76.160194 m,
      bearing: 65.432955 deg,
      approach rate: -0.561292 m/s,
      LOS rate: -0.042453 deg/s,
      cmd heading: 78.749008 deg,
      new cmd heading: 78.694946 deg.

2025-10-26T22:33:36.242Z,1761518016.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.373486 target range: 77.241089 and range: 77.70 m.
2025-10-26T22:33:36.254Z,1761518016.254 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:33:36.468Z,1761518016.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006926
2025-10-26T22:33:36.590Z,1761518016.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199643,-0.970256,-0.136917],[0.979097,0.191985,0.067165],[-0.038881,-0.147464,0.988303]]
2025-10-26T22:33:36.629Z,1761518016.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:36.631Z,1761518016.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.24 m.
2025-10-26T22:33:36.633Z,1761518016.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.241089 m,
      nav range: 75.936790 m,
      bearing: 65.416415 deg,
      approach rate: -0.568827 m/s,
      LOS rate: -0.042238 deg/s,
      cmd heading: 78.694947 deg,
      new cmd heading: 78.645180 deg.

2025-10-26T22:33:36.634Z,1761518016.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.372617 target range: 77.241089 and range: 77.70 m.
2025-10-26T22:33:36.722Z,1761518016.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260347
2025-10-26T22:33:36.972Z,1761518016.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511009
2025-10-26T22:33:36.990Z,1761518016.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199165,-0.970537,-0.135614],[0.979182,0.191556,0.067148],[-0.039192,-0.146165,0.988484]]
2025-10-26T22:33:37.009Z,1761518017.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.24 m.
2025-10-26T22:33:37.023Z,1761518017.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.241089 m,
      nav range: 75.721199 m,
      bearing: 65.400290 deg,
      approach rate: -0.570435 m/s,
      LOS rate: -0.042787 deg/s,
      cmd heading: 78.645182 deg,
      new cmd heading: 78.596669 deg.

2025-10-26T22:33:37.024Z,1761518017.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.371771 target range: 77.241089 and range: 77.70 m.
2025-10-26T22:33:37.226Z,1761518017.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763886
2025-10-26T22:33:37.256Z,1761518017.256 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:33:37.395Z,1761518017.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199196,-0.970685,-0.134506],[0.979159,0.191602,0.067354],[-0.039608,-0.145119,0.988621]]
2025-10-26T22:33:37.441Z,1761518017.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.24 m.
2025-10-26T22:33:37.444Z,1761518017.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.241089 m,
      nav range: 75.473999 m,
      bearing: 65.383954 deg,
      approach rate: -0.571390 m/s,
      LOS rate: -0.037883 deg/s,
      cmd heading: 78.596667 deg,
      new cmd heading: 78.547499 deg.

2025-10-26T22:33:37.445Z,1761518017.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.370912 target range: 77.241089 and range: 77.70 m.
2025-10-26T22:33:37.477Z,1761518017.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015398
2025-10-26T22:33:37.729Z,1761518017.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267474
2025-10-26T22:33:37.798Z,1761518017.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199738,-0.970515,-0.134931],[0.979023,0.192012,0.068160],[-0.040242,-0.145715,0.988508]]
2025-10-26T22:33:37.823Z,1761518017.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.24 m.
2025-10-26T22:33:37.825Z,1761518017.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.241089 m,
      nav range: 75.252571 m,
      bearing: 65.369322 deg,
      approach rate: -0.580752 m/s,
      LOS rate: -0.038489 deg/s,
      cmd heading: 78.547496 deg,
      new cmd heading: 78.503471 deg.

2025-10-26T22:33:37.826Z,1761518017.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.370144 target range: 77.241089 and range: 77.70 m.
2025-10-26T22:33:37.980Z,1761518017.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518949
2025-10-26T22:33:38.211Z,1761518018.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200365,-0.970227,-0.136062],[0.978871,0.192467,0.069049],[-0.040806,-0.147022,0.988291]]
2025-10-26T22:33:38.232Z,1761518018.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771041
2025-10-26T22:33:38.252Z,1761518018.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.24 m.
2025-10-26T22:33:38.255Z,1761518018.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.241089 m,
      nav range: 75.014587 m,
      bearing: 65.353611 deg,
      approach rate: -0.554266 m/s,
      LOS rate: -0.036707 deg/s,
      cmd heading: 78.503469 deg,
      new cmd heading: 78.456187 deg.

2025-10-26T22:33:38.261Z,1761518018.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.369319 target range: 77.241089 and range: 77.70 m.
2025-10-26T22:33:38.484Z,1761518018.484 [DAT](INFO): DAT read: Rx Time:22:33:37.1930

2025-10-26T22:33:38.485Z,1761518018.485 [DAT](INFO): Rx dataTimestamp_ set to:1761518018.484610
2025-10-26T22:33:38.485Z,1761518018.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024054
2025-10-26T22:33:38.610Z,1761518018.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200693,-0.969723,-0.139137],[0.978793,0.192530,0.069980],[-0.041073,-0.150231,0.987797]]
2025-10-26T22:33:38.691Z,1761518018.691 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:38.701Z,1761518018.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.24 m.
2025-10-26T22:33:38.710Z,1761518018.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.241089 m,
      nav range: 74.767998 m,
      bearing: 65.339774 deg,
      approach rate: -0.549439 m/s,
      LOS rate: -0.030933 deg/s,
      cmd heading: 78.456184 deg,
      new cmd heading: 78.414535 deg.

2025-10-26T22:33:38.717Z,1761518018.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.368592 target range: 77.241089 and range: 77.70 m.
2025-10-26T22:33:38.737Z,1761518018.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275122
2025-10-26T22:33:39.009Z,1761518019.009 [DAT](INFO): DAT read: 22:33:37.1930 LVL= 32752, 32753, 29650, 32755, AGC= 74, IDX= 421,-0.46,-0.740,-2.087,-0.061,-0.736, PHS= 0.098,-1.306, 0.631, RAW= 165.4,   6.7, CAL= 164.9,   6.4, ROT= 345.1,  -6.4

2025-10-26T22:33:39.010Z,1761518019.010 [DAT](INFO): got valid direction response:
 22:33:37.1930 LVL= 32752, 32753, 29650, 32755, AGC= 74, IDX= 421,-0.46,-0.740,-2.087,-0.061,-0.736, PHS= 0.098,-1.306, 0.631, RAW= 165.4,   6.7, CAL= 164.9,   6.4, ROT= 345.1,  -6.4

2025-10-26T22:33:39.011Z,1761518019.011 [DAT](INFO): DAT read: Bearing 215.1, -18.1 (Local)

2025-10-26T22:33:39.011Z,1761518019.011 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.1, -18.1 (Local)

2025-10-26T22:33:39.013Z,1761518019.013 [DAT](INFO): DAT read: Range 11 to 50 : 75.5 m  (Round-trip  100.7 ms) speed  0.4 m/s

2025-10-26T22:33:39.013Z,1761518019.013 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:33:39.014Z,1761518019.014 [DAT](INFO): direction in FSK: [0.960354,-0.255530,0.111469]
2025-10-26T22:33:39.015Z,1761518019.015 [DAT](INFO): publishing direction and range info
2025-10-26T22:33:39.050Z,1761518019.050 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:33:39.050Z,1761518019.050 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:33:39.050Z,1761518019.050 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:33:39.070Z,1761518019.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201299,-0.969563,-0.139379],[0.978647,0.193033,0.070624],[-0.041570,-0.150619,0.987718]]
2025-10-26T22:33:39.160Z,1761518019.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 75.500000 m,
      deltaT: 3.781270 s,
      deltaX: -2.199997 m,
      approachRate: -0.581814 m/s,
      rangeRepo size: 4

2025-10-26T22:33:39.162Z,1761518019.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 75.054031 m,
      bearing: 64.654893 deg,
      lat: 36.779395 deg,
      lon: -121.859412 deg,
      deltaT: 3.781270 s,
      deltaX: -2.187057 m,
      approachRate: -0.578392 m/s,
      posRepo size: 4

2025-10-26T22:33:39.171Z,1761518019.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.05 m.
2025-10-26T22:33:39.174Z,1761518019.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.054031 m,
      nav range: 74.609474 m,
      bearing: 64.654624 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.030933 deg/s,
      cmd heading: 78.414533 deg,
      new cmd heading: 78.372738 deg.

2025-10-26T22:33:39.175Z,1761518019.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.367862 target range: 75.054031 and range: 75.50 m.
2025-10-26T22:33:39.241Z,1761518019.241 [DAT](INFO): DAT read: user:606>

2025-10-26T22:33:39.241Z,1761518019.241 [DAT](INFO): DAT read: Tx time:22:33:38.4381

2025-10-26T22:33:39.242Z,1761518019.242 [DAT](INFO): Ping request sent.
2025-10-26T22:33:39.242Z,1761518019.242 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:33:39.242Z,1761518019.242 [DAT](INFO): publishing transmit ping time
2025-10-26T22:33:39.243Z,1761518019.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-10-26T22:33:39.495Z,1761518019.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252895
2025-10-26T22:33:39.525Z,1761518019.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202083,-0.969060,-0.141722],[0.978455,0.193519,0.071949],[-0.042297,-0.153209,0.987288]]
2025-10-26T22:33:39.576Z,1761518019.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.05 m.
2025-10-26T22:33:39.579Z,1761518019.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.054031 m,
      nav range: 74.351082 m,
      bearing: 64.642797 deg,
      approach rate: -0.607630 m/s,
      LOS rate: -0.027909 deg/s,
      cmd heading: 78.372739 deg,
      new cmd heading: 78.337134 deg.

2025-10-26T22:33:39.580Z,1761518019.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.367241 target range: 75.054031 and range: 75.50 m.
2025-10-26T22:33:39.749Z,1761518019.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506881
2025-10-26T22:33:39.922Z,1761518019.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202498,-0.969097,-0.140878],[0.978346,0.193909,0.072374],[-0.042820,-0.152483,0.987378]]
2025-10-26T22:33:39.940Z,1761518019.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.05 m.
2025-10-26T22:33:39.943Z,1761518019.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.054031 m,
      nav range: 74.149109 m,
      bearing: 64.633567 deg,
      approach rate: -0.554750 m/s,
      LOS rate: -0.025420 deg/s,
      cmd heading: 78.337133 deg,
      new cmd heading: 78.309369 deg.

2025-10-26T22:33:39.944Z,1761518019.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.366756 target range: 75.054031 and range: 75.50 m.
2025-10-26T22:33:40.002Z,1761518020.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759765
2025-10-26T22:33:40.252Z,1761518020.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010480
2025-10-26T22:33:40.352Z,1761518020.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202943,-0.969148,-0.139878],[0.978241,0.194379,0.072534],[-0.043106,-0.151555,0.987508]]
2025-10-26T22:33:40.410Z,1761518020.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.05 m.
2025-10-26T22:33:40.412Z,1761518020.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.054031 m,
      nav range: 73.897064 m,
      bearing: 64.622077 deg,
      approach rate: -0.537330 m/s,
      LOS rate: -0.024579 deg/s,
      cmd heading: 78.309369 deg,
      new cmd heading: 78.274781 deg.

2025-10-26T22:33:40.413Z,1761518020.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.366153 target range: 75.054031 and range: 75.50 m.
2025-10-26T22:33:40.505Z,1761518020.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263198
2025-10-26T22:33:40.756Z,1761518020.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514459
2025-10-26T22:33:40.797Z,1761518020.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203255,-0.969044,-0.140144],[0.978172,0.194648,0.072751],[-0.043220,-0.151872,0.987455]]
2025-10-26T22:33:40.857Z,1761518020.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:40.859Z,1761518020.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.05 m.
2025-10-26T22:33:40.862Z,1761518020.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.054031 m,
      nav range: 73.652435 m,
      bearing: 64.616955 deg,
      approach rate: -0.544205 m/s,
      LOS rate: -0.011432 deg/s,
      cmd heading: 78.274781 deg,
      new cmd heading: 78.259364 deg.

2025-10-26T22:33:40.863Z,1761518020.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.365884 target range: 75.054031 and range: 75.50 m.
2025-10-26T22:33:41.008Z,1761518021.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766421
2025-10-26T22:33:41.168Z,1761518021.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204137,-0.968898,-0.139875],[0.977973,0.195483,0.073184],[-0.043564,-0.151733,0.987461]]
2025-10-26T22:33:41.187Z,1761518021.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.05 m.
2025-10-26T22:33:41.193Z,1761518021.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.054031 m,
      nav range: 73.479324 m,
      bearing: 64.613434 deg,
      approach rate: -0.528578 m/s,
      LOS rate: -0.010779 deg/s,
      cmd heading: 78.259365 deg,
      new cmd heading: 78.248775 deg.

2025-10-26T22:33:41.196Z,1761518021.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.365699 target range: 75.054031 and range: 75.50 m.
2025-10-26T22:33:41.261Z,1761518021.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019251
2025-10-26T22:33:41.512Z,1761518021.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270437
2025-10-26T22:33:41.570Z,1761518021.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205463,-0.968642,-0.139705],[0.977674,0.196729,0.073838],[-0.044039,-0.151757,0.987436]]
2025-10-26T22:33:41.627Z,1761518021.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.05 m.
2025-10-26T22:33:41.634Z,1761518021.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.054031 m,
      nav range: 73.257179 m,
      bearing: 64.615353 deg,
      approach rate: -0.504315 m/s,
      LOS rate: 0.004370 deg/s,
      cmd heading: 78.248778 deg,
      new cmd heading: 78.254552 deg.

2025-10-26T22:33:41.635Z,1761518021.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.365800 target range: 75.054031 and range: 75.50 m.
2025-10-26T22:33:41.765Z,1761518021.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522924
2025-10-26T22:33:41.980Z,1761518021.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206366,-0.968697,-0.137984],[0.977476,0.197727,0.073784],[-0.044191,-0.150102,0.987682]]
2025-10-26T22:33:41.998Z,1761518021.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.05 m.
2025-10-26T22:33:42.001Z,1761518022.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.054031 m,
      nav range: 73.049721 m,
      bearing: 64.617326 deg,
      approach rate: -0.558869 m/s,
      LOS rate: 0.005332 deg/s,
      cmd heading: 78.254550 deg,
      new cmd heading: 78.260488 deg.

2025-10-26T22:33:42.002Z,1761518022.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.365903 target range: 75.054031 and range: 75.50 m.
2025-10-26T22:33:42.029Z,1761518022.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787051
2025-10-26T22:33:42.268Z,1761518022.268 [DAT](INFO): DAT read: Rx Time:22:33:40.9403

2025-10-26T22:33:42.269Z,1761518022.269 [DAT](INFO): Rx dataTimestamp_ set to:1761518022.268610
2025-10-26T22:33:42.269Z,1761518022.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027598
2025-10-26T22:33:42.480Z,1761518022.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.05 m.
2025-10-26T22:33:42.482Z,1761518022.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.054031 m,
      nav range: 72.804535 m,
      bearing: 64.627204 deg,
      approach rate: -0.509486 m/s,
      LOS rate: 0.020595 deg/s,
      cmd heading: 78.260485 deg,
      new cmd heading: 78.290219 deg.

2025-10-26T22:33:42.483Z,1761518022.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.366422 target range: 75.054031 and range: 75.50 m.
2025-10-26T22:33:42.521Z,1761518022.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278911
2025-10-26T22:33:42.778Z,1761518022.778 [DAT](INFO): DAT read: 22:33:40.9403 LVL= 32752, 32753, 30050, 32755, AGC= 71, IDX= 409,-0.31, 0.314,-1.044, 0.990, 0.309, PHS= 0.107,-1.308, 0.637, RAW= 165.3,   6.5, CAL= 164.7,   6.1, ROT= 345.3,  -6.1

2025-10-26T22:33:42.779Z,1761518022.779 [DAT](INFO): got valid direction response:
 22:33:40.9403 LVL= 32752, 32753, 30050, 32755, AGC= 71, IDX= 409,-0.31, 0.314,-1.044, 0.990, 0.309, PHS= 0.107,-1.308, 0.637, RAW= 165.3,   6.5, CAL= 164.7,   6.1, ROT= 345.3,  -6.1

2025-10-26T22:33:42.784Z,1761518022.784 [DAT](INFO): DAT read: Bearing 213.7, -17.8 (Local)

2025-10-26T22:33:42.784Z,1761518022.784 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.7, -17.8 (Local)

2025-10-26T22:33:42.785Z,1761518022.785 [DAT](INFO): DAT read: Range 11 to 50 : 73.5 m  (Round-trip  98.0 ms) speed  0.4 m/s

2025-10-26T22:33:42.786Z,1761518022.786 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:33:42.787Z,1761518022.787 [DAT](INFO): direction in FSK: [0.961791,-0.252321,0.106264]
2025-10-26T22:33:42.787Z,1761518022.787 [DAT](INFO): publishing direction and range info
2025-10-26T22:33:42.804Z,1761518022.804 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:33:42.804Z,1761518022.804 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:33:42.804Z,1761518022.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:33:42.834Z,1761518022.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208636,-0.968357,-0.136952],[0.976962,0.199933,0.074644],[-0.044901,-0.149370,0.987761]]
2025-10-26T22:33:42.885Z,1761518022.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 73.500000 m,
      deltaT: 3.782113 s,
      deltaX: -2.000000 m,
      approachRate: -0.528805 m/s,
      rangeRepo size: 4

2025-10-26T22:33:42.892Z,1761518022.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 73.065720 m,
      bearing: 64.367760 deg,
      lat: 36.779395 deg,
      lon: -121.859412 deg,
      deltaT: 3.782113 s,
      deltaX: -1.988312 m,
      approachRate: -0.525715 m/s,
      posRepo size: 4

2025-10-26T22:33:42.895Z,1761518022.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.07 m.
2025-10-26T22:33:42.902Z,1761518022.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.065720 m,
      nav range: 72.557907 m,
      bearing: 64.615763 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.020595 deg/s,
      cmd heading: 78.290217 deg,
      new cmd heading: 78.315249 deg.

2025-10-26T22:33:42.903Z,1761518022.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.366859 target range: 73.065720 and range: 73.50 m.
2025-10-26T22:33:43.024Z,1761518023.024 [DAT](INFO): DAT read: user:607>

2025-10-26T22:33:43.025Z,1761518023.025 [DAT](INFO): DAT read: Tx time:22:33:42.1881

2025-10-26T22:33:43.026Z,1761518023.026 [DAT](INFO): Ping request sent.
2025-10-26T22:33:43.026Z,1761518023.026 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:33:43.026Z,1761518023.026 [DAT](INFO): publishing transmit ping time
2025-10-26T22:33:43.026Z,1761518023.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-10-26T22:33:43.230Z,1761518023.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210158,-0.968067,-0.136677],[0.976616,0.201387,0.075270],[-0.045341,-0.149299,0.987752]]
2025-10-26T22:33:43.247Z,1761518023.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:43.249Z,1761518023.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.07 m.
2025-10-26T22:33:43.252Z,1761518023.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.065720 m,
      nav range: 72.357445 m,
      bearing: 64.624513 deg,
      approach rate: -0.550474 m/s,
      LOS rate: 0.024096 deg/s,
      cmd heading: 78.315250 deg,
      new cmd heading: 78.341574 deg.

2025-10-26T22:33:43.253Z,1761518023.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.367318 target range: 73.065720 and range: 73.50 m.
2025-10-26T22:33:43.289Z,1761518023.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.263668
2025-10-26T22:33:43.541Z,1761518023.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.515035
2025-10-26T22:33:43.635Z,1761518023.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211583,-0.967744,-0.136764],[0.976292,0.202733,0.075844],[-0.045671,-0.149569,0.987696]]
2025-10-26T22:33:43.673Z,1761518023.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.07 m.
2025-10-26T22:33:43.675Z,1761518023.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.065720 m,
      nav range: 72.140961 m,
      bearing: 64.634439 deg,
      approach rate: -0.510678 m/s,
      LOS rate: 0.023484 deg/s,
      cmd heading: 78.341573 deg,
      new cmd heading: 78.371439 deg.

2025-10-26T22:33:43.676Z,1761518023.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.367840 target range: 73.065720 and range: 73.50 m.
2025-10-26T22:33:43.793Z,1761518023.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.767566
2025-10-26T22:33:44.030Z,1761518024.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213499,-0.967275,-0.137104],[0.975854,0.204523,0.076679],[-0.046129,-0.150164,0.987584]]
2025-10-26T22:33:44.049Z,1761518024.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.023350
2025-10-26T22:33:44.069Z,1761518024.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.07 m.
2025-10-26T22:33:44.074Z,1761518024.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.065720 m,
      nav range: 71.948936 m,
      bearing: 64.643582 deg,
      approach rate: -0.484886 m/s,
      LOS rate: 0.023151 deg/s,
      cmd heading: 78.371442 deg,
      new cmd heading: 78.398946 deg.

2025-10-26T22:33:44.075Z,1761518024.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.368320 target range: 73.065720 and range: 73.50 m.
2025-10-26T22:33:44.303Z,1761518024.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.277733
2025-10-26T22:33:44.460Z,1761518024.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214806,-0.966833,-0.138174],[0.975558,0.205698,0.077296],[-0.046310,-0.151401,0.987387]]
2025-10-26T22:33:44.507Z,1761518024.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.07 m.
2025-10-26T22:33:44.510Z,1761518024.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.065720 m,
      nav range: 71.698570 m,
      bearing: 64.651940 deg,
      approach rate: -0.571408 m/s,
      LOS rate: 0.019141 deg/s,
      cmd heading: 78.398947 deg,
      new cmd heading: 78.424107 deg.

2025-10-26T22:33:44.511Z,1761518024.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.368759 target range: 73.065720 and range: 73.50 m.
2025-10-26T22:33:44.553Z,1761518024.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.526951
2025-10-26T22:33:44.804Z,1761518024.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.778679
2025-10-26T22:33:44.838Z,1761518024.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216221,-0.966517,-0.138182],[0.975233,0.207049,0.077796],[-0.046580,-0.151580,0.987347]]
2025-10-26T22:33:44.877Z,1761518024.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.07 m.
2025-10-26T22:33:44.884Z,1761518024.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.065720 m,
      nav range: 71.500725 m,
      bearing: 64.658813 deg,
      approach rate: -0.534944 m/s,
      LOS rate: 0.018636 deg/s,
      cmd heading: 78.424109 deg,
      new cmd heading: 78.444786 deg.

2025-10-26T22:33:44.885Z,1761518024.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.369120 target range: 73.065720 and range: 73.50 m.
2025-10-26T22:33:45.056Z,1761518025.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.030679
2025-10-26T22:33:45.242Z,1761518025.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216994,-0.966402,-0.137768],[0.975055,0.207825,0.077949],[-0.046699,-0.151246,0.987393]]
2025-10-26T22:33:45.308Z,1761518025.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282727
2025-10-26T22:33:45.319Z,1761518025.319 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:45.321Z,1761518025.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.07 m.
2025-10-26T22:33:45.324Z,1761518025.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.065720 m,
      nav range: 71.253418 m,
      bearing: 64.667623 deg,
      approach rate: -0.556375 m/s,
      LOS rate: 0.019888 deg/s,
      cmd heading: 78.444784 deg,
      new cmd heading: 78.471304 deg.

2025-10-26T22:33:45.325Z,1761518025.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.369583 target range: 73.065720 and range: 73.50 m.
2025-10-26T22:33:45.560Z,1761518025.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534692
2025-10-26T22:33:45.648Z,1761518025.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217758,-0.966315,-0.137176],[0.974879,0.208607,0.078060],[-0.046815,-0.150729,0.987466]]
2025-10-26T22:33:45.737Z,1761518025.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.07 m.
2025-10-26T22:33:45.744Z,1761518025.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.065720 m,
      nav range: 71.034523 m,
      bearing: 64.672707 deg,
      approach rate: -0.526273 m/s,
      LOS rate: 0.012260 deg/s,
      cmd heading: 78.471306 deg,
      new cmd heading: 78.486604 deg.

2025-10-26T22:33:45.745Z,1761518025.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.369850 target range: 73.065720 and range: 73.50 m.
2025-10-26T22:33:45.814Z,1761518025.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.788355
2025-10-26T22:33:46.057Z,1761518026.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218467,-0.966254,-0.136478],[0.974714,0.209341,0.078157],[-0.046949,-0.150101,0.987555]]
2025-10-26T22:33:46.064Z,1761518026.064 [DAT](INFO): DAT read: Rx Time:22:33:44.6875

2025-10-26T22:33:46.065Z,1761518026.065 [DAT](INFO): Rx dataTimestamp_ set to:1761518026.064643
2025-10-26T22:33:46.065Z,1761518026.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039807
2025-10-26T22:33:46.120Z,1761518026.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.07 m.
2025-10-26T22:33:46.122Z,1761518026.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.065720 m,
      nav range: 70.823601 m,
      bearing: 64.677769 deg,
      approach rate: -0.588913 m/s,
      LOS rate: 0.014177 deg/s,
      cmd heading: 78.486605 deg,
      new cmd heading: 78.501838 deg.

2025-10-26T22:33:46.123Z,1761518026.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.370116 target range: 73.065720 and range: 73.50 m.
2025-10-26T22:33:46.321Z,1761518026.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.294259
2025-10-26T22:33:46.504Z,1761518026.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219311,-0.966133,-0.135979],[0.974515,0.210182,0.078378],[-0.047143,-0.149703,0.987606]]
2025-10-26T22:33:46.557Z,1761518026.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.07 m.
2025-10-26T22:33:46.560Z,1761518026.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.065720 m,
      nav range: 70.566948 m,
      bearing: 64.671020 deg,
      approach rate: -0.555790 m/s,
      LOS rate: -0.014670 deg/s,
      cmd heading: 78.501837 deg,
      new cmd heading: 78.481514 deg.

2025-10-26T22:33:46.561Z,1761518026.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.369761 target range: 73.065720 and range: 73.50 m.
2025-10-26T22:33:46.574Z,1761518026.574 [DAT](INFO): DAT read: 22:33:44.6875 LVL= 32752, 32753, 24546, 32755, AGC= 72, IDX= 412,-0.26, 2.853, 1.512,-2.773, 2.872, PHS= 0.083,-1.315, 0.594, RAW= 165.0,   7.5, CAL= 164.5,   7.5, ROT= 345.5,  -7.5

2025-10-26T22:33:46.575Z,1761518026.575 [DAT](INFO): got valid direction response:
 22:33:44.6875 LVL= 32752, 32753, 24546, 32755, AGC= 72, IDX= 412,-0.26, 2.853, 1.512,-2.773, 2.872, PHS= 0.083,-1.315, 0.594, RAW= 165.0,   7.5, CAL= 164.5,   7.5, ROT= 345.5,  -7.5

2025-10-26T22:33:46.576Z,1761518026.576 [DAT](INFO): DAT read: Bearing 215.1, -18.0 (Local)

2025-10-26T22:33:46.576Z,1761518026.576 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.1, -18.0 (Local)

2025-10-26T22:33:46.578Z,1761518026.578 [DAT](INFO): DAT read: Range 11 to 50 : 71.4 m  (Round-trip  95.2 ms) speed  0.4 m/s

2025-10-26T22:33:46.578Z,1761518026.578 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:33:46.579Z,1761518026.579 [DAT](INFO): direction in FSK: [0.959865,-0.248238,0.130526]
2025-10-26T22:33:46.580Z,1761518026.580 [DAT](INFO): publishing direction and range info
2025-10-26T22:33:46.583Z,1761518026.583 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:33:46.583Z,1761518026.583 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:33:46.583Z,1761518026.583 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:33:46.820Z,1761518026.820 [DAT](INFO): DAT read: user:608>

2025-10-26T22:33:46.821Z,1761518026.821 [DAT](INFO): DAT read: Tx time:22:33:45.9381

2025-10-26T22:33:46.821Z,1761518026.821 [DAT](INFO): Ping request sent.
2025-10-26T22:33:46.822Z,1761518026.822 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:33:46.822Z,1761518026.822 [DAT](INFO): publishing transmit ping time
2025-10-26T22:33:46.822Z,1761518026.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000718
2025-10-26T22:33:46.899Z,1761518026.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219471,-0.966003,-0.136641],[0.974478,0.210281,0.078583],[-0.047178,-0.150400,0.987499]]
2025-10-26T22:33:46.922Z,1761518026.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 71.400002 m,
      deltaT: 3.796060 s,
      deltaX: -2.099998 m,
      approachRate: -0.553205 m/s,
      rangeRepo size: 4

2025-10-26T22:33:46.925Z,1761518026.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 70.977997 m,
      bearing: 64.162210 deg,
      lat: 36.779397 deg,
      lon: -121.859412 deg,
      deltaT: 3.796060 s,
      deltaX: -2.087723 m,
      approachRate: -0.549971 m/s,
      posRepo size: 4

2025-10-26T22:33:46.926Z,1761518026.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-10-26T22:33:46.929Z,1761518026.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.977997 m,
      nav range: 70.446037 m,
      bearing: 64.520860 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014670 deg/s,
      cmd heading: 78.481517 deg,
      new cmd heading: 78.465468 deg.

2025-10-26T22:33:46.930Z,1761518026.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.369481 target range: 70.977997 and range: 71.40 m.
2025-10-26T22:33:47.072Z,1761518027.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250916
2025-10-26T22:33:47.297Z,1761518027.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219648,-0.966108,-0.135613],[0.974439,0.210544,0.078352],[-0.047144,-0.149357,0.987659]]
2025-10-26T22:33:47.316Z,1761518027.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-10-26T22:33:47.318Z,1761518027.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.977997 m,
      nav range: 70.224922 m,
      bearing: 64.514590 deg,
      approach rate: -0.561718 m/s,
      LOS rate: -0.015979 deg/s,
      cmd heading: 78.465466 deg,
      new cmd heading: 78.446596 deg.

2025-10-26T22:33:47.319Z,1761518027.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.369151 target range: 70.977997 and range: 71.40 m.
2025-10-26T22:33:47.324Z,1761518027.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502902
2025-10-26T22:33:47.576Z,1761518027.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754858
2025-10-26T22:33:47.709Z,1761518027.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219828,-0.966139,-0.135100],[0.974402,0.210772,0.078207],[-0.047083,-0.148834,0.987741]]
2025-10-26T22:33:47.760Z,1761518027.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:47.762Z,1761518027.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-10-26T22:33:47.765Z,1761518027.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.977997 m,
      nav range: 69.968719 m,
      bearing: 64.503224 deg,
      approach rate: -0.574034 m/s,
      LOS rate: -0.025558 deg/s,
      cmd heading: 78.446594 deg,
      new cmd heading: 78.412373 deg.

2025-10-26T22:33:47.766Z,1761518027.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.368554 target range: 70.977997 and range: 71.40 m.
2025-10-26T22:33:47.829Z,1761518027.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007548
2025-10-26T22:33:48.081Z,1761518028.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259054
2025-10-26T22:33:48.109Z,1761518028.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219893,-0.966174,-0.134741],[0.974391,0.210879,0.078050],[-0.046996,-0.148453,0.987802]]
2025-10-26T22:33:48.128Z,1761518028.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-10-26T22:33:48.130Z,1761518028.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.977997 m,
      nav range: 69.757919 m,
      bearing: 64.493827 deg,
      approach rate: -0.576130 m/s,
      LOS rate: -0.025762 deg/s,
      cmd heading: 78.412375 deg,
      new cmd heading: 78.384097 deg.

2025-10-26T22:33:48.132Z,1761518028.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.368061 target range: 70.977997 and range: 71.40 m.
2025-10-26T22:33:48.333Z,1761518028.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511411
2025-10-26T22:33:48.522Z,1761518028.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219176,-0.966491,-0.133633],[0.974565,0.210300,0.077434],[-0.046737,-0.147206,0.988001]]
2025-10-26T22:33:48.572Z,1761518028.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-10-26T22:33:48.574Z,1761518028.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.977997 m,
      nav range: 69.505440 m,
      bearing: 64.477607 deg,
      approach rate: -0.569032 m/s,
      LOS rate: -0.036689 deg/s,
      cmd heading: 78.384098 deg,
      new cmd heading: 78.335261 deg.

2025-10-26T22:33:48.575Z,1761518028.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.367208 target range: 70.977997 and range: 71.40 m.
2025-10-26T22:33:48.584Z,1761518028.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762853
2025-10-26T22:33:48.836Z,1761518028.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014790
2025-10-26T22:33:48.910Z,1761518028.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218279,-0.966590,-0.134378],[0.974777,0.209390,0.077239],[-0.046521,-0.147848,0.987915]]
2025-10-26T22:33:48.940Z,1761518028.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-10-26T22:33:48.943Z,1761518028.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.977997 m,
      nav range: 69.295746 m,
      bearing: 64.463877 deg,
      approach rate: -0.568384 m/s,
      LOS rate: -0.037326 deg/s,
      cmd heading: 78.335262 deg,
      new cmd heading: 78.293949 deg.

2025-10-26T22:33:48.944Z,1761518028.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.366487 target range: 70.977997 and range: 71.40 m.
2025-10-26T22:33:49.088Z,1761518029.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266810
2025-10-26T22:33:49.315Z,1761518029.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217233,-0.966819,-0.134429],[0.975028,0.208412,0.076709],[-0.046147,-0.147736,0.987950]]
2025-10-26T22:33:49.340Z,1761518029.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518821
2025-10-26T22:33:49.407Z,1761518029.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-10-26T22:33:49.410Z,1761518029.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.977997 m,
      nav range: 69.029488 m,
      bearing: 64.446086 deg,
      approach rate: -0.570423 m/s,
      LOS rate: -0.038263 deg/s,
      cmd heading: 78.293946 deg,
      new cmd heading: 78.240365 deg.

2025-10-26T22:33:49.411Z,1761518029.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.365552 target range: 70.977997 and range: 71.40 m.
2025-10-26T22:33:49.593Z,1761518029.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771098
2025-10-26T22:33:49.817Z,1761518029.817 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:49.819Z,1761518029.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-10-26T22:33:49.822Z,1761518029.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.977997 m,
      nav range: 68.784477 m,
      bearing: 64.420678 deg,
      approach rate: -0.594646 m/s,
      LOS rate: -0.061886 deg/s,
      cmd heading: 78.240363 deg,
      new cmd heading: 78.163868 deg.

2025-10-26T22:33:49.823Z,1761518029.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364217 target range: 70.977997 and range: 71.40 m.
2025-10-26T22:33:49.845Z,1761518029.845 [DAT](INFO): DAT read: Rx Time:22:33:48.4347

2025-10-26T22:33:49.845Z,1761518029.845 [DAT](INFO): Rx dataTimestamp_ set to:1761518029.844748
2025-10-26T22:33:49.846Z,1761518029.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024017
2025-10-26T22:33:50.097Z,1761518030.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275116
2025-10-26T22:33:50.168Z,1761518030.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215333,-0.967497,-0.132592],[0.975484,0.206792,0.075288],[-0.045422,-0.145553,0.988307]]
2025-10-26T22:33:50.266Z,1761518030.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-10-26T22:33:50.268Z,1761518030.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.977997 m,
      nav range: 68.524315 m,
      bearing: 64.393089 deg,
      approach rate: -0.585197 m/s,
      LOS rate: -0.062293 deg/s,
      cmd heading: 78.163865 deg,
      new cmd heading: 78.080784 deg.

2025-10-26T22:33:50.269Z,1761518030.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362767 target range: 70.977997 and range: 71.40 m.
2025-10-26T22:33:50.354Z,1761518030.354 [DAT](INFO): DAT read: 22:33:48.4347 LVL= 30112, 32753, 25842, 32755, AGC= 72, IDX= 415,-0.03, 1.915, 0.521, 2.589, 1.863, PHS= 0.154,-1.298, 0.682, RAW= 164.9,   5.3, CAL= 164.1,   4.4, ROT= 345.9,  -4.4

2025-10-26T22:33:50.355Z,1761518030.355 [DAT](INFO): got valid direction response:
 22:33:48.4347 LVL= 30112, 32753, 25842, 32755, AGC= 72, IDX= 415,-0.03, 1.915, 0.521, 2.589, 1.863, PHS= 0.154,-1.298, 0.682, RAW= 164.9,   5.3, CAL= 164.1,   4.4, ROT= 345.9,  -4.4

2025-10-26T22:33:50.359Z,1761518030.359 [DAT](INFO): DAT read: Bearing 211.6, -17.2 (Local)

2025-10-26T22:33:50.363Z,1761518030.363 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.6, -17.2 (Local)

2025-10-26T22:33:50.365Z,1761518030.365 [DAT](INFO): DAT read: Range 11 to 50 : 69.3 m  (Round-trip  92.4 ms) speed  0.4 m/s

2025-10-26T22:33:50.365Z,1761518030.365 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:33:50.366Z,1761518030.366 [DAT](INFO): direction in FSK: [0.967014,-0.242897,0.076719]
2025-10-26T22:33:50.367Z,1761518030.367 [DAT](INFO): publishing direction and range info
2025-10-26T22:33:50.374Z,1761518030.374 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:33:50.374Z,1761518030.374 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:33:50.375Z,1761518030.375 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:33:50.601Z,1761518030.601 [DAT](INFO): DAT read: user:609>

2025-10-26T22:33:50.602Z,1761518030.602 [DAT](INFO): DAT read: Tx time:22:33:49.7381

2025-10-26T22:33:50.602Z,1761518030.602 [DAT](INFO): Ping request sent.
2025-10-26T22:33:50.603Z,1761518030.603 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:33:50.603Z,1761518030.603 [DAT](INFO): publishing transmit ping time
2025-10-26T22:33:50.604Z,1761518030.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001263
2025-10-26T22:33:50.729Z,1761518030.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212175,-0.968414,-0.130979],[0.976222,0.203951,0.073453],[-0.044420,-0.143450,0.988660]]
2025-10-26T22:33:50.813Z,1761518030.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 69.300003 m,
      deltaT: 3.780002 s,
      deltaX: -2.099998 m,
      approachRate: -0.555555 m/s,
      rangeRepo size: 4

2025-10-26T22:33:50.815Z,1761518030.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 68.890366 m,
      bearing: 64.447127 deg,
      lat: 36.779398 deg,
      lon: -121.859412 deg,
      deltaT: 3.780002 s,
      deltaX: -2.087631 m,
      approachRate: -0.552283 m/s,
      posRepo size: 4

2025-10-26T22:33:50.816Z,1761518030.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.89 m.
2025-10-26T22:33:50.818Z,1761518030.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.890366 m,
      nav range: 68.300591 m,
      bearing: 64.273715 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.062293 deg/s,
      cmd heading: 78.080783 deg,
      new cmd heading: 77.978479 deg.

2025-10-26T22:33:50.820Z,1761518030.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360981 target range: 68.890366 and range: 69.30 m.
2025-10-26T22:33:50.853Z,1761518030.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250253
2025-10-26T22:33:51.106Z,1761518031.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503818
2025-10-26T22:33:51.244Z,1761518031.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210647,-0.968902,-0.129830],[0.976570,0.202588,0.072586],[-0.044027,-0.142078,0.988876]]
2025-10-26T22:33:51.276Z,1761518031.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.89 m.
2025-10-26T22:33:51.278Z,1761518031.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.890366 m,
      nav range: 68.013947 m,
      bearing: 64.237245 deg,
      approach rate: -0.617345 m/s,
      LOS rate: -0.078876 deg/s,
      cmd heading: 77.978480 deg,
      new cmd heading: 77.868609 deg.

2025-10-26T22:33:51.279Z,1761518031.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359064 target range: 68.890366 and range: 69.30 m.
2025-10-26T22:33:51.357Z,1761518031.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753991
2025-10-26T22:33:51.609Z,1761518031.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006075
2025-10-26T22:33:51.718Z,1761518031.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209154,-0.969363,-0.128802],[0.976904,0.201233,0.071859],[-0.043738,-0.140857,0.989063]]
2025-10-26T22:33:51.766Z,1761518031.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.89 m.
2025-10-26T22:33:51.769Z,1761518031.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.890366 m,
      nav range: 67.725258 m,
      bearing: 64.197524 deg,
      approach rate: -0.587940 m/s,
      LOS rate: -0.081242 deg/s,
      cmd heading: 77.868610 deg,
      new cmd heading: 77.748936 deg.

2025-10-26T22:33:51.770Z,1761518031.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356975 target range: 68.890366 and range: 69.30 m.
2025-10-26T22:33:51.865Z,1761518031.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262604
2025-10-26T22:33:52.116Z,1761518032.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513960
2025-10-26T22:33:52.117Z,1761518032.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207259,-0.969915,-0.127701],[0.977321,0.199487,0.071052],[-0.043440,-0.139531,0.989264]]
2025-10-26T22:33:52.134Z,1761518032.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:52.136Z,1761518032.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.89 m.
2025-10-26T22:33:52.139Z,1761518032.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.890366 m,
      nav range: 67.513344 m,
      bearing: 64.167794 deg,
      approach rate: -0.572755 m/s,
      LOS rate: -0.080603 deg/s,
      cmd heading: 77.748938 deg,
      new cmd heading: 77.659471 deg.

2025-10-26T22:33:52.140Z,1761518032.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355413 target range: 68.890366 and range: 69.30 m.
2025-10-26T22:33:52.369Z,1761518032.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766683
2025-10-26T22:33:52.530Z,1761518032.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206420,-0.970093,-0.127714],[0.977462,0.198540,0.071770],[-0.044267,-0.139651,0.989211]]
2025-10-26T22:33:52.591Z,1761518032.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.89 m.
2025-10-26T22:33:52.598Z,1761518032.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.890366 m,
      nav range: 67.252708 m,
      bearing: 64.130775 deg,
      approach rate: -0.573291 m/s,
      LOS rate: -0.081743 deg/s,
      cmd heading: 77.659469 deg,
      new cmd heading: 77.547981 deg.

2025-10-26T22:33:52.599Z,1761518032.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353468 target range: 68.890366 and range: 69.30 m.
2025-10-26T22:33:52.621Z,1761518032.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017967
2025-10-26T22:33:52.872Z,1761518032.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269823
2025-10-26T22:33:52.914Z,1761518032.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205964,-0.970089,-0.128474],[0.977520,0.197915,0.072691],[-0.045089,-0.140558,0.989045]]
2025-10-26T22:33:52.961Z,1761518032.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.89 m.
2025-10-26T22:33:52.964Z,1761518032.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.890366 m,
      nav range: 67.040184 m,
      bearing: 64.108514 deg,
      approach rate: -0.573978 m/s,
      LOS rate: -0.060312 deg/s,
      cmd heading: 77.547980 deg,
      new cmd heading: 77.480986 deg.

2025-10-26T22:33:52.965Z,1761518032.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352298 target range: 68.890366 and range: 69.30 m.
2025-10-26T22:33:53.124Z,1761518033.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521885
2025-10-26T22:33:53.319Z,1761518033.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205605,-0.970099,-0.128979],[0.977558,0.197406,0.073558],[-0.045897,-0.141208,0.988916]]
2025-10-26T22:33:53.344Z,1761518033.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.89 m.
2025-10-26T22:33:53.346Z,1761518033.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.890366 m,
      nav range: 66.820625 m,
      bearing: 64.085296 deg,
      approach rate: -0.574271 m/s,
      LOS rate: -0.060928 deg/s,
      cmd heading: 77.480983 deg,
      new cmd heading: 77.411099 deg.

2025-10-26T22:33:53.347Z,1761518033.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351079 target range: 68.890366 and range: 69.30 m.
2025-10-26T22:33:53.376Z,1761518033.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773902
2025-10-26T22:33:53.628Z,1761518033.628 [DAT](INFO): DAT read: Rx Time:22:33:52.2320

2025-10-26T22:33:53.629Z,1761518033.629 [DAT](INFO): Rx dataTimestamp_ set to:1761518033.628587
2025-10-26T22:33:53.629Z,1761518033.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026908
2025-10-26T22:33:53.729Z,1761518033.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206421,-0.969634,-0.131153],[0.977334,0.197885,0.075227],[-0.046989,-0.143709,0.988504]]
2025-10-26T22:33:53.775Z,1761518033.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.89 m.
2025-10-26T22:33:53.778Z,1761518033.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.890366 m,
      nav range: 66.587494 m,
      bearing: 64.069155 deg,
      approach rate: -0.540315 m/s,
      LOS rate: -0.037538 deg/s,
      cmd heading: 77.411096 deg,
      new cmd heading: 77.362506 deg.

2025-10-26T22:33:53.779Z,1761518033.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350230 target range: 68.890366 and range: 69.30 m.
2025-10-26T22:33:53.881Z,1761518033.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278352
2025-10-26T22:33:54.137Z,1761518034.137 [DAT](INFO): DAT read: 22:33:52.2320 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 419,-0.13, 2.943, 1.568,-2.673, 2.974, PHS= 0.071,-1.361, 0.592, RAW= 164.9,   8.0, CAL= 164.6,   8.2, ROT= 345.4,  -8.2

2025-10-26T22:33:54.139Z,1761518034.139 [DAT](INFO): got valid direction response:
 22:33:52.2320 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 419,-0.13, 2.943, 1.568,-2.673, 2.974, PHS= 0.071,-1.361, 0.592, RAW= 164.9,   8.0, CAL= 164.6,   8.2, ROT= 345.4,  -8.2

2025-10-26T22:33:54.140Z,1761518034.140 [DAT](INFO): DAT read: Bearing 215.3, -18.4 (Local)

2025-10-26T22:33:54.140Z,1761518034.140 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.3, -18.4 (Local)

2025-10-26T22:33:54.141Z,1761518034.141 [DAT](INFO): DAT read: Range 11 to 50 : 67.2 m  (Round-trip  89.7 ms) speed  0.4 m/s

2025-10-26T22:33:54.142Z,1761518034.142 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:33:54.143Z,1761518034.143 [DAT](INFO): direction in FSK: [0.957815,-0.249492,0.142629]
2025-10-26T22:33:54.143Z,1761518034.143 [DAT](INFO): publishing direction and range info
2025-10-26T22:33:54.146Z,1761518034.146 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:33:54.146Z,1761518034.146 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:33:54.147Z,1761518034.147 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:33:54.151Z,1761518034.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207635,-0.968936,-0.134355],[0.977021,0.198657,0.077240],[-0.048150,-0.147306,0.987918]]
2025-10-26T22:33:54.211Z,1761518034.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 67.199997 m,
      deltaT: 3.783796 s,
      deltaX: -2.100006 m,
      approachRate: -0.555000 m/s,
      rangeRepo size: 4

2025-10-26T22:33:54.233Z,1761518034.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 66.802582 m,
      bearing: 64.839913 deg,
      lat: 36.779398 deg,
      lon: -121.859412 deg,
      deltaT: 3.783796 s,
      deltaX: -2.087784 m,
      approachRate: -0.551770 m/s,
      posRepo size: 4

2025-10-26T22:33:54.234Z,1761518034.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.80 m.
2025-10-26T22:33:54.240Z,1761518034.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.802582 m,
      nav range: 66.374336 m,
      bearing: 64.054509 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037538 deg/s,
      cmd heading: 77.362506 deg,
      new cmd heading: 77.313523 deg.

2025-10-26T22:33:54.241Z,1761518034.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349375 target range: 66.802582 and range: 67.20 m.
2025-10-26T22:33:54.384Z,1761518034.384 [DAT](INFO): DAT read: user:610>

2025-10-26T22:33:54.385Z,1761518034.385 [DAT](INFO): DAT read: Tx time:22:33:53.4881

2025-10-26T22:33:54.386Z,1761518034.386 [DAT](INFO): Ping request sent.
2025-10-26T22:33:54.386Z,1761518034.386 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:33:54.386Z,1761518034.386 [DAT](INFO): publishing transmit ping time
2025-10-26T22:33:54.386Z,1761518034.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-10-26T22:33:54.636Z,1761518034.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250746
2025-10-26T22:33:54.652Z,1761518034.652 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:54.654Z,1761518034.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.80 m.
2025-10-26T22:33:54.657Z,1761518034.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.802582 m,
      nav range: 66.129692 m,
      bearing: 64.050332 deg,
      approach rate: -0.551228 m/s,
      LOS rate: -0.009446 deg/s,
      cmd heading: 77.313520 deg,
      new cmd heading: 77.300944 deg.

2025-10-26T22:33:54.658Z,1761518034.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349156 target range: 66.802582 and range: 67.20 m.
2025-10-26T22:33:54.889Z,1761518034.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502997
2025-10-26T22:33:55.004Z,1761518035.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210946,-0.967812,-0.137264],[0.976196,0.201333,0.080663],[-0.050430,-0.151012,0.987245]]
2025-10-26T22:33:55.022Z,1761518035.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.80 m.
2025-10-26T22:33:55.025Z,1761518035.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.802582 m,
      nav range: 65.943420 m,
      bearing: 64.047649 deg,
      approach rate: -0.505967 m/s,
      LOS rate: -0.007309 deg/s,
      cmd heading: 77.300946 deg,
      new cmd heading: 77.292873 deg.

2025-10-26T22:33:55.026Z,1761518035.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349015 target range: 66.802582 and range: 67.20 m.
2025-10-26T22:33:55.140Z,1761518035.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754776
2025-10-26T22:33:55.393Z,1761518035.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006876
2025-10-26T22:33:55.404Z,1761518035.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213367,-0.966968,-0.139451],[0.975589,0.203290,0.083069],[-0.051976,-0.153771,0.986739]]
2025-10-26T22:33:55.423Z,1761518035.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.80 m.
2025-10-26T22:33:55.425Z,1761518035.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.802582 m,
      nav range: 65.741035 m,
      bearing: 64.045128 deg,
      approach rate: -0.505323 m/s,
      LOS rate: -0.006313 deg/s,
      cmd heading: 77.292873 deg,
      new cmd heading: 77.285288 deg.

2025-10-26T22:33:55.426Z,1761518035.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348883 target range: 66.802582 and range: 67.20 m.
2025-10-26T22:33:55.644Z,1761518035.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258689
2025-10-26T22:33:55.809Z,1761518035.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215614,-0.966248,-0.140982],[0.975019,0.205146,0.085163],[-0.053367,-0.155823,0.986342]]
2025-10-26T22:33:55.847Z,1761518035.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.80 m.
2025-10-26T22:33:55.849Z,1761518035.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.802582 m,
      nav range: 65.540001 m,
      bearing: 64.053578 deg,
      approach rate: -0.473994 m/s,
      LOS rate: 0.019984 deg/s,
      cmd heading: 77.285291 deg,
      new cmd heading: 77.310718 deg.

2025-10-26T22:33:55.850Z,1761518035.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349327 target range: 66.802582 and range: 67.20 m.
2025-10-26T22:33:55.897Z,1761518035.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510915
2025-10-26T22:33:56.149Z,1761518036.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763118
2025-10-26T22:33:56.212Z,1761518036.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218448,-0.965637,-0.140801],[0.974292,0.207670,0.087343],[-0.055102,-0.156261,0.986178]]
2025-10-26T22:33:56.236Z,1761518036.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.80 m.
2025-10-26T22:33:56.239Z,1761518036.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.802582 m,
      nav range: 65.355667 m,
      bearing: 64.061836 deg,
      approach rate: -0.473216 m/s,
      LOS rate: 0.021259 deg/s,
      cmd heading: 77.310720 deg,
      new cmd heading: 77.335563 deg.

2025-10-26T22:33:56.240Z,1761518036.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349760 target range: 66.802582 and range: 67.20 m.
2025-10-26T22:33:56.401Z,1761518036.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014997
2025-10-26T22:33:56.644Z,1761518036.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221688,-0.964835,-0.141237],[0.973463,0.210544,0.089672],[-0.056782,-0.157368,0.985906]]
2025-10-26T22:33:56.652Z,1761518036.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266825
2025-10-26T22:33:56.750Z,1761518036.750 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:56.757Z,1761518036.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.80 m.
2025-10-26T22:33:56.763Z,1761518036.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.802582 m,
      nav range: 65.116699 m,
      bearing: 64.082584 deg,
      approach rate: -0.459208 m/s,
      LOS rate: 0.040017 deg/s,
      cmd heading: 77.335561 deg,
      new cmd heading: 77.398035 deg.

2025-10-26T22:33:56.764Z,1761518036.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350851 target range: 66.802582 and range: 67.20 m.
2025-10-26T22:33:56.904Z,1761518036.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518633
2025-10-26T22:33:57.077Z,1761518037.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224911,-0.963947,-0.142204],[0.972620,0.213335,0.092188],[-0.058527,-0.159045,0.985535]]
2025-10-26T22:33:57.096Z,1761518037.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.80 m.
2025-10-26T22:33:57.098Z,1761518037.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.802582 m,
      nav range: 64.952026 m,
      bearing: 64.097427 deg,
      approach rate: -0.485135 m/s,
      LOS rate: 0.043839 deg/s,
      cmd heading: 77.398037 deg,
      new cmd heading: 77.442679 deg.

2025-10-26T22:33:57.104Z,1761518037.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351630 target range: 66.802582 and range: 67.20 m.
2025-10-26T22:33:57.157Z,1761518037.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770969
2025-10-26T22:33:57.408Z,1761518037.408 [DAT](INFO): DAT read: Rx Time:22:33:55.9792

2025-10-26T22:33:57.409Z,1761518037.409 [DAT](INFO): Rx dataTimestamp_ set to:1761518037.408630
2025-10-26T22:33:57.409Z,1761518037.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023823
2025-10-26T22:33:57.520Z,1761518037.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.80 m.
2025-10-26T22:33:57.523Z,1761518037.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.802582 m,
      nav range: 64.754097 m,
      bearing: 64.115368 deg,
      approach rate: -0.466762 m/s,
      LOS rate: 0.042438 deg/s,
      cmd heading: 77.442679 deg,
      new cmd heading: 77.496666 deg.

2025-10-26T22:33:57.524Z,1761518037.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352572 target range: 66.802582 and range: 67.20 m.
2025-10-26T22:33:57.661Z,1761518037.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274797
2025-10-26T22:33:57.882Z,1761518037.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230786,-0.962736,-0.140989],[0.971043,0.218693,0.096176],[-0.061759,-0.159102,0.985329]]
2025-10-26T22:33:57.918Z,1761518037.918 [DAT](INFO): DAT read: 22:33:55.9792 LVL= 32752, 32753, 28722, 32755, AGC= 72, IDX= 407,-0.01,-1.499,-2.881,-0.864,-1.505, PHS= 0.108,-1.331, 0.597, RAW= 164.1,   7.3, CAL= 163.6,   7.1, ROT= 346.4,  -7.1

2025-10-26T22:33:57.920Z,1761518037.920 [DAT](INFO): got valid direction response:
 22:33:55.9792 LVL= 32752, 32753, 28722, 32755, AGC= 72, IDX= 407,-0.01,-1.499,-2.881,-0.864,-1.505, PHS= 0.108,-1.331, 0.597, RAW= 164.1,   7.3, CAL= 163.6,   7.1, ROT= 346.4,  -7.1

2025-10-26T22:33:57.921Z,1761518037.921 [DAT](INFO): DAT read: Bearing 213.1, -18.0 (Local)

2025-10-26T22:33:57.921Z,1761518037.921 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.1, -18.0 (Local)

2025-10-26T22:33:57.922Z,1761518037.922 [DAT](INFO): DAT read: Range 11 to 50 : 65.2 m  (Round-trip  87.0 ms) speed  0.4 m/s

2025-10-26T22:33:57.923Z,1761518037.923 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:33:57.924Z,1761518037.924 [DAT](INFO): direction in FSK: [0.964508,-0.233339,0.123601]
2025-10-26T22:33:57.924Z,1761518037.924 [DAT](INFO): publishing direction and range info
2025-10-26T22:33:57.932Z,1761518037.932 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:33:57.932Z,1761518037.932 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:33:57.932Z,1761518037.932 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:33:58.015Z,1761518038.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 65.199997 m,
      deltaT: 3.780919 s,
      deltaX: -2.000000 m,
      approachRate: -0.528972 m/s,
      rangeRepo size: 4

2025-10-26T22:33:58.017Z,1761518038.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.814224 m,
      bearing: 64.408652 deg,
      lat: 36.779398 deg,
      lon: -121.859411 deg,
      deltaT: 3.780919 s,
      deltaX: -1.988358 m,
      approachRate: -0.525893 m/s,
      posRepo size: 4

2025-10-26T22:33:58.018Z,1761518038.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.81 m.
2025-10-26T22:33:58.025Z,1761518038.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.814224 m,
      nav range: 64.626526 m,
      bearing: 64.163273 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.042438 deg/s,
      cmd heading: 77.496665 deg,
      new cmd heading: 77.557118 deg.

2025-10-26T22:33:58.026Z,1761518038.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353627 target range: 64.814224 and range: 65.20 m.
2025-10-26T22:33:58.166Z,1761518038.166 [DAT](INFO): DAT read: user:611>

2025-10-26T22:33:58.168Z,1761518038.168 [DAT](INFO): DAT read: Tx time:22:33:57.2881

2025-10-26T22:33:58.169Z,1761518038.169 [DAT](INFO): Ping request sent.
2025-10-26T22:33:58.169Z,1761518038.169 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:33:58.169Z,1761518038.169 [DAT](INFO): publishing transmit ping time
2025-10-26T22:33:58.170Z,1761518038.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001340
2025-10-26T22:33:58.330Z,1761518038.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235376,-0.962018,-0.138273],[0.969770,0.223046,0.098984],[-0.064383,-0.157391,0.985435]]
2025-10-26T22:33:58.416Z,1761518038.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247555
2025-10-26T22:33:58.421Z,1761518038.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.81 m.
2025-10-26T22:33:58.424Z,1761518038.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.814224 m,
      nav range: 64.406654 m,
      bearing: 64.179465 deg,
      approach rate: -0.515640 m/s,
      LOS rate: 0.038102 deg/s,
      cmd heading: 77.557119 deg,
      new cmd heading: 77.605860 deg.

2025-10-26T22:33:58.425Z,1761518038.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354478 target range: 64.814224 and range: 65.20 m.
2025-10-26T22:33:58.670Z,1761518038.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500731
2025-10-26T22:33:58.738Z,1761518038.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236792,-0.961891,-0.136733],[0.969348,0.224410,0.100022],[-0.065526,-0.156227,0.985545]]
2025-10-26T22:33:58.800Z,1761518038.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:33:58.802Z,1761518038.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.81 m.
2025-10-26T22:33:58.809Z,1761518038.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.814224 m,
      nav range: 64.205391 m,
      bearing: 64.187784 deg,
      approach rate: -0.528386 m/s,
      LOS rate: 0.021909 deg/s,
      cmd heading: 77.605859 deg,
      new cmd heading: 77.630895 deg.

2025-10-26T22:33:58.810Z,1761518038.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354915 target range: 64.814224 and range: 65.20 m.
2025-10-26T22:33:58.921Z,1761518038.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752139
2025-10-26T22:33:59.148Z,1761518039.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238100,-0.961741,-0.135508],[0.968951,0.225641,0.101093],[-0.066649,-0.155370,0.985605]]
2025-10-26T22:33:59.173Z,1761518039.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003461
2025-10-26T22:33:59.212Z,1761518039.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.81 m.
2025-10-26T22:33:59.214Z,1761518039.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.814224 m,
      nav range: 64.002701 m,
      bearing: 64.196481 deg,
      approach rate: -0.495602 m/s,
      LOS rate: 0.021330 deg/s,
      cmd heading: 77.630892 deg,
      new cmd heading: 77.657063 deg.

2025-10-26T22:33:59.215Z,1761518039.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355371 target range: 64.814224 and range: 65.20 m.
2025-10-26T22:33:59.424Z,1761518039.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255477
2025-10-26T22:33:59.542Z,1761518039.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239069,-0.961927,-0.132448],[0.968617,0.226696,0.101933],[-0.068026,-0.152660,0.985935]]
2025-10-26T22:33:59.585Z,1761518039.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.81 m.
2025-10-26T22:33:59.588Z,1761518039.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.814224 m,
      nav range: 63.801281 m,
      bearing: 64.205421 deg,
      approach rate: -0.541295 m/s,
      LOS rate: 0.024104 deg/s,
      cmd heading: 77.657065 deg,
      new cmd heading: 77.683973 deg.

2025-10-26T22:33:59.589Z,1761518039.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355841 target range: 64.814224 and range: 65.20 m.
2025-10-26T22:33:59.678Z,1761518039.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508950
2025-10-26T22:33:59.928Z,1761518039.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759501
2025-10-26T22:33:59.946Z,1761518039.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239432,-0.962049,-0.130899],[0.968468,0.227085,0.102481],[-0.068867,-0.151309,0.986085]]
2025-10-26T22:33:59.996Z,1761518039.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.81 m.
2025-10-26T22:33:59.998Z,1761518039.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.814224 m,
      nav range: 63.574852 m,
      bearing: 64.208438 deg,
      approach rate: -0.549269 m/s,
      LOS rate: 0.007343 deg/s,
      cmd heading: 77.683969 deg,
      new cmd heading: 77.693050 deg.

2025-10-26T22:34:00.020Z,1761518040.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355999 target range: 64.814224 and range: 65.20 m.
2025-10-26T22:34:00.181Z,1761518040.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012035
2025-10-26T22:34:00.351Z,1761518040.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239870,-0.962206,-0.128927],[0.968274,0.227541,0.103299],[-0.070059,-0.149615,0.986259]]
2025-10-26T22:34:00.369Z,1761518040.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.81 m.
2025-10-26T22:34:00.384Z,1761518040.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.814224 m,
      nav range: 63.370659 m,
      bearing: 64.211298 deg,
      approach rate: -0.546773 m/s,
      LOS rate: 0.007684 deg/s,
      cmd heading: 77.693047 deg,
      new cmd heading: 77.701655 deg.

2025-10-26T22:34:00.385Z,1761518040.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356150 target range: 64.814224 and range: 65.20 m.
2025-10-26T22:34:00.433Z,1761518040.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264369
2025-10-26T22:34:00.695Z,1761518040.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526386
2025-10-26T22:34:00.754Z,1761518040.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239551,-0.962548,-0.126953],[0.968300,0.227328,0.103527],[-0.070790,-0.147728,0.986491]]
2025-10-26T22:34:00.798Z,1761518040.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.81 m.
2025-10-26T22:34:00.801Z,1761518040.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.814224 m,
      nav range: 63.114067 m,
      bearing: 64.201774 deg,
      approach rate: -0.598230 m/s,
      LOS rate: -0.022294 deg/s,
      cmd heading: 77.701653 deg,
      new cmd heading: 77.672965 deg.

2025-10-26T22:34:00.802Z,1761518040.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355649 target range: 64.814224 and range: 65.20 m.
2025-10-26T22:34:00.937Z,1761518040.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768221
2025-10-26T22:34:01.162Z,1761518041.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239382,-0.962729,-0.125897],[0.968282,0.227153,0.104073],[-0.071596,-0.146817,0.986569]]
2025-10-26T22:34:01.189Z,1761518041.189 [DAT](INFO): DAT read: Rx Time:22:33:59.7764

2025-10-26T22:34:01.190Z,1761518041.190 [DAT](INFO): Rx dataTimestamp_ set to:1761518041.189595
2025-10-26T22:34:01.190Z,1761518041.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021591
2025-10-26T22:34:01.217Z,1761518041.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:01.219Z,1761518041.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.81 m.
2025-10-26T22:34:01.226Z,1761518041.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.814224 m,
      nav range: 62.869411 m,
      bearing: 64.192601 deg,
      approach rate: -0.580841 m/s,
      LOS rate: -0.021864 deg/s,
      cmd heading: 77.672966 deg,
      new cmd heading: 77.645338 deg.

2025-10-26T22:34:01.227Z,1761518041.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355167 target range: 64.814224 and range: 65.20 m.
2025-10-26T22:34:01.440Z,1761518041.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271440
2025-10-26T22:34:01.592Z,1761518041.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238688,-0.963091,-0.124430],[0.968388,0.226497,0.104520],[-0.072479,-0.145444,0.986708]]
2025-10-26T22:34:01.629Z,1761518041.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.81 m.
2025-10-26T22:34:01.666Z,1761518041.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.814224 m,
      nav range: 62.627754 m,
      bearing: 64.183337 deg,
      approach rate: -0.617116 m/s,
      LOS rate: -0.023748 deg/s,
      cmd heading: 77.645338 deg,
      new cmd heading: 77.617440 deg.

2025-10-26T22:34:01.675Z,1761518041.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354680 target range: 64.814224 and range: 65.20 m.
2025-10-26T22:34:01.700Z,1761518041.700 [DAT](INFO): DAT read: 22:33:59.7764 LVL= 31824, 32753, 22930, 32755, AGC= 70, IDX= 411,-0.22,-1.191,-2.576,-0.542,-1.252, PHS= 0.163,-1.279, 0.666, RAW= 164.4,   5.2, CAL= 163.6,   4.3, ROT= 346.4,  -4.3

2025-10-26T22:34:01.702Z,1761518041.702 [DAT](INFO): got valid direction response:
 22:33:59.7764 LVL= 31824, 32753, 22930, 32755, AGC= 70, IDX= 411,-0.22,-1.191,-2.576,-0.542,-1.252, PHS= 0.163,-1.279, 0.666, RAW= 164.4,   5.2, CAL= 163.6,   4.3, ROT= 346.4,  -4.3

2025-10-26T22:34:01.703Z,1761518041.703 [DAT](INFO): DAT read: Bearing 209.3, -18.1 (Local)

2025-10-26T22:34:01.703Z,1761518041.703 [DAT](INFO): Local bearing/azimuth received:
 Bearing 209.3, -18.1 (Local)

2025-10-26T22:34:01.705Z,1761518041.705 [DAT](INFO): DAT read: Range 11 to 50 : 63.1 m  (Round-trip  84.2 ms) speed  0.5 m/s

2025-10-26T22:34:01.706Z,1761518041.706 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:34:01.708Z,1761518041.708 [DAT](INFO): direction in FSK: [0.969225,-0.234481,0.074979]
2025-10-26T22:34:01.708Z,1761518041.708 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:01.719Z,1761518041.719 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:34:01.719Z,1761518041.719 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:34:01.719Z,1761518041.719 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:34:01.944Z,1761518041.944 [DAT](INFO): DAT read: user:612>

2025-10-26T22:34:01.945Z,1761518041.945 [DAT](INFO): DAT read: Tx time:22:34:01.0896

2025-10-26T22:34:01.945Z,1761518041.945 [DAT](INFO): Ping request sent.
2025-10-26T22:34:01.946Z,1761518041.946 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:34:01.946Z,1761518041.946 [DAT](INFO): publishing transmit ping time
2025-10-26T22:34:01.946Z,1761518041.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-10-26T22:34:02.095Z,1761518042.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.099998 m,
      deltaT: 3.780481 s,
      deltaX: -2.099998 m,
      approachRate: -0.555484 m/s,
      rangeRepo size: 4

2025-10-26T22:34:02.097Z,1761518042.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.726856 m,
      bearing: 63.374329 deg,
      lat: 36.779398 deg,
      lon: -121.859411 deg,
      deltaT: 3.780481 s,
      deltaX: -2.087368 m,
      approachRate: -0.552144 m/s,
      posRepo size: 4

2025-10-26T22:34:02.098Z,1761518042.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.73 m.
2025-10-26T22:34:02.101Z,1761518042.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.726856 m,
      nav range: 62.339252 m,
      bearing: 64.161932 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023748 deg/s,
      cmd heading: 77.617436 deg,
      new cmd heading: 77.582961 deg.

2025-10-26T22:34:02.102Z,1761518042.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354078 target range: 62.726856 and range: 63.10 m.
2025-10-26T22:34:02.196Z,1761518042.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250927
2025-10-26T22:34:02.426Z,1761518042.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235361,-0.964284,-0.121498],[0.969134,0.223410,0.104242],[-0.073375,-0.142282,0.987103]]
2025-10-26T22:34:02.445Z,1761518042.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.73 m.
2025-10-26T22:34:02.448Z,1761518042.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502902
2025-10-26T22:34:02.447Z,1761518042.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.726856 m,
      nav range: 62.126713 m,
      bearing: 64.145408 deg,
      approach rate: -0.607303 m/s,
      LOS rate: -0.047376 deg/s,
      cmd heading: 77.582964 deg,
      new cmd heading: 77.533223 deg.

2025-10-26T22:34:02.450Z,1761518042.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353210 target range: 62.726856 and range: 63.10 m.
2025-10-26T22:34:02.704Z,1761518042.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757469
2025-10-26T22:34:02.878Z,1761518042.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.73 m.
2025-10-26T22:34:02.881Z,1761518042.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.726856 m,
      nav range: 61.857937 m,
      bearing: 64.118573 deg,
      approach rate: -0.619774 m/s,
      LOS rate: -0.062149 deg/s,
      cmd heading: 77.533220 deg,
      new cmd heading: 77.452364 deg.

2025-10-26T22:34:02.882Z,1761518042.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351799 target range: 62.726856 and range: 63.10 m.
2025-10-26T22:34:02.953Z,1761518042.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007654
2025-10-26T22:34:03.204Z,1761518043.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258803
2025-10-26T22:34:03.240Z,1761518043.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231212,-0.965327,-0.121182],[0.970021,0.219151,0.105029],[-0.074830,-0.141833,0.987058]]
2025-10-26T22:34:03.257Z,1761518043.257 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:03.260Z,1761518043.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.73 m.
2025-10-26T22:34:03.262Z,1761518043.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.726856 m,
      nav range: 61.621994 m,
      bearing: 64.093883 deg,
      approach rate: -0.618910 m/s,
      LOS rate: -0.065012 deg/s,
      cmd heading: 77.452364 deg,
      new cmd heading: 77.378013 deg.

2025-10-26T22:34:03.263Z,1761518043.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350501 target range: 62.726856 and range: 63.10 m.
2025-10-26T22:34:03.460Z,1761518043.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514488
2025-10-26T22:34:03.644Z,1761518043.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228618,-0.965855,-0.121889],[0.970588,0.216433,0.105433],[-0.075452,-0.142408,0.986928]]
2025-10-26T22:34:03.711Z,1761518043.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765275
2025-10-26T22:34:03.845Z,1761518043.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.73 m.
2025-10-26T22:34:03.848Z,1761518043.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.726856 m,
      nav range: 61.262329 m,
      bearing: 64.047582 deg,
      approach rate: -0.614354 m/s,
      LOS rate: -0.079552 deg/s,
      cmd heading: 77.378011 deg,
      new cmd heading: 77.238293 deg.

2025-10-26T22:34:03.849Z,1761518043.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348063 target range: 62.726856 and range: 63.10 m.
2025-10-26T22:34:03.961Z,1761518043.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015206
2025-10-26T22:34:04.176Z,1761518044.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226377,-0.966335,-0.122269],[0.971075,0.214116,0.105677],[-0.075940,-0.142655,0.986855]]
2025-10-26T22:34:04.212Z,1761518044.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266896
2025-10-26T22:34:04.244Z,1761518044.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.73 m.
2025-10-26T22:34:04.246Z,1761518044.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.726856 m,
      nav range: 61.025089 m,
      bearing: 64.016217 deg,
      approach rate: -0.601298 m/s,
      LOS rate: -0.079807 deg/s,
      cmd heading: 77.238293 deg,
      new cmd heading: 77.143830 deg.

2025-10-26T22:34:04.251Z,1761518044.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.346414 target range: 62.726856 and range: 63.10 m.
2025-10-26T22:34:04.466Z,1761518044.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520120
2025-10-26T22:34:04.567Z,1761518044.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224556,-0.966694,-0.122792],[0.971443,0.212166,0.106225],[-0.076634,-0.143139,0.986731]]
2025-10-26T22:34:04.597Z,1761518044.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.73 m.
2025-10-26T22:34:04.599Z,1761518044.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.726856 m,
      nav range: 60.801121 m,
      bearing: 63.985975 deg,
      approach rate: -0.627161 m/s,
      LOS rate: -0.084996 deg/s,
      cmd heading: 77.143831 deg,
      new cmd heading: 77.052771 deg.

2025-10-26T22:34:04.600Z,1761518044.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.344825 target range: 62.726856 and range: 63.10 m.
2025-10-26T22:34:04.725Z,1761518044.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778985
2025-10-26T22:34:04.972Z,1761518044.972 [DAT](INFO): DAT read: Rx Time:22:34:03.5750

2025-10-26T22:34:04.973Z,1761518044.973 [DAT](INFO): Rx dataTimestamp_ set to:1761518044.972636
2025-10-26T22:34:04.973Z,1761518044.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027922
2025-10-26T22:34:05.063Z,1761518045.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.73 m.
2025-10-26T22:34:05.066Z,1761518045.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.726856 m,
      nav range: 60.525543 m,
      bearing: 63.953654 deg,
      approach rate: -0.611661 m/s,
      LOS rate: -0.072065 deg/s,
      cmd heading: 77.052771 deg,
      new cmd heading: 76.955367 deg.

2025-10-26T22:34:05.067Z,1761518045.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.343125 target range: 62.726856 and range: 63.10 m.
2025-10-26T22:34:05.224Z,1761518045.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278703
2025-10-26T22:34:05.408Z,1761518045.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221079,-0.967019,-0.126486],[0.972206,0.208276,0.106946],[-0.077075,-0.146614,0.986187]]
2025-10-26T22:34:05.432Z,1761518045.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:05.434Z,1761518045.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.73 m.
2025-10-26T22:34:05.437Z,1761518045.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.726856 m,
      nav range: 60.288998 m,
      bearing: 63.924840 deg,
      approach rate: -0.610877 m/s,
      LOS rate: -0.074703 deg/s,
      cmd heading: 76.955366 deg,
      new cmd heading: 76.868585 deg.

2025-10-26T22:34:05.438Z,1761518045.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.341610 target range: 62.726856 and range: 63.10 m.
2025-10-26T22:34:05.485Z,1761518045.485 [DAT](INFO): DAT read: 22:34:03.5750 LVL= 30352, 32753, 24562, 32755, AGC= 68, IDX= 413, 0.26, 2.082, 0.679, 2.787, 2.084, PHS= 0.101,-1.360, 0.660, RAW= 165.5,   6.7, CAL= 165.0,   6.3, ROT= 345.0,  -6.3

2025-10-26T22:34:05.486Z,1761518045.486 [DAT](INFO): got valid direction response:
 22:34:03.5750 LVL= 30352, 32753, 24562, 32755, AGC= 68, IDX= 413, 0.26, 2.082, 0.679, 2.787, 2.084, PHS= 0.101,-1.360, 0.660, RAW= 165.5,   6.7, CAL= 165.0,   6.3, ROT= 345.0,  -6.3

2025-10-26T22:34:05.488Z,1761518045.488 [DAT](INFO): DAT read: Bearing 211.0, -20.5 (Local)

2025-10-26T22:34:05.489Z,1761518045.489 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.0, -20.5 (Local)

2025-10-26T22:34:05.490Z,1761518045.490 [DAT](INFO): DAT read: Range 11 to 50 : 60.9 m  (Round-trip  81.3 ms) speed  0.4 m/s

2025-10-26T22:34:05.492Z,1761518045.492 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:34:05.493Z,1761518045.493 [DAT](INFO): direction in FSK: [0.960093,-0.257256,0.109734]
2025-10-26T22:34:05.493Z,1761518045.493 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:05.507Z,1761518045.507 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:34:05.507Z,1761518045.507 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:34:05.507Z,1761518045.507 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:34:05.736Z,1761518045.736 [DAT](INFO): DAT read: user:613>

2025-10-26T22:34:05.739Z,1761518045.739 [DAT](INFO): DAT read: Tx time:22:34:04.8880

2025-10-26T22:34:05.740Z,1761518045.740 [DAT](INFO): Ping request sent.
2025-10-26T22:34:05.741Z,1761518045.741 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:34:05.741Z,1761518045.741 [DAT](INFO): publishing transmit ping time
2025-10-26T22:34:05.754Z,1761518045.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002404
2025-10-26T22:34:05.812Z,1761518045.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220198,-0.967079,-0.127558],[0.972378,0.207239,0.107395],[-0.077424,-0.147683,0.986000]]
2025-10-26T22:34:05.858Z,1761518045.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.900002 m,
      deltaT: 3.783132 s,
      deltaX: -2.199997 m,
      approachRate: -0.581528 m/s,
      rangeRepo size: 4

2025-10-26T22:34:05.881Z,1761518045.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 60.540287 m,
      bearing: 63.425809 deg,
      lat: 36.779398 deg,
      lon: -121.859410 deg,
      deltaT: 3.783132 s,
      deltaX: -2.186569 m,
      approachRate: -0.577979 m/s,
      posRepo size: 4

2025-10-26T22:34:05.881Z,1761518045.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.54 m.
2025-10-26T22:34:05.888Z,1761518045.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.540287 m,
      nav range: 60.115795 m,
      bearing: 63.940741 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.074703 deg/s,
      cmd heading: 76.868588 deg,
      new cmd heading: 76.773713 deg.

2025-10-26T22:34:05.889Z,1761518045.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339954 target range: 60.540287 and range: 60.90 m.
2025-10-26T22:34:05.985Z,1761518045.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244937
2025-10-26T22:34:06.222Z,1761518046.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219227,-0.967244,-0.127980],[0.972572,0.206189,0.107658],[-0.077743,-0.148072,0.985916]]
2025-10-26T22:34:06.236Z,1761518046.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496072
2025-10-26T22:34:06.243Z,1761518046.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.54 m.
2025-10-26T22:34:06.245Z,1761518046.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.540287 m,
      nav range: 59.883297 m,
      bearing: 63.921311 deg,
      approach rate: -0.604100 m/s,
      LOS rate: -0.050680 deg/s,
      cmd heading: 76.773710 deg,
      new cmd heading: 76.715195 deg.

2025-10-26T22:34:06.246Z,1761518046.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.338933 target range: 60.540287 and range: 60.90 m.
2025-10-26T22:34:06.489Z,1761518046.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748852
2025-10-26T22:34:06.618Z,1761518046.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218642,-0.967126,-0.129855],[0.972663,0.205329,0.108475],[-0.078246,-0.150023,0.985581]]
2025-10-26T22:34:06.636Z,1761518046.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.54 m.
2025-10-26T22:34:06.639Z,1761518046.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.540287 m,
      nav range: 59.646118 m,
      bearing: 63.901191 deg,
      approach rate: -0.602279 m/s,
      LOS rate: -0.051295 deg/s,
      cmd heading: 76.715196 deg,
      new cmd heading: 76.654596 deg.

2025-10-26T22:34:06.640Z,1761518046.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.337875 target range: 60.540287 and range: 60.90 m.
2025-10-26T22:34:06.743Z,1761518046.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002094
2025-10-26T22:34:06.993Z,1761518046.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252313
2025-10-26T22:34:07.080Z,1761518047.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.54 m.
2025-10-26T22:34:07.082Z,1761518047.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.540287 m,
      nav range: 59.399731 m,
      bearing: 63.885283 deg,
      approach rate: -0.555916 m/s,
      LOS rate: -0.036042 deg/s,
      cmd heading: 76.654598 deg,
      new cmd heading: 76.606676 deg.

2025-10-26T22:34:07.084Z,1761518047.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.337039 target range: 60.540287 and range: 60.90 m.
2025-10-26T22:34:07.244Z,1761518047.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503974
2025-10-26T22:34:07.376Z,1761518047.376 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:34:07.426Z,1761518047.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220374,-0.966091,-0.134552],[0.972176,0.206310,0.110948],[-0.079427,-0.155258,0.984676]]
2025-10-26T22:34:07.466Z,1761518047.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:07.468Z,1761518047.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.54 m.
2025-10-26T22:34:07.471Z,1761518047.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.540287 m,
      nav range: 59.192989 m,
      bearing: 63.872166 deg,
      approach rate: -0.531853 m/s,
      LOS rate: -0.033860 deg/s,
      cmd heading: 76.606678 deg,
      new cmd heading: 76.567192 deg.

2025-10-26T22:34:07.472Z,1761518047.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.336350 target range: 60.540287 and range: 60.90 m.
2025-10-26T22:34:07.496Z,1761518047.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755987
2025-10-26T22:34:07.755Z,1761518047.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013983
2025-10-26T22:34:07.832Z,1761518047.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221982,-0.965417,-0.136725],[0.971759,0.207534,0.112316],[-0.080057,-0.157796,0.984221]]
2025-10-26T22:34:07.869Z,1761518047.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.54 m.
2025-10-26T22:34:07.872Z,1761518047.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.540287 m,
      nav range: 58.978279 m,
      bearing: 63.874159 deg,
      approach rate: -0.535969 m/s,
      LOS rate: 0.004993 deg/s,
      cmd heading: 76.567192 deg,
      new cmd heading: 76.573193 deg.

2025-10-26T22:34:07.873Z,1761518047.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.336454 target range: 60.540287 and range: 60.90 m.
2025-10-26T22:34:08.004Z,1761518048.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264012
2025-10-26T22:34:08.235Z,1761518048.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224219,-0.964439,-0.139941],[0.971174,0.209206,0.114252],[-0.080912,-0.161525,0.983546]]
2025-10-26T22:34:08.256Z,1761518048.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516056
2025-10-26T22:34:08.261Z,1761518048.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.54 m.
2025-10-26T22:34:08.292Z,1761518048.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.540287 m,
      nav range: 58.777103 m,
      bearing: 63.876450 deg,
      approach rate: -0.512582 m/s,
      LOS rate: 0.005856 deg/s,
      cmd heading: 76.573196 deg,
      new cmd heading: 76.580091 deg.

2025-10-26T22:34:08.293Z,1761518048.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.336575 target range: 60.540287 and range: 60.90 m.
2025-10-26T22:34:08.380Z,1761518048.380 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:34:08.509Z,1761518048.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768701
2025-10-26T22:34:08.642Z,1761518048.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226497,-0.963530,-0.142509],[0.970582,0.211003,0.115968],[-0.081669,-0.164583,0.982976]]
2025-10-26T22:34:08.677Z,1761518048.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.54 m.
2025-10-26T22:34:08.680Z,1761518048.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.540287 m,
      nav range: 58.565498 m,
      bearing: 63.879326 deg,
      approach rate: -0.508516 m/s,
      LOS rate: 0.006936 deg/s,
      cmd heading: 76.580088 deg,
      new cmd heading: 76.588746 deg.

2025-10-26T22:34:08.681Z,1761518048.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.336726 target range: 60.540287 and range: 60.90 m.
2025-10-26T22:34:08.764Z,1761518048.764 [DAT](INFO): DAT read: Rx Time:22:34:07.3708

2025-10-26T22:34:08.765Z,1761518048.765 [DAT](INFO): Rx dataTimestamp_ set to:1761518048.764762
2025-10-26T22:34:08.769Z,1761518048.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026717
2025-10-26T22:34:09.012Z,1761518049.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271956
2025-10-26T22:34:09.045Z,1761518049.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229165,-0.962415,-0.145738],[0.969888,0.213083,0.117952],[-0.082464,-0.168380,0.982267]]
2025-10-26T22:34:09.102Z,1761518049.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.54 m.
2025-10-26T22:34:09.109Z,1761518049.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.540287 m,
      nav range: 58.364101 m,
      bearing: 63.893705 deg,
      approach rate: -0.474239 m/s,
      LOS rate: 0.033977 deg/s,
      cmd heading: 76.588748 deg,
      new cmd heading: 76.632036 deg.

2025-10-26T22:34:09.110Z,1761518049.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.337481 target range: 60.540287 and range: 60.90 m.
2025-10-26T22:34:09.271Z,1761518049.271 [DAT](INFO): DAT read: 22:34:07.3708 LVL= 32752, 32753, 24338, 32755, AGC= 70, IDX= 418,-0.47, 2.713, 1.351,-2.891, 2.671, PHS= 0.143,-1.275, 0.677, RAW= 165.3,   5.3, CAL= 164.5,   4.3, ROT= 345.5,  -4.3

2025-10-26T22:34:09.273Z,1761518049.273 [DAT](INFO): got valid direction response:
 22:34:07.3708 LVL= 32752, 32753, 24338, 32755, AGC= 70, IDX= 418,-0.47, 2.713, 1.351,-2.891, 2.671, PHS= 0.143,-1.275, 0.677, RAW= 165.3,   5.3, CAL= 164.5,   4.3, ROT= 345.5,  -4.3

2025-10-26T22:34:09.274Z,1761518049.274 [DAT](INFO): DAT read: Bearing 208.9, -20.1 (Local)

2025-10-26T22:34:09.275Z,1761518049.275 [DAT](INFO): Local bearing/azimuth received:
 Bearing 208.9, -20.1 (Local)

2025-10-26T22:34:09.277Z,1761518049.277 [DAT](INFO): DAT read: Range 11 to 50 : 58.9 m  (Round-trip  78.6 ms) speed  0.4 m/s

2025-10-26T22:34:09.278Z,1761518049.278 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:34:09.280Z,1761518049.280 [DAT](INFO): direction in FSK: [0.965422,-0.249675,0.074979]
2025-10-26T22:34:09.280Z,1761518049.280 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:09.285Z,1761518049.285 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:34:09.285Z,1761518049.285 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:34:09.285Z,1761518049.285 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:34:09.500Z,1761518049.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232204,-0.961575,-0.146475],[0.969068,0.215763,0.119806],[-0.083598,-0.169763,0.981933]]
2025-10-26T22:34:09.516Z,1761518049.516 [DAT](INFO): DAT read: user:614>

2025-10-26T22:34:09.517Z,1761518049.517 [DAT](INFO): DAT read: Tx time:22:34:08.6380

2025-10-26T22:34:09.518Z,1761518049.518 [DAT](INFO): Ping request sent.
2025-10-26T22:34:09.518Z,1761518049.518 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:34:09.520Z,1761518049.520 [DAT](INFO): publishing transmit ping time
2025-10-26T22:34:09.522Z,1761518049.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003827
2025-10-26T22:34:09.540Z,1761518049.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.900002 m,
      deltaT: 3.788482 s,
      deltaX: -2.000000 m,
      approachRate: -0.527916 m/s,
      rangeRepo size: 4

2025-10-26T22:34:09.542Z,1761518049.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.552647 m,
      bearing: 63.027932 deg,
      lat: 36.779403 deg,
      lon: -121.859411 deg,
      deltaT: 3.788482 s,
      deltaX: -1.987640 m,
      approachRate: -0.524653 m/s,
      posRepo size: 4

2025-10-26T22:34:09.543Z,1761518049.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.55 m.
2025-10-26T22:34:09.544Z,1761518049.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-10-26T22:34:09.546Z,1761518049.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.552647 m,
      nav range: 58.350727 m,
      bearing: 63.348529 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033977 deg/s,
      cmd heading: 76.632038 deg,
      new cmd heading: 76.676605 deg.

2025-10-26T22:34:09.547Z,1761518049.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.338259 target range: 58.552647 and range: 58.90 m.
2025-10-26T22:34:09.601Z,1761518049.601 [DockingStepper](INFO): Changing to mode: 2
2025-10-26T22:34:09.772Z,1761518049.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253407
2025-10-26T22:34:09.908Z,1761518049.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234538,-0.960978,-0.146677],[0.968411,0.217827,0.121370],[-0.084684,-0.170510,0.981710]]
2025-10-26T22:34:09.961Z,1761518049.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:09.964Z,1761518049.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.55 m.
2025-10-26T22:34:09.964Z,1761518049.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-10-26T22:34:09.967Z,1761518049.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.552647 m,
      nav range: 58.147598 m,
      bearing: 63.367120 deg,
      approach rate: -0.479109 m/s,
      LOS rate: 0.044004 deg/s,
      cmd heading: 76.676605 deg,
      new cmd heading: 76.732574 deg.

2025-10-26T22:34:09.968Z,1761518049.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339236 target range: 58.552647 and range: 58.90 m.
2025-10-26T22:34:10.021Z,1761518050.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503394
2025-10-26T22:34:10.272Z,1761518050.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754739
2025-10-26T22:34:10.310Z,1761518050.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236422,-0.960702,-0.145450],[0.967878,0.219672,0.122301],[-0.085543,-0.169692,0.981777]]
2025-10-26T22:34:10.349Z,1761518050.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.55 m.
2025-10-26T22:34:10.350Z,1761518050.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-10-26T22:34:10.353Z,1761518050.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.552647 m,
      nav range: 57.964100 m,
      bearing: 63.384405 deg,
      approach rate: -0.475567 m/s,
      LOS rate: 0.044938 deg/s,
      cmd heading: 76.732572 deg,
      new cmd heading: 76.784590 deg.

2025-10-26T22:34:10.354Z,1761518050.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.340144 target range: 58.552647 and range: 58.90 m.
2025-10-26T22:34:10.524Z,1761518050.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006675
2025-10-26T22:34:10.732Z,1761518050.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239272,-0.960209,-0.144042],[0.966888,0.222073,0.125742],[-0.088751,-0.169359,0.981550]]
2025-10-26T22:34:10.772Z,1761518050.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.55 m.
2025-10-26T22:34:10.772Z,1761518050.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-10-26T22:34:10.781Z,1761518050.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262806
2025-10-26T22:34:10.785Z,1761518050.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.552647 m,
      nav range: 57.773041 m,
      bearing: 63.403093 deg,
      approach rate: -0.452302 m/s,
      LOS rate: 0.044386 deg/s,
      cmd heading: 76.784590 deg,
      new cmd heading: 76.840839 deg.

2025-10-26T22:34:10.793Z,1761518050.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.341126 target range: 58.552647 and range: 58.90 m.
2025-10-26T22:34:11.029Z,1761518051.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510925
2025-10-26T22:34:11.152Z,1761518051.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240765,-0.960015,-0.142840],[0.966360,0.223392,0.127456],[-0.090450,-0.168721,0.981505]]
2025-10-26T22:34:11.205Z,1761518051.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.55 m.
2025-10-26T22:34:11.206Z,1761518051.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-10-26T22:34:11.209Z,1761518051.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.552647 m,
      nav range: 57.556740 m,
      bearing: 63.422685 deg,
      approach rate: -0.498910 m/s,
      LOS rate: 0.045361 deg/s,
      cmd heading: 76.840837 deg,
      new cmd heading: 76.899835 deg.

2025-10-26T22:34:11.209Z,1761518051.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.342155 target range: 58.552647 and range: 58.90 m.
2025-10-26T22:34:11.281Z,1761518051.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762886
2025-10-26T22:34:11.536Z,1761518051.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018705
2025-10-26T22:34:11.548Z,1761518051.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241921,-0.959922,-0.141503],[0.965930,0.224440,0.128861],[-0.091938,-0.167856,0.981515]]
2025-10-26T22:34:11.627Z,1761518051.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.55 m.
2025-10-26T22:34:11.628Z,1761518051.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-10-26T22:34:11.630Z,1761518051.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.552647 m,
      nav range: 57.355576 m,
      bearing: 63.441310 deg,
      approach rate: -0.476813 m/s,
      LOS rate: 0.044301 deg/s,
      cmd heading: 76.899836 deg,
      new cmd heading: 76.955907 deg.

2025-10-26T22:34:11.632Z,1761518051.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.343134 target range: 58.552647 and range: 58.90 m.
2025-10-26T22:34:11.791Z,1761518051.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273124
2025-10-26T22:34:11.953Z,1761518051.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243220,-0.959828,-0.139909],[0.965472,0.225683,0.130122],[-0.093320,-0.166726,0.981577]]
2025-10-26T22:34:11.995Z,1761518051.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:11.997Z,1761518051.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.55 m.
2025-10-26T22:34:11.998Z,1761518051.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-10-26T22:34:12.017Z,1761518052.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.552647 m,
      nav range: 57.171444 m,
      bearing: 63.455288 deg,
      approach rate: -0.497477 m/s,
      LOS rate: 0.037887 deg/s,
      cmd heading: 76.955905 deg,
      new cmd heading: 76.997974 deg.

2025-10-26T22:34:12.020Z,1761518052.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.343868 target range: 58.552647 and range: 58.90 m.
2025-10-26T22:34:12.043Z,1761518052.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525179
2025-10-26T22:34:12.292Z,1761518052.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774617
2025-10-26T22:34:12.357Z,1761518052.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244151,-0.959781,-0.138606],[0.965114,0.226551,0.131265],[-0.094584,-0.165819,0.981610]]
2025-10-26T22:34:12.410Z,1761518052.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.55 m.
2025-10-26T22:34:12.410Z,1761518052.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-10-26T22:34:12.413Z,1761518052.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.552647 m,
      nav range: 56.965679 m,
      bearing: 63.471247 deg,
      approach rate: -0.498631 m/s,
      LOS rate: 0.038813 deg/s,
      cmd heading: 76.997972 deg,
      new cmd heading: 77.046022 deg.

2025-10-26T22:34:12.414Z,1761518052.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.344707 target range: 58.552647 and range: 58.90 m.
2025-10-26T22:34:12.544Z,1761518052.544 [DAT](INFO): DAT read: Rx Time:22:34:11.1180

2025-10-26T22:34:12.545Z,1761518052.545 [DAT](INFO): Rx dataTimestamp_ set to:1761518052.544624
2025-10-26T22:34:12.545Z,1761518052.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027763
2025-10-26T22:34:12.766Z,1761518052.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244191,-0.960164,-0.135855],[0.965026,0.226832,0.131425],[-0.095373,-0.163196,0.981973]]
2025-10-26T22:34:12.797Z,1761518052.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278821
2025-10-26T22:34:12.867Z,1761518052.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.55 m.
2025-10-26T22:34:12.873Z,1761518052.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-10-26T22:34:12.897Z,1761518052.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.552647 m,
      nav range: 56.768372 m,
      bearing: 63.486752 deg,
      approach rate: -0.433116 m/s,
      LOS rate: 0.034153 deg/s,
      cmd heading: 77.046023 deg,
      new cmd heading: 77.092699 deg.

2025-10-26T22:34:12.905Z,1761518052.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.345521 target range: 58.552647 and range: 58.90 m.
2025-10-26T22:34:13.054Z,1761518053.054 [DAT](INFO): DAT read: 22:34:11.1180 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 421,-0.19, 2.366, 1.006, 2.972, 2.343, PHS= 0.125,-1.292, 0.585, RAW= 163.6,   6.9, CAL= 163.0,   6.7, ROT= 347.0,  -6.7

2025-10-26T22:34:13.056Z,1761518053.056 [DAT](INFO): got valid direction response:
 22:34:11.1180 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 421,-0.19, 2.366, 1.006, 2.972, 2.343, PHS= 0.125,-1.292, 0.585, RAW= 163.6,   6.9, CAL= 163.0,   6.7, ROT= 347.0,  -6.7

2025-10-26T22:34:13.056Z,1761518053.056 [DAT](INFO): DAT read: Bearing 211.6, -19.4 (Local)

2025-10-26T22:34:13.057Z,1761518053.057 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.6, -19.4 (Local)

2025-10-26T22:34:13.058Z,1761518053.058 [DAT](INFO): DAT read: Range 11 to 50 : 56.8 m  (Round-trip  75.8 ms) speed  0.4 m/s

2025-10-26T22:34:13.059Z,1761518053.059 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:34:13.060Z,1761518053.060 [DAT](INFO): direction in FSK: [0.967716,-0.223415,0.116671]
2025-10-26T22:34:13.060Z,1761518053.060 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:13.064Z,1761518053.064 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:34:13.064Z,1761518053.064 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:34:13.064Z,1761518053.064 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:34:13.240Z,1761518053.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244275,-0.960341,-0.134443],[0.964922,0.226967,0.131954],[-0.096207,-0.161960,0.982096]]
2025-10-26T22:34:13.297Z,1761518053.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.799999 m,
      deltaT: 3.783748 s,
      deltaX: -2.100002 m,
      approachRate: -0.555006 m/s,
      rangeRepo size: 4

2025-10-26T22:34:13.299Z,1761518053.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.467545 m,
      bearing: 64.152166 deg,
      lat: 36.779403 deg,
      lon: -121.859411 deg,
      deltaT: 3.783748 s,
      deltaX: -2.085102 m,
      approachRate: -0.551068 m/s,
      posRepo size: 4

2025-10-26T22:34:13.308Z,1761518053.308 [DAT](INFO): DAT read: user:615>

2025-10-26T22:34:13.309Z,1761518053.309 [DAT](INFO): DAT read: Tx time:22:34:12.4380

2025-10-26T22:34:13.309Z,1761518053.309 [DAT](INFO): Ping request sent.
2025-10-26T22:34:13.309Z,1761518053.309 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:34:13.310Z,1761518053.310 [DAT](INFO): publishing transmit ping time
2025-10-26T22:34:13.310Z,1761518053.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-10-26T22:34:13.316Z,1761518053.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.47 m.
2025-10-26T22:34:13.316Z,1761518053.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.80 m.
2025-10-26T22:34:13.319Z,1761518053.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.467545 m,
      nav range: 56.502621 m,
      bearing: 63.490307 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.034153 deg/s,
      cmd heading: 77.092700 deg,
      new cmd heading: 77.136830 deg.

2025-10-26T22:34:13.324Z,1761518053.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.346292 target range: 56.467545 and range: 56.80 m.
2025-10-26T22:34:13.560Z,1761518053.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250791
2025-10-26T22:34:13.681Z,1761518053.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.47 m.
2025-10-26T22:34:13.682Z,1761518053.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.80 m.
2025-10-26T22:34:13.685Z,1761518053.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.467545 m,
      nav range: 56.289925 m,
      bearing: 63.493176 deg,
      approach rate: -0.551871 m/s,
      LOS rate: 0.007473 deg/s,
      cmd heading: 77.136830 deg,
      new cmd heading: 77.145471 deg.

2025-10-26T22:34:13.686Z,1761518053.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.346442 target range: 56.467545 and range: 56.80 m.
2025-10-26T22:34:13.815Z,1761518053.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505185
2025-10-26T22:34:14.043Z,1761518054.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241581,-0.961749,-0.129141],[0.965511,0.224915,0.131152],[-0.097090,-0.156371,0.982915]]
2025-10-26T22:34:14.064Z,1761518054.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754932
2025-10-26T22:34:14.086Z,1761518054.086 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:14.089Z,1761518054.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.47 m.
2025-10-26T22:34:14.089Z,1761518054.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.80 m.
2025-10-26T22:34:14.092Z,1761518054.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.467545 m,
      nav range: 56.056973 m,
      bearing: 63.489726 deg,
      approach rate: -0.572008 m/s,
      LOS rate: -0.008508 deg/s,
      cmd heading: 77.145470 deg,
      new cmd heading: 77.135076 deg.

2025-10-26T22:34:14.093Z,1761518054.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.346261 target range: 56.467545 and range: 56.80 m.
2025-10-26T22:34:14.317Z,1761518054.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007234
2025-10-26T22:34:14.446Z,1761518054.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239625,-0.962538,-0.126885],[0.965989,0.223293,0.130406],[-0.097188,-0.153818,0.983308]]
2025-10-26T22:34:14.465Z,1761518054.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.47 m.
2025-10-26T22:34:14.465Z,1761518054.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.80 m.
2025-10-26T22:34:14.484Z,1761518054.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.467545 m,
      nav range: 55.840714 m,
      bearing: 63.486112 deg,
      approach rate: -0.575054 m/s,
      LOS rate: -0.009647 deg/s,
      cmd heading: 77.135075 deg,
      new cmd heading: 77.124191 deg.

2025-10-26T22:34:14.485Z,1761518054.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.346071 target range: 56.467545 and range: 56.80 m.
2025-10-26T22:34:14.569Z,1761518054.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259787
2025-10-26T22:34:14.823Z,1761518054.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513026
2025-10-26T22:34:14.955Z,1761518054.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.47 m.
2025-10-26T22:34:14.955Z,1761518054.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.80 m.
2025-10-26T22:34:14.974Z,1761518054.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.467545 m,
      nav range: 55.546833 m,
      bearing: 63.461856 deg,
      approach rate: -0.600084 m/s,
      LOS rate: -0.049791 deg/s,
      cmd heading: 77.124194 deg,
      new cmd heading: 77.051042 deg.

2025-10-26T22:34:14.975Z,1761518054.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.344794 target range: 56.467545 and range: 56.80 m.
2025-10-26T22:34:15.073Z,1761518055.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763414
2025-10-26T22:34:15.268Z,1761518055.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233808,-0.964401,-0.123553],[0.967466,0.218132,0.128169],[-0.096656,-0.149500,0.984026]]
2025-10-26T22:34:15.286Z,1761518055.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.47 m.
2025-10-26T22:34:15.287Z,1761518055.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.80 m.
2025-10-26T22:34:15.290Z,1761518055.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.467545 m,
      nav range: 55.347828 m,
      bearing: 63.444113 deg,
      approach rate: -0.600248 m/s,
      LOS rate: -0.053709 deg/s,
      cmd heading: 77.051043 deg,
      new cmd heading: 76.997624 deg.

2025-10-26T22:34:15.290Z,1761518055.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.343862 target range: 56.467545 and range: 56.80 m.
2025-10-26T22:34:15.324Z,1761518055.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014888
2025-10-26T22:34:15.576Z,1761518055.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266894
2025-10-26T22:34:15.676Z,1761518055.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230699,-0.965183,-0.123284],[0.968247,0.215174,0.127274],[-0.096315,-0.148731,0.984176]]
2025-10-26T22:34:15.694Z,1761518055.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.47 m.
2025-10-26T22:34:15.695Z,1761518055.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.80 m.
2025-10-26T22:34:15.695Z,1761518055.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 56.80 m.
2025-10-26T22:34:15.696Z,1761518055.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-10-26T22:34:15.699Z,1761518055.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.467545 m,
      nav range: 55.102982 m,
      bearing: 63.421298 deg,
      approach rate: -0.599657 m/s,
      LOS rate: -0.056124 deg/s,
      cmd heading: 76.997624 deg,
      new cmd heading: 76.928876 deg.

2025-10-26T22:34:15.701Z,1761518055.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.342662 target range: 56.467545 and range: 56.80 m.
2025-10-26T22:34:15.830Z,1761518055.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519664
2025-10-26T22:34:16.075Z,1761518056.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227434,-0.966257,-0.120915],[0.969081,0.212380,0.125607],[-0.095689,-0.145744,0.984684]]
2025-10-26T22:34:16.080Z,1761518056.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770855
2025-10-26T22:34:16.111Z,1761518056.111 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:16.148Z,1761518056.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.47 m.
2025-10-26T22:34:16.158Z,1761518056.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.467545 m,
      nav range: 54.835453 m,
      bearing: 63.390104 deg,
      approach rate: -0.589324 m/s,
      LOS rate: -0.069053 deg/s,
      cmd heading: 76.928878 deg,
      new cmd heading: 76.834837 deg.

2025-10-26T22:34:16.164Z,1761518056.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.341021 target range: 56.467545 and range: 56.80 m.
2025-10-26T22:34:16.333Z,1761518056.333 [DAT](INFO): DAT read: Rx Time:22:34:14.9152

2025-10-26T22:34:16.333Z,1761518056.333 [DAT](INFO): Rx dataTimestamp_ set to:1761518056.332693
2025-10-26T22:34:16.334Z,1761518056.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023980
2025-10-26T22:34:16.478Z,1761518056.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223734,-0.967311,-0.119383],[0.970028,0.209081,0.123821],[-0.094812,-0.143508,0.985097]]
2025-10-26T22:34:16.508Z,1761518056.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.47 m.
2025-10-26T22:34:16.510Z,1761518056.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.467545 m,
      nav range: 54.583271 m,
      bearing: 63.359422 deg,
      approach rate: -0.702576 m/s,
      LOS rate: -0.085874 deg/s,
      cmd heading: 76.834840 deg,
      new cmd heading: 76.742370 deg.

2025-10-26T22:34:16.511Z,1761518056.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339407 target range: 56.467545 and range: 56.80 m.
2025-10-26T22:34:16.584Z,1761518056.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274936
2025-10-26T22:34:16.842Z,1761518056.842 [DAT](INFO): DAT read: 22:34:14.9152 LVL= 32752, 32753, 27298, 32755, AGC= 70, IDX= 408,-0.01,-2.995, 1.933,-2.259,-2.938, PHS= 0.045,-1.367, 0.635, RAW= 166.7,   7.8, CAL= 166.3,   7.9, ROT= 343.7,  -7.9

2025-10-26T22:34:16.843Z,1761518056.843 [DAT](INFO): got valid direction response:
 22:34:14.9152 LVL= 32752, 32753, 27298, 32755, AGC= 70, IDX= 408,-0.01,-2.995, 1.933,-2.259,-2.938, PHS= 0.045,-1.367, 0.635, RAW= 166.7,   7.8, CAL= 166.3,   7.9, ROT= 343.7,  -7.9

2025-10-26T22:34:16.844Z,1761518056.844 [DAT](INFO): DAT read: Bearing 214.2, -22.7 (Local)

2025-10-26T22:34:16.844Z,1761518056.844 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.2, -22.7 (Local)

2025-10-26T22:34:16.845Z,1761518056.845 [DAT](INFO): DAT read: Range 11 to 50 : 54.7 m  (Round-trip  73.0 ms) speed  0.4 m/s

2025-10-26T22:34:16.846Z,1761518056.846 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:34:16.847Z,1761518056.847 [DAT](INFO): direction in FSK: [0.950696,-0.278003,0.137445]
2025-10-26T22:34:16.847Z,1761518056.847 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:16.856Z,1761518056.856 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:34:16.856Z,1761518056.856 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:34:16.857Z,1761518056.857 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:34:16.947Z,1761518056.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220163,-0.968188,-0.118915],[0.970936,0.205775,0.122232],[-0.093874,-0.142370,0.985352]]
2025-10-26T22:34:17.040Z,1761518057.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.700001 m,
      deltaT: 3.787301 s,
      deltaX: -2.099998 m,
      approachRate: -0.554484 m/s,
      rangeRepo size: 4

2025-10-26T22:34:17.042Z,1761518057.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.389061 m,
      bearing: 62.365366 deg,
      lat: 36.779406 deg,
      lon: -121.859411 deg,
      deltaT: 3.787301 s,
      deltaX: -2.078484 m,
      approachRate: -0.548803 m/s,
      posRepo size: 4

2025-10-26T22:34:17.042Z,1761518057.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.39 m.
2025-10-26T22:34:17.049Z,1761518057.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.389061 m,
      nav range: 54.396847 m,
      bearing: 63.015865 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.085874 deg/s,
      cmd heading: 76.742366 deg,
      new cmd heading: 76.607510 deg.

2025-10-26T22:34:17.050Z,1761518057.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.337053 target range: 54.389061 and range: 54.70 m.
2025-10-26T22:34:17.091Z,1761518057.091 [DAT](INFO): DAT read: user:616>

2025-10-26T22:34:17.092Z,1761518057.092 [DAT](INFO): DAT read: Tx time:22:34:16.2380

2025-10-26T22:34:17.092Z,1761518057.092 [DAT](INFO): Ping request sent.
2025-10-26T22:34:17.092Z,1761518057.092 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:34:17.092Z,1761518057.092 [DAT](INFO): publishing transmit ping time
2025-10-26T22:34:17.093Z,1761518057.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-10-26T22:34:17.307Z,1761518057.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216648,-0.969004,-0.118719],[0.971827,0.202503,0.120599],[-0.092820,-0.141502,0.985577]]
2025-10-26T22:34:17.338Z,1761518057.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.39 m.
2025-10-26T22:34:17.340Z,1761518057.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248443
2025-10-26T22:34:17.345Z,1761518057.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.389061 m,
      nav range: 54.195210 m,
      bearing: 62.986750 deg,
      approach rate: -0.656211 m/s,
      LOS rate: -0.095106 deg/s,
      cmd heading: 76.607511 deg,
      new cmd heading: 76.519840 deg.

2025-10-26T22:34:17.346Z,1761518057.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335523 target range: 54.389061 and range: 54.70 m.
2025-10-26T22:34:17.592Z,1761518057.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500245
2025-10-26T22:34:17.710Z,1761518057.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212458,-0.969794,-0.119839],[0.972883,0.198454,0.118804],[-0.091433,-0.141831,0.985659]]
2025-10-26T22:34:17.745Z,1761518057.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.39 m.
2025-10-26T22:34:17.748Z,1761518057.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.389061 m,
      nav range: 53.927605 m,
      bearing: 62.946507 deg,
      approach rate: -0.658073 m/s,
      LOS rate: -0.099454 deg/s,
      cmd heading: 76.519839 deg,
      new cmd heading: 76.398511 deg.

2025-10-26T22:34:17.749Z,1761518057.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.333406 target range: 54.389061 and range: 54.70 m.
2025-10-26T22:34:17.845Z,1761518057.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752485
2025-10-26T22:34:18.096Z,1761518058.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004231
2025-10-26T22:34:18.236Z,1761518058.236 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:18.238Z,1761518058.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.39 m.
2025-10-26T22:34:18.260Z,1761518058.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.389061 m,
      nav range: 53.616711 m,
      bearing: 62.899424 deg,
      approach rate: -0.629951 m/s,
      LOS rate: -0.095955 deg/s,
      cmd heading: 76.398514 deg,
      new cmd heading: 76.256447 deg.

2025-10-26T22:34:18.261Z,1761518058.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.330926 target range: 54.389061 and range: 54.70 m.
2025-10-26T22:34:18.350Z,1761518058.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257257
2025-10-26T22:34:18.596Z,1761518058.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206395,-0.971049,-0.120271],[0.974334,0.192676,0.116401],[-0.089858,-0.141209,0.985893]]
2025-10-26T22:34:18.600Z,1761518058.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508463
2025-10-26T22:34:18.673Z,1761518058.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.39 m.
2025-10-26T22:34:18.688Z,1761518058.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.389061 m,
      nav range: 53.356022 m,
      bearing: 62.857728 deg,
      approach rate: -0.599356 m/s,
      LOS rate: -0.096332 deg/s,
      cmd heading: 76.256446 deg,
      new cmd heading: 76.130748 deg.

2025-10-26T22:34:18.689Z,1761518058.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.328732 target range: 54.389061 and range: 54.70 m.
2025-10-26T22:34:18.852Z,1761518058.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760243
2025-10-26T22:34:19.018Z,1761518059.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203933,-0.971358,-0.121962],[0.974931,0.190181,0.115503],[-0.089000,-0.142460,0.985791]]
2025-10-26T22:34:19.093Z,1761518059.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.39 m.
2025-10-26T22:34:19.095Z,1761518059.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.389061 m,
      nav range: 53.092651 m,
      bearing: 62.823259 deg,
      approach rate: -0.628019 m/s,
      LOS rate: -0.082601 deg/s,
      cmd heading: 76.130750 deg,
      new cmd heading: 76.026830 deg.

2025-10-26T22:34:19.096Z,1761518059.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326918 target range: 54.389061 and range: 54.70 m.
2025-10-26T22:34:19.104Z,1761518059.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012372
2025-10-26T22:34:19.356Z,1761518059.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264347
2025-10-26T22:34:19.418Z,1761518059.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202156,-0.971540,-0.123465],[0.975387,0.188396,0.114574],[-0.088053,-0.143588,0.985713]]
2025-10-26T22:34:19.465Z,1761518059.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.39 m.
2025-10-26T22:34:19.476Z,1761518059.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.389061 m,
      nav range: 52.867157 m,
      bearing: 62.793005 deg,
      approach rate: -0.605630 m/s,
      LOS rate: -0.081602 deg/s,
      cmd heading: 76.026829 deg,
      new cmd heading: 75.935680 deg.

2025-10-26T22:34:19.477Z,1761518059.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.325328 target range: 54.389061 and range: 54.70 m.
2025-10-26T22:34:19.608Z,1761518059.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516399
2025-10-26T22:34:19.828Z,1761518059.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200820,-0.971264,-0.127742],[0.975723,0.186681,0.114517],[-0.087380,-0.147638,0.985174]]
2025-10-26T22:34:19.847Z,1761518059.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.39 m.
2025-10-26T22:34:19.850Z,1761518059.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.389061 m,
      nav range: 52.630421 m,
      bearing: 62.760567 deg,
      approach rate: -0.619839 m/s,
      LOS rate: -0.085314 deg/s,
      cmd heading: 75.935680 deg,
      new cmd heading: 75.837927 deg.

2025-10-26T22:34:19.851Z,1761518059.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.323622 target range: 54.389061 and range: 54.70 m.
2025-10-26T22:34:19.860Z,1761518059.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768447
2025-10-26T22:34:20.112Z,1761518060.112 [DAT](INFO): DAT read: Rx Time:22:34:18.7124

2025-10-26T22:34:20.113Z,1761518060.113 [DAT](INFO): Rx dataTimestamp_ set to:1761518060.112598
2025-10-26T22:34:20.113Z,1761518060.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021406
2025-10-26T22:34:20.226Z,1761518060.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200119,-0.970921,-0.131395],[0.975935,0.185678,0.114346],[-0.086624,-0.151116,0.984713]]
2025-10-26T22:34:20.272Z,1761518060.272 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:20.274Z,1761518060.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.39 m.
2025-10-26T22:34:20.277Z,1761518060.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.389061 m,
      nav range: 52.374001 m,
      bearing: 62.731516 deg,
      approach rate: -0.600454 m/s,
      LOS rate: -0.068361 deg/s,
      cmd heading: 75.837926 deg,
      new cmd heading: 75.750347 deg.

2025-10-26T22:34:20.278Z,1761518060.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.322093 target range: 54.389061 and range: 54.70 m.
2025-10-26T22:34:20.365Z,1761518060.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273274
2025-10-26T22:34:20.622Z,1761518060.622 [DAT](INFO): DAT read: 22:34:18.7124 LVL= 32752, 32753, 25394, 32755, AGC= 70, IDX= 411, 0.36,-0.039,-1.399, 0.733, 0.008, PHS= 0.056,-1.362, 0.681, RAW= 167.4,   6.9, CAL= 166.9,   6.7, ROT= 343.1,  -6.7

2025-10-26T22:34:20.623Z,1761518060.623 [DAT](INFO): got valid direction response:
 22:34:18.7124 LVL= 32752, 32753, 25394, 32755, AGC= 70, IDX= 411, 0.36,-0.039,-1.399, 0.733, 0.008, PHS= 0.056,-1.362, 0.681, RAW= 167.4,   6.9, CAL= 166.9,   6.7, ROT= 343.1,  -6.7

2025-10-26T22:34:20.624Z,1761518060.624 [DAT](INFO): DAT read: Bearing 214.0, -23.1 (Local)

2025-10-26T22:34:20.625Z,1761518060.625 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.0, -23.1 (Local)

2025-10-26T22:34:20.628Z,1761518060.628 [DAT](INFO): DAT read: Range 11 to 50 : 52.6 m  (Round-trip  70.2 ms) speed  0.5 m/s

2025-10-26T22:34:20.629Z,1761518060.629 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:34:20.634Z,1761518060.634 [DAT](INFO): direction in FSK: [0.950279,-0.288717,0.116671]
2025-10-26T22:34:20.634Z,1761518060.634 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:20.668Z,1761518060.668 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:34:20.668Z,1761518060.668 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:34:20.668Z,1761518060.668 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:34:20.685Z,1761518060.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199944,-0.970544,-0.134410],[0.976010,0.185220,0.114449],[-0.086183,-0.154069,0.984294]]
2025-10-26T22:34:20.795Z,1761518060.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.599998 m,
      deltaT: 3.780108 s,
      deltaX: -2.100002 m,
      approachRate: -0.555540 m/s,
      rangeRepo size: 4

2025-10-26T22:34:20.801Z,1761518060.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.303284 m,
      bearing: 62.877011 deg,
      lat: 36.779405 deg,
      lon: -121.859410 deg,
      deltaT: 3.780108 s,
      deltaX: -2.085777 m,
      approachRate: -0.551777 m/s,
      posRepo size: 4

2025-10-26T22:34:20.802Z,1761518060.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.30 m.
2025-10-26T22:34:20.809Z,1761518060.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.303284 m,
      nav range: 52.094604 m,
      bearing: 62.847734 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.068361 deg/s,
      cmd heading: 75.750350 deg,
      new cmd heading: 75.647554 deg.

2025-10-26T22:34:20.810Z,1761518060.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320299 target range: 52.303284 and range: 52.60 m.
2025-10-26T22:34:20.869Z,1761518060.869 [DAT](INFO): DAT read: user:617>

2025-10-26T22:34:20.870Z,1761518060.870 [DAT](INFO): DAT read: Tx time:22:34:20.0380

2025-10-26T22:34:20.871Z,1761518060.871 [DAT](INFO): Ping request sent.
2025-10-26T22:34:20.871Z,1761518060.871 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:34:20.871Z,1761518060.871 [DAT](INFO): publishing transmit ping time
2025-10-26T22:34:20.872Z,1761518060.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001149
2025-10-26T22:34:21.120Z,1761518061.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249279
2025-10-26T22:34:21.180Z,1761518061.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200265,-0.969365,-0.142219],[0.976004,0.184721,0.115300],[-0.085497,-0.161897,0.983097]]
2025-10-26T22:34:21.241Z,1761518061.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.30 m.
2025-10-26T22:34:21.244Z,1761518061.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.303284 m,
      nav range: 51.825424 m,
      bearing: 62.826113 deg,
      approach rate: -0.577863 m/s,
      LOS rate: -0.046656 deg/s,
      cmd heading: 75.647555 deg,
      new cmd heading: 75.582355 deg.

2025-10-26T22:34:21.245Z,1761518061.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319161 target range: 52.303284 and range: 52.60 m.
2025-10-26T22:34:21.372Z,1761518061.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501444
2025-10-26T22:34:21.555Z,1761518061.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200373,-0.968732,-0.146317],[0.976050,0.184471,0.115308],[-0.084711,-0.165918,0.982494]]
2025-10-26T22:34:21.574Z,1761518061.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.30 m.
2025-10-26T22:34:21.577Z,1761518061.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.303284 m,
      nav range: 51.644215 m,
      bearing: 62.811415 deg,
      approach rate: -0.544214 m/s,
      LOS rate: -0.044297 deg/s,
      cmd heading: 75.582354 deg,
      new cmd heading: 75.538105 deg.

2025-10-26T22:34:21.578Z,1761518061.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.318389 target range: 52.303284 and range: 52.60 m.
2025-10-26T22:34:21.626Z,1761518061.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755279
2025-10-26T22:34:21.876Z,1761518061.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005440
2025-10-26T22:34:21.996Z,1761518061.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201438,-0.968459,-0.146662],[0.975864,0.185536,0.115175],[-0.084331,-0.166323,0.982459]]
2025-10-26T22:34:22.050Z,1761518062.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.30 m.
2025-10-26T22:34:22.056Z,1761518062.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.303284 m,
      nav range: 51.415096 m,
      bearing: 62.806370 deg,
      approach rate: -0.481685 m/s,
      LOS rate: -0.010654 deg/s,
      cmd heading: 75.538108 deg,
      new cmd heading: 75.522905 deg.

2025-10-26T22:34:22.057Z,1761518062.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.318123 target range: 52.303284 and range: 52.60 m.
2025-10-26T22:34:22.131Z,1761518062.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259630
2025-10-26T22:34:22.362Z,1761518062.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202428,-0.968621,-0.144207],[0.975722,0.186918,0.114142],[-0.083605,-0.163812,0.982942]]
2025-10-26T22:34:22.381Z,1761518062.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509611
2025-10-26T22:34:22.386Z,1761518062.386 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:22.389Z,1761518062.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.30 m.
2025-10-26T22:34:22.392Z,1761518062.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.303284 m,
      nav range: 51.238869 m,
      bearing: 62.802686 deg,
      approach rate: -0.519522 m/s,
      LOS rate: -0.010897 deg/s,
      cmd heading: 75.522904 deg,
      new cmd heading: 75.511815 deg.

2025-10-26T22:34:22.393Z,1761518062.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.317930 target range: 52.303284 and range: 52.60 m.
2025-10-26T22:34:22.634Z,1761518062.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762662
2025-10-26T22:34:22.766Z,1761518062.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203747,-0.968545,-0.142857],[0.975479,0.188432,0.113726],[-0.083230,-0.162526,0.983188]]
2025-10-26T22:34:22.823Z,1761518062.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.30 m.
2025-10-26T22:34:22.826Z,1761518062.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.303284 m,
      nav range: 51.036674 m,
      bearing: 62.798752 deg,
      approach rate: -0.469764 m/s,
      LOS rate: -0.009177 deg/s,
      cmd heading: 75.511812 deg,
      new cmd heading: 75.499962 deg.

2025-10-26T22:34:22.827Z,1761518062.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.317723 target range: 52.303284 and range: 52.60 m.
2025-10-26T22:34:22.885Z,1761518062.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013648
2025-10-26T22:34:23.139Z,1761518063.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267711
2025-10-26T22:34:23.262Z,1761518063.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.30 m.
2025-10-26T22:34:23.265Z,1761518063.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.303284 m,
      nav range: 50.823643 m,
      bearing: 62.805065 deg,
      approach rate: -0.481309 m/s,
      LOS rate: 0.014323 deg/s,
      cmd heading: 75.499962 deg,
      new cmd heading: 75.518980 deg.

2025-10-26T22:34:23.266Z,1761518063.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.318055 target range: 52.303284 and range: 52.60 m.
2025-10-26T22:34:23.388Z,1761518063.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517462
2025-10-26T22:34:23.642Z,1761518063.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771364
2025-10-26T22:34:23.662Z,1761518063.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.30 m.
2025-10-26T22:34:23.688Z,1761518063.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.303284 m,
      nav range: 50.642204 m,
      bearing: 62.810483 deg,
      approach rate: -0.453183 m/s,
      LOS rate: 0.013583 deg/s,
      cmd heading: 75.518977 deg,
      new cmd heading: 75.535291 deg.

2025-10-26T22:34:23.689Z,1761518063.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.318340 target range: 52.303284 and range: 52.60 m.
2025-10-26T22:34:23.893Z,1761518063.893 [DAT](INFO): DAT read: Rx Time:22:34:22.5095

2025-10-26T22:34:23.894Z,1761518063.894 [DAT](INFO): Rx dataTimestamp_ set to:1761518063.893213
2025-10-26T22:34:23.895Z,1761518063.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023418
2025-10-26T22:34:24.112Z,1761518064.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209521,-0.968662,-0.133398],[0.974365,0.195401,0.111494],[-0.081934,-0.153339,0.984771]]
2025-10-26T22:34:24.145Z,1761518064.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274168
2025-10-26T22:34:24.177Z,1761518064.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.30 m.
2025-10-26T22:34:24.181Z,1761518064.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.303284 m,
      nav range: 50.423618 m,
      bearing: 62.828373 deg,
      approach rate: -0.424332 m/s,
      LOS rate: 0.034878 deg/s,
      cmd heading: 75.535294 deg,
      new cmd heading: 75.589194 deg.

2025-10-26T22:34:24.182Z,1761518064.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319280 target range: 52.303284 and range: 52.60 m.
2025-10-26T22:34:24.405Z,1761518064.405 [DAT](INFO): DAT read: 22:34:22.5095 LVL= 32752, 32753, 26690, 32755, AGC= 69, IDX= 414,-0.16, 2.345, 1.007, 3.125, 2.381, PHS= 0.066,-1.329, 0.700, RAW= 167.8,   6.3, CAL= 167.2,   5.8, ROT= 342.8,  -5.8

2025-10-26T22:34:24.407Z,1761518064.407 [DAT](INFO): got valid direction response:
 22:34:22.5095 LVL= 32752, 32753, 26690, 32755, AGC= 69, IDX= 414,-0.16, 2.345, 1.007, 3.125, 2.381, PHS= 0.066,-1.329, 0.700, RAW= 167.8,   6.3, CAL= 167.2,   5.8, ROT= 342.8,  -5.8

2025-10-26T22:34:24.409Z,1761518064.409 [DAT](INFO): DAT read: Bearing 212.5, -23.1 (Local)

2025-10-26T22:34:24.409Z,1761518064.409 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.5, -23.1 (Local)

2025-10-26T22:34:24.411Z,1761518064.411 [DAT](INFO): DAT read: Range 11 to 50 : 50.4 m  (Round-trip  67.3 ms) speed  0.4 m/s

2025-10-26T22:34:24.411Z,1761518064.411 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:34:24.412Z,1761518064.412 [DAT](INFO): direction in FSK: [0.950388,-0.294195,0.101056]
2025-10-26T22:34:24.413Z,1761518064.413 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:24.429Z,1761518064.429 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:34:24.429Z,1761518064.429 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:34:24.430Z,1761518064.430 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:34:24.514Z,1761518064.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212357,-0.968519,-0.129905],[0.973770,0.198620,0.111000],[-0.081704,-0.150069,0.985294]]
2025-10-26T22:34:24.559Z,1761518064.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.400002 m,
      deltaT: 3.781260 s,
      deltaX: -2.199997 m,
      approachRate: -0.581816 m/s,
      rangeRepo size: 4

2025-10-26T22:34:24.565Z,1761518064.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 50.121708 m,
      bearing: 61.662515 deg,
      lat: 36.779407 deg,
      lon: -121.859411 deg,
      deltaT: 3.781260 s,
      deltaX: -2.181576 m,
      approachRate: -0.576944 m/s,
      posRepo size: 4

2025-10-26T22:34:24.566Z,1761518064.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.12 m.
2025-10-26T22:34:24.572Z,1761518064.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.121708 m,
      nav range: 50.285931 m,
      bearing: 62.638282 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.034878 deg/s,
      cmd heading: 75.589191 deg,
      new cmd heading: 75.629024 deg.

2025-10-26T22:34:24.573Z,1761518064.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319975 target range: 50.121708 and range: 50.40 m.
2025-10-26T22:34:24.649Z,1761518064.649 [DAT](INFO): DAT read: user:618>

2025-10-26T22:34:24.651Z,1761518064.651 [DAT](INFO): DAT read: Tx time:22:34:23.7880

2025-10-26T22:34:24.651Z,1761518064.651 [DAT](INFO): Ping request sent.
2025-10-26T22:34:24.651Z,1761518064.651 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:34:24.651Z,1761518064.651 [DAT](INFO): publishing transmit ping time
2025-10-26T22:34:24.652Z,1761518064.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000881
2025-10-26T22:34:24.900Z,1761518064.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249211
2025-10-26T22:34:24.919Z,1761518064.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215654,-0.968392,-0.125343],[0.973058,0.202402,0.110414],[-0.081555,-0.145778,0.985950]]
2025-10-26T22:34:25.058Z,1761518065.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:25.064Z,1761518065.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.12 m.
2025-10-26T22:34:25.067Z,1761518065.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.121708 m,
      nav range: 50.079872 m,
      bearing: 62.656241 deg,
      approach rate: -0.407138 m/s,
      LOS rate: 0.035631 deg/s,
      cmd heading: 75.629025 deg,
      new cmd heading: 75.683125 deg.

2025-10-26T22:34:25.076Z,1761518065.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320920 target range: 50.121708 and range: 50.40 m.
2025-10-26T22:34:25.152Z,1761518065.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501286
2025-10-26T22:34:25.319Z,1761518065.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219853,-0.968480,-0.117097],[0.972123,0.207473,0.109233],[-0.081496,-0.137848,0.987095]]
2025-10-26T22:34:25.402Z,1761518065.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.12 m.
2025-10-26T22:34:25.405Z,1761518065.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753436
2025-10-26T22:34:25.407Z,1761518065.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.121708 m,
      nav range: 49.928711 m,
      bearing: 62.671504 deg,
      approach rate: -0.446943 m/s,
      LOS rate: 0.045265 deg/s,
      cmd heading: 75.683127 deg,
      new cmd heading: 75.729055 deg.

2025-10-26T22:34:25.408Z,1761518065.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.321721 target range: 50.121708 and range: 50.40 m.
2025-10-26T22:34:25.656Z,1761518065.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005174
2025-10-26T22:34:25.729Z,1761518065.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224121,-0.968020,-0.112721],[0.971145,0.212161,0.108924],[-0.081525,-0.133881,0.987638]]
2025-10-26T22:34:25.779Z,1761518065.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.12 m.
2025-10-26T22:34:25.782Z,1761518065.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.121708 m,
      nav range: 49.776451 m,
      bearing: 62.687839 deg,
      approach rate: -0.403902 m/s,
      LOS rate: 0.043465 deg/s,
      cmd heading: 75.729053 deg,
      new cmd heading: 75.778208 deg.

2025-10-26T22:34:25.783Z,1761518065.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.322579 target range: 50.121708 and range: 50.40 m.
2025-10-26T22:34:25.908Z,1761518065.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257265
2025-10-26T22:34:26.135Z,1761518066.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229078,-0.966515,-0.115634],[0.969961,0.216662,0.110605],[-0.081848,-0.137498,0.987115]]
2025-10-26T22:34:26.161Z,1761518066.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509420
2025-10-26T22:34:26.213Z,1761518066.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.12 m.
2025-10-26T22:34:26.216Z,1761518066.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.121708 m,
      nav range: 49.597595 m,
      bearing: 62.707703 deg,
      approach rate: -0.412208 m/s,
      LOS rate: 0.045946 deg/s,
      cmd heading: 75.778210 deg,
      new cmd heading: 75.838017 deg.

2025-10-26T22:34:26.217Z,1761518066.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.323623 target range: 50.121708 and range: 50.40 m.
2025-10-26T22:34:26.412Z,1761518066.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761233
2025-10-26T22:34:26.530Z,1761518066.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233971,-0.964331,-0.123789],[0.968766,0.220477,0.113501],[-0.082160,-0.146478,0.985796]]
2025-10-26T22:34:26.557Z,1761518066.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.12 m.
2025-10-26T22:34:26.584Z,1761518066.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.121708 m,
      nav range: 49.456066 m,
      bearing: 62.724146 deg,
      approach rate: -0.411636 m/s,
      LOS rate: 0.047961 deg/s,
      cmd heading: 75.838015 deg,
      new cmd heading: 75.887485 deg.

2025-10-26T22:34:26.585Z,1761518066.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324486 target range: 50.121708 and range: 50.40 m.
2025-10-26T22:34:26.665Z,1761518066.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013881
2025-10-26T22:34:26.916Z,1761518066.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265309
2025-10-26T22:34:26.940Z,1761518066.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238064,-0.962251,-0.131905],[0.967776,0.223539,0.115932],[-0.082069,-0.155254,0.984460]]
2025-10-26T22:34:26.959Z,1761518066.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.12 m.
2025-10-26T22:34:26.962Z,1761518066.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.121708 m,
      nav range: 49.290436 m,
      bearing: 62.744081 deg,
      approach rate: -0.412312 m/s,
      LOS rate: 0.049792 deg/s,
      cmd heading: 75.887486 deg,
      new cmd heading: 75.947492 deg.

2025-10-26T22:34:26.963Z,1761518066.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.325534 target range: 50.121708 and range: 50.40 m.
2025-10-26T22:34:27.168Z,1761518067.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517169
2025-10-26T22:34:27.338Z,1761518067.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241566,-0.960732,-0.136527],[0.966921,0.226433,0.117441],[-0.081915,-0.160380,0.983650]]
2025-10-26T22:34:27.387Z,1761518067.387 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:27.389Z,1761518067.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.12 m.
2025-10-26T22:34:27.392Z,1761518067.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.121708 m,
      nav range: 49.102070 m,
      bearing: 62.751694 deg,
      approach rate: -0.437946 m/s,
      LOS rate: 0.017766 deg/s,
      cmd heading: 75.947489 deg,
      new cmd heading: 75.970414 deg.

2025-10-26T22:34:27.393Z,1761518067.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.325934 target range: 50.121708 and range: 50.40 m.
2025-10-26T22:34:27.420Z,1761518067.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769307
2025-10-26T22:34:27.673Z,1761518067.673 [DAT](INFO): DAT read: Rx Time:22:34:26.2571

2025-10-26T22:34:27.673Z,1761518067.673 [DAT](INFO): Rx dataTimestamp_ set to:1761518067.672802
2025-10-26T22:34:27.674Z,1761518067.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022544
2025-10-26T22:34:27.747Z,1761518067.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244146,-0.959934,-0.137545],[0.966298,0.228883,0.117819],[-0.081617,-0.161675,0.983463]]
2025-10-26T22:34:27.765Z,1761518067.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.12 m.
2025-10-26T22:34:27.768Z,1761518067.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.121708 m,
      nav range: 48.936707 m,
      bearing: 62.758908 deg,
      approach rate: -0.439001 m/s,
      LOS rate: 0.019217 deg/s,
      cmd heading: 75.970411 deg,
      new cmd heading: 75.992127 deg.

2025-10-26T22:34:27.769Z,1761518067.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326313 target range: 50.121708 and range: 50.40 m.
2025-10-26T22:34:27.925Z,1761518067.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273509
2025-10-26T22:34:28.151Z,1761518068.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245513,-0.959676,-0.136912],[0.965999,0.230393,0.117326],[-0.081051,-0.161061,0.983611]]
2025-10-26T22:34:28.182Z,1761518068.182 [DAT](INFO): DAT read: 22:34:26.2571 LVL= 32752, 32753, 31906, 32755, AGC= 70, IDX= 421, 0.12,-0.591,-1.975, 0.178,-0.543, PHS= 0.054,-1.387, 0.677, RAW= 167.1,   7.2, CAL= 166.6,   7.1, ROT= 343.4,  -7.1

2025-10-26T22:34:28.183Z,1761518068.183 [DAT](INFO): got valid direction response:
 22:34:26.2571 LVL= 32752, 32753, 31906, 32755, AGC= 70, IDX= 421, 0.12,-0.591,-1.975, 0.178,-0.543, PHS= 0.054,-1.387, 0.677, RAW= 167.1,   7.2, CAL= 166.6,   7.1, ROT= 343.4,  -7.1

2025-10-26T22:34:28.184Z,1761518068.184 [DAT](INFO): DAT read: Bearing 213.9, -22.4 (Local)

2025-10-26T22:34:28.185Z,1761518068.185 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.9, -22.4 (Local)

2025-10-26T22:34:28.186Z,1761518068.186 [DAT](INFO): DAT read: Range 11 to 50 : 48.6 m  (Round-trip  64.9 ms) speed  0.4 m/s

2025-10-26T22:34:28.186Z,1761518068.186 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:34:28.188Z,1761518068.188 [DAT](INFO): direction in FSK: [0.950974,-0.283498,0.123601]
2025-10-26T22:34:28.188Z,1761518068.188 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:28.191Z,1761518068.191 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:34:28.199Z,1761518068.199 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:34:28.200Z,1761518068.200 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:34:28.285Z,1761518068.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.599998 m,
      deltaT: 3.778748 s,
      deltaX: -1.800003 m,
      approachRate: -0.476349 m/s,
      rangeRepo size: 4

2025-10-26T22:34:28.287Z,1761518068.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.330196 m,
      bearing: 60.618775 deg,
      lat: 36.779410 deg,
      lon: -121.859416 deg,
      deltaT: 3.778748 s,
      deltaX: -1.791512 m,
      approachRate: -0.474102 m/s,
      posRepo size: 4

2025-10-26T22:34:28.292Z,1761518068.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.33 m.
2025-10-26T22:34:28.294Z,1761518068.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.330196 m,
      nav range: 48.475800 m,
      bearing: 62.074443 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.019217 deg/s,
      cmd heading: 75.992125 deg,
      new cmd heading: 76.022032 deg.

2025-10-26T22:34:28.300Z,1761518068.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326835 target range: 48.330196 and range: 48.60 m.
2025-10-26T22:34:28.429Z,1761518068.429 [DAT](INFO): DAT read: user:619>

2025-10-26T22:34:28.429Z,1761518068.429 [DAT](INFO): DAT read: Tx time:22:34:27.5380

2025-10-26T22:34:28.430Z,1761518068.430 [DAT](INFO): Ping request sent.
2025-10-26T22:34:28.430Z,1761518068.430 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:34:28.430Z,1761518068.430 [DAT](INFO): publishing transmit ping time
2025-10-26T22:34:28.431Z,1761518068.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-10-26T22:34:28.596Z,1761518068.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246424,-0.960107,-0.132176],[0.965842,0.232006,0.115425],[-0.080154,-0.156105,0.984483]]
2025-10-26T22:34:28.630Z,1761518068.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.33 m.
2025-10-26T22:34:28.635Z,1761518068.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.330196 m,
      nav range: 48.300671 m,
      bearing: 62.067052 deg,
      approach rate: -0.506522 m/s,
      LOS rate: -0.021456 deg/s,
      cmd heading: 76.022034 deg,
      new cmd heading: 75.999779 deg.

2025-10-26T22:34:28.637Z,1761518068.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326446 target range: 48.330196 and range: 48.60 m.
2025-10-26T22:34:28.681Z,1761518068.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250775
2025-10-26T22:34:28.934Z,1761518068.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503838
2025-10-26T22:34:28.994Z,1761518068.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246312,-0.961457,-0.122188],[0.965981,0.233286,0.111615],[-0.078809,-0.145524,0.986211]]
2025-10-26T22:34:29.014Z,1761518069.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.33 m.
2025-10-26T22:34:29.017Z,1761518069.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.330196 m,
      nav range: 48.114403 m,
      bearing: 62.059374 deg,
      approach rate: -0.485443 m/s,
      LOS rate: -0.020086 deg/s,
      cmd heading: 75.999781 deg,
      new cmd heading: 75.976660 deg.

2025-10-26T22:34:29.018Z,1761518069.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326043 target range: 48.330196 and range: 48.60 m.
2025-10-26T22:34:29.184Z,1761518069.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754605
2025-10-26T22:34:29.436Z,1761518069.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006617
2025-10-26T22:34:29.452Z,1761518069.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:29.454Z,1761518069.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.33 m.
2025-10-26T22:34:29.457Z,1761518069.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.330196 m,
      nav range: 47.890667 m,
      bearing: 62.042445 deg,
      approach rate: -0.508545 m/s,
      LOS rate: -0.038659 deg/s,
      cmd heading: 75.976661 deg,
      new cmd heading: 75.925636 deg.

2025-10-26T22:34:29.458Z,1761518069.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.325152 target range: 48.330196 and range: 48.60 m.
2025-10-26T22:34:29.689Z,1761518069.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259321
2025-10-26T22:34:29.802Z,1761518069.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245271,-0.962624,-0.114880],[0.966455,0.233474,0.107031],[-0.076209,-0.137278,0.987597]]
2025-10-26T22:34:29.835Z,1761518069.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.33 m.
2025-10-26T22:34:29.839Z,1761518069.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.330196 m,
      nav range: 47.698231 m,
      bearing: 62.027686 deg,
      approach rate: -0.504552 m/s,
      LOS rate: -0.038854 deg/s,
      cmd heading: 75.925640 deg,
      new cmd heading: 75.881183 deg.

2025-10-26T22:34:29.840Z,1761518069.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324376 target range: 48.330196 and range: 48.60 m.
2025-10-26T22:34:29.944Z,1761518069.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514093
2025-10-26T22:34:30.192Z,1761518070.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762475
2025-10-26T22:34:30.208Z,1761518070.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244052,-0.961984,-0.122576],[0.966878,0.231633,0.107205],[-0.074737,-0.144679,0.986652]]
2025-10-26T22:34:30.254Z,1761518070.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.33 m.
2025-10-26T22:34:30.258Z,1761518070.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.330196 m,
      nav range: 47.468491 m,
      bearing: 61.999771 deg,
      approach rate: -0.548091 m/s,
      LOS rate: -0.066919 deg/s,
      cmd heading: 75.881182 deg,
      new cmd heading: 75.797032 deg.

2025-10-26T22:34:30.259Z,1761518070.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.322908 target range: 48.330196 and range: 48.60 m.
2025-10-26T22:34:30.445Z,1761518070.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014962
2025-10-26T22:34:30.617Z,1761518070.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242687,-0.961786,-0.126772],[0.967309,0.229999,0.106834],[-0.073594,-0.148555,0.986162]]
2025-10-26T22:34:30.647Z,1761518070.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.33 m.
2025-10-26T22:34:30.650Z,1761518070.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.330196 m,
      nav range: 47.256344 m,
      bearing: 61.973322 deg,
      approach rate: -0.540431 m/s,
      LOS rate: -0.067681 deg/s,
      cmd heading: 75.797034 deg,
      new cmd heading: 75.717330 deg.

2025-10-26T22:34:30.651Z,1761518070.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.321517 target range: 48.330196 and range: 48.60 m.
2025-10-26T22:34:30.697Z,1761518070.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266803
2025-10-26T22:34:30.948Z,1761518070.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518599
2025-10-26T22:34:31.014Z,1761518071.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241207,-0.961626,-0.130743],[0.967727,0.228204,0.106896],[-0.072958,-0.152308,0.985637]]
2025-10-26T22:34:31.057Z,1761518071.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.33 m.
2025-10-26T22:34:31.061Z,1761518071.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.330196 m,
      nav range: 47.041428 m,
      bearing: 61.945819 deg,
      approach rate: -0.524260 m/s,
      LOS rate: -0.067396 deg/s,
      cmd heading: 75.717332 deg,
      new cmd heading: 75.634447 deg.

2025-10-26T22:34:31.065Z,1761518071.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320070 target range: 48.330196 and range: 48.60 m.
2025-10-26T22:34:31.200Z,1761518071.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770661
2025-10-26T22:34:31.453Z,1761518071.453 [DAT](INFO): DAT read: Rx Time:22:34:30.0047

2025-10-26T22:34:31.453Z,1761518071.453 [DAT](INFO): Rx dataTimestamp_ set to:1761518071.452708
2025-10-26T22:34:31.454Z,1761518071.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023747
2025-10-26T22:34:31.471Z,1761518071.471 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:31.474Z,1761518071.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.33 m.
2025-10-26T22:34:31.477Z,1761518071.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.330196 m,
      nav range: 46.797691 m,
      bearing: 61.910615 deg,
      approach rate: -0.584450 m/s,
      LOS rate: -0.084853 deg/s,
      cmd heading: 75.634448 deg,
      new cmd heading: 75.528288 deg.

2025-10-26T22:34:31.478Z,1761518071.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.318217 target range: 48.330196 and range: 48.60 m.
2025-10-26T22:34:31.705Z,1761518071.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275185
2025-10-26T22:34:31.831Z,1761518071.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237305,-0.961828,-0.136286],[0.968774,0.223937,0.106437],[-0.071854,-0.157288,0.984935]]
2025-10-26T22:34:31.870Z,1761518071.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.33 m.
2025-10-26T22:34:31.889Z,1761518071.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.330196 m,
      nav range: 46.582867 m,
      bearing: 61.878138 deg,
      approach rate: -0.541879 m/s,
      LOS rate: -0.082300 deg/s,
      cmd heading: 75.528286 deg,
      new cmd heading: 75.430405 deg.

2025-10-26T22:34:31.890Z,1761518071.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.316509 target range: 48.330196 and range: 48.60 m.
2025-10-26T22:34:31.965Z,1761518071.965 [DAT](INFO): DAT read: 22:34:30.0047 LVL= 32752, 32753, 30050, 32755, AGC= 69, IDX= 413,-0.01, 3.140, 1.789,-2.422,-3.099, PHS= 0.058,-1.350, 0.633, RAW= 166.4,   7.5, CAL= 165.9,   7.5, ROT= 344.1,  -7.5

2025-10-26T22:34:31.967Z,1761518071.967 [DAT](INFO): got valid direction response:
 22:34:30.0047 LVL= 32752, 32753, 30050, 32755, AGC= 69, IDX= 413,-0.01, 3.140, 1.789,-2.422,-3.099, PHS= 0.058,-1.350, 0.633, RAW= 166.4,   7.5, CAL= 165.9,   7.5, ROT= 344.1,  -7.5

2025-10-26T22:34:31.968Z,1761518071.968 [DAT](INFO): DAT read: Bearing 215.8, -21.4 (Local)

2025-10-26T22:34:31.968Z,1761518071.968 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.8, -21.4 (Local)

2025-10-26T22:34:31.970Z,1761518071.970 [DAT](INFO): DAT read: Range 11 to 50 : 46.8 m  (Round-trip  62.5 ms) speed  0.4 m/s

2025-10-26T22:34:31.971Z,1761518071.971 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:34:31.982Z,1761518071.982 [DAT](INFO): direction in FSK: [0.953514,-0.271615,0.130526]
2025-10-26T22:34:31.982Z,1761518071.982 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:31.998Z,1761518071.998 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:34:31.998Z,1761518071.998 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:34:31.998Z,1761518071.998 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:34:32.208Z,1761518072.208 [DAT](INFO): DAT read: user:620>

2025-10-26T22:34:32.209Z,1761518072.209 [DAT](INFO): DAT read: Tx time:22:34:31.3380

2025-10-26T22:34:32.209Z,1761518072.209 [DAT](INFO): Ping request sent.
2025-10-26T22:34:32.209Z,1761518072.209 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:34:32.210Z,1761518072.210 [DAT](INFO): publishing transmit ping time
2025-10-26T22:34:32.210Z,1761518072.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-10-26T22:34:32.260Z,1761518072.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235767,-0.962267,-0.135856],[0.969155,0.222488,0.106011],[-0.071785,-0.156659,0.985040]]
2025-10-26T22:34:32.366Z,1761518072.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.799999 m,
      deltaT: 3.780411 s,
      deltaX: -1.799999 m,
      approachRate: -0.476139 m/s,
      rangeRepo size: 4

2025-10-26T22:34:32.384Z,1761518072.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.534924 m,
      bearing: 61.905351 deg,
      lat: 36.779410 deg,
      lon: -121.859416 deg,
      deltaT: 3.780411 s,
      deltaX: -1.795273 m,
      approachRate: -0.474888 m/s,
      posRepo size: 4

2025-10-26T22:34:32.385Z,1761518072.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m.
2025-10-26T22:34:32.392Z,1761518072.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.534924 m,
      nav range: 46.292995 m,
      bearing: 61.829684 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.082300 deg/s,
      cmd heading: 75.430403 deg,
      new cmd heading: 75.308178 deg.

2025-10-26T22:34:32.393Z,1761518072.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.314376 target range: 46.534924 and range: 46.80 m.
2025-10-26T22:34:32.461Z,1761518072.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251369
2025-10-26T22:34:32.656Z,1761518072.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234278,-0.962753,-0.134984],[0.969521,0.221134,0.105492],[-0.071713,-0.155585,0.985216]]
2025-10-26T22:34:32.682Z,1761518072.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m.
2025-10-26T22:34:32.685Z,1761518072.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.534924 m,
      nav range: 46.110073 m,
      bearing: 61.798441 deg,
      approach rate: -0.578253 m/s,
      LOS rate: -0.099158 deg/s,
      cmd heading: 75.308177 deg,
      new cmd heading: 75.214075 deg.

2025-10-26T22:34:32.686Z,1761518072.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.312733 target range: 46.534924 and range: 46.80 m.
2025-10-26T22:34:32.713Z,1761518072.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503120
2025-10-26T22:34:32.964Z,1761518072.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754916
2025-10-26T22:34:33.054Z,1761518073.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232319,-0.963508,-0.132971],[0.969995,0.219436,0.104679],[-0.071681,-0.153300,0.985577]]
2025-10-26T22:34:33.099Z,1761518073.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m.
2025-10-26T22:34:33.102Z,1761518073.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.534924 m,
      nav range: 45.874367 m,
      bearing: 61.757220 deg,
      approach rate: -0.564631 m/s,
      LOS rate: -0.099252 deg/s,
      cmd heading: 75.214077 deg,
      new cmd heading: 75.089779 deg.

2025-10-26T22:34:33.103Z,1761518073.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.310564 target range: 46.534924 and range: 46.80 m.
2025-10-26T22:34:33.217Z,1761518073.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007674
2025-10-26T22:34:33.469Z,1761518073.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259798
2025-10-26T22:34:33.554Z,1761518073.554 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:33.572Z,1761518073.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m.
2025-10-26T22:34:33.575Z,1761518073.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.534924 m,
      nav range: 45.616596 m,
      bearing: 61.717950 deg,
      approach rate: -0.544969 m/s,
      LOS rate: -0.083491 deg/s,
      cmd heading: 75.089782 deg,
      new cmd heading: 74.971308 deg.

2025-10-26T22:34:33.580Z,1761518073.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.308496 target range: 46.534924 and range: 46.80 m.
2025-10-26T22:34:33.721Z,1761518073.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511305
2025-10-26T22:34:33.871Z,1761518073.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229331,-0.964479,-0.131102],[0.970668,0.216628,0.104284],[-0.072180,-0.151173,0.985869]]
2025-10-26T22:34:33.889Z,1761518073.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m.
2025-10-26T22:34:33.897Z,1761518073.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.534924 m,
      nav range: 45.429787 m,
      bearing: 61.688489 deg,
      approach rate: -0.589225 m/s,
      LOS rate: -0.093308 deg/s,
      cmd heading: 74.971305 deg,
      new cmd heading: 74.882557 deg.

2025-10-26T22:34:33.897Z,1761518073.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.306947 target range: 46.534924 and range: 46.80 m.
2025-10-26T22:34:33.973Z,1761518073.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763728
2025-10-26T22:34:34.224Z,1761518074.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014889
2025-10-26T22:34:34.266Z,1761518074.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228111,-0.964539,-0.132777],[0.970951,0.215236,0.104537],[-0.072252,-0.152766,0.985618]]
2025-10-26T22:34:34.327Z,1761518074.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m.
2025-10-26T22:34:34.330Z,1761518074.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.534924 m,
      nav range: 45.197578 m,
      bearing: 61.656304 deg,
      approach rate: -0.534886 m/s,
      LOS rate: -0.074517 deg/s,
      cmd heading: 74.882560 deg,
      new cmd heading: 74.785511 deg.

2025-10-26T22:34:34.331Z,1761518074.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.305253 target range: 46.534924 and range: 46.80 m.
2025-10-26T22:34:34.477Z,1761518074.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267042
2025-10-26T22:34:34.713Z,1761518074.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m.
2025-10-26T22:34:34.729Z,1761518074.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519565
2025-10-26T22:34:34.737Z,1761518074.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.534924 m,
      nav range: 44.969112 m,
      bearing: 61.624313 deg,
      approach rate: -0.586248 m/s,
      LOS rate: -0.082509 deg/s,
      cmd heading: 74.785510 deg,
      new cmd heading: 74.689047 deg.

2025-10-26T22:34:34.738Z,1761518074.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.303570 target range: 46.534924 and range: 46.80 m.
2025-10-26T22:34:34.981Z,1761518074.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771294
2025-10-26T22:34:35.077Z,1761518075.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226347,-0.964838,-0.133625],[0.971370,0.213428,0.104345],[-0.072156,-0.153417,0.985524]]
2025-10-26T22:34:35.095Z,1761518075.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m.
2025-10-26T22:34:35.098Z,1761518075.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.534924 m,
      nav range: 44.752155 m,
      bearing: 61.593116 deg,
      approach rate: -0.567512 m/s,
      LOS rate: -0.081999 deg/s,
      cmd heading: 74.689047 deg,
      new cmd heading: 74.595004 deg.

2025-10-26T22:34:35.099Z,1761518075.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.301928 target range: 46.534924 and range: 46.80 m.
2025-10-26T22:34:35.233Z,1761518075.233 [DAT](INFO): DAT read: Rx Time:22:34:33.8022

2025-10-26T22:34:35.234Z,1761518075.234 [DAT](INFO): Rx dataTimestamp_ set to:1761518075.233410
2025-10-26T22:34:35.235Z,1761518075.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025095
2025-10-26T22:34:35.484Z,1761518075.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274862
2025-10-26T22:34:35.536Z,1761518075.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m.
2025-10-26T22:34:35.540Z,1761518075.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.534924 m,
      nav range: 44.518433 m,
      bearing: 61.569830 deg,
      approach rate: -0.529657 m/s,
      LOS rate: -0.053047 deg/s,
      cmd heading: 74.595003 deg,
      new cmd heading: 74.524779 deg.

2025-10-26T22:34:35.541Z,1761518075.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.300703 target range: 46.534924 and range: 46.80 m.
2025-10-26T22:34:35.742Z,1761518075.742 [DAT](INFO): DAT read: 22:34:33.8022 LVL= 32544, 32753, 21026, 32755, AGC= 66, IDX= 419,-0.23, 0.293,-1.054, 1.069, 0.311, PHS= 0.084,-1.320, 0.714, RAW= 167.6,   5.8, CAL= 166.9,   5.1, ROT= 343.1,  -5.1

2025-10-26T22:34:35.744Z,1761518075.744 [DAT](INFO): got valid direction response:
 22:34:33.8022 LVL= 32544, 32753, 21026, 32755, AGC= 66, IDX= 419,-0.23, 0.293,-1.054, 1.069, 0.311, PHS= 0.084,-1.320, 0.714, RAW= 167.6,   5.8, CAL= 166.9,   5.1, ROT= 343.1,  -5.1

2025-10-26T22:34:35.745Z,1761518075.745 [DAT](INFO): DAT read: Bearing 214.7, -22.3 (Local)

2025-10-26T22:34:35.745Z,1761518075.745 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.7, -22.3 (Local)

2025-10-26T22:34:35.747Z,1761518075.747 [DAT](INFO): DAT read: Range 11 to 50 : 45.0 m  (Round-trip  60.0 ms) speed  0.4 m/s

2025-10-26T22:34:35.747Z,1761518075.747 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:34:35.748Z,1761518075.748 [DAT](INFO): direction in FSK: [0.953026,-0.289551,0.088894]
2025-10-26T22:34:35.749Z,1761518075.749 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:35.752Z,1761518075.752 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:34:35.752Z,1761518075.752 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:34:35.753Z,1761518075.753 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:34:35.959Z,1761518075.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.000000 m,
      deltaT: 3.779914 s,
      deltaX: -1.799999 m,
      approachRate: -0.476201 m/s,
      rangeRepo size: 4

2025-10-26T22:34:35.965Z,1761518075.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 44.745777 m,
      bearing: 61.041541 deg,
      lat: 36.779412 deg,
      lon: -121.859416 deg,
      deltaT: 3.779914 s,
      deltaX: -1.789146 m,
      approachRate: -0.473330 m/s,
      posRepo size: 4

2025-10-26T22:34:35.966Z,1761518075.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.75 m.
2025-10-26T22:34:35.973Z,1761518075.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.745777 m,
      nav range: 44.436752 m,
      bearing: 61.310670 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.053047 deg/s,
      cmd heading: 74.524781 deg,
      new cmd heading: 74.457655 deg.

2025-10-26T22:34:35.974Z,1761518075.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299531 target range: 44.745777 and range: 45.00 m.
2025-10-26T22:34:35.988Z,1761518075.988 [DAT](INFO): DAT read: user:621>

2025-10-26T22:34:35.989Z,1761518075.989 [DAT](INFO): DAT read: Tx time:22:34:35.0880

2025-10-26T22:34:35.990Z,1761518075.990 [DAT](INFO): Ping request sent.
2025-10-26T22:34:35.990Z,1761518075.990 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:34:35.990Z,1761518075.990 [DAT](INFO): publishing transmit ping time
2025-10-26T22:34:35.990Z,1761518075.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-10-26T22:34:36.240Z,1761518076.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250698
2025-10-26T22:34:36.296Z,1761518076.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224423,-0.964475,-0.139364],[0.971857,0.211005,0.104747],[-0.071619,-0.158949,0.984686]]
2025-10-26T22:34:36.340Z,1761518076.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:36.342Z,1761518076.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.75 m.
2025-10-26T22:34:36.350Z,1761518076.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.745777 m,
      nav range: 44.235359 m,
      bearing: 61.296184 deg,
      approach rate: -0.524718 m/s,
      LOS rate: -0.037913 deg/s,
      cmd heading: 74.457654 deg,
      new cmd heading: 74.414000 deg.

2025-10-26T22:34:36.351Z,1761518076.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.298769 target range: 44.745777 and range: 45.00 m.
2025-10-26T22:34:36.492Z,1761518076.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502628
2025-10-26T22:34:36.703Z,1761518076.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224654,-0.964156,-0.141186],[0.971782,0.210986,0.105474],[-0.071905,-0.160897,0.984348]]
2025-10-26T22:34:36.732Z,1761518076.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.75 m.
2025-10-26T22:34:36.736Z,1761518076.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.745777 m,
      nav range: 44.044605 m,
      bearing: 61.282387 deg,
      approach rate: -0.489678 m/s,
      LOS rate: -0.035572 deg/s,
      cmd heading: 74.414003 deg,
      new cmd heading: 74.372431 deg.

2025-10-26T22:34:36.737Z,1761518076.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.298044 target range: 44.745777 and range: 45.00 m.
2025-10-26T22:34:36.753Z,1761518076.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762953
2025-10-26T22:34:37.005Z,1761518077.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.015023
2025-10-26T22:34:37.107Z,1761518077.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224756,-0.963872,-0.142951],[0.971742,0.210854,0.106107],[-0.072131,-0.162760,0.984026]]
2025-10-26T22:34:37.157Z,1761518077.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.75 m.
2025-10-26T22:34:37.160Z,1761518077.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.745777 m,
      nav range: 43.843395 m,
      bearing: 61.267716 deg,
      approach rate: -0.473330 m/s,
      LOS rate: -0.034670 deg/s,
      cmd heading: 74.372434 deg,
      new cmd heading: 74.328220 deg.

2025-10-26T22:34:37.161Z,1761518077.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.297272 target range: 44.745777 and range: 45.00 m.
2025-10-26T22:34:37.257Z,1761518077.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266840
2025-10-26T22:34:37.508Z,1761518077.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518816
2025-10-26T22:34:37.521Z,1761518077.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225122,-0.963569,-0.144413],[0.971622,0.210972,0.106967],[-0.072603,-0.164396,0.983719]]
2025-10-26T22:34:37.585Z,1761518077.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.75 m.
2025-10-26T22:34:37.592Z,1761518077.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.745777 m,
      nav range: 43.630974 m,
      bearing: 61.263724 deg,
      approach rate: -0.495661 m/s,
      LOS rate: -0.009361 deg/s,
      cmd heading: 74.328222 deg,
      new cmd heading: 74.316186 deg.

2025-10-26T22:34:37.593Z,1761518077.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.297062 target range: 44.745777 and range: 45.00 m.
2025-10-26T22:34:37.760Z,1761518077.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770733
2025-10-26T22:34:37.932Z,1761518077.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226224,-0.963547,-0.142826],[0.971296,0.212072,0.107748],[-0.073531,-0.163102,0.983865]]
2025-10-26T22:34:37.983Z,1761518077.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.75 m.
2025-10-26T22:34:37.986Z,1761518077.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.745777 m,
      nav range: 43.439590 m,
      bearing: 61.260404 deg,
      approach rate: -0.481718 m/s,
      LOS rate: -0.008393 deg/s,
      cmd heading: 74.316187 deg,
      new cmd heading: 74.306184 deg.

2025-10-26T22:34:37.987Z,1761518077.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.296888 target range: 44.745777 and range: 45.00 m.
2025-10-26T22:34:38.013Z,1761518078.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023215
2025-10-26T22:34:38.264Z,1761518078.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274669
2025-10-26T22:34:38.425Z,1761518078.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228283,-0.963079,-0.142708],[0.970666,0.213777,0.110034],[-0.075464,-0.163640,0.983630]]
2025-10-26T22:34:38.501Z,1761518078.501 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:34:38.516Z,1761518078.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526676
2025-10-26T22:34:38.595Z,1761518078.595 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:38.609Z,1761518078.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.75 m.
2025-10-26T22:34:38.618Z,1761518078.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.745777 m,
      nav range: 43.164936 m,
      bearing: 61.268059 deg,
      approach rate: -0.438795 m/s,
      LOS rate: 0.012308 deg/s,
      cmd heading: 74.306181 deg,
      new cmd heading: 74.329293 deg.

2025-10-26T22:34:38.628Z,1761518078.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.297291 target range: 44.745777 and range: 45.00 m.
2025-10-26T22:34:38.768Z,1761518078.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778674
2025-10-26T22:34:39.024Z,1761518079.024 [DAT](INFO): DAT read: Rx Time:22:34:37.5497

2025-10-26T22:34:39.025Z,1761518079.025 [DAT](INFO): Rx dataTimestamp_ set to:1761518079.024548
2025-10-26T22:34:39.026Z,1761518079.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036063
2025-10-26T22:34:39.085Z,1761518079.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229134,-0.962969,-0.142085],[0.970390,0.214519,0.111019],[-0.076428,-0.163316,0.983609]]
2025-10-26T22:34:39.159Z,1761518079.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.75 m.
2025-10-26T22:34:39.162Z,1761518079.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.745777 m,
      nav range: 42.915279 m,
      bearing: 61.275408 deg,
      approach rate: -0.456980 m/s,
      LOS rate: 0.013531 deg/s,
      cmd heading: 74.329295 deg,
      new cmd heading: 74.351471 deg.

2025-10-26T22:34:39.163Z,1761518079.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.297678 target range: 44.745777 and range: 45.00 m.
2025-10-26T22:34:39.273Z,1761518079.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282963
2025-10-26T22:34:39.504Z,1761518079.504 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:34:39.533Z,1761518079.533 [DAT](INFO): DAT read: 22:34:37.5497 LVL= 32752, 32753, 25378, 32755, AGC= 67, IDX= 409,-0.27, 0.018,-1.318, 0.826, 0.044, PHS= 0.076,-1.317, 0.738, RAW= 168.4,   5.6, CAL= 167.7,   4.7, ROT= 342.3,  -4.7

2025-10-26T22:34:39.535Z,1761518079.535 [DAT](INFO): got valid direction response:
 22:34:37.5497 LVL= 32752, 32753, 25378, 32755, AGC= 67, IDX= 409,-0.27, 0.018,-1.318, 0.826, 0.044, PHS= 0.076,-1.317, 0.738, RAW= 168.4,   5.6, CAL= 167.7,   4.7, ROT= 342.3,  -4.7

2025-10-26T22:34:39.536Z,1761518079.536 [DAT](INFO): DAT read: Bearing 214.9, -23.1 (Local)

2025-10-26T22:34:39.537Z,1761518079.537 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.9, -23.1 (Local)

2025-10-26T22:34:39.538Z,1761518079.538 [DAT](INFO): DAT read: Range 11 to 50 : 43.1 m  (Round-trip  57.5 ms) speed  0.4 m/s

2025-10-26T22:34:39.539Z,1761518079.539 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:34:39.540Z,1761518079.540 [DAT](INFO): direction in FSK: [0.949458,-0.303011,0.081939]
2025-10-26T22:34:39.541Z,1761518079.541 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:39.558Z,1761518079.558 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:34:39.558Z,1761518079.558 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:34:39.558Z,1761518079.558 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:34:39.652Z,1761518079.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232469,-0.962022,-0.143082],[0.969400,0.217251,0.114307],[-0.078881,-0.165276,0.983088]]
2025-10-26T22:34:39.753Z,1761518079.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.099998 m,
      deltaT: 3.789034 s,
      deltaX: -1.900002 m,
      approachRate: -0.501447 m/s,
      rangeRepo size: 4

2025-10-26T22:34:39.755Z,1761518079.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.854118 m,
      bearing: 59.915403 deg,
      lat: 36.779415 deg,
      lon: -121.859418 deg,
      deltaT: 3.789034 s,
      deltaX: -1.891659 m,
      approachRate: -0.499246 m/s,
      posRepo size: 4

2025-10-26T22:34:39.755Z,1761518079.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.85 m.
2025-10-26T22:34:39.758Z,1761518079.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.854118 m,
      nav range: 42.621399 m,
      bearing: 60.826833 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013531 deg/s,
      cmd heading: 74.351472 deg,
      new cmd heading: 74.375673 deg.

2025-10-26T22:34:39.759Z,1761518079.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.298100 target range: 42.854118 and range: 43.10 m.
2025-10-26T22:34:39.793Z,1761518079.793 [DAT](INFO): DAT read: user:622>

2025-10-26T22:34:39.794Z,1761518079.794 [DAT](INFO): DAT read: Tx time:22:34:38.9380

2025-10-26T22:34:39.795Z,1761518079.795 [DAT](INFO): Ping request sent.
2025-10-26T22:34:39.795Z,1761518079.795 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:34:39.795Z,1761518079.795 [DAT](INFO): publishing transmit ping time
2025-10-26T22:34:39.796Z,1761518079.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001181
2025-10-26T22:34:40.044Z,1761518080.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249509
2025-10-26T22:34:40.050Z,1761518080.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234375,-0.961528,-0.143289],[0.968839,0.218878,0.115947],[-0.080124,-0.165999,0.982865]]
2025-10-26T22:34:40.081Z,1761518080.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.85 m.
2025-10-26T22:34:40.084Z,1761518080.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.854118 m,
      nav range: 42.476498 m,
      bearing: 60.837121 deg,
      approach rate: -0.438630 m/s,
      LOS rate: 0.031248 deg/s,
      cmd heading: 74.375672 deg,
      new cmd heading: 74.406640 deg.

2025-10-26T22:34:40.085Z,1761518080.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.298641 target range: 42.854118 and range: 43.10 m.
2025-10-26T22:34:40.298Z,1761518080.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502873
2025-10-26T22:34:40.456Z,1761518080.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236522,-0.960979,-0.143445],[0.968203,0.220726,0.117738],[-0.081482,-0.166732,0.982630]]
2025-10-26T22:34:40.509Z,1761518080.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.85 m.
2025-10-26T22:34:40.516Z,1761518080.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.854118 m,
      nav range: 42.294415 m,
      bearing: 60.849096 deg,
      approach rate: -0.425423 m/s,
      LOS rate: 0.028100 deg/s,
      cmd heading: 74.406640 deg,
      new cmd heading: 74.442720 deg.

2025-10-26T22:34:40.517Z,1761518080.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299271 target range: 42.854118 and range: 43.10 m.
2025-10-26T22:34:40.549Z,1761518080.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753938
2025-10-26T22:34:40.800Z,1761518080.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005652
2025-10-26T22:34:40.854Z,1761518080.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238860,-0.960406,-0.143411],[0.967532,0.222818,0.119302],[-0.082624,-0.167252,0.982446]]
2025-10-26T22:34:40.878Z,1761518080.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:40.884Z,1761518080.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.85 m.
2025-10-26T22:34:40.887Z,1761518080.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.854118 m,
      nav range: 42.123001 m,
      bearing: 60.861014 deg,
      approach rate: -0.457565 m/s,
      LOS rate: 0.031944 deg/s,
      cmd heading: 74.442717 deg,
      new cmd heading: 74.478617 deg.

2025-10-26T22:34:40.888Z,1761518080.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299897 target range: 42.854118 and range: 43.10 m.
2025-10-26T22:34:41.053Z,1761518081.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257891
2025-10-26T22:34:41.295Z,1761518081.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241034,-0.959907,-0.143115],[0.966889,0.224769,0.120853],[-0.083840,-0.167506,0.982300]]
2025-10-26T22:34:41.304Z,1761518081.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509770
2025-10-26T22:34:41.347Z,1761518081.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.85 m.
2025-10-26T22:34:41.349Z,1761518081.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.854118 m,
      nav range: 41.910706 m,
      bearing: 60.866549 deg,
      approach rate: -0.459002 m/s,
      LOS rate: 0.012027 deg/s,
      cmd heading: 74.478616 deg,
      new cmd heading: 74.495305 deg.

2025-10-26T22:34:41.350Z,1761518081.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.300188 target range: 42.854118 and range: 43.10 m.
2025-10-26T22:34:41.557Z,1761518081.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762198
2025-10-26T22:34:41.794Z,1761518081.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243653,-0.959324,-0.142584],[0.966123,0.227179,0.122461],[-0.085088,-0.167592,0.982178]]
2025-10-26T22:34:41.809Z,1761518081.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014016
2025-10-26T22:34:41.814Z,1761518081.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.85 m.
2025-10-26T22:34:41.817Z,1761518081.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.854118 m,
      nav range: 41.698723 m,
      bearing: 60.872919 deg,
      approach rate: -0.453343 m/s,
      LOS rate: 0.013692 deg/s,
      cmd heading: 74.495302 deg,
      new cmd heading: 74.514510 deg.

2025-10-26T22:34:41.818Z,1761518081.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.300524 target range: 42.854118 and range: 43.10 m.
2025-10-26T22:34:42.060Z,1761518082.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265683
2025-10-26T22:34:42.194Z,1761518082.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245808,-0.958941,-0.141458],[0.965502,0.229282,0.123434],[-0.085932,-0.166919,0.982219]]
2025-10-26T22:34:42.217Z,1761518082.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.85 m.
2025-10-26T22:34:42.219Z,1761518082.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.854118 m,
      nav range: 41.516747 m,
      bearing: 60.879025 deg,
      approach rate: -0.452139 m/s,
      LOS rate: 0.015237 deg/s,
      cmd heading: 74.514509 deg,
      new cmd heading: 74.532907 deg.

2025-10-26T22:34:42.220Z,1761518082.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.300845 target range: 42.854118 and range: 43.10 m.
2025-10-26T22:34:42.313Z,1761518082.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518225
2025-10-26T22:34:42.564Z,1761518082.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769600
2025-10-26T22:34:42.728Z,1761518082.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247942,-0.958379,-0.141541],[0.964903,0.231253,0.124435],[-0.086524,-0.167426,0.982080]]
2025-10-26T22:34:42.785Z,1761518082.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.85 m.
2025-10-26T22:34:42.788Z,1761518082.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.854118 m,
      nav range: 41.245960 m,
      bearing: 60.878828 deg,
      approach rate: -0.476634 m/s,
      LOS rate: -0.000350 deg/s,
      cmd heading: 74.532909 deg,
      new cmd heading: 74.532314 deg.

2025-10-26T22:34:42.789Z,1761518082.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.300834 target range: 42.854118 and range: 43.10 m.
2025-10-26T22:34:42.817Z,1761518082.817 [DAT](INFO): DAT read: Rx Time:22:34:41.3969

2025-10-26T22:34:42.817Z,1761518082.817 [DAT](INFO): Rx dataTimestamp_ set to:1761518082.816697
2025-10-26T22:34:42.818Z,1761518082.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022844
2025-10-26T22:34:43.068Z,1761518083.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273641
2025-10-26T22:34:43.225Z,1761518083.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251221,-0.957281,-0.143179],[0.964061,0.234251,0.125354],[-0.086459,-0.169525,0.981726]]
2025-10-26T22:34:43.255Z,1761518083.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:43.262Z,1761518083.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.85 m.
2025-10-26T22:34:43.273Z,1761518083.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.854118 m,
      nav range: 41.022808 m,
      bearing: 60.879631 deg,
      approach rate: -0.468594 m/s,
      LOS rate: 0.001697 deg/s,
      cmd heading: 74.532315 deg,
      new cmd heading: 74.534739 deg.

2025-10-26T22:34:43.276Z,1761518083.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.300877 target range: 42.854118 and range: 43.10 m.
2025-10-26T22:34:43.328Z,1761518083.328 [DAT](INFO): DAT read: 22:34:41.3969 LVL= 30816, 32753, 25666, 32755, AGC= 67, IDX= 414, 0.15,-2.373, 2.552,-1.594,-2.339, PHS= 0.067,-1.347, 0.700, RAW= 167.6,   6.4, CAL= 167.0,   5.9, ROT= 343.0,  -5.9

2025-10-26T22:34:43.329Z,1761518083.329 [DAT](INFO): got valid direction response:
 22:34:41.3969 LVL= 30816, 32753, 25666, 32755, AGC= 67, IDX= 414, 0.15,-2.373, 2.552,-1.594,-2.339, PHS= 0.067,-1.347, 0.700, RAW= 167.6,   6.4, CAL= 167.0,   5.9, ROT= 343.0,  -5.9

2025-10-26T22:34:43.330Z,1761518083.330 [DAT](INFO): DAT read: Bearing 216.5, -23.0 (Local)

2025-10-26T22:34:43.330Z,1761518083.330 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.5, -23.0 (Local)

2025-10-26T22:34:43.332Z,1761518083.332 [DAT](INFO): DAT read: Range 11 to 50 : 41.1 m  (Round-trip  54.8 ms) speed  0.4 m/s

2025-10-26T22:34:43.332Z,1761518083.332 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:34:43.333Z,1761518083.333 [DAT](INFO): direction in FSK: [0.951239,-0.290823,0.102793]
2025-10-26T22:34:43.333Z,1761518083.333 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:43.341Z,1761518083.341 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:34:43.341Z,1761518083.341 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:34:43.341Z,1761518083.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:34:43.572Z,1761518083.572 [DAT](INFO): DAT read: user:623>

2025-10-26T22:34:43.573Z,1761518083.573 [DAT](INFO): DAT read: Tx time:22:34:42.6879

2025-10-26T22:34:43.573Z,1761518083.573 [DAT](INFO): Ping request sent.
2025-10-26T22:34:43.574Z,1761518083.574 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:34:43.574Z,1761518083.574 [DAT](INFO): publishing transmit ping time
2025-10-26T22:34:43.574Z,1761518083.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-10-26T22:34:43.657Z,1761518083.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252679,-0.956709,-0.144432],[0.963729,0.235608,0.125357],[-0.085901,-0.170869,0.981542]]
2025-10-26T22:34:43.733Z,1761518083.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.099998 m,
      deltaT: 3.796610 s,
      deltaX: -2.000000 m,
      approachRate: -0.526786 m/s,
      rangeRepo size: 4

2025-10-26T22:34:43.741Z,1761518083.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.866600 m,
      bearing: 59.672371 deg,
      lat: 36.779418 deg,
      lon: -121.859420 deg,
      deltaT: 3.796610 s,
      deltaX: -1.987518 m,
      approachRate: -0.523498 m/s,
      posRepo size: 4

2025-10-26T22:34:43.742Z,1761518083.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.87 m.
2025-10-26T22:34:43.749Z,1761518083.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.866600 m,
      nav range: 40.831429 m,
      bearing: 60.243990 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001697 deg/s,
      cmd heading: 74.534740 deg,
      new cmd heading: 74.537113 deg.

2025-10-26T22:34:43.750Z,1761518083.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.300918 target range: 40.866600 and range: 41.10 m.
2025-10-26T22:34:43.825Z,1761518083.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251188
2025-10-26T22:34:44.076Z,1761518084.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502752
2025-10-26T22:34:44.121Z,1761518084.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.87 m.
2025-10-26T22:34:44.124Z,1761518084.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.866600 m,
      nav range: 40.618458 m,
      bearing: 60.226770 deg,
      approach rate: -0.540776 m/s,
      LOS rate: -0.043952 deg/s,
      cmd heading: 74.537110 deg,
      new cmd heading: 74.485182 deg.

2025-10-26T22:34:44.125Z,1761518084.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.300012 target range: 40.866600 and range: 41.10 m.
2025-10-26T22:34:44.328Z,1761518084.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754709
2025-10-26T22:34:44.475Z,1761518084.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253794,-0.956087,-0.146585],[0.963667,0.236884,0.123420],[-0.083276,-0.172582,0.981469]]
2025-10-26T22:34:44.576Z,1761518084.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.87 m.
2025-10-26T22:34:44.579Z,1761518084.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.866600 m,
      nav range: 40.373249 m,
      bearing: 60.198224 deg,
      approach rate: -0.538746 m/s,
      LOS rate: -0.063100 deg/s,
      cmd heading: 74.485180 deg,
      new cmd heading: 74.399021 deg.

2025-10-26T22:34:44.580Z,1761518084.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006827
2025-10-26T22:34:44.581Z,1761518084.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.298508 target range: 40.866600 and range: 41.10 m.
2025-10-26T22:34:44.833Z,1761518084.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259341
2025-10-26T22:34:44.909Z,1761518084.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253318,-0.955973,-0.148141],[0.963944,0.236539,0.121907],[-0.081499,-0.173681,0.981424]]
2025-10-26T22:34:44.927Z,1761518084.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.87 m.
2025-10-26T22:34:44.930Z,1761518084.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.866600 m,
      nav range: 40.187138 m,
      bearing: 60.176152 deg,
      approach rate: -0.530001 m/s,
      LOS rate: -0.063147 deg/s,
      cmd heading: 74.399024 deg,
      new cmd heading: 74.332501 deg.

2025-10-26T22:34:44.931Z,1761518084.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.297347 target range: 40.866600 and range: 41.10 m.
2025-10-26T22:34:45.085Z,1761518085.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511453
2025-10-26T22:34:45.339Z,1761518085.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765119
2025-10-26T22:34:45.351Z,1761518085.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252643,-0.956243,-0.147549],[0.964273,0.236281,0.119787],[-0.079682,-0.172541,0.981774]]
2025-10-26T22:34:45.404Z,1761518085.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:45.406Z,1761518085.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.87 m.
2025-10-26T22:34:45.409Z,1761518085.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.866600 m,
      nav range: 39.922810 m,
      bearing: 60.130870 deg,
      approach rate: -0.551554 m/s,
      LOS rate: -0.095113 deg/s,
      cmd heading: 74.332498 deg,
      new cmd heading: 74.195751 deg.

2025-10-26T22:34:45.410Z,1761518085.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294960 target range: 40.866600 and range: 41.10 m.
2025-10-26T22:34:45.592Z,1761518085.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018337
2025-10-26T22:34:45.721Z,1761518085.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251484,-0.956447,-0.148204],[0.964737,0.235421,0.117728],[-0.077710,-0.172584,0.981925]]
2025-10-26T22:34:45.744Z,1761518085.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.87 m.
2025-10-26T22:34:45.747Z,1761518085.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.866600 m,
      nav range: 39.736137 m,
      bearing: 60.098186 deg,
      approach rate: -0.552887 m/s,
      LOS rate: -0.097256 deg/s,
      cmd heading: 74.195751 deg,
      new cmd heading: 74.097241 deg.

2025-10-26T22:34:45.748Z,1761518085.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.293241 target range: 40.866600 and range: 41.10 m.
2025-10-26T22:34:45.841Z,1761518085.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267673
2025-10-26T22:34:46.093Z,1761518086.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519162
2025-10-26T22:34:46.121Z,1761518086.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250519,-0.956652,-0.148519],[0.965163,0.234835,0.115379],[-0.075500,-0.172250,0.982156]]
2025-10-26T22:34:46.154Z,1761518086.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.87 m.
2025-10-26T22:34:46.157Z,1761518086.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.866600 m,
      nav range: 39.513695 m,
      bearing: 60.058504 deg,
      approach rate: -0.542452 m/s,
      LOS rate: -0.097315 deg/s,
      cmd heading: 74.097239 deg,
      new cmd heading: 73.977522 deg.

2025-10-26T22:34:46.158Z,1761518086.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.291151 target range: 40.866600 and range: 41.10 m.
2025-10-26T22:34:46.348Z,1761518086.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773188
2025-10-26T22:34:46.587Z,1761518086.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.87 m.
2025-10-26T22:34:46.592Z,1761518086.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.866600 m,
      nav range: 39.265083 m,
      bearing: 60.018467 deg,
      approach rate: -0.575508 m/s,
      LOS rate: -0.093267 deg/s,
      cmd heading: 73.977519 deg,
      new cmd heading: 73.856649 deg.

2025-10-26T22:34:46.594Z,1761518086.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.289042 target range: 40.866600 and range: 41.10 m.
2025-10-26T22:34:46.598Z,1761518086.598 [DAT](INFO): DAT read: Rx Time:22:34:45.1447

2025-10-26T22:34:46.598Z,1761518086.598 [DAT](INFO): Rx dataTimestamp_ set to:1761518086.598197
2025-10-26T22:34:46.599Z,1761518086.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025401
2025-10-26T22:34:46.848Z,1761518086.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274639
2025-10-26T22:34:46.965Z,1761518086.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247518,-0.957271,-0.149558],[0.966303,0.232642,0.110165],[-0.070664,-0.171786,0.982597]]
2025-10-26T22:34:47.007Z,1761518087.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.87 m.
2025-10-26T22:34:47.014Z,1761518087.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.866600 m,
      nav range: 39.032566 m,
      bearing: 59.979468 deg,
      approach rate: -0.552505 m/s,
      LOS rate: -0.093221 deg/s,
      cmd heading: 73.856645 deg,
      new cmd heading: 73.738951 deg.

2025-10-26T22:34:47.015Z,1761518087.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.286988 target range: 40.866600 and range: 41.10 m.
2025-10-26T22:34:47.111Z,1761518087.111 [DAT](INFO): DAT read: 22:34:45.1447 LVL= 32752, 32753, 26354, 32755, AGC= 66, IDX= 423,-0.08, 0.574,-0.790, 1.390, 0.619, PHS= 0.057,-1.364, 0.726, RAW= 168.3,   6.3, CAL= 167.7,   5.8, ROT= 342.3,  -5.8

2025-10-26T22:34:47.118Z,1761518087.118 [DAT](INFO): got valid direction response:
 22:34:45.1447 LVL= 32752, 32753, 26354, 32755, AGC= 66, IDX= 423,-0.08, 0.574,-0.790, 1.390, 0.619, PHS= 0.057,-1.364, 0.726, RAW= 168.3,   6.3, CAL= 167.7,   5.8, ROT= 342.3,  -5.8

2025-10-26T22:34:47.120Z,1761518087.120 [DAT](INFO): DAT read: Bearing 215.7, -22.9 (Local)

2025-10-26T22:34:47.120Z,1761518087.120 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.7, -22.9 (Local)

2025-10-26T22:34:47.121Z,1761518087.121 [DAT](INFO): DAT read: Range 11 to 50 : 39.4 m  (Round-trip  52.6 ms) speed  0.4 m/s

2025-10-26T22:34:47.122Z,1761518087.122 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:34:47.123Z,1761518087.123 [DAT](INFO): direction in FSK: [0.947784,-0.302477,0.101056]
2025-10-26T22:34:47.123Z,1761518087.123 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:47.126Z,1761518087.126 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:34:47.127Z,1761518087.127 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:34:47.128Z,1761518087.128 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:34:47.355Z,1761518087.355 [DAT](INFO): DAT read: user:624>

2025-10-26T22:34:47.358Z,1761518087.358 [DAT](INFO): DAT read: Tx time:22:34:46.4879

2025-10-26T22:34:47.359Z,1761518087.359 [DAT](INFO): Ping request sent.
2025-10-26T22:34:47.359Z,1761518087.359 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:34:47.360Z,1761518087.360 [DAT](INFO): publishing transmit ping time
2025-10-26T22:34:47.362Z,1761518087.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003087
2025-10-26T22:34:47.371Z,1761518087.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246053,-0.957781,-0.148704],[0.966866,0.231773,0.107008],[-0.068025,-0.170107,0.983075]]
2025-10-26T22:34:47.461Z,1761518087.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.400002 m,
      deltaT: 3.779012 s,
      deltaX: -1.699997 m,
      approachRate: -0.449852 m/s,
      rangeRepo size: 4

2025-10-26T22:34:47.463Z,1761518087.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 39.181328 m,
      bearing: 59.350347 deg,
      lat: 36.779421 deg,
      lon: -121.859419 deg,
      deltaT: 3.779012 s,
      deltaX: -1.685272 m,
      approachRate: -0.445956 m/s,
      posRepo size: 4

2025-10-26T22:34:47.464Z,1761518087.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.18 m.
2025-10-26T22:34:47.467Z,1761518087.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.181328 m,
      nav range: 38.929951 m,
      bearing: 59.612193 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.093221 deg/s,
      cmd heading: 73.738955 deg,
      new cmd heading: 73.612081 deg.

2025-10-26T22:34:47.468Z,1761518087.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.284773 target range: 39.181328 and range: 39.40 m.
2025-10-26T22:34:47.605Z,1761518087.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246572
2025-10-26T22:34:47.779Z,1761518087.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244481,-0.958168,-0.148806],[0.967465,0.230733,0.103798],[-0.065122,-0.169341,0.983404]]
2025-10-26T22:34:47.798Z,1761518087.798 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-10-26T22:34:47.798Z,1761518087.798 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T22:34:47.798Z,1761518087.798 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-10-26T22:34:47.800Z,1761518087.800 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  39.400002 m (mode  2.000000 count ).
2025-10-26T22:34:47.800Z,1761518087.800 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-10-26T22:34:47.800Z,1761518087.800 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-10-26T22:34:47.801Z,1761518087.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:47.803Z,1761518087.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.18 m.
2025-10-26T22:34:47.806Z,1761518087.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.181328 m,
      nav range: 38.732464 m,
      bearing: 59.574982 deg,
      approach rate: -0.577246 m/s,
      LOS rate: -0.109322 deg/s,
      cmd heading: 73.612084 deg,
      new cmd heading: 73.499881 deg.

2025-10-26T22:34:47.806Z,1761518087.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.282815 target range: 39.181328 and range: 39.40 m.
2025-10-26T22:34:47.857Z,1761518087.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498618
2025-10-26T22:34:48.109Z,1761518088.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750678
2025-10-26T22:34:48.179Z,1761518088.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243486,-0.958529,-0.148112],[0.967893,0.230301,0.100720],[-0.062432,-0.167881,0.983828]]
2025-10-26T22:34:48.206Z,1761518088.206 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-10-26T22:34:48.206Z,1761518088.206 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-10-26T22:34:48.212Z,1761518088.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.18 m.
2025-10-26T22:34:48.219Z,1761518088.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.181328 m,
      nav range: 38.503452 m,
      bearing: 59.531009 deg,
      approach rate: -0.558839 m/s,
      LOS rate: -0.107941 deg/s,
      cmd heading: 73.499877 deg,
      new cmd heading: 73.367176 deg.

2025-10-26T22:34:48.220Z,1761518088.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.280499 target range: 39.181328 and range: 39.40 m.
2025-10-26T22:34:48.364Z,1761518088.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005260
2025-10-26T22:34:48.593Z,1761518088.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242416,-0.958899,-0.147470],[0.968332,0.229786,0.097630],[-0.059731,-0.166467,0.984236]]
2025-10-26T22:34:48.612Z,1761518088.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253824
2025-10-26T22:34:48.661Z,1761518088.661 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-10-26T22:34:48.661Z,1761518088.661 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-10-26T22:34:48.664Z,1761518088.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.18 m.
2025-10-26T22:34:48.666Z,1761518088.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.181328 m,
      nav range: 38.238297 m,
      bearing: 59.495600 deg,
      approach rate: -0.588213 m/s,
      LOS rate: -0.079096 deg/s,
      cmd heading: 73.367174 deg,
      new cmd heading: 73.260209 deg.

2025-10-26T22:34:48.667Z,1761518088.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.278632 target range: 39.181328 and range: 39.40 m.
2025-10-26T22:34:48.864Z,1761518088.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505801
2025-10-26T22:34:48.986Z,1761518088.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242342,-0.958774,-0.148401],[0.968494,0.230028,0.095429],[-0.057359,-0.166852,0.984312]]
2025-10-26T22:34:49.038Z,1761518089.038 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-10-26T22:34:49.038Z,1761518089.038 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T22:34:49.038Z,1761518089.038 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-10-26T22:34:49.038Z,1761518089.038 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T22:34:49.041Z,1761518089.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.18 m.
2025-10-26T22:34:49.048Z,1761518089.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.181328 m,
      nav range: 38.039227 m,
      bearing: 59.468650 deg,
      approach rate: -0.527294 m/s,
      LOS rate: -0.071757 deg/s,
      cmd heading: 73.260206 deg,
      new cmd heading: 73.178935 deg.

2025-10-26T22:34:49.049Z,1761518089.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.277213 target range: 39.181328 and range: 39.40 m.
2025-10-26T22:34:49.117Z,1761518089.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758459
2025-10-26T22:34:49.372Z,1761518089.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012963
2025-10-26T22:34:49.463Z,1761518089.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242473,-0.958795,-0.148053],[0.968606,0.230619,0.092834],[-0.054865,-0.165915,0.984613]]
2025-10-26T22:34:49.527Z,1761518089.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.18 m.
2025-10-26T22:34:49.530Z,1761518089.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.181328 m,
      nav range: 37.747463 m,
      bearing: 59.445838 deg,
      approach rate: -0.600418 m/s,
      LOS rate: -0.047309 deg/s,
      cmd heading: 73.178934 deg,
      new cmd heading: 73.109967 deg.

2025-10-26T22:34:49.531Z,1761518089.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.276010 target range: 39.181328 and range: 39.40 m.
2025-10-26T22:34:49.621Z,1761518089.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262061
2025-10-26T22:34:49.796Z,1761518089.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243024,-0.958441,-0.149431],[0.968581,0.231379,0.091184],[-0.052819,-0.166896,0.984559]]
2025-10-26T22:34:49.813Z,1761518089.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:49.815Z,1761518089.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.18 m.
2025-10-26T22:34:49.819Z,1761518089.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.181328 m,
      nav range: 37.581448 m,
      bearing: 59.432821 deg,
      approach rate: -0.575739 m/s,
      LOS rate: -0.045341 deg/s,
      cmd heading: 73.109969 deg,
      new cmd heading: 73.070747 deg.

2025-10-26T22:34:49.820Z,1761518089.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.275325 target range: 39.181328 and range: 39.40 m.
2025-10-26T22:34:49.873Z,1761518089.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513985
2025-10-26T22:34:50.125Z,1761518090.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765967
2025-10-26T22:34:50.204Z,1761518090.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244582,-0.957937,-0.150119],[0.968292,0.233172,0.089675],[-0.050900,-0.167292,0.984593]]
2025-10-26T22:34:50.235Z,1761518090.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.18 m.
2025-10-26T22:34:50.238Z,1761518090.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.181328 m,
      nav range: 37.348610 m,
      bearing: 59.414930 deg,
      approach rate: -0.554492 m/s,
      LOS rate: -0.042872 deg/s,
      cmd heading: 73.070743 deg,
      new cmd heading: 73.016736 deg.

2025-10-26T22:34:50.239Z,1761518090.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274382 target range: 39.181328 and range: 39.40 m.
2025-10-26T22:34:50.384Z,1761518090.384 [DAT](INFO): DAT read: Rx Time:22:34:48.9417

2025-10-26T22:34:50.385Z,1761518090.385 [DAT](INFO): Rx dataTimestamp_ set to:1761518090.384281
2025-10-26T22:34:50.387Z,1761518090.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027692
2025-10-26T22:34:50.636Z,1761518090.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277564
2025-10-26T22:34:50.693Z,1761518090.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.18 m.
2025-10-26T22:34:50.696Z,1761518090.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.181328 m,
      nav range: 37.100479 m,
      bearing: 59.402582 deg,
      approach rate: -0.541788 m/s,
      LOS rate: -0.027141 deg/s,
      cmd heading: 73.016737 deg,
      new cmd heading: 72.979446 deg.

2025-10-26T22:34:50.698Z,1761518090.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.273732 target range: 39.181328 and range: 39.40 m.
2025-10-26T22:34:50.894Z,1761518090.894 [DAT](INFO): DAT read: 22:34:48.9417 LVL= 32752, 31601, 26786, 32755, AGC= 65, IDX= 409,-0.09,-2.337, 2.588,-1.558,-2.314, PHS= 0.078,-1.337, 0.712, RAW= 167.6,   6.1, CAL= 166.9,   5.4, ROT= 343.1,  -5.4

2025-10-26T22:34:50.895Z,1761518090.895 [DAT](INFO): got valid direction response:
 22:34:48.9417 LVL= 32752, 31601, 26786, 32755, AGC= 65, IDX= 409,-0.09,-2.337, 2.588,-1.558,-2.314, PHS= 0.078,-1.337, 0.712, RAW= 167.6,   6.1, CAL= 166.9,   5.4, ROT= 343.1,  -5.4

2025-10-26T22:34:50.896Z,1761518090.896 [DAT](INFO): DAT read: Bearing 215.8, -21.0 (Local)

2025-10-26T22:34:50.896Z,1761518090.896 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.8, -21.0 (Local)

2025-10-26T22:34:50.898Z,1761518090.898 [DAT](INFO): DAT read: Range 11 to 50 : 37.2 m  (Round-trip  49.7 ms) speed  0.5 m/s

2025-10-26T22:34:50.898Z,1761518090.898 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:34:50.900Z,1761518090.900 [DAT](INFO): direction in FSK: [0.952567,-0.289412,0.094108]
2025-10-26T22:34:50.900Z,1761518090.900 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:50.904Z,1761518090.904 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:34:50.904Z,1761518090.904 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:34:50.904Z,1761518090.904 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:34:51.100Z,1761518091.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246869,-0.957649,-0.148202],[0.967902,0.236237,0.085778],[-0.047135,-0.164621,0.985230]]
2025-10-26T22:34:51.140Z,1761518091.140 [DAT](INFO): DAT read: user:625>

2025-10-26T22:34:51.141Z,1761518091.141 [DAT](INFO): DAT read: Tx time:22:34:50.2879

2025-10-26T22:34:51.142Z,1761518091.142 [DAT](INFO): Ping request sent.
2025-10-26T22:34:51.142Z,1761518091.142 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:34:51.142Z,1761518091.142 [DAT](INFO): publishing transmit ping time
2025-10-26T22:34:51.142Z,1761518091.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-10-26T22:34:51.157Z,1761518091.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.200001 m,
      deltaT: 3.787009 s,
      deltaX: -2.200001 m,
      approachRate: -0.580934 m/s,
      rangeRepo size: 4

2025-10-26T22:34:51.165Z,1761518091.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.994625 m,
      bearing: 59.956771 deg,
      lat: 36.779421 deg,
      lon: -121.859419 deg,
      deltaT: 3.787009 s,
      deltaX: -2.186703 m,
      approachRate: -0.577422 m/s,
      posRepo size: 4

2025-10-26T22:34:51.166Z,1761518091.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m.
2025-10-26T22:34:51.173Z,1761518091.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.994625 m,
      nav range: 36.846367 m,
      bearing: 59.390768 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.027141 deg/s,
      cmd heading: 72.979444 deg,
      new cmd heading: 72.941684 deg.

2025-10-26T22:34:51.174Z,1761518091.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.273072 target range: 36.994625 and range: 37.20 m.
2025-10-26T22:34:51.395Z,1761518091.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252788
2025-10-26T22:34:51.645Z,1761518091.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503049
2025-10-26T22:34:51.647Z,1761518091.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250374,-0.956263,-0.151239],[0.967139,0.239906,0.084190],[-0.044225,-0.167348,0.984905]]
2025-10-26T22:34:51.761Z,1761518091.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m.
2025-10-26T22:34:51.780Z,1761518091.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.994625 m,
      nav range: 36.523235 m,
      bearing: 59.399650 deg,
      approach rate: -0.534708 m/s,
      LOS rate: 0.014828 deg/s,
      cmd heading: 72.941680 deg,
      new cmd heading: 72.968562 deg.

2025-10-26T22:34:51.784Z,1761518091.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.273542 target range: 36.994625 and range: 37.20 m.
2025-10-26T22:34:51.896Z,1761518091.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754648
2025-10-26T22:34:52.149Z,1761518092.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007163
2025-10-26T22:34:52.260Z,1761518092.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252609,-0.955776,-0.150604],[0.966613,0.242368,0.083172],[-0.042992,-0.166586,0.985089]]
2025-10-26T22:34:52.340Z,1761518092.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:52.342Z,1761518092.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m.
2025-10-26T22:34:52.345Z,1761518092.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.994625 m,
      nav range: 36.222401 m,
      bearing: 59.409204 deg,
      approach rate: -0.517539 m/s,
      LOS rate: 0.016573 deg/s,
      cmd heading: 72.968564 deg,
      new cmd heading: 72.997464 deg.

2025-10-26T22:34:52.346Z,1761518092.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274046 target range: 36.994625 and range: 37.20 m.
2025-10-26T22:34:52.404Z,1761518092.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262017
2025-10-26T22:34:52.652Z,1761518092.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510808
2025-10-26T22:34:52.809Z,1761518092.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257515,-0.956564,-0.136644],[0.965472,0.248953,0.076724],[-0.039374,-0.151684,0.987644]]
2025-10-26T22:34:52.904Z,1761518092.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762725
2025-10-26T22:34:52.909Z,1761518092.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m.
2025-10-26T22:34:52.916Z,1761518092.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.994625 m,
      nav range: 35.942539 m,
      bearing: 59.420900 deg,
      approach rate: -0.493960 m/s,
      LOS rate: 0.020805 deg/s,
      cmd heading: 72.997462 deg,
      new cmd heading: 73.032824 deg.

2025-10-26T22:34:52.917Z,1761518092.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274663 target range: 36.994625 and range: 37.20 m.
2025-10-26T22:34:53.157Z,1761518093.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015028
2025-10-26T22:34:53.228Z,1761518093.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260232,-0.956834,-0.129414],[0.964839,0.252567,0.072773],[-0.036946,-0.143802,0.988917]]
2025-10-26T22:34:53.281Z,1761518093.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m.
2025-10-26T22:34:53.283Z,1761518093.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.994625 m,
      nav range: 35.745491 m,
      bearing: 59.430391 deg,
      approach rate: -0.530118 m/s,
      LOS rate: 0.025674 deg/s,
      cmd heading: 73.032822 deg,
      new cmd heading: 73.061452 deg.

2025-10-26T22:34:53.284Z,1761518093.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.275163 target range: 36.994625 and range: 37.20 m.
2025-10-26T22:34:53.412Z,1761518093.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269915
2025-10-26T22:34:53.632Z,1761518093.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262549,-0.956432,-0.127692],[0.964310,0.255374,0.069939],[-0.034282,-0.141497,0.989345]]
2025-10-26T22:34:53.661Z,1761518093.661 [DAT](INFO): DAT read: Rx Time:22:34:52.4640 

2025-10-26T22:34:53.661Z,1761518093.661 [DAT](INFO): Rx dataTimestamp_ set to:1761518093.661176
2025-10-26T22:34:53.663Z,1761518093.663 [DAT](INFO): DAT read: Bearing 217.6, -20.2 (Local)

2025-10-26T22:34:53.663Z,1761518093.663 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.6, -20.2 (Local)

2025-10-26T22:34:53.665Z,1761518093.665 [DAT](INFO): DAT read: Range 11 to 50 :    35.3 m (trip time 23.5 ms) speed 0.4

2025-10-26T22:34:53.670Z,1761518093.670 [DAT](INFO): DAT read: 22:34:52.4640 LVL= 32752, 32753, 21906, 32755, AGC= 63, IDX= 413,-0.12, 1.534, 0.186, 2.296, 1.589, PHS= 0.046,-1.358, 0.663, RAW= 167.3,   7.3, CAL= 166.8,   7.2, ROT= 343.2,  -7.2

2025-10-26T22:34:53.671Z,1761518093.671 [DAT](INFO): got valid direction response:
 22:34:52.4640 LVL= 32752, 32753, 21906, 32755, AGC= 63, IDX= 413,-0.12, 1.534, 0.186, 2.296, 1.589, PHS= 0.046,-1.358, 0.663, RAW= 167.3,   7.3, CAL= 166.8,   7.2, ROT= 343.2,  -7.2

2025-10-26T22:34:53.671Z,1761518093.671 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:34:53.672Z,1761518093.672 [DAT](INFO): direction in FSK: [0.949771,-0.286752,0.125333]
2025-10-26T22:34:53.673Z,1761518093.673 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:53.705Z,1761518093.705 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.563453
2025-10-26T22:34:53.782Z,1761518093.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.299999 m,
      deltaT: 2.773271 s,
      deltaX: -1.900002 m,
      approachRate: -0.685112 m/s,
      rangeRepo size: 4

2025-10-26T22:34:53.788Z,1761518093.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.105587 m,
      bearing: 59.196303 deg,
      lat: 36.779421 deg,
      lon: -121.859420 deg,
      deltaT: 2.773271 s,
      deltaX: -1.889038 m,
      approachRate: -0.681159 m/s,
      posRepo size: 4

2025-10-26T22:34:53.789Z,1761518093.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.11 m.
2025-10-26T22:34:53.796Z,1761518093.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.105587 m,
      nav range: 35.477470 m,
      bearing: 59.405881 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.025674 deg/s,
      cmd heading: 73.061454 deg,
      new cmd heading: 73.100006 deg.

2025-10-26T22:34:53.797Z,1761518093.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.275836 target range: 35.105587 and range: 35.30 m.
2025-10-26T22:34:53.912Z,1761518093.912 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.770755
2025-10-26T22:34:54.120Z,1761518094.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264735,-0.955146,-0.132705],[0.963820,0.257643,0.068349],[-0.031093,-0.145998,0.988796]]
2025-10-26T22:34:54.140Z,1761518094.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.11 m.
2025-10-26T22:34:54.143Z,1761518094.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.105587 m,
      nav range: 35.295067 m,
      bearing: 59.411440 deg,
      approach rate: -0.508061 m/s,
      LOS rate: 0.015565 deg/s,
      cmd heading: 73.100004 deg,
      new cmd heading: 73.116768 deg.

2025-10-26T22:34:54.145Z,1761518094.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.276128 target range: 35.105587 and range: 35.30 m.
2025-10-26T22:34:54.165Z,1761518094.165 [DAT](INFO): DAT read: Rx Time:22:34:52.9638 

2025-10-26T22:34:54.165Z,1761518094.165 [DAT](INFO): Rx dataTimestamp_ set to:1761518094.165112
2025-10-26T22:34:54.167Z,1761518094.167 [DAT](INFO): DAT read: Bearing 218.0, -19.3 (Local)

2025-10-26T22:34:54.167Z,1761518094.167 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.0, -19.3 (Local)

2025-10-26T22:34:54.169Z,1761518094.169 [DAT](INFO): DAT read: Range 11 to 50 :    35.0 m (trip time 23.3 ms) speed 0.4

2025-10-26T22:34:54.174Z,1761518094.174 [DAT](INFO): DAT read: 22:34:52.9638 LVL= 32752, 32753, 24706, 32755, AGC= 65, IDX= 507, 0.26, 2.930, 1.561,-2.611, 2.981, PHS= 0.051,-1.375, 0.647, RAW= 166.7,   7.6, CAL= 166.2,   7.6, ROT= 343.8,  -7.6

2025-10-26T22:34:54.175Z,1761518094.175 [DAT](INFO): got valid direction response:
 22:34:52.9638 LVL= 32752, 32753, 24706, 32755, AGC= 65, IDX= 507, 0.26, 2.930, 1.561,-2.611, 2.981, PHS= 0.051,-1.375, 0.647, RAW= 166.7,   7.6, CAL= 166.2,   7.6, ROT= 343.8,  -7.6

2025-10-26T22:34:54.175Z,1761518094.175 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T22:34:54.176Z,1761518094.176 [DAT](INFO): direction in FSK: [0.951858,-0.276541,0.132256]
2025-10-26T22:34:54.176Z,1761518094.176 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:54.180Z,1761518094.180 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.038221
2025-10-26T22:34:54.420Z,1761518094.420 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.277206
2025-10-26T22:34:54.511Z,1761518094.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266414,-0.954177,-0.136271],[0.963474,0.259637,0.065627],[-0.027239,-0.148777,0.988496]]
2025-10-26T22:34:54.639Z,1761518094.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.000000 m,
      deltaT: 0.503936 s,
      deltaX: -0.299999 m,
      approachRate: -0.595312 m/s,
      rangeRepo size: 4

2025-10-26T22:34:54.645Z,1761518094.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.807655 m,
      bearing: 59.679246 deg,
      lat: 36.779419 deg,
      lon: -121.859423 deg,
      deltaT: 0.503936 s,
      deltaX: -0.297932 m,
      approachRate: -0.591209 m/s,
      posRepo size: 4

2025-10-26T22:34:54.645Z,1761518094.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.81 m.
2025-10-26T22:34:54.650Z,1761518094.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.807655 m,
      nav range: 34.715935 m,
      bearing: 59.525046 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015565 deg/s,
      cmd heading: 73.116765 deg,
      new cmd heading: 73.140009 deg.

2025-10-26T22:34:54.651Z,1761518094.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.276534 target range: 34.807655 and range: 35.00 m.
2025-10-26T22:34:54.669Z,1761518094.669 [DAT](INFO): DAT read: Rx Time:22:34:53.4636 

2025-10-26T22:34:54.669Z,1761518094.669 [DAT](INFO): Rx dataTimestamp_ set to:1761518094.669178
2025-10-26T22:34:54.671Z,1761518094.671 [DAT](INFO): DAT read: Bearing 217.5, -19.6 (Local)

2025-10-26T22:34:54.671Z,1761518094.671 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.5, -19.6 (Local)

2025-10-26T22:34:54.673Z,1761518094.673 [DAT](INFO): DAT read: Range 11 to 50 :    34.7 m (trip time 23.1 ms) speed 0.4

2025-10-26T22:34:54.678Z,1761518094.678 [DAT](INFO): DAT read: 22:34:53.4636 LVL= 32752, 32753, 28050, 32755, AGC= 65, IDX= 505,-0.12,-0.365,-1.712, 0.394,-0.306, PHS= 0.043,-1.361, 0.656, RAW= 167.3,   7.4, CAL= 166.8,   7.4, ROT= 343.2,  -7.4

2025-10-26T22:34:54.679Z,1761518094.679 [DAT](INFO): got valid direction response:
 22:34:53.4636 LVL= 32752, 32753, 28050, 32755, AGC= 65, IDX= 505,-0.12,-0.365,-1.712, 0.394,-0.306, PHS= 0.043,-1.361, 0.656, RAW= 167.3,   7.4, CAL= 166.8,   7.4, ROT= 343.2,  -7.4

2025-10-26T22:34:54.679Z,1761518094.679 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-10-26T22:34:54.680Z,1761518094.680 [DAT](INFO): direction in FSK: [0.949346,-0.286624,0.128796]
2025-10-26T22:34:54.681Z,1761518094.681 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:54.684Z,1761518094.684 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.542689
2025-10-26T22:34:54.920Z,1761518094.920 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.778734
2025-10-26T22:34:54.980Z,1761518094.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268121,-0.953622,-0.136805],[0.963111,0.261942,0.061666],[-0.022971,-0.148293,0.988677]]
2025-10-26T22:34:55.016Z,1761518095.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.700001 m,
      deltaT: 0.504066 s,
      deltaX: -0.299999 m,
      approachRate: -0.595159 m/s,
      rangeRepo size: 4

2025-10-26T22:34:55.018Z,1761518095.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.512188 m,
      bearing: 58.940022 deg,
      lat: 36.779419 deg,
      lon: -121.859425 deg,
      deltaT: 0.504066 s,
      deltaX: -0.295467 m,
      approachRate: -0.586168 m/s,
      posRepo size: 4

2025-10-26T22:34:55.019Z,1761518095.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.51 m.
2025-10-26T22:34:55.022Z,1761518095.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.512188 m,
      nav range: 34.350140 m,
      bearing: 59.356276 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015565 deg/s,
      cmd heading: 73.140008 deg,
      new cmd heading: 73.157622 deg.

2025-10-26T22:34:55.022Z,1761518095.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.276841 target range: 34.512188 and range: 34.70 m.
2025-10-26T22:34:55.173Z,1761518095.173 [DAT](INFO): DAT read: Rx Time:22:34:53.9635 

2025-10-26T22:34:55.174Z,1761518095.174 [DAT](INFO): Rx dataTimestamp_ set to:1761518095.173331
2025-10-26T22:34:55.175Z,1761518095.175 [DAT](INFO): DAT read: Bearing 216.9, -18.3 (Local)

2025-10-26T22:34:55.175Z,1761518095.175 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.9, -18.3 (Local)

2025-10-26T22:34:55.177Z,1761518095.177 [DAT](INFO): DAT read: Range 11 to 50 :    34.5 m (trip time 23.0 ms) speed 0.4

2025-10-26T22:34:55.182Z,1761518095.182 [DAT](INFO): DAT read: 22:34:53.9635 LVL= 32752, 32753, 30530, 32755, AGC= 65, IDX= 504, 0.37, 2.599, 1.215,-2.946, 2.627, PHS= 0.074,-1.368, 0.666, RAW= 166.5,   7.0, CAL= 165.9,   6.7, ROT= 344.1,  -6.7

2025-10-26T22:34:55.183Z,1761518095.183 [DAT](INFO): got valid direction response:
 22:34:53.9635 LVL= 32752, 32753, 30530, 32755, AGC= 65, IDX= 504, 0.37, 2.599, 1.215,-2.946, 2.627, PHS= 0.074,-1.368, 0.666, RAW= 166.5,   7.0, CAL= 165.9,   6.7, ROT= 344.1,  -6.7

2025-10-26T22:34:55.184Z,1761518095.184 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-26T22:34:55.185Z,1761518095.185 [DAT](INFO): direction in FSK: [0.955173,-0.272088,0.116671]
2025-10-26T22:34:55.185Z,1761518095.185 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:55.189Z,1761518095.189 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.047098
2025-10-26T22:34:55.383Z,1761518095.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270176,-0.953362,-0.134555],[0.962630,0.264765,0.056946],[-0.018664,-0.144912,0.989269]]
2025-10-26T22:34:55.426Z,1761518095.426 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.284002
2025-10-26T22:34:55.432Z,1761518095.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.500000 m,
      deltaT: 0.504153 s,
      deltaX: -0.200001 m,
      approachRate: -0.396706 m/s,
      rangeRepo size: 4

2025-10-26T22:34:55.434Z,1761518095.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.313271 m,
      bearing: 59.566211 deg,
      lat: 36.779418 deg,
      lon: -121.859426 deg,
      deltaT: 0.504153 s,
      deltaX: -0.198917 m,
      approachRate: -0.394558 m/s,
      posRepo size: 4

2025-10-26T22:34:55.434Z,1761518095.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.31 m.
2025-10-26T22:34:55.445Z,1761518095.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.313271 m,
      nav range: 34.040550 m,
      bearing: 59.420473 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015565 deg/s,
      cmd heading: 73.157623 deg,
      new cmd heading: 73.177031 deg.

2025-10-26T22:34:55.449Z,1761518095.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.277180 target range: 34.313271 and range: 34.50 m.
2025-10-26T22:34:55.677Z,1761518095.677 [DAT](INFO): DAT read: Rx Time:22:34:54.4633 

2025-10-26T22:34:55.678Z,1761518095.678 [DAT](INFO): Rx dataTimestamp_ set to:1761518095.677255
2025-10-26T22:34:55.679Z,1761518095.679 [DAT](INFO): DAT read: Bearing 216.0, -17.9 (Local)

2025-10-26T22:34:55.679Z,1761518095.679 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.0, -17.9 (Local)

2025-10-26T22:34:55.681Z,1761518095.681 [DAT](INFO): DAT read: Range 11 to 50 :    34.2 m (trip time 22.8 ms) speed 0.4

2025-10-26T22:34:55.686Z,1761518095.686 [DAT](INFO): DAT read: 22:34:54.4633 LVL= 31072, 32753, 22050, 32755, AGC= 65, IDX= 502,-0.01,-0.163,-1.535, 0.574,-0.148, PHS= 0.087,-1.342, 0.678, RAW= 166.5,   6.5, CAL= 165.9,   6.0, ROT= 344.1,  -6.0

2025-10-26T22:34:55.688Z,1761518095.688 [DAT](INFO): got valid direction response:
 22:34:54.4633 LVL= 31072, 32753, 22050, 32755, AGC= 65, IDX= 502,-0.01,-0.163,-1.535, 0.574,-0.148, PHS= 0.087,-1.342, 0.678, RAW= 166.5,   6.5, CAL= 165.9,   6.0, ROT= 344.1,  -6.0

2025-10-26T22:34:55.688Z,1761518095.688 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-10-26T22:34:55.689Z,1761518095.689 [DAT](INFO): direction in FSK: [0.956473,-0.272458,0.104528]
2025-10-26T22:34:55.689Z,1761518095.689 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:55.694Z,1761518095.694 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.551927
2025-10-26T22:34:55.823Z,1761518095.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271489,-0.952630,-0.137073],[0.962331,0.266535,0.053644],[-0.014568,-0.146474,0.989107]]
2025-10-26T22:34:55.881Z,1761518095.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.200001 m,
      deltaT: 0.503924 s,
      deltaX: -0.299999 m,
      approachRate: -0.595326 m/s,
      rangeRepo size: 4

2025-10-26T22:34:55.883Z,1761518095.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.014896 m,
      bearing: 59.391133 deg,
      lat: 36.779417 deg,
      lon: -121.859427 deg,
      deltaT: 0.503924 s,
      deltaX: -0.298374 m,
      approachRate: -0.592102 m/s,
      posRepo size: 4

2025-10-26T22:34:55.884Z,1761518095.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-10-26T22:34:55.886Z,1761518095.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.014896 m,
      nav range: 33.729050 m,
      bearing: 59.391009 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015565 deg/s,
      cmd heading: 73.177028 deg,
      new cmd heading: 73.198010 deg.

2025-10-26T22:34:55.903Z,1761518095.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.277546 target range: 34.014896 and range: 34.20 m.
2025-10-26T22:34:55.928Z,1761518095.928 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.786749
2025-10-26T22:34:56.182Z,1761518096.182 [DAT](INFO): DAT read: Rx Time:22:34:54.9631 

2025-10-26T22:34:56.182Z,1761518096.182 [DAT](INFO): Rx dataTimestamp_ set to:1761518096.181934
2025-10-26T22:34:56.184Z,1761518096.184 [DAT](INFO): DAT read: Bearing 216.3, -17.8 (Local)

2025-10-26T22:34:56.184Z,1761518096.184 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.3, -17.8 (Local)

2025-10-26T22:34:56.186Z,1761518096.186 [DAT](INFO): DAT read: Range 11 to 50 :    33.9 m (trip time 22.6 ms) speed 0.4

2025-10-26T22:34:56.191Z,1761518096.191 [DAT](INFO): DAT read: 22:34:54.9631 LVL= 32752, 32753, 23458, 32755, AGC= 64, IDX= 501,-0.46,-0.279,-1.634, 0.454,-0.251, PHS= 0.073,-1.338, 0.660, RAW= 166.6,   6.8, CAL= 166.1,   6.6, ROT= 343.9,  -6.6

2025-10-26T22:34:56.197Z,1761518096.197 [DAT](INFO): got valid direction response:
 22:34:54.9631 LVL= 32752, 32753, 23458, 32755, AGC= 64, IDX= 501,-0.46,-0.279,-1.634, 0.454,-0.251, PHS= 0.073,-1.338, 0.660, RAW= 166.6,   6.8, CAL= 166.1,   6.6, ROT= 343.9,  -6.6

2025-10-26T22:34:56.197Z,1761518096.197 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-26T22:34:56.198Z,1761518096.198 [DAT](INFO): direction in FSK: [0.954412,-0.275477,0.114937]
2025-10-26T22:34:56.198Z,1761518096.198 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:56.202Z,1761518096.202 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.060036
2025-10-26T22:34:56.226Z,1761518096.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273632,-0.951242,-0.142349],[0.961778,0.268999,0.051215],[-0.010427,-0.150923,0.988491]]
2025-10-26T22:34:56.297Z,1761518096.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.900002 m,
      deltaT: 0.504679 s,
      deltaX: -0.299999 m,
      approachRate: -0.594436 m/s,
      rangeRepo size: 4

2025-10-26T22:34:56.304Z,1761518096.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.720375 m,
      bearing: 59.184590 deg,
      lat: 36.779417 deg,
      lon: -121.859427 deg,
      deltaT: 0.504679 s,
      deltaX: -0.294521 m,
      approachRate: -0.583582 m/s,
      posRepo size: 4

2025-10-26T22:34:56.304Z,1761518096.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.72 m.
2025-10-26T22:34:56.307Z,1761518096.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.720375 m,
      nav range: 33.541367 m,
      bearing: 59.375136 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015565 deg/s,
      cmd heading: 73.198010 deg,
      new cmd heading: 73.217467 deg.

2025-10-26T22:34:56.313Z,1761518096.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.277886 target range: 33.720375 and range: 33.90 m.
2025-10-26T22:34:56.433Z,1761518096.433 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.291013
2025-10-26T22:34:56.631Z,1761518096.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275904,-0.950606,-0.142216],[0.961164,0.271887,0.047335],[-0.006331,-0.149753,0.988703]]
2025-10-26T22:34:56.679Z,1761518096.679 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:34:56.681Z,1761518096.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.72 m.
2025-10-26T22:34:56.686Z,1761518096.686 [DAT](INFO): DAT read: Rx Time:22:34:55.4629 

2025-10-26T22:34:56.686Z,1761518096.686 [DAT](INFO): Rx dataTimestamp_ set to:1761518096.685887
2025-10-26T22:34:56.688Z,1761518096.688 [DAT](INFO): DAT read: Bearing 215.9, -17.0 (Local)

2025-10-26T22:34:56.688Z,1761518096.688 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.9, -17.0 (Local)

2025-10-26T22:34:56.690Z,1761518096.690 [DAT](INFO): DAT read: Range 11 to 50 :    33.6 m (trip time 22.4 ms) speed 0.4

2025-10-26T22:34:56.695Z,1761518096.695 [DAT](INFO): DAT read: 22:34:55.4629 LVL= 32752, 32753, 22130, 32755, AGC= 65, IDX= 498, 0.08,-0.982,-2.349,-0.263,-0.967, PHS= 0.087,-1.337, 0.661, RAW= 166.2,   6.7, CAL= 165.6,   6.3, ROT= 344.4,  -6.3

2025-10-26T22:34:56.696Z,1761518096.696 [DAT](INFO): got valid direction response:
 22:34:55.4629 LVL= 32752, 32753, 22130, 32755, AGC= 65, IDX= 498, 0.08,-0.982,-2.349,-0.263,-0.967, PHS= 0.087,-1.337, 0.661, RAW= 166.2,   6.7, CAL= 165.6,   6.3, ROT= 344.4,  -6.3

2025-10-26T22:34:56.696Z,1761518096.696 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-26T22:34:56.697Z,1761518096.697 [DAT](INFO): direction in FSK: [0.957346,-0.267296,0.109734]
2025-10-26T22:34:56.697Z,1761518096.697 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:56.711Z,1761518096.711 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.568838
2025-10-26T22:34:56.713Z,1761518096.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.720375 m,
      nav range: 33.329121 m,
      bearing: 59.341135 deg,
      approach rate: -0.551771 m/s,
      LOS rate: -0.088953 deg/s,
      cmd heading: 73.217470 deg,
      new cmd heading: 73.114819 deg.

2025-10-26T22:34:56.715Z,1761518096.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.276094 target range: 33.720375 and range: 33.90 m.
2025-10-26T22:34:56.937Z,1761518096.937 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.795132
2025-10-26T22:34:57.032Z,1761518097.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277871,-0.950501,-0.139053],[0.960616,0.274627,0.042390],[-0.002104,-0.145355,0.989377]]
2025-10-26T22:34:57.127Z,1761518097.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.599998 m,
      deltaT: 0.503953 s,
      deltaX: -0.300003 m,
      approachRate: -0.595300 m/s,
      rangeRepo size: 4

2025-10-26T22:34:57.133Z,1761518097.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.419552 m,
      bearing: 59.319648 deg,
      lat: 36.779417 deg,
      lon: -121.859427 deg,
      deltaT: 0.503953 s,
      deltaX: -0.300823 m,
      approachRate: -0.596927 m/s,
      posRepo size: 4

2025-10-26T22:34:57.133Z,1761518097.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.42 m.
2025-10-26T22:34:57.137Z,1761518097.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.419552 m,
      nav range: 33.079361 m,
      bearing: 59.275702 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.088953 deg/s,
      cmd heading: 73.114819 deg,
      new cmd heading: 72.996224 deg.

2025-10-26T22:34:57.138Z,1761518097.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274024 target range: 33.419552 and range: 33.60 m.
2025-10-26T22:34:57.190Z,1761518097.190 [DAT](INFO): DAT read: Rx Time:22:34:55.9629 

2025-10-26T22:34:57.191Z,1761518097.191 [DAT](INFO): Rx dataTimestamp_ set to:1761518097.190625
2025-10-26T22:34:57.193Z,1761518097.193 [DAT](INFO): DAT read: Bearing 217.2, -17.3 (Local)

2025-10-26T22:34:57.193Z,1761518097.193 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.2, -17.3 (Local)

2025-10-26T22:34:57.197Z,1761518097.197 [DAT](INFO): DAT read: Range 11 to 50 :    33.6 m (trip time 22.4 ms) speed 0.4

2025-10-26T22:34:57.202Z,1761518097.202 [DAT](INFO): DAT read: 22:34:55.9629 LVL= 32752, 32753, 23266, 32755, AGC= 64, IDX= 498,-0.33,-0.995,-2.330,-0.276,-0.944, PHS= 0.051,-1.341, 0.624, RAW= 166.5,   7.7, CAL= 166.1,   7.7, ROT= 343.9,  -7.7

2025-10-26T22:34:57.203Z,1761518097.203 [DAT](INFO): got valid direction response:
 22:34:55.9629 LVL= 32752, 32753, 23266, 32755, AGC= 64, IDX= 498,-0.33,-0.995,-2.330,-0.276,-0.944, PHS= 0.051,-1.341, 0.624, RAW= 166.5,   7.7, CAL= 166.1,   7.7, ROT= 343.9,  -7.7

2025-10-26T22:34:57.204Z,1761518097.204 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-10-26T22:34:57.205Z,1761518097.205 [DAT](INFO): direction in FSK: [0.952116,-0.274814,0.133986]
2025-10-26T22:34:57.205Z,1761518097.205 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:57.214Z,1761518097.214 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.072546
2025-10-26T22:34:57.440Z,1761518097.440 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.298715
2025-10-26T22:34:57.487Z,1761518097.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.599998 m,
      deltaT: 0.504738 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:34:57.523Z,1761518097.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.419552 m,
      bearing: 59.023779 deg,
      lat: 36.779417 deg,
      lon: -121.859427 deg,
      deltaT: 0.504738 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:34:57.530Z,1761518097.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.42 m.
2025-10-26T22:34:57.553Z,1761518097.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.419552 m,
      nav range: 32.895439 m,
      bearing: 59.246066 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.088953 deg/s,
      cmd heading: 72.996226 deg,
      new cmd heading: 72.900942 deg.

2025-10-26T22:34:57.563Z,1761518097.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.272362 target range: 33.419552 and range: 33.60 m.
2025-10-26T22:34:57.693Z,1761518097.693 [DAT](INFO): DAT read: Rx Time:22:34:56.4626 

2025-10-26T22:34:57.694Z,1761518097.694 [DAT](INFO): Rx dataTimestamp_ set to:1761518097.693559
2025-10-26T22:34:57.695Z,1761518097.695 [DAT](INFO): DAT read: Bearing 217.0, -16.5 (Local)

2025-10-26T22:34:57.696Z,1761518097.696 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.0, -16.5 (Local)

2025-10-26T22:34:57.698Z,1761518097.698 [DAT](INFO): DAT read: Range 11 to 50 :    33.2 m (trip time 22.1 ms) speed 0.4

2025-10-26T22:34:57.705Z,1761518097.705 [DAT](INFO): DAT read: 22:34:56.4626 LVL= 32752, 32753, 24242, 32755, AGC= 65, IDX= 495, 0.10,-0.933,-2.298,-0.225,-0.895, PHS= 0.063,-1.359, 0.625, RAW= 166.0,   7.6, CAL= 165.5,   7.6, ROT= 344.5,  -7.6

2025-10-26T22:34:57.706Z,1761518097.706 [DAT](INFO): got valid direction response:
 22:34:56.4626 LVL= 32752, 32753, 24242, 32755, AGC= 65, IDX= 495, 0.10,-0.933,-2.298,-0.225,-0.895, PHS= 0.063,-1.359, 0.625, RAW= 166.0,   7.6, CAL= 165.5,   7.6, ROT= 344.5,  -7.6

2025-10-26T22:34:57.707Z,1761518097.707 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-10-26T22:34:57.709Z,1761518097.709 [DAT](INFO): direction in FSK: [0.955165,-0.264891,0.132256]
2025-10-26T22:34:57.709Z,1761518097.709 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:57.714Z,1761518097.714 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.572514
2025-10-26T22:34:57.944Z,1761518097.944 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.802834
2025-10-26T22:34:58.106Z,1761518098.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.200001 m,
      deltaT: 0.502934 s,
      deltaX: -0.399998 m,
      approachRate: -0.795328 m/s,
      rangeRepo size: 4

2025-10-26T22:34:58.109Z,1761518098.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.022301 m,
      bearing: 59.606489 deg,
      lat: 36.779417 deg,
      lon: -121.859427 deg,
      deltaT: 0.502934 s,
      deltaX: -0.397251 m,
      approachRate: -0.789867 m/s,
      posRepo size: 4

2025-10-26T22:34:58.109Z,1761518098.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.02 m.
2025-10-26T22:34:58.128Z,1761518098.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.022301 m,
      nav range: 32.562099 m,
      bearing: 59.179107 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.088953 deg/s,
      cmd heading: 72.900945 deg,
      new cmd heading: 72.734723 deg.

2025-10-26T22:34:58.129Z,1761518098.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.269460 target range: 33.022301 and range: 33.20 m.
2025-10-26T22:34:58.199Z,1761518098.199 [DAT](INFO): DAT read:  21874, 32755, AGC= 65, IDX= 511,-0.35,-1.750,-3.118,-1.047,-1.767, PHS= 0.119,-1.306, 0.676, RAW= 165.8,   5.8, CAL= 165.1,   5.1, ROT= 344.9,  -5.1

2025-10-26T22:34:58.200Z,1761518098.200 [DAT](INFO): unknown deviceResponse_:  21874, 32755, AGC= 65, IDX= 511,-0.35,-1.750,-3.118,-1.047,-1.767, PHS= 0.119,-1.306, 0.676, RAW= 165.8,   5.8, CAL= 165.1,   5.1, ROT= 344.9,  -5.1

2025-10-26T22:34:58.200Z,1761518098.200 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=7.058826
2025-10-26T22:34:58.424Z,1761518098.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284015,-0.946751,-0.151652],[0.958700,0.282902,0.029332],[0.015132,-0.153720,0.987999]]
2025-10-26T22:34:58.448Z,1761518098.448 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=7.306814
2025-10-26T22:34:58.463Z,1761518098.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.02 m.
2025-10-26T22:34:58.475Z,1761518098.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.022301 m,
      nav range: 32.374565 m,
      bearing: 59.142862 deg,
      approach rate: -0.555885 m/s,
      LOS rate: -0.108060 deg/s,
      cmd heading: 72.734725 deg,
      new cmd heading: 72.625360 deg.

2025-10-26T22:34:58.482Z,1761518098.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.267552 target range: 33.022301 and range: 33.20 m.
2025-10-26T22:34:58.702Z,1761518098.702 [DAT](INFO): DAT read: Rx Time:22:34:57.4624 

2025-10-26T22:34:58.703Z,1761518098.703 [DAT](INFO): Rx dataTimestamp_ set to:1761518098.702009
2025-10-26T22:34:58.706Z,1761518098.706 [DAT](INFO): DAT read: Bearing 216.2, -15.4 (Local)

2025-10-26T22:34:58.706Z,1761518098.706 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.2, -15.4 (Local)

2025-10-26T22:34:58.709Z,1761518098.709 [DAT](INFO): DAT read: Range 11 to 50 :    32.7 m (trip time 21.8 ms) speed 0.4

2025-10-26T22:34:58.730Z,1761518098.730 [DAT](INFO): DAT read: 22:34:57.4624 LVL= 32448, 32753, 26450, 32755, AGC= 65, IDX= 508,-0.02,-1.729,-3.096,-1.041,-1.705, PHS= 0.077,-1.346, 0.620, RAW= 165.5,   7.4, CAL= 165.0,   7.4, ROT= 345.0,  -7.4

2025-10-26T22:34:58.761Z,1761518098.761 [DAT](INFO): got valid direction response:
 22:34:57.4624 LVL= 32448, 32753, 26450, 32755, AGC= 65, IDX= 508,-0.02,-1.729,-3.096,-1.041,-1.705, PHS= 0.077,-1.346, 0.620, RAW= 165.5,   7.4, CAL= 165.0,   7.4, ROT= 345.0,  -7.4

2025-10-26T22:34:58.762Z,1761518098.762 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-26T22:34:58.763Z,1761518098.763 [DAT](INFO): direction in FSK: [0.957881,-0.256663,0.128796]
2025-10-26T22:34:58.763Z,1761518098.763 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:58.781Z,1761518098.781 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.639660
2025-10-26T22:34:58.873Z,1761518098.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285108,-0.945670,-0.156275],[0.958282,0.284668,0.025672],[0.020209,-0.157075,0.987380]]
2025-10-26T22:34:58.910Z,1761518098.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.700001 m,
      deltaT: 1.008450 s,
      deltaX: -0.500000 m,
      approachRate: -0.495810 m/s,
      rangeRepo size: 4

2025-10-26T22:34:58.913Z,1761518098.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.524979 m,
      bearing: 59.696766 deg,
      lat: 36.779417 deg,
      lon: -121.859427 deg,
      deltaT: 1.008450 s,
      deltaX: -0.497322 m,
      approachRate: -0.493155 m/s,
      posRepo size: 4

2025-10-26T22:34:58.914Z,1761518098.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.52 m.
2025-10-26T22:34:58.917Z,1761518098.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.524979 m,
      nav range: 32.113338 m,
      bearing: 59.140128 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.108060 deg/s,
      cmd heading: 72.625360 deg,
      new cmd heading: 72.474115 deg.

2025-10-26T22:34:58.918Z,1761518098.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.264912 target range: 32.524979 and range: 32.70 m.
2025-10-26T22:34:58.952Z,1761518098.952 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.810691
2025-10-26T22:34:59.205Z,1761518099.205 [DAT](INFO): DAT read: Rx Time:22:34:57.9623 

2025-10-26T22:34:59.205Z,1761518099.205 [DAT](INFO): Rx dataTimestamp_ set to:1761518099.205108
2025-10-26T22:34:59.207Z,1761518099.207 [DAT](INFO): DAT read: Bearing 216.2, -14.8 (Local)

2025-10-26T22:34:59.207Z,1761518099.207 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.2, -14.8 (Local)

2025-10-26T22:34:59.209Z,1761518099.209 [DAT](INFO): DAT read: Range 11 to 50 :    32.6 m (trip time 21.7 ms) speed 0.4

2025-10-26T22:34:59.214Z,1761518099.214 [DAT](INFO): DAT read: 22:34:57.9623 LVL= 32752, 32753, 23682, 32755, AGC= 65, IDX= 507, 0.26, 0.748,-0.641, 1.430, 0.770, PHS= 0.080,-1.366, 0.616, RAW= 165.2,   7.6, CAL= 164.7,   7.6, ROT= 345.3,  -7.6

2025-10-26T22:34:59.215Z,1761518099.215 [DAT](INFO): got valid direction response:
 22:34:57.9623 LVL= 32752, 32753, 23682, 32755, AGC= 65, IDX= 507, 0.26, 0.748,-0.641, 1.430, 0.770, PHS= 0.080,-1.366, 0.616, RAW= 165.2,   7.6, CAL= 164.7,   7.6, ROT= 345.3,  -7.6

2025-10-26T22:34:59.215Z,1761518099.215 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-10-26T22:34:59.216Z,1761518099.216 [DAT](INFO): direction in FSK: [0.958771,-0.251529,0.132256]
2025-10-26T22:34:59.216Z,1761518099.216 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:59.220Z,1761518099.220 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=8.078629
2025-10-26T22:34:59.274Z,1761518099.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287194,-0.943314,-0.166369],[0.957527,0.287388,0.023435],[0.025706,-0.166033,0.985785]]
2025-10-26T22:34:59.334Z,1761518099.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.599998 m,
      deltaT: 0.503099 s,
      deltaX: -0.100002 m,
      approachRate: -0.198773 m/s,
      rangeRepo size: 4

2025-10-26T22:34:59.340Z,1761518099.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.422947 m,
      bearing: 59.973193 deg,
      lat: 36.779416 deg,
      lon: -121.859427 deg,
      deltaT: 0.503099 s,
      deltaX: -0.102032 m,
      approachRate: -0.202806 m/s,
      posRepo size: 4

2025-10-26T22:34:59.341Z,1761518099.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.42 m.
2025-10-26T22:34:59.348Z,1761518099.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.422947 m,
      nav range: 31.820148 m,
      bearing: 59.398208 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.108060 deg/s,
      cmd heading: 72.474113 deg,
      new cmd heading: 72.336778 deg.

2025-10-26T22:34:59.349Z,1761518099.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.262515 target range: 32.422947 and range: 32.60 m.
2025-10-26T22:34:59.457Z,1761518099.457 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=8.315276
2025-10-26T22:34:59.710Z,1761518099.710 [DAT](INFO): DAT read: Rx Time:22:34:58.4620 

2025-10-26T22:34:59.710Z,1761518099.710 [DAT](INFO): Rx dataTimestamp_ set to:1761518099.710083
2025-10-26T22:34:59.713Z,1761518099.713 [DAT](INFO): DAT read: Bearing 213.7, -14.0 (Local)

2025-10-26T22:34:59.713Z,1761518099.713 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.7, -14.0 (Local)

2025-10-26T22:34:59.716Z,1761518099.716 [DAT](INFO): DAT read: Range 11 to 50 :    32.1 m (trip time 21.4 ms) speed 0.4

2025-10-26T22:34:59.723Z,1761518099.723 [DAT](INFO): DAT read: 22:34:58.4620 LVL= 30064, 32753, 23154, 32755, AGC= 64, IDX= 505,-0.27,-2.515, 2.409,-1.838,-2.533, PHS= 0.120,-1.297, 0.650, RAW= 165.3,   6.1, CAL= 164.6,   5.5, ROT= 345.4,  -5.5

2025-10-26T22:34:59.725Z,1761518099.725 [DAT](INFO): got valid direction response:
 22:34:58.4620 LVL= 30064, 32753, 23154, 32755, AGC= 64, IDX= 505,-0.27,-2.515, 2.409,-1.838,-2.533, PHS= 0.120,-1.297, 0.650, RAW= 165.3,   6.1, CAL= 164.6,   5.5, ROT= 345.4,  -5.5

2025-10-26T22:34:59.725Z,1761518099.725 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-26T22:34:59.727Z,1761518099.727 [DAT](INFO): direction in FSK: [0.963254,-0.250909,0.095846]
2025-10-26T22:34:59.727Z,1761518099.727 [DAT](INFO): publishing direction and range info
2025-10-26T22:34:59.740Z,1761518099.740 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.598554
2025-10-26T22:34:59.830Z,1761518099.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.099998 m,
      deltaT: 0.504975 s,
      deltaX: -0.500000 m,
      approachRate: -0.990148 m/s,
      rangeRepo size: 4

2025-10-26T22:34:59.836Z,1761518099.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.925661 m,
      bearing: 59.738496 deg,
      lat: 36.779414 deg,
      lon: -121.859426 deg,
      deltaT: 0.504975 s,
      deltaX: -0.497286 m,
      approachRate: -0.984773 m/s,
      posRepo size: 4

2025-10-26T22:34:59.837Z,1761518099.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m.
2025-10-26T22:34:59.840Z,1761518099.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.925661 m,
      nav range: 31.527185 m,
      bearing: 59.683799 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.108060 deg/s,
      cmd heading: 72.336778 deg,
      new cmd heading: 72.176118 deg.

2025-10-26T22:34:59.840Z,1761518099.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.259711 target range: 31.925661 and range: 32.10 m.
2025-10-26T22:34:59.961Z,1761518099.961 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.818986
2025-10-26T22:35:00.117Z,1761518100.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291200,-0.940881,-0.173047],[0.955978,0.293030,0.015458],[0.036164,-0.169930,0.984792]]
2025-10-26T22:35:00.150Z,1761518100.150 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:35:00.156Z,1761518100.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m.
2025-10-26T22:35:00.158Z,1761518100.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.925661 m,
      nav range: 31.350496 m,
      bearing: 59.660056 deg,
      approach rate: -0.547595 m/s,
      LOS rate: -0.074002 deg/s,
      cmd heading: 72.176118 deg,
      new cmd heading: 72.104485 deg.

2025-10-26T22:35:00.164Z,1761518100.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.258461 target range: 31.925661 and range: 32.10 m.
2025-10-26T22:35:00.214Z,1761518100.214 [DAT](INFO): DAT read: Rx Time:22:34:58.9619 

2025-10-26T22:35:00.215Z,1761518100.215 [DAT](INFO): Rx dataTimestamp_ set to:1761518100.214456
2025-10-26T22:35:00.217Z,1761518100.217 [DAT](INFO): DAT read: Bearing 213.5, -13.4 (Local)

2025-10-26T22:35:00.217Z,1761518100.217 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.5, -13.4 (Local)

2025-10-26T22:35:00.221Z,1761518100.221 [DAT](INFO): DAT read: Range 11 to 50 :    32.0 m (trip time 21.3 ms) speed 0.4

2025-10-26T22:35:00.227Z,1761518100.227 [DAT](INFO): DAT read: 22:34:58.9619 LVL= 32736, 32753, 23906, 32755, AGC= 63, IDX= 503,-0.05,-2.368, 2.559,-1.698,-2.389, PHS= 0.123,-1.290, 0.646, RAW= 165.1,   6.1, CAL= 164.4,   5.5, ROT= 345.6,  -5.5

2025-10-26T22:35:00.229Z,1761518100.229 [DAT](INFO): got valid direction response:
 22:34:58.9619 LVL= 32736, 32753, 23906, 32755, AGC= 63, IDX= 503,-0.05,-2.368, 2.559,-1.698,-2.389, PHS= 0.123,-1.290, 0.646, RAW= 165.1,   6.1, CAL= 164.4,   5.5, ROT= 345.6,  -5.5

2025-10-26T22:35:00.229Z,1761518100.229 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-26T22:35:00.230Z,1761518100.230 [DAT](INFO): direction in FSK: [0.964124,-0.247545,0.095846]
2025-10-26T22:35:00.230Z,1761518100.230 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:00.234Z,1761518100.234 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=9.092434
2025-10-26T22:35:00.464Z,1761518100.464 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=9.322665
2025-10-26T22:35:00.568Z,1761518100.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294120,-0.939651,-0.174783],[0.954907,0.296663,0.011997],[0.040579,-0.170430,0.984534]]
2025-10-26T22:35:00.652Z,1761518100.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.000000 m,
      deltaT: 0.504373 s,
      deltaX: -0.099998 m,
      approachRate: -0.198263 m/s,
      rangeRepo size: 4

2025-10-26T22:35:00.654Z,1761518100.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.826977 m,
      bearing: 59.515113 deg,
      lat: 36.779414 deg,
      lon: -121.859426 deg,
      deltaT: 0.504373 s,
      deltaX: -0.098684 m,
      approachRate: -0.195657 m/s,
      posRepo size: 4

2025-10-26T22:35:00.655Z,1761518100.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.83 m.
2025-10-26T22:35:00.659Z,1761518100.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.826977 m,
      nav range: 31.105392 m,
      bearing: 59.659728 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.074002 deg/s,
      cmd heading: 72.104483 deg,
      new cmd heading: 71.997054 deg.

2025-10-26T22:35:00.668Z,1761518100.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.256586 target range: 31.826977 and range: 32.00 m.
2025-10-26T22:35:00.718Z,1761518100.718 [DAT](INFO): DAT read: Rx Time:22:34:59.4616 

2025-10-26T22:35:00.719Z,1761518100.719 [DAT](INFO): Rx dataTimestamp_ set to:1761518100.718172
2025-10-26T22:35:00.721Z,1761518100.721 [DAT](INFO): DAT read: Bearing 213.1, -13.0 (Local)

2025-10-26T22:35:00.721Z,1761518100.721 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.1, -13.0 (Local)

2025-10-26T22:35:00.724Z,1761518100.724 [DAT](INFO): DAT read: Range 11 to 50 :    31.5 m (trip time 21.0 ms) speed 0.5

2025-10-26T22:35:00.760Z,1761518100.760 [DAT](INFO): DAT read: 22:34:59.4616 LVL= 30672, 32753, 25010, 32755, AGC= 65, IDX= 500, 0.07,-1.725,-3.110,-1.050,-1.752, PHS= 0.130,-1.312, 0.658, RAW= 165.0,   6.0, CAL= 164.3,   5.4, ROT= 345.7,  -5.4

2025-10-26T22:35:00.762Z,1761518100.762 [DAT](INFO): got valid direction response:
 22:34:59.4616 LVL= 30672, 32753, 25010, 32755, AGC= 65, IDX= 500, 0.07,-1.725,-3.110,-1.050,-1.752, PHS= 0.130,-1.312, 0.658, RAW= 165.0,   6.0, CAL= 164.3,   5.4, ROT= 345.7,  -5.4

2025-10-26T22:35:00.762Z,1761518100.762 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-10-26T22:35:00.763Z,1761518100.763 [DAT](INFO): direction in FSK: [0.964715,-0.245902,0.094108]
2025-10-26T22:35:00.763Z,1761518100.763 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:00.774Z,1761518100.774 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.631632
2025-10-26T22:35:00.968Z,1761518100.968 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.826818
2025-10-26T22:35:00.996Z,1761518100.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296811,-0.939083,-0.173282],[0.953895,0.300038,0.007885],[0.044587,-0.167633,0.984841]]
2025-10-26T22:35:01.020Z,1761518101.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.500000 m,
      deltaT: 0.503716 s,
      deltaX: -0.500000 m,
      approachRate: -0.992623 m/s,
      rangeRepo size: 4

2025-10-26T22:35:01.022Z,1761518101.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.329224 m,
      bearing: 59.403909 deg,
      lat: 36.779414 deg,
      lon: -121.859426 deg,
      deltaT: 0.503716 s,
      deltaX: -0.497753 m,
      approachRate: -0.988162 m/s,
      posRepo size: 4

2025-10-26T22:35:01.023Z,1761518101.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.33 m.
2025-10-26T22:35:01.035Z,1761518101.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.329224 m,
      nav range: 30.866215 m,
      bearing: 59.609848 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.074002 deg/s,
      cmd heading: 71.997051 deg,
      new cmd heading: 71.911826 deg.

2025-10-26T22:35:01.055Z,1761518101.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255098 target range: 31.329224 and range: 31.50 m.
2025-10-26T22:35:01.221Z,1761518101.221 [DAT](INFO): DAT read: Rx Time:22:34:59.9615 

2025-10-26T22:35:01.222Z,1761518101.222 [DAT](INFO): Rx dataTimestamp_ set to:1761518101.221284
2025-10-26T22:35:01.223Z,1761518101.223 [DAT](INFO): DAT read: Bearing 213.2, -12.3 (Local)

2025-10-26T22:35:01.223Z,1761518101.223 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.2, -12.3 (Local)

2025-10-26T22:35:01.225Z,1761518101.225 [DAT](INFO): DAT read: Range 11 to 50 :    31.4 m (trip time 20.9 ms) speed 0.5

2025-10-26T22:35:01.230Z,1761518101.230 [DAT](INFO): DAT read: 22:34:59.9615 LVL= 30800, 32753, 24130, 32755, AGC= 63, IDX= 499, 0.17, 1.002,-0.402, 1.665, 0.969, PHS= 0.135,-1.326, 0.651, RAW= 164.6,   6.1, CAL= 163.9,   5.6, ROT= 346.1,  -5.6

2025-10-26T22:35:01.231Z,1761518101.231 [DAT](INFO): got valid direction response:
 22:34:59.9615 LVL= 30800, 32753, 24130, 32755, AGC= 63, IDX= 499, 0.17, 1.002,-0.402, 1.665, 0.969, PHS= 0.135,-1.326, 0.651, RAW= 164.6,   6.1, CAL= 163.9,   5.6, ROT= 346.1,  -5.6

2025-10-26T22:35:01.232Z,1761518101.232 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-26T22:35:01.233Z,1761518101.233 [DAT](INFO): direction in FSK: [0.966084,-0.239082,0.097583]
2025-10-26T22:35:01.233Z,1761518101.233 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:01.237Z,1761518101.237 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=10.095353
2025-10-26T22:35:01.387Z,1761518101.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299952,-0.938337,-0.171910],[0.952751,0.303717,0.004598],[0.047897,-0.165167,0.985102]]
2025-10-26T22:35:01.417Z,1761518101.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.400000 m,
      deltaT: 0.503112 s,
      deltaX: -0.100000 m,
      approachRate: -0.198764 m/s,
      rangeRepo size: 4

2025-10-26T22:35:01.419Z,1761518101.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.229765 m,
      bearing: 59.616899 deg,
      lat: 36.779414 deg,
      lon: -121.859425 deg,
      deltaT: 0.503112 s,
      deltaX: -0.099459 m,
      approachRate: -0.197687 m/s,
      posRepo size: 4

2025-10-26T22:35:01.420Z,1761518101.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.23 m.
2025-10-26T22:35:01.422Z,1761518101.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.229765 m,
      nav range: 30.708797 m,
      bearing: 59.616787 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.074002 deg/s,
      cmd heading: 71.911824 deg,
      new cmd heading: 71.823929 deg.

2025-10-26T22:35:01.424Z,1761518101.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.253564 target range: 31.229765 and range: 31.40 m.
2025-10-26T22:35:01.473Z,1761518101.473 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=10.331550
2025-10-26T22:35:01.599Z,1761518101.599 [RudderServo](ERROR): getPosition uart error serial timeout
2025-10-26T22:35:01.599Z,1761518101.599 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout
2025-10-26T22:35:01.600Z,1761518101.600 [RudderServo] Communications Fault, FailCount= 1
2025-10-26T22:35:01.600Z,1761518101.600 [RudderServo](ERROR): Communications Fault
2025-10-26T22:35:01.675Z,1761518101.675 [CBIT](ERROR): Communications Fault in component: RudderServo
2025-10-26T22:35:01.726Z,1761518101.726 [DAT](INFO): DAT read: Rx Time:22:35:00.4612 

2025-10-26T22:35:01.727Z,1761518101.727 [DAT](INFO): Rx dataTimestamp_ set to:1761518101.726055
2025-10-26T22:35:01.729Z,1761518101.729 [DAT](INFO): DAT read: Bearing 213.6, -11.9 (Local)

2025-10-26T22:35:01.729Z,1761518101.729 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.6, -11.9 (Local)

2025-10-26T22:35:01.732Z,1761518101.732 [DAT](INFO): DAT read: Range 11 to 50 :    31.1 m (trip time 20.7 ms) speed 0.4

2025-10-26T22:35:01.738Z,1761518101.738 [DAT](INFO): DAT read: 22:35:00.4612 LVL= 30112, 32753, 26162, 32755, AGC= 62, IDX= 496, 0.32,-0.026,-1.426, 0.619,-0.052, PHS= 0.127,-1.330, 0.627, RAW= 164.2,   6.6, CAL= 163.6,   6.2, ROT= 346.4,  -6.2

2025-10-26T22:35:01.739Z,1761518101.739 [DAT](INFO): got valid direction response:
 22:35:00.4612 LVL= 30112, 32753, 26162, 32755, AGC= 62, IDX= 496, 0.32,-0.026,-1.426, 0.619,-0.052, PHS= 0.127,-1.330, 0.627, RAW= 164.2,   6.6, CAL= 163.6,   6.2, ROT= 346.4,  -6.2

2025-10-26T22:35:01.739Z,1761518101.739 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-10-26T22:35:01.740Z,1761518101.740 [DAT](INFO): direction in FSK: [0.966276,-0.233767,0.107999]
2025-10-26T22:35:01.741Z,1761518101.741 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:01.744Z,1761518101.744 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.602760
2025-10-26T22:35:01.909Z,1761518101.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.100000 m,
      deltaT: 0.504771 s,
      deltaX: -0.299999 m,
      approachRate: -0.594327 m/s,
      rangeRepo size: 4

2025-10-26T22:35:01.916Z,1761518101.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.931393 m,
      bearing: 60.009765 deg,
      lat: 36.779414 deg,
      lon: -121.859425 deg,
      deltaT: 0.504771 s,
      deltaX: -0.298372 m,
      approachRate: -0.591104 m/s,
      posRepo size: 4

2025-10-26T22:35:01.916Z,1761518101.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m.
2025-10-26T22:35:01.919Z,1761518101.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.931393 m,
      nav range: 30.445654 m,
      bearing: 59.604105 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.074002 deg/s,
      cmd heading: 71.823927 deg,
      new cmd heading: 71.714364 deg.

2025-10-26T22:35:01.924Z,1761518101.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.251652 target range: 30.931393 and range: 31.10 m.
2025-10-26T22:35:01.977Z,1761518101.977 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.835320
2025-10-26T22:35:02.145Z,1761518102.145 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-10-26T22:35:02.145Z,1761518102.145 [RudderServo](INFO): Powering down
2025-10-26T22:35:02.229Z,1761518102.229 [DAT](INFO): DAT read: Rx Time:22:35:00.9611 

2025-10-26T22:35:02.230Z,1761518102.230 [DAT](INFO): Rx dataTimestamp_ set to:1761518102.229454
2025-10-26T22:35:02.231Z,1761518102.231 [DAT](INFO): DAT read: Bearing 212.2, -17.8 (Local)

2025-10-26T22:35:02.231Z,1761518102.231 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.2, -17.8 (Local)

2025-10-26T22:35:02.233Z,1761518102.233 [DAT](INFO): DAT read: Range 11 to 50 :    30.9 m (trip time 20.6 ms) speed 0.5

2025-10-26T22:35:02.238Z,1761518102.238 [DAT](INFO): DAT read: 22:35:00.9611 LVL= 27808, 30817, 24450, 32755, AGC= 61, IDX= 512,-0.41, 0.398,-0.989, 1.329, 0.492, PHS= 0.008,-1.437, 0.793, RAW= 170.3,   6.5, CAL= 169.8,   6.0, ROT= 340.2,  -6.0

2025-10-26T22:35:02.240Z,1761518102.240 [DAT](INFO): got valid direction response:
 22:35:00.9611 LVL= 27808, 30817, 24450, 32755, AGC= 61, IDX= 512,-0.41, 0.398,-0.989, 1.329, 0.492, PHS= 0.008,-1.437, 0.793, RAW= 170.3,   6.5, CAL= 169.8,   6.0, ROT= 340.2,  -6.0

2025-10-26T22:35:02.240Z,1761518102.240 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-26T22:35:02.241Z,1761518102.241 [DAT](INFO): direction in FSK: [0.935727,-0.336882,0.104528]
2025-10-26T22:35:02.241Z,1761518102.241 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:02.245Z,1761518102.245 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=11.103140
2025-10-26T22:35:02.251Z,1761518102.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305859,-0.936797,-0.169886],[0.950576,0.310491,-0.000737],[0.053439,-0.161265,0.985463]]
2025-10-26T22:35:02.319Z,1761518102.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.900000 m,
      deltaT: 0.503399 s,
      deltaX: -0.200001 m,
      approachRate: -0.397301 m/s,
      rangeRepo size: 4

2025-10-26T22:35:02.321Z,1761518102.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.730801 m,
      bearing: 53.344237 deg,
      lat: 36.779415 deg,
      lon: -121.859425 deg,
      deltaT: 0.503399 s,
      deltaX: -0.200592 m,
      approachRate: -0.398475 m/s,
      posRepo size: 4

2025-10-26T22:35:02.322Z,1761518102.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:35:02.333Z,1761518102.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.730801 m,
      nav range: 30.256695 m,
      bearing: 59.496604 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.074002 deg/s,
      cmd heading: 71.714363 deg,
      new cmd heading: 71.624310 deg.

2025-10-26T22:35:02.334Z,1761518102.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.250080 target range: 30.730801 and range: 30.90 m.
2025-10-26T22:35:02.482Z,1761518102.482 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=11.340112
2025-10-26T22:35:02.638Z,1761518102.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308095,-0.935234,-0.174401],[0.949709,0.313130,-0.001429],[0.055947,-0.165190,0.984674]]
2025-10-26T22:35:02.686Z,1761518102.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:35:02.688Z,1761518102.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:35:02.691Z,1761518102.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.730801 m,
      nav range: 30.026779 m,
      bearing: 59.490490 deg,
      approach rate: -0.615050 m/s,
      LOS rate: -0.016480 deg/s,
      cmd heading: 71.624307 deg,
      new cmd heading: 71.605826 deg.

2025-10-26T22:35:02.692Z,1761518102.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.249757 target range: 30.730801 and range: 30.90 m.
2025-10-26T22:35:02.734Z,1761518102.734 [DAT](INFO): DAT read: Rx Time:22:35:01.4609 

2025-10-26T22:35:02.735Z,1761518102.735 [DAT](INFO): Rx dataTimestamp_ set to:1761518102.734224
2025-10-26T22:35:02.736Z,1761518102.736 [DAT](INFO): DAT read: Bearing 212.3, -11.1 (Local)

2025-10-26T22:35:02.737Z,1761518102.737 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.3, -11.1 (Local)

2025-10-26T22:35:02.739Z,1761518102.739 [DAT](INFO): DAT read: Range 11 to 50 :    30.6 m (trip time 20.4 ms) speed 0.5

2025-10-26T22:35:02.744Z,1761518102.744 [DAT](INFO): DAT read: 22:35:01.4609 LVL= 30240, 31473, 25922, 32755, AGC= 62, IDX= 509,-0.22,-1.631,-3.022,-0.996,-1.676, PHS= 0.148,-1.301, 0.636, RAW= 164.0,   6.0, CAL= 163.3,   5.4, ROT= 346.7,  -5.4

2025-10-26T22:35:02.745Z,1761518102.745 [DAT](INFO): got valid direction response:
 22:35:01.4609 LVL= 30240, 31473, 25922, 32755, AGC= 62, IDX= 509,-0.22,-1.631,-3.022,-0.996,-1.676, PHS= 0.148,-1.301, 0.636, RAW= 164.0,   6.0, CAL= 163.3,   5.4, ROT= 346.7,  -5.4

2025-10-26T22:35:02.745Z,1761518102.745 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-26T22:35:02.746Z,1761518102.746 [DAT](INFO): direction in FSK: [0.968860,-0.229028,0.094108]
2025-10-26T22:35:02.747Z,1761518102.747 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:02.763Z,1761518102.763 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.620954
2025-10-26T22:35:02.950Z,1761518102.950 [RudderServo](DEBUG): Initializing EZServoServo.
2025-10-26T22:35:02.984Z,1761518102.984 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.842770
2025-10-26T22:35:03.067Z,1761518103.067 [RudderServo](DEBUG): Initializing RudderServo.
2025-10-26T22:35:03.147Z,1761518103.147 [CBIT](INFO): Clearing failed state for component RudderServo
2025-10-26T22:35:03.147Z,1761518103.147 [RudderServo] No Fault, FailCount= 1
2025-10-26T22:35:03.164Z,1761518103.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310803,-0.933517,-0.178740],[0.948730,0.316087,-0.001145],[0.057566,-0.169220,0.983896]]
2025-10-26T22:35:03.228Z,1761518103.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.600000 m,
      deltaT: 0.504770 s,
      deltaX: -0.299999 m,
      approachRate: -0.594329 m/s,
      rangeRepo size: 4

2025-10-26T22:35:03.230Z,1761518103.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.431883 m,
      bearing: 59.531692 deg,
      lat: 36.779415 deg,
      lon: -121.859425 deg,
      deltaT: 0.504770 s,
      deltaX: -0.298918 m,
      approachRate: -0.592186 m/s,
      posRepo size: 4

2025-10-26T22:35:03.232Z,1761518103.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.43 m.
2025-10-26T22:35:03.234Z,1761518103.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.431883 m,
      nav range: 29.732054 m,
      bearing: 59.484051 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016480 deg/s,
      cmd heading: 71.605825 deg,
      new cmd heading: 71.579170 deg.

2025-10-26T22:35:03.237Z,1761518103.237 [DAT](INFO): DAT read: Rx Time:22:35:01.9608 

2025-10-26T22:35:03.238Z,1761518103.238 [DAT](INFO): Rx dataTimestamp_ set to:1761518103.237343
2025-10-26T22:35:03.239Z,1761518103.239 [DAT](INFO): DAT read: Bearing 212.4, -11.1 (Local)

2025-10-26T22:35:03.239Z,1761518103.239 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.4, -11.1 (Local)

2025-10-26T22:35:03.241Z,1761518103.241 [DAT](INFO): DAT read: Range 11 to 50 :    30.5 m (trip time 20.3 ms) speed 0.4

2025-10-26T22:35:03.246Z,1761518103.246 [DAT](INFO): DAT read: 22:35:01.9608 LVL= 28880, 31777, 26754, 32755, AGC= 61, IDX= 508,-0.07, 0.062,-1.337, 0.698, 0.022, PHS= 0.142,-1.314, 0.631, RAW= 164.0,   6.2, CAL= 163.3,   5.7, ROT= 346.7,  -5.7

2025-10-26T22:35:03.247Z,1761518103.247 [DAT](INFO): got valid direction response:
 22:35:01.9608 LVL= 28880, 31777, 26754, 32755, AGC= 61, IDX= 508,-0.07, 0.062,-1.337, 0.698, 0.022, PHS= 0.142,-1.314, 0.631, RAW= 164.0,   6.2, CAL= 163.3,   5.7, ROT= 346.7,  -5.7

2025-10-26T22:35:03.248Z,1761518103.248 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-10-26T22:35:03.249Z,1761518103.249 [DAT](INFO): direction in FSK: [0.968367,-0.228912,0.099320]
2025-10-26T22:35:03.249Z,1761518103.249 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:03.255Z,1761518103.255 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=12.112996
2025-10-26T22:35:03.260Z,1761518103.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.249292 target range: 30.431883 and range: 30.60 m.
2025-10-26T22:35:03.488Z,1761518103.488 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=12.346641
2025-10-26T22:35:03.749Z,1761518103.749 [DAT](INFO): DAT read: Rx Time:22:35:02.4605 

2025-10-26T22:35:03.750Z,1761518103.750 [DAT](INFO): Rx dataTimestamp_ set to:1761518103.749472
2025-10-26T22:35:03.751Z,1761518103.751 [DAT](INFO): DAT read: Bearing 211.8, -10.7 (Local)

2025-10-26T22:35:03.752Z,1761518103.752 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.8, -10.7 (Local)

2025-10-26T22:35:03.754Z,1761518103.754 [DAT](INFO): DAT read: Range 11 to 50 :    30.0 m (trip time 20.0 ms) speed 0.4

2025-10-26T22:35:03.758Z,1761518103.758 [DAT](INFO): DAT read: 22:35:02.4605 LVL= 29584, 32705, 26034, 32755, AGC= 62, IDX= 505, 0.06,-0.028,-1.442, 0.608,-0.081, PHS= 0.155,-1.317, 0.645, RAW= 163.9,   5.9, CAL= 163.1,   5.3, ROT= 346.9,  -5.3

2025-10-26T22:35:03.760Z,1761518103.760 [DAT](INFO): got valid direction response:
 22:35:02.4605 LVL= 29584, 32705, 26034, 32755, AGC= 62, IDX= 505, 0.06,-0.028,-1.442, 0.608,-0.081, PHS= 0.155,-1.317, 0.645, RAW= 163.9,   5.9, CAL= 163.1,   5.3, ROT= 346.9,  -5.3

2025-10-26T22:35:03.760Z,1761518103.760 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-10-26T22:35:03.761Z,1761518103.761 [DAT](INFO): direction in FSK: [0.969812,-0.225683,0.092371]
2025-10-26T22:35:03.761Z,1761518103.761 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:03.765Z,1761518103.765 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.623284
2025-10-26T22:35:03.779Z,1761518103.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.000000 m,
      deltaT: 1.015248 s,
      deltaX: -0.600000 m,
      approachRate: -0.590989 m/s,
      rangeRepo size: 4

2025-10-26T22:35:03.785Z,1761518103.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.332432 m,
      bearing: 59.578819 deg,
      lat: 36.779415 deg,
      lon: -121.859425 deg,
      deltaT: 0.503119 s,
      deltaX: -0.099451 m,
      approachRate: -0.197669 m/s,
      posRepo size: 4

2025-10-26T22:35:03.786Z,1761518103.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.33 m.
2025-10-26T22:35:03.793Z,1761518103.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.332432 m,
      nav range: 29.498554 m,
      bearing: 59.415735 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016480 deg/s,
      cmd heading: 71.579167 deg,
      new cmd heading: 71.551939 deg.

2025-10-26T22:35:03.794Z,1761518103.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248817 target range: 30.332432 and range: 30.00 m.
2025-10-26T22:35:04.000Z,1761518104.000 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.858690
2025-10-26T22:35:04.022Z,1761518104.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315582,-0.932268,-0.176874],[0.946809,0.321732,-0.006473],[0.062941,-0.165423,0.984212]]
2025-10-26T22:35:04.120Z,1761518104.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.33 m.
2025-10-26T22:35:04.123Z,1761518104.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.332432 m,
      nav range: 29.299553 m,
      bearing: 59.417377 deg,
      approach rate: -0.596792 m/s,
      LOS rate: 0.004957 deg/s,
      cmd heading: 71.551942 deg,
      new cmd heading: 71.556901 deg.

2025-10-26T22:35:04.128Z,1761518104.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248904 target range: 30.332432 and range: 30.00 m.
2025-10-26T22:35:04.253Z,1761518104.253 [DAT](INFO): DAT read: Rx Time:22:35:02.9603 

2025-10-26T22:35:04.253Z,1761518104.253 [DAT](INFO): Rx dataTimestamp_ set to:1761518104.253102
2025-10-26T22:35:04.255Z,1761518104.255 [DAT](INFO): DAT read: Bearing 211.4, -10.3 (Local)

2025-10-26T22:35:04.255Z,1761518104.255 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.4, -10.3 (Local)

2025-10-26T22:35:04.257Z,1761518104.257 [DAT](INFO): DAT read: Range 11 to 50 :    29.7 m (trip time 19.8 ms) speed 0.4

2025-10-26T22:35:04.262Z,1761518104.262 [DAT](INFO): DAT read: 22:35:02.9603 LVL= 29792, 32193, 25890, 32755, AGC= 62, IDX= 503, 0.23,-0.309,-1.725, 0.320,-0.372, PHS= 0.165,-1.308, 0.648, RAW= 163.7,   5.7, CAL= 162.9,   5.0, ROT= 347.1,  -5.0

2025-10-26T22:35:04.263Z,1761518104.263 [DAT](INFO): got valid direction response:
 22:35:02.9603 LVL= 29792, 32193, 25890, 32755, AGC= 62, IDX= 503, 0.23,-0.309,-1.725, 0.320,-0.372, PHS= 0.165,-1.308, 0.648, RAW= 163.7,   5.7, CAL= 162.9,   5.0, ROT= 347.1,  -5.0

2025-10-26T22:35:04.266Z,1761518104.266 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-10-26T22:35:04.267Z,1761518104.267 [DAT](INFO): direction in FSK: [0.971052,-0.222401,0.087156]
2025-10-26T22:35:04.276Z,1761518104.276 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:04.286Z,1761518104.286 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=13.144294
2025-10-26T22:35:04.427Z,1761518104.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317415,-0.931350,-0.178424],[0.946079,0.323852,-0.007400],[0.064675,-0.166455,0.983926]]
2025-10-26T22:35:04.457Z,1761518104.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.503630 s,
      deltaX: -0.299999 m,
      approachRate: -0.595674 m/s,
      rangeRepo size: 4

2025-10-26T22:35:04.459Z,1761518104.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.537291 m,
      bearing: 59.426461 deg,
      lat: 36.779415 deg,
      lon: -121.859425 deg,
      deltaT: 1.015759 s,
      deltaX: -0.795141 m,
      approachRate: -0.782805 m/s,
      posRepo size: 4

2025-10-26T22:35:04.459Z,1761518104.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.54 m.
2025-10-26T22:35:04.462Z,1761518104.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.537291 m,
      nav range: 29.099741 m,
      bearing: 59.383397 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004957 deg/s,
      cmd heading: 71.556900 deg,
      new cmd heading: 71.562023 deg.

2025-10-26T22:35:04.463Z,1761518104.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248993 target range: 29.537291 and range: 29.70 m.
2025-10-26T22:35:04.505Z,1761518104.505 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=13.362821
2025-10-26T22:35:04.757Z,1761518104.757 [DAT](INFO): DAT read: Rx Time:22:35:03.4600 

2025-10-26T22:35:04.757Z,1761518104.757 [DAT](INFO): Rx dataTimestamp_ set to:1761518104.757175
2025-10-26T22:35:04.759Z,1761518104.759 [DAT](INFO): DAT read: Bearing 213.1, -10.4 (Local)

2025-10-26T22:35:04.759Z,1761518104.759 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.1, -10.4 (Local)

2025-10-26T22:35:04.761Z,1761518104.761 [DAT](INFO): DAT read: Range 11 to 50 :    29.3 m (trip time 19.5 ms) speed 0.5

2025-10-26T22:35:04.766Z,1761518104.766 [DAT](INFO): DAT read: 22:35:03.4600 LVL= 32752, 32753, 31410, 32755, AGC= 61, IDX= 500, 0.39,-1.840, 3.044,-1.227,-1.867, PHS= 0.129,-1.328, 0.596, RAW= 163.4,   7.0, CAL= 162.9,   6.8, ROT= 347.1,  -6.8

2025-10-26T22:35:04.767Z,1761518104.767 [DAT](INFO): got valid direction response:
 22:35:03.4600 LVL= 32752, 32753, 31410, 32755, AGC= 61, IDX= 500, 0.39,-1.840, 3.044,-1.227,-1.867, PHS= 0.129,-1.328, 0.596, RAW= 163.4,   7.0, CAL= 162.9,   6.8, ROT= 347.1,  -6.8

2025-10-26T22:35:04.767Z,1761518104.767 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-10-26T22:35:04.768Z,1761518104.768 [DAT](INFO): direction in FSK: [0.967904,-0.221680,0.118404]
2025-10-26T22:35:04.769Z,1761518104.769 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:04.777Z,1761518104.777 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.634033
2025-10-26T22:35:04.834Z,1761518104.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318188,-0.931304,-0.177284],[0.945684,0.324943,-0.009671],[0.066614,-0.164577,0.984112]]
2025-10-26T22:35:04.932Z,1761518104.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.299999 m,
      deltaT: 0.504073 s,
      deltaX: -0.400002 m,
      approachRate: -0.793539 m/s,
      rangeRepo size: 4

2025-10-26T22:35:04.934Z,1761518104.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.139481 m,
      bearing: 59.633037 deg,
      lat: 36.779415 deg,
      lon: -121.859425 deg,
      deltaT: 0.504073 s,
      deltaX: -0.397810 m,
      approachRate: -0.789191 m/s,
      posRepo size: 4

2025-10-26T22:35:04.935Z,1761518104.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.14 m.
2025-10-26T22:35:04.942Z,1761518104.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.139481 m,
      nav range: 28.852139 m,
      bearing: 59.421436 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004957 deg/s,
      cmd heading: 71.562023 deg,
      new cmd heading: 71.569027 deg.

2025-10-26T22:35:04.943Z,1761518104.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.249115 target range: 29.139481 and range: 29.30 m.
2025-10-26T22:35:05.009Z,1761518105.009 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.866834
2025-10-26T22:35:05.261Z,1761518105.261 [DAT](INFO): DAT read: Rx Time:22:35:03.9599 

2025-10-26T22:35:05.261Z,1761518105.261 [DAT](INFO): Rx dataTimestamp_ set to:1761518105.261207
2025-10-26T22:35:05.263Z,1761518105.263 [DAT](INFO): DAT read: Bearing 211.8,  -9.8 (Local)

2025-10-26T22:35:05.263Z,1761518105.263 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.8,  -9.8 (Local)

2025-10-26T22:35:05.265Z,1761518105.265 [DAT](INFO): DAT read: Range 11 to 50 :    29.1 m (trip time 19.4 ms) speed 0.5

2025-10-26T22:35:05.270Z,1761518105.270 [DAT](INFO): DAT read: 22:35:03.9599 LVL= 30944, 32753, 27506, 32755, AGC= 62, IDX= 500,-0.34,-2.380, 2.514,-1.771,-2.433, PHS= 0.155,-1.290, 0.618, RAW= 163.4,   6.1, CAL= 162.7,   5.5, ROT= 347.3,  -5.5

2025-10-26T22:35:05.271Z,1761518105.271 [DAT](INFO): got valid direction response:
 22:35:03.9599 LVL= 30944, 32753, 27506, 32755, AGC= 62, IDX= 500,-0.34,-2.380, 2.514,-1.771,-2.433, PHS= 0.155,-1.290, 0.618, RAW= 163.4,   6.1, CAL= 162.7,   5.5, ROT= 347.3,  -5.5

2025-10-26T22:35:05.271Z,1761518105.271 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-10-26T22:35:05.272Z,1761518105.272 [DAT](INFO): direction in FSK: [0.971043,-0.218834,0.095846]
2025-10-26T22:35:05.273Z,1761518105.273 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:05.284Z,1761518105.284 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=14.142726
2025-10-26T22:35:05.487Z,1761518105.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.100000 m,
      deltaT: 0.504032 s,
      deltaX: -0.199999 m,
      approachRate: -0.396798 m/s,
      rangeRepo size: 4

2025-10-26T22:35:05.489Z,1761518105.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.940659 m,
      bearing: 59.636102 deg,
      lat: 36.779415 deg,
      lon: -121.859426 deg,
      deltaT: 0.504032 s,
      deltaX: -0.198822 m,
      approachRate: -0.394463 m/s,
      posRepo size: 4

2025-10-26T22:35:05.490Z,1761518105.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.94 m.
2025-10-26T22:35:05.492Z,1761518105.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.940659 m,
      nav range: 28.480019 m,
      bearing: 59.458659 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004957 deg/s,
      cmd heading: 71.569031 deg,
      new cmd heading: 71.577344 deg.

2025-10-26T22:35:05.493Z,1761518105.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.249260 target range: 28.940659 and range: 29.10 m.
2025-10-26T22:35:05.512Z,1761518105.512 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=14.370801
2025-10-26T22:35:05.769Z,1761518105.769 [DAT](INFO): DAT read: Rx Time:22:35:04.4597 

2025-10-26T22:35:05.770Z,1761518105.770 [DAT](INFO): Rx dataTimestamp_ set to:1761518105.769396
2025-10-26T22:35:05.772Z,1761518105.772 [DAT](INFO): DAT read: Bearing 211.1,  -9.7 (Local)

2025-10-26T22:35:05.773Z,1761518105.773 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.1,  -9.7 (Local)

2025-10-26T22:35:05.776Z,1761518105.776 [DAT](INFO): DAT read: Range 11 to 50 :    28.8 m (trip time 19.2 ms) speed 0.5

2025-10-26T22:35:05.782Z,1761518105.782 [DAT](INFO): DAT read: 22:35:04.4597 LVL= 29648, 30673, 26434, 32755, AGC= 62, IDX= 497,-0.13, 2.685, 1.289,-2.980, 2.623, PHS= 0.164,-1.289, 0.637, RAW= 163.6,   5.7, CAL= 162.8,   5.0, ROT= 347.2,  -5.0

2025-10-26T22:35:05.788Z,1761518105.788 [DAT](INFO): got valid direction response:
 22:35:04.4597 LVL= 29648, 30673, 26434, 32755, AGC= 62, IDX= 497,-0.13, 2.685, 1.289,-2.980, 2.623, PHS= 0.164,-1.289, 0.637, RAW= 163.6,   5.7, CAL= 162.8,   5.0, ROT= 347.2,  -5.0

2025-10-26T22:35:05.788Z,1761518105.788 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-10-26T22:35:05.789Z,1761518105.789 [DAT](INFO): direction in FSK: [0.971439,-0.220705,0.087156]
2025-10-26T22:35:05.790Z,1761518105.790 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:05.798Z,1761518105.798 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.656291
2025-10-26T22:35:05.951Z,1761518105.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.799999 m,
      deltaT: 0.508189 s,
      deltaX: -0.300001 m,
      approachRate: -0.590334 m/s,
      rangeRepo size: 4

2025-10-26T22:35:05.961Z,1761518105.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.642300 m,
      bearing: 59.460147 deg,
      lat: 36.779415 deg,
      lon: -121.859426 deg,
      deltaT: 0.508189 s,
      deltaX: -0.298359 m,
      approachRate: -0.587102 m/s,
      posRepo size: 4

2025-10-26T22:35:05.962Z,1761518105.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.64 m.
2025-10-26T22:35:05.969Z,1761518105.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.642300 m,
      nav range: 28.188086 m,
      bearing: 59.519981 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004957 deg/s,
      cmd heading: 71.577343 deg,
      new cmd heading: 71.584250 deg.

2025-10-26T22:35:05.970Z,1761518105.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.249381 target range: 28.642300 and range: 28.80 m.
2025-10-26T22:35:06.016Z,1761518106.016 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.874771
2025-10-26T22:35:06.269Z,1761518106.269 [DAT](INFO): DAT read: Rx Time:22:35:04.9596 

2025-10-26T22:35:06.269Z,1761518106.269 [DAT](INFO): Rx dataTimestamp_ set to:1761518106.269214
2025-10-26T22:35:06.271Z,1761518106.271 [DAT](INFO): DAT read: Bearing 211.2,  -9.2 (Local)

2025-10-26T22:35:06.271Z,1761518106.271 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.2,  -9.2 (Local)

2025-10-26T22:35:06.273Z,1761518106.273 [DAT](INFO): DAT read: Range 11 to 50 :    28.7 m (trip time 19.1 ms) speed 0.5

2025-10-26T22:35:06.283Z,1761518106.283 [DAT](INFO): DAT read: 22:35:04.9596 LVL= 28224, 31889, 27490, 32755, AGC= 61, IDX= 512, 0.02,-0.741,-2.266,-0.102,-0.826, PHS= 0.187,-1.394, 0.681, RAW= 163.2,   5.7, CAL= 162.4,   5.0, ROT= 347.6,  -5.0

2025-10-26T22:35:06.295Z,1761518106.295 [DAT](INFO): got valid direction response:
 22:35:04.9596 LVL= 28224, 31889, 27490, 32755, AGC= 61, IDX= 512, 0.02,-0.741,-2.266,-0.102,-0.826, PHS= 0.187,-1.394, 0.681, RAW= 163.2,   5.7, CAL= 162.4,   5.0, ROT= 347.6,  -5.0

2025-10-26T22:35:06.295Z,1761518106.295 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-10-26T22:35:06.296Z,1761518106.296 [DAT](INFO): direction in FSK: [0.972956,-0.213918,0.087156]
2025-10-26T22:35:06.296Z,1761518106.296 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:06.309Z,1761518106.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319845,-0.930113,-0.180524],[0.944748,0.327516,-0.013595],[0.071770,-0.166201,0.983477]]
2025-10-26T22:35:06.317Z,1761518106.317 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=15.175242
2025-10-26T22:35:06.402Z,1761518106.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.700001 m,
      deltaT: 0.499818 s,
      deltaX: -0.099998 m,
      approachRate: -0.200070 m/s,
      rangeRepo size: 4

2025-10-26T22:35:06.409Z,1761518106.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.542801 m,
      bearing: 59.754072 deg,
      lat: 36.779414 deg,
      lon: -121.859426 deg,
      deltaT: 0.499818 s,
      deltaX: -0.099499 m,
      approachRate: -0.199070 m/s,
      posRepo size: 4

2025-10-26T22:35:06.409Z,1761518106.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.54 m.
2025-10-26T22:35:06.416Z,1761518106.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.542801 m,
      nav range: 27.925758 m,
      bearing: 59.645037 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004957 deg/s,
      cmd heading: 71.584248 deg,
      new cmd heading: 71.590959 deg.

2025-10-26T22:35:06.417Z,1761518106.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.249498 target range: 28.542801 and range: 28.70 m.
2025-10-26T22:35:06.521Z,1761518106.521 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=15.379663
2025-10-26T22:35:06.741Z,1761518106.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319901,-0.931190,-0.174782],[0.944580,0.327808,-0.017622],[0.073704,-0.159458,0.984449]]
2025-10-26T22:35:06.773Z,1761518106.773 [DAT](INFO): DAT read: Rx Time:22:35:05.4593 

2025-10-26T22:35:06.774Z,1761518106.774 [DAT](INFO): Rx dataTimestamp_ set to:1761518106.773209
2025-10-26T22:35:06.780Z,1761518106.780 [DAT](INFO): DAT read: Bearing 211.3,  -9.5 (Local)

2025-10-26T22:35:06.780Z,1761518106.780 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.3,  -9.5 (Local)

2025-10-26T22:35:06.782Z,1761518106.782 [DAT](INFO): DAT read: Range 11 to 50 :    28.2 m (trip time 18.8 ms) speed 0.4

2025-10-26T22:35:06.787Z,1761518106.787 [DAT](INFO): DAT read: 22:35:05.4593 LVL= 29504, 32753, 24210, 32755, AGC= 63, IDX= 509, 0.22,-2.162, 2.704,-1.537,-2.223, PHS= 0.163,-1.311, 0.642, RAW= 163.6,   5.8, CAL= 162.9,   5.2, ROT= 347.1,  -5.2

2025-10-26T22:35:06.792Z,1761518106.792 [DAT](INFO): got valid direction response:
 22:35:05.4593 LVL= 29504, 32753, 24210, 32755, AGC= 63, IDX= 509, 0.22,-2.162, 2.704,-1.537,-2.223, PHS= 0.163,-1.311, 0.642, RAW= 163.6,   5.8, CAL= 162.9,   5.2, ROT= 347.1,  -5.2

2025-10-26T22:35:06.792Z,1761518106.792 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-10-26T22:35:06.793Z,1761518106.793 [DAT](INFO): direction in FSK: [0.970749,-0.222331,0.090633]
2025-10-26T22:35:06.794Z,1761518106.794 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:06.830Z,1761518106.830 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.687902
2025-10-26T22:35:06.930Z,1761518106.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.200001 m,
      deltaT: 0.503995 s,
      deltaX: -0.500000 m,
      approachRate: -0.992073 m/s,
      rangeRepo size: 4

2025-10-26T22:35:06.936Z,1761518106.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.045538 m,
      bearing: 59.223996 deg,
      lat: 36.779414 deg,
      lon: -121.859427 deg,
      deltaT: 0.503995 s,
      deltaX: -0.497263 m,
      approachRate: -0.986643 m/s,
      posRepo size: 4

2025-10-26T22:35:06.937Z,1761518106.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.05 m.
2025-10-26T22:35:06.943Z,1761518106.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.045538 m,
      nav range: 27.581322 m,
      bearing: 59.603820 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004957 deg/s,
      cmd heading: 71.590956 deg,
      new cmd heading: 71.598798 deg.

2025-10-26T22:35:06.944Z,1761518106.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.249635 target range: 28.045538 and range: 28.20 m.
2025-10-26T22:35:07.025Z,1761518107.025 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.883037
2025-10-26T22:35:07.181Z,1761518107.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320210,-0.932184,-0.168816],[0.944339,0.328273,-0.021468],[0.075430,-0.152545,0.985414]]
2025-10-26T22:35:07.230Z,1761518107.230 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:35:07.233Z,1761518107.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.05 m.
2025-10-26T22:35:07.236Z,1761518107.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.045538 m,
      nav range: 27.409996 m,
      bearing: 59.615428 deg,
      approach rate: -0.563851 m/s,
      LOS rate: 0.038440 deg/s,
      cmd heading: 71.598797 deg,
      new cmd heading: 71.633837 deg.

2025-10-26T22:35:07.237Z,1761518107.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.250246 target range: 28.045538 and range: 28.20 m.
2025-10-26T22:35:07.277Z,1761518107.277 [DAT](INFO): DAT read: Rx Time:22:35:05.9592 

2025-10-26T22:35:07.278Z,1761518107.278 [DAT](INFO): Rx dataTimestamp_ set to:1761518107.277279
2025-10-26T22:35:07.279Z,1761518107.279 [DAT](INFO): DAT read: Bearing 211.2,  -9.4 (Local)

2025-10-26T22:35:07.279Z,1761518107.279 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.2,  -9.4 (Local)

2025-10-26T22:35:07.281Z,1761518107.281 [DAT](INFO): DAT read: Range 11 to 50 :    28.1 m (trip time 18.7 ms) speed 0.4

2025-10-26T22:35:07.287Z,1761518107.287 [DAT](INFO): DAT read: 22:35:05.9592 LVL= 29200, 31153, 26722, 32755, AGC= 62, IDX= 509,-0.34, 2.835, 1.445,-2.830, 2.776, PHS= 0.161,-1.286, 0.634, RAW= 163.7,   5.7, CAL= 162.9,   5.1, ROT= 347.1,  -5.1

2025-10-26T22:35:07.289Z,1761518107.289 [DAT](INFO): got valid direction response:
 22:35:05.9592 LVL= 29200, 31153, 26722, 32755, AGC= 62, IDX= 509,-0.34, 2.835, 1.445,-2.830, 2.776, PHS= 0.161,-1.286, 0.634, RAW= 163.7,   5.7, CAL= 162.9,   5.1, ROT= 347.1,  -5.1

2025-10-26T22:35:07.290Z,1761518107.290 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-10-26T22:35:07.291Z,1761518107.291 [DAT](INFO): direction in FSK: [0.970902,-0.222366,0.088894]
2025-10-26T22:35:07.292Z,1761518107.292 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:07.305Z,1761518107.305 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=16.163561
2025-10-26T22:35:07.533Z,1761518107.533 [DAT](INFO): DAT read: Rx Time:22:35:06.4590 

2025-10-26T22:35:07.535Z,1761518107.535 [DAT](INFO): Rx dataTimestamp_ set to:1761518107.533794
2025-10-26T22:35:07.537Z,1761518107.537 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=16.395187
2025-10-26T22:35:07.712Z,1761518107.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.100000 m,
      deltaT: 0.504070 s,
      deltaX: -0.100000 m,
      approachRate: -0.198386 m/s,
      rangeRepo size: 4

2025-10-26T22:35:07.716Z,1761518107.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.946156 m,
      bearing: 59.136474 deg,
      lat: 36.779415 deg,
      lon: -121.859426 deg,
      deltaT: 0.504070 s,
      deltaX: -0.099382 m,
      approachRate: -0.197160 m/s,
      posRepo size: 4

2025-10-26T22:35:07.717Z,1761518107.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.95 m.
2025-10-26T22:35:07.721Z,1761518107.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.946156 m,
      nav range: 27.238815 m,
      bearing: 59.584816 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038440 deg/s,
      cmd heading: 71.633836 deg,
      new cmd heading: 71.688939 deg.

2025-10-26T22:35:07.723Z,1761518107.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.251208 target range: 27.946156 and range: 28.10 m.
2025-10-26T22:35:07.781Z,1761518107.781 [DAT](INFO): DAT read: Bearing 213.5,  -9.4 (Local)

2025-10-26T22:35:07.782Z,1761518107.782 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.5,  -9.4 (Local)

2025-10-26T22:35:07.785Z,1761518107.785 [DAT](INFO): DAT read: Range 11 to 50 :    27.8 m (trip time 18.5 ms) speed 0.4

2025-10-26T22:35:07.790Z,1761518107.790 [DAT](INFO): DAT read: 22:35:06.4590 LVL= 32752, 32753, 31442, 32755, AGC= 61, IDX= 506,-0.05, 1.840, 0.452, 2.439, 1.820, PHS= 0.122,-1.323, 0.575, RAW= 163.2,   7.3, CAL= 162.7,   7.3, ROT= 347.3,  -7.3

2025-10-26T22:35:07.793Z,1761518107.793 [DAT](INFO): got valid direction response:
 22:35:06.4590 LVL= 32752, 32753, 31442, 32755, AGC= 61, IDX= 506,-0.05, 1.840, 0.452, 2.439, 1.820, PHS= 0.122,-1.323, 0.575, RAW= 163.2,   7.3, CAL= 162.7,   7.3, ROT= 347.3,  -7.3

2025-10-26T22:35:07.793Z,1761518107.793 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-10-26T22:35:07.794Z,1761518107.794 [DAT](INFO): direction in FSK: [0.967627,-0.218065,0.127065]
2025-10-26T22:35:07.795Z,1761518107.795 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:07.814Z,1761518107.814 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.672237
2025-10-26T22:35:08.036Z,1761518108.036 [DAT](INFO): DAT read: Rx Time:22:35:06.9588 

2025-10-26T22:35:08.038Z,1761518108.038 [DAT](INFO): Rx dataTimestamp_ set to:1761518108.036858
2025-10-26T22:35:08.041Z,1761518108.041 [DAT](INFO): DAT read: Bearing 211.3,  -9.1 (Local)

2025-10-26T22:35:08.042Z,1761518108.042 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.3,  -9.1 (Local)

2025-10-26T22:35:08.044Z,1761518108.044 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.902294
2025-10-26T22:35:08.101Z,1761518108.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321889,-0.934243,-0.153551],[0.943368,0.330235,-0.031650],[0.080277,-0.134667,0.987634]]
2025-10-26T22:35:08.196Z,1761518108.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.799999 m,
      deltaT: 0.502695 s,
      deltaX: -0.300001 m,
      approachRate: -0.596786 m/s,
      rangeRepo size: 4

2025-10-26T22:35:08.198Z,1761518108.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.647711 m,
      bearing: 59.359231 deg,
      lat: 36.779415 deg,
      lon: -121.859427 deg,
      deltaT: 0.502695 s,
      deltaX: -0.298445 m,
      approachRate: -0.593690 m/s,
      posRepo size: 4

2025-10-26T22:35:08.199Z,1761518108.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-10-26T22:35:08.206Z,1761518108.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.647711 m,
      nav range: 26.969208 m,
      bearing: 59.459016 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038440 deg/s,
      cmd heading: 71.688942 deg,
      new cmd heading: 71.744357 deg.

2025-10-26T22:35:08.207Z,1761518108.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.252175 target range: 27.647711 and range: 27.80 m.
2025-10-26T22:35:08.287Z,1761518108.287 [DAT](INFO): DAT read: Range 11 to 50 :    27.5 m (trip time 18.3 ms) speed 0.4

2025-10-26T22:35:08.292Z,1761518108.292 [DAT](INFO): DAT read: 22:35:06.9588 LVL= 28144, 32753, 24834, 32755, AGC= 63, IDX= 504, 0.28, 3.098, 1.676,-2.555, 3.035, PHS= 0.165,-1.314, 0.650, RAW= 163.7,   5.7, CAL= 162.9,   5.0, ROT= 347.1,  -5.0

2025-10-26T22:35:08.293Z,1761518108.293 [DAT](INFO): got valid direction response:
 22:35:06.9588 LVL= 28144, 32753, 24834, 32755, AGC= 63, IDX= 504, 0.28, 3.098, 1.676,-2.555, 3.035, PHS= 0.165,-1.314, 0.650, RAW= 163.7,   5.7, CAL= 162.9,   5.0, ROT= 347.1,  -5.0

2025-10-26T22:35:08.294Z,1761518108.294 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-10-26T22:35:08.295Z,1761518108.295 [DAT](INFO): direction in FSK: [0.971052,-0.222401,0.087156]
2025-10-26T22:35:08.296Z,1761518108.296 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:08.301Z,1761518108.301 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=17.159212
2025-10-26T22:35:08.531Z,1761518108.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323017,-0.933823,-0.153734],[0.942908,0.331481,-0.032326],[0.081147,-0.134515,0.987583]]
2025-10-26T22:35:08.549Z,1761518108.549 [DAT](INFO): DAT read: Rx Time:22:35:07.4585 

2025-10-26T22:35:08.550Z,1761518108.550 [DAT](INFO): Rx dataTimestamp_ set to:1761518108.549290
2025-10-26T22:35:08.554Z,1761518108.554 [DAT](INFO): DAT read: Bearing 212.0,  -9.3 (Local)

2025-10-26T22:35:08.560Z,1761518108.560 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.0,  -9.3 (Local)

2025-10-26T22:35:08.574Z,1761518108.574 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.4

2025-10-26T22:35:08.585Z,1761518108.585 [DAT](ERROR): #Rx 30: Read range message, but no direction.
2025-10-26T22:35:08.596Z,1761518108.596 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.454086
2025-10-26T22:35:08.732Z,1761518108.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.769316 s,
      deltaX: -0.799999 m,
      approachRate: -1.039884 m/s,
      rangeRepo size: 4

2025-10-26T22:35:08.735Z,1761518108.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.852093 m,
      bearing: 58.810509 deg,
      lat: 36.779415 deg,
      lon: -121.859428 deg,
      deltaT: 0.769316 s,
      deltaX: -0.795618 m,
      approachRate: -1.034189 m/s,
      posRepo size: 4

2025-10-26T22:35:08.737Z,1761518108.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.85 m.
2025-10-26T22:35:08.748Z,1761518108.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.852093 m,
      nav range: 26.667784 m,
      bearing: 59.366436 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038440 deg/s,
      cmd heading: 71.744355 deg,
      new cmd heading: 71.805591 deg.

2025-10-26T22:35:08.749Z,1761518108.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.253244 target range: 26.852093 and range: 27.00 m.
2025-10-26T22:35:08.793Z,1761518108.793 [DAT](INFO): DAT read: 22:35:07.4585 LVL= 29584, 32753, 24962, 32755, AGC= 63, IDX= 502,-0.20, 0.006,-1.385, 0.630,-0.037, PHS= 0.145,-1.303, 0.623, RAW= 163.8,   6.2, CAL= 163.1,   5.7, ROT= 346.9,  -5.7

2025-10-26T22:35:08.795Z,1761518108.795 [DAT](INFO): got valid direction response:
 22:35:07.4585 LVL= 29584, 32753, 24962, 32755, AGC= 63, IDX= 502,-0.20, 0.006,-1.385, 0.630,-0.037, PHS= 0.145,-1.303, 0.623, RAW= 163.8,   6.2, CAL= 163.1,   5.7, ROT= 346.9,  -5.7

2025-10-26T22:35:08.796Z,1761518108.796 [DAT](INFO): #Rx 31: Read direction message, but no range.
2025-10-26T22:35:08.797Z,1761518108.797 [DAT](INFO): direction in FSK: [0.969160,-0.225531,0.099320]
2025-10-26T22:35:08.803Z,1761518108.803 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.660534
2025-10-26T22:35:09.044Z,1761518109.044 [DAT](INFO): DAT read: Rx Time:22:35:07.9585 

2025-10-26T22:35:09.046Z,1761518109.046 [DAT](INFO): Rx dataTimestamp_ set to:1761518109.044918
2025-10-26T22:35:09.050Z,1761518109.050 [DAT](INFO): DAT read: Bearing 213.2,  -9.4 (Local)

2025-10-26T22:35:09.051Z,1761518109.051 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.2,  -9.4 (Local)

2025-10-26T22:35:09.057Z,1761518109.057 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.4

2025-10-26T22:35:09.060Z,1761518109.060 [DAT](ERROR): #Rx 32: Read range message, but no direction.
2025-10-26T22:35:09.080Z,1761518109.080 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.921476
2025-10-26T22:35:09.125Z,1761518109.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323221,-0.933385,-0.155948],[0.942732,0.331936,-0.032783],[0.082364,-0.136421,0.987221]]
2025-10-26T22:35:09.236Z,1761518109.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.495628 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:35:09.238Z,1761518109.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.851843 m,
      bearing: 58.687226 deg,
      lat: 36.779415 deg,
      lon: -121.859429 deg,
      deltaT: 0.495628 s,
      deltaX: -0.000250 m,
      approachRate: -0.000504 m/s,
      posRepo size: 4

2025-10-26T22:35:09.243Z,1761518109.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.85 m.
2025-10-26T22:35:09.246Z,1761518109.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.851843 m,
      nav range: 26.308786 m,
      bearing: 59.215603 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038440 deg/s,
      cmd heading: 71.805594 deg,
      new cmd heading: 71.864792 deg.

2025-10-26T22:35:09.247Z,1761518109.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254277 target range: 26.851843 and range: 27.00 m.
2025-10-26T22:35:09.296Z,1761518109.296 [DAT](INFO): DAT read: 22:35:07.9585 LVL= 28880, 32753, 26098, 32755, AGC= 61, IDX= 501, 0.14, 2.331, 0.925, 2.955, 2.312, PHS= 0.121,-1.342, 0.599, RAW= 163.7,   7.2, CAL= 163.1,   7.0, ROT= 346.9,  -7.0

2025-10-26T22:35:09.297Z,1761518109.297 [DAT](INFO): got valid direction response:
 22:35:07.9585 LVL= 28880, 32753, 26098, 32755, AGC= 61, IDX= 501, 0.14, 2.331, 0.925, 2.955, 2.312, PHS= 0.121,-1.342, 0.599, RAW= 163.7,   7.2, CAL= 163.1,   7.0, ROT= 346.9,  -7.0

2025-10-26T22:35:09.298Z,1761518109.298 [DAT](INFO): #Rx 33: Read direction message, but no range.
2025-10-26T22:35:09.299Z,1761518109.299 [DAT](INFO): direction in FSK: [0.966716,-0.224962,0.121869]
2025-10-26T22:35:09.304Z,1761518109.304 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.162066
2025-10-26T22:35:09.549Z,1761518109.549 [DAT](INFO): DAT read: Rx Time:22:35:08.4583 

2025-10-26T22:35:09.551Z,1761518109.551 [DAT](INFO): Rx dataTimestamp_ set to:1761518109.549408
2025-10-26T22:35:09.555Z,1761518109.555 [DAT](INFO): DAT read: Bearing 212.6,  -8.8 (Local)

2025-10-26T22:35:09.556Z,1761518109.556 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.6,  -8.8 (Local)

2025-10-26T22:35:09.581Z,1761518109.581 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.4

2025-10-26T22:35:09.603Z,1761518109.603 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-10-26T22:35:09.604Z,1761518109.604 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.462713
2025-10-26T22:35:09.642Z,1761518109.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323216,-0.932969,-0.158433],[0.942503,0.332399,-0.034628],[0.084970,-0.138131,0.986762]]
2025-10-26T22:35:09.644Z,1761518109.644 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:35:09.756Z,1761518109.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.504490 s,
      deltaX: -0.400000 m,
      approachRate: -0.792879 m/s,
      rangeRepo size: 4

2025-10-26T22:35:09.758Z,1761518109.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.454039 m,
      bearing: 58.846695 deg,
      lat: 36.779415 deg,
      lon: -121.859431 deg,
      deltaT: 0.504490 s,
      deltaX: -0.397804 m,
      approachRate: -0.788528 m/s,
      posRepo size: 4

2025-10-26T22:35:09.759Z,1761518109.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.45 m.
2025-10-26T22:35:09.766Z,1761518109.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.454039 m,
      nav range: 25.887808 m,
      bearing: 59.046041 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038440 deg/s,
      cmd heading: 71.864792 deg,
      new cmd heading: 71.924766 deg.

2025-10-26T22:35:09.767Z,1761518109.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255324 target range: 26.454039 and range: 26.60 m.
2025-10-26T22:35:09.803Z,1761518109.803 [DAT](INFO): DAT read: 22:35:08.4583 LVL= 32288, 32753, 28498, 32755, AGC= 61, IDX= 499,-0.33,-0.208,-1.595, 0.395,-0.243, PHS= 0.137,-1.307, 0.594, RAW= 163.3,   6.8, CAL= 162.7,   6.5, ROT= 347.3,  -6.5

2025-10-26T22:35:09.804Z,1761518109.804 [DAT](INFO): got valid direction response:
 22:35:08.4583 LVL= 32288, 32753, 28498, 32755, AGC= 61, IDX= 499,-0.33,-0.208,-1.595, 0.395,-0.243, PHS= 0.137,-1.307, 0.594, RAW= 163.3,   6.8, CAL= 162.7,   6.5, ROT= 347.3,  -6.5

2025-10-26T22:35:09.804Z,1761518109.804 [DAT](INFO): #Rx 35: Read direction message, but no range.
2025-10-26T22:35:09.805Z,1761518109.805 [DAT](INFO): direction in FSK: [0.969264,-0.218433,0.113203]
2025-10-26T22:35:09.809Z,1761518109.809 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.667410
2025-10-26T22:35:10.052Z,1761518110.052 [DAT](INFO): DAT read: Rx Time:22:35:08.9583 

2025-10-26T22:35:10.054Z,1761518110.054 [DAT](INFO): Rx dataTimestamp_ set to:1761518110.052809
2025-10-26T22:35:10.057Z,1761518110.057 [DAT](INFO): DAT read: Bearing 216.6,  -9.3 (Local)

2025-10-26T22:35:10.059Z,1761518110.059 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.6,  -9.3 (Local)

2025-10-26T22:35:10.065Z,1761518110.065 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.4

2025-10-26T22:35:10.068Z,1761518110.068 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-10-26T22:35:10.073Z,1761518110.073 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.928955
2025-10-26T22:35:10.116Z,1761518110.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322340,-0.933802,-0.155278],[0.942682,0.331604,-0.037280],[0.086303,-0.134361,0.987167]]
2025-10-26T22:35:10.203Z,1761518110.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.503401 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:35:10.209Z,1761518110.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.453909 m,
      bearing: 59.207895 deg,
      lat: 36.779415 deg,
      lon: -121.859431 deg,
      deltaT: 0.503401 s,
      deltaX: -0.000130 m,
      approachRate: -0.000258 m/s,
      posRepo size: 4

2025-10-26T22:35:10.210Z,1761518110.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.45 m.
2025-10-26T22:35:10.217Z,1761518110.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.453909 m,
      nav range: 25.668039 m,
      bearing: 59.062601 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038440 deg/s,
      cmd heading: 71.924767 deg,
      new cmd heading: 71.976279 deg.

2025-10-26T22:35:10.218Z,1761518110.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.256223 target range: 26.453909 and range: 26.60 m.
2025-10-26T22:35:10.306Z,1761518110.306 [DAT](INFO): DAT read: 22:35:08.9583 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 498,-0.02, 2.582, 1.240,-3.125, 2.627, PHS= 0.057,-1.342, 0.487, RAW= 163.0,   9.7, CAL= 162.9,  10.4, ROT= 347.1, -10.4

2025-10-26T22:35:10.308Z,1761518110.308 [DAT](INFO): got valid direction response:
 22:35:08.9583 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 498,-0.02, 2.582, 1.240,-3.125, 2.627, PHS= 0.057,-1.342, 0.487, RAW= 163.0,   9.7, CAL= 162.9,  10.4, ROT= 347.1, -10.4

2025-10-26T22:35:10.308Z,1761518110.308 [DAT](INFO): #Rx 37: Read direction message, but no range.
2025-10-26T22:35:10.309Z,1761518110.309 [DAT](INFO): direction in FSK: [0.958747,-0.219583,0.180519]
2025-10-26T22:35:10.314Z,1761518110.314 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.172531
2025-10-26T22:35:10.533Z,1761518110.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321535,-0.934242,-0.154292],[0.942847,0.330937,-0.038997],[0.087493,-0.132935,0.987255]]
2025-10-26T22:35:10.557Z,1761518110.557 [DAT](INFO): DAT read: Rx Time:22:35:09.4580 

2025-10-26T22:35:10.559Z,1761518110.559 [DAT](INFO): Rx dataTimestamp_ set to:1761518110.557897
2025-10-26T22:35:10.564Z,1761518110.564 [DAT](INFO): DAT read: Bearing 212.9,  -9.1 (Local)

2025-10-26T22:35:10.565Z,1761518110.565 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.9,  -9.1 (Local)

2025-10-26T22:35:10.576Z,1761518110.576 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed 0.5

2025-10-26T22:35:10.579Z,1761518110.579 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-10-26T22:35:10.589Z,1761518110.589 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.446978
2025-10-26T22:35:10.649Z,1761518110.649 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:35:10.695Z,1761518110.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.505088 s,
      deltaX: -0.500000 m,
      approachRate: -0.989927 m/s,
      rangeRepo size: 4

2025-10-26T22:35:10.722Z,1761518110.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.956654 m,
      bearing: 59.497690 deg,
      lat: 36.779415 deg,
      lon: -121.859433 deg,
      deltaT: 0.505088 s,
      deltaX: -0.497255 m,
      approachRate: -0.984492 m/s,
      posRepo size: 4

2025-10-26T22:35:10.723Z,1761518110.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.96 m.
2025-10-26T22:35:10.735Z,1761518110.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.956654 m,
      nav range: 25.285387 m,
      bearing: 58.869688 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038440 deg/s,
      cmd heading: 71.976281 deg,
      new cmd heading: 72.032227 deg.

2025-10-26T22:35:10.737Z,1761518110.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.257200 target range: 25.956654 and range: 26.10 m.
2025-10-26T22:35:10.809Z,1761518110.809 [DAT](INFO): DAT read: 22:35:09.4580 LVL= 29168, 32753, 27218, 32755, AGC= 61, IDX= 496,-0.46, 0.139,-1.255, 0.766, 0.116, PHS= 0.125,-1.326, 0.605, RAW= 163.8,   6.9, CAL= 163.2,   6.7, ROT= 346.8,  -6.7

2025-10-26T22:35:10.810Z,1761518110.810 [DAT](INFO): got valid direction response:
 22:35:09.4580 LVL= 29168, 32753, 27218, 32755, AGC= 61, IDX= 496,-0.46, 0.139,-1.255, 0.766, 0.116, PHS= 0.125,-1.326, 0.605, RAW= 163.8,   6.9, CAL= 163.2,   6.7, ROT= 346.8,  -6.7

2025-10-26T22:35:10.811Z,1761518110.811 [DAT](INFO): #Rx 39: Read direction message, but no range.
2025-10-26T22:35:10.813Z,1761518110.813 [DAT](INFO): direction in FSK: [0.966930,-0.226792,0.116671]
2025-10-26T22:35:10.816Z,1761518110.816 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.674664
2025-10-26T22:35:11.060Z,1761518111.060 [DAT](INFO): DAT read: Rx Time:22:35:09.9580 

2025-10-26T22:35:11.062Z,1761518111.062 [DAT](INFO): Rx dataTimestamp_ set to:1761518111.061068
2025-10-26T22:35:11.066Z,1761518111.066 [DAT](INFO): DAT read: Bearing 214.2,  -9.1 (Local)

2025-10-26T22:35:11.068Z,1761518111.068 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.2,  -9.1 (Local)

2025-10-26T22:35:11.074Z,1761518111.074 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed 0.4

2025-10-26T22:35:11.077Z,1761518111.077 [DAT](ERROR): #Rx 40: Read range message, but no direction.
2025-10-26T22:35:11.081Z,1761518111.081 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.938658
2025-10-26T22:35:11.110Z,1761518111.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320811,-0.934536,-0.154021],[0.943010,0.330335,-0.040136],[0.088387,-0.132367,0.987252]]
2025-10-26T22:35:11.229Z,1761518111.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.503171 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:35:11.231Z,1761518111.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.956123 m,
      bearing: 58.791732 deg,
      lat: 36.779415 deg,
      lon: -121.859431 deg,
      deltaT: 0.503171 s,
      deltaX: -0.000530 m,
      approachRate: -0.001054 m/s,
      posRepo size: 4

2025-10-26T22:35:11.236Z,1761518111.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.96 m.
2025-10-26T22:35:11.238Z,1761518111.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.956123 m,
      nav range: 25.143646 m,
      bearing: 59.097990 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038440 deg/s,
      cmd heading: 72.032227 deg,
      new cmd heading: 72.094607 deg.

2025-10-26T22:35:11.243Z,1761518111.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.258288 target range: 25.956123 and range: 26.10 m.
2025-10-26T22:35:11.313Z,1761518111.313 [DAT](INFO): DAT read: 22:35:09.9580 LVL= 32752, 32753, 31522, 32755, AGC= 61, IDX= 511,-0.06, 1.369, 0.004, 1.978, 1.372, PHS= 0.099,-1.323, 0.562, RAW= 163.6,   7.8, CAL= 163.2,   7.9, ROT= 346.8,  -7.9

2025-10-26T22:35:11.314Z,1761518111.314 [DAT](INFO): got valid direction response:
 22:35:09.9580 LVL= 32752, 32753, 31522, 32755, AGC= 61, IDX= 511,-0.06, 1.369, 0.004, 1.978, 1.372, PHS= 0.099,-1.323, 0.562, RAW= 163.6,   7.8, CAL= 163.2,   7.9, ROT= 346.8,  -7.9

2025-10-26T22:35:11.315Z,1761518111.315 [DAT](INFO): #Rx 41: Read direction message, but no range.
2025-10-26T22:35:11.316Z,1761518111.316 [DAT](INFO): direction in FSK: [0.964339,-0.226184,0.137445]
2025-10-26T22:35:11.319Z,1761518111.319 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.177364
2025-10-26T22:35:11.565Z,1761518111.565 [DAT](INFO): DAT read: Rx Time:22:35:10.4577 

2025-10-26T22:35:11.567Z,1761518111.567 [DAT](INFO): Rx dataTimestamp_ set to:1761518111.565731
2025-10-26T22:35:11.571Z,1761518111.571 [DAT](INFO): DAT read: Bearing 212.9,  -9.1 (Local)

2025-10-26T22:35:11.572Z,1761518111.572 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.9,  -9.1 (Local)

2025-10-26T22:35:11.578Z,1761518111.578 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed 0.4

2025-10-26T22:35:11.583Z,1761518111.583 [DAT](ERROR): #Rx 42: Read range message, but no direction.
2025-10-26T22:35:11.587Z,1761518111.587 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.444279
2025-10-26T22:35:11.630Z,1761518111.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318414,-0.934730,-0.157771],[0.943746,0.328241,-0.040025],[0.089199,-0.136151,0.986664]]
2025-10-26T22:35:11.742Z,1761518111.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.504663 s,
      deltaX: -0.400000 m,
      approachRate: -0.792607 m/s,
      rangeRepo size: 4

2025-10-26T22:35:11.749Z,1761518111.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.558329 m,
      bearing: 59.107977 deg,
      lat: 36.779415 deg,
      lon: -121.859432 deg,
      deltaT: 0.504663 s,
      deltaX: -0.397795 m,
      approachRate: -0.788238 m/s,
      posRepo size: 4

2025-10-26T22:35:11.749Z,1761518111.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m.
2025-10-26T22:35:11.756Z,1761518111.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.558329 m,
      nav range: 24.775589 m,
      bearing: 58.934603 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038440 deg/s,
      cmd heading: 72.094607 deg,
      new cmd heading: 72.153100 deg.

2025-10-26T22:35:11.757Z,1761518111.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.259309 target range: 25.558329 and range: 25.70 m.
2025-10-26T22:35:11.818Z,1761518111.818 [DAT](INFO): DAT read: 22:35:10.4577 LVL= 30112, 32753, 26562, 32755, AGC= 61, IDX= 508, 0.32, 1.314,-0.086, 1.950, 1.292, PHS= 0.124,-1.333, 0.614, RAW= 164.0,   6.8, CAL= 163.4,   6.6, ROT= 346.6,  -6.6

2025-10-26T22:35:11.820Z,1761518111.820 [DAT](INFO): got valid direction response:
 22:35:10.4577 LVL= 30112, 32753, 26562, 32755, AGC= 61, IDX= 508, 0.32, 1.314,-0.086, 1.950, 1.292, PHS= 0.124,-1.333, 0.614, RAW= 164.0,   6.8, CAL= 163.4,   6.6, ROT= 346.6,  -6.6

2025-10-26T22:35:11.821Z,1761518111.821 [DAT](INFO): #Rx 43: Read direction message, but no range.
2025-10-26T22:35:11.822Z,1761518111.822 [DAT](INFO): direction in FSK: [0.966329,-0.230212,0.114937]
2025-10-26T22:35:11.826Z,1761518111.826 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=20.684114
2025-10-26T22:35:12.070Z,1761518112.070 [DAT](INFO): DAT read: Rx Time:22:35:10.9576 

2025-10-26T22:35:12.078Z,1761518112.078 [DAT](INFO): Rx dataTimestamp_ set to:1761518112.071033
2025-10-26T22:35:12.082Z,1761518112.082 [DAT](INFO): DAT read: Bearing 215.7,  -9.9 (Local)

2025-10-26T22:35:12.099Z,1761518112.099 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.7,  -9.9 (Local)

2025-10-26T22:35:12.102Z,1761518112.102 [DAT](INFO): DAT read: Range 11 to 50 :    25.5 m (trip time 17.0 ms) speed 0.4

2025-10-26T22:35:12.114Z,1761518112.114 [DAT](INFO): DAT read: 22:35:10.9576 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507,-0.21, 0.147,-1.196, 0.768, 0.189, PHS= 0.060,-1.340, 0.535, RAW= 164.1,   8.9, CAL= 163.8,   9.4, ROT= 346.2,  -9.4

2025-10-26T22:35:12.121Z,1761518112.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316973,-0.934628,-0.161242],[0.944230,0.326964,-0.039036],[0.089205,-0.139876,0.986143]]
2025-10-26T22:35:12.128Z,1761518112.128 [DAT](INFO): got valid direction response:
 22:35:10.9576 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507,-0.21, 0.147,-1.196, 0.768, 0.189, PHS= 0.060,-1.340, 0.535, RAW= 164.1,   8.9, CAL= 163.8,   9.4, ROT= 346.2,  -9.4

2025-10-26T22:35:12.128Z,1761518112.128 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-26T22:35:12.129Z,1761518112.129 [DAT](INFO): direction in FSK: [0.958094,-0.235330,0.163326]
2025-10-26T22:35:12.129Z,1761518112.129 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:12.146Z,1761518112.146 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.003893
2025-10-26T22:35:12.244Z,1761518112.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 0.505302 s,
      deltaX: -0.200001 m,
      approachRate: -0.395804 m/s,
      rangeRepo size: 4

2025-10-26T22:35:12.246Z,1761518112.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.358963 m,
      bearing: 58.806202 deg,
      lat: 36.779415 deg,
      lon: -121.859432 deg,
      deltaT: 0.505302 s,
      deltaX: -0.199366 m,
      approachRate: -0.394547 m/s,
      posRepo size: 4

2025-10-26T22:35:12.247Z,1761518112.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.36 m.
2025-10-26T22:35:12.258Z,1761518112.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.358963 m,
      nav range: 24.481108 m,
      bearing: 58.993584 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038440 deg/s,
      cmd heading: 72.153101 deg,
      new cmd heading: 72.211683 deg.

2025-10-26T22:35:12.259Z,1761518112.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.260332 target range: 25.358963 and range: 25.50 m.
2025-10-26T22:35:12.317Z,1761518112.317 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.175394
2025-10-26T22:35:12.573Z,1761518112.573 [DAT](INFO): DAT read: Rx Time:22:35:11.4573 

2025-10-26T22:35:12.575Z,1761518112.575 [DAT](INFO): Rx dataTimestamp_ set to:1761518112.573613
2025-10-26T22:35:12.579Z,1761518112.579 [DAT](INFO): DAT read: Bearing 211.9,  -9.2 (Local)

2025-10-26T22:35:12.580Z,1761518112.580 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.9,  -9.2 (Local)

2025-10-26T22:35:12.594Z,1761518112.594 [DAT](INFO): DAT read: Range 11 to 50 :    25.1 m (trip time 16.7 ms) speed 0.4

2025-10-26T22:35:12.598Z,1761518112.598 [DAT](INFO): DAT read: 22:35:11.4573 LVL= 29376, 32753, 25586, 32755, AGC= 63, IDX= 504, 0.11, 0.320,-1.078, 0.969, 0.277, PHS= 0.144,-1.311, 0.647, RAW= 164.3,   5.9, CAL= 163.6,   5.3, ROT= 346.4,  -5.3

2025-10-26T22:35:12.599Z,1761518112.599 [DAT](INFO): got valid direction response:
 22:35:11.4573 LVL= 29376, 32753, 25586, 32755, AGC= 63, IDX= 504, 0.11, 0.320,-1.078, 0.969, 0.277, PHS= 0.144,-1.311, 0.647, RAW= 164.3,   5.9, CAL= 163.6,   5.3, ROT= 346.4,  -5.3

2025-10-26T22:35:12.600Z,1761518112.600 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-10-26T22:35:12.601Z,1761518112.601 [DAT](INFO): direction in FSK: [0.967806,-0.234137,0.092371]
2025-10-26T22:35:12.601Z,1761518112.601 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:12.614Z,1761518112.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315415,-0.934749,-0.163577],[0.944766,0.325499,-0.038311],[0.089055,-0.142458,0.985786]]
2025-10-26T22:35:12.641Z,1761518112.641 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.499369
2025-10-26T22:35:12.747Z,1761518112.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.502580 s,
      deltaX: -0.400000 m,
      approachRate: -0.795892 m/s,
      rangeRepo size: 4

2025-10-26T22:35:12.753Z,1761518112.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.961176 m,
      bearing: 58.621607 deg,
      lat: 36.779415 deg,
      lon: -121.859432 deg,
      deltaT: 0.502580 s,
      deltaX: -0.397787 m,
      approachRate: -0.791490 m/s,
      posRepo size: 4

2025-10-26T22:35:12.754Z,1761518112.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.96 m.
2025-10-26T22:35:12.761Z,1761518112.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.961176 m,
      nav range: 24.267435 m,
      bearing: 59.004538 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038440 deg/s,
      cmd heading: 72.211683 deg,
      new cmd heading: 72.269682 deg.

2025-10-26T22:35:12.764Z,1761518112.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.261344 target range: 24.961176 and range: 25.10 m.
2025-10-26T22:35:12.821Z,1761518112.821 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.679163
2025-10-26T22:35:12.999Z,1761518112.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313091,-0.935576,-0.163311],[0.945540,0.323191,-0.038761],[0.089044,-0.142282,0.985813]]
2025-10-26T22:35:13.077Z,1761518113.077 [DAT](INFO): DAT read: Rx Time:22:35:11.9572 

2025-10-26T22:35:13.078Z,1761518113.078 [DAT](INFO): Rx dataTimestamp_ set to:1761518113.077259
2025-10-26T22:35:13.083Z,1761518113.083 [DAT](INFO): DAT read: Bearing 213.2,  -9.7 (Local)

2025-10-26T22:35:13.084Z,1761518113.084 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.2,  -9.7 (Local)

2025-10-26T22:35:13.086Z,1761518113.086 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed 0.4

2025-10-26T22:35:13.099Z,1761518113.099 [DAT](INFO): DAT read: 22:35:11.9572 LVL= 32752, 32753, 28210, 32755, AGC= 64, IDX= 503, 0.47, 1.139,-0.244, 1.792, 1.126, PHS= 0.115,-1.325, 0.622, RAW= 164.5,   6.8, CAL= 164.0,   6.5, ROT= 346.0,  -6.5

2025-10-26T22:35:13.104Z,1761518113.104 [DAT](INFO): got valid direction response:
 22:35:11.9572 LVL= 32752, 32753, 28210, 32755, AGC= 64, IDX= 503, 0.47, 1.139,-0.244, 1.792, 1.126, PHS= 0.115,-1.325, 0.622, RAW= 164.5,   6.8, CAL= 164.0,   6.5, ROT= 346.0,  -6.5

2025-10-26T22:35:13.105Z,1761518113.105 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-10-26T22:35:13.105Z,1761518113.105 [DAT](INFO): direction in FSK: [0.964059,-0.240367,0.113203]
2025-10-26T22:35:13.106Z,1761518113.106 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:13.126Z,1761518113.126 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=21.983898
2025-10-26T22:35:13.166Z,1761518113.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.503646 s,
      deltaX: -0.200001 m,
      approachRate: -0.397106 m/s,
      rangeRepo size: 4

2025-10-26T22:35:13.169Z,1761518113.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.761719 m,
      bearing: 58.503806 deg,
      lat: 36.779417 deg,
      lon: -121.859432 deg,
      deltaT: 0.503646 s,
      deltaX: -0.199457 m,
      approachRate: -0.396027 m/s,
      posRepo size: 4

2025-10-26T22:35:13.170Z,1761518113.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.76 m.
2025-10-26T22:35:13.201Z,1761518113.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.761719 m,
      nav range: 24.134331 m,
      bearing: 58.590915 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038440 deg/s,
      cmd heading: 72.269685 deg,
      new cmd heading: 72.317950 deg.

2025-10-26T22:35:13.201Z,1761518113.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.262186 target range: 24.761719 and range: 24.90 m.
2025-10-26T22:35:13.325Z,1761518113.325 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.182825
2025-10-26T22:35:13.450Z,1761518113.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311098,-0.936006,-0.164655],[0.946239,0.321210,-0.038149],[0.088597,-0.143935,0.985613]]
2025-10-26T22:35:13.467Z,1761518113.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:35:13.469Z,1761518113.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.76 m.
2025-10-26T22:35:13.472Z,1761518113.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.761719 m,
      nav range: 23.962355 m,
      bearing: 58.586036 deg,
      approach rate: -0.565558 m/s,
      LOS rate: -0.016161 deg/s,
      cmd heading: 72.317947 deg,
      new cmd heading: 72.303205 deg.

2025-10-26T22:35:13.473Z,1761518113.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.261929 target range: 24.761719 and range: 24.90 m.
2025-10-26T22:35:13.581Z,1761518113.581 [DAT](INFO): DAT read: Rx Time:22:35:12.4569 

2025-10-26T22:35:13.583Z,1761518113.583 [DAT](INFO): Rx dataTimestamp_ set to:1761518113.581665
2025-10-26T22:35:13.591Z,1761518113.591 [DAT](INFO): DAT read: Bearing 214.0,  -9.9 (Local 11 to 50 :    24.6 m (trip time 16.4 ms) speed 002, 32755, AGC= 61, IDX= 501,-0.12,-1.983, 2.950,-1.339,-1.980, PHS= 0.099,-1.308, 0.597, RAW= 164.6,   7.2, CAL= 164.1,   7.1, ROT= 345.9,  -7.1

2025-10-26T22:35:13.592Z,1761518113.592 [DAT](INFO): unknown deviceResponse_: Bearing 214.0,  -9.9 (Local 11 to 50 :    24.6 m (trip time 16.4 ms) speed 002, 32755, AGC= 61, IDX= 501,-0.12,-1.983, 2.950,-1.339,-1.980, PHS= 0.099,-1.308, 0.597, RAW= 164.6,   7.2, CAL= 164.1,   7.1, ROT= 345.9,  -7.1

2025-10-26T22:35:13.593Z,1761518113.593 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.451134
2025-10-26T22:35:13.829Z,1761518113.829 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.686831
2025-10-26T22:35:13.866Z,1761518113.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309131,-0.936425,-0.165971],[0.946935,0.319237,-0.037443],[0.088047,-0.145589,0.985419]]
2025-10-26T22:35:13.910Z,1761518113.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.76 m.
2025-10-26T22:35:13.912Z,1761518113.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.761719 m,
      nav range: 23.729517 m,
      bearing: 58.570651 deg,
      approach rate: -0.528527 m/s,
      LOS rate: -0.035266 deg/s,
      cmd heading: 72.303208 deg,
      new cmd heading: 72.256600 deg.

2025-10-26T22:35:13.913Z,1761518113.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.261116 target range: 24.761719 and range: 24.90 m.
2025-10-26T22:35:14.086Z,1761518114.086 [DAT](INFO): DAT read: Rx Time:22:35:12.9569 

2025-10-26T22:35:14.086Z,1761518114.086 [DAT](INFO): Rx dataTimestamp_ set to:1761518114.086214
2025-10-26T22:35:14.088Z,1761518114.088 [DAT](INFO): DAT read: Bearing 214.9, -10.4 (Local)

2025-10-26T22:35:14.088Z,1761518114.088 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.9, -10.4 (Local)

2025-10-26T22:35:14.090Z,1761518114.090 [DAT](INFO): DAT read: Range 11 to 50 :    24.6 m (trip time 16.4 ms) speed 0.4

2025-10-26T22:35:14.095Z,1761518114.095 [DAT](INFO): DAT read: 22:35:12.9569 LVL= 32752, 32753, 25346, 32755, AGC= 60, IDX= 500, 0.08, 1.231,-0.134, 1.893, 1.253, PHS= 0.080,-1.341, 0.596, RAW= 164.9,   7.7, CAL= 164.5,   7.8, ROT= 345.5,  -7.8

2025-10-26T22:35:14.112Z,1761518114.112 [DAT](INFO): got valid direction response:
 22:35:12.9569 LVL= 32752, 32753, 25346, 32755, AGC= 60, IDX= 500, 0.08, 1.231,-0.134, 1.893, 1.253, PHS= 0.080,-1.341, 0.596, RAW= 164.9,   7.7, CAL= 164.5,   7.8, ROT= 345.5,  -7.8

2025-10-26T22:35:14.113Z,1761518114.113 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-10-26T22:35:14.114Z,1761518114.114 [DAT](INFO): direction in FSK: [0.959190,-0.248063,0.135716]
2025-10-26T22:35:14.114Z,1761518114.114 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:14.138Z,1761518114.138 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.996244
2025-10-26T22:35:14.274Z,1761518114.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307098,-0.937229,-0.165204],[0.947644,0.317120,-0.037498],[0.087534,-0.145039,0.985546]]
2025-10-26T22:35:14.307Z,1761518114.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.600000 m,
      deltaT: 1.008955 s,
      deltaX: -0.299999 m,
      approachRate: -0.297337 m/s,
      rangeRepo size: 4

2025-10-26T22:35:14.317Z,1761518114.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.461914 m,
      bearing: 58.553352 deg,
      lat: 36.779417 deg,
      lon: -121.859432 deg,
      deltaT: 1.008955 s,
      deltaX: -0.299805 m,
      approachRate: -0.297144 m/s,
      posRepo size: 4

2025-10-26T22:35:14.318Z,1761518114.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.46 m.
2025-10-26T22:35:14.325Z,1761518114.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.461914 m,
      nav range: 23.525234 m,
      bearing: 58.543278 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.035266 deg/s,
      cmd heading: 72.256599 deg,
      new cmd heading: 72.214633 deg.

2025-10-26T22:35:14.326Z,1761518114.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.260383 target range: 24.461914 and range: 24.60 m.
2025-10-26T22:35:14.333Z,1761518114.333 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.191074
2025-10-26T22:35:14.589Z,1761518114.589 [DAT](INFO): DAT read: Rx Time:22:35:13.4566 

2025-10-26T22:35:14.590Z,1761518114.590 [DAT](INFO): Rx dataTimestamp_ set to:1761518114.589230
2025-10-26T22:35:14.600Z,1761518114.600 [DAT](INFO): DAT read: Bearing 215.5, -10.6 (Local)

2025-10-26T22:35:14.600Z,1761518114.600 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.5, -10.6 (Local)

2025-10-26T22:35:14.603Z,1761518114.603 [DAT](INFO): DAT read: Range 11 to 50 :    24.2 m (trip time 16.1 ms) speed 0.4

2025-10-26T22:35:14.635Z,1761518114.635 [DAT](INFO): DAT read: 22:35:13.4566 LVL= 32160, 32753, 24034, 32755, AGC= 61, IDX= 497, 0.36, 0.567,-0.807, 1.235, 0.599, PHS= 0.070,-1.361, 0.592, RAW= 165.0,   8.0, CAL= 164.6,   8.2, ROT= 345.4,  -8.2

2025-10-26T22:35:14.637Z,1761518114.637 [DAT](INFO): got valid direction response:
 22:35:13.4566 LVL= 32160, 32753, 24034, 32755, AGC= 61, IDX= 497, 0.36, 0.567,-0.807, 1.235, 0.599, PHS= 0.070,-1.361, 0.592, RAW= 165.0,   8.0, CAL= 164.6,   8.2, ROT= 345.4,  -8.2

2025-10-26T22:35:14.637Z,1761518114.637 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-10-26T22:35:14.638Z,1761518114.638 [DAT](INFO): direction in FSK: [0.957815,-0.249492,0.142629]
2025-10-26T22:35:14.638Z,1761518114.638 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:14.654Z,1761518114.654 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.512451
2025-10-26T22:35:14.679Z,1761518114.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305082,-0.938038,-0.164345],[0.948368,0.314973,-0.037279],[0.086733,-0.144486,0.985698]]
2025-10-26T22:35:14.815Z,1761518114.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.200001 m,
      deltaT: 0.503016 s,
      deltaX: -0.400000 m,
      approachRate: -0.795203 m/s,
      rangeRepo size: 4

2025-10-26T22:35:14.821Z,1761518114.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.064159 m,
      bearing: 58.622664 deg,
      lat: 36.779417 deg,
      lon: -121.859432 deg,
      deltaT: 0.503016 s,
      deltaX: -0.397755 m,
      approachRate: -0.790740 m/s,
      posRepo size: 4

2025-10-26T22:35:14.822Z,1761518114.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.06 m.
2025-10-26T22:35:14.829Z,1761518114.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.064159 m,
      nav range: 23.262810 m,
      bearing: 58.524189 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.035266 deg/s,
      cmd heading: 72.214634 deg,
      new cmd heading: 72.160868 deg.

2025-10-26T22:35:14.830Z,1761518114.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.259445 target range: 24.064159 and range: 24.20 m.
2025-10-26T22:35:14.837Z,1761518114.837 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.694820
2025-10-26T22:35:15.088Z,1761518115.088 [DAT](INFO): DAT read: Rx Time:22:35:13.9565 

2025-10-26T22:35:15.089Z,1761518115.089 [DAT](INFO): Rx dataTimestamp_ set to:1761518115.088653
2025-10-26T22:35:15.090Z,1761518115.090 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed 0.4

2025-10-26T22:35:15.091Z,1761518115.091 [DAT](ERROR): #Rx 49: Read range message, but no direction.
2025-10-26T22:35:15.092Z,1761518115.092 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.950708
2025-10-26T22:35:15.173Z,1761518115.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302649,-0.939116,-0.162676],[0.949207,0.312405,-0.037544],[0.086079,-0.143051,0.985965]]
2025-10-26T22:35:15.223Z,1761518115.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.499423 s,
      deltaX: -0.200001 m,
      approachRate: -0.400464 m/s,
      rangeRepo size: 4

2025-10-26T22:35:15.224Z,1761518115.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.06 m.
2025-10-26T22:35:15.226Z,1761518115.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.064159 m,
      nav range: 23.031042 m,
      bearing: 58.497211 deg,
      approach rate: -0.568342 m/s,
      LOS rate: -0.066822 deg/s,
      cmd heading: 72.160867 deg,
      new cmd heading: 72.079118 deg.

2025-10-26T22:35:15.243Z,1761518115.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.258018 target range: 24.064159 and range: 24.00 m.
2025-10-26T22:35:15.341Z,1761518115.341 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.198864
2025-10-26T22:35:15.593Z,1761518115.593 [DAT](INFO): DAT read: Rx Time:22:35:14.4563 

2025-10-26T22:35:15.594Z,1761518115.594 [DAT](INFO): Rx dataTimestamp_ set to:1761518115.593232
2025-10-26T22:35:15.595Z,1761518115.595 [DAT](INFO): DAT read: Bearing 215.5, -11.1 (Local)

2025-10-26T22:35:15.595Z,1761518115.595 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.5, -11.1 (Local)

2025-10-26T22:35:15.597Z,1761518115.597 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed 0.4

2025-10-26T22:35:15.607Z,1761518115.607 [DAT](INFO): DAT read: 22:35:14.4563 LVL= 32752, 32177, 24946, 32755, AGC= 60, IDX= 510,-0.02,-0.542,-1.891, 0.137,-0.509, PHS= 0.069,-1.337, 0.602, RAW= 165.4,   7.7, CAL= 165.0,   7.8, ROT= 345.0,  -7.8

2025-10-26T22:35:15.608Z,1761518115.608 [DAT](INFO): got valid direction response:
 22:35:14.4563 LVL= 32752, 32177, 24946, 32755, AGC= 60, IDX= 510,-0.02,-0.542,-1.891, 0.137,-0.509, PHS= 0.069,-1.337, 0.602, RAW= 165.4,   7.7, CAL= 165.0,   7.8, ROT= 345.0,  -7.8

2025-10-26T22:35:15.608Z,1761518115.608 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-10-26T22:35:15.609Z,1761518115.609 [DAT](INFO): direction in FSK: [0.956989,-0.256424,0.135716]
2025-10-26T22:35:15.610Z,1761518115.610 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:15.631Z,1761518115.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298874,-0.940536,-0.161448],[0.950573,0.308341,-0.036571],[0.084177,-0.142538,0.986203]]
2025-10-26T22:35:15.654Z,1761518115.654 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.512163
2025-10-26T22:35:15.713Z,1761518115.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.504579 s,
      deltaX: -0.299999 m,
      approachRate: -0.594554 m/s,
      rangeRepo size: 4

2025-10-26T22:35:15.728Z,1761518115.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.565983 m,
      bearing: 58.534314 deg,
      lat: 36.779417 deg,
      lon: -121.859432 deg,
      deltaT: 1.004002 s,
      deltaX: -0.498177 m,
      approachRate: -0.496191 m/s,
      posRepo size: 4

2025-10-26T22:35:15.729Z,1761518115.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.57 m.
2025-10-26T22:35:15.755Z,1761518115.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.565983 m,
      nav range: 22.800133 m,
      bearing: 58.502070 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.066822 deg/s,
      cmd heading: 72.079116 deg,
      new cmd heading: 71.981847 deg.

2025-10-26T22:35:15.763Z,1761518115.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.256320 target range: 23.565983 and range: 23.70 m.
2025-10-26T22:35:15.846Z,1761518115.846 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.703695
2025-10-26T22:35:16.097Z,1761518116.097 [DAT](INFO): DAT read: Rx Time:22:35:14.9561 

2025-10-26T22:35:16.098Z,1761518116.098 [DAT](INFO): Rx dataTimestamp_ set to:1761518116.097542
2025-10-26T22:35:16.099Z,1761518116.099 [DAT](INFO): DAT read: Bearing 215.7, -11.1 (Local)

2025-10-26T22:35:16.100Z,1761518116.100 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.7, -11.1 (Local)

2025-10-26T22:35:16.102Z,1761518116.102 [DAT](INFO): DAT read: Range 11 to 50 :    23.4 m (trip time 15.6 ms) speed 0.4

2025-10-26T22:35:16.106Z,1761518116.106 [DAT](INFO): DAT read: 22:35:14.9561 LVL= 32144, 32753, 23250, 32755, AGC= 60, IDX= 508, 0.21, 0.664,-0.700, 1.348, 0.698, PHS= 0.068,-1.353, 0.606, RAW= 165.4,   7.8, CAL= 165.0,   7.9, ROT= 345.0,  -7.9

2025-10-26T22:35:16.107Z,1761518116.107 [DAT](INFO): got valid direction response:
 22:35:14.9561 LVL= 32144, 32753, 23250, 32755, AGC= 60, IDX= 508, 0.21, 0.664,-0.700, 1.348, 0.698, PHS= 0.068,-1.353, 0.606, RAW= 165.4,   7.8, CAL= 165.0,   7.9, ROT= 345.0,  -7.9

2025-10-26T22:35:16.108Z,1761518116.108 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-10-26T22:35:16.109Z,1761518116.109 [DAT](INFO): direction in FSK: [0.956759,-0.256362,0.137445]
2025-10-26T22:35:16.109Z,1761518116.109 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:16.113Z,1761518116.113 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.971399
2025-10-26T22:35:16.116Z,1761518116.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296200,-0.941548,-0.160476],[0.951480,0.305541,-0.036472],[0.083372,-0.141887,0.986366]]
2025-10-26T22:35:16.230Z,1761518116.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 0.504310 s,
      deltaX: -0.300001 m,
      approachRate: -0.594874 m/s,
      rangeRepo size: 4

2025-10-26T22:35:16.233Z,1761518116.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.267488 m,
      bearing: 58.705448 deg,
      lat: 36.779417 deg,
      lon: -121.859432 deg,
      deltaT: 0.504310 s,
      deltaX: -0.298494 m,
      approachRate: -0.591887 m/s,
      posRepo size: 4

2025-10-26T22:35:16.233Z,1761518116.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m.
2025-10-26T22:35:16.248Z,1761518116.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.267488 m,
      nav range: 22.523863 m,
      bearing: 58.471682 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.066822 deg/s,
      cmd heading: 71.981847 deg,
      new cmd heading: 71.877123 deg.

2025-10-26T22:35:16.249Z,1761518116.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254493 target range: 23.267488 and range: 23.40 m.
2025-10-26T22:35:16.350Z,1761518116.350 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.207523
2025-10-26T22:35:16.510Z,1761518116.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293862,-0.942046,-0.161847],[0.952270,0.303171,-0.035618],[0.082621,-0.143656,0.986173]]
2025-10-26T22:35:16.581Z,1761518116.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:35:16.587Z,1761518116.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m.
2025-10-26T22:35:16.590Z,1761518116.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.267488 m,
      nav range: 22.331690 m,
      bearing: 58.427755 deg,
      approach rate: -0.543900 m/s,
      LOS rate: -0.125394 deg/s,
      cmd heading: 71.877127 deg,
      new cmd heading: 71.744213 deg.

2025-10-26T22:35:16.591Z,1761518116.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.252173 target range: 23.267488 and range: 23.40 m.
2025-10-26T22:35:16.601Z,1761518116.601 [DAT](INFO): DAT read: Rx Time:22:35:15.4558 

2025-10-26T22:35:16.602Z,1761518116.602 [DAT](INFO): Rx dataTimestamp_ set to:1761518116.601259
2025-10-26T22:35:16.603Z,1761518116.603 [DAT](INFO): DAT read: Bearing 214.8, -11.2 (Local)

2025-10-26T22:35:16.603Z,1761518116.603 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.8, -11.2 (Local)

2025-10-26T22:35:16.605Z,1761518116.605 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed 0.4

2025-10-26T22:35:16.610Z,1761518116.610 [DAT](INFO): DAT read: 22:35:15.4558 LVL= 31600, 31057, 21266, 32755, AGC= 59, IDX= 506,-0.38,-1.954, 2.995,-1.273,-1.937, PHS= 0.085,-1.306, 0.621, RAW= 165.6,   7.0, CAL= 165.1,   6.8, ROT= 344.9,  -6.8

2025-10-26T22:35:16.611Z,1761518116.611 [DAT](INFO): got valid direction response:
 22:35:15.4558 LVL= 31600, 31057, 21266, 32755, AGC= 59, IDX= 506,-0.38,-1.954, 2.995,-1.273,-1.937, PHS= 0.085,-1.306, 0.621, RAW= 165.6,   7.0, CAL= 165.1,   6.8, ROT= 344.9,  -6.8

2025-10-26T22:35:16.612Z,1761518116.612 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-10-26T22:35:16.613Z,1761518116.613 [DAT](INFO): direction in FSK: [0.958681,-0.258672,0.118404]
2025-10-26T22:35:16.613Z,1761518116.613 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:16.618Z,1761518116.618 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.476250
2025-10-26T22:35:16.853Z,1761518116.853 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.710852
2025-10-26T22:35:16.972Z,1761518116.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.503717 s,
      deltaX: -0.400000 m,
      approachRate: -0.794096 m/s,
      rangeRepo size: 4

2025-10-26T22:35:16.974Z,1761518116.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.869755 m,
      bearing: 58.628668 deg,
      lat: 36.779417 deg,
      lon: -121.859431 deg,
      deltaT: 0.503717 s,
      deltaX: -0.397734 m,
      approachRate: -0.789598 m/s,
      posRepo size: 4

2025-10-26T22:35:16.975Z,1761518116.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.87 m.
2025-10-26T22:35:16.978Z,1761518116.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.869755 m,
      nav range: 22.114376 m,
      bearing: 58.430627 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.125394 deg/s,
      cmd heading: 71.744211 deg,
      new cmd heading: 71.598253 deg.

2025-10-26T22:35:16.978Z,1761518116.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.249625 target range: 22.869755 and range: 23.00 m.
2025-10-26T22:35:17.105Z,1761518117.105 [DAT](INFO): DAT read: Rx Time:22:35:15.9558 

2025-10-26T22:35:17.106Z,1761518117.106 [DAT](INFO): Rx dataTimestamp_ set to:1761518117.105297
2025-10-26T22:35:17.107Z,1761518117.107 [DAT](INFO): DAT read: Bearing 216.3, -11.7 (Local)

2025-10-26T22:35:17.107Z,1761518117.107 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.3, -11.7 (Local)

2025-10-26T22:35:17.109Z,1761518117.109 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed 0.4

2025-10-26T22:35:17.114Z,1761518117.114 [DAT](INFO): DAT read: 22:35:15.9558 LVL= 32304, 32753, 23618, 32755, AGC= 60, IDX= 505,-0.07,-0.891,-2.225,-0.205,-0.845, PHS= 0.055,-1.335, 0.596, RAW= 165.7,   8.0, CAL= 165.4,   8.1, ROT= 344.6,  -8.1

2025-10-26T22:35:17.115Z,1761518117.115 [DAT](INFO): got valid direction response:
 22:35:15.9558 LVL= 32304, 32753, 23618, 32755, AGC= 60, IDX= 505,-0.07,-0.891,-2.225,-0.205,-0.845, PHS= 0.055,-1.335, 0.596, RAW= 165.7,   8.0, CAL= 165.4,   8.1, ROT= 344.6,  -8.1

2025-10-26T22:35:17.116Z,1761518117.116 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-10-26T22:35:17.117Z,1761518117.117 [DAT](INFO): direction in FSK: [0.954477,-0.262907,0.140901]
2025-10-26T22:35:17.117Z,1761518117.117 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:17.130Z,1761518117.130 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.988625
2025-10-26T22:35:17.314Z,1761518117.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289451,-0.942749,-0.165656],[0.953702,0.298810,-0.034124],[0.081670,-0.148109,0.985593]]
2025-10-26T22:35:17.356Z,1761518117.356 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.214590
2025-10-26T22:35:17.366Z,1761518117.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.504038 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:35:17.377Z,1761518117.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.869759 m,
      bearing: 58.800619 deg,
      lat: 36.779417 deg,
      lon: -121.859431 deg,
      deltaT: 0.504038 s,
      deltaX: 0.000004 m,
      approachRate: 0.000008 m/s,
      posRepo size: 4

2025-10-26T22:35:17.377Z,1761518117.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.87 m.
2025-10-26T22:35:17.385Z,1761518117.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.869759 m,
      nav range: 21.888239 m,
      bearing: 58.428294 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.125394 deg/s,
      cmd heading: 71.598250 deg,
      new cmd heading: 71.449823 deg.

2025-10-26T22:35:17.385Z,1761518117.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.247035 target range: 22.869759 and range: 23.00 m.
2025-10-26T22:35:17.611Z,1761518117.611 [DAT](INFO): DAT read: Rx Time:22:35:16.4555 

2025-10-26T22:35:17.611Z,1761518117.611 [DAT](INFO): Rx dataTimestamp_ set to:1761518117.611040
2025-10-26T22:35:17.613Z,1761518117.613 [DAT](INFO): DAT read: Bearing 216.4, -11.7 (Local)

2025-10-26T22:35:17.614Z,1761518117.614 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.4, -11.7 (Local)

2025-10-26T22:35:17.621Z,1761518117.621 [DAT](INFO): DAT read: Range 11 to 50 :    22.5 m (trip time 15.0 ms) speed 0.4

2025-10-26T22:35:17.626Z,1761518117.626 [DAT](INFO): DAT read: 22:35:16.4555 LVL= 32112, 32753, 22818, 32755, AGC= 60, IDX= 502, 0.16,-0.870,-2.220,-0.179,-0.831, PHS= 0.063,-1.344, 0.607, RAW= 165.7,   7.8, CAL= 165.3,   7.9, ROT= 344.7,  -7.9

2025-10-26T22:35:17.632Z,1761518117.632 [DAT](INFO): got valid direction response:
 22:35:16.4555 LVL= 32112, 32753, 22818, 32755, AGC= 60, IDX= 502, 0.16,-0.870,-2.220,-0.179,-0.831, PHS= 0.063,-1.344, 0.607, RAW= 165.7,   7.8, CAL= 165.3,   7.9, ROT= 344.7,  -7.9

2025-10-26T22:35:17.632Z,1761518117.632 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-10-26T22:35:17.633Z,1761518117.633 [DAT](INFO): direction in FSK: [0.955403,-0.261369,0.137445]
2025-10-26T22:35:17.633Z,1761518117.633 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:17.646Z,1761518117.646 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.504400
2025-10-26T22:35:17.737Z,1761518117.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287140,-0.943072,-0.167826],[0.954404,0.296601,-0.033775],[0.081630,-0.150476,0.985238]]
2025-10-26T22:35:17.850Z,1761518117.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 0.505743 s,
      deltaX: -0.500000 m,
      approachRate: -0.988644 m/s,
      rangeRepo size: 4

2025-10-26T22:35:17.856Z,1761518117.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.372589 m,
      bearing: 59.038703 deg,
      lat: 36.779417 deg,
      lon: -121.859430 deg,
      deltaT: 0.505743 s,
      deltaX: -0.497169 m,
      approachRate: -0.983048 m/s,
      posRepo size: 4

2025-10-26T22:35:17.857Z,1761518117.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.37 m.
2025-10-26T22:35:17.860Z,1761518117.860 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.718798
2025-10-26T22:35:17.864Z,1761518117.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.372589 m,
      nav range: 21.736326 m,
      bearing: 58.551322 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.125394 deg/s,
      cmd heading: 71.449823 deg,
      new cmd heading: 71.267987 deg.

2025-10-26T22:35:17.865Z,1761518117.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.243861 target range: 22.372589 and range: 22.50 m.
2025-10-26T22:35:18.114Z,1761518118.114 [DAT](INFO): DAT read: Rx Time:22:35:16.9554 

2025-10-26T22:35:18.115Z,1761518118.115 [DAT](INFO): Rx dataTimestamp_ set to:1761518118.114430
2025-10-26T22:35:18.117Z,1761518118.117 [DAT](INFO): DAT read: Bearing 216.8, -12.0 (Local)

2025-10-26T22:35:18.117Z,1761518118.117 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.8, -12.0 (Local)

2025-10-26T22:35:18.120Z,1761518118.120 [DAT](INFO): DAT read: Range 11 to 50 :    22.4 m (trip time 14.9 ms) speed 0.4

2025-10-26T22:35:18.127Z,1761518118.127 [DAT](INFO): DAT read: 22:35:16.9554 LVL= 32240, 32753, 23122, 32755, AGC= 60, IDX= 502,-0.46,-1.364,-2.689,-0.677,-1.314, PHS= 0.052,-1.331, 0.592, RAW= 165.8,   8.0, CAL= 165.4,   8.2, ROT= 344.6,  -8.2

2025-10-26T22:35:18.128Z,1761518118.128 [DAT](INFO): got valid direction response:
 22:35:16.9554 LVL= 32240, 32753, 23122, 32755, AGC= 60, IDX= 502,-0.46,-1.364,-2.689,-0.677,-1.314, PHS= 0.052,-1.331, 0.592, RAW= 165.8,   8.0, CAL= 165.4,   8.2, ROT= 344.6,  -8.2

2025-10-26T22:35:18.128Z,1761518118.128 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-10-26T22:35:18.129Z,1761518118.129 [DAT](INFO): direction in FSK: [0.954239,-0.262841,0.142629]
2025-10-26T22:35:18.129Z,1761518118.129 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:18.133Z,1761518118.133 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.991730
2025-10-26T22:35:18.224Z,1761518118.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285171,-0.943224,-0.170309],[0.954971,0.294790,-0.033600],[0.081898,-0.153059,0.984818]]
2025-10-26T22:35:18.328Z,1761518118.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.400000 m,
      deltaT: 0.503390 s,
      deltaX: -0.100000 m,
      approachRate: -0.198654 m/s,
      rangeRepo size: 4

2025-10-26T22:35:18.330Z,1761518118.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.273155 m,
      bearing: 59.120107 deg,
      lat: 36.779416 deg,
      lon: -121.859429 deg,
      deltaT: 0.503390 s,
      deltaX: -0.099434 m,
      approachRate: -0.197529 m/s,
      posRepo size: 4

2025-10-26T22:35:18.330Z,1761518118.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.27 m.
2025-10-26T22:35:18.337Z,1761518118.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.273155 m,
      nav range: 21.453602 m,
      bearing: 58.554124 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.125394 deg/s,
      cmd heading: 71.267990 deg,
      new cmd heading: 71.089756 deg.

2025-10-26T22:35:18.338Z,1761518118.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.240750 target range: 22.273155 and range: 22.40 m.
2025-10-26T22:35:18.364Z,1761518118.364 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.222805
2025-10-26T22:35:18.617Z,1761518118.617 [DAT](INFO): DAT read: Rx Time:22:35:17.4551 

2025-10-26T22:35:18.618Z,1761518118.618 [DAT](INFO): Rx dataTimestamp_ set to:1761518118.617454
2025-10-26T22:35:18.619Z,1761518118.619 [DAT](INFO): DAT read: Bearing 218.4, -12.4 (Local)

2025-10-26T22:35:18.619Z,1761518118.619 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.4, -12.4 (Local)

2025-10-26T22:35:18.621Z,1761518118.621 [DAT](INFO): DAT read: Range 11 to 50 :    21.9 m (trip time 14.6 ms) speed 0.4

2025-10-26T22:35:18.626Z,1761518118.626 [DAT](INFO): DAT read: 22:35:17.4551 LVL= 32752, 32753, 25074, 32755, AGC= 61, IDX= 499,-0.13,-2.942, 2.021,-2.258,-2.861, PHS= 0.021,-1.356, 0.559, RAW= 165.8,   9.1, CAL= 165.6,   9.7, ROT= 344.4,  -9.7

2025-10-26T22:35:18.628Z,1761518118.628 [DAT](INFO): got valid direction response:
 22:35:17.4551 LVL= 32752, 32753, 25074, 32755, AGC= 61, IDX= 499,-0.13,-2.942, 2.021,-2.258,-2.861, PHS= 0.021,-1.356, 0.559, RAW= 165.8,   9.1, CAL= 165.6,   9.7, ROT= 344.4,  -9.7

2025-10-26T22:35:18.628Z,1761518118.628 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-10-26T22:35:18.629Z,1761518118.629 [DAT](INFO): direction in FSK: [0.949393,-0.265075,0.168489]
2025-10-26T22:35:18.630Z,1761518118.630 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:18.633Z,1761518118.633 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.491488
2025-10-26T22:35:18.674Z,1761518118.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283995,-0.943578,-0.170316],[0.955290,0.293689,-0.034178],[0.082269,-0.152995,0.984797]]
2025-10-26T22:35:18.868Z,1761518118.868 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.726744
2025-10-26T22:35:18.918Z,1761518118.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.900000 m,
      deltaT: 0.503024 s,
      deltaX: -0.500000 m,
      approachRate: -0.993988 m/s,
      rangeRepo size: 4

2025-10-26T22:35:18.920Z,1761518118.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.775988 m,
      bearing: 59.187771 deg,
      lat: 36.779415 deg,
      lon: -121.859429 deg,
      deltaT: 0.503024 s,
      deltaX: -0.497168 m,
      approachRate: -0.988358 m/s,
      posRepo size: 4

2025-10-26T22:35:18.921Z,1761518118.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.78 m.
2025-10-26T22:35:18.924Z,1761518118.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.775988 m,
      nav range: 21.037201 m,
      bearing: 58.803241 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.125394 deg/s,
      cmd heading: 71.089756 deg,
      new cmd heading: 70.866117 deg.

2025-10-26T22:35:18.925Z,1761518118.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.236847 target range: 21.775988 and range: 21.90 m.
2025-10-26T22:35:19.122Z,1761518119.122 [DAT](INFO): DAT read: Rx Time:22:35:17.9551 

2025-10-26T22:35:19.123Z,1761518119.123 [DAT](INFO): Rx dataTimestamp_ set to:1761518119.122335
2025-10-26T22:35:19.125Z,1761518119.125 [DAT](INFO): DAT read: Bearing 217.1, -11.9 (Local)

2025-10-26T22:35:19.125Z,1761518119.125 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.1, -11.9 (Local)

2025-10-26T22:35:19.129Z,1761518119.129 [DAT](INFO): DAT read: Range 11 to 50 :    21.9 m (trip time 14.6 ms) speed 0.4

2025-10-26T22:35:19.134Z,1761518119.134 [DAT](INFO): DAT read: 22:35:17.9551 LVL= 32752, 32753, 26386, 32755, AGC= 62, IDX= 498, 0.06,-0.101,-1.439, 0.582,-0.054, PHS= 0.056,-1.340, 0.592, RAW= 165.6,   8.1, CAL= 165.2,   8.3, ROT= 344.8,  -8.3

2025-10-26T22:35:19.135Z,1761518119.135 [DAT](INFO): got valid direction response:
 22:35:17.9551 LVL= 32752, 32753, 26386, 32755, AGC= 62, IDX= 498, 0.06,-0.101,-1.439, 0.582,-0.054, PHS= 0.056,-1.340, 0.592, RAW= 165.6,   8.1, CAL= 165.2,   8.3, ROT= 344.8,  -8.3

2025-10-26T22:35:19.143Z,1761518119.143 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-10-26T22:35:19.145Z,1761518119.145 [DAT](INFO): direction in FSK: [0.954909,-0.259443,0.144356]
2025-10-26T22:35:19.146Z,1761518119.146 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:19.160Z,1761518119.160 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.017839
2025-10-26T22:35:19.213Z,1761518119.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282530,-0.943222,-0.174671],[0.955668,0.292506,-0.033740],[0.082917,-0.157395,0.984049]]
2025-10-26T22:35:19.372Z,1761518119.372 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.230738
2025-10-26T22:35:19.401Z,1761518119.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.900000 m,
      deltaT: 0.504881 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:35:19.403Z,1761518119.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.775911 m,
      bearing: 59.535279 deg,
      lat: 36.779415 deg,
      lon: -121.859428 deg,
      deltaT: 0.504881 s,
      deltaX: -0.000076 m,
      approachRate: -0.000151 m/s,
      posRepo size: 4

2025-10-26T22:35:19.408Z,1761518119.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.78 m.
2025-10-26T22:35:19.411Z,1761518119.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.775911 m,
      nav range: 20.851948 m,
      bearing: 58.918671 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.125394 deg/s,
      cmd heading: 70.866115 deg,
      new cmd heading: 70.684378 deg.

2025-10-26T22:35:19.416Z,1761518119.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.233675 target range: 21.775911 and range: 21.90 m.
2025-10-26T22:35:19.626Z,1761518119.626 [DAT](INFO): DAT read: Rx Time:22:35:18.4548 

2025-10-26T22:35:19.626Z,1761518119.626 [DAT](INFO): Rx dataTimestamp_ set to:1761518119.626146
2025-10-26T22:35:19.628Z,1761518119.628 [DAT](INFO): DAT read: Bearing 217.1, -11.8 (Local)

2025-10-26T22:35:19.629Z,1761518119.629 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.1, -11.8 (Local)

2025-10-26T22:35:19.633Z,1761518119.633 [DAT](INFO): DAT read: Range 11 to 50 :    21.5 m (trip time 14.3 ms) speed 0.4

2025-10-26T22:35:19.638Z,1761518119.638 [DAT](INFO): DAT read: 22:35:18.4548 LVL= 32752, 32753, 25586, 32755, AGC= 62, IDX= 495, 0.29,-1.088,-2.427,-0.407,-1.044, PHS= 0.058,-1.338, 0.593, RAW= 165.6,   8.0, CAL= 165.2,   8.2, ROT= 344.8,  -8.2

2025-10-26T22:35:19.639Z,1761518119.639 [DAT](INFO): got valid direction response:
 22:35:18.4548 LVL= 32752, 32753, 25586, 32755, AGC= 62, IDX= 495, 0.29,-1.088,-2.427,-0.407,-1.044, PHS= 0.058,-1.338, 0.593, RAW= 165.6,   8.0, CAL= 165.2,   8.2, ROT= 344.8,  -8.2

2025-10-26T22:35:19.648Z,1761518119.648 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-10-26T22:35:19.651Z,1761518119.651 [DAT](INFO): direction in FSK: [0.955150,-0.259509,0.142629]
2025-10-26T22:35:19.651Z,1761518119.651 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:19.693Z,1761518119.693 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.551107
2025-10-26T22:35:19.717Z,1761518119.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282390,-0.942774,-0.177296],[0.955670,0.292538,-0.033425],[0.083378,-0.159998,0.983590]]
2025-10-26T22:35:19.876Z,1761518119.876 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.734690
2025-10-26T22:35:19.902Z,1761518119.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.500000 m,
      deltaT: 0.503811 s,
      deltaX: -0.400000 m,
      approachRate: -0.793948 m/s,
      rangeRepo size: 4

2025-10-26T22:35:19.909Z,1761518119.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.378180 m,
      bearing: 59.554414 deg,
      lat: 36.779414 deg,
      lon: -121.859428 deg,
      deltaT: 0.503811 s,
      deltaX: -0.397732 m,
      approachRate: -0.789446 m/s,
      posRepo size: 4

2025-10-26T22:35:19.910Z,1761518119.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m.
2025-10-26T22:35:19.917Z,1761518119.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.378180 m,
      nav range: 20.575195 m,
      bearing: 59.193676 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.125394 deg/s,
      cmd heading: 70.684378 deg,
      new cmd heading: 70.495944 deg.

2025-10-26T22:35:19.917Z,1761518119.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.230386 target range: 21.378180 and range: 21.50 m.
2025-10-26T22:35:20.129Z,1761518120.129 [DAT](INFO): DAT read: Rx Time:22:35:18.9546 

2025-10-26T22:35:20.129Z,1761518120.129 [DAT](INFO): Rx dataTimestamp_ set to:1761518120.129205
2025-10-26T22:35:20.131Z,1761518120.131 [DAT](INFO): DAT read: Bearing 218.9, -12.0 (Local)

2025-10-26T22:35:20.131Z,1761518120.131 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.9, -12.0 (Local)

2025-10-26T22:35:20.133Z,1761518120.133 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed 0.5

2025-10-26T22:35:20.142Z,1761518120.142 [DAT](INFO): DAT read: 22:35:18.9546 LVL= 32752, 32753, 30818, 32755, AGC= 61, IDX= 510,-0.38,-2.455, 2.499,-1.787,-2.378, PHS= 0.025,-1.361, 0.547, RAW= 165.3,   9.3, CAL= 165.2,  10.0, ROT= 344.8, -10.0

2025-10-26T22:35:20.147Z,1761518120.147 [DAT](INFO): got valid direction response:
 22:35:18.9546 LVL= 32752, 32753, 30818, 32755, AGC= 61, IDX= 510,-0.38,-2.455, 2.499,-1.787,-2.378, PHS= 0.025,-1.361, 0.547, RAW= 165.3,   9.3, CAL= 165.2,  10.0, ROT= 344.8, -10.0

2025-10-26T22:35:20.148Z,1761518120.148 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-26T22:35:20.149Z,1761518120.149 [DAT](INFO): direction in FSK: [0.950356,-0.258206,0.173648]
2025-10-26T22:35:20.149Z,1761518120.149 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:20.161Z,1761518120.161 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.019024
2025-10-26T22:35:20.197Z,1761518120.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281793,-0.942267,-0.180902],[0.955764,0.292236,-0.033366],[0.084305,-0.163497,0.982935]]
2025-10-26T22:35:20.308Z,1761518120.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.503059 s,
      deltaX: -0.299999 m,
      approachRate: -0.596350 m/s,
      rangeRepo size: 4

2025-10-26T22:35:20.310Z,1761518120.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.079937 m,
      bearing: 59.886686 deg,
      lat: 36.779413 deg,
      lon: -121.859428 deg,
      deltaT: 0.503059 s,
      deltaX: -0.298243 m,
      approachRate: -0.592858 m/s,
      posRepo size: 4

2025-10-26T22:35:20.311Z,1761518120.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.08 m.
2025-10-26T22:35:20.317Z,1761518120.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.079937 m,
      nav range: 20.313295 m,
      bearing: 59.326461 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.125394 deg/s,
      cmd heading: 70.495947 deg,
      new cmd heading: 70.344873 deg.

2025-10-26T22:35:20.318Z,1761518120.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.227750 target range: 21.079937 and range: 21.20 m.
2025-10-26T22:35:20.381Z,1761518120.381 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.239229
2025-10-26T22:35:20.605Z,1761518120.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282515,-0.941236,-0.185094],[0.955487,0.293218,-0.032673],[0.085026,-0.167624,0.982177]]
2025-10-26T22:35:20.633Z,1761518120.633 [DAT](INFO): DAT read: Rx Time:22:35:19.4543 

2025-10-26T22:35:20.633Z,1761518120.633 [DAT](INFO): Rx dataTimestamp_ set to:1761518120.633179
2025-10-26T22:35:20.635Z,1761518120.635 [DAT](INFO): DAT read: Bearing 218.5, -11.9 (Local)

2025-10-26T22:35:20.635Z,1761518120.635 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.5, -11.9 (Local)

2025-10-26T22:35:20.637Z,1761518120.637 [DAT](INFO): DAT read: Range 11 to 50 :    20.7 m (trip time 13.8 ms) speed 0.4

2025-10-26T22:35:20.642Z,1761518120.642 [DAT](INFO): DAT read: 22:35:19.4543 LVL= 32752, 32753, 26242, 32755, AGC= 62, IDX= 507,-0.19,-2.789, 2.178,-2.127,-2.723, PHS= 0.035,-1.338, 0.552, RAW= 165.3,   8.9, CAL= 165.1,   9.4, ROT= 344.9,  -9.4

2025-10-26T22:35:20.643Z,1761518120.643 [DAT](INFO): got valid direction response:
 22:35:19.4543 LVL= 32752, 32753, 26242, 32755, AGC= 62, IDX= 507,-0.19,-2.789, 2.178,-2.127,-2.723, PHS= 0.035,-1.338, 0.552, RAW= 165.3,   8.9, CAL= 165.1,   9.4, ROT= 344.9,  -9.4

2025-10-26T22:35:20.644Z,1761518120.644 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-26T22:35:20.645Z,1761518120.645 [DAT](INFO): direction in FSK: [0.952508,-0.257007,0.163326]
2025-10-26T22:35:20.645Z,1761518120.645 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:20.657Z,1761518120.657 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.515097
2025-10-26T22:35:20.702Z,1761518120.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.700001 m,
      deltaT: 0.503974 s,
      deltaX: -0.500000 m,
      approachRate: -0.992115 m/s,
      rangeRepo size: 4

2025-10-26T22:35:20.710Z,1761518120.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.582767 m,
      bearing: 59.901195 deg,
      lat: 36.779413 deg,
      lon: -121.859428 deg,
      deltaT: 0.503974 s,
      deltaX: -0.497169 m,
      approachRate: -0.986498 m/s,
      posRepo size: 4

2025-10-26T22:35:20.710Z,1761518120.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.58 m.
2025-10-26T22:35:20.732Z,1761518120.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.582767 m,
      nav range: 20.070374 m,
      bearing: 59.260291 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.125394 deg/s,
      cmd heading: 70.344870 deg,
      new cmd heading: 70.195108 deg.

2025-10-26T22:35:20.733Z,1761518120.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.225136 target range: 20.582767 and range: 20.70 m.
2025-10-26T22:35:20.885Z,1761518120.885 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.742929
2025-10-26T22:35:20.983Z,1761518120.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283520,-0.940415,-0.187712],[0.955110,0.294454,-0.032581],[0.085912,-0.170048,0.981684]]
2025-10-26T22:35:21.129Z,1761518121.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:35:21.137Z,1761518121.137 [DAT](INFO): DAT read: Rx Time:22:35:19.9543 

2025-10-26T22:35:21.138Z,1761518121.138 [DAT](INFO): Rx dataTimestamp_ set to:1761518121.137297
2025-10-26T22:35:21.139Z,1761518121.139 [DAT](INFO): DAT read: Bearing 217.8, -11.8 (Local)

2025-10-26T22:35:21.139Z,1761518121.139 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.8, -11.8 (Local)

2025-10-26T22:35:21.141Z,1761518121.141 [DAT](INFO): DAT read: Range 11 to 50 :    20.7 m (trip time 13.8 ms) speed 0.5

2025-10-26T22:35:21.146Z,1761518121.146 [DAT](INFO): DAT read: 22:35:19.9543 LVL= 32752, 32753, 30258, 32755, AGC= 60, IDX= 506, 0.01,-0.852,-2.187,-0.173,-0.795, PHS= 0.046,-1.347, 0.579, RAW= 165.5,   8.4, CAL= 165.2,   8.8, ROT= 344.8,  -8.8

2025-10-26T22:35:21.147Z,1761518121.147 [DAT](INFO): got valid direction response:
 22:35:19.9543 LVL= 32752, 32753, 30258, 32755, AGC= 60, IDX= 506, 0.01,-0.852,-2.187,-0.173,-0.795, PHS= 0.046,-1.347, 0.579, RAW= 165.5,   8.4, CAL= 165.2,   8.8, ROT= 344.8,  -8.8

2025-10-26T22:35:21.148Z,1761518121.148 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-10-26T22:35:21.149Z,1761518121.149 [DAT](INFO): direction in FSK: [0.953657,-0.259103,0.152986]
2025-10-26T22:35:21.149Z,1761518121.149 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:21.153Z,1761518121.153 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.011002
2025-10-26T22:35:21.154Z,1761518121.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.58 m.
2025-10-26T22:35:21.161Z,1761518121.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.582767 m,
      nav range: 19.845264 m,
      bearing: 59.249185 deg,
      approach rate: -0.523181 m/s,
      LOS rate: -0.026103 deg/s,
      cmd heading: 70.195111 deg,
      new cmd heading: 70.161417 deg.

2025-10-26T22:35:21.161Z,1761518121.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224548 target range: 20.582767 and range: 20.70 m.
2025-10-26T22:35:21.389Z,1761518121.389 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.247393
2025-10-26T22:35:21.487Z,1761518121.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285263,-0.939093,-0.191649],[0.954549,0.296385,-0.031495],[0.086378,-0.173955,0.980958]]
2025-10-26T22:35:21.510Z,1761518121.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.700001 m,
      deltaT: 0.504118 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:35:21.512Z,1761518121.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.583071 m,
      bearing: 59.607753 deg,
      lat: 36.779413 deg,
      lon: -121.859426 deg,
      deltaT: 0.504118 s,
      deltaX: 0.000303 m,
      approachRate: 0.000602 m/s,
      posRepo size: 4

2025-10-26T22:35:21.513Z,1761518121.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.58 m.
2025-10-26T22:35:21.516Z,1761518121.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.583071 m,
      nav range: 19.761106 m,
      bearing: 59.584805 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026103 deg/s,
      cmd heading: 70.161418 deg,
      new cmd heading: 70.131815 deg.

2025-10-26T22:35:21.517Z,1761518121.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224031 target range: 20.583071 and range: 20.70 m.
2025-10-26T22:35:21.641Z,1761518121.641 [DAT](INFO): DAT read: Rx Time:22:35:20.4541 

2025-10-26T22:35:21.642Z,1761518121.642 [DAT](INFO): Rx dataTimestamp_ set to:1761518121.641274
2025-10-26T22:35:21.643Z,1761518121.643 [DAT](INFO): DAT read: Bearing 218.6, -11.7 (Local)

2025-10-26T22:35:21.643Z,1761518121.643 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.6, -11.7 (Local)

2025-10-26T22:35:21.645Z,1761518121.645 [DAT](INFO): DAT read: Range 11 to 50 :    20.3 m (trip time 13.5 ms) speed 0.4

2025-10-26T22:35:21.650Z,1761518121.650 [DAT](INFO): DAT read: 22:35:20.4541 LVL= 32752, 32753, 31538, 32755, AGC= 59, IDX= 503, 0.24,-1.012,-2.356,-0.343,-0.944, PHS= 0.034,-1.366, 0.558, RAW= 165.3,   9.0, CAL= 165.0,   9.6, ROT= 345.0,  -9.6

2025-10-26T22:35:21.651Z,1761518121.651 [DAT](INFO): got valid direction response:
 22:35:20.4541 LVL= 32752, 32753, 31538, 32755, AGC= 59, IDX= 503, 0.24,-1.012,-2.356,-0.343,-0.944, PHS= 0.034,-1.366, 0.558, RAW= 165.3,   9.0, CAL= 165.0,   9.6, ROT= 345.0,  -9.6

2025-10-26T22:35:21.652Z,1761518121.652 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-10-26T22:35:21.653Z,1761518121.653 [DAT](INFO): direction in FSK: [0.952399,-0.255194,0.166769]
2025-10-26T22:35:21.653Z,1761518121.653 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:21.657Z,1761518121.657 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.515190
2025-10-26T22:35:21.894Z,1761518121.894 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.751808
2025-10-26T22:35:21.925Z,1761518121.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287064,-0.937960,-0.194490],[0.953943,0.298383,-0.031001],[0.087110,-0.176633,0.980415]]
2025-10-26T22:35:21.986Z,1761518121.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.299999 m,
      deltaT: 0.503977 s,
      deltaX: -0.400002 m,
      approachRate: -0.793690 m/s,
      rangeRepo size: 4

2025-10-26T22:35:21.988Z,1761518121.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.185329 m,
      bearing: 59.858309 deg,
      lat: 36.779411 deg,
      lon: -121.859428 deg,
      deltaT: 0.503977 s,
      deltaX: -0.397741 m,
      approachRate: -0.789205 m/s,
      posRepo size: 4

2025-10-26T22:35:21.989Z,1761518121.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.19 m.
2025-10-26T22:35:21.996Z,1761518121.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.185329 m,
      nav range: 19.308434 m,
      bearing: 59.858240 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026103 deg/s,
      cmd heading: 70.131815 deg,
      new cmd heading: 70.094573 deg.

2025-10-26T22:35:21.997Z,1761518121.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.223381 target range: 20.185329 and range: 20.30 m.
2025-10-26T22:35:22.145Z,1761518122.145 [DAT](INFO): DAT read: Rx Time:22:35:20.9540 

2025-10-26T22:35:22.146Z,1761518122.146 [DAT](INFO): Rx dataTimestamp_ set to:1761518122.145265
2025-10-26T22:35:22.147Z,1761518122.147 [DAT](INFO): DAT read: Bearing 219.7, -11.8 (Local)

2025-10-26T22:35:22.148Z,1761518122.148 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.7, -11.8 (Local)

2025-10-26T22:35:22.150Z,1761518122.150 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed 0.4

2025-10-26T22:35:22.157Z,1761518122.157 [DAT](INFO): DAT read: 22:35:20.9540 LVL= 32752, 32753, 30642, 32755, AGC= 60, IDX= 503,-0.28,-2.952, 2.015,-2.297,-2.861, PHS= 0.011,-1.361, 0.520, RAW= 165.2,   9.9, CAL= 165.1,  10.8, ROT= 344.9, -10.8

2025-10-26T22:35:22.159Z,1761518122.159 [DAT](INFO): got valid direction response:
 22:35:20.9540 LVL= 32752, 32753, 30642, 32755, AGC= 60, IDX= 503,-0.28,-2.952, 2.015,-2.297,-2.861, PHS= 0.011,-1.361, 0.520, RAW= 165.2,   9.9, CAL= 165.1,  10.8, ROT= 344.9, -10.8

2025-10-26T22:35:22.159Z,1761518122.159 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-10-26T22:35:22.161Z,1761518122.161 [DAT](INFO): direction in FSK: [0.948371,-0.255890,0.187381]
2025-10-26T22:35:22.161Z,1761518122.161 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:22.181Z,1761518122.181 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.039230
2025-10-26T22:35:22.351Z,1761518122.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288498,-0.936838,-0.197747],[0.953431,0.300059,-0.030559],[0.087965,-0.179722,0.979777]]
2025-10-26T22:35:22.396Z,1761518122.396 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.254803
2025-10-26T22:35:22.400Z,1761518122.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.503991 s,
      deltaX: -0.199999 m,
      approachRate: -0.396830 m/s,
      rangeRepo size: 4

2025-10-26T22:35:22.402Z,1761518122.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.987198 m,
      bearing: 59.902340 deg,
      lat: 36.779411 deg,
      lon: -121.859428 deg,
      deltaT: 0.503991 s,
      deltaX: -0.198132 m,
      approachRate: -0.393125 m/s,
      posRepo size: 4

2025-10-26T22:35:22.403Z,1761518122.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.99 m.
2025-10-26T22:35:22.410Z,1761518122.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.987198 m,
      nav range: 19.104559 m,
      bearing: 59.914496 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026103 deg/s,
      cmd heading: 70.094570 deg,
      new cmd heading: 70.062107 deg.

2025-10-26T22:35:22.411Z,1761518122.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.222814 target range: 19.987198 and range: 20.10 m.
2025-10-26T22:35:22.649Z,1761518122.649 [DAT](INFO): DAT read: Rx Time:22:35:21.4538 

2025-10-26T22:35:22.650Z,1761518122.650 [DAT](INFO): Rx dataTimestamp_ set to:1761518122.649360
2025-10-26T22:35:22.651Z,1761518122.651 [DAT](INFO): DAT read: Bearing 220.6, -11.8 (Local)

2025-10-26T22:35:22.651Z,1761518122.651 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.6, -11.8 (Local)

2025-10-26T22:35:22.653Z,1761518122.653 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.4

2025-10-26T22:35:22.658Z,1761518122.658 [DAT](INFO): DAT read: 22:35:21.4538 LVL= 32752, 32753, 31170, 32755, AGC= 59, IDX= 500,-0.00, 2.948, 1.625,-2.684, 3.056, PHS=-0.006,-1.386, 0.499, RAW= 165.0,  10.6, CAL= 165.0,  11.8, ROT= 345.0, -11.8

2025-10-26T22:35:22.659Z,1761518122.659 [DAT](INFO): got valid direction response:
 22:35:21.4538 LVL= 32752, 32753, 31170, 32755, AGC= 59, IDX= 500,-0.00, 2.948, 1.625,-2.684, 3.056, PHS=-0.006,-1.386, 0.499, RAW= 165.0,  10.6, CAL= 165.0,  11.8, ROT= 345.0, -11.8

2025-10-26T22:35:22.660Z,1761518122.660 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-26T22:35:22.660Z,1761518122.660 [DAT](INFO): direction in FSK: [0.945513,-0.253349,0.204496]
2025-10-26T22:35:22.661Z,1761518122.661 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:22.689Z,1761518122.689 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.547634
2025-10-26T22:35:22.754Z,1761518122.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290821,-0.935331,-0.201444],[0.952666,0.302577,-0.029560],[0.088601,-0.183312,0.979054]]
2025-10-26T22:35:22.806Z,1761518122.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.504095 s,
      deltaX: -0.300001 m,
      approachRate: -0.595128 m/s,
      rangeRepo size: 4

2025-10-26T22:35:22.814Z,1761518122.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.688881 m,
      bearing: 60.081967 deg,
      lat: 36.779410 deg,
      lon: -121.859429 deg,
      deltaT: 0.504095 s,
      deltaX: -0.298317 m,
      approachRate: -0.591787 m/s,
      posRepo size: 4

2025-10-26T22:35:22.815Z,1761518122.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m.
2025-10-26T22:35:22.822Z,1761518122.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.688881 m,
      nav range: 18.784262 m,
      bearing: 59.935944 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026103 deg/s,
      cmd heading: 70.062107 deg,
      new cmd heading: 70.030330 deg.

2025-10-26T22:35:22.823Z,1761518122.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.222260 target range: 19.688881 and range: 19.80 m.
2025-10-26T22:35:22.901Z,1761518122.901 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.758816
2025-10-26T22:35:23.153Z,1761518123.153 [DAT](INFO): DAT read: Rx Time:22:35:21.9536 

2025-10-26T22:35:23.153Z,1761518123.153 [DAT](INFO): Rx dataTimestamp_ set to:1761518123.153130
2025-10-26T22:35:23.155Z,1761518123.155 [DAT](INFO): DAT read: Bearing 219.2, -11.4 (Local)

2025-10-26T22:35:23.155Z,1761518123.155 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.2, -11.4 (Local)

2025-10-26T22:35:23.157Z,1761518123.157 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed 0.4

2025-10-26T22:35:23.162Z,1761518123.162 [DAT](INFO): DAT read: 22:35:21.9536 LVL= 32752, 32753, 29810, 32755, AGC= 60, IDX= 498, 0.41, 2.514, 1.181,-3.119, 2.594, PHS= 0.022,-1.368, 0.526, RAW= 164.9,   9.7, CAL= 164.8,  10.5, ROT= 345.2, -10.5

2025-10-26T22:35:23.163Z,1761518123.163 [DAT](INFO): got valid direction response:
 22:35:21.9536 LVL= 32752, 32753, 29810, 32755, AGC= 60, IDX= 498, 0.41, 2.514, 1.181,-3.119, 2.594, PHS= 0.022,-1.368, 0.526, RAW= 164.9,   9.7, CAL= 164.8,  10.5, ROT= 345.2, -10.5

2025-10-26T22:35:23.163Z,1761518123.163 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-10-26T22:35:23.164Z,1761518123.164 [DAT](INFO): direction in FSK: [0.950634,-0.251168,0.182236]
2025-10-26T22:35:23.165Z,1761518123.165 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:23.169Z,1761518123.169 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.026901
2025-10-26T22:35:23.187Z,1761518123.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293586,-0.933778,-0.204613],[0.951786,0.305454,-0.028322],[0.088946,-0.186433,0.978433]]
2025-10-26T22:35:23.304Z,1761518123.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.503770 s,
      deltaX: -0.299999 m,
      approachRate: -0.595508 m/s,
      rangeRepo size: 4

2025-10-26T22:35:23.306Z,1761518123.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.390978 m,
      bearing: 59.935899 deg,
      lat: 36.779410 deg,
      lon: -121.859429 deg,
      deltaT: 0.503770 s,
      deltaX: -0.297903 m,
      approachRate: -0.591347 m/s,
      posRepo size: 4

2025-10-26T22:35:23.307Z,1761518123.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.39 m.
2025-10-26T22:35:23.314Z,1761518123.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.390978 m,
      nav range: 18.549412 m,
      bearing: 60.004469 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026103 deg/s,
      cmd heading: 70.030333 deg,
      new cmd heading: 69.991659 deg.

2025-10-26T22:35:23.315Z,1761518123.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.221585 target range: 19.390978 and range: 19.50 m.
2025-10-26T22:35:23.405Z,1761518123.405 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.262909
2025-10-26T22:35:23.609Z,1761518123.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299034,-0.931577,-0.206743],[0.950000,0.311041,-0.027452],[0.089879,-0.188196,0.978010]]
2025-10-26T22:35:23.626Z,1761518123.626 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:35:23.628Z,1761518123.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.39 m.
2025-10-26T22:35:23.630Z,1761518123.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.390978 m,
      nav range: 18.387022 m,
      bearing: 60.055787 deg,
      approach rate: -0.494501 m/s,
      LOS rate: 0.157652 deg/s,
      cmd heading: 69.991660 deg,
      new cmd heading: 70.146974 deg.

2025-10-26T22:35:23.632Z,1761518123.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224296 target range: 19.390978 and range: 19.50 m.
2025-10-26T22:35:23.657Z,1761518123.657 [DAT](INFO): DAT read: Rx Time:22:35:22.4533 

2025-10-26T22:35:23.657Z,1761518123.657 [DAT](INFO): Rx dataTimestamp_ set to:1761518123.657152
2025-10-26T22:35:23.659Z,1761518123.659 [DAT](INFO): DAT read: Bearing 218.6, -12.0 (Local)

2025-10-26T22:35:23.659Z,1761518123.659 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.6, -12.0 (Local)

2025-10-26T22:35:23.662Z,1761518123.662 [DAT](INFO): DAT read: Range 11 to 50 :    19.1 m (trip time 12.7 ms) speed 0.4

2025-10-26T22:35:23.669Z,1761518123.669 [DAT](INFO): DAT read: 22:35:22.4533 LVL= 32752, 32753, 23874, 32755, AGC= 58, IDX= 496,-0.11,-0.637,-1.938, 0.036,-0.550, PHS= 0.015,-1.344, 0.541, RAW= 165.7,   9.4, CAL= 165.6,  10.1, ROT= 344.4, -10.1

2025-10-26T22:35:23.671Z,1761518123.671 [DAT](INFO): got valid direction response:
 22:35:22.4533 LVL= 32752, 32753, 23874, 32755, AGC= 58, IDX= 496,-0.11,-0.637,-1.938, 0.036,-0.550, PHS= 0.015,-1.344, 0.541, RAW= 165.7,   9.4, CAL= 165.6,  10.1, ROT= 344.4, -10.1

2025-10-26T22:35:23.671Z,1761518123.671 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-26T22:35:23.673Z,1761518123.673 [DAT](INFO): direction in FSK: [0.948237,-0.264753,0.175367]
2025-10-26T22:35:23.673Z,1761518123.673 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:23.688Z,1761518123.688 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.541164
2025-10-26T22:35:23.912Z,1761518123.912 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.769279
2025-10-26T22:35:24.010Z,1761518124.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301716,-0.930766,-0.206501],[0.949120,0.313728,-0.027327],[0.090220,-0.187749,0.978065]]
2025-10-26T22:35:24.111Z,1761518124.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.100000 m,
      deltaT: 0.504022 s,
      deltaX: -0.400000 m,
      approachRate: -0.793615 m/s,
      rangeRepo size: 4

2025-10-26T22:35:24.129Z,1761518124.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.992876 m,
      bearing: 58.570398 deg,
      lat: 36.779410 deg,
      lon: -121.859431 deg,
      deltaT: 0.504022 s,
      deltaX: -0.398102 m,
      approachRate: -0.789850 m/s,
      posRepo size: 4

2025-10-26T22:35:24.130Z,1761518124.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.99 m.
2025-10-26T22:35:24.148Z,1761518124.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.992876 m,
      nav range: 18.074556 m,
      bearing: 59.965327 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.157652 deg/s,
      cmd heading: 70.146972 deg,
      new cmd heading: 70.375240 deg.

2025-10-26T22:35:24.149Z,1761518124.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228280 target range: 18.992876 and range: 19.10 m.
2025-10-26T22:35:24.161Z,1761518124.161 [DAT](INFO): DAT read: Rx Time:22:35:22.9533 

2025-10-26T22:35:24.162Z,1761518124.162 [DAT](INFO): Rx dataTimestamp_ set to:1761518124.161275
2025-10-26T22:35:24.163Z,1761518124.163 [DAT](INFO): DAT read: Bearing 219.0, -11.7 (Local)

2025-10-26T22:35:24.163Z,1761518124.163 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.0, -11.7 (Local)

2025-10-26T22:35:24.165Z,1761518124.165 [DAT](INFO): DAT read: Range 11 to 50 :    19.1 m (trip time 12.7 ms) speed 0.4

2025-10-26T22:35:24.170Z,1761518124.170 [DAT](INFO): DAT read: 22:35:22.9533 LVL= 32752, 32753, 27938, 32755, AGC= 59, IDX= 511, 0.23, 2.693, 1.367,-2.921, 2.782, PHS= 0.012,-1.370, 0.536, RAW= 165.4,   9.7, CAL= 165.3,  10.5, ROT= 344.7, -10.5

2025-10-26T22:35:24.171Z,1761518124.171 [DAT](INFO): got valid direction response:
 22:35:22.9533 LVL= 32752, 32753, 27938, 32755, AGC= 59, IDX= 511, 0.23, 2.693, 1.367,-2.921, 2.782, PHS= 0.012,-1.370, 0.536, RAW= 165.4,   9.7, CAL= 165.3,  10.5, ROT= 344.7, -10.5

2025-10-26T22:35:24.172Z,1761518124.172 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-10-26T22:35:24.173Z,1761518124.173 [DAT](INFO): direction in FSK: [0.948406,-0.259454,0.182236]
2025-10-26T22:35:24.173Z,1761518124.173 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:24.177Z,1761518124.177 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.035046
2025-10-26T22:35:24.413Z,1761518124.413 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.271362
2025-10-26T22:35:24.640Z,1761518124.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304047,-0.930022,-0.206431],[0.948356,0.316051,-0.027075],[0.090423,-0.187538,0.978087]]
2025-10-26T22:35:24.665Z,1761518124.665 [DAT](INFO): DAT read: Rx Time:22:35:23.4530 

2025-10-26T22:35:24.666Z,1761518124.666 [DAT](INFO): Rx dataTimestamp_ set to:1761518124.665243
2025-10-26T22:35:24.667Z,1761518124.667 [DAT](INFO): DAT read: Bearing 218.4, -11.8 (Local)

2025-10-26T22:35:24.667Z,1761518124.667 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.4, -11.8 (Local)

2025-10-26T22:35:24.669Z,1761518124.669 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.4

2025-10-26T22:35:24.674Z,1761518124.674 [DAT](INFO): DAT read: 22:35:23.4530 LVL= 32144, 32753, 23090, 32755, AGC= 57, IDX= 509,-0.18,-0.842,-2.135,-0.172,-0.756, PHS= 0.016,-1.335, 0.540, RAW= 165.7,   9.3, CAL= 165.6,  10.0, ROT= 344.4, -10.0

2025-10-26T22:35:24.675Z,1761518124.675 [DAT](INFO): got valid direction response:
 22:35:23.4530 LVL= 32144, 32753, 23090, 32755, AGC= 57, IDX= 509,-0.18,-0.842,-2.135,-0.172,-0.756, PHS= 0.016,-1.335, 0.540, RAW= 165.7,   9.3, CAL= 165.6,  10.0, ROT= 344.4, -10.0

2025-10-26T22:35:24.684Z,1761518124.684 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-10-26T22:35:24.685Z,1761518124.685 [DAT](INFO): direction in FSK: [0.948530,-0.264834,0.173648]
2025-10-26T22:35:24.685Z,1761518124.685 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:24.689Z,1761518124.689 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.546936
2025-10-26T22:35:24.689Z,1761518124.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.100000 m,
      deltaT: 0.504123 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:35:24.696Z,1761518124.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.992876 m,
      bearing: 58.801169 deg,
      lat: 36.779410 deg,
      lon: -121.859431 deg,
      deltaT: 0.504123 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:35:24.696Z,1761518124.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.99 m.
2025-10-26T22:35:24.705Z,1761518124.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.992876 m,
      nav range: 17.811306 m,
      bearing: 60.041786 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.157652 deg/s,
      cmd heading: 70.375237 deg,
      new cmd heading: 70.636552 deg.

2025-10-26T22:35:24.706Z,1761518124.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.232840 target range: 18.992876 and range: 19.10 m.
2025-10-26T22:35:24.921Z,1761518124.921 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.778999
2025-10-26T22:35:25.095Z,1761518125.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306506,-0.929279,-0.206142],[0.947561,0.318458,-0.026695],[0.090455,-0.187150,0.978158]]
2025-10-26T22:35:25.158Z,1761518125.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.503968 s,
      deltaX: -0.300001 m,
      approachRate: -0.595278 m/s,
      rangeRepo size: 4

2025-10-26T22:35:25.160Z,1761518125.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.693623 m,
      bearing: 58.254627 deg,
      lat: 36.779414 deg,
      lon: -121.859431 deg,
      deltaT: 0.503968 s,
      deltaX: -0.299253 m,
      approachRate: -0.593795 m/s,
      posRepo size: 4

2025-10-26T22:35:25.161Z,1761518125.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m.
2025-10-26T22:35:25.164Z,1761518125.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.693623 m,
      nav range: 17.739973 m,
      bearing: 59.001769 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.157652 deg/s,
      cmd heading: 70.636553 deg,
      new cmd heading: 70.870468 deg.

2025-10-26T22:35:25.165Z,1761518125.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.236923 target range: 18.693623 and range: 18.80 m.
2025-10-26T22:35:25.169Z,1761518125.169 [DAT](INFO): DAT read: Rx Time:22:35:23.9530 

2025-10-26T22:35:25.170Z,1761518125.170 [DAT](INFO): Rx dataTimestamp_ set to:1761518125.169291
2025-10-26T22:35:25.171Z,1761518125.171 [DAT](INFO): DAT read: Bearing 218.2, -11.5 (Local)

2025-10-26T22:35:25.171Z,1761518125.171 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.2, -11.5 (Local)

2025-10-26T22:35:25.173Z,1761518125.173 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.4

2025-10-26T22:35:25.182Z,1761518125.182 [DAT](INFO): DAT read: 22:35:23.9530 LVL= 32752, 32753, 23762, 32755, AGC= 57, IDX= 508, 0.19, 2.536, 1.212,-3.072, 2.614, PHS= 0.024,-1.357, 0.553, RAW= 165.6,   9.2, CAL= 165.4,   9.8, ROT= 344.6,  -9.8

2025-10-26T22:35:25.183Z,1761518125.183 [DAT](INFO): got valid direction response:
 22:35:23.9530 LVL= 32752, 32753, 23762, 32755, AGC= 57, IDX= 508, 0.19, 2.536, 1.212,-3.072, 2.614, PHS= 0.024,-1.357, 0.553, RAW= 165.6,   9.2, CAL= 165.4,   9.8, ROT= 344.6,  -9.8

2025-10-26T22:35:25.184Z,1761518125.184 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-10-26T22:35:25.185Z,1761518125.185 [DAT](INFO): direction in FSK: [0.950027,-0.261681,0.170209]
2025-10-26T22:35:25.185Z,1761518125.185 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:25.205Z,1761518125.205 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.062870
2025-10-26T22:35:25.421Z,1761518125.421 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.278847
2025-10-26T22:35:25.606Z,1761518125.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309992,-0.929059,-0.201877],[0.946456,0.321690,-0.027122],[0.090140,-0.182660,0.979035]]
2025-10-26T22:35:25.637Z,1761518125.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.504048 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:35:25.639Z,1761518125.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.693623 m,
      bearing: 58.158635 deg,
      lat: 36.779414 deg,
      lon: -121.859431 deg,
      deltaT: 0.504048 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:35:25.640Z,1761518125.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m.
2025-10-26T22:35:25.642Z,1761518125.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.693623 m,
      nav range: 17.573238 m,
      bearing: 58.915935 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.157652 deg/s,
      cmd heading: 70.870466 deg,
      new cmd heading: 71.096974 deg.

2025-10-26T22:35:25.643Z,1761518125.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.240876 target range: 18.693623 and range: 18.80 m.
2025-10-26T22:35:25.674Z,1761518125.674 [DAT](INFO): DAT read: Rx Time:22:35:24.4527 

2025-10-26T22:35:25.675Z,1761518125.675 [DAT](INFO): Rx dataTimestamp_ set to:1761518125.674443
2025-10-26T22:35:25.677Z,1761518125.677 [DAT](INFO): DAT read: Bearing 217.5, -11.4 (Local)

2025-10-26T22:35:25.678Z,1761518125.678 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.5, -11.4 (Local)

2025-10-26T22:35:25.682Z,1761518125.682 [DAT](INFO): DAT read: Range 11 to 50 :    18.3 m (trip time 12.2 ms) speed 0.4

2025-10-26T22:35:25.689Z,1761518125.689 [DAT](INFO): DAT read: 22:35:24.4527 LVL= 31984, 32753, 22242, 32755, AGC= 56, IDX= 506,-0.21,-0.089,-1.392, 0.582,-0.023, PHS= 0.036,-1.324, 0.561, RAW= 165.7,   8.7, CAL= 165.4,   9.1, ROT= 344.6,  -9.1

2025-10-26T22:35:25.690Z,1761518125.690 [DAT](INFO): got valid direction response:
 22:35:24.4527 LVL= 31984, 32753, 22242, 32755, AGC= 56, IDX= 506,-0.21,-0.089,-1.392, 0.582,-0.023, PHS= 0.036,-1.324, 0.561, RAW= 165.7,   8.7, CAL= 165.4,   9.1, ROT= 344.6,  -9.1

2025-10-26T22:35:25.691Z,1761518125.691 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-10-26T22:35:25.692Z,1761518125.692 [DAT](INFO): direction in FSK: [0.951961,-0.262214,0.158158]
2025-10-26T22:35:25.693Z,1761518125.693 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:25.710Z,1761518125.710 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.568481
2025-10-26T22:35:25.927Z,1761518125.927 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.784569
2025-10-26T22:35:26.007Z,1761518126.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311621,-0.928747,-0.200803],[0.945997,0.323104,-0.026340],[0.089343,-0.181751,0.979278]]
2025-10-26T22:35:26.119Z,1761518126.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 0.505152 s,
      deltaX: -0.500000 m,
      approachRate: -0.989801 m/s,
      rangeRepo size: 4

2025-10-26T22:35:26.121Z,1761518126.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.195660 m,
      bearing: 57.937167 deg,
      lat: 36.779416 deg,
      lon: -121.859432 deg,
      deltaT: 0.505152 s,
      deltaX: -0.497963 m,
      approachRate: -0.985769 m/s,
      posRepo size: 4

2025-10-26T22:35:26.122Z,1761518126.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-10-26T22:35:26.124Z,1761518126.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.195660 m,
      nav range: 17.346586 m,
      bearing: 58.363428 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.157652 deg/s,
      cmd heading: 71.096976 deg,
      new cmd heading: 71.324845 deg.

2025-10-26T22:35:26.125Z,1761518126.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.244853 target range: 18.195660 and range: 18.30 m.
2025-10-26T22:35:26.178Z,1761518126.178 [DAT](INFO): DAT read: Rx Time:22:35:24.9527 

2025-10-26T22:35:26.178Z,1761518126.178 [DAT](INFO): Rx dataTimestamp_ set to:1761518126.178146
2025-10-26T22:35:26.180Z,1761518126.180 [DAT](INFO): DAT read: Bearing 218.0, -11.5 (Local)

2025-10-26T22:35:26.181Z,1761518126.181 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.0, -11.5 (Local)

2025-10-26T22:35:26.185Z,1761518126.185 [DAT](INFO): DAT read: Range 11 to 50 :    18.3 m (trip time 12.2 ms) speed 0.4

2025-10-26T22:35:26.189Z,1761518126.189 [DAT](INFO): DAT read: 22:35:24.9527 LVL= 32752, 32753, 24034, 32755, AGC= 57, IDX= 505, 0.14, 2.853, 1.529,-2.752, 2.929, PHS= 0.026,-1.355, 0.559, RAW= 165.6,   9.0, CAL= 165.4,   9.6, ROT= 344.6,  -9.6

2025-10-26T22:35:26.190Z,1761518126.190 [DAT](INFO): got valid direction response:
 22:35:24.9527 LVL= 32752, 32753, 24034, 32755, AGC= 57, IDX= 505, 0.14, 2.853, 1.529,-2.752, 2.929, PHS= 0.026,-1.355, 0.559, RAW= 165.6,   9.0, CAL= 165.4,   9.6, ROT= 344.6,  -9.6

2025-10-26T22:35:26.191Z,1761518126.191 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-10-26T22:35:26.216Z,1761518126.216 [DAT](INFO): direction in FSK: [0.950594,-0.261837,0.166769]
2025-10-26T22:35:26.217Z,1761518126.217 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:26.225Z,1761518126.225 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.082855
2025-10-26T22:35:26.423Z,1761518126.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312089,-0.928630,-0.200616],[0.945880,0.323482,-0.025902],[0.088949,-0.181674,0.979328]]
2025-10-26T22:35:26.428Z,1761518126.428 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.286793
2025-10-26T22:35:26.461Z,1761518126.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 0.503703 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:35:26.462Z,1761518126.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.195660 m,
      bearing: 57.992958 deg,
      lat: 36.779417 deg,
      lon: -121.859431 deg,
      deltaT: 0.503703 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:35:26.467Z,1761518126.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-10-26T22:35:26.470Z,1761518126.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.195660 m,
      nav range: 17.332514 m,
      bearing: 58.096261 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.157652 deg/s,
      cmd heading: 71.324845 deg,
      new cmd heading: 71.486526 deg.

2025-10-26T22:35:26.471Z,1761518126.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.247675 target range: 18.195660 and range: 18.30 m.
2025-10-26T22:35:26.681Z,1761518126.681 [DAT](INFO): DAT read: Rx Time:22:35:25.4524 

2025-10-26T22:35:26.681Z,1761518126.681 [DAT](INFO): Rx dataTimestamp_ set to:1761518126.681169
2025-10-26T22:35:26.683Z,1761518126.683 [DAT](INFO): DAT read: Bearing 218.1, -11.7 (Local)

2025-10-26T22:35:26.683Z,1761518126.683 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.1, -11.7 (Local)

2025-10-26T22:35:26.685Z,1761518126.685 [DAT](INFO): DAT read: Range 11 to 50 :    17.9 m (trip time 11.9 ms) speed 0.4

2025-10-26T22:35:26.690Z,1761518126.690 [DAT](INFO): DAT read: 22:35:25.4524 LVL= 32752, 32753, 23090, 32755, AGC= 57, IDX= 503,-0.34, 0.076,-1.229, 0.752, 0.157, PHS= 0.021,-1.341, 0.551, RAW= 165.8,   9.1, CAL= 165.6,   9.8, ROT= 344.4,  -9.8

2025-10-26T22:35:26.691Z,1761518126.691 [DAT](INFO): got valid direction response:
 22:35:25.4524 LVL= 32752, 32753, 23090, 32755, AGC= 57, IDX= 503,-0.34, 0.076,-1.229, 0.752, 0.157, PHS= 0.021,-1.341, 0.551, RAW= 165.8,   9.1, CAL= 165.6,   9.8, ROT= 344.4,  -9.8

2025-10-26T22:35:26.691Z,1761518126.691 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-10-26T22:35:26.692Z,1761518126.692 [DAT](INFO): direction in FSK: [0.949108,-0.264996,0.170209]
2025-10-26T22:35:26.693Z,1761518126.693 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:26.713Z,1761518126.713 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.571404
2025-10-26T22:35:26.814Z,1761518126.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312421,-0.928561,-0.200420],[0.945818,0.323704,-0.025373],[0.088437,-0.181634,0.979382]]
2025-10-26T22:35:26.849Z,1761518126.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 0.503023 s,
      deltaX: -0.400000 m,
      approachRate: -0.795192 m/s,
      rangeRepo size: 4

2025-10-26T22:35:26.851Z,1761518126.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.797939 m,
      bearing: 57.804599 deg,
      lat: 36.779417 deg,
      lon: -121.859432 deg,
      deltaT: 0.503023 s,
      deltaX: -0.397720 m,
      approachRate: -0.790660 m/s,
      posRepo size: 4

2025-10-26T22:35:26.852Z,1761518126.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-10-26T22:35:26.854Z,1761518126.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.797939 m,
      nav range: 17.064312 m,
      bearing: 57.971999 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.157652 deg/s,
      cmd heading: 71.486529 deg,
      new cmd heading: 71.670199 deg.

2025-10-26T22:35:26.872Z,1761518126.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.250881 target range: 17.797939 and range: 17.90 m.
2025-10-26T22:35:26.935Z,1761518126.935 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.792843
2025-10-26T22:35:27.185Z,1761518127.185 [DAT](INFO): DAT read: Rx Time:22:35:25.9522 

2025-10-26T22:35:27.186Z,1761518127.186 [DAT](INFO): Rx dataTimestamp_ set to:1761518127.185386
2025-10-26T22:35:27.187Z,1761518127.187 [DAT](INFO): DAT read: Bearing 218.3, -11.6 (Local)

2025-10-26T22:35:27.187Z,1761518127.187 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.3, -11.6 (Local)

2025-10-26T22:35:27.189Z,1761518127.189 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed 0.4

2025-10-26T22:35:27.205Z,1761518127.205 [DAT](INFO): DAT read: 22:35:25.9522 LVL= 32752, 32753, 24754, 32755, AGC= 58, IDX= 501, 0.03, 1.038,-0.287, 1.716, 1.118, PHS= 0.022,-1.361, 0.554, RAW= 165.6,   9.2, CAL= 165.4,   9.9, ROT= 344.6,  -9.9

2025-10-26T22:35:27.206Z,1761518127.206 [DAT](INFO): got valid direction response:
 22:35:25.9522 LVL= 32752, 32753, 24754, 32755, AGC= 58, IDX= 501, 0.03, 1.038,-0.287, 1.716, 1.118, PHS= 0.022,-1.361, 0.554, RAW= 165.6,   9.2, CAL= 165.4,   9.9, ROT= 344.6,  -9.9

2025-10-26T22:35:27.206Z,1761518127.206 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-10-26T22:35:27.223Z,1761518127.223 [DAT](INFO): direction in FSK: [0.949739,-0.261602,0.171929]
2025-10-26T22:35:27.224Z,1761518127.224 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:27.232Z,1761518127.232 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.089935
2025-10-26T22:35:27.238Z,1761518127.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311902,-0.929453,-0.197066],[0.946035,0.323009,-0.026144],[0.087954,-0.178277,0.980042]]
2025-10-26T22:35:27.353Z,1761518127.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.504217 s,
      deltaX: -0.299999 m,
      approachRate: -0.594980 m/s,
      rangeRepo size: 4

2025-10-26T22:35:27.360Z,1761518127.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.499239 m,
      bearing: 58.017113 deg,
      lat: 36.779417 deg,
      lon: -121.859432 deg,
      deltaT: 0.504217 s,
      deltaX: -0.298700 m,
      approachRate: -0.592404 m/s,
      posRepo size: 4

2025-10-26T22:35:27.360Z,1761518127.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-10-26T22:35:27.363Z,1761518127.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.499239 m,
      nav range: 16.813362 m,
      bearing: 57.964180 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.157652 deg/s,
      cmd heading: 71.670199 deg,
      new cmd heading: 71.908847 deg.

2025-10-26T22:35:27.368Z,1761518127.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255046 target range: 17.499239 and range: 17.60 m.
2025-10-26T22:35:27.437Z,1761518127.437 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.295647
2025-10-26T22:35:27.668Z,1761518127.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311609,-0.929711,-0.196309],[0.946172,0.322617,-0.026008],[0.087512,-0.177637,0.980197]]
2025-10-26T22:35:27.685Z,1761518127.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:35:27.687Z,1761518127.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-10-26T22:35:27.689Z,1761518127.689 [DAT](INFO): DAT read: Rx Time:22:35:26.4520 

2025-10-26T22:35:27.690Z,1761518127.690 [DAT](INFO): Rx dataTimestamp_ set to:1761518127.689348
2025-10-26T22:35:27.691Z,1761518127.691 [DAT](INFO): DAT read: Bearing 217.9, -11.5 (Local)

2025-10-26T22:35:27.691Z,1761518127.691 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.9, -11.5 (Local)

2025-10-26T22:35:27.693Z,1761518127.693 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed 0.4

2025-10-26T22:35:27.699Z,1761518127.699 [DAT](INFO): DAT read: 22:35:26.4520 LVL= 32752, 32753, 25730, 32755, AGC= 58, IDX= 498, 0.37, 0.486,-0.850, 1.165, 0.554, PHS= 0.034,-1.359, 0.567, RAW= 165.5,   8.8, CAL= 165.3,   9.3, ROT= 344.7,  -9.3

2025-10-26T22:35:27.702Z,1761518127.702 [DAT](INFO): got valid direction response:
 22:35:26.4520 LVL= 32752, 32753, 25730, 32755, AGC= 58, IDX= 498, 0.37, 0.486,-0.850, 1.165, 0.554, PHS= 0.034,-1.359, 0.567, RAW= 165.5,   8.8, CAL= 165.3,   9.3, ROT= 344.7,  -9.3

2025-10-26T22:35:27.702Z,1761518127.702 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-10-26T22:35:27.704Z,1761518127.704 [DAT](INFO): direction in FSK: [0.951879,-0.260405,0.161604]
2025-10-26T22:35:27.704Z,1761518127.704 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:27.718Z,1761518127.718 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.576019
2025-10-26T22:35:27.735Z,1761518127.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.499239 m,
      nav range: 16.620398 m,
      bearing: 57.957835 deg,
      approach rate: -0.577344 m/s,
      LOS rate: -0.019205 deg/s,
      cmd heading: 71.908846 deg,
      new cmd heading: 71.889590 deg.

2025-10-26T22:35:27.736Z,1761518127.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254710 target range: 17.499239 and range: 17.60 m.
2025-10-26T22:35:27.944Z,1761518127.944 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.801338
2025-10-26T22:35:28.097Z,1761518128.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310078,-0.930927,-0.192944],[0.946712,0.320942,-0.027048],[0.087104,-0.174275,0.980837]]
2025-10-26T22:35:28.152Z,1761518128.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.503962 s,
      deltaX: -0.300001 m,
      approachRate: -0.595285 m/s,
      rangeRepo size: 4

2025-10-26T22:35:28.154Z,1761518128.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.200880 m,
      bearing: 58.089063 deg,
      lat: 36.779417 deg,
      lon: -121.859432 deg,
      deltaT: 0.503962 s,
      deltaX: -0.298359 m,
      approachRate: -0.592027 m/s,
      posRepo size: 4

2025-10-26T22:35:28.155Z,1761518128.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m.
2025-10-26T22:35:28.162Z,1761518128.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.200880 m,
      nav range: 16.360035 m,
      bearing: 57.900929 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019205 deg/s,
      cmd heading: 71.889592 deg,
      new cmd heading: 71.862850 deg.

2025-10-26T22:35:28.163Z,1761518128.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254243 target range: 17.200880 and range: 17.30 m.
2025-10-26T22:35:28.193Z,1761518128.193 [DAT](INFO): DAT read: Rx Time:22:35:26.9519 

2025-10-26T22:35:28.194Z,1761518128.194 [DAT](INFO): Rx dataTimestamp_ set to:1761518128.193425
2025-10-26T22:35:28.195Z,1761518128.195 [DAT](INFO): DAT read: Bearing 219.1, -12.0 (Local)

2025-10-26T22:35:28.196Z,1761518128.196 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.1, -12.0 (Local)

2025-10-26T22:35:28.198Z,1761518128.198 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed 0.4

2025-10-26T22:35:28.202Z,1761518128.202 [DAT](INFO): DAT read: 22:35:26.9519 LVL= 32752, 32753, 25858, 32755, AGC= 58, IDX= 498,-0.21,-0.136,-1.443, 0.540,-0.041, PHS= 0.007,-1.356, 0.537, RAW= 165.7,   9.6, CAL= 165.6,  10.5, ROT= 344.4, -10.5

2025-10-26T22:35:28.204Z,1761518128.204 [DAT](INFO): got valid direction response:
 22:35:26.9519 LVL= 32752, 32753, 25858, 32755, AGC= 58, IDX= 498,-0.21,-0.136,-1.443, 0.540,-0.041, PHS= 0.007,-1.356, 0.537, RAW= 165.7,   9.6, CAL= 165.6,  10.5, ROT= 344.4, -10.5

2025-10-26T22:35:28.204Z,1761518128.204 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-10-26T22:35:28.205Z,1761518128.205 [DAT](INFO): direction in FSK: [0.947034,-0.264417,0.182236]
2025-10-26T22:35:28.205Z,1761518128.205 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:28.209Z,1761518128.209 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.067287
2025-10-26T22:35:28.446Z,1761518128.446 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.303806
2025-10-26T22:35:28.503Z,1761518128.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307712,-0.932328,-0.189941],[0.947513,0.318471,-0.028214],[0.086796,-0.171290,0.981390]]
2025-10-26T22:35:28.606Z,1761518128.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.504077 s,
      deltaX: -0.199999 m,
      approachRate: -0.396763 m/s,
      rangeRepo size: 4

2025-10-26T22:35:28.612Z,1761518128.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.002028 m,
      bearing: 58.079465 deg,
      lat: 36.779417 deg,
      lon: -121.859430 deg,
      deltaT: 0.504077 s,
      deltaX: -0.198853 m,
      approachRate: -0.394488 m/s,
      posRepo size: 4

2025-10-26T22:35:28.613Z,1761518128.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.00 m.
2025-10-26T22:35:28.620Z,1761518128.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.002028 m,
      nav range: 16.186762 m,
      bearing: 58.043313 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019205 deg/s,
      cmd heading: 71.862852 deg,
      new cmd heading: 71.836673 deg.

2025-10-26T22:35:28.621Z,1761518128.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.253786 target range: 17.002028 and range: 17.10 m.
2025-10-26T22:35:28.697Z,1761518128.697 [DAT](INFO): DAT read: Rx Tim27.4516 

2025-10-26T22:35:28.698Z,1761518128.698 [DAT](INFO): unknown deviceResponse_: Rx Tim27.4516 

2025-10-26T22:35:28.699Z,1761518128.699 [DAT](INFO): DAT read: Bear9, -11.9 (Local)

2025-10-26T22:35:28.700Z,1761518128.700 [DAT](INFO): Local bearing/azimuth received:
 Bear9, -11.9 (Local)

2025-10-26T22:35:28.703Z,1761518128.703 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed 0.4

2025-10-26T22:35:28.710Z,1761518128.710 [DAT](INFO): DAT read: 22:35:27.4516 LVL= 32752, 32753, 28514, 32755, AGC= 59, IDX= 511, 0.00,-0.126,-1.441, 0.539,-0.025, PHS= 0.001,-1.371, 0.520, RAW= 165.4,  10.1, CAL= 165.3,  11.1, ROT= 344.7, -11.1

2025-10-26T22:35:28.713Z,1761518128.713 [DAT](INFO): got valid direction response:
 22:35:27.4516 LVL= 32752, 32753, 28514, 32755, AGC= 59, IDX= 511, 0.00,-0.126,-1.441, 0.539,-0.025, PHS= 0.001,-1.371, 0.520, RAW= 165.4,  10.1, CAL= 165.3,  11.1, ROT= 344.7, -11.1

2025-10-26T22:35:28.713Z,1761518128.713 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-10-26T22:35:28.715Z,1761518128.715 [DAT](INFO): direction in FSK: [0.946513,-0.258937,0.192522]
2025-10-26T22:35:28.715Z,1761518128.715 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:28.721Z,1761518128.721 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.579220
2025-10-26T22:35:28.952Z,1761518128.952 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.810043
2025-10-26T22:35:29.121Z,1761518129.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304969,-0.933635,-0.187937],[0.948429,0.315653,-0.029071],[0.086465,-0.169379,0.981751]]
2025-10-26T22:35:29.172Z,1761518129.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.502648 s,
      deltaX: -0.400000 m,
      approachRate: -0.795785 m/s,
      rangeRepo size: 4

2025-10-26T22:35:29.174Z,1761518129.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.604227 m,
      bearing: 58.621871 deg,
      lat: 36.779417 deg,
      lon: -121.859430 deg,
      deltaT: 0.502648 s,
      deltaX: -0.397800 m,
      approachRate: -0.791410 m/s,
      posRepo size: 4

2025-10-26T22:35:29.175Z,1761518129.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m.
2025-10-26T22:35:29.178Z,1761518129.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.604227 m,
      nav range: 15.828691 m,
      bearing: 57.945616 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019205 deg/s,
      cmd heading: 71.836672 deg,
      new cmd heading: 71.804068 deg.

2025-10-26T22:35:29.179Z,1761518129.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.253217 target range: 16.604227 and range: 16.70 m.
2025-10-26T22:35:29.203Z,1761518129.203 [DAT](INFO): DAT read: Rx Time:22:35:27.9516 

2025-10-26T22:35:29.203Z,1761518129.203 [DAT](INFO): Rx dataTimestamp_ set to:1761518129.202751
2025-10-26T22:35:29.205Z,1761518129.205 [DAT](INFO): DAT read: Bearing 218.5, -12.0 (Local)

2025-10-26T22:35:29.205Z,1761518129.205 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.5, -12.0 (Local)

2025-10-26T22:35:29.207Z,1761518129.207 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed 0.4

2025-10-26T22:35:29.212Z,1761518129.212 [DAT](INFO): DAT read: 22:35:27.9516 LVL= 32752, 32753, 24418, 32755, AGC= 57, IDX= 510, 0.13, 2.255, 0.932, 2.941, 2.333, PHS= 0.024,-1.356, 0.564, RAW= 165.8,   9.0, CAL= 165.6,   9.6, ROT= 344.4,  -9.6

2025-10-26T22:35:29.213Z,1761518129.213 [DAT](INFO): got valid direction response:
 22:35:27.9516 LVL= 32752, 32753, 24418, 32755, AGC= 57, IDX= 510, 0.13, 2.255, 0.932, 2.941, 2.333, PHS= 0.024,-1.356, 0.564, RAW= 165.8,   9.0, CAL= 165.6,   9.6, ROT= 344.4,  -9.6

2025-10-26T22:35:29.213Z,1761518129.213 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-10-26T22:35:29.214Z,1761518129.214 [DAT](INFO): direction in FSK: [0.949674,-0.265154,0.166769]
2025-10-26T22:35:29.215Z,1761518129.215 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:29.218Z,1761518129.218 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.076649
2025-10-26T22:35:29.454Z,1761518129.454 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.312195
2025-10-26T22:35:29.581Z,1761518129.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301639,-0.935005,-0.186493],[0.949491,0.312338,-0.030211],[0.086496,-0.167961,0.981992]]
2025-10-26T22:35:29.609Z,1761518129.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.506678 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:35:29.612Z,1761518129.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.604227 m,
      bearing: 58.267755 deg,
      lat: 36.779417 deg,
      lon: -121.859430 deg,
      deltaT: 0.506678 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:35:29.612Z,1761518129.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m.
2025-10-26T22:35:29.615Z,1761518129.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.604227 m,
      nav range: 15.576943 m,
      bearing: 57.871179 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019205 deg/s,
      cmd heading: 71.804064 deg,
      new cmd heading: 71.778868 deg.

2025-10-26T22:35:29.616Z,1761518129.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.252778 target range: 16.604227 and range: 16.70 m.
2025-10-26T22:35:29.706Z,1761518129.706 [DAT](INFO): DAT read: Rx Time:22:35:28.4513 

2025-10-26T22:35:29.707Z,1761518129.707 [DAT](INFO): Rx dataTimestamp_ set to:1761518129.706650
2025-10-26T22:35:29.709Z,1761518129.709 [DAT](INFO): DAT read: Bearing 217.7, -11.9 (Local)

2025-10-26T22:35:29.709Z,1761518129.709 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.7, -11.9 (Local)

2025-10-26T22:35:29.713Z,1761518129.713 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed 0.5

2025-10-26T22:35:29.724Z,1761518129.724 [DAT](INFO): DAT read: 22:35:28.4513 LVL= 30928, 32753, 22546, 32755, AGC= 55, IDX= 507, 0.20, 2.374, 1.044, 3.064, 2.430, PHS= 0.045,-1.341, 0.590, RAW= 165.9,   8.2, CAL= 165.5,   8.5, ROT= 344.5,  -8.5

2025-10-26T22:35:29.726Z,1761518129.726 [DAT](INFO): got valid direction response:
 22:35:28.4513 LVL= 30928, 32753, 22546, 32755, AGC= 55, IDX= 507, 0.20, 2.374, 1.044, 3.064, 2.430, PHS= 0.045,-1.341, 0.590, RAW= 165.9,   8.2, CAL= 165.5,   8.5, ROT= 344.5,  -8.5

2025-10-26T22:35:29.726Z,1761518129.726 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-10-26T22:35:29.740Z,1761518129.740 [DAT](INFO): direction in FSK: [0.953046,-0.264303,0.147809]
2025-10-26T22:35:29.740Z,1761518129.740 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:29.748Z,1761518129.748 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.606163
2025-10-26T22:35:29.962Z,1761518129.962 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.819717
2025-10-26T22:35:30.088Z,1761518130.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295005,-0.937863,-0.182717],[0.951685,0.305468,-0.031389],[0.085253,-0.164630,0.982664]]
2025-10-26T22:35:30.154Z,1761518130.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.503899 s,
      deltaX: -0.500000 m,
      approachRate: -0.992262 m/s,
      rangeRepo size: 4

2025-10-26T22:35:30.160Z,1761518130.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.107010 m,
      bearing: 58.574333 deg,
      lat: 36.779417 deg,
      lon: -121.859430 deg,
      deltaT: 0.503899 s,
      deltaX: -0.497217 m,
      approachRate: -0.986740 m/s,
      posRepo size: 4

2025-10-26T22:35:30.161Z,1761518130.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m.
2025-10-26T22:35:30.167Z,1761518130.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.107010 m,
      nav range: 15.272673 m,
      bearing: 57.773662 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019205 deg/s,
      cmd heading: 71.778868 deg,
      new cmd heading: 71.747514 deg.

2025-10-26T22:35:30.168Z,1761518130.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.252230 target range: 16.107010 and range: 16.20 m.
2025-10-26T22:35:30.209Z,1761518130.209 [DAT](INFO): DAT read: Rx Time:22:35:28.9512 

2025-10-26T22:35:30.210Z,1761518130.210 [DAT](INFO): Rx dataTimestamp_ set to:1761518130.209625
2025-10-26T22:35:30.212Z,1761518130.212 [DAT](INFO): DAT read: Bearing 218.2, -11.9 (Local)

2025-10-26T22:35:30.212Z,1761518130.212 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.2, -11.9 (Local)

2025-10-26T22:35:30.215Z,1761518130.215 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed 0.5

2025-10-26T22:35:30.222Z,1761518130.222 [DAT](INFO): DAT read: 22:35:28.9512 LVL= 32752, 32753, 27122, 32755, AGC= 54, IDX= 506, 0.25,-1.954, 3.002,-1.270,-1.894, PHS= 0.042,-1.342, 0.580, RAW= 165.7,   8.4, CAL= 165.4,   8.8, ROT= 344.6,  -8.8

2025-10-26T22:35:30.236Z,1761518130.236 [DAT](INFO): got valid direction response:
 22:35:28.9512 LVL= 32752, 32753, 27122, 32755, AGC= 54, IDX= 506, 0.25,-1.954, 3.002,-1.270,-1.894, PHS= 0.042,-1.342, 0.580, RAW= 165.7,   8.4, CAL= 165.4,   8.8, ROT= 344.6,  -8.8

2025-10-26T22:35:30.237Z,1761518130.237 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-10-26T22:35:30.238Z,1761518130.238 [DAT](INFO): direction in FSK: [0.952746,-0.262430,0.152986]
2025-10-26T22:35:30.238Z,1761518130.238 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:30.266Z,1761518130.266 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.123940
2025-10-26T22:35:30.461Z,1761518130.461 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.318817
2025-10-26T22:35:30.463Z,1761518130.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291628,-0.939497,-0.179719],[0.952832,0.301835,-0.031723],[0.084049,-0.161991,0.983206]]
2025-10-26T22:35:30.487Z,1761518130.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.502975 s,
      deltaX: -0.100000 m,
      approachRate: -0.198818 m/s,
      rangeRepo size: 4

2025-10-26T22:35:30.489Z,1761518130.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.007582 m,
      bearing: 58.900466 deg,
      lat: 36.779417 deg,
      lon: -121.859426 deg,
      deltaT: 0.502975 s,
      deltaX: -0.099428 m,
      approachRate: -0.197680 m/s,
      posRepo size: 4

2025-10-26T22:35:30.490Z,1761518130.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m.
2025-10-26T22:35:30.492Z,1761518130.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.007582 m,
      nav range: 15.275377 m,
      bearing: 58.453988 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019205 deg/s,
      cmd heading: 71.747510 deg,
      new cmd heading: 71.728330 deg.

2025-10-26T22:35:30.493Z,1761518130.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.251896 target range: 16.007582 and range: 16.10 m.
2025-10-26T22:35:30.714Z,1761518130.714 [DAT](INFO): DAT read: Rx Time:22:35:29.4509 

2025-10-26T22:35:30.714Z,1761518130.714 [DAT](INFO): Rx dataTimestamp_ set to:1761518130.714022
2025-10-26T22:35:30.717Z,1761518130.717 [DAT](INFO): DAT read: Bearing 217.4, -11.9 (Local)

2025-10-26T22:35:30.718Z,1761518130.718 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.4, -11.9 (Local)

2025-10-26T22:35:30.726Z,1761518130.726 [DAT](INFO): DAT read: Range 11 to 50 :    15.6 m (trip time 10.4 ms) speed 0.5

2025-10-26T22:35:30.740Z,1761518130.740 [DAT](INFO): DAT read: 22:35:29.4509 LVL= 32752, 31841, 27042, 32755, AGC= 53, IDX= 503, 0.30,-1.942, 3.008,-1.252,-1.901, PHS= 0.061,-1.330, 0.605, RAW= 165.8,   7.7, CAL= 165.4,   7.8, ROT= 344.6,  -7.8

2025-10-26T22:35:30.741Z,1761518130.741 [DAT](INFO): got valid direction response:
 22:35:29.4509 LVL= 32752, 31841, 27042, 32755, AGC= 53, IDX= 503, 0.30,-1.942, 3.008,-1.252,-1.901, PHS= 0.061,-1.330, 0.605, RAW= 165.8,   7.7, CAL= 165.4,   7.8, ROT= 344.6,  -7.8

2025-10-26T22:35:30.741Z,1761518130.741 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-10-26T22:35:30.742Z,1761518130.742 [DAT](INFO): direction in FSK: [0.955175,-0.263099,0.135716]
2025-10-26T22:35:30.742Z,1761518130.742 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:30.768Z,1761518130.768 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.626057
2025-10-26T22:35:30.865Z,1761518130.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288177,-0.941080,-0.176980],[0.954012,0.298091,-0.031659],[0.082550,-0.159718,0.983705]]
2025-10-26T22:35:30.907Z,1761518130.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.504397 s,
      deltaX: -0.500000 m,
      approachRate: -0.991283 m/s,
      rangeRepo size: 4

2025-10-26T22:35:30.909Z,1761518130.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.510452 m,
      bearing: 58.948702 deg,
      lat: 36.779416 deg,
      lon: -121.859426 deg,
      deltaT: 0.504397 s,
      deltaX: -0.497129 m,
      approachRate: -0.985592 m/s,
      posRepo size: 4

2025-10-26T22:35:30.910Z,1761518130.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m.
2025-10-26T22:35:30.913Z,1761518130.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.510452 m,
      nav range: 15.018612 m,
      bearing: 58.496701 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019205 deg/s,
      cmd heading: 71.728331 deg,
      new cmd heading: 71.704130 deg.

2025-10-26T22:35:30.914Z,1761518130.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.251473 target range: 15.510452 and range: 15.60 m.
2025-10-26T22:35:30.968Z,1761518130.968 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.825848
2025-10-26T22:35:31.217Z,1761518131.217 [DAT](INFO): DAT read: Rx Time:22:35:29.9507 

2025-10-26T22:35:31.217Z,1761518131.217 [DAT](INFO): Rx dataTimestamp_ set to:1761518131.217183
2025-10-26T22:35:31.219Z,1761518131.219 [DAT](INFO): DAT read: Bearing 217.4, -12.2 (Local)

2025-10-26T22:35:31.219Z,1761518131.219 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.4, -12.2 (Local)

2025-10-26T22:35:31.221Z,1761518131.221 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed 0.5

2025-10-26T22:35:31.226Z,1761518131.226 [DAT](INFO): DAT read: 22:35:29.9507 LVL= 32752, 32113, 25266, 32755, AGC= 53, IDX= 501, 0.36,-1.808,-3.135,-1.112,-1.766, PHS= 0.060,-1.325, 0.610, RAW= 166.0,   7.6, CAL= 165.6,   7.7, ROT= 344.4,  -7.7

2025-10-26T22:35:31.228Z,1761518131.228 [DAT](INFO): got valid direction response:
 22:35:29.9507 LVL= 32752, 32113, 25266, 32755, AGC= 53, IDX= 501, 0.36,-1.808,-3.135,-1.112,-1.766, PHS= 0.060,-1.325, 0.610, RAW= 166.0,   7.6, CAL= 165.6,   7.7, ROT= 344.4,  -7.7

2025-10-26T22:35:31.228Z,1761518131.228 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-26T22:35:31.229Z,1761518131.229 [DAT](INFO): direction in FSK: [0.954478,-0.266495,0.133986]
2025-10-26T22:35:31.230Z,1761518131.230 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:31.233Z,1761518131.233 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.091515
2025-10-26T22:35:31.266Z,1761518131.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285470,-0.942134,-0.175757],[0.954987,0.295069,-0.030579],[0.080670,-0.159116,0.983959]]
2025-10-26T22:35:31.401Z,1761518131.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503161 s,
      deltaX: -0.300000 m,
      approachRate: -0.596231 m/s,
      rangeRepo size: 4

2025-10-26T22:35:31.403Z,1761518131.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.212158 m,
      bearing: 58.897636 deg,
      lat: 36.779416 deg,
      lon: -121.859426 deg,
      deltaT: 0.503161 s,
      deltaX: -0.298294 m,
      approachRate: -0.592840 m/s,
      posRepo size: 4

2025-10-26T22:35:31.405Z,1761518131.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m.
2025-10-26T22:35:31.416Z,1761518131.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.212158 m,
      nav range: 14.759710 m,
      bearing: 58.489055 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019205 deg/s,
      cmd heading: 71.704132 deg,
      new cmd heading: 71.675671 deg.

2025-10-26T22:35:31.417Z,1761518131.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.250976 target range: 15.212158 and range: 15.30 m.
2025-10-26T22:35:31.469Z,1761518131.469 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.327663
2025-10-26T22:35:31.711Z,1761518131.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:35:31.714Z,1761518131.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m.
2025-10-26T22:35:31.719Z,1761518131.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.212158 m,
      nav range: 14.564205 m,
      bearing: 58.422125 deg,
      approach rate: -0.622549 m/s,
      LOS rate: -0.215984 deg/s,
      cmd heading: 71.675670 deg,
      new cmd heading: 71.472188 deg.

2025-10-26T22:35:31.722Z,1761518131.722 [DAT](INFO): DAT read: Rx Time:22:35:30.4504 

2025-10-26T22:35:31.723Z,1761518131.723 [DAT](INFO): Rx dataTimestamp_ set to:1761518131.722510
2025-10-26T22:35:31.725Z,1761518131.725 [DAT](INFO): DAT read: Bearing 218.1, -12.6 (Local)

2025-10-26T22:35:31.725Z,1761518131.725 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.1, -12.6 (Local)

2025-10-26T22:35:31.728Z,1761518131.728 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed 0.5

2025-10-26T22:35:31.734Z,1761518131.734 [DAT](INFO): DAT read: 22:35:30.4504 LVL= 32752, 32753, 25954, 32755, AGC= 53, IDX= 498, 0.46, 2.738, 1.419,-2.847, 2.793, PHS= 0.048,-1.329, 0.600, RAW= 166.1,   8.0, CAL= 165.8,   8.1, ROT= 344.2,  -8.1

2025-10-26T22:35:31.745Z,1761518131.745 [DAT](INFO): got valid direction response:
 22:35:30.4504 LVL= 32752, 32753, 25954, 32755, AGC= 53, IDX= 498, 0.46, 2.738, 1.419,-2.847, 2.793, PHS= 0.048,-1.329, 0.600, RAW= 166.1,   8.0, CAL= 165.8,   8.1, ROT= 344.2,  -8.1

2025-10-26T22:35:31.745Z,1761518131.745 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-10-26T22:35:31.746Z,1761518131.746 [DAT](INFO): direction in FSK: [0.952619,-0.269564,0.140901]
2025-10-26T22:35:31.747Z,1761518131.747 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:31.755Z,1761518131.755 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.612831
2025-10-26T22:35:31.764Z,1761518131.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.247425 target range: 15.212158 and range: 15.30 m.
2025-10-26T22:35:31.972Z,1761518131.972 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.830727
2025-10-26T22:35:32.097Z,1761518132.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280995,-0.943995,-0.172961],[0.956684,0.289822,-0.027558],[0.076142,-0.157726,0.984543]]
2025-10-26T22:35:32.220Z,1761518132.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.505327 s,
      deltaX: -0.400001 m,
      approachRate: -0.791568 m/s,
      rangeRepo size: 4

2025-10-26T22:35:32.222Z,1761518132.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.814368 m,
      bearing: 59.027629 deg,
      lat: 36.779415 deg,
      lon: -121.859426 deg,
      deltaT: 0.505327 s,
      deltaX: -0.397790 m,
      approachRate: -0.787193 m/s,
      posRepo size: 4

2025-10-26T22:35:32.223Z,1761518132.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m.
2025-10-26T22:35:32.225Z,1761518132.225 [DAT](INFO): DAT read: Rx Time:22:35:30.9503 

2025-10-26T22:35:32.225Z,1761518132.225 [DAT](INFO): Rx dataTimestamp_ set to:1761518132.225230
2025-10-26T22:35:32.227Z,1761518132.227 [DAT](INFO): DAT read: Bearing 218.3, -12.8 (Local)

2025-10-26T22:35:32.227Z,1761518132.227 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.3, -12.8 (Local)

2025-10-26T22:35:32.229Z,1761518132.229 [DAT](INFO): DAT read: Range 11 to 50 :    14.7 m (trip time 9.8 ms) speed 0.5

2025-10-26T22:35:32.234Z,1761518132.234 [DAT](INFO): DAT read: 22:35:30.9503 LVL= 31712, 32753, 25186, 32755, AGC= 52, IDX= 498,-0.44, 3.133, 1.823,-2.453,-3.093, PHS= 0.045,-1.322, 0.596, RAW= 166.2,   8.0, CAL= 165.8,   8.2, ROT= 344.2,  -8.2

2025-10-26T22:35:32.235Z,1761518132.235 [DAT](INFO): got valid direction response:
 22:35:30.9503 LVL= 31712, 32753, 25186, 32755, AGC= 52, IDX= 498,-0.44, 3.133, 1.823,-2.453,-3.093, PHS= 0.045,-1.322, 0.596, RAW= 166.2,   8.0, CAL= 165.8,   8.2, ROT= 344.2,  -8.2

2025-10-26T22:35:32.235Z,1761518132.235 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-10-26T22:35:32.236Z,1761518132.236 [DAT](INFO): direction in FSK: [0.952381,-0.269496,0.142629]
2025-10-26T22:35:32.237Z,1761518132.237 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:32.241Z,1761518132.241 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.099022
2025-10-26T22:35:32.246Z,1761518132.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.814368 m,
      nav range: 14.242270 m,
      bearing: 58.746099 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.215984 deg/s,
      cmd heading: 71.472185 deg,
      new cmd heading: 71.147360 deg.

2025-10-26T22:35:32.247Z,1761518132.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.241756 target range: 14.814368 and range: 14.90 m.
2025-10-26T22:35:32.478Z,1761518132.478 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.336304
2025-10-26T22:35:32.587Z,1761518132.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279563,-0.944718,-0.171327],[0.957298,0.287955,-0.025748],[0.073659,-0.156812,0.984878]]
2025-10-26T22:35:32.623Z,1761518132.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.700000 m,
      deltaT: 0.502720 s,
      deltaX: -0.200000 m,
      approachRate: -0.397835 m/s,
      rangeRepo size: 4

2025-10-26T22:35:32.625Z,1761518132.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.615518 m,
      bearing: 59.130184 deg,
      lat: 36.779415 deg,
      lon: -121.859425 deg,
      deltaT: 0.502720 s,
      deltaX: -0.198851 m,
      approachRate: -0.395549 m/s,
      posRepo size: 4

2025-10-26T22:35:32.626Z,1761518132.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m.
2025-10-26T22:35:32.629Z,1761518132.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.615518 m,
      nav range: 14.062751 m,
      bearing: 58.847427 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.215984 deg/s,
      cmd heading: 71.147362 deg,
      new cmd heading: 70.883698 deg.

2025-10-26T22:35:32.630Z,1761518132.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.237154 target range: 14.615518 and range: 14.70 m.
2025-10-26T22:35:32.730Z,1761518132.730 [DAT](INFO): DAT read: Rx Time:22:35:31.4500 

2025-10-26T22:35:32.731Z,1761518132.731 [DAT](INFO): Rx dataTimestamp_ set to:1761518132.729959
2025-10-26T22:35:32.733Z,1761518132.733 [DAT](INFO): DAT read: Bearing 217.7, -13.0 (Local)

2025-10-26T22:35:32.733Z,1761518132.733 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.7, -13.0 (Local)

2025-10-26T22:35:32.736Z,1761518132.736 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed 0.5

2025-10-26T22:35:32.741Z,1761518132.741 [DAT](INFO): DAT read: 22:35:31.4500 LVL= 29168, 32753, 22290, 32755, AGC= 51, IDX= 511,-0.32, 1.097,-0.208, 1.801, 1.143, PHS= 0.056,-1.306, 0.614, RAW= 166.4,   7.5, CAL= 166.0,   7.5, ROT= 344.0,  -7.5

2025-10-26T22:35:32.742Z,1761518132.742 [DAT](INFO): got valid direction response:
 22:35:31.4500 LVL= 29168, 32753, 22290, 32755, AGC= 51, IDX= 511,-0.32, 1.097,-0.208, 1.801, 1.143, PHS= 0.056,-1.306, 0.614, RAW= 166.4,   7.5, CAL= 166.0,   7.5, ROT= 344.0,  -7.5

2025-10-26T22:35:32.743Z,1761518132.743 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-10-26T22:35:32.744Z,1761518132.744 [DAT](INFO): direction in FSK: [0.953038,-0.273279,0.130526]
2025-10-26T22:35:32.744Z,1761518132.744 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:32.748Z,1761518132.748 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.606087
2025-10-26T22:35:32.984Z,1761518132.984 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.841022
2025-10-26T22:35:33.061Z,1761518133.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279379,-0.944921,-0.170507],[0.957565,0.287289,-0.023118],[0.070830,-0.156813,0.985085]]
2025-10-26T22:35:33.140Z,1761518133.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.504729 s,
      deltaX: -0.400000 m,
      approachRate: -0.792504 m/s,
      rangeRepo size: 4

2025-10-26T22:35:33.142Z,1761518133.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.217723 m,
      bearing: 58.854631 deg,
      lat: 36.779415 deg,
      lon: -121.859424 deg,
      deltaT: 0.504729 s,
      deltaX: -0.397795 m,
      approachRate: -0.788135 m/s,
      posRepo size: 4

2025-10-26T22:35:33.142Z,1761518133.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.22 m.
2025-10-26T22:35:33.145Z,1761518133.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.217723 m,
      nav range: 13.803183 m,
      bearing: 58.873287 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.215984 deg/s,
      cmd heading: 70.883696 deg,
      new cmd heading: 70.549016 deg.

2025-10-26T22:35:33.146Z,1761518133.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.231313 target range: 14.217723 and range: 14.30 m.
2025-10-26T22:35:33.233Z,1761518133.233 [DAT](INFO): DAT read: Rx Time:22:35:31.9500 

2025-10-26T22:35:33.234Z,1761518133.234 [DAT](INFO): Rx dataTimestamp_ set to:1761518133.233325
2025-10-26T22:35:33.235Z,1761518133.235 [DAT](INFO): DAT read: Bearing 218.9, -13.7 (Local)

2025-10-26T22:35:33.235Z,1761518133.235 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.9, -13.7 (Local)

2025-10-26T22:35:33.237Z,1761518133.237 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed 0.4

2025-10-26T22:35:33.242Z,1761518133.242 [DAT](INFO): DAT read: 22:35:31.9500 LVL= 31264, 32225, 24802, 32755, AGC= 53, IDX= 510,-0.19, 1.571, 0.272, 2.282, 1.646, PHS= 0.027,-1.330, 0.591, RAW= 166.6,   8.4, CAL= 166.3,   8.7, ROT= 343.7,  -8.7

2025-10-26T22:35:33.243Z,1761518133.243 [DAT](INFO): got valid direction response:
 22:35:31.9500 LVL= 31264, 32225, 24802, 32755, AGC= 53, IDX= 510,-0.19, 1.571, 0.272, 2.282, 1.646, PHS= 0.027,-1.330, 0.591, RAW= 166.6,   8.4, CAL= 166.3,   8.7, ROT= 343.7,  -8.7

2025-10-26T22:35:33.243Z,1761518133.243 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-10-26T22:35:33.244Z,1761518133.244 [DAT](INFO): direction in FSK: [0.948762,-0.277437,0.151261]
2025-10-26T22:35:33.245Z,1761518133.245 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:33.253Z,1761518133.253 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.111523
2025-10-26T22:35:33.467Z,1761518133.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279578,-0.944743,-0.171162],[0.957729,0.286994,-0.019721],[0.067754,-0.158413,0.985046]]
2025-10-26T22:35:33.484Z,1761518133.484 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.342598
2025-10-26T22:35:33.622Z,1761518133.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.503366 s,
      deltaX: -0.200000 m,
      approachRate: -0.397325 m/s,
      rangeRepo size: 4

2025-10-26T22:35:33.629Z,1761518133.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.018874 m,
      bearing: 58.739390 deg,
      lat: 36.779415 deg,
      lon: -121.859424 deg,
      deltaT: 0.503366 s,
      deltaX: -0.198849 m,
      approachRate: -0.395038 m/s,
      posRepo size: 4

2025-10-26T22:35:33.629Z,1761518133.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-10-26T22:35:33.636Z,1761518133.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.018874 m,
      nav range: 13.596266 m,
      bearing: 58.864947 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.215984 deg/s,
      cmd heading: 70.549017 deg,
      new cmd heading: 70.236148 deg.

2025-10-26T22:35:33.637Z,1761518133.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.225852 target range: 14.018874 and range: 14.10 m.
2025-10-26T22:35:33.737Z,1761518133.737 [DAT](INFO): DAT read: Rx Time:22:35:32.4497 

2025-10-26T22:35:33.738Z,1761518133.738 [DAT](INFO): Rx dataTimestamp_ set to:1761518133.737229
2025-10-26T22:35:33.739Z,1761518133.739 [DAT](INFO): DAT read: Bearing 222.6, -14.3 (Local)

2025-10-26T22:35:33.739Z,1761518133.739 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.6, -14.3 (Local)

2025-10-26T22:35:33.741Z,1761518133.741 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.4

2025-10-26T22:35:33.746Z,1761518133.746 [DAT](INFO): DAT read: 22:35:32.4497 LVL= 32752, 32753, 31906, 32755, AGC= 56, IDX= 507,-0.08, 0.008,-1.276, 0.696, 0.148, PHS=-0.038,-1.379, 0.505, RAW= 166.3,  10.9, CAL= 166.3,  12.3, ROT= 343.7, -12.3

2025-10-26T22:35:33.748Z,1761518133.748 [DAT](INFO): got valid direction response:
 22:35:32.4497 LVL= 32752, 32753, 31906, 32755, AGC= 56, IDX= 507,-0.08, 0.008,-1.276, 0.696, 0.148, PHS=-0.038,-1.379, 0.505, RAW= 166.3,  10.9, CAL= 166.3,  12.3, ROT= 343.7, -12.3

2025-10-26T22:35:33.748Z,1761518133.748 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-10-26T22:35:33.749Z,1761518133.749 [DAT](INFO): direction in FSK: [0.937774,-0.274224,0.213030]
2025-10-26T22:35:33.749Z,1761518133.749 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:33.754Z,1761518133.754 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.611870
2025-10-26T22:35:33.870Z,1761518133.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280378,-0.944295,-0.172324],[0.957701,0.287311,-0.016176],[0.064786,-0.160500,0.984908]]
2025-10-26T22:35:33.929Z,1761518133.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.503904 s,
      deltaX: -0.400001 m,
      approachRate: -0.793803 m/s,
      rangeRepo size: 4

2025-10-26T22:35:33.931Z,1761518133.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.621175 m,
      bearing: 59.261628 deg,
      lat: 36.779415 deg,
      lon: -121.859424 deg,
      deltaT: 0.503904 s,
      deltaX: -0.397699 m,
      approachRate: -0.789236 m/s,
      posRepo size: 4

2025-10-26T22:35:33.936Z,1761518133.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.62 m.
2025-10-26T22:35:33.938Z,1761518133.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.621175 m,
      nav range: 13.383133 m,
      bearing: 58.891971 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.215984 deg/s,
      cmd heading: 70.236147 deg,
      new cmd heading: 70.040682 deg.

2025-10-26T22:35:33.944Z,1761518133.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.222440 target range: 13.621175 and range: 13.70 m.
2025-10-26T22:35:33.992Z,1761518133.992 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.848835
2025-10-26T22:35:34.076Z,1761518134.076 [DockingStepper](ERROR): getADC uart error serial timeout
2025-10-26T22:35:34.077Z,1761518134.077 [DockingStepper](FAULT): uart error - getPosition..serial timeout
2025-10-26T22:35:34.077Z,1761518134.077 [DockingStepper] Communications Fault, FailCount= 1
2025-10-26T22:35:34.077Z,1761518134.077 [DockingStepper](ERROR): Communications Fault
2025-10-26T22:35:34.227Z,1761518134.227 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-10-26T22:35:34.241Z,1761518134.241 [DAT](INFO): DAT read: Rx Time:22:35:32.9497 

2025-10-26T22:35:34.241Z,1761518134.241 [DAT](INFO): Rx dataTimestamp_ set to:1761518134.241152
2025-10-26T22:35:34.243Z,1761518134.243 [DAT](INFO): DAT read: Bearing 217.6, -14.3 (Local)

2025-10-26T22:35:34.243Z,1761518134.243 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.6, -14.3 (Local)

2025-10-26T22:35:34.245Z,1761518134.245 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.4

2025-10-26T22:35:34.250Z,1761518134.250 [DAT](INFO): DAT read: 22:35:32.9497 LVL= 26432, 32753, 23058, 32755, AGC= 53, IDX= 506, 0.04, 1.893, 0.584, 2.629, 1.952, PHS= 0.043,-1.323, 0.632, RAW= 167.1,   7.5, CAL= 166.7,   7.5, ROT= 343.3,  -7.5

2025-10-26T22:35:34.251Z,1761518134.251 [DAT](INFO): got valid direction response:
 22:35:32.9497 LVL= 26432, 32753, 23058, 32755, AGC= 53, IDX= 506, 0.04, 1.893, 0.584, 2.629, 1.952, PHS= 0.043,-1.323, 0.632, RAW= 167.1,   7.5, CAL= 166.7,   7.5, ROT= 343.3,  -7.5

2025-10-26T22:35:34.258Z,1761518134.258 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-10-26T22:35:34.274Z,1761518134.274 [DAT](INFO): direction in FSK: [0.949628,-0.284902,0.130526]
2025-10-26T22:35:34.274Z,1761518134.274 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:34.286Z,1761518134.286 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.144276
2025-10-26T22:35:34.303Z,1761518134.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282148,-0.943826,-0.172000],[0.957400,0.288491,-0.012541],[0.061458,-0.161135,0.985017]]
2025-10-26T22:35:34.426Z,1761518134.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.503923 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:35:34.432Z,1761518134.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.620912 m,
      bearing: 58.067423 deg,
      lat: 36.779415 deg,
      lon: -121.859424 deg,
      deltaT: 0.503923 s,
      deltaX: -0.000263 m,
      approachRate: -0.000522 m/s,
      posRepo size: 4

2025-10-26T22:35:34.433Z,1761518134.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.62 m.
2025-10-26T22:35:34.440Z,1761518134.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.620912 m,
      nav range: 13.130387 m,
      bearing: 58.890109 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.215984 deg/s,
      cmd heading: 70.040680 deg,
      new cmd heading: 69.715442 deg.

2025-10-26T22:35:34.441Z,1761518134.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.216764 target range: 13.620912 and range: 13.70 m.
2025-10-26T22:35:34.465Z,1761518134.465 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-10-26T22:35:34.465Z,1761518134.465 [DockingStepper](INFO): Powering down
2025-10-26T22:35:34.493Z,1761518134.493 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.351166
2025-10-26T22:35:34.678Z,1761518134.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284561,-0.943060,-0.172227],[0.956886,0.290332,-0.008759],[0.058264,-0.162309,0.985018]]
2025-10-26T22:35:34.724Z,1761518134.724 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:35:34.727Z,1761518134.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.62 m.
2025-10-26T22:35:34.745Z,1761518134.745 [DAT](INFO): DAT read: Rx Time:22:35:33.4493 

2025-10-26T22:35:34.745Z,1761518134.745 [DAT](INFO): Rx dataTimestamp_ set to:1761518134.745165
2025-10-26T22:35:34.747Z,1761518134.747 [DAT](INFO): DAT read: Bearing 219.3, -15.0 (Local)

2025-10-26T22:35:34.747Z,1761518134.747 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.3, -15.0 (Local)

2025-10-26T22:35:34.750Z,1761518134.750 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed 0.4

2025-10-26T22:35:34.759Z,1761518134.759 [DAT](INFO): DAT read: 22:35:33.4493 LVL= 30752, 32753, 22306, 32755, AGC= 54, IDX= 503, 0.20, 0.555,-0.751, 1.294, 0.651, PHS= 0.006,-1.357, 0.599, RAW= 167.2,   8.7, CAL= 166.9,   9.2, ROT= 343.1,  -9.2

2025-10-26T22:35:34.760Z,1761518134.760 [DAT](INFO): got valid direction response:
 22:35:33.4493 LVL= 30752, 32753, 22306, 32755, AGC= 54, IDX= 503, 0.20, 0.555,-0.751, 1.294, 0.651, PHS= 0.006,-1.357, 0.599, RAW= 167.2,   8.7, CAL= 166.9,   9.2, ROT= 343.1,  -9.2

2025-10-26T22:35:34.760Z,1761518134.760 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-10-26T22:35:34.761Z,1761518134.761 [DAT](INFO): direction in FSK: [0.944505,-0.286962,0.159881]
2025-10-26T22:35:34.761Z,1761518134.761 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:34.769Z,1761518134.769 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.627541
2025-10-26T22:35:34.780Z,1761518134.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.620912 m,
      nav range: 12.971035 m,
      bearing: 58.927848 deg,
      approach rate: -0.529162 m/s,
      LOS rate: 0.126859 deg/s,
      cmd heading: 69.715440 deg,
      new cmd heading: 69.830048 deg.

2025-10-26T22:35:34.781Z,1761518134.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.218764 target range: 13.620912 and range: 13.70 m.
2025-10-26T22:35:34.997Z,1761518134.997 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.854855
2025-10-26T22:35:35.089Z,1761518135.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287143,-0.941666,-0.175536],[0.956281,0.292416,-0.004381],[0.055455,-0.166604,0.984463]]
2025-10-26T22:35:35.175Z,1761518135.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.504013 s,
      deltaX: -0.599999 m,
      approachRate: -1.190444 m/s,
      rangeRepo size: 4

2025-10-26T22:35:35.185Z,1761518135.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.024165 m,
      bearing: 57.907050 deg,
      lat: 36.779415 deg,
      lon: -121.859425 deg,
      deltaT: 0.504013 s,
      deltaX: -0.596746 m,
      approachRate: -1.183990 m/s,
      posRepo size: 4

2025-10-26T22:35:35.186Z,1761518135.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-10-26T22:35:35.193Z,1761518135.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.024165 m,
      nav range: 12.730000 m,
      bearing: 58.889467 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.126859 deg/s,
      cmd heading: 69.830051 deg,
      new cmd heading: 70.000532 deg.

2025-10-26T22:35:35.194Z,1761518135.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.221740 target range: 13.024165 and range: 13.10 m.
2025-10-26T22:35:35.250Z,1761518135.250 [DAT](INFO): DAT read: Rx Time:22:35:33.9491 

2025-10-26T22:35:35.251Z,1761518135.251 [DAT](INFO): Rx dataTimestamp_ set to:1761518135.250279
2025-10-26T22:35:35.253Z,1761518135.253 [DAT](INFO): DAT read: Bearing 218.6, -15.1 (Local)

2025-10-26T22:35:35.253Z,1761518135.253 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.6, -15.1 (Local)

2025-10-26T22:35:35.256Z,1761518135.256 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed 0.4

2025-10-26T22:35:35.261Z,1761518135.261 [DAT](INFO): DAT read: 22:35:33.9491 LVL= 29968, 32753, 22610, 32755, AGC= 53, IDX= 501, 0.46, 0.333,-0.969, 1.073, 0.419, PHS= 0.015,-1.344, 0.610, RAW= 167.3,   8.3, CAL= 167.0,   8.7, ROT= 343.0,  -8.7

2025-10-26T22:35:35.262Z,1761518135.262 [DAT](INFO): got valid direction response:
 22:35:33.9491 LVL= 29968, 32753, 22610, 32755, AGC= 53, IDX= 501, 0.46, 0.333,-0.969, 1.073, 0.419, PHS= 0.015,-1.344, 0.610, RAW= 167.3,   8.3, CAL= 167.0,   8.7, ROT= 343.0,  -8.7

2025-10-26T22:35:35.262Z,1761518135.262 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-10-26T22:35:35.263Z,1761518135.263 [DAT](INFO): direction in FSK: [0.945301,-0.289008,0.151261]
2025-10-26T22:35:35.264Z,1761518135.264 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:35.267Z,1761518135.267 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.125370
2025-10-26T22:35:35.486Z,1761518135.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290244,-0.940479,-0.176796],[0.955491,0.295020,-0.000763],[0.052876,-0.168705,0.984247]]
2025-10-26T22:35:35.500Z,1761518135.500 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.358566
2025-10-26T22:35:35.593Z,1761518135.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.505114 s,
      deltaX: -0.300000 m,
      approachRate: -0.593926 m/s,
      rangeRepo size: 4

2025-10-26T22:35:35.595Z,1761518135.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.725902 m,
      bearing: 57.579553 deg,
      lat: 36.779416 deg,
      lon: -121.859428 deg,
      deltaT: 0.505114 s,
      deltaX: -0.298264 m,
      approachRate: -0.590488 m/s,
      posRepo size: 4

2025-10-26T22:35:35.596Z,1761518135.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.73 m.
2025-10-26T22:35:35.598Z,1761518135.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.725902 m,
      nav range: 12.385029 m,
      bearing: 57.998578 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.126859 deg/s,
      cmd heading: 70.000532 deg,
      new cmd heading: 70.159626 deg.

2025-10-26T22:35:35.600Z,1761518135.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224517 target range: 12.725902 and range: 12.80 m.
2025-10-26T22:35:35.753Z,1761518135.753 [DAT](INFO): DAT read: Rx Time:22:35:34.4488 

2025-10-26T22:35:35.754Z,1761518135.754 [DAT](INFO): Rx dataTimestamp_ set to:1761518135.753248
2025-10-26T22:35:35.755Z,1761518135.755 [DAT](INFO): DAT read: Bearing 219.8, -15.4 (Local)

2025-10-26T22:35:35.755Z,1761518135.755 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.8, -15.4 (Local)

2025-10-26T22:35:35.757Z,1761518135.757 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.4

2025-10-26T22:35:35.762Z,1761518135.762 [DAT](INFO): DAT read: 22:35:34.4488 LVL= 32752, 32753, 26866, 32755, AGC= 53, IDX= 499,-0.18,-2.405, 2.592,-1.679,-2.294, PHS=-0.009,-1.353, 0.571, RAW= 167.1,   9.3, CAL= 166.9,  10.0, ROT= 343.1, -10.0

2025-10-26T22:35:35.763Z,1761518135.763 [DAT](INFO): got valid direction response:
 22:35:34.4488 LVL= 32752, 32753, 26866, 32755, AGC= 53, IDX= 499,-0.18,-2.405, 2.592,-1.679,-2.294, PHS=-0.009,-1.353, 0.571, RAW= 167.1,   9.3, CAL= 166.9,  10.0, ROT= 343.1, -10.0

2025-10-26T22:35:35.764Z,1761518135.764 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-10-26T22:35:35.765Z,1761518135.765 [DAT](INFO): direction in FSK: [0.942278,-0.286285,0.173648]
2025-10-26T22:35:35.765Z,1761518135.765 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:35.770Z,1761518135.770 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.627964
2025-10-26T22:35:35.890Z,1761518135.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293514,-0.939301,-0.177660],[0.954640,0.297749,0.002953],[0.050124,-0.170468,0.984088]]
2025-10-26T22:35:35.935Z,1761518135.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.502969 s,
      deltaX: -0.300000 m,
      approachRate: -0.596459 m/s,
      rangeRepo size: 4

2025-10-26T22:35:35.937Z,1761518135.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.427638 m,
      bearing: 57.723615 deg,
      lat: 36.779416 deg,
      lon: -121.859428 deg,
      deltaT: 0.502969 s,
      deltaX: -0.298264 m,
      approachRate: -0.593006 m/s,
      posRepo size: 4

2025-10-26T22:35:35.938Z,1761518135.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m.
2025-10-26T22:35:35.951Z,1761518135.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.427638 m,
      nav range: 12.185703 m,
      bearing: 57.949230 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.126859 deg/s,
      cmd heading: 70.159628 deg,
      new cmd heading: 70.289840 deg.

2025-10-26T22:35:35.952Z,1761518135.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.226789 target range: 12.427638 and range: 12.50 m.
2025-10-26T22:35:36.011Z,1761518136.011 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.869133
2025-10-26T22:35:36.261Z,1761518136.261 [DAT](INFO): DAT read: Rx Time:22:35:34.9488 

2025-10-26T22:35:36.261Z,1761518136.261 [DAT](INFO): Rx dataTimestamp_ set to:1761518136.261117
2025-10-26T22:35:36.263Z,1761518136.263 [DAT](INFO): DAT read: Bearing 218.4, -15.5 (Local)

2025-10-26T22:35:36.263Z,1761518136.263 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.4, -15.5 (Local)

2025-10-26T22:35:36.265Z,1761518136.265 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.4

2025-10-26T22:35:36.270Z,1761518136.270 [DAT](INFO): DAT read: 22:35:34.9488 LVL= 32608, 32753, 25970, 32755, AGC= 52, IDX= 498, 0.12, 1.139,-0.174, 1.884, 1.228, PHS= 0.013,-1.357, 0.612, RAW= 167.3,   8.4, CAL= 167.0,   8.8, ROT= 343.0,  -8.8

2025-10-26T22:35:36.271Z,1761518136.271 [DAT](INFO): got valid direction response:
 22:35:34.9488 LVL= 32608, 32753, 25970, 32755, AGC= 52, IDX= 498, 0.12, 1.139,-0.174, 1.884, 1.228, PHS= 0.013,-1.357, 0.612, RAW= 167.3,   8.4, CAL= 167.0,   8.8, ROT= 343.0,  -8.8

2025-10-26T22:35:36.271Z,1761518136.271 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-10-26T22:35:36.272Z,1761518136.272 [DAT](INFO): direction in FSK: [0.945047,-0.288930,0.152986]
2025-10-26T22:35:36.273Z,1761518136.273 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:36.276Z,1761518136.276 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.134647
2025-10-26T22:35:36.295Z,1761518136.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297456,-0.937744,-0.179320],[0.953566,0.301097,0.007209],[0.047233,-0.173137,0.983764]]
2025-10-26T22:35:36.442Z,1761518136.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.507869 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:35:36.444Z,1761518136.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.427302 m,
      bearing: 57.239139 deg,
      lat: 36.779417 deg,
      lon: -121.859428 deg,
      deltaT: 0.507869 s,
      deltaX: -0.000336 m,
      approachRate: -0.000661 m/s,
      posRepo size: 4

2025-10-26T22:35:36.445Z,1761518136.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m.
2025-10-26T22:35:36.452Z,1761518136.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.427302 m,
      nav range: 11.964429 m,
      bearing: 57.866671 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.126859 deg/s,
      cmd heading: 70.289839 deg,
      new cmd heading: 70.482753 deg.

2025-10-26T22:35:36.453Z,1761518136.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.230156 target range: 12.427302 and range: 12.50 m.
2025-10-26T22:35:36.513Z,1761518136.513 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.371136
2025-10-26T22:35:36.754Z,1761518136.754 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:35:36.756Z,1761518136.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m.
2025-10-26T22:35:36.758Z,1761518136.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.427302 m,
      nav range: 11.814527 m,
      bearing: 57.950618 deg,
      approach rate: -0.477280 m/s,
      LOS rate: 0.270674 deg/s,
      cmd heading: 70.482751 deg,
      new cmd heading: 70.737785 deg.

2025-10-26T22:35:36.759Z,1761518136.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.234607 target range: 12.427302 and range: 12.50 m.
2025-10-26T22:35:36.765Z,1761518136.765 [DAT](INFO): DAT read: Rx Time:22:35:35.4485 

2025-10-26T22:35:36.766Z,1761518136.766 [DAT](INFO): Rx dataTimestamp_ set to:1761518136.765224
2025-10-26T22:35:36.767Z,1761518136.767 [DAT](INFO): DAT read: Bearing 219.0, -15.7 (Local)

2025-10-26T22:35:36.767Z,1761518136.767 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.0, -15.7 (Local)

2025-10-26T22:35:36.769Z,1761518136.769 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed 0.4

2025-10-26T22:35:36.774Z,1761518136.774 [DAT](INFO): DAT read: 22:35:35.4485 LVL= 32752, 32753, 25906, 32755, AGC= 52, IDX= 496,-0.28,-2.390, 2.599,-1.661,-2.290, PHS= 0.002,-1.350, 0.585, RAW= 167.1,   8.9, CAL= 166.9,   9.5, ROT= 343.1,  -9.5

2025-10-26T22:35:36.776Z,1761518136.776 [DAT](INFO): got valid direction response:
 22:35:35.4485 LVL= 32752, 32753, 25906, 32755, AGC= 52, IDX= 496,-0.28,-2.390, 2.599,-1.661,-2.290, PHS= 0.002,-1.350, 0.585, RAW= 167.1,   8.9, CAL= 166.9,   9.5, ROT= 343.1,  -9.5

2025-10-26T22:35:36.776Z,1761518136.776 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-10-26T22:35:36.777Z,1761518136.777 [DAT](INFO): direction in FSK: [0.943692,-0.286715,0.165048]
2025-10-26T22:35:36.777Z,1761518136.777 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:36.785Z,1761518136.785 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.643398
2025-10-26T22:35:37.020Z,1761518137.020 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.877522
2025-10-26T22:35:37.124Z,1761518137.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304782,-0.934731,-0.182717],[0.951508,0.307236,0.015429],[0.041715,-0.178559,0.983044]]
2025-10-26T22:35:37.189Z,1761518137.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.504107 s,
      deltaX: -0.500000 m,
      approachRate: -0.991853 m/s,
      rangeRepo size: 4

2025-10-26T22:35:37.191Z,1761518137.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.929992 m,
      bearing: 57.104597 deg,
      lat: 36.779417 deg,
      lon: -121.859429 deg,
      deltaT: 0.504107 s,
      deltaX: -0.497311 m,
      approachRate: -0.986518 m/s,
      posRepo size: 4

2025-10-26T22:35:37.196Z,1761518137.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-10-26T22:35:37.199Z,1761518137.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.929992 m,
      nav range: 11.588184 m,
      bearing: 57.988647 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.270674 deg/s,
      cmd heading: 70.737783 deg,
      new cmd heading: 71.089348 deg.

2025-10-26T22:35:37.205Z,1761518137.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.240743 target range: 11.929992 and range: 12.00 m.
2025-10-26T22:35:37.269Z,1761518137.269 [DAT](INFO): DAT read: Rx Time:22:35:35.9485 

2025-10-26T22:35:37.270Z,1761518137.270 [DAT](INFO): Rx dataTimestamp_ set to:1761518137.269480
2025-10-26T22:35:37.271Z,1761518137.271 [DAT](INFO): DAT read: Bearing 217.1, -15.6 (Local)

2025-10-26T22:35:37.272Z,1761518137.272 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.1, -15.6 (Local)

2025-10-26T22:35:37.274Z,1761518137.274 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed 0.4

2025-10-26T22:35:37.278Z,1761518137.278 [DAT](INFO): DAT read: 22:35:35.9485 LVL= 30320, 31137, 23538, 32755, AGC= 51, IDX= 511, 0.21, 0.329,-0.986, 1.077, 0.400, PHS= 0.031,-1.340, 0.634, RAW= 167.3,   7.8, CAL= 166.9,   7.8, ROT= 343.1,  -7.8

2025-10-26T22:35:37.280Z,1761518137.280 [DAT](INFO): got valid direction response:
 22:35:35.9485 LVL= 30320, 31137, 23538, 32755, AGC= 51, IDX= 511, 0.21, 0.329,-0.986, 1.077, 0.400, PHS= 0.031,-1.340, 0.634, RAW= 167.3,   7.8, CAL= 166.9,   7.8, ROT= 343.1,  -7.8

2025-10-26T22:35:37.280Z,1761518137.280 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-10-26T22:35:37.281Z,1761518137.281 [DAT](INFO): direction in FSK: [0.947961,-0.288012,0.135716]
2025-10-26T22:35:37.281Z,1761518137.281 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:37.285Z,1761518137.285 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.143055
2025-10-26T22:35:37.511Z,1761518137.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308210,-0.933403,-0.183752],[0.950513,0.310095,0.019125],[0.039129,-0.180553,0.982787]]
2025-10-26T22:35:37.524Z,1761518137.524 [DAT](INFO): DAT read: Rx Time:22:35:36.4482 

2025-10-26T22:35:37.526Z,1761518137.526 [DAT](INFO): Rx dataTimestamp_ set to:1761518137.524965
2025-10-26T22:35:37.529Z,1761518137.529 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.386932
2025-10-26T22:35:37.617Z,1761518137.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.504256 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:35:37.619Z,1761518137.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.929992 m,
      bearing: 56.643635 deg,
      lat: 36.779418 deg,
      lon: -121.859429 deg,
      deltaT: 0.504256 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:35:37.624Z,1761518137.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-10-26T22:35:37.626Z,1761518137.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.929992 m,
      nav range: 11.453629 m,
      bearing: 57.591482 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.270674 deg/s,
      cmd heading: 71.089347 deg,
      new cmd heading: 71.436827 deg.

2025-10-26T22:35:37.636Z,1761518137.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.246808 target range: 11.929992 and range: 12.00 m.
2025-10-26T22:35:37.773Z,1761518137.773 [DAT](INFO): DAT read: Bearing 218.2, -16.0 (Local)

2025-10-26T22:35:37.773Z,1761518137.773 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.2, -16.0 (Local)

2025-10-26T22:35:37.776Z,1761518137.776 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed 0.4

2025-10-26T22:35:37.781Z,1761518137.781 [DAT](INFO): DAT read: 22:35:36.4482 LVL= 31376, 32753, 24386, 32755, AGC= 52, IDX= 509,-0.06,-2.842, 2.141,-2.101,-2.747, PHS= 0.007,-1.350, 0.602, RAW= 167.3,   8.6, CAL= 167.0,   9.0, ROT= 343.0,  -9.0

2025-10-26T22:35:37.782Z,1761518137.782 [DAT](INFO): got valid direction response:
 22:35:36.4482 LVL= 31376, 32753, 24386, 32755, AGC= 52, IDX= 509,-0.06,-2.842, 2.141,-2.101,-2.747, PHS= 0.007,-1.350, 0.602, RAW= 167.3,   8.6, CAL= 167.0,   9.0, ROT= 343.0,  -9.0

2025-10-26T22:35:37.782Z,1761518137.782 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-10-26T22:35:37.783Z,1761518137.783 [DAT](INFO): direction in FSK: [0.944531,-0.288772,0.156434]
2025-10-26T22:35:37.783Z,1761518137.783 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:37.787Z,1761518137.787 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.645271
2025-10-26T22:35:37.924Z,1761518137.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311265,-0.932274,-0.184337],[0.949622,0.312576,0.022660],[0.036494,-0.182103,0.982602]]
2025-10-26T22:35:37.994Z,1761518137.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.502268 s,
      deltaX: -0.400000 m,
      approachRate: -0.796387 m/s,
      rangeRepo size: 4

2025-10-26T22:35:37.996Z,1761518137.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.532326 m,
      bearing: 56.593621 deg,
      lat: 36.779418 deg,
      lon: -121.859430 deg,
      deltaT: 0.502268 s,
      deltaX: -0.397666 m,
      approachRate: -0.791741 m/s,
      posRepo size: 4

2025-10-26T22:35:37.996Z,1761518137.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-10-26T22:35:37.999Z,1761518137.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.532326 m,
      nav range: 11.175935 m,
      bearing: 57.215622 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.270674 deg/s,
      cmd heading: 71.436826 deg,
      new cmd heading: 71.742533 deg.

2025-10-26T22:35:38.001Z,1761518138.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.252143 target range: 11.532326 and range: 11.60 m.
2025-10-26T22:35:38.030Z,1761518138.030 [DAT](INFO): DAT read: Rx Time:22:35:36.9482 

2025-10-26T22:35:38.032Z,1761518138.032 [DAT](INFO): Rx dataTimestamp_ set to:1761518138.030222
2025-10-26T22:35:38.034Z,1761518138.034 [DAT](INFO): DAT read: Bearing 216.9, -16.1 (Local)

2025-10-26T22:35:38.035Z,1761518138.035 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.9, -16.1 (Local)

2025-10-26T22:35:38.038Z,1761518138.038 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.895313
2025-10-26T22:35:38.278Z,1761518138.278 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed 0.4

2025-10-26T22:35:38.283Z,1761518138.283 [DAT](INFO): DAT read: 22:35:36.9482 LVL= 28720, 32753, 21826, 32755, AGC= 52, IDX= 509,-0.40,-1.629,-2.931,-0.878,-1.552, PHS= 0.025,-1.334, 0.630, RAW= 167.5,   7.9, CAL= 167.1,   8.0, ROT= 342.9,  -8.0

2025-10-26T22:35:38.284Z,1761518138.284 [DAT](INFO): got valid direction response:
 22:35:36.9482 LVL= 28720, 32753, 21826, 32755, AGC= 52, IDX= 509,-0.40,-1.629,-2.931,-0.878,-1.552, PHS= 0.025,-1.334, 0.630, RAW= 167.5,   7.9, CAL= 167.1,   8.0, ROT= 342.9,  -8.0

2025-10-26T22:35:38.284Z,1761518138.284 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-10-26T22:35:38.285Z,1761518138.285 [DAT](INFO): direction in FSK: [0.946491,-0.291179,0.139173]
2025-10-26T22:35:38.286Z,1761518138.286 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:38.289Z,1761518138.289 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.147457
2025-10-26T22:35:38.322Z,1761518138.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313769,-0.931415,-0.184432],[0.948880,0.314605,0.025490],[0.034281,-0.183002,0.982515]]
2025-10-26T22:35:38.428Z,1761518138.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.504283 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:35:38.430Z,1761518138.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.532215 m,
      bearing: 56.188271 deg,
      lat: 36.779419 deg,
      lon: -121.859429 deg,
      deltaT: 0.504283 s,
      deltaX: -0.000111 m,
      approachRate: -0.000219 m/s,
      posRepo size: 4

2025-10-26T22:35:38.430Z,1761518138.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-10-26T22:35:38.437Z,1761518138.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.532215 m,
      nav range: 11.127492 m,
      bearing: 57.088432 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.270674 deg/s,
      cmd heading: 71.742531 deg,
      new cmd heading: 72.085363 deg.

2025-10-26T22:35:38.438Z,1761518138.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.258127 target range: 11.532215 and range: 11.60 m.
2025-10-26T22:35:38.534Z,1761518138.534 [DAT](INFO): DAT read: Rx Time:22:35:37.4480 

2025-10-26T22:35:38.536Z,1761518138.536 [DAT](INFO): Rx dataTimestamp_ set to:1761518138.534739
2025-10-26T22:35:38.538Z,1761518138.538 [DAT](INFO): DAT read: Bea.1, -16.4 (Local)

2025-10-26T22:35:38.540Z,1761518138.540 [DAT](INFO): Local bearing/azimuth received:
 Bea.1, -16.4 (Local)

2025-10-26T22:35:38.548Z,1761518138.548 [DAT](INFO): DAT read: Range 11 to 50 :    11.3 m (trip time 7.5 ms) speed 0.4

2025-10-26T22:35:38.550Z,1761518138.550 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-10-26T22:35:38.580Z,1761518138.580 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.438786
2025-10-26T22:35:38.746Z,1761518138.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315768,-0.930985,-0.183187],[0.948298,0.316155,0.027877],[0.031962,-0.182518,0.982683]]
2025-10-26T22:35:38.784Z,1761518138.784 [DAT](INFO): DAT read: 22:35:37.4480 LVL= 30816, 32753, 22562, 32755, AGC= 53, IDX= 506, 0.16,-1.584,-2.899,-0.821,-1.499, PHS= 0.017,-1.356, 0.634, RAW= 167.6,   8.0, CAL= 167.3,   8.2, ROT= 342.7,  -8.2

2025-10-26T22:35:38.785Z,1761518138.785 [DAT](INFO): got valid direction response:
 22:35:37.4480 LVL= 30816, 32753, 22562, 32755, AGC= 53, IDX= 506, 0.16,-1.584,-2.899,-0.821,-1.499, PHS= 0.017,-1.356, 0.634, RAW= 167.6,   8.0, CAL= 167.3,   8.2, ROT= 342.7,  -8.2

2025-10-26T22:35:38.786Z,1761518138.786 [DAT](INFO): #Rx 97: Read direction message, but no range.
2025-10-26T22:35:38.786Z,1761518138.786 [DAT](INFO): direction in FSK: [0.945000,-0.294334,0.142629]
2025-10-26T22:35:38.790Z,1761518138.790 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.648266
2025-10-26T22:35:38.827Z,1761518138.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.258708 s,
      deltaX: -0.300000 m,
      approachRate: -1.159609 m/s,
      rangeRepo size: 4

2025-10-26T22:35:38.837Z,1761518138.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.233968 m,
      bearing: 55.906252 deg,
      lat: 36.779420 deg,
      lon: -121.859430 deg,
      deltaT: 0.258708 s,
      deltaX: -0.298247 m,
      approachRate: -1.152834 m/s,
      posRepo size: 4

2025-10-26T22:35:38.838Z,1761518138.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-10-26T22:35:38.841Z,1761518138.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.233968 m,
      nav range: 10.913221 m,
      bearing: 56.345336 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.270674 deg/s,
      cmd heading: 72.085366 deg,
      new cmd heading: 72.418967 deg.

2025-10-26T22:35:38.841Z,1761518138.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.263949 target range: 11.233968 and range: 11.30 m.
2025-10-26T22:35:39.036Z,1761518139.036 [DAT](INFO): DAT read: Rx Time:22:35:37.9478 

2025-10-26T22:35:39.038Z,1761518139.038 [DAT](INFO): Rx dataTimestamp_ set to:1761518139.037156
2025-10-26T22:35:39.042Z,1761518139.042 [DAT](INFO): DAT read: Bearing 218.7, -17.1 (Local)

2025-10-26T22:35:39.043Z,1761518139.043 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.7, -17.1 (Local)

2025-10-26T22:35:39.048Z,1761518139.048 [DAT](INFO): DAT read: Range 11 to 50 :    11.0 m (trip time 7.3 ms) speed 0.4

2025-10-26T22:35:39.051Z,1761518139.051 [DAT](ERROR): #Rx 98: Read range message, but no direction.
2025-10-26T22:35:39.055Z,1761518139.055 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.913025
2025-10-26T22:35:39.234Z,1761518139.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:35:39.240Z,1761518139.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 0.502417 s,
      deltaX: -0.300000 m,
      approachRate: -0.597114 m/s,
      rangeRepo size: 4

2025-10-26T22:35:39.241Z,1761518139.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-10-26T22:35:39.248Z,1761518139.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.233968 m,
      nav range: 10.687135 m,
      bearing: 56.351789 deg,
      approach rate: -0.551814 m/s,
      LOS rate: 0.016085 deg/s,
      cmd heading: 72.418966 deg,
      new cmd heading: 72.438737 deg.

2025-10-26T22:35:39.249Z,1761518139.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.264295 target range: 11.233968 and range: 11.00 m.
2025-10-26T22:35:39.290Z,1761518139.290 [DAT](INFO): DAT read: 22:35:37.9478 LVL= 32752, 32753, 25762, 32755, AGC= 55, IDX= 505,-0.13, 2.859, 1.558,-2.662, 2.978, PHS=-0.017,-1.374, 0.599, RAW= 167.8,   9.1, CAL= 167.6,   9.8, ROT= 342.4,  -9.8

2025-10-26T22:35:39.292Z,1761518139.292 [DAT](INFO): got valid direction response:
 22:35:37.9478 LVL= 32752, 32753, 25762, 32755, AGC= 55, IDX= 505,-0.13, 2.859, 1.558,-2.662, 2.978, PHS=-0.017,-1.374, 0.599, RAW= 167.8,   9.1, CAL= 167.6,   9.8, ROT= 342.4,  -9.8

2025-10-26T22:35:39.292Z,1761518139.292 [DAT](INFO): #Rx 99: Read direction message, but no range.
2025-10-26T22:35:39.293Z,1761518139.293 [DAT](INFO): direction in FSK: [0.939282,-0.297958,0.170209]
2025-10-26T22:35:39.298Z,1761518139.298 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.156036
2025-10-26T22:35:39.540Z,1761518139.540 [DAT](INFO): DAT read: Rx Time:22:35:38.4476 

2025-10-26T22:35:39.542Z,1761518139.542 [DAT](INFO): Rx dataTimestamp_ set to:1761518139.540936
2025-10-26T22:35:39.546Z,1761518139.546 [DAT](INFO): DAT read: Bearing 217.9, -17.1 (Local)

2025-10-26T22:35:39.547Z,1761518139.547 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.9, -17.1 (Local)

2025-10-26T22:35:39.560Z,1761518139.560 [DAT](INFO): DAT read: Range 11 to 50 :    10.7 m (trip time 7.1 ms) speed 0.4

2025-10-26T22:35:39.562Z,1761518139.562 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-10-26T22:35:39.565Z,1761518139.565 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.423149
2025-10-26T22:35:39.629Z,1761518139.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317161,-0.932133,-0.174751],[0.948046,0.316453,0.032656],[0.024861,-0.176029,0.984071]]
2025-10-26T22:35:39.675Z,1761518139.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.503780 s,
      deltaX: -0.300000 m,
      approachRate: -0.595498 m/s,
      rangeRepo size: 4

2025-10-26T22:35:39.677Z,1761518139.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.637119 m,
      bearing: 55.749871 deg,
      lat: 36.779420 deg,
      lon: -121.859430 deg,
      deltaT: 1.006197 s,
      deltaX: -0.596848 m,
      approachRate: -0.593173 m/s,
      posRepo size: 4

2025-10-26T22:35:39.678Z,1761518139.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m.
2025-10-26T22:35:39.685Z,1761518139.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.637119 m,
      nav range: 10.459015 m,
      bearing: 56.276090 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016085 deg/s,
      cmd heading: 72.438739 deg,
      new cmd heading: 72.459535 deg.

2025-10-26T22:35:39.686Z,1761518139.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.264657 target range: 10.637119 and range: 10.70 m.
2025-10-26T22:35:39.796Z,1761518139.796 [DAT](INFO): DAT read: 22:35:38.4476 LVL= 32752, 32753, 23154, 32755, AGC= 54, IDX= 502, 0.31,-2.645, 2.322,-1.868,-2.540, PHS=-0.003,-1.376, 0.627, RAW= 167.9,   8.5, CAL= 167.6,   8.9, ROT= 342.4,  -8.9

2025-10-26T22:35:39.797Z,1761518139.797 [DAT](INFO): got valid direction response:
 22:35:38.4476 LVL= 32752, 32753, 23154, 32755, AGC= 54, IDX= 502, 0.31,-2.645, 2.322,-1.868,-2.540, PHS=-0.003,-1.376, 0.627, RAW= 167.9,   8.5, CAL= 167.6,   8.9, ROT= 342.4,  -8.9

2025-10-26T22:35:39.798Z,1761518139.798 [DAT](INFO): #Rx 101: Read direction message, but no range.
2025-10-26T22:35:39.799Z,1761518139.799 [DAT](INFO): direction in FSK: [0.941714,-0.298729,0.154710]
2025-10-26T22:35:39.802Z,1761518139.802 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.660656
2025-10-26T22:35:39.984Z,1761518139.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m.
2025-10-26T22:35:39.986Z,1761518139.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.637119 m,
      nav range: 10.298025 m,
      bearing: 56.281470 deg,
      approach rate: -0.507945 m/s,
      LOS rate: 0.017240 deg/s,
      cmd heading: 72.459537 deg,
      new cmd heading: 72.475930 deg.

2025-10-26T22:35:39.988Z,1761518139.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.264944 target range: 10.637119 and range: 10.70 m.
2025-10-26T22:35:40.047Z,1761518140.047 [DAT](INFO): DAT read: Rx Time:22:35:38.9475 

2025-10-26T22:35:40.049Z,1761518140.049 [DAT](INFO): Rx dataTimestamp_ set to:1761518140.048172
2025-10-26T22:35:40.053Z,1761518140.053 [DAT](INFO): DAT read: Bearing 218.4, -17.8 (Local)

2025-10-26T22:35:40.054Z,1761518140.054 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.4, -17.8 (Local)

2025-10-26T22:35:40.069Z,1761518140.069 [DAT](INFO): DAT read: Range 11 to 50 :    10.5 m (trip time 7.0 ms) speed 0.4

2025-10-26T22:35:40.076Z,1761518140.076 [DAT](ERROR): #Rx 102: Read range message, but no direction.
2025-10-26T22:35:40.078Z,1761518140.078 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.936428
2025-10-26T22:35:40.296Z,1761518140.296 [DAT](INFO): DAT read: 22:35:38.9475 LVL= 32752, 32753, 26258, 32755, AGC= 54, IDX= 502,-0.09, 3.053, 1.749,-2.438,-3.110, PHS=-0.018,-1.380, 0.628, RAW= 168.4,   8.7, CAL= 168.1,   9.2, ROT= 341.9,  -9.2

2025-10-26T22:35:40.297Z,1761518140.297 [DAT](INFO): got valid direction response:
 22:35:38.9475 LVL= 32752, 32753, 26258, 32755, AGC= 54, IDX= 502,-0.09, 3.053, 1.749,-2.438,-3.110, PHS=-0.018,-1.380, 0.628, RAW= 168.4,   8.7, CAL= 168.1,   9.2, ROT= 341.9,  -9.2

2025-10-26T22:35:40.298Z,1761518140.298 [DAT](INFO): #Rx 103: Read direction message, but no range.
2025-10-26T22:35:40.298Z,1761518140.298 [DAT](INFO): direction in FSK: [0.938288,-0.306680,0.159881]
2025-10-26T22:35:40.302Z,1761518140.302 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.160255
2025-10-26T22:35:40.342Z,1761518140.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315663,-0.933913,-0.167818],[0.948596,0.314857,0.032108],[0.022852,-0.169327,0.985295]]
2025-10-26T22:35:40.454Z,1761518140.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.507236 s,
      deltaX: -0.200000 m,
      approachRate: -0.394293 m/s,
      rangeRepo size: 4

2025-10-26T22:35:40.461Z,1761518140.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.438057 m,
      bearing: 55.166017 deg,
      lat: 36.779421 deg,
      lon: -121.859431 deg,
      deltaT: 0.507236 s,
      deltaX: -0.199062 m,
      approachRate: -0.392445 m/s,
      posRepo size: 4

2025-10-26T22:35:40.461Z,1761518140.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.44 m.
2025-10-26T22:35:40.468Z,1761518140.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.438057 m,
      nav range: 10.085541 m,
      bearing: 55.745299 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.017240 deg/s,
      cmd heading: 72.475930 deg,
      new cmd heading: 72.500224 deg.

2025-10-26T22:35:40.472Z,1761518140.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.265368 target range: 10.438057 and range: 10.50 m.
2025-10-26T22:35:40.549Z,1761518140.549 [DAT](INFO): DAT read: Rx Time:22:35:39.4473 

2025-10-26T22:35:40.550Z,1761518140.550 [DAT](INFO): Rx dataTimestamp_ set to:1761518140.549391
2025-10-26T22:35:40.554Z,1761518140.554 [DAT](INFO): DAT read: Bearing 218.6, -17.9 (Local)

2025-10-26T22:35:40.555Z,1761518140.555 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.6, -17.9 (Local)

2025-10-26T22:35:40.578Z,1761518140.578 [DAT](INFO): DAT read: Range 11 to 50 :    10.2 m (trip time 6.8 ms) speed 0.4

2025-10-26T22:35:40.592Z,1761518140.592 [DAT](INFO): DAT read: 22:35:39.4473 LVL= 32752, 32753, 22770, 32755, AGC= 54, IDX= 499, 0.32,-2.941, 2.025,-2.145,-2.823, PHS=-0.015,-1.390, 0.634, RAW= 168.3,   8.7, CAL= 168.1,   9.1, ROT= 341.9,  -9.1

2025-10-26T22:35:40.593Z,1761518140.593 [DAT](INFO): got valid direction response:
 22:35:39.4473 LVL= 32752, 32753, 22770, 32755, AGC= 54, IDX= 499, 0.32,-2.941, 2.025,-2.145,-2.823, PHS=-0.015,-1.390, 0.634, RAW= 168.3,   8.7, CAL= 168.1,   9.1, ROT= 341.9,  -9.1

2025-10-26T22:35:40.594Z,1761518140.594 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-10-26T22:35:40.595Z,1761518140.595 [DAT](INFO): direction in FSK: [0.938552,-0.306767,0.158158]
2025-10-26T22:35:40.595Z,1761518140.595 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:40.611Z,1761518140.611 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.468933
2025-10-26T22:35:40.797Z,1761518140.797 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.654926
2025-10-26T22:35:40.798Z,1761518140.798 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:35:40.854Z,1761518140.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.501219 s,
      deltaX: -0.300000 m,
      approachRate: -0.598541 m/s,
      rangeRepo size: 4

2025-10-26T22:35:40.856Z,1761518140.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.139827 m,
      bearing: 55.149772 deg,
      lat: 36.779421 deg,
      lon: -121.859431 deg,
      deltaT: 0.501219 s,
      deltaX: -0.298230 m,
      approachRate: -0.595010 m/s,
      posRepo size: 4

2025-10-26T22:35:40.857Z,1761518140.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T22:35:40.859Z,1761518140.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.139827 m,
      nav range: 9.876317 m,
      bearing: 55.658256 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.017240 deg/s,
      cmd heading: 72.500225 deg,
      new cmd heading: 72.520912 deg.

2025-10-26T22:35:40.860Z,1761518140.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.265729 target range: 10.139827 and range: 10.20 m.
2025-10-26T22:35:41.052Z,1761518141.052 [DAT](INFO): DAT read: Rx Time:22:35:39.9472 

2025-10-26T22:35:41.054Z,1761518141.054 [DAT](INFO): Rx dataTimestamp_ set to:1761518141.052975
2025-10-26T22:35:41.058Z,1761518141.058 [DAT](INFO): DAT read: Bearing 218.0, -18.8 (Local)

2025-10-26T22:35:41.059Z,1761518141.059 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.0, -18.8 (Local)

2025-10-26T22:35:41.066Z,1761518141.066 [DAT](INFO): DAT read: Range 11 to 50 :    10.1 m (trip time 6.7 ms) speed 0.4

2025-10-26T22:35:41.068Z,1761518141.068 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-10-26T22:35:41.086Z,1761518141.086 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=49.929485
2025-10-26T22:35:41.191Z,1761518141.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309968,-0.937897,-0.155787],[0.950549,0.309056,0.030664],[0.019388,-0.157588,0.987315]]
2025-10-26T22:35:41.262Z,1761518141.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:35:41.269Z,1761518141.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.100000 m,
      deltaT: 0.503584 s,
      deltaX: -0.099999 m,
      approachRate: -0.198575 m/s,
      rangeRepo size: 4

2025-10-26T22:35:41.270Z,1761518141.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T22:35:41.277Z,1761518141.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.139827 m,
      nav range: 9.645439 m,
      bearing: 55.538799 deg,
      approach rate: -0.556013 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 72.520913 deg,
      new cmd heading: 72.153970 deg.

2025-10-26T22:35:41.277Z,1761518141.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.259324 target range: 10.139827 and range: 10.10 m.
2025-10-26T22:35:41.304Z,1761518141.304 [DAT](INFO): DAT read: 22:35:39.9472 LVL= 32752, 32753, 23282, 32755, AGC= 53, IDX= 499,-0.15,-2.898, 2.085,-2.063,-2.777, PHS=-0.019,-1.376, 0.670, RAW= 169.3,   8.1, CAL= 169.0,   8.3, ROT= 341.0,  -8.3

2025-10-26T22:35:41.305Z,1761518141.305 [DAT](INFO): got valid direction response:
 22:35:39.9472 LVL= 32752, 32753, 23282, 32755, AGC= 53, IDX= 499,-0.15,-2.898, 2.085,-2.063,-2.777, PHS=-0.019,-1.376, 0.670, RAW= 169.3,   8.1, CAL= 169.0,   8.3, ROT= 341.0,  -8.3

2025-10-26T22:35:41.306Z,1761518141.306 [DAT](INFO): #Rx 106: Read direction message, but no range.
2025-10-26T22:35:41.307Z,1761518141.307 [DAT](INFO): direction in FSK: [0.935615,-0.322158,0.144356]
2025-10-26T22:35:41.310Z,1761518141.310 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.168549
2025-10-26T22:35:41.557Z,1761518141.557 [DAT](INFO): DAT read: Rx Time:22:35:40.4470 

2025-10-26T22:35:41.560Z,1761518141.560 [DAT](INFO): Rx dataTimestamp_ set to:1761518141.558186
2025-10-26T22:35:41.564Z,1761518141.564 [DAT](INFO): DAT read: Bearing 218.0, -19.2 (Local)

2025-10-26T22:35:41.565Z,1761518141.565 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.0, -19.2 (Local)

2025-10-26T22:35:41.571Z,1761518141.571 [DAT](INFO): DAT read: Range 11 to 50 :     9.8 m (trip time 6.5 ms) speed 0.4

2025-10-26T22:35:41.588Z,1761518141.588 [DAT](INFO): DAT read: 22:35:40.4470 LVL= 32752, 32753, 21954, 32755, AGC= 52, IDX= 496, 0.10,-1.756,-3.057,-0.907,-1.636, PHS=-0.019,-1.376, 0.684, RAW= 169.6,   7.9, CAL= 169.3,   8.0, ROT= 340.7,  -8.0

2025-10-26T22:35:41.589Z,1761518141.589 [DAT](INFO): got valid direction response:
 22:35:40.4470 LVL= 32752, 32753, 21954, 32755, AGC= 52, IDX= 496, 0.10,-1.756,-3.057,-0.907,-1.636, PHS=-0.019,-1.376, 0.684, RAW= 169.6,   7.9, CAL= 169.3,   8.0, ROT= 340.7,  -8.0

2025-10-26T22:35:41.589Z,1761518141.589 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-10-26T22:35:41.590Z,1761518141.590 [DAT](INFO): direction in FSK: [0.934616,-0.327298,0.139173]
2025-10-26T22:35:41.590Z,1761518141.590 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:41.621Z,1761518141.621 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=50.479713
2025-10-26T22:35:41.630Z,1761518141.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304153,-0.941471,-0.145337],[0.952486,0.303138,0.029626],[0.016165,-0.147442,0.988939]]
2025-10-26T22:35:41.692Z,1761518141.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.505211 s,
      deltaX: -0.300000 m,
      approachRate: -0.593812 m/s,
      rangeRepo size: 4

2025-10-26T22:35:41.694Z,1761518141.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.742155 m,
      bearing: 54.260466 deg,
      lat: 36.779422 deg,
      lon: -121.859431 deg,
      deltaT: 1.008795 s,
      deltaX: -0.397672 m,
      approachRate: -0.394205 m/s,
      posRepo size: 4

2025-10-26T22:35:41.695Z,1761518141.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.74 m.
2025-10-26T22:35:41.704Z,1761518141.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.80 m.
2025-10-26T22:35:41.704Z,1761518141.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-10-26T22:35:41.713Z,1761518141.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 9.453392 m,
      bearing: 55.025031 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 72.153968 deg,
      new cmd heading: 71.783647 deg.

2025-10-26T22:35:41.714Z,1761518141.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.252861 target range: 9.742155 and range: 9.80 m.
2025-10-26T22:35:41.800Z,1761518141.800 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:35:41.805Z,1761518141.805 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=50.662956
2025-10-26T22:35:42.061Z,1761518142.061 [DAT](INFO): DAT read: Rx Time:22:35:40.9469 

2025-10-26T22:35:42.063Z,1761518142.063 [DAT](INFO): Rx dataTimestamp_ set to:1761518142.061633
2025-10-26T22:35:42.067Z,1761518142.067 [DAT](INFO): DAT read: Bearing 217.8, -19.0 (Local)

2025-10-26T22:35:42.068Z,1761518142.068 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.8, -19.0 (Local)

2025-10-26T22:35:42.096Z,1761518142.096 [DAT](INFO): DAT read: Range 11 to 50 :     9.6 m (trip time 6.4 ms) speed 0.4

2025-10-26T22:35:42.110Z,1761518142.110 [DAT](INFO): DAT read: 22:35:40.9469 LVL= 30928, 31569, 22242, 32755, AGC= 51, IDX= 511, 0.33, 0.379,-0.938, 1.225, 0.483, PHS=-0.003,-1.376, 0.698, RAW= 169.4,   7.5, CAL= 169.0,   7.5, ROT= 341.0,  -7.5

2025-10-26T22:35:42.120Z,1761518142.120 [DAT](INFO): got valid direction response:
 22:35:40.9469 LVL= 30928, 31569, 22242, 32755, AGC= 51, IDX= 511, 0.33, 0.379,-0.938, 1.225, 0.483, PHS=-0.003,-1.376, 0.698, RAW= 169.4,   7.5, CAL= 169.0,   7.5, ROT= 341.0,  -7.5

2025-10-26T22:35:42.121Z,1761518142.121 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-10-26T22:35:42.122Z,1761518142.122 [DAT](INFO): direction in FSK: [0.937430,-0.322783,0.130526]
2025-10-26T22:35:42.122Z,1761518142.122 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:42.138Z,1761518142.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-10-26T22:35:42.173Z,1761518142.173 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.030594
2025-10-26T22:35:42.174Z,1761518142.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 9.227950 m,
      bearing: 54.879883 deg,
      approach rate: -0.527101 m/s,
      LOS rate: -0.347658 deg/s,
      cmd heading: 71.783649 deg,
      new cmd heading: 71.337575 deg.

2025-10-26T22:35:42.182Z,1761518142.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.245076 target range: 9.742155 and range: 9.80 m.
2025-10-26T22:35:42.309Z,1761518142.309 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.166855
2025-10-26T22:35:42.398Z,1761518142.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300944,-0.943107,-0.141360],[0.953525,0.299904,0.029116],[0.014935,-0.143552,0.989530]]
2025-10-26T22:35:42.458Z,1761518142.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.503447 s,
      deltaX: -0.200000 m,
      approachRate: -0.397261 m/s,
      rangeRepo size: 4

2025-10-26T22:35:42.460Z,1761518142.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.543332 m,
      bearing: 54.650422 deg,
      lat: 36.779422 deg,
      lon: -121.859431 deg,
      deltaT: 0.503447 s,
      deltaX: -0.198823 m,
      approachRate: -0.394923 m/s,
      posRepo size: 4

2025-10-26T22:35:42.461Z,1761518142.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.74 m.
2025-10-26T22:35:42.464Z,1761518142.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 9.024694 m,
      bearing: 54.692519 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 71.337576 deg,
      new cmd heading: 71.035141 deg.

2025-10-26T22:35:42.465Z,1761518142.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.239797 target range: 9.742155 and range: 9.60 m.
2025-10-26T22:35:42.565Z,1761518142.565 [DAT](INFO): DAT read: Rx Time:22:35:41.4466 

2025-10-26T22:35:42.566Z,1761518142.566 [DAT](INFO): Rx dataTimestamp_ set to:1761518142.565282
2025-10-26T22:35:42.570Z,1761518142.570 [DAT](INFO): DAT read: Bearing 218.0, -19.6 (Local)

2025-10-26T22:35:42.571Z,1761518142.571 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.0, -19.6 (Local)

2025-10-26T22:35:42.573Z,1761518142.573 [DAT](INFO): DAT read: Range 11 to 50 :     9.2 m (trip time 6.1 ms) speed 0.4

2025-10-26T22:35:42.577Z,1761518142.577 [DAT](INFO): DAT read: 22:35:41.4466 LVL= 32208, 32673, 21026, 32755, AGC= 50, IDX= 509,-0.35,-1.710,-3.013,-0.840,-1.594, PHS=-0.014,-1.374, 0.709, RAW= 170.0,   7.5, CAL= 169.6,   7.4, ROT= 340.4,  -7.4

2025-10-26T22:35:42.578Z,1761518142.578 [DAT](INFO): got valid direction response:
 22:35:41.4466 LVL= 32208, 32673, 21026, 32755, AGC= 50, IDX= 509,-0.35,-1.710,-3.013,-0.840,-1.594, PHS=-0.014,-1.374, 0.709, RAW= 170.0,   7.5, CAL= 169.6,   7.4, ROT= 340.4,  -7.4

2025-10-26T22:35:42.579Z,1761518142.579 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-26T22:35:42.580Z,1761518142.580 [DAT](INFO): direction in FSK: [0.934211,-0.332658,0.128796]
2025-10-26T22:35:42.580Z,1761518142.580 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:42.584Z,1761518142.584 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.442471
2025-10-26T22:35:42.802Z,1761518142.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297237,-0.944818,-0.137727],[0.954702,0.296206,0.028405],[0.013958,-0.139931,0.990063]]
2025-10-26T22:35:42.815Z,1761518142.815 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.673290
2025-10-26T22:35:42.861Z,1761518142.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 0.503649 s,
      deltaX: -0.400001 m,
      approachRate: -0.794205 m/s,
      rangeRepo size: 4

2025-10-26T22:35:42.868Z,1761518142.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.145693 m,
      bearing: 54.227490 deg,
      lat: 36.779423 deg,
      lon: -121.859431 deg,
      deltaT: 1.007096 s,
      deltaX: -0.596462 m,
      approachRate: -0.592260 m/s,
      posRepo size: 4

2025-10-26T22:35:42.869Z,1761518142.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.74 m.
2025-10-26T22:35:42.871Z,1761518142.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 8.806967 m,
      bearing: 54.476678 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 71.035142 deg,
      new cmd heading: 70.678706 deg.

2025-10-26T22:35:42.876Z,1761518142.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.233576 target range: 9.742155 and range: 9.20 m.
2025-10-26T22:35:43.069Z,1761518143.069 [DAT](INFO): DAT read: Rx Time:22:35:41.9464 

2025-10-26T22:35:43.070Z,1761518143.070 [DAT](INFO): Rx dataTimestamp_ set to:1761518143.069808
2025-10-26T22:35:43.072Z,1761518143.072 [DAT](INFO): DAT read: Bearing 219.1, -21.0 (Local)

2025-10-26T22:35:43.072Z,1761518143.072 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.1, -21.0 (Local)

2025-10-26T22:35:43.074Z,1761518143.074 [DAT](INFO): DAT read: Range 11 to 50 :     8.9 m (trip time 5.9 ms) speed 0.4

2025-10-26T22:35:43.079Z,1761518143.079 [DAT](INFO): DAT read: 22:35:41.9464 LVL= 32752, 32753, 21746, 32755, AGC= 49, IDX= 507,-0.14,-0.761,-2.054, 0.158,-0.600, PHS=-0.059,-1.408, 0.714, RAW= 171.1,   8.1, CAL= 170.8,   8.4, ROT= 339.2,  -8.4

2025-10-26T22:35:43.080Z,1761518143.080 [DAT](INFO): got valid direction response:
 22:35:41.9464 LVL= 32752, 32753, 21746, 32755, AGC= 49, IDX= 507,-0.14,-0.761,-2.054, 0.158,-0.600, PHS=-0.059,-1.408, 0.714, RAW= 171.1,   8.1, CAL= 170.8,   8.4, ROT= 339.2,  -8.4

2025-10-26T22:35:43.081Z,1761518143.081 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-10-26T22:35:43.082Z,1761518143.082 [DAT](INFO): direction in FSK: [0.924797,-0.351297,0.146083]
2025-10-26T22:35:43.082Z,1761518143.082 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:43.117Z,1761518143.117 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=51.975155
2025-10-26T22:35:43.229Z,1761518143.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294988,-0.945539,-0.137613],[0.955419,0.293779,0.029481],[0.012552,-0.140175,0.990047]]
2025-10-26T22:35:43.317Z,1761518143.317 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.174877
2025-10-26T22:35:43.322Z,1761518143.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.504526 s,
      deltaX: -0.300000 m,
      approachRate: -0.594618 m/s,
      rangeRepo size: 4

2025-10-26T22:35:43.328Z,1761518143.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.847473 m,
      bearing: 53.300462 deg,
      lat: 36.779423 deg,
      lon: -121.859431 deg,
      deltaT: 1.511622 s,
      deltaX: -0.894682 m,
      approachRate: -0.591869 m/s,
      posRepo size: 4

2025-10-26T22:35:43.329Z,1761518143.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.85 m. 9.74 m.
2025-10-26T22:35:43.336Z,1761518143.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 8.553180 m,
      bearing: 54.203758 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 70.678709 deg,
      new cmd heading: 70.272030 deg.

2025-10-26T22:35:43.336Z,1761518143.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.226478 target range: 9.742155 and range: 8.90 m.
2025-10-26T22:35:43.572Z,1761518143.572 [DAT](INFO): DAT read: Rx Time:22:35:42.4462 

2025-10-26T22:35:43.573Z,1761518143.573 [DAT](INFO): Rx dataTimestamp_ set to:1761518143.572441
2025-10-26T22:35:43.574Z,1761518143.574 [DAT](INFO): DAT read: Bearing 217.9, -20.7 (Local)

2025-10-26T22:35:43.574Z,1761518143.574 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.9, -20.7 (Local)

2025-10-26T22:35:43.581Z,1761518143.581 [DAT](INFO): DAT read: Range 11 to 50 :     8.6 m (trip time 5.7 ms) speed 0.4

2025-10-26T22:35:43.585Z,1761518143.585 [DAT](INFO): DAT read: 22:35:42.4462 LVL= 32752, 32753, 2055, AGC= 50, IDX= 504, 0.02,-0.531,-1.825, 0.383,-0.400, PHS=-0.030,-1.381, 0.738, RAW= 171.0,   7.3, CAL= 170.6,   7.1, ROT= 339.4,  -7.1

2025-10-26T22:35:43.586Z,1761518143.586 [DAT](INFO): unknown deviceResponse_: 22:35:42.4462 LVL= 32752, 32753, 2055, AGC= 50, IDX= 504, 0.02,-0.531,-1.825, 0.383,-0.400, PHS=-0.030,-1.381, 0.738, RAW= 171.0,   7.3, CAL= 170.6,   7.1, ROT= 339.4,  -7.1

2025-10-26T22:35:43.586Z,1761518143.586 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-10-26T22:35:43.587Z,1761518143.587 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.445271
2025-10-26T22:35:43.642Z,1761518143.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292815,-0.946316,-0.136914],[0.956096,0.291546,0.029683],[0.011827,-0.139594,0.990138]]
2025-10-26T22:35:43.696Z,1761518143.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:35:43.708Z,1761518143.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.502633 s,
      deltaX: -0.299999 m,
      approachRate: -0.596855 m/s,
      rangeRepo size: 4

2025-10-26T22:35:43.710Z,1761518143.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-10-26T22:35:43.726Z,1761518143.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 8.350286 m,
      bearing: 53.970226 deg,
      approach rate: -0.537396 m/s,
      LOS rate: -0.633576 deg/s,
      cmd heading: 70.272032 deg,
      new cmd heading: 69.554452 deg.

2025-10-26T22:35:43.736Z,1761518143.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.213954 target range: 9.742155 and range: 8.60 m.
2025-10-26T22:35:43.825Z,1761518143.825 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.682934
2025-10-26T22:35:44.077Z,1761518144.077 [DAT](INFO): DAT read: Rx Time:22:35:42.9461 

2025-10-26T22:35:44.078Z,1761518144.078 [DAT](INFO): Rx dataTimestamp_ set to:1761518144.077245
2025-10-26T22:35:44.079Z,1761518144.079 [DAT](INFO): DAT read: Bearing 217.8, -21.1 (Local)

2025-10-26T22:35:44.079Z,1761518144.079 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.8, -21.1 (Local)

2025-10-26T22:35:44.081Z,1761518144.081 [DAT](INFO): DAT read: Range 11 to 50 :     8.4 m (trip time 5.6 ms) speed 0.4

2025-10-26T22:35:44.090Z,1761518144.090 [DAT](INFO): DAT read: 22:35:42.9461 LVL= 32720, 32753, 20802, 32755, AGC= 50, IDX= 503, 0.17, 1.971, 0.680, 2.897, 2.106, PHS=-0.033,-1.381, 0.747, RAW= 171.2,   7.2, CAL= 170.8,   7.0, ROT= 339.2,  -7.0

2025-10-26T22:35:44.097Z,1761518144.097 [DAT](INFO): got valid direction response:
 22:35:42.9461 LVL= 32720, 32753, 20802, 32755, AGC= 50, IDX= 503, 0.17, 1.971, 0.680, 2.897, 2.106, PHS=-0.033,-1.381, 0.747, RAW= 171.2,   7.2, CAL= 170.8,   7.0, ROT= 339.2,  -7.0

2025-10-26T22:35:44.097Z,1761518144.097 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-10-26T22:35:44.099Z,1761518144.099 [DAT](INFO): direction in FSK: [0.927858,-0.352460,0.121869]
2025-10-26T22:35:44.099Z,1761518144.099 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:44.107Z,1761518144.107 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=52.965145
2025-10-26T22:35:44.324Z,1761518144.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.400000 m,
      deltaT: 0.504804 s,
      deltaX: -0.200001 m,
      approachRate: -0.396195 m/s,
      rangeRepo size: 4

2025-10-26T22:35:44.326Z,1761518144.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.350389 m,
      bearing: 53.243911 deg,
      lat: 36.779423 deg,
      lon: -121.859430 deg,
      deltaT: 2.519059 s,
      deltaX: -1.391766 m,
      approachRate: -0.552494 m/s,
      posRepo size: 4

2025-10-26T22:35:44.328Z,1761518144.328 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.186741
2025-10-26T22:35:44.332Z,1761518144.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.35 m. 9.74 m.
2025-10-26T22:35:44.334Z,1761518144.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 8.002159 m,
      bearing: 53.505228 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 69.554453 deg,
      new cmd heading: 69.002217 deg.

2025-10-26T22:35:44.335Z,1761518144.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.204316 target range: 9.742155 and range: 8.40 m.
2025-10-26T22:35:44.581Z,1761518144.581 [DAT](INFO): DAT read: Rx Time:22:35:43.4458 

2025-10-26T22:35:44.581Z,1761518144.581 [DAT](INFO): Rx dataTimestamp_ set to:1761518144.581167
2025-10-26T22:35:44.583Z,1761518144.583 [DAT](INFO): DAT read: Bearing 217.6, -21.9 (Local)

2025-10-26T22:35:44.583Z,1761518144.583 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.6, -21.9 (Local)

2025-10-26T22:35:44.585Z,1761518144.585 [DAT](INFO): DAT read: Range 11 to 50 :     8.0 m (trip time 5.3 ms) speed 0.4

2025-10-26T22:35:44.590Z,1761518144.590 [DAT](INFO): DAT read: 22:35:43.4458 LVL= 32752, 32753, 20114, 32755, AGC= 50, IDX= 500, 0.48, 0.165,-1.115, 1.122, 0.317, PHS=-0.050,-1.387, 0.761, RAW= 171.9,   7.2, CAL= 171.5,   7.1, ROT= 338.5,  -7.1

2025-10-26T22:35:44.591Z,1761518144.591 [DAT](INFO): got valid direction response:
 22:35:43.4458 LVL= 32752, 32753, 20114, 32755, AGC= 50, IDX= 500, 0.48, 0.165,-1.115, 1.122, 0.317, PHS=-0.050,-1.387, 0.761, RAW= 171.9,   7.2, CAL= 171.5,   7.1, ROT= 338.5,  -7.1

2025-10-26T22:35:44.607Z,1761518144.607 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-10-26T22:35:44.608Z,1761518144.608 [DAT](INFO): direction in FSK: [0.923283,-0.363691,0.123601]
2025-10-26T22:35:44.609Z,1761518144.609 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:44.612Z,1761518144.612 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.470459
2025-10-26T22:35:44.626Z,1761518144.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292098,-0.945565,-0.143476],[0.956350,0.290128,0.034942],[0.008586,-0.147420,0.989037]]
2025-10-26T22:35:44.705Z,1761518144.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.000000 m,
      deltaT: 0.503922 s,
      deltaX: -0.400000 m,
      approachRate: -0.793773 m/s,
      rangeRepo size: 4

2025-10-26T22:35:44.712Z,1761518144.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.952753 m,
      bearing: 52.686586 deg,
      lat: 36.779423 deg,
      lon: -121.859430 deg,
      deltaT: 3.022981 s,
      deltaX: -1.789402 m,
      approachRate: -0.591933 m/s,
      posRepo size: 4

2025-10-26T22:35:44.714Z,1761518144.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.95 m. 9.74 m.
2025-10-26T22:35:44.722Z,1761518144.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 7.798214 m,
      bearing: 53.211763 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 69.002218 deg,
      new cmd heading: 68.666591 deg.

2025-10-26T22:35:44.723Z,1761518144.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.198458 target range: 9.742155 and range: 8.00 m.
2025-10-26T22:35:44.833Z,1761518144.833 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.690857
2025-10-26T22:35:45.085Z,1761518145.085 [DAT](INFO): DAT read: Rx Time:22:35:43.9458 

2025-10-26T22:35:45.085Z,1761518145.085 [DAT](INFO): Rx dataTimestamp_ set to:1761518145.085208
2025-10-26T22:35:45.087Z,1761518145.087 [DAT](INFO): DAT read: Bearing 216.5, -22.8 (Local)

2025-10-26T22:35:45.087Z,1761518145.087 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.5, -22.8 (Local)

2025-10-26T22:35:45.089Z,1761518145.089 [DAT](INFO): DAT read: Range 11 to 50 :     8.0 m (trip time 5.3 ms) speed 0.4

2025-10-26T22:35:45.094Z,1761518145.094 [DAT](INFO): DAT read: 22:35:43.9458 LVL= 32752, 32753, 21474, 32755, AGC= 49, IDX= 501,-0.16, 0.509,-0.759, 1.507, 0.666, PHS=-0.055,-1.380, 0.798, RAW= 172.9,   6.8, CAL= 172.4,   6.3, ROT= 337.6,  -6.3

2025-10-26T22:35:45.095Z,1761518145.095 [DAT](INFO): got valid direction response:
 22:35:43.9458 LVL= 32752, 32753, 21474, 32755, AGC= 49, IDX= 501,-0.16, 0.509,-0.759, 1.507, 0.666, PHS=-0.055,-1.380, 0.798, RAW= 172.9,   6.8, CAL= 172.4,   6.3, ROT= 337.6,  -6.3

2025-10-26T22:35:45.104Z,1761518145.104 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-10-26T22:35:45.105Z,1761518145.105 [DAT](INFO): direction in FSK: [0.918963,-0.378769,0.109734]
2025-10-26T22:35:45.105Z,1761518145.105 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:45.121Z,1761518145.121 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=53.979298
2025-10-26T22:35:45.198Z,1761518145.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293592,-0.944497,-0.147411],[0.955907,0.291170,0.038242],[0.006802,-0.152138,0.988336]]
2025-10-26T22:35:45.315Z,1761518145.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.000000 m,
      deltaT: 0.504041 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:35:45.321Z,1761518145.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.952770 m,
      bearing: 51.635964 deg,
      lat: 36.779423 deg,
      lon: -121.859430 deg,
      deltaT: 3.527022 s,
      deltaX: -1.789385 m,
      approachRate: -0.507336 m/s,
      posRepo size: 4

2025-10-26T22:35:45.322Z,1761518145.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.95 m. 9.74 m.
2025-10-26T22:35:45.329Z,1761518145.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 7.478280 m,
      bearing: 52.806115 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 68.666590 deg,
      new cmd heading: 68.126871 deg.

2025-10-26T22:35:45.329Z,1761518145.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.189038 target range: 9.742155 and range: 8.00 m.
2025-10-26T22:35:45.337Z,1761518145.337 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.195065
2025-10-26T22:35:45.589Z,1761518145.589 [DAT](INFO): DAT read: Rx Time:22:35:44.4457 

2025-10-26T22:35:45.589Z,1761518145.589 [DAT](INFO): Rx dataTimestamp_ set to:1761518145.589200
2025-10-26T22:35:45.591Z,1761518145.591 [DAT](INFO): DAT read: Bearing 216.7, -23.5 (Local)

2025-10-26T22:35:45.591Z,1761518145.591 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.7, -23.5 (Local)

2025-10-26T22:35:45.593Z,1761518145.593 [DAT](INFO): DAT read: Range 11 to 50 :     7.7 m (trip time 5.1 ms) speed 0.4

2025-10-26T22:35:45.598Z,1761518145.598 [DAT](INFO): DAT read: 22:35:44.4457 LVL= 32752, 32753, 20930, 32755, AGC= 47, IDX= 498, 0.10, 0.471,-0.783, 1.482, 0.649, PHS=-0.076,-1.387, 0.789, RAW= 173.3,   7.2, CAL= 172.9,   6.9, ROT= 337.1,  -6.9

2025-10-26T22:35:45.599Z,1761518145.599 [DAT](INFO): got valid direction response:
 22:35:44.4457 LVL= 32752, 32753, 20930, 32755, AGC= 47, IDX= 498, 0.10, 0.471,-0.783, 1.482, 0.649, PHS=-0.076,-1.387, 0.789, RAW= 173.3,   7.2, CAL= 172.9,   6.9, ROT= 337.1,  -6.9

2025-10-26T22:35:45.599Z,1761518145.599 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-10-26T22:35:45.600Z,1761518145.600 [DAT](INFO): direction in FSK: [0.914514,-0.386306,0.120137]
2025-10-26T22:35:45.601Z,1761518145.601 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:45.643Z,1761518145.643 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.501331
2025-10-26T22:35:45.749Z,1761518145.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.700000 m,
      deltaT: 0.503992 s,
      deltaX: -0.300000 m,
      approachRate: -0.595248 m/s,
      rangeRepo size: 4

2025-10-26T22:35:45.755Z,1761518145.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.654541 m,
      bearing: 51.221566 deg,
      lat: 36.779423 deg,
      lon: -121.859430 deg,
      deltaT: 4.031014 s,
      deltaX: -2.087614 m,
      approachRate: -0.517888 m/s,
      posRepo size: 4

2025-10-26T22:35:45.756Z,1761518145.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.65 m. 9.74 m.
2025-10-26T22:35:45.759Z,1761518145.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 7.257678 m,
      bearing: 52.505261 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 68.126868 deg,
      new cmd heading: 67.742799 deg.

2025-10-26T22:35:45.764Z,1761518145.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.182335 target range: 9.742155 and range: 7.70 m.
2025-10-26T22:35:45.841Z,1761518145.841 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.698868
2025-10-26T22:35:45.961Z,1761518145.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298285,-0.941086,-0.159320],[0.954473,0.294538,0.047198],[0.002509,-0.166145,0.986098]]
2025-10-26T22:35:45.989Z,1761518145.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:35:46.013Z,1761518146.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-10-26T22:35:46.039Z,1761518146.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 7.119434 m,
      bearing: 52.312215 deg,
      approach rate: -0.562028 m/s,
      LOS rate: -0.800066 deg/s,
      cmd heading: 67.742800 deg,
      new cmd heading: 67.152439 deg.

2025-10-26T22:35:46.051Z,1761518146.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.172031 target range: 9.742155 and range: 7.70 m.
2025-10-26T22:35:46.093Z,1761518146.093 [DAT](INFO): DAT read: Rx Time:22:35:44.9456 

2025-10-26T22:35:46.094Z,1761518146.094 [DAT](INFO): Rx dataTimestamp_ set to:1761518146.093474
2025-10-26T22:35:46.095Z,1761518146.095 [DAT](INFO): DAT read: Bearing 217.6, -24.7 (Local)

2025-10-26T22:35:46.096Z,1761518146.096 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.6, -24.7 (Local)

2025-10-26T22:35:46.098Z,1761518146.098 [DAT](INFO): DAT read: Range 11 to 50 :     7.5 m (trip time 5.0 ms) speed 0.4

2025-10-26T22:35:46.103Z,1761518146.103 [DAT](INFO): DAT read: 22:35:44.9456 LVL= 32752, 32753, 21490, 32755, AGC= 46, IDX= 497, 0.48, 0.839,-0.403, 1.881, 1.060, PHS=-0.119,-1.418, 0.777, RAW= 174.0,   8.0, CAL= 173.7,   8.2, ROT= 336.3,  -8.2

2025-10-26T22:35:46.104Z,1761518146.104 [DAT](INFO): got valid direction response:
 22:35:44.9456 LVL= 32752, 32753, 21490, 32755, AGC= 46, IDX= 497, 0.48, 0.839,-0.403, 1.881, 1.060, PHS=-0.119,-1.418, 0.777, RAW= 174.0,   8.0, CAL= 173.7,   8.2, ROT= 336.3,  -8.2

2025-10-26T22:35:46.104Z,1761518146.104 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-10-26T22:35:46.105Z,1761518146.105 [DAT](INFO): direction in FSK: [0.906301,-0.397838,0.142629]
2025-10-26T22:35:46.106Z,1761518146.106 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:46.109Z,1761518146.109 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.967686
2025-10-26T22:35:46.344Z,1761518146.344 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.202740
2025-10-26T22:35:46.442Z,1761518146.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.500000 m,
      deltaT: 0.504274 s,
      deltaX: -0.200000 m,
      approachRate: -0.396609 m/s,
      rangeRepo size: 4

2025-10-26T22:35:46.446Z,1761518146.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.455676 m,
      bearing: 50.501155 deg,
      lat: 36.779424 deg,
      lon: -121.859429 deg,
      deltaT: 4.535288 s,
      deltaX: -2.286479 m,
      approachRate: -0.504153 m/s,
      posRepo size: 4

2025-10-26T22:35:46.448Z,1761518146.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.46 m. 9.74 m.
2025-10-26T22:35:46.450Z,1761518146.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 6.897343 m,
      bearing: 52.098538 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 67.152439 deg,
      new cmd heading: 66.757223 deg.

2025-10-26T22:35:46.451Z,1761518146.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.165133 target range: 9.742155 and range: 7.50 m.
2025-10-26T22:35:46.602Z,1761518146.602 [DAT](INFO): DAT read: Rx Time:22:35:45.4453 

2025-10-26T22:35:46.603Z,1761518146.603 [DAT](INFO): Rx dataTimestamp_ set to:1761518146.602328
2025-10-26T22:35:46.604Z,1761518146.604 [DAT](INFO): DAT read: Bearing 216.1, -25.7 (Local)

2025-10-26T22:35:46.604Z,1761518146.604 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.1, -25.7 (Local)

2025-10-26T22:35:46.606Z,1761518146.606 [DAT](INFO): DAT read: Range 11 to 50 :     7.1 m (trip time 4.7 ms) speed 0.4

2025-10-26T22:35:46.612Z,1761518146.612 [DAT](INFO): DAT read: 22:35:45.4453 LVL= 32752, 32753, 21730, 32755, AGC= 45, IDX= 511,-0.08,-2.032, 3.039,-0.955,-1.806, PHS=-0.124,-1.394, 0.807, RAW= 174.9,   7.5, CAL= 174.6,   7.5, ROT= 335.4,  -7.5

2025-10-26T22:35:46.613Z,1761518146.613 [DAT](INFO): got valid direction response:
 22:35:45.4453 LVL= 32752, 32753, 21730, 32755, AGC= 45, IDX= 511,-0.08,-2.032, 3.039,-0.955,-1.806, PHS=-0.124,-1.394, 0.807, RAW= 174.9,   7.5, CAL= 174.6,   7.5, ROT= 335.4,  -7.5

2025-10-26T22:35:46.614Z,1761518146.614 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-10-26T22:35:46.617Z,1761518146.617 [DAT](INFO): direction in FSK: [0.901457,-0.412720,0.130526]
2025-10-26T22:35:46.617Z,1761518146.617 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:46.621Z,1761518146.621 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.479622
2025-10-26T22:35:46.766Z,1761518146.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306403,-0.936652,-0.169704],[0.951898,0.300958,0.057577],[-0.002856,-0.179183,0.983812]]
2025-10-26T22:35:46.816Z,1761518146.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.100000 m,
      deltaT: 0.508854 s,
      deltaX: -0.400000 m,
      approachRate: -0.786080 m/s,
      rangeRepo size: 4

2025-10-26T22:35:46.821Z,1761518146.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.058040 m,
      bearing: 49.170152 deg,
      lat: 36.779425 deg,
      lon: -121.859430 deg,
      deltaT: 5.044142 s,
      deltaX: -2.684115 m,
      approachRate: -0.532125 m/s,
      posRepo size: 4

2025-10-26T22:35:46.822Z,1761518146.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.06 m. 9.74 m.
2025-10-26T22:35:46.826Z,1761518146.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 6.714885 m,
      bearing: 51.924078 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 66.757224 deg,
      new cmd heading: 66.429561 deg.

2025-10-26T22:35:46.826Z,1761518146.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.159415 target range: 9.742155 and range: 7.10 m.
2025-10-26T22:35:46.852Z,1761518146.852 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.710617
2025-10-26T22:35:47.105Z,1761518147.105 [DAT](INFO): DAT read: Rx Time:22:35:45.9452 

2025-10-26T22:35:47.105Z,1761518147.105 [DAT](INFO): Rx dataTimestamp_ set to:1761518147.105181
2025-10-26T22:35:47.107Z,1761518147.107 [DAT](INFO): DAT read: Bearing 215.8, -26.1 (Local)

2025-10-26T22:35:47.107Z,1761518147.107 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.8, -26.1 (Local)

2025-10-26T22:35:47.109Z,1761518147.109 [DAT](INFO): DAT read: Range 11 to 50 :     6.9 m (trip time 4.6 ms) speed 0.4

2025-10-26T22:35:47.114Z,1761518147.114 [DAT](INFO): DAT read: 22:35:45.9452 LVL= 32752, 32753, 20674, 32755, AGC= 46, IDX= 509, 0.27,-1.224,-2.433,-0.141,-0.990, PHS=-0.132,-1.398, 0.805, RAW= 175.1,   7.6, CAL= 174.8,   7.7, ROT= 335.2,  -7.7

2025-10-26T22:35:47.115Z,1761518147.115 [DAT](INFO): got valid direction response:
 22:35:45.9452 LVL= 32752, 32753, 20674, 32755, AGC= 46, IDX= 509, 0.27,-1.224,-2.433,-0.141,-0.990, PHS=-0.132,-1.398, 0.805, RAW= 175.1,   7.6, CAL= 174.8,   7.7, ROT= 335.2,  -7.7

2025-10-26T22:35:47.115Z,1761518147.115 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-10-26T22:35:47.116Z,1761518147.116 [DAT](INFO): direction in FSK: [0.899592,-0.415670,0.133986]
2025-10-26T22:35:47.116Z,1761518147.116 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:47.120Z,1761518147.120 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=55.978542
2025-10-26T22:35:47.201Z,1761518147.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310942,-0.934493,-0.173315],[0.950414,0.304698,0.062230],[-0.005345,-0.184071,0.982898]]
2025-10-26T22:35:47.338Z,1761518147.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.900000 m,
      deltaT: 0.502853 s,
      deltaX: -0.200000 m,
      approachRate: -0.397730 m/s,
      rangeRepo size: 4

2025-10-26T22:35:47.345Z,1761518147.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.859210 m,
      bearing: 48.798466 deg,
      lat: 36.779425 deg,
      lon: -121.859430 deg,
      deltaT: 5.546995 s,
      deltaX: -2.882945 m,
      approachRate: -0.519731 m/s,
      posRepo size: 4

2025-10-26T22:35:47.346Z,1761518147.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.86 m. 9.74 m.
2025-10-26T22:35:47.353Z,1761518147.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 6.467270 m,
      bearing: 51.671703 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 66.429559 deg,
      new cmd heading: 65.965720 deg.

2025-10-26T22:35:47.354Z,1761518147.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.151319 target range: 9.742155 and range: 6.90 m.
2025-10-26T22:35:47.357Z,1761518147.357 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.214825
2025-10-26T22:35:47.609Z,1761518147.609 [DAT](INFO): DAT read: Rx Time:22:35:46.4449 

2025-10-26T22:35:47.610Z,1761518147.610 [DAT](INFO): Rx dataTimestamp_ set to:1761518147.609226
2025-10-26T22:35:47.611Z,1761518147.611 [DAT](INFO): DAT read: Bearing 214.3, -27.3 (Local)

2025-10-26T22:35:47.611Z,1761518147.611 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.3, -27.3 (Local)

2025-10-26T22:35:47.613Z,1761518147.613 [DAT](INFO): DAT read: Range 11 to 50 :     6.5 m (trip time 4.3 ms) speed 0.4

2025-10-26T22:35:47.622Z,1761518147.622 [DAT](INFO): DAT read: 22:35:46.4449 LVL= 32752, 32753, 20274, 32755, AGC= 45, IDX= 507,-0.17, 1.635, 0.438, 2.781, 1.885, PHS=-0.148,-1.402, 0.853, RAW= 176.3,   7.2, CAL= 176.0,   7.0, ROT= 334.0,  -7.0

2025-10-26T22:35:47.632Z,1761518147.632 [DAT](INFO): got valid direction response:
 22:35:46.4449 LVL= 32752, 32753, 20274, 32755, AGC= 45, IDX= 507,-0.17, 1.635, 0.438, 2.781, 1.885, PHS=-0.148,-1.402, 0.853, RAW= 176.3,   7.2, CAL= 176.0,   7.0, ROT= 334.0,  -7.0

2025-10-26T22:35:47.632Z,1761518147.632 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-10-26T22:35:47.633Z,1761518147.633 [DAT](INFO): direction in FSK: [0.892095,-0.435104,0.121869]
2025-10-26T22:35:47.633Z,1761518147.633 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:47.637Z,1761518147.637 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.495380
2025-10-26T22:35:47.639Z,1761518147.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321943,-0.929255,-0.181212],[0.946704,0.313907,0.072208],[-0.010216,-0.194801,0.980790]]
2025-10-26T22:35:47.800Z,1761518147.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.500000 m,
      deltaT: 0.504045 s,
      deltaX: -0.400000 m,
      approachRate: -0.793580 m/s,
      rangeRepo size: 4

2025-10-26T22:35:47.802Z,1761518147.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.461575 m,
      bearing: 46.955329 deg,
      lat: 36.779425 deg,
      lon: -121.859431 deg,
      deltaT: 6.051040 s,
      deltaX: -3.280580 m,
      approachRate: -0.542151 m/s,
      posRepo size: 4

2025-10-26T22:35:47.803Z,1761518147.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.46 m. 9.74 m.
2025-10-26T22:35:47.810Z,1761518147.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 6.264739 m,
      bearing: 51.470460 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 65.965721 deg,
      new cmd heading: 65.561350 deg.

2025-10-26T22:35:47.811Z,1761518147.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.144261 target range: 9.742155 and range: 6.50 m.
2025-10-26T22:35:47.861Z,1761518147.861 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.719051
2025-10-26T22:35:48.099Z,1761518148.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328725,-0.926382,-0.183729],[0.944336,0.319743,0.077413],[-0.012968,-0.198950,0.979924]]
2025-10-26T22:35:48.113Z,1761518148.113 [DAT](INFO): DAT read: Rx Time:22:35:46.9449 

2025-10-26T22:35:48.113Z,1761518148.113 [DAT](INFO): Rx dataTimestamp_ set to:1761518148.113223
2025-10-26T22:35:48.115Z,1761518148.115 [DAT](INFO): DAT read: Bearing 215.4, -27.8 (Local)

2025-10-26T22:35:48.115Z,1761518148.115 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.4, -27.8 (Local)

2025-10-26T22:35:48.117Z,1761518148.117 [DAT](INFO): DAT read: Range 11 to 50 :     6.5 m (trip time 4.3 ms) speed 0.4

2025-10-26T22:35:48.122Z,1761518148.122 [DAT](INFO): DAT read: 22:35:46.9449 LVL= 32752, 32753, 20914, 32755, AGC= 46, IDX= 506, 0.22,-1.580,-2.761,-0.451,-1.301, PHS=-0.176,-1.415, 0.807, RAW= 176.2,   8.2, CAL= 176.0,   8.6, ROT= 334.0,  -8.6

2025-10-26T22:35:48.123Z,1761518148.123 [DAT](INFO): got valid direction response:
 22:35:46.9449 LVL= 32752, 32753, 20914, 32755, AGC= 46, IDX= 506, 0.22,-1.580,-2.761,-0.451,-1.301, PHS=-0.176,-1.415, 0.807, RAW= 176.2,   8.2, CAL= 176.0,   8.6, ROT= 334.0,  -8.6

2025-10-26T22:35:48.123Z,1761518148.123 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-10-26T22:35:48.124Z,1761518148.124 [DAT](INFO): direction in FSK: [0.888688,-0.433442,0.149535]
2025-10-26T22:35:48.125Z,1761518148.125 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:48.132Z,1761518148.132 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:35:48.132Z,1761518148.132 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:35:48.133Z,1761518148.133 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:35:48.164Z,1761518148.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.500000 m,
      deltaT: 0.503997 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:35:48.166Z,1761518148.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.461575 m,
      bearing: 46.911899 deg,
      lat: 36.779425 deg,
      lon: -121.859432 deg,
      deltaT: 6.555037 s,
      deltaX: -3.280580 m,
      approachRate: -0.500467 m/s,
      posRepo size: 4

2025-10-26T22:35:48.167Z,1761518148.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.46 m. 9.74 m.
2025-10-26T22:35:48.189Z,1761518148.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 6.084648 m,
      bearing: 51.291894 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 65.561347 deg,
      new cmd heading: 65.239966 deg.

2025-10-26T22:35:48.190Z,1761518148.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138652 target range: 9.742155 and range: 6.50 m.
2025-10-26T22:35:48.365Z,1761518148.365 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:35:48.507Z,1761518148.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335533,-0.923373,-0.186547],[0.941895,0.325504,0.082953],[-0.015875,-0.203541,0.978938]]
2025-10-26T22:35:48.617Z,1761518148.617 [DAT](INFO): DAT read: Rx Time:22:35:47.4446 

2025-10-26T22:35:48.618Z,1761518148.618 [DAT](INFO): Rx dataTimestamp_ set to:1761518148.617247
2025-10-26T22:35:48.619Z,1761518148.619 [DAT](INFO): DAT read: Bearing 213.8, -29.0 (Local)

2025-10-26T22:35:48.619Z,1761518148.619 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.8, -29.0 (Local)

2025-10-26T22:35:48.621Z,1761518148.621 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed 0.4

2025-10-26T22:35:48.626Z,1761518148.626 [DAT](INFO): DAT read: 22:35:47.4446 LVL= 32752, 32753, 20322, 32755, AGC= 44, IDX= 504,-0.14, 1.815, 0.649, 3.009, 2.110, PHS=-0.193,-1.415, 0.856, RAW= 177.5,   7.7, CAL= 177.2,   7.8, ROT= 332.8,  -7.8

2025-10-26T22:35:48.627Z,1761518148.627 [DAT](INFO): got valid direction response:
 22:35:47.4446 LVL= 32752, 32753, 20322, 32755, AGC= 44, IDX= 504,-0.14, 1.815, 0.649, 3.009, 2.110, PHS=-0.193,-1.415, 0.856, RAW= 177.5,   7.7, CAL= 177.2,   7.8, ROT= 332.8,  -7.8

2025-10-26T22:35:48.636Z,1761518148.636 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:35:48.637Z,1761518148.637 [DAT](INFO): direction in FSK: [0.881187,-0.452869,0.135716]
2025-10-26T22:35:48.637Z,1761518148.637 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:48.640Z,1761518148.640 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:35:48.641Z,1761518148.641 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:35:48.661Z,1761518148.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.504024 s,
      deltaX: -0.300000 m,
      approachRate: -0.595210 m/s,
      rangeRepo size: 4

2025-10-26T22:35:48.663Z,1761518148.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.163352 m,
      bearing: 45.220342 deg,
      lat: 36.779425 deg,
      lon: -121.859433 deg,
      deltaT: 7.059061 s,
      deltaX: -3.578803 m,
      approachRate: -0.506980 m/s,
      posRepo size: 4

2025-10-26T22:35:48.679Z,1761518148.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.16 m. 9.74 m.
2025-10-26T22:35:48.682Z,1761518148.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 5.842133 m,
      bearing: 51.127996 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 65.239966 deg,
      new cmd heading: 64.796666 deg.

2025-10-26T22:35:48.683Z,1761518148.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130915 target range: 9.742155 and range: 6.20 m.
2025-10-26T22:35:48.869Z,1761518148.869 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:35:48.955Z,1761518148.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342646,-0.920724,-0.186708],[0.939276,0.331760,0.087728],[-0.018831,-0.205430,0.978491]]
2025-10-26T22:35:48.986Z,1761518148.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:35:48.991Z,1761518148.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-10-26T22:35:48.996Z,1761518148.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 5.665339 m,
      bearing: 51.012808 deg,
      approach rate: -0.536802 m/s,
      LOS rate: -0.360661 deg/s,
      cmd heading: 64.796666 deg,
      new cmd heading: 64.440322 deg.

2025-10-26T22:35:48.998Z,1761518148.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124696 target range: 9.742155 and range: 6.20 m.
2025-10-26T22:35:49.121Z,1761518149.121 [DAT](INFO): DAT read: Rx Time:22:35:47.9446 

2025-10-26T22:35:49.122Z,1761518149.122 [DAT](INFO): Rx dataTimestamp_ set to:1761518149.121270
2025-10-26T22:35:49.123Z,1761518149.123 [DAT](INFO): DAT read: Bearing 215.1, -29.8 (Local)

2025-10-26T22:35:49.123Z,1761518149.123 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.1, -29.8 (Local)

2025-10-26T22:35:49.125Z,1761518149.125 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed 0.4

2025-10-26T22:35:49.130Z,1761518149.130 [DAT](INFO): DAT read: 22:35:47.9446 LVL= 32752, 32753, 23202, 32755, AGC= 44, IDX= 503, 0.31,-1.799,-2.937,-0.612,-1.466, PHS=-0.231,-1.426, 0.810, RAW= 177.7,   8.8, CAL= 177.5,   9.5, ROT= 332.5,  -9.5

2025-10-26T22:35:49.131Z,1761518149.131 [DAT](INFO): got valid direction response:
 22:35:47.9446 LVL= 32752, 32753, 23202, 32755, AGC= 44, IDX= 503, 0.31,-1.799,-2.937,-0.612,-1.466, PHS=-0.231,-1.426, 0.810, RAW= 177.7,   8.8, CAL= 177.5,   9.5, ROT= 332.5,  -9.5

2025-10-26T22:35:49.132Z,1761518149.132 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:35:49.132Z,1761518149.132 [DAT](INFO): direction in FSK: [0.874846,-0.455416,0.165048]
2025-10-26T22:35:49.133Z,1761518149.133 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:49.137Z,1761518149.137 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:35:49.137Z,1761518149.137 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:35:49.362Z,1761518149.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349905,-0.918080,-0.186267],[0.936526,0.338147,0.092606],[-0.022034,-0.206848,0.978125]]
2025-10-26T22:35:49.372Z,1761518149.372 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:35:49.449Z,1761518149.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.504023 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:35:49.451Z,1761518149.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.163367 m,
      bearing: 44.463140 deg,
      lat: 36.779426 deg,
      lon: -121.859433 deg,
      deltaT: 7.563084 s,
      deltaX: -3.578788 m,
      approachRate: -0.473192 m/s,
      posRepo size: 4

2025-10-26T22:35:49.456Z,1761518149.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.16 m. 9.74 m.
2025-10-26T22:35:49.458Z,1761518149.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 5.449082 m,
      bearing: 50.916094 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 64.440321 deg,
      new cmd heading: 64.035330 deg.

2025-10-26T22:35:49.463Z,1761518149.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117627 target range: 9.742155 and range: 6.20 m.
2025-10-26T22:35:49.625Z,1761518149.625 [DAT](INFO): DAT read: Rx Time:22:35:48.4444 

2025-10-26T22:35:49.626Z,1761518149.626 [DAT](INFO): Rx dataTimestamp_ set to:1761518149.625223
2025-10-26T22:35:49.627Z,1761518149.627 [DAT](INFO): DAT read: Bearing 214.7, -30.8 (Local)

2025-10-26T22:35:49.627Z,1761518149.627 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.7, -30.8 (Local)

2025-10-26T22:35:49.629Z,1761518149.629 [DAT](INFO): DAT read: Range 11 to 50 :     5.9 m (trip time 3.9 ms) speed 0.4

2025-10-26T22:35:49.634Z,1761518149.634 [DAT](INFO): DAT read: 22:35:48.4444 LVL= 32752, 32753, 22146, 32755, AGC= 43, IDX= 501, 0.02, 2.523, 1.396,-2.534, 2.883, PHS=-0.258,-1.442, 0.822, RAW= 178.5,   9.0, CAL= 178.3,   9.9, ROT= 331.7,  -9.9

2025-10-26T22:35:49.635Z,1761518149.635 [DAT](INFO): got valid direction response:
 22:35:48.4444 LVL= 32752, 32753, 22146, 32755, AGC= 43, IDX= 501, 0.02, 2.523, 1.396,-2.534, 2.883, PHS=-0.258,-1.442, 0.822, RAW= 178.5,   9.0, CAL= 178.3,   9.9, ROT= 331.7,  -9.9

2025-10-26T22:35:49.636Z,1761518149.636 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:35:49.637Z,1761518149.637 [DAT](INFO): direction in FSK: [0.867367,-0.467028,0.171929]
2025-10-26T22:35:49.637Z,1761518149.637 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:49.641Z,1761518149.641 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:35:49.641Z,1761518149.641 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:35:49.762Z,1761518149.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357222,-0.915288,-0.186117],[0.933680,0.344563,0.097556],[-0.025162,-0.208623,0.977672]]
2025-10-26T22:35:49.818Z,1761518149.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.900000 m,
      deltaT: 0.503953 s,
      deltaX: -0.300000 m,
      approachRate: -0.595293 m/s,
      rangeRepo size: 4

2025-10-26T22:35:49.825Z,1761518149.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.865140 m,
      bearing: 43.344930 deg,
      lat: 36.779427 deg,
      lon: -121.859433 deg,
      deltaT: 8.067037 s,
      deltaX: -3.877015 m,
      approachRate: -0.480600 m/s,
      posRepo size: 4

2025-10-26T22:35:49.826Z,1761518149.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.87 m. 9.74 m.
2025-10-26T22:35:49.833Z,1761518149.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 5.267730 m,
      bearing: 50.843756 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 64.035332 deg,
      new cmd heading: 63.708685 deg.

2025-10-26T22:35:49.834Z,1761518149.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.111926 target range: 9.742155 and range: 5.90 m.
2025-10-26T22:35:49.877Z,1761518149.877 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:35:50.129Z,1761518150.129 [DAT](INFO): DAT read: Rx Time:22:35:48.9443 

2025-10-26T22:35:50.129Z,1761518150.129 [DAT](INFO): Rx dataTimestamp_ set to:1761518150.129156
2025-10-26T22:35:50.131Z,1761518150.131 [DAT](INFO): DAT read: Bearing 215.0, -32.0 (Local)

2025-10-26T22:35:50.131Z,1761518150.131 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.0, -32.0 (Local)

2025-10-26T22:35:50.133Z,1761518150.133 [DAT](INFO): DAT read: Range 11 to 50 :     5.7 m (trip time 3.8 ms) speed 0.4

2025-10-26T22:35:50.138Z,1761518150.138 [DAT](INFO): DAT read: 22:35:48.9443 LVL= 32752, 32753, 23202, 32755, AGC= 43, IDX= 501,-0.27, 2.479, 1.367,-2.534, 2.878, PHS=-0.298,-1.466, 0.827, RAW= 179.4,   9.5, CAL= 179.2,  10.7, ROT= 330.8, -10.7

2025-10-26T22:35:50.143Z,1761518150.143 [DAT](INFO): got valid direction response:
 22:35:48.9443 LVL= 32752, 32753, 23202, 32755, AGC= 43, IDX= 501,-0.27, 2.479, 1.367,-2.534, 2.878, PHS=-0.298,-1.466, 0.827, RAW= 179.4,   9.5, CAL= 179.2,  10.7, ROT= 330.8, -10.7

2025-10-26T22:35:50.144Z,1761518150.144 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:35:50.145Z,1761518150.145 [DAT](INFO): direction in FSK: [0.857744,-0.479377,0.185667]
2025-10-26T22:35:50.145Z,1761518150.145 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:50.148Z,1761518150.148 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:35:50.149Z,1761518150.149 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:35:50.217Z,1761518150.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364683,-0.912543,-0.185124],[0.930701,0.351188,0.102289],[-0.028329,-0.209598,0.977377]]
2025-10-26T22:35:50.318Z,1761518150.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.700000 m,
      deltaT: 0.503933 s,
      deltaX: -0.200000 m,
      approachRate: -0.396879 m/s,
      rangeRepo size: 4

2025-10-26T22:35:50.324Z,1761518150.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.666326 m,
      bearing: 42.192001 deg,
      lat: 36.779429 deg,
      lon: -121.859433 deg,
      deltaT: 8.570970 s,
      deltaX: -4.075829 m,
      approachRate: -0.475539 m/s,
      posRepo size: 4

2025-10-26T22:35:50.325Z,1761518150.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.67 m. 9.74 m.
2025-10-26T22:35:50.332Z,1761518150.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 5.051779 m,
      bearing: 50.770019 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 63.708685 deg,
      new cmd heading: 63.267300 deg.

2025-10-26T22:35:50.333Z,1761518150.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.104223 target range: 9.742155 and range: 5.70 m.
2025-10-26T22:35:50.380Z,1761518150.380 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:35:50.633Z,1761518150.633 [DAT](INFO): DAT read: Rx Time:22:35:49.4441 

2025-10-26T22:35:50.633Z,1761518150.633 [DAT](INFO): Rx dataTimestamp_ set to:1761518150.633187
2025-10-26T22:35:50.635Z,1761518150.635 [DAT](INFO): DAT read: Bearing 216.3, -32.8 (Local)

2025-10-26T22:35:50.635Z,1761518150.635 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.3, -32.8 (Local)

2025-10-26T22:35:50.645Z,1761518150.645 [DAT](INFO): DAT read: Range 11 to 50 :     5.4 m (trip time 3.6 ms) speed 0.4

2025-10-26T22:35:50.650Z,1761518150.650 [DAT](INFO): DAT read: 22:35:49.4441 LVL= 32752, 32753, 24130, 32755, AGC= 42, IDX= 498, 0.25, 2.805, 1.718,-2.204,-3.039, PHS=-0.337,-1.481, 0.791, RAW= 179.8,  10.5, CAL= 179.6,  12.3, ROT= 330.4, -12.3

2025-10-26T22:35:50.651Z,1761518150.651 [DAT](INFO): got valid direction response:
 22:35:49.4441 LVL= 32752, 32753, 24130, 32755, AGC= 42, IDX= 498, 0.25, 2.805, 1.718,-2.204,-3.039, PHS=-0.337,-1.481, 0.791, RAW= 179.8,  10.5, CAL= 179.6,  12.3, ROT= 330.4, -12.3

2025-10-26T22:35:50.668Z,1761518150.668 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:35:50.669Z,1761518150.669 [DAT](INFO): direction in FSK: [0.849536,-0.482604,0.213030]
2025-10-26T22:35:50.669Z,1761518150.669 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:50.681Z,1761518150.681 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:35:50.681Z,1761518150.681 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:35:50.725Z,1761518150.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.400000 m,
      deltaT: 0.504031 s,
      deltaX: -0.300000 m,
      approachRate: -0.595201 m/s,
      rangeRepo size: 4

2025-10-26T22:35:50.736Z,1761518150.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.368098 m,
      bearing: 42.132777 deg,
      lat: 36.779429 deg,
      lon: -121.859434 deg,
      deltaT: 9.075001 s,
      deltaX: -4.374057 m,
      approachRate: -0.481990 m/s,
      posRepo size: 4

2025-10-26T22:35:50.737Z,1761518150.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.37 m. 9.74 m.
2025-10-26T22:35:50.748Z,1761518150.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 4.828738 m,
      bearing: 50.645264 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 63.267298 deg,
      new cmd heading: 62.912027 deg.

2025-10-26T22:35:50.749Z,1761518150.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.098022 target range: 9.742155 and range: 5.40 m.
2025-10-26T22:35:50.884Z,1761518150.884 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:35:51.082Z,1761518151.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377986,-0.907474,-0.183352],[0.925197,0.363037,0.110524],[-0.033734,-0.211413,0.976814]]
2025-10-26T22:35:51.119Z,1761518151.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:35:51.125Z,1761518151.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-10-26T22:35:51.132Z,1761518151.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 4.617077 m,
      bearing: 50.552596 deg,
      approach rate: -0.521666 m/s,
      LOS rate: -0.238861 deg/s,
      cmd heading: 62.912026 deg,
      new cmd heading: 62.621281 deg.

2025-10-26T22:35:51.133Z,1761518151.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.092947 target range: 9.742155 and range: 5.40 m.
2025-10-26T22:35:51.137Z,1761518151.137 [DAT](INFO): DAT read: Rx Time:22:35:49.9439 

2025-10-26T22:35:51.138Z,1761518151.138 [DAT](INFO): Rx dataTimestamp_ set to:1761518151.137239
2025-10-26T22:35:51.139Z,1761518151.139 [DAT](INFO): DAT read: Bearing 215.2, -34.2 (Local)

2025-10-26T22:35:51.139Z,1761518151.139 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.2, -34.2 (Local)

2025-10-26T22:35:51.141Z,1761518151.141 [DAT](INFO): DAT read: Range 11 to 50 :     5.1 m (trip time 3.4 ms) speed 0.4

2025-10-26T22:35:51.146Z,1761518151.146 [DAT](INFO): DAT read: 22:35:49.9439 LVL= 32752, 32753, 22770, 32755, AGC= 42, IDX= 497,-0.07, 1.772, 0.700, 3.119, 2.241, PHS=-0.367,-1.496, 0.833, RAW= 181.0,  10.2, CAL= 180.9,  11.9, ROT= 329.1, -11.9

2025-10-26T22:35:51.147Z,1761518151.147 [DAT](INFO): got valid direction response:
 22:35:49.9439 LVL= 32752, 32753, 22770, 32755, AGC= 42, IDX= 497,-0.07, 1.772, 0.700, 3.119, 2.241, PHS=-0.367,-1.496, 0.833, RAW= 181.0,  10.2, CAL= 180.9,  11.9, ROT= 329.1, -11.9

2025-10-26T22:35:51.147Z,1761518151.147 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:35:51.148Z,1761518151.148 [DAT](INFO): direction in FSK: [0.839624,-0.502505,0.206204]
2025-10-26T22:35:51.149Z,1761518151.149 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:51.172Z,1761518151.172 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:35:51.172Z,1761518151.172 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:35:51.388Z,1761518151.388 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:35:51.429Z,1761518151.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384840,-0.905066,-0.180981],[0.922268,0.369358,0.114005],[-0.036335,-0.210786,0.976857]]
2025-10-26T22:35:51.505Z,1761518151.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 0.504052 s,
      deltaX: -0.300000 m,
      approachRate: -0.595177 m/s,
      rangeRepo size: 4

2025-10-26T22:35:51.521Z,1761518151.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.069858 m,
      bearing: 39.580861 deg,
      lat: 36.779429 deg,
      lon: -121.859434 deg,
      deltaT: 9.579053 s,
      deltaX: -4.672297 m,
      approachRate: -0.487762 m/s,
      posRepo size: 4

2025-10-26T22:35:51.541Z,1761518151.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.07 m. 9.74 m.
2025-10-26T22:35:51.567Z,1761518151.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 4.420854 m,
      bearing: 50.439706 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 62.621278 deg,
      new cmd heading: 62.290558 deg.

2025-10-26T22:35:51.573Z,1761518151.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.087175 target range: 9.742155 and range: 5.10 m.
2025-10-26T22:35:51.641Z,1761518151.641 [DAT](INFO): DAT read: Rx Time:22:35:50.4437 

2025-10-26T22:35:51.642Z,1761518151.642 [DAT](INFO): Rx dataTimestamp_ set to:1761518151.641318
2025-10-26T22:35:51.643Z,1761518151.643 [DAT](INFO): DAT read: Bearing 217.1, -35.2 (Local)

2025-10-26T22:35:51.643Z,1761518151.643 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.1, -35.2 (Local)

2025-10-26T22:35:51.645Z,1761518151.645 [DAT](INFO): DAT read: Range 11 to 50 :     4.8 m (trip time 3.2 ms) speed 0.4

2025-10-26T22:35:51.650Z,1761518151.650 [DAT](INFO): DAT read: 22:35:50.4437 LVL= 32752, 32753, 24434, 32755, AGC= 42, IDX= 510, 0.38, 1.809, 0.764,-3.117, 2.331, PHS=-0.420,-1.523, 0.791, RAW= 181.6,  11.5, CAL= 181.5,  13.9, ROT= 328.5, -13.9

2025-10-26T22:35:51.651Z,1761518151.651 [DAT](INFO): got valid direction response:
 22:35:50.4437 LVL= 32752, 32753, 24434, 32755, AGC= 42, IDX= 510, 0.38, 1.809, 0.764,-3.117, 2.331, PHS=-0.420,-1.523, 0.791, RAW= 181.6,  11.5, CAL= 181.5,  13.9, ROT= 328.5, -13.9

2025-10-26T22:35:51.652Z,1761518151.652 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:35:51.653Z,1761518151.653 [DAT](INFO): direction in FSK: [0.827672,-0.507198,0.240228]
2025-10-26T22:35:51.653Z,1761518151.653 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:51.656Z,1761518151.656 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:35:51.657Z,1761518151.657 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:35:51.893Z,1761518151.893 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:35:51.967Z,1761518151.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391244,-0.902530,-0.179909],[0.919487,0.375211,0.117304],[-0.038366,-0.211319,0.976664]]
2025-10-26T22:35:52.084Z,1761518152.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 0.504079 s,
      deltaX: -0.300000 m,
      approachRate: -0.595144 m/s,
      rangeRepo size: 4

2025-10-26T22:35:52.086Z,1761518152.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.771631 m,
      bearing: 39.046426 deg,
      lat: 36.779429 deg,
      lon: -121.859434 deg,
      deltaT: 10.083132 s,
      deltaX: -4.970524 m,
      approachRate: -0.492954 m/s,
      posRepo size: 4

2025-10-26T22:35:52.086Z,1761518152.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.77 m. 9.74 m.
2025-10-26T22:35:52.093Z,1761518152.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 4.137392 m,
      bearing: 50.284725 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 62.290560 deg,
      new cmd heading: 61.778496 deg.

2025-10-26T22:35:52.094Z,1761518152.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.078238 target range: 9.742155 and range: 4.80 m.
2025-10-26T22:35:52.145Z,1761518152.145 [DAT](INFO): DAT read: Rx Time:22:35:50.9436 

2025-10-26T22:35:52.146Z,1761518152.146 [DAT](INFO): Rx dataTimestamp_ set to:1761518152.145524
2025-10-26T22:35:52.148Z,1761518152.148 [DAT](INFO): DAT read: Bearing 217.0, -36.5 (Local)

2025-10-26T22:35:52.148Z,1761518152.148 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.0, -36.5 (Local)

2025-10-26T22:35:52.151Z,1761518152.151 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed 0.4

2025-10-26T22:35:52.158Z,1761518152.158 [DAT](INFO): DAT read: 22:35:50.9436 LVL= 32752, 32753, 23650, 32755, AGC= 41, IDX= 510,-0.08, 2.354, 1.328,-2.509, 2.920, PHS=-0.464,-1.548, 0.810, RAW= 182.7,  11.7, CAL= 182.6,  14.4, ROT= 327.4, -14.4

2025-10-26T22:35:52.159Z,1761518152.159 [DAT](INFO): got valid direction response:
 22:35:50.9436 LVL= 32752, 32753, 23650, 32755, AGC= 41, IDX= 510,-0.08, 2.354, 1.328,-2.509, 2.920, PHS=-0.464,-1.548, 0.810, RAW= 182.7,  11.7, CAL= 182.6,  14.4, ROT= 327.4, -14.4

2025-10-26T22:35:52.160Z,1761518152.160 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:35:52.161Z,1761518152.161 [DAT](INFO): direction in FSK: [0.815985,-0.521845,0.248690]
2025-10-26T22:35:52.161Z,1761518152.161 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:52.169Z,1761518152.169 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:35:52.169Z,1761518152.169 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:35:52.400Z,1761518152.400 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:35:52.584Z,1761518152.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403625,-0.897486,-0.177781],[0.913953,0.386557,0.123549],[-0.042161,-0.212351,0.976284]]
2025-10-26T22:35:52.625Z,1761518152.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.504206 s,
      deltaX: -0.100000 m,
      approachRate: -0.198332 m/s,
      rangeRepo size: 4

2025-10-26T22:35:52.627Z,1761518152.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.672225 m,
      bearing: 37.337066 deg,
      lat: 36.779430 deg,
      lon: -121.859434 deg,
      deltaT: 10.587338 s,
      deltaX: -5.069930 m,
      approachRate: -0.478867 m/s,
      posRepo size: 4

2025-10-26T22:35:52.628Z,1761518152.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.67 m. 9.74 m.
2025-10-26T22:35:52.631Z,1761518152.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 3.775623 m,
      bearing: 50.072076 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 61.778494 deg,
      new cmd heading: 61.296104 deg.

2025-10-26T22:35:52.649Z,1761518152.649 [DAT](INFO): DAT read: Rx Time:22:35:51.4434 

2025-10-26T22:35:52.649Z,1761518152.649 [DAT](INFO): Rx dataTimestamp_ set to:1761518152.649015
2025-10-26T22:35:52.651Z,1761518152.651 [DAT](INFO): DAT read: Bearing 218.6, -37.6 (Local)

2025-10-26T22:35:52.651Z,1761518152.651 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.6, -37.6 (Local)

2025-10-26T22:35:52.653Z,1761518152.653 [DAT](INFO): DAT read: Range 11 to 50 :     4.4 m (trip time 2.9 ms) speed 0.4

2025-10-26T22:35:52.657Z,1761518152.657 [DAT](INFO): DAT read: 22:35:51.4434 LVL= 32752, 32753, 25410, 32755, AGC= 41, IDX= 507, 0.26, 2.686, 1.698,-2.156,-2.978, PHS=-0.517,-1.562, 0.778, RAW= 183.5,  12.8, CAL= 183.5,  16.0, ROT= 326.5, -16.0

2025-10-26T22:35:52.659Z,1761518152.659 [DAT](INFO): got valid direction response:
 22:35:51.4434 LVL= 32752, 32753, 25410, 32755, AGC= 41, IDX= 507, 0.26, 2.686, 1.698,-2.156,-2.978, PHS=-0.517,-1.562, 0.778, RAW= 183.5,  12.8, CAL= 183.5,  16.0, ROT= 326.5, -16.0

2025-10-26T22:35:52.659Z,1761518152.659 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:35:52.660Z,1761518152.660 [DAT](INFO): direction in FSK: [0.801583,-0.530556,0.275637]
2025-10-26T22:35:52.660Z,1761518152.660 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:52.664Z,1761518152.664 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:35:52.664Z,1761518152.664 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:35:52.672Z,1761518152.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.069819 target range: 9.742155 and range: 4.70 m.
2025-10-26T22:35:52.900Z,1761518152.900 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:35:53.005Z,1761518153.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409720,-0.894674,-0.178011],[0.911157,0.391998,0.127010],[-0.043852,-0.214234,0.975797]]
2025-10-26T22:35:53.101Z,1761518153.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.400000 m,
      deltaT: 0.503491 s,
      deltaX: -0.300000 m,
      approachRate: -0.595839 m/s,
      rangeRepo size: 4

2025-10-26T22:35:53.112Z,1761518153.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.373999 m,
      bearing: 36.472703 deg,
      lat: 36.779430 deg,
      lon: -121.859434 deg,
      deltaT: 11.090829 s,
      deltaX: -5.368156 m,
      approachRate: -0.484018 m/s,
      posRepo size: 4

2025-10-26T22:35:53.113Z,1761518153.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.37 m. 9.74 m.
2025-10-26T22:35:53.115Z,1761518153.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 3.509418 m,
      bearing: 49.915657 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 61.296105 deg,
      new cmd heading: 60.875343 deg.

2025-10-26T22:35:53.116Z,1761518153.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.062475 target range: 9.742155 and range: 4.40 m.
2025-10-26T22:35:53.153Z,1761518153.153 [DAT](INFO): DAT read: Rx Time:22:35:51.9433 

2025-10-26T22:35:53.154Z,1761518153.154 [DAT](INFO): Rx dataTimestamp_ set to:1761518153.153252
2025-10-26T22:35:53.155Z,1761518153.155 [DAT](INFO): DAT read: Bearing 220.2, -38.8 (Local)

2025-10-26T22:35:53.155Z,1761518153.155 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.2, -38.8 (Local)

2025-10-26T22:35:53.157Z,1761518153.157 [DAT](INFO): DAT read: Range 11 to 50 :     4.2 m (trip time 2.8 ms) speed 0.4

2025-10-26T22:35:53.162Z,1761518153.162 [DAT](INFO): DAT read: 22:35:51.9433 LVL= 32752, 32753, 23762, 32755, AGC= 40, IDX= 507,-0.26, 2.691, 1.726,-2.095,-2.904, PHS=-0.586,-1.609, 0.765, RAW= 184.6,  13.8, CAL= 184.5,  17.7, ROT= 325.5, -17.7

2025-10-26T22:35:53.163Z,1761518153.163 [DAT](INFO): got valid direction response:
 22:35:51.9433 LVL= 32752, 32753, 23762, 32755, AGC= 40, IDX= 507,-0.26, 2.691, 1.726,-2.095,-2.904, PHS=-0.586,-1.609, 0.765, RAW= 184.6,  13.8, CAL= 184.5,  17.7, ROT= 325.5, -17.7

2025-10-26T22:35:53.163Z,1761518153.163 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:35:53.164Z,1761518153.164 [DAT](INFO): direction in FSK: [0.785113,-0.539594,0.304033]
2025-10-26T22:35:53.165Z,1761518153.165 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:53.173Z,1761518153.173 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:35:53.173Z,1761518153.173 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:35:53.394Z,1761518153.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415187,-0.892356,-0.176974],[0.908613,0.397091,0.129386],[-0.045184,-0.214520,0.975674]]
2025-10-26T22:35:53.404Z,1761518153.404 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:35:53.500Z,1761518153.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 0.504237 s,
      deltaX: -0.200000 m,
      approachRate: -0.396639 m/s,
      rangeRepo size: 4

2025-10-26T22:35:53.508Z,1761518153.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.175206 m,
      bearing: 35.542545 deg,
      lat: 36.779431 deg,
      lon: -121.859434 deg,
      deltaT: 11.595066 s,
      deltaX: -5.566949 m,
      approachRate: -0.480114 m/s,
      posRepo size: 4

2025-10-26T22:35:53.509Z,1761518153.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.18 m. 9.74 m.
2025-10-26T22:35:53.516Z,1761518153.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 3.287105 m,
      bearing: 49.599299 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.294568 deg/s,
      cmd heading: 60.875345 deg,
      new cmd heading: 60.527192 deg.

2025-10-26T22:35:53.517Z,1761518153.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.056399 target range: 9.742155 and range: 4.20 m.
2025-10-26T22:35:53.656Z,1761518153.656 [DAT](INFO): DAT read: user:626>

2025-10-26T22:35:53.657Z,1761518153.657 [DAT](INFO): DAT read: 50

2025-10-26T22:35:53.657Z,1761518153.657 [DAT](INFO): unknown deviceResponse_: 50

2025-10-26T22:35:53.657Z,1761518153.657 [DAT](INFO): DAT read: Ok

2025-10-26T22:35:53.658Z,1761518153.658 [DAT](INFO): unknown deviceResponse_: Ok

2025-10-26T22:35:53.658Z,1761518153.658 [DAT](INFO): DAT read: user:627>

2025-10-26T22:35:53.659Z,1761518153.659 [DAT](INFO): DAT read: Tx time:22:35:52.8878

2025-10-26T22:35:53.659Z,1761518153.659 [DAT](INFO): Ping request sent.
2025-10-26T22:35:53.659Z,1761518153.659 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:35:53.660Z,1761518153.660 [DAT](INFO): publishing transmit ping time
2025-10-26T22:35:53.660Z,1761518153.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-10-26T22:35:53.799Z,1761518153.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420432,-0.890067,-0.176116],[0.906140,0.401983,0.131607],[-0.046344,-0.214917,0.975532]]
2025-10-26T22:35:53.832Z,1761518153.832 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:35:53.834Z,1761518153.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-10-26T22:35:53.837Z,1761518153.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 3.076347 m,
      bearing: 49.279749 deg,
      approach rate: -0.621310 m/s,
      LOS rate: -1.006557 deg/s,
      cmd heading: 60.527190 deg,
      new cmd heading: 59.502979 deg.

2025-10-26T22:35:53.838Z,1761518153.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.038523 target range: 9.742155 and range: 4.20 m.
2025-10-26T22:35:53.909Z,1761518153.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249151
2025-10-26T22:35:54.160Z,1761518154.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500933
2025-10-26T22:35:54.202Z,1761518154.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424930,-0.888159,-0.174953],[0.904000,0.406298,0.133064],[-0.047099,-0.214700,0.975544]]
2025-10-26T22:35:54.221Z,1761518154.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-10-26T22:35:54.241Z,1761518154.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 2.852503 m,
      bearing: 48.911097 deg,
      approach rate: -0.578236 m/s,
      LOS rate: -1.027029 deg/s,
      cmd heading: 59.502976 deg,
      new cmd heading: 58.310413 deg.

2025-10-26T22:35:54.242Z,1761518154.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.017709 target range: 9.742155 and range: 4.20 m.
2025-10-26T22:35:54.412Z,1761518154.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752929
2025-10-26T22:35:54.613Z,1761518154.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429431,-0.886361,-0.173069],[0.901831,0.410723,0.134194],[-0.047861,-0.213706,0.975725]]
2025-10-26T22:35:54.650Z,1761518154.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-10-26T22:35:54.664Z,1761518154.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004908
2025-10-26T22:35:54.673Z,1761518154.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 2.605901 m,
      bearing: 48.359930 deg,
      approach rate: -0.575001 m/s,
      LOS rate: -1.406749 deg/s,
      cmd heading: 58.310411 deg,
      new cmd heading: 56.501062 deg.

2025-10-26T22:35:54.674Z,1761518154.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.986130 target range: 9.742155 and range: 4.20 m.
2025-10-26T22:35:54.917Z,1761518154.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257687
2025-10-26T22:35:55.014Z,1761518155.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433609,-0.884480,-0.172273],[0.899791,0.414689,0.135678],[-0.048565,-0.213841,0.975661]]
2025-10-26T22:35:55.050Z,1761518155.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-10-26T22:35:55.056Z,1761518155.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 2.385853 m,
      bearing: 47.796118 deg,
      approach rate: -0.550855 m/s,
      LOS rate: -1.541560 deg/s,
      cmd heading: 56.501063 deg,
      new cmd heading: 54.654296 deg.

2025-10-26T22:35:55.057Z,1761518155.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.953897 target range: 9.742155 and range: 4.20 m.
2025-10-26T22:35:55.168Z,1761518155.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508965
2025-10-26T22:35:55.212Z,1761518155.212 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-10-26T22:35:55.212Z,1761518155.212 [DockingStepper] No Fault, FailCount= 1
2025-10-26T22:35:55.416Z,1761518155.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437819,-0.882644,-0.171038],[0.897714,0.418761,0.136925],[-0.049232,-0.213491,0.975704]]
2025-10-26T22:35:55.421Z,1761518155.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761127
2025-10-26T22:35:55.455Z,1761518155.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-10-26T22:35:55.457Z,1761518155.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 2.139175 m,
      bearing: 47.074324 deg,
      approach rate: -0.609112 m/s,
      LOS rate: -1.987773 deg/s,
      cmd heading: 54.654296 deg,
      new cmd heading: 52.240706 deg.

2025-10-26T22:35:55.458Z,1761518155.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.911772 target range: 9.742155 and range: 4.20 m.
2025-10-26T22:35:55.501Z,1761518155.501 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-10-26T22:35:55.620Z,1761518155.620 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-10-26T22:35:55.672Z,1761518155.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012859
2025-10-26T22:35:55.818Z,1761518155.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442050,-0.880907,-0.169101],[0.895609,0.422998,0.137682],[-0.049755,-0.212310,0.975935]]
2025-10-26T22:35:55.842Z,1761518155.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:35:55.844Z,1761518155.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m.
2025-10-26T22:35:55.847Z,1761518155.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.742155 m,
      nav range: 1.911057 m,
      bearing: 46.273001 deg,
      approach rate: -0.585522 m/s,
      LOS rate: -2.302239 deg/s,
      cmd heading: 52.240705 deg,
      new cmd heading: 49.551845 deg.

2025-10-26T22:35:55.848Z,1761518155.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.864843 target range: 9.742155 and range: 4.20 m.
2025-10-26T22:35:55.924Z,1761518155.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265095
2025-10-26T22:35:56.177Z,1761518156.177 [DAT](INFO): DAT read: Rx Time:22:35:55.0203 

2025-10-26T22:35:56.177Z,1761518156.177 [DAT](INFO): Rx dataTimestamp_ set to:1761518156.177205
2025-10-26T22:35:56.179Z,1761518156.179 [DAT](INFO): DAT read: Bearing 239.3, -50.4 (Local)

2025-10-26T22:35:56.179Z,1761518156.179 [DAT](INFO): Local bearing/azimuth received:
 Bearing 239.3, -50.4 (Local)

2025-10-26T22:35:56.185Z,1761518156.185 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.4

2025-10-26T22:35:56.190Z,1761518156.190 [DAT](INFO): DAT read: 22:35:55.0203 LVL= 31488, 30273, 15394, 32755, AGC= 40, IDX= 494, 0.48, 2.619, 2.343,-1.918,-2.462, PHS=-1.099,-1.433, 0.500, RAW= 200.7,  21.9, CAL= 199.0,  31.3, ROT= 311.0, -31.3

2025-10-26T22:35:56.191Z,1761518156.191 [DAT](INFO): got valid direction response:
 22:35:55.0203 LVL= 31488, 30273, 15394, 32755, AGC= 40, IDX= 494, 0.48, 2.619, 2.343,-1.918,-2.462, PHS=-1.099,-1.433, 0.500, RAW= 200.7,  21.9, CAL= 199.0,  31.3, ROT= 311.0, -31.3

2025-10-26T22:35:56.191Z,1761518156.191 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:35:56.198Z,1761518156.198 [DAT](INFO): direction in FSK: [0.560575,-0.644868,0.519519]
2025-10-26T22:35:56.199Z,1761518156.199 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:56.222Z,1761518156.222 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.563037
2025-10-26T22:35:56.294Z,1761518156.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 3.023953 s,
      deltaX: -1.800000 m,
      approachRate: -0.595247 m/s,
      rangeRepo size: 4

2025-10-26T22:35:56.305Z,1761518156.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.385806 m,
      bearing: 22.449628 deg,
      lat: 36.779431 deg,
      lon: -121.859434 deg,
      deltaT: 14.619019 s,
      deltaX: -7.356349 m,
      approachRate: -0.503204 m/s,
      posRepo size: 4

2025-10-26T22:35:56.305Z,1761518156.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.40 m.
2025-10-26T22:35:56.305Z,1761518156.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-10-26T22:35:56.429Z,1761518156.429 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.769587
2025-10-26T22:35:56.656Z,1761518156.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454082,-0.874242,-0.171784],[0.889500,0.433799,0.143558],[-0.050984,-0.217989,0.974619]]
2025-10-26T22:35:56.681Z,1761518156.681 [DAT](INFO): DAT read: Rx Time:22:35:55.5201 

2025-10-26T22:35:56.681Z,1761518156.681 [DAT](INFO): Rx dataTimestamp_ set to:1761518156.681170
2025-10-26T22:35:56.683Z,1761518156.683 [DAT](INFO): DAT read: Bearing 231.3, -53.8 (Local)

2025-10-26T22:35:56.683Z,1761518156.683 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.3, -53.8 (Local)

2025-10-26T22:35:56.685Z,1761518156.685 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.3

2025-10-26T22:35:56.690Z,1761518156.690 [DAT](INFO): DAT read: 22:35:55.5201 LVL= 32752, 25713, 17986, 32755, AGC= 37, IDX= 508, 0.06, 1.297, 1.005,-2.986, 2.566, PHS=-1.166,-1.516, 0.688, RAW= 201.5,  19.0, CAL= 200.9,  26.2, ROT= 309.1, -26.2

2025-10-26T22:35:56.691Z,1761518156.691 [DAT](INFO): got valid direction response:
 22:35:55.5201 LVL= 32752, 25713, 17986, 32755, AGC= 37, IDX= 508, 0.06, 1.297, 1.005,-2.986, 2.566, PHS=-1.166,-1.516, 0.688, RAW= 201.5,  19.0, CAL= 200.9,  26.2, ROT= 309.1, -26.2

2025-10-26T22:35:56.691Z,1761518156.691 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T22:35:56.692Z,1761518156.692 [DAT](INFO): direction in FSK: [0.565879,-0.696314,0.441506]
2025-10-26T22:35:56.693Z,1761518156.693 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:56.713Z,1761518156.713 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.053257
2025-10-26T22:35:56.768Z,1761518156.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.503965 s,
      deltaX: -0.300000 m,
      approachRate: -0.595280 m/s,
      rangeRepo size: 4

2025-10-26T22:35:56.770Z,1761518156.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087580 m,
      bearing: 18.525300 deg,
      lat: 36.779431 deg,
      lon: -121.859434 deg,
      deltaT: 0.503965 s,
      deltaX: -0.298226 m,
      approachRate: -0.591759 m/s,
      posRepo size: 4

2025-10-26T22:35:56.933Z,1761518156.933 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.273272
2025-10-26T22:35:57.030Z,1761518157.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461287,-0.869861,-0.174803],[0.885764,0.440084,0.147477],[-0.051356,-0.222863,0.973496]]
2025-10-26T22:35:57.184Z,1761518157.184 [DAT](INFO): DAT read: Rx Time:22:35:56.0201 

2025-10-26T22:35:57.185Z,1761518157.185 [DAT](INFO): Rx dataTimestamp_ set to:1761518157.184640
2025-10-26T22:35:57.186Z,1761518157.186 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.3

2025-10-26T22:35:57.187Z,1761518157.187 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-10-26T22:35:57.188Z,1761518157.188 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.528297
2025-10-26T22:35:57.434Z,1761518157.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470268,-0.864025,-0.179748],[0.881023,0.447757,0.152681],[-0.051437,-0.230163,0.971792]]
2025-10-26T22:35:57.436Z,1761518157.436 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.777039
2025-10-26T22:35:57.517Z,1761518157.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.503470 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:35:57.689Z,1761518157.689 [DAT](INFO): DAT read: Rx Time:22:35:56.5199 

2025-10-26T22:35:57.689Z,1761518157.689 [DAT](INFO): Rx dataTimestamp_ set to:1761518157.688828
2025-10-26T22:35:57.690Z,1761518157.690 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.1

2025-10-26T22:35:57.691Z,1761518157.691 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-10-26T22:35:57.692Z,1761518157.692 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.033086
2025-10-26T22:35:57.838Z,1761518157.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482351,-0.856291,-0.184673],[0.874461,0.458290,0.159023],[-0.051536,-0.238194,0.969849]]
2025-10-26T22:35:57.862Z,1761518157.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:35:57.881Z,1761518157.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.504188 s,
      deltaX: -0.300000 m,
      approachRate: -0.595016 m/s,
      rangeRepo size: 4

2025-10-26T22:35:57.941Z,1761518157.941 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.281416
2025-10-26T22:35:58.198Z,1761518158.198 [DAT](INFO): DAT read: Rx Time:22:35:57.0199 

2025-10-26T22:35:58.198Z,1761518158.198 [DAT](INFO): Rx dataTimestamp_ set to:1761518158.197796
2025-10-26T22:35:58.199Z,1761518158.199 [DAT](INFO): DAT read: Bearing 266.2, -56.2 (Local)

2025-10-26T22:35:58.200Z,1761518158.200 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.2, -56.2 (Local)

2025-10-26T22:35:58.202Z,1761518158.202 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-10-26T22:35:58.206Z,1761518158.206 [DAT](INFO): DAT read: 22:35:57.0199 LVL= 26208, 11841, 18930, 22419, AGC= 33, IDX= 506, 0.01, 0.967, 1.313, 2.985, 2.822, PHS=-1.754,-1.464, 0.119, RAW= 218.3,  32.1, CAL= 217.2,  43.7, ROT= 292.8, -43.7

2025-10-26T22:35:58.208Z,1761518158.208 [DAT](INFO): got valid direction response:
 22:35:57.0199 LVL= 26208, 11841, 18930, 22419, AGC= 33, IDX= 506, 0.01, 0.967, 1.313, 2.985, 2.822, PHS=-1.754,-1.464, 0.119, RAW= 218.3,  32.1, CAL= 217.2,  43.7, ROT= 292.8, -43.7

2025-10-26T22:35:58.208Z,1761518158.208 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-10-26T22:35:58.209Z,1761518158.209 [DAT](INFO): direction in FSK: [0.280161,-0.666477,0.690882]
2025-10-26T22:35:58.209Z,1761518158.209 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:58.213Z,1761518158.213 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.553412
2025-10-26T22:35:58.266Z,1761518158.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495517,-0.848216,-0.187062],[0.867073,0.470282,0.164378],[-0.051457,-0.243649,0.968498]]
2025-10-26T22:35:58.325Z,1761518158.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.508968 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:35:58.331Z,1761518158.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.789349 m,
      bearing: 4.282865 deg,
      lat: 36.779427 deg,
      lon: -121.859434 deg,
      deltaT: 1.516626 s,
      deltaX: -0.298232 m,
      approachRate: -0.196642 m/s,
      posRepo size: 4

2025-10-26T22:35:58.449Z,1761518158.449 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.789147
2025-10-26T22:35:58.705Z,1761518158.705 [DAT](INFO): DAT read: Rx Time:22:35:57.5198 

2025-10-26T22:35:58.705Z,1761518158.705 [DAT](INFO): Rx dataTimestamp_ set to:1761518158.704968
2025-10-26T22:35:58.707Z,1761518158.707 [DAT](INFO): DAT read: Bearing 300.3, -61.6 (Local)

2025-10-26T22:35:58.708Z,1761518158.708 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.3, -61.6 (Local)

2025-10-26T22:35:58.711Z,1761518158.711 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-10-26T22:35:58.718Z,1761518158.718 [DAT](INFO): DAT read: 22:35:57.5198 LVL= 27792, 22977, 23218, 32755, AGC= 37, IDX= 505,-0.38, 0.767, 1.772, 2.859, 2.875, PHS=-2.005,-1.058,-0.060, RAW= 239.2,  33.2, CAL= 242.9,  42.7, ROT= 267.1, -42.7

2025-10-26T22:35:58.720Z,1761518158.720 [DAT](INFO): got valid direction response:
 22:35:57.5198 LVL= 27792, 22977, 23218, 32755, AGC= 37, IDX= 505,-0.38, 0.767, 1.772, 2.859, 2.875, PHS=-2.005,-1.058,-0.060, RAW= 239.2,  33.2, CAL= 242.9,  42.7, ROT= 267.1, -42.7

2025-10-26T22:35:58.721Z,1761518158.721 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-26T22:35:58.722Z,1761518158.722 [DAT](INFO): direction in FSK: [-0.037181,-0.733973,0.678160]
2025-10-26T22:35:58.722Z,1761518158.722 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:58.736Z,1761518158.736 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.076652
2025-10-26T22:35:58.890Z,1761518158.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.507172 s,
      deltaX: -0.100000 m,
      approachRate: -0.197172 m/s,
      rangeRepo size: 4

2025-10-26T22:35:58.893Z,1761518158.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689940 m,
      bearing: 330.873957 deg,
      lat: 36.779427 deg,
      lon: -121.859436 deg,
      deltaT: 0.507172 s,
      deltaX: -0.099408 m,
      approachRate: -0.196005 m/s,
      posRepo size: 4

2025-10-26T22:35:58.956Z,1761518158.957 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.297098
2025-10-26T22:35:59.209Z,1761518159.209 [DAT](INFO): DAT read: Rx Time:22:35:58.0199 

2025-10-26T22:35:59.210Z,1761518159.210 [DAT](INFO): Rx dataTimestamp_ set to:1761518159.209288
2025-10-26T22:35:59.211Z,1761518159.211 [DAT](INFO): DAT read: Bearing 296.1, -57.8 (Local)

2025-10-26T22:35:59.211Z,1761518159.211 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.1, -57.8 (Local)

2025-10-26T22:35:59.213Z,1761518159.213 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-10-26T22:35:59.218Z,1761518159.218 [DAT](INFO): DAT read: 22:35:58.0199 LVL= 32752, 32753, 32754, 32755, AGC= 42, IDX= 506,-0.20, 0.611, 1.542, 2.599, 2.803, PHS=-2.090,-1.215,-0.248, RAW= 238.3,  38.2, CAL= 241.8,  46.9, ROT= 268.2, -46.9

2025-10-26T22:35:59.219Z,1761518159.219 [DAT](INFO): got valid direction response:
 22:35:58.0199 LVL= 32752, 32753, 32754, 32755, AGC= 42, IDX= 506,-0.20, 0.611, 1.542, 2.599, 2.803, PHS=-2.090,-1.215,-0.248, RAW= 238.3,  38.2, CAL= 241.8,  46.9, ROT= 268.2, -46.9

2025-10-26T22:35:59.232Z,1761518159.232 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-26T22:35:59.233Z,1761518159.233 [DAT](INFO): direction in FSK: [-0.021462,-0.682937,0.730162]
2025-10-26T22:35:59.233Z,1761518159.233 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:59.241Z,1761518159.241 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.581294
2025-10-26T22:35:59.241Z,1761518159.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.70 m.
2025-10-26T22:35:59.270Z,1761518159.270 [DockingStepper](INFO): Changing to mode: 2
2025-10-26T22:35:59.460Z,1761518159.460 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.801026
2025-10-26T22:35:59.554Z,1761518159.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536035,-0.822773,-0.188974],[0.842687,0.508121,0.178021],[-0.050450,-0.254671,0.965711]]
2025-10-26T22:35:59.681Z,1761518159.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.504320 s,
      deltaX: 0.100000 m,
      approachRate: 0.198287 m/s,
      rangeRepo size: 4

2025-10-26T22:35:59.683Z,1761518159.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.789354 m,
      bearing: 330.312802 deg,
      lat: 36.779427 deg,
      lon: -121.859436 deg,
      deltaT: 0.504320 s,
      deltaX: 0.099414 m,
      approachRate: 0.197124 m/s,
      posRepo size: 4

2025-10-26T22:35:59.684Z,1761518159.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 1.80 m.
2025-10-26T22:35:59.714Z,1761518159.714 [DAT](INFO): DAT read: Rx Time:22:35:58.5199 

2025-10-26T22:35:59.714Z,1761518159.714 [DAT](INFO): Rx dataTimestamp_ set to:1761518159.714026
2025-10-26T22:35:59.720Z,1761518159.720 [DAT](INFO): DAT read: Bearing 320.7, -63.2 (Local)

2025-10-26T22:35:59.721Z,1761518159.721 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.7, -63.2 (Local)

2025-10-26T22:35:59.724Z,1761518159.724 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed -0.1

2025-10-26T22:35:59.730Z,1761518159.730 [DAT](INFO): DAT read: 22:35:58.5199 LVL= 32752, 32753, 22962, 32755, AGC= 38, IDX= 506,-0.23,-1.916,-0.481, 0.278, 0.253, PHS=-2.067,-0.689,-0.019, RAW= 251.3,  28.5, CAL= 254.4,  37.0, ROT= 255.6, -37.0

2025-10-26T22:35:59.736Z,1761518159.736 [DAT](INFO): got valid direction response:
 22:35:58.5199 LVL= 32752, 32753, 22962, 32755, AGC= 38, IDX= 506,-0.23,-1.916,-0.481, 0.278, 0.253, PHS=-2.067,-0.689,-0.019, RAW= 251.3,  28.5, CAL= 254.4,  37.0, ROT= 255.6, -37.0

2025-10-26T22:35:59.736Z,1761518159.736 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-10-26T22:35:59.738Z,1761518159.738 [DAT](INFO): direction in FSK: [-0.198613,-0.773545,0.601815]
2025-10-26T22:35:59.738Z,1761518159.738 [DAT](INFO): publishing direction and range info
2025-10-26T22:35:59.750Z,1761518159.750 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.090934
2025-10-26T22:35:59.965Z,1761518159.965 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.305834
2025-10-26T22:35:59.984Z,1761518159.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549843,-0.814133,-0.186706],[0.833748,0.521479,0.181448],[-0.050359,-0.255434,0.965514]]
2025-10-26T22:36:00.044Z,1761518160.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.504738 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:00.046Z,1761518160.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.789354 m,
      bearing: 311.599064 deg,
      lat: 36.779427 deg,
      lon: -121.859436 deg,
      deltaT: 0.504738 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:00.047Z,1761518160.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.80 m.
2025-10-26T22:36:00.217Z,1761518160.217 [DAT](INFO): DAT read: Rx Time:22:35:59.0200 

2025-10-26T22:36:00.217Z,1761518160.217 [DAT](INFO): Rx dataTimestamp_ set to:1761518160.217054
2025-10-26T22:36:00.219Z,1761518160.219 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed -0.2

2025-10-26T22:36:00.219Z,1761518160.219 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-10-26T22:36:00.220Z,1761518160.220 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.560691
2025-10-26T22:36:00.374Z,1761518160.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563046,-0.805635,-0.184207],[0.824895,0.534301,0.184584],[-0.050285,-0.255881,0.965400]]
2025-10-26T22:36:00.453Z,1761518160.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:36:00.470Z,1761518160.470 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.810798
2025-10-26T22:36:00.476Z,1761518160.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503028 s,
      deltaX: 0.200000 m,
      approachRate: 0.397592 m/s,
      rangeRepo size: 4

2025-10-26T22:36:00.722Z,1761518160.722 [DAT](INFO): DAT read: Rx Time:22:35:59.5200 

2025-10-26T22:36:00.722Z,1761518160.722 [DAT](INFO): Rx dataTimestamp_ set to:1761518160.722175
2025-10-26T22:36:00.724Z,1761518160.724 [DAT](INFO): DAT read: Bearing   3.8, -45.0 (Local)

2025-10-26T22:36:00.725Z,1761518160.725 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.8, -45.0 (Local)

2025-10-26T22:36:00.728Z,1761518160.728 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed -0.3

2025-10-26T22:36:00.734Z,1761518160.734 [DAT](INFO): DAT read: 22:35:59.5200 LVL= 32576, 22065,  9794, 26803, AGC= 36, IDX= 507, 0.24,-1.812, 0.645, 0.034, 0.110, PHS=-1.821, 0.580,-0.121, RAW= 286.5,  12.7, CAL= 284.2,  19.6, ROT= 225.8, -19.6

2025-10-26T22:36:00.736Z,1761518160.736 [DAT](INFO): got valid direction response:
 22:35:59.5200 LVL= 32576, 22065,  9794, 26803, AGC= 36, IDX= 507, 0.24,-1.812, 0.645, 0.034, 0.110, PHS=-1.821, 0.580,-0.121, RAW= 286.5,  12.7, CAL= 284.2,  19.6, ROT= 225.8, -19.6

2025-10-26T22:36:00.736Z,1761518160.736 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-26T22:36:00.737Z,1761518160.737 [DAT](INFO): direction in FSK: [-0.656770,-0.675371,0.335452]
2025-10-26T22:36:00.737Z,1761518160.737 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:00.741Z,1761518160.741 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.081652
2025-10-26T22:36:00.779Z,1761518160.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576129,-0.797161,-0.180583],[0.815798,0.547173,0.187282],[-0.050484,-0.255218,0.965565]]
2025-10-26T22:36:00.894Z,1761518160.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.505121 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:00.900Z,1761518160.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.988167 m,
      bearing: 276.729932 deg,
      lat: 36.779429 deg,
      lon: -121.859437 deg,
      deltaT: 1.008149 s,
      deltaX: 0.198813 m,
      approachRate: 0.197206 m/s,
      posRepo size: 4

2025-10-26T22:36:00.901Z,1761518160.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.00 m.
2025-10-26T22:36:00.973Z,1761518160.973 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.313520
2025-10-26T22:36:01.201Z,1761518161.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588548,-0.789093,-0.175908],[0.806869,0.559664,0.189047],[-0.050727,-0.253198,0.966084]]
2025-10-26T22:36:01.225Z,1761518161.225 [DAT](INFO): DAT read: Rx Time:22:36:00.0202 

2025-10-26T22:36:01.226Z,1761518161.226 [DAT](INFO): Rx dataTimestamp_ set to:1761518161.225243
2025-10-26T22:36:01.230Z,1761518161.230 [DAT](INFO): DAT read: Bearing 355.7, -41.3 (Local)

2025-10-26T22:36:01.232Z,1761518161.232 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.7, -41.3 (Local)

2025-10-26T22:36:01.235Z,1761518161.235 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed -0.3

2025-10-26T22:36:01.240Z,1761518161.240 [DAT](INFO): DAT read: 22:36:00.0202 LVL= 31568, 19009, 16322, 31027, AGC= 35, IDX= 509, 0.29,-1.835, 0.442,-0.218, 0.086, PHS=-1.818, 0.402,-0.348, RAW= 289.4,  17.7, CAL= 288.2,  24.7, ROT= 221.8, -24.7

2025-10-26T22:36:01.241Z,1761518161.241 [DAT](INFO): got valid direction response:
 22:36:00.0202 LVL= 31568, 19009, 16322, 31027, AGC= 35, IDX= 509, 0.29,-1.835, 0.442,-0.218, 0.086, PHS=-1.818, 0.402,-0.348, RAW= 289.4,  17.7, CAL= 288.2,  24.7, ROT= 221.8, -24.7

2025-10-26T22:36:01.241Z,1761518161.241 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-10-26T22:36:01.242Z,1761518161.242 [DAT](INFO): direction in FSK: [-0.677271,-0.605550,0.417867]
2025-10-26T22:36:01.242Z,1761518161.242 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:01.260Z,1761518161.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.00 m.
2025-10-26T22:36:01.267Z,1761518161.267 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.607128
2025-10-26T22:36:01.478Z,1761518161.478 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.818433
2025-10-26T22:36:01.658Z,1761518161.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610926,-0.774009,-0.166370],[0.790032,0.582451,0.191314],[-0.051176,-0.248316,0.967326]]
2025-10-26T22:36:01.712Z,1761518161.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.503068 s,
      deltaX: 0.300000 m,
      approachRate: 0.596341 m/s,
      rangeRepo size: 4

2025-10-26T22:36:01.715Z,1761518161.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286386 m,
      bearing: 268.965866 deg,
      lat: 36.779429 deg,
      lon: -121.859437 deg,
      deltaT: 0.503068 s,
      deltaX: 0.298219 m,
      approachRate: 0.592800 m/s,
      posRepo size: 4

2025-10-26T22:36:01.716Z,1761518161.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.30 m.
2025-10-26T22:36:01.730Z,1761518161.730 [DAT](INFO): DAT read: Rx Time:22:36:00.5202 

2025-10-26T22:36:01.731Z,1761518161.731 [DAT](INFO): Rx dataTimestamp_ set to:1761518161.730074
2025-10-26T22:36:01.740Z,1761518161.740 [DAT](INFO): DAT read: Bearing 348.6, -46.8 (Local)

2025-10-26T22:36:01.741Z,1761518161.741 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.6, -46.8 (Local)

2025-10-26T22:36:01.743Z,1761518161.743 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed -0.4

2025-10-26T22:36:01.755Z,1761518161.755 [DAT](INFO): DAT read: 22:36:00.5202 LVL= 29600, 15137, 13858, 25379, AGC= 36, IDX= 510,-0.41, 0.019, 2.060, 1.743, 1.966, PHS=-1.845, 0.139,-0.267, RAW= 281.2,  21.0, CAL= 281.5,  28.4, ROT= 228.5, -28.4

2025-10-26T22:36:01.756Z,1761518161.756 [DAT](INFO): got valid direction response:
 22:36:00.5202 LVL= 29600, 15137, 13858, 25379, AGC= 36, IDX= 510,-0.41, 0.019, 2.060, 1.743, 1.966, PHS=-1.845, 0.139,-0.267, RAW= 281.2,  21.0, CAL= 281.5,  28.4, ROT= 228.5, -28.4

2025-10-26T22:36:01.757Z,1761518161.757 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-26T22:36:01.758Z,1761518161.758 [DAT](INFO): direction in FSK: [-0.582873,-0.658818,0.475624]
2025-10-26T22:36:01.758Z,1761518161.758 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:01.770Z,1761518161.770 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.110280
2025-10-26T22:36:01.982Z,1761518161.982 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.321902
2025-10-26T22:36:02.063Z,1761518162.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.504831 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:02.065Z,1761518162.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286386 m,
      bearing: 275.664393 deg,
      lat: 36.779430 deg,
      lon: -121.859441 deg,
      deltaT: 0.504831 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:02.233Z,1761518162.233 [DAT](INFO): DAT read: Rx Time:22:36:01.0203 

2025-10-26T22:36:02.233Z,1761518162.233 [DAT](INFO): Rx dataTimestamp_ set to:1761518162.233120
2025-10-26T22:36:02.235Z,1761518162.235 [DAT](INFO): DAT read: Bearing 342.8, -23.4 (Local)

2025-10-26T22:36:02.235Z,1761518162.235 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.8, -23.4 (Local)

2025-10-26T22:36:02.237Z,1761518162.237 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed -0.4

2025-10-26T22:36:02.242Z,1761518162.242 [DAT](INFO): DAT read: 22:36:01.0203 LVL= 25904, 16561, 10994, 22451, AGC= 39, IDX= 511,-0.07,-0.793, 1.017, 0.014, 0.899, PHS=-1.589, 0.163,-0.928, RAW= 308.1,  28.5, CAL= 308.6,  33.8, ROT= 201.4, -33.8

2025-10-26T22:36:02.243Z,1761518162.243 [DAT](INFO): got valid direction response:
 22:36:01.0203 LVL= 25904, 16561, 10994, 22451, AGC= 39, IDX= 511,-0.07,-0.793, 1.017, 0.014, 0.899, PHS=-1.589, 0.163,-0.928, RAW= 308.1,  28.5, CAL= 308.6,  33.8, ROT= 201.4, -33.8

2025-10-26T22:36:02.243Z,1761518162.243 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-26T22:36:02.244Z,1761518162.244 [DAT](INFO): direction in FSK: [-0.773693,-0.303207,0.556296]
2025-10-26T22:36:02.244Z,1761518162.244 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:02.248Z,1761518162.248 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.588678
2025-10-26T22:36:02.414Z,1761518162.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620917,-0.766996,-0.161798],[0.782195,0.592735,0.191926],[-0.051303,-0.245728,0.967980]]
2025-10-26T22:36:02.488Z,1761518162.488 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.828282
2025-10-26T22:36:02.520Z,1761518162.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.503046 s,
      deltaX: 0.100000 m,
      approachRate: 0.198789 m/s,
      rangeRepo size: 4

2025-10-26T22:36:02.522Z,1761518162.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.385798 m,
      bearing: 243.517347 deg,
      lat: 36.779430 deg,
      lon: -121.859441 deg,
      deltaT: 0.503046 s,
      deltaX: 0.099412 m,
      approachRate: 0.197620 m/s,
      posRepo size: 4

2025-10-26T22:36:02.523Z,1761518162.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.40 m.
2025-10-26T22:36:02.737Z,1761518162.737 [DAT](INFO): DAT read: Rx Time:22:36:01.5204 

2025-10-26T22:36:02.737Z,1761518162.737 [DAT](INFO): Rx dataTimestamp_ set to:1761518162.737194
2025-10-26T22:36:02.739Z,1761518162.739 [DAT](INFO): DAT read: Bearing 346.4, -17.6 (Local)

2025-10-26T22:36:02.739Z,1761518162.739 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.4, -17.6 (Local)

2025-10-26T22:36:02.741Z,1761518162.741 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed -0.4

2025-10-26T22:36:02.746Z,1761518162.746 [DAT](INFO): DAT read: 22:36:01.5204 LVL= 28816, 14385, 14578, 24867, AGC= 41, IDX= 511, 0.36,-2.286,-0.355,-1.640,-0.682, PHS=-1.502, 0.373,-1.002, RAW= 315.1,  24.1, CAL= 314.9,  29.3, ROT= 195.1, -29.3

2025-10-26T22:36:02.747Z,1761518162.747 [DAT](INFO): got valid direction response:
 22:36:01.5204 LVL= 28816, 14385, 14578, 24867, AGC= 41, IDX= 511, 0.36,-2.286,-0.355,-1.640,-0.682, PHS=-1.502, 0.373,-1.002, RAW= 315.1,  24.1, CAL= 314.9,  29.3, ROT= 195.1, -29.3

2025-10-26T22:36:02.747Z,1761518162.747 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-10-26T22:36:02.748Z,1761518162.748 [DAT](INFO): direction in FSK: [-0.841959,-0.227178,0.489382]
2025-10-26T22:36:02.749Z,1761518162.749 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:02.752Z,1761518162.752 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.092957
2025-10-26T22:36:02.908Z,1761518162.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504074 s,
      deltaX: 0.200000 m,
      approachRate: 0.396767 m/s,
      rangeRepo size: 4

2025-10-26T22:36:02.910Z,1761518162.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.584614 m,
      bearing: 238.548456 deg,
      lat: 36.779429 deg,
      lon: -121.859441 deg,
      deltaT: 0.504074 s,
      deltaX: 0.198816 m,
      approachRate: 0.394419 m/s,
      posRepo size: 4

2025-10-26T22:36:02.911Z,1761518162.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.60 m.
2025-10-26T22:36:02.989Z,1761518162.989 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.330005
2025-10-26T22:36:03.225Z,1761518163.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638702,-0.754378,-0.151573],[0.767708,0.611499,0.191557],[-0.051820,-0.238712,0.969707]]
2025-10-26T22:36:03.241Z,1761518163.241 [DAT](INFO): DAT read: Rx Time:22:36:02.0207 

2025-10-26T22:36:03.241Z,1761518163.241 [DAT](INFO): Rx dataTimestamp_ set to:1761518163.241220
2025-10-26T22:36:03.243Z,1761518163.243 [DAT](INFO): DAT read: Bearing 351.1,  -5.0 (Local)

2025-10-26T22:36:03.243Z,1761518163.243 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.1,  -5.0 (Local)

2025-10-26T22:36:03.245Z,1761518163.245 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed -0.4

2025-10-26T22:36:03.250Z,1761518163.250 [DAT](INFO): DAT read: 22:36:02.0207 LVL= 11984, 10513,  9522, 12595, AGC= 47, IDX=   2,-0.32,-0.012, 2.014, 0.226, 1.337, PHS=-1.247, 0.722,-1.155, RAW= 327.6,  17.1, CAL= 327.3,  21.7, ROT= 182.7, -21.7

2025-10-26T22:36:03.251Z,1761518163.251 [DAT](INFO): got valid direction response:
 22:36:02.0207 LVL= 11984, 10513,  9522, 12595, AGC= 47, IDX=   2,-0.32,-0.012, 2.014, 0.226, 1.337, PHS=-1.247, 0.722,-1.155, RAW= 327.6,  17.1, CAL= 327.3,  21.7, ROT= 182.7, -21.7

2025-10-26T22:36:03.251Z,1761518163.251 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-26T22:36:03.252Z,1761518163.252 [DAT](INFO): direction in FSK: [-0.928101,-0.043768,0.369747]
2025-10-26T22:36:03.253Z,1761518163.253 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:03.276Z,1761518163.276 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.617014
2025-10-26T22:36:03.291Z,1761518163.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.504026 s,
      deltaX: 0.400000 m,
      approachRate: 0.793610 m/s,
      rangeRepo size: 4

2025-10-26T22:36:03.317Z,1761518163.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.982252 m,
      bearing: 227.347211 deg,
      lat: 36.779426 deg,
      lon: -121.859440 deg,
      deltaT: 0.504026 s,
      deltaX: 0.397638 m,
      approachRate: 0.788924 m/s,
      posRepo size: 4

2025-10-26T22:36:03.493Z,1761518163.493 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.833665
2025-10-26T22:36:03.678Z,1761518163.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651430,-0.745470,-0.141115],[0.756924,0.625807,0.188231],[-0.052010,-0.229433,0.971934]]
2025-10-26T22:36:03.743Z,1761518163.743 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:36:03.745Z,1761518163.745 [DAT](INFO): DAT read: Rx Time:22:36:02.5207 

2025-10-26T22:36:03.746Z,1761518163.746 [DAT](INFO): Rx dataTimestamp_ set to:1761518163.745438
2025-10-26T22:36:03.747Z,1761518163.747 [DAT](INFO): DAT read: Bearing 352.5,  12.0 (Local)

2025-10-26T22:36:03.747Z,1761518163.747 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.5,  12.0 (Local)

2025-10-26T22:36:03.749Z,1761518163.749 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed -0.5

2025-10-26T22:36:03.754Z,1761518163.754 [DAT](INFO): DAT read: 22:36:02.5207 LVL= 29760, 14225, 17234, 27123, AGC= 46, IDX= 498,-0.23,-3.032,-1.200, 2.815,-2.084, PHS=-0.846, 0.929,-1.428, RAW= 343.7,  12.6, CAL= 344.0,  15.3, ROT= 166.0, -15.3

2025-10-26T22:36:03.755Z,1761518163.755 [DAT](INFO): got valid direction response:
 22:36:02.5207 LVL= 29760, 14225, 17234, 27123, AGC= 46, IDX= 498,-0.23,-3.032,-1.200, 2.815,-2.084, PHS=-0.846, 0.929,-1.428, RAW= 343.7,  12.6, CAL= 344.0,  15.3, ROT= 166.0, -15.3

2025-10-26T22:36:03.756Z,1761518163.756 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-10-26T22:36:03.757Z,1761518163.757 [DAT](INFO): direction in FSK: [-0.935906,0.233348,0.263873]
2025-10-26T22:36:03.757Z,1761518163.757 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:03.761Z,1761518163.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.504218 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:03.777Z,1761518163.777 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.117192
2025-10-26T22:36:03.996Z,1761518163.996 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.337045
2025-10-26T22:36:04.063Z,1761518164.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656328,-0.742279,-0.135112],[0.752652,0.631711,0.185623],[-0.052432,-0.223522,0.973288]]
2025-10-26T22:36:04.250Z,1761518164.250 [DAT](INFO): DAT read: Rx Time:22:36:03.0208 

2025-10-26T22:36:04.251Z,1761518164.251 [DAT](INFO): Rx dataTimestamp_ set to:1761518164.250224
2025-10-26T22:36:04.252Z,1761518164.252 [DAT](INFO): DAT read: Bearing 346.4,  10.9 (Local)

2025-10-26T22:36:04.253Z,1761518164.253 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.4,  10.9 (Local)

2025-10-26T22:36:04.260Z,1761518164.260 [DAT](INFO): DAT read: Range 11 to 50 :     3.3 m (trip time 2.2 ms) speed -0.4

2025-10-26T22:36:04.265Z,1761518164.265 [DAT](INFO): DAT read: 22:36:03.0208 LVL= 16800, 10337, 16754, 18083, AGC= 44, IDX= 499, 0.23,-2.550,-1.046,-2.893,-1.640, PHS=-0.807, 0.640,-1.297, RAW= 344.1,  16.5, CAL= 344.5,  21.0, ROT= 165.5, -21.0

2025-10-26T22:36:04.266Z,1761518164.266 [DAT](INFO): got valid direction response:
 22:36:03.0208 LVL= 16800, 10337, 16754, 18083, AGC= 44, IDX= 499, 0.23,-2.550,-1.046,-2.893,-1.640, PHS=-0.807, 0.640,-1.297, RAW= 344.1,  16.5, CAL= 344.5,  21.0, ROT= 165.5, -21.0

2025-10-26T22:36:04.266Z,1761518164.266 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-26T22:36:04.273Z,1761518164.273 [DAT](INFO): direction in FSK: [-0.903844,0.233750,0.358368]
2025-10-26T22:36:04.273Z,1761518164.273 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:04.295Z,1761518164.295 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.623729
2025-10-26T22:36:04.504Z,1761518164.504 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.844113
2025-10-26T22:36:04.518Z,1761518164.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660212,-0.739856,-0.129357],[0.749210,0.636586,0.182874],[-0.052954,-0.217651,0.974589]]
2025-10-26T22:36:04.572Z,1761518164.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 0.504786 s,
      deltaX: 0.300000 m,
      approachRate: 0.594311 m/s,
      rangeRepo size: 4

2025-10-26T22:36:04.574Z,1761518164.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.280497 m,
      bearing: 209.560856 deg,
      lat: 36.779420 deg,
      lon: -121.859439 deg,
      deltaT: 1.009004 s,
      deltaX: 0.298244 m,
      approachRate: 0.295583 m/s,
      posRepo size: 4

2025-10-26T22:36:04.753Z,1761518164.753 [DAT](INFO): DAT read: Rx Time:22:36:03.5210 

2025-10-26T22:36:04.754Z,1761518164.754 [DAT](INFO): Rx dataTimestamp_ set to:1761518164.753317
2025-10-26T22:36:04.755Z,1761518164.755 [DAT](INFO): DAT read: Bearing   1.2,  15.1 (Local)

2025-10-26T22:36:04.755Z,1761518164.755 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2,  15.1 (Local)

2025-10-26T22:36:04.757Z,1761518164.757 [DAT](INFO): DAT read: Range 11 to 50 :     3.6 m (trip time 2.4 ms) speed -0.6

2025-10-26T22:36:04.762Z,1761518164.762 [DAT](INFO): DAT read: 22:36:03.5210 LVL= 15632, 10705, 14530, 17635, AGC= 47, IDX= 501, 0.08, 0.623, 2.461, 0.153, 1.346, PHS=-0.622, 1.159,-1.238, RAW= 344.3,   6.6, CAL= 344.1,   5.7, ROT= 165.9,  -5.7

2025-10-26T22:36:04.763Z,1761518164.763 [DAT](INFO): got valid direction response:
 22:36:03.5210 LVL= 15632, 10705, 14530, 17635, AGC= 47, IDX= 501, 0.08, 0.623, 2.461, 0.153, 1.346, PHS=-0.622, 1.159,-1.238, RAW= 344.3,   6.6, CAL= 344.1,   5.7, ROT= 165.9,  -5.7

2025-10-26T22:36:04.764Z,1761518164.764 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-26T22:36:04.765Z,1761518164.765 [DAT](INFO): direction in FSK: [-0.965077,0.242411,0.099320]
2025-10-26T22:36:04.765Z,1761518164.765 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:04.777Z,1761518164.777 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.117287
2025-10-26T22:36:04.935Z,1761518164.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663160,-0.738313,-0.122936],[0.746537,0.640638,0.179624],[-0.053862,-0.210896,0.976023]]
2025-10-26T22:36:04.973Z,1761518164.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 0.503093 s,
      deltaX: 0.300000 m,
      approachRate: 0.596311 m/s,
      rangeRepo size: 4

2025-10-26T22:36:04.977Z,1761518164.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.578724 m,
      bearing: 213.364567 deg,
      lat: 36.779418 deg,
      lon: -121.859434 deg,
      deltaT: 0.503093 s,
      deltaX: 0.298227 m,
      approachRate: 0.592787 m/s,
      posRepo size: 4

2025-10-26T22:36:05.004Z,1761518165.004 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.344863
2025-10-26T22:36:05.257Z,1761518165.257 [DAT](INFO): DAT read: Rx Time:22:36:04.0214 

2025-10-26T22:36:05.258Z,1761518165.258 [DAT](INFO): Rx dataTimestamp_ set to:1761518165.257335
2025-10-26T22:36:05.259Z,1761518165.259 [DAT](INFO): DAT read: Bearing   5.7, -20.6 (Local)

2025-10-26T22:36:05.259Z,1761518165.259 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.7, -20.6 (Local)

2025-10-26T22:36:05.261Z,1761518165.261 [DAT](INFO): DAT read: Range 11 to 50 :     4.2 m (trip time 2.8 ms) speed -0.4

2025-10-26T22:36:05.266Z,1761518165.266 [DAT](INFO): DAT read: 22:36:04.0214 LVL= 21120, 16145, 29042, 18371, AGC= 56, IDX= 506, 0.20, 2.519,-1.813,-2.957,-2.587, PHS=-1.075, 0.819,-0.413, RAW= 309.9,   8.1, CAL= 307.8,   8.7, ROT= 202.2,  -8.7

2025-10-26T22:36:05.267Z,1761518165.267 [DAT](INFO): got valid direction response:
 22:36:04.0214 LVL= 21120, 16145, 29042, 18371, AGC= 56, IDX= 506, 0.20, 2.519,-1.813,-2.957,-2.587, PHS=-1.075, 0.819,-0.413, RAW= 309.9,   8.1, CAL= 307.8,   8.7, ROT= 202.2,  -8.7

2025-10-26T22:36:05.267Z,1761518165.267 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-10-26T22:36:05.268Z,1761518165.268 [DAT](INFO): direction in FSK: [-0.915217,-0.373493,0.151261]
2025-10-26T22:36:05.269Z,1761518165.269 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:05.272Z,1761518165.272 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.613037
2025-10-26T22:36:05.338Z,1761518165.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664376,-0.738336,-0.116035],[0.745384,0.643159,0.175356],[-0.054843,-0.202993,0.977643]]
2025-10-26T22:36:05.398Z,1761518165.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 0.504018 s,
      deltaX: 0.600000 m,
      approachRate: 1.190434 m/s,
      rangeRepo size: 4

2025-10-26T22:36:05.404Z,1761518165.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.175231 m,
      bearing: 248.669604 deg,
      lat: 36.779418 deg,
      lon: -121.859434 deg,
      deltaT: 0.504018 s,
      deltaX: 0.596507 m,
      approachRate: 1.183503 m/s,
      posRepo size: 4

2025-10-26T22:36:05.512Z,1761518165.512 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.851395
2025-10-26T22:36:05.744Z,1761518165.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665464,-0.738309,-0.109804],[0.744326,0.645332,0.171829],[-0.056002,-0.196076,0.978988]]
2025-10-26T22:36:05.761Z,1761518165.761 [DAT](INFO): DAT read: Rx Time:22:36:04.5213 

2025-10-26T22:36:05.762Z,1761518165.762 [DAT](INFO): Rx dataTimestamp_ set to:1761518165.761309
2025-10-26T22:36:05.763Z,1761518165.763 [DAT](INFO): DAT read: Bearing 354.3, -14.4 (Local)

2025-10-26T22:36:05.771Z,1761518165.771 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.3, -14.4 (Local)

2025-10-26T22:36:05.773Z,1761518165.773 [DAT](INFO): DAT read: Range 11 to 50 :     4.1 m (trip time 2.7 ms) speed -0.6

2025-10-26T22:36:05.778Z,1761518165.778 [DAT](INFO): DAT read: 22:36:04.5213 LVL= 19440, 17041, 27810, 30867, AGC= 56, IDX= 505, 0.06, 2.287,-1.850, 2.937,-2.586, PHS=-1.308, 0.780,-0.805, RAW= 316.7,  14.0, CAL= 315.5,  18.2, ROT= 194.5, -18.2

2025-10-26T22:36:05.783Z,1761518165.783 [DAT](INFO): got valid direction response:
 22:36:04.5213 LVL= 19440, 17041, 27810, 30867, AGC= 56, IDX= 505, 0.06, 2.287,-1.850, 2.937,-2.586, PHS=-1.308, 0.780,-0.805, RAW= 316.7,  14.0, CAL= 315.5,  18.2, ROT= 194.5, -18.2

2025-10-26T22:36:05.784Z,1761518165.784 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-10-26T22:36:05.785Z,1761518165.785 [DAT](INFO): direction in FSK: [-0.919713,-0.237854,0.312335]
2025-10-26T22:36:05.785Z,1761518165.785 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:05.797Z,1761518165.797 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.137476
2025-10-26T22:36:05.846Z,1761518165.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.503974 s,
      deltaX: -0.100000 m,
      approachRate: -0.198423 m/s,
      rangeRepo size: 4

2025-10-26T22:36:05.852Z,1761518165.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.075820 m,
      bearing: 239.031610 deg,
      lat: 36.779418 deg,
      lon: -121.859434 deg,
      deltaT: 0.503974 s,
      deltaX: -0.099410 m,
      approachRate: -0.197252 m/s,
      posRepo size: 4

2025-10-26T22:36:06.012Z,1761518166.012 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.352994
2025-10-26T22:36:06.175Z,1761518166.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664964,-0.739607,-0.103946],[0.744699,0.645956,0.167823],[-0.056978,-0.189005,0.980322]]
2025-10-26T22:36:06.192Z,1761518166.192 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:36:06.265Z,1761518166.265 [DAT](INFO): DAT read: Rx Time:22:36:05.0215 

2025-10-26T22:36:06.266Z,1761518166.266 [DAT](INFO): Rx dataTimestamp_ set to:1761518166.265220
2025-10-26T22:36:06.267Z,1761518166.267 [DAT](INFO): DAT read: Bearing 356.5,  -5.3 (Local)

2025-10-26T22:36:06.267Z,1761518166.267 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.5,  -5.3 (Local)

2025-10-26T22:36:06.269Z,1761518166.269 [DAT](INFO): DAT read: Range 11 to 50 :     4.4 m (trip time 2.9 ms) speed -0.5

2025-10-26T22:36:06.279Z,1761518166.279 [DAT](INFO): DAT read: 22:36:05.0215 LVL= 32752, 29601, 32754, 32755, AGC= 59, IDX= 507, 0.42,-0.908, 1.082,-0.578, 0.270, PHS=-1.076, 0.858,-0.892, RAW= 325.1,  12.0, CAL= 324.3,  14.5, ROT= 185.7, -14.5

2025-10-26T22:36:06.297Z,1761518166.297 [DAT](INFO): got valid direction response:
 22:36:05.0215 LVL= 32752, 29601, 32754, 32755, AGC= 59, IDX= 507, 0.42,-0.908, 1.082,-0.578, 0.270, PHS=-1.076, 0.858,-0.892, RAW= 325.1,  12.0, CAL= 324.3,  14.5, ROT= 185.7, -14.5

2025-10-26T22:36:06.297Z,1761518166.297 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-10-26T22:36:06.298Z,1761518166.298 [DAT](INFO): direction in FSK: [-0.963361,-0.096156,0.250380]
2025-10-26T22:36:06.298Z,1761518166.298 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:06.306Z,1761518166.306 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.646860
2025-10-26T22:36:06.520Z,1761518166.520 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.859262
2025-10-26T22:36:06.580Z,1761518166.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663169,-0.742026,-0.098002],[0.746181,0.645217,0.164041],[-0.058490,-0.181913,0.981573]]
2025-10-26T22:36:06.716Z,1761518166.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.400000 m,
      deltaT: 0.503911 s,
      deltaX: 0.300000 m,
      approachRate: 0.595344 m/s,
      rangeRepo size: 4

2025-10-26T22:36:06.719Z,1761518166.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.374042 m,
      bearing: 231.330270 deg,
      lat: 36.779427 deg,
      lon: -121.859441 deg,
      deltaT: 0.503911 s,
      deltaX: 0.298222 m,
      approachRate: 0.591814 m/s,
      posRepo size: 4

2025-10-26T22:36:06.769Z,1761518166.769 [DAT](INFO): DAT read: Rx Time:22:36:05.5215 

2025-10-26T22:36:06.770Z,1761518166.770 [DAT](INFO): Rx dataTimestamp_ set to:1761518166.769210
2025-10-26T22:36:06.771Z,1761518166.771 [DAT](INFO): DAT read: Bearing 359.5,  -0.5 (Local)

2025-10-26T22:36:06.771Z,1761518166.771 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.5,  -0.5 (Local)

2025-10-26T22:36:06.773Z,1761518166.773 [DAT](INFO): DAT read: Range 11 to 50 :     4.4 m (trip time 2.9 ms) speed -0.5

2025-10-26T22:36:06.778Z,1761518166.778 [DAT](INFO): DAT read: 22:36:05.5215 LVL= 32752, 29473, 32754, 32755, AGC= 57, IDX= 509,-0.47,-2.261,-0.301,-2.078,-1.214, PHS=-0.946, 0.958,-0.908, RAW= 329.0,   9.5, CAL= 328.3,  10.6, ROT= 181.7, -10.6

2025-10-26T22:36:06.779Z,1761518166.779 [DAT](INFO): got valid direction response:
 22:36:05.5215 LVL= 32752, 29473, 32754, 32755, AGC= 57, IDX= 509,-0.47,-2.261,-0.301,-2.078,-1.214, PHS=-0.946, 0.958,-0.908, RAW= 329.0,   9.5, CAL= 328.3,  10.6, ROT= 181.7, -10.6

2025-10-26T22:36:06.780Z,1761518166.780 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-10-26T22:36:06.781Z,1761518166.781 [DAT](INFO): direction in FSK: [-0.982503,-0.029160,0.183951]
2025-10-26T22:36:06.781Z,1761518166.781 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:06.785Z,1761518166.785 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.125222
2025-10-26T22:36:07.021Z,1761518167.021 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.361328
2025-10-26T22:36:07.077Z,1761518167.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661012,-0.744624,-0.092722],[0.747958,0.643924,0.161000],[-0.060179,-0.175775,0.982589]]
2025-10-26T22:36:07.129Z,1761518167.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.400000 m,
      deltaT: 0.503990 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:07.131Z,1761518167.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.374042 m,
      bearing: 228.313200 deg,
      lat: 36.779427 deg,
      lon: -121.859441 deg,
      deltaT: 0.503990 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:07.273Z,1761518167.273 [DAT](INFO): DAT read: Rx Time:22:36:06.0218 

2025-10-26T22:36:07.273Z,1761518167.273 [DAT](INFO): Rx dataTimestamp_ set to:1761518167.272712
2025-10-26T22:36:07.274Z,1761518167.274 [DAT](INFO): DAT read: Range 11 to 50 :     4.8 m (trip time 3.2 ms) speed -0.6

2025-10-26T22:36:07.275Z,1761518167.275 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-10-26T22:36:07.276Z,1761518167.276 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.616417
2025-10-26T22:36:07.490Z,1761518167.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659180,-0.746807,-0.088092],[0.749455,0.642837,0.158360],[-0.061635,-0.170409,0.983444]]
2025-10-26T22:36:07.528Z,1761518167.528 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.867412
2025-10-26T22:36:07.575Z,1761518167.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 0.503502 s,
      deltaX: 0.400000 m,
      approachRate: 0.794436 m/s,
      rangeRepo size: 4

2025-10-26T22:36:07.777Z,1761518167.777 [DAT](INFO): DAT read: Rx Time:22:36:06.5220 

2025-10-26T22:36:07.777Z,1761518167.777 [DAT](INFO): Rx dataTimestamp_ set to:1761518167.777058
2025-10-26T22:36:07.779Z,1761518167.779 [DAT](INFO): DAT read: Bearing  21.4,   1.0 (Local)

2025-10-26T22:36:07.779Z,1761518167.779 [DAT](INFO): Local bearing/azimuth received:
 Bearing  21.4,   1.0 (Local)

2025-10-26T22:36:07.781Z,1761518167.781 [DAT](INFO): DAT read: Range 11 to 50 :     5.1 m (trip time 3.4 ms) speed -0.6

2025-10-26T22:36:07.786Z,1761518167.786 [DAT](INFO): DAT read: 22:36:06.5220 LVL= 32752, 26481, 28002, 32755, AGC= 55, IDX= 513, 0.42,-2.896,-0.627,-2.584,-2.279, PHS=-0.514, 1.697,-0.349, RAW= 326.1,  -7.9, CAL= 325.8, -11.1, ROT= 184.2,  11.1

2025-10-26T22:36:07.787Z,1761518167.787 [DAT](INFO): got valid direction response:
 22:36:06.5220 LVL= 32752, 26481, 28002, 32755, AGC= 55, IDX= 513, 0.42,-2.896,-0.627,-2.584,-2.279, PHS=-0.514, 1.697,-0.349, RAW= 326.1,  -7.9, CAL= 325.8, -11.1, ROT= 184.2,  11.1

2025-10-26T22:36:07.787Z,1761518167.787 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-10-26T22:36:07.788Z,1761518167.788 [DAT](INFO): direction in FSK: [-0.978657,-0.071868,-0.192522]
2025-10-26T22:36:07.788Z,1761518167.788 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:07.792Z,1761518167.792 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.132759
2025-10-26T22:36:07.985Z,1761518167.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 0.504346 s,
      deltaX: 0.300000 m,
      approachRate: 0.594829 m/s,
      rangeRepo size: 4

2025-10-26T22:36:07.987Z,1761518167.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.069982 m,
      bearing: 234.659276 deg,
      lat: 36.779430 deg,
      lon: -121.859444 deg,
      deltaT: 1.007848 s,
      deltaX: 0.695940 m,
      approachRate: 0.690521 m/s,
      posRepo size: 4

2025-10-26T22:36:08.029Z,1761518168.029 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.369512
2025-10-26T22:36:08.281Z,1761518168.281 [DAT](INFO): DAT read: Rx Time:22:36:07.0224 

2025-10-26T22:36:08.282Z,1761518168.282 [DAT](INFO): Rx dataTimestamp_ set to:1761518168.281260
2025-10-26T22:36:08.283Z,1761518168.283 [DAT](INFO): DAT read: Bearing   7.6,  12.6 (Local)

2025-10-26T22:36:08.283Z,1761518168.283 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.6,  12.6 (Local)

2025-10-26T22:36:08.285Z,1761518168.285 [DAT](INFO): DAT read: Range 11 to 50 :     5.7 m (trip time 3.8 ms) speed -0.7

2025-10-26T22:36:08.290Z,1761518168.290 [DAT](INFO): DAT read: 22:36:07.0224 LVL= 26464, 11713, 18146, 23235, AGC= 59, IDX=   5,-0.06,-0.856, 1.001,-1.116,-0.177, PHS=-0.577, 1.224,-0.983, RAW= 339.9,   3.3, CAL= 339.4,   0.8, ROT= 170.6,  -0.8

2025-10-26T22:36:08.291Z,1761518168.291 [DAT](INFO): got valid direction response:
 22:36:07.0224 LVL= 26464, 11713, 18146, 23235, AGC= 59, IDX=   5,-0.06,-0.856, 1.001,-1.116,-0.177, PHS=-0.577, 1.224,-0.983, RAW= 339.9,   3.3, CAL= 339.4,   0.8, ROT= 170.6,  -0.8

2025-10-26T22:36:08.291Z,1761518168.291 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-10-26T22:36:08.292Z,1761518168.292 [DAT](INFO): direction in FSK: [-0.986476,0.163310,0.013962]
2025-10-26T22:36:08.293Z,1761518168.293 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:08.303Z,1761518168.303 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.643511
2025-10-26T22:36:08.349Z,1761518168.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654572,-0.751927,-0.078367],[0.753270,0.639894,0.152053],[-0.064186,-0.158561,0.985261]]
2025-10-26T22:36:08.409Z,1761518168.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.700000 m,
      deltaT: 0.504202 s,
      deltaX: 0.600000 m,
      approachRate: 1.189999 m/s,
      rangeRepo size: 4

2025-10-26T22:36:08.411Z,1761518168.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.666432 m,
      bearing: 219.590310 deg,
      lat: 36.779427 deg,
      lon: -121.859441 deg,
      deltaT: 0.504202 s,
      deltaX: 0.596450 m,
      approachRate: 1.182959 m/s,
      posRepo size: 4

2025-10-26T22:36:08.538Z,1761518168.538 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.875422
2025-10-26T22:36:08.743Z,1761518168.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652284,-0.754253,-0.075025],[0.755138,0.638095,0.150338],[-0.065519,-0.154717,0.985784]]
2025-10-26T22:36:08.779Z,1761518168.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:36:08.785Z,1761518168.785 [DAT](INFO): DAT read: Rx Time:22:36:07.5225 

2025-10-26T22:36:08.786Z,1761518168.786 [DAT](INFO): Rx dataTimestamp_ set to:1761518168.785239
2025-10-26T22:36:08.787Z,1761518168.787 [DAT](INFO): DAT read: Bearing  10.0,  16.0 (Local)

2025-10-26T22:36:08.787Z,1761518168.787 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.0,  16.0 (Local)

2025-10-26T22:36:08.789Z,1761518168.789 [DAT](INFO): DAT read: Range 11 to 50 :     5.9 m (trip time 3.9 ms) speed -0.5

2025-10-26T22:36:08.794Z,1761518168.794 [DAT](INFO): DAT read: 22:36:07.5225 LVL= 26976, 16433, 23698, 29171, AGC= 58, IDX= 502, 0.23,-0.072, 1.732,-0.452, 0.473, PHS=-0.443, 1.304,-0.968, RAW= 342.8,   1.1, CAL= 342.3,  -1.9, ROT= 167.7,   1.9

2025-10-26T22:36:08.795Z,1761518168.795 [DAT](INFO): got valid direction response:
 22:36:07.5225 LVL= 26976, 16433, 23698, 29171, AGC= 58, IDX= 502, 0.23,-0.072, 1.732,-0.452, 0.473, PHS=-0.443, 1.304,-0.968, RAW= 342.8,   1.1, CAL= 342.3,  -1.9, ROT= 167.7,   1.9

2025-10-26T22:36:08.812Z,1761518168.812 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-10-26T22:36:08.813Z,1761518168.813 [DAT](INFO): direction in FSK: [-0.976508,0.212913,-0.033155]
2025-10-26T22:36:08.813Z,1761518168.813 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:08.821Z,1761518168.821 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.161408
2025-10-26T22:36:09.037Z,1761518169.037 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.377101
2025-10-26T22:36:09.158Z,1761518169.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649814,-0.756712,-0.071616],[0.757158,0.636153,0.148394],[-0.066733,-0.150653,0.986332]]
2025-10-26T22:36:09.201Z,1761518169.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.900000 m,
      deltaT: 0.503979 s,
      deltaX: 0.200000 m,
      approachRate: 0.396843 m/s,
      rangeRepo size: 4

2025-10-26T22:36:09.203Z,1761518169.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.865255 m,
      bearing: 217.506099 deg,
      lat: 36.779427 deg,
      lon: -121.859438 deg,
      deltaT: 0.503979 s,
      deltaX: 0.198822 m,
      approachRate: 0.394506 m/s,
      posRepo size: 4

2025-10-26T22:36:09.208Z,1761518169.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 5.90 m. Rolling out.
2025-10-26T22:36:09.208Z,1761518169.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-10-26T22:36:09.229Z,1761518169.229 [DockingStepper](INFO): Changing to mode: 1
2025-10-26T22:36:09.289Z,1761518169.289 [DAT](INFO): DAT read: Rx Time:22:36:08.0229 

2025-10-26T22:36:09.290Z,1761518169.290 [DAT](INFO): Rx dataTimestamp_ set to:1761518169.289373
2025-10-26T22:36:09.291Z,1761518169.291 [DAT](INFO): DAT read: Bearing  10.6,  18.7 (Local)

2025-10-26T22:36:09.291Z,1761518169.291 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.6,  18.7 (Local)

2025-10-26T22:36:09.293Z,1761518169.293 [DAT](INFO): DAT read: Range 11 to 50 :     6.3 m (trip time 4.2 ms) speed -0.6

2025-10-26T22:36:09.298Z,1761518169.298 [DAT](INFO): DAT read: 22:36:08.0229 LVL= 28592, 20161, 32578, 32755, AGC= 61, IDX= 506,-0.36,-0.181, 1.473,-0.631, 0.270, PHS=-0.349, 1.249,-0.945, RAW= 345.2,   0.5, CAL= 344.8,  -2.5, ROT= 165.2,   2.5

2025-10-26T22:36:09.299Z,1761518169.299 [DAT](INFO): got valid direction response:
 22:36:08.0229 LVL= 28592, 20161, 32578, 32755, AGC= 61, IDX= 506,-0.36,-0.181, 1.473,-0.631, 0.270, PHS=-0.349, 1.249,-0.945, RAW= 345.2,   0.5, CAL= 344.8,  -2.5, ROT= 165.2,   2.5

2025-10-26T22:36:09.300Z,1761518169.300 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-10-26T22:36:09.301Z,1761518169.301 [DAT](INFO): direction in FSK: [-0.965903,0.255203,-0.043619]
2025-10-26T22:36:09.301Z,1761518169.301 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:09.315Z,1761518169.315 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.655270
2025-10-26T22:36:09.544Z,1761518169.544 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.883583
2025-10-26T22:36:09.612Z,1761518169.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648049,-0.758473,-0.068927],[0.758562,0.634743,0.147257],[-0.067940,-0.147715,0.986694]]
2025-10-26T22:36:09.686Z,1761518169.686 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-10-26T22:36:09.686Z,1761518169.686 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T22:36:09.686Z,1761518169.686 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-10-26T22:36:09.701Z,1761518169.701 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 5.900000 m (mode  5.000000 count ).
2025-10-26T22:36:09.701Z,1761518169.701 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-10-26T22:36:09.701Z,1761518169.701 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-10-26T22:36:09.702Z,1761518169.702 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-10-26T22:36:09.702Z,1761518169.702 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T22:36:09.702Z,1761518169.702 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-10-26T22:36:09.708Z,1761518169.708 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with  1.000000 count pings  5.900000 m (mode  5.000000 count ).
2025-10-26T22:36:09.708Z,1761518169.708 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-10-26T22:36:09.708Z,1761518169.708 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-10-26T22:36:09.726Z,1761518169.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.300000 m,
      deltaT: 0.504134 s,
      deltaX: 0.400000 m,
      approachRate: 0.793440 m/s,
      rangeRepo size: 4

2025-10-26T22:36:09.734Z,1761518169.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.262850 m,
      bearing: 215.253772 deg,
      lat: 36.779419 deg,
      lon: -121.859437 deg,
      deltaT: 0.504134 s,
      deltaX: 0.397595 m,
      approachRate: 0.788669 m/s,
      posRepo size: 4

2025-10-26T22:36:09.734Z,1761518169.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.26 m.
2025-10-26T22:36:09.741Z,1761518169.741 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-10-26T22:36:09.741Z,1761518169.741 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-26T22:36:09.741Z,1761518169.741 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-10-26T22:36:09.741Z,1761518169.741 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-10-26T22:36:09.794Z,1761518169.794 [DAT](INFO): DAT read: Rx Time:22:36:08.5231 

2025-10-26T22:36:09.795Z,1761518169.795 [DAT](INFO): Rx dataTimestamp_ set to:1761518169.794552
2025-10-26T22:36:09.797Z,1761518169.797 [DAT](INFO): DAT read: Bearing  10.8,  20.3 (Local)

2025-10-26T22:36:09.798Z,1761518169.798 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.8,  20.3 (Local)

2025-10-26T22:36:09.801Z,1761518169.801 [DAT](INFO): DAT read: Range 11 to 50 :     6.6 m (trip time 4.4 ms) speed -0.5

2025-10-26T22:36:09.840Z,1761518169.840 [DAT](INFO): DAT read: 22:36:08.5231 LVL= 32432, 20721, 32754, 32755, AGC= 62, IDX= 507, 0.01,-0.387, 1.174,-0.869, 0.015, PHS=-0.301, 1.204,-0.928, RAW= 346.6,   0.3, CAL= 346.2,  -2.7, ROT= 163.8,   2.7

2025-10-26T22:36:09.842Z,1761518169.842 [DAT](INFO): got valid direction response:
 22:36:08.5231 LVL= 32432, 20721, 32754, 32755, AGC= 62, IDX= 507, 0.01,-0.387, 1.174,-0.869, 0.015, PHS=-0.301, 1.204,-0.928, RAW= 346.6,   0.3, CAL= 346.2,  -2.7, ROT= 163.8,   2.7

2025-10-26T22:36:09.842Z,1761518169.842 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-10-26T22:36:09.852Z,1761518169.852 [DAT](INFO): direction in FSK: [-0.959228,0.278681,-0.047106]
2025-10-26T22:36:09.853Z,1761518169.853 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:09.860Z,1761518169.860 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.201077
2025-10-26T22:36:10.044Z,1761518170.044 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.385054
2025-10-26T22:36:10.144Z,1761518170.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642430,-0.763477,-0.066228],[0.763086,0.629346,0.147049],[-0.070588,-0.145007,0.986910]]
2025-10-26T22:36:10.186Z,1761518170.186 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-10-26T22:36:10.186Z,1761518170.186 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-10-26T22:36:10.186Z,1761518170.186 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-10-26T22:36:10.186Z,1761518170.186 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-10-26T22:36:10.193Z,1761518170.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.600000 m,
      deltaT: 0.505179 s,
      deltaX: 0.300000 m,
      approachRate: 0.593848 m/s,
      rangeRepo size: 4

2025-10-26T22:36:10.196Z,1761518170.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.561080 m,
      bearing: 214.306314 deg,
      lat: 36.779419 deg,
      lon: -121.859432 deg,
      deltaT: 0.505179 s,
      deltaX: 0.298231 m,
      approachRate: 0.590347 m/s,
      posRepo size: 4

2025-10-26T22:36:10.196Z,1761518170.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.56 m.
2025-10-26T22:36:10.297Z,1761518170.297 [DAT](INFO): DAT read: Rx Time:22:36:09.0233 

2025-10-26T22:36:10.298Z,1761518170.298 [DAT](INFO): Rx dataTimestamp_ set to:1761518170.297293
2025-10-26T22:36:10.299Z,1761518170.299 [DAT](INFO): DAT read: Bearing  12.2,  18.6 (Local)

2025-10-26T22:36:10.299Z,1761518170.299 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.2,  18.6 (Local)

2025-10-26T22:36:10.301Z,1761518170.301 [DAT](INFO): DAT read: Range 11 to 50 :     6.9 m (trip time 4.6 ms) speed -0.7

2025-10-26T22:36:10.307Z,1761518170.307 [DAT](INFO): DAT read: 22:36:09.0233 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.38,-0.179, 1.473,-0.606, 0.245, PHS=-0.322, 1.273,-0.895, RAW= 344.8,  -0.6, CAL= 344.3,  -3.5, ROT= 165.7,   3.5

2025-10-26T22:36:10.308Z,1761518170.308 [DAT](INFO): got valid direction response:
 22:36:09.0233 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.38,-0.179, 1.473,-0.606, 0.245, PHS=-0.322, 1.273,-0.895, RAW= 344.8,  -0.6, CAL= 344.3,  -3.5, ROT= 165.7,   3.5

2025-10-26T22:36:10.308Z,1761518170.308 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-10-26T22:36:10.309Z,1761518170.309 [DAT](INFO): direction in FSK: [-0.967208,0.246538,-0.061049]
2025-10-26T22:36:10.309Z,1761518170.309 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:10.317Z,1761518170.317 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.658035
2025-10-26T22:36:10.502Z,1761518170.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639532,-0.766202,-0.062715],[0.765549,0.627281,0.143012],[-0.070236,-0.139472,0.987732]]
2025-10-26T22:36:10.526Z,1761518170.526 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-10-26T22:36:10.526Z,1761518170.526 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-10-26T22:36:10.527Z,1761518170.527 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-10-26T22:36:10.527Z,1761518170.527 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-10-26T22:36:10.538Z,1761518170.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.900000 m,
      deltaT: 0.502741 s,
      deltaX: 0.300000 m,
      approachRate: 0.596729 m/s,
      rangeRepo size: 4

2025-10-26T22:36:10.540Z,1761518170.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.859369 m,
      bearing: 216.494104 deg,
      lat: 36.779418 deg,
      lon: -121.859432 deg,
      deltaT: 0.502741 s,
      deltaX: 0.298289 m,
      approachRate: 0.593325 m/s,
      posRepo size: 4

2025-10-26T22:36:10.541Z,1761518170.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.86 m.
2025-10-26T22:36:10.552Z,1761518170.552 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.892136
2025-10-26T22:36:10.802Z,1761518170.802 [DAT](INFO): DAT read: Rx Time:22:36:09.5235 

2025-10-26T22:36:10.803Z,1761518170.803 [DAT](INFO): Rx dataTimestamp_ set to:1761518170.801907
2025-10-26T22:36:10.804Z,1761518170.804 [DAT](INFO): DAT read: Bearing  12.0,  17.2 (Local)

2025-10-26T22:36:10.805Z,1761518170.805 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.0,  17.2 (Local)

2025-10-26T22:36:10.808Z,1761518170.808 [DAT](INFO): DAT read: Range 11 to 50 :     7.2 m (trip time 4.8 ms) speed -0.6

2025-10-26T22:36:10.815Z,1761518170.815 [DAT](INFO): DAT read: 22:36:09.5235 LVL= 30912, 29025, 32754, 32755, AGC= 59, IDX= 511,-0.13,-2.655,-1.054,-2.997,-2.203, PHS=-0.349, 1.194,-0.838, RAW= 343.3,  -0.1, CAL= 342.9,  -3.0, ROT= 167.1,   3.0

2025-10-26T22:36:10.817Z,1761518170.817 [DAT](INFO): got valid direction response:
 22:36:09.5235 LVL= 30912, 29025, 32754, 32755, AGC= 59, IDX= 511,-0.13,-2.655,-1.054,-2.997,-2.203, PHS=-0.349, 1.194,-0.838, RAW= 343.3,  -0.1, CAL= 342.9,  -3.0, ROT= 167.1,   3.0

2025-10-26T22:36:10.817Z,1761518170.817 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-10-26T22:36:10.818Z,1761518170.818 [DAT](INFO): direction in FSK: [-0.973425,0.222944,-0.052336]
2025-10-26T22:36:10.819Z,1761518170.819 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:10.822Z,1761518170.822 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.163094
2025-10-26T22:36:10.983Z,1761518170.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636794,-0.768966,-0.056426],[0.767769,0.625671,0.138082],[-0.070876,-0.131252,0.988812]]
2025-10-26T22:36:11.025Z,1761518171.025 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-10-26T22:36:11.025Z,1761518171.025 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T22:36:11.025Z,1761518171.025 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-10-26T22:36:11.026Z,1761518171.026 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T22:36:11.026Z,1761518171.026 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-10-26T22:36:11.026Z,1761518171.026 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T22:36:11.026Z,1761518171.026 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-10-26T22:36:11.027Z,1761518171.027 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T22:36:11.035Z,1761518171.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.200000 m,
      deltaT: 0.504614 s,
      deltaX: 0.300000 m,
      approachRate: 0.594513 m/s,
      rangeRepo size: 4

2025-10-26T22:36:11.037Z,1761518171.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.157602 m,
      bearing: 217.962629 deg,
      lat: 36.779418 deg,
      lon: -121.859432 deg,
      deltaT: 0.504614 s,
      deltaX: 0.298233 m,
      approachRate: 0.591012 m/s,
      posRepo size: 4

2025-10-26T22:36:11.037Z,1761518171.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.16 m.
2025-10-26T22:36:11.052Z,1761518171.052 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.392954
2025-10-26T22:36:11.305Z,1761518171.305 [DAT](INFO): DAT read: Rx Time:22:36:10.0238 

2025-10-26T22:36:11.305Z,1761518171.305 [DAT](INFO): Rx dataTimestamp_ set to:1761518171.305164
2025-10-26T22:36:11.307Z,1761518171.307 [DAT](INFO): DAT read: Bearing  11.0,  17.1 (Local)

2025-10-26T22:36:11.307Z,1761518171.307 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.0,  17.1 (Local)

2025-10-26T22:36:11.309Z,1761518171.309 [DAT](INFO): DAT read: Range 11 to 50 :     7.7 m (trip time 5.1 ms) speed -0.4

2025-10-26T22:36:11.314Z,1761518171.314 [DAT](INFO): DAT read: 22:36:10.0238 LVL= 19568, 22913, 24050, 29059, AGC= 63, IDX=   2, 0.04, 0.302, 1.870,-0.028, 0.783, PHS=-0.379, 1.132,-0.855, RAW= 343.3,   1.2, CAL= 342.8,  -1.8, ROT= 167.2,   1.8

2025-10-26T22:36:11.315Z,1761518171.315 [DAT](INFO): got valid direction response:
 22:36:10.0238 LVL= 19568, 22913, 24050, 29059, AGC= 63, IDX=   2, 0.04, 0.302, 1.870,-0.028, 0.783, PHS=-0.379, 1.132,-0.855, RAW= 343.3,   1.2, CAL= 342.8,  -1.8, ROT= 167.2,   1.8

2025-10-26T22:36:11.315Z,1761518171.315 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-10-26T22:36:11.316Z,1761518171.316 [DAT](INFO): direction in FSK: [-0.974668,0.221439,-0.031411]
2025-10-26T22:36:11.316Z,1761518171.316 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:11.320Z,1761518171.320 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.660885
2025-10-26T22:36:11.375Z,1761518171.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634846,-0.770829,-0.052843],[0.769264,0.624209,0.136367],[-0.072130,-0.127222,0.989248]]
2025-10-26T22:36:11.433Z,1761518171.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.700000 m,
      deltaT: 0.503257 s,
      deltaX: 0.500000 m,
      approachRate: 0.993528 m/s,
      rangeRepo size: 4

2025-10-26T22:36:11.435Z,1761518171.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.654951 m,
      bearing: 218.015477 deg,
      lat: 36.779417 deg,
      lon: -121.859432 deg,
      deltaT: 0.503257 s,
      deltaX: 0.497349 m,
      approachRate: 0.988260 m/s,
      posRepo size: 4

2025-10-26T22:36:11.440Z,1761518171.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m.
2025-10-26T22:36:11.560Z,1761518171.560 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.900103
2025-10-26T22:36:11.810Z,1761518171.810 [DAT](INFO): DAT read: Rx Time:22:36:10.5239 

2025-10-26T22:36:11.811Z,1761518171.811 [DAT](INFO): Rx dataTimestamp_ set to:1761518171.810540
2025-10-26T22:36:11.812Z,1761518171.812 [DAT](INFO): DAT read: Bearing  12.3,  16.3 (Local)

2025-10-26T22:36:11.813Z,1761518171.813 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.3,  16.3 (Local)

2025-10-26T22:36:11.815Z,1761518171.815 [DAT](INFO): DAT read: Range 11 to 50 :     7.8 m (trip time 5.2 ms) speed -0.4

2025-10-26T22:36:11.820Z,1761518171.820 [DAT](INFO): DAT read: 22:36:10.5239 LVL= 29424, 21009, 32754, 32755, AGC= 60, IDX= 499, 0.17,-0.378, 1.232,-0.674, 0.098, PHS=-0.374, 1.180,-0.816, RAW= 342.2,   0.1, CAL= 341.7,  -2.8, ROT= 168.3,   2.8

2025-10-26T22:36:11.822Z,1761518171.822 [DAT](INFO): got valid direction response:
 22:36:10.5239 LVL= 29424, 21009, 32754, 32755, AGC= 60, IDX= 499, 0.17,-0.378, 1.232,-0.674, 0.098, PHS=-0.374, 1.180,-0.816, RAW= 342.2,   0.1, CAL= 341.7,  -2.8, ROT= 168.3,   2.8

2025-10-26T22:36:11.823Z,1761518171.823 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-10-26T22:36:11.825Z,1761518171.825 [DAT](INFO): direction in FSK: [-0.978054,0.202545,-0.048850]
2025-10-26T22:36:11.825Z,1761518171.825 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:11.830Z,1761518171.830 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.170626
2025-10-26T22:36:11.928Z,1761518171.928 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:36:12.060Z,1761518172.060 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.401070
2025-10-26T22:36:12.154Z,1761518172.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.800000 m,
      deltaT: 0.505376 s,
      deltaX: 0.100000 m,
      approachRate: 0.197873 m/s,
      rangeRepo size: 4

2025-10-26T22:36:12.160Z,1761518172.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.754366 m,
      bearing: 219.243461 deg,
      lat: 36.779418 deg,
      lon: -121.859433 deg,
      deltaT: 0.505376 s,
      deltaX: 0.099415 m,
      approachRate: 0.196716 m/s,
      posRepo size: 4

2025-10-26T22:36:12.160Z,1761518172.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.75 m.
2025-10-26T22:36:12.313Z,1761518172.313 [DAT](INFO): DAT read: Rx Time:22:36:11.0241 

2025-10-26T22:36:12.313Z,1761518172.313 [DAT](INFO): Rx dataTimestamp_ set to:1761518172.313080
2025-10-26T22:36:12.315Z,1761518172.315 [DAT](INFO): DAT read: Bearing  12.4,  14.9 (Local)

2025-10-26T22:36:12.315Z,1761518172.315 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.4,  14.9 (Local)

2025-10-26T22:36:12.317Z,1761518172.317 [DAT](INFO): DAT read: Range 11 to 50 :     8.1 m (trip time 5.4 ms) speed -0.7

2025-10-26T22:36:12.322Z,1761518172.322 [DAT](INFO): DAT read: 22:36:11.0241 LVL= 30432, 32753, 32754, 32755, AGC= 60, IDX= 502, 0.26, 0.138, 1.814,-0.114, 0.656, PHS=-0.417, 1.202,-0.815, RAW= 340.7,   0.3, CAL= 340.3,  -2.6, ROT= 169.7,   2.6

2025-10-26T22:36:12.323Z,1761518172.323 [DAT](INFO): got valid direction response:
 22:36:11.0241 LVL= 30432, 32753, 32754, 32755, AGC= 60, IDX= 502, 0.26, 0.138, 1.814,-0.114, 0.656, PHS=-0.417, 1.202,-0.815, RAW= 340.7,   0.3, CAL= 340.3,  -2.6, ROT= 169.7,   2.6

2025-10-26T22:36:12.323Z,1761518172.323 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-10-26T22:36:12.324Z,1761518172.324 [DAT](INFO): direction in FSK: [-0.982872,0.178618,-0.045363]
2025-10-26T22:36:12.324Z,1761518172.324 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:12.337Z,1761518172.337 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.671700
2025-10-26T22:36:12.565Z,1761518172.565 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.905605
2025-10-26T22:36:12.693Z,1761518172.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634042,-0.772052,-0.043889],[0.769671,0.624558,0.132416],[-0.074821,-0.117737,0.990222]]
2025-10-26T22:36:12.817Z,1761518172.817 [DAT](INFO): DAT read: Rx Time:22:36:11.5242 

2025-10-26T22:36:12.818Z,1761518172.818 [DAT](INFO): Rx dataTimestamp_ set to:1761518172.817281
2025-10-26T22:36:12.819Z,1761518172.819 [DAT](INFO): DAT read: Bearing  11.5,  14.8 (Local)

2025-10-26T22:36:12.819Z,1761518172.819 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.5,  14.8 (Local)

2025-10-26T22:36:12.821Z,1761518172.821 [DAT](INFO): DAT read: Range 11 to 50 :     8.3 m (trip time 5.5 ms) speed -0.6

2025-10-26T22:36:12.826Z,1761518172.826 [DAT](INFO): DAT read: 22:36:11.5242 LVL= 31920, 29681, 32754, 32755, AGC= 61, IDX= 503, 0.21,-0.737, 0.912,-0.981,-0.198, PHS=-0.437, 1.155,-0.828, RAW= 340.7,   1.2, CAL= 340.2,  -1.7, ROT= 169.8,   1.7

2025-10-26T22:36:12.827Z,1761518172.827 [DAT](INFO): got valid direction response:
 22:36:11.5242 LVL= 31920, 29681, 32754, 32755, AGC= 61, IDX= 503, 0.21,-0.737, 0.912,-0.981,-0.198, PHS=-0.437, 1.155,-0.828, RAW= 340.7,   1.2, CAL= 340.2,  -1.7, ROT= 169.8,   1.7

2025-10-26T22:36:12.827Z,1761518172.827 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-10-26T22:36:12.828Z,1761518172.828 [DAT](INFO): direction in FSK: [-0.983762,0.177007,-0.029666]
2025-10-26T22:36:12.829Z,1761518172.829 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:12.836Z,1761518172.836 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.177052
2025-10-26T22:36:12.849Z,1761518172.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.300000 m,
      deltaT: 1.006741 s,
      deltaX: 0.500000 m,
      approachRate: 0.496652 m/s,
      rangeRepo size: 4

2025-10-26T22:36:12.851Z,1761518172.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.251483 m,
      bearing: 220.596549 deg,
      lat: 36.779418 deg,
      lon: -121.859434 deg,
      deltaT: 1.006741 s,
      deltaX: 0.497117 m,
      approachRate: 0.493788 m/s,
      posRepo size: 4

2025-10-26T22:36:12.852Z,1761518172.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.25 m.
2025-10-26T22:36:12.932Z,1761518172.932 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:36:13.069Z,1761518173.069 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.409779
2025-10-26T22:36:13.229Z,1761518173.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634355,-0.771866,-0.042632],[0.769348,0.624977,0.132318],[-0.075487,-0.116735,0.990290]]
2025-10-26T22:36:13.280Z,1761518173.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.25 m.
2025-10-26T22:36:13.321Z,1761518173.321 [DAT](INFO): DAT read: Rx Time:22:36:12.0245 

2025-10-26T22:36:13.322Z,1761518173.322 [DAT](INFO): Rx dataTimestamp_ set to:1761518173.321560
2025-10-26T22:36:13.324Z,1761518173.324 [DAT](INFO): DAT read: Bearing  10.0,  15.7 (Local)

2025-10-26T22:36:13.324Z,1761518173.324 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.0,  15.7 (Local)

2025-10-26T22:36:13.326Z,1761518173.326 [DAT](INFO): DAT read: Range 11 to 50 :     8.7 m (trip time 5.8 ms) speed -0.4

2025-10-26T22:36:13.331Z,1761518173.331 [DAT](INFO): DAT read: 22:36:12.0245 LVL= 29040, 31969, 32754, 32755, AGC= 64, IDX= 506, 0.08, 0.372, 1.915, 0.112, 0.910, PHS=-0.436, 1.050,-0.842, RAW= 341.8,   2.7, CAL= 341.3,  -0.2, ROT= 168.7,   0.2

2025-10-26T22:36:13.332Z,1761518173.332 [DAT](INFO): got valid direction response:
 22:36:12.0245 LVL= 29040, 31969, 32754, 32755, AGC= 64, IDX= 506, 0.08, 0.372, 1.915, 0.112, 0.910, PHS=-0.436, 1.050,-0.842, RAW= 341.8,   2.7, CAL= 341.3,  -0.2, ROT= 168.7,   0.2

2025-10-26T22:36:13.333Z,1761518173.333 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-10-26T22:36:13.334Z,1761518173.334 [DAT](INFO): direction in FSK: [-0.980609,0.195945,-0.003491]
2025-10-26T22:36:13.334Z,1761518173.334 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:13.348Z,1761518173.348 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.688349
2025-10-26T22:36:13.573Z,1761518173.573 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.913095
2025-10-26T22:36:13.751Z,1761518173.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 0.504279 s,
      deltaX: 0.400000 m,
      approachRate: 0.793211 m/s,
      rangeRepo size: 4

2025-10-26T22:36:13.757Z,1761518173.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.649158 m,
      bearing: 219.282924 deg,
      lat: 36.779420 deg,
      lon: -121.859435 deg,
      deltaT: 0.504279 s,
      deltaX: 0.397675 m,
      approachRate: 0.788600 m/s,
      posRepo size: 4

2025-10-26T22:36:13.757Z,1761518173.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.65 m.
2025-10-26T22:36:13.825Z,1761518173.825 [DAT](INFO): DAT read: Rx Time:22:36:12.5246 

2025-10-26T22:36:13.826Z,1761518173.826 [DAT](INFO): Rx dataTimestamp_ set to:1761518173.825227
2025-10-26T22:36:13.827Z,1761518173.827 [DAT](INFO): DAT read: Bearing  12.6,  14.5 (Local)

2025-10-26T22:36:13.827Z,1761518173.827 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.6,  14.5 (Local)

2025-10-26T22:36:13.829Z,1761518173.829 [DAT](INFO): DAT read: Range 11 to 50 :     8.9 m (trip time 5.9 ms) speed -0.4

2025-10-26T22:36:13.834Z,1761518173.834 [DAT](INFO): DAT read: 22:36:12.5246 LVL= 30448, 31985, 32754, 32755, AGC= 64, IDX= 507,-0.06,-2.802,-1.098,-3.040,-2.267, PHS=-0.433, 1.214,-0.816, RAW= 340.2,   0.4, CAL= 339.7,  -2.5, ROT= 170.3,   2.5

2025-10-26T22:36:13.835Z,1761518173.835 [DAT](INFO): got valid direction response:
 22:36:12.5246 LVL= 30448, 31985, 32754, 32755, AGC= 64, IDX= 507,-0.06,-2.802,-1.098,-3.040,-2.267, PHS=-0.433, 1.214,-0.816, RAW= 340.2,   0.4, CAL= 339.7,  -2.5, ROT= 170.3,   2.5

2025-10-26T22:36:13.835Z,1761518173.835 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-10-26T22:36:13.836Z,1761518173.836 [DAT](INFO): direction in FSK: [-0.984765,0.168329,-0.043619]
2025-10-26T22:36:13.837Z,1761518173.837 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:13.841Z,1761518173.841 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.181355
2025-10-26T22:36:14.076Z,1761518174.076 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.416920
2025-10-26T22:36:14.168Z,1761518174.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637330,-0.769614,-0.038780],[0.766875,0.628518,0.129874],[-0.075579,-0.112512,0.990772]]
2025-10-26T22:36:14.208Z,1761518174.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.503667 s,
      deltaX: 0.200000 m,
      approachRate: 0.397087 m/s,
      rangeRepo size: 4

2025-10-26T22:36:14.210Z,1761518174.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.847988 m,
      bearing: 220.927910 deg,
      lat: 36.779420 deg,
      lon: -121.859436 deg,
      deltaT: 0.503667 s,
      deltaX: 0.198831 m,
      approachRate: 0.394766 m/s,
      posRepo size: 4

2025-10-26T22:36:14.211Z,1761518174.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.85 m.
2025-10-26T22:36:14.329Z,1761518174.329 [DAT](INFO): DAT read: Rx Time:22:36:13.0247 

2025-10-26T22:36:14.330Z,1761518174.330 [DAT](INFO): Rx dataTimestamp_ set to:1761518174.329327
2025-10-26T22:36:14.331Z,1761518174.331 [DAT](INFO): DAT read: Bearing  11.2,  15.6 (Local)

2025-10-26T22:36:14.331Z,1761518174.331 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.2,  15.6 (Local)

2025-10-26T22:36:14.333Z,1761518174.333 [DAT](INFO): DAT read: Range 11 to 50 :     9.0 m (trip time 6.0 ms) speed -0.2

2025-10-26T22:36:14.338Z,1761518174.338 [DAT](INFO): DAT read: 22:36:13.0247 LVL= 28272, 31697, 32754, 32755, AGC= 64, IDX= 509,-0.48,-1.637,-0.055,-1.896,-1.118, PHS=-0.417, 1.108,-0.823, RAW= 341.5,   1.5, CAL= 341.0,  -1.4, ROT= 169.0,   1.4

2025-10-26T22:36:14.339Z,1761518174.339 [DAT](INFO): got valid direction response:
 22:36:13.0247 LVL= 28272, 31697, 32754, 32755, AGC= 64, IDX= 509,-0.48,-1.637,-0.055,-1.896,-1.118, PHS=-0.417, 1.108,-0.823, RAW= 341.5,   1.5, CAL= 341.0,  -1.4, ROT= 169.0,   1.4

2025-10-26T22:36:14.339Z,1761518174.339 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-10-26T22:36:14.340Z,1761518174.340 [DAT](INFO): direction in FSK: [-0.981334,0.190752,-0.024432]
2025-10-26T22:36:14.341Z,1761518174.341 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:14.345Z,1761518174.345 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.685247
2025-10-26T22:36:14.580Z,1761518174.580 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.921026
2025-10-26T22:36:14.633Z,1761518174.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639054,-0.768132,-0.039792],[0.765529,0.630161,0.129854],[-0.074670,-0.113446,0.990734]]
2025-10-26T22:36:14.753Z,1761518174.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.000000 m,
      deltaT: 0.504100 s,
      deltaX: 0.100000 m,
      approachRate: 0.198374 m/s,
      rangeRepo size: 4

2025-10-26T22:36:14.755Z,1761518174.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.947876 m,
      bearing: 219.378948 deg,
      lat: 36.779420 deg,
      lon: -121.859436 deg,
      deltaT: 0.504100 s,
      deltaX: 0.099888 m,
      approachRate: 0.198151 m/s,
      posRepo size: 4

2025-10-26T22:36:14.767Z,1761518174.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.95 m.
2025-10-26T22:36:14.834Z,1761518174.834 [DAT](INFO): DAT read: Rx Time:22:36:13.5248 

2025-10-26T22:36:14.835Z,1761518174.835 [DAT](INFO): Rx dataTimestamp_ set to:1761518174.834194
2025-10-26T22:36:14.837Z,1761518174.837 [DAT](INFO): DAT read: Bearing   8.6,  16.3 (Local)

2025-10-26T22:36:14.837Z,1761518174.837 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.6,  16.3 (Local)

2025-10-26T22:36:14.840Z,1761518174.840 [DAT](INFO): DAT read: Range 11 to 50 :     9.2 m (trip time 6.1 ms) speed -3.3

2025-10-26T22:36:14.850Z,1761518174.850 [DAT](INFO): DAT read: 22:36:13.5248 LVL= 27360, 30449, 32754, 32755, AGC= 64, IDX= 509,-0.06,-1.318, 0.161,-1.591,-0.785, PHS=-0.431, 0.991,-0.850, RAW= 342.6,   3.5, CAL= 342.1,   1.0, ROT= 167.9,  -1.0

2025-10-26T22:36:14.851Z,1761518174.851 [DAT](INFO): got valid direction response:
 22:36:13.5248 LVL= 27360, 30449, 32754, 32755, AGC= 64, IDX= 509,-0.06,-1.318, 0.161,-1.591,-0.785, PHS=-0.431, 0.991,-0.850, RAW= 342.6,   3.5, CAL= 342.1,   1.0, ROT= 167.9,  -1.0

2025-10-26T22:36:14.851Z,1761518174.851 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-10-26T22:36:14.852Z,1761518174.852 [DAT](INFO): direction in FSK: [-0.977634,0.209587,0.017452]
2025-10-26T22:36:14.853Z,1761518174.853 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:14.861Z,1761518174.861 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.201138
2025-10-26T22:36:15.084Z,1761518175.084 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.424953
2025-10-26T22:36:15.177Z,1761518175.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640946,-0.766555,-0.039767],[0.764072,0.632205,0.128492],[-0.073355,-0.112741,0.990913]]
2025-10-26T22:36:15.200Z,1761518175.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 0.504867 s,
      deltaX: 0.200000 m,
      approachRate: 0.396144 m/s,
      rangeRepo size: 4

2025-10-26T22:36:15.202Z,1761518175.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.146717 m,
      bearing: 217.846774 deg,
      lat: 36.779421 deg,
      lon: -121.859436 deg,
      deltaT: 0.504867 s,
      deltaX: 0.198841 m,
      approachRate: 0.393848 m/s,
      posRepo size: 4

2025-10-26T22:36:15.203Z,1761518175.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.15 m.
2025-10-26T22:36:15.337Z,1761518175.337 [DAT](INFO): DAT read: Rx Time:22:36:14.0250 

2025-10-26T22:36:15.337Z,1761518175.337 [DAT](INFO): Rx dataTimestamp_ set to:1761518175.337218
2025-10-26T22:36:15.339Z,1761518175.339 [DAT](INFO): DAT read: Bearing   8.2,  16.1 (Local)

2025-10-26T22:36:15.340Z,1761518175.340 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.2,  16.1 (Local)

2025-10-26T22:36:15.342Z,1761518175.342 [DAT](INFO): DAT read: Range 11 to 50 :     9.5 m (trip time 6.3 ms) speed -0.2

2025-10-26T22:36:15.348Z,1761518175.348 [DAT](INFO): DAT read: 22:36:14.0250 LVL= 32752, 29825, 32754, 32755, AGC= 67, IDX= 495, 0.33, 1.881,-2.838, 1.587, 2.448, PHS=-0.466, 1.042,-0.905, RAW= 342.4,   3.8, CAL= 342.0,   1.4, ROT= 168.0,  -1.4

2025-10-26T22:36:15.349Z,1761518175.349 [DAT](INFO): got valid direction response:
 22:36:14.0250 LVL= 32752, 29825, 32754, 32755, AGC= 67, IDX= 495, 0.33, 1.881,-2.838, 1.587, 2.448, PHS=-0.466, 1.042,-0.905, RAW= 342.4,   3.8, CAL= 342.0,   1.4, ROT= 168.0,  -1.4

2025-10-26T22:36:15.349Z,1761518175.349 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-10-26T22:36:15.350Z,1761518175.350 [DAT](INFO): direction in FSK: [-0.977856,0.207850,0.024432]
2025-10-26T22:36:15.351Z,1761518175.351 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:15.360Z,1761518175.360 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.700600
2025-10-26T22:36:15.574Z,1761518175.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643585,-0.764347,-0.039656],[0.761988,0.635008,0.127037],[-0.071919,-0.111977,0.991105]]
2025-10-26T22:36:15.590Z,1761518175.590 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.929764
2025-10-26T22:36:15.675Z,1761518175.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.500000 m,
      deltaT: 0.503024 s,
      deltaX: 0.300000 m,
      approachRate: 0.596393 m/s,
      rangeRepo size: 4

2025-10-26T22:36:15.681Z,1761518175.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.445180 m,
      bearing: 217.703795 deg,
      lat: 36.779421 deg,
      lon: -121.859436 deg,
      deltaT: 0.503024 s,
      deltaX: 0.298463 m,
      approachRate: 0.593337 m/s,
      posRepo size: 4

2025-10-26T22:36:15.682Z,1761518175.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.45 m.
2025-10-26T22:36:15.841Z,1761518175.841 [DAT](INFO): DAT read: Rx Time:22:36:14.5250 

2025-10-26T22:36:15.841Z,1761518175.841 [DAT](INFO): Rx dataTimestamp_ set to:1761518175.841200
2025-10-26T22:36:15.843Z,1761518175.843 [DAT](INFO): DAT read: Bearing 338.6,  19.5 (Local)

2025-10-26T22:36:15.843Z,1761518175.843 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.6,  19.5 (Local)

2025-10-26T22:36:15.845Z,1761518175.845 [DAT](INFO): DAT read: Range 11 to 50 :     9.6 m (trip time 6.4 ms) speed -0.3

2025-10-26T22:36:15.850Z,1761518175.850 [DAT](INFO): DAT read: 22:36:14.5250 LVL= 32752, 23761, 32754, 32755, AGC= 67, IDX= 512,-0.13, 3.076,-2.356, 2.728,-2.549, PHS=-0.556, 0.238,-1.051, RAW= 352.4,  23.3, CAL= 352.1,  28.0, ROT= 157.9, -28.0

2025-10-26T22:36:15.851Z,1761518175.851 [DAT](INFO): got valid direction response:
 22:36:14.5250 LVL= 32752, 23761, 32754, 32755, AGC= 67, IDX= 512,-0.13, 3.076,-2.356, 2.728,-2.549, PHS=-0.556, 0.238,-1.051, RAW= 352.4,  23.3, CAL= 352.1,  28.0, ROT= 157.9, -28.0

2025-10-26T22:36:15.852Z,1761518175.852 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-10-26T22:36:15.852Z,1761518175.852 [DAT](INFO): direction in FSK: [-0.818076,0.332186,0.469472]
2025-10-26T22:36:15.853Z,1761518175.853 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:15.856Z,1761518175.856 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.196972
2025-10-26T22:36:16.065Z,1761518176.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.503982 s,
      deltaX: 0.100000 m,
      approachRate: 0.198421 m/s,
      rangeRepo size: 4

2025-10-26T22:36:16.067Z,1761518176.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.544603 m,
      bearing: 203.822268 deg,
      lat: 36.779421 deg,
      lon: -121.859435 deg,
      deltaT: 0.503982 s,
      deltaX: 0.099423 m,
      approachRate: 0.197276 m/s,
      posRepo size: 4

2025-10-26T22:36:16.072Z,1761518176.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-10-26T22:36:16.097Z,1761518176.097 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.435753
2025-10-26T22:36:16.345Z,1761518176.345 [DAT](INFO): DAT read: Rx Time:22:36:15.0252 

2025-10-26T22:36:16.345Z,1761518176.345 [DAT](INFO): Rx dataTimestamp_ set to:1761518176.345074
2025-10-26T22:36:16.347Z,1761518176.347 [DAT](INFO): DAT read: Bearing   9.2,  16.1 (Local)

2025-10-26T22:36:16.347Z,1761518176.347 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.2,  16.1 (Local)

2025-10-26T22:36:16.349Z,1761518176.349 [DAT](INFO): DAT read: Range 11 to 50 :     9.9 m (trip time 6.6 ms) speed -0.4

2025-10-26T22:36:16.354Z,1761518176.354 [DAT](INFO): DAT read: 22:36:15.0252 LVL= 31328, 20929, 32754, 32755, AGC= 70, IDX=   2, 0.24, 2.143,-2.563, 1.835, 2.692, PHS=-0.446, 1.073,-0.901, RAW= 342.7,   3.1, CAL= 342.2,   0.3, ROT= 167.8,  -0.3

2025-10-26T22:36:16.355Z,1761518176.355 [DAT](INFO): got valid direction response:
 22:36:15.0252 LVL= 31328, 20929, 32754, 32755, AGC= 70, IDX=   2, 0.24, 2.143,-2.563, 1.835, 2.692, PHS=-0.446, 1.073,-0.901, RAW= 342.7,   3.1, CAL= 342.2,   0.3, ROT= 167.8,  -0.3

2025-10-26T22:36:16.355Z,1761518176.355 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-10-26T22:36:16.356Z,1761518176.356 [DAT](INFO): direction in FSK: [-0.977403,0.211322,0.005236]
2025-10-26T22:36:16.356Z,1761518176.356 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:16.360Z,1761518176.360 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.700558
2025-10-26T22:36:16.427Z,1761518176.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648499,-0.760355,-0.036200],[0.758111,0.640832,0.120843],[-0.068686,-0.105810,0.992011]]
2025-10-26T22:36:16.494Z,1761518176.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.900000 m,
      deltaT: 0.503874 s,
      deltaX: 0.299999 m,
      approachRate: 0.595385 m/s,
      rangeRepo size: 4

2025-10-26T22:36:16.501Z,1761518176.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.842790 m,
      bearing: 217.277885 deg,
      lat: 36.779420 deg,
      lon: -121.859435 deg,
      deltaT: 0.503874 s,
      deltaX: 0.298186 m,
      approachRate: 0.591787 m/s,
      posRepo size: 4

2025-10-26T22:36:16.501Z,1761518176.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.84 m.
2025-10-26T22:36:16.601Z,1761518176.601 [DAT](INFO): DAT read: Rx Time:22:36:15.5253 

2025-10-26T22:36:16.603Z,1761518176.603 [DAT](INFO): Rx dataTimestamp_ set to:1761518176.601755
2025-10-26T22:36:16.606Z,1761518176.606 [DAT](INFO): DAT read: Bearing  10.3,  15.5 (Local)

2025-10-26T22:36:16.607Z,1761518176.607 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.3,  15.5 (Local)

2025-10-26T22:36:16.609Z,1761518176.609 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.949409
2025-10-26T22:36:16.829Z,1761518176.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650727,-0.758490,-0.035307],[0.756391,0.643450,0.117664],[-0.066529,-0.103273,0.992426]]
2025-10-26T22:36:16.850Z,1761518176.850 [DAT](INFO): DAT read: Range 11 to 50 :    10.1 m (trip time 6.7 ms) speed -0.5

2025-10-26T22:36:16.855Z,1761518176.855 [DAT](INFO): DAT read: 22:36:15.5253 LVL= 32368, 23697, 32754, 32755, AGC= 66, IDX= 499,-0.15,-1.833,-0.220,-2.124,-1.290, PHS=-0.441, 1.115,-0.878, RAW= 342.0,   2.3, CAL= 341.6,  -0.6, ROT= 168.4,   0.6

2025-10-26T22:36:16.856Z,1761518176.856 [DAT](INFO): got valid direction response:
 22:36:15.5253 LVL= 32368, 23697, 32754, 32755, AGC= 66, IDX= 499,-0.15,-1.833,-0.220,-2.124,-1.290, PHS=-0.441, 1.115,-0.878, RAW= 342.0,   2.3, CAL= 341.6,  -0.6, ROT= 168.4,   0.6

2025-10-26T22:36:16.857Z,1761518176.857 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-10-26T22:36:16.858Z,1761518176.858 [DAT](INFO): direction in FSK: [-0.979522,0.201067,-0.010472]
2025-10-26T22:36:16.858Z,1761518176.858 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:16.862Z,1761518176.862 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.202106
2025-10-26T22:36:16.986Z,1761518176.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.100000 m,
      deltaT: 0.503295 s,
      deltaX: 0.200001 m,
      approachRate: 0.397383 m/s,
      rangeRepo size: 4

2025-10-26T22:36:16.992Z,1761518176.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.041635 m,
      bearing: 217.814859 deg,
      lat: 36.779420 deg,
      lon: -121.859435 deg,
      deltaT: 0.503295 s,
      deltaX: 0.198845 m,
      approachRate: 0.395086 m/s,
      posRepo size: 4

2025-10-26T22:36:16.992Z,1761518176.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m.
2025-10-26T22:36:17.106Z,1761518177.106 [DAT](INFO): DAT read: Rx Time:22:36:16.0254 

2025-10-26T22:36:17.108Z,1761518177.108 [DAT](INFO): Rx dataTimestamp_ set to:1761518177.107027
2025-10-26T22:36:17.111Z,1761518177.111 [DAT](INFO): DAT read: Bearing  10.3,  14.9 (Local)

2025-10-26T22:36:17.112Z,1761518177.112 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.3,  14.9 (Local)

2025-10-26T22:36:17.115Z,1761518177.115 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.454622
2025-10-26T22:36:17.239Z,1761518177.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652948,-0.756640,-0.033989],[0.754668,0.646124,0.114020],[-0.064311,-0.100099,0.992897]]
2025-10-26T22:36:17.262Z,1761518177.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m.
2025-10-26T22:36:17.355Z,1761518177.355 [DAT](INFO): DAT read: Range 11 to 50 :    10.2 m (trip time 6.8 ms) speed -0.3

2025-10-26T22:36:17.365Z,1761518177.365 [DAT](INFO): DAT read: 22:36:16.0254 LVL= 32752, 21825, 32754, 32755, AGC= 66, IDX= 500, 0.24,-0.525, 1.107,-0.806, 0.031, PHS=-0.454, 1.121,-0.881, RAW= 341.7,   2.4, CAL= 341.2,  -0.5, ROT= 168.8,   0.5

2025-10-26T22:36:17.366Z,1761518177.366 [DAT](INFO): got valid direction response:
 22:36:16.0254 LVL= 32752, 21825, 32754, 32755, AGC= 66, IDX= 500, 0.24,-0.525, 1.107,-0.806, 0.031, PHS=-0.454, 1.121,-0.881, RAW= 341.7,   2.4, CAL= 341.2,  -0.5, ROT= 168.8,   0.5

2025-10-26T22:36:17.367Z,1761518177.367 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-10-26T22:36:17.368Z,1761518177.368 [DAT](INFO): direction in FSK: [-0.980918,0.194227,-0.008727]
2025-10-26T22:36:17.368Z,1761518177.368 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:17.372Z,1761518177.372 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.713011
2025-10-26T22:36:17.608Z,1761518177.608 [DAT](INFO): DAT read: Rx Time:22:36:16.5255 

2025-10-26T22:36:17.610Z,1761518177.610 [DAT](INFO): Rx dataTimestamp_ set to:1761518177.608642
2025-10-26T22:36:17.613Z,1761518177.613 [DAT](INFO): DAT read: Bearing  10.3,  14.3 (Local)

2025-10-26T22:36:17.614Z,1761518177.614 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.3,  14.3 (Local)

2025-10-26T22:36:17.617Z,1761518177.617 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.956556
2025-10-26T22:36:17.751Z,1761518177.751 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  84.91,  76.42,  77.55
2025-10-26T22:36:17.788Z,1761518177.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.503893 s,
      deltaX: 0.099999 m,
      approachRate: 0.198454 m/s,
      rangeRepo size: 4

2025-10-26T22:36:17.790Z,1761518177.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.141011 m,
      bearing: 218.035106 deg,
      lat: 36.779420 deg,
      lon: -121.859435 deg,
      deltaT: 0.503893 s,
      deltaX: 0.099377 m,
      approachRate: 0.197218 m/s,
      posRepo size: 4

2025-10-26T22:36:17.790Z,1761518177.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T22:36:17.860Z,1761518177.860 [DAT](INFO): DAT read: Range 11 to 50 :    10.4 m (trip time 6.9 ms) speed -0.4

2025-10-26T22:36:17.865Z,1761518177.865 [DAT](INFO): DAT read: 22:36:16.5255 LVL= 31904, 20209, 32754, 32755, AGC= 65, IDX= 501,-0.23, 2.315,-2.322, 2.046, 2.880, PHS=-0.463, 1.126,-0.878, RAW= 341.3,   2.4, CAL= 340.8,  -0.5, ROT= 169.2,   0.5

2025-10-26T22:36:17.866Z,1761518177.866 [DAT](INFO): got valid direction response:
 22:36:16.5255 LVL= 31904, 20209, 32754, 32755, AGC= 65, IDX= 501,-0.23, 2.315,-2.322, 2.046, 2.880, PHS=-0.463, 1.126,-0.878, RAW= 341.3,   2.4, CAL= 340.8,  -0.5, ROT= 169.2,   0.5

2025-10-26T22:36:17.866Z,1761518177.866 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-26T22:36:17.867Z,1761518177.867 [DAT](INFO): direction in FSK: [-0.982250,0.187374,-0.008727]
2025-10-26T22:36:17.867Z,1761518177.867 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:17.871Z,1761518177.871 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.211395
2025-10-26T22:36:18.080Z,1761518178.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.400000 m,
      deltaT: 0.504606 s,
      deltaX: 0.200000 m,
      approachRate: 0.396348 m/s,
      rangeRepo size: 4

2025-10-26T22:36:18.082Z,1761518178.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.339854 m,
      bearing: 218.432889 deg,
      lat: 36.779421 deg,
      lon: -121.859437 deg,
      deltaT: 0.504606 s,
      deltaX: 0.198843 m,
      approachRate: 0.394056 m/s,
      posRepo size: 4

2025-10-26T22:36:18.082Z,1761518178.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m.
2025-10-26T22:36:18.125Z,1761518178.125 [DAT](INFO): DAT read: Rx Time:22:36:17.0257 

2025-10-26T22:36:18.127Z,1761518178.127 [DAT](INFO): Rx dataTimestamp_ set to:1761518178.125312
2025-10-26T22:36:18.135Z,1761518178.135 [DAT](INFO): DAT read: Bearing  10.5,  14.7 (Local)

2025-10-26T22:36:18.141Z,1761518178.141 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.5,  14.7 (Local)

2025-10-26T22:36:18.158Z,1761518178.158 [DAT](INFO): DAT read: Range 11 to 50 :    10.7 m (trip time 7.1 ms) speed -0.3

2025-10-26T22:36:18.167Z,1761518178.167 [DAT](INFO): DAT read: 22:36:17.0257 LVL= 29280, 19873, 32754, 32755, AGC= 65, IDX= 503, 0.08,-1.111, 0.535,-1.403,-0.560, PHS=-0.448, 1.140,-0.886, RAW= 341.8,   2.1, CAL= 341.4,  -0.8, ROT= 168.6,   0.8

2025-10-26T22:36:18.173Z,1761518178.173 [DAT](INFO): got valid direction response:
 22:36:17.0257 LVL= 29280, 19873, 32754, 32755, AGC= 65, IDX= 503, 0.08,-1.111, 0.535,-1.403,-0.560, PHS=-0.448, 1.140,-0.886, RAW= 341.8,   2.1, CAL= 341.4,  -0.8, ROT= 168.6,   0.8

2025-10-26T22:36:18.173Z,1761518178.173 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-10-26T22:36:18.175Z,1761518178.175 [DAT](INFO): direction in FSK: [-0.980176,0.197638,-0.013962]
2025-10-26T22:36:18.185Z,1761518178.185 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:18.193Z,1761518178.193 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.533703
2025-10-26T22:36:18.360Z,1761518178.360 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.700943
2025-10-26T22:36:18.512Z,1761518178.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.268444 s,
      deltaX: 0.300000 m,
      approachRate: 1.117552 m/s,
      rangeRepo size: 4

2025-10-26T22:36:18.514Z,1761518178.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.638004 m,
      bearing: 217.869522 deg,
      lat: 36.779422 deg,
      lon: -121.859437 deg,
      deltaT: 0.268444 s,
      deltaX: 0.298150 m,
      approachRate: 1.110660 m/s,
      posRepo size: 4

2025-10-26T22:36:18.515Z,1761518178.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m.
2025-10-26T22:36:18.616Z,1761518178.616 [DAT](INFO): DAT read: Rx Time:22:36:17.5257 

2025-10-26T22:36:18.617Z,1761518178.617 [DAT](INFO): Rx dataTimestamp_ set to:1761518178.616327
2025-10-26T22:36:18.620Z,1761518178.620 [DAT](INFO): DAT read: Bearing  10.1,  14.2 (Local)

2025-10-26T22:36:18.621Z,1761518178.621 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.1,  14.2 (Local)

2025-10-26T22:36:18.626Z,1761518178.626 [DAT](INFO): DAT read: Range 11 to 50 :    10.7 m (trip time 7.1 ms) speed -0.3

2025-10-26T22:36:18.649Z,1761518178.649 [DAT](ERROR): #Rx 46: Read range message, but no direction.
2025-10-26T22:36:18.656Z,1761518178.656 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.996550
2025-10-26T22:36:18.868Z,1761518178.868 [DAT](INFO): DAT read: 22:36:17.5257 LVL= 30144, 20977, 32754, 32755, AGC= 66, IDX= 504,-0.50, 2.884,-1.760, 2.602,-2.836, PHS=-0.462, 1.120,-0.890, RAW= 341.7,   2.5, CAL= 341.2,  -0.3, ROT= 168.8,   0.3

2025-10-26T22:36:18.869Z,1761518178.869 [DAT](INFO): got valid direction response:
 22:36:17.5257 LVL= 30144, 20977, 32754, 32755, AGC= 66, IDX= 504,-0.50, 2.884,-1.760, 2.602,-2.836, PHS=-0.462, 1.120,-0.890, RAW= 341.7,   2.5, CAL= 341.2,  -0.3, ROT= 168.8,   0.3

2025-10-26T22:36:18.870Z,1761518178.870 [DAT](INFO): #Rx 47: Read direction message, but no range.
2025-10-26T22:36:18.871Z,1761518178.871 [DAT](INFO): direction in FSK: [-0.980942,0.194232,-0.005236]
2025-10-26T22:36:18.874Z,1761518178.874 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.214714
2025-10-26T22:36:18.882Z,1761518178.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660703,-0.749917,-0.033104],[0.748901,0.655518,0.097176],[-0.051173,-0.088996,0.994716]]
2025-10-26T22:36:19.008Z,1761518179.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.491015 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:19.010Z,1761518179.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.638004 m,
      bearing: 217.448523 deg,
      lat: 36.779423 deg,
      lon: -121.859437 deg,
      deltaT: 0.491015 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:19.011Z,1761518179.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m.
2025-10-26T22:36:19.120Z,1761518179.120 [DAT](INFO): DAT read: Rx Time:22:36:18.0260 

2025-10-26T22:36:19.121Z,1761518179.121 [DAT](INFO): Rx dataTimestamp_ set to:1761518179.120502
2025-10-26T22:36:19.126Z,1761518179.126 [DAT](INFO): DAT read: Bearing  10.2,  13.9 (Local)

2025-10-26T22:36:19.127Z,1761518179.127 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.2,  13.9 (Local)

2025-10-26T22:36:19.140Z,1761518179.140 [DAT](INFO): DAT read: Range 11 to 50 :    11.1 m (trip time 7.4 ms) speed -0.3

2025-10-26T22:36:19.142Z,1761518179.142 [DAT](ERROR): #Rx 48: Read range message, but no direction.
2025-10-26T22:36:19.146Z,1761518179.146 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.486401
2025-10-26T22:36:19.281Z,1761518179.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661859,-0.748872,-0.033648],[0.748050,0.656890,0.094430],[-0.048614,-0.087670,0.994963]]
2025-10-26T22:36:19.304Z,1761518179.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.504175 s,
      deltaX: 0.400001 m,
      approachRate: 0.793376 m/s,
      rangeRepo size: 4

2025-10-26T22:36:19.305Z,1761518179.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m.
2025-10-26T22:36:19.373Z,1761518179.373 [DAT](INFO): DAT read: 22:36:18.0260 LVL= 30960, 19889, 32754, 32755, AGC= 66, IDX= 506,-0.05,-2.610,-0.957,-2.892,-2.044, PHS=-0.464, 1.131,-0.892, RAW= 341.6,   2.5, CAL= 341.1,  -0.4, ROT= 168.9,   0.4

2025-10-26T22:36:19.374Z,1761518179.374 [DAT](INFO): got valid direction response:
 22:36:18.0260 LVL= 30960, 19889, 32754, 32755, AGC= 66, IDX= 506,-0.05,-2.610,-0.957,-2.892,-2.044, PHS=-0.464, 1.131,-0.892, RAW= 341.6,   2.5, CAL= 341.1,  -0.4, ROT= 168.9,   0.4

2025-10-26T22:36:19.374Z,1761518179.374 [DAT](INFO): #Rx 49: Read direction message, but no range.
2025-10-26T22:36:19.375Z,1761518179.375 [DAT](INFO): direction in FSK: [-0.981269,0.192517,-0.006981]
2025-10-26T22:36:19.378Z,1761518179.378 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.719013
2025-10-26T22:36:19.624Z,1761518179.624 [DAT](INFO): DAT read: Rx Time:22:36:18.5260 

2025-10-26T22:36:19.626Z,1761518179.626 [DAT](INFO): Rx dataTimestamp_ set to:1761518179.624774
2025-10-26T22:36:19.629Z,1761518179.629 [DAT](INFO): DAT read: Bearing   8.6,  14.1 (Local)

2025-10-26T22:36:19.630Z,1761518179.630 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.6,  14.1 (Local)

2025-10-26T22:36:19.635Z,1761518179.635 [DAT](INFO): DAT read: Range 11 to 50 :    11.1 m (trip time 7.4 ms) speed -0.4

2025-10-26T22:36:19.639Z,1761518179.639 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-10-26T22:36:19.642Z,1761518179.642 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.982046
2025-10-26T22:36:19.742Z,1761518179.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662937,-0.747872,-0.034656],[0.747249,0.658110,0.092252],[-0.046185,-0.087054,0.995132]]
2025-10-26T22:36:19.836Z,1761518179.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.504272 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:19.838Z,1761518179.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.035659 m,
      bearing: 217.397442 deg,
      lat: 36.779424 deg,
      lon: -121.859438 deg,
      deltaT: 1.008447 s,
      deltaX: 0.397655 m,
      approachRate: 0.394324 m/s,
      posRepo size: 4

2025-10-26T22:36:19.838Z,1761518179.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m.
2025-10-26T22:36:19.876Z,1761518179.876 [DAT](INFO): DAT read: 22:36:18.5260 LVL= 32752, 22161, 32754, 32755, AGC= 67, IDX= 506, 0.15,-0.829, 0.804,-1.126,-0.242, PHS=-0.485, 1.091,-0.928, RAW= 342.1,   3.5, CAL= 341.6,   1.0, ROT= 168.4,  -1.0

2025-10-26T22:36:19.878Z,1761518179.878 [DAT](INFO): got valid direction response:
 22:36:18.5260 LVL= 32752, 22161, 32754, 32755, AGC= 67, IDX= 506, 0.15,-0.829, 0.804,-1.126,-0.242, PHS=-0.485, 1.091,-0.928, RAW= 342.1,   3.5, CAL= 341.6,   1.0, ROT= 168.4,  -1.0

2025-10-26T22:36:19.878Z,1761518179.878 [DAT](INFO): #Rx 51: Read direction message, but no range.
2025-10-26T22:36:19.879Z,1761518179.879 [DAT](INFO): direction in FSK: [-0.979426,0.201047,0.017452]
2025-10-26T22:36:19.882Z,1761518179.882 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.222931
2025-10-26T22:36:20.106Z,1761518180.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663309,-0.747452,-0.036570],[0.747075,0.658544,0.090549],[-0.043598,-0.087382,0.995220]]
2025-10-26T22:36:20.129Z,1761518180.129 [DAT](INFO): DAT read: Rx Time:22:36:19.0262 

2025-10-26T22:36:20.131Z,1761518180.131 [DAT](INFO): Rx dataTimestamp_ set to:1761518180.129991
2025-10-26T22:36:20.135Z,1761518180.135 [DAT](INFO): DAT read: Bearing   6.8,  14.0 (Local)

2025-10-26T22:36:20.136Z,1761518180.136 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.8,  14.0 (Local)

2025-10-26T22:36:20.147Z,1761518180.147 [DAT](INFO): DAT read: Range 11 to 50 :    11.4 m (trip time 7.6 ms) speed -0.5

2025-10-26T22:36:20.172Z,1761518180.172 [DAT](INFO): DAT read: 22:36:19.0262 LVL= 32752, 24449, 32754, 32755, AGC= 67, IDX= 508, 0.40, 2.016,-2.644, 1.713, 2.631, PHS=-0.513, 1.052,-0.962, RAW= 342.3,   4.7, CAL= 341.9,   2.8, ROT= 168.1,  -2.8

2025-10-26T22:36:20.173Z,1761518180.173 [DAT](INFO): got valid direction response:
 22:36:19.0262 LVL= 32752, 24449, 32754, 32755, AGC= 67, IDX= 508, 0.40, 2.016,-2.644, 1.713, 2.631, PHS=-0.513, 1.052,-0.962, RAW= 342.3,   4.7, CAL= 341.9,   2.8, ROT= 168.1,  -2.8

2025-10-26T22:36:20.174Z,1761518180.174 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-10-26T22:36:20.175Z,1761518180.175 [DAT](INFO): direction in FSK: [-0.977341,0.205958,0.048850]
2025-10-26T22:36:20.175Z,1761518180.175 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:20.191Z,1761518180.191 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.531191
2025-10-26T22:36:20.219Z,1761518180.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.400000 m,
      deltaT: 0.505217 s,
      deltaX: 0.299999 m,
      approachRate: 0.593803 m/s,
      rangeRepo size: 4

2025-10-26T22:36:20.225Z,1761518180.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.333919 m,
      bearing: 216.276275 deg,
      lat: 36.779424 deg,
      lon: -121.859438 deg,
      deltaT: 0.505217 s,
      deltaX: 0.298260 m,
      approachRate: 0.590360 m/s,
      posRepo size: 4

2025-10-26T22:36:20.226Z,1761518180.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-10-26T22:36:20.377Z,1761518180.377 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.717257
2025-10-26T22:36:20.500Z,1761518180.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663575,-0.747132,-0.038230],[0.746975,0.658891,0.088830],[-0.041178,-0.087502,0.995313]]
2025-10-26T22:36:20.519Z,1761518180.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m.
2025-10-26T22:36:20.632Z,1761518180.632 [DAT](INFO): DAT read: Rx Time:22:36:19.5263 

2025-10-26T22:36:20.634Z,1761518180.634 [DAT](INFO): Rx dataTimestamp_ set to:1761518180.633020
2025-10-26T22:36:20.638Z,1761518180.638 [DAT](INFO): DAT read: Bearing   5.0,  13.9 (Local)

2025-10-26T22:36:20.650Z,1761518180.650 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.0,  13.9 (Local)

2025-10-26T22:36:20.655Z,1761518180.655 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed -0.4

2025-10-26T22:36:20.672Z,1761518180.672 [DAT](INFO): DAT read: 22:36:19.5263 LVL= 32752, 31697, 32754, 32755, AGC= 66, IDX= 509,-0.18,-0.301, 1.311,-0.608, 0.341, PHS=-0.540, 1.015,-0.993, RAW= 342.4,   5.7, CAL= 342.1,   4.5, ROT= 167.9,  -4.5

2025-10-26T22:36:20.673Z,1761518180.673 [DAT](INFO): got valid direction response:
 22:36:19.5263 LVL= 32752, 31697, 32754, 32755, AGC= 66, IDX= 509,-0.18,-0.301, 1.311,-0.608, 0.341, PHS=-0.540, 1.015,-0.993, RAW= 342.4,   5.7, CAL= 342.1,   4.5, ROT= 167.9,  -4.5

2025-10-26T22:36:20.674Z,1761518180.674 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-10-26T22:36:20.675Z,1761518180.675 [DAT](INFO): direction in FSK: [-0.974769,0.208972,0.078459]
2025-10-26T22:36:20.675Z,1761518180.675 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:20.687Z,1761518180.687 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.027323
2025-10-26T22:36:20.880Z,1761518180.880 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.220955
2025-10-26T22:36:20.902Z,1761518180.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663919,-0.746775,-0.039226],[0.746796,0.659389,0.086609],[-0.038812,-0.086795,0.995470]]
2025-10-26T22:36:21.038Z,1761518181.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.503029 s,
      deltaX: 0.200001 m,
      approachRate: 0.397593 m/s,
      rangeRepo size: 4

2025-10-26T22:36:21.044Z,1761518181.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.533104 m,
      bearing: 215.886010 deg,
      lat: 36.779423 deg,
      lon: -121.859438 deg,
      deltaT: 0.503029 s,
      deltaX: 0.199185 m,
      approachRate: 0.395972 m/s,
      posRepo size: 4

2025-10-26T22:36:21.045Z,1761518181.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-10-26T22:36:21.137Z,1761518181.137 [DAT](INFO): DAT read: Rx Time:22:36:20.0264 

2025-10-26T22:36:21.139Z,1761518181.139 [DAT](INFO): Rx dataTimestamp_ set to:1761518181.137512
2025-10-26T22:36:21.143Z,1761518181.143 [DAT](INFO): DAT read: Bearing   6.6,  14.9 (Local)

2025-10-26T22:36:21.144Z,1761518181.144 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.6,  14.9 (Local)

2025-10-26T22:36:21.150Z,1761518181.150 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed -0.4

2025-10-26T22:36:21.175Z,1761518181.175 [DAT](INFO): DAT read: 22:36:20.0264 LVL= 32752, 28369, 32754, 32755, AGC= 66, IDX= 510, 0.10, 2.344,-2.330, 1.997, 2.942, PHS=-0.496, 1.057,-0.989, RAW= 343.4,   4.7, CAL= 343.0,   2.8, ROT= 167.0,  -2.8

2025-10-26T22:36:21.177Z,1761518181.177 [DAT](INFO): got valid direction response:
 22:36:20.0264 LVL= 32752, 28369, 32754, 32755, AGC= 66, IDX= 510, 0.10, 2.344,-2.330, 1.997, 2.942, PHS=-0.496, 1.057,-0.989, RAW= 343.4,   4.7, CAL= 343.0,   2.8, ROT= 167.0,  -2.8

2025-10-26T22:36:21.178Z,1761518181.178 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-10-26T22:36:21.185Z,1761518181.185 [DAT](INFO): direction in FSK: [-0.973207,0.224683,0.048850]
2025-10-26T22:36:21.185Z,1761518181.185 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:21.193Z,1761518181.193 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.533895
2025-10-26T22:36:21.320Z,1761518181.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663897,-0.746850,-0.038162],[0.746929,0.659743,0.082675],[-0.036568,-0.083392,0.995846]]
2025-10-26T22:36:21.368Z,1761518181.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.504492 s,
      deltaX: 0.099999 m,
      approachRate: 0.198218 m/s,
      rangeRepo size: 4

2025-10-26T22:36:21.370Z,1761518181.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.632635 m,
      bearing: 215.161414 deg,
      lat: 36.779423 deg,
      lon: -121.859437 deg,
      deltaT: 0.504492 s,
      deltaX: 0.099531 m,
      approachRate: 0.197290 m/s,
      posRepo size: 4

2025-10-26T22:36:21.371Z,1761518181.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:36:21.384Z,1761518181.384 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.725052
2025-10-26T22:36:21.642Z,1761518181.642 [DAT](INFO): DAT read: Rx Time:22:36:20.5264 

2025-10-26T22:36:21.652Z,1761518181.652 [DAT](INFO): Rx dataTimestamp_ set to:1761518181.642869
2025-10-26T22:36:21.655Z,1761518181.655 [DAT](INFO): DAT read: Bearing   7.2,  15.0 (Local)

2025-10-26T22:36:21.655Z,1761518181.655 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.2,  15.0 (Local)

2025-10-26T22:36:21.657Z,1761518181.657 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed -0.4

2025-10-26T22:36:21.686Z,1761518181.686 [DAT](INFO): DAT read: 22:36:20.5264 LVL= 32752, 26721, 32754, 32755, AGC= 65, IDX= 511,-0.43,-0.668, 0.952,-1.031,-0.083, PHS=-0.484, 1.080,-0.993, RAW= 343.6,   4.3, CAL= 343.2,   2.2, ROT= 166.8,  -2.2

2025-10-26T22:36:21.692Z,1761518181.692 [DAT](INFO): got valid direction response:
 22:36:20.5264 LVL= 32752, 26721, 32754, 32755, AGC= 65, IDX= 511,-0.43,-0.668, 0.952,-1.031,-0.083, PHS=-0.484, 1.080,-0.993, RAW= 343.6,   4.3, CAL= 343.2,   2.2, ROT= 166.8,  -2.2

2025-10-26T22:36:21.692Z,1761518181.692 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-10-26T22:36:21.693Z,1761518181.693 [DAT](INFO): direction in FSK: [-0.972861,0.228182,0.038388]
2025-10-26T22:36:21.694Z,1761518181.694 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:21.765Z,1761518181.765 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.105373
2025-10-26T22:36:21.889Z,1761518181.889 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.229155
2025-10-26T22:36:21.894Z,1761518181.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.505357 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:21.900Z,1761518181.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.632635 m,
      bearing: 215.015962 deg,
      lat: 36.779423 deg,
      lon: -121.859437 deg,
      deltaT: 0.505357 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:21.901Z,1761518181.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-10-26T22:36:22.144Z,1761518182.144 [DAT](INFO): DAT read: Rx Time:22:36:21.0267 

2025-10-26T22:36:22.145Z,1761518182.145 [DAT](INFO): Rx dataTimestamp_ set to:1761518182.144642
2025-10-26T22:36:22.149Z,1761518182.149 [DAT](INFO): DAT read: Bearing  11.8,  15.0 (Local)

2025-10-26T22:36:22.150Z,1761518182.150 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.8,  15.0 (Local)

2025-10-26T22:36:22.155Z,1761518182.155 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed -0.4

2025-10-26T22:36:22.163Z,1761518182.163 [DAT](INFO): DAT read: 22:36:21.0267 LVL= 32752, 25793, 32754, 32755, AGC= 65, IDX= 513,-0.08,-1.640,-0.057,-1.982,-1.170, PHS=-0.368, 1.157,-0.856, RAW= 343.4,   0.7, CAL= 343.0,  -2.2, ROT= 167.0,   2.2

2025-10-26T22:36:22.164Z,1761518182.164 [DAT](INFO): got valid direction response:
 22:36:21.0267 LVL= 32752, 25793, 32754, 32755, AGC= 65, IDX= 513,-0.08,-1.640,-0.057,-1.982,-1.170, PHS=-0.368, 1.157,-0.856, RAW= 343.4,   0.7, CAL= 343.0,  -2.2, ROT= 167.0,   2.2

2025-10-26T22:36:22.165Z,1761518182.165 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-10-26T22:36:22.166Z,1761518182.166 [DAT](INFO): direction in FSK: [-0.973652,0.224785,-0.038388]
2025-10-26T22:36:22.166Z,1761518182.166 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:22.170Z,1761518182.170 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.510860
2025-10-26T22:36:22.216Z,1761518182.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663193,-0.747512,-0.037438],[0.747741,0.659561,0.076565],[-0.032541,-0.078771,0.996361]]
2025-10-26T22:36:22.305Z,1761518182.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.501773 s,
      deltaX: 0.500000 m,
      approachRate: 0.996467 m/s,
      rangeRepo size: 4

2025-10-26T22:36:22.307Z,1761518182.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.129757 m,
      bearing: 215.654110 deg,
      lat: 36.779422 deg,
      lon: -121.859437 deg,
      deltaT: 0.501773 s,
      deltaX: 0.497122 m,
      approachRate: 0.990730 m/s,
      posRepo size: 4

2025-10-26T22:36:22.307Z,1761518182.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m.
2025-10-26T22:36:22.393Z,1761518182.393 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.733347
2025-10-26T22:36:22.578Z,1761518182.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662988,-0.747666,-0.037980],[0.747998,0.659491,0.074636],[-0.030756,-0.077892,0.996487]]
2025-10-26T22:36:22.648Z,1761518182.648 [DAT](INFO): DAT read: Rx Time:22:36:21.5267 

2025-10-26T22:36:22.650Z,1761518182.650 [DAT](INFO): Rx dataTimestamp_ set to:1761518182.648823
2025-10-26T22:36:22.654Z,1761518182.654 [DAT](INFO): DAT read: Bearing  19.3,   6.1 (Local)

2025-10-26T22:36:22.654Z,1761518182.654 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.3,   6.1 (Local)

2025-10-26T22:36:22.656Z,1761518182.656 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed -0.4

2025-10-26T22:36:22.665Z,1761518182.665 [DAT](INFO): DAT read: 22:36:21.5267 LVL= 32304, 25521, 32754, 32755, AGC= 64, IDX= 513, 0.19,-1.698, 0.303,-1.720,-1.204, PHS=-0.391, 1.552,-0.560, RAW= 334.1,  -6.0, CAL= 333.6,  -9.0, ROT= 176.4,   9.0

2025-10-26T22:36:22.666Z,1761518182.666 [DAT](INFO): got valid direction response:
 22:36:21.5267 LVL= 32304, 25521, 32754, 32755, AGC= 64, IDX= 513, 0.19,-1.698, 0.303,-1.720,-1.204, PHS=-0.391, 1.552,-0.560, RAW= 334.1,  -6.0, CAL= 333.6,  -9.0, ROT= 176.4,   9.0

2025-10-26T22:36:22.667Z,1761518182.667 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-10-26T22:36:22.669Z,1761518182.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m.
2025-10-26T22:36:22.676Z,1761518182.676 [DAT](INFO): direction in FSK: [-0.985739,0.062018,-0.156434]
2025-10-26T22:36:22.676Z,1761518182.676 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:22.689Z,1761518182.689 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.029102
2025-10-26T22:36:22.896Z,1761518182.896 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.236897
2025-10-26T22:36:22.983Z,1761518182.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662964,-0.747668,-0.038352],[0.748092,0.659618,0.072544],[-0.028941,-0.076785,0.996628]]
2025-10-26T22:36:23.034Z,1761518183.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.504181 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:23.037Z,1761518183.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.129880 m,
      bearing: 225.571623 deg,
      lat: 36.779423 deg,
      lon: -121.859437 deg,
      deltaT: 0.504181 s,
      deltaX: 0.000123 m,
      approachRate: 0.000244 m/s,
      posRepo size: 4

2025-10-26T22:36:23.037Z,1761518183.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m.
2025-10-26T22:36:23.153Z,1761518183.153 [DAT](INFO): DAT read: Rx Time:22:36:22.0270 

2025-10-26T22:36:23.154Z,1761518183.154 [DAT](INFO): Rx dataTimestamp_ set to:1761518183.153997
2025-10-26T22:36:23.156Z,1761518183.156 [DAT](INFO): DAT read: Bearing   5.2,  14.3 (Local)

2025-10-26T22:36:23.156Z,1761518183.156 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.2,  14.3 (Local)

2025-10-26T22:36:23.158Z,1761518183.158 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.4

2025-10-26T22:36:23.163Z,1761518183.163 [DAT](INFO): DAT read: 22:36:22.0270 LVL= 32752, 24641, 32754, 32755, AGC= 69, IDX=   4,-0.31, 0.850, 2.484, 0.494, 1.482, PHS=-0.530, 1.046,-1.032, RAW= 343.4,   5.5, CAL= 343.1,   4.2, ROT= 166.9,  -4.2

2025-10-26T22:36:23.166Z,1761518183.166 [DAT](INFO): got valid direction response:
 22:36:22.0270 LVL= 32752, 24641, 32754, 32755, AGC= 69, IDX=   4,-0.31, 0.850, 2.484, 0.494, 1.482, PHS=-0.530, 1.046,-1.032, RAW= 343.4,   5.5, CAL= 343.1,   4.2, ROT= 166.9,  -4.2

2025-10-26T22:36:23.166Z,1761518183.166 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-10-26T22:36:23.171Z,1761518183.171 [DAT](INFO): direction in FSK: [-0.971360,0.226043,0.073238]
2025-10-26T22:36:23.172Z,1761518183.172 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:23.180Z,1761518183.180 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.515818
2025-10-26T22:36:23.386Z,1761518183.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662897,-0.747708,-0.038727],[0.748210,0.659675,0.070792],[-0.027384,-0.075904,0.996739]]
2025-10-26T22:36:23.400Z,1761518183.400 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.740856
2025-10-26T22:36:23.438Z,1761518183.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.505174 s,
      deltaX: 0.300000 m,
      approachRate: 0.593855 m/s,
      rangeRepo size: 4

2025-10-26T22:36:23.447Z,1761518183.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.428173 m,
      bearing: 215.060225 deg,
      lat: 36.779422 deg,
      lon: -121.859436 deg,
      deltaT: 0.505174 s,
      deltaX: 0.298293 m,
      approachRate: 0.590476 m/s,
      posRepo size: 4

2025-10-26T22:36:23.452Z,1761518183.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m.
2025-10-26T22:36:23.656Z,1761518183.656 [DAT](INFO): DAT read: Rx Time:22:36:22.5270 

2025-10-26T22:36:23.657Z,1761518183.657 [DAT](INFO): Rx dataTimestamp_ set to:1761518183.656471
2025-10-26T22:36:23.658Z,1761518183.658 [DAT](INFO): DAT read: Bearing   7.1,  14.4 (Local)

2025-10-26T22:36:23.658Z,1761518183.658 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.1,  14.4 (Local)

2025-10-26T22:36:23.661Z,1761518183.661 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.4

2025-10-26T22:36:23.671Z,1761518183.671 [DAT](INFO): DAT read: 22:36:22.5270 LVL= 32752, 26945, 32754, 32755, AGC= 66, IDX= 500, 0.05, 0.274, 1.894,-0.084, 0.866, PHS=-0.489, 1.073,-0.994, RAW= 343.5,   4.4, CAL= 343.2,   2.4, ROT= 166.8,  -2.4

2025-10-26T22:36:23.672Z,1761518183.672 [DAT](INFO): got valid direction response:
 22:36:22.5270 LVL= 32752, 26945, 32754, 32755, AGC= 66, IDX= 500, 0.05, 0.274, 1.894,-0.084, 0.866, PHS=-0.489, 1.073,-0.994, RAW= 343.5,   4.4, CAL= 343.2,   2.4, ROT= 166.8,  -2.4

2025-10-26T22:36:23.672Z,1761518183.672 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-26T22:36:23.673Z,1761518183.673 [DAT](INFO): direction in FSK: [-0.972725,0.228150,0.041876]
2025-10-26T22:36:23.674Z,1761518183.674 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:23.678Z,1761518183.678 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.017996
2025-10-26T22:36:23.829Z,1761518183.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662698,-0.747845,-0.039491],[0.748446,0.659574,0.069216],[-0.025715,-0.075426,0.996820]]
2025-10-26T22:36:23.905Z,1761518183.905 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.245129
2025-10-26T22:36:23.913Z,1761518183.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.502474 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:23.915Z,1761518183.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.428173 m,
      bearing: 215.124683 deg,
      lat: 36.779423 deg,
      lon: -121.859436 deg,
      deltaT: 0.502474 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:23.915Z,1761518183.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m.
2025-10-26T22:36:24.157Z,1761518184.157 [DAT](INFO): DAT read: Rx Time:22:36:23.0273 

2025-10-26T22:36:24.158Z,1761518184.158 [DAT](INFO): Rx dataTimestamp_ set to:1761518184.157418
2025-10-26T22:36:24.159Z,1761518184.159 [DAT](INFO): DAT read: Bearing   7.6,  14.4 (Local)

2025-10-26T22:36:24.159Z,1761518184.159 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.6,  14.4 (Local)

2025-10-26T22:36:24.161Z,1761518184.161 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed -0.4

2025-10-26T22:36:24.166Z,1761518184.166 [DAT](INFO): DAT read: 22:36:23.0273 LVL= 32752, 25281, 32754, 32755, AGC= 67, IDX= 502, 0.50, 0.594, 2.222, 0.231, 1.176, PHS=-0.480, 1.091,-0.989, RAW= 343.6,   4.1, CAL= 343.2,   1.8, ROT= 166.8,  -1.8

2025-10-26T22:36:24.167Z,1761518184.167 [DAT](INFO): got valid direction response:
 22:36:23.0273 LVL= 32752, 25281, 32754, 32755, AGC= 67, IDX= 502, 0.50, 0.594, 2.222, 0.231, 1.176, PHS=-0.480, 1.091,-0.989, RAW= 343.6,   4.1, CAL= 343.2,   1.8, ROT= 166.8,  -1.8

2025-10-26T22:36:24.168Z,1761518184.168 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-26T22:36:24.169Z,1761518184.169 [DAT](INFO): direction in FSK: [-0.973099,0.228238,0.031411]
2025-10-26T22:36:24.169Z,1761518184.169 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:24.178Z,1761518184.178 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.518133
2025-10-26T22:36:24.227Z,1761518184.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662777,-0.747791,-0.039172],[0.748424,0.659831,0.066969],[-0.024232,-0.073703,0.996986]]
2025-10-26T22:36:24.314Z,1761518184.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.500947 s,
      deltaX: 0.400000 m,
      approachRate: 0.798487 m/s,
      rangeRepo size: 4

2025-10-26T22:36:24.320Z,1761518184.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.825846 m,
      bearing: 215.170127 deg,
      lat: 36.779422 deg,
      lon: -121.859437 deg,
      deltaT: 0.500947 s,
      deltaX: 0.397673 m,
      approachRate: 0.793842 m/s,
      posRepo size: 4

2025-10-26T22:36:24.324Z,1761518184.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-10-26T22:36:24.409Z,1761518184.409 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.749264
2025-10-26T22:36:24.656Z,1761518184.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663077,-0.747539,-0.038915],[0.748204,0.660292,0.064848],[-0.022781,-0.072115,0.997136]]
2025-10-26T22:36:24.661Z,1761518184.661 [DAT](INFO): DAT read: Rx Time:22:36:23.5273 

2025-10-26T22:36:24.662Z,1761518184.662 [DAT](INFO): Rx dataTimestamp_ set to:1761518184.661232
2025-10-26T22:36:24.663Z,1761518184.663 [DAT](INFO): DAT read: Bearing   8.6,  14.7 (Local)

2025-10-26T22:36:24.663Z,1761518184.663 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.6,  14.7 (Local)

2025-10-26T22:36:24.665Z,1761518184.665 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed -0.3

2025-10-26T22:36:24.670Z,1761518184.670 [DAT](INFO): DAT read: 22:36:23.5273 LVL= 32752, 24241, 32754, 32755, AGC= 67, IDX= 503,-0.10,-2.230,-0.603,-2.610,-1.671, PHS=-0.458, 1.112,-0.984, RAW= 344.0,   3.5, CAL= 343.5,   1.0, ROT= 166.5,  -1.0

2025-10-26T22:36:24.688Z,1761518184.688 [DAT](INFO): got valid direction response:
 22:36:23.5273 LVL= 32752, 24241, 32754, 32755, AGC= 67, IDX= 503,-0.10,-2.230,-0.603,-2.610,-1.671, PHS=-0.458, 1.112,-0.984, RAW= 344.0,   3.5, CAL= 343.5,   1.0, ROT= 166.5,  -1.0

2025-10-26T22:36:24.688Z,1761518184.688 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-10-26T22:36:24.689Z,1761518184.689 [DAT](INFO): direction in FSK: [-0.972222,0.233410,0.017452]
2025-10-26T22:36:24.689Z,1761518184.689 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:24.693Z,1761518184.693 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.033705
2025-10-26T22:36:24.831Z,1761518184.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.503814 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:24.860Z,1761518184.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.825846 m,
      bearing: 214.912025 deg,
      lat: 36.779423 deg,
      lon: -121.859436 deg,
      deltaT: 0.503814 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:24.861Z,1761518184.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-10-26T22:36:24.913Z,1761518184.913 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.253504
2025-10-26T22:36:25.089Z,1761518185.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663409,-0.747248,-0.038846],[0.747955,0.660769,0.062832],[-0.021282,-0.070738,0.997268]]
2025-10-26T22:36:25.165Z,1761518185.165 [DAT](INFO): DAT read: Rx Time:22:36:24.0274 

2025-10-26T22:36:25.165Z,1761518185.165 [DAT](INFO): Rx dataTimestamp_ set to:1761518185.165220
2025-10-26T22:36:25.167Z,1761518185.167 [DAT](INFO): DAT read: Bearing   7.2,  14.9 (Local)

2025-10-26T22:36:25.167Z,1761518185.167 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.2,  14.9 (Local)

2025-10-26T22:36:25.169Z,1761518185.169 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed -0.6

2025-10-26T22:36:25.174Z,1761518185.174 [DAT](INFO): DAT read: 22:36:24.0274 LVL= 32752, 24737, 32754, 32755, AGC= 69, IDX= 504, 0.17,-0.535, 1.076,-0.929, 0.041, PHS=-0.474, 1.080,-1.013, RAW= 344.4,   4.4, CAL= 344.0,   2.3, ROT= 166.0,  -2.3

2025-10-26T22:36:25.176Z,1761518185.176 [DAT](INFO): got valid direction response:
 22:36:24.0274 LVL= 32752, 24737, 32754, 32755, AGC= 69, IDX= 504, 0.17,-0.535, 1.076,-0.929, 0.041, PHS=-0.474, 1.080,-1.013, RAW= 344.4,   4.4, CAL= 344.0,   2.3, ROT= 166.0,  -2.3

2025-10-26T22:36:25.176Z,1761518185.176 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-10-26T22:36:25.177Z,1761518185.177 [DAT](INFO): direction in FSK: [-0.969514,0.241727,0.040132]
2025-10-26T22:36:25.178Z,1761518185.178 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:25.190Z,1761518185.190 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.530148
2025-10-26T22:36:25.233Z,1761518185.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.503988 s,
      deltaX: 0.200001 m,
      approachRate: 0.396836 m/s,
      rangeRepo size: 4

2025-10-26T22:36:25.235Z,1761518185.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.024696 m,
      bearing: 214.294027 deg,
      lat: 36.779422 deg,
      lon: -121.859436 deg,
      deltaT: 0.503988 s,
      deltaX: 0.198851 m,
      approachRate: 0.394554 m/s,
      posRepo size: 4

2025-10-26T22:36:25.236Z,1761518185.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-10-26T22:36:25.416Z,1761518185.416 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.757029
2025-10-26T22:36:25.490Z,1761518185.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663885,-0.746809,-0.039144],[0.747563,0.661323,0.061653],[-0.020157,-0.070193,0.997330]]
2025-10-26T22:36:25.574Z,1761518185.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-10-26T22:36:25.669Z,1761518185.669 [DAT](INFO): DAT read: Rx Time:22:36:24.5275 

2025-10-26T22:36:25.670Z,1761518185.670 [DAT](INFO): Rx dataTimestamp_ set to:1761518185.669632
2025-10-26T22:36:25.671Z,1761518185.671 [DAT](INFO): DAT read: Bearing   8.2,  14.9 (Local)

2025-10-26T22:36:25.672Z,1761518185.672 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.2,  14.9 (Local)

2025-10-26T22:36:25.674Z,1761518185.674 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed -0.3

2025-10-26T22:36:25.679Z,1761518185.679 [DAT](INFO): DAT read: 22:36:24.5275 LVL= 32752, 25873, 32754, 32755, AGC= 67, IDX= 504, 0.49,-1.713,-0.106,-2.103,-1.158, PHS=-0.453, 1.097,-0.990, RAW= 344.3,   3.7, CAL= 343.9,   1.3, ROT= 166.1,  -1.3

2025-10-26T22:36:25.680Z,1761518185.680 [DAT](INFO): got valid direction response:
 22:36:24.5275 LVL= 32752, 25873, 32754, 32755, AGC= 67, IDX= 504, 0.49,-1.713,-0.106,-2.103,-1.158, PHS=-0.453, 1.097,-0.990, RAW= 344.3,   3.7, CAL= 343.9,   1.3, ROT= 166.1,  -1.3

2025-10-26T22:36:25.680Z,1761518185.680 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-10-26T22:36:25.681Z,1761518185.681 [DAT](INFO): direction in FSK: [-0.970467,0.240166,0.022687]
2025-10-26T22:36:25.682Z,1761518185.682 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:25.685Z,1761518185.685 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.026047
2025-10-26T22:36:25.894Z,1761518185.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664356,-0.746376,-0.039419],[0.747162,0.661829,0.061087],[-0.019505,-0.070036,0.997354]]
2025-10-26T22:36:25.920Z,1761518185.920 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.261040
2025-10-26T22:36:25.998Z,1761518185.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.504412 s,
      deltaX: 0.099999 m,
      approachRate: 0.198250 m/s,
      rangeRepo size: 4

2025-10-26T22:36:26.004Z,1761518186.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.124134 m,
      bearing: 214.397680 deg,
      lat: 36.779423 deg,
      lon: -121.859435 deg,
      deltaT: 0.504412 s,
      deltaX: 0.099438 m,
      approachRate: 0.197136 m/s,
      posRepo size: 4

2025-10-26T22:36:26.005Z,1761518186.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m.
2025-10-26T22:36:26.173Z,1761518186.173 [DAT](INFO): DAT read: Rx Time:22:36:25.0277 

2025-10-26T22:36:26.173Z,1761518186.173 [DAT](INFO): Rx dataTimestamp_ set to:1761518186.173197
2025-10-26T22:36:26.175Z,1761518186.175 [DAT](INFO): DAT read: Bearing   6.4,  14.3 (Local)

2025-10-26T22:36:26.175Z,1761518186.175 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.4,  14.3 (Local)

2025-10-26T22:36:26.177Z,1761518186.177 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed -0.4

2025-10-26T22:36:26.182Z,1761518186.182 [DAT](INFO): DAT read: 22:36:25.0277 LVL= 32752, 28001, 32754, 32755, AGC= 69, IDX= 507,-0.21,-1.798,-0.193,-2.170,-1.204, PHS=-0.492, 1.056,-1.010, RAW= 343.9,   4.9, CAL= 343.6,   3.0, ROT= 166.4,  -3.0

2025-10-26T22:36:26.183Z,1761518186.183 [DAT](INFO): got valid direction response:
 22:36:25.0277 LVL= 32752, 28001, 32754, 32755, AGC= 69, IDX= 507,-0.21,-1.798,-0.193,-2.170,-1.204, PHS=-0.492, 1.056,-1.010, RAW= 343.9,   4.9, CAL= 343.6,   3.0, ROT= 166.4,  -3.0

2025-10-26T22:36:26.183Z,1761518186.183 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-26T22:36:26.184Z,1761518186.184 [DAT](INFO): direction in FSK: [-0.970629,0.234820,0.052336]
2025-10-26T22:36:26.185Z,1761518186.185 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:26.208Z,1761518186.208 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.548618
2025-10-26T22:36:26.298Z,1761518186.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664883,-0.745869,-0.040132],[0.746718,0.662386,0.060478],[-0.018526,-0.070178,0.997362]]
2025-10-26T22:36:26.339Z,1761518186.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.503565 s,
      deltaX: 0.300000 m,
      approachRate: 0.595753 m/s,
      rangeRepo size: 4

2025-10-26T22:36:26.341Z,1761518186.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.422351 m,
      bearing: 214.534163 deg,
      lat: 36.779422 deg,
      lon: -121.859436 deg,
      deltaT: 0.503565 s,
      deltaX: 0.298217 m,
      approachRate: 0.592211 m/s,
      posRepo size: 4

2025-10-26T22:36:26.341Z,1761518186.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-10-26T22:36:26.428Z,1761518186.428 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.768387
2025-10-26T22:36:26.681Z,1761518186.681 [DAT](INFO): DAT read: Rx Time:22:36:25.5277 

2025-10-26T22:36:26.681Z,1761518186.681 [DAT](INFO): Rx dataTimestamp_ set to:1761518186.681122
2025-10-26T22:36:26.683Z,1761518186.683 [DAT](INFO): DAT read: Bearing   7.4,  14.3 (Local)

2025-10-26T22:36:26.683Z,1761518186.683 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.4,  14.3 (Local)

2025-10-26T22:36:26.685Z,1761518186.685 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed -0.3

2025-10-26T22:36:26.694Z,1761518186.694 [DAT](INFO): DAT read: 22:36:25.5277 LVL= 32752, 27793, 32754, 32755, AGC= 68, IDX= 507,-0.04,-2.401,-0.775,-2.782,-1.822, PHS=-0.477, 1.091,-1.004, RAW= 344.0,   4.2, CAL= 343.6,   2.0, ROT= 166.4,  -2.0

2025-10-26T22:36:26.695Z,1761518186.695 [DAT](INFO): got valid direction response:
 22:36:25.5277 LVL= 32752, 27793, 32754, 32755, AGC= 68, IDX= 507,-0.04,-2.401,-0.775,-2.782,-1.822, PHS=-0.477, 1.091,-1.004, RAW= 344.0,   4.2, CAL= 343.6,   2.0, ROT= 166.4,  -2.0

2025-10-26T22:36:26.696Z,1761518186.696 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-10-26T22:36:26.697Z,1761518186.697 [DAT](INFO): direction in FSK: [-0.971369,0.234999,0.034899]
2025-10-26T22:36:26.697Z,1761518186.697 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:26.702Z,1761518186.702 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.042408
2025-10-26T22:36:26.717Z,1761518186.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665328,-0.745424,-0.041001],[0.746352,0.662878,0.059601],[-0.017250,-0.070255,0.997380]]
2025-10-26T22:36:26.879Z,1761518186.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.507925 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:26.885Z,1761518186.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.422351 m,
      bearing: 214.574403 deg,
      lat: 36.779423 deg,
      lon: -121.859436 deg,
      deltaT: 0.507925 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:26.886Z,1761518186.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-10-26T22:36:26.933Z,1761518186.933 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.273987
2025-10-26T22:36:27.160Z,1761518187.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665645,-0.745112,-0.041538],[0.746098,0.663272,0.058381],[-0.015949,-0.069852,0.997430]]
2025-10-26T22:36:27.185Z,1761518187.185 [DAT](INFO): DAT read: Rx Time:22:36:26.0279 

2025-10-26T22:36:27.186Z,1761518187.186 [DAT](INFO): Rx dataTimestamp_ set to:1761518187.185234
2025-10-26T22:36:27.187Z,1761518187.187 [DAT](INFO): DAT read: Bearing   6.7,  14.9 (Local)

2025-10-26T22:36:27.187Z,1761518187.187 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.7,  14.9 (Local)

2025-10-26T22:36:27.189Z,1761518187.189 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed -0.3

2025-10-26T22:36:27.194Z,1761518187.194 [DAT](INFO): DAT read: 22:36:26.0279 LVL= 32752, 25841, 32754, 32755, AGC= 69, IDX= 509, 0.14,-0.303, 1.293,-0.707, 0.270, PHS=-0.472, 1.068,-1.022, RAW= 344.7,   4.6, CAL= 344.4,   2.6, ROT= 165.6,  -2.6

2025-10-26T22:36:27.196Z,1761518187.196 [DAT](INFO): got valid direction response:
 22:36:26.0279 LVL= 32752, 25841, 32754, 32755, AGC= 69, IDX= 509, 0.14,-0.303, 1.293,-0.707, 0.270, PHS=-0.472, 1.068,-1.022, RAW= 344.7,   4.6, CAL= 344.4,   2.6, ROT= 165.6,  -2.6

2025-10-26T22:36:27.196Z,1761518187.196 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-26T22:36:27.197Z,1761518187.197 [DAT](INFO): direction in FSK: [-0.967586,0.248434,0.045363]
2025-10-26T22:36:27.197Z,1761518187.197 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:27.206Z,1761518187.206 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.546478
2025-10-26T22:36:27.287Z,1761518187.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.504112 s,
      deltaX: 0.300000 m,
      approachRate: 0.595106 m/s,
      rangeRepo size: 4

2025-10-26T22:36:27.301Z,1761518187.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.720626 m,
      bearing: 213.711258 deg,
      lat: 36.779422 deg,
      lon: -121.859435 deg,
      deltaT: 0.504112 s,
      deltaX: 0.298275 m,
      approachRate: 0.591684 m/s,
      posRepo size: 4

2025-10-26T22:36:27.302Z,1761518187.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m.
2025-10-26T22:36:27.438Z,1761518187.438 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.777828
2025-10-26T22:36:27.548Z,1761518187.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665776,-0.744975,-0.041891],[0.746010,0.663505,0.056837],[-0.014547,-0.069092,0.997504]]
2025-10-26T22:36:27.587Z,1761518187.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m.
2025-10-26T22:36:27.690Z,1761518187.690 [DAT](INFO): DAT read: Rx Time:22:36:26.5279 

2025-10-26T22:36:27.690Z,1761518187.690 [DAT](INFO): Rx dataTimestamp_ set to:1761518187.689743
2025-10-26T22:36:27.692Z,1761518187.692 [DAT](INFO): DAT read: Bearing   7.8,  15.0 (Local)

2025-10-26T22:36:27.692Z,1761518187.692 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.8,  15.0 (Local)

2025-10-26T22:36:27.694Z,1761518187.694 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed -0.4

2025-10-26T22:36:27.714Z,1761518187.714 [DAT](INFO): DAT read: 22:36:26.5279 LVL= 32752, 24641, 32754, 32755, AGC= 68, IDX= 509, 0.30,-0.765, 0.838,-1.179,-0.213, PHS=-0.450, 1.096,-1.010, RAW= 344.9,   3.9, CAL= 344.5,   1.5, ROT= 165.5,  -1.5

2025-10-26T22:36:27.736Z,1761518187.736 [DAT](INFO): got valid direction response:
 22:36:26.5279 LVL= 32752, 24641, 32754, 32755, AGC= 68, IDX= 509, 0.30,-0.765, 0.838,-1.179,-0.213, PHS=-0.450, 1.096,-1.010, RAW= 344.9,   3.9, CAL= 344.5,   1.5, ROT= 165.5,  -1.5

2025-10-26T22:36:27.736Z,1761518187.736 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-10-26T22:36:27.737Z,1761518187.737 [DAT](INFO): direction in FSK: [-0.967816,0.250294,0.026177]
2025-10-26T22:36:27.738Z,1761518187.738 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:27.746Z,1761518187.746 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.086285
2025-10-26T22:36:27.941Z,1761518187.941 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.281940
2025-10-26T22:36:27.962Z,1761518187.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665848,-0.744900,-0.042088],[0.745971,0.663688,0.055183],[-0.013172,-0.068140,0.997589]]
2025-10-26T22:36:28.031Z,1761518188.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.504509 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:28.033Z,1761518188.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.720782 m,
      bearing: 213.678568 deg,
      lat: 36.779423 deg,
      lon: -121.859435 deg,
      deltaT: 0.504509 s,
      deltaX: 0.000156 m,
      approachRate: 0.000310 m/s,
      posRepo size: 4

2025-10-26T22:36:28.033Z,1761518188.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m.
2025-10-26T22:36:28.192Z,1761518188.192 [DAT](INFO): DAT read: Rx Time:22:36:27.0281 

2025-10-26T22:36:28.193Z,1761518188.193 [DAT](INFO): Rx dataTimestamp_ set to:1761518188.192613
2025-10-26T22:36:28.194Z,1761518188.194 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed -0.3

2025-10-26T22:36:28.195Z,1761518188.195 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-10-26T22:36:28.196Z,1761518188.196 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.536282
2025-10-26T22:36:28.354Z,1761518188.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665811,-0.744939,-0.041968],[0.746026,0.663777,0.053348],[-0.011884,-0.066829,0.997694]]
2025-10-26T22:36:28.377Z,1761518188.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.502870 s,
      deltaX: 0.300000 m,
      approachRate: 0.596576 m/s,
      rangeRepo size: 4

2025-10-26T22:36:28.378Z,1761518188.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m.
2025-10-26T22:36:28.446Z,1761518188.446 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.785999
2025-10-26T22:36:28.697Z,1761518188.697 [DAT](INFO): DAT read: Rx Time:22:36:27.5282 

2025-10-26T22:36:28.698Z,1761518188.698 [DAT](INFO): Rx dataTimestamp_ set to:1761518188.697371
2025-10-26T22:36:28.700Z,1761518188.700 [DAT](INFO): DAT read: Bearing 319.5,   4.0 (Local)

2025-10-26T22:36:28.700Z,1761518188.700 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.5,   4.0 (Local)

2025-10-26T22:36:28.703Z,1761518188.703 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed -0.3

2025-10-26T22:36:28.709Z,1761518188.709 [DAT](INFO): DAT read: 22:36:27.5282 LVL= 32752, 24017, 32754, 32755, AGC= 67, IDX= 512,-0.30, 0.598, 1.646, 0.479, 2.059, PHS=-1.359,-0.368,-1.625, RAW= 341.6,  45.9, CAL= 340.5,  50.1, ROT= 169.5, -50.1

2025-10-26T22:36:28.710Z,1761518188.710 [DAT](INFO): got valid direction response:
 22:36:27.5282 LVL= 32752, 24017, 32754, 32755, AGC= 67, IDX= 512,-0.30, 0.598, 1.646, 0.479, 2.059, PHS=-1.359,-0.368,-1.625, RAW= 341.6,  45.9, CAL= 340.5,  50.1, ROT= 169.5, -50.1

2025-10-26T22:36:28.711Z,1761518188.711 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-10-26T22:36:28.712Z,1761518188.712 [DAT](INFO): direction in FSK: [-0.630709,0.116895,0.767165]
2025-10-26T22:36:28.713Z,1761518188.713 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:28.718Z,1761518188.718 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.058483
2025-10-26T22:36:28.769Z,1761518188.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665765,-0.744929,-0.042876],[0.746084,0.663765,0.052680],[-0.010783,-0.067061,0.997691]]
2025-10-26T22:36:28.908Z,1761518188.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.504758 s,
      deltaX: 0.200000 m,
      approachRate: 0.396229 m/s,
      rangeRepo size: 4

2025-10-26T22:36:28.910Z,1761518188.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.218852 m,
      bearing: 213.145903 deg,
      lat: 36.779424 deg,
      lon: -121.859435 deg,
      deltaT: 1.007628 s,
      deltaX: 0.498070 m,
      approachRate: 0.494299 m/s,
      posRepo size: 4

2025-10-26T22:36:28.910Z,1761518188.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.22 m.
2025-10-26T22:36:28.950Z,1761518188.950 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.289932
2025-10-26T22:36:29.170Z,1761518189.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665520,-0.745075,-0.044127],[0.746316,0.663525,0.052416],[-0.009774,-0.067817,0.997650]]
2025-10-26T22:36:29.201Z,1761518189.201 [DAT](INFO): DAT read: Rx Time:22:36:28.0283 

2025-10-26T22:36:29.202Z,1761518189.202 [DAT](INFO): Rx dataTimestamp_ set to:1761518189.201493
2025-10-26T22:36:29.203Z,1761518189.203 [DAT](INFO): DAT read: Bearing  10.8,   4.3 (Local)

2025-10-26T22:36:29.203Z,1761518189.203 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.8,   4.3 (Local)

2025-10-26T22:36:29.205Z,1761518189.205 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed -0.3

2025-10-26T22:36:29.210Z,1761518189.210 [DAT](INFO): DAT read: 22:36:28.0283 LVL= 32752, 27633, 32754, 32755, AGC= 69, IDX= 513,-0.19, 2.128,-2.335, 2.101, 2.823, PHS=-0.592, 1.171,-0.766, RAW= 334.6,   2.0, CAL= 333.8,  -0.8, ROT= 176.2,   0.8

2025-10-26T22:36:29.211Z,1761518189.211 [DAT](INFO): got valid direction response:
 22:36:28.0283 LVL= 32752, 27633, 32754, 32755, AGC= 69, IDX= 513,-0.19, 2.128,-2.335, 2.101, 2.823, PHS=-0.592, 1.171,-0.766, RAW= 334.6,   2.0, CAL= 333.8,  -0.8, ROT= 176.2,   0.8

2025-10-26T22:36:29.212Z,1761518189.212 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-10-26T22:36:29.213Z,1761518189.213 [DAT](INFO): direction in FSK: [-0.997704,0.066267,-0.013962]
2025-10-26T22:36:29.213Z,1761518189.213 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:29.245Z,1761518189.245 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.585312
2025-10-26T22:36:29.268Z,1761518189.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.504122 s,
      deltaX: 0.099999 m,
      approachRate: 0.198364 m/s,
      rangeRepo size: 4

2025-10-26T22:36:29.270Z,1761518189.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.318284 m,
      bearing: 224.538698 deg,
      lat: 36.779424 deg,
      lon: -121.859435 deg,
      deltaT: 0.504122 s,
      deltaX: 0.099432 m,
      approachRate: 0.197238 m/s,
      posRepo size: 4

2025-10-26T22:36:29.271Z,1761518189.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m.
2025-10-26T22:36:29.453Z,1761518189.453 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.793720
2025-10-26T22:36:29.566Z,1761518189.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665550,-0.745028,-0.044464],[0.746305,0.663644,0.051048],[-0.008524,-0.067159,0.997706]]
2025-10-26T22:36:29.616Z,1761518189.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m.
2025-10-26T22:36:29.705Z,1761518189.705 [DAT](INFO): DAT read: Rx Time:22:36:28.5283 

2025-10-26T22:36:29.706Z,1761518189.706 [DAT](INFO): Rx dataTimestamp_ set to:1761518189.705595
2025-10-26T22:36:29.708Z,1761518189.708 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed -0.3

2025-10-26T22:36:29.709Z,1761518189.709 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-10-26T22:36:29.710Z,1761518189.710 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.050140
2025-10-26T22:36:29.956Z,1761518189.956 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.296848
2025-10-26T22:36:29.974Z,1761518189.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665651,-0.744913,-0.044868],[0.746228,0.663829,0.049748],[-0.007273,-0.066596,0.997754]]
2025-10-26T22:36:30.030Z,1761518190.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.504102 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:30.030Z,1761518190.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m.
2025-10-26T22:36:30.209Z,1761518190.209 [DAT](INFO): DAT read: Rx Time:22:36:29.0285 

2025-10-26T22:36:30.209Z,1761518190.209 [DAT](INFO): Rx dataTimestamp_ set to:1761518190.209150
2025-10-26T22:36:30.211Z,1761518190.211 [DAT](INFO): DAT read: Bearing   6.0,  14.9 (Local)

2025-10-26T22:36:30.211Z,1761518190.211 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.0,  14.9 (Local)

2025-10-26T22:36:30.214Z,1761518190.214 [DAT](INFO): DAT read: Range 11 to 50 :    14.7 m (trip time 9.8 ms) speed -0.3

2025-10-26T22:36:30.218Z,1761518190.218 [DAT](INFO): DAT read: 22:36:29.0285 LVL= 31472, 22817, 32754, 32755, AGC= 69, IDX=   3,-0.02, 0.051, 1.655,-0.375, 0.630, PHS=-0.477, 1.070,-1.049, RAW= 345.1,   4.9, CAL= 344.8,   3.0, ROT= 165.2,  -3.0

2025-10-26T22:36:30.220Z,1761518190.220 [DAT](INFO): got valid direction response:
 22:36:29.0285 LVL= 31472, 22817, 32754, 32755, AGC= 69, IDX=   3,-0.02, 0.051, 1.655,-0.375, 0.630, PHS=-0.477, 1.070,-1.049, RAW= 345.1,   4.9, CAL= 344.8,   3.0, ROT= 165.2,  -3.0

2025-10-26T22:36:30.220Z,1761518190.220 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-10-26T22:36:30.221Z,1761518190.221 [DAT](INFO): direction in FSK: [-0.965498,0.255096,0.052336]
2025-10-26T22:36:30.221Z,1761518190.221 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:30.225Z,1761518190.225 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.565514
2025-10-26T22:36:30.374Z,1761518190.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665653,-0.744873,-0.045506],[0.746237,0.663905,0.048582],[-0.005976,-0.066297,0.997782]]
2025-10-26T22:36:30.427Z,1761518190.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.700000 m,
      deltaT: 0.503555 s,
      deltaX: 0.300000 m,
      approachRate: 0.595765 m/s,
      rangeRepo size: 4

2025-10-26T22:36:30.430Z,1761518190.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.616934 m,
      bearing: 213.302034 deg,
      lat: 36.779424 deg,
      lon: -121.859435 deg,
      deltaT: 1.007657 s,
      deltaX: 0.298650 m,
      approachRate: 0.296380 m/s,
      posRepo size: 4

2025-10-26T22:36:30.431Z,1761518190.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m.
2025-10-26T22:36:30.462Z,1761518190.462 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.802605
2025-10-26T22:36:30.714Z,1761518190.714 [DAT](INFO): DAT read: Rx Time:22:36:29.5285 

2025-10-26T22:36:30.714Z,1761518190.714 [DAT](INFO): Rx dataTimestamp_ set to:1761518190.713983
2025-10-26T22:36:30.716Z,1761518190.716 [DAT](INFO): DAT read: Bearing   8.1,  15.6 (Local)

2025-10-26T22:36:30.717Z,1761518190.717 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.1,  15.6 (Local)

2025-10-26T22:36:30.719Z,1761518190.719 [DAT](INFO): DAT read: Range 11 to 50 :    14.7 m (trip time 9.8 ms) speed -0.3

2025-10-26T22:36:30.725Z,1761518190.725 [DAT](INFO): DAT read: 22:36:29.5285 LVL= 32752, 28481, 32754, 32755, AGC= 64, IDX= 499, 0.02, 0.321, 1.923,-0.138, 0.849, PHS=-0.426, 1.119,-1.031, RAW= 345.8,   3.5, CAL= 345.4,   0.9, ROT= 164.6,  -0.9

2025-10-26T22:36:30.727Z,1761518190.727 [DAT](INFO): got valid direction response:
 22:36:29.5285 LVL= 32752, 28481, 32754, 32755, AGC= 64, IDX= 499, 0.02, 0.321, 1.923,-0.138, 0.849, PHS=-0.426, 1.119,-1.031, RAW= 345.8,   3.5, CAL= 345.4,   0.9, ROT= 164.6,  -0.9

2025-10-26T22:36:30.737Z,1761518190.737 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-10-26T22:36:30.738Z,1761518190.738 [DAT](INFO): direction in FSK: [-0.963976,0.265523,0.015707]
2025-10-26T22:36:30.739Z,1761518190.739 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:30.755Z,1761518190.755 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.095249
2025-10-26T22:36:30.787Z,1761518190.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665636,-0.744872,-0.045764],[0.746260,0.663957,0.047519],[-0.005010,-0.065782,0.997821]]
2025-10-26T22:36:30.827Z,1761518190.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.700000 m,
      deltaT: 0.504833 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:30.838Z,1761518190.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.616934 m,
      bearing: 212.842856 deg,
      lat: 36.779424 deg,
      lon: -121.859434 deg,
      deltaT: 0.504833 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:30.838Z,1761518190.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m.
2025-10-26T22:36:30.965Z,1761518190.965 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.305153
2025-10-26T22:36:31.182Z,1761518191.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665395,-0.745073,-0.046009],[0.746481,0.663791,0.046343],[-0.003989,-0.065182,0.997865]]
2025-10-26T22:36:31.217Z,1761518191.217 [DAT](INFO): DAT read: Rx Time:22:36:30.0287 

2025-10-26T22:36:31.217Z,1761518191.217 [DAT](INFO): Rx dataTimestamp_ set to:1761518191.217194
2025-10-26T22:36:31.219Z,1761518191.219 [DAT](INFO): DAT read: Bearing   7.9,  16.0 (Local)

2025-10-26T22:36:31.219Z,1761518191.219 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.9,  16.0 (Local)

2025-10-26T22:36:31.221Z,1761518191.221 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed -0.3

2025-10-26T22:36:31.226Z,1761518191.226 [DAT](INFO): DAT read: 22:36:30.0287 LVL= 32752, 24305, 32754, 32755, AGC= 67, IDX= 501, 0.18, 1.334, 2.924, 0.859, 1.857, PHS=-0.422, 1.112,-1.042, RAW= 346.3,   3.7, CAL= 345.8,   1.2, ROT= 164.2,  -1.2

2025-10-26T22:36:31.227Z,1761518191.227 [DAT](INFO): got valid direction response:
 22:36:30.0287 LVL= 32752, 24305, 32754, 32755, AGC= 67, IDX= 501, 0.18, 1.334, 2.924, 0.859, 1.857, PHS=-0.422, 1.112,-1.042, RAW= 346.3,   3.7, CAL= 345.8,   1.2, ROT= 164.2,  -1.2

2025-10-26T22:36:31.227Z,1761518191.227 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-10-26T22:36:31.228Z,1761518191.228 [DAT](INFO): direction in FSK: [-0.962007,0.272221,0.020942]
2025-10-26T22:36:31.229Z,1761518191.229 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:31.233Z,1761518191.233 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.573368
2025-10-26T22:36:31.253Z,1761518191.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.503211 s,
      deltaX: 0.300000 m,
      approachRate: 0.596172 m/s,
      rangeRepo size: 4

2025-10-26T22:36:31.255Z,1761518191.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.915239 m,
      bearing: 212.443331 deg,
      lat: 36.779423 deg,
      lon: -121.859435 deg,
      deltaT: 0.503211 s,
      deltaX: 0.298306 m,
      approachRate: 0.592804 m/s,
      posRepo size: 4

2025-10-26T22:36:31.271Z,1761518191.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.92 m.
2025-10-26T22:36:31.472Z,1761518191.472 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.812557
2025-10-26T22:36:31.586Z,1761518191.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665183,-0.745250,-0.046187],[0.746673,0.663646,0.045313],[-0.003118,-0.064628,0.997904]]
2025-10-26T22:36:31.677Z,1761518191.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.92 m.
2025-10-26T22:36:31.722Z,1761518191.722 [DAT](INFO): DAT read: Rx Time:22:36:30.5287 

2025-10-26T22:36:31.722Z,1761518191.722 [DAT](INFO): Rx dataTimestamp_ set to:1761518191.721736
2025-10-26T22:36:31.724Z,1761518191.724 [DAT](INFO): DAT read: Bearing   6.9,  15.8 (Local)

2025-10-26T22:36:31.725Z,1761518191.725 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.9,  15.8 (Local)

2025-10-26T22:36:31.728Z,1761518191.728 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed -0.3

2025-10-26T22:36:31.734Z,1761518191.734 [DAT](INFO): DAT read: 22:36:30.5287 LVL= 32752, 25521, 32754, 32755, AGC= 67, IDX= 501, 0.22, 0.377, 1.962,-0.092, 0.918, PHS=-0.439, 1.089,-1.054, RAW= 346.2,   4.3, CAL= 345.8,   2.1, ROT= 164.2,  -2.1

2025-10-26T22:36:31.735Z,1761518191.735 [DAT](INFO): got valid direction response:
 22:36:30.5287 LVL= 32752, 25521, 32754, 32755, AGC= 67, IDX= 501, 0.22, 0.377, 1.962,-0.092, 0.918, PHS=-0.439, 1.089,-1.054, RAW= 346.2,   4.3, CAL= 345.8,   2.1, ROT= 164.2,  -2.1

2025-10-26T22:36:31.736Z,1761518191.736 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-10-26T22:36:31.736Z,1761518191.736 [DAT](INFO): direction in FSK: [-0.961572,0.272097,0.036644]
2025-10-26T22:36:31.737Z,1761518191.737 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:31.740Z,1761518191.740 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.080925
2025-10-26T22:36:31.972Z,1761518191.972 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.312943
2025-10-26T22:36:31.994Z,1761518191.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665024,-0.745393,-0.046185],[0.746818,0.663553,0.044271],[-0.002353,-0.063933,0.997951]]
2025-10-26T22:36:32.063Z,1761518192.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.504542 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:32.065Z,1761518192.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.915248 m,
      bearing: 212.416451 deg,
      lat: 36.779423 deg,
      lon: -121.859435 deg,
      deltaT: 0.504542 s,
      deltaX: 0.000009 m,
      approachRate: 0.000017 m/s,
      posRepo size: 4

2025-10-26T22:36:32.066Z,1761518192.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.92 m.
2025-10-26T22:36:32.225Z,1761518192.225 [DAT](INFO): DAT read: Rx Time:22:36:31.0290 

2025-10-26T22:36:32.226Z,1761518192.226 [DAT](INFO): Rx dataTimestamp_ set to:1761518192.225381
2025-10-26T22:36:32.227Z,1761518192.227 [DAT](INFO): DAT read: Bearing   8.3,  15.9 (Local)

2025-10-26T22:36:32.227Z,1761518192.227 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.3,  15.9 (Local)

2025-10-26T22:36:32.229Z,1761518192.229 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed -0.2

2025-10-26T22:36:32.234Z,1761518192.234 [DAT](INFO): DAT read: 22:36:31.0290 LVL= 32752, 25137, 32754, 32755, AGC= 67, IDX= 503, 0.31, 0.718, 2.304, 0.244, 1.232, PHS=-0.412, 1.117,-1.032, RAW= 346.3,   3.5, CAL= 345.8,   0.8, ROT= 164.2,  -0.8

2025-10-26T22:36:32.235Z,1761518192.235 [DAT](INFO): got valid direction response:
 22:36:31.0290 LVL= 32752, 25137, 32754, 32755, AGC= 67, IDX= 503, 0.31, 0.718, 2.304, 0.244, 1.232, PHS=-0.412, 1.117,-1.032, RAW= 346.3,   3.5, CAL= 345.8,   0.8, ROT= 164.2,  -0.8

2025-10-26T22:36:32.236Z,1761518192.236 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-10-26T22:36:32.237Z,1761518192.237 [DAT](INFO): direction in FSK: [-0.962124,0.272254,0.013962]
2025-10-26T22:36:32.237Z,1761518192.237 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:32.241Z,1761518192.241 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.581299
2025-10-26T22:36:32.394Z,1761518192.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665023,-0.745381,-0.046375],[0.746821,0.663605,0.043433],[-0.001600,-0.063518,0.997979]]
2025-10-26T22:36:32.470Z,1761518192.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.503645 s,
      deltaX: 0.500000 m,
      approachRate: 0.992763 m/s,
      rangeRepo size: 4

2025-10-26T22:36:32.477Z,1761518192.477 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.817127
2025-10-26T22:36:32.477Z,1761518192.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.412443 m,
      bearing: 212.497302 deg,
      lat: 36.779423 deg,
      lon: -121.859435 deg,
      deltaT: 0.503645 s,
      deltaX: 0.497195 m,
      approachRate: 0.987194 m/s,
      posRepo size: 4

2025-10-26T22:36:32.478Z,1761518192.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m.
2025-10-26T22:36:32.730Z,1761518192.730 [DAT](INFO): DAT read: Rx Time:22:36:31.5290 

2025-10-26T22:36:32.730Z,1761518192.730 [DAT](INFO): Rx dataTimestamp_ set to:1761518192.729915
2025-10-26T22:36:32.732Z,1761518192.732 [DAT](INFO): DAT read: Bearing   8.9,  16.2 (Local)

2025-10-26T22:36:32.733Z,1761518192.733 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.9,  16.2 (Local)

2025-10-26T22:36:32.735Z,1761518192.735 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed -0.2

2025-10-26T22:36:32.740Z,1761518192.740 [DAT](INFO): DAT read: 22:36:31.5290 LVL= 32752, 23217, 32754, 32755, AGC= 67, IDX= 503, 0.38,-0.870, 0.709,-1.359,-0.375, PHS=-0.393, 1.129,-1.028, RAW= 346.7,   3.1, CAL= 346.2,   0.2, ROT= 163.8,  -0.2

2025-10-26T22:36:32.741Z,1761518192.741 [DAT](INFO): got valid direction response:
 22:36:31.5290 LVL= 32752, 23217, 32754, 32755, AGC= 67, IDX= 503, 0.38,-0.870, 0.709,-1.359,-0.375, PHS=-0.393, 1.129,-1.028, RAW= 346.7,   3.1, CAL= 346.2,   0.2, ROT= 163.8,  -0.2

2025-10-26T22:36:32.741Z,1761518192.741 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-10-26T22:36:32.742Z,1761518192.742 [DAT](INFO): direction in FSK: [-0.960288,0.278989,0.003491]
2025-10-26T22:36:32.743Z,1761518192.743 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:32.751Z,1761518192.751 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.091644
2025-10-26T22:36:32.798Z,1761518192.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665547,-0.744900,-0.046595],[0.746355,0.664156,0.043018],[-0.001098,-0.063407,0.997987]]
2025-10-26T22:36:32.867Z,1761518192.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.504534 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:32.888Z,1761518192.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.412443 m,
      bearing: 212.094644 deg,
      lat: 36.779422 deg,
      lon: -121.859435 deg,
      deltaT: 0.504534 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:32.890Z,1761518192.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m.
2025-10-26T22:36:32.980Z,1761518192.980 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.321033
2025-10-26T22:36:33.233Z,1761518193.233 [DAT](INFO): DAT read: Rx Time:22:36:32.0291 

2025-10-26T22:36:33.234Z,1761518193.234 [DAT](INFO): Rx dataTimestamp_ set to:1761518193.233231
2025-10-26T22:36:33.235Z,1761518193.235 [DAT](INFO): DAT read: Bearing   8.1,  16.3 (Local)

2025-10-26T22:36:33.235Z,1761518193.235 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.1,  16.3 (Local)

2025-10-26T22:36:33.237Z,1761518193.237 [DAT](INFO): DAT read: Range 11 to 50 :    15.6 m (trip time 10.4 ms) speed -0.3

2025-10-26T22:36:33.242Z,1761518193.242 [DAT](INFO): DAT read: 22:36:32.0291 LVL= 32752, 27761, 32754, 32755, AGC= 68, IDX= 504, 0.40,-1.129, 0.431,-1.618,-0.626, PHS=-0.401, 1.102,-1.036, RAW= 346.8,   3.6, CAL= 346.4,   0.9, ROT= 163.6,  -0.9

2025-10-26T22:36:33.243Z,1761518193.243 [DAT](INFO): got valid direction response:
 22:36:32.0291 LVL= 32752, 27761, 32754, 32755, AGC= 68, IDX= 504, 0.40,-1.129, 0.431,-1.618,-0.626, PHS=-0.401, 1.102,-1.036, RAW= 346.8,   3.6, CAL= 346.4,   0.9, ROT= 163.6,  -0.9

2025-10-26T22:36:33.244Z,1761518193.244 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-10-26T22:36:33.245Z,1761518193.245 [DAT](INFO): direction in FSK: [-0.959196,0.282306,0.015707]
2025-10-26T22:36:33.245Z,1761518193.245 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:33.249Z,1761518193.249 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.589813
2025-10-26T22:36:33.351Z,1761518193.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.503316 s,
      deltaX: 0.100000 m,
      approachRate: 0.198683 m/s,
      rangeRepo size: 4

2025-10-26T22:36:33.357Z,1761518193.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.511878 m,
      bearing: 211.852216 deg,
      lat: 36.779422 deg,
      lon: -121.859436 deg,
      deltaT: 0.503316 s,
      deltaX: 0.099435 m,
      approachRate: 0.197559 m/s,
      posRepo size: 4

2025-10-26T22:36:33.360Z,1761518193.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m.
2025-10-26T22:36:33.484Z,1761518193.484 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.825058
2025-10-26T22:36:33.672Z,1761518193.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667652,-0.742989,-0.047000],[0.744474,0.666336,0.041902],[0.000185,-0.062966,0.998016]]
2025-10-26T22:36:33.691Z,1761518193.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m.
2025-10-26T22:36:33.737Z,1761518193.737 [DAT](INFO): DAT read: Rx Time:22:36:32.5291 

2025-10-26T22:36:33.738Z,1761518193.738 [DAT](INFO): Rx dataTimestamp_ set to:1761518193.737444
2025-10-26T22:36:33.739Z,1761518193.739 [DAT](INFO): DAT read: Bearing   9.8,  16.8 (Local)

2025-10-26T22:36:33.740Z,1761518193.740 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.8,  16.8 (Local)

2025-10-26T22:36:33.742Z,1761518193.742 [DAT](INFO): DAT read: Range 11 to 50 :    15.6 m (trip time 10.4 ms) speed -0.2

2025-10-26T22:36:33.747Z,1761518193.747 [DAT](INFO): DAT read: 22:36:32.5291 LVL= 31696, 24113, 32754, 32755, AGC= 67, IDX= 504, 0.32,-2.363,-0.800,-2.877,-1.906, PHS=-0.354, 1.151,-1.015, RAW= 347.3,   2.3, CAL= 346.8,  -0.7, ROT= 163.2,   0.7

2025-10-26T22:36:33.749Z,1761518193.749 [DAT](INFO): got valid direction response:
 22:36:32.5291 LVL= 31696, 24113, 32754, 32755, AGC= 67, IDX= 504, 0.32,-2.363,-0.800,-2.877,-1.906, PHS=-0.354, 1.151,-1.015, RAW= 347.3,   2.3, CAL= 346.8,  -0.7, ROT= 163.2,   0.7

2025-10-26T22:36:33.750Z,1761518193.750 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-10-26T22:36:33.751Z,1761518193.751 [DAT](INFO): direction in FSK: [-0.957248,0.289010,-0.012217]
2025-10-26T22:36:33.752Z,1761518193.752 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:33.757Z,1761518193.757 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.097340
2025-10-26T22:36:33.988Z,1761518193.988 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.329010
2025-10-26T22:36:34.176Z,1761518194.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.504213 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:34.178Z,1761518194.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.512042 m,
      bearing: 211.387500 deg,
      lat: 36.779422 deg,
      lon: -121.859436 deg,
      deltaT: 0.504213 s,
      deltaX: 0.000164 m,
      approachRate: 0.000325 m/s,
      posRepo size: 4

2025-10-26T22:36:34.179Z,1761518194.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m.
2025-10-26T22:36:34.242Z,1761518194.242 [DAT](INFO): DAT read: Rx Time:22:36:33.0291 

2025-10-26T22:36:34.243Z,1761518194.243 [DAT](INFO): Rx dataTimestamp_ set to:1761518194.242492
2025-10-26T22:36:34.245Z,1761518194.245 [DAT](INFO): DAT read: Bearing   8.3,  16.8 (Local)

2025-10-26T22:36:34.245Z,1761518194.245 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.3,  16.8 (Local)

2025-10-26T22:36:34.249Z,1761518194.249 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed -0.2

2025-10-26T22:36:34.254Z,1761518194.254 [DAT](INFO): DAT read: 22:36:33.0291 LVL= 31008, 26689, 32754, 32755, AGC= 68, IDX= 506, 0.15,-0.380, 1.173,-0.897, 0.110, PHS=-0.388, 1.109,-1.051, RAW= 347.4,   3.5, CAL= 347.0,   0.8, ROT= 163.0,  -0.8

2025-10-26T22:36:34.255Z,1761518194.255 [DAT](INFO): got valid direction response:
 22:36:33.0291 LVL= 31008, 26689, 32754, 32755, AGC= 68, IDX= 506, 0.15,-0.380, 1.173,-0.897, 0.110, PHS=-0.388, 1.109,-1.051, RAW= 347.4,   3.5, CAL= 347.0,   0.8, ROT= 163.0,  -0.8

2025-10-26T22:36:34.255Z,1761518194.255 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-10-26T22:36:34.256Z,1761518194.256 [DAT](INFO): direction in FSK: [-0.956212,0.292343,0.013962]
2025-10-26T22:36:34.256Z,1761518194.256 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:34.260Z,1761518194.260 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.600655
2025-10-26T22:36:34.455Z,1761518194.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668485,-0.742255,-0.046746],[0.743725,0.667204,0.041378],[0.000476,-0.062427,0.998049]]
2025-10-26T22:36:34.482Z,1761518194.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.505048 s,
      deltaX: 0.200000 m,
      approachRate: 0.396002 m/s,
      rangeRepo size: 4

2025-10-26T22:36:34.485Z,1761518194.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.711102 m,
      bearing: 211.033179 deg,
      lat: 36.779422 deg,
      lon: -121.859436 deg,
      deltaT: 0.505048 s,
      deltaX: 0.199060 m,
      approachRate: 0.394142 m/s,
      posRepo size: 4

2025-10-26T22:36:34.485Z,1761518194.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.71 m.
2025-10-26T22:36:34.493Z,1761518194.493 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.833366
2025-10-26T22:36:34.745Z,1761518194.745 [DAT](INFO): DAT read: Rx Time:22:36:33.5291 

2025-10-26T22:36:34.745Z,1761518194.745 [DAT](INFO): Rx dataTimestamp_ set to:1761518194.745180
2025-10-26T22:36:34.747Z,1761518194.747 [DAT](INFO): DAT read: Bearing   8.5,  16.6 (Local)

2025-10-26T22:36:34.747Z,1761518194.747 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.5,  16.6 (Local)

2025-10-26T22:36:34.749Z,1761518194.749 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed -0.2

2025-10-26T22:36:34.754Z,1761518194.754 [DAT](INFO): DAT read: 22:36:33.5291 LVL= 32752, 28753, 32754, 32755, AGC= 67, IDX= 506, 0.00,-2.052,-0.505,-2.554,-1.564, PHS=-0.386, 1.104,-1.034, RAW= 347.2,   3.4, CAL= 346.8,   0.6, ROT= 163.2,  -0.6

2025-10-26T22:36:34.755Z,1761518194.755 [DAT](INFO): got valid direction response:
 22:36:33.5291 LVL= 32752, 28753, 32754, 32755, AGC= 67, IDX= 506, 0.00,-2.052,-0.505,-2.554,-1.564, PHS=-0.386, 1.104,-1.034, RAW= 347.2,   3.4, CAL= 346.8,   0.6, ROT= 163.2,  -0.6

2025-10-26T22:36:34.755Z,1761518194.755 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-26T22:36:34.756Z,1761518194.756 [DAT](INFO): direction in FSK: [-0.957267,0.289016,0.010472]
2025-10-26T22:36:34.757Z,1761518194.757 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:34.760Z,1761518194.760 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.100910
2025-10-26T22:36:34.846Z,1761518194.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669796,-0.741092,-0.046425],[0.742545,0.668531,0.041162],[0.000531,-0.062043,0.998073]]
2025-10-26T22:36:34.979Z,1761518194.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.502688 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:34.989Z,1761518194.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.711102 m,
      bearing: 211.143480 deg,
      lat: 36.779422 deg,
      lon: -121.859436 deg,
      deltaT: 0.502688 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:34.990Z,1761518194.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.71 m.
2025-10-26T22:36:34.996Z,1761518194.996 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.337067
2025-10-26T22:36:35.249Z,1761518195.249 [DAT](INFO): DAT read: Rx Time:22:36:34.0293 

2025-10-26T22:36:35.249Z,1761518195.249 [DAT](INFO): Rx dataTimestamp_ set to:1761518195.249032
2025-10-26T22:36:35.251Z,1761518195.251 [DAT](INFO): DAT read: Bearing  10.2,  16.2 (Local)

2025-10-26T22:36:35.251Z,1761518195.251 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.2,  16.2 (Local)

2025-10-26T22:36:35.253Z,1761518195.253 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed -0.2

2025-10-26T22:36:35.258Z,1761518195.258 [DAT](INFO): DAT read: 22:36:34.0293 LVL= 32752, 28529, 32754, 32755, AGC= 64, IDX= 508,-0.13,-1.739,-0.145,-2.242,-1.274, PHS=-0.363, 1.174,-1.012, RAW= 346.8,   2.1, CAL= 346.3,  -0.9, ROT= 163.7,   0.9

2025-10-26T22:36:35.259Z,1761518195.259 [DAT](INFO): got valid direction response:
 22:36:34.0293 LVL= 32752, 28529, 32754, 32755, AGC= 64, IDX= 508,-0.13,-1.739,-0.145,-2.242,-1.274, PHS=-0.363, 1.174,-1.012, RAW= 346.8,   2.1, CAL= 346.3,  -0.9, ROT= 163.7,   0.9

2025-10-26T22:36:35.259Z,1761518195.259 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-10-26T22:36:35.261Z,1761518195.261 [DAT](INFO): direction in FSK: [-0.959687,0.280632,-0.015707]
2025-10-26T22:36:35.262Z,1761518195.262 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:35.269Z,1761518195.269 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.609341
2025-10-26T22:36:35.276Z,1761518195.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672536,-0.738666,-0.045473],[0.740064,0.671319,0.040441],[0.000654,-0.060851,0.998147]]
2025-10-26T22:36:35.406Z,1761518195.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.503852 s,
      deltaX: 0.300000 m,
      approachRate: 0.595413 m/s,
      rangeRepo size: 4

2025-10-26T22:36:35.413Z,1761518195.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.009701 m,
      bearing: 211.517770 deg,
      lat: 36.779423 deg,
      lon: -121.859436 deg,
      deltaT: 0.503852 s,
      deltaX: 0.298598 m,
      approachRate: 0.592631 m/s,
      posRepo size: 4

2025-10-26T22:36:35.414Z,1761518195.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m.
2025-10-26T22:36:35.501Z,1761518195.501 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.841824
2025-10-26T22:36:35.684Z,1761518195.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674421,-0.736956,-0.045305],[0.738347,0.673208,0.040433],[0.000703,-0.060720,0.998155]]
2025-10-26T22:36:35.705Z,1761518195.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m.
2025-10-26T22:36:35.754Z,1761518195.754 [DAT](INFO): DAT read: Rx Time:22:36:34.5293 

2025-10-26T22:36:35.754Z,1761518195.754 [DAT](INFO): Rx dataTimestamp_ set to:1761518195.754210
2025-10-26T22:36:35.756Z,1761518195.756 [DAT](INFO): DAT read: Bearing   9.5,  16.2 (Local)

2025-10-26T22:36:35.757Z,1761518195.757 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.5,  16.2 (Local)

2025-10-26T22:36:35.760Z,1761518195.760 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed -0.3

2025-10-26T22:36:35.766Z,1761518195.766 [DAT](INFO): DAT read: 22:36:34.5293 LVL= 32752, 24673, 32754, 32755, AGC= 66, IDX= 508,-0.34, 2.972,-1.725, 2.469,-2.831, PHS=-0.378, 1.151,-1.026, RAW= 346.8,   2.6, CAL= 346.4,  -0.3, ROT= 163.6,   0.3

2025-10-26T22:36:35.772Z,1761518195.772 [DAT](INFO): got valid direction response:
 22:36:34.5293 LVL= 32752, 24673, 32754, 32755, AGC= 66, IDX= 508,-0.34, 2.972,-1.725, 2.469,-2.831, PHS=-0.378, 1.151,-1.026, RAW= 346.8,   2.6, CAL= 346.4,  -0.3, ROT= 163.6,   0.3

2025-10-26T22:36:35.772Z,1761518195.772 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-10-26T22:36:35.773Z,1761518195.773 [DAT](INFO): direction in FSK: [-0.959301,0.282337,-0.005236]
2025-10-26T22:36:35.773Z,1761518195.773 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:35.782Z,1761518195.782 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.122768
2025-10-26T22:36:36.004Z,1761518196.004 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.344929
2025-10-26T22:36:36.082Z,1761518196.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676272,-0.735253,-0.045382],[0.736652,0.675061,0.040458],[0.000889,-0.060791,0.998150]]
2025-10-26T22:36:36.187Z,1761518196.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.505178 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:36.189Z,1761518196.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.009701 m,
      bearing: 211.092871 deg,
      lat: 36.779423 deg,
      lon: -121.859436 deg,
      deltaT: 0.505178 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:36.189Z,1761518196.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m.
2025-10-26T22:36:36.259Z,1761518196.259 [DAT](INFO): DAT read: Rx Time:22:36:35.0295 

2025-10-26T22:36:36.260Z,1761518196.260 [DAT](INFO): Rx dataTimestamp_ set to:1761518196.259965
2025-10-26T22:36:36.262Z,1761518196.262 [DAT](INFO): DAT read: Bearing   9.3,  16.4 (Local)

2025-10-26T22:36:36.262Z,1761518196.262 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.3,  16.4 (Local)

2025-10-26T22:36:36.264Z,1761518196.264 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed -0.2

2025-10-26T22:36:36.270Z,1761518196.270 [DAT](INFO): DAT read: 22:36:35.0295 LVL= 31008, 22177, 32754, 32755, AGC= 67, IDX= 509, 0.36,-0.407, 1.162,-0.915, 0.071, PHS=-0.376, 1.136,-1.030, RAW= 347.1,   2.8, CAL= 346.6,  -0.1, ROT= 163.4,   0.1

2025-10-26T22:36:36.272Z,1761518196.272 [DAT](INFO): got valid direction response:
 22:36:35.0295 LVL= 31008, 22177, 32754, 32755, AGC= 67, IDX= 509, 0.36,-0.407, 1.162,-0.915, 0.071, PHS=-0.376, 1.136,-1.030, RAW= 347.1,   2.8, CAL= 346.6,  -0.1, ROT= 163.4,   0.1

2025-10-26T22:36:36.272Z,1761518196.272 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-10-26T22:36:36.274Z,1761518196.274 [DAT](INFO): direction in FSK: [-0.958321,0.285688,-0.001745]
2025-10-26T22:36:36.274Z,1761518196.274 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:36.294Z,1761518196.294 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.635006
2025-10-26T22:36:36.486Z,1761518196.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677867,-0.733787,-0.045316],[0.735184,0.676669,0.040307],[0.001087,-0.060638,0.998159]]
2025-10-26T22:36:36.513Z,1761518196.513 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.853096
2025-10-26T22:36:36.526Z,1761518196.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.505755 s,
      deltaX: 0.299999 m,
      approachRate: 0.593171 m/s,
      rangeRepo size: 4

2025-10-26T22:36:36.528Z,1761518196.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.308613 m,
      bearing: 210.757109 deg,
      lat: 36.779423 deg,
      lon: -121.859439 deg,
      deltaT: 0.505755 s,
      deltaX: 0.298912 m,
      approachRate: 0.591021 m/s,
      posRepo size: 4

2025-10-26T22:36:36.529Z,1761518196.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m.
2025-10-26T22:36:36.765Z,1761518196.765 [DAT](INFO): DAT read: Rx Time:22:36:35.5294 

2025-10-26T22:36:36.765Z,1761518196.765 [DAT](INFO): Rx dataTimestamp_ set to:1761518196.765071
2025-10-26T22:36:36.767Z,1761518196.767 [DAT](INFO): DAT read: Bearing   9.3,  15.9 (Local)

2025-10-26T22:36:36.767Z,1761518196.767 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.3,  15.9 (Local)

2025-10-26T22:36:36.769Z,1761518196.769 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed -0.2

2025-10-26T22:36:36.774Z,1761518196.774 [DAT](INFO): DAT read: 22:36:35.5294 LVL= 32752, 27377, 32754, 32755, AGC= 66, IDX= 509, 0.17,-1.858,-0.285,-2.351,-1.373, PHS=-0.383, 1.134,-1.021, RAW= 346.8,   2.9, CAL= 346.3,  -0.1, ROT= 163.7,   0.1

2025-10-26T22:36:36.775Z,1761518196.775 [DAT](INFO): got valid direction response:
 22:36:35.5294 LVL= 32752, 27377, 32754, 32755, AGC= 66, IDX= 509, 0.17,-1.858,-0.285,-2.351,-1.373, PHS=-0.383, 1.134,-1.021, RAW= 346.8,   2.9, CAL= 346.3,  -0.1, ROT= 163.7,   0.1

2025-10-26T22:36:36.775Z,1761518196.775 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-10-26T22:36:36.776Z,1761518196.776 [DAT](INFO): direction in FSK: [-0.959804,0.280666,-0.001745]
2025-10-26T22:36:36.776Z,1761518196.776 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:36.781Z,1761518196.781 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.121239
2025-10-26T22:36:36.891Z,1761518196.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678908,-0.732843,-0.044990],[0.734222,0.677752,0.039634],[0.001447,-0.059940,0.998201]]
2025-10-26T22:36:36.959Z,1761518196.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.505106 s,
      deltaX: -0.199999 m,
      approachRate: -0.395954 m/s,
      rangeRepo size: 4

2025-10-26T22:36:36.992Z,1761518196.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.109728 m,
      bearing: 210.974595 deg,
      lat: 36.779423 deg,
      lon: -121.859439 deg,
      deltaT: 0.505106 s,
      deltaX: -0.198885 m,
      approachRate: -0.393749 m/s,
      posRepo size: 4

2025-10-26T22:36:36.994Z,1761518196.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m.
2025-10-26T22:36:37.017Z,1761518197.017 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.357117
2025-10-26T22:36:37.269Z,1761518197.269 [DAT](INFO): DAT read: Rx Time:22:36:36.0295 

2025-10-26T22:36:37.270Z,1761518197.270 [DAT](INFO): Rx dataTimestamp_ set to:1761518197.269551
2025-10-26T22:36:37.271Z,1761518197.271 [DAT](INFO): DAT read: Bearing   8.0,  15.1 (Local)

2025-10-26T22:36:37.272Z,1761518197.272 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.0,  15.1 (Local)

2025-10-26T22:36:37.274Z,1761518197.274 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed 0.0

2025-10-26T22:36:37.278Z,1761518197.278 [DAT](INFO): DAT read: 22:36:36.0295 LVL= 31296, 24209, 32754, 32755, AGC= 68, IDX= 510, 0.01,-2.552,-0.960,-3.014,-2.025, PHS=-0.425, 1.110,-1.033, RAW= 346.0,   3.7, CAL= 345.5,   1.1, ROT= 164.5,  -1.1

2025-10-26T22:36:37.284Z,1761518197.284 [DAT](INFO): got valid direction response:
 22:36:36.0295 LVL= 31296, 24209, 32754, 32755, AGC= 68, IDX= 510, 0.01,-2.552,-0.960,-3.014,-2.025, PHS=-0.425, 1.110,-1.033, RAW= 346.0,   3.7, CAL= 345.5,   1.1, ROT= 164.5,  -1.1

2025-10-26T22:36:37.285Z,1761518197.285 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-10-26T22:36:37.286Z,1761518197.286 [DAT](INFO): direction in FSK: [-0.963453,0.267189,0.019197]
2025-10-26T22:36:37.286Z,1761518197.286 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:37.306Z,1761518197.306 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.646915
2025-10-26T22:36:37.325Z,1761518197.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679721,-0.732122,-0.044467],[0.733469,0.678616,0.038782],[0.001783,-0.058976,0.998258]]
2025-10-26T22:36:37.444Z,1761518197.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.504480 s,
      deltaX: 0.199999 m,
      approachRate: 0.396446 m/s,
      rangeRepo size: 4

2025-10-26T22:36:37.446Z,1761518197.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.308874 m,
      bearing: 211.641304 deg,
      lat: 36.779424 deg,
      lon: -121.859439 deg,
      deltaT: 0.504480 s,
      deltaX: 0.199146 m,
      approachRate: 0.394756 m/s,
      posRepo size: 4

2025-10-26T22:36:37.447Z,1761518197.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m.
2025-10-26T22:36:37.522Z,1761518197.522 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.862427
2025-10-26T22:36:37.696Z,1761518197.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680554,-0.731359,-0.044266],[0.732694,0.679494,0.038037],[0.002260,-0.058320,0.998295]]
2025-10-26T22:36:37.740Z,1761518197.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m.
2025-10-26T22:36:37.773Z,1761518197.773 [DAT](INFO): DAT read: Rx Time:22:36:36.5295 

2025-10-26T22:36:37.774Z,1761518197.774 [DAT](INFO): Rx dataTimestamp_ set to:1761518197.773314
2025-10-26T22:36:37.775Z,1761518197.775 [DAT](INFO): DAT read: Bearing   7.1,  14.5 (Local)

2025-10-26T22:36:37.775Z,1761518197.775 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.1,  14.5 (Local)

2025-10-26T22:36:37.778Z,1761518197.778 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed -0.3

2025-10-26T22:36:37.784Z,1761518197.784 [DAT](INFO): DAT read: 22:36:36.5295 LVL= 32752, 24801, 32754, 32755, AGC= 68, IDX= 510,-0.09, 1.610,-3.051, 1.165, 2.173, PHS=-0.461, 1.104,-1.052, RAW= 345.4,   4.3, CAL= 345.0,   2.1, ROT= 165.0,  -2.1

2025-10-26T22:36:37.786Z,1761518197.786 [DAT](INFO): got valid direction response:
 22:36:36.5295 LVL= 32752, 24801, 32754, 32755, AGC= 68, IDX= 510,-0.09, 1.610,-3.051, 1.165, 2.173, PHS=-0.461, 1.104,-1.052, RAW= 345.4,   4.3, CAL= 345.0,   2.1, ROT= 165.0,  -2.1

2025-10-26T22:36:37.786Z,1761518197.786 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-10-26T22:36:37.801Z,1761518197.801 [DAT](INFO): direction in FSK: [-0.965277,0.258645,0.036644]
2025-10-26T22:36:37.801Z,1761518197.801 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:37.807Z,1761518197.807 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.147385
2025-10-26T22:36:38.024Z,1761518198.024 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.364971
2025-10-26T22:36:38.101Z,1761518198.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681354,-0.730602,-0.044462],[0.731949,0.680323,0.037577],[0.002795,-0.058148,0.998304]]
2025-10-26T22:36:38.158Z,1761518198.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.503763 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:38.160Z,1761518198.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.308874 m,
      bearing: 211.957355 deg,
      lat: 36.779426 deg,
      lon: -121.859440 deg,
      deltaT: 0.503763 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:38.161Z,1761518198.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m.
2025-10-26T22:36:38.277Z,1761518198.277 [DAT](INFO): DAT read: Rx Time:22:36:37.0297 

2025-10-26T22:36:38.277Z,1761518198.277 [DAT](INFO): Rx dataTimestamp_ set to:1761518198.277129
2025-10-26T22:36:38.279Z,1761518198.279 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed 0.2

2025-10-26T22:36:38.279Z,1761518198.279 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-10-26T22:36:38.280Z,1761518198.280 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.620838
2025-10-26T22:36:38.506Z,1761518198.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681548,-0.730410,-0.044659],[0.731765,0.680563,0.036798],[0.003515,-0.057760,0.998324]]
2025-10-26T22:36:38.528Z,1761518198.528 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.869019
2025-10-26T22:36:38.631Z,1761518198.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.503815 s,
      deltaX: 0.300001 m,
      approachRate: 0.595459 m/s,
      rangeRepo size: 4

2025-10-26T22:36:38.632Z,1761518198.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m.
2025-10-26T22:36:38.780Z,1761518198.780 [DAT](INFO): DAT read: Rx Time:22:36:

2025-10-26T22:36:38.781Z,1761518198.781 [DAT](INFO): Rx dataTimestamp_ set to:1761518198.780463
2025-10-26T22:36:38.782Z,1761518198.782 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed -0.4

2025-10-26T22:36:38.783Z,1761518198.783 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-10-26T22:36:38.784Z,1761518198.784 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.124153
2025-10-26T22:36:38.958Z,1761518198.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.503334 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:38.959Z,1761518198.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m.
2025-10-26T22:36:39.033Z,1761518199.033 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.373898
2025-10-26T22:36:39.285Z,1761518199.285 [DAT](INFO): DAT read: Rx Time:22:36:38.0299 

2025-10-26T22:36:39.285Z,1761518199.285 [DAT](INFO): Rx dataTimestamp_ set to:1761518199.285168
2025-10-26T22:36:39.287Z,1761518199.287 [DAT](INFO): DAT read: Bearing   6.7,  12.7 (Local)

2025-10-26T22:36:39.287Z,1761518199.287 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.7,  12.7 (Local)

2025-10-26T22:36:39.289Z,1761518199.289 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed -0.3

2025-10-26T22:36:39.294Z,1761518199.294 [DAT](INFO): DAT read: 22:36:38.0299 LVL= 31984, 24049, 32754, 32755, AGC= 68, IDX=   2,-0.12, 2.624,-1.982, 2.239,-3.052, PHS=-0.506, 1.115,-1.037, RAW= 343.7,   4.5, CAL= 343.3,   2.4, ROT= 166.7,  -2.4

2025-10-26T22:36:39.295Z,1761518199.295 [DAT](INFO): got valid direction response:
 22:36:38.0299 LVL= 31984, 24049, 32754, 32755, AGC= 68, IDX=   2,-0.12, 2.624,-1.982, 2.239,-3.052, PHS=-0.506, 1.115,-1.037, RAW= 343.7,   4.5, CAL= 343.3,   2.4, ROT= 166.7,  -2.4

2025-10-26T22:36:39.300Z,1761518199.300 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-10-26T22:36:39.301Z,1761518199.301 [DAT](INFO): direction in FSK: [-0.972325,0.229848,0.041876]
2025-10-26T22:36:39.301Z,1761518199.301 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:39.305Z,1761518199.305 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.645401
2025-10-26T22:36:39.344Z,1761518199.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680424,-0.731426,-0.045161],[0.732807,0.679467,0.036312],[0.004126,-0.057802,0.998320]]
2025-10-26T22:36:39.476Z,1761518199.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.504705 s,
      deltaX: 0.299999 m,
      approachRate: 0.594405 m/s,
      rangeRepo size: 4

2025-10-26T22:36:39.478Z,1761518199.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.905973 m,
      bearing: 213.710645 deg,
      lat: 36.779426 deg,
      lon: -121.859442 deg,
      deltaT: 1.511854 s,
      deltaX: 0.597099 m,
      approachRate: 0.394945 m/s,
      posRepo size: 4

2025-10-26T22:36:39.478Z,1761518199.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m.
2025-10-26T22:36:39.537Z,1761518199.537 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.877663
2025-10-26T22:36:39.724Z,1761518199.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679141,-0.732576,-0.045816],[0.733995,0.678168,0.036600],[0.004259,-0.058485,0.998279]]
2025-10-26T22:36:39.771Z,1761518199.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m.
2025-10-26T22:36:39.791Z,1761518199.791 [DAT](INFO): DAT read: Rx Time:22:36:38.5299 

2025-10-26T22:36:39.791Z,1761518199.791 [DAT](INFO): Rx dataTimestamp_ set to:1761518199.790718
2025-10-26T22:36:39.792Z,1761518199.792 [DAT](INFO): DAT read: Bearing   7.2,  13.2 (Local)

2025-10-26T22:36:39.793Z,1761518199.793 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.2,  13.2 (Local)

2025-10-26T22:36:39.795Z,1761518199.795 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed -0.3

2025-10-26T22:36:39.799Z,1761518199.799 [DAT](INFO): DAT read: 22:36:38.5299 LVL= 31616, 23473, 32754, 32755, AGC= 64, IDX= 498, 0.01, 2.477,-2.156, 2.078, 3.060, PHS=-0.482, 1.112,-1.026, RAW= 344.2,   4.2, CAL= 343.8,   2.0, ROT= 166.2,  -2.0

2025-10-26T22:36:39.801Z,1761518199.801 [DAT](INFO): got valid direction response:
 22:36:38.5299 LVL= 31616, 23473, 32754, 32755, AGC= 64, IDX= 498, 0.01, 2.477,-2.156, 2.078, 3.060, PHS=-0.482, 1.112,-1.026, RAW= 344.2,   4.2, CAL= 343.8,   2.0, ROT= 166.2,  -2.0

2025-10-26T22:36:39.802Z,1761518199.802 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-10-26T22:36:39.803Z,1761518199.803 [DAT](INFO): direction in FSK: [-0.970543,0.238388,0.034899]
2025-10-26T22:36:39.828Z,1761518199.828 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:39.838Z,1761518199.838 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=46.178242
2025-10-26T22:36:40.040Z,1761518200.040 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=46.380962
2025-10-26T22:36:40.147Z,1761518200.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677454,-0.734128,-0.045957],[0.735551,0.676505,0.036138],[0.004560,-0.058286,0.998290]]
2025-10-26T22:36:40.202Z,1761518200.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.505550 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:40.220Z,1761518200.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.905973 m,
      bearing: 213.464917 deg,
      lat: 36.779429 deg,
      lon: -121.859443 deg,
      deltaT: 0.505550 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:40.220Z,1761518200.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m.
2025-10-26T22:36:40.293Z,1761518200.293 [DAT](INFO): DAT read: Rx Time:22:36:39.0301 

2025-10-26T22:36:40.294Z,1761518200.294 [DAT](INFO): Rx dataTimestamp_ set to:1761518200.293320
2025-10-26T22:36:40.295Z,1761518200.295 [DAT](INFO): DAT read: Bearing   7.9,  13.6 (Local)

2025-10-26T22:36:40.295Z,1761518200.295 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.9,  13.6 (Local)

2025-10-26T22:36:40.297Z,1761518200.297 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed -0.3

2025-10-26T22:36:40.303Z,1761518200.303 [DAT](INFO): DAT read: 22:36:39.0301 LVL= 32752, 23489, 32754, 32755, AGC= 63, IDX= 500, 0.18,-1.588, 0.050,-1.999,-1.028, PHS=-0.459, 1.123,-1.016, RAW= 344.5,   3.7, CAL= 344.1,   1.2, ROT= 165.9,  -1.2

2025-10-26T22:36:40.304Z,1761518200.304 [DAT](INFO): got valid direction response:
 22:36:39.0301 LVL= 32752, 23489, 32754, 32755, AGC= 63, IDX= 500, 0.18,-1.588, 0.050,-1.999,-1.028, PHS=-0.459, 1.123,-1.016, RAW= 344.5,   3.7, CAL= 344.1,   1.2, ROT= 165.9,  -1.2

2025-10-26T22:36:40.305Z,1761518200.305 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-10-26T22:36:40.306Z,1761518200.306 [DAT](INFO): direction in FSK: [-0.969659,0.243562,0.020942]
2025-10-26T22:36:40.306Z,1761518200.306 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:40.323Z,1761518200.323 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.662968
2025-10-26T22:36:40.522Z,1761518200.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675941,-0.735538,-0.045688],[0.736935,0.675082,0.034496],[0.005470,-0.056987,0.998360]]
2025-10-26T22:36:40.545Z,1761518200.545 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.885094
2025-10-26T22:36:40.558Z,1761518200.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.502602 s,
      deltaX: 0.299999 m,
      approachRate: 0.596892 m/s,
      rangeRepo size: 4

2025-10-26T22:36:40.560Z,1761518200.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.204374 m,
      bearing: 213.327941 deg,
      lat: 36.779429 deg,
      lon: -121.859448 deg,
      deltaT: 0.502602 s,
      deltaX: 0.298401 m,
      approachRate: 0.593712 m/s,
      posRepo size: 4

2025-10-26T22:36:40.561Z,1761518200.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m.
2025-10-26T22:36:40.797Z,1761518200.797 [DAT](INFO): DAT read: Rx Time:22:36:39.5301 

2025-10-26T22:36:40.797Z,1761518200.797 [DAT](INFO): Rx dataTimestamp_ set to:1761518200.797143
2025-10-26T22:36:40.799Z,1761518200.799 [DAT](INFO): DAT read: Bearing   7.9,  12.6 (Local)

2025-10-26T22:36:40.799Z,1761518200.799 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.9,  12.6 (Local)

2025-10-26T22:36:40.801Z,1761518200.801 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed -0.3

2025-10-26T22:36:40.806Z,1761518200.806 [DAT](INFO): DAT read: 22:36:39.5301 LVL= 31552, 23697, 32754, 32755, AGC= 60, IDX= 501,-0.47, 1.599,-3.000, 1.223, 2.187, PHS=-0.486, 1.141,-1.009, RAW= 343.5,   3.7, CAL= 343.1,   1.2, ROT= 166.9,  -1.2

2025-10-26T22:36:40.807Z,1761518200.807 [DAT](INFO): got valid direction response:
 22:36:39.5301 LVL= 31552, 23697, 32754, 32755, AGC= 60, IDX= 501,-0.47, 1.599,-3.000, 1.223, 2.187, PHS=-0.486, 1.141,-1.009, RAW= 343.5,   3.7, CAL= 343.1,   1.2, ROT= 166.9,  -1.2

2025-10-26T22:36:40.807Z,1761518200.807 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-10-26T22:36:40.808Z,1761518200.808 [DAT](INFO): direction in FSK: [-0.973762,0.226602,0.020942]
2025-10-26T22:36:40.809Z,1761518200.809 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:40.849Z,1761518200.849 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=47.189884
2025-10-26T22:36:40.938Z,1761518200.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674138,-0.737227,-0.045097],[0.738579,0.673372,0.032723],[0.006243,-0.055367,0.998447]]
2025-10-26T22:36:40.961Z,1761518200.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.503823 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:40.963Z,1761518200.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.204374 m,
      bearing: 214.466830 deg,
      lat: 36.779430 deg,
      lon: -121.859449 deg,
      deltaT: 0.503823 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:40.964Z,1761518200.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m.
2025-10-26T22:36:41.052Z,1761518201.052 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=47.391483
2025-10-26T22:36:41.301Z,1761518201.301 [DAT](INFO): DAT read: Rx Time:22:36:40.0302 

2025-10-26T22:36:41.302Z,1761518201.302 [DAT](INFO): Rx dataTimestamp_ set to:1761518201.301388
2025-10-26T22:36:41.303Z,1761518201.303 [DAT](INFO): DAT read: Bearing   7.3,  12.8 (Local)

2025-10-26T22:36:41.304Z,1761518201.304 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.3,  12.8 (Local)

2025-10-26T22:36:41.306Z,1761518201.306 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed -0.4

2025-10-26T22:36:41.310Z,1761518201.310 [DAT](INFO): DAT read: 22:36:40.0302 LVL= 30256, 21553, 32754, 32755, AGC= 63, IDX= 502,-0.12, 0.846, 2.521, 0.463, 1.440, PHS=-0.493, 1.126,-1.021, RAW= 343.7,   4.0, CAL= 343.3,   1.8, ROT= 166.7,  -1.8

2025-10-26T22:36:41.321Z,1761518201.321 [DAT](INFO): got valid direction response:
 22:36:40.0302 LVL= 30256, 21553, 32754, 32755, AGC= 63, IDX= 502,-0.12, 0.846, 2.521, 0.463, 1.440, PHS=-0.493, 1.126,-1.021, RAW= 343.7,   4.0, CAL= 343.3,   1.8, ROT= 166.7,  -1.8

2025-10-26T22:36:41.321Z,1761518201.321 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-10-26T22:36:41.322Z,1761518201.322 [DAT](INFO): direction in FSK: [-0.972699,0.229936,0.031411]
2025-10-26T22:36:41.322Z,1761518201.322 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:41.326Z,1761518201.326 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.666515
2025-10-26T22:36:41.363Z,1761518201.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672580,-0.738679,-0.044599],[0.739993,0.671879,0.031434],[0.006746,-0.054145,0.998510]]
2025-10-26T22:36:41.490Z,1761518201.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.504245 s,
      deltaX: 0.100000 m,
      approachRate: 0.198317 m/s,
      rangeRepo size: 4

2025-10-26T22:36:41.501Z,1761518201.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.303926 m,
      bearing: 214.357645 deg,
      lat: 36.779431 deg,
      lon: -121.859450 deg,
      deltaT: 0.504245 s,
      deltaX: 0.099552 m,
      approachRate: 0.197428 m/s,
      posRepo size: 4

2025-10-26T22:36:41.501Z,1761518201.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m.
2025-10-26T22:36:41.553Z,1761518201.553 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.893745
2025-10-26T22:36:41.743Z,1761518201.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670972,-0.740174,-0.044038],[0.741449,0.670324,0.030312],[0.007083,-0.052990,0.998570]]
2025-10-26T22:36:41.778Z,1761518201.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m.
2025-10-26T22:36:41.805Z,1761518201.805 [DAT](INFO): DAT read: Rx Time:22:36:40.5302 

2025-10-26T22:36:41.805Z,1761518201.805 [DAT](INFO): Rx dataTimestamp_ set to:1761518201.805219
2025-10-26T22:36:41.807Z,1761518201.807 [DAT](INFO): DAT read: Bearing   8.0,  13.8 (Local)

2025-10-26T22:36:41.808Z,1761518201.808 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.0,  13.8 (Local)

2025-10-26T22:36:41.811Z,1761518201.811 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed -0.3

2025-10-26T22:36:41.833Z,1761518201.833 [DAT](INFO): DAT read: 22:36:40.5302 LVL= 32752, 22929, 32754, 32755, AGC= 64, IDX= 502, 0.17, 1.341, 2.993, 0.924, 1.902, PHS=-0.459, 1.136,-1.022, RAW= 344.6,   3.6, CAL= 344.1,   1.1, ROT= 165.9,  -1.1

2025-10-26T22:36:41.834Z,1761518201.834 [DAT](INFO): got valid direction response:
 22:36:40.5302 LVL= 32752, 22929, 32754, 32755, AGC= 64, IDX= 502, 0.17, 1.341, 2.993, 0.924, 1.902, PHS=-0.459, 1.136,-1.022, RAW= 344.6,   3.6, CAL= 344.1,   1.1, ROT= 165.9,  -1.1

2025-10-26T22:36:41.835Z,1761518201.835 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-10-26T22:36:41.840Z,1761518201.840 [DAT](INFO): direction in FSK: [-0.969693,0.243570,0.019197]
2025-10-26T22:36:41.841Z,1761518201.841 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:41.849Z,1761518201.849 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=48.190048
2025-10-26T22:36:42.059Z,1761518202.059 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=48.399181
2025-10-26T22:36:42.164Z,1761518202.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669281,-0.741747,-0.043289],[0.742974,0.668679,0.029302],[0.007212,-0.051774,0.998633]]
2025-10-26T22:36:42.226Z,1761518202.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.503831 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:42.238Z,1761518202.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.303926 m,
      bearing: 213.850255 deg,
      lat: 36.779432 deg,
      lon: -121.859449 deg,
      deltaT: 0.503831 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:42.239Z,1761518202.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m.
2025-10-26T22:36:42.310Z,1761518202.310 [DAT](INFO): DAT read: Rx Time:22:36:41.0305 

2025-10-26T22:36:42.310Z,1761518202.310 [DAT](INFO): Rx dataTimestamp_ set to:1761518202.310132
2025-10-26T22:36:42.312Z,1761518202.312 [DAT](INFO): DAT read: Bearing   7.3,  13.4 (Local)

2025-10-26T22:36:42.313Z,1761518202.313 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.3,  13.4 (Local)

2025-10-26T22:36:42.317Z,1761518202.317 [DAT](INFO): DAT read: Range 11 to 50 :    17.9 m (trip time 11.9 ms) speed -0.3

2025-10-26T22:36:42.323Z,1761518202.323 [DAT](INFO): DAT read: 22:36:41.0305 LVL= 32592, 25937, 32754, 32755, AGC= 67, IDX= 505,-0.27,-0.581, 1.079,-0.979, 0.005, PHS=-0.483, 1.119,-1.028, RAW= 344.1,   4.1, CAL= 343.7,   1.9, ROT= 166.3,  -1.9

2025-10-26T22:36:42.325Z,1761518202.325 [DAT](INFO): got valid direction response:
 22:36:41.0305 LVL= 32592, 25937, 32754, 32755, AGC= 67, IDX= 505,-0.27,-0.581, 1.079,-0.979, 0.005, PHS=-0.483, 1.119,-1.028, RAW= 344.1,   4.1, CAL= 343.7,   1.9, ROT= 166.3,  -1.9

2025-10-26T22:36:42.326Z,1761518202.326 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-10-26T22:36:42.327Z,1761518202.327 [DAT](INFO): direction in FSK: [-0.971015,0.236708,0.033155]
2025-10-26T22:36:42.328Z,1761518202.328 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:42.338Z,1761518202.338 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=48.678288
2025-10-26T22:36:42.546Z,1761518202.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667695,-0.743222,-0.042478],[0.744399,0.667131,0.028392],[0.007237,-0.050578,0.998694]]
2025-10-26T22:36:42.560Z,1761518202.560 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=48.901058
2025-10-26T22:36:42.583Z,1761518202.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 0.504913 s,
      deltaX: 0.500000 m,
      approachRate: 0.990270 m/s,
      rangeRepo size: 4

2025-10-26T22:36:42.589Z,1761518202.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.801205 m,
      bearing: 214.334450 deg,
      lat: 36.779432 deg,
      lon: -121.859450 deg,
      deltaT: 0.504913 s,
      deltaX: 0.497278 m,
      approachRate: 0.984879 m/s,
      posRepo size: 4

2025-10-26T22:36:42.590Z,1761518202.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-10-26T22:36:42.813Z,1761518202.813 [DAT](INFO): DAT read: Rx Time:22:36:41.5305 

2025-10-26T22:36:42.813Z,1761518202.813 [DAT](INFO): Rx dataTimestamp_ set to:1761518202.813122
2025-10-26T22:36:42.815Z,1761518202.815 [DAT](INFO): DAT read: Bearing   9.2,  14.0 (Local)

2025-10-26T22:36:42.815Z,1761518202.815 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.2,  14.0 (Local)

2025-10-26T22:36:42.817Z,1761518202.817 [DAT](INFO): DAT read: Range 11 to 50 :    17.9 m (trip time 11.9 ms) speed -0.4

2025-10-26T22:36:42.822Z,1761518202.822 [DAT](INFO): DAT read: 22:36:41.5305 LVL= 32752, 23841, 32754, 32755, AGC= 68, IDX= 505, 0.16,-2.291,-0.656,-2.711,-1.758, PHS=-0.431, 1.147,-0.997, RAW= 344.8,   3.0, CAL= 344.3,   0.1, ROT= 165.7,  -0.1

2025-10-26T22:36:42.823Z,1761518202.823 [DAT](INFO): got valid direction response:
 22:36:41.5305 LVL= 32752, 23841, 32754, 32755, AGC= 68, IDX= 505, 0.16,-2.291,-0.656,-2.711,-1.758, PHS=-0.431, 1.147,-0.997, RAW= 344.8,   3.0, CAL= 344.3,   0.1, ROT= 165.7,  -0.1

2025-10-26T22:36:42.823Z,1761518202.823 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-10-26T22:36:42.824Z,1761518202.824 [DAT](INFO): direction in FSK: [-0.969014,0.246999,0.001745]
2025-10-26T22:36:42.824Z,1761518202.824 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:42.828Z,1761518202.828 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=49.168861
2025-10-26T22:36:42.951Z,1761518202.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666153,-0.744616,-0.042271],[0.745783,0.665580,0.028481],[0.006928,-0.050497,0.998700]]
2025-10-26T22:36:42.981Z,1761518202.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 0.502990 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:42.986Z,1761518202.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.801205 m,
      bearing: 213.939118 deg,
      lat: 36.779432 deg,
      lon: -121.859450 deg,
      deltaT: 0.502990 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:42.987Z,1761518202.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-10-26T22:36:43.053Z,1761518203.053 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:36:43.067Z,1761518203.067 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=49.407242
2025-10-26T22:36:43.317Z,1761518203.317 [DAT](INFO): DAT read: Rx Time:22:36:42.0308 

2025-10-26T22:36:43.317Z,1761518203.317 [DAT](INFO): Rx dataTimestamp_ set to:1761518203.317120
2025-10-26T22:36:43.319Z,1761518203.319 [DAT](INFO): DAT read: Bearing   9.2,  13.5 (Local)

2025-10-26T22:36:43.319Z,1761518203.319 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.2,  13.5 (Local)

2025-10-26T22:36:43.321Z,1761518203.321 [DAT](INFO): DAT read: Range 11 to 50 :    18.3 m (trip time 12.2 ms) speed -0.4

2025-10-26T22:36:43.326Z,1761518203.326 [DAT](INFO): DAT read: 22:36:42.0308 LVL= 30384, 23313, 32754, 32755, AGC= 68, IDX= 508,-0.40, 2.642,-1.986, 2.241,-3.093, PHS=-0.446, 1.152,-0.993, RAW= 344.2,   3.0, CAL= 343.7,   0.1, ROT= 166.3,  -0.1

2025-10-26T22:36:43.327Z,1761518203.327 [DAT](INFO): got valid direction response:
 22:36:42.0308 LVL= 30384, 23313, 32754, 32755, AGC= 68, IDX= 508,-0.40, 2.642,-1.986, 2.241,-3.093, PHS=-0.446, 1.152,-0.993, RAW= 344.2,   3.0, CAL= 343.7,   0.1, ROT= 166.3,  -0.1

2025-10-26T22:36:43.336Z,1761518203.336 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-10-26T22:36:43.337Z,1761518203.337 [DAT](INFO): direction in FSK: [-0.971548,0.236838,0.001745]
2025-10-26T22:36:43.337Z,1761518203.337 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:43.353Z,1761518203.353 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=49.693695
2025-10-26T22:36:43.395Z,1761518203.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664902,-0.745698,-0.042905],[0.746905,0.664258,0.029894],[0.006208,-0.051923,0.998632]]
2025-10-26T22:36:43.509Z,1761518203.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 0.503998 s,
      deltaX: 0.400000 m,
      approachRate: 0.793653 m/s,
      rangeRepo size: 4

2025-10-26T22:36:43.514Z,1761518203.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.199011 m,
      bearing: 214.635828 deg,
      lat: 36.779431 deg,
      lon: -121.859450 deg,
      deltaT: 0.503998 s,
      deltaX: 0.397806 m,
      approachRate: 0.789301 m/s,
      posRepo size: 4

2025-10-26T22:36:43.514Z,1761518203.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-10-26T22:36:43.569Z,1761518203.569 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=49.909695
2025-10-26T22:36:43.758Z,1761518203.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663816,-0.746626,-0.043563],[0.747877,0.663089,0.031534],[0.005342,-0.053513,0.998553]]
2025-10-26T22:36:43.777Z,1761518203.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-10-26T22:36:43.822Z,1761518203.822 [DAT](INFO): DAT read: Rx Time:22:36:42.5308 

2025-10-26T22:36:43.822Z,1761518203.822 [DAT](INFO): Rx dataTimestamp_ set to:1761518203.822221
2025-10-26T22:36:43.824Z,1761518203.824 [DAT](INFO): DAT read: Bearing   8.9,  13.8 (Local)

2025-10-26T22:36:43.825Z,1761518203.825 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.9,  13.8 (Local)

2025-10-26T22:36:43.828Z,1761518203.828 [DAT](INFO): DAT read: Range 11 to 50 :    18.3 m (trip time 12.2 ms) speed -0.2

2025-10-26T22:36:43.834Z,1761518203.834 [DAT](INFO): DAT read: 22:36:42.5308 LVL= 30880, 27345, 32754, 32755, AGC= 69, IDX= 508,-0.16, 0.944, 2.583, 0.537, 1.490, PHS=-0.444, 1.138,-0.997, RAW= 344.4,   3.2, CAL= 344.0,   0.4, ROT= 166.0,  -0.4

2025-10-26T22:36:43.843Z,1761518203.843 [DAT](INFO): got valid direction response:
 22:36:42.5308 LVL= 30880, 27345, 32754, 32755, AGC= 69, IDX= 508,-0.16, 0.944, 2.583, 0.537, 1.490, PHS=-0.444, 1.138,-0.997, RAW= 344.4,   3.2, CAL= 344.0,   0.4, ROT= 166.0,  -0.4

2025-10-26T22:36:43.853Z,1761518203.853 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-10-26T22:36:43.854Z,1761518203.854 [DAT](INFO): direction in FSK: [-0.970272,0.241916,0.006981]
2025-10-26T22:36:43.854Z,1761518203.854 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:43.863Z,1761518203.863 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=50.203400
2025-10-26T22:36:44.058Z,1761518204.058 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:36:44.076Z,1761518204.076 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=50.416401
2025-10-26T22:36:44.241Z,1761518204.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 0.505101 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:44.243Z,1761518204.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.199011 m,
      bearing: 214.405558 deg,
      lat: 36.779431 deg,
      lon: -121.859451 deg,
      deltaT: 0.505101 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:44.244Z,1761518204.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-10-26T22:36:44.325Z,1761518204.325 [DAT](INFO): DAT read: Rx Time:22:36:43.0310 

2025-10-26T22:36:44.326Z,1761518204.326 [DAT](INFO): Rx dataTimestamp_ set to:1761518204.325226
2025-10-26T22:36:44.327Z,1761518204.327 [DAT](INFO): DAT read: Bearing   8.6,  13.8 (Local)

2025-10-26T22:36:44.328Z,1761518204.328 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.6,  13.8 (Local)

2025-10-26T22:36:44.330Z,1761518204.330 [DAT](INFO): DAT read: Range 11 to 50 :    18.6 m (trip time 12.4 ms) speed -0.3

2025-10-26T22:36:44.337Z,1761518204.337 [DAT](INFO): DAT read: 22:36:43.0310 LVL= 32752, 27729, 32754, 32755, AGC= 69, IDX= 510,-0.05, 2.335,-2.316, 1.933, 2.885, PHS=-0.449, 1.127,-0.997, RAW= 344.4,   3.4, CAL= 343.9,   0.7, ROT= 166.1,  -0.7

2025-10-26T22:36:44.338Z,1761518204.338 [DAT](INFO): got valid direction response:
 22:36:43.0310 LVL= 32752, 27729, 32754, 32755, AGC= 69, IDX= 510,-0.05, 2.335,-2.316, 1.933, 2.885, PHS=-0.449, 1.127,-0.997, RAW= 344.4,   3.4, CAL= 343.9,   0.7, ROT= 166.1,  -0.7

2025-10-26T22:36:44.339Z,1761518204.339 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-10-26T22:36:44.340Z,1761518204.340 [DAT](INFO): direction in FSK: [-0.970644,0.240210,0.012217]
2025-10-26T22:36:44.341Z,1761518204.341 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:44.356Z,1761518204.356 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=50.697048
2025-10-26T22:36:44.566Z,1761518204.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663610,-0.746795,-0.043818],[0.748066,0.662800,0.033064],[0.004351,-0.054720,0.998492]]
2025-10-26T22:36:44.576Z,1761518204.576 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=50.916912
2025-10-26T22:36:44.653Z,1761518204.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.600000 m,
      deltaT: 0.503005 s,
      deltaX: 0.300001 m,
      approachRate: 0.596418 m/s,
      rangeRepo size: 4

2025-10-26T22:36:44.669Z,1761518204.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.497252 m,
      bearing: 214.506426 deg,
      lat: 36.779431 deg,
      lon: -121.859452 deg,
      deltaT: 0.503005 s,
      deltaX: 0.298241 m,
      approachRate: 0.592918 m/s,
      posRepo size: 4

2025-10-26T22:36:44.669Z,1761518204.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.50 m.
2025-10-26T22:36:44.829Z,1761518204.829 [DAT](INFO): DAT read: Rx Time:22:36:43.5310 

2025-10-26T22:36:44.829Z,1761518204.829 [DAT](INFO): Rx dataTimestamp_ set to:1761518204.829120
2025-10-26T22:36:44.831Z,1761518204.831 [DAT](INFO): DAT read: Bearing   9.1,  14.2 (Local)

2025-10-26T22:36:44.831Z,1761518204.831 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.1,  14.2 (Local)

2025-10-26T22:36:44.833Z,1761518204.833 [DAT](INFO): DAT read: Range 11 to 50 :    18.6 m (trip time 12.4 ms) speed -0.1

2025-10-26T22:36:44.838Z,1761518204.838 [DAT](INFO): DAT read: 22:36:43.5310 LVL= 31216, 22625, 32754, 32755, AGC= 70, IDX= 510,-0.03, 2.021,-2.623, 1.603, 2.560, PHS=-0.437, 1.145,-1.001, RAW= 344.7,   3.1, CAL= 344.2,   0.2, ROT= 165.8,  -0.2

2025-10-26T22:36:44.839Z,1761518204.839 [DAT](INFO): got valid direction response:
 22:36:43.5310 LVL= 31216, 22625, 32754, 32755, AGC= 70, IDX= 510,-0.03, 2.021,-2.623, 1.603, 2.560, PHS=-0.437, 1.145,-1.001, RAW= 344.7,   3.1, CAL= 344.2,   0.2, ROT= 165.8,  -0.2

2025-10-26T22:36:44.839Z,1761518204.839 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-10-26T22:36:44.840Z,1761518204.840 [DAT](INFO): direction in FSK: [-0.969439,0.245306,0.003491]
2025-10-26T22:36:44.841Z,1761518204.841 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:44.859Z,1761518204.859 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=51.198322
2025-10-26T22:36:44.970Z,1761518204.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664011,-0.746460,-0.043436],[0.747715,0.663160,0.033796],[0.003578,-0.054918,0.998484]]
2025-10-26T22:36:45.017Z,1761518205.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.600000 m,
      deltaT: 0.503894 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:45.020Z,1761518205.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.497252 m,
      bearing: 214.202534 deg,
      lat: 36.779431 deg,
      lon: -121.859453 deg,
      deltaT: 0.503894 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:45.021Z,1761518205.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.50 m.
2025-10-26T22:36:45.085Z,1761518205.085 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=51.425198
2025-10-26T22:36:45.333Z,1761518205.333 [DAT](INFO): DAT read: Rx Time:22:36:44.0311 

2025-10-26T22:36:45.333Z,1761518205.333 [DAT](INFO): Rx dataTimestamp_ set to:1761518205.333130
2025-10-26T22:36:45.335Z,1761518205.335 [DAT](INFO): DAT read: Bearing   7.7,  13.9 (Local)

2025-10-26T22:36:45.335Z,1761518205.335 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.7,  13.9 (Local)

2025-10-26T22:36:45.337Z,1761518205.337 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed -0.3

2025-10-26T22:36:45.342Z,1761518205.342 [DAT](INFO): DAT read: 22:36:44.0311 LVL= 32752, 28737, 32754, 32755, AGC= 69, IDX= 511,-0.23,-2.075,-0.453,-2.474,-1.507, PHS=-0.466, 1.098,-1.011, RAW= 344.4,   4.0, CAL= 344.0,   1.8, ROT= 166.0,  -1.8

2025-10-26T22:36:45.343Z,1761518205.343 [DAT](INFO): got valid direction response:
 22:36:44.0311 LVL= 32752, 28737, 32754, 32755, AGC= 69, IDX= 511,-0.23,-2.075,-0.453,-2.474,-1.507, PHS=-0.466, 1.098,-1.011, RAW= 344.4,   4.0, CAL= 344.0,   1.8, ROT= 166.0,  -1.8

2025-10-26T22:36:45.343Z,1761518205.343 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-10-26T22:36:45.344Z,1761518205.344 [DAT](INFO): direction in FSK: [-0.969817,0.241802,0.031411]
2025-10-26T22:36:45.345Z,1761518205.345 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:45.349Z,1761518205.349 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=51.689388
2025-10-26T22:36:45.410Z,1761518205.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664609,-0.746018,-0.041850],[0.747187,0.663751,0.033861],[0.002517,-0.053774,0.998550]]
2025-10-26T22:36:45.510Z,1761518205.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.504010 s,
      deltaX: 0.199999 m,
      approachRate: 0.396815 m/s,
      rangeRepo size: 4

2025-10-26T22:36:45.516Z,1761518205.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.696066 m,
      bearing: 214.273640 deg,
      lat: 36.779431 deg,
      lon: -121.859453 deg,
      deltaT: 0.504010 s,
      deltaX: 0.198814 m,
      approachRate: 0.394465 m/s,
      posRepo size: 4

2025-10-26T22:36:45.517Z,1761518205.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m.
2025-10-26T22:36:45.585Z,1761518205.585 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=51.925903
2025-10-26T22:36:45.778Z,1761518205.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665721,-0.745134,-0.039879],[0.746199,0.664875,0.033588],[0.001486,-0.052118,0.998640]]
2025-10-26T22:36:45.809Z,1761518205.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m.
2025-10-26T22:36:45.837Z,1761518205.837 [DAT](INFO): DAT read: Rx Time:22:36:44.5310 

2025-10-26T22:36:45.838Z,1761518205.838 [DAT](INFO): Rx dataTimestamp_ set to:1761518205.837227
2025-10-26T22:36:45.848Z,1761518205.848 [DAT](INFO): DAT read: Bearing   8.8,  14.5 (Local)

2025-10-26T22:36:45.848Z,1761518205.848 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.8,  14.5 (Local)

2025-10-26T22:36:45.851Z,1761518205.851 [DAT](INFO): DAT read: Range 11 to 50 :    18.6 m (trip time 12.4 ms) speed -0.2

2025-10-26T22:36:45.894Z,1761518205.894 [DAT](INFO): DAT read: 22:36:44.5310 LVL= 32752, 23857, 32754, 32755, AGC= 67, IDX= 510, 0.40, 0.943, 2.565, 0.520, 1.484, PHS=-0.440, 1.126,-1.008, RAW= 344.9,   3.4, CAL= 344.5,   0.7, ROT= 165.5,  -0.7

2025-10-26T22:36:45.897Z,1761518205.897 [DAT](INFO): got valid direction response:
 22:36:44.5310 LVL= 32752, 23857, 32754, 32755, AGC= 67, IDX= 510, 0.40, 0.943, 2.565, 0.520, 1.484, PHS=-0.440, 1.126,-1.008, RAW= 344.9,   3.4, CAL= 344.5,   0.7, ROT= 165.5,  -0.7

2025-10-26T22:36:45.898Z,1761518205.898 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-10-26T22:36:45.900Z,1761518205.900 [DAT](INFO): direction in FSK: [-0.968075,0.250361,0.012217]
2025-10-26T22:36:45.900Z,1761518205.900 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:45.924Z,1761518205.924 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=52.264446
2025-10-26T22:36:46.091Z,1761518206.091 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=52.431107
2025-10-26T22:36:46.182Z,1761518206.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667168,-0.743970,-0.037353],[0.744907,0.666359,0.032853],[0.000449,-0.049743,0.998762]]
2025-10-26T22:36:46.234Z,1761518206.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.600000 m,
      deltaT: 0.504097 s,
      deltaX: -0.199999 m,
      approachRate: -0.396747 m/s,
      rangeRepo size: 4

2025-10-26T22:36:46.236Z,1761518206.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.497173 m,
      bearing: 213.634578 deg,
      lat: 36.779431 deg,
      lon: -121.859453 deg,
      deltaT: 0.504097 s,
      deltaX: -0.198893 m,
      approachRate: -0.394552 m/s,
      posRepo size: 4

2025-10-26T22:36:46.237Z,1761518206.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.50 m.
2025-10-26T22:36:46.341Z,1761518206.341 [DAT](INFO): DAT read: Rx Time:22:36:45.0312 

2025-10-26T22:36:46.342Z,1761518206.342 [DAT](INFO): Rx dataTimestamp_ set to:1761518206.341239
2025-10-26T22:36:46.343Z,1761518206.343 [DAT](INFO): DAT read: Bearing  11.6,  16.2 (Local)

2025-10-26T22:36:46.343Z,1761518206.343 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.6,  16.2 (Local)

2025-10-26T22:36:46.345Z,1761518206.345 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed -0.1

2025-10-26T22:36:46.350Z,1761518206.350 [DAT](INFO): DAT read: 22:36:45.0312 LVL= 32752, 26497, 32754, 32755, AGC= 65, IDX= 512, 0.11, 1.505, 2.941, 1.087, 1.905, PHS=-0.298, 1.080,-0.862, RAW= 346.4,   0.9, CAL= 345.9,  -2.0, ROT= 164.1,   2.0

2025-10-26T22:36:46.351Z,1761518206.351 [DAT](INFO): got valid direction response:
 22:36:45.0312 LVL= 32752, 26497, 32754, 32755, AGC= 65, IDX= 512, 0.11, 1.505, 2.941, 1.087, 1.905, PHS=-0.298, 1.080,-0.862, RAW= 346.4,   0.9, CAL= 345.9,  -2.0, ROT= 164.1,   2.0

2025-10-26T22:36:46.351Z,1761518206.351 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-10-26T22:36:46.352Z,1761518206.352 [DAT](INFO): direction in FSK: [-0.961155,0.273792,-0.034899]
2025-10-26T22:36:46.353Z,1761518206.353 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:46.357Z,1761518206.357 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=52.697346
2025-10-26T22:36:46.586Z,1761518206.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668839,-0.742586,-0.034946],[0.743407,0.668059,0.032286],[-0.000629,-0.047574,0.998868]]
2025-10-26T22:36:46.592Z,1761518206.592 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=52.932823
2025-10-26T22:36:46.698Z,1761518206.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.504012 s,
      deltaX: 0.199999 m,
      approachRate: 0.396814 m/s,
      rangeRepo size: 4

2025-10-26T22:36:46.710Z,1761518206.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.696022 m,
      bearing: 212.231664 deg,
      lat: 36.779431 deg,
      lon: -121.859453 deg,
      deltaT: 0.504012 s,
      deltaX: 0.198849 m,
      approachRate: 0.394532 m/s,
      posRepo size: 4

2025-10-26T22:36:46.711Z,1761518206.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m.
2025-10-26T22:36:46.845Z,1761518206.845 [DAT](INFO): DAT read: Rx Time:22:36:45.5312 

2025-10-26T22:36:46.846Z,1761518206.846 [DAT](INFO): Rx dataTimestamp_ set to:1761518206.845621
2025-10-26T22:36:46.847Z,1761518206.847 [DAT](INFO): DAT read: Bearing  25.0,  20.2 (Local)

2025-10-26T22:36:46.848Z,1761518206.848 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.0,  20.2 (Local)

2025-10-26T22:36:46.850Z,1761518206.850 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.0

2025-10-26T22:36:46.854Z,1761518206.854 [DAT](INFO): DAT read: 22:36:45.5312 LVL= 32752, 23921, 32754, 32755, AGC= 64, IDX= 512,-0.08,-0.470, 1.096,-1.136,-0.534, PHS= 0.166, 1.674,-0.646, RAW= 350.2, -11.7, CAL= 349.8, -14.7, ROT= 160.2,  14.7

2025-10-26T22:36:46.856Z,1761518206.856 [DAT](INFO): got valid direction response:
 22:36:45.5312 LVL= 32752, 23921, 32754, 32755, AGC= 64, IDX= 512,-0.08,-0.470, 1.096,-1.136,-0.534, PHS= 0.166, 1.674,-0.646, RAW= 350.2, -11.7, CAL= 349.8, -14.7, ROT= 160.2,  14.7

2025-10-26T22:36:46.856Z,1761518206.856 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-10-26T22:36:46.857Z,1761518206.857 [DAT](INFO): direction in FSK: [-0.910084,0.327650,-0.253758]
2025-10-26T22:36:46.857Z,1761518206.857 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:46.861Z,1761518206.861 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=53.201881
2025-10-26T22:36:46.991Z,1761518206.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670639,-0.741007,-0.033943],[0.741782,0.669829,0.032995],[-0.001714,-0.047306,0.998879]]
2025-10-26T22:36:47.038Z,1761518207.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.504382 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:47.044Z,1761518207.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.696022 m,
      bearing: 208.784902 deg,
      lat: 36.779431 deg,
      lon: -121.859452 deg,
      deltaT: 0.504382 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:47.044Z,1761518207.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m.
2025-10-26T22:36:47.101Z,1761518207.101 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=53.440720
2025-10-26T22:36:47.349Z,1761518207.349 [DAT](INFO): DAT read: Rx Time:22:36:46.0313 

2025-10-26T22:36:47.350Z,1761518207.350 [DAT](INFO): Rx dataTimestamp_ set to:1761518207.349371
2025-10-26T22:36:47.351Z,1761518207.351 [DAT](INFO): DAT read: Bearing  18.9,  17.4 (Local)

2025-10-26T22:36:47.351Z,1761518207.351 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.9,  17.4 (Local)

2025-10-26T22:36:47.353Z,1761518207.353 [DAT](INFO): DAT read: Range 11 to 50 :    18.9 m (trip time 12.6 ms) speed -0.1

2025-10-26T22:36:47.358Z,1761518207.358 [DAT](INFO): DAT read: 22:36:46.0313 LVL= 32752, 22737, 32754, 32755, AGC= 64, IDX= 513, 0.42, 2.639,-1.918, 2.057, 2.849, PHS=-0.108, 1.561,-0.836, RAW= 347.2,  -5.9, CAL= 346.8,  -8.9, ROT= 163.2,   8.9

2025-10-26T22:36:47.359Z,1761518207.359 [DAT](INFO): got valid direction response:
 22:36:46.0313 LVL= 32752, 22737, 32754, 32755, AGC= 64, IDX= 513, 0.42, 2.639,-1.918, 2.057, 2.849, PHS=-0.108, 1.561,-0.836, RAW= 347.2,  -5.9, CAL= 346.8,  -8.9, ROT= 163.2,   8.9

2025-10-26T22:36:47.360Z,1761518207.360 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-10-26T22:36:47.361Z,1761518207.361 [DAT](INFO): direction in FSK: [-0.945793,0.285552,-0.154710]
2025-10-26T22:36:47.361Z,1761518207.361 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:47.365Z,1761518207.365 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=53.705257
2025-10-26T22:36:47.434Z,1761518207.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672312,-0.739505,-0.033592],[0.740263,0.671449,0.034162],[-0.002708,-0.047834,0.998852]]
2025-10-26T22:36:47.542Z,1761518207.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.900000 m,
      deltaT: 0.503750 s,
      deltaX: 0.100000 m,
      approachRate: 0.198512 m/s,
      rangeRepo size: 4

2025-10-26T22:36:47.548Z,1761518207.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.795460 m,
      bearing: 211.391416 deg,
      lat: 36.779432 deg,
      lon: -121.859450 deg,
      deltaT: 0.503750 s,
      deltaX: 0.099438 m,
      approachRate: 0.197395 m/s,
      posRepo size: 4

2025-10-26T22:36:47.549Z,1761518207.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.80 m.
2025-10-26T22:36:47.604Z,1761518207.604 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=53.943733
2025-10-26T22:36:47.798Z,1761518207.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674249,-0.737755,-0.033253],[0.738495,0.673328,0.035418],[-0.003740,-0.048438,0.998819]]
2025-10-26T22:36:47.833Z,1761518207.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.80 m.
2025-10-26T22:36:47.853Z,1761518207.853 [DAT](INFO): DAT read: Rx Time:22:36:46.5313 

2025-10-26T22:36:47.853Z,1761518207.853 [DAT](INFO): Rx dataTimestamp_ set to:1761518207.853184
2025-10-26T22:36:47.855Z,1761518207.855 [DAT](INFO): DAT read: Bearing  17.2,  23.5 (Local)

2025-10-26T22:36:47.855Z,1761518207.855 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.2,  23.5 (Local)

2025-10-26T22:36:47.857Z,1761518207.857 [DAT](INFO): DAT read: Range 11 to 50 :    18.9 m (trip time 12.6 ms) speed 0.0

2025-10-26T22:36:47.862Z,1761518207.862 [DAT](INFO): DAT read: 22:36:46.5313 LVL= 32752, 23473, 32754, 32755, AGC= 65, IDX= 513, 0.02, 1.042, 2.469, 0.277, 1.154, PHS=-0.010, 1.360,-0.921, RAW= 353.4,  -4.4, CAL= 353.0,  -7.3, ROT= 157.0,   7.3

2025-10-26T22:36:47.863Z,1761518207.863 [DAT](INFO): got valid direction response:
 22:36:46.5313 LVL= 32752, 23473, 32754, 32755, AGC= 65, IDX= 513, 0.02, 1.042, 2.469, 0.277, 1.154, PHS=-0.010, 1.360,-0.921, RAW= 353.4,  -4.4, CAL= 353.0,  -7.3, ROT= 157.0,   7.3

2025-10-26T22:36:47.863Z,1761518207.863 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-10-26T22:36:47.864Z,1761518207.864 [DAT](INFO): direction in FSK: [-0.913044,0.387564,-0.127065]
2025-10-26T22:36:47.865Z,1761518207.865 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:47.868Z,1761518207.868 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=54.208858
2025-10-26T22:36:48.110Z,1761518208.110 [DAT](INFO): DAT read: Rx Time:22:36:47.0315 

2025-10-26T22:36:48.113Z,1761518208.113 [DAT](INFO): Rx dataTimestamp_ set to:1761518208.110793
2025-10-26T22:36:48.117Z,1761518208.117 [DAT](INFO): DAT read: Bearing   9.6,  15.3 (Local)

2025-10-26T22:36:48.118Z,1761518208.118 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.6,  15.3 (Local)

2025-10-26T22:36:48.126Z,1761518208.126 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=54.465446
2025-10-26T22:36:48.202Z,1761518208.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676361,-0.735825,-0.033122],[0.736555,0.675379,0.036742],[-0.004665,-0.049247,0.998776]]
2025-10-26T22:36:48.255Z,1761518208.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.900000 m,
      deltaT: 0.503813 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:48.257Z,1761518208.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.795460 m,
      bearing: 204.813101 deg,
      lat: 36.779432 deg,
      lon: -121.859448 deg,
      deltaT: 0.503813 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:48.257Z,1761518208.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.80 m.
2025-10-26T22:36:48.358Z,1761518208.358 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed -0.1

2025-10-26T22:36:48.363Z,1761518208.363 [DAT](INFO): DAT read: 22:36:47.0315 LVL= 25840, 16433, 24306, 32755, AGC= 70, IDX=   3,-0.14, 0.140, 1.776,-0.315, 0.664, PHS=-0.422, 1.157,-1.023, RAW= 345.5,   3.0, CAL= 345.0,   0.1, ROT= 165.0,  -0.1

2025-10-26T22:36:48.364Z,1761518208.364 [DAT](INFO): got valid direction response:
 22:36:47.0315 LVL= 25840, 16433, 24306, 32755, AGC= 70, IDX=   3,-0.14, 0.140, 1.776,-0.315, 0.664, PHS=-0.422, 1.157,-1.023, RAW= 345.5,   3.0, CAL= 345.0,   0.1, ROT= 165.0,  -0.1

2025-10-26T22:36:48.364Z,1761518208.364 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-10-26T22:36:48.365Z,1761518208.365 [DAT](INFO): direction in FSK: [-0.965924,0.258819,0.001745]
2025-10-26T22:36:48.366Z,1761518208.366 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:48.369Z,1761518208.369 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=54.710041
2025-10-26T22:36:48.611Z,1761518208.611 [DAT](INFO): DAT read: Rx Time:22:36:47.5315 

2025-10-26T22:36:48.613Z,1761518208.613 [DAT](INFO): Rx dataTimestamp_ set to:1761518208.611924
2025-10-26T22:36:48.615Z,1761518208.615 [DAT](INFO): DAT read: Bearing  10.2,  16.1 (Local)

2025-10-26T22:36:48.617Z,1761518208.617 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.2,  16.1 (Local)

2025-10-26T22:36:48.619Z,1761518208.619 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=54.959133
2025-10-26T22:36:48.663Z,1761518208.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678487,-0.733868,-0.033050],[0.734593,0.677459,0.037709],[-0.005283,-0.049863,0.998742]]
2025-10-26T22:36:48.744Z,1761518208.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.502780 s,
      deltaX: 0.300001 m,
      approachRate: 0.596685 m/s,
      rangeRepo size: 4

2025-10-26T22:36:48.746Z,1761518208.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.093813 m,
      bearing: 212.287392 deg,
      lat: 36.779432 deg,
      lon: -121.859448 deg,
      deltaT: 0.502780 s,
      deltaX: 0.298353 m,
      approachRate: 0.593407 m/s,
      posRepo size: 4

2025-10-26T22:36:48.747Z,1761518208.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.09 m.
2025-10-26T22:36:48.862Z,1761518208.862 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed 0.0

2025-10-26T22:36:48.867Z,1761518208.867 [DAT](INFO): DAT read: 22:36:47.5315 LVL= 31888, 22257, 32754, 32755, AGC= 68, IDX= 499,-0.38, 2.517,-2.168, 2.039, 3.000, PHS=-0.381, 1.160,-1.005, RAW= 346.3,   2.4, CAL= 345.8,  -0.6, ROT= 164.2,   0.6

2025-10-26T22:36:48.868Z,1761518208.868 [DAT](INFO): got valid direction response:
 22:36:47.5315 LVL= 31888, 22257, 32754, 32755, AGC= 68, IDX= 499,-0.38, 2.517,-2.168, 2.039, 3.000, PHS=-0.381, 1.160,-1.005, RAW= 346.3,   2.4, CAL= 345.8,  -0.6, ROT= 164.2,   0.6

2025-10-26T22:36:48.868Z,1761518208.868 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-26T22:36:48.869Z,1761518208.869 [DAT](INFO): direction in FSK: [-0.962165,0.272265,-0.010472]
2025-10-26T22:36:48.870Z,1761518208.870 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:48.874Z,1761518208.874 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=55.214050
2025-10-26T22:36:49.010Z,1761518209.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680405,-0.732122,-0.032352],[0.732815,0.679379,0.037781],[-0.005681,-0.049415,0.998762]]
2025-10-26T22:36:49.035Z,1761518209.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.503896 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:49.037Z,1761518209.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.093813 m,
      bearing: 211.372631 deg,
      lat: 36.779432 deg,
      lon: -121.859448 deg,
      deltaT: 0.503896 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:49.037Z,1761518209.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.09 m.
2025-10-26T22:36:49.118Z,1761518209.118 [DAT](INFO): DAT read: Rx Time:22:36:48.0316 

2025-10-26T22:36:49.123Z,1761518209.123 [DAT](INFO): Rx dataTimestamp_ set to:1761518209.118470
2025-10-26T22:36:49.128Z,1761518209.128 [DAT](INFO): DAT read: Bearing   8.4,  15.3 (Local)

2025-10-26T22:36:49.130Z,1761518209.130 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.4,  15.3 (Local)

2025-10-26T22:36:49.170Z,1761518209.170 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed -0.1

2025-10-26T22:36:49.195Z,1761518209.195 [DAT](INFO): DAT read: 22:36:48.0316 LVL= 26864, 30161, 32754, 32755, AGC= 67, IDX= 500,-0.04,-1.194, 0.418,-1.645,-0.657, PHS=-0.435, 1.119,-1.032, RAW= 345.6,   3.7, CAL= 345.2,   1.1, ROT= 164.8,  -1.1

2025-10-26T22:36:49.204Z,1761518209.204 [DAT](INFO): got valid direction response:
 22:36:48.0316 LVL= 26864, 30161, 32754, 32755, AGC= 67, IDX= 500,-0.04,-1.194, 0.418,-1.645,-0.657, PHS=-0.435, 1.119,-1.032, RAW= 345.6,   3.7, CAL= 345.2,   1.1, ROT= 164.8,  -1.1

2025-10-26T22:36:49.205Z,1761518209.205 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-10-26T22:36:49.206Z,1761518209.206 [DAT](INFO): direction in FSK: [-0.964839,0.262141,0.019197]
2025-10-26T22:36:49.207Z,1761518209.207 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:49.215Z,1761518209.215 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=55.555168
2025-10-26T22:36:49.364Z,1761518209.364 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=55.704964
2025-10-26T22:36:49.422Z,1761518209.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681759,-0.730890,-0.031696],[0.731552,0.680744,0.037669],[-0.005955,-0.048868,0.998788]]
2025-10-26T22:36:49.480Z,1761518209.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.258610 s,
      deltaX: 0.199999 m,
      approachRate: 0.773361 m/s,
      rangeRepo size: 4

2025-10-26T22:36:49.482Z,1761518209.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.292774 m,
      bearing: 211.782401 deg,
      lat: 36.779432 deg,
      lon: -121.859454 deg,
      deltaT: 0.258610 s,
      deltaX: 0.198961 m,
      approachRate: 0.769349 m/s,
      posRepo size: 4

2025-10-26T22:36:49.482Z,1761518209.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.29 m.
2025-10-26T22:36:49.622Z,1761518209.622 [DAT](INFO): DAT read: Rx Time:22:36:48.5316 

2025-10-26T22:36:49.624Z,1761518209.624 [DAT](INFO): Rx dataTimestamp_ set to:1761518209.622144
2025-10-26T22:36:49.627Z,1761518209.627 [DAT](INFO): DAT read: Bearing  10.2,  16.3 (Local)

2025-10-26T22:36:49.629Z,1761518209.629 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.2,  16.3 (Local)

2025-10-26T22:36:49.634Z,1761518209.634 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed -0.2

2025-10-26T22:36:49.648Z,1761518209.648 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-10-26T22:36:49.656Z,1761518209.656 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.991371
2025-10-26T22:36:49.818Z,1761518209.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683082,-0.729668,-0.031358],[0.730316,0.682065,0.037753],[-0.006159,-0.048690,0.998795]]
2025-10-26T22:36:49.849Z,1761518209.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.503674 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:49.849Z,1761518209.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.29 m.
2025-10-26T22:36:49.872Z,1761518209.872 [DAT](INFO): DAT read: 22:36:48.5316 LVL= 24624, 23585, 32754, 32755, AGC= 66, IDX= 500,-0.50,-2.697,-1.090, 3.089,-2.216, PHS=-0.378, 1.171,-1.021, RAW= 346.6,   2.4, CAL= 346.1,  -0.6, ROT= 163.9,   0.6

2025-10-26T22:36:49.873Z,1761518209.873 [DAT](INFO): got valid direction response:
 22:36:48.5316 LVL= 24624, 23585, 32754, 32755, AGC= 66, IDX= 500,-0.50,-2.697,-1.090, 3.089,-2.216, PHS=-0.378, 1.171,-1.021, RAW= 346.6,   2.4, CAL= 346.1,  -0.6, ROT= 163.9,   0.6

2025-10-26T22:36:49.874Z,1761518209.874 [DAT](INFO): #Rx 112: Read direction message, but no range.
2025-10-26T22:36:49.875Z,1761518209.875 [DAT](INFO): direction in FSK: [-0.960726,0.277300,-0.010472]
2025-10-26T22:36:49.879Z,1761518209.879 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=56.219139
2025-10-26T22:36:50.126Z,1761518210.126 [DAT](INFO): DAT read: Rx Time:22:36:49.0318 

2025-10-26T22:36:50.129Z,1761518210.129 [DAT](INFO): Rx dataTimestamp_ set to:1761518210.127465
2025-10-26T22:36:50.134Z,1761518210.134 [DAT](INFO): DAT read: Bearing   9.9,  17.2 (Local)

2025-10-26T22:36:50.136Z,1761518210.136 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.9,  17.2 (Local)

2025-10-26T22:36:50.145Z,1761518210.145 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.0

2025-10-26T22:36:50.148Z,1761518210.148 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-10-26T22:36:50.153Z,1761518210.153 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.492924
2025-10-26T22:36:50.222Z,1761518210.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684277,-0.728532,-0.031716],[0.729198,0.683253,0.037893],[-0.005936,-0.049057,0.998778]]
2025-10-26T22:36:50.293Z,1761518210.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.505321 s,
      deltaX: 0.300001 m,
      approachRate: 0.593684 m/s,
      rangeRepo size: 4

2025-10-26T22:36:50.300Z,1761518210.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.591116 m,
      bearing: 210.768952 deg,
      lat: 36.779432 deg,
      lon: -121.859456 deg,
      deltaT: 1.008995 s,
      deltaX: 0.298342 m,
      approachRate: 0.295682 m/s,
      posRepo size: 4

2025-10-26T22:36:50.300Z,1761518210.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.59 m.
2025-10-26T22:36:50.377Z,1761518210.377 [DAT](INFO): DAT read: 22:36:49.0318 LVL= 24560, 23793, 32754, 32755, AGC= 66, IDX= 501, 0.16,-1.164, 0.409,-1.690,-0.700, PHS=-0.363, 1.154,-1.034, RAW= 347.4,   2.5, CAL= 347.0,  -0.5, ROT= 163.0,   0.5

2025-10-26T22:36:50.379Z,1761518210.379 [DAT](INFO): got valid direction response:
 22:36:49.0318 LVL= 24560, 23793, 32754, 32755, AGC= 66, IDX= 501, 0.16,-1.164, 0.409,-1.690,-0.700, PHS=-0.363, 1.154,-1.034, RAW= 347.4,   2.5, CAL= 347.0,  -0.5, ROT= 163.0,   0.5

2025-10-26T22:36:50.379Z,1761518210.379 [DAT](INFO): #Rx 114: Read direction message, but no range.
2025-10-26T22:36:50.380Z,1761518210.380 [DAT](INFO): direction in FSK: [-0.956268,0.292360,-0.008727]
2025-10-26T22:36:50.384Z,1761518210.384 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.723869
2025-10-26T22:36:50.628Z,1761518210.628 [DAT](INFO): DAT read: Rx Time:22:36:49.5317 

2025-10-26T22:36:50.630Z,1761518210.630 [DAT](INFO): Rx dataTimestamp_ set to:1761518210.628929
2025-10-26T22:36:50.642Z,1761518210.642 [DAT](INFO): DAT read: Bearing   9.3,  16.8 (Local)

2025-10-26T22:36:50.643Z,1761518210.643 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.3,  16.8 (Local)

2025-10-26T22:36:50.661Z,1761518210.661 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed -0.2

2025-10-26T22:36:50.682Z,1761518210.682 [DAT](INFO): DAT read: 22:36:49.5317 LVL= 31376, 24881, 32754, 32755, AGC= 66, IDX= 501,-0.09, 2.141,-2.560, 1.625, 2.627, PHS=-0.385, 1.141,-1.046, RAW= 347.2,   3.0, CAL= 346.7,   0.1, ROT= 163.3,  -0.1

2025-10-26T22:36:50.683Z,1761518210.683 [DAT](INFO): got valid direction response:
 22:36:49.5317 LVL= 31376, 24881, 32754, 32755, AGC= 66, IDX= 501,-0.09, 2.141,-2.560, 1.625, 2.627, PHS=-0.385, 1.141,-1.046, RAW= 347.2,   3.0, CAL= 346.7,   0.1, ROT= 163.3,  -0.1

2025-10-26T22:36:50.692Z,1761518210.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685660,-0.727198,-0.032466],[0.727901,0.684614,0.038266],[-0.005600,-0.049870,0.998740]]
2025-10-26T22:36:50.693Z,1761518210.693 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-10-26T22:36:50.694Z,1761518210.694 [DAT](INFO): direction in FSK: [-0.957821,0.287360,0.001745]
2025-10-26T22:36:50.694Z,1761518210.694 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:50.747Z,1761518210.747 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.075665
2025-10-26T22:36:50.790Z,1761518210.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.501464 s,
      deltaX: -0.200001 m,
      approachRate: -0.398834 m/s,
      rangeRepo size: 4

2025-10-26T22:36:50.796Z,1761518210.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.392292 m,
      bearing: 210.027397 deg,
      lat: 36.779432 deg,
      lon: -121.859456 deg,
      deltaT: 0.501464 s,
      deltaX: -0.198824 m,
      approachRate: -0.396487 m/s,
      posRepo size: 4

2025-10-26T22:36:50.797Z,1761518210.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.39 m.
2025-10-26T22:36:50.881Z,1761518210.881 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.220898
2025-10-26T22:36:51.134Z,1761518211.134 [DAT](INFO): DAT read: Rx Time:22:36:50.0319 

2025-10-26T22:36:51.136Z,1761518211.136 [DAT](INFO): Rx dataTimestamp_ set to:1761518211.134698
2025-10-26T22:36:51.139Z,1761518211.139 [DAT](INFO): DAT read: Bearing   9.2,  17.5 (Local)

2025-10-26T22:36:51.140Z,1761518211.140 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.2,  17.5 (Local)

2025-10-26T22:36:51.147Z,1761518211.147 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed -0.2

2025-10-26T22:36:51.150Z,1761518211.150 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-10-26T22:36:51.192Z,1761518211.192 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.499062
2025-10-26T22:36:51.321Z,1761518211.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.505769 s,
      deltaX: 0.299999 m,
      approachRate: 0.593155 m/s,
      rangeRepo size: 4

2025-10-26T22:36:51.322Z,1761518211.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.39 m.
2025-10-26T22:36:51.388Z,1761518211.388 [DAT](INFO): DAT read: 22:36:50.0319 LVL= 28624, 27409, 32754, 32755, AGC= 66, IDX= 502, 0.44,-0.613, 0.938,-1.151,-0.145, PHS=-0.366, 1.128,-1.050, RAW= 347.9,   3.0, CAL= 347.4,   0.0, ROT= 162.6,  -0.0

2025-10-26T22:36:51.390Z,1761518211.390 [DAT](INFO): got valid direction response:
 22:36:50.0319 LVL= 28624, 27409, 32754, 32755, AGC= 66, IDX= 502, 0.44,-0.613, 0.938,-1.151,-0.145, PHS=-0.366, 1.128,-1.050, RAW= 347.9,   3.0, CAL= 347.4,   0.0, ROT= 162.6,  -0.0

2025-10-26T22:36:51.391Z,1761518211.391 [DAT](INFO): #Rx 117: Read direction message, but no range.
2025-10-26T22:36:51.393Z,1761518211.393 [DAT](INFO): direction in FSK: [-0.954240,0.299041,0.000000]
2025-10-26T22:36:51.399Z,1761518211.399 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.739613
2025-10-26T22:36:51.641Z,1761518211.641 [DAT](INFO): DAT read: Rx Time:22:36:50.5318 

2025-10-26T22:36:51.642Z,1761518211.642 [DAT](INFO): Rx dataTimestamp_ set to:1761518211.641169
2025-10-26T22:36:51.646Z,1761518211.646 [DAT](INFO): DAT read: Bearing   9.2,  19.0 (Local)

2025-10-26T22:36:51.647Z,1761518211.647 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.2,  19.0 (Local)

2025-10-26T22:36:51.656Z,1761518211.656 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed -0.2

2025-10-26T22:36:51.658Z,1761518211.658 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-10-26T22:36:51.668Z,1761518211.668 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.008537
2025-10-26T22:36:51.675Z,1761518211.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686283,-0.726600,-0.032682],[0.727321,0.685301,0.036984],[-0.004475,-0.049152,0.998781]]
2025-10-26T22:36:51.825Z,1761518211.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.506471 s,
      deltaX: -0.099998 m,
      approachRate: -0.197442 m/s,
      rangeRepo size: 4

2025-10-26T22:36:51.827Z,1761518211.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.591257 m,
      bearing: 209.283584 deg,
      lat: 36.779432 deg,
      lon: -121.859454 deg,
      deltaT: 1.012240 s,
      deltaX: 0.198965 m,
      approachRate: 0.196559 m/s,
      posRepo size: 4

2025-10-26T22:36:51.828Z,1761518211.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.59 m.
2025-10-26T22:36:51.897Z,1761518211.897 [DAT](INFO): DAT read: 22:36:50.5318 LVL= 28816, 22449, 32754, 32755, AGC= 66, IDX= 502, 0.08, 0.001, 1.511,-0.594, 0.431, PHS=-0.329, 1.124,-1.070, RAW= 349.4,   2.9, CAL= 348.9,  -0.2, ROT= 161.1,   0.2

2025-10-26T22:36:51.899Z,1761518211.899 [DAT](INFO): got valid direction response:
 22:36:50.5318 LVL= 28816, 22449, 32754, 32755, AGC= 66, IDX= 502, 0.08, 0.001, 1.511,-0.594, 0.431, PHS=-0.329, 1.124,-1.070, RAW= 349.4,   2.9, CAL= 348.9,  -0.2, ROT= 161.1,   0.2

2025-10-26T22:36:51.900Z,1761518211.900 [DAT](INFO): #Rx 119: Read direction message, but no range.
2025-10-26T22:36:51.902Z,1761518211.902 [DAT](INFO): direction in FSK: [-0.946080,0.323915,-0.003491]
2025-10-26T22:36:51.909Z,1761518211.909 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.249416
2025-10-26T22:36:52.093Z,1761518212.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686009,-0.726767,-0.034647],[0.727589,0.685080,0.035771],[-0.002261,-0.049748,0.998759]]
2025-10-26T22:36:52.146Z,1761518212.146 [DAT](INFO): DAT read: Rx Time:22:36:51.0319 

2025-10-26T22:36:52.149Z,1761518212.149 [DAT](INFO): Rx dataTimestamp_ set to:1761518212.147523
2025-10-26T22:36:52.155Z,1761518212.155 [DAT](INFO): DAT read: Bearing   8.8,  18.6 (Local)

2025-10-26T22:36:52.164Z,1761518212.164 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.8,  18.6 (Local)

2025-10-26T22:36:52.188Z,1761518212.188 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed -0.2

2025-10-26T22:36:52.214Z,1761518212.214 [DAT](INFO): DAT read: 22:36:51.0319 LVL= 32224, 23793, 32754, 32755, AGC= 65, IDX= 503,-0.12,-0.042, 1.472,-0.622, 0.403, PHS=-0.343, 1.114,-1.069, RAW= 349.1,   3.1, CAL= 348.6,   0.2, ROT= 161.4,  -0.2

2025-10-26T22:36:52.215Z,1761518212.215 [DAT](INFO): got valid direction response:
 22:36:51.0319 LVL= 32224, 23793, 32754, 32755, AGC= 65, IDX= 503,-0.12,-0.042, 1.472,-0.622, 0.403, PHS=-0.343, 1.114,-1.069, RAW= 349.1,   3.1, CAL= 348.6,   0.2, ROT= 161.4,  -0.2

2025-10-26T22:36:52.223Z,1761518212.223 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-10-26T22:36:52.224Z,1761518212.224 [DAT](INFO): direction in FSK: [-0.947763,0.318957,0.003491]
2025-10-26T22:36:52.225Z,1761518212.225 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:52.236Z,1761518212.236 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:36:52.236Z,1761518212.236 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:36:52.237Z,1761518212.237 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:36:52.257Z,1761518212.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.506354 s,
      deltaX: 0.099998 m,
      approachRate: 0.197487 m/s,
      rangeRepo size: 4

2025-10-26T22:36:52.260Z,1761518212.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.690702 m,
      bearing: 208.097298 deg,
      lat: 36.779432 deg,
      lon: -121.859453 deg,
      deltaT: 0.506354 s,
      deltaX: 0.099445 m,
      approachRate: 0.196395 m/s,
      posRepo size: 4

2025-10-26T22:36:52.260Z,1761518212.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m.
2025-10-26T22:36:52.393Z,1761518212.393 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:36:52.513Z,1761518212.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685213,-0.727443,-0.036200],[0.728342,0.684294,0.035487],[-0.001043,-0.050683,0.998714]]
2025-10-26T22:36:52.562Z,1761518212.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m.
2025-10-26T22:36:52.650Z,1761518212.650 [DAT](INFO): DAT read: Rx Time:22:36:51.5319 

2025-10-26T22:36:52.652Z,1761518212.652 [DAT](INFO): Rx dataTimestamp_ set to:1761518212.650346
2025-10-26T22:36:52.656Z,1761518212.656 [DAT](INFO): DAT read: Bearing   8.1,  18.6 (Local)

2025-10-26T22:36:52.658Z,1761518212.658 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.1,  18.6 (Local)

2025-10-26T22:36:52.663Z,1761518212.663 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed -0.3

2025-10-26T22:36:52.668Z,1761518212.668 [DAT](INFO): DAT read: 22:36:51.5319 LVL= 30448, 25265, 32754, 32755, AGC= 63, IDX= 503,-0.19,-0.258, 1.245,-0.837, 0.194, PHS=-0.351, 1.095,-1.075, RAW= 349.1,   3.5, CAL= 348.7,   0.8, ROT= 161.3,  -0.8

2025-10-26T22:36:52.670Z,1761518212.670 [DAT](INFO): got valid direction response:
 22:36:51.5319 LVL= 30448, 25265, 32754, 32755, AGC= 63, IDX= 503,-0.19,-0.258, 1.245,-0.837, 0.194, PHS=-0.351, 1.095,-1.075, RAW= 349.1,   3.5, CAL= 348.7,   0.8, ROT= 161.3,  -0.8

2025-10-26T22:36:52.670Z,1761518212.670 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:36:52.671Z,1761518212.671 [DAT](INFO): direction in FSK: [-0.947118,0.320582,0.013962]
2025-10-26T22:36:52.671Z,1761518212.671 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:52.674Z,1761518212.674 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:36:52.675Z,1761518212.675 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:36:52.897Z,1761518212.897 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:36:52.917Z,1761518212.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684359,-0.728229,-0.036544],[0.729145,0.683503,0.034235],[0.000047,-0.050075,0.998745]]
2025-10-26T22:36:52.981Z,1761518212.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.502823 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:52.983Z,1761518212.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.690886 m,
      bearing: 208.098633 deg,
      lat: 36.779431 deg,
      lon: -121.859452 deg,
      deltaT: 0.502823 s,
      deltaX: 0.000183 m,
      approachRate: 0.000364 m/s,
      posRepo size: 4

2025-10-26T22:36:52.988Z,1761518212.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m.
2025-10-26T22:36:53.153Z,1761518213.153 [DAT](INFO): DAT read: Rx Time:22:36:52.0321 

2025-10-26T22:36:53.154Z,1761518213.154 [DAT](INFO): Rx dataTimestamp_ set to:1761518213.153630
2025-10-26T22:36:53.165Z,1761518213.165 [DAT](INFO): DAT read: Bearing   7.8,  19.5 (Local)

2025-10-26T22:36:53.165Z,1761518213.165 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.8,  19.5 (Local)

2025-10-26T22:36:53.181Z,1761518213.181 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed -0.3

2025-10-26T22:36:53.248Z,1761518213.248 [DAT](INFO): DAT read: 22:36:52.0321 LVL= 31552, 23569, 32754, 32755, AGC= 63, IDX= 505,-0.11, 0.134, 1.610,-0.477, 0.568, PHS=-0.333, 1.086,-1.090, RAW= 350.0,   3.6, CAL= 349.6,   0.8, ROT= 160.4,  -0.8

2025-10-26T22:36:53.249Z,1761518213.249 [DAT](INFO): got valid direction response:
 22:36:52.0321 LVL= 31552, 23569, 32754, 32755, AGC= 63, IDX= 505,-0.11, 0.134, 1.610,-0.477, 0.568, PHS=-0.333, 1.086,-1.090, RAW= 350.0,   3.6, CAL= 349.6,   0.8, ROT= 160.4,  -0.8

2025-10-26T22:36:53.249Z,1761518213.249 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:36:53.250Z,1761518213.250 [DAT](INFO): direction in FSK: [-0.941966,0.335419,0.013962]
2025-10-26T22:36:53.250Z,1761518213.250 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:53.270Z,1761518213.270 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:36:53.271Z,1761518213.271 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:36:53.372Z,1761518213.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683315,-0.729197,-0.036771],[0.730122,0.682535,0.032677],[0.001269,-0.049176,0.998789]]
2025-10-26T22:36:53.400Z,1761518213.400 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:36:53.462Z,1761518213.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.503284 s,
      deltaX: 0.300001 m,
      approachRate: 0.596087 m/s,
      rangeRepo size: 4

2025-10-26T22:36:53.468Z,1761518213.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.989386 m,
      bearing: 207.281462 deg,
      lat: 36.779431 deg,
      lon: -121.859449 deg,
      deltaT: 0.503284 s,
      deltaX: 0.298500 m,
      approachRate: 0.593105 m/s,
      posRepo size: 4

2025-10-26T22:36:53.468Z,1761518213.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.99 m.
2025-10-26T22:36:53.657Z,1761518213.657 [DAT](INFO): DAT read: Rx Time:22:36:52.5321 

2025-10-26T22:36:53.658Z,1761518213.658 [DAT](INFO): Rx dataTimestamp_ set to:1761518213.657693
2025-10-26T22:36:53.666Z,1761518213.666 [DAT](INFO): DAT read: Bearing   7.2,  19.1 (Local)

2025-10-26T22:36:53.667Z,1761518213.667 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.2,  19.1 (Local)

2025-10-26T22:36:53.669Z,1761518213.669 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed -0.3

2025-10-26T22:36:53.694Z,1761518213.694 [DAT](INFO): DAT read: 22:36:52.5321 LVL= 31216, 23393, 32754, 32755, AGC= 62, IDX= 505,-0.03,-0.530, 0.949,-1.126,-0.078, PHS=-0.350, 1.072,-1.092, RAW= 349.7,   3.9, CAL= 349.3,   1.4, ROT= 160.7,  -1.4

2025-10-26T22:36:53.696Z,1761518213.696 [DAT](INFO): got valid direction response:
 22:36:52.5321 LVL= 31216, 23393, 32754, 32755, AGC= 62, IDX= 505,-0.03,-0.530, 0.949,-1.126,-0.078, PHS=-0.350, 1.072,-1.092, RAW= 349.7,   3.9, CAL= 349.3,   1.4, ROT= 160.7,  -1.4

2025-10-26T22:36:53.696Z,1761518213.696 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:36:53.697Z,1761518213.697 [DAT](INFO): direction in FSK: [-0.943519,0.330416,0.024432]
2025-10-26T22:36:53.697Z,1761518213.697 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:53.710Z,1761518213.710 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:36:53.711Z,1761518213.711 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:36:53.774Z,1761518213.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682040,-0.730386,-0.036841],[0.731311,0.681340,0.030985],[0.002470,-0.048075,0.998841]]
2025-10-26T22:36:53.833Z,1761518213.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.504063 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:53.835Z,1761518213.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.989386 m,
      bearing: 207.654048 deg,
      lat: 36.779430 deg,
      lon: -121.859448 deg,
      deltaT: 0.504063 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:53.835Z,1761518213.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.99 m.
2025-10-26T22:36:53.906Z,1761518213.906 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:36:54.162Z,1761518214.162 [DAT](INFO): DAT read: Rx Time:22:36:53.0323 

2025-10-26T22:36:54.167Z,1761518214.167 [DAT](INFO): Rx dataTimestamp_ set to:1761518214.162659
2025-10-26T22:36:54.169Z,1761518214.169 [DAT](INFO): DAT read: Bearing   7.0,  19.6 (Local)

2025-10-26T22:36:54.169Z,1761518214.169 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.0,  19.6 (Local)

2025-10-26T22:36:54.171Z,1761518214.171 [DAT](INFO): DAT read: Range 11 to 50 :    20.4 m (trip time 13.6 ms) speed -0.3

2025-10-26T22:36:54.230Z,1761518214.230 [DAT](INFO): DAT read: 22:36:53.0323 LVL= 32304, 23185, 32754, 32755, AGC= 62, IDX= 507, 0.10, 1.655, 3.121, 1.040, 2.100, PHS=-0.344, 1.065,-1.104, RAW= 350.2,   4.1, CAL= 349.8,   1.6, ROT= 160.2,  -1.6

2025-10-26T22:36:54.242Z,1761518214.242 [DAT](INFO): got valid direction response:
 22:36:53.0323 LVL= 32304, 23185, 32754, 32755, AGC= 62, IDX= 507, 0.10, 1.655, 3.121, 1.040, 2.100, PHS=-0.344, 1.065,-1.104, RAW= 350.2,   4.1, CAL= 349.8,   1.6, ROT= 160.2,  -1.6

2025-10-26T22:36:54.243Z,1761518214.243 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:36:54.250Z,1761518214.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680497,-0.731823,-0.036853],[0.732741,0.679885,0.029097],[0.003762,-0.046804,0.998897]]
2025-10-26T22:36:54.257Z,1761518214.257 [DAT](INFO): direction in FSK: [-0.940514,0.338606,0.027922]
2025-10-26T22:36:54.257Z,1761518214.257 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:54.272Z,1761518214.272 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:36:54.273Z,1761518214.273 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:36:54.354Z,1761518214.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.400000 m,
      deltaT: 0.504966 s,
      deltaX: 0.299999 m,
      approachRate: 0.594098 m/s,
      rangeRepo size: 4

2025-10-26T22:36:54.361Z,1761518214.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.287733 m,
      bearing: 207.267399 deg,
      lat: 36.779430 deg,
      lon: -121.859447 deg,
      deltaT: 0.504966 s,
      deltaX: 0.298347 m,
      approachRate: 0.590827 m/s,
      posRepo size: 4

2025-10-26T22:36:54.362Z,1761518214.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.29 m.
2025-10-26T22:36:54.409Z,1761518214.409 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:36:54.662Z,1761518214.662 [DAT](INFO): DAT read: Rx Time:22:36:53.5324 

2025-10-26T22:36:54.663Z,1761518214.663 [DAT](INFO): Rx dataTimestamp_ set to:1761518214.662682
2025-10-26T22:36:54.664Z,1761518214.664 [DAT](INFO): DAT read: Bearing   6.9,  19.8 (Local)

2025-10-26T22:36:54.665Z,1761518214.665 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.9,  19.8 (Local)

2025-10-26T22:36:54.667Z,1761518214.667 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed -0.3

2025-10-26T22:36:54.672Z,1761518214.672 [DAT](INFO): DAT read: 22:36:53.5324 LVL= 30384, 22881, 32754, 32755, AGC= 63, IDX= 507, 0.30, 0.235, 1.688,-0.387, 0.674, PHS=-0.337, 1.059,-1.106, RAW= 350.5,   4.1, CAL= 350.2,   1.7, ROT= 159.8,  -1.7

2025-10-26T22:36:54.673Z,1761518214.673 [DAT](INFO): got valid direction response:
 22:36:53.5324 LVL= 30384, 22881, 32754, 32755, AGC= 63, IDX= 507, 0.30, 0.235, 1.688,-0.387, 0.674, PHS=-0.337, 1.059,-1.106, RAW= 350.5,   4.1, CAL= 350.2,   1.7, ROT= 159.8,  -1.7

2025-10-26T22:36:54.674Z,1761518214.674 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:36:54.675Z,1761518214.675 [DAT](INFO): direction in FSK: [-0.938080,0.345146,0.029666]
2025-10-26T22:36:54.675Z,1761518214.675 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:54.678Z,1761518214.678 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:36:54.679Z,1761518214.679 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:36:54.696Z,1761518214.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679101,-0.733110,-0.037034],[0.734028,0.678563,0.027463],[0.004997,-0.045834,0.998937]]
2025-10-26T22:36:54.797Z,1761518214.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.500023 s,
      deltaX: 0.200001 m,
      approachRate: 0.399983 m/s,
      rangeRepo size: 4

2025-10-26T22:36:54.804Z,1761518214.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.486713 m,
      bearing: 206.973465 deg,
      lat: 36.779429 deg,
      lon: -121.859447 deg,
      deltaT: 0.500023 s,
      deltaX: 0.198980 m,
      approachRate: 0.397942 m/s,
      posRepo size: 4

2025-10-26T22:36:54.804Z,1761518214.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m.
2025-10-26T22:36:54.913Z,1761518214.913 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:36:55.049Z,1761518215.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677413,-0.734620,-0.038018],[0.735578,0.676912,0.026755],[0.006080,-0.046090,0.998919]]
2025-10-26T22:36:55.074Z,1761518215.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m.
2025-10-26T22:36:55.166Z,1761518215.166 [DAT](INFO): DAT read: Rx Time:22:36:54.0326 

2025-10-26T22:36:55.167Z,1761518215.167 [DAT](INFO): Rx dataTimestamp_ set to:1761518215.166029
2025-10-26T22:36:55.168Z,1761518215.168 [DAT](INFO): DAT read: Bearing   8.1,  18.6 (Local)

2025-10-26T22:36:55.169Z,1761518215.169 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.1,  18.6 (Local)

2025-10-26T22:36:55.172Z,1761518215.172 [DAT](INFO): DAT read: Range 11 to 50 :    20.9 m (trip time 13.9 ms) speed -0.3

2025-10-26T22:36:55.177Z,1761518215.177 [DAT](INFO): DAT read: 22:36:54.0326 LVL= 24336, 20849, 32754, 32755, AGC= 62, IDX= 510,-0.41,-1.059, 0.433,-1.646,-0.617, PHS=-0.341, 1.095,-1.073, RAW= 349.4,   3.4, CAL= 349.0,   0.6, ROT= 161.0,  -0.6

2025-10-26T22:36:55.178Z,1761518215.178 [DAT](INFO): got valid direction response:
 22:36:54.0326 LVL= 24336, 20849, 32754, 32755, AGC= 62, IDX= 510,-0.41,-1.059, 0.433,-1.646,-0.617, PHS=-0.341, 1.095,-1.073, RAW= 349.4,   3.4, CAL= 349.0,   0.6, ROT= 161.0,  -0.6

2025-10-26T22:36:55.178Z,1761518215.178 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:36:55.184Z,1761518215.184 [DAT](INFO): direction in FSK: [-0.945467,0.325550,0.010472]
2025-10-26T22:36:55.184Z,1761518215.184 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:55.187Z,1761518215.187 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:36:55.194Z,1761518215.194 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:36:55.416Z,1761518215.416 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:36:55.513Z,1761518215.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 0.503347 s,
      deltaX: 0.299999 m,
      approachRate: 0.596009 m/s,
      rangeRepo size: 4

2025-10-26T22:36:55.515Z,1761518215.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.785131 m,
      bearing: 208.348979 deg,
      lat: 36.779428 deg,
      lon: -121.859447 deg,
      deltaT: 0.503347 s,
      deltaX: 0.298418 m,
      approachRate: 0.592867 m/s,
      posRepo size: 4

2025-10-26T22:36:55.516Z,1761518215.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.79 m.
2025-10-26T22:36:55.669Z,1761518215.669 [DAT](INFO): DAT read: Rx Time:22:36:54.5326 

2025-10-26T22:36:55.670Z,1761518215.670 [DAT](INFO): Rx dataTimestamp_ set to:1761518215.669481
2025-10-26T22:36:55.671Z,1761518215.671 [DAT](INFO): DAT read: Bearing   7.5,  18.1 (Local)

2025-10-26T22:36:55.671Z,1761518215.671 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.5,  18.1 (Local)

2025-10-26T22:36:55.674Z,1761518215.674 [DAT](INFO): DAT read: Range 11 to 50 :    20.9 m (trip time 13.9 ms) speed -0.3

2025-10-26T22:36:55.678Z,1761518215.678 [DAT](INFO): DAT read: 22:36:54.5326 LVL= 27360, 32225, 32754, 32755, AGC= 62, IDX= 510,-0.28,-2.469,-0.976,-3.034,-2.010, PHS=-0.357, 1.079,-1.068, RAW= 349.0,   3.7, CAL= 348.6,   1.1, ROT= 161.4,  -1.1

2025-10-26T22:36:55.680Z,1761518215.680 [DAT](INFO): got valid direction response:
 22:36:54.5326 LVL= 27360, 32225, 32754, 32755, AGC= 62, IDX= 510,-0.28,-2.469,-0.976,-3.034,-2.010, PHS=-0.357, 1.079,-1.068, RAW= 349.0,   3.7, CAL= 348.6,   1.1, ROT= 161.4,  -1.1

2025-10-26T22:36:55.681Z,1761518215.681 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:36:55.686Z,1761518215.686 [DAT](INFO): direction in FSK: [-0.947594,0.318901,0.019197]
2025-10-26T22:36:55.686Z,1761518215.686 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:55.690Z,1761518215.690 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:36:55.691Z,1761518215.691 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:36:55.854Z,1761518215.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674640,-0.736968,-0.041702],[0.738104,0.674133,0.027318],[0.007980,-0.049210,0.998757]]
2025-10-26T22:36:55.912Z,1761518215.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 0.503452 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:55.914Z,1761518215.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.785131 m,
      bearing: 208.941795 deg,
      lat: 36.779428 deg,
      lon: -121.859447 deg,
      deltaT: 0.503452 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:36:55.914Z,1761518215.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.79 m.
2025-10-26T22:36:55.920Z,1761518215.920 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:36:56.172Z,1761518216.172 [DAT](INFO): DAT read: user:628>

2025-10-26T22:36:56.173Z,1761518216.173 [DAT](INFO): DAT read: Command 'bl' not found

2025-10-26T22:36:56.173Z,1761518216.173 [DAT](INFO): unknown deviceResponse_: Command 'bl' not found

2025-10-26T22:36:56.174Z,1761518216.174 [DAT](INFO): DAT read: Error

2025-10-26T22:36:56.174Z,1761518216.174 [DAT](INFO): unknown deviceResponse_: Error

2025-10-26T22:36:56.174Z,1761518216.174 [DAT](INFO): DAT read: user:629>

2025-10-26T22:36:56.175Z,1761518216.175 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:36:56.303Z,1761518216.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673481,-0.737905,-0.043803],[0.739154,0.672941,0.028303],[0.008592,-0.051439,0.998639]]
2025-10-26T22:36:56.355Z,1761518216.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.79 m.
2025-10-26T22:36:56.425Z,1761518216.425 [DAT](INFO): DAT read: Tx time:22:36:55.4876

2025-10-26T22:36:56.425Z,1761518216.425 [DAT](INFO): Ping request sent.
2025-10-26T22:36:56.425Z,1761518216.425 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:36:56.425Z,1761518216.425 [DAT](INFO): publishing transmit ping time
2025-10-26T22:36:56.426Z,1761518216.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-10-26T22:36:56.662Z,1761518216.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672970,-0.738321,-0.044639],[0.739614,0.672432,0.028386],[0.009059,-0.052118,0.998600]]
2025-10-26T22:36:56.677Z,1761518216.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251282
2025-10-26T22:36:56.684Z,1761518216.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.79 m.
2025-10-26T22:36:56.928Z,1761518216.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503086
2025-10-26T22:36:57.068Z,1761518217.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672816,-0.738458,-0.044707],[0.739748,0.672313,0.027730],[0.009579,-0.051729,0.998615]]
2025-10-26T22:36:57.087Z,1761518217.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.79 m.
2025-10-26T22:36:57.181Z,1761518217.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755512
2025-10-26T22:36:57.432Z,1761518217.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007192
2025-10-26T22:36:57.470Z,1761518217.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672882,-0.738467,-0.043541],[0.739688,0.672418,0.026747],[0.009526,-0.050205,0.998694]]
2025-10-26T22:36:57.521Z,1761518217.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.79 m.
2025-10-26T22:36:57.688Z,1761518217.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262583
2025-10-26T22:36:57.878Z,1761518217.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673306,-0.738177,-0.041884],[0.739307,0.672877,0.025735],[0.009186,-0.048292,0.998791]]
2025-10-26T22:36:57.924Z,1761518217.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.79 m.
2025-10-26T22:36:57.936Z,1761518217.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511234
2025-10-26T22:36:58.189Z,1761518218.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763295
2025-10-26T22:36:58.306Z,1761518218.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673912,-0.737710,-0.040325],[0.738760,0.673505,0.024980],[0.008731,-0.046625,0.998874]]
2025-10-26T22:36:58.349Z,1761518218.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.79 m.
2025-10-26T22:36:58.441Z,1761518218.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015595
2025-10-26T22:36:58.684Z,1761518218.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674928,-0.736840,-0.039220],[0.737838,0.674523,0.024790],[0.008189,-0.045669,0.998923]]
2025-10-26T22:36:58.693Z,1761518218.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267481
2025-10-26T22:36:58.708Z,1761518218.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.79 m.
2025-10-26T22:36:58.946Z,1761518218.946 [DAT](INFO): DAT read: Rx Time:22:36:57.6448 

2025-10-26T22:36:58.946Z,1761518218.946 [DAT](INFO): Rx dataTimestamp_ set to:1761518218.945908
2025-10-26T22:36:58.948Z,1761518218.948 [DAT](INFO): DAT read: Bearing   6.3,  18.2 (Local)

2025-10-26T22:36:58.949Z,1761518218.949 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.3,  18.2 (Local)

2025-10-26T22:36:58.951Z,1761518218.951 [DAT](INFO): DAT read: Range 11 to 50 :    21.0 m (trip time 14.0 ms) speed -0.2

2025-10-26T22:36:58.956Z,1761518218.956 [DAT](INFO): DAT read: 22:36:57.6448 LVL= 32752, 25585, 32754, 32755, AGC= 64, IDX= 347,-0.21,-2.083,-0.602,-2.645,-1.599, PHS=-0.381, 1.043,-1.090, RAW= 349.0,   4.6, CAL= 348.7,   2.5, ROT= 161.3,  -2.5

2025-10-26T22:36:58.957Z,1761518218.957 [DAT](INFO): got valid direction response:
 22:36:57.6448 LVL= 32752, 25585, 32754, 32755, AGC= 64, IDX= 347,-0.21,-2.083,-0.602,-2.645,-1.599, PHS=-0.381, 1.043,-1.090, RAW= 349.0,   4.6, CAL= 348.7,   2.5, ROT= 161.3,  -2.5

2025-10-26T22:36:58.957Z,1761518218.957 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:36:58.958Z,1761518218.958 [DAT](INFO): direction in FSK: [-0.946309,0.320308,0.043619]
2025-10-26T22:36:58.958Z,1761518218.958 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:58.962Z,1761518218.962 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.537262
2025-10-26T22:36:59.086Z,1761518219.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676423,-0.735489,-0.038836],[0.736474,0.675995,0.025255],[0.007678,-0.045685,0.998926]]
2025-10-26T22:36:59.125Z,1761518219.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 3.276427 s,
      deltaX: 0.100000 m,
      approachRate: 0.030521 m/s,
      rangeRepo size: 4

2025-10-26T22:36:59.127Z,1761518219.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.884521 m,
      bearing: 208.647262 deg,
      lat: 36.779428 deg,
      lon: -121.859452 deg,
      deltaT: 3.276427 s,
      deltaX: 0.099390 m,
      approachRate: 0.030335 m/s,
      posRepo size: 4

2025-10-26T22:36:59.127Z,1761518219.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.88 m.
2025-10-26T22:36:59.197Z,1761518219.197 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.771400
2025-10-26T22:36:59.449Z,1761518219.449 [DAT](INFO): DAT read: Rx Time:22:36:58.1448 

2025-10-26T22:36:59.449Z,1761518219.449 [DAT](INFO): Rx dataTimestamp_ set to:1761518219.449135
2025-10-26T22:36:59.451Z,1761518219.451 [DAT](INFO): DAT read: Bearing   5.1,  18.4 (Local)

2025-10-26T22:36:59.451Z,1761518219.451 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.1,  18.4 (Local)

2025-10-26T22:36:59.453Z,1761518219.453 [DAT](INFO): DAT read: Range 11 to 50 :    21.0 m (trip time 14.0 ms) speed -0.2

2025-10-26T22:36:59.458Z,1761518219.458 [DAT](INFO): DAT read: 22:36:58.1448 LVL= 32752, 24977, 32754, 32755, AGC= 63, IDX= 507,-0.37, 2.035,-2.788, 1.470, 2.530, PHS=-0.393, 1.010,-1.104, RAW= 349.3,   5.3, CAL= 349.0,   3.6, ROT= 161.0,  -3.6

2025-10-26T22:36:59.472Z,1761518219.472 [DAT](INFO): got valid direction response:
 22:36:58.1448 LVL= 32752, 24977, 32754, 32755, AGC= 63, IDX= 507,-0.37, 2.035,-2.788, 1.470, 2.530, PHS=-0.393, 1.010,-1.104, RAW= 349.3,   5.3, CAL= 349.0,   3.6, ROT= 161.0,  -3.6

2025-10-26T22:36:59.473Z,1761518219.473 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T22:36:59.474Z,1761518219.474 [DAT](INFO): direction in FSK: [-0.943653,0.324926,0.062791]
2025-10-26T22:36:59.474Z,1761518219.474 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:59.490Z,1761518219.490 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.065036
2025-10-26T22:36:59.494Z,1761518219.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678167,-0.733889,-0.038684],[0.734874,0.677700,0.026122],[0.007046,-0.046143,0.998910]]
2025-10-26T22:36:59.608Z,1761518219.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 0.503227 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:36:59.610Z,1761518219.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.884501 m,
      bearing: 208.165625 deg,
      lat: 36.779429 deg,
      lon: -121.859453 deg,
      deltaT: 0.503227 s,
      deltaX: -0.000021 m,
      approachRate: -0.000042 m/s,
      posRepo size: 4

2025-10-26T22:36:59.611Z,1761518219.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.88 m.
2025-10-26T22:36:59.701Z,1761518219.701 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.275850
2025-10-26T22:36:59.905Z,1761518219.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679601,-0.732585,-0.038220],[0.733554,0.679104,0.026768],[0.006346,-0.046228,0.998911]]
2025-10-26T22:36:59.923Z,1761518219.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.88 m.
2025-10-26T22:36:59.953Z,1761518219.953 [DAT](INFO): DAT read: Rx Time:22:36:58.6449 

2025-10-26T22:36:59.953Z,1761518219.953 [DAT](INFO): Rx dataTimestamp_ set to:1761518219.953191
2025-10-26T22:36:59.955Z,1761518219.955 [DAT](INFO): DAT read: Bearing   6.2,  19.2 (Local)

2025-10-26T22:36:59.955Z,1761518219.955 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.2,  19.2 (Local)

2025-10-26T22:36:59.957Z,1761518219.957 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed -0.1

2025-10-26T22:36:59.962Z,1761518219.962 [DAT](INFO): DAT read: 22:36:58.6449 LVL= 32144, 25137, 32754, 32755, AGC= 64, IDX= 507, 0.27,-2.141,-0.694,-2.741,-1.681, PHS=-0.359, 1.031,-1.104, RAW= 350.1,   4.6, CAL= 349.8,   2.6, ROT= 160.2,  -2.6

2025-10-26T22:36:59.963Z,1761518219.963 [DAT](INFO): got valid direction response:
 22:36:58.6449 LVL= 32144, 25137, 32754, 32755, AGC= 64, IDX= 507, 0.27,-2.141,-0.694,-2.741,-1.681, PHS=-0.359, 1.031,-1.104, RAW= 350.1,   4.6, CAL= 349.8,   2.6, ROT= 160.2,  -2.6

2025-10-26T22:36:59.963Z,1761518219.963 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-10-26T22:36:59.964Z,1761518219.964 [DAT](INFO): direction in FSK: [-0.939912,0.338389,0.045363]
2025-10-26T22:36:59.965Z,1761518219.965 [DAT](INFO): publishing direction and range info
2025-10-26T22:36:59.969Z,1761518219.969 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.543335
2025-10-26T22:37:00.204Z,1761518220.204 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.779126
2025-10-26T22:37:00.334Z,1761518220.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681508,-0.730833,-0.037810],[0.731790,0.680962,0.027818],[0.005417,-0.046627,0.998898]]
2025-10-26T22:37:00.394Z,1761518220.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.504056 s,
      deltaX: 0.200001 m,
      approachRate: 0.396783 m/s,
      rangeRepo size: 4

2025-10-26T22:37:00.398Z,1761518220.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.083401 m,
      bearing: 207.146213 deg,
      lat: 36.779434 deg,
      lon: -121.859453 deg,
      deltaT: 0.504056 s,
      deltaX: 0.198900 m,
      approachRate: 0.394599 m/s,
      posRepo size: 4

2025-10-26T22:37:00.398Z,1761518220.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.08 m.
2025-10-26T22:37:00.457Z,1761518220.457 [DAT](INFO): DAT read: Rx Time:22:36:59.1448 

2025-10-26T22:37:00.458Z,1761518220.458 [DAT](INFO): Rx dataTimestamp_ set to:1761518220.457316
2025-10-26T22:37:00.459Z,1761518220.459 [DAT](INFO): DAT read: Bearing   5.6,  18.9 (Local)

2025-10-26T22:37:00.459Z,1761518220.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.6,  18.9 (Local)

2025-10-26T22:37:00.461Z,1761518220.461 [DAT](INFO): DAT read: Range 11 to 50 :    21.0 m (trip time 14.0 ms) speed -0.1

2025-10-26T22:37:00.466Z,1761518220.466 [DAT](INFO): DAT read: 22:36:59.1448 LVL= 31856, 25409, 32754, 32755, AGC= 64, IDX= 507,-0.04, 1.787,-3.044, 1.206, 2.267, PHS=-0.378, 1.017,-1.105, RAW= 349.7,   5.0, CAL= 349.4,   3.2, ROT= 160.6,  -3.2

2025-10-26T22:37:00.467Z,1761518220.467 [DAT](INFO): got valid direction response:
 22:36:59.1448 LVL= 31856, 25409, 32754, 32755, AGC= 64, IDX= 507,-0.04, 1.787,-3.044, 1.206, 2.267, PHS=-0.378, 1.017,-1.105, RAW= 349.7,   5.0, CAL= 349.4,   3.2, ROT= 160.6,  -3.2

2025-10-26T22:37:00.468Z,1761518220.468 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-26T22:37:00.469Z,1761518220.469 [DAT](INFO): direction in FSK: [-0.941752,0.331643,0.055822]
2025-10-26T22:37:00.469Z,1761518220.469 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:00.480Z,1761518220.480 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.054717
2025-10-26T22:37:00.705Z,1761518220.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683334,-0.729154,-0.037270],[0.730092,0.682744,0.028750],[0.004483,-0.046856,0.998892]]
2025-10-26T22:37:00.709Z,1761518220.709 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.283779
2025-10-26T22:37:00.797Z,1761518220.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 0.504125 s,
      deltaX: -0.200001 m,
      approachRate: -0.396729 m/s,
      rangeRepo size: 4

2025-10-26T22:37:00.798Z,1761518220.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.884434 m,
      bearing: 207.376218 deg,
      lat: 36.779435 deg,
      lon: -121.859453 deg,
      deltaT: 0.504125 s,
      deltaX: -0.198967 m,
      approachRate: -0.394678 m/s,
      posRepo size: 4

2025-10-26T22:37:00.799Z,1761518220.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.88 m.
2025-10-26T22:37:00.961Z,1761518220.961 [DAT](INFO): DAT read: Rx Time:22:36:59.6450 

2025-10-26T22:37:00.961Z,1761518220.961 [DAT](INFO): Rx dataTimestamp_ set to:1761518220.961131
2025-10-26T22:37:00.963Z,1761518220.963 [DAT](INFO): DAT read: Bearing   5.3,  18.9 (Local)

2025-10-26T22:37:00.963Z,1761518220.963 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.3,  18.9 (Local)

2025-10-26T22:37:00.965Z,1761518220.965 [DAT](INFO): DAT read: Range 11 to 50 :    21.3 m (trip time 14.2 ms) speed 0.0

2025-10-26T22:37:00.970Z,1761518220.970 [DAT](INFO): DAT read: 22:36:59.6450 LVL= 32496, 28225, 32754, 32755, AGC= 63, IDX= 508, 0.38,-1.534,-0.086,-2.114,-1.050, PHS=-0.382, 1.009,-1.108, RAW= 349.7,   5.2, CAL= 349.5,   3.5, ROT= 160.5,  -3.5

2025-10-26T22:37:00.971Z,1761518220.971 [DAT](INFO): got valid direction response:
 22:36:59.6450 LVL= 32496, 28225, 32754, 32755, AGC= 63, IDX= 508, 0.38,-1.534,-0.086,-2.114,-1.050, PHS=-0.382, 1.009,-1.108, RAW= 349.7,   5.2, CAL= 349.5,   3.5, ROT= 160.5,  -3.5

2025-10-26T22:37:00.971Z,1761518220.971 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-10-26T22:37:00.972Z,1761518220.972 [DAT](INFO): direction in FSK: [-0.940883,0.333184,0.061049]
2025-10-26T22:37:00.973Z,1761518220.973 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:00.976Z,1761518220.976 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.551017
2025-10-26T22:37:01.106Z,1761518221.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685016,-0.727617,-0.036407],[0.728519,0.684390,0.029504],[0.003449,-0.046734,0.998901]]
2025-10-26T22:37:01.160Z,1761518221.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.299999 m,
      deltaT: 0.503815 s,
      deltaX: 0.299999 m,
      approachRate: 0.595455 m/s,
      rangeRepo size: 4

2025-10-26T22:37:01.162Z,1761518221.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.182781 m,
      bearing: 207.131124 deg,
      lat: 36.779435 deg,
      lon: -121.859453 deg,
      deltaT: 0.503815 s,
      deltaX: 0.298347 m,
      approachRate: 0.592177 m/s,
      posRepo size: 4

2025-10-26T22:37:01.163Z,1761518221.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.18 m.
2025-10-26T22:37:01.216Z,1761518221.216 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.790424
2025-10-26T22:37:01.465Z,1761518221.465 [DAT](INFO): DAT read: Rx Time:22:37:00.1449 

2025-10-26T22:37:01.465Z,1761518221.465 [DAT](INFO): Rx dataTimestamp_ set to:1761518221.465060
2025-10-26T22:37:01.467Z,1761518221.467 [DAT](INFO): DAT read: Bearing   3.3,  17.8 (Local)

2025-10-26T22:37:01.467Z,1761518221.467 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.3,  17.8 (Local)

2025-10-26T22:37:01.469Z,1761518221.469 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed -0.1

2025-10-26T22:37:01.474Z,1761518221.474 [DAT](INFO): DAT read: 22:37:00.1449 LVL= 32240, 26417, 32754, 32755, AGC= 64, IDX= 508,-0.15, 2.770,-2.051, 2.237,-2.974, PHS=-0.437, 0.968,-1.116, RAW= 348.6,   6.4, CAL= 348.5,   5.4, ROT= 161.5,  -5.4

2025-10-26T22:37:01.475Z,1761518221.475 [DAT](INFO): got valid direction response:
 22:37:00.1449 LVL= 32240, 26417, 32754, 32755, AGC= 64, IDX= 508,-0.15, 2.770,-2.051, 2.237,-2.974, PHS=-0.437, 0.968,-1.116, RAW= 348.6,   6.4, CAL= 348.5,   5.4, ROT= 161.5,  -5.4

2025-10-26T22:37:01.475Z,1761518221.475 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-26T22:37:01.476Z,1761518221.476 [DAT](INFO): direction in FSK: [-0.944115,0.315896,0.094108]
2025-10-26T22:37:01.476Z,1761518221.476 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:01.480Z,1761518221.480 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.054745
2025-10-26T22:37:01.528Z,1761518221.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686478,-0.726276,-0.035663],[0.727146,0.685824,0.030082],[0.002611,-0.046582,0.998911]]
2025-10-26T22:37:01.659Z,1761518221.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.503929 s,
      deltaX: -0.099998 m,
      approachRate: -0.198438 m/s,
      rangeRepo size: 4

2025-10-26T22:37:01.661Z,1761518221.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.083225 m,
      bearing: 207.931369 deg,
      lat: 36.779435 deg,
      lon: -121.859453 deg,
      deltaT: 0.503929 s,
      deltaX: -0.099556 m,
      approachRate: -0.197560 m/s,
      posRepo size: 4

2025-10-26T22:37:01.662Z,1761518221.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.08 m.
2025-10-26T22:37:01.720Z,1761518221.720 [DAT](INFO): DAT read: Rx Time:22:37:00.6450 

2025-10-26T22:37:01.722Z,1761518221.722 [DAT](INFO): Rx dataTimestamp_ set to:1761518221.720739
2025-10-26T22:37:01.725Z,1761518221.725 [DAT](INFO): DAT read: Bearing   2.4,  17.2 (Local)

2025-10-26T22:37:01.726Z,1761518221.726 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.4,  17.2 (Local)

2025-10-26T22:37:01.728Z,1761518221.728 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.302646
2025-10-26T22:37:01.927Z,1761518221.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687998,-0.724869,-0.034972],[0.725711,0.687309,0.030825],[0.001693,-0.046587,0.998913]]
2025-10-26T22:37:01.946Z,1761518221.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.08 m.
2025-10-26T22:37:01.980Z,1761518221.980 [DAT](INFO): DAT read: Range 11 to 50 :    21.3 m (trip time 14.2 ms) speed -0.1

2025-10-26T22:37:01.986Z,1761518221.986 [DAT](INFO): DAT read: 22:37:00.6450 LVL= 32752, 26609, 32754, 32755, AGC= 66, IDX= 509, 0.13,-0.547, 0.915,-1.053, 0.015, PHS=-0.460, 0.945,-1.112, RAW= 348.1,   6.9, CAL= 347.9,   6.2, ROT= 162.1,  -6.2

2025-10-26T22:37:01.987Z,1761518221.987 [DAT](INFO): got valid direction response:
 22:37:00.6450 LVL= 32752, 26609, 32754, 32755, AGC= 66, IDX= 509, 0.13,-0.547, 0.915,-1.053, 0.015, PHS=-0.460, 0.945,-1.112, RAW= 348.1,   6.9, CAL= 347.9,   6.2, ROT= 162.1,  -6.2

2025-10-26T22:37:01.988Z,1761518221.988 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-26T22:37:01.989Z,1761518221.989 [DAT](INFO): direction in FSK: [-0.946029,0.305559,0.107999]
2025-10-26T22:37:01.990Z,1761518221.990 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:02.012Z,1761518222.012 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.586421
2025-10-26T22:37:02.231Z,1761518222.231 [DAT](INFO): DAT read: Rx Time:22:37:01.1450 

2025-10-26T22:37:02.233Z,1761518222.233 [DAT](INFO): Rx dataTimestamp_ set to:1761518222.231747
2025-10-26T22:37:02.235Z,1761518222.235 [DAT](INFO): DAT read: Bearing   4.5,  17.4 (Local)

2025-10-26T22:37:02.236Z,1761518222.236 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.5,  17.4 (Local)

2025-10-26T22:37:02.245Z,1761518222.245 [DAT](INFO): DAT read: Range 11 to 50 :    21.3 m (trip time 14.2 ms) speed -0.1

2025-10-26T22:37:02.247Z,1761518222.247 [DAT](ERROR): #Rx 8: Read range message, but no direction.
2025-10-26T22:37:02.250Z,1761518222.250 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.823869
2025-10-26T22:37:02.455Z,1761518222.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.299999 m,
      deltaT: 0.766687 s,
      deltaX: 0.099998 m,
      approachRate: 0.130429 m/s,
      rangeRepo size: 4

2025-10-26T22:37:02.457Z,1761518222.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.182673 m,
      bearing: 208.373540 deg,
      lat: 36.779437 deg,
      lon: -121.859453 deg,
      deltaT: 0.766687 s,
      deltaX: 0.099447 m,
      approachRate: 0.129710 m/s,
      posRepo size: 4

2025-10-26T22:37:02.457Z,1761518222.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.18 m.
2025-10-26T22:37:02.484Z,1761518222.484 [DAT](INFO): DAT read: 22:37:01.1450 LVL= 27088, 21745, 32754, 32755, AGC= 67, IDX= 509,-0.14, 1.171, 2.672, 0.641, 1.705, PHS=-0.432, 1.012,-1.108, RAW= 348.2,   5.7, CAL= 347.9,   4.2, ROT= 162.1,  -4.2

2025-10-26T22:37:02.485Z,1761518222.485 [DAT](INFO): got valid direction response:
 22:37:01.1450 LVL= 27088, 21745, 32754, 32755, AGC= 67, IDX= 509,-0.14, 1.171, 2.672, 0.641, 1.705, PHS=-0.432, 1.012,-1.108, RAW= 348.2,   5.7, CAL= 347.9,   4.2, ROT= 162.1,  -4.2

2025-10-26T22:37:02.486Z,1761518222.486 [DAT](INFO): #Rx 9: Read direction message, but no range.
2025-10-26T22:37:02.488Z,1761518222.488 [DAT](INFO): direction in FSK: [-0.949039,0.306531,0.073238]
2025-10-26T22:37:02.495Z,1761518222.495 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.069502
2025-10-26T22:37:02.736Z,1761518222.736 [DAT](INFO): DAT read: Rx Time:22:37:01.6452 

2025-10-26T22:37:02.738Z,1761518222.738 [DAT](INFO): Rx dataTimestamp_ set to:1761518222.737141
2025-10-26T22:37:02.746Z,1761518222.746 [DAT](INFO): DAT read: Bearing   4.7,  16.9 (Local)

2025-10-26T22:37:02.748Z,1761518222.748 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.7,  16.9 (Local)

2025-10-26T22:37:02.762Z,1761518222.762 [DAT](INFO): DAT read: Range 11 to 50 :    21.6 m (trip time 14.4 ms) speed -0.1

2025-10-26T22:37:02.772Z,1761518222.772 [DAT](ERROR): #Rx 10: Read range message, but no direction.
2025-10-26T22:37:02.773Z,1761518222.773 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.347571
2025-10-26T22:37:02.794Z,1761518222.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690500,-0.722525,-0.034161],[0.723332,0.689762,0.031911],[0.000507,-0.046745,0.998907]]
2025-10-26T22:37:02.880Z,1761518222.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.600000 m,
      deltaT: 0.505394 s,
      deltaX: 0.300001 m,
      approachRate: 0.593599 m/s,
      rangeRepo size: 4

2025-10-26T22:37:02.889Z,1761518222.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.480928 m,
      bearing: 208.262158 deg,
      lat: 36.779438 deg,
      lon: -121.859456 deg,
      deltaT: 0.505394 s,
      deltaX: 0.298256 m,
      approachRate: 0.590145 m/s,
      posRepo size: 4

2025-10-26T22:37:02.891Z,1761518222.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.48 m.
2025-10-26T22:37:02.989Z,1761518222.989 [DAT](INFO): DAT read: 22:37:01.6452 LVL= 25520, 19809, 32754, 32755, AGC= 67, IDX= 511,-0.48,-0.016, 1.489,-0.521, 0.523, PHS=-0.437, 1.011,-1.088, RAW= 347.6,   5.6, CAL= 347.4,   4.1, ROT= 162.6,  -4.1

2025-10-26T22:37:02.991Z,1761518222.991 [DAT](INFO): got valid direction response:
 22:37:01.6452 LVL= 25520, 19809, 32754, 32755, AGC= 67, IDX= 511,-0.48,-0.016, 1.489,-0.521, 0.523, PHS=-0.437, 1.011,-1.088, RAW= 347.6,   5.6, CAL= 347.4,   4.1, ROT= 162.6,  -4.1

2025-10-26T22:37:02.992Z,1761518222.992 [DAT](INFO): #Rx 11: Read direction message, but no range.
2025-10-26T22:37:02.993Z,1761518222.993 [DAT](INFO): direction in FSK: [-0.951798,0.298275,0.071497]
2025-10-26T22:37:02.998Z,1761518222.998 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=6.572378
2025-10-26T22:37:03.134Z,1761518223.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691089,-0.721991,-0.033550],[0.722770,0.690356,0.031821],[0.000186,-0.046240,0.998930]]
2025-10-26T22:37:03.156Z,1761518223.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.48 m.
2025-10-26T22:37:03.270Z,1761518223.270 [DAT](INFO): DAT read: Rx Time:22:37:02.1451 

2025-10-26T22:37:03.283Z,1761518223.283 [DAT](INFO): Rx dataTimestamp_ set to:1761518223.270178
2025-10-26T22:37:03.285Z,1761518223.285 [DAT](INFO): DAT read: Bearing   4.3,  16.9 (Local)

2025-10-26T22:37:03.285Z,1761518223.285 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.3,  16.9 (Local)

2025-10-26T22:37:03.287Z,1761518223.287 [DAT](INFO): DAT read: Range 11 to 50 :    21.5 m (trip time 14.3 ms) speed -0.1

2025-10-26T22:37:03.299Z,1761518223.299 [DAT](INFO): DAT read: 22:37:02.1451 LVL= 25584, 22257, 32754, 32755, AGC= 67, IDX= 510, 0.08,-1.216, 0.285,-1.718,-0.673, PHS=-0.441, 1.002,-1.089, RAW= 347.6,   5.7, CAL= 347.4,   4.4, ROT= 162.6,  -4.4

2025-10-26T22:37:03.309Z,1761518223.309 [DAT](INFO): got valid direction response:
 22:37:02.1451 LVL= 25584, 22257, 32754, 32755, AGC= 67, IDX= 510, 0.08,-1.216, 0.285,-1.718,-0.673, PHS=-0.441, 1.002,-1.089, RAW= 347.6,   5.7, CAL= 347.4,   4.4, ROT= 162.6,  -4.4

2025-10-26T22:37:03.311Z,1761518223.311 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-26T22:37:03.331Z,1761518223.331 [DAT](INFO): direction in FSK: [-0.951428,0.298159,0.076719]
2025-10-26T22:37:03.340Z,1761518223.340 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:03.400Z,1761518223.400 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=6.974910
2025-10-26T22:37:03.488Z,1761518223.488 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.063233
2025-10-26T22:37:03.534Z,1761518223.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691508,-0.721621,-0.032874],[0.722369,0.690780,0.031706],[-0.000171,-0.045672,0.998957]]
2025-10-26T22:37:03.590Z,1761518223.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.500000 m,
      deltaT: 0.533037 s,
      deltaX: -0.100000 m,
      approachRate: -0.187605 m/s,
      rangeRepo size: 4

2025-10-26T22:37:03.602Z,1761518223.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.381472 m,
      bearing: 208.675339 deg,
      lat: 36.779438 deg,
      lon: -121.859459 deg,
      deltaT: 0.533037 s,
      deltaX: -0.099457 m,
      approachRate: -0.186585 m/s,
      posRepo size: 4

2025-10-26T22:37:03.607Z,1761518223.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m.
2025-10-26T22:37:03.745Z,1761518223.745 [DAT](INFO): DAT read: Rx Time:22:37:02.6452 

2025-10-26T22:37:03.748Z,1761518223.748 [DAT](INFO): Rx dataTimestamp_ set to:1761518223.746070
2025-10-26T22:37:03.752Z,1761518223.752 [DAT](INFO): DAT read: Bearing   3.3,  16.1 (Local)

2025-10-26T22:37:03.753Z,1761518223.753 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.3,  16.1 (Local)

2025-10-26T22:37:03.773Z,1761518223.773 [DAT](INFO): DAT read: Range 11 to 50 :    21.6 m (trip time 14.4 ms) speed -0.1

2025-10-26T22:37:03.786Z,1761518223.786 [DAT](INFO): DAT read: 22:37:02.6452 LVL= 25136, 25329, 32754, 32755, AGC= 66, IDX= 511,-0.38,-1.338, 0.168,-1.803,-0.764, PHS=-0.472, 0.977,-1.083, RAW= 346.8,   6.4, CAL= 346.6,   5.4, ROT= 163.4,  -5.4

2025-10-26T22:37:03.787Z,1761518223.787 [DAT](INFO): got valid direction response:
 22:37:02.6452 LVL= 25136, 25329, 32754, 32755, AGC= 66, IDX= 511,-0.38,-1.338, 0.168,-1.803,-0.764, PHS=-0.472, 0.977,-1.083, RAW= 346.8,   6.4, CAL= 346.6,   5.4, ROT= 163.4,  -5.4

2025-10-26T22:37:03.792Z,1761518223.792 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-26T22:37:03.793Z,1761518223.793 [DAT](INFO): direction in FSK: [-0.954069,0.284421,0.094108]
2025-10-26T22:37:03.793Z,1761518223.793 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:03.805Z,1761518223.805 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=7.379994
2025-10-26T22:37:03.939Z,1761518223.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691627,-0.721477,-0.033511],[0.722255,0.690859,0.032588],[-0.000360,-0.046742,0.998907]]
2025-10-26T22:37:03.974Z,1761518223.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.600000 m,
      deltaT: 0.475892 s,
      deltaX: 0.100000 m,
      approachRate: 0.210133 m/s,
      rangeRepo size: 4

2025-10-26T22:37:03.976Z,1761518223.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.480921 m,
      bearing: 209.415262 deg,
      lat: 36.779440 deg,
      lon: -121.859461 deg,
      deltaT: 0.475892 s,
      deltaX: 0.099449 m,
      approachRate: 0.208974 m/s,
      posRepo size: 4

2025-10-26T22:37:03.977Z,1761518223.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.48 m.
2025-10-26T22:37:04.005Z,1761518224.005 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=7.579780
2025-10-26T22:37:04.261Z,1761518224.261 [DAT](INFO): DAT read: Rx Time:22:37:03.1451 

2025-10-26T22:37:04.262Z,1761518224.262 [DAT](INFO): Rx dataTimestamp_ set to:1761518224.261556
2025-10-26T22:37:04.267Z,1761518224.267 [DAT](INFO): DAT read: Bearing   2.1,  16.4 (Local)

2025-10-26T22:37:04.268Z,1761518224.268 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.1,  16.4 (Local)

2025-10-26T22:37:04.273Z,1761518224.273 [DAT](INFO): DAT read: Range 11 to 50 :    21.5 m (trip time 14.3 ms) speed -0.1

2025-10-26T22:37:04.301Z,1761518224.301 [DAT](INFO): DAT read: 22:37:03.1451 LVL= 29152, 23665, 32754, 32755, AGC= 67, IDX= 510, 0.10,-0.421, 1.081,-0.902, 0.170, PHS=-0.490, 0.956,-1.116, RAW= 347.1,   7.1, CAL= 347.0,   6.5, ROT= 163.0,  -6.5

2025-10-26T22:37:04.303Z,1761518224.303 [DAT](INFO): got valid direction response:
 22:37:03.1451 LVL= 29152, 23665, 32754, 32755, AGC= 67, IDX= 510, 0.10,-0.421, 1.081,-0.902, 0.170, PHS=-0.490, 0.956,-1.116, RAW= 347.1,   7.1, CAL= 347.0,   6.5, ROT= 163.0,  -6.5

2025-10-26T22:37:04.324Z,1761518224.324 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-10-26T22:37:04.342Z,1761518224.342 [DAT](INFO): direction in FSK: [-0.950158,0.290492,0.113203]
2025-10-26T22:37:04.343Z,1761518224.343 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:04.401Z,1761518224.401 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=7.975772
2025-10-26T22:37:04.428Z,1761518224.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691901,-0.721164,-0.034573],[0.721992,0.691077,0.033750],[-0.000447,-0.048313,0.998832]]
2025-10-26T22:37:04.508Z,1761518224.508 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.083160
2025-10-26T22:37:04.539Z,1761518224.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.500000 m,
      deltaT: 0.515486 s,
      deltaX: -0.100000 m,
      approachRate: -0.193992 m/s,
      rangeRepo size: 4

2025-10-26T22:37:04.545Z,1761518224.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.381514 m,
      bearing: 208.936001 deg,
      lat: 36.779441 deg,
      lon: -121.859463 deg,
      deltaT: 0.515486 s,
      deltaX: -0.099407 m,
      approachRate: -0.192842 m/s,
      posRepo size: 4

2025-10-26T22:37:04.546Z,1761518224.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m.
2025-10-26T22:37:04.768Z,1761518224.768 [DAT](INFO): DAT read: Rx Time:22:37:03.6453 

2025-10-26T22:37:04.770Z,1761518224.770 [DAT](INFO): Rx dataTimestamp_ set to:1761518224.768870
2025-10-26T22:37:04.773Z,1761518224.773 [DAT](INFO): DAT read: Bearing   2.9,   6.5 (Local)

2025-10-26T22:37:04.773Z,1761518224.773 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.9,   6.5 (Local)

2025-10-26T22:37:04.775Z,1761518224.775 [DAT](INFO): DAT read: Range 11 to 50 :    21.8 m (trip time 14.5 ms) speed -0.2

2025-10-26T22:37:04.794Z,1761518224.794 [DAT](INFO): DAT read: 22:37:03.6453 LVL= 30768, 30705, 32754, 32755, AGC= 65, IDX= 512,-0.29,-1.505, 0.329,-1.647,-0.684, PHS=-0.719, 1.058,-1.007, RAW= 337.4,   7.0, CAL= 337.0,   6.5, ROT= 173.0,  -6.5

2025-10-26T22:37:04.812Z,1761518224.812 [DAT](INFO): got valid direction response:
 22:37:03.6453 LVL= 30768, 30705, 32754, 32755, AGC= 65, IDX= 512,-0.29,-1.505, 0.329,-1.647,-0.684, PHS=-0.719, 1.058,-1.007, RAW= 337.4,   7.0, CAL= 337.0,   6.5, ROT= 173.0,  -6.5

2025-10-26T22:37:04.812Z,1761518224.812 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-26T22:37:04.813Z,1761518224.813 [DAT](INFO): direction in FSK: [-0.986166,0.121086,0.113203]
2025-10-26T22:37:04.813Z,1761518224.813 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:04.826Z,1761518224.826 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=8.400541
2025-10-26T22:37:04.833Z,1761518224.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691517,-0.721493,-0.035374],[0.722360,0.690662,0.034384],[-0.000376,-0.049330,0.998782]]
2025-10-26T22:37:04.887Z,1761518224.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 0.507314 s,
      deltaX: 0.299999 m,
      approachRate: 0.591348 m/s,
      rangeRepo size: 4

2025-10-26T22:37:04.896Z,1761518224.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.679859 m,
      bearing: 218.938407 deg,
      lat: 36.779442 deg,
      lon: -121.859464 deg,
      deltaT: 0.507314 s,
      deltaX: 0.298346 m,
      approachRate: 0.588089 m/s,
      posRepo size: 4

2025-10-26T22:37:04.897Z,1761518224.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m.
2025-10-26T22:37:05.013Z,1761518225.013 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=8.588021
2025-10-26T22:37:05.270Z,1761518225.270 [DAT](INFO): DAT read: Rx Time:22:37:04.1453 

2025-10-26T22:37:05.272Z,1761518225.272 [DAT](INFO): Rx dataTimestamp_ set to:1761518225.270300
2025-10-26T22:37:05.273Z,1761518225.273 [DAT](INFO): DAT read: Bearing   7.9,  20.7 (Local)

2025-10-26T22:37:05.274Z,1761518225.274 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.9,  20.7 (Local)

2025-10-26T22:37:05.276Z,1761518225.276 [DAT](INFO): DAT read: Range 11 to 50 :    21.8 m (trip time 14.5 ms) speed -0.2

2025-10-26T22:37:05.281Z,1761518225.281 [DAT](INFO): DAT read: 22:37:04.1453 LVL= 28912, 23873, 32754, 32755, AGC= 63, IDX= 512,-0.42,-2.794,-1.147, 2.712,-2.345, PHS=-0.347, 1.244,-1.270, RAW= 351.3,   3.4, CAL= 350.9,   0.6, ROT= 159.1,  -0.6

2025-10-26T22:37:05.282Z,1761518225.282 [DAT](INFO): got valid direction response:
 22:37:04.1453 LVL= 28912, 23873, 32754, 32755, AGC= 63, IDX= 512,-0.42,-2.794,-1.147, 2.712,-2.345, PHS=-0.347, 1.244,-1.270, RAW= 351.3,   3.4, CAL= 350.9,   0.6, ROT= 159.1,  -0.6

2025-10-26T22:37:05.282Z,1761518225.282 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-10-26T22:37:05.283Z,1761518225.283 [DAT](INFO): direction in FSK: [-0.934153,0.356718,0.010472]
2025-10-26T22:37:05.283Z,1761518225.283 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:05.289Z,1761518225.289 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=8.863775
2025-10-26T22:37:05.335Z,1761518225.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 0.501430 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:05.337Z,1761518225.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.679859 m,
      bearing: 205.345336 deg,
      lat: 36.779442 deg,
      lon: -121.859464 deg,
      deltaT: 0.501430 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:05.338Z,1761518225.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m.
2025-10-26T22:37:05.517Z,1761518225.517 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.092138
2025-10-26T22:37:05.656Z,1761518225.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690802,-0.722183,-0.035275],[0.723044,0.689993,0.033438],[0.000192,-0.048604,0.998818]]
2025-10-26T22:37:05.773Z,1761518225.773 [DAT](INFO): DAT read: Rx Time:22:37:04.6455 

2025-10-26T22:37:05.774Z,1761518225.774 [DAT](INFO): Rx dataTimestamp_ set to:1761518225.773426
2025-10-26T22:37:05.775Z,1761518225.775 [DAT](INFO): DAT read: Bearing   0.5,  15.6 (Local)

2025-10-26T22:37:05.776Z,1761518225.776 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.5,  15.6 (Local)

2025-10-26T22:37:05.778Z,1761518225.778 [DAT](INFO): DAT read: Range 11 to 50 :    22.1 m (trip time 14.7 ms) speed -0.3

2025-10-26T22:37:05.782Z,1761518225.782 [DAT](INFO): DAT read: 22:37:04.6455 LVL= 25664, 21921, 31218, 32755, AGC= 65, IDX=   1, 0.43, 2.724,-2.063, 2.281,-2.932, PHS=-0.525, 0.914,-1.114, RAW= 346.4,   8.1, CAL= 346.3,   8.1, ROT= 163.7,  -8.1

2025-10-26T22:37:05.787Z,1761518225.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m.
2025-10-26T22:37:05.788Z,1761518225.788 [DAT](INFO): got valid direction response:
 22:37:04.6455 LVL= 25664, 21921, 31218, 32755, AGC= 65, IDX=   1, 0.43, 2.724,-2.063, 2.281,-2.932, PHS=-0.525, 0.914,-1.114, RAW= 346.4,   8.1, CAL= 346.3,   8.1, ROT= 163.7,  -8.1

2025-10-26T22:37:05.788Z,1761518225.788 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-26T22:37:05.789Z,1761518225.789 [DAT](INFO): direction in FSK: [-0.950230,0.277867,0.140901]
2025-10-26T22:37:05.789Z,1761518225.789 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:05.802Z,1761518225.802 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=9.376464
2025-10-26T22:37:06.024Z,1761518226.024 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=9.599120
2025-10-26T22:37:06.054Z,1761518226.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690344,-0.722610,-0.035485],[0.723481,0.689556,0.032992],[0.000629,-0.048449,0.998825]]
2025-10-26T22:37:06.108Z,1761518226.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.503126 s,
      deltaX: 0.300001 m,
      approachRate: 0.596274 m/s,
      rangeRepo size: 4

2025-10-26T22:37:06.110Z,1761518226.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.978302 m,
      bearing: 209.683560 deg,
      lat: 36.779443 deg,
      lon: -121.859466 deg,
      deltaT: 0.503126 s,
      deltaX: 0.298443 m,
      approachRate: 0.593177 m/s,
      posRepo size: 4

2025-10-26T22:37:06.111Z,1761518226.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m.
2025-10-26T22:37:06.277Z,1761518226.277 [DAT](INFO): DAT read: Rx Time:22:37:05.1453 

2025-10-26T22:37:06.278Z,1761518226.278 [DAT](INFO): Rx dataTimestamp_ set to:1761518226.277232
2025-10-26T22:37:06.279Z,1761518226.279 [DAT](INFO): DAT read: Bearing   1.6,  15.9 (Local)

2025-10-26T22:37:06.279Z,1761518226.279 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.6,  15.9 (Local)

2025-10-26T22:37:06.281Z,1761518226.281 [DAT](INFO): DAT read: Range 11 to 50 :    21.8 m (trip time 14.5 ms) speed -0.3

2025-10-26T22:37:06.286Z,1761518226.286 [DAT](INFO): DAT read: 22:37:05.1453 LVL= 28624, 22273, 32754, 32755, AGC= 61, IDX= 498,-0.47,-0.567, 0.944,-1.028, 0.042, PHS=-0.506, 0.948,-1.114, RAW= 346.7,   7.4, CAL= 346.5,   7.0, ROT= 163.5,  -7.0

2025-10-26T22:37:06.287Z,1761518226.287 [DAT](INFO): got valid direction response:
 22:37:05.1453 LVL= 28624, 22273, 32754, 32755, AGC= 61, IDX= 498,-0.47,-0.567, 0.944,-1.028, 0.042, PHS=-0.506, 0.948,-1.114, RAW= 346.7,   7.4, CAL= 346.5,   7.0, ROT= 163.5,  -7.0

2025-10-26T22:37:06.301Z,1761518226.301 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-26T22:37:06.302Z,1761518226.302 [DAT](INFO): direction in FSK: [-0.951673,0.281898,0.121869]
2025-10-26T22:37:06.302Z,1761518226.302 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:06.328Z,1761518226.328 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=9.890000
2025-10-26T22:37:06.514Z,1761518226.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689339,-0.723562,-0.035637],[0.724438,0.688582,0.032307],[0.001163,-0.048087,0.998842]]
2025-10-26T22:37:06.529Z,1761518226.529 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.103259
2025-10-26T22:37:06.570Z,1761518226.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 0.503806 s,
      deltaX: -0.300001 m,
      approachRate: -0.595470 m/s,
      rangeRepo size: 4

2025-10-26T22:37:06.573Z,1761518226.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.680071 m,
      bearing: 209.618451 deg,
      lat: 36.779443 deg,
      lon: -121.859467 deg,
      deltaT: 0.503806 s,
      deltaX: -0.298231 m,
      approachRate: -0.591956 m/s,
      posRepo size: 4

2025-10-26T22:37:06.573Z,1761518226.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m.
2025-10-26T22:37:06.784Z,1761518226.784 [DAT](INFO): DAT read: Rx Time:22:37:05.6455 

2025-10-26T22:37:06.784Z,1761518226.784 [DAT](INFO): Rx dataTimestamp_ set to:1761518226.784014
2025-10-26T22:37:06.786Z,1761518226.786 [DAT](INFO): DAT read: Bearing 357.9,  13.7 (Local)

2025-10-26T22:37:06.786Z,1761518226.786 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.9,  13.7 (Local)

2025-10-26T22:37:06.788Z,1761518226.788 [DAT](INFO): DAT read: Range 11 to 50 :    22.1 m (trip time 14.7 ms) speed -0.3

2025-10-26T22:37:06.794Z,1761518226.794 [DAT](INFO): DAT read: 22:37:05.6455 LVL= 26016, 21441, 30562, 32755, AGC= 65, IDX=   3,-0.45, 0.178, 1.686,-0.186, 0.879, PHS=-0.599, 0.852,-1.110, RAW= 344.5,   9.8, CAL= 344.6,  10.8, ROT= 165.4, -10.8

2025-10-26T22:37:06.813Z,1761518226.813 [DAT](INFO): got valid direction response:
 22:37:05.6455 LVL= 26016, 21441, 30562, 32755, AGC= 65, IDX=   3,-0.45, 0.178, 1.686,-0.186, 0.879, PHS=-0.599, 0.852,-1.110, RAW= 344.5,   9.8, CAL= 344.6,  10.8, ROT= 165.4, -10.8

2025-10-26T22:37:06.813Z,1761518226.813 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-10-26T22:37:06.814Z,1761518226.814 [DAT](INFO): direction in FSK: [-0.950568,0.247605,0.187381]
2025-10-26T22:37:06.814Z,1761518226.814 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:06.818Z,1761518226.818 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=10.392617
2025-10-26T22:37:06.915Z,1761518226.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688417,-0.724440,-0.035611],[0.725314,0.687691,0.031655],[0.001557,-0.047621,0.998864]]
2025-10-26T22:37:06.965Z,1761518226.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.506782 s,
      deltaX: 0.300001 m,
      approachRate: 0.591973 m/s,
      rangeRepo size: 4

2025-10-26T22:37:06.967Z,1761518226.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.978422 m,
      bearing: 211.412392 deg,
      lat: 36.779446 deg,
      lon: -121.859469 deg,
      deltaT: 0.506782 s,
      deltaX: 0.298351 m,
      approachRate: 0.588717 m/s,
      posRepo size: 4

2025-10-26T22:37:06.972Z,1761518226.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m.
2025-10-26T22:37:07.034Z,1761518227.034 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=10.607977
2025-10-26T22:37:07.285Z,1761518227.285 [DAT](INFO): DAT read: Rx Time:22:37:06.1455 

2025-10-26T22:37:07.285Z,1761518227.285 [DAT](INFO): Rx dataTimestamp_ set to:1761518227.285152
2025-10-26T22:37:07.287Z,1761518227.287 [DAT](INFO): DAT read: Bearing   1.7,  16.1 (Local)

2025-10-26T22:37:07.287Z,1761518227.287 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.7,  16.1 (Local)

2025-10-26T22:37:07.291Z,1761518227.291 [DAT](INFO): DAT read: Range 11 to 50 :    22.1 m (trip time 14.7 ms) speed -0.3

2025-10-26T22:37:07.300Z,1761518227.300 [DAT](INFO): DAT read: 22:37:06.1455 LVL= 27760, 21489, 32754, 32755, AGC= 61, IDX= 499,-0.20,-2.699,-1.198, 3.123,-2.098, PHS=-0.499, 0.945,-1.105, RAW= 346.7,   7.3, CAL= 346.6,   6.8, ROT= 163.4,  -6.8

2025-10-26T22:37:07.301Z,1761518227.301 [DAT](INFO): got valid direction response:
 22:37:06.1455 LVL= 27760, 21489, 32754, 32755, AGC= 61, IDX= 499,-0.20,-2.699,-1.198, 3.123,-2.098, PHS=-0.499, 0.945,-1.105, RAW= 346.7,   7.3, CAL= 346.6,   6.8, ROT= 163.4,  -6.8

2025-10-26T22:37:07.302Z,1761518227.302 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-10-26T22:37:07.303Z,1761518227.303 [DAT](INFO): direction in FSK: [-0.951581,0.283679,0.118404]
2025-10-26T22:37:07.303Z,1761518227.303 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:07.318Z,1761518227.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687721,-0.725105,-0.035540],[0.725973,0.687017,0.031150],[0.001829,-0.047224,0.998883]]
2025-10-26T22:37:07.335Z,1761518227.335 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=10.909462
2025-10-26T22:37:07.471Z,1761518227.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.501138 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:07.474Z,1761518227.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.978422 m,
      bearing: 209.661877 deg,
      lat: 36.779445 deg,
      lon: -121.859469 deg,
      deltaT: 0.501138 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:07.474Z,1761518227.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m.
2025-10-26T22:37:07.537Z,1761518227.537 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.111700
2025-10-26T22:37:07.777Z,1761518227.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687059,-0.725746,-0.035244],[0.726599,0.686380,0.030608],[0.001977,-0.046638,0.998910]]
2025-10-26T22:37:07.789Z,1761518227.789 [DAT](INFO): DAT read: Rx Time:22:37:06.6457 

2025-10-26T22:37:07.790Z,1761518227.790 [DAT](INFO): Rx dataTimestamp_ set to:1761518227.789219
2025-10-26T22:37:07.791Z,1761518227.791 [DAT](INFO): DAT read: Bearing   1.5,  15.9 (Local)

2025-10-26T22:37:07.791Z,1761518227.791 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.5,  15.9 (Local)

2025-10-26T22:37:07.793Z,1761518227.793 [DAT](INFO): DAT read: Range 11 to 50 :    22.4 m (trip time 14.9 ms) speed -0.3

2025-10-26T22:37:07.798Z,1761518227.798 [DAT](INFO): DAT read: 22:37:06.6457 LVL= 31440, 27425, 32754, 32755, AGC= 63, IDX= 501,-0.07,-1.681,-0.172,-2.133,-1.069, PHS=-0.511, 0.942,-1.109, RAW= 346.5,   7.5, CAL= 346.4,   7.1, ROT= 163.6,  -7.1

2025-10-26T22:37:07.799Z,1761518227.799 [DAT](INFO): got valid direction response:
 22:37:06.6457 LVL= 31440, 27425, 32754, 32755, AGC= 63, IDX= 501,-0.07,-1.681,-0.172,-2.133,-1.069, PHS=-0.511, 0.942,-1.109, RAW= 346.5,   7.5, CAL= 346.4,   7.1, ROT= 163.6,  -7.1

2025-10-26T22:37:07.800Z,1761518227.800 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-10-26T22:37:07.800Z,1761518227.800 [DAT](INFO): direction in FSK: [-0.951958,0.280176,0.123601]
2025-10-26T22:37:07.801Z,1761518227.801 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:07.808Z,1761518227.808 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=11.383223
2025-10-26T22:37:07.898Z,1761518227.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.400000 m,
      deltaT: 0.504067 s,
      deltaX: 0.299999 m,
      approachRate: 0.595157 m/s,
      rangeRepo size: 4

2025-10-26T22:37:07.916Z,1761518227.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.276800 m,
      bearing: 209.903770 deg,
      lat: 36.779445 deg,
      lon: -121.859469 deg,
      deltaT: 0.504067 s,
      deltaX: 0.298378 m,
      approachRate: 0.591941 m/s,
      posRepo size: 4

2025-10-26T22:37:07.917Z,1761518227.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.28 m.
2025-10-26T22:37:08.041Z,1761518228.041 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=11.615335
2025-10-26T22:37:08.188Z,1761518228.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.28 m.
2025-10-26T22:37:08.293Z,1761518228.293 [DAT](INFO): DAT read: Rx Time:22:37:07.1457 

2025-10-26T22:37:08.294Z,1761518228.294 [DAT](INFO): Rx dataTimestamp_ set to:1761518228.293249
2025-10-26T22:37:08.295Z,1761518228.295 [DAT](INFO): DAT read: Bearing   1.7,  16.3 (Local)

2025-10-26T22:37:08.295Z,1761518228.295 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.7,  16.3 (Local)

2025-10-26T22:37:08.297Z,1761518228.297 [DAT](INFO): DAT read: Range 11 to 50 :    22.4 m (trip time 14.9 ms) speed -0.3

2025-10-26T22:37:08.302Z,1761518228.302 [DAT](INFO): DAT read: 22:37:07.1457 LVL= 26384, 20305, 32754, 32755, AGC= 61, IDX= 501, 0.02,-2.586,-1.084,-3.055,-1.986, PHS=-0.498, 0.947,-1.113, RAW= 346.9,   7.3, CAL= 346.8,   6.8, ROT= 163.2,  -6.8

2025-10-26T22:37:08.303Z,1761518228.303 [DAT](INFO): got valid direction response:
 22:37:07.1457 LVL= 26384, 20305, 32754, 32755, AGC= 61, IDX= 501, 0.02,-2.586,-1.084,-3.055,-1.986, PHS=-0.498, 0.947,-1.113, RAW= 346.9,   7.3, CAL= 346.8,   6.8, ROT= 163.2,  -6.8

2025-10-26T22:37:08.304Z,1761518228.304 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-10-26T22:37:08.305Z,1761518228.305 [DAT](INFO): direction in FSK: [-0.950585,0.286999,0.118404]
2025-10-26T22:37:08.305Z,1761518228.305 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:08.309Z,1761518228.309 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=11.883454
2025-10-26T22:37:08.544Z,1761518228.544 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.119220
2025-10-26T22:37:08.552Z,1761518228.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686209,-0.726568,-0.034880],[0.727402,0.685558,0.029946],[0.002155,-0.045921,0.998943]]
2025-10-26T22:37:08.652Z,1761518228.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.400000 m,
      deltaT: 0.504030 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:08.654Z,1761518228.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.276846 m,
      bearing: 209.589736 deg,
      lat: 36.779445 deg,
      lon: -121.859470 deg,
      deltaT: 0.504030 s,
      deltaX: 0.000046 m,
      approachRate: 0.000091 m/s,
      posRepo size: 4

2025-10-26T22:37:08.654Z,1761518228.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.28 m.
2025-10-26T22:37:08.797Z,1761518228.797 [DAT](INFO): DAT read: Rx Time:22:37:07.6458 

2025-10-26T22:37:08.798Z,1761518228.798 [DAT](INFO): Rx dataTimestamp_ set to:1761518228.797334
2025-10-26T22:37:08.799Z,1761518228.799 [DAT](INFO): DAT read: Bearing   1.2,  16.4 (Local)

2025-10-26T22:37:08.799Z,1761518228.799 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2,  16.4 (Local)

2025-10-26T22:37:08.801Z,1761518228.801 [DAT](INFO): DAT read: Range 11 to 50 :    22.7 m (trip time 15.1 ms) speed -0.3

2025-10-26T22:37:08.806Z,1761518228.806 [DAT](INFO): DAT read: 22:37:07.6458 LVL= 24496, 21185, 32754, 32755, AGC= 60, IDX= 503, 0.04,-1.018, 0.480,-1.485,-0.410, PHS=-0.506, 0.935,-1.119, RAW= 346.9,   7.6, CAL= 346.8,   7.3, ROT= 163.2,  -7.3

2025-10-26T22:37:08.807Z,1761518228.807 [DAT](INFO): got valid direction response:
 22:37:07.6458 LVL= 24496, 21185, 32754, 32755, AGC= 60, IDX= 503, 0.04,-1.018, 0.480,-1.485,-0.410, PHS=-0.506, 0.935,-1.119, RAW= 346.9,   7.6, CAL= 346.8,   7.3, ROT= 163.2,  -7.3

2025-10-26T22:37:08.808Z,1761518228.808 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-10-26T22:37:08.809Z,1761518228.809 [DAT](INFO): direction in FSK: [-0.949560,0.286689,0.127065]
2025-10-26T22:37:08.809Z,1761518228.809 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:08.813Z,1761518228.813 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.387527
2025-10-26T22:37:08.954Z,1761518228.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686152,-0.726616,-0.034999],[0.727455,0.685495,0.030106],[0.002116,-0.046117,0.998934]]
2025-10-26T22:37:09.004Z,1761518229.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.700001 m,
      deltaT: 0.504085 s,
      deltaX: 0.300001 m,
      approachRate: 0.595140 m/s,
      rangeRepo size: 4

2025-10-26T22:37:09.006Z,1761518229.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.575197 m,
      bearing: 209.570949 deg,
      lat: 36.779445 deg,
      lon: -121.859471 deg,
      deltaT: 0.504085 s,
      deltaX: 0.298351 m,
      approachRate: 0.591867 m/s,
      posRepo size: 4

2025-10-26T22:37:09.007Z,1761518229.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.58 m.
2025-10-26T22:37:09.050Z,1761518229.050 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.624680
2025-10-26T22:37:09.301Z,1761518229.301 [DAT](INFO): DAT read: Rx Time:22:37:08.1458 

2025-10-26T22:37:09.301Z,1761518229.301 [DAT](INFO): Rx dataTimestamp_ set to:1761518229.301165
2025-10-26T22:37:09.303Z,1761518229.303 [DAT](INFO): DAT read: Bearing   2.2,  16.3 (Local)

2025-10-26T22:37:09.303Z,1761518229.303 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.2,  16.3 (Local)

2025-10-26T22:37:09.305Z,1761518229.305 [DAT](INFO): DAT read: Range 11 to 50 :    22.7 m (trip time 15.1 ms) speed -0.2

2025-10-26T22:37:09.321Z,1761518229.321 [DAT](INFO): DAT read: 22:37:08.1458 LVL= 25072, 24625, 32754, 32755, AGC= 60, IDX= 503, 0.02,-2.388,-0.889,-2.851,-1.795, PHS=-0.491, 0.952,-1.100, RAW= 346.8,   7.1, CAL= 346.7,   6.5, ROT= 163.3,  -6.5

2025-10-26T22:37:09.323Z,1761518229.323 [DAT](INFO): got valid direction response:
 22:37:08.1458 LVL= 25072, 24625, 32754, 32755, AGC= 60, IDX= 503, 0.02,-2.388,-0.889,-2.851,-1.795, PHS=-0.491, 0.952,-1.100, RAW= 346.8,   7.1, CAL= 346.7,   6.5, ROT= 163.3,  -6.5

2025-10-26T22:37:09.323Z,1761518229.323 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-10-26T22:37:09.324Z,1761518229.324 [DAT](INFO): direction in FSK: [-0.951665,0.285513,0.113203]
2025-10-26T22:37:09.324Z,1761518229.324 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:09.361Z,1761518229.361 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=12.935498
2025-10-26T22:37:09.383Z,1761518229.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686131,-0.726627,-0.035174],[0.727475,0.685459,0.030418],[0.002008,-0.046459,0.998918]]
2025-10-26T22:37:09.517Z,1761518229.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.700001 m,
      deltaT: 0.503831 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:09.519Z,1761518229.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.575211 m,
      bearing: 209.705540 deg,
      lat: 36.779444 deg,
      lon: -121.859471 deg,
      deltaT: 0.503831 s,
      deltaX: 0.000013 m,
      approachRate: 0.000026 m/s,
      posRepo size: 4

2025-10-26T22:37:09.519Z,1761518229.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.58 m.
2025-10-26T22:37:09.553Z,1761518229.553 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.127250
2025-10-26T22:37:09.789Z,1761518229.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686413,-0.726356,-0.035279],[0.727210,0.685721,0.030872],[0.001768,-0.046846,0.998901]]
2025-10-26T22:37:09.805Z,1761518229.805 [DAT](INFO): DAT read: Rx Time:22:37:08.6460 

2025-10-26T22:37:09.805Z,1761518229.805 [DAT](INFO): Rx dataTimestamp_ set to:1761518229.805170
2025-10-26T22:37:09.807Z,1761518229.807 [DAT](INFO): DAT read: Bearing   1.9,  16.0 (Local)

2025-10-26T22:37:09.807Z,1761518229.807 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.9,  16.0 (Local)

2025-10-26T22:37:09.809Z,1761518229.809 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed -0.2

2025-10-26T22:37:09.814Z,1761518229.814 [DAT](INFO): DAT read: 22:37:08.6460 LVL= 27296, 22417, 32754, 32755, AGC= 61, IDX= 505,-0.11,-1.767,-0.253,-2.224,-1.162, PHS=-0.504, 0.954,-1.106, RAW= 346.5,   7.2, CAL= 346.4,   6.7, ROT= 163.6,  -6.7

2025-10-26T22:37:09.815Z,1761518229.815 [DAT](INFO): got valid direction response:
 22:37:08.6460 LVL= 27296, 22417, 32754, 32755, AGC= 61, IDX= 505,-0.11,-1.767,-0.253,-2.224,-1.162, PHS=-0.504, 0.954,-1.106, RAW= 346.5,   7.2, CAL= 346.4,   6.7, ROT= 163.6,  -6.7

2025-10-26T22:37:09.815Z,1761518229.815 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-10-26T22:37:09.816Z,1761518229.816 [DAT](INFO): direction in FSK: [-0.952763,0.280413,0.116671]
2025-10-26T22:37:09.817Z,1761518229.817 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:09.877Z,1761518229.877 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.451127
2025-10-26T22:37:09.929Z,1761518229.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.504005 s,
      deltaX: 0.299999 m,
      approachRate: 0.595231 m/s,
      rangeRepo size: 4

2025-10-26T22:37:09.931Z,1761518229.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.873560 m,
      bearing: 209.971056 deg,
      lat: 36.779444 deg,
      lon: -121.859471 deg,
      deltaT: 0.504005 s,
      deltaX: 0.298349 m,
      approachRate: 0.591957 m/s,
      posRepo size: 4

2025-10-26T22:37:09.940Z,1761518229.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.87 m.
2025-10-26T22:37:10.057Z,1761518230.057 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.631653
2025-10-26T22:37:10.186Z,1761518230.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686378,-0.726409,-0.034850],[0.727243,0.685682,0.030942],[0.001419,-0.046582,0.998913]]
2025-10-26T22:37:10.203Z,1761518230.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:37:10.205Z,1761518230.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.87 m.
2025-10-26T22:37:10.310Z,1761518230.310 [DAT](INFO): DAT read: Rx Time:22:37:09.1460 

2025-10-26T22:37:10.311Z,1761518230.311 [DAT](INFO): Rx dataTimestamp_ set to:1761518230.310239
2025-10-26T22:37:10.312Z,1761518230.312 [DAT](INFO): DAT read: Bearing   1.8,  16.0 (Local)

2025-10-26T22:37:10.313Z,1761518230.313 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.8,  16.0 (Local)

2025-10-26T22:37:10.316Z,1761518230.316 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed -0.1

2025-10-26T22:37:10.322Z,1761518230.322 [DAT](INFO): DAT read: 22:37:09.1460 LVL= 27760, 22625, 32754, 32755, AGC= 61, IDX= 505,-0.36,-2.402,-0.886,-2.859,-1.793, PHS=-0.507, 0.952,-1.109, RAW= 346.5,   7.3, CAL= 346.4,   6.8, ROT= 163.6,  -6.8

2025-10-26T22:37:10.323Z,1761518230.323 [DAT](INFO): got valid direction response:
 22:37:09.1460 LVL= 27760, 22625, 32754, 32755, AGC= 61, IDX= 505,-0.36,-2.402,-0.886,-2.859,-1.793, PHS=-0.507, 0.952,-1.109, RAW= 346.5,   7.3, CAL= 346.4,   6.8, ROT= 163.6,  -6.8

2025-10-26T22:37:10.333Z,1761518230.333 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-10-26T22:37:10.334Z,1761518230.334 [DAT](INFO): direction in FSK: [-0.952566,0.280355,0.118404]
2025-10-26T22:37:10.334Z,1761518230.334 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:10.338Z,1761518230.338 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.912617
2025-10-26T22:37:10.561Z,1761518230.561 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.136010
2025-10-26T22:37:10.590Z,1761518230.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686285,-0.726516,-0.034443],[0.727331,0.685597,0.030768],[0.001260,-0.046167,0.998933]]
2025-10-26T22:37:10.663Z,1761518230.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.505069 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:10.665Z,1761518230.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.873562 m,
      bearing: 209.979751 deg,
      lat: 36.779444 deg,
      lon: -121.859471 deg,
      deltaT: 0.505069 s,
      deltaX: 0.000002 m,
      approachRate: 0.000004 m/s,
      posRepo size: 4

2025-10-26T22:37:10.666Z,1761518230.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.87 m.
2025-10-26T22:37:10.813Z,1761518230.813 [DAT](INFO): DAT read: Rx Time:22:37:09.6460 

2025-10-26T22:37:10.813Z,1761518230.813 [DAT](INFO): Rx dataTimestamp_ set to:1761518230.813064
2025-10-26T22:37:10.815Z,1761518230.815 [DAT](INFO): DAT read: Bearing   2.2,  16.6 (Local)

2025-10-26T22:37:10.815Z,1761518230.815 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.2,  16.6 (Local)

2025-10-26T22:37:10.817Z,1761518230.817 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed -0.1

2025-10-26T22:37:10.822Z,1761518230.822 [DAT](INFO): DAT read: 22:37:09.6460 LVL= 29264, 23249, 32754, 32755, AGC= 62, IDX= 505, 0.14, 0.685, 2.186, 0.209, 1.275, PHS=-0.487, 0.956,-1.109, RAW= 347.1,   7.0, CAL= 346.9,   6.4, ROT= 163.1,  -6.4

2025-10-26T22:37:10.823Z,1761518230.823 [DAT](INFO): got valid direction response:
 22:37:09.6460 LVL= 29264, 23249, 32754, 32755, AGC= 62, IDX= 505, 0.14, 0.685, 2.186, 0.209, 1.275, PHS=-0.487, 0.956,-1.109, RAW= 347.1,   7.0, CAL= 346.9,   6.4, ROT= 163.1,  -6.4

2025-10-26T22:37:10.823Z,1761518230.823 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-10-26T22:37:10.824Z,1761518230.824 [DAT](INFO): direction in FSK: [-0.950851,0.288891,0.111469]
2025-10-26T22:37:10.824Z,1761518230.824 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:10.828Z,1761518230.828 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.402684
2025-10-26T22:37:10.994Z,1761518230.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686369,-0.726468,-0.033792],[0.727253,0.685683,0.030706],[0.000864,-0.045651,0.998957]]
2025-10-26T22:37:11.041Z,1761518231.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.502825 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:11.043Z,1761518231.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.873562 m,
      bearing: 209.494299 deg,
      lat: 36.779444 deg,
      lon: -121.859473 deg,
      deltaT: 0.502825 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:11.044Z,1761518231.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.87 m.
2025-10-26T22:37:11.065Z,1761518231.065 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.639250
2025-10-26T22:37:11.317Z,1761518231.317 [DAT](INFO): DAT read: Rx Time:22:37:10.1460 

2025-10-26T22:37:11.317Z,1761518231.317 [DAT](INFO): Rx dataTimestamp_ set to:1761518231.317069
2025-10-26T22:37:11.319Z,1761518231.319 [DAT](INFO): DAT read: Bearing   2.0,  16.0 (Local)

2025-10-26T22:37:11.319Z,1761518231.319 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.0,  16.0 (Local)

2025-10-26T22:37:11.321Z,1761518231.321 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed -0.1

2025-10-26T22:37:11.326Z,1761518231.326 [DAT](INFO): DAT read: 22:37:10.1460 LVL= 27600, 22001, 32754, 32755, AGC= 62, IDX= 505,-0.17,-1.653,-0.143,-2.106,-1.049, PHS=-0.502, 0.952,-1.101, RAW= 346.5,   7.2, CAL= 346.4,   6.6, ROT= 163.6,  -6.6

2025-10-26T22:37:11.327Z,1761518231.327 [DAT](INFO): got valid direction response:
 22:37:10.1460 LVL= 27600, 22001, 32754, 32755, AGC= 62, IDX= 505,-0.17,-1.653,-0.143,-2.106,-1.049, PHS=-0.502, 0.952,-1.101, RAW= 346.5,   7.2, CAL= 346.4,   6.6, ROT= 163.6,  -6.6

2025-10-26T22:37:11.327Z,1761518231.327 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-10-26T22:37:11.330Z,1761518231.330 [DAT](INFO): direction in FSK: [-0.952956,0.280470,0.114937]
2025-10-26T22:37:11.330Z,1761518231.330 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:11.334Z,1761518231.334 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.908367
2025-10-26T22:37:11.398Z,1761518231.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686797,-0.726087,-0.033285],[0.726849,0.686100,0.030932],[0.000378,-0.045437,0.998967]]
2025-10-26T22:37:11.522Z,1761518231.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.504005 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:11.529Z,1761518231.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.873554 m,
      bearing: 209.951022 deg,
      lat: 36.779444 deg,
      lon: -121.859474 deg,
      deltaT: 0.504005 s,
      deltaX: -0.000008 m,
      approachRate: -0.000015 m/s,
      posRepo size: 4

2025-10-26T22:37:11.529Z,1761518231.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.87 m.
2025-10-26T22:37:11.569Z,1761518231.569 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.143342
2025-10-26T22:37:11.802Z,1761518231.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687345,-0.725582,-0.032977],[0.726331,0.686630,0.031335],[-0.000093,-0.045490,0.998965]]
2025-10-26T22:37:11.821Z,1761518231.821 [DAT](INFO): DAT read: Rx Time:22:37:10.6461 

2025-10-26T22:37:11.821Z,1761518231.821 [DAT](INFO): Rx dataTimestamp_ set to:1761518231.821171
2025-10-26T22:37:11.823Z,1761518231.823 [DAT](INFO): DAT read: Bearing   2.0,  16.4 (Local)

2025-10-26T22:37:11.823Z,1761518231.823 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.0,  16.4 (Local)

2025-10-26T22:37:11.825Z,1761518231.825 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed -0.2

2025-10-26T22:37:11.830Z,1761518231.830 [DAT](INFO): DAT read: 22:37:10.6461 LVL= 28656, 21233, 32754, 32755, AGC= 62, IDX= 506, 0.31, 1.409, 2.917, 0.940, 2.007, PHS=-0.495, 0.955,-1.111, RAW= 346.9,   7.1, CAL= 346.7,   6.6, ROT= 163.3,  -6.6

2025-10-26T22:37:11.831Z,1761518231.831 [DAT](INFO): got valid direction response:
 22:37:10.6461 LVL= 28656, 21233, 32754, 32755, AGC= 62, IDX= 506, 0.31, 1.409, 2.917, 0.940, 2.007, PHS=-0.495, 0.955,-1.111, RAW= 346.9,   7.1, CAL= 346.7,   6.6, ROT= 163.3,  -6.6

2025-10-26T22:37:11.831Z,1761518231.831 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-10-26T22:37:11.832Z,1761518231.832 [DAT](INFO): direction in FSK: [-0.951475,0.285456,0.114937]
2025-10-26T22:37:11.833Z,1761518231.833 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:11.836Z,1761518231.836 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.410982
2025-10-26T22:37:11.905Z,1761518231.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.504102 s,
      deltaX: 0.100000 m,
      approachRate: 0.198373 m/s,
      rangeRepo size: 4

2025-10-26T22:37:11.907Z,1761518231.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.973005 m,
      bearing: 209.607428 deg,
      lat: 36.779444 deg,
      lon: -121.859474 deg,
      deltaT: 0.504102 s,
      deltaX: 0.099451 m,
      approachRate: 0.197284 m/s,
      posRepo size: 4

2025-10-26T22:37:11.912Z,1761518231.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.97 m.
2025-10-26T22:37:12.072Z,1761518232.072 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.647161
2025-10-26T22:37:12.206Z,1761518232.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688074,-0.724894,-0.032908],[0.725641,0.687330,0.031990],[-0.000571,-0.045890,0.998946]]
2025-10-26T22:37:12.293Z,1761518232.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.97 m.
2025-10-26T22:37:12.325Z,1761518232.325 [DAT](INFO): DAT read: Rx Time:22:37:11.1461 

2025-10-26T22:37:12.325Z,1761518232.325 [DAT](INFO): Rx dataTimestamp_ set to:1761518232.325210
2025-10-26T22:37:12.327Z,1761518232.327 [DAT](INFO): DAT read: Bearing   1.8,  16.1 (Local)

2025-10-26T22:37:12.327Z,1761518232.327 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.8,  16.1 (Local)

2025-10-26T22:37:12.329Z,1761518232.329 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed -0.1

2025-10-26T22:37:12.334Z,1761518232.334 [DAT](INFO): DAT read: 22:37:11.1461 LVL= 29168, 23281, 32754, 32755, AGC= 62, IDX= 506,-0.09,-0.519, 0.994,-0.975, 0.088, PHS=-0.506, 0.951,-1.107, RAW= 346.5,   7.3, CAL= 346.4,   6.8, ROT= 163.6,  -6.8

2025-10-26T22:37:12.335Z,1761518232.335 [DAT](INFO): got valid direction response:
 22:37:11.1461 LVL= 29168, 23281, 32754, 32755, AGC= 62, IDX= 506,-0.09,-0.519, 0.994,-0.975, 0.088, PHS=-0.506, 0.951,-1.107, RAW= 346.5,   7.3, CAL= 346.4,   6.8, ROT= 163.6,  -6.8

2025-10-26T22:37:12.336Z,1761518232.336 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-10-26T22:37:12.337Z,1761518232.337 [DAT](INFO): direction in FSK: [-0.952566,0.280355,0.118404]
2025-10-26T22:37:12.337Z,1761518232.337 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:12.341Z,1761518232.341 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.915276
2025-10-26T22:37:12.577Z,1761518232.577 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.151352
2025-10-26T22:37:12.610Z,1761518232.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688773,-0.724232,-0.032852],[0.724977,0.688004,0.032557],[-0.000977,-0.046241,0.998930]]
2025-10-26T22:37:12.671Z,1761518232.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.504039 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:12.673Z,1761518232.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.972982 m,
      bearing: 209.779177 deg,
      lat: 36.779445 deg,
      lon: -121.859474 deg,
      deltaT: 0.504039 s,
      deltaX: -0.000023 m,
      approachRate: -0.000045 m/s,
      posRepo size: 4

2025-10-26T22:37:12.674Z,1761518232.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.97 m.
2025-10-26T22:37:12.829Z,1761518232.829 [DAT](INFO): DAT read: Rx Time:22:37:11.6462 

2025-10-26T22:37:12.830Z,1761518232.830 [DAT](INFO): Rx dataTimestamp_ set to:1761518232.829266
2025-10-26T22:37:12.832Z,1761518232.832 [DAT](INFO): DAT read: Bearing   1.6,  16.8 (Local)

2025-10-26T22:37:12.832Z,1761518232.832 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.6,  16.8 (Local)

2025-10-26T22:37:12.835Z,1761518232.835 [DAT](INFO): DAT read: Range 11 to 50 :    23.3 m (trip time 15.5 ms) speed -0.1

2025-10-26T22:37:12.841Z,1761518232.841 [DAT](INFO): DAT read: 22:37:11.6462 LVL= 28704, 24129, 32754, 32755, AGC= 62, IDX= 507, 0.34, 2.253,-2.548, 1.775, 2.844, PHS=-0.489, 0.937,-1.112, RAW= 347.3,   7.4, CAL= 347.2,   6.9, ROT= 162.8,  -6.9

2025-10-26T22:37:12.842Z,1761518232.842 [DAT](INFO): got valid direction response:
 22:37:11.6462 LVL= 28704, 24129, 32754, 32755, AGC= 62, IDX= 507, 0.34, 2.253,-2.548, 1.775, 2.844, PHS=-0.489, 0.937,-1.112, RAW= 347.3,   7.4, CAL= 347.2,   6.9, ROT= 162.8,  -6.9

2025-10-26T22:37:12.843Z,1761518232.843 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-10-26T22:37:12.853Z,1761518232.853 [DAT](INFO): direction in FSK: [-0.948360,0.293566,0.120137]
2025-10-26T22:37:12.853Z,1761518232.853 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:12.868Z,1761518232.868 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.442547
2025-10-26T22:37:13.014Z,1761518233.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689378,-0.723667,-0.032603],[0.724400,0.688591,0.032961],[-0.001403,-0.046340,0.998925]]
2025-10-26T22:37:13.050Z,1761518233.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.299999 m,
      deltaT: 0.504056 s,
      deltaX: 0.199999 m,
      approachRate: 0.396779 m/s,
      rangeRepo size: 4

2025-10-26T22:37:13.053Z,1761518233.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.171881 m,
      bearing: 208.927335 deg,
      lat: 36.779445 deg,
      lon: -121.859474 deg,
      deltaT: 0.504056 s,
      deltaX: 0.198898 m,
      approachRate: 0.394596 m/s,
      posRepo size: 4

2025-10-26T22:37:13.053Z,1761518233.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.17 m.
2025-10-26T22:37:13.081Z,1761518233.081 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.655376
2025-10-26T22:37:13.333Z,1761518233.333 [DAT](INFO): DAT read: Rx Time:22:37:12.1462 

2025-10-26T22:37:13.333Z,1761518233.333 [DAT](INFO): Rx dataTimestamp_ set to:1761518233.333193
2025-10-26T22:37:13.335Z,1761518233.335 [DAT](INFO): DAT read: Bearing   1.7,  16.2 (Local)

2025-10-26T22:37:13.335Z,1761518233.335 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.7,  16.2 (Local)

2025-10-26T22:37:13.337Z,1761518233.337 [DAT](INFO): DAT read: Range 11 to 50 :    23.3 m (trip time 15.5 ms) speed 0.0

2025-10-26T22:37:13.342Z,1761518233.342 [DAT](INFO): DAT read: 22:37:12.1462 LVL= 27952, 23537, 32754, 32755, AGC= 62, IDX= 507,-0.10,-0.597, 0.914,-1.058, 0.009, PHS=-0.504, 0.950,-1.111, RAW= 346.7,   7.3, CAL= 346.5,   6.9, ROT= 163.5,  -6.9

2025-10-26T22:37:13.343Z,1761518233.343 [DAT](INFO): got valid direction response:
 22:37:12.1462 LVL= 27952, 23537, 32754, 32755, AGC= 62, IDX= 507,-0.10,-0.597, 0.914,-1.058, 0.009, PHS=-0.504, 0.950,-1.111, RAW= 346.7,   7.3, CAL= 346.5,   6.9, ROT= 163.5,  -6.9

2025-10-26T22:37:13.343Z,1761518233.343 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-10-26T22:37:13.344Z,1761518233.344 [DAT](INFO): direction in FSK: [-0.951875,0.281958,0.120137]
2025-10-26T22:37:13.345Z,1761518233.345 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:13.360Z,1761518233.360 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.934395
2025-10-26T22:37:13.418Z,1761518233.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689786,-0.723297,-0.032189],[0.724011,0.688996,0.033058],[-0.001733,-0.046108,0.998935]]
2025-10-26T22:37:13.467Z,1761518233.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.299999 m,
      deltaT: 0.503927 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:13.469Z,1761518233.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.171881 m,
      bearing: 209.594113 deg,
      lat: 36.779446 deg,
      lon: -121.859475 deg,
      deltaT: 0.503927 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:13.470Z,1761518233.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.17 m.
2025-10-26T22:37:13.585Z,1761518233.585 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.159559
2025-10-26T22:37:13.822Z,1761518233.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690566,-0.722566,-0.031895],[0.723267,0.689765,0.033313],[-0.002070,-0.046073,0.998936]]
2025-10-26T22:37:13.837Z,1761518233.837 [DAT](INFO): DAT read: Rx Time:22:37:12.6463 

2025-10-26T22:37:13.837Z,1761518233.837 [DAT](INFO): Rx dataTimestamp_ set to:1761518233.837188
2025-10-26T22:37:13.839Z,1761518233.839 [DAT](INFO): DAT read: Bearing   0.7,  16.8 (Local)

2025-10-26T22:37:13.839Z,1761518233.839 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.7,  16.8 (Local)

2025-10-26T22:37:13.841Z,1761518233.841 [DAT](INFO): DAT read: Range 11 to 50 :    23.4 m (trip time 15.6 ms) speed -0.1

2025-10-26T22:37:13.847Z,1761518233.847 [DAT](INFO): DAT read: 22:37:12.6463 LVL= 29424, 21601, 32754, 32755, AGC= 61, IDX= 508, 0.25, 2.113,-2.689, 1.633, 2.719, PHS=-0.504, 0.920,-1.129, RAW= 347.3,   7.9, CAL= 347.3,   7.8, ROT= 162.7,  -7.8

2025-10-26T22:37:13.849Z,1761518233.849 [DAT](INFO): got valid direction response:
 22:37:12.6463 LVL= 29424, 21601, 32754, 32755, AGC= 61, IDX= 508, 0.25, 2.113,-2.689, 1.633, 2.719, PHS=-0.504, 0.920,-1.129, RAW= 347.3,   7.9, CAL= 347.3,   7.8, ROT= 162.7,  -7.8

2025-10-26T22:37:13.850Z,1761518233.850 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-10-26T22:37:13.856Z,1761518233.856 [DAT](INFO): direction in FSK: [-0.945927,0.294624,0.135716]
2025-10-26T22:37:13.856Z,1761518233.856 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:13.866Z,1761518233.866 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.440836
2025-10-26T22:37:13.988Z,1761518233.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 0.503995 s,
      deltaX: 0.100000 m,
      approachRate: 0.198415 m/s,
      rangeRepo size: 4

2025-10-26T22:37:13.990Z,1761518233.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.271338 m,
      bearing: 208.693144 deg,
      lat: 36.779445 deg,
      lon: -121.859474 deg,
      deltaT: 0.503995 s,
      deltaX: 0.099457 m,
      approachRate: 0.197337 m/s,
      posRepo size: 4

2025-10-26T22:37:13.991Z,1761518233.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m.
2025-10-26T22:37:14.089Z,1761518234.089 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.663986
2025-10-26T22:37:14.176Z,1761518234.176 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:37:14.294Z,1761518234.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691560,-0.721627,-0.031605],[0.722315,0.690741,0.033750],[-0.002524,-0.046169,0.998931]]
2025-10-26T22:37:14.312Z,1761518234.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m.
2025-10-26T22:37:14.344Z,1761518234.344 [DAT](INFO): DAT read: Rx Time:22:37:13.1463 

2025-10-26T22:37:14.344Z,1761518234.344 [DAT](INFO): Rx dataTimestamp_ set to:1761518234.344051
2025-10-26T22:37:14.347Z,1761518234.347 [DAT](INFO): DAT read: Bearing   1.6,  16.4 (Local)

2025-10-26T22:37:14.348Z,1761518234.348 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.6,  16.4 (Local)

2025-10-26T22:37:14.352Z,1761518234.352 [DAT](INFO): DAT read: Range 11 to 50 :    23.4 m (trip time 15.6 ms) speed -0.1

2025-10-26T22:37:14.368Z,1761518234.368 [DAT](INFO): DAT read: 22:37:13.1463 LVL= 27008, 22513, 32754, 32755, AGC= 62, IDX= 508,-0.22,-0.685, 0.820,-1.154,-0.083, PHS=-0.500, 0.948,-1.115, RAW= 346.9,   7.3, CAL= 346.8,   6.9, ROT= 163.2,  -6.9

2025-10-26T22:37:14.370Z,1761518234.370 [DAT](INFO): got valid direction response:
 22:37:13.1463 LVL= 27008, 22513, 32754, 32755, AGC= 62, IDX= 508,-0.22,-0.685, 0.820,-1.154,-0.083, PHS=-0.500, 0.948,-1.115, RAW= 346.9,   7.3, CAL= 346.8,   6.9, ROT= 163.2,  -6.9

2025-10-26T22:37:14.371Z,1761518234.371 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-10-26T22:37:14.384Z,1761518234.384 [DAT](INFO): direction in FSK: [-0.950386,0.286939,0.120137]
2025-10-26T22:37:14.384Z,1761518234.384 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:14.394Z,1761518234.394 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.968767
2025-10-26T22:37:14.592Z,1761518234.592 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.167156
2025-10-26T22:37:14.820Z,1761518234.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 0.506863 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:14.822Z,1761518234.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.271355 m,
      bearing: 209.152369 deg,
      lat: 36.779446 deg,
      lon: -121.859475 deg,
      deltaT: 0.506863 s,
      deltaX: 0.000017 m,
      approachRate: 0.000034 m/s,
      posRepo size: 4

2025-10-26T22:37:14.822Z,1761518234.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m.
2025-10-26T22:37:14.846Z,1761518234.846 [DAT](INFO): DAT read: Rx Time:22:37:13.6463 

2025-10-26T22:37:14.847Z,1761518234.847 [DAT](INFO): Rx dataTimestamp_ set to:1761518234.846766
2025-10-26T22:37:14.850Z,1761518234.850 [DAT](INFO): DAT read: Bearing   1.3,  17.0 (Local)

2025-10-26T22:37:14.851Z,1761518234.851 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.3,  17.0 (Local)

2025-10-26T22:37:14.854Z,1761518234.854 [DAT](INFO): DAT read: Range 11 to 50 :    23.4 m (trip time 15.6 ms) speed -0.1

2025-10-26T22:37:14.863Z,1761518234.863 [DAT](INFO): DAT read: 22:37:13.6463 LVL= 31024, 25521, 32754, 32755, AGC= 60, IDX= 508, 0.10, 1.244, 2.730, 0.752, 1.838, PHS=-0.492, 0.938,-1.130, RAW= 347.5,   7.5, CAL= 347.5,   7.2, ROT= 162.5,  -7.2

2025-10-26T22:37:14.866Z,1761518234.866 [DAT](INFO): got valid direction response:
 22:37:13.6463 LVL= 31024, 25521, 32754, 32755, AGC= 60, IDX= 508, 0.10, 1.244, 2.730, 0.752, 1.838, PHS=-0.492, 0.938,-1.130, RAW= 347.5,   7.5, CAL= 347.5,   7.2, ROT= 162.5,  -7.2

2025-10-26T22:37:14.866Z,1761518234.866 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-10-26T22:37:14.868Z,1761518234.868 [DAT](INFO): direction in FSK: [-0.946197,0.298335,0.125333]
2025-10-26T22:37:14.869Z,1761518234.869 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:14.875Z,1761518234.875 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.449287
2025-10-26T22:37:15.096Z,1761518235.096 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.671005
2025-10-26T22:37:15.101Z,1761518235.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693205,-0.720068,-0.031128],[0.720734,0.692369,0.034156],[-0.003042,-0.046112,0.998932]]
2025-10-26T22:37:15.136Z,1761518235.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 0.502715 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:15.138Z,1761518235.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.271355 m,
      bearing: 208.309016 deg,
      lat: 36.779446 deg,
      lon: -121.859474 deg,
      deltaT: 0.502715 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:15.139Z,1761518235.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m.
2025-10-26T22:37:15.180Z,1761518235.180 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:37:15.351Z,1761518235.351 [DAT](INFO): DAT read: Rx Time:22:37:14.1463 

2025-10-26T22:37:15.352Z,1761518235.352 [DAT](INFO): Rx dataTimestamp_ set to:1761518235.351014
2025-10-26T22:37:15.354Z,1761518235.354 [DAT](INFO): DAT read: Bearing   1.2,  16.4 (Local)

2025-10-26T22:37:15.354Z,1761518235.354 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2,  16.4 (Local)

2025-10-26T22:37:15.357Z,1761518235.357 [DAT](INFO): DAT read: Range 11 to 50 :    23.4 m (trip time 15.6 ms) speed 0.0

2025-10-26T22:37:15.365Z,1761518235.365 [DAT](INFO): DAT read: 22:37:14.1463 LVL= 28016, 23233, 32754, 32755, AGC= 61, IDX= 508,-0.34,-2.019,-0.513,-2.489,-1.407, PHS=-0.510, 0.939,-1.126, RAW= 346.9,   7.6, CAL= 346.8,   7.4, ROT= 163.2,  -7.4

2025-10-26T22:37:15.367Z,1761518235.367 [DAT](INFO): got valid direction response:
 22:37:14.1463 LVL= 28016, 23233, 32754, 32755, AGC= 61, IDX= 508,-0.34,-2.019,-0.513,-2.489,-1.407, PHS=-0.510, 0.939,-1.126, RAW= 346.9,   7.6, CAL= 346.8,   7.4, ROT= 163.2,  -7.4

2025-10-26T22:37:15.384Z,1761518235.384 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-10-26T22:37:15.385Z,1761518235.385 [DAT](INFO): direction in FSK: [-0.949346,0.286625,0.128796]
2025-10-26T22:37:15.385Z,1761518235.385 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:15.389Z,1761518235.389 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.963810
2025-10-26T22:37:15.543Z,1761518235.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694202,-0.719116,-0.030914],[0.719773,0.693362,0.034290],[-0.003224,-0.046055,0.998934]]
2025-10-26T22:37:15.601Z,1761518235.601 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.175316
2025-10-26T22:37:15.614Z,1761518235.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 0.504248 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:15.616Z,1761518235.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.271366 m,
      bearing: 208.918903 deg,
      lat: 36.779446 deg,
      lon: -121.859477 deg,
      deltaT: 0.504248 s,
      deltaX: 0.000011 m,
      approachRate: 0.000023 m/s,
      posRepo size: 4

2025-10-26T22:37:15.617Z,1761518235.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m.
2025-10-26T22:37:15.854Z,1761518235.854 [DAT](INFO): DAT read: Rx Time:22:37:14.6464 

2025-10-26T22:37:15.855Z,1761518235.855 [DAT](INFO): Rx dataTimestamp_ set to:1761518235.854482
2025-10-26T22:37:15.857Z,1761518235.857 [DAT](INFO): DAT read: Bearing   1.9,  17.6 (Local)

2025-10-26T22:37:15.858Z,1761518235.858 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.9,  17.6 (Local)

2025-10-26T22:37:15.861Z,1761518235.861 [DAT](INFO): DAT read: Range 11 to 50 :    23.6 m (trip time 15.7 ms) speed -0.2

2025-10-26T22:37:15.873Z,1761518235.873 [DAT](INFO): DAT read: 22:37:14.6464 LVL= 27744, 23393, 32754, 32755, AGC= 62, IDX= 509, 0.07, 0.528, 2.006, 0.015, 1.102, PHS=-0.472, 0.949,-1.131, RAW= 348.1,   7.2, CAL= 347.9,   6.6, ROT= 162.1,  -6.6

2025-10-26T22:37:15.875Z,1761518235.875 [DAT](INFO): got valid direction response:
 22:37:14.6464 LVL= 27744, 23393, 32754, 32755, AGC= 62, IDX= 509, 0.07, 0.528, 2.006, 0.015, 1.102, PHS=-0.472, 0.949,-1.131, RAW= 348.1,   7.2, CAL= 347.9,   6.6, ROT= 162.1,  -6.6

2025-10-26T22:37:15.879Z,1761518235.879 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-10-26T22:37:15.880Z,1761518235.880 [DAT](INFO): direction in FSK: [-0.945288,0.305320,0.114937]
2025-10-26T22:37:15.881Z,1761518235.881 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:15.888Z,1761518235.888 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.463173
2025-10-26T22:37:15.973Z,1761518235.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695024,-0.718336,-0.030563],[0.718979,0.694194,0.034112],[-0.003287,-0.045683,0.998951]]
2025-10-26T22:37:16.017Z,1761518236.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.600000 m,
      deltaT: 0.503468 s,
      deltaX: 0.200001 m,
      approachRate: 0.397246 m/s,
      rangeRepo size: 4

2025-10-26T22:37:16.019Z,1761518236.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.470268 m,
      bearing: 207.794234 deg,
      lat: 36.779446 deg,
      lon: -121.859474 deg,
      deltaT: 0.503468 s,
      deltaX: 0.198902 m,
      approachRate: 0.395064 m/s,
      posRepo size: 4

2025-10-26T22:37:16.019Z,1761518236.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.47 m.
2025-10-26T22:37:16.106Z,1761518236.106 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.681217
2025-10-26T22:37:16.358Z,1761518236.358 [DAT](INFO): DAT read: Rx Time:22:37:15.1464 

2025-10-26T22:37:16.359Z,1761518236.359 [DAT](INFO): Rx dataTimestamp_ set to:1761518236.358678
2025-10-26T22:37:16.361Z,1761518236.361 [DAT](INFO): DAT read: Bearing   1.6,  17.1 (Local)

2025-10-26T22:37:16.362Z,1761518236.362 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.6,  17.1 (Local)

2025-10-26T22:37:16.365Z,1761518236.365 [DAT](INFO): DAT read: Range 11 to 50 :    23.6 m (trip time 15.7 ms) speed -0.2

2025-10-26T22:37:16.373Z,1761518236.373 [DAT](INFO): DAT read: 22:37:15.1464 LVL= 27632, 21905, 32754, 32755, AGC= 60, IDX= 509,-0.25,-2.180,-0.693,-2.674,-1.593, PHS=-0.485, 0.945,-1.124, RAW= 347.6,   7.3, CAL= 347.5,   6.8, ROT= 162.5,  -6.8

2025-10-26T22:37:16.375Z,1761518236.375 [DAT](INFO): got valid direction response:
 22:37:15.1464 LVL= 27632, 21905, 32754, 32755, AGC= 60, IDX= 509,-0.25,-2.180,-0.693,-2.674,-1.593, PHS=-0.485, 0.945,-1.124, RAW= 347.6,   7.3, CAL= 347.5,   6.8, ROT= 162.5,  -6.8

2025-10-26T22:37:16.376Z,1761518236.376 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-10-26T22:37:16.377Z,1761518236.377 [DAT](INFO): direction in FSK: [-0.947008,0.298591,0.118404]
2025-10-26T22:37:16.377Z,1761518236.377 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:16.389Z,1761518236.389 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.963263
2025-10-26T22:37:16.405Z,1761518236.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695870,-0.717531,-0.030234],[0.718160,0.695053,0.033862],[-0.003282,-0.045276,0.998969]]
2025-10-26T22:37:16.471Z,1761518236.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.600000 m,
      deltaT: 0.504196 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:16.477Z,1761518236.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.470268 m,
      bearing: 208.119226 deg,
      lat: 36.779446 deg,
      lon: -121.859475 deg,
      deltaT: 0.504196 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:16.478Z,1761518236.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.47 m.
2025-10-26T22:37:16.609Z,1761518236.609 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.183868
2025-10-26T22:37:16.804Z,1761518236.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696886,-0.716556,-0.029952],[0.717175,0.696078,0.033698],[-0.003298,-0.044965,0.998983]]
2025-10-26T22:37:16.862Z,1761518236.862 [DAT](INFO): DAT read: Rx Time:22:37:15.6465 

2025-10-26T22:37:16.863Z,1761518236.863 [DAT](INFO): Rx dataTimestamp_ set to:1761518236.862649
2025-10-26T22:37:16.865Z,1761518236.865 [DAT](INFO): DAT read: Bearing   1.7,  18.1 (Local)

2025-10-26T22:37:16.866Z,1761518236.866 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.7,  18.1 (Local)

2025-10-26T22:37:16.870Z,1761518236.870 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed -0.2

2025-10-26T22:37:16.878Z,1761518236.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.47 m.
2025-10-26T22:37:16.880Z,1761518236.880 [DAT](INFO): DAT read: 22:37:15.6465 LVL= 26944, 22209, 32754, 32755, AGC= 60, IDX= 510, 0.26, 0.365, 1.821,-0.163, 0.926, PHS=-0.460, 0.939,-1.134, RAW= 348.6,   7.2, CAL= 348.5,   6.6, ROT= 161.5,  -6.6

2025-10-26T22:37:16.881Z,1761518236.881 [DAT](INFO): got valid direction response:
 22:37:15.6465 LVL= 26944, 22209, 32754, 32755, AGC= 60, IDX= 510, 0.26, 0.365, 1.821,-0.163, 0.926, PHS=-0.460, 0.939,-1.134, RAW= 348.6,   7.2, CAL= 348.5,   6.6, ROT= 161.5,  -6.6

2025-10-26T22:37:16.882Z,1761518236.882 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-10-26T22:37:16.883Z,1761518236.883 [DAT](INFO): direction in FSK: [-0.942039,0.315202,0.114937]
2025-10-26T22:37:16.883Z,1761518236.883 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:16.895Z,1761518236.895 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.469389
2025-10-26T22:37:17.113Z,1761518237.113 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.687380
2025-10-26T22:37:17.199Z,1761518237.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697924,-0.715546,-0.029951],[0.716165,0.697121,0.033617],[-0.003175,-0.044912,0.998986]]
2025-10-26T22:37:17.283Z,1761518237.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.503971 s,
      deltaX: 0.100000 m,
      approachRate: 0.198425 m/s,
      rangeRepo size: 4

2025-10-26T22:37:17.290Z,1761518237.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.569754 m,
      bearing: 206.968515 deg,
      lat: 36.779446 deg,
      lon: -121.859474 deg,
      deltaT: 0.503971 s,
      deltaX: 0.099485 m,
      approachRate: 0.197403 m/s,
      posRepo size: 4

2025-10-26T22:37:17.290Z,1761518237.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.57 m.
2025-10-26T22:37:17.367Z,1761518237.367 [DAT](INFO): DAT read: Rx Time:22:37:16.1465 

2025-10-26T22:37:17.368Z,1761518237.368 [DAT](INFO): Rx dataTimestamp_ set to:1761518237.366736
2025-10-26T22:37:17.370Z,1761518237.370 [DAT](INFO): DAT read: Bearing   1.6,  17.8 (Local)

2025-10-26T22:37:17.370Z,1761518237.370 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.6,  17.8 (Local)

2025-10-26T22:37:17.374Z,1761518237.374 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed -0.2

2025-10-26T22:37:17.379Z,1761518237.379 [DAT](INFO): DAT read: 22:37:16.1465 LVL= 28112, 23089, 32754, 32755, AGC= 60, IDX= 510,-0.01,-1.758,-0.297,-2.277,-1.192, PHS=-0.463, 0.940,-1.128, RAW= 348.3,   7.2, CAL= 348.2,   6.6, ROT= 161.8,  -6.6

2025-10-26T22:37:17.380Z,1761518237.380 [DAT](INFO): got valid direction response:
 22:37:16.1465 LVL= 28112, 23089, 32754, 32755, AGC= 60, IDX= 510,-0.01,-1.758,-0.297,-2.277,-1.192, PHS=-0.463, 0.940,-1.128, RAW= 348.3,   7.2, CAL= 348.2,   6.6, ROT= 161.8,  -6.6

2025-10-26T22:37:17.381Z,1761518237.381 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-10-26T22:37:17.382Z,1761518237.382 [DAT](INFO): direction in FSK: [-0.943676,0.310265,0.114937]
2025-10-26T22:37:17.382Z,1761518237.382 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:17.386Z,1761518237.386 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.961008
2025-10-26T22:37:17.617Z,1761518237.617 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.191259
2025-10-26T22:37:17.621Z,1761518237.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698953,-0.714517,-0.030519],[0.715162,0.698139,0.033835],[-0.002869,-0.045475,0.998961]]
2025-10-26T22:37:17.726Z,1761518237.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.504087 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:17.743Z,1761518237.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.569777 m,
      bearing: 207.183022 deg,
      lat: 36.779446 deg,
      lon: -121.859474 deg,
      deltaT: 0.504087 s,
      deltaX: 0.000023 m,
      approachRate: 0.000045 m/s,
      posRepo size: 4

2025-10-26T22:37:17.749Z,1761518237.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.57 m.
2025-10-26T22:37:17.871Z,1761518237.871 [DAT](INFO): DAT read: Rx Time:22:37:16.6467 

2025-10-26T22:37:17.872Z,1761518237.872 [DAT](INFO): Rx dataTimestamp_ set to:1761518237.870990
2025-10-26T22:37:17.873Z,1761518237.873 [DAT](INFO): DAT read: Bearing 357.3,  13.0 (Local)

2025-10-26T22:37:17.874Z,1761518237.874 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.3,  13.0 (Local)

2025-10-26T22:37:17.876Z,1761518237.876 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed -0.2

2025-10-26T22:37:17.880Z,1761518237.880 [DAT](INFO): DAT read: 22:37:16.6467 LVL= 26320, 21777, 32754, 32755, AGC= 58, IDX= 512,-0.21, 1.996,-2.822, 1.681, 2.693, PHS=-0.595, 0.813,-1.056, RAW= 343.7,  10.0, CAL= 343.8,  11.1, ROT= 166.2, -11.1

2025-10-26T22:37:17.882Z,1761518237.882 [DAT](INFO): got valid direction response:
 22:37:16.6467 LVL= 26320, 21777, 32754, 32755, AGC= 58, IDX= 512,-0.21, 1.996,-2.822, 1.681, 2.693, PHS=-0.595, 0.813,-1.056, RAW= 343.7,  10.0, CAL= 343.8,  11.1, ROT= 166.2, -11.1

2025-10-26T22:37:17.882Z,1761518237.882 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-10-26T22:37:17.883Z,1761518237.883 [DAT](INFO): direction in FSK: [-0.952967,0.234071,0.192522]
2025-10-26T22:37:17.891Z,1761518237.891 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:17.895Z,1761518237.895 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.469641
2025-10-26T22:37:18.121Z,1761518238.121 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.695490
2025-10-26T22:37:18.151Z,1761518238.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700578,-0.712889,-0.031297],[0.713571,0.699745,0.034248],[-0.002515,-0.046326,0.998923]]
2025-10-26T22:37:18.185Z,1761518238.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.504254 s,
      deltaX: 0.299999 m,
      approachRate: 0.594937 m/s,
      rangeRepo size: 4

2025-10-26T22:37:18.192Z,1761518238.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.868128 m,
      bearing: 211.229357 deg,
      lat: 36.779446 deg,
      lon: -121.859474 deg,
      deltaT: 0.504254 s,
      deltaX: 0.298351 m,
      approachRate: 0.591669 m/s,
      posRepo size: 4

2025-10-26T22:37:18.193Z,1761518238.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m.
2025-10-26T22:37:18.373Z,1761518238.373 [DAT](INFO): DAT read: Rx Time:22:37:17.1467 

2025-10-26T22:37:18.374Z,1761518238.374 [DAT](INFO): Rx dataTimestamp_ set to:1761518238.373334
2025-10-26T22:37:18.375Z,1761518238.375 [DAT](INFO): DAT read: Bearing 345.5,   8.9 (Local)

2025-10-26T22:37:18.375Z,1761518238.375 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.5,   8.9 (Local)

2025-10-26T22:37:18.377Z,1761518238.377 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed -0.2

2025-10-26T22:37:18.382Z,1761518238.382 [DAT](INFO): DAT read: 22:37:17.1467 LVL= 28592, 20161, 32754, 32755, AGC= 60, IDX= 512,-0.40, 0.217, 1.844,-0.023, 1.279, PHS=-0.961, 0.610,-1.347, RAW= 340.7,  18.5, CAL= 340.9,  23.0, ROT= 169.1, -23.0

2025-10-26T22:37:18.383Z,1761518238.383 [DAT](INFO): got valid direction response:
 22:37:17.1467 LVL= 28592, 20161, 32754, 32755, AGC= 60, IDX= 512,-0.40, 0.217, 1.844,-0.023, 1.279, PHS=-0.961, 0.610,-1.347, RAW= 340.7,  18.5, CAL= 340.9,  23.0, ROT= 169.1, -23.0

2025-10-26T22:37:18.384Z,1761518238.384 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-10-26T22:37:18.385Z,1761518238.385 [DAT](INFO): direction in FSK: [-0.903898,0.174063,0.390731]
2025-10-26T22:37:18.385Z,1761518238.385 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:18.389Z,1761518238.389 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.963346
2025-10-26T22:37:18.579Z,1761518238.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700379,-0.713080,-0.031394],[0.713768,0.699575,0.033625],[-0.002015,-0.045958,0.998941]]
2025-10-26T22:37:18.625Z,1761518238.625 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.199696
2025-10-26T22:37:18.669Z,1761518238.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.502344 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:18.683Z,1761518238.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.868174 m,
      bearing: 213.550240 deg,
      lat: 36.779446 deg,
      lon: -121.859475 deg,
      deltaT: 0.502344 s,
      deltaX: 0.000046 m,
      approachRate: 0.000091 m/s,
      posRepo size: 4

2025-10-26T22:37:18.684Z,1761518238.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m.
2025-10-26T22:37:18.876Z,1761518238.876 [DAT](INFO): DAT read: Rx Time:22:37:17.6467 

2025-10-26T22:37:18.877Z,1761518238.877 [DAT](INFO): Rx dataTimestamp_ set to:1761518238.876650
2025-10-26T22:37:18.878Z,1761518238.878 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed -0.2

2025-10-26T22:37:18.879Z,1761518238.879 [DAT](ERROR): #Rx 43: Read range message, but no direction.
2025-10-26T22:37:18.880Z,1761518238.880 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.454952
2025-10-26T22:37:18.953Z,1761518238.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700131,-0.713328,-0.031313],[0.714013,0.699365,0.032770],[-0.001477,-0.045301,0.998972]]
2025-10-26T22:37:18.989Z,1761518238.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.503316 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:18.990Z,1761518238.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m.
2025-10-26T22:37:19.129Z,1761518239.129 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.703472
2025-10-26T22:37:19.367Z,1761518239.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699716,-0.713724,-0.031559],[0.714421,0.698981,0.032075],[-0.000833,-0.044990,0.998987]]
2025-10-26T22:37:19.381Z,1761518239.381 [DAT](INFO): DAT read: Rx Time:22:37:18.1467 

2025-10-26T22:37:19.382Z,1761518239.382 [DAT](INFO): Rx dataTimestamp_ set to:1761518239.381274
2025-10-26T22:37:19.383Z,1761518239.383 [DAT](INFO): DAT read: Bearing 338.2,  17.9 (Local)

2025-10-26T22:37:19.383Z,1761518239.383 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.2,  17.9 (Local)

2025-10-26T22:37:19.385Z,1761518239.385 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed -0.3

2025-10-26T22:37:19.390Z,1761518239.390 [DAT](INFO): DAT read: 22:37:18.1467 LVL= 28640, 20577, 32754, 32755, AGC= 59, IDX= 512, 0.26, 0.760, 1.679, 0.368, 1.475, PHS=-0.613, 0.249,-1.151, RAW= 352.4,  23.6, CAL= 352.1,  28.4, ROT= 157.9, -28.4

2025-10-26T22:37:19.391Z,1761518239.391 [DAT](INFO): got valid direction response:
 22:37:18.1467 LVL= 28640, 20577, 32754, 32755, AGC= 59, IDX= 512, 0.26, 0.760, 1.679, 0.368, 1.475, PHS=-0.613, 0.249,-1.151, RAW= 352.4,  23.6, CAL= 352.1,  28.4, ROT= 157.9, -28.4

2025-10-26T22:37:19.392Z,1761518239.392 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-26T22:37:19.392Z,1761518239.392 [DAT](INFO): direction in FSK: [-0.815020,0.330945,0.475624]
2025-10-26T22:37:19.393Z,1761518239.393 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:19.400Z,1761518239.400 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.975243
2025-10-26T22:37:19.429Z,1761518239.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.504624 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:19.436Z,1761518239.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.868174 m,
      bearing: 202.226364 deg,
      lat: 36.779454 deg,
      lon: -121.859473 deg,
      deltaT: 1.007940 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:19.436Z,1761518239.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m.
2025-10-26T22:37:19.633Z,1761518239.633 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.207457
2025-10-26T22:37:19.781Z,1761518239.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699239,-0.714129,-0.032934],[0.714888,0.698471,0.032751],[-0.000385,-0.046445,0.998921]]
2025-10-26T22:37:19.842Z,1761518239.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m.
2025-10-26T22:37:19.885Z,1761518239.885 [DAT](INFO): DAT read: Rx Time:22:37:18.6469 

2025-10-26T22:37:19.886Z,1761518239.886 [DAT](INFO): Rx dataTimestamp_ set to:1761518239.885266
2025-10-26T22:37:19.887Z,1761518239.887 [DAT](INFO): DAT read: Bearing   1.2,  19.3 (Local)

2025-10-26T22:37:19.887Z,1761518239.887 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2,  19.3 (Local)

2025-10-26T22:37:19.889Z,1761518239.889 [DAT](INFO): DAT read: Range 11 to 50 :    24.3 m (trip time 16.2 ms) speed -0.2

2025-10-26T22:37:19.896Z,1761518239.896 [DAT](INFO): DAT read: 22:37:18.6469 LVL= 29264, 18145, 32754, 32755, AGC= 63, IDX=   2, 0.23,-1.952,-0.537,-2.521,-1.419, PHS=-0.430, 0.927,-1.145, RAW= 349.9,   7.2, CAL= 349.8,   6.6, ROT= 160.2,  -6.6

2025-10-26T22:37:19.897Z,1761518239.897 [DAT](INFO): got valid direction response:
 22:37:18.6469 LVL= 29264, 18145, 32754, 32755, AGC= 63, IDX=   2, 0.23,-1.952,-0.537,-2.521,-1.419, PHS=-0.430, 0.927,-1.145, RAW= 349.9,   7.2, CAL= 349.8,   6.6, ROT= 160.2,  -6.6

2025-10-26T22:37:19.898Z,1761518239.898 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-10-26T22:37:19.899Z,1761518239.899 [DAT](INFO): direction in FSK: [-0.934645,0.336493,0.114937]
2025-10-26T22:37:19.916Z,1761518239.916 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:19.932Z,1761518239.932 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.506954
2025-10-26T22:37:20.136Z,1761518240.136 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.711161
2025-10-26T22:37:20.162Z,1761518240.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698550,-0.714717,-0.034737],[0.715561,0.697741,0.033612],[0.000214,-0.048336,0.998831]]
2025-10-26T22:37:20.186Z,1761518240.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.503992 s,
      deltaX: 0.299999 m,
      approachRate: 0.595246 m/s,
      rangeRepo size: 4

2025-10-26T22:37:20.189Z,1761518240.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.166580 m,
      bearing: 205.609947 deg,
      lat: 36.779454 deg,
      lon: -121.859473 deg,
      deltaT: 0.503992 s,
      deltaX: 0.298407 m,
      approachRate: 0.592086 m/s,
      posRepo size: 4

2025-10-26T22:37:20.189Z,1761518240.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m.
2025-10-26T22:37:20.389Z,1761518240.389 [DAT](INFO): DAT read: Rx Time:22:37:19.1469 

2025-10-26T22:37:20.389Z,1761518240.389 [DAT](INFO): Rx dataTimestamp_ set to:1761518240.389114
2025-10-26T22:37:20.391Z,1761518240.391 [DAT](INFO): DAT read: Bearing   1.2,  19.3 (Local)

2025-10-26T22:37:20.391Z,1761518240.391 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2,  19.3 (Local)

2025-10-26T22:37:20.394Z,1761518240.394 [DAT](INFO): DAT read: Range 11 to 50 :    24.3 m (trip time 16.2 ms) speed -0.2

2025-10-26T22:37:20.398Z,1761518240.398 [DAT](INFO): DAT read: 22:37:19.1469 LVL= 27200, 20673, 32754, 32755, AGC= 60, IDX= 498, 0.17,-3.115,-1.703, 2.599,-2.587, PHS=-0.427, 0.928,-1.141, RAW= 349.9,   7.1, CAL= 349.8,   6.4, ROT= 160.2,  -6.4

2025-10-26T22:37:20.400Z,1761518240.400 [DAT](INFO): got valid direction response:
 22:37:19.1469 LVL= 27200, 20673, 32754, 32755, AGC= 60, IDX= 498, 0.17,-3.115,-1.703, 2.599,-2.587, PHS=-0.427, 0.928,-1.141, RAW= 349.9,   7.1, CAL= 349.8,   6.4, ROT= 160.2,  -6.4

2025-10-26T22:37:20.400Z,1761518240.400 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-10-26T22:37:20.401Z,1761518240.401 [DAT](INFO): direction in FSK: [-0.935017,0.336627,0.111469]
2025-10-26T22:37:20.401Z,1761518240.401 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:20.405Z,1761518240.405 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.979820
2025-10-26T22:37:20.587Z,1761518240.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697719,-0.715490,-0.035520],[0.716371,0.696912,0.033566],[0.000739,-0.048865,0.998805]]
2025-10-26T22:37:20.640Z,1761518240.640 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.215210
2025-10-26T22:37:20.667Z,1761518240.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.503848 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:20.669Z,1761518240.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.166637 m,
      bearing: 205.683868 deg,
      lat: 36.779454 deg,
      lon: -121.859469 deg,
      deltaT: 0.503848 s,
      deltaX: 0.000057 m,
      approachRate: 0.000114 m/s,
      posRepo size: 4

2025-10-26T22:37:20.670Z,1761518240.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m.
2025-10-26T22:37:20.893Z,1761518240.893 [DAT](INFO): DAT read: Rx Time:22:37:19.6471 

2025-10-26T22:37:20.893Z,1761518240.893 [DAT](INFO): Rx dataTimestamp_ set to:1761518240.893159
2025-10-26T22:37:20.895Z,1761518240.895 [DAT](INFO): DAT read: Bearing   1.5,  19.1 (Local)

2025-10-26T22:37:20.895Z,1761518240.895 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.5,  19.1 (Local)

2025-10-26T22:37:20.897Z,1761518240.897 [DAT](INFO): DAT read: Range 11 to 50 :    24.6 m (trip time 16.4 ms) speed -0.2

2025-10-26T22:37:20.912Z,1761518240.912 [DAT](INFO): DAT read: 22:37:19.6471 LVL= 24720, 22689, 32658, 32755, AGC= 59, IDX= 500, 0.14,-2.659,-1.241, 3.065,-2.132, PHS=-0.426, 0.935,-1.130, RAW= 349.6,   6.9, CAL= 349.5,   6.1, ROT= 160.5,  -6.1

2025-10-26T22:37:20.913Z,1761518240.913 [DAT](INFO): got valid direction response:
 22:37:19.6471 LVL= 24720, 22689, 32658, 32755, AGC= 59, IDX= 500, 0.14,-2.659,-1.241, 3.065,-2.132, PHS=-0.426, 0.935,-1.130, RAW= 349.6,   6.9, CAL= 349.5,   6.1, ROT= 160.5,  -6.1

2025-10-26T22:37:20.914Z,1761518240.914 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-10-26T22:37:20.914Z,1761518240.914 [DAT](INFO): direction in FSK: [-0.937304,0.331917,0.106264]
2025-10-26T22:37:20.915Z,1761518240.915 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:20.941Z,1761518240.941 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.515419
2025-10-26T22:37:20.970Z,1761518240.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697030,-0.716160,-0.035542],[0.717040,0.696264,0.032710],[0.001321,-0.048285,0.998833]]
2025-10-26T22:37:21.056Z,1761518241.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.600000 m,
      deltaT: 0.504045 s,
      deltaX: 0.300001 m,
      approachRate: 0.595187 m/s,
      rangeRepo size: 4

2025-10-26T22:37:21.058Z,1761518241.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.464993 m,
      bearing: 206.055760 deg,
      lat: 36.779444 deg,
      lon: -121.859469 deg,
      deltaT: 0.504045 s,
      deltaX: 0.298355 m,
      approachRate: 0.591922 m/s,
      posRepo size: 4

2025-10-26T22:37:21.059Z,1761518241.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.46 m.
2025-10-26T22:37:21.145Z,1761518241.145 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.719400
2025-10-26T22:37:21.378Z,1761518241.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696006,-0.717167,-0.035316],[0.718034,0.695291,0.031590],[0.001900,-0.047345,0.998877]]
2025-10-26T22:37:21.397Z,1761518241.397 [DAT](INFO): DAT read: Rx Time:22:37:20.1471 

2025-10-26T22:37:21.398Z,1761518241.398 [DAT](INFO): Rx dataTimestamp_ set to:1761518241.397486
2025-10-26T22:37:21.399Z,1761518241.399 [DAT](INFO): DAT read: Bearing   1.4,  18.8 (Local)

2025-10-26T22:37:21.399Z,1761518241.399 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.4,  18.8 (Local)

2025-10-26T22:37:21.401Z,1761518241.401 [DAT](INFO): DAT read: Range 11 to 50 :    24.6 m (trip t ms) speed -0.2

2025-10-26T22:37:21.406Z,1761518241.406 [DAT](INFO): DAT read: 22:37:20.1471 LVL= 26480, 20337, 32754, 32755, AGC= 59, IDX= 500, 0.03, 2.737,-2.112, 2.184,-3.010, PHS=-0.435, 0.943,-1.133, RAW= 349.3,   6.9, CAL= 349.2,   6.1, ROT= 160.8,  -6.1

2025-10-26T22:37:21.407Z,1761518241.407 [DAT](INFO): got valid direction response:
 22:37:20.1471 LVL= 26480, 20337, 32754, 32755, AGC= 59, IDX= 500, 0.03, 2.737,-2.112, 2.184,-3.010, PHS=-0.435, 0.943,-1.133, RAW= 349.3,   6.9, CAL= 349.2,   6.1, ROT= 160.8,  -6.1

2025-10-26T22:37:21.407Z,1761518241.407 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-10-26T22:37:21.408Z,1761518241.408 [DAT](INFO): direction in FSK: [-0.939029,0.327005,0.106264]
2025-10-26T22:37:21.409Z,1761518241.409 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:21.414Z,1761518241.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.600000 m,
      deltaT: 0.504327 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:21.414Z,1761518241.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.46 m.
2025-10-26T22:37:21.453Z,1761518241.453 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.027292
2025-10-26T22:37:21.651Z,1761518241.651 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.225269
2025-10-26T22:37:21.786Z,1761518241.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695033,-0.718128,-0.034950],[0.718974,0.694368,0.030481],[0.002379,-0.046313,0.998924]]
2025-10-26T22:37:21.862Z,1761518241.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.46 m.
2025-10-26T22:37:21.901Z,1761518241.901 [DAT](INFO): DAT read: Rx Time:22:37:20.6473 

2025-10-26T22:37:21.901Z,1761518241.901 [DAT](INFO): Rx dataTimestamp_ set to:1761518241.901196
2025-10-26T22:37:21.903Z,1761518241.903 [DAT](INFO): DAT read: Bearing   1.1,  18.4 (Local)

2025-10-26T22:37:21.903Z,1761518241.903 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.1,  18.4 (Local)

2025-10-26T22:37:21.906Z,1761518241.906 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed -0.2

2025-10-26T22:37:21.913Z,1761518241.913 [DAT](INFO): DAT read: 22:37:20.6473 LVL= 29744, 20625, 32754, 32755, AGC= 60, IDX= 502,-0.07,-3.055,-1.610, 2.690,-2.503, PHS=-0.450, 0.939,-1.134, RAW= 348.9,   7.1, CAL= 348.8,   6.5, ROT= 161.2,  -6.5

2025-10-26T22:37:21.914Z,1761518241.914 [DAT](INFO): got valid direction response:
 22:37:20.6473 LVL= 29744, 20625, 32754, 32755, AGC= 60, IDX= 502,-0.07,-3.055,-1.610, 2.690,-2.503, PHS=-0.450, 0.939,-1.134, RAW= 348.9,   7.1, CAL= 348.8,   6.5, ROT= 161.2,  -6.5

2025-10-26T22:37:21.915Z,1761518241.915 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-10-26T22:37:21.924Z,1761518241.924 [DAT](INFO): direction in FSK: [-0.940564,0.320194,0.113203]
2025-10-26T22:37:21.925Z,1761518241.925 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:21.930Z,1761518241.930 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.505081
2025-10-26T22:37:22.152Z,1761518242.152 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.727076
2025-10-26T22:37:22.183Z,1761518242.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694514,-0.718642,-0.034683],[0.719474,0.693878,0.029845],[0.002618,-0.045682,0.998953]]
2025-10-26T22:37:22.278Z,1761518242.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.503710 s,
      deltaX: 0.299999 m,
      approachRate: 0.595579 m/s,
      rangeRepo size: 4

2025-10-26T22:37:22.285Z,1761518242.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.763369 m,
      bearing: 206.952428 deg,
      lat: 36.779444 deg,
      lon: -121.859472 deg,
      deltaT: 1.008037 s,
      deltaX: 0.298376 m,
      approachRate: 0.295997 m/s,
      posRepo size: 4

2025-10-26T22:37:22.285Z,1761518242.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.76 m.
2025-10-26T22:37:22.405Z,1761518242.405 [DAT](INFO): DAT read: Rx Time:22:37:21.1473 

2025-10-26T22:37:22.405Z,1761518242.405 [DAT](INFO): Rx dataTimestamp_ set to:1761518242.405197
2025-10-26T22:37:22.407Z,1761518242.407 [DAT](INFO): DAT read: Bearing   1.0,  18.0 (Local)

2025-10-26T22:37:22.407Z,1761518242.407 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.0,  18.0 (Local)

2025-10-26T22:37:22.409Z,1761518242.409 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed -0.2

2025-10-26T22:37:22.414Z,1761518242.414 [DAT](INFO): DAT read: 22:37:21.1473 LVL= 26288, 19121, 32754, 32755, AGC= 59, IDX= 502,-0.20, 1.864,-2.957, 1.335, 2.428, PHS=-0.462, 0.944,-1.137, RAW= 348.5,   7.2, CAL= 348.4,   6.6, ROT= 161.6,  -6.6

2025-10-26T22:37:22.415Z,1761518242.415 [DAT](INFO): got valid direction response:
 22:37:21.1473 LVL= 26288, 19121, 32754, 32755, AGC= 59, IDX= 502,-0.20, 1.864,-2.957, 1.335, 2.428, PHS=-0.462, 0.944,-1.137, RAW= 348.5,   7.2, CAL= 348.4,   6.6, ROT= 161.6,  -6.6

2025-10-26T22:37:22.416Z,1761518242.416 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-10-26T22:37:22.417Z,1761518242.417 [DAT](INFO): direction in FSK: [-0.942588,0.313557,0.114937]
2025-10-26T22:37:22.417Z,1761518242.417 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:22.420Z,1761518242.420 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.995226
2025-10-26T22:37:22.660Z,1761518242.660 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.233475
2025-10-26T22:37:22.693Z,1761518242.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.504001 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:22.695Z,1761518242.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.763380 m,
      bearing: 207.347067 deg,
      lat: 36.779444 deg,
      lon: -121.859474 deg,
      deltaT: 0.504001 s,
      deltaX: 0.000011 m,
      approachRate: 0.000023 m/s,
      posRepo size: 4

2025-10-26T22:37:22.695Z,1761518242.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.76 m.
2025-10-26T22:37:22.913Z,1761518242.913 [DAT](INFO): DAT read: Rx Time:22:37:21.6474 

2025-10-26T22:37:22.914Z,1761518242.914 [DAT](INFO): Rx dataTimestamp_ set to:1761518242.913233
2025-10-26T22:37:22.915Z,1761518242.915 [DAT](INFO): DAT read: Bearing   0.7,  17.7 (Local)

2025-10-26T22:37:22.915Z,1761518242.915 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.7,  17.7 (Local)

2025-10-26T22:37:22.917Z,1761518242.917 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed -0.2

2025-10-26T22:37:22.922Z,1761518242.922 [DAT](INFO): DAT read: 22:37:21.6474 LVL= 28128, 20449, 32754, 32755, AGC= 60, IDX= 503,-0.37, 1.482, 2.952, 0.963, 2.056, PHS=-0.472, 0.941,-1.136, RAW= 348.3,   7.3, CAL= 348.2,   6.8, ROT= 161.8,  -6.8

2025-10-26T22:37:22.923Z,1761518242.923 [DAT](INFO): got valid direction response:
 22:37:21.6474 LVL= 28128, 20449, 32754, 32755, AGC= 60, IDX= 503,-0.37, 1.482, 2.952, 0.963, 2.056, PHS=-0.472, 0.941,-1.136, RAW= 348.3,   7.3, CAL= 348.2,   6.8, ROT= 161.8,  -6.8

2025-10-26T22:37:22.924Z,1761518242.924 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-10-26T22:37:22.925Z,1761518242.925 [DAT](INFO): direction in FSK: [-0.943290,0.310138,0.118404]
2025-10-26T22:37:22.925Z,1761518242.925 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:22.929Z,1761518242.929 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.503403
2025-10-26T22:37:23.025Z,1761518243.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694448,-0.718680,-0.035219],[0.719537,0.693805,0.030025],[0.002857,-0.046192,0.998928]]
2025-10-26T22:37:23.088Z,1761518243.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.508036 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:23.090Z,1761518243.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.763380 m,
      bearing: 207.540666 deg,
      lat: 36.779444 deg,
      lon: -121.859477 deg,
      deltaT: 0.508036 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:23.090Z,1761518243.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.76 m.
2025-10-26T22:37:23.161Z,1761518243.161 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.735962
2025-10-26T22:37:23.410Z,1761518243.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694910,-0.718215,-0.035589],[0.719091,0.694238,0.030675],[0.002676,-0.046909,0.998896]]
2025-10-26T22:37:23.413Z,1761518243.413 [DAT](INFO): DAT read: Rx Time:22:37:22.1473 

2025-10-26T22:37:23.413Z,1761518243.413 [DAT](INFO): Rx dataTimestamp_ set to:1761518243.413178
2025-10-26T22:37:23.415Z,1761518243.415 [DAT](INFO): DAT read: Bearing   0.3,  18.4 (Local)

2025-10-26T22:37:23.415Z,1761518243.415 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.3,  18.4 (Local)

2025-10-26T22:37:23.417Z,1761518243.417 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed -0.2

2025-10-26T22:37:23.422Z,1761518243.422 [DAT](INFO): DAT read: 22:37:22.1473 LVL= 30000, 21489, 32754, 32755, AGC= 61, IDX= 502, 0.37, 2.596,-2.247, 2.059,-3.124, PHS=-0.461, 0.922,-1.144, RAW= 348.9,   7.5, CAL= 348.9,   7.2, ROT= 161.1,  -7.2

2025-10-26T22:37:23.438Z,1761518243.438 [DAT](INFO): got valid direction response:
 22:37:22.1473 LVL= 30000, 21489, 32754, 32755, AGC= 61, IDX= 502, 0.37, 2.596,-2.247, 2.059,-3.124, PHS=-0.461, 0.922,-1.144, RAW= 348.9,   7.5, CAL= 348.9,   7.2, ROT= 161.1,  -7.2

2025-10-26T22:37:23.438Z,1761518243.438 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-10-26T22:37:23.439Z,1761518243.439 [DAT](INFO): direction in FSK: [-0.938625,0.321363,0.125333]
2025-10-26T22:37:23.440Z,1761518243.440 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:23.443Z,1761518243.443 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.017797
2025-10-26T22:37:23.529Z,1761518243.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.499945 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:23.540Z,1761518243.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.763380 m,
      bearing: 206.783912 deg,
      lat: 36.779445 deg,
      lon: -121.859477 deg,
      deltaT: 0.499945 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:23.540Z,1761518243.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.76 m.
2025-10-26T22:37:23.668Z,1761518243.668 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.241695
2025-10-26T22:37:23.815Z,1761518243.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695235,-0.717889,-0.035820],[0.718778,0.694538,0.031216],[0.002469,-0.047449,0.998871]]
2025-10-26T22:37:23.846Z,1761518243.846 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050302254201,35.0   0.0,1492.0,  0
2025-10-26T22:37:23.887Z,1761518243.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.76 m.
2025-10-26T22:37:23.917Z,1761518243.917 [DAT](INFO): DAT read: Rx Time:22:37:22.6475 

2025-10-26T22:37:23.918Z,1761518243.918 [DAT](INFO): Rx dataTimestamp_ set to:1761518243.917318
2025-10-26T22:37:23.919Z,1761518243.919 [DAT](INFO): DAT read: Bearing   0.8,  18.3 (Local)

2025-10-26T22:37:23.919Z,1761518243.919 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.8,  18.3 (Local)

2025-10-26T22:37:23.921Z,1761518243.921 [DAT](INFO): DAT read: Range 11 to 50 :    25.1 m (trip time 16.7 ms) speed -0.3

2025-10-26T22:37:23.926Z,1761518243.926 [DAT](INFO): DAT read: 22:37:22.6475 LVL= 27632, 22817, 32754, 32755, AGC= 60, IDX= 504, 0.14,-2.523,-1.079,-3.057,-1.967, PHS=-0.453, 0.933,-1.134, RAW= 348.8,   7.2, CAL= 348.8,   6.7, ROT= 161.2,  -6.7

2025-10-26T22:37:23.927Z,1761518243.927 [DAT](INFO): got valid direction response:
 22:37:22.6475 LVL= 27632, 22817, 32754, 32755, AGC= 60, IDX= 504, 0.14,-2.523,-1.079,-3.057,-1.967, PHS=-0.453, 0.933,-1.134, RAW= 348.8,   7.2, CAL= 348.8,   6.7, ROT= 161.2,  -6.7

2025-10-26T22:37:23.928Z,1761518243.928 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-10-26T22:37:23.929Z,1761518243.929 [DAT](INFO): direction in FSK: [-0.940184,0.320065,0.116671]
2025-10-26T22:37:23.929Z,1761518243.929 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:23.941Z,1761518243.941 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.515627
2025-10-26T22:37:24.168Z,1761518244.168 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.743113
2025-10-26T22:37:24.244Z,1761518244.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695663,-0.717505,-0.035206],[0.718365,0.694958,0.031385],[0.001948,-0.047125,0.998887]]
2025-10-26T22:37:24.298Z,1761518244.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.504140 s,
      deltaX: 0.200001 m,
      approachRate: 0.396717 m/s,
      rangeRepo size: 4

2025-10-26T22:37:24.300Z,1761518244.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.962322 m,
      bearing: 206.843095 deg,
      lat: 36.779446 deg,
      lon: -121.859477 deg,
      deltaT: 0.504140 s,
      deltaX: 0.198942 m,
      approachRate: 0.394617 m/s,
      posRepo size: 4

2025-10-26T22:37:24.301Z,1761518244.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.96 m.
2025-10-26T22:37:24.421Z,1761518244.421 [DAT](INFO): DAT read: Rx Time:22:37:23.1475 

2025-10-26T22:37:24.421Z,1761518244.421 [DAT](INFO): Rx dataTimestamp_ set to:1761518244.421203
2025-10-26T22:37:24.423Z,1761518244.423 [DAT](INFO): DAT read: Bearing   0.7,  18.2 (Local)

2025-10-26T22:37:24.423Z,1761518244.423 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.7,  18.2 (Local)

2025-10-26T22:37:24.425Z,1761518244.425 [DAT](INFO): DAT read: Range 11 to 50 :    25.1 m (trip time 16.7 ms) speed -0.2

2025-10-26T22:37:24.430Z,1761518244.430 [DAT](INFO): DAT read: 22:37:23.1475 LVL= 32592, 21569, 32754, 32755, AGC= 59, IDX= 504,-0.01, 1.627, 3.081, 1.093, 2.189, PHS=-0.460, 0.937,-1.140, RAW= 348.7,   7.3, CAL= 348.6,   6.8, ROT= 161.4,  -6.8

2025-10-26T22:37:24.431Z,1761518244.431 [DAT](INFO): got valid direction response:
 22:37:23.1475 LVL= 32592, 21569, 32754, 32755, AGC= 59, IDX= 504,-0.01, 1.627, 3.081, 1.093, 2.189, PHS=-0.460, 0.937,-1.140, RAW= 348.7,   7.3, CAL= 348.6,   6.8, ROT= 161.4,  -6.8

2025-10-26T22:37:24.432Z,1761518244.432 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-10-26T22:37:24.433Z,1761518244.433 [DAT](INFO): direction in FSK: [-0.941101,0.316716,0.118404]
2025-10-26T22:37:24.433Z,1761518244.433 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:24.437Z,1761518244.437 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.011534
2025-10-26T22:37:24.636Z,1761518244.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696583,-0.716681,-0.033779],[0.717475,0.695885,0.031189],[0.001154,-0.045962,0.998943]]
2025-10-26T22:37:24.675Z,1761518244.675 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.249372
2025-10-26T22:37:24.744Z,1761518244.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.503885 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:24.768Z,1761518244.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.962273 m,
      bearing: 206.969824 deg,
      lat: 36.779446 deg,
      lon: -121.859477 deg,
      deltaT: 0.503885 s,
      deltaX: -0.000050 m,
      approachRate: -0.000098 m/s,
      posRepo size: 4

2025-10-26T22:37:24.770Z,1761518244.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.96 m.
2025-10-26T22:37:24.925Z,1761518244.925 [DAT](INFO): DAT read: Rx Time:22:37:23.6477 

2025-10-26T22:37:24.925Z,1761518244.925 [DAT](INFO): Rx dataTimestamp_ set to:1761518244.925126
2025-10-26T22:37:24.927Z,1761518244.927 [DAT](INFO): DAT read: Bearing   1.0,  18.4 (Local)

2025-10-26T22:37:24.927Z,1761518244.927 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.0,  18.4 (Local)

2025-10-26T22:37:24.929Z,1761518244.929 [DAT](INFO): DAT read: Range 11 to 50 :    25.4 m (trip time 16.9 ms) speed -0.2

2025-10-26T22:37:24.934Z,1761518244.934 [DAT](INFO): DAT read: 22:37:23.6477 LVL= 30912, 20913, 32754, 32755, AGC= 61, IDX= 506,-0.15, 1.823,-3.004, 1.285, 2.382, PHS=-0.456, 0.942,-1.141, RAW= 348.8,   7.2, CAL= 348.7,   6.6, ROT= 161.3,  -6.6

2025-10-26T22:37:24.935Z,1761518244.935 [DAT](INFO): got valid direction response:
 22:37:23.6477 LVL= 30912, 20913, 32754, 32755, AGC= 61, IDX= 506,-0.15, 1.823,-3.004, 1.285, 2.382, PHS=-0.456, 0.942,-1.141, RAW= 348.8,   7.2, CAL= 348.7,   6.6, ROT= 161.3,  -6.6

2025-10-26T22:37:24.938Z,1761518244.938 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-10-26T22:37:24.944Z,1761518244.944 [DAT](INFO): direction in FSK: [-0.940933,0.318488,0.114937]
2025-10-26T22:37:24.944Z,1761518244.944 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:24.948Z,1761518244.948 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.522261
2025-10-26T22:37:25.027Z,1761518245.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697732,-0.715620,-0.032518],[0.716358,0.697032,0.031259],[0.000297,-0.045105,0.998982]]
2025-10-26T22:37:25.082Z,1761518245.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.400000 m,
      deltaT: 0.503923 s,
      deltaX: 0.299999 m,
      approachRate: 0.595328 m/s,
      rangeRepo size: 4

2025-10-26T22:37:25.085Z,1761518245.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.260626 m,
      bearing: 206.790092 deg,
      lat: 36.779446 deg,
      lon: -121.859477 deg,
      deltaT: 0.503923 s,
      deltaX: 0.298353 m,
      approachRate: 0.592061 m/s,
      posRepo size: 4

2025-10-26T22:37:25.085Z,1761518245.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.26 m.
2025-10-26T22:37:25.177Z,1761518245.177 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.751272
2025-10-26T22:37:25.429Z,1761518245.429 [DAT](INFO): DAT read: Rx Time:22:37:24.1477 

2025-10-26T22:37:25.429Z,1761518245.429 [DAT](INFO): Rx dataTimestamp_ set to:1761518245.429114
2025-10-26T22:37:25.431Z,1761518245.431 [DAT](INFO): DAT read: Bearing   2.3,  18.5 (Local)

2025-10-26T22:37:25.431Z,1761518245.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.3,  18.5 (Local)

2025-10-26T22:37:25.433Z,1761518245.433 [DAT](INFO): DAT read: Range 11 to 50 :    25.4 m (trip time 16.9 ms) speed -0.1

2025-10-26T22:37:25.438Z,1761518245.438 [DAT](INFO): DAT read: 22:37:24.1477 LVL= 26448, 20913, 32754, 32755, AGC= 60, IDX= 506,-0.31,-0.445, 1.015,-0.984, 0.090, PHS=-0.433, 0.970,-1.118, RAW= 348.8,   6.4, CAL= 348.6,   5.3, ROT= 161.4,  -5.3

2025-10-26T22:37:25.439Z,1761518245.439 [DAT](INFO): got valid direction response:
 22:37:24.1477 LVL= 26448, 20913, 32754, 32755, AGC= 60, IDX= 506,-0.31,-0.445, 1.015,-0.984, 0.090, PHS=-0.433, 0.970,-1.118, RAW= 348.8,   6.4, CAL= 348.6,   5.3, ROT= 161.4,  -5.3

2025-10-26T22:37:25.439Z,1761518245.439 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-10-26T22:37:25.440Z,1761518245.440 [DAT](INFO): direction in FSK: [-0.943716,0.317596,0.092371]
2025-10-26T22:37:25.440Z,1761518245.440 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:25.444Z,1761518245.444 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.019070
2025-10-26T22:37:25.527Z,1761518245.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698990,-0.714411,-0.032080],[0.715131,0.698252,0.032118],[-0.000546,-0.045392,0.998969]]
2025-10-26T22:37:25.585Z,1761518245.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.400000 m,
      deltaT: 0.503988 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:25.587Z,1761518245.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.260536 m,
      bearing: 206.842591 deg,
      lat: 36.779446 deg,
      lon: -121.859477 deg,
      deltaT: 0.503988 s,
      deltaX: -0.000090 m,
      approachRate: -0.000178 m/s,
      posRepo size: 4

2025-10-26T22:37:25.592Z,1761518245.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.26 m.
2025-10-26T22:37:25.684Z,1761518245.684 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.258020
2025-10-26T22:37:25.933Z,1761518245.933 [DAT](INFO): DAT read: Rx Time:22:37:24.6478 

2025-10-26T22:37:25.933Z,1761518245.933 [DAT](INFO): Rx dataTimestamp_ set to:1761518245.933002
2025-10-26T22:37:25.935Z,1761518245.935 [DAT](INFO): DAT read: Bearing   1.2,  19.5 (Local)

2025-10-26T22:37:25.935Z,1761518245.935 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2,  19.5 (Local)

2025-10-26T22:37:25.937Z,1761518245.937 [DAT](INFO): DAT read: Range 11 to 50 :    25.5 m (trip time 17.0 ms) speed -0.1

2025-10-26T22:37:25.942Z,1761518245.942 [DAT](INFO): DAT read: 22:37:24.6478 LVL= 25040, 22897, 32754, 32755, AGC= 59, IDX= 507, 0.36, 2.486,-2.389, 1.924, 3.012, PHS=-0.424, 0.927,-1.132, RAW= 349.8,   7.0, CAL= 349.7,   6.3, ROT= 160.3,  -6.3

2025-10-26T22:37:25.943Z,1761518245.943 [DAT](INFO): got valid direction response:
 22:37:24.6478 LVL= 25040, 22897, 32754, 32755, AGC= 59, IDX= 507, 0.36, 2.486,-2.389, 1.924, 3.012, PHS=-0.424, 0.927,-1.132, RAW= 349.8,   7.0, CAL= 349.7,   6.3, ROT= 160.3,  -6.3

2025-10-26T22:37:25.943Z,1761518245.943 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-10-26T22:37:25.944Z,1761518245.944 [DAT](INFO): direction in FSK: [-0.935785,0.335059,0.109734]
2025-10-26T22:37:25.944Z,1761518245.944 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:25.948Z,1761518245.948 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.522684
2025-10-26T22:37:26.060Z,1761518246.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 0.503888 s,
      deltaX: 0.100000 m,
      approachRate: 0.198458 m/s,
      rangeRepo size: 4

2025-10-26T22:37:26.062Z,1761518246.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.359987 m,
      bearing: 205.701745 deg,
      lat: 36.779445 deg,
      lon: -121.859477 deg,
      deltaT: 0.503888 s,
      deltaX: 0.099451 m,
      approachRate: 0.197367 m/s,
      posRepo size: 4

2025-10-26T22:37:26.062Z,1761518246.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.36 m.
2025-10-26T22:37:26.185Z,1761518246.185 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.759399
2025-10-26T22:37:26.338Z,1761518246.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702515,-0.710973,-0.031469],[0.711665,0.701673,0.034468],[-0.002425,-0.046609,0.998910]]
2025-10-26T22:37:26.394Z,1761518246.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.36 m.
2025-10-26T22:37:26.437Z,1761518246.437 [DAT](INFO): DAT read: Rx Time:22:37:25.1478 

2025-10-26T22:37:26.438Z,1761518246.438 [DAT](INFO): Rx dataTimestamp_ set to:1761518246.437265
2025-10-26T22:37:26.439Z,1761518246.439 [DAT](INFO): DAT read: Bearing   0.8,  19.5 (Local)

2025-10-26T22:37:26.439Z,1761518246.439 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.8,  19.5 (Local)

2025-10-26T22:37:26.441Z,1761518246.441 [DAT](INFO): DAT read: Range 11 to 50 :    25.5 m (trip time 17.0 ms) speed -0.1

2025-10-26T22:37:26.446Z,1761518246.446 [DAT](INFO): DAT read: 22:37:25.1478 LVL= 24048, 21441, 32754, 32755, AGC= 59, IDX= 507, 0.00, 0.654, 2.071, 0.091, 1.189, PHS=-0.433, 0.927,-1.142, RAW= 349.7,   7.2, CAL= 349.6,   6.6, ROT= 160.4,  -6.6

2025-10-26T22:37:26.448Z,1761518246.448 [DAT](INFO): got valid direction response:
 22:37:25.1478 LVL= 24048, 21441, 32754, 32755, AGC= 59, IDX= 507, 0.00, 0.654, 2.071, 0.091, 1.189, PHS=-0.433, 0.927,-1.142, RAW= 349.7,   7.2, CAL= 349.6,   6.6, ROT= 160.4,  -6.6

2025-10-26T22:37:26.449Z,1761518246.449 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-10-26T22:37:26.450Z,1761518246.450 [DAT](INFO): direction in FSK: [-0.935814,0.333228,0.114937]
2025-10-26T22:37:26.450Z,1761518246.450 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:26.458Z,1761518246.458 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.032265
2025-10-26T22:37:26.692Z,1761518246.692 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.265711
2025-10-26T22:37:26.790Z,1761518246.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704503,-0.709025,-0.030972],[0.709692,0.703600,0.035837],[-0.003618,-0.047228,0.998878]]
2025-10-26T22:37:26.866Z,1761518246.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 0.504263 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:26.873Z,1761518246.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.359997 m,
      bearing: 205.328798 deg,
      lat: 36.779445 deg,
      lon: -121.859477 deg,
      deltaT: 0.504263 s,
      deltaX: 0.000010 m,
      approachRate: 0.000019 m/s,
      posRepo size: 4

2025-10-26T22:37:26.873Z,1761518246.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.36 m.
2025-10-26T22:37:26.943Z,1761518246.943 [DAT](INFO): DAT read: Rx Time:22:37:25.6479 

2025-10-26T22:37:26.943Z,1761518246.943 [DAT](INFO): Rx dataTimestamp_ set to:1761518246.942761
2025-10-26T22:37:26.944Z,1761518246.944 [DAT](INFO): DAT read: Bearing   1.6,  20.0 (Local)

2025-10-26T22:37:26.945Z,1761518246.945 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.6,  20.0 (Local)

2025-10-26T22:37:26.947Z,1761518246.947 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed -0.1

2025-10-26T22:37:26.961Z,1761518246.961 [DAT](INFO): DAT read: 22:37:25.6479 LVL= 25056, 24369, 32754, 32755, AGC= 59, IDX= 507, 0.44, 1.764,-3.112, 1.188, 2.276, PHS=-0.410, 0.941,-1.132, RAW= 350.1,   6.7, CAL= 349.9,   5.7, ROT= 160.1,  -5.7

2025-10-26T22:37:26.962Z,1761518246.962 [DAT](INFO): got valid direction response:
 22:37:25.6479 LVL= 25056, 24369, 32754, 32755, AGC= 59, IDX= 507, 0.44, 1.764,-3.112, 1.188, 2.276, PHS=-0.410, 0.941,-1.132, RAW= 350.1,   6.7, CAL= 349.9,   5.7, ROT= 160.1,  -5.7

2025-10-26T22:37:26.963Z,1761518246.963 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-26T22:37:26.980Z,1761518246.980 [DAT](INFO): direction in FSK: [-0.935639,0.338697,0.099320]
2025-10-26T22:37:26.980Z,1761518246.980 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:26.988Z,1761518246.988 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.563160
2025-10-26T22:37:27.118Z,1761518247.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706500,-0.707081,-0.029923],[0.707696,0.705553,0.036889],[-0.004972,-0.047239,0.998871]]
2025-10-26T22:37:27.148Z,1761518247.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.505496 s,
      deltaX: 0.200001 m,
      approachRate: 0.395653 m/s,
      rangeRepo size: 4

2025-10-26T22:37:27.150Z,1761518247.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.558899 m,
      bearing: 204.906860 deg,
      lat: 36.779445 deg,
      lon: -121.859476 deg,
      deltaT: 0.505496 s,
      deltaX: 0.198902 m,
      approachRate: 0.393479 m/s,
      posRepo size: 4

2025-10-26T22:37:27.151Z,1761518247.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m.
2025-10-26T22:37:27.193Z,1761518247.193 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.767553
2025-10-26T22:37:27.445Z,1761518247.445 [DAT](INFO): DAT read: Rx Time:22:37:26.1478 

2025-10-26T22:37:27.446Z,1761518247.446 [DAT](INFO): Rx dataTimestamp_ set to:1761518247.445385
2025-10-26T22:37:27.447Z,1761518247.447 [DAT](INFO): DAT read: Bearing   2.2,  20.4 (Local)

2025-10-26T22:37:27.447Z,1761518247.447 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.2,  20.4 (Local)

2025-10-26T22:37:27.449Z,1761518247.449 [DAT](INFO): DAT read: Range 11 to 50 :    25.5 m (trip time 17.0 ms) speed 0.0

2025-10-26T22:37:27.454Z,1761518247.454 [DAT](INFO): DAT read: 22:37:26.1478 LVL= 27696, 21617, 32754, 32755, AGC= 60, IDX= 507,-0.10, 0.402, 1.812,-0.192, 0.899, PHS=-0.395, 0.958,-1.135, RAW= 350.4,   6.3, CAL= 350.3,   5.1, ROT= 159.7,  -5.1

2025-10-26T22:37:27.456Z,1761518247.456 [DAT](INFO): got valid direction response:
 22:37:26.1478 LVL= 27696, 21617, 32754, 32755, AGC= 60, IDX= 507,-0.10, 0.402, 1.812,-0.192, 0.899, PHS=-0.395, 0.958,-1.135, RAW= 350.4,   6.3, CAL= 350.3,   5.1, ROT= 159.7,  -5.1

2025-10-26T22:37:27.456Z,1761518247.456 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-26T22:37:27.457Z,1761518247.457 [DAT](INFO): direction in FSK: [-0.934176,0.345562,0.088894]
2025-10-26T22:37:27.457Z,1761518247.457 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:27.461Z,1761518247.461 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.035734
2025-10-26T22:37:27.522Z,1761518247.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708624,-0.705048,-0.027553],[0.705557,0.707700,0.036756],[-0.006415,-0.045487,0.998944]]
2025-10-26T22:37:27.591Z,1761518247.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 0.502624 s,
      deltaX: -0.200001 m,
      approachRate: -0.397913 m/s,
      rangeRepo size: 4

2025-10-26T22:37:27.593Z,1761518247.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.360085 m,
      bearing: 204.367292 deg,
      lat: 36.779445 deg,
      lon: -121.859476 deg,
      deltaT: 0.502624 s,
      deltaX: -0.198814 m,
      approachRate: -0.395553 m/s,
      posRepo size: 4

2025-10-26T22:37:27.594Z,1761518247.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.36 m.
2025-10-26T22:37:27.701Z,1761518247.701 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.274698
2025-10-26T22:37:27.950Z,1761518247.950 [DAT](INFO): DAT read: Rx Time:22:37:26.6479 

2025-10-26T22:37:27.950Z,1761518247.950 [DAT](INFO): Rx dataTimestamp_ set to:1761518247.949933
2025-10-26T22:37:27.952Z,1761518247.952 [DAT](INFO): DAT read: Bearing   1.2,  21.7 (Local)

2025-10-26T22:37:27.952Z,1761518247.952 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2,  21.7 (Local)

2025-10-26T22:37:27.954Z,1761518247.954 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed -0.1

2025-10-26T22:37:27.959Z,1761518247.959 [DAT](INFO): DAT read: 22:37:26.6479 LVL= 30784, 21313, 32754, 32755, AGC= 60, IDX= 508, 0.23,-2.246,-0.881,-2.877,-1.762, PHS=-0.382, 0.926,-1.159, RAW= 351.7,   6.8, CAL= 351.6,   6.0, ROT= 158.4,  -6.0

2025-10-26T22:37:27.960Z,1761518247.960 [DAT](INFO): got valid direction response:
 22:37:26.6479 LVL= 30784, 21313, 32754, 32755, AGC= 60, IDX= 508, 0.23,-2.246,-0.881,-2.877,-1.762, PHS=-0.382, 0.926,-1.159, RAW= 351.7,   6.8, CAL= 351.6,   6.0, ROT= 158.4,  -6.0

2025-10-26T22:37:27.960Z,1761518247.960 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-10-26T22:37:27.961Z,1761518247.961 [DAT](INFO): direction in FSK: [-0.924683,0.366108,0.104528]
2025-10-26T22:37:27.961Z,1761518247.961 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:27.989Z,1761518247.989 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.564096
2025-10-26T22:37:28.123Z,1761518248.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.504548 s,
      deltaX: 0.200001 m,
      approachRate: 0.396396 m/s,
      rangeRepo size: 4

2025-10-26T22:37:28.125Z,1761518248.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.558987 m,
      bearing: 203.029242 deg,
      lat: 36.779444 deg,
      lon: -121.859476 deg,
      deltaT: 0.504548 s,
      deltaX: 0.198902 m,
      approachRate: 0.394218 m/s,
      posRepo size: 4

2025-10-26T22:37:28.125Z,1761518248.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m.
2025-10-26T22:37:28.201Z,1761518248.201 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.775970
2025-10-26T22:37:28.394Z,1761518248.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711991,-0.701794,-0.023545],[0.702129,0.711092,0.036934],[-0.009177,-0.042828,0.999040]]
2025-10-26T22:37:28.412Z,1761518248.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m.
2025-10-26T22:37:28.456Z,1761518248.456 [DAT](INFO): DAT read: Rx Time:22:37:27.1479 

2025-10-26T22:37:28.456Z,1761518248.456 [DAT](INFO): Rx dataTimestamp_ set to:1761518248.455921
2025-10-26T22:37:28.457Z,1761518248.457 [DAT](INFO): DAT read: Bearing   1.6,  21.4 (Local)

2025-10-26T22:37:28.458Z,1761518248.458 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.6,  21.4 (Local)

2025-10-26T22:37:28.460Z,1761518248.460 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed -0.1

2025-10-26T22:37:28.465Z,1761518248.465 [DAT](INFO): DAT read: 22:37:27.1479 LVL= 27280, 22577, 32754, 32755, AGC= 62, IDX= 508,-0.17, 0.720, 2.110, 0.094, 1.209, PHS=-0.386, 0.947,-1.159, RAW= 351.3,   6.5, CAL= 351.1,   5.6, ROT= 158.9,  -5.6

2025-10-26T22:37:28.467Z,1761518248.467 [DAT](INFO): got valid direction response:
 22:37:27.1479 LVL= 27280, 22577, 32754, 32755, AGC= 62, IDX= 508,-0.17, 0.720, 2.110, 0.094, 1.209, PHS=-0.386, 0.947,-1.159, RAW= 351.3,   6.5, CAL= 351.1,   5.6, ROT= 158.9,  -5.6

2025-10-26T22:37:28.467Z,1761518248.467 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-10-26T22:37:28.477Z,1761518248.477 [DAT](INFO): direction in FSK: [-0.928501,0.358279,0.097583]
2025-10-26T22:37:28.477Z,1761518248.477 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:28.487Z,1761518248.487 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.061085
2025-10-26T22:37:28.708Z,1761518248.708 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.281860
2025-10-26T22:37:28.799Z,1761518248.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713279,-0.700509,-0.022807],[0.700807,0.712354,0.037696],[-0.010159,-0.042871,0.999029]]
2025-10-26T22:37:28.878Z,1761518248.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.505988 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:28.884Z,1761518248.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.559420 m,
      bearing: 203.169499 deg,
      lat: 36.779444 deg,
      lon: -121.859473 deg,
      deltaT: 0.505988 s,
      deltaX: 0.000433 m,
      approachRate: 0.000856 m/s,
      posRepo size: 4

2025-10-26T22:37:28.885Z,1761518248.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m.
2025-10-26T22:37:28.958Z,1761518248.958 [DAT](INFO): DAT read: Rx Time:22:37:27.6481 

2025-10-26T22:37:28.959Z,1761518248.959 [DAT](INFO): Rx dataTimestamp_ set to:1761518248.958633
2025-10-26T22:37:28.961Z,1761518248.961 [DAT](INFO): DAT read: Bearing   1.9,  22.2 (Local)

2025-10-26T22:37:28.962Z,1761518248.962 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.9,  22.2 (Local)

2025-10-26T22:37:28.965Z,1761518248.965 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed -0.1

2025-10-26T22:37:28.970Z,1761518248.970 [DAT](INFO): DAT read: 22:37:27.6481 LVL= 25328, 20785, 32754, 32755, AGC= 63, IDX= 509, 0.39, 2.658,-2.268, 2.012, 3.121, PHS=-0.361, 0.939,-1.153, RAW= 352.0,   6.3, CAL= 351.9,   5.2, ROT= 158.1,  -5.2

2025-10-26T22:37:28.971Z,1761518248.971 [DAT](INFO): got valid direction response:
 22:37:27.6481 LVL= 25328, 20785, 32754, 32755, AGC= 63, IDX= 509, 0.39, 2.658,-2.268, 2.012, 3.121, PHS=-0.361, 0.939,-1.153, RAW= 352.0,   6.3, CAL= 351.9,   5.2, ROT= 158.1,  -5.2

2025-10-26T22:37:28.972Z,1761518248.972 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-10-26T22:37:28.973Z,1761518248.973 [DAT](INFO): direction in FSK: [-0.924018,0.371453,0.090633]
2025-10-26T22:37:28.973Z,1761518248.973 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:28.976Z,1761518248.976 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.551258
2025-10-26T22:37:29.202Z,1761518249.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714551,-0.699222,-0.022488],[0.699491,0.713566,0.039186],[-0.011353,-0.043730,0.998979]]
2025-10-26T22:37:29.208Z,1761518249.208 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.783062
2025-10-26T22:37:29.297Z,1761518249.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.502712 s,
      deltaX: 0.299999 m,
      approachRate: 0.596762 m/s,
      rangeRepo size: 4

2025-10-26T22:37:29.299Z,1761518249.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.857779 m,
      bearing: 202.277949 deg,
      lat: 36.779443 deg,
      lon: -121.859470 deg,
      deltaT: 0.502712 s,
      deltaX: 0.298359 m,
      approachRate: 0.593499 m/s,
      posRepo size: 4

2025-10-26T22:37:29.333Z,1761518249.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.86 m.
2025-10-26T22:37:29.462Z,1761518249.462 [DAT](INFO): DAT read: Rx Time:22:37:28.1480 

2025-10-26T22:37:29.462Z,1761518249.462 [DAT](INFO): Rx dataTimestamp_ set to:1761518249.461750
2025-10-26T22:37:29.463Z,1761518249.463 [DAT](INFO): DAT read: Bearing   1.7,  22.7 (Local)

2025-10-26T22:37:29.464Z,1761518249.464 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.7,  22.7 (Local)

2025-10-26T22:37:29.466Z,1761518249.466 [DAT](INFO): DAT read: Range 11 to 50 :    25.8 m (trip time 17.2 ms) speed -0.1

2025-10-26T22:37:29.471Z,1761518249.471 [DAT](INFO): DAT read: 22:37:28.1480 LVL= 26592, 21633, 32754, 32755, AGC= 65, IDX= 509, 0.10, 0.526, 1.874,-0.141, 0.980, PHS=-0.352, 0.939,-1.164, RAW= 352.5,   6.3, CAL= 352.4,   5.3, ROT= 157.6,  -5.3

2025-10-26T22:37:29.472Z,1761518249.472 [DAT](INFO): got valid direction response:
 22:37:28.1480 LVL= 26592, 21633, 32754, 32755, AGC= 65, IDX= 509, 0.10, 0.526, 1.874,-0.141, 0.980, PHS=-0.352, 0.939,-1.164, RAW= 352.5,   6.3, CAL= 352.4,   5.3, ROT= 157.6,  -5.3

2025-10-26T22:37:29.472Z,1761518249.472 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-26T22:37:29.473Z,1761518249.473 [DAT](INFO): direction in FSK: [-0.920593,0.379441,0.092371]
2025-10-26T22:37:29.474Z,1761518249.474 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:29.486Z,1761518249.486 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.060822
2025-10-26T22:37:29.606Z,1761518249.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715377,-0.698371,-0.022671],[0.698624,0.714296,0.041295],[-0.012646,-0.045381,0.998890]]
2025-10-26T22:37:29.657Z,1761518249.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.503117 s,
      deltaX: -0.200001 m,
      approachRate: -0.397523 m/s,
      rangeRepo size: 4

2025-10-26T22:37:29.659Z,1761518249.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.659441 m,
      bearing: 201.696674 deg,
      lat: 36.779442 deg,
      lon: -121.859469 deg,
      deltaT: 0.503117 s,
      deltaX: -0.198338 m,
      approachRate: -0.394218 m/s,
      posRepo size: 4

2025-10-26T22:37:29.662Z,1761518249.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m.
2025-10-26T22:37:29.715Z,1761518249.715 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.288963
2025-10-26T22:37:29.965Z,1761518249.965 [DAT](INFO): DAT read: Rx Time:22:37:28.6482 

2025-10-26T22:37:29.966Z,1761518249.966 [DAT](INFO): Rx dataTimestamp_ set to:1761518249.965281
2025-10-26T22:37:29.967Z,1761518249.967 [DAT](INFO): DAT read: Bearing 360.0,  21.8 (Local)

2025-10-26T22:37:29.967Z,1761518249.967 [DAT](INFO): Local bearing/azimuth received:
 Bearing 360.0,  21.8 (Local)

2025-10-26T22:37:29.969Z,1761518249.969 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed -0.1

2025-10-26T22:37:29.974Z,1761518249.974 [DAT](INFO): DAT read: 22:37:28.6482 LVL= 29584, 24209, 32754, 32755, AGC= 65, IDX= 511,-0.21, 0.269, 1.634,-0.360, 0.771, PHS=-0.400, 0.909,-1.175, RAW= 351.6,   7.4, CAL= 351.5,   6.9, ROT= 158.5,  -6.9

2025-10-26T22:37:29.975Z,1761518249.975 [DAT](INFO): got valid direction response:
 22:37:28.6482 LVL= 29584, 24209, 32754, 32755, AGC= 65, IDX= 511,-0.21, 0.269, 1.634,-0.360, 0.771, PHS=-0.400, 0.909,-1.175, RAW= 351.6,   7.4, CAL= 351.5,   6.9, ROT= 158.5,  -6.9

2025-10-26T22:37:29.976Z,1761518249.976 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-10-26T22:37:29.977Z,1761518249.977 [DAT](INFO): direction in FSK: [-0.923679,0.363847,0.120137]
2025-10-26T22:37:29.977Z,1761518249.977 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:29.983Z,1761518249.983 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.557346
2025-10-26T22:37:30.140Z,1761518250.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.503531 s,
      deltaX: 0.300001 m,
      approachRate: 0.595795 m/s,
      rangeRepo size: 4

2025-10-26T22:37:30.142Z,1761518250.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.957808 m,
      bearing: 202.519493 deg,
      lat: 36.779442 deg,
      lon: -121.859469 deg,
      deltaT: 0.503531 s,
      deltaX: 0.298367 m,
      approachRate: 0.592548 m/s,
      posRepo size: 4

2025-10-26T22:37:30.143Z,1761518250.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.96 m.
2025-10-26T22:37:30.218Z,1761518250.218 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.792542
2025-10-26T22:37:30.469Z,1761518250.469 [DAT](INFO): DAT read: Rx Time:22:37:29.1482 

2025-10-26T22:37:30.469Z,1761518250.469 [DAT](INFO): Rx dataTimestamp_ set to:1761518250.469142
2025-10-26T22:37:30.471Z,1761518250.471 [DAT](INFO): DAT read: Bearing   0.9,  23.1 (Local)

2025-10-26T22:37:30.471Z,1761518250.471 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.9,  23.1 (Local)

2025-10-26T22:37:30.473Z,1761518250.473 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed -0.2

2025-10-26T22:37:30.486Z,1761518250.486 [DAT](INFO): DAT read: 22:37:29.1482 LVL= 26272, 23521, 32754, 32755, AGC= 64, IDX= 510, 0.29, 1.557, 2.886, 0.885, 2.013, PHS=-0.354, 0.919,-1.171, RAW= 352.8,   6.7, CAL= 352.7,   5.8, ROT= 157.3,  -5.8

2025-10-26T22:37:30.487Z,1761518250.487 [DAT](INFO): got valid direction response:
 22:37:29.1482 LVL= 26272, 23521, 32754, 32755, AGC= 64, IDX= 510, 0.29, 1.557, 2.886, 0.885, 2.013, PHS=-0.354, 0.919,-1.171, RAW= 352.8,   6.7, CAL= 352.7,   5.8, ROT= 157.3,  -5.8

2025-10-26T22:37:30.497Z,1761518250.497 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-26T22:37:30.498Z,1761518250.498 [DAT](INFO): direction in FSK: [-0.917815,0.383930,0.101056]
2025-10-26T22:37:30.498Z,1761518250.498 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:30.524Z,1761518250.524 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.099079
2025-10-26T22:37:30.557Z,1761518250.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715830,-0.697952,-0.021224],[0.698125,0.714717,0.042425],[-0.014441,-0.045186,0.998874]]
2025-10-26T22:37:30.607Z,1761518250.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.503861 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:30.613Z,1761518250.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.958374 m,
      bearing: 201.331988 deg,
      lat: 36.779442 deg,
      lon: -121.859468 deg,
      deltaT: 0.503861 s,
      deltaX: 0.000566 m,
      approachRate: 0.001124 m/s,
      posRepo size: 4

2025-10-26T22:37:30.614Z,1761518250.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.96 m.
2025-10-26T22:37:30.726Z,1761518250.726 [DAT](INFO): DAT read: Rx Time:22:37:29.6482 

2025-10-26T22:37:30.729Z,1761518250.729 [DAT](INFO): Rx dataTimestamp_ set to:1761518250.727654
2025-10-26T22:37:30.739Z,1761518250.739 [DAT](INFO): DAT read: Bearing   0.9,  23.2 (Local)

2025-10-26T22:37:30.741Z,1761518250.741 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.9,  23.2 (Local)

2025-10-26T22:37:30.750Z,1761518250.750 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed -0.2

2025-10-26T22:37:30.789Z,1761518250.789 [DAT](INFO): DAT read: 22:37:29.6482 LVL= 28784, 23649, 32754, 32755, AGC= 63, IDX= 511,-0.00, 1.019, 2.349, 0.342, 1.473, PHS=-0.352, 0.921,-1.175, RAW= 352.9,   6.7, CAL= 352.8,   5.8, ROT= 157.2,  -5.8

2025-10-26T22:37:30.790Z,1761518250.790 [DAT](INFO): got valid direction response:
 22:37:29.6482 LVL= 28784, 23649, 32754, 32755, AGC= 63, IDX= 511,-0.00, 1.019, 2.349, 0.342, 1.473, PHS=-0.352, 0.921,-1.175, RAW= 352.9,   6.7, CAL= 352.8,   5.8, ROT= 157.2,  -5.8

2025-10-26T22:37:30.790Z,1761518250.790 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-10-26T22:37:30.796Z,1761518250.796 [DAT](INFO): direction in FSK: [-0.917144,0.385532,0.101056]
2025-10-26T22:37:30.796Z,1761518250.796 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:30.801Z,1761518250.801 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.375916
2025-10-26T22:37:30.939Z,1761518250.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715330,-0.698488,-0.020429],[0.698627,0.714235,0.042289],[-0.014947,-0.044523,0.998897]]
2025-10-26T22:37:30.972Z,1761518250.972 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.547234
2025-10-26T22:37:31.025Z,1761518251.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.258512 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:31.027Z,1761518251.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.958374 m,
      bearing: 201.274452 deg,
      lat: 36.779441 deg,
      lon: -121.859465 deg,
      deltaT: 0.258512 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:31.031Z,1761518251.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.96 m.
2025-10-26T22:37:31.229Z,1761518251.229 [DAT](INFO): DAT read: Rx Time:22:37:30.1482 

2025-10-26T22:37:31.231Z,1761518251.231 [DAT](INFO): Rx dataTimestamp_ set to:1761518251.230067
2025-10-26T22:37:31.234Z,1761518251.234 [DAT](INFO): DAT read: Bearing   0.5,  22.7 (Local)

2025-10-26T22:37:31.236Z,1761518251.236 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.5,  22.7 (Local)

2025-10-26T22:37:31.237Z,1761518251.237 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.811630
2025-10-26T22:37:31.399Z,1761518251.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714517,-0.699335,-0.019908],[0.699449,0.713428,0.042332],[-0.015401,-0.044172,0.998905]]
2025-10-26T22:37:31.417Z,1761518251.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.96 m.
2025-10-26T22:37:31.478Z,1761518251.478 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed -0.2

2025-10-26T22:37:31.483Z,1761518251.483 [DAT](INFO): DAT read: 22:37:30.1482 LVL= 27056, 24657, 32754, 32755, AGC= 62, IDX= 511,-0.19,-0.776, 0.568,-1.433,-0.304, PHS=-0.370, 0.916,-1.173, RAW= 352.4,   6.9, CAL= 352.3,   6.2, ROT= 157.7,  -6.2

2025-10-26T22:37:31.484Z,1761518251.484 [DAT](INFO): got valid direction response:
 22:37:30.1482 LVL= 27056, 24657, 32754, 32755, AGC= 62, IDX= 511,-0.19,-0.776, 0.568,-1.433,-0.304, PHS=-0.370, 0.916,-1.173, RAW= 352.4,   6.9, CAL= 352.3,   6.2, ROT= 157.7,  -6.2

2025-10-26T22:37:31.484Z,1761518251.484 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-10-26T22:37:31.485Z,1761518251.485 [DAT](INFO): direction in FSK: [-0.919798,0.377237,0.107999]
2025-10-26T22:37:31.486Z,1761518251.486 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:31.489Z,1761518251.489 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.063965
2025-10-26T22:37:31.734Z,1761518251.734 [DAT](INFO): DAT read: Rx Time:22:37:30.6484 

2025-10-26T22:37:31.737Z,1761518251.737 [DAT](INFO): Rx dataTimestamp_ set to:1761518251.734542
2025-10-26T22:37:31.749Z,1761518251.749 [DAT](INFO): DAT read: Bearing 346.2,  11.4 (Local)

2025-10-26T22:37:31.751Z,1761518251.751 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.2,  11.4 (Local)

2025-10-26T22:37:31.780Z,1761518251.780 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed -0.2

2025-10-26T22:37:31.828Z,1761518251.828 [DAT](INFO): DAT read: 22:37:30.6484 LVL= 27104, 22817, 32754, 32755, AGC= 62, IDX= 513,-0.32,-2.980,-1.430, 3.028,-2.030, PHS=-0.848, 0.645,-1.269, RAW= 342.1,  16.6, CAL= 342.5,  21.1, ROT= 167.5, -21.1

2025-10-26T22:37:31.829Z,1761518251.829 [DAT](INFO): got valid direction response:
 22:37:30.6484 LVL= 27104, 22817, 32754, 32755, AGC= 62, IDX= 513,-0.32,-2.980,-1.430, 3.028,-2.030, PHS=-0.848, 0.645,-1.269, RAW= 342.1,  16.6, CAL= 342.5,  21.1, ROT= 167.5, -21.1

2025-10-26T22:37:31.830Z,1761518251.830 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-10-26T22:37:31.845Z,1761518251.845 [DAT](INFO): direction in FSK: [-0.910839,0.201928,0.359997]
2025-10-26T22:37:31.845Z,1761518251.845 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:31.862Z,1761518251.862 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.436592
2025-10-26T22:37:31.867Z,1761518251.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713326,-0.700525,-0.020733],[0.700656,0.712173,0.043472],[-0.015688,-0.045536,0.998839]]
2025-10-26T22:37:31.980Z,1761518251.980 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.555183
2025-10-26T22:37:32.029Z,1761518252.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 1.006888 s,
      deltaX: 0.299999 m,
      approachRate: 0.297947 m/s,
      rangeRepo size: 4

2025-10-26T22:37:32.031Z,1761518252.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.256083 m,
      bearing: 210.939513 deg,
      lat: 36.779442 deg,
      lon: -121.859465 deg,
      deltaT: 1.006888 s,
      deltaX: 0.297709 m,
      approachRate: 0.295672 m/s,
      posRepo size: 4

2025-10-26T22:37:32.035Z,1761518252.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.26 m.
2025-10-26T22:37:32.236Z,1761518252.236 [DAT](INFO): DAT read: Rx Time:22:37:31.1484 

2025-10-26T22:37:32.238Z,1761518252.238 [DAT](INFO): Rx dataTimestamp_ set to:1761518252.236784
2025-10-26T22:37:32.243Z,1761518252.243 [DAT](INFO): DAT read: Bearing 354.2,  24.5 (Local)

2025-10-26T22:37:32.245Z,1761518252.245 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.2,  24.5 (Local)

2025-10-26T22:37:32.254Z,1761518252.254 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed -0.2

2025-10-26T22:37:32.259Z,1761518252.259 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-10-26T22:37:32.275Z,1761518252.275 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.848869
2025-10-26T22:37:32.309Z,1761518252.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711885,-0.701968,-0.021464],[0.702119,0.710685,0.044219],[-0.015786,-0.046549,0.998791]]
2025-10-26T22:37:32.377Z,1761518252.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.502242 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:32.377Z,1761518252.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.26 m.
2025-10-26T22:37:32.488Z,1761518252.488 [DAT](INFO): DAT read: 22:37:31.1484 LVL= 25552, 22001, 32706, 32755, AGC= 62, IDX= 513,-0.41, 1.720, 3.142, 0.882, 2.301, PHS=-0.479, 0.886,-1.463, RAW= 354.7,  10.4, CAL= 354.9,  11.6, ROT= 155.1, -11.6

2025-10-26T22:37:32.489Z,1761518252.489 [DAT](INFO): got valid direction response:
 22:37:31.1484 LVL= 25552, 22001, 32706, 32755, AGC= 62, IDX= 513,-0.41, 1.720, 3.142, 0.882, 2.301, PHS=-0.479, 0.886,-1.463, RAW= 354.7,  10.4, CAL= 354.9,  11.6, ROT= 155.1, -11.6

2025-10-26T22:37:32.490Z,1761518252.490 [DAT](INFO): #Rx 71: Read direction message, but no range.
2025-10-26T22:37:32.491Z,1761518252.491 [DAT](INFO): direction in FSK: [-0.888518,0.412436,0.201078]
2025-10-26T22:37:32.499Z,1761518252.499 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.073753
2025-10-26T22:37:32.704Z,1761518252.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710967,-0.702910,-0.021058],[0.703045,0.709788,0.043920],[-0.015925,-0.046030,0.998813]]
2025-10-26T22:37:32.741Z,1761518252.741 [DAT](INFO): DAT read: Rx Time:22:37:31.6486 

2025-10-26T22:37:32.743Z,1761518252.743 [DAT](INFO): Rx dataTimestamp_ set to:1761518252.741720
2025-10-26T22:37:32.748Z,1761518252.748 [DAT](INFO): DAT read: Bearing   0.2,  22.9 (Local)

2025-10-26T22:37:32.750Z,1761518252.750 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.2,  22.9 (Local)

2025-10-26T22:37:32.789Z,1761518252.789 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed -0.2

2025-10-26T22:37:32.833Z,1761518252.833 [DAT](INFO): DAT read: 22:37:31.6486 LVL= 26160, 18609, 32754, 32755, AGC= 64, IDX=   2, 0.45,-0.301, 1.039,-0.964, 0.171, PHS=-0.370, 0.913,-1.180, RAW= 352.6,   7.0, CAL= 352.5,   6.4, ROT= 157.5,  -6.4

2025-10-26T22:37:32.834Z,1761518252.834 [DAT](INFO): got valid direction response:
 22:37:31.6486 LVL= 26160, 18609, 32754, 32755, AGC= 64, IDX=   2, 0.45,-0.301, 1.039,-0.964, 0.171, PHS=-0.370, 0.913,-1.180, RAW= 352.6,   7.0, CAL= 352.5,   6.4, ROT= 157.5,  -6.4

2025-10-26T22:37:32.835Z,1761518252.835 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-10-26T22:37:32.845Z,1761518252.845 [DAT](INFO): direction in FSK: [-0.918122,0.380299,0.111469]
2025-10-26T22:37:32.845Z,1761518252.845 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:32.849Z,1761518252.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.504936 s,
      deltaX: 0.300001 m,
      approachRate: 0.594137 m/s,
      rangeRepo size: 4

2025-10-26T22:37:32.849Z,1761518252.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.26 m.
2025-10-26T22:37:32.862Z,1761518252.862 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.437080
2025-10-26T22:37:32.989Z,1761518252.989 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.563328
2025-10-26T22:37:33.245Z,1761518253.245 [DAT](INFO): DAT read: Rx Time:22:37:32.1486 

2025-10-26T22:37:33.246Z,1761518253.246 [DAT](INFO): Rx dataTimestamp_ set to:1761518253.245199
2025-10-26T22:37:33.250Z,1761518253.250 [DAT](INFO): DAT read: Bearing 359.4,  22.8 (Local)

2025-10-26T22:37:33.251Z,1761518253.251 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.4,  22.8 (Local)

2025-10-26T22:37:33.261Z,1761518253.261 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed -0.2

2025-10-26T22:37:33.272Z,1761518253.272 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-10-26T22:37:33.287Z,1761518253.287 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.849659
2025-10-26T22:37:33.310Z,1761518253.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710019,-0.703881,-0.020626],[0.703999,0.708859,0.043635],[-0.016093,-0.045502,0.998835]]
2025-10-26T22:37:33.431Z,1761518253.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.503479 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:33.434Z,1761518253.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.554548 m,
      bearing: 201.970926 deg,
      lat: 36.779441 deg,
      lon: -121.859470 deg,
      deltaT: 1.510657 s,
      deltaX: 0.298466 m,
      approachRate: 0.197573 m/s,
      posRepo size: 4

2025-10-26T22:37:33.434Z,1761518253.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.55 m.
2025-10-26T22:37:33.497Z,1761518253.497 [DAT](INFO): DAT read: 22:37:32.1486 LVL= 28000, 22817, 32754, 32755, AGC= 61, IDX= 498, 0.33,-1.624,-0.292,-2.273,-1.137, PHS=-0.385, 0.889,-1.180, RAW= 352.4,   7.5, CAL= 352.4,   7.1, ROT= 157.6,  -7.1

2025-10-26T22:37:33.498Z,1761518253.498 [DAT](INFO): got valid direction response:
 22:37:32.1486 LVL= 28000, 22817, 32754, 32755, AGC= 61, IDX= 498, 0.33,-1.624,-0.292,-2.273,-1.137, PHS=-0.385, 0.889,-1.180, RAW= 352.4,   7.5, CAL= 352.4,   7.1, ROT= 157.6,  -7.1

2025-10-26T22:37:33.499Z,1761518253.499 [DAT](INFO): #Rx 74: Read direction message, but no range.
2025-10-26T22:37:33.501Z,1761518253.501 [DAT](INFO): direction in FSK: [-0.917457,0.378148,0.123601]
2025-10-26T22:37:33.506Z,1761518253.506 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.080608
2025-10-26T22:37:33.748Z,1761518253.748 [DAT](INFO): DAT read: Rx Time:22:37:32.6487 

2025-10-26T22:37:33.750Z,1761518253.750 [DAT](INFO): Rx dataTimestamp_ set to:1761518253.749146
2025-10-26T22:37:33.757Z,1761518253.757 [DAT](INFO): DAT read: Bearing   0.3,  23.1 (Local)

2025-10-26T22:37:33.758Z,1761518253.758 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.3,  23.1 (Local)

2025-10-26T22:37:33.766Z,1761518253.766 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed -0.2

2025-10-26T22:37:33.769Z,1761518253.769 [DAT](ERROR): #Rx 75: Read range message, but no direction.
2025-10-26T22:37:33.773Z,1761518253.773 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.347263
2025-10-26T22:37:33.887Z,1761518253.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706900,-0.707040,-0.019663],[0.707137,0.705830,0.041967],[-0.015794,-0.043570,0.998926]]
2025-10-26T22:37:33.973Z,1761518253.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.503947 s,
      deltaX: 0.199999 m,
      approachRate: 0.396865 m/s,
      rangeRepo size: 4

2025-10-26T22:37:33.975Z,1761518253.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.754038 m,
      bearing: 202.301675 deg,
      lat: 36.779441 deg,
      lon: -121.859470 deg,
      deltaT: 0.503947 s,
      deltaX: 0.199490 m,
      approachRate: 0.395854 m/s,
      posRepo size: 4

2025-10-26T22:37:33.980Z,1761518253.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.75 m.
2025-10-26T22:37:34.000Z,1761518254.000 [DAT](INFO): DAT read: 22:37:32.6487 LVL= 26800, 21937, 32754, 32755, AGC= 61, IDX= 500, 0.17,-0.176, 1.154,-0.841, 0.290, PHS=-0.365, 0.909,-1.176, RAW= 352.7,   7.0, CAL= 352.6,   6.3, ROT= 157.4,  -6.3

2025-10-26T22:37:34.001Z,1761518254.001 [DAT](INFO): got valid direction response:
 22:37:32.6487 LVL= 26800, 21937, 32754, 32755, AGC= 61, IDX= 500, 0.17,-0.176, 1.154,-0.841, 0.290, PHS=-0.365, 0.909,-1.176, RAW= 352.7,   7.0, CAL= 352.6,   6.3, ROT= 157.4,  -6.3

2025-10-26T22:37:34.002Z,1761518254.002 [DAT](INFO): #Rx 76: Read direction message, but no range.
2025-10-26T22:37:34.003Z,1761518254.003 [DAT](INFO): direction in FSK: [-0.917635,0.381975,0.109734]
2025-10-26T22:37:34.008Z,1761518254.008 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.582809
2025-10-26T22:37:34.253Z,1761518254.253 [DAT](INFO): DAT read: Rx Time:22:37:33.1487 

2025-10-26T22:37:34.254Z,1761518254.254 [DAT](INFO): Rx dataTimestamp_ set to:1761518254.253484
2025-10-26T22:37:34.263Z,1761518254.263 [DAT](INFO): DAT read: Bearing   0.6,  22.7 (Local)

2025-10-26T22:37:34.264Z,1761518254.264 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.6,  22.7 (Local)

2025-10-26T22:37:34.280Z,1761518254.280 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed -0.2

2025-10-26T22:37:34.315Z,1761518254.315 [DAT](INFO): DAT read: 22:37:33.1487 LVL= 29152, 21601, 32754, 32755, AGC= 61, IDX= 500,-0.03,-2.230,-0.889,-2.876,-1.757, PHS=-0.371, 0.912,-1.163, RAW= 352.2,   6.9, CAL= 352.1,   6.2, ROT= 157.9,  -6.2

2025-10-26T22:37:34.329Z,1761518254.329 [DAT](INFO): got valid direction response:
 22:37:33.1487 LVL= 29152, 21601, 32754, 32755, AGC= 61, IDX= 500,-0.03,-2.230,-0.889,-2.876,-1.757, PHS=-0.371, 0.912,-1.163, RAW= 352.2,   6.9, CAL= 352.1,   6.2, ROT= 157.9,  -6.2

2025-10-26T22:37:34.330Z,1761518254.330 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-10-26T22:37:34.348Z,1761518254.348 [DAT](INFO): direction in FSK: [-0.921109,0.374024,0.107999]
2025-10-26T22:37:34.348Z,1761518254.348 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:34.356Z,1761518254.356 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.930473
2025-10-26T22:37:34.358Z,1761518254.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705727,-0.708215,-0.019515],[0.708310,0.704676,0.041567],[-0.015687,-0.043158,0.998945]]
2025-10-26T22:37:34.456Z,1761518254.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.504338 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:34.458Z,1761518254.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.754038 m,
      bearing: 202.740761 deg,
      lat: 36.779441 deg,
      lon: -121.859472 deg,
      deltaT: 0.504338 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:34.459Z,1761518254.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.75 m.
2025-10-26T22:37:34.501Z,1761518254.501 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.075356
2025-10-26T22:37:34.749Z,1761518254.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704874,-0.709061,-0.019625],[0.709160,0.703825,0.041501],[-0.015614,-0.043170,0.998946]]
2025-10-26T22:37:34.757Z,1761518254.757 [DAT](INFO): DAT read: Rx Time:22:37:33.6488 

2025-10-26T22:37:34.759Z,1761518254.759 [DAT](INFO): Rx dataTimestamp_ set to:1761518254.757695
2025-10-26T22:37:34.765Z,1761518254.765 [DAT](INFO): DAT read: Bearing 359.8,  22.4 (Local)

2025-10-26T22:37:34.766Z,1761518254.766 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.8,  22.4 (Local)

2025-10-26T22:37:34.814Z,1761518254.814 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed -0.1

2025-10-26T22:37:34.857Z,1761518254.857 [DAT](INFO): DAT read: 22:37:33.6488 LVL= 30288, 23073, 32754, 32755, AGC= 61, IDX= 501,-0.34,-1.420,-0.074,-2.055,-0.927, PHS=-0.391, 0.898,-1.172, RAW= 351.9,   7.4, CAL= 351.9,   6.9, ROT= 158.1,  -6.9

2025-10-26T22:37:34.858Z,1761518254.858 [DAT](INFO): got valid direction response:
 22:37:33.6488 LVL= 30288, 23073, 32754, 32755, AGC= 61, IDX= 501,-0.34,-1.420,-0.074,-2.055,-0.927, PHS=-0.391, 0.898,-1.172, RAW= 351.9,   7.4, CAL= 351.9,   6.9, ROT= 158.1,  -6.9

2025-10-26T22:37:34.858Z,1761518254.858 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-10-26T22:37:34.859Z,1761518254.859 [DAT](INFO): direction in FSK: [-0.921116,0.370286,0.120137]
2025-10-26T22:37:34.887Z,1761518254.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.75 m.
2025-10-26T22:37:34.888Z,1761518254.888 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:34.891Z,1761518254.891 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.465797
2025-10-26T22:37:35.005Z,1761518255.005 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.580070
2025-10-26T22:37:35.135Z,1761518255.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704210,-0.709712,-0.019956],[0.709824,0.703152,0.041557],[-0.015461,-0.043430,0.998937]]
2025-10-26T22:37:35.200Z,1761518255.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.504211 s,
      deltaX: 0.100000 m,
      approachRate: 0.198330 m/s,
      rangeRepo size: 4

2025-10-26T22:37:35.202Z,1761518255.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.853622 m,
      bearing: 203.029873 deg,
      lat: 36.779442 deg,
      lon: -121.859474 deg,
      deltaT: 0.504211 s,
      deltaX: 0.099585 m,
      approachRate: 0.197506 m/s,
      posRepo size: 4

2025-10-26T22:37:35.202Z,1761518255.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.85 m.
2025-10-26T22:37:35.261Z,1761518255.261 [DAT](INFO): DAT read: Rx Time:22:37:34.1488 

2025-10-26T22:37:35.262Z,1761518255.262 [DAT](INFO): Rx dataTimestamp_ set to:1761518255.261445
2025-10-26T22:37:35.269Z,1761518255.269 [DAT](INFO): DAT read: Bearing   0.8,  23.6 (Local)

2025-10-26T22:37:35.270Z,1761518255.270 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.8,  23.6 (Local)

2025-10-26T22:37:35.277Z,1761518255.277 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed -0.2

2025-10-26T22:37:35.279Z,1761518255.279 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-10-26T22:37:35.280Z,1761518255.280 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.855038
2025-10-26T22:37:35.512Z,1761518255.512 [DAT](INFO): DAT read: 22:37:34.1488 LVL= 27056, 24113, 32754, 32755, AGC= 61, IDX= 500, 0.22, 0.079, 1.404,-0.605, 0.531, PHS=-0.350, 0.918,-1.180, RAW= 353.1,   6.8, CAL= 353.0,   5.9, ROT= 157.0,  -5.9

2025-10-26T22:37:35.513Z,1761518255.513 [DAT](INFO): got valid direction response:
 22:37:34.1488 LVL= 27056, 24113, 32754, 32755, AGC= 61, IDX= 500, 0.22, 0.079, 1.404,-0.605, 0.531, PHS=-0.350, 0.918,-1.180, RAW= 353.1,   6.8, CAL= 353.0,   5.9, ROT= 157.0,  -5.9

2025-10-26T22:37:35.513Z,1761518255.513 [DAT](INFO): #Rx 80: Read direction message, but no range.
2025-10-26T22:37:35.514Z,1761518255.514 [DAT](INFO): direction in FSK: [-0.915629,0.388661,0.102793]
2025-10-26T22:37:35.518Z,1761518255.518 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.092560
2025-10-26T22:37:35.553Z,1761518255.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703555,-0.710351,-0.020262],[0.710476,0.702493,0.041554],[-0.015284,-0.043631,0.998931]]
2025-10-26T22:37:35.620Z,1761518255.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.503750 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:35.622Z,1761518255.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.854328 m,
      bearing: 202.030393 deg,
      lat: 36.779442 deg,
      lon: -121.859472 deg,
      deltaT: 0.503750 s,
      deltaX: 0.000706 m,
      approachRate: 0.001401 m/s,
      posRepo size: 4

2025-10-26T22:37:35.622Z,1761518255.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.85 m.
2025-10-26T22:37:35.764Z,1761518255.764 [DAT](INFO): DAT read: Rx Time:22:37:34.6489 

2025-10-26T22:37:35.765Z,1761518255.765 [DAT](INFO): Rx dataTimestamp_ set to:1761518255.764611
2025-10-26T22:37:35.769Z,1761518255.769 [DAT](INFO): DAT read: Bearing   0.3,  23.1 (Local)

2025-10-26T22:37:35.770Z,1761518255.770 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.3,  23.1 (Local)

2025-10-26T22:37:35.776Z,1761518255.776 [DAT](INFO): DAT read: Range 11 to 50 :    27.2 m (trip time 18.1 ms) speed -0.2

2025-10-26T22:37:35.779Z,1761518255.779 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-10-26T22:37:35.780Z,1761518255.780 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.354622
2025-10-26T22:37:36.016Z,1761518256.016 [DAT](INFO): DAT read: 22:37:34.6489 LVL= 28864, 25905, 32754, 32755, AGC= 64, IDX= 502,-0.02, 0.049, 1.381,-0.619, 0.519, PHS=-0.368, 0.906,-1.182, RAW= 352.7,   7.1, CAL= 352.7,   6.5, ROT= 157.3,  -6.5

2025-10-26T22:37:36.017Z,1761518256.017 [DAT](INFO): got valid direction response:
 22:37:34.6489 LVL= 28864, 25905, 32754, 32755, AGC= 64, IDX= 502,-0.02, 0.049, 1.381,-0.619, 0.519, PHS=-0.368, 0.906,-1.182, RAW= 352.7,   7.1, CAL= 352.7,   6.5, ROT= 157.3,  -6.5

2025-10-26T22:37:36.018Z,1761518256.018 [DAT](INFO): #Rx 82: Read direction message, but no range.
2025-10-26T22:37:36.019Z,1761518256.019 [DAT](INFO): direction in FSK: [-0.916608,0.383425,0.113203]
2025-10-26T22:37:36.022Z,1761518256.022 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.596931
2025-10-26T22:37:36.025Z,1761518256.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703023,-0.710872,-0.020477],[0.711006,0.701960,0.041497],[-0.015125,-0.043733,0.998929]]
2025-10-26T22:37:36.118Z,1761518256.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.200001 m,
      deltaT: 0.503166 s,
      deltaX: 0.200001 m,
      approachRate: 0.397485 m/s,
      rangeRepo size: 4

2025-10-26T22:37:36.129Z,1761518256.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.053249 m,
      bearing: 202.344913 deg,
      lat: 36.779442 deg,
      lon: -121.859474 deg,
      deltaT: 0.503166 s,
      deltaX: 0.198921 m,
      approachRate: 0.395339 m/s,
      posRepo size: 4

2025-10-26T22:37:36.129Z,1761518256.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.05 m.
2025-10-26T22:37:36.271Z,1761518256.270 [DAT](INFO): DAT read: Rx Time:22:37:35.1489 

2025-10-26T22:37:36.272Z,1761518256.272 [DAT](INFO): Rx dataTimestamp_ set to:1761518256.270974
2025-10-26T22:37:36.276Z,1761518256.276 [DAT](INFO): DAT read: Bearing 359.9,  22.5 (Local)

2025-10-26T22:37:36.277Z,1761518256.277 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.9,  22.5 (Local)

2025-10-26T22:37:36.285Z,1761518256.285 [DAT](INFO): DAT read: Range 11 to 50 :    27.2 m (trip time 18.1 ms) speed -0.2

2025-10-26T22:37:36.293Z,1761518256.293 [DAT](INFO): DAT read: 22:37:35.1489 LVL= 28704, 26353, 32754, 32755, AGC= 65, IDX= 502,-0.29,-2.150,-0.813,-2.796,-1.664, PHS=-0.385, 0.896,-1.176, RAW= 352.2,   7.4, CAL= 352.2,   6.9, ROT= 157.8,  -6.9

2025-10-26T22:37:36.294Z,1761518256.294 [DAT](INFO): got valid direction response:
 22:37:35.1489 LVL= 28704, 26353, 32754, 32755, AGC= 65, IDX= 502,-0.29,-2.150,-0.813,-2.796,-1.664, PHS=-0.385, 0.896,-1.176, RAW= 352.2,   7.4, CAL= 352.2,   6.9, ROT= 157.8,  -6.9

2025-10-26T22:37:36.295Z,1761518256.295 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-10-26T22:37:36.300Z,1761518256.300 [DAT](INFO): direction in FSK: [-0.919165,0.375104,0.120137]
2025-10-26T22:37:36.300Z,1761518256.300 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:36.309Z,1761518256.309 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.883118
2025-10-26T22:37:36.419Z,1761518256.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702755,-0.711128,-0.020780],[0.711276,0.701690,0.041447],[-0.014893,-0.043908,0.998925]]
2025-10-26T22:37:36.464Z,1761518256.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.200001 m,
      deltaT: 0.506363 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:36.466Z,1761518256.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.053249 m,
      bearing: 202.846943 deg,
      lat: 36.779442 deg,
      lon: -121.859474 deg,
      deltaT: 0.506363 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:36.466Z,1761518256.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.05 m.
2025-10-26T22:37:36.518Z,1761518256.518 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.092430
2025-10-26T22:37:36.773Z,1761518256.773 [DAT](INFO): DAT read: Rx Time:22:37:35.6490 

2025-10-26T22:37:36.775Z,1761518256.775 [DAT](INFO): Rx dataTimestamp_ set to:1761518256.773586
2025-10-26T22:37:36.779Z,1761518256.779 [DAT](INFO): DAT read: Bearing 359.1,  23.2 (Local)

2025-10-26T22:37:36.780Z,1761518256.780 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.1,  23.2 (Local)

2025-10-26T22:37:36.782Z,1761518256.782 [DAT](INFO): DAT read: Range 11 to 50 :    27.3 m (trip time 18.2 ms) speed -0.1

2025-10-26T22:37:36.786Z,1761518256.786 [DAT](INFO): DAT read: 22:37:35.6490 LVL= 28464, 25505, 32754, 32755, AGC= 65, IDX= 503, 0.16, 1.639, 2.951, 0.974, 2.123, PHS=-0.381, 0.873,-1.193, RAW= 352.9,   7.8, CAL= 352.9,   7.6, ROT= 157.1,  -7.6

2025-10-26T22:37:36.787Z,1761518256.787 [DAT](INFO): got valid direction response:
 22:37:35.6490 LVL= 28464, 25505, 32754, 32755, AGC= 65, IDX= 503, 0.16, 1.639, 2.951, 0.974, 2.123, PHS=-0.381, 0.873,-1.193, RAW= 352.9,   7.8, CAL= 352.9,   7.6, ROT= 157.1,  -7.6

2025-10-26T22:37:36.788Z,1761518256.788 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-10-26T22:37:36.840Z,1761518256.840 [DAT](INFO): direction in FSK: [-0.913093,0.385706,0.132256]
2025-10-26T22:37:36.842Z,1761518256.842 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:36.871Z,1761518256.871 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.445755
2025-10-26T22:37:36.908Z,1761518256.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702686,-0.711195,-0.020847],[0.711346,0.701622,0.041396],[-0.014814,-0.043918,0.998925]]
2025-10-26T22:37:37.006Z,1761518257.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 0.502612 s,
      deltaX: 0.099998 m,
      approachRate: 0.198958 m/s,
      rangeRepo size: 4

2025-10-26T22:37:37.012Z,1761518257.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.153782 m,
      bearing: 202.120950 deg,
      lat: 36.779442 deg,
      lon: -121.859474 deg,
      deltaT: 0.502612 s,
      deltaX: 0.100533 m,
      approachRate: 0.200020 m/s,
      posRepo size: 4

2025-10-26T22:37:37.012Z,1761518257.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.15 m.
2025-10-26T22:37:37.020Z,1761518257.020 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.595203
2025-10-26T22:37:37.277Z,1761518257.277 [DAT](INFO): DAT read: Rx Time:22:37:36.1490 

2025-10-26T22:37:37.278Z,1761518257.278 [DAT](INFO): Rx dataTimestamp_ set to:1761518257.277346
2025-10-26T22:37:37.281Z,1761518257.281 [DAT](INFO): DAT read: Bearing 359.8,  22.4 (Local)

2025-10-26T22:37:37.281Z,1761518257.281 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.8,  22.4 (Local)

2025-10-26T22:37:37.284Z,1761518257.284 [DAT](INFO): DAT read: Range 11 to 50 :    27.3 m (trip time 18.2 ms) speed -0.1

2025-10-26T22:37:37.289Z,1761518257.289 [DAT](INFO): DAT read: 22:37:36.1490 LVL= 31296, 28817, 32754, 32755, AGC= 64, IDX= 503,-0.20,-1.081, 0.254,-1.721,-0.590, PHS=-0.388, 0.889,-1.174, RAW= 352.2,   7.5, CAL= 352.1,   7.1, ROT= 157.9,  -7.1

2025-10-26T22:37:37.290Z,1761518257.290 [DAT](INFO): got valid direction response:
 22:37:36.1490 LVL= 31296, 28817, 32754, 32755, AGC= 64, IDX= 503,-0.20,-1.081, 0.254,-1.721,-0.590, PHS=-0.388, 0.889,-1.174, RAW= 352.2,   7.5, CAL= 352.1,   7.1, ROT= 157.9,  -7.1

2025-10-26T22:37:37.290Z,1761518257.290 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-10-26T22:37:37.291Z,1761518257.291 [DAT](INFO): direction in FSK: [-0.919424,0.373339,0.123601]
2025-10-26T22:37:37.291Z,1761518257.291 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:37.295Z,1761518257.295 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.869652
2025-10-26T22:37:37.355Z,1761518257.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703200,-0.710672,-0.021325],[0.710844,0.702123,0.041522],[-0.014536,-0.044357,0.998910]]
2025-10-26T22:37:37.438Z,1761518257.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 0.503760 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:37.444Z,1761518257.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.153782 m,
      bearing: 202.900304 deg,
      lat: 36.779442 deg,
      lon: -121.859474 deg,
      deltaT: 0.503760 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:37.445Z,1761518257.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.15 m.
2025-10-26T22:37:37.527Z,1761518257.527 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.101768
2025-10-26T22:37:37.739Z,1761518257.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.15 m.
2025-10-26T22:37:37.781Z,1761518257.781 [DAT](INFO): DAT read: Rx Time:22:37:36.6492 

2025-10-26T22:37:37.782Z,1761518257.782 [DAT](INFO): Rx dataTimestamp_ set to:1761518257.781472
2025-10-26T22:37:37.783Z,1761518257.783 [DAT](INFO): DAT read: Bearing   0.6,  23.0 (Local)

2025-10-26T22:37:37.783Z,1761518257.783 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.6,  23.0 (Local)

2025-10-26T22:37:37.786Z,1761518257.786 [DAT](INFO): DAT read: Range 11 to 50 :    27.6 m (trip time 18.4 ms) speed -0.1

2025-10-26T22:37:37.790Z,1761518257.790 [DAT](INFO): DAT read: 22:37:36.6492 LVL= 27488, 25361, 32754, 32755, AGC= 63, IDX= 504, 0.22, 1.973,-2.988, 1.305, 2.436, PHS=-0.361, 0.904,-1.175, RAW= 352.9,   7.0, CAL= 352.8,   6.3, ROT= 157.2,  -6.3

2025-10-26T22:37:37.791Z,1761518257.791 [DAT](INFO): got valid direction response:
 22:37:36.6492 LVL= 27488, 25361, 32754, 32755, AGC= 63, IDX= 504, 0.22, 1.973,-2.988, 1.305, 2.436, PHS=-0.361, 0.904,-1.175, RAW= 352.9,   7.0, CAL= 352.8,   6.3, ROT= 157.2,  -6.3

2025-10-26T22:37:37.792Z,1761518257.792 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-10-26T22:37:37.793Z,1761518257.793 [DAT](INFO): direction in FSK: [-0.916296,0.385175,0.109734]
2025-10-26T22:37:37.793Z,1761518257.793 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:37.801Z,1761518257.801 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.375591
2025-10-26T22:37:38.033Z,1761518258.033 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.608116
2025-10-26T22:37:38.161Z,1761518258.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704797,-0.709072,-0.021874],[0.709264,0.703695,0.041912],[-0.014326,-0.045054,0.998882]]
2025-10-26T22:37:38.210Z,1761518258.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.600000 m,
      deltaT: 0.504126 s,
      deltaX: 0.300001 m,
      approachRate: 0.595092 m/s,
      rangeRepo size: 4

2025-10-26T22:37:38.212Z,1761518258.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.452539 m,
      bearing: 202.107562 deg,
      lat: 36.779442 deg,
      lon: -121.859476 deg,
      deltaT: 0.504126 s,
      deltaX: 0.298758 m,
      approachRate: 0.592625 m/s,
      posRepo size: 4

2025-10-26T22:37:38.212Z,1761518258.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m.
2025-10-26T22:37:38.285Z,1761518258.285 [DAT](INFO): DAT read: Rx Time:22:37:37.1491 

2025-10-26T22:37:38.286Z,1761518258.286 [DAT](INFO): Rx dataTimestamp_ set to:1761518258.285318
2025-10-26T22:37:38.287Z,1761518258.287 [DAT](INFO): DAT read: Bearing 357.9,  21.4 (Local)

2025-10-26T22:37:38.287Z,1761518258.287 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.9,  21.4 (Local)

2025-10-26T22:37:38.289Z,1761518258.289 [DAT](INFO): DAT read: Range 11 to 50 :    27.5 m (trip time 18.3 ms) speed -0.1

2025-10-26T22:37:38.294Z,1761518258.294 [DAT](INFO): DAT read: 22:37:37.1491 LVL= 28912, 28017, 32754, 32755, AGC= 63, IDX= 504,-0.20,-0.483, 0.865,-1.096, 0.055, PHS=-0.437, 0.854,-1.195, RAW= 351.5,   8.7, CAL= 351.5,   9.0, ROT= 158.5,  -9.0

2025-10-26T22:37:38.296Z,1761518258.296 [DAT](INFO): got valid direction response:
 22:37:37.1491 LVL= 28912, 28017, 32754, 32755, AGC= 63, IDX= 504,-0.20,-0.483, 0.865,-1.096, 0.055, PHS=-0.437, 0.854,-1.195, RAW= 351.5,   8.7, CAL= 351.5,   9.0, ROT= 158.5,  -9.0

2025-10-26T22:37:38.296Z,1761518258.296 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-10-26T22:37:38.297Z,1761518258.297 [DAT](INFO): direction in FSK: [-0.918963,0.361989,0.156434]
2025-10-26T22:37:38.297Z,1761518258.297 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:38.302Z,1761518258.302 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.876286
2025-10-26T22:37:38.536Z,1761518258.536 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.111118
2025-10-26T22:37:38.564Z,1761518258.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705659,-0.708212,-0.021939],[0.708410,0.704559,0.041848],[-0.014180,-0.045072,0.998883]]
2025-10-26T22:37:38.587Z,1761518258.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.500000 m,
      deltaT: 0.503846 s,
      deltaX: -0.100000 m,
      approachRate: -0.198474 m/s,
      rangeRepo size: 4

2025-10-26T22:37:38.589Z,1761518258.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.353073 m,
      bearing: 203.206806 deg,
      lat: 36.779443 deg,
      lon: -121.859477 deg,
      deltaT: 0.503846 s,
      deltaX: -0.099466 m,
      approachRate: -0.197414 m/s,
      posRepo size: 4

2025-10-26T22:37:38.590Z,1761518258.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.35 m.
2025-10-26T22:37:38.789Z,1761518258.789 [DAT](INFO): DAT read: Rx Time:22:37:37.6491 

2025-10-26T22:37:38.790Z,1761518258.790 [DAT](INFO): Rx dataTimestamp_ set to:1761518258.789611
2025-10-26T22:37:38.791Z,1761518258.791 [DAT](INFO): DAT read: Bearing 359.7,  22.3 (Local)

2025-10-26T22:37:38.792Z,1761518258.792 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.7,  22.3 (Local)

2025-10-26T22:37:38.794Z,1761518258.794 [DAT](INFO): DAT read: Range 11 to 50 :    27.5 m (trip time 18.3 ms) speed 0.0

2025-10-26T22:37:38.798Z,1761518258.798 [DAT](INFO): DAT read: 22:37:37.6491 LVL= 26832, 22977, 32754, 32755, AGC= 61, IDX= 504, 0.20, 0.696, 2.034, 0.049, 1.190, PHS=-0.392, 0.890,-1.184, RAW= 352.3,   7.6, CAL= 352.2,   7.3, ROT= 157.8,  -7.3

2025-10-26T22:37:38.800Z,1761518258.800 [DAT](INFO): got valid direction response:
 22:37:37.6491 LVL= 26832, 22977, 32754, 32755, AGC= 61, IDX= 504, 0.20, 0.696, 2.034, 0.049, 1.190, PHS=-0.392, 0.890,-1.184, RAW= 352.3,   7.6, CAL= 352.2,   7.3, ROT= 157.8,  -7.3

2025-10-26T22:37:38.800Z,1761518258.800 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-10-26T22:37:38.801Z,1761518258.801 [DAT](INFO): direction in FSK: [-0.918366,0.374778,0.127065]
2025-10-26T22:37:38.801Z,1761518258.801 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:38.815Z,1761518258.815 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.385700
2025-10-26T22:37:38.966Z,1761518258.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706437,-0.707439,-0.021821],[0.707642,0.705370,0.041173],[-0.013736,-0.044528,0.998914]]
2025-10-26T22:37:39.041Z,1761518259.041 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.615341
2025-10-26T22:37:39.052Z,1761518259.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.500000 m,
      deltaT: 0.504293 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:39.054Z,1761518259.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.353249 m,
      bearing: 202.531304 deg,
      lat: 36.779444 deg,
      lon: -121.859478 deg,
      deltaT: 0.504293 s,
      deltaX: 0.000175 m,
      approachRate: 0.000348 m/s,
      posRepo size: 4

2025-10-26T22:37:39.054Z,1761518259.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.35 m.
2025-10-26T22:37:39.293Z,1761518259.293 [DAT](INFO): DAT read: Rx Time:22:37:38.1491 

2025-10-26T22:37:39.293Z,1761518259.293 [DAT](INFO): Rx dataTimestamp_ set to:1761518259.293142
2025-10-26T22:37:39.295Z,1761518259.295 [DAT](INFO): DAT read: Bearing 357.5,  21.0 (Local)

2025-10-26T22:37:39.295Z,1761518259.295 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.5,  21.0 (Local)

2025-10-26T22:37:39.297Z,1761518259.297 [DAT](INFO): DAT read: Range 11 to 50 :    27.5 m (trip time 18.3 ms) speed 0.0

2025-10-26T22:37:39.302Z,1761518259.302 [DAT](INFO): DAT read: 22:37:38.1491 LVL= 29680, 24625, 32754, 32755, AGC= 63, IDX= 504,-0.29,-1.898,-0.553,-2.491,-1.348, PHS=-0.448, 0.840,-1.187, RAW= 351.1,   9.0, CAL= 351.2,   9.4, ROT= 158.8,  -9.4

2025-10-26T22:37:39.305Z,1761518259.305 [DAT](INFO): got valid direction response:
 22:37:38.1491 LVL= 29680, 24625, 32754, 32755, AGC= 63, IDX= 504,-0.29,-1.898,-0.553,-2.491,-1.348, PHS=-0.448, 0.840,-1.187, RAW= 351.1,   9.0, CAL= 351.2,   9.4, ROT= 158.8,  -9.4

2025-10-26T22:37:39.306Z,1761518259.306 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-10-26T22:37:39.308Z,1761518259.308 [DAT](INFO): direction in FSK: [-0.919805,0.356769,0.163326]
2025-10-26T22:37:39.309Z,1761518259.309 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:39.316Z,1761518259.316 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.890747
2025-10-26T22:37:39.370Z,1761518259.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707269,-0.706611,-0.021699],[0.706817,0.706226,0.040673],[-0.013416,-0.044104,0.998937]]
2025-10-26T22:37:39.446Z,1761518259.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.500000 m,
      deltaT: 0.503531 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:39.449Z,1761518259.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.353249 m,
      bearing: 203.367383 deg,
      lat: 36.779444 deg,
      lon: -121.859480 deg,
      deltaT: 0.503531 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:39.450Z,1761518259.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.35 m.
2025-10-26T22:37:39.545Z,1761518259.545 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.119305
2025-10-26T22:37:39.789Z,1761518259.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708102,-0.705779,-0.021651],[0.705992,0.707087,0.040040],[-0.012951,-0.043638,0.998963]]
2025-10-26T22:37:39.797Z,1761518259.797 [DAT](INFO): DAT read: Rx Time:22:37:38.6492 

2025-10-26T22:37:39.798Z,1761518259.798 [DAT](INFO): Rx dataTimestamp_ set to:1761518259.797376
2025-10-26T22:37:39.799Z,1761518259.799 [DAT](INFO): DAT read: Bearing 359.3,  21.9 (Local)

2025-10-26T22:37:39.799Z,1761518259.799 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.3,  21.9 (Local)

2025-10-26T22:37:39.801Z,1761518259.801 [DAT](INFO): DAT read: Range 11 to 50 :    27.6 m (trip time 18.4 ms) speed -0.1

2025-10-26T22:37:39.810Z,1761518259.810 [DAT](INFO): DAT read: 22:37:38.6492 LVL= 26720, 24561, 32754, 32755, AGC= 62, IDX= 505, 0.06, 1.104, 2.444, 0.470, 1.610, PHS=-0.405, 0.879,-1.184, RAW= 352.0,   7.9, CAL= 352.0,   7.8, ROT= 158.0,  -7.8

2025-10-26T22:37:39.813Z,1761518259.813 [DAT](INFO): got valid direction response:
 22:37:38.6492 LVL= 26720, 24561, 32754, 32755, AGC= 62, IDX= 505, 0.06, 1.104, 2.444, 0.470, 1.610, PHS=-0.405, 0.879,-1.184, RAW= 352.0,   7.9, CAL= 352.0,   7.8, ROT= 158.0,  -7.8

2025-10-26T22:37:39.814Z,1761518259.814 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-10-26T22:37:39.816Z,1761518259.816 [DAT](INFO): direction in FSK: [-0.918605,0.371141,0.135716]
2025-10-26T22:37:39.816Z,1761518259.816 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:39.827Z,1761518259.827 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.401390
2025-10-26T22:37:39.948Z,1761518259.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.600000 m,
      deltaT: 0.504234 s,
      deltaX: 0.100000 m,
      approachRate: 0.198321 m/s,
      rangeRepo size: 4

2025-10-26T22:37:39.950Z,1761518259.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.452656 m,
      bearing: 202.580945 deg,
      lat: 36.779445 deg,
      lon: -121.859482 deg,
      deltaT: 0.504234 s,
      deltaX: 0.099407 m,
      approachRate: 0.197145 m/s,
      posRepo size: 4

2025-10-26T22:37:39.951Z,1761518259.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m.
2025-10-26T22:37:40.048Z,1761518260.048 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.623241
2025-10-26T22:37:40.302Z,1761518260.302 [DAT](INFO): DAT read: Rx Time:22:37:39.1492 

2025-10-26T22:37:40.303Z,1761518260.303 [DAT](INFO): Rx dataTimestamp_ set to:1761518260.302653
2025-10-26T22:37:40.306Z,1761518260.306 [DAT](INFO): DAT read: Bearing 357.9,  20.7 (Local)

2025-10-26T22:37:40.306Z,1761518260.306 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.9,  20.7 (Local)

2025-10-26T22:37:40.328Z,1761518260.328 [DAT](INFO): DAT read: Range 11 to 50 :    27.6 m (trip time 18.4 ms) speed -0.1

2025-10-26T22:37:40.338Z,1761518260.338 [DAT](INFO): DAT read: 22:37:39.1492 LVL= 31728, 28433, 32754, 32755, AGC= 61, IDX= 505,-0.48,-1.943,-0.584,-2.533,-1.393, PHS=-0.448, 0.854,-1.184, RAW= 350.9,   8.7, CAL= 351.0,   9.1, ROT= 159.0,  -9.1

2025-10-26T22:37:40.344Z,1761518260.344 [DAT](INFO): got valid direction response:
 22:37:39.1492 LVL= 31728, 28433, 32754, 32755, AGC= 61, IDX= 505,-0.48,-1.943,-0.584,-2.533,-1.393, PHS=-0.448, 0.854,-1.184, RAW= 350.9,   8.7, CAL= 351.0,   9.1, ROT= 159.0,  -9.1

2025-10-26T22:37:40.345Z,1761518260.345 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-10-26T22:37:40.346Z,1761518260.346 [DAT](INFO): direction in FSK: [-0.921830,0.353857,0.158158]
2025-10-26T22:37:40.346Z,1761518260.346 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:40.358Z,1761518260.358 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.932613
2025-10-26T22:37:40.383Z,1761518260.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709001,-0.704866,-0.021965],[0.705102,0.708012,0.039372],[-0.012200,-0.043402,0.998983]]
2025-10-26T22:37:40.492Z,1761518260.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.600000 m,
      deltaT: 0.505277 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:40.494Z,1761518260.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.452656 m,
      bearing: 203.450880 deg,
      lat: 36.779445 deg,
      lon: -121.859482 deg,
      deltaT: 0.505277 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:40.495Z,1761518260.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m.
2025-10-26T22:37:40.553Z,1761518260.553 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.127975
2025-10-26T22:37:40.782Z,1761518260.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709826,-0.704020,-0.022416],[0.704285,0.708860,0.038740],[-0.011384,-0.043286,0.998998]]
2025-10-26T22:37:40.801Z,1761518260.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m.
2025-10-26T22:37:40.807Z,1761518260.807 [DAT](INFO): DAT read: Rx Time:22:37:39.6493 

2025-10-26T22:37:40.808Z,1761518260.808 [DAT](INFO): Rx dataTimestamp_ set to:1761518260.807024
2025-10-26T22:37:40.810Z,1761518260.810 [DAT](INFO): DAT read: Bearing 358.4,  21.1 (Local)

2025-10-26T22:37:40.810Z,1761518260.810 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.4,  21.1 (Local)

2025-10-26T22:37:40.822Z,1761518260.822 [DAT](INFO): DAT read: Range 11 to 50 :    27.8 m (trip time 18.5 ms) speed -0.1

2025-10-26T22:37:40.849Z,1761518260.849 [DAT](INFO): DAT read: 22:37:39.6493 LVL= 27632, 24385, 32754, 32755, AGC= 63, IDX= 506,-0.04,-0.693, 0.658,-1.302,-0.162, PHS=-0.430, 0.864,-1.185, RAW= 351.4,   8.4, CAL= 351.4,   8.5, ROT= 158.6,  -8.5

2025-10-26T22:37:40.865Z,1761518260.865 [DAT](INFO): got valid direction response:
 22:37:39.6493 LVL= 27632, 24385, 32754, 32755, AGC= 63, IDX= 506,-0.04,-0.693, 0.658,-1.302,-0.162, PHS=-0.430, 0.864,-1.185, RAW= 351.4,   8.4, CAL= 351.4,   8.5, ROT= 158.6,  -8.5

2025-10-26T22:37:40.866Z,1761518260.866 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-10-26T22:37:40.891Z,1761518260.891 [DAT](INFO): direction in FSK: [-0.920829,0.360869,0.147809]
2025-10-26T22:37:40.904Z,1761518260.904 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:40.933Z,1761518260.933 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.508144
2025-10-26T22:37:41.056Z,1761518261.056 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.631088
2025-10-26T22:37:41.214Z,1761518261.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.799999 m,
      deltaT: 0.504371 s,
      deltaX: 0.199999 m,
      approachRate: 0.396531 m/s,
      rangeRepo size: 4

2025-10-26T22:37:41.216Z,1761518261.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.650602 m,
      bearing: 203.015871 deg,
      lat: 36.779446 deg,
      lon: -121.859484 deg,
      deltaT: 0.504371 s,
      deltaX: 0.197947 m,
      approachRate: 0.392462 m/s,
      posRepo size: 4

2025-10-26T22:37:41.217Z,1761518261.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-10-26T22:37:41.310Z,1761518261.310 [DAT](INFO): DAT read: Rx Time:22:37:40.1493 

2025-10-26T22:37:41.313Z,1761518261.313 [DAT](INFO): Rx dataTimestamp_ set to:1761518261.310804
2025-10-26T22:37:41.316Z,1761518261.316 [DAT](INFO): DAT read: Bearing 355.4,  19.5 (Local)

2025-10-26T22:37:41.316Z,1761518261.316 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.4,  19.5 (Local)

2025-10-26T22:37:41.320Z,1761518261.320 [DAT](INFO): DAT read: Range 11 to 50 :    27.8 m (trip time 18.5 ms) speed -0.1

2025-10-26T22:37:41.338Z,1761518261.338 [DAT](INFO): DAT read: 22:37:40.1493 LVL= 32752, 31217, 32754, 32755, AGC= 64, IDX= 506,-0.48,-2.527,-1.169,-3.073,-1.923, PHS=-0.502, 0.799,-1.194, RAW= 350.0,  10.2, CAL= 350.2,  11.4, ROT= 159.8, -11.4

2025-10-26T22:37:41.339Z,1761518261.339 [DAT](INFO): got valid direction response:
 22:37:40.1493 LVL= 32752, 31217, 32754, 32755, AGC= 64, IDX= 506,-0.48,-2.527,-1.169,-3.073,-1.923, PHS=-0.502, 0.799,-1.194, RAW= 350.0,  10.2, CAL= 350.2,  11.4, ROT= 159.8, -11.4

2025-10-26T22:37:41.348Z,1761518261.348 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-10-26T22:37:41.350Z,1761518261.350 [DAT](INFO): direction in FSK: [-0.919978,0.338486,0.197657]
2025-10-26T22:37:41.350Z,1761518261.350 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:41.372Z,1761518261.372 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.937908
2025-10-26T22:37:41.550Z,1761518261.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711062,-0.702730,-0.023704],[0.703068,0.710150,0.037171],[-0.009288,-0.043096,0.999028]]
2025-10-26T22:37:41.561Z,1761518261.560 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.135262
2025-10-26T22:37:41.606Z,1761518261.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.799999 m,
      deltaT: 0.503780 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:41.612Z,1761518261.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.650602 m,
      bearing: 203.991629 deg,
      lat: 36.779447 deg,
      lon: -121.859487 deg,
      deltaT: 0.503780 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:41.613Z,1761518261.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-10-26T22:37:41.814Z,1761518261.814 [DAT](INFO): DAT read: Rx Time:22:37:40.6494 

2025-10-26T22:37:41.815Z,1761518261.815 [DAT](INFO): Rx dataTimestamp_ set to:1761518261.814674
2025-10-26T22:37:41.817Z,1761518261.817 [DAT](INFO): DAT read: Bearing 357.5,  21.1 (Local)

2025-10-26T22:37:41.818Z,1761518261.818 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.5,  21.1 (Local)

2025-10-26T22:37:41.832Z,1761518261.832 [DAT](INFO): DAT read: Range 11 to 50 :    27.9 m (trip time 18.6 ms) speed -0.2

2025-10-26T22:37:41.853Z,1761518261.853 [DAT](INFO): DAT read: 22:37:40.6494 LVL= 25952, 24465, 32754, 32755, AGC= 65, IDX= 507, 0.09,-0.554, 0.788,-1.167,-0.013, PHS=-0.439, 0.846,-1.198, RAW= 351.6,   8.9, CAL= 351.6,   9.3, ROT= 158.4,  -9.3

2025-10-26T22:37:41.855Z,1761518261.855 [DAT](INFO): got valid direction response:
 22:37:40.6494 LVL= 25952, 24465, 32754, 32755, AGC= 65, IDX= 507, 0.09,-0.554, 0.788,-1.167,-0.013, PHS=-0.439, 0.846,-1.198, RAW= 351.6,   8.9, CAL= 351.6,   9.3, ROT= 158.4,  -9.3

2025-10-26T22:37:41.855Z,1761518261.855 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-10-26T22:37:41.856Z,1761518261.856 [DAT](INFO): direction in FSK: [-0.917555,0.363286,0.161604]
2025-10-26T22:37:41.856Z,1761518261.856 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:41.864Z,1761518261.864 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.439034
2025-10-26T22:37:41.985Z,1761518261.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711519,-0.702239,-0.024539],[0.702621,0.710638,0.036294],[-0.008049,-0.043065,0.999040]]
2025-10-26T22:37:42.063Z,1761518262.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.900000 m,
      deltaT: 0.503870 s,
      deltaX: 0.100000 m,
      approachRate: 0.198465 m/s,
      rangeRepo size: 4

2025-10-26T22:37:42.065Z,1761518262.065 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.639473
2025-10-26T22:37:42.077Z,1761518262.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.749353 m,
      bearing: 202.656788 deg,
      lat: 36.779447 deg,
      lon: -121.859487 deg,
      deltaT: 0.503870 s,
      deltaX: 0.098751 m,
      approachRate: 0.195985 m/s,
      posRepo size: 4

2025-10-26T22:37:42.077Z,1761518262.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.75 m.
2025-10-26T22:37:42.318Z,1761518262.318 [DAT](INFO): DAT read: Rx Time:22:37:41.1494 

2025-10-26T22:37:42.318Z,1761518262.318 [DAT](INFO): Rx dataTimestamp_ set to:1761518262.318167
2025-10-26T22:37:42.321Z,1761518262.321 [DAT](INFO): DAT read: Bearing 355.1,  19.4 (Local)

2025-10-26T22:37:42.322Z,1761518262.322 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,  19.4 (Local)

2025-10-26T22:37:42.325Z,1761518262.325 [DAT](INFO): DAT read: Range 11 to 50 :    27.9 m (trip time 18.6 ms) speed -0.1

2025-10-26T22:37:42.332Z,1761518262.332 [DAT](INFO): DAT read: 22:37:41.1494 LVL= 32752, 29265, 32754, 32755, AGC= 67, IDX= 507,-0.16, 2.264,-2.658, 1.714, 2.872, PHS=-0.506, 0.799,-1.201, RAW= 350.0,  10.3, CAL= 350.2,  11.6, ROT= 159.8, -11.6

2025-10-26T22:37:42.333Z,1761518262.333 [DAT](INFO): got valid direction response:
 22:37:41.1494 LVL= 32752, 29265, 32754, 32755, AGC= 67, IDX= 507,-0.16, 2.264,-2.658, 1.714, 2.872, PHS=-0.506, 0.799,-1.201, RAW= 350.0,  10.3, CAL= 350.2,  11.6, ROT= 159.8, -11.6

2025-10-26T22:37:42.334Z,1761518262.334 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-10-26T22:37:42.335Z,1761518262.335 [DAT](INFO): direction in FSK: [-0.919325,0.338245,0.201078]
2025-10-26T22:37:42.335Z,1761518262.335 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:42.338Z,1761518262.338 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.913254
2025-10-26T22:37:42.375Z,1761518262.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711722,-0.702006,-0.025268],[0.702428,0.710878,0.035327],[-0.006837,-0.042892,0.999056]]
2025-10-26T22:37:42.456Z,1761518262.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.900000 m,
      deltaT: 0.503493 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:42.458Z,1761518262.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.749353 m,
      bearing: 203.941735 deg,
      lat: 36.779448 deg,
      lon: -121.859487 deg,
      deltaT: 0.503493 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:42.459Z,1761518262.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.75 m.
2025-10-26T22:37:42.569Z,1761518262.569 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.143257
2025-10-26T22:37:42.823Z,1761518262.823 [DAT](INFO): DAT read: Rx Time:22:37:41.6495 

2025-10-26T22:37:42.824Z,1761518262.824 [DAT](INFO): Rx dataTimestamp_ set to:1761518262.822709
2025-10-26T22:37:42.825Z,1761518262.825 [DAT](INFO): DAT read: Bearing 358.0,  20.9 (Local)

2025-10-26T22:37:42.826Z,1761518262.826 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.0,  20.9 (Local)

2025-10-26T22:37:42.830Z,1761518262.830 [DAT](INFO): DAT read: Range 11 to 50 :    28.1 m (trip time 18.7 ms) speed -0.2

2025-10-26T22:37:42.835Z,1761518262.835 [DAT](INFO): DAT read: 22:37:41.6495 LVL= 25488, 23393, 32754, 32755, AGC= 64, IDX= 507, 0.37,-1.741,-0.393,-2.355,-1.208, PHS=-0.430, 0.861,-1.191, RAW= 351.5,   8.5, CAL= 351.6,   8.7, ROT= 158.4,  -8.7

2025-10-26T22:37:42.852Z,1761518262.852 [DAT](INFO): got valid direction response:
 22:37:41.6495 LVL= 25488, 23393, 32754, 32755, AGC= 64, IDX= 507, 0.37,-1.741,-0.393,-2.355,-1.208, PHS=-0.430, 0.861,-1.191, RAW= 351.5,   8.5, CAL= 351.6,   8.7, ROT= 158.4,  -8.7

2025-10-26T22:37:42.853Z,1761518262.853 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-10-26T22:37:42.854Z,1761518262.854 [DAT](INFO): direction in FSK: [-0.919078,0.363889,0.151261]
2025-10-26T22:37:42.854Z,1761518262.854 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:42.870Z,1761518262.870 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.444977
2025-10-26T22:37:42.894Z,1761518262.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711759,-0.701934,-0.026210],[0.702402,0.710952,0.034320],[-0.005457,-0.042837,0.999067]]
2025-10-26T22:37:43.019Z,1761518263.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.100000 m,
      deltaT: 0.504542 s,
      deltaX: 0.200001 m,
      approachRate: 0.396401 m/s,
      rangeRepo size: 4

2025-10-26T22:37:43.025Z,1761518263.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.948915 m,
      bearing: 202.674179 deg,
      lat: 36.779447 deg,
      lon: -121.859488 deg,
      deltaT: 0.504542 s,
      deltaX: 0.199562 m,
      approachRate: 0.395531 m/s,
      posRepo size: 4

2025-10-26T22:37:43.025Z,1761518263.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.95 m.
2025-10-26T22:37:43.073Z,1761518263.073 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.647873
2025-10-26T22:37:43.305Z,1761518263.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711743,-0.701904,-0.027421],[0.702429,0.710971,0.033368],[-0.003925,-0.043011,0.999067]]
2025-10-26T22:37:43.326Z,1761518263.326 [DAT](INFO): DAT read: Rx Time:22:37:42.1494 

2025-10-26T22:37:43.329Z,1761518263.329 [DAT](INFO): Rx dataTimestamp_ set to:1761518263.327349
2025-10-26T22:37:43.333Z,1761518263.333 [DAT](INFO): DAT read: Bearing 355.7,  19.5 (Local)

2025-10-26T22:37:43.333Z,1761518263.333 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.7,  19.5 (Local)

2025-10-26T22:37:43.335Z,1761518263.335 [DAT](INFO): DAT read: Range 11 to 50 :    27.9 m (trip time 18.6 ms) speed -0.2

2025-10-26T22:37:43.340Z,1761518263.340 [DAT](INFO): DAT read: 22:37:42.1494 LVL= 32752, 30129, 32754, 32755, AGC= 66, IDX= 507, 0.07, 2.470,-2.454, 1.909, 3.061, PHS=-0.489, 0.812,-1.197, RAW= 350.3,   9.9, CAL= 350.5,  10.9, ROT= 159.5, -10.9

2025-10-26T22:37:43.342Z,1761518263.342 [DAT](INFO): got valid direction response:
 22:37:42.1494 LVL= 32752, 30129, 32754, 32755, AGC= 66, IDX= 507, 0.07, 2.470,-2.454, 1.909, 3.061, PHS=-0.489, 0.812,-1.197, RAW= 350.3,   9.9, CAL= 350.5,  10.9, ROT= 159.5, -10.9

2025-10-26T22:37:43.342Z,1761518263.342 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-10-26T22:37:43.343Z,1761518263.343 [DAT](INFO): direction in FSK: [-0.919773,0.343889,0.189095]
2025-10-26T22:37:43.348Z,1761518263.348 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:43.351Z,1761518263.351 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.925785
2025-10-26T22:37:43.479Z,1761518263.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.900000 m,
      deltaT: 0.504640 s,
      deltaX: -0.200001 m,
      approachRate: -0.396324 m/s,
      rangeRepo size: 4

2025-10-26T22:37:43.485Z,1761518263.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.749989 m,
      bearing: 203.682356 deg,
      lat: 36.779450 deg,
      lon: -121.859491 deg,
      deltaT: 0.504640 s,
      deltaX: -0.198927 m,
      approachRate: -0.394196 m/s,
      posRepo size: 4

2025-10-26T22:37:43.486Z,1761518263.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.75 m.
2025-10-26T22:37:43.577Z,1761518263.577 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.151482
2025-10-26T22:37:43.713Z,1761518263.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711580,-0.702026,-0.028525],[0.702601,0.710848,0.032348],[-0.002432,-0.043060,0.999070]]
2025-10-26T22:37:43.792Z,1761518263.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.75 m.
2025-10-26T22:37:43.830Z,1761518263.830 [DAT](INFO): DAT read: Rx Time:22:37:42.6496 

2025-10-26T22:37:43.831Z,1761518263.831 [DAT](INFO): Rx dataTimestamp_ set to:1761518263.830256
2025-10-26T22:37:43.833Z,1761518263.833 [DAT](INFO): DAT read: Bearing 356.8,  20.0 (Local)

2025-10-26T22:37:43.833Z,1761518263.833 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.8,  20.0 (Local)

2025-10-26T22:37:43.836Z,1761518263.836 [DAT](INFO): DAT read: Rao 50 :    28.2 m (trip time 18.8 ms) speed -0.2

2025-10-26T22:37:43.837Z,1761518263.837 [DAT](INFO): unknown deviceResponse_: Rao 50 :    28.2 m (trip time 18.8 ms) speed -0.2

2025-10-26T22:37:43.843Z,1761518263.843 [DAT](INFO): DAT read: 22:37:42.6496 LVL= 26016, 25313, 32754, 32755, AGC= 61, IDX= 509,-0.21,-3.138,-1.781, 2.565,-2.573, PHS=-0.463, 0.837,-1.189, RAW= 350.7,   9.2, CAL= 350.8,   9.8, ROT= 159.2,  -9.8

2025-10-26T22:37:43.845Z,1761518263.845 [DAT](INFO): got valid direction response:
 22:37:42.6496 LVL= 26016, 25313, 32754, 32755, AGC= 61, IDX= 509,-0.21,-3.138,-1.781, 2.565,-2.573, PHS=-0.463, 0.837,-1.189, RAW= 350.7,   9.2, CAL= 350.8,   9.8, ROT= 159.2,  -9.8

2025-10-26T22:37:43.845Z,1761518263.845 [DAT](INFO): #Rx 98: Read direction message, but no range.
2025-10-26T22:37:43.847Z,1761518263.847 [DAT](INFO): direction in FSK: [-0.921185,0.349925,0.170209]
2025-10-26T22:37:43.860Z,1761518263.860 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.434410
2025-10-26T22:37:44.081Z,1761518264.081 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.655396
2025-10-26T22:37:44.116Z,1761518264.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711158,-0.702416,-0.029437],[0.703032,0.710479,0.031089],[-0.000923,-0.042804,0.999083]]
2025-10-26T22:37:44.178Z,1761518264.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.75 m.
2025-10-26T22:37:44.333Z,1761518264.333 [DAT](INFO): DAT read: Rx Time:22:37:43.1496 

2025-10-26T22:37:44.334Z,1761518264.334 [DAT](INFO): Rx dataTimestamp_ set to:1761518264.333322
2025-10-26T22:37:44.335Z,1761518264.335 [DAT](INFO): DAT read: Bearing 355.9,  19.6 (Local)

2025-10-26T22:37:44.335Z,1761518264.335 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.9,  19.6 (Local)

2025-10-26T22:37:44.337Z,1761518264.337 [DAT](INFO): DAT read: Range 11 to 50 :    28.2 m (trip time 18.8 ms) speed -0.2

2025-10-26T22:37:44.342Z,1761518264.342 [DAT](INFO): DAT read: 22:37:43.1496 LVL= 32752, 27057, 32754, 32755, AGC= 64, IDX= 509,-0.45, 1.792,-3.124, 1.218, 2.378, PHS=-0.484, 0.826,-1.204, RAW= 350.5,   9.7, CAL= 350.6,  10.6, ROT= 159.4, -10.6

2025-10-26T22:37:44.344Z,1761518264.344 [DAT](INFO): got valid direction response:
 22:37:43.1496 LVL= 32752, 27057, 32754, 32755, AGC= 64, IDX= 509,-0.45, 1.792,-3.124, 1.218, 2.378, PHS=-0.484, 0.826,-1.204, RAW= 350.5,   9.7, CAL= 350.6,  10.6, ROT= 159.4, -10.6

2025-10-26T22:37:44.344Z,1761518264.344 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-10-26T22:37:44.345Z,1761518264.345 [DAT](INFO): direction in FSK: [-0.920086,0.345838,0.183951]
2025-10-26T22:37:44.346Z,1761518264.346 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:44.349Z,1761518264.349 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.924030
2025-10-26T22:37:44.516Z,1761518264.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710662,-0.702889,-0.030127],[0.703534,0.710045,0.029607],[0.000581,-0.042236,0.999107]]
2025-10-26T22:37:44.560Z,1761518264.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.200001 m,
      deltaT: 1.005973 s,
      deltaX: 0.300001 m,
      approachRate: 0.298220 m/s,
      rangeRepo size: 4

2025-10-26T22:37:44.562Z,1761518264.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.047918 m,
      bearing: 203.707256 deg,
      lat: 36.779450 deg,
      lon: -121.859492 deg,
      deltaT: 1.005973 s,
      deltaX: 0.297930 m,
      approachRate: 0.296161 m/s,
      posRepo size: 4

2025-10-26T22:37:44.562Z,1761518264.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.05 m.
2025-10-26T22:37:44.584Z,1761518264.584 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.159023
2025-10-26T22:37:44.837Z,1761518264.837 [DAT](INFO): DAT read: Rx Time:22:37:43.6497 

2025-10-26T22:37:44.837Z,1761518264.837 [DAT](INFO): Rx dataTimestamp_ set to:1761518264.837178
2025-10-26T22:37:44.839Z,1761518264.839 [DAT](INFO): DAT read: Bearing 357.3,  20.4 (Local)

2025-10-26T22:37:44.839Z,1761518264.839 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.3,  20.4 (Local)

2025-10-26T22:37:44.841Z,1761518264.841 [DAT](INFO): DAT read: Range 11 to 50 :    28.4 m (trip time 18.9 ms) speed -0.2

2025-10-26T22:37:44.846Z,1761518264.846 [DAT](INFO): DAT read: 22:37:43.6497 LVL= 28576, 22513, 32754, 32755, AGC= 61, IDX= 510, 0.25,-1.663,-0.313,-2.265,-1.118, PHS=-0.443, 0.849,-1.192, RAW= 351.3,   8.8, CAL= 351.3,   9.2, ROT= 158.7,  -9.2

2025-10-26T22:37:44.847Z,1761518264.847 [DAT](INFO): got valid direction response:
 22:37:43.6497 LVL= 28576, 22513, 32754, 32755, AGC= 61, IDX= 510, 0.25,-1.663,-0.313,-2.265,-1.118, PHS=-0.443, 0.849,-1.192, RAW= 351.3,   8.8, CAL= 351.3,   9.2, ROT= 158.7,  -9.2

2025-10-26T22:37:44.847Z,1761518264.847 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-10-26T22:37:44.848Z,1761518264.848 [DAT](INFO): direction in FSK: [-0.919706,0.358579,0.159881]
2025-10-26T22:37:44.849Z,1761518264.849 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:44.877Z,1761518264.877 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.451321
2025-10-26T22:37:45.089Z,1761518265.089 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.663288
2025-10-26T22:37:45.126Z,1761518265.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.400000 m,
      deltaT: 0.503856 s,
      deltaX: 0.199999 m,
      approachRate: 0.396937 m/s,
      rangeRepo size: 4

2025-10-26T22:37:45.132Z,1761518265.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.246103 m,
      bearing: 203.065954 deg,
      lat: 36.779450 deg,
      lon: -121.859492 deg,
      deltaT: 0.503856 s,
      deltaX: 0.198185 m,
      approachRate: 0.393337 m/s,
      posRepo size: 4

2025-10-26T22:37:45.133Z,1761518265.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.25 m.
2025-10-26T22:37:45.341Z,1761518265.341 [DAT](INFO): DAT read: Rx Time:22:37:44.1497 

2025-10-26T22:37:45.341Z,1761518265.341 [DAT](INFO): Rx dataTimestamp_ set to:1761518265.341188
2025-10-26T22:37:45.343Z,1761518265.343 [DAT](INFO): DAT read: Bearing 357.0,  20.2 (Local)

2025-10-26T22:37:45.343Z,1761518265.343 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.0,  20.2 (Local)

2025-10-26T22:37:45.345Z,1761518265.345 [DAT](INFO): DAT read: Range 11 to 50 :    28.4 m (trip time 18.9 ms) speed -0.2

2025-10-26T22:37:45.348Z,1761518265.348 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:37:45.351Z,1761518265.351 [DAT](INFO): DAT read: 22:37:44.1497 LVL= 23888, 21441, 32754, 32755, AGC= 60, IDX= 510, 0.09, 2.176,-2.758, 1.583, 2.727, PHS=-0.449, 0.843,-1.188, RAW= 351.1,   9.0, CAL= 351.1,   9.4, ROT= 158.9,  -9.4

2025-10-26T22:37:45.357Z,1761518265.357 [DAT](INFO): got valid direction response:
 22:37:44.1497 LVL= 23888, 21441, 32754, 32755, AGC= 60, IDX= 510, 0.09, 2.176,-2.758, 1.583, 2.727, PHS=-0.449, 0.843,-1.188, RAW= 351.1,   9.0, CAL= 351.1,   9.4, ROT= 158.9,  -9.4

2025-10-26T22:37:45.357Z,1761518265.357 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-10-26T22:37:45.358Z,1761518265.358 [DAT](INFO): direction in FSK: [-0.920426,0.355163,0.163326]
2025-10-26T22:37:45.359Z,1761518265.359 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:45.362Z,1761518265.362 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.937103
2025-10-26T22:37:45.512Z,1761518265.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709462,-0.704072,-0.030759],[0.704730,0.709045,0.024736],[0.004393,-0.039226,0.999221]]
2025-10-26T22:37:45.559Z,1761518265.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.400000 m,
      deltaT: 0.504010 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:45.561Z,1761518265.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.246103 m,
      bearing: 203.390376 deg,
      lat: 36.779448 deg,
      lon: -121.859492 deg,
      deltaT: 0.504010 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:45.562Z,1761518265.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.25 m.
2025-10-26T22:37:45.594Z,1761518265.594 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.168880
2025-10-26T22:37:45.845Z,1761518265.845 [DAT](INFO): DAT read: Rx Time:22:37:44.6498 

2025-10-26T22:37:45.845Z,1761518265.845 [DAT](INFO): Rx dataTimestamp_ set to:1761518265.845174
2025-10-26T22:37:45.847Z,1761518265.847 [DAT](INFO): DAT read: Bearing 356.7,  19.8 (Local)

2025-10-26T22:37:45.847Z,1761518265.847 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.7,  19.8 (Local)

2025-10-26T22:37:45.849Z,1761518265.849 [DAT](INFO): DAT read: Range 11 to 50 :    28.5 m (trip time 19.0 ms) speed -0.2

2025-10-26T22:37:45.854Z,1761518265.854 [DAT](INFO): DAT read: 22:37:44.6498 LVL= 25824, 22913, 32754, 32755, AGC= 61, IDX= 511,-0.02, 0.050, 1.413,-0.536, 0.614, PHS=-0.462, 0.844,-1.194, RAW= 350.7,   9.1, CAL= 350.8,   9.7, ROT= 159.2,  -9.7

2025-10-26T22:37:45.856Z,1761518265.856 [DAT](INFO): got valid direction response:
 22:37:44.6498 LVL= 25824, 22913, 32754, 32755, AGC= 61, IDX= 511,-0.02, 0.050, 1.413,-0.536, 0.614, PHS=-0.462, 0.844,-1.194, RAW= 350.7,   9.1, CAL= 350.8,   9.7, ROT= 159.2,  -9.7

2025-10-26T22:37:45.857Z,1761518265.857 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-10-26T22:37:45.858Z,1761518265.858 [DAT](INFO): direction in FSK: [-0.921461,0.350030,0.168489]
2025-10-26T22:37:45.858Z,1761518265.858 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:45.861Z,1761518265.861 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.436188
2025-10-26T22:37:45.930Z,1761518265.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709724,-0.703735,-0.032375],[0.704460,0.709297,0.025165],[0.005254,-0.040667,0.999159]]
2025-10-26T22:37:46.038Z,1761518266.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.500000 m,
      deltaT: 0.503986 s,
      deltaX: 0.100000 m,
      approachRate: 0.198419 m/s,
      rangeRepo size: 4

2025-10-26T22:37:46.042Z,1761518266.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.346012 m,
      bearing: 203.647654 deg,
      lat: 36.779449 deg,
      lon: -121.859494 deg,
      deltaT: 0.503986 s,
      deltaX: 0.099909 m,
      approachRate: 0.198237 m/s,
      posRepo size: 4

2025-10-26T22:37:46.043Z,1761518266.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m.
2025-10-26T22:37:46.097Z,1761518266.097 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.672119
2025-10-26T22:37:46.330Z,1761518266.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710369,-0.702991,-0.034341],[0.703804,0.709911,0.026189],[0.005969,-0.042773,0.999067]]
2025-10-26T22:37:46.349Z,1761518266.349 [DAT](INFO): DAT read: Rx Time:22:37:45.1498 

2025-10-26T22:37:46.349Z,1761518266.349 [DAT](INFO): Rx dataTimestamp_ set to:1761518266.349192
2025-10-26T22:37:46.351Z,1761518266.351 [DAT](INFO): DAT read: Bearing 355.0,  19.1 (Local)

2025-10-26T22:37:46.352Z,1761518266.352 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:37:46.351Z,1761518266.351 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.0,  19.1 (Local)

2025-10-26T22:37:46.354Z,1761518266.354 [DAT](INFO): DAT read: Range 11 to 50 :    28.5 m (trip time 19.0 ms) speed -0.1

2025-10-26T22:37:46.359Z,1761518266.359 [DAT](INFO): DAT read: 22:37:45.1498 LVL= 23936, 23105, 32754, 32755, AGC= 60, IDX= 511,-0.27,-1.802,-0.452,-2.360,-1.210, PHS=-0.490, 0.803,-1.194, RAW= 350.3,  10.1, CAL= 350.5,  11.1, ROT= 159.5, -11.1

2025-10-26T22:37:46.360Z,1761518266.360 [DAT](INFO): got valid direction response:
 22:37:45.1498 LVL= 23936, 23105, 32754, 32755, AGC= 60, IDX= 511,-0.27,-1.802,-0.452,-2.360,-1.210, PHS=-0.490, 0.803,-1.194, RAW= 350.3,  10.1, CAL= 350.5,  11.1, ROT= 159.5, -11.1

2025-10-26T22:37:46.361Z,1761518266.361 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-10-26T22:37:46.362Z,1761518266.362 [DAT](INFO): direction in FSK: [-0.919150,0.343656,0.192522]
2025-10-26T22:37:46.362Z,1761518266.362 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:46.382Z,1761518266.382 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.957188
2025-10-26T22:37:46.456Z,1761518266.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.500000 m,
      deltaT: 0.504018 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:46.458Z,1761518266.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.346012 m,
      bearing: 203.823764 deg,
      lat: 36.779449 deg,
      lon: -121.859494 deg,
      deltaT: 0.504018 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:46.459Z,1761518266.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m.
2025-10-26T22:37:46.601Z,1761518266.601 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.175922
2025-10-26T22:37:46.766Z,1761518266.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711621,-0.701627,-0.036270],[0.702533,0.711119,0.027498],[0.006499,-0.045049,0.998964]]
2025-10-26T22:37:46.793Z,1761518266.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m.
2025-10-26T22:37:46.854Z,1761518266.854 [DAT](INFO): DAT read: Rx Time:22:37:45.6499 

2025-10-26T22:37:46.854Z,1761518266.854 [DAT](INFO): Rx dataTimestamp_ set to:1761518266.853780
2025-10-26T22:37:46.856Z,1761518266.856 [DAT](INFO): DAT read: Bearing 345.6,  19.9 (Local)

2025-10-26T22:37:46.857Z,1761518266.857 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.6,  19.9 (Local)

2025-10-26T22:37:46.860Z,1761518266.860 [DAT](INFO): DAT read: Range 11 to 50 :    28.7 m (trip time 19.1 ms) speed -0.1

2025-10-26T22:37:46.866Z,1761518266.866 [DAT](INFO): DAT read: 22:37:45.6499 LVL= 24208, 22609, 32754, 32755, AGC= 60, IDX= 512, 0.27,-0.985, 0.165,-1.512,-0.341, PHS=-0.542, 0.551,-1.215, RAW= 352.2,  15.4, CAL= 352.8,  19.6, ROT= 157.2, -19.6

2025-10-26T22:37:46.868Z,1761518266.868 [DAT](INFO): got valid direction response:
 22:37:45.6499 LVL= 24208, 22609, 32754, 32755, AGC= 60, IDX= 512, 0.27,-0.985, 0.165,-1.512,-0.341, PHS=-0.542, 0.551,-1.215, RAW= 352.2,  15.4, CAL= 352.8,  19.6, ROT= 157.2, -19.6

2025-10-26T22:37:46.868Z,1761518266.868 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-10-26T22:37:46.869Z,1761518266.869 [DAT](INFO): direction in FSK: [-0.868448,0.365062,0.335452]
2025-10-26T22:37:46.870Z,1761518266.870 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:46.876Z,1761518266.876 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.451077
2025-10-26T22:37:47.104Z,1761518267.104 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.679092
2025-10-26T22:37:47.190Z,1761518267.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.700001 m,
      deltaT: 0.504588 s,
      deltaX: 0.200001 m,
      approachRate: 0.396364 m/s,
      rangeRepo size: 4

2025-10-26T22:37:47.192Z,1761518267.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.544886 m,
      bearing: 201.059951 deg,
      lat: 36.779449 deg,
      lon: -121.859494 deg,
      deltaT: 0.504588 s,
      deltaX: 0.198874 m,
      approachRate: 0.394130 m/s,
      posRepo size: 4

2025-10-26T22:37:47.192Z,1761518267.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.54 m.
2025-10-26T22:37:47.357Z,1761518267.357 [DAT](INFO): DAT read: Rx Time:22:37:46.1499 

2025-10-26T22:37:47.358Z,1761518267.358 [DAT](INFO): Rx dataTimestamp_ set to:1761518267.357383
2025-10-26T22:37:47.359Z,1761518267.359 [DAT](INFO): DAT read: Bearing 335.5,  21.3 (Local)

2025-10-26T22:37:47.359Z,1761518267.359 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.5,  21.3 (Local)

2025-10-26T22:37:47.361Z,1761518267.361 [DAT](INFO): DAT read: Range 11 to 50 :    28.7 m (trip time 19.1 ms) speed -0.1

2025-10-26T22:37:47.366Z,1761518267.366 [DAT](INFO): DAT read: 22:37:46.1499 LVL= 22544, 22865, 32754, 32755, AGC= 57, IDX= 512,-0.08, 3.023,-2.204, 2.335,-2.448, PHS=-0.710, 0.290,-1.543, RAW= 357.0,  23.6, CAL= 356.6,  28.4, ROT= 153.4, -28.4

2025-10-26T22:37:47.367Z,1761518267.367 [DAT](INFO): got valid direction response:
 22:37:46.1499 LVL= 22544, 22865, 32754, 32755, AGC= 57, IDX= 512,-0.08, 3.023,-2.204, 2.335,-2.448, PHS=-0.710, 0.290,-1.543, RAW= 357.0,  23.6, CAL= 356.6,  28.4, ROT= 153.4, -28.4

2025-10-26T22:37:47.368Z,1761518267.368 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-10-26T22:37:47.368Z,1761518267.368 [DAT](INFO): direction in FSK: [-0.786541,0.393871,0.475624]
2025-10-26T22:37:47.369Z,1761518267.369 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:47.373Z,1761518267.373 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.947868
2025-10-26T22:37:47.531Z,1761518267.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714244,-0.698906,-0.037231],[0.699860,0.713736,0.027850],[0.007109,-0.045949,0.998918]]
2025-10-26T22:37:47.568Z,1761518267.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.700001 m,
      deltaT: 0.503603 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:47.570Z,1761518267.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.544886 m,
      bearing: 196.679093 deg,
      lat: 36.779450 deg,
      lon: -121.859494 deg,
      deltaT: 0.503603 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:47.571Z,1761518267.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.54 m.
2025-10-26T22:37:47.608Z,1761518267.608 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.183235
2025-10-26T22:37:47.861Z,1761518267.861 [DAT](INFO): DAT read: Rx Time:22:37:46.6500 

2025-10-26T22:37:47.862Z,1761518267.862 [DAT](INFO): Rx dataTimestamp_ set to:1761518267.861342
2025-10-26T22:37:47.863Z,1761518267.863 [DAT](INFO): DAT read: Bearing 353.9,  33.0 (Local)

2025-10-26T22:37:47.863Z,1761518267.863 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.9,  33.0 (Local)

2025-10-26T22:37:47.865Z,1761518267.865 [DAT](INFO): DAT read: Range 11 to 50 :    28.8 m (trip time 19.2 ms) speed 0.0

2025-10-26T22:37:47.870Z,1761518267.870 [DAT](INFO): DAT read: 22:37:46.6500 LVL= 25392, 23089, 32754, 32755, AGC= 61, IDX= 513, 0.29, 0.779, 1.635,-0.133, 1.038, PHS=-0.157, 0.642,-1.215, RAW=   4.6,   9.1, CAL=   4.6,   9.7, ROT= 145.4,  -9.7

2025-10-26T22:37:47.871Z,1761518267.871 [DAT](INFO): got valid direction response:
 22:37:46.6500 LVL= 25392, 23089, 32754, 32755, AGC= 61, IDX= 513, 0.29, 0.779, 1.635,-0.133, 1.038, PHS=-0.157, 0.642,-1.215, RAW=   4.6,   9.1, CAL=   4.6,   9.7, ROT= 145.4,  -9.7

2025-10-26T22:37:47.871Z,1761518267.871 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-10-26T22:37:47.872Z,1761518267.872 [DAT](INFO): direction in FSK: [-0.811368,0.559726,0.168489]
2025-10-26T22:37:47.873Z,1761518267.873 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:47.881Z,1761518267.881 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.455742
2025-10-26T22:37:47.976Z,1761518267.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716144,-0.697028,-0.035910],[0.697917,0.715678,0.026768],[0.007042,-0.044232,0.998996]]
2025-10-26T22:37:48.080Z,1761518268.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.799999 m,
      deltaT: 0.503959 s,
      deltaX: 0.099998 m,
      approachRate: 0.198426 m/s,
      rangeRepo size: 4

2025-10-26T22:37:48.082Z,1761518268.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.644016 m,
      bearing: 189.365232 deg,
      lat: 36.779450 deg,
      lon: -121.859481 deg,
      deltaT: 0.503959 s,
      deltaX: 0.099131 m,
      approachRate: 0.196704 m/s,
      posRepo size: 4

2025-10-26T22:37:48.083Z,1761518268.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.64 m.
2025-10-26T22:37:48.113Z,1761518268.113 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.687283
2025-10-26T22:37:48.365Z,1761518268.365 [DAT](INFO): DAT read: Rx Time:22:37:47.1500 

2025-10-26T22:37:48.365Z,1761518268.365 [DAT](INFO): Rx dataTimestamp_ set to:1761518268.365134
2025-10-26T22:37:48.367Z,1761518268.367 [DAT](INFO): DAT read: Bearing 353.0,  24.4 (Local)

2025-10-26T22:37:48.367Z,1761518268.367 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.0,  24.4 (Local)

2025-10-26T22:37:48.369Z,1761518268.369 [DAT](INFO): DAT read: Range 11 to 50 :    28.8 m (trip time 19.2 ms) speed -0.1

2025-10-26T22:37:48.374Z,1761518268.374 [DAT](INFO): DAT read: 22:37:47.1500 LVL= 24272, 24417, 32754, 32755, AGC= 62, IDX= 513,-0.17,-2.510,-1.483,-3.124,-2.074, PHS=-0.334, 0.637,-1.094, RAW= 356.0,  10.5, CAL= 356.2,  11.9, ROT= 153.8, -11.9

2025-10-26T22:37:48.375Z,1761518268.375 [DAT](INFO): got valid direction response:
 22:37:47.1500 LVL= 24272, 24417, 32754, 32755, AGC= 62, IDX= 513,-0.17,-2.510,-1.483,-3.124,-2.074, PHS=-0.334, 0.637,-1.094, RAW= 356.0,  10.5, CAL= 356.2,  11.9, ROT= 153.8, -11.9

2025-10-26T22:37:48.386Z,1761518268.386 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-10-26T22:37:48.387Z,1761518268.387 [DAT](INFO): direction in FSK: [-0.877975,0.432017,0.206204]
2025-10-26T22:37:48.387Z,1761518268.387 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:48.391Z,1761518268.391 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.965267
2025-10-26T22:37:48.477Z,1761518268.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718269,-0.694897,-0.034738],[0.695731,0.717833,0.025973],[0.006887,-0.042824,0.999059]]
2025-10-26T22:37:48.558Z,1761518268.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.799999 m,
      deltaT: 0.503792 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:48.565Z,1761518268.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.644016 m,
      bearing: 197.478575 deg,
      lat: 36.779450 deg,
      lon: -121.859468 deg,
      deltaT: 0.503792 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:48.565Z,1761518268.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.64 m.
2025-10-26T22:37:48.617Z,1761518268.617 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.191597
2025-10-26T22:37:48.869Z,1761518268.869 [DAT](INFO): DAT read: Rx Time:22:37:47.6500 

2025-10-26T22:37:48.869Z,1761518268.869 [DAT](INFO): Rx dataTimestamp_ set to:1761518268.869142
2025-10-26T22:37:48.871Z,1761518268.871 [DAT](INFO): DAT read: Bearing 356.6,  20.2 (Local)

2025-10-26T22:37:48.871Z,1761518268.871 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.6,  20.2 (Local)

2025-10-26T22:37:48.873Z,1761518268.873 [DAT](INFO): DAT read: Range 11 to 50 :    29.0 m (trip time 19.3 ms) speed -0.1

2025-10-26T22:37:48.878Z,1761518268.878 [DAT](INFO): DAT read: 22:37:47.6500 LVL= 25712, 23617, 31218, 31603, AGC= 65, IDX=   2, 0.12,-2.626,-1.285, 3.052,-2.088, PHS=-0.436, 0.848,-1.187, RAW= 351.4,   8.7, CAL= 351.4,   9.1, ROT= 158.6,  -9.1

2025-10-26T22:37:48.879Z,1761518268.879 [DAT](INFO): got valid direction response:
 22:37:47.6500 LVL= 25712, 23617, 31218, 31603, AGC= 65, IDX=   2, 0.12,-2.626,-1.285, 3.052,-2.088, PHS=-0.436, 0.848,-1.187, RAW= 351.4,   8.7, CAL= 351.4,   9.1, ROT= 158.6,  -9.1

2025-10-26T22:37:48.879Z,1761518268.879 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-10-26T22:37:48.880Z,1761518268.880 [DAT](INFO): direction in FSK: [-0.919337,0.360284,0.158158]
2025-10-26T22:37:48.881Z,1761518268.881 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:48.885Z,1761518268.885 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.459625
2025-10-26T22:37:48.965Z,1761518268.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722679,-0.690319,-0.034551],[0.691152,0.722218,0.026644],[0.006560,-0.043135,0.999048]]
2025-10-26T22:37:49.069Z,1761518269.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.000000 m,
      deltaT: 0.504008 s,
      deltaX: 0.200001 m,
      approachRate: 0.396821 m/s,
      rangeRepo size: 4

2025-10-26T22:37:49.070Z,1761518269.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.842302 m,
      bearing: 201.992576 deg,
      lat: 36.779445 deg,
      lon: -121.859468 deg,
      deltaT: 0.504008 s,
      deltaX: 0.198286 m,
      approachRate: 0.393418 m/s,
      posRepo size: 4

2025-10-26T22:37:49.071Z,1761518269.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.84 m.
2025-10-26T22:37:49.121Z,1761518269.121 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.695251
2025-10-26T22:37:49.358Z,1761518269.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724885,-0.687999,-0.034614],[0.688840,0.724402,0.027221],[0.006347,-0.043576,0.999030]]
2025-10-26T22:37:49.373Z,1761518269.373 [DAT](INFO): DAT read: Rx Time:22:37:48.1500 

2025-10-26T22:37:49.373Z,1761518269.373 [DAT](INFO): Rx dataTimestamp_ set to:1761518269.373201
2025-10-26T22:37:49.375Z,1761518269.375 [DAT](INFO): DAT read: Bearing 355.6,  19.5 (Local)

2025-10-26T22:37:49.375Z,1761518269.375 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.6,  19.5 (Local)

2025-10-26T22:37:49.377Z,1761518269.377 [DAT](INFO): DAT read: Range 11 to 50 :    29.0 m (trip time 19.3 ms) speed -0.1

2025-10-26T22:37:49.383Z,1761518269.383 [DAT](INFO): DAT read: 22:37:48.1500 LVL= 26928, 22097, 32754, 32755, AGC= 61, IDX= 498,-0.45, 1.797,-3.131, 1.213, 2.362, PHS=-0.464, 0.835,-1.193, RAW= 350.8,   9.3, CAL= 350.9,   9.9, ROT= 159.1,  -9.9

2025-10-26T22:37:49.384Z,1761518269.384 [DAT](INFO): got valid direction response:
 22:37:48.1500 LVL= 26928, 22097, 32754, 32755, AGC= 61, IDX= 498,-0.45, 1.797,-3.131, 1.213, 2.362, PHS=-0.464, 0.835,-1.193, RAW= 350.8,   9.3, CAL= 350.9,   9.9, ROT= 159.1,  -9.9

2025-10-26T22:37:49.384Z,1761518269.384 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-26T22:37:49.385Z,1761518269.385 [DAT](INFO): direction in FSK: [-0.920294,0.351426,0.171929]
2025-10-26T22:37:49.386Z,1761518269.386 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:49.421Z,1761518269.421 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.996147
2025-10-26T22:37:49.495Z,1761518269.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.000000 m,
      deltaT: 0.504059 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:49.501Z,1761518269.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.842302 m,
      bearing: 202.272045 deg,
      lat: 36.779445 deg,
      lon: -121.859468 deg,
      deltaT: 0.504059 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:49.501Z,1761518269.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.84 m.
2025-10-26T22:37:49.625Z,1761518269.625 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.200153
2025-10-26T22:37:49.788Z,1761518269.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727443,-0.685289,-0.034727],[0.686142,0.726926,0.028058],[0.006016,-0.044239,0.999003]]
2025-10-26T22:37:49.822Z,1761518269.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.84 m.
2025-10-26T22:37:49.878Z,1761518269.878 [DAT](INFO): DAT read: Rx Time:22:37:48.6500 

2025-10-26T22:37:49.878Z,1761518269.878 [DAT](INFO): Rx dataTimestamp_ set to:1761518269.877990
2025-10-26T22:37:49.880Z,1761518269.880 [DAT](INFO): DAT read: Bearing 355.6,  19.4 (Local)

2025-10-26T22:37:49.881Z,1761518269.881 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.6,  19.4 (Local)

2025-10-26T22:37:49.883Z,1761518269.883 [DAT](INFO): DAT read: Range 11 to 50 :    29.0 m (trip time 19.3 ms) speed -0.1

2025-10-26T22:37:49.890Z,1761518269.890 [DAT](INFO): DAT read: 22:37:48.6500 LVL= 26928, 20913, 32754, 32755, AGC= 61, IDX= 498,-0.04, 1.655, 3.020, 1.074, 2.223, PHS=-0.466, 0.842,-1.193, RAW= 350.7,   9.2, CAL= 350.8,   9.8, ROT= 159.2,  -9.8

2025-10-26T22:37:49.929Z,1761518269.929 [DAT](INFO): got valid direction response:
 22:37:48.6500 LVL= 26928, 20913, 32754, 32755, AGC= 61, IDX= 498,-0.04, 1.655, 3.020, 1.074, 2.223, PHS=-0.466, 0.842,-1.193, RAW= 350.7,   9.2, CAL= 350.8,   9.8, ROT= 159.2,  -9.8

2025-10-26T22:37:49.929Z,1761518269.929 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-10-26T22:37:49.931Z,1761518269.931 [DAT](INFO): direction in FSK: [-0.921185,0.349925,0.170209]
2025-10-26T22:37:49.940Z,1761518269.940 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:49.949Z,1761518269.949 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.523579
2025-10-26T22:37:50.129Z,1761518270.129 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.703415
2025-10-26T22:37:50.162Z,1761518270.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729890,-0.682686,-0.034645],[0.683541,0.729347,0.028723],[0.005659,-0.044646,0.998987]]
2025-10-26T22:37:50.220Z,1761518270.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.000000 m,
      deltaT: 0.504789 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:50.239Z,1761518270.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.842197 m,
      bearing: 201.946754 deg,
      lat: 36.779445 deg,
      lon: -121.859494 deg,
      deltaT: 0.504789 s,
      deltaX: -0.000105 m,
      approachRate: -0.000208 m/s,
      posRepo size: 4

2025-10-26T22:37:50.245Z,1761518270.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.84 m.
2025-10-26T22:37:50.383Z,1761518270.383 [DAT](INFO): DAT read: Rx Time:22:37:49.1500 

2025-10-26T22:37:50.384Z,1761518270.384 [DAT](INFO): Rx dataTimestamp_ set to:1761518270.383937
2025-10-26T22:37:50.386Z,1761518270.386 [DAT](INFO): DAT read: Bearing 355.8,  19.9 (Local)

2025-10-26T22:37:50.386Z,1761518270.386 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.8,  19.9 (Local)

2025-10-26T22:37:50.388Z,1761518270.388 [DAT](INFO): DAT read: Range 11 to 50 :    28.8 m (trip time 19.2 ms) speed -0.1

2025-10-26T22:37:50.394Z,1761518270.394 [DAT](INFO): DAT read: 22:37:49.1500 LVL= 25632, 23329, 32754, 32755, AGC= 62, IDX= 497, 0.28, 2.440,-2.495, 1.840, 2.989, PHS=-0.447, 0.844,-1.193, RAW= 351.2,   9.0, CAL= 351.3,   9.4, ROT= 158.7,  -9.4

2025-10-26T22:37:50.397Z,1761518270.397 [DAT](INFO): got valid direction response:
 22:37:49.1500 LVL= 25632, 23329, 32754, 32755, AGC= 62, IDX= 497, 0.28, 2.440,-2.495, 1.840, 2.989, PHS=-0.447, 0.844,-1.193, RAW= 351.2,   9.0, CAL= 351.3,   9.4, ROT= 158.7,  -9.4

2025-10-26T22:37:50.397Z,1761518270.397 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-10-26T22:37:50.399Z,1761518270.399 [DAT](INFO): direction in FSK: [-0.919181,0.358374,0.163326]
2025-10-26T22:37:50.399Z,1761518270.399 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:50.409Z,1761518270.409 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.983482
2025-10-26T22:37:50.561Z,1761518270.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731906,-0.680547,-0.034212],[0.681385,0.731351,0.028978],[0.005300,-0.044521,0.998994]]
2025-10-26T22:37:50.596Z,1761518270.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.799999 m,
      deltaT: 0.505947 s,
      deltaX: -0.200001 m,
      approachRate: -0.395300 m/s,
      rangeRepo size: 4

2025-10-26T22:37:50.598Z,1761518270.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.643284 m,
      bearing: 201.295882 deg,
      lat: 36.779447 deg,
      lon: -121.859494 deg,
      deltaT: 0.505947 s,
      deltaX: -0.198914 m,
      approachRate: -0.393151 m/s,
      posRepo size: 4

2025-10-26T22:37:50.599Z,1761518270.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.64 m.
2025-10-26T22:37:50.633Z,1761518270.633 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.207268
2025-10-26T22:37:50.885Z,1761518270.885 [DAT](INFO): DAT read: Rx Time:22:37:49.6501 

2025-10-26T22:37:50.886Z,1761518270.886 [DAT](INFO): Rx dataTimestamp_ set to:1761518270.885378
2025-10-26T22:37:50.887Z,1761518270.887 [DAT](INFO): DAT read: Bearing 354.8,  19.2 (Local)

2025-10-26T22:37:50.887Z,1761518270.887 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.8,  19.2 (Local)

2025-10-26T22:37:50.889Z,1761518270.889 [DAT](INFO): DAT read: Range 11 to 50 :    29.1 m (trip time 19.4 ms) speed -0.1

2025-10-26T22:37:50.894Z,1761518270.894 [DAT](INFO): DAT read: 22:37:49.6501 LVL= 25888, 23969, 32498, 32755, AGC= 65, IDX=   3,-0.19, 1.350, 2.713, 0.777, 1.927, PHS=-0.475, 0.831,-1.194, RAW= 350.5,   9.5, CAL= 350.6,  10.2, ROT= 159.4, -10.2

2025-10-26T22:37:50.895Z,1761518270.895 [DAT](INFO): got valid direction response:
 22:37:49.6501 LVL= 25888, 23969, 32498, 32755, AGC= 65, IDX=   3,-0.19, 1.350, 2.713, 0.777, 1.927, PHS=-0.475, 0.831,-1.194, RAW= 350.5,   9.5, CAL= 350.6,  10.2, ROT= 159.4, -10.2

2025-10-26T22:37:50.896Z,1761518270.896 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-10-26T22:37:50.897Z,1761518270.897 [DAT](INFO): direction in FSK: [-0.921266,0.346281,0.177085]
2025-10-26T22:37:50.897Z,1761518270.897 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:50.901Z,1761518270.901 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.475403
2025-10-26T22:37:50.966Z,1761518270.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733908,-0.678395,-0.034041],[0.679229,0.733348,0.029133],[0.005200,-0.044503,0.998996]]
2025-10-26T22:37:51.021Z,1761518271.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.100000 m,
      deltaT: 0.501441 s,
      deltaX: 0.300001 m,
      approachRate: 0.598278 m/s,
      rangeRepo size: 4

2025-10-26T22:37:51.056Z,1761518271.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.940903 m,
      bearing: 201.791666 deg,
      lat: 36.779447 deg,
      lon: -121.859496 deg,
      deltaT: 0.501441 s,
      deltaX: 0.297619 m,
      approachRate: 0.593527 m/s,
      posRepo size: 4

2025-10-26T22:37:51.058Z,1761518271.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.94 m.
2025-10-26T22:37:51.137Z,1761518271.137 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.711342
2025-10-26T22:37:51.389Z,1761518271.389 [DAT](INFO): DAT read: Rx Time:22:37:50.1500 

2025-10-26T22:37:51.389Z,1761518271.389 [DAT](INFO): Rx dataTimestamp_ set to:1761518271.389071
2025-10-26T22:37:51.391Z,1761518271.391 [DAT](INFO): DAT read: Bearing 355.6,  19.9 (Local)

2025-10-26T22:37:51.391Z,1761518271.391 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.6,  19.9 (Local)

2025-10-26T22:37:51.393Z,1761518271.393 [DAT](INFO): DAT read: Range 11 to 50 :    29.0 m (trip time 19.3 ms) speed -0.2

2025-10-26T22:37:51.398Z,1761518271.398 [DAT](INFO): DAT read: 22:37:50.1500 LVL= 26336, 23281, 32754, 32755, AGC= 62, IDX= 498, 0.19, 1.963,-2.963, 1.362, 2.514, PHS=-0.449, 0.851,-1.196, RAW= 351.1,   8.9, CAL= 351.2,   9.3, ROT= 158.8,  -9.3

2025-10-26T22:37:51.399Z,1761518271.399 [DAT](INFO): got valid direction response:
 22:37:50.1500 LVL= 26336, 23281, 32754, 32755, AGC= 62, IDX= 498, 0.19, 1.963,-2.963, 1.362, 2.514, PHS=-0.449, 0.851,-1.196, RAW= 351.1,   8.9, CAL= 351.2,   9.3, ROT= 158.8,  -9.3

2025-10-26T22:37:51.399Z,1761518271.399 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-10-26T22:37:51.400Z,1761518271.400 [DAT](INFO): direction in FSK: [-0.920069,0.356871,0.161604]
2025-10-26T22:37:51.400Z,1761518271.400 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:51.404Z,1761518271.404 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.979012
2025-10-26T22:37:51.485Z,1761518271.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735935,-0.676205,-0.033853],[0.677033,0.735368,0.029325],[0.005065,-0.044501,0.998996]]
2025-10-26T22:37:51.574Z,1761518271.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.000000 m,
      deltaT: 0.503693 s,
      deltaX: -0.100000 m,
      approachRate: -0.198534 m/s,
      rangeRepo size: 4

2025-10-26T22:37:51.577Z,1761518271.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.841448 m,
      bearing: 201.059133 deg,
      lat: 36.779448 deg,
      lon: -121.859496 deg,
      deltaT: 0.503693 s,
      deltaX: -0.099455 m,
      approachRate: -0.197451 m/s,
      posRepo size: 4

2025-10-26T22:37:51.578Z,1761518271.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.84 m.
2025-10-26T22:37:51.641Z,1761518271.641 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.215397
2025-10-26T22:37:51.893Z,1761518271.893 [DAT](INFO): DAT read: Rx Time:22:37:50.6502 

2025-10-26T22:37:51.893Z,1761518271.893 [DAT](INFO): Rx dataTimestamp_ set to:1761518271.893123
2025-10-26T22:37:51.895Z,1761518271.895 [DAT](INFO): DAT read: Bearing 354.2,  19.4 (Local)

2025-10-26T22:37:51.895Z,1761518271.895 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.2,  19.4 (Local)

2025-10-26T22:37:51.897Z,1761518271.897 [DAT](INFO): DAT read: Range 11 to 50 :    29.3 m (trip time 19.5 ms) speed -0.1

2025-10-26T22:37:51.902Z,1761518271.902 [DAT](INFO): DAT read: 22:37:50.6502 LVL= 28496, 25569, 32754, 32755, AGC= 61, IDX= 500,-0.15, 1.213, 2.579, 0.630, 1.794, PHS=-0.480, 0.829,-1.208, RAW= 350.7,   9.6, CAL= 350.8,  10.5, ROT= 159.2, -10.5

2025-10-26T22:37:51.903Z,1761518271.903 [DAT](INFO): got valid direction response:
 22:37:50.6502 LVL= 28496, 25569, 32754, 32755, AGC= 61, IDX= 500,-0.15, 1.213, 2.579, 0.630, 1.794, PHS=-0.480, 0.829,-1.208, RAW= 350.7,   9.6, CAL= 350.8,  10.5, ROT= 159.2, -10.5

2025-10-26T22:37:51.903Z,1761518271.903 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-10-26T22:37:51.904Z,1761518271.904 [DAT](INFO): direction in FSK: [-0.919172,0.349161,0.182236]
2025-10-26T22:37:51.904Z,1761518271.904 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:51.913Z,1761518271.913 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.487690
2025-10-26T22:37:51.981Z,1761518271.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737931,-0.674035,-0.033702],[0.674858,0.737357,0.029506],[0.004962,-0.044517,0.998996]]
2025-10-26T22:37:52.043Z,1761518272.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.299999 m,
      deltaT: 0.504052 s,
      deltaX: 0.299999 m,
      approachRate: 0.595175 m/s,
      rangeRepo size: 4

2025-10-26T22:37:52.059Z,1761518272.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.139456 m,
      bearing: 201.239048 deg,
      lat: 36.779448 deg,
      lon: -121.859496 deg,
      deltaT: 0.504052 s,
      deltaX: 0.298008 m,
      approachRate: 0.591225 m/s,
      posRepo size: 4

2025-10-26T22:37:52.065Z,1761518272.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.14 m.
2025-10-26T22:37:52.144Z,1761518272.144 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.719242
2025-10-26T22:37:52.374Z,1761518272.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739669,-0.672128,-0.033667],[0.672952,0.739096,0.029548],[0.005023,-0.044512,0.998996]]
2025-10-26T22:37:52.397Z,1761518272.397 [DAT](INFO): DAT read: Rx Time:22:37:51.1501 

2025-10-26T22:37:52.398Z,1761518272.398 [DAT](INFO): Rx dataTimestamp_ set to:1761518272.397230
2025-10-26T22:37:52.399Z,1761518272.399 [DAT](INFO): DAT read: Bearing 355.3,  20.2 (Local)

2025-10-26T22:37:52.399Z,1761518272.399 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.3,  20.2 (Local)

2025-10-26T22:37:52.401Z,1761518272.401 [DAT](INFO): DAT read: Range 11 to 50 :    29.1 m (trip time 19.4 ms) speed 0.1

2025-10-26T22:37:52.406Z,1761518272.406 [DAT](INFO): DAT read: 22:37:51.1501 LVL= 25664, 23841, 32754, 32755, AGC= 62, IDX= 499, 0.37, 1.713, 3.064, 1.106, 2.257, PHS=-0.442, 0.853,-1.195, RAW= 351.3,   8.8, CAL= 351.4,   9.1, ROT= 158.6,  -9.1

2025-10-26T22:37:52.407Z,1761518272.407 [DAT](INFO): got valid direction response:
 22:37:51.1501 LVL= 25664, 23841, 32754, 32755, AGC= 62, IDX= 499, 0.37, 1.713, 3.064, 1.106, 2.257, PHS=-0.442, 0.853,-1.195, RAW= 351.3,   8.8, CAL= 351.4,   9.1, ROT= 158.6,  -9.1

2025-10-26T22:37:52.408Z,1761518272.408 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-10-26T22:37:52.409Z,1761518272.409 [DAT](INFO): direction in FSK: [-0.919337,0.360284,0.158158]
2025-10-26T22:37:52.409Z,1761518272.409 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:52.413Z,1761518272.413 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.987881
2025-10-26T22:37:52.472Z,1761518272.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.100000 m,
      deltaT: 0.504107 s,
      deltaX: -0.199999 m,
      approachRate: -0.396739 m/s,
      rangeRepo size: 4

2025-10-26T22:37:52.474Z,1761518272.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.940552 m,
      bearing: 200.550837 deg,
      lat: 36.779448 deg,
      lon: -121.859494 deg,
      deltaT: 0.504107 s,
      deltaX: -0.198904 m,
      approachRate: -0.394567 m/s,
      posRepo size: 4

2025-10-26T22:37:52.475Z,1761518272.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.94 m.
2025-10-26T22:37:52.649Z,1761518272.649 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.223263
2025-10-26T22:37:52.796Z,1761518272.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741344,-0.670268,-0.033914],[0.671104,0.740771,0.029613],[0.005274,-0.044713,0.998986]]
2025-10-26T22:37:52.823Z,1761518272.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.94 m.
2025-10-26T22:37:52.902Z,1761518272.902 [DAT](INFO): DAT read: Rx Time:22:37:51.6502 

2025-10-26T22:37:52.902Z,1761518272.902 [DAT](INFO): Rx dataTimestamp_ set to:1761518272.901766
2025-10-26T22:37:52.904Z,1761518272.904 [DAT](INFO): DAT read: Bearing 354.8,  20.3 (Local)

2025-10-26T22:37:52.905Z,1761518272.905 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.8,  20.3 (Local)

2025-10-26T22:37:52.908Z,1761518272.908 [DAT](INFO): DAT read: Range 11 to 50 :    29.3 m (trip time 19.5 ms) speed -0.2

2025-10-26T22:37:52.918Z,1761518272.918 [DAT](INFO): DAT read: 22:37:51.6502 LVL= 26064, 23505, 32754, 32755, AGC= 62, IDX= 501, 0.05, 2.397,-2.544, 1.793, 2.942, PHS=-0.443, 0.842,-1.193, RAW= 351.4,   9.0, CAL= 351.4,   9.4, ROT= 158.6,  -9.4

2025-10-26T22:37:52.919Z,1761518272.919 [DAT](INFO): got valid direction response:
 22:37:51.6502 LVL= 26064, 23505, 32754, 32755, AGC= 62, IDX= 501, 0.05, 2.397,-2.544, 1.793, 2.942, PHS=-0.443, 0.842,-1.193, RAW= 351.4,   9.0, CAL= 351.4,   9.4, ROT= 158.6,  -9.4

2025-10-26T22:37:52.919Z,1761518272.919 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-10-26T22:37:52.920Z,1761518272.920 [DAT](INFO): direction in FSK: [-0.918554,0.359977,0.163326]
2025-10-26T22:37:52.921Z,1761518272.921 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:52.924Z,1761518272.924 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.499233
2025-10-26T22:37:53.152Z,1761518273.152 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.727123
2025-10-26T22:37:53.182Z,1761518273.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742691,-0.668764,-0.034115],[0.669611,0.742124,0.029560],[0.005549,-0.044797,0.998981]]
2025-10-26T22:37:53.321Z,1761518273.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.299999 m,
      deltaT: 0.504536 s,
      deltaX: 0.199999 m,
      approachRate: 0.396402 m/s,
      rangeRepo size: 4

2025-10-26T22:37:53.324Z,1761518273.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.139414 m,
      bearing: 200.279953 deg,
      lat: 36.779447 deg,
      lon: -121.859494 deg,
      deltaT: 0.504536 s,
      deltaX: 0.198862 m,
      approachRate: 0.394148 m/s,
      posRepo size: 4

2025-10-26T22:37:53.325Z,1761518273.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.14 m.
2025-10-26T22:37:53.405Z,1761518273.405 [DAT](INFO): DAT read: Rx Time:22:37:52.1502 

2025-10-26T22:37:53.406Z,1761518273.406 [DAT](INFO): Rx dataTimestamp_ set to:1761518273.405344
2025-10-26T22:37:53.407Z,1761518273.407 [DAT](INFO): DAT read: Bearing 354.6,  19.8 (Local)

2025-10-26T22:37:53.407Z,1761518273.407 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.6,  19.8 (Local)

2025-10-26T22:37:53.409Z,1761518273.409 [DAT](INFO): DAT read: Range 11 to 50 :    29.3 m (trip time 19.5 ms) speed -0.1

2025-10-26T22:37:53.415Z,1761518273.415 [DAT](INFO): DAT read: 22:37:52.1502 LVL= 25312, 22225, 32754, 32755, AGC= 62, IDX= 501,-0.14,-0.758, 0.597,-1.349,-0.201, PHS=-0.455, 0.844,-1.191, RAW= 350.9,   9.0, CAL= 351.0,   9.5, ROT= 159.0,  -9.5

2025-10-26T22:37:53.417Z,1761518273.417 [DAT](INFO): got valid direction response:
 22:37:52.1502 LVL= 25312, 22225, 32754, 32755, AGC= 62, IDX= 501,-0.14,-0.758, 0.597,-1.349,-0.201, PHS=-0.455, 0.844,-1.191, RAW= 350.9,   9.0, CAL= 351.0,   9.5, ROT= 159.0,  -9.5

2025-10-26T22:37:53.417Z,1761518273.417 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-10-26T22:37:53.419Z,1761518273.419 [DAT](INFO): direction in FSK: [-0.920777,0.353453,0.165048]
2025-10-26T22:37:53.428Z,1761518273.428 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:53.437Z,1761518273.437 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.011856
2025-10-26T22:37:53.608Z,1761518273.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743654,-0.667677,-0.034441],[0.668538,0.743097,0.029394],[0.005968,-0.044884,0.998974]]
2025-10-26T22:37:53.630Z,1761518273.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.299999 m,
      deltaT: 0.503578 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:53.633Z,1761518273.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.139414 m,
      bearing: 200.592215 deg,
      lat: 36.779447 deg,
      lon: -121.859494 deg,
      deltaT: 0.503578 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:53.633Z,1761518273.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.14 m.
2025-10-26T22:37:53.659Z,1761518273.659 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.233307
2025-10-26T22:37:53.909Z,1761518273.909 [DAT](INFO): DAT read: Rx Time:22:37:52.6504 

2025-10-26T22:37:53.910Z,1761518273.910 [DAT](INFO): Rx dataTimestamp_ set to:1761518273.909374
2025-10-26T22:37:53.911Z,1761518273.911 [DAT](INFO): DAT read: Bearing 354.3,  19.8 (Local)

2025-10-26T22:37:53.911Z,1761518273.911 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.3,  19.8 (Local)

2025-10-26T22:37:53.913Z,1761518273.913 [DAT](INFO): DAT read: Range 11 to 50 :    29.6 m (trip time 19.7 ms) speed -0.2

2025-10-26T22:37:53.918Z,1761518273.918 [DAT](INFO): DAT read: 22:37:52.6504 LVL= 26544, 21521, 32754, 32755, AGC= 62, IDX= 503,-0.35,-0.288, 1.070,-0.877, 0.272, PHS=-0.458, 0.842,-1.194, RAW= 350.9,   9.1, CAL= 351.0,   9.6, ROT= 159.0,  -9.6

2025-10-26T22:37:53.919Z,1761518273.919 [DAT](INFO): got valid direction response:
 22:37:52.6504 LVL= 26544, 21521, 32754, 32755, AGC= 62, IDX= 503,-0.35,-0.288, 1.070,-0.877, 0.272, PHS=-0.458, 0.842,-1.194, RAW= 350.9,   9.1, CAL= 351.0,   9.6, ROT= 159.0,  -9.6

2025-10-26T22:37:53.920Z,1761518273.920 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-10-26T22:37:53.921Z,1761518273.921 [DAT](INFO): direction in FSK: [-0.920507,0.353349,0.166769]
2025-10-26T22:37:53.921Z,1761518273.921 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:53.924Z,1761518273.924 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.499184
2025-10-26T22:37:54.007Z,1761518274.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744497,-0.666713,-0.034887],[0.667594,0.743949,0.029294],[0.006423,-0.045100,0.998962]]
2025-10-26T22:37:54.070Z,1761518274.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.600000 m,
      deltaT: 0.504030 s,
      deltaX: 0.300001 m,
      approachRate: 0.595205 m/s,
      rangeRepo size: 4

2025-10-26T22:37:54.079Z,1761518274.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.437836 m,
      bearing: 200.515251 deg,
      lat: 36.779447 deg,
      lon: -121.859495 deg,
      deltaT: 0.504030 s,
      deltaX: 0.298422 m,
      approachRate: 0.592072 m/s,
      posRepo size: 4

2025-10-26T22:37:54.085Z,1761518274.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.44 m.
2025-10-26T22:37:54.161Z,1761518274.161 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.735294
2025-10-26T22:37:54.413Z,1761518274.413 [DAT](INFO): DAT read: Rx Time:22:37:53.1504 

2025-10-26T22:37:54.414Z,1761518274.414 [DAT](INFO): Rx dataTimestamp_ set to:1761518274.413241
2025-10-26T22:37:54.415Z,1761518274.415 [DAT](INFO): DAT read: Bearing 354.6,  20.2 (Local)

2025-10-26T22:37:54.416Z,1761518274.416 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.6,  20.2 (Local)

2025-10-26T22:37:54.418Z,1761518274.418 [DAT](INFO): DAT read: Range 11 to 50 :    29.6 m (trip time 19.7 ms) speed -0.1

2025-10-26T22:37:54.424Z,1761518274.424 [DAT](INFO): DAT read: 22:37:53.1504 LVL= 25680, 20545, 32754, 32755, AGC= 62, IDX= 502, 0.38,-0.375, 0.976,-0.983, 0.168, PHS=-0.441, 0.852,-1.196, RAW= 351.4,   8.8, CAL= 351.4,   9.1, ROT= 158.6,  -9.1

2025-10-26T22:37:54.425Z,1761518274.425 [DAT](INFO): got valid direction response:
 22:37:53.1504 LVL= 25680, 20545, 32754, 32755, AGC= 62, IDX= 502, 0.38,-0.375, 0.976,-0.983, 0.168, PHS=-0.441, 0.852,-1.196, RAW= 351.4,   8.8, CAL= 351.4,   9.1, ROT= 158.6,  -9.1

2025-10-26T22:37:54.425Z,1761518274.425 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-10-26T22:37:54.426Z,1761518274.426 [DAT](INFO): direction in FSK: [-0.919337,0.360284,0.158158]
2025-10-26T22:37:54.427Z,1761518274.427 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:54.430Z,1761518274.430 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.005161
2025-10-26T22:37:54.431Z,1761518274.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745224,-0.665869,-0.035496],[0.666778,0.744682,0.029253],[0.006954,-0.045467,0.998942]]
2025-10-26T22:37:54.557Z,1761518274.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.600000 m,
      deltaT: 0.503867 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:54.559Z,1761518274.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.437836 m,
      bearing: 200.073347 deg,
      lat: 36.779447 deg,
      lon: -121.859494 deg,
      deltaT: 0.503867 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:54.563Z,1761518274.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.44 m.
2025-10-26T22:37:54.665Z,1761518274.665 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.239925
2025-10-26T22:37:54.818Z,1761518274.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745587,-0.665432,-0.036060],[0.666365,0.745060,0.029034],[0.007546,-0.045677,0.998928]]
2025-10-26T22:37:54.853Z,1761518274.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.44 m.
2025-10-26T22:37:54.918Z,1761518274.918 [DAT](INFO): DAT read: Rx Time:22:37:53.6505 

2025-10-26T22:37:54.918Z,1761518274.918 [DAT](INFO): Rx dataTimestamp_ set to:1761518274.917901
2025-10-26T22:37:54.920Z,1761518274.920 [DAT](INFO): DAT read: Bearing 354.5,  20.4 (Local)

2025-10-26T22:37:54.921Z,1761518274.921 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.5,  20.4 (Local)

2025-10-26T22:37:54.923Z,1761518274.923 [DAT](INFO): DAT read: Range 11 to 50 :    29.7 m (trip time 19.8 ms) speed -0.2

2025-10-26T22:37:54.931Z,1761518274.931 [DAT](INFO): DAT read: 22:37:53.6505 LVL= 23792, 21809, 32754, 32755, AGC= 62, IDX= 504, 0.21, 0.905, 2.248, 0.292, 1.443, PHS=-0.436, 0.849,-1.196, RAW= 351.6,   8.8, CAL= 351.6,   9.1, ROT= 158.4,  -9.1

2025-10-26T22:37:54.934Z,1761518274.934 [DAT](INFO): got valid direction response:
 22:37:53.6505 LVL= 23792, 21809, 32754, 32755, AGC= 62, IDX= 504, 0.21, 0.905, 2.248, 0.292, 1.443, PHS=-0.436, 0.849,-1.196, RAW= 351.6,   8.8, CAL= 351.6,   9.1, ROT= 158.4,  -9.1

2025-10-26T22:37:54.934Z,1761518274.934 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-10-26T22:37:54.935Z,1761518274.935 [DAT](INFO): direction in FSK: [-0.918074,0.363491,0.158158]
2025-10-26T22:37:54.935Z,1761518274.935 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:54.976Z,1761518274.976 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:37:54.976Z,1761518274.976 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:37:54.977Z,1761518274.977 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:37:55.168Z,1761518275.168 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:37:55.240Z,1761518275.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746158,-0.664756,-0.036710],[0.665720,0.745636,0.029062],[0.008053,-0.046124,0.998903]]
2025-10-26T22:37:55.374Z,1761518275.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.504660 s,
      deltaX: 0.100000 m,
      approachRate: 0.198154 m/s,
      rangeRepo size: 4

2025-10-26T22:37:55.377Z,1761518275.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.537373 m,
      bearing: 199.791434 deg,
      lat: 36.779446 deg,
      lon: -121.859494 deg,
      deltaT: 0.504660 s,
      deltaX: 0.099537 m,
      approachRate: 0.197236 m/s,
      posRepo size: 4

2025-10-26T22:37:55.377Z,1761518275.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.54 m.
2025-10-26T22:37:55.421Z,1761518275.421 [DAT](INFO): DAT read: Rx Time:22:37:54.1505 

2025-10-26T22:37:55.421Z,1761518275.421 [DAT](INFO): Rx dataTimestamp_ set to:1761518275.421126
2025-10-26T22:37:55.423Z,1761518275.423 [DAT](INFO): DAT read: Bearing 354.4,  20.6 (Local)

2025-10-26T22:37:55.423Z,1761518275.423 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.4,  20.6 (Local)

2025-10-26T22:37:55.425Z,1761518275.425 [DAT](INFO): DAT read: Range 11 to 50 :    29.7 m (trip time 19.8 ms) speed -0.1

2025-10-26T22:37:55.430Z,1761518275.430 [DAT](INFO): DAT read: 22:37:54.1505 LVL= 24944, 22817, 32754, 32755, AGC= 61, IDX= 504, 0.10,-0.703, 0.631,-1.320,-0.171, PHS=-0.430, 0.847,-1.194, RAW= 351.7,   8.7, CAL= 351.8,   9.1, ROT= 158.2,  -9.1

2025-10-26T22:37:55.431Z,1761518275.431 [DAT](INFO): got valid direction response:
 22:37:54.1505 LVL= 24944, 22817, 32754, 32755, AGC= 61, IDX= 504, 0.10,-0.703, 0.631,-1.320,-0.171, PHS=-0.430, 0.847,-1.194, RAW= 351.7,   8.7, CAL= 351.8,   9.1, ROT= 158.2,  -9.1

2025-10-26T22:37:55.432Z,1761518275.432 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:37:55.433Z,1761518275.433 [DAT](INFO): direction in FSK: [-0.916800,0.366694,0.158158]
2025-10-26T22:37:55.433Z,1761518275.433 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:55.436Z,1761518275.436 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:37:55.437Z,1761518275.437 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:37:55.660Z,1761518275.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746407,-0.664452,-0.037146],[0.665435,0.745898,0.028853],[0.008535,-0.046254,0.998893]]
2025-10-26T22:37:55.672Z,1761518275.672 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:37:55.734Z,1761518275.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.503225 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:55.751Z,1761518275.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.537403 m,
      bearing: 199.571057 deg,
      lat: 36.779446 deg,
      lon: -121.859494 deg,
      deltaT: 0.503225 s,
      deltaX: 0.000031 m,
      approachRate: 0.000061 m/s,
      posRepo size: 4

2025-10-26T22:37:55.757Z,1761518275.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.54 m.
2025-10-26T22:37:55.925Z,1761518275.925 [DAT](INFO): DAT read: Rx Time:22:37:54.6506 

2025-10-26T22:37:55.925Z,1761518275.925 [DAT](INFO): Rx dataTimestamp_ set to:1761518275.925126
2025-10-26T22:37:55.927Z,1761518275.927 [DAT](INFO): DAT read: Bearing 353.8,  20.5 (Local)

2025-10-26T22:37:55.927Z,1761518275.927 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.8,  20.5 (Local)

2025-10-26T22:37:55.929Z,1761518275.929 [DAT](INFO): DAT read: Range 11 to 50 :    29.9 m (trip time 19.9 ms) speed -0.2

2025-10-26T22:37:55.934Z,1761518275.934 [DAT](INFO): DAT read: 22:37:54.6506 LVL= 23200, 23377, 32754, 32755, AGC= 62, IDX= 505, 0.04,-1.691,-0.355,-2.301,-1.148, PHS=-0.441, 0.838,-1.197, RAW= 351.6,   9.0, CAL= 351.6,   9.5, ROT= 158.4,  -9.5

2025-10-26T22:37:55.935Z,1761518275.935 [DAT](INFO): got valid direction response:
 22:37:54.6506 LVL= 23200, 23377, 32754, 32755, AGC= 62, IDX= 505, 0.04,-1.691,-0.355,-2.301,-1.148, PHS=-0.441, 0.838,-1.197, RAW= 351.6,   9.0, CAL= 351.6,   9.5, ROT= 158.4,  -9.5

2025-10-26T22:37:55.935Z,1761518275.935 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:37:55.936Z,1761518275.936 [DAT](INFO): direction in FSK: [-0.917025,0.363076,0.165048]
2025-10-26T22:37:55.937Z,1761518275.937 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:55.940Z,1761518275.940 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:37:55.940Z,1761518275.940 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:37:56.056Z,1761518276.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746907,-0.663864,-0.037609],[0.664868,0.746406,0.028788],[0.008961,-0.046507,0.998878]]
2025-10-26T22:37:56.085Z,1761518276.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.900000 m,
      deltaT: 0.504000 s,
      deltaX: 0.199999 m,
      approachRate: 0.396823 m/s,
      rangeRepo size: 4

2025-10-26T22:37:56.087Z,1761518276.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.736307 m,
      bearing: 199.709835 deg,
      lat: 36.779446 deg,
      lon: -121.859493 deg,
      deltaT: 0.504000 s,
      deltaX: 0.198904 m,
      approachRate: 0.394651 m/s,
      posRepo size: 4

2025-10-26T22:37:56.088Z,1761518276.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.74 m.
2025-10-26T22:37:56.177Z,1761518276.177 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:37:56.429Z,1761518276.429 [DAT](INFO): DAT read: Rx Time:22:37:55.1506 

2025-10-26T22:37:56.429Z,1761518276.429 [DAT](INFO): Rx dataTimestamp_ set to:1761518276.429160
2025-10-26T22:37:56.431Z,1761518276.431 [DAT](INFO): DAT read: Bearing 352.7,  19.8 (Local)

2025-10-26T22:37:56.431Z,1761518276.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.7,  19.8 (Local)

2025-10-26T22:37:56.433Z,1761518276.433 [DAT](INFO): DAT read: Range 11 to 50 :    29.9 m (trip time 19.9 ms) speed -0.2

2025-10-26T22:37:56.438Z,1761518276.438 [DAT](INFO): DAT read: 22:37:55.1506 LVL= 24208, 22497, 32754, 32755, AGC= 61, IDX= 505,-0.09, 2.107,-2.832, 1.522, 2.678, PHS=-0.469, 0.819,-1.199, RAW= 350.9,   9.6, CAL= 351.1,  10.5, ROT= 158.9, -10.5

2025-10-26T22:37:56.439Z,1761518276.439 [DAT](INFO): got valid direction response:
 22:37:55.1506 LVL= 24208, 22497, 32754, 32755, AGC= 61, IDX= 505,-0.09, 2.107,-2.832, 1.522, 2.678, PHS=-0.469, 0.819,-1.199, RAW= 350.9,   9.6, CAL= 351.1,  10.5, ROT= 158.9, -10.5

2025-10-26T22:37:56.440Z,1761518276.440 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:37:56.441Z,1761518276.441 [DAT](INFO): direction in FSK: [-0.917331,0.353969,0.182236]
2025-10-26T22:37:56.441Z,1761518276.441 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:56.457Z,1761518276.457 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:37:56.457Z,1761518276.457 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:37:56.475Z,1761518276.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747379,-0.663319,-0.037851],[0.664333,0.746886,0.028677],[0.009248,-0.046578,0.998872]]
2025-10-26T22:37:56.594Z,1761518276.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.900000 m,
      deltaT: 0.504034 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:56.601Z,1761518276.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.736307 m,
      bearing: 200.125880 deg,
      lat: 36.779446 deg,
      lon: -121.859493 deg,
      deltaT: 0.504034 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:56.601Z,1761518276.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.74 m.
2025-10-26T22:37:56.680Z,1761518276.680 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:37:56.864Z,1761518276.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748005,-0.662600,-0.038075],[0.663625,0.747516,0.028657],[0.009474,-0.046703,0.998864]]
2025-10-26T22:37:56.883Z,1761518276.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.74 m.
2025-10-26T22:37:56.934Z,1761518276.934 [DAT](INFO): DAT read: Rx Time:22:37:55.6508 

2025-10-26T22:37:56.935Z,1761518276.935 [DAT](INFO): Rx dataTimestamp_ set to:1761518276.934372
2025-10-26T22:37:56.937Z,1761518276.937 [DAT](INFO): DAT read: Bearing 352.2,  19.5 (Local)

2025-10-26T22:37:56.937Z,1761518276.937 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.2,  19.5 (Local)

2025-10-26T22:37:56.943Z,1761518276.943 [DAT](INFO): DAT read: Range 11 to 50 :    30.2 m (trip time 20.1 ms) speed -0.2

2025-10-26T22:37:56.961Z,1761518276.961 [DAT](INFO): DAT read: 22:37:55.6508 LVL= 23696, 24801, 32754, 32755, AGC= 60, IDX= 507,-0.23, 2.264,-2.674, 1.691, 2.846, PHS=-0.480, 0.809,-1.198, RAW= 350.7,   9.9, CAL= 350.9,  10.9, ROT= 159.1, -10.9

2025-10-26T22:37:56.962Z,1761518276.962 [DAT](INFO): got valid direction response:
 22:37:55.6508 LVL= 23696, 24801, 32754, 32755, AGC= 60, IDX= 507,-0.23, 2.264,-2.674, 1.691, 2.846, PHS=-0.480, 0.809,-1.198, RAW= 350.7,   9.9, CAL= 350.9,  10.9, ROT= 159.1, -10.9

2025-10-26T22:37:56.963Z,1761518276.963 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:37:56.969Z,1761518276.969 [DAT](INFO): direction in FSK: [-0.917350,0.350302,0.189095]
2025-10-26T22:37:56.969Z,1761518276.969 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:56.997Z,1761518276.997 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:37:56.997Z,1761518276.997 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:37:57.184Z,1761518277.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:37:57.290Z,1761518277.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748575,-0.661956,-0.038076],[0.662980,0.748094,0.028518],[0.009607,-0.046591,0.998868]]
2025-10-26T22:37:57.354Z,1761518277.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.200001 m,
      deltaT: 0.505212 s,
      deltaX: 0.300001 m,
      approachRate: 0.593812 m/s,
      rangeRepo size: 4

2025-10-26T22:37:57.356Z,1761518277.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.034634 m,
      bearing: 200.205970 deg,
      lat: 36.779446 deg,
      lon: -121.859493 deg,
      deltaT: 0.505212 s,
      deltaX: 0.298326 m,
      approachRate: 0.590498 m/s,
      posRepo size: 4

2025-10-26T22:37:57.357Z,1761518277.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.03 m.
2025-10-26T22:37:57.438Z,1761518277.438 [DAT](INFO): DAT read: Rx Time:22:37:56.1508 

2025-10-26T22:37:57.439Z,1761518277.439 [DAT](INFO): Rx dataTimestamp_ set to:1761518277.438339
2025-10-26T22:37:57.441Z,1761518277.441 [DAT](INFO): DAT read: Bearing 351.8,  19.9 (Local)

2025-10-26T22:37:57.441Z,1761518277.441 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.8,  19.9 (Local)

2025-10-26T22:37:57.446Z,1761518277.446 [DAT](INFO): DAT read: Range 11 to 50 :    30.2 m (trip time 20.1 ms) speed -0.2

2025-10-26T22:37:57.451Z,1761518277.451 [DAT](INFO): DAT read: 22:37:56.1508 LVL= 23712, 25505, 32754, 32755, AGC= 60, IDX= 506, 0.48, 2.421,-2.536, 1.839, 2.996, PHS=-0.473, 0.796,-1.201, RAW= 351.1,  10.1, CAL= 351.3,  11.1, ROT= 158.7, -11.1

2025-10-26T22:37:57.452Z,1761518277.452 [DAT](INFO): got valid direction response:
 22:37:56.1508 LVL= 23712, 25505, 32754, 32755, AGC= 60, IDX= 506, 0.48, 2.421,-2.536, 1.839, 2.996, PHS=-0.473, 0.796,-1.201, RAW= 351.1,  10.1, CAL= 351.3,  11.1, ROT= 158.7, -11.1

2025-10-26T22:37:57.453Z,1761518277.453 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:37:57.454Z,1761518277.454 [DAT](INFO): direction in FSK: [-0.914262,0.356456,0.192522]
2025-10-26T22:37:57.454Z,1761518277.454 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:57.458Z,1761518277.458 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:37:57.458Z,1761518277.458 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:37:57.670Z,1761518277.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749414,-0.661012,-0.037959],[0.662031,0.748937,0.028427],[0.009638,-0.046434,0.998875]]
2025-10-26T22:37:57.688Z,1761518277.688 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:37:57.778Z,1761518277.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.200001 m,
      deltaT: 0.503967 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:57.786Z,1761518277.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.034607 m,
      bearing: 199.728961 deg,
      lat: 36.779446 deg,
      lon: -121.859496 deg,
      deltaT: 0.503967 s,
      deltaX: -0.000027 m,
      approachRate: -0.000053 m/s,
      posRepo size: 4

2025-10-26T22:37:57.792Z,1761518277.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.03 m.
2025-10-26T22:37:57.941Z,1761518277.941 [DAT](INFO): DAT read: Rx Time:22:37:56.6509 

2025-10-26T22:37:57.941Z,1761518277.941 [DAT](INFO): Rx dataTimestamp_ set to:1761518277.941188
2025-10-26T22:37:57.943Z,1761518277.943 [DAT](INFO): DAT read: Bearing 352.3,  19.9 (Local)

2025-10-26T22:37:57.943Z,1761518277.943 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.3,  19.9 (Local)

2025-10-26T22:37:57.945Z,1761518277.945 [DAT](INFO): DAT read: Range 11 to 50 :    30.3 m (trip time 20.2 ms) speed -0.1

2025-10-26T22:37:57.950Z,1761518277.950 [DAT](INFO): DAT read: 22:37:56.6509 LVL= 26416, 23969, 32754, 32755, AGC= 58, IDX= 508, 0.17,-2.505,-1.179,-3.086,-1.941, PHS=-0.462, 0.807,-1.189, RAW= 351.1,   9.7, CAL= 351.2,  10.5, ROT= 158.8, -10.5

2025-10-26T22:37:57.951Z,1761518277.951 [DAT](INFO): got valid direction response:
 22:37:56.6509 LVL= 26416, 23969, 32754, 32755, AGC= 58, IDX= 508, 0.17,-2.505,-1.179,-3.086,-1.941, PHS=-0.462, 0.807,-1.189, RAW= 351.1,   9.7, CAL= 351.2,  10.5, ROT= 158.8, -10.5

2025-10-26T22:37:57.952Z,1761518277.952 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:37:57.953Z,1761518277.953 [DAT](INFO): direction in FSK: [-0.916712,0.355569,0.182236]
2025-10-26T22:37:57.953Z,1761518277.953 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:57.956Z,1761518277.956 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:37:57.956Z,1761518277.956 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:37:58.079Z,1761518278.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750332,-0.659987,-0.037671],[0.660991,0.749864,0.028181],[0.009649,-0.046045,0.998893]]
2025-10-26T22:37:58.153Z,1761518278.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.299999 m,
      deltaT: 0.502849 s,
      deltaX: 0.099998 m,
      approachRate: 0.198864 m/s,
      rangeRepo size: 4

2025-10-26T22:37:58.169Z,1761518278.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.134056 m,
      bearing: 199.777034 deg,
      lat: 36.779446 deg,
      lon: -121.859496 deg,
      deltaT: 0.502849 s,
      deltaX: 0.099449 m,
      approachRate: 0.197771 m/s,
      posRepo size: 4

2025-10-26T22:37:58.175Z,1761518278.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.13 m.
2025-10-26T22:37:58.195Z,1761518278.195 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:37:58.445Z,1761518278.445 [DAT](INFO): DAT read: Rx Time:22:37:57.1509 

2025-10-26T22:37:58.445Z,1761518278.445 [DAT](INFO): Rx dataTimestamp_ set to:1761518278.445185
2025-10-26T22:37:58.447Z,1761518278.447 [DAT](INFO): DAT read: Bearing 352.9,  19.7 (Local)

2025-10-26T22:37:58.447Z,1761518278.447 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.9,  19.7 (Local)

2025-10-26T22:37:58.450Z,1761518278.450 [DAT](INFO): DAT read: Range 11 to 50 :    30.3 m (trip time 20.2 ms) speed -0.2

2025-10-26T22:37:58.455Z,1761518278.455 [DAT](INFO): DAT read: 22:37:57.1509 LVL= 24896, 25457, 32754, 32755, AGC= 59, IDX= 508,-0.09, 1.032, 2.377, 0.448, 1.593, PHS=-0.459, 0.829,-1.189, RAW= 350.9,   9.3, CAL= 351.0,   9.9, ROT= 159.0,  -9.9

2025-10-26T22:37:58.456Z,1761518278.456 [DAT](INFO): got valid direction response:
 22:37:57.1509 LVL= 24896, 25457, 32754, 32755, AGC= 59, IDX= 508,-0.09, 1.032, 2.377, 0.448, 1.593, PHS=-0.459, 0.829,-1.189, RAW= 350.9,   9.3, CAL= 351.0,   9.9, ROT= 159.0,  -9.9

2025-10-26T22:37:58.456Z,1761518278.456 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:37:58.457Z,1761518278.457 [DAT](INFO): direction in FSK: [-0.919679,0.353032,0.171929]
2025-10-26T22:37:58.457Z,1761518278.457 [DAT](INFO): publishing direction and range info
2025-10-26T22:37:58.461Z,1761518278.461 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:37:58.461Z,1761518278.461 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:37:58.620Z,1761518278.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.299999 m,
      deltaT: 0.503997 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:37:58.622Z,1761518278.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.134056 m,
      bearing: 200.000270 deg,
      lat: 36.779446 deg,
      lon: -121.859497 deg,
      deltaT: 0.503997 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:37:58.623Z,1761518278.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.13 m.
2025-10-26T22:37:58.697Z,1761518278.697 [DAT](INFO): DAT read: user:630>

2025-10-26T22:37:58.699Z,1761518278.699 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:37:58.949Z,1761518278.949 [DAT](INFO): DAT read: Command 'tr50' not found

2025-10-26T22:37:58.949Z,1761518278.949 [DAT](INFO): unknown deviceResponse_: Command 'tr50' not found

2025-10-26T22:37:58.950Z,1761518278.950 [DAT](INFO): DAT read: Error

2025-10-26T22:37:58.950Z,1761518278.950 [DAT](INFO): unknown deviceResponse_: Error

2025-10-26T22:37:58.950Z,1761518278.950 [DAT](INFO): DAT read: user:631>

2025-10-26T22:37:58.951Z,1761518278.951 [DAT](INFO): DAT read: Tx time:22:37:58.0375

2025-10-26T22:37:58.952Z,1761518278.952 [DAT](INFO): Ping request sent.
2025-10-26T22:37:58.952Z,1761518278.952 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:37:58.952Z,1761518278.952 [DAT](INFO): publishing transmit ping time
2025-10-26T22:37:58.952Z,1761518278.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000784
2025-10-26T22:37:59.081Z,1761518279.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754779,-0.654921,-0.037252],[0.655911,0.754302,0.028449],[0.009467,-0.045907,0.998901]]
2025-10-26T22:37:59.125Z,1761518279.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.13 m.
2025-10-26T22:37:59.201Z,1761518279.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249565
2025-10-26T22:37:59.435Z,1761518279.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756835,-0.652534,-0.037423],[0.653540,0.756332,0.029110],[0.009309,-0.046488,0.998875]]
2025-10-26T22:37:59.452Z,1761518279.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500756
2025-10-26T22:37:59.486Z,1761518279.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.13 m.
2025-10-26T22:37:59.705Z,1761518279.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753589
2025-10-26T22:37:59.838Z,1761518279.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758705,-0.650347,-0.037621],[0.651367,0.758188,0.029516],[0.009329,-0.046899,0.998856]]
2025-10-26T22:37:59.887Z,1761518279.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.13 m.
2025-10-26T22:37:59.958Z,1761518279.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005874
2025-10-26T22:38:00.211Z,1761518280.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258799
2025-10-26T22:38:00.266Z,1761518280.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760444,-0.648311,-0.037657],[0.649336,0.759922,0.029677],[0.009376,-0.047020,0.998850]]
2025-10-26T22:38:00.324Z,1761518280.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.13 m.
2025-10-26T22:38:00.460Z,1761518280.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508676
2025-10-26T22:38:00.646Z,1761518280.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762014,-0.646473,-0.037528],[0.647492,0.761500,0.029541],[0.009480,-0.046810,0.998859]]
2025-10-26T22:38:00.713Z,1761518280.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761674
2025-10-26T22:38:00.745Z,1761518280.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.13 m.
2025-10-26T22:38:00.964Z,1761518280.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012757
2025-10-26T22:38:01.116Z,1761518281.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763449,-0.644792,-0.037263],[0.645796,0.762953,0.029154],[0.009632,-0.046322,0.998880]]
2025-10-26T22:38:01.134Z,1761518281.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.13 m.
2025-10-26T22:38:01.220Z,1761518281.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268053
2025-10-26T22:38:01.469Z,1761518281.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517198
2025-10-26T22:38:01.520Z,1761518281.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764684,-0.643349,-0.036888],[0.644330,0.764217,0.028470],[0.009874,-0.045538,0.998914]]
2025-10-26T22:38:01.576Z,1761518281.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.13 m.
2025-10-26T22:38:01.721Z,1761518281.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769173
2025-10-26T22:38:01.918Z,1761518281.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765829,-0.642003,-0.036573],[0.642962,0.765401,0.027594],[0.010278,-0.044647,0.998950]]
2025-10-26T22:38:01.944Z,1761518281.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.13 m.
2025-10-26T22:38:01.973Z,1761518281.973 [DAT](INFO): DAT read: Rx Time:22:38:00.4828

2025-10-26T22:38:01.973Z,1761518281.973 [DAT](INFO): Rx dataTimestamp_ set to:1761518281.972825
2025-10-26T22:38:01.974Z,1761518281.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022318
2025-10-26T22:38:02.227Z,1761518282.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274933
2025-10-26T22:38:02.322Z,1761518282.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766815,-0.640846,-0.036207],[0.641778,0.766431,0.026549],[0.010737,-0.043595,0.998992]]
2025-10-26T22:38:02.369Z,1761518282.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.13 m.
2025-10-26T22:38:02.482Z,1761518282.482 [DAT](INFO): DAT read: 22:38:00.4828 LVL= 28832, 23857, 32754, 32755, AGC= 64, IDX=  34, 0.30,-2.091,-0.742,-2.710,-1.555, PHS=-0.435, 0.857,-1.199, RAW= 351.6,   8.7, CAL= 351.6,   8.9, ROT= 158.4,  -8.9

2025-10-26T22:38:02.483Z,1761518282.483 [DAT](INFO): got valid direction response:
 22:38:00.4828 LVL= 28832, 23857, 32754, 32755, AGC= 64, IDX=  34, 0.30,-2.091,-0.742,-2.710,-1.555, PHS=-0.435, 0.857,-1.199, RAW= 351.6,   8.7, CAL= 351.6,   8.9, ROT= 158.4,  -8.9

2025-10-26T22:38:02.484Z,1761518282.484 [DAT](INFO): DAT read: Bearing 353.2,  20.3 (Local)

2025-10-26T22:38:02.484Z,1761518282.484 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.2,  20.3 (Local)

2025-10-26T22:38:02.485Z,1761518282.485 [DAT](INFO): DAT read: Range 11 to 50 : 30.9 m  (Round-trip  41.2 ms) speed -0.1 m/s

2025-10-26T22:38:02.486Z,1761518282.486 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:38:02.487Z,1761518282.487 [DAT](INFO): direction in FSK: [-0.918582,0.363692,0.154710]
2025-10-26T22:38:02.488Z,1761518282.488 [DAT](INFO): publishing direction and range info
2025-10-26T22:38:02.734Z,1761518282.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768156,-0.639230,-0.036337],[0.640162,0.767803,0.025901],[0.011343,-0.043157,0.999004]]
2025-10-26T22:38:02.791Z,1761518282.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.900000 m,
      deltaT: 4.030674 s,
      deltaX: 0.600000 m,
      approachRate: 0.148859 m/s,
      rangeRepo size: 4

2025-10-26T22:38:02.798Z,1761518282.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.731632 m,
      bearing: 197.898730 deg,
      lat: 36.779446 deg,
      lon: -121.859498 deg,
      deltaT: 4.030674 s,
      deltaX: 0.597576 m,
      approachRate: 0.148257 m/s,
      posRepo size: 4

2025-10-26T22:38:02.799Z,1761518282.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:03.134Z,1761518283.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769577,-0.637478,-0.037056],[0.638442,0.769233,0.025925],[0.011978,-0.043609,0.998977]]
2025-10-26T22:38:03.169Z,1761518283.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:03.536Z,1761518283.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770862,-0.635885,-0.037716],[0.636878,0.770529,0.025923],[0.012577,-0.044003,0.998952]]
2025-10-26T22:38:03.572Z,1761518283.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:03.938Z,1761518283.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772039,-0.634420,-0.038301],[0.635438,0.771721,0.025795],[0.013193,-0.044253,0.998933]]
2025-10-26T22:38:03.965Z,1761518283.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:04.342Z,1761518284.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772890,-0.633355,-0.038768],[0.634391,0.772591,0.025539],[0.013776,-0.044333,0.998922]]
2025-10-26T22:38:04.386Z,1761518284.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:04.752Z,1761518284.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773695,-0.632338,-0.039298],[0.633395,0.773415,0.025309],[0.014389,-0.044473,0.998907]]
2025-10-26T22:38:04.794Z,1761518284.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:05.156Z,1761518285.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774239,-0.631654,-0.039584],[0.632717,0.773983,0.024892],[0.014914,-0.044318,0.998906]]
2025-10-26T22:38:05.174Z,1761518285.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:05.554Z,1761518285.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774984,-0.630715,-0.039980],[0.631794,0.774741,0.024758],[0.015358,-0.044446,0.998894]]
2025-10-26T22:38:05.599Z,1761518285.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:05.958Z,1761518285.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775683,-0.629828,-0.040408],[0.630927,0.775447,0.024772],[0.015732,-0.044710,0.998876]]
2025-10-26T22:38:05.984Z,1761518285.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:06.363Z,1761518286.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776286,-0.629073,-0.040581],[0.630181,0.776049,0.024881],[0.015841,-0.044889,0.998866]]
2025-10-26T22:38:06.400Z,1761518286.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:06.782Z,1761518286.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776892,-0.628314,-0.040745],[0.629433,0.776651,0.025065],[0.015896,-0.045119,0.998855]]
2025-10-26T22:38:06.811Z,1761518286.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:07.173Z,1761518287.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777331,-0.627771,-0.040733],[0.628890,0.777090,0.025067],[0.015917,-0.045101,0.998856]]
2025-10-26T22:38:07.208Z,1761518287.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:07.574Z,1761518287.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777751,-0.627278,-0.040331],[0.628376,0.777511,0.024920],[0.015726,-0.044725,0.998876]]
2025-10-26T22:38:07.630Z,1761518287.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:07.980Z,1761518287.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777843,-0.627215,-0.039509],[0.628269,0.777613,0.024408],[0.015413,-0.043808,0.998921]]
2025-10-26T22:38:07.998Z,1761518287.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:08.382Z,1761518288.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778311,-0.626680,-0.038779],[0.627699,0.778079,0.024218],[0.014996,-0.043191,0.998954]]
2025-10-26T22:38:08.425Z,1761518288.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:08.792Z,1761518288.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779091,-0.625742,-0.038282],[0.626744,0.778841,0.024477],[0.014499,-0.043063,0.998967]]
2025-10-26T22:38:08.820Z,1761518288.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:09.194Z,1761518289.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779894,-0.624720,-0.038597],[0.625760,0.779578,0.026123],[0.013770,-0.044526,0.998913]]
2025-10-26T22:38:09.213Z,1761518289.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:09.595Z,1761518289.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780350,-0.624150,-0.038611],[0.625210,0.779967,0.027628],[0.012872,-0.045699,0.998872]]
2025-10-26T22:38:09.633Z,1761518289.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:09.998Z,1761518289.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781030,-0.623314,-0.038364],[0.624371,0.780618,0.028202],[0.012369,-0.045981,0.998866]]
2025-10-26T22:38:10.030Z,1761518290.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:10.402Z,1761518290.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781389,-0.622896,-0.037853],[0.623934,0.780956,0.028551],[0.011777,-0.045927,0.998875]]
2025-10-26T22:38:10.446Z,1761518290.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:38:10.448Z,1761518290.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:10.545Z,1761518290.545 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:38:10.545Z,1761518290.545 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:38:10.797Z,1761518290.797 [DAT](INFO): DAT read: user:632>

2025-10-26T22:38:10.798Z,1761518290.798 [DAT](INFO): DAT read: Tx time:22:38:09.8875

2025-10-26T22:38:10.798Z,1761518290.798 [DAT](INFO): Ping request sent.
2025-10-26T22:38:10.798Z,1761518290.798 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:38:10.799Z,1761518290.799 [DAT](INFO): publishing transmit ping time
2025-10-26T22:38:10.799Z,1761518290.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-10-26T22:38:10.809Z,1761518290.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781472,-0.622849,-0.036893],[0.623842,0.781031,0.028494],[0.011067,-0.045283,0.998913]]
2025-10-26T22:38:10.828Z,1761518290.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:11.048Z,1761518291.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249814
2025-10-26T22:38:11.217Z,1761518291.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781315,-0.623108,-0.035823],[0.624049,0.780880,0.028097],[0.010466,-0.044308,0.998963]]
2025-10-26T22:38:11.236Z,1761518291.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:11.308Z,1761518291.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.509803
2025-10-26T22:38:11.560Z,1761518291.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761830
2025-10-26T22:38:11.615Z,1761518291.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781194,-0.623321,-0.034753],[0.624212,0.780760,0.027802],[0.009805,-0.043412,0.999009]]
2025-10-26T22:38:11.658Z,1761518291.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:11.812Z,1761518291.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.013772
2025-10-26T22:38:12.018Z,1761518292.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781302,-0.623211,-0.034266],[0.624087,0.780837,0.028444],[0.009030,-0.043608,0.999008]]
2025-10-26T22:38:12.049Z,1761518292.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:12.065Z,1761518292.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266349
2025-10-26T22:38:12.317Z,1761518292.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518027
2025-10-26T22:38:12.424Z,1761518292.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780995,-0.623580,-0.034573],[0.624480,0.780477,0.029683],[0.008474,-0.044772,0.998961]]
2025-10-26T22:38:12.478Z,1761518292.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:12.568Z,1761518292.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769863
2025-10-26T22:38:12.821Z,1761518292.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022028
2025-10-26T22:38:12.834Z,1761518292.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781119,-0.623435,-0.034381],[0.624332,0.780568,0.030375],[0.007900,-0.045192,0.998947]]
2025-10-26T22:38:12.853Z,1761518292.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:13.072Z,1761518293.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273877
2025-10-26T22:38:13.230Z,1761518293.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781162,-0.623404,-0.033964],[0.624285,0.780595,0.030655],[0.007402,-0.045149,0.998953]]
2025-10-26T22:38:13.294Z,1761518293.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:13.325Z,1761518293.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526802
2025-10-26T22:38:13.576Z,1761518293.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777822
2025-10-26T22:38:13.750Z,1761518293.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:13.829Z,1761518293.829 [DAT](INFO): DAT read: Rx Time:22:38:12.3356

2025-10-26T22:38:13.830Z,1761518293.830 [DAT](INFO): Rx dataTimestamp_ set to:1761518293.829191
2025-10-26T22:38:13.830Z,1761518293.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031850
2025-10-26T22:38:14.039Z,1761518294.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781067,-0.623582,-0.032870],[0.624414,0.780487,0.030782],[0.006460,-0.044567,0.998985]]
2025-10-26T22:38:14.067Z,1761518294.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:38:14.080Z,1761518294.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281900
2025-10-26T22:38:14.338Z,1761518294.338 [DAT](INFO): DAT read: 22:38:12.3356 LVL= 27888, 24145, 32754, 32755, AGC= 60, IDX= 447,-0.11, 0.866, 2.244, 0.299, 1.445, PHS=-0.477, 0.844,-1.190, RAW= 350.2,   9.2, CAL= 350.3,   9.9, ROT= 159.7,  -9.9

2025-10-26T22:38:14.339Z,1761518294.339 [DAT](INFO): got valid direction response:
 22:38:12.3356 LVL= 27888, 24145, 32754, 32755, AGC= 60, IDX= 447,-0.11, 0.866, 2.244, 0.299, 1.445, PHS=-0.477, 0.844,-1.190, RAW= 350.2,   9.2, CAL= 350.3,   9.9, ROT= 159.7,  -9.9

2025-10-26T22:38:14.340Z,1761518294.340 [DAT](INFO): DAT read: Bearing 350.6,  19.1 (Local)

2025-10-26T22:38:14.340Z,1761518294.340 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.6,  19.1 (Local)

2025-10-26T22:38:14.341Z,1761518294.341 [DAT](INFO): DAT read: Range 11 to 50 : 33.0 m  (Round-trip  44.0 ms) speed  0.1 m/s

2025-10-26T22:38:14.342Z,1761518294.342 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:38:14.343Z,1761518294.343 [DAT](INFO): direction in FSK: [-0.923923,0.341770,0.171929]
2025-10-26T22:38:14.343Z,1761518294.343 [DAT](INFO): publishing direction and range info
2025-10-26T22:38:14.473Z,1761518294.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781182,-0.623465,-0.032347],[0.624274,0.780597,0.030814],[0.006039,-0.044265,0.999002]]
2025-10-26T22:38:14.572Z,1761518294.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.000000 m,
      deltaT: 11.855955 s,
      deltaX: 2.100000 m,
      approachRate: 0.177126 m/s,
      rangeRepo size: 4

2025-10-26T22:38:14.574Z,1761518294.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.825035 m,
      bearing: 197.952948 deg,
      lat: 36.779445 deg,
      lon: -121.859498 deg,
      deltaT: 11.855955 s,
      deltaX: 2.093403 m,
      approachRate: 0.176570 m/s,
      posRepo size: 4

2025-10-26T22:38:14.575Z,1761518294.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:14.848Z,1761518294.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781377,-0.623252,-0.031729],[0.624034,0.780788,0.030850],[0.005547,-0.043906,0.999020]]
2025-10-26T22:38:14.880Z,1761518294.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:15.268Z,1761518295.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781941,-0.622563,-0.031362],[0.623331,0.781333,0.031251],[0.005049,-0.043985,0.999019]]
2025-10-26T22:38:15.298Z,1761518295.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:15.733Z,1761518295.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:16.058Z,1761518296.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783111,-0.621113,-0.030919],[0.621868,0.782464,0.032097],[0.004257,-0.044363,0.999006]]
2025-10-26T22:38:16.077Z,1761518296.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:16.479Z,1761518296.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783879,-0.620152,-0.030748],[0.620902,0.783210,0.032592],[0.003870,-0.044640,0.998996]]
2025-10-26T22:38:16.523Z,1761518296.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:16.528Z,1761518296.528 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:38:16.869Z,1761518296.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784751,-0.619061,-0.030487],[0.619802,0.784063,0.033022],[0.003461,-0.044810,0.998990]]
2025-10-26T22:38:16.892Z,1761518296.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:17.278Z,1761518297.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785512,-0.618113,-0.030126],[0.618839,0.784814,0.033243],[0.003095,-0.044756,0.998993]]
2025-10-26T22:38:17.315Z,1761518297.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:17.532Z,1761518297.532 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:38:17.741Z,1761518297.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:18.079Z,1761518298.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786639,-0.616718,-0.029288],[0.617407,0.785956,0.032898],[0.002731,-0.043962,0.999029]]
2025-10-26T22:38:18.097Z,1761518298.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:18.507Z,1761518298.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787126,-0.616120,-0.028799],[0.616787,0.786456,0.032561],[0.002588,-0.043393,0.999055]]
2025-10-26T22:38:18.567Z,1761518298.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:18.887Z,1761518298.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787560,-0.615590,-0.028263],[0.616234,0.786904,0.032214],[0.002410,-0.042787,0.999081]]
2025-10-26T22:38:18.920Z,1761518298.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:19.292Z,1761518299.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788122,-0.614887,-0.027883],[0.615515,0.787476,0.031993],[0.002285,-0.042377,0.999099]]
2025-10-26T22:38:19.311Z,1761518299.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:19.695Z,1761518299.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788360,-0.614593,-0.027618],[0.615209,0.787730,0.031599],[0.002335,-0.041902,0.999119]]
2025-10-26T22:38:19.784Z,1761518299.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:20.100Z,1761518300.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788486,-0.614415,-0.027990],[0.615047,0.787855,0.031637],[0.002614,-0.042161,0.999107]]
2025-10-26T22:38:20.118Z,1761518300.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:20.534Z,1761518300.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788498,-0.614337,-0.029349],[0.615030,0.787822,0.032778],[0.002985,-0.043896,0.999032]]
2025-10-26T22:38:20.590Z,1761518300.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:20.907Z,1761518300.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788090,-0.614798,-0.030616],[0.615551,0.787372,0.033805],[0.003323,-0.045487,0.998959]]
2025-10-26T22:38:20.942Z,1761518300.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:21.320Z,1761518301.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787405,-0.615619,-0.031731],[0.616424,0.786672,0.034186],[0.003917,-0.046478,0.998912]]
2025-10-26T22:38:21.338Z,1761518301.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:21.723Z,1761518301.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786328,-0.616972,-0.032166],[0.617794,0.785611,0.033856],[0.004381,-0.046494,0.998909]]
2025-10-26T22:38:21.812Z,1761518301.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:22.118Z,1761518302.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785100,-0.618499,-0.032832],[0.619349,0.784402,0.033476],[0.005049,-0.046616,0.998900]]
2025-10-26T22:38:22.145Z,1761518302.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:22.562Z,1761518302.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783913,-0.619958,-0.033653],[0.620845,0.783225,0.033316],[0.005703,-0.047010,0.998878]]
2025-10-26T22:38:22.620Z,1761518302.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:22.927Z,1761518302.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782588,-0.621565,-0.034819],[0.622506,0.781905,0.033345],[0.006499,-0.047770,0.998837]]
2025-10-26T22:38:22.945Z,1761518302.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:23.337Z,1761518303.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781372,-0.623012,-0.036238],[0.624024,0.780670,0.033885],[0.007179,-0.049090,0.998769]]
2025-10-26T22:38:23.356Z,1761518303.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:23.813Z,1761518303.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778825,-0.626031,-0.038936],[0.627184,0.778088,0.034920],[0.008435,-0.051616,0.998631]]
2025-10-26T22:38:23.866Z,1761518303.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:24.180Z,1761518304.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:24.591Z,1761518304.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777433,-0.627770,-0.038768],[0.628901,0.776759,0.033594],[0.009024,-0.050498,0.998683]]
2025-10-26T22:38:24.648Z,1761518304.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:24.984Z,1761518304.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:25.350Z,1761518305.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776719,-0.628678,-0.038358],[0.629778,0.776096,0.032475],[0.009353,-0.049381,0.998736]]
2025-10-26T22:38:25.386Z,1761518305.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:25.761Z,1761518305.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776164,-0.629388,-0.037955],[0.630457,0.775589,0.031406],[0.009671,-0.048305,0.998786]]
2025-10-26T22:38:25.816Z,1761518305.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:26.158Z,1761518306.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775693,-0.629991,-0.037564],[0.631032,0.775161,0.030412],[0.009959,-0.047294,0.998831]]
2025-10-26T22:38:26.189Z,1761518306.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:26.601Z,1761518306.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776089,-0.629494,-0.037725],[0.630542,0.775562,0.030353],[0.010151,-0.047344,0.998827]]
2025-10-26T22:38:26.656Z,1761518306.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:26.000Z,1761518307.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:27.373Z,1761518307.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776665,-0.628751,-0.038252],[0.629831,0.776114,0.030984],[0.010206,-0.048156,0.998788]]
2025-10-26T22:38:27.409Z,1761518307.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:27.788Z,1761518307.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777365,-0.627916,-0.037758],[0.628967,0.776837,0.030422],[0.010229,-0.047398,0.998824]]
2025-10-26T22:38:27.855Z,1761518307.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:28.185Z,1761518308.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777982,-0.627229,-0.036430],[0.628203,0.777512,0.028910],[0.010192,-0.045377,0.998918]]
2025-10-26T22:38:28.204Z,1761518308.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:28.614Z,1761518308.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778651,-0.626456,-0.035437],[0.627372,0.778232,0.027545],[0.010322,-0.043680,0.998992]]
2025-10-26T22:38:28.668Z,1761518308.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:28.990Z,1761518308.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779031,-0.626017,-0.034830],[0.626901,0.778636,0.026872],[0.010297,-0.042769,0.999032]]
2025-10-26T22:38:29.034Z,1761518309.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:29.402Z,1761518309.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779591,-0.625317,-0.034881],[0.626203,0.779197,0.026859],[0.010384,-0.042782,0.999030]]
2025-10-26T22:38:29.420Z,1761518309.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:29.796Z,1761518309.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780052,-0.624733,-0.035028],[0.625624,0.779668,0.026684],[0.010640,-0.042729,0.999030]]
2025-10-26T22:38:29.876Z,1761518309.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:30.198Z,1761518310.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780747,-0.623851,-0.035268],[0.624754,0.780364,0.026753],[0.010832,-0.042921,0.999020]]
2025-10-26T22:38:30.237Z,1761518310.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:30.607Z,1761518310.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781733,-0.622597,-0.035578],[0.623516,0.781345,0.026984],[0.010998,-0.043278,0.999003]]
2025-10-26T22:38:30.689Z,1761518310.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:31.008Z,1761518311.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782418,-0.621720,-0.035867],[0.622651,0.782037,0.026898],[0.011326,-0.043378,0.998995]]
2025-10-26T22:38:31.065Z,1761518311.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:31.417Z,1761518311.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783145,-0.620798,-0.035975],[0.621731,0.782776,0.026694],[0.011589,-0.043272,0.998996]]
2025-10-26T22:38:31.435Z,1761518311.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:31.814Z,1761518311.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783513,-0.620339,-0.035884],[0.621260,0.783175,0.025944],[0.012009,-0.042621,0.999019]]
2025-10-26T22:38:31.869Z,1761518311.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:32.222Z,1761518312.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783745,-0.620048,-0.035832],[0.620955,0.783449,0.024958],[0.012597,-0.041810,0.999046]]
2025-10-26T22:38:32.264Z,1761518312.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:32.622Z,1761518312.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784267,-0.619380,-0.035965],[0.620284,0.783999,0.024338],[0.013122,-0.041396,0.999057]]
2025-10-26T22:38:32.652Z,1761518312.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:33.029Z,1761518313.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784900,-0.618557,-0.036315],[0.619471,0.784655,0.023915],[0.013702,-0.041266,0.999054]]
2025-10-26T22:38:33.136Z,1761518313.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:33.430Z,1761518313.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785391,-0.617904,-0.036804],[0.618834,0.785166,0.023628],[0.014297,-0.041333,0.999043]]
2025-10-26T22:38:33.458Z,1761518313.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:33.839Z,1761518313.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785895,-0.617215,-0.037605],[0.618178,0.785683,0.023618],[0.014968,-0.041808,0.999013]]
2025-10-26T22:38:33.869Z,1761518313.869 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00,        +0.00,     ,6:BI,  +147,   -76,   +21,    +7,A
2025-10-26T22:38:33.888Z,1761518313.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:34.246Z,1761518314.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786308,-0.616634,-0.038499],[0.617634,0.786112,0.023576],[0.015727,-0.042316,0.998980]]
2025-10-26T22:38:34.266Z,1761518314.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:34.644Z,1761518314.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786433,-0.616432,-0.039178],[0.617458,0.786256,0.023378],[0.016393,-0.042576,0.998959]]
2025-10-26T22:38:34.667Z,1761518314.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:35.046Z,1761518315.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786297,-0.616564,-0.039830],[0.617613,0.786142,0.023104],[0.017067,-0.042766,0.998939]]
2025-10-26T22:38:35.090Z,1761518315.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:35.450Z,1761518315.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786093,-0.616778,-0.040529],[0.617851,0.785966,0.022744],[0.017827,-0.042920,0.998919]]
2025-10-26T22:38:35.484Z,1761518315.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:35.854Z,1761518315.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785489,-0.617535,-0.040720],[0.618604,0.785393,0.022066],[0.018355,-0.042522,0.998927]]
2025-10-26T22:38:35.911Z,1761518315.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:36.260Z,1761518316.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784742,-0.618483,-0.040733],[0.619535,0.784684,0.021134],[0.018891,-0.041820,0.998947]]
2025-10-26T22:38:36.284Z,1761518316.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:36.662Z,1761518316.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784110,-0.619299,-0.040496],[0.620321,0.784091,0.020093],[0.019309,-0.040875,0.998978]]
2025-10-26T22:38:36.701Z,1761518316.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:37.066Z,1761518317.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783232,-0.620430,-0.040178],[0.621413,0.783258,0.018768],[0.019826,-0.039667,0.999016]]
2025-10-26T22:38:37.122Z,1761518317.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:37.477Z,1761518317.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782707,-0.621092,-0.040177],[0.622065,0.782752,0.018267],[0.020103,-0.039290,0.999026]]
2025-10-26T22:38:37.495Z,1761518317.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:37.874Z,1761518317.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782282,-0.621569,-0.041063],[0.622593,0.782314,0.019029],[0.020297,-0.040451,0.998975]]
2025-10-26T22:38:37.925Z,1761518317.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:38.282Z,1761518318.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782091,-0.621737,-0.042160],[0.622829,0.782098,0.020163],[0.020437,-0.042028,0.998907]]
2025-10-26T22:38:38.315Z,1761518318.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:38.706Z,1761518318.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782007,-0.621787,-0.042964],[0.622928,0.782002,0.020837],[0.020642,-0.043058,0.998859]]
2025-10-26T22:38:38.811Z,1761518318.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:39.087Z,1761518319.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782123,-0.621623,-0.043227],[0.622774,0.782126,0.020765],[0.020901,-0.043161,0.998849]]
2025-10-26T22:38:39.124Z,1761518319.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:39.490Z,1761518319.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782411,-0.621249,-0.043391],[0.622410,0.782412,0.020921],[0.020952,-0.043376,0.998839]]
2025-10-26T22:38:39.518Z,1761518319.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:39.894Z,1761518319.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782975,-0.620522,-0.043618],[0.621699,0.782968,0.021235],[0.020974,-0.043744,0.998823]]
2025-10-26T22:38:39.947Z,1761518319.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:40.298Z,1761518320.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783425,-0.619947,-0.043724],[0.621134,0.783409,0.021499],[0.020926,-0.044002,0.998812]]
2025-10-26T22:38:40.318Z,1761518320.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:40.709Z,1761518320.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784459,-0.618625,-0.043904],[0.619838,0.784413,0.022318],[0.020632,-0.044721,0.998787]]
2025-10-26T22:38:40.739Z,1761518320.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:41.107Z,1761518321.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785349,-0.617503,-0.043777],[0.618722,0.785275,0.022922],[0.020223,-0.045087,0.998778]]
2025-10-26T22:38:41.128Z,1761518321.128 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,    BI,  +189,   -34,    -4,    +4,A
2025-10-26T22:38:41.143Z,1761518321.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:41.510Z,1761518321.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786543,-0.616051,-0.042800],[0.617229,0.786447,0.023017],[0.019480,-0.044522,0.998818]]
2025-10-26T22:38:41.533Z,1761518321.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:41.922Z,1761518321.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788032,-0.614219,-0.041718],[0.615349,0.787920,0.022990],[0.018750,-0.043788,0.998865]]
2025-10-26T22:38:41.989Z,1761518321.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:42.319Z,1761518322.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789373,-0.612511,-0.041486],[0.613643,0.789228,0.023681],[0.018237,-0.044151,0.998858]]
2025-10-26T22:38:42.342Z,1761518322.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:42.731Z,1761518322.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790901,-0.610561,-0.041116],[0.611691,0.790719,0.024452],[0.017581,-0.044489,0.998855]]
2025-10-26T22:38:42.757Z,1761518322.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:43.126Z,1761518323.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792743,-0.608191,-0.040768],[0.609324,0.792511,0.025509],[0.016795,-0.045062,0.998843]]
2025-10-26T22:38:43.176Z,1761518323.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:43.535Z,1761518323.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794659,-0.605714,-0.040332],[0.606849,0.794368,0.026727],[0.015850,-0.045714,0.998829]]
2025-10-26T22:38:43.553Z,1761518323.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:43.934Z,1761518323.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796719,-0.603029,-0.039937],[0.604167,0.796361,0.028127],[0.014843,-0.046538,0.998806]]
2025-10-26T22:38:43.985Z,1761518323.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:44.340Z,1761518324.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798644,-0.600520,-0.039285],[0.601647,0.798225,0.029304],[0.013761,-0.047039,0.998798]]
2025-10-26T22:38:44.372Z,1761518324.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:44.745Z,1761518324.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800483,-0.598121,-0.038441],[0.599221,0.800011,0.030271],[0.012647,-0.047267,0.998802]]
2025-10-26T22:38:44.763Z,1761518324.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:45.147Z,1761518325.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802109,-0.595997,-0.037521],[0.597063,0.801601,0.030855],[0.011688,-0.047151,0.998819]]
2025-10-26T22:38:45.184Z,1761518325.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:45.550Z,1761518325.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803826,-0.593752,-0.036369],[0.594771,0.803282,0.031404],[0.010568,-0.046875,0.998845]]
2025-10-26T22:38:45.574Z,1761518325.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:45.954Z,1761518325.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805380,-0.591716,-0.035143],[0.592683,0.804804,0.031878],[0.009420,-0.046502,0.998874]]
2025-10-26T22:38:46.009Z,1761518326.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:46.359Z,1761518326.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806989,-0.589568,-0.034323],[0.590506,0.806376,0.032572],[0.008474,-0.046554,0.998880]]
2025-10-26T22:38:46.378Z,1761518326.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:46.763Z,1761518326.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808883,-0.586990,-0.033933],[0.587922,0.808205,0.033947],[0.007499,-0.047409,0.998847]]
2025-10-26T22:38:46.781Z,1761518326.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:47.168Z,1761518327.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810293,-0.585074,-0.033371],[0.585988,0.809561,0.035044],[0.006512,-0.047951,0.998828]]
2025-10-26T22:38:47.215Z,1761518327.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:47.570Z,1761518327.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811428,-0.583527,-0.032885],[0.584426,0.810648,0.036008],[0.005647,-0.048437,0.998810]]
2025-10-26T22:38:47.605Z,1761518327.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:47.661Z,1761518327.661 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:38:47.975Z,1761518327.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812317,-0.582323,-0.032263],[0.583197,0.811501,0.036705],[0.004808,-0.048632,0.998805]]
2025-10-26T22:38:48.034Z,1761518328.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:48.411Z,1761518328.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:48.664Z,1761518328.664 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:38:48.783Z,1761518328.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812663,-0.581923,-0.030729],[0.582722,0.811854,0.036438],[0.003743,-0.047519,0.998863]]
2025-10-26T22:38:48.803Z,1761518328.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:49.186Z,1761518329.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812562,-0.582111,-0.029827],[0.582865,0.811767,0.036095],[0.003202,-0.046715,0.998903]]
2025-10-26T22:38:49.244Z,1761518329.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:49.590Z,1761518329.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812188,-0.582667,-0.029156],[0.583389,0.811409,0.035678],[0.002869,-0.045986,0.998938]]
2025-10-26T22:38:49.609Z,1761518329.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:49.994Z,1761518329.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811581,-0.583533,-0.028735],[0.584234,0.810819,0.035261],[0.002723,-0.045405,0.998965]]
2025-10-26T22:38:50.069Z,1761518330.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:50.401Z,1761518330.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810841,-0.584569,-0.028579],[0.585261,0.810087,0.035054],[0.002660,-0.045149,0.998977]]
2025-10-26T22:38:50.427Z,1761518330.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:50.802Z,1761518330.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809843,-0.585951,-0.028567],[0.586641,0.809097,0.034846],[0.002695,-0.044979,0.998984]]
2025-10-26T22:38:50.831Z,1761518330.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:51.217Z,1761518331.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808369,-0.587973,-0.028748],[0.588669,0.807631,0.034650],[0.002845,-0.044933,0.998986]]
2025-10-26T22:38:51.261Z,1761518331.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:51.610Z,1761518331.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806856,-0.590043,-0.028870],[0.590741,0.806129,0.034365],[0.002996,-0.044783,0.998992]]
2025-10-26T22:38:51.630Z,1761518331.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:52.015Z,1761518332.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805155,-0.592348,-0.029161],[0.593056,0.804434,0.034196],[0.003202,-0.044827,0.998990]]
2025-10-26T22:38:52.057Z,1761518332.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:52.418Z,1761518332.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803127,-0.595079,-0.029460],[0.595798,0.802419,0.033903],[0.003464,-0.044780,0.998991]]
2025-10-26T22:38:52.454Z,1761518332.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:52.822Z,1761518332.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801293,-0.597530,-0.029788],[0.598261,0.800595,0.033649],[0.003742,-0.044784,0.998990]]
2025-10-26T22:38:52.865Z,1761518332.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:53.228Z,1761518333.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799631,-0.599745,-0.029930],[0.600478,0.798944,0.033377],[0.003895,-0.044661,0.998995]]
2025-10-26T22:38:53.285Z,1761518333.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:53.633Z,1761518333.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798051,-0.601854,-0.029777],[0.602577,0.797385,0.032841],[0.003978,-0.044152,0.999017]]
2025-10-26T22:38:53.656Z,1761518333.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:54.034Z,1761518334.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796559,-0.603843,-0.029436],[0.604547,0.795923,0.032093],[0.004049,-0.043360,0.999051]]
2025-10-26T22:38:54.089Z,1761518334.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:54.439Z,1761518334.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795546,-0.605195,-0.029090],[0.605880,0.794935,0.031434],[0.004101,-0.042633,0.999082]]
2025-10-26T22:38:54.457Z,1761518334.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:54.844Z,1761518334.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794668,-0.606371,-0.028564],[0.607030,0.794084,0.030747],[0.004038,-0.041772,0.999119]]
2025-10-26T22:38:54.863Z,1761518334.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:55.246Z,1761518335.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794089,-0.607160,-0.027938],[0.607790,0.793527,0.030117],[0.003884,-0.040896,0.999156]]
2025-10-26T22:38:55.297Z,1761518335.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:55.650Z,1761518335.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794067,-0.607218,-0.027277],[0.607819,0.793521,0.029673],[0.003627,-0.040142,0.999187]]
2025-10-26T22:38:55.668Z,1761518335.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:56.060Z,1761518336.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794106,-0.607203,-0.026464],[0.607771,0.793575,0.029204],[0.003268,-0.039275,0.999223]]
2025-10-26T22:38:56.145Z,1761518336.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:56.458Z,1761518336.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794529,-0.606679,-0.025756],[0.607219,0.794004,0.029031],[0.002838,-0.038705,0.999247]]
2025-10-26T22:38:56.483Z,1761518336.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:56.862Z,1761518336.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795348,-0.605621,-0.025399],[0.606149,0.794811,0.029317],[0.002433,-0.038713,0.999247]]
2025-10-26T22:38:56.896Z,1761518336.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:57.266Z,1761518337.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796361,-0.604309,-0.024892],[0.604820,0.795792,0.030148],[0.001590,-0.039064,0.999235]]
2025-10-26T22:38:57.322Z,1761518337.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:57.678Z,1761518337.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797650,-0.602622,-0.024527],[0.603121,0.797032,0.031383],[0.000637,-0.039825,0.999206]]
2025-10-26T22:38:57.713Z,1761518337.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:58.085Z,1761518338.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799043,-0.600788,-0.024177],[0.601274,0.798381,0.032534],[-0.000243,-0.040533,0.999178]]
2025-10-26T22:38:58.133Z,1761518338.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:58.478Z,1761518338.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800281,-0.599154,-0.023774],[0.599625,0.799587,0.033337],[-0.000965,-0.040935,0.999161]]
2025-10-26T22:38:58.497Z,1761518338.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:58.883Z,1761518338.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801585,-0.597422,-0.023391],[0.597878,0.800865,0.034022],[-0.001593,-0.041257,0.999147]]
2025-10-26T22:38:58.902Z,1761518338.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:59.288Z,1761518339.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802874,-0.595708,-0.022916],[0.596145,0.802134,0.034524],[-0.002185,-0.041380,0.999141]]
2025-10-26T22:38:59.325Z,1761518339.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:38:59.699Z,1761518339.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803942,-0.594284,-0.022449],[0.594702,0.803199,0.034655],[-0.002564,-0.041211,0.999147]]
2025-10-26T22:38:59.736Z,1761518339.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:00.112Z,1761518340.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805063,-0.592776,-0.022115],[0.593182,0.804317,0.034784],[-0.002832,-0.041122,0.999150]]
2025-10-26T22:39:00.161Z,1761518340.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:00.531Z,1761518340.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:00.904Z,1761518340.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807447,-0.589528,-0.022041],[0.589932,0.806678,0.035358],[-0.003065,-0.041552,0.999132]]
2025-10-26T22:39:00.923Z,1761518340.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:01.306Z,1761518341.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808509,-0.588056,-0.022458],[0.588478,0.807731,0.035557],[-0.002770,-0.041964,0.999115]]
2025-10-26T22:39:01.350Z,1761518341.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:01.719Z,1761518341.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809439,-0.586757,-0.022886],[0.587198,0.808653,0.035756],[-0.002473,-0.042381,0.999098]]
2025-10-26T22:39:01.754Z,1761518341.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:02.140Z,1761518342.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809865,-0.586157,-0.023215],[0.586613,0.809088,0.035510],[-0.002032,-0.042376,0.999100]]
2025-10-26T22:39:02.202Z,1761518342.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:02.520Z,1761518342.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810051,-0.585875,-0.023815],[0.586358,0.809293,0.035058],[-0.001267,-0.042363,0.999102]]
2025-10-26T22:39:02.538Z,1761518342.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:02.922Z,1761518342.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810072,-0.585818,-0.024503],[0.586331,0.809332,0.034611],[-0.000445,-0.042404,0.999100]]
2025-10-26T22:39:02.957Z,1761518342.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:03.381Z,1761518343.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:03.749Z,1761518343.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809879,-0.586010,-0.026216],[0.586595,0.809171,0.033899],[0.001348,-0.042833,0.999081]]
2025-10-26T22:39:03.786Z,1761518343.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:04.182Z,1761518344.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809684,-0.586233,-0.027272],[0.586862,0.808991,0.033575],[0.002381,-0.043190,0.999064]]
2025-10-26T22:39:04.234Z,1761518344.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:04.539Z,1761518344.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809236,-0.586803,-0.028287],[0.587474,0.808570,0.032997],[0.003509,-0.043320,0.999055]]
2025-10-26T22:39:04.568Z,1761518344.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:04.942Z,1761518344.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808670,-0.587544,-0.029054],[0.588246,0.808032,0.032420],[0.004428,-0.043308,0.999052]]
2025-10-26T22:39:04.981Z,1761518344.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:05.346Z,1761518345.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808264,-0.588057,-0.029982],[0.588796,0.807648,0.032005],[0.005394,-0.043522,0.999038]]
2025-10-26T22:39:05.399Z,1761518345.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:05.753Z,1761518345.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808068,-0.588278,-0.030902],[0.589056,0.807467,0.031780],[0.006257,-0.043884,0.999017]]
2025-10-26T22:39:05.771Z,1761518345.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:06.204Z,1761518346.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808038,-0.588274,-0.031756],[0.589089,0.807444,0.031756],[0.006960,-0.044367,0.998991]]
2025-10-26T22:39:06.251Z,1761518346.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:06.562Z,1761518346.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808268,-0.587909,-0.032648],[0.588766,0.807672,0.031941],[0.007591,-0.045039,0.998956]]
2025-10-26T22:39:06.601Z,1761518346.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:06.963Z,1761518346.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808355,-0.587754,-0.033273],[0.588639,0.807767,0.031889],[0.008134,-0.045364,0.998937]]
2025-10-26T22:39:06.985Z,1761518346.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:07.366Z,1761518347.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808789,-0.587124,-0.033861],[0.588037,0.808201,0.031992],[0.008583,-0.045787,0.998914]]
2025-10-26T22:39:07.417Z,1761518347.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:07.770Z,1761518347.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809333,-0.586352,-0.034215],[0.587282,0.808749,0.032001],[0.008907,-0.045993,0.998902]]
2025-10-26T22:39:07.805Z,1761518347.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:08.233Z,1761518348.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811088,-0.583905,-0.034519],[0.584850,0.810512,0.031962],[0.009316,-0.046113,0.998893]]
2025-10-26T22:39:08.281Z,1761518348.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:08.617Z,1761518348.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:08.993Z,1761518348.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812542,-0.581875,-0.034597],[0.582828,0.811954,0.032271],[0.009314,-0.046385,0.998880]]
2025-10-26T22:39:09.018Z,1761518349.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:09.386Z,1761518349.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814104,-0.579693,-0.034499],[0.580646,0.813504,0.032586],[0.009175,-0.046560,0.998873]]
2025-10-26T22:39:09.444Z,1761518349.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:09.790Z,1761518349.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815797,-0.577317,-0.034368],[0.578269,0.815182,0.032913],[0.009015,-0.046725,0.998867]]
2025-10-26T22:39:09.817Z,1761518349.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:10.269Z,1761518350.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819387,-0.572239,-0.033879],[0.573178,0.818745,0.033530],[0.008551,-0.046893,0.998863]]
2025-10-26T22:39:10.325Z,1761518350.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:10.631Z,1761518350.631 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:39:10.633Z,1761518350.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:10.821Z,1761518350.821 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:39:10.821Z,1761518350.821 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:39:11.002Z,1761518351.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821043,-0.569886,-0.033455],[0.570806,0.820399,0.033558],[0.008322,-0.046648,0.998877]]
2025-10-26T22:39:11.053Z,1761518351.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:11.072Z,1761518351.072 [DAT](INFO): DAT read: user:633>

2025-10-26T22:39:11.073Z,1761518351.073 [DAT](INFO): DAT read: Tx time:22:39:10.1874

2025-10-26T22:39:11.073Z,1761518351.073 [DAT](INFO): Ping request sent.
2025-10-26T22:39:11.073Z,1761518351.073 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:39:11.074Z,1761518351.074 [DAT](INFO): publishing transmit ping time
2025-10-26T22:39:11.074Z,1761518351.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000763
2025-10-26T22:39:11.324Z,1761518351.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250859
2025-10-26T22:39:11.407Z,1761518351.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822843,-0.567305,-0.033093],[0.568211,0.822193,0.033682],[0.008101,-0.046519,0.998885]]
2025-10-26T22:39:11.449Z,1761518351.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:11.576Z,1761518351.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502893
2025-10-26T22:39:11.810Z,1761518351.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824555,-0.564834,-0.032735],[0.565727,0.823902,0.033739],[0.007913,-0.046339,0.998894]]
2025-10-26T22:39:11.828Z,1761518351.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754760
2025-10-26T22:39:11.853Z,1761518351.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:12.080Z,1761518352.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006851
2025-10-26T22:39:12.260Z,1761518352.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827845,-0.560033,-0.032186],[0.560905,0.827186,0.033891],[0.007644,-0.046109,0.998907]]
2025-10-26T22:39:12.321Z,1761518352.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:12.332Z,1761518352.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258881
2025-10-26T22:39:12.584Z,1761518352.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510821
2025-10-26T22:39:12.628Z,1761518352.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829511,-0.557580,-0.031864],[0.558443,0.828834,0.034284],[0.007294,-0.046233,0.998904]]
2025-10-26T22:39:12.647Z,1761518352.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:12.836Z,1761518352.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762860
2025-10-26T22:39:13.032Z,1761518353.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831036,-0.555312,-0.031730],[0.556173,0.830343,0.034676],[0.007090,-0.046464,0.998895]]
2025-10-26T22:39:13.056Z,1761518353.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:13.089Z,1761518353.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015387
2025-10-26T22:39:13.341Z,1761518353.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267269
2025-10-26T22:39:13.431Z,1761518353.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832311,-0.553402,-0.031704],[0.554265,0.831606,0.034955],[0.007021,-0.046666,0.998886]]
2025-10-26T22:39:13.474Z,1761518353.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:13.592Z,1761518353.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518855
2025-10-26T22:39:13.835Z,1761518353.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833280,-0.551950,-0.031552],[0.552808,0.832568,0.035113],[0.006889,-0.046702,0.998885]]
2025-10-26T22:39:13.844Z,1761518353.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770918
2025-10-26T22:39:13.854Z,1761518353.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:14.096Z,1761518354.096 [DAT](INFO): DAT read: Rx Time:22:39:12.6463

2025-10-26T22:39:14.097Z,1761518354.097 [DAT](INFO): Rx dataTimestamp_ set to:1761518354.096621
2025-10-26T22:39:14.097Z,1761518354.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023952
2025-10-26T22:39:14.268Z,1761518354.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834140,-0.550669,-0.031203],[0.551513,0.833420,0.035286],[0.006574,-0.046643,0.998890]]
2025-10-26T22:39:14.322Z,1761518354.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m.
2025-10-26T22:39:14.348Z,1761518354.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274964
2025-10-26T22:39:14.606Z,1761518354.606 [DAT](INFO): DAT read: 22:39:12.6463 LVL= 21056, 18289, 29810, 28867, AGC= 63, IDX=  46,-0.26, 0.667, 1.830,-0.030, 1.189, PHS=-0.421, 0.686,-1.263, RAW= 355.5,  11.8, CAL= 355.8,  13.8, ROT= 154.2, -13.8

2025-10-26T22:39:14.607Z,1761518354.607 [DAT](INFO): got valid direction response:
 22:39:12.6463 LVL= 21056, 18289, 29810, 28867, AGC= 63, IDX=  46,-0.26, 0.667, 1.830,-0.030, 1.189, PHS=-0.421, 0.686,-1.263, RAW= 355.5,  11.8, CAL= 355.8,  13.8, ROT= 154.2, -13.8

2025-10-26T22:39:14.608Z,1761518354.608 [DAT](INFO): DAT read: Bearing 342.4,  24.0 (Local)

2025-10-26T22:39:14.608Z,1761518354.608 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.4,  24.0 (Local)

2025-10-26T22:39:14.609Z,1761518354.609 [DAT](INFO): DAT read: Range 11 to 50 : 41.1 m  (Round-trip  54.8 ms) speed -0.1 m/s

2025-10-26T22:39:14.610Z,1761518354.610 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:39:14.611Z,1761518354.611 [DAT](INFO): direction in FSK: [-0.874330,0.422668,0.238533]
2025-10-26T22:39:14.611Z,1761518354.611 [DAT](INFO): publishing direction and range info
2025-10-26T22:39:14.662Z,1761518354.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834893,-0.549544,-0.030909],[0.550376,0.834165,0.035436],[0.006310,-0.046597,0.998894]]
2025-10-26T22:39:14.776Z,1761518354.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.099998 m,
      deltaT: 60.267966 s,
      deltaX: 8.099998 m,
      approachRate: 0.134400 m/s,
      rangeRepo size: 4

2025-10-26T22:39:14.778Z,1761518354.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.886845 m,
      bearing: 187.065719 deg,
      lat: 36.779445 deg,
      lon: -121.859499 deg,
      deltaT: 60.267966 s,
      deltaX: 8.061810 m,
      approachRate: 0.133766 m/s,
      posRepo size: 4

2025-10-26T22:39:14.779Z,1761518354.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:15.044Z,1761518355.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835509,-0.548615,-0.030765],[0.549442,0.834774,0.035565],[0.006170,-0.046619,0.998894]]
2025-10-26T22:39:15.062Z,1761518355.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:15.448Z,1761518355.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836118,-0.547696,-0.030594],[0.548517,0.835375,0.035755],[0.005974,-0.046677,0.998892]]
2025-10-26T22:39:15.490Z,1761518355.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:15.850Z,1761518355.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836971,-0.546404,-0.030380],[0.547220,0.836200,0.036324],[0.005557,-0.047027,0.998878]]
2025-10-26T22:39:15.882Z,1761518355.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:16.254Z,1761518356.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837544,-0.545541,-0.030090],[0.546345,0.836757,0.036658],[0.005179,-0.047142,0.998875]]
2025-10-26T22:39:16.317Z,1761518356.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:16.668Z,1761518356.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838246,-0.544479,-0.029783],[0.545272,0.837443,0.036988],[0.004803,-0.047245,0.998872]]
2025-10-26T22:39:16.725Z,1761518356.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:17.067Z,1761518357.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838639,-0.543893,-0.029414],[0.544668,0.837838,0.036934],[0.004556,-0.046995,0.998885]]
2025-10-26T22:39:17.085Z,1761518357.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:17.466Z,1761518357.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839216,-0.543019,-0.029086],[0.543781,0.838411,0.037004],[0.004292,-0.046871,0.998892]]
2025-10-26T22:39:17.509Z,1761518357.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:17.870Z,1761518357.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839955,-0.541905,-0.028551],[0.542643,0.839135,0.037291],[0.003750,-0.046816,0.998896]]
2025-10-26T22:39:17.890Z,1761518357.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:18.277Z,1761518358.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840824,-0.540575,-0.028168],[0.541298,0.839987,0.037660],[0.003303,-0.046913,0.998893]]
2025-10-26T22:39:18.299Z,1761518358.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:18.682Z,1761518358.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841782,-0.539095,-0.027911],[0.539809,0.840926,0.038075],[0.002946,-0.047117,0.998885]]
2025-10-26T22:39:18.768Z,1761518358.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:18.784Z,1761518358.784 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:39:19.082Z,1761518359.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842557,-0.537914,-0.027314],[0.538602,0.841694,0.038209],[0.002437,-0.046904,0.998896]]
2025-10-26T22:39:19.112Z,1761518359.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:19.486Z,1761518359.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843450,-0.536546,-0.026647],[0.537204,0.842585,0.038251],[0.001929,-0.046577,0.998913]]
2025-10-26T22:39:19.536Z,1761518359.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:19.788Z,1761518359.788 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:39:19.891Z,1761518359.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844275,-0.535282,-0.025922],[0.535908,0.843417,0.038099],[0.001469,-0.046058,0.998938]]
2025-10-26T22:39:19.910Z,1761518359.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:20.301Z,1761518360.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845176,-0.533895,-0.025181],[0.534488,0.844323,0.037975],[0.000987,-0.045554,0.998961]]
2025-10-26T22:39:20.324Z,1761518360.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:20.708Z,1761518360.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846086,-0.532487,-0.024428],[0.533047,0.845243,0.037768],[0.000537,-0.044976,0.998988]]
2025-10-26T22:39:20.786Z,1761518360.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:21.102Z,1761518361.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847194,-0.530762,-0.023562],[0.531284,0.846352,0.037749],[-0.000094,-0.044499,0.999009]]
2025-10-26T22:39:21.127Z,1761518361.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:21.573Z,1761518361.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:21.911Z,1761518361.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849333,-0.527391,-0.022195],[0.527857,0.848502,0.037571],[-0.000982,-0.043626,0.999047]]
2025-10-26T22:39:21.946Z,1761518361.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:22.314Z,1761518362.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850544,-0.525457,-0.021696],[0.525903,0.849711,0.037658],[-0.001352,-0.043440,0.999055]]
2025-10-26T22:39:22.332Z,1761518362.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:22.724Z,1761518362.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851848,-0.523348,-0.021491],[0.523787,0.851002,0.037990],[-0.001593,-0.043618,0.999047]]
2025-10-26T22:39:22.778Z,1761518362.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:23.124Z,1761518363.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853153,-0.521218,-0.021484],[0.521658,0.852290,0.038404],[-0.001706,-0.043972,0.999031]]
2025-10-26T22:39:23.152Z,1761518363.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:23.526Z,1761518363.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854293,-0.519352,-0.021384],[0.519788,0.853417,0.038735],[-0.001868,-0.044206,0.999021]]
2025-10-26T22:39:23.575Z,1761518363.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:23.930Z,1761518363.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855345,-0.517625,-0.021193],[0.518055,0.854460,0.038950],[-0.002053,-0.044295,0.999016]]
2025-10-26T22:39:23.950Z,1761518363.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:24.345Z,1761518364.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856330,-0.516002,-0.021002],[0.516425,0.855444,0.038994],[-0.002155,-0.044237,0.999019]]
2025-10-26T22:39:24.389Z,1761518364.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:24.743Z,1761518364.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857468,-0.514112,-0.020942],[0.514533,0.856578,0.039114],[-0.002170,-0.044314,0.999015]]
2025-10-26T22:39:24.780Z,1761518364.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:25.152Z,1761518365.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858296,-0.512732,-0.020833],[0.513151,0.857416,0.038923],[-0.002094,-0.044098,0.999025]]
2025-10-26T22:39:25.183Z,1761518365.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:25.546Z,1761518365.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859553,-0.510620,-0.020888],[0.511043,0.858662,0.039166],[-0.002064,-0.044340,0.999014]]
2025-10-26T22:39:25.597Z,1761518365.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:25.957Z,1761518365.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860787,-0.508527,-0.021127],[0.508962,0.859887,0.039397],[-0.001867,-0.044665,0.999000]]
2025-10-26T22:39:25.976Z,1761518365.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:26.354Z,1761518366.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861862,-0.506698,-0.021244],[0.507140,0.860963,0.039395],[-0.001671,-0.044726,0.998998]]
2025-10-26T22:39:26.387Z,1761518366.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:26.758Z,1761518366.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863151,-0.504490,-0.021452],[0.504944,0.862244,0.039585],[-0.001473,-0.045000,0.998986]]
2025-10-26T22:39:26.827Z,1761518366.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:27.167Z,1761518367.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864340,-0.502445,-0.021600],[0.502907,0.863434,0.039568],[-0.001230,-0.045063,0.998983]]
2025-10-26T22:39:27.185Z,1761518367.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:27.569Z,1761518367.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865606,-0.500249,-0.021837],[0.500724,0.864703,0.039556],[-0.000905,-0.045174,0.998979]]
2025-10-26T22:39:27.610Z,1761518367.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:27.971Z,1761518367.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867096,-0.497654,-0.022047],[0.498141,0.866180,0.039842],[-0.000731,-0.045529,0.998963]]
2025-10-26T22:39:28.006Z,1761518368.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:28.374Z,1761518368.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868396,-0.495372,-0.022243],[0.495870,0.867477,0.039953],[-0.000497,-0.045725,0.998954]]
2025-10-26T22:39:28.393Z,1761518368.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:28.845Z,1761518368.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:29.182Z,1761518369.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871397,-0.490047,-0.022827],[0.490578,0.870454,0.040534],[0.000006,-0.046519,0.998917]]
2025-10-26T22:39:29.211Z,1761518369.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:29.586Z,1761518369.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872662,-0.487795,-0.022749],[0.488325,0.871726,0.040401],[0.000123,-0.046365,0.998925]]
2025-10-26T22:39:29.645Z,1761518369.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:29.991Z,1761518369.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873765,-0.485839,-0.022249],[0.486348,0.872851,0.039951],[0.000011,-0.045728,0.998954]]
2025-10-26T22:39:30.010Z,1761518370.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:30.398Z,1761518370.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874853,-0.483896,-0.021834],[0.484388,0.873970,0.039308],[0.000062,-0.044965,0.998989]]
2025-10-26T22:39:30.427Z,1761518370.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:30.798Z,1761518370.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876155,-0.481546,-0.021583],[0.482030,0.875294,0.038819],[0.000198,-0.044415,0.999013]]
2025-10-26T22:39:30.843Z,1761518370.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:31.202Z,1761518371.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877902,-0.478355,-0.021540],[0.478840,0.877038,0.038952],[0.000258,-0.044510,0.999009]]
2025-10-26T22:39:31.238Z,1761518371.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:31.606Z,1761518371.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879678,-0.475084,-0.021487],[0.475570,0.878801,0.039269],[0.000227,-0.044763,0.998998]]
2025-10-26T22:39:31.667Z,1761518371.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:32.012Z,1761518372.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881461,-0.471766,-0.021516],[0.472256,0.880563,0.039773],[0.000183,-0.045219,0.998977]]
2025-10-26T22:39:32.031Z,1761518372.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:32.414Z,1761518372.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883119,-0.468665,-0.021292],[0.469149,0.882204,0.040192],[-0.000052,-0.045484,0.998965]]
2025-10-26T22:39:32.439Z,1761518372.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:32.818Z,1761518372.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884581,-0.465907,-0.021162],[0.466387,0.883668,0.040184],[-0.000022,-0.045416,0.998968]]
2025-10-26T22:39:32.926Z,1761518372.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:33.222Z,1761518373.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885999,-0.463220,-0.020827],[0.463688,0.885095,0.040001],[-0.000095,-0.045098,0.998983]]
2025-10-26T22:39:33.248Z,1761518373.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:33.637Z,1761518373.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887310,-0.460720,-0.020470],[0.461174,0.886427,0.039574],[-0.000088,-0.044554,0.999007]]
2025-10-26T22:39:33.702Z,1761518373.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:34.032Z,1761518374.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888957,-0.457544,-0.020209],[0.457990,0.888080,0.039485],[-0.000119,-0.044356,0.999016]]
2025-10-26T22:39:34.068Z,1761518374.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:34.435Z,1761518374.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890666,-0.454213,-0.020095],[0.454657,0.889791,0.039485],[-0.000054,-0.044305,0.999018]]
2025-10-26T22:39:34.453Z,1761518374.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:34.838Z,1761518374.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892520,-0.450561,-0.020055],[0.451008,0.891635,0.039746],[-0.000026,-0.044519,0.999009]]
2025-10-26T22:39:34.896Z,1761518374.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:35.250Z,1761518375.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894314,-0.446989,-0.020090],[0.447440,0.893422,0.039921],[0.000105,-0.044691,0.999001]]
2025-10-26T22:39:35.269Z,1761518375.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:35.653Z,1761518375.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896003,-0.443596,-0.020045],[0.444049,0.895113,0.039912],[0.000238,-0.044662,0.999002]]
2025-10-26T22:39:35.708Z,1761518375.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:36.050Z,1761518376.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897763,-0.440026,-0.019958],[0.440478,0.896876,0.039913],[0.000337,-0.044624,0.999004]]
2025-10-26T22:39:36.069Z,1761518376.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:36.456Z,1761518376.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899356,-0.436762,-0.019925],[0.437216,0.898485,0.039587],[0.000612,-0.044314,0.999017]]
2025-10-26T22:39:36.474Z,1761518376.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:36.859Z,1761518376.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901066,-0.433221,-0.019992],[0.433681,0.900208,0.039336],[0.000955,-0.044115,0.999026]]
2025-10-26T22:39:36.905Z,1761518376.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:37.262Z,1761518377.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902930,-0.429323,-0.019974],[0.429786,0.902074,0.039328],[0.001134,-0.044095,0.999027]]
2025-10-26T22:39:37.296Z,1761518377.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:37.680Z,1761518377.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904804,-0.425357,-0.020026],[0.425826,0.903947,0.039401],[0.001343,-0.044178,0.999023]]
2025-10-26T22:39:37.732Z,1761518377.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:38.072Z,1761518378.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906693,-0.421303,-0.020308],[0.421789,0.905831,0.039563],[0.001728,-0.044438,0.999011]]
2025-10-26T22:39:38.090Z,1761518378.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:38.474Z,1761518378.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908364,-0.417679,-0.020495],[0.418176,0.907506,0.039510],[0.002097,-0.044460,0.999009]]
2025-10-26T22:39:38.505Z,1761518378.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:38.879Z,1761518378.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909739,-0.414681,-0.020379],[0.415175,0.908900,0.039112],[0.002303,-0.044042,0.999027]]
2025-10-26T22:39:38.927Z,1761518378.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:39.282Z,1761518379.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911072,-0.411741,-0.020424],[0.412238,0.910258,0.038603],[0.002697,-0.043589,0.999046]]
2025-10-26T22:39:39.335Z,1761518379.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:39.710Z,1761518379.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912216,-0.409209,-0.020238],[0.409698,0.911435,0.037869],[0.002950,-0.042836,0.999078]]
2025-10-26T22:39:39.760Z,1761518379.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:40.090Z,1761518380.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913404,-0.406553,-0.020221],[0.407042,0.912649,0.037268],[0.003303,-0.042272,0.999101]]
2025-10-26T22:39:40.141Z,1761518380.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:40.494Z,1761518380.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914825,-0.403325,-0.020595],[0.403834,0.914059,0.037606],[0.003657,-0.042719,0.999080]]
2025-10-26T22:39:40.512Z,1761518380.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:40.903Z,1761518380.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916066,-0.400459,-0.021368],[0.401008,0.915251,0.038835],[0.004005,-0.044144,0.999017]]
2025-10-26T22:39:40.968Z,1761518380.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:41.306Z,1761518381.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917089,-0.398069,-0.022137],[0.398659,0.916236,0.039773],[0.004450,-0.045301,0.998963]]
2025-10-26T22:39:41.333Z,1761518381.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:41.737Z,1761518381.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918090,-0.395728,-0.022577],[0.396343,0.917220,0.040237],[0.004785,-0.045890,0.998935]]
2025-10-26T22:39:41.773Z,1761518381.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:42.123Z,1761518382.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919231,-0.393066,-0.022662],[0.393686,0.918375,0.039987],[0.005094,-0.045679,0.998943]]
2025-10-26T22:39:42.166Z,1761518382.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:42.515Z,1761518382.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920252,-0.390664,-0.022746],[0.391288,0.919408,0.039781],[0.005372,-0.045508,0.998950]]
2025-10-26T22:39:42.534Z,1761518382.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:42.918Z,1761518382.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921494,-0.387714,-0.022933],[0.388351,0.920646,0.039930],[0.005632,-0.045701,0.998939]]
2025-10-26T22:39:42.967Z,1761518382.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:43.322Z,1761518383.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922661,-0.384914,-0.023180],[0.385565,0.921812,0.040026],[0.005961,-0.045868,0.998930]]
2025-10-26T22:39:43.357Z,1761518383.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:43.784Z,1761518383.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923806,-0.382146,-0.023382],[0.382809,0.922954,0.040153],[0.006236,-0.046044,0.998920]]
2025-10-26T22:39:43.841Z,1761518383.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:44.147Z,1761518384.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925055,-0.379101,-0.023557],[0.379778,0.924190,0.040522],[0.006409,-0.046432,0.998901]]
2025-10-26T22:39:44.166Z,1761518384.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:44.534Z,1761518384.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926384,-0.375820,-0.023918],[0.376520,0.925501,0.041004],[0.006726,-0.046991,0.998873]]
2025-10-26T22:39:44.561Z,1761518384.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:44.938Z,1761518384.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927677,-0.372591,-0.024304],[0.373316,0.926781,0.041387],[0.007104,-0.047467,0.998848]]
2025-10-26T22:39:44.998Z,1761518384.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:45.343Z,1761518385.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928887,-0.369554,-0.024455],[0.370290,0.927987,0.041551],[0.007339,-0.047652,0.998837]]
2025-10-26T22:39:45.369Z,1761518385.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:45.789Z,1761518385.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930094,-0.366501,-0.024528],[0.367243,0.929197,0.041549],[0.007564,-0.047652,0.998835]]
2025-10-26T22:39:45.834Z,1761518385.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:46.150Z,1761518386.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931380,-0.363214,-0.024627],[0.363963,0.930490,0.041457],[0.007857,-0.047575,0.998837]]
2025-10-26T22:39:46.169Z,1761518386.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:46.554Z,1761518386.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932771,-0.359628,-0.024608],[0.360379,0.931884,0.041457],[0.008022,-0.047538,0.998837]]
2025-10-26T22:39:46.572Z,1761518386.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:46.960Z,1761518386.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934122,-0.356100,-0.024685],[0.356857,0.933247,0.041259],[0.008345,-0.047350,0.998844]]
2025-10-26T22:39:47.005Z,1761518387.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:47.362Z,1761518387.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935674,-0.352007,-0.024594],[0.352765,0.934798,0.041352],[0.008435,-0.047368,0.998842]]
2025-10-26T22:39:47.455Z,1761518387.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:47.805Z,1761518387.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937295,-0.347667,-0.024634],[0.348432,0.936413,0.041549],[0.008623,-0.047527,0.998833]]
2025-10-26T22:39:47.894Z,1761518387.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:48.171Z,1761518388.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938838,-0.343486,-0.024498],[0.344250,0.937952,0.041685],[0.008659,-0.047569,0.998830]]
2025-10-26T22:39:48.225Z,1761518388.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:48.575Z,1761518388.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940420,-0.339142,-0.024346],[0.339905,0.939525,0.041916],[0.008658,-0.047694,0.998824]]
2025-10-26T22:39:48.637Z,1761518388.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:48.978Z,1761518388.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941864,-0.335136,-0.024019],[0.335887,0.940968,0.041944],[0.008544,-0.047573,0.998831]]
2025-10-26T22:39:48.995Z,1761518388.995 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  83.56,  79.14,  81.18
2025-10-26T22:39:49.011Z,1761518389.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:49.382Z,1761518389.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943079,-0.331730,-0.023624],[0.332462,0.942199,0.041589],[0.008462,-0.047076,0.998855]]
2025-10-26T22:39:49.426Z,1761518389.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:49.815Z,1761518389.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944325,-0.328180,-0.023426],[0.328904,0.943459,0.041318],[0.008542,-0.046722,0.998871]]
2025-10-26T22:39:49.895Z,1761518389.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:49.909Z,1761518389.909 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:39:50.195Z,1761518390.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945605,-0.324493,-0.023137],[0.325207,0.944741,0.041293],[0.008459,-0.046571,0.998879]]
2025-10-26T22:39:50.219Z,1761518390.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:50.600Z,1761518390.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946866,-0.320802,-0.023032],[0.321516,0.945994,0.041496],[0.008477,-0.046696,0.998873]]
2025-10-26T22:39:50.632Z,1761518390.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:50.912Z,1761518390.912 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:39:50.998Z,1761518390.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948012,-0.317415,-0.022830],[0.318125,0.947128,0.041781],[0.008361,-0.046871,0.998866]]
2025-10-26T22:39:51.066Z,1761518391.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:51.402Z,1761518391.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948970,-0.314545,-0.022741],[0.315256,0.948076,0.042008],[0.008347,-0.047034,0.998858]]
2025-10-26T22:39:51.432Z,1761518391.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:51.811Z,1761518391.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949752,-0.312188,-0.022582],[0.312894,0.948855,0.042092],[0.008287,-0.047042,0.998859]]
2025-10-26T22:39:51.888Z,1761518391.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:52.210Z,1761518392.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950298,-0.310544,-0.022294],[0.311237,0.949406,0.041959],[0.008136,-0.046812,0.998871]]
2025-10-26T22:39:52.257Z,1761518392.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:52.619Z,1761518392.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950749,-0.309176,-0.022047],[0.309858,0.949861,0.041864],[0.007998,-0.046634,0.998880]]
2025-10-26T22:39:52.653Z,1761518392.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:53.018Z,1761518393.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951107,-0.308076,-0.022037],[0.308758,0.950222,0.041802],[0.008062,-0.046562,0.998883]]
2025-10-26T22:39:53.090Z,1761518393.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:53.428Z,1761518393.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951369,-0.307279,-0.021826],[0.307953,0.950480,0.041871],[0.007879,-0.046556,0.998885]]
2025-10-26T22:39:53.460Z,1761518393.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:53.826Z,1761518393.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951627,-0.306483,-0.021758],[0.307156,0.950729,0.042073],[0.007791,-0.046721,0.998878]]
2025-10-26T22:39:53.909Z,1761518393.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:54.230Z,1761518394.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951676,-0.306342,-0.021605],[0.307007,0.950780,0.041995],[0.007677,-0.046598,0.998884]]
2025-10-26T22:39:54.292Z,1761518394.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:54.634Z,1761518394.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951728,-0.306201,-0.021326],[0.306853,0.950830,0.042002],[0.007416,-0.046519,0.998890]]
2025-10-26T22:39:54.681Z,1761518394.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:55.045Z,1761518395.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951823,-0.305923,-0.021049],[0.306563,0.950922,0.042039],[0.007156,-0.046467,0.998894]]
2025-10-26T22:39:55.125Z,1761518395.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:55.442Z,1761518395.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951876,-0.305789,-0.020644],[0.306410,0.950972,0.042011],[0.006786,-0.046315,0.998904]]
2025-10-26T22:39:55.472Z,1761518395.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:55.846Z,1761518395.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951979,-0.305493,-0.020248],[0.306096,0.951070,0.042073],[0.006404,-0.046250,0.998909]]
2025-10-26T22:39:55.909Z,1761518395.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:56.250Z,1761518396.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952144,-0.305004,-0.019839],[0.305589,0.951227,0.042212],[0.005996,-0.046255,0.998912]]
2025-10-26T22:39:56.308Z,1761518396.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:56.656Z,1761518396.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952414,-0.304189,-0.019400],[0.304757,0.951483,0.042463],[0.005542,-0.046355,0.998910]]
2025-10-26T22:39:56.683Z,1761518396.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:57.062Z,1761518397.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952700,-0.303327,-0.018864],[0.303872,0.951756,0.042701],[0.005002,-0.046414,0.998910]]
2025-10-26T22:39:57.136Z,1761518397.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:57.470Z,1761518397.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953277,-0.301584,-0.017636],[0.302074,0.952321,0.042839],[0.003875,-0.046165,0.998926]]
2025-10-26T22:39:57.488Z,1761518397.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:57.875Z,1761518397.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953700,-0.300282,-0.016937],[0.300742,0.952734,0.043050],[0.003209,-0.046150,0.998929]]
2025-10-26T22:39:57.897Z,1761518397.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:58.275Z,1761518398.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954154,-0.298875,-0.016257],[0.299305,0.953178,0.043217],[0.002580,-0.046102,0.998933]]
2025-10-26T22:39:58.318Z,1761518398.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:58.678Z,1761518398.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954626,-0.297400,-0.015570],[0.297801,0.953643,0.043357],[0.001954,-0.046026,0.998938]]
2025-10-26T22:39:58.713Z,1761518398.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:59.087Z,1761518399.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955165,-0.295693,-0.015001],[0.296070,0.954178,0.043448],[0.001467,-0.045941,0.998943]]
2025-10-26T22:39:59.149Z,1761518399.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:59.486Z,1761518399.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955660,-0.294125,-0.014258],[0.294470,0.954675,0.043401],[0.000847,-0.045675,0.998956]]
2025-10-26T22:39:59.504Z,1761518399.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:39:59.886Z,1761518399.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956088,-0.292763,-0.013633],[0.293080,0.955112,0.043185],[0.000378,-0.045284,0.998974]]
2025-10-26T22:39:59.915Z,1761518399.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:00.290Z,1761518400.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956695,-0.290792,-0.013236],[0.291093,0.955713,0.043335],[0.000049,-0.045312,0.998973]]
2025-10-26T22:40:00.343Z,1761518400.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:00.697Z,1761518400.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957391,-0.288506,-0.012896],[0.288793,0.956390,0.043772],[-0.000295,-0.045631,0.998958]]
2025-10-26T22:40:00.724Z,1761518400.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:01.107Z,1761518401.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957941,-0.286691,-0.012552],[0.286965,0.956926,0.044096],[-0.000631,-0.045844,0.998948]]
2025-10-26T22:40:01.147Z,1761518401.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:01.503Z,1761518401.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958516,-0.284773,-0.012324],[0.285039,0.957479,0.044580],[-0.000895,-0.046243,0.998930]]
2025-10-26T22:40:01.608Z,1761518401.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:01.906Z,1761518401.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958958,-0.283281,-0.012302],[0.283547,0.957913,0.044767],[-0.000897,-0.046418,0.998922]]
2025-10-26T22:40:01.956Z,1761518401.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:02.311Z,1761518402.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959461,-0.281575,-0.012227],[0.281838,0.958402,0.045094],[-0.000979,-0.046712,0.998908]]
2025-10-26T22:40:02.376Z,1761518402.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:02.721Z,1761518402.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959723,-0.280683,-0.012177],[0.280945,0.958674,0.044866],[-0.000920,-0.046480,0.998919]]
2025-10-26T22:40:02.762Z,1761518402.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:03.118Z,1761518403.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959903,-0.280070,-0.012144],[0.280332,0.958872,0.044484],[-0.000814,-0.046105,0.998936]]
2025-10-26T22:40:03.168Z,1761518403.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:03.523Z,1761518403.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960130,-0.279289,-0.012141],[0.279552,0.959112,0.044219],[-0.000705,-0.045850,0.998948]]
2025-10-26T22:40:03.541Z,1761518403.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:03.928Z,1761518403.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960233,-0.278930,-0.012305],[0.279201,0.959231,0.043847],[-0.000427,-0.045539,0.998962]]
2025-10-26T22:40:03.952Z,1761518403.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:04.331Z,1761518404.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960424,-0.278258,-0.012618],[0.278544,0.959424,0.043800],[-0.000082,-0.045581,0.998961]]
2025-10-26T22:40:04.382Z,1761518404.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:04.738Z,1761518404.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960575,-0.277727,-0.012790],[0.278021,0.959573,0.043860],[0.000092,-0.045687,0.998956]]
2025-10-26T22:40:04.757Z,1761518404.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:05.138Z,1761518405.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960597,-0.277644,-0.012923],[0.277944,0.959601,0.043736],[0.000258,-0.045605,0.998959]]
2025-10-26T22:40:05.192Z,1761518405.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:05.544Z,1761518405.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960545,-0.277808,-0.013249],[0.278123,0.959563,0.043435],[0.000647,-0.045406,0.998968]]
2025-10-26T22:40:05.580Z,1761518405.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:05.946Z,1761518405.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960443,-0.278151,-0.013465],[0.278475,0.959482,0.042960],[0.000970,-0.045011,0.998986]]
2025-10-26T22:40:05.964Z,1761518405.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:06.350Z,1761518406.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960295,-0.278651,-0.013696],[0.278984,0.959362,0.042349],[0.001339,-0.044489,0.999009]]
2025-10-26T22:40:06.392Z,1761518406.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:06.754Z,1761518406.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960071,-0.279416,-0.013785],[0.279752,0.959167,0.041684],[0.001575,-0.043876,0.999036]]
2025-10-26T22:40:06.797Z,1761518406.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:07.161Z,1761518407.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959873,-0.280089,-0.013913],[0.280429,0.958989,0.041229],[0.001794,-0.043476,0.999053]]
2025-10-26T22:40:07.217Z,1761518407.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:07.584Z,1761518407.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959570,-0.281097,-0.014505],[0.281463,0.958674,0.041514],[0.002236,-0.043918,0.999033]]
2025-10-26T22:40:07.624Z,1761518407.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:07.966Z,1761518407.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959101,-0.282651,-0.015284],[0.283052,0.958171,0.042316],[0.002684,-0.044911,0.998987]]
2025-10-26T22:40:07.993Z,1761518407.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:08.370Z,1761518408.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958633,-0.284204,-0.015858],[0.284630,0.957677,0.042910],[0.002992,-0.045649,0.998953]]
2025-10-26T22:40:08.421Z,1761518408.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:08.797Z,1761518408.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958267,-0.285428,-0.015988],[0.285858,0.957324,0.042620],[0.003140,-0.045412,0.998963]]
2025-10-26T22:40:08.837Z,1761518408.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:09.257Z,1761518409.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:09.590Z,1761518409.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957303,-0.288616,-0.016467],[0.289062,0.956400,0.041742],[0.003702,-0.044720,0.998993]]
2025-10-26T22:40:09.614Z,1761518409.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:09.986Z,1761518409.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956612,-0.290881,-0.016760],[0.291335,0.955743,0.040980],[0.004098,-0.044085,0.999019]]
2025-10-26T22:40:10.030Z,1761518410.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:10.390Z,1761518410.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956074,-0.292620,-0.017187],[0.293089,0.955225,0.040546],[0.004553,-0.043803,0.999030]]
2025-10-26T22:40:10.448Z,1761518410.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:10.796Z,1761518410.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955587,-0.294175,-0.017735],[0.294665,0.954747,0.040387],[0.005052,-0.043820,0.999027]]
2025-10-26T22:40:10.812Z,1761518410.812 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:40:10.814Z,1761518410.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:10.828Z,1761518410.828 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:40:10.828Z,1761518410.828 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:40:11.081Z,1761518411.081 [DAT](INFO): DAT read: user:634>

2025-10-26T22:40:11.083Z,1761518411.083 [DAT](INFO): DAT read: Tx time:22:40:10.1872

2025-10-26T22:40:11.084Z,1761518411.084 [DAT](INFO): Ping request sent.
2025-10-26T22:40:11.084Z,1761518411.084 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:40:11.085Z,1761518411.085 [DAT](INFO): publishing transmit ping time
2025-10-26T22:40:11.087Z,1761518411.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002652
2025-10-26T22:40:11.202Z,1761518411.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955164,-0.295511,-0.018299],[0.296026,0.954320,0.040510],[0.005492,-0.044111,0.999012]]
2025-10-26T22:40:11.258Z,1761518411.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:11.333Z,1761518411.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248932
2025-10-26T22:40:11.585Z,1761518411.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501047
2025-10-26T22:40:11.602Z,1761518411.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954647,-0.297144,-0.018850],[0.297682,0.953805,0.040523],[0.005938,-0.044296,0.999001]]
2025-10-26T22:40:11.640Z,1761518411.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:11.836Z,1761518411.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752500
2025-10-26T22:40:12.006Z,1761518412.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954216,-0.298492,-0.019339],[0.299051,0.953373,0.040608],[0.006316,-0.044532,0.998988]]
2025-10-26T22:40:12.025Z,1761518412.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:12.089Z,1761518412.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005101
2025-10-26T22:40:12.340Z,1761518412.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256520
2025-10-26T22:40:12.411Z,1761518412.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953720,-0.300037,-0.019895],[0.300617,0.952892,0.040321],[0.006860,-0.044436,0.998989]]
2025-10-26T22:40:12.454Z,1761518412.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:12.592Z,1761518412.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508530
2025-10-26T22:40:12.814Z,1761518412.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953272,-0.301432,-0.020283],[0.302025,0.952466,0.039876],[0.007299,-0.044138,0.998999]]
2025-10-26T22:40:12.843Z,1761518412.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:12.844Z,1761518412.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760610
2025-10-26T22:40:13.097Z,1761518413.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012805
2025-10-26T22:40:13.286Z,1761518413.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:13.350Z,1761518413.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265876
2025-10-26T22:40:13.600Z,1761518413.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516457
2025-10-26T22:40:13.628Z,1761518413.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952915,-0.302505,-0.021060],[0.303129,0.952129,0.039541],[0.008090,-0.044063,0.998996]]
2025-10-26T22:40:13.646Z,1761518413.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:13.852Z,1761518413.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768483
2025-10-26T22:40:14.028Z,1761518414.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952840,-0.302714,-0.021457],[0.303356,0.952057,0.039537],[0.008460,-0.044182,0.998988]]
2025-10-26T22:40:14.051Z,1761518414.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:14.105Z,1761518414.105 [DAT](INFO): DAT read: Rx Time:22:40:12.6563

2025-10-26T22:40:14.106Z,1761518414.106 [DAT](INFO): Rx dataTimestamp_ set to:1761518414.105424
2025-10-26T22:40:14.107Z,1761518414.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022688
2025-10-26T22:40:14.356Z,1761518414.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272461
2025-10-26T22:40:14.465Z,1761518414.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952963,-0.302310,-0.021677],[0.302964,0.952168,0.039853],[0.008592,-0.044546,0.998970]]
2025-10-26T22:40:14.520Z,1761518414.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.89 m.
2025-10-26T22:40:14.614Z,1761518414.614 [DAT](INFO): DAT read: 22:40:12.6563 LVL= 28816, 20161, 32754, 32755, AGC= 68, IDX=  22, 0.16,-0.031, 1.340,-0.743, 0.421, PHS=-0.350, 0.964,-1.208, RAW= 353.1,   6.3, CAL= 352.9,   5.3, ROT= 157.1,  -5.3

2025-10-26T22:40:14.615Z,1761518414.615 [DAT](INFO): got valid direction response:
 22:40:12.6563 LVL= 28816, 20161, 32754, 32755, AGC= 68, IDX=  22, 0.16,-0.031, 1.340,-0.743, 0.421, PHS=-0.350, 0.964,-1.208, RAW= 353.1,   6.3, CAL= 352.9,   5.3, ROT= 157.1,  -5.3

2025-10-26T22:40:14.616Z,1761518414.616 [DAT](INFO): DAT read: Bearing 338.8,  22.1 (Local)

2025-10-26T22:40:14.616Z,1761518414.616 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.8,  22.1 (Local)

2025-10-26T22:40:14.617Z,1761518414.617 [DAT](INFO): DAT read: Range 11 to 50 : 48.7 m  (Round-trip  65.0 ms) speed  0.0 m/s

2025-10-26T22:40:14.618Z,1761518414.618 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:40:14.619Z,1761518414.619 [DAT](INFO): direction in FSK: [-0.917247,0.387460,0.092371]
2025-10-26T22:40:14.619Z,1761518414.619 [DAT](INFO): publishing direction and range info
2025-10-26T22:40:14.834Z,1761518414.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953215,-0.301495,-0.021939],[0.302165,0.952404,0.040293],[0.008747,-0.045037,0.998947]]
2025-10-26T22:40:14.884Z,1761518414.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.700001 m,
      deltaT: 60.008004 s,
      deltaX: 7.600002 m,
      approachRate: 0.126650 m/s,
      rangeRepo size: 4

2025-10-26T22:40:14.886Z,1761518414.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.446568 m,
      bearing: 174.502969 deg,
      lat: 36.779444 deg,
      lon: -121.859508 deg,
      deltaT: 60.008004 s,
      deltaX: 7.559723 m,
      approachRate: 0.125979 m/s,
      posRepo size: 4

2025-10-26T22:40:14.887Z,1761518414.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:15.251Z,1761518415.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953462,-0.300736,-0.021612],[0.301390,0.952664,0.039936],[0.008579,-0.044591,0.998969]]
2025-10-26T22:40:15.289Z,1761518415.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:15.642Z,1761518415.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953758,-0.299851,-0.020860],[0.300466,0.952989,0.039148],[0.008141,-0.043606,0.999016]]
2025-10-26T22:40:15.677Z,1761518415.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:16.051Z,1761518416.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954199,-0.298479,-0.020371],[0.299070,0.953447,0.038680],[0.007878,-0.043001,0.999044]]
2025-10-26T22:40:16.145Z,1761518416.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:16.451Z,1761518416.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954607,-0.297203,-0.019875],[0.297772,0.953863,0.038432],[0.007536,-0.042606,0.999063]]
2025-10-26T22:40:16.515Z,1761518416.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:16.856Z,1761518416.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955036,-0.295832,-0.019772],[0.296401,0.954268,0.038978],[0.007336,-0.043086,0.999044]]
2025-10-26T22:40:16.893Z,1761518416.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:17.266Z,1761518417.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955251,-0.295149,-0.019560],[0.295712,0.954466,0.039352],[0.007055,-0.043375,0.999034]]
2025-10-26T22:40:17.317Z,1761518417.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:17.662Z,1761518417.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955359,-0.294842,-0.018922],[0.295379,0.954561,0.039559],[0.006399,-0.043383,0.999038]]
2025-10-26T22:40:17.681Z,1761518417.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:18.081Z,1761518418.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955481,-0.294480,-0.018365],[0.294995,0.954671,0.039777],[0.005819,-0.043424,0.999040]]
2025-10-26T22:40:18.121Z,1761518418.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:18.472Z,1761518418.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955442,-0.294657,-0.017558],[0.295136,0.954628,0.039744],[0.005050,-0.043155,0.999056]]
2025-10-26T22:40:18.514Z,1761518418.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:18.874Z,1761518418.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955403,-0.294832,-0.016704],[0.295275,0.954580,0.039866],[0.004192,-0.043021,0.999065]]
2025-10-26T22:40:18.906Z,1761518418.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:19.292Z,1761518419.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955241,-0.295397,-0.015954],[0.295808,0.954411,0.039970],[0.003420,-0.042900,0.999074]]
2025-10-26T22:40:19.347Z,1761518419.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:19.695Z,1761518419.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954885,-0.296596,-0.015008],[0.296967,0.954008,0.040988],[0.002161,-0.043595,0.999047]]
2025-10-26T22:40:19.746Z,1761518419.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:20.098Z,1761518420.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954295,-0.298519,-0.014392],[0.298863,0.953363,0.042182],[0.001129,-0.044555,0.999006]]
2025-10-26T22:40:20.117Z,1761518420.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:20.502Z,1761518420.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953495,-0.301092,-0.013840],[0.301410,0.952521,0.043069],[0.000215,-0.045238,0.998976]]
2025-10-26T22:40:20.557Z,1761518420.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:20.906Z,1761518420.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952593,-0.303958,-0.013295],[0.304247,0.951585,0.043822],[-0.000669,-0.045789,0.998951]]
2025-10-26T22:40:20.992Z,1761518420.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:21.060Z,1761518421.060 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:40:21.326Z,1761518421.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951604,-0.307059,-0.012809],[0.307323,0.950571,0.044361],[-0.001446,-0.046151,0.998933]]
2025-10-26T22:40:21.379Z,1761518421.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:21.724Z,1761518421.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950638,-0.310064,-0.012123],[0.310291,0.949585,0.044805],[-0.002380,-0.046355,0.998922]]
2025-10-26T22:40:21.746Z,1761518421.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:22.064Z,1761518422.064 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:40:22.118Z,1761518422.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949582,-0.313302,-0.011616],[0.313503,0.948526,0.044874],[-0.003041,-0.046253,0.998925]]
2025-10-26T22:40:22.202Z,1761518422.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:22.523Z,1761518422.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948489,-0.316618,-0.011025],[0.316788,0.947432,0.044922],[-0.003778,-0.046101,0.998930]]
2025-10-26T22:40:22.605Z,1761518422.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:22.928Z,1761518422.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947338,-0.320057,-0.010715],[0.320208,0.946281,0.044937],[-0.004243,-0.046002,0.998932]]
2025-10-26T22:40:22.964Z,1761518422.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:23.355Z,1761518423.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946381,-0.322888,-0.010358],[0.323018,0.945309,0.045279],[-0.004829,-0.046197,0.998921]]
2025-10-26T22:40:23.431Z,1761518423.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:23.739Z,1761518423.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945441,-0.325638,-0.010068],[0.325751,0.944368,0.045325],[-0.005252,-0.046132,0.998922]]
2025-10-26T22:40:23.757Z,1761518423.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:24.138Z,1761518424.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944755,-0.327637,-0.009620],[0.327730,0.943708,0.044822],[-0.005606,-0.045499,0.998949]]
2025-10-26T22:40:24.163Z,1761518424.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:24.551Z,1761518424.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944358,-0.328788,-0.009255],[0.328864,0.943313,0.044815],[-0.006004,-0.045365,0.998952]]
2025-10-26T22:40:24.598Z,1761518424.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:24.947Z,1761518424.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943845,-0.330265,-0.009018],[0.330329,0.942813,0.044559],[-0.006214,-0.045036,0.998966]]
2025-10-26T22:40:24.965Z,1761518424.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:25.373Z,1761518425.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943439,-0.331433,-0.008640],[0.331480,0.942420,0.044338],[-0.006553,-0.044694,0.998979]]
2025-10-26T22:40:25.426Z,1761518425.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:25.754Z,1761518425.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943141,-0.332287,-0.008316],[0.332322,0.942135,0.044087],[-0.006815,-0.044344,0.998993]]
2025-10-26T22:40:25.792Z,1761518425.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:26.158Z,1761518426.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942983,-0.332748,-0.007924],[0.332765,0.941987,0.043907],[-0.007146,-0.044041,0.999004]]
2025-10-26T22:40:26.176Z,1761518426.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:26.568Z,1761518426.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942935,-0.332893,-0.007436],[0.332890,0.941949,0.043773],[-0.007567,-0.043751,0.999014]]
2025-10-26T22:40:26.604Z,1761518426.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:26.967Z,1761518426.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943088,-0.332463,-0.007229],[0.332452,0.942103,0.043801],[-0.007752,-0.043712,0.999014]]
2025-10-26T22:40:27.002Z,1761518427.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:27.405Z,1761518427.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943284,-0.331912,-0.007065],[0.331894,0.942300,0.043782],[-0.007874,-0.043644,0.999016]]
2025-10-26T22:40:27.441Z,1761518427.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:27.807Z,1761518427.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:28.178Z,1761518428.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943952,-0.330016,-0.006699],[0.329983,0.942968,0.043837],[-0.008150,-0.043591,0.999016]]
2025-10-26T22:40:28.219Z,1761518428.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:28.582Z,1761518428.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944307,-0.329000,-0.006518],[0.328962,0.943331,0.043707],[-0.008231,-0.043417,0.999023]]
2025-10-26T22:40:28.640Z,1761518428.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:28.987Z,1761518428.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944646,-0.328028,-0.006412],[0.327987,0.943680,0.043514],[-0.008223,-0.043208,0.999032]]
2025-10-26T22:40:29.014Z,1761518429.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:29.430Z,1761518429.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944991,-0.327036,-0.006254],[0.326991,0.944032,0.043377],[-0.008282,-0.043036,0.999039]]
2025-10-26T22:40:29.480Z,1761518429.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:29.794Z,1761518429.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945292,-0.326167,-0.006223],[0.326123,0.944342,0.043142],[-0.008194,-0.042811,0.999050]]
2025-10-26T22:40:29.819Z,1761518429.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:30.199Z,1761518430.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945570,-0.325359,-0.006218],[0.325317,0.944625,0.043045],[-0.008131,-0.042725,0.999054]]
2025-10-26T22:40:30.218Z,1761518430.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:30.602Z,1761518430.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945823,-0.324620,-0.006334],[0.324584,0.944879,0.043000],[-0.007974,-0.042726,0.999055]]
2025-10-26T22:40:30.734Z,1761518430.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:31.007Z,1761518431.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945987,-0.324139,-0.006495],[0.324111,0.945042,0.042988],[-0.007796,-0.042772,0.999054]]
2025-10-26T22:40:31.079Z,1761518431.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:31.454Z,1761518431.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946015,-0.324053,-0.006702],[0.324034,0.945072,0.042897],[-0.007568,-0.042753,0.999057]]
2025-10-26T22:40:31.528Z,1761518431.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:31.816Z,1761518431.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945963,-0.324198,-0.007050],[0.324194,0.945020,0.042843],[-0.007227,-0.042814,0.999057]]
2025-10-26T22:40:31.852Z,1761518431.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:32.251Z,1761518432.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:32.622Z,1761518432.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945573,-0.325312,-0.007974],[0.325347,0.944624,0.042837],[-0.006403,-0.043099,0.999050]]
2025-10-26T22:40:32.672Z,1761518432.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:33.037Z,1761518433.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945082,-0.326726,-0.008388],[0.326779,0.944143,0.042527],[-0.005975,-0.042933,0.999060]]
2025-10-26T22:40:33.075Z,1761518433.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:33.484Z,1761518433.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944614,-0.328063,-0.008920],[0.328139,0.943682,0.042307],[-0.005462,-0.042891,0.999065]]
2025-10-26T22:40:33.554Z,1761518433.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:33.837Z,1761518433.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944100,-0.329526,-0.009347],[0.329620,0.943173,0.042134],[-0.005069,-0.042860,0.999068]]
2025-10-26T22:40:33.876Z,1761518433.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:34.238Z,1761518434.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943536,-0.331120,-0.009979],[0.331240,0.942611,0.041999],[-0.004501,-0.042933,0.999068]]
2025-10-26T22:40:34.257Z,1761518434.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:34.643Z,1761518434.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942932,-0.332818,-0.010545],[0.332961,0.942006,0.041969],[-0.004035,-0.043085,0.999063]]
2025-10-26T22:40:34.715Z,1761518434.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:35.054Z,1761518435.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942316,-0.334541,-0.011097],[0.334706,0.941388,0.041967],[-0.003593,-0.043260,0.999057]]
2025-10-26T22:40:35.072Z,1761518435.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:35.481Z,1761518435.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941683,-0.336298,-0.011667],[0.336486,0.940757,0.041880],[-0.003108,-0.043364,0.999054]]
2025-10-26T22:40:35.606Z,1761518435.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:35.854Z,1761518435.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941122,-0.337844,-0.012258],[0.338056,0.940195,0.041846],[-0.002612,-0.043526,0.999049]]
2025-10-26T22:40:35.892Z,1761518435.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:36.317Z,1761518436.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:36.662Z,1761518436.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940124,-0.340581,-0.013099],[0.340828,0.939202,0.041663],[-0.001887,-0.043633,0.999046]]
2025-10-26T22:40:36.741Z,1761518436.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:37.067Z,1761518437.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939769,-0.341538,-0.013594],[0.341806,0.938849,0.041606],[-0.001448,-0.043746,0.999042]]
2025-10-26T22:40:37.105Z,1761518437.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:37.485Z,1761518437.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939563,-0.342094,-0.013906],[0.342374,0.938636,0.041739],[-0.001226,-0.043977,0.999032]]
2025-10-26T22:40:37.564Z,1761518437.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:37.875Z,1761518437.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939368,-0.342615,-0.014248],[0.342910,0.938441,0.041734],[-0.000927,-0.044089,0.999027]]
2025-10-26T22:40:37.937Z,1761518437.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:38.278Z,1761518438.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939303,-0.342783,-0.014501],[0.343089,0.938377,0.041709],[-0.000690,-0.044153,0.999025]]
2025-10-26T22:40:38.309Z,1761518438.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:38.683Z,1761518438.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939416,-0.342474,-0.014454],[0.342778,0.938497,0.041549],[-0.000664,-0.043986,0.999032]]
2025-10-26T22:40:38.740Z,1761518438.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:39.089Z,1761518439.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939610,-0.341945,-0.014353],[0.342246,0.938694,0.041490],[-0.000714,-0.043897,0.999036]]
2025-10-26T22:40:39.116Z,1761518439.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:39.496Z,1761518439.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939897,-0.341160,-0.014293],[0.341458,0.938983,0.041430],[-0.000713,-0.043820,0.999039]]
2025-10-26T22:40:39.575Z,1761518439.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:39.894Z,1761518439.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940244,-0.340204,-0.014220],[0.340500,0.939333,0.041381],[-0.000720,-0.043750,0.999042]]
2025-10-26T22:40:39.945Z,1761518439.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:40.298Z,1761518440.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940825,-0.338594,-0.014214],[0.338891,0.939903,0.041658],[-0.000745,-0.044010,0.999031]]
2025-10-26T22:40:40.343Z,1761518440.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:40.710Z,1761518440.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942147,-0.334899,-0.014198],[0.335199,0.941191,0.042445],[-0.000852,-0.044748,0.998998]]
2025-10-26T22:40:40.759Z,1761518440.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:41.113Z,1761518441.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942693,-0.333365,-0.014028],[0.333658,0.941734,0.042527],[-0.000966,-0.044771,0.998997]]
2025-10-26T22:40:41.132Z,1761518441.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:41.528Z,1761518441.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943172,-0.332018,-0.013821],[0.332304,0.942221,0.042362],[-0.001043,-0.044548,0.999007]]
2025-10-26T22:40:41.606Z,1761518441.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:41.918Z,1761518441.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943664,-0.330628,-0.013572],[0.330904,0.942724,0.042114],[-0.001130,-0.044233,0.999021]]
2025-10-26T22:40:41.968Z,1761518441.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:42.322Z,1761518442.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944238,-0.328993,-0.013371],[0.329262,0.943306,0.041955],[-0.001190,-0.044018,0.999030]]
2025-10-26T22:40:42.340Z,1761518442.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:42.729Z,1761518442.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944777,-0.327451,-0.013107],[0.327711,0.943851,0.041834],[-0.001328,-0.043819,0.999039]]
2025-10-26T22:40:42.767Z,1761518442.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:43.127Z,1761518443.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945369,-0.325742,-0.012982],[0.325998,0.944438,0.041972],[-0.001411,-0.043912,0.999034]]
2025-10-26T22:40:43.162Z,1761518443.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:43.538Z,1761518443.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945902,-0.324193,-0.012953],[0.324448,0.944962,0.042193],[-0.001439,-0.044113,0.999026]]
2025-10-26T22:40:43.607Z,1761518443.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:43.935Z,1761518443.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946337,-0.322927,-0.012847],[0.323178,0.945388,0.042399],[-0.001546,-0.044275,0.999018]]
2025-10-26T22:40:43.994Z,1761518443.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:44.338Z,1761518444.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946694,-0.321888,-0.012574],[0.322129,0.945740,0.042527],[-0.001798,-0.044311,0.999016]]
2025-10-26T22:40:44.363Z,1761518444.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:44.744Z,1761518444.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946886,-0.321335,-0.012261],[0.321562,0.945938,0.042418],[-0.002032,-0.044108,0.999025]]
2025-10-26T22:40:44.788Z,1761518444.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:45.147Z,1761518445.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947063,-0.320823,-0.012019],[0.321040,0.946121,0.042284],[-0.002194,-0.043904,0.999033]]
2025-10-26T22:40:45.244Z,1761518445.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:45.552Z,1761518445.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947100,-0.320729,-0.011587],[0.320928,0.946169,0.042067],[-0.002529,-0.043561,0.999048]]
2025-10-26T22:40:45.582Z,1761518445.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:45.954Z,1761518445.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947252,-0.320289,-0.011315],[0.320476,0.946317,0.042177],[-0.002801,-0.043578,0.999046]]
2025-10-26T22:40:46.041Z,1761518446.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:46.358Z,1761518446.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947357,-0.319987,-0.011108],[0.320165,0.946411,0.042428],[-0.003064,-0.043751,0.999038]]
2025-10-26T22:40:46.372Z,1761518446.372 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-26T22:40:46.373Z,1761518446.373 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-26T22:40:46.374Z,1761518446.374 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0.
2025-10-26T22:40:46.375Z,1761518446.375 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-26T22:40:46.376Z,1761518446.376 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-26T22:40:46.377Z,1761518446.377 [BPC1](ERROR): Battery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-26T22:40:46.378Z,1761518446.378 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-26T22:40:46.378Z,1761518446.378 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0.
2025-10-26T22:40:46.379Z,1761518446.379 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-26T22:40:46.380Z,1761518446.380 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-26T22:40:46.381Z,1761518446.381 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-26T22:40:46.381Z,1761518446.381 [BPC1](INFO): Calculating totals. Valid battery stick count: 26. Valid reserve battery stick count: 1.
2025-10-26T22:40:46.413Z,1761518446.413 [BPC1](FAULT): Failed to receive data from 10 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 17, 24, 26, 27, 28, 44, 47, 54, 58, 62.
2025-10-26T22:40:46.448Z,1761518446.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:46.762Z,1761518446.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947385,-0.319910,-0.010918],[0.320079,0.946430,0.042646],[-0.003310,-0.043897,0.999031]]
2025-10-26T22:40:46.822Z,1761518446.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:47.168Z,1761518447.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947430,-0.319788,-0.010593],[0.319942,0.946464,0.042931],[-0.003702,-0.044063,0.999022]]
2025-10-26T22:40:47.191Z,1761518447.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:47.574Z,1761518447.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947463,-0.319702,-0.010189],[0.319838,0.946489,0.043147],[-0.004151,-0.044139,0.999017]]
2025-10-26T22:40:47.603Z,1761518447.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:47.974Z,1761518447.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947484,-0.319647,-0.009966],[0.319773,0.946507,0.043237],[-0.004388,-0.044153,0.999015]]
2025-10-26T22:40:48.034Z,1761518448.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:48.378Z,1761518448.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947415,-0.319861,-0.009667],[0.319974,0.946447,0.043074],[-0.004628,-0.043902,0.999025]]
2025-10-26T22:40:48.416Z,1761518448.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:48.783Z,1761518448.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947486,-0.319660,-0.009358],[0.319758,0.946516,0.043151],[-0.004936,-0.043877,0.999025]]
2025-10-26T22:40:48.859Z,1761518448.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:49.189Z,1761518449.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947688,-0.319068,-0.009159],[0.319157,0.946704,0.043483],[-0.005204,-0.044131,0.999012]]
2025-10-26T22:40:49.207Z,1761518449.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:49.590Z,1761518449.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947961,-0.318260,-0.008954],[0.318339,0.946960,0.043909],[-0.005495,-0.044474,0.998995]]
2025-10-26T22:40:49.623Z,1761518449.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:49.000Z,1761518450.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948303,-0.317245,-0.008745],[0.317313,0.947283,0.044360],[-0.005789,-0.044842,0.998977]]
2025-10-26T22:40:50.054Z,1761518450.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:50.399Z,1761518450.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948584,-0.316406,-0.008682],[0.316472,0.947560,0.044459],[-0.005840,-0.044920,0.998973]]
2025-10-26T22:40:50.427Z,1761518450.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:50.853Z,1761518450.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:51.206Z,1761518451.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949257,-0.314396,-0.008208],[0.314444,0.948254,0.044039],[-0.006062,-0.044385,0.998996]]
2025-10-26T22:40:51.239Z,1761518451.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:51.610Z,1761518451.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949839,-0.312638,-0.008016],[0.312680,0.948838,0.044023],[-0.006157,-0.044321,0.998998]]
2025-10-26T22:40:51.632Z,1761518451.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:52.021Z,1761518452.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950473,-0.310706,-0.007922],[0.310746,0.949475,0.043987],[-0.006146,-0.044270,0.999001]]
2025-10-26T22:40:52.085Z,1761518452.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:52.184Z,1761518452.184 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:40:52.427Z,1761518452.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951164,-0.308588,-0.007777],[0.308624,0.950164,0.044046],[-0.006202,-0.044295,0.998999]]
2025-10-26T22:40:52.445Z,1761518452.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:52.822Z,1761518452.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952033,-0.305893,-0.007929],[0.305937,0.951019,0.044326],[-0.006018,-0.044626,0.998986]]
2025-10-26T22:40:52.869Z,1761518452.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:53.188Z,1761518453.188 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:40:53.226Z,1761518453.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952912,-0.303139,-0.008115],[0.303192,0.951888,0.044541],[-0.005778,-0.044904,0.998975]]
2025-10-26T22:40:53.250Z,1761518453.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:53.632Z,1761518453.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953683,-0.300702,-0.008127],[0.300759,0.952663,0.044464],[-0.005628,-0.044849,0.998978]]
2025-10-26T22:40:53.650Z,1761518453.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:54.035Z,1761518454.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954467,-0.298208,-0.007974],[0.298262,0.953456,0.044297],[-0.005607,-0.044658,0.998987]]
2025-10-26T22:40:54.084Z,1761518454.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:54.438Z,1761518454.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955199,-0.295862,-0.007829],[0.295915,0.954207,0.043851],[-0.005503,-0.044203,0.999007]]
2025-10-26T22:40:54.472Z,1761518454.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:54.843Z,1761518454.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955857,-0.293733,-0.007660],[0.293784,0.954895,0.043201],[-0.005375,-0.043544,0.999037]]
2025-10-26T22:40:54.899Z,1761518454.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:55.248Z,1761518455.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956751,-0.290809,-0.007559],[0.290859,0.955800,0.042974],[-0.005272,-0.043314,0.999048]]
2025-10-26T22:40:55.267Z,1761518455.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:55.650Z,1761518455.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957631,-0.287906,-0.007242],[0.287947,0.956690,0.042782],[-0.005389,-0.043055,0.999058]]
2025-10-26T22:40:55.680Z,1761518455.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:56.054Z,1761518456.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958552,-0.284832,-0.007006],[0.284866,0.957612,0.042798],[-0.005481,-0.043020,0.999059]]
2025-10-26T22:40:56.109Z,1761518456.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:56.462Z,1761518456.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959391,-0.281996,-0.006946],[0.282030,0.958452,0.042762],[-0.005401,-0.042985,0.999061]]
2025-10-26T22:40:56.491Z,1761518456.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:56.863Z,1761518456.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960210,-0.279197,-0.006810],[0.279227,0.959266,0.042911],[-0.005448,-0.043105,0.999056]]
2025-10-26T22:40:56.900Z,1761518456.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:57.266Z,1761518457.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960918,-0.276755,-0.006577],[0.276777,0.959972,0.043001],[-0.005587,-0.043141,0.999053]]
2025-10-26T22:40:57.302Z,1761518457.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:57.670Z,1761518457.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961593,-0.274402,-0.006508],[0.274422,0.960639,0.043184],[-0.005598,-0.043311,0.999046]]
2025-10-26T22:40:57.688Z,1761518457.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:58.075Z,1761518458.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962184,-0.272327,-0.006288],[0.272338,0.961224,0.043360],[-0.005764,-0.043433,0.999040]]
2025-10-26T22:40:58.130Z,1761518458.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:58.496Z,1761518458.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962708,-0.270477,-0.006014],[0.270478,0.961741,0.043534],[-0.005991,-0.043538,0.999034]]
2025-10-26T22:40:58.518Z,1761518458.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:58.884Z,1761518458.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963056,-0.269240,-0.005776],[0.269232,0.962093,0.043492],[-0.006153,-0.043441,0.999037]]
2025-10-26T22:40:58.893Z,1761518458.893 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050302291719,35.0, +10.6,   0.,  0
2025-10-26T22:40:58.928Z,1761518458.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:59.286Z,1761518459.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963328,-0.268269,-0.005595],[0.268254,0.962368,0.043453],[-0.006273,-0.043360,0.999040]]
2025-10-26T22:40:59.336Z,1761518459.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:40:59.691Z,1761518459.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963574,-0.267389,-0.005355],[0.267364,0.962614,0.043472],[-0.006470,-0.043320,0.999040]]
2025-10-26T22:40:59.724Z,1761518459.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:00.099Z,1761518460.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963829,-0.266468,-0.005237],[0.266439,0.962865,0.043608],[-0.006578,-0.043426,0.999035]]
2025-10-26T22:41:00.136Z,1761518460.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:00.507Z,1761518460.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964113,-0.265441,-0.005266],[0.265412,0.963138,0.043830],[-0.006562,-0.043655,0.999025]]
2025-10-26T22:41:00.533Z,1761518460.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:00.914Z,1761518460.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964337,-0.264624,-0.005383],[0.264600,0.963355,0.043979],[-0.006452,-0.043835,0.999018]]
2025-10-26T22:41:00.957Z,1761518460.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:01.307Z,1761518461.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964685,-0.263351,-0.005451],[0.263329,0.963686,0.044345],[-0.006425,-0.044215,0.999001]]
2025-10-26T22:41:01.326Z,1761518461.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:01.718Z,1761518461.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964885,-0.262618,-0.005355],[0.262593,0.963887,0.044347],[-0.006484,-0.044196,0.999002]]
2025-10-26T22:41:01.740Z,1761518461.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:02.114Z,1761518462.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965279,-0.261165,-0.005362],[0.261139,0.964268,0.044641],[-0.006488,-0.044491,0.998989]]
2025-10-26T22:41:02.168Z,1761518462.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:02.518Z,1761518462.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965703,-0.259592,-0.005396],[0.259568,0.964684,0.044833],[-0.006432,-0.044696,0.998980]]
2025-10-26T22:41:02.537Z,1761518462.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:02.937Z,1761518462.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966194,-0.257759,-0.005415],[0.257737,0.965164,0.045054],[-0.006386,-0.044926,0.998970]]
2025-10-26T22:41:02.990Z,1761518462.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:03.328Z,1761518463.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966865,-0.255233,-0.005352],[0.255208,0.965813,0.045541],[-0.006454,-0.045398,0.998948]]
2025-10-26T22:41:03.346Z,1761518463.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:03.734Z,1761518463.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967552,-0.252616,-0.005292],[0.252588,0.966482,0.045951],[-0.006493,-0.045796,0.998930]]
2025-10-26T22:41:03.765Z,1761518463.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:04.137Z,1761518464.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968258,-0.249898,-0.005204],[0.249867,0.967179,0.046155],[-0.006501,-0.045990,0.998921]]
2025-10-26T22:41:04.201Z,1761518464.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:04.538Z,1761518464.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969040,-0.246854,-0.004983],[0.246816,0.967952,0.046382],[-0.006627,-0.046176,0.998911]]
2025-10-26T22:41:04.578Z,1761518464.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:04.968Z,1761518464.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969850,-0.243656,-0.004671],[0.243605,0.968755,0.046578],[-0.006824,-0.046311,0.998904]]
2025-10-26T22:41:05.030Z,1761518465.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:05.348Z,1761518465.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970668,-0.240383,-0.004457],[0.240325,0.969570,0.046666],[-0.006896,-0.046368,0.998901]]
2025-10-26T22:41:05.365Z,1761518465.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:05.751Z,1761518465.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971507,-0.236977,-0.004035],[0.236903,0.970406,0.046795],[-0.007174,-0.046417,0.998896]]
2025-10-26T22:41:05.776Z,1761518465.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:06.157Z,1761518466.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972280,-0.233792,-0.003548],[0.233699,0.971185,0.046730],[-0.007480,-0.046264,0.998901]]
2025-10-26T22:41:06.205Z,1761518466.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:06.558Z,1761518466.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973065,-0.230511,-0.003031],[0.230398,0.971976,0.046689],[-0.007817,-0.046130,0.998905]]
2025-10-26T22:41:06.575Z,1761518466.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:06.992Z,1761518466.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973877,-0.227061,-0.002469],[0.226926,0.972790,0.046747],[-0.008212,-0.046086,0.998904]]
2025-10-26T22:41:07.036Z,1761518467.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:07.367Z,1761518467.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974632,-0.223807,-0.001783],[0.223644,0.973550,0.046739],[-0.008725,-0.045952,0.998906]]
2025-10-26T22:41:07.389Z,1761518467.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:07.770Z,1761518467.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975333,-0.220735,-0.001088],[0.220544,0.974260,0.046665],[-0.009241,-0.045754,0.998910]]
2025-10-26T22:41:07.799Z,1761518467.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:08.177Z,1761518468.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975943,-0.218025,-0.000303],[0.217803,0.974882,0.046540],[-0.009852,-0.045486,0.998916]]
2025-10-26T22:41:08.237Z,1761518468.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:08.579Z,1761518468.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976487,-0.215576,0.000437],[0.215324,0.975439,0.046405],[-0.010430,-0.045220,0.998923]]
2025-10-26T22:41:08.598Z,1761518468.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:09.020Z,1761518469.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977036,-0.213072,0.001185],[0.212787,0.975989,0.046561],[-0.011078,-0.045239,0.998915]]
2025-10-26T22:41:09.063Z,1761518469.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:09.387Z,1761518469.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977547,-0.210710,0.001786],[0.210397,0.976491,0.046890],[-0.011624,-0.045461,0.998899]]
2025-10-26T22:41:09.420Z,1761518469.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:09.421Z,1761518469.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 48.70 m and bearing: 166.562200 deg. Not drifting fast enough.
2025-10-26T22:41:09.790Z,1761518469.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977923,-0.208952,0.002438],[0.208608,0.976861,0.047171],[-0.012238,-0.045621,0.998884]]
2025-10-26T22:41:09.817Z,1761518469.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:09.818Z,1761518469.818 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-10-26T22:41:09.818Z,1761518469.818 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-26T22:41:09.818Z,1761518469.818 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-10-26T22:41:09.819Z,1761518469.819 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-10-26T22:41:10.204Z,1761518470.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978269,-0.207316,0.003108],[0.206938,0.977199,0.047519],[-0.012889,-0.045843,0.998865]]
2025-10-26T22:41:10.252Z,1761518470.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:10.598Z,1761518470.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978542,-0.206015,0.003726],[0.205607,0.977467,0.047791],[-0.013487,-0.046000,0.998850]]
2025-10-26T22:41:10.628Z,1761518470.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:11.044Z,1761518471.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978722,-0.205144,0.004424],[0.204704,0.977655,0.047820],[-0.014135,-0.045897,0.998846]]
2025-10-26T22:41:11.098Z,1761518471.098 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:41:11.100Z,1761518471.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:11.144Z,1761518471.144 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:41:11.144Z,1761518471.144 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:41:11.396Z,1761518471.396 [DAT](INFO): DAT read: user:635>

2025-10-26T22:41:11.397Z,1761518471.397 [DAT](INFO): DAT read: Tx time:22:41:10.4871

2025-10-26T22:41:11.397Z,1761518471.397 [DAT](INFO): Ping request sent.
2025-10-26T22:41:11.397Z,1761518471.397 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:41:11.397Z,1761518471.397 [DAT](INFO): publishing transmit ping time
2025-10-26T22:41:11.398Z,1761518471.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-10-26T22:41:11.410Z,1761518471.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978875,-0.204398,0.004909],[0.203938,0.977817,0.047794],[-0.014569,-0.045783,0.998845]]
2025-10-26T22:41:11.439Z,1761518471.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:11.648Z,1761518471.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251045
2025-10-26T22:41:11.813Z,1761518471.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979034,-0.203623,0.005531],[0.203134,0.977983,0.047808],[-0.015144,-0.045682,0.998841]]
2025-10-26T22:41:11.832Z,1761518471.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:11.900Z,1761518471.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502966
2025-10-26T22:41:12.153Z,1761518472.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755190
2025-10-26T22:41:12.214Z,1761518472.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979160,-0.202997,0.006126],[0.202482,0.978118,0.047808],[-0.015697,-0.045571,0.998838]]
2025-10-26T22:41:12.262Z,1761518472.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:12.404Z,1761518472.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007129
2025-10-26T22:41:12.618Z,1761518472.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979321,-0.202204,0.006549],[0.201669,0.978280,0.047930],[-0.016099,-0.045618,0.998829]]
2025-10-26T22:41:12.649Z,1761518472.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:12.656Z,1761518472.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259067
2025-10-26T22:41:12.908Z,1761518472.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510988
2025-10-26T22:41:13.068Z,1761518473.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979411,-0.201754,0.006999],[0.201198,0.978377,0.047929],[-0.016517,-0.045534,0.998826]]
2025-10-26T22:41:13.125Z,1761518473.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:13.161Z,1761518473.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763466
2025-10-26T22:41:13.412Z,1761518473.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014907
2025-10-26T22:41:13.434Z,1761518473.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979590,-0.200869,0.007392],[0.200293,0.978551,0.048169],[-0.016909,-0.045706,0.998812]]
2025-10-26T22:41:13.459Z,1761518473.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:13.664Z,1761518473.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266983
2025-10-26T22:41:13.857Z,1761518473.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979679,-0.200435,0.007442],[0.199845,0.978609,0.048853],[-0.017074,-0.046373,0.998778]]
2025-10-26T22:41:13.874Z,1761518473.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:13.917Z,1761518473.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519193
2025-10-26T22:41:14.168Z,1761518474.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770966
2025-10-26T22:41:14.234Z,1761518474.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979572,-0.200947,0.007668],[0.200280,0.978325,0.052617],[-0.018075,-0.050007,0.998585]]
2025-10-26T22:41:14.290Z,1761518474.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:14.424Z,1761518474.424 [DAT](INFO): DAT read: Rx Time:22:41:12.9661

2025-10-26T22:41:14.425Z,1761518474.425 [DAT](INFO): Rx dataTimestamp_ set to:1761518474.424470
2025-10-26T22:41:14.426Z,1761518474.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028281
2025-10-26T22:41:14.639Z,1761518474.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979549,-0.201097,0.006629],[0.200235,0.977522,0.066003],[-0.019753,-0.063326,0.997797]]
2025-10-26T22:41:14.664Z,1761518474.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.45 m.
2025-10-26T22:41:14.673Z,1761518474.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275147
2025-10-26T22:41:14.930Z,1761518474.930 [DAT](INFO): DAT read: 22:41:12.9661 LVL= 21792, 22065, 28018, 28659, AGC= 66, IDX=  27, 0.02,-0.936, 0.446,-1.541,-0.440, PHS=-0.394, 0.931,-1.145, RAW= 350.9,   6.7, CAL= 350.8,   5.9, ROT= 159.2,  -5.9

2025-10-26T22:41:14.931Z,1761518474.931 [DAT](INFO): got valid direction response:
 22:41:12.9661 LVL= 21792, 22065, 28018, 28659, AGC= 66, IDX=  27, 0.02,-0.936, 0.446,-1.541,-0.440, PHS=-0.394, 0.931,-1.145, RAW= 350.9,   6.7, CAL= 350.8,   5.9, ROT= 159.2,  -5.9

2025-10-26T22:41:14.932Z,1761518474.932 [DAT](INFO): DAT read: Bearing 335.8,  21.4 (Local)

2025-10-26T22:41:14.932Z,1761518474.932 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.8,  21.4 (Local)

2025-10-26T22:41:14.933Z,1761518474.933 [DAT](INFO): DAT read: Range 11 to 50 : 56.1 m  (Round-trip  74.9 ms) speed -0.1 m/s

2025-10-26T22:41:14.934Z,1761518474.934 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:41:14.935Z,1761518474.935 [DAT](INFO): direction in FSK: [-0.929874,0.353226,0.102793]
2025-10-26T22:41:14.939Z,1761518474.939 [DAT](INFO): publishing direction and range info
2025-10-26T22:41:15.114Z,1761518475.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979752,-0.200162,0.004624],[0.199132,0.976590,0.081358],[-0.020800,-0.078790,0.996674]]
2025-10-26T22:41:15.208Z,1761518475.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.099998 m,
      deltaT: 60.316017 s,
      deltaX: 7.399998 m,
      approachRate: 0.122687 m/s,
      rangeRepo size: 4

2025-10-26T22:41:15.210Z,1761518475.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.814957 m,
      bearing: 170.276153 deg,
      lat: 36.779438 deg,
      lon: -121.859516 deg,
      deltaT: 60.316017 s,
      deltaX: 7.368389 m,
      approachRate: 0.122163 m/s,
      posRepo size: 4

2025-10-26T22:41:15.210Z,1761518475.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:15.457Z,1761518475.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980021,-0.198866,0.003373],[0.197778,0.976173,0.089279],[-0.021048,-0.086828,0.996001]]
2025-10-26T22:41:15.485Z,1761518475.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:15.850Z,1761518475.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980091,-0.198511,0.003776],[0.197454,0.976513,0.086227],[-0.020804,-0.083765,0.996268]]
2025-10-26T22:41:15.884Z,1761518475.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:16.254Z,1761518476.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980011,-0.198881,0.004995],[0.197916,0.977192,0.076979],[-0.020190,-0.074451,0.997020]]
2025-10-26T22:41:16.311Z,1761518476.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:16.660Z,1761518476.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979940,-0.199206,0.005817],[0.198337,0.977687,0.069211],[-0.019474,-0.066669,0.997585]]
2025-10-26T22:41:16.678Z,1761518476.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:17.067Z,1761518477.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979892,-0.199460,0.005280],[0.198658,0.977739,0.067543],[-0.018634,-0.065136,0.997702]]
2025-10-26T22:41:17.147Z,1761518477.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:17.475Z,1761518477.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979960,-0.199167,0.003443],[0.198408,0.977471,0.072007],[-0.017707,-0.069881,0.997398]]
2025-10-26T22:41:17.518Z,1761518477.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:17.871Z,1761518477.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980133,-0.198339,0.001003],[0.197648,0.977114,0.078631],[-0.016576,-0.076871,0.996903]]
2025-10-26T22:41:17.889Z,1761518477.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:18.279Z,1761518478.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980568,-0.196178,-0.001184],[0.195577,0.977055,0.084336],[-0.015388,-0.082929,0.996437]]
2025-10-26T22:41:18.346Z,1761518478.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:18.678Z,1761518478.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981164,-0.193154,-0.002788],[0.192657,0.977378,0.087264],[-0.014130,-0.086157,0.996181]]
2025-10-26T22:41:18.720Z,1761518478.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:19.082Z,1761518479.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981880,-0.189452,-0.004320],[0.189087,0.977973,0.088400],[-0.012523,-0.087615,0.996076]]
2025-10-26T22:41:19.158Z,1761518479.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:19.605Z,1761518479.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983875,-0.178710,-0.007309],[0.178627,0.979693,0.091069],[-0.009115,-0.090906,0.995818]]
2025-10-26T22:41:19.649Z,1761518479.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:20.071Z,1761518480.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985062,-0.171972,-0.008905],[0.172051,0.980703,0.092846],[-0.007234,-0.092991,0.995641]]
2025-10-26T22:41:20.130Z,1761518480.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:20.580Z,1761518480.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986277,-0.164770,-0.010450],[0.165010,0.981658,0.095494],[-0.005476,-0.095908,0.995375]]
2025-10-26T22:41:20.647Z,1761518480.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:20.987Z,1761518480.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987684,-0.155977,-0.012310],[0.156420,0.982521,0.100924],[-0.003647,-0.101607,0.994818]]
2025-10-26T22:41:21.005Z,1761518481.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:21.386Z,1761518481.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989169,-0.146079,-0.014324],[0.146771,0.983314,0.107482],[-0.001616,-0.108420,0.994104]]
2025-10-26T22:41:21.483Z,1761518481.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:21.790Z,1761518481.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990729,-0.134886,-0.016200],[0.135854,0.984244,0.113169],[0.000679,-0.114321,0.993444]]
2025-10-26T22:41:21.828Z,1761518481.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:22.207Z,1761518482.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992240,-0.123060,-0.017788],[0.124301,0.985261,0.117515],[0.003064,-0.118814,0.992912]]
2025-10-26T22:41:22.255Z,1761518482.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:22.603Z,1761518482.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993710,-0.110251,-0.019623],[0.111828,0.986202,0.122063],[0.005894,-0.123489,0.992328]]
2025-10-26T22:41:22.621Z,1761518482.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:23.003Z,1761518483.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995074,-0.096726,-0.021701],[0.098708,0.986997,0.126862],[0.009148,-0.128379,0.991683]]
2025-10-26T22:41:23.026Z,1761518483.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:23.312Z,1761518483.312 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:41:23.406Z,1761518483.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996289,-0.082792,-0.023544],[0.085196,0.987490,0.132682],[0.012264,-0.134195,0.990879]]
2025-10-26T22:41:23.491Z,1761518483.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:23.810Z,1761518483.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997362,-0.067923,-0.025585],[0.070868,0.987447,0.141159],[0.015676,-0.142600,0.989656]]
2025-10-26T22:41:23.827Z,1761518483.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:24.236Z,1761518484.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998227,-0.052858,-0.027380],[0.056399,0.986940,0.150892],[0.019046,-0.152168,0.988171]]
2025-10-26T22:41:24.285Z,1761518484.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:24.316Z,1761518484.316 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:41:24.619Z,1761518484.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998881,-0.037525,-0.028794],[0.041649,0.986338,0.159383],[0.022420,-0.160404,0.986797]]
2025-10-26T22:41:24.638Z,1761518484.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:25.022Z,1761518485.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999311,-0.021973,-0.029913],[0.026698,0.985418,0.168042],[0.025784,-0.168725,0.985326]]
2025-10-26T22:41:25.051Z,1761518485.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:25.426Z,1761518485.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999506,-0.006798,-0.030700],[0.012050,0.984617,0.174311],[0.029043,-0.174595,0.984212]]
2025-10-26T22:41:25.488Z,1761518485.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:25.834Z,1761518485.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999475,0.008629,-0.031217],[-0.002937,0.984027,0.177997],[0.032254,-0.177812,0.983536]]
2025-10-26T22:41:25.852Z,1761518485.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:26.262Z,1761518486.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999228,0.023357,-0.031606],[-0.017350,0.983788,0.178497],[0.035263,-0.177810,0.983433]]
2025-10-26T22:41:26.310Z,1761518486.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:26.638Z,1761518486.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998755,0.038212,-0.032081],[-0.031789,0.982946,0.181123],[0.038455,-0.179878,0.982937]]
2025-10-26T22:41:26.736Z,1761518486.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:27.078Z,1761518487.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:27.457Z,1761518487.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997185,0.068823,-0.029745],[-0.061882,0.979490,0.191753],[0.042332,-0.189372,0.980992]]
2025-10-26T22:41:27.500Z,1761518487.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:27.859Z,1761518487.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996088,0.083879,-0.027792],[-0.076997,0.978227,0.192724],[0.043353,-0.189830,0.980859]]
2025-10-26T22:41:27.877Z,1761518487.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:28.292Z,1761518488.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994764,0.099084,-0.025029],[-0.092389,0.976602,0.194197],[0.043685,-0.190868,0.980643]]
2025-10-26T22:41:28.343Z,1761518488.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:28.658Z,1761518488.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993132,0.115117,-0.020893],[-0.108592,0.973427,0.201615],[0.043547,-0.197961,0.979242]]
2025-10-26T22:41:28.692Z,1761518488.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:29.062Z,1761518489.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991217,0.131285,-0.015916],[-0.124998,0.969375,0.211396],[0.043181,-0.207549,0.977271]]
2025-10-26T22:41:29.080Z,1761518489.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:29.469Z,1761518489.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988992,0.147492,-0.011839],[-0.141513,0.966197,0.215492],[0.043222,-0.211445,0.976434]]
2025-10-26T22:41:29.505Z,1761518489.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:29.870Z,1761518489.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986561,0.163190,-0.008112],[-0.157588,0.963461,0.216583],[0.043160,-0.212394,0.976231]]
2025-10-26T22:41:29.902Z,1761518489.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:30.318Z,1761518490.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984131,0.177400,-0.003897],[-0.172146,0.959851,0.221478],[0.043031,-0.217292,0.975158]]
2025-10-26T22:41:30.382Z,1761518490.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:30.679Z,1761518490.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981469,0.191616,0.001149],[-0.186761,0.955222,0.229504],[0.042879,-0.225466,0.973307]]
2025-10-26T22:41:30.697Z,1761518490.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:31.084Z,1761518491.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978427,0.206466,0.007283],[-0.202102,0.949249,0.241001],[0.042845,-0.237273,0.970498]]
2025-10-26T22:41:31.102Z,1761518491.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:31.486Z,1761518491.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975291,0.220609,0.011817],[-0.216633,0.944483,0.247026],[0.043336,-0.243483,0.968937]]
2025-10-26T22:41:31.530Z,1761518491.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:31.890Z,1761518491.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972543,0.232330,0.013505],[-0.228469,0.942117,0.245393],[0.044289,-0.241741,0.969329]]
2025-10-26T22:41:31.937Z,1761518491.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:32.399Z,1761518492.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968023,0.250616,0.011099],[-0.246310,0.941139,0.231493],[0.047570,-0.226825,0.972773]]
2025-10-26T22:41:32.474Z,1761518492.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:32.846Z,1761518492.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:33.293Z,1761518493.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964419,0.264342,0.004360],[-0.259117,0.941825,0.214066],[0.052480,-0.207579,0.976810]]
2025-10-26T22:41:33.344Z,1761518493.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:33.699Z,1761518493.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962818,0.270151,0.000294],[-0.264379,0.942021,0.206639],[0.055546,-0.199033,0.978417]]
2025-10-26T22:41:33.762Z,1761518493.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:34.100Z,1761518494.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961439,0.274988,-0.004081],[-0.268649,0.942245,0.200006],[0.058844,-0.191197,0.979786]]
2025-10-26T22:41:34.127Z,1761518494.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:34.502Z,1761518494.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960185,0.279262,-0.007620],[-0.272455,0.942113,0.195428],[0.061754,-0.185571,0.980688]]
2025-10-26T22:41:34.548Z,1761518494.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:34.910Z,1761518494.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958975,0.283295,-0.010578],[-0.276024,0.941569,0.193027],[0.064644,-0.182188,0.981137]]
2025-10-26T22:41:34.954Z,1761518494.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:35.311Z,1761518495.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958033,0.286332,-0.013670],[-0.278659,0.941428,0.189899],[0.067243,-0.178121,0.981708]]
2025-10-26T22:41:35.334Z,1761518495.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:35.729Z,1761518495.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957334,0.288478,-0.017093],[-0.280523,0.941885,0.184826],[0.069418,-0.172145,0.982623]]
2025-10-26T22:41:35.767Z,1761518495.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:36.118Z,1761518496.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956817,0.289886,-0.021626],[-0.281863,0.943381,0.174886],[0.071098,-0.161239,0.984351]]
2025-10-26T22:41:36.156Z,1761518496.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:36.578Z,1761518496.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:36.948Z,1761518496.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956691,0.289417,-0.031321],[-0.281706,0.947545,0.150998],[0.073379,-0.135635,0.988038]]
2025-10-26T22:41:36.966Z,1761518496.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:37.370Z,1761518497.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:37.745Z,1761518497.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956659,0.289797,-0.028642],[-0.281722,0.945908,0.160907],[0.073724,-0.145864,0.986554]]
2025-10-26T22:41:37.790Z,1761518497.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:38.146Z,1761518498.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956838,0.289363,-0.027023],[-0.281173,0.945236,0.165746],[0.073504,-0.150994,0.985798]]
2025-10-26T22:41:38.164Z,1761518498.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:38.551Z,1761518498.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957197,0.288054,-0.028255],[-0.279834,0.945959,0.163875],[0.073933,-0.148954,0.986076]]
2025-10-26T22:41:38.587Z,1761518498.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:38.964Z,1761518498.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957671,0.286355,-0.029465],[-0.278043,0.946643,0.162968],[0.074559,-0.147877,0.986191]]
2025-10-26T22:41:38.987Z,1761518498.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:39.358Z,1761518499.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958133,0.284617,-0.031220],[-0.276211,0.947504,0.161071],[0.075425,-0.145704,0.986449]]
2025-10-26T22:41:39.392Z,1761518499.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:39.762Z,1761518499.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958826,0.281936,-0.034122],[-0.273475,0.949021,0.156752],[0.076577,-0.140966,0.987048]]
2025-10-26T22:41:39.818Z,1761518499.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:40.170Z,1761518500.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959276,0.280026,-0.037086],[-0.271557,0.950372,0.151824],[0.077760,-0.135570,0.987712]]
2025-10-26T22:41:40.188Z,1761518500.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:40.571Z,1761518500.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959583,0.278480,-0.040610],[-0.270014,0.951712,0.146074],[0.079327,-0.129205,0.988440]]
2025-10-26T22:41:40.612Z,1761518500.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:40.974Z,1761518500.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960086,0.276316,-0.043412],[-0.267794,0.952872,0.142554],[0.080756,-0.125239,0.988835]]
2025-10-26T22:41:41.009Z,1761518501.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:41.378Z,1761518501.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960545,0.274299,-0.045960],[-0.265634,0.953763,0.140624],[0.082407,-0.122867,0.988996]]
2025-10-26T22:41:41.397Z,1761518501.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:41.785Z,1761518501.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960804,0.272821,-0.049245],[-0.264036,0.954671,0.137433],[0.084508,-0.119043,0.989286]]
2025-10-26T22:41:41.821Z,1761518501.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:42.186Z,1761518502.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960906,0.271922,-0.052140],[-0.262942,0.955209,0.135781],[0.086727,-0.116762,0.989366]]
2025-10-26T22:41:42.210Z,1761518502.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:42.590Z,1761518502.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960921,0.271124,-0.055882],[-0.262107,0.956049,0.131415],[0.089056,-0.111632,0.989751]]
2025-10-26T22:41:42.636Z,1761518502.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:42.994Z,1761518502.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960950,0.270905,-0.056449],[-0.261250,0.955397,0.137714],[0.091239,-0.117589,0.988862]]
2025-10-26T22:41:43.012Z,1761518503.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:43.400Z,1761518503.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960821,0.271571,-0.055431],[-0.261051,0.953868,0.148288],[0.093145,-0.128007,0.987390]]
2025-10-26T22:41:43.442Z,1761518503.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:43.907Z,1761518503.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:44.236Z,1761518504.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960874,0.271437,-0.055163],[-0.259651,0.952044,0.161845],[0.096448,-0.141189,0.985273]]
2025-10-26T22:41:44.262Z,1761518504.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:44.699Z,1761518504.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:45.043Z,1761518505.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960811,0.271082,-0.057933],[-0.259131,0.952563,0.159607],[0.098452,-0.138340,0.985479]]
2025-10-26T22:41:45.061Z,1761518505.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:45.448Z,1761518505.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960880,0.270560,-0.059220],[-0.258747,0.953182,0.156506],[0.098792,-0.135060,0.985900]]
2025-10-26T22:41:45.469Z,1761518505.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:45.850Z,1761518505.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960774,0.271062,-0.058647],[-0.259206,0.952866,0.157667],[0.098620,-0.136281,0.985749]]
2025-10-26T22:41:45.898Z,1761518505.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:46.254Z,1761518506.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960531,0.272009,-0.058231],[-0.260126,0.952488,0.158434],[0.098560,-0.137034,0.985651]]
2025-10-26T22:41:46.272Z,1761518506.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:46.666Z,1761518506.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960230,0.273226,-0.057492],[-0.261305,0.951947,0.159741],[0.098374,-0.138365,0.985483]]
2025-10-26T22:41:46.730Z,1761518506.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:47.062Z,1761518507.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960064,0.274138,-0.055906],[-0.262008,0.951029,0.163998],[0.098126,-0.142801,0.984875]]
2025-10-26T22:41:47.096Z,1761518507.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:47.467Z,1761518507.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959894,0.275119,-0.053973],[-0.262671,0.949803,0.169937],[0.098016,-0.148944,0.983976]]
2025-10-26T22:41:47.494Z,1761518507.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:47.942Z,1761518507.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:48.274Z,1761518508.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959533,0.276414,-0.053777],[-0.263765,0.949109,0.172104],[0.098613,-0.150955,0.983610]]
2025-10-26T22:41:48.298Z,1761518508.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:48.679Z,1761518508.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959526,0.275938,-0.056278],[-0.263359,0.950000,0.167757],[0.099755,-0.146146,0.984221]]
2025-10-26T22:41:48.906Z,1761518508.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:49.355Z,1761518509.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:49.871Z,1761518509.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:50.221Z,1761518510.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958811,0.276519,-0.064953],[-0.263045,0.950688,0.164316],[0.107187,-0.140462,0.984267]]
2025-10-26T22:41:50.239Z,1761518510.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:50.632Z,1761518510.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958361,0.277387,-0.067820],[-0.263466,0.950516,0.164637],[0.110132,-0.139913,0.984020]]
2025-10-26T22:41:50.688Z,1761518510.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:51.026Z,1761518511.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958095,0.277438,-0.071292],[-0.263211,0.950860,0.163049],[0.113025,-0.137452,0.984039]]
2025-10-26T22:41:51.061Z,1761518511.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:51.432Z,1761518511.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957807,0.277526,-0.074734],[-0.262874,0.951029,0.162606],[0.116201,-0.136100,0.983857]]
2025-10-26T22:41:51.449Z,1761518511.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:51.835Z,1761518511.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957471,0.278044,-0.077081],[-0.262663,0.950510,0.165949],[0.119407,-0.138645,0.983117]]
2025-10-26T22:41:51.895Z,1761518511.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:52.243Z,1761518512.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957159,0.278369,-0.079734],[-0.262283,0.950145,0.168619],[0.122697,-0.140482,0.982451]]
2025-10-26T22:41:52.261Z,1761518512.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:52.660Z,1761518512.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956821,0.278853,-0.082064],[-0.261913,0.949516,0.172687],[0.126076,-0.143737,0.981552]]
2025-10-26T22:41:52.702Z,1761518512.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:53.047Z,1761518513.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956416,0.279458,-0.084681],[-0.261634,0.948893,0.176492],[0.129675,-0.146645,0.980653]]
2025-10-26T22:41:53.065Z,1761518513.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:53.451Z,1761518513.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956125,0.279632,-0.087351],[-0.260808,0.948284,0.180934],[0.133429,-0.150214,0.979608]]
2025-10-26T22:41:53.469Z,1761518513.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:53.856Z,1761518513.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955875,0.279463,-0.090576],[-0.259688,0.947952,0.184251],[0.137353,-0.152599,0.978697]]
2025-10-26T22:41:53.939Z,1761518513.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:54.258Z,1761518514.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955770,0.278720,-0.093910],[-0.258060,0.947885,0.186865],[0.141099,-0.154366,0.977887]]
2025-10-26T22:41:54.288Z,1761518514.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:54.480Z,1761518514.480 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:41:54.715Z,1761518514.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955774,0.277614,-0.097090],[-0.256144,0.947972,0.189047],[0.144521,-0.155817,0.977156]]
2025-10-26T22:41:54.765Z,1761518514.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:55.072Z,1761518515.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955812,0.276107,-0.100944],[-0.254033,0.948530,0.189096],[0.147959,-0.155097,0.976756]]
2025-10-26T22:41:55.090Z,1761518515.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:55.472Z,1761518515.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955770,0.274826,-0.104756],[-0.252241,0.949109,0.188589],[0.151254,-0.153824,0.976453]]
2025-10-26T22:41:55.480Z,1761518515.480 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:41:55.491Z,1761518515.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:55.874Z,1761518515.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955912,0.272822,-0.108629],[-0.249943,0.950088,0.186711],[0.154146,-0.151328,0.976391]]
2025-10-26T22:41:55.950Z,1761518515.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:56.398Z,1761518516.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956268,0.268755,-0.115420],[-0.244923,0.951477,0.186292],[0.159886,-0.149876,0.975691]]
2025-10-26T22:41:56.430Z,1761518516.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:56.792Z,1761518516.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956419,0.267056,-0.118087],[-0.242640,0.951844,0.187401],[0.162447,-0.150581,0.975160]]
2025-10-26T22:41:56.842Z,1761518516.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:57.252Z,1761518517.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956470,0.265909,-0.120238],[-0.241044,0.952104,0.188139],[0.164507,-0.150966,0.974755]]
2025-10-26T22:41:57.270Z,1761518517.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:57.660Z,1761518517.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956525,0.264727,-0.122394],[-0.239588,0.952532,0.187828],[0.166308,-0.150338,0.974546]]
2025-10-26T22:41:57.739Z,1761518517.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:58.058Z,1761518518.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956436,0.264158,-0.124297],[-0.238770,0.952784,0.187592],[0.167982,-0.149742,0.974351]]
2025-10-26T22:41:58.112Z,1761518518.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:58.498Z,1761518518.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:58.905Z,1761518518.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956175,0.264081,-0.126453],[-0.237815,0.952400,0.190730],[0.170802,-0.152299,0.973464]]
2025-10-26T22:41:58.943Z,1761518518.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:59.273Z,1761518519.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955917,0.264736,-0.127035],[-0.237929,0.951860,0.193267],[0.172084,-0.154522,0.972887]]
2025-10-26T22:41:59.290Z,1761518519.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:41:59.674Z,1761518519.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955665,0.265642,-0.127036],[-0.238115,0.950986,0.197298],[0.173220,-0.158301,0.972078]]
2025-10-26T22:41:59.714Z,1761518519.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:00.082Z,1761518520.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955499,0.266468,-0.126556],[-0.238297,0.950098,0.201314],[0.173885,-0.162197,0.971317]]
2025-10-26T22:42:00.133Z,1761518520.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:00.482Z,1761518520.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955237,0.267580,-0.126185],[-0.238740,0.949122,0.205356],[0.174715,-0.166038,0.970518]]
2025-10-26T22:42:00.501Z,1761518520.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:00.897Z,1761518520.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954891,0.268868,-0.126066],[-0.239343,0.948127,0.209211],[0.175777,-0.169601,0.969710]]
2025-10-26T22:42:00.949Z,1761518520.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:01.291Z,1761518521.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954518,0.269793,-0.126915],[-0.239923,0.947748,0.210261],[0.177010,-0.170248,0.969372]]
2025-10-26T22:42:01.310Z,1761518521.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:01.694Z,1761518521.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954261,0.269972,-0.128458],[-0.239958,0.947891,0.209578],[0.178345,-0.169167,0.969317]]
2025-10-26T22:42:01.794Z,1761518521.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:02.109Z,1761518522.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953802,0.270744,-0.130227],[-0.240520,0.947869,0.209031],[0.180032,-0.168052,0.969199]]
2025-10-26T22:42:02.146Z,1761518522.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:02.503Z,1761518522.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953406,0.271477,-0.131596],[-0.240869,0.947611,0.209799],[0.181658,-0.168326,0.968848]]
2025-10-26T22:42:02.531Z,1761518522.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:02.964Z,1761518522.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:03.389Z,1761518523.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:03.752Z,1761518523.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952028,0.274576,-0.135092],[-0.242764,0.946447,0.212848],[0.186300,-0.169842,0.967701]]
2025-10-26T22:42:03.831Z,1761518523.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:04.297Z,1761518524.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951757,0.275418,-0.135289],[-0.243425,0.946112,0.213579],[0.186822,-0.170343,0.967513]]
2025-10-26T22:42:04.334Z,1761518524.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:04.902Z,1761518524.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:05.344Z,1761518525.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:05.701Z,1761518525.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950531,0.279942,-0.134623],[-0.247443,0.944370,0.216649],[0.187783,-0.172620,0.966923]]
2025-10-26T22:42:05.729Z,1761518525.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:06.103Z,1761518526.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950432,0.280363,-0.134447],[-0.248290,0.944616,0.214598],[0.187166,-0.170579,0.967405]]
2025-10-26T22:42:06.151Z,1761518526.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:06.507Z,1761518526.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950325,0.281159,-0.133535],[-0.249342,0.944457,0.214077],[0.186308,-0.170147,0.967646]]
2025-10-26T22:42:06.525Z,1761518526.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:06.910Z,1761518526.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950379,0.281490,-0.132448],[-0.250031,0.944476,0.213191],[0.185105,-0.169496,0.967991]]
2025-10-26T22:42:06.962Z,1761518526.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:07.318Z,1761518527.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950606,0.281416,-0.130971],[-0.250475,0.944668,0.211814],[0.183332,-0.168547,0.968494]]
2025-10-26T22:42:07.336Z,1761518527.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:07.729Z,1761518527.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950904,0.281070,-0.129546],[-0.250942,0.945214,0.208803],[0.181136,-0.166043,0.969340]]
2025-10-26T22:42:07.754Z,1761518527.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:08.122Z,1761518528.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951289,0.280405,-0.128147],[-0.251308,0.946050,0.204534],[0.178586,-0.162367,0.970435]]
2025-10-26T22:42:08.170Z,1761518528.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:08.526Z,1761518528.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951711,0.279488,-0.127014],[-0.251669,0.947223,0.198571],[0.175809,-0.157017,0.971821]]
2025-10-26T22:42:08.545Z,1761518528.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:08.933Z,1761518528.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952297,0.278087,-0.125689],[-0.251630,0.948554,0.192168],[0.172662,-0.151374,0.973280]]
2025-10-26T22:42:08.973Z,1761518528.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:09.433Z,1761518529.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952825,0.277369,-0.123253],[-0.251926,0.949202,0.188543],[0.169288,-0.148597,0.974300]]
2025-10-26T22:42:09.464Z,1761518529.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:09.836Z,1761518529.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953285,0.276951,-0.120604],[-0.252612,0.949826,0.184439],[0.165633,-0.145357,0.975416]]
2025-10-26T22:42:09.918Z,1761518529.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:10.296Z,1761518530.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953778,0.276712,-0.117212],[-0.253406,0.950226,0.181262],[0.161535,-0.143182,0.976425]]
2025-10-26T22:42:10.357Z,1761518530.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:10.762Z,1761518530.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954347,0.276586,-0.112792],[-0.254274,0.950402,0.179113],[0.156738,-0.142256,0.977342]]
2025-10-26T22:42:10.780Z,1761518530.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:11.153Z,1761518531.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954724,0.277512,-0.107183],[-0.255862,0.949793,0.180079],[0.151776,-0.144501,0.977795]]
2025-10-26T22:42:11.205Z,1761518531.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:42:11.206Z,1761518531.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:11.405Z,1761518531.405 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:42:11.405Z,1761518531.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:42:11.557Z,1761518531.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955122,0.278243,-0.101605],[-0.257319,0.949282,0.180693],[0.146728,-0.146439,0.978277]]
2025-10-26T22:42:11.574Z,1761518531.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:11.656Z,1761518531.656 [DAT](INFO): DAT read: user:636>

2025-10-26T22:42:11.657Z,1761518531.657 [DAT](INFO): DAT read: Tx time:22:42:10.7870

2025-10-26T22:42:11.657Z,1761518531.657 [DAT](INFO): Ping request sent.
2025-10-26T22:42:11.657Z,1761518531.657 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:42:11.658Z,1761518531.658 [DAT](INFO): publishing transmit ping time
2025-10-26T22:42:11.658Z,1761518531.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-10-26T22:42:11.912Z,1761518531.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253725
2025-10-26T22:42:11.975Z,1761518531.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955453,0.279071,-0.096065],[-0.258825,0.948682,0.181692],[0.141840,-0.148734,0.978652]]
2025-10-26T22:42:12.030Z,1761518532.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:12.160Z,1761518532.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502858
2025-10-26T22:42:12.411Z,1761518532.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955497,0.281637,-0.087785],[-0.263325,0.948409,0.176582],[0.132988,-0.145607,0.980363]]
2025-10-26T22:42:12.412Z,1761518532.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754933
2025-10-26T22:42:12.464Z,1761518532.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:12.665Z,1761518532.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007493
2025-10-26T22:42:12.824Z,1761518532.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:12.919Z,1761518532.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261097
2025-10-26T22:42:13.168Z,1761518533.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510857
2025-10-26T22:42:13.182Z,1761518533.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955441,0.282891,-0.084296],[-0.265518,0.948404,0.173292],[0.128969,-0.143188,0.981256]]
2025-10-26T22:42:13.250Z,1761518533.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:13.420Z,1761518533.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762777
2025-10-26T22:42:13.577Z,1761518533.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955441,0.283894,-0.080855],[-0.267124,0.948110,0.172428],[0.125611,-0.143147,0.981698]]
2025-10-26T22:42:13.612Z,1761518533.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:13.678Z,1761518533.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020081
2025-10-26T22:42:13.931Z,1761518533.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273037
2025-10-26T22:42:14.006Z,1761518534.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955057,0.287236,-0.073218],[-0.270687,0.945785,0.179497],[0.120807,-0.151610,0.981030]]
2025-10-26T22:42:14.031Z,1761518534.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:14.180Z,1761518534.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522827
2025-10-26T22:42:14.432Z,1761518534.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774970
2025-10-26T22:42:14.443Z,1761518534.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:14.688Z,1761518534.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030577
2025-10-26T22:42:14.801Z,1761518534.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954449,0.290552,-0.067868],[-0.274283,0.943929,0.183758],[0.117454,-0.156773,0.980626]]
2025-10-26T22:42:14.819Z,1761518534.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:14.940Z,1761518534.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281300
2025-10-26T22:42:15.188Z,1761518535.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530877
2025-10-26T22:42:15.255Z,1761518535.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:15.440Z,1761518535.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782809
2025-10-26T22:42:15.610Z,1761518535.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954195,0.292040,-0.065002],[-0.276414,0.943649,0.181996],[0.114489,-0.155692,0.981148]]
2025-10-26T22:42:15.639Z,1761518535.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:15.693Z,1761518535.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035384
2025-10-26T22:42:15.947Z,1761518535.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.288831
2025-10-26T22:42:16.060Z,1761518536.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954181,0.292211,-0.064426],[-0.276978,0.943985,0.179373],[0.113232,-0.153310,0.981669]]
2025-10-26T22:42:16.112Z,1761518536.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:16.196Z,1761518536.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538797
2025-10-26T22:42:16.411Z,1761518536.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954134,0.292571,-0.063494],[-0.277733,0.944186,0.177138],[0.111776,-0.151379,0.982136]]
2025-10-26T22:42:16.429Z,1761518536.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:16.449Z,1761518536.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791179
2025-10-26T22:42:16.702Z,1761518536.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.044342
2025-10-26T22:42:16.826Z,1761518536.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954154,0.292684,-0.062654],[-0.278155,0.944364,0.175517],[0.110540,-0.150043,0.982481]]
2025-10-26T22:42:16.844Z,1761518536.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:16.956Z,1761518536.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.297541
2025-10-26T22:42:17.204Z,1761518537.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546817
2025-10-26T22:42:17.246Z,1761518537.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954302,0.292362,-0.061913],[-0.278232,0.944811,0.172973],[0.109067,-0.147842,0.982979]]
2025-10-26T22:42:17.281Z,1761518537.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:17.456Z,1761518537.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798904
2025-10-26T22:42:17.637Z,1761518537.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954472,0.291861,-0.061646],[-0.278117,0.945407,0.169873],[0.107860,-0.144994,0.983536]]
2025-10-26T22:42:17.679Z,1761518537.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:17.709Z,1761518537.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051192
2025-10-26T22:42:17.962Z,1761518537.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.304306
2025-10-26T22:42:18.057Z,1761518538.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954691,0.291213,-0.061325],[-0.277884,0.946067,0.166547],[0.106518,-0.141959,0.984125]]
2025-10-26T22:42:18.108Z,1761518538.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:18.212Z,1761518538.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554864
2025-10-26T22:42:18.434Z,1761518538.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954859,0.290783,-0.060747],[-0.277755,0.946453,0.164559],[0.105345,-0.140258,0.984495]]
2025-10-26T22:42:18.464Z,1761518538.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806932
2025-10-26T22:42:18.468Z,1761518538.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:18.717Z,1761518538.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059545
2025-10-26T22:42:18.840Z,1761518538.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955022,0.290318,-0.060396],[-0.277570,0.946876,0.162423],[0.104342,-0.138353,0.984871]]
2025-10-26T22:42:18.910Z,1761518538.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:18.969Z,1761518538.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311224
2025-10-26T22:42:19.220Z,1761518539.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562899
2025-10-26T22:42:19.256Z,1761518539.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955442,0.289100,-0.059595],[-0.276702,0.947500,0.160247],[0.102794,-0.136616,0.985276]]
2025-10-26T22:42:19.308Z,1761518539.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:19.472Z,1761518539.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814825
2025-10-26T22:42:19.638Z,1761518539.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955695,0.288568,-0.058101],[-0.276386,0.947603,0.160186],[0.101281,-0.137030,0.985375]]
2025-10-26T22:42:19.668Z,1761518539.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:19.725Z,1761518539.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067704
2025-10-26T22:42:19.976Z,1761518539.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318826
2025-10-26T22:42:20.077Z,1761518540.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956020,0.287762,-0.056739],[-0.275878,0.947922,0.159170],[0.099587,-0.136516,0.985619]]
2025-10-26T22:42:20.112Z,1761518540.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:20.228Z,1761518540.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570871
2025-10-26T22:42:20.448Z,1761518540.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956373,0.286804,-0.055617],[-0.275191,0.948304,0.158081],[0.098080,-0.135879,0.985859]]
2025-10-26T22:42:20.466Z,1761518540.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:20.480Z,1761518540.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822983
2025-10-26T22:42:20.733Z,1761518540.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075820
2025-10-26T22:42:20.859Z,1761518540.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956693,0.285986,-0.054319],[-0.274609,0.948559,0.157562],[0.096585,-0.135822,0.986014]]
2025-10-26T22:42:20.884Z,1761518540.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:20.984Z,1761518540.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326833
2025-10-26T22:42:21.236Z,1761518541.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578841
2025-10-26T22:42:21.268Z,1761518541.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957092,0.284954,-0.052684],[-0.273843,0.948839,0.157207],[0.094786,-0.136035,0.986159]]
2025-10-26T22:42:21.321Z,1761518541.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:21.488Z,1761518541.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830951
2025-10-26T22:42:21.656Z,1761518541.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957607,0.283438,-0.051496],[-0.272668,0.949465,0.155462],[0.092958,-0.134830,0.986499]]
2025-10-26T22:42:21.686Z,1761518541.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:21.740Z,1761518541.740 [DAT](INFO): Reached modem response timeout
2025-10-26T22:42:22.099Z,1761518542.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958010,0.282406,-0.049639],[-0.271841,0.949604,0.156060],[0.091209,-0.136013,0.986499]]
2025-10-26T22:42:22.152Z,1761518542.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:22.465Z,1761518542.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958345,0.281468,-0.048488],[-0.271098,0.949868,0.155747],[0.089895,-0.136114,0.986606]]
2025-10-26T22:42:22.482Z,1761518542.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:22.879Z,1761518542.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958632,0.280670,-0.047417],[-0.270395,0.949961,0.156398],[0.088940,-0.137107,0.986555]]
2025-10-26T22:42:22.896Z,1761518542.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:23.276Z,1761518543.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958705,0.280568,-0.046552],[-0.270379,0.949902,0.156786],[0.088209,-0.137725,0.986535]]
2025-10-26T22:42:23.325Z,1761518543.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:23.676Z,1761518543.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958917,0.279992,-0.045631],[-0.269925,0.950011,0.156909],[0.087283,-0.138145,0.986558]]
2025-10-26T22:42:23.694Z,1761518543.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:24.146Z,1761518544.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959172,0.279372,-0.044046],[-0.269469,0.950022,0.157622],[0.085880,-0.139318,0.986517]]
2025-10-26T22:42:24.195Z,1761518544.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:24.549Z,1761518544.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959297,0.279143,-0.042754],[-0.269391,0.949983,0.157992],[0.084718,-0.140044,0.986514]]
2025-10-26T22:42:24.568Z,1761518544.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:25.007Z,1761518545.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959616,0.278214,-0.041646],[-0.268696,0.950314,0.157180],[0.083307,-0.139642,0.986691]]
2025-10-26T22:42:25.026Z,1761518545.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:25.482Z,1761518545.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:25.600Z,1761518545.600 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:42:25.876Z,1761518545.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:26.238Z,1761518546.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960450,0.276002,-0.036849],[-0.267292,0.950940,0.155782],[0.078037,-0.139771,0.987104]]
2025-10-26T22:42:26.317Z,1761518546.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:26.604Z,1761518546.604 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:42:26.646Z,1761518546.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960839,0.274874,-0.035102],[-0.266683,0.951665,0.152360],[0.075285,-0.137033,0.987702]]
2025-10-26T22:42:26.664Z,1761518546.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:27.050Z,1761518547.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961275,0.273596,-0.033095],[-0.265845,0.952224,0.150319],[0.072641,-0.135700,0.988083]]
2025-10-26T22:42:27.068Z,1761518547.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:27.450Z,1761518547.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961750,0.272115,-0.031457],[-0.264731,0.952819,0.148503],[0.070383,-0.134495,0.988411]]
2025-10-26T22:42:27.493Z,1761518547.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:27.870Z,1761518547.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961993,0.271492,-0.029364],[-0.264410,0.952938,0.148315],[0.068249,-0.134914,0.988504]]
2025-10-26T22:42:27.896Z,1761518547.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:28.260Z,1761518548.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962302,0.270609,-0.027317],[-0.263857,0.953194,0.147651],[0.065994,-0.134877,0.988662]]
2025-10-26T22:42:28.297Z,1761518548.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:28.662Z,1761518548.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962597,0.269727,-0.025560],[-0.263282,0.953497,0.146717],[0.063945,-0.134500,0.988848]]
2025-10-26T22:42:28.691Z,1761518548.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:29.066Z,1761518549.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962876,0.268831,-0.024482],[-0.262706,0.954059,0.144070],[0.062088,-0.132290,0.989265]]
2025-10-26T22:42:29.084Z,1761518549.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:29.470Z,1761518549.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963015,0.268394,-0.023784],[-0.262580,0.954613,0.140593],[0.060438,-0.129148,0.989782]]
2025-10-26T22:42:29.522Z,1761518549.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:29.882Z,1761518549.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963140,0.267986,-0.023329],[-0.262392,0.955046,0.137974],[0.059256,-0.126767,0.990161]]
2025-10-26T22:42:29.925Z,1761518549.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:30.278Z,1761518550.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963094,0.268196,-0.022822],[-0.262771,0.955202,0.136163],[0.058318,-0.125140,0.990424]]
2025-10-26T22:42:30.325Z,1761518550.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:30.683Z,1761518550.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962977,0.268684,-0.021994],[-0.263430,0.955194,0.134941],[0.057265,-0.124152,0.990609]]
2025-10-26T22:42:30.719Z,1761518550.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:31.086Z,1761518551.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962888,0.269108,-0.020692],[-0.264063,0.955144,0.134059],[0.055840,-0.123619,0.990757]]
2025-10-26T22:42:31.105Z,1761518551.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:31.493Z,1761518551.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962608,0.270239,-0.018863],[-0.265347,0.954622,0.135236],[0.054553,-0.125174,0.990634]]
2025-10-26T22:42:31.534Z,1761518551.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:31.894Z,1761518551.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962288,0.271486,-0.017217],[-0.266755,0.954137,0.135883],[0.053318,-0.126166,0.990575]]
2025-10-26T22:42:31.930Z,1761518551.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:32.371Z,1761518552.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:32.711Z,1761518552.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961711,0.273721,-0.013766],[-0.269295,0.953103,0.138113],[0.050925,-0.129118,0.990321]]
2025-10-26T22:42:32.738Z,1761518552.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:33.106Z,1761518553.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961708,0.273812,-0.012014],[-0.269587,0.952950,0.138596],[0.049398,-0.130050,0.990276]]
2025-10-26T22:42:33.130Z,1761518553.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:33.677Z,1761518553.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961911,0.273231,-0.008481],[-0.269383,0.952724,0.140535],[0.046478,-0.132898,0.990039]]
2025-10-26T22:42:33.751Z,1761518553.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:34.283Z,1761518554.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962207,0.272243,-0.006491],[-0.268675,0.952945,0.140395],[0.044407,-0.133345,0.990074]]
2025-10-26T22:42:34.350Z,1761518554.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:34.738Z,1761518554.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962626,0.270821,-0.002726],[-0.267927,0.953712,0.136560],[0.039583,-0.130726,0.990628]]
2025-10-26T22:42:34.756Z,1761518554.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:35.337Z,1761518555.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:35.805Z,1761518555.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964347,0.262948,0.029877],[-0.264638,0.957739,0.112707],[0.001022,-0.116596,0.993179]]
2025-10-26T22:42:35.856Z,1761518555.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:36.210Z,1761518556.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964503,0.259855,0.047000],[-0.263492,0.958799,0.106191],[-0.017469,-0.114806,0.993234]]
2025-10-26T22:42:36.232Z,1761518556.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:36.616Z,1761518556.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964298,0.256480,0.065940],[-0.262205,0.959613,0.101938],[-0.037132,-0.115589,0.992603]]
2025-10-26T22:42:36.652Z,1761518556.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:37.051Z,1761518557.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:37.563Z,1761518557.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962433,0.249304,0.107560],[-0.259830,0.960632,0.098362],[-0.078803,-0.122614,0.989321]]
2025-10-26T22:42:37.600Z,1761518557.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:38.125Z,1761518558.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:38.565Z,1761518558.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:39.032Z,1761518559.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954722,0.239653,0.176272],[-0.256122,0.963558,0.077186],[-0.151350,-0.118839,0.981311]]
2025-10-26T22:42:39.050Z,1761518559.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:39.438Z,1761518559.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953313,0.238234,0.185577],[-0.255066,0.964203,0.072489],[-0.161664,-0.116439,0.979952]]
2025-10-26T22:42:39.474Z,1761518559.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:39.965Z,1761518559.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952228,0.237160,0.192400],[-0.254543,0.964454,0.070963],[-0.168732,-0.116548,0.978747]]
2025-10-26T22:42:39.999Z,1761518559.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:40.453Z,1761518560.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:40.913Z,1761518560.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951445,0.236902,0.196544],[-0.254463,0.964607,0.069145],[-0.173207,-0.115801,0.978054]]
2025-10-26T22:42:40.937Z,1761518560.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:41.401Z,1761518561.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951927,0.237529,0.193431],[-0.254963,0.964376,0.070511],[-0.169792,-0.116440,0.978577]]
2025-10-26T22:42:41.452Z,1761518561.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:41.802Z,1761518561.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952611,0.237909,0.189557],[-0.255490,0.963968,0.074093],[-0.165100,-0.119012,0.979070]]
2025-10-26T22:42:41.846Z,1761518561.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:42.263Z,1761518562.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:42.615Z,1761518562.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953946,0.240462,0.179348],[-0.258007,0.962692,0.081593],[-0.153036,-0.124108,0.980396]]
2025-10-26T22:42:42.651Z,1761518562.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:43.018Z,1761518563.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954786,0.241355,0.173584],[-0.258710,0.962194,0.085161],[-0.146467,-0.126218,0.981130]]
2025-10-26T22:42:43.050Z,1761518563.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:43.423Z,1761518563.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955599,0.242183,0.167861],[-0.259492,0.961546,0.089959],[-0.139619,-0.129524,0.981697]]
2025-10-26T22:42:43.485Z,1761518563.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:43.839Z,1761518563.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956413,0.243302,0.161487],[-0.260123,0.961134,0.092510],[-0.132703,-0.130484,0.982529]]
2025-10-26T22:42:43.856Z,1761518563.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:44.228Z,1761518564.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957352,0.243943,0.154822],[-0.259993,0.961086,0.093368],[-0.126021,-0.129639,0.983520]]
2025-10-26T22:42:44.246Z,1761518564.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:44.700Z,1761518564.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:45.037Z,1761518565.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959220,0.244238,0.142287],[-0.258902,0.961170,0.095508],[-0.113436,-0.128451,0.985207]]
2025-10-26T22:42:45.056Z,1761518565.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:45.443Z,1761518565.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960198,0.243512,0.136828],[-0.257751,0.961218,0.098101],[-0.107633,-0.129464,0.985725]]
2025-10-26T22:42:45.520Z,1761518565.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:45.845Z,1761518565.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961125,0.242549,0.131942],[-0.256439,0.961279,0.100901],[-0.102360,-0.130813,0.986109]]
2025-10-26T22:42:45.863Z,1761518565.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:46.248Z,1761518566.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962120,0.241436,0.126624],[-0.254744,0.961603,0.102102],[-0.097111,-0.130491,0.986682]]
2025-10-26T22:42:46.266Z,1761518566.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:46.741Z,1761518566.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963095,0.240184,0.121488],[-0.252880,0.962025,0.102763],[-0.092193,-0.129692,0.987259]]
2025-10-26T22:42:46.786Z,1761518566.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:47.138Z,1761518567.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964158,0.238520,0.116221],[-0.250581,0.962566,0.103325],[-0.087226,-0.128744,0.987834]]
2025-10-26T22:42:47.156Z,1761518567.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:47.590Z,1761518567.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965187,0.236676,0.111353],[-0.248162,0.963126,0.103941],[-0.082646,-0.127956,0.988330]]
2025-10-26T22:42:47.632Z,1761518567.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:47.991Z,1761518567.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966087,0.235120,0.106745],[-0.246093,0.963553,0.104897],[-0.078191,-0.127609,0.988738]]
2025-10-26T22:42:48.036Z,1761518568.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:48.394Z,1761518568.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966996,0.233470,0.102033],[-0.243882,0.964060,0.105399],[-0.073758,-0.126804,0.989182]]
2025-10-26T22:42:48.504Z,1761518568.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:48.869Z,1761518568.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:49.280Z,1761518569.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968594,0.231864,0.089801],[-0.241192,0.963910,0.112712],[-0.060427,-0.130831,0.989561]]
2025-10-26T22:42:49.302Z,1761518569.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:49.771Z,1761518569.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968774,0.232278,0.086735],[-0.241485,0.963248,0.117635],[-0.056224,-0.134907,0.989262]]
2025-10-26T22:42:49.849Z,1761518569.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:50.277Z,1761518570.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968791,0.233343,0.083640],[-0.242387,0.962404,0.122581],[-0.051892,-0.139029,0.988928]]
2025-10-26T22:42:50.295Z,1761518570.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:50.679Z,1761518570.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968688,0.234998,0.080117],[-0.243691,0.961677,0.125669],[-0.047514,-0.141258,0.988832]]
2025-10-26T22:42:50.746Z,1761518570.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:51.086Z,1761518571.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968529,0.236775,0.076739],[-0.245154,0.960770,0.129694],[-0.043020,-0.144425,0.988580]]
2025-10-26T22:42:51.105Z,1761518571.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:51.581Z,1761518571.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968212,0.239074,0.073548],[-0.247154,0.959628,0.134276],[-0.038476,-0.148185,0.988211]]
2025-10-26T22:42:51.617Z,1761518571.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:51.951Z,1761518571.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967878,0.241311,0.070577],[-0.249101,0.958435,0.139109],[-0.034075,-0.152222,0.987759]]
2025-10-26T22:42:51.970Z,1761518571.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:52.346Z,1761518572.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967550,0.243442,0.067701],[-0.250929,0.957201,0.144222],[-0.029693,-0.156531,0.987227]]
2025-10-26T22:42:52.378Z,1761518572.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:52.752Z,1761518572.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967141,0.245931,0.064465],[-0.252990,0.956046,0.148233],[-0.025177,-0.159671,0.986849]]
2025-10-26T22:42:52.814Z,1761518572.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:53.156Z,1761518573.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966879,0.247882,0.060823],[-0.254391,0.955276,0.150771],[-0.020730,-0.161250,0.986696]]
2025-10-26T22:42:53.175Z,1761518573.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:53.604Z,1761518573.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966569,0.249952,0.057168],[-0.255874,0.954639,0.152290],[-0.016509,-0.161826,0.986681]]
2025-10-26T22:42:53.654Z,1761518573.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:54.007Z,1761518574.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966410,0.251406,0.053348],[-0.256711,0.954192,0.153680],[-0.012268,-0.162213,0.986679]]
2025-10-26T22:42:54.046Z,1761518574.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:54.437Z,1761518574.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966238,0.252876,0.049385],[-0.257520,0.953984,0.153619],[-0.008266,-0.161150,0.986895]]
2025-10-26T22:42:54.471Z,1761518574.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:54.830Z,1761518574.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966238,0.253580,0.045631],[-0.257607,0.954123,0.152603],[-0.004841,-0.159205,0.987234]]
2025-10-26T22:42:54.885Z,1761518574.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:55.232Z,1761518575.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966210,0.254165,0.042872],[-0.257748,0.953972,0.153308],[-0.001933,-0.159178,0.987248]]
2025-10-26T22:42:55.254Z,1761518575.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:55.639Z,1761518575.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966247,0.254462,0.040190],[-0.257616,0.954049,0.153054],[0.000603,-0.158241,0.987400]]
2025-10-26T22:42:55.681Z,1761518575.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:56.048Z,1761518576.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966577,0.253909,0.035478],[-0.256324,0.954288,0.153731],[0.005178,-0.157687,0.987476]]
2025-10-26T22:42:56.082Z,1761518576.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:56.448Z,1761518576.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966799,0.253398,0.032994],[-0.255441,0.954816,0.151912],[0.006991,-0.155296,0.987843]]
2025-10-26T22:42:56.466Z,1761518576.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:56.725Z,1761518576.725 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:42:56.852Z,1761518576.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966959,0.253087,0.030612],[-0.254775,0.955173,0.150779],[0.008920,-0.153596,0.988093]]
2025-10-26T22:42:56.888Z,1761518576.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:57.254Z,1761518577.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967106,0.252801,0.028255],[-0.254149,0.955588,0.149194],[0.010716,-0.151468,0.988404]]
2025-10-26T22:42:57.289Z,1761518577.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:57.654Z,1761518577.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967221,0.252680,0.025242],[-0.253616,0.956206,0.146113],[0.012784,-0.147725,0.988946]]
2025-10-26T22:42:57.709Z,1761518577.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:57.728Z,1761518577.728 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:42:58.071Z,1761518578.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967324,0.252510,0.022848],[-0.253121,0.956602,0.144367],[0.014597,-0.145434,0.989260]]
2025-10-26T22:42:58.119Z,1761518578.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:58.462Z,1761518578.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967366,0.252525,0.020845],[-0.252848,0.956702,0.144187],[0.016468,-0.144752,0.989331]]
2025-10-26T22:42:58.486Z,1761518578.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:58.866Z,1761518578.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967278,0.252988,0.019245],[-0.253045,0.956404,0.145806],[0.018481,-0.145905,0.989126]]
2025-10-26T22:42:58.962Z,1761518578.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:59.271Z,1761518579.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967173,0.253491,0.017840],[-0.253290,0.955979,0.148153],[0.020501,-0.147808,0.988804]]
2025-10-26T22:42:59.298Z,1761518579.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:42:59.760Z,1761518579.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967016,0.254224,0.015802],[-0.253712,0.955854,0.148233],[0.022580,-0.147353,0.988826]]
2025-10-26T22:42:59.835Z,1761518579.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:00.165Z,1761518580.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966932,0.254659,0.013835],[-0.253846,0.955782,0.148467],[0.024585,-0.147069,0.988821]]
2025-10-26T22:43:00.183Z,1761518580.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:00.599Z,1761518580.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966804,0.255208,0.012617],[-0.254183,0.955530,0.149510],[0.026100,-0.147754,0.988680]]
2025-10-26T22:43:00.679Z,1761518580.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:01.008Z,1761518581.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966581,0.256092,0.011723],[-0.254936,0.955390,0.149120],[0.026988,-0.147125,0.988750]]
2025-10-26T22:43:01.065Z,1761518581.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:01.402Z,1761518581.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966478,0.256528,0.010672],[-0.255251,0.955525,0.147712],[0.027695,-0.145484,0.988973]]
2025-10-26T22:43:01.428Z,1761518581.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:01.862Z,1761518581.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:02.210Z,1761518582.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966322,0.257184,0.008876],[-0.255719,0.955815,0.145002],[0.028808,-0.142388,0.989392]]
2025-10-26T22:43:02.228Z,1761518582.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:02.624Z,1761518582.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966271,0.257395,0.008310],[-0.255881,0.955942,0.143874],[0.029089,-0.141147,0.989561]]
2025-10-26T22:43:02.703Z,1761518582.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:03.033Z,1761518583.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966309,0.257234,0.008758],[-0.255764,0.955863,0.144609],[0.028827,-0.141977,0.989450]]
2025-10-26T22:43:03.068Z,1761518583.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:03.430Z,1761518583.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966294,0.257267,0.009503],[-0.255889,0.955762,0.145052],[0.028235,-0.142595,0.989378]]
2025-10-26T22:43:03.465Z,1761518583.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:03.989Z,1761518583.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:04.352Z,1761518584.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:04.776Z,1761518584.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966672,0.255764,0.011399],[-0.254616,0.955775,0.147192],[0.026751,-0.145189,0.989042]]
2025-10-26T22:43:04.833Z,1761518584.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:05.177Z,1761518585.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966915,0.254818,0.011992],[-0.253768,0.956004,0.147166],[0.026036,-0.145340,0.989039]]
2025-10-26T22:43:05.196Z,1761518585.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:05.578Z,1761518585.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967308,0.253276,0.012935],[-0.252389,0.956422,0.146824],[0.024815,-0.145289,0.989078]]
2025-10-26T22:43:05.605Z,1761518585.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:05.986Z,1761518585.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967660,0.251837,0.014544],[-0.251220,0.956861,0.145966],[0.022843,-0.144899,0.989183]]
2025-10-26T22:43:06.041Z,1761518586.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:06.388Z,1761518586.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967984,0.250433,0.017033],[-0.250181,0.957039,0.146580],[0.020408,-0.146148,0.989052]]
2025-10-26T22:43:06.405Z,1761518586.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:06.854Z,1761518586.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:07.197Z,1761518587.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968451,0.248193,0.022413],[-0.248767,0.957516,0.145871],[0.014744,-0.146844,0.989050]]
2025-10-26T22:43:07.214Z,1761518587.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:07.598Z,1761518587.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968586,0.247455,0.024654],[-0.248385,0.957833,0.144431],[0.012126,-0.146018,0.989208]]
2025-10-26T22:43:07.639Z,1761518587.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:08.002Z,1761518588.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968690,0.246796,0.027053],[-0.248090,0.958003,0.143808],[0.009575,-0.146017,0.989236]]
2025-10-26T22:43:08.059Z,1761518588.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:08.407Z,1761518588.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968576,0.246889,0.030093],[-0.248612,0.957554,0.145888],[0.007203,-0.148785,0.988843]]
2025-10-26T22:43:08.425Z,1761518588.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:08.813Z,1761518588.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968425,0.247135,0.032828],[-0.249255,0.957154,0.147402],[0.005006,-0.150930,0.988532]]
2025-10-26T22:43:08.855Z,1761518588.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:09.214Z,1761518589.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968148,0.247811,0.035768],[-0.250365,0.956637,0.148873],[0.002675,-0.153086,0.988209]]
2025-10-26T22:43:09.243Z,1761518589.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:09.618Z,1761518589.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967803,0.248771,0.038351],[-0.251709,0.956252,0.149078],[0.000413,-0.153932,0.988081]]
2025-10-26T22:43:09.636Z,1761518589.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:10.025Z,1761518590.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967566,0.249368,0.040399],[-0.252612,0.956253,0.147539],[-0.001840,-0.152959,0.988231]]
2025-10-26T22:43:10.082Z,1761518590.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:10.428Z,1761518590.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967276,0.250195,0.042187],[-0.253700,0.956105,0.146625],[-0.003651,-0.152530,0.988292]]
2025-10-26T22:43:10.445Z,1761518590.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:10.832Z,1761518590.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966927,0.251168,0.044346],[-0.254993,0.955750,0.146701],[-0.005537,-0.153157,0.988186]]
2025-10-26T22:43:10.879Z,1761518590.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:11.234Z,1761518591.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966481,0.252480,0.046560],[-0.256626,0.955378,0.146273],[-0.007551,-0.153319,0.988148]]
2025-10-26T22:43:11.274Z,1761518591.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:43:11.281Z,1761518591.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:11.416Z,1761518591.416 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:43:11.416Z,1761518591.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:43:11.639Z,1761518591.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965946,0.254126,0.048663],[-0.258572,0.954915,0.145866],[-0.009400,-0.153481,0.988107]]
2025-10-26T22:43:11.664Z,1761518591.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:11.668Z,1761518591.668 [DAT](INFO): DAT read:  Not Received37>

2025-10-26T22:43:11.669Z,1761518591.669 [DAT](INFO): unknown deviceResponse_:  Not Received37>

2025-10-26T22:43:11.669Z,1761518591.669 [DAT](INFO): DAT read: Tx time:22:43:10.7869

2025-10-26T22:43:11.670Z,1761518591.670 [DAT](INFO): Ping request sent.
2025-10-26T22:43:11.670Z,1761518591.670 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:43:11.670Z,1761518591.670 [DAT](INFO): publishing transmit ping time
2025-10-26T22:43:11.671Z,1761518591.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-10-26T22:43:11.921Z,1761518591.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250765
2025-10-26T22:43:12.043Z,1761518592.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965549,0.255351,0.050112],[-0.259992,0.954731,0.144541],[-0.010934,-0.152590,0.988229]]
2025-10-26T22:43:12.095Z,1761518592.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:12.173Z,1761518592.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503451
2025-10-26T22:43:12.425Z,1761518592.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754737
2025-10-26T22:43:12.446Z,1761518592.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965195,0.256522,0.050935],[-0.261231,0.954932,0.140933],[-0.012488,-0.149334,0.988708]]
2025-10-26T22:43:12.485Z,1761518592.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:12.677Z,1761518592.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006689
2025-10-26T22:43:12.866Z,1761518592.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964502,0.258432,0.054300],[-0.263587,0.954642,0.138492],[-0.016046,-0.147888,0.988874]]
2025-10-26T22:43:12.909Z,1761518592.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:12.928Z,1761518592.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258484
2025-10-26T22:43:13.180Z,1761518593.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510472
2025-10-26T22:43:13.266Z,1761518593.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964363,0.258686,0.055555],[-0.263975,0.954933,0.135723],[-0.017942,-0.145552,0.989188]]
2025-10-26T22:43:13.295Z,1761518593.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:13.432Z,1761518593.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762503
2025-10-26T22:43:13.663Z,1761518593.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964293,0.258760,0.056407],[-0.264099,0.955427,0.131950],[-0.019749,-0.142136,0.989650]]
2025-10-26T22:43:13.684Z,1761518593.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014557
2025-10-26T22:43:13.692Z,1761518593.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:13.938Z,1761518593.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268293
2025-10-26T22:43:14.072Z,1761518594.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964390,0.258082,0.057844],[-0.263554,0.956064,0.128381],[-0.022170,-0.139054,0.990037]]
2025-10-26T22:43:14.107Z,1761518594.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:14.189Z,1761518594.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519102
2025-10-26T22:43:14.440Z,1761518594.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770462
2025-10-26T22:43:14.470Z,1761518594.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964439,0.257571,0.059279],[-0.263161,0.956644,0.124813],[-0.024561,-0.135974,0.990408]]
2025-10-26T22:43:14.498Z,1761518594.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:14.693Z,1761518594.693 [DAT](INFO): DAT read: Rx Time:22:43:13.3872

2025-10-26T22:43:14.693Z,1761518594.693 [DAT](INFO): Rx dataTimestamp_ set to:1761518594.693083
2025-10-26T22:43:14.694Z,1761518594.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024051
2025-10-26T22:43:14.886Z,1761518594.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964427,0.257271,0.060772],[-0.262978,0.957122,0.121491],[-0.026911,-0.133151,0.990730]]
2025-10-26T22:43:14.934Z,1761518594.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:14.944Z,1761518594.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274601
2025-10-26T22:43:15.211Z,1761518595.211 [DAT](INFO): DAT read: 22:43:13.3872 LVL= 32752, 31953, 32754, 32755, AGC= 72, IDX= 101,-0.00,-1.482, 0.031,-1.629,-1.018, PHS=-0.362, 1.094,-0.655, RAW= 339.0,  -1.0, CAL= 338.5,  -3.9, ROT= 171.5,   3.9

2025-10-26T22:43:15.212Z,1761518595.212 [DAT](INFO): got valid direction response:
 22:43:13.3872 LVL= 32752, 31953, 32754, 32755, AGC= 72, IDX= 101,-0.00,-1.482, 0.031,-1.629,-1.018, PHS=-0.362, 1.094,-0.655, RAW= 339.0,  -1.0, CAL= 338.5,  -3.9, ROT= 171.5,   3.9

2025-10-26T22:43:15.213Z,1761518595.213 [DAT](INFO): DAT read: $Error in header

2025-10-26T22:43:15.213Z,1761518595.213 [DAT](INFO): Received a bad header
2025-10-26T22:43:15.228Z,1761518595.228 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T22:43:15.229Z,1761518595.229 [DAT](INFO): direction in FSK: [-0.986726,0.147467,-0.068015]
2025-10-26T22:43:15.312Z,1761518595.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964639,0.256010,0.062700],[-0.261941,0.957593,0.120012],[-0.029316,-0.132192,0.990790]]
2025-10-26T22:43:15.349Z,1761518595.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:15.675Z,1761518595.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964819,0.254869,0.064547],[-0.260986,0.958116,0.117902],[-0.031794,-0.130600,0.990925]]
2025-10-26T22:43:15.697Z,1761518595.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:16.078Z,1761518596.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964984,0.253728,0.066541],[-0.260081,0.958483,0.116914],[-0.034113,-0.130127,0.990910]]
2025-10-26T22:43:16.124Z,1761518596.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:16.482Z,1761518596.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965205,0.252390,0.068401],[-0.258952,0.958931,0.115740],[-0.036381,-0.129426,0.990922]]
2025-10-26T22:43:16.510Z,1761518596.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:16.911Z,1761518596.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965408,0.251196,0.069911],[-0.257947,0.959246,0.115367],[-0.038082,-0.129410,0.990860]]
2025-10-26T22:43:16.952Z,1761518596.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:17.296Z,1761518597.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965625,0.249950,0.071371],[-0.256862,0.959647,0.114454],[-0.039884,-0.128852,0.990861]]
2025-10-26T22:43:17.314Z,1761518597.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:17.696Z,1761518597.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965982,0.248118,0.072916],[-0.255221,0.960142,0.113968],[-0.041732,-0.128701,0.990805]]
2025-10-26T22:43:17.728Z,1761518597.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:18.098Z,1761518598.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966368,0.246074,0.074696],[-0.253421,0.960615,0.114001],[-0.043701,-0.129096,0.990669]]
2025-10-26T22:43:18.141Z,1761518598.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:18.503Z,1761518598.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966684,0.244289,0.076452],[-0.251867,0.961042,0.113850],[-0.045661,-0.129312,0.990552]]
2025-10-26T22:43:18.520Z,1761518598.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:18.961Z,1761518598.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967169,0.241854,0.078045],[-0.249654,0.961616,0.113873],[-0.047508,-0.129619,0.990425]]
2025-10-26T22:43:19.025Z,1761518599.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:19.328Z,1761518599.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967534,0.239793,0.079861],[-0.247859,0.962040,0.114215],[-0.049442,-0.130301,0.990241]]
2025-10-26T22:43:19.346Z,1761518599.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:19.746Z,1761518599.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967882,0.237904,0.081276],[-0.246159,0.962493,0.114076],[-0.051089,-0.130419,0.990142]]
2025-10-26T22:43:19.793Z,1761518599.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:20.134Z,1761518600.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968202,0.236061,0.082821],[-0.244549,0.962857,0.114467],[-0.052724,-0.131081,0.989969]]
2025-10-26T22:43:20.177Z,1761518600.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:20.538Z,1761518600.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968403,0.234606,0.084588],[-0.243415,0.962970,0.115920],[-0.054260,-0.132847,0.989650]]
2025-10-26T22:43:20.572Z,1761518600.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:20.970Z,1761518600.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968626,0.233141,0.086070],[-0.242200,0.963183,0.116693],[-0.055695,-0.133878,0.989432]]
2025-10-26T22:43:21.013Z,1761518601.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:21.349Z,1761518601.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968763,0.231980,0.087657],[-0.241289,0.963349,0.117210],[-0.057254,-0.134700,0.989231]]
2025-10-26T22:43:21.366Z,1761518601.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:21.749Z,1761518601.749 [DAT](INFO): Reached modem response timeout
2025-10-26T22:43:21.782Z,1761518601.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968603,0.231840,0.089771],[-0.241529,0.963099,0.118763],[-0.058924,-0.136716,0.988856]]
2025-10-26T22:43:21.800Z,1761518601.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:22.154Z,1761518602.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968532,0.231454,0.091516],[-0.241451,0.962987,0.119826],[-0.060394,-0.138152,0.988568]]
2025-10-26T22:43:22.197Z,1761518602.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:22.559Z,1761518602.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968303,0.231642,0.093441],[-0.242012,0.962636,0.121505],[-0.061804,-0.140267,0.988183]]
2025-10-26T22:43:22.599Z,1761518602.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:22.998Z,1761518602.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968077,0.231959,0.094978],[-0.242611,0.962353,0.122547],[-0.062976,-0.141678,0.987908]]
2025-10-26T22:43:23.048Z,1761518603.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:23.396Z,1761518603.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967750,0.232644,0.096627],[-0.243601,0.961956,0.123691],[-0.064174,-0.143241,0.987605]]
2025-10-26T22:43:23.414Z,1761518603.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:23.804Z,1761518603.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967239,0.234116,0.098176],[-0.245319,0.961460,0.124148],[-0.065327,-0.144165,0.987395]]
2025-10-26T22:43:23.822Z,1761518603.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:24.017Z,1761518604.017 [DAT](INFO): DAT read: Response Not Received

2025-10-26T22:43:24.018Z,1761518604.018 [DAT](INFO): response not received
2025-10-26T22:43:24.018Z,1761518604.018 [DAT](ERROR): No response from remote modem.
2025-10-26T22:43:24.202Z,1761518604.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966761,0.235399,0.099804],[-0.246902,0.960919,0.125198],[-0.066433,-0.145678,0.987099]]
2025-10-26T22:43:24.218Z,1761518604.218 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050302314232,35.0, +10.6,   0.0,10
2025-10-26T22:43:24.234Z,1761518604.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:24.606Z,1761518604.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966210,0.237037,0.101248],[-0.248809,0.960298,0.126183],[-0.067318,-0.147111,0.986827]]
2025-10-26T22:43:24.641Z,1761518604.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:25.089Z,1761518605.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:25.415Z,1761518605.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965004,0.240729,0.104005],[-0.252707,0.959614,0.123614],[-0.070047,-0.145571,0.986865]]
2025-10-26T22:43:25.433Z,1761518605.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:25.814Z,1761518605.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964311,0.242872,0.105442],[-0.254973,0.959151,0.122550],[-0.071371,-0.145061,0.986845]]
2025-10-26T22:43:25.849Z,1761518605.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:26.218Z,1761518606.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963625,0.244963,0.106860],[-0.257156,0.958748,0.121131],[-0.072779,-0.144205,0.986868]]
2025-10-26T22:43:26.286Z,1761518606.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:26.623Z,1761518606.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962955,0.247040,0.108112],[-0.259231,0.958480,0.118808],[-0.074273,-0.142432,0.987014]]
2025-10-26T22:43:26.641Z,1761518606.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:27.094Z,1761518607.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962354,0.248741,0.109561],[-0.261077,0.958068,0.118088],[-0.075594,-0.142247,0.986940]]
2025-10-26T22:43:27.127Z,1761518607.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:27.430Z,1761518607.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961862,0.250094,0.110791],[-0.262468,0.957897,0.116378],[-0.077021,-0.141019,0.987006]]
2025-10-26T22:43:27.447Z,1761518607.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:27.840Z,1761518607.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961466,0.251155,0.111823],[-0.263478,0.957914,0.113931],[-0.078503,-0.139004,0.987175]]
2025-10-26T22:43:27.848Z,1761518607.848 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:43:27.860Z,1761518607.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:28.243Z,1761518608.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961182,0.251877,0.112636],[-0.264101,0.958050,0.111317],[-0.079872,-0.136743,0.987381]]
2025-10-26T22:43:28.282Z,1761518608.282 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00,        +0.00,      00
2025-10-26T22:43:28.298Z,1761518608.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:28.643Z,1761518608.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961102,0.251767,0.113564],[-0.263966,0.958302,0.109450],[-0.081272,-0.135170,0.987484]]
2025-10-26T22:43:28.660Z,1761518608.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:28.852Z,1761518608.852 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:43:29.092Z,1761518609.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961071,0.251409,0.114611],[-0.263568,0.958660,0.107249],[-0.082909,-0.133282,0.987604]]
2025-10-26T22:43:29.152Z,1761518609.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:29.455Z,1761518609.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961211,0.250393,0.115657],[-0.262533,0.959155,0.105347],[-0.084555,-0.131624,0.987687]]
2025-10-26T22:43:29.473Z,1761518609.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:29.861Z,1761518609.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961368,0.249101,0.117135],[-0.261363,0.959572,0.104459],[-0.086379,-0.131038,0.987607]]
2025-10-26T22:43:29.878Z,1761518609.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:30.270Z,1761518610.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961590,0.247539,0.118612],[-0.259916,0.960066,0.103520],[-0.088250,-0.130373,0.987530]]
2025-10-26T22:43:30.307Z,1761518610.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:30.702Z,1761518610.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:31.125Z,1761518611.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962000,0.244237,0.122085],[-0.257078,0.960830,0.103520],[-0.092020,-0.130972,0.987106]]
2025-10-26T22:43:31.170Z,1761518611.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:31.474Z,1761518611.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962323,0.242197,0.123595],[-0.255253,0.961302,0.103655],[-0.093707,-0.131297,0.986904]]
2025-10-26T22:43:31.492Z,1761518611.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:31.919Z,1761518611.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:32.282Z,1761518612.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963176,0.237419,0.126193],[-0.251048,0.962160,0.105940],[-0.096266,-0.133719,0.986333]]
2025-10-26T22:43:32.324Z,1761518612.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:32.737Z,1761518612.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:33.149Z,1761518613.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964155,0.232602,0.127677],[-0.246598,0.963131,0.107557],[-0.097951,-0.135186,0.985967]]
2025-10-26T22:43:33.207Z,1761518613.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:33.520Z,1761518613.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964590,0.230582,0.128054],[-0.244671,0.963578,0.107950],[-0.098499,-0.135458,0.985875]]
2025-10-26T22:43:33.538Z,1761518613.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:33.994Z,1761518613.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:34.330Z,1761518614.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965347,0.227221,0.128358],[-0.241506,0.964208,0.109443],[-0.098896,-0.136650,0.985671]]
2025-10-26T22:43:34.372Z,1761518614.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:34.746Z,1761518614.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965591,0.226072,0.128549],[-0.240486,0.964348,0.110451],[-0.098996,-0.137564,0.985533]]
2025-10-26T22:43:34.769Z,1761518614.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:35.175Z,1761518615.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965681,0.225709,0.128516],[-0.240241,0.964267,0.111683],[-0.098716,-0.138724,0.985399]]
2025-10-26T22:43:35.245Z,1761518615.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:35.568Z,1761518615.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965751,0.225562,0.128245],[-0.240133,0.964206,0.112444],[-0.098292,-0.139389,0.985347]]
2025-10-26T22:43:35.593Z,1761518615.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:35.971Z,1761518615.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965652,0.225992,0.128232],[-0.240775,0.963791,0.114609],[-0.097688,-0.141547,0.985100]]
2025-10-26T22:43:36.004Z,1761518616.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:36.374Z,1761518616.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965495,0.226684,0.128194],[-0.241671,0.963311,0.116733],[-0.097029,-0.143685,0.984855]]
2025-10-26T22:43:36.441Z,1761518616.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:36.847Z,1761518616.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965295,0.227627,0.128030],[-0.242751,0.962837,0.118396],[-0.096321,-0.145366,0.984678]]
2025-10-26T22:43:36.866Z,1761518616.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:37.325Z,1761518617.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964623,0.230841,0.127338],[-0.246160,0.961576,0.121564],[-0.094383,-0.148609,0.984381]]
2025-10-26T22:43:37.368Z,1761518617.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:37.778Z,1761518617.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964208,0.232741,0.127019],[-0.248127,0.960907,0.122844],[-0.093463,-0.149965,0.984264]]
2025-10-26T22:43:37.797Z,1761518617.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:38.211Z,1761518618.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963838,0.234480,0.126627],[-0.249942,0.960243,0.124347],[-0.092436,-0.151500,0.984126]]
2025-10-26T22:43:38.268Z,1761518618.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:38.586Z,1761518618.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963497,0.236329,0.125783],[-0.251721,0.959684,0.125072],[-0.091154,-0.152169,0.984142]]
2025-10-26T22:43:38.612Z,1761518618.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:38.990Z,1761518618.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963029,0.238531,0.125213],[-0.253897,0.959011,0.125838],[-0.090065,-0.152977,0.984117]]
2025-10-26T22:43:39.020Z,1761518619.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:39.448Z,1761518619.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:39.800Z,1761518619.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962503,0.241944,0.122680],[-0.256659,0.958632,0.123088],[-0.087825,-0.149959,0.984784]]
2025-10-26T22:43:39.817Z,1761518619.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:40.241Z,1761518620.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962257,0.243368,0.121792],[-0.257868,0.958416,0.122240],[-0.086978,-0.149032,0.985000]]
2025-10-26T22:43:40.287Z,1761518620.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:40.607Z,1761518620.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962129,0.244293,0.120949],[-0.258638,0.958245,0.121956],[-0.086106,-0.148619,0.985139]]
2025-10-26T22:43:40.637Z,1761518620.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:41.010Z,1761518621.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962055,0.245100,0.119901],[-0.259144,0.958313,0.120335],[-0.085409,-0.146841,0.985466]]
2025-10-26T22:43:41.029Z,1761518621.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:41.415Z,1761518621.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962112,0.245354,0.118923],[-0.259124,0.958503,0.118852],[-0.084827,-0.145165,0.985764]]
2025-10-26T22:43:41.476Z,1761518621.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:41.818Z,1761518621.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962114,0.245459,0.118685],[-0.259239,0.958409,0.119364],[-0.084449,-0.145610,0.985731]]
2025-10-26T22:43:41.842Z,1761518621.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:42.268Z,1761518622.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962346,0.245029,0.117694],[-0.258516,0.958820,0.117616],[-0.084029,-0.143613,0.986060]]
2025-10-26T22:43:42.317Z,1761518622.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:42.626Z,1761518622.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962669,0.244097,0.116983],[-0.257394,0.959251,0.116558],[-0.083765,-0.142317,0.986270]]
2025-10-26T22:43:42.644Z,1761518622.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:43.033Z,1761518623.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962967,0.243072,0.116667],[-0.256304,0.959578,0.116272],[-0.083688,-0.141868,0.986342]]
2025-10-26T22:43:43.050Z,1761518623.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:43.434Z,1761518623.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963372,0.241553,0.116475],[-0.254717,0.960064,0.115744],[-0.083866,-0.141173,0.986426]]
2025-10-26T22:43:43.487Z,1761518623.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:43.838Z,1761518623.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963786,0.239875,0.116519],[-0.253065,0.960482,0.115895],[-0.084114,-0.141185,0.986403]]
2025-10-26T22:43:43.872Z,1761518623.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:44.290Z,1761518624.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964116,0.238407,0.116804],[-0.251670,0.960808,0.116230],[-0.084516,-0.141455,0.986330]]
2025-10-26T22:43:44.352Z,1761518624.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:44.658Z,1761518624.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964647,0.236223,0.116856],[-0.249497,0.961382,0.116174],[-0.084901,-0.141222,0.986331]]
2025-10-26T22:43:44.675Z,1761518624.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:45.060Z,1761518625.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965111,0.234191,0.117114],[-0.247523,0.961872,0.116340],[-0.085402,-0.141270,0.986281]]
2025-10-26T22:43:45.078Z,1761518625.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:45.518Z,1761518625.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:45.866Z,1761518625.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966057,0.229449,0.118688],[-0.243399,0.962397,0.120621],[-0.086548,-0.145416,0.985578]]
2025-10-26T22:43:45.884Z,1761518625.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:46.295Z,1761518626.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966465,0.227516,0.119091],[-0.241626,0.962710,0.121681],[-0.086965,-0.146376,0.985399]]
2025-10-26T22:43:46.377Z,1761518626.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:46.688Z,1761518626.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966900,0.225336,0.119699],[-0.239722,0.962932,0.123677],[-0.087393,-0.148277,0.985077]]
2025-10-26T22:43:46.714Z,1761518626.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:47.092Z,1761518627.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967242,0.223692,0.120023],[-0.238223,0.963175,0.124674],[-0.087714,-0.149182,0.984912]]
2025-10-26T22:43:47.109Z,1761518627.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:47.498Z,1761518627.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967467,0.222552,0.120329],[-0.237217,0.963300,0.125621],[-0.087956,-0.150079,0.984754]]
2025-10-26T22:43:47.545Z,1761518627.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:47.898Z,1761518627.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967674,0.221390,0.120801],[-0.236225,0.963409,0.126655],[-0.088341,-0.151097,0.984564]]
2025-10-26T22:43:47.928Z,1761518627.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:48.344Z,1761518628.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967836,0.220631,0.120892],[-0.235572,0.963438,0.127643],[-0.088310,-0.152016,0.984425]]
2025-10-26T22:43:48.409Z,1761518628.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:48.726Z,1761518628.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967898,0.220293,0.121011],[-0.235329,0.963386,0.128481],[-0.088277,-0.152834,0.984301]]
2025-10-26T22:43:48.766Z,1761518628.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:49.107Z,1761518629.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967862,0.220198,0.121475],[-0.235487,0.963079,0.130481],[-0.088259,-0.154893,0.983981]]
2025-10-26T22:43:49.132Z,1761518629.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:49.514Z,1761518629.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967621,0.221312,0.121370],[-0.236600,0.962771,0.130734],[-0.087918,-0.155217,0.983960]]
2025-10-26T22:43:49.573Z,1761518629.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:49.914Z,1761518629.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967427,0.222116,0.121444],[-0.237538,0.962348,0.132145],[-0.087520,-0.156688,0.983763]]
2025-10-26T22:43:49.933Z,1761518629.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:50.336Z,1761518630.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967150,0.223131,0.121792],[-0.238790,0.961747,0.134248],[-0.087178,-0.158921,0.983435]]
2025-10-26T22:43:50.405Z,1761518630.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:50.734Z,1761518630.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966763,0.224601,0.122163],[-0.240452,0.961109,0.135835],[-0.086904,-0.160695,0.983171]]
2025-10-26T22:43:50.779Z,1761518630.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:51.170Z,1761518631.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966445,0.225855,0.122367],[-0.241843,0.960581,0.137096],[-0.086580,-0.162089,0.982970]]
2025-10-26T22:43:51.188Z,1761518631.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:51.566Z,1761518631.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966137,0.227048,0.122591],[-0.243187,0.960044,0.138475],[-0.086252,-0.163599,0.982749]]
2025-10-26T22:43:51.625Z,1761518631.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:52.032Z,1761518632.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965798,0.228348,0.122844],[-0.244647,0.959463,0.139925],[-0.085913,-0.165193,0.982512]]
2025-10-26T22:43:52.069Z,1761518632.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:52.518Z,1761518632.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965395,0.230860,0.121313],[-0.246687,0.959278,0.137594],[-0.084608,-0.162758,0.983032]]
2025-10-26T22:43:52.559Z,1761518632.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:52.914Z,1761518632.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965369,0.231478,0.120332],[-0.247024,0.959386,0.136227],[-0.083912,-0.161235,0.983342]]
2025-10-26T22:43:52.948Z,1761518632.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:53.318Z,1761518633.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965414,0.231914,0.119127],[-0.247110,0.959616,0.134437],[-0.083139,-0.159225,0.983735]]
2025-10-26T22:43:53.336Z,1761518633.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:53.734Z,1761518633.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965587,0.231807,0.117929],[-0.246668,0.959969,0.132721],[-0.082443,-0.157243,0.984113]]
2025-10-26T22:43:53.786Z,1761518633.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:54.126Z,1761518634.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965785,0.231639,0.116632],[-0.246158,0.960327,0.131065],[-0.081645,-0.155291,0.984489]]
2025-10-26T22:43:54.152Z,1761518634.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:54.530Z,1761518634.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966026,0.231286,0.115323],[-0.245492,0.960681,0.129714],[-0.080787,-0.153618,0.984822]]
2025-10-26T22:43:54.584Z,1761518634.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:54.934Z,1761518634.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966424,0.230470,0.113613],[-0.244148,0.961462,0.126420],[-0.080099,-0.149914,0.985449]]
2025-10-26T22:43:54.952Z,1761518634.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:55.339Z,1761518635.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966655,0.230162,0.112264],[-0.243443,0.961958,0.123983],[-0.079457,-0.147179,0.985913]]
2025-10-26T22:43:55.357Z,1761518635.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:55.815Z,1761518635.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:56.146Z,1761518636.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966986,0.229432,0.110902],[-0.242163,0.962837,0.119593],[-0.079342,-0.142501,0.986610]]
2025-10-26T22:43:56.164Z,1761518636.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:56.553Z,1761518636.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967239,0.228770,0.110058],[-0.241166,0.963420,0.116878],[-0.079294,-0.139591,0.987029]]
2025-10-26T22:43:56.618Z,1761518636.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:56.955Z,1761518636.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967399,0.227874,0.110510],[-0.240526,0.963293,0.119222],[-0.079286,-0.141916,0.986698]]
2025-10-26T22:43:56.990Z,1761518636.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:57.359Z,1761518637.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967367,0.227127,0.112314],[-0.240660,0.962287,0.126832],[-0.079271,-0.149723,0.985545]]
2025-10-26T22:43:57.377Z,1761518637.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:57.763Z,1761518637.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967433,0.226256,0.113497],[-0.240262,0.961910,0.130394],[-0.079672,-0.153417,0.984945]]
2025-10-26T22:43:57.800Z,1761518637.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:58.166Z,1761518638.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967589,0.225323,0.114022],[-0.239619,0.961729,0.132889],[-0.079715,-0.155904,0.984550]]
2025-10-26T22:43:58.210Z,1761518638.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:58.570Z,1761518638.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967617,0.224857,0.114705],[-0.239491,0.961368,0.135704],[-0.079760,-0.158780,0.984087]]
2025-10-26T22:43:58.625Z,1761518638.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:58.988Z,1761518638.988 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:43:59.034Z,1761518639.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:59.381Z,1761518639.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967698,0.224596,0.114528],[-0.238981,0.961880,0.132949],[-0.080302,-0.156024,0.984484]]
2025-10-26T22:43:59.398Z,1761518639.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:59.856Z,1761518639.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:43:59.992Z,1761518639.992 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:44:00.192Z,1761518640.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968131,0.221921,0.116078],[-0.236909,0.961812,0.137081],[-0.081224,-0.160212,0.983735]]
2025-10-26T22:44:00.239Z,1761518640.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:00.697Z,1761518640.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968204,0.221217,0.116804],[-0.236559,0.961497,0.139872],[-0.081364,-0.163056,0.983256]]
2025-10-26T22:44:00.754Z,1761518640.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:01.086Z,1761518641.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968355,0.220863,0.116225],[-0.235827,0.962171,0.136427],[-0.081697,-0.159519,0.983809]]
2025-10-26T22:44:01.117Z,1761518641.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:01.572Z,1761518641.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968576,0.220663,0.114751],[-0.234851,0.963318,0.129863],[-0.081885,-0.152731,0.984870]]
2025-10-26T22:44:01.628Z,1761518641.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:01.942Z,1761518641.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968714,0.220472,0.113955],[-0.234268,0.963893,0.126604],[-0.081928,-0.149339,0.985386]]
2025-10-26T22:44:01.960Z,1761518641.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:02.348Z,1761518642.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968740,0.220144,0.114362],[-0.234101,0.963778,0.127787],[-0.082088,-0.150564,0.985186]]
2025-10-26T22:44:02.367Z,1761518642.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:02.750Z,1761518642.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968588,0.220420,0.115119],[-0.234750,0.963206,0.130872],[-0.082037,-0.153785,0.984693]]
2025-10-26T22:44:02.793Z,1761518642.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:03.154Z,1761518643.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968408,0.221446,0.114660],[-0.235532,0.963287,0.128856],[-0.081915,-0.151791,0.985012]]
2025-10-26T22:44:03.213Z,1761518643.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:03.601Z,1761518643.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968381,0.222203,0.113424],[-0.235686,0.963901,0.123887],[-0.081801,-0.146702,0.985793]]
2025-10-26T22:44:03.642Z,1761518643.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:04.014Z,1761518644.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968280,0.222652,0.113404],[-0.236088,0.963866,0.123386],[-0.081834,-0.146246,0.985858]]
2025-10-26T22:44:04.042Z,1761518644.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:04.471Z,1761518644.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968174,0.223064,0.113494],[-0.236598,0.963608,0.124423],[-0.081610,-0.147315,0.985717]]
2025-10-26T22:44:04.489Z,1761518644.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:04.874Z,1761518644.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968533,0.222148,0.112226],[-0.235724,0.963458,0.127210],[-0.079866,-0.149661,0.985506]]
2025-10-26T22:44:04.925Z,1761518644.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:05.373Z,1761518645.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969667,0.220741,0.104970],[-0.233175,0.964187,0.126385],[-0.073313,-0.147027,0.986412]]
2025-10-26T22:44:05.392Z,1761518645.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:05.862Z,1761518645.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:06.217Z,1761518646.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971001,0.219432,0.094904],[-0.230435,0.964764,0.127003],[-0.063691,-0.145189,0.987352]]
2025-10-26T22:44:06.261Z,1761518646.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:06.635Z,1761518646.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971613,0.219311,0.088720],[-0.229331,0.965219,0.125541],[-0.058101,-0.142323,0.988113]]
2025-10-26T22:44:06.722Z,1761518646.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:07.059Z,1761518647.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:07.426Z,1761518647.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972754,0.218551,0.077361],[-0.227130,0.965287,0.128972],[-0.046489,-0.143029,0.988626]]
2025-10-26T22:44:07.453Z,1761518647.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:07.830Z,1761518647.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973101,0.218558,0.072850],[-0.226717,0.964653,0.134326],[-0.040917,-0.147229,0.988256]]
2025-10-26T22:44:07.873Z,1761518647.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:08.238Z,1761518648.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973373,0.218865,0.068141],[-0.226493,0.964062,0.138871],[-0.035298,-0.150607,0.987963]]
2025-10-26T22:44:08.255Z,1761518648.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:08.726Z,1761518648.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973565,0.219413,0.063479],[-0.226445,0.963548,0.142473],[-0.029905,-0.153081,0.987761]]
2025-10-26T22:44:08.797Z,1761518648.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:09.251Z,1761518649.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973737,0.219929,0.058884],[-0.226354,0.962972,0.146458],[-0.024493,-0.155940,0.987463]]
2025-10-26T22:44:09.294Z,1761518649.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:09.752Z,1761518649.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974020,0.221154,0.048734],[-0.226111,0.961673,0.155105],[-0.012564,-0.162095,0.986695]]
2025-10-26T22:44:09.803Z,1761518649.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:10.138Z,1761518650.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974120,0.222033,0.042328],[-0.225962,0.961244,0.157959],[-0.005615,-0.163435,0.986538]]
2025-10-26T22:44:10.161Z,1761518650.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:10.542Z,1761518650.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974192,0.222854,0.035874],[-0.225718,0.960696,0.161602],[0.001549,-0.165529,0.986204]]
2025-10-26T22:44:10.561Z,1761518650.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:10.946Z,1761518650.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974197,0.223816,0.029084],[-0.225518,0.960164,0.165002],[0.009005,-0.167303,0.985864]]
2025-10-26T22:44:10.994Z,1761518650.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:11.506Z,1761518651.506 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:44:11.508Z,1761518651.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:11.683Z,1761518651.683 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:11.688Z,1761518651.688 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:44:11.928Z,1761518651.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:11.932Z,1761518651.932 [DAT](INFO): DAT read: 

2025-10-26T22:44:11.933Z,1761518651.933 [DAT](INFO): DAT read: Tx time:22:44:11.0369

2025-10-26T22:44:11.933Z,1761518651.933 [DAT](INFO): Ping request sent.
2025-10-26T22:44:11.933Z,1761518651.933 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:44:11.934Z,1761518651.934 [DAT](INFO): publishing transmit ping time
2025-10-26T22:44:11.934Z,1761518651.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757
2025-10-26T22:44:12.186Z,1761518652.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252216
2025-10-26T22:44:12.336Z,1761518652.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973834,0.227129,0.007676],[-0.224981,0.958753,0.173716],[0.032097,-0.170897,0.984766]]
2025-10-26T22:44:12.354Z,1761518652.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:12.436Z,1761518652.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502951
2025-10-26T22:44:12.707Z,1761518652.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.773095
2025-10-26T22:44:12.770Z,1761518652.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973588,0.228310,0.000515],[-0.224807,0.958253,0.176671],[0.039843,-0.172121,0.984270]]
2025-10-26T22:44:12.884Z,1761518652.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:12.941Z,1761518652.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007721
2025-10-26T22:44:13.193Z,1761518653.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259836
2025-10-26T22:44:13.223Z,1761518653.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973267,0.229579,-0.006659],[-0.224730,0.957894,0.178704],[0.047405,-0.172430,0.983880]]
2025-10-26T22:44:13.269Z,1761518653.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:13.444Z,1761518653.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510908
2025-10-26T22:44:13.606Z,1761518653.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972919,0.230754,-0.013426],[-0.224615,0.957547,0.180698],[0.054553,-0.172789,0.983447]]
2025-10-26T22:44:13.640Z,1761518653.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:13.719Z,1761518653.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.784879
2025-10-26T22:44:13.948Z,1761518653.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015053
2025-10-26T22:44:14.081Z,1761518654.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:14.201Z,1761518654.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267236
2025-10-26T22:44:14.454Z,1761518654.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520166
2025-10-26T22:44:14.503Z,1761518654.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972250,0.232527,-0.025735],[-0.224111,0.957284,0.182705],[0.067119,-0.171867,0.982831]]
2025-10-26T22:44:14.541Z,1761518654.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:14.723Z,1761518654.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.789371
2025-10-26T22:44:14.956Z,1761518654.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023063
2025-10-26T22:44:14.962Z,1761518654.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:15.208Z,1761518655.208 [DAT](INFO): DAT read: Rx Time:22:44:13.7560

2025-10-26T22:44:15.209Z,1761518655.209 [DAT](INFO): Rx dataTimestamp_ set to:1761518655.208565
2025-10-26T22:44:15.209Z,1761518655.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276038
2025-10-26T22:44:15.373Z,1761518655.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971094,0.235532,-0.038732],[-0.224616,0.956608,0.185603],[0.080766,-0.171538,0.981861]]
2025-10-26T22:44:15.391Z,1761518655.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.81 m.
2025-10-26T22:44:15.461Z,1761518655.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527336
2025-10-26T22:44:15.778Z,1761518655.778 [DAT](INFO): DAT read: 22:44:13.7560 LVL= 25136, 19441, 29586, 28083, AGC= 72, IDX= 102,-0.28, 0.197, 1.437, 0.025, 0.236, PHS= 0.063, 1.246,-0.255, RAW= 341.6, -15.2, CAL= 341.4, -18.3, ROT= 168.6,  18.3

2025-10-26T22:44:15.788Z,1761518655.788 [DAT](INFO): got valid direction response:
 22:44:13.7560 LVL= 25136, 19441, 29586, 28083, AGC= 72, IDX= 102,-0.28, 0.197, 1.437, 0.025, 0.236, PHS= 0.063, 1.246,-0.255, RAW= 341.6, -15.2, CAL= 341.4, -18.3, ROT= 168.6,  18.3

2025-10-26T22:44:15.789Z,1761518655.789 [DAT](INFO): DAT read: Bearing 344.7,   9.3 (Local)

2025-10-26T22:44:15.789Z,1761518655.789 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.7,   9.3 (Local)

2025-10-26T22:44:15.790Z,1761518655.790 [DAT](INFO): DAT read: Range 11 to 50 : 236.2 m  (Round-trip  315.0 ms) speed -0.8 m/s

2025-10-26T22:44:15.791Z,1761518655.791 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:44:15.808Z,1761518655.808 [DAT](INFO): direction in FSK: [-0.930694,0.187661,-0.313992]
2025-10-26T22:44:15.808Z,1761518655.808 [DAT](INFO): publishing direction and range info
2025-10-26T22:44:15.818Z,1761518655.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970684,0.237041,-0.039803],[-0.225494,0.955412,0.190630],[0.083215,-0.176066,0.980855]]
2025-10-26T22:44:15.942Z,1761518655.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 236.199997 m,
      deltaT: 180.806549 s,
      deltaX: 180.100006 m,
      approachRate: 0.996092 m/s,
      rangeRepo size: 4

2025-10-26T22:44:15.945Z,1761518655.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 234.853745 m,
      bearing: 158.741475 deg,
      lat: 36.779420 deg,
      lon: -121.859516 deg,
      deltaT: 180.806549 s,
      deltaX: 179.038788 m,
      approachRate: 0.990223 m/s,
      posRepo size: 4

2025-10-26T22:44:15.945Z,1761518655.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.85 m.
2025-10-26T22:44:15.946Z,1761518655.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 236.20 m. Resuming terminal guidance.
2025-10-26T22:44:15.946Z,1761518655.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-10-26T22:44:16.281Z,1761518656.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970319,0.238483,-0.040075],[-0.226490,0.954292,0.195013],[0.084751,-0.180149,0.979982]]
2025-10-26T22:44:16.316Z,1761518656.316 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-10-26T22:44:16.316Z,1761518656.316 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T22:44:16.317Z,1761518656.317 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-10-26T22:44:16.318Z,1761518656.318 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 236.199997 m (mode  1.000000 count ).
2025-10-26T22:44:16.318Z,1761518656.318 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-10-26T22:44:16.318Z,1761518656.318 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-10-26T22:44:16.691Z,1761518656.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970145,0.239173,-0.040192],[-0.226952,0.953721,0.197252],[0.085510,-0.182241,0.979529]]
2025-10-26T22:44:16.784Z,1761518656.784 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-10-26T22:44:16.784Z,1761518656.784 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-10-26T22:44:16.785Z,1761518656.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:44:16.972Z,1761518656.972 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:16.972Z,1761518656.972 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:16.973Z,1761518656.973 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:44:17.083Z,1761518657.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969952,0.240046,-0.039631],[-0.227541,0.952691,0.201507],[0.086127,-0.186434,0.978685]]
2025-10-26T22:44:17.118Z,1761518657.118 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-10-26T22:44:17.118Z,1761518657.118 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-10-26T22:44:17.224Z,1761518657.224 [DAT](INFO): DAT read: user:639>

2025-10-26T22:44:17.225Z,1761518657.225 [DAT](INFO): DAT read: Tx time:22:44:16.3369

2025-10-26T22:44:17.225Z,1761518657.225 [DAT](INFO): Ping request sent.
2025-10-26T22:44:17.225Z,1761518657.225 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:44:17.226Z,1761518657.226 [DAT](INFO): publishing transmit ping time
2025-10-26T22:44:17.226Z,1761518657.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-10-26T22:44:17.478Z,1761518657.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252453
2025-10-26T22:44:17.564Z,1761518657.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969555,0.241560,-0.040147],[-0.228915,0.952322,0.201693],[0.086954,-0.186362,0.978626]]
2025-10-26T22:44:17.579Z,1761518657.579 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-10-26T22:44:17.579Z,1761518657.579 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T22:44:17.580Z,1761518657.580 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-10-26T22:44:17.580Z,1761518657.580 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T22:44:17.730Z,1761518657.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504907
2025-10-26T22:44:17.968Z,1761518657.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968921,0.244090,-0.040147],[-0.231181,0.951254,0.204135],[0.088017,-0.188509,0.978119]]
2025-10-26T22:44:17.981Z,1761518657.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755246
2025-10-26T22:44:18.233Z,1761518658.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007876
2025-10-26T22:44:18.370Z,1761518658.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968159,0.247130,-0.039930],[-0.233966,0.949998,0.206792],[0.089038,-0.190865,0.977570]]
2025-10-26T22:44:18.484Z,1761518658.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258844
2025-10-26T22:44:18.736Z,1761518658.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510932
2025-10-26T22:44:18.820Z,1761518658.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966809,0.252519,-0.038914],[-0.238993,0.947653,0.211748],[0.090347,-0.195420,0.976549]]
2025-10-26T22:44:18.854Z,1761518658.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:44:18.989Z,1761518658.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763502
2025-10-26T22:44:19.189Z,1761518659.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964593,0.261303,-0.035784],[-0.247220,0.943072,0.222482],[0.091882,-0.205758,0.974280]]
2025-10-26T22:44:19.241Z,1761518659.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015327
2025-10-26T22:44:19.493Z,1761518659.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267097
2025-10-26T22:44:19.582Z,1761518659.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961166,0.274388,-0.029518],[-0.259477,0.934959,0.241917],[0.093977,-0.224863,0.969848]]
2025-10-26T22:44:19.745Z,1761518659.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519080
2025-10-26T22:44:19.986Z,1761518659.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956232,0.291802,-0.021721],[-0.276213,0.924661,0.262124],[0.096572,-0.244652,0.964790]]
2025-10-26T22:44:19.996Z,1761518659.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770709
2025-10-26T22:44:20.249Z,1761518660.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023151
2025-10-26T22:44:20.392Z,1761518660.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950366,0.310841,-0.013531],[-0.294805,0.913535,0.280256],[0.099476,-0.262357,0.959830]]
2025-10-26T22:44:20.505Z,1761518660.505 [DAT](INFO): DAT read: Rx Time:22:44:19.0624

2025-10-26T22:44:20.506Z,1761518660.506 [DAT](INFO): Rx dataTimestamp_ set to:1761518660.505202
2025-10-26T22:44:20.506Z,1761518660.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280903
2025-10-26T22:44:20.752Z,1761518660.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526897
2025-10-26T22:44:20.882Z,1761518660.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943695,0.330792,-0.004173],[-0.314573,0.901188,0.298168],[0.102392,-0.280067,0.954504]]
2025-10-26T22:44:20.944Z,1761518660.944 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:44:21.013Z,1761518661.013 [DAT](INFO): DAT read: 22:44:19.0624 LVL= 32752, 28897, 32754, 32755, AGC= 71, IDX= 488,-0.08,-2.758,-1.564,-2.914,-2.700, PHS= 0.044, 1.181,-0.258, RAW= 341.4, -14.6, CAL= 341.2, -17.7, ROT= 168.8,  17.7

2025-10-26T22:44:21.015Z,1761518661.015 [DAT](INFO): got valid direction response:
 22:44:19.0624 LVL= 32752, 28897, 32754, 32755, AGC= 71, IDX= 488,-0.08,-2.758,-1.564,-2.914,-2.700, PHS= 0.044, 1.181,-0.258, RAW= 341.4, -14.6, CAL= 341.2, -17.7, ROT= 168.8,  17.7

2025-10-26T22:44:21.025Z,1761518661.025 [DAT](INFO): DAT read: Bearing 337.6,   9.1 (Local)

2025-10-26T22:44:21.026Z,1761518661.026 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.6,   9.1 (Local)

2025-10-26T22:44:21.027Z,1761518661.027 [DAT](INFO): DAT read: Range 11 to 50 : 241.0 m  (Round-trip  321.4 ms) speed -0.3 m/s

2025-10-26T22:44:21.048Z,1761518661.048 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:44:21.049Z,1761518661.049 [DAT](INFO): direction in FSK: [-0.934518,0.185040,-0.304033]
2025-10-26T22:44:21.049Z,1761518661.049 [DAT](INFO): publishing direction and range info
2025-10-26T22:44:21.061Z,1761518661.061 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:21.061Z,1761518661.061 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:21.062Z,1761518661.062 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:44:21.252Z,1761518661.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935382,0.353577,0.006623],[-0.337420,0.886719,0.316033],[0.105869,-0.297847,0.948725]]
2025-10-26T22:44:21.256Z,1761518661.256 [DAT](INFO): DAT read: user:640>

2025-10-26T22:44:21.257Z,1761518661.257 [DAT](INFO): DAT read: Tx time:22:44:20.4368

2025-10-26T22:44:21.257Z,1761518661.257 [DAT](INFO): Ping request sent.
2025-10-26T22:44:21.257Z,1761518661.257 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:44:21.258Z,1761518661.258 [DAT](INFO): publishing transmit ping time
2025-10-26T22:44:21.258Z,1761518661.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-10-26T22:44:21.282Z,1761518661.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 241.000000 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-10-26T22:44:21.313Z,1761518661.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 239.697021 m,
      bearing: 154.694612 deg,
      lat: 36.779407 deg,
      lon: -121.859508 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-10-26T22:44:21.314Z,1761518661.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.70 m.
2025-10-26T22:44:21.325Z,1761518661.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 239.697021 m,
      nav range: 197.895584 m,
      bearing: 159.513934 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 166.562200 deg,
      new cmd heading: 159.513934 deg.

2025-10-26T22:44:21.325Z,1761518661.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.784043 target range: 239.697021 and range: 241.00 m.
2025-10-26T22:44:21.508Z,1761518661.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250804
2025-10-26T22:44:21.668Z,1761518661.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926052,0.376921,0.018954],[-0.361196,0.870623,0.333997],[0.109388,-0.316144,0.942384]]
2025-10-26T22:44:21.693Z,1761518661.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.70 m.
2025-10-26T22:44:21.695Z,1761518661.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 239.697021 m,
      nav range: 198.236359 m,
      bearing: 159.497108 deg,
      approach rate: 0.829190 m/s,
      LOS rate: -0.040873 deg/s,
      cmd heading: 159.513932 deg,
      new cmd heading: 159.497108 deg.

2025-10-26T22:44:21.696Z,1761518661.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.783750 target range: 239.697021 and range: 241.00 m.
2025-10-26T22:44:21.762Z,1761518661.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503794
2025-10-26T22:44:22.012Z,1761518662.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754846
2025-10-26T22:44:22.058Z,1761518662.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915650,0.400761,0.031251],[-0.385773,0.854229,0.348529],[0.112981,-0.331186,0.936777]]
2025-10-26T22:44:22.103Z,1761518662.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.70 m.
2025-10-26T22:44:22.107Z,1761518662.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 239.697021 m,
      nav range: 198.572586 m,
      bearing: 159.479756 deg,
      approach rate: 0.820063 m/s,
      LOS rate: -0.042250 deg/s,
      cmd heading: 159.497102 deg,
      new cmd heading: 159.479756 deg.

2025-10-26T22:44:22.108Z,1761518662.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.783447 target range: 239.697021 and range: 241.00 m.
2025-10-26T22:44:22.264Z,1761518662.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006783
2025-10-26T22:44:22.465Z,1761518662.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904768,0.423849,0.041808],[-0.409702,0.839325,0.357321],[0.116359,-0.340421,0.933046]]
2025-10-26T22:44:22.483Z,1761518662.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.70 m.
2025-10-26T22:44:22.486Z,1761518662.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 239.697021 m,
      nav range: 198.883240 m,
      bearing: 159.461432 deg,
      approach rate: 0.816322 m/s,
      LOS rate: -0.048074 deg/s,
      cmd heading: 159.479753 deg,
      new cmd heading: 159.461432 deg.

2025-10-26T22:44:22.487Z,1761518662.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.783127 target range: 239.697021 and range: 241.00 m.
2025-10-26T22:44:22.518Z,1761518662.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259493
2025-10-26T22:44:22.772Z,1761518662.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514796
2025-10-26T22:44:22.877Z,1761518662.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893716,0.445754,0.050747],[-0.432343,0.825531,0.362736],[0.119798,-0.346123,0.930509]]
2025-10-26T22:44:22.937Z,1761518662.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.70 m.
2025-10-26T22:44:22.939Z,1761518662.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 239.697021 m,
      nav range: 199.244141 m,
      bearing: 159.445776 deg,
      approach rate: 0.795788 m/s,
      LOS rate: -0.034460 deg/s,
      cmd heading: 159.461435 deg,
      new cmd heading: 159.445776 deg.

2025-10-26T22:44:22.940Z,1761518662.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.782854 target range: 239.697021 and range: 241.00 m.
2025-10-26T22:44:23.024Z,1761518663.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766907
2025-10-26T22:44:23.274Z,1761518663.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882644,0.466527,0.057376],[-0.453739,0.813790,0.363135],[0.122720,-0.346552,0.929968]]
2025-10-26T22:44:23.279Z,1761518663.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021902
2025-10-26T22:44:23.294Z,1761518663.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:44:23.297Z,1761518663.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.70 m.
2025-10-26T22:44:23.303Z,1761518663.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 239.697021 m,
      nav range: 199.529251 m,
      bearing: 159.431411 deg,
      approach rate: 0.791749 m/s,
      LOS rate: -0.039833 deg/s,
      cmd heading: 159.445780 deg,
      new cmd heading: 159.431411 deg.

2025-10-26T22:44:23.304Z,1761518663.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.782603 target range: 239.697021 and range: 241.00 m.
2025-10-26T22:44:23.533Z,1761518663.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275167
2025-10-26T22:44:23.685Z,1761518663.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871394,0.486725,0.061407],[-0.474283,0.803817,0.359074],[0.125410,-0.342019,0.931287]]
2025-10-26T22:44:23.705Z,1761518663.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.70 m.
2025-10-26T22:44:23.709Z,1761518663.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 239.697021 m,
      nav range: 199.849472 m,
      bearing: 159.413031 deg,
      approach rate: 0.784413 m/s,
      LOS rate: -0.044954 deg/s,
      cmd heading: 159.431409 deg,
      new cmd heading: 159.413031 deg.

2025-10-26T22:44:23.711Z,1761518663.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.782282 target range: 239.697021 and range: 241.00 m.
2025-10-26T22:44:23.785Z,1761518663.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527520
2025-10-26T22:44:24.037Z,1761518664.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779140
2025-10-26T22:44:24.078Z,1761518664.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860044,0.506397,0.062337],[-0.493927,0.795713,0.350538],[0.127909,-0.332268,0.934472]]
2025-10-26T22:44:24.174Z,1761518664.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.70 m.
2025-10-26T22:44:24.181Z,1761518664.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 239.697021 m,
      nav range: 200.177780 m,
      bearing: 159.392939 deg,
      approach rate: 0.700159 m/s,
      LOS rate: -0.042778 deg/s,
      cmd heading: 159.413036 deg,
      new cmd heading: 159.392939 deg.

2025-10-26T22:44:24.182Z,1761518664.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.781932 target range: 239.697021 and range: 241.00 m.
2025-10-26T22:44:24.289Z,1761518664.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030971
2025-10-26T22:44:24.514Z,1761518664.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848704,0.525493,0.059660],[-0.512750,0.789947,0.336261],[0.129575,-0.315977,0.939877]]
2025-10-26T22:44:24.540Z,1761518664.540 [DAT](INFO): DAT read: Rx Time:22:44:23.1651

2025-10-26T22:44:24.541Z,1761518664.541 [DAT](INFO): Rx dataTimestamp_ set to:1761518664.540599
2025-10-26T22:44:24.541Z,1761518664.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283914
2025-10-26T22:44:24.556Z,1761518664.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.70 m.
2025-10-26T22:44:24.559Z,1761518664.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 239.697021 m,
      nav range: 200.502274 m,
      bearing: 159.370799 deg,
      approach rate: 0.849004 m/s,
      LOS rate: -0.057832 deg/s,
      cmd heading: 159.392942 deg,
      new cmd heading: 159.370799 deg.

2025-10-26T22:44:24.584Z,1761518664.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.781545 target range: 239.697021 and range: 241.00 m.
2025-10-26T22:44:24.793Z,1761518664.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535554
2025-10-26T22:44:24.918Z,1761518664.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837357,0.543887,0.054963],[-0.530749,0.784791,0.320014],[0.130917,-0.297137,0.945817]]
2025-10-26T22:44:25.043Z,1761518665.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.70 m.
2025-10-26T22:44:25.050Z,1761518665.050 [DAT](INFO): DAT read: 22:44:23.1651 LVL= 32752, 30897, 32754, 32755, AGC= 73, IDX= 452, 0.20,-0.989, 0.434,-0.810,-0.803, PHS=-0.083, 1.283,-0.051, RAW= 328.8, -16.7, CAL= 329.1, -20.2, ROT= 180.9,  20.2

2025-10-26T22:44:25.051Z,1761518665.051 [DAT](INFO): got valid direction response:
 22:44:23.1651 LVL= 32752, 30897, 32754, 32755, AGC= 73, IDX= 452, 0.20,-0.989, 0.434,-0.810,-0.803, PHS=-0.083, 1.283,-0.051, RAW= 328.8, -16.7, CAL= 329.1, -20.2, ROT= 180.9,  20.2

2025-10-26T22:44:25.052Z,1761518665.052 [DAT](INFO): DAT read: Bearing 328.6,  -1.9 (Local)

2025-10-26T22:44:25.053Z,1761518665.053 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.6,  -1.9 (Local)

2025-10-26T22:44:25.054Z,1761518665.054 [DAT](INFO): DAT read: Range 11 to 50 : 243.1 m  (Round-trip  324.2 ms) speed -0.5 m/s

2025-10-26T22:44:25.055Z,1761518665.055 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:44:25.056Z,1761518665.056 [DAT](INFO): direction in FSK: [-0.938377,-0.014741,-0.345298]
2025-10-26T22:44:25.056Z,1761518665.056 [DAT](INFO): publishing direction and range info
2025-10-26T22:44:25.060Z,1761518665.060 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:25.060Z,1761518665.060 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:25.061Z,1761518665.061 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:44:25.081Z,1761518665.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 239.697021 m,
      nav range: 200.854462 m,
      bearing: 159.342796 deg,
      approach rate: 0.723359 m/s,
      LOS rate: -0.057415 deg/s,
      cmd heading: 159.370798 deg,
      new cmd heading: 159.342796 deg.

2025-10-26T22:44:25.081Z,1761518665.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.781056 target range: 239.697021 and range: 241.00 m.
2025-10-26T22:44:25.296Z,1761518665.296 [DAT](INFO): DAT read: user:641>

2025-10-26T22:44:25.297Z,1761518665.297 [DAT](INFO): DAT read: Tx time:22:44:24.4368

2025-10-26T22:44:25.297Z,1761518665.297 [DAT](INFO): Ping request sent.
2025-10-26T22:44:25.297Z,1761518665.297 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:44:25.298Z,1761518665.298 [DAT](INFO): publishing transmit ping time
2025-10-26T22:44:25.298Z,1761518665.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-10-26T22:44:25.423Z,1761518665.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814464,0.577935,0.051386],[-0.564993,0.769827,0.296899],[0.132030,-0.270846,0.953525]]
2025-10-26T22:44:25.446Z,1761518665.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 243.100006 m,
      deltaT: 4.038843 s,
      deltaX: 2.100006 m,
      approachRate: 0.519952 m/s,
      rangeRepo size: 2

2025-10-26T22:44:25.448Z,1761518665.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 241.769867 m,
      bearing: 152.227972 deg,
      lat: 36.779381 deg,
      lon: -121.859399 deg,
      deltaT: 4.038843 s,
      deltaX: 2.072845 m,
      approachRate: 0.513228 m/s,
      posRepo size: 2

2025-10-26T22:44:25.449Z,1761518665.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.77 m.
2025-10-26T22:44:25.452Z,1761518665.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.769867 m,
      nav range: 207.509811 m,
      bearing: 157.080607 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.057415 deg/s,
      cmd heading: 159.342795 deg,
      new cmd heading: 159.273506 deg.

2025-10-26T22:44:25.453Z,1761518665.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.779847 target range: 241.769867 and range: 243.10 m.
2025-10-26T22:44:25.549Z,1761518665.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251338
2025-10-26T22:44:25.800Z,1761518665.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503043
2025-10-26T22:44:25.818Z,1761518665.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802872,0.593741,0.053547],[-0.581410,0.760004,0.290439],[0.131750,-0.264319,0.955394]]
2025-10-26T22:44:25.852Z,1761518665.852 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:44:25.854Z,1761518665.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.77 m.
2025-10-26T22:44:25.870Z,1761518665.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.769867 m,
      nav range: 207.798782 m,
      bearing: 157.056184 deg,
      approach rate: 0.706403 m/s,
      LOS rate: -0.059620 deg/s,
      cmd heading: 159.273509 deg,
      new cmd heading: 159.200342 deg.

2025-10-26T22:44:25.887Z,1761518665.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.778570 target range: 241.769867 and range: 243.10 m.
2025-10-26T22:44:26.052Z,1761518666.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754896
2025-10-26T22:44:26.228Z,1761518666.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790617,0.609457,0.059052],[-0.598064,0.747939,0.287935],[0.131317,-0.262963,0.955828]]
2025-10-26T22:44:26.287Z,1761518666.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.77 m.
2025-10-26T22:44:26.290Z,1761518666.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.769867 m,
      nav range: 208.095551 m,
      bearing: 157.034518 deg,
      approach rate: 0.691933 m/s,
      LOS rate: -0.050445 deg/s,
      cmd heading: 159.200344 deg,
      new cmd heading: 159.135437 deg.

2025-10-26T22:44:26.295Z,1761518666.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.777437 target range: 241.769867 and range: 243.10 m.
2025-10-26T22:44:26.304Z,1761518666.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007028
2025-10-26T22:44:26.558Z,1761518666.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260329
2025-10-26T22:44:26.633Z,1761518666.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778163,0.624563,0.066199],[-0.614303,0.734935,0.287233],[0.130744,-0.264180,0.955570]]
2025-10-26T22:44:26.670Z,1761518666.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.77 m.
2025-10-26T22:44:26.674Z,1761518666.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.769867 m,
      nav range: 208.372787 m,
      bearing: 157.012649 deg,
      approach rate: 0.717017 m/s,
      LOS rate: -0.056483 deg/s,
      cmd heading: 159.135444 deg,
      new cmd heading: 159.069926 deg.

2025-10-26T22:44:26.692Z,1761518666.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.776294 target range: 241.769867 and range: 243.10 m.
2025-10-26T22:44:26.808Z,1761518666.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510994
2025-10-26T22:44:27.060Z,1761518667.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762963
2025-10-26T22:44:27.094Z,1761518667.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.77 m.
2025-10-26T22:44:27.097Z,1761518667.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.769867 m,
      nav range: 208.664886 m,
      bearing: 156.989285 deg,
      approach rate: 0.688786 m/s,
      LOS rate: -0.055018 deg/s,
      cmd heading: 159.069928 deg,
      new cmd heading: 158.999933 deg.

2025-10-26T22:44:27.098Z,1761518667.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.775072 target range: 241.769867 and range: 243.10 m.
2025-10-26T22:44:27.313Z,1761518667.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015281
2025-10-26T22:44:27.438Z,1761518667.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752501,0.653210,0.084017],[-0.645790,0.706817,0.288729],[0.129216,-0.271526,0.953717]]
2025-10-26T22:44:27.473Z,1761518667.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.77 m.
2025-10-26T22:44:27.476Z,1761518667.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.769867 m,
      nav range: 208.919098 m,
      bearing: 156.965904 deg,
      approach rate: 0.671235 m/s,
      LOS rate: -0.061661 deg/s,
      cmd heading: 158.999933 deg,
      new cmd heading: 158.929876 deg.

2025-10-26T22:44:27.476Z,1761518667.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.773850 target range: 241.769867 and range: 243.10 m.
2025-10-26T22:44:27.565Z,1761518667.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267446
2025-10-26T22:44:27.817Z,1761518667.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519152
2025-10-26T22:44:27.842Z,1761518667.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739046,0.667361,0.091873],[-0.661219,0.692542,0.288401],[0.128842,-0.273890,0.953092]]
2025-10-26T22:44:27.859Z,1761518667.859 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:44:27.862Z,1761518667.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.77 m.
2025-10-26T22:44:27.864Z,1761518667.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.769867 m,
      nav range: 209.177643 m,
      bearing: 156.940561 deg,
      approach rate: 0.664760 m/s,
      LOS rate: -0.065080 deg/s,
      cmd heading: 158.929882 deg,
      new cmd heading: 158.853947 deg.

2025-10-26T22:44:27.865Z,1761518667.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.772524 target range: 241.769867 and range: 243.10 m.
2025-10-26T22:44:28.068Z,1761518668.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770911
2025-10-26T22:44:28.246Z,1761518668.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724942,0.681559,0.099679],[-0.676620,0.677514,0.288375],[0.129010,-0.276500,0.952315]]
2025-10-26T22:44:28.289Z,1761518668.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.77 m.
2025-10-26T22:44:28.292Z,1761518668.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.769867 m,
      nav range: 209.452316 m,
      bearing: 156.911179 deg,
      approach rate: 0.642510 m/s,
      LOS rate: -0.068639 deg/s,
      cmd heading: 158.853944 deg,
      new cmd heading: 158.765915 deg.

2025-10-26T22:44:28.293Z,1761518668.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.770988 target range: 241.769867 and range: 243.10 m.
2025-10-26T22:44:28.320Z,1761518668.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023016
2025-10-26T22:44:28.572Z,1761518668.572 [DAT](INFO): DAT read: Rx Time:22:44:27.1683

2025-10-26T22:44:28.573Z,1761518668.573 [DAT](INFO): Rx dataTimestamp_ set to:1761518668.572674
2025-10-26T22:44:28.573Z,1761518668.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276079
2025-10-26T22:44:28.661Z,1761518668.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710276,0.695686,0.107375],[-0.691932,0.661969,0.288146],[0.129380,-0.278959,0.951547]]
2025-10-26T22:44:28.683Z,1761518668.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.77 m.
2025-10-26T22:44:28.702Z,1761518668.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.769867 m,
      nav range: 209.702499 m,
      bearing: 156.882801 deg,
      approach rate: 0.635878 m/s,
      LOS rate: -0.072041 deg/s,
      cmd heading: 158.765917 deg,
      new cmd heading: 158.680885 deg.

2025-10-26T22:44:28.708Z,1761518668.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.769504 target range: 241.769867 and range: 243.10 m.
2025-10-26T22:44:28.825Z,1761518668.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527774
2025-10-26T22:44:29.082Z,1761518669.082 [DAT](INFO): DAT read: 22:44:27.1683 LVL= 32752, 24753, 32754, 32755, AGC= 72, IDX= 453, 0.04, 2.027,-2.632, 2.626, 2.416, PHS=-0.287, 1.280, 0.166, RAW= 313.7, -16.3, CAL= 314.7, -20.3, ROT= 195.3,  20.3

2025-10-26T22:44:29.083Z,1761518669.083 [DAT](INFO): got valid direction response:
 22:44:27.1683 LVL= 32752, 24753, 32754, 32755, AGC= 72, IDX= 453, 0.04, 2.027,-2.632, 2.626, 2.416, PHS=-0.287, 1.280, 0.166, RAW= 313.7, -16.3, CAL= 314.7, -20.3, ROT= 195.3,  20.3

2025-10-26T22:44:29.084Z,1761518669.084 [DAT](INFO): DAT read: Bearing 320.7, -15.4 (Local)

2025-10-26T22:44:29.084Z,1761518669.084 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.7, -15.4 (Local)

2025-10-26T22:44:29.086Z,1761518669.086 [DAT](INFO): DAT read: Range 11 to 50 : 245.5 m  (Round-trip  327.4 ms) speed -0.6 m/s

2025-10-26T22:44:29.086Z,1761518669.086 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:44:29.087Z,1761518669.087 [DAT](INFO): direction in FSK: [-0.904648,-0.247484,-0.346936]
2025-10-26T22:44:29.088Z,1761518669.088 [DAT](INFO): publishing direction and range info
2025-10-26T22:44:29.091Z,1761518669.091 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:29.091Z,1761518669.091 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:29.095Z,1761518669.095 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:44:29.205Z,1761518669.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 245.500000 m,
      deltaT: 4.032045 s,
      deltaX: 2.399994 m,
      approachRate: 0.595230 m/s,
      rangeRepo size: 3

2025-10-26T22:44:29.207Z,1761518669.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 244.105179 m,
      bearing: 156.970426 deg,
      lat: 36.779327 deg,
      lon: -121.859333 deg,
      deltaT: 4.032045 s,
      deltaX: 2.335312 m,
      approachRate: 0.579188 m/s,
      posRepo size: 3

2025-10-26T22:44:29.212Z,1761518669.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:29.215Z,1761518669.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 217.853775 m,
      bearing: 156.058123 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072041 deg/s,
      cmd heading: 158.680881 deg,
      new cmd heading: 158.568148 deg.

2025-10-26T22:44:29.220Z,1761518669.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.767536 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:29.330Z,1761518669.330 [DAT](INFO): DAT read: user:642>

2025-10-26T22:44:29.331Z,1761518669.331 [DAT](INFO): DAT read: Tx time:22:44:28.4368

2025-10-26T22:44:29.331Z,1761518669.331 [DAT](INFO): Ping request sent.
2025-10-26T22:44:29.331Z,1761518669.331 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:44:29.334Z,1761518669.334 [DAT](INFO): publishing transmit ping time
2025-10-26T22:44:29.335Z,1761518669.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003947
2025-10-26T22:44:29.536Z,1761518669.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679334,0.724538,0.116407],[-0.722007,0.631567,0.282540],[0.131192,-0.275986,0.952166]]
2025-10-26T22:44:29.554Z,1761518669.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:29.573Z,1761518669.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 218.097031 m,
      bearing: 156.029523 deg,
      approach rate: 0.694443 m/s,
      LOS rate: -0.081557 deg/s,
      cmd heading: 158.568142 deg,
      new cmd heading: 158.482436 deg.

2025-10-26T22:44:29.574Z,1761518669.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.766040 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:29.581Z,1761518669.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249439
2025-10-26T22:44:29.832Z,1761518669.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501316
2025-10-26T22:44:29.988Z,1761518669.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662762,0.738970,0.121122],[-0.737030,0.615126,0.280013],[0.132416,-0.274852,0.952325]]
2025-10-26T22:44:30.028Z,1761518670.028 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:44:30.030Z,1761518670.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:30.033Z,1761518670.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 218.405167 m,
      bearing: 155.988526 deg,
      approach rate: 0.647890 m/s,
      LOS rate: -0.086079 deg/s,
      cmd heading: 158.482437 deg,
      new cmd heading: 158.359619 deg.

2025-10-26T22:44:30.034Z,1761518670.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.763897 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:30.085Z,1761518670.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753769
2025-10-26T22:44:30.112Z,1761518670.112 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:44:30.337Z,1761518670.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005423
2025-10-26T22:44:30.361Z,1761518670.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645474,0.753669,0.123883],[-0.751965,0.598650,0.275984],[0.133838,-0.271296,0.953145]]
2025-10-26T22:44:30.400Z,1761518670.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:30.405Z,1761518670.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 218.637512 m,
      bearing: 155.955896 deg,
      approach rate: 0.635466 m/s,
      LOS rate: -0.089148 deg/s,
      cmd heading: 158.359616 deg,
      new cmd heading: 158.261831 deg.

2025-10-26T22:44:30.406Z,1761518670.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.762190 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:30.588Z,1761518670.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257207
2025-10-26T22:44:30.841Z,1761518670.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509629
2025-10-26T22:44:30.884Z,1761518670.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627608,0.767871,0.128381],[-0.766696,0.580967,0.273229],[0.135220,-0.269910,0.953344]]
2025-10-26T22:44:30.913Z,1761518670.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:30.916Z,1761518670.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 218.964279 m,
      bearing: 155.907532 deg,
      approach rate: 0.631887 m/s,
      LOS rate: -0.093384 deg/s,
      cmd heading: 158.261835 deg,
      new cmd heading: 158.116960 deg.

2025-10-26T22:44:30.917Z,1761518670.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.759662 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:31.093Z,1761518671.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762000
2025-10-26T22:44:31.116Z,1761518671.116 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:44:31.344Z,1761518671.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013337
2025-10-26T22:44:31.398Z,1761518671.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:31.401Z,1761518671.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 219.263840 m,
      bearing: 155.864882 deg,
      approach rate: 0.631032 m/s,
      LOS rate: -0.089721 deg/s,
      cmd heading: 158.116967 deg,
      new cmd heading: 157.989191 deg.

2025-10-26T22:44:31.402Z,1761518671.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.757432 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:31.598Z,1761518671.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266845
2025-10-26T22:44:31.849Z,1761518671.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517431
2025-10-26T22:44:31.850Z,1761518671.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570323,0.809978,0.136629],[-0.809684,0.526327,0.259599],[0.138358,-0.258682,0.956003]]
2025-10-26T22:44:31.872Z,1761518671.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:31.874Z,1761518671.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 219.589981 m,
      bearing: 155.810216 deg,
      approach rate: 0.674113 m/s,
      LOS rate: -0.112822 deg/s,
      cmd heading: 157.989188 deg,
      new cmd heading: 157.825435 deg.

2025-10-26T22:44:31.892Z,1761518671.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.754574 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:32.102Z,1761518672.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770514
2025-10-26T22:44:32.253Z,1761518672.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549543,0.823446,0.141205],[-0.823852,0.506025,0.255356],[0.138818,-0.256661,0.956480]]
2025-10-26T22:44:32.288Z,1761518672.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:44:32.290Z,1761518672.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:32.293Z,1761518672.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 219.855560 m,
      bearing: 155.762641 deg,
      approach rate: 0.634803 m/s,
      LOS rate: -0.113579 deg/s,
      cmd heading: 157.825441 deg,
      new cmd heading: 157.682889 deg.

2025-10-26T22:44:32.293Z,1761518672.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.752086 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:32.354Z,1761518672.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022494
2025-10-26T22:44:32.604Z,1761518672.604 [DAT](INFO): DAT read: Rx Time:22:44:31.1720

2025-10-26T22:44:32.605Z,1761518672.605 [DAT](INFO): Rx dataTimestamp_ set to:1761518672.604603
2025-10-26T22:44:32.605Z,1761518672.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274367
2025-10-26T22:44:32.667Z,1761518672.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527951,0.836620,0.146063],[-0.837812,0.484903,0.250878],[0.139063,-0.254825,0.956936]]
2025-10-26T22:44:32.685Z,1761518672.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:32.688Z,1761518672.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 220.102432 m,
      bearing: 155.716040 deg,
      approach rate: 0.625059 m/s,
      LOS rate: -0.117857 deg/s,
      cmd heading: 157.682895 deg,
      new cmd heading: 157.543249 deg.

2025-10-26T22:44:32.689Z,1761518672.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.749648 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:32.856Z,1761518672.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525198
2025-10-26T22:44:33.058Z,1761518673.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505331,0.849787,0.150010],[-0.851630,0.463089,0.245510],[0.139163,-0.251817,0.957717]]
2025-10-26T22:44:33.114Z,1761518673.114 [DAT](INFO): DAT read: 22:44:31.1720 LVL= 32752, 22897, 27506, 32755, AGC= 66, IDX= 194,-0.26,-2.362,-0.187,-1.313,-1.036, PHS=-1.224, 0.894,-0.321, RAW= 304.9,   7.1, CAL= 302.5,   6.8, ROT= 207.5,  -6.8

2025-10-26T22:44:33.115Z,1761518673.115 [DAT](INFO): got valid direction response:
 22:44:31.1720 LVL= 32752, 22897, 27506, 32755, AGC= 66, IDX= 194,-0.26,-2.362,-0.187,-1.313,-1.036, PHS=-1.224, 0.894,-0.321, RAW= 304.9,   7.1, CAL= 302.5,   6.8, ROT= 207.5,  -6.8

2025-10-26T22:44:33.116Z,1761518673.116 [DAT](INFO): DAT read: $Error in header

2025-10-26T22:44:33.116Z,1761518673.116 [DAT](INFO): Received a bad header
2025-10-26T22:44:33.123Z,1761518673.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:33.126Z,1761518673.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 220.384277 m,
      bearing: 155.663904 deg,
      approach rate: 0.643644 m/s,
      LOS rate: -0.118911 deg/s,
      cmd heading: 157.543245 deg,
      new cmd heading: 157.387035 deg.

2025-10-26T22:44:33.128Z,1761518673.128 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T22:44:33.129Z,1761518673.129 [DAT](INFO): direction in FSK: [-0.880771,-0.458500,0.118404]
2025-10-26T22:44:33.136Z,1761518673.136 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:33.136Z,1761518673.136 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:33.136Z,1761518673.136 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:33.137Z,1761518673.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.746922 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:33.360Z,1761518673.360 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:33.360Z,1761518673.360 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:33.361Z,1761518673.361 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:33.463Z,1761518673.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482092,0.862077,0.156240],[-0.865099,0.440199,0.240477],[0.138533,-0.251095,0.957998]]
2025-10-26T22:44:33.488Z,1761518673.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:33.491Z,1761518673.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 220.626160 m,
      bearing: 155.616674 deg,
      approach rate: 0.661132 m/s,
      LOS rate: -0.128949 deg/s,
      cmd heading: 157.387038 deg,
      new cmd heading: 157.245506 deg.

2025-10-26T22:44:33.492Z,1761518673.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.744452 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:33.612Z,1761518673.612 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:33.612Z,1761518673.612 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:33.612Z,1761518673.612 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:33.864Z,1761518673.864 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:33.864Z,1761518673.864 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:33.864Z,1761518673.864 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:33.918Z,1761518673.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:33.921Z,1761518673.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 220.904083 m,
      bearing: 155.562577 deg,
      approach rate: 0.647456 m/s,
      LOS rate: -0.125869 deg/s,
      cmd heading: 157.245503 deg,
      new cmd heading: 157.083414 deg.

2025-10-26T22:44:33.921Z,1761518673.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.741623 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:34.116Z,1761518674.116 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:34.116Z,1761518674.116 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:34.116Z,1761518674.116 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:34.292Z,1761518674.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434750,0.884868,0.167335],[-0.890184,0.394147,0.228519],[0.136255,-0.248307,0.959051]]
2025-10-26T22:44:34.305Z,1761518674.305 [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
2025-10-26T22:44:34.319Z,1761518674.319 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:44:34.321Z,1761518674.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:34.352Z,1761518674.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 221.153854 m,
      bearing: 155.508398 deg,
      approach rate: 0.618772 m/s,
      LOS rate: -0.134069 deg/s,
      cmd heading: 157.083409 deg,
      new cmd heading: 156.921056 deg.

2025-10-26T22:44:34.353Z,1761518674.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.738789 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:34.368Z,1761518674.368 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:34.368Z,1761518674.368 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:34.368Z,1761518674.368 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:34.620Z,1761518674.620 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:34.621Z,1761518674.621 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:34.621Z,1761518674.621 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:34.694Z,1761518674.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410276,0.895272,0.173673],[-0.901942,0.370191,0.222393],[0.134810,-0.247886,0.959364]]
2025-10-26T22:44:34.733Z,1761518674.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:34.737Z,1761518674.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 221.400299 m,
      bearing: 155.452066 deg,
      approach rate: 0.598470 m/s,
      LOS rate: -0.136644 deg/s,
      cmd heading: 156.921055 deg,
      new cmd heading: 156.752250 deg.

2025-10-26T22:44:34.738Z,1761518674.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.735843 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:34.872Z,1761518674.872 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:34.872Z,1761518674.872 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:34.872Z,1761518674.872 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:35.098Z,1761518675.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385361,0.904860,0.180898],[-0.913134,0.345689,0.216067],[0.132976,-0.248448,0.959474]]
2025-10-26T22:44:35.124Z,1761518675.124 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:35.124Z,1761518675.124 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:35.124Z,1761518675.124 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:35.169Z,1761518675.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:35.181Z,1761518675.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 221.656494 m,
      bearing: 155.393588 deg,
      approach rate: 0.587298 m/s,
      LOS rate: -0.133900 deg/s,
      cmd heading: 156.752254 deg,
      new cmd heading: 156.577023 deg.

2025-10-26T22:44:35.181Z,1761518675.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.732785 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:35.377Z,1761518675.377 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:35.377Z,1761518675.377 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:35.377Z,1761518675.377 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:35.505Z,1761518675.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360134,0.913783,0.187894],[-0.923680,0.321018,0.209197],[0.130843,-0.248893,0.959652]]
2025-10-26T22:44:35.528Z,1761518675.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:35.530Z,1761518675.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 221.872375 m,
      bearing: 155.341657 deg,
      approach rate: 0.602733 m/s,
      LOS rate: -0.144847 deg/s,
      cmd heading: 156.577019 deg,
      new cmd heading: 156.421379 deg.

2025-10-26T22:44:35.531Z,1761518675.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.730068 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:35.630Z,1761518675.630 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:35.630Z,1761518675.630 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:35.630Z,1761518675.630 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:35.880Z,1761518675.880 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:35.880Z,1761518675.880 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:35.880Z,1761518675.880 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:35.906Z,1761518675.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334747,0.921903,0.195037],[-0.933546,0.296293,0.201748],[0.128204,-0.249610,0.959822]]
2025-10-26T22:44:35.937Z,1761518675.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:35.943Z,1761518675.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 222.097656 m,
      bearing: 155.284567 deg,
      approach rate: 0.550634 m/s,
      LOS rate: -0.139400 deg/s,
      cmd heading: 156.421386 deg,
      new cmd heading: 156.250288 deg.

2025-10-26T22:44:35.945Z,1761518675.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.727082 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:36.137Z,1761518676.137 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:36.137Z,1761518676.137 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:36.137Z,1761518676.137 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:36.312Z,1761518676.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309211,0.929593,0.200614],[-0.942679,0.271777,0.193631],[0.125476,-0.248987,0.960344]]
2025-10-26T22:44:36.346Z,1761518676.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:44:36.348Z,1761518676.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:36.351Z,1761518676.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 222.331207 m,
      bearing: 155.225577 deg,
      approach rate: 0.567580 m/s,
      LOS rate: -0.143208 deg/s,
      cmd heading: 156.250290 deg,
      new cmd heading: 156.073506 deg.

2025-10-26T22:44:36.372Z,1761518676.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.723997 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:36.384Z,1761518676.384 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:36.384Z,1761518676.384 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:36.384Z,1761518676.384 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:36.637Z,1761518676.637 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:36.637Z,1761518676.637 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:36.637Z,1761518676.637 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:36.727Z,1761518676.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284467,0.935686,0.208737],[-0.950890,0.247674,0.185650],[0.122011,-0.251297,0.960189]]
2025-10-26T22:44:36.748Z,1761518676.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:36.751Z,1761518676.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 222.547028 m,
      bearing: 155.168303 deg,
      approach rate: 0.539809 m/s,
      LOS rate: -0.143113 deg/s,
      cmd heading: 156.073511 deg,
      new cmd heading: 155.901858 deg.

2025-10-26T22:44:36.752Z,1761518676.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.721001 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:36.888Z,1761518676.888 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:36.888Z,1761518676.888 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:36.888Z,1761518676.888 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:37.118Z,1761518677.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259840,0.941378,0.215154],[-0.958374,0.224097,0.176918],[0.118331,-0.252168,0.960421]]
2025-10-26T22:44:37.141Z,1761518677.141 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:37.141Z,1761518677.141 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:37.142Z,1761518677.142 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:37.191Z,1761518677.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:37.194Z,1761518677.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 222.766785 m,
      bearing: 155.107927 deg,
      approach rate: 0.495849 m/s,
      LOS rate: -0.136095 deg/s,
      cmd heading: 155.901855 deg,
      new cmd heading: 155.720906 deg.

2025-10-26T22:44:37.195Z,1761518677.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.717843 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:37.395Z,1761518677.395 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:37.396Z,1761518677.396 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:37.396Z,1761518677.396 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:37.522Z,1761518677.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234783,0.946987,0.219302],[-0.965239,0.200472,0.167703],[0.114848,-0.251052,0.961136]]
2025-10-26T22:44:37.553Z,1761518677.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:37.557Z,1761518677.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 222.941772 m,
      bearing: 155.057402 deg,
      approach rate: 0.482865 m/s,
      LOS rate: -0.139311 deg/s,
      cmd heading: 155.720909 deg,
      new cmd heading: 155.569452 deg.

2025-10-26T22:44:37.558Z,1761518677.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.715199 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:37.645Z,1761518677.645 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:37.645Z,1761518677.645 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:37.646Z,1761518677.646 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:37.896Z,1761518677.896 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:37.896Z,1761518677.896 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:37.896Z,1761518677.896 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:37.935Z,1761518677.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209811,0.951572,0.224701],[-0.971434,0.176815,0.158279],[0.110883,-0.251491,0.961487]]
2025-10-26T22:44:37.962Z,1761518677.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:37.969Z,1761518677.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 223.129364 m,
      bearing: 155.000476 deg,
      approach rate: 0.459345 m/s,
      LOS rate: -0.139274 deg/s,
      cmd heading: 155.569457 deg,
      new cmd heading: 155.398823 deg.

2025-10-26T22:44:37.970Z,1761518677.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.712221 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:38.149Z,1761518678.149 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:38.149Z,1761518678.149 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:38.150Z,1761518678.150 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:38.333Z,1761518678.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185134,0.955839,0.228246],[-0.976903,0.153788,0.148354],[0.106701,-0.250440,0.962234]]
2025-10-26T22:44:38.376Z,1761518678.376 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:44:38.378Z,1761518678.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:38.397Z,1761518678.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 223.308228 m,
      bearing: 154.942784 deg,
      approach rate: 0.429346 m/s,
      LOS rate: -0.138372 deg/s,
      cmd heading: 155.398825 deg,
      new cmd heading: 155.225890 deg.

2025-10-26T22:44:38.398Z,1761518678.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.709203 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:38.400Z,1761518678.400 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:38.400Z,1761518678.400 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:38.400Z,1761518678.400 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:38.653Z,1761518678.653 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:38.653Z,1761518678.653 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:38.654Z,1761518678.654 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:38.742Z,1761518678.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161058,0.959016,0.233129],[-0.981616,0.131142,0.138679],[0.102422,-0.251178,0.962507]]
2025-10-26T22:44:38.766Z,1761518678.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:38.769Z,1761518678.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 223.470612 m,
      bearing: 154.887821 deg,
      approach rate: 0.418510 m/s,
      LOS rate: -0.141554 deg/s,
      cmd heading: 155.225884 deg,
      new cmd heading: 155.061114 deg.

2025-10-26T22:44:38.770Z,1761518678.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.706327 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:38.904Z,1761518678.904 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:38.904Z,1761518678.904 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:38.904Z,1761518678.904 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:39.156Z,1761518679.156 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:39.156Z,1761518679.156 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:39.156Z,1761518679.156 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:39.161Z,1761518679.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136977,0.962093,0.235826],[-0.985689,0.108768,0.128788],[0.098256,-0.250092,0.963224]]
2025-10-26T22:44:39.225Z,1761518679.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:39.228Z,1761518679.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 223.647766 m,
      bearing: 154.825471 deg,
      approach rate: 0.386135 m/s,
      LOS rate: -0.135792 deg/s,
      cmd heading: 155.061113 deg,
      new cmd heading: 154.874213 deg.

2025-10-26T22:44:39.229Z,1761518679.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.703065 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:39.408Z,1761518679.408 [DAT](INFO): Reached modem response timeout
2025-10-26T22:44:39.408Z,1761518679.408 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:39.409Z,1761518679.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:44:39.538Z,1761518679.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112399,0.964964,0.237087],[-0.989179,0.086018,0.118852],[0.094294,-0.247880,0.964191]]
2025-10-26T22:44:39.572Z,1761518679.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:39.574Z,1761518679.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 223.777054 m,
      bearing: 154.777629 deg,
      approach rate: 0.373601 m/s,
      LOS rate: -0.138169 deg/s,
      cmd heading: 154.874212 deg,
      new cmd heading: 154.730768 deg.

2025-10-26T22:44:39.576Z,1761518679.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.700561 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:39.661Z,1761518679.661 [DAT](INFO): DAT read: 

2025-10-26T22:44:39.662Z,1761518679.662 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:39.912Z,1761518679.912 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:39.950Z,1761518679.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087408,0.967403,0.237677],[-0.992061,0.062879,0.108909],[0.090414,-0.245310,0.965219]]
2025-10-26T22:44:39.968Z,1761518679.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:39.971Z,1761518679.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 223.919952 m,
      bearing: 154.721928 deg,
      approach rate: 0.360309 m/s,
      LOS rate: -0.140357 deg/s,
      cmd heading: 154.730764 deg,
      new cmd heading: 154.563767 deg.

2025-10-26T22:44:39.972Z,1761518679.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.697647 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:40.167Z,1761518680.167 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:40.401Z,1761518680.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:44:40.404Z,1761518680.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:40.406Z,1761518680.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 224.070496 m,
      bearing: 154.661000 deg,
      approach rate: 0.345780 m/s,
      LOS rate: -0.139850 deg/s,
      cmd heading: 154.563766 deg,
      new cmd heading: 154.381105 deg.

2025-10-26T22:44:40.416Z,1761518680.416 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:40.432Z,1761518680.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.694458 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:40.669Z,1761518680.669 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:40.749Z,1761518680.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037457,0.970176,0.239489],[-0.995869,0.016402,0.089311],[0.082720,-0.241845,0.966783]]
2025-10-26T22:44:40.767Z,1761518680.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:40.785Z,1761518680.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 224.186523 m,
      bearing: 154.608506 deg,
      approach rate: 0.319372 m/s,
      LOS rate: -0.144416 deg/s,
      cmd heading: 154.381099 deg,
      new cmd heading: 154.223700 deg.

2025-10-26T22:44:40.786Z,1761518680.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.691711 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:40.920Z,1761518680.920 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:41.158Z,1761518681.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012429,0.969811,0.243542],[-0.996800,-0.007218,0.079614],[0.078969,-0.243752,0.966617]]
2025-10-26T22:44:41.172Z,1761518681.172 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:41.196Z,1761518681.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:41.199Z,1761518681.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 224.321304 m,
      bearing: 154.542909 deg,
      approach rate: 0.313540 m/s,
      LOS rate: -0.152506 deg/s,
      cmd heading: 154.223704 deg,
      new cmd heading: 154.027032 deg.

2025-10-26T22:44:41.200Z,1761518681.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.688279 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:41.424Z,1761518681.424 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:41.558Z,1761518681.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013168,0.968268,0.249566],[-0.997045,-0.031606,0.070018],[0.075683,-0.247906,0.965823]]
2025-10-26T22:44:41.575Z,1761518681.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:41.578Z,1761518681.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 224.435196 m,
      bearing: 154.484025 deg,
      approach rate: 0.300621 m/s,
      LOS rate: -0.155347 deg/s,
      cmd heading: 154.027036 deg,
      new cmd heading: 153.850474 deg.

2025-10-26T22:44:41.579Z,1761518681.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.685197 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:41.677Z,1761518681.677 [DAT](INFO): DAT read: Response Not Received

2025-10-26T22:44:41.678Z,1761518681.678 [DAT](INFO): response not received
2025-10-26T22:44:41.679Z,1761518681.679 [DAT](INFO): DAT read: user:644>Tx time:22:44:40.8868

2025-10-26T22:44:41.679Z,1761518681.679 [DAT](ERROR): No response from remote modem.
2025-10-26T22:44:41.680Z,1761518681.680 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:41.680Z,1761518681.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:44:41.928Z,1761518681.928 [DAT](INFO): DAT read: 

2025-10-26T22:44:41.929Z,1761518681.929 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:41.958Z,1761518681.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038712,0.966469,0.253847],[-0.996619,-0.055768,0.060340],[0.072473,-0.250653,0.965360]]
2025-10-26T22:44:41.976Z,1761518681.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:41.979Z,1761518681.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 224.549149 m,
      bearing: 154.421298 deg,
      approach rate: 0.284251 m/s,
      LOS rate: -0.156392 deg/s,
      cmd heading: 153.850476 deg,
      new cmd heading: 153.662389 deg.

2025-10-26T22:44:41.996Z,1761518681.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.681915 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:42.180Z,1761518682.180 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:42.432Z,1761518682.432 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:42.439Z,1761518682.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:44:42.442Z,1761518682.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:42.448Z,1761518682.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 224.669907 m,
      bearing: 154.352788 deg,
      approach rate: 0.259388 m/s,
      LOS rate: -0.147079 deg/s,
      cmd heading: 153.662386 deg,
      new cmd heading: 153.456969 deg.

2025-10-26T22:44:42.449Z,1761518682.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.678329 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:42.684Z,1761518682.684 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:42.767Z,1761518682.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089797,0.962331,0.256622],[-0.993737,-0.103777,0.041436],[0.066506,-0.251294,0.965623]]
2025-10-26T22:44:42.801Z,1761518682.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:42.811Z,1761518682.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 224.759338 m,
      bearing: 154.294413 deg,
      approach rate: 0.249061 m/s,
      LOS rate: -0.162506 deg/s,
      cmd heading: 153.456975 deg,
      new cmd heading: 153.281919 deg.

2025-10-26T22:44:42.812Z,1761518682.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.675274 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:42.940Z,1761518682.940 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:43.179Z,1761518683.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114780,0.959621,0.256814],[-0.991349,-0.127219,0.032300],[0.063667,-0.250885,0.965921]]
2025-10-26T22:44:43.188Z,1761518683.188 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:43.225Z,1761518683.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:43.228Z,1761518683.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 224.877029 m,
      bearing: 154.222391 deg,
      approach rate: 0.277643 m/s,
      LOS rate: -0.169819 deg/s,
      cmd heading: 153.281917 deg,
      new cmd heading: 153.065963 deg.

2025-10-26T22:44:43.229Z,1761518683.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.671505 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:43.441Z,1761518683.441 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:43.575Z,1761518683.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139960,0.957588,0.251866],[-0.988279,-0.150761,0.024010],[0.060963,-0.245553,0.967464]]
2025-10-26T22:44:43.594Z,1761518683.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:43.597Z,1761518683.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 224.970062 m,
      bearing: 154.161396 deg,
      approach rate: 0.252102 m/s,
      LOS rate: -0.165216 deg/s,
      cmd heading: 153.065960 deg,
      new cmd heading: 152.883052 deg.

2025-10-26T22:44:43.598Z,1761518683.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.668313 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:43.693Z,1761518683.693 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:43.944Z,1761518683.944 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:43.978Z,1761518683.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164882,0.954088,0.250058],[-0.984581,-0.174233,0.015570],[0.058424,-0.243636,0.968106]]
2025-10-26T22:44:43.996Z,1761518683.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:44.028Z,1761518684.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 225.065247 m,
      bearing: 154.094282 deg,
      approach rate: 0.236417 m/s,
      LOS rate: -0.166625 deg/s,
      cmd heading: 152.883048 deg,
      new cmd heading: 152.681792 deg.

2025-10-26T22:44:44.029Z,1761518684.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.664800 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:44.197Z,1761518684.197 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:44.448Z,1761518684.448 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:44.552Z,1761518684.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:44:44.554Z,1761518684.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:44.556Z,1761518684.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 225.208359 m,
      bearing: 153.998538 deg,
      approach rate: 0.256852 m/s,
      LOS rate: -0.171728 deg/s,
      cmd heading: 152.681789 deg,
      new cmd heading: 152.394743 deg.

2025-10-26T22:44:44.557Z,1761518684.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.659790 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:44.701Z,1761518684.701 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:44.953Z,1761518684.953 [DAT](INFO): DAT read: Rx Time:22:44:43.5766

2025-10-26T22:44:44.953Z,1761518684.953 [DAT](INFO): Rx dataTimestamp_ set to:1761518684.952777
2025-10-26T22:44:44.953Z,1761518684.953 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:45.004Z,1761518685.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240458,0.937767,0.250546],[-0.969237,-0.245938,-0.009692],[0.052530,-0.245169,0.968056]]
2025-10-26T22:44:45.035Z,1761518685.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.11 m.
2025-10-26T22:44:45.038Z,1761518685.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.105179 m,
      nav range: 225.304657 m,
      bearing: 153.915749 deg,
      approach rate: 0.200178 m/s,
      LOS rate: -0.172022 deg/s,
      cmd heading: 152.394744 deg,
      new cmd heading: 152.146484 deg.

2025-10-26T22:44:45.039Z,1761518685.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.655457 target range: 244.105179 and range: 245.50 m.
2025-10-26T22:44:45.205Z,1761518685.205 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:44:45.463Z,1761518685.463 [DAT](INFO): DAT read: 22:44:43.5766 LVL= 32752, 30241, 26594, 28915, AGC= 66, IDX= 469,-0.08,-1.851,-0.636, 0.380,-0.913, PHS=-0.835, 0.322, 1.249, RAW= 243.7,  -8.2, CAL= 242.2, -12.8, ROT= 267.8,  12.8

2025-10-26T22:44:45.464Z,1761518685.464 [DAT](INFO): got valid direction response:
 22:44:43.5766 LVL= 32752, 30241, 26594, 28915, AGC= 66, IDX= 469,-0.08,-1.851,-0.636, 0.380,-0.913, PHS=-0.835, 0.322, 1.249, RAW= 243.7,  -8.2, CAL= 242.2, -12.8, ROT= 267.8,  12.8

2025-10-26T22:44:45.465Z,1761518685.465 [DAT](INFO): DAT read: Bearing 326.9, -63.0 (Local)

2025-10-26T22:44:45.465Z,1761518685.465 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.9, -63.0 (Local)

2025-10-26T22:44:45.467Z,1761518685.467 [DAT](INFO): DAT read: Range 11 to 50 : 214.2 m  (Round-trip  285.7 ms) speed  0.0 m/s

2025-10-26T22:44:45.471Z,1761518685.471 [DAT](INFO): DAT read: Tx time:22:44:44.6368

2025-10-26T22:44:45.472Z,1761518685.472 [DAT](INFO): Ping request sent.
2025-10-26T22:44:45.472Z,1761518685.472 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:44:45.472Z,1761518685.472 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:44:45.473Z,1761518685.473 [DAT](INFO): direction in FSK: [-0.037434,-0.974431,-0.221548]
2025-10-26T22:44:45.473Z,1761518685.473 [DAT](INFO): publishing transmit ping time
2025-10-26T22:44:45.474Z,1761518685.474 [DAT](INFO): publishing direction and range info
2025-10-26T22:44:45.474Z,1761518685.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265253,0.931422,0.249186],[-0.962834,-0.269528,-0.017457],[0.050903,-0.244555,0.968298]]
2025-10-26T22:44:45.478Z,1761518685.478 [DAT](INFO): publishing transmit ping time
2025-10-26T22:44:45.478Z,1761518685.478 [DAT](INFO): publishing direction and range info
2025-10-26T22:44:45.605Z,1761518685.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 214.199997 m,
      deltaT: 16.380008 s,
      deltaX: -31.300003 m,
      approachRate: -1.910866 m/s,
      rangeRepo size: 4

2025-10-26T22:44:45.607Z,1761518685.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 212.924561 m,
      bearing: 162.385028 deg,
      lat: 36.779322 deg,
      lon: -121.859333 deg,
      deltaT: 16.380008 s,
      deltaX: -31.180618 m,
      approachRate: -1.903578 m/s,
      posRepo size: 4

2025-10-26T22:44:45.612Z,1761518685.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.92 m.
2025-10-26T22:44:45.622Z,1761518685.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.924561 m,
      nav range: 225.964981 m,
      bearing: 153.882121 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.172022 deg/s,
      cmd heading: 152.146480 deg,
      new cmd heading: 151.852619 deg.

2025-10-26T22:44:45.628Z,1761518685.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.650328 target range: 212.924561 and range: 214.20 m.
2025-10-26T22:44:45.945Z,1761518685.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289820,0.924661,0.246993],[-0.955807,-0.292944,-0.024850],[0.049377,-0.243280,0.968698]]
2025-10-26T22:44:45.980Z,1761518685.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.92 m.
2025-10-26T22:44:45.983Z,1761518685.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.924561 m,
      nav range: 226.040131 m,
      bearing: 153.815052 deg,
      approach rate: 0.209165 m/s,
      LOS rate: -0.186613 deg/s,
      cmd heading: 151.852618 deg,
      new cmd heading: 151.651478 deg.

2025-10-26T22:44:45.984Z,1761518685.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.646818 target range: 212.924561 and range: 214.20 m.
2025-10-26T22:44:46.347Z,1761518686.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314812,0.917295,0.243852],[-0.947920,-0.316946,-0.031513],[0.048381,-0.241072,0.969301]]
2025-10-26T22:44:46.383Z,1761518686.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.92 m.
2025-10-26T22:44:46.413Z,1761518686.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.924561 m,
      nav range: 226.118881 m,
      bearing: 153.741721 deg,
      approach rate: 0.187647 m/s,
      LOS rate: -0.174672 deg/s,
      cmd heading: 151.651482 deg,
      new cmd heading: 151.431567 deg.

2025-10-26T22:44:46.414Z,1761518686.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.642979 target range: 212.924561 and range: 214.20 m.
2025-10-26T22:44:46.751Z,1761518686.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338798,0.908426,0.244903],[-0.939662,-0.339829,-0.039387],[0.047445,-0.243470,0.968747]]
2025-10-26T22:44:46.768Z,1761518686.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:44:46.770Z,1761518686.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.92 m.
2025-10-26T22:44:46.773Z,1761518686.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.924561 m,
      nav range: 226.184967 m,
      bearing: 153.673717 deg,
      approach rate: 0.170710 m/s,
      LOS rate: -0.175613 deg/s,
      cmd heading: 151.431564 deg,
      new cmd heading: 151.227613 deg.

2025-10-26T22:44:46.774Z,1761518686.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.639420 target range: 212.924561 and range: 214.20 m.
2025-10-26T22:44:46.985Z,1761518686.985 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:46.985Z,1761518686.985 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:46.985Z,1761518686.985 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:44:47.158Z,1761518687.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362560,0.899038,0.245523],[-0.930790,-0.362510,-0.047071],[0.046686,-0.245597,0.968247]]
2025-10-26T22:44:47.236Z,1761518687.236 [DAT](INFO): DAT read: user:645>

2025-10-26T22:44:47.237Z,1761518687.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765146
2025-10-26T22:44:47.242Z,1761518687.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.92 m.
2025-10-26T22:44:47.245Z,1761518687.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.924561 m,
      nav range: 226.257294 m,
      bearing: 153.590683 deg,
      approach rate: 0.153335 m/s,
      LOS rate: -0.175980 deg/s,
      cmd heading: 151.227615 deg,
      new cmd heading: 150.978593 deg.

2025-10-26T22:44:47.246Z,1761518687.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.635074 target range: 212.924561 and range: 214.20 m.
2025-10-26T22:44:47.489Z,1761518687.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017048
2025-10-26T22:44:47.565Z,1761518687.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386407,0.889466,0.244006],[-0.921170,-0.385424,-0.053790],[0.046201,-0.245556,0.968281]]
2025-10-26T22:44:47.583Z,1761518687.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.92 m.
2025-10-26T22:44:47.586Z,1761518687.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.924561 m,
      nav range: 226.304291 m,
      bearing: 153.529676 deg,
      approach rate: 0.137757 m/s,
      LOS rate: -0.178785 deg/s,
      cmd heading: 150.978600 deg,
      new cmd heading: 150.795618 deg.

2025-10-26T22:44:47.587Z,1761518687.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.631880 target range: 212.924561 and range: 214.20 m.
2025-10-26T22:44:47.740Z,1761518687.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268487
2025-10-26T22:44:47.958Z,1761518687.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409520,0.879039,0.244099],[-0.911160,-0.407472,-0.061264],[0.045610,-0.247502,0.967813]]
2025-10-26T22:44:47.996Z,1761518687.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524537
2025-10-26T22:44:48.052Z,1761518688.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.92 m.
2025-10-26T22:44:48.054Z,1761518688.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.924561 m,
      nav range: 226.358536 m,
      bearing: 153.448970 deg,
      approach rate: 0.116787 m/s,
      LOS rate: -0.173715 deg/s,
      cmd heading: 150.795619 deg,
      new cmd heading: 150.553559 deg.

2025-10-26T22:44:48.060Z,1761518688.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.627655 target range: 212.924561 and range: 214.20 m.
2025-10-26T22:44:48.251Z,1761518688.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778541
2025-10-26T22:44:48.395Z,1761518688.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432263,0.868340,0.243177],[-0.900608,-0.429274,-0.068030],[0.045317,-0.248414,0.967593]]
2025-10-26T22:44:48.444Z,1761518688.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.92 m.
2025-10-26T22:44:48.446Z,1761518688.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.924561 m,
      nav range: 226.400558 m,
      bearing: 153.375998 deg,
      approach rate: 0.106154 m/s,
      LOS rate: -0.184300 deg/s,
      cmd heading: 150.553557 deg,
      new cmd heading: 150.334685 deg.

2025-10-26T22:44:48.447Z,1761518688.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.623835 target range: 212.924561 and range: 214.20 m.
2025-10-26T22:44:48.501Z,1761518688.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029304
2025-10-26T22:44:48.752Z,1761518688.752 [DAT](INFO): DAT read: Rx Time:22:44:47.3285

2025-10-26T22:44:48.753Z,1761518688.753 [DAT](INFO): Rx dataTimestamp_ set to:1761518688.752539
2025-10-26T22:44:48.753Z,1761518688.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281490
2025-10-26T22:44:48.778Z,1761518688.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454771,0.857122,0.241920],[-0.889461,-0.450893,-0.074528],[0.045200,-0.249071,0.967430]]
2025-10-26T22:44:48.815Z,1761518688.815 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:44:48.821Z,1761518688.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.92 m.
2025-10-26T22:44:48.828Z,1761518688.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.924561 m,
      nav range: 226.430969 m,
      bearing: 153.312547 deg,
      approach rate: 0.080458 m/s,
      LOS rate: -0.167850 deg/s,
      cmd heading: 150.334690 deg,
      new cmd heading: 150.144364 deg.

2025-10-26T22:44:48.829Z,1761518688.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.620513 target range: 212.924561 and range: 214.20 m.
2025-10-26T22:44:49.005Z,1761518689.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532708
2025-10-26T22:44:49.185Z,1761518689.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476751,0.845924,0.239000],[-0.877889,-0.472090,-0.080259],[0.044937,-0.248079,0.967697]]
2025-10-26T22:44:49.264Z,1761518689.264 [DAT](INFO): DAT read: 22:44:47.3285 LVL= 32752, 32753, 30002, 29219, AGC= 68, IDX= 205,-0.30,-2.149,-1.104,-0.109,-1.116, PHS=-0.931, 0.057, 0.963, RAW= 241.4,  -1.1, CAL= 237.7,  -1.6, ROT= 272.3,   1.6

2025-10-26T22:44:49.265Z,1761518689.265 [DAT](INFO): got valid direction response:
 22:44:47.3285 LVL= 32752, 32753, 30002, 29219, AGC= 68, IDX= 205,-0.30,-2.149,-1.104,-0.109,-1.116, PHS=-0.931, 0.057, 0.963, RAW= 241.4,  -1.1, CAL= 237.7,  -1.6, ROT= 272.3,   1.6

2025-10-26T22:44:49.266Z,1761518689.266 [DAT](INFO): DAT read: Bearing 327.6, -73.2 (Local)

2025-10-26T22:44:49.266Z,1761518689.266 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.6, -73.2 (Local)

2025-10-26T22:44:49.268Z,1761518689.268 [DAT](INFO): DAT read: Range 11 to 50 : 215.6 m  (Round-trip  287.5 ms) speed  0.1 m/s

2025-10-26T22:44:49.269Z,1761518689.269 [DAT](INFO): DAT read: Tx time:22:44:48.3868

2025-10-26T22:44:49.269Z,1761518689.269 [DAT](INFO): Ping request sent.
2025-10-26T22:44:49.269Z,1761518689.269 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:44:49.269Z,1761518689.269 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:44:49.270Z,1761518689.270 [DAT](INFO): direction in FSK: [0.040116,-0.998805,-0.027922]
2025-10-26T22:44:49.271Z,1761518689.271 [DAT](INFO): publishing transmit ping time
2025-10-26T22:44:49.271Z,1761518689.271 [DAT](INFO): publishing direction and range info
2025-10-26T22:44:49.274Z,1761518689.274 [DAT](INFO): publishing transmit ping time
2025-10-26T22:44:49.275Z,1761518689.275 [DAT](INFO): publishing direction and range info
2025-10-26T22:44:49.302Z,1761518689.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 215.600006 m,
      deltaT: 3.801523 s,
      deltaX: 1.400009 m,
      approachRate: 0.368276 m/s,
      rangeRepo size: 4

2025-10-26T22:44:49.320Z,1761518689.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 214.316147 m,
      bearing: 153.267080 deg,
      lat: 36.779327 deg,
      lon: -121.859333 deg,
      deltaT: 3.801523 s,
      deltaX: 1.391586 m,
      approachRate: 0.366060 m/s,
      posRepo size: 4

2025-10-26T22:44:49.321Z,1761518689.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.32 m.
2025-10-26T22:44:49.332Z,1761518689.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.316147 m,
      nav range: 225.928482 m,
      bearing: 153.162281 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.167850 deg/s,
      cmd heading: 150.144360 deg,
      new cmd heading: 149.902799 deg.

2025-10-26T22:44:49.333Z,1761518689.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.616297 target range: 214.316147 and range: 215.60 m.
2025-10-26T22:44:49.655Z,1761518689.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.32 m.
2025-10-26T22:44:49.658Z,1761518689.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.316147 m,
      nav range: 225.964233 m,
      bearing: 153.093386 deg,
      approach rate: 0.101119 m/s,
      LOS rate: -0.194833 deg/s,
      cmd heading: 149.902804 deg,
      new cmd heading: 149.696152 deg.

2025-10-26T22:44:49.659Z,1761518689.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.612691 target range: 214.316147 and range: 215.60 m.
2025-10-26T22:44:49.988Z,1761518689.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518806,0.821999,0.234858],[-0.853744,-0.512405,-0.092531],[0.044282,-0.248515,0.967615]]
2025-10-26T22:44:50.033Z,1761518690.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.32 m.
2025-10-26T22:44:50.036Z,1761518690.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.316147 m,
      nav range: 225.984161 m,
      bearing: 153.032901 deg,
      approach rate: 0.052704 m/s,
      LOS rate: -0.159952 deg/s,
      cmd heading: 149.696150 deg,
      new cmd heading: 149.514712 deg.

2025-10-26T22:44:50.037Z,1761518690.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.609524 target range: 214.316147 and range: 215.60 m.
2025-10-26T22:44:50.392Z,1761518690.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539249,0.810167,0.229871],[-0.841003,-0.532286,-0.096879],[0.043869,-0.245564,0.968387]]
2025-10-26T22:44:50.454Z,1761518690.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.32 m.
2025-10-26T22:44:50.457Z,1761518690.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.316147 m,
      nav range: 225.996735 m,
      bearing: 152.956127 deg,
      approach rate: 0.029817 m/s,
      LOS rate: -0.182056 deg/s,
      cmd heading: 149.514712 deg,
      new cmd heading: 149.284405 deg.

2025-10-26T22:44:50.458Z,1761518690.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.605504 target range: 214.316147 and range: 215.60 m.
2025-10-26T22:44:50.806Z,1761518690.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558862,0.797485,0.227355],[-0.828119,-0.551090,-0.102562],[0.043502,-0.245595,0.968396]]
2025-10-26T22:44:50.822Z,1761518690.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:44:50.824Z,1761518690.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.32 m.
2025-10-26T22:44:50.827Z,1761518690.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.316147 m,
      nav range: 226.001556 m,
      bearing: 152.892741 deg,
      approach rate: 0.013037 m/s,
      LOS rate: -0.171382 deg/s,
      cmd heading: 149.284398 deg,
      new cmd heading: 149.094244 deg.

2025-10-26T22:44:50.829Z,1761518690.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.602185 target range: 214.316147 and range: 215.60 m.
2025-10-26T22:44:51.020Z,1761518691.020 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:51.020Z,1761518691.020 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:51.021Z,1761518691.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:44:51.214Z,1761518691.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578031,0.784851,0.223359],[-0.814875,-0.569642,-0.107174],[0.043119,-0.243959,0.968826]]
2025-10-26T22:44:51.275Z,1761518691.275 [DAT](INFO): DAT read: user:646>

2025-10-26T22:44:51.277Z,1761518691.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007986
2025-10-26T22:44:51.306Z,1761518691.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.32 m.
2025-10-26T22:44:51.313Z,1761518691.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.316147 m,
      nav range: 226.000717 m,
      bearing: 152.814866 deg,
      approach rate: -0.001743 m/s,
      LOS rate: -0.161720 deg/s,
      cmd heading: 149.094246 deg,
      new cmd heading: 148.860624 deg.

2025-10-26T22:44:51.314Z,1761518691.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.598108 target range: 214.316147 and range: 215.60 m.
2025-10-26T22:44:51.524Z,1761518691.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255363
2025-10-26T22:44:51.740Z,1761518691.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.32 m.
2025-10-26T22:44:51.759Z,1761518691.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.316147 m,
      nav range: 226.001663 m,
      bearing: 152.735007 deg,
      approach rate: 0.002177 m/s,
      LOS rate: -0.183792 deg/s,
      cmd heading: 148.860626 deg,
      new cmd heading: 148.621050 deg.

2025-10-26T22:44:51.760Z,1761518691.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.593927 target range: 214.316147 and range: 215.60 m.
2025-10-26T22:44:51.776Z,1761518691.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507433
2025-10-26T22:44:52.031Z,1761518692.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761570
2025-10-26T22:44:52.085Z,1761518692.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615126,0.758717,0.214402],[-0.787297,-0.605659,-0.115498],[0.042224,-0.239844,0.969893]]
2025-10-26T22:44:52.110Z,1761518692.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.32 m.
2025-10-26T22:44:52.115Z,1761518692.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.316147 m,
      nav range: 225.991226 m,
      bearing: 152.671541 deg,
      approach rate: -0.028310 m/s,
      LOS rate: -0.172153 deg/s,
      cmd heading: 148.621050 deg,
      new cmd heading: 148.430646 deg.

2025-10-26T22:44:52.117Z,1761518692.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.590604 target range: 214.316147 and range: 215.60 m.
2025-10-26T22:44:52.284Z,1761518692.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014061
2025-10-26T22:44:52.477Z,1761518692.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632406,0.744823,0.212841],[-0.773512,-0.621988,-0.121696],[0.041743,-0.241597,0.969478]]
2025-10-26T22:44:52.532Z,1761518692.532 [DAT](INFO): DAT read: Rx Time:22:44:51.0791

2025-10-26T22:44:52.533Z,1761518692.533 [DAT](INFO): Rx dataTimestamp_ set to:1761518692.532660
2025-10-26T22:44:52.533Z,1761518692.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264471
2025-10-26T22:44:52.549Z,1761518692.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.32 m.
2025-10-26T22:44:52.558Z,1761518692.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.316147 m,
      nav range: 225.973633 m,
      bearing: 152.604894 deg,
      approach rate: -0.040501 m/s,
      LOS rate: -0.153437 deg/s,
      cmd heading: 148.430652 deg,
      new cmd heading: 148.230696 deg.

2025-10-26T22:44:52.559Z,1761518692.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.587114 target range: 214.316147 and range: 215.60 m.
2025-10-26T22:44:52.785Z,1761518692.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515925
2025-10-26T22:44:52.914Z,1761518692.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649622,0.730978,0.208954],[-0.759120,-0.638697,-0.125712],[0.041565,-0.240287,0.969812]]
2025-10-26T22:44:52.930Z,1761518692.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:44:52.932Z,1761518692.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.32 m.
2025-10-26T22:44:52.935Z,1761518692.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.316147 m,
      nav range: 225.950012 m,
      bearing: 152.537000 deg,
      approach rate: -0.060715 m/s,
      LOS rate: -0.174536 deg/s,
      cmd heading: 148.230691 deg,
      new cmd heading: 148.026989 deg.

2025-10-26T22:44:52.936Z,1761518692.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.583558 target range: 214.316147 and range: 215.60 m.
2025-10-26T22:44:53.044Z,1761518693.044 [DAT](INFO): DAT read: 22:44:51.0791 LVL= 25312, 23889, 20690, 25331, AGC= 65, IDX= 195, 0.29,-1.213,-0.538, 0.911,-0.294, PHS=-0.817,-0.199, 1.162, RAW= 227.8,  -1.7, CAL= 225.1,  -2.3, ROT= 284.9,   2.3

2025-10-26T22:44:53.046Z,1761518693.046 [DAT](INFO): got valid direction response:
 22:44:51.0791 LVL= 25312, 23889, 20690, 25331, AGC= 65, IDX= 195, 0.29,-1.213,-0.538, 0.911,-0.294, PHS=-0.817,-0.199, 1.162, RAW= 227.8,  -1.7, CAL= 225.1,  -2.3, ROT= 284.9,   2.3

2025-10-26T22:44:53.046Z,1761518693.046 [DAT](INFO): DAT read: Bearing 345.6, -66.4 (Local)

2025-10-26T22:44:53.047Z,1761518693.047 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.6, -66.4 (Local)

2025-10-26T22:44:53.048Z,1761518693.048 [DAT](INFO): DAT read: Range 11 to 50 : 216.0 m  (Round-trip  288.1 ms) speed -0.2 m/s

2025-10-26T22:44:53.049Z,1761518693.049 [DAT](INFO): DAT read: Tx time:22:44:52.1461

2025-10-26T22:44:53.049Z,1761518693.049 [DAT](INFO): Ping request sent.
2025-10-26T22:44:53.050Z,1761518693.050 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:44:53.050Z,1761518693.050 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:44:53.051Z,1761518693.051 [DAT](INFO): direction in FSK: [0.256926,-0.965598,-0.040132]
2025-10-26T22:44:53.051Z,1761518693.051 [DAT](INFO): publishing transmit ping time
2025-10-26T22:44:53.056Z,1761518693.056 [DAT](INFO): publishing direction and range info
2025-10-26T22:44:53.059Z,1761518693.059 [DAT](INFO): publishing transmit ping time
2025-10-26T22:44:53.059Z,1761518693.059 [DAT](INFO): publishing direction and range info
2025-10-26T22:44:53.328Z,1761518693.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666540,0.716963,0.204178],[-0.744321,-0.655262,-0.128912],[0.041365,-0.237899,0.970409]]
2025-10-26T22:44:53.380Z,1761518693.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 216.000000 m,
      deltaT: 3.778855 s,
      deltaX: 0.399994 m,
      approachRate: 0.105851 m/s,
      rangeRepo size: 4

2025-10-26T22:44:53.382Z,1761518693.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 214.714066 m,
      bearing: 152.870606 deg,
      lat: 36.779381 deg,
      lon: -121.859423 deg,
      deltaT: 3.778855 s,
      deltaX: 0.397919 m,
      approachRate: 0.105301 m/s,
      posRepo size: 4

2025-10-26T22:44:53.382Z,1761518693.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:44:53.385Z,1761518693.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 216.933594 m,
      bearing: 153.607763 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.174536 deg/s,
      cmd heading: 148.026988 deg,
      new cmd heading: 147.793268 deg.

2025-10-26T22:44:53.386Z,1761518693.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.579479 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:44:53.699Z,1761518693.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683295,0.702248,0.199890],[-0.728967,-0.671660,-0.132212],[0.041413,-0.236053,0.970857]]
2025-10-26T22:44:53.745Z,1761518693.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:44:53.753Z,1761518693.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 216.896667 m,
      bearing: 153.549122 deg,
      approach rate: -0.100879 m/s,
      LOS rate: -0.160227 deg/s,
      cmd heading: 147.793273 deg,
      new cmd heading: 147.617322 deg.

2025-10-26T22:44:53.754Z,1761518693.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.576408 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:44:54.145Z,1761518694.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:44:54.148Z,1761518694.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 216.852234 m,
      bearing: 153.478079 deg,
      approach rate: -0.111118 m/s,
      LOS rate: -0.177700 deg/s,
      cmd heading: 147.617327 deg,
      new cmd heading: 147.404153 deg.

2025-10-26T22:44:54.153Z,1761518694.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.572688 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:44:54.507Z,1761518694.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716178,0.670197,0.194746],[-0.696667,-0.703197,-0.142016],[0.041766,-0.237382,0.970518]]
2025-10-26T22:44:54.571Z,1761518694.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:44:54.574Z,1761518694.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 216.803894 m,
      bearing: 153.411835 deg,
      approach rate: -0.114436 m/s,
      LOS rate: -0.156855 deg/s,
      cmd heading: 147.404157 deg,
      new cmd heading: 147.205383 deg.

2025-10-26T22:44:54.575Z,1761518694.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569219 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:44:54.910Z,1761518694.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732535,0.653093,0.191992],[-0.679437,-0.718831,-0.147129],[0.041921,-0.238224,0.970305]]
2025-10-26T22:44:54.934Z,1761518694.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:44:54.937Z,1761518694.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:44:54.940Z,1761518694.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 216.750595 m,
      bearing: 153.346769 deg,
      approach rate: -0.144244 m/s,
      LOS rate: -0.176132 deg/s,
      cmd heading: 147.205384 deg,
      new cmd heading: 147.010139 deg.

2025-10-26T22:44:54.941Z,1761518694.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565811 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:44:55.052Z,1761518695.052 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:55.052Z,1761518695.052 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:55.052Z,1761518695.052 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:44:55.307Z,1761518695.307 [DAT](INFO): DAT read: user:647>

2025-10-26T22:44:55.310Z,1761518695.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259567
2025-10-26T22:44:55.366Z,1761518695.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763142,0.618391,0.187637],[-0.644849,-0.747683,-0.158555],[0.042244,-0.241997,0.969357]]
2025-10-26T22:44:55.409Z,1761518695.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:44:55.412Z,1761518695.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 216.671310 m,
      bearing: 153.268668 deg,
      approach rate: -0.167733 m/s,
      LOS rate: -0.165288 deg/s,
      cmd heading: 147.010137 deg,
      new cmd heading: 146.775750 deg.

2025-10-26T22:44:55.413Z,1761518695.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561720 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:44:55.560Z,1761518695.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510885
2025-10-26T22:44:55.776Z,1761518695.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:44:55.779Z,1761518695.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 216.611969 m,
      bearing: 153.209898 deg,
      approach rate: -0.161597 m/s,
      LOS rate: -0.160085 deg/s,
      cmd heading: 146.775752 deg,
      new cmd heading: 146.599394 deg.

2025-10-26T22:44:55.780Z,1761518695.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558642 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:44:55.814Z,1761518695.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764159
2025-10-26T22:44:56.064Z,1761518696.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014835
2025-10-26T22:44:56.132Z,1761518696.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777642,0.600635,0.185771],[-0.627267,-0.761211,-0.164602],[0.042545,-0.244529,0.968708]]
2025-10-26T22:44:56.156Z,1761518696.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:44:56.158Z,1761518696.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 216.542374 m,
      bearing: 153.146598 deg,
      approach rate: -0.184077 m/s,
      LOS rate: -0.167481 deg/s,
      cmd heading: 146.599396 deg,
      new cmd heading: 146.409434 deg.

2025-10-26T22:44:56.160Z,1761518696.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.555327 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:44:56.319Z,1761518696.319 [DAT](INFO): DAT read: Rx Time:22:44:54.8636

2025-10-26T22:44:56.321Z,1761518696.321 [DAT](INFO): Rx dataTimestamp_ set to:1761518696.319763
2025-10-26T22:44:56.323Z,1761518696.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272657
2025-10-26T22:44:56.526Z,1761518696.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791991,0.582299,0.183513],[-0.609043,-0.774504,-0.170907],[0.042612,-0.247125,0.968046]]
2025-10-26T22:44:56.569Z,1761518696.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519143
2025-10-26T22:44:56.614Z,1761518696.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:44:56.638Z,1761518696.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 216.468201 m,
      bearing: 153.075379 deg,
      approach rate: -0.161543 m/s,
      LOS rate: -0.155161 deg/s,
      cmd heading: 146.409435 deg,
      new cmd heading: 146.195707 deg.

2025-10-26T22:44:56.653Z,1761518696.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.551596 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:44:56.826Z,1761518696.826 [DAT](INFO): DAT read: 22:44:54.8636 LVL= 25792, 28193, 16610, 30499, AGC= 64, IDX= 159, 0.00, 2.778, 2.955,-1.364,-2.865, PHS=-0.538,-0.418, 1.458, RAW= 213.1,  -5.2, CAL= 212.0,  -7.9, ROT= 298.0,   7.9

2025-10-26T22:44:56.827Z,1761518696.827 [DAT](INFO): got valid direction response:
 22:44:54.8636 LVL= 25792, 28193, 16610, 30499, AGC= 64, IDX= 159, 0.00, 2.778, 2.955,-1.364,-2.865, PHS=-0.538,-0.418, 1.458, RAW= 213.1,  -5.2, CAL= 212.0,  -7.9, ROT= 298.0,   7.9

2025-10-26T22:44:56.828Z,1761518696.828 [DAT](INFO): DAT read: $Error in header

2025-10-26T22:44:56.828Z,1761518696.828 [DAT](INFO): Received a bad header
2025-10-26T22:44:56.839Z,1761518696.839 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T22:44:56.840Z,1761518696.840 [DAT](INFO): direction in FSK: [0.465016,-0.874568,-0.137445]
2025-10-26T22:44:56.850Z,1761518696.850 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:56.850Z,1761518696.850 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:56.850Z,1761518696.850 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:56.974Z,1761518696.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819640,0.545206,0.175900],[-0.571256,-0.800933,-0.179366],[0.043093,-0.247499,0.967929]]
2025-10-26T22:44:56.990Z,1761518696.990 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:44:56.993Z,1761518696.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:44:56.995Z,1761518696.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 216.389969 m,
      bearing: 153.011770 deg,
      approach rate: -0.206453 m/s,
      LOS rate: -0.167925 deg/s,
      cmd heading: 146.195705 deg,
      new cmd heading: 146.004809 deg.

2025-10-26T22:44:56.996Z,1761518696.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.548265 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:44:57.072Z,1761518697.072 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:57.073Z,1761518697.073 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:57.073Z,1761518697.073 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:57.326Z,1761518697.326 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:57.327Z,1761518697.327 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:57.327Z,1761518697.327 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:57.399Z,1761518697.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832941,0.526621,0.169939],[-0.551675,-0.814237,-0.180758],[0.043180,-0.244311,0.968735]]
2025-10-26T22:44:57.435Z,1761518697.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:44:57.438Z,1761518697.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 216.301666 m,
      bearing: 152.941213 deg,
      approach rate: -0.199624 m/s,
      LOS rate: -0.159571 deg/s,
      cmd heading: 146.004815 deg,
      new cmd heading: 145.793060 deg.

2025-10-26T22:44:57.439Z,1761518697.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.544569 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:44:57.576Z,1761518697.576 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:57.576Z,1761518697.576 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:57.576Z,1761518697.576 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:57.779Z,1761518697.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846378,0.506649,0.164166],[-0.530829,-0.827502,-0.182920],[0.043171,-0.241963,0.969324]]
2025-10-26T22:44:57.808Z,1761518697.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:44:57.811Z,1761518697.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 216.221909 m,
      bearing: 152.882124 deg,
      approach rate: -0.213597 m/s,
      LOS rate: -0.158303 deg/s,
      cmd heading: 145.793065 deg,
      new cmd heading: 145.615733 deg.

2025-10-26T22:44:57.812Z,1761518697.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.541474 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:44:57.830Z,1761518697.830 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:57.830Z,1761518697.830 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:57.830Z,1761518697.830 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:58.080Z,1761518698.080 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:58.080Z,1761518698.080 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:58.080Z,1761518698.080 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:58.182Z,1761518698.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858951,0.486129,0.160879],[-0.510226,-0.839091,-0.188667],[0.043275,-0.244141,0.968774]]
2025-10-26T22:44:58.226Z,1761518698.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:44:58.229Z,1761518698.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 216.131149 m,
      bearing: 152.819525 deg,
      approach rate: -0.218730 m/s,
      LOS rate: -0.150927 deg/s,
      cmd heading: 145.615740 deg,
      new cmd heading: 145.427865 deg.

2025-10-26T22:44:58.230Z,1761518698.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.538195 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:44:58.332Z,1761518698.332 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:58.332Z,1761518698.332 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:58.332Z,1761518698.332 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:58.584Z,1761518698.584 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:58.584Z,1761518698.584 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:58.584Z,1761518698.584 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:58.598Z,1761518698.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870857,0.465669,0.157353],[-0.489612,-0.850097,-0.193947],[0.043450,-0.245942,0.968310]]
2025-10-26T22:44:58.669Z,1761518698.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:44:58.688Z,1761518698.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 216.026581 m,
      bearing: 152.748224 deg,
      approach rate: -0.234786 m/s,
      LOS rate: -0.160170 deg/s,
      cmd heading: 145.427869 deg,
      new cmd heading: 145.213862 deg.

2025-10-26T22:44:58.689Z,1761518698.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.534460 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:44:58.836Z,1761518698.836 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:58.836Z,1761518698.836 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:58.836Z,1761518698.836 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:59.048Z,1761518699.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882375,0.444892,0.153252],[-0.468522,-0.860859,-0.198516],[0.043610,-0.246967,0.968042]]
2025-10-26T22:44:59.077Z,1761518699.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:44:59.079Z,1761518699.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:44:59.082Z,1761518699.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 215.928101 m,
      bearing: 152.685368 deg,
      approach rate: -0.239937 m/s,
      LOS rate: -0.153212 deg/s,
      cmd heading: 145.213865 deg,
      new cmd heading: 145.025213 deg.

2025-10-26T22:44:59.083Z,1761518699.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531168 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:44:59.089Z,1761518699.089 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:59.090Z,1761518699.090 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:59.090Z,1761518699.090 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:59.342Z,1761518699.342 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:59.343Z,1761518699.343 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:59.343Z,1761518699.343 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:59.506Z,1761518699.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:44:59.513Z,1761518699.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 215.840057 m,
      bearing: 152.620198 deg,
      approach rate: -0.206113 m/s,
      LOS rate: -0.152628 deg/s,
      cmd heading: 145.025215 deg,
      new cmd heading: 144.829627 deg.

2025-10-26T22:44:59.514Z,1761518699.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.527754 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:44:59.593Z,1761518699.593 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:59.594Z,1761518699.594 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:59.594Z,1761518699.594 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:59.840Z,1761518699.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904389,0.402398,0.141976],[-0.424435,-0.882619,-0.202083],[0.043992,-0.243022,0.969023]]
2025-10-26T22:44:59.844Z,1761518699.844 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:44:59.844Z,1761518699.844 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:44:59.845Z,1761518699.845 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:44:59.859Z,1761518699.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:44:59.862Z,1761518699.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 215.750824 m,
      bearing: 152.562852 deg,
      approach rate: -0.253134 m/s,
      LOS rate: -0.162746 deg/s,
      cmd heading: 144.829626 deg,
      new cmd heading: 144.657516 deg.

2025-10-26T22:44:59.863Z,1761518699.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.524750 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:00.097Z,1761518700.097 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:45:00.097Z,1761518700.097 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:45:00.098Z,1761518700.098 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:45:00.245Z,1761518700.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914495,0.381070,0.135961],[-0.402181,-0.892843,-0.202684],[0.044155,-0.240034,0.969760]]
2025-10-26T22:45:00.263Z,1761518700.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:45:00.266Z,1761518700.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 215.647537 m,
      bearing: 152.500528 deg,
      approach rate: -0.255518 m/s,
      LOS rate: -0.154254 deg/s,
      cmd heading: 144.657519 deg,
      new cmd heading: 144.470460 deg.

2025-10-26T22:45:00.267Z,1761518700.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.521485 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:00.349Z,1761518700.349 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:45:00.349Z,1761518700.349 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:45:00.349Z,1761518700.349 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:45:00.601Z,1761518700.601 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:45:00.601Z,1761518700.601 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:45:00.601Z,1761518700.601 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:45:00.646Z,1761518700.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924250,0.358929,0.130121],[-0.379202,-0.902624,-0.203655],[0.044352,-0.237571,0.970357]]
2025-10-26T22:45:00.733Z,1761518700.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:45:00.741Z,1761518700.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 215.525650 m,
      bearing: 152.433764 deg,
      approach rate: -0.259569 m/s,
      LOS rate: -0.142261 deg/s,
      cmd heading: 144.470454 deg,
      new cmd heading: 144.270048 deg.

2025-10-26T22:45:00.742Z,1761518700.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517987 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:00.852Z,1761518700.852 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:45:00.852Z,1761518700.852 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:45:00.852Z,1761518700.852 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:45:01.068Z,1761518701.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933425,0.336302,0.124973],[-0.355995,-0.911453,-0.206208],[0.044559,-0.236970,0.970495]]
2025-10-26T22:45:01.105Z,1761518701.105 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:45:01.105Z,1761518701.105 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:45:01.105Z,1761518701.105 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:45:01.113Z,1761518701.113 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:01.120Z,1761518701.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:45:01.123Z,1761518701.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 215.416901 m,
      bearing: 152.377611 deg,
      approach rate: -0.280689 m/s,
      LOS rate: -0.145007 deg/s,
      cmd heading: 144.270042 deg,
      new cmd heading: 144.101500 deg.

2025-10-26T22:45:01.128Z,1761518701.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.515046 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:01.236Z,1761518701.236 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:45:01.360Z,1761518701.360 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:45:01.360Z,1761518701.360 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:45:01.360Z,1761518701.360 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:45:01.541Z,1761518701.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:45:01.544Z,1761518701.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 215.287643 m,
      bearing: 152.311165 deg,
      approach rate: -0.307254 m/s,
      LOS rate: -0.158040 deg/s,
      cmd heading: 144.101501 deg,
      new cmd heading: 143.902046 deg.

2025-10-26T22:45:01.545Z,1761518701.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.511564 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:01.609Z,1761518701.609 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:45:01.610Z,1761518701.610 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:45:01.610Z,1761518701.610 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:45:01.860Z,1761518701.860 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:45:01.860Z,1761518701.860 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:45:01.860Z,1761518701.860 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:45:01.876Z,1761518701.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949993,0.289774,0.116379],[-0.308954,-0.926363,-0.215402],[0.045391,-0.240587,0.969566]]
2025-10-26T22:45:01.894Z,1761518701.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:45:01.913Z,1761518701.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 215.177567 m,
      bearing: 152.260819 deg,
      approach rate: -0.311602 m/s,
      LOS rate: -0.142593 deg/s,
      cmd heading: 143.902045 deg,
      new cmd heading: 143.750928 deg.

2025-10-26T22:45:01.914Z,1761518701.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.508927 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:02.115Z,1761518702.115 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:45:02.115Z,1761518702.115 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:45:02.115Z,1761518702.115 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:45:02.240Z,1761518702.240 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:45:02.325Z,1761518702.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:45:02.328Z,1761518702.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 215.047928 m,
      bearing: 152.201363 deg,
      approach rate: -0.310598 m/s,
      LOS rate: -0.142535 deg/s,
      cmd heading: 143.750934 deg,
      new cmd heading: 143.572459 deg.

2025-10-26T22:45:02.329Z,1761518702.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505812 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:02.364Z,1761518702.364 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:45:02.365Z,1761518702.365 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:45:02.365Z,1761518702.365 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:45:02.616Z,1761518702.616 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:45:02.616Z,1761518702.616 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:45:02.616Z,1761518702.616 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:45:02.682Z,1761518702.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964143,0.243112,0.106421],[-0.261398,-0.939203,-0.222643],[0.045823,-0.242477,0.969074]]
2025-10-26T22:45:02.767Z,1761518702.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:45:02.770Z,1761518702.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 214.909134 m,
      bearing: 152.141373 deg,
      approach rate: -0.304884 m/s,
      LOS rate: -0.131863 deg/s,
      cmd heading: 143.572461 deg,
      new cmd heading: 143.392376 deg.

2025-10-26T22:45:02.771Z,1761518702.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.502669 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:02.868Z,1761518702.868 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:45:02.868Z,1761518702.868 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:45:02.868Z,1761518702.868 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:45:03.093Z,1761518703.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970365,0.219385,0.101306],[-0.237165,-0.944996,-0.225245],[0.046318,-0.242596,0.969021]]
2025-10-26T22:45:03.120Z,1761518703.120 [DAT](INFO): Reached modem response timeout
2025-10-26T22:45:03.120Z,1761518703.120 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:03.121Z,1761518703.121 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:45:03.142Z,1761518703.142 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:03.149Z,1761518703.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:45:03.155Z,1761518703.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 214.788177 m,
      bearing: 152.091773 deg,
      approach rate: -0.316675 m/s,
      LOS rate: -0.129930 deg/s,
      cmd heading: 143.392377 deg,
      new cmd heading: 143.243494 deg.

2025-10-26T22:45:03.156Z,1761518703.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.500071 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:03.372Z,1761518703.372 [DAT](INFO): DAT read: 

2025-10-26T22:45:03.373Z,1761518703.373 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:03.498Z,1761518703.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976079,0.195206,0.095735],[-0.212370,-0.950346,-0.227468],[0.046578,-0.242357,0.969068]]
2025-10-26T22:45:03.556Z,1761518703.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:45:03.565Z,1761518703.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 214.638245 m,
      bearing: 152.039068 deg,
      approach rate: -0.367696 m/s,
      LOS rate: -0.129345 deg/s,
      cmd heading: 143.243492 deg,
      new cmd heading: 143.085266 deg.

2025-10-26T22:45:03.566Z,1761518703.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.497309 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:03.626Z,1761518703.626 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:03.880Z,1761518703.880 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:03.893Z,1761518703.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980942,0.171644,0.091053],[-0.188586,-0.953891,-0.233512],[0.046773,-0.246233,0.968081]]
2025-10-26T22:45:03.911Z,1761518703.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:45:03.914Z,1761518703.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 214.502045 m,
      bearing: 151.993466 deg,
      approach rate: -0.383743 m/s,
      LOS rate: -0.128564 deg/s,
      cmd heading: 143.085264 deg,
      new cmd heading: 142.948373 deg.

2025-10-26T22:45:03.915Z,1761518703.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.494920 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:04.133Z,1761518704.133 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:04.294Z,1761518704.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985261,0.147939,0.085874],[-0.164473,-0.957251,-0.237948],[0.047001,-0.248565,0.967474]]
2025-10-26T22:45:04.319Z,1761518704.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:45:04.322Z,1761518704.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 214.347977 m,
      bearing: 151.944313 deg,
      approach rate: -0.377979 m/s,
      LOS rate: -0.120675 deg/s,
      cmd heading: 142.948373 deg,
      new cmd heading: 142.800808 deg.

2025-10-26T22:45:04.323Z,1761518704.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.492344 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:04.384Z,1761518704.384 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:04.636Z,1761518704.636 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:04.699Z,1761518704.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988990,0.124225,0.080414],[-0.140210,-0.960404,-0.240760],[0.047321,-0.249384,0.967248]]
2025-10-26T22:45:04.753Z,1761518704.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:45:04.756Z,1761518704.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 214.173874 m,
      bearing: 151.895523 deg,
      approach rate: -0.400755 m/s,
      LOS rate: -0.112398 deg/s,
      cmd heading: 142.800814 deg,
      new cmd heading: 142.654325 deg.

2025-10-26T22:45:04.757Z,1761518704.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.489788 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:04.888Z,1761518704.888 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:05.112Z,1761518705.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992103,0.100654,0.074838],[-0.116043,-0.963032,-0.243111],[0.047601,-0.249875,0.967107]]
2025-10-26T22:45:05.130Z,1761518705.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:45:05.140Z,1761518705.140 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:05.157Z,1761518705.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 214.018936 m,
      bearing: 151.854083 deg,
      approach rate: -0.410773 m/s,
      LOS rate: -0.109946 deg/s,
      cmd heading: 142.654320 deg,
      new cmd heading: 142.529910 deg.

2025-10-26T22:45:05.158Z,1761518705.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.487616 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:05.392Z,1761518705.392 [DAT](INFO): DAT read: Response Not Received

2025-10-26T22:45:05.393Z,1761518705.393 [DAT](INFO): response not received
2025-10-26T22:45:05.393Z,1761518705.393 [DAT](INFO): DAT read: user:649>Tx time:22:45:04.5868

2025-10-26T22:45:05.394Z,1761518705.394 [DAT](ERROR): No response from remote modem.
2025-10-26T22:45:05.394Z,1761518705.394 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:05.394Z,1761518705.394 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:45:05.534Z,1761518705.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994564,0.077830,0.069176],[-0.092526,-0.965294,-0.244228],[0.047767,-0.249301,0.967247]]
2025-10-26T22:45:05.573Z,1761518705.573 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:05.575Z,1761518705.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:45:05.582Z,1761518705.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 213.827164 m,
      bearing: 151.809208 deg,
      approach rate: -0.431200 m/s,
      LOS rate: -0.100990 deg/s,
      cmd heading: 142.529915 deg,
      new cmd heading: 142.395172 deg.

2025-10-26T22:45:05.584Z,1761518705.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.485265 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:05.645Z,1761518705.645 [DAT](INFO): DAT read: 

2025-10-26T22:45:05.646Z,1761518705.646 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:05.896Z,1761518705.896 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:05.916Z,1761518705.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996478,0.054793,0.063470],[-0.068706,-0.967472,-0.243470],[0.048065,-0.246973,0.967830]]
2025-10-26T22:45:05.934Z,1761518705.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:45:05.937Z,1761518705.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 213.668793 m,
      bearing: 151.773816 deg,
      approach rate: -0.440974 m/s,
      LOS rate: -0.098620 deg/s,
      cmd heading: 142.395169 deg,
      new cmd heading: 142.288915 deg.

2025-10-26T22:45:05.938Z,1761518705.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.483410 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:06.149Z,1761518706.149 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:06.314Z,1761518706.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997837,0.031788,0.057538],[-0.044896,-0.968914,-0.243290],[0.048015,-0.245347,0.968245]]
2025-10-26T22:45:06.344Z,1761518706.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:45:06.347Z,1761518706.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 213.485367 m,
      bearing: 151.734683 deg,
      approach rate: -0.447779 m/s,
      LOS rate: -0.095613 deg/s,
      cmd heading: 142.288919 deg,
      new cmd heading: 142.171419 deg.

2025-10-26T22:45:06.348Z,1761518706.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.481359 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:06.401Z,1761518706.401 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:06.652Z,1761518706.652 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:06.727Z,1761518706.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998623,0.008574,0.051748],[-0.020895,-0.969920,-0.242527],[0.048112,-0.243274,0.968764]]
2025-10-26T22:45:06.773Z,1761518706.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:45:06.776Z,1761518706.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 213.275711 m,
      bearing: 151.696591 deg,
      approach rate: -0.488910 m/s,
      LOS rate: -0.088917 deg/s,
      cmd heading: 142.171426 deg,
      new cmd heading: 142.057036 deg.

2025-10-26T22:45:06.777Z,1761518706.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.479363 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:06.904Z,1761518706.904 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:07.126Z,1761518707.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998832,-0.014732,0.046011],[0.003059,-0.969745,-0.244100],[0.048215,-0.243674,0.968658]]
2025-10-26T22:45:07.144Z,1761518707.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:45:07.147Z,1761518707.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 213.091721 m,
      bearing: 151.664794 deg,
      approach rate: -0.495806 m/s,
      LOS rate: -0.085758 deg/s,
      cmd heading: 142.057034 deg,
      new cmd heading: 141.961561 deg.

2025-10-26T22:45:07.150Z,1761518707.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477697 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:07.156Z,1761518707.156 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:07.408Z,1761518707.408 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:07.543Z,1761518707.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998455,-0.038378,0.040177],[0.027416,-0.969253,-0.244536],[0.048326,-0.243057,0.968807]]
2025-10-26T22:45:07.583Z,1761518707.583 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:07.587Z,1761518707.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:45:07.610Z,1761518707.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 212.874924 m,
      bearing: 151.630594 deg,
      approach rate: -0.489770 m/s,
      LOS rate: -0.077341 deg/s,
      cmd heading: 141.961561 deg,
      new cmd heading: 141.858856 deg.

2025-10-26T22:45:07.611Z,1761518707.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.475904 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:07.661Z,1761518707.661 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:07.912Z,1761518707.912 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:07.931Z,1761518707.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997553,-0.061082,0.034018],[0.050781,-0.967429,-0.247997],[0.048059,-0.245663,0.968163]]
2025-10-26T22:45:07.949Z,1761518707.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:45:07.952Z,1761518707.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 212.688110 m,
      bearing: 151.602630 deg,
      approach rate: -0.515909 m/s,
      LOS rate: -0.077294 deg/s,
      cmd heading: 141.858863 deg,
      new cmd heading: 141.774898 deg.

2025-10-26T22:45:07.953Z,1761518707.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.474439 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:08.167Z,1761518708.167 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:08.337Z,1761518708.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996020,-0.084787,0.027483],[0.075211,-0.964984,-0.251294],[0.047827,-0.248226,0.967521]]
2025-10-26T22:45:08.354Z,1761518708.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:45:08.357Z,1761518708.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 212.480576 m,
      bearing: 151.573281 deg,
      approach rate: -0.511648 m/s,
      LOS rate: -0.072426 deg/s,
      cmd heading: 141.774892 deg,
      new cmd heading: 141.686760 deg.

2025-10-26T22:45:08.358Z,1761518708.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.472900 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:08.417Z,1761518708.417 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:08.668Z,1761518708.668 [DAT](INFO): DAT read: Rx Time:22:45:07.3002

2025-10-26T22:45:08.669Z,1761518708.669 [DAT](INFO): Rx dataTimestamp_ set to:1761518708.668594
2025-10-26T22:45:08.669Z,1761518708.669 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:08.743Z,1761518708.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993954,-0.107793,0.020857],[0.098981,-0.961964,-0.254612],[0.047509,-0.251008,0.966818]]
2025-10-26T22:45:08.788Z,1761518708.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:45:08.790Z,1761518708.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 212.253845 m,
      bearing: 151.543921 deg,
      approach rate: -0.523606 m/s,
      LOS rate: -0.067876 deg/s,
      cmd heading: 141.686756 deg,
      new cmd heading: 141.598582 deg.

2025-10-26T22:45:08.791Z,1761518708.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.471361 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:08.920Z,1761518708.920 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:09.142Z,1761518709.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991237,-0.131314,0.014375],[0.123368,-0.959136,-0.254634],[0.047225,-0.250629,0.966931]]
2025-10-26T22:45:09.160Z,1761518709.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.71 m.
2025-10-26T22:45:09.163Z,1761518709.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.714066 m,
      nav range: 212.056458 m,
      bearing: 151.519896 deg,
      approach rate: -0.529607 m/s,
      LOS rate: -0.064522 deg/s,
      cmd heading: 141.598578 deg,
      new cmd heading: 141.526434 deg.

2025-10-26T22:45:09.167Z,1761518709.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.470102 target range: 214.714066 and range: 216.00 m.
2025-10-26T22:45:09.178Z,1761518709.178 [DAT](INFO): DAT read: 22:45:07.3002 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 124,-0.45, 2.770, 1.644,-2.898, 2.841, PHS= 0.031,-1.152, 0.500, RAW= 166.0,   8.5, CAL= 165.7,   8.8, ROT= 344.3,  -8.8

2025-10-26T22:45:09.179Z,1761518709.179 [DAT](INFO): got valid direction response:
 22:45:07.3002 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 124,-0.45, 2.770, 1.644,-2.898, 2.841, PHS= 0.031,-1.152, 0.500, RAW= 166.0,   8.5, CAL= 165.7,   8.8, ROT= 344.3,  -8.8

2025-10-26T22:45:09.180Z,1761518709.180 [DAT](INFO): DAT read: Bearing 338.4, -14.5 (Local)

2025-10-26T22:45:09.181Z,1761518709.181 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.4, -14.5 (Local)

2025-10-26T22:45:09.182Z,1761518709.182 [DAT](INFO): DAT read: Range 11 to 50 : 231.9 m  (Round-trip  309.3 ms) speed  0.3 m/s

2025-10-26T22:45:09.183Z,1761518709.183 [DAT](INFO): DAT read: user:650>Tx time:22:45:08.3868

2025-10-26T22:45:09.184Z,1761518709.184 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:45:09.185Z,1761518709.185 [DAT](INFO): direction in FSK: [0.951359,-0.267415,0.152986]
2025-10-26T22:45:09.185Z,1761518709.185 [DAT](INFO): publishing direction and range info
2025-10-26T22:45:09.197Z,1761518709.197 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:09.197Z,1761518709.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:45:09.424Z,1761518709.424 [DAT](INFO): DAT read: 

2025-10-26T22:45:09.425Z,1761518709.425 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:09.573Z,1761518709.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987900,-0.154880,0.008088],[0.147819,-0.956076,-0.253116],[0.046936,-0.248858,0.967402]]
2025-10-26T22:45:09.646Z,1761518709.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 231.899994 m,
      deltaT: 16.135578 s,
      deltaX: 15.899994 m,
      approachRate: 0.985400 m/s,
      rangeRepo size: 4

2025-10-26T22:45:09.653Z,1761518709.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 230.513184 m,
      bearing: 158.270336 deg,
      lat: 36.779322 deg,
      lon: -121.859429 deg,
      deltaT: 16.135578 s,
      deltaX: 15.799118 m,
      approachRate: 0.979148 m/s,
      posRepo size: 4

2025-10-26T22:45:09.653Z,1761518709.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.51 m.
2025-10-26T22:45:09.660Z,1761518709.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.513184 m,
      nav range: 217.404129 m,
      bearing: 152.441533 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.064522 deg/s,
      cmd heading: 141.526437 deg,
      new cmd heading: 141.432414 deg.

2025-10-26T22:45:09.661Z,1761518709.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.468461 target range: 230.513184 and range: 231.90 m.
2025-10-26T22:45:09.676Z,1761518709.676 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:09.929Z,1761518709.929 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:10.005Z,1761518710.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:10.007Z,1761518710.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.51 m.
2025-10-26T22:45:10.010Z,1761518710.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.513184 m,
      nav range: 217.208389 m,
      bearing: 152.417846 deg,
      approach rate: -0.542336 m/s,
      LOS rate: -0.065689 deg/s,
      cmd heading: 141.432413 deg,
      new cmd heading: 141.361287 deg.

2025-10-26T22:45:10.011Z,1761518710.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.467220 target range: 230.513184 and range: 231.90 m.
2025-10-26T22:45:10.182Z,1761518710.182 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:10.376Z,1761518710.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979444,-0.201663,-0.004557],[0.196476,-0.948650,-0.247913],[0.045672,-0.243712,0.968772]]
2025-10-26T22:45:10.394Z,1761518710.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.51 m.
2025-10-26T22:45:10.397Z,1761518710.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.513184 m,
      nav range: 217.007614 m,
      bearing: 152.396573 deg,
      approach rate: -0.518822 m/s,
      LOS rate: -0.055021 deg/s,
      cmd heading: 141.361283 deg,
      new cmd heading: 141.297407 deg.

2025-10-26T22:45:10.398Z,1761518710.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.466105 target range: 230.513184 and range: 231.90 m.
2025-10-26T22:45:10.433Z,1761518710.433 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:10.684Z,1761518710.684 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:10.778Z,1761518710.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974198,-0.225447,-0.010628],[0.221168,-0.944202,-0.244063],[0.044988,-0.240116,0.969701]]
2025-10-26T22:45:10.829Z,1761518710.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.51 m.
2025-10-26T22:45:10.832Z,1761518710.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.513184 m,
      nav range: 216.797211 m,
      bearing: 152.371811 deg,
      approach rate: -0.483473 m/s,
      LOS rate: -0.056956 deg/s,
      cmd heading: 141.297407 deg,
      new cmd heading: 141.223047 deg.

2025-10-26T22:45:10.833Z,1761518710.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.464807 target range: 230.513184 and range: 231.90 m.
2025-10-26T22:45:10.936Z,1761518710.936 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:11.187Z,1761518711.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968412,-0.248767,-0.017124],[0.245398,-0.938606,-0.242485],[0.044249,-0.239027,0.970004]]
2025-10-26T22:45:11.188Z,1761518711.188 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:11.206Z,1761518711.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.51 m.
2025-10-26T22:45:11.209Z,1761518711.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.513184 m,
      nav range: 216.612640 m,
      bearing: 152.351479 deg,
      approach rate: -0.488836 m/s,
      LOS rate: -0.053894 deg/s,
      cmd heading: 141.223054 deg,
      new cmd heading: 141.162007 deg.

2025-10-26T22:45:11.210Z,1761518711.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.463742 target range: 230.513184 and range: 231.90 m.
2025-10-26T22:45:11.440Z,1761518711.440 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:11.605Z,1761518711.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962097,-0.271710,-0.023290],[0.269226,-0.932748,-0.239789],[0.043429,-0.236970,0.970546]]
2025-10-26T22:45:11.648Z,1761518711.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.51 m.
2025-10-26T22:45:11.650Z,1761518711.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.513184 m,
      nav range: 216.402924 m,
      bearing: 152.328058 deg,
      approach rate: -0.475652 m/s,
      LOS rate: -0.053172 deg/s,
      cmd heading: 141.162006 deg,
      new cmd heading: 141.091674 deg.

2025-10-26T22:45:11.652Z,1761518711.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.462514 target range: 230.513184 and range: 231.90 m.
2025-10-26T22:45:11.692Z,1761518711.692 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:11.944Z,1761518711.944 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:11.990Z,1761518711.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954871,-0.295472,-0.030283],[0.293934,-0.925370,-0.239361],[0.042701,-0.237460,0.970458]]
2025-10-26T22:45:12.014Z,1761518712.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:12.016Z,1761518712.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.51 m.
2025-10-26T22:45:12.019Z,1761518712.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.513184 m,
      nav range: 216.226105 m,
      bearing: 152.309682 deg,
      approach rate: -0.479055 m/s,
      LOS rate: -0.049826 deg/s,
      cmd heading: 141.091668 deg,
      new cmd heading: 141.036497 deg.

2025-10-26T22:45:12.020Z,1761518712.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.461551 target range: 230.513184 and range: 231.90 m.
2025-10-26T22:45:12.196Z,1761518712.196 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:12.394Z,1761518712.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947471,-0.317598,-0.037828],[0.317114,-0.917382,-0.240518],[0.041685,-0.239880,0.969907]]
2025-10-26T22:45:12.412Z,1761518712.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.51 m.
2025-10-26T22:45:12.416Z,1761518712.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.513184 m,
      nav range: 216.033417 m,
      bearing: 152.291068 deg,
      approach rate: -0.486539 m/s,
      LOS rate: -0.047043 deg/s,
      cmd heading: 141.036494 deg,
      new cmd heading: 140.980602 deg.

2025-10-26T22:45:12.416Z,1761518712.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.460576 target range: 230.513184 and range: 231.90 m.
2025-10-26T22:45:12.449Z,1761518712.449 [DAT](INFO): DAT read: Rx Time:22:45:11.0989

2025-10-26T22:45:12.450Z,1761518712.450 [DAT](INFO): Rx dataTimestamp_ set to:1761518712.449680
2025-10-26T22:45:12.451Z,1761518712.451 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:12.701Z,1761518712.701 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:12.852Z,1761518712.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.51 m.
2025-10-26T22:45:12.861Z,1761518712.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.513184 m,
      nav range: 215.837646 m,
      bearing: 152.267980 deg,
      approach rate: -0.446028 m/s,
      LOS rate: -0.052651 deg/s,
      cmd heading: 140.980596 deg,
      new cmd heading: 140.911267 deg.

2025-10-26T22:45:12.865Z,1761518712.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.459366 target range: 230.513184 and range: 231.90 m.
2025-10-26T22:45:12.962Z,1761518712.962 [DAT](INFO): DAT read: 22:45:11.0989 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 151,-0.30, 0.418,-1.040, 0.966, 0.374, PHS= 0.146,-1.370, 0.548, RAW= 161.5,   7.8, CAL= 161.0,   7.9, ROT= 349.0,  -7.9

2025-10-26T22:45:12.963Z,1761518712.963 [DAT](INFO): got valid direction response:
 22:45:11.0989 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 151,-0.30, 0.418,-1.040, 0.966, 0.374, PHS= 0.146,-1.370, 0.548, RAW= 161.5,   7.8, CAL= 161.0,   7.9, ROT= 349.0,  -7.9

2025-10-26T22:45:12.965Z,1761518712.965 [DAT](INFO): DAT read: Bearing 325.1, -10.1 (Local)

2025-10-26T22:45:12.965Z,1761518712.965 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.1, -10.1 (Local)

2025-10-26T22:45:12.993Z,1761518712.993 [DAT](INFO): DAT read: Range 11 to 50 : 231.0 m  (Round-trip  308.0 ms) speed  0.6 m/s

2025-10-26T22:45:12.994Z,1761518712.994 [DAT](INFO): DAT read: user:651>Tx time:22:45:12.1868

2025-10-26T22:45:12.995Z,1761518712.995 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:45:13.004Z,1761518713.004 [DAT](INFO): direction in FSK: [0.972311,-0.188998,0.137445]
2025-10-26T22:45:13.005Z,1761518713.005 [DAT](INFO): publishing direction and range info
2025-10-26T22:45:13.011Z,1761518713.011 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:13.020Z,1761518713.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:45:13.204Z,1761518713.204 [DAT](INFO): DAT read: 

2025-10-26T22:45:13.205Z,1761518713.205 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:13.232Z,1761518713.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930237,-0.363153,-0.052709],[0.364819,-0.899737,-0.239542],[0.039566,-0.242060,0.969454]]
2025-10-26T22:45:13.255Z,1761518713.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 231.000000 m,
      deltaT: 3.780589 s,
      deltaX: -0.899994 m,
      approachRate: -0.238057 m/s,
      rangeRepo size: 4

2025-10-26T22:45:13.269Z,1761518713.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 229.617340 m,
      bearing: 149.741509 deg,
      lat: 36.779322 deg,
      lon: -121.859429 deg,
      deltaT: 3.780589 s,
      deltaX: -0.895844 m,
      approachRate: -0.236959 m/s,
      posRepo size: 4

2025-10-26T22:45:13.270Z,1761518713.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.62 m.
2025-10-26T22:45:13.277Z,1761518713.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.617340 m,
      nav range: 215.655777 m,
      bearing: 152.249384 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.052651 deg/s,
      cmd heading: 140.911270 deg,
      new cmd heading: 140.847643 deg.

2025-10-26T22:45:13.278Z,1761518713.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.458255 target range: 229.617340 and range: 231.00 m.
2025-10-26T22:45:13.456Z,1761518713.456 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:13.681Z,1761518713.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.62 m.
2025-10-26T22:45:13.683Z,1761518713.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.617340 m,
      nav range: 215.463089 m,
      bearing: 152.228366 deg,
      approach rate: -0.451962 m/s,
      LOS rate: -0.049344 deg/s,
      cmd heading: 140.847639 deg,
      new cmd heading: 140.784528 deg.

2025-10-26T22:45:13.684Z,1761518713.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.457154 target range: 229.617340 and range: 231.00 m.
2025-10-26T22:45:13.709Z,1761518713.709 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:13.960Z,1761518713.960 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:14.024Z,1761518714.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910602,-0.407629,-0.068131],[0.411586,-0.879530,-0.238797],[0.037417,-0.245491,0.968677]]
2025-10-26T22:45:14.067Z,1761518714.067 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:14.086Z,1761518714.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.62 m.
2025-10-26T22:45:14.101Z,1761518714.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.617340 m,
      nav range: 215.286972 m,
      bearing: 152.211878 deg,
      approach rate: -0.433905 m/s,
      LOS rate: -0.040656 deg/s,
      cmd heading: 140.784529 deg,
      new cmd heading: 140.735024 deg.

2025-10-26T22:45:14.102Z,1761518714.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.456290 target range: 229.617340 and range: 231.00 m.
2025-10-26T22:45:14.212Z,1761518714.212 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:14.426Z,1761518714.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899562,-0.430335,-0.074834],[0.435276,-0.868919,-0.235613],[0.036368,-0.244522,0.968961]]
2025-10-26T22:45:14.457Z,1761518714.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.62 m.
2025-10-26T22:45:14.460Z,1761518714.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.617340 m,
      nav range: 215.106918 m,
      bearing: 152.196376 deg,
      approach rate: -0.486160 m/s,
      LOS rate: -0.041890 deg/s,
      cmd heading: 140.735023 deg,
      new cmd heading: 140.688480 deg.

2025-10-26T22:45:14.461Z,1761518714.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455477 target range: 229.617340 and range: 231.00 m.
2025-10-26T22:45:14.464Z,1761518714.464 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:14.717Z,1761518714.717 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:14.886Z,1761518714.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.62 m.
2025-10-26T22:45:14.889Z,1761518714.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.617340 m,
      nav range: 214.918564 m,
      bearing: 152.179090 deg,
      approach rate: -0.438970 m/s,
      LOS rate: -0.040321 deg/s,
      cmd heading: 140.688482 deg,
      new cmd heading: 140.636579 deg.

2025-10-26T22:45:14.890Z,1761518714.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.454571 target range: 229.617340 and range: 231.00 m.
2025-10-26T22:45:14.971Z,1761518714.971 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:15.220Z,1761518715.220 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:15.235Z,1761518715.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876270,-0.473545,-0.088919],[0.480600,-0.845907,-0.231224],[0.034278,-0.245349,0.968829]]
2025-10-26T22:45:15.266Z,1761518715.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.62 m.
2025-10-26T22:45:15.269Z,1761518715.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.617340 m,
      nav range: 214.748962 m,
      bearing: 152.166040 deg,
      approach rate: -0.446017 m/s,
      LOS rate: -0.034348 deg/s,
      cmd heading: 140.636573 deg,
      new cmd heading: 140.597389 deg.

2025-10-26T22:45:15.270Z,1761518715.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.453887 target range: 229.617340 and range: 231.00 m.
2025-10-26T22:45:15.472Z,1761518715.472 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:15.654Z,1761518715.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863741,-0.494973,-0.094623],[0.502845,-0.834190,-0.226436],[0.033146,-0.243163,0.969419]]
2025-10-26T22:45:15.700Z,1761518715.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.62 m.
2025-10-26T22:45:15.704Z,1761518715.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.617340 m,
      nav range: 214.556198 m,
      bearing: 152.152035 deg,
      approach rate: -0.445504 m/s,
      LOS rate: -0.032395 deg/s,
      cmd heading: 140.597395 deg,
      new cmd heading: 140.555345 deg.

2025-10-26T22:45:15.705Z,1761518715.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.453154 target range: 229.617340 and range: 231.00 m.
2025-10-26T22:45:15.725Z,1761518715.725 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:15.976Z,1761518715.976 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:16.043Z,1761518716.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851003,-0.515378,-0.100894],[0.524186,-0.821899,-0.222959],[0.031983,-0.242626,0.969593]]
2025-10-26T22:45:16.079Z,1761518716.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:16.083Z,1761518716.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.62 m.
2025-10-26T22:45:16.096Z,1761518716.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.617340 m,
      nav range: 214.393707 m,
      bearing: 152.141357 deg,
      approach rate: -0.422985 m/s,
      LOS rate: -0.027819 deg/s,
      cmd heading: 140.555348 deg,
      new cmd heading: 140.523288 deg.

2025-10-26T22:45:16.097Z,1761518716.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.452594 target range: 229.617340 and range: 231.00 m.
2025-10-26T22:45:16.230Z,1761518716.230 [DAT](INFO): DAT read: Rx Time:22:45:14.9237

2025-10-26T22:45:16.230Z,1761518716.230 [DAT](INFO): Rx dataTimestamp_ set to:1761518716.229791
2025-10-26T22:45:16.231Z,1761518716.231 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:16.446Z,1761518716.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837998,-0.535241,-0.106192],[0.544797,-0.809631,-0.218388],[0.030914,-0.240861,0.970067]]
2025-10-26T22:45:16.473Z,1761518716.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.62 m.
2025-10-26T22:45:16.480Z,1761518716.480 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:16.496Z,1761518716.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.617340 m,
      nav range: 214.207947 m,
      bearing: 152.130387 deg,
      approach rate: -0.476654 m/s,
      LOS rate: -0.028173 deg/s,
      cmd heading: 140.523287 deg,
      new cmd heading: 140.490349 deg.

2025-10-26T22:45:16.497Z,1761518716.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.452019 target range: 229.617340 and range: 231.00 m.
2025-10-26T22:45:16.746Z,1761518716.746 [DAT](INFO): DAT read: 22:45:14.9237 LVL= 21488, 24769, 25186, 19427, AGC= 68, IDX= 188,-0.02,-2.271, 2.657,-2.495, 3.122, PHS= 0.992,-0.420, 0.622, RAW= 135.4, -18.4, CAL= 134.8, -21.5, ROT=  15.2,  21.5

2025-10-26T22:45:16.747Z,1761518716.747 [DAT](INFO): got valid direction response:
 22:45:14.9237 LVL= 21488, 24769, 25186, 19427, AGC= 68, IDX= 188,-0.02,-2.271, 2.657,-2.495, 3.122, PHS= 0.992,-0.420, 0.622, RAW= 135.4, -18.4, CAL= 134.8, -21.5, ROT=  15.2,  21.5

2025-10-26T22:45:16.748Z,1761518716.748 [DAT](INFO): DAT read: Bearing 288.1,  21.1 (Local)

2025-10-26T22:45:16.748Z,1761518716.749 [DAT](INFO): Local bearing/azimuth received:
 Bearing 288.1,  21.1 (Local)

2025-10-26T22:45:16.750Z,1761518716.750 [DAT](INFO): DAT read: Range 11 to 50 : 249.6 m  (Round-trip  332.8 ms) speed  0.6 m/s

2025-10-26T22:45:16.751Z,1761518716.751 [DAT](INFO): DAT read: Tx time:22:45:15.9868

2025-10-26T22:45:16.751Z,1761518716.751 [DAT](INFO): Ping request sent.
2025-10-26T22:45:16.751Z,1761518716.751 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:45:16.752Z,1761518716.752 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:45:16.753Z,1761518716.753 [DAT](INFO): direction in FSK: [0.897868,0.243945,-0.366501]
2025-10-26T22:45:16.753Z,1761518716.753 [DAT](INFO): publishing transmit ping time
2025-10-26T22:45:16.754Z,1761518716.754 [DAT](INFO): publishing direction and range info
2025-10-26T22:45:16.787Z,1761518716.787 [DAT](INFO): publishing transmit ping time
2025-10-26T22:45:16.788Z,1761518716.788 [DAT](INFO): publishing direction and range info
2025-10-26T22:45:16.850Z,1761518716.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825066,-0.553939,-0.111438],[0.564256,-0.797373,-0.214036],[0.029705,-0.239474,0.970448]]
2025-10-26T22:45:16.951Z,1761518716.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 249.600006 m,
      deltaT: 3.781105 s,
      deltaX: 18.600006 m,
      approachRate: 4.919199 m/s,
      rangeRepo size: 4

2025-10-26T22:45:16.957Z,1761518716.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 248.106232 m,
      bearing: 154.935344 deg,
      lat: 36.779297 deg,
      lon: -121.859429 deg,
      deltaT: 3.781105 s,
      deltaX: 18.488892 m,
      approachRate: 4.889812 m/s,
      posRepo size: 4

2025-10-26T22:45:16.958Z,1761518716.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.11 m.
2025-10-26T22:45:16.965Z,1761518716.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.106232 m,
      nav range: 216.417511 m,
      bearing: 152.461733 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028173 deg/s,
      cmd heading: 140.490352 deg,
      new cmd heading: 140.449991 deg.

2025-10-26T22:45:16.966Z,1761518716.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.451315 target range: 248.106232 and range: 249.60 m.
2025-10-26T22:45:17.281Z,1761518717.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.11 m.
2025-10-26T22:45:17.284Z,1761518717.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.106232 m,
      nav range: 216.251266 m,
      bearing: 152.456341 deg,
      approach rate: -0.503050 m/s,
      LOS rate: -0.016329 deg/s,
      cmd heading: 140.449986 deg,
      new cmd heading: 140.433797 deg.

2025-10-26T22:45:17.285Z,1761518717.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.451032 target range: 248.106232 and range: 249.60 m.
2025-10-26T22:45:17.684Z,1761518717.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800309,-0.586937,-0.122517],[0.598961,-0.773264,-0.208107],[0.027408,-0.239932,0.970403]]
2025-10-26T22:45:17.731Z,1761518717.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.11 m.
2025-10-26T22:45:17.758Z,1761518717.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.106232 m,
      nav range: 216.031723 m,
      bearing: 152.453925 deg,
      approach rate: -0.488351 m/s,
      LOS rate: -0.005380 deg/s,
      cmd heading: 140.433798 deg,
      new cmd heading: 140.426543 deg.

2025-10-26T22:45:17.759Z,1761518717.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.450906 target range: 248.106232 and range: 249.60 m.
2025-10-26T22:45:18.103Z,1761518718.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789140,-0.600614,-0.128534],[0.613666,-0.762147,-0.206268],[0.025926,-0.241651,0.970017]]
2025-10-26T22:45:18.119Z,1761518718.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:18.121Z,1761518718.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.11 m.
2025-10-26T22:45:18.124Z,1761518718.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.106232 m,
      nav range: 215.837189 m,
      bearing: 152.452742 deg,
      approach rate: -0.497640 m/s,
      LOS rate: -0.003028 deg/s,
      cmd heading: 140.426545 deg,
      new cmd heading: 140.422994 deg.

2025-10-26T22:45:18.125Z,1761518718.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.450844 target range: 248.106232 and range: 249.60 m.
2025-10-26T22:45:18.244Z,1761518718.244 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:45:18.244Z,1761518718.244 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:45:18.245Z,1761518718.245 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:45:18.497Z,1761518718.497 [DAT](INFO): DAT read: user:652>

2025-10-26T22:45:18.497Z,1761518718.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746083
2025-10-26T22:45:18.536Z,1761518718.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.11 m.
2025-10-26T22:45:18.538Z,1761518718.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.106232 m,
      nav range: 215.632538 m,
      bearing: 152.451496 deg,
      approach rate: -0.493908 m/s,
      LOS rate: -0.003011 deg/s,
      cmd heading: 140.422993 deg,
      new cmd heading: 140.419251 deg.

2025-10-26T22:45:18.543Z,1761518718.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.450778 target range: 248.106232 and range: 249.60 m.
2025-10-26T22:45:18.749Z,1761518718.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997742
2025-10-26T22:45:18.903Z,1761518718.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768582,-0.625656,-0.133556],[0.639323,-0.743499,-0.196153],[0.023426,-0.236145,0.971435]]
2025-10-26T22:45:18.939Z,1761518718.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.11 m.
2025-10-26T22:45:18.942Z,1761518718.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.106232 m,
      nav range: 215.423309 m,
      bearing: 152.455510 deg,
      approach rate: -0.518848 m/s,
      LOS rate: 0.009965 deg/s,
      cmd heading: 140.419250 deg,
      new cmd heading: 140.431305 deg.

2025-10-26T22:45:18.943Z,1761518718.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.450989 target range: 248.106232 and range: 249.60 m.
2025-10-26T22:45:19.001Z,1761518719.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249997
2025-10-26T22:45:19.253Z,1761518719.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501543
2025-10-26T22:45:19.314Z,1761518719.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760257,-0.635088,-0.136649],[0.649239,-0.735577,-0.193430],[0.022329,-0.235774,0.971551]]
2025-10-26T22:45:19.333Z,1761518719.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.11 m.
2025-10-26T22:45:19.344Z,1761518719.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.106232 m,
      nav range: 215.219208 m,
      bearing: 152.460140 deg,
      approach rate: -0.518069 m/s,
      LOS rate: 0.011764 deg/s,
      cmd heading: 140.431298 deg,
      new cmd heading: 140.445202 deg.

2025-10-26T22:45:19.345Z,1761518719.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.451231 target range: 248.106232 and range: 249.60 m.
2025-10-26T22:45:19.504Z,1761518719.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753214
2025-10-26T22:45:19.756Z,1761518719.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005025
2025-10-26T22:45:19.796Z,1761518719.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747987,-0.649406,-0.137068],[0.663402,-0.725193,-0.184374],[0.020333,-0.228840,0.973252]]
2025-10-26T22:45:19.847Z,1761518719.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.11 m.
2025-10-26T22:45:19.850Z,1761518719.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.106232 m,
      nav range: 214.947693 m,
      bearing: 152.469443 deg,
      approach rate: -0.528178 m/s,
      LOS rate: 0.018118 deg/s,
      cmd heading: 140.445205 deg,
      new cmd heading: 140.473146 deg.

2025-10-26T22:45:19.851Z,1761518719.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.451719 target range: 248.106232 and range: 249.60 m.
2025-10-26T22:45:20.009Z,1761518720.009 [DAT](INFO): DAT read: Rx Time:22:45:18.7205

2025-10-26T22:45:20.010Z,1761518720.010 [DAT](INFO): Rx dataTimestamp_ set to:1761518720.009261
2025-10-26T22:45:20.011Z,1761518720.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259132
2025-10-26T22:45:20.260Z,1761518720.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509240
2025-10-26T22:45:20.276Z,1761518720.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744357,-0.653907,-0.135417],[0.667508,-0.722790,-0.178906],[0.019110,-0.223562,0.974502]]
2025-10-26T22:45:20.336Z,1761518720.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:20.338Z,1761518720.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.11 m.
2025-10-26T22:45:20.349Z,1761518720.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.106232 m,
      nav range: 214.712112 m,
      bearing: 152.477870 deg,
      approach rate: -0.479572 m/s,
      LOS rate: 0.017175 deg/s,
      cmd heading: 140.473140 deg,
      new cmd heading: 140.498451 deg.

2025-10-26T22:45:20.350Z,1761518720.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.452161 target range: 248.106232 and range: 249.60 m.
2025-10-26T22:45:20.539Z,1761518720.539 [DAT](INFO): DAT read: 22:45:18.7205 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 155, 0.08,-0.695,-2.299,-1.072,-1.698, PHS= 1.105,-0.556, 0.583, RAW= 132.1, -15.2, CAL= 131.0, -18.2, ROT=  19.0,  18.2

2025-10-26T22:45:20.547Z,1761518720.547 [DAT](INFO): got valid direction response:
 22:45:18.7205 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 155, 0.08,-0.695,-2.299,-1.072,-1.698, PHS= 1.105,-0.556, 0.583, RAW= 132.1, -15.2, CAL= 131.0, -18.2, ROT=  19.0,  18.2

2025-10-26T22:45:20.556Z,1761518720.556 [DAT](INFO): DAT read: Bearing 282.2,  23.3 (Local)

2025-10-26T22:45:20.557Z,1761518720.557 [DAT](INFO): Local bearing/azimuth received:
 Bearing 282.2,  23.3 (Local)

2025-10-26T22:45:20.560Z,1761518720.560 [DAT](INFO): DAT read: Range 11 to 50 : 247.1 m  (Round-trip  329.5 ms) speed  0.2 m/s

2025-10-26T22:45:20.562Z,1761518720.562 [DAT](INFO): DAT read: Tx time:22:45:19.7868

2025-10-26T22:45:20.562Z,1761518720.562 [DAT](INFO): Ping request sent.
2025-10-26T22:45:20.562Z,1761518720.562 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:45:20.563Z,1761518720.563 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:45:20.565Z,1761518720.565 [DAT](INFO): direction in FSK: [0.898216,0.309281,-0.312335]
2025-10-26T22:45:20.565Z,1761518720.565 [DAT](INFO): publishing transmit ping time
2025-10-26T22:45:20.565Z,1761518720.565 [DAT](INFO): publishing direction and range info
2025-10-26T22:45:20.572Z,1761518720.572 [DAT](INFO): publishing transmit ping time
2025-10-26T22:45:20.572Z,1761518720.572 [DAT](INFO): publishing direction and range info
2025-10-26T22:45:20.701Z,1761518720.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742373,-0.657059,-0.130983],[0.669746,-0.722537,-0.171408],[0.017985,-0.214974,0.976454]]
2025-10-26T22:45:20.821Z,1761518720.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 247.100006 m,
      deltaT: 3.782492 s,
      deltaX: -2.500000 m,
      approachRate: -0.660940 m/s,
      rangeRepo size: 4

2025-10-26T22:45:20.828Z,1761518720.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 245.624466 m,
      bearing: 152.498055 deg,
      lat: 36.779195 deg,
      lon: -121.859429 deg,
      deltaT: 3.782492 s,
      deltaX: -2.481766 m,
      approachRate: -0.656119 m/s,
      posRepo size: 4

2025-10-26T22:45:20.828Z,1761518720.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.62 m.
2025-10-26T22:45:20.831Z,1761518720.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.624466 m,
      nav range: 224.546783 m,
      bearing: 153.828524 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.017175 deg/s,
      cmd heading: 140.498453 deg,
      new cmd heading: 140.523321 deg.

2025-10-26T22:45:20.836Z,1761518720.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.452595 target range: 245.624466 and range: 247.10 m.
2025-10-26T22:45:21.131Z,1761518721.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741939,-0.658603,-0.125577],[0.670261,-0.723929,-0.163333],[0.016662,-0.205352,0.978546]]
2025-10-26T22:45:21.165Z,1761518721.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.62 m.
2025-10-26T22:45:21.173Z,1761518721.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.624466 m,
      nav range: 224.354584 m,
      bearing: 153.838726 deg,
      approach rate: -0.557508 m/s,
      LOS rate: 0.029618 deg/s,
      cmd heading: 140.523315 deg,
      new cmd heading: 140.553947 deg.

2025-10-26T22:45:21.174Z,1761518721.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.453129 target range: 245.624466 and range: 247.10 m.
2025-10-26T22:45:21.537Z,1761518721.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742558,-0.659014,-0.119616],[0.669613,-0.726430,-0.154653],[0.015025,-0.194935,0.980701]]
2025-10-26T22:45:21.567Z,1761518721.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.62 m.
2025-10-26T22:45:21.572Z,1761518721.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.624466 m,
      nav range: 224.128876 m,
      bearing: 153.850663 deg,
      approach rate: -0.562605 m/s,
      LOS rate: 0.029785 deg/s,
      cmd heading: 140.553941 deg,
      new cmd heading: 140.589789 deg.

2025-10-26T22:45:21.574Z,1761518721.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.453755 target range: 245.624466 and range: 247.10 m.
2025-10-26T22:45:21.956Z,1761518721.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743839,-0.658581,-0.113908],[0.668230,-0.729460,-0.146143],[0.013156,-0.184823,0.982684]]
2025-10-26T22:45:22.017Z,1761518722.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.62 m.
2025-10-26T22:45:22.026Z,1761518722.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.624466 m,
      nav range: 223.886520 m,
      bearing: 153.865369 deg,
      approach rate: -0.537553 m/s,
      LOS rate: 0.032654 deg/s,
      cmd heading: 140.589786 deg,
      new cmd heading: 140.633953 deg.

2025-10-26T22:45:22.027Z,1761518722.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.454525 target range: 245.624466 and range: 247.10 m.
2025-10-26T22:45:22.345Z,1761518722.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745757,-0.657263,-0.108867],[0.666123,-0.732864,-0.138530],[0.011266,-0.175829,0.984356]]
2025-10-26T22:45:22.361Z,1761518722.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:22.364Z,1761518722.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.62 m.
2025-10-26T22:45:22.366Z,1761518722.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.624466 m,
      nav range: 223.685547 m,
      bearing: 153.877423 deg,
      approach rate: -0.581142 m/s,
      LOS rate: 0.034887 deg/s,
      cmd heading: 140.633950 deg,
      new cmd heading: 140.670145 deg.

2025-10-26T22:45:22.368Z,1761518722.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455157 target range: 245.624466 and range: 247.10 m.
2025-10-26T22:45:22.528Z,1761518722.528 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:45:22.528Z,1761518722.528 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:45:22.528Z,1761518722.528 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:45:22.778Z,1761518722.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748186,-0.655238,-0.104312],[0.663422,-0.736565,-0.131694],[0.009458,-0.167734,0.985787]]
2025-10-26T22:45:22.780Z,1761518722.780 [DAT](INFO): DAT read: user:653>

2025-10-26T22:45:22.781Z,1761518722.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.218846
2025-10-26T22:45:22.844Z,1761518722.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.62 m.
2025-10-26T22:45:22.846Z,1761518722.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.624466 m,
      nav range: 223.420395 m,
      bearing: 153.892706 deg,
      approach rate: -0.552392 m/s,
      LOS rate: 0.031876 deg/s,
      cmd heading: 140.670150 deg,
      new cmd heading: 140.716053 deg.

2025-10-26T22:45:22.848Z,1761518722.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455958 target range: 245.624466 and range: 247.10 m.
2025-10-26T22:45:23.033Z,1761518723.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470603
2025-10-26T22:45:23.150Z,1761518723.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750315,-0.653523,-0.099680],[0.661039,-0.739990,-0.124265],[0.007448,-0.159130,0.987230]]
2025-10-26T22:45:23.176Z,1761518723.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.62 m.
2025-10-26T22:45:23.179Z,1761518723.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.624466 m,
      nav range: 223.236954 m,
      bearing: 153.903130 deg,
      approach rate: -0.551126 m/s,
      LOS rate: 0.031343 deg/s,
      cmd heading: 140.716049 deg,
      new cmd heading: 140.747347 deg.

2025-10-26T22:45:23.196Z,1761518723.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.456505 target range: 245.624466 and range: 247.10 m.
2025-10-26T22:45:23.285Z,1761518723.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722491
2025-10-26T22:45:23.536Z,1761518723.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974157
2025-10-26T22:45:23.585Z,1761518723.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752404,-0.651780,-0.095242],[0.658677,-0.743205,-0.117438],[0.005760,-0.151095,0.988503]]
2025-10-26T22:45:23.603Z,1761518723.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.62 m.
2025-10-26T22:45:23.606Z,1761518723.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.624466 m,
      nav range: 223.000458 m,
      bearing: 153.916377 deg,
      approach rate: -0.553857 m/s,
      LOS rate: 0.031056 deg/s,
      cmd heading: 140.747345 deg,
      new cmd heading: 140.787128 deg.

2025-10-26T22:45:23.607Z,1761518723.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.457199 target range: 245.624466 and range: 247.10 m.
2025-10-26T22:45:23.788Z,1761518723.788 [DAT](INFO): DAT read: Rx Time:22:45:22.5192

2025-10-26T22:45:23.789Z,1761518723.789 [DAT](INFO): Rx dataTimestamp_ set to:1761518723.788666
2025-10-26T22:45:23.789Z,1761518723.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227296
2025-10-26T22:45:23.958Z,1761518723.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754596,-0.649925,-0.090457],[0.656176,-0.746478,-0.110469],[0.004273,-0.142715,0.989755]]
2025-10-26T22:45:24.007Z,1761518724.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.62 m.
2025-10-26T22:45:24.010Z,1761518724.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.624466 m,
      nav range: 222.787125 m,
      bearing: 153.928001 deg,
      approach rate: -0.528081 m/s,
      LOS rate: 0.028801 deg/s,
      cmd heading: 140.787124 deg,
      new cmd heading: 140.822029 deg.

2025-10-26T22:45:24.011Z,1761518724.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.457808 target range: 245.624466 and range: 247.10 m.
2025-10-26T22:45:24.041Z,1761518724.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.478517
2025-10-26T22:45:24.306Z,1761518724.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.732618
2025-10-26T22:45:24.364Z,1761518724.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756231,-0.648368,-0.087940],[0.654299,-0.748806,-0.105748],[0.002713,-0.137509,0.990497]]
2025-10-26T22:45:24.386Z,1761518724.386 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:24.388Z,1761518724.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.62 m.
2025-10-26T22:45:24.391Z,1761518724.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.624466 m,
      nav range: 222.585541 m,
      bearing: 153.938859 deg,
      approach rate: -0.529841 m/s,
      LOS rate: 0.028564 deg/s,
      cmd heading: 140.822026 deg,
      new cmd heading: 140.854629 deg.

2025-10-26T22:45:24.392Z,1761518724.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.458377 target range: 245.624466 and range: 247.10 m.
2025-10-26T22:45:24.554Z,1761518724.554 [DAT](INFO): DAT read: 22:45:22.5192 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 430, 0.15,-2.475, 2.346,-2.774, 2.859, PHS= 1.052,-0.468, 0.607, RAW= 133.4, -17.3, CAL= 132.4, -20.6, ROT=  17.6,  20.6

2025-10-26T22:45:24.557Z,1761518724.557 [DAT](INFO): got valid direction response:
 22:45:22.5192 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 430, 0.15,-2.475, 2.346,-2.774, 2.859, PHS= 1.052,-0.468, 0.607, RAW= 133.4, -17.3, CAL= 132.4, -20.6, ROT=  17.6,  20.6

2025-10-26T22:45:24.559Z,1761518724.559 [DAT](INFO): DAT read: Bearing 277.7,  19.4 (Local)

2025-10-26T22:45:24.559Z,1761518724.559 [DAT](INFO): Local bearing/azimuth received:
 Bearing 277.7,  19.4 (Local)

2025-10-26T22:45:24.562Z,1761518724.562 [DAT](INFO): DAT read: Range 11 to 50 : 246.2 m  (Round-trip  328.3 ms) speed  0.0 m/s

2025-10-26T22:45:24.563Z,1761518724.563 [DAT](INFO): DAT read: Tx time:22:45:23.5868

2025-10-26T22:45:24.571Z,1761518724.571 [DAT](INFO): Ping request sent.
2025-10-26T22:45:24.572Z,1761518724.572 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:45:24.574Z,1761518724.574 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:45:24.579Z,1761518724.579 [DAT](INFO): direction in FSK: [0.892243,0.283036,-0.351842]
2025-10-26T22:45:24.580Z,1761518724.580 [DAT](INFO): publishing transmit ping time
2025-10-26T22:45:24.581Z,1761518724.581 [DAT](INFO): publishing direction and range info
2025-10-26T22:45:24.616Z,1761518724.616 [DAT](INFO): publishing transmit ping time
2025-10-26T22:45:24.616Z,1761518724.616 [DAT](INFO): publishing direction and range info
2025-10-26T22:45:24.816Z,1761518724.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758068,-0.646287,-0.087436],[0.652173,-0.750894,-0.104059],[0.001597,-0.135907,0.990720]]
2025-10-26T22:45:24.878Z,1761518724.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 246.199997 m,
      deltaT: 4.027716 s,
      deltaX: -0.900009 m,
      approachRate: -0.223454 m/s,
      rangeRepo size: 4

2025-10-26T22:45:24.881Z,1761518724.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 244.730667 m,
      bearing: 153.895462 deg,
      lat: 36.779176 deg,
      lon: -121.859410 deg,
      deltaT: 4.027716 s,
      deltaX: -0.893799 m,
      approachRate: -0.221912 m/s,
      posRepo size: 4

2025-10-26T22:45:24.881Z,1761518724.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.73 m.
2025-10-26T22:45:24.884Z,1761518724.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.730667 m,
      nav range: 225.004074 m,
      bearing: 153.795090 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.028564 deg/s,
      cmd heading: 140.854634 deg,
      new cmd heading: 140.896641 deg.

2025-10-26T22:45:24.885Z,1761518724.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.459110 target range: 244.730667 and range: 246.20 m.
2025-10-26T22:45:25.176Z,1761518725.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759295,-0.645029,-0.086074],[0.650746,-0.752500,-0.101357],[0.000608,-0.132972,0.991120]]
2025-10-26T22:45:25.194Z,1761518725.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.73 m.
2025-10-26T22:45:25.197Z,1761518725.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.730667 m,
      nav range: 224.833145 m,
      bearing: 153.802711 deg,
      approach rate: -0.540007 m/s,
      LOS rate: 0.024093 deg/s,
      cmd heading: 140.896639 deg,
      new cmd heading: 140.919518 deg.

2025-10-26T22:45:25.198Z,1761518725.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.459510 target range: 244.730667 and range: 246.20 m.
2025-10-26T22:45:25.596Z,1761518725.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760366,-0.643914,-0.084958],[0.649495,-0.753824,-0.099527],[0.000043,-0.130857,0.991401]]
2025-10-26T22:45:25.614Z,1761518725.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.73 m.
2025-10-26T22:45:25.617Z,1761518725.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.730667 m,
      nav range: 224.616760 m,
      bearing: 153.812274 deg,
      approach rate: -0.516088 m/s,
      LOS rate: 0.022832 deg/s,
      cmd heading: 140.919520 deg,
      new cmd heading: 140.948239 deg.

2025-10-26T22:45:25.618Z,1761518725.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.460011 target range: 244.730667 and range: 246.20 m.
2025-10-26T22:45:25.987Z,1761518725.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760944,-0.643378,-0.083838],[0.648817,-0.754563,-0.098342],[0.000010,-0.129229,0.991615]]
2025-10-26T22:45:26.036Z,1761518726.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.73 m.
2025-10-26T22:45:26.039Z,1761518726.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.730667 m,
      nav range: 224.411438 m,
      bearing: 153.820468 deg,
      approach rate: -0.486622 m/s,
      LOS rate: 0.019436 deg/s,
      cmd heading: 140.948235 deg,
      new cmd heading: 140.972837 deg.

2025-10-26T22:45:26.040Z,1761518726.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.460440 target range: 244.730667 and range: 246.20 m.
2025-10-26T22:45:26.389Z,1761518726.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761468,-0.642728,-0.084067],[0.648203,-0.754999,-0.099042],[0.000187,-0.129909,0.991526]]
2025-10-26T22:45:26.405Z,1761518726.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:26.408Z,1761518726.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.73 m.
2025-10-26T22:45:26.410Z,1761518726.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.730667 m,
      nav range: 224.230148 m,
      bearing: 153.827678 deg,
      approach rate: -0.487423 m/s,
      LOS rate: 0.019401 deg/s,
      cmd heading: 140.972837 deg,
      new cmd heading: 140.994484 deg.

2025-10-26T22:45:26.412Z,1761518726.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.460818 target range: 244.730667 and range: 246.20 m.
2025-10-26T22:45:26.561Z,1761518726.561 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:45:26.561Z,1761518726.561 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:45:26.562Z,1761518726.562 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:45:26.815Z,1761518726.815 [DAT](INFO): DAT read: user:654>

2025-10-26T22:45:26.829Z,1761518726.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265358
2025-10-26T22:45:26.852Z,1761518726.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761729,-0.642371,-0.084431],[0.647895,-0.755060,-0.100580],[0.000859,-0.131318,0.991340]]
2025-10-26T22:45:26.904Z,1761518726.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.73 m.
2025-10-26T22:45:26.907Z,1761518726.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.730667 m,
      nav range: 223.994675 m,
      bearing: 153.834378 deg,
      approach rate: -0.474168 m/s,
      LOS rate: 0.013507 deg/s,
      cmd heading: 140.994489 deg,
      new cmd heading: 141.014611 deg.

2025-10-26T22:45:26.913Z,1761518726.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.461169 target range: 244.730667 and range: 246.20 m.
2025-10-26T22:45:27.065Z,1761518727.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501815
2025-10-26T22:45:27.231Z,1761518727.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761844,-0.642323,-0.083757],[0.647758,-0.755066,-0.101417],[0.001901,-0.131518,0.991312]]
2025-10-26T22:45:27.249Z,1761518727.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.73 m.
2025-10-26T22:45:27.252Z,1761518727.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.730667 m,
      nav range: 223.824478 m,
      bearing: 153.839222 deg,
      approach rate: -0.493039 m/s,
      LOS rate: 0.014044 deg/s,
      cmd heading: 141.014610 deg,
      new cmd heading: 141.029154 deg.

2025-10-26T22:45:27.253Z,1761518727.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.461423 target range: 244.730667 and range: 246.20 m.
2025-10-26T22:45:27.318Z,1761518727.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755172
2025-10-26T22:45:27.574Z,1761518727.574 [DAT](INFO): DAT read: Rx Time:22:45:26.3177

2025-10-26T22:45:27.574Z,1761518727.574 [DAT](INFO): Rx dataTimestamp_ set to:1761518727.574000
2025-10-26T22:45:27.575Z,1761518727.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011586
2025-10-26T22:45:27.637Z,1761518727.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761743,-0.642518,-0.083177],[0.647871,-0.754757,-0.102985],[0.003391,-0.132336,0.991199]]
2025-10-26T22:45:27.671Z,1761518727.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.73 m.
2025-10-26T22:45:27.674Z,1761518727.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.730667 m,
      nav range: 223.629028 m,
      bearing: 153.844806 deg,
      approach rate: -0.481600 m/s,
      LOS rate: 0.013769 deg/s,
      cmd heading: 141.029159 deg,
      new cmd heading: 141.045923 deg.

2025-10-26T22:45:27.675Z,1761518727.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.461716 target range: 244.730667 and range: 246.20 m.
2025-10-26T22:45:27.827Z,1761518727.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263415
2025-10-26T22:45:28.037Z,1761518728.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761596,-0.642769,-0.082584],[0.648034,-0.754399,-0.104570],[0.004914,-0.133157,0.991083]]
2025-10-26T22:45:28.079Z,1761518728.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515364
2025-10-26T22:45:28.153Z,1761518728.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.73 m.
2025-10-26T22:45:28.161Z,1761518728.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.730667 m,
      nav range: 223.386612 m,
      bearing: 153.851323 deg,
      approach rate: -0.486513 m/s,
      LOS rate: 0.013093 deg/s,
      cmd heading: 141.045920 deg,
      new cmd heading: 141.065492 deg.

2025-10-26T22:45:28.162Z,1761518728.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.462057 target range: 244.730667 and range: 246.20 m.
2025-10-26T22:45:28.337Z,1761518728.337 [DAT](INFO): DAT read: 22:45:26.3177 LVL= 26272, 32753, 31314, 32755, AGC= 67, IDX= 415,-0.42,-0.513,-2.153,-0.789,-1.663, PHS= 1.251,-0.446, 0.830, RAW= 136.2, -20.7, CAL= 136.0, -23.3, ROT=  14.0,  23.3

2025-10-26T22:45:28.338Z,1761518728.338 [DAT](INFO): got valid direction response:
 22:45:26.3177 LVL= 26272, 32753, 31314, 32755, AGC= 67, IDX= 415,-0.42,-0.513,-2.153,-0.789,-1.663, PHS= 1.251,-0.446, 0.830, RAW= 136.2, -20.7, CAL= 136.0, -23.3, ROT=  14.0,  23.3

2025-10-26T22:45:28.339Z,1761518728.339 [DAT](INFO): DAT read: Bearing 274.8,  15.9 (Local)

2025-10-26T22:45:28.352Z,1761518728.352 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.8,  15.9 (Local)

2025-10-26T22:45:28.361Z,1761518728.361 [DAT](INFO): DAT read: Range 11 to 50 : 245.1 m  (Round-trip  326.8 ms) speed  0.4 m/s

2025-10-26T22:45:28.362Z,1761518728.362 [DAT](INFO): DAT read: user:655>Tx time:22:45:27.3868

2025-10-26T22:45:28.362Z,1761518728.362 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:45:28.382Z,1761518728.382 [DAT](INFO): direction in FSK: [0.891165,0.222192,-0.395545]
2025-10-26T22:45:28.383Z,1761518728.383 [DAT](INFO): publishing direction and range info
2025-10-26T22:45:28.400Z,1761518728.400 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:45:28.400Z,1761518728.400 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:45:28.401Z,1761518728.401 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:45:28.459Z,1761518728.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761490,-0.642824,-0.083126],[0.648144,-0.753883,-0.107564],[0.006478,-0.135787,0.990717]]
2025-10-26T22:45:28.525Z,1761518728.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 245.100006 m,
      deltaT: 3.786704 s,
      deltaX: -1.099991 m,
      approachRate: -0.290488 m/s,
      rangeRepo size: 4

2025-10-26T22:45:28.527Z,1761518728.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 243.640610 m,
      bearing: 150.143769 deg,
      lat: 36.779176 deg,
      lon: -121.859350 deg,
      deltaT: 3.786704 s,
      deltaX: -1.090057 m,
      approachRate: -0.287864 m/s,
      posRepo size: 4

2025-10-26T22:45:28.532Z,1761518728.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.64 m.
2025-10-26T22:45:28.534Z,1761518728.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.640610 m,
      nav range: 225.584045 m,
      bearing: 152.654276 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013093 deg/s,
      cmd heading: 141.065495 deg,
      new cmd heading: 141.080056 deg.

2025-10-26T22:45:28.540Z,1761518728.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.462312 target range: 243.640610 and range: 245.10 m.
2025-10-26T22:45:28.587Z,1761518728.587 [DAT](INFO): DAT read: 

2025-10-26T22:45:28.588Z,1761518728.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.024491
2025-10-26T22:45:28.839Z,1761518728.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.275090
2025-10-26T22:45:28.884Z,1761518728.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761711,-0.642375,-0.084565],[0.647864,-0.753456,-0.112142],[0.008321,-0.140206,0.990087]]
2025-10-26T22:45:28.925Z,1761518728.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:28.927Z,1761518728.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.64 m.
2025-10-26T22:45:28.930Z,1761518728.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.640610 m,
      nav range: 225.374802 m,
      bearing: 152.658079 deg,
      approach rate: -0.519128 m/s,
      LOS rate: 0.009444 deg/s,
      cmd heading: 141.080057 deg,
      new cmd heading: 141.091476 deg.

2025-10-26T22:45:28.931Z,1761518728.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.462511 target range: 243.640610 and range: 245.10 m.
2025-10-26T22:45:29.088Z,1761518729.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.525116
2025-10-26T22:45:29.274Z,1761518729.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761710,-0.642420,-0.084233],[0.647841,-0.753151,-0.114306],[0.009992,-0.141637,0.989868]]
2025-10-26T22:45:29.308Z,1761518729.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.64 m.
2025-10-26T22:45:29.311Z,1761518729.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.640610 m,
      nav range: 225.195999 m,
      bearing: 152.661338 deg,
      approach rate: -0.469212 m/s,
      LOS rate: 0.008560 deg/s,
      cmd heading: 141.091477 deg,
      new cmd heading: 141.101263 deg.

2025-10-26T22:45:29.313Z,1761518729.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.462682 target range: 243.640610 and range: 245.10 m.
2025-10-26T22:45:29.346Z,1761518729.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.782740
2025-10-26T22:45:29.596Z,1761518729.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.033234
2025-10-26T22:45:29.678Z,1761518729.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761861,-0.642172,-0.084752],[0.647646,-0.752965,-0.116614],[0.011071,-0.143733,0.989555]]
2025-10-26T22:45:29.696Z,1761518729.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.64 m.
2025-10-26T22:45:29.700Z,1761518729.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.640610 m,
      nav range: 224.997757 m,
      bearing: 152.664953 deg,
      approach rate: -0.510960 m/s,
      LOS rate: 0.009324 deg/s,
      cmd heading: 141.101258 deg,
      new cmd heading: 141.112111 deg.

2025-10-26T22:45:29.701Z,1761518729.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.462871 target range: 243.640610 and range: 245.10 m.
2025-10-26T22:45:29.852Z,1761518729.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288453
2025-10-26T22:45:30.084Z,1761518730.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762100,-0.641768,-0.085653],[0.647355,-0.752906,-0.118595],[0.011622,-0.145830,0.989241]]
2025-10-26T22:45:30.100Z,1761518730.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.537204
2025-10-26T22:45:30.142Z,1761518730.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.64 m.
2025-10-26T22:45:30.149Z,1761518730.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.640610 m,
      nav range: 224.780243 m,
      bearing: 152.669146 deg,
      approach rate: -0.487708 m/s,
      LOS rate: 0.009410 deg/s,
      cmd heading: 141.112104 deg,
      new cmd heading: 141.124694 deg.

2025-10-26T22:45:30.150Z,1761518730.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.463091 target range: 243.640610 and range: 245.10 m.
2025-10-26T22:45:30.352Z,1761518730.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.789178
2025-10-26T22:45:30.486Z,1761518730.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762289,-0.641482,-0.086114],[0.647131,-0.752988,-0.119293],[0.011681,-0.146663,0.989118]]
2025-10-26T22:45:30.504Z,1761518730.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.64 m.
2025-10-26T22:45:30.507Z,1761518730.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.640610 m,
      nav range: 224.585083 m,
      bearing: 152.672902 deg,
      approach rate: -0.539251 m/s,
      LOS rate: 0.010388 deg/s,
      cmd heading: 141.124699 deg,
      new cmd heading: 141.135978 deg.

2025-10-26T22:45:30.508Z,1761518730.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.463288 target range: 243.640610 and range: 245.10 m.
2025-10-26T22:45:30.605Z,1761518730.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.041315
2025-10-26T22:45:30.859Z,1761518730.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.295075
2025-10-26T22:45:30.908Z,1761518730.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762708,-0.640916,-0.086621],[0.646640,-0.753324,-0.119830],[0.011547,-0.147408,0.989008]]
2025-10-26T22:45:31.021Z,1761518731.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:31.023Z,1761518731.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.64 m.
2025-10-26T22:45:31.049Z,1761518731.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.640610 m,
      nav range: 224.308533 m,
      bearing: 152.679083 deg,
      approach rate: -0.532934 m/s,
      LOS rate: 0.011927 deg/s,
      cmd heading: 141.135983 deg,
      new cmd heading: 141.154550 deg.

2025-10-26T22:45:31.056Z,1761518731.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.463612 target range: 243.640610 and range: 245.10 m.
2025-10-26T22:45:31.108Z,1761518731.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.545207
2025-10-26T22:45:31.360Z,1761518731.360 [DAT](INFO): DAT read: Rx Time:22:45:30.1145

2025-10-26T22:45:31.361Z,1761518731.361 [DAT](INFO): Rx dataTimestamp_ set to:1761518731.360651
2025-10-26T22:45:31.361Z,1761518731.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.798225
2025-10-26T22:45:31.378Z,1761518731.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763045,-0.640451,-0.087084],[0.646251,-0.753682,-0.119682],[0.011017,-0.147601,0.988986]]
2025-10-26T22:45:31.431Z,1761518731.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.64 m.
2025-10-26T22:45:31.438Z,1761518731.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.640610 m,
      nav range: 224.092819 m,
      bearing: 152.683887 deg,
      approach rate: -0.528829 m/s,
      LOS rate: 0.011788 deg/s,
      cmd heading: 141.154547 deg,
      new cmd heading: 141.168973 deg.

2025-10-26T22:45:31.439Z,1761518731.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.463863 target range: 243.640610 and range: 245.10 m.
2025-10-26T22:45:31.612Z,1761518731.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.049110
2025-10-26T22:45:31.782Z,1761518731.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763420,-0.639937,-0.087586],[0.645834,-0.754312,-0.117947],[0.009411,-0.146609,0.989150]]
2025-10-26T22:45:31.810Z,1761518731.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.64 m.
2025-10-26T22:45:31.837Z,1761518731.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.640610 m,
      nav range: 223.891266 m,
      bearing: 152.688352 deg,
      approach rate: -0.532147 m/s,
      LOS rate: 0.011798 deg/s,
      cmd heading: 141.168973 deg,
      new cmd heading: 141.182378 deg.

2025-10-26T22:45:31.845Z,1761518731.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.464097 target range: 243.640610 and range: 245.10 m.
2025-10-26T22:45:31.868Z,1761518731.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304159
2025-10-26T22:45:32.122Z,1761518732.122 [DAT](INFO): DAT read: 22:45:30.1145 LVL= 29792, 32753, 32754, 32755, AGC= 68, IDX= 130, 0.17,-2.397, 2.051,-2.624,-2.861, PHS= 0.567,-1.326, 0.193, RAW= 139.3,   6.6, CAL= 139.0,   7.4, ROT=  11.0,  -7.4

2025-10-26T22:45:32.123Z,1761518732.123 [DAT](INFO): got valid direction response:
 22:45:30.1145 LVL= 29792, 32753, 32754, 32755, AGC= 68, IDX= 130, 0.17,-2.397, 2.051,-2.624,-2.861, PHS= 0.567,-1.326, 0.193, RAW= 139.3,   6.6, CAL= 139.0,   7.4, ROT=  11.0,  -7.4

2025-10-26T22:45:32.124Z,1761518732.124 [DAT](INFO): DAT read: Bearing 306.7,  10.1 (Local)

2025-10-26T22:45:32.124Z,1761518732.124 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.7,  10.1 (Local)

2025-10-26T22:45:32.126Z,1761518732.126 [DAT](INFO): DAT read: Range 11 to 50 : 242.7 m  (Round-trip  323.6 ms) speed  0.5 m/s

2025-10-26T22:45:32.127Z,1761518732.127 [DAT](INFO): DAT read: user:656>Tx time:22:45:31.1868

2025-10-26T22:45:32.127Z,1761518732.127 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:45:32.128Z,1761518732.128 [DAT](INFO): direction in FSK: [0.973451,0.189220,0.128796]
2025-10-26T22:45:32.129Z,1761518732.129 [DAT](INFO): publishing direction and range info
2025-10-26T22:45:32.148Z,1761518732.148 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:45:32.149Z,1761518732.149 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:45:32.149Z,1761518732.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:45:32.256Z,1761518732.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764982,-0.637890,-0.088873],[0.644023,-0.756343,-0.114802],[0.006013,-0.145057,0.989405]]
2025-10-26T22:45:32.332Z,1761518732.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 242.699997 m,
      deltaT: 3.785275 s,
      deltaX: -2.400009 m,
      approachRate: -0.634038 m/s,
      rangeRepo size: 4

2025-10-26T22:45:32.334Z,1761518732.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 241.249817 m,
      bearing: 151.857033 deg,
      lat: 36.779168 deg,
      lon: -121.859350 deg,
      deltaT: 3.785275 s,
      deltaX: -2.390793 m,
      approachRate: -0.631603 m/s,
      posRepo size: 4

2025-10-26T22:45:32.335Z,1761518732.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.25 m.
2025-10-26T22:45:32.342Z,1761518732.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.249817 m,
      nav range: 224.405197 m,
      bearing: 152.799200 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011798 deg/s,
      cmd heading: 141.182373 deg,
      new cmd heading: 141.200688 deg.

2025-10-26T22:45:32.342Z,1761518732.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.464417 target range: 241.249817 and range: 242.70 m.
2025-10-26T22:45:32.368Z,1761518732.368 [DAT](INFO): DAT read: 

2025-10-26T22:45:32.369Z,1761518732.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.805671
2025-10-26T22:45:32.380Z,1761518732.380 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:45:32.620Z,1761518732.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.057168
2025-10-26T22:45:32.690Z,1761518732.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.25 m.
2025-10-26T22:45:32.693Z,1761518732.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.249817 m,
      nav range: 224.197311 m,
      bearing: 152.804203 deg,
      approach rate: -0.573141 m/s,
      LOS rate: 0.013807 deg/s,
      cmd heading: 141.200692 deg,
      new cmd heading: 141.215715 deg.

2025-10-26T22:45:32.694Z,1761518732.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.464679 target range: 241.249817 and range: 242.70 m.
2025-10-26T22:45:32.876Z,1761518732.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.311348
2025-10-26T22:45:33.069Z,1761518733.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766796,-0.635452,-0.090695],[0.641889,-0.758765,-0.110694],[0.001525,-0.143096,0.989708]]
2025-10-26T22:45:33.103Z,1761518733.103 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:33.121Z,1761518733.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.25 m.
2025-10-26T22:45:33.125Z,1761518733.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.561300
2025-10-26T22:45:33.129Z,1761518733.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.249817 m,
      nav range: 223.963257 m,
      bearing: 152.810787 deg,
      approach rate: -0.542503 m/s,
      LOS rate: 0.015278 deg/s,
      cmd heading: 141.215718 deg,
      new cmd heading: 141.235492 deg.

2025-10-26T22:45:33.130Z,1761518733.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.465024 target range: 241.249817 and range: 242.70 m.
2025-10-26T22:45:33.376Z,1761518733.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.813206
2025-10-26T22:45:33.384Z,1761518733.384 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:45:33.462Z,1761518733.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767307,-0.634879,-0.090380],[0.641279,-0.759853,-0.106699],[-0.000934,-0.139830,0.990175]]
2025-10-26T22:45:33.499Z,1761518733.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.25 m.
2025-10-26T22:45:33.502Z,1761518733.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.249817 m,
      nav range: 223.750946 m,
      bearing: 152.816722 deg,
      approach rate: -0.564777 m/s,
      LOS rate: 0.015802 deg/s,
      cmd heading: 141.235499 deg,
      new cmd heading: 141.253319 deg.

2025-10-26T22:45:33.503Z,1761518733.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.465336 target range: 241.249817 and range: 242.70 m.
2025-10-26T22:45:33.629Z,1761518733.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.065418
2025-10-26T22:45:33.883Z,1761518733.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.319342
2025-10-26T22:45:33.930Z,1761518733.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767839,-0.634228,-0.090428],[0.640634,-0.760854,-0.103388],[-0.003231,-0.137316,0.990522]]
2025-10-26T22:45:33.972Z,1761518733.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.25 m.
2025-10-26T22:45:33.975Z,1761518733.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.249817 m,
      nav range: 223.466522 m,
      bearing: 152.827026 deg,
      approach rate: -0.599719 m/s,
      LOS rate: 0.021754 deg/s,
      cmd heading: 141.253325 deg,
      new cmd heading: 141.284277 deg.

2025-10-26T22:45:33.976Z,1761518733.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.465876 target range: 241.249817 and range: 242.70 m.
2025-10-26T22:45:34.132Z,1761518734.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.569100
2025-10-26T22:45:34.271Z,1761518734.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768569,-0.633170,-0.091637],[0.639743,-0.761845,-0.101595],[-0.005486,-0.136707,0.990596]]
2025-10-26T22:45:34.288Z,1761518734.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.25 m.
2025-10-26T22:45:34.291Z,1761518734.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.249817 m,
      nav range: 223.282593 m,
      bearing: 152.833648 deg,
      approach rate: -0.580391 m/s,
      LOS rate: 0.020912 deg/s,
      cmd heading: 141.284280 deg,
      new cmd heading: 141.304161 deg.

2025-10-26T22:45:34.292Z,1761518734.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.466223 target range: 241.249817 and range: 242.70 m.
2025-10-26T22:45:34.385Z,1761518734.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.821754
2025-10-26T22:45:34.636Z,1761518734.636 [DAT](INFO): Reached modem response timeout
2025-10-26T22:45:34.636Z,1761518734.636 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:34.637Z,1761518734.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:45:34.674Z,1761518734.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769176,-0.632454,-0.091492],[0.638991,-0.762914,-0.098245],[-0.007665,-0.134030,0.990948]]
2025-10-26T22:45:34.717Z,1761518734.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.25 m.
2025-10-26T22:45:34.722Z,1761518734.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.249817 m,
      nav range: 223.037186 m,
      bearing: 152.842434 deg,
      approach rate: -0.574724 m/s,
      LOS rate: 0.020600 deg/s,
      cmd heading: 141.304156 deg,
      new cmd heading: 141.330545 deg.

2025-10-26T22:45:34.723Z,1761518734.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.466683 target range: 241.249817 and range: 242.70 m.
2025-10-26T22:45:34.890Z,1761518734.890 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:35.078Z,1761518735.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769449,-0.631952,-0.092652],[0.638630,-0.763484,-0.096146],[-0.009979,-0.133150,0.991046]]
2025-10-26T22:45:35.126Z,1761518735.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:35.128Z,1761518735.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.25 m.
2025-10-26T22:45:35.131Z,1761518735.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.249817 m,
      nav range: 222.793106 m,
      bearing: 152.852529 deg,
      approach rate: -0.591159 m/s,
      LOS rate: 0.024477 deg/s,
      cmd heading: 141.330548 deg,
      new cmd heading: 141.360866 deg.

2025-10-26T22:45:35.133Z,1761518735.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.467212 target range: 241.249817 and range: 242.70 m.
2025-10-26T22:45:35.140Z,1761518735.140 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:35.394Z,1761518735.394 [DAT](INFO): DAT read: Rx Time:22:45:33.9125

2025-10-26T22:45:35.395Z,1761518735.395 [DAT](INFO): Rx dataTimestamp_ set to:1761518735.394421
2025-10-26T22:45:35.395Z,1761518735.395 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:35.483Z,1761518735.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769990,-0.630942,-0.095011],[0.637942,-0.764076,-0.096010],[-0.012019,-0.134538,0.990836]]
2025-10-26T22:45:35.507Z,1761518735.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.25 m.
2025-10-26T22:45:35.510Z,1761518735.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.249817 m,
      nav range: 222.570404 m,
      bearing: 152.861708 deg,
      approach rate: -0.587691 m/s,
      LOS rate: 0.024247 deg/s,
      cmd heading: 141.360860 deg,
      new cmd heading: 141.388424 deg.

2025-10-26T22:45:35.511Z,1761518735.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.467694 target range: 241.249817 and range: 242.70 m.
2025-10-26T22:45:35.644Z,1761518735.644 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:45:35.917Z,1761518735.917 [DAT](INFO): DAT read: 22:45:33.9125 LVL= 27728, 32753, 31074, 32755, AGC= 65, IDX= 425,-0.18,-0.190,-1.634,-0.431,-1.200, PHS= 1.112,-0.389, 0.726, RAW= 135.6, -20.8, CAL= 135.4, -23.4, ROT=  14.6,  23.4

2025-10-26T22:45:35.921Z,1761518735.921 [DAT](INFO): got valid direction response:
 22:45:33.9125 LVL= 27728, 32753, 31074, 32755, AGC= 65, IDX= 425,-0.18,-0.190,-1.634,-0.431,-1.200, PHS= 1.112,-0.389, 0.726, RAW= 135.6, -20.8, CAL= 135.4, -23.4, ROT=  14.6,  23.4

2025-10-26T22:45:35.936Z,1761518735.936 [DAT](INFO): DAT read: Bearing 275.5,  16.0 (Local)

2025-10-26T22:45:35.938Z,1761518735.938 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.5,  16.0 (Local)

2025-10-26T22:45:35.946Z,1761518735.946 [DAT](INFO): DAT read: Range 11 to 50 : 241.1 m  (Round-trip  321.5 ms) speed  0.6 m/s

2025-10-26T22:45:35.960Z,1761518735.960 [DAT](INFO): DAT read: user:657>

2025-10-26T22:45:35.960Z,1761518735.960 [DAT](INFO): DAT read: Tx time:22:45:34.9868

2025-10-26T22:45:35.961Z,1761518735.961 [DAT](INFO): Ping request sent.
2025-10-26T22:45:35.961Z,1761518735.961 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:45:35.961Z,1761518735.961 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:45:35.962Z,1761518735.962 [DAT](INFO): direction in FSK: [0.888120,0.231338,-0.397148]
2025-10-26T22:45:35.962Z,1761518735.962 [DAT](INFO): publishing transmit ping time
2025-10-26T22:45:35.963Z,1761518735.963 [DAT](INFO): publishing direction and range info
2025-10-26T22:45:35.966Z,1761518735.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770572,-0.630039,-0.096280],[0.637210,-0.764762,-0.095404],[-0.013523,-0.134867,0.990771]]
2025-10-26T22:45:35.974Z,1761518735.974 [DAT](INFO): publishing transmit ping time
2025-10-26T22:45:35.974Z,1761518735.974 [DAT](INFO): publishing direction and range info
2025-10-26T22:45:36.108Z,1761518736.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 241.100006 m,
      deltaT: 3.781133 s,
      deltaX: -1.599991 m,
      approachRate: -0.423151 m/s,
      rangeRepo size: 4

2025-10-26T22:45:36.110Z,1761518736.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 239.665329 m,
      bearing: 151.671418 deg,
      lat: 36.779176 deg,
      lon: -121.859339 deg,
      deltaT: 3.781133 s,
      deltaX: -1.584488 m,
      approachRate: -0.419051 m/s,
      posRepo size: 4

2025-10-26T22:45:36.111Z,1761518736.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.67 m.
2025-10-26T22:45:36.118Z,1761518736.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.665329 m,
      nav range: 221.914917 m,
      bearing: 152.545347 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.024247 deg/s,
      cmd heading: 141.388427 deg,
      new cmd heading: 141.431489 deg.

2025-10-26T22:45:36.119Z,1761518736.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.468445 target range: 239.665329 and range: 241.10 m.
2025-10-26T22:45:36.428Z,1761518736.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771142,-0.629162,-0.097445],[0.636497,-0.765349,-0.095458],[-0.014520,-0.135635,0.990652]]
2025-10-26T22:45:36.446Z,1761518736.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.67 m.
2025-10-26T22:45:36.449Z,1761518736.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.665329 m,
      nav range: 221.687317 m,
      bearing: 152.556660 deg,
      approach rate: -0.656271 m/s,
      LOS rate: 0.032652 deg/s,
      cmd heading: 141.431484 deg,
      new cmd heading: 141.465456 deg.

2025-10-26T22:45:36.450Z,1761518736.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.469038 target range: 239.665329 and range: 241.10 m.
2025-10-26T22:45:36.830Z,1761518736.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772012,-0.627921,-0.098556],[0.635427,-0.766160,-0.096077],[-0.015181,-0.136798,0.990483]]
2025-10-26T22:45:36.854Z,1761518736.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.67 m.
2025-10-26T22:45:36.867Z,1761518736.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.665329 m,
      nav range: 221.449875 m,
      bearing: 152.568398 deg,
      approach rate: -0.582676 m/s,
      LOS rate: 0.028836 deg/s,
      cmd heading: 141.465457 deg,
      new cmd heading: 141.500709 deg.

2025-10-26T22:45:36.868Z,1761518736.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.469653 target range: 239.665329 and range: 241.10 m.
2025-10-26T22:45:37.234Z,1761518737.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772680,-0.626914,-0.099720],[0.634593,-0.766806,-0.096438],[-0.016008,-0.137798,0.990331]]
2025-10-26T22:45:37.297Z,1761518737.297 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:37.299Z,1761518737.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.67 m.
2025-10-26T22:45:37.305Z,1761518737.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.665329 m,
      nav range: 221.191681 m,
      bearing: 152.583036 deg,
      approach rate: -0.580113 m/s,
      LOS rate: 0.032929 deg/s,
      cmd heading: 141.500715 deg,
      new cmd heading: 141.544682 deg.

2025-10-26T22:45:37.306Z,1761518737.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.470421 target range: 239.665329 and range: 241.10 m.
2025-10-26T22:45:37.408Z,1761518737.408 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:45:37.408Z,1761518737.408 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:45:37.408Z,1761518737.408 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:45:37.644Z,1761518737.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773241,-0.625869,-0.101918],[0.633879,-0.767267,-0.097457],[-0.017203,-0.139962,0.990007]]
2025-10-26T22:45:37.661Z,1761518737.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.699731
2025-10-26T22:45:37.679Z,1761518737.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.67 m.
2025-10-26T22:45:37.682Z,1761518737.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.665329 m,
      nav range: 220.972809 m,
      bearing: 152.595418 deg,
      approach rate: -0.575440 m/s,
      LOS rate: 0.032584 deg/s,
      cmd heading: 141.544688 deg,
      new cmd heading: 141.581868 deg.

2025-10-26T22:45:37.683Z,1761518737.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.471070 target range: 239.665329 and range: 241.10 m.
2025-10-26T22:45:37.915Z,1761518737.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.953764
2025-10-26T22:45:38.058Z,1761518738.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773805,-0.624974,-0.103117],[0.633162,-0.767845,-0.097568],[-0.018201,-0.140789,0.989872]]
2025-10-26T22:45:38.099Z,1761518738.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.67 m.
2025-10-26T22:45:38.102Z,1761518738.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.665329 m,
      nav range: 220.716446 m,
      bearing: 152.608586 deg,
      approach rate: -0.610772 m/s,
      LOS rate: 0.031410 deg/s,
      cmd heading: 141.581871 deg,
      new cmd heading: 141.621423 deg.

2025-10-26T22:45:38.103Z,1761518738.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.471760 target range: 239.665329 and range: 241.10 m.
2025-10-26T22:45:38.166Z,1761518738.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205038
2025-10-26T22:45:38.416Z,1761518738.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455623
2025-10-26T22:45:38.455Z,1761518738.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774386,-0.623981,-0.104761],[0.632428,-0.768330,-0.098507],[-0.019024,-0.142536,0.989607]]
2025-10-26T22:45:38.478Z,1761518738.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.67 m.
2025-10-26T22:45:38.481Z,1761518738.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.665329 m,
      nav range: 220.493027 m,
      bearing: 152.620031 deg,
      approach rate: -0.589551 m/s,
      LOS rate: 0.030231 deg/s,
      cmd heading: 141.621418 deg,
      new cmd heading: 141.655787 deg.

2025-10-26T22:45:38.482Z,1761518738.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.472360 target range: 239.665329 and range: 241.10 m.
2025-10-26T22:45:38.672Z,1761518738.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710927
2025-10-26T22:45:38.850Z,1761518738.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774845,-0.623126,-0.106442],[0.631832,-0.768748,-0.099074],[-0.020092,-0.144020,0.989371]]
2025-10-26T22:45:38.868Z,1761518738.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.67 m.
2025-10-26T22:45:38.871Z,1761518738.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.665329 m,
      nav range: 220.258865 m,
      bearing: 152.632004 deg,
      approach rate: -0.599355 m/s,
      LOS rate: 0.030678 deg/s,
      cmd heading: 141.655787 deg,
      new cmd heading: 141.691744 deg.

2025-10-26T22:45:38.872Z,1761518738.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.472987 target range: 239.665329 and range: 241.10 m.
2025-10-26T22:45:38.923Z,1761518738.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961990
2025-10-26T22:45:39.173Z,1761518739.173 [DAT](INFO): DAT read: Rx Time:22:45:37.7100

2025-10-26T22:45:39.173Z,1761518739.173 [DAT](INFO): Rx dataTimestamp_ set to:1761518739.173195
2025-10-26T22:45:39.174Z,1761518739.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.213250
2025-10-26T22:45:39.255Z,1761518739.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775428,-0.622141,-0.107949],[0.631090,-0.769253,-0.099874],[-0.020905,-0.145570,0.989127]]
2025-10-26T22:45:39.319Z,1761518739.319 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:39.321Z,1761518739.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.67 m.
2025-10-26T22:45:39.328Z,1761518739.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.665329 m,
      nav range: 220.009399 m,
      bearing: 152.644866 deg,
      approach rate: -0.550608 m/s,
      LOS rate: 0.028420 deg/s,
      cmd heading: 141.691742 deg,
      new cmd heading: 141.730371 deg.

2025-10-26T22:45:39.329Z,1761518739.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.473662 target range: 239.665329 and range: 241.10 m.
2025-10-26T22:45:39.425Z,1761518739.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.463996
2025-10-26T22:45:39.664Z,1761518739.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775835,-0.621398,-0.109296],[0.630559,-0.769639,-0.100253],[-0.021821,-0.146697,0.988941]]
2025-10-26T22:45:39.682Z,1761518739.682 [DAT](INFO): DAT read: 22:45:37.7100 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 122, 0.38,-1.975, 2.517,-2.307,-2.315, PHS= 0.442,-1.406,-0.036, RAW= 135.6,  12.0, CAL= 135.0,  13.1, ROT=  15.0, -13.1

2025-10-26T22:45:39.683Z,1761518739.683 [DAT](INFO): got valid direction response:
 22:45:37.7100 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 122, 0.38,-1.975, 2.517,-2.307,-2.315, PHS= 0.442,-1.406,-0.036, RAW= 135.6,  12.0, CAL= 135.0,  13.1, ROT=  15.0, -13.1

2025-10-26T22:45:39.684Z,1761518739.684 [DAT](INFO): DAT read: Bearing 313.5,  11.0 (Local)

2025-10-26T22:45:39.685Z,1761518739.685 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.5,  11.0 (Local)

2025-10-26T22:45:39.686Z,1761518739.686 [DAT](INFO): DAT read: Range 11 to 50 : 239.3 m  (Round-trip  319.1 ms) speed  0.4 m/s

2025-10-26T22:45:39.687Z,1761518739.687 [DAT](INFO): DAT read: user:658>

2025-10-26T22:45:39.688Z,1761518739.688 [DAT](INFO): DAT read: Tx time:22:45:38.7868

2025-10-26T22:45:39.688Z,1761518739.688 [DAT](INFO): Ping request sent.
2025-10-26T22:45:39.688Z,1761518739.688 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:45:39.688Z,1761518739.688 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:45:39.689Z,1761518739.689 [DAT](INFO): direction in FSK: [0.940789,0.252084,0.226651]
2025-10-26T22:45:39.690Z,1761518739.690 [DAT](INFO): publishing transmit ping time
2025-10-26T22:45:39.690Z,1761518739.690 [DAT](INFO): publishing direction and range info
2025-10-26T22:45:39.710Z,1761518739.710 [DAT](INFO): publishing transmit ping time
2025-10-26T22:45:39.711Z,1761518739.711 [DAT](INFO): publishing direction and range info
2025-10-26T22:45:39.738Z,1761518739.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 239.300003 m,
      deltaT: 3.779026 s,
      deltaX: -1.800003 m,
      approachRate: -0.476314 m/s,
      rangeRepo size: 4

2025-10-26T22:45:39.748Z,1761518739.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 237.877167 m,
      bearing: 157.553235 deg,
      lat: 36.779168 deg,
      lon: -121.859339 deg,
      deltaT: 3.779026 s,
      deltaX: -1.788162 m,
      approachRate: -0.473181 m/s,
      posRepo size: 4

2025-10-26T22:45:39.749Z,1761518739.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.88 m.
2025-10-26T22:45:39.760Z,1761518739.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.877167 m,
      nav range: 220.580704 m,
      bearing: 152.762428 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.028420 deg/s,
      cmd heading: 141.730373 deg,
      new cmd heading: 141.765814 deg.

2025-10-26T22:45:39.761Z,1761518739.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.474280 target range: 237.877167 and range: 239.30 m.
2025-10-26T22:45:40.081Z,1761518740.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775926,-0.620972,-0.111053],[0.630411,-0.769674,-0.100911],[-0.022811,-0.148309,0.988678]]
2025-10-26T22:45:40.140Z,1761518740.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.88 m.
2025-10-26T22:45:40.143Z,1761518740.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.877167 m,
      nav range: 220.325821 m,
      bearing: 152.773696 deg,
      approach rate: -0.633476 m/s,
      LOS rate: 0.028037 deg/s,
      cmd heading: 141.765808 deg,
      new cmd heading: 141.799651 deg.

2025-10-26T22:45:40.144Z,1761518740.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.474871 target range: 237.877167 and range: 239.30 m.
2025-10-26T22:45:40.478Z,1761518740.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776107,-0.620450,-0.112695],[0.630157,-0.769781,-0.101677],[-0.023665,-0.149928,0.988414]]
2025-10-26T22:45:40.507Z,1761518740.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.88 m.
2025-10-26T22:45:40.510Z,1761518740.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.877167 m,
      nav range: 220.121674 m,
      bearing: 152.782725 deg,
      approach rate: -0.555507 m/s,
      LOS rate: 0.024591 deg/s,
      cmd heading: 141.799645 deg,
      new cmd heading: 141.826757 deg.

2025-10-26T22:45:40.511Z,1761518740.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.475344 target range: 237.877167 and range: 239.30 m.
2025-10-26T22:45:40.883Z,1761518740.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776138,-0.620043,-0.114701],[0.630082,-0.769706,-0.102706],[-0.024604,-0.151985,0.988077]]
2025-10-26T22:45:40.901Z,1761518740.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.88 m.
2025-10-26T22:45:40.905Z,1761518740.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.877167 m,
      nav range: 219.901077 m,
      bearing: 152.792500 deg,
      approach rate: -0.560125 m/s,
      LOS rate: 0.024846 deg/s,
      cmd heading: 141.826761 deg,
      new cmd heading: 141.856116 deg.

2025-10-26T22:45:40.906Z,1761518740.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.475856 target range: 237.877167 and range: 239.30 m.
2025-10-26T22:45:41.340Z,1761518741.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:41.342Z,1761518741.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.88 m.
2025-10-26T22:45:41.345Z,1761518741.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.877167 m,
      nav range: 219.665634 m,
      bearing: 152.799065 deg,
      approach rate: -0.533076 m/s,
      LOS rate: 0.014880 deg/s,
      cmd heading: 141.856117 deg,
      new cmd heading: 141.875833 deg.

2025-10-26T22:45:41.346Z,1761518741.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476200 target range: 237.877167 and range: 239.30 m.
2025-10-26T22:45:41.440Z,1761518741.440 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:45:41.441Z,1761518741.441 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:45:41.441Z,1761518741.441 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:45:41.690Z,1761518741.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775728,-0.619652,-0.119488],[0.630505,-0.769009,-0.105303],[-0.026636,-0.157024,0.987235]]
2025-10-26T22:45:41.692Z,1761518741.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004259
2025-10-26T22:45:41.734Z,1761518741.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.88 m.
2025-10-26T22:45:41.741Z,1761518741.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.877167 m,
      nav range: 219.467514 m,
      bearing: 152.804643 deg,
      approach rate: -0.506907 m/s,
      LOS rate: 0.014283 deg/s,
      cmd heading: 141.875829 deg,
      new cmd heading: 141.892576 deg.

2025-10-26T22:45:41.742Z,1761518741.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476493 target range: 237.877167 and range: 239.30 m.
2025-10-26T22:45:41.945Z,1761518741.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256743
2025-10-26T22:45:42.149Z,1761518742.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.88 m.
2025-10-26T22:45:42.168Z,1761518742.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.877167 m,
      nav range: 219.238388 m,
      bearing: 152.808580 deg,
      approach rate: -0.551818 m/s,
      LOS rate: 0.009492 deg/s,
      cmd heading: 141.892576 deg,
      new cmd heading: 141.904400 deg.

2025-10-26T22:45:42.169Z,1761518742.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476699 target range: 237.877167 and range: 239.30 m.
2025-10-26T22:45:42.201Z,1761518742.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513261
2025-10-26T22:45:42.452Z,1761518742.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764114
2025-10-26T22:45:42.509Z,1761518742.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775070,-0.620002,-0.121919],[0.631210,-0.768557,-0.104374],[-0.028990,-0.157854,0.987037]]
2025-10-26T22:45:42.557Z,1761518742.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.88 m.
2025-10-26T22:45:42.564Z,1761518742.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.877167 m,
      nav range: 219.037323 m,
      bearing: 152.812094 deg,
      approach rate: -0.492350 m/s,
      LOS rate: 0.008613 deg/s,
      cmd heading: 141.904406 deg,
      new cmd heading: 141.914958 deg.

2025-10-26T22:45:42.565Z,1761518742.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476883 target range: 237.877167 and range: 239.30 m.
2025-10-26T22:45:42.705Z,1761518742.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017107
2025-10-26T22:45:42.903Z,1761518742.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774435,-0.620798,-0.121901],[0.631946,-0.768182,-0.102665],[-0.029908,-0.156543,0.987218]]
2025-10-26T22:45:42.938Z,1761518742.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.88 m.
2025-10-26T22:45:42.953Z,1761518742.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.877167 m,
      nav range: 218.832428 m,
      bearing: 152.815729 deg,
      approach rate: -0.537609 m/s,
      LOS rate: 0.009547 deg/s,
      cmd heading: 141.914952 deg,
      new cmd heading: 141.925868 deg.

2025-10-26T22:45:42.954Z,1761518742.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477074 target range: 237.877167 and range: 239.30 m.
2025-10-26T22:45:42.957Z,1761518742.957 [DAT](INFO): DAT read: Rx Time:22:45:41.5077

2025-10-26T22:45:42.957Z,1761518742.957 [DAT](INFO): Rx dataTimestamp_ set to:1761518742.956746
2025-10-26T22:45:42.958Z,1761518742.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269410
2025-10-26T22:45:43.208Z,1761518743.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520225
2025-10-26T22:45:43.333Z,1761518743.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773868,-0.621422,-0.122324],[0.632591,-0.767827,-0.101342],[-0.030948,-0.155807,0.987303]]
2025-10-26T22:45:43.383Z,1761518743.383 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:43.385Z,1761518743.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.88 m.
2025-10-26T22:45:43.388Z,1761518743.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.877167 m,
      nav range: 218.601120 m,
      bearing: 152.817565 deg,
      approach rate: -0.517650 m/s,
      LOS rate: 0.004112 deg/s,
      cmd heading: 141.925867 deg,
      new cmd heading: 141.931380 deg.

2025-10-26T22:45:43.389Z,1761518743.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477170 target range: 237.877167 and range: 239.30 m.
2025-10-26T22:45:43.469Z,1761518743.469 [DAT](INFO): DAT read: 22:45:41.5077 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 424, 0.22, 0.878,-0.656, 0.614,-0.179, PHS= 1.159,-0.431, 0.750, RAW= 135.6, -20.1, CAL= 135.3, -22.8, ROT=  14.7,  22.8

2025-10-26T22:45:43.470Z,1761518743.470 [DAT](INFO): got valid direction response:
 22:45:41.5077 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 424, 0.22, 0.878,-0.656, 0.614,-0.179, PHS= 1.159,-0.431, 0.750, RAW= 135.6, -20.1, CAL= 135.3, -22.8, ROT=  14.7,  22.8

2025-10-26T22:45:43.472Z,1761518743.472 [DAT](INFO): DAT read: Bearing 276.4,  15.3 (Local)

2025-10-26T22:45:43.472Z,1761518743.472 [DAT](INFO): Local bearing/azimuth received:
 Bearing 276.4,  15.3 (Local)

2025-10-26T22:45:43.474Z,1761518743.474 [DAT](INFO): DAT read: Range 11 to 50 : 237.5 m  (Round-trip  316.7 ms) speed  0.9 m/s

2025-10-26T22:45:43.477Z,1761518743.477 [DAT](INFO): DAT read: user:659>

2025-10-26T22:45:43.478Z,1761518743.478 [DAT](INFO): DAT read: Tx time:22:45:42.5868

2025-10-26T22:45:43.478Z,1761518743.478 [DAT](INFO): Ping request sent.
2025-10-26T22:45:43.478Z,1761518743.478 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:45:43.479Z,1761518743.479 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:45:43.481Z,1761518743.481 [DAT](INFO): direction in FSK: [0.891689,0.233930,-0.387516]
2025-10-26T22:45:43.481Z,1761518743.481 [DAT](INFO): publishing transmit ping time
2025-10-26T22:45:43.481Z,1761518743.481 [DAT](INFO): publishing direction and range info
2025-10-26T22:45:43.489Z,1761518743.489 [DAT](INFO): publishing transmit ping time
2025-10-26T22:45:43.489Z,1761518743.489 [DAT](INFO): publishing direction and range info
2025-10-26T22:45:43.758Z,1761518743.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 237.500000 m,
      deltaT: 3.785735 s,
      deltaX: -1.800003 m,
      approachRate: -0.475470 m/s,
      rangeRepo size: 4

2025-10-26T22:45:43.761Z,1761518743.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 236.088165 m,
      bearing: 151.732435 deg,
      lat: 36.779240 deg,
      lon: -121.859336 deg,
      deltaT: 3.785735 s,
      deltaX: -1.789001 m,
      approachRate: -0.472564 m/s,
      posRepo size: 4

2025-10-26T22:45:43.761Z,1761518743.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.09 m.
2025-10-26T22:45:43.764Z,1761518743.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.088165 m,
      nav range: 211.432861 m,
      bearing: 151.761103 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004112 deg/s,
      cmd heading: 141.931386 deg,
      new cmd heading: 141.935987 deg.

2025-10-26T22:45:43.765Z,1761518743.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477250 target range: 236.088165 and range: 237.50 m.
2025-10-26T22:45:44.114Z,1761518744.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772455,-0.622723,-0.124617],[0.634192,-0.766702,-0.099839],[-0.033372,-0.156152,0.987169]]
2025-10-26T22:45:44.171Z,1761518744.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.09 m.
2025-10-26T22:45:44.174Z,1761518744.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.088165 m,
      nav range: 211.233215 m,
      bearing: 151.759788 deg,
      approach rate: -0.487876 m/s,
      LOS rate: -0.003215 deg/s,
      cmd heading: 141.935989 deg,
      new cmd heading: 141.932042 deg.

2025-10-26T22:45:44.175Z,1761518744.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477181 target range: 236.088165 and range: 237.50 m.
2025-10-26T22:45:44.529Z,1761518744.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771778,-0.623360,-0.125622],[0.634958,-0.766158,-0.099145],[-0.034443,-0.156283,0.987112]]
2025-10-26T22:45:44.573Z,1761518744.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.09 m.
2025-10-26T22:45:44.576Z,1761518744.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.088165 m,
      nav range: 211.030167 m,
      bearing: 151.758504 deg,
      approach rate: -0.500831 m/s,
      LOS rate: -0.003170 deg/s,
      cmd heading: 141.932041 deg,
      new cmd heading: 141.928186 deg.

2025-10-26T22:45:44.577Z,1761518744.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477114 target range: 236.088165 and range: 237.50 m.
2025-10-26T22:45:44.989Z,1761518744.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.09 m.
2025-10-26T22:45:44.992Z,1761518744.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.088165 m,
      nav range: 210.826157 m,
      bearing: 151.757212 deg,
      approach rate: -0.489635 m/s,
      LOS rate: -0.003105 deg/s,
      cmd heading: 141.928189 deg,
      new cmd heading: 141.924308 deg.

2025-10-26T22:45:44.993Z,1761518744.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477046 target range: 236.088165 and range: 237.50 m.
2025-10-26T22:45:45.329Z,1761518745.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770041,-0.625114,-0.127549],[0.636948,-0.764704,-0.097599],[-0.036527,-0.156398,0.987018]]
2025-10-26T22:45:45.396Z,1761518745.396 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:45.408Z,1761518745.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.09 m.
2025-10-26T22:45:45.411Z,1761518745.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.088165 m,
      nav range: 210.625214 m,
      bearing: 151.756485 deg,
      approach rate: -0.479833 m/s,
      LOS rate: -0.001737 deg/s,
      cmd heading: 141.924310 deg,
      new cmd heading: 141.922127 deg.

2025-10-26T22:45:45.420Z,1761518745.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477008 target range: 236.088165 and range: 237.50 m.
2025-10-26T22:45:45.478Z,1761518745.478 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:45:45.478Z,1761518745.478 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:45:45.478Z,1761518745.478 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:45:45.729Z,1761518745.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250132
2025-10-26T22:45:45.745Z,1761518745.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769641,-0.625450,-0.128311],[0.637393,-0.764361,-0.097375],[-0.037173,-0.156728,0.986942]]
2025-10-26T22:45:45.802Z,1761518745.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.09 m.
2025-10-26T22:45:45.806Z,1761518745.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.088165 m,
      nav range: 210.427536 m,
      bearing: 151.755802 deg,
      approach rate: -0.555855 m/s,
      LOS rate: -0.001925 deg/s,
      cmd heading: 141.922124 deg,
      new cmd heading: 141.920071 deg.

2025-10-26T22:45:45.807Z,1761518745.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476973 target range: 236.088165 and range: 237.50 m.
2025-10-26T22:45:45.980Z,1761518745.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501866
2025-10-26T22:45:46.145Z,1761518746.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769004,-0.626073,-0.129099],[0.638128,-0.763773,-0.097176],[-0.037762,-0.157110,0.986859]]
2025-10-26T22:45:46.208Z,1761518746.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.09 m.
2025-10-26T22:45:46.211Z,1761518746.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.088165 m,
      nav range: 210.207520 m,
      bearing: 151.756841 deg,
      approach rate: -0.498091 m/s,
      LOS rate: 0.002357 deg/s,
      cmd heading: 141.920075 deg,
      new cmd heading: 141.923198 deg.

2025-10-26T22:45:46.212Z,1761518746.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477027 target range: 236.088165 and range: 237.50 m.
2025-10-26T22:45:46.232Z,1761518746.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753962
2025-10-26T22:45:46.484Z,1761518746.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005911
2025-10-26T22:45:46.552Z,1761518746.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768728,-0.626213,-0.130057],[0.638425,-0.763507,-0.097321],[-0.038356,-0.157845,0.986719]]
2025-10-26T22:45:46.580Z,1761518746.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.09 m.
2025-10-26T22:45:46.583Z,1761518746.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.088165 m,
      nav range: 210.002731 m,
      bearing: 151.757835 deg,
      approach rate: -0.547094 m/s,
      LOS rate: 0.002656 deg/s,
      cmd heading: 141.923203 deg,
      new cmd heading: 141.926185 deg.

2025-10-26T22:45:46.584Z,1761518746.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477079 target range: 236.088165 and range: 237.50 m.
2025-10-26T22:45:46.736Z,1761518746.736 [DAT](INFO): DAT read: Rx Time:22:45:45.3054

2025-10-26T22:45:46.737Z,1761518746.737 [DAT](INFO): Rx dataTimestamp_ set to:1761518746.736685
2025-10-26T22:45:46.738Z,1761518746.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259083
2025-10-26T22:45:46.950Z,1761518746.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768657,-0.626287,-0.130118],[0.638501,-0.763465,-0.097145],[-0.038500,-0.157752,0.986728]]
2025-10-26T22:45:46.968Z,1761518746.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.09 m.
2025-10-26T22:45:46.971Z,1761518746.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.088165 m,
      nav range: 209.797867 m,
      bearing: 151.758836 deg,
      approach rate: -0.527173 m/s,
      LOS rate: 0.002579 deg/s,
      cmd heading: 141.926181 deg,
      new cmd heading: 141.929187 deg.

2025-10-26T22:45:46.972Z,1761518746.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477132 target range: 236.088165 and range: 237.50 m.
2025-10-26T22:45:46.988Z,1761518746.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509959
2025-10-26T22:45:47.246Z,1761518747.246 [DAT](INFO): DAT read: 22:45:45.3054 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 117, 0.42,-0.925,-2.674,-1.253,-1.224, PHS= 0.401,-1.406,-0.074, RAW= 135.3,  13.2, CAL= 134.6,  14.3, ROT=  15.4, -14.3

2025-10-26T22:45:47.247Z,1761518747.247 [DAT](INFO): got valid direction response:
 22:45:45.3054 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 117, 0.42,-0.925,-2.674,-1.253,-1.224, PHS= 0.401,-1.406,-0.074, RAW= 135.3,  13.2, CAL= 134.6,  14.3, ROT=  15.4, -14.3

2025-10-26T22:45:47.248Z,1761518747.248 [DAT](INFO): DAT read: Bearing 314.5,  10.4 (Local)

2025-10-26T22:45:47.248Z,1761518747.248 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.5,  10.4 (Local)

2025-10-26T22:45:47.250Z,1761518747.250 [DAT](INFO): DAT read: Range 11 to 50 : 235.8 m  (Round-trip  314.5 ms) speed  0.2 m/s

2025-10-26T22:45:47.251Z,1761518747.251 [DAT](INFO): DAT read: user:660>

2025-10-26T22:45:47.251Z,1761518747.251 [DAT](INFO): DAT read: Tx time:22:45:46.3868

2025-10-26T22:45:47.252Z,1761518747.252 [DAT](INFO): Ping request sent.
2025-10-26T22:45:47.252Z,1761518747.252 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:45:47.252Z,1761518747.252 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:45:47.253Z,1761518747.253 [DAT](INFO): direction in FSK: [0.934224,0.257328,0.246999]
2025-10-26T22:45:47.253Z,1761518747.253 [DAT](INFO): publishing transmit ping time
2025-10-26T22:45:47.254Z,1761518747.254 [DAT](INFO): publishing direction and range info
2025-10-26T22:45:47.264Z,1761518747.264 [DAT](INFO): publishing transmit ping time
2025-10-26T22:45:47.264Z,1761518747.264 [DAT](INFO): publishing direction and range info
2025-10-26T22:45:47.354Z,1761518747.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768957,-0.626020,-0.129625],[0.638131,-0.763863,-0.096447],[-0.038638,-0.156882,0.986861]]
2025-10-26T22:45:47.450Z,1761518747.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 235.800003 m,
      deltaT: 3.778080 s,
      deltaX: -1.699997 m,
      approachRate: -0.449963 m/s,
      rangeRepo size: 4

2025-10-26T22:45:47.460Z,1761518747.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 234.396561 m,
      bearing: 157.595528 deg,
      lat: 36.779060 deg,
      lon: -121.859339 deg,
      deltaT: 3.778080 s,
      deltaX: -1.691605 m,
      approachRate: -0.447742 m/s,
      posRepo size: 4

2025-10-26T22:45:47.461Z,1761518747.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.40 m.
2025-10-26T22:45:47.468Z,1761518747.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.396561 m,
      nav range: 227.216644 m,
      bearing: 154.206701 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002579 deg/s,
      cmd heading: 141.929186 deg,
      new cmd heading: 141.932906 deg.

2025-10-26T22:45:47.469Z,1761518747.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477196 target range: 234.396561 and range: 235.80 m.
2025-10-26T22:45:47.796Z,1761518747.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:47.798Z,1761518747.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.40 m.
2025-10-26T22:45:47.817Z,1761518747.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.396561 m,
      nav range: 227.016159 m,
      bearing: 154.212796 deg,
      approach rate: -0.574679 m/s,
      LOS rate: 0.017485 deg/s,
      cmd heading: 141.932902 deg,
      new cmd heading: 141.951201 deg.

2025-10-26T22:45:47.818Z,1761518747.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477516 target range: 234.396561 and range: 235.80 m.
2025-10-26T22:45:47.996Z,1761518747.996 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:45:47.996Z,1761518747.996 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:45:47.996Z,1761518747.996 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:45:48.162Z,1761518748.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770637,-0.624689,-0.126023],[0.636122,-0.765938,-0.093210],[-0.038298,-0.151997,0.987639]]
2025-10-26T22:45:48.220Z,1761518748.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.40 m.
2025-10-26T22:45:48.223Z,1761518748.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.396561 m,
      nav range: 226.770737 m,
      bearing: 154.221631 deg,
      approach rate: -0.581614 m/s,
      LOS rate: 0.020961 deg/s,
      cmd heading: 141.951207 deg,
      new cmd heading: 141.977741 deg.

2025-10-26T22:45:48.224Z,1761518748.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477979 target range: 234.396561 and range: 235.80 m.
2025-10-26T22:45:48.248Z,1761518748.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996419
2025-10-26T22:45:48.501Z,1761518748.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248837
2025-10-26T22:45:48.573Z,1761518748.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771806,-0.623471,-0.124898],[0.634707,-0.767213,-0.092362],[-0.038238,-0.150559,0.987861]]
2025-10-26T22:45:48.591Z,1761518748.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.40 m.
2025-10-26T22:45:48.594Z,1761518748.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.396561 m,
      nav range: 226.555878 m,
      bearing: 154.229281 deg,
      approach rate: -0.579427 m/s,
      LOS rate: 0.020650 deg/s,
      cmd heading: 141.977735 deg,
      new cmd heading: 142.000707 deg.

2025-10-26T22:45:48.595Z,1761518748.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.478380 target range: 234.396561 and range: 235.80 m.
2025-10-26T22:45:48.752Z,1761518748.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500474
2025-10-26T22:45:48.970Z,1761518748.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773112,-0.622149,-0.123406],[0.633140,-0.768594,-0.091631],[-0.037841,-0.148974,0.988117]]
2025-10-26T22:45:48.988Z,1761518748.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.40 m.
2025-10-26T22:45:48.990Z,1761518748.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.396561 m,
      nav range: 226.326080 m,
      bearing: 154.237359 deg,
      approach rate: -0.579077 m/s,
      LOS rate: 0.020376 deg/s,
      cmd heading: 142.000712 deg,
      new cmd heading: 142.024970 deg.

2025-10-26T22:45:49.017Z,1761518749.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764990
2025-10-26T22:45:49.033Z,1761518749.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.478803 target range: 234.396561 and range: 235.80 m.
2025-10-26T22:45:49.268Z,1761518749.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016399
2025-10-26T22:45:49.399Z,1761518749.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774391,-0.620809,-0.122123],[0.631593,-0.769939,-0.091015],[-0.037524,-0.147613,0.988333]]
2025-10-26T22:45:49.414Z,1761518749.414 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  87.62,  78.11,  79.13
2025-10-26T22:45:49.447Z,1761518749.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.40 m.
2025-10-26T22:45:49.451Z,1761518749.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.396561 m,
      nav range: 226.060059 m,
      bearing: 154.246594 deg,
      approach rate: -0.578913 m/s,
      LOS rate: 0.020121 deg/s,
      cmd heading: 142.024973 deg,
      new cmd heading: 142.052710 deg.

2025-10-26T22:45:49.453Z,1761518749.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.479288 target range: 234.396561 and range: 235.80 m.
2025-10-26T22:45:49.521Z,1761518749.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269432
2025-10-26T22:45:49.772Z,1761518749.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520515
2025-10-26T22:45:49.827Z,1761518749.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777495,-0.617624,-0.118503],[0.627856,-0.773111,-0.089977],[-0.036044,-0.144359,0.988869]]
2025-10-26T22:45:49.844Z,1761518749.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:49.846Z,1761518749.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.40 m.
2025-10-26T22:45:49.848Z,1761518749.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.396561 m,
      nav range: 225.829239 m,
      bearing: 154.254337 deg,
      approach rate: -0.579156 m/s,
      LOS rate: 0.019448 deg/s,
      cmd heading: 142.052717 deg,
      new cmd heading: 142.075970 deg.

2025-10-26T22:45:49.849Z,1761518749.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.479693 target range: 234.396561 and range: 235.80 m.
2025-10-26T22:45:50.025Z,1761518750.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772854
2025-10-26T22:45:50.269Z,1761518750.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.40 m.
2025-10-26T22:45:50.276Z,1761518750.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024475
2025-10-26T22:45:50.292Z,1761518750.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.396561 m,
      nav range: 225.569290 m,
      bearing: 154.268856 deg,
      approach rate: -0.613890 m/s,
      LOS rate: 0.034326 deg/s,
      cmd heading: 142.075967 deg,
      new cmd heading: 142.119573 deg.

2025-10-26T22:45:50.293Z,1761518750.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.480454 target range: 234.396561 and range: 235.80 m.
2025-10-26T22:45:50.529Z,1761518750.529 [DAT](INFO): DAT read: Rx Time:22:45:49.1026

2025-10-26T22:45:50.530Z,1761518750.530 [DAT](INFO): Rx dataTimestamp_ set to:1761518750.529541
2025-10-26T22:45:50.532Z,1761518750.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279288
2025-10-26T22:45:50.615Z,1761518750.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780787,-0.613898,-0.116198],[0.623806,-0.776424,-0.089627],[-0.035197,-0.142465,0.989174]]
2025-10-26T22:45:50.705Z,1761518750.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.40 m.
2025-10-26T22:45:50.714Z,1761518750.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.396561 m,
      nav range: 225.321625 m,
      bearing: 154.282377 deg,
      approach rate: -0.568533 m/s,
      LOS rate: 0.031073 deg/s,
      cmd heading: 142.119571 deg,
      new cmd heading: 142.160179 deg.

2025-10-26T22:45:50.720Z,1761518750.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.481163 target range: 234.396561 and range: 235.80 m.
2025-10-26T22:45:50.780Z,1761518750.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528599
2025-10-26T22:45:51.050Z,1761518751.050 [DAT](INFO): DAT read: 22:45:49.1026 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 119, 0.22,-1.334,-3.116,-1.609,-1.677, PHS= 0.445,-1.394, 0.024, RAW= 137.4,  11.1, CAL= 136.9,  12.1, ROT=  13.1, -12.1

2025-10-26T22:45:51.052Z,1761518751.052 [DAT](INFO): got valid direction response:
 22:45:49.1026 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 119, 0.22,-1.334,-3.116,-1.609,-1.677, PHS= 0.445,-1.394, 0.024, RAW= 137.4,  11.1, CAL= 136.9,  12.1, ROT=  13.1, -12.1

2025-10-26T22:45:51.052Z,1761518751.052 [DAT](INFO): DAT read: Bearing 311.8,   8.8 (Local)

2025-10-26T22:45:51.053Z,1761518751.053 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.8,   8.8 (Local)

2025-10-26T22:45:51.054Z,1761518751.054 [DAT](INFO): DAT read: Range 11 to 50 : 233.7 m  (Round-trip  311.7 ms) speed  0.4 m/s

2025-10-26T22:45:51.055Z,1761518751.055 [DAT](INFO): DAT read: user:661>

2025-10-26T22:45:51.069Z,1761518751.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781883,-0.612516,-0.116115],[0.622447,-0.777425,-0.090390],[-0.034906,-0.142950,0.989114]]
2025-10-26T22:45:51.072Z,1761518751.072 [DAT](INFO): DAT read: Tx time:22:45:50.1868

2025-10-26T22:45:51.072Z,1761518751.072 [DAT](INFO): Ping request sent.
2025-10-26T22:45:51.072Z,1761518751.072 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:45:51.073Z,1761518751.073 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:45:51.074Z,1761518751.074 [DAT](INFO): direction in FSK: [0.952337,0.221616,0.209619]
2025-10-26T22:45:51.074Z,1761518751.074 [DAT](INFO): publishing transmit ping time
2025-10-26T22:45:51.074Z,1761518751.074 [DAT](INFO): publishing direction and range info
2025-10-26T22:45:51.082Z,1761518751.082 [DAT](INFO): publishing transmit ping time
2025-10-26T22:45:51.082Z,1761518751.082 [DAT](INFO): publishing direction and range info
2025-10-26T22:45:51.184Z,1761518751.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 233.699997 m,
      deltaT: 3.792213 s,
      deltaX: -2.100006 m,
      approachRate: -0.553768 m/s,
      rangeRepo size: 4

2025-10-26T22:45:51.192Z,1761518751.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 232.308090 m,
      bearing: 156.066414 deg,
      lat: 36.778994 deg,
      lon: -121.859388 deg,
      deltaT: 3.792213 s,
      deltaX: -2.088470 m,
      approachRate: -0.550726 m/s,
      posRepo size: 4

2025-10-26T22:45:51.193Z,1761518751.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.31 m.
2025-10-26T22:45:51.195Z,1761518751.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.308090 m,
      nav range: 229.940659 m,
      bearing: 156.065838 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.031073 deg/s,
      cmd heading: 142.160183 deg,
      new cmd heading: 142.203641 deg.

2025-10-26T22:45:51.196Z,1761518751.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.481922 target range: 232.308090 and range: 233.70 m.
2025-10-26T22:45:51.499Z,1761518751.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783093,-0.611067,-0.115599],[0.620954,-0.778544,-0.091023],[-0.034377,-0.143061,0.989117]]
2025-10-26T22:45:51.563Z,1761518751.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.31 m.
2025-10-26T22:45:51.566Z,1761518751.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.308090 m,
      nav range: 229.662537 m,
      bearing: 156.083619 deg,
      approach rate: -0.709504 m/s,
      LOS rate: 0.045414 deg/s,
      cmd heading: 142.203637 deg,
      new cmd heading: 142.257043 deg.

2025-10-26T22:45:51.567Z,1761518751.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.482854 target range: 232.308090 and range: 233.70 m.
2025-10-26T22:45:51.902Z,1761518751.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784286,-0.609553,-0.115500],[0.619482,-0.779554,-0.092397],[-0.033717,-0.144016,0.989001]]
2025-10-26T22:45:51.919Z,1761518751.919 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:51.943Z,1761518751.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.31 m.
2025-10-26T22:45:51.946Z,1761518751.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.308090 m,
      nav range: 229.449753 m,
      bearing: 156.097144 deg,
      approach rate: -0.559526 m/s,
      LOS rate: 0.035597 deg/s,
      cmd heading: 142.257049 deg,
      new cmd heading: 142.297661 deg.

2025-10-26T22:45:51.947Z,1761518751.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.483563 target range: 232.308090 and range: 233.70 m.
2025-10-26T22:45:52.040Z,1761518752.040 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:45:52.040Z,1761518752.040 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:45:52.041Z,1761518752.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:45:52.292Z,1761518752.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219835
2025-10-26T22:45:52.308Z,1761518752.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785621,-0.607791,-0.115716],[0.617821,-0.780665,-0.094129],[-0.033125,-0.145442,0.988812]]
2025-10-26T22:45:52.365Z,1761518752.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.31 m.
2025-10-26T22:45:52.372Z,1761518752.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.308090 m,
      nav range: 229.192993 m,
      bearing: 156.113947 deg,
      approach rate: -0.609427 m/s,
      LOS rate: 0.039928 deg/s,
      cmd heading: 142.297661 deg,
      new cmd heading: 142.348128 deg.

2025-10-26T22:45:52.373Z,1761518752.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.484443 target range: 232.308090 and range: 233.70 m.
2025-10-26T22:45:52.544Z,1761518752.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471968
2025-10-26T22:45:52.723Z,1761518752.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786489,-0.606637,-0.115874],[0.616731,-0.781405,-0.095127],[-0.032837,-0.146279,0.988698]]
2025-10-26T22:45:52.745Z,1761518752.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.31 m.
2025-10-26T22:45:52.748Z,1761518752.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.308090 m,
      nav range: 228.968277 m,
      bearing: 156.128602 deg,
      approach rate: -0.590127 m/s,
      LOS rate: 0.038522 deg/s,
      cmd heading: 142.348123 deg,
      new cmd heading: 142.392129 deg.

2025-10-26T22:45:52.749Z,1761518752.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.485211 target range: 232.308090 and range: 233.70 m.
2025-10-26T22:45:52.797Z,1761518752.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724122
2025-10-26T22:45:53.048Z,1761518753.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975956
2025-10-26T22:45:53.115Z,1761518753.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787157,-0.605707,-0.116197],[0.615887,-0.781951,-0.096099],[-0.032652,-0.147209,0.988566]]
2025-10-26T22:45:53.152Z,1761518753.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.31 m.
2025-10-26T22:45:53.171Z,1761518753.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.308090 m,
      nav range: 228.741577 m,
      bearing: 156.143350 deg,
      approach rate: -0.560025 m/s,
      LOS rate: 0.036469 deg/s,
      cmd heading: 142.392123 deg,
      new cmd heading: 142.436411 deg.

2025-10-26T22:45:53.179Z,1761518753.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.485984 target range: 232.308090 and range: 233.70 m.
2025-10-26T22:45:53.301Z,1761518753.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228238
2025-10-26T22:45:53.536Z,1761518753.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788016,-0.604512,-0.116601],[0.614803,-0.782642,-0.097411],[-0.032371,-0.148448,0.988390]]
2025-10-26T22:45:53.552Z,1761518753.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480024
2025-10-26T22:45:53.597Z,1761518753.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.31 m.
2025-10-26T22:45:53.604Z,1761518753.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.308090 m,
      nav range: 228.487106 m,
      bearing: 156.158198 deg,
      approach rate: -0.569229 m/s,
      LOS rate: 0.033252 deg/s,
      cmd heading: 142.436410 deg,
      new cmd heading: 142.481005 deg.

2025-10-26T22:45:53.605Z,1761518753.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.486763 target range: 232.308090 and range: 233.70 m.
2025-10-26T22:45:53.804Z,1761518753.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731932
2025-10-26T22:45:53.926Z,1761518753.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788573,-0.603738,-0.116845],[0.614098,-0.783089,-0.098261],[-0.032177,-0.149240,0.988277]]
2025-10-26T22:45:53.957Z,1761518753.957 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:53.960Z,1761518753.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.31 m.
2025-10-26T22:45:53.962Z,1761518753.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.308090 m,
      nav range: 228.268280 m,
      bearing: 156.170944 deg,
      approach rate: -0.604122 m/s,
      LOS rate: 0.035221 deg/s,
      cmd heading: 142.481011 deg,
      new cmd heading: 142.519284 deg.

2025-10-26T22:45:53.964Z,1761518753.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.487431 target range: 232.308090 and range: 233.70 m.
2025-10-26T22:45:54.057Z,1761518754.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984444
2025-10-26T22:45:54.308Z,1761518754.308 [DAT](INFO): DAT read: Rx Time:22:45:52.9011

2025-10-26T22:45:54.309Z,1761518754.309 [DAT](INFO): Rx dataTimestamp_ set to:1761518754.308612
2025-10-26T22:45:54.309Z,1761518754.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237012
2025-10-26T22:45:54.342Z,1761518754.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788590,-0.603662,-0.117125],[0.614072,-0.783082,-0.098479],[-0.032271,-0.149583,0.988222]]
2025-10-26T22:45:54.398Z,1761518754.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.31 m.
2025-10-26T22:45:54.401Z,1761518754.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.308090 m,
      nav range: 228.027527 m,
      bearing: 156.182140 deg,
      approach rate: -0.548778 m/s,
      LOS rate: 0.025548 deg/s,
      cmd heading: 142.519287 deg,
      new cmd heading: 142.552912 deg.

2025-10-26T22:45:54.402Z,1761518754.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.488018 target range: 232.308090 and range: 233.70 m.
2025-10-26T22:45:54.560Z,1761518754.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487952
2025-10-26T22:45:54.776Z,1761518754.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.31 m.
2025-10-26T22:45:54.779Z,1761518754.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.308090 m,
      nav range: 227.820374 m,
      bearing: 156.191793 deg,
      approach rate: -0.547729 m/s,
      LOS rate: 0.025546 deg/s,
      cmd heading: 142.552905 deg,
      new cmd heading: 142.581891 deg.

2025-10-26T22:45:54.781Z,1761518754.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.488523 target range: 232.308090 and range: 233.70 m.
2025-10-26T22:45:54.820Z,1761518754.820 [DAT](INFO): DAT read: 22:45:52.9011 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 421, 0.15, 2.560, 1.107, 2.303, 1.581, PHS= 1.080,-0.430, 0.678, RAW= 135.1, -19.1, CAL= 134.6, -22.1, ROT=  15.4,  22.1

2025-10-26T22:45:54.822Z,1761518754.822 [DAT](INFO): got valid direction response:
 22:45:52.9011 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 421, 0.15, 2.560, 1.107, 2.303, 1.581, PHS= 1.080,-0.430, 0.678, RAW= 135.1, -19.1, CAL= 134.6, -22.1, ROT=  15.4,  22.1

2025-10-26T22:45:54.823Z,1761518754.823 [DAT](INFO): DAT read: Bearing 278.1,  15.6 (Local)

2025-10-26T22:45:54.824Z,1761518754.824 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.1,  15.6 (Local)

2025-10-26T22:45:54.826Z,1761518754.826 [DAT](INFO): DAT read: Range 11 to 50 : 232.6 m  (Round-trip  310.2 ms) speed  0.3 m/s

2025-10-26T22:45:54.827Z,1761518754.827 [DAT](INFO): DAT read: user:662>

2025-10-26T22:45:54.828Z,1761518754.828 [DAT](INFO): DAT read: Tx time:22:45:53.9868

2025-10-26T22:45:54.829Z,1761518754.829 [DAT](INFO): Ping request sent.
2025-10-26T22:45:54.829Z,1761518754.829 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:45:54.829Z,1761518754.829 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:45:54.831Z,1761518754.831 [DAT](INFO): direction in FSK: [0.893262,0.246045,-0.376224]
2025-10-26T22:45:54.831Z,1761518754.831 [DAT](INFO): publishing transmit ping time
2025-10-26T22:45:54.831Z,1761518754.831 [DAT](INFO): publishing direction and range info
2025-10-26T22:45:54.837Z,1761518754.837 [DAT](INFO): publishing transmit ping time
2025-10-26T22:45:54.837Z,1761518754.837 [DAT](INFO): publishing direction and range info
2025-10-26T22:45:55.143Z,1761518755.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788423,-0.603396,-0.119591],[0.614248,-0.782691,-0.100469],[-0.032980,-0.152671,0.987727]]
2025-10-26T22:45:55.170Z,1761518755.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 232.600006 m,
      deltaT: 3.780072 s,
      deltaX: -1.099991 m,
      approachRate: -0.290997 m/s,
      rangeRepo size: 4

2025-10-26T22:45:55.172Z,1761518755.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 231.215057 m,
      bearing: 154.003114 deg,
      lat: 36.778994 deg,
      lon: -121.859397 deg,
      deltaT: 3.780072 s,
      deltaX: -1.093033 m,
      approachRate: -0.289157 m/s,
      posRepo size: 4

2025-10-26T22:45:55.173Z,1761518755.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:45:55.176Z,1761518755.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 227.301376 m,
      bearing: 156.378170 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.025546 deg/s,
      cmd heading: 142.581893 deg,
      new cmd heading: 142.612013 deg.

2025-10-26T22:45:55.177Z,1761518755.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.489049 target range: 231.215057 and range: 232.60 m.
2025-10-26T22:45:55.546Z,1761518755.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788008,-0.603897,-0.119798],[0.614757,-0.782371,-0.099853],[-0.033426,-0.152331,0.987764]]
2025-10-26T22:45:55.601Z,1761518755.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:45:55.605Z,1761518755.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 227.079483 m,
      bearing: 156.385296 deg,
      approach rate: -0.513600 m/s,
      LOS rate: 0.016511 deg/s,
      cmd heading: 142.612014 deg,
      new cmd heading: 142.633414 deg.

2025-10-26T22:45:55.606Z,1761518755.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.489423 target range: 231.215057 and range: 232.60 m.
2025-10-26T22:45:55.953Z,1761518755.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787468,-0.604233,-0.121644],[0.615418,-0.781691,-0.101099],[-0.034000,-0.154474,0.987412]]
2025-10-26T22:45:55.970Z,1761518755.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:55.972Z,1761518755.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:45:55.975Z,1761518755.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 226.892654 m,
      bearing: 156.391355 deg,
      approach rate: -0.504619 m/s,
      LOS rate: 0.016377 deg/s,
      cmd heading: 142.633420 deg,
      new cmd heading: 142.651610 deg.

2025-10-26T22:45:55.976Z,1761518755.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.489740 target range: 231.215057 and range: 232.60 m.
2025-10-26T22:45:56.072Z,1761518756.072 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:45:56.072Z,1761518756.072 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:45:56.073Z,1761518756.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:45:56.324Z,1761518756.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495684
2025-10-26T22:45:56.359Z,1761518756.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786774,-0.604928,-0.122676],[0.616262,-0.781048,-0.100922],[-0.034765,-0.155003,0.987302]]
2025-10-26T22:45:56.411Z,1761518756.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:45:56.418Z,1761518756.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 226.681580 m,
      bearing: 156.395571 deg,
      approach rate: -0.480519 m/s,
      LOS rate: 0.009608 deg/s,
      cmd heading: 142.651615 deg,
      new cmd heading: 142.664277 deg.

2025-10-26T22:45:56.419Z,1761518756.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.489961 target range: 231.215057 and range: 232.60 m.
2025-10-26T22:45:56.577Z,1761518756.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747854
2025-10-26T22:45:56.759Z,1761518756.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785913,-0.605926,-0.123264],[0.617320,-0.780297,-0.100259],[-0.035433,-0.154888,0.987296]]
2025-10-26T22:45:56.785Z,1761518756.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:45:56.788Z,1761518756.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 226.487366 m,
      bearing: 156.399524 deg,
      approach rate: -0.519669 m/s,
      LOS rate: 0.010586 deg/s,
      cmd heading: 142.664279 deg,
      new cmd heading: 142.676148 deg.

2025-10-26T22:45:56.789Z,1761518756.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.490169 target range: 231.215057 and range: 232.60 m.
2025-10-26T22:45:56.829Z,1761518756.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999886
2025-10-26T22:45:57.080Z,1761518757.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251795
2025-10-26T22:45:57.162Z,1761518757.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784913,-0.607023,-0.124237],[0.618537,-0.779422,-0.099568],[-0.036393,-0.154997,0.987244]]
2025-10-26T22:45:57.208Z,1761518757.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:45:57.225Z,1761518757.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 226.286667 m,
      bearing: 156.403697 deg,
      approach rate: -0.498149 m/s,
      LOS rate: 0.010365 deg/s,
      cmd heading: 142.676149 deg,
      new cmd heading: 142.688677 deg.

2025-10-26T22:45:57.233Z,1761518757.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.490387 target range: 231.215057 and range: 232.60 m.
2025-10-26T22:45:57.333Z,1761518757.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504243
2025-10-26T22:45:57.566Z,1761518757.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784076,-0.607790,-0.125766],[0.619539,-0.778618,-0.099623],[-0.037374,-0.156029,0.987045]]
2025-10-26T22:45:57.584Z,1761518757.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755764
2025-10-26T22:45:57.614Z,1761518757.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:45:57.616Z,1761518757.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 226.077957 m,
      bearing: 156.406571 deg,
      approach rate: -0.489801 m/s,
      LOS rate: 0.006752 deg/s,
      cmd heading: 142.688676 deg,
      new cmd heading: 142.697307 deg.

2025-10-26T22:45:57.617Z,1761518757.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.490538 target range: 231.215057 and range: 232.60 m.
2025-10-26T22:45:57.837Z,1761518757.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008441
2025-10-26T22:45:57.971Z,1761518757.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783031,-0.608939,-0.126713],[0.620797,-0.777722,-0.098790],[-0.038390,-0.156018,0.987008]]
2025-10-26T22:45:57.988Z,1761518757.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:45:57.990Z,1761518757.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:45:57.998Z,1761518757.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 225.893631 m,
      bearing: 156.409190 deg,
      approach rate: -0.489468 m/s,
      LOS rate: 0.006960 deg/s,
      cmd heading: 142.697309 deg,
      new cmd heading: 142.705173 deg.

2025-10-26T22:45:58.000Z,1761518758.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.490675 target range: 231.215057 and range: 232.60 m.
2025-10-26T22:45:58.089Z,1761518758.089 [DAT](INFO): DAT read: Rx Time:22:45:56.6984

2025-10-26T22:45:58.089Z,1761518758.089 [DAT](INFO): Rx dataTimestamp_ set to:1761518758.088736
2025-10-26T22:45:58.090Z,1761518758.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260913
2025-10-26T22:45:58.340Z,1761518758.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511601
2025-10-26T22:45:58.374Z,1761518758.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781984,-0.610211,-0.127056],[0.622061,-0.776881,-0.097446],[-0.039245,-0.155238,0.987097]]
2025-10-26T22:45:58.419Z,1761518758.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:45:58.422Z,1761518758.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 225.680496 m,
      bearing: 156.412480 deg,
      approach rate: -0.497366 m/s,
      LOS rate: 0.007685 deg/s,
      cmd heading: 142.705178 deg,
      new cmd heading: 142.715057 deg.

2025-10-26T22:45:58.423Z,1761518758.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.490848 target range: 231.215057 and range: 232.60 m.
2025-10-26T22:45:58.593Z,1761518758.593 [DAT](INFO): DAT read: Range 11 to 50 : 230.6 m  (Round-trip  307.5 ms) speed  0.3 m/s

2025-10-26T22:45:58.594Z,1761518758.594 [DAT](INFO): DAT read: user:663>

2025-10-26T22:45:58.595Z,1761518758.595 [DAT](INFO): DAT read: Tx time:22:45:57.7868

2025-10-26T22:45:58.595Z,1761518758.595 [DAT](INFO): Ping request sent.
2025-10-26T22:45:58.595Z,1761518758.595 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:45:58.596Z,1761518758.596 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-26T22:45:58.596Z,1761518758.596 [DAT](INFO): publishing transmit ping time
2025-10-26T22:45:58.596Z,1761518758.596 [DAT](INFO): publishing transmit ping time
2025-10-26T22:45:58.778Z,1761518758.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781377,-0.610797,-0.127974],[0.622773,-0.776355,-0.097093],[-0.040049,-0.155565,0.987013]]
2025-10-26T22:45:58.796Z,1761518758.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 230.600006 m,
      deltaT: 3.779752 s,
      deltaX: -2.000000 m,
      approachRate: -0.529135 m/s,
      rangeRepo size: 4

2025-10-26T22:45:58.797Z,1761518758.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:45:58.800Z,1761518758.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 225.492538 m,
      bearing: 156.415431 deg,
      approach rate: -0.498548 m/s,
      LOS rate: 0.007835 deg/s,
      cmd heading: 142.715054 deg,
      new cmd heading: 142.723916 deg.

2025-10-26T22:45:58.801Z,1761518758.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.491002 target range: 231.215057 and range: 230.60 m.
2025-10-26T22:45:59.183Z,1761518759.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780721,-0.611525,-0.128499],[0.623527,-0.775906,-0.095836],[-0.041097,-0.154944,0.987068]]
2025-10-26T22:45:59.202Z,1761518759.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:45:59.205Z,1761518759.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 225.290390 m,
      bearing: 156.418661 deg,
      approach rate: -0.497705 m/s,
      LOS rate: 0.007958 deg/s,
      cmd heading: 142.723920 deg,
      new cmd heading: 142.733616 deg.

2025-10-26T22:45:59.206Z,1761518759.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.491172 target range: 231.215057 and range: 230.60 m.
2025-10-26T22:45:59.586Z,1761518759.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780170,-0.612159,-0.128826],[0.624156,-0.775550,-0.094611],[-0.041994,-0.154220,0.987144]]
2025-10-26T22:45:59.637Z,1761518759.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:45:59.640Z,1761518759.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 225.074310 m,
      bearing: 156.422909 deg,
      approach rate: -0.496218 m/s,
      LOS rate: 0.009766 deg/s,
      cmd heading: 142.733619 deg,
      new cmd heading: 142.746376 deg.

2025-10-26T22:45:59.641Z,1761518759.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.491394 target range: 231.215057 and range: 230.60 m.
2025-10-26T22:45:59.997Z,1761518759.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780128,-0.612371,-0.128067],[0.624141,-0.775869,-0.092066],[-0.042985,-0.151755,0.987483]]
2025-10-26T22:46:00.024Z,1761518760.024 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:00.026Z,1761518760.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:46:00.030Z,1761518760.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 224.883026 m,
      bearing: 156.426676 deg,
      approach rate: -0.491448 m/s,
      LOS rate: 0.009686 deg/s,
      cmd heading: 142.746377 deg,
      new cmd heading: 142.757687 deg.

2025-10-26T22:46:00.031Z,1761518760.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.491592 target range: 231.215057 and range: 230.60 m.
2025-10-26T22:46:00.105Z,1761518760.105 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:00.105Z,1761518760.105 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:00.106Z,1761518760.106 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:46:00.356Z,1761518760.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761153
2025-10-26T22:46:00.400Z,1761518760.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780042,-0.612488,-0.128038],[0.624205,-0.775944,-0.090988],[-0.043621,-0.150896,0.987587]]
2025-10-26T22:46:00.457Z,1761518760.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:46:00.464Z,1761518760.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 224.668472 m,
      bearing: 156.433473 deg,
      approach rate: -0.498571 m/s,
      LOS rate: 0.015810 deg/s,
      cmd heading: 142.757688 deg,
      new cmd heading: 142.778099 deg.

2025-10-26T22:46:00.465Z,1761518760.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.491948 target range: 231.215057 and range: 230.60 m.
2025-10-26T22:46:00.608Z,1761518760.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013097
2025-10-26T22:46:00.861Z,1761518760.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265785
2025-10-26T22:46:00.902Z,1761518760.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780177,-0.612183,-0.128669],[0.624004,-0.776090,-0.091121],[-0.044076,-0.151380,0.987492]]
2025-10-26T22:46:01.006Z,1761518761.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:46:01.019Z,1761518761.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 224.409851 m,
      bearing: 156.441667 deg,
      approach rate: -0.471085 m/s,
      LOS rate: 0.014943 deg/s,
      cmd heading: 142.778097 deg,
      new cmd heading: 142.802707 deg.

2025-10-26T22:46:01.020Z,1761518761.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.492378 target range: 231.215057 and range: 230.60 m.
2025-10-26T22:46:01.112Z,1761518761.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517149
2025-10-26T22:46:01.365Z,1761518761.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769517
2025-10-26T22:46:01.453Z,1761518761.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780618,-0.611465,-0.129405],[0.623362,-0.776708,-0.090245],[-0.045329,-0.151113,0.987477]]
2025-10-26T22:46:01.533Z,1761518761.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:46:01.536Z,1761518761.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 224.096207 m,
      bearing: 156.456063 deg,
      approach rate: -0.595386 m/s,
      LOS rate: 0.027366 deg/s,
      cmd heading: 142.802713 deg,
      new cmd heading: 142.845961 deg.

2025-10-26T22:46:01.537Z,1761518761.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.493132 target range: 231.215057 and range: 230.60 m.
2025-10-26T22:46:01.616Z,1761518761.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021135
2025-10-26T22:46:01.869Z,1761518761.869 [DAT](INFO): DAT read: Rx Time:22:46:00.4660

2025-10-26T22:46:01.869Z,1761518761.869 [DAT](INFO): Rx dataTimestamp_ set to:1761518761.868716
2025-10-26T22:46:01.870Z,1761518761.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274327
2025-10-26T22:46:01.975Z,1761518761.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781380,-0.610577,-0.128997],[0.622401,-0.777517,-0.089907],[-0.045403,-0.150540,0.987561]]
2025-10-26T22:46:02.018Z,1761518762.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:46:02.025Z,1761518762.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 223.824417 m,
      bearing: 156.468483 deg,
      approach rate: -0.559686 m/s,
      LOS rate: 0.025608 deg/s,
      cmd heading: 142.845962 deg,
      new cmd heading: 142.883268 deg.

2025-10-26T22:46:02.026Z,1761518762.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.493783 target range: 231.215057 and range: 230.60 m.
2025-10-26T22:46:02.121Z,1761518762.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525767
2025-10-26T22:46:02.378Z,1761518762.378 [DAT](INFO): DAT read: 22:46:00.4660 LVL= 30448, 32753, 32754, 24019, AGC= 75, IDX= 106,-0.22, 0.923,-0.603, 0.752,-0.009, PHS= 1.034,-0.549, 0.717, RAW= 139.1, -16.3, CAL= 139.0, -19.8, ROT=  11.0,  19.8

2025-10-26T22:46:02.383Z,1761518762.383 [DAT](INFO): got valid direction response:
 22:46:00.4660 LVL= 30448, 32753, 32754, 24019, AGC= 75, IDX= 106,-0.22, 0.923,-0.603, 0.752,-0.009, PHS= 1.034,-0.549, 0.717, RAW= 139.1, -16.3, CAL= 139.0, -19.8, ROT=  11.0,  19.8

2025-10-26T22:46:02.384Z,1761518762.384 [DAT](INFO): DAT read: Bearing 279.8,  11.0 (Local)

2025-10-26T22:46:02.385Z,1761518762.385 [DAT](INFO): Local bearing/azimuth received:
 Bearing 279.8,  11.0 (Local)

2025-10-26T22:46:02.386Z,1761518762.386 [DAT](INFO): DAT read: Range 11 to 50 : 206.2 m  (Round-trip  275.0 ms) speed  0.7 m/s

2025-10-26T22:46:02.387Z,1761518762.387 [DAT](INFO): DAT read: user:664>

2025-10-26T22:46:02.395Z,1761518762.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782424,-0.609495,-0.127782],[0.621104,-0.778648,-0.089097],[-0.045193,-0.149077,0.987792]]
2025-10-26T22:46:02.396Z,1761518762.396 [DAT](INFO): DAT read: Tx time:22:46:01.5868

2025-10-26T22:46:02.396Z,1761518762.396 [DAT](INFO): Ping request sent.
2025-10-26T22:46:02.396Z,1761518762.396 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:46:02.397Z,1761518762.397 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:46:02.397Z,1761518762.397 [DAT](INFO): direction in FSK: [0.923594,0.179529,-0.338738]
2025-10-26T22:46:02.398Z,1761518762.398 [DAT](INFO): publishing transmit ping time
2025-10-26T22:46:02.398Z,1761518762.398 [DAT](INFO): publishing direction and range info
2025-10-26T22:46:02.401Z,1761518762.401 [DAT](INFO): publishing transmit ping time
2025-10-26T22:46:02.401Z,1761518762.401 [DAT](INFO): publishing direction and range info
2025-10-26T22:46:02.533Z,1761518762.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 206.199997 m,
 deltaT: 3.780108 s,
 deltaX: -24.400009 m,
 approachRate: -6.454844 m/s,
 rangeRepo size: 4
2025-10-26T22:46:02.533Z,1761518762.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:46:02.540Z,1761518762.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 223.530045 m,
      bearing: 156.483466 deg,
      approach rate: -0.572822 m/s,
      LOS rate: 0.029193 deg/s,
      cmd heading: 142.883268 deg,
      new cmd heading: 142.928275 deg.

2025-10-26T22:46:02.541Z,1761518762.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.494569 target range: 231.215057 and range: 230.60 m.
2025-10-26T22:46:02.862Z,1761518762.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783134,-0.608688,-0.127280],[0.620212,-0.779394,-0.088786],[-0.045158,-0.148472,0.987885]]
2025-10-26T22:46:02.880Z,1761518762.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:02.882Z,1761518762.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:46:02.885Z,1761518762.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 223.303146 m,
      bearing: 156.494974 deg,
      approach rate: -0.648677 m/s,
      LOS rate: 0.032934 deg/s,
      cmd heading: 142.928279 deg,
      new cmd heading: 142.962838 deg.

2025-10-26T22:46:02.886Z,1761518762.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.495172 target range: 231.215057 and range: 230.60 m.
2025-10-26T22:46:03.129Z,1761518763.129 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:03.129Z,1761518763.129 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:03.129Z,1761518763.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:46:03.262Z,1761518763.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784357,-0.607425,-0.125776],[0.618718,-0.780611,-0.088517],[-0.044415,-0.147248,0.988102]]
2025-10-26T22:46:03.344Z,1761518763.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:46:03.371Z,1761518763.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 223.062897 m,
      bearing: 156.507061 deg,
      approach rate: -0.526150 m/s,
      LOS rate: 0.026500 deg/s,
      cmd heading: 142.962840 deg,
      new cmd heading: 142.999141 deg.

2025-10-26T22:46:03.372Z,1761518763.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.495806 target range: 231.215057 and range: 230.60 m.
2025-10-26T22:46:03.380Z,1761518763.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984203
2025-10-26T22:46:03.512Z,1761518763.512 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:46:03.633Z,1761518763.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236884
2025-10-26T22:46:03.686Z,1761518763.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785501,-0.605979,-0.125605],[0.617326,-0.781527,-0.090131],[-0.043546,-0.148337,0.987978]]
2025-10-26T22:46:03.742Z,1761518763.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:46:03.748Z,1761518763.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 222.793137 m,
      bearing: 156.521686 deg,
      approach rate: -0.668221 m/s,
      LOS rate: 0.036270 deg/s,
      cmd heading: 142.999135 deg,
      new cmd heading: 143.043062 deg.

2025-10-26T22:46:03.749Z,1761518763.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.496572 target range: 231.215057 and range: 230.60 m.
2025-10-26T22:46:03.884Z,1761518763.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488039
2025-10-26T22:46:04.110Z,1761518764.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786721,-0.604534,-0.124939],[0.615833,-0.782585,-0.091159],[-0.042667,-0.148658,0.987968]]
2025-10-26T22:46:04.129Z,1761518764.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:46:04.132Z,1761518764.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 222.562088 m,
      bearing: 156.534120 deg,
      approach rate: -0.597775 m/s,
      LOS rate: 0.032204 deg/s,
      cmd heading: 143.043067 deg,
      new cmd heading: 143.080409 deg.

2025-10-26T22:46:04.133Z,1761518764.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.497224 target range: 231.215057 and range: 230.60 m.
2025-10-26T22:46:04.137Z,1761518764.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740264
2025-10-26T22:46:04.388Z,1761518764.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992157
2025-10-26T22:46:04.496Z,1761518764.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788040,-0.602951,-0.124272],[0.614221,-0.783681,-0.092613],[-0.041548,-0.149313,0.987917]]
2025-10-26T22:46:04.516Z,1761518764.516 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:46:04.548Z,1761518764.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:46:04.551Z,1761518764.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 222.307892 m,
      bearing: 156.548314 deg,
      approach rate: -0.606778 m/s,
      LOS rate: 0.033919 deg/s,
      cmd heading: 143.080415 deg,
      new cmd heading: 143.123044 deg.

2025-10-26T22:46:04.552Z,1761518764.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.497968 target range: 231.215057 and range: 230.60 m.
2025-10-26T22:46:04.641Z,1761518764.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244930
2025-10-26T22:46:04.890Z,1761518764.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789492,-0.601154,-0.123760],[0.612451,-0.784792,-0.094896],[-0.040078,-0.150716,0.987764]]
2025-10-26T22:46:04.892Z,1761518764.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496209
2025-10-26T22:46:04.925Z,1761518764.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:04.927Z,1761518764.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:46:04.930Z,1761518764.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 222.077759 m,
      bearing: 156.561049 deg,
      approach rate: -0.606773 m/s,
      LOS rate: 0.033614 deg/s,
      cmd heading: 143.123049 deg,
      new cmd heading: 143.161296 deg.

2025-10-26T22:46:04.931Z,1761518764.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.498636 target range: 231.215057 and range: 230.60 m.
2025-10-26T22:46:05.144Z,1761518765.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748068
2025-10-26T22:46:05.296Z,1761518765.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790595,-0.599880,-0.122898],[0.611098,-0.785711,-0.096007],[-0.038970,-0.151006,0.987764]]
2025-10-26T22:46:05.324Z,1761518765.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:46:05.327Z,1761518765.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 221.838730 m,
      bearing: 156.574194 deg,
      approach rate: -0.601736 m/s,
      LOS rate: 0.033126 deg/s,
      cmd heading: 143.161298 deg,
      new cmd heading: 143.200774 deg.

2025-10-26T22:46:05.329Z,1761518765.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.499325 target range: 231.215057 and range: 230.60 m.
2025-10-26T22:46:05.397Z,1761518765.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000667
2025-10-26T22:46:05.648Z,1761518765.648 [DAT](INFO): DAT read: Rx Time:22:46:04.2634

2025-10-26T22:46:05.649Z,1761518765.649 [DAT](INFO): Rx dataTimestamp_ set to:1761518765.648620
2025-10-26T22:46:05.649Z,1761518765.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253205
2025-10-26T22:46:05.765Z,1761518765.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:46:05.768Z,1761518765.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 221.571503 m,
      bearing: 156.587502 deg,
      approach rate: -0.606525 m/s,
      LOS rate: 0.030241 deg/s,
      cmd heading: 143.200776 deg,
      new cmd heading: 143.240748 deg.

2025-10-26T22:46:05.769Z,1761518765.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.500023 target range: 231.215057 and range: 230.60 m.
2025-10-26T22:46:05.900Z,1761518765.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504082
2025-10-26T22:46:06.105Z,1761518766.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792719,-0.597458,-0.120998],[0.608498,-0.787417,-0.098513],[-0.036418,-0.151720,0.987752]]
2025-10-26T22:46:06.131Z,1761518766.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.22 m.
2025-10-26T22:46:06.134Z,1761518766.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.215057 m,
      nav range: 221.351471 m,
      bearing: 156.598287 deg,
      approach rate: -0.601467 m/s,
      LOS rate: 0.029511 deg/s,
      cmd heading: 143.240747 deg,
      new cmd heading: 143.273134 deg.

2025-10-26T22:46:06.134Z,1761518766.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.500588 target range: 231.215057 and range: 230.60 m.
2025-10-26T22:46:06.159Z,1761518766.159 [DAT](INFO): DAT read: 22:46:04.2634 LVL= 30928, 32753, 32498, 32755, AGC= 68, IDX= 105, 0.37, 2.567, 0.750, 2.288, 2.258, PHS= 0.411,-1.463,-0.014, RAW= 137.5,  12.5, CAL= 136.9,  13.5, ROT=  13.1, -13.5

2025-10-26T22:46:06.160Z,1761518766.160 [DAT](INFO): got valid direction response:
 22:46:04.2634 LVL= 30928, 32753, 32498, 32755, AGC= 68, IDX= 105, 0.37, 2.567, 0.750, 2.288, 2.258, PHS= 0.411,-1.463,-0.014, RAW= 137.5,  12.5, CAL= 136.9,  13.5, ROT=  13.1, -13.5

2025-10-26T22:46:06.161Z,1761518766.161 [DAT](INFO): DAT read: Bearing 313.7,   8.3 (Local)

2025-10-26T22:46:06.162Z,1761518766.162 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.7,   8.3 (Local)

2025-10-26T22:46:06.184Z,1761518766.184 [DAT](INFO): DAT read: Range 11 to 50 : 204.3 m  (Round-trip  272.5 ms) speed  0.1 m/s

2025-10-26T22:46:06.185Z,1761518766.185 [DAT](INFO): DAT read: user:665>

2025-10-26T22:46:06.186Z,1761518766.186 [DAT](INFO): DAT read: Tx time:22:46:05.3868

2025-10-26T22:46:06.187Z,1761518766.187 [DAT](INFO): Ping request sent.
2025-10-26T22:46:06.187Z,1761518766.187 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:46:06.187Z,1761518766.187 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:46:06.190Z,1761518766.190 [DAT](INFO): direction in FSK: [0.947065,0.220389,0.233445]
2025-10-26T22:46:06.191Z,1761518766.191 [DAT](INFO): publishing transmit ping time
2025-10-26T22:46:06.191Z,1761518766.191 [DAT](INFO): publishing direction and range info
2025-10-26T22:46:06.195Z,1761518766.195 [DAT](INFO): publishing transmit ping time
2025-10-26T22:46:06.195Z,1761518766.195 [DAT](INFO): publishing direction and range info
2025-10-26T22:46:06.513Z,1761518766.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794065,-0.595727,-0.120706],[0.606853,-0.788265,-0.101822],[-0.034490,-0.154104,0.987452]]
2025-10-26T22:46:06.566Z,1761518766.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 204.300003 m,
      deltaT: 7.560852 s,
      deltaX: -26.300003 m,
      approachRate: -3.478444 m/s,
      rangeRepo size: 4

2025-10-26T22:46:06.568Z,1761518766.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 203.082993 m,
      bearing: 157.517256 deg,
      lat: 36.779154 deg,
      lon: -121.859397 deg,
      deltaT: 11.340604 s,
      deltaX: -28.132065 m,
      approachRate: -2.480650 m/s,
      posRepo size: 4

2025-10-26T22:46:06.569Z,1761518766.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.08 m.
2025-10-26T22:46:06.592Z,1761518766.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.082993 m,
      nav range: 204.866287 m,
      bearing: 154.630661 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.029511 deg/s,
      cmd heading: 143.273135 deg,
      new cmd heading: 143.311624 deg.

2025-10-26T22:46:06.593Z,1761518766.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.501260 target range: 203.082993 and range: 204.30 m.
2025-10-26T22:46:06.946Z,1761518766.946 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:06.948Z,1761518766.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.08 m.
2025-10-26T22:46:06.951Z,1761518766.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.082993 m,
      nav range: 204.638702 m,
      bearing: 154.639332 deg,
      approach rate: -0.594396 m/s,
      LOS rate: 0.022671 deg/s,
      cmd heading: 143.311630 deg,
      new cmd heading: 143.337672 deg.

2025-10-26T22:46:06.953Z,1761518766.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.501714 target range: 203.082993 and range: 204.30 m.
2025-10-26T22:46:07.160Z,1761518767.160 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:07.160Z,1761518767.160 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:07.160Z,1761518767.160 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:46:07.315Z,1761518767.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796260,-0.593267,-0.118339],[0.604136,-0.789990,-0.104572],[-0.031447,-0.154759,0.987452]]
2025-10-26T22:46:07.333Z,1761518767.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.08 m.
2025-10-26T22:46:07.336Z,1761518767.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.082993 m,
      nav range: 204.411377 m,
      bearing: 154.647788 deg,
      approach rate: -0.590818 m/s,
      LOS rate: 0.022002 deg/s,
      cmd heading: 143.337667 deg,
      new cmd heading: 143.363063 deg.

2025-10-26T22:46:07.337Z,1761518767.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.502157 target range: 203.082993 and range: 204.30 m.
2025-10-26T22:46:07.415Z,1761518767.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228188
2025-10-26T22:46:07.665Z,1761518767.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.477873
2025-10-26T22:46:07.822Z,1761518767.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.08 m.
2025-10-26T22:46:07.827Z,1761518767.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.082993 m,
      nav range: 204.138718 m,
      bearing: 154.656428 deg,
      approach rate: -0.560604 m/s,
      LOS rate: 0.017788 deg/s,
      cmd heading: 143.363062 deg,
      new cmd heading: 143.389016 deg.

2025-10-26T22:46:07.828Z,1761518767.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.502610 target range: 203.082993 and range: 204.30 m.
2025-10-26T22:46:07.917Z,1761518767.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730344
2025-10-26T22:46:08.160Z,1761518768.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.08 m.
2025-10-26T22:46:08.163Z,1761518768.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.082993 m,
      nav range: 203.947754 m,
      bearing: 154.662492 deg,
      approach rate: -0.561348 m/s,
      LOS rate: 0.017844 deg/s,
      cmd heading: 143.389016 deg,
      new cmd heading: 143.407228 deg.

2025-10-26T22:46:08.168Z,1761518768.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981659
2025-10-26T22:46:08.192Z,1761518768.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.502928 target range: 203.082993 and range: 204.30 m.
2025-10-26T22:46:08.426Z,1761518768.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238620
2025-10-26T22:46:08.527Z,1761518768.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798453,-0.590806,-0.115849],[0.601428,-0.791508,-0.108623],[-0.027521,-0.156405,0.987309]]
2025-10-26T22:46:08.571Z,1761518768.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.08 m.
2025-10-26T22:46:08.574Z,1761518768.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.082993 m,
      nav range: 203.727402 m,
      bearing: 154.667006 deg,
      approach rate: -0.535420 m/s,
      LOS rate: 0.010979 deg/s,
      cmd heading: 143.407226 deg,
      new cmd heading: 143.420781 deg.

2025-10-26T22:46:08.575Z,1761518768.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503165 target range: 203.082993 and range: 204.30 m.
2025-10-26T22:46:08.673Z,1761518768.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485838
2025-10-26T22:46:08.924Z,1761518768.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737746
2025-10-26T22:46:08.990Z,1761518768.990 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:08.998Z,1761518768.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.08 m.
2025-10-26T22:46:09.006Z,1761518769.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.082993 m,
      nav range: 203.514359 m,
      bearing: 154.671379 deg,
      approach rate: -0.500376 m/s,
      LOS rate: 0.010282 deg/s,
      cmd heading: 143.420777 deg,
      new cmd heading: 143.433910 deg.

2025-10-26T22:46:09.012Z,1761518769.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503394 target range: 203.082993 and range: 204.30 m.
2025-10-26T22:46:09.176Z,1761518769.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989687
2025-10-26T22:46:09.336Z,1761518769.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799053,-0.590274,-0.114418],[0.600711,-0.791872,-0.109935],[-0.025712,-0.156576,0.987331]]
2025-10-26T22:46:09.355Z,1761518769.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.08 m.
2025-10-26T22:46:09.358Z,1761518769.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.082993 m,
      nav range: 203.307190 m,
      bearing: 154.675588 deg,
      approach rate: -0.578228 m/s,
      LOS rate: 0.011758 deg/s,
      cmd heading: 143.433904 deg,
      new cmd heading: 143.446543 deg.

2025-10-26T22:46:09.359Z,1761518769.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503614 target range: 203.082993 and range: 204.30 m.
2025-10-26T22:46:09.431Z,1761518769.431 [DAT](INFO): DAT read: Rx Time:22:46:08.0609

2025-10-26T22:46:09.432Z,1761518769.432 [DAT](INFO): Rx dataTimestamp_ set to:1761518769.431319
2025-10-26T22:46:09.434Z,1761518769.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246784
2025-10-26T22:46:09.680Z,1761518769.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493645
2025-10-26T22:46:09.742Z,1761518769.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799045,-0.590414,-0.113748],[0.600749,-0.791818,-0.110108],[-0.025058,-0.156315,0.987389]]
2025-10-26T22:46:09.793Z,1761518769.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.08 m.
2025-10-26T22:46:09.796Z,1761518769.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.082993 m,
      nav range: 203.084915 m,
      bearing: 154.677695 deg,
      approach rate: -0.507757 m/s,
      LOS rate: 0.004819 deg/s,
      cmd heading: 143.446540 deg,
      new cmd heading: 143.452868 deg.

2025-10-26T22:46:09.797Z,1761518769.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503725 target range: 203.082993 and range: 204.30 m.
2025-10-26T22:46:09.938Z,1761518769.938 [DAT](INFO): DAT read: 22:46:08.0609 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 409, 0.16,-0.314,-2.096,-0.545,-0.556, PHS= 0.344,-1.495,-0.034, RAW= 138.8,  14.0, CAL= 138.0,  15.1, ROT=  12.0, -15.1

2025-10-26T22:46:09.940Z,1761518769.940 [DAT](INFO): got valid direction response:
 22:46:08.0609 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 409, 0.16,-0.314,-2.096,-0.545,-0.556, PHS= 0.344,-1.495,-0.034, RAW= 138.8,  14.0, CAL= 138.0,  15.1, ROT=  12.0, -15.1

2025-10-26T22:46:09.941Z,1761518769.941 [DAT](INFO): DAT read: Bearing 315.4,   7.4 (Local)

2025-10-26T22:46:09.941Z,1761518769.941 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.4,   7.4 (Local)

2025-10-26T22:46:09.942Z,1761518769.942 [DAT](INFO): DAT read: Range 11 to 50 : 202.5 m  (Round-trip  270.0 ms) speed  0.4 m/s

2025-10-26T22:46:09.943Z,1761518769.943 [DAT](INFO): DAT read: user:666>

2025-10-26T22:46:09.944Z,1761518769.944 [DAT](INFO): DAT read: Tx time:22:46:09.1868

2025-10-26T22:46:09.944Z,1761518769.944 [DAT](INFO): Ping request sent.
2025-10-26T22:46:09.945Z,1761518769.945 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:46:09.945Z,1761518769.945 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:46:09.946Z,1761518769.946 [DAT](INFO): direction in FSK: [0.944375,0.200733,0.260505]
2025-10-26T22:46:09.946Z,1761518769.946 [DAT](INFO): publishing transmit ping time
2025-10-26T22:46:09.946Z,1761518769.946 [DAT](INFO): publishing direction and range info
2025-10-26T22:46:09.950Z,1761518769.950 [DAT](INFO): publishing transmit ping time
2025-10-26T22:46:09.950Z,1761518769.950 [DAT](INFO): publishing direction and range info
2025-10-26T22:46:10.142Z,1761518770.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799028,-0.590566,-0.113074],[0.600797,-0.791764,-0.110237],[-0.024426,-0.156017,0.987452]]
2025-10-26T22:46:10.178Z,1761518770.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 202.500000 m,
      deltaT: 3.779404 s,
      deltaX: -1.800003 m,
      approachRate: -0.476266 m/s,
      rangeRepo size: 4

2025-10-26T22:46:10.180Z,1761518770.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 201.296677 m,
      bearing: 157.182957 deg,
      lat: 36.779170 deg,
      lon: -121.859397 deg,
      deltaT: 3.779404 s,
      deltaX: -1.786316 m,
      approachRate: -0.472645 m/s,
      posRepo size: 4

2025-10-26T22:46:10.181Z,1761518770.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.30 m.
2025-10-26T22:46:10.185Z,1761518770.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.296677 m,
      nav range: 201.344589 m,
      bearing: 154.471017 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004819 deg/s,
      cmd heading: 143.452865 deg,
      new cmd heading: 143.458423 deg.

2025-10-26T22:46:10.186Z,1761518770.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503822 target range: 201.296677 and range: 202.50 m.
2025-10-26T22:46:10.547Z,1761518770.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798996,-0.590711,-0.112542],[0.600860,-0.791700,-0.110356],[-0.023911,-0.155796,0.987500]]
2025-10-26T22:46:10.594Z,1761518770.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.30 m.
2025-10-26T22:46:10.597Z,1761518770.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.296677 m,
      nav range: 201.145676 m,
      bearing: 154.471081 deg,
      approach rate: -0.477816 m/s,
      LOS rate: 0.000154 deg/s,
      cmd heading: 143.458425 deg,
      new cmd heading: 143.458616 deg.

2025-10-26T22:46:10.598Z,1761518770.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503825 target range: 201.296677 and range: 202.50 m.
2025-10-26T22:46:10.953Z,1761518770.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798711,-0.591209,-0.111946],[0.601256,-0.791431,-0.110127],[-0.023489,-0.155268,0.987593]]
2025-10-26T22:46:10.974Z,1761518770.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.30 m.
2025-10-26T22:46:10.979Z,1761518770.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.296677 m,
      nav range: 200.966949 m,
      bearing: 154.471162 deg,
      approach rate: -0.471184 m/s,
      LOS rate: 0.000214 deg/s,
      cmd heading: 143.458616 deg,
      new cmd heading: 143.458859 deg.

2025-10-26T22:46:10.981Z,1761518770.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503829 target range: 201.296677 and range: 202.50 m.
2025-10-26T22:46:11.354Z,1761518771.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798229,-0.591817,-0.112178],[0.601896,-0.790934,-0.110203],[-0.023505,-0.155487,0.987558]]
2025-10-26T22:46:11.371Z,1761518771.371 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:11.373Z,1761518771.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.30 m.
2025-10-26T22:46:11.376Z,1761518771.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.296677 m,
      nav range: 200.776718 m,
      bearing: 154.471293 deg,
      approach rate: -0.475576 m/s,
      LOS rate: 0.000327 deg/s,
      cmd heading: 143.458862 deg,
      new cmd heading: 143.459254 deg.

2025-10-26T22:46:11.377Z,1761518771.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503836 target range: 201.296677 and range: 202.50 m.
2025-10-26T22:46:11.451Z,1761518771.451 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:11.451Z,1761518771.451 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:11.452Z,1761518771.452 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:46:11.701Z,1761518771.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756477
2025-10-26T22:46:11.826Z,1761518771.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.30 m.
2025-10-26T22:46:11.831Z,1761518771.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.296677 m,
      nav range: 200.561203 m,
      bearing: 154.472641 deg,
      approach rate: -0.478336 m/s,
      LOS rate: 0.002996 deg/s,
      cmd heading: 143.459258 deg,
      new cmd heading: 143.463308 deg.

2025-10-26T22:46:11.832Z,1761518771.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503907 target range: 201.296677 and range: 202.50 m.
2025-10-26T22:46:11.952Z,1761518771.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007832
2025-10-26T22:46:12.163Z,1761518772.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797058,-0.593340,-0.112456],[0.603439,-0.789814,-0.109797],[-0.023672,-0.155375,0.987572]]
2025-10-26T22:46:12.186Z,1761518772.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.30 m.
2025-10-26T22:46:12.189Z,1761518772.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.296677 m,
      nav range: 200.388000 m,
      bearing: 154.473822 deg,
      approach rate: -0.477804 m/s,
      LOS rate: 0.003261 deg/s,
      cmd heading: 143.463301 deg,
      new cmd heading: 143.466848 deg.

2025-10-26T22:46:12.190Z,1761518772.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503969 target range: 201.296677 and range: 202.50 m.
2025-10-26T22:46:12.208Z,1761518772.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263507
2025-10-26T22:46:12.459Z,1761518772.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514028
2025-10-26T22:46:12.566Z,1761518772.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796729,-0.593696,-0.112907],[0.603868,-0.789450,-0.110050],[-0.023798,-0.155861,0.987492]]
2025-10-26T22:46:12.622Z,1761518772.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.30 m.
2025-10-26T22:46:12.630Z,1761518772.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.296677 m,
      nav range: 200.170822 m,
      bearing: 154.476182 deg,
      approach rate: -0.497642 m/s,
      LOS rate: 0.005413 deg/s,
      cmd heading: 143.466853 deg,
      new cmd heading: 143.473940 deg.

2025-10-26T22:46:12.632Z,1761518772.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.504093 target range: 201.296677 and range: 202.50 m.
2025-10-26T22:46:12.709Z,1761518772.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764232
2025-10-26T22:46:12.960Z,1761518772.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015813
2025-10-26T22:46:12.994Z,1761518772.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796232,-0.594455,-0.112416],[0.604516,-0.789117,-0.108880],[-0.023986,-0.154651,0.987678]]
2025-10-26T22:46:13.015Z,1761518773.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.30 m.
2025-10-26T22:46:13.018Z,1761518773.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.296677 m,
      nav range: 199.975723 m,
      bearing: 154.478349 deg,
      approach rate: -0.497456 m/s,
      LOS rate: 0.005531 deg/s,
      cmd heading: 143.473943 deg,
      new cmd heading: 143.480450 deg.

2025-10-26T22:46:13.019Z,1761518773.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.504206 target range: 201.296677 and range: 202.50 m.
2025-10-26T22:46:13.212Z,1761518773.212 [DAT](INFO): DAT read: Rx Time:22:46:11.8586

2025-10-26T22:46:13.213Z,1761518773.213 [DAT](INFO): Rx dataTimestamp_ set to:1761518773.212625
2025-10-26T22:46:13.213Z,1761518773.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268873
2025-10-26T22:46:13.376Z,1761518773.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796302,-0.594365,-0.112397],[0.604429,-0.789154,-0.109094],[-0.023857,-0.154808,0.987657]]
2025-10-26T22:46:13.393Z,1761518773.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:13.395Z,1761518773.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.30 m.
2025-10-26T22:46:13.398Z,1761518773.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.296677 m,
      nav range: 199.786621 m,
      bearing: 154.480447 deg,
      approach rate: -0.497732 m/s,
      LOS rate: 0.005529 deg/s,
      cmd heading: 143.480445 deg,
      new cmd heading: 143.486747 deg.

2025-10-26T22:46:13.399Z,1761518773.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.504316 target range: 201.296677 and range: 202.50 m.
2025-10-26T22:46:13.468Z,1761518773.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523269
2025-10-26T22:46:13.726Z,1761518773.726 [DAT](INFO): DAT read: 22:46:11.8586 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418, 0.04, 0.259,-1.552, 0.020,-0.101, PHS= 0.462,-1.406, 0.077, RAW= 138.7,  10.2, CAL= 138.3,  11.2, ROT=  11.7, -11.2

2025-10-26T22:46:13.728Z,1761518773.728 [DAT](INFO): got valid direction response:
 22:46:11.8586 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418, 0.04, 0.259,-1.552, 0.020,-0.101, PHS= 0.462,-1.406, 0.077, RAW= 138.7,  10.2, CAL= 138.3,  11.2, ROT=  11.7, -11.2

2025-10-26T22:46:13.729Z,1761518773.729 [DAT](INFO): DAT read: Bearing 312.2,   8.4 (Local)

2025-10-26T22:46:13.730Z,1761518773.730 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.2,   8.4 (Local)

2025-10-26T22:46:13.737Z,1761518773.737 [DAT](INFO): DAT read: Range 11 to 50 : 200.7 m  (Round-trip  267.7 ms) speed  0.4 m/s

2025-10-26T22:46:13.737Z,1761518773.737 [DAT](INFO): DAT read: user:667>

2025-10-26T22:46:13.738Z,1761518773.738 [DAT](INFO): DAT read: Tx time:22:46:12.9868

2025-10-26T22:46:13.738Z,1761518773.738 [DAT](INFO): Ping request sent.
2025-10-26T22:46:13.738Z,1761518773.738 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:46:13.739Z,1761518773.739 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:46:13.766Z,1761518773.766 [DAT](INFO): direction in FSK: [0.960574,0.198925,0.194234]
2025-10-26T22:46:13.767Z,1761518773.767 [DAT](INFO): publishing transmit ping time
2025-10-26T22:46:13.767Z,1761518773.767 [DAT](INFO): publishing direction and range info
2025-10-26T22:46:13.770Z,1761518773.770 [DAT](INFO): publishing transmit ping time
2025-10-26T22:46:13.770Z,1761518773.770 [DAT](INFO): publishing direction and range info
2025-10-26T22:46:13.920Z,1761518773.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 200.699997 m,
      deltaT: 3.785199 s,
      deltaX: -1.800003 m,
      approachRate: -0.475537 m/s,
      rangeRepo size: 4

2025-10-26T22:46:13.922Z,1761518773.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 199.508698 m,
      bearing: 156.026104 deg,
      lat: 36.779170 deg,
      lon: -121.859460 deg,
      deltaT: 3.785199 s,
      deltaX: -1.787979 m,
      approachRate: -0.472361 m/s,
      posRepo size: 4

2025-10-26T22:46:13.927Z,1761518773.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.51 m.
2025-10-26T22:46:13.930Z,1761518773.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.508698 m,
      nav range: 197.158432 m,
      bearing: 155.968960 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005529 deg/s,
      cmd heading: 143.486743 deg,
      new cmd heading: 143.495372 deg.

2025-10-26T22:46:13.931Z,1761518773.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.504467 target range: 199.508698 and range: 200.70 m.
2025-10-26T22:46:14.255Z,1761518774.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796893,-0.593704,-0.111702],[0.603634,-0.789942,-0.107787],[-0.024244,-0.153322,0.987879]]
2025-10-26T22:46:14.273Z,1761518774.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.51 m.
2025-10-26T22:46:14.276Z,1761518774.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.508698 m,
      nav range: 196.965469 m,
      bearing: 155.975232 deg,
      approach rate: -0.538627 m/s,
      LOS rate: 0.017525 deg/s,
      cmd heading: 143.495376 deg,
      new cmd heading: 143.514211 deg.

2025-10-26T22:46:14.277Z,1761518774.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.504796 target range: 199.508698 and range: 200.70 m.
2025-10-26T22:46:14.643Z,1761518774.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797528,-0.592947,-0.111185],[0.602788,-0.790681,-0.107103],[-0.024405,-0.152439,0.988012]]
2025-10-26T22:46:14.687Z,1761518774.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.51 m.
2025-10-26T22:46:14.690Z,1761518774.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.508698 m,
      nav range: 196.734070 m,
      bearing: 155.984957 deg,
      approach rate: -0.558960 m/s,
      LOS rate: 0.023518 deg/s,
      cmd heading: 143.514214 deg,
      new cmd heading: 143.543421 deg.

2025-10-26T22:46:14.691Z,1761518774.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505305 target range: 199.508698 and range: 200.70 m.
2025-10-26T22:46:15.047Z,1761518775.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798349,-0.591941,-0.110653],[0.601703,-0.791539,-0.106859],[-0.024332,-0.151891,0.988098]]
2025-10-26T22:46:15.073Z,1761518775.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.51 m.
2025-10-26T22:46:15.076Z,1761518775.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.508698 m,
      nav range: 196.518066 m,
      bearing: 155.993968 deg,
      approach rate: -0.559415 m/s,
      LOS rate: 0.023364 deg/s,
      cmd heading: 143.543420 deg,
      new cmd heading: 143.570483 deg.

2025-10-26T22:46:15.077Z,1761518775.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505778 target range: 199.508698 and range: 200.70 m.
2025-10-26T22:46:15.450Z,1761518775.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799115,-0.590908,-0.110646],[0.600685,-0.792273,-0.107154],[-0.024344,-0.152092,0.988066]]
2025-10-26T22:46:15.511Z,1761518775.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:15.531Z,1761518775.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.51 m.
2025-10-26T22:46:15.547Z,1761518775.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.508698 m,
      nav range: 196.296829 m,
      bearing: 156.003135 deg,
      approach rate: -0.484571 m/s,
      LOS rate: 0.020100 deg/s,
      cmd heading: 143.570481 deg,
      new cmd heading: 143.598012 deg.

2025-10-26T22:46:15.552Z,1761518775.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.506258 target range: 199.508698 and range: 200.70 m.
2025-10-26T22:46:15.732Z,1761518775.732 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:15.732Z,1761518775.732 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:15.733Z,1761518775.733 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:46:15.860Z,1761518775.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799928,-0.589859,-0.110366],[0.599596,-0.793132,-0.106895],[-0.024482,-0.151683,0.988126]]
2025-10-26T22:46:15.917Z,1761518775.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.51 m.
2025-10-26T22:46:15.927Z,1761518775.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.508698 m,
      nav range: 196.045258 m,
      bearing: 156.018537 deg,
      approach rate: -0.659255 m/s,
      LOS rate: 0.040414 deg/s,
      cmd heading: 143.598006 deg,
      new cmd heading: 143.644272 deg.

2025-10-26T22:46:15.928Z,1761518775.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.507066 target range: 199.508698 and range: 200.70 m.
2025-10-26T22:46:15.985Z,1761518775.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246313
2025-10-26T22:46:16.237Z,1761518776.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498150
2025-10-26T22:46:16.286Z,1761518776.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800928,-0.588562,-0.110042],[0.598255,-0.794173,-0.106675],[-0.024607,-0.151272,0.988186]]
2025-10-26T22:46:16.304Z,1761518776.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.51 m.
2025-10-26T22:46:16.307Z,1761518776.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.508698 m,
      nav range: 195.804092 m,
      bearing: 156.033218 deg,
      approach rate: -0.613903 m/s,
      LOS rate: 0.037418 deg/s,
      cmd heading: 143.644274 deg,
      new cmd heading: 143.688371 deg.

2025-10-26T22:46:16.308Z,1761518776.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.507835 target range: 199.508698 and range: 200.70 m.
2025-10-26T22:46:16.493Z,1761518776.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752719
2025-10-26T22:46:16.690Z,1761518776.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801905,-0.587300,-0.109668],[0.596949,-0.795147,-0.106742],[-0.024512,-0.151063,0.988220]]
2025-10-26T22:46:16.740Z,1761518776.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001909
2025-10-26T22:46:16.754Z,1761518776.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.51 m.
2025-10-26T22:46:16.780Z,1761518776.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.508698 m,
      nav range: 195.533066 m,
      bearing: 156.048866 deg,
      approach rate: -0.602469 m/s,
      LOS rate: 0.034832 deg/s,
      cmd heading: 143.688370 deg,
      new cmd heading: 143.735378 deg.

2025-10-26T22:46:16.781Z,1761518776.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.508656 target range: 199.508698 and range: 200.70 m.
2025-10-26T22:46:16.993Z,1761518776.993 [DAT](INFO): DAT read: Rx Time:22:46:15.6863

2025-10-26T22:46:16.994Z,1761518776.994 [DAT](INFO): Rx dataTimestamp_ set to:1761518776.993299
2025-10-26T22:46:16.994Z,1761518776.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255592
2025-10-26T22:46:17.094Z,1761518777.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802916,-0.585889,-0.109817],[0.595588,-0.796080,-0.107386],[-0.024507,-0.151627,0.988134]]
2025-10-26T22:46:17.119Z,1761518777.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.51 m.
2025-10-26T22:46:17.122Z,1761518777.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.508698 m,
      nav range: 195.312866 m,
      bearing: 156.061497 deg,
      approach rate: -0.603090 m/s,
      LOS rate: 0.034634 deg/s,
      cmd heading: 143.735375 deg,
      new cmd heading: 143.773311 deg.

2025-10-26T22:46:17.123Z,1761518777.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.509318 target range: 199.508698 and range: 200.70 m.
2025-10-26T22:46:17.244Z,1761518777.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505778
2025-10-26T22:46:17.514Z,1761518777.514 [DAT](INFO): DAT read: 22:46:15.6863 LVL= 21296, 23233, 21122, 19907, AGC= 69, IDX= 205, 0.04,-1.768,-3.027,-1.985,-2.734, PHS= 1.068,-0.248, 0.705, RAW= 134.5, -24.6, CAL= 134.6, -26.4, ROT=  15.4,  26.4

2025-10-26T22:46:17.530Z,1761518777.530 [DAT](INFO): got valid direction response:
 22:46:15.6863 LVL= 21296, 23233, 21122, 19907, AGC= 69, IDX= 205, 0.04,-1.768,-3.027,-1.985,-2.734, PHS= 1.068,-0.248, 0.705, RAW= 134.5, -24.6, CAL= 134.6, -26.4, ROT=  15.4,  26.4

2025-10-26T22:46:17.538Z,1761518777.538 [DAT](INFO): DAT read: Bearing 274.2,  16.3 (Local)

2025-10-26T22:46:17.539Z,1761518777.539 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.2,  16.3 (Local)

2025-10-26T22:46:17.567Z,1761518777.567 [DAT](INFO): DAT read: Range 11 to 50 : 221.5 m  (Round-trip  295.4 ms) speed  0.4 m/s

2025-10-26T22:46:17.580Z,1761518777.580 [DAT](INFO): DAT read: user:668>

2025-10-26T22:46:17.581Z,1761518777.581 [DAT](INFO): DAT read: Tx time:22:46:16.7868

2025-10-26T22:46:17.581Z,1761518777.581 [DAT](INFO): Ping request sent.
2025-10-26T22:46:17.581Z,1761518777.581 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:46:17.581Z,1761518777.581 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:46:17.582Z,1761518777.582 [DAT](INFO): direction in FSK: [0.863552,0.237862,-0.444635]
2025-10-26T22:46:17.583Z,1761518777.583 [DAT](INFO): publishing transmit ping time
2025-10-26T22:46:17.583Z,1761518777.583 [DAT](INFO): publishing direction and range info
2025-10-26T22:46:17.594Z,1761518777.594 [DAT](INFO): publishing transmit ping time
2025-10-26T22:46:17.595Z,1761518777.595 [DAT](INFO): publishing direction and range info
2025-10-26T22:46:17.598Z,1761518777.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803897,-0.584650,-0.109238],[0.594270,-0.797075,-0.107309],[-0.024332,-0.151182,0.988206]]
2025-10-26T22:46:17.792Z,1761518777.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 221.500000 m,
 deltaT: 3.781053 s,
 deltaX: 20.800003 m,
 approachRate: 5.501114 m/s,
 rangeRepo size: 4
2025-10-26T22:46:17.803Z,1761518777.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.51 m.
2025-10-26T22:46:17.806Z,1761518777.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.508698 m,
      nav range: 194.939575 m,
      bearing: 156.086281 deg,
      approach rate: -0.562492 m/s,
      LOS rate: 0.037417 deg/s,
      cmd heading: 143.773310 deg,
      new cmd heading: 143.847804 deg.

2025-10-26T22:46:17.807Z,1761518777.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.510618 target range: 199.508698 and range: 200.70 m.
2025-10-26T22:46:18.133Z,1761518778.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804392,-0.584046,-0.108832],[0.593612,-0.797552,-0.107404],[-0.024070,-0.150999,0.988241]]
2025-10-26T22:46:18.150Z,1761518778.150 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:18.152Z,1761518778.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.51 m.
2025-10-26T22:46:18.155Z,1761518778.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.508698 m,
      nav range: 194.697815 m,
      bearing: 156.102323 deg,
      approach rate: -0.655486 m/s,
      LOS rate: 0.043550 deg/s,
      cmd heading: 143.847800 deg,
      new cmd heading: 143.895987 deg.

2025-10-26T22:46:18.156Z,1761518778.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.511459 target range: 199.508698 and range: 200.70 m.
2025-10-26T22:46:18.253Z,1761518778.253 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:18.253Z,1761518778.253 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:18.253Z,1761518778.253 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:46:18.505Z,1761518778.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.923256
2025-10-26T22:46:18.584Z,1761518778.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804975,-0.583158,-0.109275],[0.592833,-0.797943,-0.108797],[-0.023749,-0.152361,0.988039]]
2025-10-26T22:46:18.620Z,1761518778.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.51 m.
2025-10-26T22:46:18.623Z,1761518778.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.508698 m,
      nav range: 194.426147 m,
      bearing: 156.120516 deg,
      approach rate: -0.580438 m/s,
      LOS rate: 0.038925 deg/s,
      cmd heading: 143.895980 deg,
      new cmd heading: 143.950636 deg.

2025-10-26T22:46:18.624Z,1761518778.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.512413 target range: 199.508698 and range: 200.70 m.
2025-10-26T22:46:18.757Z,1761518778.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.175651
2025-10-26T22:46:18.947Z,1761518778.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805309,-0.582425,-0.110719],[0.592384,-0.797958,-0.111105],[-0.023639,-0.155062,0.987622]]
2025-10-26T22:46:18.993Z,1761518778.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.51 m.
2025-10-26T22:46:19.000Z,1761518779.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.508698 m,
      nav range: 194.224792 m,
      bearing: 156.134001 deg,
      approach rate: -0.539138 m/s,
      LOS rate: 0.036144 deg/s,
      cmd heading: 143.950635 deg,
      new cmd heading: 143.991132 deg.

2025-10-26T22:46:19.001Z,1761518779.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.513119 target range: 199.508698 and range: 200.70 m.
2025-10-26T22:46:19.008Z,1761518779.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.427256
2025-10-26T22:46:19.261Z,1761518779.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.679453
2025-10-26T22:46:19.361Z,1761518779.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805561,-0.581852,-0.111890],[0.592044,-0.797951,-0.112947],[-0.023564,-0.157229,0.987281]]
2025-10-26T22:46:19.386Z,1761518779.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.51 m.
2025-10-26T22:46:19.405Z,1761518779.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.508698 m,
      nav range: 193.981552 m,
      bearing: 156.150298 deg,
      approach rate: -0.618885 m/s,
      LOS rate: 0.041515 deg/s,
      cmd heading: 143.991138 deg,
      new cmd heading: 144.040089 deg.

2025-10-26T22:46:19.406Z,1761518779.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.513974 target range: 199.508698 and range: 200.70 m.
2025-10-26T22:46:19.513Z,1761518779.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.931482
2025-10-26T22:46:19.755Z,1761518779.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805291,-0.581991,-0.113106],[0.592415,-0.797431,-0.114664],[-0.023461,-0.159344,0.986944]]
2025-10-26T22:46:19.764Z,1761518779.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.183222
2025-10-26T22:46:19.805Z,1761518779.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.51 m.
2025-10-26T22:46:19.824Z,1761518779.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.508698 m,
      nav range: 193.750244 m,
      bearing: 156.163755 deg,
      approach rate: -0.552032 m/s,
      LOS rate: 0.032154 deg/s,
      cmd heading: 144.040084 deg,
      new cmd heading: 144.080503 deg.

2025-10-26T22:46:19.825Z,1761518779.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.514679 target range: 199.508698 and range: 200.70 m.
2025-10-26T22:46:20.017Z,1761518780.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.435264
2025-10-26T22:46:20.158Z,1761518780.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805153,-0.581841,-0.114847],[0.592603,-0.796956,-0.116976],[-0.023466,-0.162242,0.986472]]
2025-10-26T22:46:20.176Z,1761518780.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:20.178Z,1761518780.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.51 m.
2025-10-26T22:46:20.181Z,1761518780.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.508698 m,
      nav range: 193.544876 m,
      bearing: 156.175747 deg,
      approach rate: -0.551424 m/s,
      LOS rate: 0.032236 deg/s,
      cmd heading: 144.080505 deg,
      new cmd heading: 144.116521 deg.

2025-10-26T22:46:20.182Z,1761518780.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.515308 target range: 199.508698 and range: 200.70 m.
2025-10-26T22:46:20.268Z,1761518780.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.687234
2025-10-26T22:46:20.520Z,1761518780.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.939093
2025-10-26T22:46:20.609Z,1761518780.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805083,-0.581868,-0.115200],[0.592698,-0.796817,-0.117441],[-0.023458,-0.162828,0.986376]]
2025-10-26T22:46:20.664Z,1761518780.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.51 m.
2025-10-26T22:46:20.666Z,1761518780.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.508698 m,
      nav range: 193.288605 m,
      bearing: 156.189020 deg,
      approach rate: -0.527587 m/s,
      LOS rate: 0.027360 deg/s,
      cmd heading: 144.116527 deg,
      new cmd heading: 144.156396 deg.

2025-10-26T22:46:20.667Z,1761518780.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.516004 target range: 199.508698 and range: 200.70 m.
2025-10-26T22:46:20.772Z,1761518780.772 [DAT](INFO): DAT read: Rx Time:22:46:19.4536

2025-10-26T22:46:20.773Z,1761518780.773 [DAT](INFO): Rx dataTimestamp_ set to:1761518780.772647
2025-10-26T22:46:20.773Z,1761518780.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.192273
2025-10-26T22:46:20.982Z,1761518780.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804921,-0.582095,-0.115186],[0.592911,-0.796713,-0.117064],[-0.023627,-0.162523,0.986422]]
2025-10-26T22:46:21.002Z,1761518781.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.51 m.
2025-10-26T22:46:21.005Z,1761518781.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.508698 m,
      nav range: 193.110397 m,
      bearing: 156.198283 deg,
      approach rate: -0.526000 m/s,
      LOS rate: 0.027368 deg/s,
      cmd heading: 144.156402 deg,
      new cmd heading: 144.184218 deg.

2025-10-26T22:46:21.006Z,1761518781.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.516489 target range: 199.508698 and range: 200.70 m.
2025-10-26T22:46:21.024Z,1761518781.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.443186
2025-10-26T22:46:21.282Z,1761518781.282 [DAT](INFO): DAT read: 22:46:19.4536 LVL= 29776, 32753, 30770, 27635, AGC= 72, IDX= 110,-0.17, 2.254, 0.775, 2.069, 1.241, PHS= 1.115,-0.421, 0.784, RAW= 138.2, -20.5, CAL= 138.3, -23.2, ROT=  11.7,  23.2

2025-10-26T22:46:21.287Z,1761518781.287 [DAT](INFO): got valid direction response:
 22:46:19.4536 LVL= 29776, 32753, 30770, 27635, AGC= 72, IDX= 110,-0.17, 2.254, 0.775, 2.069, 1.241, PHS= 1.115,-0.421, 0.784, RAW= 138.2, -20.5, CAL= 138.3, -23.2, ROT=  11.7,  23.2

2025-10-26T22:46:21.296Z,1761518781.296 [DAT](INFO): DAT read: Bearing 277.6,  12.9 (Local)

2025-10-26T22:46:21.296Z,1761518781.296 [DAT](INFO): Local bearing/azimuth received:
 Bearing 277.6,  12.9 (Local)

2025-10-26T22:46:21.298Z,1761518781.298 [DAT](INFO): DAT read: Range 11 to 50 : 196.9 m  (Round-trip  262.6 ms) speed  0.4 m/s

2025-10-26T22:46:21.298Z,1761518781.298 [DAT](INFO): DAT read: user:669>

2025-10-26T22:46:21.304Z,1761518781.304 [DAT](INFO): DAT read: Tx time:22:46:20.5368

2025-10-26T22:46:21.304Z,1761518781.304 [DAT](INFO): Ping request sent.
2025-10-26T22:46:21.304Z,1761518781.304 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:46:21.304Z,1761518781.304 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:46:21.305Z,1761518781.305 [DAT](INFO): direction in FSK: [0.900038,0.186389,-0.393942]
2025-10-26T22:46:21.306Z,1761518781.306 [DAT](INFO): publishing transmit ping time
2025-10-26T22:46:21.306Z,1761518781.306 [DAT](INFO): publishing direction and range info
2025-10-26T22:46:21.322Z,1761518781.322 [DAT](INFO): publishing transmit ping time
2025-10-26T22:46:21.323Z,1761518781.323 [DAT](INFO): publishing direction and range info
2025-10-26T22:46:21.371Z,1761518781.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804807,-0.582116,-0.115873],[0.593049,-0.796587,-0.117231],[-0.024060,-0.163067,0.986322]]
2025-10-26T22:46:21.427Z,1761518781.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 196.899994 m,
      deltaT: 7.558770 s,
      deltaX: -3.800003 m,
      approachRate: -0.502728 m/s,
      rangeRepo size: 4

2025-10-26T22:46:21.429Z,1761518781.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 195.735214 m,
      bearing: 151.272625 deg,
      lat: 36.779170 deg,
      lon: -121.859460 deg,
      deltaT: 7.558770 s,
      deltaX: -3.773483 m,
      approachRate: -0.499219 m/s,
      posRepo size: 4

2025-10-26T22:46:21.430Z,1761518781.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.74 m.
2025-10-26T22:46:21.441Z,1761518781.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.735214 m,
      nav range: 192.899567 m,
      bearing: 156.209278 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.027368 deg/s,
      cmd heading: 144.184214 deg,
      new cmd heading: 144.218724 deg.

2025-10-26T22:46:21.442Z,1761518781.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517092 target range: 195.735214 and range: 196.90 m.
2025-10-26T22:46:21.776Z,1761518781.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804670,-0.582191,-0.116448],[0.593212,-0.796494,-0.117032],[-0.024615,-0.163251,0.986277]]
2025-10-26T22:46:21.841Z,1761518781.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.74 m.
2025-10-26T22:46:21.844Z,1761518781.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.735214 m,
      nav range: 192.684006 m,
      bearing: 156.217138 deg,
      approach rate: -0.514610 m/s,
      LOS rate: 0.018784 deg/s,
      cmd heading: 144.218720 deg,
      new cmd heading: 144.242325 deg.

2025-10-26T22:46:21.845Z,1761518781.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517503 target range: 195.735214 and range: 196.90 m.
2025-10-26T22:46:22.181Z,1761518782.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804161,-0.582774,-0.117047],[0.593873,-0.796083,-0.116477],[-0.025299,-0.163177,0.986272]]
2025-10-26T22:46:22.197Z,1761518782.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:22.199Z,1761518782.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.74 m.
2025-10-26T22:46:22.202Z,1761518782.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.735214 m,
      nav range: 192.503433 m,
      bearing: 156.223780 deg,
      approach rate: -0.504556 m/s,
      LOS rate: 0.018577 deg/s,
      cmd heading: 144.242325 deg,
      new cmd heading: 144.262270 deg.

2025-10-26T22:46:22.203Z,1761518782.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517852 target range: 195.735214 and range: 196.90 m.
2025-10-26T22:46:22.285Z,1761518782.285 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:22.285Z,1761518782.285 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:22.286Z,1761518782.286 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:46:22.536Z,1761518782.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232261
2025-10-26T22:46:22.640Z,1761518782.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803573,-0.583443,-0.117750],[0.594636,-0.795597,-0.115907],[-0.026057,-0.163158,0.986256]]
2025-10-26T22:46:22.697Z,1761518782.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.74 m.
2025-10-26T22:46:22.705Z,1761518782.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.735214 m,
      nav range: 192.272171 m,
      bearing: 156.228995 deg,
      approach rate: -0.464726 m/s,
      LOS rate: 0.010494 deg/s,
      cmd heading: 144.262270 deg,
      new cmd heading: 144.277936 deg.

2025-10-26T22:46:22.706Z,1761518782.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.518125 target range: 195.735214 and range: 196.90 m.
2025-10-26T22:46:22.788Z,1761518782.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484440
2025-10-26T22:46:23.002Z,1761518783.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802928,-0.584224,-0.118279],[0.595475,-0.795076,-0.115163],[-0.026760,-0.162899,0.986280]]
2025-10-26T22:46:23.021Z,1761518783.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.74 m.
2025-10-26T22:46:23.024Z,1761518783.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.735214 m,
      nav range: 192.105606 m,
      bearing: 156.232811 deg,
      approach rate: -0.514270 m/s,
      LOS rate: 0.011792 deg/s,
      cmd heading: 144.277938 deg,
      new cmd heading: 144.289396 deg.

2025-10-26T22:46:23.025Z,1761518783.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.518325 target range: 195.735214 and range: 196.90 m.
2025-10-26T22:46:23.041Z,1761518783.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737049
2025-10-26T22:46:23.292Z,1761518783.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988342
2025-10-26T22:46:23.406Z,1761518783.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802104,-0.585217,-0.118954],[0.596542,-0.794425,-0.114139],[-0.027704,-0.162512,0.986318]]
2025-10-26T22:46:23.440Z,1761518783.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.74 m.
2025-10-26T22:46:23.443Z,1761518783.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.735214 m,
      nav range: 191.905060 m,
      bearing: 156.237494 deg,
      approach rate: -0.480772 m/s,
      LOS rate: 0.011238 deg/s,
      cmd heading: 144.289399 deg,
      new cmd heading: 144.303463 deg.

2025-10-26T22:46:23.444Z,1761518783.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.518571 target range: 195.735214 and range: 196.90 m.
2025-10-26T22:46:23.549Z,1761518783.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245406
2025-10-26T22:46:23.800Z,1761518783.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496387
2025-10-26T22:46:23.892Z,1761518783.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.74 m.
2025-10-26T22:46:23.894Z,1761518783.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.735214 m,
      nav range: 191.682556 m,
      bearing: 156.241192 deg,
      approach rate: -0.490367 m/s,
      LOS rate: 0.008158 deg/s,
      cmd heading: 144.303469 deg,
      new cmd heading: 144.314574 deg.

2025-10-26T22:46:23.912Z,1761518783.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.518764 target range: 195.735214 and range: 196.90 m.
2025-10-26T22:46:24.052Z,1761518784.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748345
2025-10-26T22:46:24.214Z,1761518784.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801154,-0.586483,-0.119118],[0.597760,-0.793817,-0.111968],[-0.028891,-0.160908,0.986547]]
2025-10-26T22:46:24.231Z,1761518784.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:24.253Z,1761518784.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.74 m.
2025-10-26T22:46:24.264Z,1761518784.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.735214 m,
      nav range: 191.516174 m,
      bearing: 156.244036 deg,
      approach rate: -0.460078 m/s,
      LOS rate: 0.007872 deg/s,
      cmd heading: 144.314575 deg,
      new cmd heading: 144.323115 deg.

2025-10-26T22:46:24.265Z,1761518784.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.518914 target range: 195.735214 and range: 196.90 m.
2025-10-26T22:46:24.305Z,1761518784.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000591
2025-10-26T22:46:24.556Z,1761518784.556 [DAT](INFO): DAT read: Rx Time:22:46:23.2006

2025-10-26T22:46:24.557Z,1761518784.557 [DAT](INFO): Rx dataTimestamp_ set to:1761518784.556613
2025-10-26T22:46:24.557Z,1761518784.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253461
2025-10-26T22:46:24.683Z,1761518784.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800458,-0.587421,-0.119179],[0.598657,-0.793339,-0.110558],[-0.029606,-0.159845,0.986698]]
2025-10-26T22:46:24.756Z,1761518784.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.74 m.
2025-10-26T22:46:24.759Z,1761518784.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.735214 m,
      nav range: 191.260635 m,
      bearing: 156.249088 deg,
      approach rate: -0.508270 m/s,
      LOS rate: 0.010062 deg/s,
      cmd heading: 144.323113 deg,
      new cmd heading: 144.338289 deg.

2025-10-26T22:46:24.760Z,1761518784.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.519178 target range: 195.735214 and range: 196.90 m.
2025-10-26T22:46:24.809Z,1761518784.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504550
2025-10-26T22:46:25.066Z,1761518785.066 [DAT](INFO): DAT read: 22:46:23.2006 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX=  95,-0.05,-1.365, 3.135,-1.562,-1.673, PHS= 0.410,-1.430, 0.067, RAW= 139.9,  11.2, CAL= 139.3,  12.2, ROT=  10.7, -12.2

2025-10-26T22:46:25.068Z,1761518785.068 [DAT](INFO): got valid direction response:
 22:46:23.2006 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX=  95,-0.05,-1.365, 3.135,-1.562,-1.673, PHS= 0.410,-1.430, 0.067, RAW= 139.9,  11.2, CAL= 139.3,  12.2, ROT=  10.7, -12.2

2025-10-26T22:46:25.069Z,1761518785.069 [DAT](INFO): DAT read: Bearing 313.3,   6.7 (Local)

2025-10-26T22:46:25.069Z,1761518785.069 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.3,   6.7 (Local)

2025-10-26T22:46:25.070Z,1761518785.070 [DAT](INFO): DAT read: Range 11 to 50 : 194.7 m  (Round-trip  259.7 ms) speed  0.5 m/s

2025-10-26T22:46:25.071Z,1761518785.071 [DAT](INFO): DAT read: user:670>

2025-10-26T22:46:25.072Z,1761518785.072 [DAT](INFO): DAT read: Tx time:22:46:24.2868

2025-10-26T22:46:25.072Z,1761518785.072 [DAT](INFO): Ping request sent.
2025-10-26T22:46:25.072Z,1761518785.072 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:46:25.073Z,1761518785.073 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:46:25.074Z,1761518785.074 [DAT](INFO): direction in FSK: [0.960421,0.181474,0.211325]
2025-10-26T22:46:25.074Z,1761518785.074 [DAT](INFO): publishing transmit ping time
2025-10-26T22:46:25.074Z,1761518785.074 [DAT](INFO): publishing direction and range info
2025-10-26T22:46:25.078Z,1761518785.078 [DAT](INFO): publishing transmit ping time
2025-10-26T22:46:25.078Z,1761518785.078 [DAT](INFO): publishing direction and range info
2025-10-26T22:46:25.127Z,1761518785.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800313,-0.587994,-0.117311],[0.598867,-0.793465,-0.108499],[-0.029286,-0.157087,0.987150]]
2025-10-26T22:46:25.188Z,1761518785.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 194.699997 m,
      deltaT: 3.784126 s,
      deltaX: -2.199997 m,
      approachRate: -0.581375 m/s,
      rangeRepo size: 4

2025-10-26T22:46:25.190Z,1761518785.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 193.547409 m,
      bearing: 155.603992 deg,
      lat: 36.779176 deg,
      lon: -121.859437 deg,
      deltaT: 3.784126 s,
      deltaX: -2.187805 m,
      approachRate: -0.578153 m/s,
      posRepo size: 4

2025-10-26T22:46:25.191Z,1761518785.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.55 m.
2025-10-26T22:46:25.214Z,1761518785.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.547409 m,
      nav range: 191.299545 m,
      bearing: 155.603506 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010062 deg/s,
      cmd heading: 144.338290 deg,
      new cmd heading: 144.351174 deg.

2025-10-26T22:46:25.215Z,1761518785.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.519403 target range: 193.547409 and range: 194.70 m.
2025-10-26T22:46:25.706Z,1761518785.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800865,-0.587314,-0.116950],[0.598177,-0.793792,-0.109907],[-0.028284,-0.157978,0.987037]]
2025-10-26T22:46:25.758Z,1761518785.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.55 m.
2025-10-26T22:46:25.761Z,1761518785.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.547409 m,
      nav range: 190.982819 m,
      bearing: 155.609180 deg,
      approach rate: -0.550461 m/s,
      LOS rate: 0.009878 deg/s,
      cmd heading: 144.351171 deg,
      new cmd heading: 144.368222 deg.

2025-10-26T22:46:25.762Z,1761518785.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.519701 target range: 193.547409 and range: 194.70 m.
2025-10-26T22:46:26.171Z,1761518786.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801439,-0.586782,-0.115685],[0.597473,-0.794203,-0.110762],[-0.026884,-0.157887,0.987091]]
2025-10-26T22:46:26.191Z,1761518786.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.55 m.
2025-10-26T22:46:26.194Z,1761518786.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.547409 m,
      nav range: 190.756012 m,
      bearing: 155.613193 deg,
      approach rate: -0.524218 m/s,
      LOS rate: 0.009288 deg/s,
      cmd heading: 144.368220 deg,
      new cmd heading: 144.380275 deg.

2025-10-26T22:46:26.195Z,1761518786.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.519911 target range: 193.547409 and range: 194.70 m.
2025-10-26T22:46:26.575Z,1761518786.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802207,-0.586087,-0.113872],[0.596530,-0.794730,-0.112053],[-0.024824,-0.157818,0.987156]]
2025-10-26T22:46:26.605Z,1761518786.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:26.607Z,1761518786.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.55 m.
2025-10-26T22:46:26.610Z,1761518786.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.547409 m,
      nav range: 190.538544 m,
      bearing: 155.616972 deg,
      approach rate: -0.522333 m/s,
      LOS rate: 0.009085 deg/s,
      cmd heading: 144.380268 deg,
      new cmd heading: 144.391615 deg.

2025-10-26T22:46:26.612Z,1761518786.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.520109 target range: 193.547409 and range: 194.70 m.
2025-10-26T22:46:26.825Z,1761518786.825 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:26.825Z,1761518786.825 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:26.825Z,1761518786.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:46:26.984Z,1761518786.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803113,-0.585240,-0.111818],[0.595407,-0.795330,-0.113756],[-0.022358,-0.157936,0.987196]]
2025-10-26T22:46:27.043Z,1761518787.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.55 m.
2025-10-26T22:46:27.046Z,1761518787.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.547409 m,
      nav range: 190.298050 m,
      bearing: 155.622087 deg,
      approach rate: -0.554368 m/s,
      LOS rate: 0.011808 deg/s,
      cmd heading: 144.391620 deg,
      new cmd heading: 144.406987 deg.

2025-10-26T22:46:27.048Z,1761518787.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.520377 target range: 193.547409 and range: 194.70 m.
2025-10-26T22:46:27.077Z,1761518787.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004554
2025-10-26T22:46:27.329Z,1761518787.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256179
2025-10-26T22:46:27.389Z,1761518787.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804043,-0.584514,-0.108896],[0.594253,-0.796011,-0.115023],[-0.019449,-0.157195,0.987376]]
2025-10-26T22:46:27.409Z,1761518787.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.55 m.
2025-10-26T22:46:27.412Z,1761518787.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.547409 m,
      nav range: 190.092010 m,
      bearing: 155.626389 deg,
      approach rate: -0.559754 m/s,
      LOS rate: 0.011698 deg/s,
      cmd heading: 144.406988 deg,
      new cmd heading: 144.419905 deg.

2025-10-26T22:46:27.413Z,1761518787.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.520603 target range: 193.547409 and range: 194.70 m.
2025-10-26T22:46:27.580Z,1761518787.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507997
2025-10-26T22:46:27.786Z,1761518787.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804839,-0.583953,-0.105986],[0.593267,-0.796530,-0.116510],[-0.016385,-0.156650,0.987518]]
2025-10-26T22:46:27.832Z,1761518787.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760024
2025-10-26T22:46:27.854Z,1761518787.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.55 m.
2025-10-26T22:46:27.857Z,1761518787.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.547409 m,
      nav range: 189.833939 m,
      bearing: 155.633274 deg,
      approach rate: -0.579761 m/s,
      LOS rate: 0.015489 deg/s,
      cmd heading: 144.419910 deg,
      new cmd heading: 144.440594 deg.

2025-10-26T22:46:27.858Z,1761518787.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.520964 target range: 193.547409 and range: 194.70 m.
2025-10-26T22:46:28.084Z,1761518788.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011904
2025-10-26T22:46:28.194Z,1761518788.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805772,-0.583299,-0.102444],[0.592078,-0.797292,-0.117338],[-0.013235,-0.155203,0.987794]]
2025-10-26T22:46:28.273Z,1761518788.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.55 m.
2025-10-26T22:46:28.292Z,1761518788.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.547409 m,
      nav range: 189.581589 m,
      bearing: 155.639908 deg,
      approach rate: -0.603377 m/s,
      LOS rate: 0.015883 deg/s,
      cmd heading: 144.440592 deg,
      new cmd heading: 144.460520 deg.

2025-10-26T22:46:28.293Z,1761518788.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.521312 target range: 193.547409 and range: 194.70 m.
2025-10-26T22:46:28.338Z,1761518788.338 [DAT](INFO): DAT read: Rx Time:22:46:26.9478

2025-10-26T22:46:28.338Z,1761518788.338 [DAT](INFO): Rx dataTimestamp_ set to:1761518788.337888
2025-10-26T22:46:28.339Z,1761518788.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266697
2025-10-26T22:46:28.588Z,1761518788.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515845
2025-10-26T22:46:28.600Z,1761518788.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806495,-0.582971,-0.098547],[0.591158,-0.797898,-0.117856],[-0.009924,-0.153308,0.988129]]
2025-10-26T22:46:28.637Z,1761518788.637 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:28.656Z,1761518788.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.55 m.
2025-10-26T22:46:28.666Z,1761518788.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.547409 m,
      nav range: 189.363968 m,
      bearing: 155.645564 deg,
      approach rate: -0.593043 m/s,
      LOS rate: 0.015431 deg/s,
      cmd heading: 144.460523 deg,
      new cmd heading: 144.477510 deg.

2025-10-26T22:46:28.674Z,1761518788.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.521608 target range: 193.547409 and range: 194.70 m.
2025-10-26T22:46:28.849Z,1761518788.849 [DAT](INFO): DAT read: 22:46:26.9478 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 420, 0.10, 2.800, 1.068, 2.668, 2.589, PHS= 0.313,-1.475, 0.035, RAW= 141.7,  13.4, CAL= 141.1,  14.5, ROT=   8.9, -14.5

2025-10-26T22:46:28.850Z,1761518788.850 [DAT](INFO): got valid direction response:
 22:46:26.9478 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 420, 0.10, 2.800, 1.068, 2.668, 2.589, PHS= 0.313,-1.475, 0.035, RAW= 141.7,  13.4, CAL= 141.1,  14.5, ROT=   8.9, -14.5

2025-10-26T22:46:28.851Z,1761518788.851 [DAT](INFO): DAT read: Bearing 315.5,   5.8 (Local)

2025-10-26T22:46:28.855Z,1761518788.855 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.5,   5.8 (Local)

2025-10-26T22:46:28.857Z,1761518788.857 [DAT](INFO): DAT read: Range 11 to 50 : 192.7 m  (Round-trip  257.0 ms) speed  0.2 m/s

2025-10-26T22:46:28.858Z,1761518788.858 [DAT](INFO): DAT read: user:671>

2025-10-26T22:46:28.858Z,1761518788.858 [DAT](INFO): DAT read: Tx time:22:46:28.0367

2025-10-26T22:46:28.859Z,1761518788.859 [DAT](INFO): Ping request sent.
2025-10-26T22:46:28.859Z,1761518788.859 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:46:28.859Z,1761518788.859 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:46:28.860Z,1761518788.860 [DAT](INFO): direction in FSK: [0.956491,0.149782,0.250380]
2025-10-26T22:46:28.861Z,1761518788.861 [DAT](INFO): publishing transmit ping time
2025-10-26T22:46:28.861Z,1761518788.861 [DAT](INFO): publishing direction and range info
2025-10-26T22:46:28.864Z,1761518788.864 [DAT](INFO): publishing transmit ping time
2025-10-26T22:46:28.864Z,1761518788.864 [DAT](INFO): publishing direction and range info
2025-10-26T22:46:29.071Z,1761518789.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808201,-0.581300,-0.094349],[0.588896,-0.798706,-0.123572],[-0.003525,-0.155433,0.987840]]
2025-10-26T22:46:29.161Z,1761518789.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 192.699997 m,
      deltaT: 3.780080 s,
      deltaX: -2.000000 m,
      approachRate: -0.529089 m/s,
      rangeRepo size: 4

2025-10-26T22:46:29.168Z,1761518789.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 191.571808 m,
      bearing: 154.967384 deg,
      lat: 36.779202 deg,
      lon: -121.859429 deg,
      deltaT: 3.780080 s,
      deltaX: -1.975601 m,
      approachRate: -0.522635 m/s,
      posRepo size: 4

2025-10-26T22:46:29.172Z,1761518789.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.57 m.
2025-10-26T22:46:29.175Z,1761518789.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.571808 m,
      nav range: 186.653275 m,
      bearing: 155.095904 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015431 deg/s,
      cmd heading: 144.477516 deg,
      new cmd heading: 144.501648 deg.

2025-10-26T22:46:29.176Z,1761518789.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.522030 target range: 191.571808 and range: 192.70 m.
2025-10-26T22:46:29.628Z,1761518789.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809006,-0.580434,-0.092766],[0.587801,-0.798982,-0.126957],[-0.000428,-0.157237,0.987561]]
2025-10-26T22:46:29.647Z,1761518789.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.57 m.
2025-10-26T22:46:29.650Z,1761518789.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.571808 m,
      nav range: 186.323669 m,
      bearing: 155.105232 deg,
      approach rate: -0.677999 m/s,
      LOS rate: 0.019222 deg/s,
      cmd heading: 144.501654 deg,
      new cmd heading: 144.529688 deg.

2025-10-26T22:46:29.651Z,1761518789.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.522519 target range: 191.571808 and range: 192.70 m.
2025-10-26T22:46:30.080Z,1761518790.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809735,-0.579797,-0.090359],[0.586791,-0.799414,-0.128893],[0.002498,-0.157391,0.987533]]
2025-10-26T22:46:30.126Z,1761518790.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.57 m.
2025-10-26T22:46:30.129Z,1761518790.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.571808 m,
      nav range: 186.021271 m,
      bearing: 155.115185 deg,
      approach rate: -0.631795 m/s,
      LOS rate: 0.020828 deg/s,
      cmd heading: 144.529685 deg,
      new cmd heading: 144.559593 deg.

2025-10-26T22:46:30.130Z,1761518790.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.523041 target range: 191.571808 and range: 192.70 m.
2025-10-26T22:46:30.484Z,1761518790.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810303,-0.579283,-0.088544],[0.585989,-0.799675,-0.130909],[0.005027,-0.157962,0.987432]]
2025-10-26T22:46:30.503Z,1761518790.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.57 m.
2025-10-26T22:46:30.506Z,1761518790.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.571808 m,
      nav range: 185.782974 m,
      bearing: 155.122979 deg,
      approach rate: -0.631949 m/s,
      LOS rate: 0.020696 deg/s,
      cmd heading: 144.559588 deg,
      new cmd heading: 144.583000 deg.

2025-10-26T22:46:30.507Z,1761518790.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.523449 target range: 191.571808 and range: 192.70 m.
2025-10-26T22:46:30.887Z,1761518790.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811089,-0.578407,-0.087058],[0.584868,-0.799968,-0.134090],[0.007915,-0.159677,0.987138]]
2025-10-26T22:46:30.936Z,1761518790.936 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:30.940Z,1761518790.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.57 m.
2025-10-26T22:46:30.957Z,1761518790.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.571808 m,
      nav range: 185.521362 m,
      bearing: 155.132851 deg,
      approach rate: -0.600151 m/s,
      LOS rate: 0.022678 deg/s,
      cmd heading: 144.583002 deg,
      new cmd heading: 144.612659 deg.

2025-10-26T22:46:30.965Z,1761518790.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.523967 target range: 191.571808 and range: 192.70 m.
2025-10-26T22:46:31.108Z,1761518791.108 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:31.108Z,1761518791.108 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:31.109Z,1761518791.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:46:31.290Z,1761518791.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811873,-0.577601,-0.085088],[0.583738,-0.800424,-0.136274],[0.010606,-0.160306,0.987010]]
2025-10-26T22:46:31.309Z,1761518791.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.57 m.
2025-10-26T22:46:31.312Z,1761518791.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.571808 m,
      nav range: 185.297684 m,
      bearing: 155.141218 deg,
      approach rate: -0.604400 m/s,
      LOS rate: 0.022635 deg/s,
      cmd heading: 144.612658 deg,
      new cmd heading: 144.637789 deg.

2025-10-26T22:46:31.313Z,1761518791.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.524406 target range: 191.571808 and range: 192.70 m.
2025-10-26T22:46:31.361Z,1761518791.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501839
2025-10-26T22:46:31.612Z,1761518791.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753449
2025-10-26T22:46:31.696Z,1761518791.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812409,-0.577151,-0.083001],[0.582940,-0.800719,-0.137952],[0.013159,-0.160458,0.986955]]
2025-10-26T22:46:31.786Z,1761518791.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.57 m.
2025-10-26T22:46:31.793Z,1761518791.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.571808 m,
      nav range: 185.043106 m,
      bearing: 155.150689 deg,
      approach rate: -0.534900 m/s,
      LOS rate: 0.019928 deg/s,
      cmd heading: 144.637793 deg,
      new cmd heading: 144.666246 deg.

2025-10-26T22:46:31.794Z,1761518791.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.524902 target range: 191.571808 and range: 192.70 m.
2025-10-26T22:46:31.865Z,1761518791.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005693
2025-10-26T22:46:32.100Z,1761518792.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813051,-0.576439,-0.081648],[0.581989,-0.801025,-0.140170],[0.015397,-0.161484,0.986755]]
2025-10-26T22:46:32.116Z,1761518792.116 [DAT](INFO): DAT read: Rx Time:22:46:30.6961

2025-10-26T22:46:32.117Z,1761518792.117 [DAT](INFO): Rx dataTimestamp_ set to:1761518792.116677
2025-10-26T22:46:32.117Z,1761518792.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258687
2025-10-26T22:46:32.163Z,1761518792.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.57 m.
2025-10-26T22:46:32.166Z,1761518792.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.571808 m,
      nav range: 184.784409 m,
      bearing: 155.160020 deg,
      approach rate: -0.683835 m/s,
      LOS rate: 0.024701 deg/s,
      cmd heading: 144.666248 deg,
      new cmd heading: 144.694281 deg.

2025-10-26T22:46:32.167Z,1761518792.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.525392 target range: 191.571808 and range: 192.70 m.
2025-10-26T22:46:32.368Z,1761518792.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509481
2025-10-26T22:46:32.530Z,1761518792.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813818,-0.575558,-0.080211],[0.580862,-0.801557,-0.141796],[0.017318,-0.161988,0.986641]]
2025-10-26T22:46:32.562Z,1761518792.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.57 m.
2025-10-26T22:46:32.565Z,1761518792.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.571808 m,
      nav range: 184.545273 m,
      bearing: 155.168569 deg,
      approach rate: -0.599787 m/s,
      LOS rate: 0.021468 deg/s,
      cmd heading: 144.694279 deg,
      new cmd heading: 144.719957 deg.

2025-10-26T22:46:32.565Z,1761518792.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.525840 target range: 191.571808 and range: 192.70 m.
2025-10-26T22:46:32.628Z,1761518792.628 [DAT](INFO): DAT read: 22:46:30.6961 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX=  81, 0.03, 2.441, 0.636, 2.253, 2.084, PHS= 0.459,-1.404, 0.125, RAW= 140.3,   9.6, CAL= 139.8,  10.5, ROT=  10.2, -10.5

2025-10-26T22:46:32.630Z,1761518792.630 [DAT](INFO): got valid direction response:
 22:46:30.6961 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX=  81, 0.03, 2.441, 0.636, 2.253, 2.084, PHS= 0.459,-1.404, 0.125, RAW= 140.3,   9.6, CAL= 139.8,  10.5, ROT=  10.2, -10.5

2025-10-26T22:46:32.631Z,1761518792.631 [DAT](INFO): DAT read: Bearing 311.4,   9.1 (Local)

2025-10-26T22:46:32.631Z,1761518792.631 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.4,   9.1 (Local)

2025-10-26T22:46:32.632Z,1761518792.632 [DAT](INFO): DAT read: Range 11 to 50 : 191.4 m  (Round-trip  255.3 ms) speed  0.4 m/s

2025-10-26T22:46:32.633Z,1761518792.633 [DAT](INFO): DAT read: user:672>

2025-10-26T22:46:32.634Z,1761518792.634 [DAT](INFO): DAT read: Tx time:22:46:31.7867

2025-10-26T22:46:32.634Z,1761518792.634 [DAT](INFO): Ping request sent.
2025-10-26T22:46:32.634Z,1761518792.634 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:46:32.635Z,1761518792.635 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:46:32.636Z,1761518792.636 [DAT](INFO): direction in FSK: [0.967715,0.174119,0.182236]
2025-10-26T22:46:32.636Z,1761518792.636 [DAT](INFO): publishing transmit ping time
2025-10-26T22:46:32.637Z,1761518792.637 [DAT](INFO): publishing direction and range info
2025-10-26T22:46:32.664Z,1761518792.664 [DAT](INFO): publishing transmit ping time
2025-10-26T22:46:32.664Z,1761518792.664 [DAT](INFO): publishing direction and range info
2025-10-26T22:46:32.926Z,1761518792.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814371,-0.574886,-0.079415],[0.580037,-0.801826,-0.143641],[0.018901,-0.163041,0.986438]]
2025-10-26T22:46:33.007Z,1761518793.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 191.399994 m,
      deltaT: 3.780706 s,
      deltaX: -1.300003 m,
      approachRate: -0.343852 m/s,
      rangeRepo size: 4

2025-10-26T22:46:33.013Z,1761518793.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 190.275436 m,
      bearing: 156.338057 deg,
      lat: 36.779202 deg,
      lon: -121.859429 deg,
      deltaT: 3.780706 s,
      deltaX: -1.296371 m,
      approachRate: -0.342891 m/s,
      posRepo size: 4

2025-10-26T22:46:33.014Z,1761518793.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:33.021Z,1761518793.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 184.301178 m,
      bearing: 155.178622 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021468 deg/s,
      cmd heading: 144.719961 deg,
      new cmd heading: 144.748580 deg.

2025-10-26T22:46:33.022Z,1761518793.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.526339 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:33.513Z,1761518793.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815624,-0.573328,-0.077799],[0.578183,-0.802666,-0.146394],[0.021485,-0.164385,0.986162]]
2025-10-26T22:46:33.541Z,1761518793.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:33.544Z,1761518793.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:33.546Z,1761518793.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 183.985825 m,
      bearing: 155.191429 deg,
      approach rate: -0.586726 m/s,
      LOS rate: 0.023868 deg/s,
      cmd heading: 144.748579 deg,
      new cmd heading: 144.787064 deg.

2025-10-26T22:46:33.547Z,1761518793.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.527011 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:33.629Z,1761518793.629 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:33.629Z,1761518793.629 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:33.629Z,1761518793.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:46:33.880Z,1761518793.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245992
2025-10-26T22:46:33.918Z,1761518793.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816198,-0.572570,-0.077355],[0.577352,-0.803160,-0.146964],[0.022019,-0.164613,0.986112]]
2025-10-26T22:46:33.979Z,1761518793.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:33.982Z,1761518793.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 183.742813 m,
      bearing: 155.200338 deg,
      approach rate: -0.557866 m/s,
      LOS rate: 0.020479 deg/s,
      cmd heading: 144.787060 deg,
      new cmd heading: 144.813822 deg.

2025-10-26T22:46:33.983Z,1761518793.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.527478 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:34.134Z,1761518794.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499473
2025-10-26T22:46:34.384Z,1761518794.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750153
2025-10-26T22:46:34.477Z,1761518794.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:34.480Z,1761518794.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 183.471161 m,
      bearing: 155.210324 deg,
      approach rate: -0.545621 m/s,
      LOS rate: 0.020087 deg/s,
      cmd heading: 144.813821 deg,
      new cmd heading: 144.843824 deg.

2025-10-26T22:46:34.481Z,1761518794.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.528002 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:34.636Z,1761518794.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001979
2025-10-26T22:46:34.637Z,1761518794.637 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:46:34.827Z,1761518794.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817156,-0.571376,-0.076060],[0.575952,-0.804061,-0.147533],[0.023140,-0.164364,0.986128]]
2025-10-26T22:46:34.874Z,1761518794.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:34.877Z,1761518794.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 183.242310 m,
      bearing: 155.218474 deg,
      approach rate: -0.575851 m/s,
      LOS rate: 0.020534 deg/s,
      cmd heading: 144.843819 deg,
      new cmd heading: 144.868301 deg.

2025-10-26T22:46:34.878Z,1761518794.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.528429 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:34.889Z,1761518794.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254312
2025-10-26T22:46:35.141Z,1761518795.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507142
2025-10-26T22:46:35.225Z,1761518795.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817589,-0.570849,-0.075359],[0.575312,-0.804468,-0.147810],[0.023753,-0.164203,0.986141]]
2025-10-26T22:46:35.243Z,1761518795.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:35.245Z,1761518795.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 183.035629 m,
      bearing: 155.225802 deg,
      approach rate: -0.561191 m/s,
      LOS rate: 0.019919 deg/s,
      cmd heading: 144.868299 deg,
      new cmd heading: 144.890306 deg.

2025-10-26T22:46:35.246Z,1761518795.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.528813 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:35.392Z,1761518795.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757989
2025-10-26T22:46:35.626Z,1761518795.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818134,-0.570188,-0.074449],[0.574507,-0.805006,-0.148010],[0.024461,-0.163863,0.986180]]
2025-10-26T22:46:35.640Z,1761518795.640 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:46:35.653Z,1761518795.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018403
2025-10-26T22:46:35.660Z,1761518795.660 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:35.662Z,1761518795.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:35.670Z,1761518795.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 182.809967 m,
      bearing: 155.233750 deg,
      approach rate: -0.537674 m/s,
      LOS rate: 0.018962 deg/s,
      cmd heading: 144.890306 deg,
      new cmd heading: 144.914180 deg.

2025-10-26T22:46:35.671Z,1761518795.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.529230 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:35.905Z,1761518795.905 [DAT](INFO): DAT read: Rx Time:22:46:34.4432

2025-10-26T22:46:35.906Z,1761518795.906 [DAT](INFO): Rx dataTimestamp_ set to:1761518795.905347
2025-10-26T22:46:35.907Z,1761518795.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272242
2025-10-26T22:46:36.031Z,1761518796.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818537,-0.569724,-0.073564],[0.573904,-0.805423,-0.148080],[0.025114,-0.163427,0.986236]]
2025-10-26T22:46:36.087Z,1761518796.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:36.090Z,1761518796.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 182.580399 m,
      bearing: 155.240712 deg,
      approach rate: -0.545470 m/s,
      LOS rate: 0.016562 deg/s,
      cmd heading: 144.914184 deg,
      new cmd heading: 144.935095 deg.

2025-10-26T22:46:36.091Z,1761518796.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.529595 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:36.157Z,1761518796.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522791
2025-10-26T22:46:36.417Z,1761518796.417 [DAT](INFO): DAT read: 22:46:34.4432 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX=  68, 0.40,-1.476, 2.991,-1.632,-1.832, PHS= 0.458,-1.415, 0.156, RAW= 141.4,   9.2, CAL= 140.9,  10.1, ROT=   9.1, -10.1

2025-10-26T22:46:36.418Z,1761518796.418 [DAT](INFO): got valid direction response:
 22:46:34.4432 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX=  68, 0.40,-1.476, 2.991,-1.632,-1.832, PHS= 0.458,-1.415, 0.156, RAW= 141.4,   9.2, CAL= 140.9,  10.1, ROT=   9.1, -10.1

2025-10-26T22:46:36.419Z,1761518796.419 [DAT](INFO): DAT read: $Error in header

2025-10-26T22:46:36.419Z,1761518796.419 [DAT](INFO): Received a bad header
2025-10-26T22:46:36.437Z,1761518796.437 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T22:46:36.438Z,1761518796.438 [DAT](INFO): direction in FSK: [0.972112,0.155707,0.175367]
2025-10-26T22:46:36.444Z,1761518796.444 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:36.444Z,1761518796.444 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:36.444Z,1761518796.444 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:36.450Z,1761518796.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818878,-0.569276,-0.073234],[0.573396,-0.805682,-0.148642],[0.025615,-0.163712,0.986176]]
2025-10-26T22:46:36.533Z,1761518796.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:36.540Z,1761518796.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 182.336243 m,
      bearing: 155.248089 deg,
      approach rate: -0.543171 m/s,
      LOS rate: 0.016432 deg/s,
      cmd heading: 144.935098 deg,
      new cmd heading: 144.957257 deg.

2025-10-26T22:46:36.541Z,1761518796.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.529981 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:36.661Z,1761518796.661 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:36.661Z,1761518796.661 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:36.661Z,1761518796.661 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:36.912Z,1761518796.912 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:36.912Z,1761518796.912 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:36.912Z,1761518796.912 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:36.948Z,1761518796.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:36.957Z,1761518796.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 182.113312 m,
      bearing: 155.253497 deg,
      approach rate: -0.582532 m/s,
      LOS rate: 0.014149 deg/s,
      cmd heading: 144.957255 deg,
      new cmd heading: 144.973499 deg.

2025-10-26T22:46:36.959Z,1761518796.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.530265 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:37.164Z,1761518797.164 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:37.164Z,1761518797.164 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:37.164Z,1761518797.164 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:37.310Z,1761518797.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:37.313Z,1761518797.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 181.891266 m,
      bearing: 155.258897 deg,
      approach rate: -0.563002 m/s,
      LOS rate: 0.013709 deg/s,
      cmd heading: 144.973497 deg,
      new cmd heading: 144.989718 deg.

2025-10-26T22:46:37.314Z,1761518797.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.530548 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:37.416Z,1761518797.416 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:37.416Z,1761518797.416 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:37.416Z,1761518797.416 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:37.668Z,1761518797.668 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:37.668Z,1761518797.668 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:37.668Z,1761518797.668 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:37.680Z,1761518797.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820481,-0.567168,-0.071630],[0.571009,-0.807028,-0.150512],[0.027558,-0.164394,0.986010]]
2025-10-26T22:46:37.696Z,1761518797.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:37.698Z,1761518797.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:37.702Z,1761518797.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 181.673859 m,
      bearing: 155.264001 deg,
      approach rate: -0.559990 m/s,
      LOS rate: 0.013164 deg/s,
      cmd heading: 144.989712 deg,
      new cmd heading: 145.005044 deg.

2025-10-26T22:46:37.704Z,1761518797.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.530815 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:37.920Z,1761518797.920 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:37.921Z,1761518797.921 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:37.921Z,1761518797.921 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:38.134Z,1761518798.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:38.137Z,1761518798.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 181.438736 m,
      bearing: 155.267338 deg,
      approach rate: -0.538773 m/s,
      LOS rate: 0.007655 deg/s,
      cmd heading: 145.005039 deg,
      new cmd heading: 145.015060 deg.

2025-10-26T22:46:38.138Z,1761518798.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.530990 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:38.173Z,1761518798.173 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:38.173Z,1761518798.173 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:38.173Z,1761518798.173 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:38.424Z,1761518798.424 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:38.424Z,1761518798.424 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:38.425Z,1761518798.425 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:38.500Z,1761518798.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820884,-0.566748,-0.070325],[0.570408,-0.807622,-0.149603],[0.027992,-0.162921,0.986242]]
2025-10-26T22:46:38.535Z,1761518798.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:38.541Z,1761518798.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 181.228012 m,
      bearing: 155.270281 deg,
      approach rate: -0.526671 m/s,
      LOS rate: 0.007365 deg/s,
      cmd heading: 145.015066 deg,
      new cmd heading: 145.023906 deg.

2025-10-26T22:46:38.542Z,1761518798.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531145 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:38.676Z,1761518798.676 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:38.677Z,1761518798.677 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:38.677Z,1761518798.677 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:38.890Z,1761518798.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820958,-0.566712,-0.069747],[0.570295,-0.807804,-0.149052],[0.028127,-0.162142,0.986367]]
2025-10-26T22:46:38.929Z,1761518798.929 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:38.930Z,1761518798.930 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:38.930Z,1761518798.930 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:38.986Z,1761518798.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:38.993Z,1761518798.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 181.002655 m,
      bearing: 155.270495 deg,
      approach rate: -0.499558 m/s,
      LOS rate: 0.000477 deg/s,
      cmd heading: 145.023904 deg,
      new cmd heading: 145.024549 deg.

2025-10-26T22:46:38.993Z,1761518798.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531156 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:39.180Z,1761518799.180 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:39.180Z,1761518799.180 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:39.180Z,1761518799.180 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:39.300Z,1761518799.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821014,-0.566703,-0.069163],[0.570194,-0.807892,-0.148959],[0.028539,-0.161733,0.986422]]
2025-10-26T22:46:39.319Z,1761518799.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:39.338Z,1761518799.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 180.803452 m,
      bearing: 155.270677 deg,
      approach rate: -0.598088 m/s,
      LOS rate: 0.000545 deg/s,
      cmd heading: 145.024546 deg,
      new cmd heading: 145.025091 deg.

2025-10-26T22:46:39.338Z,1761518799.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531165 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:39.433Z,1761518799.433 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:39.433Z,1761518799.433 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:39.433Z,1761518799.433 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:39.684Z,1761518799.684 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:39.684Z,1761518799.684 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:39.684Z,1761518799.684 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:39.705Z,1761518799.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820899,-0.566790,-0.069816],[0.570338,-0.807485,-0.150608],[0.028988,-0.163453,0.986125]]
2025-10-26T22:46:39.760Z,1761518799.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:39.762Z,1761518799.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:39.769Z,1761518799.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 180.570435 m,
      bearing: 155.270913 deg,
      approach rate: -0.525337 m/s,
      LOS rate: 0.000532 deg/s,
      cmd heading: 145.025092 deg,
      new cmd heading: 145.025801 deg.

2025-10-26T22:46:39.770Z,1761518799.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531178 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:39.937Z,1761518799.937 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:39.937Z,1761518799.937 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:39.937Z,1761518799.937 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:40.111Z,1761518800.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821007,-0.566681,-0.069421],[0.570160,-0.807569,-0.150834],[0.029413,-0.163416,0.986119]]
2025-10-26T22:46:40.156Z,1761518800.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:40.159Z,1761518800.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 180.355576 m,
      bearing: 155.271115 deg,
      approach rate: -0.545257 m/s,
      LOS rate: 0.000514 deg/s,
      cmd heading: 145.025803 deg,
      new cmd heading: 145.026411 deg.

2025-10-26T22:46:40.160Z,1761518800.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531188 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:40.189Z,1761518800.189 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:40.189Z,1761518800.189 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:40.189Z,1761518800.189 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:40.441Z,1761518800.441 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:40.441Z,1761518800.441 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:40.441Z,1761518800.441 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:40.548Z,1761518800.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:40.550Z,1761518800.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 180.146439 m,
      bearing: 155.271312 deg,
      approach rate: -0.534668 m/s,
      LOS rate: 0.000505 deg/s,
      cmd heading: 145.026404 deg,
      new cmd heading: 145.026997 deg.

2025-10-26T22:46:40.588Z,1761518800.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531199 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:40.692Z,1761518800.692 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:40.693Z,1761518800.693 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:40.693Z,1761518800.693 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:40.937Z,1761518800.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821025,-0.566778,-0.068420],[0.570086,-0.807588,-0.151011],[0.030334,-0.162989,0.986161]]
2025-10-26T22:46:40.944Z,1761518800.944 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:40.945Z,1761518800.945 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:40.945Z,1761518800.945 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:41.009Z,1761518801.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:41.012Z,1761518801.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 179.896698 m,
      bearing: 155.269718 deg,
      approach rate: -0.540775 m/s,
      LOS rate: -0.003457 deg/s,
      cmd heading: 145.026991 deg,
      new cmd heading: 145.022201 deg.

2025-10-26T22:46:41.013Z,1761518801.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531115 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:41.196Z,1761518801.196 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:41.196Z,1761518801.196 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:41.196Z,1761518801.196 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:41.322Z,1761518801.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820951,-0.566935,-0.068000],[0.570176,-0.807543,-0.150912],[0.030645,-0.162663,0.986206]]
2025-10-26T22:46:41.348Z,1761518801.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:41.350Z,1761518801.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 179.713745 m,
      bearing: 155.268553 deg,
      approach rate: -0.540858 m/s,
      LOS rate: -0.003449 deg/s,
      cmd heading: 145.022196 deg,
      new cmd heading: 145.018697 deg.

2025-10-26T22:46:41.367Z,1761518801.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531054 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:41.449Z,1761518801.449 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:41.450Z,1761518801.450 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:41.450Z,1761518801.450 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:41.700Z,1761518801.700 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:41.701Z,1761518801.701 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:41.701Z,1761518801.701 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:41.749Z,1761518801.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820549,-0.567586,-0.067418],[0.570747,-0.807287,-0.150122],[0.030781,-0.161661,0.986366]]
2025-10-26T22:46:41.766Z,1761518801.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:41.768Z,1761518801.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:41.771Z,1761518801.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 179.486023 m,
      bearing: 155.267143 deg,
      approach rate: -0.541026 m/s,
      LOS rate: -0.003352 deg/s,
      cmd heading: 145.018699 deg,
      new cmd heading: 145.014467 deg.

2025-10-26T22:46:41.772Z,1761518801.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.530980 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:41.953Z,1761518801.953 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:41.953Z,1761518801.953 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:41.953Z,1761518801.953 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:42.185Z,1761518802.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:42.188Z,1761518802.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 179.263336 m,
      bearing: 155.266421 deg,
      approach rate: -0.534886 m/s,
      LOS rate: -0.001737 deg/s,
      cmd heading: 145.014465 deg,
      new cmd heading: 145.012295 deg.

2025-10-26T22:46:42.189Z,1761518802.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.530942 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:42.206Z,1761518802.206 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:42.206Z,1761518802.206 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:42.206Z,1761518802.206 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:42.456Z,1761518802.456 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:42.456Z,1761518802.456 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:42.457Z,1761518802.457 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:46:42.536Z,1761518802.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820135,-0.568161,-0.067617],[0.571317,-0.806721,-0.150993],[0.031240,-0.162465,0.986220]]
2025-10-26T22:46:42.554Z,1761518802.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:42.557Z,1761518802.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 179.065964 m,
      bearing: 155.265828 deg,
      approach rate: -0.534167 m/s,
      LOS rate: -0.001607 deg/s,
      cmd heading: 145.012293 deg,
      new cmd heading: 145.010512 deg.

2025-10-26T22:46:42.558Z,1761518802.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.530911 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:42.708Z,1761518802.708 [DAT](INFO): Reached modem response timeout
2025-10-26T22:46:42.709Z,1761518802.709 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:46:42.709Z,1761518802.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:46:42.954Z,1761518802.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819721,-0.568591,-0.069003],[0.571913,-0.805983,-0.152664],[0.031188,-0.164606,0.985866]]
2025-10-26T22:46:42.968Z,1761518802.968 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:46:43.020Z,1761518803.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:43.022Z,1761518803.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 178.824112 m,
      bearing: 155.265837 deg,
      approach rate: -0.529180 m/s,
      LOS rate: 0.000020 deg/s,
      cmd heading: 145.010517 deg,
      new cmd heading: 145.010545 deg.

2025-10-26T22:46:43.023Z,1761518803.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.530911 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:43.220Z,1761518803.220 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:46:43.358Z,1761518803.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819368,-0.569000,-0.069828],[0.572431,-0.805494,-0.153303],[0.030983,-0.165583,0.985709]]
2025-10-26T22:46:43.377Z,1761518803.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:43.381Z,1761518803.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 178.630432 m,
      bearing: 155.265888 deg,
      approach rate: -0.529348 m/s,
      LOS rate: 0.000138 deg/s,
      cmd heading: 145.010544 deg,
      new cmd heading: 145.010696 deg.

2025-10-26T22:46:43.381Z,1761518803.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.530914 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:43.472Z,1761518803.472 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:46:43.725Z,1761518803.725 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:46:43.758Z,1761518803.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819279,-0.569113,-0.069946],[0.572552,-0.805353,-0.153594],[0.031081,-0.165884,0.985655]]
2025-10-26T22:46:43.774Z,1761518803.774 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:43.776Z,1761518803.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:43.779Z,1761518803.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 178.419525 m,
      bearing: 155.265955 deg,
      approach rate: -0.528184 m/s,
      LOS rate: 0.000167 deg/s,
      cmd heading: 145.010694 deg,
      new cmd heading: 145.010895 deg.

2025-10-26T22:46:43.781Z,1761518803.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.530918 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:43.976Z,1761518803.976 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:46:44.167Z,1761518804.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819124,-0.569372,-0.069653],[0.572772,-0.805279,-0.153160],[0.031115,-0.165353,0.985744]]
2025-10-26T22:46:44.204Z,1761518804.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:44.206Z,1761518804.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 178.196533 m,
      bearing: 155.267404 deg,
      approach rate: -0.521879 m/s,
      LOS rate: 0.003396 deg/s,
      cmd heading: 145.010899 deg,
      new cmd heading: 145.015252 deg.

2025-10-26T22:46:44.207Z,1761518804.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.530994 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:44.228Z,1761518804.228 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:46:44.481Z,1761518804.481 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:46:44.568Z,1761518804.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819190,-0.569299,-0.069475],[0.572668,-0.805338,-0.153237],[0.031287,-0.165317,0.985744]]
2025-10-26T22:46:44.586Z,1761518804.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:44.589Z,1761518804.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 177.996307 m,
      bearing: 155.268700 deg,
      approach rate: -0.523219 m/s,
      LOS rate: 0.003391 deg/s,
      cmd heading: 145.015257 deg,
      new cmd heading: 145.019150 deg.

2025-10-26T22:46:44.590Z,1761518804.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531062 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:44.733Z,1761518804.733 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:46:44.977Z,1761518804.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819172,-0.569327,-0.069451],[0.572695,-0.805336,-0.153145],[0.031258,-0.165226,0.985760]]
2025-10-26T22:46:44.984Z,1761518804.984 [DAT](INFO): DAT read: Response Not Received

2025-10-26T22:46:44.985Z,1761518804.985 [DAT](INFO): response not received
2025-10-26T22:46:44.985Z,1761518804.985 [DAT](INFO): DAT read: user:674>

2025-10-26T22:46:44.986Z,1761518804.986 [DAT](INFO): DAT read: Tx time:22:46:44.2367

2025-10-26T22:46:44.986Z,1761518804.986 [DAT](INFO): Ping request sent.
2025-10-26T22:46:44.986Z,1761518804.986 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:46:44.986Z,1761518804.986 [DAT](INFO): publishing transmit ping time
2025-10-26T22:46:44.987Z,1761518804.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-10-26T22:46:45.094Z,1761518805.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:45.101Z,1761518805.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 177.718597 m,
      bearing: 155.274962 deg,
      approach rate: -0.547349 m/s,
      LOS rate: 0.012361 deg/s,
      cmd heading: 145.019150 deg,
      new cmd heading: 145.037966 deg.

2025-10-26T22:46:45.102Z,1761518805.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531390 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:45.236Z,1761518805.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249981
2025-10-26T22:46:45.407Z,1761518805.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819109,-0.569552,-0.068345],[0.572780,-0.805544,-0.151728],[0.031363,-0.163428,0.986057]]
2025-10-26T22:46:45.468Z,1761518805.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:45.470Z,1761518805.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 177.515747 m,
      bearing: 155.279552 deg,
      approach rate: -0.544711 m/s,
      LOS rate: 0.012338 deg/s,
      cmd heading: 145.037961 deg,
      new cmd heading: 145.051744 deg.

2025-10-26T22:46:45.472Z,1761518805.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531631 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:45.488Z,1761518805.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502177
2025-10-26T22:46:45.740Z,1761518805.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754100
2025-10-26T22:46:45.885Z,1761518805.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819402,-0.569349,-0.066497],[0.572322,-0.806111,-0.150438],[0.032048,-0.161327,0.986381]]
2025-10-26T22:46:45.906Z,1761518805.906 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:45.908Z,1761518805.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:45.911Z,1761518805.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 177.261490 m,
      bearing: 155.285268 deg,
      approach rate: -0.575564 m/s,
      LOS rate: 0.012958 deg/s,
      cmd heading: 145.051744 deg,
      new cmd heading: 145.068917 deg.

2025-10-26T22:46:45.912Z,1761518805.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531930 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:45.996Z,1761518805.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008973
2025-10-26T22:46:46.244Z,1761518806.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258080
2025-10-26T22:46:46.289Z,1761518806.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819848,-0.568850,-0.065263],[0.571645,-0.806659,-0.150078],[0.032727,-0.160349,0.986518]]
2025-10-26T22:46:46.342Z,1761518806.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:46.349Z,1761518806.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 177.034714 m,
      bearing: 155.291928 deg,
      approach rate: -0.522800 m/s,
      LOS rate: 0.015374 deg/s,
      cmd heading: 145.068915 deg,
      new cmd heading: 145.088921 deg.

2025-10-26T22:46:46.350Z,1761518806.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.532279 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:46.500Z,1761518806.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514111
2025-10-26T22:46:46.745Z,1761518806.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820081,-0.568586,-0.064630],[0.571293,-0.806954,-0.149834],[0.033040,-0.159799,0.986597]]
2025-10-26T22:46:46.748Z,1761518806.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762131
2025-10-26T22:46:46.797Z,1761518806.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:46.804Z,1761518806.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 176.787445 m,
      bearing: 155.299175 deg,
      approach rate: -0.542695 m/s,
      LOS rate: 0.015928 deg/s,
      cmd heading: 145.088927 deg,
      new cmd heading: 145.110699 deg.

2025-10-26T22:46:46.805Z,1761518806.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.532660 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:47.001Z,1761518807.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014201
2025-10-26T22:46:47.146Z,1761518807.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820227,-0.568271,-0.065543],[0.571105,-0.806953,-0.150553],[0.032665,-0.160919,0.986427]]
2025-10-26T22:46:47.213Z,1761518807.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:47.216Z,1761518807.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 176.535461 m,
      bearing: 155.309647 deg,
      approach rate: -0.606284 m/s,
      LOS rate: 0.025232 deg/s,
      cmd heading: 145.110702 deg,
      new cmd heading: 145.142162 deg.

2025-10-26T22:46:47.217Z,1761518807.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.533209 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:47.253Z,1761518807.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266235
2025-10-26T22:46:47.505Z,1761518807.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518450
2025-10-26T22:46:47.562Z,1761518807.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820571,-0.567633,-0.066750],[0.570653,-0.807162,-0.151146],[0.031918,-0.162117,0.986255]]
2025-10-26T22:46:47.580Z,1761518807.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:47.582Z,1761518807.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 176.320999 m,
      bearing: 155.318544 deg,
      approach rate: -0.585136 m/s,
      LOS rate: 0.024304 deg/s,
      cmd heading: 145.142162 deg,
      new cmd heading: 145.168886 deg.

2025-10-26T22:46:47.584Z,1761518807.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.533675 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:47.756Z,1761518807.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769982
2025-10-26T22:46:47.964Z,1761518807.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820832,-0.567057,-0.068413],[0.570335,-0.807261,-0.151812],[0.030859,-0.163631,0.986039]]
2025-10-26T22:46:48.013Z,1761518808.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024377
2025-10-26T22:46:48.062Z,1761518808.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:48.069Z,1761518808.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:48.075Z,1761518808.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 176.045410 m,
      bearing: 155.329974 deg,
      approach rate: -0.563561 m/s,
      LOS rate: 0.023409 deg/s,
      cmd heading: 145.168882 deg,
      new cmd heading: 145.203224 deg.

2025-10-26T22:46:48.076Z,1761518808.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.534274 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:48.264Z,1761518808.264 [DAT](INFO): DAT read: Rx Time:22:46:46.8511

2025-10-26T22:46:48.265Z,1761518808.265 [DAT](INFO): Rx dataTimestamp_ set to:1761518808.264581
2025-10-26T22:46:48.265Z,1761518808.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279130
2025-10-26T22:46:48.431Z,1761518808.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821326,-0.566148,-0.070004],[0.569683,-0.807611,-0.152399],[0.029744,-0.165050,0.985837]]
2025-10-26T22:46:48.478Z,1761518808.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.28 m.
2025-10-26T22:46:48.481Z,1761518808.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.275436 m,
      nav range: 175.796524 m,
      bearing: 155.341167 deg,
      approach rate: -0.607867 m/s,
      LOS rate: 0.027376 deg/s,
      cmd heading: 145.203224 deg,
      new cmd heading: 145.236851 deg.

2025-10-26T22:46:48.482Z,1761518808.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.534861 target range: 190.275436 and range: 191.40 m.
2025-10-26T22:46:48.513Z,1761518808.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526825
2025-10-26T22:46:48.770Z,1761518808.770 [DAT](INFO): DAT read: 22:46:46.8511 LVL= 27120, 32753, 31570, 32643, AGC= 69, IDX=   6, 0.25,-1.100,-2.714,-1.223,-1.295, PHS= 0.297,-1.374, 0.028, RAW= 141.4,  13.4, CAL= 140.7,  14.5, ROT=   9.3, -14.5

2025-10-26T22:46:48.771Z,1761518808.771 [DAT](INFO): got valid direction response:
 22:46:46.8511 LVL= 27120, 32753, 31570, 32643, AGC= 69, IDX=   6, 0.25,-1.100,-2.714,-1.223,-1.295, PHS= 0.297,-1.374, 0.028, RAW= 141.4,  13.4, CAL= 140.7,  14.5, ROT=   9.3, -14.5

2025-10-26T22:46:48.772Z,1761518808.772 [DAT](INFO): DAT read: Bearing 316.5,   8.1 (Local)

2025-10-26T22:46:48.772Z,1761518808.772 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.5,   8.1 (Local)

2025-10-26T22:46:48.774Z,1761518808.774 [DAT](INFO): DAT read: Range 11 to 50 : 157.7 m  (Round-trip  210.3 ms) speed  0.0 m/s

2025-10-26T22:46:48.774Z,1761518808.774 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:46:48.775Z,1761518808.775 [DAT](INFO): direction in FSK: [0.955422,0.156456,0.250380]
2025-10-26T22:46:48.776Z,1761518808.776 [DAT](INFO): publishing direction and range info
2025-10-26T22:46:48.779Z,1761518808.779 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:48.779Z,1761518808.779 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:48.791Z,1761518808.791 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:46:48.893Z,1761518808.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 157.699997 m,
      deltaT: 16.142886 s,
      deltaX: -33.699997 m,
      approachRate: -2.087607 m/s,
      rangeRepo size: 4

2025-10-26T22:46:48.903Z,1761518808.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 156.770645 m,
      bearing: 156.910418 deg,
      lat: 36.779202 deg,
      lon: -121.859437 deg,
      deltaT: 16.142886 s,
      deltaX: -33.504791 m,
      approachRate: -2.075514 m/s,
      posRepo size: 4

2025-10-26T22:46:48.909Z,1761518808.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.77 m.
2025-10-26T22:46:48.922Z,1761518808.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.770645 m,
      nav range: 175.290131 m,
      bearing: 155.547295 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.027376 deg/s,
      cmd heading: 145.236856 deg,
      new cmd heading: 145.270492 deg.

2025-10-26T22:46:48.928Z,1761518808.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.535448 target range: 156.770645 and range: 157.70 m.
2025-10-26T22:46:49.024Z,1761518809.024 [DAT](INFO): DAT read: user:675>

2025-10-26T22:46:49.026Z,1761518809.026 [DAT](INFO): DAT read: Tx time:22:46:48.1367

2025-10-26T22:46:49.026Z,1761518809.026 [DAT](INFO): Ping request sent.
2025-10-26T22:46:49.026Z,1761518809.026 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:46:49.027Z,1761518809.027 [DAT](INFO): publishing transmit ping time
2025-10-26T22:46:49.028Z,1761518809.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-10-26T22:46:49.245Z,1761518809.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822359,-0.564506,-0.071122],[0.568324,-0.809038,-0.149885],[0.027070,-0.163679,0.986142]]
2025-10-26T22:46:49.272Z,1761518809.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245997
2025-10-26T22:46:49.313Z,1761518809.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.77 m.
2025-10-26T22:46:49.320Z,1761518809.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.770645 m,
      nav range: 175.042084 m,
      bearing: 155.560551 deg,
      approach rate: -0.582598 m/s,
      LOS rate: 0.031179 deg/s,
      cmd heading: 145.270487 deg,
      new cmd heading: 145.310312 deg.

2025-10-26T22:46:49.321Z,1761518809.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.536143 target range: 156.770645 and range: 157.70 m.
2025-10-26T22:46:49.524Z,1761518809.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497940
2025-10-26T22:46:49.641Z,1761518809.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823071,-0.563279,-0.072606],[0.567365,-0.809741,-0.149722],[0.025543,-0.164426,0.986059]]
2025-10-26T22:46:49.659Z,1761518809.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.77 m.
2025-10-26T22:46:49.662Z,1761518809.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.770645 m,
      nav range: 174.824509 m,
      bearing: 155.572123 deg,
      approach rate: -0.628928 m/s,
      LOS rate: 0.033490 deg/s,
      cmd heading: 145.310307 deg,
      new cmd heading: 145.345065 deg.

2025-10-26T22:46:49.663Z,1761518809.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.536750 target range: 156.770645 and range: 157.70 m.
2025-10-26T22:46:49.777Z,1761518809.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750295
2025-10-26T22:46:50.056Z,1761518810.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.030028
2025-10-26T22:46:50.084Z,1761518810.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823618,-0.562424,-0.073023],[0.566645,-0.810640,-0.147568],[0.023800,-0.162918,0.986353]]
2025-10-26T22:46:50.135Z,1761518810.135 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:50.141Z,1761518810.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.77 m.
2025-10-26T22:46:50.152Z,1761518810.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.770645 m,
      nav range: 174.563660 m,
      bearing: 155.585884 deg,
      approach rate: -0.541247 m/s,
      LOS rate: 0.028597 deg/s,
      cmd heading: 145.345060 deg,
      new cmd heading: 145.386406 deg.

2025-10-26T22:46:50.153Z,1761518810.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.537472 target range: 156.770645 and range: 157.70 m.
2025-10-26T22:46:50.284Z,1761518810.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257967
2025-10-26T22:46:50.474Z,1761518810.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823980,-0.561770,-0.073972],[0.566197,-0.811283,-0.145741],[0.021861,-0.161970,0.986553]]
2025-10-26T22:46:50.493Z,1761518810.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.77 m.
2025-10-26T22:46:50.516Z,1761518810.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.770645 m,
      nav range: 174.353088 m,
      bearing: 155.596983 deg,
      approach rate: -0.598745 m/s,
      LOS rate: 0.031596 deg/s,
      cmd heading: 145.386409 deg,
      new cmd heading: 145.419745 deg.

2025-10-26T22:46:50.517Z,1761518810.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.538053 target range: 156.770645 and range: 157.70 m.
2025-10-26T22:46:50.537Z,1761518810.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510120
2025-10-26T22:46:50.789Z,1761518810.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762144
2025-10-26T22:46:50.880Z,1761518810.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824411,-0.561006,-0.074961],[0.565637,-0.811952,-0.144182],[0.020022,-0.161266,0.986708]]
2025-10-26T22:46:50.904Z,1761518810.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.77 m.
2025-10-26T22:46:50.918Z,1761518810.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.770645 m,
      nav range: 174.120804 m,
      bearing: 155.609203 deg,
      approach rate: -0.565758 m/s,
      LOS rate: 0.029803 deg/s,
      cmd heading: 145.419741 deg,
      new cmd heading: 145.456450 deg.

2025-10-26T22:46:50.919Z,1761518810.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.538694 target range: 156.770645 and range: 157.70 m.
2025-10-26T22:46:51.045Z,1761518811.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018323
2025-10-26T22:46:51.282Z,1761518811.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824827,-0.560264,-0.075928],[0.565095,-0.812638,-0.142434],[0.018098,-0.160390,0.986888]]
2025-10-26T22:46:51.292Z,1761518811.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265956
2025-10-26T22:46:51.337Z,1761518811.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.77 m.
2025-10-26T22:46:51.343Z,1761518811.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.770645 m,
      nav range: 173.887817 m,
      bearing: 155.619306 deg,
      approach rate: -0.538049 m/s,
      LOS rate: 0.023362 deg/s,
      cmd heading: 145.456446 deg,
      new cmd heading: 145.486795 deg.

2025-10-26T22:46:51.344Z,1761518811.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.539224 target range: 156.770645 and range: 157.70 m.
2025-10-26T22:46:51.544Z,1761518811.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517876
2025-10-26T22:46:51.696Z,1761518811.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825008,-0.559848,-0.077022],[0.564899,-0.813167,-0.140170],[0.015843,-0.159151,0.987127]]
2025-10-26T22:46:51.742Z,1761518811.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.77 m.
2025-10-26T22:46:51.745Z,1761518811.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.770645 m,
      nav range: 173.652771 m,
      bearing: 155.629503 deg,
      approach rate: -0.579636 m/s,
      LOS rate: 0.025182 deg/s,
      cmd heading: 145.486800 deg,
      new cmd heading: 145.517434 deg.

2025-10-26T22:46:51.746Z,1761518811.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.539758 target range: 156.770645 and range: 157.70 m.
2025-10-26T22:46:51.797Z,1761518811.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770596
2025-10-26T22:46:52.051Z,1761518812.051 [DAT](INFO): DAT read: Rx Time:22:46:50.7483

2025-10-26T22:46:52.059Z,1761518812.059 [DAT](INFO): Rx dataTimestamp_ set to:1761518812.057759
2025-10-26T22:46:52.073Z,1761518812.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.046419
2025-10-26T22:46:52.113Z,1761518812.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825127,-0.559451,-0.078607],[0.564779,-0.813466,-0.138919],[0.013774,-0.159022,0.987179]]
2025-10-26T22:46:52.161Z,1761518812.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:52.163Z,1761518812.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.77 m.
2025-10-26T22:46:52.165Z,1761518812.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.770645 m,
      nav range: 173.421753 m,
      bearing: 155.636655 deg,
      approach rate: -0.549317 m/s,
      LOS rate: 0.017028 deg/s,
      cmd heading: 145.517440 deg,
      new cmd heading: 145.538924 deg.

2025-10-26T22:46:52.166Z,1761518812.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.540133 target range: 156.770645 and range: 157.70 m.
2025-10-26T22:46:52.300Z,1761518812.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273952
2025-10-26T22:46:52.494Z,1761518812.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824961,-0.559407,-0.080635],[0.565074,-0.813473,-0.137669],[0.011418,-0.159136,0.987191]]
2025-10-26T22:46:52.567Z,1761518812.567 [DAT](INFO): DAT read: 22:46:50.7483 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 393,-0.03,-3.110, 1.495, 3.096, 2.946, PHS= 0.329,-1.406, 0.107, RAW= 143.2,  11.8, CAL= 142.7,  12.9, ROT=   7.3, -12.9

2025-10-26T22:46:52.568Z,1761518812.568 [DAT](INFO): got valid direction response:
 22:46:50.7483 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 393,-0.03,-3.110, 1.495, 3.096, 2.946, PHS= 0.329,-1.406, 0.107, RAW= 143.2,  11.8, CAL= 142.7,  12.9, ROT=   7.3, -12.9

2025-10-26T22:46:52.569Z,1761518812.569 [DAT](INFO): DAT read: Bearing 314.7,   5.5 (Local)

2025-10-26T22:46:52.569Z,1761518812.569 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.7,   5.5 (Local)

2025-10-26T22:46:52.570Z,1761518812.570 [DAT](INFO): DAT read: Range 11 to 50 : 155.6 m  (Round-trip  207.5 ms) speed  0.3 m/s

2025-10-26T22:46:52.571Z,1761518812.571 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:46:52.572Z,1761518812.572 [DAT](INFO): direction in FSK: [0.966860,0.123858,0.223250]
2025-10-26T22:46:52.573Z,1761518812.573 [DAT](INFO): publishing direction and range info
2025-10-26T22:46:52.576Z,1761518812.576 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:52.577Z,1761518812.577 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:52.577Z,1761518812.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:46:52.604Z,1761518812.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 155.600006 m,
      deltaT: 3.789434 s,
      deltaX: -2.099991 m,
      approachRate: -0.554170 m/s,
      rangeRepo size: 4

2025-10-26T22:46:52.606Z,1761518812.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 154.684830 m,
      bearing: 154.882204 deg,
      lat: 36.779202 deg,
      lon: -121.859453 deg,
      deltaT: 3.789434 s,
      deltaX: -2.085815 m,
      approachRate: -0.550429 m/s,
      posRepo size: 4

2025-10-26T22:46:52.607Z,1761518812.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.68 m.
2025-10-26T22:46:52.614Z,1761518812.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.684830 m,
      nav range: 172.611237 m,
      bearing: 156.081927 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.017028 deg/s,
      cmd heading: 145.538928 deg,
      new cmd heading: 145.561243 deg.

2025-10-26T22:46:52.615Z,1761518812.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.540523 target range: 154.684830 and range: 155.60 m.
2025-10-26T22:46:52.804Z,1761518812.804 [DAT](INFO): DAT read: user:676>

2025-10-26T22:46:52.805Z,1761518812.805 [DAT](INFO): DAT read: Tx time:22:46:51.9367

2025-10-26T22:46:52.805Z,1761518812.805 [DAT](INFO): Ping request sent.
2025-10-26T22:46:52.806Z,1761518812.806 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:46:52.806Z,1761518812.806 [DAT](INFO): publishing transmit ping time
2025-10-26T22:46:52.806Z,1761518812.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-10-26T22:46:52.898Z,1761518812.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824669,-0.559614,-0.082176],[0.565543,-0.813498,-0.135584],[0.009024,-0.158286,0.987352]]
2025-10-26T22:46:52.961Z,1761518812.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.68 m.
2025-10-26T22:46:52.968Z,1761518812.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.684830 m,
      nav range: 172.395203 m,
      bearing: 156.089288 deg,
      approach rate: -0.597639 m/s,
      LOS rate: 0.020391 deg/s,
      cmd heading: 145.561249 deg,
      new cmd heading: 145.583361 deg.

2025-10-26T22:46:52.969Z,1761518812.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.540909 target range: 154.684830 and range: 155.60 m.
2025-10-26T22:46:53.061Z,1761518813.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253225
2025-10-26T22:46:53.304Z,1761518813.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824153,-0.560052,-0.084336],[0.566327,-0.813153,-0.134370],[0.006676,-0.158503,0.987336]]
2025-10-26T22:46:53.308Z,1761518813.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502825
2025-10-26T22:46:53.342Z,1761518813.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.68 m.
2025-10-26T22:46:53.365Z,1761518813.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.684830 m,
      nav range: 172.186630 m,
      bearing: 156.093490 deg,
      approach rate: -0.547727 m/s,
      LOS rate: 0.011046 deg/s,
      cmd heading: 145.583365 deg,
      new cmd heading: 145.595983 deg.

2025-10-26T22:46:53.366Z,1761518813.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.541129 target range: 154.684830 and range: 155.60 m.
2025-10-26T22:46:53.563Z,1761518813.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757682
2025-10-26T22:46:53.710Z,1761518813.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823794,-0.560121,-0.087338],[0.566873,-0.812760,-0.134446],[0.004321,-0.160266,0.987064]]
2025-10-26T22:46:53.737Z,1761518813.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.68 m.
2025-10-26T22:46:53.756Z,1761518813.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.684830 m,
      nav range: 171.976288 m,
      bearing: 156.097789 deg,
      approach rate: -0.531650 m/s,
      LOS rate: 0.010880 deg/s,
      cmd heading: 145.595987 deg,
      new cmd heading: 145.608901 deg.

2025-10-26T22:46:53.757Z,1761518813.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.541355 target range: 154.684830 and range: 155.60 m.
2025-10-26T22:46:53.813Z,1761518813.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007502
2025-10-26T22:46:54.067Z,1761518814.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261172
2025-10-26T22:46:54.164Z,1761518814.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823567,-0.560125,-0.089428],[0.567216,-0.812691,-0.133416],[0.002052,-0.160602,0.987017]]
2025-10-26T22:46:54.207Z,1761518814.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:54.210Z,1761518814.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.68 m.
2025-10-26T22:46:54.212Z,1761518814.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.684830 m,
      nav range: 171.740570 m,
      bearing: 156.096622 deg,
      approach rate: -0.499035 m/s,
      LOS rate: -0.002473 deg/s,
      cmd heading: 145.608896 deg,
      new cmd heading: 145.605391 deg.

2025-10-26T22:46:54.213Z,1761518814.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.541293 target range: 154.684830 and range: 155.60 m.
2025-10-26T22:46:54.317Z,1761518814.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510921
2025-10-26T22:46:54.536Z,1761518814.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.68 m.
2025-10-26T22:46:54.539Z,1761518814.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.684830 m,
      nav range: 171.577286 m,
      bearing: 156.095812 deg,
      approach rate: -0.499586 m/s,
      LOS rate: -0.002481 deg/s,
      cmd heading: 145.605385 deg,
      new cmd heading: 145.602953 deg.

2025-10-26T22:46:54.540Z,1761518814.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.541251 target range: 154.684830 and range: 155.60 m.
2025-10-26T22:46:54.569Z,1761518814.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763168
2025-10-26T22:46:54.820Z,1761518814.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014770
2025-10-26T22:46:54.933Z,1761518814.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821750,-0.562253,-0.092723],[0.569843,-0.811427,-0.129862],[-0.002222,-0.159552,0.987187]]
2025-10-26T22:46:54.961Z,1761518814.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.68 m.
2025-10-26T22:46:54.964Z,1761518814.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.684830 m,
      nav range: 171.366150 m,
      bearing: 156.094976 deg,
      approach rate: -0.496788 m/s,
      LOS rate: -0.001970 deg/s,
      cmd heading: 145.602954 deg,
      new cmd heading: 145.600442 deg.

2025-10-26T22:46:54.965Z,1761518814.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.541207 target range: 154.684830 and range: 155.60 m.
2025-10-26T22:46:55.078Z,1761518815.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271389
2025-10-26T22:46:55.329Z,1761518815.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522983
2025-10-26T22:46:55.371Z,1761518815.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.68 m.
2025-10-26T22:46:55.393Z,1761518815.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.684830 m,
      nav range: 171.166595 m,
      bearing: 156.091179 deg,
      approach rate: -0.487709 m/s,
      LOS rate: -0.009292 deg/s,
      cmd heading: 145.600440 deg,
      new cmd heading: 145.589035 deg.

2025-10-26T22:46:55.394Z,1761518815.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.541008 target range: 154.684830 and range: 155.60 m.
2025-10-26T22:46:55.580Z,1761518815.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774743
2025-10-26T22:46:55.740Z,1761518815.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819623,-0.564630,-0.097011],[0.572868,-0.809620,-0.127821],[-0.006370,-0.160339,0.987041]]
2025-10-26T22:46:55.758Z,1761518815.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.68 m.
2025-10-26T22:46:55.761Z,1761518815.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.684830 m,
      nav range: 170.977493 m,
      bearing: 156.087806 deg,
      approach rate: -0.487763 m/s,
      LOS rate: -0.008710 deg/s,
      cmd heading: 145.589034 deg,
      new cmd heading: 145.578903 deg.

2025-10-26T22:46:55.762Z,1761518815.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.540831 target range: 154.684830 and range: 155.60 m.
2025-10-26T22:46:55.833Z,1761518815.833 [DAT](INFO): DAT read: Rx Time:22:46:54.5458

2025-10-26T22:46:55.833Z,1761518815.833 [DAT](INFO): Rx dataTimestamp_ set to:1761518815.832707
2025-10-26T22:46:55.834Z,1761518815.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027950
2025-10-26T22:46:56.088Z,1761518816.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281642
2025-10-26T22:46:56.169Z,1761518816.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818534,-0.565788,-0.099428],[0.574396,-0.808636,-0.127191],[-0.008438,-0.161221,0.986882]]
2025-10-26T22:46:56.208Z,1761518816.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:56.210Z,1761518816.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.68 m.
2025-10-26T22:46:56.213Z,1761518816.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.684830 m,
      nav range: 170.763794 m,
      bearing: 156.082351 deg,
      approach rate: -0.473027 m/s,
      LOS rate: -0.012089 deg/s,
      cmd heading: 145.578898 deg,
      new cmd heading: 145.562514 deg.

2025-10-26T22:46:56.214Z,1761518816.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.540545 target range: 154.684830 and range: 155.60 m.
2025-10-26T22:46:56.339Z,1761518816.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533399
2025-10-26T22:46:56.550Z,1761518816.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817272,-0.567289,-0.101237],[0.576157,-0.807610,-0.125730],[-0.010435,-0.161084,0.986886]]
2025-10-26T22:46:56.594Z,1761518816.594 [DAT](INFO): DAT read: 22:46:54.5458 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 415, 0.42, 0.560,-1.095, 0.421, 0.289, PHS= 0.372,-1.339, 0.088, RAW= 141.1,  11.1, CAL= 140.5,  12.0, ROT=   9.5, -12.0

2025-10-26T22:46:56.595Z,1761518816.595 [DAT](INFO): got valid direction response:
 22:46:54.5458 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 415, 0.42, 0.560,-1.095, 0.421, 0.289, PHS= 0.372,-1.339, 0.088, RAW= 141.1,  11.1, CAL= 140.5,  12.0, ROT=   9.5, -12.0

2025-10-26T22:46:56.599Z,1761518816.599 [DAT](INFO): DAT read: Bearing 313.8,   6.7 (Local)

2025-10-26T22:46:56.599Z,1761518816.599 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.8,   6.7 (Local)

2025-10-26T22:46:56.601Z,1761518816.601 [DAT](INFO): DAT read: Range 11 to 50 : 153.6 m  (Round-trip  204.9 ms) speed  0.7 m/s

2025-10-26T22:46:56.602Z,1761518816.602 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:46:56.603Z,1761518816.603 [DAT](INFO): direction in FSK: [0.964733,0.161441,0.207912]
2025-10-26T22:46:56.603Z,1761518816.603 [DAT](INFO): publishing direction and range info
2025-10-26T22:46:56.607Z,1761518816.607 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:46:56.607Z,1761518816.607 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:46:56.607Z,1761518816.607 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:46:56.639Z,1761518816.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 153.600006 m,
      deltaT: 4.034573 s,
      deltaX: -2.000000 m,
      approachRate: -0.495715 m/s,
      rangeRepo size: 4

2025-10-26T22:46:56.648Z,1761518816.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 152.696823 m,
      bearing: 156.099383 deg,
      lat: 36.779367 deg,
      lon: -121.859518 deg,
      deltaT: 4.034573 s,
      deltaX: -1.988007 m,
      approachRate: -0.492743 m/s,
      posRepo size: 4

2025-10-26T22:46:56.649Z,1761518816.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-10-26T22:46:56.660Z,1761518816.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.696823 m,
      nav range: 151.481171 m,
      bearing: 155.273000 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012089 deg/s,
      cmd heading: 145.562519 deg,
      new cmd heading: 145.546989 deg.

2025-10-26T22:46:56.661Z,1761518816.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.540274 target range: 152.696823 and range: 153.60 m.
2025-10-26T22:46:56.840Z,1761518816.840 [DAT](INFO): DAT read: user:677>

2025-10-26T22:46:56.841Z,1761518816.841 [DAT](INFO): DAT read: Tx time:22:46:55.9867

2025-10-26T22:46:56.842Z,1761518816.842 [DAT](INFO): Ping request sent.
2025-10-26T22:46:56.842Z,1761518816.842 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:46:56.842Z,1761518816.842 [DAT](INFO): publishing transmit ping time
2025-10-26T22:46:56.843Z,1761518816.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000915
2025-10-26T22:46:56.971Z,1761518816.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816197,-0.568476,-0.103232],[0.577637,-0.806764,-0.124373],[-0.012581,-0.161143,0.986851]]
2025-10-26T22:46:57.020Z,1761518817.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-10-26T22:46:57.023Z,1761518817.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.696823 m,
      nav range: 151.279037 m,
      bearing: 155.266380 deg,
      approach rate: -0.529463 m/s,
      LOS rate: -0.017365 deg/s,
      cmd heading: 145.546987 deg,
      new cmd heading: 145.527099 deg.

2025-10-26T22:46:57.036Z,1761518817.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.539927 target range: 152.696823 and range: 153.60 m.
2025-10-26T22:46:57.096Z,1761518817.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254098
2025-10-26T22:46:57.344Z,1761518817.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502668
2025-10-26T22:46:57.362Z,1761518817.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815333,-0.569372,-0.105103],[0.578811,-0.806075,-0.123377],[-0.014473,-0.161428,0.986778]]
2025-10-26T22:46:57.430Z,1761518817.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-10-26T22:46:57.437Z,1761518817.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.696823 m,
      nav range: 151.087906 m,
      bearing: 155.261573 deg,
      approach rate: -0.466406 m/s,
      LOS rate: -0.011744 deg/s,
      cmd heading: 145.527098 deg,
      new cmd heading: 145.512659 deg.

2025-10-26T22:46:57.438Z,1761518817.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.539675 target range: 152.696823 and range: 153.60 m.
2025-10-26T22:46:57.596Z,1761518817.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754649
2025-10-26T22:46:57.766Z,1761518817.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814963,-0.569509,-0.107212],[0.579287,-0.805746,-0.123285],[-0.016174,-0.162579,0.986563]]
2025-10-26T22:46:57.791Z,1761518817.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-10-26T22:46:57.794Z,1761518817.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.696823 m,
      nav range: 150.895218 m,
      bearing: 155.256761 deg,
      approach rate: -0.533774 m/s,
      LOS rate: -0.013347 deg/s,
      cmd heading: 145.512659 deg,
      new cmd heading: 145.498204 deg.

2025-10-26T22:46:57.795Z,1761518817.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.539423 target range: 152.696823 and range: 153.60 m.
2025-10-26T22:46:57.850Z,1761518817.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007968
2025-10-26T22:46:58.100Z,1761518818.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258698
2025-10-26T22:46:58.194Z,1761518818.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814504,-0.569752,-0.109387],[0.579879,-0.805353,-0.123074],[-0.017973,-0.163675,0.986351]]
2025-10-26T22:46:58.229Z,1761518818.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:46:58.231Z,1761518818.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-10-26T22:46:58.234Z,1761518818.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.696823 m,
      nav range: 150.672363 m,
      bearing: 155.254171 deg,
      approach rate: -0.506557 m/s,
      LOS rate: -0.005896 deg/s,
      cmd heading: 145.498206 deg,
      new cmd heading: 145.490424 deg.

2025-10-26T22:46:58.235Z,1761518818.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.539287 target range: 152.696823 and range: 153.60 m.
2025-10-26T22:46:58.352Z,1761518818.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510696
2025-10-26T22:46:58.574Z,1761518818.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814191,-0.570180,-0.109490],[0.580263,-0.805522,-0.120123],[-0.019705,-0.161336,0.986703]]
2025-10-26T22:46:58.605Z,1761518818.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762800
2025-10-26T22:46:58.606Z,1761518818.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-10-26T22:46:58.628Z,1761518818.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.696823 m,
      nav range: 150.488571 m,
      bearing: 155.252059 deg,
      approach rate: -0.490035 m/s,
      LOS rate: -0.005638 deg/s,
      cmd heading: 145.490420 deg,
      new cmd heading: 145.484076 deg.

2025-10-26T22:46:58.629Z,1761518818.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.539176 target range: 152.696823 and range: 153.60 m.
2025-10-26T22:46:58.858Z,1761518818.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015692
2025-10-26T22:46:58.978Z,1761518818.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814264,-0.570008,-0.109840],[0.580105,-0.805951,-0.117987],[-0.021272,-0.159791,0.986922]]
2025-10-26T22:46:59.013Z,1761518819.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-10-26T22:46:59.016Z,1761518819.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.696823 m,
      nav range: 150.275665 m,
      bearing: 155.249588 deg,
      approach rate: -0.522680 m/s,
      LOS rate: -0.006074 deg/s,
      cmd heading: 145.484081 deg,
      new cmd heading: 145.476659 deg.

2025-10-26T22:46:59.017Z,1761518819.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.539047 target range: 152.696823 and range: 153.60 m.
2025-10-26T22:46:59.110Z,1761518819.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267610
2025-10-26T22:46:59.360Z,1761518819.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518719
2025-10-26T22:46:59.387Z,1761518819.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814438,-0.569771,-0.109783],[0.579845,-0.806243,-0.117269],[-0.021695,-0.159165,0.987014]]
2025-10-26T22:46:59.430Z,1761518819.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-10-26T22:46:59.454Z,1761518819.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.696823 m,
      nav range: 150.064636 m,
      bearing: 155.247106 deg,
      approach rate: -0.505857 m/s,
      LOS rate: -0.005959 deg/s,
      cmd heading: 145.476664 deg,
      new cmd heading: 145.469206 deg.

2025-10-26T22:46:59.454Z,1761518819.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.538917 target range: 152.696823 and range: 153.60 m.
2025-10-26T22:46:59.612Z,1761518819.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770644
2025-10-26T22:46:59.783Z,1761518819.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814403,-0.569772,-0.110034],[0.579875,-0.806300,-0.116729],[-0.022212,-0.158870,0.987050]]
2025-10-26T22:46:59.801Z,1761518819.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-10-26T22:46:59.804Z,1761518819.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.696823 m,
      nav range: 149.875381 m,
      bearing: 155.244876 deg,
      approach rate: -0.510567 m/s,
      LOS rate: -0.006023 deg/s,
      cmd heading: 145.469205 deg,
      new cmd heading: 145.462507 deg.

2025-10-26T22:46:59.805Z,1761518819.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.538800 target range: 152.696823 and range: 153.60 m.
2025-10-26T22:46:59.866Z,1761518819.866 [DAT](INFO): DAT read: Rx Time:22:46:58.6277

2025-10-26T22:46:59.867Z,1761518819.867 [DAT](INFO): Rx dataTimestamp_ set to:1761518819.866247
2025-10-26T22:46:59.868Z,1761518819.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025448
2025-10-26T22:47:00.116Z,1761518820.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274784
2025-10-26T22:47:00.225Z,1761518820.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814692,-0.569343,-0.110115],[0.579446,-0.806717,-0.115977],[-0.022800,-0.158291,0.987129]]
2025-10-26T22:47:00.278Z,1761518820.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:00.284Z,1761518820.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-10-26T22:47:00.287Z,1761518820.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.696823 m,
      nav range: 149.621796 m,
      bearing: 155.252378 deg,
      approach rate: -0.524769 m/s,
      LOS rate: 0.015551 deg/s,
      cmd heading: 145.462511 deg,
      new cmd heading: 145.485056 deg.

2025-10-26T22:47:00.292Z,1761518820.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.539193 target range: 152.696823 and range: 153.60 m.
2025-10-26T22:47:00.369Z,1761518820.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526795
2025-10-26T22:47:00.601Z,1761518820.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815494,-0.568120,-0.110496],[0.578302,-0.807491,-0.116299],[-0.023153,-0.158742,0.987049]]
2025-10-26T22:47:00.626Z,1761518820.626 [DAT](INFO): DAT read: 22:46:58.6277 LVL= 32752, 32753, 32754, 32627, AGC= 73, IDX= 263,-0.28, 2.316, 0.995, 2.133, 1.126, PHS= 1.292,-0.086, 0.963, RAW= 136.8, -31.6, CAL= 137.8, -31.9, ROT=  12.2,  31.9

2025-10-26T22:47:00.627Z,1761518820.627 [DAT](INFO): got valid direction response:
 22:46:58.6277 LVL= 32752, 32753, 32754, 32627, AGC= 73, IDX= 263,-0.28, 2.316, 0.995, 2.133, 1.126, PHS= 1.292,-0.086, 0.963, RAW= 136.8, -31.6, CAL= 137.8, -31.9, ROT=  12.2,  31.9

2025-10-26T22:47:00.631Z,1761518820.631 [DAT](INFO): DAT read: Bearing 269.3,  14.0 (Local)

2025-10-26T22:47:00.631Z,1761518820.631 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.3,  14.0 (Local)

2025-10-26T22:47:00.633Z,1761518820.633 [DAT](INFO): DAT read: Range 11 to 50 : 177.6 m  (Round-trip  236.9 ms) speed  0.2 m/s

2025-10-26T22:47:00.633Z,1761518820.633 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:47:00.634Z,1761518820.634 [DAT](INFO): direction in FSK: [0.829798,0.179409,-0.528438]
2025-10-26T22:47:00.634Z,1761518820.634 [DAT](INFO): publishing direction and range info
2025-10-26T22:47:00.647Z,1761518820.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-10-26T22:47:00.650Z,1761518820.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.696823 m,
      nav range: 149.426331 m,
      bearing: 155.258072 deg,
      approach rate: -0.583818 m/s,
      LOS rate: 0.017030 deg/s,
      cmd heading: 145.485051 deg,
      new cmd heading: 145.502156 deg.

2025-10-26T22:47:00.651Z,1761518820.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.539492 target range: 152.696823 and range: 153.60 m.
2025-10-26T22:47:00.654Z,1761518820.654 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:00.654Z,1761518820.654 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:00.654Z,1761518820.654 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:47:00.872Z,1761518820.872 [DAT](INFO): DAT read: user:678>

2025-10-26T22:47:00.873Z,1761518820.873 [DAT](INFO): DAT read: Tx time:22:47:00.0367

2025-10-26T22:47:00.874Z,1761518820.874 [DAT](INFO): Ping request sent.
2025-10-26T22:47:00.874Z,1761518820.874 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:47:00.874Z,1761518820.874 [DAT](INFO): publishing transmit ping time
2025-10-26T22:47:00.874Z,1761518820.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-10-26T22:47:01.020Z,1761518821.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816296,-0.567062,-0.110002],[0.577161,-0.808399,-0.115653],[-0.023343,-0.157896,0.987180]]
2025-10-26T22:47:01.079Z,1761518821.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 177.600006 m,
 deltaT: 4.032138 s,
 deltaX: 24.000000 m,
 approachRate: 5.952177 m/s,
 rangeRepo size: 4
2025-10-26T22:47:01.084Z,1761518821.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-10-26T22:47:01.086Z,1761518821.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.696823 m,
      nav range: 149.192276 m,
      bearing: 155.264786 deg,
      approach rate: -0.509918 m/s,
      LOS rate: 0.014650 deg/s,
      cmd heading: 145.502154 deg,
      new cmd heading: 145.522327 deg.

2025-10-26T22:47:01.092Z,1761518821.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.539844 target range: 152.696823 and range: 153.60 m.
2025-10-26T22:47:01.128Z,1761518821.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253267
2025-10-26T22:47:01.376Z,1761518821.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502570
2025-10-26T22:47:01.425Z,1761518821.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817279,-0.565677,-0.109838],[0.575767,-0.809370,-0.115816],[-0.023386,-0.157895,0.987179]]
2025-10-26T22:47:01.469Z,1761518821.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-10-26T22:47:01.475Z,1761518821.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.696823 m,
      nav range: 148.953674 m,
      bearing: 155.275655 deg,
      approach rate: -0.610320 m/s,
      LOS rate: 0.027847 deg/s,
      cmd heading: 145.522330 deg,
      new cmd heading: 145.554990 deg.

2025-10-26T22:47:01.478Z,1761518821.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.540414 target range: 152.696823 and range: 153.60 m.
2025-10-26T22:47:01.628Z,1761518821.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754657
2025-10-26T22:47:01.831Z,1761518821.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818414,-0.564075,-0.109626],[0.574161,-0.810426,-0.116403],[-0.023184,-0.158209,0.987134]]
2025-10-26T22:47:01.865Z,1761518821.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-10-26T22:47:01.880Z,1761518821.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006734
2025-10-26T22:47:01.885Z,1761518821.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.696823 m,
      nav range: 148.739349 m,
      bearing: 155.285284 deg,
      approach rate: -0.540954 m/s,
      LOS rate: 0.024337 deg/s,
      cmd heading: 145.554992 deg,
      new cmd heading: 145.583920 deg.

2025-10-26T22:47:01.886Z,1761518821.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.540919 target range: 152.696823 and range: 153.60 m.
2025-10-26T22:47:02.133Z,1761518822.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258877
2025-10-26T22:47:02.257Z,1761518822.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819684,-0.562275,-0.109382],[0.572358,-0.811589,-0.117173],[-0.022890,-0.158651,0.987069]]
2025-10-26T22:47:02.296Z,1761518822.296 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:02.298Z,1761518822.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-10-26T22:47:02.301Z,1761518822.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.696823 m,
      nav range: 148.476974 m,
      bearing: 155.298622 deg,
      approach rate: -0.606511 m/s,
      LOS rate: 0.030887 deg/s,
      cmd heading: 145.583925 deg,
      new cmd heading: 145.624009 deg.

2025-10-26T22:47:02.302Z,1761518822.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.541618 target range: 152.696823 and range: 153.60 m.
2025-10-26T22:47:02.386Z,1761518822.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511657
2025-10-26T22:47:02.636Z,1761518822.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762574
2025-10-26T22:47:02.670Z,1761518822.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820870,-0.560629,-0.108941],[0.570675,-0.812664,-0.117926],[-0.022420,-0.158972,0.987029]]
2025-10-26T22:47:02.707Z,1761518822.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-10-26T22:47:02.715Z,1761518822.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.696823 m,
      nav range: 148.244873 m,
      bearing: 155.310272 deg,
      approach rate: -0.567713 m/s,
      LOS rate: 0.028542 deg/s,
      cmd heading: 145.624004 deg,
      new cmd heading: 145.659011 deg.

2025-10-26T22:47:02.717Z,1761518822.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.542229 target range: 152.696823 and range: 153.60 m.
2025-10-26T22:47:02.890Z,1761518822.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015833
2025-10-26T22:47:03.062Z,1761518823.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822028,-0.559031,-0.108418],[0.569027,-0.813708,-0.118689],[-0.021870,-0.159258,0.986995]]
2025-10-26T22:47:03.089Z,1761518823.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-10-26T22:47:03.115Z,1761518823.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.696823 m,
      nav range: 148.013046 m,
      bearing: 155.321762 deg,
      approach rate: -0.606319 m/s,
      LOS rate: 0.030096 deg/s,
      cmd heading: 145.659016 deg,
      new cmd heading: 145.693538 deg.

2025-10-26T22:47:03.116Z,1761518823.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.542832 target range: 152.696823 and range: 153.60 m.
2025-10-26T22:47:03.140Z,1761518823.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266655
2025-10-26T22:47:03.394Z,1761518823.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519735
2025-10-26T22:47:03.466Z,1761518823.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823138,-0.557555,-0.107595],[0.567450,-0.814710,-0.119367],[-0.021105,-0.159310,0.987003]]
2025-10-26T22:47:03.513Z,1761518823.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-10-26T22:47:03.516Z,1761518823.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.696823 m,
      nav range: 147.762573 m,
      bearing: 155.334656 deg,
      approach rate: -0.590818 m/s,
      LOS rate: 0.030465 deg/s,
      cmd heading: 145.693536 deg,
      new cmd heading: 145.732283 deg.

2025-10-26T22:47:03.517Z,1761518823.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.543508 target range: 152.696823 and range: 153.60 m.
2025-10-26T22:47:03.644Z,1761518823.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770660
2025-10-26T22:47:03.870Z,1761518823.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823969,-0.556493,-0.106726],[0.566264,-0.815503,-0.119584],[-0.020488,-0.158969,0.987071]]
2025-10-26T22:47:03.897Z,1761518823.897 [DAT](INFO): DAT read: Rx Time:22:47:02.6398

2025-10-26T22:47:03.898Z,1761518823.898 [DAT](INFO): Rx dataTimestamp_ set to:1761518823.897608
2025-10-26T22:47:03.901Z,1761518823.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026997
2025-10-26T22:47:03.922Z,1761518823.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-10-26T22:47:03.929Z,1761518823.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.696823 m,
      nav range: 147.537231 m,
      bearing: 155.346164 deg,
      approach rate: -0.551178 m/s,
      LOS rate: 0.028192 deg/s,
      cmd heading: 145.732277 deg,
      new cmd heading: 145.766855 deg.

2025-10-26T22:47:03.930Z,1761518823.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.544111 target range: 152.696823 and range: 153.60 m.
2025-10-26T22:47:04.149Z,1761518824.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275227
2025-10-26T22:47:04.286Z,1761518824.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825434,-0.554702,-0.104708],[0.564181,-0.816870,-0.120098],[-0.018915,-0.158207,0.987225]]
2025-10-26T22:47:04.321Z,1761518824.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:04.323Z,1761518824.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-10-26T22:47:04.326Z,1761518824.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.696823 m,
      nav range: 147.293564 m,
      bearing: 155.356045 deg,
      approach rate: -0.607444 m/s,
      LOS rate: 0.024673 deg/s,
      cmd heading: 145.766851 deg,
      new cmd heading: 145.796543 deg.

2025-10-26T22:47:04.327Z,1761518824.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.544630 target range: 152.696823 and range: 153.60 m.
2025-10-26T22:47:04.407Z,1761518824.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532034
2025-10-26T22:47:04.670Z,1761518824.670 [DAT](INFO): DAT read: 22:47:02.6398 LVL= 32752, 32753, 31954, 32755, AGC= 73, IDX=  50, 0.12,-0.156,-1.928,-0.279,-0.389, PHS= 0.334,-1.495, 0.065, RAW= 142.2,  12.8, CAL= 141.6,  13.8, ROT=   8.4, -13.8

2025-10-26T22:47:04.671Z,1761518824.671 [DAT](INFO): got valid direction response:
 22:47:02.6398 LVL= 32752, 32753, 31954, 32755, AGC= 73, IDX=  50, 0.12,-0.156,-1.928,-0.279,-0.389, PHS= 0.334,-1.495, 0.065, RAW= 142.2,  12.8, CAL= 141.6,  13.8, ROT=   8.4, -13.8

2025-10-26T22:47:04.672Z,1761518824.672 [DAT](INFO): DAT read: Bearing 314.8,   4.8 (Local)

2025-10-26T22:47:04.672Z,1761518824.672 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.8,   4.8 (Local)

2025-10-26T22:47:04.674Z,1761518824.674 [DAT](INFO): DAT read: Range 11 to 50 : 149.2 m  (Round-trip  199.0 ms) speed  0.0 m/s

2025-10-26T22:47:04.674Z,1761518824.674 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:47:04.679Z,1761518824.679 [DAT](INFO): direction in FSK: [0.960716,0.141866,0.238533]
2025-10-26T22:47:04.687Z,1761518824.687 [DAT](INFO): publishing direction and range info
2025-10-26T22:47:04.691Z,1761518824.691 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:04.691Z,1761518824.691 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:04.691Z,1761518824.691 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:47:04.696Z,1761518824.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825828,-0.554369,-0.103353],[0.563633,-0.817290,-0.119814],[-0.018049,-0.157199,0.987402]]
2025-10-26T22:47:04.802Z,1761518824.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 149.199997 m,
      deltaT: 8.068058 s,
      deltaX: -4.400009 m,
      approachRate: -0.545362 m/s,
      rangeRepo size: 4

2025-10-26T22:47:04.808Z,1761518824.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 148.327652 m,
      bearing: 156.120899 deg,
      lat: 36.779381 deg,
      lon: -121.859545 deg,
      deltaT: 8.068058 s,
      deltaX: -4.369171 m,
      approachRate: -0.541539 m/s,
      posRepo size: 4

2025-10-26T22:47:04.809Z,1761518824.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.33 m.
2025-10-26T22:47:04.811Z,1761518824.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.327652 m,
      nav range: 144.614212 m,
      bearing: 155.967531 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.024673 deg/s,
      cmd heading: 145.796549 deg,
      new cmd heading: 145.831928 deg.

2025-10-26T22:47:04.817Z,1761518824.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.545247 target range: 148.327652 and range: 149.20 m.
2025-10-26T22:47:04.909Z,1761518824.909 [DAT](INFO): DAT read: user:679>

2025-10-26T22:47:04.911Z,1761518824.911 [DAT](INFO): DAT read: Tx time:22:47:04.0367

2025-10-26T22:47:04.912Z,1761518824.912 [DAT](INFO): Ping request sent.
2025-10-26T22:47:04.912Z,1761518824.912 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:47:04.912Z,1761518824.912 [DAT](INFO): publishing transmit ping time
2025-10-26T22:47:04.913Z,1761518824.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000984
2025-10-26T22:47:05.127Z,1761518825.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826211,-0.553961,-0.102485],[0.563091,-0.817669,-0.119773],[-0.017450,-0.156666,0.987498]]
2025-10-26T22:47:05.160Z,1761518825.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248468
2025-10-26T22:47:05.178Z,1761518825.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.33 m.
2025-10-26T22:47:05.194Z,1761518825.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.327652 m,
      nav range: 144.408752 m,
      bearing: 155.976810 deg,
      approach rate: -0.545307 m/s,
      LOS rate: 0.024661 deg/s,
      cmd heading: 145.831929 deg,
      new cmd heading: 145.859804 deg.

2025-10-26T22:47:05.195Z,1761518825.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.545734 target range: 148.327652 and range: 149.20 m.
2025-10-26T22:47:05.413Z,1761518825.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500825
2025-10-26T22:47:05.530Z,1761518825.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826267,-0.553897,-0.102378],[0.563025,-0.817603,-0.120533],[-0.016942,-0.157234,0.987416]]
2025-10-26T22:47:05.581Z,1761518825.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.33 m.
2025-10-26T22:47:05.584Z,1761518825.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.327652 m,
      nav range: 144.175934 m,
      bearing: 155.983030 deg,
      approach rate: -0.577669 m/s,
      LOS rate: 0.015459 deg/s,
      cmd heading: 145.859810 deg,
      new cmd heading: 145.878502 deg.

2025-10-26T22:47:05.585Z,1761518825.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.546060 target range: 148.327652 and range: 149.20 m.
2025-10-26T22:47:05.665Z,1761518825.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752843
2025-10-26T22:47:05.760Z,1761518825.760 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:47:05.917Z,1761518825.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004785
2025-10-26T22:47:05.940Z,1761518825.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826651,-0.553100,-0.103577],[0.562472,-0.817580,-0.123239],[-0.016519,-0.160135,0.986957]]
2025-10-26T22:47:05.958Z,1761518825.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.33 m.
2025-10-26T22:47:05.961Z,1761518825.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.327652 m,
      nav range: 143.973984 m,
      bearing: 155.988400 deg,
      approach rate: -0.535847 m/s,
      LOS rate: 0.014267 deg/s,
      cmd heading: 145.878497 deg,
      new cmd heading: 145.894628 deg.

2025-10-26T22:47:05.962Z,1761518825.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.546342 target range: 148.327652 and range: 149.20 m.
2025-10-26T22:47:06.169Z,1761518826.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256515
2025-10-26T22:47:06.338Z,1761518826.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826643,-0.553293,-0.102607],[0.562494,-0.817691,-0.122403],[-0.016177,-0.158899,0.987162]]
2025-10-26T22:47:06.381Z,1761518826.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:06.386Z,1761518826.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.33 m.
2025-10-26T22:47:06.391Z,1761518826.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.327652 m,
      nav range: 143.752975 m,
      bearing: 155.990019 deg,
      approach rate: -0.517102 m/s,
      LOS rate: 0.003795 deg/s,
      cmd heading: 145.894630 deg,
      new cmd heading: 145.899496 deg.

2025-10-26T22:47:06.393Z,1761518826.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.546427 target range: 148.327652 and range: 149.20 m.
2025-10-26T22:47:06.420Z,1761518826.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508421
2025-10-26T22:47:06.672Z,1761518826.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760351
2025-10-26T22:47:06.746Z,1761518826.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826664,-0.553776,-0.099792],[0.562488,-0.818083,-0.119782],[-0.015305,-0.155151,0.987772]]
2025-10-26T22:47:06.764Z,1761518826.764 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:47:06.766Z,1761518826.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.33 m.
2025-10-26T22:47:06.769Z,1761518826.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.327652 m,
      nav range: 143.553574 m,
      bearing: 155.991466 deg,
      approach rate: -0.524007 m/s,
      LOS rate: 0.003808 deg/s,
      cmd heading: 145.899493 deg,
      new cmd heading: 145.903840 deg.

2025-10-26T22:47:06.770Z,1761518826.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.546502 target range: 148.327652 and range: 149.20 m.
2025-10-26T22:47:06.924Z,1761518826.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012370
2025-10-26T22:47:07.147Z,1761518827.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826579,-0.554291,-0.097614],[0.562632,-0.818259,-0.117884],[-0.014531,-0.152361,0.988218]]
2025-10-26T22:47:07.177Z,1761518827.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264530
2025-10-26T22:47:07.185Z,1761518827.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.33 m.
2025-10-26T22:47:07.192Z,1761518827.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.327652 m,
      nav range: 143.345062 m,
      bearing: 155.992984 deg,
      approach rate: -0.496676 m/s,
      LOS rate: 0.003622 deg/s,
      cmd heading: 145.903837 deg,
      new cmd heading: 145.908399 deg.

2025-10-26T22:47:07.193Z,1761518827.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.546582 target range: 148.327652 and range: 149.20 m.
2025-10-26T22:47:07.428Z,1761518827.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516326
2025-10-26T22:47:07.550Z,1761518827.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826454,-0.554846,-0.095495],[0.562839,-0.818345,-0.116291],[-0.013624,-0.149857,0.988614]]
2025-10-26T22:47:07.602Z,1761518827.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.33 m.
2025-10-26T22:47:07.605Z,1761518827.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.327652 m,
      nav range: 143.125595 m,
      bearing: 155.990874 deg,
      approach rate: -0.526586 m/s,
      LOS rate: -0.005071 deg/s,
      cmd heading: 145.908400 deg,
      new cmd heading: 145.902059 deg.

2025-10-26T22:47:07.606Z,1761518827.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.546471 target range: 148.327652 and range: 149.20 m.
2025-10-26T22:47:07.681Z,1761518827.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768712
2025-10-26T22:47:07.932Z,1761518827.932 [DAT](INFO): DAT read: Rx Time:22:47:06.6371

2025-10-26T22:47:07.933Z,1761518827.933 [DAT](INFO): Rx dataTimestamp_ set to:1761518827.932548
2025-10-26T22:47:07.933Z,1761518827.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021415
2025-10-26T22:47:07.964Z,1761518827.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826079,-0.555793,-0.093207],[0.563414,-0.818199,-0.114520],[-0.012612,-0.147117,0.989039]]
2025-10-26T22:47:07.986Z,1761518827.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.33 m.
2025-10-26T22:47:08.001Z,1761518828.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.327652 m,
      nav range: 142.934952 m,
      bearing: 155.989075 deg,
      approach rate: -0.496865 m/s,
      LOS rate: -0.004694 deg/s,
      cmd heading: 145.902061 deg,
      new cmd heading: 145.896659 deg.

2025-10-26T22:47:08.002Z,1761518828.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.546377 target range: 148.327652 and range: 149.20 m.
2025-10-26T22:47:08.185Z,1761518828.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272639
2025-10-26T22:47:08.454Z,1761518828.454 [DAT](INFO): DAT read: 22:47:06.6371 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 406, 0.06, 0.224,-1.477, 0.149,-0.072, PHS= 0.397,-1.360, 0.177, RAW= 143.4,   9.5, CAL= 142.9,  10.4, ROT=   7.1, -10.4

2025-10-26T22:47:08.456Z,1761518828.456 [DAT](INFO): got valid direction response:
 22:47:06.6371 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 406, 0.06, 0.224,-1.477, 0.149,-0.072, PHS= 0.397,-1.360, 0.177, RAW= 143.4,   9.5, CAL= 142.9,  10.4, ROT=   7.1, -10.4

2025-10-26T22:47:08.456Z,1761518828.456 [DAT](INFO): DAT read: Bearing 310.9,   4.5 (Local)

2025-10-26T22:47:08.457Z,1761518828.457 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.9,   4.5 (Local)

2025-10-26T22:47:08.458Z,1761518828.458 [DAT](INFO): DAT read: Range 11 to 50 : 147.1 m  (Round-trip  196.2 ms) speed  0.0 m/s

2025-10-26T22:47:08.459Z,1761518828.459 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:47:08.460Z,1761518828.460 [DAT](INFO): direction in FSK: [0.976029,0.121571,0.180519]
2025-10-26T22:47:08.460Z,1761518828.460 [DAT](INFO): publishing direction and range info
2025-10-26T22:47:08.476Z,1761518828.476 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:08.476Z,1761518828.476 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:08.476Z,1761518828.476 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:47:08.532Z,1761518828.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 147.100006 m,
      deltaT: 3.781077 s,
      deltaX: -2.099991 m,
      approachRate: -0.555395 m/s,
      rangeRepo size: 4

2025-10-26T22:47:08.534Z,1761518828.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 146.258347 m,
      bearing: 154.241805 deg,
      lat: 36.779382 deg,
      lon: -121.859518 deg,
      deltaT: 3.781077 s,
      deltaX: -2.069305 m,
      approachRate: -0.547279 m/s,
      posRepo size: 4

2025-10-26T22:47:08.535Z,1761518828.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.26 m.
2025-10-26T22:47:08.546Z,1761518828.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.258347 m,
      nav range: 143.612274 m,
      bearing: 155.104946 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004694 deg/s,
      cmd heading: 145.896666 deg,
      new cmd heading: 145.889100 deg.

2025-10-26T22:47:08.547Z,1761518828.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.546245 target range: 146.258347 and range: 147.10 m.
2025-10-26T22:47:08.688Z,1761518828.688 [DAT](INFO): DAT read: user:680>

2025-10-26T22:47:08.689Z,1761518828.689 [DAT](INFO): DAT read: Tx time:22:47:07.8367

2025-10-26T22:47:08.689Z,1761518828.689 [DAT](INFO): Ping request sent.
2025-10-26T22:47:08.690Z,1761518828.690 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:47:08.690Z,1761518828.690 [DAT](INFO): publishing transmit ping time
2025-10-26T22:47:08.690Z,1761518828.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-10-26T22:47:08.868Z,1761518828.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824821,-0.558328,-0.089103],[0.565313,-0.817060,-0.113285],[-0.009553,-0.143811,0.989559]]
2025-10-26T22:47:08.910Z,1761518828.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:08.913Z,1761518828.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.26 m.
2025-10-26T22:47:08.915Z,1761518828.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.258347 m,
      nav range: 143.417145 m,
      bearing: 155.100989 deg,
      approach rate: -0.501050 m/s,
      LOS rate: -0.010174 deg/s,
      cmd heading: 145.889098 deg,
      new cmd heading: 145.877211 deg.

2025-10-26T22:47:08.916Z,1761518828.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.546038 target range: 146.258347 and range: 147.10 m.
2025-10-26T22:47:08.941Z,1761518828.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250851
2025-10-26T22:47:09.192Z,1761518829.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502803
2025-10-26T22:47:09.304Z,1761518829.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824019,-0.559707,-0.087863],[0.566509,-0.816095,-0.114270],[-0.007747,-0.143936,0.989557]]
2025-10-26T22:47:09.339Z,1761518829.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.26 m.
2025-10-26T22:47:09.341Z,1761518829.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.258347 m,
      nav range: 143.204727 m,
      bearing: 155.096794 deg,
      approach rate: -0.498627 m/s,
      LOS rate: -0.009862 deg/s,
      cmd heading: 145.877213 deg,
      new cmd heading: 145.864610 deg.

2025-10-26T22:47:09.342Z,1761518829.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.545818 target range: 146.258347 and range: 147.10 m.
2025-10-26T22:47:09.445Z,1761518829.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755348
2025-10-26T22:47:09.688Z,1761518829.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822852,-0.561466,-0.087586],[0.568222,-0.814673,-0.115894],[-0.006284,-0.145132,0.989392]]
2025-10-26T22:47:09.696Z,1761518829.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006782
2025-10-26T22:47:09.775Z,1761518829.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.26 m.
2025-10-26T22:47:09.782Z,1761518829.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.258347 m,
      nav range: 142.993164 m,
      bearing: 155.093587 deg,
      approach rate: -0.484928 m/s,
      LOS rate: -0.007362 deg/s,
      cmd heading: 145.864605 deg,
      new cmd heading: 145.854969 deg.

2025-10-26T22:47:09.783Z,1761518829.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.545650 target range: 146.258347 and range: 147.10 m.
2025-10-26T22:47:09.948Z,1761518829.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258792
2025-10-26T22:47:10.111Z,1761518830.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821659,-0.563097,-0.088311],[0.569958,-0.813041,-0.118791],[-0.004909,-0.147939,0.988984]]
2025-10-26T22:47:10.129Z,1761518830.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.26 m.
2025-10-26T22:47:10.132Z,1761518830.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.258347 m,
      nav range: 142.814148 m,
      bearing: 155.091028 deg,
      approach rate: -0.504851 m/s,
      LOS rate: -0.007227 deg/s,
      cmd heading: 145.854974 deg,
      new cmd heading: 145.847286 deg.

2025-10-26T22:47:10.133Z,1761518830.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.545515 target range: 146.258347 and range: 147.10 m.
2025-10-26T22:47:10.202Z,1761518830.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511701
2025-10-26T22:47:10.453Z,1761518830.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762961
2025-10-26T22:47:10.514Z,1761518830.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820343,-0.564634,-0.090698],[0.571861,-0.810933,-0.123947],[-0.003566,-0.153546,0.988135]]
2025-10-26T22:47:10.558Z,1761518830.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.26 m.
2025-10-26T22:47:10.561Z,1761518830.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.258347 m,
      nav range: 142.595184 m,
      bearing: 155.088704 deg,
      approach rate: -0.511381 m/s,
      LOS rate: -0.005436 deg/s,
      cmd heading: 145.847283 deg,
      new cmd heading: 145.840301 deg.

2025-10-26T22:47:10.562Z,1761518830.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.545393 target range: 146.258347 and range: 147.10 m.
2025-10-26T22:47:10.705Z,1761518830.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015559
2025-10-26T22:47:10.927Z,1761518830.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819208,-0.565982,-0.092535],[0.573492,-0.809071,-0.128496],[-0.002141,-0.158333,0.987383]]
2025-10-26T22:47:10.943Z,1761518830.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:10.956Z,1761518830.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266792
2025-10-26T22:47:10.972Z,1761518830.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.26 m.
2025-10-26T22:47:10.975Z,1761518830.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.258347 m,
      nav range: 142.397232 m,
      bearing: 155.086768 deg,
      approach rate: -0.477128 m/s,
      LOS rate: -0.004673 deg/s,
      cmd heading: 145.840303 deg,
      new cmd heading: 145.834487 deg.

2025-10-26T22:47:10.976Z,1761518830.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.545292 target range: 146.258347 and range: 147.10 m.
2025-10-26T22:47:11.208Z,1761518831.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518750
2025-10-26T22:47:11.357Z,1761518831.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817954,-0.567846,-0.092208],[0.575283,-0.807616,-0.129639],[-0.000853,-0.159084,0.987265]]
2025-10-26T22:47:11.433Z,1761518831.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.26 m.
2025-10-26T22:47:11.436Z,1761518831.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.258347 m,
      nav range: 142.143951 m,
      bearing: 155.091447 deg,
      approach rate: -0.550115 m/s,
      LOS rate: 0.010181 deg/s,
      cmd heading: 145.834484 deg,
      new cmd heading: 145.848547 deg.

2025-10-26T22:47:11.437Z,1761518831.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.545537 target range: 146.258347 and range: 147.10 m.
2025-10-26T22:47:11.460Z,1761518831.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770723
2025-10-26T22:47:11.721Z,1761518831.721 [DAT](INFO): DAT read: Rx Time:22:47:10.4700

2025-10-26T22:47:11.722Z,1761518831.722 [DAT](INFO): Rx dataTimestamp_ set to:1761518831.721094
2025-10-26T22:47:11.722Z,1761518831.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032639
2025-10-26T22:47:11.760Z,1761518831.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816581,-0.569966,-0.091289],[0.577230,-0.806202,-0.129781],[0.000374,-0.158672,0.987331]]
2025-10-26T22:47:11.790Z,1761518831.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.26 m.
2025-10-26T22:47:11.793Z,1761518831.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.258347 m,
      nav range: 141.942780 m,
      bearing: 155.095369 deg,
      approach rate: -0.563063 m/s,
      LOS rate: 0.010993 deg/s,
      cmd heading: 145.848540 deg,
      new cmd heading: 145.860322 deg.

2025-10-26T22:47:11.794Z,1761518831.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.545743 target range: 146.258347 and range: 147.10 m.
2025-10-26T22:47:11.972Z,1761518831.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282692
2025-10-26T22:47:12.132Z,1761518832.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815571,-0.571475,-0.090886],[0.578655,-0.805025,-0.130743],[0.001551,-0.159222,0.987242]]
2025-10-26T22:47:12.150Z,1761518832.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.26 m.
2025-10-26T22:47:12.153Z,1761518832.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.258347 m,
      nav range: 141.748566 m,
      bearing: 155.099305 deg,
      approach rate: -0.539258 m/s,
      LOS rate: 0.010942 deg/s,
      cmd heading: 145.860329 deg,
      new cmd heading: 145.872152 deg.

2025-10-26T22:47:12.154Z,1761518832.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.545949 target range: 146.258347 and range: 147.10 m.
2025-10-26T22:47:12.228Z,1761518832.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538329
2025-10-26T22:47:12.486Z,1761518832.486 [DAT](INFO): DAT read: 22:47:10.4700 LVL= 31856, 32753, 32754, 28019, AGC= 72, IDX= 266,-0.01,-3.051, 1.953, 2.986, 1.854, PHS= 1.480, 0.144, 1.088, RAW= 133.4, -38.9, CAL= 135.1, -37.5, ROT=  14.9,  37.5

2025-10-26T22:47:12.487Z,1761518832.487 [DAT](INFO): got valid direction response:
 22:47:10.4700 LVL= 31856, 32753, 32754, 28019, AGC= 72, IDX= 266,-0.01,-3.051, 1.953, 2.986, 1.854, PHS= 1.480, 0.144, 1.088, RAW= 133.4, -38.9, CAL= 135.1, -37.5, ROT=  14.9,  37.5

2025-10-26T22:47:12.488Z,1761518832.488 [DAT](INFO): DAT read: Bearing 261.9,  17.7 (Local)

2025-10-26T22:47:12.488Z,1761518832.488 [DAT](INFO): Local bearing/azimuth received:
 Bearing 261.9,  17.7 (Local)

2025-10-26T22:47:12.490Z,1761518832.490 [DAT](INFO): DAT read: Range 11 to 50 : 171.8 m  (Round-trip  229.1 ms) speed  0.4 m/s

2025-10-26T22:47:12.490Z,1761518832.490 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:47:12.491Z,1761518832.491 [DAT](INFO): direction in FSK: [0.766678,0.203997,-0.608761]
2025-10-26T22:47:12.492Z,1761518832.492 [DAT](INFO): publishing direction and range info
2025-10-26T22:47:12.495Z,1761518832.495 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:12.495Z,1761518832.495 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:12.496Z,1761518832.496 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:47:12.585Z,1761518832.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814904,-0.572521,-0.090288],[0.579591,-0.804267,-0.131256],[0.002532,-0.159291,0.987228]]
2025-10-26T22:47:12.720Z,1761518832.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 171.800003 m,
 deltaT: 4.042912 s,
 deltaX: 24.699997 m,
 approachRate: 6.109457 m/s,
 rangeRepo size: 4
2025-10-26T22:47:12.721Z,1761518832.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.26 m.
2025-10-26T22:47:12.733Z,1761518832.733 [DAT](INFO): DAT read: user:681>

2025-10-26T22:47:12.734Z,1761518832.734 [DAT](INFO): DAT read: Tx time:22:47:11.8367

2025-10-26T22:47:12.735Z,1761518832.735 [DAT](INFO): Ping request sent.
2025-10-26T22:47:12.735Z,1761518832.735 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:47:12.735Z,1761518832.735 [DAT](INFO): publishing transmit ping time
2025-10-26T22:47:12.736Z,1761518832.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001172
2025-10-26T22:47:12.738Z,1761518832.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.258347 m,
      nav range: 141.445099 m,
      bearing: 155.110379 deg,
      approach rate: -0.537989 m/s,
      LOS rate: 0.019675 deg/s,
      cmd heading: 145.872145 deg,
      new cmd heading: 145.905440 deg.

2025-10-26T22:47:12.739Z,1761518832.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.546530 target range: 146.258347 and range: 147.10 m.
2025-10-26T22:47:12.985Z,1761518832.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249878
2025-10-26T22:47:13.067Z,1761518833.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814786,-0.572618,-0.090727],[0.579751,-0.803809,-0.133344],[0.003428,-0.161245,0.986908]]
2025-10-26T22:47:13.109Z,1761518833.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:13.119Z,1761518833.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.26 m.
2025-10-26T22:47:13.122Z,1761518833.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.258347 m,
      nav range: 141.219437 m,
      bearing: 155.118665 deg,
      approach rate: -0.568548 m/s,
      LOS rate: 0.020909 deg/s,
      cmd heading: 145.905436 deg,
      new cmd heading: 145.930333 deg.

2025-10-26T22:47:13.123Z,1761518833.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.546965 target range: 146.258347 and range: 147.10 m.
2025-10-26T22:47:13.236Z,1761518833.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501496
2025-10-26T22:47:13.470Z,1761518833.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814977,-0.572271,-0.091205],[0.579479,-0.803690,-0.135228],[0.004087,-0.163060,0.986608]]
2025-10-26T22:47:13.490Z,1761518833.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754858
2025-10-26T22:47:13.541Z,1761518833.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.26 m.
2025-10-26T22:47:13.548Z,1761518833.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.258347 m,
      nav range: 140.959854 m,
      bearing: 155.133139 deg,
      approach rate: -0.604286 m/s,
      LOS rate: 0.033756 deg/s,
      cmd heading: 145.930338 deg,
      new cmd heading: 145.973840 deg.

2025-10-26T22:47:13.549Z,1761518833.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.547724 target range: 146.258347 and range: 147.10 m.
2025-10-26T22:47:13.741Z,1761518833.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005655
2025-10-26T22:47:13.992Z,1761518833.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257514
2025-10-26T22:47:14.026Z,1761518834.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816456,-0.570007,-0.092147],[0.577390,-0.804735,-0.137923],[0.004463,-0.165813,0.986147]]
2025-10-26T22:47:14.064Z,1761518834.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.26 m.
2025-10-26T22:47:14.067Z,1761518834.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.258347 m,
      nav range: 140.650620 m,
      bearing: 155.150120 deg,
      approach rate: -0.590904 m/s,
      LOS rate: 0.032520 deg/s,
      cmd heading: 145.973847 deg,
      new cmd heading: 146.024902 deg.

2025-10-26T22:47:14.072Z,1761518834.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.548615 target range: 146.258347 and range: 147.10 m.
2025-10-26T22:47:14.245Z,1761518834.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509781
2025-10-26T22:47:14.433Z,1761518834.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817758,-0.567951,-0.093292],[0.575549,-0.805852,-0.139087],[0.003815,-0.167433,0.985876]]
2025-10-26T22:47:14.485Z,1761518834.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.26 m.
2025-10-26T22:47:14.492Z,1761518834.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.258347 m,
      nav range: 140.407547 m,
      bearing: 155.165531 deg,
      approach rate: -0.577098 m/s,
      LOS rate: 0.036653 deg/s,
      cmd heading: 146.024896 deg,
      new cmd heading: 146.071210 deg.

2025-10-26T22:47:14.493Z,1761518834.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.549423 target range: 146.258347 and range: 147.10 m.
2025-10-26T22:47:14.497Z,1761518834.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761668
2025-10-26T22:47:14.748Z,1761518834.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013388
2025-10-26T22:47:14.923Z,1761518834.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819231,-0.565711,-0.093975],[0.573457,-0.807361,-0.138980],[0.002751,-0.167747,0.985826]]
2025-10-26T22:47:14.941Z,1761518834.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.26 m.
2025-10-26T22:47:14.945Z,1761518834.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.258347 m,
      nav range: 140.126968 m,
      bearing: 155.183088 deg,
      approach rate: -0.615327 m/s,
      LOS rate: 0.038580 deg/s,
      cmd heading: 146.071204 deg,
      new cmd heading: 146.123980 deg.

2025-10-26T22:47:14.946Z,1761518834.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.550344 target range: 146.258347 and range: 147.10 m.
2025-10-26T22:47:15.001Z,1761518835.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266163
2025-10-26T22:47:15.252Z,1761518835.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517563
2025-10-26T22:47:15.326Z,1761518835.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821086,-0.563106,-0.093425],[0.570802,-0.809577,-0.137004],[0.001513,-0.165820,0.986155]]
2025-10-26T22:47:15.419Z,1761518835.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:15.425Z,1761518835.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.26 m.
2025-10-26T22:47:15.433Z,1761518835.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.258347 m,
      nav range: 139.861725 m,
      bearing: 155.199391 deg,
      approach rate: -0.548330 m/s,
      LOS rate: 0.033766 deg/s,
      cmd heading: 146.123974 deg,
      new cmd heading: 146.172975 deg.

2025-10-26T22:47:15.434Z,1761518835.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.551200 target range: 146.258347 and range: 147.10 m.
2025-10-26T22:47:15.504Z,1761518835.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769572
2025-10-26T22:47:15.756Z,1761518835.756 [DAT](INFO): DAT read: Rx Time:22:47:14.4684

2025-10-26T22:47:15.757Z,1761518835.757 [DAT](INFO): Rx dataTimestamp_ set to:1761518835.756652
2025-10-26T22:47:15.757Z,1761518835.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022657
2025-10-26T22:47:15.774Z,1761518835.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822910,-0.560548,-0.092763],[0.568172,-0.811894,-0.134198],[-0.000090,-0.163138,0.986603]]
2025-10-26T22:47:15.856Z,1761518835.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.26 m.
2025-10-26T22:47:15.859Z,1761518835.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.258347 m,
      nav range: 139.591202 m,
      bearing: 155.216912 deg,
      approach rate: -0.627313 m/s,
      LOS rate: 0.040708 deg/s,
      cmd heading: 146.172974 deg,
      new cmd heading: 146.225639 deg.

2025-10-26T22:47:15.869Z,1761518835.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.552119 target range: 146.258347 and range: 147.10 m.
2025-10-26T22:47:16.008Z,1761518836.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273511
2025-10-26T22:47:16.281Z,1761518836.281 [DAT](INFO): DAT read: 22:47:14.4684 LVL= 32752, 32753, 31570, 28147, AGC= 71, IDX=  42, 0.34, 1.496,-0.221, 1.372, 1.256, PHS= 0.342,-1.432, 0.072, RAW= 141.9,  12.3, CAL= 141.3,  13.3, ROT=   8.7, -13.3

2025-10-26T22:47:16.283Z,1761518836.283 [DAT](INFO): got valid direction response:
 22:47:14.4684 LVL= 32752, 32753, 31570, 28147, AGC= 71, IDX=  42, 0.34, 1.496,-0.221, 1.372, 1.256, PHS= 0.342,-1.432, 0.072, RAW= 141.9,  12.3, CAL= 141.3,  13.3, ROT=   8.7, -13.3

2025-10-26T22:47:16.284Z,1761518836.284 [DAT](INFO): DAT read: Bearing 313.5,   6.1 (Local)

2025-10-26T22:47:16.285Z,1761518836.285 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.5,   6.1 (Local)

2025-10-26T22:47:16.286Z,1761518836.286 [DAT](INFO): DAT read: Range 11 to 50 : 170.7 m  (Round-trip  227.6 ms) speed  0.0 m/s

2025-10-26T22:47:16.289Z,1761518836.289 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:47:16.328Z,1761518836.328 [DAT](INFO): direction in FSK: [0.961981,0.147204,0.230050]
2025-10-26T22:47:16.328Z,1761518836.328 [DAT](INFO): publishing direction and range info
2025-10-26T22:47:16.349Z,1761518836.349 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:16.349Z,1761518836.349 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:16.349Z,1761518836.349 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:47:16.394Z,1761518836.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826184,-0.556037,-0.090788],[0.563385,-0.816510,-0.126127],[-0.003998,-0.155353,0.987851]]
2025-10-26T22:47:16.497Z,1761518836.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 170.699997 m,
      deltaT: 7.827737 s,
      deltaX: 23.599991 m,
      approachRate: 3.014919 m/s,
      rangeRepo size: 4

2025-10-26T22:47:16.504Z,1761518836.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 169.706329 m,
      bearing: 156.365452 deg,
      lat: 36.779382 deg,
      lon: -121.859491 deg,
      deltaT: 7.827737 s,
      deltaX: 23.447983 m,
      approachRate: 2.995500 m/s,
      posRepo size: 4

2025-10-26T22:47:16.505Z,1761518836.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.71 m.
2025-10-26T22:47:16.512Z,1761518836.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.706329 m,
      nav range: 140.233475 m,
      bearing: 154.349131 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.040708 deg/s,
      cmd heading: 146.225635 deg,
      new cmd heading: 146.303824 deg.

2025-10-26T22:47:16.513Z,1761518836.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.553483 target range: 169.706329 and range: 170.70 m.
2025-10-26T22:47:16.516Z,1761518836.516 [DAT](INFO): DAT read: user:682>

2025-10-26T22:47:16.517Z,1761518836.517 [DAT](INFO): DAT read: Tx time:22:47:15.6867

2025-10-26T22:47:16.517Z,1761518836.517 [DAT](INFO): Ping request sent.
2025-10-26T22:47:16.518Z,1761518836.518 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:47:16.518Z,1761518836.518 [DAT](INFO): publishing transmit ping time
2025-10-26T22:47:16.518Z,1761518836.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-10-26T22:47:16.769Z,1761518836.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251422
2025-10-26T22:47:16.855Z,1761518836.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827543,-0.554361,-0.088638],[0.561369,-0.818847,-0.119810],[-0.006163,-0.148906,0.988832]]
2025-10-26T22:47:16.921Z,1761518836.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.71 m.
2025-10-26T22:47:16.924Z,1761518836.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.706329 m,
      nav range: 139.970413 m,
      bearing: 154.362951 deg,
      approach rate: -0.620291 m/s,
      LOS rate: 0.032647 deg/s,
      cmd heading: 146.303827 deg,
      new cmd heading: 146.345363 deg.

2025-10-26T22:47:16.925Z,1761518836.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.554209 target range: 169.706329 and range: 170.70 m.
2025-10-26T22:47:17.021Z,1761518837.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503183
2025-10-26T22:47:17.255Z,1761518837.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828665,-0.553033,-0.086419],[0.559683,-0.820929,-0.113271],[-0.008301,-0.142231,0.989799]]
2025-10-26T22:47:17.272Z,1761518837.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754686
2025-10-26T22:47:17.294Z,1761518837.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.71 m.
2025-10-26T22:47:17.297Z,1761518837.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.706329 m,
      nav range: 139.749466 m,
      bearing: 154.374400 deg,
      approach rate: -0.591466 m/s,
      LOS rate: 0.030697 deg/s,
      cmd heading: 146.345368 deg,
      new cmd heading: 146.379769 deg.

2025-10-26T22:47:17.298Z,1761518837.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.554809 target range: 169.706329 and range: 170.70 m.
2025-10-26T22:47:17.525Z,1761518837.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007367
2025-10-26T22:47:17.660Z,1761518837.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829309,-0.552077,-0.086356],[0.558685,-0.822184,-0.109015],[-0.010815,-0.138653,0.990282]]
2025-10-26T22:47:17.694Z,1761518837.694 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:17.696Z,1761518837.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.71 m.
2025-10-26T22:47:17.721Z,1761518837.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.706329 m,
      nav range: 139.526276 m,
      bearing: 154.382508 deg,
      approach rate: -0.555296 m/s,
      LOS rate: 0.020205 deg/s,
      cmd heading: 146.379765 deg,
      new cmd heading: 146.404128 deg.

2025-10-26T22:47:17.722Z,1761518837.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.555234 target range: 169.706329 and range: 170.70 m.
2025-10-26T22:47:17.778Z,1761518837.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260450
2025-10-26T22:47:18.029Z,1761518838.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511535
2025-10-26T22:47:18.120Z,1761518838.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.71 m.
2025-10-26T22:47:18.122Z,1761518838.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.706329 m,
      nav range: 139.296982 m,
      bearing: 154.390864 deg,
      approach rate: -0.557637 m/s,
      LOS rate: 0.020356 deg/s,
      cmd heading: 146.404121 deg,
      new cmd heading: 146.429232 deg.

2025-10-26T22:47:18.124Z,1761518838.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.555672 target range: 169.706329 and range: 170.70 m.
2025-10-26T22:47:18.280Z,1761518838.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762760
2025-10-26T22:47:18.484Z,1761518838.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829092,-0.552037,-0.088664],[0.558890,-0.822743,-0.103613],[-0.015750,-0.135459,0.990658]]
2025-10-26T22:47:18.521Z,1761518838.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.71 m.
2025-10-26T22:47:18.532Z,1761518838.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014766
2025-10-26T22:47:18.544Z,1761518838.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.706329 m,
      nav range: 139.081802 m,
      bearing: 154.394343 deg,
      approach rate: -0.520757 m/s,
      LOS rate: 0.008432 deg/s,
      cmd heading: 146.429229 deg,
      new cmd heading: 146.439682 deg.

2025-10-26T22:47:18.545Z,1761518838.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.555855 target range: 169.706329 and range: 170.70 m.
2025-10-26T22:47:18.786Z,1761518838.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268229
2025-10-26T22:47:18.881Z,1761518838.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828666,-0.551962,-0.093004],[0.559450,-0.822096,-0.105705],[-0.018113,-0.139626,0.990039]]
2025-10-26T22:47:18.925Z,1761518838.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.71 m.
2025-10-26T22:47:18.928Z,1761518838.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.706329 m,
      nav range: 138.881836 m,
      bearing: 154.397665 deg,
      approach rate: -0.494791 m/s,
      LOS rate: 0.008232 deg/s,
      cmd heading: 146.439679 deg,
      new cmd heading: 146.449661 deg.

2025-10-26T22:47:18.929Z,1761518838.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.556029 target range: 169.706329 and range: 170.70 m.
2025-10-26T22:47:19.036Z,1761518839.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518896
2025-10-26T22:47:19.279Z,1761518839.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828157,-0.552052,-0.096931],[0.560120,-0.821468,-0.107031],[-0.020539,-0.142931,0.989520]]
2025-10-26T22:47:19.288Z,1761518839.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770868
2025-10-26T22:47:19.299Z,1761518839.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.71 m.
2025-10-26T22:47:19.301Z,1761518839.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.706329 m,
      nav range: 138.676575 m,
      bearing: 154.401175 deg,
      approach rate: -0.548957 m/s,
      LOS rate: 0.009400 deg/s,
      cmd heading: 146.449665 deg,
      new cmd heading: 146.460209 deg.

2025-10-26T22:47:19.302Z,1761518839.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.556213 target range: 169.706329 and range: 170.70 m.
2025-10-26T22:47:19.544Z,1761518839.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026243
2025-10-26T22:47:19.680Z,1761518839.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827494,-0.552234,-0.101442],[0.561006,-0.820572,-0.109241],[-0.022914,-0.147306,0.988826]]
2025-10-26T22:47:19.737Z,1761518839.737 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:19.739Z,1761518839.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.71 m.
2025-10-26T22:47:19.746Z,1761518839.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.706329 m,
      nav range: 138.468643 m,
      bearing: 154.401435 deg,
      approach rate: -0.472128 m/s,
      LOS rate: 0.000592 deg/s,
      cmd heading: 146.460211 deg,
      new cmd heading: 146.460993 deg.

2025-10-26T22:47:19.747Z,1761518839.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.556226 target range: 169.706329 and range: 170.70 m.
2025-10-26T22:47:19.794Z,1761518839.794 [DAT](INFO): DAT read: Rx Time:22:47:18.3156

2025-10-26T22:47:19.794Z,1761518839.794 [DAT](INFO): Rx dataTimestamp_ set to:1761518839.793904
2025-10-26T22:47:19.795Z,1761518839.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277499
2025-10-26T22:47:20.044Z,1761518840.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526643
2025-10-26T22:47:20.113Z,1761518840.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826778,-0.552485,-0.105825],[0.561963,-0.819634,-0.111348],[-0.025220,-0.151529,0.988131]]
2025-10-26T22:47:20.163Z,1761518840.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.71 m.
2025-10-26T22:47:20.166Z,1761518840.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.706329 m,
      nav range: 138.258377 m,
      bearing: 154.401830 deg,
      approach rate: -0.496003 m/s,
      LOS rate: 0.000933 deg/s,
      cmd heading: 146.460989 deg,
      new cmd heading: 146.462176 deg.

2025-10-26T22:47:20.167Z,1761518840.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.556247 target range: 169.706329 and range: 170.70 m.
2025-10-26T22:47:20.302Z,1761518840.302 [DAT](INFO): DAT read: 22:47:18.3156 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX=  31,-0.09,-0.408,-2.117,-0.439,-0.641, PHS= 0.335,-1.431, 0.158, RAW= 144.8,  11.1, CAL= 144.4,  12.1, ROT=   5.6, -12.1

2025-10-26T22:47:20.312Z,1761518840.312 [DAT](INFO): got valid direction response:
 22:47:18.3156 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX=  31,-0.09,-0.408,-2.117,-0.439,-0.641, PHS= 0.335,-1.431, 0.158, RAW= 144.8,  11.1, CAL= 144.4,  12.1, ROT=   5.6, -12.1

2025-10-26T22:47:20.313Z,1761518840.313 [DAT](INFO): DAT read: Bearing 311.4,   2.4 (Local)

2025-10-26T22:47:20.313Z,1761518840.313 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.4,   2.4 (Local)

2025-10-26T22:47:20.315Z,1761518840.315 [DAT](INFO): DAT read: Range 11 to 50 : 168.6 m  (Round-trip  224.8 ms) speed  0.5 m/s

2025-10-26T22:47:20.315Z,1761518840.315 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:47:20.316Z,1761518840.316 [DAT](INFO): direction in FSK: [0.973117,0.095415,0.209619]
2025-10-26T22:47:20.317Z,1761518840.317 [DAT](INFO): publishing direction and range info
2025-10-26T22:47:20.320Z,1761518840.320 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:20.320Z,1761518840.320 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:20.320Z,1761518840.320 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:47:20.516Z,1761518840.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825882,-0.553103,-0.109528],[0.563168,-0.818685,-0.112234],[-0.027592,-0.154374,0.987627]]
2025-10-26T22:47:20.548Z,1761518840.548 [DAT](INFO): DAT read: user:683>

2025-10-26T22:47:20.549Z,1761518840.549 [DAT](INFO): DAT read: Tx time:22:47:19.6867

2025-10-26T22:47:20.549Z,1761518840.549 [DAT](INFO): Ping request sent.
2025-10-26T22:47:20.550Z,1761518840.550 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:47:20.550Z,1761518840.550 [DAT](INFO): publishing transmit ping time
2025-10-26T22:47:20.550Z,1761518840.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-10-26T22:47:20.581Z,1761518840.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 168.600006 m,
      deltaT: 4.031559 s,
      deltaX: -2.099991 m,
      approachRate: -0.520888 m/s,
      rangeRepo size: 4

2025-10-26T22:47:20.583Z,1761518840.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 167.613602 m,
      bearing: 153.087801 deg,
      lat: 36.779373 deg,
      lon: -121.859491 deg,
      deltaT: 4.031559 s,
      deltaX: -2.092728 m,
      approachRate: -0.519086 m/s,
      posRepo size: 4

2025-10-26T22:47:20.587Z,1761518840.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.61 m.
2025-10-26T22:47:20.590Z,1761518840.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.613602 m,
      nav range: 138.952087 m,
      bearing: 154.572585 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000933 deg/s,
      cmd heading: 146.462178 deg,
      new cmd heading: 146.463287 deg.

2025-10-26T22:47:20.591Z,1761518840.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.556267 target range: 167.613602 and range: 168.60 m.
2025-10-26T22:47:20.800Z,1761518840.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250790
2025-10-26T22:47:20.904Z,1761518840.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825005,-0.553951,-0.111826],[0.564335,-0.818026,-0.111175],[-0.029891,-0.154827,0.987489]]
2025-10-26T22:47:20.930Z,1761518840.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.61 m.
2025-10-26T22:47:20.933Z,1761518840.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.613602 m,
      nav range: 138.770493 m,
      bearing: 154.568512 deg,
      approach rate: -0.490059 m/s,
      LOS rate: -0.011005 deg/s,
      cmd heading: 146.463284 deg,
      new cmd heading: 146.451050 deg.

2025-10-26T22:47:20.934Z,1761518840.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.556053 target range: 167.613602 and range: 168.60 m.
2025-10-26T22:47:21.052Z,1761518841.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502737
2025-10-26T22:47:21.305Z,1761518841.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754903
2025-10-26T22:47:21.312Z,1761518841.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824193,-0.554703,-0.114063],[0.565391,-0.817454,-0.110010],[-0.032219,-0.155160,0.987364]]
2025-10-26T22:47:21.346Z,1761518841.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.61 m.
2025-10-26T22:47:21.353Z,1761518841.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.613602 m,
      nav range: 138.578232 m,
      bearing: 154.564292 deg,
      approach rate: -0.461449 m/s,
      LOS rate: -0.010143 deg/s,
      cmd heading: 146.451045 deg,
      new cmd heading: 146.438367 deg.

2025-10-26T22:47:21.354Z,1761518841.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.555832 target range: 167.613602 and range: 168.60 m.
2025-10-26T22:47:21.556Z,1761518841.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006723
2025-10-26T22:47:21.722Z,1761518841.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823270,-0.555461,-0.117003],[0.566585,-0.816701,-0.109460],[-0.034756,-0.156407,0.987081]]
2025-10-26T22:47:21.781Z,1761518841.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:21.783Z,1761518841.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.61 m.
2025-10-26T22:47:21.794Z,1761518841.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.613602 m,
      nav range: 138.380096 m,
      bearing: 154.555110 deg,
      approach rate: -0.454180 m/s,
      LOS rate: -0.021078 deg/s,
      cmd heading: 146.438368 deg,
      new cmd heading: 146.410783 deg.

2025-10-26T22:47:21.794Z,1761518841.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.555350 target range: 167.613602 and range: 168.60 m.
2025-10-26T22:47:21.809Z,1761518841.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258996
2025-10-26T22:47:22.060Z,1761518842.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510815
2025-10-26T22:47:22.116Z,1761518842.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822809,-0.555588,-0.119611],[0.567102,-0.816419,-0.108881],[-0.037160,-0.157420,0.986832]]
2025-10-26T22:47:22.135Z,1761518842.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.61 m.
2025-10-26T22:47:22.138Z,1761518842.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.613602 m,
      nav range: 138.209290 m,
      bearing: 154.547223 deg,
      approach rate: -0.485178 m/s,
      LOS rate: -0.022431 deg/s,
      cmd heading: 146.410788 deg,
      new cmd heading: 146.387097 deg.

2025-10-26T22:47:22.138Z,1761518842.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.554937 target range: 167.613602 and range: 168.60 m.
2025-10-26T22:47:22.312Z,1761518842.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762702
2025-10-26T22:47:22.542Z,1761518842.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822221,-0.556088,-0.121325],[0.567776,-0.816263,-0.106512],[-0.039803,-0.156462,0.986882]]
2025-10-26T22:47:22.564Z,1761518842.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014843
2025-10-26T22:47:22.604Z,1761518842.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.61 m.
2025-10-26T22:47:22.607Z,1761518842.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.613602 m,
      nav range: 137.987000 m,
      bearing: 154.538187 deg,
      approach rate: -0.473184 m/s,
      LOS rate: -0.019265 deg/s,
      cmd heading: 146.387100 deg,
      new cmd heading: 146.359949 deg.

2025-10-26T22:47:22.612Z,1761518842.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.554463 target range: 167.613602 and range: 168.60 m.
2025-10-26T22:47:22.816Z,1761518842.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266771
2025-10-26T22:47:22.931Z,1761518842.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821692,-0.556534,-0.122852],[0.568331,-0.816267,-0.103479],[-0.042691,-0.154849,0.987015]]
2025-10-26T22:47:22.981Z,1761518842.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.61 m.
2025-10-26T22:47:22.984Z,1761518842.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.613602 m,
      nav range: 137.805725 m,
      bearing: 154.530840 deg,
      approach rate: -0.481721 m/s,
      LOS rate: -0.019550 deg/s,
      cmd heading: 146.359944 deg,
      new cmd heading: 146.337873 deg.

2025-10-26T22:47:22.985Z,1761518842.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.554078 target range: 167.613602 and range: 168.60 m.
2025-10-26T22:47:23.068Z,1761518843.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518709
2025-10-26T22:47:23.320Z,1761518843.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770722
2025-10-26T22:47:23.336Z,1761518843.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821171,-0.556888,-0.124718],[0.568850,-0.816248,-0.100742],[-0.045699,-0.153672,0.987065]]
2025-10-26T22:47:23.379Z,1761518843.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.61 m.
2025-10-26T22:47:23.389Z,1761518843.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.613602 m,
      nav range: 137.628098 m,
      bearing: 154.523664 deg,
      approach rate: -0.446851 m/s,
      LOS rate: -0.018076 deg/s,
      cmd heading: 146.337868 deg,
      new cmd heading: 146.316312 deg.

2025-10-26T22:47:23.390Z,1761518843.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.553701 target range: 167.613602 and range: 168.60 m.
2025-10-26T22:47:23.573Z,1761518843.573 [DAT](INFO): DAT read: Rx Time:22:47:22.3132

2025-10-26T22:47:23.573Z,1761518843.573 [DAT](INFO): Rx dataTimestamp_ set to:1761518843.572699
2025-10-26T22:47:23.574Z,1761518843.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023955
2025-10-26T22:47:23.795Z,1761518843.795 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:23.798Z,1761518843.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.61 m.
2025-10-26T22:47:23.800Z,1761518843.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.613602 m,
      nav range: 137.393631 m,
      bearing: 154.517835 deg,
      approach rate: -0.559220 m/s,
      LOS rate: -0.013925 deg/s,
      cmd heading: 146.316312 deg,
      new cmd heading: 146.298797 deg.

2025-10-26T22:47:23.801Z,1761518843.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.553396 target range: 167.613602 and range: 168.60 m.
2025-10-26T22:47:23.824Z,1761518843.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274809
2025-10-26T22:47:24.081Z,1761518844.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531064
2025-10-26T22:47:24.144Z,1761518844.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821078,-0.556340,-0.127736],[0.568556,-0.816981,-0.096361],[-0.050748,-0.151745,0.987116]]
2025-10-26T22:47:24.185Z,1761518844.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.61 m.
2025-10-26T22:47:24.188Z,1761518844.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.613602 m,
      nav range: 137.188126 m,
      bearing: 154.512676 deg,
      approach rate: -0.530342 m/s,
      LOS rate: -0.013333 deg/s,
      cmd heading: 146.298800 deg,
      new cmd heading: 146.283300 deg.

2025-10-26T22:47:24.189Z,1761518844.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.553125 target range: 167.613602 and range: 168.60 m.
2025-10-26T22:47:24.334Z,1761518844.334 [DAT](INFO): DAT read: 22:47:22.3132 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=  38, 0.23,-2.781, 1.708,-2.817,-3.049, PHS= 0.370,-1.481, 0.188, RAW= 144.9,  10.5, CAL= 144.5,  11.4, ROT=   5.5, -11.4

2025-10-26T22:47:24.335Z,1761518844.335 [DAT](INFO): got valid direction response:
 22:47:22.3132 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=  38, 0.23,-2.781, 1.708,-2.817,-3.049, PHS= 0.370,-1.481, 0.188, RAW= 144.9,  10.5, CAL= 144.5,  11.4, ROT=   5.5, -11.4

2025-10-26T22:47:24.336Z,1761518844.336 [DAT](INFO): DAT read: Bearing 310.9,   1.2 (Local)

2025-10-26T22:47:24.336Z,1761518844.336 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.9,   1.2 (Local)

2025-10-26T22:47:24.337Z,1761518844.337 [DAT](INFO): DAT read: Range 11 to 50 : 166.8 m  (Round-trip  222.4 ms) speed  0.4 m/s

2025-10-26T22:47:24.338Z,1761518844.338 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:47:24.339Z,1761518844.339 [DAT](INFO): direction in FSK: [0.975758,0.093955,0.197657]
2025-10-26T22:47:24.341Z,1761518844.341 [DAT](INFO): publishing direction and range info
2025-10-26T22:47:24.349Z,1761518844.349 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:24.349Z,1761518844.349 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:24.350Z,1761518844.350 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:47:24.580Z,1761518844.580 [DAT](INFO): DAT read: user:684>

2025-10-26T22:47:24.581Z,1761518844.581 [DAT](INFO): DAT read: Tx time:22:47:23.6867

2025-10-26T22:47:24.581Z,1761518844.581 [DAT](INFO): Ping request sent.
2025-10-26T22:47:24.581Z,1761518844.581 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:47:24.582Z,1761518844.582 [DAT](INFO): publishing transmit ping time
2025-10-26T22:47:24.582Z,1761518844.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-10-26T22:47:24.599Z,1761518844.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821200,-0.555942,-0.128683],[0.568129,-0.817660,-0.093067],[-0.053479,-0.149535,0.987309]]
2025-10-26T22:47:24.693Z,1761518844.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 166.800003 m,
      deltaT: 4.031599 s,
      deltaX: -1.800003 m,
      approachRate: -0.446474 m/s,
      rangeRepo size: 4

2025-10-26T22:47:24.701Z,1761518844.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 165.823120 m,
      bearing: 152.419049 deg,
      lat: 36.779176 deg,
      lon: -121.859424 deg,
      deltaT: 4.031599 s,
      deltaX: -1.790482 m,
      approachRate: -0.444112 m/s,
      posRepo size: 4

2025-10-26T22:47:24.702Z,1761518844.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:24.707Z,1761518844.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 159.301575 m,
      bearing: 155.971983 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013333 deg/s,
      cmd heading: 146.283295 deg,
      new cmd heading: 146.262999 deg.

2025-10-26T22:47:24.709Z,1761518844.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.552771 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:24.832Z,1761518844.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250920
2025-10-26T22:47:25.084Z,1761518845.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502934
2025-10-26T22:47:25.130Z,1761518845.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821735,-0.554501,-0.131453],[0.566877,-0.818984,-0.088967],[-0.058326,-0.147625,0.987322]]
2025-10-26T22:47:25.149Z,1761518845.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:25.163Z,1761518845.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 159.041473 m,
      bearing: 155.974055 deg,
      approach rate: -0.570259 m/s,
      LOS rate: 0.004550 deg/s,
      cmd heading: 146.262996 deg,
      new cmd heading: 146.269222 deg.

2025-10-26T22:47:25.164Z,1761518845.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.552880 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:25.338Z,1761518845.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755865
2025-10-26T22:47:25.588Z,1761518845.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006823
2025-10-26T22:47:25.654Z,1761518845.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:25.656Z,1761518845.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 158.746750 m,
      bearing: 155.981558 deg,
      approach rate: -0.583648 m/s,
      LOS rate: 0.014886 deg/s,
      cmd heading: 146.269225 deg,
      new cmd heading: 146.291775 deg.

2025-10-26T22:47:25.657Z,1761518845.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.553273 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:25.840Z,1761518845.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258868
2025-10-26T22:47:25.994Z,1761518845.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821971,-0.553532,-0.134037],[0.566151,-0.819740,-0.086601],[-0.061939,-0.147069,0.987185]]
2025-10-26T22:47:26.028Z,1761518846.028 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:26.030Z,1761518846.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:26.033Z,1761518846.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 158.527420 m,
      bearing: 155.987100 deg,
      approach rate: -0.582393 m/s,
      LOS rate: 0.014736 deg/s,
      cmd heading: 146.291778 deg,
      new cmd heading: 146.308427 deg.

2025-10-26T22:47:26.034Z,1761518846.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.553564 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:26.093Z,1761518846.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511649
2025-10-26T22:47:26.344Z,1761518846.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762856
2025-10-26T22:47:26.403Z,1761518846.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822298,-0.552565,-0.136007],[0.565564,-0.820006,-0.087902],[-0.062955,-0.149202,0.986801]]
2025-10-26T22:47:26.470Z,1761518846.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:26.472Z,1761518846.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 158.275589 m,
      bearing: 155.993418 deg,
      approach rate: -0.573015 m/s,
      LOS rate: 0.014399 deg/s,
      cmd heading: 146.308430 deg,
      new cmd heading: 146.327415 deg.

2025-10-26T22:47:26.473Z,1761518846.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.553895 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:26.597Z,1761518846.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015716
2025-10-26T22:47:26.803Z,1761518846.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822580,-0.551642,-0.138033],[0.565018,-0.820272,-0.088928],[-0.064168,-0.151142,0.986427]]
2025-10-26T22:47:26.850Z,1761518846.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268326
2025-10-26T22:47:26.901Z,1761518846.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:26.908Z,1761518846.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 158.011414 m,
      bearing: 156.007590 deg,
      approach rate: -0.612605 m/s,
      LOS rate: 0.032919 deg/s,
      cmd heading: 146.327418 deg,
      new cmd heading: 146.370005 deg.

2025-10-26T22:47:26.909Z,1761518846.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.554639 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:27.103Z,1761518847.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521745
2025-10-26T22:47:27.206Z,1761518847.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823182,-0.550331,-0.139672],[0.563999,-0.820909,-0.089514],[-0.065396,-0.152461,0.986144]]
2025-10-26T22:47:27.227Z,1761518847.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:27.230Z,1761518847.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 157.809021 m,
      bearing: 156.018387 deg,
      approach rate: -0.620045 m/s,
      LOS rate: 0.033121 deg/s,
      cmd heading: 146.370011 deg,
      new cmd heading: 146.402445 deg.

2025-10-26T22:47:27.231Z,1761518847.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.555205 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:27.354Z,1761518847.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772511
2025-10-26T22:47:27.604Z,1761518847.604 [DAT](INFO): DAT read: Rx Time:22:47:26.2729

2025-10-26T22:47:27.605Z,1761518847.605 [DAT](INFO): Rx dataTimestamp_ set to:1761518847.604661
2025-10-26T22:47:27.605Z,1761518847.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023999
2025-10-26T22:47:27.622Z,1761518847.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823743,-0.549046,-0.141406],[0.563038,-0.821485,-0.090274],[-0.066598,-0.153979,0.985827]]
2025-10-26T22:47:27.681Z,1761518847.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:27.684Z,1761518847.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 157.527191 m,
      bearing: 156.036627 deg,
      approach rate: -0.621392 m/s,
      LOS rate: 0.040288 deg/s,
      cmd heading: 146.402441 deg,
      new cmd heading: 146.457259 deg.

2025-10-26T22:47:27.685Z,1761518847.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.556161 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:27.857Z,1761518847.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274922
2025-10-26T22:47:28.014Z,1761518848.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824265,-0.547711,-0.143526],[0.562133,-0.821952,-0.091655],[-0.067771,-0.156228,0.985393]]
2025-10-26T22:47:28.114Z,1761518848.114 [DAT](INFO): DAT read: 22:47:26.2729 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX=  21, 0.29, 0.009,-1.832,-0.010,-0.206, PHS= 0.317,-1.581, 0.152, RAW= 145.5,  12.2, CAL= 145.1,  13.3, ROT=   4.9, -13.3

2025-10-26T22:47:28.115Z,1761518848.115 [DAT](INFO): got valid direction response:
 22:47:26.2729 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX=  21, 0.29, 0.009,-1.832,-0.010,-0.206, PHS= 0.317,-1.581, 0.152, RAW= 145.5,  12.2, CAL= 145.1,  13.3, ROT=   4.9, -13.3

2025-10-26T22:47:28.116Z,1761518848.116 [DAT](INFO): DAT read: $Error in header

2025-10-26T22:47:28.116Z,1761518848.116 [DAT](INFO): Received a bad header
2025-10-26T22:47:28.128Z,1761518848.128 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T22:47:28.129Z,1761518848.129 [DAT](INFO): direction in FSK: [0.969622,0.083126,0.230050]
2025-10-26T22:47:28.132Z,1761518848.132 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:28.132Z,1761518848.132 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:28.133Z,1761518848.133 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:28.136Z,1761518848.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:28.138Z,1761518848.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:28.145Z,1761518848.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 157.309967 m,
      bearing: 156.050641 deg,
      approach rate: -0.474808 m/s,
      LOS rate: 0.030672 deg/s,
      cmd heading: 146.457260 deg,
      new cmd heading: 146.499358 deg.

2025-10-26T22:47:28.146Z,1761518848.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.556896 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:28.361Z,1761518848.361 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:28.361Z,1761518848.361 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:28.362Z,1761518848.362 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:28.457Z,1761518848.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824971,-0.546168,-0.145338],[0.560989,-0.822562,-0.093180],[-0.068658,-0.158404,0.984984]]
2025-10-26T22:47:28.482Z,1761518848.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:28.485Z,1761518848.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 157.033035 m,
      bearing: 156.068416 deg,
      approach rate: -0.804634 m/s,
      LOS rate: 0.051738 deg/s,
      cmd heading: 146.499361 deg,
      new cmd heading: 146.552781 deg.

2025-10-26T22:47:28.486Z,1761518848.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557829 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:28.615Z,1761518848.615 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:28.615Z,1761518848.615 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:28.616Z,1761518848.616 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:28.865Z,1761518848.865 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:28.865Z,1761518848.865 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:28.865Z,1761518848.865 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:28.882Z,1761518848.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825898,-0.544256,-0.147232],[0.559538,-0.823306,-0.095307],[-0.069345,-0.161096,0.984500]]
2025-10-26T22:47:28.946Z,1761518848.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:28.957Z,1761518848.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 156.757156 m,
      bearing: 156.089226 deg,
      approach rate: -0.594759 m/s,
      LOS rate: 0.044944 deg/s,
      cmd heading: 146.552787 deg,
      new cmd heading: 146.615329 deg.

2025-10-26T22:47:28.958Z,1761518848.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558920 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:29.116Z,1761518849.116 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:29.116Z,1761518849.116 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:29.116Z,1761518849.116 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:29.283Z,1761518849.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826926,-0.542704,-0.147192],[0.557911,-0.824528,-0.094281],[-0.070197,-0.160084,0.984604]]
2025-10-26T22:47:29.301Z,1761518849.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:29.303Z,1761518849.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 156.515121 m,
      bearing: 156.107369 deg,
      approach rate: -0.683272 m/s,
      LOS rate: 0.051297 deg/s,
      cmd heading: 146.615324 deg,
      new cmd heading: 146.669838 deg.

2025-10-26T22:47:29.304Z,1761518849.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559872 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:29.370Z,1761518849.370 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:29.370Z,1761518849.370 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:29.370Z,1761518849.370 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:29.622Z,1761518849.622 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:29.623Z,1761518849.623 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:29.623Z,1761518849.623 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:29.743Z,1761518849.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:29.745Z,1761518849.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 156.244415 m,
      bearing: 156.128433 deg,
      approach rate: -0.612391 m/s,
      LOS rate: 0.047733 deg/s,
      cmd heading: 146.669843 deg,
      new cmd heading: 146.733144 deg.

2025-10-26T22:47:29.746Z,1761518849.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560977 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:29.873Z,1761518849.873 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:29.873Z,1761518849.873 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:29.873Z,1761518849.873 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:30.119Z,1761518850.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829404,-0.540018,-0.143076],[0.554076,-0.827882,-0.087238],[-0.071340,-0.151630,0.985859]]
2025-10-26T22:47:30.124Z,1761518850.124 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:30.124Z,1761518850.124 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:30.124Z,1761518850.124 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:30.172Z,1761518850.172 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:30.174Z,1761518850.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:30.197Z,1761518850.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 155.984222 m,
      bearing: 156.148301 deg,
      approach rate: -0.602540 m/s,
      LOS rate: 0.046086 deg/s,
      cmd heading: 146.733145 deg,
      new cmd heading: 146.792849 deg.

2025-10-26T22:47:30.198Z,1761518850.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562019 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:30.376Z,1761518850.376 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:30.376Z,1761518850.376 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:30.376Z,1761518850.376 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:30.519Z,1761518850.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830848,-0.538182,-0.141603],[0.551875,-0.829558,-0.085252],[-0.071587,-0.148979,0.986246]]
2025-10-26T22:47:30.537Z,1761518850.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:30.540Z,1761518850.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 155.755951 m,
      bearing: 156.165557 deg,
      approach rate: -0.629197 m/s,
      LOS rate: 0.047633 deg/s,
      cmd heading: 146.792855 deg,
      new cmd heading: 146.844698 deg.

2025-10-26T22:47:30.541Z,1761518850.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562923 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:30.631Z,1761518850.631 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:30.632Z,1761518850.632 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:30.632Z,1761518850.632 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:30.880Z,1761518850.880 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:30.880Z,1761518850.880 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:30.880Z,1761518850.880 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:30.931Z,1761518850.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832171,-0.536312,-0.140929],[0.549831,-0.831020,-0.084210],[-0.071952,-0.147564,0.986432]]
2025-10-26T22:47:30.992Z,1761518850.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:30.994Z,1761518850.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 155.487473 m,
      bearing: 156.184087 deg,
      approach rate: -0.590840 m/s,
      LOS rate: 0.040848 deg/s,
      cmd heading: 146.844696 deg,
      new cmd heading: 146.900380 deg.

2025-10-26T22:47:30.996Z,1761518850.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563895 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:31.132Z,1761518851.132 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:31.132Z,1761518851.132 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:31.132Z,1761518851.132 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:31.326Z,1761518851.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833404,-0.534353,-0.141083],[0.547999,-0.832090,-0.085579],[-0.071664,-0.148636,0.986292]]
2025-10-26T22:47:31.370Z,1761518851.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:31.384Z,1761518851.384 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:31.384Z,1761518851.384 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:31.384Z,1761518851.384 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:31.387Z,1761518851.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 155.278122 m,
      bearing: 156.198404 deg,
      approach rate: -0.552863 m/s,
      LOS rate: 0.037861 deg/s,
      cmd heading: 146.900376 deg,
      new cmd heading: 146.943386 deg.

2025-10-26T22:47:31.396Z,1761518851.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564646 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:31.639Z,1761518851.639 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:31.639Z,1761518851.639 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:31.640Z,1761518851.640 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:31.750Z,1761518851.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835340,-0.530896,-0.142676],[0.545077,-0.833591,-0.089533],[-0.071400,-0.152560,0.985712]]
2025-10-26T22:47:31.798Z,1761518851.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:31.801Z,1761518851.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 155.024246 m,
      bearing: 156.210033 deg,
      approach rate: -0.593516 m/s,
      LOS rate: 0.027231 deg/s,
      cmd heading: 146.943392 deg,
      new cmd heading: 146.978336 deg.

2025-10-26T22:47:31.802Z,1761518851.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565256 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:31.889Z,1761518851.889 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:31.889Z,1761518851.889 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:31.889Z,1761518851.889 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:32.140Z,1761518852.140 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:32.140Z,1761518852.140 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:32.140Z,1761518852.140 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:32.157Z,1761518852.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837122,-0.528787,-0.140040],[0.542458,-0.835463,-0.087980],[-0.070476,-0.149616,0.986229]]
2025-10-26T22:47:32.190Z,1761518852.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:32.196Z,1761518852.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:32.199Z,1761518852.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 154.805679 m,
      bearing: 156.219806 deg,
      approach rate: -0.548727 m/s,
      LOS rate: 0.024570 deg/s,
      cmd heading: 146.978335 deg,
      new cmd heading: 147.007696 deg.

2025-10-26T22:47:32.204Z,1761518852.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565768 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:32.394Z,1761518852.394 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:32.394Z,1761518852.394 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:32.394Z,1761518852.394 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:32.648Z,1761518852.648 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:32.649Z,1761518852.649 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:32.649Z,1761518852.649 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:32.726Z,1761518852.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838814,-0.529612,-0.126103],[0.540123,-0.838602,-0.070810],[-0.068248,-0.127508,0.989487]]
2025-10-26T22:47:32.765Z,1761518852.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:32.768Z,1761518852.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 154.514450 m,
      bearing: 156.221011 deg,
      approach rate: -0.511907 m/s,
      LOS rate: 0.002122 deg/s,
      cmd heading: 147.007691 deg,
      new cmd heading: 147.011314 deg.

2025-10-26T22:47:32.769Z,1761518852.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565831 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:32.896Z,1761518852.896 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:32.896Z,1761518852.896 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:32.896Z,1761518852.896 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:33.149Z,1761518853.149 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:33.149Z,1761518853.149 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:33.149Z,1761518853.149 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:33.224Z,1761518853.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838474,-0.531056,-0.122233],[0.540826,-0.838453,-0.067116],[-0.066844,-0.122382,0.990230]]
2025-10-26T22:47:33.243Z,1761518853.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:33.246Z,1761518853.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 154.273529 m,
      bearing: 156.222061 deg,
      approach rate: -0.504638 m/s,
      LOS rate: 0.002202 deg/s,
      cmd heading: 147.011311 deg,
      new cmd heading: 147.014465 deg.

2025-10-26T22:47:33.246Z,1761518853.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565886 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:33.401Z,1761518853.401 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:33.401Z,1761518853.401 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:33.401Z,1761518853.401 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:33.655Z,1761518853.655 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:33.655Z,1761518853.655 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:33.656Z,1761518853.656 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:33.731Z,1761518853.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837844,-0.532631,-0.119676],[0.542010,-0.837780,-0.065947],[-0.065136,-0.120119,0.990620]]
2025-10-26T22:47:33.781Z,1761518853.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:33.796Z,1761518853.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 154.013474 m,
      bearing: 156.216298 deg,
      approach rate: -0.482928 m/s,
      LOS rate: -0.010721 deg/s,
      cmd heading: 147.014467 deg,
      new cmd heading: 146.997148 deg.

2025-10-26T22:47:33.797Z,1761518853.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565584 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:33.908Z,1761518853.908 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:33.908Z,1761518853.908 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:33.909Z,1761518853.909 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:34.109Z,1761518854.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837497,-0.533183,-0.119644],[0.542747,-0.837069,-0.068855],[-0.063438,-0.122602,0.990426]]
2025-10-26T22:47:34.146Z,1761518854.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:34.149Z,1761518854.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 153.844101 m,
      bearing: 156.212595 deg,
      approach rate: -0.464679 m/s,
      LOS rate: -0.010171 deg/s,
      cmd heading: 146.997146 deg,
      new cmd heading: 146.986024 deg.

2025-10-26T22:47:34.150Z,1761518854.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565390 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:34.160Z,1761518854.160 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:34.160Z,1761518854.160 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:34.160Z,1761518854.160 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:34.409Z,1761518854.409 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:34.409Z,1761518854.409 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:34.409Z,1761518854.409 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T22:47:34.514Z,1761518854.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836922,-0.534017,-0.119948],[0.543843,-0.836058,-0.072402],[-0.061619,-0.125828,0.990137]]
2025-10-26T22:47:34.530Z,1761518854.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:34.532Z,1761518854.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:34.535Z,1761518854.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 153.650772 m,
      bearing: 156.208460 deg,
      approach rate: -0.500473 m/s,
      LOS rate: -0.010717 deg/s,
      cmd heading: 146.986026 deg,
      new cmd heading: 146.973607 deg.

2025-10-26T22:47:34.536Z,1761518854.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565173 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:34.662Z,1761518854.662 [DAT](INFO): Reached modem response timeout
2025-10-26T22:47:34.663Z,1761518854.663 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:34.664Z,1761518854.664 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:47:34.912Z,1761518854.912 [DAT](INFO): DAT read: 

2025-10-26T22:47:34.913Z,1761518854.913 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:34.922Z,1761518854.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836344,-0.534763,-0.120656],[0.544916,-0.835014,-0.076269],[-0.059963,-0.129535,0.989760]]
2025-10-26T22:47:34.991Z,1761518854.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:34.994Z,1761518854.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 153.442795 m,
      bearing: 156.198367 deg,
      approach rate: -0.469174 m/s,
      LOS rate: -0.022800 deg/s,
      cmd heading: 146.973609 deg,
      new cmd heading: 146.943289 deg.

2025-10-26T22:47:34.995Z,1761518854.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564644 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:35.164Z,1761518855.164 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:35.320Z,1761518855.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835515,-0.535617,-0.122595],[0.546300,-0.833681,-0.080819],[-0.058917,-0.134499,0.989161]]
2025-10-26T22:47:35.344Z,1761518855.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:35.349Z,1761518855.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 153.272736 m,
      bearing: 156.190216 deg,
      approach rate: -0.461730 m/s,
      LOS rate: -0.022156 deg/s,
      cmd heading: 146.943283 deg,
      new cmd heading: 146.918802 deg.

2025-10-26T22:47:35.350Z,1761518855.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564217 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:35.417Z,1761518855.417 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:35.670Z,1761518855.670 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:35.738Z,1761518855.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834047,-0.537195,-0.125648],[0.548592,-0.831679,-0.085777],[-0.058420,-0.140471,0.988360]]
2025-10-26T22:47:35.780Z,1761518855.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:35.782Z,1761518855.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 153.070343 m,
      bearing: 156.178247 deg,
      approach rate: -0.464455 m/s,
      LOS rate: -0.027502 deg/s,
      cmd heading: 146.918803 deg,
      new cmd heading: 146.882850 deg.

2025-10-26T22:47:35.783Z,1761518855.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563589 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:35.920Z,1761518855.920 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:36.128Z,1761518856.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832585,-0.539044,-0.127411],[0.550851,-0.829893,-0.088546],[-0.058007,-0.143906,0.987890]]
2025-10-26T22:47:36.163Z,1761518856.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:36.166Z,1761518856.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 152.894501 m,
      bearing: 156.168011 deg,
      approach rate: -0.458403 m/s,
      LOS rate: -0.026716 deg/s,
      cmd heading: 146.882849 deg,
      new cmd heading: 146.852105 deg.

2025-10-26T22:47:36.167Z,1761518856.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563053 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:36.172Z,1761518856.172 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:36.425Z,1761518856.425 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:36.532Z,1761518856.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830966,-0.541127,-0.129139],[0.553275,-0.828106,-0.090155],[-0.058156,-0.146365,0.987520]]
2025-10-26T22:47:36.554Z,1761518856.554 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:36.573Z,1761518856.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:36.584Z,1761518856.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 152.714142 m,
      bearing: 156.157694 deg,
      approach rate: -0.440163 m/s,
      LOS rate: -0.025207 deg/s,
      cmd heading: 146.852100 deg,
      new cmd heading: 146.821113 deg.

2025-10-26T22:47:36.585Z,1761518856.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562512 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:36.676Z,1761518856.676 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:36.884Z,1761518856.884 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:47:36.929Z,1761518856.929 [DAT](INFO): DAT read: Response Not Received

2025-10-26T22:47:36.929Z,1761518856.929 [DAT](INFO): response not received
2025-10-26T22:47:36.930Z,1761518856.930 [DAT](INFO): DAT read: user:686>Tx time:22:47:36.1366

2025-10-26T22:47:36.930Z,1761518856.930 [DAT](ERROR): No response from remote modem.
2025-10-26T22:47:36.930Z,1761518856.930 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:36.931Z,1761518856.931 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:47:36.976Z,1761518856.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829773,-0.542821,-0.129703],[0.555052,-0.826904,-0.090258],[-0.058258,-0.146885,0.987436]]
2025-10-26T22:47:37.023Z,1761518857.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:37.025Z,1761518857.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 152.475937 m,
      bearing: 156.149555 deg,
      approach rate: -0.529576 m/s,
      LOS rate: -0.018122 deg/s,
      cmd heading: 146.821118 deg,
      new cmd heading: 146.796664 deg.

2025-10-26T22:47:37.026Z,1761518857.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562085 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:37.180Z,1761518857.180 [DAT](INFO): DAT read: 

2025-10-26T22:47:37.181Z,1761518857.181 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:37.348Z,1761518857.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828712,-0.544634,-0.128883],[0.556673,-0.825935,-0.089144],[-0.057898,-0.145620,0.987645]]
2025-10-26T22:47:37.385Z,1761518857.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:37.388Z,1761518857.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 152.291077 m,
      bearing: 156.143357 deg,
      approach rate: -0.509587 m/s,
      LOS rate: -0.017106 deg/s,
      cmd heading: 146.796666 deg,
      new cmd heading: 146.778049 deg.

2025-10-26T22:47:37.389Z,1761518857.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561760 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:37.433Z,1761518857.433 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:37.690Z,1761518857.690 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:37.760Z,1761518857.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828329,-0.545301,-0.128522],[0.557283,-0.825527,-0.089114],[-0.057505,-0.145439,0.987695]]
2025-10-26T22:47:37.816Z,1761518857.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:37.818Z,1761518857.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 152.068039 m,
      bearing: 156.140670 deg,
      approach rate: -0.523356 m/s,
      LOS rate: -0.006316 deg/s,
      cmd heading: 146.778047 deg,
      new cmd heading: 146.769972 deg.

2025-10-26T22:47:37.823Z,1761518857.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561619 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:37.888Z,1761518857.888 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:47:37.940Z,1761518857.940 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:38.192Z,1761518858.192 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:38.224Z,1761518858.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:38.226Z,1761518858.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 151.843552 m,
      bearing: 156.137957 deg,
      approach rate: -0.544934 m/s,
      LOS rate: -0.006596 deg/s,
      cmd heading: 146.769974 deg,
      new cmd heading: 146.761822 deg.

2025-10-26T22:47:38.227Z,1761518858.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561477 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:38.444Z,1761518858.444 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:38.576Z,1761518858.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828721,-0.544017,-0.131406],[0.556829,-0.825073,-0.095899],[-0.056249,-0.152644,0.986679]]
2025-10-26T22:47:38.592Z,1761518858.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:38.594Z,1761518858.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:38.597Z,1761518858.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 151.634354 m,
      bearing: 156.135382 deg,
      approach rate: -0.563940 m/s,
      LOS rate: -0.006949 deg/s,
      cmd heading: 146.761818 deg,
      new cmd heading: 146.754085 deg.

2025-10-26T22:47:38.598Z,1761518858.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561342 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:38.698Z,1761518858.698 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:38.948Z,1761518858.948 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:39.033Z,1761518859.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:39.036Z,1761518859.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 151.380859 m,
      bearing: 156.138703 deg,
      approach rate: -0.577616 m/s,
      LOS rate: 0.007580 deg/s,
      cmd heading: 146.754087 deg,
      new cmd heading: 146.764066 deg.

2025-10-26T22:47:39.037Z,1761518859.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561516 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:39.200Z,1761518859.200 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:39.382Z,1761518859.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830242,-0.541682,-0.131450],[0.554772,-0.825905,-0.100546],[-0.054101,-0.156402,0.986211]]
2025-10-26T22:47:39.406Z,1761518859.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:39.409Z,1761518859.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 151.165283 m,
      bearing: 156.141324 deg,
      approach rate: -0.578580 m/s,
      LOS rate: 0.007044 deg/s,
      cmd heading: 146.764072 deg,
      new cmd heading: 146.771946 deg.

2025-10-26T22:47:39.410Z,1761518859.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561654 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:39.452Z,1761518859.452 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:39.705Z,1761518859.705 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:39.790Z,1761518859.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830430,-0.542599,-0.126383],[0.554644,-0.826559,-0.095759],[-0.052504,-0.149619,0.987349]]
2025-10-26T22:47:39.851Z,1761518859.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:39.860Z,1761518859.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 150.918610 m,
      bearing: 156.148970 deg,
      approach rate: -0.559556 m/s,
      LOS rate: 0.017373 deg/s,
      cmd heading: 146.771941 deg,
      new cmd heading: 146.794916 deg.

2025-10-26T22:47:39.861Z,1761518859.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562055 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:39.957Z,1761518859.957 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:40.194Z,1761518860.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830536,-0.542839,-0.124643],[0.554654,-0.826477,-0.096407],[-0.050681,-0.149204,0.987507]]
2025-10-26T22:47:40.209Z,1761518860.209 [DAT](INFO): DAT read: Rx Time:22:47:38.7519

2025-10-26T22:47:40.209Z,1761518860.209 [DAT](INFO): Rx dataTimestamp_ set to:1761518860.208691
2025-10-26T22:47:40.209Z,1761518860.209 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:40.214Z,1761518860.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:40.217Z,1761518860.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 150.692200 m,
      bearing: 156.156007 deg,
      approach rate: -0.615797 m/s,
      LOS rate: 0.019168 deg/s,
      cmd heading: 146.794917 deg,
      new cmd heading: 146.816060 deg.

2025-10-26T22:47:40.218Z,1761518860.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562424 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:40.460Z,1761518860.460 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:40.603Z,1761518860.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830724,-0.542778,-0.123654],[0.554556,-0.826279,-0.098645],[-0.048630,-0.150520,0.987410]]
2025-10-26T22:47:40.645Z,1761518860.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:40.652Z,1761518860.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.82 m.
2025-10-26T22:47:40.654Z,1761518860.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.823120 m,
      nav range: 150.441193 m,
      bearing: 156.163815 deg,
      approach rate: -0.579440 m/s,
      LOS rate: 0.018054 deg/s,
      cmd heading: 146.816064 deg,
      new cmd heading: 146.839526 deg.

2025-10-26T22:47:40.659Z,1761518860.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562833 target range: 165.823120 and range: 166.80 m.
2025-10-26T22:47:40.728Z,1761518860.728 [DAT](INFO): DAT read: 22:47:38.7519 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 223, 0.27, 0.980,-0.883, 0.964, 0.714, PHS= 0.368,-1.552, 0.206, RAW= 145.6,  10.6, CAL= 145.2,  11.6, ROT=   4.8, -11.6

2025-10-26T22:47:40.730Z,1761518860.730 [DAT](INFO): got valid direction response:
 22:47:38.7519 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 223, 0.27, 0.980,-0.883, 0.964, 0.714, PHS= 0.368,-1.552, 0.206, RAW= 145.6,  10.6, CAL= 145.2,  11.6, ROT=   4.8, -11.6

2025-10-26T22:47:40.732Z,1761518860.732 [DAT](INFO): DAT read: Bearing 313.1,  -0.5 (Local)

2025-10-26T22:47:40.732Z,1761518860.732 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.1,  -0.5 (Local)

2025-10-26T22:47:40.734Z,1761518860.734 [DAT](INFO): DAT read: Range 11 to 50 : 158.4 m  (Round-trip  211.2 ms) speed  0.4 m/s

2025-10-26T22:47:40.736Z,1761518860.736 [DAT](INFO): DAT read: user:687>Tx time:22:47:39.8366

2025-10-26T22:47:40.737Z,1761518860.737 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:47:40.740Z,1761518860.740 [DAT](INFO): direction in FSK: [0.976140,0.081969,0.201078]
2025-10-26T22:47:40.741Z,1761518860.741 [DAT](INFO): publishing direction and range info
2025-10-26T22:47:40.800Z,1761518860.800 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:40.801Z,1761518860.801 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:47:40.964Z,1761518860.964 [DAT](INFO): DAT read: 

2025-10-26T22:47:40.965Z,1761518860.965 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:41.041Z,1761518861.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830774,-0.543159,-0.121627],[0.554650,-0.826163,-0.099088],[-0.046663,-0.149780,0.987618]]
2025-10-26T22:47:41.099Z,1761518861.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 158.399994 m,
      deltaT: 16.386772 s,
      deltaX: -8.400009 m,
      approachRate: -0.512609 m/s,
      rangeRepo size: 4

2025-10-26T22:47:41.101Z,1761518861.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 157.569778 m,
      bearing: 152.720239 deg,
      lat: 36.779174 deg,
      lon: -121.859321 deg,
      deltaT: 16.386772 s,
      deltaX: -8.253342 m,
      approachRate: -0.503659 m/s,
      posRepo size: 4

2025-10-26T22:47:41.102Z,1761518861.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.57 m.
2025-10-26T22:47:41.104Z,1761518861.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.569778 m,
      nav range: 154.348984 m,
      bearing: 153.087289 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018054 deg/s,
      cmd heading: 146.839532 deg,
      new cmd heading: 146.863932 deg.

2025-10-26T22:47:41.105Z,1761518861.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563259 target range: 157.569778 and range: 158.40 m.
2025-10-26T22:47:41.217Z,1761518861.217 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:41.443Z,1761518861.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830423,-0.544264,-0.119056],[0.555345,-0.825747,-0.098664],[-0.044611,-0.148050,0.987973]]
2025-10-26T22:47:41.468Z,1761518861.468 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:41.474Z,1761518861.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.57 m.
2025-10-26T22:47:41.477Z,1761518861.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.569778 m,
      nav range: 154.123138 m,
      bearing: 153.094818 deg,
      approach rate: -0.600974 m/s,
      LOS rate: 0.020064 deg/s,
      cmd heading: 146.863930 deg,
      new cmd heading: 146.886549 deg.

2025-10-26T22:47:41.478Z,1761518861.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563654 target range: 157.569778 and range: 158.40 m.
2025-10-26T22:47:41.721Z,1761518861.721 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:41.856Z,1761518861.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830195,-0.545329,-0.115722],[0.555897,-0.825411,-0.098359],[-0.041881,-0.145986,0.988400]]
2025-10-26T22:47:41.899Z,1761518861.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.57 m.
2025-10-26T22:47:41.902Z,1761518861.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.569778 m,
      nav range: 153.864716 m,
      bearing: 153.105493 deg,
      approach rate: -0.607569 m/s,
      LOS rate: 0.025140 deg/s,
      cmd heading: 146.886551 deg,
      new cmd heading: 146.918631 deg.

2025-10-26T22:47:41.903Z,1761518861.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564214 target range: 157.569778 and range: 158.40 m.
2025-10-26T22:47:41.973Z,1761518861.973 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:42.224Z,1761518862.224 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:42.254Z,1761518862.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829255,-0.547710,-0.111129],[0.557477,-0.824703,-0.095316],[-0.039443,-0.140993,0.989224]]
2025-10-26T22:47:42.273Z,1761518862.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.57 m.
2025-10-26T22:47:42.276Z,1761518862.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.569778 m,
      nav range: 153.638794 m,
      bearing: 153.115011 deg,
      approach rate: -0.604966 m/s,
      LOS rate: 0.025526 deg/s,
      cmd heading: 146.918626 deg,
      new cmd heading: 146.947224 deg.

2025-10-26T22:47:42.277Z,1761518862.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564713 target range: 157.569778 and range: 158.40 m.
2025-10-26T22:47:42.476Z,1761518862.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:42.654Z,1761518862.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827886,-0.550012,-0.109958],[0.559630,-0.823155,-0.096079],[-0.037667,-0.141078,0.989282]]
2025-10-26T22:47:42.671Z,1761518862.671 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:42.673Z,1761518862.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.57 m.
2025-10-26T22:47:42.676Z,1761518862.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.569778 m,
      nav range: 153.396271 m,
      bearing: 153.125495 deg,
      approach rate: -0.605758 m/s,
      LOS rate: 0.026227 deg/s,
      cmd heading: 146.947231 deg,
      new cmd heading: 146.978732 deg.

2025-10-26T22:47:42.677Z,1761518862.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565263 target range: 157.569778 and range: 158.40 m.
2025-10-26T22:47:42.729Z,1761518862.729 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:42.980Z,1761518862.980 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:43.058Z,1761518863.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827221,-0.550576,-0.112123],[0.560688,-0.821841,-0.101027],[-0.036524,-0.146438,0.988545]]
2025-10-26T22:47:43.104Z,1761518863.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.57 m.
2025-10-26T22:47:43.106Z,1761518863.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.569778 m,
      nav range: 153.140579 m,
      bearing: 153.136068 deg,
      approach rate: -0.593635 m/s,
      LOS rate: 0.024588 deg/s,
      cmd heading: 146.978731 deg,
      new cmd heading: 147.010504 deg.

2025-10-26T22:47:43.108Z,1761518863.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565817 target range: 157.569778 and range: 158.40 m.
2025-10-26T22:47:43.233Z,1761518863.233 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:43.464Z,1761518863.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826756,-0.550313,-0.116749],[0.561377,-0.820511,-0.107784],[-0.036479,-0.154651,0.987295]]
2025-10-26T22:47:43.484Z,1761518863.484 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:43.487Z,1761518863.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.57 m.
2025-10-26T22:47:43.490Z,1761518863.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.569778 m,
      nav range: 152.913162 m,
      bearing: 153.145576 deg,
      approach rate: -0.592936 m/s,
      LOS rate: 0.024827 deg/s,
      cmd heading: 147.010506 deg,
      new cmd heading: 147.039072 deg.

2025-10-26T22:47:43.491Z,1761518863.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566316 target range: 157.569778 and range: 158.40 m.
2025-10-26T22:47:43.737Z,1761518863.737 [DAT](INFO): DAT read: Rx Time:22:47:42.4104

2025-10-26T22:47:43.738Z,1761518863.738 [DAT](INFO): Rx dataTimestamp_ set to:1761518863.737240
2025-10-26T22:47:43.738Z,1761518863.738 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:43.875Z,1761518863.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826353,-0.550065,-0.120700],[0.561928,-0.819522,-0.112346],[-0.037119,-0.160662,0.986311]]
2025-10-26T22:47:43.941Z,1761518863.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.57 m.
2025-10-26T22:47:43.950Z,1761518863.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.569778 m,
      nav range: 152.660553 m,
      bearing: 153.154186 deg,
      approach rate: -0.556550 m/s,
      LOS rate: 0.019001 deg/s,
      cmd heading: 147.039069 deg,
      new cmd heading: 147.064942 deg.

2025-10-26T22:47:43.952Z,1761518863.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566767 target range: 157.569778 and range: 158.40 m.
2025-10-26T22:47:43.989Z,1761518863.989 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:44.246Z,1761518864.246 [DAT](INFO): DAT read: 22:47:42.4104 LVL= 32752, 32753, 32754, 29267, AGC= 71, IDX=  22, 0.01, 1.972, 0.198, 1.891, 1.772, PHS= 0.302,-1.529, 0.075, RAW= 143.5,  13.3, CAL= 143.0,  14.4, ROT=   7.0, -14.4

2025-10-26T22:47:44.247Z,1761518864.247 [DAT](INFO): got valid direction response:
 22:47:42.4104 LVL= 32752, 32753, 32754, 29267, AGC= 71, IDX=  22, 0.01, 1.972, 0.198, 1.891, 1.772, PHS= 0.302,-1.529, 0.075, RAW= 143.5,  13.3, CAL= 143.0,  14.4, ROT=   7.0, -14.4

2025-10-26T22:47:44.248Z,1761518864.248 [DAT](INFO): DAT read: Bearing 315.5,   1.8 (Local)

2025-10-26T22:47:44.249Z,1761518864.249 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.5,   1.8 (Local)

2025-10-26T22:47:44.250Z,1761518864.250 [DAT](INFO): DAT read: Range 11 to 50 : 127.2 m  (Round-trip  169.7 ms) speed  0.9 m/s

2025-10-26T22:47:44.251Z,1761518864.251 [DAT](INFO): DAT read: user:688>Tx time:22:47:43.4866

2025-10-26T22:47:44.252Z,1761518864.252 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:47:44.253Z,1761518864.253 [DAT](INFO): direction in FSK: [0.961363,0.118041,0.248690]
2025-10-26T22:47:44.253Z,1761518864.253 [DAT](INFO): publishing direction and range info
2025-10-26T22:47:44.257Z,1761518864.257 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:44.257Z,1761518864.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:47:44.277Z,1761518864.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826283,-0.549679,-0.122916],[0.561987,-0.819185,-0.114484],[-0.037762,-0.163673,0.985792]]
2025-10-26T22:47:44.360Z,1761518864.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 127.199997 m,
 deltaT: 3.525160 s,
 deltaX: -31.199997 m,
 approachRate: -8.850661 m/s,
 rangeRepo size: 4
2025-10-26T22:47:44.360Z,1761518864.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.57 m.
2025-10-26T22:47:44.367Z,1761518864.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.569778 m,
      nav range: 152.425232 m,
      bearing: 153.162247 deg,
      approach rate: -0.568645 m/s,
      LOS rate: 0.019508 deg/s,
      cmd heading: 147.064942 deg,
      new cmd heading: 147.089161 deg.

2025-10-26T22:47:44.368Z,1761518864.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.567190 target range: 157.569778 and range: 158.40 m.
2025-10-26T22:47:44.492Z,1761518864.492 [DAT](INFO): DAT read: 

2025-10-26T22:47:44.493Z,1761518864.493 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:44.686Z,1761518864.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826193,-0.549867,-0.122683],[0.562104,-0.819217,-0.113674],[-0.037998,-0.162877,0.985914]]
2025-10-26T22:47:44.705Z,1761518864.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:44.709Z,1761518864.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.57 m.
2025-10-26T22:47:44.722Z,1761518864.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.569778 m,
      nav range: 152.201401 m,
      bearing: 153.169947 deg,
      approach rate: -0.632806 m/s,
      LOS rate: 0.021804 deg/s,
      cmd heading: 147.089162 deg,
      new cmd heading: 147.112299 deg.

2025-10-26T22:47:44.744Z,1761518864.744 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:44.764Z,1761518864.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.567594 target range: 157.569778 and range: 158.40 m.
2025-10-26T22:47:44.996Z,1761518864.996 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:45.149Z,1761518865.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.57 m.
2025-10-26T22:47:45.152Z,1761518865.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.569778 m,
      nav range: 151.959045 m,
      bearing: 153.174275 deg,
      approach rate: -0.550051 m/s,
      LOS rate: 0.009838 deg/s,
      cmd heading: 147.112303 deg,
      new cmd heading: 147.125307 deg.

2025-10-26T22:47:45.153Z,1761518865.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.567821 target range: 157.569778 and range: 158.40 m.
2025-10-26T22:47:45.248Z,1761518865.248 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:45.500Z,1761518865.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:45.502Z,1761518865.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825791,-0.550413,-0.122942],[0.562667,-0.818905,-0.113138],[-0.038405,-0.162604,0.985944]]
2025-10-26T22:47:45.526Z,1761518865.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.57 m.
2025-10-26T22:47:45.529Z,1761518865.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.569778 m,
      nav range: 151.756592 m,
      bearing: 153.177953 deg,
      approach rate: -0.537867 m/s,
      LOS rate: 0.009784 deg/s,
      cmd heading: 147.125307 deg,
      new cmd heading: 147.136355 deg.

2025-10-26T22:47:45.529Z,1761518865.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568014 target range: 157.569778 and range: 158.40 m.
2025-10-26T22:47:45.752Z,1761518865.752 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:45.894Z,1761518865.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825227,-0.551220,-0.123116],[0.563427,-0.818622,-0.111395],[-0.039382,-0.161293,0.986120]]
2025-10-26T22:47:45.966Z,1761518865.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.57 m.
2025-10-26T22:47:45.969Z,1761518865.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.569778 m,
      nav range: 151.519257 m,
      bearing: 153.177421 deg,
      approach rate: -0.539009 m/s,
      LOS rate: -0.001210 deg/s,
      cmd heading: 147.136359 deg,
      new cmd heading: 147.134760 deg.

2025-10-26T22:47:45.970Z,1761518865.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.567986 target range: 157.569778 and range: 158.40 m.
2025-10-26T22:47:46.004Z,1761518866.004 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:46.256Z,1761518866.256 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:46.298Z,1761518866.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824677,-0.551976,-0.123413],[0.564180,-0.818255,-0.110274],[-0.040115,-0.160568,0.986209]]
2025-10-26T22:47:46.336Z,1761518866.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.57 m.
2025-10-26T22:47:46.342Z,1761518866.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.569778 m,
      nav range: 151.325729 m,
      bearing: 153.177050 deg,
      approach rate: -0.523564 m/s,
      LOS rate: -0.001004 deg/s,
      cmd heading: 147.134760 deg,
      new cmd heading: 147.133647 deg.

2025-10-26T22:47:46.345Z,1761518866.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.567966 target range: 157.569778 and range: 158.40 m.
2025-10-26T22:47:46.508Z,1761518866.508 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:46.704Z,1761518866.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824200,-0.552672,-0.123483],[0.564785,-0.818150,-0.107927],[-0.041380,-0.158694,0.986460]]
2025-10-26T22:47:46.743Z,1761518866.743 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:46.745Z,1761518866.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.57 m.
2025-10-26T22:47:46.748Z,1761518866.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.569778 m,
      nav range: 151.103806 m,
      bearing: 153.176678 deg,
      approach rate: -0.541663 m/s,
      LOS rate: -0.000910 deg/s,
      cmd heading: 147.133640 deg,
      new cmd heading: 147.132522 deg.

2025-10-26T22:47:46.749Z,1761518866.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.567947 target range: 157.569778 and range: 158.40 m.
2025-10-26T22:47:46.760Z,1761518866.760 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:47.012Z,1761518867.012 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:47.106Z,1761518867.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823517,-0.553619,-0.123801],[0.565694,-0.817773,-0.106010],[-0.042552,-0.157334,0.986628]]
2025-10-26T22:47:47.161Z,1761518867.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.57 m.
2025-10-26T22:47:47.163Z,1761518867.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.569778 m,
      nav range: 150.889114 m,
      bearing: 153.172037 deg,
      approach rate: -0.517003 m/s,
      LOS rate: -0.011192 deg/s,
      cmd heading: 147.132520 deg,
      new cmd heading: 147.118577 deg.

2025-10-26T22:47:47.164Z,1761518867.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.567703 target range: 157.569778 and range: 158.40 m.
2025-10-26T22:47:47.265Z,1761518867.265 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:47.518Z,1761518867.518 [DAT](INFO): DAT read: Rx Time:22:47:46.0581

2025-10-26T22:47:47.520Z,1761518867.520 [DAT](INFO): Rx dataTimestamp_ set to:1761518867.519210
2025-10-26T22:47:47.522Z,1761518867.522 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:47.534Z,1761518867.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822214,-0.555581,-0.123667],[0.567377,-0.817305,-0.100483],[-0.045248,-0.152784,0.987223]]
2025-10-26T22:47:47.580Z,1761518867.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.57 m.
2025-10-26T22:47:47.582Z,1761518867.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.569778 m,
      nav range: 150.676147 m,
      bearing: 153.167566 deg,
      approach rate: -0.508141 m/s,
      LOS rate: -0.010683 deg/s,
      cmd heading: 147.118573 deg,
      new cmd heading: 147.105141 deg.

2025-10-26T22:47:47.584Z,1761518867.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.567469 target range: 157.569778 and range: 158.40 m.
2025-10-26T22:47:47.769Z,1761518867.769 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:48.026Z,1761518868.026 [DAT](INFO): DAT read: 22:47:46.0581 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 415,-0.18,-1.612, 2.906,-1.654,-1.800, PHS= 0.290,-1.532, 0.103, RAW= 144.6,  13.1, CAL= 144.2,  14.2, ROT=   5.8, -14.2

2025-10-26T22:47:48.028Z,1761518868.028 [DAT](INFO): got valid direction response:
 22:47:46.0581 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 415,-0.18,-1.612, 2.906,-1.654,-1.800, PHS= 0.290,-1.532, 0.103, RAW= 144.6,  13.1, CAL= 144.2,  14.2, ROT=   5.8, -14.2

2025-10-26T22:47:48.029Z,1761518868.029 [DAT](INFO): DAT read: Bearing 315.4,   0.3 (Local)

2025-10-26T22:47:48.029Z,1761518868.029 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.4,   0.3 (Local)

2025-10-26T22:47:48.031Z,1761518868.031 [DAT](INFO): DAT read: Range 11 to 50 : 125.4 m  (Round-trip  167.3 ms) speed  0.4 m/s

2025-10-26T22:47:48.032Z,1761518868.032 [DAT](INFO): DAT read: user:689>Tx time:22:47:47.1366

2025-10-26T22:47:48.032Z,1761518868.032 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:47:48.033Z,1761518868.033 [DAT](INFO): direction in FSK: [0.964482,0.097969,0.245307]
2025-10-26T22:47:48.034Z,1761518868.034 [DAT](INFO): publishing direction and range info
2025-10-26T22:47:48.041Z,1761518868.041 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:48.041Z,1761518868.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:47:48.048Z,1761518868.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821379,-0.556898,-0.123294],[0.568452,-0.817019,-0.096661],[-0.046903,-0.149482,0.987651]]
2025-10-26T22:47:48.164Z,1761518868.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 125.400002 m,
      deltaT: 7.305301 s,
      deltaX: -32.999992 m,
      approachRate: -4.517267 m/s,
      rangeRepo size: 4

2025-10-26T22:47:48.166Z,1761518868.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 124.733528 m,
      bearing: 153.122028 deg,
      lat: 36.779176 deg,
      lon: -121.859321 deg,
      deltaT: 7.305301 s,
      deltaX: -32.836250 m,
      approachRate: -4.494853 m/s,
      posRepo size: 4

2025-10-26T22:47:48.167Z,1761518868.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.73 m.
2025-10-26T22:47:48.174Z,1761518868.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.733528 m,
      nav range: 150.161392 m,
      bearing: 153.112438 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010683 deg/s,
      cmd heading: 147.105145 deg,
      new cmd heading: 147.086561 deg.

2025-10-26T22:47:48.175Z,1761518868.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.567145 target range: 124.733528 and range: 125.40 m.
2025-10-26T22:47:48.272Z,1761518868.272 [DAT](INFO): DAT read: 

2025-10-26T22:47:48.273Z,1761518868.273 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:48.524Z,1761518868.524 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:48.623Z,1761518868.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820317,-0.558826,-0.121627],[0.569841,-0.816722,-0.090809],[-0.048589,-0.143800,0.988413]]
2025-10-26T22:47:48.642Z,1761518868.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.73 m.
2025-10-26T22:47:48.645Z,1761518868.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.733528 m,
      nav range: 149.901016 m,
      bearing: 153.102217 deg,
      approach rate: -0.539531 m/s,
      LOS rate: -0.021216 deg/s,
      cmd heading: 147.086566 deg,
      new cmd heading: 147.055851 deg.

2025-10-26T22:47:48.646Z,1761518868.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566609 target range: 124.733528 and range: 125.40 m.
2025-10-26T22:47:48.776Z,1761518868.776 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:49.029Z,1761518869.029 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:49.071Z,1761518869.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819277,-0.560823,-0.119431],[0.571257,-0.816300,-0.085558],[-0.049509,-0.138321,0.989149]]
2025-10-26T22:47:49.117Z,1761518869.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:49.125Z,1761518869.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.73 m.
2025-10-26T22:47:49.127Z,1761518869.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.733528 m,
      nav range: 149.655045 m,
      bearing: 153.094053 deg,
      approach rate: -0.509760 m/s,
      LOS rate: -0.016947 deg/s,
      cmd heading: 147.055844 deg,
      new cmd heading: 147.031312 deg.

2025-10-26T22:47:49.128Z,1761518869.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566180 target range: 124.733528 and range: 125.40 m.
2025-10-26T22:47:49.280Z,1761518869.280 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:49.470Z,1761518869.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818208,-0.562836,-0.117269],[0.572814,-0.815522,-0.082513],[-0.049195,-0.134686,0.989666]]
2025-10-26T22:47:49.490Z,1761518869.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.73 m.
2025-10-26T22:47:49.492Z,1761518869.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.733528 m,
      nav range: 149.463806 m,
      bearing: 153.087816 deg,
      approach rate: -0.523961 m/s,
      LOS rate: -0.017110 deg/s,
      cmd heading: 147.031310 deg,
      new cmd heading: 147.012575 deg.

2025-10-26T22:47:49.493Z,1761518869.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565854 target range: 124.733528 and range: 125.40 m.
2025-10-26T22:47:49.533Z,1761518869.533 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:49.784Z,1761518869.784 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:49.915Z,1761518869.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817076,-0.564611,-0.116622],[0.574533,-0.814235,-0.083271],[-0.047942,-0.135041,0.989679]]
2025-10-26T22:47:49.972Z,1761518869.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.73 m.
2025-10-26T22:47:49.974Z,1761518869.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.733528 m,
      nav range: 149.216537 m,
      bearing: 153.081013 deg,
      approach rate: -0.512946 m/s,
      LOS rate: -0.014136 deg/s,
      cmd heading: 147.012582 deg,
      new cmd heading: 146.992138 deg.

2025-10-26T22:47:49.976Z,1761518869.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565497 target range: 124.733528 and range: 125.40 m.
2025-10-26T22:47:50.036Z,1761518870.036 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:50.288Z,1761518870.288 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:50.317Z,1761518870.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.73 m.
2025-10-26T22:47:50.342Z,1761518870.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.733528 m,
      nav range: 149.042282 m,
      bearing: 153.076204 deg,
      approach rate: -0.505539 m/s,
      LOS rate: -0.013965 deg/s,
      cmd heading: 146.992132 deg,
      new cmd heading: 146.977691 deg.

2025-10-26T22:47:50.343Z,1761518870.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565245 target range: 124.733528 and range: 125.40 m.
2025-10-26T22:47:50.540Z,1761518870.540 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:50.680Z,1761518870.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816414,-0.565546,-0.116733],[0.575776,-0.812678,-0.089644],[-0.044169,-0.140398,0.989109]]
2025-10-26T22:47:50.698Z,1761518870.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.73 m.
2025-10-26T22:47:50.702Z,1761518870.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.733528 m,
      nav range: 148.843811 m,
      bearing: 153.070840 deg,
      approach rate: -0.520147 m/s,
      LOS rate: -0.014077 deg/s,
      cmd heading: 146.977693 deg,
      new cmd heading: 146.961580 deg.

2025-10-26T22:47:50.704Z,1761518870.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564963 target range: 124.733528 and range: 125.40 m.
2025-10-26T22:47:50.793Z,1761518870.793 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:51.044Z,1761518871.044 [DAT](INFO): DAT read: Rx Time:22:47:49.7055

2025-10-26T22:47:51.045Z,1761518871.045 [DAT](INFO): Rx dataTimestamp_ set to:1761518871.044568
2025-10-26T22:47:51.045Z,1761518871.045 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:51.094Z,1761518871.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816169,-0.565873,-0.116860],[0.576298,-0.811842,-0.093766],[-0.041812,-0.143875,0.988712]]
2025-10-26T22:47:51.140Z,1761518871.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:51.142Z,1761518871.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.73 m.
2025-10-26T22:47:51.145Z,1761518871.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.733528 m,
      nav range: 148.604279 m,
      bearing: 153.068975 deg,
      approach rate: -0.539794 m/s,
      LOS rate: -0.004212 deg/s,
      cmd heading: 146.961574 deg,
      new cmd heading: 146.955967 deg.

2025-10-26T22:47:51.145Z,1761518871.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564866 target range: 124.733528 and range: 125.40 m.
2025-10-26T22:47:51.296Z,1761518871.296 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:51.533Z,1761518871.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816678,-0.565083,-0.117123],[0.575736,-0.811712,-0.098244],[-0.039554,-0.147666,0.988246]]
2025-10-26T22:47:51.552Z,1761518871.552 [DAT](INFO): DAT read: 22:47:49.7055 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 420, 0.35, 0.140,-1.676, 0.066,-0.083, PHS= 0.325,-1.549, 0.105, RAW= 143.8,  12.6, CAL= 143.4,  13.7, ROT=   6.6, 7866

2025-10-26T22:47:51.553Z,1761518871.553 [DAT](INFO): got valid direction response:
 22:47:49.7055 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 420, 0.35, 0.140,-1.676, 0.066,-0.083, PHS= 0.325,-1.549, 0.105, RAW= 143.8,  12.6, CAL= 143.4,  13.7, ROT=   6.6, 7866

2025-10-26T22:47:51.554Z,1761518871.554 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T22:47:51.555Z,1761518871.555 [DAT](INFO): direction in FSK: [0.583889,0.067558,0.809018]
2025-10-26T22:47:51.559Z,1761518871.559 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:51.583Z,1761518871.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.73 m.
2025-10-26T22:47:51.590Z,1761518871.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.733528 m,
      nav range: 148.367096 m,
      bearing: 153.067063 deg,
      approach rate: -0.537605 m/s,
      LOS rate: -0.004340 deg/s,
      cmd heading: 146.955973 deg,
      new cmd heading: 146.950229 deg.

2025-10-26T22:47:51.591Z,1761518871.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564765 target range: 124.733528 and range: 125.40 m.
2025-10-26T22:47:51.800Z,1761518871.800 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:51.964Z,1761518871.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.73 m.
2025-10-26T22:47:51.966Z,1761518871.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.733528 m,
      nav range: 148.159256 m,
      bearing: 153.065383 deg,
      approach rate: -0.545891 m/s,
      LOS rate: -0.004419 deg/s,
      cmd heading: 146.950236 deg,
      new cmd heading: 146.945188 deg.

2025-10-26T22:47:52.010Z,1761518872.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564677 target range: 124.733528 and range: 125.40 m.
2025-10-26T22:47:52.052Z,1761518872.052 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:52.304Z,1761518872.304 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:52.374Z,1761518872.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.73 m.
2025-10-26T22:47:52.377Z,1761518872.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.733528 m,
      nav range: 147.931091 m,
      bearing: 153.066774 deg,
      approach rate: -0.555882 m/s,
      LOS rate: 0.003394 deg/s,
      cmd heading: 146.945182 deg,
      new cmd heading: 146.949361 deg.

2025-10-26T22:47:52.378Z,1761518872.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564750 target range: 124.733528 and range: 125.40 m.
2025-10-26T22:47:52.556Z,1761518872.556 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:52.732Z,1761518872.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820749,-0.562703,-0.098672],[0.570534,-0.816221,-0.090962],[-0.029353,-0.130953,0.990954]]
2025-10-26T22:47:52.769Z,1761518872.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.73 m.
2025-10-26T22:47:52.772Z,1761518872.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.733528 m,
      nav range: 147.721695 m,
      bearing: 153.067511 deg,
      approach rate: -0.555318 m/s,
      LOS rate: 0.001958 deg/s,
      cmd heading: 146.949362 deg,
      new cmd heading: 146.951577 deg.

2025-10-26T22:47:52.773Z,1761518872.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564789 target range: 124.733528 and range: 125.40 m.
2025-10-26T22:47:52.809Z,1761518872.809 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:53.060Z,1761518873.060 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:53.196Z,1761518873.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:53.202Z,1761518873.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.73 m.
2025-10-26T22:47:53.205Z,1761518873.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.733528 m,
      nav range: 147.470139 m,
      bearing: 153.072463 deg,
      approach rate: -0.558080 m/s,
      LOS rate: 0.011005 deg/s,
      cmd heading: 146.951575 deg,
      new cmd heading: 146.966456 deg.

2025-10-26T22:47:53.206Z,1761518873.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565048 target range: 124.733528 and range: 125.40 m.
2025-10-26T22:47:53.313Z,1761518873.313 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:53.538Z,1761518873.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823524,-0.559138,-0.095780],[0.566725,-0.818382,-0.095256],[-0.025123,-0.132726,0.990834]]
2025-10-26T22:47:53.569Z,1761518873.569 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:53.576Z,1761518873.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.73 m.
2025-10-26T22:47:53.578Z,1761518873.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.733528 m,
      nav range: 147.246643 m,
      bearing: 153.076468 deg,
      approach rate: -0.624947 m/s,
      LOS rate: 0.011214 deg/s,
      cmd heading: 146.966451 deg,
      new cmd heading: 146.978482 deg.

2025-10-26T22:47:53.579Z,1761518873.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565259 target range: 124.733528 and range: 125.40 m.
2025-10-26T22:47:53.823Z,1761518873.823 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:53.987Z,1761518873.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825290,-0.556501,-0.095932],[0.564235,-0.819572,-0.099703],[-0.023138,-0.136412,0.990382]]
2025-10-26T22:47:54.023Z,1761518874.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.73 m.
2025-10-26T22:47:54.026Z,1761518874.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.733528 m,
      nav range: 146.963898 m,
      bearing: 153.084628 deg,
      approach rate: -0.610479 m/s,
      LOS rate: 0.017653 deg/s,
      cmd heading: 146.978486 deg,
      new cmd heading: 147.003014 deg.

2025-10-26T22:47:54.026Z,1761518874.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565687 target range: 124.733528 and range: 125.40 m.
2025-10-26T22:47:54.074Z,1761518874.074 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:54.328Z,1761518874.328 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:54.353Z,1761518874.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826940,-0.554501,-0.093265],[0.561905,-0.821061,-0.100601],[-0.020793,-0.135597,0.990546]]
2025-10-26T22:47:54.383Z,1761518874.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.73 m.
2025-10-26T22:47:54.386Z,1761518874.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.733528 m,
      nav range: 146.752930 m,
      bearing: 153.090501 deg,
      approach rate: -0.591497 m/s,
      LOS rate: 0.016489 deg/s,
      cmd heading: 147.003020 deg,
      new cmd heading: 147.020663 deg.

2025-10-26T22:47:54.387Z,1761518874.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565995 target range: 124.733528 and range: 125.40 m.
2025-10-26T22:47:54.576Z,1761518874.576 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:54.794Z,1761518874.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.73 m.
2025-10-26T22:47:54.797Z,1761518874.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.733528 m,
      nav range: 146.497742 m,
      bearing: 153.097627 deg,
      approach rate: -0.615448 m/s,
      LOS rate: 0.017217 deg/s,
      cmd heading: 147.020669 deg,
      new cmd heading: 147.042085 deg.

2025-10-26T22:47:54.798Z,1761518874.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566369 target range: 124.733528 and range: 125.40 m.
2025-10-26T22:47:54.830Z,1761518874.830 [DAT](INFO): DAT read: Rx Time:22:47:53.3526

2025-10-26T22:47:54.830Z,1761518874.830 [DAT](INFO): Rx dataTimestamp_ set to:1761518874.829728
2025-10-26T22:47:54.831Z,1761518874.831 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:55.081Z,1761518875.081 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:47:55.195Z,1761518875.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829896,-0.551390,-0.085097],[0.557706,-0.824072,-0.099342],[-0.015350,-0.129902,0.991408]]
2025-10-26T22:47:55.229Z,1761518875.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:55.231Z,1761518875.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.73 m.
2025-10-26T22:47:55.234Z,1761518875.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.733528 m,
      nav range: 146.228821 m,
      bearing: 153.106831 deg,
      approach rate: -0.615653 m/s,
      LOS rate: 0.021111 deg/s,
      cmd heading: 147.042088 deg,
      new cmd heading: 147.069752 deg.

2025-10-26T22:47:55.235Z,1761518875.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566851 target range: 124.733528 and range: 125.40 m.
2025-10-26T22:47:55.342Z,1761518875.342 [DAT](INFO): DAT read: 22:47:53.3526 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406,-0.05,-1.419, 3.078,-1.442,-1.649, PHS= 0.331,-1.511, 0.163, RAW= 145.3,  11.5, CAL= 144.9,  12.6, ROT=   5.1, -12.6

2025-10-26T22:47:55.344Z,1761518875.344 [DAT](INFO): got valid direction response:
 22:47:53.3526 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406,-0.05,-1.419, 3.078,-1.442,-1.649, PHS= 0.331,-1.511, 0.163, RAW= 145.3,  11.5, CAL= 144.9,  12.6, ROT=   5.1, -12.6

2025-10-26T22:47:55.345Z,1761518875.345 [DAT](INFO): DAT read: Bearing 313.9,   1.7 (Local)

2025-10-26T22:47:55.345Z,1761518875.345 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.9,   1.7 (Local)

2025-10-26T22:47:55.346Z,1761518875.346 [DAT](INFO): DAT read: Range 11 to 50 : 121.4 m  (Round-trip  161.9 ms) speed  0.6 m/s

2025-10-26T22:47:55.351Z,1761518875.351 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T22:47:55.352Z,1761518875.352 [DAT](INFO): direction in FSK: [0.972053,0.086753,0.218143]
2025-10-26T22:47:55.353Z,1761518875.353 [DAT](INFO): publishing direction and range info
2025-10-26T22:47:55.360Z,1761518875.360 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:55.360Z,1761518875.360 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:55.360Z,1761518875.360 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:47:55.566Z,1761518875.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831337,-0.549417,-0.083781],[0.555620,-0.825096,-0.102483],[-0.012821,-0.131748,0.991200]]
2025-10-26T22:47:55.584Z,1761518875.584 [DAT](INFO): DAT read: 

2025-10-26T22:47:55.585Z,1761518875.585 [DAT](INFO): DAT read: Tx time:22:47:54.7366

2025-10-26T22:47:55.585Z,1761518875.585 [DAT](INFO): Ping request sent.
2025-10-26T22:47:55.585Z,1761518875.585 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:47:55.585Z,1761518875.585 [DAT](INFO): publishing transmit ping time
2025-10-26T22:47:55.586Z,1761518875.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-10-26T22:47:55.612Z,1761518875.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 121.400002 m,
      deltaT: 7.313150 s,
      deltaX: -4.000000 m,
      approachRate: -0.546960 m/s,
      rangeRepo size: 4

2025-10-26T22:47:55.614Z,1761518875.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 120.771683 m,
      bearing: 152.957934 deg,
      lat: 36.779384 deg,
      lon: -121.859457 deg,
      deltaT: 7.313150 s,
      deltaX: -3.961845 m,
      approachRate: -0.541743 m/s,
      posRepo size: 4

2025-10-26T22:47:55.619Z,1761518875.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.77 m.
2025-10-26T22:47:55.622Z,1761518875.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.771683 m,
      nav range: 119.849594 m,
      bearing: 153.282323 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021111 deg/s,
      cmd heading: 147.069751 deg,
      new cmd heading: 147.093618 deg.

2025-10-26T22:47:55.623Z,1761518875.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.567268 target range: 120.771683 and range: 121.40 m.
2025-10-26T22:47:55.837Z,1761518875.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251697
2025-10-26T22:47:56.047Z,1761518876.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833352,-0.546277,-0.084303],[0.552639,-0.826414,-0.107847],[-0.010755,-0.136463,0.990587]]
2025-10-26T22:47:56.087Z,1761518876.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.77 m.
2025-10-26T22:47:56.104Z,1761518876.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.519045
2025-10-26T22:47:56.114Z,1761518876.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.771683 m,
      nav range: 119.541679 m,
      bearing: 153.296519 deg,
      approach rate: -0.642785 m/s,
      LOS rate: 0.029711 deg/s,
      cmd heading: 147.093615 deg,
      new cmd heading: 147.136313 deg.

2025-10-26T22:47:56.115Z,1761518876.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568013 target range: 120.771683 and range: 121.40 m.
2025-10-26T22:47:56.356Z,1761518876.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.771046
2025-10-26T22:47:56.438Z,1761518876.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834749,-0.544489,-0.082008],[0.550560,-0.827716,-0.108488],[-0.008809,-0.135710,0.990709]]
2025-10-26T22:47:56.472Z,1761518876.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.77 m.
2025-10-26T22:47:56.474Z,1761518876.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.771683 m,
      nav range: 119.313797 m,
      bearing: 153.306794 deg,
      approach rate: -0.617810 m/s,
      LOS rate: 0.027912 deg/s,
      cmd heading: 147.136318 deg,
      new cmd heading: 147.167204 deg.

2025-10-26T22:47:56.475Z,1761518876.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568552 target range: 120.771683 and range: 121.40 m.
2025-10-26T22:47:56.608Z,1761518876.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.023040
2025-10-26T22:47:56.846Z,1761518876.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835827,-0.542776,-0.082392],[0.548946,-0.828271,-0.112364],[-0.007254,-0.139146,0.990245]]
2025-10-26T22:47:56.860Z,1761518876.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.275163
2025-10-26T22:47:56.866Z,1761518876.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.77 m.
2025-10-26T22:47:56.869Z,1761518876.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.771683 m,
      nav range: 119.061348 m,
      bearing: 153.317994 deg,
      approach rate: -0.615015 m/s,
      LOS rate: 0.027343 deg/s,
      cmd heading: 147.167204 deg,
      new cmd heading: 147.200875 deg.

2025-10-26T22:47:56.870Z,1761518876.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569140 target range: 120.771683 and range: 121.40 m.
2025-10-26T22:47:57.112Z,1761518877.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.526908
2025-10-26T22:47:57.246Z,1761518877.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837071,-0.540533,-0.084480],[0.547067,-0.828533,-0.119374],[-0.005469,-0.146141,0.989249]]
2025-10-26T22:47:57.295Z,1761518877.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:57.299Z,1761518877.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.77 m.
2025-10-26T22:47:57.305Z,1761518877.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.771683 m,
      nav range: 118.799149 m,
      bearing: 153.326008 deg,
      approach rate: -0.606793 m/s,
      LOS rate: 0.018586 deg/s,
      cmd heading: 147.200877 deg,
      new cmd heading: 147.224970 deg.

2025-10-26T22:47:57.307Z,1761518877.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569561 target range: 120.771683 and range: 121.40 m.
2025-10-26T22:47:57.366Z,1761518877.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.780847
2025-10-26T22:47:57.616Z,1761518877.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.031064
2025-10-26T22:47:57.651Z,1761518877.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838165,-0.538874,-0.084229],[0.545401,-0.829256,-0.121953],[-0.004130,-0.148155,0.988955]]
2025-10-26T22:47:57.681Z,1761518877.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.77 m.
2025-10-26T22:47:57.684Z,1761518877.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.771683 m,
      nav range: 118.566071 m,
      bearing: 153.332944 deg,
      approach rate: -0.608656 m/s,
      LOS rate: 0.018149 deg/s,
      cmd heading: 147.224973 deg,
      new cmd heading: 147.245823 deg.

2025-10-26T22:47:57.685Z,1761518877.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569924 target range: 120.771683 and range: 121.40 m.
2025-10-26T22:47:57.868Z,1761518877.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.283009
2025-10-26T22:47:58.058Z,1761518878.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839429,-0.536926,-0.084081],[0.543461,-0.830153,-0.124484],[-0.002961,-0.150190,0.988653]]
2025-10-26T22:47:58.114Z,1761518878.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.77 m.
2025-10-26T22:47:58.117Z,1761518878.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.771683 m,
      nav range: 118.304413 m,
      bearing: 153.338355 deg,
      approach rate: -0.604482 m/s,
      LOS rate: 0.012528 deg/s,
      cmd heading: 147.245819 deg,
      new cmd heading: 147.262088 deg.

2025-10-26T22:47:58.118Z,1761518878.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570208 target range: 120.771683 and range: 121.40 m.
2025-10-26T22:47:58.121Z,1761518878.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.535283
2025-10-26T22:47:58.372Z,1761518878.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787067
2025-10-26T22:47:58.458Z,1761518878.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841057,-0.534347,-0.084243],[0.540943,-0.831342,-0.127480],[-0.001916,-0.152789,0.988257]]
2025-10-26T22:47:58.490Z,1761518878.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.77 m.
2025-10-26T22:47:58.493Z,1761518878.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.771683 m,
      nav range: 118.076698 m,
      bearing: 153.342766 deg,
      approach rate: -0.604860 m/s,
      LOS rate: 0.011739 deg/s,
      cmd heading: 147.262089 deg,
      new cmd heading: 147.275347 deg.

2025-10-26T22:47:58.494Z,1761518878.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570440 target range: 120.771683 and range: 121.40 m.
2025-10-26T22:47:58.624Z,1761518878.624 [DAT](INFO): DAT read: Rx Time:22:47:57.2995

2025-10-26T22:47:58.625Z,1761518878.625 [DAT](INFO): Rx dataTimestamp_ set to:1761518878.624635
2025-10-26T22:47:58.625Z,1761518878.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.040159
2025-10-26T22:47:58.862Z,1761518878.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842688,-0.531725,-0.084531],[0.538401,-0.832512,-0.130568],[-0.000946,-0.155540,0.987829]]
2025-10-26T22:47:58.876Z,1761518878.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290948
2025-10-26T22:47:58.890Z,1761518878.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.77 m.
2025-10-26T22:47:58.913Z,1761518878.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.771683 m,
      nav range: 117.834908 m,
      bearing: 153.347128 deg,
      approach rate: -0.604929 m/s,
      LOS rate: 0.010936 deg/s,
      cmd heading: 147.275353 deg,
      new cmd heading: 147.288467 deg.

2025-10-26T22:47:58.914Z,1761518878.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570669 target range: 120.771683 and range: 121.40 m.
2025-10-26T22:47:59.140Z,1761518879.140 [DAT](INFO): DAT read: 22:47:57.2995 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406, 0.11, 1.738,-0.004, 1.735, 1.518, PHS= 0.323,-1.477, 0.173, RAW= 145.7,  11.3, CAL= 145.3,  12.4, ROT=   4.7, -12.4

2025-10-26T22:47:59.142Z,1761518879.142 [DAT](INFO): got valid direction response:
 22:47:57.2995 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406, 0.11, 1.738,-0.004, 1.735, 1.518, PHS= 0.323,-1.477, 0.173, RAW= 145.7,  11.3, CAL= 145.3,  12.4, ROT=   4.7, -12.4

2025-10-26T22:47:59.143Z,1761518879.143 [DAT](INFO): DAT read: Bearing 314.2,   2.0 (Local)

2025-10-26T22:47:59.143Z,1761518879.143 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.2,   2.0 (Local)

2025-10-26T22:47:59.145Z,1761518879.145 [DAT](INFO): DAT read: Range 11 to 50 : 119.0 m  (Round-trip  158.7 ms) speed  0.4 m/s

2025-10-26T22:47:59.145Z,1761518879.145 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:47:59.146Z,1761518879.146 [DAT](INFO): direction in FSK: [0.973388,0.080027,0.214735]
2025-10-26T22:47:59.147Z,1761518879.147 [DAT](INFO): publishing direction and range info
2025-10-26T22:47:59.150Z,1761518879.150 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:47:59.150Z,1761518879.150 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:47:59.150Z,1761518879.150 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:47:59.284Z,1761518879.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843963,-0.530156,-0.081608],[0.536401,-0.834138,-0.128405],[0.000002,-0.152144,0.988358]]
2025-10-26T22:47:59.361Z,1761518879.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 119.000000 m,
      deltaT: 3.797149 s,
      deltaX: -2.400002 m,
      approachRate: -0.632054 m/s,
      rangeRepo size: 4

2025-10-26T22:47:59.363Z,1761518879.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 118.393082 m,
      bearing: 154.111161 deg,
      lat: 36.779391 deg,
      lon: -121.859461 deg,
      deltaT: 3.797149 s,
      deltaX: -2.378601 m,
      approachRate: -0.626418 m/s,
      posRepo size: 4

2025-10-26T22:47:59.364Z,1761518879.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.39 m.
2025-10-26T22:47:59.366Z,1761518879.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.393082 m,
      nav range: 116.786270 m,
      bearing: 153.326761 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010936 deg/s,
      cmd heading: 147.288467 deg,
      new cmd heading: 147.303861 deg.

2025-10-26T22:47:59.367Z,1761518879.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570937 target range: 118.393082 and range: 119.00 m.
2025-10-26T22:47:59.388Z,1761518879.388 [DAT](INFO): DAT read: user:691>

2025-10-26T22:47:59.389Z,1761518879.389 [DAT](INFO): DAT read: Tx time:22:47:58.4866

2025-10-26T22:47:59.389Z,1761518879.389 [DAT](INFO): Ping request sent.
2025-10-26T22:47:59.389Z,1761518879.389 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:47:59.390Z,1761518879.390 [DAT](INFO): publishing transmit ping time
2025-10-26T22:47:59.390Z,1761518879.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756
2025-10-26T22:47:59.640Z,1761518879.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250862
2025-10-26T22:47:59.717Z,1761518879.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:47:59.736Z,1761518879.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.39 m.
2025-10-26T22:47:59.739Z,1761518879.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.393082 m,
      nav range: 116.585724 m,
      bearing: 153.325756 deg,
      approach rate: -0.556689 m/s,
      LOS rate: -0.002795 deg/s,
      cmd heading: 147.303862 deg,
      new cmd heading: 147.300841 deg.

2025-10-26T22:47:59.748Z,1761518879.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570885 target range: 118.393082 and range: 119.00 m.
2025-10-26T22:47:59.892Z,1761518879.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502890
2025-10-26T22:48:00.086Z,1761518880.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845329,-0.529060,-0.074255],[0.534244,-0.836784,-0.119899],[0.001299,-0.141024,0.990005]]
2025-10-26T22:48:00.131Z,1761518880.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.39 m.
2025-10-26T22:48:00.134Z,1761518880.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.393082 m,
      nav range: 116.360558 m,
      bearing: 153.320301 deg,
      approach rate: -0.547398 m/s,
      LOS rate: -0.013287 deg/s,
      cmd heading: 147.300843 deg,
      new cmd heading: 147.284447 deg.

2025-10-26T22:48:00.135Z,1761518880.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570599 target range: 118.393082 and range: 119.00 m.
2025-10-26T22:48:00.144Z,1761518880.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754948
2025-10-26T22:48:00.397Z,1761518880.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007384
2025-10-26T22:48:00.482Z,1761518880.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845716,-0.528982,-0.070309],[0.533632,-0.837974,-0.114178],[0.001481,-0.134081,0.990969]]
2025-10-26T22:48:00.511Z,1761518880.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.39 m.
2025-10-26T22:48:00.514Z,1761518880.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.393082 m,
      nav range: 116.160988 m,
      bearing: 153.315321 deg,
      approach rate: -0.525511 m/s,
      LOS rate: -0.013136 deg/s,
      cmd heading: 147.284451 deg,
      new cmd heading: 147.269485 deg.

2025-10-26T22:48:00.514Z,1761518880.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570337 target range: 118.393082 and range: 119.00 m.
2025-10-26T22:48:00.648Z,1761518880.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258891
2025-10-26T22:48:00.887Z,1761518880.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844903,-0.531012,-0.064538],[0.534917,-0.838375,-0.104839],[0.001564,-0.123102,0.992393]]
2025-10-26T22:48:00.900Z,1761518880.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510933
2025-10-26T22:48:00.906Z,1761518880.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.39 m.
2025-10-26T22:48:00.909Z,1761518880.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.393082 m,
      nav range: 115.941635 m,
      bearing: 153.309897 deg,
      approach rate: -0.554588 m/s,
      LOS rate: -0.013739 deg/s,
      cmd heading: 147.269479 deg,
      new cmd heading: 147.253177 deg.

2025-10-26T22:48:00.910Z,1761518880.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570053 target range: 118.393082 and range: 119.00 m.
2025-10-26T22:48:01.153Z,1761518881.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763230
2025-10-26T22:48:01.290Z,1761518881.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843166,-0.534216,-0.060702],[0.537652,-0.837468,-0.097864],[0.001445,-0.115152,0.993347]]
2025-10-26T22:48:01.404Z,1761518881.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014866
2025-10-26T22:48:01.474Z,1761518881.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.39 m.
2025-10-26T22:48:01.477Z,1761518881.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.393082 m,
      nav range: 115.646843 m,
      bearing: 153.295021 deg,
      approach rate: -0.518874 m/s,
      LOS rate: -0.026252 deg/s,
      cmd heading: 147.253182 deg,
      new cmd heading: 147.208438 deg.

2025-10-26T22:48:01.478Z,1761518881.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569272 target range: 118.393082 and range: 119.00 m.
2025-10-26T22:48:01.656Z,1761518881.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266774
2025-10-26T22:48:01.723Z,1761518881.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841186,-0.537299,-0.060961],[0.540745,-0.835609,-0.096709],[0.001022,-0.114315,0.993444]]
2025-10-26T22:48:01.753Z,1761518881.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:01.756Z,1761518881.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.39 m.
2025-10-26T22:48:01.758Z,1761518881.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.393082 m,
      nav range: 115.501022 m,
      bearing: 153.287896 deg,
      approach rate: -0.518709 m/s,
      LOS rate: -0.025374 deg/s,
      cmd heading: 147.208444 deg,
      new cmd heading: 147.187045 deg.

2025-10-26T22:48:01.759Z,1761518881.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568898 target range: 118.393082 and range: 119.00 m.
2025-10-26T22:48:01.908Z,1761518881.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518851
2025-10-26T22:48:02.122Z,1761518882.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838896,-0.540261,-0.066113],[0.544291,-0.832654,-0.102147],[0.000137,-0.121676,0.992570]]
2025-10-26T22:48:02.161Z,1761518882.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771026
2025-10-26T22:48:02.184Z,1761518882.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.39 m.
2025-10-26T22:48:02.187Z,1761518882.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.393082 m,
      nav range: 115.293915 m,
      bearing: 153.273203 deg,
      approach rate: -0.483383 m/s,
      LOS rate: -0.034355 deg/s,
      cmd heading: 147.187039 deg,
      new cmd heading: 147.142880 deg.

2025-10-26T22:48:02.200Z,1761518882.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568128 target range: 118.393082 and range: 119.00 m.
2025-10-26T22:48:02.413Z,1761518882.413 [DAT](INFO): DAT read: Rx Time:22:48:01.0469

2025-10-26T22:48:02.414Z,1761518882.414 [DAT](INFO): Rx dataTimestamp_ set to:1761518882.413236
2025-10-26T22:48:02.415Z,1761518882.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024857
2025-10-26T22:48:02.522Z,1761518882.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837266,-0.541850,-0.073376],[0.546795,-0.829948,-0.110461],[-0.001045,-0.132606,0.991168]]
2025-10-26T22:48:02.550Z,1761518882.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.39 m.
2025-10-26T22:48:02.553Z,1761518882.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.393082 m,
      nav range: 115.100380 m,
      bearing: 153.259794 deg,
      approach rate: -0.528075 m/s,
      LOS rate: -0.036651 deg/s,
      cmd heading: 147.142875 deg,
      new cmd heading: 147.102578 deg.

2025-10-26T22:48:02.554Z,1761518882.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.567424 target range: 118.393082 and range: 119.00 m.
2025-10-26T22:48:02.664Z,1761518882.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274854
2025-10-26T22:48:02.922Z,1761518882.922 [DAT](INFO): DAT read: 22:48:01.0469 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412, 0.49,-1.123,-2.883,-1.120,-1.315, PHS= 0.294,-1.523, 0.151, RAW= 145.9,  12.3, CAL= 145.6,  13.4, ROT=   4.4, -13.4

2025-10-26T22:48:02.923Z,1761518882.923 [DAT](INFO): got valid direction response:
 22:48:01.0469 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412, 0.49,-1.123,-2.883,-1.120,-1.315, PHS= 0.294,-1.523, 0.151, RAW= 145.9,  12.3, CAL= 145.6,  13.4, ROT=   4.4, -13.4

2025-10-26T22:48:02.924Z,1761518882.924 [DAT](INFO): DAT read: Bearing 315.2,   2.4 (Local)

2025-10-26T22:48:02.924Z,1761518882.924 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.2,   2.4 (Local)

2025-10-26T22:48:02.926Z,1761518882.926 [DAT](INFO): DAT read: Range 11 to 50 : 117.1 m  (Round-trip  156.2 ms) speed  0.4 m/s

2025-10-26T22:48:02.926Z,1761518882.926 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:48:02.928Z,1761518882.928 [DAT](INFO): direction in FSK: [0.969909,0.074630,0.231748]
2025-10-26T22:48:02.928Z,1761518882.928 [DAT](INFO): publishing direction and range info
2025-10-26T22:48:02.931Z,1761518882.931 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:48:02.932Z,1761518882.932 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:48:02.932Z,1761518882.932 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:48:02.945Z,1761518882.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835330,-0.544066,-0.078844],[0.549746,-0.827178,-0.116427],[-0.001874,-0.140599,0.990065]]
2025-10-26T22:48:03.041Z,1761518883.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 117.099998 m,
      deltaT: 3.785677 s,
      deltaX: -1.900002 m,
      approachRate: -0.501892 m/s,
      rangeRepo size: 4

2025-10-26T22:48:03.053Z,1761518883.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 116.509155 m,
      bearing: 152.912352 deg,
      lat: 36.779397 deg,
      lon: -121.859461 deg,
      deltaT: 3.785677 s,
      deltaX: -1.883926 m,
      approachRate: -0.497646 m/s,
      posRepo size: 4

2025-10-26T22:48:03.056Z,1761518883.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.51 m.
2025-10-26T22:48:03.070Z,1761518883.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.509155 m,
      nav range: 114.297127 m,
      bearing: 153.099848 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.036651 deg/s,
      cmd heading: 147.102576 deg,
      new cmd heading: 147.048682 deg.

2025-10-26T22:48:03.078Z,1761518883.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566484 target range: 116.509155 and range: 117.10 m.
2025-10-26T22:48:03.169Z,1761518883.169 [DAT](INFO): DAT read: user:692>

2025-10-26T22:48:03.170Z,1761518883.170 [DAT](INFO): DAT read: Tx time:22:48:02.2866

2025-10-26T22:48:03.171Z,1761518883.171 [DAT](INFO): Ping request sent.
2025-10-26T22:48:03.171Z,1761518883.171 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:48:03.171Z,1761518883.171 [DAT](INFO): publishing transmit ping time
2025-10-26T22:48:03.172Z,1761518883.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001436
2025-10-26T22:48:03.420Z,1761518883.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249969
2025-10-26T22:48:03.421Z,1761518883.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833591,-0.545714,-0.085567],[0.552374,-0.824344,-0.123852],[-0.002949,-0.150507,0.988604]]
2025-10-26T22:48:03.471Z,1761518883.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.51 m.
2025-10-26T22:48:03.474Z,1761518883.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.509155 m,
      nav range: 114.056831 m,
      bearing: 153.084133 deg,
      approach rate: -0.558572 m/s,
      LOS rate: -0.036606 deg/s,
      cmd heading: 147.048686 deg,
      new cmd heading: 147.001444 deg.

2025-10-26T22:48:03.475Z,1761518883.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565659 target range: 116.509155 and range: 117.10 m.
2025-10-26T22:48:03.672Z,1761518883.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501874
2025-10-26T22:48:03.829Z,1761518883.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831860,-0.547627,-0.090071],[0.554969,-0.822049,-0.127457],[-0.004243,-0.156013,0.987746]]
2025-10-26T22:48:03.845Z,1761518883.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:03.847Z,1761518883.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.51 m.
2025-10-26T22:48:03.850Z,1761518883.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.509155 m,
      nav range: 113.859451 m,
      bearing: 153.071530 deg,
      approach rate: -0.524136 m/s,
      LOS rate: -0.033526 deg/s,
      cmd heading: 147.001449 deg,
      new cmd heading: 146.963573 deg.

2025-10-26T22:48:03.851Z,1761518883.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564998 target range: 116.509155 and range: 117.10 m.
2025-10-26T22:48:03.927Z,1761518883.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756484
2025-10-26T22:48:04.181Z,1761518884.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010993
2025-10-26T22:48:04.235Z,1761518884.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829866,-0.550377,-0.091697],[0.557933,-0.820258,-0.126045],[-0.005843,-0.155761,0.987777]]
2025-10-26T22:48:04.285Z,1761518884.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.51 m.
2025-10-26T22:48:04.291Z,1761518884.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.509155 m,
      nav range: 113.628693 m,
      bearing: 153.059723 deg,
      approach rate: -0.527517 m/s,
      LOS rate: -0.027045 deg/s,
      cmd heading: 146.963568 deg,
      new cmd heading: 146.928076 deg.

2025-10-26T22:48:04.293Z,1761518884.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564379 target range: 116.509155 and range: 117.10 m.
2025-10-26T22:48:04.432Z,1761518884.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261885
2025-10-26T22:48:04.632Z,1761518884.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827923,-0.552813,-0.094562],[0.560793,-0.818243,-0.126450],[-0.007471,-0.157721,0.987455]]
2025-10-26T22:48:04.655Z,1761518884.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.51 m.
2025-10-26T22:48:04.658Z,1761518884.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.509155 m,
      nav range: 113.435829 m,
      bearing: 153.050164 deg,
      approach rate: -0.521027 m/s,
      LOS rate: -0.025869 deg/s,
      cmd heading: 146.928079 deg,
      new cmd heading: 146.899352 deg.

2025-10-26T22:48:04.659Z,1761518884.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563877 target range: 116.509155 and range: 117.10 m.
2025-10-26T22:48:04.684Z,1761518884.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513984
2025-10-26T22:48:04.936Z,1761518884.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765840
2025-10-26T22:48:05.035Z,1761518885.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826251,-0.554794,-0.097536],[0.563232,-0.816413,-0.127437],[-0.008928,-0.160231,0.987039]]
2025-10-26T22:48:05.052Z,1761518885.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.51 m.
2025-10-26T22:48:05.055Z,1761518885.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.509155 m,
      nav range: 113.223610 m,
      bearing: 153.039937 deg,
      approach rate: -0.533740 m/s,
      LOS rate: -0.025769 deg/s,
      cmd heading: 146.899351 deg,
      new cmd heading: 146.868613 deg.

2025-10-26T22:48:05.056Z,1761518885.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563341 target range: 116.509155 and range: 117.10 m.
2025-10-26T22:48:05.189Z,1761518885.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018027
2025-10-26T22:48:05.440Z,1761518885.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269864
2025-10-26T22:48:05.492Z,1761518885.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.51 m.
2025-10-26T22:48:05.495Z,1761518885.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.509155 m,
      nav range: 112.975883 m,
      bearing: 153.033012 deg,
      approach rate: -0.564445 m/s,
      LOS rate: -0.015813 deg/s,
      cmd heading: 146.868615 deg,
      new cmd heading: 146.847795 deg.

2025-10-26T22:48:05.496Z,1761518885.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562978 target range: 116.509155 and range: 117.10 m.
2025-10-26T22:48:05.692Z,1761518885.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521890
2025-10-26T22:48:05.845Z,1761518885.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824780,-0.555888,-0.103569],[0.565320,-0.814615,-0.129673],[-0.012285,-0.165501,0.986133]]
2025-10-26T22:48:05.861Z,1761518885.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:05.863Z,1761518885.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.51 m.
2025-10-26T22:48:05.866Z,1761518885.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.509155 m,
      nav range: 112.766350 m,
      bearing: 153.027411 deg,
      approach rate: -0.563816 m/s,
      LOS rate: -0.015099 deg/s,
      cmd heading: 146.847797 deg,
      new cmd heading: 146.830963 deg.

2025-10-26T22:48:05.867Z,1761518885.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562684 target range: 116.509155 and range: 117.10 m.
2025-10-26T22:48:05.945Z,1761518885.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774742
2025-10-26T22:48:06.196Z,1761518886.196 [DAT](INFO): DAT read: Rx Time:22:48:04.8441

2025-10-26T22:48:06.197Z,1761518886.197 [DAT](INFO): Rx dataTimestamp_ set to:1761518886.196548
2025-10-26T22:48:06.197Z,1761518886.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026905
2025-10-26T22:48:06.254Z,1761518886.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824553,-0.556300,-0.103162],[0.565612,-0.814991,-0.125989],[-0.013988,-0.162234,0.986653]]
2025-10-26T22:48:06.318Z,1761518886.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.51 m.
2025-10-26T22:48:06.320Z,1761518886.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.509155 m,
      nav range: 112.498779 m,
      bearing: 153.026531 deg,
      approach rate: -0.588639 m/s,
      LOS rate: -0.001941 deg/s,
      cmd heading: 146.830967 deg,
      new cmd heading: 146.828320 deg.

2025-10-26T22:48:06.321Z,1761518886.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562638 target range: 116.509155 and range: 117.10 m.
2025-10-26T22:48:06.448Z,1761518886.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277940
2025-10-26T22:48:06.677Z,1761518886.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824545,-0.556432,-0.102514],[0.565589,-0.815511,-0.122683],[-0.015337,-0.159139,0.987137]]
2025-10-26T22:48:06.696Z,1761518886.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.51 m.
2025-10-26T22:48:06.699Z,1761518886.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.509155 m,
      nav range: 112.266968 m,
      bearing: 153.025766 deg,
      approach rate: -0.613526 m/s,
      LOS rate: -0.002028 deg/s,
      cmd heading: 146.828317 deg,
      new cmd heading: 146.826018 deg.

2025-10-26T22:48:06.709Z,1761518886.709 [DAT](INFO): DAT read: 22:48:04.8441 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 415,-0.23,-0.066,-1.824,-0.084,-0.201, PHS= 0.237,-1.578, 0.073, RAW= 145.3,  14.5, CAL= 145.0,  15.8, ROT=   5.0, -15.8

2025-10-26T22:48:06.710Z,1761518886.710 [DAT](INFO): got valid direction response:
 22:48:04.8441 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 415,-0.23,-0.066,-1.824,-0.084,-0.201, PHS= 0.237,-1.578, 0.073, RAW= 145.3,  14.5, CAL= 145.0,  15.8, ROT=   5.0, -15.8

2025-10-26T22:48:06.712Z,1761518886.712 [DAT](INFO): DAT read: Bearing 316.9,   1.4 (Local)

2025-10-26T22:48:06.712Z,1761518886.712 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.9,   1.4 (Local)

2025-10-26T22:48:06.714Z,1761518886.714 [DAT](INFO): DAT read: Range 11 to 50 : 115.0 m  (Round-trip  153.4 ms) speed  0.5 m/s

2025-10-26T22:48:06.715Z,1761518886.715 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:48:06.726Z,1761518886.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562598 target range: 116.509155 and range: 117.10 m.
2025-10-26T22:48:06.744Z,1761518886.744 [DAT](INFO): direction in FSK: [0.958556,0.083863,0.272280]
2025-10-26T22:48:06.744Z,1761518886.744 [DAT](INFO): publishing direction and range info
2025-10-26T22:48:06.756Z,1761518886.756 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:48:06.756Z,1761518886.756 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:48:06.756Z,1761518886.756 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:48:06.953Z,1761518886.953 [DAT](INFO): DAT read: user:693>

2025-10-26T22:48:06.954Z,1761518886.954 [DAT](INFO): DAT read: Tx time:22:48:06.1366

2025-10-26T22:48:06.954Z,1761518886.954 [DAT](INFO): Ping request sent.
2025-10-26T22:48:06.955Z,1761518886.955 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:48:06.955Z,1761518886.955 [DAT](INFO): publishing transmit ping time
2025-10-26T22:48:06.956Z,1761518886.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001467
2025-10-26T22:48:07.056Z,1761518887.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824558,-0.556453,-0.102298],[0.565557,-0.815696,-0.121589],[-0.015786,-0.158113,0.987295]]
2025-10-26T22:48:07.079Z,1761518887.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 115.000000 m,
      deltaT: 3.784446 s,
      deltaX: -2.099998 m,
      approachRate: -0.554902 m/s,
      rangeRepo size: 4

2025-10-26T22:48:07.081Z,1761518887.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 114.386444 m,
      bearing: 153.004481 deg,
      lat: 36.779398 deg,
      lon: -121.859461 deg,
      deltaT: 3.784446 s,
      deltaX: -2.122711 m,
      approachRate: -0.560904 m/s,
      posRepo size: 4

2025-10-26T22:48:07.081Z,1761518887.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.39 m.
2025-10-26T22:48:07.084Z,1761518887.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.386444 m,
      nav range: 111.922699 m,
      bearing: 152.994415 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002028 deg/s,
      cmd heading: 146.826022 deg,
      new cmd heading: 146.823695 deg.

2025-10-26T22:48:07.085Z,1761518887.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562557 target range: 114.386444 and range: 115.00 m.
2025-10-26T22:48:07.205Z,1761518887.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250301
2025-10-26T22:48:07.456Z,1761518887.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501941
2025-10-26T22:48:07.515Z,1761518887.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.39 m.
2025-10-26T22:48:07.518Z,1761518887.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.386444 m,
      nav range: 111.642166 m,
      bearing: 153.005027 deg,
      approach rate: -0.642354 m/s,
      LOS rate: 0.024359 deg/s,
      cmd heading: 146.823700 deg,
      new cmd heading: 146.855614 deg.

2025-10-26T22:48:07.518Z,1761518887.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563114 target range: 114.386444 and range: 115.00 m.
2025-10-26T22:48:07.709Z,1761518887.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754149
2025-10-26T22:48:07.865Z,1761518887.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826511,-0.553780,-0.101026],[0.562811,-0.816460,-0.128979],[-0.011057,-0.163461,0.986488]]
2025-10-26T22:48:07.882Z,1761518887.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:07.884Z,1761518887.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.39 m.
2025-10-26T22:48:07.887Z,1761518887.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.386444 m,
      nav range: 111.407272 m,
      bearing: 153.013528 deg,
      approach rate: -0.635630 m/s,
      LOS rate: 0.023053 deg/s,
      cmd heading: 146.855610 deg,
      new cmd heading: 146.881168 deg.

2025-10-26T22:48:07.888Z,1761518887.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563560 target range: 114.386444 and range: 115.00 m.
2025-10-26T22:48:07.963Z,1761518887.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008201
2025-10-26T22:48:08.008Z,1761518888.008 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:48:08.220Z,1761518888.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265717
2025-10-26T22:48:08.266Z,1761518888.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828450,-0.551521,-0.097440],[0.560012,-0.818097,-0.130785],[-0.007585,-0.162916,0.986611]]
2025-10-26T22:48:08.327Z,1761518888.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.39 m.
2025-10-26T22:48:08.330Z,1761518888.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.386444 m,
      nav range: 111.120789 m,
      bearing: 153.031592 deg,
      approach rate: -0.646975 m/s,
      LOS rate: 0.040901 deg/s,
      cmd heading: 146.881169 deg,
      new cmd heading: 146.935502 deg.

2025-10-26T22:48:08.331Z,1761518888.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564508 target range: 114.386444 and range: 115.00 m.
2025-10-26T22:48:08.472Z,1761518888.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517966
2025-10-26T22:48:08.673Z,1761518888.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829806,-0.550099,-0.093879],[0.558036,-0.819265,-0.131914],[-0.004346,-0.161851,0.986806]]
2025-10-26T22:48:08.695Z,1761518888.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.39 m.
2025-10-26T22:48:08.698Z,1761518888.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.386444 m,
      nav range: 110.882744 m,
      bearing: 153.046378 deg,
      approach rate: -0.646606 m/s,
      LOS rate: 0.040248 deg/s,
      cmd heading: 146.935496 deg,
      new cmd heading: 146.979947 deg.

2025-10-26T22:48:08.700Z,1761518888.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565284 target range: 114.386444 and range: 115.00 m.
2025-10-26T22:48:08.725Z,1761518888.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770222
2025-10-26T22:48:08.977Z,1761518888.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022381
2025-10-26T22:48:09.012Z,1761518889.012 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:48:09.074Z,1761518889.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831512,-0.547862,-0.091841],[0.555505,-0.820497,-0.134904],[-0.001447,-0.163192,0.986593]]
2025-10-26T22:48:09.105Z,1761518889.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.39 m.
2025-10-26T22:48:09.108Z,1761518889.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.386444 m,
      nav range: 110.617455 m,
      bearing: 153.062501 deg,
      approach rate: -0.646550 m/s,
      LOS rate: 0.039390 deg/s,
      cmd heading: 146.979947 deg,
      new cmd heading: 147.028435 deg.

2025-10-26T22:48:09.109Z,1761518889.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566130 target range: 114.386444 and range: 115.00 m.
2025-10-26T22:48:09.228Z,1761518889.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274013
2025-10-26T22:48:09.478Z,1761518889.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833289,-0.545529,-0.089593],[0.552835,-0.821884,-0.137403],[0.001322,-0.164027,0.986455]]
2025-10-26T22:48:09.480Z,1761518889.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526035
2025-10-26T22:48:09.536Z,1761518889.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.39 m.
2025-10-26T22:48:09.545Z,1761518889.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.386444 m,
      nav range: 110.354965 m,
      bearing: 153.078086 deg,
      approach rate: -0.616175 m/s,
      LOS rate: 0.036672 deg/s,
      cmd heading: 147.028428 deg,
      new cmd heading: 147.075294 deg.

2025-10-26T22:48:09.546Z,1761518889.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566948 target range: 114.386444 and range: 115.00 m.
2025-10-26T22:48:09.733Z,1761518889.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778550
2025-10-26T22:48:09.884Z,1761518889.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835276,-0.542917,-0.086925],[0.549819,-0.823679,-0.138753],[0.003733,-0.163690,0.986505]]
2025-10-26T22:48:09.901Z,1761518889.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:09.903Z,1761518889.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.39 m.
2025-10-26T22:48:09.905Z,1761518889.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.386444 m,
      nav range: 110.102135 m,
      bearing: 153.092689 deg,
      approach rate: -0.681126 m/s,
      LOS rate: 0.039429 deg/s,
      cmd heading: 147.075297 deg,
      new cmd heading: 147.119204 deg.

2025-10-26T22:48:09.906Z,1761518889.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.567714 target range: 114.386444 and range: 115.00 m.
2025-10-26T22:48:09.988Z,1761518889.988 [DAT](INFO): DAT read: Rx Time:22:48:08.6907

2025-10-26T22:48:09.988Z,1761518889.988 [DAT](INFO): Rx dataTimestamp_ set to:1761518889.988133
2025-10-26T22:48:09.989Z,1761518889.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034607
2025-10-26T22:48:10.241Z,1761518890.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286238
2025-10-26T22:48:10.294Z,1761518890.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837009,-0.540973,-0.082245],[0.547161,-0.825944,-0.135763],[0.005514,-0.158636,0.987322]]
2025-10-26T22:48:10.352Z,1761518890.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.39 m.
2025-10-26T22:48:10.354Z,1761518890.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.386444 m,
      nav range: 109.827217 m,
      bearing: 153.110070 deg,
      approach rate: -0.612613 m/s,
      LOS rate: 0.038828 deg/s,
      cmd heading: 147.119201 deg,
      new cmd heading: 147.171475 deg.

2025-10-26T22:48:10.375Z,1761518890.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568627 target range: 114.386444 and range: 115.00 m.
2025-10-26T22:48:10.505Z,1761518890.505 [DAT](INFO): DAT read: 22:48:08.6907 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412, 0.12, 2.178, 0.455, 2.167, 2.022, PHS= 0.257,-1.522, 0.101, RAW= 145.4,  13.6, CAL= 145.1,  14.8, ROT=   4.9, -14.8

2025-10-26T22:48:10.506Z,1761518890.506 [DAT](INFO): got valid direction response:
 22:48:08.6907 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412, 0.12, 2.178, 0.455, 2.167, 2.022, PHS= 0.257,-1.522, 0.101, RAW= 145.4,  13.6, CAL= 145.1,  14.8, ROT=   4.9, -14.8

2025-10-26T22:48:10.507Z,1761518890.507 [DAT](INFO): DAT read: Bearing 316.7,   2.2 (Local)

2025-10-26T22:48:10.508Z,1761518890.508 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.7,   2.2 (Local)

2025-10-26T22:48:10.509Z,1761518890.509 [DAT](INFO): DAT read: Range 11 to 50 : 112.5 m  (Round-trip  150.0 ms) speed  0.4 m/s

2025-10-26T22:48:10.510Z,1761518890.510 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:48:10.511Z,1761518890.511 [DAT](INFO): direction in FSK: [0.963290,0.082583,0.255446]
2025-10-26T22:48:10.511Z,1761518890.511 [DAT](INFO): publishing direction and range info
2025-10-26T22:48:10.519Z,1761518890.519 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:48:10.519Z,1761518890.519 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:48:10.519Z,1761518890.519 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:48:10.690Z,1761518890.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838726,-0.538686,-0.079726],[0.544512,-0.827815,-0.135017],[0.006733,-0.156655,0.987631]]
2025-10-26T22:48:10.746Z,1761518890.746 [DAT](INFO): DAT read: user:694>

2025-10-26T22:48:10.746Z,1761518890.746 [DAT](INFO): DAT read: Tx time:22:48:09.8866

2025-10-26T22:48:10.747Z,1761518890.747 [DAT](INFO): Ping request sent.
2025-10-26T22:48:10.747Z,1761518890.747 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:48:10.747Z,1761518890.747 [DAT](INFO): publishing transmit ping time
2025-10-26T22:48:10.748Z,1761518890.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001162
2025-10-26T22:48:10.794Z,1761518890.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 112.500000 m,
      deltaT: 3.793701 s,
      deltaX: -2.500000 m,
      approachRate: -0.658987 m/s,
      rangeRepo size: 4

2025-10-26T22:48:10.808Z,1761518890.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 111.916992 m,
      bearing: 154.213450 deg,
      lat: 36.779398 deg,
      lon: -121.859466 deg,
      deltaT: 3.793701 s,
      deltaX: -2.469452 m,
      approachRate: -0.650935 m/s,
      posRepo size: 4

2025-10-26T22:48:10.809Z,1761518890.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.92 m.
2025-10-26T22:48:10.827Z,1761518890.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.916992 m,
      nav range: 109.331566 m,
      bearing: 153.307031 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038828 deg/s,
      cmd heading: 147.171479 deg,
      new cmd heading: 147.222876 deg.

2025-10-26T22:48:10.828Z,1761518890.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569524 target range: 111.916992 and range: 112.50 m.
2025-10-26T22:48:10.996Z,1761518890.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249619
2025-10-26T22:48:11.097Z,1761518891.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840416,-0.536315,-0.077893],[0.541887,-0.829550,-0.134926],[0.007747,-0.155603,0.987789]]
2025-10-26T22:48:11.115Z,1761518891.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.92 m.
2025-10-26T22:48:11.117Z,1761518891.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.916992 m,
      nav range: 109.103874 m,
      bearing: 153.321207 deg,
      approach rate: -0.707222 m/s,
      LOS rate: 0.044121 deg/s,
      cmd heading: 147.222870 deg,
      new cmd heading: 147.265485 deg.

2025-10-26T22:48:11.118Z,1761518891.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570268 target range: 111.916992 and range: 112.50 m.
2025-10-26T22:48:11.253Z,1761518891.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505499
2025-10-26T22:48:11.499Z,1761518891.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842509,-0.533216,-0.076547],[0.538602,-0.831379,-0.136805],[0.009307,-0.156488,0.987636]]
2025-10-26T22:48:11.500Z,1761518891.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753686
2025-10-26T22:48:11.538Z,1761518891.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.92 m.
2025-10-26T22:48:11.557Z,1761518891.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.916992 m,
      nav range: 108.855530 m,
      bearing: 153.331415 deg,
      approach rate: -0.586677 m/s,
      LOS rate: 0.024170 deg/s,
      cmd heading: 147.265490 deg,
      new cmd heading: 147.296184 deg.

2025-10-26T22:48:11.558Z,1761518891.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570803 target range: 111.916992 and range: 112.50 m.
2025-10-26T22:48:11.756Z,1761518891.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008793
2025-10-26T22:48:11.902Z,1761518891.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844736,-0.530080,-0.073728],[0.535068,-0.833646,-0.136881],[0.011095,-0.155078,0.987840]]
2025-10-26T22:48:11.930Z,1761518891.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:11.932Z,1761518891.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.92 m.
2025-10-26T22:48:11.935Z,1761518891.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.916992 m,
      nav range: 108.624763 m,
      bearing: 153.340422 deg,
      approach rate: -0.584863 m/s,
      LOS rate: 0.022878 deg/s,
      cmd heading: 147.296185 deg,
      new cmd heading: 147.323266 deg.

2025-10-26T22:48:11.936Z,1761518891.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.571276 target range: 111.916992 and range: 112.50 m.
2025-10-26T22:48:12.005Z,1761518892.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257804
2025-10-26T22:48:12.256Z,1761518892.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509696
2025-10-26T22:48:12.313Z,1761518892.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846675,-0.527267,-0.071628],[0.531960,-0.835534,-0.137480],[0.012641,-0.154504,0.987911]]
2025-10-26T22:48:12.374Z,1761518892.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.92 m.
2025-10-26T22:48:12.381Z,1761518892.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.916992 m,
      nav range: 108.393570 m,
      bearing: 153.339999 deg,
      approach rate: -0.523593 m/s,
      LOS rate: -0.000962 deg/s,
      cmd heading: 147.323260 deg,
      new cmd heading: 147.321986 deg.

2025-10-26T22:48:12.382Z,1761518892.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.571254 target range: 111.916992 and range: 112.50 m.
2025-10-26T22:48:12.508Z,1761518892.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761692
2025-10-26T22:48:12.721Z,1761518892.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848779,-0.523865,-0.071687],[0.528564,-0.837082,-0.141113],[0.013917,-0.157665,0.987395]]
2025-10-26T22:48:12.761Z,1761518892.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013750
2025-10-26T22:48:12.765Z,1761518892.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.92 m.
2025-10-26T22:48:12.767Z,1761518892.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.916992 m,
      nav range: 108.164551 m,
      bearing: 153.339130 deg,
      approach rate: -0.586408 m/s,
      LOS rate: -0.002230 deg/s,
      cmd heading: 147.321989 deg,
      new cmd heading: 147.319376 deg.

2025-10-26T22:48:12.768Z,1761518892.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.571208 target range: 111.916992 and range: 112.50 m.
2025-10-26T22:48:13.013Z,1761518893.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265895
2025-10-26T22:48:13.114Z,1761518893.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850612,-0.520756,-0.072609],[0.525589,-0.838282,-0.145051],[0.014669,-0.161545,0.986756]]
2025-10-26T22:48:13.132Z,1761518893.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.92 m.
2025-10-26T22:48:13.135Z,1761518893.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.916992 m,
      nav range: 107.960068 m,
      bearing: 153.338011 deg,
      approach rate: -0.556120 m/s,
      LOS rate: -0.003047 deg/s,
      cmd heading: 147.319380 deg,
      new cmd heading: 147.316019 deg.

2025-10-26T22:48:13.136Z,1761518893.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.571150 target range: 111.916992 and range: 112.50 m.
2025-10-26T22:48:13.267Z,1761518893.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520082
2025-10-26T22:48:13.516Z,1761518893.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769551
2025-10-26T22:48:13.520Z,1761518893.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852170,-0.517903,-0.074714],[0.523051,-0.839009,-0.149939],[0.014968,-0.166853,0.985868]]
2025-10-26T22:48:13.570Z,1761518893.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.92 m.
2025-10-26T22:48:13.573Z,1761518893.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.916992 m,
      nav range: 107.736015 m,
      bearing: 153.323948 deg,
      approach rate: -0.511716 m/s,
      LOS rate: -0.032186 deg/s,
      cmd heading: 147.316020 deg,
      new cmd heading: 147.273742 deg.

2025-10-26T22:48:13.574Z,1761518893.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570412 target range: 111.916992 and range: 112.50 m.
2025-10-26T22:48:13.768Z,1761518893.768 [DAT](INFO): DAT read: Rx Time:22:48:12.4381

2025-10-26T22:48:13.769Z,1761518893.769 [DAT](INFO): Rx dataTimestamp_ set to:1761518893.768568
2025-10-26T22:48:13.770Z,1761518893.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022974
2025-10-26T22:48:13.923Z,1761518893.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853382,-0.516007,-0.074006],[0.521074,-0.840338,-0.149376],[0.014889,-0.166037,0.986007]]
2025-10-26T22:48:13.939Z,1761518893.939 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:13.941Z,1761518893.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.92 m.
2025-10-26T22:48:13.949Z,1761518893.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.916992 m,
      nav range: 107.546196 m,
      bearing: 153.311738 deg,
      approach rate: -0.511365 m/s,
      LOS rate: -0.032950 deg/s,
      cmd heading: 147.273741 deg,
      new cmd heading: 147.237048 deg.

2025-10-26T22:48:13.950Z,1761518893.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569771 target range: 111.916992 and range: 112.50 m.
2025-10-26T22:48:14.022Z,1761518894.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274942
2025-10-26T22:48:14.289Z,1761518894.289 [DAT](INFO): DAT read: 22:48:12.4381 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 418,-0.17, 1.254,-0.474, 1.330, 1.079, PHS= 0.277,-1.508, 0.207, RAW= 148.0,  11.7, CAL= 147.8,  12.8, ROT=   2.2, -12.8

2025-10-26T22:48:14.291Z,1761518894.291 [DAT](INFO): got valid direction response:
 22:48:12.4381 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 418,-0.17, 1.254,-0.474, 1.330, 1.079, PHS= 0.277,-1.508, 0.207, RAW= 148.0,  11.7, CAL= 147.8,  12.8, ROT=   2.2, -12.8

2025-10-26T22:48:14.292Z,1761518894.292 [DAT](INFO): DAT read: Bearing 316.1,   0.6 (Local)

2025-10-26T22:48:14.293Z,1761518894.293 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.1,   0.6 (Local)

2025-10-26T22:48:14.295Z,1761518894.295 [DAT](INFO): DAT read: Range 11 to 50 : 110.5 m  (Round-trip  147.4 ms) speed  0.7 m/s

2025-10-26T22:48:14.297Z,1761518894.297 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:48:14.299Z,1761518894.299 [DAT](INFO): direction in FSK: [0.974431,0.037434,0.221548]
2025-10-26T22:48:14.299Z,1761518894.299 [DAT](INFO): publishing direction and range info
2025-10-26T22:48:14.304Z,1761518894.304 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:48:14.304Z,1761518894.304 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:48:14.304Z,1761518894.304 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:48:14.384Z,1761518894.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854318,-0.514832,-0.071333],[0.519578,-0.842417,-0.142734],[0.013392,-0.159003,0.987187]]
2025-10-26T22:48:14.476Z,1761518894.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 110.500000 m,
      deltaT: 3.779579 s,
      deltaX: -2.000000 m,
      approachRate: -0.529159 m/s,
      rangeRepo size: 4

2025-10-26T22:48:14.478Z,1761518894.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 109.939270 m,
      bearing: 152.942516 deg,
      lat: 36.779403 deg,
      lon: -121.859466 deg,
      deltaT: 3.779579 s,
      deltaX: -1.977722 m,
      approachRate: -0.523265 m/s,
      posRepo size: 4

2025-10-26T22:48:14.478Z,1761518894.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.94 m.
2025-10-26T22:48:14.485Z,1761518894.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.939270 m,
      nav range: 106.879387 m,
      bearing: 153.174569 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.032950 deg/s,
      cmd heading: 147.237049 deg,
      new cmd heading: 147.184705 deg.

2025-10-26T22:48:14.486Z,1761518894.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568858 target range: 109.939270 and range: 110.50 m.
2025-10-26T22:48:14.524Z,1761518894.524 [DAT](INFO): DAT read: user:695>

2025-10-26T22:48:14.525Z,1761518894.525 [DAT](INFO): DAT read: Tx time:22:48:13.6866

2025-10-26T22:48:14.525Z,1761518894.525 [DAT](INFO): Ping request sent.
2025-10-26T22:48:14.525Z,1761518894.525 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:48:14.525Z,1761518894.525 [DAT](INFO): publishing transmit ping time
2025-10-26T22:48:14.526Z,1761518894.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760
2025-10-26T22:48:14.778Z,1761518894.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252433
2025-10-26T22:48:14.828Z,1761518894.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853296,-0.516905,-0.068524],[0.521280,-0.842530,-0.135684],[0.012402,-0.151499,0.988380]]
2025-10-26T22:48:14.865Z,1761518894.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.94 m.
2025-10-26T22:48:14.868Z,1761518894.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.939270 m,
      nav range: 106.681755 m,
      bearing: 153.153655 deg,
      approach rate: -0.501353 m/s,
      LOS rate: -0.053154 deg/s,
      cmd heading: 147.184703 deg,
      new cmd heading: 147.121843 deg.

2025-10-26T22:48:14.869Z,1761518894.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.567760 target range: 109.939270 and range: 110.50 m.
2025-10-26T22:48:15.029Z,1761518895.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503570
2025-10-26T22:48:15.238Z,1761518895.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851675,-0.520064,-0.064673],[0.523933,-0.842128,-0.127730],[0.011965,-0.142669,0.989698]]
2025-10-26T22:48:15.284Z,1761518895.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757934
2025-10-26T22:48:15.338Z,1761518895.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.94 m.
2025-10-26T22:48:15.345Z,1761518895.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.939270 m,
      nav range: 106.452019 m,
      bearing: 153.129497 deg,
      approach rate: -0.485715 m/s,
      LOS rate: -0.051186 deg/s,
      cmd heading: 147.121838 deg,
      new cmd heading: 147.049207 deg.

2025-10-26T22:48:15.346Z,1761518895.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566493 target range: 109.939270 and range: 110.50 m.
2025-10-26T22:48:15.532Z,1761518895.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006977
2025-10-26T22:48:15.712Z,1761518895.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.94 m.
2025-10-26T22:48:15.717Z,1761518895.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.939270 m,
      nav range: 106.253059 m,
      bearing: 153.103225 deg,
      approach rate: -0.533070 m/s,
      LOS rate: -0.070521 deg/s,
      cmd heading: 147.049205 deg,
      new cmd heading: 146.970244 deg.

2025-10-26T22:48:15.718Z,1761518895.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565115 target range: 109.939270 and range: 110.50 m.
2025-10-26T22:48:15.786Z,1761518895.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261068
2025-10-26T22:48:16.036Z,1761518896.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511017
2025-10-26T22:48:16.060Z,1761518896.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846852,-0.527937,-0.064219],[0.531703,-0.837831,-0.123818],[0.011564,-0.139000,0.990225]]
2025-10-26T22:48:16.089Z,1761518896.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:16.091Z,1761518896.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.94 m.
2025-10-26T22:48:16.102Z,1761518896.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.939270 m,
      nav range: 106.070862 m,
      bearing: 153.079990 deg,
      approach rate: -0.480024 m/s,
      LOS rate: -0.061321 deg/s,
      cmd heading: 146.970248 deg,
      new cmd heading: 146.900424 deg.

2025-10-26T22:48:16.103Z,1761518896.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563896 target range: 109.939270 and range: 110.50 m.
2025-10-26T22:48:16.293Z,1761518896.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767150
2025-10-26T22:48:16.462Z,1761518896.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843917,-0.532258,-0.067120],[0.536335,-0.834238,-0.128027],[0.012149,-0.144042,0.989497]]
2025-10-26T22:48:16.513Z,1761518896.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.94 m.
2025-10-26T22:48:16.517Z,1761518896.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.939270 m,
      nav range: 105.857620 m,
      bearing: 153.055062 deg,
      approach rate: -0.504631 m/s,
      LOS rate: -0.059112 deg/s,
      cmd heading: 146.900430 deg,
      new cmd heading: 146.825494 deg.

2025-10-26T22:48:16.518Z,1761518896.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562588 target range: 109.939270 and range: 110.50 m.
2025-10-26T22:48:16.540Z,1761518896.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015055
2025-10-26T22:48:16.793Z,1761518896.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267930
2025-10-26T22:48:16.868Z,1761518896.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840923,-0.536682,-0.069436],[0.541011,-0.830791,-0.130739],[0.012478,-0.147508,0.988982]]
2025-10-26T22:48:16.885Z,1761518896.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.94 m.
2025-10-26T22:48:16.888Z,1761518896.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.939270 m,
      nav range: 105.675140 m,
      bearing: 153.034243 deg,
      approach rate: -0.490388 m/s,
      LOS rate: -0.056044 deg/s,
      cmd heading: 146.825489 deg,
      new cmd heading: 146.762925 deg.

2025-10-26T22:48:16.889Z,1761518896.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561496 target range: 109.939270 and range: 110.50 m.
2025-10-26T22:48:17.044Z,1761518897.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518979
2025-10-26T22:48:17.300Z,1761518897.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774097
2025-10-26T22:48:17.346Z,1761518897.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838218,-0.540738,-0.070658],[0.545178,-0.827798,-0.132409],[0.013108,-0.149509,0.988674]]
2025-10-26T22:48:17.397Z,1761518897.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.94 m.
2025-10-26T22:48:17.412Z,1761518897.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.939270 m,
      nav range: 105.408592 m,
      bearing: 153.015143 deg,
      approach rate: -0.521191 m/s,
      LOS rate: -0.037441 deg/s,
      cmd heading: 146.762925 deg,
      new cmd heading: 146.705481 deg.

2025-10-26T22:48:17.413Z,1761518897.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560494 target range: 109.939270 and range: 110.50 m.
2025-10-26T22:48:17.552Z,1761518897.552 [DAT](INFO): DAT read: Rx Time:22:48:16.2354

2025-10-26T22:48:17.552Z,1761518897.552 [DAT](INFO): Rx dataTimestamp_ set to:1761518897.551968
2025-10-26T22:48:17.553Z,1761518897.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027501
2025-10-26T22:48:17.738Z,1761518897.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835552,-0.544500,-0.073302],[0.549242,-0.824516,-0.136038],[0.013634,-0.153928,0.987988]]
2025-10-26T22:48:17.758Z,1761518897.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.94 m.
2025-10-26T22:48:17.770Z,1761518897.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.939270 m,
      nav range: 105.220131 m,
      bearing: 153.002099 deg,
      approach rate: -0.521738 m/s,
      LOS rate: -0.036177 deg/s,
      cmd heading: 146.705483 deg,
      new cmd heading: 146.666280 deg.

2025-10-26T22:48:17.793Z,1761518897.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559809 target range: 109.939270 and range: 110.50 m.
2025-10-26T22:48:17.800Z,1761518897.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275168
2025-10-26T22:48:18.059Z,1761518898.059 [DAT](INFO): DAT read: 22:48:16.2354 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406, 0.32, 1.282,-0.425, 1.330, 1.128, PHS= 0.256,-1.508, 0.158, RAW= 147.2,  12.7, CAL= 147.0,  13.9, ROT=   3.0, -13.9

2025-10-26T22:48:18.060Z,1761518898.060 [DAT](INFO): got valid direction response:
 22:48:16.2354 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406, 0.32, 1.282,-0.425, 1.330, 1.128, PHS= 0.256,-1.508, 0.158, RAW= 147.2,  12.7, CAL= 147.0,  13.9, ROT=   3.0, -13.9

2025-10-26T22:48:18.061Z,1761518898.061 [DAT](INFO): DAT read: Bearing 316.7,   1.6 (Local)

2025-10-26T22:48:18.061Z,1761518898.061 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.7,   1.6 (Local)

2025-10-26T22:48:18.063Z,1761518898.063 [DAT](INFO): DAT read: Range 11 to 50 : 108.5 m  (Round-trip  144.7 ms) speed  0.7 m/s

2025-10-26T22:48:18.063Z,1761518898.063 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:48:18.064Z,1761518898.064 [DAT](INFO): direction in FSK: [0.969386,0.050803,0.240228]
2025-10-26T22:48:18.065Z,1761518898.065 [DAT](INFO): publishing direction and range info
2025-10-26T22:48:18.068Z,1761518898.068 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:48:18.068Z,1761518898.068 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:48:18.068Z,1761518898.068 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:48:18.163Z,1761518898.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833888,-0.546170,-0.079558],[0.551752,-0.821206,-0.145567],[0.014171,-0.165283,0.986144]]
2025-10-26T22:48:18.210Z,1761518898.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 108.500000 m,
      deltaT: 3.779556 s,
      deltaX: -2.000000 m,
      approachRate: -0.529163 m/s,
      rangeRepo size: 4

2025-10-26T22:48:18.212Z,1761518898.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 107.953316 m,
      bearing: 151.820416 deg,
      lat: 36.779403 deg,
      lon: -121.859460 deg,
      deltaT: 3.779556 s,
      deltaX: -1.985954 m,
      approachRate: -0.525446 m/s,
      posRepo size: 4

2025-10-26T22:48:18.213Z,1761518898.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.95 m.
2025-10-26T22:48:18.223Z,1761518898.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.953316 m,
      nav range: 105.195816 m,
      bearing: 152.745273 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.036177 deg/s,
      cmd heading: 146.666278 deg,
      new cmd heading: 146.617302 deg.

2025-10-26T22:48:18.228Z,1761518898.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558955 target range: 107.953316 and range: 108.50 m.
2025-10-26T22:48:18.306Z,1761518898.306 [DAT](INFO): DAT read: user:696>

2025-10-26T22:48:18.309Z,1761518898.309 [DAT](INFO): DAT read: Tx time:22:48:17.4365

2025-10-26T22:48:18.310Z,1761518898.310 [DAT](INFO): Ping request sent.
2025-10-26T22:48:18.311Z,1761518898.311 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:48:18.312Z,1761518898.312 [DAT](INFO): publishing transmit ping time
2025-10-26T22:48:18.314Z,1761518898.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003401
2025-10-26T22:48:18.534Z,1761518898.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832848,-0.547272,-0.082808],[0.553306,-0.819211,-0.150813],[0.014698,-0.171422,0.985088]]
2025-10-26T22:48:18.556Z,1761518898.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246277
2025-10-26T22:48:18.587Z,1761518898.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:18.589Z,1761518898.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.95 m.
2025-10-26T22:48:18.592Z,1761518898.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.953316 m,
      nav range: 104.970436 m,
      bearing: 152.741308 deg,
      approach rate: -0.593993 m/s,
      LOS rate: -0.010472 deg/s,
      cmd heading: 146.617305 deg,
      new cmd heading: 146.605385 deg.

2025-10-26T22:48:18.593Z,1761518898.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558747 target range: 107.953316 and range: 108.50 m.
2025-10-26T22:48:18.809Z,1761518898.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498761
2025-10-26T22:48:18.939Z,1761518898.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832128,-0.548041,-0.084933],[0.554380,-0.817872,-0.154102],[0.014990,-0.175318,0.984398]]
2025-10-26T22:48:18.959Z,1761518898.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.95 m.
2025-10-26T22:48:18.962Z,1761518898.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.953316 m,
      nav range: 104.759300 m,
      bearing: 152.737736 deg,
      approach rate: -0.570451 m/s,
      LOS rate: -0.009670 deg/s,
      cmd heading: 146.605380 deg,
      new cmd heading: 146.594642 deg.

2025-10-26T22:48:18.963Z,1761518898.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558559 target range: 107.953316 and range: 108.50 m.
2025-10-26T22:48:19.061Z,1761518899.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750591
2025-10-26T22:48:19.316Z,1761518899.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004926
2025-10-26T22:48:19.390Z,1761518899.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831893,-0.548107,-0.086791],[0.554729,-0.817072,-0.157065],[0.015174,-0.178807,0.983767]]
2025-10-26T22:48:19.434Z,1761518899.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.95 m.
2025-10-26T22:48:19.437Z,1761518899.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.953316 m,
      nav range: 104.473381 m,
      bearing: 152.744309 deg,
      approach rate: -0.602186 m/s,
      LOS rate: 0.013882 deg/s,
      cmd heading: 146.594643 deg,
      new cmd heading: 146.614416 deg.

2025-10-26T22:48:19.438Z,1761518899.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558904 target range: 107.953316 and range: 108.50 m.
2025-10-26T22:48:19.564Z,1761518899.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254224
2025-10-26T22:48:19.748Z,1761518899.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832457,-0.547196,-0.087134],[0.553878,-0.817441,-0.158144],[0.015309,-0.179909,0.983564]]
2025-10-26T22:48:19.792Z,1761518899.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.95 m.
2025-10-26T22:48:19.795Z,1761518899.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.953316 m,
      nav range: 104.273445 m,
      bearing: 152.748814 deg,
      approach rate: -0.586013 m/s,
      LOS rate: 0.013229 deg/s,
      cmd heading: 146.614423 deg,
      new cmd heading: 146.627964 deg.

2025-10-26T22:48:19.800Z,1761518899.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559141 target range: 107.953316 and range: 108.50 m.
2025-10-26T22:48:19.816Z,1761518899.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506307
2025-10-26T22:48:20.069Z,1761518900.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758516
2025-10-26T22:48:20.152Z,1761518900.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833143,-0.546376,-0.085704],[0.552832,-0.818318,-0.157268],[0.015794,-0.178406,0.983830]]
2025-10-26T22:48:20.173Z,1761518900.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.95 m.
2025-10-26T22:48:20.175Z,1761518900.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.953316 m,
      nav range: 104.030220 m,
      bearing: 152.754151 deg,
      approach rate: -0.611712 m/s,
      LOS rate: 0.013453 deg/s,
      cmd heading: 146.627960 deg,
      new cmd heading: 146.644008 deg.

2025-10-26T22:48:20.176Z,1761518900.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559421 target range: 107.953316 and range: 108.50 m.
2025-10-26T22:48:20.323Z,1761518900.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012417
2025-10-26T22:48:20.574Z,1761518900.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263654
2025-10-26T22:48:20.608Z,1761518900.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:20.610Z,1761518900.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.95 m.
2025-10-26T22:48:20.613Z,1761518900.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.953316 m,
      nav range: 103.760056 m,
      bearing: 152.766904 deg,
      approach rate: -0.617919 m/s,
      LOS rate: 0.029246 deg/s,
      cmd heading: 146.644011 deg,
      new cmd heading: 146.682372 deg.

2025-10-26T22:48:20.614Z,1761518900.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560090 target range: 107.953316 and range: 108.50 m.
2025-10-26T22:48:20.824Z,1761518900.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514250
2025-10-26T22:48:20.959Z,1761518900.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834227,-0.545594,-0.079952],[0.551142,-0.820385,-0.152352],[0.017531,-0.171161,0.985087]]
2025-10-26T22:48:20.979Z,1761518900.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.95 m.
2025-10-26T22:48:20.982Z,1761518900.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.953316 m,
      nav range: 103.533501 m,
      bearing: 152.777400 deg,
      approach rate: -0.613952 m/s,
      LOS rate: 0.028504 deg/s,
      cmd heading: 146.682370 deg,
      new cmd heading: 146.713924 deg.

2025-10-26T22:48:20.983Z,1761518900.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560641 target range: 107.953316 and range: 108.50 m.
2025-10-26T22:48:21.077Z,1761518901.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766357
2025-10-26T22:48:21.333Z,1761518901.333 [DAT](INFO): DAT read: Rx Time:22:48:19.9822

2025-10-26T22:48:21.333Z,1761518901.333 [DAT](INFO): Rx dataTimestamp_ set to:1761518901.332714
2025-10-26T22:48:21.334Z,1761518901.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023392
2025-10-26T22:48:21.423Z,1761518901.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834590,-0.545475,-0.076911],[0.550575,-0.821391,-0.148944],[0.018071,-0.166653,0.985850]]
2025-10-26T22:48:21.481Z,1761518901.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.95 m.
2025-10-26T22:48:21.487Z,1761518901.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.953316 m,
      nav range: 103.225159 m,
      bearing: 152.795476 deg,
      approach rate: -0.614528 m/s,
      LOS rate: 0.036133 deg/s,
      cmd heading: 146.713925 deg,
      new cmd heading: 146.768315 deg.

2025-10-26T22:48:21.488Z,1761518901.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561590 target range: 107.953316 and range: 108.50 m.
2025-10-26T22:48:21.580Z,1761518901.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270216
2025-10-26T22:48:21.808Z,1761518901.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835072,-0.545003,-0.075011],[0.549823,-0.822162,-0.147458],[0.018694,-0.164380,0.986220]]
2025-10-26T22:48:21.826Z,1761518901.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.95 m.
2025-10-26T22:48:21.829Z,1761518901.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.953316 m,
      nav range: 103.000916 m,
      bearing: 152.808571 deg,
      approach rate: -0.648460 m/s,
      LOS rate: 0.037952 deg/s,
      cmd heading: 146.768321 deg,
      new cmd heading: 146.807693 deg.

2025-10-26T22:48:21.830Z,1761518901.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562278 target range: 107.953316 and range: 108.50 m.
2025-10-26T22:48:21.838Z,1761518901.838 [DAT](INFO): DAT read: 22:48:19.9822 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 406,-0.15,-1.992, 2.526,-1.997,-2.236, PHS= 0.346,-1.477, 0.195, RAW= 145.7,  10.7, CAL= 145.3,  11.7, ROT=   4.7, -11.7

2025-10-26T22:48:21.839Z,1761518901.839 [DAT](INFO): got valid direction response:
 22:48:19.9822 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 406,-0.15,-1.992, 2.526,-1.997,-2.236, PHS= 0.346,-1.477, 0.195, RAW= 145.7,  10.7, CAL= 145.3,  11.7, ROT=   4.7, -11.7

2025-10-26T22:48:21.840Z,1761518901.840 [DAT](INFO): DAT read: Bearing 313.8,   3.5 (Local)

2025-10-26T22:48:21.840Z,1761518901.840 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.8,   3.5 (Local)

2025-10-26T22:48:21.842Z,1761518901.842 [DAT](INFO): DAT read: Range 11 to 50 : 106.2 m  (Round-trip  141.6 ms) speed  0.4 m/s

2025-10-26T22:48:21.842Z,1761518901.842 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:48:21.844Z,1761518901.844 [DAT](INFO): direction in FSK: [0.975930,0.080236,0.202787]
2025-10-26T22:48:21.844Z,1761518901.844 [DAT](INFO): publishing direction and range info
2025-10-26T22:48:21.867Z,1761518901.867 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:48:21.868Z,1761518901.868 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:48:21.868Z,1761518901.868 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:48:22.084Z,1761518902.084 [DAT](INFO): DAT read: user:697>

2025-10-26T22:48:22.085Z,1761518902.085 [DAT](INFO): DAT read: Tx time:22:48:21.2365

2025-10-26T22:48:22.085Z,1761518902.085 [DAT](INFO): Ping request sent.
2025-10-26T22:48:22.086Z,1761518902.086 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:48:22.086Z,1761518902.086 [DAT](INFO): publishing transmit ping time
2025-10-26T22:48:22.086Z,1761518902.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-10-26T22:48:22.181Z,1761518902.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835354,-0.544911,-0.072503],[0.549369,-0.822869,-0.145190],[0.019455,-0.161116,0.986744]]
2025-10-26T22:48:22.211Z,1761518902.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 106.199997 m,
      deltaT: 3.778772 s,
      deltaX: -2.300003 m,
      approachRate: -0.608664 m/s,
      rangeRepo size: 4

2025-10-26T22:48:22.213Z,1761518902.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 105.642250 m,
      bearing: 153.233662 deg,
      lat: 36.779403 deg,
      lon: -121.859464 deg,
      deltaT: 3.778772 s,
      deltaX: -2.311066 m,
      approachRate: -0.611592 m/s,
      posRepo size: 4

2025-10-26T22:48:22.214Z,1761518902.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.64 m.
2025-10-26T22:48:22.216Z,1761518902.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.642250 m,
      nav range: 102.607513 m,
      bearing: 153.017566 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.037952 deg/s,
      cmd heading: 146.807690 deg,
      new cmd heading: 146.851372 deg.

2025-10-26T22:48:22.217Z,1761518902.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563040 target range: 105.642250 and range: 106.20 m.
2025-10-26T22:48:22.337Z,1761518902.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250905
2025-10-26T22:48:22.588Z,1761518902.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502820
2025-10-26T22:48:22.650Z,1761518902.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:22.652Z,1761518902.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.64 m.
2025-10-26T22:48:22.655Z,1761518902.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.642250 m,
      nav range: 102.332031 m,
      bearing: 153.032236 deg,
      approach rate: -0.623043 m/s,
      LOS rate: 0.033269 deg/s,
      cmd heading: 146.851376 deg,
      new cmd heading: 146.895506 deg.

2025-10-26T22:48:22.656Z,1761518902.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563810 target range: 105.642250 and range: 106.20 m.
2025-10-26T22:48:22.845Z,1761518902.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759381
2025-10-26T22:48:22.987Z,1761518902.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836215,-0.544075,-0.068748],[0.547971,-0.823999,-0.144063],[0.021733,-0.158140,0.987177]]
2025-10-26T22:48:23.090Z,1761518903.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.64 m.
2025-10-26T22:48:23.093Z,1761518903.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007076
2025-10-26T22:48:23.109Z,1761518903.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.642250 m,
      nav range: 102.092903 m,
      bearing: 153.044800 deg,
      approach rate: -0.546190 m/s,
      LOS rate: 0.028763 deg/s,
      cmd heading: 146.895512 deg,
      new cmd heading: 146.933291 deg.

2025-10-26T22:48:23.110Z,1761518903.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564470 target range: 105.642250 and range: 106.20 m.
2025-10-26T22:48:23.345Z,1761518903.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259062
2025-10-26T22:48:23.445Z,1761518903.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837056,-0.542876,-0.067989],[0.546636,-0.824629,-0.145520],[0.022934,-0.158974,0.987016]]
2025-10-26T22:48:23.494Z,1761518903.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.64 m.
2025-10-26T22:48:23.498Z,1761518903.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.642250 m,
      nav range: 101.822815 m,
      bearing: 153.050738 deg,
      approach rate: -0.667783 m/s,
      LOS rate: 0.014721 deg/s,
      cmd heading: 146.933297 deg,
      new cmd heading: 146.951159 deg.

2025-10-26T22:48:23.499Z,1761518903.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564782 target range: 105.642250 and range: 106.20 m.
2025-10-26T22:48:23.596Z,1761518903.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510881
2025-10-26T22:48:23.799Z,1761518903.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837341,-0.542655,-0.066228],[0.546164,-0.825114,-0.144540],[0.023790,-0.157200,0.987280]]
2025-10-26T22:48:23.823Z,1761518903.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.64 m.
2025-10-26T22:48:23.826Z,1761518903.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.642250 m,
      nav range: 101.629761 m,
      bearing: 153.054928 deg,
      approach rate: -0.587053 m/s,
      LOS rate: 0.012766 deg/s,
      cmd heading: 146.951165 deg,
      new cmd heading: 146.963759 deg.

2025-10-26T22:48:23.827Z,1761518903.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565001 target range: 105.642250 and range: 106.20 m.
2025-10-26T22:48:23.849Z,1761518903.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762987
2025-10-26T22:48:24.100Z,1761518904.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014811
2025-10-26T22:48:24.198Z,1761518904.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837650,-0.542329,-0.064979],[0.545665,-0.825576,-0.143782],[0.024333,-0.155896,0.987474]]
2025-10-26T22:48:24.261Z,1761518904.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.64 m.
2025-10-26T22:48:24.265Z,1761518904.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.642250 m,
      nav range: 101.372452 m,
      bearing: 153.060439 deg,
      approach rate: -0.589831 m/s,
      LOS rate: 0.012665 deg/s,
      cmd heading: 146.963760 deg,
      new cmd heading: 146.980335 deg.

2025-10-26T22:48:24.267Z,1761518904.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565291 target range: 105.642250 and range: 106.20 m.
2025-10-26T22:48:24.357Z,1761518904.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270823
2025-10-26T22:48:24.602Z,1761518904.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837480,-0.542699,-0.064072],[0.545908,-0.825543,-0.143053],[0.024740,-0.154782,0.987639]]
2025-10-26T22:48:24.604Z,1761518904.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518818
2025-10-26T22:48:24.653Z,1761518904.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:24.656Z,1761518904.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.64 m.
2025-10-26T22:48:24.658Z,1761518904.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.642250 m,
      nav range: 101.148232 m,
      bearing: 153.058803 deg,
      approach rate: -0.566489 m/s,
      LOS rate: -0.004144 deg/s,
      cmd heading: 146.980330 deg,
      new cmd heading: 146.975409 deg.

2025-10-26T22:48:24.659Z,1761518904.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565205 target range: 105.642250 and range: 106.20 m.
2025-10-26T22:48:24.856Z,1761518904.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770786
2025-10-26T22:48:25.024Z,1761518905.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837400,-0.542841,-0.063910],[0.546026,-0.825482,-0.142955],[0.024846,-0.154607,0.987664]]
2025-10-26T22:48:25.043Z,1761518905.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.64 m.
2025-10-26T22:48:25.045Z,1761518905.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.642250 m,
      nav range: 100.930695 m,
      bearing: 153.057224 deg,
      approach rate: -0.561718 m/s,
      LOS rate: -0.004086 deg/s,
      cmd heading: 146.975412 deg,
      new cmd heading: 146.970664 deg.

2025-10-26T22:48:25.046Z,1761518905.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565122 target range: 105.642250 and range: 106.20 m.
2025-10-26T22:48:25.109Z,1761518905.109 [DAT](INFO): DAT read: Rx Time:22:48:23.7793

2025-10-26T22:48:25.110Z,1761518905.110 [DAT](INFO): Rx dataTimestamp_ set to:1761518905.109621
2025-10-26T22:48:25.111Z,1761518905.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024918
2025-10-26T22:48:25.361Z,1761518905.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275023
2025-10-26T22:48:25.462Z,1761518905.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837150,-0.543248,-0.063728],[0.546412,-0.825319,-0.142421],[0.024774,-0.154049,0.987753]]
2025-10-26T22:48:25.507Z,1761518905.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.64 m.
2025-10-26T22:48:25.510Z,1761518905.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.642250 m,
      nav range: 100.675064 m,
      bearing: 153.047241 deg,
      approach rate: -0.550374 m/s,
      LOS rate: -0.021547 deg/s,
      cmd heading: 146.970658 deg,
      new cmd heading: 146.940635 deg.

2025-10-26T22:48:25.511Z,1761518905.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564598 target range: 105.642250 and range: 106.20 m.
2025-10-26T22:48:25.618Z,1761518905.618 [DAT](INFO): DAT read: 22:48:23.7793 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 409,-0.18, 2.119, 0.420, 2.131, 1.980, PHS= 0.241,-1.515, 0.107, RAW= 146.1,  13.7, CAL= 145.8,  15.0, ROT=   4.2, -15.0

2025-10-26T22:48:25.620Z,1761518905.620 [DAT](INFO): got valid direction response:
 22:48:23.7793 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 409,-0.18, 2.119, 0.420, 2.131, 1.980, PHS= 0.241,-1.515, 0.107, RAW= 146.1,  13.7, CAL= 145.8,  15.0, ROT=   4.2, -15.0

2025-10-26T22:48:25.620Z,1761518905.620 [DAT](INFO): DAT read: Bearing 316.1,   3.0 (Local)

2025-10-26T22:48:25.621Z,1761518905.621 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.1,   3.0 (Local)

2025-10-26T22:48:25.622Z,1761518905.622 [DAT](INFO): DAT read: Range 11 to 50 : 104.0 m  (Round-trip  138.7 ms) speed  0.4 m/s

2025-10-26T22:48:25.623Z,1761518905.623 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:48:25.624Z,1761518905.624 [DAT](INFO): direction in FSK: [0.963332,0.070743,0.258819]
2025-10-26T22:48:25.624Z,1761518905.624 [DAT](INFO): publishing direction and range info
2025-10-26T22:48:25.628Z,1761518905.628 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:48:25.628Z,1761518905.628 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:48:25.628Z,1761518905.628 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:48:25.825Z,1761518905.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837577,-0.542558,-0.063994],[0.545780,-0.825790,-0.142106],[0.024255,-0.153951,0.987781]]
2025-10-26T22:48:25.855Z,1761518905.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 104.000000 m,
      deltaT: 3.780413 s,
      deltaX: -2.199997 m,
      approachRate: -0.581946 m/s,
      rangeRepo size: 4

2025-10-26T22:48:25.857Z,1761518905.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 103.463005 m,
      bearing: 153.452791 deg,
      lat: 36.779403 deg,
      lon: -121.859464 deg,
      deltaT: 3.780413 s,
      deltaX: -2.179245 m,
      approachRate: -0.576457 m/s,
      posRepo size: 4

2025-10-26T22:48:25.858Z,1761518905.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.46 m.
2025-10-26T22:48:25.861Z,1761518905.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.463005 m,
      nav range: 100.486145 m,
      bearing: 153.039747 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021547 deg/s,
      cmd heading: 146.940633 deg,
      new cmd heading: 146.918188 deg.

2025-10-26T22:48:25.862Z,1761518905.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564206 target range: 103.463005 and range: 104.00 m.
2025-10-26T22:48:25.864Z,1761518905.864 [DAT](INFO): DAT read: user:698>

2025-10-26T22:48:25.865Z,1761518905.865 [DAT](INFO): DAT read: Tx time:22:48:24.9865

2025-10-26T22:48:25.865Z,1761518905.865 [DAT](INFO): Ping request sent.
2025-10-26T22:48:25.865Z,1761518905.865 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:48:25.866Z,1761518905.866 [DAT](INFO): publishing transmit ping time
2025-10-26T22:48:25.866Z,1761518905.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000770
2025-10-26T22:48:26.116Z,1761518906.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250823
2025-10-26T22:48:26.237Z,1761518906.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837856,-0.542014,-0.064944],[0.545414,-0.826209,-0.141075],[0.022808,-0.153622,0.987866]]
2025-10-26T22:48:26.262Z,1761518906.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.46 m.
2025-10-26T22:48:26.266Z,1761518906.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.463005 m,
      nav range: 100.263596 m,
      bearing: 153.030816 deg,
      approach rate: -0.546939 m/s,
      LOS rate: -0.021995 deg/s,
      cmd heading: 146.918189 deg,
      new cmd heading: 146.891339 deg.

2025-10-26T22:48:26.284Z,1761518906.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563737 target range: 103.463005 and range: 104.00 m.
2025-10-26T22:48:26.369Z,1761518906.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503021
2025-10-26T22:48:26.620Z,1761518906.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754799
2025-10-26T22:48:26.650Z,1761518906.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838086,-0.541421,-0.066899],[0.545127,-0.826371,-0.141231],[0.021182,-0.154832,0.987714]]
2025-10-26T22:48:26.685Z,1761518906.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:26.687Z,1761518906.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.46 m.
2025-10-26T22:48:26.690Z,1761518906.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.463005 m,
      nav range: 100.034386 m,
      bearing: 153.013457 deg,
      approach rate: -0.538474 m/s,
      LOS rate: -0.040876 deg/s,
      cmd heading: 146.891332 deg,
      new cmd heading: 146.839134 deg.

2025-10-26T22:48:26.691Z,1761518906.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562826 target range: 103.463005 and range: 104.00 m.
2025-10-26T22:48:26.872Z,1761518906.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006844
2025-10-26T22:48:27.076Z,1761518907.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838380,-0.540875,-0.067620],[0.544716,-0.826777,-0.140444],[0.020056,-0.154579,0.987777]]
2025-10-26T22:48:27.105Z,1761518907.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.46 m.
2025-10-26T22:48:27.108Z,1761518907.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.463005 m,
      nav range: 99.813248 m,
      bearing: 152.996561 deg,
      approach rate: -0.528179 m/s,
      LOS rate: -0.040444 deg/s,
      cmd heading: 146.839136 deg,
      new cmd heading: 146.788337 deg.

2025-10-26T22:48:27.109Z,1761518907.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561940 target range: 103.463005 and range: 104.00 m.
2025-10-26T22:48:27.127Z,1761518907.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261344
2025-10-26T22:48:27.376Z,1761518907.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510685
2025-10-26T22:48:27.470Z,1761518907.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838313,-0.540731,-0.069579],[0.544856,-0.826487,-0.141604],[0.019064,-0.156619,0.987475]]
2025-10-26T22:48:27.506Z,1761518907.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.46 m.
2025-10-26T22:48:27.525Z,1761518907.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.463005 m,
      nav range: 99.598610 m,
      bearing: 152.980130 deg,
      approach rate: -0.535406 m/s,
      LOS rate: -0.041075 deg/s,
      cmd heading: 146.788333 deg,
      new cmd heading: 146.738934 deg.

2025-10-26T22:48:27.526Z,1761518907.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561078 target range: 103.463005 and range: 104.00 m.
2025-10-26T22:48:27.628Z,1761518907.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762883
2025-10-26T22:48:27.865Z,1761518907.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837940,-0.541331,-0.069409],[0.545442,-0.826284,-0.140529],[0.018721,-0.155613,0.987641]]
2025-10-26T22:48:27.880Z,1761518907.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014923
2025-10-26T22:48:27.931Z,1761518907.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.46 m.
2025-10-26T22:48:27.938Z,1761518907.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.463005 m,
      nav range: 99.377113 m,
      bearing: 152.964696 deg,
      approach rate: -0.522027 m/s,
      LOS rate: -0.036457 deg/s,
      cmd heading: 146.738937 deg,
      new cmd heading: 146.692531 deg.

2025-10-26T22:48:27.939Z,1761518907.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560268 target range: 103.463005 and range: 104.00 m.
2025-10-26T22:48:28.135Z,1761518908.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269663
2025-10-26T22:48:28.320Z,1761518908.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.46 m.
2025-10-26T22:48:28.322Z,1761518908.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.463005 m,
      nav range: 99.166046 m,
      bearing: 152.949924 deg,
      approach rate: -0.542684 m/s,
      LOS rate: -0.038061 deg/s,
      cmd heading: 146.692533 deg,
      new cmd heading: 146.648124 deg.

2025-10-26T22:48:28.340Z,1761518908.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559493 target range: 103.463005 and range: 104.00 m.
2025-10-26T22:48:28.385Z,1761518908.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518958
2025-10-26T22:48:28.636Z,1761518908.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770844
2025-10-26T22:48:28.694Z,1761518908.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837705,-0.542195,-0.065385],[0.545697,-0.826303,-0.139418],[0.021564,-0.152472,0.988073]]
2025-10-26T22:48:28.839Z,1761518908.839 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:28.841Z,1761518908.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.46 m.
2025-10-26T22:48:28.844Z,1761518908.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.463005 m,
      nav range: 98.883514 m,
      bearing: 152.932983 deg,
      approach rate: -0.541813 m/s,
      LOS rate: -0.032582 deg/s,
      cmd heading: 146.648123 deg,
      new cmd heading: 146.597153 deg.

2025-10-26T22:48:28.845Z,1761518908.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558603 target range: 103.463005 and range: 104.00 m.
2025-10-26T22:48:28.889Z,1761518908.889 [DAT](INFO): DAT read: Rx Time:22:48:27.5267

2025-10-26T22:48:28.889Z,1761518908.889 [DAT](INFO): Rx dataTimestamp_ set to:1761518908.888799
2025-10-26T22:48:28.890Z,1761518908.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024108
2025-10-26T22:48:29.141Z,1761518909.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275096
2025-10-26T22:48:29.175Z,1761518909.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.46 m.
2025-10-26T22:48:29.178Z,1761518909.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.463005 m,
      nav range: 98.701607 m,
      bearing: 152.922023 deg,
      approach rate: -0.544340 m/s,
      LOS rate: -0.032856 deg/s,
      cmd heading: 146.597156 deg,
      new cmd heading: 146.564216 deg.

2025-10-26T22:48:29.179Z,1761518909.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558028 target range: 103.463005 and range: 104.00 m.
2025-10-26T22:48:29.398Z,1761518909.398 [DAT](INFO): DAT read: 22:48:27.5267 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 414, 0.45, 2.769, 1.046, 2.823, 2.644, PHS= 0.227,-1.552, 0.136, RAW= 147.4,  13.6, CAL= 147.2,  15.0, ROT=   2.8, -15.0

2025-10-26T22:48:29.399Z,1761518909.399 [DAT](INFO): got valid direction response:
 22:48:27.5267 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 414, 0.45, 2.769, 1.046, 2.823, 2.644, PHS= 0.227,-1.552, 0.136, RAW= 147.4,  13.6, CAL= 147.2,  15.0, ROT=   2.8, -15.0

2025-10-26T22:48:29.400Z,1761518909.400 [DAT](INFO): DAT read: Bearing 316.2,   1.9 (Local)

2025-10-26T22:48:29.401Z,1761518909.401 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.2,   1.9 (Local)

2025-10-26T22:48:29.402Z,1761518909.402 [DAT](INFO): DAT read: Range 11 to 50 : 102.0 m  (Round-trip  136.1 ms) speed  0.5 m/s

2025-10-26T22:48:29.403Z,1761518909.403 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:48:29.404Z,1761518909.404 [DAT](INFO): direction in FSK: [0.964773,0.047185,0.258819]
2025-10-26T22:48:29.404Z,1761518909.404 [DAT](INFO): publishing direction and range info
2025-10-26T22:48:29.408Z,1761518909.408 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:48:29.408Z,1761518909.408 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:48:29.408Z,1761518909.408 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:48:29.569Z,1761518909.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837756,-0.542697,-0.060370],[0.545395,-0.826243,-0.140950],[0.026613,-0.151007,0.988174]]
2025-10-26T22:48:29.644Z,1761518909.644 [DAT](INFO): DAT read: user:699>

2025-10-26T22:48:29.645Z,1761518909.645 [DAT](INFO): DAT read: Tx time:22:48:28.7865

2025-10-26T22:48:29.645Z,1761518909.645 [DAT](INFO): Ping request sent.
2025-10-26T22:48:29.645Z,1761518909.645 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:48:29.646Z,1761518909.646 [DAT](INFO): publishing transmit ping time
2025-10-26T22:48:29.646Z,1761518909.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757
2025-10-26T22:48:29.658Z,1761518909.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 102.000000 m,
      deltaT: 3.779481 s,
      deltaX: -2.000000 m,
      approachRate: -0.529173 m/s,
      rangeRepo size: 4

2025-10-26T22:48:29.664Z,1761518909.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 101.480530 m,
      bearing: 152.050465 deg,
      lat: 36.779406 deg,
      lon: -121.859460 deg,
      deltaT: 3.779481 s,
      deltaX: -1.982475 m,
      approachRate: -0.524536 m/s,
      posRepo size: 4

2025-10-26T22:48:29.665Z,1761518909.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.48 m.
2025-10-26T22:48:29.672Z,1761518909.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.480530 m,
      nav range: 98.255447 m,
      bearing: 152.610613 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.032856 deg/s,
      cmd heading: 146.564221 deg,
      new cmd heading: 146.516712 deg.

2025-10-26T22:48:29.673Z,1761518909.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557199 target range: 101.480530 and range: 102.00 m.
2025-10-26T22:48:29.897Z,1761518909.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251676
2025-10-26T22:48:29.974Z,1761518909.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837221,-0.543728,-0.058489],[0.545992,-0.825053,-0.145531],[0.030873,-0.153776,0.987623]]
2025-10-26T22:48:29.993Z,1761518909.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.48 m.
2025-10-26T22:48:29.996Z,1761518909.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.480530 m,
      nav range: 98.055893 m,
      bearing: 152.604807 deg,
      approach rate: -0.594404 m/s,
      LOS rate: -0.017329 deg/s,
      cmd heading: 146.516710 deg,
      new cmd heading: 146.499257 deg.

2025-10-26T22:48:29.997Z,1761518909.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.556894 target range: 101.480530 and range: 102.00 m.
2025-10-26T22:48:30.148Z,1761518910.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502794
2025-10-26T22:48:30.375Z,1761518910.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836928,-0.544318,-0.057174],[0.546376,-0.824818,-0.145421],[0.031998,-0.152946,0.987716]]
2025-10-26T22:48:30.400Z,1761518910.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754928
2025-10-26T22:48:30.403Z,1761518910.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.48 m.
2025-10-26T22:48:30.406Z,1761518910.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.480530 m,
      nav range: 97.824272 m,
      bearing: 152.598099 deg,
      approach rate: -0.565366 m/s,
      LOS rate: -0.016413 deg/s,
      cmd heading: 146.499252 deg,
      new cmd heading: 146.479080 deg.

2025-10-26T22:48:30.407Z,1761518910.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.556542 target range: 101.480530 and range: 102.00 m.
2025-10-26T22:48:30.652Z,1761518910.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006852
2025-10-26T22:48:30.782Z,1761518910.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836218,-0.545574,-0.055575],[0.547415,-0.824360,-0.144107],[0.032807,-0.150928,0.988000]]
2025-10-26T22:48:30.831Z,1761518910.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.48 m.
2025-10-26T22:48:30.833Z,1761518910.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.480530 m,
      nav range: 97.581177 m,
      bearing: 152.596330 deg,
      approach rate: -0.567993 m/s,
      LOS rate: -0.004144 deg/s,
      cmd heading: 146.479076 deg,
      new cmd heading: 146.473754 deg.

2025-10-26T22:48:30.834Z,1761518910.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.556449 target range: 101.480530 and range: 102.00 m.
2025-10-26T22:48:30.905Z,1761518910.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259057
2025-10-26T22:48:31.156Z,1761518911.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510790
2025-10-26T22:48:31.186Z,1761518911.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835264,-0.546957,-0.056325],[0.548867,-0.823267,-0.144834],[0.032848,-0.151890,0.987852]]
2025-10-26T22:48:31.203Z,1761518911.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:31.205Z,1761518911.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.48 m.
2025-10-26T22:48:31.208Z,1761518911.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.480530 m,
      nav range: 97.369270 m,
      bearing: 152.595002 deg,
      approach rate: -0.566419 m/s,
      LOS rate: -0.003557 deg/s,
      cmd heading: 146.473748 deg,
      new cmd heading: 146.469756 deg.

2025-10-26T22:48:31.209Z,1761518911.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.556380 target range: 101.480530 and range: 102.00 m.
2025-10-26T22:48:31.409Z,1761518911.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763679
2025-10-26T22:48:31.582Z,1761518911.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833877,-0.549118,-0.055843],[0.550996,-0.822214,-0.142714],[0.032452,-0.149775,0.988187]]
2025-10-26T22:48:31.632Z,1761518911.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.48 m.
2025-10-26T22:48:31.634Z,1761518911.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.480530 m,
      nav range: 97.113792 m,
      bearing: 152.597797 deg,
      approach rate: -0.598850 m/s,
      LOS rate: 0.006568 deg/s,
      cmd heading: 146.469759 deg,
      new cmd heading: 146.478166 deg.

2025-10-26T22:48:31.635Z,1761518911.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.556526 target range: 101.480530 and range: 102.00 m.
2025-10-26T22:48:31.660Z,1761518911.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014873
2025-10-26T22:48:31.912Z,1761518911.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266918
2025-10-26T22:48:31.985Z,1761518911.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832375,-0.550878,-0.060707],[0.553307,-0.819753,-0.147838],[0.031676,-0.156646,0.987147]]
2025-10-26T22:48:32.003Z,1761518912.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.48 m.
2025-10-26T22:48:32.006Z,1761518912.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.480530 m,
      nav range: 96.891373 m,
      bearing: 152.600631 deg,
      approach rate: -0.598496 m/s,
      LOS rate: 0.007645 deg/s,
      cmd heading: 146.478161 deg,
      new cmd heading: 146.486684 deg.

2025-10-26T22:48:32.007Z,1761518912.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.556675 target range: 101.480530 and range: 102.00 m.
2025-10-26T22:48:32.167Z,1761518912.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521108
2025-10-26T22:48:32.386Z,1761518912.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831550,-0.551250,-0.068172],[0.554606,-0.817248,-0.156581],[0.030602,-0.168013,0.985310]]
2025-10-26T22:48:32.417Z,1761518912.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770995
2025-10-26T22:48:32.434Z,1761518912.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.48 m.
2025-10-26T22:48:32.441Z,1761518912.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.480530 m,
      nav range: 96.638245 m,
      bearing: 152.604155 deg,
      approach rate: -0.586940 m/s,
      LOS rate: 0.008193 deg/s,
      cmd heading: 146.486685 deg,
      new cmd heading: 146.497285 deg.

2025-10-26T22:48:32.442Z,1761518912.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.556860 target range: 101.480530 and range: 102.00 m.
2025-10-26T22:48:32.668Z,1761518912.668 [DAT](INFO): DAT read: Rx Time:22:48:31.3236

2025-10-26T22:48:32.669Z,1761518912.669 [DAT](INFO): Rx dataTimestamp_ set to:1761518912.668495
2025-10-26T22:48:32.669Z,1761518912.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023810
2025-10-26T22:48:32.841Z,1761518912.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.48 m.
2025-10-26T22:48:32.844Z,1761518912.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.480530 m,
      nav range: 96.385368 m,
      bearing: 152.610106 deg,
      approach rate: -0.621846 m/s,
      LOS rate: 0.014672 deg/s,
      cmd heading: 146.497285 deg,
      new cmd heading: 146.515185 deg.

2025-10-26T22:48:32.845Z,1761518912.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557172 target range: 101.480530 and range: 102.00 m.
2025-10-26T22:48:32.921Z,1761518912.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275222
2025-10-26T22:48:33.178Z,1761518913.178 [DAT](INFO): DAT read: 22:48:31.3236 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 414, 0.50, 0.294,-1.461, 0.284, 0.096, PHS= 0.300,-1.512, 0.144, RAW= 145.5,  12.2, CAL= 145.2,  13.4, ROT=   4.8, -13.4

2025-10-26T22:48:33.179Z,1761518913.179 [DAT](INFO): got valid direction response:
 22:48:31.3236 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 414, 0.50, 0.294,-1.461, 0.284, 0.096, PHS= 0.300,-1.512, 0.144, RAW= 145.5,  12.2, CAL= 145.2,  13.4, ROT=   4.8, -13.4

2025-10-26T22:48:33.188Z,1761518913.188 [DAT](INFO): DAT read: Bearing 313.8,   4.4 (Local)

2025-10-26T22:48:33.188Z,1761518913.188 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.8,   4.4 (Local)

2025-10-26T22:48:33.189Z,1761518913.189 [DAT](INFO): DAT read: Range 11 to 50 : 99.7 m  (Round-trip  133.0 ms) speed  0.5 m/s

2025-10-26T22:48:33.190Z,1761518913.190 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:48:33.191Z,1761518913.191 [DAT](INFO): direction in FSK: [0.969364,0.081400,0.231748]
2025-10-26T22:48:33.205Z,1761518913.205 [DAT](INFO): publishing direction and range info
2025-10-26T22:48:33.208Z,1761518913.208 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:48:33.208Z,1761518913.208 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:48:33.208Z,1761518913.208 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:48:33.215Z,1761518913.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829152,-0.552909,-0.082457],[0.558364,-0.811949,-0.170203],[0.027156,-0.187165,0.981953]]
2025-10-26T22:48:33.299Z,1761518913.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 99.699997 m,
      deltaT: 3.779990 s,
      deltaX: -2.300003 m,
      approachRate: -0.608468 m/s,
      rangeRepo size: 4

2025-10-26T22:48:33.305Z,1761518913.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 99.191422 m,
      bearing: 153.340569 deg,
      lat: 36.779406 deg,
      lon: -121.859464 deg,
      deltaT: 3.779990 s,
      deltaX: -2.289108 m,
      approachRate: -0.605586 m/s,
      posRepo size: 4

2025-10-26T22:48:33.306Z,1761518913.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.19 m.
2025-10-26T22:48:33.312Z,1761518913.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.191422 m,
      nav range: 95.963989 m,
      bearing: 152.819090 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014672 deg/s,
      cmd heading: 146.515180 deg,
      new cmd heading: 146.535297 deg.

2025-10-26T22:48:33.317Z,1761518913.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557523 target range: 99.191422 and range: 99.70 m.
2025-10-26T22:48:33.424Z,1761518913.424 [DAT](INFO): DAT read: user:700>

2025-10-26T22:48:33.425Z,1761518913.425 [DAT](INFO): DAT read: Tx time:22:48:32.5865

2025-10-26T22:48:33.425Z,1761518913.425 [DAT](INFO): Ping request sent.
2025-10-26T22:48:33.426Z,1761518913.426 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:48:33.426Z,1761518913.426 [DAT](INFO): publishing transmit ping time
2025-10-26T22:48:33.426Z,1761518913.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000786
2025-10-26T22:48:33.606Z,1761518913.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828353,-0.553169,-0.088517],[0.559640,-0.810010,-0.175179],[0.025204,-0.194648,0.980549]]
2025-10-26T22:48:33.641Z,1761518913.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:33.644Z,1761518913.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.19 m.
2025-10-26T22:48:33.646Z,1761518913.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.191422 m,
      nav range: 95.728447 m,
      bearing: 152.825165 deg,
      approach rate: -0.681870 m/s,
      LOS rate: 0.017631 deg/s,
      cmd heading: 146.535302 deg,
      new cmd heading: 146.553573 deg.

2025-10-26T22:48:33.647Z,1761518913.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557842 target range: 99.191422 and range: 99.70 m.
2025-10-26T22:48:33.677Z,1761518913.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251134
2025-10-26T22:48:33.928Z,1761518913.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502825
2025-10-26T22:48:34.002Z,1761518914.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827871,-0.553906,-0.088414],[0.560437,-0.810288,-0.171300],[0.023243,-0.191365,0.981244]]
2025-10-26T22:48:34.040Z,1761518914.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.19 m.
2025-10-26T22:48:34.042Z,1761518914.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.191422 m,
      nav range: 95.501984 m,
      bearing: 152.831140 deg,
      approach rate: -0.571793 m/s,
      LOS rate: 0.015122 deg/s,
      cmd heading: 146.553580 deg,
      new cmd heading: 146.571547 deg.

2025-10-26T22:48:34.052Z,1761518914.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558156 target range: 99.191422 and range: 99.70 m.
2025-10-26T22:48:34.184Z,1761518914.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758618
2025-10-26T22:48:34.408Z,1761518914.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826933,-0.555910,-0.084538],[0.561912,-0.811375,-0.161015],[0.020918,-0.180652,0.983325]]
2025-10-26T22:48:34.429Z,1761518914.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.19 m.
2025-10-26T22:48:34.432Z,1761518914.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006909
2025-10-26T22:48:34.434Z,1761518914.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.191422 m,
      nav range: 95.261002 m,
      bearing: 152.837710 deg,
      approach rate: -0.617911 m/s,
      LOS rate: 0.016889 deg/s,
      cmd heading: 146.571543 deg,
      new cmd heading: 146.591303 deg.

2025-10-26T22:48:34.435Z,1761518914.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558501 target range: 99.191422 and range: 99.70 m.
2025-10-26T22:48:34.684Z,1761518914.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258818
2025-10-26T22:48:34.810Z,1761518914.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826573,-0.556446,-0.084531],[0.562532,-0.811880,-0.156230],[0.018304,-0.176687,0.984097]]
2025-10-26T22:48:34.857Z,1761518914.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.19 m.
2025-10-26T22:48:34.860Z,1761518914.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.191422 m,
      nav range: 95.005524 m,
      bearing: 152.841263 deg,
      approach rate: -0.597052 m/s,
      LOS rate: 0.008327 deg/s,
      cmd heading: 146.591309 deg,
      new cmd heading: 146.601998 deg.

2025-10-26T22:48:34.861Z,1761518914.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558687 target range: 99.191422 and range: 99.70 m.
2025-10-26T22:48:34.937Z,1761518914.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511001
2025-10-26T22:48:35.189Z,1761518915.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763052
2025-10-26T22:48:35.221Z,1761518915.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825911,-0.557342,-0.085096],[0.563583,-0.811937,-0.152094],[0.015676,-0.173574,0.984696]]
2025-10-26T22:48:35.244Z,1761518915.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.19 m.
2025-10-26T22:48:35.249Z,1761518915.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.191422 m,
      nav range: 94.777748 m,
      bearing: 152.844592 deg,
      approach rate: -0.589254 m/s,
      LOS rate: 0.008633 deg/s,
      cmd heading: 146.601992 deg,
      new cmd heading: 146.612003 deg.

2025-10-26T22:48:35.251Z,1761518915.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558862 target range: 99.191422 and range: 99.70 m.
2025-10-26T22:48:35.441Z,1761518915.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015299
2025-10-26T22:48:35.627Z,1761518915.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824935,-0.558732,-0.085448],[0.565067,-0.811613,-0.148272],[0.013494,-0.170599,0.985248]]
2025-10-26T22:48:35.668Z,1761518915.668 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:35.670Z,1761518915.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.19 m.
2025-10-26T22:48:35.673Z,1761518915.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.191422 m,
      nav range: 94.521538 m,
      bearing: 152.843407 deg,
      approach rate: -0.600653 m/s,
      LOS rate: -0.002787 deg/s,
      cmd heading: 146.612005 deg,
      new cmd heading: 146.608439 deg.

2025-10-26T22:48:35.674Z,1761518915.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558800 target range: 99.191422 and range: 99.70 m.
2025-10-26T22:48:35.709Z,1761518915.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.283310
2025-10-26T22:48:35.960Z,1761518915.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534810
2025-10-26T22:48:36.024Z,1761518916.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823720,-0.560380,-0.086370],[0.566873,-0.810747,-0.146097],[0.011846,-0.169304,0.985493]]
2025-10-26T22:48:36.043Z,1761518916.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.19 m.
2025-10-26T22:48:36.046Z,1761518916.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.191422 m,
      nav range: 94.300018 m,
      bearing: 152.842657 deg,
      approach rate: -0.594694 m/s,
      LOS rate: -0.002019 deg/s,
      cmd heading: 146.608440 deg,
      new cmd heading: 146.606184 deg.

2025-10-26T22:48:36.047Z,1761518916.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558761 target range: 99.191422 and range: 99.70 m.
2025-10-26T22:48:36.213Z,1761518916.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787182
2025-10-26T22:48:36.427Z,1761518916.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822763,-0.561500,-0.088196],[0.568287,-0.809784,-0.145947],[0.010530,-0.170200,0.985353]]
2025-10-26T22:48:36.450Z,1761518916.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.19 m.
2025-10-26T22:48:36.453Z,1761518916.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.191422 m,
      nav range: 94.058907 m,
      bearing: 152.842094 deg,
      approach rate: -0.592734 m/s,
      LOS rate: -0.001387 deg/s,
      cmd heading: 146.606186 deg,
      new cmd heading: 146.604493 deg.

2025-10-26T22:48:36.454Z,1761518916.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558731 target range: 99.191422 and range: 99.70 m.
2025-10-26T22:48:36.465Z,1761518916.465 [DAT](INFO): DAT read: Rx Time:22:48:35.1207

2025-10-26T22:48:36.465Z,1761518916.465 [DAT](INFO): Rx dataTimestamp_ set to:1761518916.464830
2025-10-26T22:48:36.466Z,1761518916.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.040110
2025-10-26T22:48:36.717Z,1761518916.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291384
2025-10-26T22:48:36.831Z,1761518916.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821023,-0.564376,-0.086030],[0.570813,-0.808975,-0.140470],[0.009681,-0.164436,0.986340]]
2025-10-26T22:48:36.868Z,1761518916.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.19 m.
2025-10-26T22:48:36.871Z,1761518916.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.191422 m,
      nav range: 93.818764 m,
      bearing: 152.841355 deg,
      approach rate: -0.574642 m/s,
      LOS rate: -0.001774 deg/s,
      cmd heading: 146.604492 deg,
      new cmd heading: 146.602268 deg.

2025-10-26T22:48:36.872Z,1761518916.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558692 target range: 99.191422 and range: 99.70 m.
2025-10-26T22:48:36.977Z,1761518916.977 [DAT](INFO): DAT read: 22:48:35.1207 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 416, 0.11,-1.461, 3.044,-1.494,-1.703, PHS= 0.344,-1.491, 0.165, RAW= 144.9,  11.2, CAL= 144.5,  12.2, ROT=   5.5, -12.2

2025-10-26T22:48:36.979Z,1761518916.979 [DAT](INFO): got valid direction response:
 22:48:35.1207 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 416, 0.11,-1.461, 3.044,-1.494,-1.703, PHS= 0.344,-1.491, 0.165, RAW= 144.9,  11.2, CAL= 144.5,  12.2, ROT=   5.5, -12.2

2025-10-26T22:48:36.981Z,1761518916.981 [DAT](INFO): DAT read: Bearing 312.1,   3.9 (Local)

2025-10-26T22:48:36.982Z,1761518916.982 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.1,   3.9 (Local)

2025-10-26T22:48:36.984Z,1761518916.984 [DAT](INFO): DAT read: Range 11 to 50 : 97.5 m  (Round-trip  130.0 ms) speed  0.4 m/s

2025-10-26T22:48:36.985Z,1761518916.985 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:48:36.986Z,1761518916.986 [DAT](INFO): direction in FSK: [0.972916,0.093681,0.211325]
2025-10-26T22:48:36.987Z,1761518916.987 [DAT](INFO): publishing direction and range info
2025-10-26T22:48:36.990Z,1761518916.990 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:48:36.991Z,1761518916.991 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:48:36.991Z,1761518916.991 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:48:37.220Z,1761518917.220 [DAT](INFO): DAT read: user:701>

2025-10-26T22:48:37.221Z,1761518917.221 [DAT](INFO): DAT read: Tx time:22:48:36.3365

2025-10-26T22:48:37.221Z,1761518917.221 [DAT](INFO): Ping request sent.
2025-10-26T22:48:37.221Z,1761518917.221 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:48:37.222Z,1761518917.222 [DAT](INFO): publishing transmit ping time
2025-10-26T22:48:37.222Z,1761518917.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762
2025-10-26T22:48:37.244Z,1761518917.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819550,-0.566842,-0.083832],[0.572935,-0.808289,-0.135701],[0.009161,-0.159244,0.987197]]
2025-10-26T22:48:37.314Z,1761518917.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 97.500000 m,
      deltaT: 3.796695 s,
      deltaX: -2.199997 m,
      approachRate: -0.579451 m/s,
      rangeRepo size: 4

2025-10-26T22:48:37.320Z,1761518917.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 96.969826 m,
      bearing: 152.444080 deg,
      lat: 36.779400 deg,
      lon: -121.859464 deg,
      deltaT: 3.796695 s,
      deltaX: -2.221596 m,
      approachRate: -0.585139 m/s,
      posRepo size: 4

2025-10-26T22:48:37.321Z,1761518917.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.97 m.
2025-10-26T22:48:37.328Z,1761518917.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.969826 m,
      nav range: 94.226997 m,
      bearing: 153.040292 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001774 deg/s,
      cmd heading: 146.602265 deg,
      new cmd heading: 146.599893 deg.

2025-10-26T22:48:37.329Z,1761518917.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558651 target range: 96.969826 and range: 97.50 m.
2025-10-26T22:48:37.473Z,1761518917.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251205
2025-10-26T22:48:37.656Z,1761518917.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817945,-0.569694,-0.080094],[0.575229,-0.807747,-0.129062],[0.008830,-0.151638,0.988397]]
2025-10-26T22:48:37.749Z,1761518917.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.527279
2025-10-26T22:48:37.779Z,1761518917.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:37.782Z,1761518917.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.97 m.
2025-10-26T22:48:37.785Z,1761518917.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.969826 m,
      nav range: 93.939087 m,
      bearing: 153.039811 deg,
      approach rate: -0.614791 m/s,
      LOS rate: -0.001030 deg/s,
      cmd heading: 146.599888 deg,
      new cmd heading: 146.598441 deg.

2025-10-26T22:48:37.785Z,1761518917.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558625 target range: 96.969826 and range: 97.50 m.
2025-10-26T22:48:37.976Z,1761518917.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754984
2025-10-26T22:48:38.093Z,1761518918.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816394,-0.572300,-0.077288],[0.577435,-0.807033,-0.123558],[0.008338,-0.145501,0.989323]]
2025-10-26T22:48:38.111Z,1761518918.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.97 m.
2025-10-26T22:48:38.114Z,1761518918.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.969826 m,
      nav range: 93.753166 m,
      bearing: 153.039768 deg,
      approach rate: -0.564980 m/s,
      LOS rate: -0.000130 deg/s,
      cmd heading: 146.598440 deg,
      new cmd heading: 146.598312 deg.

2025-10-26T22:48:38.115Z,1761518918.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558623 target range: 96.969826 and range: 97.50 m.
2025-10-26T22:48:38.229Z,1761518918.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007225
2025-10-26T22:48:38.345Z,1761518918.345 [CTD_Seabird](ERROR): Failed to parse device response: .87
2025-10-26T22:48:38.488Z,1761518918.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.267033
2025-10-26T22:48:38.506Z,1761518918.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815801,-0.572968,-0.078589],[0.578283,-0.806383,-0.123834],[0.007580,-0.146471,0.989186]]
2025-10-26T22:48:38.525Z,1761518918.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.97 m.
2025-10-26T22:48:38.527Z,1761518918.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.969826 m,
      nav range: 93.520157 m,
      bearing: 153.039869 deg,
      approach rate: -0.563072 m/s,
      LOS rate: 0.000243 deg/s,
      cmd heading: 146.598317 deg,
      new cmd heading: 146.598619 deg.

2025-10-26T22:48:38.528Z,1761518918.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558629 target range: 96.969826 and range: 97.50 m.
2025-10-26T22:48:38.742Z,1761518918.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.520180
2025-10-26T22:48:38.898Z,1761518918.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815903,-0.572125,-0.083520],[0.578151,-0.805640,-0.129177],[0.006618,-0.153683,0.988098]]
2025-10-26T22:48:38.945Z,1761518918.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.97 m.
2025-10-26T22:48:38.948Z,1761518918.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.969826 m,
      nav range: 93.281425 m,
      bearing: 153.040631 deg,
      approach rate: -0.567794 m/s,
      LOS rate: 0.001816 deg/s,
      cmd heading: 146.598618 deg,
      new cmd heading: 146.600909 deg.

2025-10-26T22:48:38.949Z,1761518918.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558669 target range: 96.969826 and range: 97.50 m.
2025-10-26T22:48:38.993Z,1761518918.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771709
2025-10-26T22:48:39.133Z,1761518919.133 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:48:39.246Z,1761518919.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023789
2025-10-26T22:48:39.362Z,1761518919.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.97 m.
2025-10-26T22:48:39.365Z,1761518919.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.969826 m,
      nav range: 93.055313 m,
      bearing: 153.041356 deg,
      approach rate: -0.546020 m/s,
      LOS rate: 0.001755 deg/s,
      cmd heading: 146.600913 deg,
      new cmd heading: 146.603093 deg.

2025-10-26T22:48:39.366Z,1761518919.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558707 target range: 96.969826 and range: 97.50 m.
2025-10-26T22:48:39.496Z,1761518919.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274952
2025-10-26T22:48:39.718Z,1761518919.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818612,-0.567381,-0.089177],[0.574322,-0.807203,-0.136300],[0.005350,-0.162793,0.986646]]
2025-10-26T22:48:39.750Z,1761518919.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528194
2025-10-26T22:48:39.785Z,1761518919.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:39.787Z,1761518919.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.97 m.
2025-10-26T22:48:39.790Z,1761518919.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.969826 m,
      nav range: 92.808380 m,
      bearing: 153.042311 deg,
      approach rate: -0.577150 m/s,
      LOS rate: 0.002240 deg/s,
      cmd heading: 146.603098 deg,
      new cmd heading: 146.605973 deg.

2025-10-26T22:48:39.792Z,1761518919.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558757 target range: 96.969826 and range: 97.50 m.
2025-10-26T22:48:40.001Z,1761518920.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779413
2025-10-26T22:48:40.115Z,1761518920.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819887,-0.565835,-0.087270],[0.572501,-0.808849,-0.134186],[0.005339,-0.159980,0.987106]]
2025-10-26T22:48:40.136Z,1761518920.136 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:48:40.149Z,1761518920.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.97 m.
2025-10-26T22:48:40.156Z,1761518920.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.969826 m,
      nav range: 92.615417 m,
      bearing: 153.042789 deg,
      approach rate: -0.533296 m/s,
      LOS rate: 0.001323 deg/s,
      cmd heading: 146.605967 deg,
      new cmd heading: 146.607403 deg.

2025-10-26T22:48:40.157Z,1761518920.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558782 target range: 96.969826 and range: 97.50 m.
2025-10-26T22:48:40.253Z,1761518920.253 [DAT](INFO): DAT read: Rx Time:22:48:38.8679

2025-10-26T22:48:40.254Z,1761518920.254 [DAT](INFO): Rx dataTimestamp_ set to:1761518920.253883
2025-10-26T22:48:40.256Z,1761518920.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034292
2025-10-26T22:48:40.504Z,1761518920.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282796
2025-10-26T22:48:40.523Z,1761518920.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821497,-0.563969,-0.084155],[0.570176,-0.810761,-0.132535],[0.006517,-0.156860,0.987599]]
2025-10-26T22:48:40.561Z,1761518920.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.97 m.
2025-10-26T22:48:40.568Z,1761518920.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.969826 m,
      nav range: 92.385796 m,
      bearing: 153.042948 deg,
      approach rate: -0.556910 m/s,
      LOS rate: 0.000386 deg/s,
      cmd heading: 146.607401 deg,
      new cmd heading: 146.607879 deg.

2025-10-26T22:48:40.569Z,1761518920.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558790 target range: 96.969826 and range: 97.50 m.
2025-10-26T22:48:40.763Z,1761518920.763 [DAT](INFO): DAT read: 22:48:38.8679 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 420, 0.33, 0.369,-1.378, 0.328, 0.208, PHS= 0.263,-1.541, 0.077, RAW= 144.6,  13.9, CAL= 144.2,  15.1, ROT=   5.8, -15.1

2025-10-26T22:48:40.764Z,1761518920.764 [DAT](INFO): got valid direction response:
 22:48:38.8679 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 420, 0.33, 0.369,-1.378, 0.328, 0.208, PHS= 0.263,-1.541, 0.077, RAW= 144.6,  13.9, CAL= 144.2,  15.1, ROT=   5.8, -15.1

2025-10-26T22:48:40.765Z,1761518920.765 [DAT](INFO): DAT read: Bearing 314.6,   3.5 (Local)

2025-10-26T22:48:40.766Z,1761518920.766 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.6,   3.5 (Local)

2025-10-26T22:48:40.767Z,1761518920.767 [DAT](INFO): DAT read: Range 11 to 50 : 95.4 m  (Round-trip  127.3 ms) speed  0.5 m/s

2025-10-26T22:48:40.768Z,1761518920.768 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:48:40.771Z,1761518920.771 [DAT](INFO): direction in FSK: [0.960530,0.097567,0.260505]
2025-10-26T22:48:40.773Z,1761518920.773 [DAT](INFO): publishing direction and range info
2025-10-26T22:48:40.826Z,1761518920.826 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:48:40.826Z,1761518920.826 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:48:40.826Z,1761518920.826 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:48:40.923Z,1761518920.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823346,-0.561623,-0.081741],[0.567484,-0.812652,-0.132507],[0.007992,-0.155486,0.987806]]
2025-10-26T22:48:40.981Z,1761518920.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 95.400002 m,
      deltaT: 3.787828 s,
      deltaX: -2.099998 m,
      approachRate: -0.554407 m/s,
      rangeRepo size: 4

2025-10-26T22:48:40.983Z,1761518920.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 94.898376 m,
      bearing: 153.550870 deg,
      lat: 36.779400 deg,
      lon: -121.859471 deg,
      deltaT: 3.787828 s,
      deltaX: -2.071449 m,
      approachRate: -0.546870 m/s,
      posRepo size: 4

2025-10-26T22:48:40.984Z,1761518920.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m.
2025-10-26T22:48:40.986Z,1761518920.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.898376 m,
      nav range: 91.865181 m,
      bearing: 153.386915 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000386 deg/s,
      cmd heading: 146.607880 deg,
      new cmd heading: 146.608365 deg.

2025-10-26T22:48:40.987Z,1761518920.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558799 target range: 94.898376 and range: 95.40 m.
2025-10-26T22:48:41.008Z,1761518921.008 [DAT](INFO): DAT read: user:702>

2025-10-26T22:48:41.009Z,1761518921.009 [DAT](INFO): DAT read: Tx time:22:48:40.1865

2025-10-26T22:48:41.009Z,1761518921.009 [DAT](INFO): Ping request sent.
2025-10-26T22:48:41.009Z,1761518921.009 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:48:41.010Z,1761518921.010 [DAT](INFO): publishing transmit ping time
2025-10-26T22:48:41.010Z,1761518921.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-10-26T22:48:41.260Z,1761518921.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250991
2025-10-26T22:48:41.326Z,1761518921.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825250,-0.559284,-0.078505],[0.564689,-0.814817,-0.131145],[0.009380,-0.152558,0.988250]]
2025-10-26T22:48:41.352Z,1761518921.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m.
2025-10-26T22:48:41.354Z,1761518921.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.898376 m,
      nav range: 91.650772 m,
      bearing: 153.388473 deg,
      approach rate: -0.577388 m/s,
      LOS rate: 0.004207 deg/s,
      cmd heading: 146.608371 deg,
      new cmd heading: 146.613058 deg.

2025-10-26T22:48:41.359Z,1761518921.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558881 target range: 94.898376 and range: 95.40 m.
2025-10-26T22:48:41.513Z,1761518921.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503229
2025-10-26T22:48:41.741Z,1761518921.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827012,-0.557717,-0.070733],[0.562082,-0.817882,-0.123017],[0.010758,-0.141494,0.989881]]
2025-10-26T22:48:41.764Z,1761518921.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755095
2025-10-26T22:48:41.793Z,1761518921.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:41.795Z,1761518921.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m.
2025-10-26T22:48:41.798Z,1761518921.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.898376 m,
      nav range: 91.403465 m,
      bearing: 153.395527 deg,
      approach rate: -0.557614 m/s,
      LOS rate: 0.015948 deg/s,
      cmd heading: 146.613057 deg,
      new cmd heading: 146.634275 deg.

2025-10-26T22:48:41.799Z,1761518921.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559251 target range: 94.898376 and range: 95.40 m.
2025-10-26T22:48:42.017Z,1761518922.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007529
2025-10-26T22:48:42.134Z,1761518922.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828120,-0.556877,-0.064063],[0.560427,-0.820121,-0.115423],[0.011737,-0.131487,0.991248]]
2025-10-26T22:48:42.160Z,1761518922.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m.
2025-10-26T22:48:42.162Z,1761518922.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.898376 m,
      nav range: 91.199936 m,
      bearing: 153.401090 deg,
      approach rate: -0.558563 m/s,
      LOS rate: 0.015302 deg/s,
      cmd heading: 146.634271 deg,
      new cmd heading: 146.650998 deg.

2025-10-26T22:48:42.163Z,1761518922.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559543 target range: 94.898376 and range: 95.40 m.
2025-10-26T22:48:42.268Z,1761518922.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259043
2025-10-26T22:48:42.520Z,1761518922.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511009
2025-10-26T22:48:42.538Z,1761518922.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829063,-0.556008,-0.059249],[0.559010,-0.821763,-0.110514],[0.012758,-0.124744,0.992107]]
2025-10-26T22:48:42.557Z,1761518922.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m.
2025-10-26T22:48:42.576Z,1761518922.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.898376 m,
      nav range: 90.978470 m,
      bearing: 153.406923 deg,
      approach rate: -0.557602 m/s,
      LOS rate: 0.014722 deg/s,
      cmd heading: 146.650992 deg,
      new cmd heading: 146.668534 deg.

2025-10-26T22:48:42.577Z,1761518922.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559849 target range: 94.898376 and range: 95.40 m.
2025-10-26T22:48:42.776Z,1761518922.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766719
2025-10-26T22:48:42.942Z,1761518922.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830382,-0.553798,-0.061433],[0.557031,-0.822404,-0.115616],[0.013505,-0.130225,0.991392]]
2025-10-26T22:48:42.988Z,1761518922.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m.
2025-10-26T22:48:42.991Z,1761518922.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.898376 m,
      nav range: 90.734550 m,
      bearing: 153.419594 deg,
      approach rate: -0.565827 m/s,
      LOS rate: 0.029472 deg/s,
      cmd heading: 146.668532 deg,
      new cmd heading: 146.706647 deg.

2025-10-26T22:48:42.992Z,1761518922.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560514 target range: 94.898376 and range: 95.40 m.
2025-10-26T22:48:43.024Z,1761518923.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015037
2025-10-26T22:48:43.278Z,1761518923.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268156
2025-10-26T22:48:43.349Z,1761518923.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832005,-0.550577,-0.068070],[0.554605,-0.822498,-0.126136],[0.013460,-0.142698,0.989675]]
2025-10-26T22:48:43.372Z,1761518923.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m.
2025-10-26T22:48:43.374Z,1761518923.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.898376 m,
      nav range: 90.516289 m,
      bearing: 153.430602 deg,
      approach rate: -0.568736 m/s,
      LOS rate: 0.028751 deg/s,
      cmd heading: 146.706644 deg,
      new cmd heading: 146.739745 deg.

2025-10-26T22:48:43.375Z,1761518923.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561092 target range: 94.898376 and range: 95.40 m.
2025-10-26T22:48:43.528Z,1761518923.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518936
2025-10-26T22:48:43.758Z,1761518923.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833771,-0.547047,-0.074599],[0.551972,-0.822887,-0.134850],[0.012383,-0.153610,0.988054]]
2025-10-26T22:48:43.780Z,1761518923.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771023
2025-10-26T22:48:43.802Z,1761518923.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:43.804Z,1761518923.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m.
2025-10-26T22:48:43.807Z,1761518923.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.898376 m,
      nav range: 90.253365 m,
      bearing: 153.441472 deg,
      approach rate: -0.607905 m/s,
      LOS rate: 0.025207 deg/s,
      cmd heading: 146.739743 deg,
      new cmd heading: 146.772449 deg.

2025-10-26T22:48:43.808Z,1761518923.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561662 target range: 94.898376 and range: 95.40 m.
2025-10-26T22:48:44.033Z,1761518924.033 [DAT](INFO): DAT read: Rx Time:22:48:42.7150

2025-10-26T22:48:44.034Z,1761518924.034 [DAT](INFO): Rx dataTimestamp_ set to:1761518924.033612
2025-10-26T22:48:44.034Z,1761518924.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025081
2025-10-26T22:48:44.155Z,1761518924.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834904,-0.544980,-0.077018],[0.550289,-0.823778,-0.136281],[0.010825,-0.156164,0.987672]]
2025-10-26T22:48:44.177Z,1761518924.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m.
2025-10-26T22:48:44.180Z,1761518924.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.898376 m,
      nav range: 90.027443 m,
      bearing: 153.450581 deg,
      approach rate: -0.605055 m/s,
      LOS rate: 0.024456 deg/s,
      cmd heading: 146.772446 deg,
      new cmd heading: 146.799841 deg.

2025-10-26T22:48:44.181Z,1761518924.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562140 target range: 94.898376 and range: 95.40 m.
2025-10-26T22:48:44.285Z,1761518924.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275201
2025-10-26T22:48:44.542Z,1761518924.542 [DAT](INFO): DAT read: 22:48:42.7150 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 406, 0.06, 0.848,-0.882, 0.869, 0.684, PHS= 0.266,-1.521, 0.141, RAW= 146.4,  12.8, CAL= 146.1,  14.1, ROT=   3.9, -14.1

2025-10-26T22:48:44.543Z,1761518924.543 [DAT](INFO): got valid direction response:
 22:48:42.7150 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 406, 0.06, 0.848,-0.882, 0.869, 0.684, PHS= 0.266,-1.521, 0.141, RAW= 146.4,  12.8, CAL= 146.1,  14.1, ROT=   3.9, -14.1

2025-10-26T22:48:44.548Z,1761518924.548 [DAT](INFO): DAT read: Bearing 314.4,   2.2 (Local)

2025-10-26T22:48:44.548Z,1761518924.548 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.4,   2.2 (Local)

2025-10-26T22:48:44.549Z,1761518924.549 [DAT](INFO): DAT read: Range 11 to 50 : 93.3 m  (Round-trip  124.4 ms) speed  0.4 m/s

2025-10-26T22:48:44.550Z,1761518924.550 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:48:44.551Z,1761518924.551 [DAT](INFO): direction in FSK: [0.967626,0.065966,0.243615]
2025-10-26T22:48:44.552Z,1761518924.552 [DAT](INFO): publishing direction and range info
2025-10-26T22:48:44.555Z,1761518924.555 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:48:44.555Z,1761518924.555 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:48:44.556Z,1761518924.556 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:48:44.568Z,1761518924.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835597,-0.544017,-0.076304],[0.549263,-0.825017,-0.132877],[0.009335,-0.152943,0.988191]]
2025-10-26T22:48:44.636Z,1761518924.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 93.300003 m,
      deltaT: 3.779444 s,
      deltaX: -2.099998 m,
      approachRate: -0.555637 m/s,
      rangeRepo size: 4

2025-10-26T22:48:44.638Z,1761518924.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 92.815651 m,
      bearing: 152.739392 deg,
      lat: 36.779400 deg,
      lon: -121.859458 deg,
      deltaT: 3.779444 s,
      deltaX: -2.082726 m,
      approachRate: -0.551067 m/s,
      posRepo size: 4

2025-10-26T22:48:44.638Z,1761518924.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.82 m.
2025-10-26T22:48:44.650Z,1761518924.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.815651 m,
      nav range: 90.293076 m,
      bearing: 152.798891 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.024456 deg/s,
      cmd heading: 146.799835 deg,
      new cmd heading: 146.833107 deg.

2025-10-26T22:48:44.650Z,1761518924.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562721 target range: 92.815651 and range: 93.30 m.
2025-10-26T22:48:44.789Z,1761518924.789 [DAT](INFO): DAT read: user:703>

2025-10-26T22:48:44.789Z,1761518924.789 [DAT](INFO): DAT read: Tx time:22:48:43.9365

2025-10-26T22:48:44.790Z,1761518924.790 [DAT](INFO): Ping request sent.
2025-10-26T22:48:44.790Z,1761518924.790 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:48:44.790Z,1761518924.790 [DAT](INFO): publishing transmit ping time
2025-10-26T22:48:44.791Z,1761518924.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000763
2025-10-26T22:48:44.964Z,1761518924.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836400,-0.542867,-0.075694],[0.548057,-0.826206,-0.130453],[0.008280,-0.150596,0.988561]]
2025-10-26T22:48:45.005Z,1761518925.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.82 m.
2025-10-26T22:48:45.029Z,1761518925.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.815651 m,
      nav range: 90.066299 m,
      bearing: 152.802831 deg,
      approach rate: -0.605739 m/s,
      LOS rate: 0.010553 deg/s,
      cmd heading: 146.833112 deg,
      new cmd heading: 146.844964 deg.

2025-10-26T22:48:45.030Z,1761518925.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562928 target range: 92.815651 and range: 93.30 m.
2025-10-26T22:48:45.040Z,1761518925.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250542
2025-10-26T22:48:45.293Z,1761518925.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502707
2025-10-26T22:48:45.366Z,1761518925.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837238,-0.541660,-0.075079],[0.546790,-0.827406,-0.128143],[0.007289,-0.148338,0.988910]]
2025-10-26T22:48:45.398Z,1761518925.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.82 m.
2025-10-26T22:48:45.401Z,1761518925.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.815651 m,
      nav range: 89.836449 m,
      bearing: 152.806610 deg,
      approach rate: -0.585123 m/s,
      LOS rate: 0.009643 deg/s,
      cmd heading: 146.844969 deg,
      new cmd heading: 146.856334 deg.

2025-10-26T22:48:45.402Z,1761518925.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563127 target range: 92.815651 and range: 93.30 m.
2025-10-26T22:48:45.544Z,1761518925.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754491
2025-10-26T22:48:45.777Z,1761518925.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837853,-0.540928,-0.073478],[0.545856,-0.828533,-0.124800],[0.006629,-0.144672,0.989457]]
2025-10-26T22:48:45.796Z,1761518925.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006558
2025-10-26T22:48:45.825Z,1761518925.825 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:45.827Z,1761518925.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.82 m.
2025-10-26T22:48:45.830Z,1761518925.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.815651 m,
      nav range: 89.594337 m,
      bearing: 152.805751 deg,
      approach rate: -0.564767 m/s,
      LOS rate: -0.002010 deg/s,
      cmd heading: 146.856334 deg,
      new cmd heading: 146.853750 deg.

2025-10-26T22:48:45.831Z,1761518925.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563082 target range: 92.815651 and range: 93.30 m.
2025-10-26T22:48:46.049Z,1761518926.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259081
2025-10-26T22:48:46.178Z,1761518926.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837793,-0.541295,-0.071436],[0.545950,-0.828983,-0.121349],[0.006466,-0.140665,0.990036]]
2025-10-26T22:48:46.196Z,1761518926.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.82 m.
2025-10-26T22:48:46.199Z,1761518926.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.815651 m,
      nav range: 89.385292 m,
      bearing: 152.804997 deg,
      approach rate: -0.566246 m/s,
      LOS rate: -0.002046 deg/s,
      cmd heading: 146.853753 deg,
      new cmd heading: 146.851486 deg.

2025-10-26T22:48:46.200Z,1761518926.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563042 target range: 92.815651 and range: 93.30 m.
2025-10-26T22:48:46.300Z,1761518926.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510589
2025-10-26T22:48:46.552Z,1761518926.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762438
2025-10-26T22:48:46.578Z,1761518926.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837433,-0.541779,-0.071984],[0.546497,-0.828409,-0.122802],[0.006899,-0.142178,0.989817]]
2025-10-26T22:48:46.604Z,1761518926.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.82 m.
2025-10-26T22:48:46.606Z,1761518926.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.815651 m,
      nav range: 89.159256 m,
      bearing: 152.804283 deg,
      approach rate: -0.565625 m/s,
      LOS rate: -0.001792 deg/s,
      cmd heading: 146.851485 deg,
      new cmd heading: 146.849337 deg.

2025-10-26T22:48:46.616Z,1761518926.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563004 target range: 92.815651 and range: 93.30 m.
2025-10-26T22:48:46.804Z,1761518926.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014411
2025-10-26T22:48:46.983Z,1761518926.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837075,-0.542081,-0.073842],[0.547032,-0.827407,-0.127100],[0.007801,-0.146787,0.989137]]
2025-10-26T22:48:47.038Z,1761518927.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.82 m.
2025-10-26T22:48:47.045Z,1761518927.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.815651 m,
      nav range: 88.914970 m,
      bearing: 152.799855 deg,
      approach rate: -0.552047 m/s,
      LOS rate: -0.010033 deg/s,
      cmd heading: 146.849340 deg,
      new cmd heading: 146.836021 deg.

2025-10-26T22:48:47.046Z,1761518927.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562772 target range: 92.815651 and range: 93.30 m.
2025-10-26T22:48:47.057Z,1761518927.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266610
2025-10-26T22:48:47.309Z,1761518927.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519216
2025-10-26T22:48:47.400Z,1761518927.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836893,-0.542002,-0.076443],[0.547294,-0.826318,-0.132917],[0.008875,-0.153074,0.988175]]
2025-10-26T22:48:47.426Z,1761518927.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.82 m.
2025-10-26T22:48:47.429Z,1761518927.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.815651 m,
      nav range: 88.680061 m,
      bearing: 152.795689 deg,
      approach rate: -0.605564 m/s,
      LOS rate: -0.010768 deg/s,
      cmd heading: 146.836021 deg,
      new cmd heading: 146.823490 deg.

2025-10-26T22:48:47.430Z,1761518927.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562553 target range: 92.815651 and range: 93.30 m.
2025-10-26T22:48:47.561Z,1761518927.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770652
2025-10-26T22:48:47.804Z,1761518927.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836504,-0.542368,-0.078093],[0.547870,-0.825220,-0.137300],[0.010024,-0.157637,0.987446]]
2025-10-26T22:48:47.819Z,1761518927.819 [DAT](INFO): DAT read: Rx Time:22:48:46.4622

2025-10-26T22:48:47.820Z,1761518927.820 [DAT](INFO): Rx dataTimestamp_ set to:1761518927.819681
2025-10-26T22:48:47.820Z,1761518927.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030625
2025-10-26T22:48:47.849Z,1761518927.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:47.851Z,1761518927.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.82 m.
2025-10-26T22:48:47.853Z,1761518927.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.815651 m,
      nav range: 88.445671 m,
      bearing: 152.784419 deg,
      approach rate: -0.552048 m/s,
      LOS rate: -0.026616 deg/s,
      cmd heading: 146.823495 deg,
      new cmd heading: 146.789593 deg.

2025-10-26T22:48:47.854Z,1761518927.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561962 target range: 92.815651 and range: 93.30 m.
2025-10-26T22:48:48.077Z,1761518928.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286980
2025-10-26T22:48:48.195Z,1761518928.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835971,-0.542862,-0.080329],[0.548670,-0.823975,-0.141514],[0.010633,-0.162376,0.986672]]
2025-10-26T22:48:48.213Z,1761518928.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.82 m.
2025-10-26T22:48:48.222Z,1761518928.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.815651 m,
      nav range: 88.245277 m,
      bearing: 152.774908 deg,
      approach rate: -0.553555 m/s,
      LOS rate: -0.026332 deg/s,
      cmd heading: 146.789590 deg,
      new cmd heading: 146.760993 deg.

2025-10-26T22:48:48.249Z,1761518928.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561463 target range: 92.815651 and range: 93.30 m.
2025-10-26T22:48:48.334Z,1761518928.334 [DAT](INFO): DAT read: 22:48:46.4622 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 409,-0.07,-1.392, 3.132,-1.359,-1.577, PHS= 0.287,-1.529, 0.174, RAW= 146.8,  12.1, CAL= 146.5,  13.2, ROT=   3.5, -13.2

2025-10-26T22:48:48.336Z,1761518928.336 [DAT](INFO): got valid direction response:
 22:48:46.4622 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 409,-0.07,-1.392, 3.132,-1.359,-1.577, PHS= 0.287,-1.529, 0.174, RAW= 146.8,  12.1, CAL= 146.5,  13.2, ROT=   3.5, -13.2

2025-10-26T22:48:48.337Z,1761518928.337 [DAT](INFO): DAT read: Bearing 314.0,   1.7 (Local)

2025-10-26T22:48:48.338Z,1761518928.338 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.0,   1.7 (Local)

2025-10-26T22:48:48.340Z,1761518928.340 [DAT](INFO): DAT read: Range 11 to 50 : 91.1 m  (Round-trip  121.5 ms) speed  0.4 m/s

2025-10-26T22:48:48.341Z,1761518928.341 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:48:48.342Z,1761518928.342 [DAT](INFO): direction in FSK: [0.971763,0.059436,0.228351]
2025-10-26T22:48:48.343Z,1761518928.343 [DAT](INFO): publishing direction and range info
2025-10-26T22:48:48.346Z,1761518928.346 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:48:48.346Z,1761518928.346 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:48:48.346Z,1761518928.346 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:48:48.576Z,1761518928.576 [DAT](INFO): DAT read: user:704>

2025-10-26T22:48:48.577Z,1761518928.577 [DAT](INFO): DAT read: Tx time:22:48:47.6865

2025-10-26T22:48:48.577Z,1761518928.577 [DAT](INFO): Ping request sent.
2025-10-26T22:48:48.577Z,1761518928.577 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:48:48.578Z,1761518928.578 [DAT](INFO): publishing transmit ping time
2025-10-26T22:48:48.578Z,1761518928.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759
2025-10-26T22:48:48.603Z,1761518928.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835068,-0.544042,-0.081731],[0.550039,-0.822687,-0.143681],[0.010930,-0.164938,0.986243]]
2025-10-26T22:48:48.662Z,1761518928.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 91.099998 m,
      deltaT: 3.789000 s,
      deltaX: -2.200005 m,
      approachRate: -0.580629 m/s,
      rangeRepo size: 4

2025-10-26T22:48:48.668Z,1761518928.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 90.628059 m,
      bearing: 152.300765 deg,
      lat: 36.779400 deg,
      lon: -121.859458 deg,
      deltaT: 3.789000 s,
      deltaX: -2.187592 m,
      approachRate: -0.577353 m/s,
      posRepo size: 4

2025-10-26T22:48:48.669Z,1761518928.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.63 m.
2025-10-26T22:48:48.676Z,1761518928.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.628059 m,
      nav range: 88.010612 m,
      bearing: 152.763997 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026332 deg/s,
      cmd heading: 146.760999 deg,
      new cmd heading: 146.725555 deg.

2025-10-26T22:48:48.677Z,1761518928.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560844 target range: 90.628059 and range: 91.10 m.
2025-10-26T22:48:48.828Z,1761518928.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251036
2025-10-26T22:48:49.003Z,1761518929.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834402,-0.544443,-0.085765],[0.551048,-0.820986,-0.149426],[0.010941,-0.171942,0.985046]]
2025-10-26T22:48:49.064Z,1761518929.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.63 m.
2025-10-26T22:48:49.067Z,1761518929.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.628059 m,
      nav range: 87.787964 m,
      bearing: 152.753687 deg,
      approach rate: -0.552371 m/s,
      LOS rate: -0.025644 deg/s,
      cmd heading: 146.725550 deg,
      new cmd heading: 146.694540 deg.

2025-10-26T22:48:49.072Z,1761518929.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560303 target range: 90.628059 and range: 91.10 m.
2025-10-26T22:48:49.081Z,1761518929.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503133
2025-10-26T22:48:49.332Z,1761518929.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754975
2025-10-26T22:48:49.406Z,1761518929.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834007,-0.544346,-0.090106],[0.551655,-0.819579,-0.154816],[0.010424,-0.178825,0.983826]]
2025-10-26T22:48:49.424Z,1761518929.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.63 m.
2025-10-26T22:48:49.427Z,1761518929.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.628059 m,
      nav range: 87.579750 m,
      bearing: 152.744162 deg,
      approach rate: -0.578613 m/s,
      LOS rate: -0.026532 deg/s,
      cmd heading: 146.694541 deg,
      new cmd heading: 146.665898 deg.

2025-10-26T22:48:49.428Z,1761518929.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559803 target range: 90.628059 and range: 91.10 m.
2025-10-26T22:48:49.585Z,1761518929.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007205
2025-10-26T22:48:49.833Z,1761518929.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833598,-0.544645,-0.092069],[0.552292,-0.818992,-0.155646],[0.009368,-0.180595,0.983513]]
2025-10-26T22:48:49.836Z,1761518929.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259018
2025-10-26T22:48:49.893Z,1761518929.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:49.899Z,1761518929.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.63 m.
2025-10-26T22:48:49.902Z,1761518929.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.628059 m,
      nav range: 87.336044 m,
      bearing: 152.730812 deg,
      approach rate: -0.517505 m/s,
      LOS rate: -0.028427 deg/s,
      cmd heading: 146.665895 deg,
      new cmd heading: 146.625734 deg.

2025-10-26T22:48:49.903Z,1761518929.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559102 target range: 90.628059 and range: 91.10 m.
2025-10-26T22:48:50.088Z,1761518930.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510878
2025-10-26T22:48:50.220Z,1761518930.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832995,-0.545519,-0.092352],[0.553213,-0.818591,-0.154481],[0.008674,-0.179772,0.983670]]
2025-10-26T22:48:50.261Z,1761518930.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.63 m.
2025-10-26T22:48:50.264Z,1761518930.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.628059 m,
      nav range: 87.131332 m,
      bearing: 152.719682 deg,
      approach rate: -0.559492 m/s,
      LOS rate: -0.030490 deg/s,
      cmd heading: 146.625734 deg,
      new cmd heading: 146.592266 deg.

2025-10-26T22:48:50.265Z,1761518930.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558518 target range: 90.628059 and range: 91.10 m.
2025-10-26T22:48:50.341Z,1761518930.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763688
2025-10-26T22:48:50.592Z,1761518930.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015051
2025-10-26T22:48:50.625Z,1761518930.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832702,-0.545983,-0.092248],[0.553672,-0.818761,-0.151916],[0.007415,-0.177576,0.984079]]
2025-10-26T22:48:50.643Z,1761518930.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.63 m.
2025-10-26T22:48:50.646Z,1761518930.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.628059 m,
      nav range: 86.914787 m,
      bearing: 152.707909 deg,
      approach rate: -0.566893 m/s,
      LOS rate: -0.030897 deg/s,
      cmd heading: 146.592266 deg,
      new cmd heading: 146.556859 deg.

2025-10-26T22:48:50.647Z,1761518930.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557900 target range: 90.628059 and range: 91.10 m.
2025-10-26T22:48:50.844Z,1761518930.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266894
2025-10-26T22:48:51.022Z,1761518931.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832643,-0.546549,-0.089391],[0.553772,-0.819760,-0.146047],[0.006543,-0.171107,0.985231]]
2025-10-26T22:48:51.072Z,1761518931.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.63 m.
2025-10-26T22:48:51.074Z,1761518931.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.628059 m,
      nav range: 86.676285 m,
      bearing: 152.700738 deg,
      approach rate: -0.556747 m/s,
      LOS rate: -0.016787 deg/s,
      cmd heading: 146.556858 deg,
      new cmd heading: 146.535285 deg.

2025-10-26T22:48:51.075Z,1761518931.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557523 target range: 90.628059 and range: 91.10 m.
2025-10-26T22:48:51.096Z,1761518931.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518966
2025-10-26T22:48:51.349Z,1761518931.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771514
2025-10-26T22:48:51.432Z,1761518931.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832702,-0.547349,-0.083764],[0.553681,-0.821237,-0.137868],[0.006672,-0.161181,0.986902]]
2025-10-26T22:48:51.454Z,1761518931.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.63 m.
2025-10-26T22:48:51.458Z,1761518931.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.628059 m,
      nav range: 86.463463 m,
      bearing: 152.694250 deg,
      approach rate: -0.555507 m/s,
      LOS rate: -0.016975 deg/s,
      cmd heading: 146.535288 deg,
      new cmd heading: 146.515778 deg.

2025-10-26T22:48:51.459Z,1761518931.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557183 target range: 90.628059 and range: 91.10 m.
2025-10-26T22:48:51.601Z,1761518931.601 [DAT](INFO): DAT read: Rx Time:22:48:50.2095

2025-10-26T22:48:51.601Z,1761518931.601 [DAT](INFO): Rx dataTimestamp_ set to:1761518931.601043
2025-10-26T22:48:51.602Z,1761518931.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024442
2025-10-26T22:48:51.855Z,1761518931.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277472
2025-10-26T22:48:51.861Z,1761518931.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832971,-0.547641,-0.079053],[0.553271,-0.822508,-0.131800],[0.007157,-0.153524,0.988119]]
2025-10-26T22:48:51.912Z,1761518931.912 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:51.914Z,1761518931.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.63 m.
2025-10-26T22:48:51.917Z,1761518931.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.628059 m,
      nav range: 86.193924 m,
      bearing: 152.698275 deg,
      approach rate: -0.586164 m/s,
      LOS rate: 0.008778 deg/s,
      cmd heading: 146.515781 deg,
      new cmd heading: 146.527891 deg.

2025-10-26T22:48:51.918Z,1761518931.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557394 target range: 90.628059 and range: 91.10 m.
2025-10-26T22:48:52.110Z,1761518932.110 [DAT](INFO): DAT read: 22:48:50.2095 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 414,-0.20, 1.413,-0.403, 1.471, 1.202, PHS= 0.313,-1.561, 0.225, RAW= 147.6,  11.2, CAL= 147.3,  12.2, ROT=   2.7, -12.2

2025-10-26T22:48:52.111Z,1761518932.111 [DAT](INFO): got valid direction response:
 22:48:50.2095 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 414,-0.20, 1.413,-0.403, 1.471, 1.202, PHS= 0.313,-1.561, 0.225, RAW= 147.6,  11.2, CAL= 147.3,  12.2, ROT=   2.7, -12.2

2025-10-26T22:48:52.112Z,1761518932.112 [DAT](INFO): DAT read: Bearing 312.6,   1.1 (Local)

2025-10-26T22:48:52.112Z,1761518932.112 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.6,   1.1 (Local)

2025-10-26T22:48:52.113Z,1761518932.113 [DAT](INFO): DAT read: Range 11 to 50 : 89.1 m  (Round-trip  118.9 ms) speed  0.5 m/s

2025-10-26T22:48:52.114Z,1761518932.114 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:48:52.115Z,1761518932.115 [DAT](INFO): direction in FSK: [0.976331,0.046043,0.211325]
2025-10-26T22:48:52.115Z,1761518932.115 [DAT](INFO): publishing direction and range info
2025-10-26T22:48:52.119Z,1761518932.119 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:48:52.119Z,1761518932.119 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:48:52.119Z,1761518932.119 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:48:52.266Z,1761518932.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833620,-0.547351,-0.074062],[0.552270,-0.823869,-0.127429],[0.008731,-0.147129,0.989079]]
2025-10-26T22:48:52.330Z,1761518932.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 89.099998 m,
      deltaT: 3.779160 s,
      deltaX: -2.000000 m,
      approachRate: -0.529218 m/s,
      rangeRepo size: 4

2025-10-26T22:48:52.336Z,1761518932.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 88.647812 m,
      bearing: 150.972063 deg,
      lat: 36.779400 deg,
      lon: -121.859451 deg,
      deltaT: 3.779160 s,
      deltaX: -1.980247 m,
      approachRate: -0.523991 m/s,
      posRepo size: 4

2025-10-26T22:48:52.337Z,1761518932.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.65 m.
2025-10-26T22:48:52.344Z,1761518932.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.647812 m,
      nav range: 86.196716 m,
      bearing: 152.284670 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008778 deg/s,
      cmd heading: 146.527898 deg,
      new cmd heading: 146.538829 deg.

2025-10-26T22:48:52.345Z,1761518932.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557585 target range: 88.647812 and range: 89.10 m.
2025-10-26T22:48:52.356Z,1761518932.356 [DAT](INFO): DAT read: user:705>

2025-10-26T22:48:52.357Z,1761518932.357 [DAT](INFO): DAT read: Tx time:22:48:51.4864

2025-10-26T22:48:52.357Z,1761518932.357 [DAT](INFO): Ping request sent.
2025-10-26T22:48:52.358Z,1761518932.358 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:48:52.358Z,1761518932.358 [DAT](INFO): publishing transmit ping time
2025-10-26T22:48:52.358Z,1761518932.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-10-26T22:48:52.608Z,1761518932.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250840
2025-10-26T22:48:52.661Z,1761518932.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834040,-0.547276,-0.069765],[0.551600,-0.824725,-0.124768],[0.010746,-0.142543,0.989730]]
2025-10-26T22:48:52.678Z,1761518932.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.65 m.
2025-10-26T22:48:52.682Z,1761518932.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.647812 m,
      nav range: 85.973312 m,
      bearing: 152.286663 deg,
      approach rate: -0.639963 m/s,
      LOS rate: 0.005723 deg/s,
      cmd heading: 146.538826 deg,
      new cmd heading: 146.544820 deg.

2025-10-26T22:48:52.683Z,1761518932.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557690 target range: 88.647812 and range: 89.10 m.
2025-10-26T22:48:52.864Z,1761518932.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505893
2025-10-26T22:48:53.062Z,1761518933.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834428,-0.547164,-0.065893],[0.550963,-0.825382,-0.123228],[0.013038,-0.139129,0.990188]]
2025-10-26T22:48:53.113Z,1761518933.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754890
2025-10-26T22:48:53.122Z,1761518933.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.65 m.
2025-10-26T22:48:53.129Z,1761518933.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.647812 m,
      nav range: 85.705330 m,
      bearing: 152.299588 deg,
      approach rate: -0.603594 m/s,
      LOS rate: 0.029204 deg/s,
      cmd heading: 146.544823 deg,
      new cmd heading: 146.583721 deg.

2025-10-26T22:48:53.130Z,1761518933.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558368 target range: 88.647812 and range: 89.10 m.
2025-10-26T22:48:53.365Z,1761518933.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007204
2025-10-26T22:48:53.503Z,1761518933.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.65 m.
2025-10-26T22:48:53.506Z,1761518933.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.647812 m,
      nav range: 85.468941 m,
      bearing: 152.311057 deg,
      approach rate: -0.620711 m/s,
      LOS rate: 0.030199 deg/s,
      cmd heading: 146.583714 deg,
      new cmd heading: 146.618217 deg.

2025-10-26T22:48:53.507Z,1761518933.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558971 target range: 88.647812 and range: 89.10 m.
2025-10-26T22:48:53.616Z,1761518933.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258785
2025-10-26T22:48:53.871Z,1761518933.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512921
2025-10-26T22:48:53.899Z,1761518933.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835625,-0.545728,-0.062546],[0.549009,-0.826040,-0.127464],[0.017895,-0.140851,0.989869]]
2025-10-26T22:48:53.933Z,1761518933.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:53.952Z,1761518933.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.65 m.
2025-10-26T22:48:53.954Z,1761518933.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.647812 m,
      nav range: 85.192657 m,
      bearing: 152.330570 deg,
      approach rate: -0.639277 m/s,
      LOS rate: 0.045297 deg/s,
      cmd heading: 146.618220 deg,
      new cmd heading: 146.676950 deg.

2025-10-26T22:48:53.959Z,1761518933.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559996 target range: 88.647812 and range: 89.10 m.
2025-10-26T22:48:54.120Z,1761518934.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762824
2025-10-26T22:48:54.284Z,1761518934.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836298,-0.544766,-0.061936],[0.547902,-0.826208,-0.131090],[0.020241,-0.143565,0.989434]]
2025-10-26T22:48:54.318Z,1761518934.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.65 m.
2025-10-26T22:48:54.321Z,1761518934.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.647812 m,
      nav range: 84.957825 m,
      bearing: 152.347040 deg,
      approach rate: -0.614144 m/s,
      LOS rate: 0.043191 deg/s,
      cmd heading: 146.676946 deg,
      new cmd heading: 146.726492 deg.

2025-10-26T22:48:54.322Z,1761518934.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560860 target range: 88.647812 and range: 89.10 m.
2025-10-26T22:48:54.373Z,1761518934.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015248
2025-10-26T22:48:54.625Z,1761518934.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266965
2025-10-26T22:48:54.687Z,1761518934.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836950,-0.543724,-0.062273],[0.546820,-0.826161,-0.135814],[0.022398,-0.147722,0.988775]]
2025-10-26T22:48:54.727Z,1761518934.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.65 m.
2025-10-26T22:48:54.752Z,1761518934.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.647812 m,
      nav range: 84.690765 m,
      bearing: 152.365635 deg,
      approach rate: -0.653906 m/s,
      LOS rate: 0.045676 deg/s,
      cmd heading: 146.726493 deg,
      new cmd heading: 146.782455 deg.

2025-10-26T22:48:54.753Z,1761518934.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561837 target range: 88.647812 and range: 89.10 m.
2025-10-26T22:48:54.879Z,1761518934.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520952
2025-10-26T22:48:55.090Z,1761518935.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837928,-0.541851,-0.065372],[0.545258,-0.825860,-0.143699],[0.023876,-0.156054,0.987460]]
2025-10-26T22:48:55.129Z,1761518935.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770984
2025-10-26T22:48:55.141Z,1761518935.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.65 m.
2025-10-26T22:48:55.143Z,1761518935.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.647812 m,
      nav range: 84.409500 m,
      bearing: 152.388349 deg,
      approach rate: -0.678721 m/s,
      LOS rate: 0.054993 deg/s,
      cmd heading: 146.782459 deg,
      new cmd heading: 146.850827 deg.

2025-10-26T22:48:55.144Z,1761518935.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563030 target range: 88.647812 and range: 89.10 m.
2025-10-26T22:48:55.380Z,1761518935.380 [DAT](INFO): DAT read: Rx Time:22:48:54.0062

2025-10-26T22:48:55.381Z,1761518935.381 [DAT](INFO): Rx dataTimestamp_ set to:1761518935.380616
2025-10-26T22:48:55.381Z,1761518935.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023865
2025-10-26T22:48:55.490Z,1761518935.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839054,-0.539820,-0.067696],[0.543468,-0.825900,-0.150105],[0.025119,-0.162737,0.986350]]
2025-10-26T22:48:55.516Z,1761518935.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.65 m.
2025-10-26T22:48:55.519Z,1761518935.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.647812 m,
      nav range: 84.158989 m,
      bearing: 152.408329 deg,
      approach rate: -0.667361 m/s,
      LOS rate: 0.053385 deg/s,
      cmd heading: 146.850829 deg,
      new cmd heading: 146.910948 deg.

2025-10-26T22:48:55.520Z,1761518935.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564080 target range: 88.647812 and range: 89.10 m.
2025-10-26T22:48:55.633Z,1761518935.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275186
2025-10-26T22:48:55.904Z,1761518935.904 [DAT](INFO): DAT read: 22:48:54.0062 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 413,-0.11, 1.242,-0.498, 1.303, 1.083, PHS= 0.260,-1.537, 0.175, RAW= 147.6,  12.5, CAL= 147.4,  13.7, ROT=   2.6, -13.7

2025-10-26T22:48:55.931Z,1761518935.931 [DAT](INFO): got valid direction response:
 22:48:54.0062 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 413,-0.11, 1.242,-0.498, 1.303, 1.083, PHS= 0.260,-1.537, 0.175, RAW= 147.6,  12.5, CAL= 147.4,  13.7, ROT=   2.6, -13.7

2025-10-26T22:48:55.936Z,1761518935.936 [DAT](INFO): DAT read: Bearing 313.9,   1.6 (Local)

2025-10-26T22:48:55.936Z,1761518935.936 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.9,   1.6 (Local)

2025-10-26T22:48:55.938Z,1761518935.938 [DAT](INFO): DAT read: Range 11 to 50 : 86.7 m  (Round-trip  115.7 ms) speed  0.5 m/s

2025-10-26T22:48:55.938Z,1761518935.938 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:48:55.942Z,1761518935.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840326,-0.537536,-0.070048],[0.541471,-0.826217,-0.155483],[0.025703,-0.168586,0.985352]]
2025-10-26T22:48:55.948Z,1761518935.948 [DAT](INFO): direction in FSK: [0.970549,0.044072,0.236838]
2025-10-26T22:48:55.948Z,1761518935.948 [DAT](INFO): publishing direction and range info
2025-10-26T22:48:55.956Z,1761518935.956 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:48:55.956Z,1761518935.956 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:48:55.956Z,1761518935.956 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:48:56.051Z,1761518936.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 86.699997 m,
      deltaT: 3.781723 s,
      deltaX: -2.400002 m,
      approachRate: -0.634632 m/s,
      rangeRepo size: 4

2025-10-26T22:48:56.069Z,1761518936.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 86.269562 m,
      bearing: 152.145345 deg,
      lat: 36.779402 deg,
      lon: -121.859450 deg,
      deltaT: 3.781723 s,
      deltaX: -2.378250 m,
      approachRate: -0.628880 m/s,
      posRepo size: 4

2025-10-26T22:48:56.070Z,1761518936.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.27 m.
2025-10-26T22:48:56.077Z,1761518936.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.269562 m,
      nav range: 83.763977 m,
      bearing: 152.336112 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.053385 deg/s,
      cmd heading: 146.910949 deg,
      new cmd heading: 146.996517 deg.

2025-10-26T22:48:56.078Z,1761518936.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565573 target range: 86.269562 and range: 86.70 m.
2025-10-26T22:48:56.137Z,1761518936.137 [DAT](INFO): DAT read: user:706>

2025-10-26T22:48:56.138Z,1761518936.138 [DAT](INFO): DAT read: Tx time:22:48:55.3364

2025-10-26T22:48:56.139Z,1761518936.139 [DAT](INFO): Ping request sent.
2025-10-26T22:48:56.139Z,1761518936.139 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:48:56.139Z,1761518936.139 [DAT](INFO): publishing transmit ping time
2025-10-26T22:48:56.140Z,1761518936.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001206
2025-10-26T22:48:56.377Z,1761518936.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841601,-0.535569,-0.069807],[0.539478,-0.827386,-0.156191],[0.025894,-0.169110,0.985257]]
2025-10-26T22:48:56.390Z,1761518936.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251284
2025-10-26T22:48:56.400Z,1761518936.400 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:56.402Z,1761518936.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.27 m.
2025-10-26T22:48:56.405Z,1761518936.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.269562 m,
      nav range: 83.516731 m,
      bearing: 152.353543 deg,
      approach rate: -0.703326 m/s,
      LOS rate: 0.049729 deg/s,
      cmd heading: 146.996517 deg,
      new cmd heading: 147.048963 deg.

2025-10-26T22:48:56.406Z,1761518936.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566489 target range: 86.269562 and range: 86.70 m.
2025-10-26T22:48:56.641Z,1761518936.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501747
2025-10-26T22:48:56.775Z,1761518936.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842508,-0.534334,-0.068312],[0.538063,-0.828662,-0.154295],[0.025837,-0.166751,0.985660]]
2025-10-26T22:48:56.799Z,1761518936.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.27 m.
2025-10-26T22:48:56.802Z,1761518936.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.269562 m,
      nav range: 83.254875 m,
      bearing: 152.371807 deg,
      approach rate: -0.659439 m/s,
      LOS rate: 0.046140 deg/s,
      cmd heading: 147.048959 deg,
      new cmd heading: 147.103924 deg.

2025-10-26T22:48:56.803Z,1761518936.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.567448 target range: 86.269562 and range: 86.70 m.
2025-10-26T22:48:56.896Z,1761518936.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756456
2025-10-26T22:48:57.145Z,1761518937.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005746
2025-10-26T22:48:57.178Z,1761518937.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843386,-0.533005,-0.067873],[0.536689,-0.829599,-0.154044],[0.025799,-0.166346,0.985730]]
2025-10-26T22:48:57.259Z,1761518937.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.27 m.
2025-10-26T22:48:57.261Z,1761518937.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.269562 m,
      nav range: 82.968376 m,
      bearing: 152.387762 deg,
      approach rate: -0.623380 m/s,
      LOS rate: 0.034836 deg/s,
      cmd heading: 147.103929 deg,
      new cmd heading: 147.151959 deg.

2025-10-26T22:48:57.262Z,1761518937.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568286 target range: 86.269562 and range: 86.70 m.
2025-10-26T22:48:57.397Z,1761518937.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257896
2025-10-26T22:48:57.582Z,1761518937.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844218,-0.531733,-0.067500],[0.535378,-0.830461,-0.153965],[0.025812,-0.166118,0.985768]]
2025-10-26T22:48:57.609Z,1761518937.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.27 m.
2025-10-26T22:48:57.612Z,1761518937.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.269562 m,
      nav range: 82.739990 m,
      bearing: 152.400311 deg,
      approach rate: -0.652414 m/s,
      LOS rate: 0.035948 deg/s,
      cmd heading: 147.151959 deg,
      new cmd heading: 147.189711 deg.

2025-10-26T22:48:57.613Z,1761518937.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568945 target range: 86.269562 and range: 86.70 m.
2025-10-26T22:48:57.649Z,1761518937.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509910
2025-10-26T22:48:57.903Z,1761518937.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763885
2025-10-26T22:48:57.991Z,1761518937.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844940,-0.530616,-0.067260],[0.534242,-0.831210,-0.153867],[0.025737,-0.165941,0.985800]]
2025-10-26T22:48:58.034Z,1761518938.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.27 m.
2025-10-26T22:48:58.037Z,1761518938.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.269562 m,
      nav range: 82.477287 m,
      bearing: 152.405934 deg,
      approach rate: -0.618162 m/s,
      LOS rate: 0.013272 deg/s,
      cmd heading: 147.189716 deg,
      new cmd heading: 147.206637 deg.

2025-10-26T22:48:58.038Z,1761518938.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569241 target range: 86.269562 and range: 86.70 m.
2025-10-26T22:48:58.153Z,1761518938.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013889
2025-10-26T22:48:58.397Z,1761518938.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845376,-0.529982,-0.066769],[0.533597,-0.832052,-0.151538],[0.024757,-0.163734,0.986194]]
2025-10-26T22:48:58.404Z,1761518938.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265699
2025-10-26T22:48:58.415Z,1761518938.415 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:48:58.417Z,1761518938.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.27 m.
2025-10-26T22:48:58.420Z,1761518938.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.269562 m,
      nav range: 82.241287 m,
      bearing: 152.410869 deg,
      approach rate: -0.615399 m/s,
      LOS rate: 0.012906 deg/s,
      cmd heading: 147.206641 deg,
      new cmd heading: 147.221490 deg.

2025-10-26T22:48:58.421Z,1761518938.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569500 target range: 86.269562 and range: 86.70 m.
2025-10-26T22:48:58.656Z,1761518938.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517540
2025-10-26T22:48:58.799Z,1761518938.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845168,-0.530502,-0.065264],[0.533946,-0.832410,-0.148306],[0.024350,-0.160191,0.986786]]
2025-10-26T22:48:58.817Z,1761518938.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.27 m.
2025-10-26T22:48:58.836Z,1761518938.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.269562 m,
      nav range: 81.995537 m,
      bearing: 152.416078 deg,
      approach rate: -0.614706 m/s,
      LOS rate: 0.013070 deg/s,
      cmd heading: 147.221490 deg,
      new cmd heading: 147.237165 deg.

2025-10-26T22:48:58.837Z,1761518938.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569773 target range: 86.269562 and range: 86.70 m.
2025-10-26T22:48:58.913Z,1761518938.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773200
2025-10-26T22:48:59.160Z,1761518939.160 [DAT](INFO): DAT read: Rx Time:22:48:57.8531

2025-10-26T22:48:59.161Z,1761518939.161 [DAT](INFO): Rx dataTimestamp_ set to:1761518939.160604
2025-10-26T22:48:59.161Z,1761518939.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022709
2025-10-26T22:48:59.260Z,1761518939.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844640,-0.531607,-0.063065],[0.534808,-0.832706,-0.143462],[0.023751,-0.154901,0.987644]]
2025-10-26T22:48:59.317Z,1761518939.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.27 m.
2025-10-26T22:48:59.324Z,1761518939.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.269562 m,
      nav range: 81.714951 m,
      bearing: 152.408939 deg,
      approach rate: -0.560656 m/s,
      LOS rate: -0.014314 deg/s,
      cmd heading: 147.237159 deg,
      new cmd heading: 147.215667 deg.

2025-10-26T22:48:59.325Z,1761518939.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569398 target range: 86.269562 and range: 86.70 m.
2025-10-26T22:48:59.413Z,1761518939.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273937
2025-10-26T22:48:59.676Z,1761518939.676 [DAT](INFO): DAT read: 22:48:57.8531 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 413, 0.01,-1.990, 2.549,-1.942,-2.175, PHS= 0.286,-1.515, 0.189, RAW= 147.3,  11.8, CAL= 147.0,  13.0, ROT=   3.0, -13.0

2025-10-26T22:48:59.677Z,1761518939.677 [DAT](INFO): got valid direction response:
 22:48:57.8531 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 413, 0.01,-1.990, 2.549,-1.942,-2.175, PHS= 0.286,-1.515, 0.189, RAW= 147.3,  11.8, CAL= 147.0,  13.0, ROT=   3.0, -13.0

2025-10-26T22:48:59.678Z,1761518939.678 [DAT](INFO): DAT read: Bearing 313.4,   1.8 (Local)

2025-10-26T22:48:59.678Z,1761518939.678 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.4,   1.8 (Local)

2025-10-26T22:48:59.680Z,1761518939.680 [DAT](INFO): DAT read: Range 11 to 50 : 84.3 m  (Round-trip  112.5 ms) speed  0.7 m/s

2025-10-26T22:48:59.680Z,1761518939.680 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:48:59.681Z,1761518939.681 [DAT](INFO): direction in FSK: [0.973035,0.050995,0.224951]
2025-10-26T22:48:59.682Z,1761518939.682 [DAT](INFO): publishing direction and range info
2025-10-26T22:48:59.694Z,1761518939.694 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:48:59.694Z,1761518939.694 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:48:59.695Z,1761518939.695 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:48:59.747Z,1761518939.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843765,-0.533153,-0.061720],[0.536195,-0.832301,-0.140606],[0.023595,-0.151732,0.988140]]
2025-10-26T22:48:59.820Z,1761518939.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 84.300003 m,
      deltaT: 3.780046 s,
      deltaX: -2.399994 m,
      approachRate: -0.634911 m/s,
      rangeRepo size: 4

2025-10-26T22:48:59.822Z,1761518939.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 83.879135 m,
      bearing: 152.558011 deg,
      lat: 36.779402 deg,
      lon: -121.859450 deg,
      deltaT: 3.780046 s,
      deltaX: -2.390427 m,
      approachRate: -0.632380 m/s,
      posRepo size: 4

2025-10-26T22:48:59.823Z,1761518939.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.88 m.
2025-10-26T22:48:59.833Z,1761518939.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.879135 m,
      nav range: 81.445786 m,
      bearing: 152.402307 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014314 deg/s,
      cmd heading: 147.215671 deg,
      new cmd heading: 147.194122 deg.

2025-10-26T22:48:59.834Z,1761518939.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569022 target range: 83.879135 and range: 84.30 m.
2025-10-26T22:48:59.920Z,1761518939.920 [DAT](INFO): DAT read: user:707>

2025-10-26T22:48:59.923Z,1761518939.923 [DAT](INFO): DAT read: Tx time:22:48:59.0364

2025-10-26T22:48:59.924Z,1761518939.924 [DAT](INFO): Ping request sent.
2025-10-26T22:48:59.924Z,1761518939.924 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:48:59.925Z,1761518939.925 [DAT](INFO): publishing transmit ping time
2025-10-26T22:48:59.928Z,1761518939.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002842
2025-10-26T22:49:00.168Z,1761518940.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244622
2025-10-26T22:49:00.186Z,1761518940.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842847,-0.534621,-0.061555],[0.537661,-0.831656,-0.138812],[0.023020,-0.150093,0.988404]]
2025-10-26T22:49:00.244Z,1761518940.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.88 m.
2025-10-26T22:49:00.247Z,1761518940.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.879135 m,
      nav range: 81.203346 m,
      bearing: 152.384974 deg,
      approach rate: -0.570276 m/s,
      LOS rate: -0.040893 deg/s,
      cmd heading: 147.194128 deg,
      new cmd heading: 147.141974 deg.

2025-10-26T22:49:00.248Z,1761518940.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568112 target range: 83.879135 and range: 84.30 m.
2025-10-26T22:49:00.420Z,1761518940.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496569
2025-10-26T22:49:00.577Z,1761518940.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841093,-0.537479,-0.060660],[0.540424,-0.830404,-0.135539],[0.022477,-0.146783,0.988913]]
2025-10-26T22:49:00.605Z,1761518940.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:00.607Z,1761518940.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.88 m.
2025-10-26T22:49:00.610Z,1761518940.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.879135 m,
      nav range: 81.019539 m,
      bearing: 152.372148 deg,
      approach rate: -0.506619 m/s,
      LOS rate: -0.035431 deg/s,
      cmd heading: 147.141973 deg,
      new cmd heading: 147.103408 deg.

2025-10-26T22:49:00.611Z,1761518940.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.567439 target range: 83.879135 and range: 84.30 m.
2025-10-26T22:49:00.673Z,1761518940.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749585
2025-10-26T22:49:00.929Z,1761518940.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004996
2025-10-26T22:49:00.993Z,1761518940.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839611,-0.539351,-0.064452],[0.542755,-0.828277,-0.139190],[0.021689,-0.151847,0.988166]]
2025-10-26T22:49:01.036Z,1761518941.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.88 m.
2025-10-26T22:49:01.038Z,1761518941.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.879135 m,
      nav range: 80.802284 m,
      bearing: 152.347634 deg,
      approach rate: -0.507224 m/s,
      LOS rate: -0.057389 deg/s,
      cmd heading: 147.103410 deg,
      new cmd heading: 147.029667 deg.

2025-10-26T22:49:01.039Z,1761518941.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566152 target range: 83.879135 and range: 84.30 m.
2025-10-26T22:49:01.176Z,1761518941.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252565
2025-10-26T22:49:01.385Z,1761518941.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838198,-0.540947,-0.069284],[0.544957,-0.825868,-0.144790],[0.021104,-0.159120,0.987034]]
2025-10-26T22:49:01.408Z,1761518941.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.88 m.
2025-10-26T22:49:01.410Z,1761518941.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.879135 m,
      nav range: 80.618462 m,
      bearing: 152.327239 deg,
      approach rate: -0.494123 m/s,
      LOS rate: -0.054946 deg/s,
      cmd heading: 147.029671 deg,
      new cmd heading: 146.968349 deg.

2025-10-26T22:49:01.411Z,1761518941.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565082 target range: 83.879135 and range: 84.30 m.
2025-10-26T22:49:01.454Z,1761518941.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.529702
2025-10-26T22:49:01.709Z,1761518941.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.785466
2025-10-26T22:49:01.788Z,1761518941.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836647,-0.542967,-0.072166],[0.547340,-0.823697,-0.148131],[0.020987,-0.163432,0.986331]]
2025-10-26T22:49:01.828Z,1761518941.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.88 m.
2025-10-26T22:49:01.831Z,1761518941.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.879135 m,
      nav range: 80.418999 m,
      bearing: 152.305484 deg,
      approach rate: -0.474807 m/s,
      LOS rate: -0.051915 deg/s,
      cmd heading: 146.968350 deg,
      new cmd heading: 146.902922 deg.

2025-10-26T22:49:01.832Z,1761518941.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563940 target range: 83.879135 and range: 84.30 m.
2025-10-26T22:49:01.965Z,1761518941.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.040324
2025-10-26T22:49:02.213Z,1761518942.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.289643
2025-10-26T22:49:02.264Z,1761518942.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.88 m.
2025-10-26T22:49:02.267Z,1761518942.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.879135 m,
      nav range: 80.209969 m,
      bearing: 152.279666 deg,
      approach rate: -0.478331 m/s,
      LOS rate: -0.059234 deg/s,
      cmd heading: 146.902916 deg,
      new cmd heading: 146.825260 deg.

2025-10-26T22:49:02.268Z,1761518942.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562584 target range: 83.879135 and range: 84.30 m.
2025-10-26T22:49:02.467Z,1761518942.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.543666
2025-10-26T22:49:02.596Z,1761518942.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832692,-0.548532,-0.075742],[0.553332,-0.819041,-0.151640],[0.021144,-0.168180,0.985530]]
2025-10-26T22:49:02.621Z,1761518942.621 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:02.623Z,1761518942.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.88 m.
2025-10-26T22:49:02.625Z,1761518942.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.879135 m,
      nav range: 80.044655 m,
      bearing: 152.260078 deg,
      approach rate: -0.461568 m/s,
      LOS rate: -0.054804 deg/s,
      cmd heading: 146.825257 deg,
      new cmd heading: 146.766372 deg.

2025-10-26T22:49:02.626Z,1761518942.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561556 target range: 83.879135 and range: 84.30 m.
2025-10-26T22:49:02.717Z,1761518942.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.793285
2025-10-26T22:49:02.971Z,1761518942.971 [DAT](INFO): DAT read: Rx Time:22:49:01.5503

2025-10-26T22:49:02.973Z,1761518942.973 [DAT](INFO): Rx dataTimestamp_ set to:1761518942.971649
2025-10-26T22:49:02.974Z,1761518942.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.050285
2025-10-26T22:49:03.027Z,1761518943.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831186,-0.550047,-0.081113],[0.555600,-0.816211,-0.158457],[0.020953,-0.176774,0.984028]]
2025-10-26T22:49:03.079Z,1761518943.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.88 m.
2025-10-26T22:49:03.082Z,1761518943.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.879135 m,
      nav range: 79.828781 m,
      bearing: 152.238591 deg,
      approach rate: -0.489982 m/s,
      LOS rate: -0.048903 deg/s,
      cmd heading: 146.766367 deg,
      new cmd heading: 146.701731 deg.

2025-10-26T22:49:03.083Z,1761518943.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560428 target range: 83.879135 and range: 84.30 m.
2025-10-26T22:49:03.221Z,1761518943.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.297751
2025-10-26T22:49:03.408Z,1761518943.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829694,-0.552185,-0.081852],[0.557830,-0.814682,-0.158488],[0.020831,-0.177156,0.983962]]
2025-10-26T22:49:03.426Z,1761518943.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.88 m.
2025-10-26T22:49:03.429Z,1761518943.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.879135 m,
      nav range: 79.651222 m,
      bearing: 152.221182 deg,
      approach rate: -0.489835 m/s,
      LOS rate: -0.048133 deg/s,
      cmd heading: 146.701726 deg,
      new cmd heading: 146.649383 deg.

2025-10-26T22:49:03.430Z,1761518943.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559515 target range: 83.879135 and range: 84.30 m.
2025-10-26T22:49:03.480Z,1761518943.480 [DAT](INFO): DAT read: 22:49:01.5503 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 417, 0.08, 0.378,-1.348, 0.410, 0.201, PHS= 0.279,-1.504, 0.165, RAW= 146.7,  12.2, CAL= 146.5,  13.4, ROT=   3.5, -13.4

2025-10-26T22:49:03.481Z,1761518943.481 [DAT](INFO): got valid direction response:
 22:49:01.5503 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 417, 0.08, 0.378,-1.348, 0.410, 0.201, PHS= 0.279,-1.504, 0.165, RAW= 146.7,  12.2, CAL= 146.5,  13.4, ROT=   3.5, -13.4

2025-10-26T22:49:03.483Z,1761518943.483 [DAT](INFO): DAT read: Bearing 313.6,   2.1 (Local)

2025-10-26T22:49:03.483Z,1761518943.483 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.6,   2.1 (Local)

2025-10-26T22:49:03.485Z,1761518943.485 [DAT](INFO): DAT read: Range 11 to 50 : 82.3 m  (Round-trip  109.8 ms) speed  0.4 m/s

2025-10-26T22:49:03.486Z,1761518943.486 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:49:03.487Z,1761518943.487 [DAT](INFO): direction in FSK: [0.970961,0.059387,0.231748]
2025-10-26T22:49:03.488Z,1761518943.488 [DAT](INFO): publishing direction and range info
2025-10-26T22:49:03.492Z,1761518943.492 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:49:03.492Z,1761518943.492 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:49:03.492Z,1761518943.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:49:03.725Z,1761518943.725 [DAT](INFO): DAT read: user:708>

2025-10-26T22:49:03.726Z,1761518943.726 [DAT](INFO): DAT read: Tx time:22:49:02.8364

2025-10-26T22:49:03.726Z,1761518943.726 [DAT](INFO): Ping request sent.
2025-10-26T22:49:03.726Z,1761518943.726 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:49:03.727Z,1761518943.727 [DAT](INFO): publishing transmit ping time
2025-10-26T22:49:03.728Z,1761518943.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001172
2025-10-26T22:49:03.808Z,1761518943.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828376,-0.554308,-0.080840],[0.559789,-0.813814,-0.156021],[0.020695,-0.174498,0.984440]]
2025-10-26T22:49:03.854Z,1761518943.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 82.300003 m,
      deltaT: 3.806291 s,
      deltaX: -2.000000 m,
      approachRate: -0.525446 m/s,
      rangeRepo size: 4

2025-10-26T22:49:03.856Z,1761518943.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 81.870041 m,
      bearing: 151.795991 deg,
      lat: 36.779403 deg,
      lon: -121.859448 deg,
      deltaT: 3.806291 s,
      deltaX: -2.009094 m,
      approachRate: -0.527835 m/s,
      posRepo size: 4

2025-10-26T22:49:03.857Z,1761518943.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.87 m.
2025-10-26T22:49:03.860Z,1761518943.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.870041 m,
      nav range: 79.331505 m,
      bearing: 152.050857 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.048133 deg/s,
      cmd heading: 146.649380 deg,
      new cmd heading: 146.587688 deg.

2025-10-26T22:49:03.861Z,1761518943.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558438 target range: 81.870041 and range: 82.30 m.
2025-10-26T22:49:03.979Z,1761518943.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252432
2025-10-26T22:49:04.229Z,1761518944.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502242
2025-10-26T22:49:04.300Z,1761518944.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.87 m.
2025-10-26T22:49:04.303Z,1761518944.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.870041 m,
      nav range: 79.091812 m,
      bearing: 152.037738 deg,
      approach rate: -0.535699 m/s,
      LOS rate: -0.029409 deg/s,
      cmd heading: 146.587689 deg,
      new cmd heading: 146.548213 deg.

2025-10-26T22:49:04.304Z,1761518944.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557749 target range: 81.870041 and range: 82.30 m.
2025-10-26T22:49:04.480Z,1761518944.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753948
2025-10-26T22:49:04.629Z,1761518944.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826881,-0.557451,-0.074268],[0.561979,-0.814096,-0.146382],[0.021139,-0.162778,0.986436]]
2025-10-26T22:49:04.653Z,1761518944.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:04.655Z,1761518944.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.87 m.
2025-10-26T22:49:04.661Z,1761518944.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.870041 m,
      nav range: 78.910210 m,
      bearing: 152.028020 deg,
      approach rate: -0.512022 m/s,
      LOS rate: -0.027461 deg/s,
      cmd heading: 146.548211 deg,
      new cmd heading: 146.518992 deg.

2025-10-26T22:49:04.662Z,1761518944.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557239 target range: 81.870041 and range: 82.30 m.
2025-10-26T22:49:04.733Z,1761518944.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006423
2025-10-26T22:49:04.988Z,1761518944.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261037
2025-10-26T22:49:05.079Z,1761518945.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826595,-0.558329,-0.070783],[0.562406,-0.814767,-0.140903],[0.020999,-0.156278,0.987490]]
2025-10-26T22:49:05.126Z,1761518945.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.87 m.
2025-10-26T22:49:05.129Z,1761518945.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.870041 m,
      nav range: 78.654465 m,
      bearing: 152.030504 deg,
      approach rate: -0.542460 m/s,
      LOS rate: 0.005286 deg/s,
      cmd heading: 146.518991 deg,
      new cmd heading: 146.526468 deg.

2025-10-26T22:49:05.130Z,1761518945.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557369 target range: 81.870041 and range: 82.30 m.
2025-10-26T22:49:05.237Z,1761518945.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510109
2025-10-26T22:49:05.482Z,1761518945.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826723,-0.558197,-0.070318],[0.562241,-0.815182,-0.139152],[0.020352,-0.154575,0.987771]]
2025-10-26T22:49:05.488Z,1761518945.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762009
2025-10-26T22:49:05.518Z,1761518945.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.87 m.
2025-10-26T22:49:05.522Z,1761518945.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.870041 m,
      nav range: 78.442017 m,
      bearing: 152.032549 deg,
      approach rate: -0.542578 m/s,
      LOS rate: 0.005235 deg/s,
      cmd heading: 146.526464 deg,
      new cmd heading: 146.532614 deg.

2025-10-26T22:49:05.522Z,1761518945.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557477 target range: 81.870041 and range: 82.30 m.
2025-10-26T22:49:05.740Z,1761518945.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013932
2025-10-26T22:49:05.886Z,1761518945.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827297,-0.557332,-0.070424],[0.561411,-0.815813,-0.138801],[0.019905,-0.154367,0.987813]]
2025-10-26T22:49:05.904Z,1761518945.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.87 m.
2025-10-26T22:49:05.907Z,1761518945.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.870041 m,
      nav range: 78.232658 m,
      bearing: 152.034420 deg,
      approach rate: -0.542464 m/s,
      LOS rate: 0.004861 deg/s,
      cmd heading: 146.532611 deg,
      new cmd heading: 146.538239 deg.

2025-10-26T22:49:05.928Z,1761518945.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557575 target range: 81.870041 and range: 82.30 m.
2025-10-26T22:49:05.995Z,1761518945.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267696
2025-10-26T22:49:06.245Z,1761518946.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518346
2025-10-26T22:49:06.296Z,1761518946.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828373,-0.555538,-0.071945],[0.559845,-0.816603,-0.140474],[0.019289,-0.156643,0.987467]]
2025-10-26T22:49:06.338Z,1761518946.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.87 m.
2025-10-26T22:49:06.361Z,1761518946.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.870041 m,
      nav range: 77.977768 m,
      bearing: 152.045632 deg,
      approach rate: -0.586824 m/s,
      LOS rate: 0.025897 deg/s,
      cmd heading: 146.538239 deg,
      new cmd heading: 146.571984 deg.

2025-10-26T22:49:06.362Z,1761518946.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558164 target range: 81.870041 and range: 82.30 m.
2025-10-26T22:49:06.496Z,1761518946.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769846
2025-10-26T22:49:06.709Z,1761518946.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829289,-0.554110,-0.072399],[0.558515,-0.817569,-0.140151],[0.018468,-0.156661,0.987480]]
2025-10-26T22:49:06.749Z,1761518946.749 [DAT](INFO): DAT read: Rx Time:22:49:05.3473

2025-10-26T22:49:06.749Z,1761518946.749 [DAT](INFO): Rx dataTimestamp_ set to:1761518946.748755
2025-10-26T22:49:06.750Z,1761518946.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023155
2025-10-26T22:49:06.750Z,1761518946.750 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:06.752Z,1761518946.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.87 m.
2025-10-26T22:49:06.755Z,1761518946.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.870041 m,
      nav range: 77.745674 m,
      bearing: 152.055628 deg,
      approach rate: -0.560419 m/s,
      LOS rate: 0.024209 deg/s,
      cmd heading: 146.571980 deg,
      new cmd heading: 146.602059 deg.

2025-10-26T22:49:06.756Z,1761518946.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558689 target range: 81.870041 and range: 82.30 m.
2025-10-26T22:49:07.004Z,1761518947.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276610
2025-10-26T22:49:07.098Z,1761518947.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830263,-0.552881,-0.070612],[0.557099,-0.819206,-0.136172],[0.017441,-0.152396,0.988166]]
2025-10-26T22:49:07.202Z,1761518947.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.87 m.
2025-10-26T22:49:07.207Z,1761518947.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.870041 m,
      nav range: 77.467407 m,
      bearing: 152.079014 deg,
      approach rate: -0.619297 m/s,
      LOS rate: 0.052233 deg/s,
      cmd heading: 146.602060 deg,
      new cmd heading: 146.672470 deg.

2025-10-26T22:49:07.209Z,1761518947.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559917 target range: 81.870041 and range: 82.30 m.
2025-10-26T22:49:07.258Z,1761518947.258 [DAT](INFO): DAT read: 22:49:05.3473 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 418, 0.15, 0.768,-0.963, 0.805, 0.588, PHS= 0.282,-1.505, 0.173, RAW= 146.9,  12.1, CAL= 146.6,  13.2, ROT=   3.4, -13.2

2025-10-26T22:49:07.259Z,1761518947.259 [DAT](INFO): got valid direction response:
 22:49:05.3473 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 418, 0.15, 0.768,-0.963, 0.805, 0.588, PHS= 0.282,-1.505, 0.173, RAW= 146.9,  12.1, CAL= 146.6,  13.2, ROT=   3.4, -13.2

2025-10-26T22:49:07.260Z,1761518947.260 [DAT](INFO): DAT read: Bearing 313.5,   2.2 (Local)

2025-10-26T22:49:07.261Z,1761518947.261 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.5,   2.2 (Local)

2025-10-26T22:49:07.263Z,1761518947.263 [DAT](INFO): DAT read: Range 11 to 50 : 80.1 m  (Round-trip  106.8 ms) speed  0.5 m/s

2025-10-26T22:49:07.264Z,1761518947.264 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:49:07.265Z,1761518947.265 [DAT](INFO): direction in FSK: [0.971865,0.057739,0.228351]
2025-10-26T22:49:07.266Z,1761518947.266 [DAT](INFO): publishing direction and range info
2025-10-26T22:49:07.279Z,1761518947.279 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:49:07.279Z,1761518947.279 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:49:07.280Z,1761518947.280 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:49:07.505Z,1761518947.505 [DAT](INFO): DAT read: user:709>

2025-10-26T22:49:07.505Z,1761518947.505 [DAT](INFO): DAT read: Tx time:22:49:06.6364

2025-10-26T22:49:07.506Z,1761518947.506 [DAT](INFO): Ping request sent.
2025-10-26T22:49:07.506Z,1761518947.506 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:49:07.506Z,1761518947.506 [DAT](INFO): publishing transmit ping time
2025-10-26T22:49:07.507Z,1761518947.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000765
2025-10-26T22:49:07.527Z,1761518947.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831518,-0.550874,-0.071531],[0.555256,-0.820434,-0.136306],[0.016401,-0.153059,0.988081]]
2025-10-26T22:49:07.578Z,1761518947.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 80.099998 m,
      deltaT: 3.779968 s,
      deltaX: -2.200005 m,
      approachRate: -0.582017 m/s,
      rangeRepo size: 4

2025-10-26T22:49:07.584Z,1761518947.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 79.679634 m,
      bearing: 151.695529 deg,
      lat: 36.779404 deg,
      lon: -121.859444 deg,
      deltaT: 3.779968 s,
      deltaX: -2.190407 m,
      approachRate: -0.579478 m/s,
      posRepo size: 4

2025-10-26T22:49:07.585Z,1761518947.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m.
2025-10-26T22:49:07.587Z,1761518947.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.679634 m,
      nav range: 77.398361 m,
      bearing: 151.823999 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.052233 deg/s,
      cmd heading: 146.672466 deg,
      new cmd heading: 146.731244 deg.

2025-10-26T22:49:07.592Z,1761518947.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560943 target range: 79.679634 and range: 80.10 m.
2025-10-26T22:49:07.756Z,1761518947.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250542
2025-10-26T22:49:07.930Z,1761518947.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832693,-0.549035,-0.071989],[0.553518,-0.821667,-0.135949],[0.015490,-0.153051,0.988097]]
2025-10-26T22:49:07.948Z,1761518947.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m.
2025-10-26T22:49:07.951Z,1761518947.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.679634 m,
      nav range: 77.161232 m,
      bearing: 151.842510 deg,
      approach rate: -0.638926 m/s,
      LOS rate: 0.050030 deg/s,
      cmd heading: 146.731246 deg,
      new cmd heading: 146.786950 deg.

2025-10-26T22:49:07.952Z,1761518947.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561916 target range: 79.679634 and range: 80.10 m.
2025-10-26T22:49:08.008Z,1761518948.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502489
2025-10-26T22:49:08.260Z,1761518948.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754490
2025-10-26T22:49:08.335Z,1761518948.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833763,-0.547390,-0.072143],[0.551932,-0.822885,-0.135024],[0.014545,-0.152396,0.988212]]
2025-10-26T22:49:08.377Z,1761518948.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m.
2025-10-26T22:49:08.380Z,1761518948.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.679634 m,
      nav range: 76.884781 m,
      bearing: 151.870101 deg,
      approach rate: -0.644967 m/s,
      LOS rate: 0.064600 deg/s,
      cmd heading: 146.786953 deg,
      new cmd heading: 146.870022 deg.

2025-10-26T22:49:08.380Z,1761518948.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563365 target range: 79.679634 and range: 80.10 m.
2025-10-26T22:49:08.512Z,1761518948.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006510
2025-10-26T22:49:08.748Z,1761518948.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834816,-0.545962,-0.070765],[0.550357,-0.824420,-0.132058],[0.013759,-0.149190,0.988713]]
2025-10-26T22:49:08.764Z,1761518948.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258532
2025-10-26T22:49:08.765Z,1761518948.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:08.768Z,1761518948.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m.
2025-10-26T22:49:08.770Z,1761518948.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.679634 m,
      nav range: 76.633659 m,
      bearing: 151.894996 deg,
      approach rate: -0.642784 m/s,
      LOS rate: 0.063933 deg/s,
      cmd heading: 146.870022 deg,
      new cmd heading: 146.944954 deg.

2025-10-26T22:49:08.771Z,1761518948.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564673 target range: 79.679634 and range: 80.10 m.
2025-10-26T22:49:09.018Z,1761518949.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511688
2025-10-26T22:49:09.269Z,1761518949.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763050
2025-10-26T22:49:09.274Z,1761518949.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836471,-0.543630,-0.069153],[0.547861,-0.826610,-0.128706],[0.012806,-0.145545,0.989269]]
2025-10-26T22:49:09.324Z,1761518949.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m.
2025-10-26T22:49:09.327Z,1761518949.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.679634 m,
      nav range: 76.274574 m,
      bearing: 151.931054 deg,
      approach rate: -0.644775 m/s,
      LOS rate: 0.065050 deg/s,
      cmd heading: 146.944949 deg,
      new cmd heading: 147.053631 deg.

2025-10-26T22:49:09.328Z,1761518949.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566570 target range: 79.679634 and range: 80.10 m.
2025-10-26T22:49:09.520Z,1761518949.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014413
2025-10-26T22:49:09.717Z,1761518949.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m.
2025-10-26T22:49:09.740Z,1761518949.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.679634 m,
      nav range: 76.043777 m,
      bearing: 151.954411 deg,
      approach rate: -0.589882 m/s,
      LOS rate: 0.059879 deg/s,
      cmd heading: 147.053631 deg,
      new cmd heading: 147.123916 deg.

2025-10-26T22:49:09.744Z,1761518949.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.567797 target range: 79.679634 and range: 80.10 m.
2025-10-26T22:49:09.772Z,1761518949.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266528
2025-10-26T22:49:10.024Z,1761518950.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518410
2025-10-26T22:49:10.169Z,1761518950.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837801,-0.541568,-0.069235],[0.545850,-0.828130,-0.127467],[0.011697,-0.144584,0.989423]]
2025-10-26T22:49:10.248Z,1761518950.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m.
2025-10-26T22:49:10.250Z,1761518950.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.679634 m,
      nav range: 75.688133 m,
      bearing: 151.981512 deg,
      approach rate: -0.669854 m/s,
      LOS rate: 0.051284 deg/s,
      cmd heading: 147.123914 deg,
      new cmd heading: 147.205598 deg.

2025-10-26T22:49:10.251Z,1761518950.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569222 target range: 79.679634 and range: 80.10 m.
2025-10-26T22:49:10.260Z,1761518950.260 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:49:10.277Z,1761518950.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770581
2025-10-26T22:49:10.528Z,1761518950.528 [DAT](INFO): DAT read: Rx Time:22:49:09.1444

2025-10-26T22:49:10.529Z,1761518950.529 [DAT](INFO): Rx dataTimestamp_ set to:1761518950.528669
2025-10-26T22:49:10.529Z,1761518950.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023592
2025-10-26T22:49:10.579Z,1761518950.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838185,-0.540961,-0.069332],[0.545272,-0.828606,-0.126845],[0.011170,-0.144125,0.989496]]
2025-10-26T22:49:10.615Z,1761518950.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m.
2025-10-26T22:49:10.617Z,1761518950.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.679634 m,
      nav range: 75.446999 m,
      bearing: 151.999903 deg,
      approach rate: -0.655093 m/s,
      LOS rate: 0.050123 deg/s,
      cmd heading: 147.205603 deg,
      new cmd heading: 147.260953 deg.

2025-10-26T22:49:10.618Z,1761518950.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570189 target range: 79.679634 and range: 80.10 m.
2025-10-26T22:49:10.780Z,1761518950.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274406
2025-10-26T22:49:10.974Z,1761518950.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838258,-0.540669,-0.070714],[0.545165,-0.828435,-0.128416],[0.010849,-0.146197,0.989196]]
2025-10-26T22:49:10.991Z,1761518950.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:10.993Z,1761518950.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m.
2025-10-26T22:49:10.996Z,1761518950.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.679634 m,
      nav range: 75.204712 m,
      bearing: 152.018486 deg,
      approach rate: -0.640233 m/s,
      LOS rate: 0.049262 deg/s,
      cmd heading: 147.260955 deg,
      new cmd heading: 147.316882 deg.

2025-10-26T22:49:10.997Z,1761518950.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.571165 target range: 79.679634 and range: 80.10 m.
2025-10-26T22:49:11.038Z,1761518951.038 [DAT](INFO): DAT read: 22:49:09.1444 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 404,-0.14,-1.614, 3.005,-1.555,-1.670, PHS= 0.158,-1.562, 0.071, RAW= 147.4,  15.7, CAL= 147.4,  17.3, ROT=   2.6, -17.3

2025-10-26T22:49:11.039Z,1761518951.039 [DAT](INFO): got valid direction response:
 22:49:09.1444 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 404,-0.14,-1.614, 3.005,-1.555,-1.670, PHS= 0.158,-1.562, 0.071, RAW= 147.4,  15.7, CAL= 147.4,  17.3, ROT=   2.6, -17.3

2025-10-26T22:49:11.040Z,1761518951.040 [DAT](INFO): DAT read: Bearing 317.0,   0.1 (Local)

2025-10-26T22:49:11.041Z,1761518951.041 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.0,   0.1 (Local)

2025-10-26T22:49:11.045Z,1761518951.045 [DAT](INFO): DAT read: Range 11 to 50 : 77.9 m  (Round-trip  103.9 ms) speed  0.4 m/s

2025-10-26T22:49:11.047Z,1761518951.047 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:49:11.066Z,1761518951.066 [DAT](INFO): direction in FSK: [0.953778,0.043311,0.297375]
2025-10-26T22:49:11.067Z,1761518951.067 [DAT](INFO): publishing direction and range info
2025-10-26T22:49:11.146Z,1761518951.146 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:49:11.146Z,1761518951.146 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:49:11.146Z,1761518951.146 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:49:11.264Z,1761518951.264 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:49:11.285Z,1761518951.285 [DAT](INFO): DAT read: user:710>

2025-10-26T22:49:11.286Z,1761518951.286 [DAT](INFO): DAT read: Tx time:22:49:10.4864

2025-10-26T22:49:11.287Z,1761518951.287 [DAT](INFO): Ping request sent.
2025-10-26T22:49:11.287Z,1761518951.287 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:49:11.287Z,1761518951.287 [DAT](INFO): publishing transmit ping time
2025-10-26T22:49:11.290Z,1761518951.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002884
2025-10-26T22:49:11.379Z,1761518951.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838188,-0.540562,-0.072340],[0.545280,-0.828068,-0.130278],[0.010521,-0.148644,0.988835]]
2025-10-26T22:49:11.430Z,1761518951.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 77.900002 m,
      deltaT: 3.780029 s,
      deltaX: -2.199997 m,
      approachRate: -0.582005 m/s,
      rangeRepo size: 4

2025-10-26T22:49:11.432Z,1761518951.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 77.493034 m,
      bearing: 152.184896 deg,
      lat: 36.779404 deg,
      lon: -121.859448 deg,
      deltaT: 3.780029 s,
      deltaX: -2.186600 m,
      approachRate: -0.578461 m/s,
      posRepo size: 4

2025-10-26T22:49:11.433Z,1761518951.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.49 m.
2025-10-26T22:49:11.435Z,1761518951.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.493034 m,
      nav range: 74.767906 m,
      bearing: 152.298537 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.049262 deg/s,
      cmd heading: 147.316880 deg,
      new cmd heading: 147.381342 deg.

2025-10-26T22:49:11.436Z,1761518951.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.572290 target range: 77.493034 and range: 77.90 m.
2025-10-26T22:49:11.536Z,1761518951.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249705
2025-10-26T22:49:11.782Z,1761518951.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838442,-0.539724,-0.075586],[0.544903,-0.827715,-0.134043],[0.009782,-0.153574,0.988089]]
2025-10-26T22:49:11.789Z,1761518951.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501767
2025-10-26T22:49:11.819Z,1761518951.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.49 m.
2025-10-26T22:49:11.822Z,1761518951.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.493034 m,
      nav range: 74.540749 m,
      bearing: 152.307410 deg,
      approach rate: -0.582727 m/s,
      LOS rate: 0.022831 deg/s,
      cmd heading: 147.381344 deg,
      new cmd heading: 147.408043 deg.

2025-10-26T22:49:11.823Z,1761518951.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.572756 target range: 77.493034 and range: 77.90 m.
2025-10-26T22:49:12.041Z,1761518952.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754150
2025-10-26T22:49:12.203Z,1761518952.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838285,-0.539749,-0.077135],[0.545165,-0.827514,-0.134225],[0.008617,-0.154570,0.987944]]
2025-10-26T22:49:12.268Z,1761518952.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.49 m.
2025-10-26T22:49:12.271Z,1761518952.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.493034 m,
      nav range: 74.301552 m,
      bearing: 152.304348 deg,
      approach rate: -0.538345 m/s,
      LOS rate: -0.006915 deg/s,
      cmd heading: 147.408050 deg,
      new cmd heading: 147.398833 deg.

2025-10-26T22:49:12.276Z,1761518952.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.572595 target range: 77.493034 and range: 77.90 m.
2025-10-26T22:49:12.292Z,1761518952.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005564
2025-10-26T22:49:12.544Z,1761518952.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257634
2025-10-26T22:49:12.608Z,1761518952.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838104,-0.539856,-0.078344],[0.545462,-0.827418,-0.133606],[0.007304,-0.154709,0.987933]]
2025-10-26T22:49:12.636Z,1761518952.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.49 m.
2025-10-26T22:49:12.638Z,1761518952.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.493034 m,
      nav range: 74.080116 m,
      bearing: 152.301554 deg,
      approach rate: -0.594301 m/s,
      LOS rate: -0.007519 deg/s,
      cmd heading: 147.398829 deg,
      new cmd heading: 147.390425 deg.

2025-10-26T22:49:12.640Z,1761518952.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.572448 target range: 77.493034 and range: 77.90 m.
2025-10-26T22:49:12.796Z,1761518952.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509720
2025-10-26T22:49:13.010Z,1761518953.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837917,-0.539886,-0.080106],[0.545763,-0.827144,-0.134074],[0.006125,-0.156062,0.987728]]
2025-10-26T22:49:13.045Z,1761518953.045 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:13.048Z,1761518953.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761713
2025-10-26T22:49:13.049Z,1761518953.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.49 m.
2025-10-26T22:49:13.052Z,1761518953.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.493034 m,
      nav range: 73.858589 m,
      bearing: 152.298824 deg,
      approach rate: -0.538352 m/s,
      LOS rate: -0.006656 deg/s,
      cmd heading: 147.390428 deg,
      new cmd heading: 147.382211 deg.

2025-10-26T22:49:13.053Z,1761518953.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.572305 target range: 77.493034 and range: 77.90 m.
2025-10-26T22:49:13.301Z,1761518953.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013921
2025-10-26T22:49:13.415Z,1761518953.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837508,-0.540315,-0.081481],[0.546405,-0.826856,-0.133228],[0.004612,-0.156102,0.987730]]
2025-10-26T22:49:13.457Z,1761518953.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.49 m.
2025-10-26T22:49:13.460Z,1761518953.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.493034 m,
      nav range: 73.641342 m,
      bearing: 152.282674 deg,
      approach rate: -0.529966 m/s,
      LOS rate: -0.039513 deg/s,
      cmd heading: 147.382204 deg,
      new cmd heading: 147.333612 deg.

2025-10-26T22:49:13.461Z,1761518953.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.571457 target range: 77.493034 and range: 77.90 m.
2025-10-26T22:49:13.553Z,1761518953.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266705
2025-10-26T22:49:13.804Z,1761518953.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517518
2025-10-26T22:49:13.828Z,1761518953.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837514,-0.540042,-0.083209],[0.546408,-0.826975,-0.132475],[0.002730,-0.156416,0.987688]]
2025-10-26T22:49:13.846Z,1761518953.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.49 m.
2025-10-26T22:49:13.849Z,1761518953.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.493034 m,
      nav range: 73.443634 m,
      bearing: 152.267893 deg,
      approach rate: -0.508906 m/s,
      LOS rate: -0.038149 deg/s,
      cmd heading: 147.333614 deg,
      new cmd heading: 147.289152 deg.

2025-10-26T22:49:13.850Z,1761518953.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570681 target range: 77.493034 and range: 77.90 m.
2025-10-26T22:49:14.057Z,1761518954.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769919
2025-10-26T22:49:14.226Z,1761518954.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837692,-0.539245,-0.086531],[0.546143,-0.827007,-0.133369],[0.000357,-0.158980,0.987282]]
2025-10-26T22:49:14.309Z,1761518954.309 [DAT](INFO): DAT read: Rx Time:22:49:12.9917

2025-10-26T22:49:14.309Z,1761518954.309 [DAT](INFO): Rx dataTimestamp_ set to:1761518954.308751
2025-10-26T22:49:14.310Z,1761518954.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022855
2025-10-26T22:49:14.316Z,1761518954.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.49 m.
2025-10-26T22:49:14.318Z,1761518954.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.493034 m,
      nav range: 73.219597 m,
      bearing: 152.236161 deg,
      approach rate: -0.476851 m/s,
      LOS rate: -0.067747 deg/s,
      cmd heading: 147.289150 deg,
      new cmd heading: 147.193662 deg.

2025-10-26T22:49:14.320Z,1761518954.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569014 target range: 77.493034 and range: 77.90 m.
2025-10-26T22:49:14.564Z,1761518954.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277266
2025-10-26T22:49:14.631Z,1761518954.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837771,-0.539085,-0.086753],[0.546019,-0.827591,-0.130215],[-0.001599,-0.156459,0.987683]]
2025-10-26T22:49:14.649Z,1761518954.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.49 m.
2025-10-26T22:49:14.667Z,1761518954.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.493034 m,
      nav range: 73.055656 m,
      bearing: 152.212748 deg,
      approach rate: -0.492328 m/s,
      LOS rate: -0.070470 deg/s,
      cmd heading: 147.193664 deg,
      new cmd heading: 147.123267 deg.

2025-10-26T22:49:14.668Z,1761518954.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.567786 target range: 77.493034 and range: 77.90 m.
2025-10-26T22:49:14.819Z,1761518954.819 [DAT](INFO): DAT read: 22:49:12.9917 LVL= 32432, 32753, 32754, 32755, AGC= 69, IDX= 409, 0.14,-1.102,-2.837,-1.068,-1.271, PHS= 0.271,-1.521, 0.160, RAW= 146.8,  12.5, CAL= 146.5,  13.7, ROT=   3.5, -13.7

2025-10-26T22:49:14.820Z,1761518954.820 [DAT](INFO): got valid direction response:
 22:49:12.9917 LVL= 32432, 32753, 32754, 32755, AGC= 69, IDX= 409, 0.14,-1.102,-2.837,-1.068,-1.271, PHS= 0.271,-1.521, 0.160, RAW= 146.8,  12.5, CAL= 146.5,  13.7, ROT=   3.5, -13.7

2025-10-26T22:49:14.821Z,1761518954.821 [DAT](INFO): DAT read: Bearing 313.7,   0.8 (Local)

2025-10-26T22:49:14.821Z,1761518954.821 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.7,   0.8 (Local)

2025-10-26T22:49:14.823Z,1761518954.823 [DAT](INFO): DAT read: Range 11 to 50 : 75.9 m  (Round-trip  101.2 ms) speed  0.5 m/s

2025-10-26T22:49:14.824Z,1761518954.824 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:49:14.824Z,1761518954.824 [DAT](INFO): direction in FSK: [0.969737,0.059312,0.236838]
2025-10-26T22:49:14.825Z,1761518954.825 [DAT](INFO): publishing direction and range info
2025-10-26T22:49:14.832Z,1761518954.832 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:49:14.833Z,1761518954.833 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:49:14.833Z,1761518954.833 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:49:15.035Z,1761518955.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837585,-0.539709,-0.084648],[0.546298,-0.828367,-0.123966],[-0.003214,-0.150075,0.988669]]
2025-10-26T22:49:15.058Z,1761518955.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 75.900002 m,
      deltaT: 3.780202 s,
      deltaX: -2.000000 m,
      approachRate: -0.529072 m/s,
      rangeRepo size: 4

2025-10-26T22:49:15.060Z,1761518955.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 75.505714 m,
      bearing: 152.429655 deg,
      lat: 36.779403 deg,
      lon: -121.859447 deg,
      deltaT: 3.780202 s,
      deltaX: -1.987320 m,
      approachRate: -0.525718 m/s,
      posRepo size: 4

2025-10-26T22:49:15.061Z,1761518955.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.51 m.
2025-10-26T22:49:15.064Z,1761518955.064 [DAT](INFO): DAT read: user:711>

2025-10-26T22:49:15.065Z,1761518955.065 [DAT](INFO): DAT read: Tx time:22:49:14.1864

2025-10-26T22:49:15.065Z,1761518955.065 [DAT](INFO): Ping request sent.
2025-10-26T22:49:15.066Z,1761518955.066 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:49:15.066Z,1761518955.066 [DAT](INFO): publishing transmit ping time
2025-10-26T22:49:15.066Z,1761518955.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000765
2025-10-26T22:49:15.083Z,1761518955.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.505714 m,
      nav range: 72.925262 m,
      bearing: 152.144365 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.070470 deg/s,
      cmd heading: 147.123272 deg,
      new cmd heading: 147.036846 deg.

2025-10-26T22:49:15.084Z,1761518955.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566277 target range: 75.505714 and range: 75.90 m.
2025-10-26T22:49:15.317Z,1761518955.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251447
2025-10-26T22:49:15.439Z,1761518955.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836745,-0.541324,-0.082619],[0.547572,-0.828424,-0.117805],[-0.004673,-0.143813,0.989594]]
2025-10-26T22:49:15.480Z,1761518955.480 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:15.482Z,1761518955.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.51 m.
2025-10-26T22:49:15.485Z,1761518955.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.505714 m,
      nav range: 72.725349 m,
      bearing: 152.107403 deg,
      approach rate: -0.470721 m/s,
      LOS rate: -0.087272 deg/s,
      cmd heading: 147.036843 deg,
      new cmd heading: 146.925651 deg.

2025-10-26T22:49:15.486Z,1761518955.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564336 target range: 75.505714 and range: 75.90 m.
2025-10-26T22:49:15.569Z,1761518955.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503400
2025-10-26T22:49:15.820Z,1761518955.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754756
2025-10-26T22:49:15.850Z,1761518955.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835546,-0.543337,-0.081529],[0.549382,-0.827976,-0.112409],[-0.006428,-0.138713,0.990312]]
2025-10-26T22:49:15.867Z,1761518955.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.51 m.
2025-10-26T22:49:15.870Z,1761518955.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.505714 m,
      nav range: 72.545235 m,
      bearing: 152.074167 deg,
      approach rate: -0.467737 m/s,
      LOS rate: -0.086525 deg/s,
      cmd heading: 146.925647 deg,
      new cmd heading: 146.825691 deg.

2025-10-26T22:49:15.871Z,1761518955.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562592 target range: 75.505714 and range: 75.90 m.
2025-10-26T22:49:16.073Z,1761518956.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007253
2025-10-26T22:49:16.246Z,1761518956.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834186,-0.545409,-0.081619],[0.551422,-0.827102,-0.108795],[-0.008169,-0.135762,0.990708]]
2025-10-26T22:49:16.299Z,1761518956.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.51 m.
2025-10-26T22:49:16.302Z,1761518956.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.505714 m,
      nav range: 72.337875 m,
      bearing: 152.041404 deg,
      approach rate: -0.480123 m/s,
      LOS rate: -0.076077 deg/s,
      cmd heading: 146.825694 deg,
      new cmd heading: 146.727123 deg.

2025-10-26T22:49:16.303Z,1761518956.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560871 target range: 75.505714 and range: 75.90 m.
2025-10-26T22:49:16.325Z,1761518956.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259131
2025-10-26T22:49:16.576Z,1761518956.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510749
2025-10-26T22:49:16.652Z,1761518956.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833069,-0.546931,-0.082847],[0.553079,-0.826242,-0.106901],[-0.009984,-0.134877,0.990812]]
2025-10-26T22:49:16.676Z,1761518956.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.51 m.
2025-10-26T22:49:16.682Z,1761518956.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.505714 m,
      nav range: 72.159706 m,
      bearing: 152.013382 deg,
      approach rate: -0.473798 m/s,
      LOS rate: -0.074701 deg/s,
      cmd heading: 146.727121 deg,
      new cmd heading: 146.642849 deg.

2025-10-26T22:49:16.684Z,1761518956.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559401 target range: 75.505714 and range: 75.90 m.
2025-10-26T22:49:16.828Z,1761518956.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762711
2025-10-26T22:49:17.057Z,1761518957.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831792,-0.548688,-0.084043],[0.554974,-0.825095,-0.105932],[-0.011220,-0.134755,0.990815]]
2025-10-26T22:49:17.075Z,1761518957.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.51 m.
2025-10-26T22:49:17.078Z,1761518957.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.505714 m,
      nav range: 71.965118 m,
      bearing: 151.982980 deg,
      approach rate: -0.486728 m/s,
      LOS rate: -0.076251 deg/s,
      cmd heading: 146.642850 deg,
      new cmd heading: 146.551398 deg.

2025-10-26T22:49:17.079Z,1761518957.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557804 target range: 75.505714 and range: 75.90 m.
2025-10-26T22:49:17.080Z,1761518957.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014849
2025-10-26T22:49:17.332Z,1761518957.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266807
2025-10-26T22:49:17.535Z,1761518957.535 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:17.537Z,1761518957.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.51 m.
2025-10-26T22:49:17.541Z,1761518957.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.505714 m,
      nav range: 71.724617 m,
      bearing: 151.953496 deg,
      approach rate: -0.520684 m/s,
      LOS rate: -0.064047 deg/s,
      cmd heading: 146.551394 deg,
      new cmd heading: 146.462645 deg.

2025-10-26T22:49:17.542Z,1761518957.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.556255 target range: 75.505714 and range: 75.90 m.
2025-10-26T22:49:17.585Z,1761518957.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519508
2025-10-26T22:49:17.836Z,1761518957.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770697
2025-10-26T22:49:17.863Z,1761518957.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830239,-0.549548,-0.093277],[0.557278,-0.821963,-0.117553],[-0.012069,-0.149579,0.988676]]
2025-10-26T22:49:17.881Z,1761518957.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.51 m.
2025-10-26T22:49:17.884Z,1761518957.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.505714 m,
      nav range: 71.544991 m,
      bearing: 151.931811 deg,
      approach rate: -0.522147 m/s,
      LOS rate: -0.063194 deg/s,
      cmd heading: 146.462642 deg,
      new cmd heading: 146.397423 deg.

2025-10-26T22:49:17.885Z,1761518957.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.555117 target range: 75.505714 and range: 75.90 m.
2025-10-26T22:49:18.091Z,1761518958.091 [DAT](INFO): DAT read: Rx Time:22:49:16.6889

2025-10-26T22:49:18.092Z,1761518958.092 [DAT](INFO): Rx dataTimestamp_ set to:1761518958.091437
2025-10-26T22:49:18.092Z,1761518958.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026674
2025-10-26T22:49:18.276Z,1761518958.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830183,-0.548985,-0.097014],[0.557348,-0.821252,-0.122100],[-0.012641,-0.155436,0.987765]]
2025-10-26T22:49:18.313Z,1761518958.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.51 m.
2025-10-26T22:49:18.315Z,1761518958.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.505714 m,
      nav range: 71.303360 m,
      bearing: 151.918580 deg,
      approach rate: -0.559553 m/s,
      LOS rate: -0.030742 deg/s,
      cmd heading: 146.397428 deg,
      new cmd heading: 146.357603 deg.

2025-10-26T22:49:18.316Z,1761518958.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.554422 target range: 75.505714 and range: 75.90 m.
2025-10-26T22:49:18.340Z,1761518958.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274791
2025-10-26T22:49:18.598Z,1761518958.598 [DAT](INFO): DAT read: 22:49:16.6889 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 413,-0.39, 2.505, 0.780, 2.585, 2.431, PHS= 0.175,-1.607, 0.110, RAW= 148.1,  15.0, CAL= 148.2,  16.5, ROT=   1.8, -16.5

2025-10-26T22:49:18.599Z,1761518958.599 [DAT](INFO): got valid direction response:
 22:49:16.6889 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 413,-0.39, 2.505, 0.780, 2.585, 2.431, PHS= 0.175,-1.607, 0.110, RAW= 148.1,  15.0, CAL= 148.2,  16.5, ROT=   1.8, -16.5

2025-10-26T22:49:18.600Z,1761518958.600 [DAT](INFO): DAT read: Bearing 316.4,  -1.5 (Local)

2025-10-26T22:49:18.600Z,1761518958.600 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.4,  -1.5 (Local)

2025-10-26T22:49:18.602Z,1761518958.602 [DAT](INFO): DAT read: Range 11 to 50 : 73.8 m  (Round-trip  98.4 ms) speed  0.5 m/s

2025-10-26T22:49:18.602Z,1761518958.602 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:49:18.606Z,1761518958.606 [DAT](INFO): direction in FSK: [0.958347,0.030117,0.284015]
2025-10-26T22:49:18.606Z,1761518958.606 [DAT](INFO): publishing direction and range info
2025-10-26T22:49:18.627Z,1761518958.627 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:49:18.627Z,1761518958.627 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:49:18.627Z,1761518958.627 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:49:18.710Z,1761518958.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830530,-0.548151,-0.098742],[0.556821,-0.821290,-0.124226],[-0.013001,-0.158155,0.987329]]
2025-10-26T22:49:18.781Z,1761518958.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 73.800003 m,
      deltaT: 3.779853 s,
      deltaX: -2.099998 m,
      approachRate: -0.555577 m/s,
      rangeRepo size: 4

2025-10-26T22:49:18.787Z,1761518958.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 73.415977 m,
      bearing: 150.598986 deg,
      lat: 36.779404 deg,
      lon: -121.859444 deg,
      deltaT: 3.779853 s,
      deltaX: -2.089737 m,
      approachRate: -0.552862 m/s,
      posRepo size: 4

2025-10-26T22:49:18.788Z,1761518958.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.42 m.
2025-10-26T22:49:18.791Z,1761518958.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.415977 m,
      nav range: 71.185547 m,
      bearing: 151.661527 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.030742 deg/s,
      cmd heading: 146.357608 deg,
      new cmd heading: 146.314448 deg.

2025-10-26T22:49:18.796Z,1761518958.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.553669 target range: 73.415977 and range: 73.80 m.
2025-10-26T22:49:18.845Z,1761518958.845 [DAT](INFO): DAT read: user:712>

2025-10-26T22:49:18.846Z,1761518958.846 [DAT](INFO): DAT read: Tx time:22:49:17.9864

2025-10-26T22:49:18.847Z,1761518958.847 [DAT](INFO): Ping request sent.
2025-10-26T22:49:18.847Z,1761518958.847 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:49:18.847Z,1761518958.847 [DAT](INFO): publishing transmit ping time
2025-10-26T22:49:18.848Z,1761518958.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001648
2025-10-26T22:49:19.092Z,1761518959.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830945,-0.547453,-0.099119],[0.556200,-0.821621,-0.124821],[-0.013105,-0.158849,0.987216]]
2025-10-26T22:49:19.096Z,1761518959.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249622
2025-10-26T22:49:19.126Z,1761518959.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.42 m.
2025-10-26T22:49:19.129Z,1761518959.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.415977 m,
      nav range: 70.972420 m,
      bearing: 151.648753 deg,
      approach rate: -0.617738 m/s,
      LOS rate: -0.037136 deg/s,
      cmd heading: 146.314455 deg,
      new cmd heading: 146.276017 deg.

2025-10-26T22:49:19.129Z,1761518959.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.552998 target range: 73.415977 and range: 73.80 m.
2025-10-26T22:49:19.348Z,1761518959.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501608
2025-10-26T22:49:19.563Z,1761518959.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:19.565Z,1761518959.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.42 m.
2025-10-26T22:49:19.568Z,1761518959.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.415977 m,
      nav range: 70.707672 m,
      bearing: 151.649830 deg,
      approach rate: -0.602125 m/s,
      LOS rate: 0.002458 deg/s,
      cmd heading: 146.276014 deg,
      new cmd heading: 146.279256 deg.

2025-10-26T22:49:19.569Z,1761518959.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.553055 target range: 73.415977 and range: 73.80 m.
2025-10-26T22:49:19.601Z,1761518959.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754442
2025-10-26T22:49:19.852Z,1761518959.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005567
2025-10-26T22:49:19.898Z,1761518959.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832242,-0.546130,-0.095479],[0.554268,-0.823525,-0.120799],[-0.012658,-0.153455,0.988075]]
2025-10-26T22:49:19.929Z,1761518959.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.42 m.
2025-10-26T22:49:19.936Z,1761518959.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.415977 m,
      nav range: 70.493492 m,
      bearing: 151.650300 deg,
      approach rate: -0.589336 m/s,
      LOS rate: 0.001297 deg/s,
      cmd heading: 146.279252 deg,
      new cmd heading: 146.280666 deg.

2025-10-26T22:49:19.940Z,1761518959.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.553079 target range: 73.415977 and range: 73.80 m.
2025-10-26T22:49:20.104Z,1761518960.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257590
2025-10-26T22:49:20.309Z,1761518960.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832804,-0.545732,-0.092812],[0.553435,-0.824497,-0.117959],[-0.012150,-0.149602,0.988672]]
2025-10-26T22:49:20.356Z,1761518960.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509739
2025-10-26T22:49:20.359Z,1761518960.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.42 m.
2025-10-26T22:49:20.366Z,1761518960.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.415977 m,
      nav range: 70.226151 m,
      bearing: 151.664236 deg,
      approach rate: -0.621583 m/s,
      LOS rate: 0.032525 deg/s,
      cmd heading: 146.280659 deg,
      new cmd heading: 146.322626 deg.

2025-10-26T22:49:20.367Z,1761518960.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.553812 target range: 73.415977 and range: 73.80 m.
2025-10-26T22:49:20.608Z,1761518960.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761651
2025-10-26T22:49:20.711Z,1761518960.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833300,-0.545247,-0.091194],[0.552701,-0.825144,-0.116875],[-0.011523,-0.147795,0.988951]]
2025-10-26T22:49:20.741Z,1761518960.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.42 m.
2025-10-26T22:49:20.744Z,1761518960.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.415977 m,
      nav range: 69.980911 m,
      bearing: 151.676940 deg,
      approach rate: -0.641845 m/s,
      LOS rate: 0.033366 deg/s,
      cmd heading: 146.322623 deg,
      new cmd heading: 146.360870 deg.

2025-10-26T22:49:20.745Z,1761518960.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.554479 target range: 73.415977 and range: 73.80 m.
2025-10-26T22:49:20.861Z,1761518960.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013840
2025-10-26T22:49:21.110Z,1761518961.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833502,-0.545363,-0.088614],[0.552410,-0.825691,-0.114356],[-0.010802,-0.144267,0.989480]]
2025-10-26T22:49:21.112Z,1761518961.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265715
2025-10-26T22:49:21.130Z,1761518961.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.42 m.
2025-10-26T22:49:21.149Z,1761518961.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.415977 m,
      nav range: 69.736389 m,
      bearing: 151.689634 deg,
      approach rate: -0.628561 m/s,
      LOS rate: 0.032746 deg/s,
      cmd heading: 146.360873 deg,
      new cmd heading: 146.399089 deg.

2025-10-26T22:49:21.150Z,1761518961.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.555146 target range: 73.415977 and range: 73.80 m.
2025-10-26T22:49:21.365Z,1761518961.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517857
2025-10-26T22:49:21.572Z,1761518961.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833322,-0.546127,-0.085554],[0.552700,-0.825895,-0.111443],[-0.009797,-0.140154,0.990081]]
2025-10-26T22:49:21.617Z,1761518961.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769866
2025-10-26T22:49:21.639Z,1761518961.639 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:21.645Z,1761518961.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.42 m.
2025-10-26T22:49:21.656Z,1761518961.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.415977 m,
      nav range: 69.415421 m,
      bearing: 151.715012 deg,
      approach rate: -0.623303 m/s,
      LOS rate: 0.049511 deg/s,
      cmd heading: 146.399094 deg,
      new cmd heading: 146.475582 deg.

2025-10-26T22:49:21.657Z,1761518961.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.556481 target range: 73.415977 and range: 73.80 m.
2025-10-26T22:49:21.868Z,1761518961.868 [DAT](INFO): DAT read: Rx Time:22:49:20.4858

2025-10-26T22:49:21.869Z,1761518961.869 [DAT](INFO): Rx dataTimestamp_ set to:1761518961.868548
2025-10-26T22:49:21.869Z,1761518961.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022652
2025-10-26T22:49:21.997Z,1761518961.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832741,-0.547216,-0.084248],[0.553590,-0.825399,-0.110695],[-0.008964,-0.138819,0.990277]]
2025-10-26T22:49:22.020Z,1761518962.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.42 m.
2025-10-26T22:49:22.023Z,1761518962.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.415977 m,
      nav range: 69.170776 m,
      bearing: 151.734734 deg,
      approach rate: -0.651559 m/s,
      LOS rate: 0.052710 deg/s,
      cmd heading: 146.475579 deg,
      new cmd heading: 146.534953 deg.

2025-10-26T22:49:22.024Z,1761518962.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557517 target range: 73.415977 and range: 73.80 m.
2025-10-26T22:49:22.121Z,1761518962.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274145
2025-10-26T22:49:22.383Z,1761518962.383 [DAT](INFO): DAT read: 22:49:20.4858 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 412, 0.41,-0.470,-2.216,-0.401,-0.629, PHS= 0.261,-1.542, 0.185, RAW= 147.8,  12.4, CAL= 147.7,  13.6, ROT=   2.3, -13.6

2025-10-26T22:49:22.384Z,1761518962.384 [DAT](INFO): got valid direction response:
 22:49:20.4858 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 412, 0.41,-0.470,-2.216,-0.401,-0.629, PHS= 0.261,-1.542, 0.185, RAW= 147.8,  12.4, CAL= 147.7,  13.6, ROT=   2.3, -13.6

2025-10-26T22:49:22.385Z,1761518962.385 [DAT](INFO): DAT read: Bearing 312.8,  -0.5 (Local)

2025-10-26T22:49:22.385Z,1761518962.385 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.8,  -0.5 (Local)

2025-10-26T22:49:22.386Z,1761518962.386 [DAT](INFO): DAT read: Range 11 to 50 : 71.4 m  (Round-trip  95.3 ms) speed  0.4 m/s

2025-10-26T22:49:22.387Z,1761518962.387 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:49:22.396Z,1761518962.396 [DAT](INFO): direction in FSK: [0.971178,0.039007,0.235142]
2025-10-26T22:49:22.396Z,1761518962.396 [DAT](INFO): publishing direction and range info
2025-10-26T22:49:22.400Z,1761518962.400 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:49:22.400Z,1761518962.400 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:49:22.400Z,1761518962.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:49:22.408Z,1761518962.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832218,-0.547715,-0.086149],[0.554388,-0.824329,-0.114615],[-0.008239,-0.143144,0.989668]]
2025-10-26T22:49:22.540Z,1761518962.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 71.400002 m,
      deltaT: 3.779720 s,
      deltaX: -2.400002 m,
      approachRate: -0.634968 m/s,
      rangeRepo size: 4

2025-10-26T22:49:22.542Z,1761518962.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 71.033287 m,
      bearing: 150.577662 deg,
      lat: 36.779406 deg,
      lon: -121.859442 deg,
      deltaT: 3.779720 s,
      deltaX: -2.382690 m,
      approachRate: -0.630388 m/s,
      posRepo size: 4

2025-10-26T22:49:22.547Z,1761518962.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.03 m.
2025-10-26T22:49:22.550Z,1761518962.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.033287 m,
      nav range: 68.693863 m,
      bearing: 151.497306 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.052710 deg/s,
      cmd heading: 146.534947 deg,
      new cmd heading: 146.615787 deg.

2025-10-26T22:49:22.551Z,1761518962.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558928 target range: 71.033287 and range: 71.40 m.
2025-10-26T22:49:22.625Z,1761518962.625 [DAT](INFO): DAT read: user:713>

2025-10-26T22:49:22.625Z,1761518962.625 [DAT](INFO): DAT read: Tx time:22:49:21.7364

2025-10-26T22:49:22.626Z,1761518962.626 [DAT](INFO): Ping request sent.
2025-10-26T22:49:22.626Z,1761518962.626 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:49:22.626Z,1761518962.626 [DAT](INFO): publishing transmit ping time
2025-10-26T22:49:22.627Z,1761518962.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000764
2025-10-26T22:49:22.866Z,1761518962.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831512,-0.548175,-0.089954],[0.555469,-0.822349,-0.123269],[-0.006401,-0.152467,0.988288]]
2025-10-26T22:49:22.876Z,1761518962.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250574
2025-10-26T22:49:22.886Z,1761518962.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.03 m.
2025-10-26T22:49:22.889Z,1761518962.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.033287 m,
      nav range: 68.463417 m,
      bearing: 151.518419 deg,
      approach rate: -0.650147 m/s,
      LOS rate: 0.059764 deg/s,
      cmd heading: 146.615789 deg,
      new cmd heading: 146.679339 deg.

2025-10-26T22:49:22.890Z,1761518962.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560037 target range: 71.033287 and range: 71.40 m.
2025-10-26T22:49:23.129Z,1761518963.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502833
2025-10-26T22:49:23.300Z,1761518963.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831168,-0.548203,-0.092917],[0.555994,-0.821086,-0.129182],[-0.005475,-0.159033,0.987258]]
2025-10-26T22:49:23.355Z,1761518963.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.03 m.
2025-10-26T22:49:23.358Z,1761518963.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.033287 m,
      nav range: 68.175606 m,
      bearing: 151.542627 deg,
      approach rate: -0.613616 m/s,
      LOS rate: 0.051830 deg/s,
      cmd heading: 146.679337 deg,
      new cmd heading: 146.752268 deg.

2025-10-26T22:49:23.359Z,1761518963.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561310 target range: 71.033287 and range: 71.40 m.
2025-10-26T22:49:23.393Z,1761518963.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.767129
2025-10-26T22:49:23.644Z,1761518963.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.018449
2025-10-26T22:49:23.685Z,1761518963.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831190,-0.547764,-0.095277],[0.555963,-0.820494,-0.133022],[-0.005310,-0.163537,0.986523]]
2025-10-26T22:49:23.728Z,1761518963.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:23.738Z,1761518963.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.03 m.
2025-10-26T22:49:23.745Z,1761518963.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.033287 m,
      nav range: 67.960938 m,
      bearing: 151.560839 deg,
      approach rate: -0.570509 m/s,
      LOS rate: 0.048554 deg/s,
      cmd heading: 146.752270 deg,
      new cmd heading: 146.807079 deg.

2025-10-26T22:49:23.746Z,1761518963.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562267 target range: 71.033287 and range: 71.40 m.
2025-10-26T22:49:23.897Z,1761518963.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.270766
2025-10-26T22:49:24.076Z,1761518964.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831259,-0.547645,-0.095356],[0.555857,-0.820627,-0.132645],[-0.005609,-0.163267,0.986566]]
2025-10-26T22:49:24.094Z,1761518964.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.03 m.
2025-10-26T22:49:24.097Z,1761518964.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.033287 m,
      nav range: 67.721832 m,
      bearing: 151.581233 deg,
      approach rate: -0.658866 m/s,
      LOS rate: 0.056395 deg/s,
      cmd heading: 146.807075 deg,
      new cmd heading: 146.868473 deg.

2025-10-26T22:49:24.098Z,1761518964.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563339 target range: 71.033287 and range: 71.40 m.
2025-10-26T22:49:24.149Z,1761518964.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522666
2025-10-26T22:49:24.400Z,1761518964.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774497
2025-10-26T22:49:24.560Z,1761518964.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830691,-0.548825,-0.093505],[0.556702,-0.820641,-0.128965],[-0.005955,-0.159184,0.987231]]
2025-10-26T22:49:24.572Z,1761518964.572 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3268,-32768,V
2025-10-26T22:49:24.587Z,1761518964.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.03 m.
2025-10-26T22:49:24.590Z,1761518964.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.033287 m,
      nav range: 67.419502 m,
      bearing: 151.607455 deg,
      approach rate: -0.613635 m/s,
      LOS rate: 0.053461 deg/s,
      cmd heading: 146.868479 deg,
      new cmd heading: 146.947498 deg.

2025-10-26T22:49:24.591Z,1761518964.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564718 target range: 71.033287 and range: 71.40 m.
2025-10-26T22:49:24.653Z,1761518964.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026960
2025-10-26T22:49:24.906Z,1761518964.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.279381
2025-10-26T22:49:24.953Z,1761518964.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830366,-0.549721,-0.091096],[0.557182,-0.821008,-0.124474],[-0.006364,-0.154116,0.988032]]
2025-10-26T22:49:24.972Z,1761518964.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.03 m.
2025-10-26T22:49:24.975Z,1761518964.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.033287 m,
      nav range: 67.183266 m,
      bearing: 151.628191 deg,
      approach rate: -0.613519 m/s,
      LOS rate: 0.054041 deg/s,
      cmd heading: 146.947504 deg,
      new cmd heading: 147.009930 deg.

2025-10-26T22:49:24.976Z,1761518964.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565807 target range: 71.033287 and range: 71.40 m.
2025-10-26T22:49:25.159Z,1761518965.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.532849
2025-10-26T22:49:25.408Z,1761518965.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782577
2025-10-26T22:49:25.425Z,1761518965.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829777,-0.551010,-0.088641],[0.558051,-0.821170,-0.119414],[-0.006990,-0.148553,0.988880]]
2025-10-26T22:49:25.482Z,1761518965.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.03 m.
2025-10-26T22:49:25.496Z,1761518965.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.033287 m,
      nav range: 66.909973 m,
      bearing: 151.629233 deg,
      approach rate: -0.535521 m/s,
      LOS rate: 0.002049 deg/s,
      cmd heading: 147.009932 deg,
      new cmd heading: 147.013069 deg.

2025-10-26T22:49:25.497Z,1761518965.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565862 target range: 71.033287 and range: 71.40 m.
2025-10-26T22:49:25.663Z,1761518965.663 [DAT](INFO): DAT read: Rx Time:22:49:24.2333

2025-10-26T22:49:25.664Z,1761518965.664 [DAT](INFO): Rx dataTimestamp_ set to:1761518965.663517
2025-10-26T22:49:25.664Z,1761518965.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038506
2025-10-26T22:49:25.833Z,1761518965.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829255,-0.551544,-0.090199],[0.558813,-0.820613,-0.119676],[-0.008012,-0.149646,0.988707]]
2025-10-26T22:49:25.850Z,1761518965.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:25.852Z,1761518965.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.03 m.
2025-10-26T22:49:25.854Z,1761518965.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.033287 m,
      nav range: 66.708504 m,
      bearing: 151.630182 deg,
      approach rate: -0.545615 m/s,
      LOS rate: 0.002580 deg/s,
      cmd heading: 147.013074 deg,
      new cmd heading: 147.015932 deg.

2025-10-26T22:49:25.856Z,1761518965.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565912 target range: 71.033287 and range: 71.40 m.
2025-10-26T22:49:25.913Z,1761518965.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287061
2025-10-26T22:49:26.174Z,1761518966.174 [DAT](INFO): DAT read: 22:49:24.2333 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 418, 0.06, 1.568,-0.216, 1.612, 1.399, PHS= 0.272,-1.570, 0.169, RAW= 147.2,  12.5, CAL= 146.9,  13.8, ROT=   3.1, -13.8

2025-10-26T22:49:26.176Z,1761518966.176 [DAT](INFO): got valid direction response:
 22:49:24.2333 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 418, 0.06, 1.568,-0.216, 1.612, 1.399, PHS= 0.272,-1.570, 0.169, RAW= 147.2,  12.5, CAL= 146.9,  13.8, ROT=   3.1, -13.8

2025-10-26T22:49:26.177Z,1761518966.177 [DAT](INFO): DAT read: Bearing 312.3,   0.3 (Local)

2025-10-26T22:49:26.177Z,1761518966.177 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.3,   0.3 (Local)

2025-10-26T22:49:26.181Z,1761518966.181 [DAT](INFO): DAT read: Range 11 to 50 : 69.5 m  (Round-trip  92.7 ms) speed  0.5 m/s

2025-10-26T22:49:26.182Z,1761518966.182 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:49:26.184Z,1761518966.184 [DAT](INFO): direction in FSK: [0.969713,0.052518,0.238533]
2025-10-26T22:49:26.184Z,1761518966.184 [DAT](INFO): publishing direction and range info
2025-10-26T22:49:26.188Z,1761518966.188 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:49:26.188Z,1761518966.188 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:49:26.188Z,1761518966.188 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:49:26.266Z,1761518966.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828696,-0.552112,-0.091842],[0.559621,-0.820082,-0.119541],[-0.009318,-0.150460,0.988572]]
2025-10-26T22:49:26.373Z,1761518966.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 69.500000 m,
      deltaT: 3.792431 s,
      deltaX: -1.900002 m,
      approachRate: -0.500998 m/s,
      rangeRepo size: 4

2025-10-26T22:49:26.375Z,1761518966.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 69.136238 m,
      bearing: 151.131929 deg,
      lat: 36.779406 deg,
      lon: -121.859433 deg,
      deltaT: 3.792431 s,
      deltaX: -1.897049 m,
      approachRate: -0.500220 m/s,
      posRepo size: 4

2025-10-26T22:49:26.379Z,1761518966.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.14 m.
2025-10-26T22:49:26.382Z,1761518966.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.136238 m,
      nav range: 66.840675 m,
      bearing: 151.040881 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002580 deg/s,
      cmd heading: 147.015929 deg,
      new cmd heading: 147.019956 deg.

2025-10-26T22:49:26.383Z,1761518966.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565982 target range: 69.136238 and range: 69.50 m.
2025-10-26T22:49:26.419Z,1761518966.419 [DAT](INFO): DAT read: user:714>

2025-10-26T22:49:26.420Z,1761518966.420 [DAT](INFO): DAT read: Tx time:22:49:25.5364

2025-10-26T22:49:26.420Z,1761518966.420 [DAT](INFO): Ping request sent.
2025-10-26T22:49:26.420Z,1761518966.420 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:49:26.420Z,1761518966.420 [DAT](INFO): publishing transmit ping time
2025-10-26T22:49:26.421Z,1761518966.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000764
2025-10-26T22:49:26.670Z,1761518966.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249428
2025-10-26T22:49:26.705Z,1761518966.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827645,-0.553531,-0.092773],[0.561142,-0.819377,-0.117221],[-0.011130,-0.149076,0.988763]]
2025-10-26T22:49:26.757Z,1761518966.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.14 m.
2025-10-26T22:49:26.760Z,1761518966.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.136238 m,
      nav range: 66.622711 m,
      bearing: 151.019832 deg,
      approach rate: -0.565555 m/s,
      LOS rate: -0.054797 deg/s,
      cmd heading: 147.019958 deg,
      new cmd heading: 146.956602 deg.

2025-10-26T22:49:26.761Z,1761518966.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564877 target range: 69.136238 and range: 69.50 m.
2025-10-26T22:49:26.933Z,1761518966.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.512337
2025-10-26T22:49:27.106Z,1761518967.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826540,-0.554893,-0.094481],[0.562730,-0.818455,-0.116041],[-0.012938,-0.149080,0.988741]]
2025-10-26T22:49:27.142Z,1761518967.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.14 m.
2025-10-26T22:49:27.145Z,1761518967.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.136238 m,
      nav range: 66.446999 m,
      bearing: 151.003050 deg,
      approach rate: -0.457143 m/s,
      LOS rate: -0.043774 deg/s,
      cmd heading: 146.956602 deg,
      new cmd heading: 146.906125 deg.

2025-10-26T22:49:27.146Z,1761518967.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563996 target range: 69.136238 and range: 69.50 m.
2025-10-26T22:49:27.185Z,1761518967.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.764582
2025-10-26T22:49:27.436Z,1761518967.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.016009
2025-10-26T22:49:27.511Z,1761518967.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825282,-0.556301,-0.097152],[0.564520,-0.817272,-0.115688],[-0.015042,-0.150320,0.988523]]
2025-10-26T22:49:27.575Z,1761518967.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.14 m.
2025-10-26T22:49:27.582Z,1761518967.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.136238 m,
      nav range: 66.253883 m,
      bearing: 150.975034 deg,
      approach rate: -0.446030 m/s,
      LOS rate: -0.064896 deg/s,
      cmd heading: 146.906127 deg,
      new cmd heading: 146.821834 deg.

2025-10-26T22:49:27.582Z,1761518967.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562524 target range: 69.136238 and range: 69.50 m.
2025-10-26T22:49:27.688Z,1761518967.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.268136
2025-10-26T22:49:27.911Z,1761518967.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824320,-0.556738,-0.102658],[0.565837,-0.816011,-0.118126],[-0.018005,-0.155461,0.987678]]
2025-10-26T22:49:27.941Z,1761518967.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.520255
2025-10-26T22:49:27.941Z,1761518967.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:27.943Z,1761518967.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.14 m.
2025-10-26T22:49:27.946Z,1761518967.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.136238 m,
      nav range: 66.073639 m,
      bearing: 150.949096 deg,
      approach rate: -0.489477 m/s,
      LOS rate: -0.070631 deg/s,
      cmd heading: 146.821828 deg,
      new cmd heading: 146.743801 deg.

2025-10-26T22:49:27.947Z,1761518967.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561162 target range: 69.136238 and range: 69.50 m.
2025-10-26T22:49:28.193Z,1761518968.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.773123
2025-10-26T22:49:28.423Z,1761518968.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.14 m.
2025-10-26T22:49:28.426Z,1761518968.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.136238 m,
      nav range: 65.859756 m,
      bearing: 150.918130 deg,
      approach rate: -0.445587 m/s,
      LOS rate: -0.064723 deg/s,
      cmd heading: 146.743800 deg,
      new cmd heading: 146.650599 deg.

2025-10-26T22:49:28.427Z,1761518968.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559536 target range: 69.136238 and range: 69.50 m.
2025-10-26T22:49:28.446Z,1761518968.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025264
2025-10-26T22:49:28.696Z,1761518968.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276209
2025-10-26T22:49:28.734Z,1761518968.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823174,-0.556716,-0.111585],[0.567201,-0.815224,-0.117017],[-0.025822,-0.159617,0.986841]]
2025-10-26T22:49:28.791Z,1761518968.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.14 m.
2025-10-26T22:49:28.798Z,1761518968.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.136238 m,
      nav range: 65.697899 m,
      bearing: 150.890464 deg,
      approach rate: -0.439969 m/s,
      LOS rate: -0.075388 deg/s,
      cmd heading: 146.650596 deg,
      new cmd heading: 146.567393 deg.

2025-10-26T22:49:28.799Z,1761518968.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558084 target range: 69.136238 and range: 69.50 m.
2025-10-26T22:49:28.949Z,1761518968.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528464
2025-10-26T22:49:29.135Z,1761518969.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822760,-0.556961,-0.113403],[0.567589,-0.815664,-0.111962],[-0.030140,-0.156484,0.987221]]
2025-10-26T22:49:29.178Z,1761518969.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.14 m.
2025-10-26T22:49:29.181Z,1761518969.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.136238 m,
      nav range: 65.526749 m,
      bearing: 150.861054 deg,
      approach rate: -0.442169 m/s,
      LOS rate: -0.076178 deg/s,
      cmd heading: 146.567390 deg,
      new cmd heading: 146.478932 deg.

2025-10-26T22:49:29.182Z,1761518969.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.556540 target range: 69.136238 and range: 69.50 m.
2025-10-26T22:49:29.201Z,1761518969.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780458
2025-10-26T22:49:29.452Z,1761518969.452 [DAT](INFO): DAT read: Rx Time:22:49:28.0306

2025-10-26T22:49:29.453Z,1761518969.453 [DAT](INFO): Rx dataTimestamp_ set to:1761518969.452602
2025-10-26T22:49:29.453Z,1761518969.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033196
2025-10-26T22:49:29.538Z,1761518969.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822678,-0.556474,-0.116350],[0.567424,-0.816360,-0.107643],[-0.035083,-0.154575,0.987358]]
2025-10-26T22:49:29.590Z,1761518969.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.14 m.
2025-10-26T22:49:29.613Z,1761518969.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.136238 m,
      nav range: 65.332764 m,
      bearing: 150.824328 deg,
      approach rate: -0.470867 m/s,
      LOS rate: -0.089411 deg/s,
      cmd heading: 146.478926 deg,
      new cmd heading: 146.368420 deg.

2025-10-26T22:49:29.614Z,1761518969.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.554611 target range: 69.136238 and range: 69.50 m.
2025-10-26T22:49:29.705Z,1761518969.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284578
2025-10-26T22:49:29.944Z,1761518969.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822715,-0.555989,-0.118392],[0.567023,-0.817417,-0.101556],[-0.040312,-0.150683,0.987760]]
2025-10-26T22:49:29.962Z,1761518969.962 [DAT](INFO): DAT read: 22:49:28.0306 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 408, 0.46,-2.049, 2.539,-2.015,-2.134, PHS= 0.187,-1.565, 0.075, RAW= 146.7,  15.2, CAL= 146.6,  16.7, ROT=   3.4, -16.7

2025-10-26T22:49:29.963Z,1761518969.963 [DAT](INFO): got valid direction response:
 22:49:28.0306 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 408, 0.46,-2.049, 2.539,-2.015,-2.134, PHS= 0.187,-1.565, 0.075, RAW= 146.7,  15.2, CAL= 146.6,  16.7, ROT=   3.4, -16.7

2025-10-26T22:49:29.964Z,1761518969.964 [DAT](INFO): DAT read: Bearing 314.5,  -1.0 (Local)

2025-10-26T22:49:29.964Z,1761518969.964 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.5,  -1.0 (Local)

2025-10-26T22:49:29.966Z,1761518969.966 [DAT](INFO): DAT read: Range 11 to 50 : 67.6 m  (Round-trip  90.2 ms) speed  0.4 m/s

2025-10-26T22:49:29.966Z,1761518969.966 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:49:29.967Z,1761518969.967 [DAT](INFO): direction in FSK: [0.956137,0.056805,0.287361]
2025-10-26T22:49:29.968Z,1761518969.968 [DAT](INFO): publishing direction and range info
2025-10-26T22:49:29.971Z,1761518969.971 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:49:29.971Z,1761518969.971 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:49:29.976Z,1761518969.976 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:49:29.985Z,1761518969.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 67.599998 m,
      deltaT: 3.791711 s,
      deltaX: -1.900002 m,
      approachRate: -0.501093 m/s,
      rangeRepo size: 4

2025-10-26T22:49:29.987Z,1761518969.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 67.238686 m,
      bearing: 151.302493 deg,
      lat: 36.779403 deg,
      lon: -121.859433 deg,
      deltaT: 3.791711 s,
      deltaX: -1.897552 m,
      approachRate: -0.500448 m/s,
      posRepo size: 4

2025-10-26T22:49:30.004Z,1761518970.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.24 m.
2025-10-26T22:49:30.006Z,1761518970.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.238686 m,
      nav range: 65.535141 m,
      bearing: 150.972175 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.089411 deg/s,
      cmd heading: 146.368427 deg,
      new cmd heading: 146.262890 deg.

2025-10-26T22:49:30.016Z,1761518970.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.552769 target range: 67.238686 and range: 67.60 m.
2025-10-26T22:49:30.208Z,1761518970.208 [DAT](INFO): DAT read: user:715>

2025-10-26T22:49:30.209Z,1761518970.209 [DAT](INFO): DAT read: Tx time:22:49:29.3363

2025-10-26T22:49:30.210Z,1761518970.210 [DAT](INFO): Ping request sent.
2025-10-26T22:49:30.210Z,1761518970.210 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:49:30.210Z,1761518970.210 [DAT](INFO): publishing transmit ping time
2025-10-26T22:49:30.210Z,1761518970.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760
2025-10-26T22:49:30.353Z,1761518970.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823017,-0.555017,-0.120826],[0.566183,-0.818665,-0.096049],[-0.045607,-0.147459,0.988016]]
2025-10-26T22:49:30.433Z,1761518970.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:30.435Z,1761518970.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.24 m.
2025-10-26T22:49:30.442Z,1761518970.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.238686 m,
      nav range: 65.332977 m,
      bearing: 150.933834 deg,
      approach rate: -0.447521 m/s,
      LOS rate: -0.085136 deg/s,
      cmd heading: 146.262887 deg,
      new cmd heading: 146.147509 deg.

2025-10-26T22:49:30.443Z,1761518970.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.550755 target range: 67.238686 and range: 67.60 m.
2025-10-26T22:49:30.460Z,1761518970.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250760
2025-10-26T22:49:30.713Z,1761518970.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503231
2025-10-26T22:49:30.805Z,1761518970.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.24 m.
2025-10-26T22:49:30.808Z,1761518970.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.238686 m,
      nav range: 65.152527 m,
      bearing: 150.905267 deg,
      approach rate: -0.487232 m/s,
      LOS rate: -0.077347 deg/s,
      cmd heading: 146.147511 deg,
      new cmd heading: 146.061573 deg.

2025-10-26T22:49:30.809Z,1761518970.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.549255 target range: 67.238686 and range: 67.60 m.
2025-10-26T22:49:30.965Z,1761518970.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754816
2025-10-26T22:49:31.218Z,1761518971.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007589
2025-10-26T22:49:31.268Z,1761518971.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824666,-0.550953,-0.127970],[0.562365,-0.822895,-0.081169],[-0.060585,-0.138903,0.988451]]
2025-10-26T22:49:31.289Z,1761518971.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.24 m.
2025-10-26T22:49:31.291Z,1761518971.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.238686 m,
      nav range: 64.927872 m,
      bearing: 150.868473 deg,
      approach rate: -0.464885 m/s,
      LOS rate: -0.076402 deg/s,
      cmd heading: 146.061574 deg,
      new cmd heading: 145.950810 deg.

2025-10-26T22:49:31.292Z,1761518971.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.547322 target range: 67.238686 and range: 67.60 m.
2025-10-26T22:49:31.470Z,1761518971.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259551
2025-10-26T22:49:31.721Z,1761518971.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511465
2025-10-26T22:49:31.738Z,1761518971.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825581,-0.549331,-0.129039],[0.560595,-0.824556,-0.076421],[-0.064420,-0.135431,0.988690]]
2025-10-26T22:49:31.787Z,1761518971.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.24 m.
2025-10-26T22:49:31.790Z,1761518971.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.238686 m,
      nav range: 64.683067 m,
      bearing: 150.841645 deg,
      approach rate: -0.491559 m/s,
      LOS rate: -0.054075 deg/s,
      cmd heading: 145.950815 deg,
      new cmd heading: 145.870025 deg.

2025-10-26T22:49:31.791Z,1761518971.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.545912 target range: 67.238686 and range: 67.60 m.
2025-10-26T22:49:31.973Z,1761518971.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763290
2025-10-26T22:49:32.224Z,1761518972.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014774
2025-10-26T22:49:32.225Z,1761518972.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826655,-0.547666,-0.129238],[0.558641,-0.826306,-0.071678],[-0.067535,-0.131451,0.989020]]
2025-10-26T22:49:32.243Z,1761518972.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.24 m.
2025-10-26T22:49:32.246Z,1761518972.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.238686 m,
      nav range: 64.458702 m,
      bearing: 150.816404 deg,
      approach rate: -0.491829 m/s,
      LOS rate: -0.055523 deg/s,
      cmd heading: 145.870028 deg,
      new cmd heading: 145.794042 deg.

2025-10-26T22:49:32.247Z,1761518972.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.544586 target range: 67.238686 and range: 67.60 m.
2025-10-26T22:49:32.476Z,1761518972.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266708
2025-10-26T22:49:32.691Z,1761518972.691 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:32.693Z,1761518972.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.24 m.
2025-10-26T22:49:32.696Z,1761518972.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.238686 m,
      nav range: 64.209389 m,
      bearing: 150.809557 deg,
      approach rate: -0.554089 m/s,
      LOS rate: -0.015277 deg/s,
      cmd heading: 145.794035 deg,
      new cmd heading: 145.773414 deg.

2025-10-26T22:49:32.697Z,1761518972.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.544226 target range: 67.238686 and range: 67.60 m.
2025-10-26T22:49:32.729Z,1761518972.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518893
2025-10-26T22:49:32.981Z,1761518972.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771216
2025-10-26T22:49:33.026Z,1761518973.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828943,-0.543439,-0.132397],[0.554694,-0.829130,-0.069699],[-0.071897,-0.131216,0.988743]]
2025-10-26T22:49:33.061Z,1761518973.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.24 m.
2025-10-26T22:49:33.064Z,1761518973.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.238686 m,
      nav range: 64.004807 m,
      bearing: 150.803055 deg,
      approach rate: -0.555629 m/s,
      LOS rate: -0.017716 deg/s,
      cmd heading: 145.773408 deg,
      new cmd heading: 145.753839 deg.

2025-10-26T22:49:33.065Z,1761518973.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.543884 target range: 67.238686 and range: 67.60 m.
2025-10-26T22:49:33.232Z,1761518973.232 [DAT](INFO): DAT read: Rx Time:22:49:31.8278

2025-10-26T22:49:33.233Z,1761518973.233 [DAT](INFO): Rx dataTimestamp_ set to:1761518973.232615
2025-10-26T22:49:33.233Z,1761518973.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023792
2025-10-26T22:49:33.463Z,1761518973.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829682,-0.541873,-0.134168],[0.553413,-0.829930,-0.070359],[-0.073224,-0.132626,0.988458]]
2025-10-26T22:49:33.484Z,1761518973.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274736
2025-10-26T22:49:33.501Z,1761518973.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.24 m.
2025-10-26T22:49:33.504Z,1761518973.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.238686 m,
      nav range: 63.758682 m,
      bearing: 150.807784 deg,
      approach rate: -0.559605 m/s,
      LOS rate: 0.010794 deg/s,
      cmd heading: 145.753833 deg,
      new cmd heading: 145.768075 deg.

2025-10-26T22:49:33.505Z,1761518973.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.544133 target range: 67.238686 and range: 67.60 m.
2025-10-26T22:49:33.742Z,1761518973.742 [DAT](INFO): DAT read: 22:49:31.8278 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 411, 0.04,-1.717, 2.776,-1.595,-1.868, PHS= 0.253,-1.594, 0.229, RAW= 149.3,  12.1, CAL= 149.2,  13.3, ROT=   0.8, -13.3

2025-10-26T22:49:33.743Z,1761518973.743 [DAT](INFO): got valid direction response:
 22:49:31.8278 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 411, 0.04,-1.717, 2.776,-1.595,-1.868, PHS= 0.253,-1.594, 0.229, RAW= 149.3,  12.1, CAL= 149.2,  13.3, ROT=   0.8, -13.3

2025-10-26T22:49:33.744Z,1761518973.744 [DAT](INFO): DAT read: Bearing 312.1,  -4.9 (Local)

2025-10-26T22:49:33.745Z,1761518973.745 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.1,  -4.9 (Local)

2025-10-26T22:49:33.746Z,1761518973.746 [DAT](INFO): DAT read: Range 11 to 50 : 65.5 m  (Round-trip  87.4 ms) speed  0.4 m/s

2025-10-26T22:49:33.747Z,1761518973.747 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:49:33.753Z,1761518973.753 [DAT](INFO): direction in FSK: [0.973084,0.013588,0.230050]
2025-10-26T22:49:33.754Z,1761518973.754 [DAT](INFO): publishing direction and range info
2025-10-26T22:49:33.757Z,1761518973.757 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:49:33.757Z,1761518973.757 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:49:33.757Z,1761518973.757 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:49:33.902Z,1761518973.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 65.500000 m,
      deltaT: 3.780058 s,
      deltaX: -2.099998 m,
      approachRate: -0.555547 m/s,
      rangeRepo size: 4

2025-10-26T22:49:33.909Z,1761518973.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 65.152779 m,
      bearing: 148.851882 deg,
      lat: 36.779406 deg,
      lon: -121.859430 deg,
      deltaT: 3.780058 s,
      deltaX: -2.085907 m,
      approachRate: -0.551819 m/s,
      posRepo size: 4

2025-10-26T22:49:33.909Z,1761518973.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.15 m.
2025-10-26T22:49:33.916Z,1761518973.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.152779 m,
      nav range: 63.310493 m,
      bearing: 150.479920 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010794 deg/s,
      cmd heading: 145.768080 deg,
      new cmd heading: 145.781061 deg.

2025-10-26T22:49:33.917Z,1761518973.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.544359 target range: 65.152779 and range: 65.50 m.
2025-10-26T22:49:33.989Z,1761518973.989 [DAT](INFO): DAT read: user:716>

2025-10-26T22:49:33.990Z,1761518973.990 [DAT](INFO): DAT read: Tx time:22:49:33.1363

2025-10-26T22:49:33.991Z,1761518973.991 [DAT](INFO): Ping request sent.
2025-10-26T22:49:33.991Z,1761518973.991 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:49:33.991Z,1761518973.991 [DAT](INFO): publishing transmit ping time
2025-10-26T22:49:33.992Z,1761518973.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001271
2025-10-26T22:49:34.238Z,1761518974.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830295,-0.539856,-0.138442],[0.552245,-0.830401,-0.073890],[-0.075072,-0.137804,0.987610]]
2025-10-26T22:49:34.240Z,1761518974.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249412
2025-10-26T22:49:34.298Z,1761518974.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.15 m.
2025-10-26T22:49:34.312Z,1761518974.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.152779 m,
      nav range: 63.102211 m,
      bearing: 150.482636 deg,
      approach rate: -0.525894 m/s,
      LOS rate: 0.006881 deg/s,
      cmd heading: 145.781058 deg,
      new cmd heading: 145.789234 deg.

2025-10-26T22:49:34.313Z,1761518974.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.544502 target range: 65.152779 and range: 65.50 m.
2025-10-26T22:49:34.492Z,1761518974.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501325
2025-10-26T22:49:34.651Z,1761518974.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830505,-0.539017,-0.140436],[0.551867,-0.830439,-0.076251],[-0.075523,-0.140829,0.987149]]
2025-10-26T22:49:34.712Z,1761518974.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:34.716Z,1761518974.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.15 m.
2025-10-26T22:49:34.720Z,1761518974.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.152779 m,
      nav range: 62.842041 m,
      bearing: 150.494788 deg,
      approach rate: -0.623238 m/s,
      LOS rate: 0.029231 deg/s,
      cmd heading: 145.789240 deg,
      new cmd heading: 145.825847 deg.

2025-10-26T22:49:34.721Z,1761518974.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.545141 target range: 65.152779 and range: 65.50 m.
2025-10-26T22:49:34.744Z,1761518974.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753318
2025-10-26T22:49:34.996Z,1761518974.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005310
2025-10-26T22:49:35.058Z,1761518975.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830629,-0.538516,-0.141619],[0.551652,-0.830442,-0.077758],[-0.075733,-0.142713,0.986862]]
2025-10-26T22:49:35.077Z,1761518975.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.15 m.
2025-10-26T22:49:35.079Z,1761518975.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.152779 m,
      nav range: 62.631348 m,
      bearing: 150.504653 deg,
      approach rate: -0.582994 m/s,
      LOS rate: 0.027389 deg/s,
      cmd heading: 145.825850 deg,
      new cmd heading: 145.855545 deg.

2025-10-26T22:49:35.080Z,1761518975.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.545660 target range: 65.152779 and range: 65.50 m.
2025-10-26T22:49:35.249Z,1761518975.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257743
2025-10-26T22:49:35.491Z,1761518975.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830919,-0.537867,-0.142380],[0.551169,-0.830696,-0.078472],[-0.076067,-0.143680,0.986696]]
2025-10-26T22:49:35.500Z,1761518975.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509470
2025-10-26T22:49:35.529Z,1761518975.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.15 m.
2025-10-26T22:49:35.533Z,1761518975.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.152779 m,
      nav range: 62.368343 m,
      bearing: 150.522756 deg,
      approach rate: -0.581244 m/s,
      LOS rate: 0.040177 deg/s,
      cmd heading: 145.855548 deg,
      new cmd heading: 145.910087 deg.

2025-10-26T22:49:35.534Z,1761518975.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.546611 target range: 65.152779 and range: 65.50 m.
2025-10-26T22:49:35.753Z,1761518975.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761969
2025-10-26T22:49:35.865Z,1761518975.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830965,-0.537067,-0.145104],[0.551100,-0.830328,-0.082722],[-0.076057,-0.148706,0.985952]]
2025-10-26T22:49:35.883Z,1761518975.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.15 m.
2025-10-26T22:49:35.886Z,1761518975.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.152779 m,
      nav range: 62.162506 m,
      bearing: 150.537019 deg,
      approach rate: -0.582017 m/s,
      LOS rate: 0.040461 deg/s,
      cmd heading: 145.910080 deg,
      new cmd heading: 145.953009 deg.

2025-10-26T22:49:35.887Z,1761518975.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.547361 target range: 65.152779 and range: 65.50 m.
2025-10-26T22:49:36.004Z,1761518976.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013474
2025-10-26T22:49:36.256Z,1761518976.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265481
2025-10-26T22:49:36.268Z,1761518976.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831192,-0.535836,-0.148323],[0.550785,-0.829979,-0.088151],[-0.075870,-0.154964,0.985002]]
2025-10-26T22:49:36.287Z,1761518976.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.15 m.
2025-10-26T22:49:36.301Z,1761518976.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.152779 m,
      nav range: 61.927696 m,
      bearing: 150.553324 deg,
      approach rate: -0.581464 m/s,
      LOS rate: 0.040529 deg/s,
      cmd heading: 145.953015 deg,
      new cmd heading: 146.002115 deg.

2025-10-26T22:49:36.302Z,1761518976.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.548218 target range: 65.152779 and range: 65.50 m.
2025-10-26T22:49:36.511Z,1761518976.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519677
2025-10-26T22:49:36.677Z,1761518976.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831260,-0.535299,-0.149871],[0.550691,-0.829765,-0.090711],[-0.075800,-0.157937,0.984536]]
2025-10-26T22:49:36.718Z,1761518976.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:36.736Z,1761518976.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.15 m.
2025-10-26T22:49:36.739Z,1761518976.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.152779 m,
      nav range: 61.675621 m,
      bearing: 150.568536 deg,
      approach rate: -0.560351 m/s,
      LOS rate: 0.033954 deg/s,
      cmd heading: 146.002110 deg,
      new cmd heading: 146.047933 deg.

2025-10-26T22:49:36.744Z,1761518976.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.549017 target range: 65.152779 and range: 65.50 m.
2025-10-26T22:49:36.760Z,1761518976.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769493
2025-10-26T22:49:37.013Z,1761518977.013 [DAT](INFO): DAT read: Rx Time:22:49:35.6251

2025-10-26T22:49:37.014Z,1761518977.014 [DAT](INFO): Rx dataTimestamp_ set to:1761518977.013309
2025-10-26T22:49:37.014Z,1761518977.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023499
2025-10-26T22:49:37.079Z,1761518977.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831214,-0.535240,-0.150336],[0.550720,-0.829729,-0.090872],[-0.076099,-0.158327,0.984450]]
2025-10-26T22:49:37.097Z,1761518977.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.15 m.
2025-10-26T22:49:37.112Z,1761518977.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.152779 m,
      nav range: 61.451496 m,
      bearing: 150.582178 deg,
      approach rate: -0.621380 m/s,
      LOS rate: 0.037961 deg/s,
      cmd heading: 146.047927 deg,
      new cmd heading: 146.089004 deg.

2025-10-26T22:49:37.113Z,1761518977.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.549734 target range: 65.152779 and range: 65.50 m.
2025-10-26T22:49:37.264Z,1761518977.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273301
2025-10-26T22:49:37.522Z,1761518977.522 [DAT](INFO): DAT read: 22:49:35.6251 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417,-0.37, 3.015, 1.257,-3.107, 2.959, PHS= 0.158,-1.657, 0.173, RAW= 150.4,  14.4, CAL= 150.6,  16.1, ROT= 359.4, -16.1

2025-10-26T22:49:37.523Z,1761518977.523 [DAT](INFO): got valid direction response:
 22:49:35.6251 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417,-0.37, 3.015, 1.257,-3.107, 2.959, PHS= 0.158,-1.657, 0.173, RAW= 150.4,  14.4, CAL= 150.6,  16.1, ROT= 359.4, -16.1

2025-10-26T22:49:37.524Z,1761518977.524 [DAT](INFO): DAT read: Bearing 313.9,  -7.4 (Local)

2025-10-26T22:49:37.524Z,1761518977.524 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.9,  -7.4 (Local)

2025-10-26T22:49:37.526Z,1761518977.526 [DAT](INFO): DAT read: Range 11 to 50 : 63.5 m  (Round-trip  84.7 ms) speed  0.4 m/s

2025-10-26T22:49:37.526Z,1761518977.526 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:49:37.527Z,1761518977.527 [DAT](INFO): direction in FSK: [0.960726,-0.010061,0.277315]
2025-10-26T22:49:37.528Z,1761518977.528 [DAT](INFO): publishing direction and range info
2025-10-26T22:49:37.531Z,1761518977.531 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:49:37.531Z,1761518977.531 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:49:37.532Z,1761518977.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830764,-0.535714,-0.151133],[0.551354,-0.829260,-0.091304],[-0.076416,-0.159180,0.984288]]
2025-10-26T22:49:37.536Z,1761518977.536 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:49:37.672Z,1761518977.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 3.779969 s,
      deltaX: -2.000000 m,
      approachRate: -0.529105 m/s,
      rangeRepo size: 4

2025-10-26T22:49:37.674Z,1761518977.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.166946 m,
      bearing: 148.437922 deg,
      lat: 36.779406 deg,
      lon: -121.859427 deg,
      deltaT: 3.779969 s,
      deltaX: -1.985832 m,
      approachRate: -0.525357 m/s,
      posRepo size: 4

2025-10-26T22:49:37.674Z,1761518977.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.17 m.
2025-10-26T22:49:37.681Z,1761518977.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.166946 m,
      nav range: 61.292610 m,
      bearing: 150.369801 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.037961 deg/s,
      cmd heading: 146.089004 deg,
      new cmd heading: 146.153880 deg.

2025-10-26T22:49:37.682Z,1761518977.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.550866 target range: 63.166946 and range: 63.50 m.
2025-10-26T22:49:37.768Z,1761518977.768 [DAT](INFO): DAT read: user:717>

2025-10-26T22:49:37.769Z,1761518977.769 [DAT](INFO): DAT read: Tx time:22:49:36.8878

2025-10-26T22:49:37.769Z,1761518977.769 [DAT](INFO): Ping request sent.
2025-10-26T22:49:37.770Z,1761518977.770 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:49:37.770Z,1761518977.770 [DAT](INFO): publishing transmit ping time
2025-10-26T22:49:37.770Z,1761518977.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761
2025-10-26T22:49:38.009Z,1761518978.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830469,-0.535949,-0.151922],[0.551763,-0.828921,-0.091909],[-0.076673,-0.160153,0.984110]]
2025-10-26T22:49:38.020Z,1761518978.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250889
2025-10-26T22:49:38.049Z,1761518978.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.17 m.
2025-10-26T22:49:38.056Z,1761518978.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.166946 m,
      nav range: 61.068081 m,
      bearing: 150.379026 deg,
      approach rate: -0.586943 m/s,
      LOS rate: 0.024206 deg/s,
      cmd heading: 146.153877 deg,
      new cmd heading: 146.181656 deg.

2025-10-26T22:49:38.057Z,1761518978.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.551351 target range: 63.166946 and range: 63.50 m.
2025-10-26T22:49:38.274Z,1761518978.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504080
2025-10-26T22:49:38.406Z,1761518978.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829894,-0.536486,-0.153166],[0.552599,-0.828226,-0.093148],[-0.076883,-0.161943,0.983801]]
2025-10-26T22:49:38.452Z,1761518978.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.17 m.
2025-10-26T22:49:38.454Z,1761518978.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.166946 m,
      nav range: 60.848553 m,
      bearing: 150.388339 deg,
      approach rate: -0.551294 m/s,
      LOS rate: 0.023472 deg/s,
      cmd heading: 146.181662 deg,
      new cmd heading: 146.209702 deg.

2025-10-26T22:49:38.460Z,1761518978.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.551841 target range: 63.166946 and range: 63.50 m.
2025-10-26T22:49:38.528Z,1761518978.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757316
2025-10-26T22:49:38.776Z,1761518978.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006832
2025-10-26T22:49:38.853Z,1761518978.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828091,-0.537967,-0.157659],[0.555097,-0.826162,-0.096558],[-0.078307,-0.167475,0.982761]]
2025-10-26T22:49:38.909Z,1761518978.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:38.915Z,1761518978.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.17 m.
2025-10-26T22:49:38.918Z,1761518978.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.166946 m,
      nav range: 60.595051 m,
      bearing: 150.390953 deg,
      approach rate: -0.546767 m/s,
      LOS rate: 0.005661 deg/s,
      cmd heading: 146.209707 deg,
      new cmd heading: 146.217581 deg.

2025-10-26T22:49:38.919Z,1761518978.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.551978 target range: 63.166946 and range: 63.50 m.
2025-10-26T22:49:39.030Z,1761518979.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260320
2025-10-26T22:49:39.281Z,1761518979.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510945
2025-10-26T22:49:39.309Z,1761518979.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827319,-0.538596,-0.159552],[0.556158,-0.825287,-0.097924],[-0.078935,-0.169751,0.982321]]
2025-10-26T22:49:39.350Z,1761518979.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.17 m.
2025-10-26T22:49:39.358Z,1761518979.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.166946 m,
      nav range: 60.352299 m,
      bearing: 150.393810 deg,
      approach rate: -0.552718 m/s,
      LOS rate: 0.006532 deg/s,
      cmd heading: 146.217575 deg,
      new cmd heading: 146.226181 deg.

2025-10-26T22:49:39.359Z,1761518979.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.552128 target range: 63.166946 and range: 63.50 m.
2025-10-26T22:49:39.535Z,1761518979.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765278
2025-10-26T22:49:39.737Z,1761518979.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.17 m.
2025-10-26T22:49:39.740Z,1761518979.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.166946 m,
      nav range: 60.146900 m,
      bearing: 150.386224 deg,
      approach rate: -0.530572 m/s,
      LOS rate: -0.019663 deg/s,
      cmd heading: 146.226181 deg,
      new cmd heading: 146.203345 deg.

2025-10-26T22:49:39.741Z,1761518979.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.551730 target range: 63.166946 and range: 63.50 m.
2025-10-26T22:49:39.784Z,1761518979.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014846
2025-10-26T22:49:40.037Z,1761518980.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267253
2025-10-26T22:49:40.078Z,1761518980.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825834,-0.540200,-0.161811],[0.558150,-0.823940,-0.097936],[-0.080418,-0.171193,0.981950]]
2025-10-26T22:49:40.111Z,1761518980.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.17 m.
2025-10-26T22:49:40.113Z,1761518980.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.166946 m,
      nav range: 59.951916 m,
      bearing: 150.379453 deg,
      approach rate: -0.522605 m/s,
      LOS rate: -0.018208 deg/s,
      cmd heading: 146.203341 deg,
      new cmd heading: 146.182960 deg.

2025-10-26T22:49:40.114Z,1761518980.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.551374 target range: 63.166946 and range: 63.50 m.
2025-10-26T22:49:40.288Z,1761518980.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518763
2025-10-26T22:49:40.483Z,1761518980.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825122,-0.540982,-0.162825],[0.559070,-0.823369,-0.097491],[-0.081324,-0.171473,0.981827]]
2025-10-26T22:49:40.538Z,1761518980.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.17 m.
2025-10-26T22:49:40.544Z,1761518980.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773387
2025-10-26T22:49:40.561Z,1761518980.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.166946 m,
      nav range: 59.746643 m,
      bearing: 150.372507 deg,
      approach rate: -0.487545 m/s,
      LOS rate: -0.016555 deg/s,
      cmd heading: 146.182960 deg,
      new cmd heading: 146.162050 deg.

2025-10-26T22:49:40.608Z,1761518980.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.551009 target range: 63.166946 and range: 63.50 m.
2025-10-26T22:49:40.793Z,1761518980.793 [DAT](INFO): DAT read: Rx Time:22:49:39.3742

2025-10-26T22:49:40.793Z,1761518980.793 [DAT](INFO): Rx dataTimestamp_ set to:1761518980.792765
2025-10-26T22:49:40.794Z,1761518980.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024059
2025-10-26T22:49:41.044Z,1761518981.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274754
2025-10-26T22:49:41.086Z,1761518981.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824695,-0.541723,-0.162526],[0.559593,-0.823246,-0.095511],[-0.082059,-0.169716,0.982071]]
2025-10-26T22:49:41.152Z,1761518981.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:41.169Z,1761518981.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.17 m.
2025-10-26T22:49:41.192Z,1761518981.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.166946 m,
      nav range: 59.450809 m,
      bearing: 150.343285 deg,
      approach rate: -0.468849 m/s,
      LOS rate: -0.046542 deg/s,
      cmd heading: 146.162046 deg,
      new cmd heading: 146.073944 deg.

2025-10-26T22:49:41.193Z,1761518981.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.549471 target range: 63.166946 and range: 63.50 m.
2025-10-26T22:49:41.302Z,1761518981.302 [DAT](INFO): DAT read: 22:49:39.3742 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 422, 0.44, 2.747, 0.975, 2.849, 2.667, PHS= 0.183,-1.647, 0.138, RAW= 148.8,  14.5, CAL= 148.9,  16.1, ROT=   1.1, -16.1

2025-10-26T22:49:41.303Z,1761518981.303 [DAT](INFO): got valid direction response:
 22:49:39.3742 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 422, 0.44, 2.747, 0.975, 2.849, 2.667, PHS= 0.183,-1.647, 0.138, RAW= 148.8,  14.5, CAL= 148.9,  16.1, ROT=   1.1, -16.1

2025-10-26T22:49:41.304Z,1761518981.304 [DAT](INFO): DAT read: Bearing 313.7,  -6.3 (Local)

2025-10-26T22:49:41.305Z,1761518981.305 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.7,  -6.3 (Local)

2025-10-26T22:49:41.306Z,1761518981.306 [DAT](INFO): DAT read: Range 11 to 50 : 61.6 m  (Round-trip  82.2 ms) speed  0.4 m/s

2025-10-26T22:49:41.307Z,1761518981.307 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:49:41.308Z,1761518981.308 [DAT](INFO): direction in FSK: [0.960602,0.018445,0.277315]
2025-10-26T22:49:41.308Z,1761518981.308 [DAT](INFO): publishing direction and range info
2025-10-26T22:49:41.316Z,1761518981.316 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:49:41.316Z,1761518981.316 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:49:41.316Z,1761518981.316 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:49:41.393Z,1761518981.393 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:49:41.552Z,1761518981.552 [DAT](INFO): DAT read: user:718>

2025-10-26T22:49:41.554Z,1761518981.554 [DAT](INFO): DAT read: Tx time:22:49:40.6878

2025-10-26T22:49:41.555Z,1761518981.555 [DAT](INFO): Ping request sent.
2025-10-26T22:49:41.556Z,1761518981.556 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:49:41.556Z,1761518981.556 [DAT](INFO): publishing transmit ping time
2025-10-26T22:49:41.558Z,1761518981.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002605
2025-10-26T22:49:41.674Z,1761518981.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823585,-0.543478,-0.162296],[0.561088,-0.822524,-0.092920],[-0.082992,-0.167590,0.982357]]
2025-10-26T22:49:41.746Z,1761518981.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.599998 m,
      deltaT: 3.780066 s,
      deltaX: -1.900002 m,
      approachRate: -0.502637 m/s,
      rangeRepo size: 4

2025-10-26T22:49:41.753Z,1761518981.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.280388 m,
      bearing: 149.519503 deg,
      lat: 36.779403 deg,
      lon: -121.859414 deg,
      deltaT: 3.780066 s,
      deltaX: -1.886559 m,
      approachRate: -0.499081 m/s,
      posRepo size: 4

2025-10-26T22:49:41.753Z,1761518981.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.28 m.
2025-10-26T22:49:41.760Z,1761518981.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.280388 m,
      nav range: 60.104366 m,
      bearing: 149.483165 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.046542 deg/s,
      cmd heading: 146.073950 deg,
      new cmd heading: 145.992547 deg.

2025-10-26T22:49:41.761Z,1761518981.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.548051 target range: 61.280388 and range: 61.60 m.
2025-10-26T22:49:41.801Z,1761518981.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245333
2025-10-26T22:49:42.052Z,1761518982.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497125
2025-10-26T22:49:42.236Z,1761518982.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.28 m.
2025-10-26T22:49:42.238Z,1761518982.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.280388 m,
      nav range: 59.853920 m,
      bearing: 149.443658 deg,
      approach rate: -0.511407 m/s,
      LOS rate: -0.081010 deg/s,
      cmd heading: 145.992548 deg,
      new cmd heading: 145.873532 deg.

2025-10-26T22:49:42.239Z,1761518982.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.545973 target range: 61.280388 and range: 61.60 m.
2025-10-26T22:49:42.305Z,1761518982.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749971
2025-10-26T22:49:42.396Z,1761518982.396 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:49:42.559Z,1761518982.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003311
2025-10-26T22:49:42.687Z,1761518982.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.28 m.
2025-10-26T22:49:42.690Z,1761518982.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.280388 m,
      nav range: 59.642403 m,
      bearing: 149.408810 deg,
      approach rate: -0.468336 m/s,
      LOS rate: -0.077433 deg/s,
      cmd heading: 145.873525 deg,
      new cmd heading: 145.768611 deg.

2025-10-26T22:49:42.691Z,1761518982.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.544142 target range: 61.280388 and range: 61.60 m.
2025-10-26T22:49:42.808Z,1761518982.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253192
2025-10-26T22:49:43.013Z,1761518983.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821503,-0.548977,-0.154135],[0.564116,-0.821872,-0.079371],[-0.083106,-0.152154,0.984857]]
2025-10-26T22:49:43.033Z,1761518983.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.28 m.
2025-10-26T22:49:43.036Z,1761518983.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.280388 m,
      nav range: 59.480797 m,
      bearing: 149.382436 deg,
      approach rate: -0.467390 m/s,
      LOS rate: -0.076486 deg/s,
      cmd heading: 145.768613 deg,
      new cmd heading: 145.689275 deg.

2025-10-26T22:49:43.037Z,1761518983.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.542758 target range: 61.280388 and range: 61.60 m.
2025-10-26T22:49:43.061Z,1761518983.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505328
2025-10-26T22:49:43.312Z,1761518983.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757096
2025-10-26T22:49:43.410Z,1761518983.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820597,-0.551600,-0.149527],[0.565483,-0.821553,-0.072663],[-0.082763,-0.144182,0.986084]]
2025-10-26T22:49:43.434Z,1761518983.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:43.436Z,1761518983.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.28 m.
2025-10-26T22:49:43.439Z,1761518983.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.280388 m,
      nav range: 59.291180 m,
      bearing: 149.351518 deg,
      approach rate: -0.469996 m/s,
      LOS rate: -0.076879 deg/s,
      cmd heading: 145.689274 deg,
      new cmd heading: 145.596224 deg.

2025-10-26T22:49:43.441Z,1761518983.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.541133 target range: 61.280388 and range: 61.60 m.
2025-10-26T22:49:43.569Z,1761518983.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013103
2025-10-26T22:49:43.814Z,1761518983.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819803,-0.553332,-0.147468],[0.566704,-0.820935,-0.070093],[-0.082277,-0.141034,0.986580]]
2025-10-26T22:49:43.816Z,1761518983.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261264
2025-10-26T22:49:43.858Z,1761518983.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.28 m.
2025-10-26T22:49:43.877Z,1761518983.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.280388 m,
      nav range: 59.087887 m,
      bearing: 149.322731 deg,
      approach rate: -0.481416 m/s,
      LOS rate: -0.068406 deg/s,
      cmd heading: 145.596219 deg,
      new cmd heading: 145.509560 deg.

2025-10-26T22:49:43.878Z,1761518983.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.539621 target range: 61.280388 and range: 61.60 m.
2025-10-26T22:49:44.068Z,1761518984.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513137
2025-10-26T22:49:44.216Z,1761518984.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819321,-0.553966,-0.147768],[0.567394,-0.820444,-0.070246],[-0.082321,-0.141397,0.986524]]
2025-10-26T22:49:44.243Z,1761518984.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.28 m.
2025-10-26T22:49:44.246Z,1761518984.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.280388 m,
      nav range: 58.902283 m,
      bearing: 149.296431 deg,
      approach rate: -0.482497 m/s,
      LOS rate: -0.068584 deg/s,
      cmd heading: 145.509558 deg,
      new cmd heading: 145.430411 deg.

2025-10-26T22:49:44.247Z,1761518984.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.538239 target range: 61.280388 and range: 61.60 m.
2025-10-26T22:49:44.321Z,1761518984.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765976
2025-10-26T22:49:44.576Z,1761518984.576 [DAT](INFO): DAT read: Rx Time:22:49:43.1714

2025-10-26T22:49:44.577Z,1761518984.577 [DAT](INFO): Rx dataTimestamp_ set to:1761518984.576286
2025-10-26T22:49:44.579Z,1761518984.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023505
2025-10-26T22:49:44.673Z,1761518984.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818584,-0.555424,-0.146369],[0.568504,-0.819830,-0.068429],[-0.081990,-0.139226,0.986861]]
2025-10-26T22:49:44.743Z,1761518984.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.28 m.
2025-10-26T22:49:44.746Z,1761518984.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.280388 m,
      nav range: 58.668827 m,
      bearing: 149.265790 deg,
      approach rate: -0.466878 m/s,
      LOS rate: -0.061522 deg/s,
      cmd heading: 145.430410 deg,
      new cmd heading: 145.338120 deg.

2025-10-26T22:49:44.747Z,1761518984.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.536629 target range: 61.280388 and range: 61.60 m.
2025-10-26T22:49:44.825Z,1761518984.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269757
2025-10-26T22:49:45.067Z,1761518985.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817734,-0.556292,-0.147815],[0.569708,-0.818864,-0.069967],[-0.082118,-0.141426,0.986537]]
2025-10-26T22:49:45.090Z,1761518985.090 [DAT](INFO): DAT read: 22:49:43.1714 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410, 0.37,-2.735, 1.733,-2.613,-2.853, PHS= 0.220,-1.652, 0.197, RAW= 149.4,  13.2, CAL= 149.4,  14.6, ROT=   0.6, -14.6

2025-10-26T22:49:45.091Z,1761518985.091 [DAT](INFO): got valid direction response:
 22:49:43.1714 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410, 0.37,-2.735, 1.733,-2.613,-2.853, PHS= 0.220,-1.652, 0.197, RAW= 149.4,  13.2, CAL= 149.4,  14.6, ROT=   0.6, -14.6

2025-10-26T22:49:45.092Z,1761518985.092 [DAT](INFO): DAT read: Bearing 311.7,  -5.9 (Local)

2025-10-26T22:49:45.092Z,1761518985.092 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.7,  -5.9 (Local)

2025-10-26T22:49:45.094Z,1761518985.094 [DAT](INFO): DAT read: Range 11 to 50 : 59.5 m  (Round-trip  79.4 ms) speed  0.5 m/s

2025-10-26T22:49:45.094Z,1761518985.094 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:49:45.095Z,1761518985.095 [DAT](INFO): direction in FSK: [0.967656,0.010134,0.252069]
2025-10-26T22:49:45.096Z,1761518985.096 [DAT](INFO): publishing direction and range info
2025-10-26T22:49:45.099Z,1761518985.099 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:49:45.099Z,1761518985.099 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:49:45.108Z,1761518985.108 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:49:45.147Z,1761518985.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.500000 m,
      deltaT: 3.779896 s,
      deltaX: -2.099998 m,
      approachRate: -0.555570 m/s,
      rangeRepo size: 4

2025-10-26T22:49:45.154Z,1761518985.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 59.199455 m,
      bearing: 147.798340 deg,
      lat: 36.779406 deg,
      lon: -121.859407 deg,
      deltaT: 3.779896 s,
      deltaX: -2.080933 m,
      approachRate: -0.550526 m/s,
      posRepo size: 4

2025-10-26T22:49:45.154Z,1761518985.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.20 m.
2025-10-26T22:49:45.155Z,1761518985.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.50 m.
2025-10-26T22:49:45.166Z,1761518985.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.199455 m,
      nav range: 58.488350 m,
      bearing: 148.531521 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.061522 deg/s,
      cmd heading: 145.338120 deg,
      new cmd heading: 145.263905 deg.

2025-10-26T22:49:45.167Z,1761518985.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.535333 target range: 59.199455 and range: 59.50 m.
2025-10-26T22:49:45.206Z,1761518985.206 [DockingStepper](INFO): Changing to mode: 2
2025-10-26T22:49:45.329Z,1761518985.329 [DAT](INFO): DAT read: user:719>

2025-10-26T22:49:45.329Z,1761518985.329 [DAT](INFO): DAT read: Tx time:22:49:44.4863

2025-10-26T22:49:45.330Z,1761518985.330 [DAT](INFO): Ping request sent.
2025-10-26T22:49:45.330Z,1761518985.330 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:49:45.330Z,1761518985.330 [DAT](INFO): publishing transmit ping time
2025-10-26T22:49:45.331Z,1761518985.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000769
2025-10-26T22:49:45.515Z,1761518985.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816767,-0.557020,-0.150399],[0.571097,-0.817597,-0.073376],[-0.082094,-0.145824,0.985899]]
2025-10-26T22:49:45.532Z,1761518985.532 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:45.534Z,1761518985.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.20 m.
2025-10-26T22:49:45.534Z,1761518985.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.50 m.
2025-10-26T22:49:45.537Z,1761518985.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.199455 m,
      nav range: 58.290562 m,
      bearing: 148.503393 deg,
      approach rate: -0.509185 m/s,
      LOS rate: -0.072658 deg/s,
      cmd heading: 145.263903 deg,
      new cmd heading: 145.179233 deg.

2025-10-26T22:49:45.538Z,1761518985.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.533856 target range: 59.199455 and range: 59.50 m.
2025-10-26T22:49:45.583Z,1761518985.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252894
2025-10-26T22:49:45.834Z,1761518985.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504317
2025-10-26T22:49:45.968Z,1761518985.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.20 m.
2025-10-26T22:49:45.968Z,1761518985.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.50 m.
2025-10-26T22:49:45.971Z,1761518985.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.199455 m,
      nav range: 58.066719 m,
      bearing: 148.484427 deg,
      approach rate: -0.515844 m/s,
      LOS rate: -0.043876 deg/s,
      cmd heading: 145.179236 deg,
      new cmd heading: 145.122119 deg.

2025-10-26T22:49:45.972Z,1761518985.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.532859 target range: 59.199455 and range: 59.50 m.
2025-10-26T22:49:46.085Z,1761518986.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754735
2025-10-26T22:49:46.318Z,1761518986.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813991,-0.559793,-0.155084],[0.575038,-0.814321,-0.078825],[-0.082162,-0.153342,0.984752]]
2025-10-26T22:49:46.336Z,1761518986.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006702
2025-10-26T22:49:46.345Z,1761518986.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.20 m.
2025-10-26T22:49:46.345Z,1761518986.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.50 m.
2025-10-26T22:49:46.348Z,1761518986.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.199455 m,
      nav range: 57.873001 m,
      bearing: 148.468836 deg,
      approach rate: -0.513668 m/s,
      LOS rate: -0.041481 deg/s,
      cmd heading: 145.122122 deg,
      new cmd heading: 145.075192 deg.

2025-10-26T22:49:46.349Z,1761518986.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.532040 target range: 59.199455 and range: 59.50 m.
2025-10-26T22:49:46.592Z,1761518986.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262382
2025-10-26T22:49:46.729Z,1761518986.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813290,-0.560623,-0.155761],[0.575981,-0.813646,-0.078903],[-0.082500,-0.153886,0.984638]]
2025-10-26T22:49:46.785Z,1761518986.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.20 m.
2025-10-26T22:49:46.786Z,1761518986.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.50 m.
2025-10-26T22:49:46.789Z,1761518986.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.199455 m,
      nav range: 57.643902 m,
      bearing: 148.465658 deg,
      approach rate: -0.520161 m/s,
      LOS rate: -0.007244 deg/s,
      cmd heading: 145.075185 deg,
      new cmd heading: 145.065613 deg.

2025-10-26T22:49:46.790Z,1761518986.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531873 target range: 59.199455 and range: 59.50 m.
2025-10-26T22:49:46.841Z,1761518986.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511374
2025-10-26T22:49:47.092Z,1761518987.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762592
2025-10-26T22:49:47.135Z,1761518987.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812407,-0.562002,-0.155398],[0.577143,-0.813005,-0.076995],[-0.083068,-0.152239,0.984847]]
2025-10-26T22:49:47.170Z,1761518987.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.20 m.
2025-10-26T22:49:47.170Z,1761518987.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.50 m.
2025-10-26T22:49:47.173Z,1761518987.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.199455 m,
      nav range: 57.425968 m,
      bearing: 148.462936 deg,
      approach rate: -0.566401 m/s,
      LOS rate: -0.007100 deg/s,
      cmd heading: 145.065609 deg,
      new cmd heading: 145.057413 deg.

2025-10-26T22:49:47.174Z,1761518987.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531729 target range: 59.199455 and range: 59.50 m.
2025-10-26T22:49:47.345Z,1761518987.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014800
2025-10-26T22:49:47.533Z,1761518987.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812076,-0.561960,-0.157270],[0.577496,-0.812638,-0.078211],[-0.083852,-0.154336,0.984454]]
2025-10-26T22:49:47.549Z,1761518987.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:47.551Z,1761518987.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.20 m.
2025-10-26T22:49:47.552Z,1761518987.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.50 m.
2025-10-26T22:49:47.555Z,1761518987.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.199455 m,
      nav range: 57.220028 m,
      bearing: 148.460435 deg,
      approach rate: -0.540326 m/s,
      LOS rate: -0.006586 deg/s,
      cmd heading: 145.057413 deg,
      new cmd heading: 145.049882 deg.

2025-10-26T22:49:47.556Z,1761518987.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531598 target range: 59.199455 and range: 59.50 m.
2025-10-26T22:49:47.601Z,1761518987.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270559
2025-10-26T22:49:47.849Z,1761518987.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518960
2025-10-26T22:49:47.998Z,1761518987.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.20 m.
2025-10-26T22:49:47.998Z,1761518987.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.50 m.
2025-10-26T22:49:48.001Z,1761518988.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.199455 m,
      nav range: 56.963562 m,
      bearing: 148.471535 deg,
      approach rate: -0.574106 m/s,
      LOS rate: 0.024959 deg/s,
      cmd heading: 145.049886 deg,
      new cmd heading: 145.083335 deg.

2025-10-26T22:49:48.002Z,1761518988.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.532182 target range: 59.199455 and range: 59.50 m.
2025-10-26T22:49:48.101Z,1761518988.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770749
2025-10-26T22:49:48.339Z,1761518988.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813278,-0.559071,-0.161303],[0.575675,-0.813439,-0.083159],[-0.084718,-0.160489,0.983395]]
2025-10-26T22:49:48.353Z,1761518988.353 [DAT](INFO): DAT read: Rx Time:22:49:46.9671

2025-10-26T22:49:48.353Z,1761518988.353 [DAT](INFO): Rx dataTimestamp_ set to:1761518988.352719
2025-10-26T22:49:48.354Z,1761518988.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023807
2025-10-26T22:49:48.376Z,1761518988.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.20 m.
2025-10-26T22:49:48.376Z,1761518988.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.50 m.
2025-10-26T22:49:48.379Z,1761518988.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.199455 m,
      nav range: 56.757446 m,
      bearing: 148.480042 deg,
      approach rate: -0.545604 m/s,
      LOS rate: 0.022602 deg/s,
      cmd heading: 145.083340 deg,
      new cmd heading: 145.108955 deg.

2025-10-26T22:49:48.388Z,1761518988.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.532629 target range: 59.199455 and range: 59.50 m.
2025-10-26T22:49:48.606Z,1761518988.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275657
2025-10-26T22:49:48.784Z,1761518988.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814250,-0.557305,-0.162507],[0.574272,-0.814232,-0.085078],[-0.084904,-0.162598,0.983033]]
2025-10-26T22:49:48.820Z,1761518988.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.20 m.
2025-10-26T22:49:48.821Z,1761518988.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.50 m.
2025-10-26T22:49:48.824Z,1761518988.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.199455 m,
      nav range: 56.480675 m,
      bearing: 148.495214 deg,
      approach rate: -0.622364 m/s,
      LOS rate: 0.034282 deg/s,
      cmd heading: 145.108954 deg,
      new cmd heading: 145.154690 deg.

2025-10-26T22:49:48.825Z,1761518988.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.533427 target range: 59.199455 and range: 59.50 m.
2025-10-26T22:49:48.862Z,1761518988.862 [DAT](INFO): DAT read: 22:49:46.9671 LVL= 32336, 32753, 32754, 32755, AGC= 68, IDX= 414, 0.39,-2.141, 2.388,-2.087,-2.289, PHS= 0.251,-1.561, 0.158, RAW= 147.4,  13.0, CAL= 147.2,  14.3, ROT=   2.8, -14.3

2025-10-26T22:49:48.863Z,1761518988.863 [DAT](INFO): got valid direction response:
 22:49:46.9671 LVL= 32336, 32753, 32754, 32755, AGC= 68, IDX= 414, 0.39,-2.141, 2.388,-2.087,-2.289, PHS= 0.251,-1.561, 0.158, RAW= 147.4,  13.0, CAL= 147.2,  14.3, ROT=   2.8, -14.3

2025-10-26T22:49:48.864Z,1761518988.864 [DAT](INFO): DAT read: Bearing 311.1,  -4.2 (Local)

2025-10-26T22:49:48.864Z,1761518988.864 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.1,  -4.2 (Local)

2025-10-26T22:49:48.866Z,1761518988.866 [DAT](INFO): DAT read: Range 11 to 50 : 57.5 m  (Round-trip  76.7 ms) speed  0.4 m/s

2025-10-26T22:49:48.866Z,1761518988.866 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:49:48.867Z,1761518988.867 [DAT](INFO): direction in FSK: [0.967859,0.047336,0.246999]
2025-10-26T22:49:48.867Z,1761518988.867 [DAT](INFO): publishing direction and range info
2025-10-26T22:49:48.871Z,1761518988.871 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:49:48.871Z,1761518988.871 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:49:48.871Z,1761518988.871 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:49:49.108Z,1761518989.108 [DAT](INFO): DAT read: user:720>

2025-10-26T22:49:49.109Z,1761518989.109 [DAT](INFO): DAT read: Tx time:22:49:48.2363

2025-10-26T22:49:49.109Z,1761518989.109 [DAT](INFO): Ping request sent.
2025-10-26T22:49:49.109Z,1761518989.109 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:49:49.110Z,1761518989.110 [DAT](INFO): publishing transmit ping time
2025-10-26T22:49:49.110Z,1761518989.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760
2025-10-26T22:49:49.169Z,1761518989.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815969,-0.554667,-0.162908],[0.571872,-0.815710,-0.087060],[-0.084596,-0.164201,0.982793]]
2025-10-26T22:49:49.209Z,1761518989.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.500000 m,
      deltaT: 3.779985 s,
      deltaX: -2.000000 m,
      approachRate: -0.529103 m/s,
      rangeRepo size: 4

2025-10-26T22:49:49.212Z,1761518989.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.194397 m,
      bearing: 150.048861 deg,
      lat: 36.779406 deg,
      lon: -121.859407 deg,
      deltaT: 3.779985 s,
      deltaX: -2.005058 m,
      approachRate: -0.530441 m/s,
      posRepo size: 4

2025-10-26T22:49:49.212Z,1761518989.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.19 m.
2025-10-26T22:49:49.213Z,1761518989.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.50 m.
2025-10-26T22:49:49.220Z,1761518989.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.194397 m,
      nav range: 56.259384 m,
      bearing: 148.506778 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.034282 deg/s,
      cmd heading: 145.154688 deg,
      new cmd heading: 145.194642 deg.

2025-10-26T22:49:49.221Z,1761518989.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.534125 target range: 57.194397 and range: 57.50 m.
2025-10-26T22:49:49.361Z,1761518989.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251026
2025-10-26T22:49:49.550Z,1761518989.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817681,-0.552682,-0.161063],[0.569492,-0.817484,-0.086017],[-0.084126,-0.162059,0.983189]]
2025-10-26T22:49:49.575Z,1761518989.575 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:49.578Z,1761518989.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.19 m.
2025-10-26T22:49:49.578Z,1761518989.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.50 m.
2025-10-26T22:49:49.597Z,1761518989.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.194397 m,
      nav range: 56.028648 m,
      bearing: 148.518243 deg,
      approach rate: -0.625648 m/s,
      LOS rate: 0.031216 deg/s,
      cmd heading: 145.194645 deg,
      new cmd heading: 145.229181 deg.

2025-10-26T22:49:49.598Z,1761518989.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.534727 target range: 57.194397 and range: 57.50 m.
2025-10-26T22:49:49.616Z,1761518989.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506633
2025-10-26T22:49:49.864Z,1761518989.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754997
2025-10-26T22:49:50.009Z,1761518990.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.19 m.
2025-10-26T22:49:50.009Z,1761518990.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.50 m.
2025-10-26T22:49:50.012Z,1761518990.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.194397 m,
      nav range: 55.769192 m,
      bearing: 148.534472 deg,
      approach rate: -0.601767 m/s,
      LOS rate: 0.037816 deg/s,
      cmd heading: 145.229179 deg,
      new cmd heading: 145.278093 deg.

2025-10-26T22:49:50.013Z,1761518990.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.535581 target range: 57.194397 and range: 57.50 m.
2025-10-26T22:49:50.118Z,1761518990.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008518
2025-10-26T22:49:50.358Z,1761518990.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821098,-0.550109,-0.152244],[0.564753,-0.821669,-0.076912],[-0.082784,-0.149133,0.985346]]
2025-10-26T22:49:50.368Z,1761518990.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259016
2025-10-26T22:49:50.389Z,1761518990.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.19 m.
2025-10-26T22:49:50.390Z,1761518990.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.50 m.
2025-10-26T22:49:50.393Z,1761518990.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.194397 m,
      nav range: 55.540340 m,
      bearing: 148.547520 deg,
      approach rate: -0.601150 m/s,
      LOS rate: 0.034415 deg/s,
      cmd heading: 145.278096 deg,
      new cmd heading: 145.317400 deg.

2025-10-26T22:49:50.394Z,1761518990.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.536267 target range: 57.194397 and range: 57.50 m.
2025-10-26T22:49:50.622Z,1761518990.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511974
2025-10-26T22:49:50.763Z,1761518990.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822649,-0.549131,-0.147324],[0.562634,-0.823568,-0.071972],[-0.081809,-0.142097,0.986466]]
2025-10-26T22:49:50.799Z,1761518990.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.19 m.
2025-10-26T22:49:50.816Z,1761518990.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.50 m.
2025-10-26T22:49:50.819Z,1761518990.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.194397 m,
      nav range: 55.308346 m,
      bearing: 148.556530 deg,
      approach rate: -0.566740 m/s,
      LOS rate: 0.022103 deg/s,
      cmd heading: 145.317397 deg,
      new cmd heading: 145.344541 deg.

2025-10-26T22:49:50.824Z,1761518990.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.536741 target range: 57.194397 and range: 57.50 m.
2025-10-26T22:49:50.874Z,1761518990.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763730
2025-10-26T22:49:51.126Z,1761518991.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016138
2025-10-26T22:49:51.308Z,1761518991.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.19 m.
2025-10-26T22:49:51.308Z,1761518991.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.50 m.
2025-10-26T22:49:51.308Z,1761518991.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.50 m.
2025-10-26T22:49:51.309Z,1761518991.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-10-26T22:49:51.311Z,1761518991.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.194397 m,
      nav range: 55.019852 m,
      bearing: 148.567840 deg,
      approach rate: -0.567282 m/s,
      LOS rate: 0.022357 deg/s,
      cmd heading: 145.344540 deg,
      new cmd heading: 145.378649 deg.

2025-10-26T22:49:51.312Z,1761518991.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.537336 target range: 57.194397 and range: 57.50 m.
2025-10-26T22:49:51.377Z,1761518991.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267939
2025-10-26T22:49:51.629Z,1761518991.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519440
2025-10-26T22:49:51.739Z,1761518991.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828000,-0.543499,-0.137928],[0.555229,-0.829053,-0.066269],[-0.078333,-0.131452,0.988223]]
2025-10-26T22:49:51.774Z,1761518991.774 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:51.801Z,1761518991.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.19 m.
2025-10-26T22:49:51.804Z,1761518991.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.194397 m,
      nav range: 54.757111 m,
      bearing: 148.567211 deg,
      approach rate: -0.538233 m/s,
      LOS rate: -0.001296 deg/s,
      cmd heading: 145.378650 deg,
      new cmd heading: 145.376753 deg.

2025-10-26T22:49:51.805Z,1761518991.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.537303 target range: 57.194397 and range: 57.50 m.
2025-10-26T22:49:51.880Z,1761518991.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770987
2025-10-26T22:49:52.136Z,1761518992.136 [DAT](INFO): DAT read: Rx Time:22:49:50.7144

2025-10-26T22:49:52.137Z,1761518992.137 [DAT](INFO): Rx dataTimestamp_ set to:1761518992.136314
2025-10-26T22:49:52.137Z,1761518992.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027694
2025-10-26T22:49:52.248Z,1761518992.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829041,-0.541890,-0.138007],[0.553897,-0.829664,-0.069687],[-0.076737,-0.134215,0.987977]]
2025-10-26T22:49:52.265Z,1761518992.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.19 m.
2025-10-26T22:49:52.268Z,1761518992.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.194397 m,
      nav range: 54.482006 m,
      bearing: 148.566083 deg,
      approach rate: -0.585566 m/s,
      LOS rate: -0.002413 deg/s,
      cmd heading: 145.376752 deg,
      new cmd heading: 145.373351 deg.

2025-10-26T22:49:52.269Z,1761518992.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.537244 target range: 57.194397 and range: 57.50 m.
2025-10-26T22:49:52.384Z,1761518992.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274804
2025-10-26T22:49:52.648Z,1761518992.648 [DAT](INFO): DAT read: 22:49:50.7144 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 419, 0.17, 1.218,-0.531, 1.301, 1.134, PHS= 0.186,-1.620, 0.123, RAW= 148.2,  14.6, CAL= 148.3,  16.2, ROT=   1.7, -16.2

2025-10-26T22:49:52.649Z,1761518992.649 [DAT](INFO): got valid direction response:
 22:49:50.7144 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 419, 0.17, 1.218,-0.531, 1.301, 1.134, PHS= 0.186,-1.620, 0.123, RAW= 148.2,  14.6, CAL= 148.3,  16.2, ROT=   1.7, -16.2

2025-10-26T22:49:52.650Z,1761518992.650 [DAT](INFO): DAT read: Bearing 313.6,  -5.0 (Local)

2025-10-26T22:49:52.651Z,1761518992.651 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.6,  -5.0 (Local)

2025-10-26T22:49:52.652Z,1761518992.652 [DAT](INFO): DAT read: Range 11 to 50 : 55.5 m  (Round-trip  74.1 ms) speed  0.4 m/s

2025-10-26T22:49:52.653Z,1761518992.653 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:49:52.654Z,1761518992.654 [DAT](INFO): direction in FSK: [0.959871,0.028488,0.278991]
2025-10-26T22:49:52.654Z,1761518992.654 [DAT](INFO): publishing direction and range info
2025-10-26T22:49:52.665Z,1761518992.665 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:49:52.665Z,1761518992.665 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:49:52.666Z,1761518992.666 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:49:52.737Z,1761518992.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829498,-0.541172,-0.138076],[0.553435,-0.829696,-0.072895],[-0.075112,-0.136883,0.987735]]
2025-10-26T22:49:52.863Z,1761518992.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.500000 m,
      deltaT: 3.780575 s,
      deltaX: -2.000000 m,
      approachRate: -0.529020 m/s,
      rangeRepo size: 4

2025-10-26T22:49:52.865Z,1761518992.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.213276 m,
      bearing: 150.181374 deg,
      lat: 36.779402 deg,
      lon: -121.859414 deg,
      deltaT: 3.780575 s,
      deltaX: -1.981121 m,
      approachRate: -0.524026 m/s,
      posRepo size: 4

2025-10-26T22:49:52.866Z,1761518992.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.21 m.
2025-10-26T22:49:52.873Z,1761518992.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.213276 m,
      nav range: 54.254131 m,
      bearing: 149.348408 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002413 deg/s,
      cmd heading: 145.373350 deg,
      new cmd heading: 145.369056 deg.

2025-10-26T22:49:52.874Z,1761518992.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.537169 target range: 55.213276 and range: 55.50 m.
2025-10-26T22:49:52.888Z,1761518992.888 [DAT](INFO): DAT read: user:721>

2025-10-26T22:49:52.889Z,1761518992.889 [DAT](INFO): DAT read: Tx time:22:49:52.0362

2025-10-26T22:49:52.889Z,1761518992.889 [DAT](INFO): Ping request sent.
2025-10-26T22:49:52.889Z,1761518992.889 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:49:52.890Z,1761518992.890 [DAT](INFO): publishing transmit ping time
2025-10-26T22:49:52.890Z,1761518992.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756
2025-10-26T22:49:53.141Z,1761518993.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251157
2025-10-26T22:49:53.181Z,1761518993.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829667,-0.541201,-0.136946],[0.553423,-0.829567,-0.074441],[-0.073319,-0.137550,0.987777]]
2025-10-26T22:49:53.199Z,1761518993.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.21 m.
2025-10-26T22:49:53.202Z,1761518993.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.213276 m,
      nav range: 54.061043 m,
      bearing: 149.334255 deg,
      approach rate: -0.567467 m/s,
      LOS rate: -0.041740 deg/s,
      cmd heading: 145.369061 deg,
      new cmd heading: 145.326453 deg.

2025-10-26T22:49:53.203Z,1761518993.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.536425 target range: 55.213276 and range: 55.50 m.
2025-10-26T22:49:53.392Z,1761518993.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502881
2025-10-26T22:49:53.589Z,1761518993.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829817,-0.541256,-0.135811],[0.553427,-0.829432,-0.075901],[-0.071564,-0.138145,0.987823]]
2025-10-26T22:49:53.620Z,1761518993.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.21 m.
2025-10-26T22:49:53.625Z,1761518993.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.213276 m,
      nav range: 53.841991 m,
      bearing: 149.318071 deg,
      approach rate: -0.521353 m/s,
      LOS rate: -0.038676 deg/s,
      cmd heading: 145.326454 deg,
      new cmd heading: 145.277704 deg.

2025-10-26T22:49:53.627Z,1761518993.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.535574 target range: 55.213276 and range: 55.50 m.
2025-10-26T22:49:53.646Z,1761518993.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756444
2025-10-26T22:49:53.896Z,1761518993.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006782
2025-10-26T22:49:54.039Z,1761518994.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:54.046Z,1761518994.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.21 m.
2025-10-26T22:49:54.049Z,1761518994.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.213276 m,
      nav range: 53.623886 m,
      bearing: 149.286474 deg,
      approach rate: -0.510478 m/s,
      LOS rate: -0.074254 deg/s,
      cmd heading: 145.277700 deg,
      new cmd heading: 145.182524 deg.

2025-10-26T22:49:54.050Z,1761518994.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.533913 target range: 55.213276 and range: 55.50 m.
2025-10-26T22:49:54.149Z,1761518994.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259281
2025-10-26T22:49:54.390Z,1761518994.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829989,-0.540485,-0.137819],[0.553591,-0.828439,-0.085006],[-0.068230,-0.146849,0.986803]]
2025-10-26T22:49:54.400Z,1761518994.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510785
2025-10-26T22:49:54.433Z,1761518994.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.21 m.
2025-10-26T22:49:54.447Z,1761518994.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.213276 m,
      nav range: 53.432049 m,
      bearing: 149.258597 deg,
      approach rate: -0.495394 m/s,
      LOS rate: -0.072247 deg/s,
      cmd heading: 145.182528 deg,
      new cmd heading: 145.098598 deg.

2025-10-26T22:49:54.448Z,1761518994.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.532448 target range: 55.213276 and range: 55.50 m.
2025-10-26T22:49:54.653Z,1761518994.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763322
2025-10-26T22:49:54.798Z,1761518994.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830343,-0.539704,-0.138743],[0.553290,-0.828116,-0.089973],[-0.066337,-0.151473,0.986233]]
2025-10-26T22:49:54.855Z,1761518994.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.21 m.
2025-10-26T22:49:54.858Z,1761518994.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.213276 m,
      nav range: 53.222332 m,
      bearing: 149.211673 deg,
      approach rate: -0.497622 m/s,
      LOS rate: -0.111784 deg/s,
      cmd heading: 145.098599 deg,
      new cmd heading: 144.957270 deg.

2025-10-26T22:49:54.859Z,1761518994.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.529982 target range: 55.213276 and range: 55.50 m.
2025-10-26T22:49:54.906Z,1761518994.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016080
2025-10-26T22:49:55.156Z,1761518995.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266874
2025-10-26T22:49:55.198Z,1761518995.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830710,-0.539198,-0.138516],[0.552960,-0.827986,-0.093138],[-0.064469,-0.153964,0.985971]]
2025-10-26T22:49:55.229Z,1761518995.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.21 m.
2025-10-26T22:49:55.232Z,1761518995.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.213276 m,
      nav range: 53.042637 m,
      bearing: 149.171105 deg,
      approach rate: -0.480256 m/s,
      LOS rate: -0.108789 deg/s,
      cmd heading: 144.957269 deg,
      new cmd heading: 144.835154 deg.

2025-10-26T22:49:55.233Z,1761518995.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.527850 target range: 55.213276 and range: 55.50 m.
2025-10-26T22:49:55.408Z,1761518995.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518738
2025-10-26T22:49:55.605Z,1761518995.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831192,-0.538928,-0.136659],[0.552507,-0.828103,-0.094768],[-0.062094,-0.154276,0.986075]]
2025-10-26T22:49:55.660Z,1761518995.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770910
2025-10-26T22:49:55.668Z,1761518995.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.21 m.
2025-10-26T22:49:55.671Z,1761518995.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.213276 m,
      nav range: 52.842041 m,
      bearing: 149.125359 deg,
      approach rate: -0.456676 m/s,
      LOS rate: -0.104540 deg/s,
      cmd heading: 144.835159 deg,
      new cmd heading: 144.697400 deg.

2025-10-26T22:49:55.676Z,1761518995.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.525446 target range: 55.213276 and range: 55.50 m.
2025-10-26T22:49:55.912Z,1761518995.912 [DAT](INFO): DAT read: Rx Time:22:49:54.5118

2025-10-26T22:49:55.913Z,1761518995.913 [DAT](INFO): Rx dataTimestamp_ set to:1761518995.912556
2025-10-26T22:49:55.913Z,1761518995.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023866
2025-10-26T22:49:56.055Z,1761518996.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831985,-0.539586,-0.129022],[0.551943,-0.828573,-0.093950],[-0.056210,-0.149378,0.987181]]
2025-10-26T22:49:56.136Z,1761518996.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:56.138Z,1761518996.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.21 m.
2025-10-26T22:49:56.145Z,1761518996.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.213276 m,
      nav range: 52.622433 m,
      bearing: 149.067840 deg,
      approach rate: -0.467901 m/s,
      LOS rate: -0.123062 deg/s,
      cmd heading: 144.697394 deg,
      new cmd heading: 144.524117 deg.

2025-10-26T22:49:56.146Z,1761518996.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.522422 target range: 55.213276 and range: 55.50 m.
2025-10-26T22:49:56.164Z,1761518996.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274927
2025-10-26T22:49:56.422Z,1761518996.422 [DAT](INFO): DAT read: 22:49:54.5118 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 409,-0.49, 0.971,-0.728, 1.096, 0.942, PHS= 0.131,-1.625, 0.110, RAW= 149.4,  15.7, CAL= 149.7,  17.5, ROT=   0.3, -17.5

2025-10-26T22:49:56.423Z,1761518996.423 [DAT](INFO): got valid direction response:
 22:49:54.5118 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 409,-0.49, 0.971,-0.728, 1.096, 0.942, PHS= 0.131,-1.625, 0.110, RAW= 149.4,  15.7, CAL= 149.7,  17.5, ROT=   0.3, -17.5

2025-10-26T22:49:56.424Z,1761518996.424 [DAT](INFO): DAT read: Bearing 315.6,  -5.8 (Local)

2025-10-26T22:49:56.424Z,1761518996.424 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.6,  -5.8 (Local)

2025-10-26T22:49:56.425Z,1761518996.425 [DAT](INFO): DAT read: Range 11 to 50 : 53.5 m  (Round-trip  71.4 ms) speed  0.6 m/s

2025-10-26T22:49:56.426Z,1761518996.426 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:49:56.427Z,1761518996.427 [DAT](INFO): direction in FSK: [0.953704,0.004994,0.300706]
2025-10-26T22:49:56.428Z,1761518996.428 [DAT](INFO): publishing direction and range info
2025-10-26T22:49:56.436Z,1761518996.436 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:49:56.436Z,1761518996.436 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:49:56.437Z,1761518996.437 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:49:56.523Z,1761518996.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831855,-0.541277,-0.122627],[0.552465,-0.828666,-0.089970],[-0.052918,-0.142589,0.988366]]
2025-10-26T22:49:56.569Z,1761518996.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.500000 m,
      deltaT: 3.779343 s,
      deltaX: -2.000000 m,
      approachRate: -0.529193 m/s,
      rangeRepo size: 4

2025-10-26T22:49:56.571Z,1761518996.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.229469 m,
      bearing: 149.241887 deg,
      lat: 36.779402 deg,
      lon: -121.859420 deg,
      deltaT: 3.779343 s,
      deltaX: -1.983807 m,
      approachRate: -0.524908 m/s,
      posRepo size: 4

2025-10-26T22:49:56.575Z,1761518996.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.23 m.
2025-10-26T22:49:56.578Z,1761518996.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.229469 m,
      nav range: 52.134197 m,
      bearing: 149.535390 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.123062 deg/s,
      cmd heading: 144.524112 deg,
      new cmd heading: 144.365245 deg.

2025-10-26T22:49:56.583Z,1761518996.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.519649 target range: 53.229469 and range: 53.50 m.
2025-10-26T22:49:56.668Z,1761518996.668 [DAT](INFO): DAT read: user:722>

2025-10-26T22:49:56.669Z,1761518996.669 [DAT](INFO): DAT read: Tx time:22:49:55.7862

2025-10-26T22:49:56.669Z,1761518996.669 [DAT](INFO): Ping request sent.
2025-10-26T22:49:56.669Z,1761518996.669 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:49:56.670Z,1761518996.670 [DAT](INFO): publishing transmit ping time
2025-10-26T22:49:56.670Z,1761518996.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760
2025-10-26T22:49:56.896Z,1761518996.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831777,-0.542252,-0.118783],[0.552930,-0.828265,-0.090804],[-0.049145,-0.141207,0.988760]]
2025-10-26T22:49:56.920Z,1761518996.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250855
2025-10-26T22:49:56.942Z,1761518996.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.23 m.
2025-10-26T22:49:56.945Z,1761518996.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.229469 m,
      nav range: 51.946323 m,
      bearing: 149.494788 deg,
      approach rate: -0.501937 m/s,
      LOS rate: -0.108866 deg/s,
      cmd heading: 144.365242 deg,
      new cmd heading: 144.242996 deg.

2025-10-26T22:49:56.946Z,1761518996.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517515 target range: 53.229469 and range: 53.50 m.
2025-10-26T22:49:57.173Z,1761518997.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503747
2025-10-26T22:49:57.301Z,1761518997.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831939,-0.542656,-0.115762],[0.553016,-0.827942,-0.093190],[-0.045274,-0.141546,0.988896]]
2025-10-26T22:49:57.320Z,1761518997.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.23 m.
2025-10-26T22:49:57.323Z,1761518997.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.229469 m,
      nav range: 51.764381 m,
      bearing: 149.455197 deg,
      approach rate: -0.481825 m/s,
      LOS rate: -0.105214 deg/s,
      cmd heading: 144.242995 deg,
      new cmd heading: 144.123806 deg.

2025-10-26T22:49:57.324Z,1761518997.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.515435 target range: 53.229469 and range: 53.50 m.
2025-10-26T22:49:57.424Z,1761518997.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754937
2025-10-26T22:49:57.676Z,1761518997.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006849
2025-10-26T22:49:57.704Z,1761518997.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831600,-0.543856,-0.112523],[0.553810,-0.827257,-0.094554],[-0.041662,-0.140948,0.989140]]
2025-10-26T22:49:57.786Z,1761518997.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.23 m.
2025-10-26T22:49:57.809Z,1761518997.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.229469 m,
      nav range: 51.558464 m,
      bearing: 149.410259 deg,
      approach rate: -0.442807 m/s,
      LOS rate: -0.097021 deg/s,
      cmd heading: 144.123808 deg,
      new cmd heading: 143.988457 deg.

2025-10-26T22:49:57.816Z,1761518997.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.513073 target range: 53.229469 and range: 53.50 m.
2025-10-26T22:49:57.933Z,1761518997.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263028
2025-10-26T22:49:58.157Z,1761518998.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831195,-0.544934,-0.110282],[0.554669,-0.826376,-0.097184],[-0.038175,-0.141949,0.989138]]
2025-10-26T22:49:58.180Z,1761518998.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510909
2025-10-26T22:49:58.217Z,1761518998.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:49:58.219Z,1761518998.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.23 m.
2025-10-26T22:49:58.226Z,1761518998.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.229469 m,
      nav range: 51.331551 m,
      bearing: 149.371411 deg,
      approach rate: -0.522706 m/s,
      LOS rate: -0.089884 deg/s,
      cmd heading: 143.988461 deg,
      new cmd heading: 143.871402 deg.

2025-10-26T22:49:58.227Z,1761518998.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.511030 target range: 53.229469 and range: 53.50 m.
2025-10-26T22:49:58.432Z,1761518998.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762841
2025-10-26T22:49:58.562Z,1761518998.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830929,-0.545859,-0.107680],[0.555309,-0.825644,-0.099712],[-0.034477,-0.142650,0.989173]]
2025-10-26T22:49:58.580Z,1761518998.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.23 m.
2025-10-26T22:49:58.583Z,1761518998.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.229469 m,
      nav range: 51.135567 m,
      bearing: 149.337748 deg,
      approach rate: -0.542947 m/s,
      LOS rate: -0.093616 deg/s,
      cmd heading: 143.871405 deg,
      new cmd heading: 143.770029 deg.

2025-10-26T22:49:58.584Z,1761518998.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.509260 target range: 53.229469 and range: 53.50 m.
2025-10-26T22:49:58.685Z,1761518998.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015220
2025-10-26T22:49:58.936Z,1761518998.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266844
2025-10-26T22:49:58.964Z,1761518998.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830549,-0.546873,-0.105447],[0.556047,-0.824963,-0.101229],[-0.031631,-0.142709,0.989259]]
2025-10-26T22:49:59.021Z,1761518999.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.23 m.
2025-10-26T22:49:59.029Z,1761518999.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.229469 m,
      nav range: 50.918686 m,
      bearing: 149.312026 deg,
      approach rate: -0.492284 m/s,
      LOS rate: -0.058635 deg/s,
      cmd heading: 143.770032 deg,
      new cmd heading: 143.692534 deg.

2025-10-26T22:49:59.030Z,1761518999.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.507908 target range: 53.229469 and range: 53.50 m.
2025-10-26T22:49:59.188Z,1761518999.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518794
2025-10-26T22:49:59.366Z,1761518999.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830420,-0.547412,-0.103650],[0.556396,-0.824432,-0.103612],[-0.028734,-0.143712,0.989202]]
2025-10-26T22:49:59.401Z,1761518999.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.23 m.
2025-10-26T22:49:59.408Z,1761518999.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.229469 m,
      nav range: 50.720623 m,
      bearing: 149.288436 deg,
      approach rate: -0.520947 m/s,
      LOS rate: -0.062288 deg/s,
      cmd heading: 143.692536 deg,
      new cmd heading: 143.621491 deg.

2025-10-26T22:49:59.409Z,1761518999.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.506668 target range: 53.229469 and range: 53.50 m.
2025-10-26T22:49:59.440Z,1761518999.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770940
2025-10-26T22:49:59.692Z,1761518999.692 [DAT](INFO): DAT read: Rx Time:22:49:58.2591

2025-10-26T22:49:59.693Z,1761518999.693 [DAT](INFO): Rx dataTimestamp_ set to:1761518999.692587
2025-10-26T22:49:59.693Z,1761518999.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023911
2025-10-26T22:49:59.776Z,1761518999.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830553,-0.547216,-0.103615],[0.556316,-0.823939,-0.107872],[-0.026343,-0.147236,0.988751]]
2025-10-26T22:49:59.853Z,1761518999.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.23 m.
2025-10-26T22:49:59.861Z,1761518999.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.229469 m,
      nav range: 50.495483 m,
      bearing: 149.261392 deg,
      approach rate: -0.497268 m/s,
      LOS rate: -0.059998 deg/s,
      cmd heading: 143.621489 deg,
      new cmd heading: 143.539996 deg.

2025-10-26T22:49:59.861Z,1761518999.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505245 target range: 53.229469 and range: 53.50 m.
2025-10-26T22:49:59.945Z,1761518999.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275155
2025-10-26T22:50:00.202Z,1761519000.202 [DAT](INFO): DAT read: 22:49:58.2591 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413,-0.47, 2.064, 0.341, 2.221, 2.006, PHS= 0.160,-1.619, 0.172, RAW= 150.3,  14.3, CAL= 150.5,  15.9, ROT= 359.5, -15.9

2025-10-26T22:50:00.203Z,1761519000.203 [DAT](INFO): got valid direction response:
 22:49:58.2591 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413,-0.47, 2.064, 0.341, 2.221, 2.006, PHS= 0.160,-1.619, 0.172, RAW= 150.3,  14.3, CAL= 150.5,  15.9, ROT= 359.5, -15.9

2025-10-26T22:50:00.204Z,1761519000.204 [DAT](INFO): DAT read: Bearing 314.8,  -4.5 (Local)

2025-10-26T22:50:00.204Z,1761519000.204 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.8,  -4.5 (Local)

2025-10-26T22:50:00.205Z,1761519000.205 [DAT](INFO): DAT read: Range 11 to 50 : 51.6 m  (Round-trip  68.8 ms) speed  0.4 m/s

2025-10-26T22:50:00.206Z,1761519000.206 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:50:00.207Z,1761519000.207 [DAT](INFO): direction in FSK: [0.961705,-0.008392,0.273959]
2025-10-26T22:50:00.207Z,1761519000.207 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:00.211Z,1761519000.211 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:50:00.211Z,1761519000.211 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:50:00.211Z,1761519000.211 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:50:00.344Z,1761519000.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.599998 m,
      deltaT: 3.779960 s,
      deltaX: -1.900002 m,
      approachRate: -0.502651 m/s,
      rangeRepo size: 4

2025-10-26T22:50:00.346Z,1761519000.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.345100 m,
      bearing: 148.080537 deg,
      lat: 36.779407 deg,
      lon: -121.859420 deg,
      deltaT: 3.779960 s,
      deltaX: -1.884369 m,
      approachRate: -0.498516 m/s,
      posRepo size: 4

2025-10-26T22:50:00.347Z,1761519000.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.35 m.
2025-10-26T22:50:00.354Z,1761519000.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.345100 m,
      nav range: 49.713017 m,
      bearing: 148.888089 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.059998 deg/s,
      cmd heading: 143.539991 deg,
      new cmd heading: 143.452624 deg.

2025-10-26T22:50:00.354Z,1761519000.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503721 target range: 51.345100 and range: 51.60 m.
2025-10-26T22:50:00.452Z,1761519000.452 [DAT](INFO): DAT read: user:723>

2025-10-26T22:50:00.454Z,1761519000.454 [DAT](INFO): DAT read: Tx time:22:49:59.5862

2025-10-26T22:50:00.454Z,1761519000.454 [DAT](INFO): Ping request sent.
2025-10-26T22:50:00.454Z,1761519000.454 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:50:00.454Z,1761519000.454 [DAT](INFO): publishing transmit ping time
2025-10-26T22:50:00.456Z,1761519000.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001473
2025-10-26T22:50:00.666Z,1761519000.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831891,-0.544551,-0.106875],[0.554480,-0.823481,-0.120132],[-0.022592,-0.159197,0.986988]]
2025-10-26T22:50:00.686Z,1761519000.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:50:00.688Z,1761519000.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.35 m.
2025-10-26T22:50:00.691Z,1761519000.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.345100 m,
      nav range: 49.518742 m,
      bearing: 148.872056 deg,
      approach rate: -0.555754 m/s,
      LOS rate: -0.046045 deg/s,
      cmd heading: 143.452619 deg,
      new cmd heading: 143.404331 deg.

2025-10-26T22:50:00.692Z,1761519000.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.502878 target range: 51.345100 and range: 51.60 m.
2025-10-26T22:50:00.701Z,1761519000.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247069
2025-10-26T22:50:00.952Z,1761519000.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498287
2025-10-26T22:50:01.062Z,1761519001.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833105,-0.542048,-0.110094],[0.552702,-0.823514,-0.127845],[-0.021366,-0.167358,0.985665]]
2025-10-26T22:50:01.132Z,1761519001.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.35 m.
2025-10-26T22:50:01.143Z,1761519001.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.345100 m,
      nav range: 49.298080 m,
      bearing: 148.854470 deg,
      approach rate: -0.496987 m/s,
      LOS rate: -0.039784 deg/s,
      cmd heading: 143.404330 deg,
      new cmd heading: 143.351337 deg.

2025-10-26T22:50:01.145Z,1761519001.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.501953 target range: 51.345100 and range: 51.60 m.
2025-10-26T22:50:01.205Z,1761519001.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751122
2025-10-26T22:50:01.456Z,1761519001.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002327
2025-10-26T22:50:01.489Z,1761519001.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834100,-0.540422,-0.110544],[0.551226,-0.824105,-0.130387],[-0.020636,-0.169690,0.985281]]
2025-10-26T22:50:01.508Z,1761519001.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.35 m.
2025-10-26T22:50:01.511Z,1761519001.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.345100 m,
      nav range: 49.090717 m,
      bearing: 148.837387 deg,
      approach rate: -0.552260 m/s,
      LOS rate: -0.045690 deg/s,
      cmd heading: 143.351341 deg,
      new cmd heading: 143.299873 deg.

2025-10-26T22:50:01.512Z,1761519001.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.501055 target range: 51.345100 and range: 51.60 m.
2025-10-26T22:50:01.712Z,1761519001.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257639
2025-10-26T22:50:01.888Z,1761519001.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834878,-0.539359,-0.109866],[0.550087,-0.824658,-0.131691],[-0.019573,-0.170382,0.985184]]
2025-10-26T22:50:01.932Z,1761519001.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.35 m.
2025-10-26T22:50:01.935Z,1761519001.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.345100 m,
      nav range: 48.863022 m,
      bearing: 148.815483 deg,
      approach rate: -0.537016 m/s,
      LOS rate: -0.051900 deg/s,
      cmd heading: 143.299869 deg,
      new cmd heading: 143.233851 deg.

2025-10-26T22:50:01.936Z,1761519001.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.499902 target range: 51.345100 and range: 51.60 m.
2025-10-26T22:50:01.960Z,1761519001.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506243
2025-10-26T22:50:02.212Z,1761519002.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758304
2025-10-26T22:50:02.286Z,1761519002.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835426,-0.538592,-0.109467],[0.549288,-0.824966,-0.133092],[-0.018624,-0.171318,0.985040]]
2025-10-26T22:50:02.312Z,1761519002.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.35 m.
2025-10-26T22:50:02.314Z,1761519002.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.345100 m,
      nav range: 48.659439 m,
      bearing: 148.795508 deg,
      approach rate: -0.536483 m/s,
      LOS rate: -0.052857 deg/s,
      cmd heading: 143.233848 deg,
      new cmd heading: 143.173674 deg.

2025-10-26T22:50:02.316Z,1761519002.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.498852 target range: 51.345100 and range: 51.60 m.
2025-10-26T22:50:02.464Z,1761519002.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010245
2025-10-26T22:50:02.695Z,1761519002.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835480,-0.538855,-0.107739],[0.549248,-0.825035,-0.132834],[-0.017310,-0.170156,0.985265]]
2025-10-26T22:50:02.722Z,1761519002.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267477
2025-10-26T22:50:02.751Z,1761519002.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:50:02.757Z,1761519002.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.35 m.
2025-10-26T22:50:02.764Z,1761519002.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.345100 m,
      nav range: 48.426983 m,
      bearing: 148.772459 deg,
      approach rate: -0.521408 m/s,
      LOS rate: -0.051949 deg/s,
      cmd heading: 143.173674 deg,
      new cmd heading: 143.104194 deg.

2025-10-26T22:50:02.765Z,1761519002.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.497639 target range: 51.345100 and range: 51.60 m.
2025-10-26T22:50:02.972Z,1761519002.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518274
2025-10-26T22:50:03.104Z,1761519003.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835209,-0.539632,-0.105939],[0.549697,-0.824858,-0.132073],[-0.016114,-0.168543,0.985563]]
2025-10-26T22:50:03.167Z,1761519003.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.35 m.
2025-10-26T22:50:03.170Z,1761519003.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.345100 m,
      nav range: 48.218227 m,
      bearing: 148.746646 deg,
      approach rate: -0.509773 m/s,
      LOS rate: -0.063307 deg/s,
      cmd heading: 143.104197 deg,
      new cmd heading: 143.026424 deg.

2025-10-26T22:50:03.171Z,1761519003.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.496282 target range: 51.345100 and range: 51.60 m.
2025-10-26T22:50:03.225Z,1761519003.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771089
2025-10-26T22:50:03.477Z,1761519003.477 [DAT](INFO): DAT read: Rx Time:22:50:02.0565

2025-10-26T22:50:03.477Z,1761519003.477 [DAT](INFO): Rx dataTimestamp_ set to:1761519003.476861
2025-10-26T22:50:03.478Z,1761519003.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023627
2025-10-26T22:50:03.498Z,1761519003.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834303,-0.541233,-0.104907],[0.551108,-0.823876,-0.132323],[-0.014813,-0.168212,0.985640]]
2025-10-26T22:50:03.548Z,1761519003.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.35 m.
2025-10-26T22:50:03.550Z,1761519003.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.345100 m,
      nav range: 48.022961 m,
      bearing: 148.722690 deg,
      approach rate: -0.547202 m/s,
      LOS rate: -0.067408 deg/s,
      cmd heading: 143.026429 deg,
      new cmd heading: 142.954266 deg.

2025-10-26T22:50:03.552Z,1761519003.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.495023 target range: 51.345100 and range: 51.60 m.
2025-10-26T22:50:03.730Z,1761519003.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275688
2025-10-26T22:50:03.915Z,1761519003.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833156,-0.543262,-0.103524],[0.552878,-0.822692,-0.132304],[-0.013293,-0.167466,0.985788]]
2025-10-26T22:50:03.968Z,1761519003.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.35 m.
2025-10-26T22:50:03.971Z,1761519003.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.345100 m,
      nav range: 47.798687 m,
      bearing: 148.687138 deg,
      approach rate: -0.504999 m/s,
      LOS rate: -0.080426 deg/s,
      cmd heading: 142.954261 deg,
      new cmd heading: 142.847108 deg.

2025-10-26T22:50:03.972Z,1761519003.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.493152 target range: 51.345100 and range: 51.60 m.
2025-10-26T22:50:03.986Z,1761519003.986 [DAT](INFO): DAT read: 22:50:02.0565 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 418,-0.12, 1.600,-0.030, 1.782, 1.531, PHS= 0.171,-1.516, 0.207, RAW= 151.1,  13.3, CAL= 151.2,  14.8, ROT= 358.8, -14.8

2025-10-26T22:50:03.987Z,1761519003.987 [DAT](INFO): got valid direction response:
 22:50:02.0565 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 418,-0.12, 1.600,-0.030, 1.782, 1.531, PHS= 0.171,-1.516, 0.207, RAW= 151.1,  13.3, CAL= 151.2,  14.8, ROT= 358.8, -14.8

2025-10-26T22:50:03.988Z,1761519003.988 [DAT](INFO): DAT read: Bearing 313.6,  -4.6 (Local)

2025-10-26T22:50:03.988Z,1761519003.988 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.6,  -4.6 (Local)

2025-10-26T22:50:03.990Z,1761519003.990 [DAT](INFO): DAT read: Range 11 to 50 : 49.6 m  (Round-trip  66.2 ms) speed  0.4 m/s

2025-10-26T22:50:03.990Z,1761519003.990 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:50:03.992Z,1761519003.992 [DAT](INFO): direction in FSK: [0.966611,-0.020248,0.255446]
2025-10-26T22:50:03.992Z,1761519003.992 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:04.003Z,1761519004.003 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:50:04.003Z,1761519004.003 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:50:04.004Z,1761519004.004 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:50:04.233Z,1761519004.233 [DAT](INFO): DAT read: user:724>

2025-10-26T22:50:04.234Z,1761519004.234 [DAT](INFO): DAT read: Tx time:22:50:03.3862

2025-10-26T22:50:04.235Z,1761519004.235 [DAT](INFO): Ping request sent.
2025-10-26T22:50:04.235Z,1761519004.235 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:50:04.235Z,1761519004.235 [DAT](INFO): publishing transmit ping time
2025-10-26T22:50:04.236Z,1761519004.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001217
2025-10-26T22:50:04.333Z,1761519004.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831344,-0.546185,-0.102709],[0.555635,-0.820733,-0.132914],[-0.011701,-0.167566,0.985791]]
2025-10-26T22:50:04.356Z,1761519004.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.599998 m,
      deltaT: 3.784079 s,
      deltaX: -2.000000 m,
      approachRate: -0.528530 m/s,
      rangeRepo size: 4

2025-10-26T22:50:04.358Z,1761519004.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.357246 m,
      bearing: 147.592734 deg,
      lat: 36.779407 deg,
      lon: -121.859420 deg,
      deltaT: 3.784079 s,
      deltaX: -1.987854 m,
      approachRate: -0.525320 m/s,
      posRepo size: 4

2025-10-26T22:50:04.359Z,1761519004.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.36 m.
2025-10-26T22:50:04.361Z,1761519004.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.357246 m,
      nav range: 47.589008 m,
      bearing: 148.654451 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.080426 deg/s,
      cmd heading: 142.847109 deg,
      new cmd heading: 142.753674 deg.

2025-10-26T22:50:04.362Z,1761519004.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.491522 target range: 49.357246 and range: 49.60 m.
2025-10-26T22:50:04.485Z,1761519004.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249863
2025-10-26T22:50:04.737Z,1761519004.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501980
2025-10-26T22:50:04.745Z,1761519004.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829437,-0.548945,-0.103414],[0.558520,-0.818133,-0.136799],[-0.009512,-0.171225,0.985186]]
2025-10-26T22:50:04.773Z,1761519004.773 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:50:04.780Z,1761519004.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.36 m.
2025-10-26T22:50:04.782Z,1761519004.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.357246 m,
      nav range: 47.370579 m,
      bearing: 148.621118 deg,
      approach rate: -0.519437 m/s,
      LOS rate: -0.079635 deg/s,
      cmd heading: 142.753672 deg,
      new cmd heading: 142.653209 deg.

2025-10-26T22:50:04.792Z,1761519004.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.489768 target range: 49.357246 and range: 49.60 m.
2025-10-26T22:50:04.988Z,1761519004.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753636
2025-10-26T22:50:05.184Z,1761519005.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.36 m.
2025-10-26T22:50:05.187Z,1761519005.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.357246 m,
      nav range: 47.158760 m,
      bearing: 148.580546 deg,
      approach rate: -0.518006 m/s,
      LOS rate: -0.099664 deg/s,
      cmd heading: 142.653214 deg,
      new cmd heading: 142.530953 deg.

2025-10-26T22:50:05.188Z,1761519005.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.487634 target range: 49.357246 and range: 49.60 m.
2025-10-26T22:50:05.241Z,1761519005.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006400
2025-10-26T22:50:05.492Z,1761519005.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257634
2025-10-26T22:50:05.535Z,1761519005.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825934,-0.554168,-0.103590],[0.563753,-0.813159,-0.144761],[-0.004013,-0.177962,0.984029]]
2025-10-26T22:50:05.571Z,1761519005.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.36 m.
2025-10-26T22:50:05.574Z,1761519005.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.357246 m,
      nav range: 46.965481 m,
      bearing: 148.544892 deg,
      approach rate: -0.499741 m/s,
      LOS rate: -0.092566 deg/s,
      cmd heading: 142.530953 deg,
      new cmd heading: 142.423551 deg.

2025-10-26T22:50:05.575Z,1761519005.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.485760 target range: 49.357246 and range: 49.60 m.
2025-10-26T22:50:05.744Z,1761519005.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509697
2025-10-26T22:50:05.946Z,1761519005.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824268,-0.556588,-0.103885],[0.566197,-0.810816,-0.148315],[-0.001681,-0.181070,0.983469]]
2025-10-26T22:50:05.997Z,1761519005.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761854
2025-10-26T22:50:05.999Z,1761519005.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.36 m.
2025-10-26T22:50:06.002Z,1761519006.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.357246 m,
      nav range: 46.736160 m,
      bearing: 148.504163 deg,
      approach rate: -0.535771 m/s,
      LOS rate: -0.095624 deg/s,
      cmd heading: 142.423555 deg,
      new cmd heading: 142.300768 deg.

2025-10-26T22:50:06.003Z,1761519006.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.483617 target range: 49.357246 and range: 49.60 m.
2025-10-26T22:50:06.248Z,1761519006.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013655
2025-10-26T22:50:06.342Z,1761519006.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822522,-0.559395,-0.102639],[0.568733,-0.808794,-0.149650],[0.000700,-0.181465,0.983397]]
2025-10-26T22:50:06.361Z,1761519006.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.36 m.
2025-10-26T22:50:06.364Z,1761519006.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.357246 m,
      nav range: 46.544029 m,
      bearing: 148.470487 deg,
      approach rate: -0.530837 m/s,
      LOS rate: -0.093427 deg/s,
      cmd heading: 142.300762 deg,
      new cmd heading: 142.199317 deg.

2025-10-26T22:50:06.365Z,1761519006.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.481846 target range: 49.357246 and range: 49.60 m.
2025-10-26T22:50:06.500Z,1761519006.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265692
2025-10-26T22:50:06.752Z,1761519006.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517763
2025-10-26T22:50:06.754Z,1761519006.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820836,-0.561922,-0.102331],[0.571158,-0.806715,-0.151624],[0.002649,-0.182906,0.983127]]
2025-10-26T22:50:06.772Z,1761519006.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.36 m.
2025-10-26T22:50:06.775Z,1761519006.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.357246 m,
      nav range: 46.325359 m,
      bearing: 148.432672 deg,
      approach rate: -0.531716 m/s,
      LOS rate: -0.092383 deg/s,
      cmd heading: 142.199320 deg,
      new cmd heading: 142.085342 deg.

2025-10-26T22:50:06.777Z,1761519006.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.479857 target range: 49.357246 and range: 49.60 m.
2025-10-26T22:50:07.004Z,1761519007.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769694
2025-10-26T22:50:07.150Z,1761519007.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819192,-0.564483,-0.101407],[0.573501,-0.804843,-0.152727],[0.004595,-0.183270,0.983052]]
2025-10-26T22:50:07.205Z,1761519007.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:50:07.212Z,1761519007.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.36 m.
2025-10-26T22:50:07.214Z,1761519007.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.357246 m,
      nav range: 46.095181 m,
      bearing: 148.403644 deg,
      approach rate: -0.529285 m/s,
      LOS rate: -0.067083 deg/s,
      cmd heading: 142.085338 deg,
      new cmd heading: 141.997818 deg.

2025-10-26T22:50:07.219Z,1761519007.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.478329 target range: 49.357246 and range: 49.60 m.
2025-10-26T22:50:07.259Z,1761519007.259 [DAT](INFO): DAT read: Rx Time:22:50:05.8539

2025-10-26T22:50:07.260Z,1761519007.260 [DAT](INFO): Rx dataTimestamp_ set to:1761519007.259315
2025-10-26T22:50:07.260Z,1761519007.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025516
2025-10-26T22:50:07.509Z,1761519007.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274123
2025-10-26T22:50:07.554Z,1761519007.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817429,-0.567279,-0.100019],[0.575993,-0.803007,-0.153010],[0.006484,-0.182685,0.983150]]
2025-10-26T22:50:07.591Z,1761519007.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.36 m.
2025-10-26T22:50:07.596Z,1761519007.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.357246 m,
      nav range: 45.873859 m,
      bearing: 148.376303 deg,
      approach rate: -0.578134 m/s,
      LOS rate: -0.071764 deg/s,
      cmd heading: 141.997816 deg,
      new cmd heading: 141.915398 deg.

2025-10-26T22:50:07.598Z,1761519007.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476891 target range: 49.357246 and range: 49.60 m.
2025-10-26T22:50:07.766Z,1761519007.766 [DAT](INFO): DAT read: 22:50:05.8539 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 407, 0.11, 1.120,-0.600, 1.248, 0.984, PHS= 0.238,-1.539, 0.220, RAW= 149.5,  12.2, CAL= 149.4,  13.4, ROT=   0.6, -13.4

2025-10-26T22:50:07.767Z,1761519007.767 [DAT](INFO): got valid direction response:
 22:50:05.8539 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 407, 0.11, 1.120,-0.600, 1.248, 0.984, PHS= 0.238,-1.539, 0.220, RAW= 149.5,  12.2, CAL= 149.4,  13.4, ROT=   0.6, -13.4

2025-10-26T22:50:07.768Z,1761519007.768 [DAT](INFO): DAT read: Bearing 311.3,  -1.5 (Local)

2025-10-26T22:50:07.768Z,1761519007.768 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.3,  -1.5 (Local)

2025-10-26T22:50:07.770Z,1761519007.770 [DAT](INFO): DAT read: Range 11 to 50 : 47.6 m  (Round-trip  63.5 ms) speed  0.5 m/s

2025-10-26T22:50:07.770Z,1761519007.770 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:50:07.771Z,1761519007.771 [DAT](INFO): direction in FSK: [0.972723,0.010187,0.231748]
2025-10-26T22:50:07.772Z,1761519007.772 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:07.775Z,1761519007.775 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:50:07.775Z,1761519007.775 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:50:07.780Z,1761519007.780 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:50:07.975Z,1761519007.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815471,-0.570145,-0.099711],[0.578748,-0.800930,-0.153498],[0.007654,-0.182881,0.983105]]
2025-10-26T22:50:08.012Z,1761519008.012 [DAT](INFO): DAT read: user:725>

2025-10-26T22:50:08.013Z,1761519008.013 [DAT](INFO): DAT read: Tx time:22:50:07.1362

2025-10-26T22:50:08.014Z,1761519008.014 [DAT](INFO): Ping request sent.
2025-10-26T22:50:08.014Z,1761519008.014 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:50:08.014Z,1761519008.014 [DAT](INFO): publishing transmit ping time
2025-10-26T22:50:08.015Z,1761519008.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000938
2025-10-26T22:50:08.097Z,1761519008.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.599998 m,
      deltaT: 3.780009 s,
      deltaX: -2.000000 m,
      approachRate: -0.529099 m/s,
      rangeRepo size: 4

2025-10-26T22:50:08.110Z,1761519008.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.367657 m,
      bearing: 147.725279 deg,
      lat: 36.779407 deg,
      lon: -121.859413 deg,
      deltaT: 3.780009 s,
      deltaX: -1.989590 m,
      approachRate: -0.526345 m/s,
      posRepo size: 4

2025-10-26T22:50:08.116Z,1761519008.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.37 m.
2025-10-26T22:50:08.119Z,1761519008.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.367657 m,
      nav range: 45.954098 m,
      bearing: 147.688213 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.071764 deg/s,
      cmd heading: 141.915403 deg,
      new cmd heading: 141.806458 deg.

2025-10-26T22:50:08.124Z,1761519008.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.474990 target range: 47.367657 and range: 47.60 m.
2025-10-26T22:50:08.265Z,1761519008.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250883
2025-10-26T22:50:08.433Z,1761519008.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813013,-0.573223,-0.102100],[0.582189,-0.797906,-0.156209],[0.008077,-0.186442,0.982433]]
2025-10-26T22:50:08.462Z,1761519008.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.37 m.
2025-10-26T22:50:08.465Z,1761519008.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.367657 m,
      nav range: 45.722103 m,
      bearing: 147.658732 deg,
      approach rate: -0.634481 m/s,
      LOS rate: -0.081036 deg/s,
      cmd heading: 141.806461 deg,
      new cmd heading: 141.717570 deg.

2025-10-26T22:50:08.466Z,1761519008.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.473438 target range: 47.367657 and range: 47.60 m.
2025-10-26T22:50:08.516Z,1761519008.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502780
2025-10-26T22:50:08.768Z,1761519008.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754753
2025-10-26T22:50:08.885Z,1761519008.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.37 m.
2025-10-26T22:50:08.888Z,1761519008.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.367657 m,
      nav range: 45.485855 m,
      bearing: 147.628400 deg,
      approach rate: -0.558169 m/s,
      LOS rate: -0.072036 deg/s,
      cmd heading: 141.717573 deg,
      new cmd heading: 141.626104 deg.

2025-10-26T22:50:08.889Z,1761519008.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.471842 target range: 47.367657 and range: 47.60 m.
2025-10-26T22:50:09.021Z,1761519009.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007498
2025-10-26T22:50:09.247Z,1761519009.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806281,-0.582118,-0.105118],[0.591488,-0.791181,-0.155482],[0.007341,-0.187538,0.982230]]
2025-10-26T22:50:09.272Z,1761519009.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258574
2025-10-26T22:50:09.358Z,1761519009.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:50:09.360Z,1761519009.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.37 m.
2025-10-26T22:50:09.363Z,1761519009.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.367657 m,
      nav range: 45.207741 m,
      bearing: 147.621485 deg,
      approach rate: -0.585315 m/s,
      LOS rate: -0.014643 deg/s,
      cmd heading: 141.626103 deg,
      new cmd heading: 141.605230 deg.

2025-10-26T22:50:09.372Z,1761519009.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.471478 target range: 47.367657 and range: 47.60 m.
2025-10-26T22:50:09.525Z,1761519009.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510914
2025-10-26T22:50:09.777Z,1761519009.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763395
2025-10-26T22:50:09.817Z,1761519009.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799547,-0.590003,-0.112346],[0.600579,-0.783704,-0.158470],[0.005451,-0.194177,0.980951]]
2025-10-26T22:50:09.836Z,1761519009.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.37 m.
2025-10-26T22:50:09.839Z,1761519009.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.367657 m,
      nav range: 44.928696 m,
      bearing: 147.618523 deg,
      approach rate: -0.586889 m/s,
      LOS rate: -0.006267 deg/s,
      cmd heading: 141.605230 deg,
      new cmd heading: 141.596291 deg.

2025-10-26T22:50:09.856Z,1761519009.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.471322 target range: 47.367657 and range: 47.60 m.
2025-10-26T22:50:10.033Z,1761519010.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019454
2025-10-26T22:50:10.218Z,1761519010.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796568,-0.593399,-0.115576],[0.604536,-0.780607,-0.158709],[0.003958,-0.196292,0.980537]]
2025-10-26T22:50:10.271Z,1761519010.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.37 m.
2025-10-26T22:50:10.274Z,1761519010.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.367657 m,
      nav range: 44.664276 m,
      bearing: 147.629186 deg,
      approach rate: -0.607772 m/s,
      LOS rate: 0.024652 deg/s,
      cmd heading: 141.596297 deg,
      new cmd heading: 141.628472 deg.

2025-10-26T22:50:10.275Z,1761519010.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.471883 target range: 47.367657 and range: 47.60 m.
2025-10-26T22:50:10.284Z,1761519010.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270805
2025-10-26T22:50:10.536Z,1761519010.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522761
2025-10-26T22:50:10.659Z,1761519010.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793797,-0.596764,-0.117299],[0.608179,-0.778216,-0.156521],[0.002122,-0.195585,0.980685]]
2025-10-26T22:50:10.676Z,1761519010.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.37 m.
2025-10-26T22:50:10.679Z,1761519010.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.367657 m,
      nav range: 44.417767 m,
      bearing: 147.640691 deg,
      approach rate: -0.607566 m/s,
      LOS rate: 0.028514 deg/s,
      cmd heading: 141.628467 deg,
      new cmd heading: 141.663174 deg.

2025-10-26T22:50:10.680Z,1761519010.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.472489 target range: 47.367657 and range: 47.60 m.
2025-10-26T22:50:10.788Z,1761519010.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774784
2025-10-26T22:50:11.040Z,1761519011.040 [DAT](INFO): DAT read: Rx Time:22:50:09.6010

2025-10-26T22:50:11.041Z,1761519011.041 [DAT](INFO): Rx dataTimestamp_ set to:1761519011.040615
2025-10-26T22:50:11.041Z,1761519011.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027815
2025-10-26T22:50:11.067Z,1761519011.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791167,-0.599781,-0.119655],[0.611600,-0.775862,-0.154866],[0.000050,-0.195705,0.980663]]
2025-10-26T22:50:11.133Z,1761519011.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.37 m.
2025-10-26T22:50:11.136Z,1761519011.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.367657 m,
      nav range: 44.148407 m,
      bearing: 147.666753 deg,
      approach rate: -0.589985 m/s,
      LOS rate: 0.057434 deg/s,
      cmd heading: 141.663178 deg,
      new cmd heading: 141.741842 deg.

2025-10-26T22:50:11.137Z,1761519011.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.473862 target range: 47.367657 and range: 47.60 m.
2025-10-26T22:50:11.292Z,1761519011.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278780
2025-10-26T22:50:11.463Z,1761519011.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789719,-0.600859,-0.123745],[0.613467,-0.774009,-0.156745],[-0.001598,-0.199698,0.979856]]
2025-10-26T22:50:11.480Z,1761519011.480 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:50:11.482Z,1761519011.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.37 m.
2025-10-26T22:50:11.485Z,1761519011.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.367657 m,
      nav range: 43.942684 m,
      bearing: 147.687541 deg,
      approach rate: -0.589256 m/s,
      LOS rate: 0.059820 deg/s,
      cmd heading: 141.741848 deg,
      new cmd heading: 141.804501 deg.

2025-10-26T22:50:11.486Z,1761519011.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.474956 target range: 47.367657 and range: 47.60 m.
2025-10-26T22:50:11.550Z,1761519011.550 [DAT](INFO): DAT read: 22:50:09.6010 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 410,-0.37,-1.970, 2.564,-1.978,-2.088, PHS= 0.219,-1.586, 0.065, RAW= 145.6,  14.9, CAL= 145.3,  16.3, ROT=   4.7, -16.3

2025-10-26T22:50:11.551Z,1761519011.551 [DAT](INFO): got valid direction response:
 22:50:09.6010 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 410,-0.37,-1.970, 2.564,-1.978,-2.088, PHS= 0.219,-1.586, 0.065, RAW= 145.6,  14.9, CAL= 145.3,  16.3, ROT=   4.7, -16.3

2025-10-26T22:50:11.557Z,1761519011.557 [DAT](INFO): DAT read: Bearing 311.8,   1.2 (Local)

2025-10-26T22:50:11.557Z,1761519011.557 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.8,   1.2 (Local)

2025-10-26T22:50:11.559Z,1761519011.559 [DAT](INFO): DAT read: Range 11 to 50 : 45.5 m  (Round-trip  60.7 ms) speed  0.5 m/s

2025-10-26T22:50:11.563Z,1761519011.563 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:50:11.564Z,1761519011.564 [DAT](INFO): direction in FSK: [0.956578,0.078645,0.280667]
2025-10-26T22:50:11.565Z,1761519011.565 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:11.574Z,1761519011.574 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:50:11.574Z,1761519011.574 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:50:11.574Z,1761519011.574 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:50:11.796Z,1761519011.796 [DAT](INFO): DAT read: user:726>

2025-10-26T22:50:11.797Z,1761519011.797 [DAT](INFO): DAT read: Tx time:22:50:10.9362

2025-10-26T22:50:11.797Z,1761519011.797 [DAT](INFO): Ping request sent.
2025-10-26T22:50:11.797Z,1761519011.797 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:50:11.798Z,1761519011.798 [DAT](INFO): publishing transmit ping time
2025-10-26T22:50:11.798Z,1761519011.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000767
2025-10-26T22:50:11.866Z,1761519011.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789314,-0.600604,-0.127509],[0.613982,-0.773175,-0.158829],[-0.003193,-0.203654,0.979038]]
2025-10-26T22:50:11.920Z,1761519011.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.500000 m,
      deltaT: 3.784070 s,
      deltaX: -2.099998 m,
      approachRate: -0.554958 m/s,
      rangeRepo size: 4

2025-10-26T22:50:11.922Z,1761519011.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.263313 m,
      bearing: 150.098469 deg,
      lat: 36.779407 deg,
      lon: -121.859413 deg,
      deltaT: 3.784070 s,
      deltaX: -2.104343 m,
      approachRate: -0.556106 m/s,
      posRepo size: 4

2025-10-26T22:50:11.923Z,1761519011.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.26 m.
2025-10-26T22:50:11.926Z,1761519011.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.263313 m,
      nav range: 43.686508 m,
      bearing: 147.713957 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.059820 deg/s,
      cmd heading: 141.804508 deg,
      new cmd heading: 141.882946 deg.

2025-10-26T22:50:11.926Z,1761519011.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476325 target range: 45.263313 and range: 45.50 m.
2025-10-26T22:50:12.049Z,1761519012.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251215
2025-10-26T22:50:12.300Z,1761519012.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502968
2025-10-26T22:50:12.338Z,1761519012.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.26 m.
2025-10-26T22:50:12.341Z,1761519012.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.263313 m,
      nav range: 43.446239 m,
      bearing: 147.735213 deg,
      approach rate: -0.573275 m/s,
      LOS rate: 0.050997 deg/s,
      cmd heading: 141.882946 deg,
      new cmd heading: 141.947066 deg.

2025-10-26T22:50:12.342Z,1761519012.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477444 target range: 45.263313 and range: 45.50 m.
2025-10-26T22:50:12.532Z,1761519012.532 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:50:12.552Z,1761519012.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754914
2025-10-26T22:50:12.676Z,1761519012.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791385,-0.597016,-0.131459],[0.611306,-0.774230,-0.163931],[-0.003910,-0.210094,0.977673]]
2025-10-26T22:50:12.693Z,1761519012.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.26 m.
2025-10-26T22:50:12.697Z,1761519012.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.263313 m,
      nav range: 43.244461 m,
      bearing: 147.752429 deg,
      approach rate: -0.568038 m/s,
      LOS rate: 0.048691 deg/s,
      cmd heading: 141.947068 deg,
      new cmd heading: 141.998956 deg.

2025-10-26T22:50:12.698Z,1761519012.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.478349 target range: 45.263313 and range: 45.50 m.
2025-10-26T22:50:12.805Z,1761519012.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007107
2025-10-26T22:50:13.056Z,1761519013.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258951
2025-10-26T22:50:13.098Z,1761519013.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792432,-0.596362,-0.128077],[0.609949,-0.776065,-0.160268],[-0.003819,-0.205122,0.978729]]
2025-10-26T22:50:13.153Z,1761519013.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.26 m.
2025-10-26T22:50:13.160Z,1761519013.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.263313 m,
      nav range: 43.010509 m,
      bearing: 147.752338 deg,
      approach rate: -0.509545 m/s,
      LOS rate: -0.000200 deg/s,
      cmd heading: 141.998950 deg,
      new cmd heading: 141.998674 deg.

2025-10-26T22:50:13.161Z,1761519013.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.478344 target range: 45.263313 and range: 45.50 m.
2025-10-26T22:50:13.308Z,1761519013.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510955
2025-10-26T22:50:13.518Z,1761519013.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:50:13.520Z,1761519013.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.26 m.
2025-10-26T22:50:13.523Z,1761519013.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.263313 m,
      nav range: 42.808083 m,
      bearing: 147.752258 deg,
      approach rate: -0.550750 m/s,
      LOS rate: -0.000218 deg/s,
      cmd heading: 141.998677 deg,
      new cmd heading: 141.998436 deg.

2025-10-26T22:50:13.524Z,1761519013.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.478340 target range: 45.263313 and range: 45.50 m.
2025-10-26T22:50:13.536Z,1761519013.536 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:50:13.561Z,1761519013.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763073
2025-10-26T22:50:13.813Z,1761519013.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015419
2025-10-26T22:50:13.889Z,1761519013.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794143,-0.596419,-0.116708],[0.607720,-0.780464,-0.146808],[-0.003527,-0.187512,0.982256]]
2025-10-26T22:50:13.907Z,1761519013.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.26 m.
2025-10-26T22:50:13.910Z,1761519013.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.263313 m,
      nav range: 42.603767 m,
      bearing: 147.750876 deg,
      approach rate: -0.528713 m/s,
      LOS rate: -0.003592 deg/s,
      cmd heading: 141.998431 deg,
      new cmd heading: 141.994266 deg.

2025-10-26T22:50:13.910Z,1761519013.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.478267 target range: 45.263313 and range: 45.50 m.
2025-10-26T22:50:14.066Z,1761519014.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268350
2025-10-26T22:50:14.314Z,1761519014.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794833,-0.596531,-0.111315],[0.606817,-0.782420,-0.139969],[-0.003600,-0.178800,0.983879]]
2025-10-26T22:50:14.316Z,1761519014.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519043
2025-10-26T22:50:14.366Z,1761519014.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.26 m.
2025-10-26T22:50:14.369Z,1761519014.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.263313 m,
      nav range: 42.382343 m,
      bearing: 147.734044 deg,
      approach rate: -0.481945 m/s,
      LOS rate: -0.036828 deg/s,
      cmd heading: 141.994264 deg,
      new cmd heading: 141.943504 deg.

2025-10-26T22:50:14.370Z,1761519014.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477381 target range: 45.263313 and range: 45.50 m.
2025-10-26T22:50:14.568Z,1761519014.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770816
2025-10-26T22:50:14.708Z,1761519014.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795467,-0.596789,-0.105235],[0.605985,-0.784414,-0.132201],[-0.003651,-0.168932,0.985621]]
2025-10-26T22:50:14.762Z,1761519014.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.26 m.
2025-10-26T22:50:14.769Z,1761519014.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.263313 m,
      nav range: 42.206097 m,
      bearing: 147.719962 deg,
      approach rate: -0.445640 m/s,
      LOS rate: -0.035754 deg/s,
      cmd heading: 141.943502 deg,
      new cmd heading: 141.901081 deg.

2025-10-26T22:50:14.769Z,1761519014.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476641 target range: 45.263313 and range: 45.50 m.
2025-10-26T22:50:14.821Z,1761519014.821 [DAT](INFO): DAT read: Rx Time:22:50:13.3983

2025-10-26T22:50:14.822Z,1761519014.822 [DAT](INFO): Rx dataTimestamp_ set to:1761519014.821835
2025-10-26T22:50:14.823Z,1761519014.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025577
2025-10-26T22:50:15.077Z,1761519015.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278593
2025-10-26T22:50:15.116Z,1761519015.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795898,-0.596884,-0.101370],[0.605419,-0.785685,-0.127149],[-0.003752,-0.162569,0.986690]]
2025-10-26T22:50:15.153Z,1761519015.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.26 m.
2025-10-26T22:50:15.185Z,1761519015.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.263313 m,
      nav range: 42.014069 m,
      bearing: 147.683750 deg,
      approach rate: -0.490835 m/s,
      LOS rate: -0.092984 deg/s,
      cmd heading: 141.901087 deg,
      new cmd heading: 141.791953 deg.

2025-10-26T22:50:15.193Z,1761519015.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.474736 target range: 45.263313 and range: 45.50 m.
2025-10-26T22:50:15.330Z,1761519015.330 [DAT](INFO): DAT read: 22:50:13.3983 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 414, 0.40,-0.178,-1.966,-0.187,-0.357, PHS= 0.281,-1.564, 0.126, RAW= 145.7,  13.0, CAL= 145.3,  14.2, ROT=   4.7, -14.2

2025-10-26T22:50:15.331Z,1761519015.331 [DAT](INFO): got valid direction response:
 22:50:13.3983 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 414, 0.40,-0.178,-1.966,-0.187,-0.357, PHS= 0.281,-1.564, 0.126, RAW= 145.7,  13.0, CAL= 145.3,  14.2, ROT=   4.7, -14.2

2025-10-26T22:50:15.332Z,1761519015.332 [DAT](INFO): DAT read: Bearing 309.1,   1.6 (Local)

2025-10-26T22:50:15.333Z,1761519015.333 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.1,   1.6 (Local)

2025-10-26T22:50:15.334Z,1761519015.334 [DAT](INFO): DAT read: Range 11 to 50 : 43.5 m  (Round-trip  58.0 ms) speed  0.4 m/s

2025-10-26T22:50:15.335Z,1761519015.335 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:50:15.336Z,1761519015.336 [DAT](INFO): direction in FSK: [0.966185,0.079435,0.245307]
2025-10-26T22:50:15.336Z,1761519015.336 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:15.339Z,1761519015.339 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:50:15.339Z,1761519015.339 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:50:15.340Z,1761519015.340 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:50:15.513Z,1761519015.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796716,-0.596021,-0.100016],[0.604342,-0.786769,-0.125562],[-0.003852,-0.160481,0.987031]]
2025-10-26T22:50:15.535Z,1761519015.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.500000 m,
      deltaT: 3.779873 s,
      deltaX: -2.000000 m,
      approachRate: -0.529118 m/s,
      rangeRepo size: 4

2025-10-26T22:50:15.537Z,1761519015.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.279541 m,
      bearing: 149.761685 deg,
      lat: 36.779406 deg,
      lon: -121.859413 deg,
      deltaT: 3.779873 s,
      deltaX: -1.983772 m,
      approachRate: -0.524825 m/s,
      posRepo size: 4

2025-10-26T22:50:15.538Z,1761519015.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.28 m.
2025-10-26T22:50:15.542Z,1761519015.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.279541 m,
      nav range: 41.930309 m,
      bearing: 147.727155 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.092984 deg/s,
      cmd heading: 141.791954 deg,
      new cmd heading: 141.685438 deg.

2025-10-26T22:50:15.543Z,1761519015.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.472878 target range: 43.279541 and range: 43.50 m.
2025-10-26T22:50:15.577Z,1761519015.578 [DAT](INFO): DAT read: user:727>

2025-10-26T22:50:15.578Z,1761519015.578 [DAT](INFO): DAT read: Tx time:22:50:14.6862

2025-10-26T22:50:15.579Z,1761519015.579 [DAT](INFO): Ping request sent.
2025-10-26T22:50:15.579Z,1761519015.579 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:50:15.580Z,1761519015.580 [DAT](INFO): publishing transmit ping time
2025-10-26T22:50:15.581Z,1761519015.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001890
2025-10-26T22:50:15.829Z,1761519015.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250043
2025-10-26T22:50:15.914Z,1761519015.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797060,-0.595741,-0.098929],[0.603885,-0.787425,-0.123635],[-0.004245,-0.158287,0.987384]]
2025-10-26T22:50:15.936Z,1761519015.936 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:50:15.938Z,1761519015.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.28 m.
2025-10-26T22:50:15.958Z,1761519015.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.279541 m,
      nav range: 41.744732 m,
      bearing: 147.691302 deg,
      approach rate: -0.459785 m/s,
      LOS rate: -0.089225 deg/s,
      cmd heading: 141.685444 deg,
      new cmd heading: 141.577406 deg.

2025-10-26T22:50:15.959Z,1761519015.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.470992 target range: 43.279541 and range: 43.50 m.
2025-10-26T22:50:16.084Z,1761519016.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504916
2025-10-26T22:50:16.333Z,1761519016.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753728
2025-10-26T22:50:16.394Z,1761519016.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.28 m.
2025-10-26T22:50:16.397Z,1761519016.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.279541 m,
      nav range: 41.544109 m,
      bearing: 147.647104 deg,
      approach rate: -0.440528 m/s,
      LOS rate: -0.097518 deg/s,
      cmd heading: 141.577404 deg,
      new cmd heading: 141.444172 deg.

2025-10-26T22:50:16.398Z,1761519016.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.468667 target range: 43.279541 and range: 43.50 m.
2025-10-26T22:50:16.586Z,1761519016.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006574
2025-10-26T22:50:16.729Z,1761519016.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797710,-0.594728,-0.099785],[0.603008,-0.788407,-0.121635],[-0.006331,-0.157201,0.987546]]
2025-10-26T22:50:16.766Z,1761519016.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.28 m.
2025-10-26T22:50:16.769Z,1761519016.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.279541 m,
      nav range: 41.380081 m,
      bearing: 147.610344 deg,
      approach rate: -0.440130 m/s,
      LOS rate: -0.099030 deg/s,
      cmd heading: 141.444175 deg,
      new cmd heading: 141.333455 deg.

2025-10-26T22:50:16.770Z,1761519016.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.466734 target range: 43.279541 and range: 43.50 m.
2025-10-26T22:50:16.836Z,1761519016.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257599
2025-10-26T22:50:17.092Z,1761519017.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512702
2025-10-26T22:50:17.219Z,1761519017.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797791,-0.594552,-0.100191],[0.602883,-0.788798,-0.119707],[-0.007859,-0.155904,0.987741]]
2025-10-26T22:50:17.255Z,1761519017.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.28 m.
2025-10-26T22:50:17.258Z,1761519017.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.279541 m,
      nav range: 41.166294 m,
      bearing: 147.546808 deg,
      approach rate: -0.437539 m/s,
      LOS rate: -0.130707 deg/s,
      cmd heading: 141.333457 deg,
      new cmd heading: 141.141862 deg.

2025-10-26T22:50:17.259Z,1761519017.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.463390 target range: 43.279541 and range: 43.50 m.
2025-10-26T22:50:17.341Z,1761519017.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761688
2025-10-26T22:50:17.594Z,1761519017.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014464
2025-10-26T22:50:17.770Z,1761519017.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796684,-0.596007,-0.100350],[0.604254,-0.789038,-0.110884],[-0.013092,-0.148976,0.988754]]
2025-10-26T22:50:17.792Z,1761519017.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.28 m.
2025-10-26T22:50:17.795Z,1761519017.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.279541 m,
      nav range: 40.931206 m,
      bearing: 147.476494 deg,
      approach rate: -0.437703 m/s,
      LOS rate: -0.131667 deg/s,
      cmd heading: 141.141857 deg,
      new cmd heading: 140.929704 deg.

2025-10-26T22:50:17.796Z,1761519017.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.459687 target range: 43.279541 and range: 43.50 m.
2025-10-26T22:50:17.845Z,1761519017.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265728
2025-10-26T22:50:18.100Z,1761519018.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520387
2025-10-26T22:50:18.264Z,1761519018.264 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:50:18.266Z,1761519018.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.28 m.
2025-10-26T22:50:18.269Z,1761519018.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.279541 m,
      nav range: 40.704140 m,
      bearing: 147.421552 deg,
      approach rate: -0.479405 m/s,
      LOS rate: -0.116646 deg/s,
      cmd heading: 140.929697 deg,
      new cmd heading: 140.763953 deg.

2025-10-26T22:50:18.270Z,1761519018.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.456795 target range: 43.279541 and range: 43.50 m.
2025-10-26T22:50:18.349Z,1761519018.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769734
2025-10-26T22:50:18.600Z,1761519018.600 [DAT](INFO): DAT read: Rx Time:22:50:17.1458

2025-10-26T22:50:18.601Z,1761519018.601 [DAT](INFO): Rx dataTimestamp_ set to:1761519018.600653
2025-10-26T22:50:18.601Z,1761519018.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022624
2025-10-26T22:50:18.644Z,1761519018.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795081,-0.597318,-0.105157],[0.606201,-0.788124,-0.106683],[-0.019153,-0.148567,0.988717]]
2025-10-26T22:50:18.690Z,1761519018.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.28 m.
2025-10-26T22:50:18.697Z,1761519018.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.279541 m,
      nav range: 40.510040 m,
      bearing: 147.374774 deg,
      approach rate: -0.457802 m/s,
      LOS rate: -0.110860 deg/s,
      cmd heading: 140.763956 deg,
      new cmd heading: 140.622949 deg.

2025-10-26T22:50:18.698Z,1761519018.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.454334 target range: 43.279541 and range: 43.50 m.
2025-10-26T22:50:18.852Z,1761519018.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273521
2025-10-26T22:50:19.046Z,1761519019.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793672,-0.598403,-0.109542],[0.607931,-0.786817,-0.106482],[-0.022471,-0.151105,0.988262]]
2025-10-26T22:50:19.071Z,1761519019.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.28 m.
2025-10-26T22:50:19.077Z,1761519019.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.279541 m,
      nav range: 40.321014 m,
      bearing: 147.329411 deg,
      approach rate: -0.496899 m/s,
      LOS rate: -0.119807 deg/s,
      cmd heading: 140.622954 deg,
      new cmd heading: 140.486226 deg.

2025-10-26T22:50:19.101Z,1761519019.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.451947 target range: 43.279541 and range: 43.50 m.
2025-10-26T22:50:19.140Z,1761519019.140 [DAT](INFO): DAT read: 22:50:17.1458 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 420, 0.13,-2.415, 2.155,-2.367,-2.538, PHS= 0.225,-1.545, 0.127, RAW= 147.2,  13.8, CAL= 147.0,  15.1, ROT=   3.0, -15.1

2025-10-26T22:50:19.152Z,1761519019.152 [DAT](INFO): got valid direction response:
 22:50:17.1458 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 420, 0.13,-2.415, 2.155,-2.367,-2.538, PHS= 0.225,-1.545, 0.127, RAW= 147.2,  13.8, CAL= 147.0,  15.1, ROT=   3.0, -15.1

2025-10-26T22:50:19.152Z,1761519019.152 [DAT](INFO): DAT read: Bearing 310.5,  -0.2 (Local)

2025-10-26T22:50:19.153Z,1761519019.153 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.5,  -0.2 (Local)

2025-10-26T22:50:19.154Z,1761519019.154 [DAT](INFO): DAT read: Range 11 to 50 : 41.5 m  (Round-trip  55.4 ms) speed  0.4 m/s

2025-10-26T22:50:19.155Z,1761519019.155 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:50:19.168Z,1761519019.168 [DAT](INFO): direction in FSK: [0.964149,0.050529,0.260505]
2025-10-26T22:50:19.169Z,1761519019.169 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:19.180Z,1761519019.180 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:50:19.180Z,1761519019.180 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:50:19.181Z,1761519019.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:50:19.357Z,1761519019.357 [DAT](INFO): DAT read: user:728>

2025-10-26T22:50:19.357Z,1761519019.357 [DAT](INFO): DAT read: Tx time:22:50:18.5362

2025-10-26T22:50:19.358Z,1761519019.358 [DAT](INFO): Ping request sent.
2025-10-26T22:50:19.358Z,1761519019.358 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:50:19.358Z,1761519019.358 [DAT](INFO): publishing transmit ping time
2025-10-26T22:50:19.359Z,1761519019.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761
2025-10-26T22:50:19.446Z,1761519019.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792212,-0.599597,-0.113504],[0.609725,-0.785406,-0.106647],[-0.025201,-0.153693,0.987797]]
2025-10-26T22:50:19.494Z,1761519019.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.500000 m,
      deltaT: 3.781908 s,
      deltaX: -2.000000 m,
      approachRate: -0.528834 m/s,
      rangeRepo size: 4

2025-10-26T22:50:19.496Z,1761519019.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 41.278587 m,
      bearing: 147.715310 deg,
      lat: 36.779404 deg,
      lon: -121.859415 deg,
      deltaT: 3.781908 s,
      deltaX: -2.000954 m,
      approachRate: -0.529086 m/s,
      posRepo size: 4

2025-10-26T22:50:19.497Z,1761519019.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.28 m.
2025-10-26T22:50:19.500Z,1761519019.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.278587 m,
      nav range: 40.217678 m,
      bearing: 147.715187 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.119807 deg/s,
      cmd heading: 140.486227 deg,
      new cmd heading: 140.334086 deg.

2025-10-26T22:50:19.501Z,1761519019.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.449292 target range: 41.278587 and range: 41.50 m.
2025-10-26T22:50:19.609Z,1761519019.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251249
2025-10-26T22:50:19.858Z,1761519019.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790699,-0.600681,-0.118224],[0.611593,-0.783676,-0.108658],[-0.027380,-0.158220,0.987024]]
2025-10-26T22:50:19.860Z,1761519019.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502578
2025-10-26T22:50:19.878Z,1761519019.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.28 m.
2025-10-26T22:50:19.881Z,1761519019.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.278587 m,
      nav range: 40.021328 m,
      bearing: 147.689543 deg,
      approach rate: -0.510102 m/s,
      LOS rate: -0.066947 deg/s,
      cmd heading: 140.334091 deg,
      new cmd heading: 140.256783 deg.

2025-10-26T22:50:19.882Z,1761519019.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447943 target range: 41.278587 and range: 41.50 m.
2025-10-26T22:50:20.117Z,1761519020.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758396
2025-10-26T22:50:20.254Z,1761519020.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789737,-0.601093,-0.122486],[0.612770,-0.782351,-0.111533],[-0.028785,-0.163138,0.986183]]
2025-10-26T22:50:20.310Z,1761519020.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:50:20.313Z,1761519020.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.28 m.
2025-10-26T22:50:20.316Z,1761519020.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.278587 m,
      nav range: 39.781834 m,
      bearing: 147.687481 deg,
      approach rate: -0.551427 m/s,
      LOS rate: -0.004778 deg/s,
      cmd heading: 140.256787 deg,
      new cmd heading: 140.250562 deg.

2025-10-26T22:50:20.317Z,1761519020.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447834 target range: 41.278587 and range: 41.50 m.
2025-10-26T22:50:20.365Z,1761519020.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007301
2025-10-26T22:50:20.616Z,1761519020.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258486
2025-10-26T22:50:20.659Z,1761519020.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789011,-0.601681,-0.124262],[0.613701,-0.781350,-0.113414],[-0.028853,-0.165745,0.985747]]
2025-10-26T22:50:20.686Z,1761519020.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.28 m.
2025-10-26T22:50:20.689Z,1761519020.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.278587 m,
      nav range: 39.575382 m,
      bearing: 147.686006 deg,
      approach rate: -0.553230 m/s,
      LOS rate: -0.003974 deg/s,
      cmd heading: 140.250558 deg,
      new cmd heading: 140.246109 deg.

2025-10-26T22:50:20.690Z,1761519020.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447756 target range: 41.278587 and range: 41.50 m.
2025-10-26T22:50:20.872Z,1761519020.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514319
2025-10-26T22:50:21.066Z,1761519021.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788451,-0.602413,-0.124273],[0.614486,-0.780435,-0.115452],[-0.027437,-0.167392,0.985509]]
2025-10-26T22:50:21.123Z,1761519021.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764739
2025-10-26T22:50:21.127Z,1761519021.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.28 m.
2025-10-26T22:50:21.149Z,1761519021.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.278587 m,
      nav range: 39.342155 m,
      bearing: 147.684626 deg,
      approach rate: -0.530339 m/s,
      LOS rate: -0.003156 deg/s,
      cmd heading: 140.246105 deg,
      new cmd heading: 140.241941 deg.

2025-10-26T22:50:21.157Z,1761519021.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447684 target range: 41.278587 and range: 41.50 m.
2025-10-26T22:50:21.372Z,1761519021.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014485
2025-10-26T22:50:21.481Z,1761519021.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788247,-0.602416,-0.125546],[0.614840,-0.779394,-0.120482],[-0.025270,-0.172161,0.984745]]
2025-10-26T22:50:21.534Z,1761519021.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.28 m.
2025-10-26T22:50:21.541Z,1761519021.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.278587 m,
      nav range: 39.099209 m,
      bearing: 147.702643 deg,
      approach rate: -0.595118 m/s,
      LOS rate: 0.044409 deg/s,
      cmd heading: 140.241938 deg,
      new cmd heading: 140.296325 deg.

2025-10-26T22:50:21.542Z,1761519021.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.448633 target range: 41.278587 and range: 41.50 m.
2025-10-26T22:50:21.626Z,1761519021.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267422
2025-10-26T22:50:21.876Z,1761519021.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518627
2025-10-26T22:50:21.889Z,1761519021.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788364,-0.601810,-0.127699],[0.614794,-0.778292,-0.127629],[-0.022578,-0.179127,0.983567]]
2025-10-26T22:50:21.908Z,1761519021.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.28 m.
2025-10-26T22:50:21.910Z,1761519021.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.278587 m,
      nav range: 38.868427 m,
      bearing: 147.719859 deg,
      approach rate: -0.617848 m/s,
      LOS rate: 0.046365 deg/s,
      cmd heading: 140.296320 deg,
      new cmd heading: 140.348276 deg.

2025-10-26T22:50:21.912Z,1761519021.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.449539 target range: 41.278587 and range: 41.50 m.
2025-10-26T22:50:22.132Z,1761519022.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772981
2025-10-26T22:50:22.291Z,1761519022.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788699,-0.601524,-0.126973],[0.614488,-0.777692,-0.132665],[-0.018945,-0.182657,0.982994]]
2025-10-26T22:50:22.352Z,1761519022.352 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:50:22.354Z,1761519022.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.28 m.
2025-10-26T22:50:22.361Z,1761519022.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.278587 m,
      nav range: 38.600605 m,
      bearing: 147.752760 deg,
      approach rate: -0.599826 m/s,
      LOS rate: 0.074198 deg/s,
      cmd heading: 140.348271 deg,
      new cmd heading: 140.447658 deg.

2025-10-26T22:50:22.362Z,1761519022.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.451274 target range: 41.278587 and range: 41.50 m.
2025-10-26T22:50:22.381Z,1761519022.381 [DAT](INFO): DAT read: Rx Time:22:50:20.9928

2025-10-26T22:50:22.381Z,1761519022.381 [DAT](INFO): Rx dataTimestamp_ set to:1761519022.380694
2025-10-26T22:50:22.382Z,1761519022.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023694
2025-10-26T22:50:22.632Z,1761519022.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274567
2025-10-26T22:50:22.694Z,1761519022.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789262,-0.600745,-0.127166],[0.613867,-0.777060,-0.139085],[-0.015261,-0.187837,0.982082]]
2025-10-26T22:50:22.732Z,1761519022.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.28 m.
2025-10-26T22:50:22.736Z,1761519022.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.278587 m,
      nav range: 38.356941 m,
      bearing: 147.782775 deg,
      approach rate: -0.643964 m/s,
      LOS rate: 0.079829 deg/s,
      cmd heading: 140.447664 deg,
      new cmd heading: 140.538280 deg.

2025-10-26T22:50:22.737Z,1761519022.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.452856 target range: 41.278587 and range: 41.50 m.
2025-10-26T22:50:22.890Z,1761519022.890 [DAT](INFO): DAT read: 22:50:20.9928 LVL= 30128, 32753, 32754, 32755, AGC= 65, IDX= 407, 0.06, 2.128, 0.392, 2.157, 1.961, PHS= 0.269,-1.524, 0.152, RAW= 146.7,  12.6, CAL= 146.4,  13.9, ROT=   3.6, -13.9

2025-10-26T22:50:22.891Z,1761519022.891 [DAT](INFO): got valid direction response:
 22:50:20.9928 LVL= 30128, 32753, 32754, 32755, AGC= 65, IDX= 407, 0.06, 2.128, 0.392, 2.157, 1.961, PHS= 0.269,-1.524, 0.152, RAW= 146.7,  12.6, CAL= 146.4,  13.9, ROT=   3.6, -13.9

2025-10-26T22:50:22.892Z,1761519022.892 [DAT](INFO): DAT read: Bearing 308.1,  -0.4 (Local)

2025-10-26T22:50:22.892Z,1761519022.892 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.1,  -0.4 (Local)

2025-10-26T22:50:22.894Z,1761519022.894 [DAT](INFO): DAT read: Range 11 to 50 : 39.4 m  (Round-trip  52.6 ms) speed  0.4 m/s

2025-10-26T22:50:22.894Z,1761519022.894 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:50:22.895Z,1761519022.895 [DAT](INFO): direction in FSK: [0.968801,0.060952,0.240228]
2025-10-26T22:50:22.896Z,1761519022.896 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:22.899Z,1761519022.899 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:50:22.899Z,1761519022.899 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:50:22.904Z,1761519022.904 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:50:23.101Z,1761519023.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790285,-0.599279,-0.127724],[0.612634,-0.776656,-0.146580],[-0.011355,-0.194088,0.980918]]
2025-10-26T22:50:23.137Z,1761519023.137 [DAT](INFO): DAT read: user:729>

2025-10-26T22:50:23.139Z,1761519023.139 [DAT](INFO): DAT read: Tx time:22:50:22.2361

2025-10-26T22:50:23.140Z,1761519023.140 [DAT](INFO): Ping request sent.
2025-10-26T22:50:23.141Z,1761519023.141 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:50:23.141Z,1761519023.141 [DAT](INFO): publishing transmit ping time
2025-10-26T22:50:23.144Z,1761519023.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002647
2025-10-26T22:50:23.195Z,1761519023.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.400002 m,
      deltaT: 3.778158 s,
      deltaX: -2.099998 m,
      approachRate: -0.555826 m/s,
      rangeRepo size: 4

2025-10-26T22:50:23.208Z,1761519023.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 39.200718 m,
      bearing: 148.469773 deg,
      lat: 36.779401 deg,
      lon: -121.859418 deg,
      deltaT: 3.778158 s,
      deltaX: -2.077869 m,
      approachRate: -0.549969 m/s,
      posRepo size: 4

2025-10-26T22:50:23.209Z,1761519023.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.20 m.
2025-10-26T22:50:23.220Z,1761519023.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.200718 m,
      nav range: 38.302765 m,
      bearing: 148.469657 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.079829 deg/s,
      cmd heading: 140.538287 deg,
      new cmd heading: 140.647157 deg.

2025-10-26T22:50:23.221Z,1761519023.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.454756 target range: 39.200718 and range: 39.40 m.
2025-10-26T22:50:23.388Z,1761519023.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248240
2025-10-26T22:50:23.502Z,1761519023.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791877,-0.597395,-0.126688],[0.610639,-0.777032,-0.152778],[-0.007172,-0.198342,0.980107]]
2025-10-26T22:50:23.544Z,1761519023.544 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-10-26T22:50:23.544Z,1761519023.544 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T22:50:23.544Z,1761519023.544 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-10-26T22:50:23.546Z,1761519023.546 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  39.400002 m (mode  2.000000 count ).
2025-10-26T22:50:23.546Z,1761519023.546 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-10-26T22:50:23.546Z,1761519023.546 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-10-26T22:50:23.548Z,1761519023.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.20 m.
2025-10-26T22:50:23.551Z,1761519023.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.200718 m,
      nav range: 38.038666 m,
      bearing: 148.507230 deg,
      approach rate: -0.730838 m/s,
      LOS rate: 0.104698 deg/s,
      cmd heading: 140.647160 deg,
      new cmd heading: 140.760663 deg.

2025-10-26T22:50:23.552Z,1761519023.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.456737 target range: 39.200718 and range: 39.40 m.
2025-10-26T22:50:23.641Z,1761519023.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500337
2025-10-26T22:50:23.892Z,1761519023.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752063
2025-10-26T22:50:23.913Z,1761519023.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793421,-0.596010,-0.123511],[0.608663,-0.778066,-0.155381],[-0.003491,-0.198459,0.980103]]
2025-10-26T22:50:23.934Z,1761519023.934 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-10-26T22:50:23.934Z,1761519023.934 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-10-26T22:50:23.936Z,1761519023.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.20 m.
2025-10-26T22:50:23.939Z,1761519023.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.200718 m,
      nav range: 37.794167 m,
      bearing: 148.541549 deg,
      approach rate: -0.630491 m/s,
      LOS rate: 0.089069 deg/s,
      cmd heading: 140.760664 deg,
      new cmd heading: 140.864285 deg.

2025-10-26T22:50:23.940Z,1761519023.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.458546 target range: 39.200718 and range: 39.40 m.
2025-10-26T22:50:24.147Z,1761519024.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006198
2025-10-26T22:50:24.341Z,1761519024.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795109,-0.594605,-0.119356],[0.606466,-0.779745,-0.155553],[-0.000575,-0.196067,0.980590]]
2025-10-26T22:50:24.387Z,1761519024.387 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-10-26T22:50:24.387Z,1761519024.387 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-10-26T22:50:24.388Z,1761519024.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:50:24.390Z,1761519024.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.20 m.
2025-10-26T22:50:24.396Z,1761519024.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256192
2025-10-26T22:50:24.398Z,1761519024.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.200718 m,
      nav range: 37.538727 m,
      bearing: 148.572503 deg,
      approach rate: -0.562565 m/s,
      LOS rate: 0.068636 deg/s,
      cmd heading: 140.864291 deg,
      new cmd heading: 140.957787 deg.

2025-10-26T22:50:24.404Z,1761519024.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.460177 target range: 39.200718 and range: 39.40 m.
2025-10-26T22:50:24.648Z,1761519024.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508123
2025-10-26T22:50:24.725Z,1761519024.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796545,-0.593771,-0.113810],[0.604577,-0.781742,-0.152862],[0.001795,-0.190568,0.981672]]
2025-10-26T22:50:24.745Z,1761519024.745 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-10-26T22:50:24.745Z,1761519024.745 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T22:50:24.745Z,1761519024.745 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-10-26T22:50:24.745Z,1761519024.745 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T22:50:24.764Z,1761519024.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.20 m.
2025-10-26T22:50:24.766Z,1761519024.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.200718 m,
      nav range: 37.324913 m,
      bearing: 148.597864 deg,
      approach rate: -0.598305 m/s,
      LOS rate: 0.071374 deg/s,
      cmd heading: 140.957783 deg,
      new cmd heading: 141.034303 deg.

2025-10-26T22:50:24.778Z,1761519024.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.461513 target range: 39.200718 and range: 39.40 m.
2025-10-26T22:50:24.900Z,1761519024.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760220
2025-10-26T22:50:25.122Z,1761519025.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797734,-0.593016,-0.109329],[0.602998,-0.783388,-0.150652],[0.003692,-0.186105,0.982523]]
2025-10-26T22:50:25.147Z,1761519025.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.20 m.
2025-10-26T22:50:25.156Z,1761519025.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014586
2025-10-26T22:50:25.151Z,1761519025.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.200718 m,
      nav range: 37.093311 m,
      bearing: 148.624874 deg,
      approach rate: -0.579433 m/s,
      LOS rate: 0.067996 deg/s,
      cmd heading: 141.034309 deg,
      new cmd heading: 141.115843 deg.

2025-10-26T22:50:25.158Z,1761519025.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.462936 target range: 39.200718 and range: 39.40 m.
2025-10-26T22:50:25.406Z,1761519025.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264941
2025-10-26T22:50:25.526Z,1761519025.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798808,-0.592261,-0.105513],[0.601565,-0.784956,-0.148201],[0.004951,-0.181857,0.983312]]
2025-10-26T22:50:25.594Z,1761519025.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.20 m.
2025-10-26T22:50:25.597Z,1761519025.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.200718 m,
      nav range: 36.847775 m,
      bearing: 148.638624 deg,
      approach rate: -0.549666 m/s,
      LOS rate: 0.030987 deg/s,
      cmd heading: 141.115847 deg,
      new cmd heading: 141.157374 deg.

2025-10-26T22:50:25.598Z,1761519025.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.463661 target range: 39.200718 and range: 39.40 m.
2025-10-26T22:50:25.657Z,1761519025.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516305
2025-10-26T22:50:25.908Z,1761519025.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768112
2025-10-26T22:50:25.994Z,1761519025.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.20 m.
2025-10-26T22:50:25.997Z,1761519025.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.200718 m,
      nav range: 36.635098 m,
      bearing: 148.650684 deg,
      approach rate: -0.531533 m/s,
      LOS rate: 0.030314 deg/s,
      cmd heading: 141.157375 deg,
      new cmd heading: 141.193762 deg.

2025-10-26T22:50:25.998Z,1761519025.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.464296 target range: 39.200718 and range: 39.40 m.
2025-10-26T22:50:26.161Z,1761519026.161 [DAT](INFO): DAT read: Rx Time:22:50:24.6903

2025-10-26T22:50:26.161Z,1761519026.161 [DAT](INFO): Rx dataTimestamp_ set to:1761519026.160718
2025-10-26T22:50:26.162Z,1761519026.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021326
2025-10-26T22:50:26.338Z,1761519026.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799443,-0.592480,-0.099289],[0.600720,-0.787010,-0.140535],[0.005123,-0.171994,0.985085]]
2025-10-26T22:50:26.388Z,1761519026.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.20 m.
2025-10-26T22:50:26.390Z,1761519026.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.200718 m,
      nav range: 36.434513 m,
      bearing: 148.636684 deg,
      approach rate: -0.509643 m/s,
      LOS rate: -0.035766 deg/s,
      cmd heading: 141.193766 deg,
      new cmd heading: 141.151536 deg.

2025-10-26T22:50:26.392Z,1761519026.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.463559 target range: 39.200718 and range: 39.40 m.
2025-10-26T22:50:26.412Z,1761519026.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272056
2025-10-26T22:50:26.670Z,1761519026.670 [DAT](INFO): DAT read: 22:50:24.6903 LVL= 30800, 32465, 32754, 32755, AGC= 64, IDX= 414,-0.44,-1.763, 2.779,-1.715,-1.929, PHS= 0.269,-1.530, 0.170, RAW= 147.2,  12.4, CAL= 147.0,  13.6, ROT=   3.0, -13.6

2025-10-26T22:50:26.671Z,1761519026.671 [DAT](INFO): got valid direction response:
 22:50:24.6903 LVL= 30800, 32465, 32754, 32755, AGC= 64, IDX= 414,-0.44,-1.763, 2.779,-1.715,-1.929, PHS= 0.269,-1.530, 0.170, RAW= 147.2,  12.4, CAL= 147.0,  13.6, ROT=   3.0, -13.6

2025-10-26T22:50:26.672Z,1761519026.672 [DAT](INFO): DAT read: Bearing 308.3,   0.3 (Local)

2025-10-26T22:50:26.672Z,1761519026.672 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.3,   0.3 (Local)

2025-10-26T22:50:26.674Z,1761519026.674 [DAT](INFO): DAT read: Range 11 to 50 : 37.5 m  (Round-trip  50.0 ms) speed  0.4 m/s

2025-10-26T22:50:26.674Z,1761519026.674 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:50:26.680Z,1761519026.680 [DAT](INFO): direction in FSK: [0.970629,0.050869,0.235142]
2025-10-26T22:50:26.680Z,1761519026.680 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:26.683Z,1761519026.683 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:50:26.683Z,1761519026.683 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:50:26.684Z,1761519026.684 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:50:26.754Z,1761519026.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799123,-0.593482,-0.095813],[0.601147,-0.787581,-0.135418],[0.004908,-0.165814,0.986145]]
2025-10-26T22:50:26.818Z,1761519026.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.500000 m,
      deltaT: 3.780259 s,
      deltaX: -1.900002 m,
      approachRate: -0.502611 m/s,
      rangeRepo size: 4

2025-10-26T22:50:26.828Z,1761519026.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.316830 m,
      bearing: 148.301388 deg,
      lat: 36.779401 deg,
      lon: -121.859418 deg,
      deltaT: 3.780259 s,
      deltaX: -1.883888 m,
      approachRate: -0.498349 m/s,
      posRepo size: 4

2025-10-26T22:50:26.829Z,1761519026.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.32 m.
2025-10-26T22:50:26.836Z,1761519026.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.316830 m,
      nav range: 36.232845 m,
      bearing: 148.622403 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.035766 deg/s,
      cmd heading: 141.151542 deg,
      new cmd heading: 141.105661 deg.

2025-10-26T22:50:26.837Z,1761519026.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.462758 target range: 37.316830 and range: 37.50 m.
2025-10-26T22:50:26.922Z,1761519026.922 [DAT](INFO): DAT read: user:730>

2025-10-26T22:50:26.923Z,1761519026.923 [DAT](INFO): DAT read: Tx time:22:50:26.0361

2025-10-26T22:50:26.923Z,1761519026.923 [DAT](INFO): Ping request sent.
2025-10-26T22:50:26.923Z,1761519026.923 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:50:26.923Z,1761519026.923 [DAT](INFO): publishing transmit ping time
2025-10-26T22:50:26.924Z,1761519026.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000874
2025-10-26T22:50:27.152Z,1761519027.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798007,-0.595849,-0.090266],[0.602628,-0.787763,-0.127550],[0.004892,-0.156182,0.987716]]
2025-10-26T22:50:27.169Z,1761519027.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:50:27.173Z,1761519027.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249576
2025-10-26T22:50:27.173Z,1761519027.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.32 m.
2025-10-26T22:50:27.176Z,1761519027.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.316830 m,
      nav range: 36.048439 m,
      bearing: 148.609437 deg,
      approach rate: -0.517792 m/s,
      LOS rate: -0.036592 deg/s,
      cmd heading: 141.105657 deg,
      new cmd heading: 141.066561 deg.

2025-10-26T22:50:27.177Z,1761519027.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.462076 target range: 37.316830 and range: 37.50 m.
2025-10-26T22:50:27.428Z,1761519027.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505221
2025-10-26T22:50:27.554Z,1761519027.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796612,-0.598059,-0.087942],[0.604471,-0.786932,-0.123909],[0.004900,-0.151866,0.988389]]
2025-10-26T22:50:27.610Z,1761519027.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.32 m.
2025-10-26T22:50:27.613Z,1761519027.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.316830 m,
      nav range: 35.852070 m,
      bearing: 148.566903 deg,
      approach rate: -0.447930 m/s,
      LOS rate: -0.097553 deg/s,
      cmd heading: 141.066561 deg,
      new cmd heading: 140.938262 deg.

2025-10-26T22:50:27.614Z,1761519027.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.459837 target range: 37.316830 and range: 37.50 m.
2025-10-26T22:50:27.680Z,1761519027.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756637
2025-10-26T22:50:27.932Z,1761519027.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009471
2025-10-26T22:50:27.954Z,1761519027.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794296,-0.600966,-0.089077],[0.607511,-0.784489,-0.124526],[0.004956,-0.153026,0.988210]]
2025-10-26T22:50:27.989Z,1761519027.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.32 m.
2025-10-26T22:50:27.992Z,1761519027.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.316830 m,
      nav range: 35.681995 m,
      bearing: 148.530786 deg,
      approach rate: -0.448032 m/s,
      LOS rate: -0.095599 deg/s,
      cmd heading: 140.938262 deg,
      new cmd heading: 140.829393 deg.

2025-10-26T22:50:27.993Z,1761519027.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.457937 target range: 37.316830 and range: 37.50 m.
2025-10-26T22:50:28.186Z,1761519028.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263423
2025-10-26T22:50:28.358Z,1761519028.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791516,-0.604177,-0.092047],[0.611130,-0.781287,-0.126931],[0.004774,-0.156720,0.987631]]
2025-10-26T22:50:28.414Z,1761519028.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.32 m.
2025-10-26T22:50:28.421Z,1761519028.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.316830 m,
      nav range: 35.504677 m,
      bearing: 148.482945 deg,
      approach rate: -0.417053 m/s,
      LOS rate: -0.113083 deg/s,
      cmd heading: 140.829389 deg,
      new cmd heading: 140.685151 deg.

2025-10-26T22:50:28.422Z,1761519028.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455419 target range: 37.316830 and range: 37.50 m.
2025-10-26T22:50:28.437Z,1761519028.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513789
2025-10-26T22:50:28.688Z,1761519028.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765354
2025-10-26T22:50:28.765Z,1761519028.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788403,-0.607644,-0.095861],[0.615142,-0.777584,-0.130245],[0.004603,-0.161654,0.986837]]
2025-10-26T22:50:28.782Z,1761519028.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.32 m.
2025-10-26T22:50:28.785Z,1761519028.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.316830 m,
      nav range: 35.337971 m,
      bearing: 148.439081 deg,
      approach rate: -0.452889 m/s,
      LOS rate: -0.119728 deg/s,
      cmd heading: 140.685149 deg,
      new cmd heading: 140.552935 deg.

2025-10-26T22:50:28.786Z,1761519028.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.453111 target range: 37.316830 and range: 37.50 m.
2025-10-26T22:50:28.940Z,1761519028.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017338
2025-10-26T22:50:29.167Z,1761519029.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785224,-0.610956,-0.100774],[0.619195,-0.773566,-0.134879],[0.004450,-0.168309,0.985724]]
2025-10-26T22:50:29.183Z,1761519029.183 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:50:29.185Z,1761519029.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.32 m.
2025-10-26T22:50:29.188Z,1761519029.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.316830 m,
      nav range: 35.163494 m,
      bearing: 148.394434 deg,
      approach rate: -0.433703 m/s,
      LOS rate: -0.111531 deg/s,
      cmd heading: 140.552930 deg,
      new cmd heading: 140.418326 deg.

2025-10-26T22:50:29.189Z,1761519029.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.450762 target range: 37.316830 and range: 37.50 m.
2025-10-26T22:50:29.192Z,1761519029.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269536
2025-10-26T22:50:29.445Z,1761519029.445 [DAT](INFO): DAT read: Rx Time:22:50:28.2128 

2025-10-26T22:50:29.445Z,1761519029.445 [DAT](INFO): Rx dataTimestamp_ set to:1761519029.445150
2025-10-26T22:50:29.447Z,1761519029.447 [DAT](INFO): DAT read: Bearing 308.7,   1.1 (Local)

2025-10-26T22:50:29.447Z,1761519029.447 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.7,   1.1 (Local)

2025-10-26T22:50:29.449Z,1761519029.449 [DAT](INFO): DAT read: Range 11 to 50 :    35.7 m (trip time 23.8 ms) speed 0.4

2025-10-26T22:50:29.458Z,1761519029.458 [DAT](INFO): DAT read: 22:50:28.2128 LVL= 29472, 32753, 31474, 32755, AGC= 66, IDX= 164,-0.15, .692, 0.074,-0.108, PHS= 0.261,-1.539, 0.138, RAW= 146.5,  13.0, CAL= 146.2,  14.3, ROT=   3.8, -14.3

2025-10-26T22:50:29.460Z,1761519029.460 [DAT](INFO): unknown deviceResponse_: 22:50:28.2128 LVL= 29472, 32753, 31474, 32755, AGC= 66, IDX= 164,-0.15, .692, 0.074,-0.108, PHS= 0.261,-1.539, 0.138, RAW= 146.5,  13.0, CAL= 146.2,  14.3, ROT=   3.8, -14.3

2025-10-26T22:50:29.462Z,1761519029.462 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-26T22:50:29.466Z,1761519029.466 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.542686
2025-10-26T22:50:29.588Z,1761519029.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782303,-0.613840,-0.105844],[0.622882,-0.769664,-0.140128],[0.004552,-0.175550,0.984460]]
2025-10-26T22:50:29.641Z,1761519029.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.700001 m,
      deltaT: 2.781007 s,
      deltaX: -1.799999 m,
      approachRate: -0.647247 m/s,
      rangeRepo size: 4

2025-10-26T22:50:29.642Z,1761519029.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.32 m.
2025-10-26T22:50:29.645Z,1761519029.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.316830 m,
      nav range: 34.973995 m,
      bearing: 148.331596 deg,
      approach rate: -0.415477 m/s,
      LOS rate: -0.138520 deg/s,
      cmd heading: 140.418321 deg,
      new cmd heading: 140.228785 deg.

2025-10-26T22:50:29.646Z,1761519029.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447454 target range: 37.316830 and range: 35.70 m.
2025-10-26T22:50:29.697Z,1761519029.697 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.774371
2025-10-26T22:50:29.949Z,1761519029.949 [DAT](INFO): DAT read: Rx Time:22:50:28.7126 

2025-10-26T22:50:29.949Z,1761519029.949 [DAT](INFO): Rx dataTimestamp_ set to:1761519029.949159
2025-10-26T22:50:29.951Z,1761519029.951 [DAT](INFO): DAT read: Bearing 310.2,   1.3 (Local)

2025-10-26T22:50:29.951Z,1761519029.951 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.2,   1.3 (Local)

2025-10-26T22:50:29.953Z,1761519029.953 [DAT](INFO): DAT read: Range 11 to 50 :    35.4 m (trip time 23.6 ms) speed 0.4

2025-10-26T22:50:29.959Z,1761519029.959 [DAT](INFO): DAT read: 22:50:28.7126 LVL= 32672, 32753, 32754, 32755, AGC= 63, IDX= 498, 0.12, 1.653,-0.077, 1.658, 1.534, PHS= 0.221,-1.566, 0.080, RAW= 145.9,  14.6, CAL= 145.7,  16.0, ROT=   4.3, -16.0

2025-10-26T22:50:29.960Z,1761519029.960 [DAT](INFO): got valid direction response:
 22:50:28.7126 LVL= 32672, 32753, 32754, 32755, AGC= 63, IDX= 498, 0.12, 1.653,-0.077, 1.658, 1.534, PHS= 0.221,-1.566, 0.080, RAW= 145.9,  14.6, CAL= 145.7,  16.0, ROT=   4.3, -16.0

2025-10-26T22:50:29.960Z,1761519029.960 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T22:50:29.961Z,1761519029.961 [DAT](INFO): direction in FSK: [0.958556,0.072074,0.275637]
2025-10-26T22:50:29.961Z,1761519029.961 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:29.965Z,1761519029.965 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.042023
2025-10-26T22:50:29.986Z,1761519029.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779003,-0.617659,-0.107939],[0.626999,-0.765955,-0.142072],[0.005075,-0.178352,0.983954]]
2025-10-26T22:50:30.110Z,1761519030.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.400002 m,
      deltaT: 0.504009 s,
      deltaX: -0.299999 m,
      approachRate: -0.595226 m/s,
      rangeRepo size: 4

2025-10-26T22:50:30.116Z,1761519030.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.220650 m,
      bearing: 148.320442 deg,
      lat: 36.779401 deg,
      lon: -121.859418 deg,
      deltaT: 3.285016 s,
      deltaX: -2.096180 m,
      approachRate: -0.638103 m/s,
      posRepo size: 4

2025-10-26T22:50:30.117Z,1761519030.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.22 m.
2025-10-26T22:50:30.124Z,1761519030.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.220650 m,
      nav range: 34.767464 m,
      bearing: 148.251487 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.138520 deg/s,
      cmd heading: 140.228783 deg,
      new cmd heading: 140.034253 deg.

2025-10-26T22:50:30.125Z,1761519030.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.444059 target range: 35.220650 and range: 35.40 m.
2025-10-26T22:50:30.201Z,1761519030.201 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.277738
2025-10-26T22:50:30.439Z,1761519030.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775918,-0.620965,-0.111147],[0.630808,-0.762160,-0.145577],[0.005686,-0.183068,0.983084]]
2025-10-26T22:50:30.453Z,1761519030.453 [DAT](INFO): DAT read: Rx Time:22:50:29.2124 

2025-10-26T22:50:30.453Z,1761519030.453 [DAT](INFO): Rx dataTimestamp_ set to:1761519030.453160
2025-10-26T22:50:30.455Z,1761519030.455 [DAT](INFO): DAT read: Bearing 310.5,   1.3 (Local)

2025-10-26T22:50:30.455Z,1761519030.455 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.5,   1.3 (Local)

2025-10-26T22:50:30.458Z,1761519030.458 [DAT](INFO): DAT read: Range 11 to 50 :    35.0 m (trip time 23.3 ms) speed 0.4

2025-10-26T22:50:30.462Z,1761519030.462 [DAT](INFO): DAT read: 22:50:29.2124 LVL= 31648, 32753, 32754, 32755, AGC= 64, IDX= 495, 0.45, 0.294,-1.428, 0.297, 0.188, PHS= 0.207,-1.572, 0.065, RAW= 145.9,  15.0, CAL= 145.6,  16.4, ROT=   4.4, -16.4

2025-10-26T22:50:30.464Z,1761519030.464 [DAT](INFO): got valid direction response:
 22:50:29.2124 LVL= 31648, 32753, 32754, 32755, AGC= 64, IDX= 495, 0.45, 0.294,-1.428, 0.297, 0.188, PHS= 0.207,-1.572, 0.065, RAW= 145.9,  15.0, CAL= 145.6,  16.4, ROT=   4.4, -16.4

2025-10-26T22:50:30.464Z,1761519030.464 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-10-26T22:50:30.465Z,1761519030.465 [DAT](INFO): direction in FSK: [0.956487,0.073598,0.282341]
2025-10-26T22:50:30.465Z,1761519030.465 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:30.469Z,1761519030.469 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.546042
2025-10-26T22:50:30.581Z,1761519030.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.000000 m,
      deltaT: 0.504001 s,
      deltaX: -0.400002 m,
      approachRate: -0.793652 m/s,
      rangeRepo size: 4

2025-10-26T22:50:30.583Z,1761519030.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.822678 m,
      bearing: 148.290265 deg,
      lat: 36.779404 deg,
      lon: -121.859418 deg,
      deltaT: 0.504001 s,
      deltaX: -0.397972 m,
      approachRate: -0.789626 m/s,
      posRepo size: 4

2025-10-26T22:50:30.588Z,1761519030.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.82 m.
2025-10-26T22:50:30.591Z,1761519030.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.822678 m,
      nav range: 34.259083 m,
      bearing: 147.876421 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.138520 deg/s,
      cmd heading: 140.034246 deg,
      new cmd heading: 139.838384 deg.

2025-10-26T22:50:30.600Z,1761519030.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440640 target range: 34.822678 and range: 35.00 m.
2025-10-26T22:50:30.705Z,1761519030.705 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.782369
2025-10-26T22:50:30.933Z,1761519030.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771724,-0.624797,-0.118619],[0.635906,-0.755754,-0.156393],[0.008067,-0.196123,0.980546]]
2025-10-26T22:50:30.957Z,1761519030.957 [DAT](INFO): DAT read: Rx Time:22:50:29.7123 

2025-10-26T22:50:30.957Z,1761519030.957 [DAT](INFO): Rx dataTimestamp_ set to:1761519030.957125
2025-10-26T22:50:30.959Z,1761519030.959 [DAT](INFO): DAT read: Bearing 310.3,   1.7 (Local)

2025-10-26T22:50:30.959Z,1761519030.959 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.3,   1.7 (Local)

2025-10-26T22:50:30.961Z,1761519030.961 [DAT](INFO): DAT read: Range 11 to 50 :    34.8 m (trip time 23.2 ms) speed 0.5

2025-10-26T22:50:30.966Z,1761519030.966 [DAT](INFO): DAT read: 22:50:29.7123 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510,-0.07,-1.111,-2.839,-1.120,-1.226, PHS= 0.217,-1.569, 0.062, RAW= 145.5,  14.9, CAL= 145.2,  16.3, ROT=   4.8, -16.3

2025-10-26T22:50:30.967Z,1761519030.967 [DAT](INFO): got valid direction response:
 22:50:29.7123 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510,-0.07,-1.111,-2.839,-1.120,-1.226, PHS= 0.217,-1.569, 0.062, RAW= 145.5,  14.9, CAL= 145.2,  16.3, ROT=   4.8, -16.3

2025-10-26T22:50:30.967Z,1761519030.967 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-26T22:50:30.968Z,1761519030.968 [DAT](INFO): direction in FSK: [0.956439,0.080314,0.280667]
2025-10-26T22:50:30.968Z,1761519030.968 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:30.972Z,1761519030.972 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.048954
2025-10-26T22:50:30.993Z,1761519030.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.799999 m,
      deltaT: 0.503965 s,
      deltaX: -0.200001 m,
      approachRate: -0.396854 m/s,
      rangeRepo size: 4

2025-10-26T22:50:31.008Z,1761519031.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.628849 m,
      bearing: 148.492471 deg,
      lat: 36.779407 deg,
      lon: -121.859423 deg,
      deltaT: 0.503965 s,
      deltaX: -0.193829 m,
      approachRate: -0.384607 m/s,
      posRepo size: 4

2025-10-26T22:50:31.008Z,1761519031.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.63 m.
2025-10-26T22:50:31.011Z,1761519031.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.628849 m,
      nav range: 33.601677 m,
      bearing: 148.230193 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.138520 deg/s,
      cmd heading: 139.838383 deg,
      new cmd heading: 139.667611 deg.

2025-10-26T22:50:31.021Z,1761519031.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437660 target range: 34.628849 and range: 34.80 m.
2025-10-26T22:50:31.208Z,1761519031.208 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.285540
2025-10-26T22:50:31.361Z,1761519031.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771271,-0.624844,-0.121289],[0.636440,-0.754291,-0.161215],[0.009247,-0.201534,0.979438]]
2025-10-26T22:50:31.406Z,1761519031.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:50:31.409Z,1761519031.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.63 m.
2025-10-26T22:50:31.412Z,1761519031.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.628849 m,
      nav range: 33.389732 m,
      bearing: 148.210593 deg,
      approach rate: -0.507709 m/s,
      LOS rate: -0.047249 deg/s,
      cmd heading: 139.667615 deg,
      new cmd heading: 139.608442 deg.

2025-10-26T22:50:31.413Z,1761519031.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436627 target range: 34.628849 and range: 34.80 m.
2025-10-26T22:50:31.462Z,1761519031.462 [DAT](INFO): DAT read: Rx Time:22:50:30.2120 

2025-10-26T22:50:31.462Z,1761519031.462 [DAT](INFO): Rx dataTimestamp_ set to:1761519031.461749
2025-10-26T22:50:31.464Z,1761519031.464 [DAT](INFO): DAT read: Bearing 309.1,   2.1 (Local)

2025-10-26T22:50:31.465Z,1761519031.465 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.1,   2.1 (Local)

2025-10-26T22:50:31.468Z,1761519031.468 [DAT](INFO): DAT read: Range 11 to 50 :    34.4 m (trip time 22.9 ms) speed 0.4

2025-10-26T22:50:31.474Z,1761519031.474 [DAT](INFO): DAT read: 22:50:30.2120 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507, 0.24,-0.779,-2.509,-0.791,-0.931, PHS= 0.254,-1.533, 0.096, RAW= 145.4,  13.7, CAL= 145.1,  15.0, ROT=   4.9, -15.0

2025-10-26T22:50:31.477Z,1761519031.477 [DAT](INFO): got valid direction response:
 22:50:30.2120 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507, 0.24,-0.779,-2.509,-0.791,-0.931, PHS= 0.254,-1.533, 0.096, RAW= 145.4,  13.7, CAL= 145.1,  15.0, ROT=   4.9, -15.0

2025-10-26T22:50:31.478Z,1761519031.478 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-10-26T22:50:31.479Z,1761519031.479 [DAT](INFO): direction in FSK: [0.962396,0.082506,0.258819]
2025-10-26T22:50:31.484Z,1761519031.484 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:31.500Z,1761519031.500 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.577472
2025-10-26T22:50:31.714Z,1761519031.714 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.790742
2025-10-26T22:50:31.763Z,1761519031.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771507,-0.625051,-0.118695],[0.636131,-0.754727,-0.160389],[0.010669,-0.199247,0.979891]]
2025-10-26T22:50:31.834Z,1761519031.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.400002 m,
      deltaT: 0.504624 s,
      deltaX: -0.399998 m,
      approachRate: -0.792665 m/s,
      rangeRepo size: 4

2025-10-26T22:50:31.849Z,1761519031.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.230816 m,
      bearing: 148.348787 deg,
      lat: 36.779407 deg,
      lon: -121.859424 deg,
      deltaT: 0.504624 s,
      deltaX: -0.398033 m,
      approachRate: -0.788772 m/s,
      posRepo size: 4

2025-10-26T22:50:31.850Z,1761519031.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.23 m.
2025-10-26T22:50:31.857Z,1761519031.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.230816 m,
      nav range: 33.163048 m,
      bearing: 148.345186 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.047249 deg/s,
      cmd heading: 139.608438 deg,
      new cmd heading: 139.554166 deg.

2025-10-26T22:50:31.858Z,1761519031.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.435680 target range: 34.230816 and range: 34.40 m.
2025-10-26T22:50:31.965Z,1761519031.965 [DAT](INFO): DAT read: Rx Time:22:50:30.7120 

2025-10-26T22:50:31.966Z,1761519031.966 [DAT](INFO): Rx dataTimestamp_ set to:1761519031.965264
2025-10-26T22:50:31.967Z,1761519031.967 [DAT](INFO): DAT read: Bearing 308.1,   2.3 (Local)

2025-10-26T22:50:31.967Z,1761519031.967 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.1,   2.3 (Local)

2025-10-26T22:50:31.969Z,1761519031.969 [DAT](INFO): DAT read: Range 11 to 50 :    34.4 m (trip time 22.9 ms) speed 0.4

2025-10-26T22:50:31.974Z,1761519031.974 [DAT](INFO): DAT read: 22:50:30.7120 LVL= 30480, 32753, 32706, 32755, AGC= 63, IDX= 507,-0.24,-2.394, 2.131,-2.404,-2.576, PHS= 0.284,-1.532, 0.128, RAW= 145.6,  12.8, CAL= 145.2,  14.0, ROT=   4.8, -14.0

2025-10-26T22:50:31.975Z,1761519031.975 [DAT](INFO): got valid direction response:
 22:50:30.7120 LVL= 30480, 32753, 32706, 32755, AGC= 63, IDX= 507,-0.24,-2.394, 2.131,-2.404,-2.576, PHS= 0.284,-1.532, 0.128, RAW= 145.6,  12.8, CAL= 145.2,  14.0, ROT=   4.8, -14.0

2025-10-26T22:50:31.976Z,1761519031.976 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-26T22:50:31.977Z,1761519031.977 [DAT](INFO): direction in FSK: [0.966893,0.081192,0.241922]
2025-10-26T22:50:31.977Z,1761519031.977 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:31.981Z,1761519031.981 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.057642
2025-10-26T22:50:32.176Z,1761519032.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772120,-0.625483,-0.112262],[0.635362,-0.756470,-0.155141],[0.012115,-0.191114,0.981493]]
2025-10-26T22:50:32.199Z,1761519032.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.400002 m,
      deltaT: 0.503515 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:50:32.201Z,1761519032.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.231266 m,
      bearing: 147.991484 deg,
      lat: 36.779407 deg,
      lon: -121.859424 deg,
      deltaT: 0.503515 s,
      deltaX: 0.000450 m,
      approachRate: 0.000894 m/s,
      posRepo size: 4

2025-10-26T22:50:32.202Z,1761519032.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.23 m.
2025-10-26T22:50:32.205Z,1761519032.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.231266 m,
      nav range: 32.971016 m,
      bearing: 148.327293 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.047249 deg/s,
      cmd heading: 139.554166 deg,
      new cmd heading: 139.496496 deg.

2025-10-26T22:50:32.206Z,1761519032.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434673 target range: 34.231266 and range: 34.40 m.
2025-10-26T22:50:32.217Z,1761519032.217 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.293895
2025-10-26T22:50:32.470Z,1761519032.470 [DAT](INFO): DAT read: Rx Time:22:50:31.2117 

2025-10-26T22:50:32.471Z,1761519032.471 [DAT](INFO): Rx dataTimestamp_ set to:1761519032.470413
2025-10-26T22:50:32.473Z,1761519032.473 [DAT](INFO): DAT read: Bearing 307.6,   2.4 (Local)

2025-10-26T22:50:32.473Z,1761519032.473 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.6,   2.4 (Local)

2025-10-26T22:50:32.476Z,1761519032.476 [DAT](INFO): DAT read: Range 11 to 50 :    33.9 m (trip time 22.6 ms) speed 0.4

2025-10-26T22:50:32.486Z,1761519032.486 [DAT](INFO): DAT read: 22:50:31.2117 LVL= 31440, 32753, 32626, 32755, AGC= 64, IDX= 504, 0.06,-1.806, 2.721,-1.807,-2.001, PHS= 0.297,-1.516, 0.150, RAW= 145.8,  12.2, CAL= 145.5,  13.4, ROT=   4.5, -13.4

2025-10-26T22:50:32.488Z,1761519032.488 [DAT](INFO): got valid direction response:
 22:50:31.2117 LVL= 31440, 32753, 32626, 32755, AGC= 64, IDX= 504, 0.06,-1.806, 2.721,-1.807,-2.001, PHS= 0.297,-1.516, 0.150, RAW= 145.8,  12.2, CAL= 145.5,  13.4, ROT=   4.5, -13.4

2025-10-26T22:50:32.488Z,1761519032.488 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-26T22:50:32.489Z,1761519032.489 [DAT](INFO): direction in FSK: [0.969777,0.076323,0.231748]
2025-10-26T22:50:32.489Z,1761519032.489 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:32.493Z,1761519032.493 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.570065
2025-10-26T22:50:32.590Z,1761519032.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772508,-0.625935,-0.106945],[0.634861,-0.757713,-0.151068],[0.013525,-0.184596,0.982721]]
2025-10-26T22:50:32.678Z,1761519032.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.900002 m,
      deltaT: 0.505149 s,
      deltaX: -0.500000 m,
      approachRate: -0.989807 m/s,
      rangeRepo size: 4

2025-10-26T22:50:32.684Z,1761519032.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.733719 m,
      bearing: 147.532683 deg,
      lat: 36.779408 deg,
      lon: -121.859424 deg,
      deltaT: 0.505149 s,
      deltaX: -0.497547 m,
      approachRate: -0.984951 m/s,
      posRepo size: 4

2025-10-26T22:50:32.685Z,1761519032.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.73 m.
2025-10-26T22:50:32.692Z,1761519032.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.733719 m,
      nav range: 32.631962 m,
      bearing: 148.227698 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.047249 deg/s,
      cmd heading: 139.496491 deg,
      new cmd heading: 139.428613 deg.

2025-10-26T22:50:32.693Z,1761519032.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433488 target range: 33.733719 and range: 33.90 m.
2025-10-26T22:50:32.725Z,1761519032.725 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.801716
2025-10-26T22:50:32.978Z,1761519032.978 [DAT](INFO): DAT read: Rx Time:22:50:31.7116 

2025-10-26T22:50:32.978Z,1761519032.978 [DAT](INFO): Rx dataTimestamp_ set to:1761519032.977788
2025-10-26T22:50:32.980Z,1761519032.980 [DAT](INFO): DAT read: Bearing 308.9,   2.6 (Local)

2025-10-26T22:50:32.981Z,1761519032.981 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.9,   2.6 (Local)

2025-10-26T22:50:32.983Z,1761519032.983 [DAT](INFO): DAT read: Range 11 to 50 :    33.8 m (trip time 22.5 ms) speed 0.4

2025-10-26T22:50:32.988Z,1761519032.988 [DAT](INFO): DAT read: 22:50:31.7116 LVL= 30560, 32753, 32754, 32755, AGC= 64, IDX= 504,-0.33,-2.425, 2.134,-2.433,-2.586, PHS= 0.262,-1.519, 0.109, RAW= 145.5,  13.3, CAL= 145.2,  14.6, ROT=   4.8, -14.6

2025-10-26T22:50:32.989Z,1761519032.989 [DAT](INFO): got valid direction response:
 22:50:31.7116 LVL= 30560, 32753, 32754, 32755, AGC= 64, IDX= 504,-0.33,-2.425, 2.134,-2.433,-2.586, PHS= 0.262,-1.519, 0.109, RAW= 145.5,  13.3, CAL= 145.2,  14.6, ROT=   4.8, -14.6

2025-10-26T22:50:32.989Z,1761519032.989 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-10-26T22:50:32.990Z,1761519032.990 [DAT](INFO): direction in FSK: [0.964315,0.080976,0.252069]
2025-10-26T22:50:32.990Z,1761519032.990 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:32.994Z,1761519032.994 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.070897
2025-10-26T22:50:33.105Z,1761519033.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773950,-0.624772,-0.103250],[0.633060,-0.759414,-0.150086],[0.015361,-0.181523,0.983267]]
2025-10-26T22:50:33.175Z,1761519033.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.799999 m,
      deltaT: 0.507375 s,
      deltaX: -0.100002 m,
      approachRate: -0.197097 m/s,
      rangeRepo size: 4

2025-10-26T22:50:33.178Z,1761519033.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.634243 m,
      bearing: 148.155124 deg,
      lat: 36.779407 deg,
      lon: -121.859423 deg,
      deltaT: 0.507375 s,
      deltaX: -0.099476 m,
      approachRate: -0.196060 m/s,
      posRepo size: 4

2025-10-26T22:50:33.178Z,1761519033.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m.
2025-10-26T22:50:33.185Z,1761519033.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.634243 m,
      nav range: 32.568512 m,
      bearing: 148.138288 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.047249 deg/s,
      cmd heading: 139.428613 deg,
      new cmd heading: 139.358692 deg.

2025-10-26T22:50:33.186Z,1761519033.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432268 target range: 33.634243 and range: 33.80 m.
2025-10-26T22:50:33.230Z,1761519033.230 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.306777
2025-10-26T22:50:33.475Z,1761519033.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775297,-0.623543,-0.100546],[0.631359,-0.760753,-0.150468],[0.017332,-0.180138,0.983489]]
2025-10-26T22:50:33.481Z,1761519033.481 [DAT](INFO): DAT read: Rx Time:22:50:32.2114 

2025-10-26T22:50:33.481Z,1761519033.481 [DAT](INFO): Rx dataTimestamp_ set to:1761519033.481181
2025-10-26T22:50:33.483Z,1761519033.483 [DAT](INFO): DAT read: Bearing 309.8,   2.3 (Local)

2025-10-26T22:50:33.483Z,1761519033.483 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.8,   2.3 (Local)

2025-10-26T22:50:33.485Z,1761519033.485 [DAT](INFO): DAT read: Range 11 to 50 :    33.5 m (trip time 22.3 ms) speed 0.4

2025-10-26T22:50:33.490Z,1761519033.490 [DAT](INFO): DAT read: 22:50:32.2114 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 501, 0.10,-2.358, 2.231,-2.356,-2.490, PHS= 0.234,-1.517, 0.090, RAW= 145.7,  14.1, CAL= 145.5,  15.4, ROT=   4.5, -15.4

2025-10-26T22:50:33.491Z,1761519033.491 [DAT](INFO): got valid direction response:
 22:50:32.2114 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 501, 0.10,-2.358, 2.231,-2.356,-2.490, PHS= 0.234,-1.517, 0.090, RAW= 145.7,  14.1, CAL= 145.5,  15.4, ROT=   4.5, -15.4

2025-10-26T22:50:33.491Z,1761519033.491 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-10-26T22:50:33.492Z,1761519033.492 [DAT](INFO): direction in FSK: [0.961123,0.075642,0.265556]
2025-10-26T22:50:33.493Z,1761519033.493 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:33.504Z,1761519033.504 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.581459
2025-10-26T22:50:33.638Z,1761519033.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.500000 m,
      deltaT: 0.503393 s,
      deltaX: -0.299999 m,
      approachRate: -0.595954 m/s,
      rangeRepo size: 4

2025-10-26T22:50:33.644Z,1761519033.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.335712 m,
      bearing: 148.124454 deg,
      lat: 36.779407 deg,
      lon: -121.859423 deg,
      deltaT: 0.503393 s,
      deltaX: -0.298531 m,
      approachRate: -0.593037 m/s,
      posRepo size: 4

2025-10-26T22:50:33.645Z,1761519033.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.34 m.
2025-10-26T22:50:33.652Z,1761519033.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.335712 m,
      nav range: 32.305492 m,
      bearing: 148.165009 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.047249 deg/s,
      cmd heading: 139.358699 deg,
      new cmd heading: 139.292587 deg.

2025-10-26T22:50:33.653Z,1761519033.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431114 target range: 33.335712 and range: 33.50 m.
2025-10-26T22:50:33.734Z,1761519033.734 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.810591
2025-10-26T22:50:33.943Z,1761519033.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776539,-0.622402,-0.097995],[0.629775,-0.761973,-0.150932],[0.019271,-0.178919,0.983675]]
2025-10-26T22:50:33.976Z,1761519033.976 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:50:33.978Z,1761519033.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.34 m.
2025-10-26T22:50:33.985Z,1761519033.985 [DAT](INFO): DAT read: Rx Time:22:50:32.7113 

2025-10-26T22:50:33.986Z,1761519033.986 [DAT](INFO): Rx dataTimestamp_ set to:1761519033.985285
2025-10-26T22:50:33.987Z,1761519033.987 [DAT](INFO): DAT read: Bearing 308.8,   2.4 (Local)

2025-10-26T22:50:33.987Z,1761519033.987 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.8,   2.4 (Local)

2025-10-26T22:50:33.989Z,1761519033.989 [DAT](INFO): DAT read: Range 11 to 50 :    33.3 m (trip time 22.2 ms) speed 0.4

2025-10-26T22:50:33.994Z,1761519033.994 [DAT](INFO): DAT read: 22:50:32.7113 LVL= 30352, 32673, 32466, 32755, AGC= 64, IDX= 501,-0.36,-2.558, 2.001,-2.547,-2.719, PHS= 0.263,-1.518, 0.128, RAW= 146.1,  13.1, CAL= 145.8,  14.3, ROT=   4.2, -14.3

2025-10-26T22:50:33.995Z,1761519033.995 [DAT](INFO): got valid direction response:
 22:50:32.7113 LVL= 30352, 32673, 32466, 32755, AGC= 64, IDX= 501,-0.36,-2.558, 2.001,-2.547,-2.719, PHS= 0.263,-1.518, 0.128, RAW= 146.1,  13.1, CAL= 145.8,  14.3, ROT=   4.2, -14.3

2025-10-26T22:50:33.995Z,1761519033.995 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-26T22:50:33.996Z,1761519033.996 [DAT](INFO): direction in FSK: [0.966413,0.070969,0.246999]
2025-10-26T22:50:33.997Z,1761519033.997 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:34.001Z,1761519034.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.335712 m,
      nav range: 32.116722 m,
      bearing: 148.183770 deg,
      approach rate: -0.554159 m/s,
      LOS rate: 0.055398 deg/s,
      cmd heading: 139.292583 deg,
      new cmd heading: 139.349196 deg.

2025-10-26T22:50:34.002Z,1761519034.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432102 target range: 33.335712 and range: 33.50 m.
2025-10-26T22:50:34.005Z,1761519034.005 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.081765
2025-10-26T22:50:34.236Z,1761519034.236 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.313393
2025-10-26T22:50:34.396Z,1761519034.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777621,-0.621575,-0.094610],[0.628389,-0.763359,-0.149702],[0.020830,-0.175863,0.984194]]
2025-10-26T22:50:34.417Z,1761519034.417 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS,-268,V
2025-10-26T22:50:34.437Z,1761519034.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.299999 m,
      deltaT: 0.504104 s,
      deltaX: -0.200001 m,
      approachRate: -0.396745 m/s,
      rangeRepo size: 4

2025-10-26T22:50:34.440Z,1761519034.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.136600 m,
      bearing: 147.780454 deg,
      lat: 36.779406 deg,
      lon: -121.859421 deg,
      deltaT: 0.504104 s,
      deltaX: -0.199112 m,
      approachRate: -0.394982 m/s,
      posRepo size: 4

2025-10-26T22:50:34.440Z,1761519034.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.14 m.
2025-10-26T22:50:34.443Z,1761519034.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.136600 m,
      nav range: 31.977972 m,
      bearing: 147.934369 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.055398 deg/s,
      cmd heading: 139.349192 deg,
      new cmd heading: 139.425472 deg.

2025-10-26T22:50:34.444Z,1761519034.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433434 target range: 33.136600 and range: 33.30 m.
2025-10-26T22:50:34.490Z,1761519034.490 [DAT](INFO): DAT read: Rx Time:22:50:33.2111 

2025-10-26T22:50:34.490Z,1761519034.490 [DAT](INFO): Rx dataTimestamp_ set to:1761519034.490092
2025-10-26T22:50:34.492Z,1761519034.492 [DAT](INFO): DAT read: Bearing 307.7,   2.3 (Local)

2025-10-26T22:50:34.493Z,1761519034.493 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.7,   2.3 (Local)

2025-10-26T22:50:34.496Z,1761519034.496 [DAT](INFO): DAT read: Range 11 to 50 :    33.0 m (trip time 22.0 ms) speed 0.4

2025-10-26T22:50:34.501Z,1761519034.501 [DAT](INFO): DAT read: 22:50:33.2111 L2, 32753, 32754, 32755,  IDX= 498, 0.04,-1.550,1.524,-1.740, PHS= 0.292,-1.512, 0.172, RAW= 146.6,  12.0, CAL= 146.3,  13.1, ROT=   3.7, -13.1

2025-10-26T22:50:34.502Z,1761519034.502 [DAT](INFO): unknown deviceResponse_: 22:50:33.2111 L2, 32753, 32754, 32755,  IDX= 498, 0.04,-1.550,1.524,-1.740, PHS= 0.292,-1.512, 0.172, RAW= 146.6,  12.0, CAL= 146.3,  13.1, ROT=   3.7, -13.1

2025-10-26T22:50:34.502Z,1761519034.502 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-10-26T22:50:34.503Z,1761519034.503 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.580084
2025-10-26T22:50:34.741Z,1761519034.741 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.817572
2025-10-26T22:50:34.756Z,1761519034.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778432,-0.621000,-0.091665],[0.627347,-0.764525,-0.148115],[0.021900,-0.172803,0.984713]]
2025-10-26T22:50:34.788Z,1761519034.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.000000 m,
      deltaT: 0.504807 s,
      deltaX: -0.299999 m,
      approachRate: -0.594285 m/s,
      rangeRepo size: 4

2025-10-26T22:50:34.790Z,1761519034.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.14 m.
2025-10-26T22:50:34.834Z,1761519034.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.136600 m,
      nav range: 31.792015 m,
      bearing: 147.950618 deg,
      approach rate: -0.536007 m/s,
      LOS rate: 0.047108 deg/s,
      cmd heading: 139.425471 deg,
      new cmd heading: 139.474501 deg.

2025-10-26T22:50:34.840Z,1761519034.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434289 target range: 33.136600 and range: 33.00 m.
2025-10-26T22:50:34.993Z,1761519034.993 [DAT](INFO): DAT read: Rx Time:22:50:33.7110 

2025-10-26T22:50:34.993Z,1761519034.993 [DAT](INFO): Rx dataTimestamp_ set to:1761519034.993101
2025-10-26T22:50:34.995Z,1761519034.995 [DAT](INFO): DAT read: Bearing 308.5,   2.0 (Local)

2025-10-26T22:50:34.995Z,1761519034.995 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.5,   2.0 (Local)

2025-10-26T22:50:34.997Z,1761519034.997 [DAT](INFO): DAT read: Range 11 to 50 :    32.9 m (trip time 21.9 ms) speed 0.4

2025-10-26T22:50:35.002Z,1761519035.002 [DAT](INFO): DAT read: 22:50:33.7110 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 497,-0.33, 3.063, 1.324, 3.096, 2.900, PHS= 0.265,-1.531, 0.152, RAW= 146.8,  12.7, CAL= 146.5,  14.0, ROT=   3.5, -14.0

2025-10-26T22:50:35.003Z,1761519035.003 [DAT](INFO): got valid direction response:
 22:50:33.7110 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 497,-0.33, 3.063, 1.324, 3.096, 2.900, PHS= 0.265,-1.531, 0.152, RAW= 146.8,  12.7, CAL= 146.5,  14.0, ROT=   3.5, -14.0

2025-10-26T22:50:35.003Z,1761519035.003 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-26T22:50:35.004Z,1761519035.004 [DAT](INFO): direction in FSK: [0.968486,0.059235,0.241922]
2025-10-26T22:50:35.005Z,1761519035.005 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:35.013Z,1761519035.013 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.090297
2025-10-26T22:50:35.152Z,1761519035.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778497,-0.621574,-0.087110],[0.627251,-0.765534,-0.143229],[0.022342,-0.166143,0.985849]]
2025-10-26T22:50:35.202Z,1761519035.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.900002 m,
      deltaT: 0.503009 s,
      deltaX: -0.099998 m,
      approachRate: -0.198801 m/s,
      rangeRepo size: 4

2025-10-26T22:50:35.205Z,1761519035.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.730560 m,
      bearing: 146.987044 deg,
      lat: 36.779408 deg,
      lon: -121.859419 deg,
      deltaT: 1.007816 s,
      deltaX: -0.406040 m,
      approachRate: -0.402891 m/s,
      posRepo size: 4

2025-10-26T22:50:35.206Z,1761519035.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.73 m.
2025-10-26T22:50:35.217Z,1761519035.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.730560 m,
      nav range: 31.505007 m,
      bearing: 147.621753 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.047108 deg/s,
      cmd heading: 139.474498 deg,
      new cmd heading: 139.533487 deg.

2025-10-26T22:50:35.218Z,1761519035.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.435319 target range: 32.730560 and range: 32.90 m.
2025-10-26T22:50:35.245Z,1761519035.245 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.321557
2025-10-26T22:50:35.497Z,1761519035.497 [DAT](INFO): DAT read: Rx Time:22:50:34.2107 

2025-10-26T22:50:35.497Z,1761519035.497 [DAT](INFO): Rx dataTimestamp_ set to:1761519035.497115
2025-10-26T22:50:35.499Z,1761519035.499 [DAT](INFO): DAT read: Bearing 307.0,   2.5 (Local)

2025-10-26T22:50:35.499Z,1761519035.499 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.0,   2.5 (Local)

2025-10-26T22:50:35.501Z,1761519035.501 [DAT](INFO): DAT read: Range 11 to 50 :    32.4 m (trip time 21.6 ms) speed 0.4

2025-10-26T22:50:35.506Z,1761519035.506 [DAT](INFO): DAT read: 22:50:34.2107 LVL= 32480, 31793, 32754, 32755, AGC= 63, IDX= 510, 0.18,-2.878, 1.662,-2.848,-3.084, PHS= 0.308,-1.493, 0.192, RAW= 146.7,  11.4, CAL= 146.4,  12.4, ROT=   3.6, -12.4

2025-10-26T22:50:35.507Z,1761519035.507 [DAT](INFO): got valid direction response:
 22:50:34.2107 LVL= 32480, 31793, 32754, 32755, AGC= 63, IDX= 510, 0.18,-2.878, 1.662,-2.848,-3.084, PHS= 0.308,-1.493, 0.192, RAW= 146.7,  11.4, CAL= 146.4,  12.4, ROT=   3.6, -12.4

2025-10-26T22:50:35.507Z,1761519035.507 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-26T22:50:35.508Z,1761519035.508 [DAT](INFO): direction in FSK: [0.974745,0.061326,0.214735]
2025-10-26T22:50:35.508Z,1761519035.508 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:35.513Z,1761519035.513 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.589842
2025-10-26T22:50:35.591Z,1761519035.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778286,-0.622048,-0.085594],[0.627509,-0.765662,-0.141397],[0.022420,-0.163758,0.986246]]
2025-10-26T22:50:35.688Z,1761519035.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.400002 m,
      deltaT: 0.504014 s,
      deltaX: -0.500000 m,
      approachRate: -0.992036 m/s,
      rangeRepo size: 4

2025-10-26T22:50:35.690Z,1761519035.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.233135 m,
      bearing: 146.754786 deg,
      lat: 36.779408 deg,
      lon: -121.859419 deg,
      deltaT: 0.504014 s,
      deltaX: -0.497425 m,
      approachRate: -0.986927 m/s,
      posRepo size: 4

2025-10-26T22:50:35.691Z,1761519035.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.23 m.
2025-10-26T22:50:35.702Z,1761519035.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.233135 m,
      nav range: 31.225365 m,
      bearing: 147.669051 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.047108 deg/s,
      cmd heading: 139.533484 deg,
      new cmd heading: 139.601366 deg.

2025-10-26T22:50:35.704Z,1761519035.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436503 target range: 32.233135 and range: 32.40 m.
2025-10-26T22:50:35.748Z,1761519035.748 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.825513
2025-10-26T22:50:36.001Z,1761519036.001 [DAT](INFO): DAT read: Rx Time:22:50:34.7107 

2025-10-26T22:50:36.001Z,1761519036.001 [DAT](INFO): Rx dataTimestamp_ set to:1761519036.001149
2025-10-26T22:50:36.003Z,1761519036.003 [DAT](INFO): DAT read: Bearing 307.2,   2.6 (Local)

2025-10-26T22:50:36.003Z,1761519036.003 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.2,   2.6 (Local)

2025-10-26T22:50:36.005Z,1761519036.005 [DAT](INFO): DAT read: Range 11 to 50 :    32.4 m (trip time 21.6 ms) speed 0.4

2025-10-26T22:50:36.010Z,1761519036.010 [DAT](INFO): DAT read: 22:50:34.7107 LVL= 32016, 32753, 32754, 32755, AGC= 63, IDX= 510,-0.10, 2.198, 0.432, 2.220, 1.992, PHS= 0.308,-1.515, 0.184, RAW= 146.5,  11.6, CAL= 146.2,  12.7, ROT=   3.8, -12.7

2025-10-26T22:50:36.011Z,1761519036.011 [DAT](INFO): got valid direction response:
 22:50:34.7107 LVL= 32016, 32753, 32754, 32755, AGC= 63, IDX= 510,-0.10, 2.198, 0.432, 2.220, 1.992, PHS= 0.308,-1.515, 0.184, RAW= 146.5,  11.6, CAL= 146.2,  12.7, ROT=   3.8, -12.7

2025-10-26T22:50:36.022Z,1761519036.022 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-10-26T22:50:36.023Z,1761519036.023 [DAT](INFO): direction in FSK: [0.973390,0.064652,0.219846]
2025-10-26T22:50:36.023Z,1761519036.023 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:36.026Z,1761519036.026 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.103547
2025-10-26T22:50:36.064Z,1761519036.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777955,-0.622225,-0.087304],[0.627918,-0.764941,-0.143473],[0.022490,-0.166435,0.985796]]
2025-10-26T22:50:36.160Z,1761519036.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.400002 m,
      deltaT: 0.504034 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:50:36.162Z,1761519036.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.227177 m,
      bearing: 147.007097 deg,
      lat: 36.779408 deg,
      lon: -121.859415 deg,
      deltaT: 0.504034 s,
      deltaX: -0.005959 m,
      approachRate: -0.011822 m/s,
      posRepo size: 4

2025-10-26T22:50:36.168Z,1761519036.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.23 m.
2025-10-26T22:50:36.170Z,1761519036.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.227177 m,
      nav range: 31.167679 m,
      bearing: 147.107144 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.047108 deg/s,
      cmd heading: 139.601362 deg,
      new cmd heading: 139.666142 deg.

2025-10-26T22:50:36.175Z,1761519036.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437634 target range: 32.227177 and range: 32.40 m.
2025-10-26T22:50:36.253Z,1761519036.253 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.329793
2025-10-26T22:50:36.505Z,1761519036.505 [DAT](INFO): DAT read: Rx Time:22:50:35.2104 

2025-10-26T22:50:36.505Z,1761519036.505 [DAT](INFO): Rx dataTimestamp_ set to:1761519036.505147
2025-10-26T22:50:36.507Z,1761519036.507 [DAT](INFO): DAT read: Bearing 309.1,   2.0 (Local)

2025-10-26T22:50:36.507Z,1761519036.507 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.1,   2.0 (Local)

2025-10-26T22:50:36.509Z,1761519036.509 [DAT](INFO): DAT read: Range 11 to 50 :    32.0 m (trip time 21.3 ms) speed 0.4

2025-10-26T22:50:36.516Z,1761519036.516 [DAT](INFO): DAT read: 22:50:35.2104 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507, 0.35,-2.838, 1.700,-2.816,-2.985, PHS= 0.250,-1.553, 0.125, RAW= 146.4,  13.4, CAL= 146.2,  14.7, ROT=   3.8, -14.7

2025-10-26T22:50:36.518Z,1761519036.518 [DAT](INFO): got valid direction response:
 22:50:35.2104 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507, 0.35,-2.838, 1.700,-2.816,-2.985, PHS= 0.250,-1.553, 0.125, RAW= 146.4,  13.4, CAL= 146.2,  14.7, ROT=   3.8, -14.7

2025-10-26T22:50:36.518Z,1761519036.518 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-26T22:50:36.519Z,1761519036.519 [DAT](INFO): direction in FSK: [0.965141,0.064105,0.253758]
2025-10-26T22:50:36.520Z,1761519036.520 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:36.523Z,1761519036.523 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.600289
2025-10-26T22:50:36.634Z,1761519036.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777571,-0.621495,-0.095532],[0.628472,-0.763288,-0.149715],[0.020128,-0.176453,0.984103]]
2025-10-26T22:50:36.739Z,1761519036.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.000000 m,
      deltaT: 0.503998 s,
      deltaX: -0.400002 m,
      approachRate: -0.793657 m/s,
      rangeRepo size: 4

2025-10-26T22:50:36.745Z,1761519036.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.829309 m,
      bearing: 147.464096 deg,
      lat: 36.779408 deg,
      lon: -121.859415 deg,
      deltaT: 0.503998 s,
      deltaX: -0.397867 m,
      approachRate: -0.789422 m/s,
      posRepo size: 4

2025-10-26T22:50:36.746Z,1761519036.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.83 m.
2025-10-26T22:50:36.753Z,1761519036.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.829309 m,
      nav range: 30.856094 m,
      bearing: 147.165449 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.047108 deg/s,
      cmd heading: 139.666140 deg,
      new cmd heading: 139.750713 deg.

2025-10-26T22:50:36.754Z,1761519036.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439110 target range: 31.829309 and range: 32.00 m.
2025-10-26T22:50:36.756Z,1761519036.756 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.833486
2025-10-26T22:50:37.009Z,1761519037.009 [DAT](INFO): DAT read: Rx Time:22:50:35.7104 

2025-10-26T22:50:37.009Z,1761519037.009 [DAT](INFO): Rx dataTimestamp_ set to:1761519037.009115
2025-10-26T22:50:37.011Z,1761519037.011 [DAT](INFO): DAT read: Bearing 309.9,   2.0 (Local)

2025-10-26T22:50:37.011Z,1761519037.011 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.9,   2.0 (Local)

2025-10-26T22:50:37.013Z,1761519037.013 [DAT](INFO): DAT read: Range 11 to 50 :    32.0 m (trip time 21.3 ms) speed 0.4

2025-10-26T22:50:37.018Z,1761519037.018 [DAT](INFO): DAT read: 22:50:35.7104 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 507,-0.08,-2.222, 2.333,-2.210,-2.351, PHS= 0.230,-1.555, 0.096, RAW= 146.1,  14.2, CAL= 145.9,  15.5, ROT=   4.1, -15.5

2025-10-26T22:50:37.019Z,1761519037.019 [DAT](INFO): got valid direction response:
 22:50:35.7104 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 507,-0.08,-2.222, 2.333,-2.210,-2.351, PHS= 0.230,-1.555, 0.096, RAW= 146.1,  14.2, CAL= 145.9,  15.5, ROT=   4.1, -15.5

2025-10-26T22:50:37.019Z,1761519037.019 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-10-26T22:50:37.020Z,1761519037.020 [DAT](INFO): direction in FSK: [0.961164,0.068897,0.267238]
2025-10-26T22:50:37.020Z,1761519037.020 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:37.024Z,1761519037.024 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.100991
2025-10-26T22:50:37.193Z,1761519037.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776768,-0.621984,-0.098828],[0.629538,-0.762436,-0.149576],[0.017684,-0.178401,0.983799]]
2025-10-26T22:50:37.237Z,1761519037.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.000000 m,
      deltaT: 0.503968 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:50:37.239Z,1761519037.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.827763 m,
      bearing: 147.859897 deg,
      lat: 36.779408 deg,
      lon: -121.859415 deg,
      deltaT: 0.503968 s,
      deltaX: -0.001547 m,
      approachRate: -0.003069 m/s,
      posRepo size: 4

2025-10-26T22:50:37.240Z,1761519037.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.83 m.
2025-10-26T22:50:37.242Z,1761519037.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.827763 m,
      nav range: 30.569836 m,
      bearing: 147.203346 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.047108 deg/s,
      cmd heading: 139.750711 deg,
      new cmd heading: 139.821107 deg.

2025-10-26T22:50:37.244Z,1761519037.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440339 target range: 31.827763 and range: 32.00 m.
2025-10-26T22:50:37.260Z,1761519037.260 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.337374
2025-10-26T22:50:37.513Z,1761519037.513 [DAT](INFO): DAT read: Rx Time:22:50:36.2101 

2025-10-26T22:50:37.513Z,1761519037.513 [DAT](INFO): Rx dataTimestamp_ set to:1761519037.513112
2025-10-26T22:50:37.515Z,1761519037.515 [DAT](INFO): DAT read: Bearing 311.9,   1.3 (Local)

2025-10-26T22:50:37.515Z,1761519037.515 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.9,   1.3 (Local)

2025-10-26T22:50:37.517Z,1761519037.517 [DAT](INFO): DAT read: Range 11 to 50 :    31.5 m (trip time 21.0 ms) speed 0.4

2025-10-26T22:50:37.522Z,1761519037.522 [DAT](INFO): DAT read: 22:50:36.2101 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 504, 0.24,-0.170,-1.884,-0.160,-0.240, PHS= 0.172,-1.599, 0.036, RAW= 146.1,  16.1, CAL= 145.9,  17.6, ROT=   4.1, -17.6

2025-10-26T22:50:37.523Z,1761519037.523 [DAT](INFO): got valid direction response:
 22:50:36.2101 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 504, 0.24,-0.170,-1.884,-0.160,-0.240, PHS= 0.172,-1.599, 0.036, RAW= 146.1,  16.1, CAL= 145.9,  17.6, ROT=   4.1, -17.6

2025-10-26T22:50:37.523Z,1761519037.523 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-26T22:50:37.524Z,1761519037.524 [DAT](INFO): direction in FSK: [0.950751,0.068151,0.302370]
2025-10-26T22:50:37.525Z,1761519037.525 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:37.528Z,1761519037.528 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.605247
2025-10-26T22:50:37.752Z,1761519037.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.500000 m,
      deltaT: 0.503997 s,
      deltaX: -0.500000 m,
      approachRate: -0.992069 m/s,
      rangeRepo size: 4

2025-10-26T22:50:37.754Z,1761519037.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.330454 m,
      bearing: 148.269542 deg,
      lat: 36.779408 deg,
      lon: -121.859417 deg,
      deltaT: 0.503997 s,
      deltaX: -0.497309 m,
      approachRate: -0.986730 m/s,
      posRepo size: 4

2025-10-26T22:50:37.755Z,1761519037.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.33 m.
2025-10-26T22:50:37.758Z,1761519037.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.330454 m,
      nav range: 30.205883 m,
      bearing: 147.519462 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.047108 deg/s,
      cmd heading: 139.821103 deg,
      new cmd heading: 139.893864 deg.

2025-10-26T22:50:37.759Z,1761519037.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.441608 target range: 31.330454 and range: 31.50 m.
2025-10-26T22:50:37.765Z,1761519037.765 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.841580
2025-10-26T22:50:38.017Z,1761519038.017 [DAT](INFO): DAT read: Rx Time:22:50:36.7101 

2025-10-26T22:50:38.018Z,1761519038.018 [DAT](INFO): Rx dataTimestamp_ set to:1761519038.017649
2025-10-26T22:50:38.020Z,1761519038.020 [DAT](INFO): DAT read: Bearing 310.9,   1.5 (Local)

2025-10-26T22:50:38.020Z,1761519038.020 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.9,   1.5 (Local)

2025-10-26T22:50:38.023Z,1761519038.023 [DAT](INFO): DAT read: Range 11 to 50 :    31.5 m (trip time 21.0 ms) speed 0.4

2025-10-26T22:50:38.038Z,1761519038.038 [DAT](INFO): DAT read: 22:50:36.7101 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 504,-0.14,-1.219,-2.953,-1.218,-1.323, PHS= 0.205,-1.586, 0.060, RAW= 145.8,  15.2, CAL= 145.6,  16.6, ROT=   4.4, -16.6

2025-10-26T22:50:38.080Z,1761519038.080 [DAT](INFO): got valid direction response:
 22:50:36.7101 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 504,-0.14,-1.219,-2.953,-1.218,-1.323, PHS= 0.205,-1.586, 0.060, RAW= 145.8,  15.2, CAL= 145.6,  16.6, ROT=   4.4, -16.6

2025-10-26T22:50:38.080Z,1761519038.080 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-26T22:50:38.081Z,1761519038.081 [DAT](INFO): direction in FSK: [0.955498,0.073522,0.285688]
2025-10-26T22:50:38.081Z,1761519038.081 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:38.106Z,1761519038.106 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.182884
2025-10-26T22:50:38.127Z,1761519038.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774707,-0.622592,-0.110492],[0.632263,-0.760355,-0.148672],[0.008549,-0.185037,0.982694]]
2025-10-26T22:50:38.186Z,1761519038.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.500000 m,
      deltaT: 0.504537 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:50:38.193Z,1761519038.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.329782 m,
      bearing: 148.259039 deg,
      lat: 36.779407 deg,
      lon: -121.859418 deg,
      deltaT: 0.504537 s,
      deltaX: -0.000671 m,
      approachRate: -0.001331 m/s,
      posRepo size: 4

2025-10-26T22:50:38.193Z,1761519038.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.33 m.
2025-10-26T22:50:38.204Z,1761519038.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.329782 m,
      nav range: 30.078133 m,
      bearing: 147.752417 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.047108 deg/s,
      cmd heading: 139.893858 deg,
      new cmd heading: 139.955271 deg.

2025-10-26T22:50:38.205Z,1761519038.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.442680 target range: 31.329782 and range: 31.50 m.
2025-10-26T22:50:38.270Z,1761519038.270 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.346707
2025-10-26T22:50:38.510Z,1761519038.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773675,-0.623370,-0.113297],[0.633563,-0.759777,-0.146071],[0.004976,-0.184792,0.982765]]
2025-10-26T22:50:38.521Z,1761519038.521 [DAT](INFO): DAT read: Rx Time:22:50:37.2098 

2025-10-26T22:50:38.522Z,1761519038.522 [DAT](INFO): Rx dataTimestamp_ set to:1761519038.521302
2025-10-26T22:50:38.523Z,1761519038.523 [DAT](INFO): DAT read: Bearing 312.3,   1.1 (Local)

2025-10-26T22:50:38.523Z,1761519038.523 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.3,   1.1 (Local)

2025-10-26T22:50:38.525Z,1761519038.525 [DAT](INFO): DAT read: Range 11 to 50 :    31.2 m (trip time 20.8 ms) speed 0.4

2025-10-26T22:50:38.546Z,1761519038.546 [DAT](INFO): DAT read: 22:50:37.2098 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 501, 0.15,-0.304,-2.009,-0.305,-0.368, PHS= 0.166,-1.596, 0.019, RAW= 145.7,  16.4, CAL= 145.4,  18.0, ROT=   4.6, -18.0

2025-10-26T22:50:38.548Z,1761519038.548 [DAT](INFO): got valid direction response:
 22:50:37.2098 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 501, 0.15,-0.304,-2.009,-0.305,-0.368, PHS= 0.166,-1.596, 0.019, RAW= 145.7,  16.4, CAL= 145.4,  18.0, ROT=   4.6, -18.0

2025-10-26T22:50:38.548Z,1761519038.548 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-10-26T22:50:38.550Z,1761519038.550 [DAT](INFO): direction in FSK: [0.947993,0.076274,0.309017]
2025-10-26T22:50:38.550Z,1761519038.550 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:38.571Z,1761519038.571 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.647853
2025-10-26T22:50:38.628Z,1761519038.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.200001 m,
      deltaT: 0.503653 s,
      deltaX: -0.299999 m,
      approachRate: -0.595647 m/s,
      rangeRepo size: 4

2025-10-26T22:50:38.630Z,1761519038.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.031404 m,
      bearing: 148.628762 deg,
      lat: 36.779406 deg,
      lon: -121.859420 deg,
      deltaT: 0.503653 s,
      deltaX: -0.298378 m,
      approachRate: -0.592428 m/s,
      posRepo size: 4

2025-10-26T22:50:38.631Z,1761519038.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.03 m.
2025-10-26T22:50:38.643Z,1761519038.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.031404 m,
      nav range: 29.808315 m,
      bearing: 148.154868 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.047108 deg/s,
      cmd heading: 139.955275 deg,
      new cmd heading: 140.016603 deg.

2025-10-26T22:50:38.652Z,1761519038.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.443751 target range: 31.031404 and range: 31.20 m.
2025-10-26T22:50:38.773Z,1761519038.773 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.849643
2025-10-26T22:50:38.918Z,1761519038.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772855,-0.623958,-0.115630],[0.634581,-0.759535,-0.142880],[0.001326,-0.183802,0.982962]]
2025-10-26T22:50:38.943Z,1761519038.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:50:38.953Z,1761519038.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.03 m.
2025-10-26T22:50:38.961Z,1761519038.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.031404 m,
      nav range: 29.642015 m,
      bearing: 148.163717 deg,
      approach rate: -0.498087 m/s,
      LOS rate: 0.026653 deg/s,
      cmd heading: 140.016597 deg,
      new cmd heading: 140.043293 deg.

2025-10-26T22:50:38.962Z,1761519038.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.444216 target range: 31.031404 and range: 31.20 m.
2025-10-26T22:50:39.027Z,1761519039.027 [DAT](INFO): DAT read: Rx Time:22:50:37.7096 

2025-10-26T22:50:39.029Z,1761519039.029 [DAT](INFO): Rx dataTimestamp_ set to:1761519039.026744
2025-10-26T22:50:39.031Z,1761519039.031 [DAT](INFO): DAT read: Bearing 311.4,   1.1 (Local)

2025-10-26T22:50:39.032Z,1761519039.032 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.4,   1.1 (Local)

2025-10-26T22:50:39.036Z,1761519039.036 [DAT](INFO): DAT read: Range 11 to 50 :    30.9 m (trip time 20.6 ms) speed 0.4

2025-10-26T22:50:39.043Z,1761519039.043 [DAT](INFO): DAT read: 22:50:37.7096 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 500,-0.28,-2.871, 1.675,-2.876,-2.965, PHS= 0.196,-1.599, 0.044, RAW= 145.6,  15.6, CAL= 145.4,  17.0, ROT=   4.6, -17.0

2025-10-26T22:50:39.051Z,1761519039.051 [DAT](INFO): got valid direction response:
 22:50:37.7096 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 500,-0.28,-2.871, 1.675,-2.876,-2.965, PHS= 0.196,-1.599, 0.044, RAW= 145.6,  15.6, CAL= 145.4,  17.0, ROT=   4.6, -17.0

2025-10-26T22:50:39.053Z,1761519039.053 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-10-26T22:50:39.055Z,1761519039.055 [DAT](INFO): direction in FSK: [0.953224,0.076695,0.292372]
2025-10-26T22:50:39.056Z,1761519039.056 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:39.070Z,1761519039.070 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.147467
2025-10-26T22:50:39.280Z,1761519039.280 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.355858
2025-10-26T22:50:39.369Z,1761519039.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772114,-0.624659,-0.116794],[0.635480,-0.759593,-0.138506],[-0.002197,-0.181162,0.983451]]
2025-10-26T22:50:39.454Z,1761519039.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.900000 m,
      deltaT: 0.505442 s,
      deltaX: -0.300001 m,
      approachRate: -0.593542 m/s,
      rangeRepo size: 4

2025-10-26T22:50:39.461Z,1761519039.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.733562 m,
      bearing: 148.210683 deg,
      lat: 36.779405 deg,
      lon: -121.859420 deg,
      deltaT: 0.505442 s,
      deltaX: -0.297842 m,
      approachRate: -0.589270 m/s,
      posRepo size: 4

2025-10-26T22:50:39.462Z,1761519039.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m.
2025-10-26T22:50:39.469Z,1761519039.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.733562 m,
      nav range: 29.486912 m,
      bearing: 148.255717 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.026653 deg/s,
      cmd heading: 140.043289 deg,
      new cmd heading: 140.082741 deg.

2025-10-26T22:50:39.470Z,1761519039.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.444905 target range: 30.733562 and range: 30.90 m.
2025-10-26T22:50:39.531Z,1761519039.531 [DAT](INFO): DAT read: Rx Time:22:50:38.2094 

2025-10-26T22:50:39.533Z,1761519039.533 [DAT](INFO): Rx dataTimestamp_ set to:1761519039.531733
2025-10-26T22:50:39.536Z,1761519039.536 [DAT](INFO): DAT read: Bearing 311.7,   0.8 (Local)

2025-10-26T22:50:39.537Z,1761519039.537 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.7,   0.8 (Local)

2025-10-26T22:50:39.540Z,1761519039.540 [DAT](INFO): DAT read: Range 11 to 50 :    30.6 m (trip time 20.4 ms) speed 0.4

2025-10-26T22:50:39.548Z,1761519039.548 [DAT](INFO): DAT read: 22:50:38.2094 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 497, 0.05,-2.735, 1.821,-2.739,-2.818, PHS= 0.185,-1.599, 0.035, RAW= 145.7,  15.9, CAL= 145.4,  17.4, ROT=   4.6, -17.4

2025-10-26T22:50:39.549Z,1761519039.549 [DAT](INFO): got valid direction response:
 22:50:38.2094 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 497, 0.05,-2.735, 1.821,-2.739,-2.818, PHS= 0.185,-1.599, 0.035, RAW= 145.7,  15.9, CAL= 145.4,  17.4, ROT=   4.6, -17.4

2025-10-26T22:50:39.550Z,1761519039.550 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-10-26T22:50:39.552Z,1761519039.552 [DAT](INFO): direction in FSK: [0.951167,0.076529,0.299041]
2025-10-26T22:50:39.553Z,1761519039.553 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:39.595Z,1761519039.595 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.635922
2025-10-26T22:50:39.784Z,1761519039.784 [DAT](INFO): DAT read: Rx Time:22:50:38.7093 

2025-10-26T22:50:39.786Z,1761519039.786 [DAT](INFO): Rx dataTimestamp_ set to:1761519039.784966
2025-10-26T22:50:39.789Z,1761519039.789 [DAT](INFO): DAT read: Bearing 308.2,   2.6 (Local)

2025-10-26T22:50:39.790Z,1761519039.790 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.2,   2.6 (Local)

2025-10-26T22:50:39.793Z,1761519039.793 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.869085
2025-10-26T22:50:39.845Z,1761519039.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771812,-0.625007,-0.116931],[0.635828,-0.760162,-0.133701],[-0.005322,-0.177540,0.984099]]
2025-10-26T22:50:39.931Z,1761519039.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.600000 m,
      deltaT: 0.504989 s,
      deltaX: -0.299999 m,
      approachRate: -0.594071 m/s,
      rangeRepo size: 4

2025-10-26T22:50:39.937Z,1761519039.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.435461 m,
      bearing: 148.194413 deg,
      lat: 36.779405 deg,
      lon: -121.859420 deg,
      deltaT: 0.504989 s,
      deltaX: -0.298101 m,
      approachRate: -0.590313 m/s,
      posRepo size: 4

2025-10-26T22:50:39.938Z,1761519039.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.44 m.
2025-10-26T22:50:39.945Z,1761519039.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.435461 m,
      nav range: 29.240393 m,
      bearing: 148.245137 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.026653 deg/s,
      cmd heading: 140.082740 deg,
      new cmd heading: 140.121399 deg.

2025-10-26T22:50:39.946Z,1761519039.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.445580 target range: 30.435461 and range: 30.60 m.
2025-10-26T22:50:40.037Z,1761519040.037 [DAT](INFO): DAT read: Range 11 to 50 :    30.5 m (trip time 20.3 ms) speed 0.4

2025-10-26T22:50:40.044Z,1761519040.044 [DAT](INFO): DAT read: 22:50:38.7093 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 512, 0.41,-0.758,-2.666,-0.814,-0.992, PHS= 0.335,-1.629, 0.134, RAW= 144.7,  12.4, CAL= 144.2,  13.5, ROT=   5.8, -13.5

2025-10-26T22:50:40.046Z,1761519040.046 [DAT](INFO): got valid direction response:
 22:50:38.7093 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 512, 0.41,-0.758,-2.666,-0.814,-0.992, PHS= 0.335,-1.629, 0.134, RAW= 144.7,  12.4, CAL= 144.2,  13.5, ROT=   5.8, -13.5

2025-10-26T22:50:40.047Z,1761519040.047 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-10-26T22:50:40.061Z,1761519040.061 [DAT](INFO): direction in FSK: [0.967392,0.098264,0.233445]
2025-10-26T22:50:40.062Z,1761519040.062 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:40.076Z,1761519040.076 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.152286
2025-10-26T22:50:40.276Z,1761519040.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771350,-0.625853,-0.115444],[0.636359,-0.760813,-0.127321],[-0.008147,-0.171673,0.985120]]
2025-10-26T22:50:40.288Z,1761519040.288 [DAT](INFO): DAT read: Rx Time:22:50:39.2091 

2025-10-26T22:50:40.289Z,1761519040.289 [DAT](INFO): Rx dataTimestamp_ set to:1761519040.288423
2025-10-26T22:50:40.293Z,1761519040.293 [DAT](INFO): DAT read: Bearing 309.5,   1.1 (Local)

2025-10-26T22:50:40.294Z,1761519040.294 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.5,   1.1 (Local)

2025-10-26T22:50:40.296Z,1761519040.296 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.372581
2025-10-26T22:50:40.387Z,1761519040.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.500000 m,
      deltaT: 0.500918 s,
      deltaX: -0.100000 m,
      approachRate: -0.199634 m/s,
      rangeRepo size: 4

2025-10-26T22:50:40.448Z,1761519040.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.335999 m,
      bearing: 148.517300 deg,
      lat: 36.779405 deg,
      lon: -121.859420 deg,
      deltaT: 0.500918 s,
      deltaX: -0.099463 m,
      approachRate: -0.198560 m/s,
      posRepo size: 4

2025-10-26T22:50:40.449Z,1761519040.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.34 m.
2025-10-26T22:50:40.455Z,1761519040.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.335999 m,
      nav range: 29.088898 m,
      bearing: 148.234583 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.026653 deg/s,
      cmd heading: 140.121399 deg,
      new cmd heading: 140.156663 deg.

2025-10-26T22:50:40.456Z,1761519040.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.446195 target range: 30.335999 and range: 30.50 m.
2025-10-26T22:50:40.540Z,1761519040.540 [DAT](INFO): DAT read: Range 11 to 50 :    30.2 m (trip time 20.1 ms) speed 0.4

2025-10-26T22:50:40.548Z,1761519040.548 [DAT](INFO): DAT read: 22:50:39.2091 LVL= 31536, 32753, 32754, 32755, AGC= 63, IDX= 510,-0.08, 1.402,-0.352, 1.399, 1.249, PHS= 0.255,-1.556, 0.106, RAW= 145.7,  13.6, CAL= 145.4,  14.9, ROT=   4.6, -14.9

2025-10-26T22:50:40.550Z,1761519040.550 [DAT](INFO): got valid direction response:
 22:50:39.2091 LVL= 31536, 32753, 32754, 32755, AGC= 63, IDX= 510,-0.08, 1.402,-0.352, 1.399, 1.249, PHS= 0.255,-1.556, 0.106, RAW= 145.7,  13.6, CAL= 145.4,  14.9, ROT=   4.6, -14.9

2025-10-26T22:50:40.550Z,1761519040.550 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-10-26T22:50:40.554Z,1761519040.554 [DAT](INFO): direction in FSK: [0.963263,0.077502,0.257133]
2025-10-26T22:50:40.554Z,1761519040.554 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:40.563Z,1761519040.563 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.639874
2025-10-26T22:50:40.764Z,1761519040.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771505,-0.625779,-0.114805],[0.636141,-0.761639,-0.123411],[-0.010212,-0.168244,0.985692]]
2025-10-26T22:50:40.792Z,1761519040.792 [DAT](INFO): DAT read: Rx Time:22:50:39.7090 

2025-10-26T22:50:40.794Z,1761519040.794 [DAT](INFO): Rx dataTimestamp_ set to:1761519040.792925
2025-10-26T22:50:40.798Z,1761519040.798 [DAT](INFO): DAT read: Bearing 313.2,  -0.4 (Local)

2025-10-26T22:50:40.800Z,1761519040.800 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.2,  -0.4 (Local)

2025-10-26T22:50:40.817Z,1761519040.817 [DAT](INFO): DAT read: Range 11 to 50 :    30.0 m (trip time 20.0 ms) speed 0.4

2025-10-26T22:50:40.820Z,1761519040.820 [DAT](ERROR): #Rx 24: Read range message, but no direction.
2025-10-26T22:50:40.823Z,1761519040.823 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.899326
2025-10-26T22:50:40.898Z,1761519040.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.000000 m,
      deltaT: 0.760274 s,
      deltaX: -0.500000 m,
      approachRate: -0.657658 m/s,
      rangeRepo size: 4

2025-10-26T22:50:40.908Z,1761519040.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.839458 m,
      bearing: 147.556669 deg,
      lat: 36.779405 deg,
      lon: -121.859419 deg,
      deltaT: 0.760274 s,
      deltaX: -0.496540 m,
      approachRate: -0.653107 m/s,
      posRepo size: 4

2025-10-26T22:50:40.909Z,1761519040.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.84 m.
2025-10-26T22:50:40.916Z,1761519040.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.839458 m,
      nav range: 28.855883 m,
      bearing: 148.121741 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.026653 deg/s,
      cmd heading: 140.156657 deg,
      new cmd heading: 140.198725 deg.

2025-10-26T22:50:40.917Z,1761519040.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.446929 target range: 29.839458 and range: 30.00 m.
2025-10-26T22:50:41.050Z,1761519041.050 [DAT](INFO): DAT read: 22:50:39.7090 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 509, 0.12,-0.839,-2.522,-0.814,-0.872, PHS= 0.135,-1.605, 0.014, RAW= 146.4,  17.0, CAL= 146.3,  18.7, ROT=   3.7, -18.7

2025-10-26T22:50:41.052Z,1761519041.052 [DAT](INFO): got valid direction response:
 22:50:39.7090 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 509, 0.12,-0.839,-2.522,-0.814,-0.872, PHS= 0.135,-1.605, 0.014, RAW= 146.4,  17.0, CAL= 146.3,  18.7, ROT=   3.7, -18.7

2025-10-26T22:50:41.053Z,1761519041.053 [DAT](INFO): #Rx 25: Read direction message, but no range.
2025-10-26T22:50:41.055Z,1761519041.055 [DAT](INFO): direction in FSK: [0.945236,0.061126,0.320613]
2025-10-26T22:50:41.063Z,1761519041.063 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.140081
2025-10-26T22:50:41.230Z,1761519041.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771843,-0.625566,-0.113691],[0.635706,-0.762556,-0.119938],[-0.011666,-0.164848,0.986250]]
2025-10-26T22:50:41.246Z,1761519041.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:50:41.248Z,1761519041.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.84 m.
2025-10-26T22:50:41.251Z,1761519041.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.839458 m,
      nav range: 28.688461 m,
      bearing: 148.099776 deg,
      approach rate: -0.477112 m/s,
      LOS rate: -0.062959 deg/s,
      cmd heading: 140.198731 deg,
      new cmd heading: 140.132453 deg.

2025-10-26T22:50:41.252Z,1761519041.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.445773 target range: 29.839458 and range: 30.00 m.
2025-10-26T22:50:41.297Z,1761519041.297 [DAT](INFO): DAT read: Rx Time:22:50:40.2087 

2025-10-26T22:50:41.299Z,1761519041.299 [DAT](INFO): Rx dataTimestamp_ set to:1761519041.297664
2025-10-26T22:50:41.302Z,1761519041.302 [DAT](INFO): DAT read: Bearing 312.2,  -0.4 (Local)

2025-10-26T22:50:41.304Z,1761519041.304 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.2,  -0.4 (Local)

2025-10-26T22:50:41.326Z,1761519041.326 [DAT](INFO): DAT read: Range 11 to 50 :    29.6 m (trip time 19.7 ms) speed 0.4

2025-10-26T22:50:41.328Z,1761519041.328 [DAT](ERROR): #Rx 26: Read range message, but no direction.
2025-10-26T22:50:41.344Z,1761519041.344 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.420911
2025-10-26T22:50:41.552Z,1761519041.552 [DAT](INFO): DAT read: 22:50:40.2087 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507,-0.34, 1.732,-0.005, 1.762, 1.666, PHS= 0.168,-1.626, 0.053, RAW= 146.7,  15.9, CAL= 146.6,  17.5, ROT=   3.4, -17.5

2025-10-26T22:50:41.554Z,1761519041.554 [DAT](INFO): got valid direction response:
 22:50:40.2087 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507,-0.34, 1.732,-0.005, 1.762, 1.666, PHS= 0.168,-1.626, 0.053, RAW= 146.7,  15.9, CAL= 146.6,  17.5, ROT=   3.4, -17.5

2025-10-26T22:50:41.555Z,1761519041.555 [DAT](INFO): #Rx 27: Read direction message, but no range.
2025-10-26T22:50:41.556Z,1761519041.556 [DAT](INFO): direction in FSK: [0.952038,0.056561,0.300706]
2025-10-26T22:50:41.564Z,1761519041.564 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.641080
2025-10-26T22:50:41.724Z,1761519041.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.600000 m,
      deltaT: 0.504739 s,
      deltaX: -0.400000 m,
      approachRate: -0.792488 m/s,
      rangeRepo size: 4

2025-10-26T22:50:41.731Z,1761519041.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.441599 m,
      bearing: 146.818040 deg,
      lat: 36.779405 deg,
      lon: -121.859417 deg,
      deltaT: 0.504739 s,
      deltaX: -0.397860 m,
      approachRate: -0.788248 m/s,
      posRepo size: 4

2025-10-26T22:50:41.733Z,1761519041.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.44 m.
2025-10-26T22:50:41.737Z,1761519041.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.441599 m,
      nav range: 28.573584 m,
      bearing: 147.816911 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.062959 deg/s,
      cmd heading: 140.132450 deg,
      new cmd heading: 140.043649 deg.

2025-10-26T22:50:41.738Z,1761519041.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.444223 target range: 29.441599 and range: 29.60 m.
2025-10-26T22:50:41.801Z,1761519041.801 [DAT](INFO): DAT read: Rx Time:22:50:40.7087 

2025-10-26T22:50:41.803Z,1761519041.803 [DAT](INFO): Rx dataTimestamp_ set to:1761519041.802005
2025-10-26T22:50:41.808Z,1761519041.808 [DAT](INFO): DAT read: Bearing 314.0,   0.1 (Local)

2025-10-26T22:50:41.809Z,1761519041.809 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.0,   0.1 (Local)

2025-10-26T22:50:41.817Z,1761519041.817 [DAT](INFO): DAT read: Range 11 to 50 :    29.6 m (trip time 19.7 ms) speed 0.4

2025-10-26T22:50:41.820Z,1761519041.820 [DAT](ERROR): #Rx 28: Read range message, but no direction.
2025-10-26T22:50:41.829Z,1761519041.829 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.900301
2025-10-26T22:50:42.056Z,1761519042.056 [DAT](INFO): DAT read: 22:50:40.7087 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 506,-0.16,-0.980,-2.586,-0.961,-1.002, PHS= 0.124,-1.539,-0.004, RAW= 146.1,  17.4, CAL= 145.9,  19.1, ROT=   4.1, -19.1

2025-10-26T22:50:42.058Z,1761519042.058 [DAT](INFO): got valid direction response:
 22:50:40.7087 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 506,-0.16,-0.980,-2.586,-0.961,-1.002, PHS= 0.124,-1.539,-0.004, RAW= 146.1,  17.4, CAL= 145.9,  19.1, ROT=   4.1, -19.1

2025-10-26T22:50:42.058Z,1761519042.058 [DAT](INFO): #Rx 29: Read direction message, but no range.
2025-10-26T22:50:42.059Z,1761519042.059 [DAT](INFO): direction in FSK: [0.942531,0.067561,0.327218]
2025-10-26T22:50:42.062Z,1761519042.062 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.139340
2025-10-26T22:50:42.305Z,1761519042.305 [DAT](INFO): DAT read: Rx Time:22:50:41.2083 

2025-10-26T22:50:42.307Z,1761519042.307 [DAT](INFO): Rx dataTimestamp_ set to:1761519042.305551
2025-10-26T22:50:42.315Z,1761519042.315 [DAT](INFO): DAT read: Bearing 313.4,  -0.1 (Local)

2025-10-26T22:50:42.317Z,1761519042.317 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.4,  -0.1 (Local)

2025-10-26T22:50:42.341Z,1761519042.341 [DAT](INFO): DAT read: Range 11 to 50 :    29.0 m (trip time 19.3 ms) speed 0.4

2025-10-26T22:50:42.362Z,1761519042.362 [DAT](INFO): DAT read: 22:50:41.2083 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 503, 0.20,-1.032,-2.716,-1.004,-1.075, PHS= 0.145,-1.596, 0.027, RAW= 146.5,  16.6, CAL= 146.4,  18.3, ROT=   3.6, -18.3

2025-10-26T22:50:42.363Z,1761519042.363 [DAT](INFO): got valid direction response:
 22:50:41.2083 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 503, 0.20,-1.032,-2.716,-1.004,-1.075, PHS= 0.145,-1.596, 0.027, RAW= 146.5,  16.6, CAL= 146.4,  18.3, ROT=   3.6, -18.3

2025-10-26T22:50:42.363Z,1761519042.363 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-10-26T22:50:42.365Z,1761519042.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773056,-0.625668,-0.104520],[0.634208,-0.765669,-0.107382],[-0.012842,-0.149300,0.988709]]
2025-10-26T22:50:42.376Z,1761519042.376 [DAT](INFO): direction in FSK: [0.947552,0.059615,0.313992]
2025-10-26T22:50:42.377Z,1761519042.377 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:42.404Z,1761519042.404 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.481472
2025-10-26T22:50:42.514Z,1761519042.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.000000 m,
      deltaT: 1.007887 s,
      deltaX: -0.600000 m,
      approachRate: -0.595305 m/s,
      rangeRepo size: 4

2025-10-26T22:50:42.520Z,1761519042.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.850698 m,
      bearing: 146.982427 deg,
      lat: 36.779405 deg,
      lon: -121.859417 deg,
      deltaT: 1.007887 s,
      deltaX: -0.590900 m,
      approachRate: -0.586276 m/s,
      posRepo size: 4

2025-10-26T22:50:42.521Z,1761519042.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.85 m.
2025-10-26T22:50:42.529Z,1761519042.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.850698 m,
      nav range: 28.204222 m,
      bearing: 147.749457 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.062959 deg/s,
      cmd heading: 140.043644 deg,
      new cmd heading: 139.893533 deg.

2025-10-26T22:50:42.533Z,1761519042.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.441603 target range: 28.850698 and range: 29.00 m.
2025-10-26T22:50:42.554Z,1761519042.554 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.630532
2025-10-26T22:50:42.809Z,1761519042.809 [DAT](INFO): DAT read: Rx Time:22:50:41.7083 

2025-10-26T22:50:42.811Z,1761519042.811 [DAT](INFO): Rx dataTimestamp_ set to:1761519042.809553
2025-10-26T22:50:42.815Z,1761519042.815 [DAT](INFO): DAT read: Bearing 315.8,  -0.9 (Local)

2025-10-26T22:50:42.816Z,1761519042.816 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.8,  -0.9 (Local)

2025-10-26T22:50:42.838Z,1761519042.838 [DAT](INFO): DAT read: Range 11 to 50 :    29.0 m (trip time 19.3 ms) speed 0.4

2025-10-26T22:50:42.843Z,1761519042.843 [DAT](INFO): DAT read: 22:50:41.7083 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 503,-0.38,-0.042,-1.645, 0.001,-0.022, PHS= 0.081,-1.578,-0.021, RAW= 146.8,  18.4, CAL= 147.1,  20.7, ROT=   2.9, -20.7

2025-10-26T22:50:42.852Z,1761519042.852 [DAT](INFO): got valid direction response:
 22:50:41.7083 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 503,-0.38,-0.042,-1.645, 0.001,-0.022, PHS= 0.081,-1.578,-0.021, RAW= 146.8,  18.4, CAL= 147.1,  20.7, ROT=   2.9, -20.7

2025-10-26T22:50:42.853Z,1761519042.853 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-10-26T22:50:42.854Z,1761519042.854 [DAT](INFO): direction in FSK: [0.934246,0.047327,0.353475]
2025-10-26T22:50:42.854Z,1761519042.854 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:42.862Z,1761519042.862 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=15.938692
2025-10-26T22:50:43.005Z,1761519043.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773762,-0.625621,-0.099454],[0.633406,-0.766430,-0.106689],[-0.009477,-0.145546,0.989306]]
2025-10-26T22:50:43.057Z,1761519043.057 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.133938
2025-10-26T22:50:43.077Z,1761519043.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.000000 m,
      deltaT: 0.504002 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:50:43.080Z,1761519043.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.853672 m,
      bearing: 146.680445 deg,
      lat: 36.779410 deg,
      lon: -121.859417 deg,
      deltaT: 0.504002 s,
      deltaX: 0.002974 m,
      approachRate: 0.005900 m/s,
      posRepo size: 4

2025-10-26T22:50:43.080Z,1761519043.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.85 m.
2025-10-26T22:50:43.083Z,1761519043.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.853672 m,
      nav range: 27.524370 m,
      bearing: 147.126931 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.062959 deg/s,
      cmd heading: 139.893530 deg,
      new cmd heading: 139.787084 deg.

2025-10-26T22:50:43.084Z,1761519043.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439745 target range: 28.853672 and range: 29.00 m.
2025-10-26T22:50:43.313Z,1761519043.313 [DAT](INFO): DAT read: Rx Time:22:50:42.2081 

2025-10-26T22:50:43.314Z,1761519043.314 [DAT](INFO): Rx dataTimestamp_ set to:1761519043.313285
2025-10-26T22:50:43.318Z,1761519043.318 [DAT](INFO): DAT read: Bearing 312.7,   0.0 (Local)

2025-10-26T22:50:43.319Z,1761519043.319 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.7,   0.0 (Local)

2025-10-26T22:50:43.330Z,1761519043.330 [DAT](INFO): DAT read: Range 11 to 50 :    28.5 m (trip time 19.0 ms) speed 0.4

2025-10-26T22:50:43.336Z,1761519043.336 [DAT](ERROR): #Rx 32: Read range message, but no direction.
2025-10-26T22:50:43.338Z,1761519043.338 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.414911
2025-10-26T22:50:43.530Z,1761519043.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774862,-0.624325,-0.099030],[0.632094,-0.766917,-0.110883],[-0.006721,-0.148516,0.988887]]
2025-10-26T22:50:43.564Z,1761519043.564 [DAT](INFO): DAT read: 22:50:42.2081 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 500, 0.04,-0.940,-2.617,-0.899,-1.004, PHS= 0.166,-1.568, 0.060, RAW= 146.9,  15.7, CAL= 146.8,  17.3, ROT=   3.2, -17.3

2025-10-26T22:50:43.565Z,1761519043.565 [DAT](INFO): got valid direction response:
 22:50:42.2081 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 500, 0.04,-0.940,-2.617,-0.899,-1.004, PHS= 0.166,-1.568, 0.060, RAW= 146.9,  15.7, CAL= 146.8,  17.3, ROT=   3.2, -17.3

2025-10-26T22:50:43.566Z,1761519043.566 [DAT](INFO): #Rx 33: Read direction message, but no range.
2025-10-26T22:50:43.566Z,1761519043.566 [DAT](INFO): direction in FSK: [0.953272,0.053296,0.297375]
2025-10-26T22:50:43.570Z,1761519043.570 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.647043
2025-10-26T22:50:43.651Z,1761519043.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.500000 m,
      deltaT: 0.503732 s,
      deltaX: -0.500000 m,
      approachRate: -0.992591 m/s,
      rangeRepo size: 4

2025-10-26T22:50:43.657Z,1761519043.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.356194 m,
      bearing: 146.585101 deg,
      lat: 36.779411 deg,
      lon: -121.859415 deg,
      deltaT: 0.503732 s,
      deltaX: -0.497478 m,
      approachRate: -0.987586 m/s,
      posRepo size: 4

2025-10-26T22:50:43.658Z,1761519043.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.36 m.
2025-10-26T22:50:43.660Z,1761519043.660 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:50:43.665Z,1761519043.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.356194 m,
      nav range: 27.197323 m,
      bearing: 146.670417 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.062959 deg/s,
      cmd heading: 139.787089 deg,
      new cmd heading: 139.678784 deg.

2025-10-26T22:50:43.666Z,1761519043.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437855 target range: 28.356194 and range: 28.50 m.
2025-10-26T22:50:43.817Z,1761519043.817 [DAT](INFO): DAT read: Rx Time:22:50:42.7079 

2025-10-26T22:50:43.819Z,1761519043.819 [DAT](INFO): Rx dataTimestamp_ set to:1761519043.817561
2025-10-26T22:50:43.823Z,1761519043.823 [DAT](INFO): DAT read: Bearing 311.8,  -1.1 (Local)

2025-10-26T22:50:43.825Z,1761519043.825 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.8,  -1.1 (Local)

2025-10-26T22:50:43.832Z,1761519043.832 [DAT](INFO): DAT read: Range 11 to 50 :    28.2 m (trip time 18.8 ms) speed 0.4

2025-10-26T22:50:43.834Z,1761519043.834 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-10-26T22:50:43.837Z,1761519043.837 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=16.914190
2025-10-26T22:50:44.008Z,1761519044.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776051,-0.623008,-0.098007],[0.630659,-0.767535,-0.114715],[-0.003755,-0.150834,0.988552]]
2025-10-26T22:50:44.029Z,1761519044.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:50:44.034Z,1761519044.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.200001 m,
      deltaT: 0.504276 s,
      deltaX: -0.299999 m,
      approachRate: -0.594911 m/s,
      rangeRepo size: 4

2025-10-26T22:50:44.035Z,1761519044.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.36 m.
2025-10-26T22:50:44.043Z,1761519044.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.356194 m,
      nav range: 26.994913 m,
      bearing: 146.656028 deg,
      approach rate: -0.529633 m/s,
      LOS rate: -0.037934 deg/s,
      cmd heading: 139.678789 deg,
      new cmd heading: 139.635297 deg.

2025-10-26T22:50:44.045Z,1761519044.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437096 target range: 28.356194 and range: 28.20 m.
2025-10-26T22:50:44.068Z,1761519044.068 [DAT](INFO): DAT read: 22:50:42.7079 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 499,-0.46,-2.801, 1.742,-2.719,-2.876, PHS= 0.177,-1.621, 0.113, RAW= 148.2,  14.9, CAL= 148.2,  16.5, ROT=   1.8, -16.5

2025-10-26T22:50:44.069Z,1761519044.069 [DAT](INFO): got valid direction response:
 22:50:42.7079 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 499,-0.46,-2.801, 1.742,-2.719,-2.876, PHS= 0.177,-1.621, 0.113, RAW= 148.2,  14.9, CAL= 148.2,  16.5, ROT=   1.8, -16.5

2025-10-26T22:50:44.070Z,1761519044.070 [DAT](INFO): #Rx 35: Read direction message, but no range.
2025-10-26T22:50:44.070Z,1761519044.070 [DAT](INFO): direction in FSK: [0.958347,0.030117,0.284015]
2025-10-26T22:50:44.074Z,1761519044.074 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.151045
2025-10-26T22:50:44.322Z,1761519044.322 [DAT](INFO): DAT read: Rx Time:22:50:43.2077 

2025-10-26T22:50:44.324Z,1761519044.324 [DAT](INFO): Rx dataTimestamp_ set to:1761519044.323257
2025-10-26T22:50:44.329Z,1761519044.329 [DAT](INFO): DAT read: Bearing 310.8,  -0.5 (Local)

2025-10-26T22:50:44.330Z,1761519044.330 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.8,  -0.5 (Local)

2025-10-26T22:50:44.340Z,1761519044.340 [DAT](INFO): DAT read: Range 11 to 50 :    27.9 m (trip time 18.6 ms) speed 0.4

2025-10-26T22:50:44.380Z,1761519044.380 [DAT](INFO): DAT read: 22:50:43.2077 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 496, 0.01, 1.625,-0.112, 1.702, 1.515, PHS= 0.212,-1.582, 0.143, RAW= 148.1,  13.8, CAL= 148.0,  15.3, ROT=   2.0, -15.3

2025-10-26T22:50:44.381Z,1761519044.381 [DAT](INFO): got valid direction response:
 22:50:43.2077 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 496, 0.01, 1.625,-0.112, 1.702, 1.515, PHS= 0.212,-1.582, 0.143, RAW= 148.1,  13.8, CAL= 148.0,  15.3, ROT=   2.0, -15.3

2025-10-26T22:50:44.382Z,1761519044.382 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-10-26T22:50:44.382Z,1761519044.382 [DAT](INFO): direction in FSK: [0.963970,0.033663,0.263873]
2025-10-26T22:50:44.383Z,1761519044.383 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:44.386Z,1761519044.386 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=17.463497
2025-10-26T22:50:44.430Z,1761519044.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777159,-0.621848,-0.096588],[0.629303,-0.768249,-0.117353],[-0.001227,-0.151985,0.988382]]
2025-10-26T22:50:44.568Z,1761519044.568 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=17.645506
2025-10-26T22:50:44.579Z,1761519044.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.900000 m,
      deltaT: 0.505696 s,
      deltaX: -0.300001 m,
      approachRate: -0.593244 m/s,
      rangeRepo size: 4

2025-10-26T22:50:44.585Z,1761519044.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.760906 m,
      bearing: 145.352737 deg,
      lat: 36.779412 deg,
      lon: -121.859415 deg,
      deltaT: 1.009972 s,
      deltaX: -0.595287 m,
      approachRate: -0.589410 m/s,
      posRepo size: 4

2025-10-26T22:50:44.586Z,1761519044.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.76 m.
2025-10-26T22:50:44.597Z,1761519044.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.760906 m,
      nav range: 26.719437 m,
      bearing: 146.473146 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037934 deg/s,
      cmd heading: 139.635295 deg,
      new cmd heading: 139.573186 deg.

2025-10-26T22:50:44.598Z,1761519044.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436012 target range: 27.760906 and range: 27.90 m.
2025-10-26T22:50:44.664Z,1761519044.664 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:50:44.826Z,1761519044.826 [DAT](INFO): DAT read: Rx Time:22:50:43.7076 

2025-10-26T22:50:44.828Z,1761519044.828 [DAT](INFO): Rx dataTimestamp_ set to:1761519044.826425
2025-10-26T22:50:44.832Z,1761519044.832 [DAT](INFO): DAT read: Bearing 308.7,  -0.7 (Local)

2025-10-26T22:50:44.833Z,1761519044.833 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.7,  -0.7 (Local)

2025-10-26T22:50:44.846Z,1761519044.846 [DAT](INFO): DAT read: Range 11 to 50 :    27.8 m (trip time 18.5 ms) speed 0.4

2025-10-26T22:50:44.858Z,1761519044.858 [DAT](INFO): DAT read: 22:50:43.7076 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 511, 0.44, 2.355, 0.595, 2.458, 2.195, PHS= 0.262,-1.555, 0.219, RAW= 148.8,  11.9, CAL= 148.7,  13.1, ROT=   1.3, -13.1

2025-10-26T22:50:44.893Z,1761519044.893 [DAT](INFO): got valid direction response:
 22:50:43.7076 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 511, 0.44, 2.355, 0.595, 2.458, 2.195, PHS= 0.262,-1.555, 0.219, RAW= 148.8,  11.9, CAL= 148.7,  13.1, ROT=   1.3, -13.1

2025-10-26T22:50:44.895Z,1761519044.895 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-10-26T22:50:44.901Z,1761519044.901 [DAT](INFO): direction in FSK: [0.973725,0.022097,0.226651]
2025-10-26T22:50:44.901Z,1761519044.901 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:44.910Z,1761519044.910 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=17.986870
2025-10-26T22:50:44.942Z,1761519044.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778466,-0.620935,-0.091819],[0.627679,-0.769313,-0.119071],[0.003298,-0.150326,0.988631]]
2025-10-26T22:50:45.056Z,1761519045.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.799999 m,
      deltaT: 0.503168 s,
      deltaX: -0.100000 m,
      approachRate: -0.198742 m/s,
      rangeRepo size: 4

2025-10-26T22:50:45.058Z,1761519045.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.662203 m,
      bearing: 144.409846 deg,
      lat: 36.779413 deg,
      lon: -121.859415 deg,
      deltaT: 0.503168 s,
      deltaX: -0.098703 m,
      approachRate: -0.196164 m/s,
      posRepo size: 4

2025-10-26T22:50:45.059Z,1761519045.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.66 m.
2025-10-26T22:50:45.066Z,1761519045.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.662203 m,
      nav range: 26.348648 m,
      bearing: 146.310252 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037934 deg/s,
      cmd heading: 139.573181 deg,
      new cmd heading: 139.519460 deg.

2025-10-26T22:50:45.067Z,1761519045.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.435074 target range: 27.662203 and range: 27.80 m.
2025-10-26T22:50:45.073Z,1761519045.073 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.149529
2025-10-26T22:50:45.329Z,1761519045.329 [DAT](INFO): DAT read: Rx Time:22:50:44.2074 

2025-10-26T22:50:45.331Z,1761519045.331 [DAT](INFO): Rx dataTimestamp_ set to:1761519045.329985
2025-10-26T22:50:45.336Z,1761519045.336 [DAT](INFO): DAT read: Bearing 307.9,  -0.2 (Local)

2025-10-26T22:50:45.337Z,1761519045.337 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.9,  -0.2 (Local)

2025-10-26T22:50:45.342Z,1761519045.342 [DAT](INFO): DAT read: Range 11 to 50 :    27.5 m (trip time 18.3 ms) speed 0.4

2025-10-26T22:50:45.356Z,1761519045.356 [DAT](INFO): DAT read: 22:50:44.2074 LVL= 30368, 32673, 32754, 32755, AGC= 63, IDX= 509,-0.10, 0.021,-1.714, 0.121,-0.160, PHS= 0.283,-1.510, 0.236, RAW= 148.7,  11.2, CAL= 148.5,  12.3, ROT=   1.5, -12.3

2025-10-26T22:50:45.357Z,1761519045.357 [DAT](INFO): got valid direction response:
 22:50:44.2074 LVL= 30368, 32673, 32754, 32755, AGC= 63, IDX= 509,-0.10, 0.021,-1.714, 0.121,-0.160, PHS= 0.283,-1.510, 0.236, RAW= 148.7,  11.2, CAL= 148.5,  12.3, ROT=   1.5, -12.3

2025-10-26T22:50:45.357Z,1761519045.357 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-10-26T22:50:45.358Z,1761519045.358 [DAT](INFO): direction in FSK: [0.976711,0.025576,0.213030]
2025-10-26T22:50:45.359Z,1761519045.359 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:45.394Z,1761519045.394 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.470695
2025-10-26T22:50:45.568Z,1761519045.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779040,-0.620443,-0.090263],[0.626945,-0.769489,-0.121763],[0.006090,-0.151448,0.988447]]
2025-10-26T22:50:45.576Z,1761519045.576 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.653421
2025-10-26T22:50:45.630Z,1761519045.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.500000 m,
      deltaT: 0.503560 s,
      deltaX: -0.299999 m,
      approachRate: -0.595757 m/s,
      rangeRepo size: 4

2025-10-26T22:50:45.637Z,1761519045.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.363691 m,
      bearing: 144.550243 deg,
      lat: 36.779413 deg,
      lon: -121.859409 deg,
      deltaT: 0.503560 s,
      deltaX: -0.298512 m,
      approachRate: -0.592802 m/s,
      posRepo size: 4

2025-10-26T22:50:45.637Z,1761519045.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.36 m.
2025-10-26T22:50:45.644Z,1761519045.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.363691 m,
      nav range: 26.311224 m,
      bearing: 145.402433 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037934 deg/s,
      cmd heading: 139.519455 deg,
      new cmd heading: 139.453515 deg.

2025-10-26T22:50:45.645Z,1761519045.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433923 target range: 27.363691 and range: 27.50 m.
2025-10-26T22:50:45.833Z,1761519045.833 [DAT](INFO): DAT read: Rx Time:22:50:44.7073 

2025-10-26T22:50:45.835Z,1761519045.835 [DAT](INFO): Rx dataTimestamp_ set to:1761519045.833595
2025-10-26T22:50:45.838Z,1761519045.838 [DAT](INFO): DAT read: Bearing 309.0,  -0.6 (Local)

2025-10-26T22:50:45.839Z,1761519045.839 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.0,  -0.6 (Local)

2025-10-26T22:50:45.850Z,1761519045.850 [DAT](INFO): DAT read: Range 11 to 50 :    27.3 m (trip time 18.2 ms) speed 0.4

2025-10-26T22:50:45.878Z,1761519045.878 [DAT](INFO): DAT read: 22:50:44.7073 LVL= 31504, 32753, 32754, 32755, AGC= 64, IDX= 508, 0.17,-2.644, 1.901,-2.535,-2.792, PHS= 0.250,-1.545, 0.213, RAW= 149.0,  12.2, CAL= 148.9,  13.4, ROT=   1.1, -13.4

2025-10-26T22:50:45.888Z,1761519045.888 [DAT](INFO): got valid direction response:
 22:50:44.7073 LVL= 31504, 32753, 32754, 32755, AGC= 64, IDX= 508, 0.17,-2.644, 1.901,-2.535,-2.792, PHS= 0.250,-1.545, 0.213, RAW= 149.0,  12.2, CAL= 148.9,  13.4, ROT=   1.1, -13.4

2025-10-26T22:50:45.889Z,1761519045.889 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-10-26T22:50:45.890Z,1761519045.890 [DAT](INFO): direction in FSK: [0.972597,0.018675,0.231748]
2025-10-26T22:50:45.890Z,1761519045.890 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:45.894Z,1761519045.894 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=18.970741
2025-10-26T22:50:46.082Z,1761519046.082 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.158611
2025-10-26T22:50:46.138Z,1761519046.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780360,-0.618609,-0.091446],[0.625238,-0.769329,-0.131192],[0.010804,-0.159552,0.987130]]
2025-10-26T22:50:46.160Z,1761519046.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 0.503610 s,
      deltaX: -0.200001 m,
      approachRate: -0.397134 m/s,
      rangeRepo size: 4

2025-10-26T22:50:46.162Z,1761519046.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.163136 m,
      bearing: 144.566953 deg,
      lat: 36.779412 deg,
      lon: -121.859403 deg,
      deltaT: 0.503610 s,
      deltaX: -0.200556 m,
      approachRate: -0.398236 m/s,
      posRepo size: 4

2025-10-26T22:50:46.163Z,1761519046.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m.
2025-10-26T22:50:46.182Z,1761519046.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.163136 m,
      nav range: 26.393930 m,
      bearing: 144.566867 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037934 deg/s,
      cmd heading: 139.453516 deg,
      new cmd heading: 139.393230 deg.

2025-10-26T22:50:46.188Z,1761519046.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432871 target range: 27.163136 and range: 27.30 m.
2025-10-26T22:50:46.338Z,1761519046.338 [DAT](INFO): DAT read: Rx Time:22:50:45.2071 

2025-10-26T22:50:46.338Z,1761519046.338 [DAT](INFO): Rx dataTimestamp_ set to:1761519046.337879
2025-10-26T22:50:46.340Z,1761519046.340 [DAT](INFO): DAT read: Bearing 308.8,  -0.4 (Local)

2025-10-26T22:50:46.341Z,1761519046.341 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.8,  -0.4 (Local)

2025-10-26T22:50:46.344Z,1761519046.344 [DAT](INFO): DAT read: Range 11 to 50 :    27.0 m (trip time 18.0 ms) speed 0.4

2025-10-26T22:50:46.359Z,1761519046.359 [DAT](INFO): DAT read: 22:50:45.2071 LVL= 31376, 32657, 32754, 32755, AGC= 63, IDX= 506,-0.29, 0.068,-1.643, 0.173,-0.085, PHS= 0.255,-1.513, 0.215, RAW= 148.9,  11.9, CAL= 148.7,  13.1, ROT=   1.3, -13.1

2025-10-26T22:50:46.364Z,1761519046.364 [DAT](INFO): got valid direction response:
 22:50:45.2071 LVL= 31376, 32657, 32754, 32755, AGC= 63, IDX= 506,-0.29, 0.068,-1.643, 0.173,-0.085, PHS= 0.255,-1.513, 0.215, RAW= 148.9,  11.9, CAL= 148.7,  13.1, ROT=   1.3, -13.1

2025-10-26T22:50:46.364Z,1761519046.364 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-10-26T22:50:46.365Z,1761519046.365 [DAT](INFO): direction in FSK: [0.973725,0.022097,0.226651]
2025-10-26T22:50:46.365Z,1761519046.365 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:46.371Z,1761519046.371 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.447561
2025-10-26T22:50:46.584Z,1761519046.584 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.661419
2025-10-26T22:50:46.726Z,1761519046.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.504284 s,
      deltaX: -0.299999 m,
      approachRate: -0.594901 m/s,
      rangeRepo size: 4

2025-10-26T22:50:46.733Z,1761519046.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.864639 m,
      bearing: 144.713757 deg,
      lat: 36.779412 deg,
      lon: -121.859403 deg,
      deltaT: 0.504284 s,
      deltaX: -0.298496 m,
      approachRate: -0.591921 m/s,
      posRepo size: 4

2025-10-26T22:50:46.735Z,1761519046.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.86 m.
2025-10-26T22:50:46.742Z,1761519046.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.864639 m,
      nav range: 26.086775 m,
      bearing: 144.552650 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037934 deg/s,
      cmd heading: 139.393233 deg,
      new cmd heading: 139.328904 deg.

2025-10-26T22:50:46.742Z,1761519046.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431748 target range: 26.864639 and range: 27.00 m.
2025-10-26T22:50:46.839Z,1761519046.839 [DAT](INFO): DAT read: Rx Time:22:50:45.7070 

2025-10-26T22:50:46.840Z,1761519046.840 [DAT](INFO): Rx dataTimestamp_ set to:1761519046.839424
2025-10-26T22:50:46.841Z,1761519046.841 [DAT](INFO): DAT read: Bearing 308.5,  -0.2 (Local)

2025-10-26T22:50:46.841Z,1761519046.841 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.5,  -0.2 (Local)

2025-10-26T22:50:46.844Z,1761519046.844 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed 0.4

2025-10-26T22:50:46.848Z,1761519046.848 [DAT](INFO): DAT read: 22:50:45.7070 LVL= 30048, 32753, 32690, 32755, AGC= 63, IDX= 505, 0.06, 2.998, 1.290, 3.102, 2.837, PHS= 0.263,-1.502, 0.221, RAW= 148.8,  11.7, CAL= 148.6,  12.8, ROT=   1.4, -12.8

2025-10-26T22:50:46.849Z,1761519046.849 [DAT](INFO): got valid direction response:
 22:50:45.7070 LVL= 30048, 32753, 32690, 32755, AGC= 63, IDX= 505, 0.06, 2.998, 1.290, 3.102, 2.837, PHS= 0.263,-1.502, 0.221, RAW= 148.8,  11.7, CAL= 148.6,  12.8, ROT=   1.4, -12.8

2025-10-26T22:50:46.850Z,1761519046.850 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-10-26T22:50:46.851Z,1761519046.851 [DAT](INFO): direction in FSK: [0.974858,0.023825,0.221548]
2025-10-26T22:50:46.851Z,1761519046.851 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:46.855Z,1761519046.855 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=19.931543
2025-10-26T22:50:47.089Z,1761519047.089 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.165815
2025-10-26T22:50:47.342Z,1761519047.342 [DAT](INFO): DAT read: Rx Time:22:50:46.2067 

2025-10-26T22:50:47.342Z,1761519047.342 [DAT](INFO): Rx dataTimestamp_ set to:1761519047.342192
2025-10-26T22:50:47.344Z,1761519047.344 [DAT](INFO): DAT read: Bearing 307.9,  -0.2 (Local)

2025-10-26T22:50:47.344Z,1761519047.344 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.9,  -0.2 (Local)

2025-10-26T22:50:47.346Z,1761519047.346 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.4

2025-10-26T22:50:47.351Z,1761519047.351 [DAT](INFO): DAT read: 22:50:46.2067 LVL= 29856, 31025, 32754, 32755, AGC= 63, IDX= 502, 0.46, 1.418,-0.310, 1.527, 1.242, PHS= 0.279,-1.507, 0.241, RAW= 148.9,  11.2, CAL= 148.7,  12.2, ROT=   1.3, -12.2

2025-10-26T22:50:47.352Z,1761519047.352 [DAT](INFO): got valid direction response:
 22:50:46.2067 LVL= 29856, 31025, 32754, 32755, AGC= 63, IDX= 502, 0.46, 1.418,-0.310, 1.527, 1.242, PHS= 0.279,-1.507, 0.241, RAW= 148.9,  11.2, CAL= 148.7,  12.2, ROT=   1.3, -12.2

2025-10-26T22:50:47.353Z,1761519047.353 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-10-26T22:50:47.353Z,1761519047.353 [DAT](INFO): direction in FSK: [0.977164,0.022175,0.211325]
2025-10-26T22:50:47.354Z,1761519047.354 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:47.357Z,1761519047.357 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.434320
2025-10-26T22:50:47.384Z,1761519047.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779455,-0.620095,-0.089061],[0.626312,-0.768293,-0.132136],[0.013512,-0.158774,0.987222]]
2025-10-26T22:50:47.488Z,1761519047.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 1.004313 s,
      deltaX: -0.600000 m,
      approachRate: -0.597424 m/s,
      rangeRepo size: 4

2025-10-26T22:50:47.490Z,1761519047.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.266579 m,
      bearing: 144.474553 deg,
      lat: 36.779412 deg,
      lon: -121.859403 deg,
      deltaT: 1.004313 s,
      deltaX: -0.598061 m,
      approachRate: -0.595492 m/s,
      posRepo size: 4

2025-10-26T22:50:47.491Z,1761519047.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.27 m.
2025-10-26T22:50:47.512Z,1761519047.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.266579 m,
      nav range: 25.662289 m,
      bearing: 144.521078 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037934 deg/s,
      cmd heading: 139.328906 deg,
      new cmd heading: 139.242740 deg.

2025-10-26T22:50:47.523Z,1761519047.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.430244 target range: 26.266579 and range: 26.40 m.
2025-10-26T22:50:47.593Z,1761519047.593 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.669588
2025-10-26T22:50:47.845Z,1761519047.845 [DAT](INFO): DAT read: Rx Time:22:50:46.7066 

2025-10-26T22:50:47.845Z,1761519047.845 [DAT](INFO): Rx dataTimestamp_ set to:1761519047.845129
2025-10-26T22:50:47.847Z,1761519047.847 [DAT](INFO): DAT read: Bearing 309.7,  -0.4 (Local)

2025-10-26T22:50:47.847Z,1761519047.847 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.7,  -0.4 (Local)

2025-10-26T22:50:47.850Z,1761519047.850 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed 0.4

2025-10-26T22:50:47.854Z,1761519047.854 [DAT](INFO): DAT read: 22:50:46.7066 LVL= 32480, 32753, 32754, 32755, AGC= 63, IDX= 501,-0.13, 1.027,-0.672, 1.126, 0.903, PHS= 0.226,-1.530, 0.180, RAW= 148.7,  12.9, CAL= 148.6,  14.2, ROT=   1.4, -14.2

2025-10-26T22:50:47.856Z,1761519047.856 [DAT](INFO): got valid direction response:
 22:50:46.7066 LVL= 32480, 32753, 32754, 32755, AGC= 63, IDX= 501,-0.13, 1.027,-0.672, 1.126, 0.903, PHS= 0.226,-1.530, 0.180, RAW= 148.7,  12.9, CAL= 148.6,  14.2, ROT=   1.4, -14.2

2025-10-26T22:50:47.856Z,1761519047.856 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-10-26T22:50:47.857Z,1761519047.857 [DAT](INFO): direction in FSK: [0.969156,0.023686,0.245307]
2025-10-26T22:50:47.857Z,1761519047.857 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:47.861Z,1761519047.861 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=20.938080
2025-10-26T22:50:47.000Z,1761519048.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778253,-0.621438,-0.090208],[0.627789,-0.766723,-0.134226],[0.014249,-0.161094,0.986836]]
2025-10-26T22:50:48.081Z,1761519048.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.502937 s,
      deltaX: -0.100000 m,
      approachRate: -0.198833 m/s,
      rangeRepo size: 4

2025-10-26T22:50:48.083Z,1761519048.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.164215 m,
      bearing: 144.834771 deg,
      lat: 36.779412 deg,
      lon: -121.859403 deg,
      deltaT: 0.502937 s,
      deltaX: -0.102364 m,
      approachRate: -0.203532 m/s,
      posRepo size: 4

2025-10-26T22:50:48.084Z,1761519048.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.16 m.
2025-10-26T22:50:48.086Z,1761519048.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.164215 m,
      nav range: 25.325464 m,
      bearing: 144.554449 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037934 deg/s,
      cmd heading: 139.242736 deg,
      new cmd heading: 139.174629 deg.

2025-10-26T22:50:48.088Z,1761519048.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.429055 target range: 26.164215 and range: 26.30 m.
2025-10-26T22:50:48.104Z,1761519048.104 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.181450
2025-10-26T22:50:48.357Z,1761519048.357 [DAT](INFO): DAT read: Rx Time:22:50:47.2063 

2025-10-26T22:50:48.357Z,1761519048.357 [DAT](INFO): Rx dataTimestamp_ set to:1761519048.357170
2025-10-26T22:50:48.359Z,1761519048.359 [DAT](INFO): DAT read: Bearing 309.4,  -0.8 (Local)

2025-10-26T22:50:48.359Z,1761519048.359 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.4,  -0.8 (Local)

2025-10-26T22:50:48.361Z,1761519048.361 [DAT](INFO): DAT read: Range 11 to 50 :    25.8 m (trip time 17.2 ms) speed 0.4

2025-10-26T22:50:48.366Z,1761519048.366 [DAT](INFO): DAT read: 22:50:47.2063 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 498, 0.24, 0.951,-0.783, 1.061, 0.823, PHS= 0.229,-1.561, 0.194, RAW= 149.0,  12.8, CAL= 148.9,  14.1, ROT=   1.1, -14.1

2025-10-26T22:50:48.367Z,1761519048.367 [DAT](INFO): got valid direction response:
 22:50:47.2063 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 498, 0.24, 0.951,-0.783, 1.061, 0.823, PHS= 0.229,-1.561, 0.194, RAW= 149.0,  12.8, CAL= 148.9,  14.1, ROT=   1.1, -14.1

2025-10-26T22:50:48.367Z,1761519048.367 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-26T22:50:48.368Z,1761519048.368 [DAT](INFO): direction in FSK: [0.969693,0.018619,0.243615]
2025-10-26T22:50:48.368Z,1761519048.368 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:48.377Z,1761519048.377 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.453842
2025-10-26T22:50:48.444Z,1761519048.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776849,-0.622692,-0.093594],[0.629510,-0.764478,-0.138892],[0.014936,-0.166817,0.985875]]
2025-10-26T22:50:48.587Z,1761519048.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.512041 s,
      deltaX: -0.500000 m,
      approachRate: -0.976484 m/s,
      rangeRepo size: 4

2025-10-26T22:50:48.593Z,1761519048.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.666796 m,
      bearing: 144.475905 deg,
      lat: 36.779412 deg,
      lon: -121.859403 deg,
      deltaT: 0.512041 s,
      deltaX: -0.497419 m,
      approachRate: -0.971444 m/s,
      posRepo size: 4

2025-10-26T22:50:48.593Z,1761519048.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.67 m.
2025-10-26T22:50:48.600Z,1761519048.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.666796 m,
      nav range: 25.035856 m,
      bearing: 144.564200 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037934 deg/s,
      cmd heading: 139.174626 deg,
      new cmd heading: 139.117084 deg.

2025-10-26T22:50:48.604Z,1761519048.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.428051 target range: 25.666796 and range: 25.80 m.
2025-10-26T22:50:48.609Z,1761519048.609 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.685514
2025-10-26T22:50:48.862Z,1761519048.862 [DAT](INFO): DAT read: Rx Time:22:50:47.7063 

2025-10-26T22:50:48.862Z,1761519048.862 [DAT](INFO): Rx dataTimestamp_ set to:1761519048.862128
2025-10-26T22:50:48.864Z,1761519048.864 [DAT](INFO): DAT read: Bearing 310.7,  -1.7 (Local)

2025-10-26T22:50:48.865Z,1761519048.865 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.7,  -1.7 (Local)

2025-10-26T22:50:48.872Z,1761519048.872 [DAT](INFO): DAT read: Range 11 to 50 :    25.8 m (trip time 17.2 ms) speed 0.4

2025-10-26T22:50:48.876Z,1761519048.876 [DAT](INFO): DAT read: 22:50:47.7063 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 498,-0.24,-0.174,-1.891,-0.048,-0.248, PHS= 0.177,-1.597, 0.156, RAW= 149.4,  14.2, CAL= 149.5,  15.8, ROT=   0.5, -15.8

2025-10-26T22:50:48.877Z,1761519048.877 [DAT](INFO): got valid direction response:
 22:50:47.7063 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 498,-0.24,-0.174,-1.891,-0.048,-0.248, PHS= 0.177,-1.597, 0.156, RAW= 149.4,  14.2, CAL= 149.5,  15.8, ROT=   0.5, -15.8

2025-10-26T22:50:48.878Z,1761519048.878 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-10-26T22:50:48.879Z,1761519048.879 [DAT](INFO): direction in FSK: [0.962181,0.008397,0.272280]
2025-10-26T22:50:48.879Z,1761519048.879 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:48.908Z,1761519048.908 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.960176
2025-10-26T22:50:48.947Z,1761519048.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773189,-0.626875,-0.095954],[0.633975,-0.760239,-0.141815],[0.015952,-0.170482,0.985232]]
2025-10-26T22:50:49.080Z,1761519049.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.504958 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:50:49.082Z,1761519049.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.663229 m,
      bearing: 143.918524 deg,
      lat: 36.779412 deg,
      lon: -121.859403 deg,
      deltaT: 0.504958 s,
      deltaX: -0.003567 m,
      approachRate: -0.007063 m/s,
      posRepo size: 4

2025-10-26T22:50:49.082Z,1761519049.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m.
2025-10-26T22:50:49.089Z,1761519049.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.663229 m,
      nav range: 24.719984 m,
      bearing: 144.511866 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037934 deg/s,
      cmd heading: 139.117088 deg,
      new cmd heading: 139.061463 deg.

2025-10-26T22:50:49.090Z,1761519049.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.427080 target range: 25.663229 and range: 25.80 m.
2025-10-26T22:50:49.113Z,1761519049.113 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.189560
2025-10-26T22:50:49.365Z,1761519049.365 [DAT](INFO): DAT read: Rx Time:22:50:48.2060 

2025-10-26T22:50:49.365Z,1761519049.365 [DAT](INFO): Rx dataTimestamp_ set to:1761519049.365074
2025-10-26T22:50:49.367Z,1761519049.367 [DAT](INFO): DAT read: Bearing 310.7,  -1.0 (Local)

2025-10-26T22:50:49.367Z,1761519049.367 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.7,  -1.0 (Local)

2025-10-26T22:50:49.369Z,1761519049.369 [DAT](INFO): DAT read: Range 11 to 50 :    25.4 m (trip time 16.9 ms) speed 0.4

2025-10-26T22:50:49.374Z,1761519049.374 [DAT](INFO): DAT read: 22:50:48.2060 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 495, 0.09, 0.457,-1.268, 0.554, 0.373, PHS= 0.186,-1.595, 0.137, RAW= 148.6,  14.3, CAL= 148.7,  15.9, ROT=   1.3, -15.9

2025-10-26T22:50:49.375Z,1761519049.375 [DAT](INFO): got valid direction response:
 22:50:48.2060 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 495, 0.09, 0.457,-1.268, 0.554, 0.373, PHS= 0.186,-1.595, 0.137, RAW= 148.6,  14.3, CAL= 148.7,  15.9, ROT=   1.3, -15.9

2025-10-26T22:50:49.375Z,1761519049.375 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-10-26T22:50:49.376Z,1761519049.376 [DAT](INFO): direction in FSK: [0.961494,0.021819,0.273959]
2025-10-26T22:50:49.376Z,1761519049.376 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:49.384Z,1761519049.384 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.461033
2025-10-26T22:50:49.422Z,1761519049.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771222,-0.628679,-0.099901],[0.636372,-0.757555,-0.145399],[0.015729,-0.175709,0.984316]]
2025-10-26T22:50:49.489Z,1761519049.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.400000 m,
      deltaT: 0.502946 s,
      deltaX: -0.400000 m,
      approachRate: -0.795313 m/s,
      rangeRepo size: 4

2025-10-26T22:50:49.495Z,1761519049.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.265350 m,
      bearing: 144.632492 deg,
      lat: 36.779414 deg,
      lon: -121.859404 deg,
      deltaT: 0.502946 s,
      deltaX: -0.397879 m,
      approachRate: -0.791096 m/s,
      posRepo size: 4

2025-10-26T22:50:49.496Z,1761519049.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.27 m.
2025-10-26T22:50:49.499Z,1761519049.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.265350 m,
      nav range: 24.336464 m,
      bearing: 144.456801 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037934 deg/s,
      cmd heading: 139.061463 deg,
      new cmd heading: 139.014374 deg.

2025-10-26T22:50:49.504Z,1761519049.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.426259 target range: 25.265350 and range: 25.40 m.
2025-10-26T22:50:49.617Z,1761519049.617 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.694153
2025-10-26T22:50:49.869Z,1761519049.869 [DAT](INFO): DAT read: Rx Time:22:50:48.7059 

2025-10-26T22:50:49.869Z,1761519049.869 [DAT](INFO): Rx dataTimestamp_ set to:1761519049.869179
2025-10-26T22:50:49.871Z,1761519049.871 [DAT](INFO): DAT read: Bearing 308.2,   0.7 (Local)

2025-10-26T22:50:49.871Z,1761519049.871 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.2,   0.7 (Local)

2025-10-26T22:50:49.877Z,1761519049.877 [DAT](INFO): DAT read: Range 11 to 50 :    25.2 m (trip time 16.8 ms) speed 0.4

2025-10-26T22:50:49.882Z,1761519049.882 [DAT](INFO): DAT read: 22:50:48.7059 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510, 0.50, 1.718,-0.026, 1.775, 1.544, PHS= 0.276,-1.525, 0.187, RAW= 147.5,  12.1, CAL= 147.3,  13.2, ROT=   2.7, -13.2

2025-10-26T22:50:49.883Z,1761519049.883 [DAT](INFO): got valid direction response:
 22:50:48.7059 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510, 0.50, 1.718,-0.026, 1.775, 1.544, PHS= 0.276,-1.525, 0.187, RAW= 147.5,  12.1, CAL= 147.3,  13.2, ROT=   2.7, -13.2

2025-10-26T22:50:49.884Z,1761519049.884 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-10-26T22:50:49.885Z,1761519049.885 [DAT](INFO): direction in FSK: [0.972498,0.045862,0.228351]
2025-10-26T22:50:49.885Z,1761519049.885 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:49.889Z,1761519049.889 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.965618
2025-10-26T22:50:49.890Z,1761519049.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769313,-0.630181,-0.105019],[0.638694,-0.754756,-0.149713],[0.015083,-0.182251,0.983136]]
2025-10-26T22:50:50.110Z,1761519050.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 0.504105 s,
      deltaX: -0.199999 m,
      approachRate: -0.396740 m/s,
      rangeRepo size: 4

2025-10-26T22:50:50.116Z,1761519050.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.065447 m,
      bearing: 145.413215 deg,
      lat: 36.779414 deg,
      lon: -121.859404 deg,
      deltaT: 0.504105 s,
      deltaX: -0.199903 m,
      approachRate: -0.396551 m/s,
      posRepo size: 4

2025-10-26T22:50:50.117Z,1761519050.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m.
2025-10-26T22:50:50.121Z,1761519050.121 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.197531
2025-10-26T22:50:50.122Z,1761519050.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.065447 m,
      nav range: 24.020439 m,
      bearing: 144.470678 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037934 deg/s,
      cmd heading: 139.014376 deg,
      new cmd heading: 138.943760 deg.

2025-10-26T22:50:50.123Z,1761519050.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.425026 target range: 25.065447 and range: 25.20 m.
2025-10-26T22:50:50.373Z,1761519050.373 [DAT](INFO): DAT read: Rx Time:22:50:49.2057 

2025-10-26T22:50:50.374Z,1761519050.374 [DAT](INFO): Rx dataTimestamp_ set to:1761519050.373512
2025-10-26T22:50:50.375Z,1761519050.375 [DAT](INFO): DAT read: Bearing 308.7,   1.1 (Local)

2025-10-26T22:50:50.375Z,1761519050.375 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.7,   1.1 (Local)

2025-10-26T22:50:50.378Z,1761519050.378 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed 0.4

2025-10-26T22:50:50.382Z,1761519050.382 [DAT](INFO): DAT read: 22:50:49.2057 LVL= 31088, 32753, 32754, 32755, AGC= 63, IDX= 508,-0.14,-0.266,-1.996,-0.228,-0.430, PHS= 0.265,-1.522, 0.158, RAW= 146.9,  12.6, CAL= 146.7,  13.8, ROT=   3.3, -13.8

2025-10-26T22:50:50.384Z,1761519050.384 [DAT](INFO): got valid direction response:
 22:50:49.2057 LVL= 31088, 32753, 32754, 32755, AGC= 63, IDX= 508,-0.14,-0.266,-1.996,-0.228,-0.430, PHS= 0.265,-1.522, 0.158, RAW= 146.9,  12.6, CAL= 146.7,  13.8, ROT=   3.3, -13.8

2025-10-26T22:50:50.384Z,1761519050.384 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-10-26T22:50:50.385Z,1761519050.385 [DAT](INFO): direction in FSK: [0.969524,0.055902,0.238533]
2025-10-26T22:50:50.385Z,1761519050.385 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:50.389Z,1761519050.389 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.465937
2025-10-26T22:50:50.397Z,1761519050.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767180,-0.632206,-0.108398],[0.641280,-0.752284,-0.151090],[0.013974,-0.185427,0.982559]]
2025-10-26T22:50:50.457Z,1761519050.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.504333 s,
      deltaX: -0.300001 m,
      approachRate: -0.594847 m/s,
      rangeRepo size: 4

2025-10-26T22:50:50.464Z,1761519050.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.767048 m,
      bearing: 145.967536 deg,
      lat: 36.779414 deg,
      lon: -121.859406 deg,
      deltaT: 0.504333 s,
      deltaX: -0.298399 m,
      approachRate: -0.591671 m/s,
      posRepo size: 4

2025-10-26T22:50:50.464Z,1761519050.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m.
2025-10-26T22:50:50.467Z,1761519050.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.767048 m,
      nav range: 23.790106 m,
      bearing: 144.681266 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037934 deg/s,
      cmd heading: 138.943765 deg,
      new cmd heading: 138.904192 deg.

2025-10-26T22:50:50.480Z,1761519050.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.424335 target range: 24.767048 and range: 24.90 m.
2025-10-26T22:50:50.625Z,1761519050.625 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.701586
2025-10-26T22:50:50.838Z,1761519050.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765388,-0.633682,-0.112374],[0.643445,-0.750055,-0.152959],[0.012641,-0.189380,0.981823]]
2025-10-26T22:50:50.877Z,1761519050.877 [DAT](INFO): DAT read: Rx Time:22:50:49.7056 

2025-10-26T22:50:50.877Z,1761519050.877 [DAT](INFO): Rx dataTimestamp_ set to:1761519050.877030
2025-10-26T22:50:50.879Z,1761519050.879 [DAT](INFO): DAT read: Bearing 309.7,   0.7 (Local)

2025-10-26T22:50:50.879Z,1761519050.879 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.7,   0.7 (Local)

2025-10-26T22:50:50.881Z,1761519050.881 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed 0.4

2025-10-26T22:50:50.886Z,1761519050.886 [DAT](INFO): DAT read: 22:50:49.7056 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507, 0.10, 2.939, 1.209, 2.976, 2.808, PHS= 0.234,-1.554, 0.124, RAW= 146.9,  13.7, CAL= 146.7,  15.0, ROT=   3.3, -15.0

2025-10-26T22:50:50.887Z,1761519050.887 [DAT](INFO): got valid direction response:
 22:50:49.7056 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507, 0.10, 2.939, 1.209, 2.976, 2.808, PHS= 0.234,-1.554, 0.124, RAW= 146.9,  13.7, CAL= 146.7,  15.0, ROT=   3.3, -15.0

2025-10-26T22:50:50.887Z,1761519050.887 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-10-26T22:50:50.888Z,1761519050.888 [DAT](INFO): direction in FSK: [0.964324,0.055603,0.258819]
2025-10-26T22:50:50.888Z,1761519050.888 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:50.901Z,1761519050.901 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.976942
2025-10-26T22:50:51.002Z,1761519051.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.503518 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:50:51.005Z,1761519051.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.766699 m,
      bearing: 146.099770 deg,
      lat: 36.779409 deg,
      lon: -121.859406 deg,
      deltaT: 0.503518 s,
      deltaX: -0.000349 m,
      approachRate: -0.000693 m/s,
      posRepo size: 4

2025-10-26T22:50:51.005Z,1761519051.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m.
2025-10-26T22:50:51.022Z,1761519051.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.766699 m,
      nav range: 23.955471 m,
      bearing: 145.415430 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037934 deg/s,
      cmd heading: 138.904191 deg,
      new cmd heading: 138.842152 deg.

2025-10-26T22:50:51.038Z,1761519051.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.423253 target range: 24.766699 and range: 24.90 m.
2025-10-26T22:50:51.129Z,1761519051.129 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.206184
2025-10-26T22:50:51.369Z,1761519051.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762334,-0.636641,-0.116337],[0.647108,-0.747083,-0.152046],[0.009885,-0.191192,0.981503]]
2025-10-26T22:50:51.381Z,1761519051.381 [DAT](INFO): DAT read: Rx Time:22:50:50.2053 

2025-10-26T22:50:51.382Z,1761519051.382 [DAT](INFO): Rx dataTimestamp_ set to:1761519051.381294
2025-10-26T22:50:51.383Z,1761519051.383 [DAT](INFO): DAT read: Bearing 310.4,   1.0 (Local)

2025-10-26T22:50:51.383Z,1761519051.383 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.4,   1.0 (Local)

2025-10-26T22:50:51.385Z,1761519051.385 [DAT](INFO): DAT read: Range 11 to 50 :    24.5 m (trip time 16.3 ms) speed 0.4

2025-10-26T22:50:51.394Z,1761519051.394 [DAT](INFO): DAT read: 22:50:50.2053 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504, 0.46, 1.562,-0.159, 1.582, 1.443, PHS= 0.221,-1.557, 0.095, RAW= 146.4,  14.3, CAL= 146.2,  15.7, ROT=   3.8, -15.7

2025-10-26T22:50:51.395Z,1761519051.395 [DAT](INFO): got valid direction response:
 22:50:50.2053 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504, 0.46, 1.562,-0.159, 1.582, 1.443, PHS= 0.221,-1.557, 0.095, RAW= 146.4,  14.3, CAL= 146.2,  15.7, ROT=   3.8, -15.7

2025-10-26T22:50:51.396Z,1761519051.396 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-10-26T22:50:51.397Z,1761519051.397 [DAT](INFO): direction in FSK: [0.960575,0.063801,0.270600]
2025-10-26T22:50:51.397Z,1761519051.397 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:51.425Z,1761519051.425 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.502256
2025-10-26T22:50:51.436Z,1761519051.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.500000 m,
      deltaT: 0.504264 s,
      deltaX: -0.400000 m,
      approachRate: -0.793235 m/s,
      rangeRepo size: 4

2025-10-26T22:50:51.438Z,1761519051.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.368841 m,
      bearing: 146.481141 deg,
      lat: 36.779409 deg,
      lon: -121.859408 deg,
      deltaT: 0.504264 s,
      deltaX: -0.397858 m,
      approachRate: -0.788987 m/s,
      posRepo size: 4

2025-10-26T22:50:51.439Z,1761519051.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.37 m.
2025-10-26T22:50:51.458Z,1761519051.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.368841 m,
      nav range: 23.603329 m,
      bearing: 145.909388 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037934 deg/s,
      cmd heading: 138.842146 deg,
      new cmd heading: 138.793314 deg.

2025-10-26T22:50:51.458Z,1761519051.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.422400 target range: 24.368841 and range: 24.50 m.
2025-10-26T22:50:51.633Z,1761519051.633 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.709520
2025-10-26T22:50:51.774Z,1761519051.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761024,-0.638320,-0.115714],[0.648670,-0.746463,-0.148394],[0.008347,-0.187992,0.982135]]
2025-10-26T22:50:51.885Z,1761519051.885 [DAT](INFO): DAT read: Rx Time:22:50:50.7052 

2025-10-26T22:50:51.886Z,1761519051.886 [DAT](INFO): Rx dataTimestamp_ set to:1761519051.885282
2025-10-26T22:50:51.887Z,1761519051.887 [DAT](INFO): DAT read: Bearing 310.5,   1.1 (Local)

2025-10-26T22:50:51.887Z,1761519051.887 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.5,   1.1 (Local)

2025-10-26T22:50:51.889Z,1761519051.889 [DAT](INFO): DAT read: Range 11 to 50 :    24.3 m (trip time 16.2 ms) speed 0.4

2025-10-26T22:50:51.894Z,1761519051.894 [DAT](INFO): DAT read: 22:50:50.7052 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 503,-0.11, 0.218,-1.488, 0.233, 0.102, PHS= 0.218,-1.545, 0.086, RAW= 146.2,  14.5, CAL= 145.9,  15.9, ROT=   4.1, -15.9

2025-10-26T22:50:51.899Z,1761519051.899 [DAT](INFO): got valid direction response:
 22:50:50.7052 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 503,-0.11, 0.218,-1.488, 0.233, 0.102, PHS= 0.218,-1.545, 0.086, RAW= 146.2,  14.5, CAL= 145.9,  15.9, ROT=   4.1, -15.9

2025-10-26T22:50:51.899Z,1761519051.899 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-10-26T22:50:51.900Z,1761519051.900 [DAT](INFO): direction in FSK: [0.959280,0.068762,0.273959]
2025-10-26T22:50:51.901Z,1761519051.901 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:51.913Z,1761519051.913 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.989553
2025-10-26T22:50:51.948Z,1761519051.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.503988 s,
      deltaX: -0.200001 m,
      approachRate: -0.396836 m/s,
      rangeRepo size: 4

2025-10-26T22:50:51.950Z,1761519051.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.169769 m,
      bearing: 146.646643 deg,
      lat: 36.779408 deg,
      lon: -121.859409 deg,
      deltaT: 0.503988 s,
      deltaX: -0.199072 m,
      approachRate: -0.394993 m/s,
      posRepo size: 4

2025-10-26T22:50:51.951Z,1761519051.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m.
2025-10-26T22:50:51.958Z,1761519051.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.169769 m,
      nav range: 23.376009 m,
      bearing: 146.054721 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037934 deg/s,
      cmd heading: 138.793310 deg,
      new cmd heading: 138.735036 deg.

2025-10-26T22:50:51.959Z,1761519051.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421383 target range: 24.169769 and range: 24.30 m.
2025-10-26T22:50:52.137Z,1761519052.137 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.213528
2025-10-26T22:50:52.277Z,1761519052.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759725,-0.640081,-0.114515],[0.650212,-0.746063,-0.143576],[0.006465,-0.183537,0.982992]]
2025-10-26T22:50:52.346Z,1761519052.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:50:52.352Z,1761519052.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m.
2025-10-26T22:50:52.355Z,1761519052.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.169769 m,
      nav range: 23.178413 m,
      bearing: 146.052404 deg,
      approach rate: -0.482874 m/s,
      LOS rate: -0.005710 deg/s,
      cmd heading: 138.735035 deg,
      new cmd heading: 138.728025 deg.

2025-10-26T22:50:52.360Z,1761519052.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421261 target range: 24.169769 and range: 24.30 m.
2025-10-26T22:50:52.391Z,1761519052.391 [DAT](INFO): DAT read: Rx Time:22:50:51.2049 

2025-10-26T22:50:52.392Z,1761519052.392 [DAT](INFO): Rx dataTimestamp_ set to:1761519052.391324
2025-10-26T22:50:52.393Z,1761519052.393 [DAT](INFO): DAT read: Bearing 309.2,   1.2 (Local)

2025-10-26T22:50:52.393Z,1761519052.393 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.2,   1.2 (Local)

2025-10-26T22:50:52.396Z,1761519052.396 [DAT](INFO): DAT read: Range 11 to 50 :    23.9 m (trip time 15.9 ms) speed 0.4

2025-10-26T22:50:52.400Z,1761519052.400 [DAT](INFO): DAT read: 22:50:51.2049 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 500, 0.25, 0.726,-1.043, 0.743, 0.570, PHS= 0.258,-1.567, 0.129, RAW= 146.4,  13.3, CAL= 146.1,  14.6, ROT=   3.9, -14.6

2025-10-26T22:50:52.402Z,1761519052.402 [DAT](INFO): got valid direction response:
 22:50:51.2049 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 500, 0.25, 0.726,-1.043, 0.743, 0.570, PHS= 0.258,-1.567, 0.129, RAW= 146.4,  13.3, CAL= 146.1,  14.6, ROT=   3.9, -14.6

2025-10-26T22:50:52.402Z,1761519052.402 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-10-26T22:50:52.404Z,1761519052.404 [DAT](INFO): direction in FSK: [0.965468,0.065819,0.252069]
2025-10-26T22:50:52.405Z,1761519052.405 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:52.410Z,1761519052.410 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.487167
2025-10-26T22:50:52.641Z,1761519052.641 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.717896
2025-10-26T22:50:52.675Z,1761519052.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758654,-0.641566,-0.113302],[0.651475,-0.745760,-0.139364],[0.004915,-0.179542,0.983738]]
2025-10-26T22:50:52.785Z,1761519052.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.900000 m,
      deltaT: 0.506042 s,
      deltaX: -0.400000 m,
      approachRate: -0.790447 m/s,
      rangeRepo size: 4

2025-10-26T22:50:52.793Z,1761519052.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.771912 m,
      bearing: 145.854670 deg,
      lat: 36.779408 deg,
      lon: -121.859409 deg,
      deltaT: 0.506042 s,
      deltaX: -0.397858 m,
      approachRate: -0.786215 m/s,
      posRepo size: 4

2025-10-26T22:50:52.796Z,1761519052.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.77 m.
2025-10-26T22:50:52.831Z,1761519052.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.771912 m,
      nav range: 23.007994 m,
      bearing: 146.089775 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005710 deg/s,
      cmd heading: 138.728027 deg,
      new cmd heading: 138.720691 deg.

2025-10-26T22:50:52.837Z,1761519052.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421133 target range: 23.771912 and range: 23.90 m.
2025-10-26T22:50:52.894Z,1761519052.894 [DAT](INFO): DAT read: Rx Time:22:50:51.7049 

2025-10-26T22:50:52.895Z,1761519052.895 [DAT](INFO): Rx dataTimestamp_ set to:1761519052.894204
2025-10-26T22:50:52.897Z,1761519052.897 [DAT](INFO): DAT read: Bearing 308.7,   1.4 (Local)

2025-10-26T22:50:52.898Z,1761519052.898 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.7,   1.4 (Local)

2025-10-26T22:50:52.914Z,1761519052.914 [DAT](INFO): DAT read: Range 11 to 50 :    23.9 m (trip time 15.9 ms) speed 0.4

2025-10-26T22:50:52.943Z,1761519052.943 [DAT](INFO): DAT read: 22:50:51.7049 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500,-0.17,-1.099,-2.857,-1.084,-1.268, PHS= 0.271,-1.544, 0.140, RAW= 146.3,  12.9, CAL= 146.0,  14.1, ROT=   4.0, -14.1

2025-10-26T22:50:52.953Z,1761519052.953 [DAT](INFO): got valid direction response:
 22:50:51.7049 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500,-0.17,-1.099,-2.857,-1.084,-1.268, PHS= 0.271,-1.544, 0.140, RAW= 146.3,  12.9, CAL= 146.0,  14.1, ROT=   4.0, -14.1

2025-10-26T22:50:52.954Z,1761519052.954 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-10-26T22:50:52.955Z,1761519052.955 [DAT](INFO): direction in FSK: [0.967509,0.067655,0.243615]
2025-10-26T22:50:52.955Z,1761519052.955 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:52.963Z,1761519052.963 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.039871
2025-10-26T22:50:53.145Z,1761519053.145 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.221561
2025-10-26T22:50:53.139Z,1761519053.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757521,-0.642998,-0.112765],[0.652802,-0.745205,-0.136088],[0.003471,-0.176703,0.984258]]
2025-10-26T22:50:53.189Z,1761519053.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.900000 m,
      deltaT: 0.502880 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:50:53.191Z,1761519053.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.771950 m,
      bearing: 145.716986 deg,
      lat: 36.779408 deg,
      lon: -121.859408 deg,
      deltaT: 0.502880 s,
      deltaX: 0.000038 m,
      approachRate: 0.000076 m/s,
      posRepo size: 4

2025-10-26T22:50:53.196Z,1761519053.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.77 m.
2025-10-26T22:50:53.201Z,1761519053.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.771950 m,
      nav range: 22.896578 m,
      bearing: 146.095341 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005710 deg/s,
      cmd heading: 138.720691 deg,
      new cmd heading: 138.713705 deg.

2025-10-26T22:50:53.202Z,1761519053.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421011 target range: 23.771950 and range: 23.90 m.
2025-10-26T22:50:53.397Z,1761519053.397 [DAT](INFO): DAT read: Rx Time:22:50:52.2046 

2025-10-26T22:50:53.397Z,1761519053.397 [DAT](INFO): Rx dataTimestamp_ set to:1761519053.397138
2025-10-26T22:50:53.399Z,1761519053.399 [DAT](INFO): DAT read: Bearing 309.6,   1.4 (Local)

2025-10-26T22:50:53.399Z,1761519053.399 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.6,   1.4 (Local)

2025-10-26T22:50:53.401Z,1761519053.401 [DAT](INFO): DAT read: Range 11 to 50 :    23.4 m (trip time 15.6 ms) speed 0.4

2025-10-26T22:50:53.406Z,1761519053.406 [DAT](INFO): DAT read: 22:50:52.2046 LVL= 31872, 32753, 32754, 32755, AGC= 63, IDX= 497, 0.13,-0.265,-1.993,-0.255,-0.407, PHS= 0.244,-1.541, 0.108, RAW= 146.1,  13.7, CAL= 145.8,  15.0, ROT=   4.2, -15.0

2025-10-26T22:50:53.407Z,1761519053.407 [DAT](INFO): got valid direction response:
 22:50:52.2046 LVL= 31872, 32753, 32754, 32755, AGC= 63, IDX= 497, 0.13,-0.265,-1.993,-0.255,-0.407, PHS= 0.244,-1.541, 0.108, RAW= 146.1,  13.7, CAL= 145.8,  15.0, ROT=   4.2, -15.0

2025-10-26T22:50:53.407Z,1761519053.407 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-10-26T22:50:53.408Z,1761519053.408 [DAT](INFO): direction in FSK: [0.963332,0.070743,0.258819]
2025-10-26T22:50:53.409Z,1761519053.409 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:53.428Z,1761519053.428 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.504818
2025-10-26T22:50:53.651Z,1761519053.651 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.727629
2025-10-26T22:50:53.675Z,1761519053.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 0.502934 s,
      deltaX: -0.500000 m,
      approachRate: -0.994166 m/s,
      rangeRepo size: 4

2025-10-26T22:50:53.681Z,1761519053.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.274628 m,
      bearing: 146.081423 deg,
      lat: 36.779408 deg,
      lon: -121.859409 deg,
      deltaT: 0.502934 s,
      deltaX: -0.497322 m,
      approachRate: -0.988842 m/s,
      posRepo size: 4

2025-10-26T22:50:53.682Z,1761519053.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m.
2025-10-26T22:50:53.686Z,1761519053.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.274628 m,
      nav range: 22.604490 m,
      bearing: 146.154033 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005710 deg/s,
      cmd heading: 138.713711 deg,
      new cmd heading: 138.705384 deg.

2025-10-26T22:50:53.687Z,1761519053.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420866 target range: 23.274628 and range: 23.40 m.
2025-10-26T22:50:53.901Z,1761519053.901 [DAT](INFO): DAT read: Rx Time:22:50:52.7045 

2025-10-26T22:50:53.901Z,1761519053.901 [DAT](INFO): Rx dataTimestamp_ set to:1761519053.901051
2025-10-26T22:50:53.903Z,1761519053.903 [DAT](INFO): DAT read: Bearing 305.6,   3.3 (Local)

2025-10-26T22:50:53.903Z,1761519053.903 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.6,   3.3 (Local)

2025-10-26T22:50:53.909Z,1761519053.909 [DAT](INFO): DAT read: Range 11 to 50 :    23.3 m (trip time 15.5 ms) speed 0.4

2025-10-26T22:50:53.913Z,1761519053.913 [DAT](INFO): DAT read: 22:50:52.7045 LVL= 31920, 32753, 32754, 32755, AGC= 62, IDX= 513,-0.31,-0.492,-2.337,-0.521,-0.785, PHS= 0.396,-1.507, 0.220, RAW= 145.2,   9.8, CAL= 144.8,  10.7, ROT=   5.2, -10.7

2025-10-26T22:50:53.915Z,1761519053.915 [DAT](INFO): got valid direction response:
 22:50:52.7045 LVL= 31920, 32753, 32754, 32755, AGC= 62, IDX= 513,-0.31,-0.492,-2.337,-0.521,-0.785, PHS= 0.396,-1.507, 0.220, RAW= 145.2,   9.8, CAL= 144.8,  10.7, ROT=   5.2, -10.7

2025-10-26T22:50:53.915Z,1761519053.915 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-10-26T22:50:53.919Z,1761519053.919 [DAT](INFO): direction in FSK: [0.978569,0.089057,0.185667]
2025-10-26T22:50:53.919Z,1761519053.919 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:53.943Z,1761519053.943 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.019943
2025-10-26T22:50:54.061Z,1761519054.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755674,-0.645664,-0.109886],[0.654946,-0.744551,-0.129187],[0.001596,-0.169593,0.985513]]
2025-10-26T22:50:54.127Z,1761519054.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.299999 m,
      deltaT: 0.503913 s,
      deltaX: -0.100000 m,
      approachRate: -0.198448 m/s,
      rangeRepo size: 4

2025-10-26T22:50:54.129Z,1761519054.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.175335 m,
      bearing: 146.034422 deg,
      lat: 36.779408 deg,
      lon: -121.859408 deg,
      deltaT: 0.503913 s,
      deltaX: -0.099293 m,
      approachRate: -0.197043 m/s,
      posRepo size: 4

2025-10-26T22:50:54.129Z,1761519054.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.18 m.
2025-10-26T22:50:54.152Z,1761519054.152 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.229479
2025-10-26T22:50:54.154Z,1761519054.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.175335 m,
      nav range: 22.500340 m,
      bearing: 145.928309 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005710 deg/s,
      cmd heading: 138.705378 deg,
      new cmd heading: 138.697643 deg.

2025-10-26T22:50:54.155Z,1761519054.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420731 target range: 23.175335 and range: 23.30 m.
2025-10-26T22:50:54.405Z,1761519054.405 [DAT](INFO): DAT read: Rx Time:22:50:53.2043 

2025-10-26T22:50:54.405Z,1761519054.405 [DAT](INFO): Rx dataTimestamp_ set to:1761519054.405155
2025-10-26T22:50:54.407Z,1761519054.407 [DAT](INFO): DAT read: Bearing 308.7,   1.7 (Local)

2025-10-26T22:50:54.407Z,1761519054.407 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.7,   1.7 (Local)

2025-10-26T22:50:54.409Z,1761519054.409 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed 0.4

2025-10-26T22:50:54.414Z,1761519054.414 [DAT](INFO): DAT read: 22:50:53.2043 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510, 0.14,-1.163,-2.920,-1.153,-1.336, PHS= 0.275,-1.539, 0.139, RAW= 146.1,  12.8, CAL= 145.9,  14.0, ROT=   4.1, -14.0

2025-10-26T22:50:54.415Z,1761519054.415 [DAT](INFO): got valid direction response:
 22:50:53.2043 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510, 0.14,-1.163,-2.920,-1.153,-1.336, PHS= 0.275,-1.539, 0.139, RAW= 146.1,  12.8, CAL= 145.9,  14.0, ROT=   4.1, -14.0

2025-10-26T22:50:54.415Z,1761519054.415 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-10-26T22:50:54.416Z,1761519054.416 [DAT](INFO): direction in FSK: [0.967813,0.069374,0.241922]
2025-10-26T22:50:54.416Z,1761519054.416 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:54.449Z,1761519054.448 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.525511
2025-10-26T22:50:54.507Z,1761519054.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755379,-0.645934,-0.110322],[0.655287,-0.744287,-0.128981],[0.001202,-0.169722,0.985491]]
2025-10-26T22:50:54.583Z,1761519054.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.504104 s,
      deltaX: -0.299999 m,
      approachRate: -0.595114 m/s,
      rangeRepo size: 4

2025-10-26T22:50:54.610Z,1761519054.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.876940 m,
      bearing: 145.511198 deg,
      lat: 36.779408 deg,
      lon: -121.859406 deg,
      deltaT: 0.504104 s,
      deltaX: -0.298395 m,
      approachRate: -0.591932 m/s,
      posRepo size: 4

2025-10-26T22:50:54.614Z,1761519054.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.88 m.
2025-10-26T22:50:54.643Z,1761519054.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.876940 m,
      nav range: 22.315077 m,
      bearing: 145.580973 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005710 deg/s,
      cmd heading: 138.697646 deg,
      new cmd heading: 138.689829 deg.

2025-10-26T22:50:54.657Z,1761519054.657 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.733528
2025-10-26T22:50:54.651Z,1761519054.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420594 target range: 22.876940 and range: 23.00 m.
2025-10-26T22:50:54.910Z,1761519054.910 [DAT](INFO): DAT read: Rx Time:22:50:53.7042 

2025-10-26T22:50:54.911Z,1761519054.911 [DAT](INFO): Rx dataTimestamp_ set to:1761519054.910575
2025-10-26T22:50:54.913Z,1761519054.913 [DAT](INFO): DAT read: Bearing 309.7,   1.3 (Local)

2025-10-26T22:50:54.913Z,1761519054.913 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.7,   1.3 (Local)

2025-10-26T22:50:54.916Z,1761519054.916 [DAT](INFO): DAT read: Range 11 to 50 :    22.8 m (trip time 15.2 ms) speed 0.4

2025-10-26T22:50:54.922Z,1761519054.922 [DAT](INFO): DAT read: 22:50:53.7042 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510,-0.27,-1.628, 2.908,-1.611,-1.767, PHS= 0.241,-1.563, 0.112, RAW= 146.3,  13.8, CAL= 146.1,  15.1, ROT=   3.9, -15.1

2025-10-26T22:50:54.924Z,1761519054.924 [DAT](INFO): got valid direction response:
 22:50:53.7042 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510,-0.27,-1.628, 2.908,-1.611,-1.767, PHS= 0.241,-1.563, 0.112, RAW= 146.3,  13.8, CAL= 146.1,  15.1, ROT=   3.9, -15.1

2025-10-26T22:50:54.924Z,1761519054.924 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-10-26T22:50:54.925Z,1761519054.925 [DAT](INFO): direction in FSK: [0.963237,0.065667,0.260505]
2025-10-26T22:50:54.925Z,1761519054.925 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:54.963Z,1761519054.963 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.040154
2025-10-26T22:50:55.006Z,1761519055.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754557,-0.647163,-0.108734],[0.656232,-0.743727,-0.127397],[0.001578,-0.167484,0.985874]]
2025-10-26T22:50:55.121Z,1761519055.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 0.505420 s,
      deltaX: -0.200001 m,
      approachRate: -0.395712 m/s,
      rangeRepo size: 4

2025-10-26T22:50:55.127Z,1761519055.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.679810 m,
      bearing: 145.408478 deg,
      lat: 36.779409 deg,
      lon: -121.859406 deg,
      deltaT: 0.505420 s,
      deltaX: -0.197130 m,
      approachRate: -0.390032 m/s,
      posRepo size: 4

2025-10-26T22:50:55.128Z,1761519055.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.68 m.
2025-10-26T22:50:55.131Z,1761519055.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.679810 m,
      nav range: 22.019854 m,
      bearing: 145.488698 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005710 deg/s,
      cmd heading: 138.689832 deg,
      new cmd heading: 138.680610 deg.

2025-10-26T22:50:55.136Z,1761519055.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420433 target range: 22.679810 and range: 22.80 m.
2025-10-26T22:50:55.161Z,1761519055.161 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.237541
2025-10-26T22:50:55.413Z,1761519055.413 [DAT](INFO): DAT read: Rx Time:22:50:54.2041 

2025-10-26T22:50:55.414Z,1761519055.414 [DAT](INFO): Rx dataTimestamp_ set to:1761519055.413487
2025-10-26T22:50:55.415Z,1761519055.415 [DAT](INFO): DAT read: Bearing 312.0,  -0.3 (Local)

2025-10-26T22:50:55.415Z,1761519055.415 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.0,  -0.3 (Local)

2025-10-26T22:50:55.418Z,1761519055.418 [DAT](INFO): DAT read: Range 11 to 50 :    22.5 m (trip time 15.0 ms) speed 0.4

2025-10-26T22:50:55.422Z,1761519055.422 [DAT](INFO): DAT read: 22:50:54.2041 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 507, 0.09,-0.855,-2.579,-0.802,-0.909, PHS= 0.156,-1.625, 0.063, RAW= 147.3,  16.0, CAL= 147.3,  17.6, ROT=   2.7, -17.6

2025-10-26T22:50:55.436Z,1761519055.436 [DAT](INFO): got valid direction response:
 22:50:54.2041 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 507, 0.09,-0.855,-2.579,-0.802,-0.909, PHS= 0.156,-1.625, 0.063, RAW= 147.3,  16.0, CAL= 147.3,  17.6, ROT=   2.7, -17.6

2025-10-26T22:50:55.436Z,1761519055.436 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-10-26T22:50:55.437Z,1761519055.437 [DAT](INFO): direction in FSK: [0.952133,0.044901,0.302370]
2025-10-26T22:50:55.438Z,1761519055.438 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:55.441Z,1761519055.441 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.518326
2025-10-26T22:50:55.544Z,1761519055.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 0.502912 s,
      deltaX: -0.299999 m,
      approachRate: -0.596524 m/s,
      rangeRepo size: 4

2025-10-26T22:50:55.546Z,1761519055.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.381392 m,
      bearing: 144.682008 deg,
      lat: 36.779409 deg,
      lon: -121.859406 deg,
      deltaT: 0.502912 s,
      deltaX: -0.298418 m,
      approachRate: -0.593380 m/s,
      posRepo size: 4

2025-10-26T22:50:55.546Z,1761519055.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.38 m.
2025-10-26T22:50:55.561Z,1761519055.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.381392 m,
      nav range: 21.820126 m,
      bearing: 145.483701 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005710 deg/s,
      cmd heading: 138.680612 deg,
      new cmd heading: 138.673376 deg.

2025-10-26T22:50:55.562Z,1761519055.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420307 target range: 22.381392 and range: 22.50 m.
2025-10-26T22:50:55.668Z,1761519055.668 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.744751
2025-10-26T22:50:55.892Z,1761519055.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754661,-0.647251,-0.107482],[0.656109,-0.743757,-0.127853],[0.002812,-0.167006,0.985952]]
2025-10-26T22:50:55.917Z,1761519055.917 [DAT](INFO): DAT read: Rx Time:22:50:54.7039 

2025-10-26T22:50:55.917Z,1761519055.917 [DAT](INFO): Rx dataTimestamp_ set to:1761519055.917204
2025-10-26T22:50:55.919Z,1761519055.919 [DAT](INFO): DAT read: Bearing 313.4,  -0.8 (Local)

2025-10-26T22:50:55.919Z,1761519055.919 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.4,  -0.8 (Local)

2025-10-26T22:50:55.921Z,1761519055.921 [DAT](INFO): DAT read: Range 11 to 50 :    22.2 m (trip time 14.8 ms) speed 0.4

2025-10-26T22:50:55.926Z,1761519055.926 [DAT](INFO): DAT read: 22:50:54.7039 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 506,-0.42,-1.620, 2.923,-1.557,-1.631, PHS= 0.114,-1.684, 0.031, RAW= 147.7,  17.2, CAL= 147.8,  19.1, ROT=   2.2, -19.1

2025-10-26T22:50:55.927Z,1761519055.927 [DAT](INFO): got valid direction response:
 22:50:54.7039 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 506,-0.42,-1.620, 2.923,-1.557,-1.631, PHS= 0.114,-1.684, 0.031, RAW= 147.7,  17.2, CAL= 147.8,  19.1, ROT=   2.2, -19.1

2025-10-26T22:50:55.928Z,1761519055.928 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-26T22:50:55.929Z,1761519055.929 [DAT](INFO): direction in FSK: [0.944252,0.036275,0.327218]
2025-10-26T22:50:55.929Z,1761519055.929 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:55.941Z,1761519055.941 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.017578
2025-10-26T22:50:56.015Z,1761519056.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.200001 m,
      deltaT: 0.503717 s,
      deltaX: -0.299999 m,
      approachRate: -0.595571 m/s,
      rangeRepo size: 4

2025-10-26T22:50:56.032Z,1761519056.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.086668 m,
      bearing: 144.470619 deg,
      lat: 36.779409 deg,
      lon: -121.859406 deg,
      deltaT: 0.503717 s,
      deltaX: -0.294724 m,
      approachRate: -0.585097 m/s,
      posRepo size: 4

2025-10-26T22:50:56.034Z,1761519056.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.09 m.
2025-10-26T22:50:56.045Z,1761519056.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.086668 m,
      nav range: 21.532986 m,
      bearing: 145.428235 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005710 deg/s,
      cmd heading: 138.673372 deg,
      new cmd heading: 138.665313 deg.

2025-10-26T22:50:56.046Z,1761519056.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420166 target range: 22.086668 and range: 22.20 m.
2025-10-26T22:50:56.169Z,1761519056.169 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.245701
2025-10-26T22:50:56.356Z,1761519056.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754934,-0.647139,-0.106234],[0.655786,-0.743896,-0.128694],[0.004256,-0.166823,0.985978]]
2025-10-26T22:50:56.388Z,1761519056.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:50:56.390Z,1761519056.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.09 m.
2025-10-26T22:50:56.393Z,1761519056.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.086668 m,
      nav range: 21.344036 m,
      bearing: 145.444202 deg,
      approach rate: -0.500931 m/s,
      LOS rate: 0.042705 deg/s,
      cmd heading: 138.665312 deg,
      new cmd heading: 138.713637 deg.

2025-10-26T22:50:56.394Z,1761519056.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421010 target range: 22.086668 and range: 22.20 m.
2025-10-26T22:50:56.421Z,1761519056.421 [DAT](INFO): DAT read: Rx Time:22:50:55.2037 

2025-10-26T22:50:56.421Z,1761519056.421 [DAT](INFO): Rx dataTimestamp_ set to:1761519056.421210
2025-10-26T22:50:56.423Z,1761519056.423 [DAT](INFO): DAT read: Bearing 311.4,  -0.3 (Local)

2025-10-26T22:50:56.423Z,1761519056.423 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.4,  -0.3 (Local)

2025-10-26T22:50:56.425Z,1761519056.425 [DAT](INFO): DAT read: Range 11 to 50 :    21.9 m (trip time 14.6 ms) speed 0.4

2025-10-26T22:50:56.430Z,1761519056.430 [DAT](INFO): DAT read: 22:50:55.2037 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503, 0.08,-2.028, 2.518,-1.962,-2.094, PHS= 0.169,-1.626, 0.088, RAW= 147.7,  15.4, CAL= 147.7,  17.0, ROT=   2.3, -17.0

2025-10-26T22:50:56.431Z,1761519056.431 [DAT](INFO): got valid direction response:
 22:50:55.2037 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503, 0.08,-2.028, 2.518,-1.962,-2.094, PHS= 0.169,-1.626, 0.088, RAW= 147.7,  15.4, CAL= 147.7,  17.0, ROT=   2.3, -17.0

2025-10-26T22:50:56.432Z,1761519056.432 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-26T22:50:56.433Z,1761519056.433 [DAT](INFO): direction in FSK: [0.955534,0.038378,0.292372]
2025-10-26T22:50:56.433Z,1761519056.433 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:56.437Z,1761519056.437 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.513700
2025-10-26T22:50:56.680Z,1761519056.680 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.755856
2025-10-26T22:50:56.758Z,1761519056.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755778,-0.646197,-0.105970],[0.654803,-0.744353,-0.131043],[0.005801,-0.168429,0.985697]]
2025-10-26T22:50:56.854Z,1761519056.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.900000 m,
      deltaT: 0.504006 s,
      deltaX: -0.300001 m,
      approachRate: -0.595233 m/s,
      rangeRepo size: 4

2025-10-26T22:50:56.856Z,1761519056.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.788198 m,
      bearing: 144.310229 deg,
      lat: 36.779413 deg,
      lon: -121.859406 deg,
      deltaT: 0.504006 s,
      deltaX: -0.298470 m,
      approachRate: -0.592194 m/s,
      posRepo size: 4

2025-10-26T22:50:56.857Z,1761519056.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.79 m.
2025-10-26T22:50:56.860Z,1761519056.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.788198 m,
      nav range: 20.743551 m,
      bearing: 144.798663 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.042705 deg/s,
      cmd heading: 138.713642 deg,
      new cmd heading: 138.772906 deg.

2025-10-26T22:50:56.861Z,1761519056.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.422044 target range: 21.788198 and range: 21.90 m.
2025-10-26T22:50:56.929Z,1761519056.929 [DAT](INFO): DAT read: Rx Time:22:50:55.7036 

2025-10-26T22:50:56.930Z,1761519056.930 [DAT](INFO): Rx dataTimestamp_ set to:1761519056.929387
2025-10-26T22:50:56.931Z,1761519056.931 [DAT](INFO): DAT read: Bearing 314.0,  -0.9 (Local)

2025-10-26T22:50:56.932Z,1761519056.932 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.0,  -0.9 (Local)

2025-10-26T22:50:56.934Z,1761519056.934 [DAT](INFO): DAT read: Range 11 to 50 :    21.8 m (trip time 14.5 ms) speed 0.4

2025-10-26T22:50:56.942Z,1761519056.942 [DAT](INFO): DAT read: 22:50:55.7036 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503,-0.49,-1.069,-2.783,-0.996,-1.060, PHS= 0.093,-1.678, 0.020, RAW= 147.9,  17.7, CAL= 148.1,  19.6, ROT=   1.9, -19.6

2025-10-26T22:50:56.943Z,1761519056.943 [DAT](INFO): got valid direction response:
 22:50:55.7036 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503,-0.49,-1.069,-2.783,-0.996,-1.060, PHS= 0.093,-1.678, 0.020, RAW= 147.9,  17.7, CAL= 148.1,  19.6, ROT=   1.9, -19.6

2025-10-26T22:50:56.944Z,1761519056.944 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-10-26T22:50:56.945Z,1761519056.945 [DAT](INFO): direction in FSK: [0.941540,0.031234,0.335452]
2025-10-26T22:50:56.945Z,1761519056.945 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:56.949Z,1761519056.949 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.025843
2025-10-26T22:50:57.181Z,1761519057.181 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.257767
2025-10-26T22:50:57.182Z,1761519057.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756517,-0.645657,-0.103969],[0.653929,-0.744980,-0.131839],[0.007668,-0.167727,0.985804]]
2025-10-26T22:50:57.216Z,1761519057.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 0.508177 s,
      deltaX: -0.100000 m,
      approachRate: -0.196783 m/s,
      rangeRepo size: 4

2025-10-26T22:50:57.218Z,1761519057.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.691259 m,
      bearing: 144.456849 deg,
      lat: 36.779413 deg,
      lon: -121.859406 deg,
      deltaT: 0.508177 s,
      deltaX: -0.096939 m,
      approachRate: -0.190759 m/s,
      posRepo size: 4

2025-10-26T22:50:57.219Z,1761519057.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.69 m.
2025-10-26T22:50:57.221Z,1761519057.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.691259 m,
      nav range: 20.535889 m,
      bearing: 144.740239 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.042705 deg/s,
      cmd heading: 138.772901 deg,
      new cmd heading: 138.819279 deg.

2025-10-26T22:50:57.222Z,1761519057.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.422853 target range: 21.691259 and range: 21.80 m.
2025-10-26T22:50:57.436Z,1761519057.436 [DAT](INFO): DAT read: Rx Time:22:50:56.2034 

2025-10-26T22:50:57.436Z,1761519057.436 [DAT](INFO): Rx dataTimestamp_ set to:1761519057.436134
2025-10-26T22:50:57.438Z,1761519057.438 [DAT](INFO): DAT read: Bearing 312.1,   0.0 (Local)

2025-10-26T22:50:57.438Z,1761519057.438 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.1,   0.0 (Local)

2025-10-26T22:50:57.441Z,1761519057.441 [DAT](INFO): DAT read: Range 11 to 50 :    21.5 m (trip time 14.3 ms) speed 0.4

2025-10-26T22:50:57.447Z,1761519057.447 [DAT](INFO): DAT read: 22:50:56.2034 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 500, 0.01,-1.932, 2.627,-1.870,-1.986, PHS= 0.155,-1.626, 0.071, RAW= 147.6,  15.9, CAL= 147.6,  17.5, ROT=   2.4, -17.5

2025-10-26T22:50:57.449Z,1761519057.449 [DAT](INFO): got valid direction response:
 22:50:56.2034 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 500, 0.01,-1.932, 2.627,-1.870,-1.986, PHS= 0.155,-1.626, 0.071, RAW= 147.6,  15.9, CAL= 147.6,  17.5, ROT=   2.4, -17.5

2025-10-26T22:50:57.449Z,1761519057.449 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-10-26T22:50:57.450Z,1761519057.450 [DAT](INFO): direction in FSK: [0.952880,0.039938,0.300706]
2025-10-26T22:50:57.451Z,1761519057.451 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:57.485Z,1761519057.485 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.561653
2025-10-26T22:50:57.582Z,1761519057.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757575,-0.644659,-0.102448],[0.652679,-0.745821,-0.133271],[0.009507,-0.167828,0.985771]]
2025-10-26T22:50:57.637Z,1761519057.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.500000 m,
      deltaT: 0.506747 s,
      deltaX: -0.299999 m,
      approachRate: -0.592010 m/s,
      rangeRepo size: 4

2025-10-26T22:50:57.639Z,1761519057.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.392757 m,
      bearing: 144.655687 deg,
      lat: 36.779413 deg,
      lon: -121.859406 deg,
      deltaT: 0.506747 s,
      deltaX: -0.298502 m,
      approachRate: -0.589055 m/s,
      posRepo size: 4

2025-10-26T22:50:57.644Z,1761519057.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.39 m.
2025-10-26T22:50:57.655Z,1761519057.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.392757 m,
      nav range: 20.346828 m,
      bearing: 144.673490 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.042705 deg/s,
      cmd heading: 138.819278 deg,
      new cmd heading: 138.873254 deg.

2025-10-26T22:50:57.663Z,1761519057.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.423795 target range: 21.392757 and range: 21.50 m.
2025-10-26T22:50:57.687Z,1761519057.687 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.763641
2025-10-26T22:50:57.938Z,1761519057.938 [DAT](INFO): DAT read: Rx Time:22:50:56.7033 

2025-10-26T22:50:57.939Z,1761519057.939 [DAT](INFO): Rx dataTimestamp_ set to:1761519057.937917
2025-10-26T22:50:57.946Z,1761519057.946 [DAT](INFO): DAT read: Bearing 312.4,  -0.3 (Local)

2025-10-26T22:50:57.946Z,1761519057.946 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.4,  -0.3 (Local)

2025-10-26T22:50:57.948Z,1761519057.948 [DAT](INFO): DAT read: Range 11 to 50 :    21.3 m (trip time 14.2 ms) speed 0.4

2025-10-26T22:50:57.958Z,1761519057.958 [DAT](INFO): DAT read: 22:50:56.7033 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499, 0.42, 0.112,-1.607, 0.188, 0.074, PHS= 0.140,-1.636, 0.070, RAW= 148.0,  16.1, CAL= 148.1,  17.9, ROT=   1.9, -17.9

2025-10-26T22:50:57.961Z,1761519057.961 [DAT](INFO): got valid direction response:
 22:50:56.7033 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499, 0.42, 0.112,-1.607, 0.188, 0.074, PHS= 0.140,-1.636, 0.070, RAW= 148.0,  16.1, CAL= 148.1,  17.9, ROT=   1.9, -17.9

2025-10-26T22:50:57.961Z,1761519057.961 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-10-26T22:50:57.963Z,1761519057.963 [DAT](INFO): direction in FSK: [0.951071,0.031550,0.307357]
2025-10-26T22:50:57.964Z,1761519057.964 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:57.985Z,1761519057.985 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.062189
2025-10-26T22:50:58.155Z,1761519058.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.299999 m,
      deltaT: 0.501783 s,
      deltaX: -0.200001 m,
      approachRate: -0.398580 m/s,
      rangeRepo size: 4

2025-10-26T22:50:58.161Z,1761519058.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.194889 m,
      bearing: 144.237742 deg,
      lat: 36.779413 deg,
      lon: -121.859405 deg,
      deltaT: 0.501783 s,
      deltaX: -0.197868 m,
      approachRate: -0.394331 m/s,
      posRepo size: 4

2025-10-26T22:50:58.162Z,1761519058.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.19 m.
2025-10-26T22:50:58.169Z,1761519058.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.194889 m,
      nav range: 20.085239 m,
      bearing: 144.587695 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.042705 deg/s,
      cmd heading: 138.873250 deg,
      new cmd heading: 138.939562 deg.

2025-10-26T22:50:58.170Z,1761519058.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.424953 target range: 21.194889 and range: 21.30 m.
2025-10-26T22:50:58.188Z,1761519058.188 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.265446
2025-10-26T22:50:58.441Z,1761519058.441 [DAT](INFO): DAT read: Rx Time:22:50:57.2031 

2025-10-26T22:50:58.442Z,1761519058.442 [DAT](INFO): Rx dataTimestamp_ set to:1761519058.441559
2025-10-26T22:50:58.443Z,1761519058.443 [DAT](INFO): DAT read: Bearing 314.6,  -1.0 (Local)

2025-10-26T22:50:58.444Z,1761519058.444 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.6,  -1.0 (Local)

2025-10-26T22:50:58.446Z,1761519058.446 [DAT](INFO): DAT read: Range 11 to 50 :    21.0 m (trip time 14.0 ms) speed 0.4

2025-10-26T22:50:58.450Z,1761519058.450 [DAT](INFO): DAT read: 22:50:57.2031 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 497,-0.12,-2.415, 2.186,-2.330,-2.388, PHS= 0.076,-1.663, 0.015, RAW= 148.2,  18.0, CAL= 148.5,  20.1, ROT=   1.5, -20.1

2025-10-26T22:50:58.451Z,1761519058.451 [DAT](INFO): got valid direction response:
 22:50:57.2031 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 497,-0.12,-2.415, 2.186,-2.330,-2.388, PHS= 0.076,-1.663, 0.015, RAW= 148.2,  18.0, CAL= 148.5,  20.1, ROT=   1.5, -20.1

2025-10-26T22:50:58.452Z,1761519058.452 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-26T22:50:58.453Z,1761519058.453 [DAT](INFO): direction in FSK: [0.938772,0.024583,0.343660]
2025-10-26T22:50:58.453Z,1761519058.453 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:58.457Z,1761519058.457 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.534164
2025-10-26T22:50:58.488Z,1761519058.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760407,-0.641663,-0.100243],[0.649294,-0.747773,-0.138754],[0.014074,-0.170597,0.985240]]
2025-10-26T22:50:58.578Z,1761519058.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 0.503642 s,
      deltaX: -0.299999 m,
      approachRate: -0.595660 m/s,
      rangeRepo size: 4

2025-10-26T22:50:58.589Z,1761519058.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.896370 m,
      bearing: 144.576376 deg,
      lat: 36.779413 deg,
      lon: -121.859405 deg,
      deltaT: 0.503642 s,
      deltaX: -0.298519 m,
      approachRate: -0.592721 m/s,
      posRepo size: 4

2025-10-26T22:50:58.589Z,1761519058.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-10-26T22:50:58.597Z,1761519058.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.896370 m,
      nav range: 19.863230 m,
      bearing: 144.616468 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.042705 deg/s,
      cmd heading: 138.939558 deg,
      new cmd heading: 138.993835 deg.

2025-10-26T22:50:58.598Z,1761519058.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.425900 target range: 20.896370 and range: 21.00 m.
2025-10-26T22:50:58.697Z,1761519058.697 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.773653
2025-10-26T22:50:58.945Z,1761519058.945 [DAT](INFO): DAT read: Rx Time:22:50:57.7030 

2025-10-26T22:50:58.945Z,1761519058.945 [DAT](INFO): Rx dataTimestamp_ set to:1761519058.945153
2025-10-26T22:50:58.947Z,1761519058.947 [DAT](INFO): DAT read: Bearing 310.7,  -4.6 (Local)

2025-10-26T22:50:58.947Z,1761519058.947 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.7,  -4.6 (Local)

2025-10-26T22:50:58.949Z,1761519058.949 [DAT](INFO): DAT read: Range 11 to 50 :    20.9 m (trip time 13.9 ms) speed 0.4

2025-10-26T22:50:58.954Z,1761519058.954 [DAT](INFO): DAT read: 22:50:57.7030 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 512, 0.33, 0.078,-1.909, 0.342, 0.063, PHS= 0.117,-1.927, 0.235, RAW= 152.8,  14.8, CAL= 153.2,  16.7, ROT= 356.8, -16.7

2025-10-26T22:50:58.955Z,1761519058.955 [DAT](INFO): got valid direction response:
 22:50:57.7030 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 512, 0.33, 0.078,-1.909, 0.342, 0.063, PHS= 0.117,-1.927, 0.235, RAW= 152.8,  14.8, CAL= 153.2,  16.7, ROT= 356.8, -16.7

2025-10-26T22:50:58.955Z,1761519058.955 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-10-26T22:50:58.956Z,1761519058.956 [DAT](INFO): direction in FSK: [0.956329,-0.053467,0.287361]
2025-10-26T22:50:58.957Z,1761519058.957 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:58.960Z,1761519058.960 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.037148
2025-10-26T22:50:59.110Z,1761519059.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 0.503594 s,
      deltaX: -0.100000 m,
      approachRate: -0.198573 m/s,
      rangeRepo size: 4

2025-10-26T22:50:59.116Z,1761519059.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.797106 m,
      bearing: 139.286790 deg,
      lat: 36.779414 deg,
      lon: -121.859405 deg,
      deltaT: 0.503594 s,
      deltaX: -0.099264 m,
      approachRate: -0.197111 m/s,
      posRepo size: 4

2025-10-26T22:50:59.117Z,1761519059.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.80 m.
2025-10-26T22:50:59.124Z,1761519059.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.797106 m,
      nav range: 19.484112 m,
      bearing: 144.472853 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.042705 deg/s,
      cmd heading: 138.993831 deg,
      new cmd heading: 139.061906 deg.

2025-10-26T22:50:59.128Z,1761519059.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.427088 target range: 20.797106 and range: 20.90 m.
2025-10-26T22:50:59.197Z,1761519059.197 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.273888
2025-10-26T22:50:59.436Z,1761519059.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765910,-0.636134,-0.093359],[0.642611,-0.752694,-0.143189],[0.020816,-0.169663,0.985282]]
2025-10-26T22:50:59.449Z,1761519059.449 [DAT](INFO): DAT read: Rx Time:22:50:58.2028 

2025-10-26T22:50:59.450Z,1761519059.450 [DAT](INFO): Rx dataTimestamp_ set to:1761519059.449506
2025-10-26T22:50:59.451Z,1761519059.451 [DAT](INFO): DAT read: Bearing 312.2,  -0.7 (Local)

2025-10-26T22:50:59.451Z,1761519059.451 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.2,  -0.7 (Local)

2025-10-26T22:50:59.454Z,1761519059.454 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed 0.4

2025-10-26T22:50:59.458Z,1761519059.458 [DAT](INFO): DAT read: 22:50:58.2028 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510,-0.20,-2.634, 1.942,-2.530,-2.675, PHS= 0.143,-1.621, 0.101, RAW= 148.8,  15.6, CAL= 149.0,  17.3, ROT=   1.0, -17.3

2025-10-26T22:50:59.459Z,1761519059.459 [DAT](INFO): got valid direction response:
 22:50:58.2028 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510,-0.20,-2.634, 1.942,-2.530,-2.675, PHS= 0.143,-1.621, 0.101, RAW= 148.8,  15.6, CAL= 149.0,  17.3, ROT=   1.0, -17.3

2025-10-26T22:50:59.460Z,1761519059.460 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-26T22:50:59.461Z,1761519059.461 [DAT](INFO): direction in FSK: [0.954615,0.016663,0.297375]
2025-10-26T22:50:59.461Z,1761519059.461 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:59.469Z,1761519059.469 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.545818
2025-10-26T22:50:59.477Z,1761519059.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.504353 s,
      deltaX: -0.299999 m,
      approachRate: -0.594820 m/s,
      rangeRepo size: 4

2025-10-26T22:50:59.479Z,1761519059.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.498583 m,
      bearing: 144.037028 deg,
      lat: 36.779414 deg,
      lon: -121.859403 deg,
      deltaT: 0.504353 s,
      deltaX: -0.298523 m,
      approachRate: -0.591893 m/s,
      posRepo size: 4

2025-10-26T22:50:59.516Z,1761519059.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.50 m.
2025-10-26T22:50:59.526Z,1761519059.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.498583 m,
      nav range: 19.434973 m,
      bearing: 144.254919 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.042705 deg/s,
      cmd heading: 139.061900 deg,
      new cmd heading: 139.108913 deg.

2025-10-26T22:50:59.536Z,1761519059.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.427909 target range: 20.498583 and range: 20.60 m.
2025-10-26T22:50:59.705Z,1761519059.705 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.780579
2025-10-26T22:50:59.941Z,1761519059.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:50:59.943Z,1761519059.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.50 m.
2025-10-26T22:50:59.946Z,1761519059.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.498583 m,
      nav range: 19.189259 m,
      bearing: 144.280488 deg,
      approach rate: -0.526290 m/s,
      LOS rate: 0.055467 deg/s,
      cmd heading: 139.108919 deg,
      new cmd heading: 139.186609 deg.

2025-10-26T22:50:59.947Z,1761519059.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.429265 target range: 20.498583 and range: 20.60 m.
2025-10-26T22:50:59.953Z,1761519059.953 [DAT](INFO): DAT read: Rx Time:22:50:58.7026 

2025-10-26T22:50:59.954Z,1761519059.954 [DAT](INFO): Rx dataTimestamp_ set to:1761519059.953243
2025-10-26T22:50:59.955Z,1761519059.955 [DAT](INFO): DAT read: Bearing 311.0,  -0.8 (Local)

2025-10-26T22:50:59.955Z,1761519059.955 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.0,  -0.8 (Local)

2025-10-26T22:50:59.957Z,1761519059.957 [DAT](INFO): DAT read: Range 11 to 50 :    20.3 m (trip time 13.5 ms) speed 0.4

2025-10-26T22:50:59.962Z,1761519059.962 [DAT](INFO): DAT read: 22:50:58.7026 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 508, 0.12,-0.832,-2.544,-0.714,-0.901, PHS= 0.171,-1.598, 0.143, RAW= 149.2,  14.5, CAL= 149.3,  16.1, ROT=   0.7, -16.1

2025-10-26T22:50:59.963Z,1761519059.963 [DAT](INFO): got valid direction response:
 22:50:58.7026 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 508, 0.12,-0.832,-2.544,-0.714,-0.901, PHS= 0.171,-1.598, 0.143, RAW= 149.2,  14.5, CAL= 149.3,  16.1, ROT=   0.7, -16.1

2025-10-26T22:50:59.967Z,1761519059.967 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-10-26T22:50:59.968Z,1761519059.968 [DAT](INFO): direction in FSK: [0.960707,0.011738,0.277315]
2025-10-26T22:50:59.969Z,1761519059.969 [DAT](INFO): publishing direction and range info
2025-10-26T22:50:59.977Z,1761519059.977 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.053925
2025-10-26T22:51:00.205Z,1761519060.205 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.281696
2025-10-26T22:51:00.440Z,1761519060.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768883,-0.633534,-0.086335],[0.638954,-0.756337,-0.140332],[0.023607,-0.163063,0.986333]]
2025-10-26T22:51:00.457Z,1761519060.457 [DAT](INFO): DAT read: Rx Time:22:50:59.2023 

2025-10-26T22:51:00.458Z,1761519060.458 [DAT](INFO): Rx dataTimestamp_ set to:1761519060.457293
2025-10-26T22:51:00.459Z,1761519060.459 [DAT](INFO): DAT read: Bearing 311.3,  -0.4 (Local)

2025-10-26T22:51:00.459Z,1761519060.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.3,  -0.4 (Local)

2025-10-26T22:51:00.461Z,1761519060.461 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.4

2025-10-26T22:51:00.467Z,1761519060.467 [DAT](INFO): DAT read: 22:50:59.2023 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 506,-0.45, 3.109, 1.393,-3.066, 3.039, PHS= 0.172,-1.601, 0.134, RAW= 148.9,  14.6, CAL= 149.0,  16.2, ROT=   1.0, -16.2

2025-10-26T22:51:00.476Z,1761519060.476 [DAT](INFO): got valid direction response:
 22:50:59.2023 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 506,-0.45, 3.109, 1.393,-3.066, 3.039, PHS= 0.172,-1.601, 0.134, RAW= 148.9,  14.6, CAL= 149.0,  16.2, ROT=   1.0, -16.2

2025-10-26T22:51:00.476Z,1761519060.476 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-10-26T22:51:00.477Z,1761519060.477 [DAT](INFO): direction in FSK: [0.960147,0.016759,0.278991]
2025-10-26T22:51:00.478Z,1761519060.478 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:00.489Z,1761519060.489 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.566490
2025-10-26T22:51:00.502Z,1761519060.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 1.007787 s,
      deltaX: -0.800001 m,
      approachRate: -0.793820 m/s,
      rangeRepo size: 4

2025-10-26T22:51:00.516Z,1761519060.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.702860 m,
      bearing: 143.995890 deg,
      lat: 36.779415 deg,
      lon: -121.859403 deg,
      deltaT: 1.007787 s,
      deltaX: -0.795723 m,
      approachRate: -0.789575 m/s,
      posRepo size: 4

2025-10-26T22:51:00.517Z,1761519060.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m.
2025-10-26T22:51:00.526Z,1761519060.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.702860 m,
      nav range: 18.825356 m,
      bearing: 143.995829 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.055467 deg/s,
      cmd heading: 139.186606 deg,
      new cmd heading: 139.279316 deg.

2025-10-26T22:51:00.536Z,1761519060.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.430883 target range: 19.702860 and range: 19.80 m.
2025-10-26T22:51:00.716Z,1761519060.716 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.791821
2025-10-26T22:51:00.873Z,1761519060.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769915,-0.632707,-0.083140],[0.637678,-0.757806,-0.138190],[0.024429,-0.159411,0.986910]]
2025-10-26T22:51:00.940Z,1761519060.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m.
2025-10-26T22:51:00.942Z,1761519060.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.702860 m,
      nav range: 18.578766 m,
      bearing: 144.013955 deg,
      approach rate: -0.561296 m/s,
      LOS rate: 0.041807 deg/s,
      cmd heading: 139.279319 deg,
      new cmd heading: 139.334419 deg.

2025-10-26T22:51:00.951Z,1761519060.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431844 target range: 19.702860 and range: 19.80 m.
2025-10-26T22:51:00.961Z,1761519060.961 [DAT](INFO): DAT read: Rx Time:22:50:59.7023 

2025-10-26T22:51:00.962Z,1761519060.962 [DAT](INFO): Rx dataTimestamp_ set to:1761519060.961392
2025-10-26T22:51:00.963Z,1761519060.963 [DAT](INFO): DAT read: Bearing 312.1,  -0.6 (Local)

2025-10-26T22:51:00.963Z,1761519060.963 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.1,  -0.6 (Local)

2025-10-26T22:51:00.965Z,1761519060.965 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.4

2025-10-26T22:51:00.974Z,1761519060.974 [DAT](INFO): DAT read: 22:50:59.7023 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 505,-0.08,-1.827, 2.761,-1.713,-1.875, PHS= 0.150,-1.602, 0.118, RAW= 149.1,  15.2, CAL= 149.3,  16.9, ROT=   0.7, -16.9

2025-10-26T22:51:00.975Z,1761519060.975 [DAT](INFO): got valid direction response:
 22:50:59.7023 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 505,-0.08,-1.827, 2.761,-1.713,-1.875, PHS= 0.150,-1.602, 0.118, RAW= 149.1,  15.2, CAL= 149.3,  16.9, ROT=   0.7, -16.9

2025-10-26T22:51:00.980Z,1761519060.980 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-10-26T22:51:00.980Z,1761519060.980 [DAT](INFO): direction in FSK: [0.956742,0.011689,0.290702]
2025-10-26T22:51:00.981Z,1761519060.981 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:00.993Z,1761519060.993 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.069527
2025-10-26T22:51:01.212Z,1761519061.212 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.289452
2025-10-26T22:51:01.428Z,1761519061.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771098,-0.631535,-0.081062],[0.636184,-0.758982,-0.138618],[0.026017,-0.158459,0.987023]]
2025-10-26T22:51:01.465Z,1761519061.465 [DAT](INFO): DAT read: Rx Time:22:51:00.2020 

2025-10-26T22:51:01.465Z,1761519061.465 [DAT](INFO): Rx dataTimestamp_ set to:1761519061.465157
2025-10-26T22:51:01.467Z,1761519061.467 [DAT](INFO): DAT read: Bearing 311.8,  -0.9 (Local)

2025-10-26T22:51:01.467Z,1761519061.467 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.8,  -0.9 (Local)

2025-10-26T22:51:01.469Z,1761519061.469 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed 0.4

2025-10-26T22:51:01.474Z,1761519061.474 [DAT](INFO): DAT read: 22:51:00.2020 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 502, 0.20,-1.532, 3.048,-1.403,-1.581, PHS= 0.152,-1.609, 0.135, RAW= 149.5,  14.9, CAL= 149.7,  16.6, ROT=   0.3, -16.6

2025-10-26T22:51:01.491Z,1761519061.491 [DAT](INFO): got valid direction response:
 22:51:00.2020 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 502, 0.20,-1.532, 3.048,-1.403,-1.581, PHS= 0.152,-1.609, 0.135, RAW= 149.5,  14.9, CAL= 149.7,  16.6, ROT=   0.3, -16.6

2025-10-26T22:51:01.500Z,1761519061.500 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-10-26T22:51:01.502Z,1761519061.502 [DAT](INFO): direction in FSK: [0.958309,0.005018,0.285688]
2025-10-26T22:51:01.502Z,1761519061.502 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:01.518Z,1761519061.518 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.594501
2025-10-26T22:51:01.537Z,1761519061.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 1.007864 s,
      deltaX: -0.400000 m,
      approachRate: -0.396879 m/s,
      rangeRepo size: 4

2025-10-26T22:51:01.539Z,1761519061.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.305359 m,
      bearing: 143.501189 deg,
      lat: 36.779415 deg,
      lon: -121.859402 deg,
      deltaT: 1.007864 s,
      deltaX: -0.397501 m,
      approachRate: -0.394399 m/s,
      posRepo size: 4

2025-10-26T22:51:01.544Z,1761519061.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.31 m.
2025-10-26T22:51:01.546Z,1761519061.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.305359 m,
      nav range: 18.308634 m,
      bearing: 143.797997 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.041807 deg/s,
      cmd heading: 139.334425 deg,
      new cmd heading: 139.409296 deg.

2025-10-26T22:51:01.552Z,1761519061.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433151 target range: 19.305359 and range: 19.40 m.
2025-10-26T22:51:01.721Z,1761519061.721 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.797405
2025-10-26T22:51:01.889Z,1761519061.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771525,-0.631102,-0.080377],[0.635633,-0.759332,-0.139231],[0.026836,-0.158510,0.986993]]
2025-10-26T22:51:01.961Z,1761519061.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:51:01.969Z,1761519061.969 [DAT](INFO): DAT read: Rx Time:22:51:00.7020 

2025-10-26T22:51:01.970Z,1761519061.970 [DAT](INFO): Rx dataTimestamp_ set to:1761519061.969277
2025-10-26T22:51:01.971Z,1761519061.971 [DAT](INFO): DAT read: Bearing 312.2,  -1.5 (Local)

2025-10-26T22:51:01.975Z,1761519061.975 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.2,  -1.5 (Local)

2025-10-26T22:51:01.977Z,1761519061.977 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed 0.4

2025-10-26T22:51:01.982Z,1761519061.982 [DAT](INFO): DAT read: 22:51:00.7020 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 502,-0.30,-2.298, 2.289,-2.150,-2.327, PHS= 0.131,-1.622, 0.133, RAW= 150.0,  15.3, CAL= 150.3,  17.1, ROT= 359.7, -17.1

2025-10-26T22:51:01.983Z,1761519061.983 [DAT](INFO): got valid direction response:
 22:51:00.7020 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 502,-0.30,-2.298, 2.289,-2.150,-2.327, PHS= 0.131,-1.622, 0.133, RAW= 150.0,  15.3, CAL= 150.3,  17.1, ROT= 359.7, -17.1

2025-10-26T22:51:01.984Z,1761519061.984 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-10-26T22:51:01.985Z,1761519061.985 [DAT](INFO): direction in FSK: [0.955780,-0.005004,0.294040]
2025-10-26T22:51:01.985Z,1761519061.985 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:01.987Z,1761519061.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.31 m.
2025-10-26T22:51:01.990Z,1761519061.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.305359 m,
      nav range: 18.058233 m,
      bearing: 143.788204 deg,
      approach rate: -0.586678 m/s,
      LOS rate: -0.023262 deg/s,
      cmd heading: 139.409297 deg,
      new cmd heading: 139.379512 deg.

2025-10-26T22:51:01.995Z,1761519061.995 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.071316
2025-10-26T22:51:01.000Z,1761519062.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432631 target range: 19.305359 and range: 19.40 m.
2025-10-26T22:51:02.220Z,1761519062.220 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.297371
2025-10-26T22:51:02.349Z,1761519062.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771779,-0.630880,-0.079672],[0.635300,-0.759584,-0.139380],[0.027415,-0.158186,0.987029]]
2025-10-26T22:51:02.371Z,1761519062.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.504120 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:51:02.373Z,1761519062.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.305420 m,
      bearing: 143.053496 deg,
      lat: 36.779415 deg,
      lon: -121.859401 deg,
      deltaT: 0.504120 s,
      deltaX: 0.000061 m,
      approachRate: 0.000121 m/s,
      posRepo size: 4

2025-10-26T22:51:02.374Z,1761519062.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.31 m.
2025-10-26T22:51:02.393Z,1761519062.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.305420 m,
      nav range: 17.957245 m,
      bearing: 143.563341 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023262 deg/s,
      cmd heading: 139.379518 deg,
      new cmd heading: 139.351095 deg.

2025-10-26T22:51:02.394Z,1761519062.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432135 target range: 19.305420 and range: 19.40 m.
2025-10-26T22:51:02.475Z,1761519062.475 [DAT](INFO): DAT read: Rx Time:22:51:01.2017 

2025-10-26T22:51:02.477Z,1761519062.477 [DAT](INFO): Rx dataTimestamp_ set to:1761519062.476212
2025-10-26T22:51:02.478Z,1761519062.478 [DAT](INFO): DAT read: Bearing 314.3,  -0.9 (Local)

2025-10-26T22:51:02.479Z,1761519062.479 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.3,  -0.9 (Local)

2025-10-26T22:51:02.482Z,1761519062.482 [DAT](INFO): DAT read: Range 11 to 50 :    18.9 m (trip time 12.6 ms) speed 0.4

2025-10-26T22:51:02.495Z,1761519062.495 [DAT](INFO): DAT read: 22:51:01.2017 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499, 0.03,-1.755, 2.834,-1.642,-1.747, PHS= 0.094,-1.657, 0.061, RAW= 149.1,  17.0, CAL= 149.4,  19.0, ROT=   0.6, -19.0

2025-10-26T22:51:02.517Z,1761519062.517 [DAT](INFO): got valid direction response:
 22:51:01.2017 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499, 0.03,-1.755, 2.834,-1.642,-1.747, PHS= 0.094,-1.657, 0.061, RAW= 149.1,  17.0, CAL= 149.4,  19.0, ROT=   0.6, -19.0

2025-10-26T22:51:02.517Z,1761519062.517 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-10-26T22:51:02.524Z,1761519062.524 [DAT](INFO): direction in FSK: [0.945467,0.009901,0.325568]
2025-10-26T22:51:02.525Z,1761519062.525 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:02.532Z,1761519062.532 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.609501
2025-10-26T22:51:02.728Z,1761519062.728 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.803932
2025-10-26T22:51:02.818Z,1761519062.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771662,-0.631235,-0.077978],[0.635413,-0.759682,-0.138322],[0.028075,-0.156286,0.987313]]
2025-10-26T22:51:02.876Z,1761519062.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.900000 m,
      deltaT: 0.506935 s,
      deltaX: -0.500000 m,
      approachRate: -0.986320 m/s,
      rangeRepo size: 4

2025-10-26T22:51:02.878Z,1761519062.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.807858 m,
      bearing: 144.239677 deg,
      lat: 36.779414 deg,
      lon: -121.859402 deg,
      deltaT: 0.506935 s,
      deltaX: -0.497562 m,
      approachRate: -0.981511 m/s,
      posRepo size: 4

2025-10-26T22:51:02.879Z,1761519062.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.81 m.
2025-10-26T22:51:02.882Z,1761519062.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.807858 m,
      nav range: 17.706312 m,
      bearing: 143.956884 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023262 deg/s,
      cmd heading: 139.351090 deg,
      new cmd heading: 139.315863 deg.

2025-10-26T22:51:02.882Z,1761519062.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431520 target range: 18.807858 and range: 18.90 m.
2025-10-26T22:51:02.977Z,1761519062.977 [DAT](INFO): DAT read: Rx Time:22:51:01.7015 

2025-10-26T22:51:02.978Z,1761519062.978 [DAT](INFO): Rx dataTimestamp_ set to:1761519062.977240
2025-10-26T22:51:02.979Z,1761519062.979 [DAT](INFO): DAT read: Bearing 312.7,  -1.3 (Local)

2025-10-26T22:51:02.979Z,1761519062.979 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.7,  -1.3 (Local)

2025-10-26T22:51:02.981Z,1761519062.981 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.4

2025-10-26T22:51:02.986Z,1761519062.986 [DAT](INFO): DAT read: 22:51:01.7015 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 497, 0.45,-1.980, 2.626,-1.836,-2.000, PHS= 0.122,-1.611, 0.121, RAW= 149.9,  15.6, CAL= 150.2,  17.4, ROT= 359.8, -17.4

2025-10-26T22:51:02.987Z,1761519062.987 [DAT](INFO): got valid direction response:
 22:51:01.7015 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 497, 0.45,-1.980, 2.626,-1.836,-2.000, PHS= 0.122,-1.611, 0.121, RAW= 149.9,  15.6, CAL= 150.2,  17.4, ROT= 359.8, -17.4

2025-10-26T22:51:02.988Z,1761519062.988 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-10-26T22:51:02.989Z,1761519062.989 [DAT](INFO): direction in FSK: [0.954235,-0.003331,0.299041]
2025-10-26T22:51:02.989Z,1761519062.989 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:03.006Z,1761519063.006 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.082714
2025-10-26T22:51:03.228Z,1761519063.228 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.305481
2025-10-26T22:51:03.253Z,1761519063.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771472,-0.631626,-0.076680],[0.635603,-0.759560,-0.138125],[0.029000,-0.155298,0.987442]]
2025-10-26T22:51:03.330Z,1761519063.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.501028 s,
      deltaX: -0.100000 m,
      approachRate: -0.199590 m/s,
      rangeRepo size: 4

2025-10-26T22:51:03.336Z,1761519063.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.708273 m,
      bearing: 143.130327 deg,
      lat: 36.779414 deg,
      lon: -121.859401 deg,
      deltaT: 0.501028 s,
      deltaX: -0.099585 m,
      approachRate: -0.198761 m/s,
      posRepo size: 4

2025-10-26T22:51:03.337Z,1761519063.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-26T22:51:03.343Z,1761519063.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.708273 m,
      nav range: 17.588160 m,
      bearing: 143.612528 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023262 deg/s,
      cmd heading: 139.315860 deg,
      new cmd heading: 139.284189 deg.

2025-10-26T22:51:03.344Z,1761519063.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.430968 target range: 18.708273 and range: 18.80 m.
2025-10-26T22:51:03.481Z,1761519063.481 [DAT](INFO): DAT read: Rx Time:22:51:02.2013 

2025-10-26T22:51:03.482Z,1761519063.482 [DAT](INFO): Rx dataTimestamp_ set to:1761519063.481254
2025-10-26T22:51:03.483Z,1761519063.483 [DAT](INFO): DAT read: Bearing 311.7,   0.0 (Local)

2025-10-26T22:51:03.483Z,1761519063.483 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.7,   0.0 (Local)

2025-10-26T22:51:03.485Z,1761519063.485 [DAT](INFO): DAT read: Range 11 to 50 :    18.5 m (trip time 12.3 ms) speed 0.4

2025-10-26T22:51:03.492Z,1761519063.492 [DAT](INFO): DAT read: 22:51:02.2013 LVL= 32240, 32753, 32754, 32755, AGC= 60, IDX= 511,-0.02, 1.769, 0.060, 1.881, 1.701, PHS= 0.170,-1.595, 0.136, RAW= 149.0,  14.6, CAL= 149.1,  16.2, ROT=   0.9, -16.2

2025-10-26T22:51:03.494Z,1761519063.494 [DAT](INFO): got valid direction response:
 22:51:02.2013 LVL= 32240, 32753, 32754, 32755, AGC= 60, IDX= 511,-0.02, 1.769, 0.060, 1.881, 1.701, PHS= 0.170,-1.595, 0.136, RAW= 149.0,  14.6, CAL= 149.1,  16.2, ROT=   0.9, -16.2

2025-10-26T22:51:03.494Z,1761519063.494 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-10-26T22:51:03.499Z,1761519063.499 [DAT](INFO): direction in FSK: [0.960175,0.015084,0.278991]
2025-10-26T22:51:03.499Z,1761519063.499 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:03.506Z,1761519063.506 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.582600
2025-10-26T22:51:03.654Z,1761519063.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770962,-0.632182,-0.077228],[0.636176,-0.758717,-0.140101],[0.029975,-0.157143,0.987121]]
2025-10-26T22:51:03.696Z,1761519063.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.500000 m,
      deltaT: 0.504014 s,
      deltaX: -0.299999 m,
      approachRate: -0.595220 m/s,
      rangeRepo size: 4

2025-10-26T22:51:03.699Z,1761519063.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.409737 m,
      bearing: 144.004964 deg,
      lat: 36.779414 deg,
      lon: -121.859401 deg,
      deltaT: 0.504014 s,
      deltaX: -0.298536 m,
      approachRate: -0.592317 m/s,
      posRepo size: 4

2025-10-26T22:51:03.705Z,1761519063.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.41 m.
2025-10-26T22:51:03.715Z,1761519063.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.409737 m,
      nav range: 17.402353 m,
      bearing: 143.581492 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023262 deg/s,
      cmd heading: 139.284182 deg,
      new cmd heading: 139.258895 deg.

2025-10-26T22:51:03.722Z,1761519063.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.430526 target range: 18.409737 and range: 18.50 m.
2025-10-26T22:51:03.733Z,1761519063.733 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.809952
2025-10-26T22:51:03.985Z,1761519063.985 [DAT](INFO): DAT read: Rx Time:22:51:02.7012 

2025-10-26T22:51:03.985Z,1761519063.985 [DAT](INFO): Rx dataTimestamp_ set to:1761519063.985130
2025-10-26T22:51:03.987Z,1761519063.987 [DAT](INFO): DAT read: Bearing 311.7,  -0.5 (Local)

2025-10-26T22:51:03.987Z,1761519063.987 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.7,  -0.5 (Local)

2025-10-26T22:51:03.991Z,1761519063.991 [DAT](INFO): DAT read: Range 11 to 50 :    18.3 m (trip time 12.2 ms) speed 0.4

2025-10-26T22:51:04.012Z,1761519064.012 [DAT](INFO): DAT read: 22:51:02.7012 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510, 0.31,-0.968,-2.670,-0.839,-1.025, PHS= 0.160,-1.599, 0.143, RAW= 149.5,  14.7, CAL= 149.7,  16.3, ROT=   0.3, -16.3

2025-10-26T22:51:04.014Z,1761519064.014 [DAT](INFO): got valid direction response:
 22:51:02.7012 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510, 0.31,-0.968,-2.670,-0.839,-1.025, PHS= 0.160,-1.599, 0.143, RAW= 149.5,  14.7, CAL= 149.7,  16.3, ROT=   0.3, -16.3

2025-10-26T22:51:04.014Z,1761519064.014 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-10-26T22:51:04.040Z,1761519064.040 [DAT](INFO): direction in FSK: [0.959792,0.005026,0.280667]
2025-10-26T22:51:04.040Z,1761519064.040 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:04.052Z,1761519064.052 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.128967
2025-10-26T22:51:04.146Z,1761519064.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769362,-0.633842,-0.079541],[0.638042,-0.756335,-0.144425],[0.031383,-0.161866,0.986314]]
2025-10-26T22:51:04.232Z,1761519064.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 0.503876 s,
      deltaX: -0.200001 m,
      approachRate: -0.396925 m/s,
      rangeRepo size: 4

2025-10-26T22:51:04.234Z,1761519064.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.209684 m,
      bearing: 143.366087 deg,
      lat: 36.779413 deg,
      lon: -121.859399 deg,
      deltaT: 0.503876 s,
      deltaX: -0.200052 m,
      approachRate: -0.397027 m/s,
      posRepo size: 4

2025-10-26T22:51:04.235Z,1761519064.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.21 m.
2025-10-26T22:51:04.236Z,1761519064.236 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.313511
2025-10-26T22:51:04.246Z,1761519064.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.209684 m,
      nav range: 17.335421 m,
      bearing: 143.366030 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023262 deg/s,
      cmd heading: 139.258896 deg,
      new cmd heading: 139.221488 deg.

2025-10-26T22:51:04.247Z,1761519064.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.429873 target range: 18.209684 and range: 18.30 m.
2025-10-26T22:51:04.492Z,1761519064.492 [DAT](INFO): DAT read: Rx Time:22:51:03.2010 

2025-10-26T22:51:04.493Z,1761519064.493 [DAT](INFO): Rx dataTimestamp_ set to:1761519064.492042
2025-10-26T22:51:04.495Z,1761519064.495 [DAT](INFO): DAT read: Bearing 311.9,  -0.4 (Local)

2025-10-26T22:51:04.496Z,1761519064.496 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.9,  -0.4 (Local)

2025-10-26T22:51:04.498Z,1761519064.498 [DAT](INFO): DAT read: Range 11 to 50 :    18.0 m (trip time 12.0 ms) speed 0.4

2025-10-26T22:51:04.515Z,1761519064.515 [DAT](INFO): DAT read: 22:51:03.2010 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 508,-0.12, 1.983, 0.269, 2.107, 1.927, PHS= 0.157,-1.613, 0.135, RAW= 149.4,  14.9, CAL= 149.6,  16.5, ROT=   0.4, -16.5

2025-10-26T22:51:04.519Z,1761519064.519 [DAT](INFO): got valid direction response:
 22:51:03.2010 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 508,-0.12, 1.983, 0.269, 2.107, 1.927, PHS= 0.157,-1.613, 0.135, RAW= 149.4,  14.9, CAL= 149.6,  16.5, ROT=   0.4, -16.5

2025-10-26T22:51:04.520Z,1761519064.520 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-10-26T22:51:04.521Z,1761519064.521 [DAT](INFO): direction in FSK: [0.958796,0.006694,0.284015]
2025-10-26T22:51:04.521Z,1761519064.521 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:04.525Z,1761519064.525 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.602165
2025-10-26T22:51:04.612Z,1761519064.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768311,-0.634730,-0.082558],[0.639292,-0.754574,-0.148069],[0.031688,-0.166542,0.985525]]
2025-10-26T22:51:04.672Z,1761519064.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 0.506912 s,
      deltaX: -0.299999 m,
      approachRate: -0.591817 m/s,
      rangeRepo size: 4

2025-10-26T22:51:04.674Z,1761519064.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.911165 m,
      bearing: 143.487571 deg,
      lat: 36.779414 deg,
      lon: -121.859401 deg,
      deltaT: 0.506912 s,
      deltaX: -0.298519 m,
      approachRate: -0.588897 m/s,
      posRepo size: 4

2025-10-26T22:51:04.675Z,1761519064.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.91 m.
2025-10-26T22:51:04.682Z,1761519064.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.911165 m,
      nav range: 17.033636 m,
      bearing: 143.487517 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023262 deg/s,
      cmd heading: 139.221494 deg,
      new cmd heading: 139.191061 deg.

2025-10-26T22:51:04.683Z,1761519064.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.429342 target range: 17.911165 and range: 18.00 m.
2025-10-26T22:51:04.746Z,1761519064.746 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.819454
2025-10-26T22:51:04.987Z,1761519064.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767605,-0.635525,-0.083009],[0.640138,-0.753800,-0.148356],[0.031712,-0.167016,0.985444]]
2025-10-26T22:51:04.994Z,1761519064.994 [DAT](INFO): DAT read: Rx Time:22:51:03.7009 

2025-10-26T22:51:04.995Z,1761519064.995 [DAT](INFO): Rx dataTimestamp_ set to:1761519064.994677
2025-10-26T22:51:04.997Z,1761519064.997 [DAT](INFO): DAT read: Bearing 312.5,  -0.5 (Local)

2025-10-26T22:51:04.998Z,1761519064.998 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.5,  -0.5 (Local)

2025-10-26T22:51:05.001Z,1761519065.001 [DAT](INFO): DAT read: Range 11 to 50 :    17.9 m (trip time 11.9 ms) speed 0.4

2025-10-26T22:51:05.014Z,1761519065.014 [DAT](INFO): DAT read: 22:51:03.7009 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 507, 0.24,-0.071,-1.784, 0.049,-0.109, PHS= 0.141,-1.630, 0.115, RAW= 149.3,  15.5, CAL= 149.5,  17.2, ROT=   0.5, -17.2

2025-10-26T22:51:05.016Z,1761519065.016 [DAT](INFO): got valid direction response:
 22:51:03.7009 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 507, 0.24,-0.071,-1.784, 0.049,-0.109, PHS= 0.141,-1.630, 0.115, RAW= 149.3,  15.5, CAL= 149.5,  17.2, ROT=   0.5, -17.2

2025-10-26T22:51:05.016Z,1761519065.016 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-10-26T22:51:05.018Z,1761519065.018 [DAT](INFO): direction in FSK: [0.955242,0.008336,0.295708]
2025-10-26T22:51:05.018Z,1761519065.018 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:05.022Z,1761519065.022 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.099510
2025-10-26T22:51:05.169Z,1761519065.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 0.502635 s,
      deltaX: -0.100000 m,
      approachRate: -0.198952 m/s,
      rangeRepo size: 4

2025-10-26T22:51:05.171Z,1761519065.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.808052 m,
      bearing: 143.661735 deg,
      lat: 36.779413 deg,
      lon: -121.859401 deg,
      deltaT: 0.502635 s,
      deltaX: -0.103113 m,
      approachRate: -0.205145 m/s,
      posRepo size: 4

2025-10-26T22:51:05.175Z,1761519065.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.81 m.
2025-10-26T22:51:05.178Z,1761519065.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.808052 m,
      nav range: 16.868341 m,
      bearing: 143.521126 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023262 deg/s,
      cmd heading: 139.191059 deg,
      new cmd heading: 139.156474 deg.

2025-10-26T22:51:05.179Z,1761519065.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.428739 target range: 17.808052 and range: 17.90 m.
2025-10-26T22:51:05.245Z,1761519065.245 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.322315
2025-10-26T22:51:05.394Z,1761519065.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766318,-0.637217,-0.081923],[0.641705,-0.752980,-0.145723],[0.031171,-0.164241,0.985928]]
2025-10-26T22:51:05.418Z,1761519065.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:51:05.420Z,1761519065.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.81 m.
2025-10-26T22:51:05.423Z,1761519065.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.808052 m,
      nav range: 16.751419 m,
      bearing: 143.476023 deg,
      approach rate: -0.448191 m/s,
      LOS rate: -0.174098 deg/s,
      cmd heading: 139.156471 deg,
      new cmd heading: 139.020217 deg.

2025-10-26T22:51:05.424Z,1761519065.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.426361 target range: 17.808052 and range: 17.90 m.
2025-10-26T22:51:05.498Z,1761519065.498 [DAT](INFO): DAT read: Rx Time:22:51:04.2007 

2025-10-26T22:51:05.499Z,1761519065.499 [DAT](INFO): Rx dataTimestamp_ set to:1761519065.498525
2025-10-26T22:51:05.501Z,1761519065.501 [DAT](INFO): DAT read: Bearing 311.0,  -0.5 (Local)

2025-10-26T22:51:05.502Z,1761519065.502 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.0,  -0.5 (Local)

2025-10-26T22:51:05.505Z,1761519065.505 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed 0.4

2025-10-26T22:51:05.512Z,1761519065.512 [DAT](INFO): DAT read: 22:51:04.2007 LVL= 32736, 32753, 32754, 32755, AGC= 61, IDX= 505,-0.08, 2.812, 1.101, 2.941, 2.741, PHS= 0.173,-1.595, 0.157, RAW= 149.5,  14.3, CAL= 149.7,  15.8, ROT=   0.3, -15.8

2025-10-26T22:51:05.515Z,1761519065.515 [DAT](INFO): got valid direction response:
 22:51:04.2007 LVL= 32736, 32753, 32754, 32755, AGC= 61, IDX= 505,-0.08, 2.812, 1.101, 2.941, 2.741, PHS= 0.173,-1.595, 0.157, RAW= 149.5,  14.3, CAL= 149.7,  15.8, ROT=   0.3, -15.8

2025-10-26T22:51:05.515Z,1761519065.515 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-10-26T22:51:05.517Z,1761519065.517 [DAT](INFO): direction in FSK: [0.962205,0.005038,0.272280]
2025-10-26T22:51:05.517Z,1761519065.517 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:05.530Z,1761519065.530 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.606846
2025-10-26T22:51:05.748Z,1761519065.748 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.825397
2025-10-26T22:51:05.839Z,1761519065.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765363,-0.638130,-0.083724],[0.642867,-0.751792,-0.146736],[0.030694,-0.166130,0.985626]]
2025-10-26T22:51:05.886Z,1761519065.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.503848 s,
      deltaX: -0.299999 m,
      approachRate: -0.595416 m/s,
      rangeRepo size: 4

2025-10-26T22:51:05.889Z,1761519065.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.509594 m,
      bearing: 142.986406 deg,
      lat: 36.779413 deg,
      lon: -121.859401 deg,
      deltaT: 0.503848 s,
      deltaX: -0.298458 m,
      approachRate: -0.592357 m/s,
      posRepo size: 4

2025-10-26T22:51:05.889Z,1761519065.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.51 m.
2025-10-26T22:51:05.892Z,1761519065.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.509594 m,
      nav range: 16.564892 m,
      bearing: 143.425646 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.174098 deg/s,
      cmd heading: 139.020222 deg,
      new cmd heading: 138.776992 deg.

2025-10-26T22:51:05.893Z,1761519065.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.422115 target range: 17.509594 and range: 17.60 m.
2025-10-26T22:51:06.002Z,1761519066.002 [DAT](INFO): DAT read: Rx Time:22:51:04.7006 

2025-10-26T22:51:06.004Z,1761519066.004 [DAT](INFO): Rx dataTimestamp_ set to:1761519066.002572
2025-10-26T22:51:06.005Z,1761519066.005 [DAT](INFO): DAT read: Bearing 310.4,   0.0 (Local)

2025-10-26T22:51:06.006Z,1761519066.006 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.4,   0.0 (Local)

2025-10-26T22:51:06.016Z,1761519066.016 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed 0.4

2025-10-26T22:51:06.022Z,1761519066.022 [DAT](INFO): DAT read: 22:51:04.7006 LVL= 32112, 32753, 32754, 32755, AGC= 60, IDX= 504, 0.41,-0.830,-2.528,-0.711,-0.921, PHS= 0.193,-1.562, 0.166, RAW= 149.2,  13.7, CAL= 149.3,  15.2, ROT=   0.7, -15.2

2025-10-26T22:51:06.024Z,1761519066.024 [DAT](INFO): got valid direction response:
 22:51:04.7006 LVL= 32112, 32753, 32754, 32755, AGC= 60, IDX= 504, 0.41,-0.830,-2.528,-0.711,-0.921, PHS= 0.193,-1.562, 0.166, RAW= 149.2,  13.7, CAL= 149.3,  15.2, ROT=   0.7, -15.2

2025-10-26T22:51:06.024Z,1761519066.024 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-10-26T22:51:06.025Z,1761519066.025 [DAT](INFO): direction in FSK: [0.964944,0.011790,0.262189]
2025-10-26T22:51:06.025Z,1761519066.025 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:06.030Z,1761519066.030 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.106552
2025-10-26T22:51:06.199Z,1761519066.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764177,-0.639402,-0.084852],[0.644320,-0.750659,-0.146159],[0.029759,-0.166363,0.985615]]
2025-10-26T22:51:06.249Z,1761519066.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.504047 s,
      deltaX: -0.200001 m,
      approachRate: -0.396790 m/s,
      rangeRepo size: 4

2025-10-26T22:51:06.253Z,1761519066.253 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.329540
2025-10-26T22:51:06.256Z,1761519066.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.309406 m,
      bearing: 143.169221 deg,
      lat: 36.779413 deg,
      lon: -121.859399 deg,
      deltaT: 0.504047 s,
      deltaX: -0.200188 m,
      approachRate: -0.397161 m/s,
      posRepo size: 4

2025-10-26T22:51:06.256Z,1761519066.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.31 m.
2025-10-26T22:51:06.259Z,1761519066.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.309406 m,
      nav range: 16.472548 m,
      bearing: 143.043861 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.174098 deg/s,
      cmd heading: 138.776986 deg,
      new cmd heading: 138.587346 deg.

2025-10-26T22:51:06.287Z,1761519066.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.418806 target range: 17.309406 and range: 17.40 m.
2025-10-26T22:51:06.506Z,1761519066.506 [DAT](INFO): DAT read: Rx Time:22:51:05.2004 

2025-10-26T22:51:06.507Z,1761519066.507 [DAT](INFO): Rx dataTimestamp_ set to:1761519066.506391
2025-10-26T22:51:06.509Z,1761519066.509 [DAT](INFO): DAT read: Bearing 311.9,  -1.0 (Local)

2025-10-26T22:51:06.510Z,1761519066.510 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.9,  -1.0 (Local)

2025-10-26T22:51:06.517Z,1761519066.517 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed 0.4

2025-10-26T22:51:06.522Z,1761519066.522 [DAT](INFO): DAT read: 22:51:05.2004 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 502, 0.01,-2.674, 1.916,-2.535,-2.714, PHS= 0.142,-1.608, 0.136, RAW= 149.8,  15.1, CAL= 150.0,  16.8, ROT= 360.0, -16.8

2025-10-26T22:51:06.523Z,1761519066.523 [DAT](INFO): got valid direction response:
 22:51:05.2004 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 502, 0.01,-2.674, 1.916,-2.535,-2.714, PHS= 0.142,-1.608, 0.136, RAW= 149.8,  15.1, CAL= 150.0,  16.8, ROT= 360.0, -16.8

2025-10-26T22:51:06.523Z,1761519066.523 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-10-26T22:51:06.524Z,1761519066.524 [DAT](INFO): direction in FSK: [0.957320,0.000000,0.289032]
2025-10-26T22:51:06.524Z,1761519066.524 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:06.528Z,1761519066.528 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.605339
2025-10-26T22:51:06.667Z,1761519066.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762718,-0.641118,-0.085017],[0.646117,-0.749659,-0.143330],[0.028158,-0.164251,0.986017]]
2025-10-26T22:51:06.693Z,1761519066.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.503819 s,
      deltaX: -0.299999 m,
      approachRate: -0.595450 m/s,
      rangeRepo size: 4

2025-10-26T22:51:06.695Z,1761519066.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.010969 m,
      bearing: 142.596494 deg,
      lat: 36.779413 deg,
      lon: -121.859399 deg,
      deltaT: 0.503819 s,
      deltaX: -0.298437 m,
      approachRate: -0.592350 m/s,
      posRepo size: 4

2025-10-26T22:51:06.696Z,1761519066.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-10-26T22:51:06.700Z,1761519066.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.010969 m,
      nav range: 16.275932 m,
      bearing: 142.902173 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.174098 deg/s,
      cmd heading: 138.587352 deg,
      new cmd heading: 138.355560 deg.

2025-10-26T22:51:06.701Z,1761519066.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.414760 target range: 17.010969 and range: 17.10 m.
2025-10-26T22:51:06.757Z,1761519066.757 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.833954
2025-10-26T22:51:07.010Z,1761519067.010 [DAT](INFO): DAT read: Rx Time:22:51:05.7003 

2025-10-26T22:51:07.017Z,1761519067.017 [DAT](INFO): Rx dataTimestamp_ set to:1761519067.010949
2025-10-26T22:51:07.019Z,1761519067.019 [DAT](INFO): DAT read: Bearing 311.3,  -0.9 (Local)

2025-10-26T22:51:07.019Z,1761519067.019 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.3,  -0.9 (Local)

2025-10-26T22:51:07.021Z,1761519067.021 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed 0.4

2025-10-26T22:51:07.026Z,1761519067.026 [DAT](INFO): DAT read: 22:51:05.7003 LVL= 32368, 32753, 32754, 32755, AGC= 60, IDX= 501,-0.31, 1.518,-0.181, 1.655, 1.461, PHS= 0.158,-1.597, 0.150, RAW= 149.8,  14.6, CAL= 149.9,  16.2, ROT=   0.1, -16.2

2025-10-26T22:51:07.027Z,1761519067.027 [DAT](INFO): got valid direction response:
 22:51:05.7003 LVL= 32368, 32753, 32754, 32755, AGC= 60, IDX= 501,-0.31, 1.518,-0.181, 1.655, 1.461, PHS= 0.158,-1.597, 0.150, RAW= 149.8,  14.6, CAL= 149.9,  16.2, ROT=   0.1, -16.2

2025-10-26T22:51:07.028Z,1761519067.028 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-26T22:51:07.029Z,1761519067.029 [DAT](INFO): direction in FSK: [0.960292,0.001676,0.278991]
2025-10-26T22:51:07.029Z,1761519067.029 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:07.033Z,1761519067.033 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.109909
2025-10-26T22:51:07.107Z,1761519067.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761721,-0.641996,-0.087303],[0.647360,-0.748615,-0.143182],[0.026567,-0.165581,0.985838]]
2025-10-26T22:51:07.209Z,1761519067.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.504558 s,
      deltaX: -0.100000 m,
      approachRate: -0.198194 m/s,
      rangeRepo size: 4

2025-10-26T22:51:07.215Z,1761519067.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.910940 m,
      bearing: 142.516292 deg,
      lat: 36.779413 deg,
      lon: -121.859399 deg,
      deltaT: 0.504558 s,
      deltaX: -0.100029 m,
      approachRate: -0.198251 m/s,
      posRepo size: 4

2025-10-26T22:51:07.216Z,1761519067.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m.
2025-10-26T22:51:07.219Z,1761519067.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.910940 m,
      nav range: 16.081903 m,
      bearing: 142.742839 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.174098 deg/s,
      cmd heading: 138.355563 deg,
      new cmd heading: 138.086071 deg.

2025-10-26T22:51:07.224Z,1761519067.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.410057 target range: 16.910940 and range: 17.00 m.
2025-10-26T22:51:07.262Z,1761519067.262 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.338345
2025-10-26T22:51:07.514Z,1761519067.514 [DAT](INFO): DAT read: Rx Time:22:51:06.2000 

2025-10-26T22:51:07.515Z,1761519067.515 [DAT](INFO): Rx dataTimestamp_ set to:1761519067.514379
2025-10-26T22:51:07.517Z,1761519067.517 [DAT](INFO): DAT read: Bearing 313.9,  -2.8 (Local)

2025-10-26T22:51:07.517Z,1761519067.517 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.9,  -2.8 (Local)

2025-10-26T22:51:07.519Z,1761519067.519 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.4

2025-10-26T22:51:07.524Z,1761519067.524 [DAT](INFO): DAT read: 22:51:06.2000 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 498, 0.11, 3.122, 1.446,-2.984,-3.124, PHS= 0.065,-1.668, 0.096, RAW= 150.9,  17.0, CAL= 151.4,  19.1, ROT= 358.6, -19.1

2025-10-26T22:51:07.525Z,1761519067.525 [DAT](INFO): got valid direction response:
 22:51:06.2000 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 498, 0.11, 3.122, 1.446,-2.984,-3.124, PHS= 0.065,-1.668, 0.096, RAW= 150.9,  17.0, CAL= 151.4,  19.1, ROT= 358.6, -19.1

2025-10-26T22:51:07.525Z,1761519067.525 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-10-26T22:51:07.526Z,1761519067.526 [DAT](INFO): direction in FSK: [0.944667,-0.023087,0.327218]
2025-10-26T22:51:07.526Z,1761519067.526 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:07.534Z,1761519067.534 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.611309
2025-10-26T22:51:07.581Z,1761519067.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761254,-0.642206,-0.089794],[0.647972,-0.748025,-0.143495],[0.024986,-0.167420,0.985569]]
2025-10-26T22:51:07.659Z,1761519067.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.503430 s,
      deltaX: -0.500000 m,
      approachRate: -0.993187 m/s,
      rangeRepo size: 4

2025-10-26T22:51:07.662Z,1761519067.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.413559 m,
      bearing: 141.555912 deg,
      lat: 36.779413 deg,
      lon: -121.859399 deg,
      deltaT: 0.503430 s,
      deltaX: -0.497381 m,
      approachRate: -0.987985 m/s,
      posRepo size: 4

2025-10-26T22:51:07.662Z,1761519067.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m.
2025-10-26T22:51:07.669Z,1761519067.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.413559 m,
      nav range: 15.890408 m,
      bearing: 142.653855 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.174098 deg/s,
      cmd heading: 138.086071 deg,
      new cmd heading: 137.855200 deg.

2025-10-26T22:51:07.670Z,1761519067.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.406027 target range: 16.413559 and range: 16.50 m.
2025-10-26T22:51:07.768Z,1761519067.768 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.843952
2025-10-26T22:51:07.994Z,1761519067.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760637,-0.642464,-0.093124],[0.648763,-0.747163,-0.144410],[0.023199,-0.170259,0.985126]]
2025-10-26T22:51:08.018Z,1761519068.018 [DAT](INFO): DAT read: Rx Time:22:51:06.7000 

2025-10-26T22:51:08.018Z,1761519068.018 [DAT](INFO): Rx dataTimestamp_ set to:1761519068.017731
2025-10-26T22:51:08.019Z,1761519068.019 [DAT](INFO): DAT read: Bearing 313.8,  -2.7 (Local)

2025-10-26T22:51:08.020Z,1761519068.020 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.8,  -2.7 (Local)

2025-10-26T22:51:08.022Z,1761519068.022 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.4

2025-10-26T22:51:08.026Z,1761519068.026 [DAT](INFO): DAT read: 22:51:06.7000 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498,-0.17, 1.533,-0.148, 1.703, 1.563, PHS= 0.072,-1.666, 0.095, RAW= 150.7,  16.8, CAL= 151.2,  18.9, ROT= 358.8, -18.9

2025-10-26T22:51:08.028Z,1761519068.028 [DAT](INFO): got valid direction response:
 22:51:06.7000 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498,-0.17, 1.533,-0.148, 1.703, 1.563, PHS= 0.072,-1.666, 0.095, RAW= 150.7,  16.8, CAL= 151.2,  18.9, ROT= 358.8, -18.9

2025-10-26T22:51:08.029Z,1761519068.029 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-10-26T22:51:08.030Z,1761519068.030 [DAT](INFO): direction in FSK: [0.945878,-0.019813,0.323917]
2025-10-26T22:51:08.030Z,1761519068.030 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:08.034Z,1761519068.034 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.110538
2025-10-26T22:51:08.154Z,1761519068.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.503352 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:51:08.160Z,1761519068.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.412273 m,
      bearing: 141.714117 deg,
      lat: 36.779414 deg,
      lon: -121.859399 deg,
      deltaT: 0.503352 s,
      deltaX: -0.001286 m,
      approachRate: -0.002554 m/s,
      posRepo size: 4

2025-10-26T22:51:08.161Z,1761519068.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m.
2025-10-26T22:51:08.168Z,1761519068.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.412273 m,
      nav range: 15.534953 m,
      bearing: 142.207615 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.174098 deg/s,
      cmd heading: 137.855197 deg,
      new cmd heading: 137.592525 deg.

2025-10-26T22:51:08.169Z,1761519068.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.401443 target range: 16.412273 and range: 16.50 m.
2025-10-26T22:51:08.273Z,1761519068.273 [DAT](INFO): DAT read: Rx Time:22:51:07.1998 

2025-10-26T22:51:08.275Z,1761519068.275 [DAT](INFO): Rx dataTimestamp_ set to:1761519068.273545
2025-10-26T22:51:08.278Z,1761519068.278 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.354614
2025-10-26T22:51:08.475Z,1761519068.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759953,-0.643049,-0.094652],[0.649625,-0.746645,-0.143209],[0.021419,-0.170320,0.985156]]
2025-10-26T22:51:08.522Z,1761519068.522 [DAT](INFO): DAT read: Bearing 314.6,  -3.6 (Local)

2025-10-26T22:51:08.522Z,1761519068.522 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.6,  -3.6 (Local)

2025-10-26T22:51:08.524Z,1761519068.524 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed 0.4

2025-10-26T22:51:08.529Z,1761519068.529 [DAT](INFO): DAT read: 22:51:07.1998 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 495, 0.24,-3.124, 1.527,-2.937,-3.060, PHS= 0.037,-1.652, 0.079, RAW= 151.2,  17.6, CAL= 151.8,  19.9, ROT= 358.2, -19.9

2025-10-26T22:51:08.530Z,1761519068.530 [DAT](INFO): got valid direction response:
 22:51:07.1998 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 495, 0.24,-3.124, 1.527,-2.937,-3.060, PHS= 0.037,-1.652, 0.079, RAW= 151.2,  17.6, CAL= 151.8,  19.9, ROT= 358.2, -19.9

2025-10-26T22:51:08.530Z,1761519068.530 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-10-26T22:51:08.531Z,1761519068.531 [DAT](INFO): direction in FSK: [0.939824,-0.029535,0.340380]
2025-10-26T22:51:08.532Z,1761519068.532 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:08.535Z,1761519068.535 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.612041
2025-10-26T22:51:08.548Z,1761519068.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.502489 s,
      deltaX: -0.400000 m,
      approachRate: -0.796037 m/s,
      rangeRepo size: 4

2025-10-26T22:51:08.550Z,1761519068.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.014400 m,
      bearing: 141.249928 deg,
      lat: 36.779416 deg,
      lon: -121.859399 deg,
      deltaT: 0.502489 s,
      deltaX: -0.397873 m,
      approachRate: -0.791804 m/s,
      posRepo size: 4

2025-10-26T22:51:08.551Z,1761519068.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m.
2025-10-26T22:51:08.562Z,1761519068.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.014400 m,
      nav range: 15.206264 m,
      bearing: 141.796709 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.174098 deg/s,
      cmd heading: 137.592522 deg,
      new cmd heading: 137.386810 deg.

2025-10-26T22:51:08.563Z,1761519068.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.397852 target range: 16.014400 and range: 16.10 m.
2025-10-26T22:51:08.777Z,1761519068.777 [DAT](INFO): DAT read: Rx Time:22:51:07.6998 

2025-10-26T22:51:08.779Z,1761519068.779 [DAT](INFO): Rx dataTimestamp_ set to:1761519068.777897
2025-10-26T22:51:08.783Z,1761519068.783 [DAT](INFO): DAT read: Bearing 313.5,  -5.1 (Local)

2025-10-26T22:51:08.785Z,1761519068.785 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.5,  -5.1 (Local)

2025-10-26T22:51:08.788Z,1761519068.788 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.863686
2025-10-26T22:51:08.953Z,1761519068.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758192,-0.645022,-0.095349],[0.651761,-0.745513,-0.139348],[0.018799,-0.167797,0.985642]]
2025-10-26T22:51:09.026Z,1761519069.026 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed 0.4

2025-10-26T22:51:09.031Z,1761519069.031 [DAT](INFO): DAT read: 22:51:07.6998 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 511,-0.08, 2.182, 0.530, 2.430, 2.250, PHS= 0.034,-1.674, 0.136, RAW= 152.9,  16.8, CAL= 153.5,  19.1, ROT= 356.5, -19.1

2025-10-26T22:51:09.032Z,1761519069.032 [DAT](INFO): got valid direction response:
 22:51:07.6998 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 511,-0.08, 2.182, 0.530, 2.430, 2.250, PHS= 0.034,-1.674, 0.136, RAW= 152.9,  16.8, CAL= 153.5,  19.1, ROT= 356.5, -19.1

2025-10-26T22:51:09.033Z,1761519069.033 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-10-26T22:51:09.034Z,1761519069.034 [DAT](INFO): direction in FSK: [0.943186,-0.057688,0.327218]
2025-10-26T22:51:09.034Z,1761519069.034 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:09.043Z,1761519069.043 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.119671
2025-10-26T22:51:09.055Z,1761519069.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.503653 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:51:09.065Z,1761519069.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.013845 m,
      bearing: 139.197327 deg,
      lat: 36.779418 deg,
      lon: -121.859399 deg,
      deltaT: 0.503653 s,
      deltaX: -0.000555 m,
      approachRate: -0.001102 m/s,
      posRepo size: 4

2025-10-26T22:51:09.066Z,1761519069.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m.
2025-10-26T22:51:09.077Z,1761519069.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.013845 m,
      nav range: 14.788960 m,
      bearing: 140.934509 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.174098 deg/s,
      cmd heading: 137.386810 deg,
      new cmd heading: 137.122098 deg.

2025-10-26T22:51:09.078Z,1761519069.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.393232 target range: 16.013845 and range: 16.10 m.
2025-10-26T22:51:09.281Z,1761519069.281 [DAT](INFO): DAT read: Rx Time:22:51:08.1995 

2025-10-26T22:51:09.283Z,1761519069.283 [DAT](INFO): Rx dataTimestamp_ set to:1761519069.281650
2025-10-26T22:51:09.287Z,1761519069.287 [DAT](INFO): DAT read: Bearing 312.4,  -4.4 (Local)

2025-10-26T22:51:09.288Z,1761519069.288 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.4,  -4.4 (Local)

2025-10-26T22:51:09.303Z,1761519069.303 [DAT](INFO): DAT read: Range 11 to 50 :    15.6 m (trip time 10.4 ms) speed 0.4

2025-10-26T22:51:09.374Z,1761519069.374 [DAT](INFO): DAT read: 22:51:08.1995 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 508, 0.38, 2.124, 0.420, 2.354, 2.150, PHS= 0.076,-1.685, 0.161, RAW= 152.3,  15.8, CAL= 152.8,  17.9, ROT= 357.2, -17.9

2025-10-26T22:51:09.380Z,1761519069.380 [DAT](INFO): got valid direction response:
 22:51:08.1995 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 508, 0.38, 2.124, 0.420, 2.354, 2.150, PHS= 0.076,-1.685, 0.161, RAW= 152.3,  15.8, CAL= 152.8,  17.9, ROT= 357.2, -17.9

2025-10-26T22:51:09.380Z,1761519069.380 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-10-26T22:51:09.381Z,1761519069.381 [DAT](INFO): direction in FSK: [0.950458,-0.046485,0.307357]
2025-10-26T22:51:09.381Z,1761519069.381 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:09.389Z,1761519069.389 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.466324
2025-10-26T22:51:09.424Z,1761519069.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757435,-0.645572,-0.097617],[0.652651,-0.744404,-0.141100],[0.018423,-0.170584,0.985171]]
2025-10-26T22:51:09.507Z,1761519069.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.257777 s,
      deltaX: -0.500000 m,
      approachRate: -1.939661 m/s,
      rangeRepo size: 4

2025-10-26T22:51:09.514Z,1761519069.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.516521 m,
      bearing: 139.652362 deg,
      lat: 36.779419 deg,
      lon: -121.859399 deg,
      deltaT: 0.257777 s,
      deltaX: -0.497324 m,
      approachRate: -1.929280 m/s,
      posRepo size: 4

2025-10-26T22:51:09.514Z,1761519069.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.52 m.
2025-10-26T22:51:09.521Z,1761519069.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.516521 m,
      nav range: 14.525592 m,
      bearing: 140.732890 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.174098 deg/s,
      cmd heading: 137.122099 deg,
      new cmd heading: 136.886403 deg.

2025-10-26T22:51:09.522Z,1761519069.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.389118 target range: 15.516521 and range: 15.60 m.
2025-10-26T22:51:09.529Z,1761519069.529 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.605606
2025-10-26T22:51:09.785Z,1761519069.785 [DAT](INFO): DAT read: Rx Time:22:51:08.6995 

2025-10-26T22:51:09.787Z,1761519069.787 [DAT](INFO): Rx dataTimestamp_ set to:1761519069.785481
2025-10-26T22:51:09.791Z,1761519069.791 [DAT](INFO): DAT read: Bearing 313.2,  -5.4 (Local)

2025-10-26T22:51:09.792Z,1761519069.792 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.2,  -5.4 (Local)

2025-10-26T22:51:09.798Z,1761519069.798 [DAT](INFO): DAT read: Range 11 to 50 :    15.6 m (trip time 10.4 ms) speed 0.4

2025-10-26T22:51:09.802Z,1761519069.802 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-10-26T22:51:09.824Z,1761519069.824 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.891438
2025-10-26T22:51:09.966Z,1761519069.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756414,-0.646701,-0.098062],[0.653845,-0.743448,-0.140611],[0.018029,-0.170477,0.985197]]
2025-10-26T22:51:10.029Z,1761519070.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:51:10.036Z,1761519070.036 [DAT](INFO): DAT read: 22:51:08.6995 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 508,-0.05, 2.103, 0.439, 2.356, 2.170, PHS= 0.036,-1.685, 0.143, RAW= 153.0,  16.7, CAL= 153.7,  19.0, ROT= 356.3, -19.0

2025-10-26T22:51:10.037Z,1761519070.037 [DAT](INFO): got valid direction response:
 22:51:08.6995 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 508,-0.05, 2.103, 0.439, 2.356, 2.170, PHS= 0.036,-1.685, 0.143, RAW= 153.0,  16.7, CAL= 153.7,  19.0, ROT= 356.3, -19.0

2025-10-26T22:51:10.038Z,1761519070.038 [DAT](INFO): #Rx 88: Read direction message, but no range.
2025-10-26T22:51:10.039Z,1761519070.039 [DAT](INFO): direction in FSK: [0.943548,-0.061017,0.325568]
2025-10-26T22:51:10.046Z,1761519070.046 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.123131
2025-10-26T22:51:10.048Z,1761519070.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.503831 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:51:10.048Z,1761519070.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.52 m.
2025-10-26T22:51:10.051Z,1761519070.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.516521 m,
      nav range: 14.218117 m,
      bearing: 140.710902 deg,
      approach rate: -0.584672 m/s,
      LOS rate: -0.042715 deg/s,
      cmd heading: 136.886403 deg,
      new cmd heading: 136.819012 deg.

2025-10-26T22:51:10.052Z,1761519070.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.387942 target range: 15.516521 and range: 15.60 m.
2025-10-26T22:51:10.288Z,1761519070.288 [DAT](INFO): DAT read: Rx Time:22:51:09.1992 

2025-10-26T22:51:10.290Z,1761519070.290 [DAT](INFO): Rx dataTimestamp_ set to:1761519070.289279
2025-10-26T22:51:10.294Z,1761519070.294 [DAT](INFO): DAT read: Bearing 313.1,  -5.5 (Local)

2025-10-26T22:51:10.296Z,1761519070.296 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.1,  -5.5 (Local)

2025-10-26T22:51:10.314Z,1761519070.314 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed 0.4

2025-10-26T22:51:10.322Z,1761519070.322 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-10-26T22:51:10.340Z,1761519070.340 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.417141
2025-10-26T22:51:10.424Z,1761519070.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755574,-0.647613,-0.098516],[0.654828,-0.742678,-0.140107],[0.017569,-0.170372,0.985223]]
2025-10-26T22:51:10.455Z,1761519070.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.503798 s,
      deltaX: -0.400001 m,
      approachRate: -0.793970 m/s,
      rangeRepo size: 4

2025-10-26T22:51:10.457Z,1761519070.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.118680 m,
      bearing: 138.801673 deg,
      lat: 36.779419 deg,
      lon: -121.859395 deg,
      deltaT: 1.007629 s,
      deltaX: -0.397841 m,
      approachRate: -0.394829 m/s,
      posRepo size: 4

2025-10-26T22:51:10.457Z,1761519070.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.12 m.
2025-10-26T22:51:10.460Z,1761519070.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.118680 m,
      nav range: 14.123507 m,
      bearing: 139.574268 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.042715 deg/s,
      cmd heading: 136.819016 deg,
      new cmd heading: 136.764861 deg.

2025-10-26T22:51:10.461Z,1761519070.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.386997 target range: 15.118680 and range: 15.20 m.
2025-10-26T22:51:10.540Z,1761519070.540 [DAT](INFO): DAT read: 22:51:09.1992 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 505, 0.38, 2.415, 0.757, 2.671, 2.482, PHS= 0.035,-1.680, 0.145, RAW= 153.1,  16.7, CAL= 153.7,  19.0, ROT= 356.3, -19.0

2025-10-26T22:51:10.541Z,1761519070.541 [DAT](INFO): got valid direction response:
 22:51:09.1992 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 505, 0.38, 2.415, 0.757, 2.671, 2.482, PHS= 0.035,-1.680, 0.145, RAW= 153.1,  16.7, CAL= 153.7,  19.0, ROT= 356.3, -19.0

2025-10-26T22:51:10.542Z,1761519070.542 [DAT](INFO): #Rx 90: Read direction message, but no range.
2025-10-26T22:51:10.543Z,1761519070.543 [DAT](INFO): direction in FSK: [0.943548,-0.061017,0.325568]
2025-10-26T22:51:10.546Z,1761519070.546 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.623100
2025-10-26T22:51:10.792Z,1761519070.792 [DAT](INFO): DAT read: Rx Time:22:51:09.6991 

2025-10-26T22:51:10.794Z,1761519070.794 [DAT](INFO): Rx dataTimestamp_ set to:1761519070.792694
2025-10-26T22:51:10.797Z,1761519070.797 [DAT](INFO): DAT read: Bearing 313.0,  -5.2 (Local)

2025-10-26T22:51:10.798Z,1761519070.798 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.0,  -5.2 (Local)

2025-10-26T22:51:10.822Z,1761519070.822 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed 0.4

2025-10-26T22:51:10.894Z,1761519070.894 [DAT](INFO): DAT read: 22:51:09.6991 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504,-0.07, 1.692, 0.016, 1.935, 1.749, PHS= 0.044,-1.688, 0.142, RAW= 152.7,  16.6, CAL= 153.3,  18.8, ROT= 356.7, -18.8

2025-10-26T22:51:10.895Z,1761519070.895 [DAT](INFO): got valid direction response:
 22:51:09.6991 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504,-0.07, 1.692, 0.016, 1.935, 1.749, PHS= 0.044,-1.688, 0.142, RAW= 152.7,  16.6, CAL= 153.3,  18.8, ROT= 356.7, -18.8

2025-10-26T22:51:10.904Z,1761519070.904 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-10-26T22:51:10.905Z,1761519070.905 [DAT](INFO): direction in FSK: [0.945080,-0.054493,0.322266]
2025-10-26T22:51:10.905Z,1761519070.905 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:10.926Z,1761519070.926 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.003216
2025-10-26T22:51:10.949Z,1761519070.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753937,-0.649054,-0.101527],[0.656731,-0.740678,-0.141773],[0.016820,-0.173564,0.984679]]
2025-10-26T22:51:11.041Z,1761519071.041 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.117607
2025-10-26T22:51:11.074Z,1761519071.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.503415 s,
      deltaX: -0.200000 m,
      approachRate: -0.397286 m/s,
      rangeRepo size: 4

2025-10-26T22:51:11.080Z,1761519071.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.919729 m,
      bearing: 139.080722 deg,
      lat: 36.779419 deg,
      lon: -121.859393 deg,
      deltaT: 0.503415 s,
      deltaX: -0.198951 m,
      approachRate: -0.395202 m/s,
      posRepo size: 4

2025-10-26T22:51:11.081Z,1761519071.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.92 m.
2025-10-26T22:51:11.088Z,1761519071.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.919729 m,
      nav range: 13.911878 m,
      bearing: 138.998710 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.042715 deg/s,
      cmd heading: 136.764867 deg,
      new cmd heading: 136.685470 deg.

2025-10-26T22:51:11.089Z,1761519071.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.385612 target range: 14.919729 and range: 15.00 m.
2025-10-26T22:51:11.297Z,1761519071.297 [DAT](INFO): DAT read: Rx Time:22:51:10.1987 

2025-10-26T22:51:11.299Z,1761519071.299 [DAT](INFO): Rx dataTimestamp_ set to:1761519071.297552
2025-10-26T22:51:11.302Z,1761519071.302 [DAT](INFO): DAT read: Bearing 312.4,  -4.8 (Local)

2025-10-26T22:51:11.303Z,1761519071.303 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.4,  -4.8 (Local)

2025-10-26T22:51:11.313Z,1761519071.313 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed 0.4

2025-10-26T22:51:11.315Z,1761519071.315 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-10-26T22:51:11.360Z,1761519071.360 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.437233
2025-10-26T22:51:11.388Z,1761519071.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753304,-0.649430,-0.103799],[0.657465,-0.739664,-0.143655],[0.016518,-0.176460,0.984169]]
2025-10-26T22:51:11.423Z,1761519071.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.504858 s,
      deltaX: -0.600000 m,
      approachRate: -1.188454 m/s,
      rangeRepo size: 4

2025-10-26T22:51:11.428Z,1761519071.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.92 m.
2025-10-26T22:51:11.431Z,1761519071.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.919729 m,
      nav range: 13.712690 m,
      bearing: 138.980711 deg,
      approach rate: -0.571128 m/s,
      LOS rate: -0.052358 deg/s,
      cmd heading: 136.685472 deg,
      new cmd heading: 136.630691 deg.

2025-10-26T22:51:11.432Z,1761519071.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.384655 target range: 14.919729 and range: 14.40 m.
2025-10-26T22:51:11.548Z,1761519071.548 [DAT](INFO): DAT read: 22:51:10.1987 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501, 0.35, 1.783, 0.088, 2.015, 1.820, PHS= 0.065,-1.688, 0.151, RAW= 152.4,  16.1, CAL= 152.9,  18.3, ROT= 357.1, -18.3

2025-10-26T22:51:11.550Z,1761519071.550 [DAT](INFO): got valid direction response:
 22:51:10.1987 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501, 0.35, 1.783, 0.088, 2.015, 1.820, PHS= 0.065,-1.688, 0.151, RAW= 152.4,  16.1, CAL= 152.9,  18.3, ROT= 357.1, -18.3

2025-10-26T22:51:11.550Z,1761519071.550 [DAT](INFO): #Rx 93: Read direction message, but no range.
2025-10-26T22:51:11.551Z,1761519071.551 [DAT](INFO): direction in FSK: [0.948210,-0.048034,0.313992]
2025-10-26T22:51:11.555Z,1761519071.555 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.631535
2025-10-26T22:51:11.800Z,1761519071.800 [DAT](INFO): DAT read: Rx Time:22:51:10.6987 

2025-10-26T22:51:11.802Z,1761519071.802 [DAT](INFO): Rx dataTimestamp_ set to:1761519071.800750
2025-10-26T22:51:11.810Z,1761519071.810 [DAT](INFO): DAT read: Bearing 314.5,  -5.0 (Local)

2025-10-26T22:51:11.811Z,1761519071.811 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.5,  -5.0 (Local)

2025-10-26T22:51:11.827Z,1761519071.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752803,-0.649667,-0.105928],[0.658064,-0.739006,-0.144300],[0.015465,-0.178337,0.983848]]
2025-10-26T22:51:11.836Z,1761519071.836 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed 0.4

2025-10-26T22:51:11.849Z,1761519071.849 [DAT](INFO): DAT read: 22:51:10.6987 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501,-0.20, 2.544, 0.899, 2.748, 2.626, PHS= 0.020,-1.682, 0.078, RAW= 151.7,  17.9, CAL= 152.5,  20.6, ROT= 357.5, -20.6

2025-10-26T22:51:11.850Z,1761519071.850 [DAT](INFO): got valid direction response:
 22:51:10.6987 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501,-0.20, 2.544, 0.899, 2.748, 2.626, PHS= 0.020,-1.682, 0.078, RAW= 151.7,  17.9, CAL= 152.5,  20.6, ROT= 357.5, -20.6

2025-10-26T22:51:11.850Z,1761519071.850 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-10-26T22:51:11.861Z,1761519071.861 [DAT](INFO): direction in FSK: [0.935169,-0.040830,0.351842]
2025-10-26T22:51:11.862Z,1761519071.862 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:11.925Z,1761519071.925 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=44.991718
2025-10-26T22:51:11.951Z,1761519071.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.503198 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:51:11.953Z,1761519071.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.322940 m,
      bearing: 140.232962 deg,
      lat: 36.779419 deg,
      lon: -121.859393 deg,
      deltaT: 1.008056 s,
      deltaX: -0.596789 m,
      approachRate: -0.592020 m/s,
      posRepo size: 4

2025-10-26T22:51:11.954Z,1761519071.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m.
2025-10-26T22:51:11.961Z,1761519071.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.322940 m,
      nav range: 13.468560 m,
      bearing: 138.958702 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.052358 deg/s,
      cmd heading: 136.630694 deg,
      new cmd heading: 136.548356 deg.

2025-10-26T22:51:11.962Z,1761519071.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.383218 target range: 14.322940 and range: 14.40 m.
2025-10-26T22:51:12.049Z,1761519072.049 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.126038
2025-10-26T22:51:12.304Z,1761519072.304 [DAT](INFO): DAT read: Rx Time:22:51:11.1984 

2025-10-26T22:51:12.306Z,1761519072.306 [DAT](INFO): Rx dataTimestamp_ set to:1761519072.304938
2025-10-26T22:51:12.310Z,1761519072.310 [DAT](INFO): DAT read: Bearing 312.6,  -4.9 (Local)

2025-10-26T22:51:12.311Z,1761519072.311 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.6,  -4.9 (Local)

2025-10-26T22:51:12.317Z,1761519072.317 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed 0.4

2025-10-26T22:51:12.319Z,1761519072.319 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-10-26T22:51:12.322Z,1761519072.322 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.398834
2025-10-26T22:51:12.365Z,1761519072.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752280,-0.649838,-0.108557],[0.658685,-0.738217,-0.145497],[0.014411,-0.180960,0.983385]]
2025-10-26T22:51:12.450Z,1761519072.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:51:12.457Z,1761519072.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.504188 s,
      deltaX: -0.400000 m,
      approachRate: -0.793354 m/s,
      rangeRepo size: 4

2025-10-26T22:51:12.458Z,1761519072.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m.
2025-10-26T22:51:12.469Z,1761519072.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.322940 m,
      nav range: 13.135019 m,
      bearing: 139.000465 deg,
      approach rate: -0.654176 m/s,
      LOS rate: 0.083991 deg/s,
      cmd heading: 136.548350 deg,
      new cmd heading: 136.676821 deg.

2025-10-26T22:51:12.470Z,1761519072.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.385461 target range: 14.322940 and range: 14.00 m.
2025-10-26T22:51:12.558Z,1761519072.559 [DAT](INFO): DAT read: 22:51:11.1984 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 498, 0.10,-2.791, 1.798,-2.575,-2.746, PHS= 0.057,-1.694, 0.127, RAW= 152.0,  16.6, CAL= 152.5,  18.8, ROT= 357.5, -18.8

2025-10-26T22:51:12.560Z,1761519072.560 [DAT](INFO): got valid direction response:
 22:51:11.1984 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 498, 0.10,-2.791, 1.798,-2.575,-2.746, PHS= 0.057,-1.694, 0.127, RAW= 152.0,  16.6, CAL= 152.5,  18.8, ROT= 357.5, -18.8

2025-10-26T22:51:12.561Z,1761519072.561 [DAT](INFO): #Rx 96: Read direction message, but no range.
2025-10-26T22:51:12.562Z,1761519072.562 [DAT](INFO): direction in FSK: [0.945748,-0.041292,0.322266]
2025-10-26T22:51:12.568Z,1761519072.568 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.644749
2025-10-26T22:51:12.809Z,1761519072.809 [DAT](INFO): DAT read: Rx Time:22:51:11.6983 

2025-10-26T22:51:12.810Z,1761519072.810 [DAT](INFO): Rx dataTimestamp_ set to:1761519072.809278
2025-10-26T22:51:12.814Z,1761519072.814 [DAT](INFO): DAT read: Bearing 311.4,  -3.5 (Local)

2025-10-26T22:51:12.817Z,1761519072.817 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.4,  -3.5 (Local)

2025-10-26T22:51:12.839Z,1761519072.839 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed 0.4

2025-10-26T22:51:12.863Z,1761519072.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751932,-0.649703,-0.111730],[0.659101,-0.737414,-0.147671],[0.013551,-0.184681,0.982705]]
2025-10-26T22:51:12.867Z,1761519072.867 [DAT](INFO): DAT read: 22:51:11.6983 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 498,-0.45,-2.753, 1.869,-2.582,-2.758, PHS= 0.107,-1.611, 0.132, RAW= 150.7,  15.6, CAL= 151.1,  17.5, ROT= 358.9, -17.5

2025-10-26T22:51:12.883Z,1761519072.883 [DAT](INFO): got valid direction response:
 22:51:11.6983 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 498,-0.45,-2.753, 1.869,-2.582,-2.758, PHS= 0.107,-1.611, 0.132, RAW= 150.7,  15.6, CAL= 151.1,  17.5, ROT= 358.9, -17.5

2025-10-26T22:51:12.892Z,1761519072.892 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-10-26T22:51:12.908Z,1761519072.908 [DAT](INFO): direction in FSK: [0.953541,-0.018309,0.300706]
2025-10-26T22:51:12.909Z,1761519072.909 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:12.938Z,1761519072.938 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.015263
2025-10-26T22:51:12.987Z,1761519072.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.504340 s,
      deltaX: -0.200000 m,
      approachRate: -0.396558 m/s,
      rangeRepo size: 4

2025-10-26T22:51:12.991Z,1761519072.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.726181 m,
      bearing: 141.028691 deg,
      lat: 36.779419 deg,
      lon: -121.859395 deg,
      deltaT: 1.008528 s,
      deltaX: -0.596759 m,
      approachRate: -0.591713 m/s,
      posRepo size: 4

2025-10-26T22:51:13.012Z,1761519073.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.73 m.
2025-10-26T22:51:13.015Z,1761519073.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.726181 m,
      nav range: 12.790534 m,
      bearing: 139.872936 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.083991 deg/s,
      cmd heading: 136.676825 deg,
      new cmd heading: 136.810270 deg.

2025-10-26T22:51:13.020Z,1761519073.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.387790 target range: 13.726181 and range: 13.80 m.
2025-10-26T22:51:13.056Z,1761519073.056 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.133415
2025-10-26T22:51:13.313Z,1761519073.313 [DAT](INFO): DAT read: Rx Time:22:51:12.1981 

2025-10-26T22:51:13.314Z,1761519073.314 [DAT](INFO): Rx dataTimestamp_ set to:1761519073.313380
2025-10-26T22:51:13.319Z,1761519073.319 [DAT](INFO): DAT read: Bearing 313.0,  -3.9 (Local)

2025-10-26T22:51:13.321Z,1761519073.321 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.0,  -3.9 (Local)

2025-10-26T22:51:13.341Z,1761519073.341 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.4

2025-10-26T22:51:13.346Z,1761519073.346 [DAT](INFO): DAT read: 22:51:12.1981 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 511,-0.09, 2.218, 0.535, 2.377, 2.249, PHS= 0.071,-1.669, 0.084, RAW= 150.4,  17.0, CAL= 150.9,  19.1, ROT= 359.1, -19.1

2025-10-26T22:51:13.379Z,1761519073.379 [DAT](INFO): got valid direction response:
 22:51:12.1981 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 511,-0.09, 2.218, 0.535, 2.377, 2.249, PHS= 0.071,-1.669, 0.084, RAW= 150.4,  17.0, CAL= 150.9,  19.1, ROT= 359.1, -19.1

2025-10-26T22:51:13.380Z,1761519073.380 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-10-26T22:51:13.381Z,1761519073.381 [DAT](INFO): direction in FSK: [0.944832,-0.014842,0.327218]
2025-10-26T22:51:13.381Z,1761519073.381 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:13.389Z,1761519073.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751311,-0.649198,-0.118631],[0.659863,-0.736089,-0.150843],[0.010604,-0.191610,0.981414]]
2025-10-26T22:51:13.398Z,1761519073.398 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.475491
2025-10-26T22:51:13.488Z,1761519073.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.504102 s,
      deltaX: -0.300000 m,
      approachRate: -0.595118 m/s,
      rangeRepo size: 4

2025-10-26T22:51:13.491Z,1761519073.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.427818 m,
      bearing: 141.634935 deg,
      lat: 36.779418 deg,
      lon: -121.859396 deg,
      deltaT: 0.504102 s,
      deltaX: -0.298363 m,
      approachRate: -0.591870 m/s,
      posRepo size: 4

2025-10-26T22:51:13.497Z,1761519073.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-10-26T22:51:13.506Z,1761519073.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.427818 m,
      nav range: 12.494298 m,
      bearing: 140.108438 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.083991 deg/s,
      cmd heading: 136.810274 deg,
      new cmd heading: 136.935318 deg.

2025-10-26T22:51:13.507Z,1761519073.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.389972 target range: 13.427818 and range: 13.50 m.
2025-10-26T22:51:13.561Z,1761519073.561 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.638161
2025-10-26T22:51:13.818Z,1761519073.818 [DAT](INFO): DAT read: Rx Time:22:51:12.6980 

2025-10-26T22:51:13.820Z,1761519073.820 [DAT](INFO): Rx dataTimestamp_ set to:1761519073.819044
2025-10-26T22:51:13.825Z,1761519073.825 [DAT](INFO): DAT read: Bearing 312.8,  -4.7 (Local)

2025-10-26T22:51:13.826Z,1761519073.826 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.8,  -4.7 (Local)

2025-10-26T22:51:13.829Z,1761519073.829 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.4

2025-10-26T22:51:13.834Z,1761519073.834 [DAT](INFO): DAT read: 22:51:12.6980 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 510, 0.24,-1.782, 2.794,-1.599,-1.740, PHS= 0.061,-1.703, 0.098, RAW= 151.0,  17.0, CAL= 151.6,  19.2, ROT= 358.4, -19.2

2025-10-26T22:51:13.835Z,1761519073.835 [DAT](INFO): got valid direction response:
 22:51:12.6980 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 510, 0.24,-1.782, 2.794,-1.599,-1.740, PHS= 0.061,-1.703, 0.098, RAW= 151.0,  17.0, CAL= 151.6,  19.2, ROT= 358.4, -19.2

2025-10-26T22:51:13.835Z,1761519073.835 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-10-26T22:51:13.836Z,1761519073.836 [DAT](INFO): direction in FSK: [0.944008,-0.026369,0.328867]
2025-10-26T22:51:13.836Z,1761519073.836 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:13.846Z,1761519073.846 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=46.923038
2025-10-26T22:51:13.882Z,1761519073.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750960,-0.649202,-0.120811],[0.660289,-0.735781,-0.150483],[0.008803,-0.192777,0.981203]]
2025-10-26T22:51:14.017Z,1761519074.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.505664 s,
      deltaX: -0.100000 m,
      approachRate: -0.197761 m/s,
      rangeRepo size: 4

2025-10-26T22:51:14.019Z,1761519074.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.328353 m,
      bearing: 140.959634 deg,
      lat: 36.779415 deg,
      lon: -121.859396 deg,
      deltaT: 0.505664 s,
      deltaX: -0.099465 m,
      approachRate: -0.196702 m/s,
      posRepo size: 4

2025-10-26T22:51:14.020Z,1761519074.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-10-26T22:51:14.022Z,1761519074.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.328353 m,
      nav range: 12.461293 m,
      bearing: 141.165466 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.083991 deg/s,
      cmd heading: 136.935321 deg,
      new cmd heading: 137.069852 deg.

2025-10-26T22:51:14.028Z,1761519074.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.392320 target range: 13.328353 and range: 13.40 m.
2025-10-26T22:51:14.065Z,1761519074.065 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.141605
2025-10-26T22:51:14.321Z,1761519074.321 [DAT](INFO): DAT read: Rx Time:22:51:13.1978 

2025-10-26T22:51:14.323Z,1761519074.323 [DAT](INFO): Rx dataTimestamp_ set to:1761519074.322013
2025-10-26T22:51:14.327Z,1761519074.327 [DAT](INFO): DAT read: Bearing 313.4,  -4.6 (Local)

2025-10-26T22:51:14.328Z,1761519074.328 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.4,  -4.6 (Local)

2025-10-26T22:51:14.330Z,1761519074.330 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed 0.4

2025-10-26T22:51:14.365Z,1761519074.365 [DAT](INFO): DAT read: 22:51:13.1978 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508,-0.25, 0.035,-1.659, 0.198, 0.087, PHS= 0.050,-1.701, 0.067, RAW= 150.5,  17.6, CAL= 151.0,  19.9, ROT= 359.0, -19.9

2025-10-26T22:51:14.366Z,1761519074.366 [DAT](INFO): got valid direction response:
 22:51:13.1978 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508,-0.25, 0.035,-1.659, 0.198, 0.087, PHS= 0.050,-1.701, 0.067, RAW= 150.5,  17.6, CAL= 151.0,  19.9, ROT= 359.0, -19.9

2025-10-26T22:51:14.367Z,1761519074.367 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-10-26T22:51:14.376Z,1761519074.376 [DAT](INFO): direction in FSK: [0.940145,-0.016410,0.340380]
2025-10-26T22:51:14.377Z,1761519074.377 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:14.389Z,1761519074.389 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.465584
2025-10-26T22:51:14.409Z,1761519074.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750505,-0.649255,-0.123329],[0.660833,-0.735453,-0.149696],[0.006489,-0.193847,0.981010]]
2025-10-26T22:51:14.544Z,1761519074.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.502969 s,
      deltaX: -0.299999 m,
      approachRate: -0.596457 m/s,
      rangeRepo size: 4

2025-10-26T22:51:14.546Z,1761519074.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.029733 m,
      bearing: 141.679878 deg,
      lat: 36.779415 deg,
      lon: -121.859396 deg,
      deltaT: 0.502969 s,
      deltaX: -0.298620 m,
      approachRate: -0.593715 m/s,
      posRepo size: 4

2025-10-26T22:51:14.546Z,1761519074.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m.
2025-10-26T22:51:14.553Z,1761519074.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.029733 m,
      nav range: 12.157811 m,
      bearing: 141.379230 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.083991 deg/s,
      cmd heading: 137.069848 deg,
      new cmd heading: 137.201587 deg.

2025-10-26T22:51:14.554Z,1761519074.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.394619 target range: 13.029733 and range: 13.10 m.
2025-10-26T22:51:14.569Z,1761519074.569 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.645775
2025-10-26T22:51:14.789Z,1761519074.789 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:51:14.825Z,1761519074.825 [DAT](INFO): DAT read: Rx Time:22:51:13.6976 

2025-10-26T22:51:14.827Z,1761519074.827 [DAT](INFO): Rx dataTimestamp_ set to:1761519074.826111
2025-10-26T22:51:14.829Z,1761519074.829 [DAT](INFO): DAT read: Bearing 312.0,  -4.5 (Local)

2025-10-26T22:51:14.829Z,1761519074.829 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.0,  -4.5 (Local)

2025-10-26T22:51:14.831Z,1761519074.831 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed 0.4

2025-10-26T22:51:14.836Z,1761519074.836 [DAT](INFO): DAT read: 22:51:13.6976 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 506, 0.06, 1.712,-0.038, 1.879, 1.725, PHS= 0.089,-1.718, 0.110, RAW= 150.6,  16.5, CAL= 151.0,  18.5, ROT= 359.0, -18.5

2025-10-26T22:51:14.837Z,1761519074.837 [DAT](INFO): got valid direction response:
 22:51:13.6976 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 506, 0.06, 1.712,-0.038, 1.879, 1.725, PHS= 0.089,-1.718, 0.110, RAW= 150.6,  16.5, CAL= 151.0,  18.5, ROT= 359.0, -18.5

2025-10-26T22:51:14.837Z,1761519074.837 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-10-26T22:51:14.838Z,1761519074.838 [DAT](INFO): direction in FSK: [0.948179,-0.016551,0.317305]
2025-10-26T22:51:14.838Z,1761519074.838 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:14.851Z,1761519074.851 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=47.927635
2025-10-26T22:51:14.862Z,1761519074.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749856,-0.649764,-0.124589],[0.661587,-0.735236,-0.147410],[0.004180,-0.192963,0.981197]]
2025-10-26T22:51:14.983Z,1761519074.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.504098 s,
      deltaX: -0.300000 m,
      approachRate: -0.595123 m/s,
      rangeRepo size: 4

2025-10-26T22:51:14.991Z,1761519074.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.731342 m,
      bearing: 141.298823 deg,
      lat: 36.779415 deg,
      lon: -121.859396 deg,
      deltaT: 0.504098 s,
      deltaX: -0.298390 m,
      approachRate: -0.591929 m/s,
      posRepo size: 4

2025-10-26T22:51:15.002Z,1761519075.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.73 m.
2025-10-26T22:51:15.017Z,1761519075.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.731342 m,
      nav range: 12.005689 m,
      bearing: 141.385447 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.083991 deg/s,
      cmd heading: 137.201589 deg,
      new cmd heading: 137.313160 deg.

2025-10-26T22:51:15.018Z,1761519075.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.396567 target range: 12.731342 and range: 12.80 m.
2025-10-26T22:51:15.073Z,1761519075.073 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.150318
2025-10-26T22:51:15.260Z,1761519075.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748981,-0.650563,-0.125678],[0.662589,-0.734897,-0.144576],[0.001695,-0.191557,0.981480]]
2025-10-26T22:51:15.328Z,1761519075.328 [DAT](INFO): DAT read: Rx Time:22:51:14.1973 

2025-10-26T22:51:15.329Z,1761519075.329 [DAT](INFO): Rx dataTimestamp_ set to:1761519075.328307
2025-10-26T22:51:15.330Z,1761519075.330 [DAT](INFO): DAT read: Bearing 313.0,  -4.5 (Local)

2025-10-26T22:51:15.330Z,1761519075.330 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.0,  -4.5 (Local)

2025-10-26T22:51:15.333Z,1761519075.333 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.4

2025-10-26T22:51:15.337Z,1761519075.337 [DAT](INFO): DAT read: 22:51:14.1973 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 503, 0.33, 0.774,-0.948, 0.927, 0.812, PHS= 0.064,-1.716, 0.070, RAW= 150.2,  17.4, CAL= 150.7,  19.5, ROT= 359.3, -19.5

2025-10-26T22:51:15.339Z,1761519075.339 [DAT](INFO): got valid direction response:
 22:51:14.1973 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 503, 0.33, 0.774,-0.948, 0.927, 0.812, PHS= 0.064,-1.716, 0.070, RAW= 150.2,  17.4, CAL= 150.7,  19.5, ROT= 359.3, -19.5

2025-10-26T22:51:15.339Z,1761519075.339 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-10-26T22:51:15.348Z,1761519075.348 [DAT](INFO): direction in FSK: [0.942571,-0.011516,0.333807]
2025-10-26T22:51:15.348Z,1761519075.348 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:15.360Z,1761519075.360 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.437149
2025-10-26T22:51:15.410Z,1761519075.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.502196 s,
      deltaX: -0.300000 m,
      approachRate: -0.597377 m/s,
      rangeRepo size: 4

2025-10-26T22:51:15.417Z,1761519075.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.432191 m,
      bearing: 141.700689 deg,
      lat: 36.779415 deg,
      lon: -121.859396 deg,
      deltaT: 0.502196 s,
      deltaX: -0.299151 m,
      approachRate: -0.595687 m/s,
      posRepo size: 4

2025-10-26T22:51:15.418Z,1761519075.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m.
2025-10-26T22:51:15.438Z,1761519075.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.432191 m,
      nav range: 11.754317 m,
      bearing: 141.547901 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.083991 deg/s,
      cmd heading: 137.313153 deg,
      new cmd heading: 137.421000 deg.

2025-10-26T22:51:15.443Z,1761519075.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.398449 target range: 12.432191 and range: 12.50 m.
2025-10-26T22:51:15.577Z,1761519075.577 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.653679
2025-10-26T22:51:15.691Z,1761519075.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748007,-0.651549,-0.126369],[0.663690,-0.734472,-0.141656],[-0.000518,-0.189829,0.981817]]
2025-10-26T22:51:15.736Z,1761519075.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:51:15.738Z,1761519075.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m.
2025-10-26T22:51:15.752Z,1761519075.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.432191 m,
      nav range: 11.596169 m,
      bearing: 141.547246 deg,
      approach rate: -0.482256 m/s,
      LOS rate: -0.002027 deg/s,
      cmd heading: 137.421002 deg,
      new cmd heading: 137.419008 deg.

2025-10-26T22:51:15.757Z,1761519075.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.398414 target range: 12.432191 and range: 12.50 m.
2025-10-26T22:51:15.793Z,1761519075.793 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:51:15.829Z,1761519075.829 [DAT](INFO): DAT read: Rx Time:22:51:14.6973 

2025-10-26T22:51:15.830Z,1761519075.830 [DAT](INFO): Rx dataTimestamp_ set to:1761519075.829418
2025-10-26T22:51:15.831Z,1761519075.831 [DAT](INFO): DAT read: Bearing 313.4,  -4.4 (Local)

2025-10-26T22:51:15.832Z,1761519075.832 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.4,  -4.4 (Local)

2025-10-26T22:51:15.834Z,1761519075.834 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.4

2025-10-26T22:51:15.839Z,1761519075.839 [DAT](INFO): DAT read: 22:51:14.6973 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 503,-0.20, 0.345,-1.370, 0.483, 0.388, PHS= 0.059,-1.713, 0.051, RAW= 149.8,  17.8, CAL= 150.3,  19.9, ROT= 359.7, -19.9

2025-10-26T22:51:15.840Z,1761519075.840 [DAT](INFO): got valid direction response:
 22:51:14.6973 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 503,-0.20, 0.345,-1.370, 0.483, 0.388, PHS= 0.059,-1.713, 0.051, RAW= 149.8,  17.8, CAL= 150.3,  19.9, ROT= 359.7, -19.9

2025-10-26T22:51:15.840Z,1761519075.840 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-10-26T22:51:15.841Z,1761519075.841 [DAT](INFO): direction in FSK: [0.940275,-0.004923,0.340380]
2025-10-26T22:51:15.842Z,1761519075.842 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:15.845Z,1761519075.845 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=48.922485
2025-10-26T22:51:16.082Z,1761519076.082 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.158958
2025-10-26T22:51:16.132Z,1761519076.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745658,-0.653723,-0.128995],[0.666307,-0.733088,-0.136444],[-0.005369,-0.187691,0.982213]]
2025-10-26T22:51:16.198Z,1761519076.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.501111 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:51:16.205Z,1761519076.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.431673 m,
      bearing: 141.803390 deg,
      lat: 36.779415 deg,
      lon: -121.859395 deg,
      deltaT: 0.501111 s,
      deltaX: -0.000518 m,
      approachRate: -0.001033 m/s,
      posRepo size: 4

2025-10-26T22:51:16.205Z,1761519076.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m.
2025-10-26T22:51:16.216Z,1761519076.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.431673 m,
      nav range: 11.478992 m,
      bearing: 141.201850 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002027 deg/s,
      cmd heading: 137.419007 deg,
      new cmd heading: 137.416209 deg.

2025-10-26T22:51:16.217Z,1761519076.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.398365 target range: 12.431673 and range: 12.50 m.
2025-10-26T22:51:16.334Z,1761519076.334 [DAT](INFO): DAT read: Rx Time:22:51:15.1970 

2025-10-26T22:51:16.335Z,1761519076.335 [DAT](INFO): Rx dataTimestamp_ set to:1761519076.334330
2025-10-26T22:51:16.337Z,1761519076.337 [DAT](INFO): DAT read: Bearing 312.1,  -4.1 (Local)

2025-10-26T22:51:16.337Z,1761519076.337 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.1,  -4.1 (Local)

2025-10-26T22:51:16.340Z,1761519076.340 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed 0.4

2025-10-26T22:51:16.345Z,1761519076.345 [DAT](INFO): DAT read: 22:51:15.1970 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500, 0.15,-0.041,-1.808, 0.097,-0.037, PHS= 0.099,-1.725, 0.090, RAW= 149.8,  16.6, CAL= 150.2,  18.6, ROT= 359.8, -18.6

2025-10-26T22:51:16.346Z,1761519076.346 [DAT](INFO): got valid direction response:
 22:51:15.1970 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500, 0.15,-0.041,-1.808, 0.097,-0.037, PHS= 0.099,-1.725, 0.090, RAW= 149.8,  16.6, CAL= 150.2,  18.6, ROT= 359.8, -18.6

2025-10-26T22:51:16.346Z,1761519076.346 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-10-26T22:51:16.347Z,1761519076.347 [DAT](INFO): direction in FSK: [0.947763,-0.003308,0.318959]
2025-10-26T22:51:16.348Z,1761519076.348 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:16.351Z,1761519076.351 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.428097
2025-10-26T22:51:16.551Z,1761519076.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744439,-0.654819,-0.130467],[0.667643,-0.732347,-0.133865],[-0.007889,-0.186760,0.982374]]
2025-10-26T22:51:16.584Z,1761519076.584 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.661446
2025-10-26T22:51:16.665Z,1761519076.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.504912 s,
      deltaX: -0.500000 m,
      approachRate: -0.990272 m/s,
      rangeRepo size: 4

2025-10-26T22:51:16.667Z,1761519076.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.934406 m,
      bearing: 141.505003 deg,
      lat: 36.779414 deg,
      lon: -121.859395 deg,
      deltaT: 0.504912 s,
      deltaX: -0.497267 m,
      approachRate: -0.984858 m/s,
      posRepo size: 4

2025-10-26T22:51:16.672Z,1761519076.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-10-26T22:51:16.675Z,1761519076.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.934406 m,
      nav range: 11.295933 m,
      bearing: 141.245659 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002027 deg/s,
      cmd heading: 137.416207 deg,
      new cmd heading: 137.413369 deg.

2025-10-26T22:51:16.680Z,1761519076.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.398316 target range: 11.934406 and range: 12.00 m.
2025-10-26T22:51:16.837Z,1761519076.837 [DAT](INFO): DAT read: Rx Time:22:51:15.6969 

2025-10-26T22:51:16.838Z,1761519076.838 [DAT](INFO): Rx dataTimestamp_ set to:1761519076.837283
2025-10-26T22:51:16.839Z,1761519076.839 [DAT](INFO): DAT read: Bearing 312.8,  -4.1 (Local)

2025-10-26T22:51:16.839Z,1761519076.839 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.8,  -4.1 (Local)

2025-10-26T22:51:16.841Z,1761519076.841 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed 0.4

2025-10-26T22:51:16.846Z,1761519076.846 [DAT](INFO): DAT read: 22:51:15.6969 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500,-0.32,-0.455,-2.203,-0.329,-0.435, PHS= 0.082,-1.723, 0.062, RAW= 149.4,  17.3, CAL= 149.9,  19.3, ROT=   0.1, -19.3

2025-10-26T22:51:16.847Z,1761519076.847 [DAT](INFO): got valid direction response:
 22:51:15.6969 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500,-0.32,-0.455,-2.203,-0.329,-0.435, PHS= 0.082,-1.723, 0.062, RAW= 149.4,  17.3, CAL= 149.9,  19.3, ROT=   0.1, -19.3

2025-10-26T22:51:16.848Z,1761519076.848 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-10-26T22:51:16.848Z,1761519076.848 [DAT](INFO): direction in FSK: [0.943800,0.001647,0.330514]
2025-10-26T22:51:16.849Z,1761519076.849 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:16.853Z,1761519076.853 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=49.929657
2025-10-26T22:51:17.021Z,1761519077.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743316,-0.655847,-0.131704],[0.668860,-0.731738,-0.131095],[-0.010395,-0.185537,0.982582]]
2025-10-26T22:51:17.089Z,1761519077.089 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.165524
2025-10-26T22:51:17.121Z,1761519077.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.502953 s,
      deltaX: -0.100000 m,
      approachRate: -0.198826 m/s,
      rangeRepo size: 4

2025-10-26T22:51:17.123Z,1761519077.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.834819 m,
      bearing: 141.820310 deg,
      lat: 36.779414 deg,
      lon: -121.859395 deg,
      deltaT: 0.502953 s,
      deltaX: -0.099587 m,
      approachRate: -0.198005 m/s,
      posRepo size: 4

2025-10-26T22:51:17.128Z,1761519077.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-10-26T22:51:17.130Z,1761519077.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.834819 m,
      nav range: 11.190716 m,
      bearing: 141.354812 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002027 deg/s,
      cmd heading: 137.413366 deg,
      new cmd heading: 137.410624 deg.

2025-10-26T22:51:17.136Z,1761519077.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.398268 target range: 11.834819 and range: 11.90 m.
2025-10-26T22:51:17.346Z,1761519077.346 [DAT](INFO): DAT read: Rx Time:22:51:16.1967 

2025-10-26T22:51:17.346Z,1761519077.346 [DAT](INFO): Rx dataTimestamp_ set to:1761519077.346211
2025-10-26T22:51:17.349Z,1761519077.349 [DAT](INFO): DAT read: Bearing 311.6,  -3.8 (Local)

2025-10-26T22:51:17.349Z,1761519077.349 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.6,  -3.8 (Local)

2025-10-26T22:51:17.353Z,1761519077.353 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed 0.4

2025-10-26T22:51:17.359Z,1761519077.359 [DAT](INFO): DAT read: 22:51:16.1967 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 497, 0.10,-0.466,-2.254,-0.343,-0.484, PHS= 0.120,-1.725, 0.097, RAW= 149.4,  16.2, CAL= 149.7,  18.1, ROT=   0.3, -18.1

2025-10-26T22:51:17.364Z,1761519077.364 [DAT](INFO): got valid direction response:
 22:51:16.1967 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 497, 0.10,-0.466,-2.254,-0.343,-0.484, PHS= 0.120,-1.725, 0.097, RAW= 149.4,  16.2, CAL= 149.7,  18.1, ROT=   0.3, -18.1

2025-10-26T22:51:17.365Z,1761519077.365 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-10-26T22:51:17.366Z,1761519077.366 [DAT](INFO): direction in FSK: [0.950503,0.004977,0.310676]
2025-10-26T22:51:17.366Z,1761519077.366 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:17.374Z,1761519077.374 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.451141
2025-10-26T22:51:17.455Z,1761519077.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741896,-0.657366,-0.132139],[0.670388,-0.731056,-0.127036],[-0.013092,-0.182832,0.983057]]
2025-10-26T22:51:17.518Z,1761519077.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.508928 s,
      deltaX: -0.299999 m,
      approachRate: -0.589473 m/s,
      rangeRepo size: 4

2025-10-26T22:51:17.525Z,1761519077.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.536463 m,
      bearing: 141.597419 deg,
      lat: 36.779413 deg,
      lon: -121.859396 deg,
      deltaT: 0.508928 s,
      deltaX: -0.298356 m,
      approachRate: -0.586244 m/s,
      posRepo size: 4

2025-10-26T22:51:17.525Z,1761519077.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.54 m.
2025-10-26T22:51:17.536Z,1761519077.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.536463 m,
      nav range: 11.045910 m,
      bearing: 141.516117 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002027 deg/s,
      cmd heading: 137.410620 deg,
      new cmd heading: 137.408175 deg.

2025-10-26T22:51:17.537Z,1761519077.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.398225 target range: 11.536463 and range: 11.60 m.
2025-10-26T22:51:17.594Z,1761519077.594 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.670383
2025-10-26T22:51:17.842Z,1761519077.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740431,-0.658769,-0.133365],[0.671943,-0.730222,-0.123565],[-0.015985,-0.181105,0.983334]]
2025-10-26T22:51:17.845Z,1761519077.845 [DAT](INFO): DAT read: Rx Time:22:51:16.6966 

2025-10-26T22:51:17.845Z,1761519077.845 [DAT](INFO): Rx dataTimestamp_ set to:1761519077.844816
2025-10-26T22:51:17.846Z,1761519077.846 [DAT](INFO): DAT read: Range 11 to 50 :    11.4 m (trip time 7.6 ms) speed 0.4

2025-10-26T22:51:17.847Z,1761519077.847 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-10-26T22:51:17.848Z,1761519077.848 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=50.924915
2025-10-26T22:51:17.863Z,1761519077.863 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:51:17.866Z,1761519077.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.400000 m,
      deltaT: 0.498605 s,
      deltaX: -0.200001 m,
      approachRate: -0.401121 m/s,
      rangeRepo size: 4

2025-10-26T22:51:17.867Z,1761519077.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.54 m.
2025-10-26T22:51:17.870Z,1761519077.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.536463 m,
      nav range: 10.905704 m,
      bearing: 141.391323 deg,
      approach rate: -0.402638 m/s,
      LOS rate: -0.362984 deg/s,
      cmd heading: 137.408175 deg,
      new cmd heading: 137.028986 deg.

2025-10-26T22:51:17.871Z,1761519077.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.391607 target range: 11.536463 and range: 11.40 m.
2025-10-26T22:51:18.096Z,1761519078.096 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.173340
2025-10-26T22:51:18.246Z,1761519078.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739311,-0.659857,-0.134196],[0.673105,-0.729734,-0.120079],[-0.018692,-0.179103,0.983653]]
2025-10-26T22:51:18.349Z,1761519078.349 [DAT](INFO): DAT read: Rx Time:22:51:17.1964 

2025-10-26T22:51:18.349Z,1761519078.349 [DAT](INFO): Rx dataTimestamp_ set to:1761519078.349206
2025-10-26T22:51:18.351Z,1761519078.351 [DAT](INFO): DAT read: Bearing 308.5,  -2.4 (Local)

2025-10-26T22:51:18.351Z,1761519078.351 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.5,  -2.4 (Local)

2025-10-26T22:51:18.353Z,1761519078.353 [DAT](INFO): DAT read: Range 11 to 50 :    11.1 m (trip time 7.4 ms) speed 0.4

2025-10-26T22:51:18.358Z,1761519078.358 [DAT](INFO): DAT read: 22:51:17.1964 LVL= 26736, 32753, 32754, 32755, AGC= 56, IDX= 510, 0.30,-0.817,-2.616,-0.722,-0.944, PHS= 0.228,-1.628, 0.178, RAW= 148.6,  13.3, CAL= 148.6,  14.6, ROT=   1.4, -14.6

2025-10-26T22:51:18.359Z,1761519078.359 [DAT](INFO): got valid direction response:
 22:51:17.1964 LVL= 26736, 32753, 32754, 32755, AGC= 56, IDX= 510, 0.30,-0.817,-2.616,-0.722,-0.944, PHS= 0.228,-1.628, 0.178, RAW= 148.6,  13.3, CAL= 148.6,  14.6, ROT=   1.4, -14.6

2025-10-26T22:51:18.359Z,1761519078.359 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-10-26T22:51:18.360Z,1761519078.360 [DAT](INFO): direction in FSK: [0.967420,0.023643,0.252069]
2025-10-26T22:51:18.361Z,1761519078.361 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:18.368Z,1761519078.368 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.445404
2025-10-26T22:51:18.374Z,1761519078.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.504390 s,
      deltaX: -0.299999 m,
      approachRate: -0.594776 m/s,
      rangeRepo size: 4

2025-10-26T22:51:18.381Z,1761519078.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.039220 m,
      bearing: 141.710717 deg,
      lat: 36.779413 deg,
      lon: -121.859396 deg,
      deltaT: 1.002995 s,
      deltaX: -0.497243 m,
      approachRate: -0.495758 m/s,
      posRepo size: 4

2025-10-26T22:51:18.381Z,1761519078.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m.
2025-10-26T22:51:18.399Z,1761519078.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.039220 m,
      nav range: 10.778174 m,
      bearing: 141.337282 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.362984 deg/s,
      cmd heading: 137.028990 deg,
      new cmd heading: 136.475457 deg.

2025-10-26T22:51:18.400Z,1761519078.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.381946 target range: 11.039220 and range: 11.10 m.
2025-10-26T22:51:18.601Z,1761519078.601 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.677738
2025-10-26T22:51:18.728Z,1761519078.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738055,-0.661208,-0.134459],[0.674401,-0.729208,-0.115921],[-0.021400,-0.176236,0.984115]]
2025-10-26T22:51:18.762Z,1761519078.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m.
2025-10-26T22:51:18.765Z,1761519078.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.039220 m,
      nav range: 10.627274 m,
      bearing: 141.122619 deg,
      approach rate: -0.388301 m/s,
      LOS rate: -0.560216 deg/s,
      cmd heading: 136.475458 deg,
      new cmd heading: 135.822356 deg.

2025-10-26T22:51:18.766Z,1761519078.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.370547 target range: 11.039220 and range: 11.10 m.
2025-10-26T22:51:18.853Z,1761519078.853 [DAT](INFO): DAT read: Rx Time:22:51:17.6963 

2025-10-26T22:51:18.854Z,1761519078.854 [DAT](INFO): Rx dataTimestamp_ set to:1761519078.853359
2025-10-26T22:51:18.855Z,1761519078.855 [DAT](INFO): DAT read: Bearing 310.5,  -3.3 (Local)

2025-10-26T22:51:18.855Z,1761519078.855 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.5,  -3.3 (Local)

2025-10-26T22:51:18.857Z,1761519078.857 [DAT](INFO): DAT read: Range 11 to 50 :    11.0 m (trip time 7.3 ms) speed 0.4

2025-10-26T22:51:18.862Z,1761519078.862 [DAT](INFO): DAT read: 22:51:17.6963 LVL= 29168, 32753, 32754, 32755, AGC= 57, IDX= 509,-0.02,-2.077, 2.412,-1.968,-2.138, PHS= 0.163,-1.688, 0.126, RAW= 149.0,  15.1, CAL= 149.2,  16.8, ROT=   0.8, -16.8

2025-10-26T22:51:18.863Z,1761519078.863 [DAT](INFO): got valid direction response:
 22:51:17.6963 LVL= 29168, 32753, 32754, 32755, AGC= 57, IDX= 509,-0.02,-2.077, 2.412,-1.968,-2.138, PHS= 0.163,-1.688, 0.126, RAW= 149.0,  15.1, CAL= 149.2,  16.8, ROT=   0.8, -16.8

2025-10-26T22:51:18.864Z,1761519078.864 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-26T22:51:18.865Z,1761519078.865 [DAT](INFO): direction in FSK: [0.957226,0.013366,0.289032]
2025-10-26T22:51:18.865Z,1761519078.865 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:18.869Z,1761519078.869 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.945641
2025-10-26T22:51:19.104Z,1761519079.104 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.181396
2025-10-26T22:51:19.128Z,1761519079.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737102,-0.662430,-0.133668],[0.675370,-0.729001,-0.111504],[-0.023580,-0.172465,0.984733]]
2025-10-26T22:51:19.195Z,1761519079.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 0.504153 s,
      deltaX: -0.100000 m,
      approachRate: -0.198353 m/s,
      rangeRepo size: 4

2025-10-26T22:51:19.197Z,1761519079.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.939623 m,
      bearing: 141.244767 deg,
      lat: 36.779413 deg,
      lon: -121.859396 deg,
      deltaT: 0.504153 s,
      deltaX: -0.099597 m,
      approachRate: -0.197553 m/s,
      posRepo size: 4

2025-10-26T22:51:19.198Z,1761519079.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m.
2025-10-26T22:51:19.207Z,1761519079.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.939623 m,
      nav range: 10.485518 m,
      bearing: 140.898967 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.560216 deg/s,
      cmd heading: 135.822355 deg,
      new cmd heading: 135.102783 deg.

2025-10-26T22:51:19.212Z,1761519079.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.357988 target range: 10.939623 and range: 11.00 m.
2025-10-26T22:51:19.359Z,1761519079.359 [DAT](INFO): DAT read: Rx Time:22:51:18.1960 

2025-10-26T22:51:19.359Z,1761519079.359 [DAT](INFO): Rx dataTimestamp_ set to:1761519079.358717
2025-10-26T22:51:19.360Z,1761519079.360 [DAT](INFO): DAT read: Bearing 308.4,  -3.3 (Local)

2025-10-26T22:51:19.361Z,1761519079.361 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.4,  -3.3 (Local)

2025-10-26T22:51:19.363Z,1761519079.363 [DAT](INFO): DAT read: Range 11 to 50 :    10.5 m (trip time 7.0 ms) speed 0.4

2025-10-26T22:51:19.388Z,1761519079.388 [DAT](INFO): DAT read: 22:51:18.1960 LVL= 25072, 32753, 31650, 32755, AGC= 55, IDX= 507,-0.27, 2.065, 0.274, 2.195, 1.952, PHS= 0.216,-1.632, 0.199, RAW= 149.6,  13.2, CAL= 149.6,  14.6, ROT=   0.4, -14.6

2025-10-26T22:51:19.389Z,1761519079.389 [DAT](INFO): got valid direction response:
 22:51:18.1960 LVL= 25072, 32753, 31650, 32755, AGC= 55, IDX= 507,-0.27, 2.065, 0.274, 2.195, 1.952, PHS= 0.216,-1.632, 0.199, RAW= 149.6,  13.2, CAL= 149.6,  14.6, ROT=   0.4, -14.6

2025-10-26T22:51:19.389Z,1761519079.389 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-10-26T22:51:19.390Z,1761519079.390 [DAT](INFO): direction in FSK: [0.967686,0.006756,0.252069]
2025-10-26T22:51:19.390Z,1761519079.390 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:19.403Z,1761519079.403 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.479725
2025-10-26T22:51:19.547Z,1761519079.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735899,-0.663832,-0.133340],[0.676591,-0.728522,-0.107145],[-0.026015,-0.169065,0.985262]]
2025-10-26T22:51:19.592Z,1761519079.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.505358 s,
      deltaX: -0.500000 m,
      approachRate: -0.989398 m/s,
      rangeRepo size: 4

2025-10-26T22:51:19.594Z,1761519079.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.442367 m,
      bearing: 140.301918 deg,
      lat: 36.779413 deg,
      lon: -121.859396 deg,
      deltaT: 0.505358 s,
      deltaX: -0.497256 m,
      approachRate: -0.983968 m/s,
      posRepo size: 4

2025-10-26T22:51:19.594Z,1761519079.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.44 m.
2025-10-26T22:51:19.601Z,1761519079.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.442367 m,
      nav range: 10.335828 m,
      bearing: 140.753878 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.560216 deg/s,
      cmd heading: 135.102781 deg,
      new cmd heading: 134.437199 deg.

2025-10-26T22:51:19.602Z,1761519079.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.346372 target range: 10.442367 and range: 10.50 m.
2025-10-26T22:51:19.608Z,1761519079.608 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.685455
2025-10-26T22:51:19.861Z,1761519079.861 [DAT](INFO): DAT read: Rx Time:22:51:18.6960 

2025-10-26T22:51:19.862Z,1761519079.862 [DAT](INFO): Rx dataTimestamp_ set to:1761519079.861382
2025-10-26T22:51:19.863Z,1761519079.863 [DAT](INFO): DAT read: Bearing 307.0,  -4.1 (Local)

2025-10-26T22:51:19.863Z,1761519079.863 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.0,  -4.1 (Local)

2025-10-26T22:51:19.865Z,1761519079.865 [DAT](INFO): DAT read: Range 11 to 50 :    10.5 m (trip time 7.0 ms) speed 0.4

2025-10-26T22:51:19.870Z,1761519079.870 [DAT](INFO): DAT read: 22:51:18.6960 LVL= 24528, 32753, 29986, 32755, AGC= 54, IDX= 506, 0.34,-1.763, 2.728,-1.595,-1.897, PHS= 0.236,-1.613, 0.258, RAW= 150.6,  12.0, CAL= 150.5,  13.3, ROT= 359.5, -13.3

2025-10-26T22:51:19.871Z,1761519079.871 [DAT](INFO): got valid direction response:
 22:51:18.6960 LVL= 24528, 32753, 29986, 32755, AGC= 54, IDX= 506, 0.34,-1.763, 2.728,-1.595,-1.897, PHS= 0.236,-1.613, 0.258, RAW= 150.6,  12.0, CAL= 150.5,  13.3, ROT= 359.5, -13.3

2025-10-26T22:51:19.871Z,1761519079.871 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-10-26T22:51:19.872Z,1761519079.872 [DAT](INFO): direction in FSK: [0.973142,-0.008492,0.230050]
2025-10-26T22:51:19.873Z,1761519079.873 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:19.876Z,1761519079.876 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.953453
2025-10-26T22:51:19.942Z,1761519079.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734700,-0.665153,-0.133371],[0.677814,-0.727862,-0.103847],[-0.028002,-0.166698,0.985610]]
2025-10-26T22:51:20.088Z,1761519080.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.502665 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:51:20.090Z,1761519080.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.442367 m,
      bearing: 139.060550 deg,
      lat: 36.779413 deg,
      lon: -121.859396 deg,
      deltaT: 0.502665 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:51:20.090Z,1761519080.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.44 m.
2025-10-26T22:51:20.098Z,1761519080.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.442367 m,
      nav range: 10.140684 m,
      bearing: 140.296143 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.560216 deg/s,
      cmd heading: 134.437193 deg,
      new cmd heading: 133.616644 deg.

2025-10-26T22:51:20.099Z,1761519080.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.332050 target range: 10.442367 and range: 10.50 m.
2025-10-26T22:51:20.113Z,1761519080.113 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.189587
2025-10-26T22:51:20.365Z,1761519080.365 [DAT](INFO): DAT read: Rx Time:22:51:19.1958 

2025-10-26T22:51:20.365Z,1761519080.365 [DAT](INFO): Rx dataTimestamp_ set to:1761519080.365099
2025-10-26T22:51:20.367Z,1761519080.367 [DAT](INFO): DAT read: Bearing 306.9,  -4.9 (Local)

2025-10-26T22:51:20.367Z,1761519080.367 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.9,  -4.9 (Local)

2025-10-26T22:51:20.369Z,1761519080.369 [DAT](INFO): DAT read: Range 11 to 50 :    10.2 m (trip time 6.8 ms) speed 0.4

2025-10-26T22:51:20.374Z,1761519080.374 [DAT](INFO): DAT read: 22:51:19.1958 LVL= 24304, 32753, 30274, 32755, AGC= 54, IDX= 504, 0.08, 2.975, 1.182,-3.112, 2.854, PHS= 0.223,-1.627, 0.274, RAW= 151.3,  12.0, CAL= 151.3,  13.3, ROT= 358.7, -13.3

2025-10-26T22:51:20.375Z,1761519080.375 [DAT](INFO): got valid direction response:
 22:51:19.1958 LVL= 24304, 32753, 30274, 32755, AGC= 54, IDX= 504, 0.08, 2.975, 1.182,-3.112, 2.854, PHS= 0.223,-1.627, 0.274, RAW= 151.3,  12.0, CAL= 151.3,  13.3, ROT= 358.7, -13.3

2025-10-26T22:51:20.375Z,1761519080.375 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-10-26T22:51:20.376Z,1761519080.376 [DAT](INFO): direction in FSK: [0.972928,-0.022079,0.230050]
2025-10-26T22:51:20.376Z,1761519080.376 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:20.460Z,1761519080.460 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.537285
2025-10-26T22:51:20.498Z,1761519080.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733352,-0.666489,-0.134116],[0.679196,-0.726897,-0.101562],[-0.029799,-0.165571,0.985748]]
2025-10-26T22:51:20.604Z,1761519080.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.503717 s,
      deltaX: -0.300000 m,
      approachRate: -0.595573 m/s,
      rangeRepo size: 4

2025-10-26T22:51:20.606Z,1761519080.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.143784 m,
      bearing: 138.151065 deg,
      lat: 36.779414 deg,
      lon: -121.859396 deg,
      deltaT: 0.503717 s,
      deltaX: -0.298583 m,
      approachRate: -0.592759 m/s,
      posRepo size: 4

2025-10-26T22:51:20.607Z,1761519080.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T22:51:20.614Z,1761519080.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143784 m,
      nav range: 9.887098 m,
      bearing: 139.612330 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.560216 deg/s,
      cmd heading: 133.616641 deg,
      new cmd heading: 132.735616 deg.

2025-10-26T22:51:20.615Z,1761519080.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.316674 target range: 10.143784 and range: 10.20 m.
2025-10-26T22:51:20.617Z,1761519080.617 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.693733
2025-10-26T22:51:20.835Z,1761519080.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732188,-0.667321,-0.136319],[0.680389,-0.725781,-0.101554],[-0.031169,-0.167106,0.985446]]
2025-10-26T22:51:20.860Z,1761519080.860 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:51:20.862Z,1761519080.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T22:51:20.869Z,1761519080.869 [DAT](INFO): DAT read: Rx Time:22:51:19.6958 

2025-10-26T22:51:20.870Z,1761519080.870 [DAT](INFO): Rx dataTimestamp_ set to:1761519080.869272
2025-10-26T22:51:20.871Z,1761519080.871 [DAT](INFO): DAT read: Bearing 307.6,  -5.5 (Local)

2025-10-26T22:51:20.871Z,1761519080.871 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.6,  -5.5 (Local)

2025-10-26T22:51:20.873Z,1761519080.873 [DAT](INFO): DAT read: Range 11 to 50 :    10.2 m (trip time 6.8 ms) speed 0.3

2025-10-26T22:51:20.878Z,1761519080.878 [DAT](INFO): DAT read: 22:51:19.6958 LVL= 25072, 32753, 31410, 32755, AGC= 55, IDX= 504,-0.12, 2.843, 1.068, 3.048, 2.748, PHS= 0.196,-1.635, 0.256, RAW= 151.6,  12.7, CAL= 151.6,  14.1, ROT= 358.4, -14.1

2025-10-26T22:51:20.879Z,1761519080.879 [DAT](INFO): got valid direction response:
 22:51:19.6958 LVL= 25072, 32753, 31410, 32755, AGC= 55, IDX= 504,-0.12, 2.843, 1.068, 3.048, 2.748, PHS= 0.196,-1.635, 0.256, RAW= 151.6,  12.7, CAL= 151.6,  14.1, ROT= 358.4, -14.1

2025-10-26T22:51:20.879Z,1761519080.879 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-10-26T22:51:20.880Z,1761519080.880 [DAT](INFO): direction in FSK: [0.969494,-0.027080,0.243615]
2025-10-26T22:51:20.881Z,1761519080.881 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:20.887Z,1761519080.887 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.963387
2025-10-26T22:51:20.888Z,1761519080.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143784 m,
      nav range: 9.785001 m,
      bearing: 139.446360 deg,
      approach rate: -0.388239 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 132.735615 deg,
      new cmd heading: 132.232524 deg.

2025-10-26T22:51:20.889Z,1761519080.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.307893 target range: 10.143784 and range: 10.20 m.
2025-10-26T22:51:21.120Z,1761519081.120 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.197411
2025-10-26T22:51:21.373Z,1761519081.373 [DAT](INFO): DAT read: Rx Time:22:51:20.1956 

2025-10-26T22:51:21.374Z,1761519081.374 [DAT](INFO): Rx dataTimestamp_ set to:1761519081.373251
2025-10-26T22:51:21.375Z,1761519081.375 [DAT](INFO): DAT read: Bearing 307.1,  -5.8 (Local)

2025-10-26T22:51:21.375Z,1761519081.375 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.1,  -5.8 (Local)

2025-10-26T22:51:21.377Z,1761519081.377 [DAT](INFO): DAT read: Range 11 to 50 :     9.8 m (trip time 6.5 ms) speed 0.4

2025-10-26T22:51:21.382Z,1761519081.382 [DAT](INFO): DAT read: 22:51:20.1956 LVL= 23856, 32753, 30642, 32755, AGC= 55, IDX= 502,-0.34, 2.012, 0.248, 2.229, 1.912, PHS= 0.202,-1.619, 0.273, RAW= 151.9,  12.3, CAL= 151.9,  13.6, ROT= 358.1, -13.6

2025-10-26T22:51:21.383Z,1761519081.383 [DAT](INFO): got valid direction response:
 22:51:20.1956 LVL= 23856, 32753, 30642, 32755, AGC= 55, IDX= 502,-0.34, 2.012, 0.248, 2.229, 1.912, PHS= 0.202,-1.619, 0.273, RAW= 151.9,  12.3, CAL= 151.9,  13.6, ROT= 358.1, -13.6

2025-10-26T22:51:21.383Z,1761519081.383 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-10-26T22:51:21.384Z,1761519081.384 [DAT](INFO): direction in FSK: [0.971427,-0.032225,0.235142]
2025-10-26T22:51:21.385Z,1761519081.385 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:21.391Z,1761519081.391 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.468002
2025-10-26T22:51:21.390Z,1761519081.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 1.008152 s,
      deltaX: -0.400000 m,
      approachRate: -0.396765 m/s,
      rangeRepo size: 4

2025-10-26T22:51:21.397Z,1761519081.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.143702 m,
      bearing: 137.923133 deg,
      lat: 36.779414 deg,
      lon: -121.859394 deg,
      deltaT: 0.504173 s,
      deltaX: -0.000082 m,
      approachRate: -0.000163 m/s,
      posRepo size: 4

2025-10-26T22:51:21.398Z,1761519081.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m.
2025-10-26T22:51:21.398Z,1761519081.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.80 m.
2025-10-26T22:51:21.399Z,1761519081.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-10-26T22:51:21.405Z,1761519081.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 9.721080 m,
      bearing: 138.265460 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 132.232531 deg,
      new cmd heading: 131.224568 deg.

2025-10-26T22:51:21.406Z,1761519081.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.290301 target range: 10.143702 and range: 9.80 m.
2025-10-26T22:51:21.625Z,1761519081.625 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.701550
2025-10-26T22:51:21.656Z,1761519081.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729122,-0.669442,-0.142231],[0.683582,-0.722424,-0.104014],[-0.033120,-0.173065,0.984353]]
2025-10-26T22:51:21.695Z,1761519081.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 10.14 m. 10.14 m.
2025-10-26T22:51:21.703Z,1761519081.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 9.587852 m,
      bearing: 138.076737 deg,
      approach rate: -0.436276 m/s,
      LOS rate: -0.626591 deg/s,
      cmd heading: 131.224572 deg,
      new cmd heading: 130.650554 deg.

2025-10-26T22:51:21.709Z,1761519081.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280282 target range: 10.143702 and range: 9.80 m.
2025-10-26T22:51:21.877Z,1761519081.877 [DAT](INFO): DAT read: Rx Time:22:51:20.6956 

2025-10-26T22:51:21.878Z,1761519081.878 [DAT](INFO): Rx dataTimestamp_ set to:1761519081.877338
2025-10-26T22:51:21.879Z,1761519081.879 [DAT](INFO): DAT read: Bearing 304.8,  -6.2 (Local)

2025-10-26T22:51:21.880Z,1761519081.880 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.8,  -6.2 (Local)

2025-10-26T22:51:21.882Z,1761519081.882 [DAT](INFO): DAT read: Range 11 to 50 :     9.8 m (trip time 6.5 ms) speed 0.3

2025-10-26T22:51:21.887Z,1761519081.887 [DAT](INFO): DAT read: 22:51:20.6956 LVL= 23136, 32753, 28130, 32755, AGC= 54, IDX= 501, 0.36,-1.342,-3.103,-1.092,-1.482, PHS= 0.242,-1.576, 0.346, RAW= 152.8,  10.6, CAL= 152.6,  11.6, ROT= 357.4, -11.6

2025-10-26T22:51:21.888Z,1761519081.888 [DAT](INFO): got valid direction response:
 22:51:20.6956 LVL= 23136, 32753, 28130, 32755, AGC= 54, IDX= 501, 0.36,-1.342,-3.103,-1.092,-1.482, PHS= 0.242,-1.576, 0.346, RAW= 152.8,  10.6, CAL= 152.6,  11.6, ROT= 357.4, -11.6

2025-10-26T22:51:21.888Z,1761519081.888 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-10-26T22:51:21.889Z,1761519081.889 [DAT](INFO): direction in FSK: [0.978567,-0.044436,0.201078]
2025-10-26T22:51:21.889Z,1761519081.889 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:21.897Z,1761519081.897 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.974182
2025-10-26T22:51:22.108Z,1761519082.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727141,-0.670932,-0.145317],[0.685664,-0.720182,-0.105846],[-0.033639,-0.176603,0.983707]]
2025-10-26T22:51:22.132Z,1761519082.132 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.209000
2025-10-26T22:51:22.205Z,1761519082.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.504087 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:51:22.211Z,1761519082.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.746118 m,
      bearing: 136.204244 deg,
      lat: 36.779414 deg,
      lon: -121.859393 deg,
      deltaT: 1.008066 s,
      deltaX: -0.397584 m,
      approachRate: -0.394403 m/s,
      posRepo size: 4

2025-10-26T22:51:22.213Z,1761519082.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 10.14 m.
2025-10-26T22:51:22.215Z,1761519082.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 9.346841 m,
      bearing: 137.867889 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 130.650550 deg,
      new cmd heading: 129.674568 deg.

2025-10-26T22:51:22.220Z,1761519082.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.263248 target range: 10.143702 and range: 9.80 m.
2025-10-26T22:51:22.381Z,1761519082.381 [DAT](INFO): DAT read: Rx Time:22:51:21.1954 

2025-10-26T22:51:22.382Z,1761519082.382 [DAT](INFO): Rx dataTimestamp_ set to:1761519082.381618
2025-10-26T22:51:22.383Z,1761519082.383 [DAT](INFO): DAT read: Bearing 305.3,  -6.9 (Local)

2025-10-26T22:51:22.384Z,1761519082.384 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.3,  -6.9 (Local)

2025-10-26T22:51:22.386Z,1761519082.386 [DAT](INFO): DAT read: Range 11 to 50 :     9.5 m (trip time 6.3 ms) speed 0.4

2025-10-26T22:51:22.390Z,1761519082.390 [DAT](INFO): DAT read: 22:51:21.1954 LVL= 23088, 32753, 28882, 32755, AGC= 54, IDX= 499, 0.15,-2.832, 1.680,-2.567,-2.946, PHS= 0.216,-1.612, 0.335, RAW= 153.1,  11.2, CAL= 153.1,  12.4, ROT= 356.9, -12.4

2025-10-26T22:51:22.394Z,1761519082.394 [DAT](INFO): got valid direction response:
 22:51:21.1954 LVL= 23088, 32753, 28882, 32755, AGC= 54, IDX= 499, 0.15,-2.832, 1.680,-2.567,-2.946, PHS= 0.216,-1.612, 0.335, RAW= 153.1,  11.2, CAL= 153.1,  12.4, ROT= 356.9, -12.4

2025-10-26T22:51:22.396Z,1761519082.396 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-10-26T22:51:22.398Z,1761519082.398 [DAT](INFO): direction in FSK: [0.975243,-0.052817,0.214735]
2025-10-26T22:51:22.398Z,1761519082.398 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:22.416Z,1761519082.416 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.493462
2025-10-26T22:51:22.468Z,1761519082.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724934,-0.672260,-0.150121],[0.687966,-0.717471,-0.109262],[-0.034255,-0.182486,0.982612]]
2025-10-26T22:51:22.576Z,1761519082.576 [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

2025-10-26T22:51:22.578Z,1761519082.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.447767 m,
      bearing: 135.756851 deg,
      lat: 36.779415 deg,
      lon: -121.859392 deg,
      deltaT: 1.512346 s,
      deltaX: -0.695934 m,
      approachRate: -0.460169 m/s,
      posRepo size: 4

2025-10-26T22:51:22.579Z,1761519082.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 10.14 m.
2025-10-26T22:51:22.585Z,1761519082.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 9.196034 m,
      bearing: 137.734634 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 129.674570 deg,
      new cmd heading: 128.981717 deg.

2025-10-26T22:51:22.586Z,1761519082.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.251156 target range: 10.143702 and range: 9.50 m.
2025-10-26T22:51:22.633Z,1761519082.633 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.710144
2025-10-26T22:51:22.885Z,1761519082.885 [DAT](INFO): DAT read: Rx Time:22:51:21.6953 

2025-10-26T22:51:22.886Z,1761519082.886 [DAT](INFO): Rx dataTimestamp_ set to:1761519082.885442
2025-10-26T22:51:22.887Z,1761519082.887 [DAT](INFO): DAT read: Bearing 304.0,  -6.8 (Local)

2025-10-26T22:51:22.887Z,1761519082.887 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.0,  -6.8 (Local)

2025-10-26T22:51:22.889Z,1761519082.889 [DAT](INFO): DAT read: Range 11 to 50 :     9.3 m (trip time 6.2 ms) speed 0.3

2025-10-26T22:51:22.898Z,1761519082.898 [DAT](INFO): DAT read: 22:51:21.6953 LVL= 22416, 32753, 27634, 32755, AGC= 53, IDX= 498,-0.00, 2.365, 0.596, 2.630, 2.224, PHS= 0.242,-1.583, 0.362, RAW= 153.1,  10.4, CAL= 153.0,  11.4, ROT= 357.0, -11.4

2025-10-26T22:51:22.899Z,1761519082.899 [DAT](INFO): got valid direction response:
 22:51:21.6953 LVL= 22416, 32753, 27634, 32755, AGC= 53, IDX= 498,-0.00, 2.365, 0.596, 2.630, 2.224, PHS= 0.242,-1.583, 0.362, RAW= 153.1,  10.4, CAL= 153.0,  11.4, ROT= 357.0, -11.4

2025-10-26T22:51:22.899Z,1761519082.899 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-10-26T22:51:22.936Z,1761519082.936 [DAT](INFO): direction in FSK: [0.978928,-0.051303,0.197657]
2025-10-26T22:51:22.937Z,1761519082.937 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:22.952Z,1761519082.952 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.029446
2025-10-26T22:51:22.990Z,1761519082.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718736,-0.676478,-0.160610],[0.694400,-0.710051,-0.116779],[-0.035043,-0.195461,0.980085]]
2025-10-26T22:51:23.117Z,1761519083.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 0.503824 s,
      deltaX: -0.200000 m,
      approachRate: -0.396964 m/s,
      rangeRepo size: 4

2025-10-26T22:51:23.124Z,1761519083.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.249352 m,
      bearing: 135.309048 deg,
      lat: 36.779415 deg,
      lon: -121.859390 deg,
      deltaT: 2.016170 s,
      deltaX: -0.894350 m,
      approachRate: -0.443589 m/s,
      posRepo size: 4

2025-10-26T22:51:23.125Z,1761519083.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.25 m. 10.14 m.
2025-10-26T22:51:23.127Z,1761519083.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 8.919845 m,
      bearing: 137.494970 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 128.981716 deg,
      new cmd heading: 127.929844 deg.

2025-10-26T22:51:23.132Z,1761519083.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.232797 target range: 10.143702 and range: 9.30 m.
2025-10-26T22:51:23.137Z,1761519083.137 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.213585
2025-10-26T22:51:23.356Z,1761519083.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714877,-0.679263,-0.165989],[0.698367,-0.705495,-0.120669],[-0.035139,-0.202185,0.978717]]
2025-10-26T22:51:23.389Z,1761519083.389 [DAT](INFO): DAT read: Rx Time:22:51:22.1950 

2025-10-26T22:51:23.389Z,1761519083.389 [DAT](INFO): Rx dataTimestamp_ set to:1761519083.389180
2025-10-26T22:51:23.391Z,1761519083.391 [DAT](INFO): DAT read: Bearing 302.8,  -6.3 (Local)

2025-10-26T22:51:23.391Z,1761519083.391 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.8,  -6.3 (Local)

2025-10-26T22:51:23.393Z,1761519083.393 [DAT](INFO): DAT read: Range 11 to 50 :     8.9 m (trip time 5.9 ms) speed 0.3

2025-10-26T22:51:23.398Z,1761519083.398 [DAT](INFO): DAT read: 22:51:22.1950 LVL= 21584, 32753, 25346, 32755, AGC= 52, IDX= 496,-0.17, 0.081,-1.676, 0.329,-0.089, PHS= 0.271,-1.542, 0.374, RAW= 152.7,   9.6, CAL= 152.4,  10.4, ROT= 357.6, -10.4

2025-10-26T22:51:23.399Z,1761519083.399 [DAT](INFO): got valid direction response:
 22:51:22.1950 LVL= 21584, 32753, 25346, 32755, AGC= 52, IDX= 496,-0.17, 0.081,-1.676, 0.329,-0.089, PHS= 0.271,-1.542, 0.374, RAW= 152.7,   9.6, CAL= 152.4,  10.4, ROT= 357.6, -10.4

2025-10-26T22:51:23.399Z,1761519083.399 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-10-26T22:51:23.400Z,1761519083.400 [DAT](INFO): direction in FSK: [0.982709,-0.041187,0.180519]
2025-10-26T22:51:23.401Z,1761519083.401 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:23.405Z,1761519083.405 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.481689
2025-10-26T22:51:23.492Z,1761519083.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.503738 s,
      deltaX: -0.400001 m,
      approachRate: -0.794065 m/s,
      rangeRepo size: 4

2025-10-26T22:51:23.494Z,1761519083.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.851530 m,
      bearing: 135.448221 deg,
      lat: 36.779415 deg,
      lon: -121.859390 deg,
      deltaT: 2.519908 s,
      deltaX: -1.292171 m,
      approachRate: -0.512785 m/s,
      posRepo size: 4

2025-10-26T22:51:23.495Z,1761519083.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.85 m. 10.14 m.
2025-10-26T22:51:23.502Z,1761519083.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 8.735981 m,
      bearing: 137.419534 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 127.929839 deg,
      new cmd heading: 127.260668 deg.

2025-10-26T22:51:23.503Z,1761519083.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.221118 target range: 10.143702 and range: 8.90 m.
2025-10-26T22:51:23.641Z,1761519083.641 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.717854
2025-10-26T22:51:23.840Z,1761519083.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710703,-0.682222,-0.171682],[0.702608,-0.700585,-0.124592],[-0.035278,-0.209172,0.977242]]
2025-10-26T22:51:23.857Z,1761519083.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:51:23.859Z,1761519083.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 10.14 m. 10.14 m.
2025-10-26T22:51:23.862Z,1761519083.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 8.520772 m,
      bearing: 137.335439 deg,
      approach rate: -0.548632 m/s,
      LOS rate: -0.219798 deg/s,
      cmd heading: 127.260672 deg,
      new cmd heading: 127.002016 deg.

2025-10-26T22:51:23.863Z,1761519083.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.216603 target range: 10.143702 and range: 8.90 m.
2025-10-26T22:51:23.893Z,1761519083.893 [DAT](INFO): DAT read: Rx Time:22:51:22.6950 

2025-10-26T22:51:23.894Z,1761519083.894 [DAT](INFO): Rx dataTimestamp_ set to:1761519083.893312
2025-10-26T22:51:23.895Z,1761519083.895 [DAT](INFO): DAT read: Bearing 303.1,  -7.3 (Local)

2025-10-26T22:51:23.895Z,1761519083.895 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.1,  -7.3 (Local)

2025-10-26T22:51:23.897Z,1761519083.897 [DAT](INFO): DAT read: Range 11 to 50 :     8.9 m (trip time 5.9 ms) speed 0.4

2025-10-26T22:51:23.902Z,1761519083.902 [DAT](INFO): DAT read: 22:51:22.6950 LVL= 25104, 32753, 25074, 32755, AGC= 52, IDX= 512,-0.47, 2.507, 0.664, 2.788, 2.361, PHS= 0.248,-1.652, 0.383, RAW= 153.4,  10.4, CAL= 153.2,  11.3, ROT= 356.8, -11.3

2025-10-26T22:51:23.903Z,1761519083.903 [DAT](INFO): got valid direction response:
 22:51:22.6950 LVL= 25104, 32753, 25074, 32755, AGC= 52, IDX= 512,-0.47, 2.507, 0.664, 2.788, 2.361, PHS= 0.248,-1.652, 0.383, RAW= 153.4,  10.4, CAL= 153.2,  11.3, ROT= 356.8, -11.3

2025-10-26T22:51:23.903Z,1761519083.903 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-10-26T22:51:23.904Z,1761519083.904 [DAT](INFO): direction in FSK: [0.979086,-0.054740,0.195946]
2025-10-26T22:51:23.905Z,1761519083.905 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:23.921Z,1761519083.921 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.997761
2025-10-26T22:51:24.145Z,1761519084.145 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.221519
2025-10-26T22:51:24.218Z,1761519084.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705953,-0.685786,-0.176998],[0.707386,-0.695110,-0.128165],[-0.035139,-0.215684,0.975831]]
2025-10-26T22:51:24.337Z,1761519084.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.504132 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:51:24.344Z,1761519084.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.852027 m,
      bearing: 134.293120 deg,
      lat: 36.779415 deg,
      lon: -121.859389 deg,
      deltaT: 3.024040 s,
      deltaX: -1.291675 m,
      approachRate: -0.427135 m/s,
      posRepo size: 4

2025-10-26T22:51:24.354Z,1761519084.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.85 m. 10.14 m.
2025-10-26T22:51:24.373Z,1761519084.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 8.295018 m,
      bearing: 137.334125 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 127.002013 deg,
      new cmd heading: 126.087935 deg.

2025-10-26T22:51:24.374Z,1761519084.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.200649 target range: 10.143702 and range: 8.90 m.
2025-10-26T22:51:24.397Z,1761519084.397 [DAT](INFO): DAT read: Rx Time:22:51:23.1948 

2025-10-26T22:51:24.398Z,1761519084.398 [DAT](INFO): Rx dataTimestamp_ set to:1761519084.397273
2025-10-26T22:51:24.399Z,1761519084.399 [DAT](INFO): DAT read: Bearing 302.5,  -5.7 (Local)

2025-10-26T22:51:24.399Z,1761519084.399 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.5,  -5.7 (Local)

2025-10-26T22:51:24.401Z,1761519084.401 [DAT](INFO): DAT read: Range 11 to 50 :     8.6 m (trip time 5.7 ms) speed 0.4

2025-10-26T22:51:24.406Z,1761519084.406 [DAT](INFO): DAT read: 22:51:23.1948 LVL= 23536, 32753, 25378, 32755, AGC= 54, IDX= 509, 0.12,-2.820, 1.692,-2.607,-2.996, PHS= 0.278,-1.550, 0.345, RAW= 151.8,  10.0, CAL= 151.5,  10.9, ROT= 358.5, -10.9

2025-10-26T22:51:24.407Z,1761519084.407 [DAT](INFO): got valid direction response:
 22:51:23.1948 LVL= 23536, 32753, 25378, 32755, AGC= 54, IDX= 509, 0.12,-2.820, 1.692,-2.607,-2.996, PHS= 0.278,-1.550, 0.345, RAW= 151.8,  10.0, CAL= 151.5,  10.9, ROT= 358.5, -10.9

2025-10-26T22:51:24.407Z,1761519084.407 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-10-26T22:51:24.408Z,1761519084.408 [DAT](INFO): direction in FSK: [0.981622,-0.025705,0.189095]
2025-10-26T22:51:24.409Z,1761519084.409 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:24.416Z,1761519084.416 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:51:24.416Z,1761519084.416 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:51:24.417Z,1761519084.417 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:51:24.648Z,1761519084.648 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:51:24.651Z,1761519084.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700958,-0.689240,-0.183322],[0.712362,-0.689085,-0.133050],[-0.034621,-0.223854,0.974008]]
2025-10-26T22:51:24.696Z,1761519084.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.503961 s,
      deltaX: -0.299999 m,
      approachRate: -0.595283 m/s,
      rangeRepo size: 4

2025-10-26T22:51:24.698Z,1761519084.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.553645 m,
      bearing: 135.541413 deg,
      lat: 36.779415 deg,
      lon: -121.859389 deg,
      deltaT: 3.528001 s,
      deltaX: -1.590056 m,
      approachRate: -0.450696 m/s,
      posRepo size: 4

2025-10-26T22:51:24.703Z,1761519084.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.55 m. 10.14 m.
2025-10-26T22:51:24.712Z,1761519084.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 8.060229 m,
      bearing: 137.344057 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 126.087929 deg,
      new cmd heading: 125.410510 deg.

2025-10-26T22:51:24.713Z,1761519084.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.188826 target range: 10.143702 and range: 8.60 m.
2025-10-26T22:51:24.901Z,1761519084.901 [DAT](INFO): DAT read: Rx Time:22:51:23.6947 

2025-10-26T22:51:24.901Z,1761519084.901 [DAT](INFO): Rx dataTimestamp_ set to:1761519084.901194
2025-10-26T22:51:24.903Z,1761519084.903 [DAT](INFO): DAT read: Bearing 302.1,  -4.6 (Local)

2025-10-26T22:51:24.903Z,1761519084.903 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.1,  -4.6 (Local)

2025-10-26T22:51:24.905Z,1761519084.905 [DAT](INFO): DAT read: Range 11 to 50 :     8.4 m (trip time 5.6 ms) speed 0.4

2025-10-26T22:51:24.910Z,1761519084.910 [DAT](INFO): DAT read: 22:51:23.6947 LVL= 24368, 32753, 25122, 32755, AGC= 55, IDX= 509,-0.22,-2.377, 2.132,-2.212,-2.575, PHS= 0.300,-1.531, 0.319, RAW= 150.5,   9.9, CAL= 150.2,  10.8, ROT= 359.8, -10.8

2025-10-26T22:51:24.911Z,1761519084.911 [DAT](INFO): got valid direction response:
 22:51:23.6947 LVL= 24368, 32753, 25122, 32755, AGC= 55, IDX= 509,-0.22,-2.377, 2.132,-2.212,-2.575, PHS= 0.300,-1.531, 0.319, RAW= 150.5,   9.9, CAL= 150.2,  10.8, ROT= 359.8, -10.8

2025-10-26T22:51:24.911Z,1761519084.911 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:51:24.912Z,1761519084.912 [DAT](INFO): direction in FSK: [0.982281,-0.003429,0.187381]
2025-10-26T22:51:24.913Z,1761519084.913 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:24.916Z,1761519084.916 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:51:24.917Z,1761519084.917 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:51:25.090Z,1761519085.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695739,-0.693373,-0.187566],[0.717510,-0.683067,-0.136377],[-0.033560,-0.229463,0.972738]]
2025-10-26T22:51:25.152Z,1761519085.152 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:51:25.158Z,1761519085.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.400000 m,
      deltaT: 0.503921 s,
      deltaX: -0.200001 m,
      approachRate: -0.396889 m/s,
      rangeRepo size: 4

2025-10-26T22:51:25.161Z,1761519085.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.354959 m,
      bearing: 136.417804 deg,
      lat: 36.779414 deg,
      lon: -121.859389 deg,
      deltaT: 4.031922 s,
      deltaX: -1.788743 m,
      approachRate: -0.443645 m/s,
      posRepo size: 4

2025-10-26T22:51:25.162Z,1761519085.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.35 m. 10.14 m.
2025-10-26T22:51:25.181Z,1761519085.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 7.774875 m,
      bearing: 137.485188 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 125.410510 deg,
      new cmd heading: 124.516934 deg.

2025-10-26T22:51:25.181Z,1761519085.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.173230 target range: 10.143702 and range: 8.40 m.
2025-10-26T22:51:25.409Z,1761519085.409 [DAT](INFO): DAT read: Rx Time:22:51:24.1945 

2025-10-26T22:51:25.410Z,1761519085.410 [DAT](INFO): Rx dataTimestamp_ set to:1761519085.409478
2025-10-26T22:51:25.411Z,1761519085.411 [DAT](INFO): DAT read: Bearing 301.5,  -4.4 (Local)

2025-10-26T22:51:25.411Z,1761519085.411 [DAT](INFO): Local bearing/azimuth received:
 Bearing 301.5,  -4.4 (Local)

2025-10-26T22:51:25.413Z,1761519085.413 [DAT](INFO): DAT read: Range 11 to 50 :     8.1 m (trip time 5.4 ms) speed 0.4

2025-10-26T22:51:25.424Z,1761519085.424 [DAT](INFO): DAT read: 22:51:24.1945 LVL= 29392, 32753, 25330, 32755, AGC= 53, IDX= 506, 0.25,-0.871,-2.650,-0.715,-1.074, PHS= 0.305,-1.531, 0.315, RAW= 150.3,   9.9, CAL= 149.9,  10.8, ROT=   0.1, -10.8

2025-10-26T22:51:25.425Z,1761519085.425 [DAT](INFO): got valid direction response:
 22:51:24.1945 LVL= 29392, 32753, 25330, 32755, AGC= 53, IDX= 506, 0.25,-0.871,-2.650,-0.715,-1.074, PHS= 0.305,-1.531, 0.315, RAW= 150.3,   9.9, CAL= 149.9,  10.8, ROT=   0.1, -10.8

2025-10-26T22:51:25.426Z,1761519085.426 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:51:25.427Z,1761519085.427 [DAT](INFO): direction in FSK: [0.982286,0.001714,0.187381]
2025-10-26T22:51:25.427Z,1761519085.427 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:25.430Z,1761519085.430 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:51:25.431Z,1761519085.431 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:51:25.537Z,1761519085.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690353,-0.697465,-0.192239],[0.722761,-0.676667,-0.140495],[-0.032091,-0.235934,0.971239]]
2025-10-26T22:51:25.585Z,1761519085.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.100000 m,
      deltaT: 0.508284 s,
      deltaX: -0.299999 m,
      approachRate: -0.590220 m/s,
      rangeRepo size: 4

2025-10-26T22:51:25.587Z,1761519085.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.056568 m,
      bearing: 136.347072 deg,
      lat: 36.779413 deg,
      lon: -121.859389 deg,
      deltaT: 4.540206 s,
      deltaX: -2.087133 m,
      approachRate: -0.459700 m/s,
      posRepo size: 4

2025-10-26T22:51:25.592Z,1761519085.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.06 m. 10.14 m.
2025-10-26T22:51:25.595Z,1761519085.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 7.526377 m,
      bearing: 137.630615 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 124.516930 deg,
      new cmd heading: 123.701321 deg.

2025-10-26T22:51:25.600Z,1761519085.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.158995 target range: 10.143702 and range: 8.10 m.
2025-10-26T22:51:25.657Z,1761519085.657 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:51:25.909Z,1761519085.909 [DAT](INFO): DAT read: Rx Time:22:51:24.6944 

2025-10-26T22:51:25.909Z,1761519085.909 [DAT](INFO): Rx dataTimestamp_ set to:1761519085.909112
2025-10-26T22:51:25.911Z,1761519085.911 [DAT](INFO): DAT read: Bearing 301.6,  -2.4 (Local)

2025-10-26T22:51:25.911Z,1761519085.911 [DAT](INFO): Local bearing/azimuth received:
 Bearing 301.6,  -2.4 (Local)

2025-10-26T22:51:25.913Z,1761519085.913 [DAT](INFO): DAT read: Range 11 to 50 :     8.0 m (trip time 5.3 ms) speed 0.4

2025-10-26T22:51:25.922Z,1761519085.922 [DAT](INFO): DAT read: 22:51:24.6944 LVL= 26352, 32753, 23826, 32755, AGC= 54, IDX= 506,-0.11,-1.972, 2.501,-1.898,-2.208, PHS= 0.338,-1.530, 0.266, RAW= 148.1,  10.1, CAL= 147.7,  11.0, ROT=   2.3, -11.0

2025-10-26T22:51:25.923Z,1761519085.923 [DAT](INFO): got valid direction response:
 22:51:24.6944 LVL= 26352, 32753, 23826, 32755, AGC= 54, IDX= 506,-0.11,-1.972, 2.501,-1.898,-2.208, PHS= 0.338,-1.530, 0.266, RAW= 148.1,  10.1, CAL= 147.7,  11.0, ROT=   2.3, -11.0

2025-10-26T22:51:25.967Z,1761519085.967 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:51:25.969Z,1761519085.969 [DAT](INFO): direction in FSK: [0.980836,0.039394,0.190809]
2025-10-26T22:51:25.969Z,1761519085.969 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:26.006Z,1761519086.006 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:51:26.006Z,1761519086.006 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:51:26.018Z,1761519086.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684753,-0.701967,-0.195846],[0.728147,-0.670151,-0.143874],[-0.030252,-0.241123,0.970023]]
2025-10-26T22:51:26.157Z,1761519086.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.000000 m,
      deltaT: 0.499634 s,
      deltaX: -0.100000 m,
      approachRate: -0.200147 m/s,
      rangeRepo size: 4

2025-10-26T22:51:26.159Z,1761519086.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.957158 m,
      bearing: 138.126782 deg,
      lat: 36.779412 deg,
      lon: -121.859389 deg,
      deltaT: 5.039840 s,
      deltaX: -2.186543 m,
      approachRate: -0.433852 m/s,
      posRepo size: 4

2025-10-26T22:51:26.160Z,1761519086.160 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:51:26.165Z,1761519086.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.96 m. 10.14 m.
2025-10-26T22:51:26.167Z,1761519086.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 7.213941 m,
      bearing: 137.846596 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 123.701324 deg,
      new cmd heading: 122.607101 deg.

2025-10-26T22:51:26.176Z,1761519086.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.139898 target range: 10.143702 and range: 8.00 m.
2025-10-26T22:51:26.413Z,1761519086.413 [DAT](INFO): DAT read: Rx Time:22:51:25.1945 

2025-10-26T22:51:26.413Z,1761519086.413 [DAT](INFO): Rx dataTimestamp_ set to:1761519086.413063
2025-10-26T22:51:26.415Z,1761519086.415 [DAT](INFO): DAT read: Bearing 300.9,  -1.8 (Local)

2025-10-26T22:51:26.415Z,1761519086.415 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.9,  -1.8 (Local)

2025-10-26T22:51:26.417Z,1761519086.417 [DAT](INFO): DAT read: Range 11 to 50 :     8.1 m (trip time 5.4 ms) speed 0.4

2025-10-26T22:51:26.422Z,1761519086.422 [DAT](INFO): DAT read: 22:51:25.1945 LVL= 25040, 32753, 22562, 32755, AGC= 54, IDX= 503, 0.19,-0.907,-2.751,-0.855,-1.160, PHS= 0.356,-1.546, 0.261, RAW= 147.5,  10.0, CAL= 147.1,  10.9, ROT=   2.9, -10.9

2025-10-26T22:51:26.423Z,1761519086.423 [DAT](INFO): got valid direction response:
 22:51:25.1945 LVL= 25040, 32753, 22562, 32755, AGC= 54, IDX= 503, 0.19,-0.907,-2.751,-0.855,-1.160, PHS= 0.356,-1.546, 0.261, RAW= 147.5,  10.0, CAL= 147.1,  10.9, ROT=   2.9, -10.9

2025-10-26T22:51:26.423Z,1761519086.423 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:51:26.424Z,1761519086.424 [DAT](INFO): direction in FSK: [0.980701,0.049680,0.189095]
2025-10-26T22:51:26.424Z,1761519086.424 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:26.456Z,1761519086.456 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:51:26.457Z,1761519086.457 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:51:26.545Z,1761519086.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672509,-0.713396,-0.196971],[0.739651,-0.657023,-0.145732],[-0.025449,-0.243696,0.969518]]
2025-10-26T22:51:26.618Z,1761519086.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.100000 m,
      deltaT: 0.503951 s,
      deltaX: 0.100000 m,
      approachRate: 0.198433 m/s,
      rangeRepo size: 4

2025-10-26T22:51:26.624Z,1761519086.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.056623 m,
      bearing: 137.746673 deg,
      lat: 36.779412 deg,
      lon: -121.859389 deg,
      deltaT: 5.543791 s,
      deltaX: -2.087078 m,
      approachRate: -0.376471 m/s,
      posRepo size: 4

2025-10-26T22:51:26.625Z,1761519086.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.06 m. 10.14 m.
2025-10-26T22:51:26.632Z,1761519086.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 6.918655 m,
      bearing: 138.151830 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 122.607100 deg,
      new cmd heading: 121.724640 deg.

2025-10-26T22:51:26.633Z,1761519086.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.124496 target range: 10.143702 and range: 8.10 m.
2025-10-26T22:51:26.664Z,1761519086.664 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:51:26.917Z,1761519086.917 [DAT](INFO): DAT read: Rx Time:22:51:25.6943 

2025-10-26T22:51:26.917Z,1761519086.917 [DAT](INFO): Rx dataTimestamp_ set to:1761519086.917058
2025-10-26T22:51:26.919Z,1761519086.919 [DAT](INFO): DAT read: Bearing 301.3,  -0.2 (Local)

2025-10-26T22:51:26.919Z,1761519086.919 [DAT](INFO): Local bearing/azimuth received:
 Bearing 301.3,  -0.2 (Local)

2025-10-26T22:51:26.921Z,1761519086.921 [DAT](INFO): DAT read: Range 11 to 50 :     7.8 m (trip time 5.2 ms) speed 0.4

2025-10-26T22:51:26.926Z,1761519086.926 [DAT](INFO): DAT read: 22:51:25.6943 LVL= 24496, 32753, 26594, 32755, AGC= 55, IDX= 502,-0.45,-1.168,-3.065,-1.182,-1.436, PHS= 0.370,-1.584, 0.210, RAW= 145.8,  10.7, CAL= 145.4,  11.7, ROT=   4.6, -11.7

2025-10-26T22:51:26.927Z,1761519086.927 [DAT](INFO): got valid direction response:
 22:51:25.6943 LVL= 24496, 32753, 26594, 32755, AGC= 55, IDX= 502,-0.45,-1.168,-3.065,-1.182,-1.436, PHS= 0.370,-1.584, 0.210, RAW= 145.8,  10.7, CAL= 145.4,  11.7, ROT=   4.6, -11.7

2025-10-26T22:51:26.927Z,1761519086.927 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:51:26.928Z,1761519086.928 [DAT](INFO): direction in FSK: [0.976069,0.078533,0.202787]
2025-10-26T22:51:26.928Z,1761519086.928 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:26.936Z,1761519086.936 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:51:26.937Z,1761519086.937 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:51:26.997Z,1761519086.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.800000 m,
      deltaT: 0.503995 s,
      deltaX: -0.300000 m,
      approachRate: -0.595244 m/s,
      rangeRepo size: 4

2025-10-26T22:51:26.999Z,1761519086.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.758229 m,
      bearing: 139.579193 deg,
      lat: 36.779409 deg,
      lon: -121.859389 deg,
      deltaT: 6.047786 s,
      deltaX: -2.385472 m,
      approachRate: -0.394437 m/s,
      posRepo size: 4

2025-10-26T22:51:27.008Z,1761519087.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.76 m. 10.14 m.
2025-10-26T22:51:27.011Z,1761519087.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 6.713676 m,
      bearing: 138.379639 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 121.724640 deg,
      new cmd heading: 120.999818 deg.

2025-10-26T22:51:27.016Z,1761519087.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.111845 target range: 10.143702 and range: 7.80 m.
2025-10-26T22:51:27.168Z,1761519087.168 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:51:27.368Z,1761519087.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657437,-0.727582,-0.195959],[0.753235,-0.641599,-0.144871],[-0.020321,-0.242847,0.969852]]
2025-10-26T22:51:27.421Z,1761519087.421 [DAT](INFO): DAT read: Rx Time:22:51:26.1940 

2025-10-26T22:51:27.422Z,1761519087.422 [DAT](INFO): Rx dataTimestamp_ set to:1761519087.421247
2025-10-26T22:51:27.423Z,1761519087.423 [DAT](INFO): DAT read: Bearing 301.3,   0.7 (Local)

2025-10-26T22:51:27.423Z,1761519087.423 [DAT](INFO): Local bearing/azimuth received:
 Bearing 301.3,   0.7 (Local)

2025-10-26T22:51:27.425Z,1761519087.425 [DAT](INFO): DAT read: Range 11 to 50 :     7.4 m (trip time 4.9 ms) speed 0.4

2025-10-26T22:51:27.430Z,1761519087.430 [DAT](INFO): DAT read: 22:51:26.1940 LVL= 26464, 32753, 25042, 32755, AGC= 53, IDX= 499,-0.08, 3.014, 1.060, 2.960, 2.737, PHS= 0.380,-1.632, 0.179, RAW= 144.8,  11.2, CAL= 144.4,  12.2, ROT=   5.6, -12.2

2025-10-26T22:51:27.431Z,1761519087.431 [DAT](INFO): got valid direction response:
 22:51:26.1940 LVL= 26464, 32753, 25042, 32755, AGC= 53, IDX= 499,-0.08, 3.014, 1.060, 2.960, 2.737, PHS= 0.380,-1.632, 0.179, RAW= 144.8,  11.2, CAL= 144.4,  12.2, ROT=   5.6, -12.2

2025-10-26T22:51:27.431Z,1761519087.431 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:51:27.432Z,1761519087.432 [DAT](INFO): direction in FSK: [0.972751,0.095379,0.211325]
2025-10-26T22:51:27.433Z,1761519087.433 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:27.440Z,1761519087.440 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:51:27.440Z,1761519087.440 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:51:27.485Z,1761519087.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.400000 m,
      deltaT: 0.504189 s,
      deltaX: -0.400000 m,
      approachRate: -0.793353 m/s,
      rangeRepo size: 4

2025-10-26T22:51:27.491Z,1761519087.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.360425 m,
      bearing: 139.497439 deg,
      lat: 36.779408 deg,
      lon: -121.859388 deg,
      deltaT: 6.551975 s,
      deltaX: -2.783277 m,
      approachRate: -0.424800 m/s,
      posRepo size: 4

2025-10-26T22:51:27.493Z,1761519087.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.36 m. 10.14 m.
2025-10-26T22:51:27.495Z,1761519087.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 6.442268 m,
      bearing: 138.731881 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 120.999820 deg,
      new cmd heading: 120.065799 deg.

2025-10-26T22:51:27.500Z,1761519087.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.095544 target range: 10.143702 and range: 7.40 m.
2025-10-26T22:51:27.672Z,1761519087.672 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:51:27.759Z,1761519087.759 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:51:27.788Z,1761519087.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 10.14 m. 10.14 m.
2025-10-26T22:51:27.812Z,1761519087.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 6.274905 m,
      bearing: 138.964458 deg,
      approach rate: -0.564619 m/s,
      LOS rate: 0.805550 deg/s,
      cmd heading: 120.065805 deg,
      new cmd heading: 120.782107 deg.

2025-10-26T22:51:27.820Z,1761519087.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108045 target range: 10.143702 and range: 7.40 m.
2025-10-26T22:51:27.926Z,1761519087.926 [DAT](INFO): DAT read: Rx Time:22:51:26.6939 

2025-10-26T22:51:27.926Z,1761519087.926 [DAT](INFO): Rx dataTimestamp_ set to:1761519087.926084
2025-10-26T22:51:27.928Z,1761519087.928 [DAT](INFO): DAT read: Bearing 302.2,   0.7 (Local)

2025-10-26T22:51:27.928Z,1761519087.928 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.2,   0.7 (Local)

2025-10-26T22:51:27.930Z,1761519087.930 [DAT](INFO): DAT read: Range 11 to 50 :     7.2 m (trip time 4.8 ms) speed 0.4

2025-10-26T22:51:27.935Z,1761519087.935 [DAT](INFO): DAT read: 22:51:26.6939 LVL= 27952, 32753, 28338, 32755, AGC= 53, IDX= 498, 0.11,-0.784,-2.788,-0.856,-1.022, PHS= 0.339,-1.722, 0.122, RAW= 144.5,  12.8, CAL= 144.1,  13.9, ROT=   5.9, -13.9

2025-10-26T22:51:27.936Z,1761519087.936 [DAT](INFO): got valid direction response:
 22:51:26.6939 LVL= 27952, 32753, 28338, 32755, AGC= 53, IDX= 498, 0.11,-0.784,-2.788,-0.856,-1.022, PHS= 0.339,-1.722, 0.122, RAW= 144.5,  12.8, CAL= 144.1,  13.9, ROT=   5.9, -13.9

2025-10-26T22:51:27.937Z,1761519087.937 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:51:27.938Z,1761519087.938 [DAT](INFO): direction in FSK: [0.965574,0.099782,0.240228]
2025-10-26T22:51:27.938Z,1761519087.938 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:27.941Z,1761519087.941 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:51:27.942Z,1761519087.942 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:51:28.171Z,1761519088.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640128,-0.742666,-0.196682],[0.768126,-0.623598,-0.145283],[-0.014754,-0.244076,0.969644]]
2025-10-26T22:51:28.176Z,1761519088.176 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:51:28.220Z,1761519088.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.200000 m,
      deltaT: 0.504837 s,
      deltaX: -0.200000 m,
      approachRate: -0.396168 m/s,
      rangeRepo size: 4

2025-10-26T22:51:28.222Z,1761519088.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.161558 m,
      bearing: 138.922037 deg,
      lat: 36.779408 deg,
      lon: -121.859388 deg,
      deltaT: 7.056812 s,
      deltaX: -2.982144 m,
      approachRate: -0.422591 m/s,
      posRepo size: 4

2025-10-26T22:51:28.223Z,1761519088.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.16 m. 10.14 m.
2025-10-26T22:51:28.226Z,1761519088.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 6.041875 m,
      bearing: 139.390897 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 120.782101 deg,
      new cmd heading: 119.943690 deg.

2025-10-26T22:51:28.227Z,1761519088.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.093412 target range: 10.143702 and range: 7.20 m.
2025-10-26T22:51:28.429Z,1761519088.429 [DAT](INFO): DAT read: Rx Time:22:51:27.1936 

2025-10-26T22:51:28.429Z,1761519088.429 [DAT](INFO): Rx dataTimestamp_ set to:1761519088.429194
2025-10-26T22:51:28.431Z,1761519088.431 [DAT](INFO): DAT read: Bearing 303.4,   0.3 (Local)

2025-10-26T22:51:28.431Z,1761519088.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.4,   0.3 (Local)

2025-10-26T22:51:28.433Z,1761519088.433 [DAT](INFO): DAT read: Range 11 to 50 :     6.8 m (trip time 4.5 ms) speed 0.4

2025-10-26T22:51:28.438Z,1761519088.438 [DAT](INFO): DAT read: 22:51:27.1936 LVL= 32208, 32753, 31698, 32755, AGC= 53, IDX= 495, 0.18,-0.083,-2.133,-0.160,-0.259, PHS= 0.278,-1.829, 0.055, RAW= 144.5,  14.8, CAL= 144.1,  16.1, ROT=   5.9, -16.1

2025-10-26T22:51:28.439Z,1761519088.439 [DAT](INFO): got valid direction response:
 22:51:27.1936 LVL= 32208, 32753, 31698, 32755, AGC= 53, IDX= 495, 0.18,-0.083,-2.133,-0.160,-0.259, PHS= 0.278,-1.829, 0.055, RAW= 144.5,  14.8, CAL= 144.1,  16.1, ROT=   5.9, -16.1

2025-10-26T22:51:28.439Z,1761519088.439 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:51:28.440Z,1761519088.440 [DAT](INFO): direction in FSK: [0.955690,0.098761,0.277315]
2025-10-26T22:51:28.440Z,1761519088.440 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:28.481Z,1761519088.481 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:51:28.481Z,1761519088.481 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:51:28.593Z,1761519088.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.800000 m,
      deltaT: 0.503110 s,
      deltaX: -0.400000 m,
      approachRate: -0.795054 m/s,
      rangeRepo size: 4

2025-10-26T22:51:28.595Z,1761519088.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.763694 m,
      bearing: 139.478011 deg,
      lat: 36.779408 deg,
      lon: -121.859388 deg,
      deltaT: 7.559922 s,
      deltaX: -3.380008 m,
      approachRate: -0.447096 m/s,
      posRepo size: 4

2025-10-26T22:51:28.608Z,1761519088.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.76 m. 10.14 m.
2025-10-26T22:51:28.610Z,1761519088.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 5.856595 m,
      bearing: 139.754674 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 119.943695 deg,
      new cmd heading: 119.230551 deg.

2025-10-26T22:51:28.612Z,1761519088.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.080966 target range: 10.143702 and range: 6.80 m.
2025-10-26T22:51:28.681Z,1761519088.681 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:51:28.919Z,1761519088.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630522,-0.750748,-0.197025],[0.776079,-0.613716,-0.145102],[-0.011982,-0.244397,0.969601]]
2025-10-26T22:51:28.938Z,1761519088.938 [DAT](INFO): DAT read: Rx Time:22:51:27.6936 

2025-10-26T22:51:28.938Z,1761519088.938 [DAT](INFO): Rx dataTimestamp_ set to:1761519088.938039
2025-10-26T22:51:28.940Z,1761519088.940 [DAT](INFO): DAT read: Bearing 302.2,   0.7 (Local)

2025-10-26T22:51:28.940Z,1761519088.940 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.2,   0.7 (Local)

2025-10-26T22:51:28.942Z,1761519088.942 [DAT](INFO): DAT read: Range 11 to 50 :     6.8 m (trip time 4.5 ms) speed 0.4

2025-10-26T22:51:28.949Z,1761519088.949 [DAT](INFO): DAT read: 22:51:27.6936 LVL= 32720, 32753, 32754, 32755, AGC= 55, IDX= 510, 0.34, 1.807,-0.291, 1.717, 1.613, PHS= 0.296,-1.858, 0.061, RAW= 144.3,  14.5, CAL= 143.8,  15.8, ROT=   6.2, -15.8

2025-10-26T22:51:28.972Z,1761519088.972 [DAT](INFO): got valid direction response:
 22:51:27.6936 LVL= 32720, 32753, 32754, 32755, AGC= 55, IDX= 510, 0.34, 1.807,-0.291, 1.717, 1.613, PHS= 0.296,-1.858, 0.061, RAW= 144.3,  14.5, CAL= 143.8,  15.8, ROT=   6.2, -15.8

2025-10-26T22:51:28.972Z,1761519088.972 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:51:28.974Z,1761519088.974 [DAT](INFO): direction in FSK: [0.956590,0.103919,0.272280]
2025-10-26T22:51:28.974Z,1761519088.974 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:28.986Z,1761519088.986 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:51:28.987Z,1761519088.987 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:51:28.999Z,1761519088.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.800000 m,
      deltaT: 0.508845 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:51:29.001Z,1761519089.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.763694 m,
      bearing: 138.984905 deg,
      lat: 36.779408 deg,
      lon: -121.859388 deg,
      deltaT: 8.068767 s,
      deltaX: -3.380008 m,
      approachRate: -0.418900 m/s,
      posRepo size: 4

2025-10-26T22:51:29.002Z,1761519089.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.76 m. 10.14 m.
2025-10-26T22:51:29.017Z,1761519089.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 5.672167 m,
      bearing: 140.165267 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 119.230555 deg,
      new cmd heading: 118.453373 deg.

2025-10-26T22:51:29.018Z,1761519089.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.067401 target range: 10.143702 and range: 6.80 m.
2025-10-26T22:51:29.184Z,1761519089.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:51:29.320Z,1761519089.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620763,-0.758625,-0.197841],[0.783938,-0.603756,-0.144634],[-0.009725,-0.244879,0.969505]]
2025-10-26T22:51:29.407Z,1761519089.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 10.14 m. 10.14 m.
2025-10-26T22:51:29.410Z,1761519089.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 5.450006 m,
      bearing: 140.640123 deg,
      approach rate: -0.544057 m/s,
      LOS rate: 1.210281 deg/s,
      cmd heading: 118.453375 deg,
      new cmd heading: 119.935666 deg.

2025-10-26T22:51:29.411Z,1761519089.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.093272 target range: 10.143702 and range: 6.80 m.
2025-10-26T22:51:29.436Z,1761519089.436 [DAT](INFO): DAT read: user:731>

2025-10-26T22:51:29.437Z,1761519089.437 [DAT](INFO): DAT read: Tx time:22:51:28.5859

2025-10-26T22:51:29.437Z,1761519089.437 [DAT](INFO): Ping request sent.
2025-10-26T22:51:29.437Z,1761519089.437 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:51:29.438Z,1761519089.438 [DAT](INFO): publishing transmit ping time
2025-10-26T22:51:29.438Z,1761519089.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-10-26T22:51:29.688Z,1761519089.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250815
2025-10-26T22:51:29.744Z,1761519089.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599203,-0.774622,-0.202277],[0.800574,-0.581640,-0.144137],[-0.006000,-0.248305,0.968663]]
2025-10-26T22:51:29.760Z,1761519089.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:51:29.762Z,1761519089.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 10.14 m. 10.14 m.
2025-10-26T22:51:29.765Z,1761519089.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 5.283362 m,
      bearing: 141.075364 deg,
      approach rate: -0.469584 m/s,
      LOS rate: 1.265136 deg/s,
      cmd heading: 119.935663 deg,
      new cmd heading: 121.282311 deg.

2025-10-26T22:51:29.766Z,1761519089.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.116776 target range: 10.143702 and range: 6.80 m.
2025-10-26T22:51:29.940Z,1761519089.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502865
2025-10-26T22:51:30.175Z,1761519090.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587983,-0.783029,-0.202832],[0.808862,-0.570519,-0.142303],[-0.004292,-0.247735,0.968818]]
2025-10-26T22:51:30.194Z,1761519090.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756926
2025-10-26T22:51:30.240Z,1761519090.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 10.14 m. 10.14 m.
2025-10-26T22:51:30.243Z,1761519090.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 5.096099 m,
      bearing: 141.504346 deg,
      approach rate: -0.391501 m/s,
      LOS rate: 0.929794 deg/s,
      cmd heading: 121.282317 deg,
      new cmd heading: 122.616298 deg.

2025-10-26T22:51:30.245Z,1761519090.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.140058 target range: 10.143702 and range: 6.80 m.
2025-10-26T22:51:30.446Z,1761519090.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008015
2025-10-26T22:51:30.542Z,1761519090.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576203,-0.791290,-0.204575],[0.817301,-0.558812,-0.140530],[-0.003119,-0.248173,0.968711]]
2025-10-26T22:51:30.561Z,1761519090.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 10.14 m. 10.14 m.
2025-10-26T22:51:30.563Z,1761519090.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 4.971319 m,
      bearing: 141.830503 deg,
      approach rate: -0.389653 m/s,
      LOS rate: 1.044057 deg/s,
      cmd heading: 122.616294 deg,
      new cmd heading: 123.619219 deg.

2025-10-26T22:51:30.564Z,1761519090.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.157562 target range: 10.143702 and range: 6.80 m.
2025-10-26T22:51:30.697Z,1761519090.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259521
2025-10-26T22:51:30.949Z,1761519090.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511700
2025-10-26T22:51:30.985Z,1761519090.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564185,-0.799298,-0.206925],[0.825646,-0.546838,-0.138844],[-0.002177,-0.249180,0.968455]]
2025-10-26T22:51:31.035Z,1761519091.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 10.14 m. 10.14 m.
2025-10-26T22:51:31.038Z,1761519091.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 4.796728 m,
      bearing: 142.348771 deg,
      approach rate: -0.374213 m/s,
      LOS rate: 1.151256 deg/s,
      cmd heading: 123.619225 deg,
      new cmd heading: 125.230173 deg.

2025-10-26T22:51:31.039Z,1761519091.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.185679 target range: 10.143702 and range: 6.80 m.
2025-10-26T22:51:31.200Z,1761519091.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762932
2025-10-26T22:51:31.364Z,1761519091.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552902,-0.807138,-0.206948],[0.833246,-0.535977,-0.135759],[-0.001343,-0.247500,0.968887]]
2025-10-26T22:51:31.436Z,1761519091.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 10.14 m. 10.14 m.
2025-10-26T22:51:31.438Z,1761519091.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 4.659359 m,
      bearing: 142.701699 deg,
      approach rate: -0.339847 m/s,
      LOS rate: 0.898875 deg/s,
      cmd heading: 125.230180 deg,
      new cmd heading: 126.320040 deg.

2025-10-26T22:51:31.439Z,1761519091.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.204701 target range: 10.143702 and range: 6.80 m.
2025-10-26T22:51:31.453Z,1761519091.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015715
2025-10-26T22:51:31.705Z,1761519091.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267325
2025-10-26T22:51:31.752Z,1761519091.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541559,-0.815768,-0.203070],[0.840662,-0.525926,-0.129190],[-0.001411,-0.240677,0.970604]]
2025-10-26T22:51:31.781Z,1761519091.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:51:31.784Z,1761519091.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 10.14 m. 10.14 m.
2025-10-26T22:51:31.786Z,1761519091.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 4.529520 m,
      bearing: 143.077027 deg,
      approach rate: -0.368714 m/s,
      LOS rate: 1.096384 deg/s,
      cmd heading: 126.320046 deg,
      new cmd heading: 127.478139 deg.

2025-10-26T22:51:31.793Z,1761519091.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.224913 target range: 10.143702 and range: 6.80 m.
2025-10-26T22:51:31.959Z,1761519091.959 [DAT](INFO): DAT read: Rx Time:22:51:30.7215 

2025-10-26T22:51:31.959Z,1761519091.959 [DAT](INFO): Rx dataTimestamp_ set to:1761519091.958860
2025-10-26T22:51:31.962Z,1761519091.962 [DAT](INFO): DAT read: Bearing 303.6,  11.4 (Local)

2025-10-26T22:51:31.962Z,1761519091.962 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.6,  11.4 (Local)

2025-10-26T22:51:31.966Z,1761519091.966 [DAT](INFO): DAT read: Range 11 to 50 :     5.0 m (trip time 3.3 ms) speed 0.3

2025-10-26T22:51:31.977Z,1761519091.977 [DAT](INFO): DAT read: 22:51:30.7215 LVL= 24144, 31985, 27794, 32755, AGC= 51, IDX= 256,-0.48, 1.197,-0.764, 0.744, 1.002, PHS= 0.297,-1.721,-0.302, RAW= 133.2,  18.8, CAL= 131.7,  19.8, ROT=  18.3, -19.8

2025-10-26T22:51:31.978Z,1761519091.978 [DAT](INFO): got valid direction response:
 22:51:30.7215 LVL= 24144, 31985, 27794, 32755, AGC= 51, IDX= 256,-0.48, 1.197,-0.764, 0.744, 1.002, PHS= 0.297,-1.721,-0.302, RAW= 133.2,  18.8, CAL= 131.7,  19.8, ROT=  18.3, -19.8

2025-10-26T22:51:31.978Z,1761519091.978 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:51:31.996Z,1761519091.996 [DAT](INFO): direction in FSK: [0.893296,0.295429,0.338738]
2025-10-26T22:51:31.996Z,1761519091.996 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:32.025Z,1761519092.025 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.577378
2025-10-26T22:51:32.182Z,1761519092.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532028,-0.823307,-0.197767],[0.846725,-0.517801,-0.122227],[-0.001773,-0.232482,0.972599]]
2025-10-26T22:51:32.212Z,1761519092.212 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.774117
2025-10-26T22:51:32.270Z,1761519092.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.000000 m,
      deltaT: 3.020821 s,
      deltaX: -1.800000 m,
      approachRate: -0.595865 m/s,
      rangeRepo size: 4

2025-10-26T22:51:32.273Z,1761519092.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.974642 m,
      bearing: 144.416810 deg,
      lat: 36.779408 deg,
      lon: -121.859388 deg,
      deltaT: 11.089588 s,
      deltaX: -5.169059 m,
      approachRate: -0.466118 m/s,
      posRepo size: 4

2025-10-26T22:51:32.274Z,1761519092.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.97 m. 10.14 m.
2025-10-26T22:51:32.276Z,1761519092.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 4.388476 m,
      bearing: 143.413355 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 127.478145 deg,
      new cmd heading: 126.547097 deg.

2025-10-26T22:51:32.277Z,1761519092.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.208663 target range: 10.143702 and range: 5.00 m.
2025-10-26T22:51:32.463Z,1761519092.463 [DAT](INFO): DAT read: Rx Time:22:51:31.2213 

2025-10-26T22:51:32.464Z,1761519092.464 [DAT](INFO): Rx dataTimestamp_ set to:1761519092.463650
2025-10-26T22:51:32.466Z,1761519092.466 [DAT](INFO): DAT read: Bearing 301.1,   9.6 (Local)

2025-10-26T22:51:32.466Z,1761519092.466 [DAT](INFO): Local bearing/azimuth received:
 Bearing 301.1,   9.6 (Local)

2025-10-26T22:51:32.470Z,1761519092.470 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed 0.3

2025-10-26T22:51:32.477Z,1761519092.477 [DAT](INFO): DAT read: 22:51:31.2213 LVL= 26080, 32753, 29170, 32755, AGC= 50, IDX= 509, 0.24, 1.824,-0.149, 1.443, 1.624, PHS= 0.302,-1.728,-0.225, RAW= 135.5,  17.8, CAL= 134.3,  18.8, ROT=  15.7, -18.8

2025-10-26T22:51:32.478Z,1761519092.478 [DAT](INFO): got valid direction response:
 22:51:31.2213 LVL= 26080, 32753, 29170, 32755, AGC= 50, IDX= 509, 0.24, 1.824,-0.149, 1.443, 1.624, PHS= 0.302,-1.728,-0.225, RAW= 135.5,  17.8, CAL= 134.3,  18.8, ROT=  15.7, -18.8

2025-10-26T22:51:32.479Z,1761519092.479 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T22:51:32.484Z,1761519092.484 [DAT](INFO): direction in FSK: [0.911331,0.256164,0.322266]
2025-10-26T22:51:32.484Z,1761519092.484 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:32.499Z,1761519092.499 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.057713
2025-10-26T22:51:32.567Z,1761519092.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523232,-0.830495,-0.191068],[0.852186,-0.510632,-0.114166],[-0.002751,-0.222561,0.974915]]
2025-10-26T22:51:32.623Z,1761519092.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.504790 s,
      deltaX: -0.300000 m,
      approachRate: -0.594307 m/s,
      rangeRepo size: 4

2025-10-26T22:51:32.629Z,1761519092.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.676164 m,
      bearing: 140.965330 deg,
      lat: 36.779409 deg,
      lon: -121.859388 deg,
      deltaT: 11.594378 s,
      deltaX: -5.467538 m,
      approachRate: -0.471568 m/s,
      posRepo size: 4

2025-10-26T22:51:32.630Z,1761519092.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.68 m. 10.14 m.
2025-10-26T22:51:32.637Z,1761519092.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 4.289667 m,
      bearing: 143.674381 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 126.547095 deg,
      new cmd heading: 125.873411 deg.

2025-10-26T22:51:32.638Z,1761519092.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.196905 target range: 10.143702 and range: 4.70 m.
2025-10-26T22:51:32.713Z,1761519092.713 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.275519
2025-10-26T22:51:32.966Z,1761519092.966 [DAT](INFO): DAT read: Rx Time:22:51:31.7213 

2025-10-26T22:51:32.967Z,1761519092.967 [DAT](INFO): Rx dataTimestamp_ set to:1761519092.966174
2025-10-26T22:51:32.969Z,1761519092.969 [DAT](INFO): DAT read: Bearing 297.8,   8.0 (Local)

2025-10-26T22:51:32.970Z,1761519092.970 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.8,   8.0 (Local)

2025-10-26T22:51:32.973Z,1761519092.973 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed 0.3

2025-10-26T22:51:32.978Z,1761519092.978 [DAT](INFO): DAT read: 22:51:31.7213 LVL= 24688, 32753, 27842, 32755, AGC= 51, IDX= 509, 0.15, 2.332, 0.342, 2.029, 2.103, PHS= 0.331,-1.716,-0.118, RAW= 138.0,  15.9, CAL= 137.0,  17.0, ROT=  13.0, -17.0

2025-10-26T22:51:32.979Z,1761519092.979 [DAT](INFO): got valid direction response:
 22:51:31.7213 LVL= 24688, 32753, 27842, 32755, AGC= 51, IDX= 509, 0.15, 2.332, 0.342, 2.029, 2.103, PHS= 0.331,-1.716,-0.118, RAW= 138.0,  15.9, CAL= 137.0,  17.0, ROT=  13.0, -17.0

2025-10-26T22:51:32.979Z,1761519092.979 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-10-26T22:51:32.980Z,1761519092.980 [DAT](INFO): direction in FSK: [0.931795,0.215122,0.292372]
2025-10-26T22:51:32.980Z,1761519092.980 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:32.984Z,1761519092.984 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.546505
2025-10-26T22:51:32.994Z,1761519092.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516013,-0.836789,-0.183070],[0.856570,-0.505158,-0.105374],[-0.004303,-0.211187,0.977436]]
2025-10-26T22:51:33.081Z,1761519093.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.502524 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:51:33.083Z,1761519093.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.676164 m,
      bearing: 137.322489 deg,
      lat: 36.779411 deg,
      lon: -121.859388 deg,
      deltaT: 12.096902 s,
      deltaX: -5.467538 m,
      approachRate: -0.451978 m/s,
      posRepo size: 4

2025-10-26T22:51:33.088Z,1761519093.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.68 m. 10.14 m.
2025-10-26T22:51:33.091Z,1761519093.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 4.157577 m,
      bearing: 144.055715 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 125.873406 deg,
      new cmd heading: 124.996789 deg.

2025-10-26T22:51:33.096Z,1761519093.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.181606 target range: 10.143702 and range: 4.70 m.
2025-10-26T22:51:33.222Z,1761519093.222 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.783329
2025-10-26T22:51:33.374Z,1761519093.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511100,-0.842036,-0.172491],[0.859496,-0.502235,-0.095011],[-0.006628,-0.196815,0.980418]]
2025-10-26T22:51:33.470Z,1761519093.470 [DAT](INFO): DAT read: Rx Time:22:51:32.2213 

2025-10-26T22:51:33.471Z,1761519093.471 [DAT](INFO): Rx dataTimestamp_ set to:1761519093.470221
2025-10-26T22:51:33.473Z,1761519093.473 [DAT](INFO): DAT read: Bearing 295.6,   6.7 (Local)

2025-10-26T22:51:33.473Z,1761519093.473 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.6,   6.7 (Local)

2025-10-26T22:51:33.476Z,1761519093.476 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed 0.3

2025-10-26T22:51:33.480Z,1761519093.480 [DAT](INFO): DAT read: 22:51:32.2213 LVL= 23936, 32113, 24530, 32755, AGC= 50, IDX= 507, 0.10, 1.212,-0.820, 0.963, 0.965, PHS= 0.348,-1.740,-0.047, RAW= 139.7,  14.8, CAL= 138.9,  15.9, ROT=  11.1, -15.9

2025-10-26T22:51:33.481Z,1761519093.481 [DAT](INFO): got valid direction response:
 22:51:32.2213 LVL= 23936, 32113, 24530, 32755, AGC= 50, IDX= 507, 0.10, 1.212,-0.820, 0.963, 0.965, PHS= 0.348,-1.740,-0.047, RAW= 139.7,  14.8, CAL= 138.9,  15.9, ROT=  11.1, -15.9

2025-10-26T22:51:33.482Z,1761519093.482 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-26T22:51:33.483Z,1761519093.483 [DAT](INFO): direction in FSK: [0.943750,0.185156,0.273959]
2025-10-26T22:51:33.483Z,1761519093.483 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:33.491Z,1761519093.491 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.053048
2025-10-26T22:51:33.492Z,1761519093.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 10.14 m. 10.14 m.
2025-10-26T22:51:33.495Z,1761519093.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 4.045985 m,
      bearing: 144.388411 deg,
      approach rate: -0.288109 m/s,
      LOS rate: 0.882645 deg/s,
      cmd heading: 124.996792 deg,
      new cmd heading: 126.022295 deg.

2025-10-26T22:51:33.500Z,1761519093.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.199504 target range: 10.143702 and range: 4.70 m.
2025-10-26T22:51:33.723Z,1761519093.723 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.285645
2025-10-26T22:51:33.842Z,1761519093.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509459,-0.845407,-0.160434],[0.860446,-0.502479,-0.084537],[-0.009147,-0.181113,0.983420]]
2025-10-26T22:51:33.881Z,1761519093.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.504047 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:51:33.883Z,1761519093.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.675960 m,
      bearing: 134.394140 deg,
      lat: 36.779413 deg,
      lon: -121.859386 deg,
      deltaT: 12.600949 s,
      deltaX: -5.467742 m,
      approachRate: -0.433915 m/s,
      posRepo size: 4

2025-10-26T22:51:33.884Z,1761519093.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.68 m. 10.14 m.
2025-10-26T22:51:33.887Z,1761519093.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 3.921916 m,
      bearing: 144.780749 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 126.022290 deg,
      new cmd heading: 125.232811 deg.

2025-10-26T22:51:33.890Z,1761519093.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.185725 target range: 10.143702 and range: 4.70 m.
2025-10-26T22:51:33.973Z,1761519093.973 [DAT](INFO): DAT read: Rx Time:22:51:32.7212 

2025-10-26T22:51:33.974Z,1761519093.974 [DAT](INFO): Rx dataTimestamp_ set to:1761519093.973644
2025-10-26T22:51:33.976Z,1761519093.976 [DAT](INFO): DAT read: Bearing 294.6,   6.4 (Local)

2025-10-26T22:51:33.976Z,1761519093.976 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.6,   6.4 (Local)

2025-10-26T22:51:33.979Z,1761519093.979 [DAT](INFO): DAT read: Range 11 to 50 :     4.5 m (trip time 3.0 ms) speed 0.3

2025-10-26T22:51:33.986Z,1761519093.986 [DAT](INFO): DAT read: 22:51:32.7212 LVL= 20512, 27297, 25970, 32755, AGC= 47, IDX= 506, 0.06, 1.321,-0.738, 1.094, 1.063, PHS= 0.359,-1.757,-0.013, RAW= 140.5,  14.3, CAL= 139.7,  15.4, ROT=  10.3, -15.4

2025-10-26T22:51:33.987Z,1761519093.987 [DAT](INFO): got valid direction response:
 22:51:32.7212 LVL= 20512, 27297, 25970, 32755, AGC= 47, IDX= 506, 0.06, 1.321,-0.738, 1.094, 1.063, PHS= 0.359,-1.757,-0.013, RAW= 140.5,  14.3, CAL= 139.7,  15.4, ROT=  10.3, -15.4

2025-10-26T22:51:33.987Z,1761519093.987 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-10-26T22:51:33.994Z,1761519093.994 [DAT](INFO): direction in FSK: [0.948559,0.172382,0.265556]
2025-10-26T22:51:33.994Z,1761519093.994 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:34.008Z,1761519094.008 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.570273
2025-10-26T22:51:34.229Z,1761519094.229 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.790768
2025-10-26T22:51:34.261Z,1761519094.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509782,-0.847438,-0.148224],[0.860222,-0.504480,-0.074280],[-0.011829,-0.165372,0.986160]]
2025-10-26T22:51:34.417Z,1761519094.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.500000 m,
      deltaT: 0.503423 s,
      deltaX: -0.200000 m,
      approachRate: -0.397280 m/s,
      rangeRepo size: 4

2025-10-26T22:51:34.423Z,1761519094.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.476660 m,
      bearing: 133.326092 deg,
      lat: 36.779414 deg,
      lon: -121.859386 deg,
      deltaT: 13.104372 s,
      deltaX: -5.667041 m,
      approachRate: -0.432454 m/s,
      posRepo size: 4

2025-10-26T22:51:34.424Z,1761519094.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.48 m. 10.14 m.
2025-10-26T22:51:34.427Z,1761519094.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 3.779044 m,
      bearing: 145.220994 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 125.232816 deg,
      new cmd heading: 124.206937 deg.

2025-10-26T22:51:34.436Z,1761519094.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.167820 target range: 10.143702 and range: 4.50 m.
2025-10-26T22:51:34.477Z,1761519094.477 [DAT](INFO): DAT read: Rx Time:22:51:33.2210 

2025-10-26T22:51:34.478Z,1761519094.478 [DAT](INFO): Rx dataTimestamp_ set to:1761519094.477337
2025-10-26T22:51:34.479Z,1761519094.479 [DAT](INFO): DAT read: Bearing 293.3,   4.2 (Local)

2025-10-26T22:51:34.479Z,1761519094.479 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.3,   4.2 (Local)

2025-10-26T22:51:34.481Z,1761519094.481 [DAT](INFO): DAT read: Range 11 to 50 :     4.2 m (trip time 2.8 ms) speed 0.3

2025-10-26T22:51:34.486Z,1761519094.486 [DAT](INFO): DAT read: 22:51:33.2210 LVL= 22384, 27249, 25330, 31539, AGC= 46, IDX= 504, 0.07,-1.174, 3.048,-1.309,-1.421, PHS= 0.349,-1.769, 0.069, RAW= 143.0,  13.5, CAL= 142.5,  14.6, ROT=   7.5, -14.6

2025-10-26T22:51:34.487Z,1761519094.487 [DAT](INFO): got valid direction response:
 22:51:33.2210 LVL= 22384, 27249, 25330, 31539, AGC= 46, IDX= 504, 0.07,-1.174, 3.048,-1.309,-1.421, PHS= 0.349,-1.769, 0.069, RAW= 143.0,  13.5, CAL= 142.5,  14.6, ROT=   7.5, -14.6

2025-10-26T22:51:34.488Z,1761519094.488 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-26T22:51:34.489Z,1761519094.489 [DAT](INFO): direction in FSK: [0.959430,0.126311,0.252069]
2025-10-26T22:51:34.489Z,1761519094.489 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:34.505Z,1761519094.505 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.067080
2025-10-26T22:51:34.729Z,1761519094.729 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.291335
2025-10-26T22:51:34.746Z,1761519094.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512068,-0.848017,-0.136581],[0.858823,-0.508157,-0.064798],[-0.014455,-0.150480,0.988507]]
2025-10-26T22:51:34.853Z,1761519094.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 0.503693 s,
      deltaX: -0.300000 m,
      approachRate: -0.595601 m/s,
      rangeRepo size: 4

2025-10-26T22:51:34.859Z,1761519094.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.178216 m,
      bearing: 130.404468 deg,
      lat: 36.779414 deg,
      lon: -121.859382 deg,
      deltaT: 13.608065 s,
      deltaX: -5.965486 m,
      approachRate: -0.438379 m/s,
      posRepo size: 4

2025-10-26T22:51:34.861Z,1761519094.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.18 m. 10.14 m.
2025-10-26T22:51:34.863Z,1761519094.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 3.648263 m,
      bearing: 145.646496 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 124.206935 deg,
      new cmd heading: 123.372616 deg.

2025-10-26T22:51:34.869Z,1761519094.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.153258 target range: 10.143702 and range: 4.20 m.
2025-10-26T22:51:34.981Z,1761519094.981 [DAT](INFO): DAT read: Rx Time:22:51:33.7209 

2025-10-26T22:51:34.982Z,1761519094.982 [DAT](INFO): Rx dataTimestamp_ set to:1761519094.981531
2025-10-26T22:51:34.983Z,1761519094.983 [DAT](INFO): DAT read: Bearing 293.7,   3.6 (Local)

2025-10-26T22:51:34.984Z,1761519094.984 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.7,   3.6 (Local)

2025-10-26T22:51:34.986Z,1761519094.986 [DAT](INFO): DAT read: Range 11 to 50 :     4.1 m (trip time 2.7 ms) speed 0.3

2025-10-26T22:51:34.990Z,1761519094.990 [DAT](INFO): DAT read: 22:51:33.7209 LVL= 19440, 27297, 29090, 32755, AGC= 46, IDX= 504, 0.06,-0.310,-2.380,-0.421,-0.539, PHS= 0.331,-1.796, 0.074, RAW= 143.7,  13.7, CAL= 143.2,  14.9, ROT=   6.8, -14.9

2025-10-26T22:51:34.991Z,1761519094.991 [DAT](INFO): got valid direction response:
 22:51:33.7209 LVL= 19440, 27297, 29090, 32755, AGC= 46, IDX= 504, 0.06,-0.310,-2.380,-0.421,-0.539, PHS= 0.331,-1.796, 0.074, RAW= 143.7,  13.7, CAL= 143.2,  14.9, ROT=   6.8, -14.9

2025-10-26T22:51:34.992Z,1761519094.992 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-26T22:51:34.993Z,1761519094.993 [DAT](INFO): direction in FSK: [0.959578,0.114423,0.257133]
2025-10-26T22:51:34.993Z,1761519094.993 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:34.997Z,1761519094.997 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.559233
2025-10-26T22:51:35.118Z,1761519095.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515452,-0.848223,-0.121764],[0.856751,-0.512928,-0.053688],[-0.016917,-0.131995,0.991106]]
2025-10-26T22:51:35.189Z,1761519095.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.504194 s,
      deltaX: -0.100000 m,
      approachRate: -0.198336 m/s,
      rangeRepo size: 4

2025-10-26T22:51:35.205Z,1761519095.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.078456 m,
      bearing: 129.728595 deg,
      lat: 36.779415 deg,
      lon: -121.859382 deg,
      deltaT: 14.112259 s,
      deltaX: -6.065246 m,
      approachRate: -0.429786 m/s,
      posRepo size: 4

2025-10-26T22:51:35.213Z,1761519095.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.08 m. 10.14 m.
2025-10-26T22:51:35.238Z,1761519095.238 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.799982
2025-10-26T22:51:35.241Z,1761519095.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 3.531983 m,
      bearing: 146.041224 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 123.372614 deg,
      new cmd heading: 122.740814 deg.

2025-10-26T22:51:35.250Z,1761519095.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.142231 target range: 10.143702 and range: 4.10 m.
2025-10-26T22:51:35.485Z,1761519095.485 [DAT](INFO): DAT read: Rx Time:22:51:34.2208 

2025-10-26T22:51:35.486Z,1761519095.486 [DAT](INFO): Rx dataTimestamp_ set to:1761519095.485356
2025-10-26T22:51:35.487Z,1761519095.487 [DAT](INFO): DAT read: Bearing 294.8,   3.5 (Local)

2025-10-26T22:51:35.487Z,1761519095.487 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.8,   3.5 (Local)

2025-10-26T22:51:35.489Z,1761519095.489 [DAT](INFO): DAT read: Range 11 to 50 :     3.8 m (trip time 2.5 ms) speed 0.3

2025-10-26T22:51:35.517Z,1761519095.517 [DAT](INFO): DAT read: 22:51:34.2208 LVL= 17888, 22129, 23970, 26419, AGC= 46, IDX= 502, 0.09,-1.416, 2.778,-1.519,-1.616, PHS= 0.302,-1.844, 0.053, RAW= 143.9,  14.5, CAL= 143.4,  15.8, ROT=   6.6, -15.8

2025-10-26T22:51:35.518Z,1761519095.518 [DAT](INFO): got valid direction response:
 22:51:34.2208 LVL= 17888, 22129, 23970, 26419, AGC= 46, IDX= 502, 0.09,-1.416, 2.778,-1.519,-1.616, PHS= 0.302,-1.844, 0.053, RAW= 143.9,  14.5, CAL= 143.4,  15.8, ROT=   6.6, -15.8

2025-10-26T22:51:35.519Z,1761519095.519 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-10-26T22:51:35.520Z,1761519095.520 [DAT](INFO): direction in FSK: [0.955841,0.110595,0.272280]
2025-10-26T22:51:35.520Z,1761519095.520 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:35.544Z,1761519095.544 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.106389
2025-10-26T22:51:35.559Z,1761519095.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519255,-0.847856,-0.107308],[0.854394,-0.517895,-0.042384],[-0.019639,-0.113691,0.993322]]
2025-10-26T22:51:35.653Z,1761519095.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 0.503825 s,
      deltaX: -0.300000 m,
      approachRate: -0.595445 m/s,
      rangeRepo size: 4

2025-10-26T22:51:35.655Z,1761519095.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.780032 m,
      bearing: 129.628979 deg,
      lat: 36.779417 deg,
      lon: -121.859382 deg,
      deltaT: 14.616084 s,
      deltaX: -6.363669 m,
      approachRate: -0.435388 m/s,
      posRepo size: 4

2025-10-26T22:51:35.664Z,1761519095.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 10.14 m.
2025-10-26T22:51:35.667Z,1761519095.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 3.370205 m,
      bearing: 146.696345 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 122.740808 deg,
      new cmd heading: 121.845003 deg.

2025-10-26T22:51:35.672Z,1761519095.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.126596 target range: 10.143702 and range: 3.80 m.
2025-10-26T22:51:35.738Z,1761519095.738 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.299973
2025-10-26T22:51:35.933Z,1761519095.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523657,-0.846517,-0.095878],[0.851651,-0.523038,-0.033505],[-0.021785,-0.099199,0.994829]]
2025-10-26T22:51:35.969Z,1761519095.969 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:51:35.971Z,1761519095.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 10.14 m. 10.14 m.
2025-10-26T22:51:35.974Z,1761519095.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 3.258506 m,
      bearing: 147.176362 deg,
      approach rate: -0.349548 m/s,
      LOS rate: 1.553634 deg/s,
      cmd heading: 121.845001 deg,
      new cmd heading: 123.334062 deg.

2025-10-26T22:51:35.975Z,1761519095.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.152586 target range: 10.143702 and range: 3.80 m.
2025-10-26T22:51:35.989Z,1761519095.989 [DAT](INFO): DAT read: Rx Time:22:51:34.7208 

2025-10-26T22:51:35.990Z,1761519095.990 [DAT](INFO): Rx dataTimestamp_ set to:1761519095.989267
2025-10-26T22:51:35.991Z,1761519095.991 [DAT](INFO): DAT read: Bearing 296.7,   3.9 (Local)

2025-10-26T22:51:35.991Z,1761519095.991 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.7,   3.9 (Local)

2025-10-26T22:51:35.993Z,1761519095.993 [DAT](INFO): DAT read: Range 11 to 50 :     3.8 m (trip time 2.5 ms) speed 0.3

2025-10-26T22:51:35.998Z,1761519095.998 [DAT](INFO): DAT read: 22:51:34.7208 LVL= 18624, 22673, 24946, 26787, AGC= 46, IDX= 502, 0.18,-0.594,-2.704,-0.712,-0.756, PHS= 0.264,-1.903,-0.001, RAW= 143.6,  15.8, CAL= 143.1,  17.1, ROT=   6.9, -17.1

2025-10-26T22:51:35.999Z,1761519095.999 [DAT](INFO): got valid direction response:
 22:51:34.7208 LVL= 18624, 22673, 24946, 26787, AGC= 46, IDX= 502, 0.18,-0.594,-2.704,-0.712,-0.756, PHS= 0.264,-1.903,-0.001, RAW= 143.6,  15.8, CAL= 143.1,  17.1, ROT=   6.9, -17.1

2025-10-26T22:51:35.999Z,1761519095.999 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-10-26T22:51:36.000Z,1761519096.000 [DAT](INFO): direction in FSK: [0.948871,0.114826,0.294040]
2025-10-26T22:51:36.001Z,1761519096.001 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:36.008Z,1761519096.008 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.570812
2025-10-26T22:51:36.243Z,1761519096.243 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.805192
2025-10-26T22:51:36.357Z,1761519096.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528418,-0.844070,-0.091216],[0.848655,-0.528150,-0.029037],[-0.023666,-0.092755,0.995408]]
2025-10-26T22:51:36.422Z,1761519096.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 0.503911 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:51:36.437Z,1761519096.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.780165 m,
      bearing: 130.340785 deg,
      lat: 36.779417 deg,
      lon: -121.859382 deg,
      deltaT: 15.119995 s,
      deltaX: -6.363537 m,
      approachRate: -0.420869 m/s,
      posRepo size: 4

2025-10-26T22:51:36.443Z,1761519096.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 10.14 m.
2025-10-26T22:51:36.452Z,1761519096.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 3.074270 m,
      bearing: 148.309072 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 123.334065 deg,
      new cmd heading: 122.472539 deg.

2025-10-26T22:51:36.454Z,1761519096.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.137549 target range: 10.143702 and range: 3.80 m.
2025-10-26T22:51:36.493Z,1761519096.493 [DAT](INFO): DAT read: Rx Time:22:51:35.2206 

2025-10-26T22:51:36.494Z,1761519096.494 [DAT](INFO): Rx dataTimestamp_ set to:1761519096.493234
2025-10-26T22:51:36.495Z,1761519096.495 [DAT](INFO): DAT read: Bearing 299.7,   4.9 (Local)

2025-10-26T22:51:36.495Z,1761519096.495 [DAT](INFO): Local bearing/azimuth received:
 Bearing 299.7,   4.9 (Local)

2025-10-26T22:51:36.497Z,1761519096.497 [DAT](INFO): DAT read: Range 11 to 50 :     3.5 m (trip time 2.3 ms) speed 0.3

2025-10-26T22:51:36.504Z,1761519096.504 [DAT](INFO): DAT read: 22:51:35.2206 LVL= 18288, 22449, 25778, 27059, AGC= 45, IDX= 500, 0.41, 2.034,-0.114, 1.871, 1.938, PHS= 0.198,-2.007,-0.111, RAW= 142.6,  18.2, CAL= 141.8,  19.6, ROT=   8.2, -19.6

2025-10-26T22:51:36.506Z,1761519096.506 [DAT](INFO): got valid direction response:
 22:51:35.2206 LVL= 18288, 22449, 25778, 27059, AGC= 45, IDX= 500, 0.41, 2.034,-0.114, 1.871, 1.938, PHS= 0.198,-2.007,-0.111, RAW= 142.6,  18.2, CAL= 141.8,  19.6, ROT=   8.2, -19.6

2025-10-26T22:51:36.506Z,1761519096.506 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-26T22:51:36.508Z,1761519096.508 [DAT](INFO): direction in FSK: [0.932426,0.134365,0.335452]
2025-10-26T22:51:36.509Z,1761519096.509 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:36.518Z,1761519096.518 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.080677
2025-10-26T22:51:36.745Z,1761519096.745 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.307006
2025-10-26T22:51:36.881Z,1761519096.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.503967 s,
      deltaX: -0.300000 m,
      approachRate: -0.595277 m/s,
      rangeRepo size: 4

2025-10-26T22:51:36.883Z,1761519096.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.481731 m,
      bearing: 131.861351 deg,
      lat: 36.779417 deg,
      lon: -121.859382 deg,
      deltaT: 15.623962 s,
      deltaX: -6.661971 m,
      approachRate: -0.426394 m/s,
      posRepo size: 4

2025-10-26T22:51:36.888Z,1761519096.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.48 m. 10.14 m.
2025-10-26T22:51:36.891Z,1761519096.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 2.893425 m,
      bearing: 149.570455 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 122.472545 deg,
      new cmd heading: 121.603277 deg.

2025-10-26T22:51:36.896Z,1761519096.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.122378 target range: 10.143702 and range: 3.50 m.
2025-10-26T22:51:36.997Z,1761519096.997 [DAT](INFO): DAT read: Rx Time:22:51:35.7205 

2025-10-26T22:51:36.998Z,1761519096.998 [DAT](INFO): Rx dataTimestamp_ set to:1761519096.997921
2025-10-26T22:51:37.000Z,1761519097.000 [DAT](INFO): DAT read: Bearing 309.6,   1.3 (Local)

2025-10-26T22:51:37.001Z,1761519097.001 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.6,   1.3 (Local)

2025-10-26T22:51:37.003Z,1761519097.003 [DAT](INFO): DAT read: Range 11 to 50 :     3.3 m (trip time 2.2 ms) speed 0.3

2025-10-26T22:51:37.010Z,1761519097.010 [DAT](INFO): DAT read: 22:51:35.7205 LVL= 15664, 18929, 25266, 25843, AGC= 43, IDX= 501,-0.29,-0.667,-2.770,-0.874,-0.617, PHS= 0.052,-2.108,-0.301, RAW= 141.2,  22.5, CAL= 144.2,  29.5, ROT=   5.8, -29.5

2025-10-26T22:51:37.012Z,1761519097.012 [DAT](INFO): got valid direction response:
 22:51:35.7205 LVL= 15664, 18929, 25266, 25843, AGC= 43, IDX= 501,-0.29,-0.667,-2.770,-0.874,-0.617, PHS= 0.052,-2.108,-0.301, RAW= 141.2,  22.5, CAL= 144.2,  29.5, ROT=   5.8, -29.5

2025-10-26T22:51:37.013Z,1761519097.013 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-10-26T22:51:37.014Z,1761519097.014 [DAT](INFO): direction in FSK: [0.865900,0.087955,0.492424]
2025-10-26T22:51:37.014Z,1761519097.014 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:37.018Z,1761519097.018 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.580224
2025-10-26T22:51:37.166Z,1761519097.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537431,-0.837819,-0.096061],[0.842862,-0.537353,-0.028897],[-0.027408,-0.096496,0.994956]]
2025-10-26T22:51:37.252Z,1761519097.252 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.813454
2025-10-26T22:51:37.284Z,1761519097.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 0.504687 s,
      deltaX: -0.200000 m,
      approachRate: -0.396285 m/s,
      rangeRepo size: 4

2025-10-26T22:51:37.286Z,1761519097.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.282711 m,
      bearing: 131.261339 deg,
      lat: 36.779417 deg,
      lon: -121.859382 deg,
      deltaT: 16.128649 s,
      deltaX: -6.860991 m,
      approachRate: -0.425392 m/s,
      posRepo size: 4

2025-10-26T22:51:37.287Z,1761519097.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.28 m. 10.14 m.
2025-10-26T22:51:37.309Z,1761519097.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.143702 m,
      nav range: 2.752416 m,
      bearing: 150.641111 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.637705 deg/s,
      cmd heading: 121.603281 deg,
      new cmd heading: 120.835712 deg.

2025-10-26T22:51:37.317Z,1761519097.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108981 target range: 10.143702 and range: 3.30 m.
2025-10-26T22:51:37.501Z,1761519097.501 [DAT](INFO): DAT read: Rx Time:22:51:36.2203 

2025-10-26T22:51:37.502Z,1761519097.502 [DAT](INFO): Rx dataTimestamp_ set to:1761519097.501270
2025-10-26T22:51:37.503Z,1761519097.503 [DAT](INFO): DAT read: Bearing 318.9,  -1.9 (Local)

2025-10-26T22:51:37.503Z,1761519097.503 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.9,  -1.9 (Local)

2025-10-26T22:51:37.505Z,1761519097.505 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed 0.2

2025-10-26T22:51:37.510Z,1761519097.510 [DAT](INFO): DAT read: 22:51:36.2203 LVL= 16656, 20081, 27282, 27827, AGC= 43, IDX= 499,-0.21,-2.086, 2.220,-2.302,-1.901, PHS=-0.083,-2.117,-0.445, RAW= 140.4,  26.4, CAL= 146.6,  38.6, ROT=   3.4, -38.6

2025-10-26T22:51:37.511Z,1761519097.511 [DAT](INFO): got valid direction response:
 22:51:36.2203 LVL= 16656, 20081, 27282, 27827, AGC= 43, IDX= 499,-0.21,-2.086, 2.220,-2.302,-1.901, PHS=-0.083,-2.117,-0.445, RAW= 140.4,  26.4, CAL= 146.6,  38.6, ROT=   3.4, -38.6

2025-10-26T22:51:37.512Z,1761519097.512 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-26T22:51:37.512Z,1761519097.512 [DAT](INFO): direction in FSK: [0.780145,0.046349,0.623880]
2025-10-26T22:51:37.513Z,1761519097.513 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:37.521Z,1761519097.521 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.083068
2025-10-26T22:51:37.652Z,1761519097.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541887,-0.834496,-0.099875],[0.839975,-0.541743,-0.030931],[-0.028295,-0.100653,0.994519]]
2025-10-26T22:51:37.713Z,1761519097.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.503349 s,
      deltaX: -0.300000 m,
      approachRate: -0.596008 m/s,
      rangeRepo size: 4

2025-10-26T22:51:37.716Z,1761519097.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.984282 m,
      bearing: 130.607420 deg,
      lat: 36.779418 deg,
      lon: -121.859383 deg,
      deltaT: 16.631998 s,
      deltaX: -7.159419 m,
      approachRate: -0.430461 m/s,
      posRepo size: 4

2025-10-26T22:51:37.717Z,1761519097.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 3.00 m.
2025-10-26T22:51:37.718Z,1761519097.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-10-26T22:51:37.752Z,1761519097.752 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.314922
2025-10-26T22:51:38.006Z,1761519098.006 [DAT](INFO): DAT read: Rx Time:22:51:36.7205 

2025-10-26T22:51:38.007Z,1761519098.007 [DAT](INFO): Rx dataTimestamp_ set to:1761519098.006298
2025-10-26T22:51:38.008Z,1761519098.008 [DAT](INFO): DAT read: Bearing 324.8,  -4.2 (Local)

2025-10-26T22:51:38.008Z,1761519098.008 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.8,  -4.2 (Local)

2025-10-26T22:51:38.010Z,1761519098.010 [DAT](INFO): DAT read: Range 11 to 50 :     3.3 m (trip time 2.2 ms) speed 0.3

2025-10-26T22:51:38.015Z,1761519098.015 [DAT](INFO): DAT read: 22:51:36.7205 LVL= 13648, 17057, 20674, 30195, AGC= 41, IDX= 498,-0.16,-2.156, 2.563,-2.231,-1.756, PHS=-0.298,-1.919,-0.519, RAW= 142.8,  32.4, CAL= 148.8,  44.4, ROT=   1.2, -44.4

2025-10-26T22:51:38.017Z,1761519098.017 [DAT](INFO): got valid direction response:
 22:51:36.7205 LVL= 13648, 17057, 20674, 30195, AGC= 41, IDX= 498,-0.16,-2.156, 2.563,-2.231,-1.756, PHS=-0.298,-1.919,-0.519, RAW= 142.8,  32.4, CAL= 148.8,  44.4, ROT=   1.2, -44.4

2025-10-26T22:51:38.017Z,1761519098.017 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-26T22:51:38.018Z,1761519098.018 [DAT](INFO): direction in FSK: [0.714316,0.014963,0.699663]
2025-10-26T22:51:38.018Z,1761519098.018 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:38.022Z,1761519098.022 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.584254
2025-10-26T22:51:38.050Z,1761519098.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545865,-0.831667,-0.101787],[0.837382,-0.545662,-0.032309],[-0.028671,-0.102871,0.994281]]
2025-10-26T22:51:38.123Z,1761519098.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 0.505028 s,
      deltaX: 0.300000 m,
      approachRate: 0.594026 m/s,
      rangeRepo size: 4

2025-10-26T22:51:38.126Z,1761519098.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.282711 m,
      bearing: 129.850825 deg,
      lat: 36.779418 deg,
      lon: -121.859384 deg,
      deltaT: 0.505028 s,
      deltaX: 0.298428 m,
      approachRate: 0.590914 m/s,
      posRepo size: 4

2025-10-26T22:51:38.260Z,1761519098.260 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.821705
2025-10-26T22:51:38.464Z,1761519098.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549637,-0.828617,-0.106268],[0.834907,-0.549232,-0.035687],[-0.028795,-0.108339,0.993697]]
2025-10-26T22:51:38.509Z,1761519098.509 [DAT](INFO): DAT read: Rx Time:22:51:37.2203 

2025-10-26T22:51:38.509Z,1761519098.509 [DAT](INFO): Rx dataTimestamp_ set to:1761519098.508793
2025-10-26T22:51:38.510Z,1761519098.510 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed 0.3

2025-10-26T22:51:38.511Z,1761519098.511 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-10-26T22:51:38.512Z,1761519098.512 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.074334
2025-10-26T22:51:38.517Z,1761519098.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:51:38.532Z,1761519098.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.502495 s,
      deltaX: -0.300000 m,
      approachRate: -0.597021 m/s,
      rangeRepo size: 4

2025-10-26T22:51:38.761Z,1761519098.761 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.323500
2025-10-26T22:51:38.864Z,1761519098.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551862,-0.826598,-0.110384],[0.833435,-0.551263,-0.038667],[-0.028888,-0.113337,0.993137]]
2025-10-26T22:51:39.013Z,1761519099.013 [DAT](INFO): DAT read: Rx Time:22:51:37.7202 

2025-10-26T22:51:39.014Z,1761519099.014 [DAT](INFO): Rx dataTimestamp_ set to:1761519099.013265
2025-10-26T22:51:39.015Z,1761519099.015 [DAT](INFO): DAT read: Bearing 296.9,  39.7 (Local)

2025-10-26T22:51:39.015Z,1761519099.015 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.9,  39.7 (Local)

2025-10-26T22:51:39.017Z,1761519099.017 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed 0.3

2025-10-26T22:51:39.022Z,1761519099.022 [DAT](INFO): DAT read: 22:51:37.7202 LVL= 17424, 23921, 27826, 32755, AGC= 43, IDX= 497,-0.10, 2.600, 0.417, 1.129, 1.650, PHS= 1.052,-1.188,-0.565, RAW= 105.6,   7.1, CAL= 106.9,   7.6, ROT=  43.1,  -7.6

2025-10-26T22:51:39.023Z,1761519099.023 [DAT](INFO): got valid direction response:
 22:51:37.7202 LVL= 17424, 23921, 27826, 32755, AGC= 43, IDX= 497,-0.10, 2.600, 0.417, 1.129, 1.650, PHS= 1.052,-1.188,-0.565, RAW= 105.6,   7.1, CAL= 106.9,   7.6, ROT=  43.1,  -7.6

2025-10-26T22:51:39.024Z,1761519099.024 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-26T22:51:39.025Z,1761519099.025 [DAT](INFO): direction in FSK: [0.723748,0.677272,0.132256]
2025-10-26T22:51:39.025Z,1761519099.025 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:39.030Z,1761519099.030 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.592032
2025-10-26T22:51:39.267Z,1761519099.267 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.829063
2025-10-26T22:51:39.350Z,1761519099.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553530,-0.825037,-0.113660],[0.832339,-0.552711,-0.041505],[-0.028578,-0.117578,0.992652]]
2025-10-26T22:51:39.451Z,1761519099.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.504472 s,
      deltaX: -0.100000 m,
      approachRate: -0.198227 m/s,
      rangeRepo size: 4

2025-10-26T22:51:39.459Z,1761519099.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.884888 m,
      bearing: 167.133199 deg,
      lat: 36.779418 deg,
      lon: -121.859384 deg,
      deltaT: 1.006967 s,
      deltaX: -0.397823 m,
      approachRate: -0.395070 m/s,
      posRepo size: 4

2025-10-26T22:51:39.518Z,1761519099.518 [DAT](INFO): DAT read: Rx Time:22:51:38.2198 

2025-10-26T22:51:39.519Z,1761519099.519 [DAT](INFO): Rx dataTimestamp_ set to:1761519099.518335
2025-10-26T22:51:39.522Z,1761519099.522 [DAT](INFO): DAT read: Bearing 326.7,  30.4 (Local)

2025-10-26T22:51:39.522Z,1761519099.522 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.7,  30.4 (Local)

2025-10-26T22:51:39.525Z,1761519099.525 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.3

2025-10-26T22:51:39.537Z,1761519099.537 [DAT](INFO): DAT read: 22:51:38.2198 LVL= 23968, 24161, 32162, 32755, AGC= 45, IDX= 511,-0.39,-1.020,-2.741,-2.145,-1.165, PHS= 0.247,-1.531,-1.025, RAW= 106.1,  27.2, CAL= 104.7,  33.5, ROT=  45.3, -33.5

2025-10-26T22:51:39.538Z,1761519099.538 [DAT](INFO): got valid direction response:
 22:51:38.2198 LVL= 23968, 24161, 32162, 32755, AGC= 45, IDX= 511,-0.39,-1.020,-2.741,-2.145,-1.165, PHS= 0.247,-1.531,-1.025, RAW= 106.1,  27.2, CAL= 104.7,  33.5, ROT=  45.3, -33.5

2025-10-26T22:51:39.539Z,1761519099.539 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-10-26T22:51:39.545Z,1761519099.545 [DAT](INFO): direction in FSK: [0.586551,0.592726,0.551937]
2025-10-26T22:51:39.546Z,1761519099.546 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:39.576Z,1761519099.576 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.138416
2025-10-26T22:51:39.769Z,1761519099.769 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.331002
2025-10-26T22:51:39.773Z,1761519099.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553396,-0.823917,-0.122121],[0.832484,-0.551865,-0.049151],[-0.026898,-0.128864,0.991297]]
2025-10-26T22:51:39.861Z,1761519099.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.505070 s,
      deltaX: -0.600000 m,
      approachRate: -1.187954 m/s,
      rangeRepo size: 4

2025-10-26T22:51:39.867Z,1761519099.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.288014 m,
      bearing: 171.341449 deg,
      lat: 36.779418 deg,
      lon: -121.859386 deg,
      deltaT: 0.505070 s,
      deltaX: -0.596874 m,
      approachRate: -1.181764 m/s,
      posRepo size: 4

2025-10-26T22:51:40.021Z,1761519100.021 [DAT](INFO): DAT read: Rx Time:22:51:38.7198 

2025-10-26T22:51:40.021Z,1761519100.021 [DAT](INFO): Rx dataTimestamp_ set to:1761519100.021100
2025-10-26T22:51:40.023Z,1761519100.023 [DAT](INFO): DAT read: Bearing 354.5,  34.1 (Local)

2025-10-26T22:51:40.023Z,1761519100.023 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.5,  34.1 (Local)

2025-10-26T22:51:40.025Z,1761519100.025 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.2

2025-10-26T22:51:40.030Z,1761519100.030 [DAT](INFO): DAT read: 22:51:38.7198 LVL= 26016, 21777, 30818, 32755, AGC= 46, IDX= 510,-0.18, 3.040, 1.861, 1.703,-3.030, PHS=-0.111,-1.347,-1.594, RAW=  81.0,  38.1, CAL=  78.0,  45.8, ROT=  72.0, -45.8

2025-10-26T22:51:40.032Z,1761519100.032 [DAT](INFO): got valid direction response:
 22:51:38.7198 LVL= 26016, 21777, 30818, 32755, AGC= 46, IDX= 510,-0.18, 3.040, 1.861, 1.703,-3.030, PHS=-0.111,-1.347,-1.594, RAW=  81.0,  38.1, CAL=  78.0,  45.8, ROT=  72.0, -45.8

2025-10-26T22:51:40.032Z,1761519100.032 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-26T22:51:40.033Z,1761519100.033 [DAT](INFO): direction in FSK: [0.215436,0.663043,0.716911]
2025-10-26T22:51:40.034Z,1761519100.034 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:40.037Z,1761519100.037 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.599723
2025-10-26T22:51:40.179Z,1761519100.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551760,-0.824200,-0.127499],[0.833599,-0.549766,-0.053563],[-0.025948,-0.135837,0.990391]]
2025-10-26T22:51:40.225Z,1761519100.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.502765 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:51:40.227Z,1761519100.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.288030 m,
      bearing: 196.442275 deg,
      lat: 36.779411 deg,
      lon: -121.859390 deg,
      deltaT: 0.502765 s,
      deltaX: 0.000016 m,
      approachRate: 0.000032 m/s,
      posRepo size: 4

2025-10-26T22:51:40.273Z,1761519100.273 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.835087
2025-10-26T22:51:40.530Z,1761519100.530 [DAT](INFO): DAT read: Rx Time:22:51:39.2198 

2025-10-26T22:51:40.531Z,1761519100.531 [DAT](INFO): Rx dataTimestamp_ set to:1761519100.530354
2025-10-26T22:51:40.532Z,1761519100.532 [DAT](INFO): DAT read: Bearing  59.6,  -6.0 (Local)

2025-10-26T22:51:40.532Z,1761519100.532 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.6,  -6.0 (Local)

2025-10-26T22:51:40.534Z,1761519100.534 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.1

2025-10-26T22:51:40.539Z,1761519100.539 [DAT](INFO): DAT read: 22:51:39.2198 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 508, 0.12,-0.978, 0.592,-0.767, 0.668, PHS=-1.544,-0.031,-1.479, RAW= 327.8,  36.1, CAL= 327.3,  41.4, ROT= 182.7, -41.4

2025-10-26T22:51:40.540Z,1761519100.540 [DAT](INFO): got valid direction response:
 22:51:39.2198 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 508, 0.12,-0.978, 0.592,-0.767, 0.668, PHS=-1.544,-0.031,-1.479, RAW= 327.8,  36.1, CAL= 327.3,  41.4, ROT= 182.7, -41.4

2025-10-26T22:51:40.540Z,1761519100.540 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-26T22:51:40.541Z,1761519100.541 [DAT](INFO): direction in FSK: [-0.749278,-0.035335,0.661312]
2025-10-26T22:51:40.542Z,1761519100.542 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:40.550Z,1761519100.550 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.112810
2025-10-26T22:51:40.591Z,1761519100.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549301,-0.824765,-0.134284],[0.835249,-0.546739,-0.058619],[-0.025071,-0.144360,0.989208]]
2025-10-26T22:51:40.720Z,1761519100.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.509254 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:51:40.723Z,1761519100.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.288030 m,
      bearing: 298.606889 deg,
      lat: 36.779411 deg,
      lon: -121.859392 deg,
      deltaT: 0.509254 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:51:40.781Z,1761519100.781 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.343241
2025-10-26T22:51:41.033Z,1761519101.033 [DAT](INFO): DAT read: Rx Time:22:51:39.7198 

2025-10-26T22:51:41.033Z,1761519101.033 [DAT](INFO): Rx dataTimestamp_ set to:1761519101.032949
2025-10-26T22:51:41.034Z,1761519101.034 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.1

2025-10-26T22:51:41.035Z,1761519101.035 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-10-26T22:51:41.036Z,1761519101.036 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.598775
2025-10-26T22:51:41.047Z,1761519101.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546761,-0.825245,-0.141501],[0.836932,-0.543598,-0.063604],[-0.024431,-0.153203,0.987893]]
2025-10-26T22:51:41.106Z,1761519101.106 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:51:41.109Z,1761519101.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.502595 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:51:41.288Z,1761519101.288 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.849360
2025-10-26T22:51:41.460Z,1761519101.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543689,-0.826205,-0.147605],[0.838940,-0.540047,-0.067298],[-0.024112,-0.160421,0.986754]]
2025-10-26T22:51:41.537Z,1761519101.537 [DAT](INFO): DAT read: Rx Time:22:51:40.2196 

2025-10-26T22:51:41.537Z,1761519101.537 [DAT](INFO): Rx dataTimestamp_ set to:1761519101.537194
2025-10-26T22:51:41.539Z,1761519101.539 [DAT](INFO): DAT read: Bearing 350.2, -42.4 (Local)

2025-10-26T22:51:41.539Z,1761519101.539 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.2, -42.4 (Local)

2025-10-26T22:51:41.541Z,1761519101.541 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-26T22:51:41.546Z,1761519101.546 [DAT](INFO): DAT read: 22:51:40.2196 LVL= 20656, 12401, 14434, 26611, AGC= 45, IDX= 508, 0.45, 0.879, 1.092, 2.453, 2.689, PHS=-1.708,-1.552,-0.279, RAW= 215.7,  42.7, CAL= 214.2,  52.295.8, -52.3

2025-10-26T22:51:41.547Z,1761519101.547 [DAT](INFO): unknown deviceResponse_: 22:51:40.2196 LVL= 20656, 12401, 14434, 26611, AGC= 45, IDX= 508, 0.45, 0.879, 1.092, 2.453, 2.689, PHS=-1.708,-1.552,-0.279, RAW= 215.7,  42.7, CAL= 214.2,  52.295.8, -52.3

2025-10-26T22:51:41.547Z,1761519101.547 [DAT](ERROR): #Rx 20: Read range message, but no direction.
2025-10-26T22:51:41.548Z,1761519101.548 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.110498
2025-10-26T22:51:41.789Z,1761519101.789 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.351226
2025-10-26T22:51:41.868Z,1761519101.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540363,-0.827445,-0.152783],[0.841085,-0.536373,-0.069848],[-0.024153,-0.166247,0.985788]]
2025-10-26T22:51:41.888Z,1761519101.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.504245 s,
      deltaX: -0.300000 m,
      approachRate: -0.594949 m/s,
      rangeRepo size: 4

2025-10-26T22:51:41.888Z,1761519101.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.00 m.
2025-10-26T22:51:42.041Z,1761519102.041 [DAT](INFO): DAT read: Rx Time:22:51:40.7195 

2025-10-26T22:51:42.041Z,1761519102.041 [DAT](INFO): Rx dataTimestamp_ set to:1761519102.041164
2025-10-26T22:51:42.043Z,1761519102.043 [DAT](INFO): DAT read: Bearing  44.0,   3.4 (Local)

2025-10-26T22:51:42.043Z,1761519102.043 [DAT](INFO): Local bearing/azimuth received:
 Bearing  44.0,   3.4 (Local)

2025-10-26T22:51:42.045Z,1761519102.045 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-10-26T22:51:42.050Z,1761519102.050 [DAT](INFO): DAT read: 22:51:40.7195 LVL= 16288, 13681, 17042, 18547, AGC= 44, IDX= 508,-0.35, 0.104, 1.027,-0.159, 1.605, PHS=-1.399,-0.533,-1.808, RAW= 348.3,  49.5, CAL= 347.2,  53.4, ROT= 162.8, -53.4

2025-10-26T22:51:42.051Z,1761519102.051 [DAT](INFO): got valid direction response:
 22:51:40.7195 LVL= 16288, 13681, 17042, 18547, AGC= 44, IDX= 508,-0.35, 0.104, 1.027,-0.159, 1.605, PHS=-1.399,-0.533,-1.808, RAW= 348.3,  49.5, CAL= 347.2,  53.4, ROT= 162.8, -53.4

2025-10-26T22:51:42.051Z,1761519102.051 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-10-26T22:51:42.052Z,1761519102.052 [DAT](INFO): direction in FSK: [-0.569561,0.176308,0.802817]
2025-10-26T22:51:42.053Z,1761519102.053 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:42.056Z,1761519102.056 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.618694
2025-10-26T22:51:42.271Z,1761519102.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536984,-0.828739,-0.157608],[0.843238,-0.532727,-0.071781],[-0.024474,-0.171446,0.984890]]
2025-10-26T22:51:42.299Z,1761519102.299 [DAT](INFO): DAT read: Rx Time:22:51:41.2195 

2025-10-26T22:51:42.301Z,1761519102.301 [DAT](INFO): Rx dataTimestamp_ set to:1761519102.299646
2025-10-26T22:51:42.303Z,1761519102.303 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.864681
2025-10-26T22:51:42.378Z,1761519102.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.503970 s,
      deltaX: -0.200000 m,
      approachRate: -0.396849 m/s,
      rangeRepo size: 4

2025-10-26T22:51:42.385Z,1761519102.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.790619 m,
      bearing: 273.007984 deg,
      lat: 36.779411 deg,
      lon: -121.859393 deg,
      deltaT: 1.510810 s,
      deltaX: -0.497412 m,
      approachRate: -0.329235 m/s,
      posRepo size: 4

2025-10-26T22:51:42.385Z,1761519102.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 1.80 m.
2025-10-26T22:51:42.546Z,1761519102.546 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed -0.1

2025-10-26T22:51:42.551Z,1761519102.551 [DAT](ERROR): #Rx 22: Read range message, but no direction.
2025-10-26T22:51:42.552Z,1761519102.552 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.114857
2025-10-26T22:51:42.690Z,1761519102.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534049,-0.829558,-0.163172],[0.845090,-0.529445,-0.074243],[-0.024802,-0.177544,0.983800]]
2025-10-26T22:51:42.760Z,1761519102.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.502906 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:51:42.800Z,1761519102.800 [DAT](INFO): DAT read: Rx Time:22:51:41.7196 

2025-10-26T22:51:42.802Z,1761519102.802 [DAT](INFO): Rx dataTimestamp_ set to:1761519102.800877
2025-10-26T22:51:42.804Z,1761519102.804 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.366615
2025-10-26T22:51:43.049Z,1761519103.049 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed -0.3

2025-10-26T22:51:43.050Z,1761519103.050 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-10-26T22:51:43.050Z,1761519103.050 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.612930
2025-10-26T22:51:43.095Z,1761519103.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530553,-0.830859,-0.167890],[0.847262,-0.525804,-0.075342],[-0.025678,-0.182220,0.982922]]
2025-10-26T22:51:43.129Z,1761519103.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:51:43.132Z,1761519103.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503647 s,
      deltaX: 0.200000 m,
      approachRate: 0.397104 m/s,
      rangeRepo size: 4

2025-10-26T22:51:43.132Z,1761519103.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.00 m.
2025-10-26T22:51:43.302Z,1761519103.302 [DAT](INFO): DAT read: Rx Time:22:51:42.2195 

2025-10-26T22:51:43.303Z,1761519103.303 [DAT](INFO): Rx dataTimestamp_ set to:1761519103.302215
2025-10-26T22:51:43.304Z,1761519103.304 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed -0.4

2025-10-26T22:51:43.304Z,1761519103.304 [DAT](ERROR): #Rx 24: Read range message, but no direction.
2025-10-26T22:51:43.306Z,1761519103.306 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.867901
2025-10-26T22:51:43.553Z,1761519103.553 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.115012
2025-10-26T22:51:43.554Z,1761519103.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.254498 s,
      deltaX: -0.200000 m,
      approachRate: -0.785861 m/s,
      rangeRepo size: 4

2025-10-26T22:51:43.804Z,1761519103.804 [DAT](INFO): DAT read: Rx Time:22:51:42.7198 

2025-10-26T22:51:43.805Z,1761519103.805 [DAT](INFO): Rx dataTimestamp_ set to:1761519103.804637
2025-10-26T22:51:43.806Z,1761519103.806 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed -0.3

2025-10-26T22:51:43.807Z,1761519103.807 [DAT](ERROR): #Rx 25: Read range message, but no direction.
2025-10-26T22:51:43.808Z,1761519103.808 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.370187
2025-10-26T22:51:43.900Z,1761519103.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524135,-0.833438,-0.175109],[0.851178,-0.519396,-0.075656],[-0.027896,-0.188703,0.981638]]
2025-10-26T22:51:43.931Z,1761519103.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.502422 s,
      deltaX: 0.500000 m,
      approachRate: 0.995179 m/s,
      rangeRepo size: 4

2025-10-26T22:51:44.057Z,1761519104.057 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.619121
2025-10-26T22:51:44.309Z,1761519104.309 [DAT](INFO): DAT read: Rx Time:22:51:43.2202 

2025-10-26T22:51:44.309Z,1761519104.309 [DAT](INFO): Rx dataTimestamp_ set to:1761519104.308860
2025-10-26T22:51:44.310Z,1761519104.310 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed -0.4

2025-10-26T22:51:44.311Z,1761519104.311 [DAT](ERROR): #Rx 26: Read range message, but no direction.
2025-10-26T22:51:44.312Z,1761519104.312 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.874407
2025-10-26T22:51:44.478Z,1761519104.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.504223 s,
      deltaX: 0.600000 m,
      approachRate: 1.189950 m/s,
      rangeRepo size: 4

2025-10-26T22:51:44.478Z,1761519104.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.90 m.
2025-10-26T22:51:44.561Z,1761519104.561 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.123215
2025-10-26T22:51:44.746Z,1761519104.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518514,-0.835851,-0.180265],[0.854513,-0.514134,-0.073986],[-0.030840,-0.192402,0.980832]]
2025-10-26T22:51:44.813Z,1761519104.813 [DAT](INFO): DAT read: Rx Time:22:51:43.7202 

2025-10-26T22:51:44.814Z,1761519104.814 [DAT](INFO): Rx dataTimestamp_ set to:1761519104.813696
2025-10-26T22:51:44.816Z,1761519104.816 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed -0.4

2025-10-26T22:51:44.817Z,1761519104.817 [DAT](ERROR): #Rx 27: Read range message, but no direction.
2025-10-26T22:51:44.818Z,1761519104.818 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.380489
2025-10-26T22:51:45.064Z,1761519105.064 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.626890
2025-10-26T22:51:45.138Z,1761519105.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515668,-0.838221,-0.177402],[0.856195,-0.511851,-0.070283],[-0.031890,-0.188133,0.981626]]
2025-10-26T22:51:45.169Z,1761519105.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:51:45.172Z,1761519105.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.504836 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:51:45.321Z,1761519105.321 [DAT](INFO): DAT read: Rx Time:22:51:44.2203 

2025-10-26T22:51:45.323Z,1761519105.323 [DAT](INFO): Rx dataTimestamp_ set to:1761519105.322020
2025-10-26T22:51:45.328Z,1761519105.328 [DAT](INFO): DAT read: Bearing  84.3,  26.6 (Local)

2025-10-26T22:51:45.330Z,1761519105.330 [DAT](INFO): Local bearing/azimuth received:
 Bearing  84.3,  26.6 (Local)

2025-10-26T22:51:45.336Z,1761519105.336 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed -0.4

2025-10-26T22:51:45.384Z,1761519105.384 [DAT](ERROR): #Rx 28: Read range message, but no direction.
2025-10-26T22:51:45.387Z,1761519105.387 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.948628
2025-10-26T22:51:45.572Z,1761519105.572 [DAT](INFO): DAT read: 22:51:44.2203 LVL= 14912, 13009, 28610, 25235, AGC= 45, IDX= 499,-0.04,-0.741, 0.536,-1.588,-0.327, PHS=-0.311, 0.908,-1.304, RAW= 356.6,   7.4, CAL= 356.6,   7.0, ROT= 153.4,  -7.0

2025-10-26T22:51:45.573Z,1761519105.573 [DAT](INFO): got valid direction response:
 22:51:44.2203 LVL= 14912, 13009, 28610, 25235, AGC= 45, IDX= 499,-0.04,-0.741, 0.536,-1.588,-0.327, PHS=-0.311, 0.908,-1.304, RAW= 356.6,   7.4, CAL= 356.6,   7.0, ROT= 153.4,  -7.0

2025-10-26T22:51:45.574Z,1761519105.574 [DAT](INFO): #Rx 29: Read direction message, but no range.
2025-10-26T22:51:45.575Z,1761519105.575 [DAT](INFO): direction in FSK: [-0.887489,0.444422,0.121869]
2025-10-26T22:51:45.578Z,1761519105.578 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.140549
2025-10-26T22:51:45.670Z,1761519105.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.508324 s,
      deltaX: 0.100000 m,
      approachRate: 0.196725 m/s,
      rangeRepo size: 4

2025-10-26T22:51:45.677Z,1761519105.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.984128 m,
      bearing: 273.648677 deg,
      lat: 36.779415 deg,
      lon: -121.859396 deg,
      deltaT: 3.280856 s,
      deltaX: 1.193510 m,
      approachRate: 0.363780 m/s,
      posRepo size: 4

2025-10-26T22:51:45.821Z,1761519105.821 [DAT](INFO): DAT read: Rx Time:22:51:44.7206 

2025-10-26T22:51:45.822Z,1761519105.822 [DAT](INFO): Rx dataTimestamp_ set to:1761519105.821733
2025-10-26T22:51:45.824Z,1761519105.824 [DAT](INFO): DAT read: Range 11 to 50 :     3.5 m (trip time 2.3 ms) speed -0.4

2025-10-26T22:51:45.825Z,1761519105.825 [DAT](ERROR): #Rx 30: Read range message, but no direction.
2025-10-26T22:51:45.826Z,1761519105.826 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.388264
2025-10-26T22:51:45.916Z,1761519105.916 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:51:46.021Z,1761519106.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510374,-0.843515,-0.167336],[0.859316,-0.507733,-0.061503],[-0.033083,-0.175184,0.983980]]
2025-10-26T22:51:46.040Z,1761519106.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.499713 s,
      deltaX: 0.500000 m,
      approachRate: 1.000574 m/s,
      rangeRepo size: 4

2025-10-26T22:51:46.074Z,1761519106.074 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.636776
2025-10-26T22:51:46.341Z,1761519106.341 [DAT](INFO): DAT read: Rx Time:22:51:45.2204 

2025-10-26T22:51:46.343Z,1761519106.343 [DAT](INFO): Rx dataTimestamp_ set to:1761519106.341905
2025-10-26T22:51:46.348Z,1761519106.348 [DAT](INFO): DAT read: Bearing  81.3,  12.5 (Local)

2025-10-26T22:51:46.349Z,1761519106.349 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.3,  12.5 (Local)

2025-10-26T22:51:46.357Z,1761519106.357 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed -0.3

2025-10-26T22:51:46.405Z,1761519106.405 [DAT](INFO): DAT read: 22:51:45.2204 LVL= 18672, 15537, 23698, 22547, AGC= 46, IDX= 501,-0.18,-1.910,-0.402,-2.215,-1.145, PHS=-0.662, 0.788,-1.114, RAW= 343.1,  11.5, CAL= 343.3,  13.5, ROT= 166.7, -13.5

2025-10-26T22:51:46.430Z,1761519106.430 [DAT](INFO): got valid direction response:
 22:51:45.2204 LVL= 18672, 15537, 23698, 22547, AGC= 46, IDX= 501,-0.18,-1.910,-0.402,-2.215,-1.145, PHS=-0.662, 0.788,-1.114, RAW= 343.1,  11.5, CAL= 343.3,  13.5, ROT= 166.7, -13.5

2025-10-26T22:51:46.431Z,1761519106.431 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-10-26T22:51:46.460Z,1761519106.460 [DAT](INFO): direction in FSK: [-0.946290,0.223693,0.233445]
2025-10-26T22:51:46.461Z,1761519106.461 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:46.474Z,1761519106.474 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.036177
2025-10-26T22:51:46.482Z,1761519106.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507118,-0.846754,-0.160744],[0.861218,-0.505131,-0.056094],[-0.033699,-0.166882,0.985401]]
2025-10-26T22:51:46.580Z,1761519106.580 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.142914
2025-10-26T22:51:46.588Z,1761519106.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 0.520172 s,
      deltaX: -0.300000 m,
      approachRate: -0.576732 m/s,
      rangeRepo size: 4

2025-10-26T22:51:46.590Z,1761519106.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.183012 m,
      bearing: 285.044772 deg,
      lat: 36.779419 deg,
      lon: -121.859396 deg,
      deltaT: 1.019885 s,
      deltaX: 0.198883 m,
      approachRate: 0.195005 m/s,
      posRepo size: 4

2025-10-26T22:51:46.833Z,1761519106.833 [DAT](INFO): DAT read: Rx Time:22:51:45.7206 

2025-10-26T22:51:46.833Z,1761519106.833 [DAT](INFO): Rx dataTimestamp_ set to:1761519106.832754
2025-10-26T22:51:46.834Z,1761519106.834 [DAT](INFO): DAT read: Range 11 to 50 :     3.5 m (trip time 2.3 ms) speed -0.3

2025-10-26T22:51:46.835Z,1761519106.835 [DAT](ERROR): #Rx 32: Read range message, but no direction.
2025-10-26T22:51:46.836Z,1761519106.836 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.398350
2025-10-26T22:51:46.909Z,1761519106.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503936,-0.848862,-0.159629],[0.863036,-0.502320,-0.053336],[-0.034910,-0.164644,0.985735]]
2025-10-26T22:51:46.921Z,1761519106.921 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:51:46.964Z,1761519106.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.490849 s,
      deltaX: 0.300000 m,
      approachRate: 0.611186 m/s,
      rangeRepo size: 4

2025-10-26T22:51:47.084Z,1761519107.084 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.646807
2025-10-26T22:51:47.317Z,1761519107.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500763,-0.851201,-0.157138],[0.864821,-0.499631,-0.049534],[-0.036347,-0.160701,0.986334]]
2025-10-26T22:51:47.334Z,1761519107.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:51:47.337Z,1761519107.337 [DAT](INFO): DAT read: Rx Time:22:51:46.2207 

2025-10-26T22:51:47.337Z,1761519107.337 [DAT](INFO): Rx dataTimestamp_ set to:1761519107.336900
2025-10-26T22:51:47.338Z,1761519107.338 [DAT](INFO): DAT read: Range 11 to 50 :     3.6 m (trip time 2.4 ms) speed -0.3

2025-10-26T22:51:47.339Z,1761519107.339 [DAT](ERROR): #Rx 33: Read range message, but no direction.
2025-10-26T22:51:47.340Z,1761519107.340 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.902473
2025-10-26T22:51:47.342Z,1761519107.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 0.504146 s,
      deltaX: 0.100000 m,
      approachRate: 0.198355 m/s,
      rangeRepo size: 4

2025-10-26T22:51:47.588Z,1761519107.588 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.150854
2025-10-26T22:51:47.840Z,1761519107.840 [DAT](INFO): DAT read: Rx Time:22:51:46.7208 

2025-10-26T22:51:47.841Z,1761519107.841 [DAT](INFO): Rx dataTimestamp_ set to:1761519107.840634
2025-10-26T22:51:47.842Z,1761519107.842 [DAT](INFO): DAT read: Range 11 to 50 :     3.9 m (trip time 2.6 ms) speed -0.3

2025-10-26T22:51:47.843Z,1761519107.843 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-10-26T22:51:47.844Z,1761519107.844 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.406197
2025-10-26T22:51:47.905Z,1761519107.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.900000 m,
      deltaT: 0.503734 s,
      deltaX: 0.300000 m,
      approachRate: 0.595553 m/s,
      rangeRepo size: 4

2025-10-26T22:51:48.095Z,1761519108.095 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.657305
2025-10-26T22:51:48.350Z,1761519108.350 [DAT](INFO): DAT read: Rx Time:22:51:47.2208 

2025-10-26T22:51:48.364Z,1761519108.364 [DAT](INFO): Rx dataTimestamp_ set to:1761519108.363173
2025-10-26T22:51:48.365Z,1761519108.365 [DAT](INFO): DAT read: Bearing  76.1,  -4.4 (Local)

2025-10-26T22:51:48.365Z,1761519108.365 [DAT](INFO): Local bearing/azimuth received:
 Bearing  76.1,  -4.4 (Local)

2025-10-26T22:51:48.381Z,1761519108.381 [DAT](INFO): DAT read: Range 11 to 50 :     3.9 m (trip time 2.6 ms) speed -0.3

2025-10-26T22:51:48.410Z,1761519108.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494240,-0.855367,-0.155159],[0.868397,-0.494033,-0.042649],[-0.040173,-0.155818,0.986968]]
2025-10-26T22:51:48.460Z,1761519108.460 [DAT](INFO): DAT read: 22:51:47.2208 LVL= 32752, 27697, 32322, 32755, AGC= 56, IDX= 505, 0.08, 1.990,-2.347, 2.243,-2.992, PHS=-1.199, 0.690,-1.092, RAW= 327.1,  17.1, CAL= 326.8,  21.7, ROT= 183.2, -21.7

2025-10-26T22:51:48.463Z,1761519108.463 [DAT](INFO): got valid direction response:
 22:51:47.2208 LVL= 32752, 27697, 32322, 32755, AGC= 56, IDX= 505, 0.08, 1.990,-2.347, 2.243,-2.992, PHS=-1.199, 0.690,-1.092, RAW= 327.1,  17.1, CAL= 326.8,  21.7, ROT= 183.2, -21.7

2025-10-26T22:51:48.472Z,1761519108.472 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-10-26T22:51:48.473Z,1761519108.473 [DAT](INFO): direction in FSK: [-0.927684,-0.051866,0.369747]
2025-10-26T22:51:48.473Z,1761519108.473 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:48.493Z,1761519108.493 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.055168
2025-10-26T22:51:48.577Z,1761519108.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.900000 m,
      deltaT: 0.522539 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:51:48.584Z,1761519108.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.879253 m,
      bearing: 299.242088 deg,
      lat: 36.779422 deg,
      lon: -121.859394 deg,
      deltaT: 2.021268 s,
      deltaX: 0.696241 m,
      approachRate: 0.344458 m/s,
      posRepo size: 4

2025-10-26T22:51:48.596Z,1761519108.596 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.158945
2025-10-26T22:51:48.849Z,1761519108.849 [DAT](INFO): DAT read: Rx Time:22:51:47.7209 

2025-10-26T22:51:48.849Z,1761519108.849 [DAT](INFO): Rx dataTimestamp_ set to:1761519108.848745
2025-10-26T22:51:48.850Z,1761519108.850 [DAT](INFO): DAT read: Range 11 to 50 :     4.1 m (trip time 2.7 ms) speed -0.3

2025-10-26T22:51:48.851Z,1761519108.851 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-10-26T22:51:48.852Z,1761519108.852 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.414314
2025-10-26T22:51:49.002Z,1761519109.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492706,-0.854725,-0.163359],[0.869068,-0.492873,-0.042389],[-0.044284,-0.162856,0.985656]]
2025-10-26T22:51:49.025Z,1761519109.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.485572 s,
      deltaX: 0.200000 m,
      approachRate: 0.411885 m/s,
      rangeRepo size: 4

2025-10-26T22:51:49.101Z,1761519109.101 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.662979
2025-10-26T22:51:49.358Z,1761519109.358 [DAT](INFO): DAT read: Rx Time:22:51:48.2210 

2025-10-26T22:51:49.359Z,1761519109.359 [DAT](INFO): Rx dataTimestamp_ set to:1761519109.358259
2025-10-26T22:51:49.360Z,1761519109.360 [DAT](INFO): DAT read: Range 11 to 50 :     4.2 m (trip time 2.8 ms) speed -0.3

2025-10-26T22:51:49.361Z,1761519109.361 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-10-26T22:51:49.362Z,1761519109.362 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.923973
2025-10-26T22:51:49.473Z,1761519109.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493149,-0.854258,-0.164462],[0.868704,-0.493661,-0.040659],[-0.046455,-0.162919,0.985545]]
2025-10-26T22:51:49.507Z,1761519109.507 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050302400779,35.0,  0.0,1492.7,  0
2025-10-26T22:51:49.525Z,1761519109.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:51:49.528Z,1761519109.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 0.509514 s,
      deltaX: 0.100000 m,
      approachRate: 0.196265 m/s,
      rangeRepo size: 4

2025-10-26T22:51:49.605Z,1761519109.605 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.167158
2025-10-26T22:51:49.817Z,1761519109.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494674,-0.853699,-0.162773],[0.867728,-0.495602,-0.037767],[-0.048429,-0.159925,0.985940]]
2025-10-26T22:51:49.856Z,1761519109.856 [DAT](INFO): DAT read: Rx Time:22:51:48.7213 

2025-10-26T22:51:49.857Z,1761519109.857 [DAT](INFO): Rx dataTimestamp_ set to:1761519109.856518
2025-10-26T22:51:49.858Z,1761519109.858 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed -0.4

2025-10-26T22:51:49.859Z,1761519109.859 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-10-26T22:51:49.860Z,1761519109.860 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.422075
2025-10-26T22:51:49.875Z,1761519109.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.498259 s,
      deltaX: 0.500000 m,
      approachRate: 1.003494 m/s,
      rangeRepo size: 4

2025-10-26T22:51:50.108Z,1761519110.108 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.670851
2025-10-26T22:51:50.214Z,1761519110.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496498,-0.853026,-0.160733],[0.866565,-0.497867,-0.034555],[-0.050547,-0.156442,0.986393]]
2025-10-26T22:51:50.362Z,1761519110.362 [DAT](INFO): DAT read: Rx Time:22:51:49.2213 

2025-10-26T22:51:50.362Z,1761519110.362 [DAT](INFO): Rx dataTimestamp_ set to:1761519110.362184
2025-10-26T22:51:50.364Z,1761519110.364 [DAT](INFO): DAT read: Bearing  87.3,  14.1 (Local)

2025-10-26T22:51:50.365Z,1761519110.365 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.3,  14.1 (Local)

2025-10-26T22:51:50.381Z,1761519110.381 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed -0.4

2025-10-26T22:51:50.385Z,1761519110.385 [DAT](INFO): DAT read: 22:51:49.2213 LVL= 28960, 12721, 19362, 23347, AGC= 55, IDX= 510,-0.04,-1.664,-0.113,-1.998,-0.992, PHS=-0.570, 0.923,-1.050, RAW= 343.5,   7.9, CAL= 343.4,   7.8, ROT= 166.6,  -7.8

2025-10-26T22:51:50.386Z,1761519110.386 [DAT](INFO): got valid direction response:
 22:51:49.2213 LVL= 28960, 12721, 19362, 23347, AGC= 55, IDX= 510,-0.04,-1.664,-0.113,-1.998,-0.992, PHS=-0.570, 0.923,-1.050, RAW= 343.5,   7.9, CAL= 343.4,   7.8, ROT= 166.6,  -7.8

2025-10-26T22:51:50.387Z,1761519110.387 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-10-26T22:51:50.425Z,1761519110.425 [DAT](INFO): direction in FSK: [-0.963776,0.229604,0.135716]
2025-10-26T22:51:50.425Z,1761519110.425 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:50.482Z,1761519110.482 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.043600
2025-10-26T22:51:50.612Z,1761519110.612 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.174732
2025-10-26T22:51:50.616Z,1761519110.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499024,-0.851688,-0.160008],[0.864989,-0.500751,-0.032293],[-0.052621,-0.154520,0.986587]]
2025-10-26T22:51:50.675Z,1761519110.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.505666 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:51:50.678Z,1761519110.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.674778 m,
      bearing: 285.465814 deg,
      lat: 36.779419 deg,
      lon: -121.859394 deg,
      deltaT: 1.999011 s,
      deltaX: 0.795526 m,
      approachRate: 0.397960 m/s,
      posRepo size: 4

2025-10-26T22:51:50.865Z,1761519110.865 [DAT](INFO): DAT read: Rx Time:22:51:49.7215 

2025-10-26T22:51:50.865Z,1761519110.865 [DAT](INFO): Rx dataTimestamp_ set to:1761519110.865132
2025-10-26T22:51:50.867Z,1761519110.867 [DAT](INFO): DAT read: Bearing  83.7,   7.8 (Local)

2025-10-26T22:51:50.867Z,1761519110.867 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.7,   7.8 (Local)

2025-10-26T22:51:50.870Z,1761519110.870 [DAT](INFO): DAT read: Range 11 to 50 :     5.0 m (trip time 3.3 ms) speed -0.4

2025-10-26T22:51:50.878Z,1761519110.878 [DAT](INFO): DAT read: 22:51:49.7215 LVL= 32704, 19601, 28082, 32371, AGC= 56, IDX= 511, 0.29,-0.727, 0.963,-0.856, 0.155, PHS=-0.779, 0.854,-1.054, RAW= 337.7,  11.0, CAL= 337.6,  12.8, ROT= 172.4, -12.8

2025-10-26T22:51:50.905Z,1761519110.905 [DAT](INFO): got valid direction response:
 22:51:49.7215 LVL= 32704, 19601, 28082, 32371, AGC= 56, IDX= 511, 0.29,-0.727, 0.963,-0.856, 0.155, PHS=-0.779, 0.854,-1.054, RAW= 337.7,  11.0, CAL= 337.6,  12.8, ROT= 172.4, -12.8

2025-10-26T22:51:50.907Z,1761519110.907 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-10-26T22:51:50.910Z,1761519110.910 [DAT](INFO): direction in FSK: [-0.966583,0.128970,0.221548]
2025-10-26T22:51:50.910Z,1761519110.910 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:50.954Z,1761519110.954 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.515850
2025-10-26T22:51:51.018Z,1761519111.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501297,-0.850639,-0.158475],[0.863537,-0.503431,-0.029346],[-0.054818,-0.151561,0.986927]]
2025-10-26T22:51:51.069Z,1761519111.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.000000 m,
      deltaT: 0.502948 s,
      deltaX: 0.300000 m,
      approachRate: 0.596484 m/s,
      rangeRepo size: 4

2025-10-26T22:51:51.076Z,1761519111.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.973169 m,
      bearing: 290.552594 deg,
      lat: 36.779417 deg,
      lon: -121.859396 deg,
      deltaT: 0.502948 s,
      deltaX: 0.298390 m,
      approachRate: 0.593283 m/s,
      posRepo size: 4

2025-10-26T22:51:51.117Z,1761519111.117 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.679552
2025-10-26T22:51:51.369Z,1761519111.369 [DAT](INFO): DAT read: Rx Time:22:51:50.2215 

2025-10-26T22:51:51.369Z,1761519111.369 [DAT](INFO): Rx dataTimestamp_ set to:1761519111.368730
2025-10-26T22:51:51.370Z,1761519111.370 [DAT](INFO): DAT read: Range 11 to 50 :     5.0 m (trip time 3.3 ms) speed -0.3

2025-10-26T22:51:51.371Z,1761519111.371 [DAT](ERROR): #Rx 41: Read range message, but no direction.
2025-10-26T22:51:51.372Z,1761519111.372 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.934292
2025-10-26T22:51:51.498Z,1761519111.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504245,-0.849282,-0.156389],[0.861710,-0.506695,-0.026764],[-0.056512,-0.148257,0.987333]]
2025-10-26T22:51:51.555Z,1761519111.555 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:51:51.558Z,1761519111.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.000000 m,
      deltaT: 0.503598 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:51:51.622Z,1761519111.622 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.184034
2025-10-26T22:51:51.866Z,1761519111.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507337,-0.847879,-0.153980],[0.859799,-0.510053,-0.024321],[-0.057917,-0.144731,0.987775]]
2025-10-26T22:51:51.873Z,1761519111.873 [DAT](INFO): DAT read: Rx Time:22:51:50.7216 

2025-10-26T22:51:51.873Z,1761519111.873 [DAT](INFO): Rx dataTimestamp_ set to:1761519111.872813
2025-10-26T22:51:51.874Z,1761519111.874 [DAT](INFO): DAT read: Range 11 to 50 :     5.1 m (trip time 3.4 ms) speed -0.4

2025-10-26T22:51:51.875Z,1761519111.875 [DAT](ERROR): #Rx 42: Read range message, but no direction.
2025-10-26T22:51:51.876Z,1761519111.876 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.438377
2025-10-26T22:51:51.933Z,1761519111.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 0.504083 s,
      deltaX: 0.100000 m,
      approachRate: 0.198380 m/s,
      rangeRepo size: 4

2025-10-26T22:51:51.935Z,1761519111.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 5.10 m.
2025-10-26T22:51:52.124Z,1761519112.124 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.686939
2025-10-26T22:51:52.258Z,1761519112.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510527,-0.846019,-0.153669],[0.857828,-0.513403,-0.023405],[-0.059093,-0.143770,0.987845]]
2025-10-26T22:51:52.381Z,1761519112.381 [DAT](INFO): DAT read: Rx Time:22:51:51.2217 

2025-10-26T22:51:52.381Z,1761519112.381 [DAT](INFO): Rx dataTimestamp_ set to:1761519112.381209
2025-10-26T22:51:52.383Z,1761519112.383 [DAT](INFO): DAT read: Bearing  87.9,   5.0 (Local)

2025-10-26T22:51:52.383Z,1761519112.383 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.9,   5.0 (Local)

2025-10-26T22:51:52.385Z,1761519112.385 [DAT](INFO): DAT read: Range 11 to 50 :     5.3 m (trip time 3.5 ms) speed -0.4

2025-10-26T22:51:52.391Z,1761519112.391 [DAT](INFO): DAT read: 22:51:51.2217 LVL= 25888, 14641, 23970, 32755, AGC= 60, IDX=   3,-0.05, 3.016,-1.367, 3.010,-2.312, PHS=-0.853, 0.990,-1.005, RAW= 333.9,   9.1, CAL= 333.5,   9.8, ROT= 176.5,  -9.8

2025-10-26T22:51:52.393Z,1761519112.393 [DAT](INFO): got valid direction response:
 22:51:51.2217 LVL= 25888, 14641, 23970, 32755, AGC= 60, IDX=   3,-0.05, 3.016,-1.367, 3.010,-2.312, PHS=-0.853, 0.990,-1.005, RAW= 333.9,   9.1, CAL= 333.5,   9.8, ROT= 176.5,  -9.8

2025-10-26T22:51:52.393Z,1761519112.393 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-10-26T22:51:52.394Z,1761519112.395 [DAT](INFO): direction in FSK: [-0.983570,0.060158,0.170209]
2025-10-26T22:51:52.395Z,1761519112.395 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:52.452Z,1761519112.452 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.014425
2025-10-26T22:51:52.632Z,1761519112.632 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.194897
2025-10-26T22:51:52.662Z,1761519112.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513486,-0.844423,-0.152585],[0.856023,-0.516440,-0.022685],[-0.059645,-0.142265,0.988030]]
2025-10-26T22:51:52.760Z,1761519112.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.300000 m,
      deltaT: 0.508396 s,
      deltaX: 0.200000 m,
      approachRate: 0.393395 m/s,
      rangeRepo size: 4

2025-10-26T22:51:52.762Z,1761519112.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.271449 m,
      bearing: 296.031284 deg,
      lat: 36.779418 deg,
      lon: -121.859394 deg,
      deltaT: 1.516077 s,
      deltaX: 0.298280 m,
      approachRate: 0.196744 m/s,
      posRepo size: 4

2025-10-26T22:51:52.763Z,1761519112.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 5.30 m.
2025-10-26T22:51:52.885Z,1761519112.885 [DAT](INFO): DAT read: Rx Time:22:51:51.7220 

2025-10-26T22:51:52.886Z,1761519112.886 [DAT](INFO): Rx dataTimestamp_ set to:1761519112.885272
2025-10-26T22:51:52.887Z,1761519112.887 [DAT](INFO): DAT read: Bearing  89.1,   6.2 (Local)

2025-10-26T22:51:52.887Z,1761519112.887 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.1,   6.2 (Local)

2025-10-26T22:51:52.889Z,1761519112.889 [DAT](INFO): DAT read: Range 11 to 50 :     5.7 m (trip time 3.8 ms) speed -0.5

2025-10-26T22:51:52.894Z,1761519112.894 [DAT](INFO): DAT read: 22:51:51.7220 LVL= 31632, 25521, 30050, 32755, AGC= 62, IDX= 502,-0.13, 2.334,-2.011, 2.287,-3.012, PHS=-0.835, 1.046,-1.028, RAW= 334.8,   8.3, CAL= 334.4,   8.6, ROT= 175.6,  -8.6

2025-10-26T22:51:52.895Z,1761519112.895 [DAT](INFO): got valid direction response:
 22:51:51.7220 LVL= 31632, 25521, 30050, 32755, AGC= 62, IDX= 502,-0.13, 2.334,-2.011, 2.287,-3.012, PHS=-0.835, 1.046,-1.028, RAW= 334.8,   8.3, CAL= 334.4,   8.6, ROT= 175.6,  -8.6

2025-10-26T22:51:52.896Z,1761519112.896 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-26T22:51:52.897Z,1761519112.897 [DAT](INFO): direction in FSK: [-0.985842,0.075856,0.149535]
2025-10-26T22:51:52.897Z,1761519112.897 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:52.905Z,1761519112.905 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.467285
2025-10-26T22:51:53.067Z,1761519113.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516169,-0.842870,-0.152115],[0.854384,-0.519154,-0.022530],[-0.059981,-0.141595,0.988106]]
2025-10-26T22:51:53.110Z,1761519113.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.700000 m,
      deltaT: 0.504063 s,
      deltaX: 0.400000 m,
      approachRate: 0.793551 m/s,
      rangeRepo size: 4

2025-10-26T22:51:53.121Z,1761519113.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.669293 m,
      bearing: 295.501908 deg,
      lat: 36.779418 deg,
      lon: -121.859391 deg,
      deltaT: 0.504063 s,
      deltaX: 0.397845 m,
      approachRate: 0.789276 m/s,
      posRepo size: 4

2025-10-26T22:51:53.136Z,1761519113.136 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.698952
2025-10-26T22:51:53.391Z,1761519113.391 [DAT](INFO): DAT read: Rx Time:22:51:52.2221 

2025-10-26T22:51:53.391Z,1761519113.391 [DAT](INFO): Rx dataTimestamp_ set to:1761519113.391032
2025-10-26T22:51:53.393Z,1761519113.393 [DAT](INFO): DAT read: Bearing  93.7,   6.5 (Local)

2025-10-26T22:51:53.393Z,1761519113.393 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.7,   6.5 (Local)

2025-10-26T22:51:53.395Z,1761519113.395 [DAT](INFO): DAT read: Range 11 to 50 :     5.9 m (trip time 3.9 ms) speed -0.5

2025-10-26T22:51:53.400Z,1761519113.400 [DAT](INFO): DAT read: 22:51:52.2221 LVL= 32752, 26529, 32754, 32755, AGC= 58, IDX= 503,-0.35, 0.831, 2.720, 0.800, 1.658, PHS=-0.725, 1.108,-0.901, RAW= 334.5,   5.4, CAL= 333.9,   4.1, ROT= 176.1,  -4.1

2025-10-26T22:51:53.401Z,1761519113.401 [DAT](INFO): got valid direction response:
 22:51:52.2221 LVL= 32752, 26529, 32754, 32755, AGC= 58, IDX= 503,-0.35, 0.831, 2.720, 0.800, 1.658, PHS=-0.725, 1.108,-0.901, RAW= 334.5,   5.4, CAL= 333.9,   4.1, ROT= 176.1,  -4.1

2025-10-26T22:51:53.401Z,1761519113.401 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-10-26T22:51:53.402Z,1761519113.402 [DAT](INFO): direction in FSK: [-0.995131,0.067841,0.071497]
2025-10-26T22:51:53.403Z,1761519113.403 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:53.406Z,1761519113.406 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.968708
2025-10-26T22:51:53.549Z,1761519113.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518674,-0.841216,-0.152750],[0.852871,-0.521593,-0.023500],[-0.059905,-0.142465,0.987985]]
2025-10-26T22:51:53.641Z,1761519113.641 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.202955
2025-10-26T22:51:53.648Z,1761519113.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.900000 m,
      deltaT: 0.505760 s,
      deltaX: 0.200000 m,
      approachRate: 0.395445 m/s,
      rangeRepo size: 4

2025-10-26T22:51:53.650Z,1761519113.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.868194 m,
      bearing: 296.836953 deg,
      lat: 36.779418 deg,
      lon: -121.859391 deg,
      deltaT: 0.505760 s,
      deltaX: 0.198900 m,
      approachRate: 0.393270 m/s,
      posRepo size: 4

2025-10-26T22:51:53.893Z,1761519113.893 [DAT](INFO): DAT read: Rx Time:22:51:52.7224 

2025-10-26T22:51:53.893Z,1761519113.893 [DAT](INFO): Rx dataTimestamp_ set to:1761519113.893210
2025-10-26T22:51:53.895Z,1761519113.895 [DAT](INFO): DAT read: Bearing  97.5,   6.9 (Local)

2025-10-26T22:51:53.895Z,1761519113.895 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.5,   6.9 (Local)

2025-10-26T22:51:53.897Z,1761519113.897 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed -0.4

2025-10-26T22:51:53.902Z,1761519113.902 [DAT](INFO): DAT read: 22:51:52.7224 LVL= 32752, 27025, 32754, 32755, AGC= 55, IDX= 506,-0.48, 1.868,-2.502, 1.834, 2.628, PHS=-0.658, 1.198,-0.839, RAW= 334.6,   3.1, CAL= 333.7,   0.5, ROT= 176.3,  -0.5

2025-10-26T22:51:53.903Z,1761519113.903 [DAT](INFO): got valid direction response:
 22:51:52.7224 LVL= 32752, 27025, 32754, 32755, AGC= 55, IDX= 506,-0.48, 1.868,-2.502, 1.834, 2.628, PHS=-0.658, 1.198,-0.839, RAW= 334.6,   3.1, CAL= 333.7,   0.5, ROT= 176.3,  -0.5

2025-10-26T22:51:53.903Z,1761519113.903 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-10-26T22:51:53.904Z,1761519113.904 [DAT](INFO): direction in FSK: [-0.997878,0.064530,0.008727]
2025-10-26T22:51:53.905Z,1761519113.905 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:53.919Z,1761519113.919 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.481516
2025-10-26T22:51:53.991Z,1761519113.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520740,-0.839831,-0.153341],[0.851652,-0.523514,-0.024951],[-0.059322,-0.143586,0.987858]]
2025-10-26T22:51:54.056Z,1761519114.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.502178 s,
      deltaX: 0.300000 m,
      approachRate: 0.597397 m/s,
      rangeRepo size: 4

2025-10-26T22:51:54.058Z,1761519114.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.166576 m,
      bearing: 297.703788 deg,
      lat: 36.779418 deg,
      lon: -121.859390 deg,
      deltaT: 0.502178 s,
      deltaX: 0.298382 m,
      approachRate: 0.594176 m/s,
      posRepo size: 4

2025-10-26T22:51:54.063Z,1761519114.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 6.20 m. Rolling out.
2025-10-26T22:51:54.064Z,1761519114.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-10-26T22:51:54.085Z,1761519114.085 [DockingStepper](INFO): Changing to mode: 1
2025-10-26T22:51:54.145Z,1761519114.145 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.707071
2025-10-26T22:51:54.397Z,1761519114.397 [DAT](INFO): DAT read: Rx Time:22:51:53.2225 

2025-10-26T22:51:54.398Z,1761519114.398 [DAT](INFO): Rx dataTimestamp_ set to:1761519114.397270
2025-10-26T22:51:54.399Z,1761519114.399 [DAT](INFO): DAT read: Bearing  97.6,   8.2 (Local)

2025-10-26T22:51:54.399Z,1761519114.399 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.6,   8.2 (Local)

2025-10-26T22:51:54.401Z,1761519114.401 [DAT](INFO): DAT read: Range 11 to 50 :     6.3 m (trip time 4.2 ms) speed -0.5

2025-10-26T22:51:54.407Z,1761519114.407 [DAT](INFO): DAT read: 22:51:53.2225 LVL= 32752, 22609, 32754, 32755, AGC= 57, IDX= 507,-0.50, 0.118, 1.998, 0.039, 0.847, PHS=-0.627, 1.196,-0.852, RAW= 335.8,   2.9, CAL= 334.9,   0.2, ROT= 175.1,  -0.2

2025-10-26T22:51:54.410Z,1761519114.410 [DAT](INFO): got valid direction response:
 22:51:53.2225 LVL= 32752, 22609, 32754, 32755, AGC= 57, IDX= 507,-0.50, 0.118, 1.998, 0.039, 0.847, PHS=-0.627, 1.196,-0.852, RAW= 335.8,   2.9, CAL= 334.9,   0.2, ROT= 175.1,  -0.2

2025-10-26T22:51:54.411Z,1761519114.411 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-10-26T22:51:54.418Z,1761519114.418 [DAT](INFO): direction in FSK: [-0.996339,0.085416,0.003491]
2025-10-26T22:51:54.418Z,1761519114.418 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:54.464Z,1761519114.464 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.026426
2025-10-26T22:51:54.545Z,1761519114.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522457,-0.838450,-0.155051],[0.850623,-0.525096,-0.026751],[-0.058987,-0.145866,0.987544]]
2025-10-26T22:51:54.646Z,1761519114.646 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-10-26T22:51:54.646Z,1761519114.646 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T22:51:54.646Z,1761519114.646 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-10-26T22:51:54.649Z,1761519114.649 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.210995
2025-10-26T22:51:54.652Z,1761519114.652 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 6.200000 m (mode  5.000000 count ).
2025-10-26T22:51:54.652Z,1761519114.652 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-10-26T22:51:54.652Z,1761519114.652 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-10-26T22:51:54.652Z,1761519114.652 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-10-26T22:51:54.652Z,1761519114.652 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T22:51:54.653Z,1761519114.653 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-10-26T22:51:54.654Z,1761519114.654 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with  1.000000 count pings  6.200000 m (mode  5.000000 count ).
2025-10-26T22:51:54.654Z,1761519114.654 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-10-26T22:51:54.654Z,1761519114.654 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-10-26T22:51:54.669Z,1761519114.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.300000 m,
      deltaT: 0.504060 s,
      deltaX: 0.100000 m,
      approachRate: 0.198390 m/s,
      rangeRepo size: 4

2025-10-26T22:51:54.671Z,1761519114.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.266113 m,
      bearing: 296.675845 deg,
      lat: 36.779418 deg,
      lon: -121.859390 deg,
      deltaT: 0.504060 s,
      deltaX: 0.099537 m,
      approachRate: 0.197471 m/s,
      posRepo size: 4

2025-10-26T22:51:54.676Z,1761519114.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m.
2025-10-26T22:51:54.678Z,1761519114.678 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-10-26T22:51:54.678Z,1761519114.678 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-26T22:51:54.678Z,1761519114.678 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-10-26T22:51:54.678Z,1761519114.678 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-10-26T22:51:54.901Z,1761519114.901 [DAT](INFO): DAT read: Rx Time:22:51:53.7227 

2025-10-26T22:51:54.901Z,1761519114.901 [DAT](INFO): Rx dataTimestamp_ set to:1761519114.901173
2025-10-26T22:51:54.903Z,1761519114.903 [DAT](INFO): DAT read: Bearing  97.6,   9.0 (Local)

2025-10-26T22:51:54.903Z,1761519114.903 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.6,   9.0 (Local)

2025-10-26T22:51:54.907Z,1761519114.907 [DAT](INFO): DAT read: Range 11 to 50 :     6.6 m (trip time 4.4 ms) speed -0.8

2025-10-26T22:51:54.919Z,1761519114.919 [DAT](INFO): DAT read: 22:51:53.7227 LVL= 32368, 25201, 32242, 32755, AGC= 62, IDX= 509,-0.40,-0.294, 1.557,-0.398, 0.415, PHS=-0.607, 1.187,-0.857, RAW= 336.4,   2.9, CAL= 335.6,   0.1, ROT= 174.4,  -0.1

2025-10-26T22:51:54.925Z,1761519114.925 [DAT](INFO): got valid direction response:
 22:51:53.7227 LVL= 32368, 25201, 32242, 32755, AGC= 62, IDX= 509,-0.40,-0.294, 1.557,-0.398, 0.415, PHS=-0.607, 1.187,-0.857, RAW= 336.4,   2.9, CAL= 335.6,   0.1, ROT= 174.4,  -0.1

2025-10-26T22:51:54.926Z,1761519114.926 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-10-26T22:51:54.940Z,1761519114.940 [DAT](INFO): direction in FSK: [-0.995226,0.097583,0.001745]
2025-10-26T22:51:54.940Z,1761519114.940 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:54.948Z,1761519114.948 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.510431
2025-10-26T22:51:55.039Z,1761519115.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523371,-0.837053,-0.159454],[0.850142,-0.525636,-0.031074],[-0.057804,-0.151822,0.986716]]
2025-10-26T22:51:55.074Z,1761519115.074 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-10-26T22:51:55.074Z,1761519115.074 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-10-26T22:51:55.075Z,1761519115.075 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-10-26T22:51:55.075Z,1761519115.075 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-10-26T22:51:55.090Z,1761519115.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.600000 m,
      deltaT: 0.503903 s,
      deltaX: 0.300000 m,
      approachRate: 0.595352 m/s,
      rangeRepo size: 4

2025-10-26T22:51:55.096Z,1761519115.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.564499 m,
      bearing: 296.062161 deg,
      lat: 36.779418 deg,
      lon: -121.859390 deg,
      deltaT: 0.503903 s,
      deltaX: 0.298386 m,
      approachRate: 0.592149 m/s,
      posRepo size: 4

2025-10-26T22:51:55.096Z,1761519115.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.56 m.
2025-10-26T22:51:55.154Z,1761519115.154 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.715649
2025-10-26T22:51:55.407Z,1761519115.407 [DAT](INFO): DAT read: Rx Time:22:51:54.2229 

2025-10-26T22:51:55.408Z,1761519115.408 [DAT](INFO): Rx dataTimestamp_ set to:1761519115.407832
2025-10-26T22:51:55.411Z,1761519115.411 [DAT](INFO): DAT read: Bearing  99.3,  10.4 (Local)

2025-10-26T22:51:55.416Z,1761519115.416 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.3,  10.4 (Local)

2025-10-26T22:51:55.419Z,1761519115.419 [DAT](INFO): DAT read: Range 11 to 50 :     6.9 m (trip time 4.6 ms) speed -0.5

2025-10-26T22:51:55.426Z,1761519115.426 [DAT](INFO): DAT read: 22:51:54.2229 LVL= 31728, 29489, 28738, 32755, AGC= 58, IDX= 494,-0.28,-1.720, 0.148,-1.870,-1.080, PHS=-0.538, 1.273,-0.833, RAW= 337.5,   1.0, CAL= 336.8,  -1.9, ROT= 173.2,   1.9

2025-10-26T22:51:55.433Z,1761519115.433 [DAT](INFO): got valid direction response:
 22:51:54.2229 LVL= 31728, 29489, 28738, 32755, AGC= 58, IDX= 494,-0.28,-1.720, 0.148,-1.870,-1.080, PHS=-0.538, 1.273,-0.833, RAW= 337.5,   1.0, CAL= 336.8,  -1.9, ROT= 173.2,   1.9

2025-10-26T22:51:55.433Z,1761519115.433 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-10-26T22:51:55.435Z,1761519115.435 [DAT](INFO): direction in FSK: [-0.992420,0.118339,-0.033155]
2025-10-26T22:51:55.435Z,1761519115.435 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:55.468Z,1761519115.468 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.030235
2025-10-26T22:51:55.520Z,1761519115.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525889,-0.835802,-0.157719],[0.848709,-0.527853,-0.032624],[-0.055985,-0.151014,0.986945]]
2025-10-26T22:51:55.637Z,1761519115.637 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-10-26T22:51:55.637Z,1761519115.637 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-10-26T22:51:55.638Z,1761519115.638 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-10-26T22:51:55.638Z,1761519115.638 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-10-26T22:51:55.653Z,1761519115.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.900000 m,
      deltaT: 0.506659 s,
      deltaX: 0.300000 m,
      approachRate: 0.592115 m/s,
      rangeRepo size: 4

2025-10-26T22:51:55.655Z,1761519115.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.863036 m,
      bearing: 295.355207 deg,
      lat: 36.779417 deg,
      lon: -121.859390 deg,
      deltaT: 0.506659 s,
      deltaX: 0.298537 m,
      approachRate: 0.589227 m/s,
      posRepo size: 4

2025-10-26T22:51:55.657Z,1761519115.657 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.219061
2025-10-26T22:51:55.660Z,1761519115.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.86 m.
2025-10-26T22:51:55.910Z,1761519115.910 [DAT](INFO): DAT read: Rx Time:22:51:54.7232 

2025-10-26T22:51:55.911Z,1761519115.911 [DAT](INFO): Rx dataTimestamp_ set to:1761519115.910334
2025-10-26T22:51:55.913Z,1761519115.913 [DAT](INFO): DAT read: Range 11 to 50 :     7.4 m (trip time 4.9 ms) speed -0.5

2025-10-26T22:51:55.914Z,1761519115.914 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-10-26T22:51:55.916Z,1761519115.916 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.478086
2025-10-26T22:51:56.033Z,1761519116.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527098,-0.836134,-0.151816],[0.848017,-0.529108,-0.030185],[-0.055088,-0.144653,0.987948]]
2025-10-26T22:51:56.058Z,1761519116.058 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-10-26T22:51:56.058Z,1761519116.058 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T22:51:56.058Z,1761519116.058 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-10-26T22:51:56.058Z,1761519116.058 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T22:51:56.059Z,1761519116.059 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-10-26T22:51:56.060Z,1761519116.060 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T22:51:56.060Z,1761519116.060 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-10-26T22:51:56.060Z,1761519116.060 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T22:51:56.062Z,1761519116.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.400000 m,
      deltaT: 0.502502 s,
      deltaX: 0.500000 m,
      approachRate: 0.995021 m/s,
      rangeRepo size: 4

2025-10-26T22:51:56.063Z,1761519116.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.86 m.
2025-10-26T22:51:56.165Z,1761519116.165 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.727371
2025-10-26T22:51:56.414Z,1761519116.414 [DAT](INFO): DAT read: Rx Time:22:51:55.2233 

2025-10-26T22:51:56.415Z,1761519116.415 [DAT](INFO): Rx dataTimestamp_ set to:1761519116.414379
2025-10-26T22:51:56.417Z,1761519116.417 [DAT](INFO): DAT read: Bearing 101.2,  12.4 (Local)

2025-10-26T22:51:56.417Z,1761519116.417 [DAT](INFO): Local bearing/azimuth received:
 Bearing 101.2,  12.4 (Local)

2025-10-26T22:51:56.428Z,1761519116.428 [DAT](INFO): DAT read: Range 11 to 50 :     7.5 m (trip time 5.0 ms) speed -0.6

2025-10-26T22:51:56.446Z,1761519116.446 [DAT](INFO): DAT read: 22:51:55.2233 LVL= 21456, 19505, 23538, 27251, AGC= 60, IDX=   2,-0.10,-2.703,-0.847,-2.919,-2.153, PHS=-0.449, 1.350,-0.810, RAW= 339.0,  -0.9, CAL= 338.5,  -3.8, ROT= 171.5,   3.8

2025-10-26T22:51:56.448Z,1761519116.448 [DAT](INFO): got valid direction response:
 22:51:55.2233 LVL= 21456, 19505, 23538, 27251, AGC= 60, IDX=   2,-0.10,-2.703,-0.847,-2.919,-2.153, PHS=-0.449, 1.350,-0.810, RAW= 339.0,  -0.9, CAL= 338.5,  -3.8, ROT= 171.5,   3.8

2025-10-26T22:51:56.448Z,1761519116.448 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-10-26T22:51:56.449Z,1761519116.449 [DAT](INFO): direction in FSK: [-0.986841,0.147484,-0.066274]
2025-10-26T22:51:56.449Z,1761519116.449 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:56.461Z,1761519116.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527624,-0.836744,-0.146538],[0.847689,-0.529810,-0.026924],[-0.055108,-0.138424,0.988839]]
2025-10-26T22:51:56.481Z,1761519116.481 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.043514
2025-10-26T22:51:56.591Z,1761519116.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.500000 m,
      deltaT: 0.504045 s,
      deltaX: 0.100000 m,
      approachRate: 0.198395 m/s,
      rangeRepo size: 4

2025-10-26T22:51:56.598Z,1761519116.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.459865 m,
      bearing: 294.028366 deg,
      lat: 36.779417 deg,
      lon: -121.859390 deg,
      deltaT: 1.006547 s,
      deltaX: 0.596829 m,
      approachRate: 0.592947 m/s,
      posRepo size: 4

2025-10-26T22:51:56.598Z,1761519116.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m.
2025-10-26T22:51:56.664Z,1761519116.664 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.226931
2025-10-26T22:51:56.920Z,1761519116.920 [DAT](INFO): DAT read: Rx Time:22:51:55.7236 

2025-10-26T22:51:56.921Z,1761519116.921 [DAT](INFO): Rx dataTimestamp_ set to:1761519116.920630
2025-10-26T22:51:56.923Z,1761519116.923 [DAT](INFO): DAT read: Bearing 101.2,  13.1 (Local)

2025-10-26T22:51:56.924Z,1761519116.924 [DAT](INFO): Local bearing/azimuth received:
 Bearing 101.2,  13.1 (Local)

2025-10-26T22:51:56.928Z,1761519116.928 [DAT](INFO): DAT read: Range 11 to 50 :     8.0 m (trip time 5.3 ms) speed -0.4

2025-10-26T22:51:56.935Z,1761519116.935 [DAT](INFO): DAT read: 22:51:55.7236 LVL= 30864, 24929, 32754, 32755, AGC= 56, IDX= 501,-0.12,-2.470,-0.704,-2.698,-1.951, PHS=-0.418, 1.292,-0.791, RAW= 339.7,  -0.9, CAL= 339.2,  -3.8, ROT= 170.8,   3.8

2025-10-26T22:51:56.936Z,1761519116.936 [DAT](INFO): got valid direction response:
 22:51:55.7236 LVL= 30864, 24929, 32754, 32755, AGC= 56, IDX= 501,-0.12,-2.470,-0.704,-2.698,-1.951, PHS=-0.418, 1.292,-0.791, RAW= 339.7,  -0.9, CAL= 339.2,  -3.8, ROT= 170.8,   3.8

2025-10-26T22:51:56.937Z,1761519116.937 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-10-26T22:51:56.938Z,1761519116.938 [DAT](INFO): direction in FSK: [-0.984966,0.159530,-0.066274]
2025-10-26T22:51:56.938Z,1761519116.938 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:56.970Z,1761519116.970 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.532192
2025-10-26T22:51:57.009Z,1761519117.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526526,-0.838841,-0.138263],[0.848259,-0.529221,-0.019513],[-0.056803,-0.127557,0.990203]]
2025-10-26T22:51:57.122Z,1761519117.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.000000 m,
      deltaT: 0.506251 s,
      deltaX: 0.500000 m,
      approachRate: 0.987652 m/s,
      rangeRepo size: 4

2025-10-26T22:51:57.124Z,1761519117.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.957190 m,
      bearing: 293.211778 deg,
      lat: 36.779416 deg,
      lon: -121.859390 deg,
      deltaT: 0.506251 s,
      deltaX: 0.497324 m,
      approachRate: 0.982367 m/s,
      posRepo size: 4

2025-10-26T22:51:57.125Z,1761519117.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-26T22:51:57.170Z,1761519117.170 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.732952
2025-10-26T22:51:57.426Z,1761519117.426 [DAT](INFO): DAT read: Rx Time:22:51:56.2237 

2025-10-26T22:51:57.427Z,1761519117.427 [DAT](INFO): Rx dataTimestamp_ set to:1761519117.426276
2025-10-26T22:51:57.429Z,1761519117.429 [DAT](INFO): DAT read: Bearing 101.0,  13.6 (Local)

2025-10-26T22:51:57.430Z,1761519117.430 [DAT](INFO): Local bearing/azimuth received:
 Bearing 101.0,  13.6 (Local)

2025-10-26T22:51:57.433Z,1761519117.433 [DAT](INFO): DAT read: Range 11 to 50 :     8.1 m (trip time 5.4 ms) speed -0.4

2025-10-26T22:51:57.450Z,1761519117.450 [DAT](INFO): DAT read: 22:51:56.2237 LVL= 26512, 19825, 28338, 32755, AGC= 56, IDX= 502,-0.28, 2.995,-1.615, 2.770,-2.794, PHS=-0.393, 1.223,-0.764, RAW= 340.1,  -0.7, CAL= 339.6,  -3.6, ROT= 170.4,   3.6

2025-10-26T22:51:57.455Z,1761519117.455 [DAT](INFO): got valid direction response:
 22:51:56.2237 LVL= 26512, 19825, 28338, 32755, AGC= 56, IDX= 502,-0.28, 2.995,-1.615, 2.770,-2.794, PHS=-0.393, 1.223,-0.764, RAW= 340.1,  -0.7, CAL= 339.6,  -3.6, ROT= 170.4,   3.6

2025-10-26T22:51:57.456Z,1761519117.456 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-10-26T22:51:57.457Z,1761519117.457 [DAT](INFO): direction in FSK: [-0.984050,0.166440,-0.062791]
2025-10-26T22:51:57.457Z,1761519117.457 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:57.477Z,1761519117.477 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.038923
2025-10-26T22:51:57.539Z,1761519117.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525507,-0.839883,-0.135791],[0.848817,-0.528429,-0.016498],[-0.057900,-0.123931,0.990600]]
2025-10-26T22:51:57.633Z,1761519117.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.100000 m,
      deltaT: 0.505646 s,
      deltaX: 0.100000 m,
      approachRate: 0.197768 m/s,
      rangeRepo size: 4

2025-10-26T22:51:57.636Z,1761519117.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.056574 m,
      bearing: 292.705237 deg,
      lat: 36.779415 deg,
      lon: -121.859392 deg,
      deltaT: 0.505646 s,
      deltaX: 0.099384 m,
      approachRate: 0.196549 m/s,
      posRepo size: 4

2025-10-26T22:51:57.636Z,1761519117.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.06 m.
2025-10-26T22:51:57.677Z,1761519117.677 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.238958
2025-10-26T22:51:57.930Z,1761519117.930 [DAT](INFO): DAT read: Rx Time:22:51:56.7239 

2025-10-26T22:51:57.931Z,1761519117.931 [DAT](INFO): Rx dataTimestamp_ set to:1761519117.930396
2025-10-26T22:51:57.933Z,1761519117.933 [DAT](INFO): DAT read: Bearing 100.1,  14.8 (Local)

2025-10-26T22:51:57.933Z,1761519117.933 [DAT](INFO): Local bearing/azimuth received:
 Bearing 100.1,  14.8 (Local)

2025-10-26T22:51:57.936Z,1761519117.936 [DAT](INFO): DAT read: Range 11 to 50 :     8.4 m (trip time 5.6 ms) speed -0.4

2025-10-26T22:51:57.940Z,1761519117.940 [DAT](INFO): DAT read: 22:51:56.7239 LVL= 32144, 29681, 31474, 32755, AGC= 58, IDX= 504, 0.23, 1.318, 2.976, 1.042, 1.814, PHS=-0.394, 1.207,-0.816, RAW= 341.4,   0.0, CAL= 341.0,  -2.9, ROT= 169.0,   2.9

2025-10-26T22:51:57.941Z,1761519117.941 [DAT](INFO): got valid direction response:
 22:51:56.7239 LVL= 32144, 29681, 31474, 32755, AGC= 58, IDX= 504, 0.23, 1.318, 2.976, 1.042, 1.814, PHS=-0.394, 1.207,-0.816, RAW= 341.4,   0.0, CAL= 341.0,  -2.9, ROT= 169.0,   2.9

2025-10-26T22:51:57.942Z,1761519117.942 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-10-26T22:51:57.943Z,1761519117.943 [DAT](INFO): direction in FSK: [-0.980370,0.190565,-0.050593]
2025-10-26T22:51:57.943Z,1761519117.943 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:57.947Z,1761519117.947 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.509115
2025-10-26T22:51:58.045Z,1761519118.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523998,-0.841219,-0.133330],[0.849672,-0.527141,-0.013395],[-0.059015,-0.120306,0.990981]]
2025-10-26T22:51:58.142Z,1761519118.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.400000 m,
      deltaT: 0.504120 s,
      deltaX: 0.299999 m,
      approachRate: 0.595095 m/s,
      rangeRepo size: 4

2025-10-26T22:51:58.148Z,1761519118.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.354965 m,
      bearing: 291.112019 deg,
      lat: 36.779414 deg,
      lon: -121.859394 deg,
      deltaT: 0.504120 s,
      deltaX: 0.298391 m,
      approachRate: 0.591905 m/s,
      posRepo size: 4

2025-10-26T22:51:58.149Z,1761519118.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-10-26T22:51:58.181Z,1761519118.181 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.742977
2025-10-26T22:51:58.433Z,1761519118.433 [DAT](INFO): DAT read: Rx Time:22:51:57.2240 

2025-10-26T22:51:58.434Z,1761519118.434 [DAT](INFO): Rx dataTimestamp_ set to:1761519118.433325
2025-10-26T22:51:58.435Z,1761519118.435 [DAT](INFO): DAT read: Bearing 100.3,  14.9 (Local)

2025-10-26T22:51:58.435Z,1761519118.435 [DAT](INFO): Local bearing/azimuth received:
 Bearing 100.3,  14.9 (Local)

2025-10-26T22:51:58.437Z,1761519118.437 [DAT](INFO): DAT read: Range 11 to 50 :     8.6 m (trip time 5.7 ms) speed -0.4

2025-10-26T22:51:58.442Z,1761519118.442 [DAT](INFO): DAT read: 22:51:57.2240 LVL= 28640, 24097, 29426, 32755, AGC= 59, IDX= 505,-0.19, 0.316, 1.925, 0.050, 0.793, PHS=-0.375, 1.177,-0.786, RAW= 341.5,  -0.2, CAL= 341.0,  -3.1, ROT= 169.0,   3.1

2025-10-26T22:51:58.443Z,1761519118.443 [DAT](INFO): got valid direction response:
 22:51:57.2240 LVL= 28640, 24097, 29426, 32755, AGC= 59, IDX= 505,-0.19, 0.316, 1.925, 0.050, 0.793, PHS=-0.375, 1.177,-0.786, RAW= 341.5,  -0.2, CAL= 341.0,  -3.1, ROT= 169.0,   3.1

2025-10-26T22:51:58.443Z,1761519118.443 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-10-26T22:51:58.444Z,1761519118.444 [DAT](INFO): direction in FSK: [-0.980191,0.190530,-0.054079]
2025-10-26T22:51:58.445Z,1761519118.445 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:58.448Z,1761519118.448 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.010809
2025-10-26T22:51:58.538Z,1761519118.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522069,-0.842673,-0.131707],[0.850775,-0.525421,-0.010666],[-0.060213,-0.117621,0.991231]]
2025-10-26T22:51:58.656Z,1761519118.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.502929 s,
      deltaX: 0.200001 m,
      approachRate: 0.397672 m/s,
      rangeRepo size: 4

2025-10-26T22:51:58.658Z,1761519118.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.553930 m,
      bearing: 290.998712 deg,
      lat: 36.779413 deg,
      lon: -121.859395 deg,
      deltaT: 0.502929 s,
      deltaX: 0.198965 m,
      approachRate: 0.395613 m/s,
      posRepo size: 4

2025-10-26T22:51:58.658Z,1761519118.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.55 m.
2025-10-26T22:51:58.684Z,1761519118.684 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.246889
2025-10-26T22:51:58.914Z,1761519118.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520438,-0.844217,-0.128223],[0.851702,-0.523978,-0.007078],[-0.061211,-0.112891,0.991720]]
2025-10-26T22:51:58.937Z,1761519118.937 [DAT](INFO): DAT read: Rx Time:22:51:57.7241 

2025-10-26T22:51:58.937Z,1761519118.937 [DAT](INFO): Rx dataTimestamp_ set to:1761519118.937180
2025-10-26T22:51:58.939Z,1761519118.939 [DAT](INFO): DAT read: Bearing  99.4,  15.2 (Local)

2025-10-26T22:51:58.939Z,1761519118.939 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.4,  15.2 (Local)

2025-10-26T22:51:58.941Z,1761519118.941 [DAT](INFO): DAT read: Range 11 to 50 :     8.7 m (trip time 5.8 ms) speed -0.4

2025-10-26T22:51:58.954Z,1761519118.954 [DAT](INFO): DAT read: 22:51:57.7241 LVL= 29328, 23745, 30930, 32755, AGC= 59, IDX= 506, 0.17, 2.354,-2.375, 2.090, 2.838, PHS=-0.382, 1.115,-0.792, RAW= 341.8,   0.7, CAL= 341.3,  -2.2, ROT= 168.7,   2.2

2025-10-26T22:51:58.955Z,1761519118.955 [DAT](INFO): got valid direction response:
 22:51:57.7241 LVL= 29328, 23745, 30930, 32755, AGC= 59, IDX= 506, 0.17, 2.354,-2.375, 2.090, 2.838, PHS=-0.382, 1.115,-0.792, RAW= 341.8,   0.7, CAL= 341.3,  -2.2, ROT= 168.7,   2.2

2025-10-26T22:51:58.956Z,1761519118.956 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-10-26T22:51:58.956Z,1761519118.956 [DAT](INFO): direction in FSK: [-0.979892,0.195802,-0.038388]
2025-10-26T22:51:58.957Z,1761519118.957 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:58.985Z,1761519118.985 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.547058
2025-10-26T22:51:59.058Z,1761519119.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 0.503855 s,
      deltaX: 0.099999 m,
      approachRate: 0.198469 m/s,
      rangeRepo size: 4

2025-10-26T22:51:59.061Z,1761519119.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.653395 m,
      bearing: 290.462635 deg,
      lat: 36.779411 deg,
      lon: -121.859396 deg,
      deltaT: 0.503855 s,
      deltaX: 0.099464 m,
      approachRate: 0.197407 m/s,
      posRepo size: 4

2025-10-26T22:51:59.061Z,1761519119.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.65 m.
2025-10-26T22:51:59.189Z,1761519119.189 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.751022
2025-10-26T22:51:59.351Z,1761519119.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518392,-0.845818,-0.125947],[0.852896,-0.522062,-0.004487],[-0.061957,-0.109746,0.992027]]
2025-10-26T22:51:59.424Z,1761519119.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.65 m.
2025-10-26T22:51:59.441Z,1761519119.441 [DAT](INFO): DAT read: Rx Time:22:51:58.2242 

2025-10-26T22:51:59.442Z,1761519119.442 [DAT](INFO): Rx dataTimestamp_ set to:1761519119.441312
2025-10-26T22:51:59.443Z,1761519119.443 [DAT](INFO): DAT read: Bearing 101.1,  13.4 (Local)

2025-10-26T22:51:59.444Z,1761519119.444 [DAT](INFO): Local bearing/azimuth received:
 Bearing 101.1,  13.4 (Local)

2025-10-26T22:51:59.446Z,1761519119.446 [DAT](INFO): DAT read: Range 11 to 50 :     8.9 m (trip time 5.9 ms) speed -0.3

2025-10-26T22:51:59.450Z,1761519119.450 [DAT](INFO): DAT read: 22:51:58.2242 LVL= 27936, 25329, 32754, 32755, AGC= 59, IDX= 507,-0.36,-1.360, 0.304,-1.572,-0.863, PHS=-0.396, 1.212,-0.753, RAW= 339.8,  -0.7, CAL= 339.3,  -3.6, ROT= 170.7,   3.6

2025-10-26T22:51:59.452Z,1761519119.452 [DAT](INFO): got valid direction response:
 22:51:58.2242 LVL= 27936, 25329, 32754, 32755, AGC= 59, IDX= 507,-0.36,-1.360, 0.304,-1.572,-0.863, PHS=-0.396, 1.212,-0.753, RAW= 339.8,  -0.7, CAL= 339.3,  -3.6, ROT= 170.7,   3.6

2025-10-26T22:51:59.452Z,1761519119.452 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-10-26T22:51:59.453Z,1761519119.453 [DAT](INFO): direction in FSK: [-0.984908,0.161285,-0.062791]
2025-10-26T22:51:59.453Z,1761519119.453 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:59.457Z,1761519119.457 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.019547
2025-10-26T22:51:59.692Z,1761519119.692 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.254768
2025-10-26T22:51:59.720Z,1761519119.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516629,-0.847308,-0.123142],[0.853935,-0.520376,-0.002013],[-0.062374,-0.106195,0.992387]]
2025-10-26T22:51:59.780Z,1761519119.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.504132 s,
      deltaX: 0.200000 m,
      approachRate: 0.396721 m/s,
      rangeRepo size: 4

2025-10-26T22:51:59.782Z,1761519119.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.852338 m,
      bearing: 292.331671 deg,
      lat: 36.779411 deg,
      lon: -121.859396 deg,
      deltaT: 0.504132 s,
      deltaX: 0.198943 m,
      approachRate: 0.394625 m/s,
      posRepo size: 4

2025-10-26T22:51:59.782Z,1761519119.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.85 m.
2025-10-26T22:51:59.945Z,1761519119.945 [DAT](INFO): DAT read: Rx Time:22:51:58.7244 

2025-10-26T22:51:59.946Z,1761519119.946 [DAT](INFO): Rx dataTimestamp_ set to:1761519119.945571
2025-10-26T22:51:59.947Z,1761519119.947 [DAT](INFO): DAT read: Bearing 102.3,  12.5 (Local)

2025-10-26T22:51:59.948Z,1761519119.948 [DAT](INFO): Local bearing/azimuth received:
 Bearing 102.3,  12.5 (Local)

2025-10-26T22:51:59.950Z,1761519119.950 [DAT](INFO): DAT read: Range 11 to 50 :     9.2 m (trip time 6.1 ms) speed -0.3

2025-10-26T22:51:59.954Z,1761519119.954 [DAT](INFO): DAT read: 22:51:58.7244 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.19, 0.707, 2.482, 0.508, 1.211, PHS=-0.402, 1.315,-0.747, RAW= 339.0,  -1.8, CAL= 338.5,  -4.7, ROT= 171.5,   4.7

2025-10-26T22:51:59.956Z,1761519119.956 [DAT](INFO): got valid direction response:
 22:51:58.7244 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.19, 0.707, 2.482, 0.508, 1.211, PHS=-0.402, 1.315,-0.747, RAW= 339.0,  -1.8, CAL= 338.5,  -4.7, ROT= 171.5,   4.7

2025-10-26T22:51:59.956Z,1761519119.956 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-10-26T22:51:59.957Z,1761519119.957 [DAT](INFO): direction in FSK: [-0.985690,0.147312,-0.081939]
2025-10-26T22:51:59.957Z,1761519119.957 [DAT](INFO): publishing direction and range info
2025-10-26T22:51:59.961Z,1761519119.961 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.523617
2025-10-26T22:52:00.118Z,1761519120.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515491,-0.848671,-0.118431],[0.854608,-0.519272,0.001256],[-0.062563,-0.100565,0.992961]]
2025-10-26T22:52:00.160Z,1761519120.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 0.504259 s,
      deltaX: 0.300000 m,
      approachRate: 0.594933 m/s,
      rangeRepo size: 4

2025-10-26T22:52:00.162Z,1761519120.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.150732 m,
      bearing: 293.143333 deg,
      lat: 36.779411 deg,
      lon: -121.859396 deg,
      deltaT: 0.504259 s,
      deltaX: 0.298394 m,
      approachRate: 0.591748 m/s,
      posRepo size: 4

2025-10-26T22:52:00.163Z,1761519120.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.15 m.
2025-10-26T22:52:00.197Z,1761519120.197 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.758965
2025-10-26T22:52:00.449Z,1761519120.449 [DAT](INFO): DAT read: Rx Time:22:51:59.2244 

2025-10-26T22:52:00.449Z,1761519120.449 [DAT](INFO): Rx dataTimestamp_ set to:1761519120.449008
2025-10-26T22:52:00.451Z,1761519120.451 [DAT](INFO): DAT read: Bearing 101.8,  11.4 (Local)

2025-10-26T22:52:00.451Z,1761519120.451 [DAT](INFO): Local bearing/azimuth received:
 Bearing 101.8,  11.4 (Local)

2025-10-26T22:52:00.453Z,1761519120.453 [DAT](INFO): DAT read: Range 11 to 50 :     9.2 m (trip time 6.1 ms) speed -0.3

2025-10-26T22:52:00.458Z,1761519120.458 [DAT](INFO): DAT read: 22:51:59.2244 LVL= 32752, 17745, 32754, 32755, AGC= 62, IDX= 509,-0.11,-0.756, 0.987,-0.906,-0.229, PHS=-0.424, 1.261,-0.721, RAW= 338.0,  -1.3, CAL= 337.4,  -4.2, ROT= 172.6,   4.2

2025-10-26T22:52:00.459Z,1761519120.459 [DAT](INFO): got valid direction response:
 22:51:59.2244 LVL= 32752, 17745, 32754, 32755, AGC= 62, IDX= 509,-0.11,-0.756, 0.987,-0.906,-0.229, PHS=-0.424, 1.261,-0.721, RAW= 338.0,  -1.3, CAL= 337.4,  -4.2, ROT= 172.6,   4.2

2025-10-26T22:52:00.459Z,1761519120.459 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-26T22:52:00.460Z,1761519120.460 [DAT](INFO): direction in FSK: [-0.989008,0.128450,-0.073238]
2025-10-26T22:52:00.460Z,1761519120.460 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:00.464Z,1761519120.464 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.026886
2025-10-26T22:52:00.530Z,1761519120.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514688,-0.849820,-0.113588],[0.855120,-0.518416,0.003873],[-0.062178,-0.095138,0.993520]]
2025-10-26T22:52:00.656Z,1761519120.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 0.503437 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:00.658Z,1761519120.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.150756 m,
      bearing: 294.098292 deg,
      lat: 36.779412 deg,
      lon: -121.859396 deg,
      deltaT: 0.503437 s,
      deltaX: 0.000024 m,
      approachRate: 0.000047 m/s,
      posRepo size: 4

2025-10-26T22:52:00.659Z,1761519120.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.15 m.
2025-10-26T22:52:00.701Z,1761519120.701 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.263273
2025-10-26T22:52:00.953Z,1761519120.953 [DAT](INFO): DAT read: Rx Time:22:51:59.7246 

2025-10-26T22:52:00.953Z,1761519120.953 [DAT](INFO): Rx dataTimestamp_ set to:1761519120.953217
2025-10-26T22:52:00.955Z,1761519120.955 [DAT](INFO): DAT read: Bearing 101.8,  10.2 (Local)

2025-10-26T22:52:00.955Z,1761519120.955 [DAT](INFO): Local bearing/azimuth received:
 Bearing 101.8,  10.2 (Local)

2025-10-26T22:52:00.957Z,1761519120.957 [DAT](INFO): DAT read: Range 11 to 50 :     9.5 m (trip time 6.3 ms) speed -0.3

2025-10-26T22:52:00.962Z,1761519120.962 [DAT](INFO): DAT read: 22:51:59.7246 LVL= 32416, 17489, 31010, 32755, AGC= 62, IDX= 511,-0.10, 0.715, 2.471, 0.604, 1.264, PHS=-0.447, 1.253,-0.704, RAW= 336.9,  -1.1, CAL= 336.3,  -4.0, ROT= 173.7,   4.0

2025-10-26T22:52:00.965Z,1761519120.965 [DAT](INFO): got valid direction response:
 22:51:59.7246 LVL= 32416, 17489, 31010, 32755, AGC= 62, IDX= 511,-0.10, 0.715, 2.471, 0.604, 1.264, PHS=-0.447, 1.253,-0.704, RAW= 336.9,  -1.1, CAL= 336.3,  -4.0, ROT= 173.7,   4.0

2025-10-26T22:52:00.966Z,1761519120.966 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-26T22:52:00.969Z,1761519120.969 [DAT](INFO): direction in FSK: [-0.991540,0.109467,-0.069756]
2025-10-26T22:52:00.970Z,1761519120.970 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:00.974Z,1761519120.974 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.536015
2025-10-26T22:52:01.118Z,1761519121.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.500000 m,
      deltaT: 0.504209 s,
      deltaX: 0.300000 m,
      approachRate: 0.594992 m/s,
      rangeRepo size: 4

2025-10-26T22:52:01.132Z,1761519121.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.449150 m,
      bearing: 295.169621 deg,
      lat: 36.779413 deg,
      lon: -121.859395 deg,
      deltaT: 0.504209 s,
      deltaX: 0.298394 m,
      approachRate: 0.591807 m/s,
      posRepo size: 4

2025-10-26T22:52:01.133Z,1761519121.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.45 m.
2025-10-26T22:52:01.205Z,1761519121.205 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.767004
2025-10-26T22:52:01.383Z,1761519121.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512656,-0.851972,-0.106429],[0.856657,-0.515877,0.003222],[-0.057649,-0.089522,0.994315]]
2025-10-26T22:52:01.411Z,1761519121.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.45 m.
2025-10-26T22:52:01.457Z,1761519121.457 [DAT](INFO): DAT read: Rx Time:22:52:00.2246 

2025-10-26T22:52:01.458Z,1761519121.458 [DAT](INFO): Rx dataTimestamp_ set to:1761519121.457225
2025-10-26T22:52:01.459Z,1761519121.459 [DAT](INFO): DAT read: Bearing 102.0,   9.1 (Local)

2025-10-26T22:52:01.459Z,1761519121.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing 102.0,   9.1 (Local)

2025-10-26T22:52:01.461Z,1761519121.461 [DAT](INFO): DAT read: Range 11 to 50 :     9.5 m (trip time 6.3 ms) speed -0.3

2025-10-26T22:52:01.466Z,1761519121.466 [DAT](INFO): DAT read: 22:52:00.2246 LVL= 32752, 21585, 32754, 32755, AGC= 61, IDX= 511,-0.13, 0.064, 1.849,-0.013, 0.632, PHS=-0.466, 1.263,-0.689, RAW= 336.0,  -1.2, CAL= 335.3,  -4.1, ROT= 174.7,   4.1

2025-10-26T22:52:01.467Z,1761519121.467 [DAT](INFO): got valid direction response:
 22:52:00.2246 LVL= 32752, 21585, 32754, 32755, AGC= 61, IDX= 511,-0.13, 0.064, 1.849,-0.013, 0.632, PHS=-0.466, 1.263,-0.689, RAW= 336.0,  -1.2, CAL= 335.3,  -4.1, ROT= 174.7,   4.1

2025-10-26T22:52:01.468Z,1761519121.468 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-10-26T22:52:01.468Z,1761519121.468 [DAT](INFO): direction in FSK: [-0.993176,0.092134,-0.071497]
2025-10-26T22:52:01.469Z,1761519121.469 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:01.480Z,1761519121.480 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.042751
2025-10-26T22:52:01.709Z,1761519121.709 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.271297
2025-10-26T22:52:01.784Z,1761519121.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511877,-0.852712,-0.104233],[0.857292,-0.514828,0.001652],[-0.055071,-0.088513,0.994551]]
2025-10-26T22:52:01.900Z,1761519121.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.500000 m,
      deltaT: 0.504008 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:01.904Z,1761519121.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.449306 m,
      bearing: 295.938408 deg,
      lat: 36.779414 deg,
      lon: -121.859395 deg,
      deltaT: 0.504008 s,
      deltaX: 0.000156 m,
      approachRate: 0.000310 m/s,
      posRepo size: 4

2025-10-26T22:52:01.904Z,1761519121.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.45 m.
2025-10-26T22:52:01.961Z,1761519121.961 [DAT](INFO): DAT read: Rx Time:22:52:00.7248 

2025-10-26T22:52:01.961Z,1761519121.961 [DAT](INFO): Rx dataTimestamp_ set to:1761519121.960844
2025-10-26T22:52:01.962Z,1761519121.962 [DAT](INFO): DAT read: Range 11 to 50 :     9.8 m (trip time 6.5 ms) speed -0.3

2025-10-26T22:52:01.963Z,1761519121.963 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-10-26T22:52:01.964Z,1761519121.964 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.526573
2025-10-26T22:52:02.184Z,1761519122.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511014,-0.853717,-0.100158],[0.857994,-0.513660,0.000729],[-0.052070,-0.085562,0.994971]]
2025-10-26T22:52:02.213Z,1761519122.213 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.775227
2025-10-26T22:52:02.223Z,1761519122.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.503619 s,
      deltaX: 0.300000 m,
      approachRate: 0.595689 m/s,
      rangeRepo size: 4

2025-10-26T22:52:02.224Z,1761519122.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.45 m.
2025-10-26T22:52:02.465Z,1761519122.465 [DAT](INFO): DAT read: Rx Time:22:52:01.2248 

2025-10-26T22:52:02.465Z,1761519122.465 [DAT](INFO): Rx dataTimestamp_ set to:1761519122.464723
2025-10-26T22:52:02.466Z,1761519122.466 [DAT](INFO): DAT read: Range 11 to 50 :     9.8 m (trip time 6.5 ms) speed -0.2

2025-10-26T22:52:02.467Z,1761519122.467 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-10-26T22:52:02.468Z,1761519122.468 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.030308
2025-10-26T22:52:02.588Z,1761519122.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509870,-0.854789,-0.096789],[0.858861,-0.512208,-0.000806],[-0.048887,-0.083539,0.995305]]
2025-10-26T22:52:02.689Z,1761519122.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.503879 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:02.689Z,1761519122.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.45 m.
2025-10-26T22:52:02.717Z,1761519122.717 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.279526
2025-10-26T22:52:02.971Z,1761519122.971 [DAT](INFO): DAT read: Rx Time:22:52:01.7248 

2025-10-26T22:52:02.972Z,1761519122.972 [DAT](INFO): Rx dataTimestamp_ set to:1761519122.971644
2025-10-26T22:52:02.973Z,1761519122.973 [DAT](INFO): DAT read: Range 11 to 50 :     9.8 m (trip time 6.5 ms) speed -0.2

2025-10-26T22:52:02.974Z,1761519122.974 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-10-26T22:52:02.975Z,1761519122.975 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.537090
2025-10-26T22:52:02.992Z,1761519122.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508606,-0.856001,-0.092643],[0.859792,-0.510640,-0.002016],[-0.045581,-0.080679,0.995697]]
2025-10-26T22:52:03.136Z,1761519123.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.506921 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:03.137Z,1761519123.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.45 m.
2025-10-26T22:52:03.221Z,1761519123.221 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.783638
2025-10-26T22:52:03.402Z,1761519123.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507494,-0.857157,-0.087934],[0.860640,-0.509201,-0.003462],[-0.041809,-0.077436,0.996120]]
2025-10-26T22:52:03.458Z,1761519123.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.45 m.
2025-10-26T22:52:03.473Z,1761519123.473 [DAT](INFO): DAT read: Rx Time:22:52:02.2247 

2025-10-26T22:52:03.473Z,1761519123.473 [DAT](INFO): Rx dataTimestamp_ set to:1761519123.472774
2025-10-26T22:52:03.474Z,1761519123.474 [DAT](INFO): DAT read: Range 11 to 50 :     9.6 m (trip time 6.4 ms) speed -0.3

2025-10-26T22:52:03.475Z,1761519123.475 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-10-26T22:52:03.476Z,1761519123.476 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.038368
2025-10-26T22:52:03.725Z,1761519123.725 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.287212
2025-10-26T22:52:03.821Z,1761519123.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506330,-0.858262,-0.083757],[0.861501,-0.507729,-0.005246],[-0.038024,-0.074813,0.996472]]
2025-10-26T22:52:03.891Z,1761519123.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.501130 s,
      deltaX: -0.200000 m,
      approachRate: -0.399098 m/s,
      rangeRepo size: 4

2025-10-26T22:52:03.893Z,1761519123.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.45 m.
2025-10-26T22:52:03.977Z,1761519123.977 [DAT](INFO): DAT read: Rx Time:22:52:02.7249 

2025-10-26T22:52:03.978Z,1761519123.978 [DAT](INFO): Rx dataTimestamp_ set to:1761519123.977358
2025-10-26T22:52:03.979Z,1761519123.979 [DAT](INFO): DAT read: Bearing 100.9,   4.5 (Local)

2025-10-26T22:52:03.979Z,1761519123.979 [DAT](INFO): Local bearing/azimuth received:
 Bearing 100.9,   4.5 (Local)

2025-10-26T22:52:03.981Z,1761519123.981 [DAT](INFO): DAT read: Range 11 to 50 :     9.9 m (trip time 6.6 ms) speed -0.2

2025-10-26T22:52:03.992Z,1761519123.992 [DAT](INFO): DAT read: 22:52:02.7249 LVL= 23472, 13809, 21106, 30675, AGC= 64, IDX=   3, 0.27, 2.382,-2.082, 2.420, 3.030, PHS=-0.546, 1.216,-0.654, RAW= 332.9,  -0.2, CAL= 332.1,  -3.1, ROT= 177.9,   3.1

2025-10-26T22:52:03.993Z,1761519123.993 [DAT](INFO): got valid direction response:
 22:52:02.7249 LVL= 23472, 13809, 21106, 30675, AGC= 64, IDX=   3, 0.27, 2.382,-2.082, 2.420, 3.030, PHS=-0.546, 1.216,-0.654, RAW= 332.9,  -0.2, CAL= 332.1,  -3.1, ROT= 177.9,   3.1

2025-10-26T22:52:03.993Z,1761519123.993 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-26T22:52:03.994Z,1761519123.994 [DAT](INFO): direction in FSK: [-0.997866,0.036590,-0.054079]
2025-10-26T22:52:03.995Z,1761519123.995 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:04.005Z,1761519124.005 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.566952
2025-10-26T22:52:04.202Z,1761519124.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504604,-0.859716,-0.079143],[0.862674,-0.505716,-0.006775],[-0.034200,-0.071693,0.996840]]
2025-10-26T22:52:04.228Z,1761519124.228 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.790848
2025-10-26T22:52:04.264Z,1761519124.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.900000 m,
      deltaT: 0.504584 s,
      deltaX: 0.299999 m,
      approachRate: 0.594548 m/s,
      rangeRepo size: 4

2025-10-26T22:52:04.266Z,1761519124.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.849088 m,
      bearing: 298.455049 deg,
      lat: 36.779416 deg,
      lon: -121.859395 deg,
      deltaT: 2.520133 s,
      deltaX: 0.399781 m,
      approachRate: 0.158635 m/s,
      posRepo size: 4

2025-10-26T22:52:04.266Z,1761519124.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.85 m.
2025-10-26T22:52:04.481Z,1761519124.481 [DAT](INFO): DAT read: Rx Time:22:52:03.2249 

2025-10-26T22:52:04.481Z,1761519124.481 [DAT](INFO): Rx dataTimestamp_ set to:1761519124.481003
2025-10-26T22:52:04.483Z,1761519124.483 [DAT](INFO): DAT read: Bearing 101.0,   3.7 (Local)

2025-10-26T22:52:04.483Z,1761519124.483 [DAT](INFO): Local bearing/azimuth received:
 Bearing 101.0,   3.7 (Local)

2025-10-26T22:52:04.485Z,1761519124.485 [DAT](INFO): DAT read: Range 11 to 50 :     9.9 m (trip time 6.6 ms) speed -0.2

2025-10-26T22:52:04.490Z,1761519124.490 [DAT](INFO): DAT read: 22:52:03.2249 LVL= 32752, 17905, 30578, 32755, AGC= 62, IDX= 499, 0.18, 1.510,-2.956, 1.565, 2.158, PHS=-0.546, 1.215,-0.637, RAW= 332.5,  -0.3, CAL= 331.6,  -3.2, ROT= 178.4,   3.2

2025-10-26T22:52:04.491Z,1761519124.491 [DAT](INFO): got valid direction response:
 22:52:03.2249 LVL= 32752, 17905, 30578, 32755, AGC= 62, IDX= 499, 0.18, 1.510,-2.956, 1.565, 2.158, PHS=-0.546, 1.215,-0.637, RAW= 332.5,  -0.3, CAL= 331.6,  -3.2, ROT= 178.4,   3.2

2025-10-26T22:52:04.491Z,1761519124.491 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-10-26T22:52:04.492Z,1761519124.492 [DAT](INFO): direction in FSK: [-0.998051,0.027878,-0.055822]
2025-10-26T22:52:04.492Z,1761519124.492 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:04.496Z,1761519124.496 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.058262
2025-10-26T22:52:04.607Z,1761519124.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503427,-0.860700,-0.075870],[0.863509,-0.504248,-0.009328],[-0.030229,-0.070211,0.997074]]
2025-10-26T22:52:04.713Z,1761519124.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.900000 m,
      deltaT: 0.503645 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:04.721Z,1761519124.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.850109 m,
      bearing: 298.872909 deg,
      lat: 36.779416 deg,
      lon: -121.859393 deg,
      deltaT: 0.503645 s,
      deltaX: 0.001021 m,
      approachRate: 0.002028 m/s,
      posRepo size: 4

2025-10-26T22:52:04.722Z,1761519124.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.85 m.
2025-10-26T22:52:04.733Z,1761519124.733 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.295273
2025-10-26T22:52:04.985Z,1761519124.985 [DAT](INFO): DAT read: Rx Time:22:52:03.7250 

2025-10-26T22:52:04.985Z,1761519124.985 [DAT](INFO): Rx dataTimestamp_ set to:1761519124.985135
2025-10-26T22:52:04.987Z,1761519124.987 [DAT](INFO): DAT read: Bearing 101.3,   2.9 (Local)

2025-10-26T22:52:04.987Z,1761519124.987 [DAT](INFO): Local bearing/azimuth received:
 Bearing 101.3,   2.9 (Local)

2025-10-26T22:52:04.989Z,1761519124.989 [DAT](INFO): DAT read: Range 11 to 50 :    10.2 m (trip time 6.8 ms) speed 0.2

2025-10-26T22:52:04.994Z,1761519124.994 [DAT](INFO): DAT read: 22:52:03.7250 LVL= 31024, 18625, 30706, 32755, AGC= 62, IDX= 501, 0.10, 2.200,-2.239, 2.277, 2.856, PHS=-0.555, 1.233,-0.623, RAW= 331.9,  -0.6, CAL= 331.0,  -3.5, ROT= 179.0,   3.5

2025-10-26T22:52:04.000Z,1761519125.000 [DAT](INFO): got valid direction response:
 22:52:03.7250 LVL= 31024, 18625, 30706, 32755, AGC= 62, IDX= 501, 0.10, 2.200,-2.239, 2.277, 2.856, PHS=-0.555, 1.233,-0.623, RAW= 331.9,  -0.6, CAL= 331.0,  -3.5, ROT= 179.0,   3.5

2025-10-26T22:52:05.000Z,1761519125.000 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-10-26T22:52:05.001Z,1761519125.001 [DAT](INFO): direction in FSK: [-0.997983,0.017420,-0.061049]
2025-10-26T22:52:05.001Z,1761519125.001 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:05.017Z,1761519125.017 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.579796
2025-10-26T22:52:05.150Z,1761519125.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.504132 s,
      deltaX: 0.300000 m,
      approachRate: 0.595083 m/s,
      rangeRepo size: 4

2025-10-26T22:52:05.157Z,1761519125.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.148597 m,
      bearing: 299.491927 deg,
      lat: 36.779418 deg,
      lon: -121.859389 deg,
      deltaT: 0.504132 s,
      deltaX: 0.298488 m,
      approachRate: 0.592082 m/s,
      posRepo size: 4

2025-10-26T22:52:05.157Z,1761519125.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.15 m.
2025-10-26T22:52:05.237Z,1761519125.237 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.799080
2025-10-26T22:52:05.421Z,1761519125.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500174,-0.862974,-0.071422],[0.865617,-0.500493,-0.014650],[-0.023104,-0.069151,0.997339]]
2025-10-26T22:52:05.447Z,1761519125.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.15 m.
2025-10-26T22:52:05.490Z,1761519125.490 [DAT](INFO): DAT read: Rx Time:22:52:04.2250 

2025-10-26T22:52:05.490Z,1761519125.490 [DAT](INFO): Rx dataTimestamp_ set to:1761519125.490009
2025-10-26T22:52:05.492Z,1761519125.492 [DAT](INFO): DAT read: Bearing 100.9,   1.9 (Local)

2025-10-26T22:52:05.493Z,1761519125.493 [DAT](INFO): Local bearing/azimuth received:
 Bearing 100.9,   1.9 (Local)

2025-10-26T22:52:05.495Z,1761519125.495 [DAT](INFO): DAT read: Range 11 to 50 :    10.2 m (trip time 6.8 ms) speed -0.2

2025-10-26T22:52:05.502Z,1761519125.501 [DAT](INFO): DAT read: 22:52:04.2250 LVL= 30032, 19105, 28338, 32755, AGC= 61, IDX= 501,-0.01, 0.534, 2.390, 0.635, 1.211, PHS=-0.575, 1.224,-0.620, RAW= 331.2,  -0.3, CAL= 330.3,  -3.2, ROT= 179.7,   3.2

2025-10-26T22:52:05.503Z,1761519125.503 [DAT](INFO): got valid direction response:
 22:52:04.2250 LVL= 30032, 19105, 28338, 32755, AGC= 61, IDX= 501,-0.01, 0.534, 2.390, 0.635, 1.211, PHS=-0.575, 1.224,-0.620, RAW= 331.2,  -0.3, CAL= 330.3,  -3.2, ROT= 179.7,   3.2

2025-10-26T22:52:05.504Z,1761519125.504 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-10-26T22:52:05.505Z,1761519125.505 [DAT](INFO): direction in FSK: [-0.998427,0.005228,-0.055822]
2025-10-26T22:52:05.505Z,1761519125.505 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:05.509Z,1761519125.509 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.071426
2025-10-26T22:52:05.741Z,1761519125.741 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.303032
2025-10-26T22:52:05.845Z,1761519125.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498772,-0.863789,-0.071380],[0.866504,-0.498841,-0.018137],[-0.019941,-0.070897,0.997284]]
2025-10-26T22:52:05.928Z,1761519125.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.504874 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:05.930Z,1761519125.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.149482 m,
      bearing: 299.853335 deg,
      lat: 36.779418 deg,
      lon: -121.859389 deg,
      deltaT: 0.504874 s,
      deltaX: 0.000885 m,
      approachRate: 0.001753 m/s,
      posRepo size: 4

2025-10-26T22:52:05.930Z,1761519125.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.15 m.
2025-10-26T22:52:05.994Z,1761519125.994 [DAT](INFO): DAT read: Rx Time:22:52:04.7252 

2025-10-26T22:52:05.995Z,1761519125.995 [DAT](INFO): Rx dataTimestamp_ set to:1761519125.994710
2025-10-26T22:52:05.998Z,1761519125.998 [DAT](INFO): DAT read: Bearing 100.9,   0.9 (Local)

2025-10-26T22:52:05.998Z,1761519125.998 [DAT](INFO): Local bearing/azimuth received:
 Bearing 100.9,   0.9 (Local)

2025-10-26T22:52:06.002Z,1761519126.002 [DAT](INFO): DAT read: Range 11 to 50 :    10.5 m (trip time 7.0 ms) speed 0.0

2025-10-26T22:52:06.007Z,1761519126.007 [DAT](INFO): DAT read: 22:52:04.7252 LVL= 28272, 16913, 27810, 32755, AGC= 63, IDX= 503,-0.06, 0.462, 2.344, 0.592, 1.155, PHS=-0.590, 1.234,-0.606, RAW= 330.4,  -0.4, CAL= 329.5,  -3.3, ROT= 180.5,   3.3

2025-10-26T22:52:06.008Z,1761519126.008 [DAT](INFO): got valid direction response:
 22:52:04.7252 LVL= 28272, 16913, 27810, 32755, AGC= 63, IDX= 503,-0.06, 0.462, 2.344, 0.592, 1.155, PHS=-0.590, 1.234,-0.606, RAW= 330.4,  -0.4, CAL= 329.5,  -3.3, ROT= 180.5,   3.3

2025-10-26T22:52:06.008Z,1761519126.008 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-10-26T22:52:06.009Z,1761519126.009 [DAT](INFO): direction in FSK: [-0.998304,-0.008712,-0.057564]
2025-10-26T22:52:06.010Z,1761519126.010 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:06.013Z,1761519126.013 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.575951
2025-10-26T22:52:06.222Z,1761519126.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497460,-0.864630,-0.070345],[0.867318,-0.497326,-0.020656],[-0.017125,-0.071287,0.997309]]
2025-10-26T22:52:06.244Z,1761519126.244 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.806831
2025-10-26T22:52:06.278Z,1761519126.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.504701 s,
      deltaX: 0.300000 m,
      approachRate: 0.594412 m/s,
      rangeRepo size: 4

2025-10-26T22:52:06.284Z,1761519126.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.447996 m,
      bearing: 300.570573 deg,
      lat: 36.779419 deg,
      lon: -121.859388 deg,
      deltaT: 0.504701 s,
      deltaX: 0.298514 m,
      approachRate: 0.591468 m/s,
      posRepo size: 4

2025-10-26T22:52:06.284Z,1761519126.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.45 m.
2025-10-26T22:52:06.497Z,1761519126.497 [DAT](INFO): DAT read: Rx Time:22:52:05.2252 

2025-10-26T22:52:06.497Z,1761519126.497 [DAT](INFO): Rx dataTimestamp_ set to:1761519126.497188
2025-10-26T22:52:06.499Z,1761519126.499 [DAT](INFO): DAT read: Bearing 100.6,   0.3 (Local)

2025-10-26T22:52:06.499Z,1761519126.499 [DAT](INFO): Local bearing/azimuth received:
 Bearing 100.6,   0.3 (Local)

2025-10-26T22:52:06.501Z,1761519126.501 [DAT](INFO): DAT read: Range 11 to 50 :    10.5 m (trip time 7.0 ms) speed -0.2

2025-10-26T22:52:06.506Z,1761519126.506 [DAT](INFO): DAT read: 22:52:05.2252 LVL= 26480, 16209, 27218, 32755, AGC= 63, IDX= 503,-0.15,-0.600, 1.285,-0.457, 0.102, PHS=-0.600, 1.228,-0.603, RAW= 330.1,  -0.3, CAL= 329.1,  -3.2, ROT= 180.9,   3.2

2025-10-26T22:52:06.507Z,1761519126.507 [DAT](INFO): got valid direction response:
 22:52:05.2252 LVL= 26480, 16209, 27218, 32755, AGC= 63, IDX= 503,-0.15,-0.600, 1.285,-0.457, 0.102, PHS=-0.600, 1.228,-0.603, RAW= 330.1,  -0.3, CAL= 329.1,  -3.2, ROT= 180.9,   3.2

2025-10-26T22:52:06.508Z,1761519126.508 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-10-26T22:52:06.508Z,1761519126.508 [DAT](INFO): direction in FSK: [-0.998318,-0.015683,-0.055822]
2025-10-26T22:52:06.509Z,1761519126.509 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:06.512Z,1761519126.512 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.074833
2025-10-26T22:52:06.626Z,1761519126.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495871,-0.865798,-0.067126],[0.868273,-0.495620,-0.021512],[-0.014644,-0.068951,0.997513]]
2025-10-26T22:52:06.701Z,1761519126.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.502478 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:06.717Z,1761519126.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.448421 m,
      bearing: 300.848618 deg,
      lat: 36.779419 deg,
      lon: -121.859388 deg,
      deltaT: 0.502478 s,
      deltaX: 0.000424 m,
      approachRate: 0.000845 m/s,
      posRepo size: 4

2025-10-26T22:52:06.719Z,1761519126.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.45 m.
2025-10-26T22:52:06.748Z,1761519126.748 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.310947
2025-10-26T22:52:07.001Z,1761519127.001 [DAT](INFO): DAT read: Rx Time:22:52:05.7252 

2025-10-26T22:52:07.001Z,1761519127.001 [DAT](INFO): Rx dataTimestamp_ set to:1761519127.001119
2025-10-26T22:52:07.003Z,1761519127.003 [DAT](INFO): DAT read: Bearing 100.5,   0.2 (Local)

2025-10-26T22:52:07.003Z,1761519127.003 [DAT](INFO): Local bearing/azimuth received:
 Bearing 100.5,   0.2 (Local)

2025-10-26T22:52:07.005Z,1761519127.005 [DAT](INFO): DAT read: Range 11 to 50 :    10.5 m (trip time 7.0 ms) speed -0.2

2025-10-26T22:52:07.010Z,1761519127.010 [DAT](INFO): DAT read: 22:52:05.7252 LVL= 26768, 17745, 28626, 32755, AGC= 63, IDX= 504,-0.30,-0.641, 1.247,-0.500, 0.063, PHS=-0.602, 1.229,-0.607, RAW= 330.1,  -0.2, CAL= 329.1,  -3.1, ROT= 180.9,   3.1

2025-10-26T22:52:07.011Z,1761519127.011 [DAT](INFO): got valid direction response:
 22:52:05.7252 LVL= 26768, 17745, 28626, 32755, AGC= 63, IDX= 504,-0.30,-0.641, 1.247,-0.500, 0.063, PHS=-0.602, 1.229,-0.607, RAW= 330.1,  -0.2, CAL= 329.1,  -3.1, ROT= 180.9,   3.1

2025-10-26T22:52:07.011Z,1761519127.011 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-10-26T22:52:07.012Z,1761519127.012 [DAT](INFO): direction in FSK: [-0.998413,-0.015684,-0.054079]
2025-10-26T22:52:07.012Z,1761519127.012 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:07.020Z,1761519127.020 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.582478
2025-10-26T22:52:07.055Z,1761519127.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494112,-0.867026,-0.064177],[0.869307,-0.493782,-0.022017],[-0.012601,-0.066668,0.997696]]
2025-10-26T22:52:07.170Z,1761519127.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.503931 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:07.176Z,1761519127.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.448421 m,
      bearing: 300.717977 deg,
      lat: 36.779420 deg,
      lon: -121.859387 deg,
      deltaT: 0.503931 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:52:07.177Z,1761519127.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.45 m.
2025-10-26T22:52:07.253Z,1761519127.253 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.815079
2025-10-26T22:52:07.436Z,1761519127.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492350,-0.868192,-0.061912],[0.870331,-0.491941,-0.022752],[-0.010704,-0.065086,0.997822]]
2025-10-26T22:52:07.455Z,1761519127.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.45 m.
2025-10-26T22:52:07.506Z,1761519127.506 [DAT](INFO): DAT read: Rx Time:22:52:06.2252 

2025-10-26T22:52:07.507Z,1761519127.507 [DAT](INFO): Rx dataTimestamp_ set to:1761519127.506416
2025-10-26T22:52:07.509Z,1761519127.509 [DAT](INFO): DAT read: Bearing 100.4,  -0.2 (Local)

2025-10-26T22:52:07.509Z,1761519127.509 [DAT](INFO): Local bearing/azimuth received:
 Bearing 100.4,  -0.2 (Local)

2025-10-26T22:52:07.513Z,1761519127.513 [DAT](INFO): DAT read: Range 11 to 50 :    10.5 m (trip time 7.0 ms) speed -0.2

2025-10-26T22:52:07.517Z,1761519127.517 [DAT](INFO): DAT read: 22:52:06.2252 LVL= 28720, 17809, 28642, 32755, AGC= 62, IDX= 504,-0.44,-1.314, 0.570,-1.163,-0.609, PHS=-0.603, 1.224,-0.598, RAW= 329.9,  -0.3, CAL= 328.9,  -3.2, ROT= 181.1,   3.2

2025-10-26T22:52:07.519Z,1761519127.519 [DAT](INFO): got valid direction response:
 22:52:06.2252 LVL= 28720, 17809, 28642, 32755, AGC= 62, IDX= 504,-0.44,-1.314, 0.570,-1.163,-0.609, PHS=-0.603, 1.224,-0.598, RAW= 329.9,  -0.3, CAL= 328.9,  -3.2, ROT= 181.1,   3.2

2025-10-26T22:52:07.519Z,1761519127.519 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-10-26T22:52:07.532Z,1761519127.532 [DAT](INFO): direction in FSK: [-0.998257,-0.019168,-0.055822]
2025-10-26T22:52:07.532Z,1761519127.532 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:07.540Z,1761519127.540 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.102791
2025-10-26T22:52:07.756Z,1761519127.756 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.318890
2025-10-26T22:52:07.862Z,1761519127.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490814,-0.869192,-0.060060],[0.871218,-0.490333,-0.023515],[-0.009010,-0.063867,0.997918]]
2025-10-26T22:52:07.939Z,1761519127.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.505297 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:07.949Z,1761519127.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.448677 m,
      bearing: 300.697113 deg,
      lat: 36.779420 deg,
      lon: -121.859387 deg,
      deltaT: 0.505297 s,
      deltaX: 0.000257 m,
      approachRate: 0.000508 m/s,
      posRepo size: 4

2025-10-26T22:52:07.949Z,1761519127.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.45 m.
2025-10-26T22:52:08.010Z,1761519128.010 [DAT](INFO): DAT read: Rx Time:22:52:06.7254 

2025-10-26T22:52:08.011Z,1761519128.011 [DAT](INFO): Rx dataTimestamp_ set to:1761519128.010179
2025-10-26T22:52:08.012Z,1761519128.012 [DAT](INFO): DAT read: Bearing  99.8,  -0.9 (Local)

2025-10-26T22:52:08.013Z,1761519128.013 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.8,  -0.9 (Local)

2025-10-26T22:52:08.017Z,1761519128.017 [DAT](INFO): DAT read: Range 11 to 50 :    10.8 m (trip time 7.2 ms) speed -0.2

2025-10-26T22:52:08.032Z,1761519128.032 [DAT](INFO): DAT read: 22:52:06.7254 LVL= 30448, 19409, 30242, 32755, AGC= 62, IDX= 505, 0.37, 0.845, 2.717, 1.014, 1.567, PHS=-0.620, 1.195,-0.597, RAW= 329.4,   0.2, CAL= 328.3,  -2.7, ROT= 181.7,   2.7

2025-10-26T22:52:08.033Z,1761519128.033 [DAT](INFO): got valid direction response:
 22:52:06.7254 LVL= 30448, 19409, 30242, 32755, AGC= 62, IDX= 505, 0.37, 0.845, 2.717, 1.014, 1.567, PHS=-0.620, 1.195,-0.597, RAW= 329.4,   0.2, CAL= 328.3,  -2.7, ROT= 181.7,   2.7

2025-10-26T22:52:08.033Z,1761519128.033 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-10-26T22:52:08.034Z,1761519128.034 [DAT](INFO): direction in FSK: [-0.998450,-0.029633,-0.047106]
2025-10-26T22:52:08.035Z,1761519128.035 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:08.049Z,1761519128.049 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.611275
2025-10-26T22:52:08.244Z,1761519128.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489486,-0.869972,-0.059610],[0.871978,-0.488919,-0.024754],[-0.007610,-0.064096,0.997915]]
2025-10-26T22:52:08.261Z,1761519128.261 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.822964
2025-10-26T22:52:08.268Z,1761519128.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.503763 s,
      deltaX: 0.300000 m,
      approachRate: 0.595519 m/s,
      rangeRepo size: 4

2025-10-26T22:52:08.270Z,1761519128.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.747211 m,
      bearing: 301.176725 deg,
      lat: 36.779421 deg,
      lon: -121.859386 deg,
      deltaT: 0.503763 s,
      deltaX: 0.298533 m,
      approachRate: 0.592607 m/s,
      posRepo size: 4

2025-10-26T22:52:08.271Z,1761519128.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.75 m.
2025-10-26T22:52:08.513Z,1761519128.513 [DAT](INFO): DAT read: Rx Time:22:52:07.2254 

2025-10-26T22:52:08.513Z,1761519128.513 [DAT](INFO): Rx dataTimestamp_ set to:1761519128.513120
2025-10-26T22:52:08.515Z,1761519128.515 [DAT](INFO): DAT read: Bearing  99.7,  -1.2 (Local)

2025-10-26T22:52:08.515Z,1761519128.515 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.7,  -1.2 (Local)

2025-10-26T22:52:08.517Z,1761519128.517 [DAT](INFO): DAT read: Range 11 to 50 :    10.8 m (trip time 7.2 ms) speed -0.2

2025-10-26T22:52:08.522Z,1761519128.522 [DAT](INFO): DAT read: 22:52:07.2254 LVL= 27296, 17809, 29410, 32755, AGC= 63, IDX= 505, 0.16,-0.339, 1.531,-0.163, 0.383, PHS=-0.620, 1.193,-0.590, RAW= 329.2,   0.2, CAL= 328.1,  -2.7, ROT= 181.9,   2.7

2025-10-26T22:52:08.523Z,1761519128.523 [DAT](INFO): got valid direction response:
 22:52:07.2254 LVL= 27296, 17809, 29410, 32755, AGC= 63, IDX= 505, 0.16,-0.339, 1.531,-0.163, 0.383, PHS=-0.620, 1.193,-0.590, RAW= 329.2,   0.2, CAL= 328.1,  -2.7, ROT= 181.9,   2.7

2025-10-26T22:52:08.523Z,1761519128.523 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-10-26T22:52:08.524Z,1761519128.524 [DAT](INFO): direction in FSK: [-0.998341,-0.033118,-0.047106]
2025-10-26T22:52:08.524Z,1761519128.524 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:08.528Z,1761519128.528 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.090443
2025-10-26T22:52:08.647Z,1761519128.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488000,-0.870757,-0.060317],[0.872819,-0.487340,-0.026211],[-0.006571,-0.065437,0.997835]]
2025-10-26T22:52:08.682Z,1761519128.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.502941 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:08.686Z,1761519128.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.746325 m,
      bearing: 301.281977 deg,
      lat: 36.779421 deg,
      lon: -121.859386 deg,
      deltaT: 0.502941 s,
      deltaX: -0.000885 m,
      approachRate: -0.001760 m/s,
      posRepo size: 4

2025-10-26T22:52:08.686Z,1761519128.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.75 m.
2025-10-26T22:52:08.764Z,1761519128.764 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.326950
2025-10-26T22:52:09.017Z,1761519129.017 [DAT](INFO): DAT read: Rx Time:22:52:07.7256 

2025-10-26T22:52:09.017Z,1761519129.017 [DAT](INFO): Rx dataTimestamp_ set to:1761519129.017081
2025-10-26T22:52:09.019Z,1761519129.019 [DAT](INFO): DAT read: Bearing  99.7,  -1.3 (Local)

2025-10-26T22:52:09.019Z,1761519129.019 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.7,  -1.3 (Local)

2025-10-26T22:52:09.021Z,1761519129.021 [DAT](INFO): DAT read: Range 11 to 50 :    11.1 m (trip time 7.4 ms) speed -0.2

2025-10-26T22:52:09.026Z,1761519129.026 [DAT](INFO): DAT read: 22:52:07.7256 LVL= 29600, 17649, 31154, 32755, AGC= 64, IDX= 507,-0.04,-0.121, 1.759, 0.054, 0.603, PHS=-0.623, 1.201,-0.593, RAW= 329.2,   0.2, CAL= 328.1,  -2.7, ROT= 181.9,   2.7

2025-10-26T22:52:09.027Z,1761519129.027 [DAT](INFO): got valid direction response:
 22:52:07.7256 LVL= 29600, 17649, 31154, 32755, AGC= 64, IDX= 507,-0.04,-0.121, 1.759, 0.054, 0.603, PHS=-0.623, 1.201,-0.593, RAW= 329.2,   0.2, CAL= 328.1,  -2.7, ROT= 181.9,   2.7

2025-10-26T22:52:09.027Z,1761519129.027 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-10-26T22:52:09.030Z,1761519129.030 [DAT](INFO): direction in FSK: [-0.998341,-0.033118,-0.047106]
2025-10-26T22:52:09.030Z,1761519129.030 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:09.034Z,1761519129.034 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.596066
2025-10-26T22:52:09.081Z,1761519129.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486833,-0.871455,-0.059662],[0.873477,-0.486124,-0.026843],[-0.005611,-0.065181,0.997858]]
2025-10-26T22:52:09.176Z,1761519129.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.503961 s,
      deltaX: 0.300000 m,
      approachRate: 0.595285 m/s,
      rangeRepo size: 4

2025-10-26T22:52:09.178Z,1761519129.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.044834 m,
      bearing: 301.204597 deg,
      lat: 36.779421 deg,
      lon: -121.859386 deg,
      deltaT: 0.503961 s,
      deltaX: 0.298509 m,
      approachRate: 0.592325 m/s,
      posRepo size: 4

2025-10-26T22:52:09.179Z,1761519129.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m.
2025-10-26T22:52:09.269Z,1761519129.269 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.831810
2025-10-26T22:52:09.455Z,1761519129.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485874,-0.872072,-0.058451],[0.874014,-0.485161,-0.026792],[-0.004994,-0.064104,0.997931]]
2025-10-26T22:52:09.496Z,1761519129.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m.
2025-10-26T22:52:09.521Z,1761519129.521 [DAT](INFO): DAT read: Rx Time:22:52:08.2255 

2025-10-26T22:52:09.521Z,1761519129.521 [DAT](INFO): Rx dataTimestamp_ set to:1761519129.521208
2025-10-26T22:52:09.523Z,1761519129.523 [DAT](INFO): DAT read: Bearing  99.4,  -2.0 (Local)

2025-10-26T22:52:09.523Z,1761519129.523 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.4,  -2.0 (Local)

2025-10-26T22:52:09.525Z,1761519129.525 [DAT](INFO): DAT read: Range 11 to 50 :    11.0 m (trip time 7.3 ms) speed -0.2

2025-10-26T22:52:09.530Z,1761519129.530 [DAT](INFO): DAT read: 22:52:08.2255 LVL= 32752, 17473, 32754, 32755, AGC= 64, IDX= 507,-0.29,-1.213, 0.683,-1.017,-0.472, PHS=-0.639, 1.200,-0.588, RAW= 328.6,   0.3, CAL= 327.5,  -2.6, ROT= 182.5,   2.6

2025-10-26T22:52:09.531Z,1761519129.531 [DAT](INFO): got valid direction response:
 22:52:08.2255 LVL= 32752, 17473, 32754, 32755, AGC= 64, IDX= 507,-0.29,-1.213, 0.683,-1.017,-0.472, PHS=-0.639, 1.200,-0.588, RAW= 328.6,   0.3, CAL= 327.5,  -2.6, ROT= 182.5,   2.6

2025-10-26T22:52:09.531Z,1761519129.531 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-10-26T22:52:09.532Z,1761519129.532 [DAT](INFO): direction in FSK: [-0.998020,-0.043575,-0.045363]
2025-10-26T22:52:09.533Z,1761519129.533 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:09.536Z,1761519129.536 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.098965
2025-10-26T22:52:09.777Z,1761519129.777 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.339088
2025-10-26T22:52:09.869Z,1761519129.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485996,-0.871993,-0.058626],[0.873947,-0.485274,-0.026937],[-0.004961,-0.064327,0.997917]]
2025-10-26T22:52:09.946Z,1761519129.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 0.504127 s,
      deltaX: -0.100000 m,
      approachRate: -0.198363 m/s,
      rangeRepo size: 4

2025-10-26T22:52:09.948Z,1761519129.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.943945 m,
      bearing: 301.739599 deg,
      lat: 36.779421 deg,
      lon: -121.859385 deg,
      deltaT: 0.504127 s,
      deltaX: -0.100889 m,
      approachRate: -0.200127 m/s,
      posRepo size: 4

2025-10-26T22:52:09.948Z,1761519129.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m.
2025-10-26T22:52:10.025Z,1761519130.025 [DAT](INFO): DAT read: Rx Time:22:52:08.7256 

2025-10-26T22:52:10.026Z,1761519130.026 [DAT](INFO): Rx dataTimestamp_ set to:1761519130.025441
2025-10-26T22:52:10.027Z,1761519130.027 [DAT](INFO): DAT read: Bearing  99.8,  -2.2 (Local)

2025-10-26T22:52:10.028Z,1761519130.028 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.8,  -2.2 (Local)

2025-10-26T22:52:10.030Z,1761519130.030 [DAT](INFO): DAT read: Range 11 to 50 :    11.1 m (trip time 7.4 ms) speed -0.3

2025-10-26T22:52:10.036Z,1761519130.036 [DAT](INFO): DAT read: 22:52:08.7256 LVL= 30080, 17313, 31906, 32755, AGC= 63, IDX= 507, 0.41, 0.274, 2.157, 0.476, 1.000, PHS=-0.624, 1.202,-0.568, RAW= 328.4,  -0.1, CAL= 327.3,  -3.0, ROT= 182.7,   3.0

2025-10-26T22:52:10.037Z,1761519130.037 [DAT](INFO): got valid direction response:
 22:52:08.7256 LVL= 30080, 17313, 31906, 32755, AGC= 63, IDX= 507, 0.41, 0.274, 2.157, 0.476, 1.000, PHS=-0.624, 1.202,-0.568, RAW= 328.4,  -0.1, CAL= 327.3,  -3.0, ROT= 182.7,   3.0

2025-10-26T22:52:10.037Z,1761519130.037 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-10-26T22:52:10.038Z,1761519130.038 [DAT](INFO): direction in FSK: [-0.997521,-0.047042,-0.052336]
2025-10-26T22:52:10.038Z,1761519130.038 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:10.042Z,1761519130.042 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.604733
2025-10-26T22:52:10.263Z,1761519130.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485912,-0.872106,-0.057619],[0.873995,-0.485198,-0.026742],[-0.004635,-0.063353,0.997980]]
2025-10-26T22:52:10.276Z,1761519130.276 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.838909
2025-10-26T22:52:10.337Z,1761519130.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.504233 s,
      deltaX: 0.100000 m,
      approachRate: 0.198322 m/s,
      rangeRepo size: 4

2025-10-26T22:52:10.352Z,1761519130.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.043435 m,
      bearing: 301.956528 deg,
      lat: 36.779421 deg,
      lon: -121.859385 deg,
      deltaT: 0.504233 s,
      deltaX: 0.099490 m,
      approachRate: 0.197310 m/s,
      posRepo size: 4

2025-10-26T22:52:10.354Z,1761519130.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m.
2025-10-26T22:52:10.529Z,1761519130.529 [DAT](INFO): DAT read: Rx Time:22:52:09.2256 

2025-10-26T22:52:10.529Z,1761519130.529 [DAT](INFO): Rx dataTimestamp_ set to:1761519130.529117
2025-10-26T22:52:10.531Z,1761519130.531 [DAT](INFO): DAT read: Bearing  99.8,  -2.7 (Local)

2025-10-26T22:52:10.531Z,1761519130.531 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.8,  -2.7 (Local)

2025-10-26T22:52:10.533Z,1761519130.533 [DAT](INFO): DAT read: Range 11 to 50 :    11.1 m (trip time 7.4 ms) speed -0.2

2025-10-26T22:52:10.538Z,1761519130.538 [DAT](INFO): DAT read: 22:52:09.2256 LVL= 32752, 19217, 31394, 32755, AGC= 63, IDX= 507, 0.16,-0.949, 0.931,-0.729,-0.218, PHS=-0.629, 1.194,-0.555, RAW= 327.9,  -0.1, CAL= 326.8,  -3.0, ROT= 183.2,   3.0

2025-10-26T22:52:10.539Z,1761519130.539 [DAT](INFO): got valid direction response:
 22:52:09.2256 LVL= 32752, 19217, 31394, 32755, AGC= 63, IDX= 507, 0.16,-0.949, 0.931,-0.729,-0.218, PHS=-0.629, 1.194,-0.555, RAW= 327.9,  -0.1, CAL= 326.8,  -3.0, ROT= 183.2,   3.0

2025-10-26T22:52:10.539Z,1761519130.539 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-10-26T22:52:10.540Z,1761519130.540 [DAT](INFO): direction in FSK: [-0.997072,-0.055745,-0.052336]
2025-10-26T22:52:10.540Z,1761519130.540 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:10.544Z,1761519130.544 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.106842
2025-10-26T22:52:10.666Z,1761519130.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485676,-0.872449,-0.054329],[0.874128,-0.485034,-0.025324],[-0.004257,-0.059790,0.998202]]
2025-10-26T22:52:10.734Z,1761519130.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.503676 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:10.750Z,1761519130.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.042521 m,
      bearing: 302.429926 deg,
      lat: 36.779422 deg,
      lon: -121.859383 deg,
      deltaT: 0.503676 s,
      deltaX: -0.000914 m,
      approachRate: -0.001814 m/s,
      posRepo size: 4

2025-10-26T22:52:10.756Z,1761519130.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m.
2025-10-26T22:52:10.784Z,1761519130.784 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.345333
2025-10-26T22:52:11.034Z,1761519131.034 [DAT](INFO): DAT read: Rx Time:22:52:09.7258 

2025-10-26T22:52:11.034Z,1761519131.034 [DAT](INFO): Rx dataTimestamp_ set to:1761519131.034117
2025-10-26T22:52:11.037Z,1761519131.037 [DAT](INFO): DAT read: Bearing  99.9,  -2.7 (Local)

2025-10-26T22:52:11.037Z,1761519131.037 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.9,  -2.7 (Local)

2025-10-26T22:52:11.039Z,1761519131.039 [DAT](INFO): DAT read: Range 11 to 50 :    11.4 m (trip time 7.6 ms) speed -0.2

2025-10-26T22:52:11.048Z,1761519131.048 [DAT](INFO): DAT read: 22:52:09.7258 LVL= 29168, 18673, 31218, 32755, AGC= 63, IDX= 509,-0.02,-1.130, 0.761,-0.910,-0.401, PHS=-0.627, 1.207,-0.553, RAW= 327.9,  -0.3, CAL= 326.8,  -3.2, ROT= 183.2,   3.2

2025-10-26T22:52:11.050Z,1761519131.050 [DAT](INFO): got valid direction response:
 22:52:09.7258 LVL= 29168, 18673, 31218, 32755, AGC= 63, IDX= 509,-0.02,-1.130, 0.761,-0.910,-0.401, PHS=-0.627, 1.207,-0.553, RAW= 327.9,  -0.3, CAL= 326.8,  -3.2, ROT= 183.2,   3.2

2025-10-26T22:52:11.050Z,1761519131.050 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-10-26T22:52:11.051Z,1761519131.051 [DAT](INFO): direction in FSK: [-0.996884,-0.055735,-0.055822]
2025-10-26T22:52:11.051Z,1761519131.051 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:11.055Z,1761519131.055 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.617107
2025-10-26T22:52:11.104Z,1761519131.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485587,-0.872615,-0.052429],[0.874180,-0.484978,-0.024617],[-0.003946,-0.057786,0.998321]]
2025-10-26T22:52:11.213Z,1761519131.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.400000 m,
      deltaT: 0.505000 s,
      deltaX: 0.299999 m,
      approachRate: 0.594058 m/s,
      rangeRepo size: 4

2025-10-26T22:52:11.219Z,1761519131.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.340967 m,
      bearing: 302.429950 deg,
      lat: 36.779422 deg,
      lon: -121.859383 deg,
      deltaT: 0.505000 s,
      deltaX: 0.298446 m,
      approachRate: 0.590982 m/s,
      posRepo size: 4

2025-10-26T22:52:11.220Z,1761519131.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.34 m.
2025-10-26T22:52:11.285Z,1761519131.285 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.847790
2025-10-26T22:52:11.474Z,1761519131.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485317,-0.872781,-0.052159],[0.874331,-0.484703,-0.024687],[-0.003735,-0.057585,0.998334]]
2025-10-26T22:52:11.505Z,1761519131.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.34 m.
2025-10-26T22:52:11.538Z,1761519131.538 [DAT](INFO): DAT read: Rx Time:22:52:10.2257 

2025-10-26T22:52:11.538Z,1761519131.538 [DAT](INFO): Rx dataTimestamp_ set to:1761519131.538126
2025-10-26T22:52:11.540Z,1761519131.540 [DAT](INFO): DAT read: Bearing  99.5,  -2.8 (Local)

2025-10-26T22:52:11.541Z,1761519131.541 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.5,  -2.8 (Local)

2025-10-26T22:52:11.544Z,1761519131.544 [DAT](INFO): DAT read: Range 11 to 50 :    11.3 m (trip time 7.5 ms) speed -0.2

2025-10-26T22:52:11.550Z,1761519131.550 [DAT](INFO): DAT read: 22:52:10.2257 LVL= 28656, 19441, 32754, 32755, AGC= 62, IDX= 509,-0.26,-2.274,-0.405,-2.053,-1.542, PHS=-0.630, 1.182,-0.555, RAW= 327.9,   0.0, CAL= 326.8,  -2.9, ROT= 183.2,   2.9

2025-10-26T22:52:11.552Z,1761519131.552 [DAT](INFO): got valid direction response:
 22:52:10.2257 LVL= 28656, 19441, 32754, 32755, AGC= 62, IDX= 509,-0.26,-2.274,-0.405,-2.053,-1.542, PHS=-0.630, 1.182,-0.555, RAW= 327.9,   0.0, CAL= 326.8,  -2.9, ROT= 183.2,   2.9

2025-10-26T22:52:11.552Z,1761519131.552 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-26T22:52:11.554Z,1761519131.554 [DAT](INFO): direction in FSK: [-0.997162,-0.055750,-0.050593]
2025-10-26T22:52:11.554Z,1761519131.554 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:11.580Z,1761519131.580 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.142769
2025-10-26T22:52:11.791Z,1761519131.791 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.353172
2025-10-26T22:52:11.883Z,1761519131.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484768,-0.873013,-0.053366],[0.874635,-0.484127,-0.025215],[-0.003823,-0.058899,0.998257]]
2025-10-26T22:52:11.960Z,1761519131.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.504009 s,
      deltaX: -0.099999 m,
      approachRate: -0.198408 m/s,
      rangeRepo size: 4

2025-10-26T22:52:11.962Z,1761519131.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.241471 m,
      bearing: 302.362021 deg,
      lat: 36.779422 deg,
      lon: -121.859383 deg,
      deltaT: 0.504009 s,
      deltaX: -0.099496 m,
      approachRate: -0.197409 m/s,
      posRepo size: 4

2025-10-26T22:52:11.963Z,1761519131.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.24 m.
2025-10-26T22:52:12.043Z,1761519132.043 [DAT](INFO): DAT read: Rx Time:22:52:10.7259 

2025-10-26T22:52:12.044Z,1761519132.044 [DAT](INFO): Rx dataTimestamp_ set to:1761519132.042870
2025-10-26T22:52:12.045Z,1761519132.045 [DAT](INFO): DAT read: Bearing  99.2,  -3.4 (Local)

2025-10-26T22:52:12.045Z,1761519132.045 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.2,  -3.4 (Local)

2025-10-26T22:52:12.048Z,1761519132.048 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed -0.2

2025-10-26T22:52:12.054Z,1761519132.054 [DAT](INFO): DAT read: 22:52:10.7259 LVL= 32304, 17905, 32754, 32755, AGC= 64, IDX= 510, 0.39, 0.225, 2.115, 0.467, 0.978, PHS=-0.651, 1.182,-0.556, RAW= 327.4,   0.3, CAL= 326.2,  -2.6, ROT= 183.8,   2.6

2025-10-26T22:52:12.056Z,1761519132.056 [DAT](INFO): got valid direction response:
 22:52:10.7259 LVL= 32304, 17905, 32754, 32755, AGC= 64, IDX= 510, 0.39, 0.225, 2.115, 0.467, 0.978, PHS=-0.651, 1.182,-0.556, RAW= 327.4,   0.3, CAL= 326.2,  -2.6, ROT= 183.8,   2.6

2025-10-26T22:52:12.056Z,1761519132.056 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-10-26T22:52:12.058Z,1761519132.058 [DAT](INFO): direction in FSK: [-0.996774,-0.066206,-0.045363]
2025-10-26T22:52:12.058Z,1761519132.058 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:12.063Z,1761519132.063 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.625061
2025-10-26T22:52:12.282Z,1761519132.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484556,-0.873009,-0.055320],[0.874752,-0.483862,-0.026215],[-0.003882,-0.061094,0.998124]]
2025-10-26T22:52:12.293Z,1761519132.293 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.855015
2025-10-26T22:52:12.367Z,1761519132.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.504744 s,
      deltaX: 0.300000 m,
      approachRate: 0.594361 m/s,
      rangeRepo size: 4

2025-10-26T22:52:12.373Z,1761519132.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.539880 m,
      bearing: 302.934508 deg,
      lat: 36.779422 deg,
      lon: -121.859383 deg,
      deltaT: 0.504744 s,
      deltaX: 0.298409 m,
      approachRate: 0.591208 m/s,
      posRepo size: 4

2025-10-26T22:52:12.373Z,1761519132.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.54 m.
2025-10-26T22:52:12.545Z,1761519132.545 [DAT](INFO): DAT read: Rx Time:22:52:11.2259 

2025-10-26T22:52:12.545Z,1761519132.545 [DAT](INFO): Rx dataTimestamp_ set to:1761519132.545048
2025-10-26T22:52:12.547Z,1761519132.547 [DAT](INFO): DAT read: Bearing  99.1,  -3.6 (Local)

2025-10-26T22:52:12.547Z,1761519132.547 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.1,  -3.6 (Local)

2025-10-26T22:52:12.549Z,1761519132.549 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed -0.1

2025-10-26T22:52:12.554Z,1761519132.554 [DAT](INFO): DAT read: 22:52:11.2259 LVL= 31024, 20625, 32754, 32755, AGC= 65, IDX= 510, 0.12,-0.490, 1.384,-0.243, 0.261, PHS=-0.649, 1.168,-0.548, RAW= 327.2,   0.3, CAL= 326.0,  -2.6, ROT= 184.0,   2.6

2025-10-26T22:52:12.555Z,1761519132.555 [DAT](INFO): got valid direction response:
 22:52:11.2259 LVL= 31024, 20625, 32754, 32755, AGC= 65, IDX= 510, 0.12,-0.490, 1.384,-0.243, 0.261, PHS=-0.649, 1.168,-0.548, RAW= 327.2,   0.3, CAL= 326.0,  -2.6, ROT= 184.0,   2.6

2025-10-26T22:52:12.555Z,1761519132.555 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-10-26T22:52:12.556Z,1761519132.556 [DAT](INFO): direction in FSK: [-0.996537,-0.069685,-0.045363]
2025-10-26T22:52:12.556Z,1761519132.556 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:12.560Z,1761519132.560 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.122471
2025-10-26T22:52:12.687Z,1761519132.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484410,-0.873012,-0.056547],[0.874832,-0.483683,-0.026821],[-0.003936,-0.062461,0.998040]]
2025-10-26T22:52:12.751Z,1761519132.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.502178 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:12.766Z,1761519132.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.539880 m,
      bearing: 303.127715 deg,
      lat: 36.779423 deg,
      lon: -121.859382 deg,
      deltaT: 0.502178 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:52:12.772Z,1761519132.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.54 m.
2025-10-26T22:52:12.801Z,1761519132.801 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.362980
2025-10-26T22:52:13.049Z,1761519133.049 [DAT](INFO): DAT read: Rx Time:22:52:11.7261 

2025-10-26T22:52:13.049Z,1761519133.049 [DAT](INFO): Rx dataTimestamp_ set to:1761519133.049180
2025-10-26T22:52:13.051Z,1761519133.051 [DAT](INFO): DAT read: Bearing  66.2,  -8.5 (Local)

2025-10-26T22:52:13.051Z,1761519133.051 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.2,  -8.5 (Local)

2025-10-26T22:52:13.053Z,1761519133.053 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed -0.1

2025-10-26T22:52:13.058Z,1761519133.058 [DAT](INFO): DAT read: 22:52:11.7261 LVL= 29136, 16337, 30898, 32755, AGC= 65, IDX= 512,-0.12, 3.005,-1.998,-2.960,-2.202, PHS=-0.974, 0.249,-0.802, RAW= 322.5,  25.2, CAL= 322.2,  30.3, ROT= 187.8, -30.3

2025-10-26T22:52:13.059Z,1761519133.059 [DAT](INFO): got valid direction response:
 22:52:11.7261 LVL= 29136, 16337, 30898, 32755, AGC= 65, IDX= 512,-0.12, 3.005,-1.998,-2.960,-2.202, PHS=-0.974, 0.249,-0.802, RAW= 322.5,  25.2, CAL= 322.2,  30.3, ROT= 187.8, -30.3

2025-10-26T22:52:13.059Z,1761519133.059 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-10-26T22:52:13.060Z,1761519133.060 [DAT](INFO): direction in FSK: [-0.855407,-0.117176,0.504528]
2025-10-26T22:52:13.061Z,1761519133.061 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:13.065Z,1761519133.065 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.627449
2025-10-26T22:52:13.091Z,1761519133.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484010,-0.873218,-0.056794],[0.875054,-0.483278,-0.026894],[-0.003963,-0.062715,0.998024]]
2025-10-26T22:52:13.216Z,1761519133.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.504132 s,
      deltaX: 0.299999 m,
      approachRate: 0.595081 m/s,
      rangeRepo size: 4

2025-10-26T22:52:13.218Z,1761519133.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.838325 m,
      bearing: 304.656212 deg,
      lat: 36.779423 deg,
      lon: -121.859382 deg,
      deltaT: 0.504132 s,
      deltaX: 0.298445 m,
      approachRate: 0.591997 m/s,
      posRepo size: 4

2025-10-26T22:52:13.219Z,1761519133.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.84 m.
2025-10-26T22:52:13.303Z,1761519133.303 [DAT](INFO): DAT read: Rx Time:22:52:12.2260 

2025-10-26T22:52:13.306Z,1761519133.306 [DAT](INFO): Rx dataTimestamp_ set to:1761519133.305469
2025-10-26T22:52:13.309Z,1761519133.309 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.870705
2025-10-26T22:52:13.533Z,1761519133.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.84 m.
2025-10-26T22:52:13.553Z,1761519133.553 [DAT](INFO): DAT read: Bearing  98.5,  -4.3 (Local)

2025-10-26T22:52:13.554Z,1761519133.554 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.5,  -4.3 (Local)

2025-10-26T22:52:13.556Z,1761519133.556 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed -0.2

2025-10-26T22:52:13.560Z,1761519133.560 [DAT](INFO): DAT read: 22:52:12.2260 LVL= 32752, 20401, 32754, 32755, AGC= 65, IDX= 511, 0.49,-0.347, 1.537,-0.081, 0.429, PHS=-0.674, 1.153,-0.554, RAW= 326.6,   0.9, CAL= 325.3,  -2.1, ROT= 184.7,   2.1

2025-10-26T22:52:13.562Z,1761519133.562 [DAT](INFO): got valid direction response:
 22:52:12.2260 LVL= 32752, 20401, 32754, 32755, AGC= 65, IDX= 511, 0.49,-0.347, 1.537,-0.081, 0.429, PHS=-0.674, 1.153,-0.554, RAW= 326.6,   0.9, CAL= 325.3,  -2.1, ROT= 184.7,   2.1

2025-10-26T22:52:13.562Z,1761519133.562 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-10-26T22:52:13.564Z,1761519133.564 [DAT](INFO): direction in FSK: [-0.995968,-0.081883,-0.036644]
2025-10-26T22:52:13.565Z,1761519133.565 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:13.589Z,1761519133.589 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.151531
2025-10-26T22:52:13.810Z,1761519133.810 [DAT](INFO): DAT read: Rx Time:22:52:12.7261 

2025-10-26T22:52:13.812Z,1761519133.812 [DAT](INFO): Rx dataTimestamp_ set to:1761519133.810746
2025-10-26T22:52:13.817Z,1761519133.817 [DAT](INFO): DAT read: Bearing  96.3,  10.3 (Local)

2025-10-26T22:52:13.818Z,1761519133.818 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.3,  10.3 (Local)

2025-10-26T22:52:13.822Z,1761519133.822 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.383499
2025-10-26T22:52:13.915Z,1761519133.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483309,-0.873648,-0.056132],[0.875436,-0.482662,-0.025471],[-0.004840,-0.061451,0.998098]]
2025-10-26T22:52:13.962Z,1761519133.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.502687 s,
      deltaX: -0.200000 m,
      approachRate: -0.397862 m/s,
      rangeRepo size: 4

2025-10-26T22:52:13.964Z,1761519133.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.639631 m,
      bearing: 303.721256 deg,
      lat: 36.779424 deg,
      lon: -121.859382 deg,
      deltaT: 0.502687 s,
      deltaX: -0.198693 m,
      approachRate: -0.395262 m/s,
      posRepo size: 4

2025-10-26T22:52:13.964Z,1761519133.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:52:14.058Z,1761519134.058 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed -0.2

2025-10-26T22:52:14.063Z,1761519134.063 [DAT](INFO): DAT read: 22:52:12.7261 LVL= 30336, 18305, 32754, 32755, AGC= 64, IDX= 512, 0.15,-2.303,-0.636,-2.543,-1.732, PHS=-0.469, 1.141,-0.855, RAW= 340.5,   2.0, CAL= 340.0,  -0.8, ROT= 170.0,   0.8

2025-10-26T22:52:14.064Z,1761519134.064 [DAT](INFO): got valid direction response:
 22:52:12.7261 LVL= 30336, 18305, 32754, 32755, AGC= 64, IDX= 512, 0.15,-2.303,-0.636,-2.543,-1.732, PHS=-0.469, 1.141,-0.855, RAW= 340.5,   2.0, CAL= 340.0,  -0.8, ROT= 170.0,   0.8

2025-10-26T22:52:14.065Z,1761519134.065 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-10-26T22:52:14.066Z,1761519134.066 [DAT](INFO): direction in FSK: [-0.984712,0.173631,-0.013962]
2025-10-26T22:52:14.066Z,1761519134.066 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:14.070Z,1761519134.070 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=44.632771
2025-10-26T22:52:14.309Z,1761519134.309 [DAT](INFO): DAT read: Rx Time:22:52:13.2261 

2025-10-26T22:52:14.309Z,1761519134.309 [DAT](INFO): Rx dataTimestamp_ set to:1761519134.308750
2025-10-26T22:52:14.310Z,1761519134.310 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed -0.2

2025-10-26T22:52:14.311Z,1761519134.311 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-10-26T22:52:14.312Z,1761519134.312 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.874344
2025-10-26T22:52:14.348Z,1761519134.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482996,-0.873781,-0.056750],[0.875605,-0.482379,-0.025024],[-0.005510,-0.061777,0.998075]]
2025-10-26T22:52:14.428Z,1761519134.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.756883 s,
      deltaX: 0.200000 m,
      approachRate: 0.264241 m/s,
      rangeRepo size: 4

2025-10-26T22:52:14.430Z,1761519134.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.838914 m,
      bearing: 288.950358 deg,
      lat: 36.779424 deg,
      lon: -121.859382 deg,
      deltaT: 0.756883 s,
      deltaX: 0.199283 m,
      approachRate: 0.263294 m/s,
      posRepo size: 4

2025-10-26T22:52:14.430Z,1761519134.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.84 m.
2025-10-26T22:52:14.560Z,1761519134.560 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.122883
2025-10-26T22:52:14.712Z,1761519134.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482832,-0.873854,-0.057025],[0.875692,-0.482245,-0.024554],[-0.006043,-0.061792,0.998071]]
2025-10-26T22:52:14.815Z,1761519134.815 [DAT](INFO): DAT read: Rx Time:22:52:13.7262 

2025-10-26T22:52:14.817Z,1761519134.817 [DAT](INFO): Rx dataTimestamp_ set to:1761519134.816000
2025-10-26T22:52:14.821Z,1761519134.821 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed -0.1

2025-10-26T22:52:14.823Z,1761519134.823 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-10-26T22:52:14.826Z,1761519134.826 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.387756
2025-10-26T22:52:14.888Z,1761519134.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.507250 s,
      deltaX: 0.100000 m,
      approachRate: 0.197142 m/s,
      rangeRepo size: 4

2025-10-26T22:52:14.889Z,1761519134.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.84 m.
2025-10-26T22:52:15.064Z,1761519135.064 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.626816
2025-10-26T22:52:15.120Z,1761519135.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483098,-0.873809,-0.055450],[0.875541,-0.482598,-0.022979],[-0.006681,-0.059650,0.998197]]
2025-10-26T22:52:15.122Z,1761519135.122 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-10-26T22:52:15.195Z,1761519135.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.84 m.
2025-10-26T22:52:15.320Z,1761519135.320 [DAT](INFO): DAT read: Rx Time:22:52:14.2262 

2025-10-26T22:52:15.322Z,1761519135.322 [DAT](INFO): Rx dataTimestamp_ set to:1761519135.320849
2025-10-26T22:52:15.327Z,1761519135.327 [DAT](INFO): DAT read: Bearing  93.0,  -5.9 (Local)

2025-10-26T22:52:15.328Z,1761519135.328 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.0,  -5.9 (Local)

2025-10-26T22:52:15.341Z,1761519135.341 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed -0.1

2025-10-26T22:52:15.343Z,1761519135.343 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-10-26T22:52:15.346Z,1761519135.346 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.908298
2025-10-26T22:52:15.524Z,1761519135.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483159,-0.873898,-0.053480],[0.875502,-0.482750,-0.021180],[-0.007308,-0.057055,0.998344]]
2025-10-26T22:52:15.573Z,1761519135.573 [DAT](INFO): DAT read: 22:52:14.2262 LVL= 30896, 20849, 32754, 32755, AGC= 64, IDX= 513, 0.01, 2.327,-2.201, 2.626,-3.101, PHS=-0.754, 0.945,-0.600, RAW= 325.3,   5.1, CAL= 323.9,   3.5, ROT= 186.1,  -3.5

2025-10-26T22:52:15.574Z,1761519135.574 [DAT](INFO): got valid direction response:
 22:52:14.2262 LVL= 30896, 20849, 32754, 32755, AGC= 64, IDX= 513, 0.01, 2.327,-2.201, 2.626,-3.101, PHS=-0.754, 0.945,-0.600, RAW= 325.3,   5.1, CAL= 323.9,   3.5, ROT= 186.1,  -3.5

2025-10-26T22:52:15.574Z,1761519135.574 [DAT](INFO): #Rx 90: Read direction message, but no range.
2025-10-26T22:52:15.575Z,1761519135.575 [DAT](INFO): direction in FSK: [-0.992483,-0.106066,0.061049]
2025-10-26T22:52:15.578Z,1761519135.578 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=46.140877
2025-10-26T22:52:15.589Z,1761519135.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.504849 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:15.589Z,1761519135.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.84 m.
2025-10-26T22:52:15.831Z,1761519135.831 [DAT](INFO): DAT read: Rx Time:22:52:14.7263 

2025-10-26T22:52:15.834Z,1761519135.834 [DAT](INFO): Rx dataTimestamp_ set to:1761519135.832198
2025-10-26T22:52:15.858Z,1761519135.858 [DAT](INFO): DAT read: Bearing  99.2,  -3.5 (Local)

2025-10-26T22:52:15.858Z,1761519135.858 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.2,  -3.5 (Local)

2025-10-26T22:52:15.871Z,1761519135.871 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed -0.1

2025-10-26T22:52:15.903Z,1761519135.903 [DAT](INFO): DAT read: 22:52:14.7263 LVL= 24272, 18161, 28258, 29827, AGC= 68, IDX=   3,-0.40,-1.888,-0.032,-1.639,-1.150, PHS=-0.636, 1.163,-0.533, RAW= 327.1,   0.1, CAL= 325.9,  -2.9, ROT= 184.1,   2.9

2025-10-26T22:52:15.908Z,1761519135.908 [DAT](INFO): got valid direction response:
 22:52:14.7263 LVL= 24272, 18161, 28258, 29827, AGC= 68, IDX=   3,-0.40,-1.888,-0.032,-1.639,-1.150, PHS=-0.636, 1.163,-0.533, RAW= 327.1,   0.1, CAL= 325.9,  -2.9, ROT= 184.1,   2.9

2025-10-26T22:52:15.909Z,1761519135.909 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-10-26T22:52:15.910Z,1761519135.910 [DAT](INFO): direction in FSK: [-0.996163,-0.071406,-0.050593]
2025-10-26T22:52:15.910Z,1761519135.910 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:15.934Z,1761519135.934 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=46.496689
2025-10-26T22:52:15.938Z,1761519135.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483232,-0.874020,-0.050757],[0.875457,-0.482917,-0.019113],[-0.007806,-0.053672,0.998528]]
2025-10-26T22:52:16.046Z,1761519136.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.511349 s,
      deltaX: 0.200000 m,
      approachRate: 0.391122 m/s,
      rangeRepo size: 4

2025-10-26T22:52:16.052Z,1761519136.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.137658 m,
      bearing: 303.145745 deg,
      lat: 36.779424 deg,
      lon: -121.859382 deg,
      deltaT: 1.523448 s,
      deltaX: 0.298744 m,
      approachRate: 0.196097 m/s,
      posRepo size: 4

2025-10-26T22:52:16.052Z,1761519136.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.14 m.
2025-10-26T22:52:16.073Z,1761519136.073 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=46.635021
2025-10-26T22:52:16.327Z,1761519136.327 [DAT](INFO): DAT read: Rx Time:22:52:15.2263 

2025-10-26T22:52:16.329Z,1761519136.329 [DAT](INFO): Rx dataTimestamp_ set to:1761519136.328016
2025-10-26T22:52:16.332Z,1761519136.332 [DAT](INFO): DAT read: Bearing  99.2,  -3.7 (Local)

2025-10-26T22:52:16.333Z,1761519136.333 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.2,  -3.7 (Local)

2025-10-26T22:52:16.337Z,1761519136.337 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed -0.1

2025-10-26T22:52:16.340Z,1761519136.340 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-10-26T22:52:16.343Z,1761519136.343 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.904530
2025-10-26T22:52:16.375Z,1761519136.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483132,-0.874156,-0.049339],[0.875509,-0.482872,-0.017849],[-0.008222,-0.051820,0.998623]]
2025-10-26T22:52:16.439Z,1761519136.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.495818 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:16.439Z,1761519136.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.14 m.
2025-10-26T22:52:16.585Z,1761519136.585 [DAT](INFO): DAT read: 22:52:15.2263 LVL= 31760, 20177, 32754, 32755, AGC= 65, IDX= 498, 0.05,-1.362, 0.491,-1.106,-0.622, PHS=-0.638, 1.158,-0.528, RAW= 326.9,   0.1, CAL= 325.7,  -2.9, ROT= 184.3,   2.9

2025-10-26T22:52:16.586Z,1761519136.586 [DAT](INFO): got valid direction response:
 22:52:15.2263 LVL= 31760, 20177, 32754, 32755, AGC= 65, IDX= 498, 0.05,-1.362, 0.491,-1.106,-0.622, PHS=-0.638, 1.158,-0.528, RAW= 326.9,   0.1, CAL= 325.7,  -2.9, ROT= 184.3,   2.9

2025-10-26T22:52:16.586Z,1761519136.586 [DAT](INFO): #Rx 93: Read direction message, but no range.
2025-10-26T22:52:16.598Z,1761519136.598 [DAT](INFO): direction in FSK: [-0.995908,-0.074883,-0.050593]
2025-10-26T22:52:16.602Z,1761519136.602 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=47.164078
2025-10-26T22:52:16.742Z,1761519136.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482612,-0.874435,-0.049484],[0.875791,-0.482377,-0.017369],[-0.008682,-0.051720,0.998624]]
2025-10-26T22:52:16.773Z,1761519136.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.14 m.
2025-10-26T22:52:16.846Z,1761519136.846 [DAT](INFO): DAT read: Rx Time:22:52:15.7264 

2025-10-26T22:52:16.849Z,1761519136.849 [DAT](INFO): Rx dataTimestamp_ set to:1761519136.847281
2025-10-26T22:52:16.862Z,1761519136.862 [DAT](INFO): DAT read: Bearing  98.8,  -3.4 (Local)

2025-10-26T22:52:16.865Z,1761519136.865 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.8,  -3.4 (Local)

2025-10-26T22:52:16.881Z,1761519136.881 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed -0.1

2025-10-26T22:52:16.898Z,1761519136.898 [DAT](INFO): DAT read: 22:52:15.7264 LVL= 31584, 19313, 32754, 32755, AGC= 64, IDX= 500,-0.43,-1.607, 0.239,-1.364,-0.863, PHS=-0.642, 1.147,-0.544, RAW= 327.2,   0.4, CAL= 326.0,  -2.5, ROT= 184.0,   2.5

2025-10-26T22:52:16.908Z,1761519136.908 [DAT](INFO): got valid direction response:
 22:52:15.7264 LVL= 31584, 19313, 32754, 32755, AGC= 64, IDX= 500,-0.43,-1.607, 0.239,-1.364,-0.863, PHS=-0.642, 1.147,-0.544, RAW= 327.2,   0.4, CAL= 326.0,  -2.5, ROT= 184.0,   2.5

2025-10-26T22:52:16.908Z,1761519136.908 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-10-26T22:52:16.909Z,1761519136.909 [DAT](INFO): direction in FSK: [-0.996615,-0.069690,-0.043619]
2025-10-26T22:52:16.909Z,1761519136.909 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:16.921Z,1761519136.921 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.483574
2025-10-26T22:52:17.080Z,1761519137.080 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.642815
2025-10-26T22:52:17.081Z,1761519137.081 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:52:17.138Z,1761519137.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482211,-0.874642,-0.049728],[0.876009,-0.481992,-0.017112],[-0.009002,-0.051813,0.998616]]
2025-10-26T22:52:17.250Z,1761519137.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.519265 s,
      deltaX: 0.100000 m,
      approachRate: 0.192581 m/s,
      rangeRepo size: 4

2025-10-26T22:52:17.252Z,1761519137.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.237334 m,
      bearing: 302.953818 deg,
      lat: 36.779424 deg,
      lon: -121.859384 deg,
      deltaT: 1.015083 s,
      deltaX: 0.099676 m,
      approachRate: 0.098195 m/s,
      posRepo size: 4

2025-10-26T22:52:17.252Z,1761519137.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.24 m.
2025-10-26T22:52:17.337Z,1761519137.337 [DAT](INFO): DAT read: Rx Time:22:52:16.2264 

2025-10-26T22:52:17.338Z,1761519137.338 [DAT](INFO): Rx dataTimestamp_ set to:1761519137.337447
2025-10-26T22:52:17.342Z,1761519137.342 [DAT](INFO): DAT read: Bearing  98.7,  -4.0 (Local)

2025-10-26T22:52:17.343Z,1761519137.343 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.7,  -4.0 (Local)

2025-10-26T22:52:17.351Z,1761519137.351 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed 0.0

2025-10-26T22:52:17.353Z,1761519137.353 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-10-26T22:52:17.364Z,1761519137.364 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.926216
2025-10-26T22:52:17.545Z,1761519137.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481900,-0.874719,-0.051363],[0.876177,-0.481663,-0.017723],[-0.009237,-0.053543,0.998523]]
2025-10-26T22:52:17.572Z,1761519137.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.490166 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:17.572Z,1761519137.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.24 m.
2025-10-26T22:52:17.597Z,1761519137.597 [DAT](INFO): DAT read: 22:52:16.2264 LVL= 32064, 20513, 32754, 32755, AGC= 64, IDX= 499, 0.04,-1.693, 0.162,-1.432,-0.937, PHS=-0.654, 1.144,-0.539, RAW= 326.7,   0.6, CAL= 325.5,  -2.4, ROT= 184.5,   2.4

2025-10-26T22:52:17.598Z,1761519137.598 [DAT](INFO): got valid direction response:
 22:52:16.2264 LVL= 32064, 20513, 32754, 32755, AGC= 64, IDX= 499, 0.04,-1.693, 0.162,-1.432,-0.937, PHS=-0.654, 1.144,-0.539, RAW= 326.7,   0.6, CAL= 325.5,  -2.4, ROT= 184.5,   2.4

2025-10-26T22:52:17.598Z,1761519137.598 [DAT](INFO): #Rx 96: Read direction message, but no range.
2025-10-26T22:52:17.600Z,1761519137.600 [DAT](INFO): direction in FSK: [-0.996043,-0.078390,-0.041876]
2025-10-26T22:52:17.603Z,1761519137.603 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=48.165268
2025-10-26T22:52:17.843Z,1761519137.843 [DAT](INFO): DAT read: Rx Time:22:52:16.7264 

2025-10-26T22:52:17.845Z,1761519137.845 [DAT](INFO): Rx dataTimestamp_ set to:1761519137.843650
2025-10-26T22:52:17.851Z,1761519137.851 [DAT](INFO): DAT read: Bearing  98.9,  -4.6 (Local)

2025-10-26T22:52:17.853Z,1761519137.853 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.9,  -4.6 (Local)

2025-10-26T22:52:17.865Z,1761519137.865 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed -0.1

2025-10-26T22:52:17.901Z,1761519137.901 [DAT](INFO): DAT read: 22:52:16.7264 LVL= 32752, 18977, 32754, 32755, AGC= 65, IDX= 499, 0.48,-1.450, 0.408,-1.168,-0.690, PHS=-0.658, 1.143,-0.522, RAW= 326.1,   0.4, CAL= 324.8,  -2.5, ROT= 185.2,   2.5

2025-10-26T22:52:17.902Z,1761519137.902 [DAT](INFO): got valid direction response:
 22:52:16.7264 LVL= 32752, 18977, 32754, 32755, AGC= 65, IDX= 499, 0.48,-1.450, 0.408,-1.168,-0.690, PHS=-0.658, 1.143,-0.522, RAW= 326.1,   0.4, CAL= 324.8,  -2.5, ROT= 185.2,   2.5

2025-10-26T22:52:17.903Z,1761519137.903 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-10-26T22:52:17.923Z,1761519137.923 [DAT](INFO): direction in FSK: [-0.994937,-0.090546,-0.043619]
2025-10-26T22:52:17.924Z,1761519137.924 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:17.946Z,1761519137.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481683,-0.874788,-0.052226],[0.876295,-0.481437,-0.018013],[-0.009386,-0.054442,0.998473]]
2025-10-26T22:52:17.952Z,1761519137.952 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.489670
2025-10-26T22:52:18.037Z,1761519138.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.506203 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:18.043Z,1761519138.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.237608 m,
      bearing: 304.122979 deg,
      lat: 36.779425 deg,
      lon: -121.859384 deg,
      deltaT: 0.996369 s,
      deltaX: 0.000274 m,
      approachRate: 0.000275 m/s,
      posRepo size: 4

2025-10-26T22:52:18.044Z,1761519138.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.24 m.
2025-10-26T22:52:18.084Z,1761519138.084 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:52:18.090Z,1761519138.090 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.652046
2025-10-26T22:52:18.344Z,1761519138.344 [DAT](INFO): DAT read: Rx Time:22:52:17.2264 

2025-10-26T22:52:18.346Z,1761519138.346 [DAT](INFO): Rx dataTimestamp_ set to:1761519138.344989
2025-10-26T22:52:18.350Z,1761519138.350 [DAT](INFO): DAT read: Bearing  99.6,  -4.2 (Local)

2025-10-26T22:52:18.351Z,1761519138.351 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.6,  -4.2 (Local)

2025-10-26T22:52:18.368Z,1761519138.368 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed 0.0

2025-10-26T22:52:18.381Z,1761519138.381 [DAT](INFO): DAT read: 22:52:17.2264 LVL= 32752, 20257, 32754, 32755, AGC= 65, IDX= 499,-0.04, 2.391,-2.044, 2.662, 3.122, PHS=-0.629, 1.162,-0.505, RAW= 326.4,  -0.3, CAL= 325.3,  -3.3, ROT= 184.7,   3.3

2025-10-26T22:52:18.382Z,1761519138.382 [DAT](INFO): got valid direction response:
 22:52:17.2264 LVL= 32752, 20257, 32754, 32755, AGC= 65, IDX= 499,-0.04, 2.391,-2.044, 2.662, 3.122, PHS=-0.629, 1.162,-0.505, RAW= 326.4,  -0.3, CAL= 325.3,  -3.3, ROT= 184.7,   3.3

2025-10-26T22:52:18.383Z,1761519138.383 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-10-26T22:52:18.393Z,1761519138.393 [DAT](INFO): direction in FSK: [-0.994985,-0.081803,-0.057564]
2025-10-26T22:52:18.393Z,1761519138.393 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:18.406Z,1761519138.406 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.968491
2025-10-26T22:52:18.412Z,1761519138.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481428,-0.874891,-0.052847],[0.876433,-0.481183,-0.018114],[-0.009582,-0.055038,0.998438]]
2025-10-26T22:52:18.502Z,1761519138.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.501339 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:18.508Z,1761519138.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.237834 m,
      bearing: 303.652003 deg,
      lat: 36.779424 deg,
      lon: -121.859384 deg,
      deltaT: 0.501339 s,
      deltaX: 0.000226 m,
      approachRate: 0.000451 m/s,
      posRepo size: 4

2025-10-26T22:52:18.509Z,1761519138.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.24 m.
2025-10-26T22:52:18.593Z,1761519138.593 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=49.155415
2025-10-26T22:52:18.768Z,1761519138.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481202,-0.875002,-0.053068],[0.876556,-0.480960,-0.018076],[-0.009707,-0.055215,0.998427]]
2025-10-26T22:52:18.786Z,1761519138.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.24 m.
2025-10-26T22:52:18.857Z,1761519138.857 [DAT](INFO): DAT read: Rx Time:22:52:17.7265 

2025-10-26T22:52:18.859Z,1761519138.859 [DAT](INFO): Rx dataTimestamp_ set to:1761519138.857961
2025-10-26T22:52:18.868Z,1761519138.868 [DAT](INFO): DAT read: Bearing  99.5,  -4.9 (Local)

2025-10-26T22:52:18.870Z,1761519138.870 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.5,  -4.9 (Local)

2025-10-26T22:52:18.902Z,1761519138.902 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.1

2025-10-26T22:52:18.918Z,1761519138.918 [DAT](INFO): DAT read: 22:52:17.7265 LVL= 32752, 20849, 32754, 32755, AGC= 65, IDX= 500, 0.31,-1.335, 0.528,-1.042,-0.585, PHS=-0.648, 1.158,-0.500, RAW= 325.8,  -0.1, CAL= 324.5,  -3.1, ROT= 185.5,   3.1

2025-10-26T22:52:18.928Z,1761519138.928 [DAT](INFO): got valid direction response:
 22:52:17.7265 LVL= 32752, 20849, 32754, 32755, AGC= 65, IDX= 500, 0.31,-1.335, 0.528,-1.042,-0.585, PHS=-0.648, 1.158,-0.500, RAW= 325.8,  -0.1, CAL= 324.5,  -3.1, ROT= 185.5,   3.1

2025-10-26T22:52:18.928Z,1761519138.928 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-10-26T22:52:18.929Z,1761519138.929 [DAT](INFO): direction in FSK: [-0.993940,-0.095706,-0.054079]
2025-10-26T22:52:18.929Z,1761519138.929 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:18.937Z,1761519138.937 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.499737
2025-10-26T22:52:19.096Z,1761519139.096 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.658932
2025-10-26T22:52:19.158Z,1761519139.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481178,-0.875035,-0.052734],[0.876570,-0.480939,-0.017974],[-0.009634,-0.054874,0.998447]]
2025-10-26T22:52:19.218Z,1761519139.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.512972 s,
      deltaX: 0.200000 m,
      approachRate: 0.389884 m/s,
      rangeRepo size: 4

2025-10-26T22:52:19.220Z,1761519139.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.436823 m,
      bearing: 304.422646 deg,
      lat: 36.779425 deg,
      lon: -121.859382 deg,
      deltaT: 0.512972 s,
      deltaX: 0.198989 m,
      approachRate: 0.387914 m/s,
      posRepo size: 4

2025-10-26T22:52:19.220Z,1761519139.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:52:19.353Z,1761519139.353 [DAT](INFO): DAT read: Rx Time:22:52:18.2265 

2025-10-26T22:52:19.355Z,1761519139.355 [DAT](INFO): Rx dataTimestamp_ set to:1761519139.353583
2025-10-26T22:52:19.358Z,1761519139.358 [DAT](INFO): DAT read: Bearing  99.9,  -4.5 (Local)

2025-10-26T22:52:19.359Z,1761519139.359 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.9,  -4.5 (Local)

2025-10-26T22:52:19.361Z,1761519139.361 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.0

2025-10-26T22:52:19.371Z,1761519139.371 [DAT](INFO): DAT read: 22:52:18.2265 LVL= 28464, 19745, 32690, 32755, AGC= 66, IDX= 500,-0.17, 2.367,-2.059, 2.649, 3.098, PHS=-0.629, 1.171,-0.493, RAW= 326.1,  -0.6, CAL= 325.0,  -3.6, ROT= 185.0,   3.6

2025-10-26T22:52:19.377Z,1761519139.377 [DAT](INFO): got valid direction response:
 22:52:18.2265 LVL= 28464, 19745, 32690, 32755, AGC= 66, IDX= 500,-0.17, 2.367,-2.059, 2.649, 3.098, PHS=-0.629, 1.171,-0.493, RAW= 326.1,  -0.6, CAL= 325.0,  -3.6, ROT= 185.0,   3.6

2025-10-26T22:52:19.378Z,1761519139.378 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-10-26T22:52:19.385Z,1761519139.385 [DAT](INFO): direction in FSK: [-0.994229,-0.086984,-0.062791]
2025-10-26T22:52:19.386Z,1761519139.386 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:19.427Z,1761519139.427 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.989517
2025-10-26T22:52:19.562Z,1761519139.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481116,-0.875107,-0.052111],[0.876605,-0.480882,-0.017752],[-0.009524,-0.054221,0.998484]]
2025-10-26T22:52:19.601Z,1761519139.601 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=50.163261
2025-10-26T22:52:19.606Z,1761519139.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.495622 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:19.612Z,1761519139.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.436964 m,
      bearing: 303.944430 deg,
      lat: 36.779425 deg,
      lon: -121.859382 deg,
      deltaT: 0.495622 s,
      deltaX: 0.000141 m,
      approachRate: 0.000285 m/s,
      posRepo size: 4

2025-10-26T22:52:19.613Z,1761519139.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:52:19.860Z,1761519139.860 [DAT](INFO): DAT read: Rx Time:22:52:18.7266 

2025-10-26T22:52:19.861Z,1761519139.861 [DAT](INFO): Rx dataTimestamp_ set to:1761519139.860280
2025-10-26T22:52:19.866Z,1761519139.866 [DAT](INFO): DAT read: Bearing  98.8,  -5.5 (Local)

2025-10-26T22:52:19.872Z,1761519139.872 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.8,  -5.5 (Local)

2025-10-26T22:52:19.891Z,1761519139.891 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.1

2025-10-26T22:52:19.928Z,1761519139.928 [DAT](INFO): DAT read: 22:52:18.7266 LVL= 31808, 19825, 32754, 32755, AGC= 65, IDX= 501, 0.18,-0.605, 1.248,-0.300, 0.163, PHS=-0.665, 1.131,-0.506, RAW= 325.4,   0.5, CAL= 324.1,  -2.5, ROT= 185.9,   2.5

2025-10-26T22:52:19.929Z,1761519139.929 [DAT](INFO): got valid direction response:
 22:52:18.7266 LVL= 31808, 19825, 32754, 32755, AGC= 65, IDX= 501, 0.18,-0.605, 1.248,-0.300, 0.163, PHS=-0.665, 1.131,-0.506, RAW= 325.4,   0.5, CAL= 324.1,  -2.5, ROT= 185.9,   2.5

2025-10-26T22:52:19.929Z,1761519139.929 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-10-26T22:52:19.930Z,1761519139.930 [DAT](INFO): direction in FSK: [-0.993756,-0.102695,-0.043619]
2025-10-26T22:52:19.930Z,1761519139.930 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:19.938Z,1761519139.938 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.500561
2025-10-26T22:52:19.966Z,1761519139.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481270,-0.875083,-0.051084],[0.876524,-0.481039,-0.017532],[-0.009231,-0.053214,0.998540]]
2025-10-26T22:52:20.102Z,1761519140.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.506697 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:20.105Z,1761519140.105 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.666977
2025-10-26T22:52:20.112Z,1761519140.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.436964 m,
      bearing: 304.791931 deg,
      lat: 36.779425 deg,
      lon: -121.859382 deg,
      deltaT: 0.506697 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:52:20.112Z,1761519140.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:52:20.359Z,1761519140.359 [DAT](INFO): DAT read: Rx Time:22:52:19.2266 

2025-10-26T22:52:20.360Z,1761519140.360 [DAT](INFO): Rx dataTimestamp_ set to:1761519140.359597
2025-10-26T22:52:20.361Z,1761519140.361 [DAT](INFO): DAT read: Bearing  99.5,  -5.5 (Local)

2025-10-26T22:52:20.362Z,1761519140.362 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.5,  -5.5 (Local)

2025-10-26T22:52:20.366Z,1761519140.366 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.1

2025-10-26T22:52:20.378Z,1761519140.378 [DAT](INFO): DAT read: 22:52:19.2266 LVL= 27504, 19569, 31154, 32755, AGC= 66, IDX= 501,-0.27, 2.676,-1.760, 2.987,-2.860, PHS=-0.645, 1.145,-0.481, RAW= 325.2,  -0.2, CAL= 324.0,  -3.2, ROT= 186.0,   3.2

2025-10-26T22:52:20.388Z,1761519140.388 [DAT](INFO): got valid direction response:
 22:52:19.2266 LVL= 27504, 19569, 31154, 32755, AGC= 66, IDX= 501,-0.27, 2.676,-1.760, 2.987,-2.860, PHS=-0.645, 1.145,-0.481, RAW= 325.2,  -0.2, CAL= 324.0,  -3.2, ROT= 186.0,   3.2

2025-10-26T22:52:20.388Z,1761519140.388 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-10-26T22:52:20.390Z,1761519140.390 [DAT](INFO): direction in FSK: [-0.992971,-0.104365,-0.055822]
2025-10-26T22:52:20.390Z,1761519140.390 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:20.402Z,1761519140.402 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.964920
2025-10-26T22:52:20.432Z,1761519140.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481587,-0.874942,-0.050497],[0.876352,-0.481352,-0.017508],[-0.008988,-0.052685,0.998571]]
2025-10-26T22:52:20.519Z,1761519140.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.499317 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:20.529Z,1761519140.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.437144 m,
      bearing: 304.947358 deg,
      lat: 36.779426 deg,
      lon: -121.859382 deg,
      deltaT: 0.499317 s,
      deltaX: 0.000180 m,
      approachRate: 0.000361 m/s,
      posRepo size: 4

2025-10-26T22:52:20.529Z,1761519140.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:52:20.610Z,1761519140.610 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=51.172878
2025-10-26T22:52:20.790Z,1761519140.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482372,-0.874505,-0.050581],[0.875925,-0.482108,-0.018101],[-0.008556,-0.053036,0.998556]]
2025-10-26T22:52:20.867Z,1761519140.867 [DAT](INFO): DAT read: Rx Time:22:52:19.7267 

2025-10-26T22:52:20.868Z,1761519140.868 [DAT](INFO): Rx dataTimestamp_ set to:1761519140.867727
2025-10-26T22:52:20.871Z,1761519140.871 [DAT](INFO): DAT read: Bearing  99.4,  -6.8 (Local)

2025-10-26T22:52:20.871Z,1761519140.871 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.4,  -6.8 (Local)

2025-10-26T22:52:20.874Z,1761519140.874 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed 0.0

2025-10-26T22:52:20.907Z,1761519140.907 [DAT](INFO): DAT read: 22:52:19.7267 LVL= 28144, 19921, 32754, 32755, AGC= 66, IDX= 502, 0.11,-0.621, 1.245,-0.270, 0.153, PHS=-0.673, 1.137,-0.467, RAW= 324.0,   0.0, CAL= 322.7,  -3.0, ROT= 187.3,   3.0

2025-10-26T22:52:20.919Z,1761519140.919 [DAT](INFO): got valid direction response:
 22:52:19.7267 LVL= 28144, 19921, 32754, 32755, AGC= 66, IDX= 502, 0.11,-0.621, 1.245,-0.270, 0.153, PHS=-0.673, 1.137,-0.467, RAW= 324.0,   0.0, CAL= 322.7,  -3.0, ROT= 187.3,   3.0

2025-10-26T22:52:20.938Z,1761519140.938 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-10-26T22:52:20.948Z,1761519140.948 [DAT](INFO): direction in FSK: [-0.990535,-0.126891,-0.052336]
2025-10-26T22:52:20.949Z,1761519140.949 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:20.961Z,1761519140.961 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.522968
2025-10-26T22:52:20.976Z,1761519140.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.508130 s,
      deltaX: 0.100000 m,
      approachRate: 0.196801 m/s,
      rangeRepo size: 4

2025-10-26T22:52:20.978Z,1761519140.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.536641 m,
      bearing: 306.286695 deg,
      lat: 36.779426 deg,
      lon: -121.859381 deg,
      deltaT: 0.508130 s,
      deltaX: 0.099497 m,
      approachRate: 0.195810 m/s,
      posRepo size: 4

2025-10-26T22:52:20.979Z,1761519140.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:52:21.117Z,1761519141.117 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.678967
2025-10-26T22:52:21.228Z,1761519141.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483006,-0.874140,-0.050830],[0.875578,-0.482714,-0.018691],[-0.008198,-0.053534,0.998532]]
2025-10-26T22:52:21.289Z,1761519141.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:52:21.370Z,1761519141.370 [DAT](INFO): DAT read: Rx Time:22:52:20.2266 

2025-10-26T22:52:21.371Z,1761519141.371 [DAT](INFO): Rx dataTimestamp_ set to:1761519141.370502
2025-10-26T22:52:21.373Z,1761519141.373 [DAT](INFO): DAT read: Bearing  99.5,  -5.8 (Local)

2025-10-26T22:52:21.373Z,1761519141.373 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.5,  -5.8 (Local)

2025-10-26T22:52:21.377Z,1761519141.377 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.1

2025-10-26T22:52:21.393Z,1761519141.393 [DAT](INFO): DAT read: 22:52:20.2266 LVL= 30000, 19585, 32754, 32755, AGC= 66, IDX= 502,-0.29, 2.342,-2.092, 2.663, 3.097, PHS=-0.653, 1.140,-0.478, RAW= 324.9,  -0.1, CAL= 323.6,  -3.1, ROT= 186.4,   3.1

2025-10-26T22:52:21.394Z,1761519141.394 [DAT](INFO): got valid direction response:
 22:52:20.2266 LVL= 30000, 19585, 32754, 32755, AGC= 66, IDX= 502,-0.29, 2.342,-2.092, 2.663, 3.097, PHS=-0.653, 1.140,-0.478, RAW= 324.9,  -0.1, CAL= 323.6,  -3.1, ROT= 186.4,   3.1

2025-10-26T22:52:21.395Z,1761519141.395 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-10-26T22:52:21.408Z,1761519141.408 [DAT](INFO): direction in FSK: [-0.992314,-0.111306,-0.054079]
2025-10-26T22:52:21.408Z,1761519141.408 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:21.420Z,1761519141.420 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.982597
2025-10-26T22:52:21.620Z,1761519141.620 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=52.182896
2025-10-26T22:52:21.633Z,1761519141.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483789,-0.873696,-0.051023],[0.875150,-0.483463,-0.019377],[-0.007738,-0.054027,0.998510]]
2025-10-26T22:52:21.658Z,1761519141.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.502775 s,
      deltaX: -0.100000 m,
      approachRate: -0.198897 m/s,
      rangeRepo size: 4

2025-10-26T22:52:21.660Z,1761519141.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.437268 m,
      bearing: 305.489177 deg,
      lat: 36.779426 deg,
      lon: -121.859380 deg,
      deltaT: 0.502775 s,
      deltaX: -0.099373 m,
      approachRate: -0.197649 m/s,
      posRepo size: 4

2025-10-26T22:52:21.660Z,1761519141.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:52:21.874Z,1761519141.874 [DAT](INFO): DAT read: Rx Time:22:52:20.7267 

2025-10-26T22:52:21.877Z,1761519141.877 [DAT](INFO): Rx dataTimestamp_ set to:1761519141.875413
2025-10-26T22:52:21.883Z,1761519141.883 [DAT](INFO): DAT read: Bearing  99.6,  -7.2 (Local)

2025-10-26T22:52:21.884Z,1761519141.884 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.6,  -7.2 (Local)

2025-10-26T22:52:21.892Z,1761519141.892 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed -0.1

2025-10-26T22:52:21.941Z,1761519141.941 [DAT](INFO): DAT read: 22:52:20.7267 LVL= 26016, 17761, 30370, 32755, AGC= 66, IDX= 502, 0.13,-2.466,-0.615,-2.106,-1.694, PHS=-0.670, 1.124,-0.455, RAW= 323.7,   0.0, CAL= 322.4,  -3.0, ROT= 187.6,   3.0

2025-10-26T22:52:21.943Z,1761519141.943 [DAT](INFO): got valid direction response:
 22:52:20.7267 LVL= 26016, 17761, 30370, 32755, AGC= 66, IDX= 502, 0.13,-2.466,-0.615,-2.106,-1.694, PHS=-0.670, 1.124,-0.455, RAW= 323.7,   0.0, CAL= 322.4,  -3.0, ROT= 187.6,   3.0

2025-10-26T22:52:21.975Z,1761519141.975 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-10-26T22:52:21.976Z,1761519141.976 [DAT](INFO): direction in FSK: [-0.989857,-0.132075,-0.052336]
2025-10-26T22:52:21.977Z,1761519141.977 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:21.989Z,1761519141.989 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.550964
2025-10-26T22:52:22.093Z,1761519142.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.504911 s,
      deltaX: 0.100000 m,
      approachRate: 0.198055 m/s,
      rangeRepo size: 4

2025-10-26T22:52:22.095Z,1761519142.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.536767 m,
      bearing: 306.681464 deg,
      lat: 36.779426 deg,
      lon: -121.859379 deg,
      deltaT: 0.504911 s,
      deltaX: 0.099499 m,
      approachRate: 0.197062 m/s,
      posRepo size: 4

2025-10-26T22:52:22.096Z,1761519142.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:52:22.124Z,1761519142.124 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.686787
2025-10-26T22:52:22.378Z,1761519142.378 [DAT](INFO): DAT read: Rx Time:22:52:21.2267 

2025-10-26T22:52:22.378Z,1761519142.378 [DAT](INFO): Rx dataTimestamp_ set to:1761519142.378144
2025-10-26T22:52:22.381Z,1761519142.381 [DAT](INFO): DAT read: Bearing  99.5,  -6.5 (Local)

2025-10-26T22:52:22.381Z,1761519142.381 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.5,  -6.5 (Local)

2025-10-26T22:52:22.389Z,1761519142.389 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed -0.1

2025-10-26T22:52:22.411Z,1761519142.411 [DAT](INFO): DAT read: 22:52:21.2267 LVL= 27120, 18417, 30258, 32755, AGC= 65, IDX= 502,-0.19, 0.850, 2.710, 1.188, 1.619, PHS=-0.668, 1.135,-0.475, RAW= 324.4,   0.1, CAL= 323.1,  -2.9, ROT= 186.9,   2.9

2025-10-26T22:52:22.412Z,1761519142.412 [DAT](INFO): got valid direction response:
 22:52:21.2267 LVL= 27120, 18417, 30258, 32755, AGC= 65, IDX= 502,-0.19, 0.850, 2.710, 1.188, 1.619, PHS=-0.668, 1.135,-0.475, RAW= 324.4,   0.1, CAL= 323.1,  -2.9, ROT= 186.9,   2.9

2025-10-26T22:52:22.412Z,1761519142.412 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-10-26T22:52:22.413Z,1761519142.413 [DAT](INFO): direction in FSK: [-0.991486,-0.119983,-0.050593]
2025-10-26T22:52:22.414Z,1761519142.414 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:22.438Z,1761519142.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485947,-0.872490,-0.051149],[0.873964,-0.485534,-0.021054],[-0.006465,-0.054934,0.998469]]
2025-10-26T22:52:22.454Z,1761519142.454 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=53.015991
2025-10-26T22:52:22.508Z,1761519142.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.502731 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:22.510Z,1761519142.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.536952 m,
      bearing: 306.121297 deg,
      lat: 36.779427 deg,
      lon: -121.859378 deg,
      deltaT: 0.502731 s,
      deltaX: 0.000185 m,
      approachRate: 0.000368 m/s,
      posRepo size: 4

2025-10-26T22:52:22.511Z,1761519142.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:52:22.629Z,1761519142.629 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=53.190956
2025-10-26T22:52:22.873Z,1761519142.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487294,-0.871781,-0.050421],[0.873219,-0.486848,-0.021602],[-0.005715,-0.054555,0.998494]]
2025-10-26T22:52:22.882Z,1761519142.882 [DAT](INFO): DAT read: Rx Time:22:52:21.7268 

2025-10-26T22:52:22.883Z,1761519142.883 [DAT](INFO): Rx dataTimestamp_ set to:1761519142.882483
2025-10-26T22:52:22.885Z,1761519142.885 [DAT](INFO): DAT read: Bearing  99.1,  -7.2 (Local)

2025-10-26T22:52:22.886Z,1761519142.886 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.1,  -7.2 (Local)

2025-10-26T22:52:22.890Z,1761519142.890 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed -0.1

2025-10-26T22:52:22.898Z,1761519142.898 [DAT](INFO): DAT read: 22:52:21.7268 LVL= 32432, 22769, 32690, 32755, AGC= 65, IDX= 503, 0.23,-2.524,-0.669,-2.169,-1.737, PHS=-0.685, 1.113,-0.475, RAW= 323.9,   0.6, CAL= 322.5,  -2.4, ROT= 187.5,   2.4

2025-10-26T22:52:22.899Z,1761519142.899 [DAT](INFO): got valid direction response:
 22:52:21.7268 LVL= 32432, 22769, 32690, 32755, AGC= 65, IDX= 503, 0.23,-2.524,-0.669,-2.169,-1.737, PHS=-0.685, 1.113,-0.475, RAW= 323.9,   0.6, CAL= 322.5,  -2.4, ROT= 187.5,   2.4

2025-10-26T22:52:22.899Z,1761519142.899 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-10-26T22:52:22.900Z,1761519142.900 [DAT](INFO): direction in FSK: [-0.990575,-0.130412,-0.041876]
2025-10-26T22:52:22.901Z,1761519142.901 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:22.904Z,1761519142.904 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.466721
2025-10-26T22:52:22.999Z,1761519142.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.504339 s,
      deltaX: 0.200000 m,
      approachRate: 0.396558 m/s,
      rangeRepo size: 4

2025-10-26T22:52:23.002Z,1761519143.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.735951 m,
      bearing: 306.780807 deg,
      lat: 36.779428 deg,
      lon: -121.859378 deg,
      deltaT: 0.504339 s,
      deltaX: 0.198999 m,
      approachRate: 0.394575 m/s,
      posRepo size: 4

2025-10-26T22:52:23.002Z,1761519143.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.74 m.
2025-10-26T22:52:23.133Z,1761519143.133 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.695099
2025-10-26T22:52:23.252Z,1761519143.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488258,-0.871275,-0.049846],[0.872684,-0.487791,-0.021971],[-0.005172,-0.054227,0.998515]]
2025-10-26T22:52:23.368Z,1761519143.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.74 m.
2025-10-26T22:52:23.389Z,1761519143.389 [DAT](INFO): DAT read: Rx Time:22:52:22.2268 

2025-10-26T22:52:23.391Z,1761519143.391 [DAT](INFO): Rx dataTimestamp_ set to:1761519143.389436
2025-10-26T22:52:23.392Z,1761519143.392 [DAT](INFO): DAT read: Bearing  98.3,  -6.6 (Local)

2025-10-26T22:52:23.393Z,1761519143.393 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.3,  -6.6 (Local)

2025-10-26T22:52:23.395Z,1761519143.395 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed -0.2

2025-10-26T22:52:23.399Z,1761519143.399 [DAT](INFO): DAT read: 22:52:22.2268 LVL= 32752, 20193, 32754, 32755, AGC= 66, IDX= 503,-0.15, 0.900, 2.740, 1.230, 1.694, PHS=-0.692, 1.091,-0.508, RAW= 324.6,   1.3, CAL= 323.1,  -1.6, ROT= 186.9,   1.6

2025-10-26T22:52:23.400Z,1761519143.400 [DAT](INFO): got valid direction response:
 22:52:22.2268 LVL= 32752, 20193, 32754, 32755, AGC= 66, IDX= 503,-0.15, 0.900, 2.740, 1.230, 1.694, PHS=-0.692, 1.091,-0.508, RAW= 324.6,   1.3, CAL= 323.1,  -1.6, ROT= 186.9,   1.6

2025-10-26T22:52:23.401Z,1761519143.401 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-10-26T22:52:23.402Z,1761519143.402 [DAT](INFO): direction in FSK: [-0.992370,-0.120090,-0.027922]
2025-10-26T22:52:23.402Z,1761519143.402 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:23.407Z,1761519143.407 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.969135
2025-10-26T22:52:23.636Z,1761519143.636 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=54.198898
2025-10-26T22:52:23.654Z,1761519143.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489618,-0.870549,-0.049181],[0.871925,-0.489122,-0.022489],[-0.004477,-0.053893,0.998537]]
2025-10-26T22:52:23.694Z,1761519143.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.506953 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:23.700Z,1761519143.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.736053 m,
      bearing: 306.290906 deg,
      lat: 36.779428 deg,
      lon: -121.859378 deg,
      deltaT: 0.506953 s,
      deltaX: 0.000102 m,
      approachRate: 0.000201 m/s,
      posRepo size: 4

2025-10-26T22:52:23.701Z,1761519143.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.74 m.
2025-10-26T22:52:23.892Z,1761519143.892 [DAT](INFO): DAT read: Rx Time:22:52:22.7269 

2025-10-26T22:52:23.893Z,1761519143.893 [DAT](INFO): Rx dataTimestamp_ set to:1761519143.892302
2025-10-26T22:52:23.895Z,1761519143.895 [DAT](INFO): DAT read: Bearing  99.6,  -6.6 (Local)

2025-10-26T22:52:23.896Z,1761519143.896 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.6,  -6.6 (Local)

2025-10-26T22:52:23.898Z,1761519143.898 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed 0.0

2025-10-26T22:52:23.902Z,1761519143.902 [DAT](INFO): DAT read: 22:52:22.7269 LVL= 32544, 20321, 32418, 32755, AGC= 66, IDX= 504, 0.27,-2.530,-0.665,-2.191,-1.757, PHS=-0.670, 1.137,-0.478, RAW= 324.4,   0.1, CAL= 323.1,  -2.9, ROT= 186.9,   2.9

2025-10-26T22:52:23.903Z,1761519143.903 [DAT](INFO): got valid direction response:
 22:52:22.7269 LVL= 32544, 20321, 32418, 32755, AGC= 66, IDX= 504, 0.27,-2.530,-0.665,-2.191,-1.757, PHS=-0.670, 1.137,-0.478, RAW= 324.4,   0.1, CAL= 323.1,  -2.9, ROT= 186.9,   2.9

2025-10-26T22:52:23.904Z,1761519143.904 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-26T22:52:23.906Z,1761519143.906 [DAT](INFO): direction in FSK: [-0.991486,-0.119983,-0.050593]
2025-10-26T22:52:23.908Z,1761519143.908 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:23.942Z,1761519143.942 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.503887
2025-10-26T22:52:24.058Z,1761519144.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490859,-0.869899,-0.048309],[0.871231,-0.490343,-0.022821],[-0.003836,-0.053290,0.998572]]
2025-10-26T22:52:24.122Z,1761519144.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.502866 s,
      deltaX: 0.099999 m,
      approachRate: 0.198859 m/s,
      rangeRepo size: 4

2025-10-26T22:52:24.125Z,1761519144.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.835553 m,
      bearing: 306.439925 deg,
      lat: 36.779428 deg,
      lon: -121.859378 deg,
      deltaT: 0.502866 s,
      deltaX: 0.099500 m,
      approachRate: 0.197865 m/s,
      posRepo size: 4

2025-10-26T22:52:24.125Z,1761519144.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.84 m.
2025-10-26T22:52:24.141Z,1761519144.141 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.703224
2025-10-26T22:52:24.393Z,1761519144.393 [DAT](INFO): DAT read: Rx Time:22:52:23.2269 

2025-10-26T22:52:24.393Z,1761519144.393 [DAT](INFO): Rx dataTimestamp_ set to:1761519144.393159
2025-10-26T22:52:24.395Z,1761519144.395 [DAT](INFO): DAT read: Bearing  98.7,  -5.6 (Local)

2025-10-26T22:52:24.395Z,1761519144.395 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.7,  -5.6 (Local)

2025-10-26T22:52:24.397Z,1761519144.397 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed 0.0

2025-10-26T22:52:24.402Z,1761519144.402 [DAT](INFO): DAT read: 22:52:23.2269 LVL= 32752, 18417, 32754, 32755, AGC= 65, IDX= 504,-0.12, 0.670, 2.542, 0.970, 1.455, PHS=-0.684, 1.132,-0.530, RAW= 325.6,   0.9, CAL= 324.2,  -2.0, ROT= 185.8,   2.0

2025-10-26T22:52:24.403Z,1761519144.403 [DAT](INFO): got valid direction response:
 22:52:23.2269 LVL= 32752, 18417, 32754, 32755, AGC= 65, IDX= 504,-0.12, 0.670, 2.542, 0.970, 1.455, PHS=-0.684, 1.132,-0.530, RAW= 325.6,   0.9, CAL= 324.2,  -2.0, ROT= 185.8,   2.0

2025-10-26T22:52:24.403Z,1761519144.403 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-10-26T22:52:24.404Z,1761519144.404 [DAT](INFO): direction in FSK: [-0.994275,-0.100995,-0.034899]
2025-10-26T22:52:24.404Z,1761519144.404 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:24.411Z,1761519144.411 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.973213
2025-10-26T22:52:24.462Z,1761519144.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492078,-0.869244,-0.047683],[0.870545,-0.491545,-0.023130],[-0.003332,-0.052892,0.998595]]
2025-10-26T22:52:24.535Z,1761519144.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.500857 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:24.545Z,1761519144.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.835969 m,
      bearing: 305.374081 deg,
      lat: 36.779428 deg,
      lon: -121.859378 deg,
      deltaT: 0.500857 s,
      deltaX: 0.000416 m,
      approachRate: 0.000830 m/s,
      posRepo size: 4

2025-10-26T22:52:24.546Z,1761519144.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.84 m.
2025-10-26T22:52:24.645Z,1761519144.645 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=55.207684
2025-10-26T22:52:24.888Z,1761519144.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493316,-0.868559,-0.047382],[0.869845,-0.492764,-0.023522],[-0.002918,-0.052819,0.998600]]
2025-10-26T22:52:24.897Z,1761519144.897 [DAT](INFO): DAT read: Rx Time:22:52:23.7270 

2025-10-26T22:52:24.898Z,1761519144.898 [DAT](INFO): Rx dataTimestamp_ set to:1761519144.897230
2025-10-26T22:52:24.899Z,1761519144.899 [DAT](INFO): DAT read: Bearing  99.3,  -6.0 (Local)

2025-10-26T22:52:24.899Z,1761519144.899 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.3,  -6.0 (Local)

2025-10-26T22:52:24.901Z,1761519144.901 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed -0.1

2025-10-26T22:52:24.906Z,1761519144.906 [DAT](INFO): DAT read: 22:52:23.7270 LVL= 32752, 18865, 32754, 32755, AGC= 65, IDX= 505, 0.28,-2.272,-0.416,-1.958,-1.502, PHS=-0.668, 1.131,-0.500, RAW= 325.1,   0.4, CAL= 323.8,  -2.5, ROT= 186.2,   2.5

2025-10-26T22:52:24.907Z,1761519144.907 [DAT](INFO): got valid direction response:
 22:52:23.7270 LVL= 32752, 18865, 32754, 32755, AGC= 65, IDX= 505, 0.28,-2.272,-0.416,-1.958,-1.502, PHS=-0.668, 1.131,-0.500, RAW= 325.1,   0.4, CAL= 323.8,  -2.5, ROT= 186.2,   2.5

2025-10-26T22:52:24.907Z,1761519144.907 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-10-26T22:52:24.908Z,1761519144.908 [DAT](INFO): direction in FSK: [-0.993205,-0.107897,-0.043619]
2025-10-26T22:52:24.909Z,1761519144.909 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:24.923Z,1761519144.923 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.485008
2025-10-26T22:52:25.005Z,1761519145.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.504071 s,
      deltaX: 0.200001 m,
      approachRate: 0.396771 m/s,
      rangeRepo size: 4

2025-10-26T22:52:25.023Z,1761519145.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.034977 m,
      bearing: 305.880981 deg,
      lat: 36.779428 deg,
      lon: -121.859378 deg,
      deltaT: 0.504071 s,
      deltaX: 0.199008 m,
      approachRate: 0.394801 m/s,
      posRepo size: 4

2025-10-26T22:52:25.024Z,1761519145.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m.
2025-10-26T22:52:25.149Z,1761519145.149 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.711082
2025-10-26T22:52:25.268Z,1761519145.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494426,-0.867946,-0.047045],[0.869216,-0.493857,-0.023834],[-0.002547,-0.052676,0.998608]]
2025-10-26T22:52:25.401Z,1761519145.401 [DAT](INFO): DAT read: Rx Time:22:52:24.2270 

2025-10-26T22:52:25.401Z,1761519145.401 [DAT](INFO): Rx dataTimestamp_ set to:1761519145.401113
2025-10-26T22:52:25.403Z,1761519145.403 [DAT](INFO): DAT read: Bearing  98.1,  -4.7 (Local)

2025-10-26T22:52:25.403Z,1761519145.403 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.1,  -4.7 (Local)

2025-10-26T22:52:25.405Z,1761519145.405 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed -0.1

2025-10-26T22:52:25.410Z,1761519145.410 [DAT](INFO): DAT read: 22:52:24.2270 LVL= 32752, 22161, 32754, 32755, AGC= 66, IDX= 505,-0.17, 1.199, 3.048, 1.468, 1.980, PHS=-0.679, 1.113,-0.556, RAW= 326.5,   1.4, CAL= 325.1,  -1.5, ROT= 184.9,   1.5

2025-10-26T22:52:25.411Z,1761519145.411 [DAT](INFO): got valid direction response:
 22:52:24.2270 LVL= 32752, 22161, 32754, 32755, AGC= 66, IDX= 505,-0.17, 1.199, 3.048, 1.468, 1.980, PHS=-0.679, 1.113,-0.556, RAW= 326.5,   1.4, CAL= 325.1,  -1.5, ROT= 184.9,   1.5

2025-10-26T22:52:25.411Z,1761519145.411 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-10-26T22:52:25.412Z,1761519145.412 [DAT](INFO): direction in FSK: [-0.996004,-0.085388,-0.026177]
2025-10-26T22:52:25.412Z,1761519145.412 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:25.416Z,1761519145.416 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.978634
2025-10-26T22:52:25.419Z,1761519145.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.503883 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:25.424Z,1761519145.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m.
2025-10-26T22:52:25.653Z,1761519145.653 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=56.215118
2025-10-26T22:52:25.670Z,1761519145.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495538,-0.867326,-0.046776],[0.868584,-0.494955,-0.024135],[-0.002219,-0.052589,0.998614]]
2025-10-26T22:52:25.708Z,1761519145.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m.
2025-10-26T22:52:25.905Z,1761519145.905 [DAT](INFO): DAT read: Rx Time:22:52:24.7270 

2025-10-26T22:52:25.906Z,1761519145.906 [DAT](INFO): Rx dataTimestamp_ set to:1761519145.905304
2025-10-26T22:52:25.907Z,1761519145.907 [DAT](INFO): DAT read: Bearing  99.3,  -4.3 (Local)

2025-10-26T22:52:25.907Z,1761519145.907 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.3,  -4.3 (Local)

2025-10-26T22:52:25.909Z,1761519145.909 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed -0.1

2025-10-26T22:52:25.914Z,1761519145.914 [DAT](INFO): DAT read: 22:52:24.7270 LVL= 30896, 19841, 32754, 32755, AGC= 65, IDX= 505, 0.20, 2.824,-1.619, 3.085,-2.717, PHS=-0.639, 1.143,-0.525, RAW= 326.7,   0.2, CAL= 325.5,  -2.7, ROT= 184.5,   2.7

2025-10-26T22:52:25.915Z,1761519145.915 [DAT](INFO): got valid direction response:
 22:52:24.7270 LVL= 30896, 19841, 32754, 32755, AGC= 65, IDX= 505, 0.20, 2.824,-1.619, 3.085,-2.717, PHS=-0.639, 1.143,-0.525, RAW= 326.7,   0.2, CAL= 325.5,  -2.7, ROT= 184.5,   2.7

2025-10-26T22:52:25.915Z,1761519145.915 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-10-26T22:52:25.916Z,1761519145.916 [DAT](INFO): direction in FSK: [-0.995811,-0.078372,-0.047106]
2025-10-26T22:52:25.917Z,1761519145.917 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:25.965Z,1761519145.965 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.526917
2025-10-26T22:52:26.091Z,1761519146.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496562,-0.866741,-0.046754],[0.867999,-0.495961,-0.024504],[-0.001950,-0.052750,0.998606]]
2025-10-26T22:52:26.156Z,1761519146.156 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.718872
2025-10-26T22:52:26.399Z,1761519146.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.504191 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:26.401Z,1761519146.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.035093 m,
      bearing: 304.408312 deg,
      lat: 36.779426 deg,
      lon: -121.859380 deg,
      deltaT: 1.008074 s,
      deltaX: 0.000116 m,
      approachRate: 0.000115 m/s,
      posRepo size: 4

2025-10-26T22:52:26.402Z,1761519146.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.04 m.
2025-10-26T22:52:26.409Z,1761519146.409 [DAT](INFO): DAT read: Rx Time:22:52:25.2270 

2025-10-26T22:52:26.410Z,1761519146.410 [DAT](INFO): Rx dataTimestamp_ set to:1761519146.409202
2025-10-26T22:52:26.411Z,1761519146.411 [DAT](INFO): DAT read: Bearing  98.2,  -4.0 (Local)

2025-10-26T22:52:26.411Z,1761519146.411 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.2,  -4.0 (Local)

2025-10-26T22:52:26.413Z,1761519146.413 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed 0.0

2025-10-26T22:52:26.418Z,1761519146.418 [DAT](INFO): DAT read: 22:52:25.2270 LVL= 32752, 25457, 32754, 32755, AGC= 65, IDX= 505,-0.28, 0.127, 1.983, 0.372, 0.901, PHS=-0.672, 1.126,-0.573, RAW= 327.2,   1.4, CAL= 325.9,  -1.5, ROT= 184.1,   1.5

2025-10-26T22:52:26.419Z,1761519146.419 [DAT](INFO): got valid direction response:
 22:52:25.2270 LVL= 32752, 25457, 32754, 32755, AGC= 65, IDX= 505,-0.28, 0.127, 1.983, 0.372, 0.901, PHS=-0.672, 1.126,-0.573, RAW= 327.2,   1.4, CAL= 325.9,  -1.5, ROT= 184.1,   1.5

2025-10-26T22:52:26.420Z,1761519146.420 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-10-26T22:52:26.421Z,1761519146.421 [DAT](INFO): direction in FSK: [-0.997099,-0.071473,-0.026177]
2025-10-26T22:52:26.421Z,1761519146.421 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:26.425Z,1761519146.425 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.987438
2025-10-26T22:52:26.660Z,1761519146.660 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=57.222820
2025-10-26T22:52:26.663Z,1761519146.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498472,-0.865601,-0.047537],[0.866904,-0.497821,-0.025514],[-0.001580,-0.053928,0.998544]]
2025-10-26T22:52:26.686Z,1761519146.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.503898 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:26.689Z,1761519146.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.035093 m,
      bearing: 304.073611 deg,
      lat: 36.779426 deg,
      lon: -121.859380 deg,
      deltaT: 0.503898 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:52:26.689Z,1761519146.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.04 m.
2025-10-26T22:52:26.914Z,1761519146.914 [DAT](INFO): DAT read: Rx Time:22:52:25.7271 

2025-10-26T22:52:26.914Z,1761519146.914 [DAT](INFO): Rx dataTimestamp_ set to:1761519146.913757
2025-10-26T22:52:26.915Z,1761519146.915 [DAT](INFO): DAT read: Bearing  99.1,  -3.2 (Local)

2025-10-26T22:52:26.916Z,1761519146.916 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.1,  -3.2 (Local)

2025-10-26T22:52:26.918Z,1761519146.918 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed 0.0

2025-10-26T22:52:26.922Z,1761519146.922 [DAT](INFO): DAT read: 22:52:25.7271 LVL= 31664, 23857, 32754, 32755, AGC= 65, IDX= 506, 0.06,-3.140,-1.300,-2.914,-2.409, PHS=-0.630, 1.154,-0.549, RAW= 327.7,   0.3, CAL= 326.5,  -2.6, ROT= 183.5,   2.6

2025-10-26T22:52:26.924Z,1761519146.924 [DAT](INFO): got valid direction response:
 22:52:25.7271 LVL= 31664, 23857, 32754, 32755, AGC= 65, IDX= 506, 0.06,-3.140,-1.300,-2.914,-2.409, PHS=-0.630, 1.154,-0.549, RAW= 327.7,   0.3, CAL= 326.5,  -2.6, ROT= 183.5,   2.6

2025-10-26T22:52:26.924Z,1761519146.924 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-10-26T22:52:26.925Z,1761519146.925 [DAT](INFO): direction in FSK: [-0.997107,-0.060986,-0.045363]
2025-10-26T22:52:26.925Z,1761519146.925 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:26.934Z,1761519146.934 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.496933
2025-10-26T22:52:27.072Z,1761519147.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499014,-0.865303,-0.047291],[0.866593,-0.498357,-0.025620],[-0.001399,-0.053766,0.998553]]
2025-10-26T22:52:27.164Z,1761519147.164 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.726940
2025-10-26T22:52:27.166Z,1761519147.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.504555 s,
      deltaX: 0.099999 m,
      approachRate: 0.198193 m/s,
      rangeRepo size: 4

2025-10-26T22:52:27.172Z,1761519147.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.134597 m,
      bearing: 303.569137 deg,
      lat: 36.779425 deg,
      lon: -121.859381 deg,
      deltaT: 0.504555 s,
      deltaX: 0.099504 m,
      approachRate: 0.197210 m/s,
      posRepo size: 4

2025-10-26T22:52:27.173Z,1761519147.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m.
2025-10-26T22:52:27.417Z,1761519147.417 [DAT](INFO): DAT read: Rx Time:22:52:26.2270 

2025-10-26T22:52:27.417Z,1761519147.417 [DAT](INFO): Rx dataTimestamp_ set to:1761519147.417189
2025-10-26T22:52:27.419Z,1761519147.419 [DAT](INFO): DAT read: Bearing  98.4,  -3.7 (Local)

2025-10-26T22:52:27.419Z,1761519147.419 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.4,  -3.7 (Local)

2025-10-26T22:52:27.421Z,1761519147.421 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed -0.1

2025-10-26T22:52:27.430Z,1761519147.430 [DAT](INFO): DAT read: 22:52:26.2270 LVL= 32752, 26289, 32754, 32755, AGC= 68, IDX= 505, 0.39, 2.090,-2.347, 2.327, 2.850, PHS=-0.659, 1.131,-0.568, RAW= 327.4,   1.1, CAL= 326.2,  -1.8, ROT= 183.8,   1.8

2025-10-26T22:52:27.432Z,1761519147.432 [DAT](INFO): got valid direction response:
 22:52:26.2270 LVL= 32752, 26289, 32754, 32755, AGC= 68, IDX= 505, 0.39, 2.090,-2.347, 2.327, 2.850, PHS=-0.659, 1.131,-0.568, RAW= 327.4,   1.1, CAL= 326.2,  -1.8, ROT= 183.8,   1.8

2025-10-26T22:52:27.432Z,1761519147.432 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-10-26T22:52:27.433Z,1761519147.433 [DAT](INFO): direction in FSK: [-0.997309,-0.066241,-0.031411]
2025-10-26T22:52:27.433Z,1761519147.433 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:27.477Z,1761519147.477 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=58.039646
2025-10-26T22:52:27.498Z,1761519147.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499124,-0.865316,-0.045853],[0.866529,-0.498500,-0.024988],[-0.001235,-0.052205,0.998636]]
2025-10-26T22:52:27.570Z,1761519147.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.503432 s,
      deltaX: -0.099999 m,
      approachRate: -0.198635 m/s,
      rangeRepo size: 4

2025-10-26T22:52:27.577Z,1761519147.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.035174 m,
      bearing: 303.830605 deg,
      lat: 36.779424 deg,
      lon: -121.859381 deg,
      deltaT: 0.503432 s,
      deltaX: -0.099422 m,
      approachRate: -0.197489 m/s,
      posRepo size: 4

2025-10-26T22:52:27.577Z,1761519147.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.04 m.
2025-10-26T22:52:27.669Z,1761519147.669 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=58.231075
2025-10-26T22:52:27.889Z,1761519147.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499183,-0.865318,-0.045170],[0.866496,-0.498577,-0.024629],[-0.001208,-0.051434,0.998676]]
2025-10-26T22:52:27.921Z,1761519147.921 [DAT](INFO): DAT read: Rx Time:22:52:26.7272 

2025-10-26T22:52:27.922Z,1761519147.922 [DAT](INFO): Rx dataTimestamp_ set to:1761519147.921499
2025-10-26T22:52:27.923Z,1761519147.923 [DAT](INFO): DAT read: Bearing  99.0,  -2.9 (Local)

2025-10-26T22:52:27.923Z,1761519147.923 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.0,  -2.9 (Local)

2025-10-26T22:52:27.925Z,1761519147.925 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-10-26T22:52:27.930Z,1761519147.930 [DAT](INFO): DAT read: 22:52:26.7272 LVL= 32176, 19841, 32034, 32755, AGC= 65, IDX= 507,-0.18, 1.472,-2.980, 1.684, 2.199, PHS=-0.624, 1.150,-0.559, RAW= 328.1,   0.4, CAL= 327.0,  -2.5, ROT= 183.0,   2.5

2025-10-26T22:52:27.931Z,1761519147.931 [DAT](INFO): got valid direction response:
 22:52:26.7272 LVL= 32176, 19841, 32034, 32755, AGC= 65, IDX= 507,-0.18, 1.472,-2.980, 1.684, 2.199, PHS=-0.624, 1.150,-0.559, RAW= 328.1,   0.4, CAL= 327.0,  -2.5, ROT= 183.0,   2.5

2025-10-26T22:52:27.932Z,1761519147.932 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-10-26T22:52:27.933Z,1761519147.933 [DAT](INFO): direction in FSK: [-0.997679,-0.052286,-0.043619]
2025-10-26T22:52:27.933Z,1761519147.933 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:27.941Z,1761519147.941 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.503239
2025-10-26T22:52:27.943Z,1761519147.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.504310 s,
      deltaX: 0.299999 m,
      approachRate: 0.594871 m/s,
      rangeRepo size: 4

2025-10-26T22:52:27.943Z,1761519147.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.04 m.
2025-10-26T22:52:28.172Z,1761519148.172 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.734848
2025-10-26T22:52:28.270Z,1761519148.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499129,-0.865372,-0.044739],[0.866527,-0.498536,-0.024363],[-0.001221,-0.050928,0.998702]]
2025-10-26T22:52:28.405Z,1761519148.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.04 m.
2025-10-26T22:52:28.425Z,1761519148.425 [DAT](INFO): DAT read: Rx Time:22:52:27.2271 

2025-10-26T22:52:28.426Z,1761519148.426 [DAT](INFO): Rx dataTimestamp_ set to:1761519148.425239
2025-10-26T22:52:28.427Z,1761519148.427 [DAT](INFO): DAT read: Bearing  98.9,  -3.5 (Local)

2025-10-26T22:52:28.427Z,1761519148.427 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.9,  -3.5 (Local)

2025-10-26T22:52:28.429Z,1761519148.429 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed -0.1

2025-10-26T22:52:28.434Z,1761519148.434 [DAT](INFO): DAT read: 22:52:27.2271 LVL= 32464, 19665, 32738, 32755, AGC= 66, IDX= 506, 0.06, 2.443,-2.010, 2.672,-3.105, PHS=-0.633, 1.140,-0.550, RAW= 327.6,   0.5, CAL= 326.4,  -2.4, ROT= 183.6,   2.4

2025-10-26T22:52:28.435Z,1761519148.435 [DAT](INFO): got valid direction response:
 22:52:27.2271 LVL= 32464, 19665, 32738, 32755, AGC= 66, IDX= 506, 0.06, 2.443,-2.010, 2.672,-3.105, PHS=-0.633, 1.140,-0.550, RAW= 327.6,   0.5, CAL= 326.4,  -2.4, ROT= 183.6,   2.4

2025-10-26T22:52:28.436Z,1761519148.436 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-10-26T22:52:28.437Z,1761519148.437 [DAT](INFO): direction in FSK: [-0.997151,-0.062736,-0.041876]
2025-10-26T22:52:28.437Z,1761519148.437 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:28.441Z,1761519148.441 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=59.003300
2025-10-26T22:52:28.675Z,1761519148.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498794,-0.865547,-0.045085],[0.866720,-0.498198,-0.024394],[-0.001347,-0.051244,0.998685]]
2025-10-26T22:52:28.676Z,1761519148.676 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=59.238949
2025-10-26T22:52:28.721Z,1761519148.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.503740 s,
      deltaX: -0.200000 m,
      approachRate: -0.397030 m/s,
      rangeRepo size: 4

2025-10-26T22:52:28.724Z,1761519148.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.134832 m,
      bearing: 303.638139 deg,
      lat: 36.779423 deg,
      lon: -121.859381 deg,
      deltaT: 1.008050 s,
      deltaX: 0.099658 m,
      approachRate: 0.098862 m/s,
      posRepo size: 4

2025-10-26T22:52:28.725Z,1761519148.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m.
2025-10-26T22:52:28.929Z,1761519148.929 [DAT](INFO): DAT read: Rx Time:22:52:27.7272 

2025-10-26T22:52:28.930Z,1761519148.930 [DAT](INFO): Rx dataTimestamp_ set to:1761519148.929266
2025-10-26T22:52:28.931Z,1761519148.931 [DAT](INFO): DAT read: Bearing  99.2,  -2.7 (Local)

2025-10-26T22:52:28.931Z,1761519148.931 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.2,  -2.7 (Local)

2025-10-26T22:52:28.933Z,1761519148.933 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed -0.1

2025-10-26T22:52:28.947Z,1761519148.947 [DAT](INFO): DAT read: 22:52:27.7272 LVL= 32752, 20449, 30674, 32755, AGC= 64, IDX= 507, 0.34,-2.944,-1.116,-2.737,-2.227, PHS=-0.614, 1.156,-0.554, RAW= 328.3,   0.1, CAL= 327.2,  -2.8, ROT= 182.8,   2.8

2025-10-26T22:52:28.953Z,1761519148.953 [DAT](INFO): got valid direction response:
 22:52:27.7272 LVL= 32752, 20449, 30674, 32755, AGC= 64, IDX= 507, 0.34,-2.944,-1.116,-2.737,-2.227, PHS=-0.614, 1.156,-0.554, RAW= 328.3,   0.1, CAL= 327.2,  -2.8, ROT= 182.8,   2.8

2025-10-26T22:52:28.953Z,1761519148.953 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-10-26T22:52:28.955Z,1761519148.955 [DAT](INFO): direction in FSK: [-0.997614,-0.048791,-0.048850]
2025-10-26T22:52:28.955Z,1761519148.955 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:28.973Z,1761519148.973 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.535210
2025-10-26T22:52:29.079Z,1761519149.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498237,-0.865765,-0.047023],[0.867039,-0.497610,-0.025043],[-0.001718,-0.053248,0.998580]]
2025-10-26T22:52:29.174Z,1761519149.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.504027 s,
      deltaX: 0.200000 m,
      approachRate: 0.396804 m/s,
      rangeRepo size: 4

2025-10-26T22:52:29.180Z,1761519149.180 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.742813
2025-10-26T22:52:29.200Z,1761519149.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.333845 m,
      bearing: 302.828290 deg,
      lat: 36.779423 deg,
      lon: -121.859382 deg,
      deltaT: 0.504027 s,
      deltaX: 0.199013 m,
      approachRate: 0.394845 m/s,
      posRepo size: 4

2025-10-26T22:52:29.200Z,1761519149.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-10-26T22:52:29.434Z,1761519149.434 [DAT](INFO): DAT read: Rx Time:22:52:28.2271 

2025-10-26T22:52:29.434Z,1761519149.434 [DAT](INFO): Rx dataTimestamp_ set to:1761519149.434028
2025-10-26T22:52:29.436Z,1761519149.436 [DAT](INFO): DAT read: Bearing  99.2,  -3.1 (Local)

2025-10-26T22:52:29.436Z,1761519149.436 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.2,  -3.1 (Local)

2025-10-26T22:52:29.438Z,1761519149.438 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed -0.1

2025-10-26T22:52:29.443Z,1761519149.443 [DAT](INFO): DAT read: 22:52:28.2271 LVL= 32752, 22817, 32754, 32755, AGC= 66, IDX= 507,-0.31, 1.058, 2.894, 1.276, 1.783, PHS=-0.623, 1.156,-0.551, RAW= 328.0,   0.2, CAL= 326.8,  -2.7, ROT= 183.2,   2.7

2025-10-26T22:52:29.445Z,1761519149.445 [DAT](INFO): got valid direction response:
 22:52:28.2271 LVL= 32752, 22817, 32754, 32755, AGC= 66, IDX= 507,-0.31, 1.058, 2.894, 1.276, 1.783, PHS=-0.623, 1.156,-0.551, RAW= 328.0,   0.2, CAL= 326.8,  -2.7, ROT= 183.2,   2.7

2025-10-26T22:52:29.445Z,1761519149.445 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-10-26T22:52:29.446Z,1761519149.446 [DAT](INFO): direction in FSK: [-0.997332,-0.055760,-0.047106]
2025-10-26T22:52:29.446Z,1761519149.446 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:29.450Z,1761519149.450 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:52:29.450Z,1761519149.450 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:52:29.450Z,1761519149.450 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:52:29.507Z,1761519149.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497486,-0.866116,-0.048482],[0.867469,-0.496838,-0.025480],[-0.002019,-0.054732,0.998499]]
2025-10-26T22:52:29.584Z,1761519149.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.504762 s,
      deltaX: -0.200000 m,
      approachRate: -0.396226 m/s,
      rangeRepo size: 4

2025-10-26T22:52:29.586Z,1761519149.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.134975 m,
      bearing: 303.176468 deg,
      lat: 36.779423 deg,
      lon: -121.859381 deg,
      deltaT: 0.504762 s,
      deltaX: -0.198870 m,
      approachRate: -0.393987 m/s,
      posRepo size: 4

2025-10-26T22:52:29.586Z,1761519149.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m.
2025-10-26T22:52:29.684Z,1761519149.684 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:52:29.898Z,1761519149.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497497,-0.866108,-0.048515],[0.867463,-0.496846,-0.025518],[-0.002003,-0.054780,0.998496]]
2025-10-26T22:52:29.918Z,1761519149.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m.
2025-10-26T22:52:29.937Z,1761519149.937 [DAT](INFO): DAT read: Rx Time:22:52:28.7272 

2025-10-26T22:52:29.937Z,1761519149.937 [DAT](INFO): Rx dataTimestamp_ set to:1761519149.937179
2025-10-26T22:52:29.939Z,1761519149.939 [DAT](INFO): DAT read: Bearing  99.3,  -3.1 (Local)

2025-10-26T22:52:29.939Z,1761519149.939 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.3,  -3.1 (Local)

2025-10-26T22:52:29.941Z,1761519149.941 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-10-26T22:52:29.946Z,1761519149.946 [DAT](INFO): DAT read: 22:52:28.7272 LVL= 32496, 22001, 32754, 32755, AGC= 65, IDX= 507,-0.06, 0.508, 2.352, 0.731, 1.233, PHS=-0.622, 1.164,-0.546, RAW= 327.8,   0.0, CAL= 326.7,  -2.9, ROT= 183.3,   2.9

2025-10-26T22:52:29.947Z,1761519149.947 [DAT](INFO): got valid direction response:
 22:52:28.7272 LVL= 32496, 22001, 32754, 32755, AGC= 65, IDX= 507,-0.06, 0.508, 2.352, 0.731, 1.233, PHS=-0.622, 1.164,-0.546, RAW= 327.8,   0.0, CAL= 326.7,  -2.9, ROT= 183.3,   2.9

2025-10-26T22:52:29.948Z,1761519149.948 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:52:29.949Z,1761519149.949 [DAT](INFO): direction in FSK: [-0.997063,-0.057490,-0.050593]
2025-10-26T22:52:29.950Z,1761519149.950 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:29.954Z,1761519149.954 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:52:29.955Z,1761519149.955 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:52:30.188Z,1761519150.188 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:52:30.296Z,1761519150.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497456,-0.866144,-0.048300],[0.867487,-0.496810,-0.025427],[-0.001973,-0.054549,0.998509]]
2025-10-26T22:52:30.428Z,1761519150.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.503151 s,
      deltaX: 0.200000 m,
      approachRate: 0.397495 m/s,
      rangeRepo size: 4

2025-10-26T22:52:30.430Z,1761519150.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.334322 m,
      bearing: 303.284718 deg,
      lat: 36.779423 deg,
      lon: -121.859383 deg,
      deltaT: 0.503151 s,
      deltaX: 0.199347 m,
      approachRate: 0.396196 m/s,
      posRepo size: 4

2025-10-26T22:52:30.431Z,1761519150.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-10-26T22:52:30.441Z,1761519150.441 [DAT](INFO): DAT read: Rx Time:22:52:29.2271 

2025-10-26T22:52:30.442Z,1761519150.442 [DAT](INFO): Rx dataTimestamp_ set to:1761519150.441252
2025-10-26T22:52:30.443Z,1761519150.443 [DAT](INFO): DAT read: Bearing  98.9,  -3.7 (Local)

2025-10-26T22:52:30.443Z,1761519150.443 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.9,  -3.7 (Local)

2025-10-26T22:52:30.445Z,1761519150.445 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed -0.1

2025-10-26T22:52:30.450Z,1761519150.450 [DAT](INFO): DAT read: 22:52:29.2271 LVL= 32752, 21281, 32754, 32755, AGC= 66, IDX= 506, 0.10, 1.604,-2.830, 1.844, 2.346, PHS=-0.640, 1.152,-0.546, RAW= 327.3,   0.4, CAL= 326.1,  -2.5, ROT= 183.9,   2.5

2025-10-26T22:52:30.451Z,1761519150.451 [DAT](INFO): got valid direction response:
 22:52:29.2271 LVL= 32752, 21281, 32754, 32755, AGC= 66, IDX= 506, 0.10, 1.604,-2.830, 1.844, 2.346, PHS=-0.640, 1.152,-0.546, RAW= 327.3,   0.4, CAL= 326.1,  -2.5, ROT= 183.9,   2.5

2025-10-26T22:52:30.451Z,1761519150.451 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:52:30.452Z,1761519150.452 [DAT](INFO): direction in FSK: [-0.996735,-0.067950,-0.043619]
2025-10-26T22:52:30.453Z,1761519150.453 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:30.460Z,1761519150.460 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:52:30.461Z,1761519150.461 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:52:30.692Z,1761519150.692 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:52:30.696Z,1761519150.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497045,-0.866392,-0.048074],[0.867722,-0.496414,-0.025129],[-0.002093,-0.054205,0.998528]]
2025-10-26T22:52:30.757Z,1761519150.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.504073 s,
      deltaX: -0.200000 m,
      approachRate: -0.396768 m/s,
      rangeRepo size: 4

2025-10-26T22:52:30.759Z,1761519150.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.135303 m,
      bearing: 303.833993 deg,
      lat: 36.779423 deg,
      lon: -121.859381 deg,
      deltaT: 0.504073 s,
      deltaX: -0.199019 m,
      approachRate: -0.394823 m/s,
      posRepo size: 4

2025-10-26T22:52:30.763Z,1761519150.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.14 m.
2025-10-26T22:52:30.945Z,1761519150.945 [DAT](INFO): DAT read: Rx Time:22:52:29.7272 

2025-10-26T22:52:30.945Z,1761519150.945 [DAT](INFO): Rx dataTimestamp_ set to:1761519150.945110
2025-10-26T22:52:30.947Z,1761519150.947 [DAT](INFO): DAT read: Bearing  99.5,  -4.5 (Local)

2025-10-26T22:52:30.947Z,1761519150.947 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.5,  -4.5 (Local)

2025-10-26T22:52:30.949Z,1761519150.949 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-10-26T22:52:30.954Z,1761519150.954 [DAT](INFO): DAT read: 22:52:29.7272 LVL= 32320, 21153, 32754, 32755, AGC= 67, IDX= 507, 0.38, 2.436,-2.005, 2.706,-3.115, PHS=-0.630, 1.155,-0.506, RAW= 326.4,  -0.2, CAL= 325.3,  -3.2, ROT= 184.7,   3.2

2025-10-26T22:52:30.955Z,1761519150.955 [DAT](INFO): got valid direction response:
 22:52:29.7272 LVL= 32320, 21153, 32754, 32755, AGC= 67, IDX= 507, 0.38, 2.436,-2.005, 2.706,-3.115, PHS=-0.630, 1.155,-0.506, RAW= 326.4,  -0.2, CAL= 325.3,  -3.2, ROT= 184.7,   3.2

2025-10-26T22:52:30.956Z,1761519150.956 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:52:30.956Z,1761519150.956 [DAT](INFO): direction in FSK: [-0.995083,-0.081811,-0.055822]
2025-10-26T22:52:30.957Z,1761519150.957 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:30.960Z,1761519150.960 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:52:30.961Z,1761519150.961 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:52:31.105Z,1761519151.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496641,-0.866626,-0.048023],[0.867953,-0.496023,-0.024884],[-0.002255,-0.054040,0.998536]]
2025-10-26T22:52:31.192Z,1761519151.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.503858 s,
      deltaX: 0.200000 m,
      approachRate: 0.396937 m/s,
      rangeRepo size: 4

2025-10-26T22:52:31.194Z,1761519151.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.334322 m,
      bearing: 304.643223 deg,
      lat: 36.779423 deg,
      lon: -121.859381 deg,
      deltaT: 0.503858 s,
      deltaX: 0.199019 m,
      approachRate: 0.394991 m/s,
      posRepo size: 4

2025-10-26T22:52:31.194Z,1761519151.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-10-26T22:52:31.196Z,1761519151.196 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:52:31.449Z,1761519151.449 [DAT](INFO): DAT read: Rx Time:22:52:30.2272 

2025-10-26T22:52:31.449Z,1761519151.449 [DAT](INFO): Rx dataTimestamp_ set to:1761519151.449142
2025-10-26T22:52:31.451Z,1761519151.451 [DAT](INFO): DAT read: Bearing  99.0,  -4.8 (Local)

2025-10-26T22:52:31.451Z,1761519151.451 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.0,  -4.8 (Local)

2025-10-26T22:52:31.453Z,1761519151.453 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed -0.1

2025-10-26T22:52:31.458Z,1761519151.458 [DAT](INFO): DAT read: 22:52:30.2272 LVL= 32064, 21617, 32754, 32755, AGC= 66, IDX= 507,-0.22,-0.374, 1.456,-0.098, 0.367, PHS=-0.640, 1.134,-0.509, RAW= 326.2,   0.2, CAL= 325.0,  -2.8, ROT= 185.0,   2.8

2025-10-26T22:52:31.459Z,1761519151.459 [DAT](INFO): got valid direction response:
 22:52:30.2272 LVL= 32064, 21617, 32754, 32755, AGC= 66, IDX= 507,-0.22,-0.374, 1.456,-0.098, 0.367, PHS=-0.640, 1.134,-0.509, RAW= 326.2,   0.2, CAL= 325.0,  -2.8, ROT= 185.0,   2.8

2025-10-26T22:52:31.459Z,1761519151.459 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:52:31.460Z,1761519151.460 [DAT](INFO): direction in FSK: [-0.995005,-0.087052,-0.048850]
2025-10-26T22:52:31.461Z,1761519151.461 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:31.464Z,1761519151.464 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:52:31.465Z,1761519151.465 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T22:52:31.528Z,1761519151.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496318,-0.866826,-0.047758],[0.868138,-0.495710,-0.024668],[-0.002292,-0.053704,0.998554]]
2025-10-26T22:52:31.679Z,1761519151.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.504032 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:31.681Z,1761519151.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.334655 m,
      bearing: 304.899012 deg,
      lat: 36.779423 deg,
      lon: -121.859380 deg,
      deltaT: 0.504032 s,
      deltaX: 0.000333 m,
      approachRate: 0.000660 m/s,
      posRepo size: 4

2025-10-26T22:52:31.682Z,1761519151.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-10-26T22:52:31.701Z,1761519151.701 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:52:31.903Z,1761519151.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495917,-0.867069,-0.047514],[0.868366,-0.495322,-0.024414],[-0.002366,-0.053367,0.998572]]
2025-10-26T22:52:31.950Z,1761519151.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-10-26T22:52:31.952Z,1761519151.952 [DAT](INFO): DAT read: user:732>

2025-10-26T22:52:31.953Z,1761519151.953 [DAT](INFO): DAT read: user:732>

2025-10-26T22:52:31.954Z,1761519151.954 [DAT](INFO): DAT read: Tx time:22:52:31.1357

2025-10-26T22:52:31.954Z,1761519151.954 [DAT](INFO): Ping request sent.
2025-10-26T22:52:31.954Z,1761519151.954 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:52:31.955Z,1761519151.955 [DAT](INFO): publishing transmit ping time
2025-10-26T22:52:31.956Z,1761519151.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001910
2025-10-26T22:52:32.207Z,1761519152.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252385
2025-10-26T22:52:32.307Z,1761519152.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495539,-0.867294,-0.047360],[0.868582,-0.494955,-0.024177],[-0.002473,-0.053117,0.998585]]
2025-10-26T22:52:32.393Z,1761519152.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-10-26T22:52:32.462Z,1761519152.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507698
2025-10-26T22:52:32.713Z,1761519152.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758695
2025-10-26T22:52:32.718Z,1761519152.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495113,-0.867551,-0.047093],[0.868825,-0.494544,-0.023869],[-0.002582,-0.052733,0.998605]]
2025-10-26T22:52:32.761Z,1761519152.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-10-26T22:52:32.964Z,1761519152.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010147
2025-10-26T22:52:33.131Z,1761519153.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494947,-0.867663,-0.046770],[0.868919,-0.494385,-0.023714],[-0.002546,-0.052377,0.998624]]
2025-10-26T22:52:33.216Z,1761519153.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262266
2025-10-26T22:52:33.229Z,1761519153.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-10-26T22:52:33.468Z,1761519153.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514215
2025-10-26T22:52:33.526Z,1761519153.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494580,-0.867892,-0.046411],[0.869128,-0.494033,-0.023389],[-0.002629,-0.051905,0.998649]]
2025-10-26T22:52:33.551Z,1761519153.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-10-26T22:52:33.721Z,1761519153.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766383
2025-10-26T22:52:33.923Z,1761519153.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494463,-0.867972,-0.046154],[0.869195,-0.493925,-0.023226],[-0.002637,-0.051601,0.998664]]
2025-10-26T22:52:33.973Z,1761519153.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018547
2025-10-26T22:52:33.974Z,1761519153.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-10-26T22:52:34.224Z,1761519154.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270198
2025-10-26T22:52:34.326Z,1761519154.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494488,-0.867966,-0.046011],[0.869181,-0.493952,-0.023168],[-0.002619,-0.051448,0.998672]]
2025-10-26T22:52:34.477Z,1761519154.477 [DAT](INFO): DAT read: Rx Time:22:52:33.2825 

2025-10-26T22:52:34.477Z,1761519154.477 [DAT](INFO): Rx dataTimestamp_ set to:1761519154.477211
2025-10-26T22:52:34.479Z,1761519154.479 [DAT](INFO): DAT read: Bearing  97.0,  -9.5 (Local)

2025-10-26T22:52:34.479Z,1761519154.479 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.0,  -9.5 (Local)

2025-10-26T22:52:34.481Z,1761519154.481 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed -0.1

2025-10-26T22:52:34.486Z,1761519154.486 [DAT](INFO): DAT read: 22:52:33.2825 LVL= 32752, 23601, 32754, 32755, AGC= 68, IDX= 274, 0.06,-0.502, 1.392,-0.081, 0.347, PHS=-0.747, 1.090,-0.472, RAW= 322.0,   1.5, CAL= 320.4,  -1.4, ROT= 189.6,   1.4

2025-10-26T22:52:34.487Z,1761519154.487 [DAT](INFO): got valid direction response:
 22:52:33.2825 LVL= 32752, 23601, 32754, 32755, AGC= 68, IDX= 274, 0.06,-0.502, 1.392,-0.081, 0.347, PHS=-0.747, 1.090,-0.472, RAW= 322.0,   1.5, CAL= 320.4,  -1.4, ROT= 189.6,   1.4

2025-10-26T22:52:34.487Z,1761519154.487 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:52:34.488Z,1761519154.488 [DAT](INFO): direction in FSK: [-0.985702,-0.166719,-0.024432]
2025-10-26T22:52:34.489Z,1761519154.489 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:34.504Z,1761519154.504 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.550212
2025-10-26T22:52:34.546Z,1761519154.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 3.028069 s,
      deltaX: -0.200000 m,
      approachRate: -0.066049 m/s,
      rangeRepo size: 4

2025-10-26T22:52:34.552Z,1761519154.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.135673 m,
      bearing: 309.294284 deg,
      lat: 36.779425 deg,
      lon: -121.859380 deg,
      deltaT: 3.028069 s,
      deltaX: -0.198982 m,
      approachRate: -0.065713 m/s,
      posRepo size: 4

2025-10-26T22:52:34.553Z,1761519154.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.14 m.
2025-10-26T22:52:34.729Z,1761519154.729 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.774592
2025-10-26T22:52:34.793Z,1761519154.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494455,-0.867987,-0.045966],[0.869200,-0.493921,-0.023126],[-0.002631,-0.051389,0.998675]]
2025-10-26T22:52:34.812Z,1761519154.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.14 m.
2025-10-26T22:52:34.981Z,1761519154.981 [DAT](INFO): DAT read: Rx Time:22:52:33.7825 

2025-10-26T22:52:34.982Z,1761519154.982 [DAT](INFO): Rx dataTimestamp_ set to:1761519154.981373
2025-10-26T22:52:34.983Z,1761519154.983 [DAT](INFO): DAT read: Bearing  98.0,  -9.6 (Local)

2025-10-26T22:52:34.983Z,1761519154.983 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.0,  -9.6 (Local)

2025-10-26T22:52:34.985Z,1761519154.985 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed -0.1

2025-10-26T22:52:34.990Z,1761519154.990 [DAT](INFO): DAT read: 22:52:33.7825 LVL= 30704, 19009, 32754, 32755, AGC= 66, IDX= 499,-0.42,-1.834, 0.037,-1.408,-1.019, PHS=-0.714, 1.101,-0.433, RAW= 321.7,   0.5, CAL= 320.2,  -2.5, ROT= 189.8,   2.5

2025-10-26T22:52:34.991Z,1761519154.991 [DAT](INFO): got valid direction response:
 22:52:33.7825 LVL= 30704, 19009, 32754, 32755, AGC= 66, IDX= 499,-0.42,-1.834, 0.037,-1.408,-1.019, PHS=-0.714, 1.101,-0.433, RAW= 321.7,   0.5, CAL= 320.2,  -2.5, ROT= 189.8,   2.5

2025-10-26T22:52:34.991Z,1761519154.991 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T22:52:34.992Z,1761519154.992 [DAT](INFO): direction in FSK: [-0.984470,-0.170048,-0.043619]
2025-10-26T22:52:34.993Z,1761519154.993 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:34.998Z,1761519154.998 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.043164
2025-10-26T22:52:35.194Z,1761519155.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494907,-0.867732,-0.045924],[0.868943,-0.494365,-0.023293],[-0.002492,-0.051433,0.998673]]
2025-10-26T22:52:35.232Z,1761519155.232 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.278281
2025-10-26T22:52:35.246Z,1761519155.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.504162 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:35.272Z,1761519155.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.135673 m,
      bearing: 309.576902 deg,
      lat: 36.779425 deg,
      lon: -121.859380 deg,
      deltaT: 0.504162 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:52:35.272Z,1761519155.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.14 m.
2025-10-26T22:52:35.486Z,1761519155.486 [DAT](INFO): DAT read: Rx Time:22:52:34.2825 

2025-10-26T22:52:35.486Z,1761519155.486 [DAT](INFO): Rx dataTimestamp_ set to:1761519155.485828
2025-10-26T22:52:35.488Z,1761519155.488 [DAT](INFO): DAT read: Bearing  97.0,  -9.8 (Local)

2025-10-26T22:52:35.488Z,1761519155.488 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.0,  -9.8 (Local)

2025-10-26T22:52:35.490Z,1761519155.490 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed -0.1

2025-10-26T22:52:35.495Z,1761519155.495 [DAT](INFO): DAT read: 22:52:34.2825 LVL= 32752, 19441, 32754, 32755, AGC= 66, IDX= 498,-0.01,-2.085,-0.206,-1.656,-1.239, PHS=-0.744, 1.078,-0.461, RAW= 321.7,   1.5, CAL= 320.0,  -1.5, ROT= 190.0,   1.5

2025-10-26T22:52:35.496Z,1761519155.496 [DAT](INFO): got valid direction response:
 22:52:34.2825 LVL= 32752, 19441, 32754, 32755, AGC= 66, IDX= 498,-0.01,-2.085,-0.206,-1.656,-1.239, PHS=-0.744, 1.078,-0.461, RAW= 321.7,   1.5, CAL= 320.0,  -1.5, ROT= 190.0,   1.5

2025-10-26T22:52:35.496Z,1761519155.496 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-10-26T22:52:35.497Z,1761519155.497 [DAT](INFO): direction in FSK: [-0.984470,-0.173589,-0.026177]
2025-10-26T22:52:35.497Z,1761519155.497 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:35.517Z,1761519155.517 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.562872
2025-10-26T22:52:35.598Z,1761519155.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495226,-0.867549,-0.045938],[0.868761,-0.494682,-0.023331],[-0.002484,-0.051464,0.998672]]
2025-10-26T22:52:35.647Z,1761519155.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.504455 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:35.649Z,1761519155.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.135776 m,
      bearing: 309.747385 deg,
      lat: 36.779429 deg,
      lon: -121.859370 deg,
      deltaT: 0.504455 s,
      deltaX: 0.000103 m,
      approachRate: 0.000204 m/s,
      posRepo size: 4

2025-10-26T22:52:35.650Z,1761519155.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.14 m.
2025-10-26T22:52:35.738Z,1761519155.738 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.783504
2025-10-26T22:52:35.989Z,1761519155.989 [DAT](INFO): DAT read: Rx Time:22:52:34.7826 

2025-10-26T22:52:35.989Z,1761519155.989 [DAT](INFO): Rx dataTimestamp_ set to:1761519155.989083
2025-10-26T22:52:35.991Z,1761519155.991 [DAT](INFO): DAT read: Bearing  97.5,  -9.8 (Local)

2025-10-26T22:52:35.991Z,1761519155.991 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.5,  -9.8 (Local)

2025-10-26T22:52:35.993Z,1761519155.993 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-10-26T22:52:35.998Z,1761519155.998 [DAT](INFO): DAT read: 22:52:34.7826 LVL= 32752, 22289, 32754, 32755, AGC= 67, IDX= 499, 0.42, 0.175, 2.080, 0.611, 1.019, PHS=-0.742, 1.106,-0.452, RAW= 321.6,   1.0, CAL= 320.0,  -1.9, ROT= 190.0,   1.9

2025-10-26T22:52:35.999Z,1761519155.999 [DAT](INFO): got valid direction response:
 22:52:34.7826 LVL= 32752, 22289, 32754, 32755, AGC= 67, IDX= 499, 0.42, 0.175, 2.080, 0.611, 1.019, PHS=-0.742, 1.106,-0.452, RAW= 321.6,   1.0, CAL= 320.0,  -1.9, ROT= 190.0,   1.9

2025-10-26T22:52:35.999Z,1761519155.999 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-26T22:52:35.000Z,1761519156.000 [DAT](INFO): direction in FSK: [-0.984266,-0.173553,-0.033155]
2025-10-26T22:52:36.000Z,1761519156.000 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:36.004Z,1761519156.004 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.049673
2025-10-26T22:52:36.033Z,1761519156.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495658,-0.867315,-0.045694],[0.868515,-0.495114,-0.023335],[-0.002385,-0.051252,0.998683]]
2025-10-26T22:52:36.122Z,1761519156.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.503255 s,
      deltaX: 0.200000 m,
      approachRate: 0.397412 m/s,
      rangeRepo size: 4

2025-10-26T22:52:36.153Z,1761519156.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.334803 m,
      bearing: 309.795704 deg,
      lat: 36.779429 deg,
      lon: -121.859369 deg,
      deltaT: 0.503255 s,
      deltaX: 0.199027 m,
      approachRate: 0.395480 m/s,
      posRepo size: 4

2025-10-26T22:52:36.153Z,1761519156.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-10-26T22:52:36.242Z,1761519156.242 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.287472
2025-10-26T22:52:36.434Z,1761519156.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496437,-0.866870,-0.045689],[0.868070,-0.495883,-0.023549],[-0.002243,-0.051352,0.998678]]
2025-10-26T22:52:36.486Z,1761519156.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-10-26T22:52:36.501Z,1761519156.501 [DAT](INFO): DAT read: Rx Time:22:52:35.2826 

2025-10-26T22:52:36.501Z,1761519156.501 [DAT](INFO): Rx dataTimestamp_ set to:1761519156.501210
2025-10-26T22:52:36.503Z,1761519156.503 [DAT](INFO): DAT read: Bearing  96.6,  -9.1 (Local)

2025-10-26T22:52:36.503Z,1761519156.503 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.6,  -9.1 (Local)

2025-10-26T22:52:36.505Z,1761519156.505 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed -0.1

2025-10-26T22:52:36.510Z,1761519156.510 [DAT](INFO): DAT read: 22:52:35.2826 LVL= 32752, 24177, 32754, 32755, AGC= 68, IDX= 499,-0.06,-2.593,-0.741,-2.187,-1.755, PHS=-0.736, 1.059,-0.476, RAW= 322.3,   1.8, CAL= 320.6,  -1.1, ROT= 189.4,   1.1

2025-10-26T22:52:36.511Z,1761519156.511 [DAT](INFO): got valid direction response:
 22:52:35.2826 LVL= 32752, 24177, 32754, 32755, AGC= 68, IDX= 499,-0.06,-2.593,-0.741,-2.187,-1.755, PHS=-0.736, 1.059,-0.476, RAW= 322.3,   1.8, CAL= 320.6,  -1.1, ROT= 189.4,   1.1

2025-10-26T22:52:36.511Z,1761519156.511 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-10-26T22:52:36.512Z,1761519156.512 [DAT](INFO): direction in FSK: [-0.986390,-0.163296,-0.019197]
2025-10-26T22:52:36.513Z,1761519156.513 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:36.520Z,1761519156.520 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.566148
2025-10-26T22:52:36.752Z,1761519156.752 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.798148
2025-10-26T22:52:36.827Z,1761519156.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497000,-0.866544,-0.045745],[0.867748,-0.496445,-0.023592],[-0.002267,-0.051420,0.998675]]
2025-10-26T22:52:36.918Z,1761519156.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.512127 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:36.924Z,1761519156.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.335059 m,
      bearing: 309.245159 deg,
      lat: 36.779429 deg,
      lon: -121.859369 deg,
      deltaT: 0.512127 s,
      deltaX: 0.000257 m,
      approachRate: 0.000501 m/s,
      posRepo size: 4

2025-10-26T22:52:36.924Z,1761519156.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.34 m.
2025-10-26T22:52:37.006Z,1761519157.006 [DAT](INFO): DAT read: Rx Time:22:52:35.7826 

2025-10-26T22:52:37.007Z,1761519157.007 [DAT](INFO): Rx dataTimestamp_ set to:1761519157.006340
2025-10-26T22:52:37.009Z,1761519157.009 [DAT](INFO): DAT read: Bearing  97.7,  -9.1 (Local)

2025-10-26T22:52:37.009Z,1761519157.009 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.7,  -9.1 (Local)

2025-10-26T22:52:37.013Z,1761519157.013 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed -0.2

2025-10-26T22:52:37.018Z,1761519157.018 [DAT](INFO): DAT read: 22:52:35.7826 LVL= 32752, 22705, 32754, 32755, AGC= 67, IDX= 499, 0.41,-1.266, 0.608,-0.852,-0.447, PHS=-0.717, 1.100,-0.449, RAW= 322.2,   0.8, CAL= 320.6,  -2.2, ROT= 189.4,   2.2

2025-10-26T22:52:37.045Z,1761519157.045 [DAT](INFO): got valid direction response:
 22:52:35.7826 LVL= 32752, 22705, 32754, 32755, AGC= 67, IDX= 499, 0.41,-1.266, 0.608,-0.852,-0.447, PHS=-0.717, 1.100,-0.449, RAW= 322.2,   0.8, CAL= 320.6,  -2.2, ROT= 189.4,   2.2

2025-10-26T22:52:37.045Z,1761519157.045 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-26T22:52:37.046Z,1761519157.046 [DAT](INFO): direction in FSK: [-0.985845,-0.163206,-0.038388]
2025-10-26T22:52:37.046Z,1761519157.046 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:37.050Z,1761519157.050 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.096139
2025-10-26T22:52:37.232Z,1761519157.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497873,-0.866028,-0.046025],[0.867247,-0.497306,-0.023873],[-0.002214,-0.051801,0.998655]]
2025-10-26T22:52:37.256Z,1761519157.256 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.302272
2025-10-26T22:52:37.308Z,1761519157.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.505130 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:37.310Z,1761519157.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.335059 m,
      bearing: 309.358938 deg,
      lat: 36.779430 deg,
      lon: -121.859369 deg,
      deltaT: 0.505130 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:52:37.311Z,1761519157.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.34 m.
2025-10-26T22:52:37.509Z,1761519157.509 [DAT](INFO): DAT read: Rx Time:22:52:36.2826 

2025-10-26T22:52:37.509Z,1761519157.509 [DAT](INFO): Rx dataTimestamp_ set to:1761519157.509133
2025-10-26T22:52:37.511Z,1761519157.511 [DAT](INFO): DAT read: Bearing  97.4,  -8.5 (Local)

2025-10-26T22:52:37.511Z,1761519157.511 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.4,  -8.5 (Local)

2025-10-26T22:52:37.513Z,1761519157.513 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-10-26T22:52:37.518Z,1761519157.518 [DAT](INFO): DAT read: 22:52:36.2826 LVL= 32752, 21953, 32754, 32755, AGC= 66, IDX= 499,-0.04, 2.309,-2.125, 2.703, 3.119, PHS=-0.707, 1.084,-0.459, RAW= 322.7,   1.0, CAL= 321.1,  -2.0, ROT= 188.9,   2.0

2025-10-26T22:52:37.519Z,1761519157.519 [DAT](INFO): got valid direction response:
 22:52:36.2826 LVL= 32752, 21953, 32754, 32755, AGC= 66, IDX= 499,-0.04, 2.309,-2.125, 2.703, 3.119, PHS=-0.707, 1.084,-0.459, RAW= 322.7,   1.0, CAL= 321.1,  -2.0, ROT= 188.9,   2.0

2025-10-26T22:52:37.519Z,1761519157.519 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-26T22:52:37.520Z,1761519157.520 [DAT](INFO): direction in FSK: [-0.987358,-0.154616,-0.034899]
2025-10-26T22:52:37.521Z,1761519157.521 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:37.524Z,1761519157.524 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.570004
2025-10-26T22:52:37.634Z,1761519157.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498720,-0.865533,-0.046157],[0.866760,-0.498141,-0.024110],[-0.002125,-0.052031,0.998643]]
2025-10-26T22:52:37.683Z,1761519157.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.502793 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:37.689Z,1761519157.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.335307 m,
      bearing: 308.905896 deg,
      lat: 36.779430 deg,
      lon: -121.859369 deg,
      deltaT: 0.502793 s,
      deltaX: 0.000248 m,
      approachRate: 0.000493 m/s,
      posRepo size: 4

2025-10-26T22:52:37.690Z,1761519157.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.34 m.
2025-10-26T22:52:37.761Z,1761519157.761 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.806938
2025-10-26T22:52:38.013Z,1761519158.013 [DAT](INFO): DAT read: Rx Time:22:52:36.7827 

2025-10-26T22:52:38.013Z,1761519158.013 [DAT](INFO): Rx dataTimestamp_ set to:1761519158.013163
2025-10-26T22:52:38.015Z,1761519158.015 [DAT](INFO): DAT read: Bearing  97.6,  -8.6 (Local)

2025-10-26T22:52:38.015Z,1761519158.015 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.6,  -8.6 (Local)

2025-10-26T22:52:38.018Z,1761519158.018 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed -0.1

2025-10-26T22:52:38.023Z,1761519158.023 [DAT](INFO): DAT read: 22:52:36.7827 LVL= 32752, 22721, 32754, 32755, AGC= 67, IDX= 500, 0.34,-1.004, 0.877,-0.601,-0.184, PHS=-0.717, 1.106,-0.461, RAW= 322.5,   0.8, CAL= 321.0,  -2.1, ROT= 189.0,   2.1

2025-10-26T22:52:38.029Z,1761519158.029 [DAT](INFO): got valid direction response:
 22:52:36.7827 LVL= 32752, 22721, 32754, 32755, AGC= 67, IDX= 500, 0.34,-1.004, 0.877,-0.601,-0.184, PHS=-0.717, 1.106,-0.461, RAW= 322.5,   0.8, CAL= 321.0,  -2.1, ROT= 189.0,   2.1

2025-10-26T22:52:38.029Z,1761519158.029 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-10-26T22:52:38.030Z,1761519158.030 [DAT](INFO): direction in FSK: [-0.987025,-0.156329,-0.036644]
2025-10-26T22:52:38.030Z,1761519158.030 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:38.034Z,1761519158.034 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.079847
2025-10-26T22:52:38.057Z,1761519158.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499227,-0.865234,-0.046290],[0.866468,-0.498656,-0.023978],[-0.002336,-0.052079,0.998640]]
2025-10-26T22:52:38.181Z,1761519158.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.504030 s,
      deltaX: 0.100000 m,
      approachRate: 0.198402 m/s,
      rangeRepo size: 4

2025-10-26T22:52:38.189Z,1761519158.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.434825 m,
      bearing: 309.044387 deg,
      lat: 36.779429 deg,
      lon: -121.859370 deg,
      deltaT: 0.504030 s,
      deltaX: 0.099518 m,
      approachRate: 0.197444 m/s,
      posRepo size: 4

2025-10-26T22:52:38.189Z,1761519158.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-10-26T22:52:38.265Z,1761519158.265 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.310640
2025-10-26T22:52:38.457Z,1761519158.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499695,-0.864978,-0.046029],[0.866198,-0.499139,-0.023705],[-0.002471,-0.051715,0.998659]]
2025-10-26T22:52:38.517Z,1761519158.517 [DAT](INFO): DAT read: Rx Time:22:52:37.2827 

2025-10-26T22:52:38.518Z,1761519158.518 [DAT](INFO): Rx dataTimestamp_ set to:1761519158.517232
2025-10-26T22:52:38.519Z,1761519158.519 [DAT](INFO): DAT read: Bearing  97.5,  -7.4 (Local)

2025-10-26T22:52:38.519Z,1761519158.519 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.5,  -7.4 (Local)

2025-10-26T22:52:38.521Z,1761519158.521 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed -0.1

2025-10-26T22:52:38.526Z,1761519158.526 [DAT](INFO): DAT read: 22:52:37.2827 LVL= 32752, 20977, 32754, 32755, AGC= 66, IDX= 500,-0.16, 2.894,-1.530,-3.027,-2.590, PHS=-0.697, 1.105,-0.480, RAW= 323.7,   0.9, CAL= 322.2,  -2.1, ROT= 187.8,   2.1

2025-10-26T22:52:38.527Z,1761519158.527 [DAT](INFO): got valid direction response:
 22:52:37.2827 LVL= 32752, 20977, 32754, 32755, AGC= 66, IDX= 500,-0.16, 2.894,-1.530,-3.027,-2.590, PHS=-0.697, 1.105,-0.480, RAW= 323.7,   0.9, CAL= 322.2,  -2.1, ROT= 187.8,   2.1

2025-10-26T22:52:38.527Z,1761519158.527 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-10-26T22:52:38.528Z,1761519158.528 [DAT](INFO): direction in FSK: [-0.990082,-0.135624,-0.036644]
2025-10-26T22:52:38.529Z,1761519158.529 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:38.533Z,1761519158.533 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.578413
2025-10-26T22:52:38.544Z,1761519158.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.504069 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:38.546Z,1761519158.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.435214 m,
      bearing: 307.876697 deg,
      lat: 36.779429 deg,
      lon: -121.859370 deg,
      deltaT: 0.504069 s,
      deltaX: 0.000389 m,
      approachRate: 0.000772 m/s,
      posRepo size: 4

2025-10-26T22:52:38.546Z,1761519158.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.44 m.
2025-10-26T22:52:38.768Z,1761519158.768 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.814188
2025-10-26T22:52:38.940Z,1761519158.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.44 m.
2025-10-26T22:52:39.022Z,1761519159.022 [DAT](INFO): DAT read: Rx Time:22:52:37.7828 

2025-10-26T22:52:39.022Z,1761519159.022 [DAT](INFO): Rx dataTimestamp_ set to:1761519159.021802
2025-10-26T22:52:39.024Z,1761519159.024 [DAT](INFO): DAT read: Bearing  97.7,  -6.8 (Local)

2025-10-26T22:52:39.025Z,1761519159.025 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.7,  -6.8 (Local)

2025-10-26T22:52:39.028Z,1761519159.028 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed -0.1

2025-10-26T22:52:39.033Z,1761519159.033 [DAT](INFO): DAT read: 22:52:37.7828 LVL= 32752, 22257, 32754, 32755, AGC= 66, IDX= 501, 0.14,-0.507, 1.367,-0.157, 0.289, PHS=-0.694, 1.123,-0.490, RAW= 324.1,   0.7, CAL= 322.7,  -2.2, ROT= 187.3,   2.2

2025-10-26T22:52:39.034Z,1761519159.034 [DAT](INFO): got valid direction response:
 22:52:37.7828 LVL= 32752, 22257, 32754, 32755, AGC= 66, IDX= 501, 0.14,-0.507, 1.367,-0.157, 0.289, PHS=-0.694, 1.123,-0.490, RAW= 324.1,   0.7, CAL= 322.7,  -2.2, ROT= 187.3,   2.2

2025-10-26T22:52:39.034Z,1761519159.034 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-26T22:52:39.038Z,1761519159.038 [DAT](INFO): direction in FSK: [-0.991163,-0.126971,-0.038388]
2025-10-26T22:52:39.038Z,1761519159.038 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:39.059Z,1761519159.059 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.104724
2025-10-26T22:52:39.255Z,1761519159.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500489,-0.864519,-0.046012],[0.865738,-0.499963,-0.023143],[-0.002997,-0.051417,0.998673]]
2025-10-26T22:52:39.272Z,1761519159.272 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.318228
2025-10-26T22:52:39.319Z,1761519159.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.504570 s,
      deltaX: 0.200000 m,
      approachRate: 0.396377 m/s,
      rangeRepo size: 4

2025-10-26T22:52:39.321Z,1761519159.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.634254 m,
      bearing: 307.434513 deg,
      lat: 36.779429 deg,
      lon: -121.859370 deg,
      deltaT: 0.504570 s,
      deltaX: 0.199039 m,
      approachRate: 0.394473 m/s,
      posRepo size: 4

2025-10-26T22:52:39.322Z,1761519159.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m.
2025-10-26T22:52:39.531Z,1761519159.531 [DAT](INFO): DAT read: Rx Time:22:52:38.2827 

2025-10-26T22:52:39.532Z,1761519159.532 [DAT](INFO): Rx dataTimestamp_ set to:1761519159.531390
2025-10-26T22:52:39.533Z,1761519159.533 [DAT](INFO): DAT read: Bearing  97.5,  -6.1 (Local)

2025-10-26T22:52:39.533Z,1761519159.533 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.5,  -6.1 (Local)

2025-10-26T22:52:39.536Z,1761519159.536 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed -0.2

2025-10-26T22:52:39.541Z,1761519159.541 [DAT](INFO): DAT read: 22:52:38.2827 LVL= 32752, 20929, 32754, 32755, AGC= 65, IDX= 500, 0.48,-1.312, 0.562,-0.987,-0.520, PHS=-0.690, 1.127,-0.511, RAW= 324.9,   0.9, CAL= 323.5,  -2.1, ROT= 186.5,   2.1

2025-10-26T22:52:39.543Z,1761519159.543 [DAT](INFO): got valid direction response:
 22:52:38.2827 LVL= 32752, 20929, 32754, 32755, AGC= 65, IDX= 500, 0.48,-1.312, 0.562,-0.987,-0.520, PHS=-0.690, 1.127,-0.511, RAW= 324.9,   0.9, CAL= 323.5,  -2.1, ROT= 186.5,   2.1

2025-10-26T22:52:39.543Z,1761519159.543 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-10-26T22:52:39.545Z,1761519159.545 [DAT](INFO): direction in FSK: [-0.992905,-0.113127,-0.036644]
2025-10-26T22:52:39.545Z,1761519159.545 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:39.555Z,1761519159.555 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.600576
2025-10-26T22:52:39.658Z,1761519159.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500847,-0.864281,-0.046594],[0.865529,-0.500322,-0.023170],[-0.003287,-0.051933,0.998645]]
2025-10-26T22:52:39.701Z,1761519159.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.509588 s,
      deltaX: -0.200000 m,
      approachRate: -0.392474 m/s,
      rangeRepo size: 4

2025-10-26T22:52:39.708Z,1761519159.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.435240 m,
      bearing: 306.655313 deg,
      lat: 36.779428 deg,
      lon: -121.859372 deg,
      deltaT: 0.509588 s,
      deltaX: -0.199014 m,
      approachRate: -0.390538 m/s,
      posRepo size: 4

2025-10-26T22:52:39.709Z,1761519159.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.44 m.
2025-10-26T22:52:39.777Z,1761519159.777 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.823039
2025-10-26T22:52:40.030Z,1761519160.030 [DAT](INFO): DAT read: Rx Time:22:52:38.7829 

2025-10-26T22:52:40.030Z,1761519160.030 [DAT](INFO): Rx dataTimestamp_ set to:1761519160.029894
2025-10-26T22:52:40.032Z,1761519160.032 [DAT](INFO): DAT read: Bearing  98.1,  -5.7 (Local)

2025-10-26T22:52:40.032Z,1761519160.032 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.1,  -5.7 (Local)

2025-10-26T22:52:40.034Z,1761519160.034 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed 0.0

2025-10-26T22:52:40.038Z,1761519160.038 [DAT](INFO): DAT read: 22:52:38.7829 LVL= 32752, 22449, 32754, 32755, AGC= 67, IDX= 502,-0.20,-1.205, 0.637,-0.891,-0.443, PHS=-0.660, 1.125,-0.492, RAW= 325.1,   0.3, CAL= 323.8,  -2.6, ROT= 186.2,   2.6

2025-10-26T22:52:40.040Z,1761519160.040 [DAT](INFO): got valid direction response:
 22:52:38.7829 LVL= 32752, 22449, 32754, 32755, AGC= 67, IDX= 502,-0.20,-1.205, 0.637,-0.891,-0.443, PHS=-0.660, 1.125,-0.492, RAW= 325.1,   0.3, CAL= 323.8,  -2.6, ROT= 186.2,   2.6

2025-10-26T22:52:40.040Z,1761519160.040 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-26T22:52:40.041Z,1761519160.041 [DAT](INFO): direction in FSK: [-0.993128,-0.107888,-0.045363]
2025-10-26T22:52:40.041Z,1761519160.041 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:40.045Z,1761519160.045 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.090841
2025-10-26T22:52:40.074Z,1761519160.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501088,-0.864096,-0.047422],[0.865389,-0.500563,-0.023223],[-0.003671,-0.052675,0.998605]]
2025-10-26T22:52:40.137Z,1761519160.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.498504 s,
      deltaX: 0.300000 m,
      approachRate: 0.601801 m/s,
      rangeRepo size: 4

2025-10-26T22:52:40.144Z,1761519160.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.733801 m,
      bearing: 306.399010 deg,
      lat: 36.779427 deg,
      lon: -121.859373 deg,
      deltaT: 0.498504 s,
      deltaX: 0.298561 m,
      approachRate: 0.598914 m/s,
      posRepo size: 4

2025-10-26T22:52:40.144Z,1761519160.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.73 m.
2025-10-26T22:52:40.282Z,1761519160.282 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.327583
2025-10-26T22:52:40.470Z,1761519160.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501246,-0.863966,-0.048121],[0.865295,-0.500726,-0.023173],[-0.004075,-0.053254,0.998573]]
2025-10-26T22:52:40.519Z,1761519160.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.73 m.
2025-10-26T22:52:40.533Z,1761519160.533 [DAT](INFO): DAT read: Rx Time:22:52:39.2828 

2025-10-26T22:52:40.533Z,1761519160.533 [DAT](INFO): Rx dataTimestamp_ set to:1761519160.533196
2025-10-26T22:52:40.535Z,1761519160.535 [DAT](INFO): DAT read: Bearing  97.6,  -5.6 (Local)

2025-10-26T22:52:40.535Z,1761519160.535 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.6,  -5.6 (Local)

2025-10-26T22:52:40.537Z,1761519160.537 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed -0.1

2025-10-26T22:52:40.542Z,1761519160.542 [DAT](INFO): DAT read: 22:52:39.2828 LVL= 32752, 22209, 32754, 32755, AGC= 66, IDX= 501,-0.08,-1.573, 0.265,-1.265,-0.800, PHS=-0.671, 1.110,-0.510, RAW= 325.3,   0.9, CAL= 323.9,  -2.1, ROT= 186.1,   2.1

2025-10-26T22:52:40.543Z,1761519160.543 [DAT](INFO): got valid direction response:
 22:52:39.2828 LVL= 32752, 22209, 32754, 32755, AGC= 66, IDX= 501,-0.08,-1.573, 0.265,-1.265,-0.800, PHS=-0.671, 1.110,-0.510, RAW= 325.3,   0.9, CAL= 323.9,  -2.1, ROT= 186.1,   2.1

2025-10-26T22:52:40.543Z,1761519160.543 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-26T22:52:40.544Z,1761519160.544 [DAT](INFO): direction in FSK: [-0.993670,-0.106193,-0.036644]
2025-10-26T22:52:40.545Z,1761519160.545 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:40.552Z,1761519160.552 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.598136
2025-10-26T22:52:40.784Z,1761519160.784 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.830153
2025-10-26T22:52:40.907Z,1761519160.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501019,-0.864061,-0.048782],[0.865424,-0.500516,-0.022903],[-0.004627,-0.053692,0.998547]]
2025-10-26T22:52:40.964Z,1761519160.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.503302 s,
      deltaX: -0.100000 m,
      approachRate: -0.198689 m/s,
      rangeRepo size: 4

2025-10-26T22:52:40.966Z,1761519160.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.634312 m,
      bearing: 306.270372 deg,
      lat: 36.779426 deg,
      lon: -121.859374 deg,
      deltaT: 0.503302 s,
      deltaX: -0.099489 m,
      approachRate: -0.197673 m/s,
      posRepo size: 4

2025-10-26T22:52:40.966Z,1761519160.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m.
2025-10-26T22:52:41.038Z,1761519161.038 [DAT](INFO): DAT read: Rx Time:22:52:39.7828 

2025-10-26T22:52:41.039Z,1761519161.039 [DAT](INFO): Rx dataTimestamp_ set to:1761519161.038182
2025-10-26T22:52:41.041Z,1761519161.041 [DAT](INFO): DAT read: Bearing  98.0,  -5.4 (Local)

2025-10-26T22:52:41.041Z,1761519161.041 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.0,  -5.4 (Local)

2025-10-26T22:52:41.045Z,1761519161.045 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.0

2025-10-26T22:52:41.051Z,1761519161.051 [DAT](INFO): DAT read: 22:52:39.7828 LVL= 32752, 21441, 32754, 32755, AGC= 67, IDX= 501,-0.01,-0.935, 0.920,-0.627,-0.167, PHS=-0.667, 1.132,-0.505, RAW= 325.3,   0.5, CAL= 324.0,  -2.5, ROT= 186.0,   2.5

2025-10-26T22:52:41.052Z,1761519161.052 [DAT](INFO): got valid direction response:
 22:52:39.7828 LVL= 32752, 21441, 32754, 32755, AGC= 67, IDX= 501,-0.01,-0.935, 0.920,-0.627,-0.167, PHS=-0.667, 1.132,-0.505, RAW= 325.3,   0.5, CAL= 324.0,  -2.5, ROT= 186.0,   2.5

2025-10-26T22:52:41.053Z,1761519161.053 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-10-26T22:52:41.054Z,1761519161.054 [DAT](INFO): direction in FSK: [-0.993575,-0.104429,-0.043619]
2025-10-26T22:52:41.054Z,1761519161.054 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:41.060Z,1761519161.060 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.105898
2025-10-26T22:52:41.276Z,1761519161.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500798,-0.864167,-0.049161],[0.865549,-0.500320,-0.022490],[-0.005161,-0.053814,0.998538]]
2025-10-26T22:52:41.288Z,1761519161.288 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.334225
2025-10-26T22:52:41.318Z,1761519161.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.504986 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:41.321Z,1761519161.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.634312 m,
      bearing: 306.177384 deg,
      lat: 36.779426 deg,
      lon: -121.859376 deg,
      deltaT: 0.504986 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:52:41.321Z,1761519161.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m.
2025-10-26T22:52:41.541Z,1761519161.541 [DAT](INFO): DAT read: Rx Time:22:52:40.2827 

2025-10-26T22:52:41.542Z,1761519161.542 [DAT](INFO): Rx dataTimestamp_ set to:1761519161.541368
2025-10-26T22:52:41.543Z,1761519161.543 [DAT](INFO): DAT read: Bearing  98.4,  -5.2 (Local)

2025-10-26T22:52:41.544Z,1761519161.544 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.4,  -5.2 (Local)

2025-10-26T22:52:41.546Z,1761519161.546 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.0

2025-10-26T22:52:41.554Z,1761519161.554 [DAT](INFO): DAT read: 22:52:40.2827 LVL= 32752, 20465, 32754, 32755, AGC= 65, IDX= 500, 0.05,-1.446, 0.403,-1.145,-0.693, PHS=-0.651, 1.141,-0.496, RAW= 325.5,   0.1, CAL= 324.2,  -2.9, ROT= 185.8,   2.9

2025-10-26T22:52:41.555Z,1761519161.555 [DAT](INFO): got valid direction response:
 22:52:40.2827 LVL= 32752, 20465, 32754, 32755, AGC= 65, IDX= 500, 0.05,-1.446, 0.403,-1.145,-0.693, PHS=-0.651, 1.141,-0.496, RAW= 325.5,   0.1, CAL= 324.2,  -2.9, ROT= 185.8,   2.9

2025-10-26T22:52:41.564Z,1761519161.564 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-26T22:52:41.565Z,1761519161.565 [DAT](INFO): direction in FSK: [-0.993607,-0.100927,-0.050593]
2025-10-26T22:52:41.565Z,1761519161.565 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:41.577Z,1761519161.577 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.623273
2025-10-26T22:52:41.678Z,1761519161.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500392,-0.864398,-0.049235],[0.865780,-0.499947,-0.021866],[-0.005713,-0.053568,0.998548]]
2025-10-26T22:52:41.744Z,1761519161.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.503186 s,
      deltaX: -0.200000 m,
      approachRate: -0.397467 m/s,
      rangeRepo size: 4

2025-10-26T22:52:41.746Z,1761519161.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.435376 m,
      bearing: 305.971444 deg,
      lat: 36.779426 deg,
      lon: -121.859376 deg,
      deltaT: 0.503186 s,
      deltaX: -0.198936 m,
      approachRate: -0.395352 m/s,
      posRepo size: 4

2025-10-26T22:52:41.747Z,1761519161.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.44 m.
2025-10-26T22:52:41.793Z,1761519161.793 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.838516
2025-10-26T22:52:42.045Z,1761519162.045 [DAT](INFO): DAT read: Rx Time:22:52:40.7828 

2025-10-26T22:52:42.046Z,1761519162.046 [DAT](INFO): Rx dataTimestamp_ set to:1761519162.045263
2025-10-26T22:52:42.047Z,1761519162.047 [DAT](INFO): DAT read: Bearing  98.3,  -5.6 (Local)

2025-10-26T22:52:42.047Z,1761519162.047 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.3,  -5.6 (Local)

2025-10-26T22:52:42.049Z,1761519162.049 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.0

2025-10-26T22:52:42.054Z,1761519162.054 [DAT](INFO): DAT read: 22:52:40.7828 LVL= 32752, 22449, 32754, 32755, AGC= 65, IDX= 501, 0.05,-0.102, 1.762, 0.213, 0.666, PHS=-0.667, 1.140,-0.498, RAW= 325.1,   0.3, CAL= 323.8,  -2.7, ROT= 186.2,   2.7

2025-10-26T22:52:42.055Z,1761519162.055 [DAT](INFO): got valid direction response:
 22:52:40.7828 LVL= 32752, 22449, 32754, 32755, AGC= 65, IDX= 501, 0.05,-0.102, 1.762, 0.213, 0.666, PHS=-0.667, 1.140,-0.498, RAW= 325.1,   0.3, CAL= 323.8,  -2.7, ROT= 186.2,   2.7

2025-10-26T22:52:42.056Z,1761519162.056 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-10-26T22:52:42.057Z,1761519162.057 [DAT](INFO): direction in FSK: [-0.993047,-0.107879,-0.047106]
2025-10-26T22:52:42.057Z,1761519162.057 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:42.081Z,1761519162.081 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.126294
2025-10-26T22:52:42.110Z,1761519162.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500048,-0.864576,-0.049595],[0.865975,-0.499629,-0.021409],[-0.006269,-0.053654,0.998540]]
2025-10-26T22:52:42.190Z,1761519162.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.503895 s,
      deltaX: 0.200000 m,
      approachRate: 0.396908 m/s,
      rangeRepo size: 4

2025-10-26T22:52:42.212Z,1761519162.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.634418 m,
      bearing: 306.337548 deg,
      lat: 36.779426 deg,
      lon: -121.859376 deg,
      deltaT: 0.503895 s,
      deltaX: 0.199042 m,
      approachRate: 0.395008 m/s,
      posRepo size: 4

2025-10-26T22:52:42.214Z,1761519162.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m.
2025-10-26T22:52:42.298Z,1761519162.298 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.343119
2025-10-26T22:52:42.494Z,1761519162.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499517,-0.864864,-0.049919],[0.866276,-0.499132,-0.020804],[-0.006923,-0.053635,0.998537]]
2025-10-26T22:52:42.539Z,1761519162.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m.
2025-10-26T22:52:42.549Z,1761519162.549 [DAT](INFO): DAT read: Rx Time:22:52:41.2827 

2025-10-26T22:52:42.550Z,1761519162.550 [DAT](INFO): Rx dataTimestamp_ set to:1761519162.549293
2025-10-26T22:52:42.551Z,1761519162.551 [DAT](INFO): DAT read: Bearing  98.6,  -6.0 (Local)

2025-10-26T22:52:42.552Z,1761519162.552 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.6,  -6.0 (Local)

2025-10-26T22:52:42.554Z,1761519162.554 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.0

2025-10-26T22:52:42.558Z,1761519162.558 [DAT](INFO): DAT read: 22:52:41.2827 LVL= 30704, 20097, 32754, 32755, AGC= 66, IDX= 500, 0.06,-1.520, 0.356,-1.192,-0.747, PHS=-0.671, 1.148,-0.489, RAW= 324.8,   0.1, CAL= 323.5,  -2.8, ROT= 186.5,   2.8

2025-10-26T22:52:42.560Z,1761519162.560 [DAT](INFO): got valid direction response:
 22:52:41.2827 LVL= 30704, 20097, 32754, 32755, AGC= 66, IDX= 500, 0.06,-1.520, 0.356,-1.192,-0.747, PHS=-0.671, 1.148,-0.489, RAW= 324.8,   0.1, CAL= 323.5,  -2.8, ROT= 186.5,   2.8

2025-10-26T22:52:42.560Z,1761519162.560 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-26T22:52:42.561Z,1761519162.561 [DAT](INFO): direction in FSK: [-0.992386,-0.113068,-0.048850]
2025-10-26T22:52:42.561Z,1761519162.561 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:42.565Z,1761519162.565 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.611141
2025-10-26T22:52:42.800Z,1761519162.800 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.846126
2025-10-26T22:52:42.916Z,1761519162.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498905,-0.865211,-0.050032],[0.866624,-0.498556,-0.020117],[-0.007538,-0.053396,0.998545]]
2025-10-26T22:52:42.971Z,1761519162.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.504030 s,
      deltaX: -0.200000 m,
      approachRate: -0.396801 m/s,
      rangeRepo size: 4

2025-10-26T22:52:42.973Z,1761519162.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.435395 m,
      bearing: 306.565988 deg,
      lat: 36.779426 deg,
      lon: -121.859376 deg,
      deltaT: 0.504030 s,
      deltaX: -0.199023 m,
      approachRate: -0.394864 m/s,
      posRepo size: 4

2025-10-26T22:52:42.974Z,1761519162.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.44 m.
2025-10-26T22:52:43.053Z,1761519163.053 [DAT](INFO): DAT read: Rx Time:22:52:41.7828 

2025-10-26T22:52:43.054Z,1761519163.054 [DAT](INFO): Rx dataTimestamp_ set to:1761519163.053327
2025-10-26T22:52:43.055Z,1761519163.055 [DAT](INFO): DAT read: Bearing  97.8,  -6.3 (Local)

2025-10-26T22:52:43.055Z,1761519163.055 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.8,  -6.3 (Local)

2025-10-26T22:52:43.057Z,1761519163.057 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.0

2025-10-26T22:52:43.062Z,1761519163.062 [DAT](INFO): DAT read: 22:52:41.7828 LVL= 32752, 23137, 32754, 32755, AGC= 67, IDX= 501, 0.01,-0.820, 1.030,-0.488,-0.033, PHS=-0.685, 1.108,-0.498, RAW= 324.6,   0.9, CAL= 323.2,  -2.1, ROT= 186.8,   2.1

2025-10-26T22:52:43.067Z,1761519163.067 [DAT](INFO): got valid direction response:
 22:52:41.7828 LVL= 32752, 23137, 32754, 32755, AGC= 67, IDX= 501, 0.01,-0.820, 1.030,-0.488,-0.033, PHS=-0.685, 1.108,-0.498, RAW= 324.6,   0.9, CAL= 323.2,  -2.1, ROT= 186.8,   2.1

2025-10-26T22:52:43.069Z,1761519163.069 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-26T22:52:43.070Z,1761519163.070 [DAT](INFO): direction in FSK: [-0.992299,-0.118325,-0.036644]
2025-10-26T22:52:43.070Z,1761519163.070 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:43.078Z,1761519163.078 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.123947
2025-10-26T22:52:43.294Z,1761519163.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498414,-0.865493,-0.050063],[0.866901,-0.498100,-0.019451],[-0.008102,-0.053094,0.998557]]
2025-10-26T22:52:43.304Z,1761519163.304 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.350094
2025-10-26T22:52:43.465Z,1761519163.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.504034 s,
      deltaX: 0.200000 m,
      approachRate: 0.396798 m/s,
      rangeRepo size: 4

2025-10-26T22:52:43.472Z,1761519163.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.634438 m,
      bearing: 306.795967 deg,
      lat: 36.779426 deg,
      lon: -121.859376 deg,
      deltaT: 0.504034 s,
      deltaX: 0.199042 m,
      approachRate: 0.394899 m/s,
      posRepo size: 4

2025-10-26T22:52:43.472Z,1761519163.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m.
2025-10-26T22:52:43.558Z,1761519163.558 [DAT](INFO): DAT read: Rx Time:22:52:42.2827 

2025-10-26T22:52:43.558Z,1761519163.558 [DAT](INFO): Rx dataTimestamp_ set to:1761519163.558162
2025-10-26T22:52:43.560Z,1761519163.560 [DAT](INFO): DAT read: Bearing  97.7,  -6.5 (Local)

2025-10-26T22:52:43.560Z,1761519163.560 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.7,  -6.5 (Local)

2025-10-26T22:52:43.562Z,1761519163.562 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.0

2025-10-26T22:52:43.567Z,1761519163.567 [DAT](INFO): DAT read: 22:52:42.2827 LVL= 32752, 20305, 32754, 32755, AGC= 66, IDX= 500,-0.06,-2.748,-0.905,-2.413,-1.956, PHS=-0.690, 1.096,-0.501, RAW= 324.5,   1.1, CAL= 323.0,  -1.8, ROT= 187.0,   1.8

2025-10-26T22:52:43.568Z,1761519163.568 [DAT](INFO): got valid direction response:
 22:52:42.2827 LVL= 32752, 20305, 32754, 32755, AGC= 66, IDX= 500,-0.06,-2.748,-0.905,-2.413,-1.956, PHS=-0.690, 1.096,-0.501, RAW= 324.5,   1.1, CAL= 323.0,  -1.8, ROT= 187.0,   1.8

2025-10-26T22:52:43.569Z,1761519163.569 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-10-26T22:52:43.570Z,1761519163.570 [DAT](INFO): direction in FSK: [-0.992056,-0.121809,-0.031411]
2025-10-26T22:52:43.570Z,1761519163.570 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:43.574Z,1761519163.574 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.619859
2025-10-26T22:52:43.736Z,1761519163.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497996,-0.865723,-0.050239],[0.867136,-0.497712,-0.018916],[-0.008628,-0.052984,0.998558]]
2025-10-26T22:52:43.800Z,1761519163.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.504835 s,
      deltaX: -0.200000 m,
      approachRate: -0.396169 m/s,
      rangeRepo size: 4

2025-10-26T22:52:43.802Z,1761519163.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.435707 m,
      bearing: 306.952432 deg,
      lat: 36.779426 deg,
      lon: -121.859375 deg,
      deltaT: 0.504835 s,
      deltaX: -0.198730 m,
      approachRate: -0.393654 m/s,
      posRepo size: 4

2025-10-26T22:52:43.803Z,1761519163.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.44 m.
2025-10-26T22:52:43.811Z,1761519163.811 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.857036
2025-10-26T22:52:44.061Z,1761519164.061 [DAT](INFO): DAT read: Rx Time:22:52:42.7828 

2025-10-26T22:52:44.061Z,1761519164.061 [DAT](INFO): Rx dataTimestamp_ set to:1761519164.061124
2025-10-26T22:52:44.063Z,1761519164.063 [DAT](INFO): DAT read: Bearing  97.8,  -7.7 (Local)

2025-10-26T22:52:44.063Z,1761519164.063 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.8,  -7.7 (Local)

2025-10-26T22:52:44.065Z,1761519164.065 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.0

2025-10-26T22:52:44.070Z,1761519164.070 [DAT](INFO): DAT read: 22:52:42.7828 LVL= 32752, 20337, 32754, 32755, AGC= 66, IDX= 501,-0.04,-2.237,-0.381,-1.863,-1.428, PHS=-0.707, 1.092,-0.479, RAW= 323.3,   1.1, CAL= 321.8,  -1.8, ROT= 188.2,   1.8

2025-10-26T22:52:44.071Z,1761519164.071 [DAT](INFO): got valid direction response:
 22:52:42.7828 LVL= 32752, 20337, 32754, 32755, AGC= 66, IDX= 501,-0.04,-2.237,-0.381,-1.863,-1.428, PHS=-0.707, 1.092,-0.479, RAW= 323.3,   1.1, CAL= 321.8,  -1.8, ROT= 188.2,   1.8

2025-10-26T22:52:44.071Z,1761519164.071 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-10-26T22:52:44.072Z,1761519164.072 [DAT](INFO): direction in FSK: [-0.989288,-0.142559,-0.031411]
2025-10-26T22:52:44.072Z,1761519164.072 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:44.081Z,1761519164.081 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.126380
2025-10-26T22:52:44.136Z,1761519164.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497739,-0.865853,-0.050547],[0.867280,-0.497474,-0.018591],[-0.009049,-0.053092,0.998549]]
2025-10-26T22:52:44.227Z,1761519164.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.502962 s,
      deltaX: 0.200000 m,
      approachRate: 0.397644 m/s,
      rangeRepo size: 4

2025-10-26T22:52:44.252Z,1761519164.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.634754 m,
      bearing: 308.133599 deg,
      lat: 36.779426 deg,
      lon: -121.859374 deg,
      deltaT: 0.502962 s,
      deltaX: 0.199047 m,
      approachRate: 0.395750 m/s,
      posRepo size: 4

2025-10-26T22:52:44.253Z,1761519164.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m.
2025-10-26T22:52:44.314Z,1761519164.314 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.359168
2025-10-26T22:52:44.534Z,1761519164.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497489,-0.865988,-0.050694],[0.867419,-0.497246,-0.018192],[-0.009453,-0.053023,0.998549]]
2025-10-26T22:52:44.565Z,1761519164.565 [DAT](INFO): DAT read: Rx Time:22:52:43.2827 

2025-10-26T22:52:44.565Z,1761519164.565 [DAT](INFO): Rx dataTimestamp_ set to:1761519164.565192
2025-10-26T22:52:44.567Z,1761519164.567 [DAT](INFO): DAT read: Bearing  98.2,  -8.7 (Local)

2025-10-26T22:52:44.567Z,1761519164.567 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.2,  -8.7 (Local)

2025-10-26T22:52:44.569Z,1761519164.569 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.0

2025-10-26T22:52:44.574Z,1761519164.574 [DAT](INFO): DAT read: 22:52:43.2827 LVL= 32752, 22865, 32754, 32755, AGC= 66, IDX= 500, 0.02, 2.553,-1.854, 2.959,-2.911, PHS=-0.717, 1.102,-0.458, RAW= 322.4,   0.9, CAL= 320.9,  -2.1, ROT= 189.1,   2.1

2025-10-26T22:52:44.575Z,1761519164.575 [DAT](INFO): got valid direction response:
 22:52:43.2827 LVL= 32752, 22865, 32754, 32755, AGC= 66, IDX= 500, 0.02, 2.553,-1.854, 2.959,-2.911, PHS=-0.717, 1.102,-0.458, RAW= 322.4,   0.9, CAL= 320.9,  -2.1, ROT= 189.1,   2.1

2025-10-26T22:52:44.575Z,1761519164.575 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-10-26T22:52:44.576Z,1761519164.576 [DAT](INFO): direction in FSK: [-0.986751,-0.158052,-0.036644]
2025-10-26T22:52:44.577Z,1761519164.577 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:44.584Z,1761519164.584 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.629620
2025-10-26T22:52:44.660Z,1761519164.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.504068 s,
      deltaX: -0.200000 m,
      approachRate: -0.396771 m/s,
      rangeRepo size: 4

2025-10-26T22:52:44.662Z,1761519164.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.435550 m,
      bearing: 309.030801 deg,
      lat: 36.779427 deg,
      lon: -121.859374 deg,
      deltaT: 0.504068 s,
      deltaX: -0.199204 m,
      approachRate: -0.395194 m/s,
      posRepo size: 4

2025-10-26T22:52:44.663Z,1761519164.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.44 m.
2025-10-26T22:52:44.817Z,1761519164.817 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.862440
2025-10-26T22:52:44.938Z,1761519164.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497251,-0.866138,-0.050467],[0.867552,-0.497029,-0.017751],[-0.009709,-0.052610,0.998568]]
2025-10-26T22:52:44.973Z,1761519164.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.44 m.
2025-10-26T22:52:45.069Z,1761519165.069 [DAT](INFO): DAT read: Rx Time:22:52:43.7827 

2025-10-26T22:52:45.069Z,1761519165.069 [DAT](INFO): Rx dataTimestamp_ set to:1761519165.069047
2025-10-26T22:52:45.071Z,1761519165.071 [DAT](INFO): DAT read: Bearing  98.1,  -9.4 (Local)

2025-10-26T22:52:45.071Z,1761519165.071 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.1,  -9.4 (Local)

2025-10-26T22:52:45.073Z,1761519165.073 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.0

2025-10-26T22:52:45.078Z,1761519165.078 [DAT](INFO): DAT read: 22:52:43.7827 LVL= 32160, 23121, 32754, 32755, AGC= 65, IDX= 500, 0.08, 1.856,-2.552, 2.284, 2.688, PHS=-0.729, 1.089,-0.448, RAW= 321.7,   1.1, CAL= 320.1,  -1.9, ROT= 189.9,   1.9

2025-10-26T22:52:45.079Z,1761519165.079 [DAT](INFO): got valid direction response:
 22:52:43.7827 LVL= 32160, 23121, 32754, 32755, AGC= 65, IDX= 500, 0.08, 1.856,-2.552, 2.284, 2.688, PHS=-0.729, 1.089,-0.448, RAW= 321.7,   1.1, CAL= 320.1,  -1.9, ROT= 189.9,   1.9

2025-10-26T22:52:45.079Z,1761519165.079 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-10-26T22:52:45.080Z,1761519165.080 [DAT](INFO): direction in FSK: [-0.984568,-0.171834,-0.033155]
2025-10-26T22:52:45.080Z,1761519165.080 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:45.084Z,1761519165.084 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.129704
2025-10-26T22:52:45.321Z,1761519165.321 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.366350
2025-10-26T22:52:45.361Z,1761519165.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497332,-0.866126,-0.049875],[0.867506,-0.497124,-0.017361],[-0.009758,-0.051901,0.998605]]
2025-10-26T22:52:45.455Z,1761519165.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.503855 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:45.457Z,1761519165.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.435550 m,
      bearing: 309.807376 deg,
      lat: 36.779429 deg,
      lon: -121.859374 deg,
      deltaT: 0.503855 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:52:45.458Z,1761519165.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.44 m.
2025-10-26T22:52:45.573Z,1761519165.573 [DAT](INFO): DAT read: Rx Time:22:52:44.2826 

2025-10-26T22:52:45.574Z,1761519165.574 [DAT](INFO): Rx dataTimestamp_ set to:1761519165.573419
2025-10-26T22:52:45.575Z,1761519165.575 [DAT](INFO): DAT read: Bearing  97.0, -10.3 (Local)

2025-10-26T22:52:45.575Z,1761519165.575 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.0, -10.3 (Local)

2025-10-26T22:52:45.578Z,1761519165.578 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-10-26T22:52:45.582Z,1761519165.582 [DAT](INFO): DAT read: 22:52:44.2826 LVL= 32752, 27825, 32754, 32755, AGC= 64, IDX= 499, 0.09, 1.119, 3.012, 1.570, 1.994, PHS=-0.773, 1.063,-0.468, RAW= 321.1,   2.1, CAL= 319.3,  -0.8, ROT= 190.7,   0.8

2025-10-26T22:52:45.584Z,1761519165.584 [DAT](INFO): got valid direction response:
 22:52:44.2826 LVL= 32752, 27825, 32754, 32755, AGC= 64, IDX= 499, 0.09, 1.119, 3.012, 1.570, 1.994, PHS=-0.773, 1.063,-0.468, RAW= 321.1,   2.1, CAL= 319.3,  -0.8, ROT= 190.7,   0.8

2025-10-26T22:52:45.584Z,1761519165.584 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-10-26T22:52:45.585Z,1761519165.585 [DAT](INFO): direction in FSK: [-0.982517,-0.185649,-0.013962]
2025-10-26T22:52:45.585Z,1761519165.585 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:45.589Z,1761519165.589 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.635209
2025-10-26T22:52:45.747Z,1761519165.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497444,-0.866073,-0.049674],[0.867440,-0.497248,-0.017097],[-0.009893,-0.051594,0.998619]]
2025-10-26T22:52:45.826Z,1761519165.826 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.871123
2025-10-26T22:52:45.915Z,1761519165.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.504372 s,
      deltaX: -0.100000 m,
      approachRate: -0.198267 m/s,
      rangeRepo size: 4

2025-10-26T22:52:45.921Z,1761519165.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.336050 m,
      bearing: 310.559326 deg,
      lat: 36.779429 deg,
      lon: -121.859371 deg,
      deltaT: 0.504372 s,
      deltaX: -0.099500 m,
      approachRate: -0.197274 m/s,
      posRepo size: 4

2025-10-26T22:52:45.921Z,1761519165.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.34 m.
2025-10-26T22:52:46.077Z,1761519166.077 [DAT](INFO): DAT read: Rx Time:22:52:44.7827 

2025-10-26T22:52:46.078Z,1761519166.078 [DAT](INFO): Rx dataTimestamp_ set to:1761519166.077373
2025-10-26T22:52:46.079Z,1761519166.079 [DAT](INFO): DAT read: Bearing  97.9, -10.7 (Local)

2025-10-26T22:52:46.079Z,1761519166.079 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.9, -10.7 (Local)

2025-10-26T22:52:46.081Z,1761519166.081 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.0

2025-10-26T22:52:46.086Z,1761519166.086 [DAT](INFO): DAT read: 22:52:44.7827 LVL= 32752, 26737, 32754, 32755, AGC= 66, IDX= 500, 0.10, 3.076,-1.320,-2.741,-2.353, PHS=-0.753, 1.078,-0.432, RAW= 320.6,   1.3, CAL= 318.9,  -1.7, ROT= 191.1,   1.7

2025-10-26T22:52:46.087Z,1761519166.087 [DAT](INFO): got valid direction response:
 22:52:44.7827 LVL= 32752, 26737, 32754, 32755, AGC= 66, IDX= 500, 0.10, 3.076,-1.320,-2.741,-2.353, PHS=-0.753, 1.078,-0.432, RAW= 320.6,   1.3, CAL= 318.9,  -1.7, ROT= 191.1,   1.7

2025-10-26T22:52:46.109Z,1761519166.109 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-10-26T22:52:46.110Z,1761519166.110 [DAT](INFO): direction in FSK: [-0.980861,-0.192437,-0.029666]
2025-10-26T22:52:46.110Z,1761519166.110 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:46.119Z,1761519166.119 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.164510
2025-10-26T22:52:46.161Z,1761519166.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498012,-0.865753,-0.049563],[0.867115,-0.497809,-0.017235],[-0.009752,-0.051560,0.998622]]
2025-10-26T22:52:46.329Z,1761519166.329 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.374834
2025-10-26T22:52:46.451Z,1761519166.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.503954 s,
      deltaX: 0.100000 m,
      approachRate: 0.198432 m/s,
      rangeRepo size: 4

2025-10-26T22:52:46.465Z,1761519166.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.435573 m,
      bearing: 311.040136 deg,
      lat: 36.779430 deg,
      lon: -121.859370 deg,
      deltaT: 0.503954 s,
      deltaX: 0.099523 m,
      approachRate: 0.197483 m/s,
      posRepo size: 4

2025-10-26T22:52:46.465Z,1761519166.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.44 m.
2025-10-26T22:52:46.578Z,1761519166.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498755,-0.865310,-0.049830],[0.866691,-0.498533,-0.017665],[-0.009557,-0.051998,0.998601]]
2025-10-26T22:52:46.581Z,1761519166.581 [DAT](INFO): DAT read: Rx Time:22:52:45.2826 

2025-10-26T22:52:46.581Z,1761519166.581 [DAT](INFO): Rx dataTimestamp_ set to:1761519166.581200
2025-10-26T22:52:46.583Z,1761519166.583 [DAT](INFO): DAT read: Bearing  98.0, -10.3 (Local)

2025-10-26T22:52:46.583Z,1761519166.583 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.0, -10.3 (Local)

2025-10-26T22:52:46.586Z,1761519166.586 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-10-26T22:52:46.590Z,1761519166.590 [DAT](INFO): DAT read: 22:52:45.2826 LVL= 32752, 21457, 32754, 32755, AGC= 66, IDX= 499, 0.15, 2.631,-1.766, 3.088,-2.804, PHS=-0.747, 1.083,-0.436, RAW= 320.9,   1.2, CAL= 319.2,  -1.8, ROT= 190.8,   1.8

2025-10-26T22:52:46.592Z,1761519166.592 [DAT](INFO): got valid direction response:
 22:52:45.2826 LVL= 32752, 21457, 32754, 32755, AGC= 66, IDX= 499, 0.15, 2.631,-1.766, 3.088,-2.804, PHS=-0.747, 1.083,-0.436, RAW= 320.9,   1.2, CAL= 319.2,  -1.8, ROT= 190.8,   1.8

2025-10-26T22:52:46.592Z,1761519166.592 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-10-26T22:52:46.593Z,1761519166.593 [DAT](INFO): direction in FSK: [-0.981803,-0.187289,-0.031411]
2025-10-26T22:52:46.593Z,1761519166.593 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:46.597Z,1761519166.597 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.643227
2025-10-26T22:52:46.697Z,1761519166.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.503827 s,
      deltaX: -0.100000 m,
      approachRate: -0.198482 m/s,
      rangeRepo size: 4

2025-10-26T22:52:46.713Z,1761519166.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.335424 m,
      bearing: 310.795093 deg,
      lat: 36.779431 deg,
      lon: -121.859368 deg,
      deltaT: 0.503827 s,
      deltaX: -0.100148 m,
      approachRate: -0.198775 m/s,
      posRepo size: 4

2025-10-26T22:52:46.713Z,1761519166.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.34 m.
2025-10-26T22:52:46.834Z,1761519166.834 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.879115
2025-10-26T22:52:46.966Z,1761519166.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499656,-0.864755,-0.050428],[0.866174,-0.499406,-0.018349],[-0.009317,-0.052847,0.998559]]
2025-10-26T22:52:47.062Z,1761519167.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.34 m.
2025-10-26T22:52:47.085Z,1761519167.085 [DAT](INFO): DAT read: Rx Time:22:52:45.7827 

2025-10-26T22:52:47.085Z,1761519167.085 [DAT](INFO): Rx dataTimestamp_ set to:1761519167.085220
2025-10-26T22:52:47.087Z,1761519167.087 [DAT](INFO): DAT read: Bearing  97.9, -10.1 (Local)

2025-10-26T22:52:47.087Z,1761519167.087 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.9, -10.1 (Local)

2025-10-26T22:52:47.089Z,1761519167.089 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.0

2025-10-26T22:52:47.098Z,1761519167.098 [DAT](INFO): DAT read: 22:52:45.7827 LVL= 32752, 25713, 32754, 32755, AGC= 68, IDX= 500, 0.28,-2.005,-0.086,-1.550,-1.143, PHS=-0.760, 1.102,-0.451, RAW= 321.1,   1.3, CAL= 319.4,  -1.7, ROT= 190.6,   1.7

2025-10-26T22:52:47.099Z,1761519167.099 [DAT](INFO): got valid direction response:
 22:52:45.7827 LVL= 32752, 25713, 32754, 32755, AGC= 68, IDX= 500, 0.28,-2.005,-0.086,-1.550,-1.143, PHS=-0.760, 1.102,-0.451, RAW= 321.1,   1.3, CAL= 319.4,  -1.7, ROT= 190.6,   1.7

2025-10-26T22:52:47.099Z,1761519167.099 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-10-26T22:52:47.100Z,1761519167.100 [DAT](INFO): direction in FSK: [-0.982503,-0.183871,-0.029666]
2025-10-26T22:52:47.101Z,1761519167.101 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:47.117Z,1761519167.117 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.162326
2025-10-26T22:52:47.337Z,1761519167.337 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.382828
2025-10-26T22:52:47.419Z,1761519167.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501198,-0.863848,-0.050673],[0.865289,-0.500902,-0.019302],[-0.008708,-0.053521,0.998529]]
2025-10-26T22:52:47.500Z,1761519167.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.504020 s,
      deltaX: 0.100000 m,
      approachRate: 0.198406 m/s,
      rangeRepo size: 4

2025-10-26T22:52:47.502Z,1761519167.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.434929 m,
      bearing: 310.753700 deg,
      lat: 36.779431 deg,
      lon: -121.859367 deg,
      deltaT: 0.504020 s,
      deltaX: 0.099504 m,
      approachRate: 0.197422 m/s,
      posRepo size: 4

2025-10-26T22:52:47.503Z,1761519167.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-10-26T22:52:47.589Z,1761519167.589 [DAT](INFO): DAT read: Rx Time:22:52:46.2827 

2025-10-26T22:52:47.590Z,1761519167.590 [DAT](INFO): Rx dataTimestamp_ set to:1761519167.589663
2025-10-26T22:52:47.591Z,1761519167.591 [DAT](INFO): DAT read: Bearing  97.3,  -9.9 (Local)

2025-10-26T22:52:47.592Z,1761519167.592 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.3,  -9.9 (Local)

2025-10-26T22:52:47.594Z,1761519167.594 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed -0.1

2025-10-26T22:52:47.601Z,1761519167.601 [DAT](INFO): DAT read: 22:52:46.2827 LVL= 32752, 25137, 32754, 32755, AGC= 67, IDX= 500,-0.34, 0.992, 2.872, 1.431, 1.849, PHS=-0.756, 1.068,-0.462, RAW= 321.4,   1.8, CAL= 319.6,  -1.2, ROT= 190.4,   1.2

2025-10-26T22:52:47.602Z,1761519167.602 [DAT](INFO): got valid direction response:
 22:52:46.2827 LVL= 32752, 25137, 32754, 32755, AGC= 67, IDX= 500,-0.34, 0.992, 2.872, 1.431, 1.849, PHS=-0.756, 1.068,-0.462, RAW= 321.4,   1.8, CAL= 319.6,  -1.2, ROT= 190.4,   1.2

2025-10-26T22:52:47.603Z,1761519167.603 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-10-26T22:52:47.608Z,1761519167.608 [DAT](INFO): direction in FSK: [-0.983356,-0.180479,-0.020942]
2025-10-26T22:52:47.609Z,1761519167.609 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:47.621Z,1761519167.621 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.666586
2025-10-26T22:52:47.841Z,1761519167.841 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.886723
2025-10-26T22:52:47.916Z,1761519167.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.504443 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:47.918Z,1761519167.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.434929 m,
      bearing: 310.528484 deg,
      lat: 36.779431 deg,
      lon: -121.859367 deg,
      deltaT: 0.504443 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:52:47.918Z,1761519167.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-10-26T22:52:48.093Z,1761519168.093 [DAT](INFO): DAT read: Rx Time:22:52:46.7828 

2025-10-26T22:52:48.093Z,1761519168.093 [DAT](INFO): Rx dataTimestamp_ set to:1761519168.093025
2025-10-26T22:52:48.095Z,1761519168.095 [DAT](INFO): DAT read: Bearing  98.0,  -9.6 (Local)

2025-10-26T22:52:48.095Z,1761519168.095 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.0,  -9.6 (Local)

2025-10-26T22:52:48.097Z,1761519168.097 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.0

2025-10-26T22:52:48.102Z,1761519168.102 [DAT](INFO): DAT read: 22:52:46.7828 LVL= 32752, 22753, 32754, 32755, AGC= 67, IDX= 501,-0.04, 2.090,-2.296, 2.530, 2.935, PHS=-0.743, 1.097,-0.449, RAW= 321.5,   1.1, CAL= 319.8,  -1.9, ROT= 190.2,   1.9

2025-10-26T22:52:48.103Z,1761519168.103 [DAT](INFO): got valid direction response:
 22:52:46.7828 LVL= 32752, 22753, 32754, 32755, AGC= 67, IDX= 501,-0.04, 2.090,-2.296, 2.530, 2.935, PHS=-0.743, 1.097,-0.449, RAW= 321.5,   1.1, CAL= 319.8,  -1.9, ROT= 190.2,   1.9

2025-10-26T22:52:48.103Z,1761519168.103 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-10-26T22:52:48.104Z,1761519168.104 [DAT](INFO): direction in FSK: [-0.983655,-0.176987,-0.033155]
2025-10-26T22:52:48.104Z,1761519168.104 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:48.111Z,1761519168.111 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.156605
2025-10-26T22:52:48.188Z,1761519168.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502171,-0.863316,-0.050101],[0.864730,-0.501852,-0.019674],[-0.008159,-0.053203,0.998550]]
2025-10-26T22:52:48.208Z,1761519168.208 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:52:48.257Z,1761519168.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.503362 s,
      deltaX: 0.200000 m,
      approachRate: 0.397328 m/s,
      rangeRepo size: 4

2025-10-26T22:52:48.259Z,1761519168.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.633965 m,
      bearing: 310.428570 deg,
      lat: 36.779431 deg,
      lon: -121.859367 deg,
      deltaT: 0.503362 s,
      deltaX: 0.199036 m,
      approachRate: 0.395413 m/s,
      posRepo size: 4

2025-10-26T22:52:48.264Z,1761519168.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m.
2025-10-26T22:52:48.345Z,1761519168.345 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.391169
2025-10-26T22:52:48.584Z,1761519168.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502817,-0.862973,-0.049520],[0.864358,-0.502486,-0.019825],[-0.007775,-0.052771,0.998576]]
2025-10-26T22:52:48.597Z,1761519168.597 [DAT](INFO): DAT read: Rx Time:22:52:47.2827 

2025-10-26T22:52:48.598Z,1761519168.598 [DAT](INFO): Rx dataTimestamp_ set to:1761519168.597245
2025-10-26T22:52:48.599Z,1761519168.599 [DAT](INFO): DAT read: Bearing  97.8, -10.0 (Local)

2025-10-26T22:52:48.599Z,1761519168.599 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.8, -10.0 (Local)

2025-10-26T22:52:48.601Z,1761519168.601 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed -0.2

2025-10-26T22:52:48.606Z,1761519168.606 [DAT](INFO): DAT read: 22:52:47.2827 LVL= 32752, 24113, 32754, 32755, AGC= 68, IDX= 500, 0.32, 1.619,-2.759, 2.073, 2.476, PHS=-0.755, 1.093,-0.447, RAW= 321.0,   1.3, CAL= 319.4,  -1.7, ROT= 190.6,   1.7

2025-10-26T22:52:48.607Z,1761519168.607 [DAT](INFO): got valid direction response:
 22:52:47.2827 LVL= 32752, 24113, 32754, 32755, AGC= 68, IDX= 500, 0.32, 1.619,-2.759, 2.073, 2.476, PHS=-0.755, 1.093,-0.447, RAW= 321.0,   1.3, CAL= 319.4,  -1.7, ROT= 190.6,   1.7

2025-10-26T22:52:48.607Z,1761519168.607 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-10-26T22:52:48.608Z,1761519168.608 [DAT](INFO): direction in FSK: [-0.982503,-0.183871,-0.029666]
2025-10-26T22:52:48.609Z,1761519168.609 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:48.618Z,1761519168.618 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.664017
2025-10-26T22:52:48.776Z,1761519168.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.504220 s,
      deltaX: -0.200000 m,
      approachRate: -0.396652 m/s,
      rangeRepo size: 4

2025-10-26T22:52:48.781Z,1761519168.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.434881 m,
      bearing: 310.859967 deg,
      lat: 36.779431 deg,
      lon: -121.859367 deg,
      deltaT: 0.504220 s,
      deltaX: -0.199083 m,
      approachRate: -0.394834 m/s,
      posRepo size: 4

2025-10-26T22:52:48.782Z,1761519168.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-10-26T22:52:48.850Z,1761519168.850 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.895025
2025-10-26T22:52:49.016Z,1761519169.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503878,-0.862378,-0.049107],[0.863745,-0.503518,-0.020339],[-0.007187,-0.052664,0.998586]]
2025-10-26T22:52:49.069Z,1761519169.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-10-26T22:52:49.101Z,1761519169.101 [DAT](INFO): DAT read: Rx Time:22:52:47.7828 

2025-10-26T22:52:49.101Z,1761519169.101 [DAT](INFO): Rx dataTimestamp_ set to:1761519169.101167
2025-10-26T22:52:49.103Z,1761519169.103 [DAT](INFO): DAT read: Bearing  97.8,  -9.9 (Local)

2025-10-26T22:52:49.103Z,1761519169.103 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.8,  -9.9 (Local)

2025-10-26T22:52:49.105Z,1761519169.105 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed -0.1

2025-10-26T22:52:49.111Z,1761519169.111 [DAT](INFO): DAT read: 22:52:47.7828 LVL= 32752, 23153, 32754, 32755, AGC= 68, IDX= 501,-0.13, 0.224, 2.134, 0.676, 1.078, PHS=-0.753, 1.100,-0.446, RAW= 321.1,   1.2, CAL= 319.5,  -1.8, ROT= 190.5,   1.8

2025-10-26T22:52:49.113Z,1761519169.113 [DAT](INFO): got valid direction response:
 22:52:47.7828 LVL= 32752, 23153, 32754, 32755, AGC= 68, IDX= 501,-0.13, 0.224, 2.134, 0.676, 1.078, PHS=-0.753, 1.100,-0.446, RAW= 321.1,   1.2, CAL= 319.5,  -1.8, ROT= 190.5,   1.8

2025-10-26T22:52:49.113Z,1761519169.113 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-10-26T22:52:49.115Z,1761519169.115 [DAT](INFO): direction in FSK: [-0.982770,-0.182146,-0.031411]
2025-10-26T22:52:49.115Z,1761519169.115 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:49.120Z,1761519169.120 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.165787
2025-10-26T22:52:49.212Z,1761519169.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:52:49.356Z,1761519169.356 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.400978
2025-10-26T22:52:49.430Z,1761519169.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505103,-0.861673,-0.048897],[0.863034,-0.504706,-0.021054],[-0.006537,-0.052835,0.998582]]
2025-10-26T22:52:49.526Z,1761519169.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.503922 s,
      deltaX: 0.200000 m,
      approachRate: 0.396886 m/s,
      rangeRepo size: 4

2025-10-26T22:52:49.529Z,1761519169.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.633415 m,
      bearing: 310.916797 deg,
      lat: 36.779431 deg,
      lon: -121.859367 deg,
      deltaT: 0.503922 s,
      deltaX: 0.198534 m,
      approachRate: 0.393978 m/s,
      posRepo size: 4

2025-10-26T22:52:49.529Z,1761519169.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m.
2025-10-26T22:52:49.606Z,1761519169.606 [DAT](INFO): DAT read: Rx Time:22:52:48.2827 

2025-10-26T22:52:49.606Z,1761519169.606 [DAT](INFO): Rx dataTimestamp_ set to:1761519169.606147
2025-10-26T22:52:49.609Z,1761519169.609 [DAT](INFO): DAT read: Bearing  98.6,  -9.5 (Local)

2025-10-26T22:52:49.609Z,1761519169.609 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.6,  -9.5 (Local)

2025-10-26T22:52:49.612Z,1761519169.612 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.0

2025-10-26T22:52:49.617Z,1761519169.617 [DAT](INFO): DAT read: 22:52:48.2827 LVL= 32608, 21489, 32754, 32755, AGC= 66, IDX= 500, 0.25, 0.221, 2.116, 0.666, 1.046, PHS=-0.723, 1.115,-0.424, RAW= 321.3,   0.4, CAL= 319.7,  -2.6, ROT= 190.3,   2.6

2025-10-26T22:52:49.618Z,1761519169.618 [DAT](INFO): got valid direction response:
 22:52:48.2827 LVL= 32608, 21489, 32754, 32755, AGC= 66, IDX= 500, 0.25, 0.221, 2.116, 0.666, 1.046, PHS=-0.723, 1.115,-0.424, RAW= 321.3,   0.4, CAL= 319.7,  -2.6, ROT= 190.3,   2.6

2025-10-26T22:52:49.618Z,1761519169.618 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-10-26T22:52:49.619Z,1761519169.619 [DAT](INFO): direction in FSK: [-0.982872,-0.178618,-0.045363]
2025-10-26T22:52:49.620Z,1761519169.620 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:49.623Z,1761519169.623 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.668917
2025-10-26T22:52:49.823Z,1761519169.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505458,-0.861487,-0.048500],[0.862828,-0.505054,-0.021151],[-0.006274,-0.052539,0.998599]]
2025-10-26T22:52:49.859Z,1761519169.859 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.904438
2025-10-26T22:52:49.930Z,1761519169.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.504980 s,
      deltaX: -0.200000 m,
      approachRate: -0.396055 m/s,
      rangeRepo size: 4

2025-10-26T22:52:49.936Z,1761519169.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.434387 m,
      bearing: 310.780803 deg,
      lat: 36.779431 deg,
      lon: -121.859367 deg,
      deltaT: 0.504980 s,
      deltaX: -0.199028 m,
      approachRate: -0.394130 m/s,
      posRepo size: 4

2025-10-26T22:52:49.937Z,1761519169.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-10-26T22:52:50.109Z,1761519170.109 [DAT](INFO): DAT read: Rx Time:22:52:48.7829 

2025-10-26T22:52:50.109Z,1761519170.109 [DAT](INFO): Rx dataTimestamp_ set to:1761519170.109108
2025-10-26T22:52:50.111Z,1761519170.111 [DAT](INFO): DAT read: Bearing  97.0,  -8.5 (Local)

2025-10-26T22:52:50.111Z,1761519170.111 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.0,  -8.5 (Local)

2025-10-26T22:52:50.113Z,1761519170.113 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed -0.1

2025-10-26T22:52:50.118Z,1761519170.118 [DAT](INFO): DAT read: 22:52:48.7829 LVL= 32752, 22801, 32754, 32755, AGC= 66, IDX= 502,-0.17, 0.046, 1.931, 0.453, 0.893, PHS=-0.745, 1.083,-0.484, RAW= 322.4,   1.7, CAL= 320.7,  -1.2, ROT= 189.3,   1.2

2025-10-26T22:52:50.119Z,1761519170.119 [DAT](INFO): got valid direction response:
 22:52:48.7829 LVL= 32752, 22801, 32754, 32755, AGC= 66, IDX= 502,-0.17, 0.046, 1.931, 0.453, 0.893, PHS=-0.745, 1.083,-0.484, RAW= 322.4,   1.7, CAL= 320.7,  -1.2, ROT= 189.3,   1.2

2025-10-26T22:52:50.119Z,1761519170.119 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-10-26T22:52:50.121Z,1761519170.121 [DAT](INFO): direction in FSK: [-0.986639,-0.161568,-0.020942]
2025-10-26T22:52:50.121Z,1761519170.121 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:50.125Z,1761519170.125 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.170408
2025-10-26T22:52:50.232Z,1761519170.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505624,-0.861397,-0.048371],[0.862732,-0.505219,-0.021179],[-0.006195,-0.052440,0.998605]]
2025-10-26T22:52:50.276Z,1761519170.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.502961 s,
      deltaX: 0.300000 m,
      approachRate: 0.596468 m/s,
      rangeRepo size: 4

2025-10-26T22:52:50.278Z,1761519170.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.732929 m,
      bearing: 309.722445 deg,
      lat: 36.779431 deg,
      lon: -121.859367 deg,
      deltaT: 0.502961 s,
      deltaX: 0.298542 m,
      approachRate: 0.593569 m/s,
      posRepo size: 4

2025-10-26T22:52:50.279Z,1761519170.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.73 m.
2025-10-26T22:52:50.365Z,1761519170.365 [DAT](INFO): DAT read: Rx Time:22:52:49.2828 

2025-10-26T22:52:50.367Z,1761519170.367 [DAT](INFO): Rx dataTimestamp_ set to:1761519170.365693
2025-10-26T22:52:50.369Z,1761519170.369 [DAT](INFO): DAT read: Bearing  97.2,  -7.9 (Local)

2025-10-26T22:52:50.370Z,1761519170.370 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.2,  -7.9 (Local)

2025-10-26T22:52:50.373Z,1761519170.373 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.417940
2025-10-26T22:52:50.618Z,1761519170.618 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.0

2025-10-26T22:52:50.623Z,1761519170.623 [DAT](INFO): DAT read: 22:52:49.2828 LVL= 32752, 23281, 32754, 32755, AGC= 66, IDX= 501, 0.21, 0.985, 2.856, 1.374, 1.812, PHS=-0.725, 1.089,-0.482, RAW= 322.9,   1.4, CAL= 321.3,  -1.6, ROT= 188.7,   1.6

2025-10-26T22:52:50.624Z,1761519170.624 [DAT](INFO): got valid direction response:
 22:52:49.2828 LVL= 32752, 23281, 32754, 32755, AGC= 66, IDX= 501, 0.21, 0.985, 2.856, 1.374, 1.812, PHS=-0.725, 1.089,-0.482, RAW= 322.9,   1.4, CAL= 321.3,  -1.6, ROT= 188.7,   1.6

2025-10-26T22:52:50.625Z,1761519170.625 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-10-26T22:52:50.626Z,1761519170.626 [DAT](INFO): direction in FSK: [-0.988108,-0.151202,-0.027922]
2025-10-26T22:52:50.626Z,1761519170.626 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:50.638Z,1761519170.638 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.683416
2025-10-26T22:52:50.772Z,1761519170.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.505185 s,
      deltaX: -0.100000 m,
      approachRate: -0.197948 m/s,
      rangeRepo size: 4

2025-10-26T22:52:50.774Z,1761519170.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.633011 m,
      bearing: 309.143696 deg,
      lat: 36.779430 deg,
      lon: -121.859367 deg,
      deltaT: 0.505185 s,
      deltaX: -0.099918 m,
      approachRate: -0.197786 m/s,
      posRepo size: 4

2025-10-26T22:52:50.775Z,1761519170.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m.
2025-10-26T22:52:50.869Z,1761519170.869 [DAT](INFO): DAT read: Rx Time:22:52:49.7830 

2025-10-26T22:52:50.870Z,1761519170.870 [DAT](INFO): Rx dataTimestamp_ set to:1761519170.869166
2025-10-26T22:52:50.881Z,1761519170.881 [DAT](INFO): DAT read: Bearing  97.9,  -7.4 (Local)

2025-10-26T22:52:50.883Z,1761519170.883 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.9,  -7.4 (Local)

2025-10-26T22:52:50.887Z,1761519170.887 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed 0.0

2025-10-26T22:52:50.906Z,1761519170.906 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-10-26T22:52:50.920Z,1761519170.920 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.966047
2025-10-26T22:52:51.049Z,1761519171.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505541,-0.861431,-0.048631],[0.862779,-0.505139,-0.021134],[-0.006360,-0.052642,0.998593]]
2025-10-26T22:52:51.073Z,1761519171.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.254873 s,
      deltaX: 0.300000 m,
      approachRate: 1.177058 m/s,
      rangeRepo size: 4

2025-10-26T22:52:51.073Z,1761519171.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m.
2025-10-26T22:52:51.121Z,1761519171.121 [DAT](INFO): DAT read: 22:52:49.7830 LVL= 32752, 20977, 32754, 32755, AGC= 66, IDX= 503,-0.25, 0.260, 2.145, 0.637, 1.067, PHS=-0.705, 1.123,-0.474, RAW= 323.3,   0.7, CAL= 321.9,  -2.3, ROT= 188.1,   2.3

2025-10-26T22:52:51.122Z,1761519171.122 [DAT](INFO): got valid direction response:
 22:52:49.7830 LVL= 32752, 20977, 32754, 32755, AGC= 66, IDX= 503,-0.25, 0.260, 2.145, 0.637, 1.067, PHS=-0.705, 1.123,-0.474, RAW= 323.3,   0.7, CAL= 321.9,  -2.3, ROT= 188.1,   2.3

2025-10-26T22:52:51.122Z,1761519171.122 [DAT](INFO): #Rx 35: Read direction message, but no range.
2025-10-26T22:52:51.123Z,1761519171.123 [DAT](INFO): direction in FSK: [-0.989226,-0.140788,-0.040132]
2025-10-26T22:52:51.127Z,1761519171.127 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.172503
2025-10-26T22:52:51.374Z,1761519171.374 [DAT](INFO): DAT read: Rx Time:22:52:50.2829 

2025-10-26T22:52:51.376Z,1761519171.376 [DAT](INFO): Rx dataTimestamp_ set to:1761519171.375028
2025-10-26T22:52:51.381Z,1761519171.381 [DAT](INFO): DAT read: Bearing  97.3,  -7.4 (Local)

2025-10-26T22:52:51.383Z,1761519171.383 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.3,  -7.4 (Local)

2025-10-26T22:52:51.390Z,1761519171.390 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed -0.1

2025-10-26T22:52:51.406Z,1761519171.406 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-10-26T22:52:51.409Z,1761519171.409 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.454666
2025-10-26T22:52:51.458Z,1761519171.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504869,-0.861808,-0.048937],[0.863170,-0.504484,-0.020835],[-0.006733,-0.052760,0.998585]]
2025-10-26T22:52:51.545Z,1761519171.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.505862 s,
      deltaX: -0.200000 m,
      approachRate: -0.395364 m/s,
      rangeRepo size: 4

2025-10-26T22:52:51.552Z,1761519171.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.733625 m,
      bearing: 308.530833 deg,
      lat: 36.779430 deg,
      lon: -121.859369 deg,
      deltaT: 0.760735 s,
      deltaX: 0.100615 m,
      approachRate: 0.132260 m/s,
      posRepo size: 4

2025-10-26T22:52:51.552Z,1761519171.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.73 m.
2025-10-26T22:52:51.625Z,1761519171.625 [DAT](INFO): DAT read: 22:52:50.2829 LVL= 32752, 20945, 32754, 32755, AGC= 66, IDX= 502, 0.05, 1.375,-3.031, 1.751, 2.194, PHS=-0.717, 1.103,-0.487, RAW= 323.4,   1.2, CAL= 321.8,  -1.8, ROT= 188.2,   1.8

2025-10-26T22:52:51.626Z,1761519171.626 [DAT](INFO): got valid direction response:
 22:52:50.2829 LVL= 32752, 20945, 32754, 32755, AGC= 66, IDX= 502, 0.05, 1.375,-3.031, 1.751, 2.194, PHS=-0.717, 1.103,-0.487, RAW= 323.4,   1.2, CAL= 321.8,  -1.8, ROT= 188.2,   1.8

2025-10-26T22:52:51.627Z,1761519171.627 [DAT](INFO): #Rx 37: Read direction message, but no range.
2025-10-26T22:52:51.628Z,1761519171.628 [DAT](INFO): direction in FSK: [-0.989288,-0.142559,-0.031411]
2025-10-26T22:52:51.631Z,1761519171.631 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.676754
2025-10-26T22:52:51.860Z,1761519171.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503892,-0.862367,-0.049154],[0.863736,-0.503536,-0.020285],[-0.007258,-0.052678,0.998585]]
2025-10-26T22:52:51.875Z,1761519171.875 [DAT](INFO): DAT read: Rx Time:22:52:50.7830 

2025-10-26T22:52:51.877Z,1761519171.877 [DAT](INFO): Rx dataTimestamp_ set to:1761519171.875996
2025-10-26T22:52:51.880Z,1761519171.880 [DAT](INFO): DAT read: Bearing  97.1,  -6.8 (Local)

2025-10-26T22:52:51.881Z,1761519171.881 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.1,  -6.8 (Local)

2025-10-26T22:52:51.886Z,1761519171.886 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed 0.0

2025-10-26T22:52:51.888Z,1761519171.888 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-10-26T22:52:51.891Z,1761519171.891 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.935993
2025-10-26T22:52:51.981Z,1761519171.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.500968 s,
      deltaX: 0.200000 m,
      approachRate: 0.399227 m/s,
      rangeRepo size: 4

2025-10-26T22:52:51.983Z,1761519171.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.932664 m,
      bearing: 308.540154 deg,
      lat: 36.779430 deg,
      lon: -121.859369 deg,
      deltaT: 0.500968 s,
      deltaX: 0.199039 m,
      approachRate: 0.397308 m/s,
      posRepo size: 4

2025-10-26T22:52:51.988Z,1761519171.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.93 m.
2025-10-26T22:52:52.128Z,1761519172.128 [DAT](INFO): DAT read: 22:52:50.7830 LVL= 32752, 21185, 32754, 32755, AGC= 67, IDX= 503, 0.31,-3.055,-1.191,-2.703,-2.245, PHS=-0.708, 1.100,-0.501, RAW= 324.0,   1.3, CAL= 322.5,  -1.6, ROT= 187.5,   1.6

2025-10-26T22:52:52.129Z,1761519172.129 [DAT](INFO): got valid direction response:
 22:52:50.7830 LVL= 32752, 21185, 32754, 32755, AGC= 67, IDX= 503, 0.31,-3.055,-1.191,-2.703,-2.245, PHS=-0.708, 1.100,-0.501, RAW= 324.0,   1.3, CAL= 322.5,  -1.6, ROT= 187.5,   1.6

2025-10-26T22:52:52.130Z,1761519172.130 [DAT](INFO): #Rx 39: Read direction message, but no range.
2025-10-26T22:52:52.131Z,1761519172.131 [DAT](INFO): direction in FSK: [-0.991058,-0.130475,-0.027922]
2025-10-26T22:52:52.134Z,1761519172.134 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.179846
2025-10-26T22:52:52.254Z,1761519172.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502691,-0.863053,-0.049420],[0.864430,-0.502370,-0.019608],[-0.007904,-0.052577,0.998586]]
2025-10-26T22:52:52.292Z,1761519172.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:52:52.294Z,1761519172.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.93 m.
2025-10-26T22:52:52.383Z,1761519172.383 [DAT](INFO): DAT read: Rx Time:22:52:51.2829 

2025-10-26T22:52:52.386Z,1761519172.386 [DAT](INFO): Rx dataTimestamp_ set to:1761519172.385075
2025-10-26T22:52:52.393Z,1761519172.393 [DAT](INFO): DAT read: Bearing  97.0,  -6.3 (Local)

2025-10-26T22:52:52.394Z,1761519172.394 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.0,  -6.3 (Local)

2025-10-26T22:52:52.417Z,1761519172.417 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed 0.0

2025-10-26T22:52:52.430Z,1761519172.430 [DAT](INFO): DAT read: 22:52:51.2829 LVL= 32752, 20513, 32754, 32755, AGC= 65, IDX= 503,-0.41, 0.027, 1.873, 0.364, 0.827, PHS=-0.698, 1.091,-0.507, RAW= 324.4,   1.4, CAL= 322.9,  -1.6, ROT= 187.1,   1.6

2025-10-26T22:52:52.431Z,1761519172.431 [DAT](INFO): got valid direction response:
 22:52:51.2829 LVL= 32752, 20513, 32754, 32755, AGC= 65, IDX= 503,-0.41, 0.027, 1.873, 0.364, 0.827, PHS=-0.698, 1.091,-0.507, RAW= 324.4,   1.4, CAL= 322.9,  -1.6, ROT= 187.1,   1.6

2025-10-26T22:52:52.435Z,1761519172.435 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-10-26T22:52:52.436Z,1761519172.436 [DAT](INFO): direction in FSK: [-0.991945,-0.123553,-0.027922]
2025-10-26T22:52:52.437Z,1761519172.437 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:52.445Z,1761519172.445 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.490635
2025-10-26T22:52:52.628Z,1761519172.628 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.674156
2025-10-26T22:52:52.658Z,1761519172.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501155,-0.863924,-0.049790],[0.865313,-0.500880,-0.018753],[-0.008737,-0.052482,0.998584]]
2025-10-26T22:52:52.752Z,1761519172.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.509079 s,
      deltaX: -0.200000 m,
      approachRate: -0.392866 m/s,
      rangeRepo size: 4

2025-10-26T22:52:52.754Z,1761519172.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.734224 m,
      bearing: 307.250305 deg,
      lat: 36.779429 deg,
      lon: -121.859371 deg,
      deltaT: 0.509079 s,
      deltaX: -0.198440 m,
      approachRate: -0.389801 m/s,
      posRepo size: 4

2025-10-26T22:52:52.755Z,1761519172.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.73 m.
2025-10-26T22:52:52.884Z,1761519172.884 [DAT](INFO): DAT read: Rx Time:22:52:51.7831 

2025-10-26T22:52:52.886Z,1761519172.886 [DAT](INFO): Rx dataTimestamp_ set to:1761519172.884951
2025-10-26T22:52:52.890Z,1761519172.890 [DAT](INFO): DAT read: Bearing  96.5,  -6.5 (Local)

2025-10-26T22:52:52.891Z,1761519172.891 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.5,  -6.5 (Local)

2025-10-26T22:52:52.904Z,1761519172.904 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed 0.0

2025-10-26T22:52:52.906Z,1761519172.906 [DAT](ERROR): #Rx 41: Read range message, but no direction.
2025-10-26T22:52:52.912Z,1761519172.912 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.957964
2025-10-26T22:52:53.068Z,1761519173.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499632,-0.864771,-0.050396],[0.866184,-0.499406,-0.017893],[-0.009695,-0.052593,0.998569]]
2025-10-26T22:52:53.090Z,1761519173.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.499876 s,
      deltaX: 0.300000 m,
      approachRate: 0.600149 m/s,
      rangeRepo size: 4

2025-10-26T22:52:53.090Z,1761519173.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.73 m.
2025-10-26T22:52:53.138Z,1761519173.138 [DAT](INFO): DAT read: 22:52:51.7831 LVL= 32752, 22241, 32754, 32755, AGC= 65, IDX= 504,-0.35, 1.371,-3.058, 1.711, 2.187, PHS=-0.714, 1.083,-0.520, RAW= 324.3,   1.8, CAL= 322.8,  -1.1, ROT= 187.2,   1.1

2025-10-26T22:52:53.140Z,1761519173.140 [DAT](INFO): got valid direction response:
 22:52:51.7831 LVL= 32752, 22241, 32754, 32755, AGC= 65, IDX= 504,-0.35, 1.371,-3.058, 1.711, 2.187, PHS=-0.714, 1.083,-0.520, RAW= 324.3,   1.8, CAL= 322.8,  -1.1, ROT= 187.2,   1.1

2025-10-26T22:52:53.141Z,1761519173.141 [DAT](INFO): #Rx 42: Read direction message, but no range.
2025-10-26T22:52:53.142Z,1761519173.142 [DAT](INFO): direction in FSK: [-0.991932,-0.125310,-0.019197]
2025-10-26T22:52:53.147Z,1761519173.147 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.192539
2025-10-26T22:52:53.391Z,1761519173.391 [DAT](INFO): DAT read: Rx Time:22:52:52.2829 

2025-10-26T22:52:53.393Z,1761519173.393 [DAT](INFO): Rx dataTimestamp_ set to:1761519173.391624
2025-10-26T22:52:53.406Z,1761519173.406 [DAT](INFO): DAT read: Bearing  96.8,  -6.5 (Local)

2025-10-26T22:52:53.412Z,1761519173.412 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.8,  -6.5 (Local)

2025-10-26T22:52:53.429Z,1761519173.429 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed 0.0

2025-10-26T22:52:53.437Z,1761519173.437 [DAT](INFO): DAT read: 22:52:52.2829 LVL= 32752, 20641, 32754, 32755, AGC= 66, IDX= 503,-0.45, 1.268, 3.130, 1.613, 2.079, PHS=-0.710, 1.095,-0.510, RAW= 324.2,   1.5, CAL= 322.7,  -1.5, ROT= 187.3,   1.5

2025-10-26T22:52:53.439Z,1761519173.439 [DAT](INFO): got valid direction response:
 22:52:52.2829 LVL= 32752, 20641, 32754, 32755, AGC= 66, IDX= 503,-0.45, 1.268, 3.130, 1.613, 2.079, PHS=-0.710, 1.095,-0.510, RAW= 324.2,   1.5, CAL= 322.7,  -1.5, ROT= 187.3,   1.5

2025-10-26T22:52:53.439Z,1761519173.439 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-10-26T22:52:53.448Z,1761519173.448 [DAT](INFO): direction in FSK: [-0.991555,-0.127021,-0.026177]
2025-10-26T22:52:53.448Z,1761519173.448 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:53.466Z,1761519173.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497828,-0.865769,-0.051111],[0.867209,-0.497655,-0.016952],[-0.010759,-0.052764,0.998549]]
2025-10-26T22:52:53.484Z,1761519173.484 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.530069
2025-10-26T22:52:53.576Z,1761519173.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.506673 s,
      deltaX: -0.300000 m,
      approachRate: -0.592098 m/s,
      rangeRepo size: 4

2025-10-26T22:52:53.578Z,1761519173.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.734437 m,
      bearing: 307.225633 deg,
      lat: 36.779429 deg,
      lon: -121.859372 deg,
      deltaT: 1.006549 s,
      deltaX: 0.000213 m,
      approachRate: 0.000211 m/s,
      posRepo size: 4

2025-10-26T22:52:53.578Z,1761519173.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.73 m.
2025-10-26T22:52:53.637Z,1761519173.637 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.682907
2025-10-26T22:52:53.892Z,1761519173.892 [DAT](INFO): DAT read: Rx Time:22:52:52.7829 

2025-10-26T22:52:53.894Z,1761519173.894 [DAT](INFO): Rx dataTimestamp_ set to:1761519173.893031
2025-10-26T22:52:53.898Z,1761519173.898 [DAT](INFO): DAT read: Bearing  96.9,  -7.1 (Local)

2025-10-26T22:52:53.899Z,1761519173.899 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.9,  -7.1 (Local)

2025-10-26T22:52:53.909Z,1761519173.909 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed -0.1

2025-10-26T22:52:53.925Z,1761519173.925 [DAT](INFO): DAT read: 22:52:52.7829 LVL= 32752, 20657, 32754, 32755, AGC= 65, IDX= 502, 0.26, 3.110,-1.299,-2.805,-2.349, PHS=-0.722, 1.094,-0.501, RAW= 323.6,   1.5, CAL= 322.0,  -1.4, ROT= 188.0,   1.4

2025-10-26T22:52:53.927Z,1761519173.927 [DAT](INFO): got valid direction response:
 22:52:52.7829 LVL= 32752, 20657, 32754, 32755, AGC= 65, IDX= 502, 0.26, 3.110,-1.299,-2.805,-2.349, PHS=-0.722, 1.094,-0.501, RAW= 323.6,   1.5, CAL= 322.0,  -1.4, ROT= 188.0,   1.4

2025-10-26T22:52:53.927Z,1761519173.927 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-26T22:52:53.933Z,1761519173.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495872,-0.866844,-0.051886],[0.868314,-0.495756,-0.015985],[-0.011866,-0.052980,0.998525]]
2025-10-26T22:52:53.936Z,1761519173.936 [DAT](INFO): direction in FSK: [-0.989972,-0.139132,-0.024432]
2025-10-26T22:52:53.936Z,1761519173.936 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:53.948Z,1761519173.948 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.993980
2025-10-26T22:52:53.985Z,1761519173.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.501407 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:53.987Z,1761519173.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.734437 m,
      bearing: 307.790890 deg,
      lat: 36.779428 deg,
      lon: -121.859373 deg,
      deltaT: 0.501407 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:52:53.996Z,1761519173.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.73 m.
2025-10-26T22:52:54.141Z,1761519174.141 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.186300
2025-10-26T22:52:54.274Z,1761519174.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493855,-0.867959,-0.052475],[0.869447,-0.493802,-0.014891],[-0.012988,-0.052979,0.998511]]
2025-10-26T22:52:54.292Z,1761519174.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.73 m.
2025-10-26T22:52:54.393Z,1761519174.393 [DAT](INFO): DAT read: Rx Time:22:52:53.2828 

2025-10-26T22:52:54.393Z,1761519174.393 [DAT](INFO): Rx dataTimestamp_ set to:1761519174.392914
2025-10-26T22:52:54.394Z,1761519174.394 [DAT](INFO): DAT read: Bearing  97.0,  -7.3 (Local)

2025-10-26T22:52:54.395Z,1761519174.395 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.0,  -7.3 (Local)

2025-10-26T22:52:54.396Z,1761519174.396 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.1

2025-10-26T22:52:54.397Z,1761519174.397 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-10-26T22:52:54.398Z,1761519174.398 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.443634
2025-10-26T22:52:54.647Z,1761519174.647 [DAT](INFO): DAT read: 22:52:53.2828 LVL= 32752, 22561, 32754, 32755, AGC= 65, IDX= 501, 0.03, 2.459,-1.957, 2.831,-3.003, PHS=,   1.4, CAL= 321.9,  -1.5, ROT= 188.1,   1.5

2025-10-26T22:52:54.648Z,1761519174.648 [DAT](INFO): unknown deviceResponse_: 22:52:53.2828 LVL= 32752, 22561, 32754, 32755, AGC= 65, IDX= 501, 0.03, 2.459,-1.957, 2.831,-3.003, PHS=,   1.4, CAL= 321.9,  -1.5, ROT= 188.1,   1.5

2025-10-26T22:52:54.649Z,1761519174.649 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.694593
2025-10-26T22:52:54.681Z,1761519174.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491675,-0.869194,-0.052522],[0.870665,-0.491691,-0.013495],[-0.014095,-0.052364,0.998529]]
2025-10-26T22:52:54.749Z,1761519174.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.499883 s,
      deltaX: -0.100000 m,
      approachRate: -0.200048 m/s,
      rangeRepo size: 4

2025-10-26T22:52:54.750Z,1761519174.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.73 m.
2025-10-26T22:52:54.900Z,1761519174.900 [DAT](INFO): DAT read: Rx Time:22:52:53.7829 

2025-10-26T22:52:54.902Z,1761519174.902 [DAT](INFO): Rx dataTimestamp_ set to:1761519174.900749
2025-10-26T22:52:54.905Z,1761519174.905 [DAT](INFO): DAT read: Bearing  96.2,  -8.4 (Local)

2025-10-26T22:52:54.906Z,1761519174.906 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.2,  -8.4 (Local)

2025-10-26T22:52:54.909Z,1761519174.909 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed 0.0

2025-10-26T22:52:54.914Z,1761519174.914 [DAT](INFO): DAT read: 22:52:53.7829 LVL= 32752, 25553, 32754, 32755, AGC= 68, IDX= 502,-0.13, 2.369,-2.036, 2.773,-3.057, PHS=-0.755, 1.066,-0.496, RAW= 322.5,   2.2, CAL= 320.7,  -0.7, ROT= 189.3,   0.7

2025-10-26T22:52:54.916Z,1761519174.916 [DAT](INFO): got valid direction response:
 22:52:53.7829 LVL= 32752, 25553, 32754, 32755, AGC= 68, IDX= 502,-0.13, 2.369,-2.036, 2.773,-3.057, PHS=-0.755, 1.066,-0.496, RAW= 322.5,   2.2, CAL= 320.7,  -0.7, ROT= 189.3,   0.7

2025-10-26T22:52:54.916Z,1761519174.916 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-10-26T22:52:54.917Z,1761519174.917 [DAT](INFO): direction in FSK: [-0.986782,-0.161592,-0.012217]
2025-10-26T22:52:54.917Z,1761519174.917 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:54.921Z,1761519174.921 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.966661
2025-10-26T22:52:55.082Z,1761519175.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489667,-0.870350,-0.052131],[0.871779,-0.489751,-0.012018],[-0.015071,-0.051332,0.998568]]
2025-10-26T22:52:55.118Z,1761519175.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.507835 s,
      deltaX: 0.100000 m,
      approachRate: 0.196915 m/s,
      rangeRepo size: 4

2025-10-26T22:52:55.122Z,1761519175.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.734462 m,
      bearing: 308.646253 deg,
      lat: 36.779428 deg,
      lon: -121.859373 deg,
      deltaT: 1.007718 s,
      deltaX: 0.000025 m,
      approachRate: 0.000025 m/s,
      posRepo size: 4

2025-10-26T22:52:55.123Z,1761519175.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.73 m.
2025-10-26T22:52:55.148Z,1761519175.148 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.194086
2025-10-26T22:52:55.409Z,1761519175.409 [DAT](INFO): DAT read: Rx Time:22:52:54.2827 

2025-10-26T22:52:55.410Z,1761519175.410 [DAT](INFO): Rx dataTimestamp_ set to:1761519175.409680
2025-10-26T22:52:55.421Z,1761519175.421 [DAT](INFO): DAT read: Bearing  96.5,  -8.3 (Local)

2025-10-26T22:52:55.423Z,1761519175.423 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.5,  -8.3 (Local)

2025-10-26T22:52:55.465Z,1761519175.465 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.0

2025-10-26T22:52:55.470Z,1761519175.470 [DAT](INFO): DAT read: 22:52:54.2827 LVL= 32752, 24849, 32754, 32755, AGC= 67, IDX= 501,-0.40, 1.143, 3.027, 1.546, 1.993, PHS=-0.748, 1.079,-0.491, RAW= 322.5,   1.9, CAL= 320.8,  -1.1, ROT= 189.2,   1.1

2025-10-26T22:52:55.471Z,1761519175.471 [DAT](INFO): got valid direction response:
 22:52:54.2827 LVL= 32752, 24849, 32754, 32755, AGC= 67, IDX= 501,-0.40, 1.143, 3.027, 1.546, 1.993, PHS=-0.748, 1.079,-0.491, RAW= 322.5,   1.9, CAL= 320.8,  -1.1, ROT= 189.2,   1.1

2025-10-26T22:52:55.496Z,1761519175.496 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-10-26T22:52:55.497Z,1761519175.497 [DAT](INFO): direction in FSK: [-0.986954,-0.159852,-0.019197]
2025-10-26T22:52:55.498Z,1761519175.498 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:55.503Z,1761519175.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487907,-0.871356,-0.051827],[0.872750,-0.488050,-0.010732],[-0.015943,-0.050468,0.998598]]
2025-10-26T22:52:55.505Z,1761519175.505 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.551222
2025-10-26T22:52:55.598Z,1761519175.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.508931 s,
      deltaX: -0.300000 m,
      approachRate: -0.589471 m/s,
      rangeRepo size: 4

2025-10-26T22:52:55.604Z,1761519175.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.435951 m,
      bearing: 308.450000 deg,
      lat: 36.779428 deg,
      lon: -121.859373 deg,
      deltaT: 0.508931 s,
      deltaX: -0.298511 m,
      approachRate: -0.586544 m/s,
      posRepo size: 4

2025-10-26T22:52:55.604Z,1761519175.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.44 m.
2025-10-26T22:52:55.653Z,1761519175.653 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.698614
2025-10-26T22:52:55.908Z,1761519175.908 [DAT](INFO): DAT read: Rx Time:22:52:54.7828 

2025-10-26T22:52:55.909Z,1761519175.909 [DAT](INFO): Rx dataTimestamp_ set to:1761519175.908681
2025-10-26T22:52:55.910Z,1761519175.910 [DAT](INFO): DAT read: Bearing  97.0,  -9.0 (Local)

2025-10-26T22:52:55.911Z,1761519175.911 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.0,  -9.0 (Local)

2025-10-26T22:52:55.913Z,1761519175.913 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.0

2025-10-26T22:52:55.917Z,1761519175.917 [DAT](INFO): DAT read: 22:52:54.7828 LVL= 32752, 21393, 32754, 32755, AGC= 66, IDX= 501, 0.28,-2.776,-0.880,-2.346,-1.928, PHS=-0.747, 1.093,-0.462, RAW= 321.7,   1.4, CAL= 320.1,  -1.6, ROT= 189.9,   1.6

2025-10-26T22:52:55.918Z,1761519175.918 [DAT](INFO): got valid direction response:
 22:52:54.7828 LVL= 32752, 21393, 32754, 32755, AGC= 66, IDX= 501, 0.28,-2.776,-0.880,-2.346,-1.928, PHS=-0.747, 1.093,-0.462, RAW= 321.7,   1.4, CAL= 320.1,  -1.6, ROT= 189.9,   1.6

2025-10-26T22:52:55.919Z,1761519175.919 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-10-26T22:52:55.926Z,1761519175.926 [DAT](INFO): direction in FSK: [-0.984725,-0.171862,-0.027922]
2025-10-26T22:52:55.926Z,1761519175.926 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:55.958Z,1761519175.958 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.003937
2025-10-26T22:52:55.980Z,1761519175.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486369,-0.872217,-0.051793],[0.873593,-0.486561,-0.009697],[-0.016742,-0.049962,0.998611]]
2025-10-26T22:52:56.058Z,1761519176.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.499001 s,
      deltaX: 0.200000 m,
      approachRate: 0.400800 m/s,
      rangeRepo size: 4

2025-10-26T22:52:56.065Z,1761519176.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.635002 m,
      bearing: 309.071487 deg,
      lat: 36.779429 deg,
      lon: -121.859372 deg,
      deltaT: 0.499001 s,
      deltaX: 0.199051 m,
      approachRate: 0.398899 m/s,
      posRepo size: 4

2025-10-26T22:52:56.065Z,1761519176.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.64 m.
2025-10-26T22:52:56.157Z,1761519176.157 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.202431
2025-10-26T22:52:56.300Z,1761519176.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485335,-0.872773,-0.052127],[0.874158,-0.485555,-0.009192],[-0.017288,-0.050028,0.998598]]
2025-10-26T22:52:56.377Z,1761519176.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.64 m.
2025-10-26T22:52:56.413Z,1761519176.413 [DAT](INFO): DAT read: Rx Time:22:52:55.2827 

2025-10-26T22:52:56.415Z,1761519176.415 [DAT](INFO): Rx dataTimestamp_ set to:1761519176.413647
2025-10-26T22:52:56.421Z,1761519176.421 [DAT](INFO): DAT read: Bearing  96.8,  -9.8 (Local)

2025-10-26T22:52:56.422Z,1761519176.422 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.8,  -9.8 (Local)

2025-10-26T22:52:56.456Z,1761519176.456 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.1

2025-10-26T22:52:56.473Z,1761519176.473 [DAT](INFO): DAT read: 22:52:55.2827 LVL= 32752, 21617, 32754, 32755, AGC= 64, IDX= 500, 0.23, 0.489, 2.404, 0.946, 1.361, PHS=-0.770, 1.088,-0.459, RAW= 321.0,   1.7, CAL= 319.3,  -1.3, ROT= 190.7,   1.3

2025-10-26T22:52:56.474Z,1761519176.474 [DAT](INFO): got valid direction response:
 22:52:55.2827 LVL= 32752, 21617, 32754, 32755, AGC= 64, IDX= 500, 0.23, 0.489, 2.404, 0.946, 1.361, PHS=-0.770, 1.088,-0.459, RAW= 321.0,   1.7, CAL= 319.3,  -1.3, ROT= 190.7,   1.3

2025-10-26T22:52:56.475Z,1761519176.475 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-10-26T22:52:56.482Z,1761519176.482 [DAT](INFO): direction in FSK: [-0.982360,-0.185619,-0.022687]
2025-10-26T22:52:56.482Z,1761519176.482 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:56.510Z,1761519176.510 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.555809
2025-10-26T22:52:56.660Z,1761519176.660 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.706123
2025-10-26T22:52:56.714Z,1761519176.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485107,-0.872860,-0.052783],[0.874281,-0.485331,-0.009346],[-0.017459,-0.050681,0.998562]]
2025-10-26T22:52:56.773Z,1761519176.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.504966 s,
      deltaX: -0.200000 m,
      approachRate: -0.396066 m/s,
      rangeRepo size: 4

2025-10-26T22:52:56.775Z,1761519176.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.435975 m,
      bearing: 309.774770 deg,
      lat: 36.779430 deg,
      lon: -121.859371 deg,
      deltaT: 0.504966 s,
      deltaX: -0.199027 m,
      approachRate: -0.394140 m/s,
      posRepo size: 4

2025-10-26T22:52:56.776Z,1761519176.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.44 m.
2025-10-26T22:52:56.913Z,1761519176.913 [DAT](INFO): DAT read: Rx Time:22:52:55.7828 

2025-10-26T22:52:56.914Z,1761519176.914 [DAT](INFO): Rx dataTimestamp_ set to:1761519176.913287
2025-10-26T22:52:56.915Z,1761519176.915 [DAT](INFO): DAT read: Bearing  97.5, -10.6 (Local)

2025-10-26T22:52:56.915Z,1761519176.915 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.5, -10.6 (Local)

2025-10-26T22:52:56.917Z,1761519176.917 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.0

2025-10-26T22:52:56.922Z,1761519176.922 [DAT](INFO): DAT read: 22:52:55.7828 LVL= 32752, 21617, 32754, 32755, AGC= 65, IDX= 501, 0.15, 0.420, 2.366, 0.913, 1.295, PHS=-0.773, 1.116,-0.426, RAW= 320.1,   1.0, CAL= 318.4,  -2.0, ROT= 191.6,   2.0

2025-10-26T22:52:56.923Z,1761519176.923 [DAT](INFO): got valid direction response:
 22:52:55.7828 LVL= 32752, 21617, 32754, 32755, AGC= 65, IDX= 501, 0.15, 0.420, 2.366, 0.913, 1.295, PHS=-0.773, 1.116,-0.426, RAW= 320.1,   1.0, CAL= 318.4,  -2.0, ROT= 191.6,   2.0

2025-10-26T22:52:56.923Z,1761519176.923 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-10-26T22:52:56.924Z,1761519176.924 [DAT](INFO): direction in FSK: [-0.978979,-0.200955,-0.034899]
2025-10-26T22:52:56.925Z,1761519176.925 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:56.930Z,1761519176.930 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.975307
2025-10-26T22:52:57.110Z,1761519177.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485082,-0.872826,-0.053574],[0.874294,-0.485300,-0.009728],[-0.017509,-0.051558,0.998516]]
2025-10-26T22:52:57.152Z,1761519177.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.499640 s,
      deltaX: 0.200000 m,
      approachRate: 0.400288 m/s,
      rangeRepo size: 4

2025-10-26T22:52:57.154Z,1761519177.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.635026 m,
      bearing: 310.705492 deg,
      lat: 36.779431 deg,
      lon: -121.859370 deg,
      deltaT: 0.499640 s,
      deltaX: 0.199051 m,
      approachRate: 0.398389 m/s,
      posRepo size: 4

2025-10-26T22:52:57.155Z,1761519177.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.64 m.
2025-10-26T22:52:57.164Z,1761519177.164 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.210077
2025-10-26T22:52:57.422Z,1761519177.422 [DAT](INFO): DAT read: Rx Time:22:52:56.2826 

2025-10-26T22:52:57.433Z,1761519177.433 [DAT](INFO): Rx dataTimestamp_ set to:1761519177.431680
2025-10-26T22:52:57.437Z,1761519177.437 [DAT](INFO): DAT read: Bearing  96.8, -11.1 (Local)

2025-10-26T22:52:57.438Z,1761519177.438 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.8, -11.1 (Local)

2025-10-26T22:52:57.480Z,1761519177.480 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-10-26T22:52:57.490Z,1761519177.490 [DAT](INFO): DAT read: 22:52:56.2826 LVL= 32752, 22209, 32754, 32755, AGC= 65, IDX= 500, 0.05,-0.482, 1.446, 0.017, 0.410, PHS=-0.790, 1.081,-0.438, RAW= 319.8,   1.7, CAL= 318.0,  -1.3, ROT= 192.0,   1.3

2025-10-26T22:52:57.491Z,1761519177.491 [DAT](INFO): got valid direction response:
 22:52:56.2826 LVL= 32752, 22209, 32754, 32755, AGC= 65, IDX= 500, 0.05,-0.482, 1.446, 0.017, 0.410, PHS=-0.790, 1.081,-0.438, RAW= 319.8,   1.7, CAL= 318.0,  -1.3, ROT= 192.0,   1.3

2025-10-26T22:52:57.512Z,1761519177.512 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-10-26T22:52:57.513Z,1761519177.513 [DAT](INFO): direction in FSK: [-0.977896,-0.207858,-0.022687]
2025-10-26T22:52:57.513Z,1761519177.513 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:57.518Z,1761519177.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485273,-0.872673,-0.054336],[0.874189,-0.485478,-0.010251],[-0.017433,-0.052474,0.998470]]
2025-10-26T22:52:57.537Z,1761519177.537 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.583012
2025-10-26T22:52:57.657Z,1761519177.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.518393 s,
      deltaX: -0.300000 m,
      approachRate: -0.578712 m/s,
      rangeRepo size: 4

2025-10-26T22:52:57.664Z,1761519177.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.335537 m,
      bearing: 311.085200 deg,
      lat: 36.779431 deg,
      lon: -121.859369 deg,
      deltaT: 0.518393 s,
      deltaX: -0.299489 m,
      approachRate: -0.577726 m/s,
      posRepo size: 4

2025-10-26T22:52:57.665Z,1761519177.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.34 m.
2025-10-26T22:52:57.669Z,1761519177.669 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.714371
2025-10-26T22:52:57.921Z,1761519177.921 [DAT](INFO): DAT read: Rx Time:22:52:56.7826 

2025-10-26T22:52:57.921Z,1761519177.921 [DAT](INFO): Rx dataTimestamp_ set to:1761519177.921179
2025-10-26T22:52:57.923Z,1761519177.923 [DAT](INFO): DAT read: Bearing  97.5, -10.3 (Local)

2025-10-26T22:52:57.923Z,1761519177.923 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.5, -10.3 (Local)

2025-10-26T22:52:57.925Z,1761519177.925 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-10-26T22:52:57.930Z,1761519177.930 [DAT](INFO): DAT read: 22:52:56.7826 LVL= 32752, 21089, 32754, 32755, AGC= 65, IDX= 500,-0.01,-0.596, 1.323,-0.118, 0.271, PHS=-0.765, 1.097,-0.433, RAW= 320.4,   1.2, CAL= 318.7,  -1.8, ROT= 191.3,   1.8

2025-10-26T22:52:57.931Z,1761519177.931 [DAT](INFO): got valid direction response:
 22:52:56.7826 LVL= 32752, 21089, 32754, 32755, AGC= 65, IDX= 500,-0.01,-0.596, 1.323,-0.118, 0.271, PHS=-0.765, 1.097,-0.433, RAW= 320.4,   1.2, CAL= 318.7,  -1.8, ROT= 191.3,   1.8

2025-10-26T22:52:57.931Z,1761519177.931 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-10-26T22:52:57.932Z,1761519177.932 [DAT](INFO): direction in FSK: [-0.980131,-0.195850,-0.031411]
2025-10-26T22:52:57.933Z,1761519177.933 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:57.940Z,1761519177.940 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.986202
2025-10-26T22:52:57.942Z,1761519177.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485892,-0.872295,-0.054864],[0.873850,-0.486074,-0.010870],[-0.017186,-0.053225,0.998435]]
2025-10-26T22:52:58.062Z,1761519178.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.489499 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:52:58.081Z,1761519178.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.335537 m,
      bearing: 310.451584 deg,
      lat: 36.779432 deg,
      lon: -121.859369 deg,
      deltaT: 0.489499 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:52:58.081Z,1761519178.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.34 m.
2025-10-26T22:52:58.174Z,1761519178.174 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.219074
2025-10-26T22:52:58.327Z,1761519178.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486862,-0.871758,-0.054794],[0.873320,-0.487012,-0.011491],[-0.016668,-0.053447,0.998432]]
2025-10-26T22:52:58.385Z,1761519178.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.34 m.
2025-10-26T22:52:58.429Z,1761519178.429 [DAT](INFO): DAT read: Rx Time:22:52:57.2825 

2025-10-26T22:52:58.431Z,1761519178.431 [DAT](INFO): Rx dataTimestamp_ set to:1761519178.429723
2025-10-26T22:52:58.435Z,1761519178.435 [DAT](INFO): DAT read: Bearing  96.6,  -9.8 (Local)

2025-10-26T22:52:58.437Z,1761519178.437 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.6,  -9.8 (Local)

2025-10-26T22:52:58.456Z,1761519178.456 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed 0.0

2025-10-26T22:52:58.500Z,1761519178.500 [DAT](INFO): DAT read: 22:52:57.2825 LVL= 32752, 23665, 32754, 32755, AGC= 67, IDX= 499,-0.01,-0.935, 0.964,-0.482,-0.058, PHS=-0.776, 1.067,-0.468, RAW= 321.0,   2.1, CAL= 319.2,  -0.9, ROT= 190.8,   0.9

2025-10-26T22:52:58.501Z,1761519178.501 [DAT](INFO): got valid direction response:
 22:52:57.2825 LVL= 32752, 23665, 32754, 32755, AGC= 67, IDX= 499,-0.01,-0.935, 0.964,-0.482,-0.058, PHS=-0.776, 1.067,-0.468, RAW= 321.0,   2.1, CAL= 319.2,  -0.9, ROT= 190.8,   0.9

2025-10-26T22:52:58.501Z,1761519178.501 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-10-26T22:52:58.502Z,1761519178.502 [DAT](INFO): direction in FSK: [-0.982166,-0.187358,-0.015707]
2025-10-26T22:52:58.502Z,1761519178.502 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:58.520Z,1761519178.520 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.565744
2025-10-26T22:52:58.677Z,1761519178.677 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.722692
2025-10-26T22:52:58.738Z,1761519178.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488000,-0.871152,-0.054315],[0.872697,-0.488114,-0.012041],[-0.016023,-0.053277,0.998451]]
2025-10-26T22:52:58.801Z,1761519178.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.508544 s,
      deltaX: -0.200000 m,
      approachRate: -0.393279 m/s,
      rangeRepo size: 4

2025-10-26T22:52:58.805Z,1761519178.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.136803 m,
      bearing: 310.045810 deg,
      lat: 36.779432 deg,
      lon: -121.859367 deg,
      deltaT: 0.508544 s,
      deltaX: -0.198734 m,
      approachRate: -0.390791 m/s,
      posRepo size: 4

2025-10-26T22:52:58.806Z,1761519178.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.14 m.
2025-10-26T22:52:58.929Z,1761519178.929 [DAT](INFO): DAT read: Rx Time:22:52:57.7826 

2025-10-26T22:52:58.930Z,1761519178.930 [DAT](INFO): Rx dataTimestamp_ set to:1761519178.929367
2025-10-26T22:52:58.931Z,1761519178.931 [DAT](INFO): DAT read: Bearing  96.0,  -9.8 (Local)

2025-10-26T22:52:58.931Z,1761519178.931 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.0,  -9.8 (Local)

2025-10-26T22:52:58.933Z,1761519178.933 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-10-26T22:52:58.938Z,1761519178.938 [DAT](INFO): DAT read: 22:52:57.7826 LVL= 32752, 21841, 32754, 32755, AGC= 66, IDX= 500, 0.18, 0.686, 2.576, 1.134, 1.572, PHS=-0.783, 1.050,-0.481, RAW= 321.2,   2.6, CAL= 319.3,  -0.4, ROT= 190.7,   0.4

2025-10-26T22:52:58.939Z,1761519178.939 [DAT](INFO): got valid direction response:
 22:52:57.7826 LVL= 32752, 21841, 32754, 32755, AGC= 66, IDX= 500, 0.18, 0.686, 2.576, 1.134, 1.572, PHS=-0.783, 1.050,-0.481, RAW= 321.2,   2.6, CAL= 319.3,  -0.4, ROT= 190.7,   0.4

2025-10-26T22:52:58.940Z,1761519178.940 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-10-26T22:52:58.941Z,1761519178.941 [DAT](INFO): direction in FSK: [-0.982589,-0.185662,-0.006981]
2025-10-26T22:52:58.941Z,1761519178.941 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:58.949Z,1761519178.949 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.994753
2025-10-26T22:52:59.127Z,1761519179.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489427,-0.870400,-0.053524],[0.871911,-0.489502,-0.012612],[-0.015222,-0.052841,0.998487]]
2025-10-26T22:52:59.164Z,1761519179.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.499644 s,
      deltaX: 0.200000 m,
      approachRate: 0.400285 m/s,
      rangeRepo size: 4

2025-10-26T22:52:59.166Z,1761519179.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.335845 m,
      bearing: 310.014523 deg,
      lat: 36.779432 deg,
      lon: -121.859367 deg,
      deltaT: 0.499644 s,
      deltaX: 0.199042 m,
      approachRate: 0.398368 m/s,
      posRepo size: 4

2025-10-26T22:52:59.167Z,1761519179.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.34 m.
2025-10-26T22:52:59.181Z,1761519179.181 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.226320
2025-10-26T22:52:59.435Z,1761519179.435 [DAT](INFO): DAT read: Rx Time:22:52:58.2825 

2025-10-26T22:52:59.436Z,1761519179.436 [DAT](INFO): Rx dataTimestamp_ set to:1761519179.435472
2025-10-26T22:52:59.437Z,1761519179.437 [DAT](INFO): DAT read: Bearing  97.5, -10.0 (Local)

2025-10-26T22:52:59.437Z,1761519179.437 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.5, -10.0 (Local)

2025-10-26T22:52:59.440Z,1761519179.440 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed 0.0

2025-10-26T22:52:59.514Z,1761519179.514 [DAT](INFO): DAT read: 22:52:58.2825 LVL= 32752, 24049, 32754, 32755, AGC= 67, IDX= 499, 0.48,-1.388, 0.524,-0.923,-0.526, PHS=-0.760, 1.095,-0.442, RAW= 320.8,   1.3, CAL= 319.1,  -1.7, ROT= 190.9,   1.7

2025-10-26T22:52:59.534Z,1761519179.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490825,-0.869650,-0.052922],[0.871139,-0.490857,-0.013275],[-0.014433,-0.052619,0.998510]]
2025-10-26T22:52:59.535Z,1761519179.535 [DAT](INFO): got valid direction response:
 22:52:58.2825 LVL= 32752, 24049, 32754, 32755, AGC= 67, IDX= 499, 0.48,-1.388, 0.524,-0.923,-0.526, PHS=-0.760, 1.095,-0.442, RAW= 320.8,   1.3, CAL= 319.1,  -1.7, ROT= 190.9,   1.7

2025-10-26T22:52:59.536Z,1761519179.536 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-10-26T22:52:59.537Z,1761519179.537 [DAT](INFO): direction in FSK: [-0.981527,-0.189012,-0.029666]
2025-10-26T22:52:59.537Z,1761519179.537 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:59.545Z,1761519179.545 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.590670
2025-10-26T22:52:59.685Z,1761519179.685 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.730558
2025-10-26T22:52:59.770Z,1761519179.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.506105 s,
      deltaX: -0.200000 m,
      approachRate: -0.395175 m/s,
      rangeRepo size: 4

2025-10-26T22:52:59.773Z,1761519179.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.137178 m,
      bearing: 310.369274 deg,
      lat: 36.779431 deg,
      lon: -121.859366 deg,
      deltaT: 0.506105 s,
      deltaX: -0.198667 m,
      approachRate: -0.392540 m/s,
      posRepo size: 4

2025-10-26T22:52:59.774Z,1761519179.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.14 m.
2025-10-26T22:52:59.937Z,1761519179.937 [DAT](INFO): DAT read: Rx Time:22:52:58.7827 

2025-10-26T22:52:59.938Z,1761519179.938 [DAT](INFO): Rx dataTimestamp_ set to:1761519179.937245
2025-10-26T22:52:59.939Z,1761519179.939 [DAT](INFO): DAT read: Bearing  97.3,  -9.5 (Local)

2025-10-26T22:52:59.939Z,1761519179.939 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.3,  -9.5 (Local)

2025-10-26T22:52:59.941Z,1761519179.941 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed -0.1

2025-10-26T22:52:59.946Z,1761519179.946 [DAT](INFO): DAT read: 22:52:58.7827 LVL= 32752, 26001, 32754, 32755, AGC= 67, IDX= 501,-0.13,-1.567, 0.341,-1.122,-0.706, PHS=-0.759, 1.092,-0.460, RAW= 321.3,   1.5, CAL= 319.6,  -1.5, ROT= 190.4,   1.5

2025-10-26T22:52:59.947Z,1761519179.947 [DAT](INFO): got valid direction response:
 22:52:58.7827 LVL= 32752, 26001, 32754, 32755, AGC= 67, IDX= 501,-0.13,-1.567, 0.341,-1.122,-0.706, PHS=-0.759, 1.092,-0.460, RAW= 321.3,   1.5, CAL= 319.6,  -1.5, ROT= 190.4,   1.5

2025-10-26T22:52:59.950Z,1761519179.950 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-10-26T22:52:59.951Z,1761519179.951 [DAT](INFO): direction in FSK: [-0.983234,-0.180457,-0.026177]
2025-10-26T22:52:59.952Z,1761519179.952 [DAT](INFO): publishing direction and range info
2025-10-26T22:52:59.983Z,1761519179.983 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.000948
2025-10-26T22:53:00.053Z,1761519180.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492467,-0.868723,-0.052880],[0.870225,-0.492448,-0.014294],[-0.013623,-0.053056,0.998499]]
2025-10-26T22:53:00.189Z,1761519180.189 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.234289
2025-10-26T22:53:00.189Z,1761519180.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.501773 s,
      deltaX: 0.300000 m,
      approachRate: 0.597880 m/s,
      rangeRepo size: 4

2025-10-26T22:53:00.192Z,1761519180.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.435751 m,
      bearing: 309.968417 deg,
      lat: 36.779431 deg,
      lon: -121.859367 deg,
      deltaT: 0.501773 s,
      deltaX: 0.298573 m,
      approachRate: 0.595035 m/s,
      posRepo size: 4

2025-10-26T22:53:00.192Z,1761519180.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.44 m.
2025-10-26T22:53:00.441Z,1761519180.441 [DAT](INFO): DAT read: Rx Time:22:52:59.2826 

2025-10-26T22:53:00.442Z,1761519180.442 [DAT](INFO): Rx dataTimestamp_ set to:1761519180.441453
2025-10-26T22:53:00.443Z,1761519180.443 [DAT](INFO): DAT read: Bearing  96.9,  -9.5 (Local)

2025-10-26T22:53:00.443Z,1761519180.443 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.9,  -9.5 (Local)

2025-10-26T22:53:00.449Z,1761519180.449 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-10-26T22:53:00.476Z,1761519180.476 [DAT](INFO): DAT read: 22:52:59.2826 LVL= 32752, 24609, 32754, 32755, AGC= 68, IDX= 500, 0.14,-1.461, 0.435,-1.019,-0.590, PHS=-0.769, 1.070,-0.473, RAW= 321.4,   2.0, CAL= 319.6,  -0.9, ROT= 190.4,   0.9

2025-10-26T22:53:00.484Z,1761519180.484 [DAT](INFO): got valid direction response:
 22:52:59.2826 LVL= 32752, 24609, 32754, 32755, AGC= 68, IDX= 500, 0.14,-1.461, 0.435,-1.019,-0.590, PHS=-0.769, 1.070,-0.473, RAW= 321.4,   2.0, CAL= 319.6,  -0.9, ROT= 190.4,   0.9

2025-10-26T22:53:00.485Z,1761519180.485 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-10-26T22:53:00.530Z,1761519180.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494247,-0.867718,-0.052775],[0.869229,-0.494170,-0.015414],[-0.012705,-0.053492,0.998487]]
2025-10-26T22:53:00.531Z,1761519180.531 [DAT](INFO): direction in FSK: [-0.983450,-0.180497,-0.015707]
2025-10-26T22:53:00.532Z,1761519180.532 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:00.543Z,1761519180.543 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.580866
2025-10-26T22:53:00.672Z,1761519180.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.504208 s,
      deltaX: -0.100000 m,
      approachRate: -0.198332 m/s,
      rangeRepo size: 4

2025-10-26T22:53:00.674Z,1761519180.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.335130 m,
      bearing: 310.055541 deg,
      lat: 36.779430 deg,
      lon: -121.859367 deg,
      deltaT: 0.504208 s,
      deltaX: -0.100621 m,
      approachRate: -0.199563 m/s,
      posRepo size: 4

2025-10-26T22:53:00.675Z,1761519180.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.34 m.
2025-10-26T22:53:00.693Z,1761519180.693 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.738335
2025-10-26T22:53:00.923Z,1761519180.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495716,-0.866963,-0.051386],[0.868404,-0.495607,-0.015740],[-0.011821,-0.052427,0.998555]]
2025-10-26T22:53:00.945Z,1761519180.945 [DAT](INFO): DAT read: Rx Time:22:52:59.7828 

2025-10-26T22:53:00.945Z,1761519180.945 [DAT](INFO): Rx dataTimestamp_ set to:1761519180.945057
2025-10-26T22:53:00.947Z,1761519180.947 [DAT](INFO): DAT read: Bearing  97.4,  -8.9 (Local)

2025-10-26T22:53:00.947Z,1761519180.947 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.4,  -8.9 (Local)

2025-10-26T22:53:00.949Z,1761519180.949 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.0

2025-10-26T22:53:00.954Z,1761519180.954 [DAT](INFO): DAT read: 22:52:59.7828 LVL= 32752, 26769, 32754, 32755, AGC= 68, IDX= 502,-0.31,-2.047,-0.154,-1.621,-1.198, PHS=-0.748, 1.089,-0.468, RAW= 321.9,   1.5, CAL= 320.2,  -1.5, ROT= 189.8,   1.5

2025-10-26T22:53:00.955Z,1761519180.955 [DAT](INFO): got valid direction response:
 22:52:59.7828 LVL= 32752, 26769, 32754, 32755, AGC= 68, IDX= 502,-0.31,-2.047,-0.154,-1.621,-1.198, PHS=-0.748, 1.089,-0.468, RAW= 321.9,   1.5, CAL= 320.2,  -1.5, ROT= 189.8,   1.5

2025-10-26T22:53:00.955Z,1761519180.955 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-10-26T22:53:00.956Z,1761519180.956 [DAT](INFO): direction in FSK: [-0.985070,-0.170151,-0.026177]
2025-10-26T22:53:00.956Z,1761519180.956 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:00.960Z,1761519180.960 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.005692
2025-10-26T22:53:01.054Z,1761519181.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.503604 s,
      deltaX: 0.300000 m,
      approachRate: 0.595707 m/s,
      rangeRepo size: 4

2025-10-26T22:53:01.060Z,1761519181.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.633677 m,
      bearing: 309.582233 deg,
      lat: 36.779431 deg,
      lon: -121.859368 deg,
      deltaT: 0.503604 s,
      deltaX: 0.298548 m,
      approachRate: 0.592822 m/s,
      posRepo size: 4

2025-10-26T22:53:01.061Z,1761519181.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m.
2025-10-26T22:53:01.197Z,1761519181.197 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.242413
2025-10-26T22:53:01.334Z,1761519181.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497158,-0.866254,-0.049376],[0.867591,-0.497033,-0.015658],[-0.010977,-0.050622,0.998658]]
2025-10-26T22:53:01.433Z,1761519181.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m.
2025-10-26T22:53:01.449Z,1761519181.449 [DAT](INFO): DAT read: Rx Time:22:53:00.2827 

2025-10-26T22:53:01.450Z,1761519181.450 [DAT](INFO): Rx dataTimestamp_ set to:1761519181.449305
2025-10-26T22:53:01.451Z,1761519181.451 [DAT](INFO): DAT read: Bearing  97.0,  -8.2 (Local)

2025-10-26T22:53:01.451Z,1761519181.451 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.0,  -8.2 (Local)

2025-10-26T22:53:01.453Z,1761519181.453 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed -0.1

2025-10-26T22:53:01.458Z,1761519181.458 [DAT](INFO): DAT read: 22:53:00.2827 LVL= 32752, 21681, 32754, 32755, AGC= 66, IDX= 501, 0.02,-2.006,-0.143,-1.608,-1.168, PHS=-0.736, 1.071,-0.484, RAW= 322.6,   1.8, CAL= 320.9,  -1.2, ROT= 189.1,   1.2

2025-10-26T22:53:01.461Z,1761519181.461 [DAT](INFO): got valid direction response:
 22:53:00.2827 LVL= 32752, 21681, 32754, 32755, AGC= 66, IDX= 501, 0.02,-2.006,-0.143,-1.608,-1.168, PHS=-0.736, 1.071,-0.484, RAW= 322.6,   1.8, CAL= 320.9,  -1.2, ROT= 189.1,   1.2

2025-10-26T22:53:01.462Z,1761519181.462 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-26T22:53:01.468Z,1761519181.468 [DAT](INFO): direction in FSK: [-0.987197,-0.158123,-0.020942]
2025-10-26T22:53:01.468Z,1761519181.468 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:01.482Z,1761519181.482 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.527172
2025-10-26T22:53:01.701Z,1761519181.701 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.746637
2025-10-26T22:53:01.748Z,1761519181.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498082,-0.865766,-0.048614],[0.867067,-0.497938,-0.015896],[-0.010445,-0.050069,0.998691]]
2025-10-26T22:53:01.789Z,1761519181.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.504248 s,
      deltaX: -0.200000 m,
      approachRate: -0.396630 m/s,
      rangeRepo size: 4

2025-10-26T22:53:01.791Z,1761519181.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.434244 m,
      bearing: 309.022361 deg,
      lat: 36.779430 deg,
      lon: -121.859368 deg,
      deltaT: 0.504248 s,
      deltaX: -0.199433 m,
      approachRate: -0.395506 m/s,
      posRepo size: 4

2025-10-26T22:53:01.808Z,1761519181.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-10-26T22:53:01.953Z,1761519181.953 [DAT](INFO): DAT read: Rx Time:22:53:00.7827 

2025-10-26T22:53:01.954Z,1761519181.954 [DAT](INFO): Rx dataTimestamp_ set to:1761519181.953358
2025-10-26T22:53:01.955Z,1761519181.955 [DAT](INFO): DAT read: Bearing  95.9,  -8.0 (Local)

2025-10-26T22:53:01.955Z,1761519181.955 [DAT](INFO): Local bearing/azimuth received:
 Bearing  95.9,  -8.0 (Local)

2025-10-26T22:53:01.957Z,1761519181.957 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.0

2025-10-26T22:53:01.962Z,1761519181.962 [DAT](INFO): DAT read: 22:53:00.7827 LVL= 32752, 23713, 32754, 32755, AGC= 67, IDX= 501, 0.33,-1.161, 0.705,-0.774,-0.297, PHS=-0.761, 1.047,-0.521, RAW= 323.0,   2.8, CAL= 321.2,  -0.1, ROT= 188.8,   0.1

2025-10-26T22:53:01.963Z,1761519181.963 [DAT](INFO): got valid direction response:
 22:53:00.7827 LVL= 32752, 23713, 32754, 32755, AGC= 67, IDX= 501, 0.33,-1.161, 0.705,-0.774,-0.297, PHS=-0.761, 1.047,-0.521, RAW= 323.0,   2.8, CAL= 321.2,  -0.1, ROT= 188.8,   0.1

2025-10-26T22:53:01.964Z,1761519181.964 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-26T22:53:01.965Z,1761519181.965 [DAT](INFO): direction in FSK: [-0.988227,-0.152986,-0.001745]
2025-10-26T22:53:01.965Z,1761519181.965 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:01.969Z,1761519181.969 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.014929
2025-10-26T22:53:02.138Z,1761519182.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498766,-0.865394,-0.048223],[0.866678,-0.498608,-0.016114],[-0.010099,-0.049831,0.998707]]
2025-10-26T22:53:02.177Z,1761519182.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.504053 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:53:02.180Z,1761519182.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.434244 m,
      bearing: 308.715206 deg,
      lat: 36.779430 deg,
      lon: -121.859369 deg,
      deltaT: 0.504053 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:53:02.180Z,1761519182.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-10-26T22:53:02.205Z,1761519182.205 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.250326
2025-10-26T22:53:02.457Z,1761519182.457 [DAT](INFO): DAT read: Rx Time:22:53:01.2827 

2025-10-26T22:53:02.457Z,1761519182.457 [DAT](INFO): Rx dataTimestamp_ set to:1761519182.457126
2025-10-26T22:53:02.459Z,1761519182.459 [DAT](INFO): DAT read: Bearing  96.7,  -7.4 (Local)

2025-10-26T22:53:02.459Z,1761519182.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.7,  -7.4 (Local)

2025-10-26T22:53:02.465Z,1761519182.465 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.0

2025-10-26T22:53:02.499Z,1761519182.499 [DAT](INFO): DAT read: 22:53:01.2827 LVL= 32752, 25329, 32754, 32755, AGC= 68, IDX= 501,-0.24, 2.218,-2.211, 2.589, 3.050, PHS=-0.730, 1.067,-0.505, RAW= 323.4,   2.0, CAL= 321.8,  -0.9, ROT= 188.2,   0.9

2025-10-26T22:53:02.507Z,1761519182.507 [DAT](INFO): got valid direction response:
 22:53:01.2827 LVL= 32752, 25329, 32754, 32755, AGC= 68, IDX= 501,-0.24, 2.218,-2.211, 2.589, 3.050, PHS=-0.730, 1.067,-0.505, RAW= 323.4,   2.0, CAL= 321.8,  -0.9, ROT= 188.2,   0.9

2025-10-26T22:53:02.524Z,1761519182.524 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-10-26T22:53:02.556Z,1761519182.556 [DAT](INFO): direction in FSK: [-0.989654,-0.142611,-0.015707]
2025-10-26T22:53:02.556Z,1761519182.556 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:02.564Z,1761519182.564 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.609497
2025-10-26T22:53:02.682Z,1761519182.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.503768 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:53:02.688Z,1761519182.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.434233 m,
      bearing: 308.154123 deg,
      lat: 36.779429 deg,
      lon: -121.859369 deg,
      deltaT: 0.503768 s,
      deltaX: -0.000011 m,
      approachRate: -0.000023 m/s,
      posRepo size: 4

2025-10-26T22:53:02.688Z,1761519182.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-10-26T22:53:02.709Z,1761519182.709 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.754763
2025-10-26T22:53:02.957Z,1761519182.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499335,-0.864901,-0.051097],[0.866355,-0.499096,-0.018248],[-0.009719,-0.053381,0.998527]]
2025-10-26T22:53:02.961Z,1761519182.961 [DAT](INFO): DAT read: Rx Time:22:53:01.7828 

2025-10-26T22:53:02.962Z,1761519182.962 [DAT](INFO): Rx dataTimestamp_ set to:1761519182.961255
2025-10-26T22:53:02.963Z,1761519182.963 [DAT](INFO): DAT read: Bearing  96.4,  -7.5 (Local)

2025-10-26T22:53:02.963Z,1761519182.963 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.4,  -7.5 (Local)

2025-10-26T22:53:02.965Z,1761519182.965 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.0

2025-10-26T22:53:02.970Z,1761519182.970 [DAT](INFO): DAT read: 22:53:01.7828 LVL= 32752, 24545, 32754, 32755, AGC= 68, IDX= 502,-0.05,-1.823, 0.026,-1.454,-0.984, PHS=-0.737, 1.055,-0.514, RAW= 323.4,   2.4, CAL= 321.7,  -0.6, ROT= 188.3,   0.6

2025-10-26T22:53:02.971Z,1761519182.971 [DAT](INFO): got valid direction response:
 22:53:01.7828 LVL= 32752, 24545, 32754, 32755, AGC= 68, IDX= 502,-0.05,-1.823, 0.026,-1.454,-0.984, PHS=-0.737, 1.055,-0.514, RAW= 323.4,   2.4, CAL= 321.7,  -0.6, ROT= 188.3,   0.6

2025-10-26T22:53:02.972Z,1761519182.972 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-10-26T22:53:02.973Z,1761519182.973 [DAT](INFO): direction in FSK: [-0.989472,-0.144348,-0.010472]
2025-10-26T22:53:02.973Z,1761519182.973 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:02.976Z,1761519182.976 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.022179
2025-10-26T22:53:03.018Z,1761519183.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.504129 s,
      deltaX: 0.200000 m,
      approachRate: 0.396723 m/s,
      rangeRepo size: 4

2025-10-26T22:53:03.040Z,1761519183.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.633258 m,
      bearing: 308.277746 deg,
      lat: 36.779429 deg,
      lon: -121.859370 deg,
      deltaT: 0.504129 s,
      deltaX: 0.199025 m,
      approachRate: 0.394790 m/s,
      posRepo size: 4

2025-10-26T22:53:03.040Z,1761519183.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m.
2025-10-26T22:53:03.212Z,1761519183.212 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.258120
2025-10-26T22:53:03.423Z,1761519183.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m.
2025-10-26T22:53:03.466Z,1761519183.466 [DAT](INFO): DAT read: Rx Time:22:53:02.2827 

2025-10-26T22:53:03.467Z,1761519183.467 [DAT](INFO): Rx dataTimestamp_ set to:1761519183.466612
2025-10-26T22:53:03.469Z,1761519183.469 [DAT](INFO): DAT read: Bearing  97.3,  -7.7 (Local)

2025-10-26T22:53:03.469Z,1761519183.469 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.3,  -7.7 (Local)

2025-10-26T22:53:03.472Z,1761519183.472 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.0

2025-10-26T22:53:03.479Z,1761519183.479 [DAT](INFO): DAT read: 22:53:02.2827 LVL= 32752, 25969, 32754, 32755, AGC= 67, IDX= 501, 0.13,-2.230,-0.360,-1.848,-1.402, PHS=-0.726, 1.087,-0.489, RAW= 323.1,   1.5, CAL= 321.5,  -1.4, ROT= 188.5,   1.4

2025-10-26T22:53:03.481Z,1761519183.481 [DAT](INFO): got valid direction response:
 22:53:02.2827 LVL= 32752, 25969, 32754, 32755, AGC= 67, IDX= 501, 0.13,-2.230,-0.360,-1.848,-1.402, PHS=-0.726, 1.087,-0.489, RAW= 323.1,   1.5, CAL= 321.5,  -1.4, ROT= 188.5,   1.4

2025-10-26T22:53:03.482Z,1761519183.482 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-10-26T22:53:03.483Z,1761519183.483 [DAT](INFO): direction in FSK: [-0.988721,-0.147765,-0.024432]
2025-10-26T22:53:03.484Z,1761519183.484 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:03.506Z,1761519183.506 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.551075
2025-10-26T22:53:03.717Z,1761519183.717 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.762901
2025-10-26T22:53:03.762Z,1761519183.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498709,-0.865177,-0.052509],[0.866710,-0.498468,-0.018530],[-0.010142,-0.054751,0.998448]]
2025-10-26T22:53:03.912Z,1761519183.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.505357 s,
      deltaX: -0.200000 m,
      approachRate: -0.395759 m/s,
      rangeRepo size: 4

2025-10-26T22:53:03.914Z,1761519183.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.434133 m,
      bearing: 308.478609 deg,
      lat: 36.779429 deg,
      lon: -121.859370 deg,
      deltaT: 0.505357 s,
      deltaX: -0.199125 m,
      approachRate: -0.394029 m/s,
      posRepo size: 4

2025-10-26T22:53:03.915Z,1761519183.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-10-26T22:53:03.970Z,1761519183.970 [DAT](INFO): DAT read: Rx Time:22:53:02.7828 

2025-10-26T22:53:03.971Z,1761519183.971 [DAT](INFO): Rx dataTimestamp_ set to:1761519183.970364
2025-10-26T22:53:03.973Z,1761519183.973 [DAT](INFO): DAT read: Bearing  95.2,  -8.5 (Local)

2025-10-26T22:53:03.973Z,1761519183.973 [DAT](INFO): Local bearing/azimuth received:
 Bearing  95.2,  -8.5 (Local)

2025-10-26T22:53:03.977Z,1761519183.977 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.0

2025-10-26T22:53:03.983Z,1761519183.983 [DAT](INFO): DAT read: 22:53:02.7828 LVL= 32752, 28577, 32754, 32755, AGC= 67, IDX= 502, 0.14, 0.104, 1.974, 0.504, 0.989, PHS=-0.783, 1.030,-0.529, RAW= 322.6,   3.4, CAL= 320.8,   0.7, ROT= 189.2,  -0.7

2025-10-26T22:53:04.000Z,1761519184.000 [DAT](INFO): got valid direction response:
 22:53:02.7828 LVL= 32752, 28577, 32754, 32755, AGC= 67, IDX= 502, 0.14, 0.104, 1.974, 0.504, 0.989, PHS=-0.783, 1.030,-0.529, RAW= 322.6,   3.4, CAL= 320.8,   0.7, ROT= 189.2,  -0.7

2025-10-26T22:53:04.000Z,1761519184.000 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-26T22:53:04.002Z,1761519184.002 [DAT](INFO): direction in FSK: [-0.987063,-0.159869,0.012217]
2025-10-26T22:53:04.002Z,1761519184.002 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:04.039Z,1761519184.039 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.084835
2025-10-26T22:53:04.167Z,1761519184.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498048,-0.865562,-0.052443],[0.867086,-0.497833,-0.018025],[-0.010507,-0.054450,0.998461]]
2025-10-26T22:53:04.203Z,1761519184.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.503752 s,
      deltaX: 0.200000 m,
      approachRate: 0.397020 m/s,
      rangeRepo size: 4

2025-10-26T22:53:04.205Z,1761519184.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.633157 m,
      bearing: 309.024227 deg,
      lat: 36.779429 deg,
      lon: -121.859370 deg,
      deltaT: 0.503752 s,
      deltaX: 0.199024 m,
      approachRate: 0.395084 m/s,
      posRepo size: 4

2025-10-26T22:53:04.206Z,1761519184.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m.
2025-10-26T22:53:04.220Z,1761519184.220 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.266212
2025-10-26T22:53:04.473Z,1761519184.473 [DAT](INFO): DAT read: Rx Time:22:53:03.2827 

2025-10-26T22:53:04.473Z,1761519184.473 [DAT](INFO): Rx dataTimestamp_ set to:1761519184.473192
2025-10-26T22:53:04.475Z,1761519184.475 [DAT](INFO): DAT read: Bearing  97.8,  -7.7 (Local)

2025-10-26T22:53:04.475Z,1761519184.475 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.8,  -7.7 (Local)

2025-10-26T22:53:04.477Z,1761519184.477 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.0

2025-10-26T22:53:04.482Z,1761519184.482 [DAT](INFO): DAT read: 22:53:03.2827 LVL= 32752, 21681, 32754, 32755, AGC= 66, IDX= 501, 0.14,-1.033, 0.841,-0.648,-0.216, PHS=-0.715, 1.102,-0.476, RAW= 323.0,   1.1, CAL= 321.5,  -1.9, ROT= 188.5,   1.9

2025-10-26T22:53:04.483Z,1761519184.483 [DAT](INFO): got valid direction response:
 22:53:03.2827 LVL= 32752, 21681, 32754, 32755, AGC= 66, IDX= 501, 0.14,-1.033, 0.841,-0.648,-0.216, PHS=-0.715, 1.102,-0.476, RAW= 323.0,   1.1, CAL= 321.5,  -1.9, ROT= 188.5,   1.9

2025-10-26T22:53:04.483Z,1761519184.483 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-10-26T22:53:04.484Z,1761519184.484 [DAT](INFO): direction in FSK: [-0.988472,-0.147728,-0.033155]
2025-10-26T22:53:04.484Z,1761519184.484 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:04.496Z,1761519184.496 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.542088
2025-10-26T22:53:04.597Z,1761519184.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496688,-0.866412,-0.051299],[0.867857,-0.496539,-0.016505],[-0.011172,-0.052718,0.998547]]
2025-10-26T22:53:04.700Z,1761519184.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.502828 s,
      deltaX: -0.200000 m,
      approachRate: -0.397750 m/s,
      rangeRepo size: 4

2025-10-26T22:53:04.707Z,1761519184.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.434311 m,
      bearing: 308.368703 deg,
      lat: 36.779428 deg,
      lon: -121.859371 deg,
      deltaT: 0.502828 s,
      deltaX: -0.198846 m,
      approachRate: -0.395455 m/s,
      posRepo size: 4

2025-10-26T22:53:04.708Z,1761519184.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-10-26T22:53:04.725Z,1761519184.725 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.770611
2025-10-26T22:53:04.977Z,1761519184.977 [DAT](INFO): DAT read: Rx Time:22:53:03.7827 

2025-10-26T22:53:04.977Z,1761519184.977 [DAT](INFO): Rx dataTimestamp_ set to:1761519184.977223
2025-10-26T22:53:04.979Z,1761519184.979 [DAT](INFO): DAT read: Bearing  96.1,  -8.1 (Local)

2025-10-26T22:53:04.979Z,1761519184.979 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.1,  -8.1 (Local)

2025-10-26T22:53:04.981Z,1761519184.981 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.0

2025-10-26T22:53:04.986Z,1761519184.986 [DAT](INFO): DAT read: 22:53:03.7827 LVL= 32752, 27377, 32754, 32755, AGC= 68, IDX= 501, 0.01,-0.649, 1.211,-0.266, 0.211, PHS=-0.758, 1.045,-0.520, RAW= 323.0,   2.8, CAL= 321.3,  -0.1, ROT= 188.7,   0.1

2025-10-26T22:53:04.988Z,1761519184.988 [DAT](INFO): got valid direction response:
 22:53:03.7827 LVL= 32752, 27377, 32754, 32755, AGC= 68, IDX= 501, 0.01,-0.649, 1.211,-0.266, 0.211, PHS=-0.758, 1.045,-0.520, RAW= 323.0,   2.8, CAL= 321.3,  -0.1, ROT= 188.7,   0.1

2025-10-26T22:53:04.988Z,1761519184.988 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-26T22:53:04.989Z,1761519184.989 [DAT](INFO): direction in FSK: [-0.988492,-0.151261,-0.001745]
2025-10-26T22:53:04.989Z,1761519184.989 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:04.993Z,1761519184.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495393,-0.867178,-0.050878],[0.868589,-0.495293,-0.015445],[-0.011806,-0.051843,0.998586]]
2025-10-26T22:53:04.998Z,1761519184.998 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.043613
2025-10-26T22:53:05.019Z,1761519185.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.504031 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:53:05.021Z,1761519185.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.434311 m,
      bearing: 308.392753 deg,
      lat: 36.779428 deg,
      lon: -121.859371 deg,
      deltaT: 0.504031 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:53:05.022Z,1761519185.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-10-26T22:53:05.229Z,1761519185.229 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.274345
2025-10-26T22:53:05.411Z,1761519185.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493914,-0.868035,-0.050644],[0.869419,-0.493870,-0.014268],[-0.012626,-0.051078,0.998615]]
2025-10-26T22:53:05.449Z,1761519185.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-10-26T22:53:05.482Z,1761519185.482 [DAT](INFO): DAT read: Rx Time:22:53:04.2826 

2025-10-26T22:53:05.482Z,1761519185.482 [DAT](INFO): Rx dataTimestamp_ set to:1761519185.482072
2025-10-26T22:53:05.484Z,1761519185.484 [DAT](INFO): DAT read: Bearing  98.4,  -7.9 (Local)

2025-10-26T22:53:05.485Z,1761519185.485 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.4,  -7.9 (Local)

2025-10-26T22:53:05.487Z,1761519185.487 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-10-26T22:53:05.494Z,1761519185.494 [DAT](INFO): DAT read: 22:53:04.2826 LVL= 32752, 24401, 32754, 32755, AGC= 65, IDX= 500,-0.10,-2.840,-0.975,-2.448,-2.038, PHS=-0.699, 1.108,-0.454, RAW= 322.8,   0.5, CAL= 321.3,  -2.5, ROT= 188.7,   2.5

2025-10-26T22:53:05.500Z,1761519185.500 [DAT](INFO): got valid direction response:
 22:53:04.2826 LVL= 32752, 24401, 32754, 32755, AGC= 65, IDX= 500,-0.10,-2.840,-0.975,-2.448,-2.038, PHS=-0.699, 1.108,-0.454, RAW= 322.8,   0.5, CAL= 321.3,  -2.5, ROT= 188.7,   2.5

2025-10-26T22:53:05.500Z,1761519185.500 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-10-26T22:53:05.502Z,1761519185.502 [DAT](INFO): direction in FSK: [-0.987553,-0.151117,-0.043619]
2025-10-26T22:53:05.502Z,1761519185.502 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:05.524Z,1761519185.524 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.560993
2025-10-26T22:53:05.733Z,1761519185.733 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.778866
2025-10-26T22:53:05.782Z,1761519185.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492696,-0.868716,-0.050830],[0.870099,-0.492695,-0.013414],[-0.013391,-0.050836,0.998617]]
2025-10-26T22:53:05.914Z,1761519185.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.504849 s,
      deltaX: -0.100000 m,
      approachRate: -0.198080 m/s,
      rangeRepo size: 4

2025-10-26T22:53:05.921Z,1761519185.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.334891 m,
      bearing: 308.331986 deg,
      lat: 36.779428 deg,
      lon: -121.859371 deg,
      deltaT: 0.504849 s,
      deltaX: -0.099420 m,
      approachRate: -0.196929 m/s,
      posRepo size: 4

2025-10-26T22:53:05.922Z,1761519185.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-10-26T22:53:05.985Z,1761519185.985 [DAT](INFO): DAT read: Rx Time:22:53:04.7827 

2025-10-26T22:53:05.986Z,1761519185.986 [DAT](INFO): Rx dataTimestamp_ set to:1761519185.985454
2025-10-26T22:53:05.988Z,1761519185.988 [DAT](INFO): DAT read: Bearing  95.7, -10.0 (Local)

2025-10-26T22:53:05.988Z,1761519185.988 [DAT](INFO): Local bearing/azimuth received:
 Bearing  95.7, -10.0 (Local)

2025-10-26T22:53:05.991Z,1761519185.991 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.0

2025-10-26T22:53:05.997Z,1761519185.997 [DAT](INFO): DAT read: 22:53:04.7827 LVL= 32752, 29681, 32754, 32755, AGC= 68, IDX= 501,-0.23,-2.401,-0.536,-1.959,-1.510, PHS=-0.789, 1.019,-0.493, RAW= 321.2,   3.2, CAL= 319.3,   0.4, ROT= 190.7,  -0.4

2025-10-26T22:53:05.999Z,1761519185.999 [DAT](INFO): got valid direction response:
 22:53:04.7827 LVL= 32752, 29681, 32754, 32755, AGC= 68, IDX= 501,-0.23,-2.401,-0.536,-1.959,-1.510, PHS=-0.789, 1.019,-0.493, RAW= 321.2,   3.2, CAL= 319.3,   0.4, ROT= 190.7,  -0.4

2025-10-26T22:53:05.000Z,1761519186.000 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-10-26T22:53:06.001Z,1761519186.001 [DAT](INFO): direction in FSK: [-0.982589,-0.185662,0.006981]
2025-10-26T22:53:06.001Z,1761519186.001 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:06.013Z,1761519186.013 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.052921
2025-10-26T22:53:06.194Z,1761519186.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491421,-0.869395,-0.051562],[0.870806,-0.491462,-0.012754],[-0.014252,-0.051168,0.998588]]
2025-10-26T22:53:06.225Z,1761519186.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.503382 s,
      deltaX: 0.100000 m,
      approachRate: 0.198657 m/s,
      rangeRepo size: 4

2025-10-26T22:53:06.229Z,1761519186.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.434406 m,
      bearing: 310.107029 deg,
      lat: 36.779428 deg,
      lon: -121.859371 deg,
      deltaT: 0.503382 s,
      deltaX: 0.099515 m,
      approachRate: 0.197693 m/s,
      posRepo size: 4

2025-10-26T22:53:06.236Z,1761519186.236 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.282200
2025-10-26T22:53:06.244Z,1761519186.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-10-26T22:53:06.489Z,1761519186.489 [DAT](INFO): DAT read: Rx Time:22:53:05.2826 

2025-10-26T22:53:06.490Z,1761519186.490 [DAT](INFO): Rx dataTimestamp_ set to:1761519186.489372
2025-10-26T22:53:06.491Z,1761519186.491 [DAT](INFO): DAT read: Bearing  98.2, -10.2 (Local)

2025-10-26T22:53:06.491Z,1761519186.491 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.2, -10.2 (Local)

2025-10-26T22:53:06.493Z,1761519186.493 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-10-26T22:53:06.498Z,1761519186.498 [DAT](INFO): DAT read: 22:53:05.2826 LVL= 32752, 23073, 32754, 32755, AGC= 64, IDX= 500,-0.33, 1.585,-2.800, 2.051, 2.435, PHS=-0.747, 1.093,-0.427, RAW= 320.6,   1.0, CAL= 319.0,  -2.0, ROT= 191.0,   2.0

2025-10-26T22:53:06.499Z,1761519186.499 [DAT](INFO): got valid direction response:
 22:53:05.2826 LVL= 32752, 23073, 32754, 32755, AGC= 64, IDX= 500,-0.33, 1.585,-2.800, 2.051, 2.435, PHS=-0.747, 1.093,-0.427, RAW= 320.6,   1.0, CAL= 319.0,  -2.0, ROT= 191.0,   2.0

2025-10-26T22:53:06.499Z,1761519186.499 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-10-26T22:53:06.500Z,1761519186.500 [DAT](INFO): direction in FSK: [-0.981029,-0.190693,-0.034899]
2025-10-26T22:53:06.501Z,1761519186.501 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:06.504Z,1761519186.504 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.550205
2025-10-26T22:53:06.626Z,1761519186.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490412,-0.869909,-0.052482],[0.871362,-0.490485,-0.012365],[-0.014985,-0.051794,0.998545]]
2025-10-26T22:53:06.730Z,1761519186.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.503918 s,
      deltaX: -0.100000 m,
      approachRate: -0.198446 m/s,
      rangeRepo size: 4

2025-10-26T22:53:06.737Z,1761519186.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.334561 m,
      bearing: 310.455704 deg,
      lat: 36.779428 deg,
      lon: -121.859371 deg,
      deltaT: 0.503918 s,
      deltaX: -0.099845 m,
      approachRate: -0.198137 m/s,
      posRepo size: 4

2025-10-26T22:53:06.738Z,1761519186.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-10-26T22:53:06.741Z,1761519186.741 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.786381
2025-10-26T22:53:06.993Z,1761519186.993 [DAT](INFO): DAT read: Rx Time:22:53:05.7826 

2025-10-26T22:53:06.993Z,1761519186.993 [DAT](INFO): Rx dataTimestamp_ set to:1761519186.993000
2025-10-26T22:53:06.995Z,1761519186.995 [DAT](INFO): DAT read: Bearing  94.7, -13.3 (Local)

2025-10-26T22:53:06.995Z,1761519186.995 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.7, -13.3 (Local)

2025-10-26T22:53:06.997Z,1761519186.997 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-10-26T22:53:07.001Z,1761519187.001 [DAT](INFO): DAT read: 22:53:05.7826 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 500, 0.43,-2.559,-0.698,-2.023,-1.621, PHS=-0.836, 0.968,-0.446, RAW= 318.2,   3.9, CAL= 316.1,   1.5, ROT= 193.9,  -1.5

2025-10-26T22:53:07.003Z,1761519187.003 [DAT](INFO): got valid direction response:
 22:53:05.7826 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 500, 0.43,-2.559,-0.698,-2.023,-1.621, PHS=-0.836, 0.968,-0.446, RAW= 318.2,   3.9, CAL= 316.1,   1.5, ROT= 193.9,  -1.5

2025-10-26T22:53:07.003Z,1761519187.003 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-10-26T22:53:07.004Z,1761519187.004 [DAT](INFO): direction in FSK: [-0.970384,-0.240146,0.026177]
2025-10-26T22:53:07.004Z,1761519187.004 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:07.008Z,1761519187.008 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.053528
2025-10-26T22:53:07.013Z,1761519187.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489299,-0.870501,-0.053043],[0.871975,-0.489408,-0.011803],[-0.015685,-0.052027,0.998522]]
2025-10-26T22:53:07.078Z,1761519187.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.503628 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:53:07.084Z,1761519187.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.334561 m,
      bearing: 313.114501 deg,
      lat: 36.779431 deg,
      lon: -121.859370 deg,
      deltaT: 0.503628 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:53:07.085Z,1761519187.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-10-26T22:53:07.245Z,1761519187.245 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.290302
2025-10-26T22:53:07.416Z,1761519187.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488225,-0.871098,-0.053152],[0.872565,-0.488374,-0.011039],[-0.016341,-0.051768,0.998525]]
2025-10-26T22:53:07.448Z,1761519187.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-10-26T22:53:07.498Z,1761519187.498 [DAT](INFO): DAT read: Rx Time:22:53:06.2825 

2025-10-26T22:53:07.498Z,1761519187.498 [DAT](INFO): Rx dataTimestamp_ set to:1761519187.498136
2025-10-26T22:53:07.500Z,1761519187.500 [DAT](INFO): DAT read: Bearing  97.9, -11.9 (Local)

2025-10-26T22:53:07.501Z,1761519187.501 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.9, -11.9 (Local)

2025-10-26T22:53:07.504Z,1761519187.504 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed 0.0

2025-10-26T22:53:07.509Z,1761519187.509 [DAT](INFO): DAT read: 22:53:06.2825 LVL= 32752, 21969, 32754, 32755, AGC= 65, IDX= 499, 0.20, 1.877,-2.470, 2.401, 2.768, PHS=-0.789, 1.090,-0.411, RAW= 319.0,   1.3, CAL= 317.2,  -1.7, ROT= 192.8,   1.7

2025-10-26T22:53:07.511Z,1761519187.511 [DAT](INFO): got valid direction response:
 22:53:06.2825 LVL= 32752, 21969, 32754, 32755, AGC= 65, IDX= 499, 0.20, 1.877,-2.470, 2.401, 2.768, PHS=-0.789, 1.090,-0.411, RAW= 319.0,   1.3, CAL= 317.2,  -1.7, ROT= 192.8,   1.7

2025-10-26T22:53:07.511Z,1761519187.511 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-10-26T22:53:07.513Z,1761519187.513 [DAT](INFO): direction in FSK: [-0.974720,-0.221451,-0.029666]
2025-10-26T22:53:07.513Z,1761519187.513 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:07.516Z,1761519187.516 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.562256
2025-10-26T22:53:07.748Z,1761519187.748 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.794151
2025-10-26T22:53:07.936Z,1761519187.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.505136 s,
      deltaX: -0.200000 m,
      approachRate: -0.395933 m/s,
      rangeRepo size: 4

2025-10-26T22:53:07.938Z,1761519187.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.134917 m,
      bearing: 312.095381 deg,
      lat: 36.779432 deg,
      lon: -121.859369 deg,
      deltaT: 0.505136 s,
      deltaX: -0.199644 m,
      approachRate: -0.395228 m/s,
      posRepo size: 4

2025-10-26T22:53:07.939Z,1761519187.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m.
2025-10-26T22:53:08.001Z,1761519188.001 [DAT](INFO): DAT read: Rx Time:22:53:06.7826 

2025-10-26T22:53:08.002Z,1761519188.002 [DAT](INFO): Rx dataTimestamp_ set to:1761519188.001422
2025-10-26T22:53:08.003Z,1761519188.003 [DAT](INFO): DAT read: Bearing  98.1, -12.6 (Local)

2025-10-26T22:53:08.004Z,1761519188.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.1, -12.6 (Local)

2025-10-26T22:53:08.006Z,1761519188.006 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-10-26T22:53:08.010Z,1761519188.010 [DAT](INFO): DAT read: 22:53:06.7826 LVL= 32752, 20945, 32754, 32755, AGC= 65, IDX= 500,-0.00, 2.604,-1.754,-3.136,-2.791, PHS=-0.786, 1.081,-0.389, RAW= 318.4,   1.1, CAL= 316.6,  -1.9, ROT= 193.4,   1.9

2025-10-26T22:53:08.012Z,1761519188.012 [DAT](INFO): got valid direction response:
 22:53:06.7826 LVL= 32752, 20945, 32754, 32755, AGC= 65, IDX= 500,-0.00, 2.604,-1.754,-3.136,-2.791, PHS=-0.786, 1.081,-0.389, RAW= 318.4,   1.1, CAL= 316.6,  -1.9, ROT= 193.4,   1.9

2025-10-26T22:53:08.012Z,1761519188.012 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-10-26T22:53:08.013Z,1761519188.013 [DAT](INFO): direction in FSK: [-0.972241,-0.231620,-0.033155]
2025-10-26T22:53:08.013Z,1761519188.013 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:08.017Z,1761519188.017 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.062660
2025-10-26T22:53:08.206Z,1761519188.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486340,-0.872179,-0.052702],[0.873598,-0.486556,-0.009514],[-0.017344,-0.050667,0.998565]]
2025-10-26T22:53:08.252Z,1761519188.252 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.298141
2025-10-26T22:53:08.262Z,1761519188.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.503286 s,
      deltaX: 0.200000 m,
      approachRate: 0.397388 m/s,
      rangeRepo size: 4

2025-10-26T22:53:08.267Z,1761519188.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.333931 m,
      bearing: 312.579166 deg,
      lat: 36.779433 deg,
      lon: -121.859367 deg,
      deltaT: 0.503286 s,
      deltaX: 0.199014 m,
      approachRate: 0.395429 m/s,
      posRepo size: 4

2025-10-26T22:53:08.280Z,1761519188.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-10-26T22:53:08.505Z,1761519188.505 [DAT](INFO): DAT read: Rx Time:22:53:07.2825 

2025-10-26T22:53:08.505Z,1761519188.505 [DAT](INFO): Rx dataTimestamp_ set to:1761519188.505059
2025-10-26T22:53:08.507Z,1761519188.507 [DAT](INFO): DAT read: Bearing  97.5, -12.6 (Local)

2025-10-26T22:53:08.507Z,1761519188.507 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.5, -12.6 (Local)

2025-10-26T22:53:08.509Z,1761519188.509 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed 0.0

2025-10-26T22:53:08.515Z,1761519188.515 [DAT](INFO): DAT read: 22:53:07.2825 LVL= 32752, 23649, 32754, 32755, AGC= 65, IDX= 499,-0.23, 1.213,-3.137, 1.755, 2.120, PHS=-0.805, 1.070,-0.409, RAW= 318.5,   1.7, CAL= 316.6,  -1.3, ROT= 193.4,   1.3

2025-10-26T22:53:08.516Z,1761519188.516 [DAT](INFO): got valid direction response:
 22:53:07.2825 LVL= 32752, 23649, 32754, 32755, AGC= 65, IDX= 499,-0.23, 1.213,-3.137, 1.755, 2.120, PHS=-0.805, 1.070,-0.409, RAW= 318.5,   1.7, CAL= 316.6,  -1.3, ROT= 193.4,   1.3

2025-10-26T22:53:08.517Z,1761519188.517 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-10-26T22:53:08.518Z,1761519188.518 [DAT](INFO): direction in FSK: [-0.972526,-0.231688,-0.022687]
2025-10-26T22:53:08.518Z,1761519188.518 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:08.522Z,1761519188.522 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.568245
2025-10-26T22:53:08.647Z,1761519188.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485101,-0.872731,-0.054936],[0.874269,-0.485346,-0.009687],[-0.018209,-0.052728,0.998443]]
2025-10-26T22:53:08.757Z,1761519188.757 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.802296
2025-10-26T22:53:08.760Z,1761519188.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.503637 s,
      deltaX: -0.200000 m,
      approachRate: -0.397111 m/s,
      rangeRepo size: 4

2025-10-26T22:53:08.762Z,1761519188.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.133901 m,
      bearing: 312.472663 deg,
      lat: 36.779434 deg,
      lon: -121.859366 deg,
      deltaT: 0.503637 s,
      deltaX: -0.200030 m,
      approachRate: -0.397172 m/s,
      posRepo size: 4

2025-10-26T22:53:08.763Z,1761519188.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m.
2025-10-26T22:53:09.009Z,1761519189.009 [DAT](INFO): DAT read: Rx Time:22:53:07.7824 

2025-10-26T22:53:09.010Z,1761519189.010 [DAT](INFO): Rx dataTimestamp_ set to:1761519189.009256
2025-10-26T22:53:09.011Z,1761519189.011 [DAT](INFO): DAT read: Bearing  97.5, -13.4 (Local)

2025-10-26T22:53:09.011Z,1761519189.011 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.5, -13.4 (Local)

2025-10-26T22:53:09.013Z,1761519189.013 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed 0.0

2025-10-26T22:53:09.018Z,1761519189.018 [DAT](INFO): DAT read: 22:53:07.7824 LVL= 32752, 23409, 32754, 32755, AGC= 67, IDX= 498, 0.40,-2.245,-0.280,-1.672,-1.317, PHS=-0.826, 1.081,-0.400, RAW= 317.7,   1.7, CAL= 315.8,  -1.3, ROT= 194.2,   1.3

2025-10-26T22:53:09.019Z,1761519189.019 [DAT](INFO): got valid direction response:
 22:53:07.7824 LVL= 32752, 23409, 32754, 32755, AGC= 67, IDX= 498, 0.40,-2.245,-0.280,-1.672,-1.317, PHS=-0.826, 1.081,-0.400, RAW= 317.7,   1.7, CAL= 315.8,  -1.3, ROT= 194.2,   1.3

2025-10-26T22:53:09.019Z,1761519189.019 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-10-26T22:53:09.020Z,1761519189.020 [DAT](INFO): direction in FSK: [-0.969196,-0.245244,-0.022687]
2025-10-26T22:53:09.021Z,1761519189.021 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:09.028Z,1761519189.028 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.074162
2025-10-26T22:53:09.114Z,1761519189.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.504197 s,
      deltaX: -0.099999 m,
      approachRate: -0.198334 m/s,
      rangeRepo size: 4

2025-10-26T22:53:09.122Z,1761519189.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.034402 m,
      bearing: 313.271608 deg,
      lat: 36.779435 deg,
      lon: -121.859365 deg,
      deltaT: 0.504197 s,
      deltaX: -0.099499 m,
      approachRate: -0.197341 m/s,
      posRepo size: 4

2025-10-26T22:53:09.122Z,1761519189.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m.
2025-10-26T22:53:09.261Z,1761519189.261 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.306400
2025-10-26T22:53:09.423Z,1761519189.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484667,-0.872888,-0.056252],[0.874505,-0.484910,-0.010154],[-0.018414,-0.054114,0.998365]]
2025-10-26T22:53:09.487Z,1761519189.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m.
2025-10-26T22:53:09.513Z,1761519189.513 [DAT](INFO): DAT read: Rx Time:22:53:08.2823 

2025-10-26T22:53:09.514Z,1761519189.514 [DAT](INFO): Rx dataTimestamp_ set to:1761519189.513463
2025-10-26T22:53:09.515Z,1761519189.515 [DAT](INFO): DAT read: Bearing  97.8, -13.8 (Local)

2025-10-26T22:53:09.516Z,1761519189.516 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.8, -13.8 (Local)

2025-10-26T22:53:09.518Z,1761519189.518 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed 0.0

2025-10-26T22:53:09.522Z,1761519189.522 [DAT](INFO): DAT read: 22:53:08.2823 LVL= 32752, 25841, 32754, 32755, AGC= 68, IDX= 497, 0.21,-2.842,-0.871,-2.254,-1.911, PHS=-0.829, 1.085,-0.387, RAW= 317.3,   1.5, CAL= 315.4,  -1.5, ROT= 194.6,   1.5

2025-10-26T22:53:09.524Z,1761519189.524 [DAT](INFO): got valid direction response:
 22:53:08.2823 LVL= 32752, 25841, 32754, 32755, AGC= 68, IDX= 497, 0.21,-2.842,-0.871,-2.254,-1.911, PHS=-0.829, 1.085,-0.387, RAW= 317.3,   1.5, CAL= 315.4,  -1.5, ROT= 194.6,   1.5

2025-10-26T22:53:09.524Z,1761519189.524 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-10-26T22:53:09.525Z,1761519189.525 [DAT](INFO): direction in FSK: [-0.967378,-0.251983,-0.026177]
2025-10-26T22:53:09.525Z,1761519189.525 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:09.529Z,1761519189.529 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.574707
2025-10-26T22:53:09.764Z,1761519189.764 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.810226
2025-10-26T22:53:09.828Z,1761519189.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485041,-0.872658,-0.056603],[0.874301,-0.485270,-0.010543],[-0.018267,-0.054602,0.998341]]
2025-10-26T22:53:09.936Z,1761519189.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.504207 s,
      deltaX: -0.200001 m,
      approachRate: -0.396664 m/s,
      rangeRepo size: 4

2025-10-26T22:53:09.938Z,1761519189.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.834138 m,
      bearing: 313.677923 deg,
      lat: 36.779434 deg,
      lon: -121.859365 deg,
      deltaT: 0.504207 s,
      deltaX: -0.200264 m,
      approachRate: -0.397186 m/s,
      posRepo size: 4

2025-10-26T22:53:09.939Z,1761519189.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-10-26T22:53:10.018Z,1761519190.018 [DAT](INFO): DAT read: Rx Time:22:53:08.7824 

2025-10-26T22:53:10.019Z,1761519190.019 [DAT](INFO): Rx dataTimestamp_ set to:1761519190.018234
2025-10-26T22:53:10.021Z,1761519190.021 [DAT](INFO): DAT read: Bearing  97.6, -13.7 (Local)

2025-10-26T22:53:10.021Z,1761519190.021 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.6, -13.7 (Local)

2025-10-26T22:53:10.024Z,1761519190.024 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed 0.0

2025-10-26T22:53:10.044Z,1761519190.044 [DAT](INFO): DAT read: 22:53:08.7824 LVL= 25072, 24529, 30530, 32755, AGC= 71, IDX=   2, 0.11,-1.392, 0.572,-0.808,-0.461, PHS=-0.828, 1.078,-0.391, RAW= 317.4,   1.7, CAL= 315.4,  -1.3, ROT= 194.6,   1.3

2025-10-26T22:53:10.046Z,1761519190.046 [DAT](INFO): got valid direction response:
 22:53:08.7824 LVL= 25072, 24529, 30530, 32755, AGC= 71, IDX=   2, 0.11,-1.392, 0.572,-0.808,-0.461, PHS=-0.828, 1.078,-0.391, RAW= 317.4,   1.7, CAL= 315.4,  -1.3, ROT= 194.6,   1.3

2025-10-26T22:53:10.046Z,1761519190.046 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-10-26T22:53:10.052Z,1761519190.052 [DAT](INFO): direction in FSK: [-0.967460,-0.252005,-0.022687]
2025-10-26T22:53:10.053Z,1761519190.053 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:10.057Z,1761519190.057 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.102730
2025-10-26T22:53:10.226Z,1761519190.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484828,-0.872777,-0.056592],[0.874418,-0.485060,-0.010484],[-0.018300,-0.054567,0.998342]]
2025-10-26T22:53:10.269Z,1761519190.269 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.314316
2025-10-26T22:53:10.276Z,1761519190.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.504771 s,
      deltaX: 0.200001 m,
      approachRate: 0.396221 m/s,
      rangeRepo size: 4

2025-10-26T22:53:10.278Z,1761519190.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.033117 m,
      bearing: 313.654343 deg,
      lat: 36.779435 deg,
      lon: -121.859363 deg,
      deltaT: 0.504771 s,
      deltaX: 0.198979 m,
      approachRate: 0.394197 m/s,
      posRepo size: 4

2025-10-26T22:53:10.279Z,1761519190.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m.
2025-10-26T22:53:10.524Z,1761519190.524 [DAT](INFO): DAT read: Rx Time:22:53:09.2823 

2025-10-26T22:53:10.525Z,1761519190.525 [DAT](INFO): Rx dataTimestamp_ set to:1761519190.524351
2025-10-26T22:53:10.526Z,1761519190.526 [DAT](INFO): DAT read: Bearing  97.7, -13.8 (Local)

2025-10-26T22:53:10.526Z,1761519190.526 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.7, -13.8 (Local)

2025-10-26T22:53:10.529Z,1761519190.529 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed 0.0

2025-10-26T22:53:10.534Z,1761519190.534 [DAT](INFO): DAT read: 22:53:09.2823 LVL= 32752, 22049, 32754, 32755, AGC= 67, IDX= 497, 0.08, 3.014,-1.318,-2.683,-2.349, PHS=-0.818, 1.076,-0.378, RAW= 317.2,   1.4, CAL= 315.3,  -1.6, ROT= 194.7,   1.6

2025-10-26T22:53:10.536Z,1761519190.536 [DAT](INFO): got valid direction response:
 22:53:09.2823 LVL= 32752, 22049, 32754, 32755, AGC= 67, IDX= 497, 0.08, 3.014,-1.318,-2.683,-2.349, PHS=-0.818, 1.076,-0.378, RAW= 317.2,   1.4, CAL= 315.3,  -1.6, ROT= 194.7,   1.6

2025-10-26T22:53:10.537Z,1761519190.537 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-10-26T22:53:10.538Z,1761519190.538 [DAT](INFO): direction in FSK: [-0.966891,-0.253659,-0.027922]
2025-10-26T22:53:10.538Z,1761519190.538 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:10.542Z,1761519190.542 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.587875
2025-10-26T22:53:10.691Z,1761519190.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484998,-0.872779,-0.055084],[0.874335,-0.485213,-0.010289],[-0.017747,-0.053152,0.998429]]
2025-10-26T22:53:10.772Z,1761519190.772 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.818272
2025-10-26T22:53:10.814Z,1761519190.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.506117 s,
      deltaX: -0.200001 m,
      approachRate: -0.395167 m/s,
      rangeRepo size: 4

2025-10-26T22:53:10.820Z,1761519190.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.833797 m,
      bearing: 313.778204 deg,
      lat: 36.779434 deg,
      lon: -121.859363 deg,
      deltaT: 0.506117 s,
      deltaX: -0.199321 m,
      approachRate: -0.393824 m/s,
      posRepo size: 4

2025-10-26T22:53:10.821Z,1761519190.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-10-26T22:53:11.025Z,1761519191.025 [DAT](INFO): DAT read: Rx Time:22:53:09.7824 

2025-10-26T22:53:11.026Z,1761519191.026 [DAT](INFO): Rx dataTimestamp_ set to:1761519191.025357
2025-10-26T22:53:11.027Z,1761519191.027 [DAT](INFO): DAT read: Bearing  98.0, -14.1 (Local)

2025-10-26T22:53:11.028Z,1761519191.028 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.0, -14.1 (Local)

2025-10-26T22:53:11.030Z,1761519191.030 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed 0.0

2025-10-26T22:53:11.040Z,1761519191.040 [DAT](INFO): DAT read: 22:53:09.7824 LVL= 22800, 18721, 26034, 32755, AGC= 70, IDX=   2, 0.10,-2.394,-0.428,-1.794,-1.472, PHS=-0.820, 1.089,-0.366, RAW= 316.8,   1.1, CAL= 315.0,  -1.9, ROT= 195.0,   1.9

2025-10-26T22:53:11.041Z,1761519191.041 [DAT](INFO): got valid direction response:
 22:53:09.7824 LVL= 22800, 18721, 26034, 32755, AGC= 70, IDX=   2, 0.10,-2.394,-0.428,-1.794,-1.472, PHS=-0.820, 1.089,-0.366, RAW= 316.8,   1.1, CAL= 315.0,  -1.9, ROT= 195.0,   1.9

2025-10-26T22:53:11.041Z,1761519191.041 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-10-26T22:53:11.042Z,1761519191.042 [DAT](INFO): direction in FSK: [-0.965395,-0.258677,-0.033155]
2025-10-26T22:53:11.042Z,1761519191.042 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:11.050Z,1761519191.050 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.095787
2025-10-26T22:53:11.085Z,1761519191.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484769,-0.872963,-0.054169],[0.874466,-0.484984,-0.009982],[-0.017557,-0.052208,0.998482]]
2025-10-26T22:53:11.155Z,1761519191.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.501006 s,
      deltaX: 0.200001 m,
      approachRate: 0.399198 m/s,
      rangeRepo size: 4

2025-10-26T22:53:11.165Z,1761519191.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.032771 m,
      bearing: 314.075597 deg,
      lat: 36.779435 deg,
      lon: -121.859362 deg,
      deltaT: 0.501006 s,
      deltaX: 0.198975 m,
      approachRate: 0.397150 m/s,
      posRepo size: 4

2025-10-26T22:53:11.166Z,1761519191.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m.
2025-10-26T22:53:11.277Z,1761519191.277 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.323071
2025-10-26T22:53:11.470Z,1761519191.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484790,-0.872981,-0.053689],[0.874460,-0.484994,-0.010043],[-0.017271,-0.051818,0.998507]]
2025-10-26T22:53:11.505Z,1761519191.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m.
2025-10-26T22:53:11.529Z,1761519191.529 [DAT](INFO): DAT read: Rx Time:22:53:10.2823 

2025-10-26T22:53:11.530Z,1761519191.530 [DAT](INFO): Rx dataTimestamp_ set to:1761519191.529218
2025-10-26T22:53:11.531Z,1761519191.531 [DAT](INFO): DAT read: Bearing  97.5, -14.1 (Local)

2025-10-26T22:53:11.531Z,1761519191.531 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.5, -14.1 (Local)

2025-10-26T22:53:11.533Z,1761519191.533 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed 0.0

2025-10-26T22:53:11.538Z,1761519191.538 [DAT](INFO): DAT read: 22:53:10.2823 LVL= 32752, 21841, 32754, 32755, AGC= 66, IDX= 497, 0.14, 2.316,-2.002, 2.916,-3.036, PHS=-0.829, 1.080,-0.375, RAW= 316.8,   1.5, CAL= 314.9,  -1.6, ROT= 195.1,   1.6

2025-10-26T22:53:11.543Z,1761519191.543 [DAT](INFO): got valid direction response:
 22:53:10.2823 LVL= 32752, 21841, 32754, 32755, AGC= 66, IDX= 497, 0.14, 2.316,-2.002, 2.916,-3.036, PHS=-0.829, 1.080,-0.375, RAW= 316.8,   1.5, CAL= 314.9,  -1.6, ROT= 195.1,   1.6

2025-10-26T22:53:11.544Z,1761519191.544 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-10-26T22:53:11.545Z,1761519191.545 [DAT](INFO): direction in FSK: [-0.965096,-0.260403,-0.027922]
2025-10-26T22:53:11.545Z,1761519191.545 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:11.576Z,1761519191.576 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.601048
2025-10-26T22:53:11.782Z,1761519191.782 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.827171
2025-10-26T22:53:11.907Z,1761519191.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485048,-0.872845,-0.053579],[0.874324,-0.485230,-0.010425],[-0.016898,-0.051902,0.998509]]
2025-10-26T22:53:11.961Z,1761519191.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.503861 s,
      deltaX: -0.200001 m,
      approachRate: -0.396936 m/s,
      rangeRepo size: 4

2025-10-26T22:53:11.963Z,1761519191.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.832602 m,
      bearing: 314.179330 deg,
      lat: 36.779435 deg,
      lon: -121.859361 deg,
      deltaT: 0.503861 s,
      deltaX: -0.200170 m,
      approachRate: -0.397271 m/s,
      posRepo size: 4

2025-10-26T22:53:11.963Z,1761519191.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-10-26T22:53:12.038Z,1761519192.038 [DAT](INFO): DAT read: Rx Time:22:53:10.7824 

2025-10-26T22:53:12.038Z,1761519192.038 [DAT](INFO): Rx dataTimestamp_ set to:1761519192.038076
2025-10-26T22:53:12.040Z,1761519192.040 [DAT](INFO): DAT read: Bearing  96.5, -14.0 (Local)

2025-10-26T22:53:12.040Z,1761519192.040 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.5, -14.0 (Local)

2025-10-26T22:53:12.042Z,1761519192.042 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed -0.1

2025-10-26T22:53:12.056Z,1761519192.056 [DAT](INFO): DAT read: 22:53:10.7824 LVL= 24816, 23025, 25650, 32755, AGC= 69, IDX=   2, 0.20,-2.585,-0.636,-1.997,-1.641, PHS=-0.842, 1.050,-0.400, RAW= 317.1,   2.3, CAL= 315.0,  -0.7, ROT= 195.0,   0.7

2025-10-26T22:53:12.057Z,1761519192.057 [DAT](INFO): got valid direction response:
 22:53:10.7824 LVL= 24816, 23025, 25650, 32755, AGC= 69, IDX=   2, 0.20,-2.585,-0.636,-1.997,-1.641, PHS=-0.842, 1.050,-0.400, RAW= 317.1,   2.3, CAL= 315.0,  -0.7, ROT= 195.0,   0.7

2025-10-26T22:53:12.057Z,1761519192.057 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-10-26T22:53:12.058Z,1761519192.058 [DAT](INFO): direction in FSK: [-0.965854,-0.258800,-0.012217]
2025-10-26T22:53:12.059Z,1761519192.059 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:12.080Z,1761519192.080 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.125893
2025-10-26T22:53:12.285Z,1761519192.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484983,-0.872849,-0.054083],[0.874362,-0.485152,-0.010844],[-0.016774,-0.052547,0.998478]]
2025-10-26T22:53:12.289Z,1761519192.289 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.334953
2025-10-26T22:53:12.326Z,1761519192.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.508858 s,
      deltaX: 0.200001 m,
      approachRate: 0.393038 m/s,
      rangeRepo size: 4

2025-10-26T22:53:12.348Z,1761519192.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.031557 m,
      bearing: 314.033965 deg,
      lat: 36.779435 deg,
      lon: -121.859362 deg,
      deltaT: 0.508858 s,
      deltaX: 0.198956 m,
      approachRate: 0.390984 m/s,
      posRepo size: 4

2025-10-26T22:53:12.349Z,1761519192.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m.
2025-10-26T22:53:12.541Z,1761519192.541 [DAT](INFO): DAT read: Rx Time:22:53:11.2823 

2025-10-26T22:53:12.541Z,1761519192.541 [DAT](INFO): Rx dataTimestamp_ set to:1761519192.541064
2025-10-26T22:53:12.543Z,1761519192.543 [DAT](INFO): DAT read: Bearing  96.7, -14.3 (Local)

2025-10-26T22:53:12.543Z,1761519192.543 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.7, -14.3 (Local)

2025-10-26T22:53:12.546Z,1761519192.546 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed 0.0

2025-10-26T22:53:12.551Z,1761519192.551 [DAT](INFO): DAT read: 22:53:11.2823 LVL= 32752, 21121, 32754, 32755, AGC= 67, IDX= 497, 0.38, 1.958,-2.370, 2.557, 2.902, PHS=-0.842, 1.056,-0.389, RAW= 316.8,   2.1, CAL= 314.8,  -0.9, ROT= 195.2,   0.9

2025-10-26T22:53:12.552Z,1761519192.552 [DAT](INFO): got valid direction response:
 22:53:11.2823 LVL= 32752, 21121, 32754, 32755, AGC= 67, IDX= 497, 0.38, 1.958,-2.370, 2.557, 2.902, PHS=-0.842, 1.056,-0.389, RAW= 316.8,   2.1, CAL= 314.8,  -0.9, ROT= 195.2,   0.9

2025-10-26T22:53:12.552Z,1761519192.552 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-26T22:53:12.553Z,1761519192.553 [DAT](INFO): direction in FSK: [-0.964897,-0.262157,-0.015707]
2025-10-26T22:53:12.554Z,1761519192.554 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:12.557Z,1761519192.557 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.603054
2025-10-26T22:53:12.723Z,1761519192.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484835,-0.872908,-0.054463],[0.874447,-0.484991,-0.011200],[-0.016637,-0.053055,0.998453]]
2025-10-26T22:53:12.793Z,1761519192.793 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.838806
2025-10-26T22:53:12.943Z,1761519192.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.502988 s,
      deltaX: -0.200001 m,
      approachRate: -0.397625 m/s,
      rangeRepo size: 4

2025-10-26T22:53:12.946Z,1761519192.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.832464 m,
      bearing: 314.233295 deg,
      lat: 36.779435 deg,
      lon: -121.859361 deg,
      deltaT: 0.502988 s,
      deltaX: -0.199093 m,
      approachRate: -0.395820 m/s,
      posRepo size: 4

2025-10-26T22:53:12.946Z,1761519192.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-10-26T22:53:13.050Z,1761519193.050 [DAT](INFO): DAT read: Rx Time:22:53:11.7824 

2025-10-26T22:53:13.050Z,1761519193.050 [DAT](INFO): Rx dataTimestamp_ set to:1761519193.050123
2025-10-26T22:53:13.052Z,1761519193.052 [DAT](INFO): DAT read: Bearing  97.4, -13.9 (Local)

2025-10-26T22:53:13.052Z,1761519193.052 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.4, -13.9 (Local)

2025-10-26T22:53:13.054Z,1761519193.054 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed -0.1

2025-10-26T22:53:13.065Z,1761519193.065 [DAT](INFO): DAT read: 22:53:11.7824 LVL= 21920, 17649, 23698, 31091, AGC= 69, IDX=   2,-0.32, 0.476, 2.431, 1.072, 1.398, PHS=-0.820, 1.077,-0.371, RAW= 316.9,   1.3, CAL= 315.0,  -1.7, ROT= 195.0,   1.7

2025-10-26T22:53:13.066Z,1761519193.066 [DAT](INFO): got valid direction response:
 22:53:11.7824 LVL= 21920, 17649, 23698, 31091, AGC= 69, IDX=   2,-0.32, 0.476, 2.431, 1.072, 1.398, PHS=-0.820, 1.077,-0.371, RAW= 316.9,   1.3, CAL= 315.0,  -1.7, ROT= 195.0,   1.7

2025-10-26T22:53:13.067Z,1761519193.067 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-10-26T22:53:13.073Z,1761519193.073 [DAT](INFO): direction in FSK: [-0.965501,-0.258705,-0.029666]
2025-10-26T22:53:13.073Z,1761519193.073 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:13.089Z,1761519193.089 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.134541
2025-10-26T22:53:13.211Z,1761519193.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484804,-0.872921,-0.054540],[0.874469,-0.484946,-0.011483],[-0.016425,-0.053260,0.998446]]
2025-10-26T22:53:13.242Z,1761519193.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.509059 s,
      deltaX: 0.200001 m,
      approachRate: 0.392883 m/s,
      rangeRepo size: 4

2025-10-26T22:53:13.244Z,1761519193.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.031419 m,
      bearing: 314.069090 deg,
      lat: 36.779436 deg,
      lon: -121.859362 deg,
      deltaT: 0.509059 s,
      deltaX: 0.198955 m,
      approachRate: 0.390828 m/s,
      posRepo size: 4

2025-10-26T22:53:13.244Z,1761519193.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m.
2025-10-26T22:53:13.301Z,1761519193.301 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.346935
2025-10-26T22:53:13.553Z,1761519193.553 [DAT](INFO): DAT read: Rx Time:22:53:12.2823 

2025-10-26T22:53:13.553Z,1761519193.553 [DAT](INFO): Rx dataTimestamp_ set to:1761519193.553169
2025-10-26T22:53:13.555Z,1761519193.555 [DAT](INFO): DAT read: Bearing  97.6, -13.8 (Local)

2025-10-26T22:53:13.555Z,1761519193.555 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.6, -13.8 (Local)

2025-10-26T22:53:13.557Z,1761519193.557 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed 0.0

2025-10-26T22:53:13.562Z,1761519193.562 [DAT](INFO): DAT read: 22:53:12.2823 LVL= 32752, 25009, 32754, 32755, AGC= 67, IDX= 497,-0.12,-1.126, 0.841,-0.530,-0.206, PHS=-0.818, 1.092,-0.368, RAW= 317.0,   1.1, CAL= 315.1,  -1.9, ROT= 194.9,   1.9

2025-10-26T22:53:13.563Z,1761519193.563 [DAT](INFO): got valid direction response:
 22:53:12.2823 LVL= 32752, 25009, 32754, 32755, AGC= 67, IDX= 497,-0.12,-1.126, 0.841,-0.530,-0.206, PHS=-0.818, 1.092,-0.368, RAW= 317.0,   1.1, CAL= 315.1,  -1.9, ROT= 194.9,   1.9

2025-10-26T22:53:13.564Z,1761519193.564 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-10-26T22:53:13.565Z,1761519193.565 [DAT](INFO): direction in FSK: [-0.965845,-0.256991,-0.033155]
2025-10-26T22:53:13.565Z,1761519193.565 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:13.569Z,1761519193.569 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.614498
2025-10-26T22:53:13.645Z,1761519193.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484577,-0.873073,-0.054114],[0.874597,-0.484717,-0.011391],[-0.016285,-0.052848,0.998470]]
2025-10-26T22:53:13.763Z,1761519193.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.503046 s,
      deltaX: -0.200001 m,
      approachRate: -0.397579 m/s,
      rangeRepo size: 4

2025-10-26T22:53:13.769Z,1761519193.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.832564 m,
      bearing: 313.963293 deg,
      lat: 36.779435 deg,
      lon: -121.859360 deg,
      deltaT: 0.503046 s,
      deltaX: -0.198854 m,
      approachRate: -0.395301 m/s,
      posRepo size: 4

2025-10-26T22:53:13.770Z,1761519193.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-10-26T22:53:13.805Z,1761519193.805 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.850815
2025-10-26T22:53:14.026Z,1761519194.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484228,-0.873295,-0.053651],[0.874792,-0.484370,-0.011189],[-0.016216,-0.052351,0.998497]]
2025-10-26T22:53:14.057Z,1761519194.057 [DAT](INFO): DAT read: Rx Time:22:53:12.7824 

2025-10-26T22:53:14.057Z,1761519194.057 [DAT](INFO): Rx dataTimestamp_ set to:1761519194.057183
2025-10-26T22:53:14.059Z,1761519194.059 [DAT](INFO): DAT read: Bearing  97.4, -14.1 (Local)

2025-10-26T22:53:14.059Z,1761519194.059 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.4, -14.1 (Local)

2025-10-26T22:53:14.069Z,1761519194.069 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed -0.2

2025-10-26T22:53:14.074Z,1761519194.074 [DAT](INFO): DAT read: 22:53:12.7824 LVL= 27360, 31473, 31122, 32755, AGC= 72, IDX=   2, 0.08, 1.375,-2.918, 1.988, 2.311, PHS=-0.834, 1.099,-0.367, RAW= 316.6,   1.2, CAL= 314.7,  -1.8, ROT= 195.3,   1.8

2025-10-26T22:53:14.075Z,1761519194.075 [DAT](INFO): got valid direction response:
 22:53:12.7824 LVL= 27360, 31473, 31122, 32755, AGC= 72, IDX=   2, 0.08, 1.375,-2.918, 1.988, 2.311, PHS=-0.834, 1.099,-0.367, RAW= 316.6,   1.2, CAL= 314.7,  -1.8, ROT= 195.3,   1.8

2025-10-26T22:53:14.089Z,1761519194.089 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-10-26T22:53:14.090Z,1761519194.090 [DAT](INFO): direction in FSK: [-0.964081,-0.263743,-0.031411]
2025-10-26T22:53:14.091Z,1761519194.091 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:14.106Z,1761519194.106 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.152218
2025-10-26T22:53:14.160Z,1761519194.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.504014 s,
      deltaX: 0.200001 m,
      approachRate: 0.396816 m/s,
      rangeRepo size: 4

2025-10-26T22:53:14.162Z,1761519194.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.031520 m,
      bearing: 314.334583 deg,
      lat: 36.779436 deg,
      lon: -121.859361 deg,
      deltaT: 0.504014 s,
      deltaX: 0.198956 m,
      approachRate: 0.394742 m/s,
      posRepo size: 4

2025-10-26T22:53:14.163Z,1761519194.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m.
2025-10-26T22:53:14.309Z,1761519194.309 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.354366
2025-10-26T22:53:14.437Z,1761519194.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483838,-0.873540,-0.053181],[0.875008,-0.483986,-0.010932],[-0.016189,-0.051823,0.998525]]
2025-10-26T22:53:14.551Z,1761519194.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m.
2025-10-26T22:53:14.561Z,1761519194.561 [DAT](INFO): DAT read: Rx Time:22:53:13.2823 

2025-10-26T22:53:14.561Z,1761519194.561 [DAT](INFO): Rx dataTimestamp_ set to:1761519194.561001
2025-10-26T22:53:14.563Z,1761519194.563 [DAT](INFO): DAT read: Bearing  96.4, -13.8 (Local)

2025-10-26T22:53:14.563Z,1761519194.563 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.4, -13.8 (Local)

2025-10-26T22:53:14.565Z,1761519194.565 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed 0.0

2025-10-26T22:53:14.569Z,1761519194.569 [DAT](INFO): DAT read: 22:53:13.2823 LVL= 32752, 26097, 32754, 32755, AGC= 68, IDX= 497, 0.26, 0.917, 2.873, 1.507, 1.857, PHS=-0.838, 1.061,-0.394, RAW= 317.1,   2.0, CAL= 315.1,  -1.0, ROT= 194.9,   1.0

2025-10-26T22:53:14.571Z,1761519194.571 [DAT](INFO): got valid direction response:
 22:53:13.2823 LVL= 32752, 26097, 32754, 32755, AGC= 68, IDX= 497, 0.26, 0.917, 2.873, 1.507, 1.857, PHS=-0.838, 1.061,-0.394, RAW= 317.1,   2.0, CAL= 315.1,  -1.0, ROT= 194.9,   1.0

2025-10-26T22:53:14.571Z,1761519194.571 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-10-26T22:53:14.572Z,1761519194.572 [DAT](INFO): direction in FSK: [-0.966229,-0.257094,-0.017452]
2025-10-26T22:53:14.572Z,1761519194.572 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:14.576Z,1761519194.576 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.621571
2025-10-26T22:53:14.812Z,1761519194.812 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.858257
2025-10-26T22:53:14.998Z,1761519194.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.503818 s,
      deltaX: -0.200001 m,
      approachRate: -0.396970 m/s,
      rangeRepo size: 4

2025-10-26T22:53:15.005Z,1761519195.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.833061 m,
      bearing: 313.872367 deg,
      lat: 36.779435 deg,
      lon: -121.859360 deg,
      deltaT: 0.503818 s,
      deltaX: -0.198459 m,
      approachRate: -0.393909 m/s,
      posRepo size: 4

2025-10-26T22:53:15.005Z,1761519195.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-10-26T22:53:15.066Z,1761519195.066 [DAT](INFO): DAT read: Rx Time:22:53:13.7825 

2025-10-26T22:53:15.066Z,1761519195.066 [DAT](INFO): Rx dataTimestamp_ set to:1761519195.066143
2025-10-26T22:53:15.068Z,1761519195.068 [DAT](INFO): DAT read: Bearing  95.3, -13.8 (Local)

2025-10-26T22:53:15.069Z,1761519195.069 [DAT](INFO): Local bearing/azimuth received:
 Bearing  95.3, -13.8 (Local)

2025-10-26T22:53:15.076Z,1761519195.076 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed 0.0

2025-10-26T22:53:15.086Z,1761519195.086 [DAT](INFO): DAT read: 22:53:13.7825 LVL= 28768, 20577, 32754, 32755, AGC= 71, IDX=   3,-0.49, 1.380,-2.951, 1.966, 2.344, PHS=-0.862, 1.033,-0.423, RAW= 317.2,   3.0, CAL= 315.0,   0.1, ROT= 195.0,  -0.1

2025-10-26T22:53:15.092Z,1761519195.092 [DAT](INFO): got valid direction response:
 22:53:13.7825 LVL= 28768, 20577, 32754, 32755, AGC= 71, IDX=   3,-0.49, 1.380,-2.951, 1.966, 2.344, PHS=-0.862, 1.033,-0.423, RAW= 317.2,   3.0, CAL= 315.0,   0.1, ROT= 195.0,  -0.1

2025-10-26T22:53:15.092Z,1761519195.092 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-10-26T22:53:15.094Z,1761519195.094 [DAT](INFO): direction in FSK: [-0.965924,-0.258819,0.001745]
2025-10-26T22:53:15.094Z,1761519195.094 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:15.102Z,1761519195.102 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.148251
2025-10-26T22:53:15.250Z,1761519195.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483246,-0.873842,-0.053599],[0.875330,-0.483404,-0.010837],[-0.016440,-0.052154,0.998504]]
2025-10-26T22:53:15.316Z,1761519195.316 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.362190
2025-10-26T22:53:15.339Z,1761519195.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.505142 s,
      deltaX: 0.300000 m,
      approachRate: 0.593893 m/s,
      rangeRepo size: 4

2025-10-26T22:53:15.345Z,1761519195.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.131504 m,
      bearing: 313.883022 deg,
      lat: 36.779436 deg,
      lon: -121.859361 deg,
      deltaT: 0.505142 s,
      deltaX: 0.298443 m,
      approachRate: 0.590810 m/s,
      posRepo size: 4

2025-10-26T22:53:15.346Z,1761519195.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m.
2025-10-26T22:53:15.569Z,1761519195.569 [DAT](INFO): DAT read: Rx Time:22:53:14.2824 

2025-10-26T22:53:15.570Z,1761519195.570 [DAT](INFO): Rx dataTimestamp_ set to:1761519195.569344
2025-10-26T22:53:15.571Z,1761519195.571 [DAT](INFO): DAT read: Bearing  97.6, -13.0 (Local)

2025-10-26T22:53:15.571Z,1761519195.571 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.6, -13.0 (Local)

2025-10-26T22:53:15.573Z,1761519195.573 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed -0.1

2025-10-26T22:53:15.578Z,1761519195.578 [DAT](INFO): DAT read: 22:53:14.2824 LVL= 32752, 22577, 32754, 32755, AGC= 67, IDX= 498,-0.16,-0.690, 1.283,-0.108, 0.217, PHS=-0.805, 1.111,-0.369, RAW= 317.5,   0.7, CAL= 315.7,  -2.3, ROT= 194.3,   2.3

2025-10-26T22:53:15.579Z,1761519195.579 [DAT](INFO): got valid direction response:
 22:53:14.2824 LVL= 32752, 22577, 32754, 32755, AGC= 67, IDX= 498,-0.16,-0.690, 1.283,-0.108, 0.217, PHS=-0.805, 1.111,-0.369, RAW= 317.5,   0.7, CAL= 315.7,  -2.3, ROT= 194.3,   2.3

2025-10-26T22:53:15.579Z,1761519195.579 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-10-26T22:53:15.580Z,1761519195.580 [DAT](INFO): direction in FSK: [-0.968235,-0.246800,-0.040132]
2025-10-26T22:53:15.581Z,1761519195.581 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:15.592Z,1761519195.592 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.638145
2025-10-26T22:53:15.654Z,1761519195.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482926,-0.873992,-0.054050],[0.875503,-0.483091,-0.010830],[-0.016646,-0.052551,0.998480]]
2025-10-26T22:53:15.815Z,1761519195.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.503201 s,
      deltaX: -0.099999 m,
      approachRate: -0.198727 m/s,
      rangeRepo size: 4

2025-10-26T22:53:15.820Z,1761519195.820 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.866238
2025-10-26T22:53:15.825Z,1761519195.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.032849 m,
      bearing: 313.274717 deg,
      lat: 36.779434 deg,
      lon: -121.859361 deg,
      deltaT: 0.503201 s,
      deltaX: -0.098655 m,
      approachRate: -0.196054 m/s,
      posRepo size: 4

2025-10-26T22:53:15.826Z,1761519195.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m.
2025-10-26T22:53:16.074Z,1761519196.074 [DAT](INFO): DAT read: Rx Time:22:53:14.7825 

2025-10-26T22:53:16.074Z,1761519196.074 [DAT](INFO): Rx dataTimestamp_ set to:1761519196.073806
2025-10-26T22:53:16.076Z,1761519196.076 [DAT](INFO): DAT read: Bearing  96.3, -13.5 (Local)

2025-10-26T22:53:16.077Z,1761519196.077 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.3, -13.5 (Local)

2025-10-26T22:53:16.079Z,1761519196.079 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed 0.1

2025-10-26T22:53:16.099Z,1761519196.099 [DAT](INFO): DAT read: 22:53:14.7825 LVL= 32752, 24257, 32754, 32755, AGC= 68, IDX= 499,-0.02, 1.329,-2.982, 1.920, 2.274, PHS=-0.843, 1.072,-0.397, RAW= 317.2,   2.0, CAL= 315.2,  -1.0, ROT= 194.8,   1.0

2025-10-26T22:53:16.100Z,1761519196.100 [DAT](INFO): got valid direction response:
 22:53:14.7825 LVL= 32752, 24257, 32754, 32755, AGC= 68, IDX= 499,-0.02, 1.329,-2.982, 1.920, 2.274, PHS=-0.843, 1.072,-0.397, RAW= 317.2,   2.0, CAL= 315.2,  -1.0, ROT= 194.8,   1.0

2025-10-26T22:53:16.101Z,1761519196.101 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-10-26T22:53:16.102Z,1761519196.102 [DAT](INFO): direction in FSK: [-0.966676,-0.255407,-0.017452]
2025-10-26T22:53:16.102Z,1761519196.102 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:16.122Z,1761519196.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482143,-0.874405,-0.054347],[0.875925,-0.482334,-0.010422],[-0.017100,-0.052629,0.998468]]
2025-10-26T22:53:16.130Z,1761519196.130 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.175690
2025-10-26T22:53:16.261Z,1761519196.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.504462 s,
      deltaX: 0.099999 m,
      approachRate: 0.198230 m/s,
      rangeRepo size: 4

2025-10-26T22:53:16.263Z,1761519196.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.132336 m,
      bearing: 313.662450 deg,
      lat: 36.779436 deg,
      lon: -121.859362 deg,
      deltaT: 0.504462 s,
      deltaX: 0.099486 m,
      approachRate: 0.197213 m/s,
      posRepo size: 4

2025-10-26T22:53:16.267Z,1761519196.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m.
2025-10-26T22:53:16.326Z,1761519196.326 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.371365
2025-10-26T22:53:16.520Z,1761519196.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481086,-0.874979,-0.054485],[0.876494,-0.481314,-0.009727],[-0.017713,-0.052435,0.998467]]
2025-10-26T22:53:16.551Z,1761519196.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m.
2025-10-26T22:53:16.577Z,1761519196.577 [DAT](INFO): DAT read: Rx Time:22:53:15.2824 

2025-10-26T22:53:16.577Z,1761519196.577 [DAT](INFO): Rx dataTimestamp_ set to:1761519196.577164
2025-10-26T22:53:16.579Z,1761519196.579 [DAT](INFO): DAT read: Bearing  96.9, -14.0 (Local)

2025-10-26T22:53:16.579Z,1761519196.579 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.9, -14.0 (Local)

2025-10-26T22:53:16.582Z,1761519196.582 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed 0.0

2025-10-26T22:53:16.588Z,1761519196.588 [DAT](INFO): DAT read: 22:53:15.2824 LVL= 32752, 25393, 32754, 32755, AGC= 67, IDX= 498, 0.11, 1.098, 3.098, 1.716, 2.044, PHS=-0.844, 1.099,-0.372, RAW= 316.5,   1.3, CAL= 314.6,  -1.7, ROT= 195.4,   1.7

2025-10-26T22:53:16.589Z,1761519196.589 [DAT](INFO): got valid direction response:
 22:53:15.2824 LVL= 32752, 25393, 32754, 32755, AGC= 67, IDX= 498, 0.11, 1.098, 3.098, 1.716, 2.044, PHS=-0.844, 1.099,-0.372, RAW= 316.5,   1.3, CAL= 314.6,  -1.7, ROT= 195.4,   1.7

2025-10-26T22:53:16.590Z,1761519196.590 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-10-26T22:53:16.597Z,1761519196.597 [DAT](INFO): direction in FSK: [-0.963671,-0.265439,-0.029666]
2025-10-26T22:53:16.597Z,1761519196.597 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:16.602Z,1761519196.602 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.647720
2025-10-26T22:53:16.828Z,1761519196.828 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.874088
2025-10-26T22:53:16.925Z,1761519196.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479968,-0.875586,-0.054593],[0.877093,-0.480238,-0.008919],[-0.018408,-0.052164,0.998469]]
2025-10-26T22:53:17.000Z,1761519197.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.503358 s,
      deltaX: -0.099999 m,
      approachRate: -0.198665 m/s,
      rangeRepo size: 4

2025-10-26T22:53:17.002Z,1761519197.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.033039 m,
      bearing: 314.152218 deg,
      lat: 36.779436 deg,
      lon: -121.859362 deg,
      deltaT: 0.503358 s,
      deltaX: -0.099297 m,
      approachRate: -0.197268 m/s,
      posRepo size: 4

2025-10-26T22:53:17.003Z,1761519197.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m.
2025-10-26T22:53:17.081Z,1761519197.081 [DAT](INFO): DAT read: Rx Time:22:53:15.7824 

2025-10-26T22:53:17.082Z,1761519197.082 [DAT](INFO): Rx dataTimestamp_ set to:1761519197.081313
2025-10-26T22:53:17.084Z,1761519197.084 [DAT](INFO): DAT read: Bearing  95.6, -13.5 (Local)

2025-10-26T22:53:17.084Z,1761519197.084 [DAT](INFO): Local bearing/azimuth received:
 Bearing  95.6, -13.5 (Local)

2025-10-26T22:53:17.087Z,1761519197.087 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed -0.1

2025-10-26T22:53:17.093Z,1761519197.093 [DAT](INFO): DAT read: 22:53:15.7824 LVL= 32752, 26545, 32754, 32755, AGC= 68, IDX= 498, 0.13, 1.436,-2.857, 2.031, 2.404, PHS=-0.865, 1.067,-0.417, RAW= 317.2,   2.5, CAL= 315.1,  -0.5, ROT= 194.9,   0.5

2025-10-26T22:53:17.094Z,1761519197.094 [DAT](INFO): got valid direction response:
 22:53:15.7824 LVL= 32752, 26545, 32754, 32755, AGC= 68, IDX= 498, 0.13, 1.436,-2.857, 2.031, 2.404, PHS=-0.865, 1.067,-0.417, RAW= 317.2,   2.5, CAL= 315.1,  -0.5, ROT= 194.9,   0.5

2025-10-26T22:53:17.095Z,1761519197.095 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-10-26T22:53:17.096Z,1761519197.096 [DAT](INFO): direction in FSK: [-0.966339,-0.257123,-0.008727]
2025-10-26T22:53:17.096Z,1761519197.096 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:17.116Z,1761519197.116 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.161625
2025-10-26T22:53:17.322Z,1761519197.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478675,-0.876301,-0.054460],[0.877784,-0.478991,-0.007961],[-0.019110,-0.051615,0.998484]]
2025-10-26T22:53:17.332Z,1761519197.332 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.378090
2025-10-26T22:53:17.446Z,1761519197.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.504149 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:53:17.476Z,1761519197.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.033039 m,
      bearing: 313.514477 deg,
      lat: 36.779436 deg,
      lon: -121.859363 deg,
      deltaT: 0.504149 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:53:17.476Z,1761519197.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m.
2025-10-26T22:53:17.585Z,1761519197.585 [DAT](INFO): DAT read: Rx Time:22:53:16.2823 

2025-10-26T22:53:17.586Z,1761519197.586 [DAT](INFO): Rx dataTimestamp_ set to:1761519197.585280
2025-10-26T22:53:17.587Z,1761519197.587 [DAT](INFO): DAT read: Bearing  96.9, -13.5 (Local)

2025-10-26T22:53:17.587Z,1761519197.587 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.9, -13.5 (Local)

2025-10-26T22:53:17.589Z,1761519197.589 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed 0.0

2025-10-26T22:53:17.594Z,1761519197.594 [DAT](INFO): DAT read: 22:53:16.2823 LVL= 32752, 22113, 32754, 32755, AGC= 66, IDX= 497, 0.13, 0.661, 2.655, 1.265, 1.594, PHS=-0.830, 1.106,-0.373, RAW= 316.9,   1.1, CAL= 315.1,  -1.9, ROT= 194.9,   1.9

2025-10-26T22:53:17.595Z,1761519197.595 [DAT](INFO): got valid direction response:
 22:53:16.2823 LVL= 32752, 22113, 32754, 32755, AGC= 66, IDX= 497, 0.13, 0.661, 2.655, 1.265, 1.594, PHS=-0.830, 1.106,-0.373, RAW= 316.9,   1.1, CAL= 315.1,  -1.9, ROT= 194.9,   1.9

2025-10-26T22:53:17.599Z,1761519197.599 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-10-26T22:53:17.600Z,1761519197.600 [DAT](INFO): direction in FSK: [-0.965845,-0.256991,-0.033155]
2025-10-26T22:53:17.600Z,1761519197.600 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:17.604Z,1761519197.604 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.649761
2025-10-26T22:53:17.812Z,1761519197.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477348,-0.877016,-0.054600],[0.878490,-0.477709,-0.007096],[-0.019860,-0.051353,0.998483]]
2025-10-26T22:53:17.836Z,1761519197.836 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.882217
2025-10-26T22:53:17.922Z,1761519197.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.503967 s,
      deltaX: -0.200001 m,
      approachRate: -0.396853 m/s,
      rangeRepo size: 4

2025-10-26T22:53:17.929Z,1761519197.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.833334 m,
      bearing: 313.490990 deg,
      lat: 36.779435 deg,
      lon: -121.859363 deg,
      deltaT: 0.503967 s,
      deltaX: -0.199705 m,
      approachRate: -0.396266 m/s,
      posRepo size: 4

2025-10-26T22:53:17.929Z,1761519197.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-10-26T22:53:18.089Z,1761519198.089 [DAT](INFO): DAT read: Rx Time:22:53:16.7824 

2025-10-26T22:53:18.089Z,1761519198.089 [DAT](INFO): Rx dataTimestamp_ set to:1761519198.089171
2025-10-26T22:53:18.091Z,1761519198.091 [DAT](INFO): DAT read: Bearing  96.7, -13.9 (Local)

2025-10-26T22:53:18.091Z,1761519198.091 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.7, -13.9 (Local)

2025-10-26T22:53:18.093Z,1761519198.093 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed 0.0

2025-10-26T22:53:18.098Z,1761519198.098 [DAT](INFO): DAT read: 22:53:16.7824 LVL= 29424, 22001, 31042, 32755, AGC= 70, IDX=   2, 0.10, 2.176,-2.099, 2.797, 3.123, PHS=-0.845, 1.107,-0.369, RAW= 316.5,   1.2, CAL= 314.6,  -1.8, ROT= 195.4,   1.8

2025-10-26T22:53:18.100Z,1761519198.100 [DAT](INFO): got valid direction response:
 22:53:16.7824 LVL= 29424, 22001, 31042, 32755, AGC= 70, IDX=   2, 0.10, 2.176,-2.099, 2.797, 3.123, PHS=-0.845, 1.107,-0.369, RAW= 316.5,   1.2, CAL= 314.6,  -1.8, ROT= 195.4,   1.8

2025-10-26T22:53:18.100Z,1761519198.100 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-10-26T22:53:18.101Z,1761519198.101 [DAT](INFO): direction in FSK: [-0.963620,-0.265425,-0.031411]
2025-10-26T22:53:18.101Z,1761519198.101 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:18.105Z,1761519198.105 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.150730
2025-10-26T22:53:18.290Z,1761519198.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.503891 s,
      deltaX: 0.200001 m,
      approachRate: 0.396913 m/s,
      rangeRepo size: 4

2025-10-26T22:53:18.298Z,1761519198.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.032301 m,
      bearing: 313.985797 deg,
      lat: 36.779436 deg,
      lon: -121.859363 deg,
      deltaT: 0.503891 s,
      deltaX: 0.198967 m,
      approachRate: 0.394861 m/s,
      posRepo size: 4

2025-10-26T22:53:18.299Z,1761519198.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m.
2025-10-26T22:53:18.341Z,1761519198.341 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.386284
2025-10-26T22:53:18.590Z,1761519198.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474277,-0.878621,-0.055547],[0.880108,-0.474744,-0.005319],[-0.021697,-0.051410,0.998442]]
2025-10-26T22:53:18.593Z,1761519198.593 [DAT](INFO): DAT read: Rx Time:22:53:17.2823 

2025-10-26T22:53:18.593Z,1761519198.593 [DAT](INFO): Rx dataTimestamp_ set to:1761519198.593204
2025-10-26T22:53:18.595Z,1761519198.595 [DAT](INFO): DAT read: Bearing  96.7, -13.9 (Local)

2025-10-26T22:53:18.595Z,1761519198.595 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.7, -13.9 (Local)

2025-10-26T22:53:18.597Z,1761519198.597 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed 0.0

2025-10-26T22:53:18.607Z,1761519198.607 [DAT](INFO): DAT read: 22:53:17.2823 LVL= 32752, 22833, 32754, 32755, AGC= 66, IDX= 497, 0.00, 0.612, 2.613, 1.235, 1.555, PHS=-0.841, 1.102,-0.365, RAW= 316.4,   1.2, CAL= 314.5,  -1.8, ROT= 195.5,   1.8

2025-10-26T22:53:18.612Z,1761519198.612 [DAT](INFO): got valid direction response:
 22:53:17.2823 LVL= 32752, 22833, 32754, 32755, AGC= 66, IDX= 497, 0.00, 0.612, 2.613, 1.235, 1.555, PHS=-0.841, 1.102,-0.365, RAW= 316.4,   1.2, CAL= 314.5,  -1.8, ROT= 195.5,   1.8

2025-10-26T22:53:18.612Z,1761519198.612 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-10-26T22:53:18.613Z,1761519198.613 [DAT](INFO): direction in FSK: [-0.963155,-0.267106,-0.031411]
2025-10-26T22:53:18.613Z,1761519198.613 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:18.618Z,1761519198.618 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.663658
2025-10-26T22:53:18.683Z,1761519198.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.504033 s,
      deltaX: -0.200001 m,
      approachRate: -0.396801 m/s,
      rangeRepo size: 4

2025-10-26T22:53:18.689Z,1761519198.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.833655 m,
      bearing: 313.886866 deg,
      lat: 36.779435 deg,
      lon: -121.859362 deg,
      deltaT: 0.504033 s,
      deltaX: -0.198646 m,
      approachRate: -0.394112 m/s,
      posRepo size: 4

2025-10-26T22:53:18.689Z,1761519198.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-10-26T22:53:18.845Z,1761519198.845 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.891140
2025-10-26T22:53:18.994Z,1761519198.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472749,-0.879402,-0.056214],[0.880906,-0.473270,-0.004499],[-0.022648,-0.051646,0.998409]]
2025-10-26T22:53:19.072Z,1761519199.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-10-26T22:53:19.097Z,1761519199.097 [DAT](INFO): DAT read: Rx Time:22:53:17.7824 

2025-10-26T22:53:19.097Z,1761519199.097 [DAT](INFO): Rx dataTimestamp_ set to:1761519199.097186
2025-10-26T22:53:19.099Z,1761519199.099 [DAT](INFO): DAT read: Bearing  96.6, -14.7 (Local)

2025-10-26T22:53:19.099Z,1761519199.099 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.6, -14.7 (Local)

2025-10-26T22:53:19.101Z,1761519199.101 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed -0.1

2025-10-26T22:53:19.106Z,1761519199.106 [DAT](INFO): DAT read: 22:53:17.7824 LVL= 31344, 23281, 32754, 32755, AGC= 71, IDX=   2,-0.10, 0.754, 2.775, 1.405, 1.718, PHS=-0.862, 1.102,-0.357, RAW= 315.7,   1.3, CAL= 313.7,  -1.7, ROT= 196.3,   1.7

2025-10-26T22:53:19.107Z,1761519199.107 [DAT](INFO): got valid direction response:
 22:53:17.7824 LVL= 31344, 23281, 32754, 32755, AGC= 71, IDX=   2,-0.10, 0.754, 2.775, 1.405, 1.718, PHS=-0.862, 1.102,-0.357, RAW= 315.7,   1.3, CAL= 313.7,  -1.7, ROT= 196.3,   1.7

2025-10-26T22:53:19.107Z,1761519199.107 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-10-26T22:53:19.108Z,1761519199.108 [DAT](INFO): direction in FSK: [-0.959383,-0.280543,-0.029666]
2025-10-26T22:53:19.109Z,1761519199.109 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:19.119Z,1761519199.119 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.164764
2025-10-26T22:53:19.332Z,1761519199.332 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:53:19.348Z,1761519199.348 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.394196
2025-10-26T22:53:19.425Z,1761519199.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470938,-0.880344,-0.056676],[0.881849,-0.471520,-0.003457],[-0.023681,-0.051608,0.998387]]
2025-10-26T22:53:19.495Z,1761519199.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.503982 s,
      deltaX: 0.200001 m,
      approachRate: 0.396841 m/s,
      rangeRepo size: 4

2025-10-26T22:53:19.501Z,1761519199.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.032627 m,
      bearing: 314.465978 deg,
      lat: 36.779435 deg,
      lon: -121.859363 deg,
      deltaT: 0.503982 s,
      deltaX: 0.198972 m,
      approachRate: 0.394799 m/s,
      posRepo size: 4

2025-10-26T22:53:19.501Z,1761519199.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m.
2025-10-26T22:53:19.602Z,1761519199.602 [DAT](INFO): DAT read: Rx Time:22:53:18.2823 

2025-10-26T22:53:19.602Z,1761519199.602 [DAT](INFO): Rx dataTimestamp_ set to:1761519199.602137
2025-10-26T22:53:19.609Z,1761519199.609 [DAT](INFO): DAT read: Bearing  96.4, -14.6 (Local)

2025-10-26T22:53:19.609Z,1761519199.609 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.4, -14.6 (Local)

2025-10-26T22:53:19.611Z,1761519199.611 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed -0.1

2025-10-26T22:53:19.616Z,1761519199.616 [DAT](INFO): DAT read: 22:53:18.2823 LVL= 32752, 26449, 32754, 32755, AGC= 68, IDX= 497,-0.29,-0.505, 1.513, 0.142, 0.460, PHS=-0.863, 1.098,-0.363, RAW= 315.8,   1.5, CAL= 313.8,  -1.6, ROT= 196.2,   1.6

2025-10-26T22:53:19.617Z,1761519199.617 [DAT](INFO): got valid direction response:
 22:53:18.2823 LVL= 32752, 26449, 32754, 32755, AGC= 68, IDX= 497,-0.29,-0.505, 1.513, 0.142, 0.460, PHS=-0.863, 1.098,-0.363, RAW= 315.8,   1.5, CAL= 313.8,  -1.6, ROT= 196.2,   1.6

2025-10-26T22:53:19.617Z,1761519199.617 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-10-26T22:53:19.618Z,1761519199.618 [DAT](INFO): direction in FSK: [-0.959919,-0.278882,-0.027922]
2025-10-26T22:53:19.618Z,1761519199.618 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:19.622Z,1761519199.622 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.668152
2025-10-26T22:53:19.825Z,1761519199.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469235,-0.881237,-0.056914],[0.882730,-0.469874,-0.002408],[-0.024621,-0.051369,0.998376]]
2025-10-26T22:53:19.855Z,1761519199.855 [DAT](INFO): DAT read: Rx Time:22:53:18.7823 

2025-10-26T22:53:19.857Z,1761519199.857 [DAT](INFO): Rx dataTimestamp_ set to:1761519199.855842
2025-10-26T22:53:19.859Z,1761519199.859 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.903862
2025-10-26T22:53:19.924Z,1761519199.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.504951 s,
      deltaX: -0.200001 m,
      approachRate: -0.396080 m/s,
      rangeRepo size: 4

2025-10-26T22:53:19.926Z,1761519199.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.833558 m,
      bearing: 314.251856 deg,
      lat: 36.779436 deg,
      lon: -121.859362 deg,
      deltaT: 0.504951 s,
      deltaX: -0.199069 m,
      approachRate: -0.394234 m/s,
      posRepo size: 4

2025-10-26T22:53:19.926Z,1761519199.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-10-26T22:53:20.105Z,1761519200.105 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed 0.1

2025-10-26T22:53:20.106Z,1761519200.106 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-10-26T22:53:20.106Z,1761519200.106 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=48.152275
2025-10-26T22:53:20.206Z,1761519200.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467574,-0.882098,-0.057249],[0.883583,-0.468272,-0.001376],[-0.025594,-0.051228,0.998359]]
2025-10-26T22:53:20.233Z,1761519200.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.501603 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:53:20.233Z,1761519200.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-10-26T22:53:20.336Z,1761519200.336 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:53:20.360Z,1761519200.360 [DAT](INFO): DAT read: Rx Time:22:53:19.2822 

2025-10-26T22:53:20.361Z,1761519200.361 [DAT](INFO): Rx dataTimestamp_ set to:1761519200.360244
2025-10-26T22:53:20.362Z,1761519200.362 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed 0.1

2025-10-26T22:53:20.363Z,1761519200.363 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-10-26T22:53:20.364Z,1761519200.364 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.409569
2025-10-26T22:53:20.608Z,1761519200.608 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.654148
2025-10-26T22:53:20.616Z,1761519200.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465806,-0.883018,-0.057472],[0.884487,-0.466564,-0.000261],[-0.026584,-0.050955,0.998347]]
2025-10-26T22:53:20.658Z,1761519200.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.256504 s,
      deltaX: -0.099999 m,
      approachRate: -0.389855 m/s,
      rangeRepo size: 4

2025-10-26T22:53:20.658Z,1761519200.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-10-26T22:53:20.862Z,1761519200.862 [DAT](INFO): DAT read: Rx Time:22:53:19.7822 

2025-10-26T22:53:20.862Z,1761519200.862 [DAT](INFO): Rx dataTimestamp_ set to:1761519200.861774
2025-10-26T22:53:20.863Z,1761519200.863 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed 0.1

2025-10-26T22:53:20.864Z,1761519200.864 [DAT](ERROR): #Rx 98: Read range message, but no direction.
2025-10-26T22:53:20.865Z,1761519200.865 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.910671
2025-10-26T22:53:21.015Z,1761519201.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464163,-0.883850,-0.057980],[0.885320,-0.464981,0.000690],[-0.027569,-0.051010,0.998318]]
2025-10-26T22:53:21.058Z,1761519201.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.501530 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:53:21.059Z,1761519201.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-10-26T22:53:21.113Z,1761519201.113 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=49.158779
2025-10-26T22:53:21.367Z,1761519201.367 [DAT](INFO): DAT read: Rx Time:22:53:20.2821 

2025-10-26T22:53:21.369Z,1761519201.369 [DAT](INFO): Rx dataTimestamp_ set to:1761519201.367847
2025-10-26T22:53:21.371Z,1761519201.371 [DAT](INFO): DAT read: Bearing  96.3, -16.6 (Local)

2025-10-26T22:53:21.372Z,1761519201.372 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.3, -16.6 (Local)

2025-10-26T22:53:21.374Z,1761519201.374 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=49.419552
2025-10-26T22:53:21.433Z,1761519201.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462788,-0.884524,-0.058700],[0.886013,-0.463658,0.001374],[-0.028432,-0.051373,0.998275]]
2025-10-26T22:53:21.478Z,1761519201.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-10-26T22:53:21.618Z,1761519201.618 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed 0.0

2025-10-26T22:53:21.623Z,1761519201.623 [DAT](INFO): DAT read: 22:53:20.2821 LVL= 32752, 23793, 32754, 32755, AGC= 67, IDX= 511,-0.28,-2.275,-0.214,-1.552,-1.268, PHS=-0.905, 1.099,-0.328, RAW= 313.8,   1.5, CAL= 311.7,  -1.5, ROT= 198.3,   1.5

2025-10-26T22:53:21.624Z,1761519201.624 [DAT](INFO): got valid direction response:
 22:53:20.2821 LVL= 32752, 23793, 32754, 32755, AGC= 67, IDX= 511,-0.28,-2.275,-0.214,-1.552,-1.268, PHS=-0.905, 1.099,-0.328, RAW= 313.8,   1.5, CAL= 311.7,  -1.5, ROT= 198.3,   1.5

2025-10-26T22:53:21.624Z,1761519201.624 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-10-26T22:53:21.625Z,1761519201.625 [DAT](INFO): direction in FSK: [-0.949100,-0.313885,-0.026177]
2025-10-26T22:53:21.626Z,1761519201.626 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:21.629Z,1761519201.629 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.675087
2025-10-26T22:53:21.857Z,1761519201.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460776,-0.885480,-0.060097],[0.887021,-0.461724,0.002155],[-0.029656,-0.052314,0.998190]]
2025-10-26T22:53:21.872Z,1761519201.872 [DAT](INFO): DAT read: Rx Time:22:53:20.7821 

2025-10-26T22:53:21.873Z,1761519201.873 [DAT](INFO): Rx dataTimestamp_ set to:1761519201.872257
2025-10-26T22:53:21.880Z,1761519201.880 [DAT](INFO): DAT read: Bearing  96.8, -16.2 (Local)

2025-10-26T22:53:21.881Z,1761519201.881 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.8, -16.2 (Local)

2025-10-26T22:53:21.886Z,1761519201.886 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed 0.1

2025-10-26T22:53:21.896Z,1761519201.896 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-10-26T22:53:21.899Z,1761519201.899 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.944111
2025-10-26T22:53:22.001Z,1761519202.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 1.010483 s,
      deltaX: -0.200000 m,
      approachRate: -0.197925 m/s,
      rangeRepo size: 4

2025-10-26T22:53:22.003Z,1761519202.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.535016 m,
      bearing: 315.803723 deg,
      lat: 36.779436 deg,
      lon: -121.859362 deg,
      deltaT: 2.270120 s,
      deltaX: -0.298542 m,
      approachRate: -0.131509 m/s,
      posRepo size: 4

2025-10-26T22:53:22.015Z,1761519202.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:22.124Z,1761519202.124 [DAT](INFO): DAT read: 22:53:20.7821 LVL= 32752, 22769, 32754, 32755, AGC= 65, IDX= 511, 0.37, 1.435,-2.787, 2.151, 2.423, PHS=-0.886, 1.118,-0.315, RAW= 314.0,   0.9, CAL= 312.0,  -2.1, ROT= 198.0,   2.1

2025-10-26T22:53:22.125Z,1761519202.125 [DAT](INFO): got valid direction response:
 22:53:20.7821 LVL= 32752, 22769, 32754, 32755, AGC= 65, IDX= 511, 0.37, 1.435,-2.787, 2.151, 2.423, PHS=-0.886, 1.118,-0.315, RAW= 314.0,   0.9, CAL= 312.0,  -2.1, ROT= 198.0,   2.1

2025-10-26T22:53:22.125Z,1761519202.125 [DAT](INFO): #Rx 101: Read direction message, but no range.
2025-10-26T22:53:22.126Z,1761519202.126 [DAT](INFO): direction in FSK: [-0.950418,-0.308809,-0.036644]
2025-10-26T22:53:22.130Z,1761519202.130 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.175537
2025-10-26T22:53:22.262Z,1761519202.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460160,-0.885778,-0.060416],[0.887329,-0.461131,0.002428],[-0.030011,-0.052492,0.998170]]
2025-10-26T22:53:22.295Z,1761519202.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:22.376Z,1761519202.376 [DAT](INFO): DAT read: Rx Time:22:53:21.2820 

2025-10-26T22:53:22.378Z,1761519202.378 [DAT](INFO): Rx dataTimestamp_ set to:1761519202.376849
2025-10-26T22:53:22.381Z,1761519202.381 [DAT](INFO): DAT read: Bearing  96.8, -16.9 (Local)

2025-10-26T22:53:22.382Z,1761519202.382 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.8, -16.9 (Local)

2025-10-26T22:53:22.387Z,1761519202.387 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.0

2025-10-26T22:53:22.398Z,1761519202.398 [DAT](ERROR): #Rx 102: Read range message, but no direction.
2025-10-26T22:53:22.401Z,1761519202.401 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.446102
2025-10-26T22:53:22.628Z,1761519202.628 [DAT](INFO): DAT read: 22:53:21.2820 LVL= 32752, 26737, 32754, 32755, AGC= 67, IDX= 510, 0.18, 0.463, 2.553, 1.208, 1.473, PHS=-0.908, 1.125,-0.309, RAW= 313.3,   1.0, CAL= 311.3,  -2.0, ROT= 198.7,   2.0

2025-10-26T22:53:22.629Z,1761519202.629 [DAT](INFO): got valid direction response:
 22:53:21.2820 LVL= 32752, 26737, 32754, 32755, AGC= 67, IDX= 510, 0.18, 0.463, 2.553, 1.208, 1.473, PHS=-0.908, 1.125,-0.309, RAW= 313.3,   1.0, CAL= 311.3,  -2.0, ROT= 198.7,   2.0

2025-10-26T22:53:22.630Z,1761519202.630 [DAT](INFO): #Rx 103: Read direction message, but no range.
2025-10-26T22:53:22.631Z,1761519202.631 [DAT](INFO): direction in FSK: [-0.946633,-0.320418,-0.034899]
2025-10-26T22:53:22.634Z,1761519202.634 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.679810
2025-10-26T22:53:22.659Z,1761519202.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459782,-0.885985,-0.060262],[0.887518,-0.460764,0.002747],[-0.030200,-0.052221,0.998179]]
2025-10-26T22:53:22.714Z,1761519202.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.504592 s,
      deltaX: -0.100000 m,
      approachRate: -0.198181 m/s,
      rangeRepo size: 4

2025-10-26T22:53:22.725Z,1761519202.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.435490 m,
      bearing: 316.159657 deg,
      lat: 36.779437 deg,
      lon: -121.859362 deg,
      deltaT: 0.504592 s,
      deltaX: -0.099526 m,
      approachRate: -0.197241 m/s,
      posRepo size: 4

2025-10-26T22:53:22.726Z,1761519202.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:53:22.880Z,1761519202.880 [DAT](INFO): DAT read: Rx Time:22:53:21.7821 

2025-10-26T22:53:22.881Z,1761519202.881 [DAT](INFO): Rx dataTimestamp_ set to:1761519202.880544
2025-10-26T22:53:22.885Z,1761519202.885 [DAT](INFO): DAT read: Bearing  95.2, -16.6 (Local)

2025-10-26T22:53:22.886Z,1761519202.886 [DAT](INFO): Local bearing/azimuth received:
 Bearing  95.2, -16.6 (Local)

2025-10-26T22:53:22.893Z,1761519202.893 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed 0.0

2025-10-26T22:53:22.895Z,1761519202.895 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-10-26T22:53:22.898Z,1761519202.898 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.943665
2025-10-26T22:53:23.064Z,1761519203.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459481,-0.886168,-0.059869],[0.887671,-0.460468,0.003064],[-0.030283,-0.051736,0.998202]]
2025-10-26T22:53:23.110Z,1761519203.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.503695 s,
      deltaX: 0.100000 m,
      approachRate: 0.198534 m/s,
      rangeRepo size: 4

2025-10-26T22:53:23.110Z,1761519203.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:53:23.133Z,1761519203.133 [DAT](INFO): DAT read: 22:53:21.7821 LVL= 32752, 26785, 32754, 32755, AGC= 67, IDX= 511, 0.09, 1.006, 3.045, 1.718, 2.025, PHS=-0.917, 1.065,-0.351, RAW= 313.9,   2.3, CAL= 311.7,  -0.7, ROT= 198.3,   0.7

2025-10-26T22:53:23.134Z,1761519203.134 [DAT](INFO): got valid direction response:
 22:53:21.7821 LVL= 32752, 26785, 32754, 32755, AGC= 67, IDX= 511, 0.09, 1.006, 3.045, 1.718, 2.025, PHS=-0.917, 1.065,-0.351, RAW= 313.9,   2.3, CAL= 311.7,  -0.7, ROT= 198.3,   0.7

2025-10-26T22:53:23.134Z,1761519203.134 [DAT](INFO): #Rx 105: Read direction message, but no range.
2025-10-26T22:53:23.136Z,1761519203.136 [DAT](INFO): direction in FSK: [-0.949355,-0.313969,-0.012217]
2025-10-26T22:53:23.139Z,1761519203.139 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.184631
2025-10-26T22:53:23.384Z,1761519203.384 [DAT](INFO): DAT read: Rx Time:22:53:22.2820 

2025-10-26T22:53:23.385Z,1761519203.385 [DAT](INFO): Rx dataTimestamp_ set to:1761519203.384307
2025-10-26T22:53:23.389Z,1761519203.389 [DAT](INFO): DAT read: Bearing  96.9, -17.1 (Local)

2025-10-26T22:53:23.390Z,1761519203.390 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.9, -17.1 (Local)

2025-10-26T22:53:23.395Z,1761519203.395 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.5

2025-10-26T22:53:23.398Z,1761519203.398 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-10-26T22:53:23.416Z,1761519203.416 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.461514
2025-10-26T22:53:23.520Z,1761519203.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.503763 s,
      deltaX: -0.100000 m,
      approachRate: -0.198507 m/s,
      rangeRepo size: 4

2025-10-26T22:53:23.522Z,1761519203.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.435490 m,
      bearing: 315.688788 deg,
      lat: 36.779437 deg,
      lon: -121.859358 deg,
      deltaT: 1.007458 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:53:23.523Z,1761519203.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:53:23.637Z,1761519203.637 [DAT](INFO): DAT read: 22:53:22.2820 LVL= 32752, 28337, 31730, 32755, AGC= 66, IDX= 510, 0.05,-0.403, 1.696, 0.354, 0.606, PHS=-0.907, 1.135,-0.296, RAW= 313.0,   0.8, CAL= 311.1,  -2.3, ROT= 198.9,   2.3

2025-10-26T22:53:23.638Z,1761519203.638 [DAT](INFO): got valid direction response:
 22:53:22.2820 LVL= 32752, 28337, 31730, 32755, AGC= 66, IDX= 510, 0.05,-0.403, 1.696, 0.354, 0.606, PHS=-0.907, 1.135,-0.296, RAW= 313.0,   0.8, CAL= 311.1,  -2.3, ROT= 198.9,   2.3

2025-10-26T22:53:23.639Z,1761519203.639 [DAT](INFO): #Rx 107: Read direction message, but no range.
2025-10-26T22:53:23.640Z,1761519203.640 [DAT](INFO): direction in FSK: [-0.945323,-0.323656,-0.040132]
2025-10-26T22:53:23.643Z,1761519203.643 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.688755
2025-10-26T22:53:23.888Z,1761519203.888 [DAT](INFO): DAT read: Rx Time:22:53:22.7821 

2025-10-26T22:53:23.889Z,1761519203.889 [DAT](INFO): Rx dataTimestamp_ set to:1761519203.888534
2025-10-26T22:53:23.893Z,1761519203.893 [DAT](INFO): DAT read: Bearing  96.6, -16.1 (Local)

2025-10-26T22:53:23.894Z,1761519203.894 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.6, -16.1 (Local)

2025-10-26T22:53:23.908Z,1761519203.908 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed 0.0

2025-10-26T22:53:23.913Z,1761519203.913 [DAT](INFO): DAT read: 22:53:22.7821 LVL= 32752, 23025, 32754, 32755, AGC= 66, IDX= 511, 0.01, 0.454, 2.522, 1.171, 1.444, PHS=-0.888, 1.123,-0.317, RAW= 314.0,   0.9, CAL= 312.0,  -2.1, ROT= 198.0,   2.1

2025-10-26T22:53:23.915Z,1761519203.915 [DAT](INFO): got valid direction response:
 22:53:22.7821 LVL= 32752, 23025, 32754, 32755, AGC= 66, IDX= 511, 0.01, 0.454, 2.522, 1.171, 1.444, PHS=-0.888, 1.123,-0.317, RAW= 314.0,   0.9, CAL= 312.0,  -2.1, ROT= 198.0,   2.1

2025-10-26T22:53:23.915Z,1761519203.915 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-10-26T22:53:23.916Z,1761519203.916 [DAT](INFO): direction in FSK: [-0.950418,-0.308809,-0.036644]
2025-10-26T22:53:23.916Z,1761519203.916 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:23.956Z,1761519203.956 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.001965
2025-10-26T22:53:24.060Z,1761519204.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.504227 s,
      deltaX: 0.100000 m,
      approachRate: 0.198324 m/s,
      rangeRepo size: 4

2025-10-26T22:53:24.062Z,1761519204.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.535563 m,
      bearing: 315.444688 deg,
      lat: 36.779437 deg,
      lon: -121.859358 deg,
      deltaT: 0.504227 s,
      deltaX: 0.100074 m,
      approachRate: 0.198470 m/s,
      posRepo size: 4

2025-10-26T22:53:24.063Z,1761519204.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:24.137Z,1761519204.137 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.182442
2025-10-26T22:53:24.304Z,1761519204.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459247,-0.886352,-0.058925],[0.887804,-0.460212,0.003191],[-0.029946,-0.050848,0.998257]]
2025-10-26T22:53:24.336Z,1761519204.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:24.394Z,1761519204.394 [DAT](INFO): DAT read: Rx Time:22:53:23.2820 

2025-10-26T22:53:24.396Z,1761519204.396 [DAT](INFO): Rx dataTimestamp_ set to:1761519204.394460
2025-10-26T22:53:24.400Z,1761519204.400 [DAT](INFO): DAT read: Bearing  96.0, -15.3 (Local)

2025-10-26T22:53:24.401Z,1761519204.401 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.0, -15.3 (Local)

2025-10-26T22:53:24.407Z,1761519204.407 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.0

2025-10-26T22:53:24.413Z,1761519204.413 [DAT](INFO): DAT read: 22:53:23.2820 LVL= 32752, 22449, 32754, 32755, AGC= 64, IDX= 510, 0.08,-1.316, 0.726,-0.633,-0.334, PHS=-0.879, 1.106,-0.343, RAW= 314.9,   1.3, CAL= 312.8,  -1.7, ROT= 197.2,   1.7

2025-10-26T22:53:24.415Z,1761519204.415 [DAT](INFO): got valid direction response:
 22:53:23.2820 LVL= 32752, 22449, 32754, 32755, AGC= 64, IDX= 510, 0.08,-1.316, 0.726,-0.633,-0.334, PHS=-0.879, 1.106,-0.343, RAW= 314.9,   1.3, CAL= 312.8,  -1.7, ROT= 197.2,   1.7

2025-10-26T22:53:24.420Z,1761519204.420 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-26T22:53:24.421Z,1761519204.421 [DAT](INFO): direction in FSK: [-0.954858,-0.295578,-0.029666]
2025-10-26T22:53:24.421Z,1761519204.421 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:24.429Z,1761519204.429 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.474560
2025-10-26T22:53:24.641Z,1761519204.641 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.686447
2025-10-26T22:53:24.706Z,1761519204.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459162,-0.886400,-0.058865],[0.887854,-0.460115,0.002997],[-0.029741,-0.050888,0.998261]]
2025-10-26T22:53:24.740Z,1761519204.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.505926 s,
      deltaX: -0.100000 m,
      approachRate: -0.197658 m/s,
      rangeRepo size: 4

2025-10-26T22:53:24.742Z,1761519204.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.436555 m,
      bearing: 314.607656 deg,
      lat: 36.779437 deg,
      lon: -121.859358 deg,
      deltaT: 0.505926 s,
      deltaX: -0.099009 m,
      approachRate: -0.195698 m/s,
      posRepo size: 4

2025-10-26T22:53:24.743Z,1761519204.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:53:24.897Z,1761519204.897 [DAT](INFO): DAT read: Rx Time:22:53:23.7820 

2025-10-26T22:53:24.898Z,1761519204.898 [DAT](INFO): Rx dataTimestamp_ set to:1761519204.897251
2025-10-26T22:53:24.902Z,1761519204.902 [DAT](INFO): DAT read: Bearing  97.0, -15.7 (Local)

2025-10-26T22:53:24.903Z,1761519204.903 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.0, -15.7 (Local)

2025-10-26T22:53:24.907Z,1761519204.907 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.0

2025-10-26T22:53:24.912Z,1761519204.912 [DAT](INFO): DAT read: 22:53:23.7820 LVL= 30400, 21857, 30130, 32755, AGC= 64, IDX= 510, 0.19,-2.101,-0.054,-1.398,-1.140, PHS=-0.859, 1.131,-0.301, RAW= 314.2,   0.3, CAL= 312.4,  -2.8, ROT= 197.6,   2.8

2025-10-26T22:53:24.913Z,1761519204.913 [DAT](INFO): got valid direction response:
 22:53:23.7820 LVL= 30400, 21857, 30130, 32755, AGC= 64, IDX= 510, 0.19,-2.101,-0.054,-1.398,-1.140, PHS=-0.859, 1.131,-0.301, RAW= 314.2,   0.3, CAL= 312.4,  -2.8, ROT= 197.6,   2.8

2025-10-26T22:53:24.914Z,1761519204.914 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-10-26T22:53:24.914Z,1761519204.914 [DAT](INFO): direction in FSK: [-0.952053,-0.302009,-0.048850]
2025-10-26T22:53:24.915Z,1761519204.915 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:24.918Z,1761519204.918 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.964252
2025-10-26T22:53:25.106Z,1761519205.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459302,-0.886318,-0.059016],[0.887794,-0.460233,0.002497],[-0.029375,-0.051247,0.998254]]
2025-10-26T22:53:25.144Z,1761519205.144 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.190174
2025-10-26T22:53:25.176Z,1761519205.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.502791 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:53:25.178Z,1761519205.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.436555 m,
      bearing: 315.060117 deg,
      lat: 36.779437 deg,
      lon: -121.859359 deg,
      deltaT: 0.502791 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:53:25.179Z,1761519205.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:53:25.400Z,1761519205.400 [DAT](INFO): DAT read: Rx Time:22:53:24.2819 

2025-10-26T22:53:25.402Z,1761519205.402 [DAT](INFO): Rx dataTimestamp_ set to:1761519205.400969
2025-10-26T22:53:25.406Z,1761519205.406 [DAT](INFO): DAT read: Bearing  96.0, -15.0 (Local)

2025-10-26T22:53:25.406Z,1761519205.406 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.0, -15.0 (Local)

2025-10-26T22:53:25.409Z,1761519205.409 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.1

2025-10-26T22:53:25.413Z,1761519205.413 [DAT](INFO): DAT read: 22:53:24.2819 LVL= 32752, 24497, 32754, 32755, AGC= 63, IDX= 509, 0.30,-2.913,-0.884,-2.241,-1.945, PHS=-0.866, 1.105,-0.341, RAW= 315.1,   1.2, CAL= 313.1,  -1.9, ROT= 196.9,   1.9

2025-10-26T22:53:25.414Z,1761519205.414 [DAT](INFO): got valid direction response:
 22:53:24.2819 LVL= 32752, 24497, 32754, 32755, AGC= 63, IDX= 509, 0.30,-2.913,-0.884,-2.241,-1.945, PHS=-0.866, 1.105,-0.341, RAW= 315.1,   1.2, CAL= 313.1,  -1.9, ROT= 196.9,   1.9

2025-10-26T22:53:25.415Z,1761519205.415 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-10-26T22:53:25.416Z,1761519205.416 [DAT](INFO): direction in FSK: [-0.956288,-0.290542,-0.033155]
2025-10-26T22:53:25.416Z,1761519205.416 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:25.428Z,1761519205.428 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.473873
2025-10-26T22:53:25.518Z,1761519205.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459443,-0.886241,-0.059074],[0.887738,-0.460346,0.001910],[-0.028887,-0.051564,0.998252]]
2025-10-26T22:53:25.582Z,1761519205.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.503718 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:53:25.588Z,1761519205.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.436555 m,
      bearing: 314.334007 deg,
      lat: 36.779437 deg,
      lon: -121.859360 deg,
      deltaT: 0.503718 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:53:25.588Z,1761519205.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:53:25.649Z,1761519205.649 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.694878
2025-10-26T22:53:25.907Z,1761519205.907 [DAT](INFO): DAT read: Rx Time:22:53:24.7820 

2025-10-26T22:53:25.907Z,1761519205.907 [DAT](INFO): Rx dataTimestamp_ set to:1761519205.907052
2025-10-26T22:53:25.909Z,1761519205.909 [DAT](INFO): DAT read: Bearing  95.2, -15.2 (Local)

2025-10-26T22:53:25.909Z,1761519205.909 [DAT](INFO): Local bearing/azimuth received:
 Bearing  95.2, -15.2 (Local)

2025-10-26T22:53:25.911Z,1761519205.911 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.1

2025-10-26T22:53:25.916Z,1761519205.916 [DAT](INFO): DAT read: 22:53:24.7820 LVL= 32752, 27345, 32754, 32755, AGC= 64, IDX= 510, 0.35,-1.236, 0.791,-0.567,-0.250, PHS=-0.885, 1.085,-0.361, RAW= 315.1,   1.8, CAL= 313.0,  -1.2, ROT= 197.0,   1.2

2025-10-26T22:53:25.917Z,1761519205.917 [DAT](INFO): got valid direction response:
 22:53:24.7820 LVL= 32752, 27345, 32754, 32755, AGC= 64, IDX= 510, 0.35,-1.236, 0.791,-0.567,-0.250, PHS=-0.885, 1.085,-0.361, RAW= 315.1,   1.8, CAL= 313.0,  -1.2, ROT= 197.0,   1.2

2025-10-26T22:53:25.917Z,1761519205.917 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-10-26T22:53:25.918Z,1761519205.918 [DAT](INFO): direction in FSK: [-0.956095,-0.292308,-0.020942]
2025-10-26T22:53:25.918Z,1761519205.918 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:25.922Z,1761519205.922 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.967728
2025-10-26T22:53:26.113Z,1761519206.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.506083 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:53:26.115Z,1761519206.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.436733 m,
      bearing: 314.405268 deg,
      lat: 36.779436 deg,
      lon: -121.859360 deg,
      deltaT: 0.506083 s,
      deltaX: 0.000178 m,
      approachRate: 0.000352 m/s,
      posRepo size: 4

2025-10-26T22:53:26.115Z,1761519206.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:53:26.153Z,1761519206.153 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.198612
2025-10-26T22:53:26.344Z,1761519206.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458963,-0.886488,-0.059085],[0.888010,-0.459822,0.001063],[-0.028111,-0.051981,0.998252]]
2025-10-26T22:53:26.407Z,1761519206.407 [DAT](INFO): DAT read: Rx Time:22:53:25.2819 

2025-10-26T22:53:26.408Z,1761519206.408 [DAT](INFO): Rx dataTimestamp_ set to:1761519206.407589
2025-10-26T22:53:26.409Z,1761519206.409 [DAT](INFO): DAT read: Bearing  96.7, -15.7 (Local)

2025-10-26T22:53:26.409Z,1761519206.409 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.7, -15.7 (Local)

2025-10-26T22:53:26.412Z,1761519206.412 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.0

2025-10-26T22:53:26.416Z,1761519206.416 [DAT](INFO): DAT read: 22:53:25.2819 LVL= 32752, 23953, 32754, 32755, AGC= 65, IDX= 509, 0.43,-1.931, 0.141,-1.223,-0.955, PHS=-0.873, 1.141,-0.311, RAW= 314.3,   0.5, CAL= 312.4,  -2.6, ROT= 197.6,   2.6

2025-10-26T22:53:26.417Z,1761519206.417 [DAT](INFO): got valid direction response:
 22:53:25.2819 LVL= 32752, 23953, 32754, 32755, AGC= 65, IDX= 509, 0.43,-1.931, 0.141,-1.223,-0.955, PHS=-0.873, 1.141,-0.311, RAW= 314.3,   0.5, CAL= 312.4,  -2.6, ROT= 197.6,   2.6

2025-10-26T22:53:26.418Z,1761519206.418 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-10-26T22:53:26.419Z,1761519206.419 [DAT](INFO): direction in FSK: [-0.952209,-0.302059,-0.045363]
2025-10-26T22:53:26.419Z,1761519206.419 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:26.423Z,1761519206.423 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.468613
2025-10-26T22:53:26.460Z,1761519206.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.500537 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:53:26.462Z,1761519206.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.436733 m,
      bearing: 315.030569 deg,
      lat: 36.779436 deg,
      lon: -121.859360 deg,
      deltaT: 0.500537 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:53:26.463Z,1761519206.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:53:26.656Z,1761519206.656 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.702152
2025-10-26T22:53:26.744Z,1761519206.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458418,-0.886787,-0.058833],[0.888303,-0.459257,0.000833],[-0.027758,-0.051880,0.998267]]
2025-10-26T22:53:26.802Z,1761519206.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:53:26.910Z,1761519206.910 [DAT](INFO): DAT read: Rx Time:22:53:25.7821 

2025-10-26T22:53:26.910Z,1761519206.910 [DAT](INFO): Rx dataTimestamp_ set to:1761519206.909747
2025-10-26T22:53:26.911Z,1761519206.911 [DAT](INFO): DAT read: Bearing  96.6, -15.5 (Local)

2025-10-26T22:53:26.912Z,1761519206.912 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.6, -15.5 (Local)

2025-10-26T22:53:26.914Z,1761519206.914 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed -0.1

2025-10-26T22:53:26.918Z,1761519206.918 [DAT](INFO): DAT read: 22:53:25.7821 LVL= 32752, 21969, 32754, 32755, AGC= 65, IDX= 511,-0.35,-2.911,-0.866,-2.217,-1.950, PHS=-0.859, 1.128,-0.311, RAW= 314.5,   0.5, CAL= 312.7,  -2.6, ROT= 197.3,   2.6

2025-10-26T22:53:26.920Z,1761519206.920 [DAT](INFO): got valid direction response:
 22:53:25.7821 LVL= 32752, 21969, 32754, 32755, AGC= 65, IDX= 511,-0.35,-2.911,-0.866,-2.217,-1.950, PHS=-0.859, 1.128,-0.311, RAW= 314.5,   0.5, CAL= 312.7,  -2.6, ROT= 197.3,   2.6

2025-10-26T22:53:26.920Z,1761519206.920 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-10-26T22:53:26.921Z,1761519206.921 [DAT](INFO): direction in FSK: [-0.953778,-0.297069,-0.045363]
2025-10-26T22:53:26.921Z,1761519206.921 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:26.925Z,1761519206.925 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.970463
2025-10-26T22:53:27.146Z,1761519207.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457797,-0.887135,-0.058417],[0.888636,-0.458614,0.000646],[-0.027364,-0.051616,0.998292]]
2025-10-26T22:53:27.160Z,1761519207.160 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.206200
2025-10-26T22:53:27.228Z,1761519207.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.502158 s,
      deltaX: 0.100000 m,
      approachRate: 0.199141 m/s,
      rangeRepo size: 4

2025-10-26T22:53:27.230Z,1761519207.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.536529 m,
      bearing: 314.654668 deg,
      lat: 36.779437 deg,
      lon: -121.859360 deg,
      deltaT: 0.502158 s,
      deltaX: 0.099795 m,
      approachRate: 0.198733 m/s,
      posRepo size: 4

2025-10-26T22:53:27.230Z,1761519207.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:27.413Z,1761519207.413 [DAT](INFO): DAT read: Rx Time:22:53:26.2820 

2025-10-26T22:53:27.413Z,1761519207.413 [DAT](INFO): Rx dataTimestamp_ set to:1761519207.413120
2025-10-26T22:53:27.415Z,1761519207.415 [DAT](INFO): DAT read: Bearing  95.5, -15.5 (Local)

2025-10-26T22:53:27.415Z,1761519207.415 [DAT](INFO): Local bearing/azimuth received:
 Bearing  95.5, -15.5 (Local)

2025-10-26T22:53:27.417Z,1761519207.417 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.0

2025-10-26T22:53:27.422Z,1761519207.422 [DAT](INFO): DAT read: 22:53:26.2820 LVL= 32752, 25073, 32754, 32755, AGC= 67, IDX= 510,-0.21, 2.274,-1.980, 2.955,-3.031, PHS=-0.877, 1.096,-0.341, RAW= 314.8,   1.4, CAL= 312.8,  -1.6, ROT= 197.2,   1.6

2025-10-26T22:53:27.423Z,1761519207.423 [DAT](INFO): got valid direction response:
 22:53:26.2820 LVL= 32752, 25073, 32754, 32755, AGC= 67, IDX= 510,-0.21, 2.274,-1.980, 2.955,-3.031, PHS=-0.877, 1.096,-0.341, RAW= 314.8,   1.4, CAL= 312.8,  -1.6, ROT= 197.2,   1.6

2025-10-26T22:53:27.423Z,1761519207.423 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-10-26T22:53:27.424Z,1761519207.424 [DAT](INFO): direction in FSK: [-0.954906,-0.295593,-0.027922]
2025-10-26T22:53:27.425Z,1761519207.425 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:27.428Z,1761519207.428 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.474075
2025-10-26T22:53:27.551Z,1761519207.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456733,-0.887699,-0.058188],[0.889188,-0.457541,0.000637],[-0.027189,-0.051449,0.998305]]
2025-10-26T22:53:27.586Z,1761519207.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.503373 s,
      deltaX: -0.100000 m,
      approachRate: -0.198661 m/s,
      rangeRepo size: 4

2025-10-26T22:53:27.589Z,1761519207.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.437032 m,
      bearing: 314.444741 deg,
      lat: 36.779436 deg,
      lon: -121.859360 deg,
      deltaT: 0.503373 s,
      deltaX: -0.099497 m,
      approachRate: -0.197660 m/s,
      posRepo size: 4

2025-10-26T22:53:27.589Z,1761519207.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:53:27.664Z,1761519207.664 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.710258
2025-10-26T22:53:27.922Z,1761519207.922 [DAT](INFO): DAT read: Rx Time:22:53:26.7821 

2025-10-26T22:53:27.928Z,1761519207.928 [DAT](INFO): Rx dataTimestamp_ set to:1761519207.922543
2025-10-26T22:53:27.936Z,1761519207.936 [DAT](INFO): DAT read: Bearing  94.9, -15.4 (Local)

2025-10-26T22:53:27.937Z,1761519207.937 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.9, -15.4 (Local)

2025-10-26T22:53:27.939Z,1761519207.939 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed 0.0

2025-10-26T22:53:27.968Z,1761519207.968 [DAT](INFO): DAT read: 22:53:26.7821 LVL= 32752, 24257, 32754, 32755, AGC= 66, IDX= 511,-0.11,-2.757,-0.767,-2.093,-1.783, PHS=-0.872, 1.061,-0.355, RAW= 315.0,   1.9, CAL= 312.9,  -1.1, ROT= 197.1,   1.1

2025-10-26T22:53:27.970Z,1761519207.970 [DAT](INFO): got valid direction response:
 22:53:26.7821 LVL= 32752, 24257, 32754, 32755, AGC= 66, IDX= 511,-0.11,-2.757,-0.767,-2.093,-1.783, PHS=-0.872, 1.061,-0.355, RAW= 315.0,   1.9, CAL= 312.9,  -1.1, ROT= 197.1,   1.1

2025-10-26T22:53:27.970Z,1761519207.970 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-10-26T22:53:27.971Z,1761519207.971 [DAT](INFO): direction in FSK: [-0.955617,-0.293986,-0.019197]
2025-10-26T22:53:27.971Z,1761519207.971 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:27.979Z,1761519207.979 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.024628
2025-10-26T22:53:28.090Z,1761519208.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.509423 s,
      deltaX: 0.100000 m,
      approachRate: 0.196301 m/s,
      rangeRepo size: 4

2025-10-26T22:53:28.097Z,1761519208.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.536426 m,
      bearing: 314.324279 deg,
      lat: 36.779437 deg,
      lon: -121.859360 deg,
      deltaT: 0.509423 s,
      deltaX: 0.099394 m,
      approachRate: 0.195111 m/s,
      posRepo size: 4

2025-10-26T22:53:28.097Z,1761519208.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:28.169Z,1761519208.169 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.214931
2025-10-26T22:53:28.410Z,1761519208.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454584,-0.888818,-0.057935],[0.890305,-0.455365,0.000330],[-0.026675,-0.051430,0.998320]]
2025-10-26T22:53:28.421Z,1761519208.421 [DAT](INFO): DAT read: Rx Time:22:53:27.2820 

2025-10-26T22:53:28.422Z,1761519208.422 [DAT](INFO): Rx dataTimestamp_ set to:1761519208.421478
2025-10-26T22:53:28.423Z,1761519208.423 [DAT](INFO): DAT read: Bearing  94.2, -15.6 (Local)

2025-10-26T22:53:28.423Z,1761519208.423 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.2, -15.6 (Local)

2025-10-26T22:53:28.425Z,1761519208.425 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.0

2025-10-26T22:53:28.430Z,1761519208.430 [DAT](INFO): DAT read: 22:53:27.2820 LVL= 32752, 25585, 32754, 32755, AGC= 65, IDX= 510,-0.06, 2.992,-1.297,-2.626,-2.299, PHS=-0.890, 1.047,-0.370, RAW= 315.0,   2.5, CAL= 312.8,  -0.5, ROT= 197.2,   0.5

2025-10-26T22:53:28.431Z,1761519208.431 [DAT](INFO): got valid direction response:
 22:53:27.2820 LVL= 32752, 25585, 32754, 32755, AGC= 65, IDX= 510,-0.06, 2.992,-1.297,-2.626,-2.299, PHS=-0.890, 1.047,-0.370, RAW= 315.0,   2.5, CAL= 312.8,  -0.5, ROT= 197.2,   0.5

2025-10-26T22:53:28.432Z,1761519208.432 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-10-26T22:53:28.433Z,1761519208.433 [DAT](INFO): direction in FSK: [-0.955242,-0.295697,-0.008727]
2025-10-26T22:53:28.433Z,1761519208.433 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:28.437Z,1761519208.437 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.482388
2025-10-26T22:53:28.452Z,1761519208.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.498935 s,
      deltaX: -0.100000 m,
      approachRate: -0.200428 m/s,
      rangeRepo size: 4

2025-10-26T22:53:28.454Z,1761519208.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.436930 m,
      bearing: 314.260388 deg,
      lat: 36.779437 deg,
      lon: -121.859360 deg,
      deltaT: 0.498935 s,
      deltaX: -0.099496 m,
      approachRate: -0.199417 m/s,
      posRepo size: 4

2025-10-26T22:53:28.455Z,1761519208.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:53:28.673Z,1761519208.673 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.718933
2025-10-26T22:53:28.773Z,1761519208.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453358,-0.889446,-0.057907],[0.890935,-0.454132,0.000226],[-0.026499,-0.051489,0.998322]]
2025-10-26T22:53:28.929Z,1761519208.929 [DAT](INFO): DAT read: Rx Time:22:53:27.7820 

2025-10-26T22:53:28.931Z,1761519208.931 [DAT](INFO): Rx dataTimestamp_ set to:1761519208.929824
2025-10-26T22:53:28.933Z,1761519208.933 [DAT](INFO): DAT read: Bearing  96.1, -16.0 (Local)

2025-10-26T22:53:28.933Z,1761519208.933 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.1, -16.0 (Local)

2025-10-26T22:53:28.935Z,1761519208.935 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.0

2025-10-26T22:53:28.940Z,1761519208.940 [DAT](INFO): DAT read: 22:53:27.7820 LVL= 32752, 24049, 32754, 32755, AGC= 66, IDX= 510, 0.06,-2.359,-0.289,-1.645,-1.374, PHS=-0.883, 1.130,-0.315, RAW= 314.1,   0.8, CAL= 312.2,  -2.3, ROT= 197.8,   2.3

2025-10-26T22:53:28.941Z,1761519208.941 [DAT](INFO): got valid direction response:
 22:53:27.7820 LVL= 32752, 24049, 32754, 32755, AGC= 66, IDX= 510, 0.06,-2.359,-0.289,-1.645,-1.374, PHS=-0.883, 1.130,-0.315, RAW= 314.1,   0.8, CAL= 312.2,  -2.3, ROT= 197.8,   2.3

2025-10-26T22:53:28.942Z,1761519208.942 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-10-26T22:53:28.943Z,1761519208.943 [DAT](INFO): direction in FSK: [-0.951362,-0.305449,-0.040132]
2025-10-26T22:53:28.943Z,1761519208.943 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:28.959Z,1761519208.959 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.004475
2025-10-26T22:53:28.966Z,1761519208.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.508346 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:53:28.973Z,1761519208.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.436323 m,
      bearing: 314.854766 deg,
      lat: 36.779437 deg,
      lon: -121.859360 deg,
      deltaT: 0.508346 s,
      deltaX: -0.000607 m,
      approachRate: -0.001193 m/s,
      posRepo size: 4

2025-10-26T22:53:28.973Z,1761519208.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:53:29.176Z,1761519209.176 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.222157
2025-10-26T22:53:29.230Z,1761519209.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452046,-0.890114,-0.057886],[0.891605,-0.452814,0.000163],[-0.026357,-0.051538,0.998323]]
2025-10-26T22:53:29.306Z,1761519209.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:53:29.429Z,1761519209.429 [DAT](INFO): DAT read: Rx Time:22:53:28.2819 

2025-10-26T22:53:29.430Z,1761519209.430 [DAT](INFO): Rx dataTimestamp_ set to:1761519209.429248
2025-10-26T22:53:29.431Z,1761519209.431 [DAT](INFO): DAT read: Bearing  94.5, -15.8 (Local)

2025-10-26T22:53:29.431Z,1761519209.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.5, -15.8 (Local)

2025-10-26T22:53:29.433Z,1761519209.433 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.0

2025-10-26T22:53:29.514Z,1761519209.514 [DAT](INFO): DAT read: 22:53:28.2819 LVL= 32752, 24897, 32754, 32755, AGC= 66, IDX= 509, 0.07, 2.821,-1.449,-2.784,-2.469, PHS=-0.891, 1.065,-0.358, RAW= 314.7,   2.1, CAL= 312.6,  -0.9, ROT= 197.4,   0.9

2025-10-26T22:53:29.518Z,1761519209.518 [DAT](INFO): got valid direction response:
 22:53:28.2819 LVL= 32752, 24897, 32754, 32755, AGC= 66, IDX= 509, 0.07, 2.821,-1.449,-2.784,-2.469, PHS=-0.891, 1.065,-0.358, RAW= 314.7,   2.1, CAL= 312.6,  -0.9, ROT= 197.4,   0.9

2025-10-26T22:53:29.519Z,1761519209.519 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-10-26T22:53:29.532Z,1761519209.532 [DAT](INFO): direction in FSK: [-0.954123,-0.299004,-0.015707]
2025-10-26T22:53:29.532Z,1761519209.532 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:29.544Z,1761519209.544 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.589607
2025-10-26T22:53:29.630Z,1761519209.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450982,-0.890666,-0.057705],[0.892153,-0.451734,-0.000007],[-0.026062,-0.051485,0.998334]]
2025-10-26T22:53:29.681Z,1761519209.681 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.726303
2025-10-26T22:53:29.700Z,1761519209.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.499424 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:53:29.703Z,1761519209.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.436643 m,
      bearing: 314.244482 deg,
      lat: 36.779436 deg,
      lon: -121.859360 deg,
      deltaT: 0.499424 s,
      deltaX: 0.000319 m,
      approachRate: 0.000640 m/s,
      posRepo size: 4

2025-10-26T22:53:29.709Z,1761519209.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:53:29.937Z,1761519209.937 [DAT](INFO): DAT read: Rx Time:22:53:28.7820 

2025-10-26T22:53:29.939Z,1761519209.939 [DAT](INFO): Rx dataTimestamp_ set to:1761519209.937946
2025-10-26T22:53:29.943Z,1761519209.943 [DAT](INFO): DAT read: Bearing  95.8, -15.8 (Local)

2025-10-26T22:53:29.945Z,1761519209.945 [DAT](INFO): Local bearing/azimuth received:
 Bearing  95.8, -15.8 (Local)

2025-10-26T22:53:29.951Z,1761519209.951 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.0

2025-10-26T22:53:29.966Z,1761519209.966 [DAT](INFO): DAT read: 22:53:28.7820 LVL= 32752, 23025, 32754, 32755, AGC= 66, IDX= 510, 0.14,-2.295,-0.244,-1.596,-1.318, PHS=-0.875, 1.119,-0.322, RAW= 314.4,   0.9, CAL= 312.5,  -2.2, ROT= 197.5,   2.2

2025-10-26T22:53:29.967Z,1761519209.967 [DAT](INFO): got valid direction response:
 22:53:28.7820 LVL= 32752, 23025, 32754, 32755, AGC= 66, IDX= 510, 0.14,-2.295,-0.244,-1.596,-1.318, PHS=-0.875, 1.119,-0.322, RAW= 314.4,   0.9, CAL= 312.5,  -2.2, ROT= 197.5,   2.2

2025-10-26T22:53:29.976Z,1761519209.976 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-10-26T22:53:29.977Z,1761519209.977 [DAT](INFO): direction in FSK: [-0.953014,-0.300484,-0.038388]
2025-10-26T22:53:29.977Z,1761519209.977 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:30.013Z,1761519210.013 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:53:30.013Z,1761519210.013 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:53:30.013Z,1761519210.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:53:30.063Z,1761519210.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450209,-0.891057,-0.057691],[0.892554,-0.450940,-0.000404],[-0.025656,-0.051674,0.998334]]
2025-10-26T22:53:30.171Z,1761519210.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.508698 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:53:30.177Z,1761519210.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.436643 m,
      bearing: 314.348437 deg,
      lat: 36.779436 deg,
      lon: -121.859360 deg,
      deltaT: 0.508698 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:53:30.177Z,1761519210.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:53:30.184Z,1761519210.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:53:30.437Z,1761519210.437 [DAT](INFO): DAT read: Rx Time:22:53:29.2819 

2025-10-26T22:53:30.437Z,1761519210.437 [DAT](INFO): Rx dataTimestamp_ set to:1761519210.436997
2025-10-26T22:53:30.439Z,1761519210.439 [DAT](INFO): DAT read: Bearing  95.9, -16.7 (Local)

2025-10-26T22:53:30.439Z,1761519210.439 [DAT](INFO): Local bearing/azimuth received:
 Bearing  95.9, -16.7 (Local)

2025-10-26T22:53:30.441Z,1761519210.441 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.0

2025-10-26T22:53:30.446Z,1761519210.446 [DAT](INFO): DAT read: 22:53:29.2819 LVL= 32752, 22001, 32754, 32755, AGC= 66, IDX= 509, 0.18,-2.702,-0.634,-1.972,-1.711, PHS=-0.889, 1.122,-0.305, RAW= 313.6,   0.8, CAL= 311.6,  -2.3, ROT= 198.4,   2.3

2025-10-26T22:53:30.447Z,1761519210.447 [DAT](INFO): got valid direction response:
 22:53:29.2819 LVL= 32752, 22001, 32754, 32755, AGC= 66, IDX= 509, 0.18,-2.702,-0.634,-1.972,-1.711, PHS=-0.889, 1.122,-0.305, RAW= 313.6,   0.8, CAL= 311.6,  -2.3, ROT= 198.4,   2.3

2025-10-26T22:53:30.447Z,1761519210.447 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:53:30.448Z,1761519210.448 [DAT](INFO): direction in FSK: [-0.948112,-0.315395,-0.040132]
2025-10-26T22:53:30.448Z,1761519210.448 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:30.452Z,1761519210.452 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:53:30.452Z,1761519210.452 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:53:30.457Z,1761519210.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449475,-0.891429,-0.057681],[0.892936,-0.450183,-0.000803],[-0.025251,-0.051866,0.998335]]
2025-10-26T22:53:30.529Z,1761519210.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.499051 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:53:30.531Z,1761519210.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.436643 m,
      bearing: 315.203908 deg,
      lat: 36.779436 deg,
      lon: -121.859360 deg,
      deltaT: 0.499051 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T22:53:30.536Z,1761519210.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:53:30.688Z,1761519210.688 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:53:30.846Z,1761519210.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448997,-0.891684,-0.057467],[0.893194,-0.449669,-0.001365],[-0.024624,-0.051942,0.998346]]
2025-10-26T22:53:30.945Z,1761519210.945 [DAT](INFO): DAT read: Rx Time:22:53:29.7820 

2025-10-26T22:53:30.947Z,1761519210.947 [DAT](INFO): Rx dataTimestamp_ set to:1761519210.945898
2025-10-26T22:53:30.951Z,1761519210.951 [DAT](INFO): DAT read: Bearing  96.0, -17.5 (Local)

2025-10-26T22:53:30.952Z,1761519210.952 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.0, -17.5 (Local)

2025-10-26T22:53:30.962Z,1761519210.962 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.0

2025-10-26T22:53:30.975Z,1761519210.975 [DAT](INFO): DAT read: 22:53:29.7820 LVL= 32752, 23265, 32754, 32755, AGC= 65, IDX= 510, 0.30,-1.961, 0.125,-1.201,-0.955, PHS=-0.904, 1.125,-0.290, RAW= 312.9,   0.8, CAL= 310.9,  -2.3, ROT= 199.1,   2.3

2025-10-26T22:53:30.999Z,1761519210.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:53:31.000Z,1761519211.000 [DAT](INFO): got valid direction response:
 22:53:29.7820 LVL= 32752, 23265, 32754, 32755, AGC= 65, IDX= 510, 0.30,-1.961, 0.125,-1.201,-0.955, PHS=-0.904, 1.125,-0.290, RAW= 312.9,   0.8, CAL= 310.9,  -2.3, ROT= 199.1,   2.3

2025-10-26T22:53:31.001Z,1761519211.001 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:53:31.002Z,1761519211.002 [DAT](INFO): direction in FSK: [-0.944188,-0.326954,-0.040132]
2025-10-26T22:53:31.002Z,1761519211.002 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:31.013Z,1761519211.013 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:53:31.014Z,1761519211.014 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:53:31.192Z,1761519211.192 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:53:31.281Z,1761519211.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448297,-0.892046,-0.057308],[0.893557,-0.448946,-0.001710],[-0.024203,-0.051974,0.998355]]
2025-10-26T22:53:31.331Z,1761519211.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.508901 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:53:31.333Z,1761519211.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.437124 m,
      bearing: 315.826620 deg,
      lat: 36.779437 deg,
      lon: -121.859359 deg,
      deltaT: 0.508901 s,
      deltaX: 0.000482 m,
      approachRate: 0.000946 m/s,
      posRepo size: 4

2025-10-26T22:53:31.334Z,1761519211.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:53:31.446Z,1761519211.446 [DAT](INFO): DAT read: Rx Time:22:53:30.2819 

2025-10-26T22:53:31.447Z,1761519211.447 [DAT](INFO): Rx dataTimestamp_ set to:1761519211.446138
2025-10-26T22:53:31.449Z,1761519211.449 [DAT](INFO): DAT read: Bearing  95.1, -18.0 (Local)

2025-10-26T22:53:31.449Z,1761519211.449 [DAT](INFO): Local bearing/azimuth received:
 Bearing  95.1, -18.0 (Local)

2025-10-26T22:53:31.456Z,1761519211.456 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.0

2025-10-26T22:53:31.474Z,1761519211.474 [DAT](INFO): DAT read: 22:53:30.2819 LVL= 32752, 25329, 32754, 32755, AGC= 66, IDX= 510,-0.49, 0.969, 3.056, 1.737, 1.999, PHS=-0.928, 1.102,-0.306, RAW= 312.6,   1.5, CAL= 310.4,  -1.6, ROT= 199.6,   1.6

2025-10-26T22:53:31.475Z,1761519211.475 [DAT](INFO): got valid direction response:
 22:53:30.2819 LVL= 32752, 25329, 32754, 32755, AGC= 66, IDX= 510,-0.49, 0.969, 3.056, 1.737, 1.999, PHS=-0.928, 1.102,-0.306, RAW= 312.6,   1.5, CAL= 310.4,  -1.6, ROT= 199.6,   1.6

2025-10-26T22:53:31.517Z,1761519211.517 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:53:31.518Z,1761519211.518 [DAT](INFO): direction in FSK: [-0.941690,-0.335321,-0.027922]
2025-10-26T22:53:31.518Z,1761519211.518 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:31.525Z,1761519211.525 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:53:31.526Z,1761519211.526 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:53:31.678Z,1761519211.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447679,-0.892380,-0.056933],[0.893880,-0.448302,-0.002033],[-0.023709,-0.051802,0.998376]]
2025-10-26T22:53:31.696Z,1761519211.696 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:53:31.734Z,1761519211.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.500240 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:53:31.740Z,1761519211.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.437075 m,
      bearing: 316.257034 deg,
      lat: 36.779437 deg,
      lon: -121.859359 deg,
      deltaT: 0.500240 s,
      deltaX: -0.000050 m,
      approachRate: -0.000099 m/s,
      posRepo size: 4

2025-10-26T22:53:31.741Z,1761519211.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:53:31.953Z,1761519211.953 [DAT](INFO): DAT read: Rx Time:22:53:30.7821 

2025-10-26T22:53:31.955Z,1761519211.955 [DAT](INFO): Rx dataTimestamp_ set to:1761519211.953827
2025-10-26T22:53:31.961Z,1761519211.961 [DAT](INFO): DAT read: Bearing  95.4, -18.1 (Local)

2025-10-26T22:53:31.962Z,1761519211.962 [DAT](INFO): Local bearing/azimuth received:
 Bearing  95.4, -18.1 (Local)

2025-10-26T22:53:31.972Z,1761519211.972 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed 0.0

2025-10-26T22:53:32.028Z,1761519212.028 [DAT](INFO): DAT read: 22:53:30.7821 LVL= 32752, 24433, 32754, 32755, AGC= 65, IDX= 511,-0.23, 1.149,-3.042, 1.924, 2.174, PHS=-0.923, 1.112,-0.294, RAW= 312.4,   1.2, CAL= 310.3,  -1.9, ROT= 199.7,   1.9

2025-10-26T22:53:32.030Z,1761519212.030 [DAT](INFO): got valid direction response:
 22:53:30.7821 LVL= 32752, 24433, 32754, 32755, AGC= 65, IDX= 511,-0.23, 1.149,-3.042, 1.924, 2.174, PHS=-0.923, 1.112,-0.294, RAW= 312.4,   1.2, CAL= 310.3,  -1.9, ROT= 199.7,   1.9

2025-10-26T22:53:32.030Z,1761519212.030 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:53:32.031Z,1761519212.031 [DAT](INFO): direction in FSK: [-0.940953,-0.336910,-0.033155]
2025-10-26T22:53:32.031Z,1761519212.031 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:32.043Z,1761519212.043 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:53:32.043Z,1761519212.043 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:53:32.082Z,1761519212.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447603,-0.892455,-0.056357],[0.893938,-0.448183,-0.002596],[-0.022941,-0.051541,0.998407]]
2025-10-26T22:53:32.166Z,1761519212.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.507689 s,
      deltaX: 0.100000 m,
      approachRate: 0.196972 m/s,
      rangeRepo size: 4

2025-10-26T22:53:32.172Z,1761519212.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.536572 m,
      bearing: 316.363369 deg,
      lat: 36.779438 deg,
      lon: -121.859358 deg,
      deltaT: 0.507689 s,
      deltaX: 0.099497 m,
      approachRate: 0.195980 m/s,
      posRepo size: 4

2025-10-26T22:53:32.173Z,1761519212.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:32.200Z,1761519212.200 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:53:32.453Z,1761519212.453 [DAT](INFO): DAT read: Rx Time:22:53:31.2820 

2025-10-26T22:53:32.453Z,1761519212.453 [DAT](INFO): Rx dataTimestamp_ set to:1761519212.453151
2025-10-26T22:53:32.455Z,1761519212.455 [DAT](INFO): DAT read: Bearing  94.5, -19.0 (Local)

2025-10-26T22:53:32.455Z,1761519212.455 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.5, -19.0 (Local)

2025-10-26T22:53:32.457Z,1761519212.457 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.0

2025-10-26T22:53:32.462Z,1761519212.462 [DAT](INFO): DAT read: 22:53:31.2820 LVL= 32752, 26929, 32754, 32755, AGC= 66, IDX= 510,-0.07, 0.672, 2.754, 1.467, 1.725, PHS=-0.951, 1.074,-0.302, RAW= 311.7,   2.0, CAL= 309.5,  -1.1, ROT= 200.5,   1.1

2025-10-26T22:53:32.463Z,1761519212.463 [DAT](INFO): got valid direction response:
 22:53:31.2820 LVL= 32752, 26929, 32754, 32755, AGC= 66, IDX= 510,-0.07, 0.672, 2.754, 1.467, 1.725, PHS=-0.951, 1.074,-0.302, RAW= 311.7,   2.0, CAL= 309.5,  -1.1, ROT= 200.5,   1.1

2025-10-26T22:53:32.463Z,1761519212.463 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:53:32.464Z,1761519212.464 [DAT](INFO): direction in FSK: [-0.936500,-0.350143,-0.019197]
2025-10-26T22:53:32.464Z,1761519212.464 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:32.468Z,1761519212.468 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:53:32.468Z,1761519212.468 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:53:32.487Z,1761519212.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447618,-0.892494,-0.055611],[0.893951,-0.448154,-0.003117],[-0.022141,-0.051109,0.998448]]
2025-10-26T22:53:32.572Z,1761519212.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.499324 s,
      deltaX: -0.100000 m,
      approachRate: -0.200272 m/s,
      rangeRepo size: 4

2025-10-26T22:53:32.574Z,1761519212.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.437075 m,
      bearing: 317.130128 deg,
      lat: 36.779439 deg,
      lon: -121.859357 deg,
      deltaT: 0.499324 s,
      deltaX: -0.099497 m,
      approachRate: -0.199263 m/s,
      posRepo size: 4

2025-10-26T22:53:32.574Z,1761519212.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:53:32.704Z,1761519212.704 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:53:32.937Z,1761519212.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447722,-0.892476,-0.055055],[0.893919,-0.448212,-0.003788],[-0.021295,-0.050910,0.998476]]
2025-10-26T22:53:32.961Z,1761519212.961 [DAT](INFO): DAT read: Rx Time:22:53:31.7820 

2025-10-26T22:53:32.963Z,1761519212.963 [DAT](INFO): Rx dataTimestamp_ set to:1761519212.962063
2025-10-26T22:53:32.967Z,1761519212.967 [DAT](INFO): DAT read: Bearing  95.2, -19.4 (Local)

2025-10-26T22:53:32.968Z,1761519212.968 [DAT](INFO): Local bearing/azimuth received:
 Bearing  95.2, -19.4 (Local)

2025-10-26T22:53:32.976Z,1761519212.976 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.0

2025-10-26T22:53:33.004Z,1761519213.004 [DAT](INFO): DAT read: 22:53:31.7820 LVL= 32752, 25185, 32754, 32755, AGC= 66, IDX= 510, 0.13, 0.995, 3.127, 1.822, 2.059, PHS=-0.961, 1.113,-0.280, RAW= 311.2,   1.4, CAL= 309.1,  -1.7, ROT= 200.9,   1.7

2025-10-26T22:53:33.005Z,1761519213.005 [DAT](INFO): got valid direction response:
 22:53:31.7820 LVL= 32752, 25185, 32754, 32755, AGC= 66, IDX= 510, 0.13, 0.995, 3.127, 1.822, 2.059, PHS=-0.961, 1.113,-0.280, RAW= 311.2,   1.4, CAL= 309.1,  -1.7, ROT= 200.9,   1.7

2025-10-26T22:53:33.005Z,1761519213.005 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:53:33.006Z,1761519213.006 [DAT](INFO): direction in FSK: [-0.933793,-0.356581,-0.029666]
2025-10-26T22:53:33.006Z,1761519213.006 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:33.026Z,1761519213.026 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:53:33.027Z,1761519213.027 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:53:33.082Z,1761519213.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.508912 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:53:33.089Z,1761519213.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.437339 m,
      bearing: 317.559566 deg,
      lat: 36.779440 deg,
      lon: -121.859357 deg,
      deltaT: 0.508912 s,
      deltaX: 0.000264 m,
      approachRate: 0.000519 m/s,
      posRepo size: 4

2025-10-26T22:53:33.089Z,1761519213.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:53:33.208Z,1761519213.208 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:53:33.332Z,1761519213.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447788,-0.892469,-0.054633],[0.893906,-0.448231,-0.004543],[-0.020434,-0.050871,0.998496]]
2025-10-26T22:53:33.435Z,1761519213.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:53:33.461Z,1761519213.461 [DAT](INFO): DAT read: Rx Time:22:53:32.2819 

2025-10-26T22:53:33.462Z,1761519213.462 [DAT](INFO): Rx dataTimestamp_ set to:1761519213.461251
2025-10-26T22:53:33.463Z,1761519213.463 [DAT](INFO): DAT read: Bearing  95.3, -19.3 (Local)

2025-10-26T22:53:33.463Z,1761519213.463 [DAT](INFO): Local bearing/azimuth received:
 Bearing  95.3, -19.3 (Local)

2025-10-26T22:53:33.465Z,1761519213.465 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.1

2025-10-26T22:53:33.470Z,1761519213.470 [DAT](INFO): DAT read: 22:53:32.2819 LVL= 32752, 23681, 32754, 32755, AGC= 66, IDX= 509, 0.38,-0.163, 1.973, 0.663, 0.897, PHS=-0.957, 1.121,-0.278, RAW= 311.3,   1.3, CAL= 309.2,  -1.9, ROT= 200.8,   1.9

2025-10-26T22:53:33.471Z,1761519213.471 [DAT](INFO): got valid direction response:
 22:53:32.2819 LVL= 32752, 23681, 32754, 32755, AGC= 66, IDX= 509, 0.38,-0.163, 1.973, 0.663, 0.897, PHS=-0.957, 1.121,-0.278, RAW= 311.3,   1.3, CAL= 309.2,  -1.9, ROT= 200.8,   1.9

2025-10-26T22:53:33.471Z,1761519213.471 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:53:33.472Z,1761519213.472 [DAT](INFO): direction in FSK: [-0.934312,-0.354912,-0.033155]
2025-10-26T22:53:33.473Z,1761519213.473 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:33.480Z,1761519213.480 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:53:33.480Z,1761519213.480 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:53:33.713Z,1761519213.713 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:53:33.739Z,1761519213.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447928,-0.892424,-0.054228],[0.893856,-0.448321,-0.005358],[-0.019529,-0.050872,0.998514]]
2025-10-26T22:53:33.797Z,1761519213.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.499188 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:53:33.803Z,1761519213.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.437450 m,
      bearing: 317.479674 deg,
      lat: 36.779440 deg,
      lon: -121.859355 deg,
      deltaT: 0.499188 s,
      deltaX: 0.000112 m,
      approachRate: 0.000224 m/s,
      posRepo size: 4

2025-10-26T22:53:33.804Z,1761519213.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T22:53:33.969Z,1761519213.969 [DAT](INFO): DAT read: Rx Time:22:53:32.7821 

2025-10-26T22:53:33.970Z,1761519213.970 [DAT](INFO): Rx dataTimestamp_ set to:1761519213.969320
2025-10-26T22:53:33.000Z,1761519214.000 [DAT](INFO): DAT read: Bearing  96.4, -19.7 (Local)

2025-10-26T22:53:34.001Z,1761519214.001 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.4, -19.7 (Local)

2025-10-26T22:53:34.024Z,1761519214.024 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed 0.0

2025-10-26T22:53:34.044Z,1761519214.044 [DAT](INFO): DAT read: 22:53:32.7821 LVL= 31648, 22241, 31378, 32755, AGC= 65, IDX= 511,-0.31,-0.345, 1.808, 0.505, 0.700, PHS=-0.943, 1.153,-0.239, RAW= 310.7,   0.3, CAL= 308.8,  -2.9, ROT= 201.2,   2.9

2025-10-26T22:53:34.045Z,1761519214.045 [DAT](INFO): got valid direction response:
 22:53:32.7821 LVL= 31648, 22241, 31378, 32755, AGC= 65, IDX= 511,-0.31,-0.345, 1.808, 0.505, 0.700, PHS=-0.943, 1.153,-0.239, RAW= 310.7,   0.3, CAL= 308.8,  -2.9, ROT= 201.2,   2.9

2025-10-26T22:53:34.045Z,1761519214.045 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:53:34.046Z,1761519214.046 [DAT](INFO): direction in FSK: [-0.931130,-0.361161,-0.050593]
2025-10-26T22:53:34.047Z,1761519214.047 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:34.050Z,1761519214.050 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:53:34.050Z,1761519214.050 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:53:34.136Z,1761519214.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447815,-0.892483,-0.054173],[0.893928,-0.448170,-0.006096],[-0.018838,-0.051157,0.998513]]
2025-10-26T22:53:34.180Z,1761519214.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.508069 s,
      deltaX: 0.100000 m,
      approachRate: 0.196824 m/s,
      rangeRepo size: 4

2025-10-26T22:53:34.182Z,1761519214.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.536950 m,
      bearing: 317.912625 deg,
      lat: 36.779440 deg,
      lon: -121.859355 deg,
      deltaT: 0.508069 s,
      deltaX: 0.099500 m,
      approachRate: 0.195839 m/s,
      posRepo size: 4

2025-10-26T22:53:34.183Z,1761519214.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:34.216Z,1761519214.216 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:53:34.468Z,1761519214.468 [DAT](INFO): DAT read: user:733>

2025-10-26T22:53:34.469Z,1761519214.469 [DAT](INFO): DAT read: Command 'tr50' not found

2025-10-26T22:53:34.470Z,1761519214.470 [DAT](INFO): unknown deviceResponse_: Command 'tr50' not found

2025-10-26T22:53:34.470Z,1761519214.470 [DAT](INFO): DAT read: Error

2025-10-26T22:53:34.470Z,1761519214.470 [DAT](INFO): unknown deviceResponse_: Error

2025-10-26T22:53:34.471Z,1761519214.471 [DAT](INFO): DAT read: user:734>

2025-10-26T22:53:34.472Z,1761519214.472 [DAT](INFO): DAT read: Tx time:22:53:33.7355

2025-10-26T22:53:34.472Z,1761519214.472 [DAT](INFO): Ping request sent.
2025-10-26T22:53:34.472Z,1761519214.472 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:53:34.472Z,1761519214.472 [DAT](INFO): publishing transmit ping time
2025-10-26T22:53:34.473Z,1761519214.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000777
2025-10-26T22:53:34.546Z,1761519214.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447843,-0.892470,-0.054173],[0.893930,-0.448152,-0.006977],[-0.018051,-0.051552,0.998507]]
2025-10-26T22:53:34.590Z,1761519214.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:34.721Z,1761519214.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249032
2025-10-26T22:53:34.946Z,1761519214.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447671,-0.892548,-0.054292],[0.894029,-0.447941,-0.007786],[-0.017370,-0.052024,0.998495]]
2025-10-26T22:53:34.975Z,1761519214.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502455
2025-10-26T22:53:35.029Z,1761519215.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:35.228Z,1761519215.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755858
2025-10-26T22:53:35.405Z,1761519215.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:35.477Z,1761519215.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004569
2025-10-26T22:53:35.729Z,1761519215.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256631
2025-10-26T22:53:35.770Z,1761519215.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447178,-0.892836,-0.053621],[0.894301,-0.447378,-0.008872],[-0.016068,-0.051921,0.998522]]
2025-10-26T22:53:35.790Z,1761519215.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:35.980Z,1761519215.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508329
2025-10-26T22:53:36.154Z,1761519216.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446675,-0.893112,-0.053230],[0.894562,-0.446849,-0.009245],[-0.015529,-0.051747,0.998540]]
2025-10-26T22:53:36.198Z,1761519216.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:36.233Z,1761519216.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760549
2025-10-26T22:53:36.484Z,1761519216.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012313
2025-10-26T22:53:36.558Z,1761519216.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446067,-0.893433,-0.052931],[0.894872,-0.446222,-0.009513],[-0.015120,-0.051609,0.998553]]
2025-10-26T22:53:36.602Z,1761519216.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:36.737Z,1761519216.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265189
2025-10-26T22:53:36.963Z,1761519216.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445221,-0.893859,-0.052862],[0.895297,-0.445364,-0.009698],[-0.014874,-0.051645,0.998555]]
2025-10-26T22:53:36.991Z,1761519216.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518664
2025-10-26T22:53:37.013Z,1761519217.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:37.241Z,1761519217.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769042
2025-10-26T22:53:37.367Z,1761519217.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444462,-0.894234,-0.052910],[0.895679,-0.444590,-0.009962],[-0.014615,-0.051818,0.998550]]
2025-10-26T22:53:37.432Z,1761519217.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:37.493Z,1761519217.493 [DAT](INFO): DAT read: Rx Time:22:53:36.1565

2025-10-26T22:53:37.494Z,1761519217.494 [DAT](INFO): Rx dataTimestamp_ set to:1761519217.493657
2025-10-26T22:53:37.495Z,1761519217.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022755
2025-10-26T22:53:37.745Z,1761519217.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272504
2025-10-26T22:53:37.775Z,1761519217.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443687,-0.894613,-0.053004],[0.896066,-0.443804,-0.010187],[-0.014410,-0.052015,0.998542]]
2025-10-26T22:53:37.794Z,1761519217.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:38.005Z,1761519218.005 [DAT](INFO): DAT read: 22:53:36.1565 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 473,-0.02, 2.036,-2.193, 2.829, 3.103, PHS=-0.965, 1.033,-0.318, RAW= 311.5,   2.9, CAL= 309.1,  -0.2, ROT= 200.9,   0.2

2025-10-26T22:53:38.007Z,1761519218.007 [DAT](INFO): got valid direction response:
 22:53:36.1565 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 473,-0.02, 2.036,-2.193, 2.829, 3.103, PHS=-0.965, 1.033,-0.318, RAW= 311.5,   2.9, CAL= 309.1,  -0.2, ROT= 200.9,   0.2

2025-10-26T22:53:38.010Z,1761519218.010 [DAT](INFO): DAT read: Bearing  93.4, -19.9 (Local)

2025-10-26T22:53:38.011Z,1761519218.011 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.4, -19.9 (Local)

2025-10-26T22:53:38.012Z,1761519218.012 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m  (Round-trip  16.8 ms) speed  0.0 m/s

2025-10-26T22:53:38.013Z,1761519218.013 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:53:38.014Z,1761519218.014 [DAT](INFO): direction in FSK: [-0.934199,-0.356736,-0.003491]
2025-10-26T22:53:38.015Z,1761519218.015 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:38.174Z,1761519218.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442793,-0.895054,-0.053038],[0.896510,-0.442904,-0.010279],[-0.014291,-0.052100,0.998540]]
2025-10-26T22:53:38.232Z,1761519218.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 4.026433 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T22:53:38.237Z,1761519218.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.537343 m,
      bearing: 317.175233 deg,
      lat: 36.779441 deg,
      lon: -121.859355 deg,
      deltaT: 4.026433 s,
      deltaX: 0.000393 m,
      approachRate: 0.000098 m/s,
      posRepo size: 4

2025-10-26T22:53:38.238Z,1761519218.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:38.578Z,1761519218.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442283,-0.895318,-0.052832],[0.896767,-0.442379,-0.010497],[-0.013974,-0.052021,0.998548]]
2025-10-26T22:53:38.597Z,1761519218.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:38.983Z,1761519218.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441935,-0.895504,-0.052599],[0.896944,-0.442014,-0.010749],[-0.013623,-0.051928,0.998558]]
2025-10-26T22:53:39.133Z,1761519219.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:39.389Z,1761519219.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441748,-0.895611,-0.052339],[0.897042,-0.441808,-0.011050],[-0.013227,-0.051832,0.998568]]
2025-10-26T22:53:39.447Z,1761519219.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:39.790Z,1761519219.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441711,-0.895641,-0.052144],[0.897065,-0.441752,-0.011367],[-0.012854,-0.051797,0.998575]]
2025-10-26T22:53:39.839Z,1761519219.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:40.195Z,1761519220.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442203,-0.895403,-0.052053],[0.896832,-0.442208,-0.012047],[-0.012232,-0.052010,0.998572]]
2025-10-26T22:53:40.239Z,1761519220.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:40.598Z,1761519220.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442752,-0.895137,-0.051975],[0.896568,-0.442725,-0.012655],[-0.011683,-0.052202,0.998568]]
2025-10-26T22:53:40.630Z,1761519220.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:41.002Z,1761519221.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443697,-0.894686,-0.051670],[0.896110,-0.443628,-0.013421],[-0.010915,-0.052256,0.998574]]
2025-10-26T22:53:41.052Z,1761519221.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:41.406Z,1761519221.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445028,-0.894059,-0.051076],[0.895459,-0.444922,-0.014056],[-0.010158,-0.051992,0.998596]]
2025-10-26T22:53:41.474Z,1761519221.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:41.812Z,1761519221.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446515,-0.893359,-0.050340],[0.894728,-0.446366,-0.014790],[-0.009257,-0.051645,0.998623]]
2025-10-26T22:53:41.831Z,1761519221.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:42.214Z,1761519222.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448195,-0.892557,-0.049635],[0.893896,-0.448004,-0.015528],[-0.008377,-0.051329,0.998647]]
2025-10-26T22:53:42.294Z,1761519222.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:42.618Z,1761519222.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450417,-0.891465,-0.049138],[0.892788,-0.450171,-0.016583],[-0.007338,-0.051339,0.998654]]
2025-10-26T22:53:42.649Z,1761519222.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:43.023Z,1761519223.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452684,-0.890326,-0.048960],[0.891648,-0.452387,-0.017611],[-0.006469,-0.051627,0.998645]]
2025-10-26T22:53:43.181Z,1761519223.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:43.429Z,1761519223.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455488,-0.888900,-0.048856],[0.890226,-0.455124,-0.018985],[-0.005360,-0.052140,0.998625]]
2025-10-26T22:53:43.459Z,1761519223.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:43.830Z,1761519223.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458018,-0.887610,-0.048668],[0.888932,-0.457600,-0.020048],[-0.004476,-0.052445,0.998614]]
2025-10-26T22:53:43.861Z,1761519223.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:44.323Z,1761519224.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:44.638Z,1761519224.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463077,-0.885041,-0.047570],[0.886313,-0.462581,-0.021616],[-0.002874,-0.052172,0.998634]]
2025-10-26T22:53:44.657Z,1761519224.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:45.104Z,1761519225.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:45.447Z,1761519225.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467602,-0.882722,-0.046374],[0.883937,-0.467069,-0.022399],[-0.001888,-0.051466,0.998673]]
2025-10-26T22:53:45.497Z,1761519225.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:45.850Z,1761519225.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469970,-0.881477,-0.046113],[0.882681,-0.469413,-0.022921],[-0.001442,-0.051475,0.998673]]
2025-10-26T22:53:45.888Z,1761519225.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:46.259Z,1761519226.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472351,-0.880194,-0.046282],[0.881410,-0.471768,-0.023488],[-0.001161,-0.051888,0.998652]]
2025-10-26T22:53:46.310Z,1761519226.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:46.660Z,1761519226.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474407,-0.879065,-0.046726],[0.880305,-0.473808,-0.023863],[-0.001162,-0.052454,0.998623]]
2025-10-26T22:53:46.684Z,1761519226.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:47.062Z,1761519227.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476157,-0.878106,-0.046953],[0.879359,-0.475555,-0.023962],[-0.001287,-0.052698,0.998610]]
2025-10-26T22:53:47.096Z,1761519227.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:47.466Z,1761519227.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477836,-0.877202,-0.046801],[0.878448,-0.477244,-0.023810],[-0.001449,-0.052490,0.998620]]
2025-10-26T22:53:47.523Z,1761519227.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:47.876Z,1761519227.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480547,-0.875783,-0.045595],[0.876966,-0.480024,-0.022512],[-0.002171,-0.050803,0.998706]]
2025-10-26T22:53:47.895Z,1761519227.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:48.280Z,1761519228.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482084,-0.874963,-0.045101],[0.876121,-0.481595,-0.021860],[-0.002594,-0.050052,0.998743]]
2025-10-26T22:53:48.317Z,1761519228.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:48.682Z,1761519228.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483820,-0.873998,-0.045233],[0.875162,-0.483348,-0.021575],[-0.003007,-0.050024,0.998743]]
2025-10-26T22:53:48.765Z,1761519228.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:49.087Z,1761519229.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485743,-0.872902,-0.045774],[0.874095,-0.485279,-0.021509],[-0.003437,-0.050459,0.998720]]
2025-10-26T22:53:49.122Z,1761519229.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:49.499Z,1761519229.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487757,-0.871749,-0.046329],[0.872971,-0.487296,-0.021539],[-0.003800,-0.050949,0.998694]]
2025-10-26T22:53:49.566Z,1761519229.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:49.892Z,1761519229.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489696,-0.870644,-0.046660],[0.871884,-0.489243,-0.021463],[-0.004142,-0.051192,0.998680]]
2025-10-26T22:53:49.912Z,1761519229.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:50.294Z,1761519230.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491714,-0.869513,-0.046521],[0.870746,-0.491274,-0.021246],[-0.004381,-0.050955,0.998691]]
2025-10-26T22:53:50.338Z,1761519230.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:50.460Z,1761519230.460 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:53:50.698Z,1761519230.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493806,-0.868337,-0.046338],[0.869560,-0.493378,-0.021052],[-0.004582,-0.050689,0.998704]]
2025-10-26T22:53:50.753Z,1761519230.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:51.103Z,1761519231.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496009,-0.867096,-0.046041],[0.868304,-0.495591,-0.020906],[-0.004690,-0.050347,0.998721]]
2025-10-26T22:53:51.123Z,1761519231.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:51.464Z,1761519231.464 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:53:51.517Z,1761519231.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498206,-0.865832,-0.046102],[0.867045,-0.497789,-0.020935],[-0.004823,-0.050403,0.998717]]
2025-10-26T22:53:51.555Z,1761519231.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:51.910Z,1761519231.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500513,-0.864477,-0.046543],[0.865715,-0.500089,-0.021196],[-0.004952,-0.050902,0.998691]]
2025-10-26T22:53:51.945Z,1761519231.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:52.314Z,1761519232.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502716,-0.863170,-0.047058],[0.864437,-0.502281,-0.021511],[-0.005068,-0.051493,0.998661]]
2025-10-26T22:53:52.417Z,1761519232.417 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:53:52.418Z,1761519232.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:52.616Z,1761519232.616 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:53:52.617Z,1761519232.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:53:52.732Z,1761519232.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504513,-0.862108,-0.047289],[0.863388,-0.504083,-0.021483],[-0.005317,-0.051667,0.998650]]
2025-10-26T22:53:52.786Z,1761519232.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:52.869Z,1761519232.869 [DAT](INFO): DAT read: user:735>

2025-10-26T22:53:52.870Z,1761519232.870 [DAT](INFO): DAT read: Tx time:22:53:51.9854

2025-10-26T22:53:52.870Z,1761519232.870 [DAT](INFO): Ping request sent.
2025-10-26T22:53:52.870Z,1761519232.870 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:53:52.871Z,1761519232.871 [DAT](INFO): publishing transmit ping time
2025-10-26T22:53:52.872Z,1761519232.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001148
2025-10-26T22:53:53.120Z,1761519233.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250026
2025-10-26T22:53:53.124Z,1761519233.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506271,-0.861084,-0.047155],[0.862357,-0.505851,-0.021321],[-0.005495,-0.051458,0.998660]]
2025-10-26T22:53:53.168Z,1761519233.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:53.373Z,1761519233.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502555
2025-10-26T22:53:53.530Z,1761519233.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507520,-0.860359,-0.046960],[0.861619,-0.507129,-0.020781],[-0.005936,-0.051008,0.998681]]
2025-10-26T22:53:53.596Z,1761519233.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:53.625Z,1761519233.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754228
2025-10-26T22:53:53.879Z,1761519233.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008548
2025-10-26T22:53:53.937Z,1761519233.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508914,-0.859538,-0.046920],[0.860795,-0.508541,-0.020455],[-0.006279,-0.050798,0.998689]]
2025-10-26T22:53:53.956Z,1761519233.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:54.128Z,1761519234.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258106
2025-10-26T22:53:54.336Z,1761519234.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509938,-0.858928,-0.046971],[0.860185,-0.509590,-0.020017],[-0.006743,-0.050611,0.998696]]
2025-10-26T22:53:54.381Z,1761519234.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510158
2025-10-26T22:53:54.381Z,1761519234.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:54.632Z,1761519234.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761977
2025-10-26T22:53:54.744Z,1761519234.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510948,-0.858307,-0.047347],[0.859581,-0.510616,-0.019772],[-0.007206,-0.050801,0.998683]]
2025-10-26T22:53:54.783Z,1761519234.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:54.885Z,1761519234.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014805
2025-10-26T22:53:55.136Z,1761519235.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265936
2025-10-26T22:53:55.144Z,1761519235.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511725,-0.857812,-0.047928],[0.859114,-0.511413,-0.019482],[-0.007799,-0.051145,0.998661]]
2025-10-26T22:53:55.163Z,1761519235.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:55.388Z,1761519235.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517956
2025-10-26T22:53:55.556Z,1761519235.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512348,-0.857405,-0.048537],[0.858737,-0.512060,-0.019127],[-0.008455,-0.051480,0.998638]]
2025-10-26T22:53:55.592Z,1761519235.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:55.641Z,1761519235.641 [DAT](INFO): DAT read: Rx Time:22:53:54.4052

2025-10-26T22:53:55.641Z,1761519235.641 [DAT](INFO): Rx dataTimestamp_ set to:1761519235.641206
2025-10-26T22:53:55.642Z,1761519235.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771684
2025-10-26T22:53:55.892Z,1761519235.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022035
2025-10-26T22:53:55.950Z,1761519235.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512955,-0.857028,-0.048792],[0.858369,-0.512690,-0.018748],[-0.008948,-0.051498,0.998633]]
2025-10-26T22:53:55.985Z,1761519235.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T22:53:56.144Z,1761519236.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274048
2025-10-26T22:53:56.362Z,1761519236.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513413,-0.856740,-0.049028],[0.858089,-0.513175,-0.018290],[-0.009491,-0.051461,0.998630]]
2025-10-26T22:53:56.402Z,1761519236.402 [DAT](INFO): DAT read: 22:53:54.4052 LVL= 32752, 28753, 32754, 32755, AGC= 68, IDX= 429,-0.24, 1.249, 3.078, 1.690, 2.082, PHS=-0.731, 1.041,-0.436, RAW= 321.1,   1.5, CAL= 319.3,  -1.4, ROT= 190.7,   1.4

2025-10-26T22:53:56.403Z,1761519236.403 [DAT](INFO): got valid direction response:
 22:53:54.4052 LVL= 32752, 28753, 32754, 32755, AGC= 68, IDX= 429,-0.24, 1.249, 3.078, 1.690, 2.082, PHS=-0.731, 1.041,-0.436, RAW= 321.1,   1.5, CAL= 319.3,  -1.4, ROT= 190.7,   1.4

2025-10-26T22:53:56.404Z,1761519236.404 [DAT](INFO): DAT read: Bearing  98.5, -10.2 (Local)

2025-10-26T22:53:56.404Z,1761519236.404 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.5, -10.2 (Local)

2025-10-26T22:53:56.406Z,1761519236.406 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m  (Round-trip  15.7 ms) speed  0.0 m/s

2025-10-26T22:53:56.406Z,1761519236.406 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:53:56.407Z,1761519236.407 [DAT](INFO): direction in FSK: [-0.982319,-0.185611,-0.024432]
2025-10-26T22:53:56.408Z,1761519236.408 [DAT](INFO): publishing direction and range info
2025-10-26T22:53:56.428Z,1761519236.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 18.400180 s,
      deltaX: -0.900001 m,
      approachRate: -0.048913 m/s,
      rangeRepo size: 4

2025-10-26T22:53:56.430Z,1761519236.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.642620 m,
      bearing: 311.648914 deg,
      lat: 36.779441 deg,
      lon: -121.859355 deg,
      deltaT: 18.400180 s,
      deltaX: -0.894723 m,
      approachRate: -0.048626 m/s,
      posRepo size: 4

2025-10-26T22:53:56.430Z,1761519236.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:53:56.759Z,1761519236.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513816,-0.856490,-0.049184],[0.857842,-0.513604,-0.017818],[-0.010000,-0.051347,0.998631]]
2025-10-26T22:53:56.789Z,1761519236.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:53:57.163Z,1761519237.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514298,-0.856182,-0.049494],[0.857547,-0.514109,-0.017455],[-0.010500,-0.051421,0.998622]]
2025-10-26T22:53:57.195Z,1761519237.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:53:57.569Z,1761519237.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515059,-0.855722,-0.049536],[0.857088,-0.514882,-0.017257],[-0.010738,-0.051345,0.998623]]
2025-10-26T22:53:57.678Z,1761519237.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:53:57.982Z,1761519237.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515997,-0.855137,-0.049869],[0.856520,-0.515825,-0.017260],[-0.010964,-0.051620,0.998607]]
2025-10-26T22:53:58.009Z,1761519238.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:53:58.392Z,1761519238.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516828,-0.854627,-0.050016],[0.856016,-0.516664,-0.017160],[-0.011176,-0.051683,0.998601]]
2025-10-26T22:53:58.442Z,1761519238.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:53:58.787Z,1761519238.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518057,-0.853870,-0.050231],[0.855272,-0.517891,-0.017277],[-0.011262,-0.051911,0.998588]]
2025-10-26T22:53:58.836Z,1761519238.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:53:59.191Z,1761519239.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519642,-0.852905,-0.050258],[0.854312,-0.519463,-0.017573],[-0.011119,-0.052068,0.998582]]
2025-10-26T22:53:59.229Z,1761519239.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:53:59.594Z,1761519239.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521476,-0.851789,-0.050180],[0.853197,-0.521277,-0.018009],[-0.010818,-0.052204,0.998578]]
2025-10-26T22:53:59.642Z,1761519239.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:53:59.998Z,1761519239.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523134,-0.850780,-0.050046],[0.852185,-0.522920,-0.018320],[-0.010584,-0.052232,0.998579]]
2025-10-26T22:54:00.017Z,1761519240.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:00.425Z,1761519240.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525034,-0.849634,-0.049612],[0.851020,-0.524802,-0.018640],[-0.010199,-0.052007,0.998595]]
2025-10-26T22:54:00.471Z,1761519240.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:00.826Z,1761519240.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526889,-0.848509,-0.049201],[0.849877,-0.526639,-0.018966],[-0.009819,-0.051808,0.998609]]
2025-10-26T22:54:00.845Z,1761519240.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:01.237Z,1761519241.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528985,-0.847240,-0.048571],[0.848581,-0.528710,-0.019390],[-0.009252,-0.051473,0.998632]]
2025-10-26T22:54:01.255Z,1761519241.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:01.641Z,1761519241.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530944,-0.846031,-0.048263],[0.847360,-0.530649,-0.019801],[-0.008858,-0.051409,0.998638]]
2025-10-26T22:54:01.678Z,1761519241.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:02.039Z,1761519242.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532808,-0.844878,-0.047929],[0.846194,-0.532492,-0.020206],[-0.008450,-0.051323,0.998646]]
2025-10-26T22:54:02.074Z,1761519242.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:02.453Z,1761519242.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534602,-0.843756,-0.047719],[0.845065,-0.534263,-0.020666],[-0.008057,-0.051374,0.998647]]
2025-10-26T22:54:02.498Z,1761519242.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:02.850Z,1761519242.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535981,-0.842873,-0.047839],[0.844192,-0.535631,-0.020945],[-0.007970,-0.051611,0.998635]]
2025-10-26T22:54:02.868Z,1761519242.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:03.250Z,1761519243.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537172,-0.842119,-0.047760],[0.843436,-0.536816,-0.021097],[-0.007873,-0.051615,0.998636]]
2025-10-26T22:54:03.275Z,1761519243.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:03.654Z,1761519243.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537962,-0.841614,-0.047780],[0.842931,-0.537610,-0.021027],[-0.007991,-0.051587,0.998637]]
2025-10-26T22:54:03.706Z,1761519243.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:04.058Z,1761519244.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538491,-0.841271,-0.047853],[0.842591,-0.538150,-0.020856],[-0.008207,-0.051552,0.998637]]
2025-10-26T22:54:04.076Z,1761519244.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:04.481Z,1761519244.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538755,-0.841095,-0.047979],[0.842419,-0.538431,-0.020548],[-0.008550,-0.051489,0.998637]]
2025-10-26T22:54:04.567Z,1761519244.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:04.868Z,1761519244.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538555,-0.841198,-0.048408],[0.842540,-0.538260,-0.020059],[-0.009183,-0.051588,0.998626]]
2025-10-26T22:54:04.887Z,1761519244.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:05.270Z,1761519245.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538026,-0.841534,-0.048467],[0.842871,-0.537770,-0.019286],[-0.009835,-0.051228,0.998639]]
2025-10-26T22:54:05.357Z,1761519245.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:05.674Z,1761519245.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537335,-0.841954,-0.048831],[0.843301,-0.537124,-0.018462],[-0.010684,-0.051100,0.998636]]
2025-10-26T22:54:05.776Z,1761519245.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:06.079Z,1761519246.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536438,-0.842489,-0.049454],[0.843858,-0.536278,-0.017574],[-0.011715,-0.051159,0.998622]]
2025-10-26T22:54:06.139Z,1761519246.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:06.508Z,1761519246.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535816,-0.842856,-0.049961],[0.844242,-0.535697,-0.016869],[-0.012546,-0.051218,0.998609]]
2025-10-26T22:54:06.569Z,1761519246.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:06.886Z,1761519246.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534845,-0.843433,-0.050613],[0.844840,-0.534781,-0.015941],[-0.013622,-0.051286,0.998591]]
2025-10-26T22:54:06.920Z,1761519246.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:07.290Z,1761519247.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533785,-0.844060,-0.051344],[0.845492,-0.533776,-0.015037],[-0.014714,-0.051437,0.998568]]
2025-10-26T22:54:07.309Z,1761519247.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:07.714Z,1761519247.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533000,-0.844526,-0.051833],[0.845971,-0.533039,-0.014234],[-0.015608,-0.051436,0.998554]]
2025-10-26T22:54:07.765Z,1761519247.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:08.100Z,1761519248.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532613,-0.844756,-0.052063],[0.846204,-0.532683,-0.013670],[-0.016185,-0.051337,0.998550]]
2025-10-26T22:54:08.119Z,1761519248.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:08.537Z,1761519248.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532361,-0.844909,-0.052161],[0.846353,-0.532459,-0.013159],[-0.016656,-0.051152,0.998552]]
2025-10-26T22:54:08.595Z,1761519248.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:08.906Z,1761519248.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532016,-0.845109,-0.052437],[0.846559,-0.532145,-0.012631],[-0.017230,-0.051110,0.998544]]
2025-10-26T22:54:08.925Z,1761519248.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:09.311Z,1761519249.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532263,-0.844933,-0.052762],[0.846400,-0.532399,-0.012614],[-0.017432,-0.051372,0.998527]]
2025-10-26T22:54:09.330Z,1761519249.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:09.725Z,1761519249.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532691,-0.844653,-0.052924],[0.846131,-0.532821,-0.012800],[-0.017387,-0.051599,0.998516]]
2025-10-26T22:54:09.767Z,1761519249.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:10.118Z,1761519250.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533336,-0.844250,-0.052865],[0.845730,-0.533449,-0.013126],[-0.017120,-0.051710,0.998515]]
2025-10-26T22:54:10.154Z,1761519250.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:10.564Z,1761519250.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534053,-0.843814,-0.052583],[0.845286,-0.534143,-0.013494],[-0.016700,-0.051654,0.998525]]
2025-10-26T22:54:10.632Z,1761519250.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:10.929Z,1761519250.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535380,-0.842999,-0.052157],[0.844461,-0.535429,-0.014217],[-0.015941,-0.051656,0.998538]]
2025-10-26T22:54:10.948Z,1761519250.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:11.330Z,1761519251.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536620,-0.842242,-0.051645],[0.843688,-0.536628,-0.014895],[-0.015169,-0.051565,0.998554]]
2025-10-26T22:54:11.357Z,1761519251.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:11.738Z,1761519251.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538283,-0.841229,-0.050834],[0.842645,-0.538239,-0.015719],[-0.014137,-0.051296,0.998583]]
2025-10-26T22:54:11.842Z,1761519251.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:12.138Z,1761519252.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539875,-0.840255,-0.050061],[0.841643,-0.539780,-0.016574],[-0.013095,-0.051082,0.998609]]
2025-10-26T22:54:12.164Z,1761519252.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:12.593Z,1761519252.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541324,-0.839358,-0.049454],[0.840727,-0.541179,-0.017436],[-0.012128,-0.051016,0.998624]]
2025-10-26T22:54:12.655Z,1761519252.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:12.949Z,1761519252.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542769,-0.838448,-0.049056],[0.839808,-0.542570,-0.018458],[-0.011141,-0.051216,0.998625]]
2025-10-26T22:54:12.987Z,1761519252.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:13.350Z,1761519253.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544175,-0.837556,-0.048718],[0.838910,-0.543920,-0.019495],[-0.010171,-0.051479,0.998622]]
2025-10-26T22:54:13.369Z,1761519253.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:13.757Z,1761519253.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545031,-0.837020,-0.048357],[0.838362,-0.544739,-0.020190],[-0.009442,-0.051545,0.998626]]
2025-10-26T22:54:13.817Z,1761519253.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:14.160Z,1761519254.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545846,-0.836520,-0.047824],[0.837840,-0.545520,-0.020771],[-0.008713,-0.051407,0.998640]]
2025-10-26T22:54:14.185Z,1761519254.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:14.612Z,1761519254.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546556,-0.836087,-0.047283],[0.837384,-0.546199,-0.021314],[-0.008006,-0.051243,0.998654]]
2025-10-26T22:54:14.661Z,1761519254.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:14.966Z,1761519254.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547054,-0.835780,-0.046946],[0.837064,-0.546672,-0.021775],[-0.007465,-0.051209,0.998660]]
2025-10-26T22:54:14.985Z,1761519254.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:15.372Z,1761519255.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547431,-0.835546,-0.046719],[0.836822,-0.547024,-0.022229],[-0.006983,-0.051265,0.998661]]
2025-10-26T22:54:15.391Z,1761519255.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:15.774Z,1761519255.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547451,-0.835547,-0.046461],[0.836811,-0.547034,-0.022407],[-0.006694,-0.051146,0.998669]]
2025-10-26T22:54:15.819Z,1761519255.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:16.184Z,1761519256.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547343,-0.835624,-0.046352],[0.836882,-0.546923,-0.022441],[-0.006599,-0.051074,0.998673]]
2025-10-26T22:54:16.227Z,1761519256.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:16.601Z,1761519256.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547107,-0.835780,-0.046323],[0.837036,-0.546688,-0.022410],[-0.006594,-0.051035,0.998675]]
2025-10-26T22:54:16.667Z,1761519256.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:17.057Z,1761519257.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:17.390Z,1761519257.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546600,-0.836080,-0.046888],[0.837366,-0.546186,-0.022358],[-0.006917,-0.051484,0.998650]]
2025-10-26T22:54:17.436Z,1761519257.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:17.794Z,1761519257.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546320,-0.836255,-0.047036],[0.837546,-0.545916,-0.022187],[-0.007123,-0.051516,0.998647]]
2025-10-26T22:54:17.859Z,1761519257.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:18.204Z,1761519258.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546324,-0.836235,-0.047334],[0.837541,-0.545925,-0.022127],[-0.007338,-0.051733,0.998634]]
2025-10-26T22:54:18.313Z,1761519258.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:18.607Z,1761519258.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546439,-0.836169,-0.047171],[0.837466,-0.546048,-0.021954],[-0.007401,-0.051501,0.998646]]
2025-10-26T22:54:18.716Z,1761519258.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:19.006Z,1761519259.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546691,-0.835998,-0.047297],[0.837300,-0.546306,-0.021865],[-0.007560,-0.051555,0.998642]]
2025-10-26T22:54:19.064Z,1761519259.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:19.410Z,1761519259.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547229,-0.835642,-0.047363],[0.836948,-0.546847,-0.021840],[-0.007650,-0.051592,0.998639]]
2025-10-26T22:54:19.454Z,1761519259.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:19.816Z,1761519259.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548133,-0.835046,-0.047417],[0.836356,-0.547746,-0.021972],[-0.007625,-0.051701,0.998634]]
2025-10-26T22:54:19.877Z,1761519259.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:20.218Z,1761519260.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549158,-0.834384,-0.047214],[0.835685,-0.548767,-0.022030],[-0.007528,-0.051554,0.998642]]
2025-10-26T22:54:20.247Z,1761519260.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:20.623Z,1761519260.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550406,-0.833578,-0.046914],[0.834865,-0.550008,-0.022179],[-0.007315,-0.051374,0.998653]]
2025-10-26T22:54:20.716Z,1761519260.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:21.080Z,1761519261.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:21.452Z,1761519261.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553756,-0.831398,-0.046165],[0.832652,-0.553329,-0.022741],[-0.006638,-0.051032,0.998675]]
2025-10-26T22:54:21.487Z,1761519261.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:21.585Z,1761519261.585 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:54:21.917Z,1761519261.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:22.269Z,1761519262.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557875,-0.828689,-0.045282],[0.829906,-0.557402,-0.023647],[-0.005644,-0.050772,0.998694]]
2025-10-26T22:54:22.287Z,1761519262.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:22.588Z,1761519262.588 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:54:22.670Z,1761519262.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559925,-0.827318,-0.045035],[0.828527,-0.559430,-0.024115],[-0.005243,-0.050815,0.998694]]
2025-10-26T22:54:22.759Z,1761519262.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:23.067Z,1761519263.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561785,-0.826069,-0.044816],[0.827269,-0.561269,-0.024565],[-0.004861,-0.050876,0.998693]]
2025-10-26T22:54:23.132Z,1761519263.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:23.500Z,1761519263.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563425,-0.824955,-0.044728],[0.826154,-0.562895,-0.024880],[-0.004652,-0.050971,0.998689]]
2025-10-26T22:54:23.532Z,1761519263.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:23.902Z,1761519263.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565312,-0.823664,-0.044726],[0.824866,-0.564756,-0.025426],[-0.004316,-0.051266,0.998676]]
2025-10-26T22:54:23.953Z,1761519263.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:24.319Z,1761519264.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568290,-0.821632,-0.044362],[0.822819,-0.567712,-0.025908],[-0.003897,-0.051225,0.998680]]
2025-10-26T22:54:24.338Z,1761519264.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:24.743Z,1761519264.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569520,-0.820793,-0.044116],[0.821969,-0.568942,-0.025938],[-0.003810,-0.051034,0.998690]]
2025-10-26T22:54:24.805Z,1761519264.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:25.120Z,1761519265.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570305,-0.820254,-0.043986],[0.821423,-0.569740,-0.025686],[-0.003992,-0.050780,0.998702]]
2025-10-26T22:54:25.174Z,1761519265.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:25.524Z,1761519265.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570717,-0.819970,-0.043951],[0.821136,-0.570172,-0.025301],[-0.004313,-0.050529,0.998713]]
2025-10-26T22:54:25.542Z,1761519265.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:25.940Z,1761519265.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571075,-0.819706,-0.044210],[0.820884,-0.570548,-0.024982],[-0.004746,-0.050558,0.998710]]
2025-10-26T22:54:25.984Z,1761519265.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:26.333Z,1761519266.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571447,-0.819428,-0.044571],[0.820623,-0.570934,-0.024757],[-0.005160,-0.050724,0.998699]]
2025-10-26T22:54:26.352Z,1761519266.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:26.807Z,1761519266.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571618,-0.819289,-0.044922],[0.820500,-0.571125,-0.024407],[-0.005660,-0.050810,0.998692]]
2025-10-26T22:54:26.877Z,1761519266.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:27.134Z,1761519267.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571779,-0.819154,-0.045334],[0.820384,-0.571304,-0.024102],[-0.006157,-0.050972,0.998681]]
2025-10-26T22:54:27.176Z,1761519267.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:27.538Z,1761519267.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571754,-0.819140,-0.045910],[0.820397,-0.571306,-0.023654],[-0.006853,-0.051189,0.998666]]
2025-10-26T22:54:27.557Z,1761519267.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:27.947Z,1761519267.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572188,-0.818813,-0.046325],[0.820091,-0.571752,-0.023480],[-0.007261,-0.051425,0.998650]]
2025-10-26T22:54:27.985Z,1761519267.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:28.381Z,1761519268.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:28.755Z,1761519268.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573248,-0.818063,-0.046471],[0.819343,-0.572850,-0.022793],[-0.007975,-0.051141,0.998660]]
2025-10-26T22:54:28.841Z,1761519268.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:29.158Z,1761519269.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574183,-0.817405,-0.046511],[0.818686,-0.573795,-0.022628],[-0.008191,-0.051070,0.998661]]
2025-10-26T22:54:29.216Z,1761519269.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:29.569Z,1761519269.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575470,-0.816490,-0.046675],[0.817781,-0.575080,-0.022744],[-0.008272,-0.051258,0.998651]]
2025-10-26T22:54:29.588Z,1761519269.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:29.964Z,1761519269.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577037,-0.815380,-0.046742],[0.816677,-0.576638,-0.022974],[-0.008220,-0.051430,0.998643]]
2025-10-26T22:54:30.063Z,1761519270.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:30.418Z,1761519270.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578967,-0.814007,-0.046798],[0.815311,-0.578550,-0.023405],[-0.008024,-0.051706,0.998630]]
2025-10-26T22:54:30.445Z,1761519270.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:30.871Z,1761519270.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581058,-0.812518,-0.046756],[0.813825,-0.580621,-0.023830],[-0.007785,-0.051898,0.998622]]
2025-10-26T22:54:30.949Z,1761519270.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:31.424Z,1761519271.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:31.789Z,1761519271.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585908,-0.809078,-0.045876],[0.810350,-0.585421,-0.024811],[-0.006783,-0.051713,0.998639]]
2025-10-26T22:54:31.885Z,1761519271.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:32.256Z,1761519272.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:32.590Z,1761519272.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591377,-0.805161,-0.044597],[0.806377,-0.590830,-0.025998],[-0.005416,-0.051336,0.998667]]
2025-10-26T22:54:32.626Z,1761519272.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:32.994Z,1761519272.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594434,-0.802942,-0.043948],[0.804131,-0.593852,-0.026715],[-0.004649,-0.051220,0.998677]]
2025-10-26T22:54:33.046Z,1761519273.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:33.401Z,1761519273.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597344,-0.800803,-0.043532],[0.801975,-0.596727,-0.027439],[-0.004004,-0.051302,0.998675]]
2025-10-26T22:54:33.419Z,1761519273.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:33.806Z,1761519273.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600313,-0.798617,-0.042846],[0.799759,-0.599658,-0.028210],[-0.003164,-0.051202,0.998683]]
2025-10-26T22:54:33.875Z,1761519273.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:34.206Z,1761519274.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603180,-0.796477,-0.042417],[0.797602,-0.602489,-0.028951],[-0.002497,-0.051294,0.998680]]
2025-10-26T22:54:34.283Z,1761519274.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:34.610Z,1761519274.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605920,-0.794410,-0.042110],[0.795523,-0.605195,-0.029692],[-0.001897,-0.051490,0.998672]]
2025-10-26T22:54:34.645Z,1761519274.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:35.014Z,1761519275.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608385,-0.792541,-0.041792],[0.793641,-0.607633,-0.030264],[-0.001408,-0.051580,0.998668]]
2025-10-26T22:54:35.074Z,1761519275.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:35.420Z,1761519275.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610520,-0.790922,-0.041313],[0.792000,-0.609753,-0.030604],[-0.000985,-0.051404,0.998677]]
2025-10-26T22:54:35.438Z,1761519275.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:35.822Z,1761519275.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612161,-0.789670,-0.040990],[0.790733,-0.611390,-0.030716],[-0.000805,-0.051216,0.998687]]
2025-10-26T22:54:35.851Z,1761519275.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:36.227Z,1761519276.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613452,-0.788665,-0.041045],[0.789732,-0.612685,-0.030682],[-0.000950,-0.051236,0.998686]]
2025-10-26T22:54:36.281Z,1761519276.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:36.631Z,1761519276.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614556,-0.787797,-0.041197],[0.788872,-0.613794,-0.030610],[-0.001172,-0.051311,0.998682]]
2025-10-26T22:54:36.666Z,1761519276.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:37.034Z,1761519277.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615374,-0.787135,-0.041624],[0.788234,-0.614620,-0.030492],[-0.001582,-0.051573,0.998668]]
2025-10-26T22:54:37.076Z,1761519277.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:37.438Z,1761519277.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616077,-0.786567,-0.041973],[0.787683,-0.615342,-0.030154],[-0.002109,-0.051639,0.998664]]
2025-10-26T22:54:37.469Z,1761519277.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:37.842Z,1761519277.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616359,-0.786320,-0.042457],[0.787460,-0.615655,-0.029585],[-0.002875,-0.051668,0.998660]]
2025-10-26T22:54:37.861Z,1761519277.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:38.304Z,1761519278.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:38.666Z,1761519278.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616440,-0.786202,-0.043462],[0.787387,-0.615825,-0.027942],[-0.004798,-0.051446,0.998664]]
2025-10-26T22:54:38.685Z,1761519278.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:39.054Z,1761519279.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616084,-0.786438,-0.044225],[0.787658,-0.615522,-0.026978],[-0.006005,-0.051455,0.998657]]
2025-10-26T22:54:39.100Z,1761519279.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:39.458Z,1761519279.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615844,-0.786573,-0.045150],[0.787835,-0.615330,-0.026160],[-0.007205,-0.051681,0.998638]]
2025-10-26T22:54:39.476Z,1761519279.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:39.864Z,1761519279.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615555,-0.786746,-0.046072],[0.788049,-0.615090,-0.025352],[-0.008393,-0.051913,0.998616]]
2025-10-26T22:54:39.882Z,1761519279.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:40.335Z,1761519280.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:40.674Z,1761519280.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614961,-0.787118,-0.047627],[0.788485,-0.614602,-0.023587],[-0.010706,-0.052058,0.998587]]
2025-10-26T22:54:40.714Z,1761519280.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:41.076Z,1761519281.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614793,-0.787209,-0.048285],[0.788601,-0.614487,-0.022697],[-0.011803,-0.052031,0.998576]]
2025-10-26T22:54:41.144Z,1761519281.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:41.479Z,1761519281.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614937,-0.787066,-0.048777],[0.788474,-0.614677,-0.021941],[-0.012713,-0.051952,0.998569]]
2025-10-26T22:54:41.504Z,1761519281.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:41.919Z,1761519281.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:42.287Z,1761519282.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616493,-0.785824,-0.049157],[0.787241,-0.616286,-0.021070],[-0.013738,-0.051688,0.998569]]
2025-10-26T22:54:42.353Z,1761519282.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:42.692Z,1761519282.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617607,-0.784946,-0.049209],[0.786362,-0.617413,-0.020870],[-0.014001,-0.051586,0.998570]]
2025-10-26T22:54:42.729Z,1761519282.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:43.094Z,1761519283.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619263,-0.783635,-0.049299],[0.785060,-0.619057,-0.021182],[-0.013920,-0.051820,0.998559]]
2025-10-26T22:54:43.222Z,1761519283.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:43.498Z,1761519283.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621023,-0.782240,-0.049300],[0.783672,-0.620798,-0.021610],[-0.013701,-0.052056,0.998550]]
2025-10-26T22:54:43.550Z,1761519283.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:43.921Z,1761519283.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622794,-0.780851,-0.048979],[0.782273,-0.622546,-0.022029],[-0.013290,-0.052035,0.998557]]
2025-10-26T22:54:44.044Z,1761519284.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:44.326Z,1761519284.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624553,-0.779478,-0.048444],[0.780879,-0.624277,-0.022491],[-0.012712,-0.051876,0.998573]]
2025-10-26T22:54:44.388Z,1761519284.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:44.740Z,1761519284.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628429,-0.776424,-0.047361],[0.777785,-0.628079,-0.023809],[-0.011261,-0.051799,0.998594]]
2025-10-26T22:54:44.758Z,1761519284.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:45.147Z,1761519285.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630675,-0.774650,-0.046544],[0.775980,-0.630273,-0.024712],[-0.010192,-0.051702,0.998611]]
2025-10-26T22:54:45.187Z,1761519285.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:45.540Z,1761519285.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632481,-0.773218,-0.045839],[0.774519,-0.632044,-0.025316],[-0.009398,-0.051515,0.998628]]
2025-10-26T22:54:45.575Z,1761519285.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:45.947Z,1761519285.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634729,-0.771414,-0.045168],[0.772690,-0.634239,-0.026307],[-0.008353,-0.051598,0.998633]]
2025-10-26T22:54:45.969Z,1761519285.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:46.346Z,1761519286.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636876,-0.769681,-0.044503],[0.770931,-0.636336,-0.027226],[-0.007364,-0.051648,0.998638]]
2025-10-26T22:54:46.384Z,1761519286.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:46.747Z,1761519286.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638772,-0.768138,-0.043982],[0.769369,-0.638189,-0.028037],[-0.006532,-0.051748,0.998639]]
2025-10-26T22:54:46.772Z,1761519286.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:47.156Z,1761519287.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640438,-0.766780,-0.043454],[0.767988,-0.639820,-0.028709],[-0.005789,-0.051759,0.998643]]
2025-10-26T22:54:47.201Z,1761519287.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:47.554Z,1761519287.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641828,-0.765643,-0.042989],[0.766831,-0.641183,-0.029225],[-0.005188,-0.051723,0.998648]]
2025-10-26T22:54:47.573Z,1761519287.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:47.962Z,1761519287.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643015,-0.764663,-0.042673],[0.765838,-0.642350,-0.029631],[-0.004754,-0.051734,0.998650]]
2025-10-26T22:54:47.984Z,1761519287.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:48.362Z,1761519288.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643887,-0.763940,-0.042487],[0.765107,-0.643212,-0.029828],[-0.004541,-0.051713,0.998652]]
2025-10-26T22:54:48.406Z,1761519288.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:48.767Z,1761519288.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644605,-0.763334,-0.042492],[0.764503,-0.643921,-0.030011],[-0.004453,-0.051831,0.998646]]
2025-10-26T22:54:48.785Z,1761519288.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:49.171Z,1761519289.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644884,-0.763086,-0.042715],[0.764266,-0.644203,-0.029994],[-0.004629,-0.051989,0.998637]]
2025-10-26T22:54:49.223Z,1761519289.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:49.587Z,1761519289.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645087,-0.762891,-0.043127],[0.764094,-0.644408,-0.029992],[-0.004911,-0.052301,0.998619]]
2025-10-26T22:54:49.606Z,1761519289.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:49.995Z,1761519289.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644762,-0.763142,-0.043548],[0.764364,-0.644102,-0.029651],[-0.005421,-0.052405,0.998611]]
2025-10-26T22:54:50.014Z,1761519290.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:50.382Z,1761519290.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644081,-0.763693,-0.043961],[0.764933,-0.643455,-0.029045],[-0.006105,-0.052335,0.998611]]
2025-10-26T22:54:50.429Z,1761519290.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:50.833Z,1761519290.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:51.251Z,1761519291.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:51.594Z,1761519291.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641419,-0.765831,-0.045656],[0.767142,-0.640913,-0.026904],[-0.008657,-0.052281,0.998595]]
2025-10-26T22:54:51.633Z,1761519291.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:52.026Z,1761519292.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640327,-0.766716,-0.046127],[0.768043,-0.639868,-0.026057],[-0.009537,-0.052112,0.998596]]
2025-10-26T22:54:52.045Z,1761519292.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:52.403Z,1761519292.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639788,-0.767139,-0.046582],[0.768485,-0.639354,-0.025628],[-0.010122,-0.052194,0.998586]]
2025-10-26T22:54:52.454Z,1761519292.454 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:54:52.460Z,1761519292.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:52.604Z,1761519292.604 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:54:52.604Z,1761519292.604 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:54:52.709Z,1761519292.709 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:54:52.807Z,1761519292.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638998,-0.767778,-0.046889],[0.769133,-0.638602,-0.024938],[-0.010797,-0.051999,0.998589]]
2025-10-26T22:54:52.826Z,1761519292.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:52.857Z,1761519292.857 [DAT](INFO): DAT read: user:736>

2025-10-26T22:54:52.858Z,1761519292.858 [DAT](INFO): DAT read: Tx time:22:54:51.9853

2025-10-26T22:54:52.859Z,1761519292.859 [DAT](INFO): Ping request sent.
2025-10-26T22:54:52.859Z,1761519292.859 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:54:52.859Z,1761519292.859 [DAT](INFO): publishing transmit ping time
2025-10-26T22:54:52.860Z,1761519292.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001315
2025-10-26T22:54:53.110Z,1761519293.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250415
2025-10-26T22:54:53.259Z,1761519293.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:53.360Z,1761519293.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501654
2025-10-26T22:54:53.614Z,1761519293.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754651
2025-10-26T22:54:53.622Z,1761519293.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638219,-0.768391,-0.047441],[0.769768,-0.637860,-0.024334],[-0.011563,-0.052049,0.998578]]
2025-10-26T22:54:53.712Z,1761519293.712 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:54:53.769Z,1761519293.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:53.864Z,1761519293.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005607
2025-10-26T22:54:54.118Z,1761519294.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258855
2025-10-26T22:54:54.205Z,1761519294.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638107,-0.768465,-0.047768],[0.769858,-0.637752,-0.024320],[-0.011775,-0.052294,0.998562]]
2025-10-26T22:54:54.242Z,1761519294.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:54.368Z,1761519294.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509649
2025-10-26T22:54:54.591Z,1761519294.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638207,-0.768386,-0.047689],[0.769775,-0.637851,-0.024340],[-0.011716,-0.052243,0.998566]]
2025-10-26T22:54:54.613Z,1761519294.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:54.630Z,1761519294.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771492
2025-10-26T22:54:54.880Z,1761519294.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021604
2025-10-26T22:54:54.995Z,1761519294.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638698,-0.768001,-0.047317],[0.769374,-0.638326,-0.024571],[-0.011333,-0.052098,0.998578]]
2025-10-26T22:54:55.022Z,1761519295.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:55.135Z,1761519295.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275574
2025-10-26T22:54:55.385Z,1761519295.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525806
2025-10-26T22:54:55.407Z,1761519295.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639301,-0.767519,-0.046985],[0.768878,-0.638913,-0.024830],[-0.010962,-0.052000,0.998587]]
2025-10-26T22:54:55.445Z,1761519295.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:55.638Z,1761519295.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778718
2025-10-26T22:54:55.802Z,1761519295.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640176,-0.766817,-0.046550],[0.768158,-0.639763,-0.025244],[-0.010424,-0.051918,0.998597]]
2025-10-26T22:54:55.837Z,1761519295.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:55.888Z,1761519295.888 [DAT](INFO): DAT read: Rx Time:22:54:54.3984

2025-10-26T22:54:55.889Z,1761519295.889 [DAT](INFO): Rx dataTimestamp_ set to:1761519295.888608
2025-10-26T22:54:55.889Z,1761519295.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030725
2025-10-26T22:54:56.143Z,1761519296.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283857
2025-10-26T22:54:56.363Z,1761519296.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T22:54:56.400Z,1761519296.400 [DAT](INFO): DAT read: 22:54:54.3984 LVL= 28384, 18657, 27682, 32755, AGC= 58, IDX= 377, 0.16,-3.097,-0.747,-1.861,-1.763, PHS=-1.232, 1.061,-0.143, RAW= 301.6,   3.2, CAL= 299.4,  -0.7, ROT= 210.6,   0.7

2025-10-26T22:54:56.402Z,1761519296.402 [DAT](INFO): got valid direction response:
 22:54:54.3984 LVL= 28384, 18657, 27682, 32755, AGC= 58, IDX= 377, 0.16,-3.097,-0.747,-1.861,-1.763, PHS=-1.232, 1.061,-0.143, RAW= 301.6,   3.2, CAL= 299.4,  -0.7, ROT= 210.6,   0.7

2025-10-26T22:54:56.403Z,1761519296.403 [DAT](INFO): DAT read: Bearing 108.4, -29.9 (Local)

2025-10-26T22:54:56.404Z,1761519296.404 [DAT](INFO): Local bearing/azimuth received:
 Bearing 108.4, -29.9 (Local)

2025-10-26T22:54:56.405Z,1761519296.405 [DAT](INFO): DAT read: Range 11 to 50 : 6.7 m  (Round-trip  9.0 ms) speed  0.0 m/s

2025-10-26T22:54:56.406Z,1761519296.406 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:54:56.408Z,1761519296.408 [DAT](INFO): direction in FSK: [-0.860678,-0.509003,-0.012217]
2025-10-26T22:54:56.408Z,1761519296.408 [DAT](INFO): publishing direction and range info
2025-10-26T22:54:56.647Z,1761519296.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642170,-0.765187,-0.045886],[0.766508,-0.641683,-0.026612],[-0.009082,-0.052261,0.998592]]
2025-10-26T22:54:56.683Z,1761519296.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.700000 m,
      deltaT: 59.996324 s,
      deltaX: -5.000000 m,
      approachRate: -0.083338 m/s,
      rangeRepo size: 4

2025-10-26T22:54:56.685Z,1761519296.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.667809 m,
      bearing: 340.557859 deg,
      lat: 36.779440 deg,
      lon: -121.859359 deg,
      deltaT: 59.996324 s,
      deltaX: -4.974811 m,
      approachRate: -0.082919 m/s,
      posRepo size: 4

2025-10-26T22:54:56.685Z,1761519296.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:54:57.048Z,1761519297.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643419,-0.764152,-0.045644],[0.765470,-0.642877,-0.027650],[-0.008214,-0.052730,0.998575]]
2025-10-26T22:54:57.077Z,1761519297.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:54:57.450Z,1761519297.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644562,-0.763204,-0.045382],[0.764517,-0.643965,-0.028687],[-0.007330,-0.053186,0.998558]]
2025-10-26T22:54:57.501Z,1761519297.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:54:57.854Z,1761519297.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645694,-0.762269,-0.045008],[0.763569,-0.645044,-0.029663],[-0.006421,-0.053520,0.998546]]
2025-10-26T22:54:57.898Z,1761519297.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:54:58.264Z,1761519298.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646529,-0.761604,-0.044274],[0.762869,-0.645846,-0.030229],[-0.005571,-0.053319,0.998562]]
2025-10-26T22:54:58.321Z,1761519298.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:54:58.667Z,1761519298.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647193,-0.761084,-0.043499],[0.762311,-0.646488,-0.030594],[-0.004837,-0.052960,0.998585]]
2025-10-26T22:54:58.685Z,1761519298.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:54:59.066Z,1761519299.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647610,-0.760772,-0.042748],[0.761961,-0.646889,-0.030828],[-0.004200,-0.052537,0.998610]]
2025-10-26T22:54:59.123Z,1761519299.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:54:59.496Z,1761519299.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648082,-0.760407,-0.042073],[0.761562,-0.647339,-0.031221],[-0.003494,-0.052275,0.998627]]
2025-10-26T22:54:59.643Z,1761519299.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:54:59.898Z,1761519299.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648401,-0.760147,-0.041871],[0.761293,-0.647635,-0.031662],[-0.003049,-0.052406,0.998621]]
2025-10-26T22:54:59.917Z,1761519299.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:00.302Z,1761519300.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648543,-0.760027,-0.041844],[0.761173,-0.647754,-0.032090],[-0.002715,-0.052663,0.998609]]
2025-10-26T22:55:00.360Z,1761519300.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:00.711Z,1761519300.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648593,-0.759988,-0.041784],[0.761132,-0.647784,-0.032473],[-0.002389,-0.052865,0.998599]]
2025-10-26T22:55:00.745Z,1761519300.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:01.133Z,1761519301.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648622,-0.759965,-0.041739],[0.761107,-0.647798,-0.032760],[-0.002142,-0.053017,0.998591]]
2025-10-26T22:55:01.157Z,1761519301.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:01.514Z,1761519301.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648456,-0.760124,-0.041433],[0.761250,-0.647634,-0.032698],[-0.001979,-0.052744,0.998606]]
2025-10-26T22:55:01.579Z,1761519301.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:01.920Z,1761519301.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648192,-0.760368,-0.041083],[0.761475,-0.647381,-0.032459],[-0.001915,-0.052323,0.998628]]
2025-10-26T22:55:01.940Z,1761519301.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:02.325Z,1761519302.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647840,-0.760679,-0.040879],[0.761774,-0.647046,-0.032122],[-0.002016,-0.051951,0.998648]]
2025-10-26T22:55:02.373Z,1761519302.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:02.733Z,1761519302.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647755,-0.760746,-0.040974],[0.761846,-0.646966,-0.032045],[-0.002131,-0.051973,0.998646]]
2025-10-26T22:55:02.767Z,1761519302.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:03.138Z,1761519303.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647993,-0.760536,-0.041103],[0.761643,-0.647190,-0.032310],[-0.002029,-0.052242,0.998632]]
2025-10-26T22:55:03.182Z,1761519303.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:03.558Z,1761519303.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648584,-0.760002,-0.041656],[0.761140,-0.647754,-0.032865],[-0.002006,-0.053022,0.998591]]
2025-10-26T22:55:03.621Z,1761519303.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:03.961Z,1761519303.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648829,-0.759802,-0.041498],[0.760932,-0.648002,-0.032808],[-0.001963,-0.052864,0.998600]]
2025-10-26T22:55:03.981Z,1761519303.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:04.363Z,1761519304.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648891,-0.759770,-0.041108],[0.760879,-0.648079,-0.032509],[-0.001942,-0.052373,0.998626]]
2025-10-26T22:55:04.401Z,1761519304.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:04.779Z,1761519304.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648953,-0.759738,-0.040721],[0.760826,-0.648159,-0.032163],[-0.001958,-0.051854,0.998653]]
2025-10-26T22:55:04.799Z,1761519304.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:05.178Z,1761519305.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649149,-0.759578,-0.040579],[0.760658,-0.648363,-0.032001],[-0.002003,-0.051640,0.998664]]
2025-10-26T22:55:05.214Z,1761519305.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:05.582Z,1761519305.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649370,-0.759389,-0.040592],[0.760470,-0.648588,-0.031926],[-0.002083,-0.051601,0.998666]]
2025-10-26T22:55:05.651Z,1761519305.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:06.035Z,1761519306.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649660,-0.759133,-0.040738],[0.760222,-0.648875,-0.031989],[-0.002150,-0.051752,0.998658]]
2025-10-26T22:55:06.065Z,1761519306.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:06.434Z,1761519306.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649699,-0.759078,-0.041135],[0.760188,-0.648916,-0.031975],[-0.002422,-0.052044,0.998642]]
2025-10-26T22:55:06.487Z,1761519306.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:06.838Z,1761519306.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649519,-0.759220,-0.041350],[0.760341,-0.648748,-0.031746],[-0.002723,-0.052060,0.998640]]
2025-10-26T22:55:06.856Z,1761519306.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:07.243Z,1761519307.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648999,-0.759661,-0.041421],[0.760783,-0.648253,-0.031273],[-0.003094,-0.051808,0.998652]]
2025-10-26T22:55:07.261Z,1761519307.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:07.655Z,1761519307.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648341,-0.760219,-0.041483],[0.761342,-0.647622,-0.030726],[-0.003507,-0.051504,0.998667]]
2025-10-26T22:55:07.728Z,1761519307.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:08.138Z,1761519308.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647562,-0.760872,-0.041682],[0.762002,-0.646870,-0.030198],[-0.003986,-0.051317,0.998675]]
2025-10-26T22:55:08.198Z,1761519308.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:08.526Z,1761519308.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646595,-0.761677,-0.041988],[0.762821,-0.645927,-0.029707],[-0.004494,-0.051238,0.998676]]
2025-10-26T22:55:08.569Z,1761519308.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:08.930Z,1761519308.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645591,-0.762494,-0.042597],[0.763667,-0.644941,-0.029395],[-0.005058,-0.051507,0.998660]]
2025-10-26T22:55:08.968Z,1761519308.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:09.334Z,1761519309.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644639,-0.763267,-0.043178],[0.764467,-0.644002,-0.029182],[-0.005533,-0.051820,0.998641]]
2025-10-26T22:55:09.357Z,1761519309.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:09.750Z,1761519309.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643550,-0.764156,-0.043703],[0.765381,-0.642926,-0.028947],[-0.005977,-0.052078,0.998625]]
2025-10-26T22:55:09.860Z,1761519309.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:10.218Z,1761519310.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642355,-0.765140,-0.044049],[0.766381,-0.641749,-0.028615],[-0.006373,-0.052139,0.998619]]
2025-10-26T22:55:10.243Z,1761519310.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:10.619Z,1761519310.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641344,-0.765989,-0.044037],[0.767226,-0.640752,-0.028304],[-0.006536,-0.051939,0.998629]]
2025-10-26T22:55:10.677Z,1761519310.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:11.019Z,1761519311.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640605,-0.766608,-0.044015],[0.767843,-0.640017,-0.028208],[-0.006546,-0.051867,0.998633]]
2025-10-26T22:55:11.068Z,1761519311.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:11.465Z,1761519311.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639923,-0.767190,-0.043793],[0.768412,-0.639336,-0.028126],[-0.006421,-0.051649,0.998645]]
2025-10-26T22:55:11.501Z,1761519311.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:11.828Z,1761519311.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639337,-0.767685,-0.043671],[0.768901,-0.638751,-0.028100],[-0.006323,-0.051544,0.998651]]
2025-10-26T22:55:11.846Z,1761519311.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:12.230Z,1761519312.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639202,-0.767811,-0.043436],[0.769016,-0.638595,-0.028466],[-0.005882,-0.051599,0.998651]]
2025-10-26T22:55:12.259Z,1761519312.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:12.634Z,1761519312.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639481,-0.767605,-0.042968],[0.768790,-0.638837,-0.029141],[-0.005081,-0.051669,0.998651]]
2025-10-26T22:55:12.683Z,1761519312.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:13.040Z,1761519313.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639810,-0.767352,-0.042594],[0.768521,-0.639123,-0.029950],[-0.004240,-0.051896,0.998643]]
2025-10-26T22:55:13.059Z,1761519313.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:13.482Z,1761519313.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640396,-0.766902,-0.041886],[0.768039,-0.639657,-0.030907],[-0.003090,-0.051963,0.998644]]
2025-10-26T22:55:13.530Z,1761519313.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:13.846Z,1761519313.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640631,-0.766743,-0.041191],[0.767846,-0.639844,-0.031801],[-0.001973,-0.052001,0.998645]]
2025-10-26T22:55:13.873Z,1761519313.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:14.250Z,1761519314.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640940,-0.766540,-0.040153],[0.767591,-0.640103,-0.032740],[-0.000605,-0.051806,0.998657]]
2025-10-26T22:55:14.285Z,1761519314.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:14.654Z,1761519314.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641255,-0.766321,-0.039296],[0.767328,-0.640364,-0.033797],[0.000736,-0.051826,0.998656]]
2025-10-26T22:55:14.714Z,1761519314.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:15.061Z,1761519315.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641566,-0.766114,-0.038236],[0.767064,-0.640618,-0.034950],[0.002281,-0.051752,0.998657]]
2025-10-26T22:55:15.086Z,1761519315.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:15.490Z,1761519315.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641802,-0.765960,-0.037356],[0.766861,-0.640790,-0.036215],[0.003802,-0.051890,0.998646]]
2025-10-26T22:55:15.544Z,1761519315.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:15.866Z,1761519315.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642012,-0.765831,-0.036390],[0.766676,-0.640938,-0.037511],[0.005404,-0.051982,0.998633]]
2025-10-26T22:55:15.916Z,1761519315.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:16.273Z,1761519316.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641939,-0.765936,-0.035437],[0.766725,-0.640814,-0.038601],[0.006857,-0.051950,0.998626]]
2025-10-26T22:55:16.292Z,1761519316.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:16.674Z,1761519316.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641799,-0.766097,-0.034471],[0.766828,-0.640627,-0.039647],[0.008290,-0.051879,0.998619]]
2025-10-26T22:55:16.753Z,1761519316.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:17.086Z,1761519317.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641451,-0.766431,-0.033526],[0.767103,-0.640238,-0.040602],[0.009655,-0.051762,0.998613]]
2025-10-26T22:55:17.126Z,1761519317.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:17.496Z,1761519317.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641047,-0.766807,-0.032653],[0.767424,-0.639796,-0.041476],[0.010912,-0.051647,0.998606]]
2025-10-26T22:55:17.586Z,1761519317.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:17.888Z,1761519317.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640460,-0.767327,-0.031934],[0.767898,-0.639182,-0.042175],[0.011950,-0.051534,0.998600]]
2025-10-26T22:55:17.925Z,1761519317.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:18.290Z,1761519318.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639755,-0.767931,-0.031555],[0.768474,-0.638449,-0.042791],[0.012714,-0.051624,0.998586]]
2025-10-26T22:55:18.321Z,1761519318.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:18.694Z,1761519318.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639031,-0.768546,-0.031238],[0.769064,-0.637698,-0.043393],[0.013429,-0.051754,0.998570]]
2025-10-26T22:55:18.764Z,1761519318.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:19.110Z,1761519319.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638011,-0.769398,-0.031120],[0.769902,-0.636657,-0.043806],[0.013892,-0.051908,0.998555]]
2025-10-26T22:55:19.128Z,1761519319.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:19.508Z,1761519319.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636890,-0.770328,-0.031074],[0.770824,-0.635522,-0.044073],[0.014203,-0.052023,0.998545]]
2025-10-26T22:55:19.612Z,1761519319.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:19.907Z,1761519319.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635523,-0.771456,-0.031083],[0.771951,-0.634156,-0.044034],[0.014259,-0.051979,0.998546]]
2025-10-26T22:55:19.934Z,1761519319.934 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,    ,78.35,        +4.22,   7.87,  0.00
2025-10-26T22:55:19.950Z,1761519319.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:20.310Z,1761519320.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633933,-0.772763,-0.031084],[0.773259,-0.632579,-0.043756],[0.014150,-0.051775,0.998559]]
2025-10-26T22:55:20.329Z,1761519320.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:20.720Z,1761519320.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632531,-0.773903,-0.031280],[0.774410,-0.631188,-0.043492],[0.013915,-0.051733,0.998564]]
2025-10-26T22:55:20.793Z,1761519320.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:21.128Z,1761519321.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631185,-0.774990,-0.031562],[0.775513,-0.629852,-0.043202],[0.013602,-0.051745,0.998568]]
2025-10-26T22:55:21.148Z,1761519321.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:21.522Z,1761519321.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629763,-0.776123,-0.032108],[0.776677,-0.628441,-0.042827],[0.013061,-0.051909,0.998566]]
2025-10-26T22:55:21.617Z,1761519321.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:21.926Z,1761519321.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628240,-0.777334,-0.032652],[0.777920,-0.626935,-0.042336],[0.012439,-0.051998,0.998570]]
2025-10-26T22:55:21.992Z,1761519321.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:22.331Z,1761519322.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626959,-0.778337,-0.033376],[0.778964,-0.625669,-0.041872],[0.011708,-0.052250,0.998565]]
2025-10-26T22:55:22.356Z,1761519322.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:22.741Z,1761519322.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625577,-0.779419,-0.034056],[0.780086,-0.624311,-0.041250],[0.010889,-0.052371,0.998568]]
2025-10-26T22:55:22.801Z,1761519322.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:23.224Z,1761519323.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:23.542Z,1761519323.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622940,-0.781468,-0.035406],[0.782218,-0.621739,-0.039702],[0.009012,-0.052427,0.998584]]
2025-10-26T22:55:23.643Z,1761519323.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:23.836Z,1761519323.836 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:55:23.946Z,1761519323.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621590,-0.782519,-0.035922],[0.783302,-0.620437,-0.038659],[0.007965,-0.052168,0.998607]]
2025-10-26T22:55:24.007Z,1761519324.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:24.350Z,1761519324.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620657,-0.783225,-0.036636],[0.784050,-0.619536,-0.037941],[0.007019,-0.052273,0.998608]]
2025-10-26T22:55:24.389Z,1761519324.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:24.754Z,1761519324.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619466,-0.784134,-0.037357],[0.785001,-0.618389,-0.036987],[0.005902,-0.052238,0.998617]]
2025-10-26T22:55:24.814Z,1761519324.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:24.840Z,1761519324.840 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:55:25.158Z,1761519325.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618343,-0.784989,-0.038005],[0.785893,-0.617308,-0.036094],[0.004872,-0.052186,0.998625]]
2025-10-26T22:55:25.182Z,1761519325.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:25.574Z,1761519325.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616274,-0.786547,-0.039370],[0.787527,-0.615322,-0.034348],[0.002791,-0.052173,0.998634]]
2025-10-26T22:55:25.649Z,1761519325.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:25.973Z,1761519325.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615229,-0.787332,-0.040030],[0.788347,-0.614322,-0.033437],[0.001735,-0.052129,0.998639]]
2025-10-26T22:55:26.010Z,1761519326.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:26.375Z,1761519326.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614307,-0.788021,-0.040611],[0.789066,-0.613442,-0.032604],[0.000780,-0.052074,0.998643]]
2025-10-26T22:55:26.401Z,1761519326.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:26.839Z,1761519326.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:27.183Z,1761519327.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612678,-0.789230,-0.041744],[0.790332,-0.611887,-0.031131],[-0.000973,-0.052064,0.998643]]
2025-10-26T22:55:27.202Z,1761519327.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:27.591Z,1761519327.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611958,-0.789766,-0.042162],[0.790889,-0.611202,-0.030460],[-0.001713,-0.051986,0.998646]]
2025-10-26T22:55:27.610Z,1761519327.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:27.986Z,1761519327.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611271,-0.790276,-0.042563],[0.791418,-0.610548,-0.029822],[-0.002419,-0.051915,0.998649]]
2025-10-26T22:55:28.031Z,1761519328.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:28.390Z,1761519328.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610835,-0.790584,-0.043086],[0.791752,-0.610136,-0.029383],[-0.003058,-0.052062,0.998639]]
2025-10-26T22:55:28.425Z,1761519328.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:28.794Z,1761519328.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610654,-0.790705,-0.043448],[0.791890,-0.609967,-0.029166],[-0.003440,-0.052216,0.998630]]
2025-10-26T22:55:28.851Z,1761519328.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:29.206Z,1761519329.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610326,-0.790936,-0.043845],[0.792141,-0.609654,-0.028893],[-0.003877,-0.052365,0.998620]]
2025-10-26T22:55:29.224Z,1761519329.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:29.621Z,1761519329.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609935,-0.791230,-0.043974],[0.792440,-0.609282,-0.028538],[-0.004213,-0.052253,0.998625]]
2025-10-26T22:55:29.639Z,1761519329.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:30.006Z,1761519330.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609750,-0.791371,-0.044012],[0.792582,-0.609104,-0.028385],[-0.004345,-0.052191,0.998628]]
2025-10-26T22:55:30.056Z,1761519330.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:30.410Z,1761519330.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609697,-0.791411,-0.044018],[0.792622,-0.609053,-0.028368],[-0.004359,-0.052186,0.998628]]
2025-10-26T22:55:30.437Z,1761519330.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:30.815Z,1761519330.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609695,-0.791413,-0.044015],[0.792624,-0.609050,-0.028376],[-0.004350,-0.052188,0.998628]]
2025-10-26T22:55:30.855Z,1761519330.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:31.218Z,1761519331.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609546,-0.791536,-0.043872],[0.792739,-0.608907,-0.028241],[-0.004360,-0.051993,0.998638]]
2025-10-26T22:55:31.247Z,1761519331.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:31.622Z,1761519331.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609424,-0.791645,-0.043599],[0.792833,-0.608785,-0.028230],[-0.004195,-0.051771,0.998650]]
2025-10-26T22:55:31.640Z,1761519331.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:32.027Z,1761519332.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609459,-0.791632,-0.043346],[0.792808,-0.608807,-0.028439],[-0.003876,-0.051697,0.998655]]
2025-10-26T22:55:32.100Z,1761519332.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:32.432Z,1761519332.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609438,-0.791650,-0.043313],[0.792826,-0.608772,-0.028719],[-0.003632,-0.051843,0.998649]]
2025-10-26T22:55:32.457Z,1761519332.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:32.834Z,1761519332.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609362,-0.791715,-0.043201],[0.792885,-0.608678,-0.029038],[-0.003306,-0.051948,0.998644]]
2025-10-26T22:55:32.887Z,1761519332.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:33.238Z,1761519333.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609107,-0.791918,-0.043067],[0.793083,-0.608408,-0.029318],[-0.002985,-0.052013,0.998642]]
2025-10-26T22:55:33.261Z,1761519333.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:33.643Z,1761519333.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608690,-0.792248,-0.042883],[0.793403,-0.607980,-0.029531],[-0.002676,-0.051999,0.998644]]
2025-10-26T22:55:33.663Z,1761519333.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:34.051Z,1761519334.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608308,-0.792554,-0.042657],[0.793698,-0.607578,-0.029884],[-0.002232,-0.052035,0.998643]]
2025-10-26T22:55:34.100Z,1761519334.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:34.450Z,1761519334.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607779,-0.792975,-0.042365],[0.794104,-0.607032,-0.030176],[-0.001788,-0.051982,0.998646]]
2025-10-26T22:55:34.482Z,1761519334.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:34.857Z,1761519334.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607362,-0.793314,-0.042017],[0.794425,-0.606593,-0.030567],[-0.001238,-0.051945,0.998649]]
2025-10-26T22:55:34.915Z,1761519334.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:35.260Z,1761519335.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606643,-0.793881,-0.041681],[0.794974,-0.605861,-0.030811],[-0.000792,-0.051826,0.998656]]
2025-10-26T22:55:35.278Z,1761519335.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:35.662Z,1761519335.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605962,-0.794419,-0.041333],[0.795493,-0.605161,-0.031147],[-0.000269,-0.051754,0.998660]]
2025-10-26T22:55:35.692Z,1761519335.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:36.074Z,1761519336.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605515,-0.794769,-0.041159],[0.795834,-0.604679,-0.031803],[0.000388,-0.052013,0.998646]]
2025-10-26T22:55:36.118Z,1761519336.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:36.470Z,1761519336.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605135,-0.795074,-0.040844],[0.796122,-0.604263,-0.032496],[0.001156,-0.052181,0.998637]]
2025-10-26T22:55:36.570Z,1761519336.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:36.957Z,1761519336.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:37.278Z,1761519337.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604042,-0.795953,-0.039907],[0.796948,-0.603118,-0.033492],[0.002590,-0.052035,0.998642]]
2025-10-26T22:55:37.316Z,1761519337.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:37.682Z,1761519337.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603521,-0.796379,-0.039273],[0.797340,-0.602574,-0.033968],[0.003387,-0.051814,0.998651]]
2025-10-26T22:55:37.737Z,1761519337.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:38.087Z,1761519338.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603055,-0.796757,-0.038774],[0.797689,-0.602082,-0.034495],[0.004139,-0.051732,0.998652]]
2025-10-26T22:55:38.150Z,1761519338.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:38.490Z,1761519338.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602393,-0.797276,-0.038377],[0.798185,-0.601400,-0.034908],[0.004751,-0.051660,0.998653]]
2025-10-26T22:55:38.517Z,1761519338.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:38.898Z,1761519338.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601980,-0.797599,-0.038153],[0.798492,-0.600951,-0.035609],[0.005474,-0.051901,0.998637]]
2025-10-26T22:55:38.950Z,1761519338.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:39.299Z,1761519339.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601219,-0.798187,-0.037860],[0.799061,-0.600169,-0.036032],[0.006038,-0.051915,0.998633]]
2025-10-26T22:55:39.318Z,1761519339.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:39.707Z,1761519339.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600627,-0.798646,-0.037571],[0.799501,-0.599548,-0.036607],[0.006711,-0.052025,0.998623]]
2025-10-26T22:55:39.735Z,1761519339.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:40.106Z,1761519340.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599741,-0.799322,-0.037351],[0.800162,-0.598645,-0.036947],[0.007173,-0.052045,0.998619]]
2025-10-26T22:55:40.150Z,1761519340.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:40.513Z,1761519340.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598818,-0.800023,-0.037149],[0.800849,-0.597711,-0.037176],[0.007537,-0.052012,0.998618]]
2025-10-26T22:55:40.554Z,1761519340.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:40.917Z,1761519340.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597739,-0.800843,-0.036849],[0.801652,-0.596628,-0.037267],[0.007860,-0.051816,0.998626]]
2025-10-26T22:55:40.983Z,1761519340.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:41.319Z,1761519341.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596528,-0.801751,-0.036741],[0.802551,-0.595409,-0.037407],[0.008115,-0.051801,0.998625]]
2025-10-26T22:55:41.338Z,1761519341.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:41.733Z,1761519341.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595138,-0.802781,-0.036781],[0.803582,-0.594019,-0.037388],[0.008166,-0.051808,0.998624]]
2025-10-26T22:55:41.753Z,1761519341.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:42.126Z,1761519342.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593848,-0.803732,-0.036873],[0.804535,-0.592723,-0.037464],[0.008255,-0.051914,0.998617]]
2025-10-26T22:55:42.170Z,1761519342.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:42.535Z,1761519342.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592373,-0.804812,-0.037025],[0.805622,-0.591248,-0.037416],[0.008222,-0.051993,0.998614]]
2025-10-26T22:55:42.581Z,1761519342.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:42.941Z,1761519342.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591003,-0.805808,-0.037285],[0.806629,-0.589875,-0.037376],[0.008124,-0.052164,0.998605]]
2025-10-26T22:55:42.994Z,1761519342.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:43.338Z,1761519343.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589594,-0.806835,-0.037369],[0.807660,-0.588472,-0.037228],[0.008046,-0.052130,0.998608]]
2025-10-26T22:55:43.369Z,1761519343.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:43.744Z,1761519343.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588032,-0.807975,-0.037358],[0.808799,-0.586924,-0.036926],[0.007909,-0.051928,0.998619]]
2025-10-26T22:55:43.763Z,1761519343.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:44.146Z,1761519344.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586837,-0.808850,-0.037205],[0.809665,-0.585736,-0.036813],[0.007984,-0.051727,0.998629]]
2025-10-26T22:55:44.200Z,1761519344.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:44.561Z,1761519344.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585564,-0.809774,-0.037149],[0.810587,-0.584472,-0.036614],[0.007936,-0.051552,0.998639]]
2025-10-26T22:55:44.579Z,1761519344.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:44.955Z,1761519344.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584535,-0.810513,-0.037259],[0.811330,-0.583443,-0.036580],[0.007910,-0.051612,0.998636]]
2025-10-26T22:55:45.003Z,1761519345.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:45.358Z,1761519345.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583688,-0.811119,-0.037342],[0.811940,-0.582594,-0.036586],[0.007920,-0.051674,0.998633]]
2025-10-26T22:55:45.376Z,1761519345.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:45.762Z,1761519345.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583214,-0.811456,-0.037423],[0.812278,-0.582106,-0.036841],[0.008110,-0.051884,0.998620]]
2025-10-26T22:55:45.781Z,1761519345.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:46.168Z,1761519346.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582875,-0.811703,-0.037352],[0.812518,-0.581750,-0.037155],[0.008430,-0.052006,0.998611]]
2025-10-26T22:55:46.205Z,1761519346.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:46.572Z,1761519346.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582684,-0.811844,-0.037266],[0.812652,-0.581545,-0.037436],[0.008720,-0.052097,0.998604]]
2025-10-26T22:55:46.600Z,1761519346.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:46.982Z,1761519346.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582548,-0.811957,-0.036931],[0.812745,-0.581402,-0.037647],[0.009096,-0.051946,0.998608]]
2025-10-26T22:55:47.070Z,1761519347.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:47.433Z,1761519347.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582674,-0.811884,-0.036541],[0.812650,-0.581514,-0.037978],[0.009585,-0.051823,0.998610]]
2025-10-26T22:55:47.456Z,1761519347.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:47.836Z,1761519347.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582614,-0.811945,-0.036152],[0.812688,-0.581451,-0.038118],[0.009928,-0.051588,0.998619]]
2025-10-26T22:55:47.855Z,1761519347.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:48.242Z,1761519348.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582739,-0.811869,-0.035836],[0.812593,-0.581564,-0.038408],[0.010341,-0.051502,0.998619]]
2025-10-26T22:55:48.288Z,1761519348.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:48.642Z,1761519348.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582788,-0.811833,-0.035858],[0.812556,-0.581597,-0.038713],[0.010574,-0.051698,0.998607]]
2025-10-26T22:55:48.676Z,1761519348.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:49.054Z,1761519349.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583007,-0.811678,-0.035805],[0.812394,-0.581796,-0.039115],[0.010918,-0.051892,0.998593]]
2025-10-26T22:55:49.108Z,1761519349.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:49.460Z,1761519349.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582987,-0.811697,-0.035700],[0.812406,-0.581770,-0.039257],[0.011095,-0.051889,0.998591]]
2025-10-26T22:55:49.561Z,1761519349.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:49.864Z,1761519349.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582706,-0.811901,-0.035648],[0.812608,-0.581493,-0.039181],[0.011082,-0.051798,0.998596]]
2025-10-26T22:55:49.889Z,1761519349.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:50.266Z,1761519350.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582482,-0.812067,-0.035533],[0.812768,-0.581273,-0.039119],[0.011113,-0.051667,0.998603]]
2025-10-26T22:55:50.322Z,1761519350.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:50.670Z,1761519350.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581611,-0.812686,-0.035643],[0.813396,-0.580424,-0.038657],[0.010727,-0.051475,0.998617]]
2025-10-26T22:55:50.720Z,1761519350.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:51.074Z,1761519351.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580545,-0.813438,-0.035864],[0.814165,-0.579389,-0.037989],[0.010123,-0.051254,0.998634]]
2025-10-26T22:55:51.132Z,1761519351.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:51.480Z,1761519351.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579551,-0.814126,-0.036338],[0.814881,-0.578414,-0.037500],[0.009511,-0.051344,0.998636]]
2025-10-26T22:55:51.503Z,1761519351.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:51.920Z,1761519351.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:52.302Z,1761519352.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576875,-0.815968,-0.037563],[0.816794,-0.575793,-0.036183],[0.007896,-0.051555,0.998639]]
2025-10-26T22:55:52.338Z,1761519352.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:52.698Z,1761519352.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575162,-0.817145,-0.038247],[0.818011,-0.574120,-0.035279],[0.006870,-0.051578,0.998645]]
2025-10-26T22:55:52.737Z,1761519352.737 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:55:52.739Z,1761519352.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:52.864Z,1761519352.864 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:55:52.864Z,1761519352.864 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:55:53.102Z,1761519353.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573194,-0.818499,-0.038831],[0.819399,-0.572203,-0.034185],[0.005761,-0.051412,0.998661]]
2025-10-26T22:55:53.116Z,1761519353.116 [DAT](INFO): DAT read: user:737>

2025-10-26T22:55:53.117Z,1761519353.117 [DAT](INFO): DAT read: Tx time:22:55:52.2351

2025-10-26T22:55:53.117Z,1761519353.117 [DAT](INFO): Ping request sent.
2025-10-26T22:55:53.117Z,1761519353.117 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:55:53.118Z,1761519353.118 [DAT](INFO): publishing transmit ping time
2025-10-26T22:55:53.118Z,1761519353.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756
2025-10-26T22:55:53.200Z,1761519353.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:53.368Z,1761519353.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250958
2025-10-26T22:55:53.566Z,1761519353.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:53.622Z,1761519353.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504083
2025-10-26T22:55:53.872Z,1761519353.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755058
2025-10-26T22:55:53.910Z,1761519353.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569472,-0.821038,-0.039975],[0.822003,-0.568578,-0.032105],[0.003631,-0.051142,0.998685]]
2025-10-26T22:55:53.940Z,1761519353.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:54.124Z,1761519354.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007109
2025-10-26T22:55:54.314Z,1761519354.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567612,-0.822288,-0.040735],[0.823292,-0.566760,-0.031193],[0.002563,-0.051242,0.998683]]
2025-10-26T22:55:54.357Z,1761519354.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:54.377Z,1761519354.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259290
2025-10-26T22:55:54.628Z,1761519354.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511032
2025-10-26T22:55:54.724Z,1761519354.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565649,-0.823601,-0.041510],[0.824645,-0.564841,-0.030252],[0.001469,-0.051343,0.998680]]
2025-10-26T22:55:54.762Z,1761519354.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:54.880Z,1761519354.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762912
2025-10-26T22:55:54.980Z,1761519354.980 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:55:55.123Z,1761519355.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563808,-0.824819,-0.042351],[0.825905,-0.563039,-0.029452],[0.000448,-0.051583,0.998669]]
2025-10-26T22:55:55.132Z,1761519355.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015081
2025-10-26T22:55:55.183Z,1761519355.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:55.389Z,1761519355.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270619
2025-10-26T22:55:55.544Z,1761519355.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562153,-0.825906,-0.043156],[0.827033,-0.561416,-0.028797],[-0.000445,-0.051880,0.998653]]
2025-10-26T22:55:55.563Z,1761519355.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:55.636Z,1761519355.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519040
2025-10-26T22:55:55.892Z,1761519355.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774376
2025-10-26T22:55:55.942Z,1761519355.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560628,-0.826917,-0.043638],[0.828067,-0.559922,-0.028145],[-0.001160,-0.051914,0.998651]]
2025-10-26T22:55:55.971Z,1761519355.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:55.984Z,1761519355.984 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:55:56.140Z,1761519356.140 [DAT](INFO): DAT read: Rx Time:22:55:54.6457

2025-10-26T22:55:56.141Z,1761519356.141 [DAT](INFO): Rx dataTimestamp_ set to:1761519356.140556
2025-10-26T22:55:56.141Z,1761519356.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024031
2025-10-26T22:55:56.334Z,1761519356.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559231,-0.827847,-0.043932],[0.829010,-0.558552,-0.027601],[-0.001689,-0.051855,0.998653]]
2025-10-26T22:55:56.385Z,1761519356.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:56.395Z,1761519356.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277017
2025-10-26T22:55:56.645Z,1761519356.645 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m  (Round-trip  6.4 ms) speed  0.0 m/s

2025-10-26T22:55:56.646Z,1761519356.646 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-26T22:55:56.743Z,1761519356.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558037,-0.828647,-0.044033],[0.829814,-0.557379,-0.027163],[-0.002034,-0.051697,0.998661]]
2025-10-26T22:55:56.762Z,1761519356.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 60.251803 s,
      deltaX: -1.900000 m,
      approachRate: -0.031534 m/s,
      rangeRepo size: 4

2025-10-26T22:55:56.763Z,1761519356.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:57.142Z,1761519357.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556981,-0.829348,-0.044216],[0.830522,-0.556336,-0.026890],[-0.002298,-0.051700,0.998660]]
2025-10-26T22:55:57.187Z,1761519357.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:57.553Z,1761519357.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555950,-0.830033,-0.044320],[0.831212,-0.555315,-0.026685],[-0.002462,-0.051675,0.998661]]
2025-10-26T22:55:57.591Z,1761519357.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:57.950Z,1761519357.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555127,-0.830583,-0.044333],[0.831762,-0.554492,-0.026656],[-0.002443,-0.051672,0.998661]]
2025-10-26T22:55:57.968Z,1761519357.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:58.356Z,1761519358.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554416,-0.831060,-0.044284],[0.832237,-0.553771,-0.026839],[-0.002219,-0.051735,0.998658]]
2025-10-26T22:55:58.392Z,1761519358.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:58.758Z,1761519358.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553801,-0.831474,-0.044223],[0.832647,-0.553141,-0.027100],[-0.001929,-0.051830,0.998654]]
2025-10-26T22:55:58.784Z,1761519358.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:59.164Z,1761519359.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553222,-0.831861,-0.044191],[0.833033,-0.552544,-0.027411],[-0.001615,-0.051977,0.998647]]
2025-10-26T22:55:59.214Z,1761519359.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:59.584Z,1761519359.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552819,-0.832147,-0.043848],[0.833301,-0.552119,-0.027819],[-0.001059,-0.051917,0.998651]]
2025-10-26T22:55:59.642Z,1761519359.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:55:59.986Z,1761519359.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552275,-0.832529,-0.043461],[0.833662,-0.551560,-0.028082],[-0.000592,-0.051741,0.998660]]
2025-10-26T22:56:00.039Z,1761519360.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:00.390Z,1761519360.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551785,-0.832860,-0.043338],[0.833987,-0.551045,-0.028557],[-0.000097,-0.051901,0.998652]]
2025-10-26T22:56:00.458Z,1761519360.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:00.796Z,1761519360.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551314,-0.833190,-0.042973],[0.834298,-0.550551,-0.029009],[0.000511,-0.051845,0.998655]]
2025-10-26T22:56:00.819Z,1761519360.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:01.208Z,1761519361.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550245,-0.833911,-0.042691],[0.835002,-0.549427,-0.030018],[0.001577,-0.052165,0.998637]]
2025-10-26T22:56:01.245Z,1761519361.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:01.606Z,1761519361.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549532,-0.834392,-0.042477],[0.835470,-0.548692,-0.030442],[0.002094,-0.052217,0.998634]]
2025-10-26T22:56:01.641Z,1761519361.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:02.033Z,1761519362.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548856,-0.834856,-0.042107],[0.835913,-0.547995,-0.030840],[0.002673,-0.052125,0.998637]]
2025-10-26T22:56:02.060Z,1761519362.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:02.432Z,1761519362.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547911,-0.835494,-0.041749],[0.836530,-0.547036,-0.031118],[0.003161,-0.051974,0.998643]]
2025-10-26T22:56:02.546Z,1761519362.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:02.931Z,1761519362.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546880,-0.836172,-0.041697],[0.837204,-0.545987,-0.031429],[0.003514,-0.052097,0.998636]]
2025-10-26T22:56:02.958Z,1761519362.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:03.330Z,1761519363.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545661,-0.836972,-0.041616],[0.837997,-0.544758,-0.031612],[0.003788,-0.052123,0.998634]]
2025-10-26T22:56:03.389Z,1761519363.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:03.767Z,1761519363.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544339,-0.837839,-0.041469],[0.838855,-0.543429,-0.031722],[0.004043,-0.052054,0.998636]]
2025-10-26T22:56:03.812Z,1761519363.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:04.144Z,1761519364.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543006,-0.838717,-0.041216],[0.839718,-0.542090,-0.031822],[0.004347,-0.051889,0.998643]]
2025-10-26T22:56:04.166Z,1761519364.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:04.542Z,1761519364.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541611,-0.839626,-0.041054],[0.840617,-0.540694,-0.031826],[0.004524,-0.051748,0.998650]]
2025-10-26T22:56:04.593Z,1761519364.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:04.989Z,1761519364.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540146,-0.840576,-0.040918],[0.841558,-0.539228,-0.031821],[0.004684,-0.051623,0.998656]]
2025-10-26T22:56:05.026Z,1761519365.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:05.386Z,1761519365.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538753,-0.841463,-0.041062],[0.842450,-0.537825,-0.031967],[0.004815,-0.051815,0.998645]]
2025-10-26T22:56:05.430Z,1761519365.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:05.790Z,1761519365.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537236,-0.842429,-0.041122],[0.843418,-0.536304,-0.032010],[0.004913,-0.051880,0.998641]]
2025-10-26T22:56:05.809Z,1761519365.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:06.199Z,1761519366.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535585,-0.843476,-0.041185],[0.844467,-0.534652,-0.031987],[0.004960,-0.051911,0.998639]]
2025-10-26T22:56:06.275Z,1761519366.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:06.598Z,1761519366.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533785,-0.844610,-0.041326],[0.845606,-0.532854,-0.031902],[0.004924,-0.051974,0.998636]]
2025-10-26T22:56:06.651Z,1761519366.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:07.016Z,1761519367.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531984,-0.845747,-0.041296],[0.846740,-0.531060,-0.031729],[0.004904,-0.051846,0.998643]]
2025-10-26T22:56:07.048Z,1761519367.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:07.481Z,1761519367.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:07.827Z,1761519367.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528209,-0.848120,-0.041083],[0.849101,-0.527306,-0.031246],[0.004837,-0.051388,0.998667]]
2025-10-26T22:56:07.846Z,1761519367.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:08.246Z,1761519368.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526529,-0.849156,-0.041239],[0.850143,-0.525627,-0.031187],[0.004806,-0.051479,0.998662]]
2025-10-26T22:56:08.327Z,1761519368.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:08.684Z,1761519368.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:09.039Z,1761519369.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523353,-0.851096,-0.041685],[0.852102,-0.522440,-0.031277],[0.004842,-0.051888,0.998641]]
2025-10-26T22:56:09.076Z,1761519369.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:09.441Z,1761519369.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521958,-0.851945,-0.041830],[0.852957,-0.521035,-0.031421],[0.004974,-0.052079,0.998631]]
2025-10-26T22:56:09.517Z,1761519369.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:09.918Z,1761519369.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:10.335Z,1761519370.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519033,-0.853714,-0.042148],[0.854739,-0.518100,-0.031508],[0.005062,-0.052379,0.998614]]
2025-10-26T22:56:10.382Z,1761519370.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:10.789Z,1761519370.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:11.152Z,1761519371.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516783,-0.855083,-0.042058],[0.856099,-0.515834,-0.031782],[0.005481,-0.052430,0.998610]]
2025-10-26T22:56:11.171Z,1761519371.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:11.599Z,1761519371.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:11.950Z,1761519371.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515390,-0.855945,-0.041614],[0.856932,-0.514407,-0.032441],[0.006361,-0.052380,0.998607]]
2025-10-26T22:56:11.968Z,1761519371.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:12.376Z,1761519372.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514979,-0.856203,-0.041386],[0.857175,-0.513976,-0.032856],[0.006860,-0.052395,0.998603]]
2025-10-26T22:56:12.435Z,1761519372.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:12.758Z,1761519372.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514676,-0.856398,-0.041113],[0.857353,-0.513650,-0.033319],[0.007417,-0.052397,0.998599]]
2025-10-26T22:56:12.784Z,1761519372.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:13.165Z,1761519373.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514282,-0.856651,-0.040767],[0.857584,-0.513240,-0.033664],[0.007915,-0.052274,0.998601]]
2025-10-26T22:56:13.204Z,1761519373.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:13.567Z,1761519373.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514271,-0.856669,-0.040534],[0.857585,-0.513199,-0.034286],[0.008570,-0.052394,0.998590]]
2025-10-26T22:56:13.631Z,1761519373.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:13.972Z,1761519373.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513800,-0.856964,-0.040268],[0.857862,-0.512711,-0.034638],[0.009038,-0.052342,0.998588]]
2025-10-26T22:56:14.004Z,1761519374.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:14.404Z,1761519374.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513200,-0.857331,-0.040123],[0.858217,-0.512094,-0.034965],[0.009430,-0.052378,0.998583]]
2025-10-26T22:56:14.452Z,1761519374.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:14.778Z,1761519374.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512544,-0.857741,-0.039740],[0.858604,-0.511428,-0.035223],[0.009888,-0.052175,0.998589]]
2025-10-26T22:56:14.822Z,1761519374.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:15.187Z,1761519375.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511455,-0.858394,-0.039657],[0.859251,-0.510338,-0.035243],[0.010014,-0.052101,0.998592]]
2025-10-26T22:56:15.244Z,1761519375.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:15.737Z,1761519375.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:16.029Z,1761519376.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507351,-0.860827,-0.039643],[0.861680,-0.506238,-0.035082],[0.010131,-0.051958,0.998598]]
2025-10-26T22:56:16.079Z,1761519376.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:16.448Z,1761519376.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505478,-0.861919,-0.039846],[0.862782,-0.504372,-0.034863],[0.009952,-0.052001,0.998597]]
2025-10-26T22:56:16.545Z,1761519376.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:16.852Z,1761519376.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503423,-0.863109,-0.040095],[0.863986,-0.502329,-0.034559],[0.009687,-0.052040,0.998598]]
2025-10-26T22:56:16.870Z,1761519376.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:17.254Z,1761519377.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501291,-0.864338,-0.040334],[0.865228,-0.500213,-0.034176],[0.009364,-0.052030,0.998602]]
2025-10-26T22:56:17.300Z,1761519377.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:17.658Z,1761519377.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499115,-0.865584,-0.040620],[0.866489,-0.498051,-0.033801],[0.009027,-0.052067,0.998603]]
2025-10-26T22:56:17.737Z,1761519377.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:18.063Z,1761519378.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497022,-0.866776,-0.040854],[0.867694,-0.495968,-0.033521],[0.008793,-0.052110,0.998603]]
2025-10-26T22:56:18.083Z,1761519378.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:18.467Z,1761519378.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494696,-0.868092,-0.041129],[0.869026,-0.493662,-0.033047],[0.008384,-0.052090,0.998607]]
2025-10-26T22:56:18.540Z,1761519378.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:18.870Z,1761519378.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492718,-0.869208,-0.041311],[0.870150,-0.491693,-0.032805],[0.008202,-0.052110,0.998608]]
2025-10-26T22:56:18.905Z,1761519378.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:19.274Z,1761519379.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490580,-0.870406,-0.041530],[0.871360,-0.489567,-0.032490],[0.007947,-0.052126,0.998609]]
2025-10-26T22:56:19.293Z,1761519379.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:19.759Z,1761519379.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:20.082Z,1761519380.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487204,-0.872290,-0.041741],[0.873252,-0.486193,-0.032358],[0.007931,-0.052215,0.998604]]
2025-10-26T22:56:20.112Z,1761519380.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:20.498Z,1761519380.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485894,-0.873020,-0.041747],[0.873980,-0.484876,-0.032474],[0.008109,-0.052265,0.998600]]
2025-10-26T22:56:20.542Z,1761519380.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:20.890Z,1761519380.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485142,-0.873454,-0.041425],[0.874393,-0.484105,-0.032860],[0.008648,-0.052164,0.998601]]
2025-10-26T22:56:20.912Z,1761519380.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:21.300Z,1761519381.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484447,-0.873858,-0.041035],[0.874772,-0.483393,-0.033244],[0.009214,-0.052002,0.998605]]
2025-10-26T22:56:21.323Z,1761519381.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:21.699Z,1761519381.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484232,-0.873997,-0.040601],[0.874882,-0.483149,-0.033890],[0.010003,-0.051932,0.998601]]
2025-10-26T22:56:21.772Z,1761519381.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:22.106Z,1761519382.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484321,-0.873963,-0.040274],[0.874823,-0.483201,-0.034667],[0.010837,-0.052023,0.998587]]
2025-10-26T22:56:22.141Z,1761519382.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:22.520Z,1761519382.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484445,-0.873913,-0.039866],[0.874743,-0.483288,-0.035460],[0.011722,-0.052051,0.998576]]
2025-10-26T22:56:22.563Z,1761519382.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:22.911Z,1761519382.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484843,-0.873710,-0.039469],[0.874509,-0.483644,-0.036360],[0.012680,-0.052145,0.998559]]
2025-10-26T22:56:22.929Z,1761519382.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:23.314Z,1761519383.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485300,-0.873477,-0.038999],[0.874240,-0.484060,-0.037274],[0.013680,-0.052183,0.998544]]
2025-10-26T22:56:23.341Z,1761519383.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:23.740Z,1761519383.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485780,-0.873237,-0.038404],[0.873957,-0.484503,-0.038155],[0.014712,-0.052098,0.998534]]
2025-10-26T22:56:23.781Z,1761519383.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:24.122Z,1761519384.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486025,-0.873117,-0.038034],[0.873808,-0.484717,-0.038843],[0.015479,-0.052113,0.998521]]
2025-10-26T22:56:24.141Z,1761519384.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:24.549Z,1761519384.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486508,-0.872870,-0.037528],[0.873522,-0.485168,-0.039630],[0.016384,-0.052062,0.998509]]
2025-10-26T22:56:24.598Z,1761519384.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:24.930Z,1761519384.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486594,-0.872839,-0.037129],[0.873463,-0.485236,-0.040102],[0.016986,-0.051944,0.998506]]
2025-10-26T22:56:24.955Z,1761519384.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:25.335Z,1761519385.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486513,-0.872895,-0.036863],[0.873499,-0.485141,-0.040464],[0.017437,-0.051886,0.998501]]
2025-10-26T22:56:25.369Z,1761519385.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:25.741Z,1761519385.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486206,-0.873074,-0.036677],[0.873663,-0.484824,-0.040725],[0.017774,-0.051844,0.998497]]
2025-10-26T22:56:25.799Z,1761519385.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:26.112Z,1761519386.112 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:56:26.148Z,1761519386.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485591,-0.873414,-0.036738],[0.874003,-0.484200,-0.040856],[0.017895,-0.051948,0.998489]]
2025-10-26T22:56:26.168Z,1761519386.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:26.574Z,1761519386.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484926,-0.873776,-0.036920],[0.874373,-0.483531,-0.040861],[0.017852,-0.052097,0.998482]]
2025-10-26T22:56:26.627Z,1761519386.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:26.950Z,1761519386.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483975,-0.874295,-0.037101],[0.874904,-0.482587,-0.040649],[0.017635,-0.052133,0.998484]]
2025-10-26T22:56:26.995Z,1761519386.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:27.116Z,1761519387.116 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:56:27.356Z,1761519387.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482624,-0.875025,-0.037480],[0.875662,-0.481257,-0.040100],[0.017051,-0.052173,0.998492]]
2025-10-26T22:56:27.413Z,1761519387.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:27.760Z,1761519387.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481165,-0.875814,-0.037825],[0.876476,-0.479821,-0.039528],[0.016470,-0.052172,0.998502]]
2025-10-26T22:56:27.800Z,1761519387.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:28.190Z,1761519388.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:28.602Z,1761519388.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477694,-0.877676,-0.038636],[0.878402,-0.476423,-0.037840],[0.014804,-0.052014,0.998537]]
2025-10-26T22:56:28.659Z,1761519388.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:28.980Z,1761519388.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476105,-0.878515,-0.039196],[0.879278,-0.474865,-0.037066],[0.013951,-0.052111,0.998544]]
2025-10-26T22:56:29.068Z,1761519389.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:29.376Z,1761519389.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474270,-0.879484,-0.039683],[0.880284,-0.473074,-0.036075],[0.012955,-0.052042,0.998561]]
2025-10-26T22:56:29.402Z,1761519389.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:29.778Z,1761519389.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472741,-0.880280,-0.040286],[0.881119,-0.471578,-0.035263],[0.012044,-0.052167,0.998566]]
2025-10-26T22:56:29.834Z,1761519389.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:30.183Z,1761519390.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471211,-0.881071,-0.040909],[0.881950,-0.470083,-0.034427],[0.011102,-0.052302,0.998570]]
2025-10-26T22:56:30.225Z,1761519390.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:30.631Z,1761519390.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469863,-0.881772,-0.041314],[0.882680,-0.468774,-0.033565],[0.010230,-0.052238,0.998582]]
2025-10-26T22:56:30.669Z,1761519390.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:30.993Z,1761519390.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468747,-0.882351,-0.041617],[0.883281,-0.467694,-0.032819],[0.009494,-0.052143,0.998595]]
2025-10-26T22:56:31.012Z,1761519391.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:31.394Z,1761519391.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467599,-0.882950,-0.041831],[0.883898,-0.466587,-0.031970],[0.008711,-0.051923,0.998613]]
2025-10-26T22:56:31.436Z,1761519391.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:31.798Z,1761519391.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466697,-0.883413,-0.042148],[0.884381,-0.465713,-0.031333],[0.008051,-0.051898,0.998620]]
2025-10-26T22:56:31.848Z,1761519391.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:32.205Z,1761519392.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466182,-0.883675,-0.042342],[0.884656,-0.465219,-0.030911],[0.007617,-0.051868,0.998625]]
2025-10-26T22:56:32.223Z,1761519392.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:32.646Z,1761519392.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465766,-0.883878,-0.042693],[0.884879,-0.464818,-0.030538],[0.007148,-0.052002,0.998621]]
2025-10-26T22:56:32.701Z,1761519392.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:33.010Z,1761519393.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465412,-0.884059,-0.042809],[0.885068,-0.464481,-0.030200],[0.006814,-0.051944,0.998627]]
2025-10-26T22:56:33.049Z,1761519393.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:33.414Z,1761519393.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464959,-0.884283,-0.043096],[0.885309,-0.464047,-0.029788],[0.006342,-0.052003,0.998627]]
2025-10-26T22:56:33.436Z,1761519393.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:33.820Z,1761519393.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464694,-0.884422,-0.043101],[0.885450,-0.463795,-0.029527],[0.006124,-0.051885,0.998634]]
2025-10-26T22:56:33.856Z,1761519393.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:34.223Z,1761519394.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464714,-0.884404,-0.043250],[0.885440,-0.463814,-0.029534],[0.006060,-0.052020,0.998628]]
2025-10-26T22:56:34.246Z,1761519394.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:34.704Z,1761519394.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464647,-0.884436,-0.043318],[0.885476,-0.463749,-0.029488],[0.005992,-0.052058,0.998626]]
2025-10-26T22:56:34.770Z,1761519394.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:35.031Z,1761519395.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464553,-0.884484,-0.043342],[0.885526,-0.463659,-0.029400],[0.005908,-0.052039,0.998628]]
2025-10-26T22:56:35.051Z,1761519395.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:35.455Z,1761519395.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464392,-0.884564,-0.043435],[0.885610,-0.463501,-0.029344],[0.005824,-0.052094,0.998625]]
2025-10-26T22:56:35.497Z,1761519395.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:35.838Z,1761519395.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464230,-0.884646,-0.043497],[0.885696,-0.463338,-0.029329],[0.005792,-0.052141,0.998623]]
2025-10-26T22:56:35.884Z,1761519395.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:36.243Z,1761519396.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464120,-0.884700,-0.043566],[0.885753,-0.463227,-0.029357],[0.005791,-0.052214,0.998619]]
2025-10-26T22:56:36.277Z,1761519396.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:36.650Z,1761519396.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464056,-0.884748,-0.043282],[0.885786,-0.463164,-0.029362],[0.005931,-0.051964,0.998631]]
2025-10-26T22:56:36.743Z,1761519396.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:37.051Z,1761519397.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464179,-0.884687,-0.043195],[0.885720,-0.463280,-0.029524],[0.006108,-0.051963,0.998630]]
2025-10-26T22:56:37.108Z,1761519397.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:37.472Z,1761519397.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464360,-0.884603,-0.042988],[0.885624,-0.463452,-0.029709],[0.006358,-0.051867,0.998634]]
2025-10-26T22:56:37.490Z,1761519397.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:37.858Z,1761519397.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464533,-0.884511,-0.043012],[0.885532,-0.463614,-0.029933],[0.006535,-0.051993,0.998626]]
2025-10-26T22:56:37.906Z,1761519397.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:38.263Z,1761519398.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464944,-0.884304,-0.042824],[0.885313,-0.464005,-0.030332],[0.006952,-0.052015,0.998622]]
2025-10-26T22:56:38.281Z,1761519398.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:38.672Z,1761519398.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465427,-0.884056,-0.042686],[0.885056,-0.464470,-0.030722],[0.007333,-0.052078,0.998616]]
2025-10-26T22:56:38.739Z,1761519398.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:39.070Z,1761519399.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465911,-0.883815,-0.042410],[0.884798,-0.464938,-0.031083],[0.007753,-0.052006,0.998617]]
2025-10-26T22:56:39.114Z,1761519399.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:39.478Z,1761519399.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466331,-0.883602,-0.042225],[0.884573,-0.465343,-0.031397],[0.008093,-0.051992,0.998615]]
2025-10-26T22:56:39.507Z,1761519399.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:39.878Z,1761519399.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466915,-0.883309,-0.041902],[0.884260,-0.465907,-0.031842],[0.008604,-0.051919,0.998614]]
2025-10-26T22:56:39.946Z,1761519399.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:40.316Z,1761519400.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:40.688Z,1761519400.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467599,-0.882967,-0.041474],[0.883892,-0.466566,-0.032422],[0.009277,-0.051819,0.998613]]
2025-10-26T22:56:40.767Z,1761519400.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:41.090Z,1761519401.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468015,-0.882754,-0.041310],[0.883668,-0.466965,-0.032796],[0.009660,-0.051854,0.998608]]
2025-10-26T22:56:41.133Z,1761519401.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:41.494Z,1761519401.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468123,-0.882700,-0.041251],[0.883607,-0.467058,-0.033090],[0.009942,-0.051940,0.998601]]
2025-10-26T22:56:41.539Z,1761519401.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:41.899Z,1761519401.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467974,-0.882784,-0.041148],[0.883684,-0.466905,-0.033183],[0.010082,-0.051891,0.998602]]
2025-10-26T22:56:41.976Z,1761519401.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:42.303Z,1761519402.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467760,-0.882904,-0.041004],[0.883796,-0.466690,-0.033227],[0.010200,-0.051782,0.998606]]
2025-10-26T22:56:42.322Z,1761519402.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:42.782Z,1761519402.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:43.110Z,1761519403.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466559,-0.883543,-0.040933],[0.884433,-0.465503,-0.032948],[0.010056,-0.051575,0.998619]]
2025-10-26T22:56:43.154Z,1761519403.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:43.514Z,1761519403.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465957,-0.883858,-0.040984],[0.884751,-0.464905,-0.032841],[0.009974,-0.051563,0.998620]]
2025-10-26T22:56:43.532Z,1761519403.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:43.920Z,1761519403.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465407,-0.884135,-0.041265],[0.885042,-0.464353,-0.032802],[0.009840,-0.051788,0.998610]]
2025-10-26T22:56:43.987Z,1761519403.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:44.326Z,1761519404.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464603,-0.884547,-0.041472],[0.885467,-0.463557,-0.032607],[0.009618,-0.051871,0.998607]]
2025-10-26T22:56:44.345Z,1761519404.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:44.732Z,1761519404.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463613,-0.885061,-0.041602],[0.885989,-0.462583,-0.032241],[0.009291,-0.051806,0.998614]]
2025-10-26T22:56:44.763Z,1761519404.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:45.185Z,1761519405.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:45.536Z,1761519405.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462199,-0.885775,-0.042130],[0.886732,-0.461183,-0.031882],[0.008810,-0.052094,0.998603]]
2025-10-26T22:56:45.559Z,1761519405.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:45.956Z,1761519405.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461338,-0.886222,-0.042165],[0.887184,-0.460342,-0.031469],[0.008478,-0.051926,0.998615]]
2025-10-26T22:56:46.012Z,1761519406.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:46.378Z,1761519406.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:46.747Z,1761519406.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460020,-0.886900,-0.042317],[0.887873,-0.459051,-0.030880],[0.007962,-0.051777,0.998627]]
2025-10-26T22:56:46.824Z,1761519406.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:47.150Z,1761519407.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459458,-0.887181,-0.042516],[0.888166,-0.458500,-0.030637],[0.007687,-0.051838,0.998626]]
2025-10-26T22:56:47.192Z,1761519407.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:47.554Z,1761519407.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459240,-0.887290,-0.042610],[0.888279,-0.458283,-0.030601],[0.007625,-0.051903,0.998623]]
2025-10-26T22:56:47.592Z,1761519407.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:47.961Z,1761519407.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459289,-0.887268,-0.042534],[0.888254,-0.458330,-0.030652],[0.007702,-0.051859,0.998625]]
2025-10-26T22:56:48.034Z,1761519408.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:48.365Z,1761519408.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459348,-0.887232,-0.042646],[0.888223,-0.458383,-0.030748],[0.007732,-0.052003,0.998617]]
2025-10-26T22:56:48.383Z,1761519408.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:48.800Z,1761519408.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:49.195Z,1761519409.195 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  85.49,  83.25,  81.21
2025-10-26T22:56:49.210Z,1761519409.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:49.574Z,1761519409.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459849,-0.886989,-0.042309],[0.887959,-0.458862,-0.031220],[0.008278,-0.051925,0.998617]]
2025-10-26T22:56:49.593Z,1761519409.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:50.056Z,1761519410.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:50.382Z,1761519410.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460630,-0.886598,-0.041990],[0.887547,-0.459616,-0.031821],[0.008913,-0.051926,0.998611]]
2025-10-26T22:56:50.408Z,1761519410.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:50.786Z,1761519410.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461052,-0.886389,-0.041785],[0.887324,-0.460020,-0.032220],[0.009338,-0.051932,0.998607]]
2025-10-26T22:56:50.821Z,1761519410.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:51.190Z,1761519411.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461516,-0.886166,-0.041386],[0.887078,-0.460471,-0.032543],[0.009781,-0.051732,0.998613]]
2025-10-26T22:56:51.247Z,1761519411.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:51.596Z,1761519411.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462124,-0.885860,-0.041147],[0.886756,-0.461058,-0.033013],[0.010274,-0.051744,0.998608]]
2025-10-26T22:56:51.615Z,1761519411.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:51.998Z,1761519411.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462846,-0.885497,-0.040856],[0.886373,-0.461756,-0.033541],[0.010835,-0.051738,0.998602]]
2025-10-26T22:56:52.050Z,1761519412.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:52.402Z,1761519412.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463327,-0.885250,-0.040744],[0.886116,-0.462217,-0.033971],[0.011240,-0.051844,0.998592]]
2025-10-26T22:56:52.457Z,1761519412.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:52.806Z,1761519412.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463958,-0.884929,-0.040553],[0.885780,-0.462825,-0.034457],[0.011723,-0.051908,0.998583]]
2025-10-26T22:56:52.830Z,1761519412.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:56:52.833Z,1761519412.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:52.885Z,1761519412.885 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:56:52.886Z,1761519412.886 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:56:53.136Z,1761519413.136 [DAT](INFO): DAT read: user:738>

2025-10-26T22:56:53.137Z,1761519413.137 [DAT](INFO): DAT read: Tx time:22:56:52.2350

2025-10-26T22:56:53.137Z,1761519413.137 [DAT](INFO): Ping request sent.
2025-10-26T22:56:53.138Z,1761519413.138 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:56:53.138Z,1761519413.138 [DAT](INFO): publishing transmit ping time
2025-10-26T22:56:53.138Z,1761519413.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-10-26T22:56:53.210Z,1761519413.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464623,-0.884589,-0.040337],[0.885425,-0.463471,-0.034885],[0.012164,-0.051924,0.998577]]
2025-10-26T22:56:53.259Z,1761519413.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:53.388Z,1761519413.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250734
2025-10-26T22:56:53.641Z,1761519413.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502966
2025-10-26T22:56:53.656Z,1761519413.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:53.894Z,1761519413.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755673
2025-10-26T22:56:54.018Z,1761519414.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465767,-0.884004,-0.039977],[0.884814,-0.464583,-0.035598],[0.012897,-0.051953,0.998566]]
2025-10-26T22:56:54.086Z,1761519414.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:54.086Z,1761519414.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 4.80 m and bearing: 64.506956 deg. Not drifting fast enough.
2025-10-26T22:56:54.145Z,1761519414.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007531
2025-10-26T22:56:54.396Z,1761519414.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258843
2025-10-26T22:56:54.485Z,1761519414.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:54.487Z,1761519414.487 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-10-26T22:56:54.487Z,1761519414.487 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-26T22:56:54.487Z,1761519414.487 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-10-26T22:56:54.487Z,1761519414.487 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-10-26T22:56:54.649Z,1761519414.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511675
2025-10-26T22:56:54.864Z,1761519414.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:54.901Z,1761519414.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763424
2025-10-26T22:56:55.152Z,1761519415.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014839
2025-10-26T22:56:55.230Z,1761519415.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467213,-0.883238,-0.040024],[0.884043,-0.465991,-0.036340],[0.013446,-0.052361,0.998538]]
2025-10-26T22:56:55.289Z,1761519415.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:55.404Z,1761519415.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266769
2025-10-26T22:56:55.635Z,1761519415.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467254,-0.883214,-0.040090],[0.884023,-0.466037,-0.036239],[0.013323,-0.052373,0.998539]]
2025-10-26T22:56:55.657Z,1761519415.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519100
2025-10-26T22:56:55.661Z,1761519415.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:55.912Z,1761519415.912 [DAT](INFO): DAT read: Rx Time:22:56:54.6520

2025-10-26T22:56:55.913Z,1761519415.913 [DAT](INFO): Rx dataTimestamp_ set to:1761519415.912435
2025-10-26T22:56:55.915Z,1761519415.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776650
2025-10-26T22:56:56.039Z,1761519416.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467165,-0.883263,-0.040053],[0.884073,-0.465963,-0.035952],[0.013092,-0.052206,0.998551]]
2025-10-26T22:56:56.098Z,1761519416.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:56.160Z,1761519416.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022801
2025-10-26T22:56:56.421Z,1761519416.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283350
2025-10-26T22:56:56.481Z,1761519416.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466671,-0.883520,-0.040138],[0.884348,-0.465526,-0.034842],[0.012098,-0.051756,0.998587]]
2025-10-26T22:56:56.499Z,1761519416.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.67 m.
2025-10-26T22:56:56.677Z,1761519416.677 [DAT](INFO): DAT read: 22:56:54.6520 LVL= 32752, 32753, 23410, 32755, AGC= 50, IDX= 512, 0.15,-1.062,-2.063, 0.355,-0.341, PHS=-0.619,-1.677, 0.651, RAW= 183.0,  16.1, CAL= 182.9,  21.5, ROT= 327.1, -21.5

2025-10-26T22:56:56.678Z,1761519416.678 [DAT](INFO): got valid direction response:
 22:56:54.6520 LVL= 32752, 32753, 23410, 32755, AGC= 50, IDX= 512, 0.15,-1.062,-2.063, 0.355,-0.341, PHS=-0.619,-1.677, 0.651, RAW= 183.0,  16.1, CAL= 182.9,  21.5, ROT= 327.1, -21.5

2025-10-26T22:56:56.695Z,1761519416.695 [DAT](INFO): DAT read: Bearing 294.7, -31.4 (Local)

2025-10-26T22:56:56.695Z,1761519416.695 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.7, -31.4 (Local)

2025-10-26T22:56:56.697Z,1761519416.697 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m  (Round-trip  12.8 ms) speed -0.1 m/s

2025-10-26T22:56:56.697Z,1761519416.697 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:56:56.699Z,1761519416.699 [DAT](INFO): direction in FSK: [0.781197,-0.505379,0.366501]
2025-10-26T22:56:56.716Z,1761519416.716 [DAT](INFO): publishing direction and range info
2025-10-26T22:56:56.888Z,1761519416.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466129,-0.883789,-0.040509],[0.884647,-0.465026,-0.033919],[0.011140,-0.051647,0.998603]]
2025-10-26T22:56:56.944Z,1761519416.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 60.024157 s,
      deltaX: 4.800000 m,
      approachRate: 0.079968 m/s,
      rangeRepo size: 4

2025-10-26T22:56:56.946Z,1761519416.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.554471 m,
      bearing: 85.764560 deg,
      lat: 36.779430 deg,
      lon: -121.859361 deg,
      deltaT: 120.275960 s,
      deltaX: 2.886662 m,
      approachRate: 0.024000 m/s,
      posRepo size: 4

2025-10-26T22:56:56.946Z,1761519416.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:56:57.248Z,1761519417.248 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:56:57.290Z,1761519417.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465512,-0.884097,-0.040871],[0.884985,-0.464461,-0.032834],[0.010045,-0.051455,0.998625]]
2025-10-26T22:56:57.368Z,1761519417.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:56:57.698Z,1761519417.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464755,-0.884469,-0.041439],[0.885397,-0.463763,-0.031564],[0.008700,-0.051360,0.998642]]
2025-10-26T22:56:57.727Z,1761519417.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:56:58.098Z,1761519418.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463866,-0.884883,-0.042544],[0.885878,-0.462938,-0.030139],[0.006974,-0.051669,0.998640]]
2025-10-26T22:56:58.149Z,1761519418.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:56:58.252Z,1761519418.252 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:56:58.502Z,1761519418.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462563,-0.885401,-0.045832],[0.886576,-0.461690,-0.028708],[0.004258,-0.053912,0.998537]]
2025-10-26T22:56:58.536Z,1761519418.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:56:58.912Z,1761519418.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460157,-0.886033,-0.056577],[0.887837,-0.459161,-0.030258],[0.000831,-0.064154,0.997940]]
2025-10-26T22:56:58.957Z,1761519418.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:56:59.313Z,1761519419.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457868,-0.886031,-0.072846],[0.889016,-0.456570,-0.034555],[-0.002643,-0.080583,0.996744]]
2025-10-26T22:56:59.349Z,1761519419.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:56:59.764Z,1761519419.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:00.119Z,1761519420.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455005,-0.886170,-0.087595],[0.890453,-0.453661,-0.035846],[-0.007973,-0.094310,0.995511]]
2025-10-26T22:57:00.162Z,1761519420.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:00.591Z,1761519420.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454663,-0.886924,-0.081526],[0.890609,-0.453741,-0.030584],[-0.009866,-0.086513,0.996202]]
2025-10-26T22:57:00.629Z,1761519420.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:01.105Z,1761519421.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454979,-0.887495,-0.073126],[0.890429,-0.454462,-0.024525],[-0.011467,-0.076272,0.997021]]
2025-10-26T22:57:01.148Z,1761519421.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:01.564Z,1761519421.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456135,-0.887275,-0.068435],[0.889820,-0.455835,-0.020860],[-0.012687,-0.070409,0.997437]]
2025-10-26T22:57:01.587Z,1761519421.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:01.968Z,1761519421.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458231,-0.886081,-0.069896],[0.888727,-0.457972,-0.020630],[-0.013730,-0.071572,0.997341]]
2025-10-26T22:57:01.988Z,1761519421.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:02.447Z,1761519422.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:02.775Z,1761519422.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465419,-0.881578,-0.078781],[0.884965,-0.465005,-0.024644],[-0.014907,-0.081188,0.996587]]
2025-10-26T22:57:02.809Z,1761519422.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:03.178Z,1761519423.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470085,-0.879109,-0.078658],[0.882492,-0.469673,-0.024822],[-0.015123,-0.081083,0.996593]]
2025-10-26T22:57:03.235Z,1761519423.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:03.586Z,1761519423.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475589,-0.876399,-0.075756],[0.879539,-0.475226,-0.023915],[-0.015042,-0.078004,0.996840]]
2025-10-26T22:57:03.628Z,1761519423.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:03.987Z,1761519423.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481814,-0.873259,-0.072614],[0.876149,-0.481486,-0.023127],[-0.014766,-0.074764,0.997092]]
2025-10-26T22:57:04.011Z,1761519424.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:04.392Z,1761519424.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488982,-0.869481,-0.069996],[0.872179,-0.488642,-0.023072],[-0.014143,-0.072331,0.997280]]
2025-10-26T22:57:04.449Z,1761519424.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:04.795Z,1761519424.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496927,-0.865204,-0.066981],[0.867692,-0.496561,-0.023184],[-0.013202,-0.069640,0.997485]]
2025-10-26T22:57:04.814Z,1761519424.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:05.200Z,1761519425.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505204,-0.860693,-0.063065],[0.862915,-0.504831,-0.022892],[-0.012134,-0.065985,0.997747]]
2025-10-26T22:57:05.254Z,1761519425.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:05.609Z,1761519425.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514098,-0.855789,-0.057699],[0.857662,-0.513749,-0.021869],[-0.010927,-0.060730,0.998094]]
2025-10-26T22:57:05.635Z,1761519425.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:06.007Z,1761519426.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522926,-0.850776,-0.052233],[0.852319,-0.522629,-0.020291],[-0.010036,-0.055130,0.998429]]
2025-10-26T22:57:06.036Z,1761519426.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:06.421Z,1761519426.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532127,-0.845343,-0.047289],[0.846615,-0.531870,-0.018906],[-0.009169,-0.050096,0.998702]]
2025-10-26T22:57:06.469Z,1761519426.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:06.815Z,1761519426.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541680,-0.839477,-0.043138],[0.840540,-0.541468,-0.017469],[-0.008693,-0.045722,0.998916]]
2025-10-26T22:57:06.834Z,1761519426.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:07.221Z,1761519427.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551622,-0.833237,-0.037803],[0.834051,-0.551487,-0.014851],[-0.008473,-0.039722,0.999175]]
2025-10-26T22:57:07.257Z,1761519427.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:07.623Z,1761519427.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561894,-0.826575,-0.032398],[0.827168,-0.561828,-0.011962],[-0.008314,-0.033520,0.999403]]
2025-10-26T22:57:07.653Z,1761519427.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:08.029Z,1761519428.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571943,-0.819772,-0.029235],[0.820248,-0.571924,-0.009821],[-0.008669,-0.029597,0.999524]]
2025-10-26T22:57:08.068Z,1761519428.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:08.433Z,1761519428.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582036,-0.812700,-0.027444],[0.813111,-0.582048,-0.008365],[-0.009176,-0.027184,0.999588]]
2025-10-26T22:57:08.498Z,1761519428.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:08.836Z,1761519428.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592432,-0.805205,-0.025876],[0.805561,-0.592473,-0.006878],[-0.009793,-0.024919,0.999641]]
2025-10-26T22:57:08.860Z,1761519428.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:09.297Z,1761519429.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:09.733Z,1761519429.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:10.049Z,1761519430.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624109,-0.781072,-0.020393],[0.781255,-0.624209,-0.001775],[-0.011343,-0.017040,0.999790]]
2025-10-26T22:57:10.073Z,1761519430.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:10.519Z,1761519430.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644650,-0.764152,-0.022341],[0.764380,-0.644760,-0.002831],[-0.012241,-0.018902,0.999746]]
2025-10-26T22:57:10.581Z,1761519430.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:11.003Z,1761519431.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656038,-0.754441,-0.020814],[0.754623,-0.656158,-0.001403],[-0.012598,-0.016627,0.999782]]
2025-10-26T22:57:11.022Z,1761519431.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:11.476Z,1761519431.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667985,-0.743925,-0.019286],[0.744055,-0.668118,0.000633],[-0.013356,-0.013927,0.999814]]
2025-10-26T22:57:11.521Z,1761519431.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:11.881Z,1761519431.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680721,-0.732342,-0.017183],[0.732408,-0.680859,0.003255],[-0.014083,-0.010369,0.999847]]
2025-10-26T22:57:11.929Z,1761519431.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:12.282Z,1761519432.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694067,-0.719779,-0.013752],[0.719757,-0.694187,0.007362],[-0.014846,-0.004789,0.999878]]
2025-10-26T22:57:12.329Z,1761519432.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:12.690Z,1761519432.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707823,-0.706310,-0.010649],[0.706212,-0.707902,0.011760],[-0.015844,0.000803,0.999874]]
2025-10-26T22:57:12.741Z,1761519432.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:13.090Z,1761519433.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721941,-0.691904,-0.008406],[0.691748,-0.721969,0.015704],[-0.016934,0.005523,0.999841]]
2025-10-26T22:57:13.109Z,1761519433.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:13.496Z,1761519433.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736374,-0.676528,-0.007967],[0.676333,-0.736374,0.018091],[-0.018106,0.007934,0.999805]]
2025-10-26T22:57:13.534Z,1761519433.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:13.909Z,1761519433.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751051,-0.660207,-0.006925],[0.659957,-0.750993,0.021562],[-0.019437,0.011624,0.999744]]
2025-10-26T22:57:13.928Z,1761519433.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:14.302Z,1761519434.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765454,-0.643471,-0.004980],[0.643139,-0.765269,0.027117],[-0.021260,0.017554,0.999620]]
2025-10-26T22:57:14.354Z,1761519434.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:14.710Z,1761519434.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779573,-0.626299,-0.003844],[0.625859,-0.779229,0.033221],[-0.023801,0.023492,0.999441]]
2025-10-26T22:57:14.777Z,1761519434.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:15.112Z,1761519435.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792972,-0.609254,-0.002214],[0.608661,-0.792351,0.041373],[-0.026960,0.031460,0.999141]]
2025-10-26T22:57:15.130Z,1761519435.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:15.515Z,1761519435.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805502,-0.592593,-0.000097],[0.591822,-0.804461,0.050883],[-0.030231,0.040929,0.998705]]
2025-10-26T22:57:15.558Z,1761519435.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:15.956Z,1761519435.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:16.323Z,1761519436.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828811,-0.559496,-0.006131],[0.558324,-0.827694,0.056544],[-0.036710,0.043441,0.998381]]
2025-10-26T22:57:16.396Z,1761519436.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:16.739Z,1761519436.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839741,-0.542852,-0.012130],[0.541538,-0.838921,0.054301],[-0.039653,0.039030,0.998451]]
2025-10-26T22:57:16.762Z,1761519436.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:17.130Z,1761519437.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850380,-0.525841,-0.018582],[0.524477,-0.849946,0.050154],[-0.042166,0.032904,0.998569]]
2025-10-26T22:57:17.165Z,1761519437.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:17.534Z,1761519437.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860854,-0.508134,-0.027012],[0.506879,-0.860978,0.042330],[-0.044766,0.022748,0.998738]]
2025-10-26T22:57:17.581Z,1761519437.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:17.938Z,1761519437.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871081,-0.490060,-0.032539],[0.488889,-0.871520,0.037967],[-0.046965,0.017164,0.998749]]
2025-10-26T22:57:17.963Z,1761519437.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:18.345Z,1761519438.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880865,-0.472078,-0.034925],[0.470858,-0.881393,0.037931],[-0.048688,0.016967,0.998670]]
2025-10-26T22:57:18.412Z,1761519438.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:18.748Z,1761519438.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890512,-0.453753,-0.033107],[0.452289,-0.890811,0.043493],[-0.049227,0.023757,0.998505]]
2025-10-26T22:57:18.781Z,1761519438.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:19.150Z,1761519439.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899786,-0.435550,-0.026090],[0.433671,-0.899294,0.056564],[-0.048099,0.039581,0.998058]]
2025-10-26T22:57:19.169Z,1761519439.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:19.554Z,1761519439.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908835,-0.416731,-0.018847],[0.414660,-0.907408,0.068330],[-0.045577,0.054286,0.997485]]
2025-10-26T22:57:19.617Z,1761519439.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:19.959Z,1761519439.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917594,-0.397290,-0.013453],[0.395335,-0.915574,0.073716],[-0.041604,0.062322,0.997189]]
2025-10-26T22:57:19.978Z,1761519439.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:20.364Z,1761519440.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926440,-0.376269,-0.011426],[0.374593,-0.924470,0.070964],[-0.037265,0.061464,0.997413]]
2025-10-26T22:57:20.422Z,1761519440.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:20.766Z,1761519440.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935060,-0.354357,-0.009734],[0.352987,-0.933269,0.066398],[-0.032613,0.058650,0.997746]]
2025-10-26T22:57:20.784Z,1761519440.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:21.171Z,1761519441.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943016,-0.332669,-0.007197],[0.331558,-0.941255,0.064094],[-0.028096,0.058055,0.997918]]
2025-10-26T22:57:21.189Z,1761519441.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:21.576Z,1761519441.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950391,-0.311022,-0.004669],[0.310141,-0.948637,0.062445],[-0.023851,0.057899,0.998037]]
2025-10-26T22:57:21.612Z,1761519441.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:22.016Z,1761519442.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:22.398Z,1761519442.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964054,-0.265706,-0.000686],[0.265186,-0.962320,0.060133],[-0.016638,0.057790,0.998190]]
2025-10-26T22:57:22.441Z,1761519442.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:22.794Z,1761519442.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970042,-0.242935,0.001108],[0.242554,-0.968244,0.060589],[-0.013647,0.059042,0.998162]]
2025-10-26T22:57:22.812Z,1761519442.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:23.192Z,1761519443.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975630,-0.219400,0.003092],[0.219141,-0.973574,0.064270],[-0.011090,0.063381,0.997928]]
2025-10-26T22:57:23.211Z,1761519443.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:23.594Z,1761519443.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980698,-0.195481,0.004375],[0.195310,-0.978284,0.069379],[-0.009283,0.068895,0.997581]]
2025-10-26T22:57:23.641Z,1761519443.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:23.998Z,1761519443.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985050,-0.172220,0.004073],[0.172062,-0.982442,0.072121],[-0.008419,0.071743,0.997388]]
2025-10-26T22:57:24.039Z,1761519444.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:24.423Z,1761519444.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988955,-0.148180,0.003129],[0.148018,-0.986357,0.072050],[-0.007590,0.071717,0.997396]]
2025-10-26T22:57:24.466Z,1761519444.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:24.848Z,1761519444.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:25.210Z,1761519445.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995271,-0.097140,0.000113],[0.096956,-0.993322,0.062544],[-0.005963,0.062259,0.998042]]
2025-10-26T22:57:25.235Z,1761519445.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:25.614Z,1761519445.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997495,-0.070723,-0.001215],[0.070521,-0.995681,0.060382],[-0.005480,0.060145,0.998175]]
2025-10-26T22:57:25.662Z,1761519445.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:26.065Z,1761519446.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:26.448Z,1761519446.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999828,-0.018410,-0.002104],[0.018238,-0.997797,0.063787],[-0.003274,0.063738,0.997961]]
2025-10-26T22:57:26.495Z,1761519446.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:26.826Z,1761519446.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999977,0.006463,-0.002108],[-0.006590,-0.997744,0.066808],[-0.001672,0.066820,0.997764]]
2025-10-26T22:57:26.874Z,1761519446.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:27.230Z,1761519447.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999501,0.031537,-0.001590],[-0.031573,-0.997306,0.066216],[0.000502,0.066233,0.997804]]
2025-10-26T22:57:27.264Z,1761519447.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:27.634Z,1761519447.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998369,0.057078,-0.000864],[-0.057028,-0.996611,0.059275],[0.002523,0.059228,0.998241]]
2025-10-26T22:57:27.711Z,1761519447.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:28.041Z,1761519448.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996445,0.084247,0.000184],[-0.084130,-0.995171,0.050566],[0.004444,0.050371,0.998721]]
2025-10-26T22:57:28.060Z,1761519448.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:28.376Z,1761519448.376 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:57:28.473Z,1761519448.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993840,0.110817,0.001434],[-0.110610,-0.992628,0.049558],[0.006916,0.049094,0.998770]]
2025-10-26T22:57:28.524Z,1761519448.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:28.846Z,1761519448.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990624,0.136594,0.002475],[-0.136277,-0.989274,0.052597],[0.009633,0.051767,0.998613]]
2025-10-26T22:57:28.895Z,1761519448.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:29.306Z,1761519449.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:29.380Z,1761519449.380 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:57:29.661Z,1761519449.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982252,0.187475,0.005789],[-0.186884,-0.980849,0.054852],[0.015961,0.052797,0.998478]]
2025-10-26T22:57:29.762Z,1761519449.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:30.097Z,1761519450.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:30.505Z,1761519450.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963231,0.268514,0.009274],[-0.267719,-0.962142,0.051074],[0.022637,0.046713,0.998652]]
2025-10-26T22:57:30.557Z,1761519450.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:30.911Z,1761519450.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:31.272Z,1761519451.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955544,0.294748,0.007678],[-0.293891,-0.954216,0.055678],[0.023737,0.050947,0.998419]]
2025-10-26T22:57:31.301Z,1761519451.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:31.678Z,1761519451.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947146,0.320729,0.006867],[-0.319843,-0.945751,0.057051],[0.024793,0.051839,0.998348]]
2025-10-26T22:57:31.761Z,1761519451.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:32.078Z,1761519452.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938273,0.345845,0.005914],[-0.344886,-0.936704,0.060330],[0.026404,0.054567,0.998161]]
2025-10-26T22:57:32.102Z,1761519452.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:32.531Z,1761519452.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919252,0.393619,0.006354],[-0.392571,-0.917771,0.059869],[0.029397,0.052540,0.998186]]
2025-10-26T22:57:32.567Z,1761519452.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:32.901Z,1761519452.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908981,0.416792,0.006188],[-0.415697,-0.907490,0.060477],[0.030822,0.052401,0.998150]]
2025-10-26T22:57:32.940Z,1761519452.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:33.325Z,1761519453.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:33.701Z,1761519453.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888107,0.459613,0.004576],[-0.458373,-0.886361,0.065249],[0.034045,0.055850,0.997859]]
2025-10-26T22:57:33.760Z,1761519453.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:34.103Z,1761519454.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876903,0.480632,0.005832],[-0.479318,-0.875286,0.064252],[0.035987,0.053548,0.997917]]
2025-10-26T22:57:34.122Z,1761519454.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:34.548Z,1761519454.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864477,0.502587,0.009230],[-0.501213,-0.863221,0.060288],[0.038267,0.047492,0.998138]]
2025-10-26T22:57:34.599Z,1761519454.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:34.908Z,1761519454.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851391,0.524415,0.011075],[-0.522959,-0.850283,0.059426],[0.040580,0.044803,0.998171]]
2025-10-26T22:57:34.940Z,1761519454.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:35.310Z,1761519455.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838115,0.545383,0.010946],[-0.543805,-0.836931,0.061827],[0.042880,0.045866,0.998027]]
2025-10-26T22:57:35.329Z,1761519455.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:35.721Z,1761519455.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824140,0.566307,0.009431],[-0.564600,-0.822749,0.065663],[0.044945,0.048791,0.997797]]
2025-10-26T22:57:35.777Z,1761519455.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:36.120Z,1761519456.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809392,0.587226,0.007059],[-0.585408,-0.807726,0.069837],[0.046712,0.052393,0.997533]]
2025-10-26T22:57:36.139Z,1761519456.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:36.549Z,1761519456.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794895,0.606736,0.003764],[-0.604804,-0.792829,0.075068],[0.048531,0.057395,0.997171]]
2025-10-26T22:57:36.609Z,1761519456.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:36.926Z,1761519456.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780456,0.625211,0.000291],[-0.623205,-0.777989,0.079672],[0.050039,0.061999,0.996821]]
2025-10-26T22:57:36.976Z,1761519456.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:37.330Z,1761519457.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765601,0.643312,-0.001912],[-0.641265,-0.762921,0.082039],[0.051318,0.064036,0.996627]]
2025-10-26T22:57:37.358Z,1761519457.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:37.738Z,1761519457.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750185,0.661222,-0.002945],[-0.659144,-0.747460,0.082660],[0.052456,0.063952,0.996573]]
2025-10-26T22:57:37.783Z,1761519457.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:38.138Z,1761519458.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734652,0.678441,-0.002037],[-0.676345,-0.732140,0.080799],[0.053326,0.060737,0.996728]]
2025-10-26T22:57:38.156Z,1761519458.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:38.547Z,1761519458.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718939,0.695072,-0.000921],[-0.692943,-0.716632,0.079177],[0.054374,0.057561,0.996860]]
2025-10-26T22:57:38.626Z,1761519458.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:38.954Z,1761519458.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702452,0.711730,-0.000886],[-0.709568,-0.700220,0.078768],[0.055441,0.055959,0.996893]]
2025-10-26T22:57:38.991Z,1761519458.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:39.365Z,1761519459.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685965,0.727634,-0.001229],[-0.725430,-0.683754,0.078946],[0.056604,0.055046,0.996878]]
2025-10-26T22:57:39.384Z,1761519459.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:39.809Z,1761519459.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:40.158Z,1761519460.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650829,0.759214,-0.003933],[-0.756967,-0.648486,0.080419],[0.058505,0.055317,0.996753]]
2025-10-26T22:57:40.177Z,1761519460.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:40.564Z,1761519460.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632711,0.774367,-0.005667],[-0.772116,-0.630277,0.081161],[0.059276,0.055727,0.996685]]
2025-10-26T22:57:40.603Z,1761519460.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:40.966Z,1761519460.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613657,0.789533,-0.007932],[-0.787302,-0.611100,0.081929],[0.059838,0.056521,0.996607]]
2025-10-26T22:57:41.021Z,1761519461.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:41.373Z,1761519461.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595271,0.803474,-0.009027],[-0.801281,-0.592732,0.081348],[0.060011,0.055657,0.996645]]
2025-10-26T22:57:41.408Z,1761519461.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:41.774Z,1761519461.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576602,0.817012,-0.004627],[-0.814811,-0.574614,0.076829],[0.060112,0.048070,0.997034]]
2025-10-26T22:57:41.838Z,1761519461.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:42.181Z,1761519462.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557807,0.829970,0.001338],[-0.827784,-0.556453,0.071651],[0.060213,0.038860,0.997429]]
2025-10-26T22:57:42.199Z,1761519462.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:42.583Z,1761519462.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538487,0.842600,0.007493],[-0.840458,-0.537714,0.067040],[0.060517,0.029803,0.997722]]
2025-10-26T22:57:42.642Z,1761519462.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:42.986Z,1761519462.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520611,0.853760,0.007586],[-0.851612,-0.519895,0.066830],[0.061001,0.028332,0.997736]]
2025-10-26T22:57:43.042Z,1761519463.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:43.392Z,1761519463.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504667,0.863269,0.008818],[-0.861091,-0.504074,0.066570],[0.061913,0.026002,0.997743]]
2025-10-26T22:57:43.411Z,1761519463.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:43.921Z,1761519463.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:44.291Z,1761519464.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:44.738Z,1761519464.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460952,0.886865,0.031526],[-0.885130,-0.462023,0.055491],[0.063778,-0.002326,0.997961]]
2025-10-26T22:57:44.778Z,1761519464.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:45.103Z,1761519465.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447834,0.893076,0.043127],[-0.891875,-0.449605,0.049139],[0.063275,-0.016457,0.997860]]
2025-10-26T22:57:45.122Z,1761519465.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:45.502Z,1761519465.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435476,0.898488,0.055498],[-0.898040,-0.437873,0.042330],[0.062334,-0.031406,0.997561]]
2025-10-26T22:57:45.541Z,1761519465.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:45.907Z,1761519465.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424721,0.902918,0.065970],[-0.903240,-0.427558,0.036756],[0.061393,-0.043975,0.997144]]
2025-10-26T22:57:45.956Z,1761519465.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:46.311Z,1761519466.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415710,0.906241,0.076886],[-0.907484,-0.418927,0.031196],[0.060481,-0.056804,0.996552]]
2025-10-26T22:57:46.341Z,1761519466.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:46.749Z,1761519466.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407130,0.908922,0.090036],[-0.911431,-0.410707,0.024761],[0.059484,-0.071980,0.995631]]
2025-10-26T22:57:46.797Z,1761519466.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:47.119Z,1761519467.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399502,0.911095,0.101508],[-0.914867,-0.403297,0.019219],[0.058448,-0.085189,0.994649]]
2025-10-26T22:57:47.147Z,1761519467.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:47.522Z,1761519467.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393146,0.913156,0.107625],[-0.917676,-0.397000,0.016189],[0.057510,-0.092400,0.994060]]
2025-10-26T22:57:47.541Z,1761519467.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:47.926Z,1761519467.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389664,0.914258,0.110878],[-0.919189,-0.393544,0.014656],[0.057034,-0.096207,0.993726]]
2025-10-26T22:57:47.969Z,1761519467.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:48.340Z,1761519468.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387879,0.914271,0.116873],[-0.919945,-0.391856,0.012283],[0.057027,-0.102753,0.993071]]
2025-10-26T22:57:48.375Z,1761519468.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:48.780Z,1761519468.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387084,0.913106,0.128072],[-0.920268,-0.391212,0.007781],[0.057208,-0.114848,0.991734]]
2025-10-26T22:57:48.817Z,1761519468.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:49.157Z,1761519469.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387932,0.910563,0.142773],[-0.919868,-0.392224,0.002088],[0.057901,-0.130522,0.989753]]
2025-10-26T22:57:49.176Z,1761519469.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:49.560Z,1761519469.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389814,0.907429,0.156898],[-0.919014,-0.394212,-0.003345],[0.058815,-0.145495,0.987609]]
2025-10-26T22:57:49.578Z,1761519469.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:50.017Z,1761519470.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:50.366Z,1761519470.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396412,0.900892,0.176779],[-0.916019,-0.400995,-0.010565],[0.061369,-0.166121,0.984194]]
2025-10-26T22:57:50.386Z,1761519470.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:50.811Z,1761519470.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400388,0.897582,0.184488],[-0.914192,-0.405062,-0.013305],[0.062787,-0.173985,0.982745]]
2025-10-26T22:57:50.881Z,1761519470.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:51.200Z,1761519471.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404189,0.894085,0.192985],[-0.912418,-0.408930,-0.016427],[0.064230,-0.182722,0.981064]]
2025-10-26T22:57:51.219Z,1761519471.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:51.603Z,1761519471.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407726,0.890520,0.201825],[-0.910743,-0.412499,-0.019795],[0.065625,-0.191881,0.979222]]
2025-10-26T22:57:51.622Z,1761519471.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:52.006Z,1761519472.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411610,0.887524,0.207070],[-0.908903,-0.416437,-0.021809],[0.066876,-0.197183,0.978083]]
2025-10-26T22:57:52.053Z,1761519472.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:52.411Z,1761519472.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415548,0.884666,0.211393],[-0.907020,-0.420432,-0.023504],[0.068083,-0.201504,0.977119]]
2025-10-26T22:57:52.446Z,1761519472.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:52.848Z,1761519472.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419180,0.882125,0.214812],[-0.905293,-0.424034,-0.025278],[0.068789,-0.205063,0.976328]]
2025-10-26T22:57:52.884Z,1761519472.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:57:52.886Z,1761519472.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:52.904Z,1761519472.904 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:57:52.904Z,1761519472.904 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:57:53.156Z,1761519473.156 [DAT](INFO): DAT read: user:739>

2025-10-26T22:57:53.157Z,1761519473.157 [DAT](INFO): DAT read: Tx time:22:57:52.2849

2025-10-26T22:57:53.157Z,1761519473.157 [DAT](INFO): Ping request sent.
2025-10-26T22:57:53.157Z,1761519473.157 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:57:53.158Z,1761519473.158 [DAT](INFO): publishing transmit ping time
2025-10-26T22:57:53.158Z,1761519473.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-10-26T22:57:53.219Z,1761519473.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422520,0.879503,0.218975],[-0.903697,-0.427285,-0.027543],[0.069341,-0.209525,0.975342]]
2025-10-26T22:57:53.243Z,1761519473.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:53.408Z,1761519473.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251017
2025-10-26T22:57:53.660Z,1761519473.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502960
2025-10-26T22:57:53.691Z,1761519473.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425623,0.877891,0.219436],[-0.902192,-0.430430,-0.027904],[0.069955,-0.209850,0.975228]]
2025-10-26T22:57:53.787Z,1761519473.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:53.913Z,1761519473.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755640
2025-10-26T22:57:54.164Z,1761519474.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007108
2025-10-26T22:57:54.186Z,1761519474.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429387,0.876996,0.215648],[-0.900407,-0.434211,-0.026997],[0.069960,-0.205763,0.976098]]
2025-10-26T22:57:54.243Z,1761519474.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:54.417Z,1761519474.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259577
2025-10-26T22:57:54.667Z,1761519474.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429905,0.877465,0.212691],[-0.900259,-0.434512,-0.027066],[0.068667,-0.203113,0.976745]]
2025-10-26T22:57:54.668Z,1761519474.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511094
2025-10-26T22:57:54.734Z,1761519474.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:54.920Z,1761519474.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763010
2025-10-26T22:57:55.074Z,1761519475.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430336,0.878473,0.207596],[-0.900229,-0.434568,-0.027188],[0.066331,-0.198584,0.977837]]
2025-10-26T22:57:55.131Z,1761519475.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:55.172Z,1761519475.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014945
2025-10-26T22:57:55.425Z,1761519475.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267255
2025-10-26T22:57:55.480Z,1761519475.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430557,0.879229,0.203904],[-0.900331,-0.434268,-0.028553],[0.063445,-0.195875,0.978574]]
2025-10-26T22:57:55.500Z,1761519475.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:55.676Z,1761519475.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518959
2025-10-26T22:57:55.898Z,1761519475.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429748,0.879389,0.204918],[-0.900917,-0.432808,-0.032016],[0.060536,-0.198373,0.978255]]
2025-10-26T22:57:55.928Z,1761519475.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770942
2025-10-26T22:57:55.964Z,1761519475.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:56.181Z,1761519476.181 [DAT](INFO): DAT read: Rx Time:22:57:54.7301

2025-10-26T22:57:56.181Z,1761519476.181 [DAT](INFO): Rx dataTimestamp_ set to:1761519476.180908
2025-10-26T22:57:56.182Z,1761519476.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024371
2025-10-26T22:57:56.282Z,1761519476.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428100,0.880075,0.205421],[-0.901899,-0.430516,-0.035130],[0.057520,-0.200308,0.978043]]
2025-10-26T22:57:56.336Z,1761519476.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m.
2025-10-26T22:57:56.432Z,1761519476.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275036
2025-10-26T22:57:56.690Z,1761519476.690 [DAT](INFO): DAT read: 22:57:54.7301 LVL= 32752, 25713, 32754, 32755, AGC= 72, IDX= 208, 0.48,-2.650,-1.172, 2.998,-2.292, PHS=-0.256, 1.164,-1.038, RAW= 350.5,   1.4, CAL= 350.1,  -1.7, ROT= 159.9,   1.7

2025-10-26T22:57:56.691Z,1761519476.691 [DAT](INFO): got valid direction response:
 22:57:54.7301 LVL= 32752, 25713, 32754, 32755, AGC= 72, IDX= 208, 0.48,-2.650,-1.172, 2.998,-2.292, PHS=-0.256, 1.164,-1.038, RAW= 350.5,   1.4, CAL= 350.1,  -1.7, ROT= 159.9,   1.7

2025-10-26T22:57:56.692Z,1761519476.692 [DAT](INFO): DAT read: Bearing 215.9,  16.4 (Local)

2025-10-26T22:57:56.692Z,1761519476.692 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.9,  16.4 (Local)

2025-10-26T22:57:56.694Z,1761519476.694 [DAT](INFO): DAT read: Range 11 to 50 : 30.8 m  (Round-trip  41.1 ms) speed -0.5 m/s

2025-10-26T22:57:56.694Z,1761519476.694 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:57:56.695Z,1761519476.695 [DAT](INFO): direction in FSK: [-0.938681,0.343509,-0.029666]
2025-10-26T22:57:56.696Z,1761519476.696 [DAT](INFO): publishing direction and range info
2025-10-26T22:57:56.705Z,1761519476.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425262,0.881737,0.204184],[-0.903449,-0.427055,-0.037477],[0.054153,-0.200407,0.978215]]
2025-10-26T22:57:56.785Z,1761519476.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.799999 m,
      deltaT: 60.015546 s,
      deltaX: 21.199999 m,
      approachRate: 0.353242 m/s,
      rangeRepo size: 4

2025-10-26T22:57:56.787Z,1761519476.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.639856 m,
      bearing: 45.264333 deg,
      lat: 36.779426 deg,
      lon: -121.859373 deg,
      deltaT: 60.015546 s,
      deltaX: 21.085384 m,
      approachRate: 0.351332 m/s,
      posRepo size: 4

2025-10-26T22:57:56.792Z,1761519476.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:57:57.129Z,1761519477.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421786,0.884900,0.197609],[-0.905286,-0.423153,-0.037389],[0.050534,-0.194663,0.979568]]
2025-10-26T22:57:57.186Z,1761519477.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:57:57.532Z,1761519477.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418266,0.887835,0.191842],[-0.907118,-0.419169,-0.037865],[0.046796,-0.189861,0.980695]]
2025-10-26T22:57:57.550Z,1761519477.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:57:57.934Z,1761519477.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414234,0.888675,0.196638],[-0.909138,-0.414277,-0.042914],[0.043326,-0.196548,0.979537]]
2025-10-26T22:57:57.979Z,1761519477.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:57:58.342Z,1761519478.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408865,0.889593,0.203600],[-0.911715,-0.407970,-0.048333],[0.040067,-0.205387,0.977860]]
2025-10-26T22:57:58.371Z,1761519478.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:57:58.745Z,1761519478.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403361,0.892984,0.199697],[-0.914295,-0.402130,-0.048550],[0.036949,-0.202165,0.978654]]
2025-10-26T22:57:58.763Z,1761519478.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:57:59.148Z,1761519479.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399510,0.898055,0.184092],[-0.916081,-0.398645,-0.043336],[0.034470,-0.185956,0.981953]]
2025-10-26T22:57:59.213Z,1761519479.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:57:59.500Z,1761519479.500 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:57:59.556Z,1761519479.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397737,0.901922,0.168353],[-0.916928,-0.397216,-0.038244],[0.032380,-0.169578,0.984985]]
2025-10-26T22:57:59.574Z,1761519479.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:57:59.963Z,1761519479.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397184,0.903743,0.159665],[-0.917218,-0.396766,-0.035886],[0.030918,-0.160701,0.986519]]
2025-10-26T22:58:00.035Z,1761519480.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:00.355Z,1761519480.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397493,0.904231,0.156095],[-0.917130,-0.396972,-0.035869],[0.029532,-0.157417,0.987091]]
2025-10-26T22:58:00.374Z,1761519480.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:00.504Z,1761519480.504 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:58:00.758Z,1761519480.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398973,0.903585,0.156062],[-0.916539,-0.398144,-0.037913],[0.027878,-0.158163,0.987019]]
2025-10-26T22:58:00.789Z,1761519480.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:01.164Z,1761519481.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401926,0.902171,0.156665],[-0.915287,-0.400793,-0.040173],[0.026547,-0.159540,0.986834]]
2025-10-26T22:58:01.200Z,1761519481.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:01.566Z,1761519481.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405396,0.899718,0.161743],[-0.913793,-0.403729,-0.044554],[0.025214,-0.165862,0.985827]]
2025-10-26T22:58:01.604Z,1761519481.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:01.988Z,1761519481.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408953,0.896159,0.172211],[-0.912238,-0.406441,-0.051256],[0.024060,-0.178058,0.983726]]
2025-10-26T22:58:02.031Z,1761519482.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:02.376Z,1761519482.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412211,0.893058,0.180360],[-0.910804,-0.408872,-0.057090],[0.022759,-0.187806,0.981942]]
2025-10-26T22:58:02.394Z,1761519482.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:02.778Z,1761519482.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415848,0.890453,0.184834],[-0.909176,-0.411891,-0.061187],[0.021647,-0.193492,0.980863]]
2025-10-26T22:58:02.819Z,1761519482.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:03.182Z,1761519483.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419298,0.887947,0.189048],[-0.907616,-0.414719,-0.065129],[0.020571,-0.198891,0.979806]]
2025-10-26T22:58:03.226Z,1761519483.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:03.586Z,1761519483.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422548,0.886073,0.190598],[-0.906128,-0.417556,-0.067666],[0.019629,-0.201298,0.979333]]
2025-10-26T22:58:03.606Z,1761519483.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:04.016Z,1761519484.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425223,0.884978,0.189736],[-0.904903,-0.419933,-0.069330],[0.018321,-0.201173,0.979384]]
2025-10-26T22:58:04.060Z,1761519484.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:04.395Z,1761519484.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427478,0.884046,0.189014],[-0.903866,-0.421888,-0.070970],[0.017002,-0.201181,0.979407]]
2025-10-26T22:58:04.414Z,1761519484.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:04.820Z,1761519484.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429110,0.883704,0.186901],[-0.903119,-0.423315,-0.071976],[0.015512,-0.199680,0.979738]]
2025-10-26T22:58:04.841Z,1761519484.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:05.202Z,1761519485.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430560,0.883522,0.184411],[-0.902447,-0.424687,-0.072324],[0.014417,-0.197561,0.980185]]
2025-10-26T22:58:05.354Z,1761519485.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:05.657Z,1761519485.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430553,0.883796,0.183107],[-0.902464,-0.424592,-0.072666],[0.013524,-0.196534,0.980404]]
2025-10-26T22:58:05.675Z,1761519485.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:06.055Z,1761519486.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429716,0.884515,0.181595],[-0.902880,-0.423636,-0.073074],[0.012295,-0.195360,0.980655]]
2025-10-26T22:58:06.097Z,1761519486.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:06.458Z,1761519486.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429124,0.885624,0.177548],[-0.903184,-0.423017,-0.072901],[0.010543,-0.191642,0.981408]]
2025-10-26T22:58:06.492Z,1761519486.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:06.862Z,1761519486.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428382,0.886261,0.176152],[-0.903552,-0.422093,-0.073696],[0.009039,-0.190732,0.981601]]
2025-10-26T22:58:06.880Z,1761519486.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:07.270Z,1761519487.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427215,0.887219,0.174153],[-0.904119,-0.420790,-0.074193],[0.007457,-0.189152,0.981920]]
2025-10-26T22:58:07.341Z,1761519487.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:07.676Z,1761519487.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426091,0.888282,0.171467],[-0.904663,-0.419536,-0.074663],[0.005615,-0.186933,0.982357]]
2025-10-26T22:58:07.695Z,1761519487.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:08.147Z,1761519488.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423689,0.889713,0.169997],[-0.905805,-0.416583,-0.077301],[0.002042,-0.186736,0.982408]]
2025-10-26T22:58:08.203Z,1761519488.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:08.632Z,1761519488.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422013,0.890179,0.171715],[-0.906589,-0.414231,-0.080674],[-0.000685,-0.189720,0.981838]]
2025-10-26T22:58:08.652Z,1761519488.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:09.075Z,1761519489.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420652,0.890831,0.171675],[-0.907217,-0.412417,-0.082884],[-0.003033,-0.190612,0.981661]]
2025-10-26T22:58:09.112Z,1761519489.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:09.448Z,1761519489.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419399,0.891450,0.171526],[-0.907788,-0.410791,-0.084683],[-0.005029,-0.191225,0.981533]]
2025-10-26T22:58:09.466Z,1761519489.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:09.847Z,1761519489.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418158,0.892092,0.171218],[-0.908346,-0.409163,-0.086563],[-0.007166,-0.191722,0.981423]]
2025-10-26T22:58:09.867Z,1761519489.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:10.251Z,1761519490.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417067,0.892651,0.170963],[-0.908828,-0.407679,-0.088480],[-0.009284,-0.192278,0.981297]]
2025-10-26T22:58:10.321Z,1761519490.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:10.654Z,1761519490.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416699,0.893009,0.169992],[-0.908973,-0.406970,-0.090244],[-0.011407,-0.192123,0.981304]]
2025-10-26T22:58:10.686Z,1761519490.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:11.101Z,1761519491.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416590,0.893338,0.168526],[-0.908994,-0.406564,-0.091846],[-0.013533,-0.191451,0.981409]]
2025-10-26T22:58:11.153Z,1761519491.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:11.462Z,1761519491.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416883,0.893448,0.167210],[-0.908828,-0.406577,-0.093414],[-0.015477,-0.190908,0.981486]]
2025-10-26T22:58:11.481Z,1761519491.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:11.873Z,1761519491.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417773,0.893283,0.165868],[-0.908387,-0.407205,-0.094958],[-0.017282,-0.190343,0.981565]]
2025-10-26T22:58:11.891Z,1761519491.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:12.352Z,1761519492.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:12.674Z,1761519492.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421901,0.891435,0.165359],[-0.906397,-0.410471,-0.099794],[-0.021085,-0.191984,0.981172]]
2025-10-26T22:58:12.714Z,1761519492.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:13.127Z,1761519493.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424026,0.890305,0.166007],[-0.905355,-0.412032,-0.102768],[-0.023095,-0.193871,0.980755]]
2025-10-26T22:58:13.220Z,1761519493.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:13.485Z,1761519493.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426643,0.888871,0.166988],[-0.904075,-0.414048,-0.105890],[-0.024981,-0.196146,0.980256]]
2025-10-26T22:58:13.505Z,1761519493.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:13.886Z,1761519493.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429588,0.887653,0.165913],[-0.902628,-0.416638,-0.108056],[-0.026791,-0.196178,0.980202]]
2025-10-26T22:58:13.912Z,1761519493.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:14.356Z,1761519494.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:14.846Z,1761519494.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435020,0.885080,0.165501],[-0.899894,-0.421074,-0.113521],[-0.030787,-0.198318,0.979654]]
2025-10-26T22:58:14.882Z,1761519494.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:15.350Z,1761519495.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438062,0.883832,0.164139],[-0.898279,-0.423354,-0.117754],[-0.034586,-0.199026,0.979384]]
2025-10-26T22:58:15.395Z,1761519495.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:15.753Z,1761519495.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439177,0.883546,0.162698],[-0.897665,-0.424234,-0.119263],[-0.036352,-0.198426,0.979442]]
2025-10-26T22:58:15.771Z,1761519495.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:16.242Z,1761519496.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:16.558Z,1761519496.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441436,0.882869,0.160241],[-0.896411,-0.425999,-0.122359],[-0.039765,-0.197656,0.979465]]
2025-10-26T22:58:16.583Z,1761519496.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:16.962Z,1761519496.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442339,0.882029,0.162359],[-0.895893,-0.426218,-0.125356],[-0.041367,-0.200906,0.978737]]
2025-10-26T22:58:16.997Z,1761519496.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:17.367Z,1761519497.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442794,0.881578,0.163563],[-0.895587,-0.426094,-0.127934],[-0.043090,-0.203134,0.978202]]
2025-10-26T22:58:17.427Z,1761519497.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:17.785Z,1761519497.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442763,0.881810,0.162393],[-0.895506,-0.425789,-0.129510],[-0.045058,-0.202766,0.978190]]
2025-10-26T22:58:17.829Z,1761519497.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:18.216Z,1761519498.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442887,0.881864,0.161761],[-0.895337,-0.425529,-0.131516],[-0.047145,-0.203077,0.978027]]
2025-10-26T22:58:18.265Z,1761519498.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:18.580Z,1761519498.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442384,0.881679,0.164129],[-0.895475,-0.424217,-0.134772],[-0.049199,-0.206595,0.977189]]
2025-10-26T22:58:18.617Z,1761519498.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:18.982Z,1761519498.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441689,0.881866,0.164991],[-0.895709,-0.422967,-0.137130],[-0.051144,-0.208353,0.976716]]
2025-10-26T22:58:19.001Z,1761519499.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:19.388Z,1761519499.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440912,0.882690,0.162648],[-0.895987,-0.422166,-0.137783],[-0.052955,-0.206480,0.977017]]
2025-10-26T22:58:19.425Z,1761519499.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:19.841Z,1761519499.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:20.229Z,1761519500.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438590,0.884864,0.157015],[-0.896930,-0.420078,-0.138029],[-0.056178,-0.201370,0.977903]]
2025-10-26T22:58:20.313Z,1761519500.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:20.635Z,1761519500.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437481,0.886353,0.151622],[-0.897386,-0.419546,-0.136675],[-0.057530,-0.195856,0.978944]]
2025-10-26T22:58:20.653Z,1761519500.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:21.035Z,1761519501.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436403,0.887339,0.148939],[-0.897832,-0.418656,-0.136474],[-0.058745,-0.193280,0.979383]]
2025-10-26T22:58:21.063Z,1761519501.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:21.438Z,1761519501.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435407,0.888404,0.145462],[-0.898243,-0.417995,-0.135795],[-0.059838,-0.189786,0.980000]]
2025-10-26T22:58:21.488Z,1761519501.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:21.848Z,1761519501.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434691,0.889311,0.142022],[-0.898532,-0.417648,-0.134944],[-0.060692,-0.186270,0.980622]]
2025-10-26T22:58:21.870Z,1761519501.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:22.285Z,1761519502.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433738,0.889787,0.141951],[-0.898944,-0.416588,-0.135477],[-0.061411,-0.186367,0.980559]]
2025-10-26T22:58:22.343Z,1761519502.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:22.652Z,1761519502.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432261,0.889976,0.145238],[-0.899599,-0.414487,-0.137556],[-0.062223,-0.190116,0.979788]]
2025-10-26T22:58:22.681Z,1761519502.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:23.054Z,1761519503.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431240,0.890689,0.143894],[-0.900038,-0.413553,-0.137498],[-0.062960,-0.188805,0.979994]]
2025-10-26T22:58:23.073Z,1761519503.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:23.519Z,1761519503.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:23.974Z,1761519503.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429787,0.891725,0.141811],[-0.900625,-0.412151,-0.137865],[-0.064490,-0.186971,0.980246]]
2025-10-26T22:58:23.993Z,1761519503.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:24.374Z,1761519504.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429111,0.892274,0.140393],[-0.900896,-0.411572,-0.137821],[-0.065192,-0.185620,0.980457]]
2025-10-26T22:58:24.418Z,1761519504.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:24.864Z,1761519504.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428801,0.892597,0.139284],[-0.901025,-0.411390,-0.137526],[-0.065455,-0.184470,0.980656]]
2025-10-26T22:58:24.886Z,1761519504.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:25.340Z,1761519505.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428631,0.893247,0.135593],[-0.901110,-0.411803,-0.135716],[-0.065390,-0.180357,0.981425]]
2025-10-26T22:58:25.396Z,1761519505.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:25.718Z,1761519505.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429490,0.893582,0.130576],[-0.900711,-0.413418,-0.133438],[-0.065255,-0.174921,0.982418]]
2025-10-26T22:58:25.769Z,1761519505.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:26.119Z,1761519506.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430313,0.893129,0.130965],[-0.900325,-0.414176,-0.133688],[-0.065158,-0.175439,0.982332]]
2025-10-26T22:58:26.137Z,1761519506.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:26.529Z,1761519506.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431177,0.892102,0.135058],[-0.899922,-0.414426,-0.135616],[-0.065012,-0.180016,0.981513]]
2025-10-26T22:58:26.570Z,1761519506.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:26.934Z,1761519506.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432334,0.891246,0.136998],[-0.899388,-0.415309,-0.136451],[-0.064715,-0.182207,0.981128]]
2025-10-26T22:58:26.973Z,1761519506.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:27.375Z,1761519507.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435378,0.889051,0.141545],[-0.897937,-0.417602,-0.138989],[-0.064459,-0.187611,0.980126]]
2025-10-26T22:58:27.455Z,1761519507.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:27.844Z,1761519507.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436784,0.887472,0.147017],[-0.897279,-0.418169,-0.141507],[-0.064106,-0.193723,0.978960]]
2025-10-26T22:58:27.862Z,1761519507.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:28.243Z,1761519508.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437198,0.886347,0.152468],[-0.897103,-0.417769,-0.143788],[-0.063750,-0.199644,0.977793]]
2025-10-26T22:58:28.272Z,1761519508.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:28.791Z,1761519508.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437108,0.886202,0.153566],[-0.897197,-0.417662,-0.143514],[-0.063044,-0.200510,0.977661]]
2025-10-26T22:58:28.856Z,1761519508.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:29.293Z,1761519509.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437936,0.886207,0.151162],[-0.896875,-0.419104,-0.141306],[-0.061874,-0.197457,0.978357]]
2025-10-26T22:58:29.385Z,1761519509.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:29.805Z,1761519509.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:30.091Z,1761519510.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440205,0.885116,0.150959],[-0.896060,-0.422302,-0.136885],[-0.057409,-0.195525,0.979017]]
2025-10-26T22:58:30.116Z,1761519510.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:30.494Z,1761519510.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441030,0.884825,0.150260],[-0.895857,-0.423911,-0.133186],[-0.054150,-0.193350,0.979634]]
2025-10-26T22:58:30.537Z,1761519510.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:30.641Z,1761519510.641 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:58:30.898Z,1761519510.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441771,0.884764,0.148430],[-0.895685,-0.425601,-0.128887],[-0.050863,-0.189885,0.980488]]
2025-10-26T22:58:30.954Z,1761519510.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:31.304Z,1761519511.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442980,0.885055,0.142993],[-0.895271,-0.428240,-0.122883],[-0.047523,-0.182452,0.982066]]
2025-10-26T22:58:31.327Z,1761519511.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:31.644Z,1761519511.644 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:58:31.795Z,1761519511.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:32.110Z,1761519512.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444151,0.882862,0.152592],[-0.894937,-0.429064,-0.122437],[-0.042623,-0.190941,0.980676]]
2025-10-26T22:58:32.151Z,1761519512.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:32.515Z,1761519512.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443258,0.881417,0.163179],[-0.895466,-0.427117,-0.125346],[-0.040785,-0.201681,0.978602]]
2025-10-26T22:58:32.574Z,1761519512.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:32.933Z,1761519512.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441190,0.881243,0.169594],[-0.896556,-0.424568,-0.126208],[-0.039216,-0.207732,0.977399]]
2025-10-26T22:58:32.956Z,1761519512.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:33.322Z,1761519513.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438747,0.882479,0.169505],[-0.897819,-0.422574,-0.123908],[-0.037718,-0.206549,0.977709]]
2025-10-26T22:58:33.354Z,1761519513.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:33.817Z,1761519513.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:34.131Z,1761519514.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432469,0.887815,0.157337],[-0.900968,-0.418731,-0.113672],[-0.035038,-0.190915,0.980981]]
2025-10-26T22:58:34.155Z,1761519514.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:34.605Z,1761519514.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:34.938Z,1761519514.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425380,0.894101,0.140126],[-0.904459,-0.414568,-0.100437],[-0.031709,-0.169462,0.985026]]
2025-10-26T22:58:34.983Z,1761519514.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:35.342Z,1761519515.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422278,0.897188,0.129363],[-0.905953,-0.412916,-0.093539],[-0.030507,-0.156696,0.987176]]
2025-10-26T22:58:35.388Z,1761519515.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:35.769Z,1761519515.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416365,0.900473,0.125653],[-0.908721,-0.407678,-0.089584],[-0.029442,-0.151483,0.988021]]
2025-10-26T22:58:35.817Z,1761519515.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:36.162Z,1761519516.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413725,0.901604,0.126262],[-0.909923,-0.405011,-0.089482],[-0.029539,-0.151910,0.987953]]
2025-10-26T22:58:36.181Z,1761519516.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:36.563Z,1761519516.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411595,0.902615,0.126000],[-0.910872,-0.402865,-0.089507],[-0.030029,-0.151611,0.987984]]
2025-10-26T22:58:36.606Z,1761519516.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:36.967Z,1761519516.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410348,0.903416,0.124316],[-0.911419,-0.401730,-0.089047],[-0.030505,-0.149845,0.988239]]
2025-10-26T22:58:36.985Z,1761519516.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:37.370Z,1761519517.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410111,0.903551,0.124114],[-0.911522,-0.401497,-0.089045],[-0.030625,-0.149651,0.988265]]
2025-10-26T22:58:37.389Z,1761519517.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:37.779Z,1761519517.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410702,0.902855,0.127190],[-0.911271,-0.401851,-0.090004],[-0.030149,-0.152869,0.987786]]
2025-10-26T22:58:37.815Z,1761519517.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:38.174Z,1761519518.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412508,0.901446,0.131274],[-0.910488,-0.403383,-0.091068],[-0.029140,-0.157089,0.987154]]
2025-10-26T22:58:38.204Z,1761519518.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:38.580Z,1761519518.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415150,0.899597,0.135558],[-0.909337,-0.405824,-0.091720],[-0.027498,-0.161346,0.986515]]
2025-10-26T22:58:38.637Z,1761519518.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:38.993Z,1761519518.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417993,0.897786,0.138787],[-0.908084,-0.408583,-0.091887],[-0.025789,-0.164439,0.986050]]
2025-10-26T22:58:39.012Z,1761519519.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:39.386Z,1761519519.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420876,0.895839,0.142601],[-0.906797,-0.411313,-0.092421],[-0.024141,-0.168207,0.985456]]
2025-10-26T22:58:39.415Z,1761519519.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:39.791Z,1761519519.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423878,0.893535,0.148065],[-0.905447,-0.414043,-0.093454],[-0.022199,-0.173678,0.984552]]
2025-10-26T22:58:39.845Z,1761519519.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:40.195Z,1761519520.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427219,0.891354,0.151564],[-0.903922,-0.417316,-0.093661],[-0.020235,-0.177016,0.984000]]
2025-10-26T22:58:40.213Z,1761519520.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:40.598Z,1761519520.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430504,0.888408,0.159365],[-0.902404,-0.420079,-0.095919],[-0.018270,-0.185105,0.982549]]
2025-10-26T22:58:40.645Z,1761519520.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:41.003Z,1761519521.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433149,0.885554,0.167860],[-0.901176,-0.422141,-0.098381],[-0.016262,-0.193885,0.980890]]
2025-10-26T22:58:41.041Z,1761519521.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:41.459Z,1761519521.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435022,0.884238,0.169936],[-0.900314,-0.424261,-0.097149],[-0.013806,-0.195257,0.980655]]
2025-10-26T22:58:41.535Z,1761519521.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:41.979Z,1761519521.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436973,0.884251,0.164786],[-0.899408,-0.427311,-0.092041],[-0.010972,-0.188429,0.982026]]
2025-10-26T22:58:42.036Z,1761519522.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:42.366Z,1761519522.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438501,0.884288,0.160472],[-0.898695,-0.429832,-0.087136],[-0.008077,-0.182425,0.983187]]
2025-10-26T22:58:42.401Z,1761519522.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:42.772Z,1761519522.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440239,0.883803,0.158371],[-0.897868,-0.432396,-0.082867],[-0.004759,-0.178677,0.983896]]
2025-10-26T22:58:42.823Z,1761519522.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:43.175Z,1761519523.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442469,0.882373,0.160123],[-0.896783,-0.435105,-0.080398],[-0.001271,-0.179169,0.983817]]
2025-10-26T22:58:43.200Z,1761519523.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:43.603Z,1761519523.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444631,0.880180,0.166090],[-0.895711,-0.437360,-0.080110],[0.002129,-0.184388,0.982851]]
2025-10-26T22:58:43.660Z,1761519523.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:43.986Z,1761519523.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446877,0.877358,0.174771],[-0.894578,-0.439470,-0.081215],[0.005552,-0.192639,0.981254]]
2025-10-26T22:58:44.020Z,1761519524.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:44.388Z,1761519524.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448644,0.875558,0.179211],[-0.893669,-0.441444,-0.080512],[0.008619,-0.196277,0.980511]]
2025-10-26T22:58:44.407Z,1761519524.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:44.794Z,1761519524.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451196,0.874583,0.177557],[-0.892346,-0.444780,-0.076745],[0.011854,-0.193070,0.981113]]
2025-10-26T22:58:44.830Z,1761519524.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:45.194Z,1761519525.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453061,0.872510,0.182925],[-0.891350,-0.446856,-0.076256],[0.015207,-0.197599,0.980165]]
2025-10-26T22:58:45.223Z,1761519525.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:45.617Z,1761519525.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453160,0.870379,0.192576],[-0.891238,-0.446839,-0.077652],[0.018464,-0.206820,0.978205]]
2025-10-26T22:58:45.660Z,1761519525.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:46.015Z,1761519526.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451824,0.868739,0.202846],[-0.891847,-0.445351,-0.079195],[0.021538,-0.216690,0.976003]]
2025-10-26T22:58:46.035Z,1761519526.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:46.408Z,1761519526.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449107,0.869554,0.205374],[-0.893142,-0.443223,-0.076494],[0.024510,-0.217782,0.975690]]
2025-10-26T22:58:46.426Z,1761519526.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:46.810Z,1761519526.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446425,0.870925,0.205411],[-0.894394,-0.441390,-0.072352],[0.027653,-0.216018,0.975998]]
2025-10-26T22:58:46.857Z,1761519526.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:47.214Z,1761519527.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442846,0.873208,0.203458],[-0.896070,-0.438825,-0.067020],[0.030760,-0.211992,0.976787]]
2025-10-26T22:58:47.266Z,1761519527.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:47.698Z,1761519527.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:48.042Z,1761519528.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434668,0.881544,0.184237],[-0.899877,-0.433283,-0.049881],[0.035855,-0.187472,0.981615]]
2025-10-26T22:58:48.061Z,1761519528.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:48.440Z,1761519528.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430021,0.886130,0.172790],[-0.902021,-0.429745,-0.040964],[0.037957,-0.173475,0.984106]]
2025-10-26T22:58:48.459Z,1761519528.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:48.877Z,1761519528.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425840,0.889442,0.165992],[-0.903924,-0.426274,-0.034824],[0.039784,-0.164874,0.985512]]
2025-10-26T22:58:48.925Z,1761519528.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:49.278Z,1761519529.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421292,0.891082,0.168779],[-0.905979,-0.421998,-0.033459],[0.041410,-0.167006,0.985086]]
2025-10-26T22:58:49.304Z,1761519529.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:49.790Z,1761519529.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411556,0.894599,0.174109],[-0.910398,-0.412427,-0.032866],[0.042405,-0.172035,0.984178]]
2025-10-26T22:58:49.826Z,1761519529.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:50.196Z,1761519530.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:50.574Z,1761519530.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407225,0.897442,0.169608],[-0.912337,-0.408355,-0.029782],[0.042533,-0.166868,0.985061]]
2025-10-26T22:58:50.594Z,1761519530.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:50.972Z,1761519530.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401964,0.899485,0.171325],[-0.914543,-0.403608,-0.026699],[0.045133,-0.167416,0.984853]]
2025-10-26T22:58:51.032Z,1761519531.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:51.414Z,1761519531.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:51.780Z,1761519531.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399113,0.899248,0.179061],[-0.915593,-0.401301,-0.025443],[0.048977,-0.174102,0.983509]]
2025-10-26T22:58:51.818Z,1761519531.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:52.187Z,1761519532.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399403,0.899467,0.177303],[-0.915346,-0.402047,-0.022359],[0.051173,-0.171223,0.983902]]
2025-10-26T22:58:52.205Z,1761519532.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:52.584Z,1761519532.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400219,0.897958,0.183017],[-0.914848,-0.403176,-0.022427],[0.053650,-0.176409,0.982854]]
2025-10-26T22:58:52.602Z,1761519532.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:52.988Z,1761519532.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400789,0.895586,0.193115],[-0.914449,-0.403963,-0.024426],[0.056135,-0.186383,0.980872]]
2025-10-26T22:58:53.054Z,1761519533.054 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:58:53.061Z,1761519533.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:53.153Z,1761519533.153 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:58:53.153Z,1761519533.153 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:58:53.392Z,1761519533.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401187,0.893227,0.202963],[-0.914119,-0.404593,-0.026303],[0.058623,-0.196085,0.978833]]
2025-10-26T22:58:53.404Z,1761519533.404 [DAT](INFO): DAT read: user:740>

2025-10-26T22:58:53.405Z,1761519533.405 [DAT](INFO): DAT read: Tx time:22:58:52.5348

2025-10-26T22:58:53.405Z,1761519533.405 [DAT](INFO): Ping request sent.
2025-10-26T22:58:53.406Z,1761519533.406 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:58:53.406Z,1761519533.406 [DAT](INFO): publishing transmit ping time
2025-10-26T22:58:53.407Z,1761519533.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000933
2025-10-26T22:58:53.414Z,1761519533.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:53.656Z,1761519533.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250789
2025-10-26T22:58:53.794Z,1761519533.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402684,0.891627,0.206995],[-0.913292,-0.406491,-0.025744],[0.061188,-0.199414,0.978003]]
2025-10-26T22:58:53.840Z,1761519533.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:53.913Z,1761519533.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507845
2025-10-26T22:58:54.164Z,1761519534.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758734
2025-10-26T22:58:54.198Z,1761519534.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404378,0.890390,0.209008],[-0.912385,-0.408593,-0.024598],[0.063498,-0.200643,0.977604]]
2025-10-26T22:58:54.243Z,1761519534.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:54.416Z,1761519534.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010783
2025-10-26T22:58:54.609Z,1761519534.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406335,0.890649,0.204047],[-0.911376,-0.411054,-0.020677],[0.065458,-0.194366,0.978743]]
2025-10-26T22:58:54.628Z,1761519534.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:54.670Z,1761519534.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264374
2025-10-26T22:58:54.920Z,1761519534.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514782
2025-10-26T22:58:55.014Z,1761519535.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408841,0.891139,0.196775],[-0.910130,-0.414011,-0.016047],[0.067167,-0.185651,0.980317]]
2025-10-26T22:58:55.058Z,1761519535.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:55.173Z,1761519535.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767066
2025-10-26T22:58:55.410Z,1761519535.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411509,0.890527,0.193963],[-0.908806,-0.416999,-0.013575],[0.068794,-0.181861,0.980915]]
2025-10-26T22:58:55.425Z,1761519535.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018913
2025-10-26T22:58:55.430Z,1761519535.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:55.678Z,1761519535.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272309
2025-10-26T22:58:55.815Z,1761519535.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414075,0.889163,0.194759],[-0.907532,-0.419782,-0.012998],[0.070200,-0.182132,0.980765]]
2025-10-26T22:58:55.867Z,1761519535.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:55.930Z,1761519535.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523924
2025-10-26T22:58:56.180Z,1761519536.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774822
2025-10-26T22:58:56.239Z,1761519536.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416404,0.886212,0.203068],[-0.906373,-0.422167,-0.016192],[0.071379,-0.190797,0.979031]]
2025-10-26T22:58:56.258Z,1761519536.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:56.432Z,1761519536.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026884
2025-10-26T22:58:56.622Z,1761519536.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417145,0.883245,0.214170],[-0.905941,-0.422910,-0.020428],[0.072532,-0.202547,0.976583]]
2025-10-26T22:58:56.650Z,1761519536.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:56.685Z,1761519536.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279605
2025-10-26T22:58:56.936Z,1761519536.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530796
2025-10-26T22:58:57.030Z,1761519537.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418077,0.882682,0.214672],[-0.905392,-0.424137,-0.019312],[0.074004,-0.202436,0.976495]]
2025-10-26T22:58:57.092Z,1761519537.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:57.188Z,1761519537.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782780
2025-10-26T22:58:57.431Z,1761519537.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419281,0.883256,0.209909],[-0.904706,-0.425750,-0.015626],[0.075567,-0.196457,0.977596]]
2025-10-26T22:58:57.441Z,1761519537.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035155
2025-10-26T22:58:57.451Z,1761519537.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:57.693Z,1761519537.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287599
2025-10-26T22:58:57.834Z,1761519537.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420341,0.883726,0.205773],[-0.904064,-0.427231,-0.011954],[0.077348,-0.191057,0.978527]]
2025-10-26T22:58:57.878Z,1761519537.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:57.945Z,1761519537.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539167
2025-10-26T22:58:58.196Z,1761519538.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790802
2025-10-26T22:58:58.243Z,1761519538.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420361,0.884560,0.202116],[-0.903898,-0.427669,-0.008238],[0.079152,-0.186155,0.979327]]
2025-10-26T22:58:58.262Z,1761519538.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:58.448Z,1761519538.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042757
2025-10-26T22:58:58.649Z,1761519538.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420688,0.885357,0.197899],[-0.903602,-0.428349,-0.004513],[0.080774,-0.180720,0.980212]]
2025-10-26T22:58:58.667Z,1761519538.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:58.701Z,1761519538.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295512
2025-10-26T22:58:58.953Z,1761519538.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547312
2025-10-26T22:58:59.055Z,1761519539.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420126,0.885796,0.197129],[-0.903779,-0.427989,-0.002995],[0.081716,-0.179420,0.980373]]
2025-10-26T22:58:59.112Z,1761519539.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:59.210Z,1761519539.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.804285
2025-10-26T22:58:59.454Z,1761519539.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419128,0.885938,0.198609],[-0.904220,-0.427055,-0.003217],[0.081966,-0.180934,0.980074]]
2025-10-26T22:58:59.460Z,1761519539.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054797
2025-10-26T22:58:59.487Z,1761519539.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:59.714Z,1761519539.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307972
2025-10-26T22:58:59.886Z,1761519539.886 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 100.57,  91.40,  84.60
2025-10-26T22:58:59.901Z,1761519539.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:58:59.965Z,1761519539.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559006
2025-10-26T22:59:00.217Z,1761519540.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811416
2025-10-26T22:59:00.263Z,1761519540.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416333,0.885700,0.205433],[-0.905566,-0.424155,-0.006539],[0.081344,-0.188756,0.978649]]
2025-10-26T22:59:00.284Z,1761519540.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:00.468Z,1761519540.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062727
2025-10-26T22:59:00.668Z,1761519540.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414855,0.885717,0.208326],[-0.906297,-0.422562,-0.008218],[0.080751,-0.192214,0.978025]]
2025-10-26T22:59:00.686Z,1761519540.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:00.722Z,1761519540.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315934
2025-10-26T22:59:00.975Z,1761519540.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.568845
2025-10-26T22:59:01.070Z,1761519541.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413101,0.886876,0.206876],[-0.907182,-0.420659,-0.008147],[0.079799,-0.191040,0.978333]]
2025-10-26T22:59:01.124Z,1761519541.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:01.226Z,1761519541.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.820197
2025-10-26T22:59:01.474Z,1761519541.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412216,0.888684,0.200795],[-0.907633,-0.419725,-0.005668],[0.079241,-0.184585,0.979617]]
2025-10-26T22:59:01.476Z,1761519541.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070892
2025-10-26T22:59:01.495Z,1761519541.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:01.729Z,1761519541.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.323883
2025-10-26T22:59:01.764Z,1761519541.764 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:59:01.878Z,1761519541.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411048,0.890329,0.195841],[-0.908228,-0.418457,-0.003883],[0.078494,-0.179465,0.980628]]
2025-10-26T22:59:01.935Z,1761519541.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:01.981Z,1761519541.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575344
2025-10-26T22:59:02.232Z,1761519542.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826862
2025-10-26T22:59:02.289Z,1761519542.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410702,0.891051,0.193268],[-0.908399,-0.418096,-0.002776],[0.078331,-0.176704,0.981142]]
2025-10-26T22:59:02.307Z,1761519542.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:02.484Z,1761519542.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078701
2025-10-26T22:59:02.687Z,1761519542.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411356,0.890562,0.194129],[-0.908080,-0.418785,-0.003039],[0.078592,-0.177535,0.980971]]
2025-10-26T22:59:02.737Z,1761519542.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331224
2025-10-26T22:59:02.745Z,1761519542.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:02.768Z,1761519542.768 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:59:02.989Z,1761519542.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583166
2025-10-26T22:59:03.091Z,1761519543.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412057,0.889331,0.198240],[-0.907637,-0.419742,-0.003578],[0.080028,-0.181404,0.980147]]
2025-10-26T22:59:03.139Z,1761519543.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:03.240Z,1761519543.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834839
2025-10-26T22:59:03.492Z,1761519543.492 [DAT](INFO): Reached modem response timeout
2025-10-26T22:59:03.496Z,1761519543.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413155,0.888313,0.200507],[-0.907022,-0.421068,-0.003499],[0.081319,-0.183310,0.979686]]
2025-10-26T22:59:03.514Z,1761519543.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:03.899Z,1761519543.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415566,0.887582,0.198753],[-0.905790,-0.423723,-0.001641],[0.082760,-0.180710,0.980048]]
2025-10-26T22:59:03.937Z,1761519543.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:04.302Z,1761519544.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419562,0.886185,0.196581],[-0.903745,-0.428070,0.000873],[0.084924,-0.177293,0.980487]]
2025-10-26T22:59:04.337Z,1761519544.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:04.718Z,1761519544.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424755,0.882520,0.201844],[-0.900984,-0.433851,0.000914],[0.088377,-0.181470,0.979417]]
2025-10-26T22:59:04.766Z,1761519544.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:05.110Z,1761519545.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430750,0.877463,0.210983],[-0.897697,-0.440613,-0.000295],[0.092703,-0.189526,0.977490]]
2025-10-26T22:59:05.162Z,1761519545.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:05.517Z,1761519545.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437087,0.871556,0.222136],[-0.894138,-0.447784,-0.002465],[0.097321,-0.199698,0.975013]]
2025-10-26T22:59:05.539Z,1761519545.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:05.761Z,1761519545.761 [DAT](INFO): DAT read: Response Not Received

2025-10-26T22:59:05.761Z,1761519545.761 [DAT](INFO): response not received
2025-10-26T22:59:05.761Z,1761519545.761 [DAT](ERROR): No response from remote modem.
2025-10-26T22:59:05.922Z,1761519545.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443128,0.863589,0.240522],[-0.890769,-0.454351,-0.009780],[0.100835,-0.218583,0.970595]]
2025-10-26T22:59:05.968Z,1761519545.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:06.323Z,1761519546.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447668,0.857484,0.253603],[-0.888159,-0.459296,-0.014832],[0.103760,-0.231880,0.967195]]
2025-10-26T22:59:06.367Z,1761519546.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:06.740Z,1761519546.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452209,0.852314,0.262806],[-0.885539,-0.464207,-0.018261],[0.106433,-0.240983,0.964676]]
2025-10-26T22:59:06.758Z,1761519546.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:07.226Z,1761519547.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454438,0.848458,0.271304],[-0.884191,-0.466619,-0.021761],[0.108132,-0.249773,0.962248]]
2025-10-26T22:59:07.270Z,1761519547.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:07.619Z,1761519547.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455282,0.848397,0.270075],[-0.883712,-0.467561,-0.020961],[0.108493,-0.248212,0.962611]]
2025-10-26T22:59:07.639Z,1761519547.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:08.081Z,1761519548.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454463,0.850502,0.264784],[-0.884387,-0.466323,-0.020064],[0.106411,-0.243290,0.964099]]
2025-10-26T22:59:08.138Z,1761519548.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:08.474Z,1761519548.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451558,0.854259,0.257558],[-0.886334,-0.462636,-0.019490],[0.102506,-0.237083,0.966066]]
2025-10-26T22:59:08.501Z,1761519548.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:08.878Z,1761519548.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446823,0.859515,0.248158],[-0.889270,-0.457017,-0.018269],[0.097710,-0.228843,0.968547]]
2025-10-26T22:59:08.962Z,1761519548.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:09.285Z,1761519549.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441291,0.866690,0.232617],[-0.892538,-0.450763,-0.013741],[0.092946,-0.213683,0.972471]]
2025-10-26T22:59:09.339Z,1761519549.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:09.697Z,1761519549.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435356,0.874309,0.214588],[-0.895924,-0.444134,-0.008088],[0.088234,-0.195776,0.976671]]
2025-10-26T22:59:09.778Z,1761519549.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:10.090Z,1761519550.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428966,0.882091,0.194690],[-0.899416,-0.437092,-0.001355],[0.083902,-0.175688,0.980864]]
2025-10-26T22:59:10.285Z,1761519550.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:10.494Z,1761519550.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423482,0.890063,0.168673],[-0.902324,-0.430971,0.008737],[0.080469,-0.148498,0.985633]]
2025-10-26T22:59:10.537Z,1761519550.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:10.899Z,1761519550.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419623,0.895623,0.147570],[-0.904293,-0.426556,0.017427],[0.078555,-0.126133,0.988898]]
2025-10-26T22:59:10.969Z,1761519550.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:11.305Z,1761519551.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417308,0.898432,0.136654],[-0.905446,-0.423896,0.021894],[0.077597,-0.114596,0.990377]]
2025-10-26T22:59:11.393Z,1761519551.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:11.731Z,1761519551.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416393,0.898311,0.140191],[-0.905859,-0.423084,0.020459],[0.077691,-0.118474,0.989913]]
2025-10-26T22:59:11.751Z,1761519551.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:12.106Z,1761519552.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416305,0.897009,0.148543],[-0.905854,-0.423244,0.017113],[0.078220,-0.127435,0.988758]]
2025-10-26T22:59:12.163Z,1761519552.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:12.544Z,1761519552.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:12.914Z,1761519552.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416124,0.893101,0.170914],[-0.905933,-0.423369,0.006615],[0.078268,-0.152084,0.985264]]
2025-10-26T22:59:12.933Z,1761519552.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:13.376Z,1761519553.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:13.739Z,1761519553.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416403,0.890664,0.182555],[-0.905945,-0.423396,-0.000738],[0.076636,-0.165692,0.983195]]
2025-10-26T22:59:13.758Z,1761519553.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:14.175Z,1761519554.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:14.526Z,1761519554.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412946,0.890326,0.191822],[-0.907987,-0.418866,-0.010542],[0.070962,-0.178525,0.981373]]
2025-10-26T22:59:14.545Z,1761519554.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:14.931Z,1761519554.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411195,0.891807,0.188677],[-0.908971,-0.416703,-0.011372],[0.068481,-0.176178,0.981973]]
2025-10-26T22:59:14.949Z,1761519554.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:15.334Z,1761519555.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410152,0.893883,0.180965],[-0.909609,-0.415345,-0.009988],[0.066235,-0.168704,0.983439]]
2025-10-26T22:59:15.378Z,1761519555.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:15.745Z,1761519555.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409141,0.896358,0.170724],[-0.910195,-0.414121,-0.007013],[0.064414,-0.158261,0.985294]]
2025-10-26T22:59:15.779Z,1761519555.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:16.150Z,1761519556.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409488,0.899199,0.154144],[-0.910187,-0.414195,-0.001733],[0.062287,-0.141009,0.988047]]
2025-10-26T22:59:16.222Z,1761519556.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:16.548Z,1761519556.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411212,0.900770,0.139706],[-0.909558,-0.415571,0.002238],[0.060073,-0.126150,0.990191]]
2025-10-26T22:59:16.566Z,1761519556.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:16.950Z,1761519556.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412931,0.900289,0.137723],[-0.908850,-0.417119,0.001709],[0.058985,-0.124464,0.990469]]
2025-10-26T22:59:16.984Z,1761519556.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:17.411Z,1761519557.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:17.766Z,1761519557.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417685,0.894841,0.157473],[-0.906662,-0.421780,-0.008087],[0.059182,-0.146153,0.987490]]
2025-10-26T22:59:17.785Z,1761519557.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:18.162Z,1761519558.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420383,0.891462,0.169036],[-0.905443,-0.424220,-0.014533],[0.058753,-0.159162,0.985503]]
2025-10-26T22:59:18.241Z,1761519558.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:18.607Z,1761519558.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:19.025Z,1761519559.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429394,0.880842,0.199344],[-0.901121,-0.432544,-0.029761],[0.060011,-0.192412,0.979477]]
2025-10-26T22:59:19.049Z,1761519559.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:19.441Z,1761519559.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431871,0.877794,0.207282],[-0.899887,-0.434836,-0.033476],[0.060748,-0.200988,0.977708]]
2025-10-26T22:59:19.500Z,1761519559.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:19.843Z,1761519559.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434363,0.874967,0.213917],[-0.898692,-0.436973,-0.037500],[0.060665,-0.208534,0.976132]]
2025-10-26T22:59:19.868Z,1761519559.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:20.246Z,1761519560.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435603,0.873188,0.218615],[-0.898164,-0.437714,-0.041336],[0.059597,-0.214358,0.974935]]
2025-10-26T22:59:20.299Z,1761519560.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:20.651Z,1761519560.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435484,0.872631,0.221062],[-0.898307,-0.437163,-0.043954],[0.058285,-0.217723,0.974269]]
2025-10-26T22:59:20.720Z,1761519560.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:21.055Z,1761519561.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433819,0.873312,0.221649],[-0.899247,-0.435006,-0.046087],[0.056170,-0.219310,0.974037]]
2025-10-26T22:59:21.078Z,1761519561.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:21.458Z,1761519561.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430356,0.876291,0.216584],[-0.901103,-0.431149,-0.046090],[0.052992,-0.215000,0.975175]]
2025-10-26T22:59:21.514Z,1761519561.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:21.863Z,1761519561.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424952,0.881560,0.205592],[-0.903916,-0.425419,-0.044211],[0.048488,-0.204626,0.977639]]
2025-10-26T22:59:21.882Z,1761519561.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:22.267Z,1761519562.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419112,0.886911,0.194250],[-0.906864,-0.419312,-0.042139],[0.044078,-0.193820,0.980046]]
2025-10-26T22:59:22.338Z,1761519562.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:22.682Z,1761519562.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412495,0.892100,0.184406],[-0.910070,-0.412507,-0.040137],[0.040262,-0.184379,0.982030]]
2025-10-26T22:59:22.737Z,1761519562.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:23.074Z,1761519563.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405956,0.897625,0.171667],[-0.913148,-0.405984,-0.036566],[0.036871,-0.171602,0.984476]]
2025-10-26T22:59:23.106Z,1761519563.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:23.478Z,1761519563.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400030,0.903711,0.152586],[-0.915870,-0.400359,-0.029926],[0.034044,-0.151720,0.987837]]
2025-10-26T22:59:23.531Z,1761519563.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:23.883Z,1761519563.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396185,0.908971,0.129652],[-0.917616,-0.396888,-0.021485],[0.031928,-0.127483,0.991327]]
2025-10-26T22:59:23.908Z,1761519563.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:24.286Z,1761519564.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394660,0.911610,0.114941],[-0.918312,-0.395528,-0.016128],[0.030760,-0.111917,0.993241]]
2025-10-26T22:59:24.420Z,1761519564.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:24.838Z,1761519564.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:25.214Z,1761519565.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396437,0.911219,0.111884],[-0.917559,-0.397299,-0.015451],[0.030372,-0.108786,0.993601]]
2025-10-26T22:59:25.271Z,1761519565.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:25.622Z,1761519565.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:25.977Z,1761519565.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401880,0.906425,0.129948],[-0.915189,-0.402298,-0.024192],[0.030349,-0.128650,0.991226]]
2025-10-26T22:59:25.995Z,1761519565.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:26.396Z,1761519566.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405301,0.903386,0.140091],[-0.913690,-0.405331,-0.029615],[0.030029,-0.140003,0.989696]]
2025-10-26T22:59:26.419Z,1761519566.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:26.782Z,1761519566.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408651,0.900518,0.148568],[-0.912214,-0.408249,-0.034604],[0.029491,-0.149666,0.988297]]
2025-10-26T22:59:26.800Z,1761519566.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:27.246Z,1761519567.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412667,0.897615,0.154898],[-0.910434,-0.411790,-0.039229],[0.028573,-0.157213,0.987151]]
2025-10-26T22:59:27.306Z,1761519567.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:27.607Z,1761519567.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415893,0.894677,0.163051],[-0.909016,-0.414273,-0.045465],[0.026871,-0.167124,0.985570]]
2025-10-26T22:59:27.625Z,1761519567.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:28.006Z,1761519568.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417878,0.892111,0.171801],[-0.908162,-0.415362,-0.052107],[0.024874,-0.177797,0.983753]]
2025-10-26T22:59:28.041Z,1761519568.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:28.410Z,1761519568.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419451,0.890502,0.176259],[-0.907487,-0.416251,-0.056585],[0.022979,-0.183687,0.982716]]
2025-10-26T22:59:28.459Z,1761519568.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:28.814Z,1761519568.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420591,0.889629,0.177943],[-0.906988,-0.417022,-0.058876],[0.021828,-0.186155,0.982278]]
2025-10-26T22:59:28.833Z,1761519568.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:29.267Z,1761519569.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420115,0.889173,0.181313],[-0.907225,-0.416181,-0.061118],[0.021114,-0.190169,0.981524]]
2025-10-26T22:59:29.308Z,1761519569.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:29.636Z,1761519569.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419441,0.890078,0.178412],[-0.907547,-0.415626,-0.060107],[0.020653,-0.187129,0.982118]]
2025-10-26T22:59:29.661Z,1761519569.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:30.072Z,1761519570.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:30.438Z,1761519570.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416271,0.891456,0.178953],[-0.909056,-0.412012,-0.062156],[0.018322,-0.188552,0.981892]]
2025-10-26T22:59:30.493Z,1761519570.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:30.844Z,1761519570.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414042,0.892296,0.179939],[-0.910096,-0.409525,-0.063358],[0.017155,-0.189995,0.981635]]
2025-10-26T22:59:30.865Z,1761519570.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:31.289Z,1761519571.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412206,0.893002,0.180647],[-0.910948,-0.407466,-0.064378],[0.016118,-0.191097,0.981439]]
2025-10-26T22:59:31.346Z,1761519571.346 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -49.00,      +769.83,        0.00
2025-10-26T22:59:31.383Z,1761519571.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:31.742Z,1761519571.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:32.089Z,1761519572.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408008,0.895220,0.179193],[-0.912876,-0.402969,-0.065376],[0.013683,-0.190255,0.981639]]
2025-10-26T22:59:32.107Z,1761519572.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:32.492Z,1761519572.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407502,0.897361,0.169369],[-0.913129,-0.402776,-0.062977],[0.011705,-0.180319,0.983539]]
2025-10-26T22:59:32.540Z,1761519572.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:32.896Z,1761519572.896 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T22:59:32.937Z,1761519572.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:33.336Z,1761519573.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408027,0.898580,0.161458],[-0.912950,-0.402759,-0.065633],[0.006052,-0.174183,0.984695]]
2025-10-26T22:59:33.376Z,1761519573.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:33.710Z,1761519573.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409100,0.898001,0.161963],[-0.912486,-0.403144,-0.069609],[0.002786,-0.176266,0.984339]]
2025-10-26T22:59:33.739Z,1761519573.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:33.900Z,1761519573.900 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T22:59:34.106Z,1761519574.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410698,0.896678,0.165214],[-0.911771,-0.403761,-0.075168],[-0.000694,-0.181509,0.983389]]
2025-10-26T22:59:34.200Z,1761519574.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:34.534Z,1761519574.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412609,0.894911,0.169966],[-0.910900,-0.404561,-0.081190],[-0.003896,-0.188321,0.982100]]
2025-10-26T22:59:34.578Z,1761519574.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:34.930Z,1761519574.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414558,0.892884,0.175782],[-0.909999,-0.405348,-0.087145],[-0.006557,-0.196088,0.980564]]
2025-10-26T22:59:34.977Z,1761519574.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:35.361Z,1761519575.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417025,0.891699,0.175964],[-0.908855,-0.407292,-0.089983],[-0.008569,-0.197451,0.980275]]
2025-10-26T22:59:35.441Z,1761519575.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:35.753Z,1761519575.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420218,0.889680,0.178569],[-0.907369,-0.409832,-0.093372],[-0.009888,-0.201264,0.979487]]
2025-10-26T22:59:35.773Z,1761519575.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:36.169Z,1761519576.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423821,0.887486,0.180956],[-0.905688,-0.412988,-0.095761],[-0.010253,-0.204475,0.978818]]
2025-10-26T22:59:36.193Z,1761519576.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:36.558Z,1761519576.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427847,0.885829,0.179595],[-0.903799,-0.417144,-0.095600],[-0.009768,-0.203219,0.979085]]
2025-10-26T22:59:36.601Z,1761519576.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:36.963Z,1761519576.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432050,0.884651,0.175290],[-0.901810,-0.421955,-0.093238],[-0.008519,-0.198362,0.980092]]
2025-10-26T22:59:36.990Z,1761519576.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:37.392Z,1761519577.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435968,0.882719,0.175324],[-0.899937,-0.426147,-0.092261],[-0.006727,-0.198003,0.980178]]
2025-10-26T22:59:37.444Z,1761519577.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:37.772Z,1761519577.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439859,0.880026,0.179105],[-0.898055,-0.430001,-0.092714],[-0.004575,-0.201627,0.979452]]
2025-10-26T22:59:37.793Z,1761519577.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:38.178Z,1761519578.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442905,0.877289,0.184934],[-0.896566,-0.432856,-0.093837],[-0.002273,-0.207366,0.978261]]
2025-10-26T22:59:38.215Z,1761519578.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:38.578Z,1761519578.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445506,0.875406,0.187585],[-0.895279,-0.435506,-0.093867],[-0.000477,-0.209759,0.977753]]
2025-10-26T22:59:38.698Z,1761519578.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:39.060Z,1761519579.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:39.508Z,1761519579.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:39.877Z,1761519579.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:40.231Z,1761519580.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444717,0.875215,0.190330],[-0.895671,-0.434650,-0.094089],[0.000379,-0.212316,0.977201]]
2025-10-26T22:59:40.250Z,1761519580.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:40.630Z,1761519580.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441469,0.877088,0.189264],[-0.897276,-0.431403,-0.093739],[-0.000568,-0.211205,0.977442]]
2025-10-26T22:59:40.708Z,1761519580.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:41.073Z,1761519581.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:41.458Z,1761519581.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437304,0.885020,0.159702],[-0.899313,-0.430122,-0.078941],[-0.001173,-0.178144,0.984004]]
2025-10-26T22:59:41.507Z,1761519581.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:41.840Z,1761519581.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436332,0.887534,0.147979],[-0.899785,-0.430250,-0.072603],[-0.000770,-0.164828,0.986322]]
2025-10-26T22:59:41.860Z,1761519581.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:42.242Z,1761519582.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435930,0.888837,0.141187],[-0.899980,-0.430535,-0.068376],[0.000011,-0.156872,0.987619]]
2025-10-26T22:59:42.271Z,1761519582.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:42.657Z,1761519582.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436392,0.889284,0.136882],[-0.899756,-0.431517,-0.065056],[0.001213,-0.151550,0.988449]]
2025-10-26T22:59:42.704Z,1761519582.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:43.050Z,1761519583.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437366,0.888685,0.137662],[-0.899279,-0.432694,-0.063820],[0.002849,-0.151709,0.988421]]
2025-10-26T22:59:43.076Z,1761519583.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:43.493Z,1761519583.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438673,0.887616,0.140373],[-0.898637,-0.434014,-0.063899],[0.004206,-0.154175,0.988035]]
2025-10-26T22:59:43.536Z,1761519583.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:43.859Z,1761519583.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438786,0.885588,0.152316],[-0.898579,-0.433336,-0.069109],[0.004802,-0.167192,0.985913]]
2025-10-26T22:59:43.888Z,1761519583.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:44.262Z,1761519584.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438028,0.883271,0.167227],[-0.898948,-0.431387,-0.076142],[0.004886,-0.183681,0.982974]]
2025-10-26T22:59:44.281Z,1761519584.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:44.737Z,1761519584.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:45.071Z,1761519585.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436125,0.880269,0.186874],[-0.899880,-0.427413,-0.086803],[0.003463,-0.206021,0.978541]]
2025-10-26T22:59:45.099Z,1761519585.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:45.524Z,1761519585.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436268,0.880859,0.183732],[-0.899814,-0.427562,-0.086747],[0.002145,-0.203170,0.979141]]
2025-10-26T22:59:45.564Z,1761519585.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:45.878Z,1761519585.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437609,0.882206,0.173813],[-0.899165,-0.429423,-0.084248],[0.000315,-0.193155,0.981168]]
2025-10-26T22:59:45.897Z,1761519585.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:46.284Z,1761519586.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440462,0.883871,0.157371],[-0.897770,-0.433304,-0.079103],[-0.001727,-0.176125,0.984366]]
2025-10-26T22:59:46.303Z,1761519586.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:46.745Z,1761519586.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:47.090Z,1761519587.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449631,0.881369,0.144987],[-0.893194,-0.442558,-0.079671],[-0.006054,-0.165324,0.986221]]
2025-10-26T22:59:47.109Z,1761519587.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:47.548Z,1761519587.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454282,0.877309,0.154778],[-0.890820,-0.445747,-0.088029],[-0.008236,-0.177869,0.984020]]
2025-10-26T22:59:47.665Z,1761519587.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:47.999Z,1761519587.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:48.358Z,1761519588.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460390,0.868002,0.186049],[-0.887666,-0.447897,-0.106944],[-0.009497,-0.214385,0.976703]]
2025-10-26T22:59:48.397Z,1761519588.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:48.762Z,1761519588.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460701,0.866282,0.193157],[-0.887501,-0.447225,-0.111045],[-0.009812,-0.222585,0.974864]]
2025-10-26T22:59:48.824Z,1761519588.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:49.212Z,1761519589.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:49.581Z,1761519589.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454933,0.870238,0.189001],[-0.890468,-0.442122,-0.107681],[-0.010146,-0.217287,0.976055]]
2025-10-26T22:59:49.641Z,1761519589.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:49.975Z,1761519589.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448020,0.873385,0.190988],[-0.893969,-0.435284,-0.106528],[-0.009906,-0.218464,0.975795]]
2025-10-26T22:59:50.001Z,1761519590.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:50.415Z,1761519590.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:50.783Z,1761519590.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429632,0.882937,0.189309],[-0.902967,-0.418160,-0.098960],[-0.008214,-0.213456,0.976918]]
2025-10-26T22:59:50.836Z,1761519590.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:51.189Z,1761519591.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420331,0.892265,0.164880],[-0.907340,-0.411822,-0.084478],[-0.007476,-0.185111,0.982689]]
2025-10-26T22:59:51.208Z,1761519591.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:51.609Z,1761519591.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414384,0.900979,0.128539],[-0.910076,-0.409146,-0.066039],[-0.006909,-0.144346,0.989503]]
2025-10-26T22:59:51.671Z,1761519591.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:51.994Z,1761519591.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410938,0.906080,0.100742],[-0.911636,-0.407554,-0.053093],[-0.007049,-0.113658,0.993495]]
2025-10-26T22:59:52.038Z,1761519592.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:52.398Z,1761519592.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410117,0.908085,0.084772],[-0.911998,-0.407513,-0.046823],[-0.007974,-0.096515,0.995300]]
2025-10-26T22:59:52.418Z,1761519592.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:52.804Z,1761519592.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411968,0.907529,0.081694],[-0.911148,-0.409350,-0.047337],[-0.009518,-0.093937,0.995533]]
2025-10-26T22:59:52.841Z,1761519592.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:53.206Z,1761519593.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415895,0.905034,0.089134],[-0.909336,-0.412589,-0.053647],[-0.011776,-0.103365,0.994574]]
2025-10-26T22:59:53.297Z,1761519593.297 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:59:53.299Z,1761519593.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:53.420Z,1761519593.420 [DAT](DEBUG): Acoustic response timeout
2025-10-26T22:59:53.420Z,1761519593.420 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:59:53.650Z,1761519593.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422730,0.900426,0.102627],[-0.906145,-0.418189,-0.063392],[-0.014162,-0.119792,0.992698]]
2025-10-26T22:59:53.672Z,1761519593.672 [DAT](INFO): DAT read: user:741>

2025-10-26T22:59:53.673Z,1761519593.673 [DAT](INFO): DAT read: Tx time:22:59:52.7847

2025-10-26T22:59:53.674Z,1761519593.674 [DAT](INFO): Ping request sent.
2025-10-26T22:59:53.674Z,1761519593.674 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:59:53.674Z,1761519593.674 [DAT](INFO): publishing transmit ping time
2025-10-26T22:59:53.674Z,1761519593.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-10-26T22:59:53.753Z,1761519593.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:53.924Z,1761519593.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250609
2025-10-26T22:59:54.061Z,1761519594.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430594,0.893789,0.125416],[-0.902392,-0.423782,-0.078083],[-0.016640,-0.146796,0.989027]]
2025-10-26T22:59:54.093Z,1761519594.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:54.177Z,1761519594.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503634
2025-10-26T22:59:54.428Z,1761519594.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754622
2025-10-26T22:59:54.462Z,1761519594.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438379,0.885897,0.151694],[-0.898602,-0.428544,-0.094149],[-0.018399,-0.177585,0.983933]]
2025-10-26T22:59:54.512Z,1761519594.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:54.680Z,1761519594.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006664
2025-10-26T22:59:54.917Z,1761519594.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:54.932Z,1761519594.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258691
2025-10-26T22:59:55.184Z,1761519595.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510694
2025-10-26T22:59:55.278Z,1761519595.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447318,0.873312,0.192958],[-0.894170,-0.432061,-0.117401],[-0.019158,-0.225052,0.974158]]
2025-10-26T22:59:55.309Z,1761519595.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:55.436Z,1761519595.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762743
2025-10-26T22:59:55.672Z,1761519595.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448402,0.869778,0.205964],[-0.893640,-0.431471,-0.123448],[-0.018504,-0.239412,0.970742]]
2025-10-26T22:59:55.688Z,1761519595.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014752
2025-10-26T22:59:55.731Z,1761519595.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:55.941Z,1761519595.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267111
2025-10-26T22:59:56.142Z,1761519596.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447103,0.868866,0.212536],[-0.894305,-0.429474,-0.125584],[-0.017837,-0.246220,0.969050]]
2025-10-26T22:59:56.180Z,1761519596.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:56.192Z,1761519596.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518718
2025-10-26T22:59:56.445Z,1761519596.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770900
2025-10-26T22:59:56.536Z,1761519596.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444114,0.871395,0.208407],[-0.895793,-0.427220,-0.122628],[-0.017822,-0.241151,0.970324]]
2025-10-26T22:59:56.554Z,1761519596.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:56.696Z,1761519596.696 [DAT](INFO): DAT read: Rx Time:22:59:55.4361

2025-10-26T22:59:56.697Z,1761519596.697 [DAT](INFO): Rx dataTimestamp_ set to:1761519596.696624
2025-10-26T22:59:56.697Z,1761519596.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023780
2025-10-26T22:59:56.949Z,1761519596.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275084
2025-10-26T22:59:56.976Z,1761519596.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441030,0.876152,0.194551],[-0.897302,-0.425985,-0.115700],[-0.018495,-0.225598,0.974045]]
2025-10-26T22:59:57.034Z,1761519597.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:57.203Z,1761519597.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529212
2025-10-26T22:59:57.371Z,1761519597.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438085,0.880663,0.180317],[-0.898725,-0.424759,-0.108966],[-0.019371,-0.209792,0.977554]]
2025-10-26T22:59:57.398Z,1761519597.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-10-26T22:59:57.463Z,1761519597.463 [DAT](INFO): DAT read: 22:59:55.4361 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX=  58, 0.04,-2.484,-0.629,-2.180,-1.884, PHS=-0.498, 1.301,-0.340, RAW= 325.4,  -5.4, CAL= 324.8,  -8.6, ROT= 185.2,   8.6

2025-10-26T22:59:57.465Z,1761519597.465 [DAT](INFO): got valid direction response:
 22:59:55.4361 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX=  58, 0.04,-2.484,-0.629,-2.180,-1.884, PHS=-0.498, 1.301,-0.340, RAW= 325.4,  -5.4, CAL= 324.8,  -8.6, ROT= 185.2,   8.6

2025-10-26T22:59:57.465Z,1761519597.465 [DAT](INFO): DAT read: Bearing 220.1,  -2.0 (Local)

2025-10-26T22:59:57.466Z,1761519597.466 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.1,  -2.0 (Local)

2025-10-26T22:59:57.467Z,1761519597.467 [DAT](INFO): DAT read: Range 11 to 50 : 185.4 m  (Round-trip  247.2 ms) speed -0.5 m/s

2025-10-26T22:59:57.469Z,1761519597.469 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T22:59:57.470Z,1761519597.470 [DAT](INFO): direction in FSK: [-0.984687,-0.089613,-0.149535]
2025-10-26T22:59:57.470Z,1761519597.470 [DAT](INFO): publishing direction and range info
2025-10-26T22:59:57.774Z,1761519597.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435369,0.885635,0.161570],[-0.900024,-0.424147,-0.100282],[-0.020284,-0.189077,0.981753]]
2025-10-26T22:59:57.825Z,1761519597.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 185.399994 m,
      deltaT: 120.768712 s,
      deltaX: 154.599991 m,
      approachRate: 1.280133 m/s,
      rangeRepo size: 4

2025-10-26T22:59:57.827Z,1761519597.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 184.485336 m,
      bearing: 70.903636 deg,
      lat: 36.779426 deg,
      lon: -121.859373 deg,
      deltaT: 120.768712 s,
      deltaX: 153.845474 m,
      approachRate: 1.273885 m/s,
      posRepo size: 4

2025-10-26T22:59:57.828Z,1761519597.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.49 m.
2025-10-26T22:59:57.830Z,1761519597.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 185.40 m. Resuming terminal guidance.
2025-10-26T22:59:57.831Z,1761519597.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-10-26T22:59:58.178Z,1761519598.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435561,0.890383,0.132303],[-0.899913,-0.427276,-0.087129],[-0.021048,-0.157012,0.987372]]
2025-10-26T22:59:58.200Z,1761519598.200 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-10-26T22:59:58.201Z,1761519598.201 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T22:59:58.201Z,1761519598.201 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-10-26T22:59:58.202Z,1761519598.202 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 185.399994 m (mode  1.000000 count ).
2025-10-26T22:59:58.202Z,1761519598.202 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-10-26T22:59:58.202Z,1761519598.202 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-10-26T22:59:58.586Z,1761519598.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438186,0.892840,0.104060],[-0.898615,-0.432276,-0.075028],[-0.022006,-0.126387,0.991737]]
2025-10-26T22:59:58.657Z,1761519598.657 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-10-26T22:59:58.657Z,1761519598.657 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-10-26T22:59:58.665Z,1761519598.665 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T22:59:58.713Z,1761519598.713 [DAT](INFO): ****** received valid address query ******
2025-10-26T22:59:58.713Z,1761519598.713 [DAT](INFO): ****** received valid ping request ******
2025-10-26T22:59:58.713Z,1761519598.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T22:59:58.964Z,1761519598.964 [DAT](INFO): DAT read: user:742>

2025-10-26T22:59:58.965Z,1761519598.965 [DAT](INFO): DAT read: Tx time:22:59:58.0847

2025-10-26T22:59:58.965Z,1761519598.965 [DAT](INFO): Ping request sent.
2025-10-26T22:59:58.965Z,1761519598.965 [DAT](INFO): transmitted an acoustic signal
2025-10-26T22:59:58.966Z,1761519598.966 [DAT](INFO): publishing transmit ping time
2025-10-26T22:59:58.966Z,1761519598.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-10-26T22:59:59.053Z,1761519599.053 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-10-26T22:59:59.053Z,1761519599.053 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-10-26T22:59:59.216Z,1761519599.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250811
2025-10-26T22:59:59.392Z,1761519599.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447087,0.889320,0.096038],[-0.894125,-0.441253,-0.076392],[-0.025560,-0.120024,0.992442]]
2025-10-26T22:59:59.408Z,1761519599.408 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-10-26T22:59:59.408Z,1761519599.408 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T22:59:59.408Z,1761519599.408 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-10-26T22:59:59.408Z,1761519599.408 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T22:59:59.469Z,1761519599.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503355
2025-10-26T22:59:59.721Z,1761519599.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755325
2025-10-26T22:59:59.823Z,1761519599.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451820,0.885240,0.110499],[-0.891706,-0.444411,-0.085792],[-0.026839,-0.137295,0.990167]]
2025-10-26T22:59:59.973Z,1761519599.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007152
2025-10-26T23:00:00.198Z,1761519600.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456878,0.879112,0.135735],[-0.889106,-0.446608,-0.100158],[-0.027430,-0.166443,0.985669]]
2025-10-26T23:00:00.225Z,1761519600.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259146
2025-10-26T23:00:00.477Z,1761519600.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511788
2025-10-26T23:00:00.614Z,1761519600.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462300,0.870641,0.168115],[-0.886302,-0.447853,-0.117881],[-0.027341,-0.203497,0.978694]]
2025-10-26T23:00:00.678Z,1761519600.678 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:00.730Z,1761519600.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763773
2025-10-26T23:00:00.980Z,1761519600.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014815
2025-10-26T23:00:01.233Z,1761519601.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267293
2025-10-26T23:00:01.411Z,1761519601.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475083,0.852493,0.218066],[-0.879636,-0.453579,-0.143201],[-0.023168,-0.259851,0.965371]]
2025-10-26T23:00:01.484Z,1761519601.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518890
2025-10-26T23:00:01.739Z,1761519601.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773381
2025-10-26T23:00:01.990Z,1761519601.990 [DAT](INFO): DAT read: Rx Time:23:00:00.7388

2025-10-26T23:00:01.990Z,1761519601.990 [DAT](INFO): Rx dataTimestamp_ set to:1761519601.989833
2025-10-26T23:00:01.991Z,1761519601.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025184
2025-10-26T23:00:02.218Z,1761519602.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495317,0.839391,0.223794],[-0.868609,-0.474558,-0.142526],[-0.013432,-0.264985,0.964159]]
2025-10-26T23:00:02.240Z,1761519602.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274785
2025-10-26T23:00:02.495Z,1761519602.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529731
2025-10-26T23:00:02.644Z,1761519602.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520918,0.818955,0.240744],[-0.853607,-0.499912,-0.146437],[0.000425,-0.281782,0.959478]]
2025-10-26T23:00:02.754Z,1761519602.754 [DAT](INFO): DAT read: 23:00:00.7388 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 459, 0.31, 2.823,-2.462, 2.905, 2.103, PHS= 0.822, 1.764, 0.759, RAW= 333.2, -50.5, CAL= 332.9, -53.0, ROT= 177.1,  53.0

2025-10-26T23:00:02.755Z,1761519602.755 [DAT](INFO): got valid direction response:
 23:00:00.7388 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 459, 0.31, 2.823,-2.462, 2.905, 2.103, PHS= 0.822, 1.764, 0.759, RAW= 333.2, -50.5, CAL= 332.9, -53.0, ROT= 177.1,  53.0

2025-10-26T23:00:02.756Z,1761519602.756 [DAT](INFO): DAT read: Bearing 258.7,  14.5 (Local)

2025-10-26T23:00:02.756Z,1761519602.756 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.7,  14.5 (Local)

2025-10-26T23:00:02.758Z,1761519602.758 [DAT](INFO): DAT read: Range 11 to 50 : 187.5 m  (Round-trip  250.0 ms) speed -0.6 m/s

2025-10-26T23:00:02.758Z,1761519602.758 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:00:02.767Z,1761519602.767 [DAT](INFO): direction in FSK: [-0.601044,0.030448,-0.798636]
2025-10-26T23:00:02.768Z,1761519602.768 [DAT](INFO): publishing direction and range info
2025-10-26T23:00:02.771Z,1761519602.771 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:00:02.771Z,1761519602.771 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:00:02.776Z,1761519602.776 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:00:02.997Z,1761519602.997 [DAT](INFO): DAT read: user:743>

2025-10-26T23:00:02.998Z,1761519602.998 [DAT](INFO): DAT read: Tx time:23:00:02.1347

2025-10-26T23:00:02.999Z,1761519602.999 [DAT](INFO): Ping request sent.
2025-10-26T23:00:02.999Z,1761519602.999 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:00:02.999Z,1761519602.999 [DAT](INFO): publishing transmit ping time
2025-10-26T23:00:03.000Z,1761519603.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001205
2025-10-26T23:00:03.061Z,1761519603.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533813,0.807010,0.252543],[-0.845578,-0.511706,-0.152166],[0.006428,-0.294773,0.955546]]
2025-10-26T23:00:03.168Z,1761519603.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 187.500000 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-10-26T23:00:03.170Z,1761519603.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 186.569092 m,
      bearing: 76.828867 deg,
      lat: 36.779423 deg,
      lon: -121.859385 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-10-26T23:00:03.171Z,1761519603.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.57 m.
2025-10-26T23:00:03.181Z,1761519603.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 186.569092 m,
      nav range: 130.859665 m,
      bearing: 65.319928 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 64.506956 deg,
      new cmd heading: 65.319928 deg.

2025-10-26T23:00:03.182Z,1761519603.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.140048 target range: 186.569092 and range: 187.50 m.
2025-10-26T23:00:03.249Z,1761519603.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250435
2025-10-26T23:00:03.500Z,1761519603.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501570
2025-10-26T23:00:03.505Z,1761519603.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546985,0.795146,0.261823],[-0.837067,-0.523692,-0.158320],[0.011227,-0.305762,0.952042]]
2025-10-26T23:00:03.543Z,1761519603.543 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:03.545Z,1761519603.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.57 m.
2025-10-26T23:00:03.548Z,1761519603.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 186.569092 m,
      nav range: 131.154068 m,
      bearing: 65.305822 deg,
      approach rate: 0.762641 m/s,
      LOS rate: -0.036458 deg/s,
      cmd heading: 65.319927 deg,
      new cmd heading: 65.305822 deg.

2025-10-26T23:00:03.548Z,1761519603.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.139802 target range: 186.569092 and range: 187.50 m.
2025-10-26T23:00:03.755Z,1761519603.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755818
2025-10-26T23:00:03.909Z,1761519603.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560700,0.784593,0.264630],[-0.827895,-0.536738,-0.162791],[0.014312,-0.310363,0.950510]]
2025-10-26T23:00:03.994Z,1761519603.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.57 m.
2025-10-26T23:00:03.996Z,1761519603.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 186.569092 m,
      nav range: 131.493179 m,
      bearing: 65.291873 deg,
      approach rate: 0.755852 m/s,
      LOS rate: -0.031011 deg/s,
      cmd heading: 65.305822 deg,
      new cmd heading: 65.291873 deg.

2025-10-26T23:00:03.997Z,1761519603.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.139558 target range: 186.569092 and range: 187.50 m.
2025-10-26T23:00:04.004Z,1761519604.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005743
2025-10-26T23:00:04.020Z,1761519604.020 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:00:04.256Z,1761519604.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257665
2025-10-26T23:00:04.316Z,1761519604.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575181,0.776619,0.256960],[-0.817865,-0.552198,-0.161787],[0.016246,-0.303216,0.952784]]
2025-10-26T23:00:04.366Z,1761519604.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.57 m.
2025-10-26T23:00:04.376Z,1761519604.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 186.569092 m,
      nav range: 131.749908 m,
      bearing: 65.279445 deg,
      approach rate: 0.689391 m/s,
      LOS rate: -0.033309 deg/s,
      cmd heading: 65.291875 deg,
      new cmd heading: 65.279445 deg.

2025-10-26T23:00:04.377Z,1761519604.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.139341 target range: 186.569092 and range: 187.50 m.
2025-10-26T23:00:04.509Z,1761519604.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509805
2025-10-26T23:00:04.764Z,1761519604.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765338
2025-10-26T23:00:04.768Z,1761519604.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590362,0.768226,0.247592],[-0.806938,-0.568603,-0.159819],[0.018005,-0.294143,0.955592]]
2025-10-26T23:00:04.850Z,1761519604.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.57 m.
2025-10-26T23:00:04.869Z,1761519604.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 186.569092 m,
      nav range: 132.147568 m,
      bearing: 65.263579 deg,
      approach rate: 0.821563 m/s,
      LOS rate: -0.032681 deg/s,
      cmd heading: 65.279444 deg,
      new cmd heading: 65.263579 deg.

2025-10-26T23:00:04.870Z,1761519604.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.139064 target range: 186.569092 and range: 187.50 m.
2025-10-26T23:00:05.012Z,1761519605.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013682
2025-10-26T23:00:05.024Z,1761519605.024 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:00:05.162Z,1761519605.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605452,0.758511,0.241016],[-0.795655,-0.584080,-0.160570],[0.018978,-0.288983,0.957146]]
2025-10-26T23:00:05.181Z,1761519605.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.57 m.
2025-10-26T23:00:05.184Z,1761519605.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 186.569092 m,
      nav range: 132.402283 m,
      bearing: 65.251427 deg,
      approach rate: 0.769646 m/s,
      LOS rate: -0.036647 deg/s,
      cmd heading: 65.263578 deg,
      new cmd heading: 65.251427 deg.

2025-10-26T23:00:05.184Z,1761519605.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138852 target range: 186.569092 and range: 187.50 m.
2025-10-26T23:00:05.266Z,1761519605.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267314
2025-10-26T23:00:05.516Z,1761519605.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517585
2025-10-26T23:00:05.561Z,1761519605.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620328,0.746838,0.239640],[-0.784088,-0.598254,-0.165220],[0.019973,-0.290389,0.956700]]
2025-10-26T23:00:05.585Z,1761519605.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:05.587Z,1761519605.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.57 m.
2025-10-26T23:00:05.590Z,1761519605.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 186.569092 m,
      nav range: 132.713470 m,
      bearing: 65.234055 deg,
      approach rate: 0.766756 m/s,
      LOS rate: -0.042703 deg/s,
      cmd heading: 65.251427 deg,
      new cmd heading: 65.234055 deg.

2025-10-26T23:00:05.592Z,1761519605.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138549 target range: 186.569092 and range: 187.50 m.
2025-10-26T23:00:05.772Z,1761519605.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772227
2025-10-26T23:00:05.963Z,1761519605.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635342,0.733841,0.240456],[-0.771921,-0.612344,-0.170803],[0.021899,-0.294131,0.955514]]
2025-10-26T23:00:06.020Z,1761519606.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021693
2025-10-26T23:00:06.021Z,1761519606.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.57 m.
2025-10-26T23:00:06.030Z,1761519606.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 186.569092 m,
      nav range: 133.040924 m,
      bearing: 65.216666 deg,
      approach rate: 0.793656 m/s,
      LOS rate: -0.042043 deg/s,
      cmd heading: 65.234058 deg,
      new cmd heading: 65.216666 deg.

2025-10-26T23:00:06.030Z,1761519606.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138246 target range: 186.569092 and range: 187.50 m.
2025-10-26T23:00:06.273Z,1761519606.273 [DAT](INFO): DAT read: Rx Time:23:00:04.7925

2025-10-26T23:00:06.273Z,1761519606.273 [DAT](INFO): Rx dataTimestamp_ set to:1761519606.272861
2025-10-26T23:00:06.274Z,1761519606.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275003
2025-10-26T23:00:06.366Z,1761519606.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650121,0.719731,0.243576],[-0.759402,-0.626232,-0.176474],[0.025521,-0.299701,0.953692]]
2025-10-26T23:00:06.399Z,1761519606.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.57 m.
2025-10-26T23:00:06.402Z,1761519606.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 186.569092 m,
      nav range: 133.357178 m,
      bearing: 65.197174 deg,
      approach rate: 0.791311 m/s,
      LOS rate: -0.048656 deg/s,
      cmd heading: 65.216668 deg,
      new cmd heading: 65.197174 deg.

2025-10-26T23:00:06.403Z,1761519606.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.137905 target range: 186.569092 and range: 187.50 m.
2025-10-26T23:00:06.524Z,1761519606.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525707
2025-10-26T23:00:06.808Z,1761519606.808 [DAT](INFO): DAT read: 23:00:04.7925 LVL= 32752, 25985, 32754, 32755, AGC= 71, IDX=  82,-0.11,-1.849, 0.353,-0.983,-0.911, PHS=-0.836, 1.309,-0.115, RAW= 310.7,  -3.8, CAL= 309.7,  -7.3, ROT= 200.3,   7.3

2025-10-26T23:00:06.810Z,1761519606.810 [DAT](INFO): got valid direction response:
 23:00:04.7925 LVL= 32752, 25985, 32754, 32755, AGC= 71, IDX=  82,-0.11,-1.849, 0.353,-0.983,-0.911, PHS=-0.836, 1.309,-0.115, RAW= 310.7,  -3.8, CAL= 309.7,  -7.3, ROT= 200.3,   7.3

2025-10-26T23:00:06.810Z,1761519606.810 [DAT](INFO): DAT read: Bearing 210.3, -18.2 (Local)

2025-10-26T23:00:06.811Z,1761519606.811 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.3, -18.2 (Local)

2025-10-26T23:00:06.826Z,1761519606.826 [DAT](INFO): DAT read: Range 11 to 50 : 190.2 m  (Round-trip  253.7 ms) speed  0.1 m/s

2025-10-26T23:00:06.826Z,1761519606.826 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:00:06.828Z,1761519606.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664678,0.705644,0.245501],[-0.746501,-0.640727,-0.179458],[0.030666,-0.302548,0.952641]]
2025-10-26T23:00:06.832Z,1761519606.832 [DAT](INFO): direction in FSK: [-0.930287,-0.344123,-0.127065]
2025-10-26T23:00:06.832Z,1761519606.832 [DAT](INFO): publishing direction and range info
2025-10-26T23:00:06.839Z,1761519606.839 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:00:06.840Z,1761519606.840 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:00:06.840Z,1761519606.840 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:00:06.928Z,1761519606.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 190.199997 m,
      deltaT: 4.031771 s,
      deltaX: 2.699997 m,
      approachRate: 0.669680 m/s,
      rangeRepo size: 2

2025-10-26T23:00:06.930Z,1761519606.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 189.238571 m,
      bearing: 69.838099 deg,
      lat: 36.779423 deg,
      lon: -121.859385 deg,
      deltaT: 4.031771 s,
      deltaX: 2.669479 m,
      approachRate: 0.662111 m/s,
      posRepo size: 2

2025-10-26T23:00:06.931Z,1761519606.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:06.938Z,1761519606.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 133.756424 m,
      bearing: 65.178966 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.048656 deg/s,
      cmd heading: 65.197175 deg,
      new cmd heading: 65.120638 deg.

2025-10-26T23:00:06.939Z,1761519606.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.136569 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:07.029Z,1761519607.029 [DAT](INFO): DAT read: user:744>

2025-10-26T23:00:07.030Z,1761519607.030 [DAT](INFO): DAT read: Tx time:23:00:06.1847

2025-10-26T23:00:07.030Z,1761519607.030 [DAT](INFO): Ping request sent.
2025-10-26T23:00:07.030Z,1761519607.030 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:00:07.030Z,1761519607.030 [DAT](INFO): publishing transmit ping time
2025-10-26T23:00:07.031Z,1761519607.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759
2025-10-26T23:00:07.266Z,1761519607.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679097,0.692439,0.243631],[-0.733147,-0.656264,-0.178365],[0.036380,-0.299745,0.953326]]
2025-10-26T23:00:07.280Z,1761519607.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250245
2025-10-26T23:00:07.287Z,1761519607.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:07.290Z,1761519607.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 134.052994 m,
      bearing: 65.163025 deg,
      approach rate: 0.814985 m/s,
      LOS rate: -0.043712 deg/s,
      cmd heading: 65.120635 deg,
      new cmd heading: 65.072916 deg.

2025-10-26T23:00:07.291Z,1761519607.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.135737 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:07.533Z,1761519607.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502540
2025-10-26T23:00:07.666Z,1761519607.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693700,0.680391,0.236322],[-0.719019,-0.673450,-0.171688],[0.042336,-0.289020,0.956386]]
2025-10-26T23:00:07.769Z,1761519607.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:07.773Z,1761519607.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:07.787Z,1761519607.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756400
2025-10-26T23:00:07.788Z,1761519607.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 134.433365 m,
      bearing: 65.139576 deg,
      approach rate: 0.784340 m/s,
      LOS rate: -0.048215 deg/s,
      cmd heading: 65.072913 deg,
      new cmd heading: 65.002767 deg.

2025-10-26T23:00:07.793Z,1761519607.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.134512 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:08.037Z,1761519608.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006810
2025-10-26T23:00:08.137Z,1761519608.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709474,0.665975,0.230487],[-0.703082,-0.691253,-0.166867],[0.048196,-0.280439,0.958661]]
2025-10-26T23:00:08.224Z,1761519608.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:08.226Z,1761519608.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 134.768295 m,
      bearing: 65.119823 deg,
      approach rate: 0.748774 m/s,
      LOS rate: -0.044051 deg/s,
      cmd heading: 65.002767 deg,
      new cmd heading: 64.943654 deg.

2025-10-26T23:00:08.232Z,1761519608.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133481 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:08.289Z,1761519608.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258588
2025-10-26T23:00:08.541Z,1761519608.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510471
2025-10-26T23:00:08.557Z,1761519608.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725340,0.647683,0.233212],[-0.686287,-0.706826,-0.171484],[0.053773,-0.284435,0.957186]]
2025-10-26T23:00:08.625Z,1761519608.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:08.632Z,1761519608.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 135.067917 m,
      bearing: 65.099133 deg,
      approach rate: 0.738818 m/s,
      LOS rate: -0.050905 deg/s,
      cmd heading: 64.943652 deg,
      new cmd heading: 64.881720 deg.

2025-10-26T23:00:08.633Z,1761519608.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.132400 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:08.796Z,1761519608.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764637
2025-10-26T23:00:08.957Z,1761519608.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741632,0.626247,0.240411],[-0.668219,-0.721147,-0.182837],[0.058870,-0.296245,0.953296]]
2025-10-26T23:00:09.013Z,1761519609.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:09.036Z,1761519609.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 135.380096 m,
      bearing: 65.073441 deg,
      approach rate: 0.803797 m/s,
      LOS rate: -0.066000 deg/s,
      cmd heading: 64.881722 deg,
      new cmd heading: 64.804823 deg.

2025-10-26T23:00:09.037Z,1761519609.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.131058 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:09.045Z,1761519609.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014510
2025-10-26T23:00:09.296Z,1761519609.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266111
2025-10-26T23:00:09.362Z,1761519609.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757818,0.603593,0.247764],[-0.649364,-0.734707,-0.196296],[0.063551,-0.309645,0.948726]]
2025-10-26T23:00:09.381Z,1761519609.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:09.384Z,1761519609.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 135.656143 m,
      bearing: 65.047568 deg,
      approach rate: 0.750357 m/s,
      LOS rate: -0.070183 deg/s,
      cmd heading: 64.804821 deg,
      new cmd heading: 64.727363 deg.

2025-10-26T23:00:09.385Z,1761519609.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129706 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:09.548Z,1761519609.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518231
2025-10-26T23:00:09.802Z,1761519609.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771375
2025-10-26T23:00:09.869Z,1761519609.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:09.875Z,1761519609.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:09.878Z,1761519609.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 135.971893 m,
      bearing: 65.018107 deg,
      approach rate: 0.644552 m/s,
      LOS rate: -0.060002 deg/s,
      cmd heading: 64.727360 deg,
      new cmd heading: 64.639180 deg.

2025-10-26T23:00:09.879Z,1761519609.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.128167 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:10.052Z,1761519610.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022124
2025-10-26T23:00:10.239Z,1761519610.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:10.246Z,1761519610.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 136.299622 m,
      bearing: 64.987675 deg,
      approach rate: 0.891360 m/s,
      LOS rate: -0.082568 deg/s,
      cmd heading: 64.639182 deg,
      new cmd heading: 64.548108 deg.

2025-10-26T23:00:10.247Z,1761519610.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.126577 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:10.305Z,1761519610.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274420
2025-10-26T23:00:10.556Z,1761519610.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526084
2025-10-26T23:00:10.668Z,1761519610.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:10.671Z,1761519610.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 136.621872 m,
      bearing: 64.957900 deg,
      approach rate: 0.750425 m/s,
      LOS rate: -0.069176 deg/s,
      cmd heading: 64.548109 deg,
      new cmd heading: 64.458992 deg.

2025-10-26T23:00:10.676Z,1761519610.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125022 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:10.812Z,1761519610.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780723
2025-10-26T23:00:11.031Z,1761519611.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820568,0.517082,0.243505],[-0.566049,-0.794187,-0.221032],[0.079097,-0.319208,0.944378]]
2025-10-26T23:00:11.060Z,1761519611.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030250
2025-10-26T23:00:11.117Z,1761519611.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:11.124Z,1761519611.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 136.885162 m,
      bearing: 64.909299 deg,
      approach rate: 0.586443 m/s,
      LOS rate: -0.108043 deg/s,
      cmd heading: 64.458995 deg,
      new cmd heading: 64.313474 deg.

2025-10-26T23:00:11.125Z,1761519611.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.122482 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:11.312Z,1761519611.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282054
2025-10-26T23:00:11.483Z,1761519611.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843857,0.483224,0.233239],[-0.530349,-0.817147,-0.225834],[0.081462,-0.314269,0.945832]]
2025-10-26T23:00:11.501Z,1761519611.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:11.504Z,1761519611.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 137.131195 m,
      bearing: 64.858750 deg,
      approach rate: 0.640683 m/s,
      LOS rate: -0.131397 deg/s,
      cmd heading: 64.313471 deg,
      new cmd heading: 64.162096 deg.

2025-10-26T23:00:11.505Z,1761519611.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.119840 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:11.565Z,1761519611.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534934
2025-10-26T23:00:11.820Z,1761519611.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788825
2025-10-26T23:00:11.907Z,1761519611.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853595,0.469016,0.226713],[-0.514682,-0.826531,-0.227924],[0.080485,-0.311240,0.946917]]
2025-10-26T23:00:11.942Z,1761519611.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:11.944Z,1761519611.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:11.947Z,1761519611.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 137.373871 m,
      bearing: 64.802808 deg,
      approach rate: 0.548155 m/s,
      LOS rate: -0.126137 deg/s,
      cmd heading: 64.162094 deg,
      new cmd heading: 63.994566 deg.

2025-10-26T23:00:11.948Z,1761519611.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.116916 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:12.070Z,1761519612.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039311
2025-10-26T23:00:12.304Z,1761519612.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861945,0.457740,0.218002],[-0.500948,-0.835151,-0.227100],[0.078112,-0.304955,0.949158]]
2025-10-26T23:00:12.320Z,1761519612.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290208
2025-10-26T23:00:12.328Z,1761519612.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:12.331Z,1761519612.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 137.580566 m,
      bearing: 64.753528 deg,
      approach rate: 0.537691 m/s,
      LOS rate: -0.128003 deg/s,
      cmd heading: 63.994563 deg,
      new cmd heading: 63.846945 deg.

2025-10-26T23:00:12.356Z,1761519612.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.114339 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:12.573Z,1761519612.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542534
2025-10-26T23:00:12.710Z,1761519612.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869636,0.449123,0.204994],[-0.487980,-0.844957,-0.218912],[0.074893,-0.290407,0.953968]]
2025-10-26T23:00:12.764Z,1761519612.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:12.767Z,1761519612.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 137.812073 m,
      bearing: 64.696625 deg,
      approach rate: 0.532046 m/s,
      LOS rate: -0.130554 deg/s,
      cmd heading: 63.846942 deg,
      new cmd heading: 63.676520 deg.

2025-10-26T23:00:12.776Z,1761519612.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.111365 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:12.824Z,1761519612.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794236
2025-10-26T23:00:13.077Z,1761519613.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046381
2025-10-26T23:00:13.258Z,1761519613.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876954,0.441197,0.190521],[-0.475309,-0.854802,-0.208313],[0.070950,-0.273237,0.959327]]
2025-10-26T23:00:13.315Z,1761519613.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:13.329Z,1761519613.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298305
2025-10-26T23:00:13.335Z,1761519613.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 138.103287 m,
      bearing: 64.616794 deg,
      approach rate: 0.528073 m/s,
      LOS rate: -0.144457 deg/s,
      cmd heading: 63.676522 deg,
      new cmd heading: 63.437535 deg.

2025-10-26T23:00:13.336Z,1761519613.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.107194 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:13.584Z,1761519613.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553916
2025-10-26T23:00:13.691Z,1761519613.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884372,0.433192,0.173870],[-0.462022,-0.865423,-0.193853],[0.066495,-0.251770,0.965500]]
2025-10-26T23:00:13.748Z,1761519613.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:13.751Z,1761519613.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 138.336548 m,
      bearing: 64.551086 deg,
      approach rate: 0.538288 m/s,
      LOS rate: -0.151377 deg/s,
      cmd heading: 63.437533 deg,
      new cmd heading: 63.240741 deg.

2025-10-26T23:00:13.757Z,1761519613.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.103759 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:13.832Z,1761519613.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802117
2025-10-26T23:00:14.088Z,1761519614.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.056841
2025-10-26T23:00:14.203Z,1761519614.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892255,0.423912,0.155498],[-0.447271,-0.876970,-0.175704],[0.061884,-0.226323,0.972085]]
2025-10-26T23:00:14.264Z,1761519614.264 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:14.266Z,1761519614.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:14.273Z,1761519614.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 138.599167 m,
      bearing: 64.474395 deg,
      approach rate: 0.507263 m/s,
      LOS rate: -0.147851 deg/s,
      cmd heading: 63.240742 deg,
      new cmd heading: 63.011107 deg.

2025-10-26T23:00:14.274Z,1761519614.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.099751 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:14.337Z,1761519614.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306839
2025-10-26T23:00:14.589Z,1761519614.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558817
2025-10-26T23:00:14.626Z,1761519614.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901043,0.411187,0.138009],[-0.429943,-0.888710,-0.159199],[0.057189,-0.202781,0.977553]]
2025-10-26T23:00:14.732Z,1761519614.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:14.739Z,1761519614.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 138.838638 m,
      bearing: 64.401997 deg,
      approach rate: 0.519505 m/s,
      LOS rate: -0.156789 deg/s,
      cmd heading: 63.011104 deg,
      new cmd heading: 62.794285 deg.

2025-10-26T23:00:14.740Z,1761519614.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095967 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:14.841Z,1761519614.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810654
2025-10-26T23:00:15.060Z,1761519615.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918553,0.375787,0.122654],[-0.392279,-0.904818,-0.165593],[0.048752,-0.200221,0.978537]]
2025-10-26T23:00:15.094Z,1761519615.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063374
2025-10-26T23:00:15.146Z,1761519615.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:15.153Z,1761519615.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 139.063339 m,
      bearing: 64.336081 deg,
      approach rate: 0.535935 m/s,
      LOS rate: -0.156963 deg/s,
      cmd heading: 62.794287 deg,
      new cmd heading: 62.596859 deg.

2025-10-26T23:00:15.154Z,1761519615.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.092521 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:15.345Z,1761519615.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314368
2025-10-26T23:00:15.480Z,1761519615.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927360,0.354167,0.120702],[-0.371381,-0.910557,-0.181557],[0.045605,-0.213195,0.975945]]
2025-10-26T23:00:15.521Z,1761519615.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:15.523Z,1761519615.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 139.255432 m,
      bearing: 64.277086 deg,
      approach rate: 0.513333 m/s,
      LOS rate: -0.157435 deg/s,
      cmd heading: 62.596860 deg,
      new cmd heading: 62.420121 deg.

2025-10-26T23:00:15.525Z,1761519615.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.089437 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:15.597Z,1761519615.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566632
2025-10-26T23:00:15.851Z,1761519615.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820696
2025-10-26T23:00:15.886Z,1761519615.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935871,0.331123,0.120429],[-0.349651,-0.914957,-0.201488],[0.043470,-0.230675,0.972059]]
2025-10-26T23:00:15.973Z,1761519615.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:15.976Z,1761519615.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 139.480637 m,
      bearing: 64.204566 deg,
      approach rate: 0.497832 m/s,
      LOS rate: -0.160052 deg/s,
      cmd heading: 62.420122 deg,
      new cmd heading: 62.202916 deg.

2025-10-26T23:00:15.977Z,1761519615.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.085646 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:16.102Z,1761519616.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071813
2025-10-26T23:00:16.289Z,1761519616.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943962,0.307423,0.120116],[-0.327358,-0.918482,-0.221872],[0.042116,-0.248760,0.967649]]
2025-10-26T23:00:16.325Z,1761519616.325 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:16.327Z,1761519616.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:16.350Z,1761519616.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 139.670990 m,
      bearing: 64.153049 deg,
      approach rate: 0.537863 m/s,
      LOS rate: -0.145370 deg/s,
      cmd heading: 62.202915 deg,
      new cmd heading: 62.048573 deg.

2025-10-26T23:00:16.350Z,1761519616.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.082952 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:16.353Z,1761519616.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322300
2025-10-26T23:00:16.606Z,1761519616.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575303
2025-10-26T23:00:16.809Z,1761519616.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951588,0.283395,0.119030],[-0.304550,-0.921676,-0.240340],[0.041596,-0.264956,0.963363]]
2025-10-26T23:00:16.840Z,1761519616.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:16.843Z,1761519616.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 139.943161 m,
      bearing: 64.075404 deg,
      approach rate: 0.530118 m/s,
      LOS rate: -0.150936 deg/s,
      cmd heading: 62.048573 deg,
      new cmd heading: 61.816095 deg.

2025-10-26T23:00:16.844Z,1761519616.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.078894 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:16.856Z,1761519616.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826226
2025-10-26T23:00:17.108Z,1761519617.108 [DAT](INFO): Reached modem response timeout
2025-10-26T23:00:17.108Z,1761519617.108 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:00:17.109Z,1761519617.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:00:17.296Z,1761519617.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958967,0.258741,0.115909],[-0.280504,-0.925306,-0.255200],[0.041221,-0.277242,0.959916]]
2025-10-26T23:00:17.345Z,1761519617.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:17.348Z,1761519617.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 140.226318 m,
      bearing: 64.002132 deg,
      approach rate: 0.560860 m/s,
      LOS rate: -0.144840 deg/s,
      cmd heading: 61.816094 deg,
      new cmd heading: 61.596722 deg.

2025-10-26T23:00:17.349Z,1761519617.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.075066 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:17.376Z,1761519617.376 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:00:17.628Z,1761519617.628 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:00:17.791Z,1761519617.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965817,0.234140,0.111253],[-0.255993,-0.929042,-0.267112],[0.040817,-0.286461,0.957222]]
2025-10-26T23:00:17.809Z,1761519617.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:17.813Z,1761519617.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 140.486267 m,
      bearing: 63.931057 deg,
      approach rate: 0.560205 m/s,
      LOS rate: -0.152887 deg/s,
      cmd heading: 61.596722 deg,
      new cmd heading: 61.383893 deg.

2025-10-26T23:00:17.814Z,1761519617.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.071351 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:17.880Z,1761519617.880 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:00:18.132Z,1761519618.132 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:00:18.186Z,1761519618.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972209,0.209439,0.104614],[-0.230548,-0.934188,-0.272286],[0.040702,-0.288837,0.956513]]
2025-10-26T23:00:18.236Z,1761519618.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:18.238Z,1761519618.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 140.734985 m,
      bearing: 63.873611 deg,
      approach rate: 0.582826 m/s,
      LOS rate: -0.134377 deg/s,
      cmd heading: 61.383894 deg,
      new cmd heading: 61.211860 deg.

2025-10-26T23:00:18.240Z,1761519618.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.068349 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:18.384Z,1761519618.384 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:00:18.602Z,1761519618.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978077,0.184438,0.096682],[-0.204191,-0.940557,-0.271403],[0.040878,-0.285195,0.957598]]
2025-10-26T23:00:18.620Z,1761519618.620 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:18.622Z,1761519618.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:18.624Z,1761519618.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 140.960236 m,
      bearing: 63.818588 deg,
      approach rate: 0.583990 m/s,
      LOS rate: -0.142425 deg/s,
      cmd heading: 61.211862 deg,
      new cmd heading: 61.047059 deg.

2025-10-26T23:00:18.625Z,1761519618.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.065472 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:18.636Z,1761519618.636 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:00:18.888Z,1761519618.888 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:00:19.002Z,1761519619.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983336,0.158755,0.088587],[-0.177078,-0.946721,-0.269004],[0.041161,-0.280208,0.959056]]
2025-10-26T23:00:19.055Z,1761519619.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:19.058Z,1761519619.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 141.196869 m,
      bearing: 63.765445 deg,
      approach rate: 0.566683 m/s,
      LOS rate: -0.127052 deg/s,
      cmd heading: 61.047056 deg,
      new cmd heading: 60.887894 deg.

2025-10-26T23:00:19.059Z,1761519619.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.062694 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:19.142Z,1761519619.142 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:00:19.392Z,1761519619.392 [DAT](INFO): DAT read: Response Not Received

2025-10-26T23:00:19.393Z,1761519619.393 [DAT](INFO): response not received
2025-10-26T23:00:19.393Z,1761519619.393 [DAT](INFO): DAT read: user:745>

2025-10-26T23:00:19.394Z,1761519619.394 [DAT](INFO): DAT read: Tx time:23:00:18.6347

2025-10-26T23:00:19.394Z,1761519619.394 [DAT](INFO): Ping request sent.
2025-10-26T23:00:19.394Z,1761519619.394 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:00:19.394Z,1761519619.394 [DAT](INFO): publishing transmit ping time
2025-10-26T23:00:19.395Z,1761519619.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-10-26T23:00:19.485Z,1761519619.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:19.492Z,1761519619.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 141.442474 m,
      bearing: 63.710505 deg,
      approach rate: 0.550907 m/s,
      LOS rate: -0.123020 deg/s,
      cmd heading: 60.887892 deg,
      new cmd heading: 60.723358 deg.

2025-10-26T23:00:19.493Z,1761519619.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.059823 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:19.644Z,1761519619.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250081
2025-10-26T23:00:19.802Z,1761519619.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991781,0.106124,0.071465],[-0.121284,-0.957688,-0.261006],[0.040742,-0.267528,0.962688]]
2025-10-26T23:00:19.861Z,1761519619.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:19.864Z,1761519619.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 141.653488 m,
      bearing: 63.657393 deg,
      approach rate: 0.560554 m/s,
      LOS rate: -0.140881 deg/s,
      cmd heading: 60.723360 deg,
      new cmd heading: 60.564261 deg.

2025-10-26T23:00:19.865Z,1761519619.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.057046 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:19.897Z,1761519619.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502906
2025-10-26T23:00:20.148Z,1761519620.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754168
2025-10-26T23:00:20.282Z,1761519620.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:20.289Z,1761519620.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 141.874359 m,
      bearing: 63.601949 deg,
      approach rate: 0.525252 m/s,
      LOS rate: -0.131645 deg/s,
      cmd heading: 60.564264 deg,
      new cmd heading: 60.398192 deg.

2025-10-26T23:00:20.290Z,1761519620.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.054147 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:20.400Z,1761519620.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006115
2025-10-26T23:00:20.612Z,1761519620.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997013,0.053078,0.056114],[-0.065876,-0.963637,-0.258969],[0.040328,-0.261892,0.964254]]
2025-10-26T23:00:20.630Z,1761519620.630 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:20.632Z,1761519620.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:20.634Z,1761519620.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 142.064774 m,
      bearing: 63.548330 deg,
      approach rate: 0.544606 m/s,
      LOS rate: -0.153151 deg/s,
      cmd heading: 60.398195 deg,
      new cmd heading: 60.237554 deg.

2025-10-26T23:00:20.635Z,1761519620.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.051344 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:20.656Z,1761519620.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262215
2025-10-26T23:00:20.908Z,1761519620.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514153
2025-10-26T23:00:21.027Z,1761519621.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998395,0.027453,0.049531],[-0.039321,-0.965484,-0.257476],[0.040753,-0.259011,0.965014]]
2025-10-26T23:00:21.089Z,1761519621.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:21.094Z,1761519621.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 142.282944 m,
      bearing: 63.477125 deg,
      approach rate: 0.477502 m/s,
      LOS rate: -0.155606 deg/s,
      cmd heading: 60.237556 deg,
      new cmd heading: 60.024268 deg.

2025-10-26T23:00:21.097Z,1761519621.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.047621 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:21.162Z,1761519621.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766959
2025-10-26T23:00:21.412Z,1761519621.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018012
2025-10-26T23:00:21.419Z,1761519621.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999074,0.001807,0.042995],[-0.012985,-0.965208,-0.261160],[0.041027,-0.261476,0.964338]]
2025-10-26T23:00:21.459Z,1761519621.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:21.462Z,1761519621.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 142.452133 m,
      bearing: 63.419027 deg,
      approach rate: 0.456301 m/s,
      LOS rate: -0.156501 deg/s,
      cmd heading: 60.024269 deg,
      new cmd heading: 59.850185 deg.

2025-10-26T23:00:21.463Z,1761519621.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.044583 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:21.664Z,1761519621.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270176
2025-10-26T23:00:21.874Z,1761519621.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:21.877Z,1761519621.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 142.649628 m,
      bearing: 63.351443 deg,
      approach rate: 0.475590 m/s,
      LOS rate: -0.162526 deg/s,
      cmd heading: 59.850181 deg,
      new cmd heading: 59.647709 deg.

2025-10-26T23:00:21.878Z,1761519621.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.041049 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:21.917Z,1761519621.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523059
2025-10-26T23:00:22.168Z,1761519622.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774112
2025-10-26T23:00:22.238Z,1761519622.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998514,-0.045236,0.030382],[0.035778,-0.964780,-0.260613],[0.041101,-0.259138,0.964965]]
2025-10-26T23:00:22.353Z,1761519622.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:22.359Z,1761519622.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 142.848419 m,
      bearing: 63.264472 deg,
      approach rate: 0.415781 m/s,
      LOS rate: -0.181650 deg/s,
      cmd heading: 59.647707 deg,
      new cmd heading: 59.387159 deg.

2025-10-26T23:00:22.360Z,1761519622.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.036501 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:22.421Z,1761519622.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026438
2025-10-26T23:00:22.651Z,1761519622.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997275,-0.069375,0.025102],[0.060875,-0.966000,-0.251274],[0.041681,-0.249061,0.967590]]
2025-10-26T23:00:22.672Z,1761519622.672 [DAT](INFO): DAT read: Rx Time:23:00:21.2308

2025-10-26T23:00:22.673Z,1761519622.673 [DAT](INFO): Rx dataTimestamp_ set to:1761519622.672581
2025-10-26T23:00:22.673Z,1761519622.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279182
2025-10-26T23:00:22.728Z,1761519622.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:22.731Z,1761519622.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:22.741Z,1761519622.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 142.985001 m,
      bearing: 63.202021 deg,
      approach rate: 0.361611 m/s,
      LOS rate: -0.165185 deg/s,
      cmd heading: 59.387156 deg,
      new cmd heading: 59.199984 deg.

2025-10-26T23:00:22.742Z,1761519622.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.033235 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:22.925Z,1761519622.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530254
2025-10-26T23:00:23.080Z,1761519623.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993318,-0.114608,0.013574],[0.107528,-0.961779,-0.251831],[0.041917,-0.248688,0.967676]]
2025-10-26T23:00:23.139Z,1761519623.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.24 m.
2025-10-26T23:00:23.142Z,1761519623.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.238571 m,
      nav range: 143.117798 m,
      bearing: 63.116752 deg,
      approach rate: 0.325247 m/s,
      LOS rate: -0.208648 deg/s,
      cmd heading: 59.199982 deg,
      new cmd heading: 58.944413 deg.

2025-10-26T23:00:23.143Z,1761519623.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.028774 target range: 189.238571 and range: 190.20 m.
2025-10-26T23:00:23.182Z,1761519623.182 [DAT](INFO): DAT read: 23:00:21.2308 LVL= 26256, 24977, 22866, 23395, AGC= 67, IDX= 282, 0.22,-0.740, 0.700, 1.333, 0.542, PHS=-1.180, 0.203, 0.747, RAW= 254.1,   2.7, CAL= 249.8,   0.9, ROT= 260.2,  -0.9

2025-10-26T23:00:23.183Z,1761519623.183 [DAT](INFO): got valid direction response:
 23:00:21.2308 LVL= 26256, 24977, 22866, 23395, AGC= 67, IDX= 282, 0.22,-0.740, 0.700, 1.333, 0.542, PHS=-1.180, 0.203, 0.747, RAW= 254.1,   2.7, CAL= 249.8,   0.9, ROT= 260.2,  -0.9

2025-10-26T23:00:23.184Z,1761519623.184 [DAT](INFO): DAT read: Bearing 207.3, -73.5 (Local)

2025-10-26T23:00:23.185Z,1761519623.185 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.3, -73.5 (Local)

2025-10-26T23:00:23.186Z,1761519623.186 [DAT](INFO): DAT read: Range 11 to 50 : 143.9 m  (Round-trip  191.9 ms) speed -0.2 m/s

2025-10-26T23:00:23.192Z,1761519623.192 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:00:23.193Z,1761519623.193 [DAT](INFO): direction in FSK: [-0.170188,-0.985286,0.015707]
2025-10-26T23:00:23.193Z,1761519623.193 [DAT](INFO): publishing direction and range info
2025-10-26T23:00:23.197Z,1761519623.197 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:00:23.197Z,1761519623.197 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:00:23.197Z,1761519623.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:00:23.428Z,1761519623.428 [DAT](INFO): DAT read: user:746>

2025-10-26T23:00:23.429Z,1761519623.429 [DAT](INFO): DAT read: Tx time:23:00:22.5347

2025-10-26T23:00:23.429Z,1761519623.429 [DAT](INFO): Ping request sent.
2025-10-26T23:00:23.429Z,1761519623.429 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:00:23.430Z,1761519623.430 [DAT](INFO): publishing transmit ping time
2025-10-26T23:00:23.430Z,1761519623.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-10-26T23:00:23.483Z,1761519623.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990686,-0.135935,0.007994],[0.129725,-0.960018,-0.248067],[0.041395,-0.244719,0.968710]]
2025-10-26T23:00:23.522Z,1761519623.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 143.899994 m,
      deltaT: 16.398534 s,
      deltaX: -46.300003 m,
      approachRate: -2.823423 m/s,
      rangeRepo size: 3

2025-10-26T23:00:23.524Z,1761519623.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 143.190033 m,
      bearing: 71.788224 deg,
      lat: 36.779423 deg,
      lon: -121.859340 deg,
      deltaT: 16.398534 s,
      deltaX: -46.048538 m,
      approachRate: -2.808089 m/s,
      posRepo size: 3

2025-10-26T23:00:23.524Z,1761519623.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.19 m.
2025-10-26T23:00:23.527Z,1761519623.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.190033 m,
      nav range: 146.856339 m,
      bearing: 63.759435 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.208648 deg/s,
      cmd heading: 58.944410 deg,
      new cmd heading: 58.705124 deg.

2025-10-26T23:00:23.528Z,1761519623.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.024598 target range: 143.190033 and range: 143.90 m.
2025-10-26T23:00:23.680Z,1761519623.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250917
2025-10-26T23:00:23.871Z,1761519623.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987338,-0.158621,0.001706],[0.153423,-0.957608,-0.243819],[0.040309,-0.240470,0.969819]]
2025-10-26T23:00:23.896Z,1761519623.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.19 m.
2025-10-26T23:00:23.898Z,1761519623.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.190033 m,
      nav range: 146.961044 m,
      bearing: 63.685035 deg,
      approach rate: 0.279700 m/s,
      LOS rate: -0.198603 deg/s,
      cmd heading: 58.705121 deg,
      new cmd heading: 58.482080 deg.

2025-10-26T23:00:23.899Z,1761519623.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.020705 target range: 143.190033 and range: 143.90 m.
2025-10-26T23:00:23.933Z,1761519623.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503452
2025-10-26T23:00:24.184Z,1761519624.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754905
2025-10-26T23:00:24.271Z,1761519624.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983382,-0.181462,-0.005643],[0.177388,-0.953761,-0.242637],[0.038647,-0.239606,0.970101]]
2025-10-26T23:00:24.325Z,1761519624.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.19 m.
2025-10-26T23:00:24.328Z,1761519624.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.190033 m,
      nav range: 147.045792 m,
      bearing: 63.597172 deg,
      approach rate: 0.197052 m/s,
      LOS rate: -0.204179 deg/s,
      cmd heading: 58.482081 deg,
      new cmd heading: 58.218645 deg.

2025-10-26T23:00:24.329Z,1761519624.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.016107 target range: 143.190033 and range: 143.90 m.
2025-10-26T23:00:24.437Z,1761519624.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007056
2025-10-26T23:00:24.676Z,1761519624.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979032,-0.203185,-0.014606],[0.200432,-0.947990,-0.247269],[0.036395,-0.245011,0.968837]]
2025-10-26T23:00:24.688Z,1761519624.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258993
2025-10-26T23:00:24.697Z,1761519624.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.19 m.
2025-10-26T23:00:24.702Z,1761519624.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.190033 m,
      nav range: 147.114395 m,
      bearing: 63.521051 deg,
      approach rate: 0.184637 m/s,
      LOS rate: -0.204774 deg/s,
      cmd heading: 58.218647 deg,
      new cmd heading: 57.990392 deg.

2025-10-26T23:00:24.703Z,1761519624.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.012123 target range: 143.190033 and range: 143.90 m.
2025-10-26T23:00:24.940Z,1761519624.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510985
2025-10-26T23:00:25.095Z,1761519625.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974444,-0.223398,-0.023501],[0.222019,-0.941919,-0.251983],[0.034156,-0.250761,0.967446]]
2025-10-26T23:00:25.137Z,1761519625.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:25.140Z,1761519625.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.19 m.
2025-10-26T23:00:25.142Z,1761519625.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.190033 m,
      nav range: 147.183273 m,
      bearing: 63.422699 deg,
      approach rate: 0.155636 m/s,
      LOS rate: -0.222130 deg/s,
      cmd heading: 57.990389 deg,
      new cmd heading: 57.695474 deg.

2025-10-26T23:00:25.143Z,1761519625.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.006976 target range: 143.190033 and range: 143.90 m.
2025-10-26T23:00:25.193Z,1761519625.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763687
2025-10-26T23:00:25.444Z,1761519625.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014961
2025-10-26T23:00:25.478Z,1761519625.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969544,-0.242857,-0.031706],[0.242835,-0.936360,-0.253499],[0.031876,-0.253478,0.966816]]
2025-10-26T23:00:25.500Z,1761519625.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.19 m.
2025-10-26T23:00:25.503Z,1761519625.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.190033 m,
      nav range: 147.235260 m,
      bearing: 63.342256 deg,
      approach rate: 0.143983 m/s,
      LOS rate: -0.222716 deg/s,
      cmd heading: 57.695475 deg,
      new cmd heading: 57.454235 deg.

2025-10-26T23:00:25.520Z,1761519625.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.002766 target range: 143.190033 and range: 143.90 m.
2025-10-26T23:00:25.696Z,1761519625.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266871
2025-10-26T23:00:25.882Z,1761519625.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964168,-0.262503,-0.038358],[0.263581,-0.931500,-0.250664],[0.030069,-0.251793,0.967314]]
2025-10-26T23:00:25.907Z,1761519625.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.19 m.
2025-10-26T23:00:25.910Z,1761519625.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.190033 m,
      nav range: 147.289093 m,
      bearing: 63.251333 deg,
      approach rate: 0.132386 m/s,
      LOS rate: -0.223515 deg/s,
      cmd heading: 57.454233 deg,
      new cmd heading: 57.181566 deg.

2025-10-26T23:00:25.911Z,1761519625.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.998007 target range: 143.190033 and range: 143.90 m.
2025-10-26T23:00:25.949Z,1761519625.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519517
2025-10-26T23:00:26.201Z,1761519626.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771087
2025-10-26T23:00:26.286Z,1761519626.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958196,-0.282591,-0.044746],[0.284712,-0.926323,-0.246709],[0.028268,-0.249136,0.968056]]
2025-10-26T23:00:26.337Z,1761519626.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.19 m.
2025-10-26T23:00:26.340Z,1761519626.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.190033 m,
      nav range: 147.326355 m,
      bearing: 63.149796 deg,
      approach rate: 0.086644 m/s,
      LOS rate: -0.236042 deg/s,
      cmd heading: 57.181565 deg,
      new cmd heading: 56.877033 deg.

2025-10-26T23:00:26.341Z,1761519626.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.992692 target range: 143.190033 and range: 143.90 m.
2025-10-26T23:00:26.452Z,1761519626.452 [DAT](INFO): DAT read: Rx Time:23:00:25.1313

2025-10-26T23:00:26.453Z,1761519626.453 [DAT](INFO): Rx dataTimestamp_ set to:1761519626.452644
2025-10-26T23:00:26.453Z,1761519626.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024058
2025-10-26T23:00:26.691Z,1761519626.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952130,-0.301278,-0.051762],[0.304530,-0.920056,-0.246492],[0.026638,-0.250456,0.967762]]
2025-10-26T23:00:26.705Z,1761519626.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275582
2025-10-26T23:00:26.727Z,1761519626.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.19 m.
2025-10-26T23:00:26.731Z,1761519626.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.190033 m,
      nav range: 147.355286 m,
      bearing: 63.058573 deg,
      approach rate: 0.074303 m/s,
      LOS rate: -0.234242 deg/s,
      cmd heading: 56.877034 deg,
      new cmd heading: 56.603422 deg.

2025-10-26T23:00:26.733Z,1761519626.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.987916 target range: 143.190033 and range: 143.90 m.
2025-10-26T23:00:26.962Z,1761519626.962 [DAT](INFO): DAT read: 23:00:25.1313 LVL= 31408, 29681, 23906, 32755, AGC= 67, IDX= 431,-0.23,-1.403,-0.157, 0.847,-0.410, PHS=-0.891, 0.298, 1.213, RAW= 244.3,  -6.8, CAL= 242.4, -10.9, ROT= 267.6,  10.9

2025-10-26T23:00:26.963Z,1761519626.963 [DAT](INFO): got valid direction response:
 23:00:25.1313 LVL= 31408, 29681, 23906, 32755, AGC= 67, IDX= 431,-0.23,-1.403,-0.157, 0.847,-0.410, PHS=-0.891, 0.298, 1.213, RAW= 244.3,  -6.8, CAL= 242.4, -10.9, ROT= 267.6,  10.9

2025-10-26T23:00:26.964Z,1761519626.964 [DAT](INFO): DAT read: Bearing 218.8, -63.8 (Local)

2025-10-26T23:00:26.964Z,1761519626.964 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.8, -63.8 (Local)

2025-10-26T23:00:26.965Z,1761519626.965 [DAT](INFO): DAT read: Range 11 to 50 : 144.3 m  (Round-trip  192.4 ms) speed -0.3 m/s

2025-10-26T23:00:26.966Z,1761519626.966 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:00:26.967Z,1761519626.967 [DAT](INFO): direction in FSK: [-0.041120,-0.981097,-0.189095]
2025-10-26T23:00:26.967Z,1761519626.967 [DAT](INFO): publishing direction and range info
2025-10-26T23:00:26.971Z,1761519626.971 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:00:26.971Z,1761519626.971 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:00:26.971Z,1761519626.971 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:00:27.189Z,1761519627.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 144.300003 m,
      deltaT: 3.779912 s,
      deltaX: 0.400009 m,
      approachRate: 0.105825 m/s,
      rangeRepo size: 4

2025-10-26T23:00:27.191Z,1761519627.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 143.599365 m,
      bearing: 69.807265 deg,
      lat: 36.779265 deg,
      lon: -121.859303 deg,
      deltaT: 3.779912 s,
      deltaX: 0.409332 m,
      approachRate: 0.108291 m/s,
      posRepo size: 4

2025-10-26T23:00:27.192Z,1761519627.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.60 m.
2025-10-26T23:00:27.195Z,1761519627.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.599365 m,
      nav range: 143.326050 m,
      bearing: 69.806760 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.234242 deg/s,
      cmd heading: 56.603420 deg,
      new cmd heading: 56.278684 deg.

2025-10-26T23:00:27.196Z,1761519627.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.982248 target range: 143.599365 and range: 144.30 m.
2025-10-26T23:00:27.208Z,1761519627.208 [DAT](INFO): DAT read: user:747>

2025-10-26T23:00:27.209Z,1761519627.209 [DAT](INFO): DAT read: Tx time:23:00:26.3347

2025-10-26T23:00:27.210Z,1761519627.210 [DAT](INFO): Ping request sent.
2025-10-26T23:00:27.210Z,1761519627.210 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:00:27.210Z,1761519627.210 [DAT](INFO): publishing transmit ping time
2025-10-26T23:00:27.211Z,1761519627.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-10-26T23:00:27.462Z,1761519627.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252522
2025-10-26T23:00:27.506Z,1761519627.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938673,-0.338132,-0.067533],[0.343903,-0.903880,-0.254425],[0.024988,-0.262047,0.964732]]
2025-10-26T23:00:27.524Z,1761519627.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:27.526Z,1761519627.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.60 m.
2025-10-26T23:00:27.529Z,1761519627.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.599365 m,
      nav range: 143.325638 m,
      bearing: 69.723666 deg,
      approach rate: -0.001220 m/s,
      LOS rate: -0.245966 deg/s,
      cmd heading: 56.278686 deg,
      new cmd heading: 56.029405 deg.

2025-10-26T23:00:27.530Z,1761519627.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.977898 target range: 143.599365 and range: 144.30 m.
2025-10-26T23:00:27.713Z,1761519627.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503354
2025-10-26T23:00:27.907Z,1761519627.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931146,-0.357350,-0.072588],[0.363811,-0.896941,-0.251273],[0.024685,-0.260380,0.965191]]
2025-10-26T23:00:27.964Z,1761519627.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754585
2025-10-26T23:00:27.985Z,1761519627.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.60 m.
2025-10-26T23:00:27.988Z,1761519627.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.599365 m,
      nav range: 143.319611 m,
      bearing: 69.611782 deg,
      approach rate: -0.013148 m/s,
      LOS rate: -0.244081 deg/s,
      cmd heading: 56.029404 deg,
      new cmd heading: 55.693742 deg.

2025-10-26T23:00:27.989Z,1761519627.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.972039 target range: 143.599365 and range: 144.30 m.
2025-10-26T23:00:28.217Z,1761519628.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006900
2025-10-26T23:00:28.310Z,1761519628.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922415,-0.378660,-0.075941],[0.385429,-0.890187,-0.242922],[0.024383,-0.253345,0.967069]]
2025-10-26T23:00:28.392Z,1761519628.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.60 m.
2025-10-26T23:00:28.395Z,1761519628.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.599365 m,
      nav range: 143.322754 m,
      bearing: 69.517448 deg,
      approach rate: 0.007721 m/s,
      LOS rate: -0.231707 deg/s,
      cmd heading: 55.693742 deg,
      new cmd heading: 55.410750 deg.

2025-10-26T23:00:28.396Z,1761519628.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.967100 target range: 143.599365 and range: 144.30 m.
2025-10-26T23:00:28.469Z,1761519628.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258764
2025-10-26T23:00:28.721Z,1761519628.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510990
2025-10-26T23:00:28.722Z,1761519628.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912907,-0.400330,-0.079609],[0.407468,-0.882411,-0.235203],[0.023911,-0.247157,0.968680]]
2025-10-26T23:00:28.771Z,1761519628.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.60 m.
2025-10-26T23:00:28.773Z,1761519628.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.599365 m,
      nav range: 143.320892 m,
      bearing: 69.429749 deg,
      approach rate: -0.004917 m/s,
      LOS rate: -0.231627 deg/s,
      cmd heading: 55.410750 deg,
      new cmd heading: 55.147651 deg.

2025-10-26T23:00:28.774Z,1761519628.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.962508 target range: 143.599365 and range: 144.30 m.
2025-10-26T23:00:28.974Z,1761519628.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764363
2025-10-26T23:00:29.145Z,1761519629.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902269,-0.422752,-0.084803],[0.430546,-0.872746,-0.230096],[0.023262,-0.244120,0.969466]]
2025-10-26T23:00:29.210Z,1761519629.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.60 m.
2025-10-26T23:00:29.213Z,1761519629.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.599365 m,
      nav range: 143.329102 m,
      bearing: 69.333902 deg,
      approach rate: 0.018686 m/s,
      LOS rate: -0.218156 deg/s,
      cmd heading: 55.147651 deg,
      new cmd heading: 54.860127 deg.

2025-10-26T23:00:29.214Z,1761519629.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.957490 target range: 143.599365 and range: 144.30 m.
2025-10-26T23:00:29.225Z,1761519629.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014716
2025-10-26T23:00:29.477Z,1761519629.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267563
2025-10-26T23:00:29.528Z,1761519629.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891027,-0.444440,-0.092437],[0.453380,-0.861058,-0.230272],[0.022749,-0.247088,0.968726]]
2025-10-26T23:00:29.544Z,1761519629.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:29.546Z,1761519629.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.60 m.
2025-10-26T23:00:29.550Z,1761519629.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.599365 m,
      nav range: 143.330917 m,
      bearing: 69.260572 deg,
      approach rate: 0.005396 m/s,
      LOS rate: -0.217915 deg/s,
      cmd heading: 54.860127 deg,
      new cmd heading: 54.640142 deg.

2025-10-26T23:00:29.565Z,1761519629.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.953650 target range: 143.599365 and range: 144.30 m.
2025-10-26T23:00:29.729Z,1761519629.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519105
2025-10-26T23:00:29.931Z,1761519629.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879208,-0.465773,-0.100245],[0.475948,-0.849099,-0.229138],[0.021609,-0.249172,0.968218]]
2025-10-26T23:00:29.949Z,1761519629.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.60 m.
2025-10-26T23:00:29.952Z,1761519629.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.599365 m,
      nav range: 143.327728 m,
      bearing: 69.172662 deg,
      approach rate: -0.007916 m/s,
      LOS rate: -0.218224 deg/s,
      cmd heading: 54.640140 deg,
      new cmd heading: 54.376407 deg.

2025-10-26T23:00:29.953Z,1761519629.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.949047 target range: 143.599365 and range: 144.30 m.
2025-10-26T23:00:29.980Z,1761519629.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770529
2025-10-26T23:00:30.232Z,1761519630.232 [DAT](INFO): DAT read: Rx Time:23:00:28.9331

2025-10-26T23:00:30.233Z,1761519630.233 [DAT](INFO): Rx dataTimestamp_ set to:1761519630.232635
2025-10-26T23:00:30.233Z,1761519630.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023682
2025-10-26T23:00:30.337Z,1761519630.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866513,-0.487474,-0.107349],[0.498744,-0.836836,-0.225744],[0.020211,-0.249149,0.968254]]
2025-10-26T23:00:30.399Z,1761519630.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.60 m.
2025-10-26T23:00:30.401Z,1761519630.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.599365 m,
      nav range: 143.341980 m,
      bearing: 69.084713 deg,
      approach rate: 0.031723 m/s,
      LOS rate: -0.195747 deg/s,
      cmd heading: 54.376406 deg,
      new cmd heading: 54.112587 deg.

2025-10-26T23:00:30.402Z,1761519630.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.944443 target range: 143.599365 and range: 144.30 m.
2025-10-26T23:00:30.485Z,1761519630.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275355
2025-10-26T23:00:30.756Z,1761519630.756 [DAT](INFO): DAT read: 23:00:28.9331 LVL= 30272, 24145, 20194, 27587, AGC= 66, IDX= 449, 0.39, 1.538, 2.537,-2.722, 2.518, PHS=-0.878, 0.064, 0.999, RAW= 240.1,  -2.3, CAL= 236.8,  -3.4, ROT= 273.2,   3.4

2025-10-26T23:00:30.757Z,1761519630.757 [DAT](INFO): got valid direction response:
 23:00:28.9331 LVL= 30272, 24145, 20194, 27587, AGC= 66, IDX= 449, 0.39, 1.538, 2.537,-2.722, 2.518, PHS=-0.878, 0.064, 0.999, RAW= 240.1,  -2.3, CAL= 236.8,  -3.4, ROT= 273.2,   3.4

2025-10-26T23:00:30.758Z,1761519630.758 [DAT](INFO): DAT read: Bearing 220.3, -71.1 (Local)

2025-10-26T23:00:30.758Z,1761519630.758 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.3, -71.1 (Local)

2025-10-26T23:00:30.768Z,1761519630.768 [DAT](INFO): DAT read: Range 11 to 50 : 145.6 m  (Round-trip  194.2 ms) speed -0.1 m/s

2025-10-26T23:00:30.768Z,1761519630.768 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:00:30.769Z,1761519630.769 [DAT](INFO): direction in FSK: [0.055723,-0.996683,-0.059306]
2025-10-26T23:00:30.769Z,1761519630.769 [DAT](INFO): publishing direction and range info
2025-10-26T23:00:30.774Z,1761519630.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853733,-0.507932,-0.114655],[0.520383,-0.824442,-0.222480],[0.018478,-0.249603,0.968172]]
2025-10-26T23:00:30.777Z,1761519630.777 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:00:30.777Z,1761519630.777 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:00:30.777Z,1761519630.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:00:30.852Z,1761519630.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 145.600006 m,
      deltaT: 3.782057 s,
      deltaX: 1.300003 m,
      approachRate: 0.343729 m/s,
      rangeRepo size: 4

2025-10-26T23:00:30.854Z,1761519630.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 144.892273 m,
      bearing: 61.683955 deg,
      lat: 36.779265 deg,
      lon: -121.859340 deg,
      deltaT: 3.782057 s,
      deltaX: 1.292908 m,
      approachRate: 0.341853 m/s,
      posRepo size: 4

2025-10-26T23:00:30.855Z,1761519630.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.89 m.
2025-10-26T23:00:30.866Z,1761519630.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.892273 m,
      nav range: 140.330139 m,
      bearing: 68.531095 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.195747 deg/s,
      cmd heading: 54.112587 deg,
      new cmd heading: 53.849205 deg.

2025-10-26T23:00:30.866Z,1761519630.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.939846 target range: 144.892273 and range: 145.60 m.
2025-10-26T23:00:30.988Z,1761519630.988 [DAT](INFO): DAT read: user:748>

2025-10-26T23:00:30.989Z,1761519630.989 [DAT](INFO): DAT read: Tx time:23:00:30.1347

2025-10-26T23:00:30.989Z,1761519630.989 [DAT](INFO): Ping request sent.
2025-10-26T23:00:30.990Z,1761519630.990 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:00:30.990Z,1761519630.990 [DAT](INFO): publishing transmit ping time
2025-10-26T23:00:30.990Z,1761519630.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761
2025-10-26T23:00:31.182Z,1761519631.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840598,-0.526649,-0.126628],[0.541414,-0.809913,-0.225634],[0.016272,-0.258226,0.965947]]
2025-10-26T23:00:31.226Z,1761519631.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.89 m.
2025-10-26T23:00:31.229Z,1761519631.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.892273 m,
      nav range: 140.360458 m,
      bearing: 68.456354 deg,
      approach rate: 0.079917 m/s,
      LOS rate: -0.196963 deg/s,
      cmd heading: 53.849205 deg,
      new cmd heading: 53.625031 deg.

2025-10-26T23:00:31.230Z,1761519631.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.935933 target range: 144.892273 and range: 145.60 m.
2025-10-26T23:00:31.240Z,1761519631.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250868
2025-10-26T23:00:31.493Z,1761519631.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503375
2025-10-26T23:00:31.588Z,1761519631.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827004,-0.545484,-0.136058],[0.562034,-0.796369,-0.223415],[0.013517,-0.261234,0.965181]]
2025-10-26T23:00:31.606Z,1761519631.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:31.608Z,1761519631.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.89 m.
2025-10-26T23:00:31.610Z,1761519631.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.892273 m,
      nav range: 140.383423 m,
      bearing: 68.389894 deg,
      approach rate: 0.060266 m/s,
      LOS rate: -0.174384 deg/s,
      cmd heading: 53.625031 deg,
      new cmd heading: 53.425682 deg.

2025-10-26T23:00:31.627Z,1761519631.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.932454 target range: 144.892273 and range: 145.60 m.
2025-10-26T23:00:31.744Z,1761519631.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754743
2025-10-26T23:00:31.986Z,1761519631.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812571,-0.565749,-0.140201],[0.582764,-0.784178,-0.213190],[0.010669,-0.254936,0.966899]]
2025-10-26T23:00:31.996Z,1761519631.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006884
2025-10-26T23:00:32.017Z,1761519632.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.89 m.
2025-10-26T23:00:32.024Z,1761519632.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.892273 m,
      nav range: 140.404114 m,
      bearing: 68.318665 deg,
      approach rate: 0.050490 m/s,
      LOS rate: -0.173785 deg/s,
      cmd heading: 53.425682 deg,
      new cmd heading: 53.212028 deg.

2025-10-26T23:00:32.025Z,1761519632.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.928725 target range: 144.892273 and range: 145.60 m.
2025-10-26T23:00:32.248Z,1761519632.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258768
2025-10-26T23:00:32.391Z,1761519632.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796891,-0.586510,-0.144810],[0.604067,-0.770330,-0.204196],[0.008211,-0.250197,0.968160]]
2025-10-26T23:00:32.453Z,1761519632.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.89 m.
2025-10-26T23:00:32.460Z,1761519632.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.892273 m,
      nav range: 140.432022 m,
      bearing: 68.247881 deg,
      approach rate: 0.064063 m/s,
      LOS rate: -0.162451 deg/s,
      cmd heading: 53.212026 deg,
      new cmd heading: 52.999717 deg.

2025-10-26T23:00:32.461Z,1761519632.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.925020 target range: 144.892273 and range: 145.60 m.
2025-10-26T23:00:32.501Z,1761519632.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511578
2025-10-26T23:00:32.752Z,1761519632.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762757
2025-10-26T23:00:32.857Z,1761519632.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781104,-0.605004,-0.154421],[0.624371,-0.754412,-0.202541],[0.006041,-0.254622,0.967022]]
2025-10-26T23:00:32.876Z,1761519632.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.89 m.
2025-10-26T23:00:32.878Z,1761519632.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.892273 m,
      nav range: 140.455032 m,
      bearing: 68.178235 deg,
      approach rate: 0.054394 m/s,
      LOS rate: -0.164610 deg/s,
      cmd heading: 52.999717 deg,
      new cmd heading: 52.790813 deg.

2025-10-26T23:00:32.880Z,1761519632.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.921373 target range: 144.892273 and range: 145.60 m.
2025-10-26T23:00:33.008Z,1761519633.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018680
2025-10-26T23:00:33.254Z,1761519633.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764122,-0.624834,-0.160311],[0.645058,-0.738507,-0.196234],[0.004223,-0.253357,0.967364]]
2025-10-26T23:00:33.256Z,1761519633.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266853
2025-10-26T23:00:33.304Z,1761519633.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.89 m.
2025-10-26T23:00:33.307Z,1761519633.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.892273 m,
      nav range: 140.478638 m,
      bearing: 68.114609 deg,
      approach rate: 0.055093 m/s,
      LOS rate: -0.148473 deg/s,
      cmd heading: 52.790812 deg,
      new cmd heading: 52.599968 deg.

2025-10-26T23:00:33.308Z,1761519633.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.918043 target range: 144.892273 and range: 145.60 m.
2025-10-26T23:00:33.509Z,1761519633.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519042
2025-10-26T23:00:33.749Z,1761519633.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746023,-0.645496,-0.163656],[0.665917,-0.722446,-0.186081],[0.001882,-0.247802,0.968809]]
2025-10-26T23:00:33.761Z,1761519633.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771072
2025-10-26T23:00:33.768Z,1761519633.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:33.770Z,1761519633.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.89 m.
2025-10-26T23:00:33.773Z,1761519633.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.892273 m,
      nav range: 140.499954 m,
      bearing: 68.045585 deg,
      approach rate: 0.045739 m/s,
      LOS rate: -0.148083 deg/s,
      cmd heading: 52.599966 deg,
      new cmd heading: 52.392927 deg.

2025-10-26T23:00:33.774Z,1761519633.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.914429 target range: 144.892273 and range: 145.60 m.
2025-10-26T23:00:34.012Z,1761519634.012 [DAT](INFO): DAT read: Rx Time:23:00:32.7340

2025-10-26T23:00:34.013Z,1761519634.013 [DAT](INFO): Rx dataTimestamp_ set to:1761519634.012560
2025-10-26T23:00:34.013Z,1761519634.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023817
2025-10-26T23:00:34.232Z,1761519634.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.89 m.
2025-10-26T23:00:34.234Z,1761519634.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.892273 m,
      nav range: 140.519592 m,
      bearing: 67.982627 deg,
      approach rate: 0.042756 m/s,
      LOS rate: -0.137052 deg/s,
      cmd heading: 52.392926 deg,
      new cmd heading: 52.204080 deg.

2025-10-26T23:00:34.235Z,1761519634.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.911133 target range: 144.892273 and range: 145.60 m.
2025-10-26T23:00:34.268Z,1761519634.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278577
2025-10-26T23:00:34.520Z,1761519634.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529266
2025-10-26T23:00:34.626Z,1761519634.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.89 m.
2025-10-26T23:00:34.645Z,1761519634.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.892273 m,
      nav range: 140.521194 m,
      bearing: 67.916792 deg,
      approach rate: 0.004040 m/s,
      LOS rate: -0.165997 deg/s,
      cmd heading: 52.204078 deg,
      new cmd heading: 52.006578 deg.

2025-10-26T23:00:34.646Z,1761519634.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.907686 target range: 144.892273 and range: 145.60 m.
2025-10-26T23:00:34.774Z,1761519634.774 [DAT](INFO): DAT read: 23:00:32.7340 LVL= 23584, 24225, 18674, 24851, AGC= 66, IDX= 443,-0.41, 1.119, 1.698,-3.063, 1.917, PHS=-0.696,-0.174, 1.260, RAW= 224.9,  -4.5, CAL= 222.9,  -6.6, ROT= 287.1,   6.6

2025-10-26T23:00:34.776Z,1761519634.776 [DAT](INFO): got valid direction response:
 23:00:32.7340 LVL= 23584, 24225, 18674, 24851, AGC= 66, IDX= 443,-0.41, 1.119, 1.698,-3.063, 1.917, PHS=-0.696,-0.174, 1.260, RAW= 224.9,  -4.5, CAL= 222.9,  -6.6, ROT= 287.1,   6.6

2025-10-26T23:00:34.777Z,1761519634.777 [DAT](INFO): DAT read: Bearing 234.5, -62.6 (Local)

2025-10-26T23:00:34.777Z,1761519634.777 [DAT](INFO): Local bearing/azimuth received:
 Bearing 234.5, -62.6 (Local)

2025-10-26T23:00:34.778Z,1761519634.778 [DAT](INFO): DAT read: Range 11 to 50 : 146.4 m  (Round-trip  195.2 ms) speed  0.0 m/s

2025-10-26T23:00:34.779Z,1761519634.779 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:00:34.780Z,1761519634.780 [DAT](INFO): direction in FSK: [0.292092,-0.949459,-0.114937]
2025-10-26T23:00:34.780Z,1761519634.780 [DAT](INFO): publishing direction and range info
2025-10-26T23:00:34.784Z,1761519634.784 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:00:34.784Z,1761519634.784 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:00:34.784Z,1761519634.784 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:00:34.954Z,1761519634.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685128,-0.702938,-0.190990],[0.728357,-0.664611,-0.166698],[-0.009755,-0.253319,0.967334]]
2025-10-26T23:00:34.992Z,1761519634.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 146.399994 m,
      deltaT: 4.030108 s,
      deltaX: 0.799988 m,
      approachRate: 0.198503 m/s,
      rangeRepo size: 4

2025-10-26T23:00:34.994Z,1761519634.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 145.658279 m,
      bearing: 60.448637 deg,
      lat: 36.779410 deg,
      lon: -121.859340 deg,
      deltaT: 4.030108 s,
      deltaX: 0.766006 m,
      approachRate: 0.190071 m/s,
      posRepo size: 4

2025-10-26T23:00:34.995Z,1761519634.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.66 m.
2025-10-26T23:00:34.998Z,1761519634.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.658279 m,
      nav range: 147.327026 m,
      bearing: 62.059099 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.165997 deg/s,
      cmd heading: 52.006577 deg,
      new cmd heading: 51.824732 deg.

2025-10-26T23:00:34.999Z,1761519634.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.904512 target range: 145.658279 and range: 146.40 m.
2025-10-26T23:00:35.030Z,1761519635.030 [DAT](INFO): DAT read: user:749>

2025-10-26T23:00:35.031Z,1761519635.031 [DAT](INFO): DAT read: Tx time:23:00:34.1347

2025-10-26T23:00:35.032Z,1761519635.032 [DAT](INFO): Ping request sent.
2025-10-26T23:00:35.032Z,1761519635.032 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:00:35.032Z,1761519635.032 [DAT](INFO): publishing transmit ping time
2025-10-26T23:00:35.033Z,1761519635.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001080
2025-10-26T23:00:35.152Z,1761519635.152 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:00:35.280Z,1761519635.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248454
2025-10-26T23:00:35.359Z,1761519635.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662911,-0.720657,-0.202983],[0.748567,-0.643041,-0.161697],[-0.013998,-0.259137,0.965739]]
2025-10-26T23:00:35.430Z,1761519635.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.66 m.
2025-10-26T23:00:35.436Z,1761519635.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.658279 m,
      nav range: 147.308838 m,
      bearing: 61.993634 deg,
      approach rate: -0.041520 m/s,
      LOS rate: -0.149461 deg/s,
      cmd heading: 51.824733 deg,
      new cmd heading: 51.628314 deg.

2025-10-26T23:00:35.437Z,1761519635.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.901084 target range: 145.658279 and range: 146.40 m.
2025-10-26T23:00:35.532Z,1761519635.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500372
2025-10-26T23:00:35.764Z,1761519635.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639879,-0.738992,-0.210822],[0.768273,-0.621466,-0.153412],[-0.017648,-0.260134,0.965411]]
2025-10-26T23:00:35.784Z,1761519635.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752520
2025-10-26T23:00:35.791Z,1761519635.791 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:35.793Z,1761519635.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.66 m.
2025-10-26T23:00:35.796Z,1761519635.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.658279 m,
      nav range: 147.289703 m,
      bearing: 61.939576 deg,
      approach rate: -0.052692 m/s,
      LOS rate: -0.148882 deg/s,
      cmd heading: 51.628314 deg,
      new cmd heading: 51.466119 deg.

2025-10-26T23:00:35.797Z,1761519635.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.898253 target range: 145.658279 and range: 146.40 m.
2025-10-26T23:00:36.036Z,1761519636.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004487
2025-10-26T23:00:36.156Z,1761519636.156 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:00:36.172Z,1761519636.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616469,-0.755149,-0.222972],[0.787091,-0.598677,-0.148569],[-0.021296,-0.267087,0.963437]]
2025-10-26T23:00:36.209Z,1761519636.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.66 m.
2025-10-26T23:00:36.218Z,1761519636.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.658279 m,
      nav range: 147.264069 m,
      bearing: 61.880129 deg,
      approach rate: -0.061833 m/s,
      LOS rate: -0.143417 deg/s,
      cmd heading: 51.466121 deg,
      new cmd heading: 51.287749 deg.

2025-10-26T23:00:36.238Z,1761519636.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.895140 target range: 145.658279 and range: 146.40 m.
2025-10-26T23:00:36.288Z,1761519636.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256387
2025-10-26T23:00:36.543Z,1761519636.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510916
2025-10-26T23:00:36.588Z,1761519636.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594814,-0.768299,-0.236460],[0.803510,-0.576966,-0.146565],[-0.023824,-0.277177,0.960523]]
2025-10-26T23:00:36.697Z,1761519636.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.66 m.
2025-10-26T23:00:36.700Z,1761519636.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.658279 m,
      nav range: 147.191681 m,
      bearing: 61.795388 deg,
      approach rate: -0.147915 m/s,
      LOS rate: -0.173242 deg/s,
      cmd heading: 51.287747 deg,
      new cmd heading: 51.033402 deg.

2025-10-26T23:00:36.702Z,1761519636.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.890701 target range: 145.658279 and range: 146.40 m.
2025-10-26T23:00:36.793Z,1761519636.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760992
2025-10-26T23:00:37.000Z,1761519637.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572779,-0.781717,-0.246662],[0.819325,-0.555197,-0.143049],[-0.025122,-0.284032,0.958486]]
2025-10-26T23:00:37.039Z,1761519637.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.66 m.
2025-10-26T23:00:37.046Z,1761519637.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013845
2025-10-26T23:00:37.048Z,1761519637.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.658279 m,
      nav range: 147.138626 m,
      bearing: 61.738238 deg,
      approach rate: -0.155227 m/s,
      LOS rate: -0.167269 deg/s,
      cmd heading: 51.033401 deg,
      new cmd heading: 50.861890 deg.

2025-10-26T23:00:37.050Z,1761519637.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.887707 target range: 145.658279 and range: 146.40 m.
2025-10-26T23:00:37.297Z,1761519637.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265134
2025-10-26T23:00:37.402Z,1761519637.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550874,-0.795929,-0.251070],[0.834221,-0.534058,-0.137325],[-0.024785,-0.285096,0.958178]]
2025-10-26T23:00:37.504Z,1761519637.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.66 m.
2025-10-26T23:00:37.506Z,1761519637.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.658279 m,
      nav range: 147.043976 m,
      bearing: 61.662520 deg,
      approach rate: -0.203361 m/s,
      LOS rate: -0.162790 deg/s,
      cmd heading: 50.861888 deg,
      new cmd heading: 50.634588 deg.

2025-10-26T23:00:37.512Z,1761519637.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.883740 target range: 145.658279 and range: 146.40 m.
2025-10-26T23:00:37.550Z,1761519637.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517993
2025-10-26T23:00:37.801Z,1761519637.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768715
2025-10-26T23:00:37.883Z,1761519637.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:37.917Z,1761519637.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.66 m.
2025-10-26T23:00:37.924Z,1761519637.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.658279 m,
      nav range: 146.953506 m,
      bearing: 61.589866 deg,
      approach rate: -0.218852 m/s,
      LOS rate: -0.175863 deg/s,
      cmd heading: 50.634590 deg,
      new cmd heading: 50.416495 deg.

2025-10-26T23:00:37.925Z,1761519637.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.879934 target range: 145.658279 and range: 146.40 m.
2025-10-26T23:00:38.054Z,1761519638.054 [DAT](INFO): DAT read: Rx Time:23:00:36.7325

2025-10-26T23:00:38.055Z,1761519638.055 [DAT](INFO): Rx dataTimestamp_ set to:1761519638.053865
2025-10-26T23:00:38.056Z,1761519638.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023679
2025-10-26T23:00:38.304Z,1761519638.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272517
2025-10-26T23:00:38.312Z,1761519638.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490151,-0.837511,-0.241511],[0.871458,-0.476488,-0.116276],[-0.017695,-0.267460,0.963407]]
2025-10-26T23:00:38.359Z,1761519638.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.66 m.
2025-10-26T23:00:38.362Z,1761519638.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.658279 m,
      nav range: 146.804993 m,
      bearing: 61.502101 deg,
      approach rate: -0.336214 m/s,
      LOS rate: -0.198889 deg/s,
      cmd heading: 50.416495 deg,
      new cmd heading: 50.152935 deg.

2025-10-26T23:00:38.363Z,1761519638.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.875334 target range: 145.658279 and range: 146.40 m.
2025-10-26T23:00:38.570Z,1761519638.570 [DAT](INFO): DAT read: 23:00:36.7325 LVL= 31408, 32753, 24546, 27987, AGC= 66, IDX= 427, 0.41,-2.984,-2.913,-1.129,-2.451, PHS=-0.431,-0.417, 1.278, RAW= 210.4,  -5.1, CAL= 209.5,  -7.8, ROT= 300.5,   7.8

2025-10-26T23:00:38.572Z,1761519638.572 [DAT](INFO): got valid direction response:
 23:00:36.7325 LVL= 31408, 32753, 24546, 27987, AGC= 66, IDX= 427, 0.41,-2.984,-2.913,-1.129,-2.451, PHS=-0.431,-0.417, 1.278, RAW= 210.4,  -5.1, CAL= 209.5,  -7.8, ROT= 300.5,   7.8

2025-10-26T23:00:38.573Z,1761519638.573 [DAT](INFO): DAT read: Bearing 231.6, -51.7 (Local)

2025-10-26T23:00:38.574Z,1761519638.574 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.6, -51.7 (Local)

2025-10-26T23:00:38.575Z,1761519638.575 [DAT](INFO): DAT read: Range 11 to 50 : 145.2 m  (Round-trip  193.6 ms) speed  0.0 m/s

2025-10-26T23:00:38.576Z,1761519638.576 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:00:38.577Z,1761519638.577 [DAT](INFO): direction in FSK: [0.502842,-0.853657,-0.135716]
2025-10-26T23:00:38.577Z,1761519638.577 [DAT](INFO): publishing direction and range info
2025-10-26T23:00:38.586Z,1761519638.586 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:00:38.586Z,1761519638.586 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:00:38.587Z,1761519638.587 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:00:38.708Z,1761519638.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471490,-0.850962,-0.231433],[0.881760,-0.459084,-0.108358],[-0.014039,-0.255158,0.966797]]
2025-10-26T23:00:38.773Z,1761519638.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 145.199997 m,
      deltaT: 3.790216 s,
      deltaX: -1.199997 m,
      approachRate: -0.316604 m/s,
      rangeRepo size: 4

2025-10-26T23:00:38.774Z,1761519638.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 144.463074 m,
      bearing: 58.506011 deg,
      lat: 36.779410 deg,
      lon: -121.859390 deg,
      deltaT: 3.790216 s,
      deltaX: -1.195206 m,
      approachRate: -0.315340 m/s,
      posRepo size: 4

2025-10-26T23:00:38.779Z,1761519638.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.46 m.
2025-10-26T23:00:38.782Z,1761519638.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.463074 m,
      nav range: 142.776611 m,
      bearing: 60.574702 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.198889 deg/s,
      cmd heading: 50.152935 deg,
      new cmd heading: 49.906622 deg.

2025-10-26T23:00:38.783Z,1761519638.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.871035 target range: 144.463074 and range: 145.20 m.
2025-10-26T23:00:38.809Z,1761519638.809 [DAT](INFO): DAT read: user:750>

2025-10-26T23:00:38.809Z,1761519638.809 [DAT](INFO): DAT read: Tx time:23:00:37.9347

2025-10-26T23:00:38.810Z,1761519638.810 [DAT](INFO): Ping request sent.
2025-10-26T23:00:38.810Z,1761519638.810 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:00:38.810Z,1761519638.810 [DAT](INFO): publishing transmit ping time
2025-10-26T23:00:38.811Z,1761519638.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-10-26T23:00:39.061Z,1761519639.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251335
2025-10-26T23:00:39.113Z,1761519639.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453725,-0.862764,-0.223097],[0.891093,-0.441862,-0.103490],[-0.009291,-0.245756,0.969287]]
2025-10-26T23:00:39.133Z,1761519639.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.46 m.
2025-10-26T23:00:39.135Z,1761519639.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.463074 m,
      nav range: 142.651169 m,
      bearing: 60.502405 deg,
      approach rate: -0.347815 m/s,
      LOS rate: -0.200635 deg/s,
      cmd heading: 49.906621 deg,
      new cmd heading: 49.689540 deg.

2025-10-26T23:00:39.136Z,1761519639.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.867246 target range: 144.463074 and range: 145.20 m.
2025-10-26T23:00:39.312Z,1761519639.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502484
2025-10-26T23:00:39.499Z,1761519639.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436416,-0.873154,-0.217126],[0.899739,-0.424421,-0.101673],[-0.003376,-0.239728,0.970834]]
2025-10-26T23:00:39.562Z,1761519639.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.46 m.
2025-10-26T23:00:39.565Z,1761519639.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755277
2025-10-26T23:00:39.569Z,1761519639.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.463074 m,
      nav range: 142.499939 m,
      bearing: 60.418108 deg,
      approach rate: -0.353052 m/s,
      LOS rate: -0.197004 deg/s,
      cmd heading: 49.689541 deg,
      new cmd heading: 49.436382 deg.

2025-10-26T23:00:39.570Z,1761519639.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.862828 target range: 144.463074 and range: 145.20 m.
2025-10-26T23:00:39.816Z,1761519639.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006579
2025-10-26T23:00:39.902Z,1761519639.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419046,-0.882282,-0.214425],[0.907962,-0.406651,-0.101191],[0.002082,-0.237094,0.971485]]
2025-10-26T23:00:39.945Z,1761519639.945 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:39.947Z,1761519639.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.46 m.
2025-10-26T23:00:39.950Z,1761519639.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.463074 m,
      nav range: 142.355804 m,
      bearing: 60.340633 deg,
      approach rate: -0.373374 m/s,
      LOS rate: -0.200898 deg/s,
      cmd heading: 49.436383 deg,
      new cmd heading: 49.203725 deg.

2025-10-26T23:00:39.951Z,1761519639.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.858767 target range: 144.463074 and range: 145.20 m.
2025-10-26T23:00:40.069Z,1761519640.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258664
2025-10-26T23:00:40.322Z,1761519640.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512285
2025-10-26T23:00:40.330Z,1761519640.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401210,-0.890688,-0.213789],[0.915959,-0.388331,-0.101083],[0.007013,-0.236378,0.971636]]
2025-10-26T23:00:40.380Z,1761519640.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.46 m.
2025-10-26T23:00:40.383Z,1761519640.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.463074 m,
      nav range: 142.198029 m,
      bearing: 60.258680 deg,
      approach rate: -0.363972 m/s,
      LOS rate: -0.189265 deg/s,
      cmd heading: 49.203727 deg,
      new cmd heading: 48.957598 deg.

2025-10-26T23:00:40.384Z,1761519640.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.854471 target range: 144.463074 and range: 145.20 m.
2025-10-26T23:00:40.572Z,1761519640.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762513
2025-10-26T23:00:40.715Z,1761519640.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381974,-0.900357,-0.208453],[0.924100,-0.369262,-0.098411],[0.011631,-0.230222,0.973069]]
2025-10-26T23:00:40.763Z,1761519640.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.46 m.
2025-10-26T23:00:40.766Z,1761519640.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.463074 m,
      nav range: 142.058426 m,
      bearing: 60.188950 deg,
      approach rate: -0.365625 m/s,
      LOS rate: -0.182805 deg/s,
      cmd heading: 48.957597 deg,
      new cmd heading: 48.748203 deg.

2025-10-26T23:00:40.767Z,1761519640.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.850817 target range: 144.463074 and range: 145.20 m.
2025-10-26T23:00:40.824Z,1761519640.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014558
2025-10-26T23:00:41.076Z,1761519641.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266551
2025-10-26T23:00:41.114Z,1761519641.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361551,-0.909415,-0.205535],[0.932213,-0.348792,-0.096557],[0.016122,-0.226513,0.973875]]
2025-10-26T23:00:41.205Z,1761519641.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.46 m.
2025-10-26T23:00:41.208Z,1761519641.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.463074 m,
      nav range: 141.890671 m,
      bearing: 60.108519 deg,
      approach rate: -0.378910 m/s,
      LOS rate: -0.181887 deg/s,
      cmd heading: 48.748204 deg,
      new cmd heading: 48.506625 deg.

2025-10-26T23:00:41.209Z,1761519641.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.846600 target range: 144.463074 and range: 145.20 m.
2025-10-26T23:00:41.329Z,1761519641.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518707
2025-10-26T23:00:41.518Z,1761519641.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339475,-0.917133,-0.208862],[0.940406,-0.326242,-0.095935],[0.019846,-0.228983,0.973228]]
2025-10-26T23:00:41.580Z,1761519641.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770570
2025-10-26T23:00:41.624Z,1761519641.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.46 m.
2025-10-26T23:00:41.626Z,1761519641.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.463074 m,
      nav range: 141.727707 m,
      bearing: 60.031996 deg,
      approach rate: -0.393194 m/s,
      LOS rate: -0.184844 deg/s,
      cmd heading: 48.506624 deg,
      new cmd heading: 48.276793 deg.

2025-10-26T23:00:41.635Z,1761519641.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.842589 target range: 144.463074 and range: 145.20 m.
2025-10-26T23:00:41.832Z,1761519641.832 [DAT](INFO): DAT read: Rx Time:23:00:40.5311

2025-10-26T23:00:41.833Z,1761519641.833 [DAT](INFO): Rx dataTimestamp_ set to:1761519641.832551
2025-10-26T23:00:41.833Z,1761519641.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023547
2025-10-26T23:00:41.962Z,1761519641.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315969,-0.923682,-0.216738],[0.948497,-0.302053,-0.095483],[0.022729,-0.235745,0.971549]]
2025-10-26T23:00:42.014Z,1761519642.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:42.017Z,1761519642.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.46 m.
2025-10-26T23:00:42.020Z,1761519642.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.463074 m,
      nav range: 141.572495 m,
      bearing: 59.962483 deg,
      approach rate: -0.390789 m/s,
      LOS rate: -0.175209 deg/s,
      cmd heading: 48.276791 deg,
      new cmd heading: 48.068025 deg.

2025-10-26T23:00:42.021Z,1761519642.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.838945 target range: 144.463074 and range: 145.20 m.
2025-10-26T23:00:42.085Z,1761519642.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274733
2025-10-26T23:00:42.358Z,1761519642.358 [DAT](INFO): DAT read: 23:00:40.5311 LVL= 31280, 32753, 20434, 32755, AGC= 66, IDX= 429, 0.08,-0.892,-1.514, 0.629,-0.494, PHS=-0.296,-0.975, 1.079, RAW= 191.1,   2.2, CAL= 191.3,  -0.7, ROT= 318.7,   0.7

2025-10-26T23:00:42.366Z,1761519642.366 [DAT](INFO): got valid direction response:
 23:00:40.5311 LVL= 31280, 32753, 20434, 32755, AGC= 66, IDX= 429, 0.08,-0.892,-1.514, 0.629,-0.494, PHS=-0.296,-0.975, 1.079, RAW= 191.1,   2.2, CAL= 191.3,  -0.7, ROT= 318.7,   0.7

2025-10-26T23:00:42.367Z,1761519642.367 [DAT](INFO): DAT read: Bearing 244.8, -38.9 (Local)

2025-10-26T23:00:42.367Z,1761519642.367 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.8, -38.9 (Local)

2025-10-26T23:00:42.369Z,1761519642.369 [DAT](INFO): DAT read: Range 11 to 50 : 144.1 m  (Round-trip  192.2 ms) speed  0.3 m/s

2025-10-26T23:00:42.370Z,1761519642.370 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:00:42.372Z,1761519642.372 [DAT](INFO): direction in FSK: [0.751208,-0.659952,-0.012217]
2025-10-26T23:00:42.373Z,1761519642.373 [DAT](INFO): publishing direction and range info
2025-10-26T23:00:42.377Z,1761519642.377 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:00:42.377Z,1761519642.377 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:00:42.377Z,1761519642.377 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:00:42.488Z,1761519642.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291322,-0.928686,-0.229506],[0.956303,-0.276499,-0.095038],[0.024803,-0.247164,0.968656]]
2025-10-26T23:00:42.589Z,1761519642.589 [DAT](INFO): DAT read: user:751>

2025-10-26T23:00:42.589Z,1761519642.589 [DAT](INFO): DAT read: Tx time:23:00:41.7347

2025-10-26T23:00:42.590Z,1761519642.590 [DAT](INFO): Ping request sent.
2025-10-26T23:00:42.590Z,1761519642.590 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:00:42.590Z,1761519642.590 [DAT](INFO): publishing transmit ping time
2025-10-26T23:00:42.591Z,1761519642.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-10-26T23:00:42.606Z,1761519642.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 144.100006 m,
      deltaT: 3.780000 s,
      deltaX: -1.099991 m,
      approachRate: -0.291003 m/s,
      rangeRepo size: 4

2025-10-26T23:00:42.613Z,1761519642.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 143.385468 m,
      bearing: 66.252628 deg,
      lat: 36.779410 deg,
      lon: -121.859390 deg,
      deltaT: 3.780000 s,
      deltaX: -1.077606 m,
      approachRate: -0.285081 m/s,
      posRepo size: 4

2025-10-26T23:00:42.613Z,1761519642.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.39 m.
2025-10-26T23:00:42.620Z,1761519642.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.385468 m,
      nav range: 141.365738 m,
      bearing: 59.874856 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.175209 deg/s,
      cmd heading: 48.068027 deg,
      new cmd heading: 47.758313 deg.

2025-10-26T23:00:42.621Z,1761519642.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.833540 target range: 143.385468 and range: 144.10 m.
2025-10-26T23:00:42.840Z,1761519642.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250654
2025-10-26T23:00:43.083Z,1761519643.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239176,-0.937183,-0.253932],[0.970653,-0.224028,-0.087431],[0.025051,-0.267392,0.963262]]
2025-10-26T23:00:43.092Z,1761519643.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502630
2025-10-26T23:00:43.104Z,1761519643.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.39 m.
2025-10-26T23:00:43.106Z,1761519643.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.385468 m,
      nav range: 141.170380 m,
      bearing: 59.800468 deg,
      approach rate: -0.392679 m/s,
      LOS rate: -0.149731 deg/s,
      cmd heading: 47.758312 deg,
      new cmd heading: 47.534839 deg.

2025-10-26T23:00:43.107Z,1761519643.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.829639 target range: 143.385468 and range: 144.10 m.
2025-10-26T23:00:43.348Z,1761519643.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758355
2025-10-26T23:00:43.581Z,1761519643.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212004,-0.941503,-0.261964],[0.976993,-0.197822,-0.079691],[0.023207,-0.272832,0.961782]]
2025-10-26T23:00:43.596Z,1761519643.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006679
2025-10-26T23:00:43.627Z,1761519643.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.39 m.
2025-10-26T23:00:43.630Z,1761519643.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.385468 m,
      nav range: 140.988556 m,
      bearing: 59.738307 deg,
      approach rate: -0.347307 m/s,
      LOS rate: -0.118887 deg/s,
      cmd heading: 47.534838 deg,
      new cmd heading: 47.348118 deg.

2025-10-26T23:00:43.631Z,1761519643.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.826381 target range: 143.385468 and range: 144.10 m.
2025-10-26T23:00:43.849Z,1761519643.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258871
2025-10-26T23:00:43.993Z,1761519643.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184411,-0.947309,-0.261912],[0.982630,-0.172076,-0.069483],[0.020753,-0.270176,0.962587]]
2025-10-26T23:00:44.011Z,1761519644.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.39 m.
2025-10-26T23:00:44.014Z,1761519644.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.385468 m,
      nav range: 140.852020 m,
      bearing: 59.694089 deg,
      approach rate: -0.355323 m/s,
      LOS rate: -0.115187 deg/s,
      cmd heading: 47.348118 deg,
      new cmd heading: 47.215334 deg.

2025-10-26T23:00:44.015Z,1761519644.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824063 target range: 143.385468 and range: 144.10 m.
2025-10-26T23:00:44.102Z,1761519644.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512112
2025-10-26T23:00:44.355Z,1761519644.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764730
2025-10-26T23:00:44.399Z,1761519644.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156047,-0.954403,-0.254486],[0.987593,-0.146162,-0.057425],[0.017610,-0.260290,0.965370]]
2025-10-26T23:00:44.433Z,1761519644.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:44.436Z,1761519644.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.39 m.
2025-10-26T23:00:44.438Z,1761519644.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.385468 m,
      nav range: 140.720520 m,
      bearing: 59.659988 deg,
      approach rate: -0.309856 m/s,
      LOS rate: -0.080428 deg/s,
      cmd heading: 47.215332 deg,
      new cmd heading: 47.112933 deg.

2025-10-26T23:00:44.464Z,1761519644.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.822276 target range: 143.385468 and range: 144.10 m.
2025-10-26T23:00:44.604Z,1761519644.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014488
2025-10-26T23:00:44.792Z,1761519644.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126363,-0.961430,-0.244305],[0.991899,-0.119232,-0.043826],[0.013006,-0.247864,0.968708]]
2025-10-26T23:00:44.827Z,1761519644.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.39 m.
2025-10-26T23:00:44.856Z,1761519644.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266666
2025-10-26T23:00:44.860Z,1761519644.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.385468 m,
      nav range: 140.601990 m,
      bearing: 59.631142 deg,
      approach rate: -0.302717 m/s,
      LOS rate: -0.073731 deg/s,
      cmd heading: 47.112934 deg,
      new cmd heading: 47.026325 deg.

2025-10-26T23:00:44.861Z,1761519644.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.820764 target range: 143.385468 and range: 144.10 m.
2025-10-26T23:00:45.108Z,1761519645.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518580
2025-10-26T23:00:45.197Z,1761519645.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097015,-0.967495,-0.233541],[0.995255,-0.092535,-0.030088],[0.007499,-0.235352,0.971881]]
2025-10-26T23:00:45.215Z,1761519645.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.39 m.
2025-10-26T23:00:45.218Z,1761519645.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.385468 m,
      nav range: 140.472122 m,
      bearing: 59.601516 deg,
      approach rate: -0.334611 m/s,
      LOS rate: -0.076405 deg/s,
      cmd heading: 47.026324 deg,
      new cmd heading: 46.937362 deg.

2025-10-26T23:00:45.219Z,1761519645.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.819212 target range: 143.385468 and range: 144.10 m.
2025-10-26T23:00:45.364Z,1761519645.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772824
2025-10-26T23:00:45.603Z,1761519645.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066287,-0.971934,-0.225722],[0.997799,-0.064219,-0.016499],[0.001540,-0.226319,0.974052]]
2025-10-26T23:00:45.613Z,1761519645.613 [DAT](INFO): DAT read: Rx Time:23:00:44.3300

2025-10-26T23:00:45.613Z,1761519645.613 [DAT](INFO): Rx dataTimestamp_ set to:1761519645.612705
2025-10-26T23:00:45.614Z,1761519645.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023761
2025-10-26T23:00:45.647Z,1761519645.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.39 m.
2025-10-26T23:00:45.650Z,1761519645.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.385468 m,
      nav range: 140.339249 m,
      bearing: 59.580091 deg,
      approach rate: -0.307797 m/s,
      LOS rate: -0.049677 deg/s,
      cmd heading: 46.937364 deg,
      new cmd heading: 46.873028 deg.

2025-10-26T23:00:45.651Z,1761519645.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.818089 target range: 143.385468 and range: 144.10 m.
2025-10-26T23:00:45.864Z,1761519645.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274593
2025-10-26T23:00:46.010Z,1761519646.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035093,-0.973441,-0.226233],[0.999374,-0.035201,-0.003556],[-0.004502,-0.226216,0.974067]]
2025-10-26T23:00:46.038Z,1761519646.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.39 m.
2025-10-26T23:00:46.043Z,1761519646.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.385468 m,
      nav range: 140.220123 m,
      bearing: 59.562581 deg,
      approach rate: -0.304728 m/s,
      LOS rate: -0.044829 deg/s,
      cmd heading: 46.873027 deg,
      new cmd heading: 46.820453 deg.

2025-10-26T23:00:46.045Z,1761519646.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.817171 target range: 143.385468 and range: 144.10 m.
2025-10-26T23:00:46.121Z,1761519646.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529406
2025-10-26T23:00:46.421Z,1761519646.421 [DAT](INFO): DAT read: 23:00:44.3300 LVL= 30448, 31985, 22418, 32755, AGC= 67, IDX= 435,-0.19, 2.533, 1.415,-2.668, 2.648, PHS=-0.013,-1.188, 0.923, RAW= 176.2,   3.1, CAL= 175.6,   0.6, ROT= 334.4,  -0.6

2025-10-26T23:00:46.422Z,1761519646.422 [DAT](INFO): got valid direction response:
 23:00:44.3300 LVL= 30448, 31985, 22418, 32755, AGC= 67, IDX= 435,-0.19, 2.533, 1.415,-2.668, 2.648, PHS=-0.013,-1.188, 0.923, RAW= 176.2,   3.1, CAL= 175.6,   0.6, ROT= 334.4,  -0.6

2025-10-26T23:00:46.423Z,1761519646.423 [DAT](INFO): DAT read: Bearing 236.3, -25.0 (Local)

2025-10-26T23:00:46.423Z,1761519646.423 [DAT](INFO): Local bearing/azimuth received:
 Bearing 236.3, -25.0 (Local)

2025-10-26T23:00:46.428Z,1761519646.428 [DAT](INFO): DAT read: Range 11 to 50 : 143.4 m  (Round-trip  191.2 ms) speed  0.5 m/s

2025-10-26T23:00:46.429Z,1761519646.429 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:00:46.430Z,1761519646.430 [DAT](INFO): direction in FSK: [0.901783,-0.432062,0.010472]
2025-10-26T23:00:46.430Z,1761519646.430 [DAT](INFO): publishing direction and range info
2025-10-26T23:00:46.456Z,1761519646.456 [CTD_Seabird](ERROR): Failed to parse device response: .12
2025-10-26T23:00:46.457Z,1761519646.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003101,-0.973454,-0.228863],[0.999941,-0.005393,0.009389],[-0.010374,-0.228821,0.973413]]
2025-10-26T23:00:46.466Z,1761519646.466 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:00:46.466Z,1761519646.466 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:00:46.466Z,1761519646.466 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:00:46.579Z,1761519646.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 143.399994 m,
      deltaT: 4.031399 s,
      deltaX: -0.700012 m,
      approachRate: -0.173640 m/s,
      rangeRepo size: 4

2025-10-26T23:00:46.586Z,1761519646.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 142.706100 m,
      bearing: 65.324461 deg,
      lat: 36.779410 deg,
      lon: -121.859390 deg,
      deltaT: 4.031399 s,
      deltaX: -0.679367 m,
      approachRate: -0.168519 m/s,
      posRepo size: 4

2025-10-26T23:00:46.587Z,1761519646.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:46.593Z,1761519646.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 140.063644 m,
      bearing: 59.547526 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044829 deg/s,
      cmd heading: 46.820452 deg,
      new cmd heading: 46.747764 deg.

2025-10-26T23:00:46.594Z,1761519646.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.815902 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:46.620Z,1761519646.620 [DAT](INFO): DAT read: user:752>

2025-10-26T23:00:46.621Z,1761519646.621 [DAT](INFO): DAT read: Tx time:23:00:45.8347

2025-10-26T23:00:46.621Z,1761519646.621 [DAT](INFO): Ping request sent.
2025-10-26T23:00:46.622Z,1761519646.622 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:00:46.622Z,1761519646.622 [DAT](INFO): publishing transmit ping time
2025-10-26T23:00:46.622Z,1761519646.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-10-26T23:00:46.872Z,1761519646.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250809
2025-10-26T23:00:46.902Z,1761519646.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028666,-0.971334,-0.235983],[0.999455,0.023989,0.022667],[-0.016356,-0.236504,0.971493]]
2025-10-26T23:00:46.919Z,1761519646.919 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:46.921Z,1761519646.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:46.924Z,1761519646.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 139.946350 m,
      bearing: 59.537782 deg,
      approach rate: -0.341748 m/s,
      LOS rate: -0.028413 deg/s,
      cmd heading: 46.747765 deg,
      new cmd heading: 46.718509 deg.

2025-10-26T23:00:46.925Z,1761519646.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.815392 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:47.125Z,1761519647.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503745
2025-10-26T23:00:47.380Z,1761519647.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757484
2025-10-26T23:00:47.503Z,1761519647.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:47.506Z,1761519647.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 139.770432 m,
      bearing: 59.525164 deg,
      approach rate: -0.304559 m/s,
      LOS rate: -0.021873 deg/s,
      cmd heading: 46.718508 deg,
      new cmd heading: 46.680604 deg.

2025-10-26T23:00:47.507Z,1761519647.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.814730 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:47.628Z,1761519647.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006787
2025-10-26T23:00:47.882Z,1761519647.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260741
2025-10-26T23:00:47.960Z,1761519647.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117968,-0.958048,-0.261203],[0.992448,0.104845,0.063672],[-0.033615,-0.266742,0.963182]]
2025-10-26T23:00:47.979Z,1761519647.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:47.982Z,1761519647.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 139.611023 m,
      bearing: 59.519343 deg,
      approach rate: -0.332244 m/s,
      LOS rate: -0.012146 deg/s,
      cmd heading: 46.680603 deg,
      new cmd heading: 46.663120 deg.

2025-10-26T23:00:47.983Z,1761519647.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.814425 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:48.133Z,1761519648.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511389
2025-10-26T23:00:48.388Z,1761519648.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765114
2025-10-26T23:00:48.444Z,1761519648.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145072,-0.954597,-0.260189],[0.988687,0.129733,0.075284],[-0.038111,-0.268167,0.962618]]
2025-10-26T23:00:48.485Z,1761519648.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:48.508Z,1761519648.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 139.428940 m,
      bearing: 59.513029 deg,
      approach rate: -0.359445 m/s,
      LOS rate: -0.012480 deg/s,
      cmd heading: 46.663122 deg,
      new cmd heading: 46.644156 deg.

2025-10-26T23:00:48.509Z,1761519648.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.814094 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:48.636Z,1761519648.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014718
2025-10-26T23:00:48.783Z,1761519648.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169601,-0.951045,-0.258360],[0.984645,0.152523,0.084920],[-0.041357,-0.268795,0.962309]]
2025-10-26T23:00:48.802Z,1761519648.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:48.805Z,1761519648.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 139.314926 m,
      bearing: 59.510227 deg,
      approach rate: -0.360042 m/s,
      LOS rate: -0.008857 deg/s,
      cmd heading: 46.644158 deg,
      new cmd heading: 46.635744 deg.

2025-10-26T23:00:48.806Z,1761519648.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.813947 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:48.890Z,1761519648.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267731
2025-10-26T23:00:49.140Z,1761519649.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518686
2025-10-26T23:00:49.186Z,1761519649.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192365,-0.948144,-0.253020],[0.980326,0.174052,0.093091],[-0.044225,-0.265949,0.962972]]
2025-10-26T23:00:49.211Z,1761519649.211 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:49.213Z,1761519649.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:49.216Z,1761519649.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 139.166794 m,
      bearing: 59.508023 deg,
      approach rate: -0.360202 m/s,
      LOS rate: -0.005366 deg/s,
      cmd heading: 46.635743 deg,
      new cmd heading: 46.629123 deg.

2025-10-26T23:00:49.217Z,1761519649.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.813832 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:49.398Z,1761519649.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773672
2025-10-26T23:00:49.590Z,1761519649.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214146,-0.944944,-0.247431],[0.975675,0.194763,0.100622],[-0.046892,-0.262960,0.963666]]
2025-10-26T23:00:49.645Z,1761519649.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022938
2025-10-26T23:00:49.651Z,1761519649.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:49.654Z,1761519649.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 138.981812 m,
      bearing: 59.501696 deg,
      approach rate: -0.422702 m/s,
      LOS rate: -0.014476 deg/s,
      cmd heading: 46.629124 deg,
      new cmd heading: 46.610120 deg.

2025-10-26T23:00:49.655Z,1761519649.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.813500 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:49.900Z,1761519649.900 [DAT](INFO): DAT read: Rx Time:23:00:48.4636

2025-10-26T23:00:49.901Z,1761519649.901 [DAT](INFO): Rx dataTimestamp_ set to:1761519649.900633
2025-10-26T23:00:49.901Z,1761519649.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279887
2025-10-26T23:00:50.080Z,1761519650.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234745,-0.940795,-0.244538],[0.970837,0.214314,0.107445],[-0.048676,-0.262629,0.963668]]
2025-10-26T23:00:50.098Z,1761519650.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:50.101Z,1761519650.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 138.791397 m,
      bearing: 59.496841 deg,
      approach rate: -0.425654 m/s,
      LOS rate: -0.010868 deg/s,
      cmd heading: 46.610119 deg,
      new cmd heading: 46.595534 deg.

2025-10-26T23:00:50.102Z,1761519650.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.813245 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:50.154Z,1761519650.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532135
2025-10-26T23:00:50.426Z,1761519650.426 [DAT](INFO): DAT read: 23:00:48.4636 LVL= 22352, 24753, 20466, 16627, AGC= 67, IDX= 266, 0.13,-1.233,-2.420,-1.099,-2.478, PHS= 1.347, 0.103, 1.335, RAW= 149.5, -38.5, CAL= 150.4, -38.0, ROT= 359.6,  38.0

2025-10-26T23:00:50.430Z,1761519650.430 [DAT](INFO): got valid direction response:
 23:00:48.4636 LVL= 22352, 24753, 20466, 16627, AGC= 67, IDX= 266, 0.13,-1.233,-2.420,-1.099,-2.478, PHS= 1.347, 0.103, 1.335, RAW= 149.5, -38.5, CAL= 150.4, -38.0, ROT= 359.6,  38.0

2025-10-26T23:00:50.434Z,1761519650.434 [DAT](INFO): DAT read: Bearing 189.8,   6.8 (Local)

2025-10-26T23:00:50.483Z,1761519650.483 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.8,   6.8 (Local)

2025-10-26T23:00:50.490Z,1761519650.490 [DAT](INFO): DAT read: Range 11 to 50 : 168.6 m  (Round-trip  224.8 ms) speed  0.1 m/s

2025-10-26T23:00:50.491Z,1761519650.491 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:00:50.500Z,1761519650.500 [DAT](INFO): direction in FSK: [0.787992,-0.005501,-0.615661]
2025-10-26T23:00:50.500Z,1761519650.500 [DAT](INFO): publishing direction and range info
2025-10-26T23:00:50.524Z,1761519650.524 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:00:50.525Z,1761519650.525 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:00:50.525Z,1761519650.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:00:50.561Z,1761519650.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255128,-0.935974,-0.242614],[0.965643,0.233816,0.113417],[-0.049428,-0.263215,0.963470]]
2025-10-26T23:00:50.656Z,1761519650.656 [DAT](INFO): DAT read: user:753>

2025-10-26T23:00:50.657Z,1761519650.657 [DAT](INFO): DAT read: Tx time:23:00:49.8847

2025-10-26T23:00:50.657Z,1761519650.657 [DAT](INFO): Ping request sent.
2025-10-26T23:00:50.657Z,1761519650.657 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:00:50.658Z,1761519650.658 [DAT](INFO): publishing transmit ping time
2025-10-26T23:00:50.658Z,1761519650.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756
2025-10-26T23:00:50.692Z,1761519650.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 168.600006 m,
 deltaT: 4.035660 s,
 deltaX: 25.200012 m,
 approachRate: 6.244335 m/s,
 rangeRepo size: 4
2025-10-26T23:00:50.692Z,1761519650.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:50.697Z,1761519650.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 138.543625 m,
      bearing: 59.485340 deg,
      approach rate: -0.427268 m/s,
      LOS rate: -0.019869 deg/s,
      cmd heading: 46.595533 deg,
      new cmd heading: 46.560967 deg.

2025-10-26T23:00:50.698Z,1761519650.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.812642 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:50.909Z,1761519650.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251497
2025-10-26T23:00:51.157Z,1761519651.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294203,-0.925012,-0.240411],[0.954607,0.272145,0.121087],[-0.046580,-0.265123,0.963089]]
2025-10-26T23:00:51.160Z,1761519651.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503004
2025-10-26T23:00:51.260Z,1761519651.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:51.262Z,1761519651.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:51.287Z,1761519651.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 138.280151 m,
      bearing: 59.477518 deg,
      approach rate: -0.451224 m/s,
      LOS rate: -0.013421 deg/s,
      cmd heading: 46.560966 deg,
      new cmd heading: 46.537457 deg.

2025-10-26T23:00:51.288Z,1761519651.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.812232 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:51.415Z,1761519651.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757353
2025-10-26T23:00:51.665Z,1761519651.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007650
2025-10-26T23:00:51.708Z,1761519651.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313035,-0.920503,-0.233845],[0.948709,0.291590,0.122172],[-0.044273,-0.260095,0.964567]]
2025-10-26T23:00:51.793Z,1761519651.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:51.800Z,1761519651.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 138.014511 m,
      bearing: 59.462262 deg,
      approach rate: -0.500515 m/s,
      LOS rate: -0.028800 deg/s,
      cmd heading: 46.537456 deg,
      new cmd heading: 46.491601 deg.

2025-10-26T23:00:51.801Z,1761519651.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.811432 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:51.916Z,1761519651.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258936
2025-10-26T23:00:52.128Z,1761519652.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331459,-0.916907,-0.222298],[0.942547,0.311395,0.120988],[-0.041712,-0.249629,0.967443]]
2025-10-26T23:00:52.168Z,1761519652.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510951
2025-10-26T23:00:52.169Z,1761519652.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:52.188Z,1761519652.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 137.824158 m,
      bearing: 59.452905 deg,
      approach rate: -0.508363 m/s,
      LOS rate: -0.025024 deg/s,
      cmd heading: 46.491602 deg,
      new cmd heading: 46.463492 deg.

2025-10-26T23:00:52.189Z,1761519652.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.810941 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:52.421Z,1761519652.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763680
2025-10-26T23:00:52.573Z,1761519652.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349812,-0.912382,-0.212580],[0.936027,0.331067,0.119363],[-0.038526,-0.240736,0.969826]]
2025-10-26T23:00:52.642Z,1761519652.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:52.645Z,1761519652.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 137.570999 m,
      bearing: 59.440591 deg,
      approach rate: -0.532875 m/s,
      LOS rate: -0.025967 deg/s,
      cmd heading: 46.463492 deg,
      new cmd heading: 46.426482 deg.

2025-10-26T23:00:52.646Z,1761519652.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.810295 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:52.672Z,1761519652.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014908
2025-10-26T23:00:52.925Z,1761519652.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267321
2025-10-26T23:00:52.968Z,1761519652.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367881,-0.905353,-0.212129],[0.929240,0.349520,0.119787],[-0.034306,-0.241186,0.969872]]
2025-10-26T23:00:53.003Z,1761519653.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:53.006Z,1761519653.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 137.386368 m,
      bearing: 59.433085 deg,
      approach rate: -0.512125 m/s,
      LOS rate: -0.020848 deg/s,
      cmd heading: 46.426483 deg,
      new cmd heading: 46.403935 deg.

2025-10-26T23:00:53.007Z,1761519653.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.809901 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:53.176Z,1761519653.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518824
2025-10-26T23:00:53.370Z,1761519653.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385840,-0.896117,-0.219322],[0.922110,0.367124,0.122198],[-0.028986,-0.249388,0.967970]]
2025-10-26T23:00:53.396Z,1761519653.396 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:53.398Z,1761519653.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:53.404Z,1761519653.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 137.166565 m,
      bearing: 59.425881 deg,
      approach rate: -0.556941 m/s,
      LOS rate: -0.018285 deg/s,
      cmd heading: 46.403933 deg,
      new cmd heading: 46.382284 deg.

2025-10-26T23:00:53.405Z,1761519653.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.809524 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:53.429Z,1761519653.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771081
2025-10-26T23:00:53.681Z,1761519653.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023393
2025-10-26T23:00:53.831Z,1761519653.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:53.834Z,1761519653.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 136.920486 m,
      bearing: 59.415521 deg,
      approach rate: -0.567635 m/s,
      LOS rate: -0.023939 deg/s,
      cmd heading: 46.382285 deg,
      new cmd heading: 46.351151 deg.

2025-10-26T23:00:53.835Z,1761519653.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.808980 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:53.933Z,1761519653.933 [DAT](INFO): DAT read: Rx Time:23:00:52.5487

2025-10-26T23:00:53.933Z,1761519653.933 [DAT](INFO): Rx dataTimestamp_ set to:1761519653.932892
2025-10-26T23:00:53.934Z,1761519653.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276240
2025-10-26T23:00:54.184Z,1761519654.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526923
2025-10-26T23:00:54.216Z,1761519654.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:54.218Z,1761519654.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 136.702194 m,
      bearing: 59.406300 deg,
      approach rate: -0.567829 m/s,
      LOS rate: -0.024026 deg/s,
      cmd heading: 46.351153 deg,
      new cmd heading: 46.323444 deg.

2025-10-26T23:00:54.263Z,1761519654.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.808497 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:54.442Z,1761519654.442 [DAT](INFO): DAT read: 23:00:52.5487 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 289,-0.39, 3.061, 1.859, 3.022, 1.788, PHS= 1.375, 0.117, 1.190, RAW= 142.2, -38.9, CAL= 143.5, -37.9, ROT=   6.5,  37.9

2025-10-26T23:00:54.443Z,1761519654.443 [DAT](INFO): got valid direction response:
 23:00:52.5487 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 289,-0.39, 3.061, 1.859, 3.022, 1.788, PHS= 1.375, 0.117, 1.190, RAW= 142.2, -38.9, CAL= 143.5, -37.9, ROT=   6.5,  37.9

2025-10-26T23:00:54.444Z,1761519654.444 [DAT](INFO): DAT read: Bearing 178.4,  13.1 (Local)

2025-10-26T23:00:54.444Z,1761519654.444 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.4,  13.1 (Local)

2025-10-26T23:00:54.448Z,1761519654.448 [DAT](INFO): DAT read: Range 11 to 50 : 194.8 m  (Round-trip  259.8 ms) speed  0.1 m/s

2025-10-26T23:00:54.450Z,1761519654.450 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:00:54.451Z,1761519654.451 [DAT](INFO): direction in FSK: [0.784012,0.089327,-0.614285]
2025-10-26T23:00:54.451Z,1761519654.451 [DAT](INFO): publishing direction and range info
2025-10-26T23:00:54.454Z,1761519654.454 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:00:54.455Z,1761519654.455 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:00:54.455Z,1761519654.455 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:00:54.612Z,1761519654.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440636,-0.861150,-0.253496],[0.897612,0.419051,0.136705],[-0.011495,-0.287779,0.957628]]
2025-10-26T23:00:54.689Z,1761519654.689 [DAT](INFO): DAT read: user:754>

2025-10-26T23:00:54.690Z,1761519654.690 [DAT](INFO): DAT read: Tx time:23:00:53.8347

2025-10-26T23:00:54.690Z,1761519654.690 [DAT](INFO): Ping request sent.
2025-10-26T23:00:54.690Z,1761519654.690 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:00:54.690Z,1761519654.690 [DAT](INFO): publishing transmit ping time
2025-10-26T23:00:54.691Z,1761519654.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-10-26T23:00:54.808Z,1761519654.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 194.800003 m,
 deltaT: 8.066126 s,
 deltaX: 51.400009 m,
 approachRate: 6.372329 m/s,
 rangeRepo size: 4
2025-10-26T23:00:54.808Z,1761519654.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:54.811Z,1761519654.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 136.362305 m,
      bearing: 59.399174 deg,
      approach rate: -0.574858 m/s,
      LOS rate: -0.012081 deg/s,
      cmd heading: 46.323443 deg,
      new cmd heading: 46.302013 deg.

2025-10-26T23:00:54.812Z,1761519654.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.808123 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:54.941Z,1761519654.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250500
2025-10-26T23:00:55.113Z,1761519655.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476344,-0.842725,-0.250820],[0.879259,0.456678,0.135459],[0.000389,-0.285061,0.958509]]
2025-10-26T23:00:55.138Z,1761519655.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:55.141Z,1761519655.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 136.167419 m,
      bearing: 59.398363 deg,
      approach rate: -0.587710 m/s,
      LOS rate: -0.002450 deg/s,
      cmd heading: 46.302013 deg,
      new cmd heading: 46.299576 deg.

2025-10-26T23:00:55.142Z,1761519655.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.808080 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:55.193Z,1761519655.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502805
2025-10-26T23:00:55.444Z,1761519655.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754165
2025-10-26T23:00:55.553Z,1761519655.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494161,-0.834759,-0.242861],[0.869348,0.476466,0.131199],[0.006196,-0.275964,0.961148]]
2025-10-26T23:00:55.610Z,1761519655.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:55.613Z,1761519655.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:55.615Z,1761519655.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 135.902954 m,
      bearing: 59.401933 deg,
      approach rate: -0.557792 m/s,
      LOS rate: 0.007544 deg/s,
      cmd heading: 46.299575 deg,
      new cmd heading: 46.310304 deg.

2025-10-26T23:00:55.625Z,1761519655.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.808267 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:55.697Z,1761519655.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006500
2025-10-26T23:00:55.915Z,1761519655.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512397,-0.824899,-0.238728],[0.858669,0.495944,0.129334],[0.011708,-0.271258,0.962435]]
2025-10-26T23:00:55.945Z,1761519655.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:55.948Z,1761519655.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258310
2025-10-26T23:00:55.950Z,1761519655.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 135.716934 m,
      bearing: 59.406108 deg,
      approach rate: -0.558914 m/s,
      LOS rate: 0.012563 deg/s,
      cmd heading: 46.310305 deg,
      new cmd heading: 46.322849 deg.

2025-10-26T23:00:55.951Z,1761519655.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.808486 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:56.201Z,1761519656.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510424
2025-10-26T23:00:56.319Z,1761519656.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531613,-0.813010,-0.237492],[0.846830,0.515598,0.130525],[0.016332,-0.270504,0.962580]]
2025-10-26T23:00:56.354Z,1761519656.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:56.357Z,1761519656.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 135.498688 m,
      bearing: 59.413113 deg,
      approach rate: -0.533624 m/s,
      LOS rate: 0.017154 deg/s,
      cmd heading: 46.322848 deg,
      new cmd heading: 46.343896 deg.

2025-10-26T23:00:56.358Z,1761519656.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.808854 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:56.454Z,1761519656.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763548
2025-10-26T23:00:56.705Z,1761519656.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014796
2025-10-26T23:00:56.730Z,1761519656.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551845,-0.800676,-0.233207],[0.833714,0.536287,0.131596],[0.019700,-0.267048,0.963482]]
2025-10-26T23:00:56.781Z,1761519656.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:56.784Z,1761519656.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 135.262863 m,
      bearing: 59.427504 deg,
      approach rate: -0.553023 m/s,
      LOS rate: 0.033808 deg/s,
      cmd heading: 46.343896 deg,
      new cmd heading: 46.387145 deg.

2025-10-26T23:00:56.785Z,1761519656.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.809608 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:56.957Z,1761519656.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266863
2025-10-26T23:00:57.208Z,1761519657.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518302
2025-10-26T23:00:57.229Z,1761519657.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571978,-0.788109,-0.227433],[0.819964,0.556907,0.132338],[0.022362,-0.262182,0.964759]]
2025-10-26T23:00:57.249Z,1761519657.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:57.251Z,1761519657.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 135.015015 m,
      bearing: 59.445315 deg,
      approach rate: -0.529653 m/s,
      LOS rate: 0.038130 deg/s,
      cmd heading: 46.387144 deg,
      new cmd heading: 46.440673 deg.

2025-10-26T23:00:57.252Z,1761519657.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.810543 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:57.461Z,1761519657.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770897
2025-10-26T23:00:57.622Z,1761519657.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592434,-0.774752,-0.220866],[0.805246,0.577813,0.133083],[0.024513,-0.256694,0.966182]]
2025-10-26T23:00:57.670Z,1761519657.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:57.673Z,1761519657.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:57.675Z,1761519657.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 134.801971 m,
      bearing: 59.469566 deg,
      approach rate: -0.502598 m/s,
      LOS rate: 0.057302 deg/s,
      cmd heading: 46.440673 deg,
      new cmd heading: 46.513540 deg.

2025-10-26T23:00:57.677Z,1761519657.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.811814 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:57.713Z,1761519657.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023100
2025-10-26T23:00:57.964Z,1761519657.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274154
2025-10-26T23:00:58.038Z,1761519658.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613498,-0.759945,-0.214717],[0.789258,0.599118,0.134647],[0.026316,-0.252073,0.967350]]
2025-10-26T23:00:58.058Z,1761519658.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:58.060Z,1761519658.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 134.609512 m,
      bearing: 59.493903 deg,
      approach rate: -0.499903 m/s,
      LOS rate: 0.063307 deg/s,
      cmd heading: 46.513540 deg,
      new cmd heading: 46.586659 deg.

2025-10-26T23:00:58.061Z,1761519658.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.813091 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:58.216Z,1761519658.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526153
2025-10-26T23:00:58.430Z,1761519658.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633714,-0.744820,-0.208926],[0.773074,0.619418,0.136665],[0.027622,-0.248122,0.968335]]
2025-10-26T23:00:58.450Z,1761519658.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:58.452Z,1761519658.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 134.415390 m,
      bearing: 59.520895 deg,
      approach rate: -0.495242 m/s,
      LOS rate: 0.068959 deg/s,
      cmd heading: 46.586658 deg,
      new cmd heading: 46.667748 deg.

2025-10-26T23:00:58.453Z,1761519658.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.814506 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:58.476Z,1761519658.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786329
2025-10-26T23:00:58.730Z,1761519658.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039564
2025-10-26T23:00:58.834Z,1761519658.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654190,-0.728794,-0.202224],[0.755816,0.639801,0.139272],[0.027882,-0.243954,0.969386]]
2025-10-26T23:00:58.884Z,1761519658.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:58.887Z,1761519658.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 134.218185 m,
      bearing: 59.559069 deg,
      approach rate: -0.453653 m/s,
      LOS rate: 0.087946 deg/s,
      cmd heading: 46.667749 deg,
      new cmd heading: 46.782440 deg.

2025-10-26T23:00:58.888Z,1761519658.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.816508 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:58.982Z,1761519658.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291531
2025-10-26T23:00:59.232Z,1761519659.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542277
2025-10-26T23:00:59.243Z,1761519659.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673525,-0.712950,-0.195103],[0.738653,0.659006,0.141787],[0.027487,-0.239611,0.970480]]
2025-10-26T23:00:59.268Z,1761519659.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:59.270Z,1761519659.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 134.046707 m,
      bearing: 59.594714 deg,
      approach rate: -0.447621 m/s,
      LOS rate: 0.093165 deg/s,
      cmd heading: 46.782442 deg,
      new cmd heading: 46.889513 deg.

2025-10-26T23:00:59.271Z,1761519659.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.818376 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:59.484Z,1761519659.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794224
2025-10-26T23:00:59.642Z,1761519659.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692070,-0.695693,-0.192485],[0.721344,0.676347,0.149058],[0.026488,-0.242006,0.969913]]
2025-10-26T23:00:59.692Z,1761519659.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:00:59.694Z,1761519659.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:00:59.697Z,1761519659.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 133.859314 m,
      bearing: 59.642615 deg,
      approach rate: -0.439293 m/s,
      LOS rate: 0.112448 deg/s,
      cmd heading: 46.889512 deg,
      new cmd heading: 47.033415 deg.

2025-10-26T23:00:59.698Z,1761519659.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.820888 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:00:59.737Z,1761519659.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046577
2025-10-26T23:00:59.989Z,1761519659.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298412
2025-10-26T23:01:00.047Z,1761519660.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708595,-0.678438,-0.193947],[0.705161,0.690732,0.160119],[0.025335,-0.250223,0.967857]]
2025-10-26T23:01:00.065Z,1761519660.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:00.068Z,1761519660.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 133.697769 m,
      bearing: 59.686139 deg,
      approach rate: -0.435344 m/s,
      LOS rate: 0.117435 deg/s,
      cmd heading: 47.033413 deg,
      new cmd heading: 47.164145 deg.

2025-10-26T23:01:00.069Z,1761519660.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.823170 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:00.240Z,1761519660.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550228
2025-10-26T23:01:00.484Z,1761519660.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:00.486Z,1761519660.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 133.516373 m,
      bearing: 59.735160 deg,
      approach rate: -0.433664 m/s,
      LOS rate: 0.117353 deg/s,
      cmd heading: 47.164143 deg,
      new cmd heading: 47.311405 deg.

2025-10-26T23:01:00.487Z,1761519660.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.825740 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:00.492Z,1761519660.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802279
2025-10-26T23:01:00.744Z,1761519660.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054186
2025-10-26T23:01:00.855Z,1761519660.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733295,-0.653673,-0.187058],[0.679493,0.714206,0.167926],[0.023829,-0.250244,0.967889]]
2025-10-26T23:01:00.918Z,1761519660.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:00.968Z,1761519660.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 133.347626 m,
      bearing: 59.788944 deg,
      approach rate: -0.388184 m/s,
      LOS rate: 0.123881 deg/s,
      cmd heading: 47.311406 deg,
      new cmd heading: 47.472961 deg.

2025-10-26T23:01:00.969Z,1761519660.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828559 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:00.997Z,1761519660.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306369
2025-10-26T23:01:01.248Z,1761519661.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558257
2025-10-26T23:01:01.261Z,1761519661.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740597,-0.647218,-0.180624],[0.671531,0.722382,0.164956],[0.023717,-0.243460,0.969621]]
2025-10-26T23:01:01.287Z,1761519661.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:01.294Z,1761519661.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 133.193741 m,
      bearing: 59.839381 deg,
      approach rate: -0.416979 m/s,
      LOS rate: 0.136827 deg/s,
      cmd heading: 47.472960 deg,
      new cmd heading: 47.624446 deg.

2025-10-26T23:01:01.295Z,1761519661.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.831203 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:01.501Z,1761519661.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811018
2025-10-26T23:01:01.662Z,1761519661.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745851,-0.643020,-0.173870],[0.665698,0.728757,0.160501],[0.023504,-0.235455,0.971601]]
2025-10-26T23:01:01.713Z,1761519661.713 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:01.732Z,1761519661.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:01.740Z,1761519661.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 133.016113 m,
      bearing: 59.902768 deg,
      approach rate: -0.414592 m/s,
      LOS rate: 0.148145 deg/s,
      cmd heading: 47.624447 deg,
      new cmd heading: 47.814860 deg.

2025-10-26T23:01:01.741Z,1761519661.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.834527 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:01.753Z,1761519661.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062363
2025-10-26T23:01:02.005Z,1761519662.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315140
2025-10-26T23:01:02.069Z,1761519662.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748458,-0.642575,-0.164034],[0.662784,0.733333,0.151460],[0.022967,-0.222080,0.974758]]
2025-10-26T23:01:02.093Z,1761519662.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:02.095Z,1761519662.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 132.859406 m,
      bearing: 59.959576 deg,
      approach rate: -0.415592 m/s,
      LOS rate: 0.150833 deg/s,
      cmd heading: 47.814859 deg,
      new cmd heading: 47.985482 deg.

2025-10-26T23:01:02.100Z,1761519662.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.837505 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:02.258Z,1761519662.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567383
2025-10-26T23:01:02.470Z,1761519662.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749272,-0.644611,-0.151882],[0.661885,0.736626,0.138893],[0.022348,-0.204597,0.978591]]
2025-10-26T23:01:02.497Z,1761519662.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:02.504Z,1761519662.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 132.694901 m,
      bearing: 60.019873 deg,
      approach rate: -0.408570 m/s,
      LOS rate: 0.149943 deg/s,
      cmd heading: 47.985480 deg,
      new cmd heading: 48.166597 deg.

2025-10-26T23:01:02.505Z,1761519662.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.840666 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:02.509Z,1761519662.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.819194
2025-10-26T23:01:02.760Z,1761519662.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070234
2025-10-26T23:01:02.874Z,1761519662.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748865,-0.647827,-0.139715],[0.662357,0.738628,0.125346],[0.021995,-0.186409,0.982226]]
2025-10-26T23:01:02.931Z,1761519662.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:02.937Z,1761519662.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 132.524582 m,
      bearing: 60.083114 deg,
      approach rate: -0.394278 m/s,
      LOS rate: 0.146587 deg/s,
      cmd heading: 48.166596 deg,
      new cmd heading: 48.356562 deg.

2025-10-26T23:01:02.938Z,1761519662.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.843981 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:03.013Z,1761519663.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.323306
2025-10-26T23:01:03.264Z,1761519663.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574100
2025-10-26T23:01:03.280Z,1761519663.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746984,-0.652543,-0.127289],[0.664485,0.739042,0.110796],[0.021773,-0.167344,0.985658]]
2025-10-26T23:01:03.299Z,1761519663.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:03.322Z,1761519663.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 132.365585 m,
      bearing: 60.142323 deg,
      approach rate: -0.427503 m/s,
      LOS rate: 0.159391 deg/s,
      cmd heading: 48.356561 deg,
      new cmd heading: 48.534402 deg.

2025-10-26T23:01:03.323Z,1761519663.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.847085 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:03.517Z,1761519663.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826774
2025-10-26T23:01:03.682Z,1761519663.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744612,-0.657611,-0.114463],[0.667167,0.738616,0.096612],[0.021011,-0.148304,0.988719]]
2025-10-26T23:01:03.754Z,1761519663.754 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:03.763Z,1761519663.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:03.766Z,1761519663.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 132.170731 m,
      bearing: 60.210767 deg,
      approach rate: -0.419932 m/s,
      LOS rate: 0.147720 deg/s,
      cmd heading: 48.534402 deg,
      new cmd heading: 48.740034 deg.

2025-10-26T23:01:03.767Z,1761519663.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.850674 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:03.777Z,1761519663.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.086663
2025-10-26T23:01:04.029Z,1761519664.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.338690
2025-10-26T23:01:04.086Z,1761519664.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741890,-0.662968,-0.100357],[0.670234,0.737599,0.082059],[0.019621,-0.128141,0.991562]]
2025-10-26T23:01:04.128Z,1761519664.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:04.131Z,1761519664.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 132.007477 m,
      bearing: 60.268080 deg,
      approach rate: -0.447152 m/s,
      LOS rate: 0.157174 deg/s,
      cmd heading: 48.740035 deg,
      new cmd heading: 48.912186 deg.

2025-10-26T23:01:04.136Z,1761519664.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.853679 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:04.280Z,1761519664.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.590208
2025-10-26T23:01:04.493Z,1761519664.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738248,-0.669266,-0.084095],[0.674294,0.735526,0.065802],[0.017815,-0.105283,0.994283]]
2025-10-26T23:01:04.527Z,1761519664.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:04.530Z,1761519664.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 131.822205 m,
      bearing: 60.332915 deg,
      approach rate: -0.465042 m/s,
      LOS rate: 0.162969 deg/s,
      cmd heading: 48.912187 deg,
      new cmd heading: 49.106966 deg.

2025-10-26T23:01:04.530Z,1761519664.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.857078 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:04.545Z,1761519664.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.855240
2025-10-26T23:01:04.787Z,1761519664.787 [DAT](INFO): Reached modem response timeout
2025-10-26T23:01:04.787Z,1761519664.787 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:04.787Z,1761519664.787 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:01:04.975Z,1761519664.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734086,-0.675078,-0.073403],[0.678878,0.732073,0.056522],[0.015579,-0.091324,0.995699]]
2025-10-26T23:01:05.040Z,1761519665.040 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:05.065Z,1761519665.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:05.068Z,1761519665.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 131.579071 m,
      bearing: 60.410963 deg,
      approach rate: -0.451733 m/s,
      LOS rate: 0.145278 deg/s,
      cmd heading: 49.106967 deg,
      new cmd heading: 49.341541 deg.

2025-10-26T23:01:05.069Z,1761519665.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.861172 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:05.292Z,1761519665.292 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:05.378Z,1761519665.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730104,-0.679940,-0.068040],[0.683209,0.728261,0.053495],[0.013177,-0.085542,0.996247]]
2025-10-26T23:01:05.425Z,1761519665.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:05.428Z,1761519665.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 131.413895 m,
      bearing: 60.463589 deg,
      approach rate: -0.458682 m/s,
      LOS rate: 0.146324 deg/s,
      cmd heading: 49.341543 deg,
      new cmd heading: 49.499621 deg.

2025-10-26T23:01:05.429Z,1761519665.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.863931 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:05.544Z,1761519665.544 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:05.796Z,1761519665.796 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:05.946Z,1761519665.946 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:05.949Z,1761519665.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:05.951Z,1761519665.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 131.144516 m,
      bearing: 60.537496 deg,
      approach rate: -0.514467 m/s,
      LOS rate: 0.141438 deg/s,
      cmd heading: 49.499621 deg,
      new cmd heading: 49.721793 deg.

2025-10-26T23:01:05.953Z,1761519665.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.867809 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:06.050Z,1761519666.050 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:06.239Z,1761519666.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720293,-0.690577,-0.065433],[0.693602,0.718330,0.054021],[0.009696,-0.084295,0.996394]]
2025-10-26T23:01:06.280Z,1761519666.280 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:01:06.304Z,1761519666.304 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:06.312Z,1761519666.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:06.315Z,1761519666.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 130.977646 m,
      bearing: 60.582016 deg,
      approach rate: -0.458623 m/s,
      LOS rate: 0.122516 deg/s,
      cmd heading: 49.721793 deg,
      new cmd heading: 49.855525 deg.

2025-10-26T23:01:06.320Z,1761519666.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.870143 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:06.556Z,1761519666.556 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:06.728Z,1761519666.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709657,-0.701800,-0.062150],[0.704502,0.707838,0.051402],[0.007918,-0.080263,0.996742]]
2025-10-26T23:01:06.787Z,1761519666.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:06.789Z,1761519666.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 130.703033 m,
      bearing: 60.643768 deg,
      approach rate: -0.579170 m/s,
      LOS rate: 0.130512 deg/s,
      cmd heading: 49.855525 deg,
      new cmd heading: 50.041170 deg.

2025-10-26T23:01:06.790Z,1761519666.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.873383 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:06.808Z,1761519666.808 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:07.061Z,1761519667.061 [DAT](INFO): DAT read: Response Not Received

2025-10-26T23:01:07.061Z,1761519667.061 [DAT](INFO): response not received
2025-10-26T23:01:07.061Z,1761519667.061 [DAT](INFO): DAT read: user:755>

2025-10-26T23:01:07.062Z,1761519667.062 [DAT](INFO): DAT read: Tx time:23:01:06.2847

2025-10-26T23:01:07.062Z,1761519667.062 [DAT](INFO): Ping request sent.
2025-10-26T23:01:07.062Z,1761519667.062 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:01:07.063Z,1761519667.063 [DAT](INFO): publishing transmit ping time
2025-10-26T23:01:07.063Z,1761519667.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756
2025-10-26T23:01:07.128Z,1761519667.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703552,-0.708314,-0.057504],[0.710612,0.701976,0.047535],[0.006696,-0.074306,0.997213]]
2025-10-26T23:01:07.165Z,1761519667.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:07.168Z,1761519667.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 130.496674 m,
      bearing: 60.689410 deg,
      approach rate: -0.545526 m/s,
      LOS rate: 0.120848 deg/s,
      cmd heading: 50.041169 deg,
      new cmd heading: 50.178311 deg.

2025-10-26T23:01:07.169Z,1761519667.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.875777 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:07.284Z,1761519667.284 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:01:07.312Z,1761519667.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250002
2025-10-26T23:01:07.526Z,1761519667.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697727,-0.714349,-0.053691],[0.716344,0.696301,0.044904],[0.005308,-0.069792,0.997548]]
2025-10-26T23:01:07.550Z,1761519667.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:07.553Z,1761519667.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 130.288986 m,
      bearing: 60.734598 deg,
      approach rate: -0.539665 m/s,
      LOS rate: 0.117606 deg/s,
      cmd heading: 50.178313 deg,
      new cmd heading: 50.314092 deg.

2025-10-26T23:01:07.554Z,1761519667.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.878147 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:07.564Z,1761519667.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502134
2025-10-26T23:01:07.816Z,1761519667.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754084
2025-10-26T23:01:07.916Z,1761519667.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692658,-0.719411,-0.051694],[0.721257,0.691233,0.044571],[0.003668,-0.068157,0.997668]]
2025-10-26T23:01:08.025Z,1761519668.025 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:08.027Z,1761519668.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:08.031Z,1761519668.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 130.026199 m,
      bearing: 60.785619 deg,
      approach rate: -0.550974 m/s,
      LOS rate: 0.107189 deg/s,
      cmd heading: 50.314093 deg,
      new cmd heading: 50.467464 deg.

2025-10-26T23:01:08.033Z,1761519668.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.880823 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:08.069Z,1761519668.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006478
2025-10-26T23:01:08.320Z,1761519668.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258133
2025-10-26T23:01:08.325Z,1761519668.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687823,-0.724371,-0.046767],[0.725877,0.686544,0.041953],[0.001718,-0.062803,0.998024]]
2025-10-26T23:01:08.388Z,1761519668.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:08.391Z,1761519668.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 129.830887 m,
      bearing: 60.823017 deg,
      approach rate: -0.540071 m/s,
      LOS rate: 0.103568 deg/s,
      cmd heading: 50.467465 deg,
      new cmd heading: 50.579829 deg.

2025-10-26T23:01:08.400Z,1761519668.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.882785 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:08.572Z,1761519668.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510033
2025-10-26T23:01:08.750Z,1761519668.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683165,-0.728905,-0.044533],[0.730264,0.681845,0.042455],[-0.000581,-0.061525,0.998105]]
2025-10-26T23:01:08.824Z,1761519668.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762067
2025-10-26T23:01:08.825Z,1761519668.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:08.828Z,1761519668.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 129.601273 m,
      bearing: 60.866542 deg,
      approach rate: -0.527399 m/s,
      LOS rate: 0.100150 deg/s,
      cmd heading: 50.579829 deg,
      new cmd heading: 50.710635 deg.

2025-10-26T23:01:08.829Z,1761519668.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.885068 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:09.076Z,1761519669.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014049
2025-10-26T23:01:09.188Z,1761519669.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:09.190Z,1761519669.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 129.396103 m,
      bearing: 60.905575 deg,
      approach rate: -0.563650 m/s,
      LOS rate: 0.107402 deg/s,
      cmd heading: 50.710634 deg,
      new cmd heading: 50.827917 deg.

2025-10-26T23:01:09.192Z,1761519669.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.887115 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:09.328Z,1761519669.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265986
2025-10-26T23:01:09.540Z,1761519669.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674531,-0.736504,-0.050686],[0.738231,0.672480,0.052783],[-0.004789,-0.073022,0.997319]]
2025-10-26T23:01:09.562Z,1761519669.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:09.565Z,1761519669.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 129.194839 m,
      bearing: 60.942708 deg,
      approach rate: -0.537446 m/s,
      LOS rate: 0.099313 deg/s,
      cmd heading: 50.827918 deg,
      new cmd heading: 50.939490 deg.

2025-10-26T23:01:09.566Z,1761519669.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.889062 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:09.580Z,1761519669.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518069
2025-10-26T23:01:09.833Z,1761519669.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770312
2025-10-26T23:01:09.943Z,1761519669.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670290,-0.739872,-0.057448],[0.742070,0.667560,0.060801],[-0.006635,-0.083385,0.996495]]
2025-10-26T23:01:09.996Z,1761519669.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:10.003Z,1761519670.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 128.959015 m,
      bearing: 60.984275 deg,
      approach rate: -0.565483 m/s,
      LOS rate: 0.099855 deg/s,
      cmd heading: 50.939489 deg,
      new cmd heading: 51.064417 deg.

2025-10-26T23:01:10.006Z,1761519670.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.891242 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:10.085Z,1761519670.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022153
2025-10-26T23:01:10.336Z,1761519670.336 [DAT](INFO): DAT read: Rx Time:23:01:08.9031

2025-10-26T23:01:10.337Z,1761519670.337 [DAT](INFO): Rx dataTimestamp_ set to:1761519670.336635
2025-10-26T23:01:10.337Z,1761519670.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275110
2025-10-26T23:01:10.364Z,1761519670.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666487,-0.743074,-0.060303],[0.745476,0.663422,0.064316],[-0.007786,-0.087821,0.996106]]
2025-10-26T23:01:10.381Z,1761519670.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:10.384Z,1761519670.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:10.386Z,1761519670.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 128.732300 m,
      bearing: 61.023784 deg,
      approach rate: -0.560783 m/s,
      LOS rate: 0.097899 deg/s,
      cmd heading: 51.064417 deg,
      new cmd heading: 51.183153 deg.

2025-10-26T23:01:10.387Z,1761519670.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.893315 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:10.591Z,1761519670.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528622
2025-10-26T23:01:10.824Z,1761519670.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:10.826Z,1761519670.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 128.482635 m,
      bearing: 61.070454 deg,
      approach rate: -0.567161 m/s,
      LOS rate: 0.106225 deg/s,
      cmd heading: 51.183153 deg,
      new cmd heading: 51.323434 deg.

2025-10-26T23:01:10.828Z,1761519670.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.895763 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:10.846Z,1761519670.846 [DAT](INFO): DAT read: 23:01:08.9031 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 462,-0.04, 1.422,-0.425, 1.023, 1.094, PHS= 0.429,-1.474,-0.116, RAW= 133.9,  13.6, CAL= 133.1,  14.7, ROT=  16.9, -14.7

2025-10-26T23:01:10.848Z,1761519670.848 [DAT](INFO): got valid direction response:
 23:01:08.9031 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 462,-0.04, 1.422,-0.425, 1.023, 1.094, PHS= 0.429,-1.474,-0.116, RAW= 133.9,  13.6, CAL= 133.1,  14.7, ROT=  16.9, -14.7

2025-10-26T23:01:10.849Z,1761519670.849 [DAT](INFO): DAT read: $Error in header

2025-10-26T23:01:10.849Z,1761519670.849 [DAT](INFO): Received a bad header
2025-10-26T23:01:10.860Z,1761519670.860 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T23:01:10.861Z,1761519670.861 [DAT](INFO): direction in FSK: [0.925495,0.281187,0.253758]
2025-10-26T23:01:10.864Z,1761519670.864 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:10.864Z,1761519670.864 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:10.864Z,1761519670.864 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:11.092Z,1761519671.092 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:11.092Z,1761519671.092 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:11.092Z,1761519671.092 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:11.164Z,1761519671.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656224,-0.753371,-0.042445],[0.754511,0.654464,0.048875],[-0.009042,-0.064098,0.997903]]
2025-10-26T23:01:11.198Z,1761519671.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:11.200Z,1761519671.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 128.269028 m,
      bearing: 61.109030 deg,
      approach rate: -0.571100 m/s,
      LOS rate: 0.103309 deg/s,
      cmd heading: 51.323435 deg,
      new cmd heading: 51.439356 deg.

2025-10-26T23:01:11.201Z,1761519671.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.897786 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:11.345Z,1761519671.345 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:11.345Z,1761519671.345 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:11.345Z,1761519671.345 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:11.570Z,1761519671.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651890,-0.757483,-0.035492],[0.758257,0.650551,0.042778],[-0.009314,-0.054799,0.998454]]
2025-10-26T23:01:11.596Z,1761519671.596 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:11.596Z,1761519671.596 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:11.596Z,1761519671.596 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:11.605Z,1761519671.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:11.608Z,1761519671.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 128.045517 m,
      bearing: 61.148882 deg,
      approach rate: -0.548959 m/s,
      LOS rate: 0.098052 deg/s,
      cmd heading: 51.439357 deg,
      new cmd heading: 51.559123 deg.

2025-10-26T23:01:11.609Z,1761519671.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.899876 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:11.848Z,1761519671.848 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:11.848Z,1761519671.848 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:11.848Z,1761519671.848 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:11.972Z,1761519671.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649139,-0.759959,-0.032860],[0.760610,0.647942,0.040553],[-0.009527,-0.051319,0.998637]]
2025-10-26T23:01:12.057Z,1761519672.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:12.066Z,1761519672.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 127.794647 m,
      bearing: 61.200069 deg,
      approach rate: -0.554671 m/s,
      LOS rate: 0.113396 deg/s,
      cmd heading: 51.559124 deg,
      new cmd heading: 51.712986 deg.

2025-10-26T23:01:12.067Z,1761519672.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.902562 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:12.101Z,1761519672.101 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:12.101Z,1761519672.101 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:12.101Z,1761519672.101 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:12.352Z,1761519672.352 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:12.352Z,1761519672.352 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:12.352Z,1761519672.352 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:12.374Z,1761519672.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647258,-0.761610,-0.031756],[0.762210,0.646114,0.039655],[-0.009684,-0.049872,0.998709]]
2025-10-26T23:01:12.415Z,1761519672.415 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:12.417Z,1761519672.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:12.420Z,1761519672.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 127.594147 m,
      bearing: 61.240871 deg,
      approach rate: -0.557040 m/s,
      LOS rate: 0.113535 deg/s,
      cmd heading: 51.712984 deg,
      new cmd heading: 51.835582 deg.

2025-10-26T23:01:12.421Z,1761519672.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.904702 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:12.604Z,1761519672.604 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:12.604Z,1761519672.604 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:12.604Z,1761519672.604 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:12.802Z,1761519672.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646394,-0.762353,-0.031495],[0.762937,0.645244,0.039837],[-0.010048,-0.049779,0.998710]]
2025-10-26T23:01:12.845Z,1761519672.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:12.847Z,1761519672.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 127.365341 m,
      bearing: 61.290896 deg,
      approach rate: -0.535139 m/s,
      LOS rate: 0.117210 deg/s,
      cmd heading: 51.835583 deg,
      new cmd heading: 51.985927 deg.

2025-10-26T23:01:12.848Z,1761519672.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.907326 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:12.856Z,1761519672.856 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:12.856Z,1761519672.856 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:12.856Z,1761519672.856 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:13.109Z,1761519673.109 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:13.109Z,1761519673.109 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:13.110Z,1761519673.110 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:13.185Z,1761519673.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646522,-0.762202,-0.032527],[0.762823,0.645288,0.041279],[-0.010474,-0.051500,0.998618]]
2025-10-26T23:01:13.207Z,1761519673.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:13.210Z,1761519673.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 127.171638 m,
      bearing: 61.333421 deg,
      approach rate: -0.534749 m/s,
      LOS rate: 0.117578 deg/s,
      cmd heading: 51.985926 deg,
      new cmd heading: 52.113696 deg.

2025-10-26T23:01:13.211Z,1761519673.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.909556 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:13.360Z,1761519673.360 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:13.360Z,1761519673.360 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:13.360Z,1761519673.360 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:13.586Z,1761519673.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647214,-0.761451,-0.036138],[0.762219,0.645686,0.045960],[-0.011663,-0.057291,0.998289]]
2025-10-26T23:01:13.620Z,1761519673.620 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:13.620Z,1761519673.620 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:13.620Z,1761519673.620 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:13.631Z,1761519673.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:13.634Z,1761519673.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 126.955605 m,
      bearing: 61.381124 deg,
      approach rate: -0.534153 m/s,
      LOS rate: 0.118147 deg/s,
      cmd heading: 52.113698 deg,
      new cmd heading: 52.257049 deg.

2025-10-26T23:01:13.635Z,1761519673.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.912058 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:13.873Z,1761519673.873 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:13.873Z,1761519673.873 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:13.873Z,1761519673.873 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:14.007Z,1761519674.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648766,-0.759887,-0.040922],[0.760882,0.646839,0.051558],[-0.012709,-0.064586,0.997831]]
2025-10-26T23:01:14.060Z,1761519674.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:14.063Z,1761519674.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 126.721077 m,
      bearing: 61.435947 deg,
      approach rate: -0.522629 m/s,
      LOS rate: 0.122395 deg/s,
      cmd heading: 52.257050 deg,
      new cmd heading: 52.421822 deg.

2025-10-26T23:01:14.064Z,1761519674.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.914933 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:14.124Z,1761519674.124 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:14.124Z,1761519674.124 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:14.124Z,1761519674.124 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:14.376Z,1761519674.376 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:14.376Z,1761519674.376 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:14.376Z,1761519674.376 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:14.395Z,1761519674.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650923,-0.757792,-0.045274],[0.759010,0.648535,0.057497],[-0.014209,-0.071790,0.997319]]
2025-10-26T23:01:14.431Z,1761519674.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:14.433Z,1761519674.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:14.436Z,1761519674.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 126.526733 m,
      bearing: 61.481848 deg,
      approach rate: -0.521228 m/s,
      LOS rate: 0.123295 deg/s,
      cmd heading: 52.421821 deg,
      new cmd heading: 52.559735 deg.

2025-10-26T23:01:14.437Z,1761519674.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.917340 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:14.628Z,1761519674.628 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:14.628Z,1761519674.628 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:14.628Z,1761519674.628 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:14.831Z,1761519674.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652423,-0.755871,-0.054809],[0.757700,0.649120,0.067331],[-0.015316,-0.085457,0.996224]]
2025-10-26T23:01:14.881Z,1761519674.881 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:14.881Z,1761519674.881 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:14.881Z,1761519674.881 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:14.926Z,1761519674.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:14.933Z,1761519674.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 126.293541 m,
      bearing: 61.537147 deg,
      approach rate: -0.473097 m/s,
      LOS rate: 0.112398 deg/s,
      cmd heading: 52.559737 deg,
      new cmd heading: 52.725942 deg.

2025-10-26T23:01:14.934Z,1761519674.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.920241 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:15.132Z,1761519675.132 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:15.132Z,1761519675.132 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:15.132Z,1761519675.132 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:15.259Z,1761519675.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653716,-0.754247,-0.061384],[0.756562,0.649645,0.074674],[-0.016445,-0.095256,0.995317]]
2025-10-26T23:01:15.285Z,1761519675.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:15.288Z,1761519675.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 126.083939 m,
      bearing: 61.587210 deg,
      approach rate: -0.583113 m/s,
      LOS rate: 0.139505 deg/s,
      cmd heading: 52.725942 deg,
      new cmd heading: 52.876379 deg.

2025-10-26T23:01:15.289Z,1761519675.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.922867 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:15.386Z,1761519675.386 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:15.386Z,1761519675.386 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:15.386Z,1761519675.386 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:15.636Z,1761519675.636 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:15.636Z,1761519675.636 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:15.636Z,1761519675.636 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:15.662Z,1761519675.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654481,-0.753248,-0.065361],[0.755886,0.649913,0.079050],[-0.017065,-0.101143,0.994726]]
2025-10-26T23:01:15.706Z,1761519675.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:15.718Z,1761519675.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 125.875496 m,
      bearing: 61.637276 deg,
      approach rate: -0.496026 m/s,
      LOS rate: 0.119338 deg/s,
      cmd heading: 52.876377 deg,
      new cmd heading: 53.026823 deg.

2025-10-26T23:01:15.720Z,1761519675.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.925493 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:15.888Z,1761519675.888 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:15.888Z,1761519675.888 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:15.889Z,1761519675.889 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:16.070Z,1761519676.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653855,-0.753402,-0.069706],[0.756420,0.648787,0.083094],[-0.017379,-0.107058,0.994101]]
2025-10-26T23:01:16.107Z,1761519676.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:16.109Z,1761519676.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 125.657021 m,
      bearing: 61.693416 deg,
      approach rate: -0.544537 m/s,
      LOS rate: 0.140170 deg/s,
      cmd heading: 53.026822 deg,
      new cmd heading: 53.195536 deg.

2025-10-26T23:01:16.110Z,1761519676.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.928437 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:16.140Z,1761519676.140 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:16.140Z,1761519676.140 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:16.140Z,1761519676.140 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:16.392Z,1761519676.392 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:16.392Z,1761519676.392 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:16.392Z,1761519676.392 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:16.470Z,1761519676.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652087,-0.754611,-0.073100],[0.757927,0.646557,0.086663],[-0.018134,-0.111916,0.993552]]
2025-10-26T23:01:16.518Z,1761519676.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:16.524Z,1761519676.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:16.527Z,1761519676.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 125.451569 m,
      bearing: 61.746094 deg,
      approach rate: -0.491983 m/s,
      LOS rate: 0.126351 deg/s,
      cmd heading: 53.195535 deg,
      new cmd heading: 53.353828 deg.

2025-10-26T23:01:16.536Z,1761519676.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.931200 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:16.644Z,1761519676.644 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:16.645Z,1761519676.645 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:16.645Z,1761519676.645 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:16.876Z,1761519676.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648599,-0.757566,-0.073571],[0.760896,0.642966,0.087359],[-0.018877,-0.112641,0.993456]]
2025-10-26T23:01:16.896Z,1761519676.896 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:01:16.896Z,1761519676.896 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:01:16.896Z,1761519676.896 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:01:16.935Z,1761519676.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:16.942Z,1761519676.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 125.230377 m,
      bearing: 61.800440 deg,
      approach rate: -0.538786 m/s,
      LOS rate: 0.132610 deg/s,
      cmd heading: 53.353828 deg,
      new cmd heading: 53.517152 deg.

2025-10-26T23:01:16.943Z,1761519676.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.934051 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:17.149Z,1761519677.149 [DAT](INFO): Reached modem response timeout
2025-10-26T23:01:17.149Z,1761519677.149 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:17.149Z,1761519677.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:01:17.278Z,1761519677.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643245,-0.762487,-0.069640],[0.765405,0.638013,0.084229],[-0.019793,-0.107483,0.994010]]
2025-10-26T23:01:17.308Z,1761519677.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:17.311Z,1761519677.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 125.020294 m,
      bearing: 61.851424 deg,
      approach rate: -0.564289 m/s,
      LOS rate: 0.137175 deg/s,
      cmd heading: 53.517152 deg,
      new cmd heading: 53.670361 deg.

2025-10-26T23:01:17.312Z,1761519677.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.936724 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:17.401Z,1761519677.401 [DAT](INFO): DAT read: 

2025-10-26T23:01:17.401Z,1761519677.401 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:17.652Z,1761519677.652 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:17.682Z,1761519677.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636501,-0.768770,-0.062121],[0.770990,0.632003,0.078405],[-0.021015,-0.097799,0.994984]]
2025-10-26T23:01:17.702Z,1761519677.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:17.722Z,1761519677.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 124.808670 m,
      bearing: 61.901953 deg,
      approach rate: -0.536785 m/s,
      LOS rate: 0.128384 deg/s,
      cmd heading: 53.670359 deg,
      new cmd heading: 53.822203 deg.

2025-10-26T23:01:17.734Z,1761519677.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.939375 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:17.904Z,1761519677.904 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:18.086Z,1761519678.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628693,-0.775873,-0.052593],[0.777322,0.625013,0.071615],[-0.022693,-0.085906,0.996045]]
2025-10-26T23:01:18.130Z,1761519678.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:18.134Z,1761519678.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 124.581146 m,
      bearing: 61.956721 deg,
      approach rate: -0.530518 m/s,
      LOS rate: 0.127935 deg/s,
      cmd heading: 53.822205 deg,
      new cmd heading: 53.986808 deg.

2025-10-26T23:01:18.135Z,1761519678.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.942248 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:18.173Z,1761519678.173 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:18.424Z,1761519678.424 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:18.503Z,1761519678.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620965,-0.782604,-0.043980],[0.783431,0.617855,0.067021],[-0.025277,-0.076073,0.996782]]
2025-10-26T23:01:18.521Z,1761519678.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:18.523Z,1761519678.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:18.525Z,1761519678.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 124.372612 m,
      bearing: 62.005965 deg,
      approach rate: -0.531419 m/s,
      LOS rate: 0.125704 deg/s,
      cmd heading: 53.986809 deg,
      new cmd heading: 54.134791 deg.

2025-10-26T23:01:18.526Z,1761519678.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.944830 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:18.676Z,1761519678.676 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:18.902Z,1761519678.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613874,-0.788519,-0.037370],[0.788900,0.611103,0.064724],[-0.028199,-0.069213,0.997203]]
2025-10-26T23:01:18.928Z,1761519678.928 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:18.964Z,1761519678.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:18.966Z,1761519678.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 124.152374 m,
      bearing: 62.059225 deg,
      approach rate: -0.518378 m/s,
      LOS rate: 0.125580 deg/s,
      cmd heading: 54.134792 deg,
      new cmd heading: 54.294853 deg.

2025-10-26T23:01:18.972Z,1761519678.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.947624 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:19.180Z,1761519679.180 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:19.298Z,1761519679.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607117,-0.794086,-0.028906],[0.793998,0.604816,0.061360],[-0.031242,-0.060204,0.997697]]
2025-10-26T23:01:19.364Z,1761519679.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:19.366Z,1761519679.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 123.935593 m,
      bearing: 62.110832 deg,
      approach rate: -0.521078 m/s,
      LOS rate: 0.124265 deg/s,
      cmd heading: 54.294854 deg,
      new cmd heading: 54.449946 deg.

2025-10-26T23:01:19.388Z,1761519679.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.950331 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:19.432Z,1761519679.432 [DAT](INFO): DAT read: Response Not Received

2025-10-26T23:01:19.433Z,1761519679.433 [DAT](INFO): response not received
2025-10-26T23:01:19.433Z,1761519679.433 [DAT](ERROR): No response from remote modem.
2025-10-26T23:01:19.433Z,1761519679.433 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:19.433Z,1761519679.433 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:01:19.685Z,1761519679.685 [DAT](INFO): DAT read: user:757>T tie2:01:18.7347

2025-10-26T23:01:19.685Z,1761519679.685 [DAT](INFO): DAT read: 

2025-10-26T23:01:19.685Z,1761519679.685 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:19.746Z,1761519679.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601237,-0.798830,-0.019616],[0.798303,0.599404,0.058544],[-0.035008,-0.050858,0.998092]]
2025-10-26T23:01:19.765Z,1761519679.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:19.768Z,1761519679.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 123.725815 m,
      bearing: 62.160121 deg,
      approach rate: -0.522169 m/s,
      LOS rate: 0.122897 deg/s,
      cmd heading: 54.449947 deg,
      new cmd heading: 54.598066 deg.

2025-10-26T23:01:19.769Z,1761519679.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.952916 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:19.936Z,1761519679.936 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:20.114Z,1761519680.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597439,-0.801749,-0.016322],[0.800972,0.595626,0.060613],[-0.038875,-0.049286,0.998028]]
2025-10-26T23:01:20.188Z,1761519680.188 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:20.211Z,1761519680.211 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-10-26T23:01:20.211Z,1761519680.211 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-10-26T23:01:20.211Z,1761519680.211 [RDI_Pathfinder](ERROR): Communications Fault
2025-10-26T23:01:20.257Z,1761519680.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:20.260Z,1761519680.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 123.468529 m,
      bearing: 62.220144 deg,
      approach rate: -0.522893 m/s,
      LOS rate: 0.122241 deg/s,
      cmd heading: 54.598067 deg,
      new cmd heading: 54.778509 deg.

2025-10-26T23:01:20.261Z,1761519680.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.956065 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:20.443Z,1761519680.443 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:20.539Z,1761519680.539 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-10-26T23:01:20.660Z,1761519680.660 [RDI_Pathfinder](INFO): Powering down
2025-10-26T23:01:20.692Z,1761519680.692 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:20.693Z,1761519680.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:20.695Z,1761519680.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:20.697Z,1761519680.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 123.245636 m,
      bearing: 62.272371 deg,
      approach rate: -0.509565 m/s,
      LOS rate: 0.119613 deg/s,
      cmd heading: 54.778510 deg,
      new cmd heading: 54.935473 deg.

2025-10-26T23:01:20.699Z,1761519680.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.958805 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:20.948Z,1761519680.948 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:21.012Z,1761519681.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598919,-0.800462,-0.023575],[0.799470,0.595956,0.075399],[-0.046305,-0.064006,0.996875]]
2025-10-26T23:01:21.059Z,1761519681.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:21.062Z,1761519681.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 123.049721 m,
      bearing: 62.318616 deg,
      approach rate: -0.537951 m/s,
      LOS rate: 0.127185 deg/s,
      cmd heading: 54.935471 deg,
      new cmd heading: 55.074428 deg.

2025-10-26T23:01:21.063Z,1761519681.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.961230 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:21.200Z,1761519681.200 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:21.406Z,1761519681.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602795,-0.797390,-0.028416],[0.796324,0.598992,0.084123],[-0.050058,-0.073337,0.996050]]
2025-10-26T23:01:21.448Z,1761519681.448 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:21.516Z,1761519681.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:21.518Z,1761519681.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 122.814392 m,
      bearing: 62.375012 deg,
      approach rate: -0.515441 m/s,
      LOS rate: 0.123760 deg/s,
      cmd heading: 55.074428 deg,
      new cmd heading: 55.243938 deg.

2025-10-26T23:01:21.520Z,1761519681.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.964189 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:21.701Z,1761519681.701 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:21.848Z,1761519681.848 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-10-26T23:01:21.848Z,1761519681.848 [RDI_Pathfinder] No Fault, FailCount= 1
2025-10-26T23:01:21.865Z,1761519681.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606983,-0.794120,-0.030759],[0.792943,0.602592,0.090140],[-0.053047,-0.079104,0.995454]]
2025-10-26T23:01:21.876Z,1761519681.876 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-10-26T23:01:21.893Z,1761519681.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:21.916Z,1761519681.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 122.615952 m,
      bearing: 62.423357 deg,
      approach rate: -0.525658 m/s,
      LOS rate: 0.128270 deg/s,
      cmd heading: 55.243939 deg,
      new cmd heading: 55.389209 deg.

2025-10-26T23:01:21.917Z,1761519681.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.966724 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:21.952Z,1761519681.952 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:22.204Z,1761519682.204 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:22.277Z,1761519682.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610572,-0.791001,-0.038969],[0.790008,0.604877,0.100054],[-0.055572,-0.091876,0.994219]]
2025-10-26T23:01:22.332Z,1761519682.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:22.335Z,1761519682.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 122.396500 m,
      bearing: 62.477547 deg,
      approach rate: -0.500572 m/s,
      LOS rate: 0.123829 deg/s,
      cmd heading: 55.389207 deg,
      new cmd heading: 55.552068 deg.

2025-10-26T23:01:22.336Z,1761519682.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.969567 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:22.456Z,1761519682.456 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:22.670Z,1761519682.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615036,-0.786621,-0.054396],[0.786376,0.606859,0.115482],[-0.057830,-0.113801,0.991819]]
2025-10-26T23:01:22.709Z,1761519682.709 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:22.716Z,1761519682.716 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:22.720Z,1761519682.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:22.724Z,1761519682.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 122.194687 m,
      bearing: 62.528115 deg,
      approach rate: -0.520614 m/s,
      LOS rate: 0.130667 deg/s,
      cmd heading: 55.552070 deg,
      new cmd heading: 55.704026 deg.

2025-10-26T23:01:22.726Z,1761519682.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.972219 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:22.960Z,1761519682.960 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:23.077Z,1761519683.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618888,-0.782733,-0.065631],[0.783240,0.608662,0.126747],[-0.059262,-0.129848,0.989761]]
2025-10-26T23:01:23.096Z,1761519683.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:23.098Z,1761519683.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 121.994911 m,
      bearing: 62.578835 deg,
      approach rate: -0.530748 m/s,
      LOS rate: 0.134968 deg/s,
      cmd heading: 55.704024 deg,
      new cmd heading: 55.856432 deg.

2025-10-26T23:01:23.099Z,1761519683.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.974879 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:23.212Z,1761519683.212 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:23.465Z,1761519683.465 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:23.532Z,1761519683.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:23.535Z,1761519683.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 121.769974 m,
      bearing: 62.636172 deg,
      approach rate: -0.514764 m/s,
      LOS rate: 0.131456 deg/s,
      cmd heading: 55.856433 deg,
      new cmd heading: 56.028761 deg.

2025-10-26T23:01:23.536Z,1761519683.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.977886 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:23.717Z,1761519683.717 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:23.882Z,1761519683.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620464,-0.779719,-0.084040],[0.781962,0.606951,0.141939],[-0.059665,-0.153784,0.986301]]
2025-10-26T23:01:23.921Z,1761519683.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:23.923Z,1761519683.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 121.573059 m,
      bearing: 62.686601 deg,
      approach rate: -0.507351 m/s,
      LOS rate: 0.130142 deg/s,
      cmd heading: 56.028762 deg,
      new cmd heading: 56.180296 deg.

2025-10-26T23:01:23.924Z,1761519683.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.980531 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:23.970Z,1761519683.970 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:24.220Z,1761519684.220 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:24.289Z,1761519684.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617909,-0.781903,-0.082562],[0.784072,0.604982,0.138662],[-0.058472,-0.150415,0.986892]]
2025-10-26T23:01:24.309Z,1761519684.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:24.313Z,1761519684.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 121.371170 m,
      bearing: 62.738123 deg,
      approach rate: -0.520011 m/s,
      LOS rate: 0.132927 deg/s,
      cmd heading: 56.180297 deg,
      new cmd heading: 56.335119 deg.

2025-10-26T23:01:24.318Z,1761519684.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.983233 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:24.473Z,1761519684.473 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:24.690Z,1761519684.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613944,-0.785671,-0.076116],[0.787311,0.602581,0.130525],[-0.056684,-0.140062,0.988519]]
2025-10-26T23:01:24.725Z,1761519684.725 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:24.728Z,1761519684.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:24.731Z,1761519684.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:24.738Z,1761519684.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 121.163544 m,
      bearing: 62.790762 deg,
      approach rate: -0.492534 m/s,
      LOS rate: 0.125084 deg/s,
      cmd heading: 56.335120 deg,
      new cmd heading: 56.493307 deg.

2025-10-26T23:01:24.739Z,1761519684.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.985994 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:24.977Z,1761519684.977 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:25.094Z,1761519685.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608675,-0.790226,-0.071115],[0.791572,0.598701,0.122359],[-0.054115,-0.130770,0.989935]]
2025-10-26T23:01:25.115Z,1761519685.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:25.121Z,1761519685.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 120.955254 m,
      bearing: 62.843000 deg,
      approach rate: -0.545094 m/s,
      LOS rate: 0.136942 deg/s,
      cmd heading: 56.493307 deg,
      new cmd heading: 56.650291 deg.

2025-10-26T23:01:25.121Z,1761519685.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.988734 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:25.228Z,1761519685.228 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:25.481Z,1761519685.481 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:25.501Z,1761519685.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601993,-0.795975,-0.063465],[0.796849,0.593738,0.111834],[-0.051335,-0.117895,0.991698]]
2025-10-26T23:01:25.532Z,1761519685.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:25.535Z,1761519685.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 120.737755 m,
      bearing: 62.896756 deg,
      approach rate: -0.518411 m/s,
      LOS rate: 0.128360 deg/s,
      cmd heading: 56.650292 deg,
      new cmd heading: 56.811852 deg.

2025-10-26T23:01:25.536Z,1761519685.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.991554 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:25.733Z,1761519685.733 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:25.902Z,1761519685.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594314,-0.802226,-0.056780],[0.802740,0.587429,0.102643],[-0.048988,-0.106582,0.993096]]
2025-10-26T23:01:25.938Z,1761519685.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:25.945Z,1761519685.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 120.534752 m,
      bearing: 62.946032 deg,
      approach rate: -0.499954 m/s,
      LOS rate: 0.121562 deg/s,
      cmd heading: 56.811850 deg,
      new cmd heading: 56.959928 deg.

2025-10-26T23:01:25.946Z,1761519685.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.994138 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:25.985Z,1761519685.985 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:26.236Z,1761519686.236 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:26.320Z,1761519686.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586275,-0.808471,-0.051536],[0.808726,0.580368,0.095575],[-0.047360,-0.097712,0.994087]]
2025-10-26T23:01:26.338Z,1761519686.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:26.342Z,1761519686.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 120.316109 m,
      bearing: 62.998071 deg,
      approach rate: -0.546318 m/s,
      LOS rate: 0.130263 deg/s,
      cmd heading: 56.959929 deg,
      new cmd heading: 57.116327 deg.

2025-10-26T23:01:26.343Z,1761519686.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.996868 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:26.489Z,1761519686.489 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:26.725Z,1761519686.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578723,-0.814050,-0.049010],[0.814219,0.573354,0.091177],[-0.046123,-0.092672,0.994628]]
2025-10-26T23:01:26.740Z,1761519686.740 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:26.747Z,1761519686.747 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:26.749Z,1761519686.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:26.752Z,1761519686.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 120.101234 m,
      bearing: 63.048263 deg,
      approach rate: -0.522718 m/s,
      LOS rate: 0.122320 deg/s,
      cmd heading: 57.116327 deg,
      new cmd heading: 57.267173 deg.

2025-10-26T23:01:26.753Z,1761519686.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.999501 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:26.992Z,1761519686.992 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:27.122Z,1761519687.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564870,-0.823911,-0.045740],[0.824035,0.560299,0.083855],[-0.043461,-0.085059,0.995428]]
2025-10-26T23:01:27.141Z,1761519687.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:27.144Z,1761519687.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 119.892296 m,
      bearing: 63.095225 deg,
      approach rate: -0.533030 m/s,
      LOS rate: 0.120014 deg/s,
      cmd heading: 57.267175 deg,
      new cmd heading: 57.408305 deg.

2025-10-26T23:01:27.145Z,1761519687.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.001964 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:27.245Z,1761519687.245 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:27.496Z,1761519687.496 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:27.523Z,1761519687.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558676,-0.828318,-0.042075],[0.828288,0.554608,0.079683],[-0.042668,-0.079368,0.995932]]
2025-10-26T23:01:27.549Z,1761519687.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:27.552Z,1761519687.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 119.675728 m,
      bearing: 63.143182 deg,
      approach rate: -0.530544 m/s,
      LOS rate: 0.117696 deg/s,
      cmd heading: 57.408307 deg,
      new cmd heading: 57.552437 deg.

2025-10-26T23:01:27.553Z,1761519687.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.004480 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:27.749Z,1761519687.749 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:27.990Z,1761519687.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553952,-0.831267,-0.046168],[0.831446,0.549515,0.082039],[-0.042826,-0.083832,0.995559]]
2025-10-26T23:01:28.000Z,1761519688.000 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:28.022Z,1761519688.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:28.025Z,1761519688.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 119.423836 m,
      bearing: 63.198336 deg,
      approach rate: -0.533008 m/s,
      LOS rate: 0.116954 deg/s,
      cmd heading: 57.552438 deg,
      new cmd heading: 57.718249 deg.

2025-10-26T23:01:28.026Z,1761519688.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.007373 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:28.252Z,1761519688.252 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:28.386Z,1761519688.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550753,-0.832809,-0.055678],[0.833515,0.545261,0.089123],[-0.043863,-0.095493,0.994463]]
2025-10-26T23:01:28.404Z,1761519688.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:28.407Z,1761519688.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 119.219826 m,
      bearing: 63.242667 deg,
      approach rate: -0.533721 m/s,
      LOS rate: 0.116174 deg/s,
      cmd heading: 57.718247 deg,
      new cmd heading: 57.851466 deg.

2025-10-26T23:01:28.408Z,1761519688.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.009699 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:28.504Z,1761519688.504 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:28.757Z,1761519688.757 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:28.882Z,1761519688.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:28.884Z,1761519688.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:28.886Z,1761519688.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 118.964470 m,
      bearing: 63.298390 deg,
      approach rate: -0.532839 m/s,
      LOS rate: 0.116525 deg/s,
      cmd heading: 57.851463 deg,
      new cmd heading: 58.018992 deg.

2025-10-26T23:01:28.887Z,1761519688.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.012622 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:29.008Z,1761519689.008 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:29.261Z,1761519689.261 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:29.303Z,1761519689.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548147,-0.833903,-0.064344],[0.835045,0.541300,0.098458],[-0.047275,-0.107700,0.993059]]
2025-10-26T23:01:29.342Z,1761519689.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:29.349Z,1761519689.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 118.730019 m,
      bearing: 63.349273 deg,
      approach rate: -0.510943 m/s,
      LOS rate: 0.111109 deg/s,
      cmd heading: 58.018994 deg,
      new cmd heading: 58.171944 deg.

2025-10-26T23:01:29.350Z,1761519689.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.015292 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:29.512Z,1761519689.512 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:29.709Z,1761519689.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546937,-0.834806,-0.062920],[0.835728,0.540034,0.099606],[-0.049172,-0.107063,0.993036]]
2025-10-26T23:01:29.744Z,1761519689.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:29.747Z,1761519689.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 118.505112 m,
      bearing: 63.398117 deg,
      approach rate: -0.559930 m/s,
      LOS rate: 0.121833 deg/s,
      cmd heading: 58.171943 deg,
      new cmd heading: 58.318752 deg.

2025-10-26T23:01:29.748Z,1761519689.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.017854 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:29.781Z,1761519689.781 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:30.032Z,1761519690.032 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:30.110Z,1761519690.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546518,-0.834534,-0.069789],[0.835852,0.538439,0.106935],[-0.051664,-0.116776,0.991814]]
2025-10-26T23:01:30.128Z,1761519690.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:30.131Z,1761519690.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 118.299629 m,
      bearing: 63.442797 deg,
      approach rate: -0.534895 m/s,
      LOS rate: 0.116509 deg/s,
      cmd heading: 58.318751 deg,
      new cmd heading: 58.453023 deg.

2025-10-26T23:01:30.132Z,1761519690.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.020198 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:30.284Z,1761519690.284 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:30.516Z,1761519690.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546156,-0.834398,-0.074112],[0.835911,0.537112,0.112975],[-0.054460,-0.123653,0.990830]]
2025-10-26T23:01:30.534Z,1761519690.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:30.536Z,1761519690.536 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:30.538Z,1761519690.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 118.082726 m,
      bearing: 63.490046 deg,
      approach rate: -0.534038 m/s,
      LOS rate: 0.116546 deg/s,
      cmd heading: 58.453025 deg,
      new cmd heading: 58.595034 deg.

2025-10-26T23:01:30.540Z,1761519690.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.022676 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:30.789Z,1761519690.789 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:31.004Z,1761519691.004 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:31.006Z,1761519691.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:31.008Z,1761519691.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 117.843117 m,
      bearing: 63.542463 deg,
      approach rate: -0.508533 m/s,
      LOS rate: 0.111474 deg/s,
      cmd heading: 58.595032 deg,
      new cmd heading: 58.752603 deg.

2025-10-26T23:01:31.009Z,1761519691.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.025426 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:31.041Z,1761519691.041 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:31.292Z,1761519691.292 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:31.322Z,1761519691.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546427,-0.834587,-0.069877],[0.835306,0.537047,0.117659],[-0.060670,-0.122661,0.990593]]
2025-10-26T23:01:31.344Z,1761519691.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:31.346Z,1761519691.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 117.652420 m,
      bearing: 63.584416 deg,
      approach rate: -0.564599 m/s,
      LOS rate: 0.124410 deg/s,
      cmd heading: 58.752604 deg,
      new cmd heading: 58.878665 deg.

2025-10-26T23:01:31.347Z,1761519691.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.027627 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:31.544Z,1761519691.544 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:31.733Z,1761519691.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544927,-0.836149,-0.062517],[0.836098,0.536244,0.115685],[-0.063205,-0.115311,0.991317]]
2025-10-26T23:01:31.760Z,1761519691.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:31.763Z,1761519691.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 117.428497 m,
      bearing: 63.633711 deg,
      approach rate: -0.537091 m/s,
      LOS rate: 0.118463 deg/s,
      cmd heading: 58.878662 deg,
      new cmd heading: 59.026830 deg.

2025-10-26T23:01:31.764Z,1761519691.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.030213 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:31.797Z,1761519691.797 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:32.048Z,1761519692.048 [DAT](INFO): DAT read: Response Not Received

2025-10-26T23:01:32.049Z,1761519692.049 [DAT](INFO): response not received
2025-10-26T23:01:32.049Z,1761519692.049 [DAT](INFO): DAT read: user:758>Tx time:23:01:31.1846

2025-10-26T23:01:32.050Z,1761519692.050 [DAT](ERROR): No response from remote modem.
2025-10-26T23:01:32.050Z,1761519692.050 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:32.050Z,1761519692.050 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:01:32.133Z,1761519692.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543445,-0.837538,-0.056552],[0.836838,0.535222,0.115065],[-0.066104,-0.109857,0.991747]]
2025-10-26T23:01:32.159Z,1761519692.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:32.162Z,1761519692.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 117.215576 m,
      bearing: 63.680614 deg,
      approach rate: -0.533740 m/s,
      LOS rate: 0.117787 deg/s,
      cmd heading: 59.026829 deg,
      new cmd heading: 59.167793 deg.

2025-10-26T23:01:32.163Z,1761519692.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.032673 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:32.312Z,1761519692.312 [DAT](INFO): DAT read: 

2025-10-26T23:01:32.313Z,1761519692.313 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:32.534Z,1761519692.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542291,-0.838170,-0.058243],[0.837327,0.533423,0.119768],[-0.069318,-0.113718,0.991092]]
2025-10-26T23:01:32.562Z,1761519692.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:32.564Z,1761519692.564 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:32.566Z,1761519692.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 117.000320 m,
      bearing: 63.728033 deg,
      approach rate: -0.534221 m/s,
      LOS rate: 0.117902 deg/s,
      cmd heading: 59.167791 deg,
      new cmd heading: 59.310310 deg.

2025-10-26T23:01:32.567Z,1761519692.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.035160 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:32.816Z,1761519692.816 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:32.938Z,1761519692.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541600,-0.838506,-0.059816],[0.837499,0.532069,0.124494],[-0.072563,-0.117522,0.990416]]
2025-10-26T23:01:32.995Z,1761519692.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:33.002Z,1761519693.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 116.780518 m,
      bearing: 63.776534 deg,
      approach rate: -0.507932 m/s,
      LOS rate: 0.112289 deg/s,
      cmd heading: 59.310310 deg,
      new cmd heading: 59.456086 deg.

2025-10-26T23:01:33.003Z,1761519693.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.037704 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:33.069Z,1761519693.069 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:33.320Z,1761519693.320 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:33.483Z,1761519693.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540604,-0.839361,-0.056745],[0.837877,0.531135,0.125926],[-0.075558,-0.115622,0.990415]]
2025-10-26T23:01:33.501Z,1761519693.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:33.503Z,1761519693.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:33.506Z,1761519693.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 116.498405 m,
      bearing: 63.838928 deg,
      approach rate: -0.555605 m/s,
      LOS rate: 0.123179 deg/s,
      cmd heading: 59.456086 deg,
      new cmd heading: 59.643720 deg.

2025-10-26T23:01:33.507Z,1761519693.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.040979 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:33.573Z,1761519693.573 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:33.824Z,1761519693.824 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:33.982Z,1761519693.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536776,-0.842408,-0.047117],[0.839947,0.528259,0.124225],[-0.079758,-0.106257,0.991135]]
2025-10-26T23:01:34.018Z,1761519694.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:34.024Z,1761519694.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 116.231621 m,
      bearing: 63.897648 deg,
      approach rate: -0.518090 m/s,
      LOS rate: 0.114295 deg/s,
      cmd heading: 59.643719 deg,
      new cmd heading: 59.820283 deg.

2025-10-26T23:01:34.025Z,1761519694.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.044061 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:34.077Z,1761519694.077 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:34.328Z,1761519694.328 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:34.473Z,1761519694.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535344,-0.843534,-0.043093],[0.840702,0.527242,0.123436],[-0.081402,-0.102309,0.991416]]
2025-10-26T23:01:34.581Z,1761519694.581 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:34.603Z,1761519694.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:34.606Z,1761519694.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 115.909950 m,
      bearing: 63.968584 deg,
      approach rate: -0.549289 m/s,
      LOS rate: 0.121467 deg/s,
      cmd heading: 59.820286 deg,
      new cmd heading: 60.033683 deg.

2025-10-26T23:01:34.607Z,1761519694.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.047785 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:34.832Z,1761519694.832 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:34.964Z,1761519694.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534340,-0.844176,-0.042992],[0.841161,0.526046,0.125390],[-0.083235,-0.103165,0.991176]]
2025-10-26T23:01:35.051Z,1761519695.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:35.054Z,1761519695.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 115.670372 m,
      bearing: 64.021538 deg,
      approach rate: -0.534719 m/s,
      LOS rate: 0.118433 deg/s,
      cmd heading: 60.033681 deg,
      new cmd heading: 60.192871 deg.

2025-10-26T23:01:35.055Z,1761519695.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.050564 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:35.085Z,1761519695.085 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:35.337Z,1761519695.337 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:35.357Z,1761519695.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533853,-0.844246,-0.047440],[0.841271,0.524642,0.130434],[-0.085229,-0.109543,0.990321]]
2025-10-26T23:01:35.462Z,1761519695.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:35.478Z,1761519695.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 115.486458 m,
      bearing: 64.082471 deg,
      approach rate: -0.447812 m/s,
      LOS rate: 0.148603 deg/s,
      cmd heading: 60.192873 deg,
      new cmd heading: 60.375963 deg.

2025-10-26T23:01:35.479Z,1761519695.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.053759 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:35.589Z,1761519695.589 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:35.796Z,1761519695.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533432,-0.844475,-0.048083],[0.841375,0.523922,0.132640],[-0.086819,-0.111211,0.989997]]
2025-10-26T23:01:35.840Z,1761519695.840 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:35.844Z,1761519695.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:35.846Z,1761519695.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:35.849Z,1761519695.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 115.309685 m,
      bearing: 64.141169 deg,
      approach rate: -0.460655 m/s,
      LOS rate: 0.153195 deg/s,
      cmd heading: 60.375963 deg,
      new cmd heading: 60.552325 deg.

2025-10-26T23:01:35.850Z,1761519695.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.056837 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:36.092Z,1761519696.092 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:36.199Z,1761519696.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533681,-0.844485,-0.045062],[0.841091,0.524479,0.132244],[-0.088044,-0.108477,0.990192]]
2025-10-26T23:01:36.301Z,1761519696.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:36.304Z,1761519696.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 115.102020 m,
      bearing: 64.210518 deg,
      approach rate: -0.456209 m/s,
      LOS rate: 0.152624 deg/s,
      cmd heading: 60.552325 deg,
      new cmd heading: 60.760746 deg.

2025-10-26T23:01:36.305Z,1761519696.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.060475 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:36.345Z,1761519696.345 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:36.596Z,1761519696.596 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:36.605Z,1761519696.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534921,-0.843943,-0.040253],[0.840187,0.526306,0.130723],[-0.089137,-0.103746,0.990601]]
2025-10-26T23:01:36.644Z,1761519696.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:36.646Z,1761519696.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 114.938675 m,
      bearing: 64.255529 deg,
      approach rate: -0.476491 m/s,
      LOS rate: 0.131488 deg/s,
      cmd heading: 60.760748 deg,
      new cmd heading: 60.895973 deg.

2025-10-26T23:01:36.667Z,1761519696.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.062835 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:36.848Z,1761519696.848 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:37.002Z,1761519697.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536094,-0.843340,-0.037153],[0.839279,0.527754,0.130715],[-0.090630,-0.101257,0.990724]]
2025-10-26T23:01:37.022Z,1761519697.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:37.025Z,1761519697.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 114.758545 m,
      bearing: 64.305553 deg,
      approach rate: -0.475759 m/s,
      LOS rate: 0.132331 deg/s,
      cmd heading: 60.895972 deg,
      new cmd heading: 61.046279 deg.

2025-10-26T23:01:37.026Z,1761519697.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.065459 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:37.101Z,1761519697.101 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:37.352Z,1761519697.352 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:37.406Z,1761519697.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537505,-0.842468,-0.036554],[0.838142,0.528971,0.133066],[-0.092768,-0.102161,0.990433]]
2025-10-26T23:01:37.416Z,1761519697.416 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:01:37.498Z,1761519697.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:37.501Z,1761519697.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 114.519379 m,
      bearing: 64.356223 deg,
      approach rate: -0.503086 m/s,
      LOS rate: 0.106807 deg/s,
      cmd heading: 61.046277 deg,
      new cmd heading: 61.198605 deg.

2025-10-26T23:01:37.501Z,1761519697.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.068117 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:37.604Z,1761519697.604 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:37.811Z,1761519697.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537944,-0.842179,-0.036754],[0.837647,0.529136,0.135507],[-0.094673,-0.103682,0.990094]]
2025-10-26T23:01:37.829Z,1761519697.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:37.832Z,1761519697.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 114.338318 m,
      bearing: 64.394778 deg,
      approach rate: -0.546628 m/s,
      LOS rate: 0.116583 deg/s,
      cmd heading: 61.198604 deg,
      new cmd heading: 61.314452 deg.

2025-10-26T23:01:37.833Z,1761519697.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.070139 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:37.856Z,1761519697.856 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:38.108Z,1761519698.108 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:38.215Z,1761519698.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536841,-0.842712,-0.040466],[0.838155,0.527228,0.139735],[-0.096421,-0.108932,0.989362]]
2025-10-26T23:01:38.233Z,1761519698.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:38.238Z,1761519698.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:38.242Z,1761519698.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 114.126938 m,
      bearing: 64.439709 deg,
      approach rate: -0.518597 m/s,
      LOS rate: 0.110438 deg/s,
      cmd heading: 61.314451 deg,
      new cmd heading: 61.449494 deg.

2025-10-26T23:01:38.243Z,1761519698.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.072496 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:38.360Z,1761519698.360 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:38.420Z,1761519698.420 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:01:38.612Z,1761519698.612 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:38.620Z,1761519698.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534611,-0.843815,-0.046566],[0.839366,0.523771,0.145354],[-0.098262,-0.116794,0.988283]]
2025-10-26T23:01:38.675Z,1761519698.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:38.678Z,1761519698.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 113.873283 m,
      bearing: 64.477249 deg,
      approach rate: -0.578772 m/s,
      LOS rate: 0.085847 deg/s,
      cmd heading: 61.449491 deg,
      new cmd heading: 61.562361 deg.

2025-10-26T23:01:38.678Z,1761519698.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.074466 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:38.864Z,1761519698.864 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:39.022Z,1761519699.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531425,-0.845752,-0.047856],[0.841131,0.520137,0.148177],[-0.100429,-0.118998,0.987802]]
2025-10-26T23:01:39.046Z,1761519699.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:39.050Z,1761519699.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 113.654716 m,
      bearing: 64.509266 deg,
      approach rate: -0.588265 m/s,
      LOS rate: 0.086339 deg/s,
      cmd heading: 61.562360 deg,
      new cmd heading: 61.658596 deg.

2025-10-26T23:01:39.051Z,1761519699.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.076146 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:39.116Z,1761519699.116 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:39.368Z,1761519699.368 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:39.427Z,1761519699.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527235,-0.848453,-0.046369],[0.843476,0.515978,0.149386],[-0.102821,-0.117872,0.987691]]
2025-10-26T23:01:39.497Z,1761519699.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:39.500Z,1761519699.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 113.374001 m,
      bearing: 64.534950 deg,
      approach rate: -0.622887 m/s,
      LOS rate: 0.057132 deg/s,
      cmd heading: 61.658597 deg,
      new cmd heading: 61.735839 deg.

2025-10-26T23:01:39.501Z,1761519699.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.077494 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:39.620Z,1761519699.620 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:39.833Z,1761519699.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521546,-0.852221,-0.041344],[0.846752,0.511025,0.147864],[-0.104885,-0.112126,0.988143]]
2025-10-26T23:01:39.852Z,1761519699.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:39.854Z,1761519699.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 113.152946 m,
      bearing: 64.554558 deg,
      approach rate: -0.623747 m/s,
      LOS rate: 0.055435 deg/s,
      cmd heading: 61.735840 deg,
      new cmd heading: 61.794778 deg.

2025-10-26T23:01:39.855Z,1761519699.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.078522 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:39.873Z,1761519699.873 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:40.124Z,1761519700.124 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:40.234Z,1761519700.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514044,-0.856967,-0.036961],[0.851156,0.504273,0.145746],[-0.106261,-0.106379,0.988631]]
2025-10-26T23:01:40.271Z,1761519700.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:40.273Z,1761519700.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:40.276Z,1761519700.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 112.902588 m,
      bearing: 64.575776 deg,
      approach rate: -0.593261 m/s,
      LOS rate: 0.050390 deg/s,
      cmd heading: 61.794777 deg,
      new cmd heading: 61.858572 deg.

2025-10-26T23:01:40.277Z,1761519700.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.079636 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:40.377Z,1761519700.377 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:40.628Z,1761519700.628 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:40.638Z,1761519700.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504978,-0.862500,-0.033041],[0.856565,0.496056,0.142213],[-0.106268,-0.100116,0.989285]]
2025-10-26T23:01:40.695Z,1761519700.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:40.703Z,1761519700.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 112.619263 m,
      bearing: 64.591909 deg,
      approach rate: -0.672545 m/s,
      LOS rate: 0.038392 deg/s,
      cmd heading: 61.858571 deg,
      new cmd heading: 61.907092 deg.

2025-10-26T23:01:40.708Z,1761519700.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.080483 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:40.881Z,1761519700.881 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:41.040Z,1761519701.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494671,-0.868627,-0.028072],[0.862682,0.486860,0.136918],[-0.105264,-0.091947,0.990184]]
2025-10-26T23:01:41.068Z,1761519701.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:41.070Z,1761519701.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 112.355156 m,
      bearing: 64.605427 deg,
      approach rate: -0.708625 m/s,
      LOS rate: 0.036356 deg/s,
      cmd heading: 61.907093 deg,
      new cmd heading: 61.947743 deg.

2025-10-26T23:01:41.072Z,1761519701.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.081192 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:41.134Z,1761519701.134 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:41.384Z,1761519701.384 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:41.453Z,1761519701.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483506,-0.874937,-0.026591],[0.869247,0.476339,0.132329],[-0.103114,-0.087096,0.990849]]
2025-10-26T23:01:41.506Z,1761519701.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:41.509Z,1761519701.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 112.055626 m,
      bearing: 64.618744 deg,
      approach rate: -0.682424 m/s,
      LOS rate: 0.030420 deg/s,
      cmd heading: 61.947746 deg,
      new cmd heading: 61.987802 deg.

2025-10-26T23:01:41.510Z,1761519701.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.081891 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:41.637Z,1761519701.637 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:41.846Z,1761519701.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472331,-0.881126,-0.022821],[0.875718,0.466177,0.125685],[-0.100106,-0.079350,0.991808]]
2025-10-26T23:01:41.872Z,1761519701.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:41.875Z,1761519701.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 111.805969 m,
      bearing: 64.628222 deg,
      approach rate: -0.683702 m/s,
      LOS rate: 0.026015 deg/s,
      cmd heading: 61.987805 deg,
      new cmd heading: 62.016303 deg.

2025-10-26T23:01:41.876Z,1761519701.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.082389 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:41.888Z,1761519701.888 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:42.141Z,1761519702.141 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:42.252Z,1761519702.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462221,-0.886577,-0.018236],[0.881485,0.457130,0.118393],[-0.096629,-0.070798,0.992799]]
2025-10-26T23:01:42.270Z,1761519702.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:42.273Z,1761519702.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 111.532982 m,
      bearing: 64.636981 deg,
      approach rate: -0.684366 m/s,
      LOS rate: 0.022013 deg/s,
      cmd heading: 62.016301 deg,
      new cmd heading: 62.042643 deg.

2025-10-26T23:01:42.274Z,1761519702.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.082848 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:42.393Z,1761519702.393 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:42.644Z,1761519702.644 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:42.715Z,1761519702.715 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:42.741Z,1761519702.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:42.748Z,1761519702.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 111.241447 m,
      bearing: 64.648745 deg,
      approach rate: -0.619813 m/s,
      LOS rate: 0.025076 deg/s,
      cmd heading: 62.042645 deg,
      new cmd heading: 62.078029 deg.

2025-10-26T23:01:42.749Z,1761519702.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.083466 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:42.896Z,1761519702.896 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:43.056Z,1761519703.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444929,-0.895329,-0.020615],[0.891162,0.440344,0.109211],[-0.088702,-0.066962,0.993805]]
2025-10-26T23:01:43.075Z,1761519703.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:43.078Z,1761519703.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 111.003426 m,
      bearing: 64.655927 deg,
      approach rate: -0.712636 m/s,
      LOS rate: 0.021549 deg/s,
      cmd heading: 62.078032 deg,
      new cmd heading: 62.099624 deg.

2025-10-26T23:01:43.079Z,1761519703.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.083843 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:43.149Z,1761519703.149 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:43.403Z,1761519703.403 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:43.475Z,1761519703.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438205,-0.898597,-0.022360],[0.894850,0.433756,0.105356],[-0.084974,-0.066177,0.994183]]
2025-10-26T23:01:43.541Z,1761519703.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:43.543Z,1761519703.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 110.728760 m,
      bearing: 64.676986 deg,
      approach rate: -0.589359 m/s,
      LOS rate: 0.045299 deg/s,
      cmd heading: 62.099622 deg,
      new cmd heading: 62.162957 deg.

2025-10-26T23:01:43.544Z,1761519703.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.084948 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:43.652Z,1761519703.652 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:43.862Z,1761519703.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433168,-0.901144,-0.017448],[0.897515,0.429487,0.100040],[-0.082656,-0.058994,0.994830]]
2025-10-26T23:01:43.881Z,1761519703.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:43.904Z,1761519703.904 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:43.908Z,1761519703.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 110.500641 m,
      bearing: 64.693842 deg,
      approach rate: -0.671135 m/s,
      LOS rate: 0.049693 deg/s,
      cmd heading: 62.162959 deg,
      new cmd heading: 62.213631 deg.

2025-10-26T23:01:43.909Z,1761519703.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.085833 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:44.156Z,1761519704.156 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:44.266Z,1761519704.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430123,-0.902646,-0.014955],[0.899040,0.426783,0.097898],[-0.081984,-0.055553,0.995084]]
2025-10-26T23:01:44.309Z,1761519704.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:44.315Z,1761519704.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 110.248138 m,
      bearing: 64.712112 deg,
      approach rate: -0.589638 m/s,
      LOS rate: 0.042761 deg/s,
      cmd heading: 62.213632 deg,
      new cmd heading: 62.268567 deg.

2025-10-26T23:01:44.319Z,1761519704.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.086792 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:44.409Z,1761519704.409 [DAT](INFO): DAT read: Response Not Received

2025-10-26T23:01:44.410Z,1761519704.410 [DAT](INFO): response not received
2025-10-26T23:01:44.410Z,1761519704.410 [DAT](INFO): DAT read: user:759>Tx time:23:01:43.6346

2025-10-26T23:01:44.411Z,1761519704.411 [DAT](ERROR): No response from remote modem.
2025-10-26T23:01:44.411Z,1761519704.411 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:44.412Z,1761519704.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:01:44.660Z,1761519704.660 [DAT](INFO): DAT read: 

2025-10-26T23:01:44.661Z,1761519704.661 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:44.750Z,1761519704.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430786,-0.901805,-0.034213],[0.898543,0.425086,0.109186],[-0.083921,-0.077777,0.993432]]
2025-10-26T23:01:44.785Z,1761519704.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:44.787Z,1761519704.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:44.790Z,1761519704.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 109.953659 m,
      bearing: 64.749553 deg,
      approach rate: -0.615818 m/s,
      LOS rate: 0.078507 deg/s,
      cmd heading: 62.268567 deg,
      new cmd heading: 62.381191 deg.

2025-10-26T23:01:44.791Z,1761519704.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.088757 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:44.912Z,1761519704.912 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:45.164Z,1761519705.164 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:45.240Z,1761519705.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434233,-0.899374,-0.050675],[0.896722,0.426235,0.119220],[-0.085624,-0.097210,0.991574]]
2025-10-26T23:01:45.258Z,1761519705.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:45.261Z,1761519705.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 109.676849 m,
      bearing: 64.785555 deg,
      approach rate: -0.587509 m/s,
      LOS rate: 0.076605 deg/s,
      cmd heading: 62.381190 deg,
      new cmd heading: 62.489470 deg.

2025-10-26T23:01:45.262Z,1761519705.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.090647 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:45.419Z,1761519705.419 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:45.639Z,1761519705.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439674,-0.896137,-0.060200],[0.893884,0.430067,0.126547],[-0.087513,-0.109451,0.990132]]
2025-10-26T23:01:45.668Z,1761519705.668 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:45.685Z,1761519705.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:45.688Z,1761519705.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 109.446579 m,
      bearing: 64.830271 deg,
      approach rate: -0.539439 m/s,
      LOS rate: 0.104972 deg/s,
      cmd heading: 62.489469 deg,
      new cmd heading: 62.623897 deg.

2025-10-26T23:01:45.689Z,1761519705.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.092993 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:45.920Z,1761519705.920 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:46.043Z,1761519706.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445353,-0.893383,-0.059399],[0.890905,0.435557,0.128757],[-0.089157,-0.110261,0.989896]]
2025-10-26T23:01:46.062Z,1761519706.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:46.065Z,1761519706.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 109.243774 m,
      bearing: 64.870600 deg,
      approach rate: -0.537976 m/s,
      LOS rate: 0.107179 deg/s,
      cmd heading: 62.623894 deg,
      new cmd heading: 62.745106 deg.

2025-10-26T23:01:46.066Z,1761519706.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095109 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:46.172Z,1761519706.172 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:46.430Z,1761519706.430 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:46.465Z,1761519706.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451273,-0.889657,-0.069740],[0.887759,0.439612,0.136474],[-0.090757,-0.123500,0.988186]]
2025-10-26T23:01:46.513Z,1761519706.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:46.516Z,1761519706.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 109.015938 m,
      bearing: 64.928535 deg,
      approach rate: -0.504941 m/s,
      LOS rate: 0.128667 deg/s,
      cmd heading: 62.745103 deg,
      new cmd heading: 62.919271 deg.

2025-10-26T23:01:46.517Z,1761519706.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.098148 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:46.676Z,1761519706.676 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:46.850Z,1761519706.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457016,-0.885640,-0.082325],[0.884771,0.443167,0.144165],[-0.091195,-0.138724,0.986123]]
2025-10-26T23:01:46.876Z,1761519706.876 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:46.877Z,1761519706.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:46.881Z,1761519706.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 108.832634 m,
      bearing: 64.975929 deg,
      approach rate: -0.503193 m/s,
      LOS rate: 0.130323 deg/s,
      cmd heading: 62.919272 deg,
      new cmd heading: 63.061694 deg.

2025-10-26T23:01:46.882Z,1761519706.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.100634 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:46.930Z,1761519706.930 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:47.180Z,1761519707.180 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:47.255Z,1761519707.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462236,-0.882407,-0.087725],[0.882092,0.447415,0.147426],[-0.090840,-0.145528,0.985175]]
2025-10-26T23:01:47.280Z,1761519707.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:47.283Z,1761519707.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 108.630104 m,
      bearing: 65.029188 deg,
      approach rate: -0.502614 m/s,
      LOS rate: 0.132417 deg/s,
      cmd heading: 63.061695 deg,
      new cmd heading: 63.221768 deg.

2025-10-26T23:01:47.284Z,1761519707.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.103428 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:47.437Z,1761519707.437 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:47.690Z,1761519707.690 [DAT](INFO): DAT read: 23:01:46.2292 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 140,-0.27, 0.246,-1.583, 0.380, 0.071, PHS= 0.276,-1.609, 0.265, RAW= 149.7,  11.4, CAL= 149.5,  12.5, ROT=   0.5, -12.5

2025-10-26T23:01:47.691Z,1761519707.691 [DAT](INFO): got valid direction response:
 23:01:46.2292 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 140,-0.27, 0.246,-1.583, 0.380, 0.071, PHS= 0.276,-1.609, 0.265, RAW= 149.7,  11.4, CAL= 149.5,  12.5, ROT=   0.5, -12.5

2025-10-26T23:01:47.692Z,1761519707.692 [DAT](INFO): DAT read: Rx Time:23:01:46.2292

2025-10-26T23:01:47.692Z,1761519707.692 [DAT](INFO): Rx dataTimestamp_ set to:1761519707.692189
2025-10-26T23:01:47.693Z,1761519707.693 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-26T23:01:47.693Z,1761519707.693 [DAT](INFO): Received low SNR in chirp
2025-10-26T23:01:47.695Z,1761519707.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467015,-0.879813,-0.088461],[0.879689,0.452129,0.147400],[-0.089689,-0.146656,0.985113]]
2025-10-26T23:01:47.708Z,1761519707.708 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T23:01:47.709Z,1761519707.709 [DAT](INFO): direction in FSK: [0.976259,0.008520,0.216440]
2025-10-26T23:01:47.714Z,1761519707.714 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:47.830Z,1761519707.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:47.837Z,1761519707.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 108.378883 m,
      bearing: 65.099916 deg,
      approach rate: -0.457438 m/s,
      LOS rate: 0.129085 deg/s,
      cmd heading: 63.221768 deg,
      new cmd heading: 63.434443 deg.

2025-10-26T23:01:47.838Z,1761519707.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.107140 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:47.940Z,1761519707.940 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:48.122Z,1761519708.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:48.125Z,1761519708.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 108.230087 m,
      bearing: 65.141983 deg,
      approach rate: -0.509801 m/s,
      LOS rate: 0.144326 deg/s,
      cmd heading: 63.434446 deg,
      new cmd heading: 63.560820 deg.

2025-10-26T23:01:48.125Z,1761519708.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.109346 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:48.188Z,1761519708.188 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:48.443Z,1761519708.443 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:48.547Z,1761519708.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478708,-0.873140,-0.092004],[0.873634,0.463312,0.148678],[-0.087190,-0.151551,0.984596]]
2025-10-26T23:01:48.670Z,1761519708.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:48.692Z,1761519708.692 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:48.694Z,1761519708.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 107.978592 m,
      bearing: 65.213179 deg,
      approach rate: -0.458720 m/s,
      LOS rate: 0.130162 deg/s,
      cmd heading: 63.560818 deg,
      new cmd heading: 63.774904 deg.

2025-10-26T23:01:48.695Z,1761519708.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.113082 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:48.945Z,1761519708.945 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:49.060Z,1761519709.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484225,-0.870142,-0.091544],[0.870736,0.469003,0.147832],[-0.085700,-0.151294,0.984767]]
2025-10-26T23:01:49.166Z,1761519709.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:49.168Z,1761519709.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:49.171Z,1761519709.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 107.743736 m,
      bearing: 65.281036 deg,
      approach rate: -0.471452 m/s,
      LOS rate: 0.136514 deg/s,
      cmd heading: 63.774904 deg,
      new cmd heading: 63.978918 deg.

2025-10-26T23:01:49.172Z,1761519709.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.116643 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:49.196Z,1761519709.196 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:49.452Z,1761519709.452 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:49.512Z,1761519709.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487797,-0.868518,-0.087923],[0.868907,0.473374,0.144628],[-0.083992,-0.146946,0.985572]]
2025-10-26T23:01:49.601Z,1761519709.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:49.604Z,1761519709.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 107.537743 m,
      bearing: 65.330650 deg,
      approach rate: -0.475707 m/s,
      LOS rate: 0.114794 deg/s,
      cmd heading: 63.978915 deg,
      new cmd heading: 64.128040 deg.

2025-10-26T23:01:49.605Z,1761519709.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.119245 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:49.701Z,1761519709.701 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:49.880Z,1761519709.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489130,-0.867812,-0.087489],[0.868313,0.475015,0.142806],[-0.082370,-0.145818,0.985876]]
2025-10-26T23:01:49.960Z,1761519709.960 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:49.972Z,1761519709.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:49.974Z,1761519709.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 107.360756 m,
      bearing: 65.373642 deg,
      approach rate: -0.477872 m/s,
      LOS rate: 0.116271 deg/s,
      cmd heading: 64.128038 deg,
      new cmd heading: 64.257226 deg.

2025-10-26T23:01:49.975Z,1761519709.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.121500 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:50.213Z,1761519710.213 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:50.336Z,1761519710.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:50.344Z,1761519710.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 107.191284 m,
      bearing: 65.414955 deg,
      approach rate: -0.464502 m/s,
      LOS rate: 0.113413 deg/s,
      cmd heading: 64.257224 deg,
      new cmd heading: 64.381359 deg.

2025-10-26T23:01:50.345Z,1761519710.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123667 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:50.467Z,1761519710.467 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:50.698Z,1761519710.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487207,-0.868040,-0.095585],[0.869592,0.472173,0.144436],[-0.080244,-0.153490,0.984887]]
2025-10-26T23:01:50.718Z,1761519710.718 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:50.785Z,1761519710.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:50.788Z,1761519710.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 106.960045 m,
      bearing: 65.453500 deg,
      approach rate: -0.515457 m/s,
      LOS rate: 0.086108 deg/s,
      cmd heading: 64.381356 deg,
      new cmd heading: 64.497242 deg.

2025-10-26T23:01:50.789Z,1761519710.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125689 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:50.973Z,1761519710.973 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:51.166Z,1761519711.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:51.169Z,1761519711.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:51.171Z,1761519711.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 106.766449 m,
      bearing: 65.485906 deg,
      approach rate: -0.504337 m/s,
      LOS rate: 0.084574 deg/s,
      cmd heading: 64.497244 deg,
      new cmd heading: 64.594638 deg.

2025-10-26T23:01:51.172Z,1761519711.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.127389 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:51.224Z,1761519711.224 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:51.478Z,1761519711.478 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:51.550Z,1761519711.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473390,-0.878767,-0.060581],[0.877600,0.464619,0.118102],[-0.075637,-0.109074,0.991152]]
2025-10-26T23:01:51.592Z,1761519711.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:51.595Z,1761519711.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 106.532204 m,
      bearing: 65.509053 deg,
      approach rate: -0.553342 m/s,
      LOS rate: 0.054798 deg/s,
      cmd heading: 64.594636 deg,
      new cmd heading: 64.664229 deg.

2025-10-26T23:01:51.596Z,1761519711.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.128604 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:51.729Z,1761519711.729 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:51.980Z,1761519711.980 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:51.993Z,1761519711.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:51.996Z,1761519711.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 106.316109 m,
      bearing: 65.530498 deg,
      approach rate: -0.538818 m/s,
      LOS rate: 0.053581 deg/s,
      cmd heading: 64.664229 deg,
      new cmd heading: 64.728696 deg.

2025-10-26T23:01:51.997Z,1761519711.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129729 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:52.232Z,1761519712.232 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:52.351Z,1761519712.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465269,-0.884274,-0.039801],[0.882294,0.459667,0.101309],[-0.071290,-0.082252,0.994059]]
2025-10-26T23:01:52.370Z,1761519712.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:52.373Z,1761519712.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 106.102669 m,
      bearing: 65.550964 deg,
      approach rate: -0.566894 m/s,
      LOS rate: 0.054466 deg/s,
      cmd heading: 64.728699 deg,
      new cmd heading: 64.790219 deg.

2025-10-26T23:01:52.373Z,1761519712.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130803 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:52.486Z,1761519712.486 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:52.736Z,1761519712.736 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:52.758Z,1761519712.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461739,-0.886259,-0.036637],[0.884316,0.456722,0.096901],[-0.069147,-0.077142,0.994619]]
2025-10-26T23:01:52.807Z,1761519712.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:52.810Z,1761519712.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 105.839676 m,
      bearing: 65.566419 deg,
      approach rate: -0.601160 m/s,
      LOS rate: 0.035414 deg/s,
      cmd heading: 64.790218 deg,
      new cmd heading: 64.836697 deg.

2025-10-26T23:01:52.811Z,1761519712.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.131614 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:52.988Z,1761519712.988 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:53.159Z,1761519713.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459576,-0.886856,-0.047716],[0.885535,0.453456,0.101026],[-0.067958,-0.088683,0.993739]]
2025-10-26T23:01:53.176Z,1761519713.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:53.178Z,1761519713.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:53.180Z,1761519713.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 105.616997 m,
      bearing: 65.579179 deg,
      approach rate: -0.600965 m/s,
      LOS rate: 0.034511 deg/s,
      cmd heading: 64.836698 deg,
      new cmd heading: 64.875060 deg.

2025-10-26T23:01:53.181Z,1761519713.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.132283 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:53.240Z,1761519713.240 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:53.494Z,1761519713.494 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:53.573Z,1761519713.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459543,-0.885564,-0.067802],[0.885655,0.451187,0.109752],[-0.066601,-0.110485,0.991644]]
2025-10-26T23:01:53.616Z,1761519713.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:53.619Z,1761519713.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 105.341766 m,
      bearing: 65.584949 deg,
      approach rate: -0.628216 m/s,
      LOS rate: 0.013204 deg/s,
      cmd heading: 64.875063 deg,
      new cmd heading: 64.892417 deg.

2025-10-26T23:01:53.620Z,1761519713.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.132586 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:53.744Z,1761519713.744 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:53.963Z,1761519713.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459077,-0.884672,-0.081263],[0.886030,0.449263,0.114514],[-0.064799,-0.124572,0.990092]]
2025-10-26T23:01:53.982Z,1761519713.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:53.985Z,1761519713.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 105.111839 m,
      bearing: 65.589650 deg,
      approach rate: -0.626964 m/s,
      LOS rate: 0.012846 deg/s,
      cmd heading: 64.892418 deg,
      new cmd heading: 64.906552 deg.

2025-10-26T23:01:53.986Z,1761519713.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.132833 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:53.996Z,1761519713.996 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:54.248Z,1761519714.248 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:54.362Z,1761519714.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457095,-0.885270,-0.085804],[0.887183,0.446985,0.114498],[-0.063009,-0.128460,0.989711]]
2025-10-26T23:01:54.398Z,1761519714.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:54.401Z,1761519714.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 104.861481 m,
      bearing: 65.594457 deg,
      approach rate: -0.602201 m/s,
      LOS rate: 0.011591 deg/s,
      cmd heading: 64.906550 deg,
      new cmd heading: 64.921006 deg.

2025-10-26T23:01:54.402Z,1761519714.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133085 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:54.503Z,1761519714.503 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:54.752Z,1761519714.752 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:54.771Z,1761519714.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454115,-0.887107,-0.082586],[0.888847,0.444740,0.110262],[-0.061085,-0.123478,0.990465]]
2025-10-26T23:01:54.827Z,1761519714.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:54.833Z,1761519714.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 104.587860 m,
      bearing: 65.593376 deg,
      approach rate: -0.643698 m/s,
      LOS rate: -0.002550 deg/s,
      cmd heading: 64.921010 deg,
      new cmd heading: 64.917757 deg.

2025-10-26T23:01:54.834Z,1761519714.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133029 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:55.004Z,1761519715.004 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:55.170Z,1761519715.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449959,-0.889703,-0.077238],[0.891107,0.441598,0.104491],[-0.058858,-0.115844,0.991522]]
2025-10-26T23:01:55.208Z,1761519715.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:55.210Z,1761519715.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:55.212Z,1761519715.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 104.330025 m,
      bearing: 65.591697 deg,
      approach rate: -0.667158 m/s,
      LOS rate: -0.004354 deg/s,
      cmd heading: 64.917758 deg,
      new cmd heading: 64.912710 deg.

2025-10-26T23:01:55.213Z,1761519715.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.132941 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:55.257Z,1761519715.257 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:55.510Z,1761519715.510 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:55.655Z,1761519715.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:55.658Z,1761519715.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 104.041985 m,
      bearing: 65.595322 deg,
      approach rate: -0.647494 m/s,
      LOS rate: 0.008171 deg/s,
      cmd heading: 64.912711 deg,
      new cmd heading: 64.923616 deg.

2025-10-26T23:01:55.658Z,1761519715.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133131 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:55.761Z,1761519715.761 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:55.981Z,1761519715.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442478,-0.893598,-0.075471],[0.895116,0.434967,0.097832],[-0.054595,-0.110843,0.992337]]
2025-10-26T23:01:55.999Z,1761519715.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:56.001Z,1761519716.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 103.818504 m,
      bearing: 65.597101 deg,
      approach rate: -0.649442 m/s,
      LOS rate: 0.005181 deg/s,
      cmd heading: 64.923619 deg,
      new cmd heading: 64.928968 deg.

2025-10-26T23:01:56.002Z,1761519716.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133224 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:56.012Z,1761519716.012 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:56.265Z,1761519716.265 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:56.383Z,1761519716.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438765,-0.896019,-0.068078],[0.897105,0.432405,0.090706],[-0.051837,-0.100872,0.993548]]
2025-10-26T23:01:56.419Z,1761519716.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:56.424Z,1761519716.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 103.550461 m,
      bearing: 65.598622 deg,
      approach rate: -0.639074 m/s,
      LOS rate: 0.003635 deg/s,
      cmd heading: 64.928967 deg,
      new cmd heading: 64.933541 deg.

2025-10-26T23:01:56.426Z,1761519716.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133304 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:56.517Z,1761519716.517 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:56.768Z,1761519716.768 [DAT](INFO): DAT read: Response Not Received

2025-10-26T23:01:56.768Z,1761519716.768 [DAT](INFO): response not received
2025-10-26T23:01:56.769Z,1761519716.769 [DAT](ERROR): No response from remote modem.
2025-10-26T23:01:56.769Z,1761519716.769 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:01:56.769Z,1761519716.769 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:01:56.797Z,1761519716.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434243,-0.897988,-0.071072],[0.899465,0.427963,0.088370],[-0.048939,-0.102301,0.993549]]
2025-10-26T23:01:56.870Z,1761519716.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:56.873Z,1761519716.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 103.269089 m,
      bearing: 65.605751 deg,
      approach rate: -0.622852 m/s,
      LOS rate: 0.015825 deg/s,
      cmd heading: 64.933543 deg,
      new cmd heading: 64.954990 deg.

2025-10-26T23:01:56.874Z,1761519716.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133678 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:57.020Z,1761519717.020 [DAT](INFO): DAT read: Tx time:23:01:56.0846

2025-10-26T23:01:57.021Z,1761519717.021 [DAT](INFO): Ping request sent.
2025-10-26T23:01:57.021Z,1761519717.021 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:01:57.021Z,1761519717.021 [DAT](INFO): DAT read: 

2025-10-26T23:01:57.021Z,1761519717.021 [DAT](INFO): publishing transmit ping time
2025-10-26T23:01:57.022Z,1761519717.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001136
2025-10-26T23:01:57.205Z,1761519717.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430585,-0.899542,-0.073625],[0.901361,0.424399,0.086219],[-0.046312,-0.103488,0.993552]]
2025-10-26T23:01:57.222Z,1761519717.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:57.224Z,1761519717.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:57.227Z,1761519717.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 103.042152 m,
      bearing: 65.611007 deg,
      approach rate: -0.639832 m/s,
      LOS rate: 0.014852 deg/s,
      cmd heading: 64.954990 deg,
      new cmd heading: 64.970793 deg.

2025-10-26T23:01:57.228Z,1761519717.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133954 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:57.273Z,1761519717.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251938
2025-10-26T23:01:57.524Z,1761519717.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503467
2025-10-26T23:01:57.630Z,1761519717.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427158,-0.901485,-0.069720],[0.903119,0.421659,0.081114],[-0.043725,-0.097614,0.994263]]
2025-10-26T23:01:57.666Z,1761519717.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:57.669Z,1761519717.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 102.784615 m,
      bearing: 65.624308 deg,
      approach rate: -0.583293 m/s,
      LOS rate: 0.030200 deg/s,
      cmd heading: 64.970795 deg,
      new cmd heading: 65.010796 deg.

2025-10-26T23:01:57.670Z,1761519717.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.134652 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:57.777Z,1761519717.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756240
2025-10-26T23:01:58.010Z,1761519718.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424699,-0.902833,-0.067252],[0.904363,0.419631,0.077698],[-0.041928,-0.093819,0.994706]]
2025-10-26T23:01:58.028Z,1761519718.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007531
2025-10-26T23:01:58.045Z,1761519718.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:58.049Z,1761519718.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 102.563812 m,
      bearing: 65.635426 deg,
      approach rate: -0.582294 m/s,
      LOS rate: 0.029384 deg/s,
      cmd heading: 65.010799 deg,
      new cmd heading: 65.044225 deg.

2025-10-26T23:01:58.050Z,1761519718.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.135236 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:58.280Z,1761519718.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259432
2025-10-26T23:01:58.423Z,1761519718.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424196,-0.903096,-0.066895],[0.904679,0.419344,0.075541],[-0.040169,-0.092563,0.994896]]
2025-10-26T23:01:58.464Z,1761519718.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:58.466Z,1761519718.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 102.328857 m,
      bearing: 65.647233 deg,
      approach rate: -0.584091 m/s,
      LOS rate: 0.029419 deg/s,
      cmd heading: 65.044226 deg,
      new cmd heading: 65.079728 deg.

2025-10-26T23:01:58.471Z,1761519718.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.135856 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:58.533Z,1761519718.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511460
2025-10-26T23:01:58.784Z,1761519718.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763372
2025-10-26T23:01:58.825Z,1761519718.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424942,-0.903219,-0.060171],[0.904429,0.420851,0.069948],[-0.037855,-0.084144,0.995734]]
2025-10-26T23:01:58.862Z,1761519718.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:58.865Z,1761519718.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 102.097610 m,
      bearing: 65.671094 deg,
      approach rate: -0.557748 m/s,
      LOS rate: 0.057680 deg/s,
      cmd heading: 65.079729 deg,
      new cmd heading: 65.151474 deg.

2025-10-26T23:01:58.866Z,1761519718.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.137108 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:59.037Z,1761519719.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015793
2025-10-26T23:01:59.258Z,1761519719.258 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:01:59.260Z,1761519719.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:59.263Z,1761519719.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 101.875839 m,
      bearing: 65.694081 deg,
      approach rate: -0.557172 m/s,
      LOS rate: 0.057877 deg/s,
      cmd heading: 65.151474 deg,
      new cmd heading: 65.220585 deg.

2025-10-26T23:01:59.264Z,1761519719.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138314 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:59.289Z,1761519719.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267739
2025-10-26T23:01:59.540Z,1761519719.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519474
2025-10-26T23:01:59.661Z,1761519719.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428468,-0.901611,-0.059264],[0.902996,0.424969,0.063243],[-0.031835,-0.080613,0.996237]]
2025-10-26T23:01:59.716Z,1761519719.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:01:59.721Z,1761519719.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 101.636078 m,
      bearing: 65.726128 deg,
      approach rate: -0.526457 m/s,
      LOS rate: 0.070534 deg/s,
      cmd heading: 65.220582 deg,
      new cmd heading: 65.316951 deg.

2025-10-26T23:01:59.722Z,1761519719.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.139996 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:01:59.792Z,1761519719.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771590
2025-10-26T23:02:00.044Z,1761519720.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023584
2025-10-26T23:02:00.060Z,1761519720.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430426,-0.899969,-0.069204],[0.902165,0.426490,0.064838],[-0.028837,-0.090342,0.995493]]
2025-10-26T23:02:00.083Z,1761519720.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:00.086Z,1761519720.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 101.439705 m,
      bearing: 65.752684 deg,
      approach rate: -0.534655 m/s,
      LOS rate: 0.072444 deg/s,
      cmd heading: 65.316949 deg,
      new cmd heading: 65.396772 deg.

2025-10-26T23:02:00.087Z,1761519720.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.141389 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:00.296Z,1761519720.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275421
2025-10-26T23:02:00.454Z,1761519720.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432381,-0.897130,-0.090579],[0.901312,0.427098,0.072281],[-0.026159,-0.112893,0.993263]]
2025-10-26T23:02:00.473Z,1761519720.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:00.476Z,1761519720.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 101.230148 m,
      bearing: 65.781254 deg,
      approach rate: -0.536615 m/s,
      LOS rate: 0.073311 deg/s,
      cmd heading: 65.396773 deg,
      new cmd heading: 65.482660 deg.

2025-10-26T23:02:00.477Z,1761519720.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.142888 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:00.550Z,1761519720.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528955
2025-10-26T23:02:00.800Z,1761519720.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779492
2025-10-26T23:02:00.858Z,1761519720.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434318,-0.894319,-0.107524],[0.900450,0.427933,0.077871],[-0.023629,-0.130641,0.991148]]
2025-10-26T23:02:00.910Z,1761519720.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:00.931Z,1761519720.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 100.998138 m,
      bearing: 65.817729 deg,
      approach rate: -0.531510 m/s,
      LOS rate: 0.083752 deg/s,
      cmd heading: 65.482663 deg,
      new cmd heading: 65.592339 deg.

2025-10-26T23:02:00.933Z,1761519720.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.144802 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:01.052Z,1761519721.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031373
2025-10-26T23:02:01.260Z,1761519721.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435351,-0.893585,-0.109432],[0.900014,0.429154,0.076172],[-0.021103,-0.131652,0.991071]]
2025-10-26T23:02:01.286Z,1761519721.286 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:01.288Z,1761519721.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:01.291Z,1761519721.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 100.791969 m,
      bearing: 65.850424 deg,
      approach rate: -0.545115 m/s,
      LOS rate: 0.086623 deg/s,
      cmd heading: 65.592342 deg,
      new cmd heading: 65.690628 deg.

2025-10-26T23:02:01.292Z,1761519721.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.146518 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:01.305Z,1761519721.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283921
2025-10-26T23:02:01.557Z,1761519721.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535658
2025-10-26T23:02:01.683Z,1761519721.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435746,-0.893883,-0.105345],[0.899883,0.430278,0.071218],[-0.018333,-0.125831,0.991882]]
2025-10-26T23:02:01.793Z,1761519721.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:01.808Z,1761519721.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787493
2025-10-26T23:02:01.816Z,1761519721.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 100.534004 m,
      bearing: 65.896418 deg,
      approach rate: -0.510672 m/s,
      LOS rate: 0.091283 deg/s,
      cmd heading: 65.690628 deg,
      new cmd heading: 65.828962 deg.

2025-10-26T23:02:01.817Z,1761519721.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.148932 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:02.061Z,1761519722.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040250
2025-10-26T23:02:02.146Z,1761519722.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435030,-0.895388,-0.095019],[0.900293,0.430802,0.062304],[-0.014852,-0.112650,0.993524]]
2025-10-26T23:02:02.192Z,1761519722.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:02.195Z,1761519722.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 100.341530 m,
      bearing: 65.930965 deg,
      approach rate: -0.488001 m/s,
      LOS rate: 0.087758 deg/s,
      cmd heading: 65.828960 deg,
      new cmd heading: 65.932800 deg.

2025-10-26T23:02:02.200Z,1761519722.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.150744 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:02.314Z,1761519722.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292877
2025-10-26T23:02:02.544Z,1761519722.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434012,-0.896310,-0.090895],[0.900842,0.430552,0.055760],[-0.010843,-0.106082,0.994298]]
2025-10-26T23:02:02.564Z,1761519722.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543369
2025-10-26T23:02:02.624Z,1761519722.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:02.647Z,1761519722.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 100.129066 m,
      bearing: 65.969203 deg,
      approach rate: -0.492696 m/s,
      LOS rate: 0.088861 deg/s,
      cmd heading: 65.932800 deg,
      new cmd heading: 66.047757 deg.

2025-10-26T23:02:02.655Z,1761519722.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.152751 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:02.816Z,1761519722.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795482
2025-10-26T23:02:02.995Z,1761519722.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431941,-0.896732,-0.096433],[0.901877,0.428663,0.053528],[-0.006663,-0.110092,0.993899]]
2025-10-26T23:02:03.055Z,1761519723.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:03.068Z,1761519723.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047554
2025-10-26T23:02:03.088Z,1761519723.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 99.889755 m,
      bearing: 66.014589 deg,
      approach rate: -0.548963 m/s,
      LOS rate: 0.104362 deg/s,
      cmd heading: 66.047759 deg,
      new cmd heading: 66.184243 deg.

2025-10-26T23:02:03.089Z,1761519723.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155133 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:03.320Z,1761519723.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299476
2025-10-26T23:02:03.402Z,1761519723.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428149,-0.897582,-0.105046],[0.903705,0.424945,0.052339],[-0.002340,-0.117340,0.993089]]
2025-10-26T23:02:03.442Z,1761519723.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:03.445Z,1761519723.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:03.447Z,1761519723.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 99.689186 m,
      bearing: 66.052189 deg,
      approach rate: -0.514449 m/s,
      LOS rate: 0.096635 deg/s,
      cmd heading: 66.184239 deg,
      new cmd heading: 66.297265 deg.

2025-10-26T23:02:03.448Z,1761519723.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.157106 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:03.572Z,1761519723.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551390
2025-10-26T23:02:03.811Z,1761519723.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423846,-0.898583,-0.113592],[0.905732,0.420745,0.051214],[0.001773,-0.124591,0.992207]]
2025-10-26T23:02:03.824Z,1761519723.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803552
2025-10-26T23:02:03.938Z,1761519723.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:03.941Z,1761519723.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 99.430565 m,
      bearing: 66.089179 deg,
      approach rate: -0.524668 m/s,
      LOS rate: 0.075238 deg/s,
      cmd heading: 66.297265 deg,
      new cmd heading: 66.408526 deg.

2025-10-26T23:02:03.941Z,1761519723.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.159047 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:04.076Z,1761519724.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055403
2025-10-26T23:02:04.206Z,1761519724.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418503,-0.900747,-0.116233],[0.908196,0.415903,0.046963],[0.006040,-0.125217,0.992111]]
2025-10-26T23:02:04.241Z,1761519724.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:04.244Z,1761519724.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 99.271278 m,
      bearing: 66.111490 deg,
      approach rate: -0.525176 m/s,
      LOS rate: 0.073677 deg/s,
      cmd heading: 66.408522 deg,
      new cmd heading: 66.475561 deg.

2025-10-26T23:02:04.245Z,1761519724.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.160217 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:04.329Z,1761519724.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308231
2025-10-26T23:02:04.580Z,1761519724.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559475
2025-10-26T23:02:04.614Z,1761519724.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412377,-0.904390,-0.109654],[0.910956,0.410699,0.038534],[0.010185,-0.115780,0.993223]]
2025-10-26T23:02:04.710Z,1761519724.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:04.719Z,1761519724.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 99.048500 m,
      bearing: 66.142027 deg,
      approach rate: -0.475303 m/s,
      LOS rate: 0.065298 deg/s,
      cmd heading: 66.475561 deg,
      new cmd heading: 66.567378 deg.

2025-10-26T23:02:04.725Z,1761519724.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.161820 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:04.837Z,1761519724.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.816071
2025-10-26T23:02:05.052Z,1761519725.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405801,-0.909207,-0.093104],[0.913851,0.405224,0.025871],[0.014205,-0.095582,0.995320]]
2025-10-26T23:02:05.089Z,1761519725.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067782
2025-10-26T23:02:05.124Z,1761519725.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:05.127Z,1761519725.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 98.797081 m,
      bearing: 66.165426 deg,
      approach rate: -0.607341 m/s,
      LOS rate: 0.056669 deg/s,
      cmd heading: 66.567379 deg,
      new cmd heading: 66.637755 deg.

2025-10-26T23:02:05.128Z,1761519725.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.163048 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:05.340Z,1761519725.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319479
2025-10-26T23:02:05.450Z,1761519725.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400183,-0.913330,-0.075380],[0.916272,0.400310,0.014087],[0.017310,-0.074706,0.997055]]
2025-10-26T23:02:05.475Z,1761519725.475 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:05.477Z,1761519725.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:05.480Z,1761519725.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 98.603470 m,
      bearing: 66.183014 deg,
      approach rate: -0.547963 m/s,
      LOS rate: 0.049875 deg/s,
      cmd heading: 66.637757 deg,
      new cmd heading: 66.690624 deg.

2025-10-26T23:02:05.481Z,1761519725.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.163971 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:05.592Z,1761519725.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571381
2025-10-26T23:02:05.844Z,1761519725.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823548
2025-10-26T23:02:05.856Z,1761519725.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397150,-0.915567,-0.063312],[0.917561,0.397535,0.006931],[0.018824,-0.060845,0.997970]]
2025-10-26T23:02:05.929Z,1761519725.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:05.936Z,1761519725.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 98.340340 m,
      bearing: 66.200707 deg,
      approach rate: -0.581819 m/s,
      LOS rate: 0.039227 deg/s,
      cmd heading: 66.690623 deg,
      new cmd heading: 66.743844 deg.

2025-10-26T23:02:05.937Z,1761519725.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.164900 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:06.097Z,1761519726.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076056
2025-10-26T23:02:06.259Z,1761519726.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396417,-0.916204,-0.058508],[0.917871,0.396856,0.004421],[0.019168,-0.055455,0.998277]]
2025-10-26T23:02:06.292Z,1761519726.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:06.295Z,1761519726.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 98.118027 m,
      bearing: 66.215666 deg,
      approach rate: -0.613861 m/s,
      LOS rate: 0.041398 deg/s,
      cmd heading: 66.743844 deg,
      new cmd heading: 66.788821 deg.

2025-10-26T23:02:06.296Z,1761519726.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.165685 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:06.349Z,1761519726.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.328104
2025-10-26T23:02:06.601Z,1761519726.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579731
2025-10-26T23:02:06.694Z,1761519726.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399054,-0.914802,-0.062389],[0.916749,0.399395,0.007437],[0.018114,-0.060163,0.998024]]
2025-10-26T23:02:06.776Z,1761519726.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:06.779Z,1761519726.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 97.816193 m,
      bearing: 66.230100 deg,
      approach rate: -0.623239 m/s,
      LOS rate: 0.029897 deg/s,
      cmd heading: 66.788820 deg,
      new cmd heading: 66.832257 deg.

2025-10-26T23:02:06.780Z,1761519726.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.166443 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:06.853Z,1761519726.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831768
2025-10-26T23:02:07.076Z,1761519727.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405150,-0.911215,-0.074432],[0.914109,0.405174,0.015452],[0.016078,-0.074300,0.997106]]
2025-10-26T23:02:07.103Z,1761519727.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:07.104Z,1761519727.104 [DAT](INFO): Reached modem response timeout
2025-10-26T23:02:07.104Z,1761519727.104 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:02:07.105Z,1761519727.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:02:07.109Z,1761519727.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 97.612366 m,
      bearing: 66.240589 deg,
      approach rate: -0.623383 m/s,
      LOS rate: 0.032146 deg/s,
      cmd heading: 66.832260 deg,
      new cmd heading: 66.863793 deg.

2025-10-26T23:02:07.110Z,1761519727.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.166993 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:07.356Z,1761519727.356 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:02:07.480Z,1761519727.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412185,-0.906587,-0.090581],[0.910999,0.411577,0.026164],[0.013561,-0.093303,0.995545]]
2025-10-26T23:02:07.497Z,1761519727.497 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:07.499Z,1761519727.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:07.502Z,1761519727.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 97.365982 m,
      bearing: 66.254269 deg,
      approach rate: -0.622090 m/s,
      LOS rate: 0.034629 deg/s,
      cmd heading: 66.863795 deg,
      new cmd heading: 66.904940 deg.

2025-10-26T23:02:07.503Z,1761519727.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.167711 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:07.608Z,1761519727.608 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:02:07.860Z,1761519727.860 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:02:07.882Z,1761519727.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418423,-0.901403,-0.111331],[0.908165,0.416928,0.037521],[0.012596,-0.116807,0.993075]]
2025-10-26T23:02:07.941Z,1761519727.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:07.944Z,1761519727.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 97.077415 m,
      bearing: 66.261431 deg,
      approach rate: -0.652637 m/s,
      LOS rate: 0.016244 deg/s,
      cmd heading: 66.904940 deg,
      new cmd heading: 66.926488 deg.

2025-10-26T23:02:07.945Z,1761519727.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.168088 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:08.112Z,1761519728.112 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:02:08.288Z,1761519728.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423507,-0.896207,-0.132114],[0.905798,0.421044,0.047451],[0.013100,-0.139765,0.990098]]
2025-10-26T23:02:08.307Z,1761519728.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:08.310Z,1761519728.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 96.838890 m,
      bearing: 66.268003 deg,
      approach rate: -0.652126 m/s,
      LOS rate: 0.018014 deg/s,
      cmd heading: 66.926490 deg,
      new cmd heading: 66.946256 deg.

2025-10-26T23:02:08.310Z,1761519728.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.168433 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:08.365Z,1761519728.365 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:02:08.544Z,1761519728.544 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:02:08.616Z,1761519728.616 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:02:08.694Z,1761519728.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426042,-0.891759,-0.152494],[0.904581,0.422659,0.055607],[0.014865,-0.161634,0.986739]]
2025-10-26T23:02:08.776Z,1761519728.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:08.778Z,1761519728.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 96.557251 m,
      bearing: 66.276080 deg,
      approach rate: -0.605754 m/s,
      LOS rate: 0.017423 deg/s,
      cmd heading: 66.946256 deg,
      new cmd heading: 66.970559 deg.

2025-10-26T23:02:08.783Z,1761519728.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.168857 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:08.873Z,1761519728.873 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:02:09.124Z,1761519729.124 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:02:09.151Z,1761519729.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:09.154Z,1761519729.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 96.283318 m,
      bearing: 66.281429 deg,
      approach rate: -0.721839 m/s,
      LOS rate: 0.014134 deg/s,
      cmd heading: 66.970558 deg,
      new cmd heading: 66.986649 deg.

2025-10-26T23:02:09.175Z,1761519729.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.169138 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:09.377Z,1761519729.377 [DAT](INFO): DAT read: Response Not Received

2025-10-26T23:02:09.377Z,1761519729.377 [DAT](INFO): response not received
2025-10-26T23:02:09.378Z,1761519729.378 [DAT](INFO): DAT read: user:761>

2025-10-26T23:02:09.379Z,1761519729.379 [DAT](INFO): DAT read: Tx time:23:02:08.5346

2025-10-26T23:02:09.380Z,1761519729.380 [DAT](INFO): Ping request sent.
2025-10-26T23:02:09.380Z,1761519729.380 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:02:09.380Z,1761519729.380 [DAT](INFO): publishing transmit ping time
2025-10-26T23:02:09.381Z,1761519729.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001099
2025-10-26T23:02:09.498Z,1761519729.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423937,-0.890856,-0.163258],[0.905463,0.420939,0.054286],[0.020361,-0.170838,0.985089]]
2025-10-26T23:02:09.515Z,1761519729.515 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:09.517Z,1761519729.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:09.520Z,1761519729.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 96.035896 m,
      bearing: 66.285916 deg,
      approach rate: -0.676219 m/s,
      LOS rate: 0.012296 deg/s,
      cmd heading: 66.986650 deg,
      new cmd heading: 67.000147 deg.

2025-10-26T23:02:09.521Z,1761519729.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.169373 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:09.548Z,1761519729.548 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:02:09.629Z,1761519729.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248979
2025-10-26T23:02:09.880Z,1761519729.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500640
2025-10-26T23:02:09.945Z,1761519729.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420001,-0.893989,-0.156148],[0.907218,0.418064,0.046671],[0.023557,-0.161262,0.986630]]
2025-10-26T23:02:09.994Z,1761519729.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:09.997Z,1761519729.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 95.707298 m,
      bearing: 66.292842 deg,
      approach rate: -0.689034 m/s,
      LOS rate: 0.014572 deg/s,
      cmd heading: 67.000146 deg,
      new cmd heading: 67.020995 deg.

2025-10-26T23:02:09.998Z,1761519729.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.169737 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:10.132Z,1761519730.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752550
2025-10-26T23:02:10.304Z,1761519730.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414833,-0.898562,-0.143179],[0.909496,0.414161,0.035894],[0.027046,-0.145110,0.989046]]
2025-10-26T23:02:10.322Z,1761519730.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:10.325Z,1761519730.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 95.480934 m,
      bearing: 66.296862 deg,
      approach rate: -0.688856 m/s,
      LOS rate: 0.012261 deg/s,
      cmd heading: 67.020992 deg,
      new cmd heading: 67.033080 deg.

2025-10-26T23:02:10.326Z,1761519730.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.169948 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:10.387Z,1761519730.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006614
2025-10-26T23:02:10.636Z,1761519730.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256700
2025-10-26T23:02:10.711Z,1761519730.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409103,-0.902720,-0.133159],[0.911984,0.409352,0.026776],[0.030338,-0.132393,0.990733]]
2025-10-26T23:02:10.807Z,1761519730.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:10.814Z,1761519730.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 95.164574 m,
      bearing: 66.301308 deg,
      approach rate: -0.653007 m/s,
      LOS rate: 0.009209 deg/s,
      cmd heading: 67.033082 deg,
      new cmd heading: 67.046466 deg.

2025-10-26T23:02:10.815Z,1761519730.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.170182 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:10.890Z,1761519730.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510611
2025-10-26T23:02:11.140Z,1761519731.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760439
2025-10-26T23:02:11.193Z,1761519731.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:11.216Z,1761519731.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 94.888664 m,
      bearing: 66.309930 deg,
      approach rate: -0.713985 m/s,
      LOS rate: 0.022377 deg/s,
      cmd heading: 67.046469 deg,
      new cmd heading: 67.072411 deg.

2025-10-26T23:02:11.217Z,1761519731.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.170634 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:11.394Z,1761519731.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014019
2025-10-26T23:02:11.644Z,1761519731.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264659
2025-10-26T23:02:11.705Z,1761519731.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394242,-0.909864,-0.129306],[0.918343,0.395384,0.017819],[0.034912,-0.125773,0.991445]]
2025-10-26T23:02:11.733Z,1761519731.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:11.752Z,1761519731.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:11.755Z,1761519731.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 94.527382 m,
      bearing: 66.317731 deg,
      approach rate: -0.666179 m/s,
      LOS rate: 0.014439 deg/s,
      cmd heading: 67.072410 deg,
      new cmd heading: 67.095902 deg.

2025-10-26T23:02:11.761Z,1761519731.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.171044 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:11.898Z,1761519731.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517937
2025-10-26T23:02:12.148Z,1761519732.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768651
2025-10-26T23:02:12.330Z,1761519732.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:12.333Z,1761519732.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 94.127113 m,
      bearing: 66.333811 deg,
      approach rate: -0.673589 m/s,
      LOS rate: 0.027175 deg/s,
      cmd heading: 67.095899 deg,
      new cmd heading: 67.144345 deg.

2025-10-26T23:02:12.334Z,1761519732.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.171890 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:12.401Z,1761519732.401 [DAT](INFO): DAT read: Rx Time:23:02:11.0671

2025-10-26T23:02:12.403Z,1761519732.403 [DAT](INFO): Rx dataTimestamp_ set to:1761519732.401964
2025-10-26T23:02:12.404Z,1761519732.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023966
2025-10-26T23:02:12.652Z,1761519732.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272636
2025-10-26T23:02:12.677Z,1761519732.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385752,-0.913207,-0.131332],[0.921995,0.386736,0.018969],[0.033468,-0.128405,0.991157]]
2025-10-26T23:02:12.719Z,1761519732.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.71 m.
2025-10-26T23:02:12.724Z,1761519732.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.706100 m,
      nav range: 93.870712 m,
      bearing: 66.342740 deg,
      approach rate: -0.658985 m/s,
      LOS rate: 0.023011 deg/s,
      cmd heading: 67.144345 deg,
      new cmd heading: 67.171205 deg.

2025-10-26T23:02:12.725Z,1761519732.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.172359 target range: 142.706100 and range: 143.40 m.
2025-10-26T23:02:12.914Z,1761519732.914 [DAT](INFO): DAT read: 23:02:11.0671 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 287,-0.13,-0.669,-2.337,-0.471,-0.824, PHS= 0.258,-1.468, 0.309, RAW= 151.5,  10.3, CAL= 151.2,  11.3, ROT= 358.8, -11.3

2025-10-26T23:02:12.916Z,1761519732.916 [DAT](INFO): got valid direction response:
 23:02:11.0671 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 287,-0.13,-0.669,-2.337,-0.471,-0.824, PHS= 0.258,-1.468, 0.309, RAW= 151.5,  10.3, CAL= 151.2,  11.3, ROT= 358.8, -11.3

2025-10-26T23:02:12.917Z,1761519732.917 [DAT](INFO): DAT read: Bearing 222.5,  -1.3 (Local)

2025-10-26T23:02:12.917Z,1761519732.917 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.5,  -1.3 (Local)

2025-10-26T23:02:12.918Z,1761519732.918 [DAT](INFO): DAT read: Range 11 to 50 : 96.3 m  (Round-trip  128.4 ms) speed  0.4 m/s

2025-10-26T23:02:12.919Z,1761519732.919 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:02:12.920Z,1761519732.920 [DAT](INFO): direction in FSK: [0.980400,-0.020536,0.195946]
2025-10-26T23:02:12.920Z,1761519732.920 [DAT](INFO): publishing direction and range info
2025-10-26T23:02:12.924Z,1761519732.924 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:02:12.924Z,1761519732.924 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:02:12.924Z,1761519732.924 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:02:13.143Z,1761519733.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 96.300003 m,
      deltaT: 86.535846 s,
      deltaX: -47.099991 m,
      approachRate: -0.544283 m/s,
      rangeRepo size: 4

2025-10-26T23:02:13.145Z,1761519733.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 95.838844 m,
      bearing: 67.579218 deg,
      lat: 36.779314 deg,
      lon: -121.859310 deg,
      deltaT: 86.535846 s,
      deltaX: -46.867256 m,
      approachRate: -0.541594 m/s,
      posRepo size: 4

2025-10-26T23:02:13.146Z,1761519733.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.84 m.
2025-10-26T23:02:13.148Z,1761519733.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.838844 m,
      nav range: 96.622429 m,
      bearing: 73.867380 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.023011 deg/s,
      cmd heading: 67.171202 deg,
      new cmd heading: 67.200401 deg.

2025-10-26T23:02:13.149Z,1761519733.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.172868 target range: 95.838844 and range: 96.30 m.
2025-10-26T23:02:13.156Z,1761519733.156 [DAT](INFO): DAT read: user:762>

2025-10-26T23:02:13.157Z,1761519733.157 [DAT](INFO): DAT read: Tx time:23:02:12.2846

2025-10-26T23:02:13.157Z,1761519733.157 [DAT](INFO): Ping request sent.
2025-10-26T23:02:13.158Z,1761519733.158 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:02:13.158Z,1761519733.158 [DAT](INFO): publishing transmit ping time
2025-10-26T23:02:13.158Z,1761519733.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-10-26T23:02:13.410Z,1761519733.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251770
2025-10-26T23:02:13.482Z,1761519733.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378740,-0.917546,-0.121100],[0.924969,0.379711,0.015861],[0.031430,-0.118021,0.992514]]
2025-10-26T23:02:13.527Z,1761519733.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.84 m.
2025-10-26T23:02:13.530Z,1761519733.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.838844 m,
      nav range: 96.389267 m,
      bearing: 73.897157 deg,
      approach rate: -0.606209 m/s,
      LOS rate: 0.077607 deg/s,
      cmd heading: 67.200401 deg,
      new cmd heading: 67.289949 deg.

2025-10-26T23:02:13.531Z,1761519733.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.174431 target range: 95.838844 and range: 96.30 m.
2025-10-26T23:02:13.660Z,1761519733.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502825
2025-10-26T23:02:13.912Z,1761519733.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754881
2025-10-26T23:02:13.946Z,1761519733.946 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:13.948Z,1761519733.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.84 m.
2025-10-26T23:02:13.951Z,1761519733.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.838844 m,
      nav range: 96.155022 m,
      bearing: 73.934152 deg,
      approach rate: -0.555800 m/s,
      LOS rate: 0.087992 deg/s,
      cmd heading: 67.289951 deg,
      new cmd heading: 67.401205 deg.

2025-10-26T23:02:13.952Z,1761519733.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.176373 target range: 95.838844 and range: 96.30 m.
2025-10-26T23:02:14.165Z,1761519734.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007315
2025-10-26T23:02:14.290Z,1761519734.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376262,-0.918655,-0.120416],[0.926037,0.377046,0.017082],[0.029710,-0.117937,0.992577]]
2025-10-26T23:02:14.309Z,1761519734.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.84 m.
2025-10-26T23:02:14.312Z,1761519734.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.838844 m,
      nav range: 95.953697 m,
      bearing: 73.965748 deg,
      approach rate: -0.556974 m/s,
      LOS rate: 0.087597 deg/s,
      cmd heading: 67.401208 deg,
      new cmd heading: 67.496197 deg.

2025-10-26T23:02:14.313Z,1761519734.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.178031 target range: 95.838844 and range: 96.30 m.
2025-10-26T23:02:14.417Z,1761519734.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259413
2025-10-26T23:02:14.668Z,1761519734.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510722
2025-10-26T23:02:14.697Z,1761519734.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376987,-0.918414,-0.119989],[0.925768,0.377667,0.017901],[0.028876,-0.117831,0.992614]]
2025-10-26T23:02:14.857Z,1761519734.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.84 m.
2025-10-26T23:02:14.864Z,1761519734.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.838844 m,
      nav range: 95.679825 m,
      bearing: 74.009087 deg,
      approach rate: -0.533049 m/s,
      LOS rate: 0.084594 deg/s,
      cmd heading: 67.496196 deg,
      new cmd heading: 67.626584 deg.

2025-10-26T23:02:14.865Z,1761519734.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.180307 target range: 95.838844 and range: 96.30 m.
2025-10-26T23:02:14.922Z,1761519734.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764116
2025-10-26T23:02:15.173Z,1761519735.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015260
2025-10-26T23:02:15.234Z,1761519735.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383302,-0.915050,-0.125554],[0.923257,0.383419,0.024202],[0.025994,-0.125195,0.991792]]
2025-10-26T23:02:15.296Z,1761519735.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.84 m.
2025-10-26T23:02:15.299Z,1761519735.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.838844 m,
      nav range: 95.413086 m,
      bearing: 74.061101 deg,
      approach rate: -0.563986 m/s,
      LOS rate: 0.110285 deg/s,
      cmd heading: 67.626584 deg,
      new cmd heading: 67.783062 deg.

2025-10-26T23:02:15.320Z,1761519735.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.183038 target range: 95.838844 and range: 96.30 m.
2025-10-26T23:02:15.425Z,1761519735.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267396
2025-10-26T23:02:15.637Z,1761519735.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387705,-0.912267,-0.132112],[0.921443,0.387454,0.028663],[0.025039,-0.132846,0.990820]]
2025-10-26T23:02:15.676Z,1761519735.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518741
2025-10-26T23:02:15.694Z,1761519735.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.84 m.
2025-10-26T23:02:15.697Z,1761519735.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.838844 m,
      nav range: 95.209007 m,
      bearing: 74.101744 deg,
      approach rate: -0.512428 m/s,
      LOS rate: 0.102271 deg/s,
      cmd heading: 67.783064 deg,
      new cmd heading: 67.905254 deg.

2025-10-26T23:02:15.699Z,1761519735.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.185170 target range: 95.838844 and range: 96.30 m.
2025-10-26T23:02:15.929Z,1761519735.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770976
2025-10-26T23:02:16.044Z,1761519736.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392431,-0.908756,-0.141988],[0.919466,0.391635,0.034698],[0.024076,-0.144169,0.989260]]
2025-10-26T23:02:16.111Z,1761519736.111 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:16.114Z,1761519736.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.84 m.
2025-10-26T23:02:16.116Z,1761519736.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.838844 m,
      nav range: 94.992584 m,
      bearing: 74.148065 deg,
      approach rate: -0.516369 m/s,
      LOS rate: 0.110768 deg/s,
      cmd heading: 67.905256 deg,
      new cmd heading: 68.044532 deg.

2025-10-26T23:02:16.117Z,1761519736.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.187601 target range: 95.838844 and range: 96.30 m.
2025-10-26T23:02:16.183Z,1761519736.183 [DAT](INFO): DAT read: Rx Time:23:02:14.8143

2025-10-26T23:02:16.183Z,1761519736.183 [DAT](INFO): Rx dataTimestamp_ set to:1761519736.182980
2025-10-26T23:02:16.184Z,1761519736.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026399
2025-10-26T23:02:16.437Z,1761519736.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279163
2025-10-26T23:02:16.444Z,1761519736.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397287,-0.904955,-0.152378],[0.917407,0.395803,0.041276],[0.022959,-0.156191,0.987460]]
2025-10-26T23:02:16.463Z,1761519736.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.84 m.
2025-10-26T23:02:16.466Z,1761519736.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.838844 m,
      nav range: 94.819557 m,
      bearing: 74.185804 deg,
      approach rate: -0.495474 m/s,
      LOS rate: 0.108266 deg/s,
      cmd heading: 68.044530 deg,
      new cmd heading: 68.157955 deg.

2025-10-26T23:02:16.466Z,1761519736.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.189581 target range: 95.838844 and range: 96.30 m.
2025-10-26T23:02:16.694Z,1761519736.694 [DAT](INFO): DAT read: 23:02:14.8143 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 418, 0.08, 2.864, 1.236, 3.058, 2.761, PHS= 0.205,-1.480, 0.253, RAW= 151.4,  11.9, CAL= 151.3,  13.2, ROT= 358.7, -13.2

2025-10-26T23:02:16.695Z,1761519736.695 [DAT](INFO): got valid direction response:
 23:02:14.8143 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 418, 0.08, 2.864, 1.236, 3.058, 2.761, PHS= 0.205,-1.480, 0.253, RAW= 151.4,  11.9, CAL= 151.3,  13.2, ROT= 358.7, -13.2

2025-10-26T23:02:16.696Z,1761519736.696 [DAT](INFO): DAT read: Bearing 223.9,  -1.9 (Local)

2025-10-26T23:02:16.696Z,1761519736.696 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.9,  -1.9 (Local)

2025-10-26T23:02:16.698Z,1761519736.698 [DAT](INFO): DAT read: Range 11 to 50 : 94.1 m  (Round-trip  125.5 ms) speed  0.8 m/s

2025-10-26T23:02:16.698Z,1761519736.698 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:02:16.700Z,1761519736.700 [DAT](INFO): direction in FSK: [0.973328,-0.022088,0.228351]
2025-10-26T23:02:16.700Z,1761519736.700 [DAT](INFO): publishing direction and range info
2025-10-26T23:02:16.705Z,1761519736.705 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:02:16.706Z,1761519736.706 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:02:16.706Z,1761519736.706 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:02:16.902Z,1761519736.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401897,-0.901888,-0.158356],[0.915423,0.399865,0.045923],[0.021904,-0.163419,0.986314]]
2025-10-26T23:02:16.940Z,1761519736.940 [DAT](INFO): DAT read: user:763>

2025-10-26T23:02:16.941Z,1761519736.941 [DAT](INFO): DAT read: Tx time:23:02:16.0846

2025-10-26T23:02:16.941Z,1761519736.941 [DAT](INFO): Ping request sent.
2025-10-26T23:02:16.941Z,1761519736.941 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:02:16.942Z,1761519736.942 [DAT](INFO): publishing transmit ping time
2025-10-26T23:02:16.942Z,1761519736.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-10-26T23:02:16.972Z,1761519736.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 94.099998 m,
      deltaT: 3.782386 s,
      deltaX: -2.200005 m,
      approachRate: -0.581645 m/s,
      rangeRepo size: 4

2025-10-26T23:02:16.974Z,1761519736.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 93.650932 m,
      bearing: 67.216516 deg,
      lat: 36.779392 deg,
      lon: -121.859384 deg,
      deltaT: 3.782386 s,
      deltaX: -2.187912 m,
      approachRate: -0.578448 m/s,
      posRepo size: 4

2025-10-26T23:02:16.974Z,1761519736.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.65 m.
2025-10-26T23:02:16.977Z,1761519736.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.650932 m,
      nav range: 91.161179 m,
      bearing: 67.820602 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.108266 deg/s,
      cmd heading: 68.157952 deg,
      new cmd heading: 68.323021 deg.

2025-10-26T23:02:16.978Z,1761519736.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.192462 target range: 93.650932 and range: 94.10 m.
2025-10-26T23:02:17.192Z,1761519737.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250954
2025-10-26T23:02:17.251Z,1761519737.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405864,-0.899258,-0.163122],[0.913692,0.403342,0.049818],[0.020995,-0.169262,0.985347]]
2025-10-26T23:02:17.270Z,1761519737.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.65 m.
2025-10-26T23:02:17.281Z,1761519737.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.650932 m,
      nav range: 91.002022 m,
      bearing: 67.843514 deg,
      approach rate: -0.532632 m/s,
      LOS rate: 0.076812 deg/s,
      cmd heading: 68.323024 deg,
      new cmd heading: 68.391881 deg.

2025-10-26T23:02:17.282Z,1761519737.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.193663 target range: 93.650932 and range: 94.10 m.
2025-10-26T23:02:17.444Z,1761519737.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502866
2025-10-26T23:02:17.654Z,1761519737.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408229,-0.897888,-0.164759],[0.912653,0.405447,0.051745],[0.020340,-0.171492,0.984976]]
2025-10-26T23:02:17.696Z,1761519737.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754936
2025-10-26T23:02:17.701Z,1761519737.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.65 m.
2025-10-26T23:02:17.709Z,1761519737.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.650932 m,
      nav range: 90.786423 m,
      bearing: 67.875027 deg,
      approach rate: -0.499847 m/s,
      LOS rate: 0.073234 deg/s,
      cmd heading: 68.391879 deg,
      new cmd heading: 68.486643 deg.

2025-10-26T23:02:17.711Z,1761519737.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.195317 target range: 93.650932 and range: 94.10 m.
2025-10-26T23:02:17.948Z,1761519737.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006894
2025-10-26T23:02:18.060Z,1761519738.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409521,-0.897889,-0.161514],[0.912082,0.406832,0.050938],[0.019972,-0.168174,0.985555]]
2025-10-26T23:02:18.178Z,1761519738.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:18.180Z,1761519738.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.65 m.
2025-10-26T23:02:18.184Z,1761519738.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.650932 m,
      nav range: 90.515915 m,
      bearing: 67.908896 deg,
      approach rate: -0.564389 m/s,
      LOS rate: 0.070875 deg/s,
      cmd heading: 68.486641 deg,
      new cmd heading: 68.588551 deg.

2025-10-26T23:02:18.185Z,1761519738.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.197096 target range: 93.650932 and range: 94.10 m.
2025-10-26T23:02:18.203Z,1761519738.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261401
2025-10-26T23:02:18.452Z,1761519738.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510892
2025-10-26T23:02:18.519Z,1761519738.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.65 m.
2025-10-26T23:02:18.522Z,1761519738.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.650932 m,
      nav range: 90.331596 m,
      bearing: 67.932092 deg,
      approach rate: -0.544186 m/s,
      LOS rate: 0.068626 deg/s,
      cmd heading: 68.588548 deg,
      new cmd heading: 68.658279 deg.

2025-10-26T23:02:18.523Z,1761519738.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.198313 target range: 93.650932 and range: 94.10 m.
2025-10-26T23:02:18.706Z,1761519738.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763815
2025-10-26T23:02:18.957Z,1761519738.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015371
2025-10-26T23:02:18.984Z,1761519738.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405890,-0.901789,-0.148428],[0.913700,0.403987,0.044130],[0.020167,-0.153530,0.987938]]
2025-10-26T23:02:19.049Z,1761519739.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.65 m.
2025-10-26T23:02:19.052Z,1761519739.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.650932 m,
      nav range: 90.023499 m,
      bearing: 67.961975 deg,
      approach rate: -0.581103 m/s,
      LOS rate: 0.056554 deg/s,
      cmd heading: 68.658277 deg,
      new cmd heading: 68.748232 deg.

2025-10-26T23:02:19.053Z,1761519739.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.199883 target range: 93.650932 and range: 94.10 m.
2025-10-26T23:02:19.208Z,1761519739.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266762
2025-10-26T23:02:19.460Z,1761519739.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518898
2025-10-26T23:02:19.502Z,1761519739.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402348,-0.904807,-0.139429],[0.915260,0.400946,0.039264],[0.020377,-0.143411,0.989453]]
2025-10-26T23:02:19.540Z,1761519739.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.65 m.
2025-10-26T23:02:19.543Z,1761519739.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.650932 m,
      nav range: 89.738419 m,
      bearing: 67.989242 deg,
      approach rate: -0.580750 m/s,
      LOS rate: 0.055724 deg/s,
      cmd heading: 68.748231 deg,
      new cmd heading: 68.830293 deg.

2025-10-26T23:02:19.560Z,1761519739.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.201315 target range: 93.650932 and range: 94.10 m.
2025-10-26T23:02:19.713Z,1761519739.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771733
2025-10-26T23:02:19.964Z,1761519739.964 [DAT](INFO): DAT read: Rx Time:23:02:18.6111

2025-10-26T23:02:19.965Z,1761519739.965 [DAT](INFO): Rx dataTimestamp_ set to:1761519739.964508
2025-10-26T23:02:19.965Z,1761519739.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023846
2025-10-26T23:02:20.061Z,1761519740.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390739,-0.911654,-0.127323],[0.920253,0.390095,0.030998],[0.021409,-0.129281,0.991377]]
2025-10-26T23:02:20.105Z,1761519740.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.65 m.
2025-10-26T23:02:20.108Z,1761519740.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.650932 m,
      nav range: 89.385101 m,
      bearing: 68.001874 deg,
      approach rate: -0.625234 m/s,
      LOS rate: 0.022442 deg/s,
      cmd heading: 68.830296 deg,
      new cmd heading: 68.868341 deg.

2025-10-26T23:02:20.109Z,1761519740.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.201979 target range: 93.650932 and range: 94.10 m.
2025-10-26T23:02:20.216Z,1761519740.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274953
2025-10-26T23:02:20.474Z,1761519740.474 [DAT](INFO): DAT read: 23:02:18.6111 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 401, 0.42, 1.503,-0.170, 1.668, 1.382, PHS= 0.223,-1.508, 0.242, RAW= 150.6,  12.0, CAL= 150.5,  13.2, ROT= 359.5, -13.2

2025-10-26T23:02:20.476Z,1761519740.476 [DAT](INFO): got valid direction response:
 23:02:18.6111 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 401, 0.42, 1.503,-0.170, 1.668, 1.382, PHS= 0.223,-1.508, 0.242, RAW= 150.6,  12.0, CAL= 150.5,  13.2, ROT= 359.5, -13.2

2025-10-26T23:02:20.476Z,1761519740.476 [DAT](INFO): DAT read: Bearing 223.5,  -0.9 (Local)

2025-10-26T23:02:20.477Z,1761519740.477 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.5,  -0.9 (Local)

2025-10-26T23:02:20.478Z,1761519740.478 [DAT](INFO): DAT read: Range 11 to 50 : 91.7 m  (Round-trip  122.3 ms) speed  0.5 m/s

2025-10-26T23:02:20.479Z,1761519740.479 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:02:20.480Z,1761519740.480 [DAT](INFO): direction in FSK: [0.973542,-0.008496,0.228351]
2025-10-26T23:02:20.480Z,1761519740.480 [DAT](INFO): publishing direction and range info
2025-10-26T23:02:20.488Z,1761519740.488 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:02:20.488Z,1761519740.488 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:02:20.488Z,1761519740.488 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:02:20.562Z,1761519740.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 91.699997 m,
      deltaT: 3.779954 s,
      deltaX: -2.400002 m,
      approachRate: -0.634929 m/s,
      rangeRepo size: 4

2025-10-26T23:02:20.569Z,1761519740.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 91.263924 m,
      bearing: 68.242321 deg,
      lat: 36.779392 deg,
      lon: -121.859390 deg,
      deltaT: 3.779954 s,
      deltaX: -2.387009 m,
      approachRate: -0.631491 m/s,
      posRepo size: 4

2025-10-26T23:02:20.569Z,1761519740.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.26 m.
2025-10-26T23:02:20.577Z,1761519740.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.263924 m,
      nav range: 88.630852 m,
      bearing: 67.879320 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022442 deg/s,
      cmd heading: 68.868340 deg,
      new cmd heading: 68.899075 deg.

2025-10-26T23:02:20.578Z,1761519740.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.202516 target range: 91.263924 and range: 91.70 m.
2025-10-26T23:02:20.721Z,1761519740.721 [DAT](INFO): DAT read: user:764>

2025-10-26T23:02:20.722Z,1761519740.722 [DAT](INFO): DAT read: Tx time:23:02:19.8346

2025-10-26T23:02:20.722Z,1761519740.722 [DAT](INFO): Ping request sent.
2025-10-26T23:02:20.723Z,1761519740.723 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:02:20.723Z,1761519740.723 [DAT](INFO): publishing transmit ping time
2025-10-26T23:02:20.724Z,1761519740.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001208
2025-10-26T23:02:20.883Z,1761519740.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377764,-0.918895,-0.113693],[0.925604,0.377900,0.021196],[0.023488,-0.113242,0.993290]]
2025-10-26T23:02:20.961Z,1761519740.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:20.965Z,1761519740.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.26 m.
2025-10-26T23:02:20.970Z,1761519740.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.263924 m,
      nav range: 88.350998 m,
      bearing: 67.886730 deg,
      approach rate: -0.693676 m/s,
      LOS rate: 0.018425 deg/s,
      cmd heading: 68.899076 deg,
      new cmd heading: 68.921375 deg.

2025-10-26T23:02:20.971Z,1761519740.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.202905 target range: 91.263924 and range: 91.70 m.
2025-10-26T23:02:20.973Z,1761519740.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250167
2025-10-26T23:02:21.224Z,1761519741.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501860
2025-10-26T23:02:21.286Z,1761519741.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372516,-0.921552,-0.109430],[0.927700,0.372911,0.017601],[0.024587,-0.108075,0.993839]]
2025-10-26T23:02:21.328Z,1761519741.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.26 m.
2025-10-26T23:02:21.330Z,1761519741.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.263924 m,
      nav range: 88.104980 m,
      bearing: 67.889624 deg,
      approach rate: -0.679379 m/s,
      LOS rate: 0.008015 deg/s,
      cmd heading: 68.921376 deg,
      new cmd heading: 68.930083 deg.

2025-10-26T23:02:21.332Z,1761519741.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.203057 target range: 91.263924 and range: 91.70 m.
2025-10-26T23:02:21.477Z,1761519741.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754118
2025-10-26T23:02:21.682Z,1761519741.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368283,-0.923285,-0.109143],[0.929356,0.368850,0.015685],[0.025775,-0.107209,0.993902]]
2025-10-26T23:02:21.721Z,1761519741.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.26 m.
2025-10-26T23:02:21.725Z,1761519741.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.263924 m,
      nav range: 87.849915 m,
      bearing: 67.891891 deg,
      approach rate: -0.651014 m/s,
      LOS rate: 0.005802 deg/s,
      cmd heading: 68.930085 deg,
      new cmd heading: 68.936904 deg.

2025-10-26T23:02:21.727Z,1761519741.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.203176 target range: 91.263924 and range: 91.70 m.
2025-10-26T23:02:21.729Z,1761519741.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006490
2025-10-26T23:02:21.984Z,1761519741.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261590
2025-10-26T23:02:22.086Z,1761519742.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365140,-0.924352,-0.110666],[0.930569,0.365812,0.014898],[0.026712,-0.108422,0.993746]]
2025-10-26T23:02:22.133Z,1761519742.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.26 m.
2025-10-26T23:02:22.137Z,1761519742.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.263924 m,
      nav range: 87.575546 m,
      bearing: 67.891906 deg,
      approach rate: -0.662260 m/s,
      LOS rate: 0.000037 deg/s,
      cmd heading: 68.936901 deg,
      new cmd heading: 68.936948 deg.

2025-10-26T23:02:22.138Z,1761519742.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.203177 target range: 91.263924 and range: 91.70 m.
2025-10-26T23:02:22.234Z,1761519742.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511212
2025-10-26T23:02:22.485Z,1761519742.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762135
2025-10-26T23:02:22.493Z,1761519742.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363859,-0.924905,-0.110264],[0.931062,0.364582,0.014256],[0.027015,-0.107850,0.993800]]
2025-10-26T23:02:22.511Z,1761519742.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.26 m.
2025-10-26T23:02:22.514Z,1761519742.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.263924 m,
      nav range: 87.328209 m,
      bearing: 67.891699 deg,
      approach rate: -0.654716 m/s,
      LOS rate: -0.000550 deg/s,
      cmd heading: 68.936949 deg,
      new cmd heading: 68.936326 deg.

2025-10-26T23:02:22.516Z,1761519742.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.203166 target range: 91.263924 and range: 91.70 m.
2025-10-26T23:02:22.737Z,1761519742.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014129
2025-10-26T23:02:22.904Z,1761519742.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362066,-0.925269,-0.113075],[0.931753,0.362791,0.014830],[0.027301,-0.110728,0.993476]]
2025-10-26T23:02:22.987Z,1761519742.987 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:22.988Z,1761519742.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265827
2025-10-26T23:02:22.993Z,1761519742.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.26 m.
2025-10-26T23:02:22.997Z,1761519742.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.263924 m,
      nav range: 87.028038 m,
      bearing: 67.891057 deg,
      approach rate: -0.623280 m/s,
      LOS rate: -0.001339 deg/s,
      cmd heading: 68.936327 deg,
      new cmd heading: 68.934393 deg.

2025-10-26T23:02:22.998Z,1761519742.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.203132 target range: 91.263924 and range: 91.70 m.
2025-10-26T23:02:23.240Z,1761519743.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517833
2025-10-26T23:02:23.315Z,1761519743.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360426,-0.924719,-0.122424],[0.932378,0.361040,0.017917],[0.027632,-0.120603,0.992316]]
2025-10-26T23:02:23.376Z,1761519743.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.26 m.
2025-10-26T23:02:23.381Z,1761519743.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.263924 m,
      nav range: 86.772575 m,
      bearing: 67.896257 deg,
      approach rate: -0.667936 m/s,
      LOS rate: 0.013637 deg/s,
      cmd heading: 68.934395 deg,
      new cmd heading: 68.950042 deg.

2025-10-26T23:02:23.382Z,1761519743.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.203405 target range: 91.263924 and range: 91.70 m.
2025-10-26T23:02:23.493Z,1761519743.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770227
2025-10-26T23:02:23.741Z,1761519743.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359258,-0.923522,-0.134314],[0.932829,0.359626,0.022361],[0.027652,-0.133325,0.990686]]
2025-10-26T23:02:23.744Z,1761519743.744 [DAT](INFO): DAT read: Rx Time:23:02:22.3580

2025-10-26T23:02:23.745Z,1761519743.745 [DAT](INFO): Rx dataTimestamp_ set to:1761519743.744663
2025-10-26T23:02:23.745Z,1761519743.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022941
2025-10-26T23:02:23.762Z,1761519743.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.26 m.
2025-10-26T23:02:23.793Z,1761519743.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.263924 m,
      nav range: 86.520119 m,
      bearing: 67.901200 deg,
      approach rate: -0.652350 m/s,
      LOS rate: 0.012811 deg/s,
      cmd heading: 68.950043 deg,
      new cmd heading: 68.964916 deg.

2025-10-26T23:02:23.794Z,1761519743.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.203665 target range: 91.263924 and range: 91.70 m.
2025-10-26T23:02:24.000Z,1761519744.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277304
2025-10-26T23:02:24.155Z,1761519744.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358719,-0.922818,-0.140452],[0.933057,0.358830,0.025425],[0.026936,-0.140170,0.989761]]
2025-10-26T23:02:24.217Z,1761519744.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.26 m.
2025-10-26T23:02:24.220Z,1761519744.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.263924 m,
      nav range: 86.230103 m,
      bearing: 67.908741 deg,
      approach rate: -0.638531 m/s,
      LOS rate: 0.016658 deg/s,
      cmd heading: 68.964919 deg,
      new cmd heading: 68.987617 deg.

2025-10-26T23:02:24.221Z,1761519744.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.204061 target range: 91.263924 and range: 91.70 m.
2025-10-26T23:02:24.256Z,1761519744.256 [DAT](INFO): DAT read: 23:02:22.3580 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 417,-0.10, 1.998, 0.328, 2.254, 1.904, PHS= 0.196,-1.531, 0.305, RAW= 153.1,  11.5, CAL= 153.0,  12.7, ROT= 357.0, -12.7

2025-10-26T23:02:24.258Z,1761519744.258 [DAT](INFO): got valid direction response:
 23:02:22.3580 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 417,-0.10, 1.998, 0.328, 2.254, 1.904, PHS= 0.196,-1.531, 0.305, RAW= 153.1,  11.5, CAL= 153.0,  12.7, ROT= 357.0, -12.7

2025-10-26T23:02:24.259Z,1761519744.259 [DAT](INFO): DAT read: Bearing 224.6,  -3.2 (Local)

2025-10-26T23:02:24.260Z,1761519744.260 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.6,  -3.2 (Local)

2025-10-26T23:02:24.262Z,1761519744.262 [DAT](INFO): DAT read: Range 11 to 50 : 89.4 m  (Round-trip  119.2 ms) speed  0.6 m/s

2025-10-26T23:02:24.263Z,1761519744.263 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:02:24.264Z,1761519744.264 [DAT](INFO): direction in FSK: [0.974198,-0.051056,0.219846]
2025-10-26T23:02:24.264Z,1761519744.264 [DAT](INFO): publishing direction and range info
2025-10-26T23:02:24.270Z,1761519744.270 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:02:24.270Z,1761519744.270 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:02:24.270Z,1761519744.270 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:02:24.500Z,1761519744.500 [DAT](INFO): DAT read: user:765>

2025-10-26T23:02:24.501Z,1761519744.501 [DAT](INFO): DAT read: Tx time:23:02:23.6346

2025-10-26T23:02:24.501Z,1761519744.501 [DAT](INFO): Ping request sent.
2025-10-26T23:02:24.501Z,1761519744.501 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:02:24.502Z,1761519744.502 [DAT](INFO): publishing transmit ping time
2025-10-26T23:02:24.502Z,1761519744.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757
2025-10-26T23:02:24.537Z,1761519744.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357843,-0.923248,-0.139860],[0.933399,0.357950,0.025266],[0.026736,-0.139587,0.989849]]
2025-10-26T23:02:24.585Z,1761519744.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 89.400002 m,
      deltaT: 3.780114 s,
      deltaX: -2.299995 m,
      approachRate: -0.608446 m/s,
      rangeRepo size: 4

2025-10-26T23:02:24.592Z,1761519744.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 88.975197 m,
      bearing: 67.849017 deg,
      lat: 36.779394 deg,
      lon: -121.859389 deg,
      deltaT: 3.780114 s,
      deltaX: -2.288727 m,
      approachRate: -0.605465 m/s,
      posRepo size: 4

2025-10-26T23:02:24.592Z,1761519744.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.98 m.
2025-10-26T23:02:24.595Z,1761519744.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.975197 m,
      nav range: 86.131607 m,
      bearing: 67.848713 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016658 deg/s,
      cmd heading: 68.987615 deg,
      new cmd heading: 69.006016 deg.

2025-10-26T23:02:24.600Z,1761519744.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.204382 target range: 88.975197 and range: 89.40 m.
2025-10-26T23:02:24.753Z,1761519744.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251392
2025-10-26T23:02:25.007Z,1761519745.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505129
2025-10-26T23:02:25.011Z,1761519745.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356650,-0.924207,-0.136534],[0.933851,0.356881,0.023624],[0.026893,-0.135928,0.990354]]
2025-10-26T23:02:25.030Z,1761519745.030 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050302504334,35.0, +10.9,   0.0,10
2025-10-26T23:02:25.044Z,1761519745.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:25.046Z,1761519745.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.98 m.
2025-10-26T23:02:25.049Z,1761519745.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.975197 m,
      nav range: 85.829170 m,
      bearing: 67.855964 deg,
      approach rate: -0.655421 m/s,
      LOS rate: 0.015771 deg/s,
      cmd heading: 69.006016 deg,
      new cmd heading: 69.027848 deg.

2025-10-26T23:02:25.050Z,1761519745.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.204763 target range: 88.975197 and range: 89.40 m.
2025-10-26T23:02:25.257Z,1761519745.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755193
2025-10-26T23:02:25.334Z,1761519745.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355884,-0.924954,-0.133438],[0.934133,0.356248,0.021962],[0.027223,-0.132465,0.990814]]
2025-10-26T23:02:25.382Z,1761519745.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.98 m.
2025-10-26T23:02:25.389Z,1761519745.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.975197 m,
      nav range: 85.632889 m,
      bearing: 67.860583 deg,
      approach rate: -0.584946 m/s,
      LOS rate: 0.013795 deg/s,
      cmd heading: 69.027845 deg,
      new cmd heading: 69.041732 deg.

2025-10-26T23:02:25.390Z,1761519745.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.205006 target range: 88.975197 and range: 89.40 m.
2025-10-26T23:02:25.509Z,1761519745.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007443
2025-10-26T23:02:25.742Z,1761519745.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355590,-0.925012,-0.133826],[0.934246,0.355945,0.022081],[0.027209,-0.132878,0.990759]]
2025-10-26T23:02:25.761Z,1761519745.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259111
2025-10-26T23:02:25.763Z,1761519745.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.98 m.
2025-10-26T23:02:25.778Z,1761519745.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.975197 m,
      nav range: 85.372208 m,
      bearing: 67.866695 deg,
      approach rate: -0.684195 m/s,
      LOS rate: 0.016092 deg/s,
      cmd heading: 69.041731 deg,
      new cmd heading: 69.060125 deg.

2025-10-26T23:02:25.779Z,1761519745.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.205327 target range: 88.975197 and range: 89.40 m.
2025-10-26T23:02:26.015Z,1761519746.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513242
2025-10-26T23:02:26.142Z,1761519746.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355857,-0.924405,-0.137259],[0.934148,0.356106,0.023585],[0.027077,-0.136613,0.990254]]
2025-10-26T23:02:26.187Z,1761519746.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.98 m.
2025-10-26T23:02:26.190Z,1761519746.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.975197 m,
      nav range: 85.136620 m,
      bearing: 67.890502 deg,
      approach rate: -0.555714 m/s,
      LOS rate: 0.056310 deg/s,
      cmd heading: 69.060125 deg,
      new cmd heading: 69.131741 deg.

2025-10-26T23:02:26.191Z,1761519746.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.206576 target range: 88.975197 and range: 89.40 m.
2025-10-26T23:02:26.265Z,1761519746.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763206
2025-10-26T23:02:26.516Z,1761519746.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014993
2025-10-26T23:02:26.548Z,1761519746.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357080,-0.923315,-0.141366],[0.933689,0.357168,0.025624],[0.026832,-0.141142,0.989626]]
2025-10-26T23:02:26.566Z,1761519746.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.98 m.
2025-10-26T23:02:26.569Z,1761519746.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.975197 m,
      nav range: 84.926605 m,
      bearing: 67.912022 deg,
      approach rate: -0.553770 m/s,
      LOS rate: 0.056887 deg/s,
      cmd heading: 69.131739 deg,
      new cmd heading: 69.196461 deg.

2025-10-26T23:02:26.570Z,1761519746.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.207706 target range: 88.975197 and range: 89.40 m.
2025-10-26T23:02:26.771Z,1761519746.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269869
2025-10-26T23:02:26.950Z,1761519746.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358015,-0.922895,-0.141740],[0.933345,0.358005,0.026461],[0.026322,-0.141766,0.989550]]
2025-10-26T23:02:27.010Z,1761519747.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.98 m.
2025-10-26T23:02:27.024Z,1761519747.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521457
2025-10-26T23:02:27.040Z,1761519747.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.975197 m,
      nav range: 84.700600 m,
      bearing: 67.935457 deg,
      approach rate: -0.510042 m/s,
      LOS rate: 0.053028 deg/s,
      cmd heading: 69.196462 deg,
      new cmd heading: 69.266954 deg.

2025-10-26T23:02:27.041Z,1761519747.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.208936 target range: 88.975197 and range: 89.40 m.
2025-10-26T23:02:27.272Z,1761519747.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770967
2025-10-26T23:02:27.354Z,1761519747.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359527,-0.922333,-0.141568],[0.932789,0.359365,0.027613],[0.025406,-0.141980,0.989543]]
2025-10-26T23:02:27.414Z,1761519747.414 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:27.417Z,1761519747.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.98 m.
2025-10-26T23:02:27.420Z,1761519747.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.975197 m,
      nav range: 84.473869 m,
      bearing: 67.967769 deg,
      approach rate: -0.556346 m/s,
      LOS rate: 0.079499 deg/s,
      cmd heading: 69.266956 deg,
      new cmd heading: 69.364152 deg.

2025-10-26T23:02:27.421Z,1761519747.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.210633 target range: 88.975197 and range: 89.40 m.
2025-10-26T23:02:27.524Z,1761519747.524 [DAT](INFO): DAT read: Rx Time:23:02:26.1551

2025-10-26T23:02:27.525Z,1761519747.525 [DAT](INFO): Rx dataTimestamp_ set to:1761519747.524661
2025-10-26T23:02:27.525Z,1761519747.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024091
2025-10-26T23:02:27.758Z,1761519747.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361600,-0.921504,-0.141691],[0.932012,0.361263,0.029011],[0.024455,-0.142548,0.989486]]
2025-10-26T23:02:27.776Z,1761519747.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274949
2025-10-26T23:02:27.851Z,1761519747.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.98 m.
2025-10-26T23:02:27.854Z,1761519747.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.975197 m,
      nav range: 84.250755 m,
      bearing: 68.000085 deg,
      approach rate: -0.513517 m/s,
      LOS rate: 0.074576 deg/s,
      cmd heading: 69.364150 deg,
      new cmd heading: 69.461356 deg.

2025-10-26T23:02:27.856Z,1761519747.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.212329 target range: 88.975197 and range: 89.40 m.
2025-10-26T23:02:28.066Z,1761519748.066 [DAT](INFO): DAT read: 23:02:26.1551 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 420, 0.21,-2.025, 2.583,-1.788,-2.180, PHS= 0.257,-1.475, 0.348, RAW= 152.5,   9.8, CAL= 152.3,  10.6, ROT= 357.7, -10.6

2025-10-26T23:02:28.074Z,1761519748.074 [DAT](INFO): got valid direction response:
 23:02:26.1551 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 420, 0.21,-2.025, 2.583,-1.788,-2.180, PHS= 0.257,-1.475, 0.348, RAW= 152.5,   9.8, CAL= 152.3,  10.6, ROT= 357.7, -10.6

2025-10-26T23:02:28.080Z,1761519748.080 [DAT](INFO): DAT read: Bearing 222.8,  -2.4 (Local)

2025-10-26T23:02:28.080Z,1761519748.080 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.8,  -2.4 (Local)

2025-10-26T23:02:28.082Z,1761519748.082 [DAT](INFO): DAT read: Range 11 to 50 : 87.3 m  (Round-trip  116.4 ms) speed  0.4 m/s

2025-10-26T23:02:28.082Z,1761519748.082 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:02:28.088Z,1761519748.088 [DAT](INFO): direction in FSK: [0.982143,-0.039447,0.183951]
2025-10-26T23:02:28.088Z,1761519748.088 [DAT](INFO): publishing direction and range info
2025-10-26T23:02:28.107Z,1761519748.107 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:02:28.107Z,1761519748.107 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:02:28.107Z,1761519748.107 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:02:28.194Z,1761519748.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364106,-0.919813,-0.146192],[0.931068,0.363393,0.032519],[0.023214,-0.147955,0.988722]]
2025-10-26T23:02:28.284Z,1761519748.284 [DAT](INFO): DAT read: user:766>

2025-10-26T23:02:28.285Z,1761519748.285 [DAT](INFO): DAT read: Tx time:23:02:27.4846

2025-10-26T23:02:28.285Z,1761519748.285 [DAT](INFO): Ping request sent.
2025-10-26T23:02:28.286Z,1761519748.286 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:02:28.286Z,1761519748.286 [DAT](INFO): publishing transmit ping time
2025-10-26T23:02:28.286Z,1761519748.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762
2025-10-26T23:02:28.288Z,1761519748.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 87.300003 m,
      deltaT: 3.784050 s,
      deltaX: -2.099998 m,
      approachRate: -0.554961 m/s,
      rangeRepo size: 4

2025-10-26T23:02:28.290Z,1761519748.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 86.887428 m,
      bearing: 67.950468 deg,
      lat: 36.779394 deg,
      lon: -121.859389 deg,
      deltaT: 3.784050 s,
      deltaX: -2.087769 m,
      approachRate: -0.551729 m/s,
      posRepo size: 4

2025-10-26T23:02:28.295Z,1761519748.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.89 m.
2025-10-26T23:02:28.298Z,1761519748.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.887428 m,
      nav range: 84.035065 m,
      bearing: 68.035143 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.074576 deg/s,
      cmd heading: 69.461357 deg,
      new cmd heading: 69.559096 deg.

2025-10-26T23:02:28.299Z,1761519748.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.214035 target range: 86.887428 and range: 87.30 m.
2025-10-26T23:02:28.537Z,1761519748.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251109
2025-10-26T23:02:28.592Z,1761519748.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366278,-0.918487,-0.149070],[0.930233,0.365320,0.034762],[0.022530,-0.151402,0.988216]]
2025-10-26T23:02:28.637Z,1761519748.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.89 m.
2025-10-26T23:02:28.640Z,1761519748.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.887428 m,
      nav range: 83.851822 m,
      bearing: 68.065351 deg,
      approach rate: -0.524535 m/s,
      LOS rate: 0.086661 deg/s,
      cmd heading: 69.559097 deg,
      new cmd heading: 69.649920 deg.

2025-10-26T23:02:28.641Z,1761519748.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.215620 target range: 86.887428 and range: 87.30 m.
2025-10-26T23:02:28.788Z,1761519748.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502843
2025-10-26T23:02:29.003Z,1761519749.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367300,-0.918296,-0.147729],[0.929839,0.366313,0.034835],[0.022126,-0.150160,0.988414]]
2025-10-26T23:02:29.043Z,1761519749.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757038
2025-10-26T23:02:29.088Z,1761519749.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.89 m.
2025-10-26T23:02:29.090Z,1761519749.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.887428 m,
      nav range: 83.623611 m,
      bearing: 68.103356 deg,
      approach rate: -0.506990 m/s,
      LOS rate: 0.084661 deg/s,
      cmd heading: 69.649918 deg,
      new cmd heading: 69.764243 deg.

2025-10-26T23:02:29.091Z,1761519749.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.217616 target range: 86.887428 and range: 87.30 m.
2025-10-26T23:02:29.292Z,1761519749.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006758
2025-10-26T23:02:29.418Z,1761519749.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368463,-0.917922,-0.147152],[0.929398,0.367354,0.035649],[0.021334,-0.149898,0.988471]]
2025-10-26T23:02:29.478Z,1761519749.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:29.484Z,1761519749.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.89 m.
2025-10-26T23:02:29.487Z,1761519749.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.887428 m,
      nav range: 83.434891 m,
      bearing: 68.132669 deg,
      approach rate: -0.475366 m/s,
      LOS rate: 0.074004 deg/s,
      cmd heading: 69.764242 deg,
      new cmd heading: 69.852381 deg.

2025-10-26T23:02:29.492Z,1761519749.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.219154 target range: 86.887428 and range: 87.30 m.
2025-10-26T23:02:29.547Z,1761519749.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261294
2025-10-26T23:02:29.796Z,1761519749.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510797
2025-10-26T23:02:29.818Z,1761519749.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369783,-0.917474,-0.146637],[0.928891,0.368553,0.036486],[0.020569,-0.149702,0.988517]]
2025-10-26T23:02:29.840Z,1761519749.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.89 m.
2025-10-26T23:02:29.843Z,1761519749.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.887428 m,
      nav range: 83.237137 m,
      bearing: 68.163733 deg,
      approach rate: -0.555657 m/s,
      LOS rate: 0.087492 deg/s,
      cmd heading: 69.852379 deg,
      new cmd heading: 69.945792 deg.

2025-10-26T23:02:29.873Z,1761519749.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.220784 target range: 86.887428 and range: 87.30 m.
2025-10-26T23:02:30.052Z,1761519750.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765369
2025-10-26T23:02:30.222Z,1761519750.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371045,-0.917079,-0.145915],[0.928396,0.369759,0.036862],[0.020148,-0.149145,0.988610]]
2025-10-26T23:02:30.300Z,1761519750.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014901
2025-10-26T23:02:30.309Z,1761519750.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.89 m.
2025-10-26T23:02:30.319Z,1761519750.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.887428 m,
      nav range: 82.995499 m,
      bearing: 68.194949 deg,
      approach rate: -0.515880 m/s,
      LOS rate: 0.066839 deg/s,
      cmd heading: 69.945788 deg,
      new cmd heading: 70.039711 deg.

2025-10-26T23:02:30.320Z,1761519750.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.222424 target range: 86.887428 and range: 87.30 m.
2025-10-26T23:02:30.552Z,1761519750.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266712
2025-10-26T23:02:30.677Z,1761519750.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371033,-0.918160,-0.138980],[0.928385,0.370126,0.033289],[0.020875,-0.141378,0.989736]]
2025-10-26T23:02:30.696Z,1761519750.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.89 m.
2025-10-26T23:02:30.698Z,1761519750.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.887428 m,
      nav range: 82.779808 m,
      bearing: 68.223081 deg,
      approach rate: -0.557943 m/s,
      LOS rate: 0.072961 deg/s,
      cmd heading: 70.039710 deg,
      new cmd heading: 70.124326 deg.

2025-10-26T23:02:30.700Z,1761519750.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.223900 target range: 86.887428 and range: 87.30 m.
2025-10-26T23:02:30.805Z,1761519750.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519224
2025-10-26T23:02:31.059Z,1761519751.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772630
2025-10-26T23:02:31.118Z,1761519751.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369956,-0.919776,-0.130936],[0.928787,0.369510,0.028589],[0.022087,-0.132188,0.990979]]
2025-10-26T23:02:31.172Z,1761519751.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.89 m.
2025-10-26T23:02:31.174Z,1761519751.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.887428 m,
      nav range: 82.528000 m,
      bearing: 68.249019 deg,
      approach rate: -0.528233 m/s,
      LOS rate: 0.054577 deg/s,
      cmd heading: 70.124330 deg,
      new cmd heading: 70.202380 deg.

2025-10-26T23:02:31.181Z,1761519751.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.225263 target range: 86.887428 and range: 87.30 m.
2025-10-26T23:02:31.308Z,1761519751.308 [DAT](INFO): DAT read: Rx Time:23:02:30.0021

2025-10-26T23:02:31.309Z,1761519751.309 [DAT](INFO): Rx dataTimestamp_ set to:1761519751.308491
2025-10-26T23:02:31.309Z,1761519751.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023775
2025-10-26T23:02:31.501Z,1761519751.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368185,-0.920345,-0.131928],[0.929456,0.367930,0.027208],[0.023500,-0.132639,0.990886]]
2025-10-26T23:02:31.518Z,1761519751.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:31.520Z,1761519751.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.89 m.
2025-10-26T23:02:31.522Z,1761519751.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.887428 m,
      nav range: 82.329300 m,
      bearing: 68.269329 deg,
      approach rate: -0.570941 m/s,
      LOS rate: 0.058499 deg/s,
      cmd heading: 70.202378 deg,
      new cmd heading: 70.263455 deg.

2025-10-26T23:02:31.524Z,1761519751.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.226329 target range: 86.887428 and range: 87.30 m.
2025-10-26T23:02:31.561Z,1761519751.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275540
2025-10-26T23:02:31.822Z,1761519751.822 [DAT](INFO): DAT read: 23:02:30.0021 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 405, 0.46, 0.328,-1.322, 0.562, 0.192, PHS= 0.239,-1.468, 0.326, RAW= 152.5,  10.3, CAL= 152.3,  11.3, ROT= 357.7, -11.3

2025-10-26T23:02:31.824Z,1761519751.824 [DAT](INFO): got valid direction response:
 23:02:30.0021 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 405, 0.46, 0.328,-1.322, 0.562, 0.192, PHS= 0.239,-1.468, 0.326, RAW= 152.5,  10.3, CAL= 152.3,  11.3, ROT= 357.7, -11.3

2025-10-26T23:02:31.824Z,1761519751.824 [DAT](INFO): DAT read: Bearing 222.7,  -2.1 (Local)

2025-10-26T23:02:31.825Z,1761519751.825 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.7,  -2.1 (Local)

2025-10-26T23:02:31.826Z,1761519751.826 [DAT](INFO): DAT read: Range 11 to 50 : 84.9 m  (Round-trip  113.3 ms) speed  0.5 m/s

2025-10-26T23:02:31.827Z,1761519751.827 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:02:31.837Z,1761519751.837 [DAT](INFO): direction in FSK: [0.979825,-0.039354,0.195946]
2025-10-26T23:02:31.837Z,1761519751.837 [DAT](INFO): publishing direction and range info
2025-10-26T23:02:31.858Z,1761519751.858 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:02:31.858Z,1761519751.858 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:02:31.858Z,1761519751.858 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:02:31.944Z,1761519751.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365168,-0.920556,-0.138669],[0.930606,0.364963,0.027822],[0.024997,-0.139206,0.989948]]
2025-10-26T23:02:32.001Z,1761519752.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 84.900002 m,
      deltaT: 3.781490 s,
      deltaX: -2.400002 m,
      approachRate: -0.634671 m/s,
      rangeRepo size: 4

2025-10-26T23:02:32.003Z,1761519752.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.496902 m,
      bearing: 67.888121 deg,
      lat: 36.779398 deg,
      lon: -121.859389 deg,
      deltaT: 3.781490 s,
      deltaX: -2.390526 m,
      approachRate: -0.632165 m/s,
      posRepo size: 4

2025-10-26T23:02:32.007Z,1761519752.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.50 m.
2025-10-26T23:02:32.010Z,1761519752.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.496902 m,
      nav range: 82.249786 m,
      bearing: 67.999518 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.058499 deg/s,
      cmd heading: 70.263454 deg,
      new cmd heading: 70.347699 deg.

2025-10-26T23:02:32.011Z,1761519752.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.227799 target range: 84.496902 and range: 84.90 m.
2025-10-26T23:02:32.068Z,1761519752.068 [DAT](INFO): DAT read: user:767>

2025-10-26T23:02:32.070Z,1761519752.070 [DAT](INFO): DAT read: Tx time:23:02:31.2346

2025-10-26T23:02:32.071Z,1761519752.071 [DAT](INFO): Ping request sent.
2025-10-26T23:02:32.072Z,1761519752.072 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:02:32.072Z,1761519752.072 [DAT](INFO): publishing transmit ping time
2025-10-26T23:02:32.074Z,1761519752.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002821
2025-10-26T23:02:32.317Z,1761519752.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245676
2025-10-26T23:02:32.443Z,1761519752.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.50 m.
2025-10-26T23:02:32.446Z,1761519752.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.496902 m,
      nav range: 81.977188 m,
      bearing: 68.015274 deg,
      approach rate: -0.615595 m/s,
      LOS rate: 0.035700 deg/s,
      cmd heading: 70.347697 deg,
      new cmd heading: 70.395124 deg.

2025-10-26T23:02:32.446Z,1761519752.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228627 target range: 84.496902 and range: 84.90 m.
2025-10-26T23:02:32.568Z,1761519752.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497274
2025-10-26T23:02:32.713Z,1761519752.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357749,-0.921966,-0.148302],[0.933417,0.357712,0.027849],[0.027374,-0.148391,0.988550]]
2025-10-26T23:02:32.747Z,1761519752.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.50 m.
2025-10-26T23:02:32.765Z,1761519752.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.496902 m,
      nav range: 81.800163 m,
      bearing: 68.024483 deg,
      approach rate: -0.582366 m/s,
      LOS rate: 0.030359 deg/s,
      cmd heading: 70.395126 deg,
      new cmd heading: 70.422812 deg.

2025-10-26T23:02:32.766Z,1761519752.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.229110 target range: 84.496902 and range: 84.90 m.
2025-10-26T23:02:32.821Z,1761519752.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750100
2025-10-26T23:02:33.076Z,1761519753.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004066
2025-10-26T23:02:33.214Z,1761519753.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.50 m.
2025-10-26T23:02:33.217Z,1761519753.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.496902 m,
      nav range: 81.501587 m,
      bearing: 68.035969 deg,
      approach rate: -0.638386 m/s,
      LOS rate: 0.024649 deg/s,
      cmd heading: 70.422809 deg,
      new cmd heading: 70.457394 deg.

2025-10-26T23:02:33.218Z,1761519753.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.229714 target range: 84.496902 and range: 84.90 m.
2025-10-26T23:02:33.324Z,1761519753.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253306
2025-10-26T23:02:33.555Z,1761519753.555 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:33.574Z,1761519753.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.50 m.
2025-10-26T23:02:33.576Z,1761519753.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505355
2025-10-26T23:02:33.578Z,1761519753.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.496902 m,
      nav range: 81.283165 m,
      bearing: 68.044425 deg,
      approach rate: -0.607227 m/s,
      LOS rate: 0.023572 deg/s,
      cmd heading: 70.457397 deg,
      new cmd heading: 70.482834 deg.

2025-10-26T23:02:33.583Z,1761519753.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.230157 target range: 84.496902 and range: 84.90 m.
2025-10-26T23:02:33.830Z,1761519753.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758464
2025-10-26T23:02:33.909Z,1761519753.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339863,-0.932163,-0.124762],[0.939974,0.341009,0.012715],[0.030692,-0.121594,0.992105]]
2025-10-26T23:02:33.945Z,1761519753.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.50 m.
2025-10-26T23:02:33.948Z,1761519753.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.496902 m,
      nav range: 81.043747 m,
      bearing: 68.050772 deg,
      approach rate: -0.644998 m/s,
      LOS rate: 0.017147 deg/s,
      cmd heading: 70.482833 deg,
      new cmd heading: 70.501928 deg.

2025-10-26T23:02:33.949Z,1761519753.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.230491 target range: 84.496902 and range: 84.90 m.
2025-10-26T23:02:34.085Z,1761519754.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014290
2025-10-26T23:02:34.314Z,1761519754.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335044,-0.934533,-0.119970],[0.941707,0.336269,0.010494],[0.030535,-0.116493,0.992722]]
2025-10-26T23:02:34.333Z,1761519754.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261414
2025-10-26T23:02:34.416Z,1761519754.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.50 m.
2025-10-26T23:02:34.419Z,1761519754.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.496902 m,
      nav range: 80.736649 m,
      bearing: 68.052294 deg,
      approach rate: -0.652324 m/s,
      LOS rate: 0.003245 deg/s,
      cmd heading: 70.501930 deg,
      new cmd heading: 70.506513 deg.

2025-10-26T23:02:34.428Z,1761519754.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.230571 target range: 84.496902 and range: 84.90 m.
2025-10-26T23:02:34.584Z,1761519754.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513180
2025-10-26T23:02:34.754Z,1761519754.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331846,-0.935487,-0.121419],[0.942857,0.333008,0.011191],[0.029964,-0.118195,0.992538]]
2025-10-26T23:02:34.773Z,1761519754.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.50 m.
2025-10-26T23:02:34.776Z,1761519754.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.496902 m,
      nav range: 80.481567 m,
      bearing: 68.052937 deg,
      approach rate: -0.714291 m/s,
      LOS rate: 0.001806 deg/s,
      cmd heading: 70.506513 deg,
      new cmd heading: 70.508448 deg.

2025-10-26T23:02:34.777Z,1761519754.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.230605 target range: 84.496902 and range: 84.90 m.
2025-10-26T23:02:34.838Z,1761519754.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766394
2025-10-26T23:02:35.088Z,1761519755.088 [DAT](INFO): DAT read: Rx Time:23:02:33.7490

2025-10-26T23:02:35.089Z,1761519755.089 [DAT](INFO): Rx dataTimestamp_ set to:1761519755.088628
2025-10-26T23:02:35.091Z,1761519755.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019520
2025-10-26T23:02:35.240Z,1761519755.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.50 m.
2025-10-26T23:02:35.242Z,1761519755.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.496902 m,
      nav range: 80.173042 m,
      bearing: 68.054535 deg,
      approach rate: -0.661926 m/s,
      LOS rate: 0.003442 deg/s,
      cmd heading: 70.508446 deg,
      new cmd heading: 70.513259 deg.

2025-10-26T23:02:35.243Z,1761519755.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.230689 target range: 84.496902 and range: 84.90 m.
2025-10-26T23:02:35.340Z,1761519755.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269337
2025-10-26T23:02:35.578Z,1761519755.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327492,-0.937104,-0.120771],[0.944412,0.328562,0.011521],[0.028885,-0.117830,0.992614]]
2025-10-26T23:02:35.606Z,1761519755.606 [DAT](INFO): DAT read: 23:02:33.7490 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 405,-0.03, 3.139, 1.549,-2.854, 3.032, PHS= 0.209,-1.438, 0.354, RAW= 154.2,  10.2, CAL= 154.0,  11.1, ROT= 356.0, -11.1

2025-10-26T23:02:35.607Z,1761519755.607 [DAT](INFO): got valid direction response:
 23:02:33.7490 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 405,-0.03, 3.139, 1.549,-2.854, 3.032, PHS= 0.209,-1.438, 0.354, RAW= 154.2,  10.2, CAL= 154.0,  11.1, ROT= 356.0, -11.1

2025-10-26T23:02:35.608Z,1761519755.608 [DAT](INFO): DAT read: Bearing 224.4,  -3.4 (Local)

2025-10-26T23:02:35.608Z,1761519755.608 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.4,  -3.4 (Local)

2025-10-26T23:02:35.610Z,1761519755.610 [DAT](INFO): DAT read: Range 11 to 50 : 82.6 m  (Round-trip  110.2 ms) speed  0.4 m/s

2025-10-26T23:02:35.610Z,1761519755.610 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:02:35.612Z,1761519755.612 [DAT](INFO): direction in FSK: [0.978902,-0.068451,0.192522]
2025-10-26T23:02:35.612Z,1761519755.612 [DAT](INFO): publishing direction and range info
2025-10-26T23:02:35.615Z,1761519755.615 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:02:35.616Z,1761519755.616 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:02:35.616Z,1761519755.616 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:02:35.671Z,1761519755.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 82.599998 m,
      deltaT: 3.786447 s,
      deltaX: -2.300003 m,
      approachRate: -0.607430 m/s,
      rangeRepo size: 4

2025-10-26T23:02:35.682Z,1761519755.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 82.205711 m,
      bearing: 68.209947 deg,
      lat: 36.779396 deg,
      lon: -121.859389 deg,
      deltaT: 3.786447 s,
      deltaX: -2.291191 m,
      approachRate: -0.605103 m/s,
      posRepo size: 4

2025-10-26T23:02:35.683Z,1761519755.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.21 m.
2025-10-26T23:02:35.692Z,1761519755.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.205711 m,
      nav range: 79.889992 m,
      bearing: 68.163455 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003442 deg/s,
      cmd heading: 70.513261 deg,
      new cmd heading: 70.517713 deg.

2025-10-26T23:02:35.693Z,1761519755.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.230766 target range: 82.205711 and range: 82.60 m.
2025-10-26T23:02:35.853Z,1761519755.853 [DAT](INFO): DAT read: user:768>

2025-10-26T23:02:35.854Z,1761519755.854 [DAT](INFO): DAT read: Tx time:23:02:34.9846

2025-10-26T23:02:35.855Z,1761519755.855 [DAT](INFO): Ping request sent.
2025-10-26T23:02:35.855Z,1761519755.855 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:02:35.856Z,1761519755.856 [DAT](INFO): publishing transmit ping time
2025-10-26T23:02:35.857Z,1761519755.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001737
2025-10-26T23:02:36.012Z,1761519756.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325538,-0.936874,-0.127641],[0.945054,0.326676,0.012509],[0.029978,-0.124700,0.991742]]
2025-10-26T23:02:36.044Z,1761519756.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:36.046Z,1761519756.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.21 m.
2025-10-26T23:02:36.049Z,1761519756.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.205711 m,
      nav range: 79.623863 m,
      bearing: 68.163902 deg,
      approach rate: -0.707896 m/s,
      LOS rate: 0.001193 deg/s,
      cmd heading: 70.517714 deg,
      new cmd heading: 70.519060 deg.

2025-10-26T23:02:36.050Z,1761519756.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.230790 target range: 82.205711 and range: 82.60 m.
2025-10-26T23:02:36.108Z,1761519756.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253109
2025-10-26T23:02:36.357Z,1761519756.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502390
2025-10-26T23:02:36.422Z,1761519756.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324462,-0.936130,-0.135590],[0.945377,0.325695,0.013615],[0.031415,-0.132602,0.990671]]
2025-10-26T23:02:36.462Z,1761519756.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.21 m.
2025-10-26T23:02:36.481Z,1761519756.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.205711 m,
      nav range: 79.344307 m,
      bearing: 68.171002 deg,
      approach rate: -0.672327 m/s,
      LOS rate: 0.017137 deg/s,
      cmd heading: 70.519060 deg,
      new cmd heading: 70.540437 deg.

2025-10-26T23:02:36.482Z,1761519756.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.231163 target range: 82.205711 and range: 82.60 m.
2025-10-26T23:02:36.608Z,1761519756.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753573
2025-10-26T23:02:36.818Z,1761519756.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324202,-0.934915,-0.144317],[0.945413,0.325528,0.014991],[0.032964,-0.141299,0.989418]]
2025-10-26T23:02:36.836Z,1761519756.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.21 m.
2025-10-26T23:02:36.839Z,1761519756.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.205711 m,
      nav range: 79.101639 m,
      bearing: 68.177145 deg,
      approach rate: -0.648358 m/s,
      LOS rate: 0.016461 deg/s,
      cmd heading: 70.540438 deg,
      new cmd heading: 70.558922 deg.

2025-10-26T23:02:36.842Z,1761519756.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.231485 target range: 82.205711 and range: 82.60 m.
2025-10-26T23:02:36.861Z,1761519756.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005821
2025-10-26T23:02:37.113Z,1761519757.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257842
2025-10-26T23:02:37.224Z,1761519757.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325069,-0.934115,-0.147511],[0.945073,0.326515,0.014996],[0.034157,-0.144284,0.988947]]
2025-10-26T23:02:37.261Z,1761519757.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.21 m.
2025-10-26T23:02:37.280Z,1761519757.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.205711 m,
      nav range: 78.849976 m,
      bearing: 68.187934 deg,
      approach rate: -0.593054 m/s,
      LOS rate: 0.025506 deg/s,
      cmd heading: 70.558921 deg,
      new cmd heading: 70.591391 deg.

2025-10-26T23:02:37.281Z,1761519757.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.232052 target range: 82.205711 and range: 82.60 m.
2025-10-26T23:02:37.366Z,1761519757.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510865
2025-10-26T23:02:37.616Z,1761519757.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761569
2025-10-26T23:02:37.674Z,1761519757.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.21 m.
2025-10-26T23:02:37.677Z,1761519757.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.205711 m,
      nav range: 78.611153 m,
      bearing: 68.198236 deg,
      approach rate: -0.577411 m/s,
      LOS rate: 0.024984 deg/s,
      cmd heading: 70.591392 deg,
      new cmd heading: 70.622393 deg.

2025-10-26T23:02:37.678Z,1761519757.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.232593 target range: 82.205711 and range: 82.60 m.
2025-10-26T23:02:37.869Z,1761519757.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014082
2025-10-26T23:02:38.032Z,1761519758.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328013,-0.933189,-0.146853],[0.943991,0.329696,0.013434],[0.035881,-0.143035,0.989067]]
2025-10-26T23:02:38.050Z,1761519758.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:38.052Z,1761519758.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.21 m.
2025-10-26T23:02:38.055Z,1761519758.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.205711 m,
      nav range: 78.381500 m,
      bearing: 68.208733 deg,
      approach rate: -0.608891 m/s,
      LOS rate: 0.027913 deg/s,
      cmd heading: 70.622394 deg,
      new cmd heading: 70.653977 deg.

2025-10-26T23:02:38.056Z,1761519758.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.233145 target range: 82.205711 and range: 82.60 m.
2025-10-26T23:02:38.121Z,1761519758.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266129
2025-10-26T23:02:38.372Z,1761519758.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517588
2025-10-26T23:02:38.446Z,1761519758.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329747,-0.933343,-0.141904],[0.943363,0.331571,0.011286],[0.036517,-0.137589,0.989816]]
2025-10-26T23:02:38.496Z,1761519758.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.21 m.
2025-10-26T23:02:38.499Z,1761519758.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.205711 m,
      nav range: 78.120377 m,
      bearing: 68.231044 deg,
      approach rate: -0.587015 m/s,
      LOS rate: 0.050324 deg/s,
      cmd heading: 70.653977 deg,
      new cmd heading: 70.721133 deg.

2025-10-26T23:02:38.500Z,1761519758.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.234317 target range: 82.205711 and range: 82.60 m.
2025-10-26T23:02:38.624Z,1761519758.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769455
2025-10-26T23:02:38.849Z,1761519758.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332162,-0.932567,-0.141375],[0.942520,0.333948,0.011601],[0.036394,-0.137103,0.989888]]
2025-10-26T23:02:38.877Z,1761519758.877 [DAT](INFO): DAT read: Rx Time:23:02:37.4961

2025-10-26T23:02:38.877Z,1761519758.877 [DAT](INFO): Rx dataTimestamp_ set to:1761519758.876742
2025-10-26T23:02:38.878Z,1761519758.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022773
2025-10-26T23:02:38.880Z,1761519758.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.21 m.
2025-10-26T23:02:38.882Z,1761519758.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.205711 m,
      nav range: 77.898544 m,
      bearing: 68.250540 deg,
      approach rate: -0.579399 m/s,
      LOS rate: 0.051064 deg/s,
      cmd heading: 70.721131 deg,
      new cmd heading: 70.779783 deg.

2025-10-26T23:02:38.883Z,1761519758.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.235340 target range: 82.205711 and range: 82.60 m.
2025-10-26T23:02:39.128Z,1761519759.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273563
2025-10-26T23:02:39.242Z,1761519759.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334861,-0.930715,-0.147095],[0.941607,0.336367,0.015273],[0.035264,-0.143620,0.989004]]
2025-10-26T23:02:39.343Z,1761519759.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.21 m.
2025-10-26T23:02:39.348Z,1761519759.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.205711 m,
      nav range: 77.647720 m,
      bearing: 68.282621 deg,
      approach rate: -0.541726 m/s,
      LOS rate: 0.069513 deg/s,
      cmd heading: 70.779782 deg,
      new cmd heading: 70.876337 deg.

2025-10-26T23:02:39.350Z,1761519759.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.237025 target range: 82.205711 and range: 82.60 m.
2025-10-26T23:02:39.386Z,1761519759.386 [DAT](INFO): DAT read: 23:02:37.4961 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 408, 0.09, 2.797, 1.176, 3.085, 2.688, PHS= 0.211,-1.467, 0.353, RAW= 154.0,  10.3, CAL= 153.9,  11.3, ROT= 356.1, -11.3

2025-10-26T23:02:39.387Z,1761519759.387 [DAT](INFO): got valid direction response:
 23:02:37.4961 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 408, 0.09, 2.797, 1.176, 3.085, 2.688, PHS= 0.211,-1.467, 0.353, RAW= 154.0,  10.3, CAL= 153.9,  11.3, ROT= 356.1, -11.3

2025-10-26T23:02:39.388Z,1761519759.388 [DAT](INFO): DAT read: Bearing 223.2,  -3.2 (Local)

2025-10-26T23:02:39.388Z,1761519759.388 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.2,  -3.2 (Local)

2025-10-26T23:02:39.390Z,1761519759.390 [DAT](INFO): DAT read: Range 11 to 50 : 80.5 m  (Round-trip  107.4 ms) speed  0.4 m/s

2025-10-26T23:02:39.390Z,1761519759.390 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:02:39.391Z,1761519759.391 [DAT](INFO): direction in FSK: [0.978344,-0.066697,0.195946]
2025-10-26T23:02:39.392Z,1761519759.392 [DAT](INFO): publishing direction and range info
2025-10-26T23:02:39.395Z,1761519759.395 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:02:39.395Z,1761519759.395 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:02:39.395Z,1761519759.395 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:02:39.632Z,1761519759.632 [DAT](INFO): DAT read: user:769>

2025-10-26T23:02:39.633Z,1761519759.633 [DAT](INFO): DAT read: Tx time:23:02:38.7346

2025-10-26T23:02:39.633Z,1761519759.633 [DAT](INFO): Ping request sent.
2025-10-26T23:02:39.633Z,1761519759.633 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:02:39.634Z,1761519759.634 [DAT](INFO): publishing transmit ping time
2025-10-26T23:02:39.634Z,1761519759.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755
2025-10-26T23:02:39.668Z,1761519759.668 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:02:39.733Z,1761519759.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337638,-0.927658,-0.159534],[0.940670,0.338622,0.021817],[0.033783,-0.157435,0.986951]]
2025-10-26T23:02:39.781Z,1761519759.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 80.500000 m,
      deltaT: 3.780182 s,
      deltaX: -2.099998 m,
      approachRate: -0.555528 m/s,
      rangeRepo size: 4

2025-10-26T23:02:39.788Z,1761519759.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 80.117569 m,
      bearing: 68.190795 deg,
      lat: 36.779398 deg,
      lon: -121.859387 deg,
      deltaT: 3.780182 s,
      deltaX: -2.088142 m,
      approachRate: -0.552392 m/s,
      posRepo size: 4

2025-10-26T23:02:39.788Z,1761519759.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.12 m.
2025-10-26T23:02:39.791Z,1761519759.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.117569 m,
      nav range: 77.633835 m,
      bearing: 68.257483 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.069513 deg/s,
      cmd heading: 70.876333 deg,
      new cmd heading: 70.967781 deg.

2025-10-26T23:02:39.796Z,1761519759.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.238621 target range: 80.117569 and range: 80.50 m.
2025-10-26T23:02:39.885Z,1761519759.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251111
2025-10-26T23:02:40.103Z,1761519760.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340099,-0.924862,-0.170185],[0.939829,0.340531,0.027566],[0.032459,-0.169320,0.985027]]
2025-10-26T23:02:40.129Z,1761519760.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:40.131Z,1761519760.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.12 m.
2025-10-26T23:02:40.134Z,1761519760.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.117569 m,
      nav range: 77.436012 m,
      bearing: 68.283603 deg,
      approach rate: -0.564972 m/s,
      LOS rate: 0.074788 deg/s,
      cmd heading: 70.967783 deg,
      new cmd heading: 71.046343 deg.

2025-10-26T23:02:40.135Z,1761519760.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.239993 target range: 80.117569 and range: 80.50 m.
2025-10-26T23:02:40.136Z,1761519760.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502952
2025-10-26T23:02:40.392Z,1761519760.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758335
2025-10-26T23:02:40.506Z,1761519760.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341427,-0.923941,-0.172514],[0.939371,0.341638,0.029412],[0.031762,-0.172097,0.984568]]
2025-10-26T23:02:40.557Z,1761519760.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.12 m.
2025-10-26T23:02:40.560Z,1761519760.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.117569 m,
      nav range: 77.220535 m,
      bearing: 68.318010 deg,
      approach rate: -0.505501 m/s,
      LOS rate: 0.080943 deg/s,
      cmd heading: 71.046344 deg,
      new cmd heading: 71.149853 deg.

2025-10-26T23:02:40.561Z,1761519760.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.241799 target range: 80.117569 and range: 80.50 m.
2025-10-26T23:02:40.641Z,1761519760.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007425
2025-10-26T23:02:40.672Z,1761519760.672 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:02:40.893Z,1761519760.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259130
2025-10-26T23:02:40.925Z,1761519760.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342593,-0.925073,-0.163919],[0.938940,0.343080,0.026232],[0.031971,-0.162897,0.986125]]
2025-10-26T23:02:41.025Z,1761519761.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.12 m.
2025-10-26T23:02:41.028Z,1761519761.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.117569 m,
      nav range: 76.990822 m,
      bearing: 68.355232 deg,
      approach rate: -0.491539 m/s,
      LOS rate: 0.079885 deg/s,
      cmd heading: 71.149855 deg,
      new cmd heading: 71.261854 deg.

2025-10-26T23:02:41.029Z,1761519761.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.243754 target range: 80.117569 and range: 80.50 m.
2025-10-26T23:02:41.145Z,1761519761.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510990
2025-10-26T23:02:41.319Z,1761519761.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343659,-0.925956,-0.156540],[0.938533,0.344410,0.023171],[0.032459,-0.154881,0.987400]]
2025-10-26T23:02:41.396Z,1761519761.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762920
2025-10-26T23:02:41.402Z,1761519761.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.12 m.
2025-10-26T23:02:41.405Z,1761519761.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.117569 m,
      nav range: 76.802216 m,
      bearing: 68.390874 deg,
      approach rate: -0.499741 m/s,
      LOS rate: 0.094669 deg/s,
      cmd heading: 71.261857 deg,
      new cmd heading: 71.369043 deg.

2025-10-26T23:02:41.406Z,1761519761.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.245625 target range: 80.117569 and range: 80.50 m.
2025-10-26T23:02:41.649Z,1761519761.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015876
2025-10-26T23:02:41.729Z,1761519761.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346095,-0.925599,-0.153249],[0.937657,0.346804,0.022950],[0.031905,-0.151638,0.987921]]
2025-10-26T23:02:41.777Z,1761519761.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.12 m.
2025-10-26T23:02:41.780Z,1761519761.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.117569 m,
      nav range: 76.619614 m,
      bearing: 68.425971 deg,
      approach rate: -0.487217 m/s,
      LOS rate: 0.093870 deg/s,
      cmd heading: 71.369043 deg,
      new cmd heading: 71.474586 deg.

2025-10-26T23:02:41.781Z,1761519761.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.247467 target range: 80.117569 and range: 80.50 m.
2025-10-26T23:02:41.901Z,1761519761.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267041
2025-10-26T23:02:42.126Z,1761519762.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349432,-0.925451,-0.146414],[0.936442,0.350153,0.021673],[0.031210,-0.144681,0.988986]]
2025-10-26T23:02:42.152Z,1761519762.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518922
2025-10-26T23:02:42.164Z,1761519762.164 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:42.166Z,1761519762.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.12 m.
2025-10-26T23:02:42.169Z,1761519762.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.117569 m,
      nav range: 76.431160 m,
      bearing: 68.463006 deg,
      approach rate: -0.484342 m/s,
      LOS rate: 0.095416 deg/s,
      cmd heading: 71.474583 deg,
      new cmd heading: 71.585959 deg.

2025-10-26T23:02:42.170Z,1761519762.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.249411 target range: 80.117569 and range: 80.50 m.
2025-10-26T23:02:42.404Z,1761519762.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770923
2025-10-26T23:02:42.531Z,1761519762.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352049,-0.925192,-0.141707],[0.935459,0.352857,0.020236],[0.031280,-0.139685,0.989702]]
2025-10-26T23:02:42.583Z,1761519762.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.12 m.
2025-10-26T23:02:42.586Z,1761519762.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.117569 m,
      nav range: 76.226784 m,
      bearing: 68.500759 deg,
      approach rate: -0.509345 m/s,
      LOS rate: 0.094340 deg/s,
      cmd heading: 71.585963 deg,
      new cmd heading: 71.699525 deg.

2025-10-26T23:02:42.587Z,1761519762.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.251393 target range: 80.117569 and range: 80.50 m.
2025-10-26T23:02:42.657Z,1761519762.657 [DAT](INFO): DAT read: Rx Time:23:02:41.2433

2025-10-26T23:02:42.658Z,1761519762.658 [DAT](INFO): Rx dataTimestamp_ set to:1761519762.657433
2025-10-26T23:02:42.659Z,1761519762.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024948
2025-10-26T23:02:42.908Z,1761519762.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274929
2025-10-26T23:02:42.937Z,1761519762.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353852,-0.925314,-0.136317],[0.934761,0.354826,0.017911],[0.031795,-0.133762,0.990503]]
2025-10-26T23:02:42.977Z,1761519762.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.12 m.
2025-10-26T23:02:42.984Z,1761519762.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.117569 m,
      nav range: 76.029243 m,
      bearing: 68.537855 deg,
      approach rate: -0.481693 m/s,
      LOS rate: 0.090694 deg/s,
      cmd heading: 71.699528 deg,
      new cmd heading: 71.811108 deg.

2025-10-26T23:02:42.985Z,1761519762.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.253340 target range: 80.117569 and range: 80.50 m.
2025-10-26T23:02:43.166Z,1761519763.166 [DAT](INFO): DAT read: 23:02:41.2433 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 411,-0.24,-1.301,-2.931,-1.026,-1.385, PHS= 0.186,-1.500, 0.316, RAW= 153.7,  11.4, CAL= 153.6,  12.6, ROT= 356.4, -12.6

2025-10-26T23:02:43.167Z,1761519763.167 [DAT](INFO): got valid direction response:
 23:02:41.2433 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 411,-0.24,-1.301,-2.931,-1.026,-1.385, PHS= 0.186,-1.500, 0.316, RAW= 153.7,  11.4, CAL= 153.6,  12.6, ROT= 356.4, -12.6

2025-10-26T23:02:43.168Z,1761519763.168 [DAT](INFO): DAT read: Bearing 224.2,  -3.1 (Local)

2025-10-26T23:02:43.168Z,1761519763.168 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.2,  -3.1 (Local)

2025-10-26T23:02:43.170Z,1761519763.170 [DAT](INFO): DAT read: Range 11 to 50 : 78.3 m  (Round-trip  104.5 ms) speed  0.6 m/s

2025-10-26T23:02:43.170Z,1761519763.170 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:02:43.171Z,1761519763.171 [DAT](INFO): direction in FSK: [0.973991,-0.061279,0.218143]
2025-10-26T23:02:43.172Z,1761519763.172 [DAT](INFO): publishing direction and range info
2025-10-26T23:02:43.175Z,1761519763.175 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:02:43.175Z,1761519763.175 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:02:43.179Z,1761519763.179 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:02:43.405Z,1761519763.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 78.300003 m,
      deltaT: 3.779969 s,
      deltaX: -2.199997 m,
      approachRate: -0.582015 m/s,
      rangeRepo size: 4

2025-10-26T23:02:43.407Z,1761519763.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 77.923843 m,
      bearing: 67.396957 deg,
      lat: 36.779399 deg,
      lon: -121.859387 deg,
      deltaT: 3.779969 s,
      deltaX: -2.193726 m,
      approachRate: -0.580355 m/s,
      posRepo size: 4

2025-10-26T23:02:43.408Z,1761519763.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.92 m.
2025-10-26T23:02:43.410Z,1761519763.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.923843 m,
      nav range: 75.839714 m,
      bearing: 68.462246 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.090694 deg/s,
      cmd heading: 71.811106 deg,
      new cmd heading: 71.927320 deg.

2025-10-26T23:02:43.412Z,1761519763.412 [DAT](INFO): DAT read: user:770>

2025-10-26T23:02:43.413Z,1761519763.413 [DAT](INFO): DAT read: Tx time:23:02:42.5346

2025-10-26T23:02:43.414Z,1761519763.414 [DAT](INFO): Ping request sent.
2025-10-26T23:02:43.414Z,1761519763.414 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:02:43.414Z,1761519763.414 [DAT](INFO): publishing transmit ping time
2025-10-26T23:02:43.414Z,1761519763.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-10-26T23:02:43.415Z,1761519763.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255369 target range: 77.923843 and range: 78.30 m.
2025-10-26T23:02:43.664Z,1761519763.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250643
2025-10-26T23:02:43.763Z,1761519763.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354408,-0.925247,-0.135326],[0.934534,0.355461,0.017124],[0.032260,-0.132536,0.990653]]
2025-10-26T23:02:43.781Z,1761519763.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.92 m.
2025-10-26T23:02:43.784Z,1761519763.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.923843 m,
      nav range: 75.627296 m,
      bearing: 68.493470 deg,
      approach rate: -0.563529 m/s,
      LOS rate: 0.083069 deg/s,
      cmd heading: 71.927322 deg,
      new cmd heading: 72.021259 deg.

2025-10-26T23:02:43.785Z,1761519763.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.257008 target range: 77.923843 and range: 78.30 m.
2025-10-26T23:02:43.916Z,1761519763.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502842
2025-10-26T23:02:44.163Z,1761519764.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353341,-0.925112,-0.138987],[0.934960,0.354240,0.019053],[0.031609,-0.136679,0.990111]]
2025-10-26T23:02:44.168Z,1761519764.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754820
2025-10-26T23:02:44.181Z,1761519764.181 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:44.183Z,1761519764.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.92 m.
2025-10-26T23:02:44.186Z,1761519764.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.923843 m,
      nav range: 75.403580 m,
      bearing: 68.526275 deg,
      approach rate: -0.556792 m/s,
      LOS rate: 0.081888 deg/s,
      cmd heading: 72.021258 deg,
      new cmd heading: 72.119964 deg.

2025-10-26T23:02:44.187Z,1761519764.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.258731 target range: 77.923843 and range: 78.30 m.
2025-10-26T23:02:44.421Z,1761519764.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006853
2025-10-26T23:02:44.566Z,1761519764.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350952,-0.925934,-0.139568],[0.935883,0.351762,0.019644],[0.030906,-0.137513,0.990018]]
2025-10-26T23:02:44.621Z,1761519764.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.92 m.
2025-10-26T23:02:44.624Z,1761519764.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.923843 m,
      nav range: 75.149460 m,
      bearing: 68.548636 deg,
      approach rate: -0.580359 m/s,
      LOS rate: 0.051240 deg/s,
      cmd heading: 72.119961 deg,
      new cmd heading: 72.187270 deg.

2025-10-26T23:02:44.625Z,1761519764.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.259906 target range: 77.923843 and range: 78.30 m.
2025-10-26T23:02:44.673Z,1761519764.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259304
2025-10-26T23:02:44.924Z,1761519764.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510765
2025-10-26T23:02:45.032Z,1761519765.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.92 m.
2025-10-26T23:02:45.034Z,1761519765.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.923843 m,
      nav range: 74.895615 m,
      bearing: 68.571125 deg,
      approach rate: -0.617705 m/s,
      LOS rate: 0.054910 deg/s,
      cmd heading: 72.187272 deg,
      new cmd heading: 72.254968 deg.

2025-10-26T23:02:45.036Z,1761519765.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.261087 target range: 77.923843 and range: 78.30 m.
2025-10-26T23:02:45.176Z,1761519765.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762700
2025-10-26T23:02:45.427Z,1761519765.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.92 m.
2025-10-26T23:02:45.428Z,1761519765.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014853
2025-10-26T23:02:45.431Z,1761519765.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.923843 m,
      nav range: 74.634972 m,
      bearing: 68.582448 deg,
      approach rate: -0.660290 m/s,
      LOS rate: 0.028784 deg/s,
      cmd heading: 72.254966 deg,
      new cmd heading: 72.289053 deg.

2025-10-26T23:02:45.456Z,1761519765.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.261682 target range: 77.923843 and range: 78.30 m.
2025-10-26T23:02:45.680Z,1761519765.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266771
2025-10-26T23:02:45.778Z,1761519765.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338138,-0.934009,-0.115277],[0.940578,0.339473,0.008457],[0.031235,-0.111286,0.993297]]
2025-10-26T23:02:45.813Z,1761519765.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.92 m.
2025-10-26T23:02:45.815Z,1761519765.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.923843 m,
      nav range: 74.395256 m,
      bearing: 68.590782 deg,
      approach rate: -0.620829 m/s,
      LOS rate: 0.021655 deg/s,
      cmd heading: 72.289056 deg,
      new cmd heading: 72.314140 deg.

2025-10-26T23:02:45.816Z,1761519765.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.262120 target range: 77.923843 and range: 78.30 m.
2025-10-26T23:02:45.932Z,1761519765.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518842
2025-10-26T23:02:46.182Z,1761519766.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333920,-0.935503,-0.115463],[0.942092,0.335254,0.008239],[0.031002,-0.111528,0.993277]]
2025-10-26T23:02:46.184Z,1761519766.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770762
2025-10-26T23:02:46.201Z,1761519766.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:46.203Z,1761519766.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.92 m.
2025-10-26T23:02:46.205Z,1761519766.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.923843 m,
      nav range: 74.132774 m,
      bearing: 68.599055 deg,
      approach rate: -0.673322 m/s,
      LOS rate: 0.021296 deg/s,
      cmd heading: 72.314143 deg,
      new cmd heading: 72.339048 deg.

2025-10-26T23:02:46.206Z,1761519766.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.262555 target range: 77.923843 and range: 78.30 m.
2025-10-26T23:02:46.436Z,1761519766.436 [DAT](INFO): DAT read: Rx Time:23:02:45.0401

2025-10-26T23:02:46.437Z,1761519766.437 [DAT](INFO): Rx dataTimestamp_ set to:1761519766.436655
2025-10-26T23:02:46.437Z,1761519766.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023839
2025-10-26T23:02:46.586Z,1761519766.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330073,-0.936771,-0.116237],[0.943445,0.331432,0.008004],[0.031027,-0.112305,0.993189]]
2025-10-26T23:02:46.688Z,1761519766.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274793
2025-10-26T23:02:46.694Z,1761519766.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.92 m.
2025-10-26T23:02:46.698Z,1761519766.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.923843 m,
      nav range: 73.803017 m,
      bearing: 68.603824 deg,
      approach rate: -0.670883 m/s,
      LOS rate: 0.009745 deg/s,
      cmd heading: 72.339046 deg,
      new cmd heading: 72.353416 deg.

2025-10-26T23:02:46.699Z,1761519766.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.262805 target range: 77.923843 and range: 78.30 m.
2025-10-26T23:02:46.946Z,1761519766.946 [DAT](INFO): DAT read: 23:02:45.0401 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 410, 0.30,-1.844, 2.818,-1.548,-1.978, PHS= 0.237,-1.442, 0.387, RAW= 154.2,   9.3, CAL= 153.9,  10.1, ROT= 356.1, -10.1

2025-10-26T23:02:46.947Z,1761519766.947 [DAT](INFO): got valid direction response:
 23:02:45.0401 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 410, 0.30,-1.844, 2.818,-1.548,-1.978, PHS= 0.237,-1.442, 0.387, RAW= 154.2,   9.3, CAL= 153.9,  10.1, ROT= 356.1, -10.1

2025-10-26T23:02:46.948Z,1761519766.948 [DAT](INFO): DAT read: Bearing 223.0,  -2.9 (Local)

2025-10-26T23:02:46.948Z,1761519766.948 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.0,  -2.9 (Local)

2025-10-26T23:02:46.950Z,1761519766.950 [DAT](INFO): DAT read: Range 11 to 50 : 75.9 m  (Round-trip  101.3 ms) speed  0.4 m/s

2025-10-26T23:02:46.950Z,1761519766.950 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:02:46.952Z,1761519766.952 [DAT](INFO): direction in FSK: [0.982223,-0.066961,0.175367]
2025-10-26T23:02:46.953Z,1761519766.953 [DAT](INFO): publishing direction and range info
2025-10-26T23:02:46.980Z,1761519766.980 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:02:46.980Z,1761519766.980 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:02:46.980Z,1761519766.980 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:02:47.017Z,1761519767.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326467,-0.938025,-0.116308],[0.944669,0.327958,0.006623],[0.031932,-0.112035,0.993191]]
2025-10-26T23:02:47.090Z,1761519767.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 75.900002 m,
      deltaT: 3.779934 s,
      deltaX: -2.400002 m,
      approachRate: -0.634932 m/s,
      rangeRepo size: 4

2025-10-26T23:02:47.096Z,1761519767.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 75.530647 m,
      bearing: 68.185136 deg,
      lat: 36.779399 deg,
      lon: -121.859387 deg,
      deltaT: 3.779934 s,
      deltaX: -2.393196 m,
      approachRate: -0.633132 m/s,
      posRepo size: 4

2025-10-26T23:02:47.097Z,1761519767.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.53 m.
2025-10-26T23:02:47.099Z,1761519767.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.530647 m,
      nav range: 73.560135 m,
      bearing: 68.587045 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009745 deg/s,
      cmd heading: 72.353416 deg,
      new cmd heading: 72.364962 deg.

2025-10-26T23:02:47.104Z,1761519767.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.263007 target range: 75.530647 and range: 75.90 m.
2025-10-26T23:02:47.194Z,1761519767.194 [DAT](INFO): DAT read: user:771>

2025-10-26T23:02:47.198Z,1761519767.198 [DAT](INFO): DAT read: Tx time:23:02:46.3346

2025-10-26T23:02:47.198Z,1761519767.198 [DAT](INFO): Ping request sent.
2025-10-26T23:02:47.198Z,1761519767.198 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:02:47.199Z,1761519767.199 [DAT](INFO): publishing transmit ping time
2025-10-26T23:02:47.200Z,1761519767.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001751
2025-10-26T23:02:47.420Z,1761519767.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322852,-0.939552,-0.114058],[0.945860,0.324553,0.003843],[0.033407,-0.109124,0.993467]]
2025-10-26T23:02:47.444Z,1761519767.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245910
2025-10-26T23:02:47.477Z,1761519767.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.53 m.
2025-10-26T23:02:47.479Z,1761519767.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.530647 m,
      nav range: 73.277107 m,
      bearing: 68.584999 deg,
      approach rate: -0.730396 m/s,
      LOS rate: -0.005302 deg/s,
      cmd heading: 72.364960 deg,
      new cmd heading: 72.358796 deg.

2025-10-26T23:02:47.480Z,1761519767.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.262899 target range: 75.530647 and range: 75.90 m.
2025-10-26T23:02:47.696Z,1761519767.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497945
2025-10-26T23:02:47.814Z,1761519767.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319186,-0.940957,-0.112780],[0.947019,0.321178,0.000538],[0.035717,-0.106977,0.993620]]
2025-10-26T23:02:47.865Z,1761519767.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.53 m.
2025-10-26T23:02:47.868Z,1761519767.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.530647 m,
      nav range: 73.007568 m,
      bearing: 68.582231 deg,
      approach rate: -0.693392 m/s,
      LOS rate: -0.007147 deg/s,
      cmd heading: 72.358799 deg,
      new cmd heading: 72.350465 deg.

2025-10-26T23:02:47.869Z,1761519767.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.262754 target range: 75.530647 and range: 75.90 m.
2025-10-26T23:02:47.949Z,1761519767.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750310
2025-10-26T23:02:48.200Z,1761519768.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001824
2025-10-26T23:02:48.218Z,1761519768.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315892,-0.941514,-0.117319],[0.948027,0.318189,-0.000892],[0.038169,-0.110940,0.993094]]
2025-10-26T23:02:48.236Z,1761519768.236 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:48.238Z,1761519768.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.53 m.
2025-10-26T23:02:48.241Z,1761519768.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.530647 m,
      nav range: 72.749458 m,
      bearing: 68.578845 deg,
      approach rate: -0.692911 m/s,
      LOS rate: -0.009120 deg/s,
      cmd heading: 72.350466 deg,
      new cmd heading: 72.340274 deg.

2025-10-26T23:02:48.241Z,1761519768.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.262576 target range: 75.530647 and range: 75.90 m.
2025-10-26T23:02:48.452Z,1761519768.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253857
2025-10-26T23:02:48.622Z,1761519768.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313100,-0.941775,-0.122590],[0.948856,0.315702,-0.001901],[0.040492,-0.115725,0.992456]]
2025-10-26T23:02:48.665Z,1761519768.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.53 m.
2025-10-26T23:02:48.668Z,1761519768.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.530647 m,
      nav range: 72.463013 m,
      bearing: 68.578849 deg,
      approach rate: -0.670064 m/s,
      LOS rate: 0.000008 deg/s,
      cmd heading: 72.340275 deg,
      new cmd heading: 72.340286 deg.

2025-10-26T23:02:48.669Z,1761519768.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.262576 target range: 75.530647 and range: 75.90 m.
2025-10-26T23:02:48.706Z,1761519768.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506728
2025-10-26T23:02:48.956Z,1761519768.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757875
2025-10-26T23:02:49.033Z,1761519769.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310347,-0.942203,-0.126247],[0.949669,0.313240,-0.003234],[0.042592,-0.118889,0.991994]]
2025-10-26T23:02:49.064Z,1761519769.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.53 m.
2025-10-26T23:02:49.072Z,1761519769.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.530647 m,
      nav range: 72.198723 m,
      bearing: 68.578256 deg,
      approach rate: -0.661977 m/s,
      LOS rate: -0.001489 deg/s,
      cmd heading: 72.340289 deg,
      new cmd heading: 72.338505 deg.

2025-10-26T23:02:49.076Z,1761519769.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.262545 target range: 75.530647 and range: 75.90 m.
2025-10-26T23:02:49.209Z,1761519769.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010246
2025-10-26T23:02:49.430Z,1761519769.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307974,-0.942885,-0.126964],[0.950357,0.311117,-0.005209],[0.044412,-0.119057,0.991894]]
2025-10-26T23:02:49.460Z,1761519769.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261965
2025-10-26T23:02:49.476Z,1761519769.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.53 m.
2025-10-26T23:02:49.478Z,1761519769.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.530647 m,
      nav range: 71.938797 m,
      bearing: 68.588225 deg,
      approach rate: -0.632709 m/s,
      LOS rate: 0.024352 deg/s,
      cmd heading: 72.338506 deg,
      new cmd heading: 72.368519 deg.

2025-10-26T23:02:49.479Z,1761519769.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.263069 target range: 75.530647 and range: 75.90 m.
2025-10-26T23:02:49.713Z,1761519769.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514995
2025-10-26T23:02:49.846Z,1761519769.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305749,-0.943003,-0.131388],[0.951022,0.309079,-0.005239],[0.045549,-0.123351,0.991317]]
2025-10-26T23:02:49.867Z,1761519769.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.53 m.
2025-10-26T23:02:49.870Z,1761519769.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.530647 m,
      nav range: 71.692696 m,
      bearing: 68.597290 deg,
      approach rate: -0.628425 m/s,
      LOS rate: 0.023227 deg/s,
      cmd heading: 72.368518 deg,
      new cmd heading: 72.395806 deg.

2025-10-26T23:02:49.871Z,1761519769.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.263545 target range: 75.530647 and range: 75.90 m.
2025-10-26T23:02:49.964Z,1761519769.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765873
2025-10-26T23:02:50.216Z,1761519770.216 [DAT](INFO): DAT read: Rx Time:23:02:48.8372

2025-10-26T23:02:50.217Z,1761519770.217 [DAT](INFO): Rx dataTimestamp_ set to:1761519770.216638
2025-10-26T23:02:50.217Z,1761519770.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018997
2025-10-26T23:02:50.238Z,1761519770.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303767,-0.942255,-0.141000],[0.951632,0.307227,-0.002921],[0.046071,-0.133292,0.990005]]
2025-10-26T23:02:50.255Z,1761519770.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:50.257Z,1761519770.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.53 m.
2025-10-26T23:02:50.260Z,1761519770.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.530647 m,
      nav range: 71.448250 m,
      bearing: 68.605988 deg,
      approach rate: -0.626346 m/s,
      LOS rate: 0.022364 deg/s,
      cmd heading: 72.395805 deg,
      new cmd heading: 72.421989 deg.

2025-10-26T23:02:50.261Z,1761519770.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.264002 target range: 75.530647 and range: 75.90 m.
2025-10-26T23:02:50.468Z,1761519770.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269950
2025-10-26T23:02:50.729Z,1761519770.729 [DAT](INFO): DAT read: 23:02:48.8372 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 412,-0.04,-1.045,-2.628,-0.737,-1.126, PHS= 0.183,-1.457, 0.345, RAW= 154.7,  10.8, CAL= 154.6,  11.8, ROT= 355.4, -11.8

2025-10-26T23:02:50.731Z,1761519770.731 [DAT](INFO): got valid direction response:
 23:02:48.8372 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 412,-0.04,-1.045,-2.628,-0.737,-1.126, PHS= 0.183,-1.457, 0.345, RAW= 154.7,  10.8, CAL= 154.6,  11.8, ROT= 355.4, -11.8

2025-10-26T23:02:50.732Z,1761519770.732 [DAT](INFO): DAT read: Bearing 225.6,  -3.6 (Local)

2025-10-26T23:02:50.733Z,1761519770.733 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.6,  -3.6 (Local)

2025-10-26T23:02:50.735Z,1761519770.735 [DAT](INFO): DAT read: Range 11 to 50 : 73.8 m  (Round-trip  98.4 ms) speed  0.4 m/s

2025-10-26T23:02:50.736Z,1761519770.736 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:02:50.737Z,1761519770.737 [DAT](INFO): direction in FSK: [0.975714,-0.078504,0.204496]
2025-10-26T23:02:50.737Z,1761519770.737 [DAT](INFO): publishing direction and range info
2025-10-26T23:02:50.741Z,1761519770.741 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:02:50.741Z,1761519770.741 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:02:50.741Z,1761519770.741 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:02:50.769Z,1761519770.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 73.800003 m,
      deltaT: 3.780234 s,
      deltaX: -2.099998 m,
      approachRate: -0.555521 m/s,
      rangeRepo size: 4

2025-10-26T23:02:50.771Z,1761519770.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 73.440567 m,
      bearing: 69.299562 deg,
      lat: 36.779399 deg,
      lon: -121.859387 deg,
      deltaT: 3.780234 s,
      deltaX: -2.090080 m,
      approachRate: -0.552897 m/s,
      posRepo size: 4

2025-10-26T23:02:50.776Z,1761519770.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.44 m.
2025-10-26T23:02:50.778Z,1761519770.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.440567 m,
      nav range: 71.201859 m,
      bearing: 68.651944 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022364 deg/s,
      cmd heading: 72.421992 deg,
      new cmd heading: 72.456286 deg.

2025-10-26T23:02:50.789Z,1761519770.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.264601 target range: 73.440567 and range: 73.80 m.
2025-10-26T23:02:50.973Z,1761519770.973 [DAT](INFO): DAT read: user:772>

2025-10-26T23:02:50.973Z,1761519770.973 [DAT](INFO): DAT read: Tx time:23:02:50.0846

2025-10-26T23:02:50.974Z,1761519770.974 [DAT](INFO): Ping request sent.
2025-10-26T23:02:50.974Z,1761519770.974 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:02:50.974Z,1761519770.974 [DAT](INFO): publishing transmit ping time
2025-10-26T23:02:50.975Z,1761519770.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757
2025-10-26T23:02:51.140Z,1761519771.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300807,-0.942051,-0.148512],[0.952574,0.304306,-0.000882],[0.046024,-0.141203,0.988910]]
2025-10-26T23:02:51.159Z,1761519771.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.44 m.
2025-10-26T23:02:51.178Z,1761519771.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.440567 m,
      nav range: 70.942253 m,
      bearing: 68.668252 deg,
      approach rate: -0.664639 m/s,
      LOS rate: 0.041905 deg/s,
      cmd heading: 72.456286 deg,
      new cmd heading: 72.505390 deg.

2025-10-26T23:02:51.179Z,1761519771.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.265458 target range: 73.440567 and range: 73.80 m.
2025-10-26T23:02:51.226Z,1761519771.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251564
2025-10-26T23:02:51.477Z,1761519771.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502909
2025-10-26T23:02:51.542Z,1761519771.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299917,-0.942498,-0.147472],[0.952868,0.303382,-0.001057],[0.045736,-0.140204,0.989066]]
2025-10-26T23:02:51.589Z,1761519771.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.44 m.
2025-10-26T23:02:51.591Z,1761519771.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.440567 m,
      nav range: 70.718857 m,
      bearing: 68.698788 deg,
      approach rate: -0.519985 m/s,
      LOS rate: 0.071301 deg/s,
      cmd heading: 72.505388 deg,
      new cmd heading: 72.597286 deg.

2025-10-26T23:02:51.592Z,1761519771.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.267062 target range: 73.440567 and range: 73.80 m.
2025-10-26T23:02:51.729Z,1761519771.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755152
2025-10-26T23:02:51.946Z,1761519771.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300005,-0.942807,-0.145302],[0.952871,0.303373,-0.001072],[0.045091,-0.138132,0.989387]]
2025-10-26T23:02:51.965Z,1761519771.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.44 m.
2025-10-26T23:02:51.968Z,1761519771.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.440567 m,
      nav range: 70.522781 m,
      bearing: 68.725765 deg,
      approach rate: -0.520714 m/s,
      LOS rate: 0.071841 deg/s,
      cmd heading: 72.597288 deg,
      new cmd heading: 72.678444 deg.

2025-10-26T23:02:51.969Z,1761519771.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.268478 target range: 73.440567 and range: 73.80 m.
2025-10-26T23:02:51.980Z,1761519771.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006667
2025-10-26T23:02:52.232Z,1761519772.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258510
2025-10-26T23:02:52.358Z,1761519772.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301014,-0.943505,-0.138527],[0.952570,0.304308,-0.002739],[0.044739,-0.131132,0.990355]]
2025-10-26T23:02:52.434Z,1761519772.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:52.440Z,1761519772.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.44 m.
2025-10-26T23:02:52.443Z,1761519772.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.440567 m,
      nav range: 70.277832 m,
      bearing: 68.759903 deg,
      approach rate: -0.515278 m/s,
      LOS rate: 0.072063 deg/s,
      cmd heading: 72.678445 deg,
      new cmd heading: 72.781215 deg.

2025-10-26T23:02:52.448Z,1761519772.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.270272 target range: 73.440567 and range: 73.80 m.
2025-10-26T23:02:52.487Z,1761519772.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512940
2025-10-26T23:02:52.737Z,1761519772.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762848
2025-10-26T23:02:52.763Z,1761519772.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302953,-0.943438,-0.134703],[0.951977,0.306152,-0.003199],[0.044258,-0.127265,0.990881]]
2025-10-26T23:02:52.825Z,1761519772.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.44 m.
2025-10-26T23:02:52.842Z,1761519772.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.440567 m,
      nav range: 70.096565 m,
      bearing: 68.796362 deg,
      approach rate: -0.472089 m/s,
      LOS rate: 0.095198 deg/s,
      cmd heading: 72.781212 deg,
      new cmd heading: 72.890870 deg.

2025-10-26T23:02:52.848Z,1761519772.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.272186 target range: 73.440567 and range: 73.80 m.
2025-10-26T23:02:52.988Z,1761519772.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014510
2025-10-26T23:02:53.205Z,1761519773.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.44 m.
2025-10-26T23:02:53.208Z,1761519773.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.440567 m,
      nav range: 69.915726 m,
      bearing: 68.832927 deg,
      approach rate: -0.475193 m/s,
      LOS rate: 0.096331 deg/s,
      cmd heading: 72.890870 deg,
      new cmd heading: 73.000850 deg.

2025-10-26T23:02:53.209Z,1761519773.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274105 target range: 73.440567 and range: 73.80 m.
2025-10-26T23:02:53.241Z,1761519773.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267129
2025-10-26T23:02:53.492Z,1761519773.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518503
2025-10-26T23:02:53.570Z,1761519773.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307812,-0.941085,-0.140037],[0.950438,0.310915,-0.000298],[0.043820,-0.133005,0.990146]]
2025-10-26T23:02:53.625Z,1761519773.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.44 m.
2025-10-26T23:02:53.628Z,1761519773.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.440567 m,
      nav range: 69.722305 m,
      bearing: 68.876496 deg,
      approach rate: -0.460208 m/s,
      LOS rate: 0.103953 deg/s,
      cmd heading: 73.000850 deg,
      new cmd heading: 73.131921 deg.

2025-10-26T23:02:53.629Z,1761519773.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.276393 target range: 73.440567 and range: 73.80 m.
2025-10-26T23:02:53.744Z,1761519773.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770707
2025-10-26T23:02:53.974Z,1761519773.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310920,-0.940304,-0.138408],[0.949429,0.313980,-0.000293],[0.043733,-0.131317,0.990375]]
2025-10-26T23:02:53.996Z,1761519773.996 [DAT](INFO): DAT read: Rx Time:23:02:52.5843

2025-10-26T23:02:53.997Z,1761519773.997 [DAT](INFO): Rx dataTimestamp_ set to:1761519773.996632
2025-10-26T23:02:53.997Z,1761519773.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023698
2025-10-26T23:02:54.095Z,1761519774.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.44 m.
2025-10-26T23:02:54.098Z,1761519774.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.440567 m,
      nav range: 69.512703 m,
      bearing: 68.924621 deg,
      approach rate: -0.446123 m/s,
      LOS rate: 0.102739 deg/s,
      cmd heading: 73.131921 deg,
      new cmd heading: 73.276732 deg.

2025-10-26T23:02:54.099Z,1761519774.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.278920 target range: 73.440567 and range: 73.80 m.
2025-10-26T23:02:54.249Z,1761519774.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274904
2025-10-26T23:02:54.506Z,1761519774.506 [DAT](INFO): DAT read: 23:02:52.5843 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 415, 0.32,-2.126, 2.596,-1.807,-2.189, PHS= 0.164,-1.453, 0.338, RAW= 155.0,  11.1, CAL= 155.0,  12.3, ROT= 355.0, -12.3

2025-10-26T23:02:54.507Z,1761519774.507 [DAT](INFO): got valid direction response:
 23:02:52.5843 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 415, 0.32,-2.126, 2.596,-1.807,-2.189, PHS= 0.164,-1.453, 0.338, RAW= 155.0,  11.1, CAL= 155.0,  12.3, ROT= 355.0, -12.3

2025-10-26T23:02:54.509Z,1761519774.509 [DAT](INFO): DAT read: Bearing 225.6,  -3.8 (Local)

2025-10-26T23:02:54.510Z,1761519774.510 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.6,  -3.8 (Local)

2025-10-26T23:02:54.511Z,1761519774.511 [DAT](INFO): DAT read: Range 11 to 50 : 71.7 m  (Round-trip  95.6 ms) speed  0.5 m/s

2025-10-26T23:02:54.512Z,1761519774.512 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:02:54.513Z,1761519774.513 [DAT](INFO): direction in FSK: [0.973328,-0.085155,0.213030]
2025-10-26T23:02:54.514Z,1761519774.514 [DAT](INFO): publishing direction and range info
2025-10-26T23:02:54.518Z,1761519774.518 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:02:54.518Z,1761519774.518 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:02:54.518Z,1761519774.518 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:02:54.542Z,1761519774.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 71.699997 m,
      deltaT: 3.779607 s,
      deltaX: -2.100006 m,
      approachRate: -0.555615 m/s,
      rangeRepo size: 4

2025-10-26T23:02:54.548Z,1761519774.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 71.354172 m,
      bearing: 68.513537 deg,
      lat: 36.779402 deg,
      lon: -121.859387 deg,
      deltaT: 3.779607 s,
      deltaX: -2.086395 m,
      approachRate: -0.552014 m/s,
      posRepo size: 4

2025-10-26T23:02:54.549Z,1761519774.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.35 m.
2025-10-26T23:02:54.555Z,1761519774.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.354172 m,
      nav range: 69.435547 m,
      bearing: 68.716868 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.102739 deg/s,
      cmd heading: 73.276728 deg,
      new cmd heading: 73.414182 deg.

2025-10-26T23:02:54.556Z,1761519774.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.281319 target range: 71.354172 and range: 71.70 m.
2025-10-26T23:02:54.752Z,1761519774.752 [DAT](INFO): DAT read: user:773>

2025-10-26T23:02:54.753Z,1761519774.753 [DAT](INFO): DAT read: Tx time:23:02:53.8846

2025-10-26T23:02:54.754Z,1761519774.754 [DAT](INFO): Ping request sent.
2025-10-26T23:02:54.754Z,1761519774.754 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:02:54.754Z,1761519774.754 [DAT](INFO): publishing transmit ping time
2025-10-26T23:02:54.754Z,1761519774.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-10-26T23:02:54.880Z,1761519774.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321835,-0.936709,-0.137834],[0.945857,0.324571,0.002766],[0.042146,-0.131261,0.990452]]
2025-10-26T23:02:54.926Z,1761519774.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.35 m.
2025-10-26T23:02:54.929Z,1761519774.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.354172 m,
      nav range: 69.240219 m,
      bearing: 68.756378 deg,
      approach rate: -0.507452 m/s,
      LOS rate: 0.102936 deg/s,
      cmd heading: 73.414179 deg,
      new cmd heading: 73.533045 deg.

2025-10-26T23:02:54.930Z,1761519774.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.283394 target range: 71.354172 and range: 71.70 m.
2025-10-26T23:02:55.005Z,1761519775.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251439
2025-10-26T23:02:55.257Z,1761519775.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503057
2025-10-26T23:02:55.270Z,1761519775.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324942,-0.935549,-0.138423],[0.944816,0.327579,0.003931],[0.041667,-0.132062,0.990365]]
2025-10-26T23:02:55.306Z,1761519775.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:55.356Z,1761519775.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.35 m.
2025-10-26T23:02:55.359Z,1761519775.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.354172 m,
      nav range: 69.056976 m,
      bearing: 68.794169 deg,
      approach rate: -0.425848 m/s,
      LOS rate: 0.088056 deg/s,
      cmd heading: 73.533045 deg,
      new cmd heading: 73.646717 deg.

2025-10-26T23:02:55.360Z,1761519775.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.285378 target range: 71.354172 and range: 71.70 m.
2025-10-26T23:02:55.509Z,1761519775.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755606
2025-10-26T23:02:55.758Z,1761519775.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327231,-0.934507,-0.140059],[0.944057,0.329736,0.005598],[0.040951,-0.134055,0.990127]]
2025-10-26T23:02:55.760Z,1761519775.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006745
2025-10-26T23:02:55.813Z,1761519775.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.35 m.
2025-10-26T23:02:55.830Z,1761519775.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.354172 m,
      nav range: 68.807938 m,
      bearing: 68.834313 deg,
      approach rate: -0.546357 m/s,
      LOS rate: 0.088389 deg/s,
      cmd heading: 73.646720 deg,
      new cmd heading: 73.767587 deg.

2025-10-26T23:02:55.832Z,1761519775.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.287487 target range: 71.354172 and range: 71.70 m.
2025-10-26T23:02:56.013Z,1761519776.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259192
2025-10-26T23:02:56.140Z,1761519776.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329864,-0.932772,-0.145346],[0.943197,0.332103,0.009287],[0.039607,-0.140154,0.989337]]
2025-10-26T23:02:56.159Z,1761519776.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.35 m.
2025-10-26T23:02:56.162Z,1761519776.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.354172 m,
      nav range: 68.634789 m,
      bearing: 68.862716 deg,
      approach rate: -0.499448 m/s,
      LOS rate: 0.082136 deg/s,
      cmd heading: 73.767587 deg,
      new cmd heading: 73.853012 deg.

2025-10-26T23:02:56.162Z,1761519776.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.288978 target range: 71.354172 and range: 71.70 m.
2025-10-26T23:02:56.265Z,1761519776.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510935
2025-10-26T23:02:56.516Z,1761519776.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762708
2025-10-26T23:02:56.545Z,1761519776.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332029,-0.931868,-0.146217],[0.942483,0.334071,0.011088],[0.038514,-0.141488,0.989190]]
2025-10-26T23:02:56.600Z,1761519776.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.35 m.
2025-10-26T23:02:56.602Z,1761519776.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.354172 m,
      nav range: 68.395729 m,
      bearing: 68.885011 deg,
      approach rate: -0.542562 m/s,
      LOS rate: 0.050778 deg/s,
      cmd heading: 73.853012 deg,
      new cmd heading: 73.920132 deg.

2025-10-26T23:02:56.603Z,1761519776.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.290150 target range: 71.354172 and range: 71.70 m.
2025-10-26T23:02:56.768Z,1761519776.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014704
2025-10-26T23:02:56.951Z,1761519776.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332091,-0.932485,-0.142083],[0.942475,0.334128,0.009978],[0.038170,-0.137223,0.989804]]
2025-10-26T23:02:56.971Z,1761519776.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.35 m.
2025-10-26T23:02:56.973Z,1761519776.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.354172 m,
      nav range: 68.194481 m,
      bearing: 68.903977 deg,
      approach rate: -0.542154 m/s,
      LOS rate: 0.051243 deg/s,
      cmd heading: 73.920132 deg,
      new cmd heading: 73.977197 deg.

2025-10-26T23:02:56.974Z,1761519776.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.291146 target range: 71.354172 and range: 71.70 m.
2025-10-26T23:02:57.021Z,1761519777.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267515
2025-10-26T23:02:57.272Z,1761519777.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518693
2025-10-26T23:02:57.352Z,1761519777.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330732,-0.933875,-0.135993],[0.942952,0.332843,0.007579],[0.038187,-0.130742,0.990681]]
2025-10-26T23:02:57.369Z,1761519777.369 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:57.371Z,1761519777.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.35 m.
2025-10-26T23:02:57.374Z,1761519777.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.354172 m,
      nav range: 67.977066 m,
      bearing: 68.924433 deg,
      approach rate: -0.543014 m/s,
      LOS rate: 0.051253 deg/s,
      cmd heading: 73.977198 deg,
      new cmd heading: 74.038761 deg.

2025-10-26T23:02:57.375Z,1761519777.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.292220 target range: 71.354172 and range: 71.70 m.
2025-10-26T23:02:57.525Z,1761519777.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770990
2025-10-26T23:02:57.755Z,1761519777.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328978,-0.935534,-0.128646],[0.943569,0.331139,0.004833],[0.038078,-0.122977,0.991679]]
2025-10-26T23:02:57.777Z,1761519777.777 [DAT](INFO): DAT read: Rx Time:23:02:56.3812

2025-10-26T23:02:57.777Z,1761519777.777 [DAT](INFO): Rx dataTimestamp_ set to:1761519777.776695
2025-10-26T23:02:57.778Z,1761519777.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023883
2025-10-26T23:02:57.802Z,1761519777.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.35 m.
2025-10-26T23:02:57.822Z,1761519777.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.354172 m,
      nav range: 67.716743 m,
      bearing: 68.938242 deg,
      approach rate: -0.603927 m/s,
      LOS rate: 0.032161 deg/s,
      cmd heading: 74.038759 deg,
      new cmd heading: 74.080347 deg.

2025-10-26T23:02:57.836Z,1761519777.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.292946 target range: 71.354172 and range: 71.70 m.
2025-10-26T23:02:58.029Z,1761519778.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275433
2025-10-26T23:02:58.207Z,1761519778.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325345,-0.938001,-0.119601],[0.944821,0.327587,0.000975],[0.038265,-0.113319,0.992822]]
2025-10-26T23:02:58.226Z,1761519778.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.35 m.
2025-10-26T23:02:58.229Z,1761519778.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.354172 m,
      nav range: 67.460724 m,
      bearing: 68.951232 deg,
      approach rate: -0.603823 m/s,
      LOS rate: 0.030753 deg/s,
      cmd heading: 74.080348 deg,
      new cmd heading: 74.119466 deg.

2025-10-26T23:02:58.230Z,1761519778.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.293629 target range: 71.354172 and range: 71.70 m.
2025-10-26T23:02:58.286Z,1761519778.286 [DAT](INFO): DAT read: 23:02:56.3812 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 416,-0.17, 0.496,-1.155, 0.811, 0.393, PHS= 0.206,-1.502, 0.374, RAW= 154.6,  10.3, CAL= 154.5,  11.2, ROT= 355.5, -11.2

2025-10-26T23:02:58.287Z,1761519778.287 [DAT](INFO): got valid direction response:
 23:02:56.3812 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 416,-0.17, 0.496,-1.155, 0.811, 0.393, PHS= 0.206,-1.502, 0.374, RAW= 154.6,  10.3, CAL= 154.5,  11.2, ROT= 355.5, -11.2

2025-10-26T23:02:58.289Z,1761519778.289 [DAT](INFO): DAT read: Bearing 223.4,  -3.3 (Local)

2025-10-26T23:02:58.289Z,1761519778.289 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.4,  -3.3 (Local)

2025-10-26T23:02:58.290Z,1761519778.290 [DAT](INFO): DAT read: Range 11 to 50 : 69.3 m  (Round-trip  92.5 ms) speed  0.6 m/s

2025-10-26T23:02:58.291Z,1761519778.291 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:02:58.292Z,1761519778.292 [DAT](INFO): direction in FSK: [0.977931,-0.076965,0.194234]
2025-10-26T23:02:58.292Z,1761519778.292 [DAT](INFO): publishing direction and range info
2025-10-26T23:02:58.304Z,1761519778.304 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:02:58.304Z,1761519778.304 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:02:58.304Z,1761519778.304 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:02:58.532Z,1761519778.532 [DAT](INFO): DAT read: user:774>

2025-10-26T23:02:58.533Z,1761519778.533 [DAT](INFO): DAT read: Tx time:23:02:57.6845

2025-10-26T23:02:58.533Z,1761519778.533 [DAT](INFO): Ping request sent.
2025-10-26T23:02:58.533Z,1761519778.533 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:02:58.534Z,1761519778.534 [DAT](INFO): publishing transmit ping time
2025-10-26T23:02:58.534Z,1761519778.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-10-26T23:02:58.571Z,1761519778.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320762,-0.940045,-0.115876],[0.946388,0.323031,-0.000851],[0.038232,-0.109390,0.993263]]
2025-10-26T23:02:58.654Z,1761519778.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 69.300003 m,
      deltaT: 3.780087 s,
      deltaX: -2.399994 m,
      approachRate: -0.634904 m/s,
      rangeRepo size: 4

2025-10-26T23:02:58.656Z,1761519778.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 68.962471 m,
      bearing: 68.015834 deg,
      lat: 36.779405 deg,
      lon: -121.859394 deg,
      deltaT: 3.780087 s,
      deltaX: -2.391701 m,
      approachRate: -0.632711 m/s,
      posRepo size: 4

2025-10-26T23:02:58.657Z,1761519778.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.96 m.
2025-10-26T23:02:58.660Z,1761519778.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.962471 m,
      nav range: 66.720360 m,
      bearing: 68.549285 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.030753 deg/s,
      cmd heading: 74.119464 deg,
      new cmd heading: 74.158902 deg.

2025-10-26T23:02:58.661Z,1761519778.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294317 target range: 68.962471 and range: 69.30 m.
2025-10-26T23:02:58.784Z,1761519778.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250967
2025-10-26T23:02:58.994Z,1761519778.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315501,-0.941908,-0.115193],[0.948138,0.317852,-0.002155],[0.038644,-0.108538,0.993341]]
2025-10-26T23:02:59.037Z,1761519779.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503286
2025-10-26T23:02:59.066Z,1761519779.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.96 m.
2025-10-26T23:02:59.070Z,1761519779.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.962471 m,
      nav range: 66.471443 m,
      bearing: 68.552195 deg,
      approach rate: -0.604183 m/s,
      LOS rate: 0.007090 deg/s,
      cmd heading: 74.158902 deg,
      new cmd heading: 74.167665 deg.

2025-10-26T23:02:59.071Z,1761519779.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294470 target range: 68.962471 and range: 69.30 m.
2025-10-26T23:02:59.288Z,1761519779.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754920
2025-10-26T23:02:59.388Z,1761519779.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310185,-0.943418,-0.117248],[0.949872,0.312629,-0.002599],[0.039107,-0.110565,0.993099]]
2025-10-26T23:02:59.413Z,1761519779.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:02:59.415Z,1761519779.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.96 m.
2025-10-26T23:02:59.418Z,1761519779.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.962471 m,
      nav range: 66.219368 m,
      bearing: 68.553928 deg,
      approach rate: -0.721828 m/s,
      LOS rate: 0.004981 deg/s,
      cmd heading: 74.167665 deg,
      new cmd heading: 74.172884 deg.

2025-10-26T23:02:59.418Z,1761519779.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294561 target range: 68.962471 and range: 69.30 m.
2025-10-26T23:02:59.540Z,1761519779.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006998
2025-10-26T23:02:59.792Z,1761519779.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258943
2025-10-26T23:02:59.793Z,1761519779.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304356,-0.944811,-0.121239],[0.951728,0.306932,-0.002712],[0.039775,-0.114561,0.992620]]
2025-10-26T23:02:59.870Z,1761519779.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.96 m.
2025-10-26T23:02:59.877Z,1761519779.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.962471 m,
      nav range: 65.938042 m,
      bearing: 68.551325 deg,
      approach rate: -0.617671 m/s,
      LOS rate: -0.005739 deg/s,
      cmd heading: 74.172883 deg,
      new cmd heading: 74.165041 deg.

2025-10-26T23:02:59.878Z,1761519779.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294424 target range: 68.962471 and range: 69.30 m.
2025-10-26T23:03:00.045Z,1761519780.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511291
2025-10-26T23:03:00.296Z,1761519780.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762843
2025-10-26T23:03:00.334Z,1761519780.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298400,-0.946613,-0.121986],[0.953584,0.301101,-0.003907],[0.040429,-0.115158,0.992524]]
2025-10-26T23:03:00.375Z,1761519780.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.96 m.
2025-10-26T23:03:00.378Z,1761519780.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.962471 m,
      nav range: 65.601471 m,
      bearing: 68.546342 deg,
      approach rate: -0.671713 m/s,
      LOS rate: -0.009996 deg/s,
      cmd heading: 74.165042 deg,
      new cmd heading: 74.150016 deg.

2025-10-26T23:03:00.379Z,1761519780.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294162 target range: 68.962471 and range: 69.30 m.
2025-10-26T23:03:00.549Z,1761519780.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015115
2025-10-26T23:03:00.733Z,1761519780.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291983,-0.948678,-0.121473],[0.955540,0.294809,-0.005581],[0.041106,-0.114442,0.992579]]
2025-10-26T23:03:00.785Z,1761519780.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.96 m.
2025-10-26T23:03:00.788Z,1761519780.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.962471 m,
      nav range: 65.323761 m,
      bearing: 68.548497 deg,
      approach rate: -0.671329 m/s,
      LOS rate: 0.005230 deg/s,
      cmd heading: 74.150016 deg,
      new cmd heading: 74.156507 deg.

2025-10-26T23:03:00.789Z,1761519780.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294275 target range: 68.962471 and range: 69.30 m.
2025-10-26T23:03:00.802Z,1761519780.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267983
2025-10-26T23:03:01.052Z,1761519781.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518773
2025-10-26T23:03:01.226Z,1761519781.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277688,-0.952383,-0.125922],[0.959733,0.280814,-0.007437],[0.042443,-0.118786,0.992012]]
2025-10-26T23:03:01.306Z,1761519781.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772122
2025-10-26T23:03:01.326Z,1761519781.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.96 m.
2025-10-26T23:03:01.330Z,1761519781.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.962471 m,
      nav range: 64.973061 m,
      bearing: 68.546627 deg,
      approach rate: -0.648877 m/s,
      LOS rate: -0.003478 deg/s,
      cmd heading: 74.156504 deg,
      new cmd heading: 74.150865 deg.

2025-10-26T23:03:01.333Z,1761519781.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294177 target range: 68.962471 and range: 69.30 m.
2025-10-26T23:03:01.556Z,1761519781.556 [DAT](INFO): DAT read: Rx Time:23:03:00.1783

2025-10-26T23:03:01.557Z,1761519781.557 [DAT](INFO): Rx dataTimestamp_ set to:1761519781.556608
2025-10-26T23:03:01.557Z,1761519781.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023963
2025-10-26T23:03:01.627Z,1761519781.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271436,-0.954310,-0.124959],[0.961505,0.274645,-0.008878],[0.042792,-0.117738,0.992122]]
2025-10-26T23:03:01.687Z,1761519781.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:01.689Z,1761519781.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.96 m.
2025-10-26T23:03:01.696Z,1761519781.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.962471 m,
      nav range: 64.745445 m,
      bearing: 68.548254 deg,
      approach rate: -0.625368 m/s,
      LOS rate: 0.004485 deg/s,
      cmd heading: 74.150863 deg,
      new cmd heading: 74.155760 deg.

2025-10-26T23:03:01.697Z,1761519781.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294262 target range: 68.962471 and range: 69.30 m.
2025-10-26T23:03:01.809Z,1761519781.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275901
2025-10-26T23:03:02.027Z,1761519782.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266265,-0.956485,-0.119327],[0.962936,0.269487,-0.011430],[0.043089,-0.111861,0.992789]]
2025-10-26T23:03:02.065Z,1761519782.065 [DAT](INFO): DAT read: 23:03:00.1783 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 419,-0.33, 0.508,-1.100, 0.867, 0.399, PHS= 0.211,-1.453, 0.424, RAW= 155.9,   9.2, CAL= 155.7,   9.9, ROT= 354.3,  -9.9

2025-10-26T23:03:02.067Z,1761519782.067 [DAT](INFO): got valid direction response:
 23:03:00.1783 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 419,-0.33, 0.508,-1.100, 0.867, 0.399, PHS= 0.211,-1.453, 0.424, RAW= 155.9,   9.2, CAL= 155.7,   9.9, ROT= 354.3,  -9.9

2025-10-26T23:03:02.067Z,1761519782.067 [DAT](INFO): DAT read: Bearing 223.9,  -4.4 (Local)

2025-10-26T23:03:02.068Z,1761519782.068 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.9,  -4.4 (Local)

2025-10-26T23:03:02.069Z,1761519782.069 [DAT](INFO): DAT read: Range 11 to 50 : 67.2 m  (Round-trip  89.6 ms) speed  0.4 m/s

2025-10-26T23:03:02.070Z,1761519782.070 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:03:02.071Z,1761519782.071 [DAT](INFO): direction in FSK: [0.980239,-0.097841,0.171929]
2025-10-26T23:03:02.071Z,1761519782.071 [DAT](INFO): publishing direction and range info
2025-10-26T23:03:02.075Z,1761519782.075 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:02.075Z,1761519782.075 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:02.075Z,1761519782.075 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:03:02.160Z,1761519782.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 67.199997 m,
      deltaT: 3.779751 s,
      deltaX: -2.100006 m,
      approachRate: -0.555594 m/s,
      rangeRepo size: 4

2025-10-26T23:03:02.162Z,1761519782.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 66.873230 m,
      bearing: 69.954244 deg,
      lat: 36.779402 deg,
      lon: -121.859394 deg,
      deltaT: 3.779751 s,
      deltaX: -2.089241 m,
      approachRate: -0.552746 m/s,
      posRepo size: 4

2025-10-26T23:03:02.163Z,1761519782.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.87 m.
2025-10-26T23:03:02.169Z,1761519782.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.873230 m,
      nav range: 64.346687 m,
      bearing: 68.778252 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004485 deg/s,
      cmd heading: 74.155760 deg,
      new cmd heading: 74.162028 deg.

2025-10-26T23:03:02.170Z,1761519782.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294372 target range: 66.873230 and range: 67.20 m.
2025-10-26T23:03:02.313Z,1761519782.313 [DAT](INFO): DAT read: user:775>

2025-10-26T23:03:02.314Z,1761519782.314 [DAT](INFO): DAT read: Tx time:23:03:01.4345

2025-10-26T23:03:02.315Z,1761519782.315 [DAT](INFO): Ping request sent.
2025-10-26T23:03:02.315Z,1761519782.315 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:03:02.315Z,1761519782.315 [DAT](INFO): publishing transmit ping time
2025-10-26T23:03:02.317Z,1761519782.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001750
2025-10-26T23:03:02.430Z,1761519782.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262208,-0.958308,-0.113546],[0.964058,0.265359,-0.013317],[0.042892,-0.105973,0.993443]]
2025-10-26T23:03:02.473Z,1761519782.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.87 m.
2025-10-26T23:03:02.475Z,1761519782.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.873230 m,
      nav range: 64.132080 m,
      bearing: 68.778729 deg,
      approach rate: -0.676350 m/s,
      LOS rate: 0.001508 deg/s,
      cmd heading: 74.162030 deg,
      new cmd heading: 74.163465 deg.

2025-10-26T23:03:02.476Z,1761519782.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294397 target range: 66.873230 and range: 67.20 m.
2025-10-26T23:03:02.568Z,1761519782.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252396
2025-10-26T23:03:02.818Z,1761519782.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502396
2025-10-26T23:03:02.838Z,1761519782.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259355,-0.959293,-0.111768],[0.964839,0.262475,-0.013908],[0.042678,-0.104231,0.993637]]
2025-10-26T23:03:02.889Z,1761519782.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.87 m.
2025-10-26T23:03:02.891Z,1761519782.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.873230 m,
      nav range: 63.882069 m,
      bearing: 68.788093 deg,
      approach rate: -0.600816 m/s,
      LOS rate: 0.022592 deg/s,
      cmd heading: 74.163464 deg,
      new cmd heading: 74.191667 deg.

2025-10-26T23:03:02.892Z,1761519782.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294889 target range: 66.873230 and range: 67.20 m.
2025-10-26T23:03:03.068Z,1761519783.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753623
2025-10-26T23:03:03.238Z,1761519783.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258424,-0.959557,-0.111653],[0.965098,0.261525,-0.013823],[0.042465,-0.104184,0.993651]]
2025-10-26T23:03:03.257Z,1761519783.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.87 m.
2025-10-26T23:03:03.260Z,1761519783.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.873230 m,
      nav range: 63.659267 m,
      bearing: 68.796305 deg,
      approach rate: -0.605127 m/s,
      LOS rate: 0.022383 deg/s,
      cmd heading: 74.191666 deg,
      new cmd heading: 74.216390 deg.

2025-10-26T23:03:03.261Z,1761519783.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.295320 target range: 66.873230 and range: 67.20 m.
2025-10-26T23:03:03.322Z,1761519783.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007134
2025-10-26T23:03:03.575Z,1761519783.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259603
2025-10-26T23:03:03.642Z,1761519783.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258773,-0.959470,-0.111597],[0.965018,0.261837,-0.013479],[0.042153,-0.104205,0.993662]]
2025-10-26T23:03:03.689Z,1761519783.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:03.691Z,1761519783.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.87 m.
2025-10-26T23:03:03.694Z,1761519783.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.873230 m,
      nav range: 63.417576 m,
      bearing: 68.819450 deg,
      approach rate: -0.556528 m/s,
      LOS rate: 0.053496 deg/s,
      cmd heading: 74.216392 deg,
      new cmd heading: 74.286089 deg.

2025-10-26T23:03:03.695Z,1761519783.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.296537 target range: 66.873230 and range: 67.20 m.
2025-10-26T23:03:03.825Z,1761519783.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510572
2025-10-26T23:03:04.050Z,1761519784.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259861,-0.958320,-0.118719],[0.964768,0.262897,-0.010397],[0.041175,-0.111835,0.992873]]
2025-10-26T23:03:04.076Z,1761519784.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761435
2025-10-26T23:03:04.086Z,1761519784.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.87 m.
2025-10-26T23:03:04.092Z,1761519784.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.873230 m,
      nav range: 63.206482 m,
      bearing: 68.840030 deg,
      approach rate: -0.535090 m/s,
      LOS rate: 0.052342 deg/s,
      cmd heading: 74.286087 deg,
      new cmd heading: 74.348034 deg.

2025-10-26T23:03:04.093Z,1761519784.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.297618 target range: 66.873230 and range: 67.20 m.
2025-10-26T23:03:04.329Z,1761519784.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013726
2025-10-26T23:03:04.453Z,1761519784.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262323,-0.956521,-0.127492],[0.964149,0.265283,-0.006515],[0.040053,-0.121212,0.991818]]
2025-10-26T23:03:04.471Z,1761519784.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.87 m.
2025-10-26T23:03:04.474Z,1761519784.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.873230 m,
      nav range: 62.982758 m,
      bearing: 68.862518 deg,
      approach rate: -0.580192 m/s,
      LOS rate: 0.058527 deg/s,
      cmd heading: 74.348037 deg,
      new cmd heading: 74.415741 deg.

2025-10-26T23:03:04.475Z,1761519784.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.298800 target range: 66.873230 and range: 67.20 m.
2025-10-26T23:03:04.584Z,1761519784.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268820
2025-10-26T23:03:04.832Z,1761519784.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517484
2025-10-26T23:03:04.854Z,1761519784.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264861,-0.955261,-0.131628],[0.963495,0.267696,-0.004008],[0.039065,-0.125761,0.991291]]
2025-10-26T23:03:04.914Z,1761519784.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.87 m.
2025-10-26T23:03:04.916Z,1761519784.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.873230 m,
      nav range: 62.749557 m,
      bearing: 68.896880 deg,
      approach rate: -0.527142 m/s,
      LOS rate: 0.077962 deg/s,
      cmd heading: 74.415744 deg,
      new cmd heading: 74.519212 deg.

2025-10-26T23:03:04.917Z,1761519784.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.300606 target range: 66.873230 and range: 67.20 m.
2025-10-26T23:03:05.085Z,1761519785.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769762
2025-10-26T23:03:05.259Z,1761519785.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267000,-0.954115,-0.135557],[0.962931,0.269740,-0.001918],[0.038395,-0.130020,0.990768]]
2025-10-26T23:03:05.279Z,1761519785.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.87 m.
2025-10-26T23:03:05.282Z,1761519785.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.873230 m,
      nav range: 62.557270 m,
      bearing: 68.925792 deg,
      approach rate: -0.526248 m/s,
      LOS rate: 0.079370 deg/s,
      cmd heading: 74.519215 deg,
      new cmd heading: 74.606219 deg.

2025-10-26T23:03:05.283Z,1761519785.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.302124 target range: 66.873230 and range: 67.20 m.
2025-10-26T23:03:05.337Z,1761519785.337 [DAT](INFO): DAT read: Rx Time:23:03:03.9256

2025-10-26T23:03:05.338Z,1761519785.338 [DAT](INFO): Rx dataTimestamp_ set to:1761519785.337702
2025-10-26T23:03:05.339Z,1761519785.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024032
2025-10-26T23:03:05.591Z,1761519785.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275488
2025-10-26T23:03:05.663Z,1761519785.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269694,-0.952717,-0.139985],[0.962217,0.272283,0.000685],[0.037463,-0.134880,0.990153]]
2025-10-26T23:03:05.759Z,1761519785.759 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:05.765Z,1761519785.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.87 m.
2025-10-26T23:03:05.772Z,1761519785.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.873230 m,
      nav range: 62.315105 m,
      bearing: 68.969434 deg,
      approach rate: -0.498267 m/s,
      LOS rate: 0.090143 deg/s,
      cmd heading: 74.606218 deg,
      new cmd heading: 74.737651 deg.

2025-10-26T23:03:05.773Z,1761519785.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.304418 target range: 66.873230 and range: 67.20 m.
2025-10-26T23:03:05.849Z,1761519785.849 [DAT](INFO): DAT read: 23:03:03.9256 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 407, 0.21,-0.591,-2.118,-0.223,-0.670, PHS= 0.181,-1.403, 0.403, RAW= 156.5,   9.6, CAL= 156.3,  10.4, ROT= 353.7, -10.4

2025-10-26T23:03:05.850Z,1761519785.850 [DAT](INFO): got valid direction response:
 23:03:03.9256 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 407, 0.21,-0.591,-2.118,-0.223,-0.670, PHS= 0.181,-1.403, 0.403, RAW= 156.5,   9.6, CAL= 156.3,  10.4, ROT= 353.7, -10.4

2025-10-26T23:03:05.852Z,1761519785.852 [DAT](INFO): DAT read: Bearing 225.1,  -5.4 (Local)

2025-10-26T23:03:05.852Z,1761519785.852 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.1,  -5.4 (Local)

2025-10-26T23:03:05.854Z,1761519785.854 [DAT](INFO): DAT read: Range 11 to 50 : 65.2 m  (Round-trip  87.0 ms) speed  0.5 m/s

2025-10-26T23:03:05.856Z,1761519785.856 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:03:05.856Z,1761519785.856 [DAT](INFO): direction in FSK: [0.977632,-0.107931,0.180519]
2025-10-26T23:03:05.857Z,1761519785.857 [DAT](INFO): publishing direction and range info
2025-10-26T23:03:05.860Z,1761519785.860 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:05.860Z,1761519785.860 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:05.861Z,1761519785.861 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:03:06.092Z,1761519786.092 [DAT](INFO): DAT read: user:776>

2025-10-26T23:03:06.093Z,1761519786.093 [DAT](INFO): DAT read: Tx time:23:03:05.2345

2025-10-26T23:03:06.093Z,1761519786.093 [DAT](INFO): Ping request sent.
2025-10-26T23:03:06.093Z,1761519786.093 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:03:06.094Z,1761519786.094 [DAT](INFO): publishing transmit ping time
2025-10-26T23:03:06.094Z,1761519786.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-10-26T23:03:06.111Z,1761519786.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273084,-0.951093,-0.144385],[0.961304,0.275466,0.003623],[0.036328,-0.139787,0.989515]]
2025-10-26T23:03:06.174Z,1761519786.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 65.199997 m,
      deltaT: 3.780868 s,
      deltaX: -2.000000 m,
      approachRate: -0.528979 m/s,
      rangeRepo size: 4

2025-10-26T23:03:06.185Z,1761519786.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.887375 m,
      bearing: 69.331348 deg,
      lat: 36.779402 deg,
      lon: -121.859394 deg,
      deltaT: 3.780868 s,
      deltaX: -1.985855 m,
      approachRate: -0.525238 m/s,
      posRepo size: 4

2025-10-26T23:03:06.188Z,1761519786.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.89 m.
2025-10-26T23:03:06.190Z,1761519786.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.887375 m,
      nav range: 62.123779 m,
      bearing: 68.970336 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.090143 deg/s,
      cmd heading: 74.737651 deg,
      new cmd heading: 74.848191 deg.

2025-10-26T23:03:06.191Z,1761519786.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.306347 target range: 64.887375 and range: 65.20 m.
2025-10-26T23:03:06.344Z,1761519786.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251084
2025-10-26T23:03:06.502Z,1761519786.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276425,-0.949749,-0.146854],[0.960378,0.278643,0.005668],[0.035537,-0.142602,0.989142]]
2025-10-26T23:03:06.521Z,1761519786.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.89 m.
2025-10-26T23:03:06.523Z,1761519786.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.887375 m,
      nav range: 61.944000 m,
      bearing: 69.004215 deg,
      approach rate: -0.518313 m/s,
      LOS rate: 0.097960 deg/s,
      cmd heading: 74.848191 deg,
      new cmd heading: 74.950125 deg.

2025-10-26T23:03:06.524Z,1761519786.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.308126 target range: 64.887375 and range: 65.20 m.
2025-10-26T23:03:06.600Z,1761519786.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506456
2025-10-26T23:03:06.848Z,1761519786.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754984
2025-10-26T23:03:06.902Z,1761519786.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279535,-0.949123,-0.145000],[0.959505,0.281620,0.006365],[0.034794,-0.140908,0.989411]]
2025-10-26T23:03:06.953Z,1761519786.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.89 m.
2025-10-26T23:03:06.956Z,1761519786.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.887375 m,
      nav range: 61.732151 m,
      bearing: 69.050711 deg,
      approach rate: -0.489725 m/s,
      LOS rate: 0.107852 deg/s,
      cmd heading: 74.950125 deg,
      new cmd heading: 75.090090 deg.

2025-10-26T23:03:06.957Z,1761519786.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.310569 target range: 64.887375 and range: 65.20 m.
2025-10-26T23:03:07.100Z,1761519787.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007025
2025-10-26T23:03:07.320Z,1761519787.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282468,-0.948871,-0.140908],[0.958664,0.284474,0.006124],[0.034274,-0.136813,0.990004]]
2025-10-26T23:03:07.352Z,1761519787.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258944
2025-10-26T23:03:07.402Z,1761519787.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.89 m.
2025-10-26T23:03:07.405Z,1761519787.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.887375 m,
      nav range: 61.511940 m,
      bearing: 69.100109 deg,
      approach rate: -0.490724 m/s,
      LOS rate: 0.110474 deg/s,
      cmd heading: 75.090089 deg,
      new cmd heading: 75.238814 deg.

2025-10-26T23:03:07.406Z,1761519787.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.313165 target range: 64.887375 and range: 65.20 m.
2025-10-26T23:03:07.608Z,1761519787.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513289
2025-10-26T23:03:07.731Z,1761519787.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285287,-0.948503,-0.137669],[0.957841,0.287237,0.005911],[0.033937,-0.133551,0.990461]]
2025-10-26T23:03:07.802Z,1761519787.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:07.810Z,1761519787.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.89 m.
2025-10-26T23:03:07.823Z,1761519787.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.887375 m,
      nav range: 61.325485 m,
      bearing: 69.138315 deg,
      approach rate: -0.457470 m/s,
      LOS rate: 0.094023 deg/s,
      cmd heading: 75.238816 deg,
      new cmd heading: 75.353782 deg.

2025-10-26T23:03:07.824Z,1761519787.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.315172 target range: 64.887375 and range: 65.20 m.
2025-10-26T23:03:07.856Z,1761519787.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763065
2025-10-26T23:03:08.110Z,1761519788.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016428
2025-10-26T23:03:08.170Z,1761519788.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288043,-0.948034,-0.135140],[0.957036,0.289903,0.006144],[0.033353,-0.131103,0.990808]]
2025-10-26T23:03:08.216Z,1761519788.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.89 m.
2025-10-26T23:03:08.219Z,1761519788.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.887375 m,
      nav range: 61.110981 m,
      bearing: 69.183207 deg,
      approach rate: -0.527215 m/s,
      LOS rate: 0.110725 deg/s,
      cmd heading: 75.353782 deg,
      new cmd heading: 75.488932 deg.

2025-10-26T23:03:08.221Z,1761519788.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.317530 target range: 64.887375 and range: 65.20 m.
2025-10-26T23:03:08.361Z,1761519788.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267982
2025-10-26T23:03:08.554Z,1761519788.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289921,-0.947475,-0.135047],[0.956488,0.291687,0.006958],[0.032799,-0.131188,0.990815]]
2025-10-26T23:03:08.610Z,1761519788.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.89 m.
2025-10-26T23:03:08.616Z,1761519788.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521650
2025-10-26T23:03:08.646Z,1761519788.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.887375 m,
      nav range: 60.914909 m,
      bearing: 69.224900 deg,
      approach rate: -0.499673 m/s,
      LOS rate: 0.106592 deg/s,
      cmd heading: 75.488931 deg,
      new cmd heading: 75.614411 deg.

2025-10-26T23:03:08.666Z,1761519788.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319720 target range: 64.887375 and range: 65.20 m.
2025-10-26T23:03:08.865Z,1761519788.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771228
2025-10-26T23:03:08.972Z,1761519788.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290804,-0.947109,-0.135709],[0.956236,0.292492,0.007778],[0.032327,-0.132031,0.990718]]
2025-10-26T23:03:09.030Z,1761519789.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.89 m.
2025-10-26T23:03:09.037Z,1761519789.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.887375 m,
      nav range: 60.702095 m,
      bearing: 69.266765 deg,
      approach rate: -0.505814 m/s,
      LOS rate: 0.099854 deg/s,
      cmd heading: 75.614408 deg,
      new cmd heading: 75.740444 deg.

2025-10-26T23:03:09.038Z,1761519789.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.321920 target range: 64.887375 and range: 65.20 m.
2025-10-26T23:03:09.117Z,1761519789.117 [DAT](INFO): DAT read: Rx Time:23:03:07.7225

2025-10-26T23:03:09.118Z,1761519789.118 [DAT](INFO): Rx dataTimestamp_ set to:1761519789.117392
2025-10-26T23:03:09.119Z,1761519789.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025143
2025-10-26T23:03:09.368Z,1761519789.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275006
2025-10-26T23:03:09.377Z,1761519789.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290976,-0.947292,-0.134058],[0.956207,0.292580,0.008021],[0.031624,-0.130521,0.990941]]
2025-10-26T23:03:09.395Z,1761519789.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.89 m.
2025-10-26T23:03:09.398Z,1761519789.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.887375 m,
      nav range: 60.500340 m,
      bearing: 69.306789 deg,
      approach rate: -0.552168 m/s,
      LOS rate: 0.109903 deg/s,
      cmd heading: 75.740446 deg,
      new cmd heading: 75.860917 deg.

2025-10-26T23:03:09.399Z,1761519789.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324023 target range: 64.887375 and range: 65.20 m.
2025-10-26T23:03:09.646Z,1761519789.646 [DAT](INFO): DAT read: 23:03:07.7225 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 408,-0.35, 1.814, 0.237, 2.164, 1.706, PHS= 0.210,-1.424, 0.413, RAW= 155.8,   9.2, CAL= 155.5,   9.9, ROT= 354.5,  -9.9

2025-10-26T23:03:09.669Z,1761519789.669 [DAT](INFO): got valid direction response:
 23:03:07.7225 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 408,-0.35, 1.814, 0.237, 2.164, 1.706, PHS= 0.210,-1.424, 0.413, RAW= 155.8,   9.2, CAL= 155.5,   9.9, ROT= 354.5,  -9.9

2025-10-26T23:03:09.670Z,1761519789.670 [DAT](INFO): DAT read: Bearing 223.1,  -4.7 (Local)

2025-10-26T23:03:09.671Z,1761519789.671 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.1,  -4.7 (Local)

2025-10-26T23:03:09.672Z,1761519789.672 [DAT](INFO): DAT read: Range 11 to 50 : 62.8 m  (Round-trip  83.8 ms) speed  0.4 m/s

2025-10-26T23:03:09.673Z,1761519789.673 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:03:09.674Z,1761519789.674 [DAT](INFO): direction in FSK: [0.980574,-0.094419,0.171929]
2025-10-26T23:03:09.674Z,1761519789.674 [DAT](INFO): publishing direction and range info
2025-10-26T23:03:09.678Z,1761519789.678 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:09.678Z,1761519789.678 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:09.678Z,1761519789.678 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:03:09.801Z,1761519789.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290376,-0.948073,-0.129764],[0.956409,0.291940,0.007225],[0.031034,-0.126205,0.991519]]
2025-10-26T23:03:09.872Z,1761519789.872 [DAT](INFO): DAT read: user:777>

2025-10-26T23:03:09.873Z,1761519789.873 [DAT](INFO): DAT read: Tx time:23:03:09.0361

2025-10-26T23:03:09.873Z,1761519789.873 [DAT](INFO): Ping request sent.
2025-10-26T23:03:09.873Z,1761519789.873 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:03:09.874Z,1761519789.874 [DAT](INFO): publishing transmit ping time
2025-10-26T23:03:09.874Z,1761519789.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-10-26T23:03:09.938Z,1761519789.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.799999 m,
      deltaT: 3.784747 s,
      deltaX: -2.399998 m,
      approachRate: -0.634124 m/s,
      rangeRepo size: 4

2025-10-26T23:03:09.945Z,1761519789.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.493961 m,
      bearing: 68.887996 deg,
      lat: 36.779409 deg,
      lon: -121.859387 deg,
      deltaT: 3.784747 s,
      deltaX: -2.393414 m,
      approachRate: -0.632384 m/s,
      posRepo size: 4

2025-10-26T23:03:09.945Z,1761519789.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:09.952Z,1761519789.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 61.062275 m,
      bearing: 68.887779 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.109903 deg/s,
      cmd heading: 75.860917 deg,
      new cmd heading: 76.039897 deg.

2025-10-26T23:03:09.953Z,1761519789.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.327147 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:10.125Z,1761519790.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251067
2025-10-26T23:03:10.280Z,1761519790.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289275,-0.949187,-0.123954],[0.956770,0.290782,0.006156],[0.030200,-0.120376,0.992269]]
2025-10-26T23:03:10.328Z,1761519790.328 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:10.330Z,1761519790.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:10.337Z,1761519790.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 60.829391 m,
      bearing: 68.923008 deg,
      approach rate: -0.593940 m/s,
      LOS rate: 0.090190 deg/s,
      cmd heading: 76.039895 deg,
      new cmd heading: 76.145985 deg.

2025-10-26T23:03:10.338Z,1761519790.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.328998 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:10.376Z,1761519790.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503010
2025-10-26T23:03:10.629Z,1761519790.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755017
2025-10-26T23:03:10.733Z,1761519790.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287653,-0.950195,-0.119937],[0.957292,0.289063,0.005850],[0.029111,-0.116497,0.992764]]
2025-10-26T23:03:10.770Z,1761519790.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:10.773Z,1761519790.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 60.571892 m,
      bearing: 68.949728 deg,
      approach rate: -0.585189 m/s,
      LOS rate: 0.060982 deg/s,
      cmd heading: 76.145988 deg,
      new cmd heading: 76.226490 deg.

2025-10-26T23:03:10.774Z,1761519790.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.330403 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:10.796Z,1761519790.796 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:03:10.880Z,1761519790.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006996
2025-10-26T23:03:11.124Z,1761519791.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:11.126Z,1761519791.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 60.367252 m,
      bearing: 68.971127 deg,
      approach rate: -0.578710 m/s,
      LOS rate: 0.060720 deg/s,
      cmd heading: 76.226489 deg,
      new cmd heading: 76.290903 deg.

2025-10-26T23:03:11.128Z,1761519791.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331527 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:11.133Z,1761519791.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259275
2025-10-26T23:03:11.384Z,1761519791.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510937
2025-10-26T23:03:11.488Z,1761519791.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282943,-0.953748,-0.101532],[0.958746,0.284260,0.001560],[0.027374,-0.097785,0.994831]]
2025-10-26T23:03:11.508Z,1761519791.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:11.511Z,1761519791.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 60.144859 m,
      bearing: 68.993744 deg,
      approach rate: -0.578134 m/s,
      LOS rate: 0.059015 deg/s,
      cmd heading: 76.290904 deg,
      new cmd heading: 76.359009 deg.

2025-10-26T23:03:11.512Z,1761519791.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.332716 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:11.644Z,1761519791.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769367
2025-10-26T23:03:11.800Z,1761519791.800 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:03:11.893Z,1761519791.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019051
2025-10-26T23:03:11.895Z,1761519791.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280111,-0.955079,-0.096751],[0.959597,0.281376,0.000591],[0.026659,-0.093008,0.995308]]
2025-10-26T23:03:11.934Z,1761519791.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:11.953Z,1761519791.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 59.889729 m,
      bearing: 69.011702 deg,
      approach rate: -0.599222 m/s,
      LOS rate: 0.042357 deg/s,
      cmd heading: 76.359008 deg,
      new cmd heading: 76.413111 deg.

2025-10-26T23:03:11.954Z,1761519791.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.333660 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:12.144Z,1761519792.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270949
2025-10-26T23:03:12.317Z,1761519792.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277191,-0.955765,-0.098380],[0.960456,0.278427,0.001212],[0.026233,-0.094826,0.995148]]
2025-10-26T23:03:12.350Z,1761519792.350 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:12.359Z,1761519792.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:12.362Z,1761519792.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 59.648411 m,
      bearing: 69.028097 deg,
      approach rate: -0.567681 m/s,
      LOS rate: 0.038724 deg/s,
      cmd heading: 76.413110 deg,
      new cmd heading: 76.462494 deg.

2025-10-26T23:03:12.363Z,1761519792.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.334522 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:12.397Z,1761519792.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523258
2025-10-26T23:03:12.649Z,1761519792.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775988
2025-10-26T23:03:12.752Z,1761519792.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274026,-0.956298,-0.101995],[0.961373,0.275238,0.002265],[0.025907,-0.098676,0.994782]]
2025-10-26T23:03:12.853Z,1761519792.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:12.856Z,1761519792.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 59.323250 m,
      bearing: 69.036040 deg,
      approach rate: -0.658163 m/s,
      LOS rate: 0.016165 deg/s,
      cmd heading: 76.462492 deg,
      new cmd heading: 76.486451 deg.

2025-10-26T23:03:12.857Z,1761519792.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.334940 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:12.909Z,1761519792.909 [DAT](INFO): DAT read: 23:03:11.5212 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 410, 0.45,-1.730, 3.022,-1.357,-1.801, PHS= 0.172,-1.415, 0.399, RAW= 156.6,   9.9, CAL= 156.4,  10.7, ROT= 353.6, -10.7

2025-10-26T23:03:12.911Z,1761519792.911 [DAT](INFO): got valid direction response:
 23:03:11.5212 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 410, 0.45,-1.730, 3.022,-1.357,-1.801, PHS= 0.172,-1.415, 0.399, RAW= 156.6,   9.9, CAL= 156.4,  10.7, ROT= 353.6, -10.7

2025-10-26T23:03:12.912Z,1761519792.912 [DAT](INFO): DAT read: Rx Time:23:03:11.5212

2025-10-26T23:03:12.913Z,1761519792.913 [DAT](INFO): Rx dataTimestamp_ set to:1761519792.912279
2025-10-26T23:03:12.914Z,1761519792.914 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-26T23:03:12.914Z,1761519792.914 [DAT](INFO): Received low SNR in chirp
2025-10-26T23:03:12.928Z,1761519792.928 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T23:03:12.929Z,1761519792.929 [DAT](INFO): direction in FSK: [0.976489,-0.109531,0.185667]
2025-10-26T23:03:12.932Z,1761519792.932 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:12.932Z,1761519792.932 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:12.932Z,1761519792.932 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:13.152Z,1761519793.152 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:13.152Z,1761519793.152 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:13.152Z,1761519793.152 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:13.156Z,1761519793.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269964,-0.957418,-0.102321],[0.962525,0.271186,0.002030],[0.025804,-0.099035,0.994749]]
2025-10-26T23:03:13.215Z,1761519793.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:13.226Z,1761519793.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 59.105659 m,
      bearing: 69.040510 deg,
      approach rate: -0.601416 m/s,
      LOS rate: 0.012400 deg/s,
      cmd heading: 76.486453 deg,
      new cmd heading: 76.499912 deg.

2025-10-26T23:03:13.227Z,1761519793.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335175 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:13.404Z,1761519793.404 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:13.404Z,1761519793.404 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:13.405Z,1761519793.405 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:13.551Z,1761519793.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265739,-0.958369,-0.104457],[0.963698,0.266986,0.002119],[0.025857,-0.101228,0.994527]]
2025-10-26T23:03:13.570Z,1761519793.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:13.573Z,1761519793.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 58.872128 m,
      bearing: 69.044331 deg,
      approach rate: -0.657738 m/s,
      LOS rate: 0.010805 deg/s,
      cmd heading: 76.499915 deg,
      new cmd heading: 76.511424 deg.

2025-10-26T23:03:13.574Z,1761519793.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335376 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:13.657Z,1761519793.657 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:13.657Z,1761519793.657 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:13.657Z,1761519793.657 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:13.908Z,1761519793.908 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:13.908Z,1761519793.908 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:13.908Z,1761519793.908 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:13.970Z,1761519793.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261516,-0.959577,-0.104021],[0.964853,0.262787,0.001542],[0.025856,-0.100768,0.994574]]
2025-10-26T23:03:14.027Z,1761519794.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:14.034Z,1761519794.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 58.590271 m,
      bearing: 69.044294 deg,
      approach rate: -0.617004 m/s,
      LOS rate: -0.000081 deg/s,
      cmd heading: 76.511424 deg,
      new cmd heading: 76.511313 deg.

2025-10-26T23:03:14.035Z,1761519794.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335374 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:14.161Z,1761519794.161 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:14.161Z,1761519794.161 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:14.161Z,1761519794.161 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:14.394Z,1761519794.394 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:14.412Z,1761519794.412 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:14.413Z,1761519794.413 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:14.413Z,1761519794.413 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:14.433Z,1761519794.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:14.436Z,1761519794.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 58.338654 m,
      bearing: 69.044261 deg,
      approach rate: -0.635635 m/s,
      LOS rate: -0.000084 deg/s,
      cmd heading: 76.511315 deg,
      new cmd heading: 76.511214 deg.

2025-10-26T23:03:14.437Z,1761519794.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335373 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:14.664Z,1761519794.664 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:14.664Z,1761519794.664 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:14.664Z,1761519794.664 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:14.819Z,1761519794.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253430,-0.962019,-0.101449],[0.967007,0.254751,-0.000069],[0.025911,-0.098084,0.994841]]
2025-10-26T23:03:14.891Z,1761519794.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:14.894Z,1761519794.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 58.019562 m,
      bearing: 69.041832 deg,
      approach rate: -0.681382 m/s,
      LOS rate: -0.005216 deg/s,
      cmd heading: 76.511212 deg,
      new cmd heading: 76.503884 deg.

2025-10-26T23:03:14.895Z,1761519794.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335245 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:14.916Z,1761519794.916 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:14.916Z,1761519794.916 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:14.916Z,1761519794.916 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:15.168Z,1761519795.168 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:15.168Z,1761519795.168 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:15.168Z,1761519795.168 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:15.413Z,1761519795.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:15.416Z,1761519795.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 57.690010 m,
      bearing: 69.039295 deg,
      approach rate: -0.630690 m/s,
      LOS rate: -0.004883 deg/s,
      cmd heading: 76.503883 deg,
      new cmd heading: 76.496229 deg.

2025-10-26T23:03:15.417Z,1761519795.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335111 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:15.420Z,1761519795.420 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:15.420Z,1761519795.420 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:15.421Z,1761519795.421 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:15.672Z,1761519795.672 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:15.672Z,1761519795.672 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:15.673Z,1761519795.673 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:15.711Z,1761519795.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245475,-0.963731,-0.104714],[0.969053,0.246854,-0.000215],[0.026056,-0.101421,0.994502]]
2025-10-26T23:03:15.872Z,1761519795.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:15.874Z,1761519795.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 57.395096 m,
      bearing: 69.038666 deg,
      approach rate: -0.643974 m/s,
      LOS rate: -0.001379 deg/s,
      cmd heading: 76.496227 deg,
      new cmd heading: 76.494332 deg.

2025-10-26T23:03:15.875Z,1761519795.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335078 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:15.925Z,1761519795.925 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:15.925Z,1761519795.925 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:15.925Z,1761519795.925 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:16.176Z,1761519796.176 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:16.176Z,1761519796.176 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:16.176Z,1761519796.176 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:16.263Z,1761519796.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243819,-0.964233,-0.103960],[0.969465,0.245228,-0.000796],[0.026262,-0.100592,0.994581]]
2025-10-26T23:03:16.328Z,1761519796.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:16.331Z,1761519796.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 57.105038 m,
      bearing: 69.037548 deg,
      approach rate: -0.634638 m/s,
      LOS rate: -0.002459 deg/s,
      cmd heading: 76.494335 deg,
      new cmd heading: 76.490963 deg.

2025-10-26T23:03:16.337Z,1761519796.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335019 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:16.429Z,1761519796.429 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:16.429Z,1761519796.429 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:16.429Z,1761519796.429 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:16.662Z,1761519796.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242854,-0.964516,-0.103588],[0.969710,0.244256,-0.000878],[0.026149,-0.100237,0.994620]]
2025-10-26T23:03:16.680Z,1761519796.680 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:16.680Z,1761519796.680 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:16.680Z,1761519796.680 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:16.693Z,1761519796.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:16.695Z,1761519796.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:16.698Z,1761519796.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 56.853554 m,
      bearing: 69.036317 deg,
      approach rate: -0.685560 m/s,
      LOS rate: -0.003369 deg/s,
      cmd heading: 76.490961 deg,
      new cmd heading: 76.487253 deg.

2025-10-26T23:03:16.700Z,1761519796.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.334954 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:16.932Z,1761519796.932 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:16.932Z,1761519796.932 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:16.932Z,1761519796.932 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:17.068Z,1761519797.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242222,-0.964318,-0.106864],[0.969886,0.243558,0.000568],[0.025480,-0.103783,0.994273]]
2025-10-26T23:03:17.133Z,1761519797.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:17.137Z,1761519797.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 56.594921 m,
      bearing: 69.042247 deg,
      approach rate: -0.590904 m/s,
      LOS rate: 0.013609 deg/s,
      cmd heading: 76.487252 deg,
      new cmd heading: 76.505121 deg.

2025-10-26T23:03:17.138Z,1761519797.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335266 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:17.184Z,1761519797.184 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:17.185Z,1761519797.185 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:17.185Z,1761519797.185 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:17.436Z,1761519797.436 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:17.436Z,1761519797.436 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:17.436Z,1761519797.436 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:17.479Z,1761519797.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241350,-0.964100,-0.110730],[0.970122,0.242607,0.002181],[0.024761,-0.107948,0.993848]]
2025-10-26T23:03:17.509Z,1761519797.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:17.512Z,1761519797.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 56.364231 m,
      bearing: 69.047349 deg,
      approach rate: -0.613482 m/s,
      LOS rate: 0.013624 deg/s,
      cmd heading: 76.505120 deg,
      new cmd heading: 76.520489 deg.

2025-10-26T23:03:17.513Z,1761519797.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335534 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:17.688Z,1761519797.688 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:17.688Z,1761519797.688 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:17.688Z,1761519797.688 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:17.874Z,1761519797.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240229,-0.964150,-0.112715],[0.970415,0.241425,0.003126],[0.024199,-0.110131,0.993622]]
2025-10-26T23:03:17.925Z,1761519797.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:17.928Z,1761519797.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 56.121204 m,
      bearing: 69.059581 deg,
      approach rate: -0.584234 m/s,
      LOS rate: 0.029533 deg/s,
      cmd heading: 76.520488 deg,
      new cmd heading: 76.557342 deg.

2025-10-26T23:03:17.929Z,1761519797.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.336178 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:17.940Z,1761519797.940 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:17.940Z,1761519797.940 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:17.940Z,1761519797.940 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:18.192Z,1761519798.192 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:18.192Z,1761519798.192 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:18.192Z,1761519798.192 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:18.297Z,1761519798.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239370,-0.964167,-0.114386],[0.970636,0.240522,0.003831],[0.023819,-0.111945,0.993429]]
2025-10-26T23:03:18.333Z,1761519798.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:18.335Z,1761519798.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 55.887272 m,
      bearing: 69.071226 deg,
      approach rate: -0.573869 m/s,
      LOS rate: 0.028687 deg/s,
      cmd heading: 76.557343 deg,
      new cmd heading: 76.592425 deg.

2025-10-26T23:03:18.336Z,1761519798.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.336790 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:18.444Z,1761519798.444 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:18.445Z,1761519798.445 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:18.445Z,1761519798.445 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:18.682Z,1761519798.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238311,-0.964742,-0.111719],[0.970910,0.239416,0.003612],[0.023263,-0.109330,0.993733]]
2025-10-26T23:03:18.696Z,1761519798.696 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:18.697Z,1761519798.697 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:18.697Z,1761519798.697 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:18.718Z,1761519798.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:18.722Z,1761519798.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:18.730Z,1761519798.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 55.667458 m,
      bearing: 69.082029 deg,
      approach rate: -0.565394 m/s,
      LOS rate: 0.027897 deg/s,
      cmd heading: 76.592423 deg,
      new cmd heading: 76.624960 deg.

2025-10-26T23:03:18.736Z,1761519798.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.337358 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:18.948Z,1761519798.948 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:18.948Z,1761519798.948 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:18.948Z,1761519798.948 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:19.142Z,1761519799.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:19.144Z,1761519799.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 55.422165 m,
      bearing: 69.103823 deg,
      approach rate: -0.583852 m/s,
      LOS rate: 0.052103 deg/s,
      cmd heading: 76.624962 deg,
      new cmd heading: 76.690632 deg.

2025-10-26T23:03:19.145Z,1761519799.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.338504 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:19.201Z,1761519799.201 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:19.201Z,1761519799.201 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:19.201Z,1761519799.201 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:19.452Z,1761519799.452 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:19.452Z,1761519799.452 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:19.452Z,1761519799.452 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:19.491Z,1761519799.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236473,-0.965837,-0.106015],[0.971402,0.237407,0.003902],[0.021400,-0.103906,0.994357]]
2025-10-26T23:03:19.532Z,1761519799.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:19.535Z,1761519799.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 55.208950 m,
      bearing: 69.122536 deg,
      approach rate: -0.545880 m/s,
      LOS rate: 0.048095 deg/s,
      cmd heading: 76.690634 deg,
      new cmd heading: 76.746990 deg.

2025-10-26T23:03:19.540Z,1761519799.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339488 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:19.705Z,1761519799.705 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:03:19.705Z,1761519799.705 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:03:19.705Z,1761519799.705 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-26T23:03:19.894Z,1761519799.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236296,-0.965865,-0.106159],[0.971467,0.237122,0.004954],[0.020388,-0.104301,0.994337]]
2025-10-26T23:03:19.942Z,1761519799.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:19.945Z,1761519799.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 54.982456 m,
      bearing: 69.148615 deg,
      approach rate: -0.552155 m/s,
      LOS rate: 0.063839 deg/s,
      cmd heading: 76.746990 deg,
      new cmd heading: 76.825550 deg.

2025-10-26T23:03:19.946Z,1761519799.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.340859 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:19.956Z,1761519799.956 [DAT](INFO): Reached modem response timeout
2025-10-26T23:03:19.956Z,1761519799.956 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:19.957Z,1761519799.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:03:20.209Z,1761519800.209 [DAT](INFO): DAT read: 

2025-10-26T23:03:20.209Z,1761519800.209 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:20.312Z,1761519800.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236340,-0.965973,-0.105070],[0.971482,0.237036,0.005998],[0.019112,-0.103491,0.994447]]
2025-10-26T23:03:20.400Z,1761519800.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:20.402Z,1761519800.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 54.741592 m,
      bearing: 69.176600 deg,
      approach rate: -0.526763 m/s,
      LOS rate: 0.061472 deg/s,
      cmd heading: 76.825551 deg,
      new cmd heading: 76.909876 deg.

2025-10-26T23:03:20.403Z,1761519800.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.342331 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:20.461Z,1761519800.461 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:20.708Z,1761519800.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237037,-0.965883,-0.104320],[0.971341,0.237571,0.007460],[0.017578,-0.103099,0.994516]]
2025-10-26T23:03:20.713Z,1761519800.713 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:20.743Z,1761519800.743 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:20.745Z,1761519800.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:20.769Z,1761519800.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 54.547356 m,
      bearing: 69.199495 deg,
      approach rate: -0.562360 m/s,
      LOS rate: 0.066521 deg/s,
      cmd heading: 76.909877 deg,
      new cmd heading: 76.978805 deg.

2025-10-26T23:03:20.771Z,1761519800.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.343534 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:20.964Z,1761519800.964 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:21.213Z,1761519801.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:21.216Z,1761519801.216 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:21.217Z,1761519801.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 54.297867 m,
      bearing: 69.240210 deg,
      approach rate: -0.533041 m/s,
      LOS rate: 0.087389 deg/s,
      cmd heading: 76.978807 deg,
      new cmd heading: 77.101514 deg.

2025-10-26T23:03:21.218Z,1761519801.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.345675 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:21.468Z,1761519801.468 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:21.546Z,1761519801.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237582,-0.966154,-0.100509],[0.971264,0.237791,0.010070],[0.014171,-0.100014,0.994885]]
2025-10-26T23:03:21.601Z,1761519801.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:21.605Z,1761519801.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 54.099804 m,
      bearing: 69.272935 deg,
      approach rate: -0.510851 m/s,
      LOS rate: 0.084715 deg/s,
      cmd heading: 77.101511 deg,
      new cmd heading: 77.200046 deg.

2025-10-26T23:03:21.606Z,1761519801.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347395 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:21.721Z,1761519801.721 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:21.951Z,1761519801.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236592,-0.966102,-0.103303],[0.971525,0.236629,0.012077],[0.012777,-0.103219,0.994577]]
2025-10-26T23:03:21.972Z,1761519801.972 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:21.989Z,1761519801.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:21.992Z,1761519801.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 53.895546 m,
      bearing: 69.309804 deg,
      approach rate: -0.525581 m/s,
      LOS rate: 0.095229 deg/s,
      cmd heading: 77.200044 deg,
      new cmd heading: 77.311070 deg.

2025-10-26T23:03:21.993Z,1761519801.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349333 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:22.225Z,1761519802.225 [DAT](INFO): DAT read: Response Not Received

2025-10-26T23:03:22.226Z,1761519802.226 [DAT](INFO): response not received
2025-10-26T23:03:22.226Z,1761519802.226 [DAT](INFO): DAT read: user:779>Tx time:23:03:21.4845

2025-10-26T23:03:22.227Z,1761519802.227 [DAT](ERROR): No response from remote modem.
2025-10-26T23:03:22.227Z,1761519802.227 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:22.227Z,1761519802.227 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:03:22.354Z,1761519802.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235417,-0.965920,-0.107601],[0.971823,0.235296,0.014000],[0.011796,-0.107865,0.994096]]
2025-10-26T23:03:22.391Z,1761519802.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:22.394Z,1761519802.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 53.692688 m,
      bearing: 69.346375 deg,
      approach rate: -0.505136 m/s,
      LOS rate: 0.091408 deg/s,
      cmd heading: 77.311068 deg,
      new cmd heading: 77.421194 deg.

2025-10-26T23:03:22.395Z,1761519802.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351255 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:22.477Z,1761519802.477 [DAT](INFO): DAT read: 

2025-10-26T23:03:22.478Z,1761519802.478 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:22.729Z,1761519802.729 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:22.758Z,1761519802.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234464,-0.965903,-0.109808],[0.972065,0.234206,0.015421],[0.010822,-0.110357,0.993833]]
2025-10-26T23:03:22.789Z,1761519802.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:22.808Z,1761519802.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:22.831Z,1761519802.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 53.495045 m,
      bearing: 69.382030 deg,
      approach rate: -0.474086 m/s,
      LOS rate: 0.085842 deg/s,
      cmd heading: 77.421191 deg,
      new cmd heading: 77.528552 deg.

2025-10-26T23:03:22.838Z,1761519802.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353129 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:22.980Z,1761519802.980 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:23.206Z,1761519803.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:23.209Z,1761519803.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 53.282639 m,
      bearing: 69.424190 deg,
      approach rate: -0.532823 m/s,
      LOS rate: 0.106182 deg/s,
      cmd heading: 77.528555 deg,
      new cmd heading: 77.655541 deg.

2025-10-26T23:03:23.210Z,1761519803.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355345 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:23.234Z,1761519803.234 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:23.484Z,1761519803.484 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:23.566Z,1761519803.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233762,-0.966100,-0.109569],[0.972260,0.233205,0.018052],[0.008112,-0.110750,0.993815]]
2025-10-26T23:03:23.590Z,1761519803.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:23.593Z,1761519803.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 53.090343 m,
      bearing: 69.462486 deg,
      approach rate: -0.501042 m/s,
      LOS rate: 0.100144 deg/s,
      cmd heading: 77.655542 deg,
      new cmd heading: 77.770845 deg.

2025-10-26T23:03:23.594Z,1761519803.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357357 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:23.736Z,1761519803.736 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:23.970Z,1761519803.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233324,-0.966731,-0.104835],[0.972379,0.232657,0.018724],[0.006289,-0.106308,0.994313]]
2025-10-26T23:03:23.988Z,1761519803.988 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:24.067Z,1761519804.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:24.070Z,1761519804.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 52.869045 m,
      bearing: 69.504227 deg,
      approach rate: -0.463976 m/s,
      LOS rate: 0.087882 deg/s,
      cmd heading: 77.770842 deg,
      new cmd heading: 77.896591 deg.

2025-10-26T23:03:24.071Z,1761519804.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359552 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:24.240Z,1761519804.240 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:24.377Z,1761519804.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232482,-0.967704,-0.097472],[0.972590,0.231780,0.018622],[0.004572,-0.099130,0.995064]]
2025-10-26T23:03:24.396Z,1761519804.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:24.398Z,1761519804.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 52.684231 m,
      bearing: 69.539247 deg,
      approach rate: -0.563189 m/s,
      LOS rate: 0.107091 deg/s,
      cmd heading: 77.896593 deg,
      new cmd heading: 78.002021 deg.

2025-10-26T23:03:24.399Z,1761519804.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361392 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:24.492Z,1761519804.492 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:24.744Z,1761519804.744 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:24.790Z,1761519804.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231877,-0.968322,-0.092662],[0.972740,0.231128,0.018886],[0.003129,-0.094515,0.995519]]
2025-10-26T23:03:24.867Z,1761519804.867 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:24.874Z,1761519804.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:24.884Z,1761519804.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 52.473568 m,
      bearing: 69.579369 deg,
      approach rate: -0.441280 m/s,
      LOS rate: 0.084381 deg/s,
      cmd heading: 78.002024 deg,
      new cmd heading: 78.122872 deg.

2025-10-26T23:03:24.888Z,1761519804.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363501 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:24.997Z,1761519804.997 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:25.242Z,1761519805.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:25.248Z,1761519805.248 [DAT](INFO): DAT read: Rx Time:23:03:23.9603

2025-10-26T23:03:25.249Z,1761519805.249 [DAT](INFO): Rx dataTimestamp_ set to:1761519805.248578
2025-10-26T23:03:25.249Z,1761519805.249 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:25.254Z,1761519805.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 52.256126 m,
      bearing: 69.620841 deg,
      approach rate: -0.588641 m/s,
      LOS rate: 0.112737 deg/s,
      cmd heading: 78.122870 deg,
      new cmd heading: 78.247804 deg.

2025-10-26T23:03:25.272Z,1761519805.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.365682 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:25.501Z,1761519805.501 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:25.587Z,1761519805.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231916,-0.967936,-0.096514],[0.972736,0.230739,0.023338],[-0.000320,-0.099295,0.995058]]
2025-10-26T23:03:25.605Z,1761519805.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.49 m.
2025-10-26T23:03:25.608Z,1761519805.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.493961 m,
      nav range: 52.067402 m,
      bearing: 69.657065 deg,
      approach rate: -0.519606 m/s,
      LOS rate: 0.100096 deg/s,
      cmd heading: 78.247801 deg,
      new cmd heading: 78.356868 deg.

2025-10-26T23:03:25.609Z,1761519805.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.367585 target range: 62.493961 and range: 62.80 m.
2025-10-26T23:03:25.755Z,1761519805.755 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:25.990Z,1761519805.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231312,-0.967373,-0.103361],[0.972877,0.229770,0.026748],[-0.002126,-0.106745,0.994284]]
2025-10-26T23:03:26.010Z,1761519806.010 [DAT](INFO): DAT read: 23:03:23.9603 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 346, 0.13, 2.915, 1.369,-2.933, 2.846, PHS= 0.170,-1.432, 0.460, RAW= 158.2,   9.1, CAL= 157.9,   9.7, ROT= 352.1,  -9.7

2025-10-26T23:03:26.011Z,1761519806.011 [DAT](INFO): got valid direction response:
 23:03:23.9603 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 346, 0.13, 2.915, 1.369,-2.933, 2.846, PHS= 0.170,-1.432, 0.460, RAW= 158.2,   9.1, CAL= 157.9,   9.7, ROT= 352.1,  -9.7

2025-10-26T23:03:26.012Z,1761519806.012 [DAT](INFO): DAT read: Bearing 226.3,  -8.8 (Local)

2025-10-26T23:03:26.012Z,1761519806.012 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.3,  -8.8 (Local)

2025-10-26T23:03:26.014Z,1761519806.014 [DAT](INFO): DAT read: Range 11 to 50 : 53.7 m  (Round-trip  71.6 ms) speed  0.4 m/s

2025-10-26T23:03:26.015Z,1761519806.015 [DAT](INFO): DAT read: user:780>Tx time:23:03:25.0345

2025-10-26T23:03:26.015Z,1761519806.015 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:03:26.016Z,1761519806.016 [DAT](INFO): direction in FSK: [0.976349,-0.135480,0.168489]
2025-10-26T23:03:26.016Z,1761519806.016 [DAT](INFO): publishing direction and range info
2025-10-26T23:03:26.020Z,1761519806.020 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:26.020Z,1761519806.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:03:26.122Z,1761519806.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.700001 m,
      deltaT: 16.378411 s,
      deltaX: -9.099998 m,
      approachRate: -0.555609 m/s,
      rangeRepo size: 4

2025-10-26T23:03:26.128Z,1761519806.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.425037 m,
      bearing: 69.811084 deg,
      lat: 36.779409 deg,
      lon: -121.859381 deg,
      deltaT: 16.378411 s,
      deltaX: -9.068924 m,
      approachRate: -0.553712 m/s,
      posRepo size: 4

2025-10-26T23:03:26.129Z,1761519806.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.43 m.
2025-10-26T23:03:26.130Z,1761519806.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 53.70 m.
2025-10-26T23:03:26.141Z,1761519806.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.425037 m,
      nav range: 52.284416 m,
      bearing: 69.888972 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.100096 deg/s,
      cmd heading: 78.356866 deg,
      new cmd heading: 78.511831 deg.

2025-10-26T23:03:26.142Z,1761519806.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.370290 target range: 53.425037 and range: 53.70 m.
2025-10-26T23:03:26.172Z,1761519806.172 [DockingStepper](INFO): Changing to mode: 2
2025-10-26T23:03:26.257Z,1761519806.257 [DAT](INFO): DAT read: 

2025-10-26T23:03:26.258Z,1761519806.258 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:26.436Z,1761519806.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230696,-0.967746,-0.101226],[0.973018,0.229030,0.027938],[-0.003853,-0.104939,0.994471]]
2025-10-26T23:03:26.474Z,1761519806.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.43 m.
2025-10-26T23:03:26.475Z,1761519806.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 53.70 m.
2025-10-26T23:03:26.477Z,1761519806.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.425037 m,
      nav range: 52.095463 m,
      bearing: 69.922949 deg,
      approach rate: -0.535815 m/s,
      LOS rate: 0.096697 deg/s,
      cmd heading: 78.511829 deg,
      new cmd heading: 78.614129 deg.

2025-10-26T23:03:26.478Z,1761519806.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.372075 target range: 53.425037 and range: 53.70 m.
2025-10-26T23:03:26.509Z,1761519806.509 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:26.761Z,1761519806.761 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:26.944Z,1761519806.944 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:26.946Z,1761519806.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.43 m.
2025-10-26T23:03:26.947Z,1761519806.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 53.70 m.
2025-10-26T23:03:26.958Z,1761519806.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.425037 m,
      nav range: 51.873764 m,
      bearing: 69.963133 deg,
      approach rate: -0.469275 m/s,
      LOS rate: 0.085424 deg/s,
      cmd heading: 78.614132 deg,
      new cmd heading: 78.735202 deg.

2025-10-26T23:03:26.959Z,1761519806.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.374189 target range: 53.425037 and range: 53.70 m.
2025-10-26T23:03:27.012Z,1761519807.012 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:27.265Z,1761519807.265 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:27.323Z,1761519807.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223812,-0.970179,-0.093067],[0.974598,0.221976,0.029767],[-0.008221,-0.097365,0.995215]]
2025-10-26T23:03:27.407Z,1761519807.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.43 m.
2025-10-26T23:03:27.408Z,1761519807.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 53.70 m.
2025-10-26T23:03:27.410Z,1761519807.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.425037 m,
      nav range: 51.608639 m,
      bearing: 69.984246 deg,
      approach rate: -0.575977 m/s,
      LOS rate: 0.046103 deg/s,
      cmd heading: 78.735204 deg,
      new cmd heading: 78.798868 deg.

2025-10-26T23:03:27.411Z,1761519807.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.375300 target range: 53.425037 and range: 53.70 m.
2025-10-26T23:03:27.516Z,1761519807.516 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:27.729Z,1761519807.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219893,-0.970549,-0.098401],[0.975475,0.217750,0.032144],[-0.009771,-0.103056,0.994628]]
2025-10-26T23:03:27.750Z,1761519807.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.43 m.
2025-10-26T23:03:27.751Z,1761519807.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 53.70 m.
2025-10-26T23:03:27.754Z,1761519807.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.425037 m,
      nav range: 51.422810 m,
      bearing: 69.998263 deg,
      approach rate: -0.541314 m/s,
      LOS rate: 0.040976 deg/s,
      cmd heading: 78.798868 deg,
      new cmd heading: 78.841068 deg.

2025-10-26T23:03:27.755Z,1761519807.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.376036 target range: 53.425037 and range: 53.70 m.
2025-10-26T23:03:27.768Z,1761519807.768 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:28.020Z,1761519808.020 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:28.122Z,1761519808.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215063,-0.971459,-0.100079],[0.976532,0.212707,0.033770],[-0.011519,-0.104993,0.994406]]
2025-10-26T23:03:28.170Z,1761519808.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.43 m.
2025-10-26T23:03:28.170Z,1761519808.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 53.70 m.
2025-10-26T23:03:28.173Z,1761519808.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.425037 m,
      nav range: 51.182892 m,
      bearing: 70.007341 deg,
      approach rate: -0.571770 m/s,
      LOS rate: 0.021738 deg/s,
      cmd heading: 78.841072 deg,
      new cmd heading: 78.868435 deg.

2025-10-26T23:03:28.174Z,1761519808.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.376514 target range: 53.425037 and range: 53.70 m.
2025-10-26T23:03:28.273Z,1761519808.273 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:28.524Z,1761519808.524 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:28.528Z,1761519808.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209232,-0.973032,-0.097110],[0.977778,0.206847,0.034121],[-0.013114,-0.102091,0.994689]]
2025-10-26T23:03:28.566Z,1761519808.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.43 m.
2025-10-26T23:03:28.566Z,1761519808.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 53.70 m.
2025-10-26T23:03:28.569Z,1761519808.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.425037 m,
      nav range: 50.967346 m,
      bearing: 70.014166 deg,
      approach rate: -0.544533 m/s,
      LOS rate: 0.017315 deg/s,
      cmd heading: 78.868433 deg,
      new cmd heading: 78.888995 deg.

2025-10-26T23:03:28.570Z,1761519808.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.376873 target range: 53.425037 and range: 53.70 m.
2025-10-26T23:03:28.777Z,1761519808.777 [DAT](INFO): DAT read: Rx Time:23:03:27.5077

2025-10-26T23:03:28.778Z,1761519808.778 [DAT](INFO): Rx dataTimestamp_ set to:1761519808.777384
2025-10-26T23:03:28.779Z,1761519808.779 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:28.977Z,1761519808.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202702,-0.974757,-0.093597],[0.979137,0.200365,0.033824],[-0.014217,-0.098501,0.995035]]
2025-10-26T23:03:29.029Z,1761519809.029 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:29.036Z,1761519809.036 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:29.038Z,1761519809.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.43 m.
2025-10-26T23:03:29.039Z,1761519809.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 53.70 m.
2025-10-26T23:03:29.042Z,1761519809.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.425037 m,
      nav range: 50.676350 m,
      bearing: 69.999785 deg,
      approach rate: -0.615498 m/s,
      LOS rate: -0.030592 deg/s,
      cmd heading: 78.888992 deg,
      new cmd heading: 78.845602 deg.

2025-10-26T23:03:29.043Z,1761519809.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.376115 target range: 53.425037 and range: 53.70 m.
2025-10-26T23:03:29.339Z,1761519809.339 [DAT](INFO): DAT read: 23:03:27.5077 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416,-0.15,-1.645,-3.138,-1.244,-1.740, PHS= 0.197,-1.353, 0.452, RAW= 157.5,   8.4, CAL= 157.1,   8.8, ROT= 352.9,  -8.8

2025-10-26T23:03:29.348Z,1761519809.348 [DAT](INFO): got valid direction response:
 23:03:27.5077 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416,-0.15,-1.645,-3.138,-1.244,-1.740, PHS= 0.197,-1.353, 0.452, RAW= 157.5,   8.4, CAL= 157.1,   8.8, ROT= 352.9,  -8.8

2025-10-26T23:03:29.349Z,1761519809.349 [DAT](INFO): DAT read: Bearing 227.4,  -8.6 (Local)

2025-10-26T23:03:29.349Z,1761519809.349 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.4,  -8.6 (Local)

2025-10-26T23:03:29.351Z,1761519809.351 [DAT](INFO): DAT read: Range 11 to 50 : 51.7 m  (Round-trip  69.0 ms) speed  0.8 m/s

2025-10-26T23:03:29.360Z,1761519809.360 [DAT](INFO): DAT read: user:781>Tx time:23:03:28.5845

2025-10-26T23:03:29.361Z,1761519809.361 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:03:29.361Z,1761519809.361 [DAT](INFO): direction in FSK: [0.980651,-0.122146,0.152986]
2025-10-26T23:03:29.362Z,1761519809.362 [DAT](INFO): publishing direction and range info
2025-10-26T23:03:29.374Z,1761519809.374 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:29.374Z,1761519809.374 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:03:29.378Z,1761519809.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195744,-0.976864,-0.086141],[0.980550,0.193683,0.031741],[-0.014322,-0.090679,0.995777]]
2025-10-26T23:03:29.440Z,1761519809.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.700001 m,
      deltaT: 3.303625 s,
      deltaX: -2.000000 m,
      approachRate: -0.605396 m/s,
      rangeRepo size: 4

2025-10-26T23:03:29.442Z,1761519809.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.434761 m,
      bearing: 72.453457 deg,
      lat: 36.779402 deg,
      lon: -121.859380 deg,
      deltaT: 3.303625 s,
      deltaX: -1.990276 m,
      approachRate: -0.602452 m/s,
      posRepo size: 4

2025-10-26T23:03:29.442Z,1761519809.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.43 m.
2025-10-26T23:03:29.443Z,1761519809.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.70 m.
2025-10-26T23:03:29.462Z,1761519809.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.434761 m,
      nav range: 50.324558 m,
      bearing: 70.852777 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.030592 deg/s,
      cmd heading: 78.845600 deg,
      new cmd heading: 78.809211 deg.

2025-10-26T23:03:29.463Z,1761519809.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.375480 target range: 51.434761 and range: 51.70 m.
2025-10-26T23:03:29.533Z,1761519809.533 [DAT](INFO): DAT read: 

2025-10-26T23:03:29.534Z,1761519809.534 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:29.742Z,1761519809.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189221,-0.978832,-0.077993],[0.981835,0.187476,0.029184],[-0.013945,-0.082099,0.996527]]
2025-10-26T23:03:29.785Z,1761519809.785 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:29.848Z,1761519809.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.43 m.
2025-10-26T23:03:29.849Z,1761519809.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.70 m.
2025-10-26T23:03:29.852Z,1761519809.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.434761 m,
      nav range: 50.066208 m,
      bearing: 70.840383 deg,
      approach rate: -0.624652 m/s,
      LOS rate: -0.030121 deg/s,
      cmd heading: 78.809209 deg,
      new cmd heading: 78.771835 deg.

2025-10-26T23:03:29.853Z,1761519809.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.374828 target range: 51.434761 and range: 51.70 m.
2025-10-26T23:03:30.044Z,1761519810.044 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:30.169Z,1761519810.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184114,-0.980139,-0.073690],[0.982810,0.182537,0.027652],[-0.013652,-0.077514,0.996898]]
2025-10-26T23:03:30.230Z,1761519810.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.43 m.
2025-10-26T23:03:30.231Z,1761519810.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.70 m.
2025-10-26T23:03:30.238Z,1761519810.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.434761 m,
      nav range: 49.839222 m,
      bearing: 70.815951 deg,
      approach rate: -0.594375 m/s,
      LOS rate: -0.064268 deg/s,
      cmd heading: 78.771834 deg,
      new cmd heading: 78.698205 deg.

2025-10-26T23:03:30.239Z,1761519810.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.373543 target range: 51.434761 and range: 51.70 m.
2025-10-26T23:03:30.293Z,1761519810.293 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:30.544Z,1761519810.544 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:30.569Z,1761519810.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180116,-0.980839,-0.074244],[0.983560,0.178590,0.026758],[-0.012986,-0.077843,0.996881]]
2025-10-26T23:03:30.625Z,1761519810.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.43 m.
2025-10-26T23:03:30.625Z,1761519810.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.70 m.
2025-10-26T23:03:30.628Z,1761519810.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.434761 m,
      nav range: 49.595337 m,
      bearing: 70.788290 deg,
      approach rate: -0.646682 m/s,
      LOS rate: -0.073708 deg/s,
      cmd heading: 78.698205 deg,
      new cmd heading: 78.614812 deg.

2025-10-26T23:03:30.629Z,1761519810.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.372087 target range: 51.434761 and range: 51.70 m.
2025-10-26T23:03:30.796Z,1761519810.796 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:31.001Z,1761519811.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177363,-0.980985,-0.078810],[0.984069,0.175784,0.026594],[-0.012234,-0.082271,0.996535]]
2025-10-26T23:03:31.048Z,1761519811.048 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:31.066Z,1761519811.066 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:31.069Z,1761519811.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.43 m.
2025-10-26T23:03:31.069Z,1761519811.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.70 m.
2025-10-26T23:03:31.072Z,1761519811.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.434761 m,
      nav range: 49.302795 m,
      bearing: 70.749707 deg,
      approach rate: -0.634322 m/s,
      LOS rate: -0.084156 deg/s,
      cmd heading: 78.614815 deg,
      new cmd heading: 78.498379 deg.

2025-10-26T23:03:31.073Z,1761519811.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.370055 target range: 51.434761 and range: 51.70 m.
2025-10-26T23:03:31.301Z,1761519811.301 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:31.496Z,1761519811.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174693,-0.980977,-0.084655],[0.984563,0.173085,0.026027],[-0.010880,-0.087895,0.996070]]
2025-10-26T23:03:31.514Z,1761519811.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.43 m.
2025-10-26T23:03:31.515Z,1761519811.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.70 m.
2025-10-26T23:03:31.518Z,1761519811.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.434761 m,
      nav range: 49.019608 m,
      bearing: 70.710933 deg,
      approach rate: -0.635225 m/s,
      LOS rate: -0.087477 deg/s,
      cmd heading: 78.498381 deg,
      new cmd heading: 78.381387 deg.

2025-10-26T23:03:31.519Z,1761519811.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.368013 target range: 51.434761 and range: 51.70 m.
2025-10-26T23:03:31.552Z,1761519811.552 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:31.804Z,1761519811.804 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:31.899Z,1761519811.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172381,-0.980668,-0.092600],[0.984987,0.170730,0.025530],[-0.009227,-0.095611,0.995376]]
2025-10-26T23:03:31.969Z,1761519811.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.43 m.
2025-10-26T23:03:31.971Z,1761519811.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.70 m.
2025-10-26T23:03:32.004Z,1761519812.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.434761 m,
      nav range: 48.763752 m,
      bearing: 70.674704 deg,
      approach rate: -0.570272 m/s,
      LOS rate: -0.081173 deg/s,
      cmd heading: 78.381386 deg,
      new cmd heading: 78.272130 deg.

2025-10-26T23:03:32.005Z,1761519812.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.366106 target range: 51.434761 and range: 51.70 m.
2025-10-26T23:03:32.056Z,1761519812.056 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:32.308Z,1761519812.308 [DAT](INFO): DAT read: Rx Time:23:03:31.0550

2025-10-26T23:03:32.309Z,1761519812.309 [DAT](INFO): Rx dataTimestamp_ set to:1761519812.308581
2025-10-26T23:03:32.309Z,1761519812.309 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:32.463Z,1761519812.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171407,-0.977918,-0.119569],[0.985176,0.169276,0.027837],[-0.006982,-0.122568,0.992436]]
2025-10-26T23:03:32.509Z,1761519812.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.43 m.
2025-10-26T23:03:32.509Z,1761519812.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.70 m.
2025-10-26T23:03:32.510Z,1761519812.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 51.70 m.
2025-10-26T23:03:32.510Z,1761519812.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-10-26T23:03:32.513Z,1761519812.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.434761 m,
      nav range: 48.376408 m,
      bearing: 70.614141 deg,
      approach rate: -0.709638 m/s,
      LOS rate: -0.111843 deg/s,
      cmd heading: 78.272131 deg,
      new cmd heading: 78.088988 deg.

2025-10-26T23:03:32.514Z,1761519812.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362910 target range: 51.434761 and range: 51.70 m.
2025-10-26T23:03:32.560Z,1761519812.560 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:32.812Z,1761519812.812 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:33.029Z,1761519813.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171527,-0.977114,-0.125800],[0.985156,0.169244,0.028697],[-0.006750,-0.128855,0.991640]]
2025-10-26T23:03:33.070Z,1761519813.070 [DAT](INFO): DAT read: 23:03:31.0550 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 420,-0.01, 1.045,-0.388, 1.506, 1.057, PHS= 0.090,-1.400, 0.404, RAW= 159.4,  10.9, CAL= 159.5,  12.0, ROT= 350.5, -12.0

2025-10-26T23:03:33.071Z,1761519813.071 [DAT](INFO): got valid direction response:
 23:03:31.0550 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 420,-0.01, 1.045,-0.388, 1.506, 1.057, PHS= 0.090,-1.400, 0.404, RAW= 159.4,  10.9, CAL= 159.5,  12.0, ROT= 350.5, -12.0

2025-10-26T23:03:33.072Z,1761519813.072 [DAT](INFO): DAT read: Bearing 231.4, -11.2 (Local)

2025-10-26T23:03:33.073Z,1761519813.073 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.4, -11.2 (Local)

2025-10-26T23:03:33.074Z,1761519813.074 [DAT](INFO): DAT read: Range 11 to 50 : 49.8 m  (Round-trip  66.4 ms) speed  0.4 m/s

2025-10-26T23:03:33.075Z,1761519813.075 [DAT](INFO): DAT read: user:782>Tx time:23:03:32.1345

2025-10-26T23:03:33.076Z,1761519813.076 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:03:33.077Z,1761519813.077 [DAT](INFO): direction in FSK: [0.964733,-0.161441,0.207912]
2025-10-26T23:03:33.077Z,1761519813.077 [DAT](INFO): publishing direction and range info
2025-10-26T23:03:33.080Z,1761519813.080 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:33.081Z,1761519813.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:03:33.136Z,1761519813.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.799999 m,
      deltaT: 3.756556 s,
      deltaX: -1.900002 m,
      approachRate: -0.505783 m/s,
      rangeRepo size: 4

2025-10-26T23:03:33.138Z,1761519813.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.558239 m,
      bearing: 72.268166 deg,
      lat: 36.779402 deg,
      lon: -121.859379 deg,
      deltaT: 3.756556 s,
      deltaX: -1.876522 m,
      approachRate: -0.499533 m/s,
      posRepo size: 4

2025-10-26T23:03:33.139Z,1761519813.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.56 m.
2025-10-26T23:03:33.142Z,1761519813.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.558239 m,
      nav range: 48.106850 m,
      bearing: 70.614148 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.111843 deg/s,
      cmd heading: 78.088986 deg,
      new cmd heading: 77.881591 deg.

2025-10-26T23:03:33.143Z,1761519813.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359290 target range: 49.558239 and range: 49.80 m.
2025-10-26T23:03:33.316Z,1761519813.316 [DAT](INFO): DAT read: 

2025-10-26T23:03:33.317Z,1761519813.317 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:33.455Z,1761519813.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171720,-0.976903,-0.127170],[0.985123,0.169407,0.028866],[-0.006656,-0.130235,0.991461]]
2025-10-26T23:03:33.527Z,1761519813.527 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:33.529Z,1761519813.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.56 m.
2025-10-26T23:03:33.532Z,1761519813.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.558239 m,
      nav range: 47.811707 m,
      bearing: 70.583950 deg,
      approach rate: -0.733751 m/s,
      LOS rate: -0.075537 deg/s,
      cmd heading: 77.881594 deg,
      new cmd heading: 77.790442 deg.

2025-10-26T23:03:33.533Z,1761519813.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357699 target range: 49.558239 and range: 49.80 m.
2025-10-26T23:03:33.568Z,1761519813.568 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:33.820Z,1761519813.820 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:33.855Z,1761519813.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172159,-0.977046,-0.125466],[0.985045,0.169854,0.028925],[-0.006951,-0.128569,0.991676]]
2025-10-26T23:03:33.912Z,1761519813.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.56 m.
2025-10-26T23:03:33.918Z,1761519813.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.558239 m,
      nav range: 47.575119 m,
      bearing: 70.559599 deg,
      approach rate: -0.625547 m/s,
      LOS rate: -0.064706 deg/s,
      cmd heading: 77.790445 deg,
      new cmd heading: 77.717028 deg.

2025-10-26T23:03:33.919Z,1761519813.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356418 target range: 49.558239 and range: 49.80 m.
2025-10-26T23:03:34.072Z,1761519814.072 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:34.274Z,1761519814.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174093,-0.977282,-0.120881],[0.984698,0.171790,0.029302],[-0.007870,-0.124132,0.992234]]
2025-10-26T23:03:34.324Z,1761519814.324 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:34.347Z,1761519814.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.56 m.
2025-10-26T23:03:34.350Z,1761519814.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.558239 m,
      nav range: 47.307285 m,
      bearing: 70.544122 deg,
      approach rate: -0.609425 m/s,
      LOS rate: -0.035414 deg/s,
      cmd heading: 77.717027 deg,
      new cmd heading: 77.670335 deg.

2025-10-26T23:03:34.351Z,1761519814.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355603 target range: 49.558239 and range: 49.80 m.
2025-10-26T23:03:34.577Z,1761519814.577 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:34.662Z,1761519814.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176930,-0.976928,-0.119611],[0.984180,0.174472,0.030807],[-0.009228,-0.123169,0.992343]]
2025-10-26T23:03:34.728Z,1761519814.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.56 m.
2025-10-26T23:03:34.737Z,1761519814.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.558239 m,
      nav range: 47.095398 m,
      bearing: 70.532499 deg,
      approach rate: -0.563343 m/s,
      LOS rate: -0.031043 deg/s,
      cmd heading: 77.670336 deg,
      new cmd heading: 77.635309 deg.

2025-10-26T23:03:34.738Z,1761519814.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354992 target range: 49.558239 and range: 49.80 m.
2025-10-26T23:03:34.829Z,1761519814.829 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:35.080Z,1761519815.080 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:35.083Z,1761519815.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180683,-0.975883,-0.122496],[0.983478,0.177852,0.033755],[-0.011155,-0.126571,0.991895]]
2025-10-26T23:03:35.094Z,1761519815.094 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  89.32,  74.76,  75.10
2025-10-26T23:03:35.110Z,1761519815.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.56 m.
2025-10-26T23:03:35.113Z,1761519815.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.558239 m,
      nav range: 46.850487 m,
      bearing: 70.520081 deg,
      approach rate: -0.633178 m/s,
      LOS rate: -0.032271 deg/s,
      cmd heading: 77.635311 deg,
      new cmd heading: 77.597864 deg.

2025-10-26T23:03:35.114Z,1761519815.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354338 target range: 49.558239 and range: 49.80 m.
2025-10-26T23:03:35.332Z,1761519815.332 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:35.474Z,1761519815.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184802,-0.974267,-0.129042],[0.982681,0.181357,0.038054],[-0.013672,-0.133840,0.990909]]
2025-10-26T23:03:35.505Z,1761519815.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.56 m.
2025-10-26T23:03:35.512Z,1761519815.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.558239 m,
      nav range: 46.621300 m,
      bearing: 70.509530 deg,
      approach rate: -0.580411 m/s,
      LOS rate: -0.026852 deg/s,
      cmd heading: 77.597861 deg,
      new cmd heading: 77.566052 deg.

2025-10-26T23:03:35.513Z,1761519815.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353783 target range: 49.558239 and range: 49.80 m.
2025-10-26T23:03:35.585Z,1761519815.585 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:35.836Z,1761519815.836 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:35.878Z,1761519815.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188937,-0.972405,-0.136862],[0.981844,0.184671,0.043339],[-0.016868,-0.142565,0.989642]]
2025-10-26T23:03:35.897Z,1761519815.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:35.900Z,1761519815.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.56 m.
2025-10-26T23:03:35.902Z,1761519815.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.558239 m,
      nav range: 46.378017 m,
      bearing: 70.499488 deg,
      approach rate: -0.616343 m/s,
      LOS rate: -0.025574 deg/s,
      cmd heading: 77.566053 deg,
      new cmd heading: 77.535770 deg.

2025-10-26T23:03:35.904Z,1761519815.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353254 target range: 49.558239 and range: 49.80 m.
2025-10-26T23:03:36.088Z,1761519816.088 [DAT](INFO): DAT read: Rx Time:23:03:34.6024

2025-10-26T23:03:36.089Z,1761519816.089 [DAT](INFO): Rx dataTimestamp_ set to:1761519816.088568
2025-10-26T23:03:36.089Z,1761519816.089 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:36.285Z,1761519816.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193147,-0.970354,-0.145286],[0.980960,0.187913,0.049053],[-0.020298,-0.151994,0.988173]]
2025-10-26T23:03:36.340Z,1761519816.340 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:36.347Z,1761519816.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.56 m.
2025-10-26T23:03:36.354Z,1761519816.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.558239 m,
      nav range: 46.161396 m,
      bearing: 70.527537 deg,
      approach rate: -0.484538 m/s,
      LOS rate: 0.063034 deg/s,
      cmd heading: 77.535768 deg,
      new cmd heading: 77.620309 deg.

2025-10-26T23:03:36.355Z,1761519816.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354730 target range: 49.558239 and range: 49.80 m.
2025-10-26T23:03:36.598Z,1761519816.598 [DAT](INFO): DAT read: 23:03:34.6024 LVL= 31280, 32753, 26562, 32755, AGC= 68, IDX= 410,-0.46,-2.639, 2.199,-2.195,-2.680, PHS= 0.143,-1.359, 0.441, RAW= 158.9,   9.3, CAL= 158.7,   9.9, ROT= 351.3,  -9.9

2025-10-26T23:03:36.599Z,1761519816.599 [DAT](INFO): got valid direction response:
 23:03:34.6024 LVL= 31280, 32753, 26562, 32755, AGC= 68, IDX= 410,-0.46,-2.639, 2.199,-2.195,-2.680, PHS= 0.143,-1.359, 0.441, RAW= 158.9,   9.3, CAL= 158.7,   9.9, ROT= 351.3,  -9.9

2025-10-26T23:03:36.600Z,1761519816.600 [DAT](INFO): DAT read: Bearing 227.6, -11.3 (Local)

2025-10-26T23:03:36.600Z,1761519816.600 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.6, -11.3 (Local)

2025-10-26T23:03:36.602Z,1761519816.602 [DAT](INFO): DAT read: Range 11 to 50 : 47.7 m  (Round-trip  63.7 ms) speed  0.5 m/s

2025-10-26T23:03:36.603Z,1761519816.603 [DAT](INFO): DAT read: user:783>Tx time:23:03:35.6845

2025-10-26T23:03:36.603Z,1761519816.603 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:03:36.604Z,1761519816.604 [DAT](INFO): direction in FSK: [0.973775,-0.149009,0.171929]
2025-10-26T23:03:36.604Z,1761519816.604 [DAT](INFO): publishing direction and range info
2025-10-26T23:03:36.608Z,1761519816.608 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:36.608Z,1761519816.608 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:03:36.766Z,1761519816.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197403,-0.968838,-0.149619],[0.980028,0.191294,0.054324],[-0.024010,-0.157355,0.987250]]
2025-10-26T23:03:36.793Z,1761519816.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.700001 m,
      deltaT: 3.527863 s,
      deltaX: -2.099998 m,
      approachRate: -0.595261 m/s,
      rangeRepo size: 4

2025-10-26T23:03:36.811Z,1761519816.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.460255 m,
      bearing: 71.612125 deg,
      lat: 36.779398 deg,
      lon: -121.859371 deg,
      deltaT: 3.527863 s,
      deltaX: -2.097984 m,
      approachRate: -0.594690 m/s,
      posRepo size: 4

2025-10-26T23:03:36.812Z,1761519816.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.46 m.
2025-10-26T23:03:36.815Z,1761519816.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.460255 m,
      nav range: 46.391327 m,
      bearing: 71.456015 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.063034 deg/s,
      cmd heading: 77.620312 deg,
      new cmd heading: 77.704680 deg.

2025-10-26T23:03:36.820Z,1761519816.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356202 target range: 47.460255 and range: 47.70 m.
2025-10-26T23:03:36.847Z,1761519816.847 [DAT](INFO): DAT read: 

2025-10-26T23:03:36.847Z,1761519816.847 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:37.096Z,1761519817.096 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:37.146Z,1761519817.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201018,-0.968572,-0.146494],[0.979202,0.194485,0.057781],[-0.027474,-0.155062,0.987523]]
2025-10-26T23:03:37.194Z,1761519817.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.46 m.
2025-10-26T23:03:37.198Z,1761519817.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.460255 m,
      nav range: 46.217678 m,
      bearing: 71.498181 deg,
      approach rate: -0.432393 m/s,
      LOS rate: 0.105389 deg/s,
      cmd heading: 77.704678 deg,
      new cmd heading: 77.831650 deg.

2025-10-26T23:03:37.199Z,1761519817.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358419 target range: 47.460255 and range: 47.70 m.
2025-10-26T23:03:37.348Z,1761519817.348 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:37.552Z,1761519817.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204570,-0.968035,-0.145121],[0.978354,0.197480,0.061842],[-0.031206,-0.154631,0.987479]]
2025-10-26T23:03:37.571Z,1761519817.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.46 m.
2025-10-26T23:03:37.574Z,1761519817.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.460255 m,
      nav range: 46.056988 m,
      bearing: 71.538243 deg,
      approach rate: -0.426840 m/s,
      LOS rate: 0.106787 deg/s,
      cmd heading: 77.831652 deg,
      new cmd heading: 77.952256 deg.

2025-10-26T23:03:37.575Z,1761519817.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360524 target range: 47.460255 and range: 47.70 m.
2025-10-26T23:03:37.600Z,1761519817.600 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:37.852Z,1761519817.852 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:37.954Z,1761519817.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207778,-0.967362,-0.145048],[0.977556,0.200072,0.066000],[-0.034826,-0.155506,0.987221]]
2025-10-26T23:03:37.983Z,1761519817.983 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:37.985Z,1761519817.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.46 m.
2025-10-26T23:03:37.988Z,1761519817.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.460255 m,
      nav range: 45.880352 m,
      bearing: 71.583343 deg,
      approach rate: -0.425905 m/s,
      LOS rate: 0.109166 deg/s,
      cmd heading: 77.952259 deg,
      new cmd heading: 78.088082 deg.

2025-10-26T23:03:37.989Z,1761519817.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362894 target range: 47.460255 and range: 47.70 m.
2025-10-26T23:03:38.104Z,1761519818.104 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:38.356Z,1761519818.356 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:38.417Z,1761519818.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.46 m.
2025-10-26T23:03:38.420Z,1761519818.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.460255 m,
      nav range: 45.706352 m,
      bearing: 71.637467 deg,
      approach rate: -0.403379 m/s,
      LOS rate: 0.125951 deg/s,
      cmd heading: 78.088084 deg,
      new cmd heading: 78.251073 deg.

2025-10-26T23:03:38.421Z,1761519818.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.365739 target range: 47.460255 and range: 47.70 m.
2025-10-26T23:03:38.608Z,1761519818.608 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:38.771Z,1761519818.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215665,-0.967855,-0.129403],[0.975585,0.207937,0.070684],[-0.041504,-0.141488,0.989070]]
2025-10-26T23:03:38.793Z,1761519818.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.46 m.
2025-10-26T23:03:38.796Z,1761519818.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.460255 m,
      nav range: 45.555080 m,
      bearing: 71.686790 deg,
      approach rate: -0.402400 m/s,
      LOS rate: 0.131640 deg/s,
      cmd heading: 78.251073 deg,
      new cmd heading: 78.399533 deg.

2025-10-26T23:03:38.797Z,1761519818.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.368330 target range: 47.460255 and range: 47.70 m.
2025-10-26T23:03:38.862Z,1761519818.862 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:39.117Z,1761519819.117 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:39.170Z,1761519819.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219473,-0.968444,-0.118104],[0.974588,0.212066,0.072154],[-0.044831,-0.130939,0.990376]]
2025-10-26T23:03:39.230Z,1761519819.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.46 m.
2025-10-26T23:03:39.251Z,1761519819.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.460255 m,
      nav range: 45.388794 m,
      bearing: 71.736651 deg,
      approach rate: -0.379926 m/s,
      LOS rate: 0.114339 deg/s,
      cmd heading: 78.399534 deg,
      new cmd heading: 78.549666 deg.

2025-10-26T23:03:39.253Z,1761519819.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.370950 target range: 47.460255 and range: 47.70 m.
2025-10-26T23:03:39.373Z,1761519819.373 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:39.570Z,1761519819.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222514,-0.968454,-0.112182],[0.973757,0.215129,0.074277],[-0.047800,-0.125766,0.990908]]
2025-10-26T23:03:39.596Z,1761519819.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.46 m.
2025-10-26T23:03:39.599Z,1761519819.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.460255 m,
      nav range: 45.232105 m,
      bearing: 71.784758 deg,
      approach rate: -0.428521 m/s,
      LOS rate: 0.132020 deg/s,
      cmd heading: 78.549668 deg,
      new cmd heading: 78.694488 deg.

2025-10-26T23:03:39.600Z,1761519819.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.373478 target range: 47.460255 and range: 47.70 m.
2025-10-26T23:03:39.620Z,1761519819.620 [DAT](INFO): DAT read: Rx Time:23:03:38.1498

2025-10-26T23:03:39.621Z,1761519819.621 [DAT](INFO): Rx dataTimestamp_ set to:1761519819.620524
2025-10-26T23:03:39.621Z,1761519819.621 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:39.873Z,1761519819.873 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:40.012Z,1761519820.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225824,-0.968321,-0.106573],[0.972849,0.218474,0.076376],[-0.050673,-0.120927,0.991367]]
2025-10-26T23:03:40.030Z,1761519820.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:40.032Z,1761519820.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.46 m.
2025-10-26T23:03:40.039Z,1761519820.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.460255 m,
      nav range: 45.057732 m,
      bearing: 71.839628 deg,
      approach rate: -0.399888 m/s,
      LOS rate: 0.126318 deg/s,
      cmd heading: 78.694489 deg,
      new cmd heading: 78.859734 deg.

2025-10-26T23:03:40.040Z,1761519820.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.376362 target range: 47.460255 and range: 47.70 m.
2025-10-26T23:03:40.132Z,1761519820.132 [DAT](INFO): DAT read: 23:03:38.1498 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415,-0.50, 2.292, 0.777, 2.687, 2.306, PHS= 0.089,-1.483, 0.337, RAW= 157.2,  12.3, CAL= 157.5,  13.8, ROT= 352.5, -13.8

2025-10-26T23:03:40.133Z,1761519820.133 [DAT](INFO): got valid direction response:
 23:03:38.1498 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415,-0.50, 2.292, 0.777, 2.687, 2.306, PHS= 0.089,-1.483, 0.337, RAW= 157.2,  12.3, CAL= 157.5,  13.8, ROT= 352.5, -13.8

2025-10-26T23:03:40.134Z,1761519820.134 [DAT](INFO): DAT read: Bearing 230.6, -11.7 (Local)

2025-10-26T23:03:40.135Z,1761519820.135 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.6, -11.7 (Local)

2025-10-26T23:03:40.136Z,1761519820.136 [DAT](INFO): DAT read: Range 11 to 50 : 45.8 m  (Round-trip  61.1 ms) speed  0.4 m/s

2025-10-26T23:03:40.138Z,1761519820.138 [DAT](INFO): DAT read: user:784>Tx time:23:03:39.2345

2025-10-26T23:03:40.139Z,1761519820.139 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:03:40.148Z,1761519820.148 [DAT](INFO): direction in FSK: [0.962826,-0.126758,0.238533]
2025-10-26T23:03:40.149Z,1761519820.149 [DAT](INFO): publishing direction and range info
2025-10-26T23:03:40.158Z,1761519820.158 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:40.158Z,1761519820.158 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:03:40.376Z,1761519820.376 [DAT](INFO): DAT read: 

2025-10-26T23:03:40.376Z,1761519820.376 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:40.391Z,1761519820.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228054,-0.968422,-0.100748],[0.972209,0.220870,0.077624],[-0.052921,-0.115651,0.991879]]
2025-10-26T23:03:40.478Z,1761519820.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.799999 m,
      deltaT: 3.534235 s,
      deltaX: -1.900002 m,
      approachRate: -0.537599 m/s,
      rangeRepo size: 4

2025-10-26T23:03:40.484Z,1761519820.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.561806 m,
      bearing: 71.041445 deg,
      lat: 36.779398 deg,
      lon: -121.859371 deg,
      deltaT: 3.534235 s,
      deltaX: -1.898449 m,
      approachRate: -0.537160 m/s,
      posRepo size: 4

2025-10-26T23:03:40.485Z,1761519820.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.56 m.
2025-10-26T23:03:40.504Z,1761519820.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.561806 m,
      nav range: 44.892082 m,
      bearing: 71.881650 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.126318 deg/s,
      cmd heading: 78.859732 deg,
      new cmd heading: 79.028276 deg.

2025-10-26T23:03:40.505Z,1761519820.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.379304 target range: 45.561806 and range: 45.80 m.
2025-10-26T23:03:40.628Z,1761519820.628 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:40.881Z,1761519820.881 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:40.955Z,1761519820.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229903,-0.967568,-0.104677],[0.971450,0.221683,0.084508],[-0.058562,-0.121117,0.990909]]
2025-10-26T23:03:40.974Z,1761519820.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.56 m.
2025-10-26T23:03:40.993Z,1761519820.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.561806 m,
      nav range: 44.674847 m,
      bearing: 71.937565 deg,
      approach rate: -0.436920 m/s,
      LOS rate: 0.113007 deg/s,
      cmd heading: 79.028273 deg,
      new cmd heading: 79.196833 deg.

2025-10-26T23:03:40.994Z,1761519820.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.382246 target range: 45.561806 and range: 45.80 m.
2025-10-26T23:03:41.134Z,1761519821.134 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:41.356Z,1761519821.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228972,-0.967371,-0.108470],[0.971506,0.220088,0.087960],[-0.061217,-0.125519,0.990201]]
2025-10-26T23:03:41.384Z,1761519821.384 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:41.403Z,1761519821.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.56 m.
2025-10-26T23:03:41.431Z,1761519821.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.561806 m,
      nav range: 44.483944 m,
      bearing: 71.968590 deg,
      approach rate: -0.445432 m/s,
      LOS rate: 0.072702 deg/s,
      cmd heading: 79.196836 deg,
      new cmd heading: 79.290311 deg.

2025-10-26T23:03:41.432Z,1761519821.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.383877 target range: 45.561806 and range: 45.80 m.
2025-10-26T23:03:41.637Z,1761519821.637 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:41.859Z,1761519821.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227557,-0.967429,-0.110903],[0.971627,0.218037,0.091660],[-0.064493,-0.128614,0.989595]]
2025-10-26T23:03:41.888Z,1761519821.888 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:41.914Z,1761519821.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.56 m.
2025-10-26T23:03:41.925Z,1761519821.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.561806 m,
      nav range: 44.268600 m,
      bearing: 72.003400 deg,
      approach rate: -0.421305 m/s,
      LOS rate: 0.068434 deg/s,
      cmd heading: 79.290314 deg,
      new cmd heading: 79.395250 deg.

2025-10-26T23:03:41.926Z,1761519821.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.385709 target range: 45.561806 and range: 45.80 m.
2025-10-26T23:03:41.928Z,1761519821.928 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:03:42.143Z,1761519822.143 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:42.264Z,1761519822.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223956,-0.968645,-0.107567],[0.972296,0.214478,0.092951],[-0.066966,-0.125404,0.989843]]
2025-10-26T23:03:42.308Z,1761519822.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:42.310Z,1761519822.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.56 m.
2025-10-26T23:03:42.313Z,1761519822.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.561806 m,
      nav range: 44.054111 m,
      bearing: 72.017510 deg,
      approach rate: -0.541784 m/s,
      LOS rate: 0.035815 deg/s,
      cmd heading: 79.395253 deg,
      new cmd heading: 79.437790 deg.

2025-10-26T23:03:42.314Z,1761519822.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.386451 target range: 45.561806 and range: 45.80 m.
2025-10-26T23:03:42.393Z,1761519822.393 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:42.644Z,1761519822.644 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:42.663Z,1761519822.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218585,-0.970099,-0.105491],[0.973359,0.209087,0.094098],[-0.069228,-0.123249,0.989958]]
2025-10-26T23:03:42.682Z,1761519822.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.56 m.
2025-10-26T23:03:42.685Z,1761519822.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.561806 m,
      nav range: 43.865234 m,
      bearing: 72.028732 deg,
      approach rate: -0.507279 m/s,
      LOS rate: 0.030268 deg/s,
      cmd heading: 79.437791 deg,
      new cmd heading: 79.471601 deg.

2025-10-26T23:03:42.686Z,1761519822.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.387041 target range: 45.561806 and range: 45.80 m.
2025-10-26T23:03:42.896Z,1761519822.896 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:42.932Z,1761519822.932 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:03:43.062Z,1761519823.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211923,-0.971836,-0.103069],[0.974687,0.202492,0.094779],[-0.071239,-0.120546,0.990148]]
2025-10-26T23:03:43.087Z,1761519823.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.56 m.
2025-10-26T23:03:43.090Z,1761519823.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.561806 m,
      nav range: 43.659836 m,
      bearing: 72.039261 deg,
      approach rate: -0.506922 m/s,
      LOS rate: 0.026107 deg/s,
      cmd heading: 79.471601 deg,
      new cmd heading: 79.503335 deg.

2025-10-26T23:03:43.091Z,1761519823.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.387595 target range: 45.561806 and range: 45.80 m.
2025-10-26T23:03:43.152Z,1761519823.152 [DAT](INFO): DAT read: Rx Time:23:03:41.6975

2025-10-26T23:03:43.153Z,1761519823.153 [DAT](INFO): Rx dataTimestamp_ set to:1761519823.152216
2025-10-26T23:03:43.154Z,1761519823.154 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:43.400Z,1761519823.400 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:43.525Z,1761519823.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204761,-0.973739,-0.099526],[0.976082,0.195543,0.095005],[-0.073049,-0.116599,0.990489]]
2025-10-26T23:03:43.578Z,1761519823.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.56 m.
2025-10-26T23:03:43.593Z,1761519823.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.561806 m,
      nav range: 43.409096 m,
      bearing: 72.043023 deg,
      approach rate: -0.510721 m/s,
      LOS rate: 0.007708 deg/s,
      cmd heading: 79.503334 deg,
      new cmd heading: 79.514687 deg.

2025-10-26T23:03:43.594Z,1761519823.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.387793 target range: 45.561806 and range: 45.80 m.
2025-10-26T23:03:43.660Z,1761519823.660 [DAT](INFO): DAT read: 23:03:41.6975 LVL= 32752, 32753, 26786, 32755, AGC= 70, IDX= 423, 0.13, 1.927, 0.444, 2.405, 1.956, PHS= 0.073,-1.467, 0.404, RAW= 159.6,  11.4, CAL= 159.8,  12.7, ROT= 350.2, -12.7

2025-10-26T23:03:43.661Z,1761519823.661 [DAT](INFO): got valid direction response:
 23:03:41.6975 LVL= 32752, 32753, 26786, 32755, AGC= 70, IDX= 423, 0.13, 1.927, 0.444, 2.405, 1.956, PHS= 0.073,-1.467, 0.404, RAW= 159.6,  11.4, CAL= 159.8,  12.7, ROT= 350.2, -12.7

2025-10-26T23:03:43.662Z,1761519823.662 [DAT](INFO): DAT read: Bearing 229.8, -15.0 (Local)

2025-10-26T23:03:43.662Z,1761519823.662 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.8, -15.0 (Local)

2025-10-26T23:03:43.664Z,1761519823.664 [DAT](INFO): DAT read: Range 11 to 50 : 44.1 m  (Round-trip  58.8 ms) speed  0.4 m/s

2025-10-26T23:03:43.665Z,1761519823.665 [DAT](INFO): DAT read: user:785>Tx time:23:03:42.7845

2025-10-26T23:03:43.666Z,1761519823.666 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:03:43.667Z,1761519823.667 [DAT](INFO): direction in FSK: [0.961299,-0.166045,0.219846]
2025-10-26T23:03:43.667Z,1761519823.667 [DAT](INFO): publishing direction and range info
2025-10-26T23:03:43.671Z,1761519823.671 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:43.671Z,1761519823.671 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:03:43.904Z,1761519823.904 [DAT](INFO): DAT read: 

2025-10-26T23:03:43.905Z,1761519823.905 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:43.979Z,1761519823.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196465,-0.975998,-0.093963],[0.977658,0.187687,0.094646],[-0.074738,-0.110458,0.991067]]
2025-10-26T23:03:44.085Z,1761519824.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 44.099998 m,
      deltaT: 3.527482 s,
      deltaX: -1.700001 m,
      approachRate: -0.481930 m/s,
      rangeRepo size: 4

2025-10-26T23:03:44.087Z,1761519824.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.866371 m,
      bearing: 70.438509 deg,
      lat: 36.779398 deg,
      lon: -121.859371 deg,
      deltaT: 3.527482 s,
      deltaX: -1.695435 m,
      approachRate: -0.480636 m/s,
      posRepo size: 4

2025-10-26T23:03:44.088Z,1761519824.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.87 m.
2025-10-26T23:03:44.091Z,1761519824.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.866371 m,
      nav range: 43.159496 m,
      bearing: 72.044153 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007708 deg/s,
      cmd heading: 79.514685 deg,
      new cmd heading: 79.526397 deg.

2025-10-26T23:03:44.092Z,1761519824.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.387998 target range: 43.866371 and range: 44.10 m.
2025-10-26T23:03:44.158Z,1761519824.158 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:44.408Z,1761519824.408 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:44.488Z,1761519824.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:44.490Z,1761519824.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.87 m.
2025-10-26T23:03:44.497Z,1761519824.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.866371 m,
      nav range: 42.929882 m,
      bearing: 72.043056 deg,
      approach rate: -0.566067 m/s,
      LOS rate: -0.002719 deg/s,
      cmd heading: 79.526399 deg,
      new cmd heading: 79.523091 deg.

2025-10-26T23:03:44.498Z,1761519824.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.387940 target range: 43.866371 and range: 44.10 m.
2025-10-26T23:03:44.661Z,1761519824.661 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:44.795Z,1761519824.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179841,-0.980048,-0.084634],[0.980634,0.171834,0.093967],[-0.077549,-0.099894,0.991971]]
2025-10-26T23:03:44.845Z,1761519824.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.87 m.
2025-10-26T23:03:44.848Z,1761519824.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.866371 m,
      nav range: 42.728783 m,
      bearing: 72.037650 deg,
      approach rate: -0.567603 m/s,
      LOS rate: -0.015330 deg/s,
      cmd heading: 79.523093 deg,
      new cmd heading: 79.506800 deg.

2025-10-26T23:03:44.850Z,1761519824.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.387655 target range: 43.866371 and range: 44.10 m.
2025-10-26T23:03:44.912Z,1761519824.912 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:45.166Z,1761519825.166 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:45.218Z,1761519825.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171249,-0.981976,-0.079981],[0.982093,0.163671,0.093300],[-0.078527,-0.094527,0.992420]]
2025-10-26T23:03:45.295Z,1761519825.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.87 m.
2025-10-26T23:03:45.314Z,1761519825.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.866371 m,
      nav range: 42.472260 m,
      bearing: 72.031409 deg,
      approach rate: -0.569775 m/s,
      LOS rate: -0.013947 deg/s,
      cmd heading: 79.506797 deg,
      new cmd heading: 79.487959 deg.

2025-10-26T23:03:45.320Z,1761519825.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.387327 target range: 43.866371 and range: 44.10 m.
2025-10-26T23:03:45.416Z,1761519825.416 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:45.602Z,1761519825.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163463,-0.983341,-0.079494],[0.983354,0.155924,0.093283],[-0.079334,-0.093419,0.992461]]
2025-10-26T23:03:45.637Z,1761519825.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.87 m.
2025-10-26T23:03:45.640Z,1761519825.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.866371 m,
      nav range: 42.286079 m,
      bearing: 72.024843 deg,
      approach rate: -0.543311 m/s,
      LOS rate: -0.019244 deg/s,
      cmd heading: 79.487959 deg,
      new cmd heading: 79.468176 deg.

2025-10-26T23:03:45.641Z,1761519825.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.386981 target range: 43.866371 and range: 44.10 m.
2025-10-26T23:03:45.681Z,1761519825.681 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:45.932Z,1761519825.932 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:46.045Z,1761519826.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.87 m.
2025-10-26T23:03:46.048Z,1761519826.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.866371 m,
      nav range: 42.044113 m,
      bearing: 72.016223 deg,
      approach rate: -0.593296 m/s,
      LOS rate: -0.021257 deg/s,
      cmd heading: 79.468179 deg,
      new cmd heading: 79.442170 deg.

2025-10-26T23:03:46.049Z,1761519826.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.386527 target range: 43.866371 and range: 44.10 m.
2025-10-26T23:03:46.187Z,1761519826.187 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:46.410Z,1761519826.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149175,-0.986625,-0.065704],[0.985552,0.142964,0.090823],[-0.080215,-0.078303,0.993697]]
2025-10-26T23:03:46.436Z,1761519826.436 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:46.526Z,1761519826.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:46.528Z,1761519826.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.87 m.
2025-10-26T23:03:46.530Z,1761519826.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.866371 m,
      nav range: 41.760941 m,
      bearing: 72.008705 deg,
      approach rate: -0.587130 m/s,
      LOS rate: -0.015693 deg/s,
      cmd heading: 79.442169 deg,
      new cmd heading: 79.419462 deg.

2025-10-26T23:03:46.548Z,1761519826.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.386131 target range: 43.866371 and range: 44.10 m.
2025-10-26T23:03:46.688Z,1761519826.688 [DAT](INFO): DAT read: Rx Time:23:03:45.2454

2025-10-26T23:03:46.689Z,1761519826.689 [DAT](INFO): Rx dataTimestamp_ set to:1761519826.688657
2025-10-26T23:03:46.689Z,1761519826.689 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:46.881Z,1761519826.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139221,-0.987868,-0.068803],[0.986967,0.132759,0.090945],[-0.080707,-0.080568,0.993476]]
2025-10-26T23:03:46.926Z,1761519826.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.87 m.
2025-10-26T23:03:46.933Z,1761519826.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.866371 m,
      nav range: 41.538368 m,
      bearing: 71.999613 deg,
      approach rate: -0.558007 m/s,
      LOS rate: -0.022918 deg/s,
      cmd heading: 79.419466 deg,
      new cmd heading: 79.392042 deg.

2025-10-26T23:03:46.934Z,1761519826.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.385653 target range: 43.866371 and range: 44.10 m.
2025-10-26T23:03:46.940Z,1761519826.940 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:47.213Z,1761519827.213 [DAT](INFO): DAT read: 23:03:45.2454 LVL= 32752, 32753, 27122, 32755, AGC= 70, IDX= 417,-0.17,-2.307, 2.504,-1.747,-2.321, PHS= 0.116,-1.413, 0.530, RAW= 161.6,   8.7, CAL= 161.4,   9.1, ROT= 348.6,  -9.1

2025-10-26T23:03:47.219Z,1761519827.219 [DAT](INFO): got valid direction response:
 23:03:45.2454 LVL= 32752, 32753, 27122, 32755, AGC= 70, IDX= 417,-0.17,-2.307, 2.504,-1.747,-2.321, PHS= 0.116,-1.413, 0.530, RAW= 161.6,   8.7, CAL= 161.4,   9.1, ROT= 348.6,  -9.1

2025-10-26T23:03:47.222Z,1761519827.222 [DAT](INFO): DAT read: Bearing 229.9, -16.9 (Local)

2025-10-26T23:03:47.223Z,1761519827.223 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.9, -16.9 (Local)

2025-10-26T23:03:47.284Z,1761519827.284 [DAT](INFO): DAT read: Range 11 to 50 : 42.5 m  (Round-trip  56.7 ms) speed  0.4 m/s

2025-10-26T23:03:47.285Z,1761519827.285 [DAT](INFO): DAT read: user:786>Tx time:23:03:46.3345

2025-10-26T23:03:47.286Z,1761519827.286 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:03:47.286Z,1761519827.286 [DAT](INFO): direction in FSK: [0.967933,-0.195169,0.158158]
2025-10-26T23:03:47.287Z,1761519827.287 [DAT](INFO): publishing direction and range info
2025-10-26T23:03:47.299Z,1761519827.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136471,-0.987595,-0.077660],[0.987320,0.129178,0.092263],[-0.081087,-0.089266,0.992702]]
2025-10-26T23:03:47.306Z,1761519827.306 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:47.306Z,1761519827.306 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:03:47.405Z,1761519827.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 42.500000 m,
      deltaT: 3.539648 s,
      deltaX: -1.599998 m,
      approachRate: -0.452022 m/s,
      rangeRepo size: 4

2025-10-26T23:03:47.407Z,1761519827.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.276352 m,
      bearing: 71.698972 deg,
      lat: 36.779402 deg,
      lon: -121.859371 deg,
      deltaT: 3.539648 s,
      deltaX: -1.590019 m,
      approachRate: -0.449203 m/s,
      posRepo size: 4

2025-10-26T23:03:47.408Z,1761519827.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.28 m.
2025-10-26T23:03:47.411Z,1761519827.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.276352 m,
      nav range: 41.406681 m,
      bearing: 71.389803 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022918 deg/s,
      cmd heading: 79.392043 deg,
      new cmd heading: 79.359302 deg.

2025-10-26T23:03:47.420Z,1761519827.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.385081 target range: 42.276352 and range: 42.50 m.
2025-10-26T23:03:47.444Z,1761519827.444 [DAT](INFO): DAT read: 

2025-10-26T23:03:47.445Z,1761519827.445 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:47.697Z,1761519827.697 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:47.746Z,1761519827.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135768,-0.987435,-0.080863],[0.987351,0.128107,0.093414],[-0.081881,-0.092522,0.992338]]
2025-10-26T23:03:47.788Z,1761519827.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.28 m.
2025-10-26T23:03:47.791Z,1761519827.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.276352 m,
      nav range: 41.176430 m,
      bearing: 71.379757 deg,
      approach rate: -0.598147 m/s,
      LOS rate: -0.026244 deg/s,
      cmd heading: 79.359299 deg,
      new cmd heading: 79.328992 deg.

2025-10-26T23:03:47.792Z,1761519827.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384552 target range: 42.276352 and range: 42.50 m.
2025-10-26T23:03:47.949Z,1761519827.949 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:48.139Z,1761519828.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136703,-0.986810,-0.086709],[0.987130,0.128367,0.095373],[-0.082984,-0.098631,0.991658]]
2025-10-26T23:03:48.162Z,1761519828.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.28 m.
2025-10-26T23:03:48.165Z,1761519828.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.276352 m,
      nav range: 40.964275 m,
      bearing: 71.370658 deg,
      approach rate: -0.567005 m/s,
      LOS rate: -0.024443 deg/s,
      cmd heading: 79.328993 deg,
      new cmd heading: 79.301555 deg.

2025-10-26T23:03:48.166Z,1761519828.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384073 target range: 42.276352 and range: 42.50 m.
2025-10-26T23:03:48.203Z,1761519828.203 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:48.454Z,1761519828.454 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:48.542Z,1761519828.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138875,-0.985420,-0.098293],[0.986700,0.129218,0.098624],[-0.084484,-0.110682,0.990259]]
2025-10-26T23:03:48.586Z,1761519828.586 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:48.588Z,1761519828.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.28 m.
2025-10-26T23:03:48.591Z,1761519828.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.276352 m,
      nav range: 40.726044 m,
      bearing: 71.372064 deg,
      approach rate: -0.558466 m/s,
      LOS rate: 0.003316 deg/s,
      cmd heading: 79.301556 deg,
      new cmd heading: 79.305800 deg.

2025-10-26T23:03:48.592Z,1761519828.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384147 target range: 42.276352 and range: 42.50 m.
2025-10-26T23:03:48.705Z,1761519828.705 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:48.947Z,1761519828.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142362,-0.983976,-0.107355],[0.986068,0.131559,0.101792],[-0.086037,-0.120351,0.988996]]
2025-10-26T23:03:48.957Z,1761519828.957 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:48.968Z,1761519828.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.28 m.
2025-10-26T23:03:48.970Z,1761519828.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.276352 m,
      nav range: 40.515705 m,
      bearing: 71.374310 deg,
      approach rate: -0.554879 m/s,
      LOS rate: 0.005957 deg/s,
      cmd heading: 79.305798 deg,
      new cmd heading: 79.312572 deg.

2025-10-26T23:03:48.971Z,1761519828.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384266 target range: 42.276352 and range: 42.50 m.
2025-10-26T23:03:49.210Z,1761519829.210 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:49.350Z,1761519829.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146561,-0.983073,-0.109946],[0.985345,0.135280,0.103897],[-0.087265,-0.123562,0.988492]]
2025-10-26T23:03:49.401Z,1761519829.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.28 m.
2025-10-26T23:03:49.404Z,1761519829.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.276352 m,
      nav range: 40.281647 m,
      bearing: 71.384372 deg,
      approach rate: -0.539881 m/s,
      LOS rate: 0.023342 deg/s,
      cmd heading: 79.312573 deg,
      new cmd heading: 79.342932 deg.

2025-10-26T23:03:49.405Z,1761519829.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384795 target range: 42.276352 and range: 42.50 m.
2025-10-26T23:03:49.461Z,1761519829.461 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:49.713Z,1761519829.713 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:49.764Z,1761519829.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150056,-0.981610,-0.118000],[0.984725,0.137727,0.106523],[-0.088312,-0.132182,0.987284]]
2025-10-26T23:03:49.782Z,1761519829.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.28 m.
2025-10-26T23:03:49.785Z,1761519829.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.276352 m,
      nav range: 40.075623 m,
      bearing: 71.394273 deg,
      approach rate: -0.540143 m/s,
      LOS rate: 0.026093 deg/s,
      cmd heading: 79.342933 deg,
      new cmd heading: 79.372791 deg.

2025-10-26T23:03:49.786Z,1761519829.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.385316 target range: 42.276352 and range: 42.50 m.
2025-10-26T23:03:49.965Z,1761519829.965 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:50.158Z,1761519830.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153054,-0.979223,-0.133030],[0.984198,0.138914,0.109806],[-0.089045,-0.147734,0.985010]]
2025-10-26T23:03:50.192Z,1761519830.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.28 m.
2025-10-26T23:03:50.194Z,1761519830.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.276352 m,
      nav range: 39.856892 m,
      bearing: 71.405647 deg,
      approach rate: -0.534764 m/s,
      LOS rate: 0.027959 deg/s,
      cmd heading: 79.372788 deg,
      new cmd heading: 79.407096 deg.

2025-10-26T23:03:50.195Z,1761519830.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.385915 target range: 42.276352 and range: 42.50 m.
2025-10-26T23:03:50.220Z,1761519830.220 [DAT](INFO): DAT read: Rx Time:23:03:48.7926

2025-10-26T23:03:50.222Z,1761519830.222 [DAT](INFO): Rx dataTimestamp_ set to:1761519830.220624
2025-10-26T23:03:50.224Z,1761519830.224 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:50.469Z,1761519830.469 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:50.611Z,1761519830.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155660,-0.977519,-0.142218],[0.983732,0.140332,0.112152],[-0.089673,-0.157362,0.983461]]
2025-10-26T23:03:50.669Z,1761519830.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:50.671Z,1761519830.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.28 m.
2025-10-26T23:03:50.678Z,1761519830.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.276352 m,
      nav range: 39.617516 m,
      bearing: 71.424019 deg,
      approach rate: -0.499472 m/s,
      LOS rate: 0.038566 deg/s,
      cmd heading: 79.407096 deg,
      new cmd heading: 79.462546 deg.

2025-10-26T23:03:50.679Z,1761519830.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.386883 target range: 42.276352 and range: 42.50 m.
2025-10-26T23:03:50.732Z,1761519830.732 [DAT](INFO): DAT read: 23:03:48.7926 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 422,-0.00,-1.764, 3.082,-1.208,-1.723, PHS= 0.062,-1.433, 0.471, RAW= 161.8,  10.4, CAL= 161.8,  11.4, ROT= 348.2, -11.4

2025-10-26T23:03:50.734Z,1761519830.734 [DAT](INFO): got valid direction response:
 23:03:48.7926 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 422,-0.00,-1.764, 3.082,-1.208,-1.723, PHS= 0.062,-1.433, 0.471, RAW= 161.8,  10.4, CAL= 161.8,  11.4, ROT= 348.2, -11.4

2025-10-26T23:03:50.736Z,1761519830.736 [DAT](INFO): DAT read: Bearing 230.8, -18.7 (Local)

2025-10-26T23:03:50.737Z,1761519830.737 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.8, -18.7 (Local)

2025-10-26T23:03:50.739Z,1761519830.739 [DAT](INFO): DAT read: Range 11 to 50 : 40.5 m  (Round-trip  54.1 ms) speed  0.5 m/s

2025-10-26T23:03:50.741Z,1761519830.741 [DAT](INFO): DAT read: user:787>Tx time:23:03:49.8844

2025-10-26T23:03:50.742Z,1761519830.742 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:03:50.744Z,1761519830.744 [DAT](INFO): direction in FSK: [0.959556,-0.200461,0.197657]
2025-10-26T23:03:50.744Z,1761519830.744 [DAT](INFO): publishing direction and range info
2025-10-26T23:03:50.750Z,1761519830.750 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:50.750Z,1761519830.750 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:03:50.972Z,1761519830.972 [DAT](INFO): DAT read: 

2025-10-26T23:03:50.973Z,1761519830.973 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:51.042Z,1761519831.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156612,-0.977077,-0.144200],[0.983542,0.140969,0.113014],[-0.090095,-0.159526,0.983074]]
2025-10-26T23:03:51.089Z,1761519831.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.500000 m,
      deltaT: 3.527693 s,
      deltaX: -2.000000 m,
      approachRate: -0.566943 m/s,
      rangeRepo size: 4

2025-10-26T23:03:51.091Z,1761519831.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.289082 m,
      bearing: 71.289048 deg,
      lat: 36.779402 deg,
      lon: -121.859367 deg,
      deltaT: 3.527693 s,
      deltaX: -1.987270 m,
      approachRate: -0.563334 m/s,
      posRepo size: 4

2025-10-26T23:03:51.102Z,1761519831.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.29 m.
2025-10-26T23:03:51.109Z,1761519831.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.289082 m,
      nav range: 39.820538 m,
      bearing: 71.508423 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038566 deg/s,
      cmd heading: 79.462544 deg,
      new cmd heading: 79.510881 deg.

2025-10-26T23:03:51.110Z,1761519831.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.387727 target range: 40.289082 and range: 40.50 m.
2025-10-26T23:03:51.226Z,1761519831.226 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:51.447Z,1761519831.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155348,-0.977970,-0.139434],[0.983768,0.140322,0.111846],[-0.089817,-0.154546,0.983895]]
2025-10-26T23:03:51.476Z,1761519831.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:51.505Z,1761519831.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.29 m.
2025-10-26T23:03:51.516Z,1761519831.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.289082 m,
      nav range: 39.618168 m,
      bearing: 71.527591 deg,
      approach rate: -0.487588 m/s,
      LOS rate: 0.046421 deg/s,
      cmd heading: 79.510881 deg,
      new cmd heading: 79.568681 deg.

2025-10-26T23:03:51.517Z,1761519831.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.388735 target range: 40.289082 and range: 40.50 m.
2025-10-26T23:03:51.730Z,1761519831.730 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:51.887Z,1761519831.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.29 m.
2025-10-26T23:03:51.890Z,1761519831.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.289082 m,
      nav range: 39.422768 m,
      bearing: 71.546287 deg,
      approach rate: -0.509411 m/s,
      LOS rate: 0.048982 deg/s,
      cmd heading: 79.568678 deg,
      new cmd heading: 79.625044 deg.

2025-10-26T23:03:51.891Z,1761519831.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.389719 target range: 40.289082 and range: 40.50 m.
2025-10-26T23:03:51.982Z,1761519831.982 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:52.235Z,1761519832.235 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:52.305Z,1761519832.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151852,-0.980857,-0.121901],[0.984449,0.139069,0.107331],[-0.088324,-0.136303,0.986722]]
2025-10-26T23:03:52.407Z,1761519832.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.29 m.
2025-10-26T23:03:52.413Z,1761519832.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.289082 m,
      nav range: 39.195110 m,
      bearing: 71.571305 deg,
      approach rate: -0.438264 m/s,
      LOS rate: 0.048442 deg/s,
      cmd heading: 79.625041 deg,
      new cmd heading: 79.700530 deg.

2025-10-26T23:03:52.414Z,1761519832.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.391037 target range: 40.289082 and range: 40.50 m.
2025-10-26T23:03:52.485Z,1761519832.485 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:52.737Z,1761519832.737 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:52.834Z,1761519832.834 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:52.836Z,1761519832.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.29 m.
2025-10-26T23:03:52.839Z,1761519832.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.289082 m,
      nav range: 38.990005 m,
      bearing: 71.594095 deg,
      approach rate: -0.477687 m/s,
      LOS rate: 0.053357 deg/s,
      cmd heading: 79.700528 deg,
      new cmd heading: 79.769258 deg.

2025-10-26T23:03:52.840Z,1761519832.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.392236 target range: 40.289082 and range: 40.50 m.
2025-10-26T23:03:52.988Z,1761519832.988 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:53.202Z,1761519833.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150486,-0.981920,-0.114833],[0.984741,0.138614,0.105219],[-0.087399,-0.128915,0.987797]]
2025-10-26T23:03:53.241Z,1761519833.241 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:53.249Z,1761519833.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.29 m.
2025-10-26T23:03:53.284Z,1761519833.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.289082 m,
      nav range: 38.814377 m,
      bearing: 71.613580 deg,
      approach rate: -0.448999 m/s,
      LOS rate: 0.050038 deg/s,
      cmd heading: 79.769260 deg,
      new cmd heading: 79.827978 deg.

2025-10-26T23:03:53.293Z,1761519833.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.393261 target range: 40.289082 and range: 40.50 m.
2025-10-26T23:03:53.493Z,1761519833.493 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:53.689Z,1761519833.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151861,-0.981762,-0.114378],[0.984595,0.140113,0.104599],[-0.086666,-0.128501,0.987915]]
2025-10-26T23:03:53.746Z,1761519833.746 [DAT](INFO): DAT read: Rx Time:23:03:52.3402

2025-10-26T23:03:53.746Z,1761519833.746 [DAT](INFO): Rx dataTimestamp_ set to:1761519833.745793
2025-10-26T23:03:53.746Z,1761519833.746 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:53.779Z,1761519833.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.29 m.
2025-10-26T23:03:53.786Z,1761519833.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.289082 m,
      nav range: 38.582783 m,
      bearing: 71.641934 deg,
      approach rate: -0.419749 m/s,
      LOS rate: 0.051699 deg/s,
      cmd heading: 79.827979 deg,
      new cmd heading: 79.913553 deg.

2025-10-26T23:03:53.787Z,1761519833.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.394755 target range: 40.289082 and range: 40.50 m.
2025-10-26T23:03:53.997Z,1761519833.997 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:54.255Z,1761519834.255 [DAT](INFO): DAT read: 23:03:52.3402 LVL= 32752, 32753, 28770, 32755, AGC= 69, IDX= 413,-0.07, 1.865, 0.404, 2.399, 1.880, PHS= 0.087,-1.431, 0.476, RAW= 161.1,  10.0, CAL= 161.1,  10.8, ROT= 348.9, -10.8

2025-10-26T23:03:54.257Z,1761519834.257 [DAT](INFO): got valid direction response:
 23:03:52.3402 LVL= 32752, 32753, 28770, 32755, AGC= 69, IDX= 413,-0.07, 1.865, 0.404, 2.399, 1.880, PHS= 0.087,-1.431, 0.476, RAW= 161.1,  10.0, CAL= 161.1,  10.8, ROT= 348.9, -10.8

2025-10-26T23:03:54.258Z,1761519834.258 [DAT](INFO): DAT read: Bearing 230.5, -17.7 (Local)

2025-10-26T23:03:54.258Z,1761519834.258 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.5, -17.7 (Local)

2025-10-26T23:03:54.282Z,1761519834.282 [DAT](INFO): DAT read: Range 11 to 50 : 38.7 m  (Round-trip  51.6 ms) speed  0.4 m/s

2025-10-26T23:03:54.295Z,1761519834.295 [DAT](INFO): DAT read: user:788>Tx time:23:03:53.4344

2025-10-26T23:03:54.287Z,1761519834.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153658,-0.981981,-0.110010],[0.984310,0.142341,0.104271],[-0.086733,-0.124306,0.988446]]
2025-10-26T23:03:54.305Z,1761519834.305 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:03:54.317Z,1761519834.317 [DAT](INFO): direction in FSK: [0.963911,-0.189112,0.187381]
2025-10-26T23:03:54.318Z,1761519834.318 [DAT](INFO): publishing direction and range info
2025-10-26T23:03:54.343Z,1761519834.343 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:54.351Z,1761519834.351 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:03:54.440Z,1761519834.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.700001 m,
      deltaT: 3.528221 s,
      deltaX: -1.799999 m,
      approachRate: -0.510172 m/s,
      rangeRepo size: 4

2025-10-26T23:03:54.442Z,1761519834.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.505032 m,
      bearing: 71.597867 deg,
      lat: 36.779403 deg,
      lon: -121.859368 deg,
      deltaT: 3.528221 s,
      deltaX: -1.784050 m,
      approachRate: -0.505651 m/s,
      posRepo size: 4

2025-10-26T23:03:54.442Z,1761519834.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.51 m.
2025-10-26T23:03:54.449Z,1761519834.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.505032 m,
      nav range: 38.202412 m,
      bearing: 71.597734 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.051699 deg/s,
      cmd heading: 79.913555 deg,
      new cmd heading: 80.015268 deg.

2025-10-26T23:03:54.450Z,1761519834.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.396530 target range: 38.505032 and range: 38.70 m.
2025-10-26T23:03:54.501Z,1761519834.501 [DAT](INFO): DAT read: 

2025-10-26T23:03:54.502Z,1761519834.502 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:54.752Z,1761519834.752 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:54.767Z,1761519834.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155252,-0.982245,-0.105314],[0.984084,0.144444,0.103514],[-0.086464,-0.119709,0.989037]]
2025-10-26T23:03:54.784Z,1761519834.784 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-10-26T23:03:54.784Z,1761519834.784 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T23:03:54.784Z,1761519834.784 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-10-26T23:03:54.786Z,1761519834.786 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  38.700001 m (mode  2.000000 count ).
2025-10-26T23:03:54.786Z,1761519834.786 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-10-26T23:03:54.786Z,1761519834.786 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-10-26T23:03:54.788Z,1761519834.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.51 m.
2025-10-26T23:03:54.791Z,1761519834.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.505032 m,
      nav range: 38.040245 m,
      bearing: 71.612671 deg,
      approach rate: -0.458542 m/s,
      LOS rate: 0.042416 deg/s,
      cmd heading: 80.015270 deg,
      new cmd heading: 80.060272 deg.

2025-10-26T23:03:54.792Z,1761519834.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.397315 target range: 38.505032 and range: 38.70 m.
2025-10-26T23:03:55.005Z,1761519835.005 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:55.167Z,1761519835.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157313,-0.981506,-0.109078],[0.983782,0.146117,0.104029],[-0.086167,-0.123675,0.988575]]
2025-10-26T23:03:55.196Z,1761519835.196 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-10-26T23:03:55.196Z,1761519835.196 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-10-26T23:03:55.197Z,1761519835.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:55.199Z,1761519835.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.51 m.
2025-10-26T23:03:55.205Z,1761519835.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.505032 m,
      nav range: 37.867474 m,
      bearing: 71.629175 deg,
      approach rate: -0.421075 m/s,
      LOS rate: 0.040407 deg/s,
      cmd heading: 80.060274 deg,
      new cmd heading: 80.110012 deg.

2025-10-26T23:03:55.206Z,1761519835.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.398183 target range: 38.505032 and range: 38.70 m.
2025-10-26T23:03:55.256Z,1761519835.256 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:55.508Z,1761519835.508 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:55.573Z,1761519835.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159344,-0.980623,-0.113969],[0.983492,0.147653,0.104606],[-0.085751,-0.128756,0.987962]]
2025-10-26T23:03:55.621Z,1761519835.621 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-10-26T23:03:55.621Z,1761519835.621 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-10-26T23:03:55.623Z,1761519835.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.51 m.
2025-10-26T23:03:55.626Z,1761519835.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.505032 m,
      nav range: 37.675671 m,
      bearing: 71.641423 deg,
      approach rate: -0.451849 m/s,
      LOS rate: 0.029002 deg/s,
      cmd heading: 80.110012 deg,
      new cmd heading: 80.146944 deg.

2025-10-26T23:03:55.627Z,1761519835.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.398828 target range: 38.505032 and range: 38.70 m.
2025-10-26T23:03:55.760Z,1761519835.760 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:55.995Z,1761519835.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160130,-0.980408,-0.114711],[0.983432,0.148452,0.104035],[-0.084967,-0.129470,0.987936]]
2025-10-26T23:03:56.012Z,1761519836.012 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:56.049Z,1761519836.049 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-10-26T23:03:56.049Z,1761519836.049 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T23:03:56.049Z,1761519836.049 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-10-26T23:03:56.049Z,1761519836.049 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-26T23:03:56.056Z,1761519836.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.51 m.
2025-10-26T23:03:56.058Z,1761519836.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.505032 m,
      nav range: 37.498768 m,
      bearing: 71.653027 deg,
      approach rate: -0.412833 m/s,
      LOS rate: 0.027206 deg/s,
      cmd heading: 80.146942 deg,
      new cmd heading: 80.181916 deg.

2025-10-26T23:03:56.065Z,1761519836.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.399438 target range: 38.505032 and range: 38.70 m.
2025-10-26T23:03:56.264Z,1761519836.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:56.472Z,1761519836.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.51 m.
2025-10-26T23:03:56.475Z,1761519836.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.505032 m,
      nav range: 37.302223 m,
      bearing: 71.660534 deg,
      approach rate: -0.467304 m/s,
      LOS rate: 0.017944 deg/s,
      cmd heading: 80.181913 deg,
      new cmd heading: 80.204555 deg.

2025-10-26T23:03:56.476Z,1761519836.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.399834 target range: 38.505032 and range: 38.70 m.
2025-10-26T23:03:56.517Z,1761519836.517 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:56.768Z,1761519836.768 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:56.813Z,1761519836.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159567,-0.979507,-0.122899],[0.983728,0.147358,0.102783],[-0.082567,-0.137300,0.987082]]
2025-10-26T23:03:56.833Z,1761519836.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.51 m.
2025-10-26T23:03:56.836Z,1761519836.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.505032 m,
      nav range: 37.139008 m,
      bearing: 71.666462 deg,
      approach rate: -0.452560 m/s,
      LOS rate: 0.016508 deg/s,
      cmd heading: 80.204555 deg,
      new cmd heading: 80.222416 deg.

2025-10-26T23:03:56.837Z,1761519836.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.400145 target range: 38.505032 and range: 38.70 m.
2025-10-26T23:03:57.023Z,1761519837.023 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:57.222Z,1761519837.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159571,-0.979048,-0.126498],[0.983814,0.147131,0.102286],[-0.081531,-0.140773,0.986679]]
2025-10-26T23:03:57.259Z,1761519837.259 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:57.266Z,1761519837.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.51 m.
2025-10-26T23:03:57.269Z,1761519837.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.505032 m,
      nav range: 36.948193 m,
      bearing: 71.673343 deg,
      approach rate: -0.443218 m/s,
      LOS rate: 0.016064 deg/s,
      cmd heading: 80.222416 deg,
      new cmd heading: 80.243164 deg.

2025-10-26T23:03:57.270Z,1761519837.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.400507 target range: 38.505032 and range: 38.70 m.
2025-10-26T23:03:57.273Z,1761519837.273 [DAT](INFO): DAT read: Rx Time:23:03:55.8880

2025-10-26T23:03:57.273Z,1761519837.273 [DAT](INFO): Rx dataTimestamp_ set to:1761519837.272865
2025-10-26T23:03:57.273Z,1761519837.273 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:57.525Z,1761519837.525 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:57.628Z,1761519837.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159386,-0.979029,-0.126882],[0.983952,0.147098,0.100999],[-0.080217,-0.140944,0.986762]]
2025-10-26T23:03:57.749Z,1761519837.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.51 m.
2025-10-26T23:03:57.756Z,1761519837.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.505032 m,
      nav range: 36.721989 m,
      bearing: 71.667628 deg,
      approach rate: -0.466004 m/s,
      LOS rate: -0.011846 deg/s,
      cmd heading: 80.243166 deg,
      new cmd heading: 80.225916 deg.

2025-10-26T23:03:57.757Z,1761519837.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.400206 target range: 38.505032 and range: 38.70 m.
2025-10-26T23:03:57.782Z,1761519837.782 [DAT](INFO): DAT read: 23:03:55.8880 LVL= 32752, 32753, 29746, 32755, AGC= 68, IDX= 423, 0.00,-3.071, 1.764,-2.484,-3.012, PHS= 0.043,-1.462, 0.485, RAW= 162.5,  10.6, CAL= 162.5,  11.7, ROT= 347.5, -11.7

2025-10-26T23:03:57.784Z,1761519837.784 [DAT](INFO): got valid direction response:
 23:03:55.8880 LVL= 32752, 32753, 29746, 32755, AGC= 68, IDX= 423, 0.00,-3.071, 1.764,-2.484,-3.012, PHS= 0.043,-1.462, 0.485, RAW= 162.5,  10.6, CAL= 162.5,  11.7, ROT= 347.5, -11.7

2025-10-26T23:03:57.785Z,1761519837.785 [DAT](INFO): DAT read: Bearing 231.5, -18.8 (Local)

2025-10-26T23:03:57.785Z,1761519837.785 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.5, -18.8 (Local)

2025-10-26T23:03:57.786Z,1761519837.786 [DAT](INFO): DAT read: Range 11 to 50 : 37.1 m  (Round-trip  49.5 ms) speed  0.4 m/s

2025-10-26T23:03:57.787Z,1761519837.787 [DAT](INFO): DAT read: user:789>Tx time:23:03:56.9844

2025-10-26T23:03:57.788Z,1761519837.788 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:03:57.789Z,1761519837.789 [DAT](INFO): direction in FSK: [0.956011,-0.211943,0.202787]
2025-10-26T23:03:57.789Z,1761519837.789 [DAT](INFO): publishing direction and range info
2025-10-26T23:03:57.809Z,1761519837.809 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:03:57.809Z,1761519837.809 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T23:03:58.028Z,1761519838.028 [DAT](INFO): DAT read: 

2025-10-26T23:03:58.029Z,1761519838.029 [DAT](INFO): DAT read: Tx time:23:03:57.1844

2025-10-26T23:03:58.029Z,1761519838.029 [DAT](INFO): Ping request sent.
2025-10-26T23:03:58.029Z,1761519838.029 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:03:58.029Z,1761519838.029 [DAT](INFO): publishing transmit ping time
2025-10-26T23:03:58.030Z,1761519838.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762
2025-10-26T23:03:58.120Z,1761519838.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158236,-0.979399,-0.125452],[0.984269,0.146343,0.098989],[-0.078591,-0.139142,0.987149]]
2025-10-26T23:03:58.144Z,1761519838.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.099998 m,
      deltaT: 3.527049 s,
      deltaX: -1.600002 m,
      approachRate: -0.453638 m/s,
      rangeRepo size: 4

2025-10-26T23:03:58.146Z,1761519838.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.916569 m,
      bearing: 70.277461 deg,
      lat: 36.779404 deg,
      lon: -121.859368 deg,
      deltaT: 3.527049 s,
      deltaX: -1.588463 m,
      approachRate: -0.450366 m/s,
      posRepo size: 4

2025-10-26T23:03:58.147Z,1761519838.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:03:58.149Z,1761519838.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 36.577511 m,
      bearing: 71.431963 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011846 deg/s,
      cmd heading: 80.225913 deg,
      new cmd heading: 80.211905 deg.

2025-10-26T23:03:58.150Z,1761519838.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.399962 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:03:58.281Z,1761519838.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251249
2025-10-26T23:03:58.504Z,1761519838.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157886,-0.979302,-0.126648],[0.984332,0.145890,0.099027],[-0.078501,-0.140298,0.986992]]
2025-10-26T23:03:58.532Z,1761519838.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503040
2025-10-26T23:03:58.623Z,1761519838.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:03:58.626Z,1761519838.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 36.327171 m,
      bearing: 71.416978 deg,
      approach rate: -0.521780 m/s,
      LOS rate: -0.031449 deg/s,
      cmd heading: 80.211904 deg,
      new cmd heading: 80.166639 deg.

2025-10-26T23:03:58.627Z,1761519838.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.399172 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:03:58.784Z,1761519838.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755171
2025-10-26T23:03:58.906Z,1761519838.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157631,-0.979082,-0.128652],[0.984389,0.145465,0.099084],[-0.078297,-0.142262,0.986728]]
2025-10-26T23:03:58.949Z,1761519838.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:03:58.956Z,1761519838.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 36.166447 m,
      bearing: 71.407139 deg,
      approach rate: -0.492133 m/s,
      LOS rate: -0.030261 deg/s,
      cmd heading: 80.166641 deg,
      new cmd heading: 80.136992 deg.

2025-10-26T23:03:58.957Z,1761519838.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.398654 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:03:59.039Z,1761519839.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009402
2025-10-26T23:03:59.288Z,1761519839.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259082
2025-10-26T23:03:59.320Z,1761519839.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156335,-0.979232,-0.129087],[0.984624,0.144197,0.098605],[-0.077943,-0.142518,0.986719]]
2025-10-26T23:03:59.482Z,1761519839.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:03:59.485Z,1761519839.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:03:59.488Z,1761519839.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 35.869038 m,
      bearing: 71.384909 deg,
      approach rate: -0.555478 m/s,
      LOS rate: -0.041864 deg/s,
      cmd heading: 80.136991 deg,
      new cmd heading: 80.069747 deg.

2025-10-26T23:03:59.489Z,1761519839.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.397481 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:03:59.541Z,1761519839.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511926
2025-10-26T23:03:59.792Z,1761519839.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763084
2025-10-26T23:03:59.860Z,1761519839.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:03:59.865Z,1761519839.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 35.675125 m,
      bearing: 71.370215 deg,
      approach rate: -0.516853 m/s,
      LOS rate: -0.039378 deg/s,
      cmd heading: 80.069748 deg,
      new cmd heading: 80.025426 deg.

2025-10-26T23:03:59.866Z,1761519839.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.396707 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:00.047Z,1761519840.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017924
2025-10-26T23:04:00.189Z,1761519840.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151037,-0.980898,-0.122584],[0.985487,0.139691,0.096445],[-0.077479,-0.135372,0.987761]]
2025-10-26T23:04:00.257Z,1761519840.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:00.260Z,1761519840.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 35.464455 m,
      bearing: 71.352418 deg,
      approach rate: -0.530616 m/s,
      LOS rate: -0.045091 deg/s,
      cmd heading: 80.025426 deg,
      new cmd heading: 79.971719 deg.

2025-10-26T23:04:00.261Z,1761519840.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.395770 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:00.298Z,1761519840.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268118
2025-10-26T23:04:00.548Z,1761519840.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519148
2025-10-26T23:04:00.594Z,1761519840.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147861,-0.981078,-0.124992],[0.986009,0.136396,0.095824],[-0.076963,-0.137412,0.987519]]
2025-10-26T23:04:00.674Z,1761519840.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:00.681Z,1761519840.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 35.228268 m,
      bearing: 71.328185 deg,
      approach rate: -0.565868 m/s,
      LOS rate: -0.058448 deg/s,
      cmd heading: 79.971721 deg,
      new cmd heading: 79.898534 deg.

2025-10-26T23:04:00.682Z,1761519840.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.394493 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:00.800Z,1761519840.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771013
2025-10-26T23:04:01.020Z,1761519841.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145156,-0.981326,-0.126209],[0.986453,0.133687,0.095068],[-0.076420,-0.138299,0.987438]]
2025-10-26T23:04:01.039Z,1761519841.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:01.042Z,1761519841.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 35.016590 m,
      bearing: 71.305214 deg,
      approach rate: -0.580862 m/s,
      LOS rate: -0.063416 deg/s,
      cmd heading: 79.898535 deg,
      new cmd heading: 79.829205 deg.

2025-10-26T23:04:01.043Z,1761519841.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.393282 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:01.052Z,1761519841.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023136
2025-10-26T23:04:01.304Z,1761519841.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275119
2025-10-26T23:04:01.450Z,1761519841.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142773,-0.981914,-0.124344],[0.986884,0.131667,0.093405],[-0.075344,-0.136049,0.987833]]
2025-10-26T23:04:01.486Z,1761519841.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:04:01.488Z,1761519841.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:01.490Z,1761519841.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 34.771530 m,
      bearing: 71.273079 deg,
      approach rate: -0.546092 m/s,
      LOS rate: -0.072112 deg/s,
      cmd heading: 79.829202 deg,
      new cmd heading: 79.732120 deg.

2025-10-26T23:04:01.508Z,1761519841.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.391588 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:01.557Z,1761519841.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527644
2025-10-26T23:04:01.808Z,1761519841.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778952
2025-10-26T23:04:01.824Z,1761519841.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140612,-0.982403,-0.122937],[0.987301,0.129862,0.091504],[-0.073929,-0.134242,0.988187]]
2025-10-26T23:04:01.843Z,1761519841.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:01.846Z,1761519841.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 34.577034 m,
      bearing: 71.246549 deg,
      approach rate: -0.547457 m/s,
      LOS rate: -0.075097 deg/s,
      cmd heading: 79.732118 deg,
      new cmd heading: 79.652079 deg.

2025-10-26T23:04:01.847Z,1761519841.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.390191 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:02.060Z,1761519842.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031180
2025-10-26T23:04:02.236Z,1761519842.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139154,-0.982247,-0.125802],[0.987634,0.128395,0.089961],[-0.072211,-0.136765,0.987968]]
2025-10-26T23:04:02.255Z,1761519842.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:02.258Z,1761519842.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 34.351856 m,
      bearing: 71.214863 deg,
      approach rate: -0.546657 m/s,
      LOS rate: -0.077428 deg/s,
      cmd heading: 79.652081 deg,
      new cmd heading: 79.556399 deg.

2025-10-26T23:04:02.259Z,1761519842.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.388521 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:02.313Z,1761519842.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283912
2025-10-26T23:04:02.565Z,1761519842.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535353
2025-10-26T23:04:02.630Z,1761519842.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139379,-0.981970,-0.127707],[0.987730,0.128690,0.088480],[-0.070450,-0.138472,0.987857]]
2025-10-26T23:04:02.676Z,1761519842.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:02.679Z,1761519842.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 34.120243 m,
      bearing: 71.187796 deg,
      approach rate: -0.550272 m/s,
      LOS rate: -0.064741 deg/s,
      cmd heading: 79.556397 deg,
      new cmd heading: 79.474647 deg.

2025-10-26T23:04:02.680Z,1761519842.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.387094 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:02.817Z,1761519842.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787789
2025-10-26T23:04:03.035Z,1761519843.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141755,-0.982407,-0.121583],[0.987474,0.131740,0.086831],[-0.069286,-0.132369,0.988776]]
2025-10-26T23:04:03.066Z,1761519843.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:03.068Z,1761519843.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039176
2025-10-26T23:04:03.070Z,1761519843.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 33.905453 m,
      bearing: 71.163252 deg,
      approach rate: -0.550567 m/s,
      LOS rate: -0.063312 deg/s,
      cmd heading: 79.474647 deg,
      new cmd heading: 79.400547 deg.

2025-10-26T23:04:03.071Z,1761519843.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.385801 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:03.327Z,1761519843.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.297790
2025-10-26T23:04:03.480Z,1761519843.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144945,-0.982877,-0.113770],[0.987072,0.135690,0.085304],[-0.068406,-0.124663,0.989838]]
2025-10-26T23:04:03.516Z,1761519843.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:04:03.518Z,1761519843.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:03.521Z,1761519843.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 33.662632 m,
      bearing: 71.144813 deg,
      approach rate: -0.536510 m/s,
      LOS rate: -0.041034 deg/s,
      cmd heading: 79.400546 deg,
      new cmd heading: 79.344831 deg.

2025-10-26T23:04:03.522Z,1761519843.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384829 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:03.581Z,1761519843.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.551927
2025-10-26T23:04:03.832Z,1761519843.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803103
2025-10-26T23:04:03.845Z,1761519843.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148639,-0.982709,-0.110409],[0.986575,0.139726,0.084542],[-0.067654,-0.121493,0.990284]]
2025-10-26T23:04:03.864Z,1761519843.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:03.867Z,1761519843.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 33.476402 m,
      bearing: 71.131704 deg,
      approach rate: -0.538014 m/s,
      LOS rate: -0.038081 deg/s,
      cmd heading: 79.344832 deg,
      new cmd heading: 79.305288 deg.

2025-10-26T23:04:03.868Z,1761519843.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384138 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:04.084Z,1761519844.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055051
2025-10-26T23:04:04.246Z,1761519844.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152778,-0.982141,-0.109811],[0.986036,0.144039,0.083582],[-0.066273,-0.121047,0.990432]]
2025-10-26T23:04:04.284Z,1761519844.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:04.287Z,1761519844.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 33.250671 m,
      bearing: 71.117248 deg,
      approach rate: -0.537449 m/s,
      LOS rate: -0.034654 deg/s,
      cmd heading: 79.305285 deg,
      new cmd heading: 79.261622 deg.

2025-10-26T23:04:04.288Z,1761519844.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.383376 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:04.337Z,1761519844.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307952
2025-10-26T23:04:04.588Z,1761519844.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559024
2025-10-26T23:04:04.750Z,1761519844.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:04.753Z,1761519844.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 33.018505 m,
      bearing: 71.110540 deg,
      approach rate: -0.498761 m/s,
      LOS rate: -0.014512 deg/s,
      cmd heading: 79.261620 deg,
      new cmd heading: 79.241354 deg.

2025-10-26T23:04:04.754Z,1761519844.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.383023 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:04.841Z,1761519844.841 [DAT](INFO): DAT read: Response Not Received

2025-10-26T23:04:04.841Z,1761519844.841 [DAT](INFO): response not received
2025-10-26T23:04:04.841Z,1761519844.841 [DAT](ERROR): No response from remote modem.
2025-10-26T23:04:04.842Z,1761519844.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.812340
2025-10-26T23:04:05.060Z,1761519845.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160722,-0.979261,-0.123352],[0.984944,0.151067,0.084052],[-0.063674,-0.135004,0.988797]]
2025-10-26T23:04:05.093Z,1761519845.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063242
2025-10-26T23:04:05.123Z,1761519845.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:05.126Z,1761519845.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 32.843651 m,
      bearing: 71.107694 deg,
      approach rate: -0.468974 m/s,
      LOS rate: -0.007674 deg/s,
      cmd heading: 79.241355 deg,
      new cmd heading: 79.232771 deg.

2025-10-26T23:04:05.127Z,1761519845.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.382873 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:05.344Z,1761519845.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315049
2025-10-26T23:04:05.498Z,1761519845.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164502,-0.977550,-0.131663],[0.984371,0.154191,0.085080],[-0.062868,-0.143601,0.987637]]
2025-10-26T23:04:05.557Z,1761519845.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:04:05.559Z,1761519845.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:05.562Z,1761519845.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 32.626339 m,
      bearing: 71.104181 deg,
      approach rate: -0.498266 m/s,
      LOS rate: -0.008108 deg/s,
      cmd heading: 79.232769 deg,
      new cmd heading: 79.222161 deg.

2025-10-26T23:04:05.563Z,1761519845.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.382688 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:05.597Z,1761519845.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567489
2025-10-26T23:04:05.849Z,1761519845.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.819658
2025-10-26T23:04:05.892Z,1761519845.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167512,-0.976355,-0.136642],[0.983912,0.156835,0.085556],[-0.062103,-0.148775,0.986919]]
2025-10-26T23:04:05.927Z,1761519845.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:05.929Z,1761519845.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 32.459682 m,
      bearing: 71.102266 deg,
      approach rate: -0.453271 m/s,
      LOS rate: -0.005234 deg/s,
      cmd heading: 79.222162 deg,
      new cmd heading: 79.216389 deg.

2025-10-26T23:04:05.930Z,1761519845.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.382587 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:06.100Z,1761519846.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070998
2025-10-26T23:04:06.296Z,1761519846.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169948,-0.976204,-0.134697],[0.983546,0.159527,0.084787],[-0.061282,-0.146890,0.987253]]
2025-10-26T23:04:06.319Z,1761519846.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:06.322Z,1761519846.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 32.268364 m,
      bearing: 71.100919 deg,
      approach rate: -0.488041 m/s,
      LOS rate: -0.003458 deg/s,
      cmd heading: 79.216391 deg,
      new cmd heading: 79.212324 deg.

2025-10-26T23:04:06.323Z,1761519846.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.382516 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:06.353Z,1761519846.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.323376
2025-10-26T23:04:06.604Z,1761519846.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575091
2025-10-26T23:04:06.856Z,1761519846.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827149
2025-10-26T23:04:06.912Z,1761519846.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:06.914Z,1761519846.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 31.974258 m,
      bearing: 71.089433 deg,
      approach rate: -0.496083 m/s,
      LOS rate: -0.019551 deg/s,
      cmd heading: 79.212327 deg,
      new cmd heading: 79.177553 deg.

2025-10-26T23:04:06.916Z,1761519846.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.381909 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:07.109Z,1761519847.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079847
2025-10-26T23:04:07.222Z,1761519847.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171686,-0.974933,-0.141526],[0.983325,0.160846,0.084856],[-0.059966,-0.153734,0.986291]]
2025-10-26T23:04:07.242Z,1761519847.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:07.245Z,1761519847.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 31.811796 m,
      bearing: 71.083413 deg,
      approach rate: -0.491988 m/s,
      LOS rate: -0.018325 deg/s,
      cmd heading: 79.177554 deg,
      new cmd heading: 79.159400 deg.

2025-10-26T23:04:07.246Z,1761519847.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.381592 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:07.360Z,1761519847.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331045
2025-10-26T23:04:07.612Z,1761519847.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583032
2025-10-26T23:04:07.749Z,1761519847.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173439,-0.974263,-0.143980],[0.983007,0.162328,0.085719],[-0.060141,-0.156400,0.985861]]
2025-10-26T23:04:07.785Z,1761519847.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:04:07.787Z,1761519847.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:07.790Z,1761519847.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 31.550316 m,
      bearing: 71.072061 deg,
      approach rate: -0.479425 m/s,
      LOS rate: -0.020986 deg/s,
      cmd heading: 79.159399 deg,
      new cmd heading: 79.125062 deg.

2025-10-26T23:04:07.791Z,1761519847.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.380993 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:07.864Z,1761519847.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.835147
2025-10-26T23:04:08.116Z,1761519848.116 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:04:08.117Z,1761519848.117 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T23:04:08.255Z,1761519848.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174125,-0.974521,-0.141382],[0.982921,0.163323,0.084798],[-0.059547,-0.153733,0.986317]]
2025-10-26T23:04:08.282Z,1761519848.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:08.285Z,1761519848.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 31.313122 m,
      bearing: 71.061977 deg,
      approach rate: -0.478929 m/s,
      LOS rate: -0.020515 deg/s,
      cmd heading: 79.125064 deg,
      new cmd heading: 79.094584 deg.

2025-10-26T23:04:08.286Z,1761519848.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.380461 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:08.368Z,1761519848.368 [DAT](INFO): DAT read: user:790>

2025-10-26T23:04:08.369Z,1761519848.369 [DAT](INFO): DAT read: Tx time:23:04:07.4844

2025-10-26T23:04:08.369Z,1761519848.369 [DAT](INFO): Ping request sent.
2025-10-26T23:04:08.369Z,1761519848.369 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:04:08.370Z,1761519848.370 [DAT](INFO): publishing transmit ping time
2025-10-26T23:04:08.370Z,1761519848.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-10-26T23:04:08.621Z,1761519848.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251117
2025-10-26T23:04:08.709Z,1761519848.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174833,-0.975190,-0.135790],[0.982852,0.164645,0.083028],[-0.058611,-0.147977,0.987253]]
2025-10-26T23:04:08.723Z,1761519848.723 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050302522687,359,   0.0,1493.1,  0
2025-10-26T23:04:08.760Z,1761519848.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:08.763Z,1761519848.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 31.083958 m,
      bearing: 71.052549 deg,
      approach rate: -0.479591 m/s,
      LOS rate: -0.019876 deg/s,
      cmd heading: 79.094581 deg,
      new cmd heading: 79.066089 deg.

2025-10-26T23:04:08.764Z,1761519848.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.379964 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:08.876Z,1761519848.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505151
2025-10-26T23:04:09.103Z,1761519849.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175098,-0.975430,-0.133704],[0.982888,0.165291,0.081308],[-0.057210,-0.145653,0.987680]]
2025-10-26T23:04:09.124Z,1761519849.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754924
2025-10-26T23:04:09.125Z,1761519849.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:09.128Z,1761519849.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 30.910105 m,
      bearing: 71.045435 deg,
      approach rate: -0.478997 m/s,
      LOS rate: -0.019710 deg/s,
      cmd heading: 79.066085 deg,
      new cmd heading: 79.044624 deg.

2025-10-26T23:04:09.129Z,1761519849.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.379589 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:09.376Z,1761519849.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006818
2025-10-26T23:04:09.531Z,1761519849.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174848,-0.975407,-0.134198],[0.983017,0.165223,0.079871],[-0.055734,-0.145884,0.987731]]
2025-10-26T23:04:09.618Z,1761519849.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:09.625Z,1761519849.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 30.675385 m,
      bearing: 71.020522 deg,
      approach rate: -0.474404 m/s,
      LOS rate: -0.050738 deg/s,
      cmd heading: 79.044625 deg,
      new cmd heading: 78.969314 deg.

2025-10-26T23:04:09.626Z,1761519849.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.378275 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:09.629Z,1761519849.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259157
2025-10-26T23:04:09.881Z,1761519849.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511301
2025-10-26T23:04:09.934Z,1761519849.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173984,-0.974747,-0.139993],[0.983267,0.164163,0.078971],[-0.053996,-0.151390,0.986998]]
2025-10-26T23:04:09.951Z,1761519849.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:04:09.953Z,1761519849.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:09.956Z,1761519849.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 30.503117 m,
      bearing: 71.001591 deg,
      approach rate: -0.513659 m/s,
      LOS rate: -0.056768 deg/s,
      cmd heading: 78.969315 deg,
      new cmd heading: 78.912200 deg.

2025-10-26T23:04:09.957Z,1761519849.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.377278 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:10.132Z,1761519850.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762839
2025-10-26T23:04:10.334Z,1761519850.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172373,-0.973922,-0.147523],[0.983629,0.162197,0.078523],[-0.052547,-0.158643,0.985937]]
2025-10-26T23:04:10.372Z,1761519850.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:10.379Z,1761519850.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 30.305622 m,
      bearing: 70.978830 deg,
      approach rate: -0.471089 m/s,
      LOS rate: -0.054646 deg/s,
      cmd heading: 78.912201 deg,
      new cmd heading: 78.843473 deg.

2025-10-26T23:04:10.380Z,1761519850.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.376078 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:10.385Z,1761519850.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015023
2025-10-26T23:04:10.636Z,1761519850.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266792
2025-10-26T23:04:10.785Z,1761519850.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169989,-0.974292,-0.147850],[0.984129,0.160085,0.076573],[-0.050936,-0.158520,0.986041]]
2025-10-26T23:04:10.821Z,1761519850.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.92 m.
2025-10-26T23:04:10.841Z,1761519850.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.916569 m,
      nav range: 30.072168 m,
      bearing: 70.937890 deg,
      approach rate: -0.520004 m/s,
      LOS rate: -0.091900 deg/s,
      cmd heading: 78.843476 deg,
      new cmd heading: 78.719702 deg.

2025-10-26T23:04:10.842Z,1761519850.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.373918 target range: 36.916569 and range: 37.10 m.
2025-10-26T23:04:10.889Z,1761519850.889 [DAT](INFO): DAT read: Rx Time:23:04:09.6537 

2025-10-26T23:04:10.890Z,1761519850.890 [DAT](INFO): Rx dataTimestamp_ set to:1761519850.889546
2025-10-26T23:04:10.891Z,1761519850.891 [DAT](INFO): DAT read: Bearing 234.5, -16.7 (Local)

2025-10-26T23:04:10.892Z,1761519850.892 [DAT](INFO): Local bearing/azimuth received:
 Bearing 234.5, -16.7 (Local)

2025-10-26T23:04:10.894Z,1761519850.894 [DAT](INFO): DAT read: Range 11 to 50 :    30.2 m (trip time 20.1 ms) speed 0.4

2025-10-26T23:04:10.898Z,1761519850.898 [DAT](INFO): DAT read: 23:04:09.6537 LVL= 23792, 26033, 22002, 32755, AGC= 68, IDX=  55, 0.15,-2.430, 2.433,-1.885,-2.333, PHS= 0.005,-1.472, 0.404, RAW= 161.6,  12.4, CAL= 162.0,  14.1, ROT= 348.0, -14.1

2025-10-26T23:04:10.899Z,1761519850.899 [DAT](INFO): got valid direction response:
 23:04:09.6537 LVL= 23792, 26033, 22002, 32755, AGC= 68, IDX=  55, 0.15,-2.430, 2.433,-1.885,-2.333, PHS= 0.005,-1.472, 0.404, RAW= 161.6,  12.4, CAL= 162.0,  14.1, ROT= 348.0, -14.1

2025-10-26T23:04:10.900Z,1761519850.900 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:04:10.901Z,1761519850.901 [DAT](INFO): direction in FSK: [0.948678,-0.201648,0.243615]
2025-10-26T23:04:10.901Z,1761519850.901 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:10.932Z,1761519850.932 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.557569
2025-10-26T23:04:11.140Z,1761519851.140 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.770907
2025-10-26T23:04:11.255Z,1761519851.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166152,-0.975631,-0.143307],[0.984879,0.156954,0.073345],[-0.049065,-0.153327,0.986957]]
2025-10-26T23:04:11.338Z,1761519851.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.200001 m,
      deltaT: 13.113496 s,
      deltaX: -6.899998 m,
      approachRate: -0.526175 m/s,
      rangeRepo size: 4

2025-10-26T23:04:11.340Z,1761519851.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.054848 m,
      bearing: 70.862358 deg,
      lat: 36.779403 deg,
      lon: -121.859368 deg,
      deltaT: 13.113496 s,
      deltaX: -6.861721 m,
      approachRate: -0.523256 m/s,
      posRepo size: 4

2025-10-26T23:04:11.341Z,1761519851.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.05 m.
2025-10-26T23:04:11.344Z,1761519851.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.054848 m,
      nav range: 29.780941 m,
      bearing: 71.174943 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.091900 deg/s,
      cmd heading: 78.719699 deg,
      new cmd heading: 78.577523 deg.

2025-10-26T23:04:11.345Z,1761519851.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.371436 target range: 30.054848 and range: 30.20 m.
2025-10-26T23:04:11.393Z,1761519851.393 [DAT](INFO): DAT read: Rx Time:23:04:10.1535 

2025-10-26T23:04:11.394Z,1761519851.394 [DAT](INFO): Rx dataTimestamp_ set to:1761519851.393921
2025-10-26T23:04:11.396Z,1761519851.396 [DAT](INFO): DAT read: Bearing 233.1, -16.9 (Local)

2025-10-26T23:04:11.397Z,1761519851.397 [DAT](INFO): Local bearing/azimuth received:
 Bearing 233.1, -16.9 (Local)

2025-10-26T23:04:11.401Z,1761519851.401 [DAT](INFO): DAT read: Range 11 to 50 :    29.9 m (trip time 19.9 ms) speed 0.4

2025-10-26T23:04:11.408Z,1761519851.408 [DAT](INFO): DAT read: 23:04:10.1535 LVL= 32752, 32753, 28946, 32755, AGC= 66, IDX= 501,-0.11, 0.475,-0.939, 1.051, 0.551, PHS= 0.026,-1.445, 0.456, RAW= 162.4,  11.1, CAL= 162.6,  12.5, ROT= 347.4, -12.5

2025-10-26T23:04:11.409Z,1761519851.409 [DAT](INFO): got valid direction response:
 23:04:10.1535 LVL= 32752, 32753, 28946, 32755, AGC= 66, IDX= 501,-0.11, 0.475,-0.939, 1.051, 0.551, PHS= 0.026,-1.445, 0.456, RAW= 162.4,  11.1, CAL= 162.6,  12.5, ROT= 347.4, -12.5

2025-10-26T23:04:11.410Z,1761519851.410 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T23:04:11.411Z,1761519851.411 [DAT](INFO): direction in FSK: [0.952784,-0.212972,0.216440]
2025-10-26T23:04:11.412Z,1761519851.412 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:11.450Z,1761519851.450 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.080610
2025-10-26T23:04:11.644Z,1761519851.644 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.274944
2025-10-26T23:04:11.648Z,1761519851.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162256,-0.976810,-0.139697],[0.985619,0.153664,0.070303],[-0.047207,-0.149095,0.987695]]
2025-10-26T23:04:11.840Z,1761519851.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.900000 m,
      deltaT: 0.504375 s,
      deltaX: -0.300001 m,
      approachRate: -0.594798 m/s,
      rangeRepo size: 4

2025-10-26T23:04:11.842Z,1761519851.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.756289 m,
      bearing: 70.166670 deg,
      lat: 36.779404 deg,
      lon: -121.859372 deg,
      deltaT: 0.504375 s,
      deltaX: -0.298559 m,
      approachRate: -0.591939 m/s,
      posRepo size: 4

2025-10-26T23:04:11.843Z,1761519851.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.76 m.
2025-10-26T23:04:11.854Z,1761519851.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.756289 m,
      nav range: 29.259304 m,
      bearing: 70.626507 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.091900 deg/s,
      cmd heading: 78.577522 deg,
      new cmd heading: 78.441317 deg.

2025-10-26T23:04:11.855Z,1761519851.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.369059 target range: 29.756289 and range: 29.90 m.
2025-10-26T23:04:11.898Z,1761519851.898 [DAT](INFO): DAT read: Rx Time:23:04:10.6534 

2025-10-26T23:04:11.899Z,1761519851.899 [DAT](INFO): Rx dataTimestamp_ set to:1761519851.898562
2025-10-26T23:04:11.901Z,1761519851.901 [DAT](INFO): DAT read: Bearing 233.7, -17.5 (Local)

2025-10-26T23:04:11.901Z,1761519851.901 [DAT](INFO): Local bearing/azimuth received:
 Bearing 233.7, -17.5 (Local)

2025-10-26T23:04:11.905Z,1761519851.905 [DAT](INFO): DAT read: Range 11 to 50 :    29.7 m (trip time 19.8 ms) speed 0.4

2025-10-26T23:04:11.911Z,1761519851.911 [DAT](INFO): DAT read: 23:04:10.6534 LVL= 32752, 32753, 26482, 32755, AGC= 66, IDX= 500, 0.37,-2.122, 2.753,-1.516,-2.027, PHS= 0.007,-1.458, 0.467, RAW= 163.2,  11.3, CAL= 163.4,  12.7, ROT= 346.6, -12.7

2025-10-26T23:04:11.914Z,1761519851.914 [DAT](INFO): got valid direction response:
 23:04:10.6534 LVL= 32752, 32753, 26482, 32755, AGC= 66, IDX= 500, 0.37,-2.122, 2.753,-1.516,-2.027, PHS= 0.007,-1.458, 0.467, RAW= 163.2,  11.3, CAL= 163.4,  12.7, ROT= 346.6, -12.7

2025-10-26T23:04:11.914Z,1761519851.914 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-10-26T23:04:11.916Z,1761519851.916 [DAT](INFO): direction in FSK: [0.948976,-0.226078,0.219846]
2025-10-26T23:04:11.916Z,1761519851.916 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:11.949Z,1761519851.949 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.579425
2025-10-26T23:04:12.148Z,1761519852.148 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.778695
2025-10-26T23:04:12.154Z,1761519852.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156348,-0.979401,-0.127784],[0.986750,0.149206,0.063731],[-0.043353,-0.136055,0.989752]]
2025-10-26T23:04:12.182Z,1761519852.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.504641 s,
      deltaX: -0.199999 m,
      approachRate: -0.396319 m/s,
      rangeRepo size: 4

2025-10-26T23:04:12.186Z,1761519852.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.557251 m,
      bearing: 69.556765 deg,
      lat: 36.779406 deg,
      lon: -121.859374 deg,
      deltaT: 0.504641 s,
      deltaX: -0.199038 m,
      approachRate: -0.394414 m/s,
      posRepo size: 4

2025-10-26T23:04:12.188Z,1761519852.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.56 m.
2025-10-26T23:04:12.210Z,1761519852.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.557251 m,
      nav range: 28.966301 m,
      bearing: 70.123333 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.091900 deg/s,
      cmd heading: 78.441314 deg,
      new cmd heading: 78.345042 deg.

2025-10-26T23:04:12.215Z,1761519852.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.367379 target range: 29.557251 and range: 29.70 m.
2025-10-26T23:04:12.407Z,1761519852.407 [DAT](INFO): DAT read: Rx Time:23:04:11.1532 

2025-10-26T23:04:12.408Z,1761519852.408 [DAT](INFO): Rx dataTimestamp_ set to:1761519852.407671
2025-10-26T23:04:12.410Z,1761519852.410 [DAT](INFO): DAT read: Bearing 232.5, -17.3 (Local)

2025-10-26T23:04:12.410Z,1761519852.410 [DAT](INFO): Local bearing/azimuth received:
 Bearing 232.5, -17.3 (Local)

2025-10-26T23:04:12.413Z,1761519852.413 [DAT](INFO): DAT read: Range 11 to 50 :    29.4 m (trip time 19.6 ms) speed 0.4

2025-10-26T23:04:12.418Z,1761519852.418 [DAT](INFO): DAT read: 23:04:11.1532 LVL= 32752, 32753, 28210, 32755, AGC= 65, IDX= 498, 0.01, 1.798, 0.384, 2.418, 1.866, PHS= 0.035,-1.436, 0.509, RAW= 163.5,  10.2, CAL= 163.5,  11.2, ROT= 346.5, -11.2

2025-10-26T23:04:12.429Z,1761519852.429 [DAT](INFO): got valid direction response:
 23:04:11.1532 LVL= 32752, 32753, 28210, 32755, AGC= 65, IDX= 498, 0.01, 1.798, 0.384, 2.418, 1.866, PHS= 0.035,-1.436, 0.509, RAW= 163.5,  10.2, CAL= 163.5,  11.2, ROT= 346.5, -11.2

2025-10-26T23:04:12.429Z,1761519852.429 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-26T23:04:12.430Z,1761519852.430 [DAT](INFO): direction in FSK: [0.953851,-0.228999,0.194234]
2025-10-26T23:04:12.430Z,1761519852.430 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:12.438Z,1761519852.438 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.068507
2025-10-26T23:04:12.652Z,1761519852.652 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.282949
2025-10-26T23:04:12.824Z,1761519852.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.400000 m,
      deltaT: 0.509109 s,
      deltaX: -0.300001 m,
      approachRate: -0.589267 m/s,
      rangeRepo size: 4

2025-10-26T23:04:12.826Z,1761519852.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.260599 m,
      bearing: 69.236051 deg,
      lat: 36.779408 deg,
      lon: -121.859374 deg,
      deltaT: 0.509109 s,
      deltaX: -0.296652 m,
      approachRate: -0.582688 m/s,
      posRepo size: 4

2025-10-26T23:04:12.826Z,1761519852.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.26 m.
2025-10-26T23:04:12.833Z,1761519852.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.260599 m,
      nav range: 28.741053 m,
      bearing: 69.571323 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.091900 deg/s,
      cmd heading: 78.345043 deg,
      new cmd heading: 78.169042 deg.

2025-10-26T23:04:12.834Z,1761519852.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364307 target range: 29.260599 and range: 29.40 m.
2025-10-26T23:04:12.906Z,1761519852.906 [DAT](INFO): DAT read: Rx Time:23:04:11.6531 

2025-10-26T23:04:12.906Z,1761519852.906 [DAT](INFO): Rx dataTimestamp_ set to:1761519852.906157
2025-10-26T23:04:12.908Z,1761519852.908 [DAT](INFO): DAT read: Bearing 232.5, -17.2 (Local)

2025-10-26T23:04:12.909Z,1761519852.909 [DAT](INFO): Local bearing/azimuth received:
 Bearing 232.5, -17.2 (Local)

2025-10-26T23:04:12.913Z,1761519852.913 [DAT](INFO): DAT read: Range 11 to 50 :    29.3 m (trip time 19.5 ms) speed 0.4

2025-10-26T23:04:12.918Z,1761519852.918 [DAT](INFO): DAT read: 23:04:11.6531 LVL= 32752, 32753, 26098, 32755, AGC= 65, IDX= 497,-0.42, 0.955,-0.447, 1.579, 1.019, PHS= 0.038,-1.421, 0.516, RAW= 163.7,   9.9, CAL= 163.7,  10.8, ROT= 346.3, -10.8

2025-10-26T23:04:12.919Z,1761519852.919 [DAT](INFO): got valid direction response:
 23:04:11.6531 LVL= 32752, 32753, 26098, 32755, AGC= 65, IDX= 497,-0.42, 0.955,-0.447, 1.579, 1.019, PHS= 0.038,-1.421, 0.516, RAW= 163.7,   9.9, CAL= 163.7,  10.8, ROT= 346.3, -10.8

2025-10-26T23:04:12.944Z,1761519852.944 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-10-26T23:04:12.945Z,1761519852.945 [DAT](INFO): direction in FSK: [0.954340,-0.232643,0.187381]
2025-10-26T23:04:12.945Z,1761519852.945 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:12.953Z,1761519852.953 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.583909
2025-10-26T23:04:13.052Z,1761519853.052 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:04:13.104Z,1761519853.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153883,-0.981277,-0.115823],[0.987292,0.147992,0.057905],[-0.039680,-0.123262,0.991581]]
2025-10-26T23:04:13.156Z,1761519853.156 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.786921
2025-10-26T23:04:13.172Z,1761519853.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.299999 m,
      deltaT: 0.498486 s,
      deltaX: -0.100000 m,
      approachRate: -0.200608 m/s,
      rangeRepo size: 4

2025-10-26T23:04:13.174Z,1761519853.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.161072 m,
      bearing: 68.955932 deg,
      lat: 36.779408 deg,
      lon: -121.859374 deg,
      deltaT: 0.498486 s,
      deltaX: -0.099527 m,
      approachRate: -0.199659 m/s,
      posRepo size: 4

2025-10-26T23:04:13.174Z,1761519853.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.16 m.
2025-10-26T23:04:13.188Z,1761519853.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.161072 m,
      nav range: 28.570002 m,
      bearing: 69.522765 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.091900 deg/s,
      cmd heading: 78.169043 deg,
      new cmd heading: 78.073076 deg.

2025-10-26T23:04:13.190Z,1761519853.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362632 target range: 29.161072 and range: 29.30 m.
2025-10-26T23:04:13.409Z,1761519853.409 [DAT](INFO): DAT read: Rx Time:23:04:12.1528 

2025-10-26T23:04:13.410Z,1761519853.410 [DAT](INFO): Rx dataTimestamp_ set to:1761519853.409289
2025-10-26T23:04:13.411Z,1761519853.411 [DAT](INFO): DAT read: Bearing 232.9, -17.3 (Local)

2025-10-26T23:04:13.411Z,1761519853.411 [DAT](INFO): Local bearing/azimuth received:
 Bearing 232.9, -17.3 (Local)

2025-10-26T23:04:13.413Z,1761519853.413 [DAT](INFO): DAT read: Range 11 to 50 :    28.8 m (trip time 19.2 ms) speed 0.4

2025-10-26T23:04:13.418Z,1761519853.418 [DAT](INFO): DAT read: 23:04:12.1528 LVL= 32752, 32753, 24418, 32755, AGC= 65, IDX= 510, 0.04, 1.327,-0.082, 1.962, 1.398, PHS= 0.031,-1.435, 0.520, RAW= 163.9,  10.1, CAL= 163.9,  11.0, ROT= 346.1, -11.0

2025-10-26T23:04:13.419Z,1761519853.419 [DAT](INFO): got valid direction response:
 23:04:12.1528 LVL= 32752, 32753, 24418, 32755, AGC= 65, IDX= 510, 0.04, 1.327,-0.082, 1.962, 1.398, PHS= 0.031,-1.435, 0.520, RAW= 163.9,  10.1, CAL= 163.9,  11.0, ROT= 346.1, -11.0

2025-10-26T23:04:13.420Z,1761519853.420 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-26T23:04:13.420Z,1761519853.420 [DAT](INFO): direction in FSK: [0.952882,-0.235814,0.190809]
2025-10-26T23:04:13.421Z,1761519853.421 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:13.428Z,1761519853.428 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.058972
2025-10-26T23:04:13.502Z,1761519853.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154128,-0.981497,-0.113617],[0.987312,0.148545,0.056119],[-0.038203,-0.120825,0.991938]]
2025-10-26T23:04:13.578Z,1761519853.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.799999 m,
      deltaT: 0.503132 s,
      deltaX: -0.500000 m,
      approachRate: -0.993775 m/s,
      rangeRepo size: 4

2025-10-26T23:04:13.605Z,1761519853.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.663616 m,
      bearing: 68.736896 deg,
      lat: 36.779409 deg,
      lon: -121.859374 deg,
      deltaT: 0.503132 s,
      deltaX: -0.497456 m,
      approachRate: -0.988718 m/s,
      posRepo size: 4

2025-10-26T23:04:13.607Z,1761519853.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.66 m.
2025-10-26T23:04:13.628Z,1761519853.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.663616 m,
      nav range: 28.400768 m,
      bearing: 69.125691 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.091900 deg/s,
      cmd heading: 78.073078 deg,
      new cmd heading: 77.960718 deg.

2025-10-26T23:04:13.629Z,1761519853.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360671 target range: 28.663616 and range: 28.80 m.
2025-10-26T23:04:13.660Z,1761519853.660 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.290945
2025-10-26T23:04:13.907Z,1761519853.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156275,-0.981147,-0.113704],[0.987010,0.150781,0.055462],[-0.037272,-0.120894,0.991965]]
2025-10-26T23:04:13.913Z,1761519853.913 [DAT](INFO): DAT read: Rx Time:23:04:12.6527 

2025-10-26T23:04:13.914Z,1761519853.914 [DAT](INFO): Rx dataTimestamp_ set to:1761519853.913254
2025-10-26T23:04:13.915Z,1761519853.915 [DAT](INFO): DAT read: Bearing 232.7, -17.0 (Local)

2025-10-26T23:04:13.915Z,1761519853.915 [DAT](INFO): Local bearing/azimuth received:
 Bearing 232.7, -17.0 (Local)

2025-10-26T23:04:13.917Z,1761519853.917 [DAT](INFO): DAT read: Range 11 to 50 :    28.7 m (trip time 19.1 ms) speed 0.5

2025-10-26T23:04:13.922Z,1761519853.922 [DAT](INFO): DAT read: 23:04:12.6527 LVL= 32752, 32753, 25266, 32755, AGC= 65, IDX= 510,-0.46, 1.614, 0.208, 2.242, 1.677, PHS= 0.039,-1.424, 0.521, RAW= 163.8,   9.9, CAL= 163.7,  10.8, ROT= 346.3, -10.8

2025-10-26T23:04:13.923Z,1761519853.923 [DAT](INFO): got valid direction response:
 23:04:12.6527 LVL= 32752, 32753, 25266, 32755, AGC= 65, IDX= 510,-0.46, 1.614, 0.208, 2.242, 1.677, PHS= 0.039,-1.424, 0.521, RAW= 163.8,   9.9, CAL= 163.7,  10.8, ROT= 346.3, -10.8

2025-10-26T23:04:13.924Z,1761519853.924 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-26T23:04:13.925Z,1761519853.925 [DAT](INFO): direction in FSK: [0.954340,-0.232643,0.187381]
2025-10-26T23:04:13.925Z,1761519853.925 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:13.939Z,1761519853.939 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.569269
2025-10-26T23:04:14.056Z,1761519854.056 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:04:14.066Z,1761519854.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.700001 m,
      deltaT: 0.503965 s,
      deltaX: -0.099998 m,
      approachRate: -0.198423 m/s,
      rangeRepo size: 4

2025-10-26T23:04:14.072Z,1761519854.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.564091 m,
      bearing: 68.783187 deg,
      lat: 36.779410 deg,
      lon: -121.859375 deg,
      deltaT: 0.503965 s,
      deltaX: -0.099525 m,
      approachRate: -0.197485 m/s,
      posRepo size: 4

2025-10-26T23:04:14.073Z,1761519854.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.56 m.
2025-10-26T23:04:14.083Z,1761519854.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.564091 m,
      nav range: 28.104231 m,
      bearing: 68.790752 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.091900 deg/s,
      cmd heading: 77.960715 deg,
      new cmd heading: 77.825336 deg.

2025-10-26T23:04:14.084Z,1761519854.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358308 target range: 28.564091 and range: 28.70 m.
2025-10-26T23:04:14.165Z,1761519854.165 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.795121
2025-10-26T23:04:14.403Z,1761519854.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159168,-0.980221,-0.117615],[0.986578,0.153527,0.055613],[-0.036455,-0.124888,0.991501]]
2025-10-26T23:04:14.417Z,1761519854.417 [DAT](INFO): DAT read: Rx Time:23:04:13.1525 

2025-10-26T23:04:14.417Z,1761519854.417 [DAT](INFO): Rx dataTimestamp_ set to:1761519854.417222
2025-10-26T23:04:14.419Z,1761519854.419 [DAT](INFO): DAT read: Bearing 230.5, -16.6 (Local)

2025-10-26T23:04:14.419Z,1761519854.419 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.5, -16.6 (Local)

2025-10-26T23:04:14.421Z,1761519854.421 [DAT](INFO): DAT read: Range 11 to 50 :    28.4 m (trip time 18.9 ms) speed 0.4

2025-10-26T23:04:14.426Z,1761519854.426 [DAT](INFO): DAT read: 23:04:13.1525 LVL= 32752, 32753, 25906, 32755, AGC= 65, IDX= 507, 0.01, 0.461,-0.958, 1.096, 0.482, PHS= 0.081,-1.395, 0.570, RAW= 163.8,   8.4, CAL= 163.5,   8.8, ROT= 346.5,  -8.8

2025-10-26T23:04:14.428Z,1761519854.428 [DAT](INFO): got valid direction response:
 23:04:13.1525 LVL= 32752, 32753, 25906, 32755, AGC= 65, IDX= 507, 0.01, 0.461,-0.958, 1.096, 0.482, PHS= 0.081,-1.395, 0.570, RAW= 163.8,   8.4, CAL= 163.5,   8.8, ROT= 346.5,  -8.8

2025-10-26T23:04:14.428Z,1761519854.428 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-10-26T23:04:14.429Z,1761519854.429 [DAT](INFO): direction in FSK: [0.960924,-0.230697,0.152986]
2025-10-26T23:04:14.430Z,1761519854.430 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:14.437Z,1761519854.437 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.067792
2025-10-26T23:04:14.465Z,1761519854.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.400000 m,
      deltaT: 0.503968 s,
      deltaX: -0.300001 m,
      approachRate: -0.595278 m/s,
      rangeRepo size: 4

2025-10-26T23:04:14.472Z,1761519854.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.262733 m,
      bearing: 68.594206 deg,
      lat: 36.779410 deg,
      lon: -121.859375 deg,
      deltaT: 0.503968 s,
      deltaX: -0.301357 m,
      approachRate: -0.597969 m/s,
      posRepo size: 4

2025-10-26T23:04:14.472Z,1761519854.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.26 m.
2025-10-26T23:04:14.475Z,1761519854.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.262733 m,
      nav range: 27.934618 m,
      bearing: 68.738336 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.091900 deg/s,
      cmd heading: 77.825334 deg,
      new cmd heading: 77.715229 deg.

2025-10-26T23:04:14.488Z,1761519854.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356387 target range: 28.262733 and range: 28.40 m.
2025-10-26T23:04:14.669Z,1761519854.669 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.299342
2025-10-26T23:04:14.821Z,1761519854.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163556,-0.978415,-0.126310],[0.985891,0.157483,0.056727],[-0.035611,-0.133806,0.990368]]
2025-10-26T23:04:14.890Z,1761519854.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:04:14.896Z,1761519854.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.26 m.
2025-10-26T23:04:14.899Z,1761519854.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.262733 m,
      nav range: 27.706049 m,
      bearing: 68.664816 deg,
      approach rate: -0.535484 m/s,
      LOS rate: -0.173662 deg/s,
      cmd heading: 77.715231 deg,
      new cmd heading: 77.492852 deg.

2025-10-26T23:04:14.904Z,1761519854.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352505 target range: 28.262733 and range: 28.40 m.
2025-10-26T23:04:14.921Z,1761519854.921 [DAT](INFO): DAT read: Rx Time:23:04:13.6524 

2025-10-26T23:04:14.922Z,1761519854.922 [DAT](INFO): Rx dataTimestamp_ set to:1761519854.921254
2025-10-26T23:04:14.923Z,1761519854.923 [DAT](INFO): DAT read: Bearing 234.4, -16.3 (Local)

2025-10-26T23:04:14.923Z,1761519854.923 [DAT](INFO): Local bearing/azimuth received:
 Bearing 234.4, -16.3 (Local)

2025-10-26T23:04:14.925Z,1761519854.925 [DAT](INFO): DAT read: Range 11 to 50 :    28.2 m (trip time 18.8 ms) speed 0.5

2025-10-26T23:04:14.930Z,1761519854.930 [DAT](INFO): DAT read: 23:04:13.6524 LVL= 32752, 32753, 27698, 32755, AGC= 65, IDX= 506, 0.21,-2.258, 2.618,-1.675,-2.172, PHS= 0.016,-1.448, 0.453, RAW= 162.7,  11.4, CAL= 162.8,  12.8, ROT= 347.2, -12.8

2025-10-26T23:04:14.931Z,1761519854.931 [DAT](INFO): got valid direction response:
 23:04:13.6524 LVL= 32752, 32753, 27698, 32755, AGC= 65, IDX= 506, 0.21,-2.258, 2.618,-1.675,-2.172, PHS= 0.016,-1.448, 0.453, RAW= 162.7,  11.4, CAL= 162.8,  12.8, ROT= 347.2, -12.8

2025-10-26T23:04:14.932Z,1761519854.932 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-10-26T23:04:14.932Z,1761519854.932 [DAT](INFO): direction in FSK: [0.950916,-0.216043,0.221548]
2025-10-26T23:04:14.933Z,1761519854.933 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:14.938Z,1761519854.938 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.568217
2025-10-26T23:04:15.172Z,1761519855.172 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.802821
2025-10-26T23:04:15.289Z,1761519855.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167713,-0.976651,-0.134259],[0.985242,0.161325,0.057197],[-0.034202,-0.141870,0.989294]]
2025-10-26T23:04:15.321Z,1761519855.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.200001 m,
      deltaT: 0.504032 s,
      deltaX: -0.199999 m,
      approachRate: -0.396798 m/s,
      rangeRepo size: 4

2025-10-26T23:04:15.323Z,1761519855.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.063702 m,
      bearing: 69.569222 deg,
      lat: 36.779410 deg,
      lon: -121.859375 deg,
      deltaT: 0.504032 s,
      deltaX: -0.199032 m,
      approachRate: -0.394879 m/s,
      posRepo size: 4

2025-10-26T23:04:15.324Z,1761519855.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.06 m.
2025-10-26T23:04:15.326Z,1761519855.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.063702 m,
      nav range: 27.486710 m,
      bearing: 68.594975 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.173662 deg/s,
      cmd heading: 77.492854 deg,
      new cmd heading: 77.269573 deg.

2025-10-26T23:04:15.327Z,1761519855.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348608 target range: 28.063702 and range: 28.20 m.
2025-10-26T23:04:15.425Z,1761519855.425 [DAT](INFO): DAT read: Rx Time:23:04:14.1522 

2025-10-26T23:04:15.426Z,1761519855.426 [DAT](INFO): Rx dataTimestamp_ set to:1761519855.425261
2025-10-26T23:04:15.427Z,1761519855.427 [DAT](INFO): DAT read: Bearing 233.1, -16.6 (Local)

2025-10-26T23:04:15.427Z,1761519855.427 [DAT](INFO): Local bearing/azimuth received:
 Bearing 233.1, -16.6 (Local)

2025-10-26T23:04:15.429Z,1761519855.429 [DAT](INFO): DAT read: Range 11 to 50 :    27.9 m (trip time 18.6 ms) speed 0.4

2025-10-26T23:04:15.434Z,1761519855.434 [DAT](INFO): DAT read: 23:04:14.1522 LVL= 32752, 32753, 25906, 32755, AGC= 65, IDX= 504,-0.29, 0.648,-0.747, 1.248, 0.726, PHS= 0.024,-1.428, 0.479, RAW= 163.2,  10.7, CAL= 163.3,  11.9, ROT= 346.7, -11.9

2025-10-26T23:04:15.435Z,1761519855.435 [DAT](INFO): got valid direction response:
 23:04:14.1522 LVL= 32752, 32753, 25906, 32755, AGC= 65, IDX= 504,-0.29, 0.648,-0.747, 1.248, 0.726, PHS= 0.024,-1.428, 0.479, RAW= 163.2,  10.7, CAL= 163.3,  11.9, ROT= 346.7, -11.9

2025-10-26T23:04:15.436Z,1761519855.436 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-26T23:04:15.437Z,1761519855.437 [DAT](INFO): direction in FSK: [0.952264,-0.225105,0.206204]
2025-10-26T23:04:15.437Z,1761519855.437 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:15.454Z,1761519855.454 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.083995
2025-10-26T23:04:15.678Z,1761519855.678 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.308133
2025-10-26T23:04:15.689Z,1761519855.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171687,-0.974878,-0.141902],[0.984593,0.164949,0.058040],[-0.033176,-0.149681,0.988178]]
2025-10-26T23:04:15.814Z,1761519855.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.900000 m,
      deltaT: 0.504007 s,
      deltaX: -0.300001 m,
      approachRate: -0.595232 m/s,
      rangeRepo size: 4

2025-10-26T23:04:15.817Z,1761519855.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.763052 m,
      bearing: 68.812422 deg,
      lat: 36.779410 deg,
      lon: -121.859375 deg,
      deltaT: 0.504007 s,
      deltaX: -0.300650 m,
      approachRate: -0.596519 m/s,
      posRepo size: 4

2025-10-26T23:04:15.817Z,1761519855.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.76 m.
2025-10-26T23:04:15.820Z,1761519855.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.763052 m,
      nav range: 27.226032 m,
      bearing: 68.501327 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.173662 deg/s,
      cmd heading: 77.269575 deg,
      new cmd heading: 77.012466 deg.

2025-10-26T23:04:15.821Z,1761519855.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.344121 target range: 27.763052 and range: 27.90 m.
2025-10-26T23:04:15.929Z,1761519855.929 [DAT](INFO): DAT read: Rx Time:23:04:14.6521 

2025-10-26T23:04:15.930Z,1761519855.930 [DAT](INFO): Rx dataTimestamp_ set to:1761519855.929410
2025-10-26T23:04:15.931Z,1761519855.931 [DAT](INFO): DAT read: Bearing 231.9, -16.3 (Local)

2025-10-26T23:04:15.931Z,1761519855.931 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.9, -16.3 (Local)

2025-10-26T23:04:15.933Z,1761519855.933 [DAT](INFO): DAT read: Range 11 to 50 :    27.8 m (trip time 18.5 ms) speed 0.4

2025-10-26T23:04:15.938Z,1761519855.938 [DAT](INFO): DAT read: 23:04:14.6521 LVL= 32752, 32753, 26578, 32755, AGC= 63, IDX= 503, 0.03, 2.881, 1.473,-2.801, 2.938, PHS= 0.046,-1.420, 0.500, RAW= 163.1,  10.1, CAL= 163.0,  11.0, ROT= 347.0, -11.0

2025-10-26T23:04:15.939Z,1761519855.939 [DAT](INFO): got valid direction response:
 23:04:14.6521 LVL= 32752, 32753, 26578, 32755, AGC= 63, IDX= 503, 0.03, 2.881, 1.473,-2.801, 2.938, PHS= 0.046,-1.420, 0.500, RAW= 163.1,  10.1, CAL= 163.0,  11.0, ROT= 347.0, -11.0

2025-10-26T23:04:15.940Z,1761519855.940 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-10-26T23:04:15.941Z,1761519855.941 [DAT](INFO): direction in FSK: [0.956468,-0.220818,0.190809]
2025-10-26T23:04:15.941Z,1761519855.941 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:15.950Z,1761519855.950 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.580340
2025-10-26T23:04:16.120Z,1761519856.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177575,-0.970853,-0.160969],[0.983624,0.169969,0.059959],[-0.030852,-0.168980,0.985137]]
2025-10-26T23:04:16.166Z,1761519856.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.799999 m,
      deltaT: 0.504149 s,
      deltaX: -0.100000 m,
      approachRate: -0.198355 m/s,
      rangeRepo size: 4

2025-10-26T23:04:16.172Z,1761519856.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.663542 m,
      bearing: 68.869819 deg,
      lat: 36.779409 deg,
      lon: -121.859375 deg,
      deltaT: 0.504149 s,
      deltaX: -0.099510 m,
      approachRate: -0.197383 m/s,
      posRepo size: 4

2025-10-26T23:04:16.173Z,1761519856.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.66 m.
2025-10-26T23:04:16.182Z,1761519856.182 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.812310
2025-10-26T23:04:16.188Z,1761519856.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.663542 m,
      nav range: 27.004986 m,
      bearing: 68.756659 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.173662 deg/s,
      cmd heading: 77.012466 deg,
      new cmd heading: 76.829407 deg.

2025-10-26T23:04:16.191Z,1761519856.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.340926 target range: 27.663542 and range: 27.80 m.
2025-10-26T23:04:16.433Z,1761519856.433 [DAT](INFO): DAT read: Rx Time:23:04:15.1518 

2025-10-26T23:04:16.433Z,1761519856.433 [DAT](INFO): Rx dataTimestamp_ set to:1761519856.433108
2025-10-26T23:04:16.435Z,1761519856.435 [DAT](INFO): DAT read: Bearing 231.6, -16.6 (Local)

2025-10-26T23:04:16.435Z,1761519856.435 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.6, -16.6 (Local)

2025-10-26T23:04:16.437Z,1761519856.437 [DAT](INFO): DAT read: Range 11 to 50 :    27.3 m (trip time 18.2 ms) speed 0.4

2025-10-26T23:04:16.442Z,1761519856.442 [DAT](INFO): DAT read: 23:04:15.1518 LVL= 32752, 32753, 27122, 32755, AGC= 64, IDX= 500, 0.29, 2.618, 1.207,-3.053, 2.680, PHS= 0.040,-1.428, 0.506, RAW= 163.4,  10.1, CAL= 163.3,  11.1, ROT= 346.7, -11.1

2025-10-26T23:04:16.443Z,1761519856.443 [DAT](INFO): got valid direction response:
 23:04:15.1518 LVL= 32752, 32753, 27122, 32755, AGC= 64, IDX= 500, 0.29, 2.618, 1.207,-3.053, 2.680, PHS= 0.040,-1.428, 0.506, RAW= 163.4,  10.1, CAL= 163.3,  11.1, ROT= 346.7, -11.1

2025-10-26T23:04:16.443Z,1761519856.443 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-26T23:04:16.444Z,1761519856.444 [DAT](INFO): direction in FSK: [0.954973,-0.225746,0.192522]
2025-10-26T23:04:16.444Z,1761519856.444 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:16.448Z,1761519856.448 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.078610
2025-10-26T23:04:16.598Z,1761519856.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180175,-0.969216,-0.167801],[0.983184,0.172289,0.060548],[-0.029774,-0.175889,0.983960]]
2025-10-26T23:04:16.685Z,1761519856.685 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.315285
2025-10-26T23:04:16.693Z,1761519856.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 0.503698 s,
      deltaX: -0.500000 m,
      approachRate: -0.992658 m/s,
      rangeRepo size: 4

2025-10-26T23:04:16.697Z,1761519856.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.163408 m,
      bearing: 68.530803 deg,
      lat: 36.779409 deg,
      lon: -121.859375 deg,
      deltaT: 0.503698 s,
      deltaX: -0.500134 m,
      approachRate: -0.992923 m/s,
      posRepo size: 4

2025-10-26T23:04:16.698Z,1761519856.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m.
2025-10-26T23:04:16.704Z,1761519856.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.163408 m,
      nav range: 26.735949 m,
      bearing: 68.659314 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.173662 deg/s,
      cmd heading: 76.829403 deg,
      new cmd heading: 76.555250 deg.

2025-10-26T23:04:16.706Z,1761519856.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.336141 target range: 27.163408 and range: 27.30 m.
2025-10-26T23:04:16.937Z,1761519856.937 [DAT](INFO): DAT read: Rx Time:23:04:15.6517 

2025-10-26T23:04:16.937Z,1761519856.937 [DAT](INFO): Rx dataTimestamp_ set to:1761519856.937068
2025-10-26T23:04:16.939Z,1761519856.939 [DAT](INFO): DAT read: Bearing 230.0, -15.9 (Local)

2025-10-26T23:04:16.939Z,1761519856.939 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.0, -15.9 (Local)

2025-10-26T23:04:16.941Z,1761519856.941 [DAT](INFO): DAT read: Range 11 to 50 :    27.2 m (trip time 18.1 ms) speed 0.4

2025-10-26T23:04:16.946Z,1761519856.946 [DAT](INFO): DAT read: 23:04:15.6517 LVL= 32752, 32753, 28322, 32755, AGC= 63, IDX= 499,-0.23, 0.005,-1.398, 0.601, 0.032, PHS= 0.075,-1.384, 0.525, RAW= 163.0,   9.1, CAL= 162.8,   9.7, ROT= 347.2,  -9.7

2025-10-26T23:04:16.947Z,1761519856.947 [DAT](INFO): got valid direction response:
 23:04:15.6517 LVL= 32752, 32753, 28322, 32755, AGC= 63, IDX= 499,-0.23, 0.005,-1.398, 0.601, 0.032, PHS= 0.075,-1.384, 0.525, RAW= 163.0,   9.1, CAL= 162.8,   9.7, ROT= 347.2,  -9.7

2025-10-26T23:04:16.947Z,1761519856.947 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-26T23:04:16.948Z,1761519856.948 [DAT](INFO): direction in FSK: [0.961208,-0.218381,0.168489]
2025-10-26T23:04:16.948Z,1761519856.948 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:16.952Z,1761519856.952 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.582439
2025-10-26T23:04:17.083Z,1761519857.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182502,-0.968814,-0.167606],[0.982787,0.174781,0.059842],[-0.028682,-0.175642,0.984036]]
2025-10-26T23:04:17.142Z,1761519857.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.200001 m,
      deltaT: 0.503960 s,
      deltaX: -0.099998 m,
      approachRate: -0.198425 m/s,
      rangeRepo size: 4

2025-10-26T23:04:17.144Z,1761519857.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.063910 m,
      bearing: 68.624346 deg,
      lat: 36.779409 deg,
      lon: -121.859374 deg,
      deltaT: 0.503960 s,
      deltaX: -0.099499 m,
      approachRate: -0.197434 m/s,
      posRepo size: 4

2025-10-26T23:04:17.145Z,1761519857.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.06 m.
2025-10-26T23:04:17.148Z,1761519857.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.063910 m,
      nav range: 26.568272 m,
      bearing: 68.636297 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.173662 deg/s,
      cmd heading: 76.555246 deg,
      new cmd heading: 76.320773 deg.

2025-10-26T23:04:17.149Z,1761519857.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.332049 target range: 27.063910 and range: 27.20 m.
2025-10-26T23:04:17.190Z,1761519857.190 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.820014
2025-10-26T23:04:17.441Z,1761519857.441 [DAT](INFO): DAT read: Rx Time:23:04:16.1514 

2025-10-26T23:04:17.441Z,1761519857.441 [DAT](INFO): Rx dataTimestamp_ set to:1761519857.441115
2025-10-26T23:04:17.443Z,1761519857.443 [DAT](INFO): DAT read: Bearing 231.6, -16.0 (Local)

2025-10-26T23:04:17.443Z,1761519857.443 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.6, -16.0 (Local)

2025-10-26T23:04:17.446Z,1761519857.446 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed 0.4

2025-10-26T23:04:17.451Z,1761519857.451 [DAT](INFO): DAT read: 23:04:16.1514 LVL= 32752, 32753, 27874, 32755, AGC= 63, IDX= 496, 0.01, 0.547,-0.867, 1.133, 0.603, PHS= 0.046,-1.425, 0.486, RAW= 162.7,  10.3, CAL= 162.7,  11.3, ROT= 347.3, -11.3

2025-10-26T23:04:17.452Z,1761519857.452 [DAT](INFO): got valid direction response:
 23:04:16.1514 LVL= 32752, 32753, 27874, 32755, AGC= 63, IDX= 496, 0.01, 0.547,-0.867, 1.133, 0.603, PHS= 0.046,-1.425, 0.486, RAW= 162.7,  10.3, CAL= 162.7,  11.3, ROT= 347.3, -11.3

2025-10-26T23:04:17.453Z,1761519857.453 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-10-26T23:04:17.453Z,1761519857.453 [DAT](INFO): direction in FSK: [0.956623,-0.215585,0.195946]
2025-10-26T23:04:17.454Z,1761519857.454 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:17.463Z,1761519857.463 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.093565
2025-10-26T23:04:17.486Z,1761519857.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184482,-0.969033,-0.164140],[0.982454,0.177165,0.058279],[-0.027395,-0.172012,0.984714]]
2025-10-26T23:04:17.694Z,1761519857.694 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.324036
2025-10-26T23:04:17.779Z,1761519857.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.504047 s,
      deltaX: -0.500000 m,
      approachRate: -0.991971 m/s,
      rangeRepo size: 4

2025-10-26T23:04:17.785Z,1761519857.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.567833 m,
      bearing: 68.850675 deg,
      lat: 36.779409 deg,
      lon: -121.859375 deg,
      deltaT: 0.504047 s,
      deltaX: -0.496077 m,
      approachRate: -0.984187 m/s,
      posRepo size: 4

2025-10-26T23:04:17.786Z,1761519857.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.57 m.
2025-10-26T23:04:17.793Z,1761519857.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.567833 m,
      nav range: 26.198076 m,
      bearing: 68.464634 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.173662 deg/s,
      cmd heading: 76.320773 deg,
      new cmd heading: 75.989038 deg.

2025-10-26T23:04:17.794Z,1761519857.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326259 target range: 26.567833 and range: 26.70 m.
2025-10-26T23:04:17.945Z,1761519857.945 [DAT](INFO): DAT read: Rx Time:23:04:16.6513 

2025-10-26T23:04:17.945Z,1761519857.945 [DAT](INFO): Rx dataTimestamp_ set to:1761519857.945154
2025-10-26T23:04:17.947Z,1761519857.947 [DAT](INFO): DAT read: Bearing 230.4, -15.9 (Local)

2025-10-26T23:04:17.947Z,1761519857.947 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.4, -15.9 (Local)

2025-10-26T23:04:17.949Z,1761519857.949 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.4

2025-10-26T23:04:17.970Z,1761519857.970 [DAT](INFO): DAT read: 23:04:16.6513 LVL= 32752, 32753, 29842, 32755, AGC= 63, IDX= 511, 0.39, 1.384,-0.035, 1.986, 1.423, PHS= 0.063,-1.413, 0.519, RAW= 163.0,   9.5, CAL= 162.9,  10.3, ROT= 347.1, -10.3

2025-10-26T23:04:17.971Z,1761519857.971 [DAT](INFO): got valid direction response:
 23:04:16.6513 LVL= 32752, 32753, 29842, 32755, AGC= 63, IDX= 511, 0.39, 1.384,-0.035, 1.986, 1.423, PHS= 0.063,-1.413, 0.519, RAW= 163.0,   9.5, CAL= 162.9,  10.3, ROT= 347.1, -10.3

2025-10-26T23:04:17.971Z,1761519857.971 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-26T23:04:17.976Z,1761519857.976 [DAT](INFO): direction in FSK: [0.959053,-0.219653,0.178802]
2025-10-26T23:04:17.977Z,1761519857.977 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:17.992Z,1761519857.992 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.622258
2025-10-26T23:04:18.102Z,1761519858.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191664,-0.967975,-0.162142],[0.981140,0.184747,0.056856],[-0.025080,-0.169981,0.985128]]
2025-10-26T23:04:18.107Z,1761519858.107 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-10-26T23:04:18.198Z,1761519858.198 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.828114
2025-10-26T23:04:18.212Z,1761519858.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.504039 s,
      deltaX: -0.100000 m,
      approachRate: -0.198398 m/s,
      rangeRepo size: 4

2025-10-26T23:04:18.214Z,1761519858.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.468327 m,
      bearing: 68.024039 deg,
      lat: 36.779409 deg,
      lon: -121.859375 deg,
      deltaT: 0.504039 s,
      deltaX: -0.099506 m,
      approachRate: -0.197418 m/s,
      posRepo size: 4

2025-10-26T23:04:18.215Z,1761519858.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.47 m.
2025-10-26T23:04:18.264Z,1761519858.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.468327 m,
      nav range: 25.933184 m,
      bearing: 68.332143 deg,
      approach rate: 3.078230 m/s,
      LOS rate: -0.173662 deg/s,
      cmd heading: 75.989037 deg,
      new cmd heading: 75.765344 deg.

2025-10-26T23:04:18.273Z,1761519858.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.322355 target range: 26.468327 and range: 26.60 m.
2025-10-26T23:04:18.449Z,1761519858.449 [DAT](INFO): DAT read: Rx Time:23:04:17.1511 

2025-10-26T23:04:18.449Z,1761519858.449 [DAT](INFO): Rx dataTimestamp_ set to:1761519858.449090
2025-10-26T23:04:18.451Z,1761519858.451 [DAT](INFO): DAT read: Bearing 228.8, -15.1 (Local)

2025-10-26T23:04:18.451Z,1761519858.451 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.8, -15.1 (Local)

2025-10-26T23:04:18.453Z,1761519858.453 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed 0.4

2025-10-26T23:04:18.458Z,1761519858.458 [DAT](INFO): DAT read: 23:04:17.1511 LVL= 32752, 32753, 26690, 32755, AGC= 64, IDX= 509,-0.15,-1.448,-2.865,-0.863,-1.447, PHS= 0.101,-1.373, 0.540, RAW= 162.6,   8.5, CAL= 162.3,   8.8, ROT= 347.7,  -8.8

2025-10-26T23:04:18.459Z,1761519858.459 [DAT](INFO): got valid direction response:
 23:04:17.1511 LVL= 32752, 32753, 26690, 32755, AGC= 64, IDX= 509,-0.15,-1.448,-2.865,-0.863,-1.447, PHS= 0.101,-1.373, 0.540, RAW= 162.6,   8.5, CAL= 162.3,   8.8, ROT= 347.7,  -8.8

2025-10-26T23:04:18.459Z,1761519858.459 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-10-26T23:04:18.460Z,1761519858.460 [DAT](INFO): direction in FSK: [0.965544,-0.210522,0.152986]
2025-10-26T23:04:18.460Z,1761519858.460 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:18.465Z,1761519858.465 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.095065
2025-10-26T23:04:18.602Z,1761519858.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196250,-0.966248,-0.166883],[0.980267,0.189214,0.057223],[-0.023715,-0.174820,0.984315]]
2025-10-26T23:04:18.702Z,1761519858.702 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.332337
2025-10-26T23:04:18.775Z,1761519858.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.503936 s,
      deltaX: -0.300001 m,
      approachRate: -0.595316 m/s,
      rangeRepo size: 4

2025-10-26T23:04:18.781Z,1761519858.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.171343 m,
      bearing: 68.133333 deg,
      lat: 36.779409 deg,
      lon: -121.859375 deg,
      deltaT: 0.503936 s,
      deltaX: -0.296984 m,
      approachRate: -0.589328 m/s,
      posRepo size: 4

2025-10-26T23:04:18.782Z,1761519858.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.17 m.
2025-10-26T23:04:18.789Z,1761519858.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.171343 m,
      nav range: 25.669991 m,
      bearing: 68.189975 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.173662 deg/s,
      cmd heading: 75.765342 deg,
      new cmd heading: 75.473955 deg.

2025-10-26T23:04:18.790Z,1761519858.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.317269 target range: 26.171343 and range: 26.30 m.
2025-10-26T23:04:18.953Z,1761519858.953 [DAT](INFO): DAT read: Rx Time:23:04:17.6510 

2025-10-26T23:04:18.953Z,1761519858.953 [DAT](INFO): Rx dataTimestamp_ set to:1761519858.953098
2025-10-26T23:04:18.955Z,1761519858.955 [DAT](INFO): DAT read: Bearing 231.2, -15.1 (Local)

2025-10-26T23:04:18.955Z,1761519858.955 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.2, -15.1 (Local)

2025-10-26T23:04:18.957Z,1761519858.957 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed 0.4

2025-10-26T23:04:18.962Z,1761519858.962 [DAT](INFO): DAT read: 23:04:17.6510 LVL= 32752, 32753, 29906, 32755, AGC= 63, IDX= 508, 0.12, 1.852, 0.422, 2.416, 1.900, PHS= 0.055,-1.433, 0.472, RAW= 162.0,  10.5, CAL= 162.1,  11.5, ROT= 347.9, -11.5

2025-10-26T23:04:18.963Z,1761519858.963 [DAT](INFO): got valid direction response:
 23:04:17.6510 LVL= 32752, 32753, 29906, 32755, AGC= 63, IDX= 508, 0.12, 1.852, 0.422, 2.416, 1.900, PHS= 0.055,-1.433, 0.472, RAW= 162.0,  10.5, CAL= 162.1,  11.5, ROT= 347.9, -11.5

2025-10-26T23:04:18.963Z,1761519858.963 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-26T23:04:18.964Z,1761519858.964 [DAT](INFO): direction in FSK: [0.958154,-0.205410,0.199368]
2025-10-26T23:04:18.965Z,1761519858.965 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:18.968Z,1761519858.968 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.598836
2025-10-26T23:04:19.096Z,1761519859.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201092,-0.964337,-0.172095],[0.979321,0.193935,0.057617],[-0.022187,-0.180122,0.983394]]
2025-10-26T23:04:19.174Z,1761519859.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.504008 s,
      deltaX: -0.199999 m,
      approachRate: -0.396817 m/s,
      rangeRepo size: 4

2025-10-26T23:04:19.182Z,1761519859.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.972322 m,
      bearing: 68.609263 deg,
      lat: 36.779409 deg,
      lon: -121.859375 deg,
      deltaT: 0.504008 s,
      deltaX: -0.199020 m,
      approachRate: -0.394875 m/s,
      posRepo size: 4

2025-10-26T23:04:19.183Z,1761519859.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.97 m.
2025-10-26T23:04:19.196Z,1761519859.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.972322 m,
      nav range: 25.465410 m,
      bearing: 68.141198 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.173662 deg/s,
      cmd heading: 75.473952 deg,
      new cmd heading: 75.265219 deg.

2025-10-26T23:04:19.197Z,1761519859.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.313626 target range: 25.972322 and range: 26.10 m.
2025-10-26T23:04:19.205Z,1761519859.205 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.834988
2025-10-26T23:04:19.457Z,1761519859.457 [DAT](INFO): DAT read: Rx Time:23:04:18.1507 

2025-10-26T23:04:19.457Z,1761519859.457 [DAT](INFO): Rx dataTimestamp_ set to:1761519859.457161
2025-10-26T23:04:19.459Z,1761519859.459 [DAT](INFO): DAT read: Bearing 228.8, -14.2 (Local)

2025-10-26T23:04:19.459Z,1761519859.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.8, -14.2 (Local)

2025-10-26T23:04:19.461Z,1761519859.461 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed 0.4

2025-10-26T23:04:19.466Z,1761519859.466 [DAT](INFO): DAT read: 23:04:18.1507 LVL= 32752, 32753, 27058, 32755, AGC= 63, IDX= 506,-0.34,-1.937, 2.916,-1.385,-1.938, PHS= 0.103,-1.385, 0.508, RAW= 161.7,   9.0, CAL= 161.5,   9.5, ROT= 348.5,  -9.5

2025-10-26T23:04:19.467Z,1761519859.467 [DAT](INFO): got valid direction response:
 23:04:18.1507 LVL= 32752, 32753, 27058, 32755, AGC= 63, IDX= 506,-0.34,-1.937, 2.916,-1.385,-1.938, PHS= 0.103,-1.385, 0.508, RAW= 161.7,   9.0, CAL= 161.5,   9.5, ROT= 348.5,  -9.5

2025-10-26T23:04:19.467Z,1761519859.467 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-26T23:04:19.468Z,1761519859.468 [DAT](INFO): direction in FSK: [0.966486,-0.196634,0.165048]
2025-10-26T23:04:19.469Z,1761519859.469 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:19.472Z,1761519859.472 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.102723
2025-10-26T23:04:19.611Z,1761519859.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205022,-0.962759,-0.176239],[0.978545,0.197875,0.057406],[-0.020394,-0.184227,0.982672]]
2025-10-26T23:04:19.639Z,1761519859.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.504063 s,
      deltaX: -0.400000 m,
      approachRate: -0.793551 m/s,
      rangeRepo size: 4

2025-10-26T23:04:19.641Z,1761519859.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.573797 m,
      bearing: 68.639352 deg,
      lat: 36.779407 deg,
      lon: -121.859375 deg,
      deltaT: 0.504063 s,
      deltaX: -0.398525 m,
      approachRate: -0.790626 m/s,
      posRepo size: 4

2025-10-26T23:04:19.642Z,1761519859.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.57 m.
2025-10-26T23:04:19.645Z,1761519859.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.573797 m,
      nav range: 25.126451 m,
      bearing: 68.528776 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.173662 deg/s,
      cmd heading: 75.265222 deg,
      new cmd heading: 75.020082 deg.

2025-10-26T23:04:19.646Z,1761519859.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.309347 target range: 25.573797 and range: 25.70 m.
2025-10-26T23:04:19.712Z,1761519859.712 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.342243
2025-10-26T23:04:19.962Z,1761519859.962 [DAT](INFO): DAT read: Rx Time:23:04:18.6507 

2025-10-26T23:04:19.963Z,1761519859.963 [DAT](INFO): Rx dataTimestamp_ set to:1761519859.962287
2025-10-26T23:04:19.965Z,1761519859.965 [DAT](INFO): DAT read: Bearing 228.3, -14.4 (Local)

2025-10-26T23:04:19.965Z,1761519859.965 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.3, -14.4 (Local)

2025-10-26T23:04:19.968Z,1761519859.968 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed 0.4

2025-10-26T23:04:19.972Z,1761519859.972 [DAT](INFO): DAT read: 23:04:18.6507 LVL= 32752, 32753, 27714, 32755, AGC= 64, IDX= 505, 0.01, 0.289,-1.155, 0.856, 0.289, PHS= 0.102,-1.399, 0.523, RAW= 162.0,   8.9, CAL= 161.8,   9.3, ROT= 348.2,  -9.3

2025-10-26T23:04:19.973Z,1761519859.973 [DAT](INFO): got valid direction response:
 23:04:18.6507 LVL= 32752, 32753, 27714, 32755, AGC= 64, IDX= 505, 0.01, 0.289,-1.155, 0.856, 0.289, PHS= 0.102,-1.399, 0.523, RAW= 162.0,   8.9, CAL= 161.8,   9.3, ROT= 348.2,  -9.3

2025-10-26T23:04:19.973Z,1761519859.973 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-10-26T23:04:19.974Z,1761519859.974 [DAT](INFO): direction in FSK: [0.966001,-0.201808,0.161604]
2025-10-26T23:04:19.975Z,1761519859.975 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:19.978Z,1761519859.978 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.608770
2025-10-26T23:04:20.213Z,1761519860.213 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.842963
2025-10-26T23:04:20.216Z,1761519860.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.505126 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:04:20.233Z,1761519860.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.573797 m,
      bearing: 68.305848 deg,
      lat: 36.779409 deg,
      lon: -121.859374 deg,
      deltaT: 0.505126 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:04:20.241Z,1761519860.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.57 m.
2025-10-26T23:04:20.274Z,1761519860.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.573797 m,
      nav range: 24.955372 m,
      bearing: 68.106571 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.173662 deg/s,
      cmd heading: 75.020079 deg,
      new cmd heading: 74.730083 deg.

2025-10-26T23:04:20.280Z,1761519860.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.304286 target range: 25.573797 and range: 25.70 m.
2025-10-26T23:04:20.465Z,1761519860.465 [DAT](INFO): DAT read: Rx Time:23:04:19.1504 

2025-10-26T23:04:20.465Z,1761519860.465 [DAT](INFO): Rx dataTimestamp_ set to:1761519860.465054
2025-10-26T23:04:20.467Z,1761519860.467 [DAT](INFO): DAT read: Bearing 226.7, -14.2 (Local)

2025-10-26T23:04:20.467Z,1761519860.467 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.7, -14.2 (Local)

2025-10-26T23:04:20.469Z,1761519860.469 [DAT](INFO): DAT read: Range 11 to 50 :    25.2 m (trip time 16.8 ms) speed 0.4

2025-10-26T23:04:20.474Z,1761519860.474 [DAT](INFO): DAT read: 23:04:19.1504 LVL= 32368, 32753, 24754, 32755, AGC= 64, IDX= 502, 0.41,-0.312,-1.767, 0.270,-0.337, PHS= 0.127,-1.385, 0.563, RAW= 162.3,   7.9, CAL= 161.9,   8.0, ROT= 348.1,  -8.0

2025-10-26T23:04:20.475Z,1761519860.475 [DAT](INFO): got valid direction response:
 23:04:19.1504 LVL= 32368, 32753, 24754, 32755, AGC= 64, IDX= 502, 0.41,-0.312,-1.767, 0.270,-0.337, PHS= 0.127,-1.385, 0.563, RAW= 162.3,   7.9, CAL= 161.9,   8.0, ROT= 348.1,  -8.0

2025-10-26T23:04:20.475Z,1761519860.475 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-10-26T23:04:20.476Z,1761519860.476 [DAT](INFO): direction in FSK: [0.968986,-0.204197,0.139173]
2025-10-26T23:04:20.476Z,1761519860.476 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:20.480Z,1761519860.480 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.110374
2025-10-26T23:04:20.633Z,1761519860.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212556,-0.958213,-0.191434],[0.977022,0.205247,0.057469],[-0.015777,-0.199251,0.979822]]
2025-10-26T23:04:20.721Z,1761519860.721 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.350609
2025-10-26T23:04:20.806Z,1761519860.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 0.502767 s,
      deltaX: -0.500000 m,
      approachRate: -0.994496 m/s,
      rangeRepo size: 4

2025-10-26T23:04:20.812Z,1761519860.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.076576 m,
      bearing: 67.666914 deg,
      lat: 36.779409 deg,
      lon: -121.859374 deg,
      deltaT: 0.502767 s,
      deltaX: -0.497221 m,
      approachRate: -0.988969 m/s,
      posRepo size: 4

2025-10-26T23:04:20.813Z,1761519860.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.08 m.
2025-10-26T23:04:20.819Z,1761519860.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.076576 m,
      nav range: 24.684004 m,
      bearing: 68.021466 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.173662 deg/s,
      cmd heading: 74.730083 deg,
      new cmd heading: 74.412093 deg.

2025-10-26T23:04:20.820Z,1761519860.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.298736 target range: 25.076576 and range: 25.20 m.
2025-10-26T23:04:20.969Z,1761519860.969 [DAT](INFO): DAT read: Rx Time:23:04:19.6503 

2025-10-26T23:04:20.969Z,1761519860.969 [DAT](INFO): Rx dataTimestamp_ set to:1761519860.969106
2025-10-26T23:04:20.971Z,1761519860.971 [DAT](INFO): DAT read: Bearing 229.3, -14.3 (Local)

2025-10-26T23:04:20.971Z,1761519860.971 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.3, -14.3 (Local)

2025-10-26T23:04:20.973Z,1761519860.973 [DAT](INFO): DAT read: Range 11 to 50 :    25.1 m (trip time 16.7 ms) speed 0.4

2025-10-26T23:04:20.978Z,1761519860.978 [DAT](INFO): DAT read: 23:04:19.6503 LVL= 32752, 32753, 28850, 32755, AGC= 64, IDX= 501,-0.12,-1.604,-3.023,-1.056,-1.578, PHS= 0.076,-1.400, 0.478, RAW= 161.7,   9.9, CAL= 161.7,  10.7, ROT= 348.3, -10.7

2025-10-26T23:04:20.979Z,1761519860.979 [DAT](INFO): got valid direction response:
 23:04:19.6503 LVL= 32752, 32753, 28850, 32755, AGC= 64, IDX= 501,-0.12,-1.604,-3.023,-1.056,-1.578, PHS= 0.076,-1.400, 0.478, RAW= 161.7,   9.9, CAL= 161.7,  10.7, ROT= 348.3, -10.7

2025-10-26T23:04:20.979Z,1761519860.979 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-10-26T23:04:20.980Z,1761519860.980 [DAT](INFO): direction in FSK: [0.962197,-0.199262,0.185667]
2025-10-26T23:04:20.980Z,1761519860.980 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:20.984Z,1761519860.984 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.614555
2025-10-26T23:04:21.152Z,1761519861.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212847,-0.957984,-0.192258],[0.976986,0.205858,0.055864],[-0.013939,-0.199724,0.979753]]
2025-10-26T23:04:21.223Z,1761519861.223 [DAT](INFO): DAT read: Rx Time:23:04:20.1500 

2025-10-26T23:04:21.225Z,1761519861.225 [DAT](INFO): Rx dataTimestamp_ set to:1761519861.223792
2025-10-26T23:04:21.227Z,1761519861.227 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.856795
2025-10-26T23:04:21.282Z,1761519861.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.504052 s,
      deltaX: -0.100000 m,
      approachRate: -0.198393 m/s,
      rangeRepo size: 4

2025-10-26T23:04:21.290Z,1761519861.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.977066 m,
      bearing: 68.403513 deg,
      lat: 36.779407 deg,
      lon: -121.859374 deg,
      deltaT: 0.504052 s,
      deltaX: -0.099510 m,
      approachRate: -0.197420 m/s,
      posRepo size: 4

2025-10-26T23:04:21.291Z,1761519861.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.98 m.
2025-10-26T23:04:21.298Z,1761519861.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.977066 m,
      nav range: 24.349079 m,
      bearing: 68.320591 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.173662 deg/s,
      cmd heading: 74.412090 deg,
      new cmd heading: 74.164145 deg.

2025-10-26T23:04:21.299Z,1761519861.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294409 target range: 24.977066 and range: 25.10 m.
2025-10-26T23:04:21.473Z,1761519861.473 [DAT](INFO): DAT read: Bearing 228.0, -14.3 (Local)

2025-10-26T23:04:21.473Z,1761519861.473 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.0, -14.3 (Local)

2025-10-26T23:04:21.476Z,1761519861.476 [DAT](INFO): DAT read: Range 11 to 50 :    24.8 m (trip time 16.5 ms) speed 0.4

2025-10-26T23:04:21.480Z,1761519861.480 [DAT](INFO): DAT read: 23:04:20.1500 LVL= 32752, 32753, 27842, 32755, AGC= 63, IDX= 498, 0.24,-0.656,-2.104,-0.079,-0.652, PHS= 0.097,-1.407, 0.528, RAW= 162.3,   8.9, CAL= 162.0,   9.4, ROT= 348.0,  -9.4

2025-10-26T23:04:21.481Z,1761519861.481 [DAT](INFO): got valid direction response:
 23:04:20.1500 LVL= 32752, 32753, 27842, 32755, AGC= 63, IDX= 498, 0.24,-0.656,-2.104,-0.079,-0.652, PHS= 0.097,-1.407, 0.528, RAW= 162.3,   8.9, CAL= 162.0,   9.4, ROT= 348.0,  -9.4

2025-10-26T23:04:21.482Z,1761519861.482 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-10-26T23:04:21.483Z,1761519861.483 [DAT](INFO): direction in FSK: [0.965013,-0.205120,0.163326]
2025-10-26T23:04:21.483Z,1761519861.483 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:21.487Z,1761519861.487 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.117013
2025-10-26T23:04:21.623Z,1761519861.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211478,-0.958471,-0.191339],[0.977314,0.205046,0.053045],[-0.011608,-0.198216,0.980090]]
2025-10-26T23:04:21.688Z,1761519861.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.799999 m,
      deltaT: 0.502684 s,
      deltaX: -0.300001 m,
      approachRate: -0.596799 m/s,
      rangeRepo size: 4

2025-10-26T23:04:21.706Z,1761519861.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.678389 m,
      bearing: 67.898434 deg,
      lat: 36.779409 deg,
      lon: -121.859374 deg,
      deltaT: 0.502684 s,
      deltaX: -0.298677 m,
      approachRate: -0.594165 m/s,
      posRepo size: 4

2025-10-26T23:04:21.714Z,1761519861.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.68 m.
2025-10-26T23:04:21.735Z,1761519861.735 [DAT](INFO): DAT read: Rx Time:23:04:20.6500 

2025-10-26T23:04:21.737Z,1761519861.737 [DAT](INFO): Rx dataTimestamp_ set to:1761519861.735821
2025-10-26T23:04:21.742Z,1761519861.742 [DAT](INFO): DAT read: Bearing 229.4, -14.1 (Local)

2025-10-26T23:04:21.744Z,1761519861.744 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.4, -14.1 (Local)

2025-10-26T23:04:21.774Z,1761519861.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.678389 m,
      nav range: 24.229855 m,
      bearing: 67.905510 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.173662 deg/s,
      cmd heading: 74.164147 deg,
      new cmd heading: 73.958560 deg.

2025-10-26T23:04:21.778Z,1761519861.778 [DAT](INFO): DAT read: Range 11 to 50 :    24.8 m (trip time 16.5 ms) speed 0.4

2025-10-26T23:04:21.784Z,1761519861.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.290820 target range: 24.678389 and range: 24.80 m.
2025-10-26T23:04:21.791Z,1761519861.791 [DAT](INFO): DAT read: 23:04:20.6500 LVL= 32752, 32753, 29042, 32755, AGC= 62, IDX= 498,-0.21,-1.379,-2.790,-0.825,-1.352, PHS= 0.075,-1.393, 0.483, RAW= 161.9,   9.8, CAL= 161.8,  10.6, ROT= 348.2, -10.6

2025-10-26T23:04:21.808Z,1761519861.808 [DAT](INFO): got valid direction response:
 23:04:20.6500 LVL= 32752, 32753, 29042, 32755, AGC= 62, IDX= 498,-0.21,-1.379,-2.790,-0.825,-1.352, PHS= 0.075,-1.393, 0.483, RAW= 161.9,   9.8, CAL= 161.8,  10.6, ROT= 348.2, -10.6

2025-10-26T23:04:21.808Z,1761519861.808 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-10-26T23:04:21.809Z,1761519861.809 [DAT](INFO): direction in FSK: [0.962163,-0.201006,0.183951]
2025-10-26T23:04:21.810Z,1761519861.810 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:21.822Z,1761519861.822 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.451945
2025-10-26T23:04:21.976Z,1761519861.976 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.606914
2025-10-26T23:04:22.184Z,1761519862.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.799999 m,
      deltaT: 0.264031 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:04:22.188Z,1761519862.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.678389 m,
      bearing: 68.340735 deg,
      lat: 36.779409 deg,
      lon: -121.859373 deg,
      deltaT: 0.264031 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:04:22.189Z,1761519862.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.68 m.
2025-10-26T23:04:22.194Z,1761519862.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.678389 m,
      nav range: 23.998791 m,
      bearing: 67.860162 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.173662 deg/s,
      cmd heading: 73.958559 deg,
      new cmd heading: 73.694638 deg.

2025-10-26T23:04:22.196Z,1761519862.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.286214 target range: 24.678389 and range: 24.80 m.
2025-10-26T23:04:22.232Z,1761519862.232 [DAT](INFO): DAT read: Rx Time:23:04:21.1498 

2025-10-26T23:04:22.234Z,1761519862.234 [DAT](INFO): Rx dataTimestamp_ set to:1761519862.233180
2025-10-26T23:04:22.237Z,1761519862.237 [DAT](INFO): DAT read: Bearing 228.3, -14.1 (Local)

2025-10-26T23:04:22.238Z,1761519862.238 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.3, -14.1 (Local)

2025-10-26T23:04:22.241Z,1761519862.241 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.870490
2025-10-26T23:04:22.484Z,1761519862.484 [DAT](INFO): DAT read: Range 11 to 50 :    24.3 m (trip time 16.2 ms) speed 0.4

2025-10-26T23:04:22.499Z,1761519862.499 [DAT](INFO): DAT read: 23:04:21.1498 LVL= 32752, 32753, 28514, 32755, AGC= 62, IDX= 495, 0.16,-1.003,-2.435,-0.416,-0.994, PHS= 0.093,-1.396, 0.534, RAW= 162.6,   8.8, CAL= 162.3,   9.3, ROT= 347.7,  -9.3

2025-10-26T23:04:22.501Z,1761519862.501 [DAT](INFO): got valid direction response:
 23:04:21.1498 LVL= 32752, 32753, 28514, 32755, AGC= 62, IDX= 495, 0.16,-1.003,-2.435,-0.416,-0.994, PHS= 0.093,-1.396, 0.534, RAW= 162.6,   8.8, CAL= 162.3,   9.3, ROT= 347.7,  -9.3

2025-10-26T23:04:22.501Z,1761519862.501 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-10-26T23:04:22.502Z,1761519862.502 [DAT](INFO): direction in FSK: [0.964203,-0.210230,0.161604]
2025-10-26T23:04:22.502Z,1761519862.502 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:22.506Z,1761519862.506 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.136645
2025-10-26T23:04:22.578Z,1761519862.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206866,-0.963924,-0.167501],[0.978363,0.203213,0.038854],[-0.003414,-0.171914,0.985106]]
2025-10-26T23:04:22.625Z,1761519862.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.745370 s,
      deltaX: -0.500000 m,
      approachRate: -0.670808 m/s,
      rangeRepo size: 4

2025-10-26T23:04:22.632Z,1761519862.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.181541 m,
      bearing: 67.532982 deg,
      lat: 36.779409 deg,
      lon: -121.859374 deg,
      deltaT: 0.745370 s,
      deltaX: -0.496847 m,
      approachRate: -0.666578 m/s,
      posRepo size: 4

2025-10-26T23:04:22.632Z,1761519862.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m.
2025-10-26T23:04:22.635Z,1761519862.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.181541 m,
      nav range: 23.745649 m,
      bearing: 67.749507 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.173662 deg/s,
      cmd heading: 73.694640 deg,
      new cmd heading: 73.464023 deg.

2025-10-26T23:04:22.636Z,1761519862.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.282189 target range: 24.181541 and range: 24.30 m.
2025-10-26T23:04:22.753Z,1761519862.753 [DAT](INFO): DAT read: Rx Time:23:04:21.6498 

2025-10-26T23:04:22.755Z,1761519862.755 [DAT](INFO): Rx dataTimestamp_ set to:1761519862.753814
2025-10-26T23:04:22.759Z,1761519862.759 [DAT](INFO): DAT read: Bearing 230.6, -13.9 (Local)

2025-10-26T23:04:22.760Z,1761519862.760 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.6, -13.9 (Local)

2025-10-26T23:04:22.779Z,1761519862.779 [DAT](INFO): DAT read: Range 11 to 50 :    24.3 m (trip time 16.2 ms) speed 0.4

2025-10-26T23:04:22.804Z,1761519862.804 [DAT](INFO): DAT read: 23:04:21.6498 LVL= 32752, 32753, 29458, 32755, AGC= 63, IDX= 511,-0.38,-0.472,-1.872, 0.088,-0.425, PHS= 0.055,-1.402, 0.470, RAW= 162.2,  10.3, CAL= 162.2,  11.3, ROT= 347.8, -11.3

2025-10-26T23:04:22.806Z,1761519862.806 [DAT](INFO): got valid direction response:
 23:04:21.6498 LVL= 32752, 32753, 29458, 32755, AGC= 63, IDX= 511,-0.38,-0.472,-1.872, 0.088,-0.425, PHS= 0.055,-1.402, 0.470, RAW= 162.2,  10.3, CAL= 162.2,  11.3, ROT= 347.8, -11.3

2025-10-26T23:04:22.806Z,1761519862.806 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-10-26T23:04:22.812Z,1761519862.812 [DAT](INFO): direction in FSK: [0.958468,-0.207229,0.195946]
2025-10-26T23:04:22.813Z,1761519862.813 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:22.826Z,1761519862.826 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.456576
2025-10-26T23:04:23.002Z,1761519863.002 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.632342
2025-10-26T23:04:23.073Z,1761519863.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207180,-0.965164,-0.159794],[0.978303,0.204279,0.034551],[-0.000705,-0.163485,0.986546]]
2025-10-26T23:04:23.144Z,1761519863.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.272623 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:04:23.145Z,1761519863.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.181541 m,
      bearing: 67.847412 deg,
      lat: 36.779408 deg,
      lon: -121.859373 deg,
      deltaT: 0.272623 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:04:23.146Z,1761519863.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m.
2025-10-26T23:04:23.153Z,1761519863.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.181541 m,
      nav range: 23.513439 m,
      bearing: 67.808068 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.173662 deg/s,
      cmd heading: 73.464026 deg,
      new cmd heading: 73.196294 deg.

2025-10-26T23:04:23.154Z,1761519863.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.277516 target range: 24.181541 and range: 24.30 m.
2025-10-26T23:04:23.258Z,1761519863.258 [DAT](INFO): DAT read: Rx Time:23:04:22.1495 

2025-10-26T23:04:23.260Z,1761519863.260 [DAT](INFO): Rx dataTimestamp_ set to:1761519863.258468
2025-10-26T23:04:23.264Z,1761519863.264 [DAT](INFO): DAT read: Bearing 227.1, -13.4 (Local)

2025-10-26T23:04:23.265Z,1761519863.265 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.1, -13.4 (Local)

2025-10-26T23:04:23.300Z,1761519863.300 [DAT](INFO): DAT read: Range 11 to 50 :    23.9 m (trip time 15.9 ms) speed 0.4

2025-10-26T23:04:23.321Z,1761519863.321 [DAT](INFO): DAT read: 23:04:22.1495 LVL= 32752, 32753, 27170, 32755, AGC= 62, IDX= 508, 0.08,-1.712,-3.140,-1.118,-1.733, PHS= 0.123,-1.361, 0.572, RAW= 162.8,   7.7, CAL= 162.4,   7.7, ROT= 347.6,  -7.7

2025-10-26T23:04:23.322Z,1761519863.322 [DAT](INFO): got valid direction response:
 23:04:22.1495 LVL= 32752, 32753, 27170, 32755, AGC= 62, IDX= 508, 0.08,-1.712,-3.140,-1.118,-1.733, PHS= 0.123,-1.361, 0.572, RAW= 162.8,   7.7, CAL= 162.4,   7.7, ROT= 347.6,  -7.7

2025-10-26T23:04:23.323Z,1761519863.323 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-10-26T23:04:23.336Z,1761519863.336 [DAT](INFO): direction in FSK: [0.967866,-0.212799,0.133986]
2025-10-26T23:04:23.336Z,1761519863.336 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:23.348Z,1761519863.348 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.978483
2025-10-26T23:04:23.505Z,1761519863.505 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.134944
2025-10-26T23:04:23.533Z,1761519863.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.900000 m,
      deltaT: 0.504654 s,
      deltaX: -0.400000 m,
      approachRate: -0.792621 m/s,
      rangeRepo size: 4

2025-10-26T23:04:23.540Z,1761519863.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.784443 m,
      bearing: 67.050034 deg,
      lat: 36.779409 deg,
      lon: -121.859373 deg,
      deltaT: 0.504654 s,
      deltaX: -0.397099 m,
      approachRate: -0.786873 m/s,
      posRepo size: 4

2025-10-26T23:04:23.540Z,1761519863.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-10-26T23:04:23.543Z,1761519863.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.784443 m,
      nav range: 23.345564 m,
      bearing: 67.682489 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.173662 deg/s,
      cmd heading: 73.196296 deg,
      new cmd heading: 72.990971 deg.

2025-10-26T23:04:23.548Z,1761519863.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.273933 target range: 23.784443 and range: 23.90 m.
2025-10-26T23:04:23.757Z,1761519863.757 [DAT](INFO): DAT read: Rx Time:23:04:22.6494 

2025-10-26T23:04:23.757Z,1761519863.757 [DAT](INFO): Rx dataTimestamp_ set to:1761519863.756919
2025-10-26T23:04:23.758Z,1761519863.758 [DAT](INFO): DAT read: Bearing 230.2, -13.6 (Local)

2025-10-26T23:04:23.759Z,1761519863.759 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.2, -13.6 (Local)

2025-10-26T23:04:23.760Z,1761519863.760 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed 0.4

2025-10-26T23:04:23.761Z,1761519863.761 [DAT](ERROR): #Rx 27: Read range message, but no direction.
2025-10-26T23:04:23.762Z,1761519863.762 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.392081
2025-10-26T23:04:23.878Z,1761519863.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212800,-0.966775,-0.141638],[0.977086,0.211198,0.026430],[0.004362,-0.144017,0.989566]]
2025-10-26T23:04:23.917Z,1761519863.917 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:04:23.920Z,1761519863.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.498451 s,
      deltaX: -0.199999 m,
      approachRate: -0.401241 m/s,
      rangeRepo size: 4

2025-10-26T23:04:23.920Z,1761519863.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-10-26T23:04:23.923Z,1761519863.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.784443 m,
      nav range: 23.145817 m,
      bearing: 67.630908 deg,
      approach rate: -0.517552 m/s,
      LOS rate: -0.134801 deg/s,
      cmd heading: 72.990974 deg,
      new cmd heading: 72.834897 deg.

2025-10-26T23:04:23.924Z,1761519863.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.271209 target range: 23.784443 and range: 23.70 m.
2025-10-26T23:04:24.013Z,1761519864.013 [DAT](INFO): DAT read: 23:04:22.6494 LVL= 32752, 32753, 30674, 32755, AGC= 62, IDX= 507, 0.46,-00.061,-1.408, 0.494, RAW= 162.5,   9.9, CAL= 162.5,  10.7, ROT= 347.5, -10.7

2025-10-26T23:04:24.014Z,1761519864.014 [DAT](INFO): unknown deviceResponse_: 23:04:22.6494 LVL= 32752, 32753, 30674, 32755, AGC= 62, IDX= 507, 0.46,-00.061,-1.408, 0.494, RAW= 162.5,   9.9, CAL= 162.5,  10.7, ROT= 347.5, -10.7

2025-10-26T23:04:24.015Z,1761519864.015 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.645418
2025-10-26T23:04:24.265Z,1761519864.265 [DAT](INFO): DAT read: Rx Time:23:04:23.1492 

2025-10-26T23:04:24.267Z,1761519864.267 [DAT](INFO): Rx dataTimestamp_ set to:1761519864.265718
2025-10-26T23:04:24.280Z,1761519864.280 [DAT](INFO): DAT read: Bearing 227.1, -12.1 (Local)

2025-10-26T23:04:24.280Z,1761519864.280 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.1, -12.1 (Local)

2025-10-26T23:04:24.282Z,1761519864.282 [DAT](INFO): DAT read: Range 11 to 50 :    23.4 m (trip time 15.6 ms) speed 0.4

2025-10-26T23:04:24.308Z,1761519864.308 [DAT](INFO): DAT read: 23:04:23.1492 LVL= 32240, 32753, 25762, 32755, AGC= 62, IDX= 505,-0.05,-3.008, 1.841,-2.444,-3.044, PHS= 0.138,-1.353, 0.556, RAW= 162.0,   7.6, CAL= 161.6,   7.7, ROT= 348.4,  -7.7

2025-10-26T23:04:24.309Z,1761519864.309 [DAT](INFO): got valid direction response:
 23:04:23.1492 LVL= 32240, 32753, 25762, 32755, AGC= 62, IDX= 505,-0.05,-3.008, 1.841,-2.444,-3.044, PHS= 0.138,-1.353, 0.556, RAW= 162.0,   7.6, CAL= 161.6,   7.7, ROT= 348.4,  -7.7

2025-10-26T23:04:24.309Z,1761519864.309 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-10-26T23:04:24.310Z,1761519864.310 [DAT](INFO): direction in FSK: [0.970743,-0.199265,0.133986]
2025-10-26T23:04:24.310Z,1761519864.310 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:24.322Z,1761519864.322 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.952599
2025-10-26T23:04:24.326Z,1761519864.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218082,-0.966396,-0.136082],[0.975905,0.216948,0.023286],[0.007020,-0.137881,0.990424]]
2025-10-26T23:04:24.394Z,1761519864.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 0.508799 s,
      deltaX: -0.300001 m,
      approachRate: -0.589626 m/s,
      rangeRepo size: 4

2025-10-26T23:04:24.397Z,1761519864.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.286860 m,
      bearing: 66.949974 deg,
      lat: 36.779410 deg,
      lon: -121.859373 deg,
      deltaT: 1.007250 s,
      deltaX: -0.497583 m,
      approachRate: -0.494002 m/s,
      posRepo size: 4

2025-10-26T23:04:24.397Z,1761519864.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.29 m.
2025-10-26T23:04:24.404Z,1761519864.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.286860 m,
      nav range: 22.956196 m,
      bearing: 67.397274 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.134801 deg/s,
      cmd heading: 72.834897 deg,
      new cmd heading: 72.642801 deg.

2025-10-26T23:04:24.405Z,1761519864.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.267856 target range: 23.286860 and range: 23.40 m.
2025-10-26T23:04:24.513Z,1761519864.513 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.143040
2025-10-26T23:04:24.772Z,1761519864.772 [DAT](INFO): DAT read: Rx Time:23:04:23.6490 

2025-10-26T23:04:24.774Z,1761519864.774 [DAT](INFO): Rx dataTimestamp_ set to:1761519864.773004
2025-10-26T23:04:24.784Z,1761519864.784 [DAT](INFO): DAT read: Bearing 228.9, -12.4 (Local)

2025-10-26T23:04:24.784Z,1761519864.784 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.9, -12.4 (Local)

2025-10-26T23:04:24.786Z,1761519864.786 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed 0.4

2025-10-26T23:04:24.811Z,1761519864.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225220,-0.964855,-0.135394],[0.974266,0.224311,0.022127],[0.009021,-0.136893,0.990545]]
2025-10-26T23:04:24.834Z,1761519864.834 [DAT](INFO): DAT read: 23:04:23.6490 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 503, 0.21,-0.856,-2.290,-0.292,-0.840, PHS= 0.086,-1.405, 0.504, RAW= 162.0,   9.4, CAL= 161.9,  10.1, ROT= 348.1, -10.1

2025-10-26T23:04:24.852Z,1761519864.852 [DAT](INFO): got valid direction response:
 23:04:23.6490 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 503, 0.21,-0.856,-2.290,-0.292,-0.840, PHS= 0.086,-1.405, 0.504, RAW= 162.0,   9.4, CAL= 161.9,  10.1, ROT= 348.1, -10.1

2025-10-26T23:04:24.852Z,1761519864.852 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-10-26T23:04:24.853Z,1761519864.853 [DAT](INFO): direction in FSK: [0.963345,-0.203008,0.175367]
2025-10-26T23:04:24.854Z,1761519864.854 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:24.862Z,1761519864.862 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.492062
2025-10-26T23:04:24.923Z,1761519864.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.507286 s,
      deltaX: -0.299999 m,
      approachRate: -0.591381 m/s,
      rangeRepo size: 4

2025-10-26T23:04:24.926Z,1761519864.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.988697 m,
      bearing: 66.547736 deg,
      lat: 36.779411 deg,
      lon: -121.859374 deg,
      deltaT: 0.507286 s,
      deltaX: -0.298162 m,
      approachRate: -0.587760 m/s,
      posRepo size: 4

2025-10-26T23:04:24.926Z,1761519864.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m.
2025-10-26T23:04:24.937Z,1761519864.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.988697 m,
      nav range: 22.693838 m,
      bearing: 66.879846 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.134801 deg/s,
      cmd heading: 72.642805 deg,
      new cmd heading: 72.430443 deg.

2025-10-26T23:04:24.938Z,1761519864.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.264150 target range: 22.988697 and range: 23.10 m.
2025-10-26T23:04:25.017Z,1761519865.017 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.646940
2025-10-26T23:04:25.273Z,1761519865.273 [DAT](INFO): DAT read: Rx Time:23:04:24.1487 

2025-10-26T23:04:25.275Z,1761519865.275 [DAT](INFO): Rx dataTimestamp_ set to:1761519865.273785
2025-10-26T23:04:25.278Z,1761519865.278 [DAT](INFO): DAT read: Bearing 226.8, -10.9 (Local)

2025-10-26T23:04:25.279Z,1761519865.279 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.8, -10.9 (Local)

2025-10-26T23:04:25.281Z,1761519865.281 [DAT](INFO): DAT read: Range 11 to 50 :    22.7 m (trip time 15.1 ms) speed 0.4

2025-10-26T23:04:25.295Z,1761519865.295 [DAT](INFO): DAT read: 23:04:24.1487 LVL= 32752, 32753, 27634, 32755, AGC= 62, IDX= 501,-0.28, 2.023, 0.574, 2.546, 1.984, PHS= 0.140,-1.365, 0.518, RAW= 160.9,   8.2, CAL= 160.6,   8.5, ROT= 349.4,  -8.5

2025-10-26T23:04:25.297Z,1761519865.297 [DAT](INFO): got valid direction response:
 23:04:24.1487 LVL= 32752, 32753, 27634, 32755, AGC= 62, IDX= 501,-0.28, 2.023, 0.574, 2.546, 1.984, PHS= 0.140,-1.365, 0.518, RAW= 160.9,   8.2, CAL= 160.6,   8.5, ROT= 349.4,  -8.5

2025-10-26T23:04:25.297Z,1761519865.297 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-10-26T23:04:25.298Z,1761519865.298 [DAT](INFO): direction in FSK: [0.972139,-0.181931,0.147809]
2025-10-26T23:04:25.298Z,1761519865.298 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:25.303Z,1761519865.303 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.932961
2025-10-26T23:04:25.321Z,1761519865.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244600,-0.958857,-0.144099],[0.969575,0.243370,0.026377],[0.009777,-0.146166,0.989212]]
2025-10-26T23:04:25.378Z,1761519865.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.700001 m,
      deltaT: 0.500781 s,
      deltaX: -0.400000 m,
      approachRate: -0.798752 m/s,
      rangeRepo size: 4

2025-10-26T23:04:25.406Z,1761519865.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.590624 m,
      bearing: 66.572097 deg,
      lat: 36.779411 deg,
      lon: -121.859374 deg,
      deltaT: 0.500781 s,
      deltaX: -0.398073 m,
      approachRate: -0.794905 m/s,
      posRepo size: 4

2025-10-26T23:04:25.406Z,1761519865.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-10-26T23:04:25.413Z,1761519865.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.590624 m,
      nav range: 22.461254 m,
      bearing: 66.829123 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.134801 deg/s,
      cmd heading: 72.430441 deg,
      new cmd heading: 72.244983 deg.

2025-10-26T23:04:25.414Z,1761519865.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.260913 target range: 22.590624 and range: 22.70 m.
2025-10-26T23:04:25.523Z,1761519865.523 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.152939
2025-10-26T23:04:25.782Z,1761519865.782 [DAT](INFO): DAT read: Rx Time:23:04:24.6487 

2025-10-26T23:04:25.784Z,1761519865.784 [DAT](INFO): Rx dataTimestamp_ set to:1761519865.782477
2025-10-26T23:04:25.800Z,1761519865.800 [DAT](INFO): DAT read: Bearing 229.8, -11.2 (Local)

2025-10-26T23:04:25.801Z,1761519865.801 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.8, -11.2 (Local)

2025-10-26T23:04:25.821Z,1761519865.821 [DAT](INFO): DAT read: Range 11 to 50 :    22.7 m (trip time 15.1 ms) speed 0.4

2025-10-26T23:04:25.826Z,1761519865.826 [DAT](INFO): DAT read: 23:04:24.6487 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 500,-0.03,-1.955, 2.891,-1.464,-1.924, PHS= 0.071,-1.424, 0.416, RAW= 160.1,  11.1, CAL= 160.3,  12.2, ROT= 349.7, -12.2

2025-10-26T23:04:25.848Z,1761519865.848 [DAT](INFO): got valid direction response:
 23:04:24.6487 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 500,-0.03,-1.955, 2.891,-1.464,-1.924, PHS= 0.071,-1.424, 0.416, RAW= 160.1,  11.1, CAL= 160.3,  12.2, ROT= 349.7, -12.2

2025-10-26T23:04:25.848Z,1761519865.848 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-10-26T23:04:25.849Z,1761519865.849 [DAT](INFO): direction in FSK: [0.961665,-0.174764,0.211325]
2025-10-26T23:04:25.849Z,1761519865.849 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:25.868Z,1761519865.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253588,-0.954938,-0.154230],[0.967270,0.251821,0.031217],[0.009028,-0.157099,0.987542]]
2025-10-26T23:04:25.885Z,1761519865.885 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.515642
2025-10-26T23:04:25.978Z,1761519865.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.700001 m,
      deltaT: 0.508692 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:04:25.984Z,1761519865.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.590460 m,
      bearing: 67.043463 deg,
      lat: 36.779411 deg,
      lon: -121.859376 deg,
      deltaT: 0.508692 s,
      deltaX: -0.000164 m,
      approachRate: -0.000322 m/s,
      posRepo size: 4

2025-10-26T23:04:25.985Z,1761519865.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-10-26T23:04:25.992Z,1761519865.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.590460 m,
      nav range: 21.975464 m,
      bearing: 66.600979 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.134801 deg/s,
      cmd heading: 72.244980 deg,
      new cmd heading: 72.002458 deg.

2025-10-26T23:04:25.993Z,1761519865.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.256680 target range: 22.590460 and range: 22.70 m.
2025-10-26T23:04:26.029Z,1761519866.029 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.659145
2025-10-26T23:04:26.199Z,1761519866.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261026,-0.950822,-0.166745],[0.965293,0.258633,0.036298],[0.008613,-0.170433,0.985332]]
2025-10-26T23:04:26.239Z,1761519866.239 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:04:26.248Z,1761519866.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-10-26T23:04:26.281Z,1761519866.281 [DAT](INFO): DAT read: Rx Time:23:04:25.1484 

2025-10-26T23:04:26.281Z,1761519866.281 [DAT](INFO): Rx dataTimestamp_ set to:1761519866.281103
2025-10-26T23:04:26.283Z,1761519866.283 [DAT](INFO): DAT read: Bearing 227.0, -11.3 (Local)

2025-10-26T23:04:26.283Z,1761519866.283 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.0, -11.3 (Local)

2025-10-26T23:04:26.285Z,1761519866.285 [DAT](INFO): DAT read: Range 11 to 50 :    22.2 m (trip time 14.8 ms) speed 0.4

2025-10-26T23:04:26.290Z,1761519866.290 [DAT](INFO): DAT read: 23:04:25.1484 LVL= 32752, 32753, 32562, 32755, AGC= 63, IDX= 497, 0.29,-2.288, 2.527,-1.772,-2.296, PHS= 0.110,-1.415, 0.480, RAW= 160.6,   9.5, CAL= 160.5,  10.1, ROT= 349.5, -10.1

2025-10-26T23:04:26.291Z,1761519866.291 [DAT](INFO): got valid direction response:
 23:04:25.1484 LVL= 32752, 32753, 32562, 32755, AGC= 63, IDX= 497, 0.29,-2.288, 2.527,-1.772,-2.296, PHS= 0.110,-1.415, 0.480, RAW= 160.6,   9.5, CAL= 160.5,  10.1, ROT= 349.5, -10.1

2025-10-26T23:04:26.291Z,1761519866.291 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-10-26T23:04:26.295Z,1761519866.295 [DAT](INFO): direction in FSK: [0.968018,-0.179412,0.175367]
2025-10-26T23:04:26.295Z,1761519866.295 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:26.299Z,1761519866.299 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.929157
2025-10-26T23:04:26.321Z,1761519866.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.590460 m,
      nav range: 21.838223 m,
      bearing: 66.585090 deg,
      approach rate: -0.510639 m/s,
      LOS rate: -0.059490 deg/s,
      cmd heading: 72.002461 deg,
      new cmd heading: 71.954495 deg.

2025-10-26T23:04:26.322Z,1761519866.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255843 target range: 22.590460 and range: 22.70 m.
2025-10-26T23:04:26.532Z,1761519866.532 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.162844
2025-10-26T23:04:26.707Z,1761519866.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266889,-0.947474,-0.176246],[0.963684,0.264105,0.039515],[0.009108,-0.180392,0.983553]]
2025-10-26T23:04:26.789Z,1761519866.789 [DAT](INFO): DAT read: Rx Time:23:04:25.6483 

2025-10-26T23:04:26.790Z,1761519866.790 [DAT](INFO): Rx dataTimestamp_ set to:1761519866.789670
2025-10-26T23:04:26.806Z,1761519866.806 [DAT](INFO): DAT read: Bearing 258.7,  -8.0 (Local)

2025-10-26T23:04:26.807Z,1761519866.807 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.7,  -8.0 (Local)

2025-10-26T23:04:26.809Z,1761519866.809 [DAT](INFO): DAT read: Range 11 to 50 :    22.1 m (trip time 14.7 ms) speed 0.4

2025-10-26T23:04:26.826Z,1761519866.826 [DAT](INFO): DAT read: 23:04:25.6483 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 513,-0.26,-2.650, 2.573,-2.581,-2.394, PHS=-0.154,-1.272,-0.231, RAW= 146.5,  28.5, CAL= 152.3,  41.3, ROT= 357.7, -41.3

2025-10-26T23:04:26.827Z,1761519866.827 [DAT](INFO): got valid direction response:
 23:04:25.6483 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 513,-0.26,-2.650, 2.573,-2.581,-2.394, PHS=-0.154,-1.272,-0.231, RAW= 146.5,  28.5, CAL= 152.3,  41.3, ROT= 357.7, -41.3

2025-10-26T23:04:26.834Z,1761519866.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.200001 m,
      deltaT: 0.498626 s,
      deltaX: -0.500000 m,
      approachRate: -1.002756 m/s,
      rangeRepo size: 4

2025-10-26T23:04:26.835Z,1761519866.835 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-10-26T23:04:26.836Z,1761519866.836 [DAT](INFO): direction in FSK: [0.750659,-0.030149,0.660002]
2025-10-26T23:04:26.837Z,1761519866.837 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:26.845Z,1761519866.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.093029 m,
      bearing: 65.994252 deg,
      lat: 36.779411 deg,
      lon: -121.859377 deg,
      deltaT: 0.498626 s,
      deltaX: -0.497431 m,
      approachRate: -0.997603 m/s,
      posRepo size: 4

2025-10-26T23:04:26.845Z,1761519866.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.09 m.
2025-10-26T23:04:26.848Z,1761519866.848 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.478893
2025-10-26T23:04:26.851Z,1761519866.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.093029 m,
      nav range: 21.500420 m,
      bearing: 66.492188 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.059490 deg/s,
      cmd heading: 71.954492 deg,
      new cmd heading: 71.849624 deg.

2025-10-26T23:04:26.861Z,1761519866.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254012 target range: 22.093029 and range: 22.20 m.
2025-10-26T23:04:27.037Z,1761519867.037 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.666975
2025-10-26T23:04:27.106Z,1761519867.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271036,-0.944144,-0.187432],[0.962522,0.267760,0.043074],[0.009519,-0.192082,0.981333]]
2025-10-26T23:04:27.203Z,1761519867.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.508567 s,
      deltaX: -0.100000 m,
      approachRate: -0.196632 m/s,
      rangeRepo size: 4

2025-10-26T23:04:27.209Z,1761519867.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.993511 m,
      bearing: 81.712020 deg,
      lat: 36.779411 deg,
      lon: -121.859377 deg,
      deltaT: 0.508567 s,
      deltaX: -0.099518 m,
      approachRate: -0.195683 m/s,
      posRepo size: 4

2025-10-26T23:04:27.212Z,1761519867.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.99 m.
2025-10-26T23:04:27.214Z,1761519867.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.993511 m,
      nav range: 21.272364 m,
      bearing: 66.465584 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.059490 deg/s,
      cmd heading: 71.849622 deg,
      new cmd heading: 71.783870 deg.

2025-10-26T23:04:27.216Z,1761519867.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.252865 target range: 21.993511 and range: 22.10 m.
2025-10-26T23:04:27.296Z,1761519867.296 [DAT](INFO): DAT read: Rx Time:23:04:26.1481 

2025-10-26T23:04:27.296Z,1761519867.296 [DAT](INFO): Rx dataTimestamp_ set to:1761519867.295998
2025-10-26T23:04:27.298Z,1761519867.298 [DAT](INFO): DAT read: Bearing 227.9, -10.9 (Local)

2025-10-26T23:04:27.298Z,1761519867.298 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.9, -10.9 (Local)

2025-10-26T23:04:27.305Z,1761519867.305 [DAT](INFO): DAT read: Range 11 to 50 :    21.8 m (trip time 14.5 ms) speed 0.4

2025-10-26T23:04:27.319Z,1761519867.319 [DAT](INFO): DAT read: 23:04:26.1481 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510,-0.01, 2.807, 1.344,-3.006, 2.820, PHS= 0.089,-1.431, 0.413, RAW= 159.5,  10.9, CAL= 159.6,  12.0, ROT= 350.4, -12.0

2025-10-26T23:04:27.321Z,1761519867.321 [DAT](INFO): got valid direction response:
 23:04:26.1481 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510,-0.01, 2.807, 1.344,-3.006, 2.820, PHS= 0.089,-1.431, 0.413, RAW= 159.5,  10.9, CAL= 159.6,  12.0, ROT= 350.4, -12.0

2025-10-26T23:04:27.321Z,1761519867.321 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-10-26T23:04:27.323Z,1761519867.323 [DAT](INFO): direction in FSK: [0.964450,-0.163125,0.207912]
2025-10-26T23:04:27.328Z,1761519867.328 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:27.345Z,1761519867.345 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.975096
2025-10-26T23:04:27.541Z,1761519867.541 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.171434
2025-10-26T23:04:27.576Z,1761519867.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273899,-0.941783,-0.194999],[0.961710,0.270232,0.045700],[0.009656,-0.200050,0.979738]]
2025-10-26T23:04:27.611Z,1761519867.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 0.506328 s,
      deltaX: -0.300001 m,
      approachRate: -0.592504 m/s,
      rangeRepo size: 4

2025-10-26T23:04:27.613Z,1761519867.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.694712 m,
      bearing: 67.097068 deg,
      lat: 36.779409 deg,
      lon: -121.859377 deg,
      deltaT: 0.506328 s,
      deltaX: -0.298800 m,
      approachRate: -0.590130 m/s,
      posRepo size: 4

2025-10-26T23:04:27.614Z,1761519867.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.69 m.
2025-10-26T23:04:27.621Z,1761519867.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.694712 m,
      nav range: 20.991249 m,
      bearing: 66.885989 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.059490 deg/s,
      cmd heading: 71.783867 deg,
      new cmd heading: 71.711667 deg.

2025-10-26T23:04:27.622Z,1761519867.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.251605 target range: 21.694712 and range: 21.80 m.
2025-10-26T23:04:27.798Z,1761519867.798 [DAT](INFO): DAT read: Rx Time:23:04:26.6480 

2025-10-26T23:04:27.802Z,1761519867.802 [DAT](INFO): Rx dataTimestamp_ set to:1761519867.798615
2025-10-26T23:04:27.818Z,1761519867.818 [DAT](INFO): DAT read: Bearing 226.2, -10.9 (Local)

2025-10-26T23:04:27.819Z,1761519867.819 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.2, -10.9 (Local)

2025-10-26T23:04:27.842Z,1761519867.842 [DAT](INFO): DAT read: Range 11 to 50 :    21.6 m (trip time 14.4 ms) speed 0.4

2025-10-26T23:04:27.860Z,1761519867.860 [DAT](INFO): DAT read: 23:04:26.6480 LVL= 32752, 32753, 32050, 32755, AGC= 62, IDX= 509, 0.27,-1.640,-3.120,-1.154,-1.653, PHS= 0.116,-1.422, 0.456, RAW= 159.8,   9.8, CAL= 159.7,  10.6, ROT= 350.3, -10.6

2025-10-26T23:04:27.861Z,1761519867.861 [DAT](INFO): got valid direction response:
 23:04:26.6480 LVL= 32752, 32753, 32050, 32755, AGC= 62, IDX= 509, 0.27,-1.640,-3.120,-1.154,-1.653, PHS= 0.116,-1.422, 0.456, RAW= 159.8,   9.8, CAL= 159.7,  10.6, ROT= 350.3, -10.6

2025-10-26T23:04:27.862Z,1761519867.862 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-10-26T23:04:27.863Z,1761519867.863 [DAT](INFO): direction in FSK: [0.968883,-0.165614,0.183951]
2025-10-26T23:04:27.863Z,1761519867.863 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:27.871Z,1761519867.871 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.500988
2025-10-26T23:04:27.978Z,1761519867.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275036,-0.941023,-0.197057],[0.961385,0.271245,0.046526],[0.009669,-0.202244,0.979288]]
2025-10-26T23:04:28.035Z,1761519868.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.600000 m,
      deltaT: 0.502617 s,
      deltaX: -0.199999 m,
      approachRate: -0.397915 m/s,
      rangeRepo size: 4

2025-10-26T23:04:28.037Z,1761519868.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.495680 m,
      bearing: 66.668587 deg,
      lat: 36.779409 deg,
      lon: -121.859376 deg,
      deltaT: 0.502617 s,
      deltaX: -0.199032 m,
      approachRate: -0.395991 m/s,
      posRepo size: 4

2025-10-26T23:04:28.038Z,1761519868.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.50 m.
2025-10-26T23:04:28.041Z,1761519868.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.495680 m,
      nav range: 20.809515 m,
      bearing: 66.898579 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.059490 deg/s,
      cmd heading: 71.711666 deg,
      new cmd heading: 71.635335 deg.

2025-10-26T23:04:28.042Z,1761519868.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.250273 target range: 21.495680 and range: 21.60 m.
2025-10-26T23:04:28.045Z,1761519868.045 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.674959
2025-10-26T23:04:28.298Z,1761519868.298 [DAT](INFO): DAT read: Rx Time:23:04:27.1477 

2025-10-26T23:04:28.299Z,1761519868.299 [DAT](INFO): Rx dataTimestamp_ set to:1761519868.298389
2025-10-26T23:04:28.301Z,1761519868.301 [DAT](INFO): DAT read: Bearing 224.5,  -9.9 (Local)

2025-10-26T23:04:28.301Z,1761519868.301 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.5,  -9.9 (Local)

2025-10-26T23:04:28.304Z,1761519868.304 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed 0.4

2025-10-26T23:04:28.311Z,1761519868.311 [DAT](INFO): DAT read: 23:04:27.1477 LVL= 30512, 32753, 30818, 32755, AGC= 61, IDX= 507,-0.28, 1.489,-0.002, 1.959, 1.428, PHS= 0.163,-1.385, 0.487, RAW= 159.3,   8.5, CAL= 159.0,   8.9, ROT= 351.0,  -8.9

2025-10-26T23:04:28.312Z,1761519868.312 [DAT](INFO): got valid direction response:
 23:04:27.1477 LVL= 30512, 32753, 30818, 32755, AGC= 61, IDX= 507,-0.28, 1.489,-0.002, 1.959, 1.428, PHS= 0.163,-1.385, 0.487, RAW= 159.3,   8.5, CAL= 159.0,   8.9, ROT= 351.0,  -8.9

2025-10-26T23:04:28.313Z,1761519868.313 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-10-26T23:04:28.314Z,1761519868.314 [DAT](INFO): direction in FSK: [0.975796,-0.154551,0.154710]
2025-10-26T23:04:28.314Z,1761519868.314 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:28.318Z,1761519868.318 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.948238
2025-10-26T23:04:28.386Z,1761519868.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275048,-0.941133,-0.196513],[0.961377,0.271382,0.045891],[0.010141,-0.201546,0.979427]]
2025-10-26T23:04:28.474Z,1761519868.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.499774 s,
      deltaX: -0.400000 m,
      approachRate: -0.800361 m/s,
      rangeRepo size: 4

2025-10-26T23:04:28.481Z,1761519868.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.097706 m,
      bearing: 66.998521 deg,
      lat: 36.779409 deg,
      lon: -121.859376 deg,
      deltaT: 0.499774 s,
      deltaX: -0.397974 m,
      approachRate: -0.796308 m/s,
      posRepo size: 4

2025-10-26T23:04:28.481Z,1761519868.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.10 m.
2025-10-26T23:04:28.488Z,1761519868.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.097706 m,
      nav range: 20.586697 m,
      bearing: 66.861197 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.059490 deg/s,
      cmd heading: 71.635338 deg,
      new cmd heading: 71.556921 deg.

2025-10-26T23:04:28.489Z,1761519868.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248904 target range: 21.097706 and range: 21.20 m.
2025-10-26T23:04:28.550Z,1761519868.550 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.180079
2025-10-26T23:04:28.805Z,1761519868.805 [DAT](INFO): DAT read: Rx Time:23:04:27.6476 

2025-10-26T23:04:28.807Z,1761519868.807 [DAT](INFO): Rx dataTimestamp_ set to:1761519868.805670
2025-10-26T23:04:28.823Z,1761519868.823 [DAT](INFO): DAT read: Bearing 227.8, -10.8 (Local)

2025-10-26T23:04:28.824Z,1761519868.824 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.8, -10.8 (Local)

2025-10-26T23:04:28.831Z,1761519868.831 [DAT](INFO): DAT read: Range 11 to 50 :    21.0 m (trip time 14.0 ms) speed 0.4

2025-10-26T23:04:28.855Z,1761519868.855 [DAT](INFO): DAT read: 23:04:27.6476 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 505,-0.04, 2.326, 0.857, 2.792, 2.340, PHS= 0.088,-1.438, 0.408, RAW= 159.3,  11.0, CAL= 159.5,  12.2, ROT= 350.5, -12.2

2025-10-26T23:04:28.864Z,1761519868.864 [DAT](INFO): got valid direction response:
 23:04:27.6476 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 505,-0.04, 2.326, 0.857, 2.792, 2.340, PHS= 0.088,-1.438, 0.408, RAW= 159.3,  11.0, CAL= 159.5,  12.2, ROT= 350.5, -12.2

2025-10-26T23:04:28.864Z,1761519868.864 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-10-26T23:04:28.865Z,1761519868.865 [DAT](INFO): direction in FSK: [0.964011,-0.161320,0.211325]
2025-10-26T23:04:28.866Z,1761519868.866 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:28.882Z,1761519868.882 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.511955
2025-10-26T23:04:28.885Z,1761519868.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273675,-0.943179,-0.188458],[0.961753,0.270708,0.041819],[0.011575,-0.192694,0.981191]]
2025-10-26T23:04:29.003Z,1761519869.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 0.507281 s,
      deltaX: -0.200001 m,
      approachRate: -0.394260 m/s,
      rangeRepo size: 4

2025-10-26T23:04:29.009Z,1761519869.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.898670 m,
      bearing: 67.142083 deg,
      lat: 36.779409 deg,
      lon: -121.859376 deg,
      deltaT: 0.507281 s,
      deltaX: -0.199036 m,
      approachRate: -0.392358 m/s,
      posRepo size: 4

2025-10-26T23:04:29.010Z,1761519869.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-10-26T23:04:29.017Z,1761519869.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.898670 m,
      nav range: 20.268768 m,
      bearing: 66.931479 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.059490 deg/s,
      cmd heading: 71.556921 deg,
      new cmd heading: 71.462563 deg.

2025-10-26T23:04:29.018Z,1761519869.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.247257 target range: 20.898670 and range: 21.00 m.
2025-10-26T23:04:29.053Z,1761519869.053 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.683039
2025-10-26T23:04:29.305Z,1761519869.305 [DAT](INFO): DAT read: Rx Time:23:04:28.1473 

2025-10-26T23:04:29.305Z,1761519869.305 [DAT](INFO): Rx dataTimestamp_ set to:1761519869.305182
2025-10-26T23:04:29.307Z,1761519869.307 [DAT](INFO): DAT read: Bearing 225.5, -10.2 (Local)

2025-10-26T23:04:29.307Z,1761519869.307 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.5, -10.2 (Local)

2025-10-26T23:04:29.309Z,1761519869.309 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed 0.4

2025-10-26T23:04:29.314Z,1761519869.314 [DAT](INFO): DAT read: 23:04:28.1473 LVL= 32752, 32753, 31938, 32755, AGC= 61, IDX= 502, 0.25, 2.035, 0.538, 2.521, 2.001, PHS= 0.136,-1.418, 0.476, RAW= 159.7,   9.2, CAL= 159.5,   9.8, ROT= 350.5,  -9.8

2025-10-26T23:04:29.315Z,1761519869.315 [DAT](INFO): got valid direction response:
 23:04:28.1473 LVL= 32752, 32753, 31938, 32755, AGC= 61, IDX= 502, 0.25, 2.035, 0.538, 2.521, 2.001, PHS= 0.136,-1.418, 0.476, RAW= 159.7,   9.2, CAL= 159.5,   9.8, ROT= 350.5,  -9.8

2025-10-26T23:04:29.322Z,1761519869.322 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-10-26T23:04:29.323Z,1761519869.323 [DAT](INFO): direction in FSK: [0.971894,-0.162639,0.170209]
2025-10-26T23:04:29.324Z,1761519869.324 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:29.339Z,1761519869.339 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.957561
2025-10-26T23:04:29.357Z,1761519869.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272595,-0.946342,-0.173576],[0.962025,0.270747,0.034702],[0.014155,-0.176444,0.984209]]
2025-10-26T23:04:29.433Z,1761519869.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.499512 s,
      deltaX: -0.400000 m,
      approachRate: -0.800781 m/s,
      rangeRepo size: 4

2025-10-26T23:04:29.439Z,1761519869.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.500839 m,
      bearing: 66.535699 deg,
      lat: 36.779409 deg,
      lon: -121.859376 deg,
      deltaT: 0.499512 s,
      deltaX: -0.397831 m,
      approachRate: -0.796439 m/s,
      posRepo size: 4

2025-10-26T23:04:29.448Z,1761519869.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.50 m.
2025-10-26T23:04:29.450Z,1761519869.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.500839 m,
      nav range: 20.045439 m,
      bearing: 66.731211 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.059490 deg/s,
      cmd heading: 71.462562 deg,
      new cmd heading: 71.385735 deg.

2025-10-26T23:04:29.456Z,1761519869.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.245916 target range: 20.500839 and range: 20.60 m.
2025-10-26T23:04:29.557Z,1761519869.557 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.187620
2025-10-26T23:04:29.792Z,1761519869.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273149,-0.946193,-0.173516],[0.961854,0.271458,0.033872],[0.015053,-0.176149,0.984248]]
2025-10-26T23:04:29.813Z,1761519869.813 [DAT](INFO): DAT read: Rx Time:23:04:28.6472 

2025-10-26T23:04:29.815Z,1761519869.815 [DAT](INFO): Rx dataTimestamp_ set to:1761519869.813932
2025-10-26T23:04:29.819Z,1761519869.819 [DAT](INFO): DAT read: Bearing 229.2, -10.0 (Local)

2025-10-26T23:04:29.845Z,1761519869.845 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.2, -10.0 (Local)

2025-10-26T23:04:29.863Z,1761519869.863 [DAT](INFO): DAT read: Range 11 to 50 :    20.4 m (trip time 13.6 ms) speed 0.4

2025-10-26T23:04:29.878Z,1761519869.878 [DAT](INFO): DAT read: 23:04:28.6472 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 502,-0.41, 2.766, 1.296,-3.078, 2.796, PHS= 0.073,-1.454, 0.365, RAW= 158.6,  12.0, CAL= 158.9,  13.4, ROT= 351.1, -13.4

2025-10-26T23:04:29.879Z,1761519869.879 [DAT](INFO): got valid direction response:
 23:04:28.6472 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 502,-0.41, 2.766, 1.296,-3.078, 2.796, PHS= 0.073,-1.454, 0.365, RAW= 158.6,  12.0, CAL= 158.9,  13.4, ROT= 351.1, -13.4

2025-10-26T23:04:29.881Z,1761519869.881 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:04:29.883Z,1761519869.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.50 m.
2025-10-26T23:04:29.885Z,1761519869.885 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-10-26T23:04:29.889Z,1761519869.889 [DAT](INFO): direction in FSK: [0.961064,-0.150499,0.231748]
2025-10-26T23:04:29.889Z,1761519869.889 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:29.901Z,1761519869.901 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.531340
2025-10-26T23:04:29.902Z,1761519869.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.500839 m,
      nav range: 19.794334 m,
      bearing: 66.666780 deg,
      approach rate: -0.557669 m/s,
      LOS rate: -0.144909 deg/s,
      cmd heading: 71.385736 deg,
      new cmd heading: 71.189990 deg.

2025-10-26T23:04:29.903Z,1761519869.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.242500 target range: 20.500839 and range: 20.60 m.
2025-10-26T23:04:30.061Z,1761519870.061 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.691006
2025-10-26T23:04:30.205Z,1761519870.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274402,-0.945391,-0.175899],[0.961488,0.272715,0.034174],[0.015663,-0.178502,0.983815]]
2025-10-26T23:04:30.301Z,1761519870.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.400000 m,
      deltaT: 0.508750 s,
      deltaX: -0.200001 m,
      approachRate: -0.393122 m/s,
      rangeRepo size: 4

2025-10-26T23:04:30.303Z,1761519870.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.301802 m,
      bearing: 67.708970 deg,
      lat: 36.779409 deg,
      lon: -121.859375 deg,
      deltaT: 0.508750 s,
      deltaX: -0.199038 m,
      approachRate: -0.391229 m/s,
      posRepo size: 4

2025-10-26T23:04:30.304Z,1761519870.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m.
2025-10-26T23:04:30.306Z,1761519870.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.301802 m,
      nav range: 19.641121 m,
      bearing: 66.727815 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.144909 deg/s,
      cmd heading: 71.189989 deg,
      new cmd heading: 71.009138 deg.

2025-10-26T23:04:30.307Z,1761519870.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.239343 target range: 20.301802 and range: 20.40 m.
2025-10-26T23:04:30.333Z,1761519870.333 [DAT](INFO): DAT read: Rx Time:23:04:29.1470 

2025-10-26T23:04:30.333Z,1761519870.333 [DAT](INFO): Rx dataTimestamp_ set to:1761519870.333173
2025-10-26T23:04:30.335Z,1761519870.335 [DAT](INFO): DAT read: Bearing 225.3, -10.2 (Local)

2025-10-26T23:04:30.335Z,1761519870.335 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.3, -10.2 (Local)

2025-10-26T23:04:30.337Z,1761519870.337 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed 0.4

2025-10-26T23:04:30.342Z,1761519870.342 [DAT](INFO): DAT read: 23:04:29.1470 LVL= 32752, 32753, 30690, 32755, AGC= 62, IDX= 499,-0.01, 0.984,-0.504, 1.468, 0.953, PHS= 0.133,-1.412, 0.471, RAW= 159.7,   9.3, CAL= 159.5,   9.9, ROT= 350.5,  -9.9

2025-10-26T23:04:30.343Z,1761519870.343 [DAT](INFO): got valid direction response:
 23:04:29.1470 LVL= 32752, 32753, 30690, 32755, AGC= 62, IDX= 499,-0.01, 0.984,-0.504, 1.468, 0.953, PHS= 0.133,-1.412, 0.471, RAW= 159.7,   9.3, CAL= 159.5,   9.9, ROT= 350.5,  -9.9

2025-10-26T23:04:30.343Z,1761519870.343 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-10-26T23:04:30.344Z,1761519870.344 [DAT](INFO): direction in FSK: [0.971599,-0.162590,0.171929]
2025-10-26T23:04:30.345Z,1761519870.345 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:30.352Z,1761519870.352 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.982746
2025-10-26T23:04:30.584Z,1761519870.584 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.214930
2025-10-26T23:04:30.607Z,1761519870.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276734,-0.945354,-0.172404],[0.960817,0.275153,0.033488],[0.015779,-0.174916,0.984457]]
2025-10-26T23:04:30.644Z,1761519870.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.519241 s,
      deltaX: -0.299999 m,
      approachRate: -0.577765 m/s,
      rangeRepo size: 4

2025-10-26T23:04:30.646Z,1761519870.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.003523 m,
      bearing: 66.286117 deg,
      lat: 36.779409 deg,
      lon: -121.859374 deg,
      deltaT: 0.519241 s,
      deltaX: -0.298279 m,
      approachRate: -0.574452 m/s,
      posRepo size: 4

2025-10-26T23:04:30.647Z,1761519870.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m.
2025-10-26T23:04:30.650Z,1761519870.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.003523 m,
      nav range: 19.478613 m,
      bearing: 66.730233 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.144909 deg/s,
      cmd heading: 71.009140 deg,
      new cmd heading: 70.859468 deg.

2025-10-26T23:04:30.652Z,1761519870.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.236731 target range: 20.003523 and range: 20.10 m.
2025-10-26T23:04:30.841Z,1761519870.841 [DAT](INFO): DAT read: Rx Time:23:04:29.6469 

2025-10-26T23:04:30.843Z,1761519870.843 [DAT](INFO): Rx dataTimestamp_ set to:1761519870.841896
2025-10-26T23:04:30.847Z,1761519870.847 [DAT](INFO): DAT read: Bearing 227.8, -10.9 (Local)

2025-10-26T23:04:30.849Z,1761519870.849 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.8, -10.9 (Local)

2025-10-26T23:04:30.860Z,1761519870.860 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed 0.4

2025-10-26T23:04:30.869Z,1761519870.869 [DAT](INFO): DAT read: 23:04:29.6469 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 498, 0.19,-2.679, 2.134,-2.200,-2.651, PHS= 0.074,-1.453, 0.408, RAW= 159.7,  11.3, CAL= 159.8,  12.5, ROT= 350.2, -12.5

2025-10-26T23:04:30.870Z,1761519870.870 [DAT](INFO): got valid direction response:
 23:04:29.6469 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 498, 0.19,-2.679, 2.134,-2.200,-2.651, PHS= 0.074,-1.453, 0.408, RAW= 159.7,  11.3, CAL= 159.8,  12.5, ROT= 350.2, -12.5

2025-10-26T23:04:30.871Z,1761519870.871 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-10-26T23:04:30.872Z,1761519870.872 [DAT](INFO): direction in FSK: [0.962050,-0.166175,0.216440]
2025-10-26T23:04:30.872Z,1761519870.872 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:30.876Z,1761519870.876 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.506313
2025-10-26T23:04:31.010Z,1761519871.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278823,-0.945301,-0.169302],[0.960211,0.277336,0.032857],[0.015894,-0.171727,0.985016]]
2025-10-26T23:04:31.088Z,1761519871.088 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.718807
2025-10-26T23:04:31.157Z,1761519871.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.508723 s,
      deltaX: -0.100000 m,
      approachRate: -0.196571 m/s,
      rangeRepo size: 4

2025-10-26T23:04:31.161Z,1761519871.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.904003 m,
      bearing: 66.284514 deg,
      lat: 36.779410 deg,
      lon: -121.859375 deg,
      deltaT: 0.508723 s,
      deltaX: -0.099520 m,
      approachRate: -0.195627 m/s,
      posRepo size: 4

2025-10-26T23:04:31.162Z,1761519871.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m.
2025-10-26T23:04:31.167Z,1761519871.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.904003 m,
      nav range: 19.204187 m,
      bearing: 66.496790 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.144909 deg/s,
      cmd heading: 70.859470 deg,
      new cmd heading: 70.637175 deg.

2025-10-26T23:04:31.169Z,1761519871.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.232851 target range: 19.904003 and range: 20.00 m.
2025-10-26T23:04:31.341Z,1761519871.341 [DAT](INFO): DAT read: Rx Time:23:04:30.1466 

2025-10-26T23:04:31.342Z,1761519871.342 [DAT](INFO): Rx dataTimestamp_ set to:1761519871.341501
2025-10-26T23:04:31.343Z,1761519871.343 [DAT](INFO): DAT read: Bearing 226.9, -10.8 (Local)

2025-10-26T23:04:31.343Z,1761519871.343 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.9, -10.8 (Local)

2025-10-26T23:04:31.346Z,1761519871.346 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed 0.4

2025-10-26T23:04:31.351Z,1761519871.351 [DAT](INFO): DAT read: 23:04:30.1466 LVL= 32240, 32753, 26818, 32755, AGC= 62, IDX= 496,-0.38, 0.968,-0.524, 1.457, 0.981, PHS= 0.088,-1.461, 0.432, RAW= 159.8,  10.8, CAL= 159.9,  11.9, ROT= 350.1, -11.9

2025-10-26T23:04:31.352Z,1761519871.352 [DAT](INFO): got valid direction response:
 23:04:30.1466 LVL= 32240, 32753, 26818, 32755, AGC= 62, IDX= 496,-0.38, 0.968,-0.524, 1.457, 0.981, PHS= 0.088,-1.461, 0.432, RAW= 159.8,  10.8, CAL= 159.9,  11.9, ROT= 350.1, -11.9

2025-10-26T23:04:31.352Z,1761519871.352 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-10-26T23:04:31.353Z,1761519871.353 [DAT](INFO): direction in FSK: [0.963938,-0.168234,0.206204]
2025-10-26T23:04:31.354Z,1761519871.354 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:31.359Z,1761519871.359 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.989004
2025-10-26T23:04:31.460Z,1761519871.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281644,-0.943913,-0.172350],[0.959386,0.280014,0.034214],[0.015966,-0.174986,0.984441]]
2025-10-26T23:04:31.525Z,1761519871.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.499605 s,
      deltaX: -0.500000 m,
      approachRate: -1.000791 m/s,
      rangeRepo size: 4

2025-10-26T23:04:31.536Z,1761519871.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.406488 m,
      bearing: 65.954787 deg,
      lat: 36.779411 deg,
      lon: -121.859375 deg,
      deltaT: 0.499605 s,
      deltaX: -0.497515 m,
      approachRate: -0.995816 m/s,
      posRepo size: 4

2025-10-26T23:04:31.536Z,1761519871.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.41 m.
2025-10-26T23:04:31.539Z,1761519871.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.406488 m,
      nav range: 19.029778 m,
      bearing: 66.261557 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.144909 deg/s,
      cmd heading: 70.637174 deg,
      new cmd heading: 70.476344 deg.

2025-10-26T23:04:31.544Z,1761519871.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.230044 target range: 19.406488 and range: 19.50 m.
2025-10-26T23:04:31.593Z,1761519871.593 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.223429
2025-10-26T23:04:31.849Z,1761519871.849 [DAT](INFO): DAT read: Rx Time:23:04:30.6466 

2025-10-26T23:04:31.850Z,1761519871.850 [DAT](INFO): Rx dataTimestamp_ set to:1761519871.849298
2025-10-26T23:04:31.855Z,1761519871.855 [DAT](INFO): DAT read: Bearing 226.6, -10.4 (Local)

2025-10-26T23:04:31.856Z,1761519871.856 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.6, -10.4 (Local)

2025-10-26T23:04:31.862Z,1761519871.862 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed 0.5

2025-10-26T23:04:31.905Z,1761519871.905 [DAT](INFO): DAT read: 23:04:30.6466 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 511,-0.10, 1.994, 0.507, 2.458, 1.996, PHS= 0.100,-1.443, 0.418, RAW= 159.2,  10.7, CAL= 159.3,  11.8, ROT= 350.7, -11.8

2025-10-26T23:04:31.906Z,1761519871.906 [DAT](INFO): got valid direction response:
 23:04:30.6466 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 511,-0.10, 1.994, 0.507, 2.458, 1.996, PHS= 0.100,-1.443, 0.418, RAW= 159.2,  10.7, CAL= 159.3,  11.8, ROT= 350.7, -11.8

2025-10-26T23:04:31.906Z,1761519871.906 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-10-26T23:04:31.915Z,1761519871.915 [DAT](INFO): direction in FSK: [0.966001,-0.158188,0.204496]
2025-10-26T23:04:31.916Z,1761519871.916 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:31.935Z,1761519871.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285287,-0.941424,-0.179813],[0.958310,0.283302,0.037185],[0.015934,-0.182925,0.982998]]
2025-10-26T23:04:31.935Z,1761519871.935 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.549585
2025-10-26T23:04:32.046Z,1761519872.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.507797 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:04:32.057Z,1761519872.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.406488 m,
      bearing: 66.424088 deg,
      lat: 36.779411 deg,
      lon: -121.859374 deg,
      deltaT: 0.507797 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:04:32.057Z,1761519872.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.41 m.
2025-10-26T23:04:32.064Z,1761519872.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.406488 m,
      nav range: 18.762575 m,
      bearing: 66.294326 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.144909 deg/s,
      cmd heading: 70.476344 deg,
      new cmd heading: 70.249815 deg.

2025-10-26T23:04:32.065Z,1761519872.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.226091 target range: 19.406488 and range: 19.50 m.
2025-10-26T23:04:32.100Z,1761519872.100 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.730873
2025-10-26T23:04:32.349Z,1761519872.349 [DAT](INFO): DAT read: Rx Time:23:04:31.1463 

2025-10-26T23:04:32.350Z,1761519872.350 [DAT](INFO): Rx dataTimestamp_ set to:1761519872.349211
2025-10-26T23:04:32.351Z,1761519872.351 [DAT](INFO): DAT read: Bearing 229.9, -10.0 (Local)

2025-10-26T23:04:32.351Z,1761519872.351 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.9, -10.0 (Local)

2025-10-26T23:04:32.353Z,1761519872.353 [DAT](INFO): DAT read: Range 11 to 50 :    19.1 m (trip time 12.7 ms) speed 0.4

2025-10-26T23:04:32.358Z,1761519872.358 [DAT](INFO): DAT read: 23:04:31.1463 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 508, 0.01,-3.019, 1.784,-2.612,-2.961, PHS= 0.044,-1.493, 0.304, RAW= 157.7,  13.5, CAL= 158.2,  15.4, ROT= 351.8, -15.4

2025-10-26T23:04:32.359Z,1761519872.359 [DAT](INFO): got valid direction response:
 23:04:31.1463 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 508, 0.01,-3.019, 1.784,-2.612,-2.961, PHS= 0.044,-1.493, 0.304, RAW= 157.7,  13.5, CAL= 158.2,  15.4, ROT= 351.8, -15.4

2025-10-26T23:04:32.359Z,1761519872.359 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-26T23:04:32.360Z,1761519872.360 [DAT](INFO): direction in FSK: [0.954239,-0.137508,0.265556]
2025-10-26T23:04:32.361Z,1761519872.361 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:32.380Z,1761519872.380 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.010803
2025-10-26T23:04:32.385Z,1761519872.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288979,-0.938868,-0.187129],[0.957203,0.286613,0.040185],[0.015905,-0.190733,0.981513]]
2025-10-26T23:04:32.478Z,1761519872.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.100000 m,
      deltaT: 0.499913 s,
      deltaX: -0.400000 m,
      approachRate: -0.800138 m/s,
      rangeRepo size: 4

2025-10-26T23:04:32.484Z,1761519872.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.008911 m,
      bearing: 68.126077 deg,
      lat: 36.779411 deg,
      lon: -121.859375 deg,
      deltaT: 0.499913 s,
      deltaX: -0.397577 m,
      approachRate: -0.795293 m/s,
      posRepo size: 4

2025-10-26T23:04:32.485Z,1761519872.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:04:32.488Z,1761519872.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.008911 m,
      nav range: 18.501194 m,
      bearing: 66.257030 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.144909 deg/s,
      cmd heading: 70.249814 deg,
      new cmd heading: 70.062225 deg.

2025-10-26T23:04:32.489Z,1761519872.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.222816 target range: 19.008911 and range: 19.10 m.
2025-10-26T23:04:32.601Z,1761519872.601 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.231066
2025-10-26T23:04:32.795Z,1761519872.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292922,-0.936654,-0.192031],[0.956000,0.290304,0.042282],[0.016143,-0.195967,0.980478]]
2025-10-26T23:04:32.814Z,1761519872.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:04:32.819Z,1761519872.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:04:32.857Z,1761519872.857 [DAT](INFO): DAT read: Rx Time:23:04:31.6461 

2025-10-26T23:04:32.858Z,1761519872.858 [DAT](INFO): Rx dataTimestamp_ set to:1761519872.857755
2025-10-26T23:04:32.862Z,1761519872.862 [DAT](INFO): DAT read: Bearing 226.4, -10.6 (Local)

2025-10-26T23:04:32.864Z,1761519872.864 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.4, -10.6 (Local)

2025-10-26T23:04:32.870Z,1761519872.870 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.4

2025-10-26T23:04:32.891Z,1761519872.891 [DAT](INFO): DAT read: 23:04:31.6461 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 506, 0.31,-3.003, 1.793,-2.541,-2.988, PHS= 0.087,-1.458, 0.403, RAW= 159.1,  11.2, CAL= 159.3,  12.4, ROT= 350.7, -12.4

2025-10-26T23:04:32.902Z,1761519872.902 [DAT](INFO): got valid direction response:
 23:04:31.6461 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 506, 0.31,-3.003, 1.793,-2.541,-2.988, PHS= 0.087,-1.458, 0.403, RAW= 159.1,  11.2, CAL= 159.3,  12.4, ROT= 350.7, -12.4

2025-10-26T23:04:32.902Z,1761519872.902 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-10-26T23:04:32.903Z,1761519872.903 [DAT](INFO): direction in FSK: [0.963835,-0.157834,0.214735]
2025-10-26T23:04:32.905Z,1761519872.905 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:32.904Z,1761519872.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.008911 m,
      nav range: 18.303619 m,
      bearing: 66.259056 deg,
      approach rate: -0.578045 m/s,
      LOS rate: 0.005991 deg/s,
      cmd heading: 70.062223 deg,
      new cmd heading: 70.068366 deg.

2025-10-26T23:04:32.908Z,1761519872.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.222924 target range: 19.008911 and range: 19.10 m.
2025-10-26T23:04:32.925Z,1761519872.925 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.555033
2025-10-26T23:04:33.104Z,1761519873.104 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.734875
2025-10-26T23:04:33.277Z,1761519873.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296804,-0.935655,-0.190936],[0.954797,0.294205,0.042488],[0.016420,-0.194915,0.980683]]
2025-10-26T23:04:33.323Z,1761519873.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.508544 s,
      deltaX: -0.300001 m,
      approachRate: -0.589922 m/s,
      rangeRepo size: 4

2025-10-26T23:04:33.341Z,1761519873.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.710340 m,
      bearing: 66.020039 deg,
      lat: 36.779411 deg,
      lon: -121.859375 deg,
      deltaT: 0.508544 s,
      deltaX: -0.298571 m,
      approachRate: -0.587109 m/s,
      posRepo size: 4

2025-10-26T23:04:33.341Z,1761519873.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-26T23:04:33.350Z,1761519873.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.710340 m,
      nav range: 18.042891 m,
      bearing: 66.293047 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005991 deg/s,
      cmd heading: 70.068363 deg,
      new cmd heading: 70.077401 deg.

2025-10-26T23:04:33.353Z,1761519873.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.223081 target range: 18.710340 and range: 18.80 m.
2025-10-26T23:04:33.357Z,1761519873.357 [DAT](INFO): DAT read: Rx Time:23:04:32.1458 

2025-10-26T23:04:33.358Z,1761519873.358 [DAT](INFO): Rx dataTimestamp_ set to:1761519873.357245
2025-10-26T23:04:33.359Z,1761519873.359 [DAT](INFO): DAT read: Bearing 227.7, -10.5 (Local)

2025-10-26T23:04:33.359Z,1761519873.359 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.7, -10.5 (Local)

2025-10-26T23:04:33.361Z,1761519873.361 [DAT](INFO): DAT read: Range 11 to 50 :    18.5 m (trip time 12.3 ms) speed 0.5

2025-10-26T23:04:33.366Z,1761519873.366 [DAT](INFO): DAT read: 23:04:32.1458 LVL= 32752, 32753, 31090, 32755, AGC= 61, IDX= 504,-0.28,-0.810,-2.317,-0.363,-0.773, PHS= 0.064,-1.499, 0.365, RAW= 158.6,  12.3, CAL= 159.0,  13.9, ROT= 351.0, -13.9

2025-10-26T23:04:33.367Z,1761519873.367 [DAT](INFO): got valid direction response:
 23:04:32.1458 LVL= 32752, 32753, 31090, 32755, AGC= 61, IDX= 504,-0.28,-0.810,-2.317,-0.363,-0.773, PHS= 0.064,-1.499, 0.365, RAW= 158.6,  12.3, CAL= 159.0,  13.9, ROT= 351.0, -13.9

2025-10-26T23:04:33.368Z,1761519873.368 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-10-26T23:04:33.369Z,1761519873.369 [DAT](INFO): direction in FSK: [0.958765,-0.151853,0.240228]
2025-10-26T23:04:33.369Z,1761519873.369 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:33.373Z,1761519873.373 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.003632
2025-10-26T23:04:33.609Z,1761519873.609 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.238983
2025-10-26T23:04:33.638Z,1761519873.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300489,-0.935505,-0.185840],[0.953640,0.298083,0.041437],[0.016631,-0.189675,0.981706]]
2025-10-26T23:04:33.730Z,1761519873.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.500000 m,
      deltaT: 0.499490 s,
      deltaX: -0.299999 m,
      approachRate: -0.600611 m/s,
      rangeRepo size: 4

2025-10-26T23:04:33.746Z,1761519873.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.411882 m,
      bearing: 66.318715 deg,
      lat: 36.779410 deg,
      lon: -121.859376 deg,
      deltaT: 0.499490 s,
      deltaX: -0.298458 m,
      approachRate: -0.597526 m/s,
      posRepo size: 4

2025-10-26T23:04:33.760Z,1761519873.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.41 m.
2025-10-26T23:04:33.777Z,1761519873.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.411882 m,
      nav range: 17.734674 m,
      bearing: 66.222002 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005991 deg/s,
      cmd heading: 70.077399 deg,
      new cmd heading: 70.084576 deg.

2025-10-26T23:04:33.778Z,1761519873.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.223207 target range: 18.411882 and range: 18.50 m.
2025-10-26T23:04:33.866Z,1761519873.866 [DAT](INFO): DAT read: Rx Time:23:04:32.6458 

2025-10-26T23:04:33.868Z,1761519873.868 [DAT](INFO): Rx dataTimestamp_ set to:1761519873.866662
2025-10-26T23:04:33.873Z,1761519873.873 [DAT](INFO): DAT read: Bearing 225.5,  -9.8 (Local)

2025-10-26T23:04:33.874Z,1761519873.874 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.5,  -9.8 (Local)

2025-10-26T23:04:33.882Z,1761519873.882 [DAT](INFO): DAT read: Range 11 to 50 :    18.5 m (trip time 12.3 ms) speed 0.4

2025-10-26T23:04:33.930Z,1761519873.930 [DAT](INFO): DAT read: 23:04:32.6458 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.09, 0.894,-0.626, 1.345, 0.885, PHS= 0.111,-1.466, 0.415, RAW= 158.7,  10.8, CAL= 158.7,  11.8, ROT= 351.3, -11.8

2025-10-26T23:04:33.931Z,1761519873.931 [DAT](INFO): got valid direction response:
 23:04:32.6458 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.09, 0.894,-0.626, 1.345, 0.885, PHS= 0.111,-1.466, 0.415, RAW= 158.7,  10.8, CAL= 158.7,  11.8, ROT= 351.3, -11.8

2025-10-26T23:04:33.936Z,1761519873.936 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-10-26T23:04:33.937Z,1761519873.937 [DAT](INFO): direction in FSK: [0.967604,-0.148064,0.204496]
2025-10-26T23:04:33.938Z,1761519873.938 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:33.953Z,1761519873.953 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.583809
2025-10-26T23:04:34.112Z,1761519874.112 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.742826
2025-10-26T23:04:34.136Z,1761519874.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307950,-0.935061,-0.175576],[0.951246,0.305958,0.038996],[0.017255,-0.179025,0.983693]]
2025-10-26T23:04:34.265Z,1761519874.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.500000 m,
      deltaT: 0.509417 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:04:34.274Z,1761519874.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.411882 m,
      bearing: 65.603998 deg,
      lat: 36.779410 deg,
      lon: -121.859375 deg,
      deltaT: 0.509417 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:04:34.275Z,1761519874.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.41 m.
2025-10-26T23:04:34.282Z,1761519874.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.411882 m,
      nav range: 17.589176 m,
      bearing: 66.450155 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005991 deg/s,
      cmd heading: 70.084578 deg,
      new cmd heading: 70.094205 deg.

2025-10-26T23:04:34.282Z,1761519874.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.223375 target range: 18.411882 and range: 18.50 m.
2025-10-26T23:04:34.366Z,1761519874.366 [DAT](INFO): DAT read: Rx Time:23:04:33.1456 

2025-10-26T23:04:34.367Z,1761519874.367 [DAT](INFO): Rx dataTimestamp_ set to:1761519874.366392
2025-10-26T23:04:34.369Z,1761519874.369 [DAT](INFO): DAT read: Bearing 224.2,  -9.9 (Local)

2025-10-26T23:04:34.369Z,1761519874.369 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.2,  -9.9 (Local)

2025-10-26T23:04:34.372Z,1761519874.372 [DAT](INFO): DAT read: Range 11 to 50 :    18.0 m (trip time 12.0 ms) speed 0.4

2025-10-26T23:04:34.377Z,1761519874.377 [DAT](INFO): DAT read: 23:04:33.1456 LVL= 32752, 32753, 32242, 32755, AGC= 62, IDX= 500, 0.08, 0.925,-0.598, 1.397, 0.900, PHS= 0.127,-1.453, 0.453, RAW= 159.2,   9.9, CAL= 159.1,  10.7, ROT= 350.9, -10.7

2025-10-26T23:04:34.378Z,1761519874.378 [DAT](INFO): got valid direction response:
 23:04:33.1456 LVL= 32752, 32753, 32242, 32755, AGC= 62, IDX= 500, 0.08, 0.925,-0.598, 1.397, 0.900, PHS= 0.127,-1.453, 0.453, RAW= 159.2,   9.9, CAL= 159.1,  10.7, ROT= 350.9, -10.7

2025-10-26T23:04:34.379Z,1761519874.379 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-10-26T23:04:34.380Z,1761519874.380 [DAT](INFO): direction in FSK: [0.970245,-0.155408,0.185667]
2025-10-26T23:04:34.380Z,1761519874.380 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:34.394Z,1761519874.394 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.023741
2025-10-26T23:04:34.616Z,1761519874.616 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.246784
2025-10-26T23:04:34.622Z,1761519874.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311678,-0.934203,-0.173554],[0.950025,0.309768,0.038691],[0.017616,-0.176940,0.984064]]
2025-10-26T23:04:34.647Z,1761519874.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 0.499730 s,
      deltaX: -0.500000 m,
      approachRate: -1.000540 m/s,
      rangeRepo size: 4

2025-10-26T23:04:34.670Z,1761519874.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.914101 m,
      bearing: 64.752572 deg,
      lat: 36.779411 deg,
      lon: -121.859376 deg,
      deltaT: 0.499730 s,
      deltaX: -0.497782 m,
      approachRate: -0.996101 m/s,
      posRepo size: 4

2025-10-26T23:04:34.676Z,1761519874.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.91 m.
2025-10-26T23:04:34.684Z,1761519874.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.914101 m,
      nav range: 17.309767 m,
      bearing: 66.018614 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005991 deg/s,
      cmd heading: 70.094208 deg,
      new cmd heading: 70.101180 deg.

2025-10-26T23:04:34.685Z,1761519874.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.223496 target range: 17.914101 and range: 18.00 m.
2025-10-26T23:04:34.873Z,1761519874.873 [DAT](INFO): DAT read: Rx Time:23:04:33.6455 

2025-10-26T23:04:34.874Z,1761519874.874 [DAT](INFO): Rx dataTimestamp_ set to:1761519874.873438
2025-10-26T23:04:34.878Z,1761519874.878 [DAT](INFO): DAT read: Bearing 226.3, -10.1 (Local)

2025-10-26T23:04:34.880Z,1761519874.880 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.3, -10.1 (Local)

2025-10-26T23:04:34.887Z,1761519874.887 [DAT](INFO): DAT read: Range 11 to 50 :    17.9 m (trip time 11.9 ms) speed 0.4

2025-10-26T23:04:34.932Z,1761519874.932 [DAT](INFO): DAT read: 23:04:33.6455 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.29, 2.800, 1.288,-3.028, 2.818, PHS= 0.084,-1.485, 0.393, RAW= 158.8,  11.6, CAL= 159.0,  12.9, ROT= 351.0, -12.9

2025-10-26T23:04:34.933Z,1761519874.933 [DAT](INFO): got valid direction response:
 23:04:33.6455 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.29, 2.800, 1.288,-3.028, 2.818, PHS= 0.084,-1.485, 0.393, RAW= 158.8,  11.6, CAL= 159.0,  12.9, ROT= 351.0, -12.9

2025-10-26T23:04:34.933Z,1761519874.933 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-10-26T23:04:34.934Z,1761519874.934 [DAT](INFO): direction in FSK: [0.962760,-0.152486,0.223250]
2025-10-26T23:04:34.935Z,1761519874.935 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:34.942Z,1761519874.942 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.572823
2025-10-26T23:04:35.023Z,1761519875.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315883,-0.932901,-0.172958],[0.948637,0.313901,0.039432],[0.017505,-0.176530,0.984140]]
2025-10-26T23:04:35.121Z,1761519875.121 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.750956
2025-10-26T23:04:35.141Z,1761519875.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 0.507046 s,
      deltaX: -0.100000 m,
      approachRate: -0.197222 m/s,
      rangeRepo size: 4

2025-10-26T23:04:35.143Z,1761519875.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.814579 m,
      bearing: 64.995002 deg,
      lat: 36.779414 deg,
      lon: -121.859377 deg,
      deltaT: 0.507046 s,
      deltaX: -0.099522 m,
      approachRate: -0.196277 m/s,
      posRepo size: 4

2025-10-26T23:04:35.168Z,1761519875.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.81 m.
2025-10-26T23:04:35.181Z,1761519875.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.814579 m,
      nav range: 17.136421 m,
      bearing: 65.346105 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005991 deg/s,
      cmd heading: 70.101182 deg,
      new cmd heading: 70.110085 deg.

2025-10-26T23:04:35.181Z,1761519875.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.223652 target range: 17.814579 and range: 17.90 m.
2025-10-26T23:04:35.373Z,1761519875.373 [DAT](INFO): DAT read: Rx Time:23:04:34.1451 

2025-10-26T23:04:35.374Z,1761519875.374 [DAT](INFO): Rx dataTimestamp_ set to:1761519875.373414
2025-10-26T23:04:35.375Z,1761519875.375 [DAT](INFO): DAT read: Bearing 226.8,  -9.0 (Local)

2025-10-26T23:04:35.375Z,1761519875.375 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.8,  -9.0 (Local)

2025-10-26T23:04:35.377Z,1761519875.377 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed 0.4

2025-10-26T23:04:35.382Z,1761519875.382 [DAT](INFO): DAT read: 23:04:34.1451 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 497,-0.48, 1.277,-0.246, 1.689, 1.289, PHS= 0.090,-1.490, 0.356, RAW= 157.7,  12.1, CAL= 157.9,  13.5, ROT= 352.1, -13.5

2025-10-26T23:04:35.383Z,1761519875.383 [DAT](INFO): got valid direction response:
 23:04:34.1451 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 497,-0.48, 1.277,-0.246, 1.689, 1.289, PHS= 0.090,-1.490, 0.356, RAW= 157.7,  12.1, CAL= 157.9,  13.5, ROT= 352.1, -13.5

2025-10-26T23:04:35.384Z,1761519875.384 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-10-26T23:04:35.385Z,1761519875.385 [DAT](INFO): direction in FSK: [0.963142,-0.133647,0.233445]
2025-10-26T23:04:35.385Z,1761519875.385 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:35.389Z,1761519875.389 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.019258
2025-10-26T23:04:35.580Z,1761519875.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320929,-0.931206,-0.172803],[0.946957,0.318699,0.041272],[0.016640,-0.176883,0.984091]]
2025-10-26T23:04:35.624Z,1761519875.624 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.254881
2025-10-26T23:04:35.629Z,1761519875.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.499976 s,
      deltaX: -0.600000 m,
      approachRate: -1.200058 m/s,
      rangeRepo size: 4

2025-10-26T23:04:35.631Z,1761519875.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.217609 m,
      bearing: 65.901407 deg,
      lat: 36.779414 deg,
      lon: -121.859377 deg,
      deltaT: 0.499976 s,
      deltaX: -0.596970 m,
      approachRate: -1.193997 m/s,
      posRepo size: 4

2025-10-26T23:04:35.636Z,1761519875.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.22 m.
2025-10-26T23:04:35.638Z,1761519875.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.217609 m,
      nav range: 16.895288 m,
      bearing: 65.430196 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005991 deg/s,
      cmd heading: 70.110082 deg,
      new cmd heading: 70.118858 deg.

2025-10-26T23:04:35.644Z,1761519875.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.223805 target range: 17.217609 and range: 17.30 m.
2025-10-26T23:04:35.879Z,1761519875.879 [DAT](INFO): DAT read: Rx Time:23:04:34.6452 

2025-10-26T23:04:35.880Z,1761519875.880 [DAT](INFO): Rx dataTimestamp_ set to:1761519875.879335
2025-10-26T23:04:35.881Z,1761519875.881 [DAT](INFO): DAT read: Bearing 237.4,  -8.3 (Local)

2025-10-26T23:04:35.881Z,1761519875.881 [DAT](INFO): Local bearing/azimuth received:
 Bearing 237.4,  -8.3 (Local)

2025-10-26T23:04:35.884Z,1761519875.884 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed 0.4

2025-10-26T23:04:35.889Z,1761519875.889 [DAT](INFO): DAT read: 23:04:34.6452 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 513,-0.04, 3.075, 1.121,-2.894,-3.030, PHS=-0.076,-2.087, 0.092, RAW= 154.0,  19.2, CAL= 155.6,  24.0, ROT= 354.4, -24.0

2025-10-26T23:04:35.897Z,1761519875.897 [DAT](INFO): got valid direction response:
 23:04:34.6452 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 513,-0.04, 3.075, 1.121,-2.894,-3.030, PHS=-0.076,-2.087, 0.092, RAW= 154.0,  19.2, CAL= 155.6,  24.0, ROT= 354.4, -24.0

2025-10-26T23:04:35.899Z,1761519875.899 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-10-26T23:04:35.906Z,1761519875.906 [DAT](INFO): direction in FSK: [0.909185,-0.089147,0.406737]
2025-10-26T23:04:35.912Z,1761519875.912 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:35.969Z,1761519875.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326221,-0.929805,-0.170419],[0.945170,0.323746,0.042913],[0.015272,-0.175074,0.984437]]
2025-10-26T23:04:35.976Z,1761519875.976 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.606352
2025-10-26T23:04:36.074Z,1761519876.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.505921 s,
      deltaX: 0.100000 m,
      approachRate: 0.197660 m/s,
      rangeRepo size: 4

2025-10-26T23:04:36.088Z,1761519876.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.317133 m,
      bearing: 69.907693 deg,
      lat: 36.779414 deg,
      lon: -121.859377 deg,
      deltaT: 0.505921 s,
      deltaX: 0.099524 m,
      approachRate: 0.196718 m/s,
      posRepo size: 4

2025-10-26T23:04:36.089Z,1761519876.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.32 m.
2025-10-26T23:04:36.095Z,1761519876.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.317133 m,
      nav range: 16.681839 m,
      bearing: 65.502665 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005991 deg/s,
      cmd heading: 70.118859 deg,
      new cmd heading: 70.126853 deg.

2025-10-26T23:04:36.096Z,1761519876.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.223944 target range: 17.317133 and range: 17.40 m.
2025-10-26T23:04:36.129Z,1761519876.129 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.759012
2025-10-26T23:04:36.381Z,1761519876.381 [DAT](INFO): DAT read: Rx Time:23:04:35.1449 

2025-10-26T23:04:36.381Z,1761519876.381 [DAT](INFO): Rx dataTimestamp_ set to:1761519876.381127
2025-10-26T23:04:36.383Z,1761519876.383 [DAT](INFO): DAT read: Bearing 225.5, -10.5 (Local)

2025-10-26T23:04:36.383Z,1761519876.383 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.5, -10.5 (Local)

2025-10-26T23:04:36.385Z,1761519876.385 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed 0.4

2025-10-26T23:04:36.390Z,1761519876.390 [DAT](INFO): DAT read: 23:04:35.1449 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510, 0.27, 2.293, 0.767, 2.768, 2.318, PHS= 0.077,-1.506, 0.405, RAW= 159.2,  11.6, CAL= 159.5,  12.9, ROT= 350.5, -12.9

2025-10-26T23:04:36.391Z,1761519876.391 [DAT](INFO): got valid direction response:
 23:04:35.1449 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510, 0.27, 2.293, 0.767, 2.768, 2.318, PHS= 0.077,-1.506, 0.405, RAW= 159.2,  11.6, CAL= 159.5,  12.9, ROT= 350.5, -12.9

2025-10-26T23:04:36.391Z,1761519876.391 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-10-26T23:04:36.392Z,1761519876.392 [DAT](INFO): direction in FSK: [0.961393,-0.160882,0.223250]
2025-10-26T23:04:36.392Z,1761519876.392 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:36.405Z,1761519876.405 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.035480
2025-10-26T23:04:36.544Z,1761519876.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335945,-0.926789,-0.167940],[0.941799,0.332891,0.046879],[0.012459,-0.173914,0.984682]]
2025-10-26T23:04:36.594Z,1761519876.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.501792 s,
      deltaX: -0.400000 m,
      approachRate: -0.797142 m/s,
      rangeRepo size: 4

2025-10-26T23:04:36.596Z,1761519876.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.918819 m,
      bearing: 63.253902 deg,
      lat: 36.779415 deg,
      lon: -121.859379 deg,
      deltaT: 0.501792 s,
      deltaX: -0.398314 m,
      approachRate: -0.793782 m/s,
      posRepo size: 4

2025-10-26T23:04:36.597Z,1761519876.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.92 m.
2025-10-26T23:04:36.600Z,1761519876.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.918819 m,
      nav range: 16.269138 m,
      bearing: 64.894388 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005991 deg/s,
      cmd heading: 70.126850 deg,
      new cmd heading: 70.136199 deg.

2025-10-26T23:04:36.601Z,1761519876.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224108 target range: 16.918819 and range: 17.00 m.
2025-10-26T23:04:36.632Z,1761519876.632 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.262911
2025-10-26T23:04:36.885Z,1761519876.885 [DAT](INFO): DAT read: Rx Time:23:04:35.6448 

2025-10-26T23:04:36.885Z,1761519876.885 [DAT](INFO): Rx dataTimestamp_ set to:1761519876.885214
2025-10-26T23:04:36.887Z,1761519876.887 [DAT](INFO): DAT read: Bearing 225.4, -10.0 (Local)

2025-10-26T23:04:36.887Z,1761519876.887 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.4, -10.0 (Local)

2025-10-26T23:04:36.901Z,1761519876.901 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed 0.4

2025-10-26T23:04:36.927Z,1761519876.927 [DAT](INFO): DAT read: 23:04:35.6448 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510,-0.19, 1.616, 0.068, 2.069, 1.630, PHS= 0.088,-1.517, 0.395, RAW= 158.6,  11.6, CAL= 158.8,  12.9, ROT= 351.2, -12.9

2025-10-26T23:04:36.956Z,1761519876.956 [DAT](INFO): got valid direction response:
 23:04:35.6448 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510,-0.19, 1.616, 0.068, 2.069, 1.630, PHS= 0.088,-1.517, 0.395, RAW= 158.6,  11.6, CAL= 158.8,  12.9, ROT= 351.2, -12.9

2025-10-26T23:04:36.957Z,1761519876.957 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-10-26T23:04:36.958Z,1761519876.958 [DAT](INFO): direction in FSK: [0.963287,-0.149124,0.223250]
2025-10-26T23:04:36.958Z,1761519876.958 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:36.966Z,1761519876.966 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.596596
2025-10-26T23:04:37.104Z,1761519877.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.504087 s,
      deltaX: -0.200001 m,
      approachRate: -0.396758 m/s,
      rangeRepo size: 4

2025-10-26T23:04:37.106Z,1761519877.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.719774 m,
      bearing: 63.949320 deg,
      lat: 36.779415 deg,
      lon: -121.859379 deg,
      deltaT: 0.504087 s,
      deltaX: -0.199045 m,
      approachRate: -0.394863 m/s,
      posRepo size: 4

2025-10-26T23:04:37.107Z,1761519877.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.72 m.
2025-10-26T23:04:37.114Z,1761519877.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.719774 m,
      nav range: 16.001038 m,
      bearing: 64.965841 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005991 deg/s,
      cmd heading: 70.136200 deg,
      new cmd heading: 70.145297 deg.

2025-10-26T23:04:37.114Z,1761519877.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224266 target range: 16.719774 and range: 16.80 m.
2025-10-26T23:04:37.136Z,1761519877.136 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.766912
2025-10-26T23:04:37.389Z,1761519877.389 [DAT](INFO): DAT read: Rx Time:23:04:36.1446 

2025-10-26T23:04:37.389Z,1761519877.389 [DAT](INFO): Rx dataTimestamp_ set to:1761519877.389109
2025-10-26T23:04:37.391Z,1761519877.391 [DAT](INFO): DAT read: Bearing 225.6, -10.7 (Local)

2025-10-26T23:04:37.391Z,1761519877.391 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.6, -10.7 (Local)

2025-10-26T23:04:37.393Z,1761519877.393 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.5

2025-10-26T23:04:37.398Z,1761519877.398 [DAT](INFO): DAT read: 23:04:36.1446 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507, 0.14, 1.818, 0.280, 2.292, 1.854, PHS= 0.067,-1.529, 0.394, RAW= 159.2,  12.0, CAL= 159.4,  13.4, ROT= 350.6, -13.4

2025-10-26T23:04:37.399Z,1761519877.399 [DAT](INFO): got valid direction response:
 23:04:36.1446 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507, 0.14, 1.818, 0.280, 2.292, 1.854, PHS= 0.067,-1.529, 0.394, RAW= 159.2,  12.0, CAL= 159.4,  13.4, ROT= 350.6, -13.4

2025-10-26T23:04:37.399Z,1761519877.399 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-10-26T23:04:37.400Z,1761519877.400 [DAT](INFO): direction in FSK: [0.959714,-0.158880,0.231748]
2025-10-26T23:04:37.401Z,1761519877.401 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:37.404Z,1761519877.404 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.034630
2025-10-26T23:04:37.539Z,1761519877.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345488,-0.923382,-0.167342],[0.938367,0.341888,0.050801],[0.010304,-0.174579,0.984589]]
2025-10-26T23:04:37.573Z,1761519877.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.503895 s,
      deltaX: -0.299999 m,
      approachRate: -0.595361 m/s,
      rangeRepo size: 4

2025-10-26T23:04:37.576Z,1761519877.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.421110 m,
      bearing: 62.877491 deg,
      lat: 36.779417 deg,
      lon: -121.859381 deg,
      deltaT: 0.503895 s,
      deltaX: -0.298664 m,
      approachRate: -0.592711 m/s,
      posRepo size: 4

2025-10-26T23:04:37.576Z,1761519877.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.42 m.
2025-10-26T23:04:37.579Z,1761519877.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.421110 m,
      nav range: 15.763417 m,
      bearing: 63.758789 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005991 deg/s,
      cmd heading: 70.145298 deg,
      new cmd heading: 70.153809 deg.

2025-10-26T23:04:37.580Z,1761519877.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224415 target range: 16.421110 and range: 16.50 m.
2025-10-26T23:04:37.645Z,1761519877.645 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.275187
2025-10-26T23:04:37.897Z,1761519877.897 [DAT](INFO): DAT read: Rx Time:23:04:36.6444 

2025-10-26T23:04:37.897Z,1761519877.897 [DAT](INFO): Rx dataTimestamp_ set to:1761519877.897136
2025-10-26T23:04:37.899Z,1761519877.899 [DAT](INFO): DAT read: Bearing 224.6, -10.4 (Local)

2025-10-26T23:04:37.899Z,1761519877.899 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.6, -10.4 (Local)

2025-10-26T23:04:37.901Z,1761519877.901 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed 0.4

2025-10-26T23:04:37.910Z,1761519877.910 [DAT](INFO): DAT read: 23:04:36.6444 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 506,-0.31,-0.075,-1.616, 0.395,-0.059, PHS= 0.086,-1.512, 0.410, RAW= 159.1,  11.4, CAL= 159.3,  12.7, ROT= 350.7, -12.7

2025-10-26T23:04:37.911Z,1761519877.911 [DAT](INFO): got valid direction response:
 23:04:36.6444 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 506,-0.31,-0.075,-1.616, 0.395,-0.059, PHS= 0.086,-1.512, 0.410, RAW= 159.1,  11.4, CAL= 159.3,  12.7, ROT= 350.7, -12.7

2025-10-26T23:04:37.911Z,1761519877.911 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-10-26T23:04:37.912Z,1761519877.912 [DAT](INFO): direction in FSK: [0.962712,-0.157650,0.219846]
2025-10-26T23:04:37.913Z,1761519877.913 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:37.916Z,1761519877.916 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.546804
2025-10-26T23:04:38.004Z,1761519878.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348692,-0.922067,-0.167945],[0.937182,0.344968,0.051827],[0.010147,-0.175467,0.984433]]
2025-10-26T23:04:38.126Z,1761519878.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.508027 s,
      deltaX: -0.299999 m,
      approachRate: -0.590518 m/s,
      rangeRepo size: 4

2025-10-26T23:04:38.130Z,1761519878.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.122545 m,
      bearing: 62.666226 deg,
      lat: 36.779419 deg,
      lon: -121.859381 deg,
      deltaT: 0.508027 s,
      deltaX: -0.298565 m,
      approachRate: -0.587695 m/s,
      posRepo size: 4

2025-10-26T23:04:38.131Z,1761519878.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.12 m.
2025-10-26T23:04:38.149Z,1761519878.149 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.779140
2025-10-26T23:04:38.155Z,1761519878.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.122545 m,
      nav range: 15.503520 m,
      bearing: 63.323260 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005991 deg/s,
      cmd heading: 70.153809 deg,
      new cmd heading: 70.163741 deg.

2025-10-26T23:04:38.158Z,1761519878.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224588 target range: 16.122545 and range: 16.20 m.
2025-10-26T23:04:38.402Z,1761519878.402 [DAT](INFO): DAT read: Rx Time:23:04:37.1442 

2025-10-26T23:04:38.402Z,1761519878.402 [DAT](INFO): Rx dataTimestamp_ set to:1761519878.402179
2025-10-26T23:04:38.404Z,1761519878.404 [DAT](INFO): DAT read: Bearing 222.9, -10.4 (Local)

2025-10-26T23:04:38.405Z,1761519878.405 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.9, -10.4 (Local)

2025-10-26T23:04:38.416Z,1761519878.416 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.4

2025-10-26T23:04:38.430Z,1761519878.430 [DAT](INFO): DAT read: 23:04:37.1442 LVL= 32752, 32753, 32418, 32755, AGC= 62, IDX= 503, 0.12, 0.603,-0.964, 1.098, 0.590, PHS= 0.115,-1.509, 0.464, RAW= 159.5,  10.2, CAL= 159.5,  11.1, ROT= 350.5, -11.1

2025-10-26T23:04:38.431Z,1761519878.431 [DAT](INFO): got valid direction response:
 23:04:37.1442 LVL= 32752, 32753, 32418, 32755, AGC= 62, IDX= 503, 0.12, 0.603,-0.964, 1.098, 0.590, PHS= 0.115,-1.509, 0.464, RAW= 159.5,  10.2, CAL= 159.5,  11.1, ROT= 350.5, -11.1

2025-10-26T23:04:38.431Z,1761519878.431 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-10-26T23:04:38.436Z,1761519878.436 [DAT](INFO): direction in FSK: [0.967835,-0.161960,0.192522]
2025-10-26T23:04:38.437Z,1761519878.437 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:38.462Z,1761519878.462 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=30.092474
2025-10-26T23:04:38.528Z,1761519878.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350959,-0.921534,-0.166142],[0.936335,0.347313,0.051489],[0.010254,-0.173635,0.984757]]
2025-10-26T23:04:38.573Z,1761519878.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.505043 s,
      deltaX: -0.300001 m,
      approachRate: -0.594011 m/s,
      rangeRepo size: 4

2025-10-26T23:04:38.575Z,1761519878.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.823604 m,
      bearing: 62.014036 deg,
      lat: 36.779420 deg,
      lon: -121.859381 deg,
      deltaT: 0.505043 s,
      deltaX: -0.298942 m,
      approachRate: -0.591913 m/s,
      posRepo size: 4

2025-10-26T23:04:38.580Z,1761519878.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.82 m.
2025-10-26T23:04:38.583Z,1761519878.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.823604 m,
      nav range: 15.314518 m,
      bearing: 62.936573 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005991 deg/s,
      cmd heading: 70.163740 deg,
      new cmd heading: 70.171776 deg.

2025-10-26T23:04:38.588Z,1761519878.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224729 target range: 15.823604 and range: 15.90 m.
2025-10-26T23:04:38.654Z,1761519878.654 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=30.284422
2025-10-26T23:04:38.886Z,1761519878.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351553,-0.921304,-0.166157],[0.936108,0.347961,0.051237],[0.010611,-0.173554,0.984767]]
2025-10-26T23:04:38.909Z,1761519878.909 [DAT](INFO): DAT read: Rx Time:23:04:37.6441 

2025-10-26T23:04:38.909Z,1761519878.909 [DAT](INFO): Rx dataTimestamp_ set to:1761519878.909093
2025-10-26T23:04:38.911Z,1761519878.911 [DAT](INFO): DAT read: Bearing 222.9, -10.1 (Local)

2025-10-26T23:04:38.911Z,1761519878.911 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.9, -10.1 (Local)

2025-10-26T23:04:38.913Z,1761519878.913 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed 0.4

2025-10-26T23:04:38.918Z,1761519878.918 [DAT](INFO): DAT read: 23:04:37.6441 LVL= 32752, 32753, 32610, 32755, AGC= 62, IDX= 503,-0.30,-0.585,-2.155,-0.098,-0.600, PHS= 0.117,-1.510, 0.458, RAW= 159.3,  10.3, CAL= 159.3,  11.2, ROT= 350.7, -11.2

2025-10-26T23:04:38.921Z,1761519878.921 [DAT](INFO): got valid direction response:
 23:04:37.6441 LVL= 32752, 32753, 32610, 32755, AGC= 62, IDX= 503,-0.30,-0.585,-2.155,-0.098,-0.600, PHS= 0.117,-1.510, 0.458, RAW= 159.3,  10.3, CAL= 159.3,  11.2, ROT= 350.7, -11.2

2025-10-26T23:04:38.922Z,1761519878.922 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-10-26T23:04:38.925Z,1761519878.925 [DAT](INFO): direction in FSK: [0.968061,-0.158526,0.194234]
2025-10-26T23:04:38.926Z,1761519878.926 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:38.974Z,1761519878.974 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.604105
2025-10-26T23:04:39.014Z,1761519879.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.506914 s,
      deltaX: -0.099999 m,
      approachRate: -0.197271 m/s,
      rangeRepo size: 4

2025-10-26T23:04:39.020Z,1761519879.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.724085 m,
      bearing: 62.192294 deg,
      lat: 36.779420 deg,
      lon: -121.859381 deg,
      deltaT: 0.506914 s,
      deltaX: -0.099519 m,
      approachRate: -0.196323 m/s,
      posRepo size: 4

2025-10-26T23:04:39.021Z,1761519879.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.72 m.
2025-10-26T23:04:39.032Z,1761519879.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.724085 m,
      nav range: 15.112767 m,
      bearing: 62.681264 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005991 deg/s,
      cmd heading: 70.171779 deg,
      new cmd heading: 70.179704 deg.

2025-10-26T23:04:39.033Z,1761519879.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224867 target range: 15.724085 and range: 15.80 m.
2025-10-26T23:04:39.157Z,1761519879.157 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.787384
2025-10-26T23:04:39.313Z,1761519879.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350843,-0.921397,-0.167144],[0.936353,0.347537,0.049614],[0.012374,-0.173912,0.984683]]
2025-10-26T23:04:39.385Z,1761519879.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:04:39.387Z,1761519879.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.72 m.
2025-10-26T23:04:39.394Z,1761519879.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.724085 m,
      nav range: 14.903490 m,
      bearing: 62.654430 deg,
      approach rate: -0.559997 m/s,
      LOS rate: -0.072814 deg/s,
      cmd heading: 70.179702 deg,
      new cmd heading: 70.098068 deg.

2025-10-26T23:04:39.395Z,1761519879.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.223442 target range: 15.724085 and range: 15.80 m.
2025-10-26T23:04:39.409Z,1761519879.409 [DAT](INFO): DAT read: Rx Time:23:04:38.1439 

2025-10-26T23:04:39.410Z,1761519879.410 [DAT](INFO): Rx dataTimestamp_ set to:1761519879.409391
2025-10-26T23:04:39.411Z,1761519879.411 [DAT](INFO): DAT read: Bearing 224.0, -10.3 (Local)

2025-10-26T23:04:39.412Z,1761519879.412 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.0, -10.3 (Local)

2025-10-26T23:04:39.414Z,1761519879.414 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed 0.4

2025-10-26T23:04:39.418Z,1761519879.418 [DAT](INFO): DAT read: 23:04:38.1439 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.07,-0.102,-1.656, 0.382,-0.093, PHS= 0.093,-1.518, 0.431, RAW= 159.3,  11.0, CAL= 159.5,  12.2, ROT= 350.5, -12.2

2025-10-26T23:04:39.420Z,1761519879.420 [DAT](INFO): got valid direction response:
 23:04:38.1439 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.07,-0.102,-1.656, 0.382,-0.093, PHS= 0.093,-1.518, 0.431, RAW= 159.3,  11.0, CAL= 159.5,  12.2, ROT= 350.5, -12.2

2025-10-26T23:04:39.420Z,1761519879.420 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-10-26T23:04:39.421Z,1761519879.421 [DAT](INFO): direction in FSK: [0.964011,-0.161320,0.211325]
2025-10-26T23:04:39.421Z,1761519879.421 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:39.425Z,1761519879.425 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.055426
2025-10-26T23:04:39.662Z,1761519879.662 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.291767
2025-10-26T23:04:39.708Z,1761519879.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348918,-0.922138,-0.167086],[0.937038,0.346082,0.046768],[0.014699,-0.172884,0.984832]]
2025-10-26T23:04:39.800Z,1761519879.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.500298 s,
      deltaX: -0.300000 m,
      approachRate: -0.599643 m/s,
      rangeRepo size: 4

2025-10-26T23:04:39.802Z,1761519879.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.425699 m,
      bearing: 62.316628 deg,
      lat: 36.779422 deg,
      lon: -121.859381 deg,
      deltaT: 0.500298 s,
      deltaX: -0.298386 m,
      approachRate: -0.596416 m/s,
      posRepo size: 4

2025-10-26T23:04:39.802Z,1761519879.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-26T23:04:39.810Z,1761519879.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.425699 m,
      nav range: 14.773785 m,
      bearing: 61.992621 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072814 deg/s,
      cmd heading: 70.098068 deg,
      new cmd heading: 70.009002 deg.

2025-10-26T23:04:39.811Z,1761519879.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.221888 target range: 15.425699 and range: 15.50 m.
2025-10-26T23:04:39.913Z,1761519879.913 [DAT](INFO): DAT read: Rx Time:23:04:38.6438 

2025-10-26T23:04:39.914Z,1761519879.914 [DAT](INFO): Rx dataTimestamp_ set to:1761519879.913686
2025-10-26T23:04:39.915Z,1761519879.915 [DAT](INFO): DAT read: Bearing 223.9, -10.0 (Local)

2025-10-26T23:04:39.916Z,1761519879.916 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.9, -10.0 (Local)

2025-10-26T23:04:39.918Z,1761519879.918 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed 0.4

2025-10-26T23:04:39.922Z,1761519879.922 [DAT](INFO): DAT read: 23:04:38.6438 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 500,-0.49, 0.342,-1.205, 0.822, 0.344, PHS= 0.100,-1.505, 0.434, RAW= 159.3,  10.8, CAL= 159.4,  11.9, ROT= 350.6, -11.9

2025-10-26T23:04:39.923Z,1761519879.923 [DAT](INFO): got valid direction response:
 23:04:38.6438 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 500,-0.49, 0.342,-1.205, 0.822, 0.344, PHS= 0.100,-1.505, 0.434, RAW= 159.3,  10.8, CAL= 159.4,  11.9, ROT= 350.6, -11.9

2025-10-26T23:04:39.924Z,1761519879.924 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-26T23:04:39.925Z,1761519879.925 [DAT](INFO): direction in FSK: [0.965370,-0.159816,0.206204]
2025-10-26T23:04:39.925Z,1761519879.925 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:39.929Z,1761519879.929 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.559647
2025-10-26T23:04:40.165Z,1761519880.165 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.795591
2025-10-26T23:04:40.183Z,1761519880.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343003,-0.925654,-0.159729],[0.939134,0.341444,0.037982],[0.019380,-0.163035,0.986430]]
2025-10-26T23:04:40.319Z,1761519880.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.504295 s,
      deltaX: -0.200000 m,
      approachRate: -0.396593 m/s,
      rangeRepo size: 4

2025-10-26T23:04:40.325Z,1761519880.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.226658 m,
      bearing: 62.578728 deg,
      lat: 36.779422 deg,
      lon: -121.859380 deg,
      deltaT: 0.504295 s,
      deltaX: -0.199041 m,
      approachRate: -0.394692 m/s,
      posRepo size: 4

2025-10-26T23:04:40.325Z,1761519880.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.23 m.
2025-10-26T23:04:40.332Z,1761519880.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.226658 m,
      nav range: 14.561399 m,
      bearing: 62.124443 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072814 deg/s,
      cmd heading: 70.009002 deg,
      new cmd heading: 69.894724 deg.

2025-10-26T23:04:40.333Z,1761519880.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.219893 target range: 15.226658 and range: 15.30 m.
2025-10-26T23:04:40.418Z,1761519880.418 [DAT](INFO): DAT read: Rx Time:23:04:39.1436 

2025-10-26T23:04:40.419Z,1761519880.419 [DAT](INFO): Rx dataTimestamp_ set to:1761519880.418335
2025-10-26T23:04:40.421Z,1761519880.421 [DAT](INFO): DAT read: Bearing 223.2, -10.0 (Local)

2025-10-26T23:04:40.421Z,1761519880.421 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.2, -10.0 (Local)

2025-10-26T23:04:40.424Z,1761519880.424 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed 0.4

2025-10-26T23:04:40.431Z,1761519880.431 [DAT](INFO): DAT read: 23:04:39.1436 LVL= 32752, 32753, 32146, 32755, AGC= 61, IDX= 497,-0.08,-0.636,-2.187,-0.139,-0.648, PHS= 0.114,-1.494, 0.465, RAW= 159.7,  10.1, CAL= 159.6,  11.0, ROT= 350.4, -11.0

2025-10-26T23:04:40.441Z,1761519880.441 [DAT](INFO): got valid direction response:
 23:04:39.1436 LVL= 32752, 32753, 32146, 32755, AGC= 61, IDX= 497,-0.08,-0.636,-2.187,-0.139,-0.648, PHS= 0.114,-1.494, 0.465, RAW= 159.7,  10.1, CAL= 159.6,  11.0, ROT= 350.4, -11.0

2025-10-26T23:04:40.441Z,1761519880.441 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-26T23:04:40.442Z,1761519880.442 [DAT](INFO): direction in FSK: [0.967880,-0.163705,0.190809]
2025-10-26T23:04:40.442Z,1761519880.442 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:40.463Z,1761519880.463 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.093182
2025-10-26T23:04:40.668Z,1761519880.668 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.298828
2025-10-26T23:04:40.680Z,1761519880.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340339,-0.926818,-0.158674],[0.940061,0.339200,0.035056],[0.021332,-0.161094,0.986708]]
2025-10-26T23:04:40.741Z,1761519880.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.504649 s,
      deltaX: -0.300000 m,
      approachRate: -0.594473 m/s,
      rangeRepo size: 4

2025-10-26T23:04:40.742Z,1761519880.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.928217 m,
      bearing: 62.362295 deg,
      lat: 36.779422 deg,
      lon: -121.859379 deg,
      deltaT: 0.504649 s,
      deltaX: -0.298441 m,
      approachRate: -0.591383 m/s,
      posRepo size: 4

2025-10-26T23:04:40.747Z,1761519880.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.93 m.
2025-10-26T23:04:40.750Z,1761519880.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.928217 m,
      nav range: 14.392330 m,
      bearing: 62.195980 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072814 deg/s,
      cmd heading: 69.894726 deg,
      new cmd heading: 69.802559 deg.

2025-10-26T23:04:40.756Z,1761519880.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.218284 target range: 14.928217 and range: 15.00 m.
2025-10-26T23:04:40.921Z,1761519880.921 [DAT](INFO): DAT read: Rx Time:23:04:39.6435 

2025-10-26T23:04:40.921Z,1761519880.921 [DAT](INFO): Rx dataTimestamp_ set to:1761519880.920780
2025-10-26T23:04:40.922Z,1761519880.922 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed 0.4

2025-10-26T23:04:40.923Z,1761519880.923 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-10-26T23:04:40.926Z,1761519880.926 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.555992
2025-10-26T23:04:41.078Z,1761519881.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337897,-0.928850,-0.151863],[0.940892,0.337379,0.029962],[0.023405,-0.153011,0.987947]]
2025-10-26T23:04:41.131Z,1761519881.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.502445 s,
      deltaX: -0.100000 m,
      approachRate: -0.199028 m/s,
      rangeRepo size: 4

2025-10-26T23:04:41.132Z,1761519881.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.93 m.
2025-10-26T23:04:41.138Z,1761519881.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.928217 m,
      nav range: 14.131188 m,
      bearing: 62.109454 deg,
      approach rate: -0.669220 m/s,
      LOS rate: -0.225835 deg/s,
      cmd heading: 69.802559 deg,
      new cmd heading: 69.538186 deg.

2025-10-26T23:04:41.140Z,1761519881.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.213670 target range: 14.928217 and range: 14.90 m.
2025-10-26T23:04:41.172Z,1761519881.172 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.802727
2025-10-26T23:04:41.426Z,1761519881.426 [DAT](INFO): DAT read: Rx Time:23:04:40.1432 

2025-10-26T23:04:41.426Z,1761519881.426 [DAT](INFO): Rx dataTimestamp_ set to:1761519881.426025
2025-10-26T23:04:41.428Z,1761519881.428 [DAT](INFO): DAT read: Bearing 229.8, -10.2 (Local)

2025-10-26T23:04:41.429Z,1761519881.429 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.8, -10.2 (Local)

2025-10-26T23:04:41.432Z,1761519881.432 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed 0.4

2025-10-26T23:04:41.437Z,1761519881.437 [DAT](INFO): DAT read: 23:04:40.1432 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509, 0.26, 2.749, 1.205,-3.081, 2.861, PHS=-0.010,-1.611, 0.297, RAW= 158.6,  14.8, CAL= 159.4,  17.1, ROT= 350.6, -17.1

2025-10-26T23:04:41.438Z,1761519881.438 [DAT](INFO): got valid direction response:
 23:04:40.1432 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509, 0.26, 2.749, 1.205,-3.081, 2.861, PHS=-0.010,-1.611, 0.297, RAW= 158.6,  14.8, CAL= 159.4,  17.1, ROT= 350.6, -17.1

2025-10-26T23:04:41.438Z,1761519881.438 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-10-26T23:04:41.439Z,1761519881.439 [DAT](INFO): direction in FSK: [0.942959,-0.156106,0.294040]
2025-10-26T23:04:41.440Z,1761519881.440 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:41.444Z,1761519881.444 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.074375
2025-10-26T23:04:41.519Z,1761519881.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335434,-0.931089,-0.143379],[0.941713,0.335552,0.024089],[0.025682,-0.143103,0.989375]]
2025-10-26T23:04:41.572Z,1761519881.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.505245 s,
      deltaX: -0.500000 m,
      approachRate: -0.989619 m/s,
      rangeRepo size: 4

2025-10-26T23:04:41.574Z,1761519881.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.331461 m,
      bearing: 63.536184 deg,
      lat: 36.779422 deg,
      lon: -121.859379 deg,
      deltaT: 1.007690 s,
      deltaX: -0.596756 m,
      approachRate: -0.592202 m/s,
      posRepo size: 4

2025-10-26T23:04:41.575Z,1761519881.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.33 m.
2025-10-26T23:04:41.582Z,1761519881.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.331461 m,
      nav range: 13.876758 m,
      bearing: 62.019679 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.225835 deg/s,
      cmd heading: 69.538183 deg,
      new cmd heading: 69.242103 deg.

2025-10-26T23:04:41.583Z,1761519881.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.208503 target range: 14.331461 and range: 14.40 m.
2025-10-26T23:04:41.678Z,1761519881.678 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.308739
2025-10-26T23:04:41.886Z,1761519881.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333003,-0.932455,-0.140128],[0.942521,0.333518,0.020500],[0.027620,-0.138900,0.989921]]
2025-10-26T23:04:41.913Z,1761519881.913 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:04:41.915Z,1761519881.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.33 m.
2025-10-26T23:04:41.922Z,1761519881.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.331461 m,
      nav range: 13.657163 m,
      bearing: 61.937275 deg,
      approach rate: -0.631650 m/s,
      LOS rate: -0.240841 deg/s,
      cmd heading: 69.242101 deg,
      new cmd heading: 68.990916 deg.

2025-10-26T23:04:41.923Z,1761519881.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.204119 target range: 14.331461 and range: 14.40 m.
2025-10-26T23:04:41.933Z,1761519881.933 [DAT](INFO): DAT read: Rx Time:23:04:40.6430 

2025-10-26T23:04:41.934Z,1761519881.934 [DAT](INFO): Rx dataTimestamp_ set to:1761519881.933239
2025-10-26T23:04:41.935Z,1761519881.935 [DAT](INFO): DAT read: Bearing 230.4, -10.0 (Local)

2025-10-26T23:04:41.936Z,1761519881.936 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.4, -10.0 (Local)

2025-10-26T23:04:41.938Z,1761519881.938 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed 0.4

2025-10-26T23:04:41.942Z,1761519881.942 [DAT](INFO): DAT read: 23:04:40.6430 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 507, 0.46, 3.120, 1.578,-2.711,-3.041, PHS=-0.021,-1.620, 0.286, RAW= 158.6,  15.1, CAL= 159.5,  17.5, ROT= 350.5, -17.5

2025-10-26T23:04:41.952Z,1761519881.952 [DAT](INFO): got valid direction response:
 23:04:40.6430 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 507, 0.46, 3.120, 1.578,-2.711,-3.041, PHS=-0.021,-1.620, 0.286, RAW= 158.6,  15.1, CAL= 159.5,  17.5, ROT= 350.5, -17.5

2025-10-26T23:04:41.952Z,1761519881.952 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-10-26T23:04:41.953Z,1761519881.953 [DAT](INFO): direction in FSK: [0.940637,-0.157409,0.300706]
2025-10-26T23:04:41.953Z,1761519881.953 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:41.961Z,1761519881.961 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.591652
2025-10-26T23:04:42.186Z,1761519882.186 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.815643
2025-10-26T23:04:42.299Z,1761519882.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331562,-0.932561,-0.142815],[0.942987,0.332243,0.019753],[0.029028,-0.141222,0.989552]]
2025-10-26T23:04:42.356Z,1761519882.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.507214 s,
      deltaX: -0.299999 m,
      approachRate: -0.591465 m/s,
      rangeRepo size: 4

2025-10-26T23:04:42.358Z,1761519882.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.032890 m,
      bearing: 63.686201 deg,
      lat: 36.779422 deg,
      lon: -121.859379 deg,
      deltaT: 0.507214 s,
      deltaX: -0.298571 m,
      approachRate: -0.588648 m/s,
      posRepo size: 4

2025-10-26T23:04:42.359Z,1761519882.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.03 m.
2025-10-26T23:04:42.362Z,1761519882.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.032890 m,
      nav range: 13.378991 m,
      bearing: 61.902319 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.240841 deg/s,
      cmd heading: 68.990914 deg,
      new cmd heading: 68.672577 deg.

2025-10-26T23:04:42.363Z,1761519882.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.198563 target range: 14.032890 and range: 14.10 m.
2025-10-26T23:04:42.437Z,1761519882.437 [DAT](INFO): DAT read: Rx Time:23:04:41.1427 

2025-10-26T23:04:42.438Z,1761519882.438 [DAT](INFO): Rx dataTimestamp_ set to:1761519882.437275
2025-10-26T23:04:42.439Z,1761519882.439 [DAT](INFO): DAT read: Bearing 231.0,  -9.5 (Local)

2025-10-26T23:04:42.439Z,1761519882.439 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.0,  -9.5 (Local)

2025-10-26T23:04:42.442Z,1761519882.442 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.5

2025-10-26T23:04:42.449Z,1761519882.449 [DAT](INFO): DAT read: 23:04:41.1427 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505,-0.35, 0.968,-0.578, 1.399, 1.094, PHS=-0.024,-1.627, 0.262, RAW= 158.1,  15.6, CAL= 158.9,  18.1, ROT= 351.1, -18.1

2025-10-26T23:04:42.450Z,1761519882.450 [DAT](INFO): got valid direction response:
 23:04:41.1427 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505,-0.35, 0.968,-0.578, 1.399, 1.094, PHS=-0.024,-1.627, 0.262, RAW= 158.1,  15.6, CAL= 158.9,  18.1, ROT= 351.1, -18.1

2025-10-26T23:04:42.451Z,1761519882.451 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-26T23:04:42.453Z,1761519882.453 [DAT](INFO): direction in FSK: [0.939071,-0.147055,0.310676]
2025-10-26T23:04:42.453Z,1761519882.453 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:42.457Z,1761519882.457 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.087273
2025-10-26T23:04:42.688Z,1761519882.688 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.318924
2025-10-26T23:04:42.701Z,1761519882.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331037,-0.932506,-0.144384],[0.943141,0.331839,0.019203],[0.030006,-0.142531,0.989335]]
2025-10-26T23:04:42.786Z,1761519882.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.504036 s,
      deltaX: -0.400001 m,
      approachRate: -0.793595 m/s,
      rangeRepo size: 4

2025-10-26T23:04:42.788Z,1761519882.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.634670 m,
      bearing: 64.437788 deg,
      lat: 36.779418 deg,
      lon: -121.859379 deg,
      deltaT: 0.504036 s,
      deltaX: -0.398220 m,
      approachRate: -0.790063 m/s,
      posRepo size: 4

2025-10-26T23:04:42.789Z,1761519882.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m.
2025-10-26T23:04:42.792Z,1761519882.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.634670 m,
      nav range: 12.894723 m,
      bearing: 63.622997 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.240841 deg/s,
      cmd heading: 68.672580 deg,
      new cmd heading: 68.361873 deg.

2025-10-26T23:04:42.793Z,1761519882.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.193140 target range: 13.634670 and range: 13.70 m.
2025-10-26T23:04:42.941Z,1761519882.941 [DAT](INFO): DAT read: Rx Time:23:04:41.6426 

2025-10-26T23:04:42.942Z,1761519882.942 [DAT](INFO): Rx dataTimestamp_ set to:1761519882.941402
2025-10-26T23:04:42.943Z,1761519882.943 [DAT](INFO): DAT read: Bearing 230.1,  -9.9 (Local)

2025-10-26T23:04:42.943Z,1761519882.943 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.1,  -9.9 (Local)

2025-10-26T23:04:42.945Z,1761519882.945 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.5

2025-10-26T23:04:42.950Z,1761519882.950 [DAT](INFO): DAT read: 23:04:41.6426 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 504,-0.22, 1.788, 0.246, 2.239, 1.904, PHS=-0.014,-1.612, 0.291, RAW= 158.6,  14.9, CAL= 159.4,  17.3, ROT= 350.6, -17.3

2025-10-26T23:04:42.952Z,1761519882.952 [DAT](INFO): got valid direction response:
 23:04:41.6426 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 504,-0.22, 1.788, 0.246, 2.239, 1.904, PHS=-0.014,-1.612, 0.291, RAW= 158.6,  14.9, CAL= 159.4,  17.3, ROT= 350.6, -17.3

2025-10-26T23:04:42.952Z,1761519882.952 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-10-26T23:04:42.953Z,1761519882.953 [DAT](INFO): direction in FSK: [0.941940,-0.155937,0.297375]
2025-10-26T23:04:42.953Z,1761519882.953 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:42.957Z,1761519882.957 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.587849
2025-10-26T23:04:43.108Z,1761519883.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330979,-0.932281,-0.145960],[0.943132,0.331885,0.018819],[0.030897,-0.143888,0.989111]]
2025-10-26T23:04:43.193Z,1761519883.193 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.823086
2025-10-26T23:04:43.277Z,1761519883.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.504127 s,
      deltaX: -0.200000 m,
      approachRate: -0.396725 m/s,
      rangeRepo size: 4

2025-10-26T23:04:43.279Z,1761519883.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.435624 m,
      bearing: 63.837663 deg,
      lat: 36.779418 deg,
      lon: -121.859379 deg,
      deltaT: 0.504127 s,
      deltaX: -0.199046 m,
      approachRate: -0.394833 m/s,
      posRepo size: 4

2025-10-26T23:04:43.287Z,1761519883.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.44 m.
2025-10-26T23:04:43.297Z,1761519883.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.435624 m,
      nav range: 12.620869 m,
      bearing: 63.621279 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.240841 deg/s,
      cmd heading: 68.361874 deg,
      new cmd heading: 68.007105 deg.

2025-10-26T23:04:43.298Z,1761519883.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.186948 target range: 13.435624 and range: 13.50 m.
2025-10-26T23:04:43.445Z,1761519883.445 [DAT](INFO): DAT read: Rx Time:23:04:42.1423 

2025-10-26T23:04:43.446Z,1761519883.446 [DAT](INFO): Rx dataTimestamp_ set to:1761519883.445446
2025-10-26T23:04:43.447Z,1761519883.447 [DAT](INFO): DAT read: Bearing 230.1,  -9.7 (Local)

2025-10-26T23:04:43.447Z,1761519883.447 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.1,  -9.7 (Local)

2025-10-26T23:04:43.449Z,1761519883.449 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed 0.5

2025-10-26T23:04:43.454Z,1761519883.454 [DAT](INFO): DAT read: 23:04:42.1423 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501,-0.20, 0.959,-0.583, 1.405, 1.074, PHS=-0.013,-1.612, 0.287, RAW= 158.4,  15.0, CAL= 159.3,  17.4, ROT= 350.7, -17.4

2025-10-26T23:04:43.455Z,1761519883.455 [DAT](INFO): got valid direction response:
 23:04:42.1423 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501,-0.20, 0.959,-0.583, 1.405, 1.074, PHS=-0.013,-1.612, 0.287, RAW= 158.4,  15.0, CAL= 159.3,  17.4, ROT= 350.7, -17.4

2025-10-26T23:04:43.456Z,1761519883.456 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-26T23:04:43.457Z,1761519883.457 [DAT](INFO): direction in FSK: [0.941698,-0.154208,0.299041]
2025-10-26T23:04:43.457Z,1761519883.457 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:43.473Z,1761519883.473 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.103161
2025-10-26T23:04:43.604Z,1761519883.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.504044 s,
      deltaX: -0.400000 m,
      approachRate: -0.793581 m/s,
      rangeRepo size: 4

2025-10-26T23:04:43.606Z,1761519883.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.037097 m,
      bearing: 63.953905 deg,
      lat: 36.779417 deg,
      lon: -121.859380 deg,
      deltaT: 0.504044 s,
      deltaX: -0.398527 m,
      approachRate: -0.790659 m/s,
      posRepo size: 4

2025-10-26T23:04:43.607Z,1761519883.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.04 m.
2025-10-26T23:04:43.614Z,1761519883.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.037097 m,
      nav range: 12.320941 m,
      bearing: 63.645675 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.240841 deg/s,
      cmd heading: 68.007108 deg,
      new cmd heading: 67.770786 deg.

2025-10-26T23:04:43.615Z,1761519883.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.182823 target range: 13.037097 and range: 13.10 m.
2025-10-26T23:04:43.697Z,1761519883.697 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.327629
2025-10-26T23:04:43.944Z,1761519883.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331147,-0.930493,-0.156604],[0.942939,0.332446,0.018600],[0.034756,-0.153828,0.987486]]
2025-10-26T23:04:43.949Z,1761519883.949 [DAT](INFO): DAT read: Rx Time:23:04:42.6422 

2025-10-26T23:04:43.950Z,1761519883.950 [DAT](INFO): Rx dataTimestamp_ set to:1761519883.949236
2025-10-26T23:04:43.951Z,1761519883.951 [DAT](INFO): DAT read: Bearing 230.3,  -9.9 (Local)

2025-10-26T23:04:43.951Z,1761519883.951 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.3,  -9.9 (Local)

2025-10-26T23:04:43.953Z,1761519883.953 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed 0.7

2025-10-26T23:04:43.958Z,1761519883.958 [DAT](INFO): DAT read: 23:04:42.6422 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 500,-0.26, 2.514, 0.973, 2.964, 2.639, PHS=-0.023,-1.621, 0.281, RAW= 158.6,  15.2, CAL= 159.4,  17.7, ROT= 350.6, -17.7

2025-10-26T23:04:43.959Z,1761519883.959 [DAT](INFO): got valid direction response:
 23:04:42.6422 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 500,-0.26, 2.514, 0.973, 2.964, 2.639, PHS=-0.023,-1.621, 0.281, RAW= 158.6,  15.2, CAL= 159.4,  17.7, ROT= 350.6, -17.7

2025-10-26T23:04:43.959Z,1761519883.959 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-10-26T23:04:43.960Z,1761519883.960 [DAT](INFO): direction in FSK: [0.939869,-0.155594,0.304033]
2025-10-26T23:04:43.961Z,1761519883.961 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:43.965Z,1761519883.965 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.594975
2025-10-26T23:04:44.100Z,1761519884.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.503790 s,
      deltaX: -0.200001 m,
      approachRate: -0.396992 m/s,
      rangeRepo size: 4

2025-10-26T23:04:44.102Z,1761519884.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.838057 m,
      bearing: 64.075820 deg,
      lat: 36.779416 deg,
      lon: -121.859380 deg,
      deltaT: 0.503790 s,
      deltaX: -0.199040 m,
      approachRate: -0.395086 m/s,
      posRepo size: 4

2025-10-26T23:04:44.102Z,1761519884.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.84 m.
2025-10-26T23:04:44.117Z,1761519884.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.838057 m,
      nav range: 12.004930 m,
      bearing: 64.010764 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.240841 deg/s,
      cmd heading: 67.770783 deg,
      new cmd heading: 67.418812 deg.

2025-10-26T23:04:44.118Z,1761519884.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.176680 target range: 12.838057 and range: 12.90 m.
2025-10-26T23:04:44.184Z,1761519884.184 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:04:44.201Z,1761519884.201 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.831276
2025-10-26T23:04:44.453Z,1761519884.453 [DAT](INFO): DAT read: Rx Time:23:04:43.1419 

2025-10-26T23:04:44.453Z,1761519884.453 [DAT](INFO): Rx dataTimestamp_ set to:1761519884.453061
2025-10-26T23:04:44.455Z,1761519884.455 [DAT](INFO): DAT read: Bearing 230.5,  -9.6 (Local)

2025-10-26T23:04:44.455Z,1761519884.455 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.5,  -9.6 (Local)

2025-10-26T23:04:44.457Z,1761519884.457 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.5

2025-10-26T23:04:44.462Z,1761519884.462 [DAT](INFO): DAT read: 23:04:43.1419 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 497,-0.35, 1.383,-0.158, 1.817, 1.510, PHS=-0.024,-1.623, 0.264, RAW= 158.2,  15.5, CAL= 159.0,  18.0, ROT= 351.0, -18.0

2025-10-26T23:04:44.463Z,1761519884.463 [DAT](INFO): got valid direction response:
 23:04:43.1419 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 497,-0.35, 1.383,-0.158, 1.817, 1.510, PHS=-0.024,-1.623, 0.264, RAW= 158.2,  15.5, CAL= 159.0,  18.0, ROT= 351.0, -18.0

2025-10-26T23:04:44.463Z,1761519884.463 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-10-26T23:04:44.464Z,1761519884.464 [DAT](INFO): direction in FSK: [0.939347,-0.148778,0.309017]
2025-10-26T23:04:44.464Z,1761519884.464 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:44.472Z,1761519884.472 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.102043
2025-10-26T23:04:44.497Z,1761519884.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331540,-0.928913,-0.164928],[0.942720,0.333021,0.019416],[0.036889,-0.161917,0.986115]]
2025-10-26T23:04:44.679Z,1761519884.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.503825 s,
      deltaX: -0.400000 m,
      approachRate: -0.793926 m/s,
      rangeRepo size: 4

2025-10-26T23:04:44.681Z,1761519884.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.438791 m,
      bearing: 64.663370 deg,
      lat: 36.779416 deg,
      lon: -121.859380 deg,
      deltaT: 0.503825 s,
      deltaX: -0.399265 m,
      approachRate: -0.792468 m/s,
      posRepo size: 4

2025-10-26T23:04:44.682Z,1761519884.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T23:04:44.685Z,1761519884.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.438791 m,
      nav range: 11.607834 m,
      bearing: 64.092630 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.240841 deg/s,
      cmd heading: 67.418810 deg,
      new cmd heading: 66.994262 deg.

2025-10-26T23:04:44.685Z,1761519884.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.169270 target range: 12.438791 and range: 12.50 m.
2025-10-26T23:04:44.705Z,1761519884.705 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.335327
2025-10-26T23:04:44.957Z,1761519884.957 [DAT](INFO): DAT read: Rx Time:23:04:43.6417 

2025-10-26T23:04:44.958Z,1761519884.958 [DAT](INFO): Rx dataTimestamp_ set to:1761519884.957482
2025-10-26T23:04:44.959Z,1761519884.959 [DAT](INFO): DAT read: Bearing 229.6,  -9.6 (Local)

2025-10-26T23:04:44.960Z,1761519884.960 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.6,  -9.6 (Local)

2025-10-26T23:04:44.963Z,1761519884.963 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed 0.5

2025-10-26T23:04:44.968Z,1761519884.968 [DAT](INFO): DAT read: 23:04:43.6417 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511,-0.42, 1.242,-0.301, 1.686, 1.355, PHS=-0.011,-1.611, 0.287, RAW= 158.4,  14.9, CAL= 159.2,  17.3, ROT= 350.8, -17.3

2025-10-26T23:04:44.969Z,1761519884.969 [DAT](INFO): got valid direction response:
 23:04:43.6417 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511,-0.42, 1.242,-0.301, 1.686, 1.355, PHS=-0.011,-1.611, 0.287, RAW= 158.4,  14.9, CAL= 159.2,  17.3, ROT= 350.8, -17.3

2025-10-26T23:04:44.970Z,1761519884.970 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-10-26T23:04:44.971Z,1761519884.971 [DAT](INFO): direction in FSK: [0.942479,-0.152648,0.297375]
2025-10-26T23:04:44.971Z,1761519884.971 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:44.992Z,1761519884.992 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.622196
2025-10-26T23:04:45.143Z,1761519885.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332215,-0.928449,-0.166181],[0.942291,0.334452,0.015174],[0.041491,-0.161632,0.985978]]
2025-10-26T23:04:45.188Z,1761519885.188 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:04:45.209Z,1761519885.209 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.838989
2025-10-26T23:04:45.266Z,1761519885.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.504421 s,
      deltaX: -0.200000 m,
      approachRate: -0.396494 m/s,
      rangeRepo size: 4

2025-10-26T23:04:45.279Z,1761519885.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.239771 m,
      bearing: 64.277676 deg,
      lat: 36.779416 deg,
      lon: -121.859379 deg,
      deltaT: 0.504421 s,
      deltaX: -0.199020 m,
      approachRate: -0.394552 m/s,
      posRepo size: 4

2025-10-26T23:04:45.280Z,1761519885.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.24 m.
2025-10-26T23:04:45.283Z,1761519885.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.239771 m,
      nav range: 11.336060 m,
      bearing: 64.090954 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.240841 deg/s,
      cmd heading: 66.994259 deg,
      new cmd heading: 66.575503 deg.

2025-10-26T23:04:45.288Z,1761519885.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.161962 target range: 12.239771 and range: 12.30 m.
2025-10-26T23:04:45.461Z,1761519885.461 [DAT](INFO): DAT read: Rx Time:23:04:44.1415 

2025-10-26T23:04:45.461Z,1761519885.461 [DAT](INFO): Rx dataTimestamp_ set to:1761519885.461103
2025-10-26T23:04:45.463Z,1761519885.463 [DAT](INFO): DAT read: Bearing 228.5,  -9.7 (Local)

2025-10-26T23:04:45.463Z,1761519885.463 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.5,  -9.7 (Local)

2025-10-26T23:04:45.465Z,1761519885.465 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed 0.4

2025-10-26T23:04:45.470Z,1761519885.470 [DAT](INFO): DAT read: 23:04:44.1415 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508,-0.47, 0.047,-1.496, 0.512, 0.146, PHS= 0.003,-1.597, 0.322, RAW= 158.9,  14.2, CAL= 159.6,  16.3, ROT= 350.4, -16.3

2025-10-26T23:04:45.496Z,1761519885.496 [DAT](INFO): got valid direction response:
 23:04:44.1415 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508,-0.47, 0.047,-1.496, 0.512, 0.146, PHS= 0.003,-1.597, 0.322, RAW= 158.9,  14.2, CAL= 159.6,  16.3, ROT= 350.4, -16.3

2025-10-26T23:04:45.497Z,1761519885.497 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-10-26T23:04:45.498Z,1761519885.498 [DAT](INFO): direction in FSK: [0.946364,-0.160066,0.280667]
2025-10-26T23:04:45.498Z,1761519885.498 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:45.508Z,1761519885.508 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=37.138756
2025-10-26T23:04:45.611Z,1761519885.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333064,-0.928353,-0.165010],[0.941885,0.335704,0.012459],[0.043828,-0.159570,0.986213]]
2025-10-26T23:04:45.672Z,1761519885.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.503621 s,
      deltaX: -0.400001 m,
      approachRate: -0.794249 m/s,
      rangeRepo size: 4

2025-10-26T23:04:45.674Z,1761519885.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.841665 m,
      bearing: 63.603003 deg,
      lat: 36.779416 deg,
      lon: -121.859379 deg,
      deltaT: 0.503621 s,
      deltaX: -0.398106 m,
      approachRate: -0.790487 m/s,
      posRepo size: 4

2025-10-26T23:04:45.675Z,1761519885.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.84 m.
2025-10-26T23:04:45.678Z,1761519885.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.841665 m,
      nav range: 11.068108 m,
      bearing: 64.098456 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.240841 deg/s,
      cmd heading: 66.575500 deg,
      new cmd heading: 66.276665 deg.

2025-10-26T23:04:45.680Z,1761519885.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.156746 target range: 11.841665 and range: 11.90 m.
2025-10-26T23:04:45.718Z,1761519885.718 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=37.347374
2025-10-26T23:04:45.968Z,1761519885.968 [DAT](INFO): DAT read: Rx Time:23:04:44.6414 

2025-10-26T23:04:45.969Z,1761519885.969 [DAT](INFO): Rx dataTimestamp_ set to:1761519885.967981
2025-10-26T23:04:45.970Z,1761519885.970 [DAT](INFO): DAT read: Bearing 230.1,  -9.4 (Local)

2025-10-26T23:04:45.971Z,1761519885.971 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.1,  -9.4 (Local)

2025-10-26T23:04:45.974Z,1761519885.974 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed 0.5

2025-10-26T23:04:45.980Z,1761519885.980 [DAT](INFO): DAT read: 23:04:44.6414 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 506, 0.40, 3.056, 1.507,-2.783,-3.099, PHS=-0.026,-1.632, 0.272, RAW= 158.4,  15.4, CAL= 159.3,  18.0, ROT= 350.7, -18.0

2025-10-26T23:04:45.981Z,1761519885.981 [DAT](INFO): got valid direction response:
 23:04:44.6414 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 506, 0.40, 3.056, 1.507,-2.783,-3.099, PHS=-0.026,-1.632, 0.272, RAW= 158.4,  15.4, CAL= 159.3,  18.0, ROT= 350.7, -18.0

2025-10-26T23:04:45.982Z,1761519885.982 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-10-26T23:04:45.983Z,1761519885.983 [DAT](INFO): direction in FSK: [0.938556,-0.153694,0.309017]
2025-10-26T23:04:45.983Z,1761519885.983 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:45.987Z,1761519885.987 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.617081
2025-10-26T23:04:46.074Z,1761519886.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335455,-0.927344,-0.165839],[0.940933,0.338417,0.010926],[0.045990,-0.159708,0.986092]]
2025-10-26T23:04:46.222Z,1761519886.222 [DAT](INFO): DAT read: Rx Time:23:04:45.1411 

2025-10-26T23:04:46.223Z,1761519886.223 [DAT](INFO): Rx dataTimestamp_ set to:1761519886.222331
2025-10-26T23:04:46.226Z,1761519886.226 [DAT](INFO): DAT read: Bearing 229.2,  -9.0 (Local)

2025-10-26T23:04:46.227Z,1761519886.227 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.2,  -9.0 (Local)

2025-10-26T23:04:46.230Z,1761519886.230 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.859570
2025-10-26T23:04:46.274Z,1761519886.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.506878 s,
      deltaX: -0.200000 m,
      approachRate: -0.394572 m/s,
      rangeRepo size: 4

2025-10-26T23:04:46.280Z,1761519886.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.642646 m,
      bearing: 64.048855 deg,
      lat: 36.779416 deg,
      lon: -121.859379 deg,
      deltaT: 0.506878 s,
      deltaX: -0.199019 m,
      approachRate: -0.392638 m/s,
      posRepo size: 4

2025-10-26T23:04:46.281Z,1761519886.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T23:04:46.288Z,1761519886.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.642646 m,
      nav range: 10.764150 m,
      bearing: 64.078548 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.240841 deg/s,
      cmd heading: 66.276665 deg,
      new cmd heading: 65.841963 deg.

2025-10-26T23:04:46.289Z,1761519886.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.149159 target range: 11.642646 and range: 11.70 m.
2025-10-26T23:04:46.470Z,1761519886.470 [DAT](INFO): DAT read: Range 11 to 50 :    11.3 m (trip time 7.5 ms) speed 0.6

2025-10-26T23:04:46.474Z,1761519886.474 [DAT](INFO): DAT read: 23:04:45.1411 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 504,-0.48, 0.214,-1.339, 0.660, 0.325, PHS=-0.009,-1.619, 0.291, RAW= 158.4,  14.9, CAL= 159.2,  17.2, ROT= 350.8, -17.2

2025-10-26T23:04:46.480Z,1761519886.480 [DAT](INFO): got valid direction response:
 23:04:45.1411 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 504,-0.48, 0.214,-1.339, 0.660, 0.325, PHS=-0.009,-1.619, 0.291, RAW= 158.4,  14.9, CAL= 159.2,  17.2, ROT= 350.8, -17.2

2025-10-26T23:04:46.480Z,1761519886.480 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-10-26T23:04:46.481Z,1761519886.481 [DAT](INFO): direction in FSK: [0.942990,-0.152731,0.295708]
2025-10-26T23:04:46.481Z,1761519886.481 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:46.500Z,1761519886.500 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=38.130215
2025-10-26T23:04:46.585Z,1761519886.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340649,-0.924017,-0.173638],[0.938806,0.344316,0.009498],[0.051010,-0.166248,0.984764]]
2025-10-26T23:04:46.652Z,1761519886.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.499848 s,
      deltaX: -0.400000 m,
      approachRate: -0.800242 m/s,
      rangeRepo size: 4

2025-10-26T23:04:46.660Z,1761519886.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.245099 m,
      bearing: 63.806124 deg,
      lat: 36.779417 deg,
      lon: -121.859379 deg,
      deltaT: 0.499848 s,
      deltaX: -0.397547 m,
      approachRate: -0.795335 m/s,
      posRepo size: 4

2025-10-26T23:04:46.660Z,1761519886.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.25 m.
2025-10-26T23:04:46.663Z,1761519886.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.245099 m,
      nav range: 10.536102 m,
      bearing: 63.983621 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.240841 deg/s,
      cmd heading: 65.841965 deg,
      new cmd heading: 65.572625 deg.

2025-10-26T23:04:46.668Z,1761519886.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.144458 target range: 11.245099 and range: 11.30 m.
2025-10-26T23:04:46.724Z,1761519886.724 [DAT](INFO): DAT read: Rx Time:23:04:45.6410 

2025-10-26T23:04:46.726Z,1761519886.726 [DAT](INFO): Rx dataTimestamp_ set to:1761519886.724601
2025-10-26T23:04:46.729Z,1761519886.729 [DAT](INFO): DAT read: Bearing 229.2,  -8.7 (Local)

2025-10-26T23:04:46.730Z,1761519886.730 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.2,  -8.7 (Local)

2025-10-26T23:04:46.733Z,1761519886.733 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=38.362476
2025-10-26T23:04:46.974Z,1761519886.974 [DAT](INFO): DAT read: Range 11 to 50 :    11.1 m (trip time 7.4 ms) speed 0.4

2025-10-26T23:04:46.979Z,1761519886.979 [DAT](INFO): DAT read: 23:04:45.6410 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 503,-0.29, 0.572,-0.990, 1.008, 0.686, PHS=-0.011,-1.631, 0.278, RAW= 158.1,  15.1, CAL= 158.9,  17.5, ROT= 351.1, -17.5

2025-10-26T23:04:46.980Z,1761519886.980 [DAT](INFO): got valid direction response:
 23:04:45.6410 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 503,-0.29, 0.572,-0.990, 1.008, 0.686, PHS=-0.011,-1.631, 0.278, RAW= 158.1,  15.1, CAL= 158.9,  17.5, ROT= 351.1, -17.5

2025-10-26T23:04:46.980Z,1761519886.980 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-10-26T23:04:46.981Z,1761519886.981 [DAT](INFO): direction in FSK: [0.942234,-0.147550,0.300706]
2025-10-26T23:04:46.982Z,1761519886.982 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:46.985Z,1761519886.985 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.615612
2025-10-26T23:04:47.032Z,1761519887.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344199,-0.921751,-0.178613],[0.937387,0.348153,0.009728],[0.053217,-0.170778,0.983871]]
2025-10-26T23:04:47.153Z,1761519887.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.504225 s,
      deltaX: -0.200000 m,
      approachRate: -0.396648 m/s,
      rangeRepo size: 4

2025-10-26T23:04:47.160Z,1761519887.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.046071 m,
      bearing: 64.030272 deg,
      lat: 36.779417 deg,
      lon: -121.859379 deg,
      deltaT: 0.504225 s,
      deltaX: -0.199028 m,
      approachRate: -0.394721 m/s,
      posRepo size: 4

2025-10-26T23:04:47.161Z,1761519887.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.05 m.
2025-10-26T23:04:47.168Z,1761519887.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.046071 m,
      nav range: 10.255981 m,
      bearing: 64.040442 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.240841 deg/s,
      cmd heading: 65.572623 deg,
      new cmd heading: 65.210526 deg.

2025-10-26T23:04:47.169Z,1761519887.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138138 target range: 11.046071 and range: 11.10 m.
2025-10-26T23:04:47.229Z,1761519887.229 [DAT](INFO): DAT read: Rx Time:23:04:46.1408 

2025-10-26T23:04:47.230Z,1761519887.230 [DAT](INFO): Rx dataTimestamp_ set to:1761519887.229249
2025-10-26T23:04:47.237Z,1761519887.237 [DAT](INFO): DAT read: Bearing 228.4,  -9.0 (Local)

2025-10-26T23:04:47.239Z,1761519887.239 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.4,  -9.0 (Local)

2025-10-26T23:04:47.260Z,1761519887.260 [DAT](INFO): DAT read: Range 11 to 50 :    10.8 m (trip time 7.2 ms) speed 0.5

2025-10-26T23:04:47.263Z,1761519887.263 [DAT](ERROR): #Rx 74: Read range message, but no direction.
2025-10-26T23:04:47.272Z,1761519887.272 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.902927
2025-10-26T23:04:47.418Z,1761519887.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348652,-0.920000,-0.179002],[0.935630,0.352875,0.008734],[0.055131,-0.170525,0.983810]]
2025-10-26T23:04:47.484Z,1761519887.484 [DAT](INFO): DAT read: 23:04:46.1408 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500,-0.07,-0.404,-1.958, 0.052,-0.291, PHS=-0.010,-1.622, 0.299, RAW= 158.6,  14.8, CAL= 159.4,  17.1, ROT= 350.6, -17.1

2025-10-26T23:04:47.485Z,1761519887.485 [DAT](INFO): got valid direction response:
 23:04:46.1408 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500,-0.07,-0.404,-1.958, 0.052,-0.291, PHS=-0.010,-1.622, 0.299, RAW= 158.6,  14.8, CAL= 159.4,  17.1, ROT= 350.6, -17.1

2025-10-26T23:04:47.486Z,1761519887.486 [DAT](INFO): #Rx 75: Read direction message, but no range.
2025-10-26T23:04:47.487Z,1761519887.487 [DAT](INFO): direction in FSK: [0.942959,-0.156106,0.294040]
2025-10-26T23:04:47.490Z,1761519887.490 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.120461
2025-10-26T23:04:47.541Z,1761519887.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.257195 s,
      deltaX: -0.300000 m,
      approachRate: -1.166431 m/s,
      rangeRepo size: 4

2025-10-26T23:04:47.549Z,1761519887.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.747882 m,
      bearing: 63.166200 deg,
      lat: 36.779417 deg,
      lon: -121.859379 deg,
      deltaT: 0.257195 s,
      deltaX: -0.298189 m,
      approachRate: -1.159389 m/s,
      posRepo size: 4

2025-10-26T23:04:47.549Z,1761519887.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.75 m.
2025-10-26T23:04:47.556Z,1761519887.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.747882 m,
      nav range: 10.049223 m,
      bearing: 64.182660 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.240841 deg/s,
      cmd heading: 65.210528 deg,
      new cmd heading: 64.926161 deg.

2025-10-26T23:04:47.557Z,1761519887.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133175 target range: 10.747882 and range: 10.80 m.
2025-10-26T23:04:47.732Z,1761519887.732 [DAT](INFO): DAT read: Rx Time:23:04:46.6407 

2025-10-26T23:04:47.734Z,1761519887.734 [DAT](INFO): Rx dataTimestamp_ set to:1761519887.733073
2025-10-26T23:04:47.738Z,1761519887.738 [DAT](INFO): DAT read: Bearing 226.8,  -9.3 (Local)

2025-10-26T23:04:47.740Z,1761519887.740 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.8,  -9.3 (Local)

2025-10-26T23:04:47.755Z,1761519887.755 [DAT](INFO): DAT read: Range 11 to 50 :    10.7 m (trip time 7.1 ms) speed 0.4

2025-10-26T23:04:47.762Z,1761519887.762 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-10-26T23:04:47.769Z,1761519887.769 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.399048
2025-10-26T23:04:47.814Z,1761519887.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353320,-0.918375,-0.178190],[0.933789,0.357740,0.007777],[0.056603,-0.169140,0.983965]]
2025-10-26T23:04:47.860Z,1761519887.860 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:04:47.863Z,1761519887.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.503824 s,
      deltaX: -0.100000 m,
      approachRate: -0.198483 m/s,
      rangeRepo size: 4

2025-10-26T23:04:47.868Z,1761519887.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.75 m.
2025-10-26T23:04:47.870Z,1761519887.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.747882 m,
      nav range: 9.888771 m,
      bearing: 64.346055 deg,
      approach rate: -0.498772 m/s,
      LOS rate: 0.516161 deg/s,
      cmd heading: 64.926159 deg,
      new cmd heading: 65.424285 deg.

2025-10-26T23:04:47.876Z,1761519887.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.141869 target range: 10.747882 and range: 10.70 m.
2025-10-26T23:04:47.985Z,1761519887.985 [DAT](INFO): DAT read: 23:04:46.6407 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.24, 1.458,-0.100, 1.947, 1.555, PHS= 0.004,-1.610, 0.348, RAW= 159.5,  13.8, CAL= 160.1,  15.9, ROT= 349.9, -15.9

2025-10-26T23:04:47.986Z,1761519887.986 [DAT](INFO): got valid direction response:
 23:04:46.6407 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.24, 1.458,-0.100, 1.947, 1.555, PHS= 0.004,-1.610, 0.348, RAW= 159.5,  13.8, CAL= 160.1,  15.9, ROT= 349.9, -15.9

2025-10-26T23:04:47.986Z,1761519887.986 [DAT](INFO): #Rx 77: Read direction message, but no range.
2025-10-26T23:04:47.987Z,1761519887.987 [DAT](INFO): direction in FSK: [0.946837,-0.168658,0.273959]
2025-10-26T23:04:47.991Z,1761519887.991 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.620968
2025-10-26T23:04:48.236Z,1761519888.236 [DAT](INFO): DAT read: Rx Time:23:04:47.1404 

2025-10-26T23:04:48.238Z,1761519888.238 [DAT](INFO): Rx dataTimestamp_ set to:1761519888.236923
2025-10-26T23:04:48.242Z,1761519888.242 [DAT](INFO): DAT read: Bearing 228.1,  -8.4 (Local)

2025-10-26T23:04:48.243Z,1761519888.243 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.1,  -8.4 (Local)

2025-10-26T23:04:48.253Z,1761519888.253 [DAT](INFO): DAT read: Range 11 to 50 :    10.2 m (trip time 6.8 ms) speed 0.4

2025-10-26T23:04:48.255Z,1761519888.255 [DAT](ERROR): #Rx 78: Read range message, but no direction.
2025-10-26T23:04:48.296Z,1761519888.296 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.926140
2025-10-26T23:04:48.304Z,1761519888.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358761,-0.915696,-0.181084],[0.931659,0.363220,0.009078],[0.057461,-0.171965,0.983426]]
2025-10-26T23:04:48.361Z,1761519888.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.503850 s,
      deltaX: -0.500000 m,
      approachRate: -0.992359 m/s,
      rangeRepo size: 4

2025-10-26T23:04:48.363Z,1761519888.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.150777 m,
      bearing: 61.636045 deg,
      lat: 36.779417 deg,
      lon: -121.859380 deg,
      deltaT: 1.007674 s,
      deltaX: -0.597105 m,
      approachRate: -0.592558 m/s,
      posRepo size: 4

2025-10-26T23:04:48.364Z,1761519888.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.15 m.
2025-10-26T23:04:48.367Z,1761519888.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.150777 m,
      nav range: 9.580053 m,
      bearing: 64.466188 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.516161 deg/s,
      cmd heading: 65.424285 deg,
      new cmd heading: 66.195766 deg.

2025-10-26T23:04:48.368Z,1761519888.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155334 target range: 10.150777 and range: 10.20 m.
2025-10-26T23:04:48.488Z,1761519888.488 [DAT](INFO): DAT read: 23:04:47.1404 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 497,-0.24,-1.986, 2.727,-1.541,-1.873, PHS=-0.011,-1.638, 0.288, RAW= 158.3,  15.0, CAL= 159.1,  17.4, ROT= 350.9, -17.4

2025-10-26T23:04:48.489Z,1761519888.489 [DAT](INFO): got valid direction response:
 23:04:47.1404 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 497,-0.24,-1.986, 2.727,-1.541,-1.873, PHS=-0.011,-1.638, 0.288, RAW= 158.3,  15.0, CAL= 159.1,  17.4, ROT= 350.9, -17.4

2025-10-26T23:04:48.490Z,1761519888.490 [DAT](INFO): #Rx 79: Read direction message, but no range.
2025-10-26T23:04:48.491Z,1761519888.491 [DAT](INFO): direction in FSK: [0.942230,-0.150921,0.299041]
2025-10-26T23:04:48.494Z,1761519888.494 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.124645
2025-10-26T23:04:48.633Z,1761519888.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364197,-0.912767,-0.184978],[0.929510,0.368631,0.011083],[0.058073,-0.175976,0.982680]]
2025-10-26T23:04:48.681Z,1761519888.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.15 m.
2025-10-26T23:04:48.688Z,1761519888.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.150777 m,
      nav range: 9.428440 m,
      bearing: 64.669976 deg,
      approach rate: -0.473407 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 66.195769 deg,
      new cmd heading: 66.816937 deg.

2025-10-26T23:04:48.692Z,1761519888.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.166176 target range: 10.150777 and range: 10.20 m.
2025-10-26T23:04:48.741Z,1761519888.741 [DAT](INFO): DAT read: Rx Time:23:04:47.6404 

2025-10-26T23:04:48.743Z,1761519888.743 [DAT](INFO): Rx dataTimestamp_ set to:1761519888.741639
2025-10-26T23:04:48.746Z,1761519888.746 [DAT](INFO): DAT read: Bearing 226.3,  -4.1 (Local)

2025-10-26T23:04:48.748Z,1761519888.748 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.3,  -4.1 (Local)

2025-10-26T23:04:48.768Z,1761519888.768 [DAT](INFO): DAT read: Range 11 to 50 :    10.2 m (trip time 6.8 ms) speed 0.4

2025-10-26T23:04:48.777Z,1761519888.777 [DAT](INFO): DAT read: 23:04:47.6404 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 512, 0.22, 1.280,-0.719, 1.624, 1.259, PHS= 0.123,-1.933, 0.321, RAW= 154.6,  13.7, CAL= 154.9,  15.4, ROT= 355.1, -15.4

2025-10-26T23:04:48.779Z,1761519888.779 [DAT](INFO): got valid direction response:
 23:04:47.6404 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 512, 0.22, 1.280,-0.719, 1.624, 1.259, PHS= 0.123,-1.933, 0.321, RAW= 154.6,  13.7, CAL= 154.9,  15.4, ROT= 355.1, -15.4

2025-10-26T23:04:48.788Z,1761519888.788 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-10-26T23:04:48.789Z,1761519888.789 [DAT](INFO): direction in FSK: [0.960572,-0.082350,0.265556]
2025-10-26T23:04:48.790Z,1761519888.790 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:48.806Z,1761519888.806 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.429546
2025-10-26T23:04:48.989Z,1761519888.989 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.619171
2025-10-26T23:04:49.029Z,1761519889.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369021,-0.910025,-0.188885],[0.927559,0.373455,0.012888],[0.058812,-0.179958,0.981915]]
2025-10-26T23:04:49.073Z,1761519889.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.504716 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:04:49.089Z,1761519889.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.150627 m,
      bearing: 66.292567 deg,
      lat: 36.779417 deg,
      lon: -121.859380 deg,
      deltaT: 0.504716 s,
      deltaX: -0.000150 m,
      approachRate: -0.000297 m/s,
      posRepo size: 4

2025-10-26T23:04:49.100Z,1761519889.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.15 m.
2025-10-26T23:04:49.118Z,1761519889.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.150627 m,
      nav range: 9.249875 m,
      bearing: 64.924478 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 66.816940 deg,
      new cmd heading: 67.565879 deg.

2025-10-26T23:04:49.133Z,1761519889.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.179247 target range: 10.150627 and range: 10.20 m.
2025-10-26T23:04:49.246Z,1761519889.246 [DAT](INFO): DAT read: Rx Time:23:04:48.1402 

2025-10-26T23:04:49.248Z,1761519889.248 [DAT](INFO): Rx dataTimestamp_ set to:1761519889.246647
2025-10-26T23:04:49.253Z,1761519889.253 [DAT](INFO): DAT read: Bearing 225.6,  -9.0 (Local)

2025-10-26T23:04:49.254Z,1761519889.254 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.6,  -9.0 (Local)

2025-10-26T23:04:49.269Z,1761519889.269 [DAT](INFO): DAT read: Range 11 to 50 :     9.9 m (trip time 6.6 ms) speed 0.4

2025-10-26T23:04:49.274Z,1761519889.274 [DAT](INFO): DAT read: 23:04:48.1402 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 510,-0.08,-2.635, 2.069,-2.143,-2.540, PHS= 0.007,-1.629, 0.353, RAW= 159.4,  13.8, CAL= 160.0,  15.8, ROT= 350.0, -15.8

2025-10-26T23:04:49.310Z,1761519889.310 [DAT](INFO): got valid direction response:
 23:04:48.1402 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 510,-0.08,-2.635, 2.069,-2.143,-2.540, PHS= 0.007,-1.629, 0.353, RAW= 159.4,  13.8, CAL= 160.0,  15.8, ROT= 350.0, -15.8

2025-10-26T23:04:49.310Z,1761519889.310 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-26T23:04:49.320Z,1761519889.320 [DAT](INFO): direction in FSK: [0.947600,-0.167087,0.272280]
2025-10-26T23:04:49.320Z,1761519889.320 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:49.328Z,1761519889.328 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.958439
2025-10-26T23:04:49.430Z,1761519889.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373998,-0.907727,-0.190151],[0.925533,0.378409,0.013964],[0.059279,-0.181213,0.981656]]
2025-10-26T23:04:49.492Z,1761519889.492 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.122917
2025-10-26T23:04:49.537Z,1761519889.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.900000 m,
      deltaT: 0.505008 s,
      deltaX: -0.300000 m,
      approachRate: -0.594050 m/s,
      rangeRepo size: 4

2025-10-26T23:04:49.543Z,1761519889.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.852151 m,
      bearing: 60.941784 deg,
      lat: 36.779418 deg,
      lon: -121.859381 deg,
      deltaT: 0.505008 s,
      deltaX: -0.298476 m,
      approachRate: -0.591033 m/s,
      posRepo size: 4

2025-10-26T23:04:49.544Z,1761519889.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.85 m.
2025-10-26T23:04:49.545Z,1761519889.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.90 m.
2025-10-26T23:04:49.545Z,1761519889.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-10-26T23:04:49.552Z,1761519889.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 9.036656 m,
      bearing: 64.323767 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 67.565877 deg,
      new cmd heading: 68.476948 deg.

2025-10-26T23:04:49.552Z,1761519889.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.195148 target range: 9.852151 and range: 9.90 m.
2025-10-26T23:04:49.758Z,1761519889.758 [DAT](INFO): DAT read: Rx Time:23:04:48.6400 

2025-10-26T23:04:49.760Z,1761519889.760 [DAT](INFO): Rx dataTimestamp_ set to:1761519889.758637
2025-10-26T23:04:49.768Z,1761519889.768 [DAT](INFO): DAT read: Bearing 224.7,  -9.3 (Local)

2025-10-26T23:04:49.768Z,1761519889.768 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.7,  -9.3 (Local)

2025-10-26T23:04:49.770Z,1761519889.770 [DAT](INFO): DAT read: Range 11 to 50 :     9.6 m (trip time 6.4 ms) speed 0.4

2025-10-26T23:04:49.785Z,1761519889.785 [DAT](INFO): DAT read: 23:04:48.6400 LVL= 32752, 32753, 32562, 32755, AGC= 57, IDX= 509,-0.45,-2.827, 1.866,-2.315,-2.737, PHS= 0.012,-1.635, 0.378, RAW= 159.8,  13.3, CAL= 160.4,  15.3, ROT= 349.6, -15.3

2025-10-26T23:04:49.792Z,1761519889.792 [DAT](INFO): got valid direction response:
 23:04:48.6400 LVL= 32752, 32753, 32562, 32755, AGC= 57, IDX= 509,-0.45,-2.827, 1.866,-2.315,-2.737, PHS= 0.012,-1.635, 0.378, RAW= 159.8,  13.3, CAL= 160.4,  15.3, ROT= 349.6, -15.3

2025-10-26T23:04:49.792Z,1761519889.792 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-10-26T23:04:49.794Z,1761519889.794 [DAT](INFO): direction in FSK: [0.948711,-0.174121,0.263873]
2025-10-26T23:04:49.794Z,1761519889.794 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:49.802Z,1761519889.802 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.432583
2025-10-26T23:04:49.876Z,1761519889.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378122,-0.905733,-0.191499],[0.923789,0.382635,0.014307],[0.060316,-0.182314,0.981389]]
2025-10-26T23:04:49.929Z,1761519889.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.511990 s,
      deltaX: -0.299999 m,
      approachRate: -0.585947 m/s,
      rangeRepo size: 4

2025-10-26T23:04:49.931Z,1761519889.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.553602 m,
      bearing: 60.201329 deg,
      lat: 36.779420 deg,
      lon: -121.859382 deg,
      deltaT: 0.511990 s,
      deltaX: -0.298549 m,
      approachRate: -0.583114 m/s,
      posRepo size: 4

2025-10-26T23:04:49.936Z,1761519889.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.55 m. 9.85 m.
2025-10-26T23:04:49.939Z,1761519889.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 8.856015 m,
      bearing: 64.585167 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 68.476949 deg,
      new cmd heading: 69.236748 deg.

2025-10-26T23:04:49.944Z,1761519889.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.208409 target range: 9.852151 and range: 9.60 m.
2025-10-26T23:04:49.997Z,1761519889.997 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.627506
2025-10-26T23:04:50.253Z,1761519890.253 [DAT](INFO): DAT read: Rx Time:23:04:49.1398 

2025-10-26T23:04:50.255Z,1761519890.255 [DAT](INFO): Rx dataTimestamp_ set to:1761519890.253715
2025-10-26T23:04:50.276Z,1761519890.276 [DAT](INFO): DAT read: Bearing 223.8,  -9.1 (Local)

2025-10-26T23:04:50.276Z,1761519890.276 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.8,  -9.1 (Local)

2025-10-26T23:04:50.278Z,1761519890.278 [DAT](INFO): DAT read: Range 11 to 50 :     9.3 m (trip time 6.2 ms) speed 0.4

2025-10-26T23:04:50.287Z,1761519890.287 [DAT](INFO): DAT read: 23:04:49.1398 LVL= 32752, 32753, 31394, 32755, AGC= 57, IDX= 506, 0.09,-2.760, 1.920,-2.237,-2.683, PHS= 0.025,-1.635, 0.402, RAW= 160.0,  12.8, CAL= 160.5,  14.6, ROT= 349.5, -14.6

2025-10-26T23:04:50.292Z,1761519890.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381823,-0.903978,-0.192446],[0.922210,0.386412,0.014621],[0.061147,-0.183059,0.981199]]
2025-10-26T23:04:50.300Z,1761519890.300 [DAT](INFO): got valid direction response:
 23:04:49.1398 LVL= 32752, 32753, 31394, 32755, AGC= 57, IDX= 506, 0.09,-2.760, 1.920,-2.237,-2.683, PHS= 0.025,-1.635, 0.402, RAW= 160.0,  12.8, CAL= 160.5,  14.6, ROT= 349.5, -14.6

2025-10-26T23:04:50.301Z,1761519890.301 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-10-26T23:04:50.302Z,1761519890.302 [DAT](INFO): direction in FSK: [0.951505,-0.176351,0.252069]
2025-10-26T23:04:50.302Z,1761519890.302 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:50.314Z,1761519890.314 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.944168
2025-10-26T23:04:50.391Z,1761519890.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 0.495078 s,
      deltaX: -0.300000 m,
      approachRate: -0.605965 m/s,
      rangeRepo size: 4

2025-10-26T23:04:50.413Z,1761519890.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.255052 m,
      bearing: 59.746332 deg,
      lat: 36.779423 deg,
      lon: -121.859383 deg,
      deltaT: 1.007068 s,
      deltaX: -0.597099 m,
      approachRate: -0.592909 m/s,
      posRepo size: 4

2025-10-26T23:04:50.414Z,1761519890.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.26 m. 9.85 m.
2025-10-26T23:04:50.421Z,1761519890.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 8.631610 m,
      bearing: 64.856418 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 69.236747 deg,
      new cmd heading: 70.132643 deg.

2025-10-26T23:04:50.422Z,1761519890.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224046 target range: 9.852151 and range: 9.30 m.
2025-10-26T23:04:50.501Z,1761519890.501 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.131008
2025-10-26T23:04:50.678Z,1761519890.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384718,-0.902904,-0.191718],[0.920935,0.389471,0.013799],[0.062210,-0.181869,0.981353]]
2025-10-26T23:04:50.699Z,1761519890.699 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:04:50.702Z,1761519890.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-10-26T23:04:50.708Z,1761519890.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 8.478192 m,
      bearing: 65.053871 deg,
      approach rate: -0.492990 m/s,
      LOS rate: 0.645975 deg/s,
      cmd heading: 70.132642 deg,
      new cmd heading: 70.735699 deg.

2025-10-26T23:04:50.730Z,1761519890.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.234571 target range: 9.852151 and range: 9.30 m.
2025-10-26T23:04:50.757Z,1761519890.757 [DAT](INFO): DAT read: Rx Time:23:04:49.6397 

2025-10-26T23:04:50.759Z,1761519890.759 [DAT](INFO): Rx dataTimestamp_ set to:1761519890.757698
2025-10-26T23:04:50.763Z,1761519890.763 [DAT](INFO): DAT read: Bearing 225.1,  -9.2 (Local)

2025-10-26T23:04:50.764Z,1761519890.764 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.1,  -9.2 (Local)

2025-10-26T23:04:50.772Z,1761519890.772 [DAT](INFO): DAT read: Range 11 to 50 :     9.2 m (trip time 6.1 ms) speed 0.4

2025-10-26T23:04:50.785Z,1761519890.785 [DAT](INFO): DAT read: 23:04:49.6397 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 506,-0.28,-2.476, 2.207,-1.964,-2.368, PHS=-0.006,-1.663, 0.360, RAW= 159.8,  13.9, CAL= 160.4,  16.0, ROT= 349.6, -16.0

2025-10-26T23:04:50.786Z,1761519890.786 [DAT](INFO): got valid direction response:
 23:04:49.6397 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 506,-0.28,-2.476, 2.207,-1.964,-2.368, PHS=-0.006,-1.663, 0.360, RAW= 159.8,  13.9, CAL= 160.4,  16.0, ROT= 349.6, -16.0

2025-10-26T23:04:50.787Z,1761519890.787 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-10-26T23:04:50.809Z,1761519890.809 [DAT](INFO): direction in FSK: [0.945470,-0.173526,0.275637]
2025-10-26T23:04:50.809Z,1761519890.809 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:50.826Z,1761519890.826 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.456432
2025-10-26T23:04:51.005Z,1761519891.005 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.635197
2025-10-26T23:04:51.189Z,1761519891.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 0.503983 s,
      deltaX: -0.100000 m,
      approachRate: -0.198420 m/s,
      rangeRepo size: 4

2025-10-26T23:04:51.191Z,1761519891.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.155268 m,
      bearing: 59.910239 deg,
      lat: 36.779424 deg,
      lon: -121.859382 deg,
      deltaT: 1.511051 s,
      deltaX: -0.696883 m,
      approachRate: -0.461191 m/s,
      posRepo size: 4

2025-10-26T23:04:51.192Z,1761519891.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.16 m. 9.85 m.
2025-10-26T23:04:51.195Z,1761519891.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 8.252892 m,
      bearing: 65.357407 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 70.735700 deg,
      new cmd heading: 71.679986 deg.

2025-10-26T23:04:51.196Z,1761519891.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.251052 target range: 9.852151 and range: 9.20 m.
2025-10-26T23:04:51.261Z,1761519891.261 [DAT](INFO): DAT read: Rx Time:23:04:50.1395 

2025-10-26T23:04:51.262Z,1761519891.262 [DAT](INFO): Rx dataTimestamp_ set to:1761519891.261721
2025-10-26T23:04:51.273Z,1761519891.273 [DAT](INFO): DAT read: Bearing 223.1,  -8.6 (Local)

2025-10-26T23:04:51.273Z,1761519891.273 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.1,  -8.6 (Local)

2025-10-26T23:04:51.275Z,1761519891.275 [DAT](INFO): DAT read: Range 11 to 50 :     8.9 m (trip time 5.9 ms) speed 0.4

2025-10-26T23:04:51.320Z,1761519891.320 [DAT](INFO): DAT read: 23:04:50.1395 LVL= 32752, 32753, 29522, 32755, AGC= 57, IDX= 503, 0.14,-1.543, 3.123,-1.018,-1.485, PHS= 0.043,-1.630, 0.422, RAW= 160.0,  12.3, CAL= 160.3,  13.9, ROT= 349.7, -13.9

2025-10-26T23:04:51.322Z,1761519891.322 [DAT](INFO): got valid direction response:
 23:04:50.1395 LVL= 32752, 32753, 29522, 32755, AGC= 57, IDX= 503, 0.14,-1.543, 3.123,-1.018,-1.485, PHS= 0.043,-1.630, 0.422, RAW= 160.0,  12.3, CAL= 160.3,  13.9, ROT= 349.7, -13.9

2025-10-26T23:04:51.322Z,1761519891.322 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-10-26T23:04:51.323Z,1761519891.323 [DAT](INFO): direction in FSK: [0.955073,-0.173566,0.240228]
2025-10-26T23:04:51.326Z,1761519891.326 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:51.355Z,1761519891.355 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.985378
2025-10-26T23:04:51.486Z,1761519891.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384615,-0.905629,-0.178626],[0.920696,0.390261,0.003817],[0.066253,-0.165928,0.983910]]
2025-10-26T23:04:51.508Z,1761519891.508 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.138905
2025-10-26T23:04:51.584Z,1761519891.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.504023 s,
      deltaX: -0.300000 m,
      approachRate: -0.595211 m/s,
      rangeRepo size: 4

2025-10-26T23:04:51.586Z,1761519891.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.856932 m,
      bearing: 59.342977 deg,
      lat: 36.779424 deg,
      lon: -121.859382 deg,
      deltaT: 2.015074 s,
      deltaX: -0.995219 m,
      approachRate: -0.493887 m/s,
      posRepo size: 4

2025-10-26T23:04:51.587Z,1761519891.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.86 m. 9.85 m.
2025-10-26T23:04:51.593Z,1761519891.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 8.057624 m,
      bearing: 65.554468 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 71.679987 deg,
      new cmd heading: 72.429519 deg.

2025-10-26T23:04:51.594Z,1761519891.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.264134 target range: 9.852151 and range: 8.90 m.
2025-10-26T23:04:51.767Z,1761519891.767 [DAT](INFO): DAT read: Rx Time:23:04:50.6394 

2025-10-26T23:04:51.768Z,1761519891.768 [DAT](INFO): Rx dataTimestamp_ set to:1761519891.767342
2025-10-26T23:04:51.770Z,1761519891.770 [DAT](INFO): DAT read: Bearing 223.7,  -8.2 (Local)

2025-10-26T23:04:51.770Z,1761519891.770 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.7,  -8.2 (Local)

2025-10-26T23:04:51.773Z,1761519891.773 [DAT](INFO): DAT read: Range 11 to 50 :     8.7 m (trip time 5.8 ms) speed 0.4

2025-10-26T23:04:51.778Z,1761519891.778 [DAT](INFO): DAT read: 23:04:50.6394 LVL= 32752, 32753, 29874, 32755, AGC= 57, IDX= 503,-0.29,-1.559, 3.101,-1.040,-1.493, PHS= 0.036,-1.644, 0.409, RAW= 159.8,  12.6, CAL= 160.2,  14.3, ROT= 349.8, -14.3

2025-10-26T23:04:51.781Z,1761519891.781 [DAT](INFO): got valid direction response:
 23:04:50.6394 LVL= 32752, 32753, 29874, 32755, AGC= 57, IDX= 503,-0.29,-1.559, 3.101,-1.040,-1.493, PHS= 0.036,-1.644, 0.409, RAW= 159.8,  12.6, CAL= 160.2,  14.3, ROT= 349.8, -14.3

2025-10-26T23:04:51.783Z,1761519891.783 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-10-26T23:04:51.785Z,1761519891.785 [DAT](INFO): direction in FSK: [0.953701,-0.171598,0.246999]
2025-10-26T23:04:51.786Z,1761519891.786 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:51.789Z,1761519891.789 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.419865
2025-10-26T23:04:52.013Z,1761519892.013 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.643841
2025-10-26T23:04:52.065Z,1761519892.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383577,-0.907592,-0.170719],[0.920953,0.389667,-0.002353],[0.068659,-0.156321,0.985317]]
2025-10-26T23:04:52.109Z,1761519892.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 0.505621 s,
      deltaX: -0.200000 m,
      approachRate: -0.395553 m/s,
      rangeRepo size: 4

2025-10-26T23:04:52.111Z,1761519892.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.657900 m,
      bearing: 59.408031 deg,
      lat: 36.779425 deg,
      lon: -121.859382 deg,
      deltaT: 2.520695 s,
      deltaX: -1.194251 m,
      approachRate: -0.473778 m/s,
      posRepo size: 4

2025-10-26T23:04:52.121Z,1761519892.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.66 m. 9.85 m.
2025-10-26T23:04:52.139Z,1761519892.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 7.789973 m,
      bearing: 65.840554 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 72.429518 deg,
      new cmd heading: 73.463726 deg.

2025-10-26T23:04:52.154Z,1761519892.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.282184 target range: 9.852151 and range: 8.70 m.
2025-10-26T23:04:52.268Z,1761519892.268 [DAT](INFO): DAT read: Rx Time:23:04:51.1392 

2025-10-26T23:04:52.269Z,1761519892.269 [DAT](INFO): Rx dataTimestamp_ set to:1761519892.268427
2025-10-26T23:04:52.270Z,1761519892.270 [DAT](INFO): DAT read: Bearing 223.8,  -7.9 (Local)

2025-10-26T23:04:52.270Z,1761519892.270 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.8,  -7.9 (Local)

2025-10-26T23:04:52.273Z,1761519892.273 [DAT](INFO): DAT read: Range 11 to 50 :     8.4 m (trip time 5.6 ms) speed 0.4

2025-10-26T23:04:52.279Z,1761519892.279 [DAT](INFO): DAT read: 23:04:51.1392 LVL= 32752, 32753, 30450, 32755, AGC= 57, IDX= 500, 0.09,-0.788,-2.417,-0.267,-0.727, PHS= 0.041,-1.645, 0.416, RAW= 159.8,  12.5, CAL= 160.2,  14.1, ROT= 349.8, -14.1

2025-10-26T23:04:52.297Z,1761519892.297 [DAT](INFO): got valid direction response:
 23:04:51.1392 LVL= 32752, 32753, 30450, 32755, AGC= 57, IDX= 500, 0.09,-0.788,-2.417,-0.267,-0.727, PHS= 0.041,-1.645, 0.416, RAW= 159.8,  12.5, CAL= 160.2,  14.1, ROT= 349.8, -14.1

2025-10-26T23:04:52.297Z,1761519892.297 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-10-26T23:04:52.298Z,1761519892.298 [DAT](INFO): direction in FSK: [0.954544,-0.171750,0.243615]
2025-10-26T23:04:52.299Z,1761519892.299 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:52.311Z,1761519892.311 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.941330
2025-10-26T23:04:52.520Z,1761519892.520 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.150764
2025-10-26T23:04:52.570Z,1761519892.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379439,-0.913291,-0.148070],[0.922383,0.385917,-0.016653],[0.072352,-0.130258,0.988837]]
2025-10-26T23:04:52.651Z,1761519892.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.400000 m,
      deltaT: 0.501085 s,
      deltaX: -0.300000 m,
      approachRate: -0.598701 m/s,
      rangeRepo size: 4

2025-10-26T23:04:52.657Z,1761519892.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.359394 m,
      bearing: 59.197382 deg,
      lat: 36.779426 deg,
      lon: -121.859382 deg,
      deltaT: 3.021780 s,
      deltaX: -1.492757 m,
      approachRate: -0.493999 m/s,
      posRepo size: 4

2025-10-26T23:04:52.658Z,1761519892.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.36 m. 9.85 m.
2025-10-26T23:04:52.665Z,1761519892.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 7.518367 m,
      bearing: 66.006873 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 73.463725 deg,
      new cmd heading: 74.515060 deg.

2025-10-26T23:04:52.666Z,1761519892.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.300533 target range: 9.852151 and range: 8.40 m.
2025-10-26T23:04:52.769Z,1761519892.769 [DAT](INFO): DAT read: Rx Time:23:04:51.6390 

2025-10-26T23:04:52.770Z,1761519892.770 [DAT](INFO): Rx dataTimestamp_ set to:1761519892.769654
2025-10-26T23:04:52.771Z,1761519892.771 [DAT](INFO): DAT read: Bearing 223.7,  -7.2 (Local)

2025-10-26T23:04:52.772Z,1761519892.772 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.7,  -7.2 (Local)

2025-10-26T23:04:52.774Z,1761519892.774 [DAT](INFO): DAT read: Range 11 to 50 :     8.1 m (trip time 5.4 ms) speed 0.4

2025-10-26T23:04:52.778Z,1761519892.778 [DAT](INFO): DAT read: 23:04:51.6390 LVL= 32240, 32753, 30194, 32755, AGC= 56, IDX= 499,-0.34,-2.707, 1.929,-2.193,-2.663, PHS= 0.058,-1.646, 0.426, RAW= 159.6,  12.1, CAL= 159.9,  13.6, ROT= 350.1, -13.6

2025-10-26T23:04:52.780Z,1761519892.780 [DAT](INFO): got valid direction response:
 23:04:51.6390 LVL= 32240, 32753, 30194, 32755, AGC= 56, IDX= 499,-0.34,-2.707, 1.929,-2.193,-2.663, PHS= 0.058,-1.646, 0.426, RAW= 159.6,  12.1, CAL= 159.9,  13.6, ROT= 350.1, -13.6

2025-10-26T23:04:52.781Z,1761519892.781 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-10-26T23:04:52.782Z,1761519892.782 [DAT](INFO): direction in FSK: [0.957488,-0.167108,0.235142]
2025-10-26T23:04:52.782Z,1761519892.782 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:52.786Z,1761519892.786 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.416142
2025-10-26T23:04:53.022Z,1761519893.022 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.651764
2025-10-26T23:04:53.104Z,1761519893.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376081,-0.916044,-0.139379],[0.923663,0.382569,-0.022085],[0.073553,-0.120433,0.989993]]
2025-10-26T23:04:53.191Z,1761519893.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.100000 m,
      deltaT: 0.501227 s,
      deltaX: -0.299999 m,
      approachRate: -0.598530 m/s,
      rangeRepo size: 4

2025-10-26T23:04:53.198Z,1761519893.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.060845 m,
      bearing: 59.491355 deg,
      lat: 36.779426 deg,
      lon: -121.859382 deg,
      deltaT: 3.523007 s,
      deltaX: -1.791306 m,
      approachRate: -0.508459 m/s,
      posRepo size: 4

2025-10-26T23:04:53.199Z,1761519893.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.06 m. 9.85 m.
2025-10-26T23:04:53.206Z,1761519893.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 7.255134 m,
      bearing: 66.173884 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 74.515062 deg,
      new cmd heading: 75.547782 deg.

2025-10-26T23:04:53.214Z,1761519893.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.318558 target range: 9.852151 and range: 8.10 m.
2025-10-26T23:04:53.273Z,1761519893.273 [DAT](INFO): DAT read: Rx Time:23:04:52.1388 

2025-10-26T23:04:53.274Z,1761519893.274 [DAT](INFO): Rx dataTimestamp_ set to:1761519893.273504
2025-10-26T23:04:53.275Z,1761519893.275 [DAT](INFO): DAT read: Bearing 224.7,  -7.2 (Local)

2025-10-26T23:04:53.276Z,1761519893.276 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.7,  -7.2 (Local)

2025-10-26T23:04:53.278Z,1761519893.278 [DAT](INFO): DAT read: Range 11 to 50 :     7.8 m (trip time 5.2 ms) speed 0.4

2025-10-26T23:04:53.282Z,1761519893.282 [DAT](INFO): DAT read: 23:04:52.1388 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 496, 0.01,-2.760, 1.878,-2.243,-2.700, PHS= 0.042,-1.661, 0.412, RAW= 159.6,  12.6, CAL= 160.0,  14.2, ROT= 350.0, -14.2

2025-10-26T23:04:53.284Z,1761519893.284 [DAT](INFO): got valid direction response:
 23:04:52.1388 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 496, 0.01,-2.760, 1.878,-2.243,-2.700, PHS= 0.042,-1.661, 0.412, RAW= 159.6,  12.6, CAL= 160.0,  14.2, ROT= 350.0, -14.2

2025-10-26T23:04:53.284Z,1761519893.284 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-10-26T23:04:53.285Z,1761519893.285 [DAT](INFO): direction in FSK: [0.954717,-0.168342,0.245307]
2025-10-26T23:04:53.285Z,1761519893.285 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:53.289Z,1761519893.289 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.919300
2025-10-26T23:04:53.502Z,1761519893.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371149,-0.919359,-0.130489],[0.925553,0.377596,-0.027800],[0.074830,-0.110457,0.991060]]
2025-10-26T23:04:53.525Z,1761519893.525 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.154964
2025-10-26T23:04:53.597Z,1761519893.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.800000 m,
      deltaT: 0.503850 s,
      deltaX: -0.300000 m,
      approachRate: -0.595416 m/s,
      rangeRepo size: 4

2025-10-26T23:04:53.604Z,1761519893.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.762463 m,
      bearing: 59.601840 deg,
      lat: 36.779426 deg,
      lon: -121.859382 deg,
      deltaT: 4.026857 s,
      deltaX: -2.089688 m,
      approachRate: -0.518938 m/s,
      posRepo size: 4

2025-10-26T23:04:53.605Z,1761519893.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.76 m. 9.85 m.
2025-10-26T23:04:53.612Z,1761519893.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 7.010540 m,
      bearing: 66.212874 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 75.547780 deg,
      new cmd heading: 76.350960 deg.

2025-10-26T23:04:53.614Z,1761519893.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.332576 target range: 9.852151 and range: 7.80 m.
2025-10-26T23:04:53.777Z,1761519893.777 [DAT](INFO): DAT read: Rx Time:23:04:52.6387 

2025-10-26T23:04:53.778Z,1761519893.778 [DAT](INFO): Rx dataTimestamp_ set to:1761519893.777312
2025-10-26T23:04:53.779Z,1761519893.779 [DAT](INFO): DAT read: Bearing 222.4,  -6.7 (Local)

2025-10-26T23:04:53.779Z,1761519893.779 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.4,  -6.7 (Local)

2025-10-26T23:04:53.781Z,1761519893.781 [DAT](INFO): DAT read: Range 11 to 50 :     7.7 m (trip time 5.1 ms) speed 0.4

2025-10-26T23:04:53.786Z,1761519893.786 [DAT](INFO): DAT read: 23:04:52.6387 LVL= 28912, 32753, 28482, 32755, AGC= 54, IDX= 511, 0.39,-1.520, 3.114,-0.992,-1.526, PHS= 0.107,-1.599, 0.490, RAW= 159.9,  10.4, CAL= 159.9,  11.4, ROT= 350.1, -11.4

2025-10-26T23:04:53.788Z,1761519893.788 [DAT](INFO): got valid direction response:
 23:04:52.6387 LVL= 28912, 32753, 28482, 32755, AGC= 54, IDX= 511, 0.39,-1.520, 3.114,-0.992,-1.526, PHS= 0.107,-1.599, 0.490, RAW= 159.9,  10.4, CAL= 159.9,  11.4, ROT= 350.1, -11.4

2025-10-26T23:04:53.788Z,1761519893.788 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-10-26T23:04:53.789Z,1761519893.789 [DAT](INFO): direction in FSK: [0.965674,-0.168537,0.197657]
2025-10-26T23:04:53.789Z,1761519893.789 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:53.827Z,1761519893.827 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.456882
2025-10-26T23:04:53.923Z,1761519893.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364728,-0.923385,-0.119723],[0.927997,0.371002,-0.034345],[0.076131,-0.098576,0.992213]]
2025-10-26T23:04:54.004Z,1761519894.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.700000 m,
      deltaT: 0.503808 s,
      deltaX: -0.100000 m,
      approachRate: -0.198489 m/s,
      rangeRepo size: 4

2025-10-26T23:04:54.006Z,1761519894.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.662943 m,
      bearing: 59.647827 deg,
      lat: 36.779426 deg,
      lon: -121.859382 deg,
      deltaT: 4.530665 s,
      deltaX: -2.189208 m,
      approachRate: -0.483198 m/s,
      posRepo size: 4

2025-10-26T23:04:54.016Z,1761519894.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.66 m. 9.85 m.
2025-10-26T23:04:54.018Z,1761519894.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 6.809026 m,
      bearing: 66.236406 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 76.350962 deg,
      new cmd heading: 77.132184 deg.

2025-10-26T23:04:54.019Z,1761519894.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.346211 target range: 9.852151 and range: 7.70 m.
2025-10-26T23:04:54.029Z,1761519894.029 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.659405
2025-10-26T23:04:54.281Z,1761519894.281 [DAT](INFO): DAT read: Rx Time:23:04:53.1385 

2025-10-26T23:04:54.282Z,1761519894.282 [DAT](INFO): Rx dataTimestamp_ set to:1761519894.281229
2025-10-26T23:04:54.283Z,1761519894.283 [DAT](INFO): DAT read: Bearing 222.3,  -6.9 (Local)

2025-10-26T23:04:54.283Z,1761519894.283 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.3,  -6.9 (Local)

2025-10-26T23:04:54.285Z,1761519894.285 [DAT](INFO): DAT read: Range 11 to 50 :     7.4 m (trip time 4.9 ms) speed 0.4

2025-10-26T23:04:54.290Z,1761519894.290 [DAT](INFO): DAT read: 23:04:53.1385 LVL= 26736, 32753, 27490, 32755, AGC= 53, IDX= 509,-0.17, 2.009, 0.369, 2.561, 1.997, PHS= 0.115,-1.583, 0.520, RAW= 160.5,   9.8, CAL= 160.4,  10.6, ROT= 349.6, -10.6

2025-10-26T23:04:54.291Z,1761519894.291 [DAT](INFO): got valid direction response:
 23:04:53.1385 LVL= 26736, 32753, 27490, 32755, AGC= 53, IDX= 509,-0.17, 2.009, 0.369, 2.561, 1.997, PHS= 0.115,-1.583, 0.520, RAW= 160.5,   9.8, CAL= 160.4,  10.6, ROT= 349.6, -10.6

2025-10-26T23:04:54.292Z,1761519894.292 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-10-26T23:04:54.293Z,1761519894.293 [DAT](INFO): direction in FSK: [0.966787,-0.177439,0.183951]
2025-10-26T23:04:54.293Z,1761519894.293 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:54.297Z,1761519894.297 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.927208
2025-10-26T23:04:54.326Z,1761519894.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356179,-0.928018,-0.109179],[0.931242,0.362162,-0.040338],[0.076975,-0.087304,0.993203]]
2025-10-26T23:04:54.437Z,1761519894.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.400000 m,
      deltaT: 0.503917 s,
      deltaX: -0.300000 m,
      approachRate: -0.595336 m/s,
      rangeRepo size: 4

2025-10-26T23:04:54.439Z,1761519894.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.364388 m,
      bearing: 59.457379 deg,
      lat: 36.779426 deg,
      lon: -121.859382 deg,
      deltaT: 5.034582 s,
      deltaX: -2.487763 m,
      approachRate: -0.494135 m/s,
      posRepo size: 4

2025-10-26T23:04:54.444Z,1761519894.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.36 m. 9.85 m.
2025-10-26T23:04:54.447Z,1761519894.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 6.552456 m,
      bearing: 66.098308 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 77.132186 deg,
      new cmd heading: 77.979387 deg.

2025-10-26T23:04:54.452Z,1761519894.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360997 target range: 9.852151 and range: 7.40 m.
2025-10-26T23:04:54.533Z,1761519894.533 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=46.163578
2025-10-26T23:04:54.785Z,1761519894.785 [DAT](INFO): DAT read: Rx Time:23:04:53.6384 

2025-10-26T23:04:54.786Z,1761519894.786 [DAT](INFO): Rx dataTimestamp_ set to:1761519894.785504
2025-10-26T23:04:54.787Z,1761519894.787 [DAT](INFO): DAT read: Bearing 222.3,  -7.7 (Local)

2025-10-26T23:04:54.787Z,1761519894.787 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.3,  -7.7 (Local)

2025-10-26T23:04:54.789Z,1761519894.789 [DAT](INFO): DAT read: Range 11 to 50 :     7.2 m (trip time 4.8 ms) speed 0.4

2025-10-26T23:04:54.794Z,1761519894.794 [DAT](INFO): DAT read: 23:04:53.6384 LVL= 25696, 32753, 26322, 32755, AGC= 52, IDX= 508, 0.05,-0.795,-2.409,-0.208,-0.805, PHS= 0.112,-1.559, 0.553, RAW= 161.4,   9.3, CAL= 161.3,   9.9, ROT= 348.7,  -9.9

2025-10-26T23:04:54.795Z,1761519894.795 [DAT](INFO): got valid direction response:
 23:04:53.6384 LVL= 25696, 32753, 26322, 32755, AGC= 52, IDX= 508, 0.05,-0.795,-2.409,-0.208,-0.805, PHS= 0.112,-1.559, 0.553, RAW= 161.4,   9.3, CAL= 161.3,   9.9, ROT= 348.7,  -9.9

2025-10-26T23:04:54.796Z,1761519894.796 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-10-26T23:04:54.797Z,1761519894.797 [DAT](INFO): direction in FSK: [0.966013,-0.193028,0.171929]
2025-10-26T23:04:54.797Z,1761519894.797 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:54.805Z,1761519894.805 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.435097
2025-10-26T23:04:54.837Z,1761519894.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346894,-0.931860,-0.106311],[0.934761,0.352775,-0.042084],[0.076720,-0.084776,0.993442]]
2025-10-26T23:04:54.894Z,1761519894.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.200000 m,
      deltaT: 0.504275 s,
      deltaX: -0.200000 m,
      approachRate: -0.396610 m/s,
      rangeRepo size: 4

2025-10-26T23:04:54.900Z,1761519894.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.165121 m,
      bearing: 59.030915 deg,
      lat: 36.779426 deg,
      lon: -121.859380 deg,
      deltaT: 5.538857 s,
      deltaX: -2.687030 m,
      approachRate: -0.485124 m/s,
      posRepo size: 4

2025-10-26T23:04:54.901Z,1761519894.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.17 m. 9.85 m.
2025-10-26T23:04:54.912Z,1761519894.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 6.285904 m,
      bearing: 65.918655 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 77.979389 deg,
      new cmd heading: 78.864921 deg.

2025-10-26T23:04:54.912Z,1761519894.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.376453 target range: 9.852151 and range: 7.20 m.
2025-10-26T23:04:55.037Z,1761519895.037 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.667694
2025-10-26T23:04:55.275Z,1761519895.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335234,-0.936174,-0.105817],[0.939016,0.341141,-0.043261],[0.076598,-0.084861,0.993444]]
2025-10-26T23:04:55.289Z,1761519895.289 [DAT](INFO): DAT read: Rx Time:23:04:54.1381 

2025-10-26T23:04:55.289Z,1761519895.289 [DAT](INFO): Rx dataTimestamp_ set to:1761519895.289004
2025-10-26T23:04:55.291Z,1761519895.291 [DAT](INFO): DAT read: Bearing 223.3,  -9.1 (Local)

2025-10-26T23:04:55.291Z,1761519895.291 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.3,  -9.1 (Local)

2025-10-26T23:04:55.293Z,1761519895.293 [DAT](INFO): DAT read: Range 11 to 50 :     6.8 m (trip time 4.5 ms) speed 0.4

2025-10-26T23:04:55.297Z,1761519895.297 [DAT](INFO): DAT read: 23:04:54.1381 LVL= 27536, 32753, 25970, 32755, AGC= 52, IDX= 505, 0.32,-1.920, 2.779,-1.279,-1.895, PHS= 0.077,-1.564, 0.572, RAW= 162.8,   9.5, CAL= 162.7,  10.2, ROT= 347.3, -10.2

2025-10-26T23:04:55.299Z,1761519895.299 [DAT](INFO): got valid direction response:
 23:04:54.1381 LVL= 27536, 32753, 25970, 32755, AGC= 52, IDX= 505, 0.32,-1.920, 2.779,-1.279,-1.895, PHS= 0.077,-1.564, 0.572, RAW= 162.8,   9.5, CAL= 162.7,  10.2, ROT= 347.3, -10.2

2025-10-26T23:04:55.299Z,1761519895.299 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-10-26T23:04:55.300Z,1761519895.300 [DAT](INFO): direction in FSK: [0.960117,-0.216372,0.177085]
2025-10-26T23:04:55.300Z,1761519895.300 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:55.304Z,1761519895.304 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.934307
2025-10-26T23:04:55.435Z,1761519895.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.800000 m,
      deltaT: 0.503500 s,
      deltaX: -0.400000 m,
      approachRate: -0.794438 m/s,
      rangeRepo size: 4

2025-10-26T23:04:55.441Z,1761519895.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.767059 m,
      bearing: 58.341065 deg,
      lat: 36.779426 deg,
      lon: -121.859380 deg,
      deltaT: 6.042357 s,
      deltaX: -3.085092 m,
      approachRate: -0.510577 m/s,
      posRepo size: 4

2025-10-26T23:04:55.442Z,1761519895.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.77 m. 9.85 m.
2025-10-26T23:04:55.449Z,1761519895.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 5.977560 m,
      bearing: 65.594837 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 78.864923 deg,
      new cmd heading: 79.914200 deg.

2025-10-26T23:04:55.449Z,1761519895.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.394766 target range: 9.852151 and range: 6.80 m.
2025-10-26T23:04:55.540Z,1761519895.540 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=47.170887
2025-10-26T23:04:55.794Z,1761519895.794 [DAT](INFO): DAT read: Rx Time:23:04:54.6380 

2025-10-26T23:04:55.795Z,1761519895.795 [DAT](INFO): Rx dataTimestamp_ set to:1761519895.794183
2025-10-26T23:04:55.797Z,1761519895.797 [DAT](INFO): DAT read: Bearing 223.3, -10.8 (Local)

2025-10-26T23:04:55.797Z,1761519895.797 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.3, -10.8 (Local)

2025-10-26T23:04:55.803Z,1761519895.803 [DAT](INFO): DAT read: Range 11 to 50 :     6.6 m (trip time 4.4 ms) speed 0.4

2025-10-26T23:04:55.816Z,1761519895.816 [DAT](INFO): DAT read: 23:04:54.6380 LVL= 28240, 32753, 25682, 32755, AGC= 51, IDX= 505,-0.25,-2.893, 1.848,-2.182,-2.856, PHS= 0.065,-1.534, 0.630, RAW= 164.6,   8.7, CAL= 164.3,   9.1, ROT= 345.7,  -9.1

2025-10-26T23:04:55.818Z,1761519895.818 [DAT](INFO): got valid direction response:
 23:04:54.6380 LVL= 28240, 32753, 25682, 32755, AGC= 51, IDX= 505,-0.25,-2.893, 1.848,-2.182,-2.856, PHS= 0.065,-1.534, 0.630, RAW= 164.6,   8.7, CAL= 164.3,   9.1, ROT= 345.7,  -9.1

2025-10-26T23:04:55.818Z,1761519895.818 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-10-26T23:04:55.819Z,1761519895.819 [DAT](INFO): direction in FSK: [0.956820,-0.243890,0.158158]
2025-10-26T23:04:55.824Z,1761519895.824 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:55.832Z,1761519895.832 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.462086
2025-10-26T23:04:55.910Z,1761519895.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306299,-0.947496,-0.091831],[0.948849,0.311644,-0.050638],[0.076598,-0.071623,0.994486]]
2025-10-26T23:04:55.970Z,1761519895.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.600000 m,
      deltaT: 0.505179 s,
      deltaX: -0.200000 m,
      approachRate: -0.395900 m/s,
      rangeRepo size: 4

2025-10-26T23:04:55.977Z,1761519895.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.567993 m,
      bearing: 58.259428 deg,
      lat: 36.779426 deg,
      lon: -121.859380 deg,
      deltaT: 6.547536 s,
      deltaX: -3.284158 m,
      approachRate: -0.501587 m/s,
      posRepo size: 4

2025-10-26T23:04:55.978Z,1761519895.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.57 m. 9.85 m.
2025-10-26T23:04:55.985Z,1761519895.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 5.667617 m,
      bearing: 65.136011 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 79.914197 deg,
      new cmd heading: 80.953347 deg.

2025-10-26T23:04:55.986Z,1761519895.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.412902 target range: 9.852151 and range: 6.60 m.
2025-10-26T23:04:56.045Z,1761519896.045 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.675117
2025-10-26T23:04:56.297Z,1761519896.297 [DAT](INFO): DAT read: Rx Time:23:04:55.1378 

2025-10-26T23:04:56.297Z,1761519896.297 [DAT](INFO): Rx dataTimestamp_ set to:1761519896.297208
2025-10-26T23:04:56.299Z,1761519896.299 [DAT](INFO): DAT read: Bearing 228.0, -12.6 (Local)

2025-10-26T23:04:56.299Z,1761519896.299 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.0, -12.6 (Local)

2025-10-26T23:04:56.301Z,1761519896.301 [DAT](INFO): DAT read: Range 11 to 50 :     6.3 m (trip time 4.2 ms) speed 0.4

2025-10-26T23:04:56.306Z,1761519896.306 [DAT](INFO): DAT read: 23:04:55.1378 LVL= 32752, 32753, 26178, 32755, AGC= 53, IDX= 502, 0.01,-2.823, 1.958,-2.053,-2.676, PHS=-0.045,-1.604, 0.579, RAW= 166.1,  11.0, CAL= 166.2,  12.4, ROT= 343.8, -12.4

2025-10-26T23:04:56.307Z,1761519896.307 [DAT](INFO): got valid direction response:
 23:04:55.1378 LVL= 32752, 32753, 26178, 32755, AGC= 53, IDX= 502, 0.01,-2.823, 1.958,-2.053,-2.676, PHS=-0.045,-1.604, 0.579, RAW= 166.1,  11.0, CAL= 166.2,  12.4, ROT= 343.8, -12.4

2025-10-26T23:04:56.307Z,1761519896.307 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-10-26T23:04:56.308Z,1761519896.308 [DAT](INFO): direction in FSK: [0.937892,-0.272483,0.214735]
2025-10-26T23:04:56.309Z,1761519896.309 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:56.320Z,1761519896.320 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.950768
2025-10-26T23:04:56.417Z,1761519896.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.300000 m,
      deltaT: 0.503025 s,
      deltaX: -0.300000 m,
      approachRate: -0.596391 m/s,
      rangeRepo size: 4

2025-10-26T23:04:56.423Z,1761519896.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.269448 m,
      bearing: 56.494380 deg,
      lat: 36.779426 deg,
      lon: -121.859380 deg,
      deltaT: 7.050561 s,
      deltaX: -3.582703 m,
      approachRate: -0.508144 m/s,
      posRepo size: 4

2025-10-26T23:04:56.424Z,1761519896.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.27 m. 9.85 m.
2025-10-26T23:04:56.427Z,1761519896.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 5.411254 m,
      bearing: 64.681584 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 80.953349 deg,
      new cmd heading: 81.819908 deg.

2025-10-26T23:04:56.432Z,1761519896.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.428027 target range: 9.852151 and range: 6.30 m.
2025-10-26T23:04:56.549Z,1761519896.549 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=48.179047
2025-10-26T23:04:56.801Z,1761519896.801 [DAT](INFO): DAT read: Rx Time:23:04:55.6376 

2025-10-26T23:04:56.801Z,1761519896.801 [DAT](INFO): Rx dataTimestamp_ set to:1761519896.801172
2025-10-26T23:04:56.803Z,1761519896.803 [DAT](INFO): DAT read: Bearing 230.9, -13.3 (Local)

2025-10-26T23:04:56.803Z,1761519896.803 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.9, -13.3 (Local)

2025-10-26T23:04:56.805Z,1761519896.805 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed 0.4

2025-10-26T23:04:56.810Z,1761519896.810 [DAT](INFO): DAT read: 23:04:55.6376 LVL= 32752, 32753, 28242, 32755, AGC= 52, IDX= 500, 0.28,-2.245, 2.568,-1.448,-2.050, PHS=-0.093,-1.620, 0.559, RAW= 166.9,  11.9, CAL= 167.1,  13.8, ROT= 342.9, -13.8

2025-10-26T23:04:56.811Z,1761519896.811 [DAT](INFO): got valid direction response:
 23:04:55.6376 LVL= 32752, 32753, 28242, 32755, AGC= 52, IDX= 500, 0.28,-2.245, 2.568,-1.448,-2.050, PHS=-0.093,-1.620, 0.559, RAW= 166.9,  11.9, CAL= 167.1,  13.8, ROT= 342.9, -13.8

2025-10-26T23:04:56.811Z,1761519896.811 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-10-26T23:04:56.812Z,1761519896.812 [DAT](INFO): direction in FSK: [0.928203,-0.285553,0.238533]
2025-10-26T23:04:56.813Z,1761519896.813 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:56.820Z,1761519896.820 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=48.450661
2025-10-26T23:04:56.908Z,1761519896.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274261,-0.960027,-0.055934],[0.958554,0.277581,-0.064210],[0.077170,-0.036006,0.996368]]
2025-10-26T23:04:56.970Z,1761519896.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.503964 s,
      deltaX: -0.100000 m,
      approachRate: -0.198428 m/s,
      rangeRepo size: 4

2025-10-26T23:04:56.976Z,1761519896.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.170038 m,
      bearing: 57.051319 deg,
      lat: 36.779426 deg,
      lon: -121.859379 deg,
      deltaT: 7.554525 s,
      deltaX: -3.682113 m,
      approachRate: -0.487405 m/s,
      posRepo size: 4

2025-10-26T23:04:56.980Z,1761519896.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.17 m. 9.85 m.
2025-10-26T23:04:56.982Z,1761519896.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 5.101335 m,
      bearing: 63.947347 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 81.819908 deg,
      new cmd heading: 82.892403 deg.

2025-10-26T23:04:56.984Z,1761519896.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.446745 target range: 9.852151 and range: 6.20 m.
2025-10-26T23:04:57.054Z,1761519897.054 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=48.684250
2025-10-26T23:04:57.292Z,1761519897.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258653,-0.965154,-0.039714],[0.962894,0.260890,-0.069080],[0.077034,-0.020372,0.996820]]
2025-10-26T23:04:57.305Z,1761519897.305 [DAT](INFO): DAT read: Rx Time:23:04:56.1374 

2025-10-26T23:04:57.306Z,1761519897.306 [DAT](INFO): Rx dataTimestamp_ set to:1761519897.305264
2025-10-26T23:04:57.307Z,1761519897.307 [DAT](INFO): DAT read: Bearing 233.9, -13.6 (Local)

2025-10-26T23:04:57.307Z,1761519897.307 [DAT](INFO): Local bearing/azimuth received:
 Bearing 233.9, -13.6 (Local)

2025-10-26T23:04:57.309Z,1761519897.309 [DAT](INFO): DAT read: Range 11 to 50 :     5.7 m (trip time 3.8 ms) speed 0.4

2025-10-26T23:04:57.314Z,1761519897.314 [DAT](INFO): DAT read: 23:04:56.1374 LVL= 32752, 32753, 29074, 32755, AGC= 51, IDX= 498,-0.40, 2.094, 0.664, 2.900, 2.331, PHS=-0.134,-1.622, 0.525, RAW= 167.5,  12.9, CAL= 167.8,  15.3, ROT= 342.2, -15.3

2025-10-26T23:04:57.315Z,1761519897.315 [DAT](INFO): got valid direction response:
 23:04:56.1374 LVL= 32752, 32753, 29074, 32755, AGC= 51, IDX= 498,-0.40, 2.094, 0.664, 2.900, 2.331, PHS=-0.134,-1.622, 0.525, RAW= 167.5,  12.9, CAL= 167.8,  15.3, ROT= 342.2, -15.3

2025-10-26T23:04:57.316Z,1761519897.316 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-10-26T23:04:57.317Z,1761519897.317 [DAT](INFO): direction in FSK: [0.918384,-0.294860,0.263873]
2025-10-26T23:04:57.317Z,1761519897.317 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:57.326Z,1761519897.326 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.956627
2025-10-26T23:04:57.413Z,1761519897.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.700000 m,
      deltaT: 0.504092 s,
      deltaX: -0.500000 m,
      approachRate: -0.991882 m/s,
      rangeRepo size: 4

2025-10-26T23:04:57.415Z,1761519897.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.672454 m,
      bearing: 57.042525 deg,
      lat: 36.779426 deg,
      lon: -121.859379 deg,
      deltaT: 8.058617 s,
      deltaX: -4.179697 m,
      approachRate: -0.518662 m/s,
      posRepo size: 4

2025-10-26T23:04:57.418Z,1761519897.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.67 m. 9.85 m.
2025-10-26T23:04:57.429Z,1761519897.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 4.856568 m,
      bearing: 63.375159 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 82.892405 deg,
      new cmd heading: 83.751360 deg.

2025-10-26T23:04:57.430Z,1761519897.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.461737 target range: 9.852151 and range: 5.70 m.
2025-10-26T23:04:57.557Z,1761519897.557 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=49.187832
2025-10-26T23:04:57.691Z,1761519897.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242580,-0.969713,-0.028495],[0.967088,0.244040,-0.072014],[0.076787,-0.010088,0.996996]]
2025-10-26T23:04:57.781Z,1761519897.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:04:57.788Z,1761519897.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-10-26T23:04:57.790Z,1761519897.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 4.668683 m,
      bearing: 62.853488 deg,
      approach rate: -0.506783 m/s,
      LOS rate: -1.463709 deg/s,
      cmd heading: 83.751363 deg,
      new cmd heading: 82.123826 deg.

2025-10-26T23:04:57.799Z,1761519897.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.433331 target range: 9.852151 and range: 5.70 m.
2025-10-26T23:04:57.809Z,1761519897.809 [DAT](INFO): DAT read: Rx Time:23:04:56.6373 

2025-10-26T23:04:57.810Z,1761519897.810 [DAT](INFO): Rx dataTimestamp_ set to:1761519897.809268
2025-10-26T23:04:57.811Z,1761519897.811 [DAT](INFO): DAT read: Bearing 234.9, -15.4 (Local)

2025-10-26T23:04:57.811Z,1761519897.811 [DAT](INFO): Local bearing/azimuth received:
 Bearing 234.9, -15.4 (Local)

2025-10-26T23:04:57.813Z,1761519897.813 [DAT](INFO): DAT read: Range 11 to 50 :     5.6 m (trip time 3.7 ms) speed 0.4

2025-10-26T23:04:57.818Z,1761519897.818 [DAT](INFO): DAT read: 23:04:56.6373 LVL= 32752, 32753, 24946, 32755, AGC= 52, IDX= 513,-0.10,-2.201, 2.853,-1.392,-1.948, PHS=-0.150,-1.437, 0.512, RAW= 169.5,  12.5, CAL= 169.8,  14.9, ROT= 340.2, -14.9

2025-10-26T23:04:57.819Z,1761519897.819 [DAT](INFO): got valid direction response:
 23:04:56.6373 LVL= 32752, 32753, 24946, 32755, AGC= 52, IDX= 513,-0.10,-2.201, 2.853,-1.392,-1.948, PHS=-0.150,-1.437, 0.512, RAW= 169.5,  12.5, CAL= 169.8,  14.9, ROT= 340.2, -14.9

2025-10-26T23:04:57.819Z,1761519897.819 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-10-26T23:04:57.820Z,1761519897.820 [DAT](INFO): direction in FSK: [0.909245,-0.327348,0.257133]
2025-10-26T23:04:57.821Z,1761519897.821 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:57.829Z,1761519897.829 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=49.458965
2025-10-26T23:04:58.060Z,1761519898.060 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=49.690907
2025-10-26T23:04:58.137Z,1761519898.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213104,-0.976964,-0.011348],[0.974137,0.213352,-0.074417],[0.075123,0.004804,0.997163]]
2025-10-26T23:04:58.303Z,1761519898.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.600000 m,
      deltaT: 0.504004 s,
      deltaX: -0.100000 m,
      approachRate: -0.198411 m/s,
      rangeRepo size: 4

2025-10-26T23:04:58.305Z,1761519898.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.572918 m,
      bearing: 57.343475 deg,
      lat: 36.779426 deg,
      lon: -121.859378 deg,
      deltaT: 8.562621 s,
      deltaX: -4.279233 m,
      approachRate: -0.499757 m/s,
      posRepo size: 4

2025-10-26T23:04:58.306Z,1761519898.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.57 m. 9.85 m.
2025-10-26T23:04:58.313Z,1761519898.313 [DAT](INFO): DAT read: Rx Time:23:04:57.1371 

2025-10-26T23:04:58.313Z,1761519898.313 [DAT](INFO): Rx dataTimestamp_ set to:1761519898.313186
2025-10-26T23:04:58.315Z,1761519898.315 [DAT](INFO): DAT read: Bearing 234.9, -17.8 (Local)

2025-10-26T23:04:58.315Z,1761519898.315 [DAT](INFO): Local bearing/azimuth received:
 Bearing 234.9, -17.8 (Local)

2025-10-26T23:04:58.318Z,1761519898.318 [DAT](INFO): DAT read: Range 11 to 50 :     5.3 m (trip time 3.5 ms) speed 0.4

2025-10-26T23:04:58.322Z,1761519898.322 [DAT](INFO): DAT read: 23:04:57.1371 LVL= 32752, 32753, 28370, 32755, AGC= 52, IDX= 510, 0.07,-2.101, 2.850,-1.105,-1.804, PHS=-0.195,-1.585, 0.654, RAW= 172.1,  11.5, CAL= 172.1,  13.5, ROT= 337.9, -13.5

2025-10-26T23:04:58.324Z,1761519898.324 [DAT](INFO): got valid direction response:
 23:04:57.1371 LVL= 32752, 32753, 28370, 32755, AGC= 52, IDX= 510, 0.07,-2.101, 2.850,-1.105,-1.804, PHS=-0.195,-1.585, 0.654, RAW= 172.1,  11.5, CAL= 172.1,  13.5, ROT= 337.9, -13.5

2025-10-26T23:04:58.324Z,1761519898.324 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-10-26T23:04:58.325Z,1761519898.325 [DAT](INFO): direction in FSK: [0.900929,-0.365829,0.233445]
2025-10-26T23:04:58.325Z,1761519898.325 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:58.329Z,1761519898.329 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.959503
2025-10-26T23:04:58.336Z,1761519898.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 4.393156 m,
      bearing: 61.887376 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 82.123825 deg,
      new cmd heading: 83.123344 deg.

2025-10-26T23:04:58.337Z,1761519898.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.450776 target range: 9.852151 and range: 5.60 m.
2025-10-26T23:04:58.546Z,1761519898.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199086,-0.979891,-0.013387],[0.977177,0.199530,-0.072893],[0.074099,0.001431,0.997250]]
2025-10-26T23:04:58.565Z,1761519898.565 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=50.194981
2025-10-26T23:04:58.686Z,1761519898.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.300000 m,
      deltaT: 0.503918 s,
      deltaX: -0.300000 m,
      approachRate: -0.595334 m/s,
      rangeRepo size: 4

2025-10-26T23:04:58.688Z,1761519898.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.274492 m,
      bearing: 55.919956 deg,
      lat: 36.779425 deg,
      lon: -121.859377 deg,
      deltaT: 9.066539 s,
      deltaX: -4.577659 m,
      approachRate: -0.504896 m/s,
      posRepo size: 4

2025-10-26T23:04:58.689Z,1761519898.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.27 m. 9.85 m.
2025-10-26T23:04:58.696Z,1761519898.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 4.157805 m,
      bearing: 61.063181 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 83.123348 deg,
      new cmd heading: 83.873799 deg.

2025-10-26T23:04:58.697Z,1761519898.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.463874 target range: 9.852151 and range: 5.30 m.
2025-10-26T23:04:58.818Z,1761519898.818 [DAT](INFO): DAT read: Rx Time:23:04:57.6370 

2025-10-26T23:04:58.818Z,1761519898.818 [DAT](INFO): Rx dataTimestamp_ set to:1761519898.817763
2025-10-26T23:04:58.819Z,1761519898.819 [DAT](INFO): DAT read: Bearing 234.3, -20.4 (Local)

2025-10-26T23:04:58.820Z,1761519898.820 [DAT](INFO): Local bearing/azimuth received:
 Bearing 234.3, -20.4 (Local)

2025-10-26T23:04:58.822Z,1761519898.822 [DAT](INFO): DAT read: Range 11 to 50 :     5.1 m (trip time 3.4 ms) speed 0.4

2025-10-26T23:04:58.826Z,1761519898.826 [DAT](INFO): DAT read: 23:04:57.6370 LVL= 32752, 32753, 25634, 32755, AGC= 51, IDX= 509, 0.31, 0.599,-0.692, 1.716, 0.922, PHS=-0.221,-1.569, 0.749, RAW= 174.6,  10.3, CAL= 174.5,  11.9, ROT= 335.5, -11.9

2025-10-26T23:04:58.827Z,1761519898.827 [DAT](INFO): got valid direction response:
 23:04:57.6370 LVL= 32752, 32753, 25634, 32755, AGC= 51, IDX= 509, 0.31, 0.599,-0.692, 1.716, 0.922, PHS=-0.221,-1.569, 0.749, RAW= 174.6,  10.3, CAL= 174.5,  11.9, ROT= 335.5, -11.9

2025-10-26T23:04:58.828Z,1761519898.828 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-10-26T23:04:58.829Z,1761519898.829 [DAT](INFO): direction in FSK: [0.890405,-0.405781,0.206204]
2025-10-26T23:04:58.829Z,1761519898.829 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:58.833Z,1761519898.833 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=50.463669
2025-10-26T23:04:59.068Z,1761519899.068 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=50.698891
2025-10-26T23:04:59.078Z,1761519899.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185545,-0.982500,-0.016316],[0.979902,0.186241,-0.071454],[0.073242,-0.002730,0.997310]]
2025-10-26T23:04:59.149Z,1761519899.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 0.504577 s,
      deltaX: -0.200000 m,
      approachRate: -0.396372 m/s,
      rangeRepo size: 4

2025-10-26T23:04:59.151Z,1761519899.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.075455 m,
      bearing: 54.374654 deg,
      lat: 36.779425 deg,
      lon: -121.859375 deg,
      deltaT: 9.571116 s,
      deltaX: -4.776696 m,
      approachRate: -0.499074 m/s,
      posRepo size: 4

2025-10-26T23:04:59.152Z,1761519899.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.08 m. 9.85 m.
2025-10-26T23:04:59.154Z,1761519899.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 3.907138 m,
      bearing: 60.017174 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 83.873801 deg,
      new cmd heading: 84.769265 deg.

2025-10-26T23:04:59.155Z,1761519899.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.479503 target range: 9.852151 and range: 5.10 m.
2025-10-26T23:04:59.324Z,1761519899.324 [DAT](INFO): DAT read: Rx Time:23:04:58.1367 

2025-10-26T23:04:59.326Z,1761519899.326 [DAT](INFO): Rx dataTimestamp_ set to:1761519899.325064
2025-10-26T23:04:59.328Z,1761519899.328 [DAT](INFO): DAT read: Bearing 233.6, -24.3 (Local)

2025-10-26T23:04:59.329Z,1761519899.329 [DAT](INFO): Local bearing/azimuth received:
 Bearing 233.6, -24.3 (Local)

2025-10-26T23:04:59.331Z,1761519899.331 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed 0.4

2025-10-26T23:04:59.337Z,1761519899.337 [DAT](INFO): DAT read: 23:04:58.1367 LVL= 32752, 32753, 26354, 32755, AGC= 50, IDX= 507,-0.25,-3.110, 1.944,-1.796,-2.723, PHS=-0.286,-1.572, 0.883, RAW= 178.4,   9.2, CAL= 178.2,  10.2, ROT= 331.8, -10.2

2025-10-26T23:04:59.340Z,1761519899.340 [DAT](INFO): got valid direction response:
 23:04:58.1367 LVL= 32752, 32753, 26354, 32755, AGC= 50, IDX= 507,-0.25,-3.110, 1.944,-1.796,-2.723, PHS=-0.286,-1.572, 0.883, RAW= 178.4,   9.2, CAL= 178.2,  10.2, ROT= 331.8, -10.2

2025-10-26T23:04:59.341Z,1761519899.341 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-10-26T23:04:59.342Z,1761519899.342 [DAT](INFO): direction in FSK: [0.867375,-0.465083,0.177085]
2025-10-26T23:04:59.342Z,1761519899.342 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:59.349Z,1761519899.349 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.979088
2025-10-26T23:04:59.463Z,1761519899.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173776,-0.984563,-0.020910],[0.982125,0.174827,-0.069754],[0.072333,-0.008414,0.997345]]
2025-10-26T23:04:59.542Z,1761519899.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.507301 s,
      deltaX: -0.400000 m,
      approachRate: -0.788487 m/s,
      rangeRepo size: 4

2025-10-26T23:04:59.548Z,1761519899.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.677380 m,
      bearing: 51.415761 deg,
      lat: 36.779425 deg,
      lon: -121.859375 deg,
      deltaT: 10.078417 s,
      deltaX: -5.174771 m,
      approachRate: -0.513451 m/s,
      posRepo size: 4

2025-10-26T23:04:59.549Z,1761519899.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.68 m. 9.85 m.
2025-10-26T23:04:59.558Z,1761519899.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 3.715683 m,
      bearing: 59.218910 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 84.769266 deg,
      new cmd heading: 85.534084 deg.

2025-10-26T23:04:59.565Z,1761519899.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.492851 target range: 9.852151 and range: 4.70 m.
2025-10-26T23:04:59.573Z,1761519899.573 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=51.203037
2025-10-26T23:04:59.825Z,1761519899.825 [DAT](INFO): DAT read: Rx Time:23:04:58.6367 

2025-10-26T23:04:59.825Z,1761519899.825 [DAT](INFO): Rx dataTimestamp_ set to:1761519899.825116
2025-10-26T23:04:59.827Z,1761519899.827 [DAT](INFO): DAT read: Bearing 236.8, -26.7 (Local)

2025-10-26T23:04:59.827Z,1761519899.827 [DAT](INFO): Local bearing/azimuth received:
 Bearing 236.8, -26.7 (Local)

2025-10-26T23:04:59.829Z,1761519899.829 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed 0.4

2025-10-26T23:04:59.834Z,1761519899.834 [DAT](INFO): DAT read: 23:04:58.6367 LVL= 32752, 32753, 23730, 32755, AGC= 51, IDX= 506, 0.08,-0.427,-1.586, 0.999, 0.073, PHS=-0.398,-1.614, 0.882, RAW= 180.9,  10.5, CAL= 180.7,  12.3, ROT= 329.3, -12.3

2025-10-26T23:04:59.835Z,1761519899.835 [DAT](INFO): got valid direction response:
 23:04:58.6367 LVL= 32752, 32753, 23730, 32755, AGC= 51, IDX= 506, 0.08,-0.427,-1.586, 0.999, 0.073, PHS=-0.398,-1.614, 0.882, RAW= 180.9,  10.5, CAL= 180.7,  12.3, ROT= 329.3, -12.3

2025-10-26T23:04:59.835Z,1761519899.835 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-10-26T23:04:59.836Z,1761519899.836 [DAT](INFO): direction in FSK: [0.840115,-0.498824,0.213030]
2025-10-26T23:04:59.836Z,1761519899.836 [DAT](INFO): publishing direction and range info
2025-10-26T23:04:59.844Z,1761519899.844 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=51.474510
2025-10-26T23:04:59.900Z,1761519899.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162990,-0.986273,-0.026454],[0.984046,0.164443,-0.067904],[0.071322,-0.014965,0.997341]]
2025-10-26T23:04:59.974Z,1761519899.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.500052 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:04:59.980Z,1761519899.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.677362 m,
      bearing: 49.517869 deg,
      lat: 36.779426 deg,
      lon: -121.859375 deg,
      deltaT: 10.578469 s,
      deltaX: -5.174788 m,
      approachRate: -0.489181 m/s,
      posRepo size: 4

2025-10-26T23:04:59.981Z,1761519899.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.68 m. 9.85 m.
2025-10-26T23:04:59.988Z,1761519899.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 3.495886 m,
      bearing: 58.147826 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 85.534083 deg,
      new cmd heading: 86.371139 deg.

2025-10-26T23:04:59.989Z,1761519899.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.507461 target range: 9.852151 and range: 4.70 m.
2025-10-26T23:05:00.077Z,1761519900.077 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=51.707005
2025-10-26T23:05:00.329Z,1761519900.329 [DAT](INFO): DAT read: Rx Time:23:04:59.1364 

2025-10-26T23:05:00.330Z,1761519900.330 [DAT](INFO): Rx dataTimestamp_ set to:1761519900.329265
2025-10-26T23:05:00.331Z,1761519900.331 [DAT](INFO): DAT read: Bearing 242.6, -28.3 (Local)

2025-10-26T23:05:00.331Z,1761519900.331 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.6, -28.3 (Local)

2025-10-26T23:05:00.333Z,1761519900.333 [DAT](INFO): DAT read: Range 11 to 50 :     4.2 m (trip time 2.8 ms) speed 0.4

2025-10-26T23:05:00.338Z,1761519900.338 [DAT](INFO): DAT read: 23:04:59.1364 LVL= 32752, 31393, 23762, 32755, AGC= 48, IDX= 504,-0.29, 1.943, 0.857,-2.841, 2.596, PHS=-0.550,-1.694, 0.803, RAW= 182.8,  13.3, CAL= 182.7,  16.8, ROT= 327.3, -16.8

2025-10-26T23:05:00.339Z,1761519900.339 [DAT](INFO): got valid direction response:
 23:04:59.1364 LVL= 32752, 31393, 23762, 32755, AGC= 48, IDX= 504,-0.29, 1.943, 0.857,-2.841, 2.596, PHS=-0.550,-1.694, 0.803, RAW= 182.8,  13.3, CAL= 182.7,  16.8, ROT= 327.3, -16.8

2025-10-26T23:05:00.340Z,1761519900.340 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-10-26T23:05:00.341Z,1761519900.341 [DAT](INFO): direction in FSK: [0.805595,-0.517183,0.289032]
2025-10-26T23:05:00.341Z,1761519900.341 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:00.345Z,1761519900.345 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.975567
2025-10-26T23:05:00.351Z,1761519900.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152398,-0.987677,-0.035618],[0.985822,0.154475,-0.065515],[0.070210,-0.025128,0.997216]]
2025-10-26T23:05:00.474Z,1761519900.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 0.504149 s,
      deltaX: -0.500000 m,
      approachRate: -0.991770 m/s,
      rangeRepo size: 4

2025-10-26T23:05:00.478Z,1761519900.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.179770 m,
      bearing: 48.127922 deg,
      lat: 36.779426 deg,
      lon: -121.859376 deg,
      deltaT: 11.082618 s,
      deltaX: -5.672380 m,
      approachRate: -0.511827 m/s,
      posRepo size: 4

2025-10-26T23:05:00.487Z,1761519900.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.18 m. 9.85 m.
2025-10-26T23:05:00.490Z,1761519900.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 3.272820 m,
      bearing: 57.131721 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 86.371137 deg,
      new cmd heading: 87.341239 deg.

2025-10-26T23:05:00.491Z,1761519900.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.524392 target range: 9.852151 and range: 4.20 m.
2025-10-26T23:05:00.581Z,1761519900.581 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=52.211052
2025-10-26T23:05:00.800Z,1761519900.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142697,-0.988772,-0.044359],[0.987372,0.145324,-0.063063],[0.068801,-0.034800,0.997023]]
2025-10-26T23:05:00.816Z,1761519900.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:05:00.819Z,1761519900.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-10-26T23:05:00.821Z,1761519900.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 3.112903 m,
      bearing: 56.279434 deg,
      approach rate: -0.463273 m/s,
      LOS rate: -2.595790 deg/s,
      cmd heading: 87.341235 deg,
      new cmd heading: 84.655091 deg.

2025-10-26T23:05:00.822Z,1761519900.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.477510 target range: 9.852151 and range: 4.20 m.
2025-10-26T23:05:00.833Z,1761519900.833 [DAT](INFO): DAT read: Rx Time:23:04:59.6363 

2025-10-26T23:05:00.834Z,1761519900.834 [DAT](INFO): Rx dataTimestamp_ set to:1761519900.833489
2025-10-26T23:05:00.835Z,1761519900.835 [DAT](INFO): DAT read: Bearing 250.4, -29.9 (Local)

2025-10-26T23:05:00.835Z,1761519900.835 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.4, -29.9 (Local)

2025-10-26T23:05:00.837Z,1761519900.837 [DAT](INFO): DAT read: Range 11 to 50 :     4.1 m (trip time 2.7 ms) speed 0.4

2025-10-26T23:05:00.842Z,1761519900.842 [DAT](INFO): DAT read: 23:04:59.6363 LVL= 32752, 27825, 21970, 32755, AGC= 44, IDX= 502, 0.28, 1.961, 1.043,-2.811, 2.778, PHS=-0.715,-1.690, 0.650, RAW= 185.5,  16.9, CAL= 185.3,  23.0, ROT= 324.7, -23.0

2025-10-26T23:05:00.843Z,1761519900.843 [DAT](INFO): got valid direction response:
 23:04:59.6363 LVL= 32752, 27825, 21970, 32755, AGC= 44, IDX= 502, 0.28, 1.961, 1.043,-2.811, 2.778, PHS=-0.715,-1.690, 0.650, RAW= 185.5,  16.9, CAL= 185.3,  23.0, ROT= 324.7, -23.0

2025-10-26T23:05:00.844Z,1761519900.844 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-10-26T23:05:00.845Z,1761519900.845 [DAT](INFO): direction in FSK: [0.751259,-0.531921,0.390731]
2025-10-26T23:05:00.845Z,1761519900.845 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:00.865Z,1761519900.865 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=52.495113
2025-10-26T23:05:01.084Z,1761519901.084 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=52.714905
2025-10-26T23:05:01.198Z,1761519901.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133753,-0.989775,-0.049551],[0.988701,0.136689,-0.061541],[0.067685,-0.040760,0.996874]]
2025-10-26T23:05:01.333Z,1761519901.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.504224 s,
      deltaX: -0.100000 m,
      approachRate: -0.198324 m/s,
      rangeRepo size: 4

2025-10-26T23:05:01.337Z,1761519901.337 [DAT](INFO): DAT read: Rx Time:23:05:00.1361 

2025-10-26T23:05:01.338Z,1761519901.338 [DAT](INFO): Rx dataTimestamp_ set to:1761519901.337245
2025-10-26T23:05:01.339Z,1761519901.339 [DAT](INFO): DAT read: Bearing 258.1, -32.0 (Local)

2025-10-26T23:05:01.339Z,1761519901.339 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.1, -32.0 (Local)

2025-10-26T23:05:01.341Z,1761519901.341 [DAT](INFO): DAT read: Range 11 to 50 :     3.8 m (trip time 2.5 ms) speed 0.4

2025-10-26T23:05:01.346Z,1761519901.346 [DAT](INFO): DAT read: 23:05:00.1361 LVL= 32752, 32161, 22514, 32755, AGC= 42, IDX= 500,-0.01,-0.960,-1.686, 0.646, 0.049, PHS=-0.906,-1.690, 0.553, RAW= 189.9,  20.1, CAL= 188.9,  28.6, ROT= 321.1, -28.6

2025-10-26T23:05:01.348Z,1761519901.348 [DAT](INFO): got valid direction response:
 23:05:00.1361 LVL= 32752, 32161, 22514, 32755, AGC= 42, IDX= 500,-0.01,-0.960,-1.686, 0.646, 0.049, PHS=-0.906,-1.690, 0.553, RAW= 189.9,  20.1, CAL= 188.9,  28.6, ROT= 321.1, -28.6

2025-10-26T23:05:01.348Z,1761519901.348 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-10-26T23:05:01.349Z,1761519901.349 [DAT](INFO): direction in FSK: [0.683284,-0.551341,0.478692]
2025-10-26T23:05:01.349Z,1761519901.349 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:01.356Z,1761519901.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.080220 m,
      bearing: 46.755071 deg,
      lat: 36.779426 deg,
      lon: -121.859377 deg,
      deltaT: 11.586842 s,
      deltaX: -5.771931 m,
      approachRate: -0.498145 m/s,
      posRepo size: 4

2025-10-26T23:05:01.357Z,1761519901.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.08 m. 9.85 m.
2025-10-26T23:05:01.359Z,1761519901.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 2.928318 m,
      bearing: 55.138645 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 84.655093 deg,
      new cmd heading: 85.652408 deg.

2025-10-26T23:05:01.361Z,1761519901.361 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.991856
2025-10-26T23:05:01.364Z,1761519901.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.494917 target range: 9.852151 and range: 4.10 m.
2025-10-26T23:05:01.590Z,1761519901.590 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=53.220058
2025-10-26T23:05:01.796Z,1761519901.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 0.503756 s,
      deltaX: -0.300000 m,
      approachRate: -0.595526 m/s,
      rangeRepo size: 4

2025-10-26T23:05:01.798Z,1761519901.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.781657 m,
      bearing: 42.938026 deg,
      lat: 36.779425 deg,
      lon: -121.859378 deg,
      deltaT: 12.090598 s,
      deltaX: -6.070494 m,
      approachRate: -0.502084 m/s,
      posRepo size: 4

2025-10-26T23:05:01.799Z,1761519901.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.85 m.
2025-10-26T23:05:01.801Z,1761519901.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 2.688232 m,
      bearing: 53.581088 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 85.652410 deg,
      new cmd heading: 86.548434 deg.

2025-10-26T23:05:01.802Z,1761519901.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.510555 target range: 9.852151 and range: 3.80 m.
2025-10-26T23:05:01.842Z,1761519901.842 [DAT](INFO): DAT read: Rx Time:23:05:00.6361 

2025-10-26T23:05:01.843Z,1761519901.843 [DAT](INFO): Rx dataTimestamp_ set to:1761519901.842423
2025-10-26T23:05:01.845Z,1761519901.845 [DAT](INFO): DAT read: Bearing 260.6, -36.5 (Local)

2025-10-26T23:05:01.845Z,1761519901.845 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.6, -36.5 (Local)

2025-10-26T23:05:01.848Z,1761519901.848 [DAT](INFO): DAT read: Range 11 to 50 :     3.8 m (trip time 2.5 ms) speed 0.3

2025-10-26T23:05:01.854Z,1761519901.854 [DAT](INFO): DAT read: 23:05:00.6361 LVL= 32752, 28785, 22370, 32755, AGC= 41, IDX= 500,-0.09,-2.371,-2.867,-0.671,-1.278, PHS=-0.991,-1.544, 0.563, RAW= 195.3,  20.2, CAL= 194.2,  28.6, ROT= 315.8, -28.6

2025-10-26T23:05:01.864Z,1761519901.864 [DAT](INFO): got valid direction response:
 23:05:00.6361 LVL= 32752, 28785, 22370, 32755, AGC= 41, IDX= 500,-0.09,-2.371,-2.867,-0.671,-1.278, PHS=-0.991,-1.544, 0.563, RAW= 195.3,  20.2, CAL= 194.2,  28.6, ROT= 315.8, -28.6

2025-10-26T23:05:01.864Z,1761519901.864 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-10-26T23:05:01.865Z,1761519901.865 [DAT](INFO): direction in FSK: [0.629435,-0.612099,0.478692]
2025-10-26T23:05:01.866Z,1761519901.866 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:01.877Z,1761519901.877 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=53.507614
2025-10-26T23:05:02.092Z,1761519902.092 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=53.722694
2025-10-26T23:05:02.160Z,1761519902.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 0.505178 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:02.162Z,1761519902.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.781657 m,
      bearing: 37.387223 deg,
      lat: 36.779425 deg,
      lon: -121.859379 deg,
      deltaT: 12.595776 s,
      deltaX: -6.070494 m,
      approachRate: -0.481947 m/s,
      posRepo size: 4

2025-10-26T23:05:02.168Z,1761519902.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.85 m.
2025-10-26T23:05:02.170Z,1761519902.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 2.535863 m,
      bearing: 52.430669 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 86.548435 deg,
      new cmd heading: 87.248424 deg.

2025-10-26T23:05:02.171Z,1761519902.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.522772 target range: 9.852151 and range: 3.80 m.
2025-10-26T23:05:02.346Z,1761519902.346 [DAT](INFO): DAT read: Rx Time:23:05:01.1359 

2025-10-26T23:05:02.347Z,1761519902.347 [DAT](INFO): Rx dataTimestamp_ set to:1761519902.346343
2025-10-26T23:05:02.348Z,1761519902.348 [DAT](INFO): DAT read: Bearing 269.5, -38.3 (Local)

2025-10-26T23:05:02.348Z,1761519902.348 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.5, -38.3 (Local)

2025-10-26T23:05:02.350Z,1761519902.350 [DAT](INFO): DAT read: Range 11 to 50 :     3.5 m (trip time 2.3 ms) speed 0.3

2025-10-26T23:05:02.361Z,1761519902.361 [DAT](INFO): DAT read: 23:05:01.1359 LVL= 32304, 23841, 15058, 32755, AGC= 37, IDX= 498,-0.02, 0.371, 0.140, 2.023, 1.557, PHS=-1.084,-1.372, 0.422, RAW= 201.4,  23.3, CAL= 199.1,  33.8, ROT= 310.9, -33.8

2025-10-26T23:05:02.362Z,1761519902.362 [DAT](INFO): got valid direction response:
 23:05:01.1359 LVL= 32304, 23841, 15058, 32755, AGC= 37, IDX= 498,-0.02, 0.371, 0.140, 2.023, 1.557, PHS=-1.084,-1.372, 0.422, RAW= 201.4,  23.3, CAL= 199.1,  33.8, ROT= 310.9, -33.8

2025-10-26T23:05:02.362Z,1761519902.362 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-10-26T23:05:02.375Z,1761519902.375 [DAT](INFO): direction in FSK: [0.544079,-0.628103,0.556296]
2025-10-26T23:05:02.384Z,1761519902.384 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:02.392Z,1761519902.392 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=54.021950
2025-10-26T23:05:02.565Z,1761519902.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.503920 s,
      deltaX: -0.300000 m,
      approachRate: -0.595333 m/s,
      rangeRepo size: 4

2025-10-26T23:05:02.571Z,1761519902.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.483105 m,
      bearing: 32.069424 deg,
      lat: 36.779425 deg,
      lon: -121.859381 deg,
      deltaT: 13.099696 s,
      deltaX: -6.369046 m,
      approachRate: -0.486198 m/s,
      posRepo size: 4

2025-10-26T23:05:02.572Z,1761519902.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.48 m. 9.85 m.
2025-10-26T23:05:02.575Z,1761519902.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 2.385412 m,
      bearing: 51.259356 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 87.248427 deg,
      new cmd heading: 88.041541 deg.

2025-10-26T23:05:02.585Z,1761519902.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.536615 target range: 9.852151 and range: 3.50 m.
2025-10-26T23:05:02.597Z,1761519902.597 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=54.226936
2025-10-26T23:05:02.850Z,1761519902.850 [DAT](INFO): DAT read: Rx Time:23:05:01.6359 

2025-10-26T23:05:02.850Z,1761519902.850 [DAT](INFO): Rx dataTimestamp_ set to:1761519902.849869
2025-10-26T23:05:02.852Z,1761519902.852 [DAT](INFO): DAT read: Bearing 276.4, -36.9 (Local)

2025-10-26T23:05:02.852Z,1761519902.852 [DAT](INFO): Local bearing/azimuth received:
 Bearing 276.4, -36.9 (Local)

2025-10-26T23:05:02.854Z,1761519902.854 [DAT](INFO): DAT read: Range 11 to 50 :     3.5 m (trip time 2.3 ms) speed 0.2

2025-10-26T23:05:02.859Z,1761519902.859 [DAT](INFO): DAT read: 23:05:01.6359 LVL= 32752, 32753, 16994, 32755, AGC= 38, IDX= 498,-0.07, 1.986, 1.854,-2.652,-3.016, PHS=-1.179,-1.368, 0.321, RAW= 204.1,  26.2, CAL= 200.8,  38.6, ROT= 309.2, -38.6

2025-10-26T23:05:02.860Z,1761519902.860 [DAT](INFO): got valid direction response:
 23:05:01.6359 LVL= 32752, 32753, 16994, 32755, AGC= 38, IDX= 498,-0.07, 1.986, 1.854,-2.652,-3.016, PHS=-1.179,-1.368, 0.321, RAW= 204.1,  26.2, CAL= 200.8,  38.6, ROT= 309.2, -38.6

2025-10-26T23:05:02.861Z,1761519902.861 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-10-26T23:05:02.862Z,1761519902.862 [DAT](INFO): direction in FSK: [0.493944,-0.605635,0.623880]
2025-10-26T23:05:02.862Z,1761519902.862 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:02.865Z,1761519902.865 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=54.495930
2025-10-26T23:05:02.941Z,1761519902.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103128,-0.993686,-0.044193],[0.992797,0.105556,-0.056672],[0.060979,-0.038030,0.997414]]
2025-10-26T23:05:03.002Z,1761519903.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.503526 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:03.009Z,1761519903.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.483283 m,
      bearing: 32.029389 deg,
      lat: 36.779425 deg,
      lon: -121.859382 deg,
      deltaT: 13.603222 s,
      deltaX: -6.368868 m,
      approachRate: -0.468188 m/s,
      posRepo size: 4

2025-10-26T23:05:03.010Z,1761519903.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.48 m. 9.85 m.
2025-10-26T23:05:03.016Z,1761519903.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.852151 m,
      nav range: 2.213989 m,
      bearing: 49.559677 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.646551 deg/s,
      cmd heading: 88.041541 deg,
      new cmd heading: 88.889449 deg.

2025-10-26T23:05:03.017Z,1761519903.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.551414 target range: 9.852151 and range: 3.50 m.
2025-10-26T23:05:03.103Z,1761519903.103 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=54.732525
2025-10-26T23:05:03.353Z,1761519903.353 [DAT](INFO): DAT read: Rx Time:23:05:02.1356 

2025-10-26T23:05:03.353Z,1761519903.353 [DAT](INFO): Rx dataTimestamp_ set to:1761519903.353223
2025-10-26T23:05:03.355Z,1761519903.355 [DAT](INFO): DAT read: Bearing 276.1, -39.1 (Local)

2025-10-26T23:05:03.355Z,1761519903.355 [DAT](INFO): Local bearing/azimuth received:
 Bearing 276.1, -39.1 (Local)

2025-10-26T23:05:03.357Z,1761519903.357 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed 0.2

2025-10-26T23:05:03.362Z,1761519903.362 [DAT](INFO): DAT read: 23:05:02.1356 LVL= 32752, 32753, 22338, 32755, AGC= 40, IDX= 496,-0.21, 3.034, 2.930,-1.438,-1.867, PHS=-1.281,-1.442, 0.385, RAW= 205.4,  25.3, CAL= 202.6,  37.0, ROT= 307.4, -37.0

2025-10-26T23:05:03.363Z,1761519903.363 [DAT](INFO): got valid direction response:
 23:05:02.1356 LVL= 32752, 32753, 22338, 32755, AGC= 40, IDX= 496,-0.21, 3.034, 2.930,-1.438,-1.867, PHS=-1.281,-1.442, 0.385, RAW= 205.4,  25.3, CAL= 202.6,  37.0, ROT= 307.4, -37.0

2025-10-26T23:05:03.363Z,1761519903.363 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-26T23:05:03.364Z,1761519903.364 [DAT](INFO): direction in FSK: [0.485072,-0.634448,0.601815]
2025-10-26T23:05:03.365Z,1761519903.365 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:03.376Z,1761519903.376 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=55.006752
2025-10-26T23:05:03.456Z,1761519903.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.503354 s,
      deltaX: -0.500000 m,
      approachRate: -0.993337 m/s,
      rangeRepo size: 4

2025-10-26T23:05:03.458Z,1761519903.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.985671 m,
      bearing: 30.196102 deg,
      lat: 36.779424 deg,
      lon: -121.859384 deg,
      deltaT: 14.106576 s,
      deltaX: -6.866480 m,
      approachRate: -0.486757 m/s,
      posRepo size: 4

2025-10-26T23:05:03.467Z,1761519903.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 3.00 m.
2025-10-26T23:05:03.468Z,1761519903.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-10-26T23:05:03.606Z,1761519903.606 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=55.236027
2025-10-26T23:05:03.739Z,1761519903.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088116,-0.994502,-0.056583],[0.994506,0.091054,-0.051637],[0.056506,-0.051722,0.997062]]
2025-10-26T23:05:03.761Z,1761519903.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:05:03.857Z,1761519903.857 [DAT](INFO): DAT read: Rx Time:23:05:02.6356 

2025-10-26T23:05:03.857Z,1761519903.857 [DAT](INFO): Rx dataTimestamp_ set to:1761519903.857130
2025-10-26T23:05:03.859Z,1761519903.859 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed 0.2

2025-10-26T23:05:03.859Z,1761519903.859 [DAT](ERROR): #Rx 110: Read range message, but no direction.
2025-10-26T23:05:03.860Z,1761519903.860 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=55.490639
2025-10-26T23:05:04.109Z,1761519904.109 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=55.739212
2025-10-26T23:05:04.144Z,1761519904.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082542,-0.994814,-0.059422],[0.995036,0.085593,-0.050765],[0.055588,-0.054937,0.996941]]
2025-10-26T23:05:04.177Z,1761519904.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.503907 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:04.363Z,1761519904.363 [DAT](INFO): DAT read: Rx Time:23:05:03.1354 

2025-10-26T23:05:04.365Z,1761519904.365 [DAT](INFO): Rx dataTimestamp_ set to:1761519904.364077
2025-10-26T23:05:04.369Z,1761519904.369 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.1

2025-10-26T23:05:04.376Z,1761519904.376 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-10-26T23:05:04.376Z,1761519904.376 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=56.006916
2025-10-26T23:05:04.539Z,1761519904.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076519,-0.995236,-0.060422],[0.995575,0.079579,-0.049971],[0.054542,-0.056331,0.996921]]
2025-10-26T23:05:04.614Z,1761519904.614 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=56.243820
2025-10-26T23:05:04.689Z,1761519904.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.506947 s,
      deltaX: -0.300000 m,
      approachRate: -0.591778 m/s,
      rangeRepo size: 4

2025-10-26T23:05:04.864Z,1761519904.864 [DAT](INFO): DAT read: Rx Time:23:05:03.6355 

2025-10-26T23:05:04.865Z,1761519904.865 [DAT](INFO): Rx dataTimestamp_ set to:1761519904.864671
2025-10-26T23:05:04.866Z,1761519904.866 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed 0.1

2025-10-26T23:05:04.867Z,1761519904.867 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-10-26T23:05:04.868Z,1761519904.868 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=56.498230
2025-10-26T23:05:05.005Z,1761519905.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069031,-0.995792,-0.060275],[0.996149,0.072077,-0.049917],[0.054051,-0.056597,0.996933]]
2025-10-26T23:05:05.024Z,1761519905.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.500594 s,
      deltaX: 0.200000 m,
      approachRate: 0.399525 m/s,
      rangeRepo size: 4

2025-10-26T23:05:05.119Z,1761519905.119 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=56.748692
2025-10-26T23:05:05.373Z,1761519905.373 [DAT](INFO): DAT read: Rx Time:23:05:04.1353 

2025-10-26T23:05:05.375Z,1761519905.375 [DAT](INFO): Rx dataTimestamp_ set to:1761519905.373646
2025-10-26T23:05:05.377Z,1761519905.377 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.1

2025-10-26T23:05:05.377Z,1761519905.377 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-10-26T23:05:05.378Z,1761519905.378 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=57.008694
2025-10-26T23:05:05.406Z,1761519905.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061333,-0.996378,-0.058901],[0.996652,0.064333,-0.050463],[0.054070,-0.055609,0.996988]]
2025-10-26T23:05:05.482Z,1761519905.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.508975 s,
      deltaX: -0.300000 m,
      approachRate: -0.589420 m/s,
      rangeRepo size: 4

2025-10-26T23:05:05.622Z,1761519905.622 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=57.252789
2025-10-26T23:05:05.810Z,1761519905.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054294,-0.996948,-0.056089],[0.997069,0.057161,-0.050849],[0.053900,-0.053164,0.997130]]
2025-10-26T23:05:05.827Z,1761519905.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:05:05.829Z,1761519905.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.60 m.
2025-10-26T23:05:05.873Z,1761519905.873 [DAT](INFO): DAT read: Rx Time:23:05:04.6354 

2025-10-26T23:05:05.873Z,1761519905.873 [DAT](INFO): Rx dataTimestamp_ set to:1761519905.872825
2025-10-26T23:05:05.874Z,1761519905.874 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-10-26T23:05:05.875Z,1761519905.875 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-10-26T23:05:05.876Z,1761519905.876 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=57.506516
2025-10-26T23:05:06.126Z,1761519906.126 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=57.756157
2025-10-26T23:05:06.266Z,1761519906.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046665,-0.997450,-0.053992],[0.997435,0.049464,-0.051730],[0.054268,-0.051440,0.997201]]
2025-10-26T23:05:06.285Z,1761519906.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.499179 s,
      deltaX: 0.100000 m,
      approachRate: 0.200329 m/s,
      rangeRepo size: 4

2025-10-26T23:05:06.382Z,1761519906.382 [DAT](INFO): DAT read: Rx Time:23:05:05.1353 

2025-10-26T23:05:06.385Z,1761519906.385 [DAT](INFO): Rx dataTimestamp_ set to:1761519906.382448
2025-10-26T23:05:06.389Z,1761519906.389 [DAT](INFO): DAT read: Bearing 303.2, -48.4 (Local)

2025-10-26T23:05:06.390Z,1761519906.390 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.2, -48.4 (Local)

2025-10-26T23:05:06.411Z,1761519906.411 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-10-26T23:05:06.425Z,1761519906.425 [DAT](INFO): DAT read: 23:05:05.1353 LVL= 28224, 14321, 21858, 25971, AGC= 34, IDX= 507, 0.46, 0.903, 1.490, 3.001, 2.814, PHS=-1.809,-1.279, 0.143, RAW= 225.2,  30.8, CAL= 227.0,  41.9, ROT= 283.0, -41.9

2025-10-26T23:05:06.426Z,1761519906.426 [DAT](INFO): got valid direction response:
 23:05:05.1353 LVL= 28224, 14321, 21858, 25971, AGC= 34, IDX= 507, 0.46, 0.903, 1.490, 3.001, 2.814, PHS=-1.809,-1.279, 0.143, RAW= 225.2,  30.8, CAL= 227.0,  41.9, ROT= 283.0, -41.9

2025-10-26T23:05:06.427Z,1761519906.427 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-10-26T23:05:06.444Z,1761519906.444 [DAT](INFO): direction in FSK: [0.167434,-0.725235,0.667833]
2025-10-26T23:05:06.444Z,1761519906.444 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:06.452Z,1761519906.452 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=58.082726
2025-10-26T23:05:06.629Z,1761519906.629 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=58.259514
2025-10-26T23:05:06.765Z,1761519906.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039545,-0.997586,-0.057087],[0.997724,0.042545,-0.052320],[0.054622,-0.054888,0.996997]]
2025-10-26T23:05:06.831Z,1761519906.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.509623 s,
      deltaX: -0.100000 m,
      approachRate: -0.196224 m/s,
      rangeRepo size: 4

2025-10-26T23:05:06.833Z,1761519906.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.587595 m,
      bearing: 8.324959 deg,
      lat: 36.779425 deg,
      lon: -121.859384 deg,
      deltaT: 3.029225 s,
      deltaX: -0.398077 m,
      approachRate: -0.131412 m/s,
      posRepo size: 4

2025-10-26T23:05:06.834Z,1761519906.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.60 m.
2025-10-26T23:05:06.881Z,1761519906.881 [DAT](INFO): DAT read: Rx Time:23:05:05.6353 

2025-10-26T23:05:06.882Z,1761519906.882 [DAT](INFO): Rx dataTimestamp_ set to:1761519906.881411
2025-10-26T23:05:06.883Z,1761519906.883 [DAT](INFO): DAT read: Bearing 314.7, -51.1 (Local)

2025-10-26T23:05:06.884Z,1761519906.884 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.7, -51.1 (Local)

2025-10-26T23:05:06.886Z,1761519906.886 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-10-26T23:05:06.893Z,1761519906.893 [DAT](INFO): DAT read: 23:05:05.6353 LVL= 22096, 14417, 16482, 21347, AGC= 34, IDX= 508, 0.33, 1.698, 2.556,-2.441,-2.552, PHS=-1.931,-1.130, 0.066, RAW= 233.5,  31.3, CAL= 237.1,  41.6, ROT= 272.9, -41.6

2025-10-26T23:05:06.895Z,1761519906.895 [DAT](INFO): got valid direction response:
 23:05:05.6353 LVL= 22096, 14417, 16482, 21347, AGC= 34, IDX= 508, 0.33, 1.698, 2.556,-2.441,-2.552, PHS=-1.931,-1.130, 0.066, RAW= 233.5,  31.3, CAL= 237.1,  41.6, ROT= 272.9, -41.6

2025-10-26T23:05:06.896Z,1761519906.896 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-10-26T23:05:06.897Z,1761519906.897 [DAT](INFO): direction in FSK: [0.037833,-0.746840,0.663926]
2025-10-26T23:05:06.898Z,1761519906.898 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:06.936Z,1761519906.936 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=58.566498
2025-10-26T23:05:07.131Z,1761519907.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033648,-0.997377,-0.064094],[0.997945,0.037028,-0.052298],[0.054534,-0.062202,0.996573]]
2025-10-26T23:05:07.133Z,1761519907.133 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=58.762997
2025-10-26T23:05:07.184Z,1761519907.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.498963 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:07.186Z,1761519907.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.587595 m,
      bearing: 357.995902 deg,
      lat: 36.779425 deg,
      lon: -121.859384 deg,
      deltaT: 0.498963 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:05:07.187Z,1761519907.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.60 m.
2025-10-26T23:05:07.390Z,1761519907.390 [DAT](INFO): DAT read: Rx Time:23:05:06.1352 

2025-10-26T23:05:07.392Z,1761519907.392 [DAT](INFO): Rx dataTimestamp_ set to:1761519907.390776
2025-10-26T23:05:07.396Z,1761519907.396 [DAT](INFO): DAT read: Bearing 320.3, -52.7 (Local)

2025-10-26T23:05:07.397Z,1761519907.397 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.3, -52.7 (Local)

2025-10-26T23:05:07.409Z,1761519907.409 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-10-26T23:05:07.414Z,1761519907.414 [DAT](INFO): DAT read: 23:05:06.1352 LVL= 24560, 23601, 23442, 27171, AGC= 38, IDX= 507, 0.40, 0.205, 1.226, 2.431, 2.337, PHS=-2.030,-1.065, 0.050, RAW= 237.6,  30.8, CAL= 241.6,  40.8, ROT= 268.4, -40.8

2025-10-26T23:05:07.415Z,1761519907.415 [DAT](INFO): got valid direction response:
 23:05:06.1352 LVL= 24560, 23601, 23442, 27171, AGC= 38, IDX= 507, 0.40, 0.205, 1.226, 2.431, 2.337, PHS=-2.030,-1.065, 0.050, RAW= 237.6,  30.8, CAL= 241.6,  40.8, ROT= 268.4, -40.8

2025-10-26T23:05:07.416Z,1761519907.416 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-10-26T23:05:07.416Z,1761519907.416 [DAT](INFO): direction in FSK: [-0.021137,-0.756700,0.653421]
2025-10-26T23:05:07.417Z,1761519907.417 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:07.422Z,1761519907.422 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=59.052544
2025-10-26T23:05:07.637Z,1761519907.637 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=59.267124
2025-10-26T23:05:07.681Z,1761519907.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027980,-0.997246,-0.068691],[0.998125,0.031615,-0.052415],[0.054442,-0.067096,0.996260]]
2025-10-26T23:05:07.800Z,1761519907.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.509365 s,
      deltaX: -0.200000 m,
      approachRate: -0.392645 m/s,
      rangeRepo size: 4

2025-10-26T23:05:07.802Z,1761519907.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.388678 m,
      bearing: 353.621832 deg,
      lat: 36.779424 deg,
      lon: -121.859380 deg,
      deltaT: 0.509365 s,
      deltaX: -0.198917 m,
      approachRate: -0.390519 m/s,
      posRepo size: 4

2025-10-26T23:05:07.802Z,1761519907.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.40 m.
2025-10-26T23:05:07.889Z,1761519907.889 [DAT](INFO): DAT read: Rx Time:23:05:06.6354 

2025-10-26T23:05:07.890Z,1761519907.889 [DAT](INFO): Rx dataTimestamp_ set to:1761519907.889218
2025-10-26T23:05:07.891Z,1761519907.891 [DAT](INFO): DAT read: Bearing 326.1, -51.0 (Local)

2025-10-26T23:05:07.892Z,1761519907.892 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.1, -51.0 (Local)

2025-10-26T23:05:07.894Z,1761519907.894 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed -0.1

2025-10-26T23:05:07.899Z,1761519907.899 [DAT](INFO): DAT read: 23:05:06.6354 LVL= 32752, 32753, 31650, 32755, AGC= 36, IDX= 509,-0.20,-0.828, 0.282, 1.273, 1.338, PHS=-2.065,-1.012,-0.110, RAW= 242.6,  33.6, CAL= 246.1,  42.8, ROT= 263.9, -42.8

2025-10-26T23:05:07.900Z,1761519907.900 [DAT](INFO): got valid direction response:
 23:05:06.6354 LVL= 32752, 32753, 31650, 32755, AGC= 36, IDX= 509,-0.20,-0.828, 0.282, 1.273, 1.338, PHS=-2.065,-1.012,-0.110, RAW= 242.6,  33.6, CAL= 246.1,  42.8, ROT= 263.9, -42.8

2025-10-26T23:05:07.900Z,1761519907.900 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-10-26T23:05:07.901Z,1761519907.901 [DAT](INFO): direction in FSK: [-0.077969,-0.729575,0.679441]
2025-10-26T23:05:07.901Z,1761519907.901 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:07.905Z,1761519907.905 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=59.535561
2025-10-26T23:05:08.070Z,1761519908.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023387,-0.997154,-0.071679],[0.998269,0.027162,-0.052158],[0.053956,-0.070335,0.996063]]
2025-10-26T23:05:08.138Z,1761519908.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.498442 s,
      deltaX: 0.300000 m,
      approachRate: 0.601875 m/s,
      rangeRepo size: 4

2025-10-26T23:05:08.141Z,1761519908.141 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=59.770958
2025-10-26T23:05:08.146Z,1761519908.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.687263 m,
      bearing: 348.877798 deg,
      lat: 36.779425 deg,
      lon: -121.859379 deg,
      deltaT: 0.498442 s,
      deltaX: 0.298585 m,
      approachRate: 0.599036 m/s,
      posRepo size: 4

2025-10-26T23:05:08.146Z,1761519908.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.70 m.
2025-10-26T23:05:08.397Z,1761519908.397 [DAT](INFO): DAT read: Rx Time:23:05:07.1353 

2025-10-26T23:05:08.398Z,1761519908.398 [DAT](INFO): Rx dataTimestamp_ set to:1761519908.397522
2025-10-26T23:05:08.402Z,1761519908.402 [DAT](INFO): DAT read: Bearing 338.3, -58.5 (Local)

2025-10-26T23:05:08.404Z,1761519908.404 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.3, -58.5 (Local)

2025-10-26T23:05:08.413Z,1761519908.413 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed -0.1

2025-10-26T23:05:08.430Z,1761519908.430 [DAT](INFO): DAT read: 23:05:07.1353 LVL= 32752, 30385, 21602, 32755, AGC= 39, IDX= 508, 0.24,-1.623,-0.226, 0.606, 0.485, PHS=-2.006,-0.665, 0.077, RAW= 249.4,  26.6, CAL= 252.7,  34.4, ROT= 257.3, -34.4

2025-10-26T23:05:08.480Z,1761519908.480 [DAT](INFO): got valid direction response:
 23:05:07.1353 LVL= 32752, 30385, 21602, 32755, AGC= 39, IDX= 508, 0.24,-1.623,-0.226, 0.606, 0.485, PHS=-2.006,-0.665, 0.077, RAW= 249.4,  26.6, CAL= 252.7,  34.4, ROT= 257.3, -34.4

2025-10-26T23:05:08.480Z,1761519908.480 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-10-26T23:05:08.481Z,1761519908.481 [DAT](INFO): direction in FSK: [-0.181398,-0.804927,0.564967]
2025-10-26T23:05:08.482Z,1761519908.482 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:08.494Z,1761519908.494 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=60.124119
2025-10-26T23:05:08.506Z,1761519908.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019645,-0.996955,-0.075471],[0.998405,0.023558,-0.051302],[0.052924,-0.074343,0.995827]]
2025-10-26T23:05:08.607Z,1761519908.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.508304 s,
      deltaX: -0.100000 m,
      approachRate: -0.196733 m/s,
      rangeRepo size: 4

2025-10-26T23:05:08.615Z,1761519908.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.587696 m,
      bearing: 343.149815 deg,
      lat: 36.779425 deg,
      lon: -121.859378 deg,
      deltaT: 0.508304 s,
      deltaX: -0.099566 m,
      approachRate: -0.195880 m/s,
      posRepo size: 4

2025-10-26T23:05:08.617Z,1761519908.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.60 m.
2025-10-26T23:05:08.645Z,1761519908.645 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=60.274975
2025-10-26T23:05:08.876Z,1761519908.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016600,-0.996109,-0.086548],[0.998521,0.020998,-0.050157],[0.051779,-0.085587,0.994984]]
2025-10-26T23:05:08.897Z,1761519908.897 [DAT](INFO): DAT read: Rx Time:23:05:07.6354 

2025-10-26T23:05:08.898Z,1761519908.898 [DAT](INFO): Rx dataTimestamp_ set to:1761519908.897252
2025-10-26T23:05:08.899Z,1761519908.899 [DAT](INFO): DAT read: Bearing 356.0, -58.4 (Local)

2025-10-26T23:05:08.899Z,1761519908.899 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.0, -58.4 (Local)

2025-10-26T23:05:08.901Z,1761519908.901 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed -0.2

2025-10-26T23:05:08.906Z,1761519908.906 [DAT](INFO): DAT read: 23:05:07.6354 LVL= 32240, 32753, 19586, 32755, AGC= 39, IDX= 509,-0.01, 2.111,-2.407,-1.928,-2.018, PHS=-2.052,-0.344, 0.046, RAW= 259.9,  23.3, CAL= 262.2,  30.7, ROT= 247.8, -30.7

2025-10-26T23:05:08.907Z,1761519908.907 [DAT](INFO): got valid direction response:
 23:05:07.6354 LVL= 32240, 32753, 19586, 32755, AGC= 39, IDX= 509,-0.01, 2.111,-2.407,-1.928,-2.018, PHS=-2.052,-0.344, 0.046, RAW= 259.9,  23.3, CAL= 262.2,  30.7, ROT= 247.8, -30.7

2025-10-26T23:05:08.907Z,1761519908.907 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-10-26T23:05:08.908Z,1761519908.908 [DAT](INFO): direction in FSK: [-0.324887,-0.796112,0.510543]
2025-10-26T23:05:08.909Z,1761519908.909 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:08.920Z,1761519908.920 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:05:08.920Z,1761519908.920 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:05:08.921Z,1761519908.921 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T23:05:08.930Z,1761519908.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.499730 s,
      deltaX: 0.100000 m,
      approachRate: 0.200108 m/s,
      rangeRepo size: 4

2025-10-26T23:05:08.945Z,1761519908.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.687223 m,
      bearing: 333.743235 deg,
      lat: 36.779426 deg,
      lon: -121.859378 deg,
      deltaT: 0.499730 s,
      deltaX: 0.099527 m,
      approachRate: 0.199161 m/s,
      posRepo size: 4

2025-10-26T23:05:08.945Z,1761519908.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.70 m.
2025-10-26T23:05:09.149Z,1761519909.149 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:05:09.278Z,1761519909.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014765,-0.994807,-0.100705],[0.998629,0.019730,-0.048482],[0.050217,-0.099851,0.993734]]
2025-10-26T23:05:09.302Z,1761519909.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:05:09.405Z,1761519909.405 [DAT](INFO): DAT read: Rx Time:23:05:08.1354 

2025-10-26T23:05:09.407Z,1761519909.407 [DAT](INFO): Rx dataTimestamp_ set to:1761519909.405607
2025-10-26T23:05:09.411Z,1761519909.411 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed -0.3

2025-10-26T23:05:09.413Z,1761519909.413 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-26T23:05:09.424Z,1761519909.424 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:05:09.425Z,1761519909.425 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T23:05:09.653Z,1761519909.653 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:05:09.824Z,1761519909.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.508355 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:09.824Z,1761519909.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.70 m.
2025-10-26T23:05:09.906Z,1761519909.906 [DAT](INFO): DAT read: Rx Time:23:05:08.6356 

2025-10-26T23:05:09.906Z,1761519909.906 [DAT](INFO): Rx dataTimestamp_ set to:1761519909.906107
2025-10-26T23:05:09.908Z,1761519909.908 [DAT](INFO): DAT read: Bearing  25.1, -40.3 (Local)

2025-10-26T23:05:09.909Z,1761519909.909 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.1, -40.3 (Local)

2025-10-26T23:05:09.912Z,1761519909.912 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed -0.4

2025-10-26T23:05:09.919Z,1761519909.919 [DAT](INFO): DAT read: 23:05:08.6356 LVL= 26928, 20065, 13666, 27219, AGC= 40, IDX= 511,-0.08, 0.101, 2.282, 1.572, 1.937, PHS=-1.734, 0.390,-0.409, RAW= 291.9,  18.4, CAL= 290.8,  25.3, ROT= 219.2, -25.3

2025-10-26T23:05:09.921Z,1761519909.921 [DAT](INFO): got valid direction response:
 23:05:08.6356 LVL= 26928, 20065, 13666, 27219, AGC= 40, IDX= 511,-0.08, 0.101, 2.282, 1.572, 1.937, PHS=-1.734, 0.390,-0.409, RAW= 291.9,  18.4, CAL= 290.8,  25.3, ROT= 219.2, -25.3

2025-10-26T23:05:09.921Z,1761519909.921 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:05:09.923Z,1761519909.923 [DAT](INFO): direction in FSK: [-0.700614,-0.571407,0.427358]
2025-10-26T23:05:09.923Z,1761519909.923 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:09.941Z,1761519909.941 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:05:09.941Z,1761519909.941 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T23:05:10.156Z,1761519910.156 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:05:10.169Z,1761519910.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008894,-0.993328,-0.114981],[0.998873,0.014187,-0.045304],[0.046633,-0.114448,0.992334]]
2025-10-26T23:05:10.193Z,1761519910.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.500500 s,
      deltaX: 0.300000 m,
      approachRate: 0.599401 m/s,
      rangeRepo size: 4

2025-10-26T23:05:10.196Z,1761519910.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.985725 m,
      bearing: 305.156693 deg,
      lat: 36.779426 deg,
      lon: -121.859378 deg,
      deltaT: 1.008855 s,
      deltaX: 0.298502 m,
      approachRate: 0.295882 m/s,
      posRepo size: 4

2025-10-26T23:05:10.196Z,1761519910.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.00 m.
2025-10-26T23:05:10.415Z,1761519910.415 [DAT](INFO): DAT read: Rx Time:23:05:09.1356 

2025-10-26T23:05:10.417Z,1761519910.417 [DAT](INFO): Rx dataTimestamp_ set to:1761519910.415866
2025-10-26T23:05:10.422Z,1761519910.422 [DAT](INFO): DAT read: Bearing  24.5, -39.7 (Local)

2025-10-26T23:05:10.427Z,1761519910.427 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.5, -39.7 (Local)

2025-10-26T23:05:10.454Z,1761519910.454 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed -0.4

2025-10-26T23:05:10.471Z,1761519910.471 [DAT](INFO): DAT read: 23:05:09.1356 LVL= 28752, 14193, 15090, 31731, AGC= 38, IDX= 511, 0.26,-2.270,-0.172,-0.860,-0.479, PHS=-1.689, 0.351,-0.425, RAW= 292.2,  19.3, CAL= 291.3,  26.1, ROT= 218.7, -26.1

2025-10-26T23:05:10.476Z,1761519910.476 [DAT](INFO): got valid direction response:
 23:05:09.1356 LVL= 28752, 14193, 15090, 31731, AGC= 38, IDX= 511, 0.26,-2.270,-0.172,-0.860,-0.479, PHS=-1.689, 0.351,-0.425, RAW= 292.2,  19.3, CAL= 291.3,  26.1, ROT= 218.7, -26.1

2025-10-26T23:05:10.477Z,1761519910.477 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:05:10.478Z,1761519910.478 [DAT](INFO): direction in FSK: [-0.700848,-0.561485,0.439939]
2025-10-26T23:05:10.478Z,1761519910.478 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:10.489Z,1761519910.489 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:05:10.490Z,1761519910.490 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T23:05:10.635Z,1761519910.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008059,-0.993144,-0.116619],[0.998967,0.013212,-0.043483],[0.044725,-0.116148,0.992224]]
2025-10-26T23:05:10.660Z,1761519910.660 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:05:10.737Z,1761519910.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.509759 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:10.739Z,1761519910.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.985779 m,
      bearing: 304.567131 deg,
      lat: 36.779426 deg,
      lon: -121.859380 deg,
      deltaT: 0.509759 s,
      deltaX: 0.000053 m,
      approachRate: 0.000105 m/s,
      posRepo size: 4

2025-10-26T23:05:10.743Z,1761519910.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.00 m.
2025-10-26T23:05:10.912Z,1761519910.912 [DAT](INFO): DAT read: user:791>

2025-10-26T23:05:10.913Z,1761519910.913 [DAT](INFO): DAT read: 50

2025-10-26T23:05:10.913Z,1761519910.913 [DAT](INFO): unknown deviceResponse_: 50

2025-10-26T23:05:10.913Z,1761519910.913 [DAT](INFO): DAT read: Ok

2025-10-26T23:05:10.914Z,1761519910.914 [DAT](INFO): unknown deviceResponse_: Ok

2025-10-26T23:05:10.914Z,1761519910.914 [DAT](INFO): DAT read: user:792>

2025-10-26T23:05:10.915Z,1761519910.915 [DAT](INFO): DAT read: Tx time:23:05:10.0843

2025-10-26T23:05:10.915Z,1761519910.915 [DAT](INFO): Ping request sent.
2025-10-26T23:05:10.915Z,1761519910.915 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:05:10.916Z,1761519910.916 [DAT](INFO): publishing transmit ping time
2025-10-26T23:05:10.916Z,1761519910.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000788
2025-10-26T23:05:11.014Z,1761519911.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007076,-0.992709,-0.120326],[0.999080,0.012109,-0.041149],[0.042306,-0.119924,0.991881]]
2025-10-26T23:05:11.056Z,1761519911.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.00 m.
2025-10-26T23:05:11.164Z,1761519911.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248890
2025-10-26T23:05:11.420Z,1761519911.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503404
2025-10-26T23:05:11.470Z,1761519911.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006436,-0.992082,-0.125426],[0.999192,0.011355,-0.038544],[0.039663,-0.125076,0.991354]]
2025-10-26T23:05:11.564Z,1761519911.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:05:11.566Z,1761519911.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.00 m.
2025-10-26T23:05:11.669Z,1761519911.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753643
2025-10-26T23:05:11.907Z,1761519911.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005376,-0.992061,-0.125646],[0.999299,0.009984,-0.036078],[0.037046,-0.125364,0.991419]]
2025-10-26T23:05:11.920Z,1761519911.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004983
2025-10-26T23:05:11.953Z,1761519911.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.00 m.
2025-10-26T23:05:12.173Z,1761519912.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258009
2025-10-26T23:05:12.312Z,1761519912.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004841,-0.992229,-0.124329],[0.999391,0.009097,-0.033685],[0.034554,-0.124091,0.991669]]
2025-10-26T23:05:12.426Z,1761519912.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510248
2025-10-26T23:05:12.676Z,1761519912.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760884
2025-10-26T23:05:12.730Z,1761519912.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004501,-0.992621,-0.121173],[0.999470,0.008373,-0.031460],[0.032243,-0.120967,0.992133]]
2025-10-26T23:05:12.798Z,1761519912.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.00 m.
2025-10-26T23:05:12.928Z,1761519912.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012921
2025-10-26T23:05:13.122Z,1761519913.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005631,-0.992482,-0.122265],[0.999555,0.009168,-0.028392],[0.029299,-0.122051,0.992091]]
2025-10-26T23:05:13.158Z,1761519913.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.00 m.
2025-10-26T23:05:13.181Z,1761519913.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265095
2025-10-26T23:05:13.438Z,1761519913.438 [DAT](INFO): DAT read: Rx Time:23:05:12.2183 

2025-10-26T23:05:13.440Z,1761519913.440 [DAT](INFO): Rx dataTimestamp_ set to:1761519913.438591
2025-10-26T23:05:13.444Z,1761519913.444 [DAT](INFO): DAT read: Bearing  53.9, -31.1 (Local)

2025-10-26T23:05:13.445Z,1761519913.445 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.9, -31.1 (Local)

2025-10-26T23:05:13.477Z,1761519913.477 [DAT](INFO): DAT read: Range 11 to 50 :     3.6 m (trip time 2.4 ms) speed -0.5

2025-10-26T23:05:13.502Z,1761519913.502 [DAT](INFO): DAT read: 23:05:12.2183 LVL= 20640,  9905, 10962, 20131, AGC= 50, IDX=  46, 0.27,-3.009,-0.655,-1.807,-1.619, PHS=-1.288, 1.010,-0.232, RAW= 302.7,   5.2, CAL= 300.2,   2.8, ROT= 209.8,  -2.8

2025-10-26T23:05:13.519Z,1761519913.519 [DAT](INFO): got valid direction response:
 23:05:12.2183 LVL= 20640,  9905, 10962, 20131, AGC= 50, IDX=  46, 0.27,-3.009,-0.655,-1.807,-1.619, PHS=-1.288, 1.010,-0.232, RAW= 302.7,   5.2, CAL= 300.2,   2.8, ROT= 209.8,  -2.8

2025-10-26T23:05:13.520Z,1761519913.520 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:05:13.521Z,1761519913.521 [DAT](INFO): direction in FSK: [-0.866729,-0.496381,0.048850]
2025-10-26T23:05:13.521Z,1761519913.521 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:13.533Z,1761519913.533 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.617305
2025-10-26T23:05:13.540Z,1761519913.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006362,-0.992359,-0.123220],[0.999622,0.009607,-0.025761],[0.026748,-0.123009,0.992045]]
2025-10-26T23:05:13.660Z,1761519913.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 3.022725 s,
      deltaX: 0.600000 m,
      approachRate: 0.198496 m/s,
      rangeRepo size: 4

2025-10-26T23:05:13.662Z,1761519913.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.582611 m,
      bearing: 298.872193 deg,
      lat: 36.779427 deg,
      lon: -121.859380 deg,
      deltaT: 3.022725 s,
      deltaX: 0.596833 m,
      approachRate: 0.197448 m/s,
      posRepo size: 4

2025-10-26T23:05:13.662Z,1761519913.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.60 m.
2025-10-26T23:05:13.685Z,1761519913.685 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.769304
2025-10-26T23:05:13.938Z,1761519913.938 [DAT](INFO): DAT read: Rx Time:23:05:12.7184 

2025-10-26T23:05:13.938Z,1761519913.938 [DAT](INFO): Rx dataTimestamp_ set to:1761519913.937793
2025-10-26T23:05:13.939Z,1761519913.939 [DAT](INFO): DAT read: Bearing  54.0, -26.2 (Local)

2025-10-26T23:05:13.940Z,1761519913.940 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.0, -26.2 (Local)

2025-10-26T23:05:13.942Z,1761519913.942 [DAT](INFO): DAT read: Range 11 to 50 :     3.8 m (trip time 2.5 ms) speed -0.4

2025-10-26T23:05:13.946Z,1761519913.946 [DAT](INFO): DAT read: 23:05:12.7184 LVL= 28752, 14753, 20962, 31411, AGC= 48, IDX= 511, 0.13, 1.677,-2.392, 2.662, 2.919, PHS=-1.139, 1.018,-0.301, RAW= 307.3,   4.5, CAL= 304.9,   2.1, ROT= 205.1,  -2.1

2025-10-26T23:05:13.957Z,1761519913.957 [DAT](INFO): got valid direction response:
 23:05:12.7184 LVL= 28752, 14753, 20962, 31411, AGC= 48, IDX= 511, 0.13, 1.677,-2.392, 2.662, 2.919, PHS=-1.139, 1.018,-0.301, RAW= 307.3,   4.5, CAL= 304.9,   2.1, ROT= 205.1,  -2.1

2025-10-26T23:05:13.958Z,1761519913.958 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T23:05:13.959Z,1761519913.959 [DAT](INFO): direction in FSK: [-0.904961,-0.423915,0.036644]
2025-10-26T23:05:13.959Z,1761519913.959 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:13.975Z,1761519913.975 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.059560
2025-10-26T23:05:14.006Z,1761519914.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006704,-0.992288,-0.123769],[0.999685,0.009647,-0.023191],[0.024206,-0.123575,0.992040]]
2025-10-26T23:05:14.081Z,1761519914.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 0.499202 s,
      deltaX: 0.200000 m,
      approachRate: 0.400640 m/s,
      rangeRepo size: 4

2025-10-26T23:05:14.091Z,1761519914.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.781645 m,
      bearing: 294.265288 deg,
      lat: 36.779425 deg,
      lon: -121.859380 deg,
      deltaT: 0.499202 s,
      deltaX: 0.199034 m,
      approachRate: 0.398704 m/s,
      posRepo size: 4

2025-10-26T23:05:14.188Z,1761519914.188 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.273050
2025-10-26T23:05:14.412Z,1761519914.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006510,-0.991375,-0.130892],[0.999741,0.009304,-0.020745],[0.021784,-0.130724,0.991180]]
2025-10-26T23:05:14.429Z,1761519914.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:05:14.441Z,1761519914.441 [DAT](INFO): DAT read: Rx Time:23:05:13.2184 

2025-10-26T23:05:14.442Z,1761519914.442 [DAT](INFO): Rx dataTimestamp_ set to:1761519914.441480
2025-10-26T23:05:14.446Z,1761519914.446 [DAT](INFO): DAT read: Bearing  68.3, -35.6 (Local)

2025-10-26T23:05:14.448Z,1761519914.448 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.3, -35.6 (Local)

2025-10-26T23:05:14.450Z,1761519914.450 [DAT](INFO): DAT read: Range 11 to 50 :     3.8 m (trip time 2.5 ms) speed -0.4

2025-10-26T23:05:14.454Z,1761519914.454 [DAT](INFO): DAT read: 23:05:13.2184 LVL= 32560, 14065, 22578, 32755, AGC= 49, IDX= 512,-0.03, 2.620,-1.385,-2.201,-2.485, PHS=-1.077, 1.145, 0.240, RAW= 293.9,  -3.2, CAL= 293.2,  -7.9, ROT= 216.8,   7.9

2025-10-26T23:05:14.465Z,1761519914.465 [DAT](INFO): got valid direction response:
 23:05:13.2184 LVL= 32560, 14065, 22578, 32755, AGC= 49, IDX= 512,-0.03, 2.620,-1.385,-2.201,-2.485, PHS=-1.077, 1.145, 0.240, RAW= 293.9,  -3.2, CAL= 293.2,  -7.9, ROT= 216.8,   7.9

2025-10-26T23:05:14.466Z,1761519914.466 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-10-26T23:05:14.469Z,1761519914.469 [DAT](INFO): direction in FSK: [-0.793132,-0.593339,-0.137445]
2025-10-26T23:05:14.470Z,1761519914.470 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:14.528Z,1761519914.528 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.612283
2025-10-26T23:05:14.692Z,1761519914.692 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.777013
2025-10-26T23:05:14.861Z,1761519914.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007899,-0.990372,-0.138204],[0.999797,0.010382,-0.017255],[0.018524,-0.138039,0.990254]]
2025-10-26T23:05:14.910Z,1761519914.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 0.503687 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:14.912Z,1761519914.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.781486 m,
      bearing: 306.997929 deg,
      lat: 36.779425 deg,
      lon: -121.859377 deg,
      deltaT: 0.503687 s,
      deltaX: -0.000159 m,
      approachRate: -0.000316 m/s,
      posRepo size: 4

2025-10-26T23:05:14.945Z,1761519914.945 [DAT](INFO): DAT read: Rx Time:23:05:13.7187 

2025-10-26T23:05:14.946Z,1761519914.946 [DAT](INFO): Rx dataTimestamp_ set to:1761519914.945220
2025-10-26T23:05:14.947Z,1761519914.947 [DAT](INFO): DAT read: Bearing  56.5, -23.4 (Local)

2025-10-26T23:05:14.947Z,1761519914.947 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.5, -23.4 (Local)

2025-10-26T23:05:14.949Z,1761519914.949 [DAT](INFO): DAT read: Range 11 to 50 :     4.2 m (trip time 2.8 ms) speed -0.4

2025-10-26T23:05:14.954Z,1761519914.954 [DAT](INFO): DAT read: 23:05:13.7187 LVL= 31568, 15393, 16306, 32755, AGC= 55, IDX=   3,-0.25, 0.296, 2.481, 1.201, 1.455, PHS=-1.057, 1.071,-0.298, RAW= 309.4,   3.1, CAL= 307.0,  -0.1, ROT= 203.0,   0.1

2025-10-26T23:05:14.955Z,1761519914.955 [DAT](INFO): got valid direction response:
 23:05:13.7187 LVL= 31568, 15393, 16306, 32755, AGC= 55, IDX=   3,-0.25, 0.296, 2.481, 1.201, 1.455, PHS=-1.057, 1.071,-0.298, RAW= 309.4,   3.1, CAL= 307.0,  -0.1, ROT= 203.0,   0.1

2025-10-26T23:05:14.956Z,1761519914.956 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-26T23:05:14.957Z,1761519914.957 [DAT](INFO): direction in FSK: [-0.920503,-0.390730,-0.001745]
2025-10-26T23:05:14.957Z,1761519914.957 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:14.961Z,1761519914.961 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.045143
2025-10-26T23:05:15.198Z,1761519915.198 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.281757
2025-10-26T23:05:15.261Z,1761519915.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009865,-0.989828,-0.141924],[0.999839,0.011890,-0.013429],[0.014980,-0.141769,0.989786]]
2025-10-26T23:05:15.284Z,1761519915.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 0.503740 s,
      deltaX: 0.400000 m,
      approachRate: 0.794060 m/s,
      rangeRepo size: 4

2025-10-26T23:05:15.286Z,1761519915.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.179537 m,
      bearing: 292.223721 deg,
      lat: 36.779426 deg,
      lon: -121.859376 deg,
      deltaT: 0.503740 s,
      deltaX: 0.398051 m,
      approachRate: 0.790192 m/s,
      posRepo size: 4

2025-10-26T23:05:15.329Z,1761519915.329 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:05:15.450Z,1761519915.450 [DAT](INFO): DAT read: Rx Time:23:05:14.2187 

2025-10-26T23:05:15.451Z,1761519915.451 [DAT](INFO): Rx dataTimestamp_ set to:1761519915.450255
2025-10-26T23:05:15.452Z,1761519915.452 [DAT](INFO): DAT read: Bearing  55.7, -24.8 (Local)

2025-10-26T23:05:15.453Z,1761519915.453 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.7, -24.8 (Local)

2025-10-26T23:05:15.455Z,1761519915.455 [DAT](INFO): DAT read: Range 11 to 50 :     4.2 m (trip time 2.8 ms) speed -0.4

2025-10-26T23:05:15.465Z,1761519915.465 [DAT](INFO): DAT read: 23:05:14.2187 LVL= 32752, 22257, 23778, 32755, AGC= 56, IDX= 499, 0.29, 1.081,-3.007, 2.039, 2.284, PHS=-1.100, 1.037,-0.288, RAW= 307.9,   3.8, CAL= 305.5,   0.8, ROT= 204.5,  -0.8

2025-10-26T23:05:15.473Z,1761519915.473 [DAT](INFO): got valid direction response:
 23:05:14.2187 LVL= 32752, 22257, 23778, 32755, AGC= 56, IDX= 499, 0.29, 1.081,-3.007, 2.039, 2.284, PHS=-1.100, 1.037,-0.288, RAW= 307.9,   3.8, CAL= 305.5,   0.8, ROT= 204.5,  -0.8

2025-10-26T23:05:15.475Z,1761519915.475 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-10-26T23:05:15.482Z,1761519915.482 [DAT](INFO): direction in FSK: [-0.909873,-0.414653,0.013962]
2025-10-26T23:05:15.488Z,1761519915.488 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:15.514Z,1761519915.514 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.598110
2025-10-26T23:05:15.672Z,1761519915.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012184,-0.989533,-0.143793],[0.999866,0.013635,-0.009108],[0.010973,-0.143663,0.989566]]
2025-10-26T23:05:15.701Z,1761519915.701 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.785592
2025-10-26T23:05:15.778Z,1761519915.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 0.505035 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:15.780Z,1761519915.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.179489 m,
      bearing: 293.454420 deg,
      lat: 36.779427 deg,
      lon: -121.859375 deg,
      deltaT: 0.505035 s,
      deltaX: -0.000048 m,
      approachRate: -0.000095 m/s,
      posRepo size: 4

2025-10-26T23:05:15.953Z,1761519915.953 [DAT](INFO): DAT read: Rx Time:23:05:14.7190 

2025-10-26T23:05:15.954Z,1761519915.954 [DAT](INFO): Rx dataTimestamp_ set to:1761519915.953346
2025-10-26T23:05:15.955Z,1761519915.955 [DAT](INFO): DAT read: Bearing  58.3, -27.2 (Local)

2025-10-26T23:05:15.955Z,1761519915.955 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.3, -27.2 (Local)

2025-10-26T23:05:15.957Z,1761519915.957 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed -0.2

2025-10-26T23:05:15.962Z,1761519915.962 [DAT](INFO): DAT read: 23:05:14.7190 LVL= 32752, 22337, 27458, 32755, AGC= 57, IDX= 502,-0.04, 0.859, 3.070, 1.931, 2.062, PHS=-1.102, 1.053,-0.175, RAW= 304.6,   2.4, CAL= 302.5,  -1.2, ROT= 207.5,   1.2

2025-10-26T23:05:15.963Z,1761519915.963 [DAT](INFO): got valid direction response:
 23:05:14.7190 LVL= 32752, 22337, 27458, 32755, AGC= 57, IDX= 502,-0.04, 0.859, 3.070, 1.931, 2.062, PHS=-1.102, 1.053,-0.175, RAW= 304.6,   2.4, CAL= 302.5,  -1.2, ROT= 207.5,   1.2

2025-10-26T23:05:15.964Z,1761519915.964 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-26T23:05:15.965Z,1761519915.965 [DAT](INFO): direction in FSK: [-0.886816,-0.461647,-0.020942]
2025-10-26T23:05:15.965Z,1761519915.965 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:15.994Z,1761519915.994 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.078545
2025-10-26T23:05:16.129Z,1761519916.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014442,-0.990470,-0.136967],[0.999869,0.015300,-0.005213],[0.007259,-0.136874,0.990562]]
2025-10-26T23:05:16.161Z,1761519916.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.503091 s,
      deltaX: 0.500000 m,
      approachRate: 0.993856 m/s,
      rangeRepo size: 4

2025-10-26T23:05:16.164Z,1761519916.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.677047 m,
      bearing: 296.589729 deg,
      lat: 36.779427 deg,
      lon: -121.859375 deg,
      deltaT: 0.503091 s,
      deltaX: 0.497558 m,
      approachRate: 0.989002 m/s,
      posRepo size: 4

2025-10-26T23:05:16.205Z,1761519916.205 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.289107
2025-10-26T23:05:16.333Z,1761519916.333 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:05:16.457Z,1761519916.457 [DAT](INFO): DAT read: Rx Time:23:05:15.2190 

2025-10-26T23:05:16.457Z,1761519916.457 [DAT](INFO): Rx dataTimestamp_ set to:1761519916.457123
2025-10-26T23:05:16.459Z,1761519916.459 [DAT](INFO): DAT read: Bearing  60.3, -30.6 (Local)

2025-10-26T23:05:16.459Z,1761519916.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing  60.3, -30.6 (Local)

2025-10-26T23:05:16.461Z,1761519916.461 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed -0.4

2025-10-26T23:05:16.466Z,1761519916.466 [DAT](INFO): DAT read: 23:05:15.2190 LVL= 32752, 18977, 26850, 32755, AGC= 56, IDX= 502, 0.41, 1.999,-2.030,-3.052,-3.045, PHS=-1.137, 1.061,-0.051, RAW= 300.4,   1.4, CAL= 298.6,  -2.7, ROT= 211.4,   2.7

2025-10-26T23:05:16.467Z,1761519916.467 [DAT](INFO): got valid direction response:
 23:05:15.2190 LVL= 32752, 18977, 26850, 32755, AGC= 56, IDX= 502, 0.41, 1.999,-2.030,-3.052,-3.045, PHS=-1.137, 1.061,-0.051, RAW= 300.4,   1.4, CAL= 298.6,  -2.7, ROT= 211.4,   2.7

2025-10-26T23:05:16.467Z,1761519916.467 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-26T23:05:16.468Z,1761519916.468 [DAT](INFO): direction in FSK: [-0.852603,-0.520431,-0.047106]
2025-10-26T23:05:16.469Z,1761519916.469 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:16.475Z,1761519916.475 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.558791
2025-10-26T23:05:16.598Z,1761519916.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019781,-0.991413,-0.129264],[0.999803,0.019414,0.004098],[-0.001554,-0.129319,0.991602]]
2025-10-26T23:05:16.709Z,1761519916.709 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.793689
2025-10-26T23:05:16.729Z,1761519916.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.503777 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:16.736Z,1761519916.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.676489 m,
      bearing: 300.351771 deg,
      lat: 36.779431 deg,
      lon: -121.859373 deg,
      deltaT: 0.503777 s,
      deltaX: -0.000558 m,
      approachRate: -0.001108 m/s,
      posRepo size: 4

2025-10-26T23:05:16.962Z,1761519916.962 [DAT](INFO): DAT read: Rx Time:23:05:15.7192 

2025-10-26T23:05:16.962Z,1761519916.962 [DAT](INFO): Rx dataTimestamp_ set to:1761519916.962162
2025-10-26T23:05:16.964Z,1761519916.964 [DAT](INFO): DAT read: Bearing  59.4, -30.5 (Local)

2025-10-26T23:05:16.965Z,1761519916.965 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.4, -30.5 (Local)

2025-10-26T23:05:16.968Z,1761519916.968 [DAT](INFO): DAT read: Range 11 to 50 :     5.0 m (trip time 3.3 ms) speed -0.3

2025-10-26T23:05:16.973Z,1761519916.973 [DAT](INFO): DAT read: 23:05:15.7192 LVL= 32752, 21553, 28274, 32755, AGC= 57, IDX= 504,-0.04, 0.951,-3.061, 2.189, 2.219, PHS=-1.167, 1.049,-0.074, RAW= 300.4,   2.0, CAL= 298.5,  -2.0, ROT= 211.5,   2.0

2025-10-26T23:05:16.974Z,1761519916.974 [DAT](INFO): got valid direction response:
 23:05:15.7192 LVL= 32752, 21553, 28274, 32755, AGC= 57, IDX= 504,-0.04, 0.951,-3.061, 2.189, 2.219, PHS=-1.167, 1.049,-0.074, RAW= 300.4,   2.0, CAL= 298.5,  -2.0, ROT= 211.5,   2.0

2025-10-26T23:05:16.974Z,1761519916.974 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-10-26T23:05:17.008Z,1761519917.008 [DAT](INFO): direction in FSK: [-0.852121,-0.522180,-0.034899]
2025-10-26T23:05:17.009Z,1761519917.009 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:17.017Z,1761519917.017 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.101419
2025-10-26T23:05:17.061Z,1761519917.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023641,-0.990747,-0.133649],[0.999698,0.022531,0.009817],[-0.006715,-0.133840,0.990980]]
2025-10-26T23:05:17.123Z,1761519917.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.000000 m,
      deltaT: 0.505039 s,
      deltaX: 0.300000 m,
      approachRate: 0.594014 m/s,
      rangeRepo size: 4

2025-10-26T23:05:17.129Z,1761519917.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.974988 m,
      bearing: 300.151652 deg,
      lat: 36.779431 deg,
      lon: -121.859373 deg,
      deltaT: 0.505039 s,
      deltaX: 0.298499 m,
      approachRate: 0.591042 m/s,
      posRepo size: 4

2025-10-26T23:05:17.213Z,1761519917.213 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.297183
2025-10-26T23:05:17.465Z,1761519917.465 [DAT](INFO): DAT read: Rx Time:23:05:16.2192 

2025-10-26T23:05:17.465Z,1761519917.465 [DAT](INFO): Rx dataTimestamp_ set to:1761519917.465014
2025-10-26T23:05:17.467Z,1761519917.467 [DAT](INFO): DAT read: Bearing  58.3, -28.5 (Local)

2025-10-26T23:05:17.467Z,1761519917.467 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.3, -28.5 (Local)

2025-10-26T23:05:17.469Z,1761519917.469 [DAT](INFO): DAT read: Range 11 to 50 :     5.0 m (trip time 3.3 ms) speed -0.3

2025-10-26T23:05:17.478Z,1761519917.478 [DAT](INFO): DAT read: 23:05:16.2192 LVL= 31936, 20977, 27778, 32755, AGC= 56, IDX= 504, 0.35, 1.579,-2.462, 2.738, 2.823, PHS=-1.143, 1.043,-0.130, RAW= 302.4,   2.4, CAL= 300.3,  -1.4, ROT= 209.7,   1.4

2025-10-26T23:05:17.479Z,1761519917.479 [DAT](INFO): got valid direction response:
 23:05:16.2192 LVL= 31936, 20977, 27778, 32755, AGC= 56, IDX= 504, 0.35, 1.579,-2.462, 2.738, 2.823, PHS=-1.143, 1.043,-0.130, RAW= 302.4,   2.4, CAL= 300.3,  -1.4, ROT= 209.7,   1.4

2025-10-26T23:05:17.479Z,1761519917.479 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-10-26T23:05:17.480Z,1761519917.480 [DAT](INFO): direction in FSK: [-0.868372,-0.495311,-0.024432]
2025-10-26T23:05:17.480Z,1761519917.480 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:17.484Z,1761519917.484 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.568527
2025-10-26T23:05:17.620Z,1761519917.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.000000 m,
      deltaT: 0.502852 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:17.622Z,1761519917.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.974988 m,
      bearing: 298.294775 deg,
      lat: 36.779434 deg,
      lon: -121.859372 deg,
      deltaT: 0.502852 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:05:17.717Z,1761519917.717 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.801406
2025-10-26T23:05:17.956Z,1761519917.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029227,-0.989214,-0.143531],[0.999412,0.026340,0.021972],[-0.017954,-0.144089,0.989402]]
2025-10-26T23:05:17.969Z,1761519917.969 [DAT](INFO): DAT read: Rx Time:23:05:16.7195 

2025-10-26T23:05:17.969Z,1761519917.969 [DAT](INFO): Rx dataTimestamp_ set to:1761519917.969047
2025-10-26T23:05:17.971Z,1761519917.971 [DAT](INFO): DAT read: Bearing  57.2, -25.9 (Local)

2025-10-26T23:05:17.971Z,1761519917.971 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.2, -25.9 (Local)

2025-10-26T23:05:17.973Z,1761519917.973 [DAT](INFO): DAT read: Range 11 to 50 :     5.4 m (trip time 3.6 ms) speed -0.4

2025-10-26T23:05:17.978Z,1761519917.978 [DAT](INFO): DAT read: 23:05:16.7195 LVL= 32752, 19153, 27682, 32755, AGC= 56, IDX= 507,-0.15, 1.395,-2.668, 2.463, 2.614, PHS=-1.117, 1.046,-0.196, RAW= 304.9,   2.9, CAL= 302.6,  -0.8, ROT= 207.4,   0.8

2025-10-26T23:05:17.979Z,1761519917.979 [DAT](INFO): got valid direction response:
 23:05:16.7195 LVL= 32752, 19153, 27682, 32755, AGC= 56, IDX= 507,-0.15, 1.395,-2.668, 2.463, 2.614, PHS=-1.117, 1.046,-0.196, RAW= 304.9,   2.9, CAL= 302.6,  -0.8, ROT= 207.4,   0.8

2025-10-26T23:05:17.979Z,1761519917.979 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-26T23:05:17.980Z,1761519917.980 [DAT](INFO): direction in FSK: [-0.887729,-0.460155,-0.013962]
2025-10-26T23:05:17.980Z,1761519917.980 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:17.984Z,1761519917.984 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.068498
2025-10-26T23:05:18.130Z,1761519918.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.400000 m,
      deltaT: 0.504033 s,
      deltaX: 0.400000 m,
      approachRate: 0.793599 m/s,
      rangeRepo size: 4

2025-10-26T23:05:18.136Z,1761519918.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.372377 m,
      bearing: 295.611286 deg,
      lat: 36.779435 deg,
      lon: -121.859372 deg,
      deltaT: 0.504033 s,
      deltaX: 0.397389 m,
      approachRate: 0.788418 m/s,
      posRepo size: 4

2025-10-26T23:05:18.221Z,1761519918.221 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.305352
2025-10-26T23:05:18.476Z,1761519918.476 [DAT](INFO): DAT read: Rx Time:23:05:17.2195 

2025-10-26T23:05:18.476Z,1761519918.476 [DAT](INFO): Rx dataTimestamp_ set to:1761519918.475961
2025-10-26T23:05:18.478Z,1761519918.478 [DAT](INFO): DAT read: Bearing  55.6, -23.6 (Local)

2025-10-26T23:05:18.478Z,1761519918.478 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.6, -23.6 (Local)

2025-10-26T23:05:18.480Z,1761519918.480 [DAT](INFO): DAT read: Range 11 to 50 :     5.4 m (trip time 3.6 ms) speed -0.4

2025-10-26T23:05:18.517Z,1761519918.517 [DAT](INFO): DAT read: 23:05:17.2195 LVL= 32752, 22433, 32098, 32755, AGC= 57, IDX= 507, 0.16, 2.151,-1.958, 3.126,-2.939, PHS=-1.092, 1.026,-0.262, RAW= 307.1,   3.6, CAL= 304.7,   0.3, ROT= 205.3,  -0.3

2025-10-26T23:05:18.532Z,1761519918.532 [DAT](INFO): got valid direction response:
 23:05:17.2195 LVL= 32752, 22433, 32098, 32755, AGC= 57, IDX= 507, 0.16, 2.151,-1.958, 3.126,-2.939, PHS=-1.092, 1.026,-0.262, RAW= 307.1,   3.6, CAL= 304.7,   0.3, ROT= 205.3,  -0.3

2025-10-26T23:05:18.533Z,1761519918.533 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-10-26T23:05:18.559Z,1761519918.559 [DAT](INFO): direction in FSK: [-0.904070,-0.427352,0.005236]
2025-10-26T23:05:18.564Z,1761519918.564 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:18.607Z,1761519918.607 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.691422
2025-10-26T23:05:18.725Z,1761519918.725 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.809616
2025-10-26T23:05:18.759Z,1761519918.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.400000 m,
      deltaT: 0.506914 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:18.769Z,1761519918.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.372139 m,
      bearing: 293.386864 deg,
      lat: 36.779435 deg,
      lon: -121.859372 deg,
      deltaT: 0.506914 s,
      deltaX: -0.000238 m,
      approachRate: -0.000470 m/s,
      posRepo size: 4

2025-10-26T23:05:18.978Z,1761519918.978 [DAT](INFO): DAT read: Rx Time:23:05:17.7197 

2025-10-26T23:05:18.979Z,1761519918.979 [DAT](INFO): Rx dataTimestamp_ set to:1761519918.978312
2025-10-26T23:05:18.981Z,1761519918.981 [DAT](INFO): DAT read: Bearing  54.8, -21.5 (Local)

2025-10-26T23:05:18.981Z,1761519918.981 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.8, -21.5 (Local)

2025-10-26T23:05:18.984Z,1761519918.984 [DAT](INFO): DAT read: Range 11 to 50 :     5.7 m (trip time 3.8 ms) speed -0.4

2025-10-26T23:05:18.992Z,1761519918.992 [DAT](INFO): DAT read: 23:05:17.7197 LVL= 32752, 22593, 32242, 32755, AGC= 57, IDX= 510,-0.37, 1.529,-2.594, 2.439, 2.699, PHS=-1.068, 1.035,-0.305, RAW= 309.0,   3.7, CAL= 306.6,   0.8, ROT= 203.4,  -0.8

2025-10-26T23:05:18.994Z,1761519918.994 [DAT](INFO): got valid direction response:
 23:05:17.7197 LVL= 32752, 22593, 32242, 32755, AGC= 57, IDX= 510,-0.37, 1.529,-2.594, 2.439, 2.699, PHS=-1.068, 1.035,-0.305, RAW= 309.0,   3.7, CAL= 306.6,   0.8, ROT= 203.4,  -0.8

2025-10-26T23:05:18.994Z,1761519918.994 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-26T23:05:19.005Z,1761519919.005 [DAT](INFO): direction in FSK: [-0.917665,-0.397109,0.013962]
2025-10-26T23:05:19.006Z,1761519919.006 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:19.023Z,1761519919.023 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.107479
2025-10-26T23:05:19.226Z,1761519919.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029858,-0.989433,-0.141881],[0.998935,0.024540,0.039085],[-0.035190,-0.142897,0.989112]]
2025-10-26T23:05:19.228Z,1761519919.228 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.313055
2025-10-26T23:05:19.250Z,1761519919.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.700000 m,
      deltaT: 0.502351 s,
      deltaX: 0.300000 m,
      approachRate: 0.597191 m/s,
      rangeRepo size: 4

2025-10-26T23:05:19.252Z,1761519919.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.670590 m,
      bearing: 291.436514 deg,
      lat: 36.779435 deg,
      lon: -121.859372 deg,
      deltaT: 0.502351 s,
      deltaX: 0.298452 m,
      approachRate: 0.594110 m/s,
      posRepo size: 4

2025-10-26T23:05:19.482Z,1761519919.482 [DAT](INFO): DAT read: Rx Time:23:05:18.2198 

2025-10-26T23:05:19.482Z,1761519919.482 [DAT](INFO): Rx dataTimestamp_ set to:1761519919.482197
2025-10-26T23:05:19.484Z,1761519919.484 [DAT](INFO): DAT read: Bearing  56.0, -19.5 (Local)

2025-10-26T23:05:19.484Z,1761519919.484 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.0, -19.5 (Local)

2025-10-26T23:05:19.486Z,1761519919.486 [DAT](INFO): DAT read: Range 11 to 50 :     5.9 m (trip time 3.9 ms) speed -0.4

2025-10-26T23:05:19.491Z,1761519919.491 [DAT](INFO): DAT read: 23:05:18.2198 LVL= 32752, 22001, 29666, 32755, AGC= 56, IDX= 510,-0.04, 1.202,-2.926, 2.062, 2.323, PHS=-1.019, 1.079,-0.306, RAW= 310.5,   2.7, CAL= 308.1,  -0.5, ROT= 201.9,   0.5

2025-10-26T23:05:19.492Z,1761519919.492 [DAT](INFO): got valid direction response:
 23:05:18.2198 LVL= 32752, 22001, 29666, 32755, AGC= 56, IDX= 510,-0.04, 1.202,-2.926, 2.062, 2.323, PHS=-1.019, 1.079,-0.306, RAW= 310.5,   2.7, CAL= 308.1,  -0.5, ROT= 201.9,   0.5

2025-10-26T23:05:19.492Z,1761519919.492 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-26T23:05:19.493Z,1761519919.493 [DAT](INFO): direction in FSK: [-0.927801,-0.372974,-0.008727]
2025-10-26T23:05:19.494Z,1761519919.494 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:19.501Z,1761519919.501 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.585870
2025-10-26T23:05:19.733Z,1761519919.733 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.817963
2025-10-26T23:05:19.769Z,1761519919.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.900000 m,
      deltaT: 0.503885 s,
      deltaX: 0.200000 m,
      approachRate: 0.396917 m/s,
      rangeRepo size: 4

2025-10-26T23:05:19.771Z,1761519919.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.869493 m,
      bearing: 290.096144 deg,
      lat: 36.779434 deg,
      lon: -121.859373 deg,
      deltaT: 0.503885 s,
      deltaX: 0.198903 m,
      approachRate: 0.394738 m/s,
      posRepo size: 4

2025-10-26T23:05:19.985Z,1761519919.985 [DAT](INFO): DAT read: Rx Time:23:05:18.7200 

2025-10-26T23:05:19.985Z,1761519919.985 [DAT](INFO): Rx dataTimestamp_ set to:1761519919.985179
2025-10-26T23:05:19.987Z,1761519919.987 [DAT](INFO): DAT read: Bearing  50.5, -14.1 (Local)

2025-10-26T23:05:19.987Z,1761519919.987 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.5, -14.1 (Local)

2025-10-26T23:05:19.989Z,1761519919.989 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed -0.4

2025-10-26T23:05:19.994Z,1761519919.994 [DAT](INFO): DAT read: 23:05:18.7200 LVL= 32752, 22449, 32754, 32755, AGC= 58, IDX= 512, 0.30, 1.351, 3.083, 1.918, 2.288, PHS=-0.835, 0.840,-0.414, RAW= 316.0,   5.5, CAL= 314.0,   4.2, ROT= 196.0,  -4.2

2025-10-26T23:05:19.995Z,1761519919.995 [DAT](INFO): got valid direction response:
 23:05:18.7200 LVL= 32752, 22449, 32754, 32755, AGC= 58, IDX= 512, 0.30, 1.351, 3.083, 1.918, 2.288, PHS=-0.835, 0.840,-0.414, RAW= 316.0,   5.5, CAL= 314.0,   4.2, ROT= 196.0,  -4.2

2025-10-26T23:05:19.995Z,1761519919.995 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-10-26T23:05:19.997Z,1761519919.997 [DAT](INFO): direction in FSK: [-0.958680,-0.274897,0.073238]
2025-10-26T23:05:19.997Z,1761519919.997 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:20.000Z,1761519920.000 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.084948
2025-10-26T23:05:20.114Z,1761519920.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025663,-0.990111,-0.137918],[0.998754,0.019488,0.045937],[-0.042795,-0.138925,0.989378]]
2025-10-26T23:05:20.178Z,1761519920.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.502982 s,
      deltaX: 0.300000 m,
      approachRate: 0.596442 m/s,
      rangeRepo size: 4

2025-10-26T23:05:20.188Z,1761519920.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.167942 m,
      bearing: 283.901610 deg,
      lat: 36.779434 deg,
      lon: -121.859374 deg,
      deltaT: 0.502982 s,
      deltaX: 0.298449 m,
      approachRate: 0.593358 m/s,
      posRepo size: 4

2025-10-26T23:05:20.237Z,1761519920.237 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.321377
2025-10-26T23:05:20.474Z,1761519920.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021861,-0.990663,-0.134569],[0.998739,0.015555,0.047741],[-0.045202,-0.135443,0.989754]]
2025-10-26T23:05:20.489Z,1761519920.489 [DAT](INFO): DAT read: Rx Time:23:05:19.2201 

2025-10-26T23:05:20.489Z,1761519920.489 [DAT](INFO): Rx dataTimestamp_ set to:1761519920.489212
2025-10-26T23:05:20.491Z,1761519920.491 [DAT](INFO): DAT read: Bearing  62.3, -16.3 (Local)

2025-10-26T23:05:20.491Z,1761519920.491 [DAT](INFO): Local bearing/azimuth received:
 Bearing  62.3, -16.3 (Local)

2025-10-26T23:05:20.493Z,1761519920.493 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed -0.4

2025-10-26T23:05:20.498Z,1761519920.498 [DAT](INFO): DAT read: 23:05:19.2201 LVL= 32752, 24561, 32754, 32755, AGC= 59, IDX= 513,-0.20,-1.766, 0.829,-0.790,-0.653, PHS=-1.010, 1.527,-0.181, RAW= 311.3,  -3.0, CAL= 310.1,  -6.4, ROT= 199.9,   6.4

2025-10-26T23:05:20.499Z,1761519920.499 [DAT](INFO): got valid direction response:
 23:05:19.2201 LVL= 32752, 24561, 32754, 32755, AGC= 59, IDX= 513,-0.20,-1.766, 0.829,-0.790,-0.653, PHS=-1.010, 1.527,-0.181, RAW= 311.3,  -3.0, CAL= 310.1,  -6.4, ROT= 199.9,   6.4

2025-10-26T23:05:20.499Z,1761519920.499 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-26T23:05:20.500Z,1761519920.500 [DAT](INFO): direction in FSK: [-0.934428,-0.338258,-0.111469]
2025-10-26T23:05:20.501Z,1761519920.501 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:20.508Z,1761519920.508 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.593047
2025-10-26T23:05:20.521Z,1761519920.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.504033 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:20.524Z,1761519920.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.167942 m,
      bearing: 289.253855 deg,
      lat: 36.779434 deg,
      lon: -121.859374 deg,
      deltaT: 0.504033 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:05:20.741Z,1761519920.741 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.825157
2025-10-26T23:05:20.895Z,1761519920.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018842,-0.991039,-0.132235],[0.998693,0.012372,0.049586],[-0.047506,-0.132996,0.989977]]
2025-10-26T23:05:20.938Z,1761519920.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:05:20.993Z,1761519920.993 [DAT](INFO): DAT read: Rx Time:23:05:19.7202 

2025-10-26T23:05:20.993Z,1761519920.993 [DAT](INFO): Rx dataTimestamp_ set to:1761519920.993175
2025-10-26T23:05:20.995Z,1761519920.995 [DAT](INFO): DAT read: Bearing  55.5, -16.1 (Local)

2025-10-26T23:05:20.995Z,1761519920.995 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.5, -16.1 (Local)

2025-10-26T23:05:20.998Z,1761519920.998 [DAT](INFO): DAT read: Range 11 to 50 :     6.3 m (trip time 4.2 ms) speed -0.4

2025-10-26T23:05:21.004Z,1761519921.004 [DAT](INFO): DAT read: 23:05:19.7202 LVL= 32752, 20641, 25906, 32755, AGC= 63, IDX=   2, 0.11,-3.134,-1.005,-2.387,-2.046, PHS=-0.986, 1.086,-0.384, RAW= 313.6,   3.1, CAL= 311.2,   0.3, ROT= 198.8,  -0.3

2025-10-26T23:05:21.006Z,1761519921.006 [DAT](INFO): got valid direction response:
 23:05:19.7202 LVL= 32752, 20641, 25906, 32755, AGC= 63, IDX=   2, 0.11,-3.134,-1.005,-2.387,-2.046, PHS=-0.986, 1.086,-0.384, RAW= 313.6,   3.1, CAL= 311.2,   0.3, ROT= 198.8,  -0.3

2025-10-26T23:05:21.007Z,1761519921.007 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-10-26T23:05:21.013Z,1761519921.013 [DAT](INFO): direction in FSK: [-0.946636,-0.322261,0.005236]
2025-10-26T23:05:21.013Z,1761519921.013 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:21.023Z,1761519921.023 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.107210
2025-10-26T23:05:21.244Z,1761519921.244 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.328971
2025-10-26T23:05:21.336Z,1761519921.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015644,-0.991932,-0.125805],[0.998671,0.009322,0.050684],[-0.049103,-0.126431,0.990759]]
2025-10-26T23:05:21.370Z,1761519921.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.300000 m,
      deltaT: 0.503963 s,
      deltaX: 0.100000 m,
      approachRate: 0.198428 m/s,
      rangeRepo size: 4

2025-10-26T23:05:21.389Z,1761519921.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.267698 m,
      bearing: 287.788286 deg,
      lat: 36.779434 deg,
      lon: -121.859374 deg,
      deltaT: 0.503963 s,
      deltaX: 0.099756 m,
      approachRate: 0.197944 m/s,
      posRepo size: 4

2025-10-26T23:05:21.498Z,1761519921.498 [DAT](INFO): DAT read: Rx Time:23:05:20.2203 

2025-10-26T23:05:21.499Z,1761519921.499 [DAT](INFO): Rx dataTimestamp_ set to:1761519921.497963
2025-10-26T23:05:21.500Z,1761519921.500 [DAT](INFO): DAT read: Bearing  57.6, -15.9 (Local)

2025-10-26T23:05:21.501Z,1761519921.501 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.6, -15.9 (Local)

2025-10-26T23:05:21.504Z,1761519921.504 [DAT](INFO): DAT read: Range 11 to 50 :     6.5 m (trip time 4.3 ms) speed -0.4

2025-10-26T23:05:21.508Z,1761519921.508 [DAT](INFO): DAT read: 23:05:20.2203 LVL= 32752, 24673, 30434, 32755, AGC= 61, IDX= 499,-0.25,-1.434, 0.734,-0.659,-0.376, PHS=-0.956, 1.156,-0.326, RAW= 313.1,   1.4, CAL= 311.0,  -1.7, ROT= 199.0,   1.7

2025-10-26T23:05:21.509Z,1761519921.509 [DAT](INFO): got valid direction response:
 23:05:20.2203 LVL= 32752, 24673, 30434, 32755, AGC= 61, IDX= 499,-0.25,-1.434, 0.734,-0.659,-0.376, PHS=-0.956, 1.156,-0.326, RAW= 313.1,   1.4, CAL= 311.0,  -1.7, ROT= 199.0,   1.7

2025-10-26T23:05:21.510Z,1761519921.510 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-26T23:05:21.511Z,1761519921.511 [DAT](INFO): direction in FSK: [-0.945102,-0.325425,-0.029666]
2025-10-26T23:05:21.511Z,1761519921.511 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:21.515Z,1761519921.515 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.599254
2025-10-26T23:05:21.705Z,1761519921.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012789,-0.992658,-0.120274],[0.998658,0.006644,0.051359],[-0.050183,-0.120769,0.991411]]
2025-10-26T23:05:21.749Z,1761519921.749 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.834033
2025-10-26T23:05:21.861Z,1761519921.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.500000 m,
      deltaT: 0.504788 s,
      deltaX: 0.200000 m,
      approachRate: 0.396206 m/s,
      rangeRepo size: 4

2025-10-26T23:05:21.863Z,1761519921.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.467191 m,
      bearing: 288.362904 deg,
      lat: 36.779434 deg,
      lon: -121.859374 deg,
      deltaT: 0.504788 s,
      deltaX: 0.199493 m,
      approachRate: 0.395201 m/s,
      posRepo size: 4

2025-10-26T23:05:22.001Z,1761519922.001 [DAT](INFO): DAT read: Rx Time:23:05:20.7205 

2025-10-26T23:05:22.001Z,1761519922.001 [DAT](INFO): Rx dataTimestamp_ set to:1761519922.001087
2025-10-26T23:05:22.003Z,1761519922.003 [DAT](INFO): DAT read: Bearing  57.8, -15.6 (Local)

2025-10-26T23:05:22.003Z,1761519922.003 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.8, -15.6 (Local)

2025-10-26T23:05:22.006Z,1761519922.006 [DAT](INFO): DAT read: Range 11 to 50 :     6.8 m (trip time 4.5 ms) speed -0.4

2025-10-26T23:05:22.010Z,1761519922.010 [DAT](INFO): DAT read: 23:05:20.7205 LVL= 32752, 22929, 31218, 32755, AGC= 59, IDX= 501, 0.19, 1.597,-2.560, 2.352, 2.630, PHS=-0.931, 1.138,-0.323, RAW= 313.4,   1.3, CAL= 311.3,  -1.8, ROT= 198.7,   1.8

2025-10-26T23:05:22.012Z,1761519922.012 [DAT](INFO): got valid direction response:
 23:05:20.7205 LVL= 32752, 22929, 31218, 32755, AGC= 59, IDX= 501, 0.19, 1.597,-2.560, 2.352, 2.630, PHS=-0.931, 1.138,-0.323, RAW= 313.4,   1.3, CAL= 311.3,  -1.8, ROT= 198.7,   1.8

2025-10-26T23:05:22.012Z,1761519922.012 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-26T23:05:22.013Z,1761519922.013 [DAT](INFO): direction in FSK: [-0.946743,-0.320455,-0.031411]
2025-10-26T23:05:22.013Z,1761519922.013 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:22.017Z,1761519922.017 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.101434
2025-10-26T23:05:22.159Z,1761519922.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007442,-0.993224,-0.115979],[0.998714,0.001565,0.050682],[-0.050157,-0.116207,0.991958]]
2025-10-26T23:05:22.220Z,1761519922.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.800000 m,
      deltaT: 0.503124 s,
      deltaX: 0.300000 m,
      approachRate: 0.596275 m/s,
      rangeRepo size: 4

2025-10-26T23:05:22.222Z,1761519922.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.765676 m,
      bearing: 288.380949 deg,
      lat: 36.779435 deg,
      lon: -121.859372 deg,
      deltaT: 0.503124 s,
      deltaX: 0.298486 m,
      approachRate: 0.593265 m/s,
      posRepo size: 4

2025-10-26T23:05:22.253Z,1761519922.253 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.337712
2025-10-26T23:05:22.505Z,1761519922.505 [DAT](INFO): DAT read: Rx Time:23:05:21.2206 

2025-10-26T23:05:22.505Z,1761519922.505 [DAT](INFO): Rx dataTimestamp_ set to:1761519922.505112
2025-10-26T23:05:22.507Z,1761519922.507 [DAT](INFO): DAT read: Bearing  58.5, -15.2 (Local)

2025-10-26T23:05:22.507Z,1761519922.507 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.5, -15.2 (Local)

2025-10-26T23:05:22.509Z,1761519922.509 [DAT](INFO): DAT read: Range 11 to 50 :     6.9 m (trip time 4.6 ms) speed 0.0

2025-10-26T23:05:22.514Z,1761519922.514 [DAT](INFO): DAT read: 23:05:21.2206 LVL= 32752, 22449, 32754, 32755, AGC= 61, IDX= 502,-0.18,-2.077, 0.035,-1.335,-1.069, PHS=-0.906, 1.148,-0.310, RAW= 313.6,   0.8, CAL= 311.7,  -2.3, ROT= 198.3,   2.3

2025-10-26T23:05:22.515Z,1761519922.515 [DAT](INFO): got valid direction response:
 23:05:21.2206 LVL= 32752, 22449, 32754, 32755, AGC= 61, IDX= 502,-0.18,-2.077, 0.035,-1.335,-1.069, PHS=-0.906, 1.148,-0.310, RAW= 313.6,   0.8, CAL= 311.7,  -2.3, ROT= 198.3,   2.3

2025-10-26T23:05:22.520Z,1761519922.520 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-10-26T23:05:22.521Z,1761519922.521 [DAT](INFO): direction in FSK: [-0.948661,-0.313740,-0.040132]
2025-10-26T23:05:22.522Z,1761519922.522 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:22.532Z,1761519922.532 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.617022
2025-10-26T23:05:22.682Z,1761519922.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.900000 m,
      deltaT: 0.504025 s,
      deltaX: 0.100000 m,
      approachRate: 0.198403 m/s,
      rangeRepo size: 4

2025-10-26T23:05:22.692Z,1761519922.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.865619 m,
      bearing: 288.029781 deg,
      lat: 36.779436 deg,
      lon: -121.859371 deg,
      deltaT: 0.504025 s,
      deltaX: 0.099942 m,
      approachRate: 0.198288 m/s,
      posRepo size: 4

2025-10-26T23:05:22.758Z,1761519922.758 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.841974
2025-10-26T23:05:23.009Z,1761519923.009 [DAT](INFO): DAT read: Rx Time:23:05:21.7208 

2025-10-26T23:05:23.009Z,1761519923.009 [DAT](INFO): Rx dataTimestamp_ set to:1761519923.009105
2025-10-26T23:05:23.011Z,1761519923.011 [DAT](INFO): DAT read: Bearing  58.5, -14.4 (Local)

2025-10-26T23:05:23.011Z,1761519923.011 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.5, -14.4 (Local)

2025-10-26T23:05:23.013Z,1761519923.013 [DAT](INFO): DAT read: Range 11 to 50 :     7.2 m (trip time 4.8 ms) speed -0.4

2025-10-26T23:05:23.018Z,1761519923.018 [DAT](INFO): DAT read: 23:05:21.7208 LVL= 32752, 25649, 32754, 32755, AGC= 60, IDX= 504, 0.32, 0.566, 2.640, 1.273, 1.547, PHS=-0.880, 1.137,-0.319, RAW= 314.4,   0.7, CAL= 312.5,  -2.4, ROT= 197.5,   2.4

2025-10-26T23:05:23.019Z,1761519923.019 [DAT](INFO): got valid direction response:
 23:05:21.7208 LVL= 32752, 25649, 32754, 32755, AGC= 60, IDX= 504, 0.32, 0.566, 2.640, 1.273, 1.547, PHS=-0.880, 1.137,-0.319, RAW= 314.4,   0.7, CAL= 312.5,  -2.4, ROT= 197.5,   2.4

2025-10-26T23:05:23.019Z,1761519923.019 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-10-26T23:05:23.020Z,1761519923.020 [DAT](INFO): direction in FSK: [-0.952880,-0.300442,-0.041876]
2025-10-26T23:05:23.020Z,1761519923.020 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:23.024Z,1761519923.024 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.108543
2025-10-26T23:05:23.031Z,1761519923.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004871,-0.993750,-0.111525],[0.998736,-0.000744,0.050252],[-0.050021,-0.111629,0.992490]]
2025-10-26T23:05:23.180Z,1761519923.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.200000 m,
      deltaT: 0.503993 s,
      deltaX: 0.300000 m,
      approachRate: 0.595246 m/s,
      rangeRepo size: 4

2025-10-26T23:05:23.182Z,1761519923.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.164124 m,
      bearing: 287.387221 deg,
      lat: 36.779437 deg,
      lon: -121.859371 deg,
      deltaT: 0.503993 s,
      deltaX: 0.298505 m,
      approachRate: 0.592280 m/s,
      posRepo size: 4

2025-10-26T23:05:23.260Z,1761519923.260 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.344867
2025-10-26T23:05:23.511Z,1761519923.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:05:23.513Z,1761519923.513 [DAT](INFO): DAT read: Rx Time:23:05:22.2208 

2025-10-26T23:05:23.514Z,1761519923.514 [DAT](INFO): Rx dataTimestamp_ set to:1761519923.513506
2025-10-26T23:05:23.515Z,1761519923.515 [DAT](INFO): DAT read: Bearing  58.6, -12.6 (Local)

2025-10-26T23:05:23.515Z,1761519923.515 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.6, -12.6 (Local)

2025-10-26T23:05:23.518Z,1761519923.518 [DAT](INFO): DAT read: Range 11 to 50 :     7.4 m (trip time 4.9 ms) speed -0.5

2025-10-26T23:05:23.522Z,1761519923.522 [DAT](INFO): DAT read: 23:05:22.2208 LVL= 32416, 22129, 32754, 32755, AGC= 60, IDX= 505, 0.03,-1.074, 0.966,-0.428,-0.134, PHS=-0.838, 1.145,-0.338, RAW= 316.0,   0.4, CAL= 314.2,  -2.7, ROT= 195.8,   2.7

2025-10-26T23:05:23.523Z,1761519923.523 [DAT](INFO): got valid direction response:
 23:05:22.2208 LVL= 32416, 22129, 32754, 32755, AGC= 60, IDX= 505, 0.03,-1.074, 0.966,-0.428,-0.134, PHS=-0.838, 1.145,-0.338, RAW= 316.0,   0.4, CAL= 314.2,  -2.7, ROT= 195.8,   2.7

2025-10-26T23:05:23.524Z,1761519923.524 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-10-26T23:05:23.525Z,1761519923.525 [DAT](INFO): direction in FSK: [-0.961150,-0.271978,-0.047106]
2025-10-26T23:05:23.525Z,1761519923.525 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:23.530Z,1761519923.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.400000 m,
      deltaT: 0.504401 s,
      deltaX: 0.200000 m,
      approachRate: 0.396510 m/s,
      rangeRepo size: 4

2025-10-26T23:05:23.533Z,1761519923.533 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.617376
2025-10-26T23:05:23.764Z,1761519923.764 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.849036
2025-10-26T23:05:24.018Z,1761519924.018 [DAT](INFO): DAT read: Rx Time:23:05:22.7210 

2025-10-26T23:05:24.019Z,1761519924.019 [DAT](INFO): Rx dataTimestamp_ set to:1761519924.018351
2025-10-26T23:05:24.022Z,1761519924.022 [DAT](INFO): DAT read: Bearing  57.7, -11.0 (Local)

2025-10-26T23:05:24.022Z,1761519924.022 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.7, -11.0 (Local)

2025-10-26T23:05:24.025Z,1761519924.025 [DAT](INFO): DAT read: Range 11 to 50 :     7.7 m (trip time 5.1 ms) speed -0.4

2025-10-26T23:05:24.034Z,1761519924.034 [DAT](INFO): DAT read: 23:05:22.7210 LVL= 32752, 25329, 32754, 32755, AGC= 61, IDX= 507,-0.19,-1.956, 0.006,-1.381,-1.048, PHS=-0.806, 1.099,-0.377, RAW= 317.6,   1.0, CAL= 315.8,  -2.1, ROT= 194.2,   2.1

2025-10-26T23:05:24.035Z,1761519924.035 [DAT](INFO): got valid direction response:
 23:05:22.7210 LVL= 32752, 25329, 32754, 32755, AGC= 61, IDX= 507,-0.19,-1.956, 0.006,-1.381,-1.048, PHS=-0.806, 1.099,-0.377, RAW= 317.6,   1.0, CAL= 315.8,  -2.1, ROT= 194.2,   2.1

2025-10-26T23:05:24.036Z,1761519924.036 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-10-26T23:05:24.037Z,1761519924.037 [DAT](INFO): direction in FSK: [-0.968794,-0.245143,-0.036644]
2025-10-26T23:05:24.037Z,1761519924.037 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:24.041Z,1761519924.041 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.125321
2025-10-26T23:05:24.268Z,1761519924.268 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.352946
2025-10-26T23:05:24.333Z,1761519924.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003089,-0.993787,-0.111258],[0.998596,-0.002818,0.052894],[-0.052879,-0.111266,0.992383]]
2025-10-26T23:05:24.378Z,1761519924.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.700000 m,
      deltaT: 0.504845 s,
      deltaX: 0.300000 m,
      approachRate: 0.594241 m/s,
      rangeRepo size: 4

2025-10-26T23:05:24.384Z,1761519924.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.661955 m,
      bearing: 284.177169 deg,
      lat: 36.779437 deg,
      lon: -121.859371 deg,
      deltaT: 1.009246 s,
      deltaX: 0.497832 m,
      approachRate: 0.493271 m/s,
      posRepo size: 4

2025-10-26T23:05:24.521Z,1761519924.521 [DAT](INFO): DAT read: Rx Time:23:05:23.2211 

2025-10-26T23:05:24.521Z,1761519924.521 [DAT](INFO): Rx dataTimestamp_ set to:1761519924.521195
2025-10-26T23:05:24.523Z,1761519924.523 [DAT](INFO): DAT read: Bearing  58.0,  -9.5 (Local)

2025-10-26T23:05:24.523Z,1761519924.523 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.0,  -9.5 (Local)

2025-10-26T23:05:24.525Z,1761519924.525 [DAT](INFO): DAT read: Range 11 to 50 :     7.8 m (trip time 5.2 ms) speed -0.5

2025-10-26T23:05:24.530Z,1761519924.530 [DAT](INFO): DAT read: 23:05:23.2211 LVL= 32752, 25153, 32754, 32755, AGC= 62, IDX= 508,-0.31, 1.973,-2.375, 2.504, 2.847, PHS=-0.772, 1.106,-0.387, RAW= 318.8,   0.6, CAL= 317.1,  -2.4, ROT= 192.9,   2.4

2025-10-26T23:05:24.531Z,1761519924.531 [DAT](INFO): got valid direction response:
 23:05:23.2211 LVL= 32752, 25153, 32754, 32755, AGC= 62, IDX= 508,-0.31, 1.973,-2.375, 2.504, 2.847, PHS=-0.772, 1.106,-0.387, RAW= 318.8,   0.6, CAL= 317.1,  -2.4, ROT= 192.9,   2.4

2025-10-26T23:05:24.532Z,1761519924.532 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-10-26T23:05:24.533Z,1761519924.533 [DAT](INFO): direction in FSK: [-0.973906,-0.223054,-0.041876]
2025-10-26T23:05:24.533Z,1761519924.533 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:24.537Z,1761519924.537 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.621236
2025-10-26T23:05:24.722Z,1761519924.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002021,-0.992910,-0.118850],[0.998577,-0.004330,0.053153],[-0.053291,-0.118789,0.991488]]
2025-10-26T23:05:24.772Z,1761519924.772 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.856961
2025-10-26T23:05:24.914Z,1761519924.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.800000 m,
      deltaT: 0.502844 s,
      deltaX: 0.100000 m,
      approachRate: 0.198870 m/s,
      rangeRepo size: 4

2025-10-26T23:05:24.917Z,1761519924.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.761344 m,
      bearing: 282.981354 deg,
      lat: 36.779436 deg,
      lon: -121.859370 deg,
      deltaT: 0.502844 s,
      deltaX: 0.099389 m,
      approachRate: 0.197654 m/s,
      posRepo size: 4

2025-10-26T23:05:25.025Z,1761519925.025 [DAT](INFO): DAT read: Rx Time:23:05:23.7214 

2025-10-26T23:05:25.026Z,1761519925.026 [DAT](INFO): Rx dataTimestamp_ set to:1761519925.025231
2025-10-26T23:05:25.027Z,1761519925.027 [DAT](INFO): DAT read: Bearing  57.9,  -8.4 (Local)

2025-10-26T23:05:25.028Z,1761519925.028 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.9,  -8.4 (Local)

2025-10-26T23:05:25.030Z,1761519925.030 [DAT](INFO): DAT read: Range 11 to 50 :     8.3 m (trip time 5.5 ms) speed -0.5

2025-10-26T23:05:25.035Z,1761519925.035 [DAT](INFO): DAT read: 23:05:23.7214 LVL= 32752, 25665, 32754, 32755, AGC= 62, IDX= 511,-0.30, 2.763,-1.611,-3.025,-2.665, PHS=-0.753, 1.099,-0.404, RAW= 319.8,   0.7, CAL= 318.1,  -2.3, ROT= 191.9,   2.3

2025-10-26T23:05:25.036Z,1761519925.036 [DAT](INFO): got valid direction response:
 23:05:23.7214 LVL= 32752, 25665, 32754, 32755, AGC= 62, IDX= 511,-0.30, 2.763,-1.611,-3.025,-2.665, PHS=-0.753, 1.099,-0.404, RAW= 319.8,   0.7, CAL= 318.1,  -2.3, ROT= 191.9,   2.3

2025-10-26T23:05:25.036Z,1761519925.036 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-10-26T23:05:25.037Z,1761519925.037 [DAT](INFO): direction in FSK: [-0.977721,-0.206038,-0.040132]
2025-10-26T23:05:25.038Z,1761519925.038 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:25.042Z,1761519925.042 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.126435
2025-10-26T23:05:25.195Z,1761519925.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001274,-0.991336,-0.131341],[0.998558,-0.005789,0.053378],[-0.053676,-0.131219,0.989899]]
2025-10-26T23:05:25.258Z,1761519925.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.300000 m,
      deltaT: 0.504036 s,
      deltaX: 0.500000 m,
      approachRate: 0.991993 m/s,
      rangeRepo size: 4

2025-10-26T23:05:25.272Z,1761519925.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.258866 m,
      bearing: 282.031147 deg,
      lat: 36.779436 deg,
      lon: -121.859370 deg,
      deltaT: 0.504036 s,
      deltaX: 0.497522 m,
      approachRate: 0.987076 m/s,
      posRepo size: 4

2025-10-26T23:05:25.277Z,1761519925.277 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.361110
2025-10-26T23:05:25.529Z,1761519925.529 [DAT](INFO): DAT read: Rx Time:23:05:24.2215 

2025-10-26T23:05:25.529Z,1761519925.529 [DAT](INFO): Rx dataTimestamp_ set to:1761519925.528692
2025-10-26T23:05:25.530Z,1761519925.530 [DAT](INFO): DAT read: Range 11 to 50 :     8.4 m (trip time 5.6 ms) speed -0.5

2025-10-26T23:05:25.531Z,1761519925.531 [DAT](ERROR): #Rx 25: Read range message, but no direction.
2025-10-26T23:05:25.532Z,1761519925.532 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.616386
2025-10-26T23:05:25.704Z,1761519925.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:05:25.716Z,1761519925.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.400000 m,
      deltaT: 0.503461 s,
      deltaX: 0.099999 m,
      approachRate: 0.198624 m/s,
      rangeRepo size: 4

2025-10-26T23:05:25.782Z,1761519925.782 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.866275
2025-10-26T23:05:25.999Z,1761519925.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000710,-0.989683,-0.143270],[0.998531,-0.008463,0.053512],[-0.054173,-0.143022,0.988236]]
2025-10-26T23:05:26.033Z,1761519926.033 [DAT](INFO): DAT read: Rx Time:23:05:24.7218 

2025-10-26T23:05:26.034Z,1761519926.034 [DAT](INFO): Rx dataTimestamp_ set to:1761519926.033327
2025-10-26T23:05:26.035Z,1761519926.035 [DAT](INFO): DAT read: Bearing  58.2,  -5.8 (Local)

2025-10-26T23:05:26.035Z,1761519926.035 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.2,  -5.8 (Local)

2025-10-26T23:05:26.037Z,1761519926.037 [DAT](INFO): DAT read: Range 11 to 50 :     8.9 m (trip time 5.9 ms) speed -0.8

2025-10-26T23:05:26.042Z,1761519926.042 [DAT](INFO): DAT read: 23:05:24.7218 LVL= 27680, 18145, 26674, 32755, AGC= 66, IDX=   3, 0.08, 3.034,-1.336,-2.820,-2.429, PHS=-0.719, 1.138,-0.435, RAW= 321.8,   0.2, CAL= 320.3,  -2.8, ROT= 189.7,   2.8

2025-10-26T23:05:26.043Z,1761519926.043 [DAT](INFO): got valid direction response:
 23:05:24.7218 LVL= 27680, 18145, 26674, 32755, AGC= 66, IDX=   3, 0.08, 3.034,-1.336,-2.820,-2.429, PHS=-0.719, 1.138,-0.435, RAW= 321.8,   0.2, CAL= 320.3,  -2.8, ROT= 189.7,   2.8

2025-10-26T23:05:26.044Z,1761519926.044 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-10-26T23:05:26.045Z,1761519926.045 [DAT](INFO): direction in FSK: [-0.984527,-0.168288,-0.048850]
2025-10-26T23:05:26.045Z,1761519926.045 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:26.053Z,1761519926.053 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.137357
2025-10-26T23:05:26.141Z,1761519926.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.504635 s,
      deltaX: 0.500000 m,
      approachRate: 0.990815 m/s,
      rangeRepo size: 4

2025-10-26T23:05:26.143Z,1761519926.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.855739 m,
      bearing: 280.039278 deg,
      lat: 36.779435 deg,
      lon: -121.859370 deg,
      deltaT: 1.008096 s,
      deltaX: 0.596872 m,
      approachRate: 0.592079 m/s,
      posRepo size: 4

2025-10-26T23:05:26.285Z,1761519926.285 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.369175
2025-10-26T23:05:26.402Z,1761519926.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002444,-0.989710,-0.143070],[0.998573,-0.010047,0.052443],[-0.053341,-0.142738,0.988322]]
2025-10-26T23:05:26.537Z,1761519926.537 [DAT](INFO): DAT read: Rx Time:23:05:25.2220 

2025-10-26T23:05:26.537Z,1761519926.537 [DAT](INFO): Rx dataTimestamp_ set to:1761519926.537138
2025-10-26T23:05:26.539Z,1761519926.539 [DAT](INFO): DAT read: Bearing  57.7,  -5.0 (Local)

2025-10-26T23:05:26.539Z,1761519926.539 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.7,  -5.0 (Local)

2025-10-26T23:05:26.541Z,1761519926.541 [DAT](INFO): DAT read: Range 11 to 50 :     9.2 m (trip time 6.1 ms) speed -0.7

2025-10-26T23:05:26.546Z,1761519926.546 [DAT](INFO): DAT read: 23:05:25.2220 LVL= 32752, 24497, 32754, 32755, AGC= 63, IDX= 484, 0.48, 1.802,-2.597, 2.203, 2.613, PHS=-0.710, 1.117,-0.455, RAW= 322.6,   0.6, CAL= 321.1,  -2.4, ROT= 188.9,   2.4

2025-10-26T23:05:26.547Z,1761519926.547 [DAT](INFO): got valid direction response:
 23:05:25.2220 LVL= 32752, 24497, 32754, 32755, AGC= 63, IDX= 484, 0.48, 1.802,-2.597, 2.203, 2.613, PHS=-0.710, 1.117,-0.455, RAW= 322.6,   0.6, CAL= 321.1,  -2.4, ROT= 188.9,   2.4

2025-10-26T23:05:26.549Z,1761519926.549 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-10-26T23:05:26.553Z,1761519926.553 [DAT](INFO): direction in FSK: [-0.987093,-0.154574,-0.041876]
2025-10-26T23:05:26.554Z,1761519926.554 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:26.557Z,1761519926.557 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.641907
2025-10-26T23:05:26.788Z,1761519926.788 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.872894
2025-10-26T23:05:26.855Z,1761519926.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004225,-0.990094,-0.140346],[0.998602,-0.011571,0.051568],[-0.052681,-0.139932,0.988759]]
2025-10-26T23:05:26.924Z,1761519926.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 0.503811 s,
      deltaX: 0.300000 m,
      approachRate: 0.595462 m/s,
      rangeRepo size: 4

2025-10-26T23:05:26.926Z,1761519926.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.154896 m,
      bearing: 279.391282 deg,
      lat: 36.779434 deg,
      lon: -121.859370 deg,
      deltaT: 0.503811 s,
      deltaX: 0.299157 m,
      approachRate: 0.593788 m/s,
      posRepo size: 4

2025-10-26T23:05:27.041Z,1761519927.041 [DAT](INFO): DAT read: Rx Time:23:05:25.7223 

2025-10-26T23:05:27.041Z,1761519927.041 [DAT](INFO): Rx dataTimestamp_ set to:1761519927.041152
2025-10-26T23:05:27.043Z,1761519927.043 [DAT](INFO): DAT read: Bearing  58.4,  -3.8 (Local)

2025-10-26T23:05:27.043Z,1761519927.043 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.4,  -3.8 (Local)

2025-10-26T23:05:27.045Z,1761519927.045 [DAT](INFO): DAT read: Range 11 to 50 :     9.6 m (trip time 6.4 ms) speed -0.8

2025-10-26T23:05:27.050Z,1761519927.050 [DAT](INFO): DAT read: 23:05:25.7223 LVL= 32752, 26177, 32754, 32755, AGC= 62, IDX= 504,-0.01, 1.826,-2.578, 2.197, 2.602, PHS=-0.674, 1.148,-0.449, RAW= 323.5,  -0.3, CAL= 322.2,  -3.3, ROT= 187.8,   3.3

2025-10-26T23:05:27.051Z,1761519927.051 [DAT](INFO): got valid direction response:
 23:05:25.7223 LVL= 32752, 26177, 32754, 32755, AGC= 62, IDX= 504,-0.01, 1.826,-2.578, 2.197, 2.602, PHS=-0.674, 1.148,-0.449, RAW= 323.5,  -0.3, CAL= 322.2,  -3.3, ROT= 187.8,   3.3

2025-10-26T23:05:27.051Z,1761519927.051 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-10-26T23:05:27.052Z,1761519927.052 [DAT](INFO): direction in FSK: [-0.989105,-0.135491,-0.057564]
2025-10-26T23:05:27.053Z,1761519927.053 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:27.056Z,1761519927.056 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.141010
2025-10-26T23:05:27.228Z,1761519927.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006255,-0.990385,-0.138196],[0.998633,-0.013359,0.050540],[-0.051900,-0.137691,0.989115]]
2025-10-26T23:05:27.271Z,1761519927.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.504014 s,
      deltaX: 0.400001 m,
      approachRate: 0.793630 m/s,
      rangeRepo size: 4

2025-10-26T23:05:27.277Z,1761519927.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.552936 m,
      bearing: 278.530862 deg,
      lat: 36.779433 deg,
      lon: -121.859371 deg,
      deltaT: 0.504014 s,
      deltaX: 0.398040 m,
      approachRate: 0.789740 m/s,
      posRepo size: 4

2025-10-26T23:05:27.296Z,1761519927.296 [DAT](INFO): DAT read: Rx Time:23:05:26.2224 

2025-10-26T23:05:27.297Z,1761519927.297 [DAT](INFO): Rx dataTimestamp_ set to:1761519927.296255
2025-10-26T23:05:27.300Z,1761519927.300 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.383341
2025-10-26T23:05:27.545Z,1761519927.545 [DAT](INFO): DAT read: Bearing  58.5,  -3.0 (Local)

2025-10-26T23:05:27.546Z,1761519927.546 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.5,  -3.0 (Local)

2025-10-26T23:05:27.548Z,1761519927.548 [DAT](INFO): DAT read: Range 11 to 50 :     9.8 m (trip time 6.5 ms) speed -0.6

2025-10-26T23:05:27.553Z,1761519927.553 [DAT](INFO): DAT read: 23:05:26.2224 LVL= 32752, 29281, 32754, 32755, AGC= 62, IDX= 489, 0.39, 1.782,-2.629, 2.127, 2.543, PHS=-0.659, 1.156,-0.460, RAW= 324.3,  -0.4, CAL= 323.0,  -3.4, ROT= 187.0,   3.4

2025-10-26T23:05:27.555Z,1761519927.555 [DAT](INFO): got valid direction response:
 23:05:26.2224 LVL= 32752, 29281, 32754, 32755, AGC= 62, IDX= 489, 0.39, 1.782,-2.629, 2.127, 2.543, PHS=-0.659, 1.156,-0.460, RAW= 324.3,  -0.4, CAL= 323.0,  -3.4, ROT= 187.0,   3.4

2025-10-26T23:05:27.555Z,1761519927.555 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-10-26T23:05:27.557Z,1761519927.557 [DAT](INFO): direction in FSK: [-0.990799,-0.121655,-0.059306]
2025-10-26T23:05:27.558Z,1761519927.558 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:27.571Z,1761519927.571 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.655083
2025-10-26T23:05:27.743Z,1761519927.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008530,-0.990088,-0.140187],[0.998666,-0.015576,0.049237],[-0.050933,-0.139580,0.988900]]
2025-10-26T23:05:27.799Z,1761519927.799 [DAT](INFO): DAT read: Rx Time:23:05:26.7227 

2025-10-26T23:05:27.801Z,1761519927.801 [DAT](INFO): Rx dataTimestamp_ set to:1761519927.799871
2025-10-26T23:05:27.803Z,1761519927.803 [DAT](INFO): DAT read: Bearing  57.6,  -2.6 (Local)

2025-10-26T23:05:27.804Z,1761519927.804 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.6,  -2.6 (Local)

2025-10-26T23:05:27.807Z,1761519927.807 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.890598
2025-10-26T23:05:27.897Z,1761519927.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.502776 s,
      deltaX: 0.200000 m,
      approachRate: 0.397791 m/s,
      rangeRepo size: 4

2025-10-26T23:05:27.899Z,1761519927.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.752346 m,
      bearing: 277.887019 deg,
      lat: 36.779433 deg,
      lon: -121.859371 deg,
      deltaT: 0.502776 s,
      deltaX: 0.199410 m,
      approachRate: 0.396619 m/s,
      posRepo size: 4

2025-10-26T23:05:27.904Z,1761519927.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 9.80 m. Rolling out.
2025-10-26T23:05:27.904Z,1761519927.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-10-26T23:05:27.934Z,1761519927.934 [DockingStepper](INFO): Changing to mode: 1
2025-10-26T23:05:28.050Z,1761519928.050 [DAT](INFO): DAT read: Range 11 to 50 :    10.2 m (trip time 6.8 ms) speed -0.7

2025-10-26T23:05:28.055Z,1761519928.055 [DAT](INFO): DAT read: 23:05:26.7227 LVL= 32752, 24561, 32754, 32755, AGC= 62, IDX= 508,-0.17, 1.287, 3.134, 1.611, 2.059, PHS=-0.669, 1.120,-0.491, RAW= 324.8,   0.5, CAL= 323.5,  -2.5, ROT= 186.5,   2.5

2025-10-26T23:05:28.057Z,1761519928.057 [DAT](INFO): got valid direction response:
 23:05:26.7227 LVL= 32752, 24561, 32754, 32755, AGC= 62, IDX= 508,-0.17, 1.287, 3.134, 1.611, 2.059, PHS=-0.669, 1.120,-0.491, RAW= 324.8,   0.5, CAL= 323.5,  -2.5, ROT= 186.5,   2.5

2025-10-26T23:05:28.058Z,1761519928.058 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-10-26T23:05:28.060Z,1761519928.060 [DAT](INFO): direction in FSK: [-0.992626,-0.113095,-0.043619]
2025-10-26T23:05:28.061Z,1761519928.061 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:28.069Z,1761519928.069 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.153318
2025-10-26T23:05:28.237Z,1761519928.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011344,-0.989266,-0.145687],[0.998680,-0.018508,0.047908],[-0.050090,-0.144951,0.988170]]
2025-10-26T23:05:28.261Z,1761519928.261 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-10-26T23:05:28.261Z,1761519928.261 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T23:05:28.261Z,1761519928.261 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-10-26T23:05:28.263Z,1761519928.263 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 9.800000 m (mode  5.000000 count ).
2025-10-26T23:05:28.263Z,1761519928.263 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-10-26T23:05:28.263Z,1761519928.263 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-10-26T23:05:28.264Z,1761519928.264 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-10-26T23:05:28.264Z,1761519928.264 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T23:05:28.264Z,1761519928.264 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-10-26T23:05:28.265Z,1761519928.265 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with  1.000000 count pings  9.800000 m (mode  5.000000 count ).
2025-10-26T23:05:28.265Z,1761519928.265 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-10-26T23:05:28.265Z,1761519928.265 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-10-26T23:05:28.272Z,1761519928.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.504201 s,
      deltaX: 0.400000 m,
      approachRate: 0.793334 m/s,
      rangeRepo size: 4

2025-10-26T23:05:28.274Z,1761519928.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.150400 m,
      bearing: 277.442504 deg,
      lat: 36.779432 deg,
      lon: -121.859372 deg,
      deltaT: 0.504201 s,
      deltaX: 0.398054 m,
      approachRate: 0.789475 m/s,
      posRepo size: 4

2025-10-26T23:05:28.275Z,1761519928.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.15 m.
2025-10-26T23:05:28.277Z,1761519928.277 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-10-26T23:05:28.277Z,1761519928.277 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-26T23:05:28.278Z,1761519928.278 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-10-26T23:05:28.278Z,1761519928.278 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-10-26T23:05:28.304Z,1761519928.304 [DAT](INFO): DAT read: Rx Time:23:05:27.2228 

2025-10-26T23:05:28.306Z,1761519928.306 [DAT](INFO): Rx dataTimestamp_ set to:1761519928.305079
2025-10-26T23:05:28.309Z,1761519928.309 [DAT](INFO): DAT read: Bearing  56.4,  -2.4 (Local)

2025-10-26T23:05:28.310Z,1761519928.310 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.4,  -2.4 (Local)

2025-10-26T23:05:28.313Z,1761519928.313 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.396742
2025-10-26T23:05:28.559Z,1761519928.559 [DAT](INFO): DAT read: Range 11 to 50 :    10.4 m (trip time 6.9 ms) speed -0.6

2025-10-26T23:05:28.581Z,1761519928.581 [DAT](INFO): DAT read: 23:05:27.2228 LVL= 32752, 28945, 32754, 32755, AGC= 62, IDX= 509, 0.08, 2.762,-1.707, 3.066,-2.733, PHS=-0.686, 1.071,-0.528, RAW= 325.3,   1.7, CAL= 323.9,  -1.2, ROT= 186.1,   1.2

2025-10-26T23:05:28.583Z,1761519928.583 [DAT](INFO): got valid direction response:
 23:05:27.2228 LVL= 32752, 28945, 32754, 32755, AGC= 62, IDX= 509, 0.08, 2.762,-1.707, 3.066,-2.733, PHS=-0.686, 1.071,-0.528, RAW= 325.3,   1.7, CAL= 323.9,  -1.2, ROT= 186.1,   1.2

2025-10-26T23:05:28.584Z,1761519928.584 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-10-26T23:05:28.586Z,1761519928.586 [DAT](INFO): direction in FSK: [-0.994120,-0.106241,-0.020942]
2025-10-26T23:05:28.586Z,1761519928.586 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:28.592Z,1761519928.592 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.676361
2025-10-26T23:05:28.664Z,1761519928.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011510,-0.989169,-0.146328],[0.998660,-0.018755,0.048231],[-0.050453,-0.145577,0.988060]]
2025-10-26T23:05:28.757Z,1761519928.757 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-10-26T23:05:28.757Z,1761519928.757 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-10-26T23:05:28.757Z,1761519928.757 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-10-26T23:05:28.757Z,1761519928.757 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-10-26T23:05:28.772Z,1761519928.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.400000 m,
      deltaT: 0.506176 s,
      deltaX: 0.200000 m,
      approachRate: 0.395119 m/s,
      rangeRepo size: 4

2025-10-26T23:05:28.774Z,1761519928.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.349127 m,
      bearing: 276.875809 deg,
      lat: 36.779432 deg,
      lon: -121.859372 deg,
      deltaT: 0.506176 s,
      deltaX: 0.198727 m,
      approachRate: 0.392604 m/s,
      posRepo size: 4

2025-10-26T23:05:28.775Z,1761519928.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.35 m.
2025-10-26T23:05:28.807Z,1761519928.807 [DAT](INFO): DAT read: Rx Time:23:05:27.7232 

2025-10-26T23:05:28.807Z,1761519928.807 [DAT](INFO): Rx dataTimestamp_ set to:1761519928.806917
2025-10-26T23:05:28.808Z,1761519928.808 [DAT](INFO): DAT read: Range 11 to 50 :    11.0 m (trip time 7.3 ms) speed -0.7

2025-10-26T23:05:28.809Z,1761519928.809 [DAT](ERROR): #Rx 32: Read range message, but no direction.
2025-10-26T23:05:28.810Z,1761519928.810 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.894567
2025-10-26T23:05:29.043Z,1761519929.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014113,-0.989176,-0.146054],[0.998678,-0.021165,0.046843],[-0.049428,-0.145200,0.988167]]
2025-10-26T23:05:29.058Z,1761519929.058 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.142496
2025-10-26T23:05:29.106Z,1761519929.106 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-10-26T23:05:29.106Z,1761519929.106 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-10-26T23:05:29.107Z,1761519929.107 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-10-26T23:05:29.107Z,1761519929.107 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-10-26T23:05:29.110Z,1761519929.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 0.252612 s,
      deltaX: 0.600000 m,
      approachRate: 2.375185 m/s,
      rangeRepo size: 4

2025-10-26T23:05:29.111Z,1761519929.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.35 m.
2025-10-26T23:05:29.313Z,1761519929.313 [DAT](INFO): DAT read: Rx Time:23:05:28.2233 

2025-10-26T23:05:29.315Z,1761519929.315 [DAT](INFO): Rx dataTimestamp_ set to:1761519929.313723
2025-10-26T23:05:29.319Z,1761519929.319 [DAT](INFO): DAT read: Bearing  59.5,  -0.7 (Local)

2025-10-26T23:05:29.320Z,1761519929.320 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.5,  -0.7 (Local)

2025-10-26T23:05:29.327Z,1761519929.327 [DAT](INFO): DAT read: Range 11 to 50 :    11.1 m (trip time 7.4 ms) speed -0.7

2025-10-26T23:05:29.343Z,1761519929.343 [DAT](ERROR): #Rx 33: Read range message, but no direction.
2025-10-26T23:05:29.357Z,1761519929.357 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.431473
2025-10-26T23:05:29.516Z,1761519929.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014090,-0.989816,-0.141656],[0.998649,-0.021017,0.047524],[-0.050017,-0.140795,0.988774]]
2025-10-26T23:05:29.532Z,1761519929.532 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-10-26T23:05:29.532Z,1761519929.532 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T23:05:29.532Z,1761519929.532 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-10-26T23:05:29.532Z,1761519929.532 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-26T23:05:29.533Z,1761519929.533 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-10-26T23:05:29.533Z,1761519929.533 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T23:05:29.533Z,1761519929.533 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-10-26T23:05:29.533Z,1761519929.533 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-26T23:05:29.536Z,1761519929.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.506806 s,
      deltaX: 0.100000 m,
      approachRate: 0.197315 m/s,
      rangeRepo size: 4

2025-10-26T23:05:29.537Z,1761519929.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.35 m.
2025-10-26T23:05:29.569Z,1761519929.569 [DAT](INFO): DAT read: 23:05:28.2233 LVL= 27952, 30929, 31602, 32755, AGC= 66, IDX=   2,-0.13, 1.071, 2.946, 1.357, 1.789, PHS=-0.615, 1.202,-0.476, RAW= 326.1,  -1.3, CAL= 325.0,  -4.3, ROT= 185.0,   4.3

2025-10-26T23:05:29.571Z,1761519929.571 [DAT](INFO): got valid direction response:
 23:05:28.2233 LVL= 27952, 30929, 31602, 32755, AGC= 66, IDX=   2,-0.13, 1.071, 2.946, 1.357, 1.789, PHS=-0.615, 1.202,-0.476, RAW= 326.1,  -1.3, CAL= 325.0,  -4.3, ROT= 185.0,   4.3

2025-10-26T23:05:29.572Z,1761519929.572 [DAT](INFO): #Rx 34: Read direction message, but no range.
2025-10-26T23:05:29.573Z,1761519929.573 [DAT](INFO): direction in FSK: [-0.993391,-0.086910,-0.074979]
2025-10-26T23:05:29.592Z,1761519929.592 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.676159
2025-10-26T23:05:29.817Z,1761519929.817 [DAT](INFO): DAT read: Rx Time:23:05:28.7236 

2025-10-26T23:05:29.819Z,1761519929.819 [DAT](INFO): Rx dataTimestamp_ set to:1761519929.817362
2025-10-26T23:05:29.827Z,1761519929.827 [DAT](INFO): DAT read: Bearing  59.1,  -1.3 (Local)

2025-10-26T23:05:29.829Z,1761519929.829 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.1,  -1.3 (Local)

2025-10-26T23:05:29.856Z,1761519929.856 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed -0.5

2025-10-26T23:05:29.865Z,1761519929.865 [DAT](INFO): DAT read: 23:05:28.7236 LVL= 32752, 32081, 32754, 32755, AGC= 61, IDX= 501,-0.10, 2.698,-1.752, 2.997,-2.864, PHS=-0.619, 1.157,-0.466, RAW= 325.6,  -0.9, CAL= 324.4,  -3.9, ROT= 185.6,   3.9

2025-10-26T23:05:29.866Z,1761519929.866 [DAT](INFO): got valid direction response:
 23:05:28.7236 LVL= 32752, 32081, 32754, 32755, AGC= 61, IDX= 501,-0.10, 2.698,-1.752, 2.997,-2.864, PHS=-0.619, 1.157,-0.466, RAW= 325.6,  -0.9, CAL= 324.4,  -3.9, ROT= 185.6,   3.9

2025-10-26T23:05:29.866Z,1761519929.866 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-10-26T23:05:29.876Z,1761519929.876 [DAT](INFO): direction in FSK: [-0.992923,-0.097357,-0.068015]
2025-10-26T23:05:29.876Z,1761519929.876 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:29.880Z,1761519929.880 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.964270
2025-10-26T23:05:29.915Z,1761519929.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012658,-0.990708,-0.135414],[0.998591,-0.019504,0.049349],[-0.051532,-0.134598,0.989559]]
2025-10-26T23:05:30.000Z,1761519930.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.503639 s,
      deltaX: 0.500000 m,
      approachRate: 0.992775 m/s,
      rangeRepo size: 4

2025-10-26T23:05:30.002Z,1761519930.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.543260 m,
      bearing: 276.790065 deg,
      lat: 36.779432 deg,
      lon: -121.859373 deg,
      deltaT: 1.263057 s,
      deltaX: 1.194133 m,
      approachRate: 0.945431 m/s,
      posRepo size: 4

2025-10-26T23:05:30.003Z,1761519930.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.54 m.
2025-10-26T23:05:30.065Z,1761519930.065 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.149975
2025-10-26T23:05:30.321Z,1761519930.321 [DAT](INFO): DAT read: Rx Time:23:05:29.2237 

2025-10-26T23:05:30.323Z,1761519930.323 [DAT](INFO): Rx dataTimestamp_ set to:1761519930.321608
2025-10-26T23:05:30.352Z,1761519930.352 [DAT](INFO): DAT read: Bearing  59.4,  -1.0 (Local)

2025-10-26T23:05:30.352Z,1761519930.352 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.4,  -1.0 (Local)

2025-10-26T23:05:30.354Z,1761519930.354 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed -0.4

2025-10-26T23:05:30.383Z,1761519930.383 [DAT](INFO): DAT read: 23:05:29.2237 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 502,-0.29, 2.320,-2.095, 2.616, 3.042, PHS=-0.620, 1.191,-0.471, RAW= 325.7,  -1.2, CAL= 324.6,  -4.2, ROT= 185.4,   4.2

2025-10-26T23:05:30.392Z,1761519930.392 [DAT](INFO): got valid direction response:
 23:05:29.2237 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 502,-0.29, 2.320,-2.095, 2.616, 3.042, PHS=-0.620, 1.191,-0.471, RAW= 325.7,  -1.2, CAL= 324.6,  -4.2, ROT= 185.4,   4.2

2025-10-26T23:05:30.393Z,1761519930.393 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-10-26T23:05:30.394Z,1761519930.394 [DAT](INFO): direction in FSK: [-0.992888,-0.093855,-0.073238]
2025-10-26T23:05:30.394Z,1761519930.394 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:30.397Z,1761519930.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010815,-0.991615,-0.128776],[0.998540,-0.017527,0.051103],[-0.052932,-0.128035,0.990356]]
2025-10-26T23:05:30.410Z,1761519930.410 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.494293
2025-10-26T23:05:30.484Z,1761519930.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.504246 s,
      deltaX: 0.099999 m,
      approachRate: 0.198315 m/s,
      rangeRepo size: 4

2025-10-26T23:05:30.486Z,1761519930.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.642770 m,
      bearing: 276.502230 deg,
      lat: 36.779432 deg,
      lon: -121.859373 deg,
      deltaT: 0.504246 s,
      deltaX: 0.099510 m,
      approachRate: 0.197345 m/s,
      posRepo size: 4

2025-10-26T23:05:30.487Z,1761519930.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T23:05:30.570Z,1761519930.570 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.653904
2025-10-26T23:05:30.825Z,1761519930.825 [DAT](INFO): DAT read: Rx Time:23:05:29.7239 

2025-10-26T23:05:30.826Z,1761519930.826 [DAT](INFO): Rx dataTimestamp_ set to:1761519930.825234
2025-10-26T23:05:30.830Z,1761519930.830 [DAT](INFO): DAT read: Bearing  59.4,  -0.5 (Local)

2025-10-26T23:05:30.831Z,1761519930.831 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.4,  -0.5 (Local)

2025-10-26T23:05:30.837Z,1761519930.837 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed -0.4

2025-10-26T23:05:30.852Z,1761519930.852 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-10-26T23:05:30.853Z,1761519930.853 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.937437
2025-10-26T23:05:30.985Z,1761519930.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.503626 s,
      deltaX: 0.300000 m,
      approachRate: 0.595681 m/s,
      rangeRepo size: 4

2025-10-26T23:05:30.985Z,1761519930.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T23:05:31.081Z,1761519931.081 [DAT](INFO): DAT read: 23:05:29.7239 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 504, 0.15, 0.282, 2.122, 0.561, 0.987, PHS=-0.603, 1.180,-0.470, RAW= 326.2,  -1.3, CAL= 325.1,  -4.3, ROT= 184.9,   4.3

2025-10-26T23:05:31.083Z,1761519931.083 [DAT](INFO): got valid direction response:
 23:05:29.7239 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 504, 0.15, 0.282, 2.122, 0.561, 0.987, PHS=-0.603, 1.180,-0.470, RAW= 326.2,  -1.3, CAL= 325.1,  -4.3, ROT= 184.9,   4.3

2025-10-26T23:05:31.084Z,1761519931.084 [DAT](INFO): #Rx 38: Read direction message, but no range.
2025-10-26T23:05:31.085Z,1761519931.085 [DAT](INFO): direction in FSK: [-0.993541,-0.085176,-0.074979]
2025-10-26T23:05:31.090Z,1761519931.090 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.174484
2025-10-26T23:05:31.279Z,1761519931.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005462,-0.993736,-0.111618],[0.998421,-0.011660,0.054953],[-0.055910,-0.111142,0.992231]]
2025-10-26T23:05:31.328Z,1761519931.328 [DAT](INFO): DAT read: Rx Time:23:05:30.2240 

2025-10-26T23:05:31.330Z,1761519931.330 [DAT](INFO): Rx dataTimestamp_ set to:1761519931.328786
2025-10-26T23:05:31.333Z,1761519931.333 [DAT](INFO): DAT read: Bearing  59.9,  -1.1 (Local)

2025-10-26T23:05:31.335Z,1761519931.335 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.9,  -1.1 (Local)

2025-10-26T23:05:31.365Z,1761519931.365 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed -0.4

2025-10-26T23:05:31.369Z,1761519931.369 [DAT](INFO): DAT read: 23:05:30.2240 LVL= 32624, 30449, 32754, 32755, AGC= 63, IDX= 505,-0.48,-1.369, 0.477,-1.069,-0.666, PHS=-0.601, 1.188,-0.447, RAW= 325.6,  -1.6, CAL= 324.5,  -4.7, ROT= 185.5,   4.7

2025-10-26T23:05:31.370Z,1761519931.370 [DAT](INFO): got valid direction response:
 23:05:30.2240 LVL= 32624, 30449, 32754, 32755, AGC= 63, IDX= 505,-0.48,-1.369, 0.477,-1.069,-0.666, PHS=-0.601, 1.188,-0.447, RAW= 325.6,  -1.6, CAL= 324.5,  -4.7, ROT= 185.5,   4.7

2025-10-26T23:05:31.371Z,1761519931.371 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-10-26T23:05:31.378Z,1761519931.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-26T23:05:31.384Z,1761519931.384 [DAT](INFO): direction in FSK: [-0.992049,-0.095523,-0.081939]
2025-10-26T23:05:31.384Z,1761519931.384 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:31.396Z,1761519931.396 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.480719
2025-10-26T23:05:31.577Z,1761519931.577 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.661282
2025-10-26T23:05:31.690Z,1761519931.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002007,-0.994650,-0.103285],[0.998338,-0.007942,0.057087],[-0.057602,-0.102998,0.993012]]
2025-10-26T23:05:31.784Z,1761519931.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.503552 s,
      deltaX: 0.200000 m,
      approachRate: 0.397178 m/s,
      rangeRepo size: 4

2025-10-26T23:05:31.786Z,1761519931.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.139965 m,
      bearing: 276.054645 deg,
      lat: 36.779433 deg,
      lon: -121.859378 deg,
      deltaT: 1.007178 s,
      deltaX: 0.497195 m,
      approachRate: 0.493652 m/s,
      posRepo size: 4

2025-10-26T23:05:31.786Z,1761519931.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.14 m.
2025-10-26T23:05:31.833Z,1761519931.833 [DAT](INFO): DAT read: Rx Time:23:05:30.7241 

2025-10-26T23:05:31.835Z,1761519931.835 [DAT](INFO): Rx dataTimestamp_ set to:1761519931.833701
2025-10-26T23:05:31.839Z,1761519931.839 [DAT](INFO): DAT read: Bearing  59.0,  -0.5 (Local)

2025-10-26T23:05:31.840Z,1761519931.840 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.0,  -0.5 (Local)

2025-10-26T23:05:31.864Z,1761519931.864 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed -0.3

2025-10-26T23:05:31.876Z,1761519931.876 [DAT](INFO): DAT read: 23:05:30.7241 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 506,-0.30,-1.353, 0.500,-1.075,-0.636, PHS=-0.615, 1.181,-0.483, RAW= 326.2,  -1.0, CAL= 325.1,  -4.0, ROT= 184.9,   4.0

2025-10-26T23:05:31.877Z,1761519931.877 [DAT](INFO): got valid direction response:
 23:05:30.7241 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 506,-0.30,-1.353, 0.500,-1.075,-0.636, PHS=-0.615, 1.181,-0.483, RAW= 326.2,  -1.0, CAL= 325.1,  -4.0, ROT= 184.9,   4.0

2025-10-26T23:05:31.877Z,1761519931.877 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-10-26T23:05:31.878Z,1761519931.878 [DAT](INFO): direction in FSK: [-0.993918,-0.085209,-0.069756]
2025-10-26T23:05:31.879Z,1761519931.879 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:31.887Z,1761519931.887 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.971155
2025-10-26T23:05:32.082Z,1761519932.082 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.166204
2025-10-26T23:05:32.169Z,1761519932.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006197,-0.994193,-0.107437],[0.998129,-0.000385,0.061140],[-0.060826,-0.107615,0.992330]]
2025-10-26T23:05:32.219Z,1761519932.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.504915 s,
      deltaX: 0.100000 m,
      approachRate: 0.198054 m/s,
      rangeRepo size: 4

2025-10-26T23:05:32.221Z,1761519932.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.239473 m,
      bearing: 274.936349 deg,
      lat: 36.779433 deg,
      lon: -121.859378 deg,
      deltaT: 0.504915 s,
      deltaX: 0.099508 m,
      approachRate: 0.197079 m/s,
      posRepo size: 4

2025-10-26T23:05:32.222Z,1761519932.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.24 m.
2025-10-26T23:05:32.337Z,1761519932.337 [DAT](INFO): DAT read: Rx Time:23:05:31.2241 

2025-10-26T23:05:32.339Z,1761519932.339 [DAT](INFO): Rx dataTimestamp_ set to:1761519932.337574
2025-10-26T23:05:32.343Z,1761519932.343 [DAT](INFO): DAT read: Bearing  59.3,  -0.7 (Local)

2025-10-26T23:05:32.344Z,1761519932.344 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.3,  -0.7 (Local)

2025-10-26T23:05:32.351Z,1761519932.351 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed -0.2

2025-10-26T23:05:32.359Z,1761519932.359 [DAT](INFO): DAT read: 23:05:31.2241 LVL= 32304, 28369, 32754, 32755, AGC= 62, IDX= 506,-0.30,-2.252,-0.454,-1.972,-1.558, PHS=-0.593, 1.149,-0.459, RAW= 326.0,  -1.2, CAL= 324.9,  -4.2, ROT= 185.1,   4.2

2025-10-26T23:05:32.365Z,1761519932.365 [DAT](INFO): got valid direction response:
 23:05:31.2241 LVL= 32304, 28369, 32754, 32755, AGC= 62, IDX= 506,-0.30,-2.252,-0.454,-1.972,-1.558, PHS=-0.593, 1.149,-0.459, RAW= 326.0,  -1.2, CAL= 324.9,  -4.2, ROT= 185.1,   4.2

2025-10-26T23:05:32.365Z,1761519932.365 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-10-26T23:05:32.366Z,1761519932.366 [DAT](INFO): direction in FSK: [-0.993366,-0.088656,-0.073238]
2025-10-26T23:05:32.367Z,1761519932.367 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:32.378Z,1761519932.378 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.462959
2025-10-26T23:05:32.584Z,1761519932.584 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.668947
2025-10-26T23:05:32.598Z,1761519932.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010515,-0.994030,-0.108597],[0.998001,0.003663,0.063099],[-0.062325,-0.109044,0.992081]]
2025-10-26T23:05:32.664Z,1761519932.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.503873 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:32.666Z,1761519932.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.239473 m,
      bearing: 274.912529 deg,
      lat: 36.779433 deg,
      lon: -121.859378 deg,
      deltaT: 0.503873 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:05:32.667Z,1761519932.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.24 m.
2025-10-26T23:05:32.841Z,1761519932.841 [DAT](INFO): DAT read: Rx Time:23:05:31.7243 

2025-10-26T23:05:32.843Z,1761519932.843 [DAT](INFO): Rx dataTimestamp_ set to:1761519932.841958
2025-10-26T23:05:32.848Z,1761519932.848 [DAT](INFO): DAT read: Bearing  59.0,  -1.3 (Local)

2025-10-26T23:05:32.849Z,1761519932.849 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.0,  -1.3 (Local)

2025-10-26T23:05:32.854Z,1761519932.854 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.2

2025-10-26T23:05:32.864Z,1761519932.864 [DAT](INFO): DAT read: 23:05:31.7243 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 507, 0.37, 2.818,-1.611, 3.118,-2.738, PHS=-0.626, 1.172,-0.472, RAW= 325.6,  -0.9, CAL= 324.4,  -3.9, ROT= 185.6,   3.9

2025-10-26T23:05:32.865Z,1761519932.865 [DAT](INFO): got valid direction response:
 23:05:31.7243 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 507, 0.37, 2.818,-1.611, 3.118,-2.738, PHS=-0.626, 1.172,-0.472, RAW= 325.6,  -0.9, CAL= 324.4,  -3.9, ROT= 185.6,   3.9

2025-10-26T23:05:32.865Z,1761519932.865 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-10-26T23:05:32.866Z,1761519932.866 [DAT](INFO): direction in FSK: [-0.992923,-0.097357,-0.068015]
2025-10-26T23:05:32.867Z,1761519932.867 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:32.874Z,1761519932.874 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.959040
2025-10-26T23:05:33.088Z,1761519933.088 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.173040
2025-10-26T23:05:33.091Z,1761519933.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.504384 s,
      deltaX: 0.200000 m,
      approachRate: 0.396523 m/s,
      rangeRepo size: 4

2025-10-26T23:05:33.094Z,1761519933.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.437833 m,
      bearing: 275.377811 deg,
      lat: 36.779433 deg,
      lon: -121.859378 deg,
      deltaT: 0.504384 s,
      deltaX: 0.198359 m,
      approachRate: 0.393271 m/s,
      posRepo size: 4

2025-10-26T23:05:33.094Z,1761519933.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T23:05:33.345Z,1761519933.345 [DAT](INFO): DAT read: Rx Time:23:05:32.2242 

2025-10-26T23:05:33.347Z,1761519933.347 [DAT](INFO): Rx dataTimestamp_ set to:1761519933.345746
2025-10-26T23:05:33.351Z,1761519933.351 [DAT](INFO): DAT read: Bearing  58.8,  -2.0 (Local)

2025-10-26T23:05:33.352Z,1761519933.352 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.8,  -2.0 (Local)

2025-10-26T23:05:33.354Z,1761519933.354 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -3.3

2025-10-26T23:05:33.369Z,1761519933.369 [DAT](INFO): DAT read: 23:05:32.2242 LVL= 32560, 30705, 32754, 32755, AGC= 60, IDX= 507, 0.11, 2.582,-1.917, 2.892,-2.984, PHS=-0.615, 1.112,-0.451, RAW= 325.1,  -0.6, CAL= 323.9,  -3.6, ROT= 186.1,   3.6

2025-10-26T23:05:33.370Z,1761519933.370 [DAT](INFO): got valid direction response:
 23:05:32.2242 LVL= 32560, 30705, 32754, 32755, AGC= 60, IDX= 507, 0.11, 2.582,-1.917, 2.892,-2.984, PHS=-0.615, 1.112,-0.451, RAW= 325.1,  -0.6, CAL= 323.9,  -3.6, ROT= 186.1,   3.6

2025-10-26T23:05:33.370Z,1761519933.370 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-10-26T23:05:33.371Z,1761519933.371 [DAT](INFO): direction in FSK: [-0.992376,-0.106054,-0.062791]
2025-10-26T23:05:33.396Z,1761519933.396 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:33.409Z,1761519933.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017366,-0.994777,-0.100586],[0.997779,0.010771,0.065737],[-0.064311,-0.101504,0.992754]]
2025-10-26T23:05:33.411Z,1761519933.411 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.483631
2025-10-26T23:05:33.473Z,1761519933.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.503788 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:33.474Z,1761519933.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.437833 m,
      bearing: 275.427733 deg,
      lat: 36.779433 deg,
      lon: -121.859378 deg,
      deltaT: 0.503788 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:05:33.475Z,1761519933.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-26T23:05:33.593Z,1761519933.593 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.677132
2025-10-26T23:05:33.840Z,1761519933.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019520,-0.995339,-0.094438],[0.997720,0.013288,0.066171],[-0.064608,-0.095514,0.993329]]
2025-10-26T23:05:33.850Z,1761519933.850 [DAT](INFO): DAT read: Rx Time:23:05:32.7244 

2025-10-26T23:05:33.852Z,1761519933.852 [DAT](INFO): Rx dataTimestamp_ set to:1761519933.850274
2025-10-26T23:05:33.853Z,1761519933.853 [DAT](INFO): DAT read: Bearing  56.9,  -1.5 (Local)

2025-10-26T23:05:33.853Z,1761519933.853 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.9,  -1.5 (Local)

2025-10-26T23:05:33.855Z,1761519933.855 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed -0.3

2025-10-26T23:05:33.873Z,1761519933.873 [DAT](INFO): DAT read: 23:05:32.7244 LVL= 32752, 26433, 32754, 32755, AGC= 64, IDX= 493,-0.06, 2.706,-1.770, 2.989,-2.814, PHS=-0.661, 1.089,-0.525, RAW= 326.0,   1.2, CAL= 324.6,  -1.8, ROT= 185.4,   1.8

2025-10-26T23:05:33.874Z,1761519933.874 [DAT](INFO): got valid direction response:
 23:05:32.7244 LVL= 32752, 26433, 32754, 32755, AGC= 64, IDX= 493,-0.06, 2.706,-1.770, 2.989,-2.814, PHS=-0.661, 1.089,-0.525, RAW= 326.0,   1.2, CAL= 324.6,  -1.8, ROT= 185.4,   1.8

2025-10-26T23:05:33.874Z,1761519933.874 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-26T23:05:33.875Z,1761519933.875 [DAT](INFO): direction in FSK: [-0.995071,-0.094062,-0.031411]
2025-10-26T23:05:33.875Z,1761519933.875 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:33.879Z,1761519933.879 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.963490
2025-10-26T23:05:33.989Z,1761519933.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.504528 s,
      deltaX: 0.100000 m,
      approachRate: 0.198206 m/s,
      rangeRepo size: 4

2025-10-26T23:05:33.995Z,1761519933.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.537869 m,
      bearing: 274.429622 deg,
      lat: 36.779432 deg,
      lon: -121.859377 deg,
      deltaT: 0.504528 s,
      deltaX: 0.100037 m,
      approachRate: 0.198278 m/s,
      posRepo size: 4

2025-10-26T23:05:33.996Z,1761519933.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T23:05:34.097Z,1761519934.097 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.181385
2025-10-26T23:05:34.245Z,1761519934.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021283,-0.996223,-0.084178],[0.997677,0.015714,0.066280],[-0.064707,-0.085393,0.994244]]
2025-10-26T23:05:34.272Z,1761519934.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T23:05:34.353Z,1761519934.353 [DAT](INFO): DAT read: Rx Time:23:05:33.2244 

2025-10-26T23:05:34.353Z,1761519934.353 [DAT](INFO): Rx dataTimestamp_ set to:1761519934.352710
2025-10-26T23:05:34.354Z,1761519934.354 [DAT](INFO): DAT read: Bearing  59.1,  -1.3 (Local)

2025-10-26T23:05:34.355Z,1761519934.355 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.1,  -1.3 (Local)

2025-10-26T23:05:34.357Z,1761519934.357 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed -0.2

2025-10-26T23:05:34.362Z,1761519934.362 [DAT](INFO): DAT read: 23:05:33.2244 LVL= 32752, 27697, 32754, 32755, AGC= 63, IDX= 509,-0.21,-0.092, 1.758, 0.199, 0.628, PHS=-0.618, 1.175,-0.473, RAW= 325.8,  -1.0, CAL= 324.7,  -4.0, ROT= 185.3,   4.0

2025-10-26T23:05:34.363Z,1761519934.363 [DAT](INFO): got valid direction response:
 23:05:33.2244 LVL= 32752, 27697, 32754, 32755, AGC= 63, IDX= 509,-0.21,-0.092, 1.758, 0.199, 0.628, PHS=-0.618, 1.175,-0.473, RAW= 325.8,  -1.0, CAL= 324.7,  -4.0, ROT= 185.3,   4.0

2025-10-26T23:05:34.363Z,1761519934.363 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-10-26T23:05:34.364Z,1761519934.364 [DAT](INFO): direction in FSK: [-0.993299,-0.092146,-0.069756]
2025-10-26T23:05:34.365Z,1761519934.365 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:34.373Z,1761519934.373 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.457085
2025-10-26T23:05:34.601Z,1761519934.601 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.685427
2025-10-26T23:05:34.647Z,1761519934.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021623,-0.996742,-0.077699],[0.997694,0.016512,0.065835],[-0.064338,-0.078943,0.994801]]
2025-10-26T23:05:34.686Z,1761519934.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.502436 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:34.688Z,1761519934.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.537869 m,
      bearing: 274.346454 deg,
      lat: 36.779432 deg,
      lon: -121.859377 deg,
      deltaT: 0.502436 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:05:34.688Z,1761519934.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-26T23:05:34.854Z,1761519934.854 [DAT](INFO): DAT read: Rx Time:23:05:33.7246 

2025-10-26T23:05:34.854Z,1761519934.854 [DAT](INFO): Rx dataTimestamp_ set to:1761519934.853696
2025-10-26T23:05:34.856Z,1761519934.856 [DAT](INFO): DAT read: Bearing  59.0,  -0.9 (Local)

2025-10-26T23:05:34.856Z,1761519934.856 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.0,  -0.9 (Local)

2025-10-26T23:05:34.858Z,1761519934.858 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed -0.1

2025-10-26T23:05:34.863Z,1761519934.863 [DAT](INFO): DAT read: 23:05:33.7246 LVL= 32752, 24977, 32754, 32755, AGC= 63, IDX= 510, 0.42, 2.936,-1.509,-3.073,-2.632, PHS=-0.613, 1.168,-0.486, RAW= 326.3,  -0.8, CAL= 325.2,  -3.8, ROT= 184.8,   3.8

2025-10-26T23:05:34.865Z,1761519934.865 [DAT](INFO): got valid direction response:
 23:05:33.7246 LVL= 32752, 24977, 32754, 32755, AGC= 63, IDX= 510, 0.42, 2.936,-1.509,-3.073,-2.632, PHS=-0.613, 1.168,-0.486, RAW= 326.3,  -0.8, CAL= 325.2,  -3.8, ROT= 184.8,   3.8

2025-10-26T23:05:34.865Z,1761519934.865 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-10-26T23:05:34.866Z,1761519934.866 [DAT](INFO): direction in FSK: [-0.994302,-0.083494,-0.066274]
2025-10-26T23:05:34.866Z,1761519934.866 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:34.870Z,1761519934.870 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.954489
2025-10-26T23:05:35.105Z,1761519935.105 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.189068
2025-10-26T23:05:35.126Z,1761519935.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020979,-0.996520,-0.080667],[0.997735,0.015710,0.065406],[-0.063911,-0.081857,0.994593]]
2025-10-26T23:05:35.182Z,1761519935.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.500986 s,
      deltaX: 0.299999 m,
      approachRate: 0.598818 m/s,
      rangeRepo size: 4

2025-10-26T23:05:35.184Z,1761519935.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.836257 m,
      bearing: 273.881364 deg,
      lat: 36.779432 deg,
      lon: -121.859377 deg,
      deltaT: 0.500986 s,
      deltaX: 0.298388 m,
      approachRate: 0.595601 m/s,
      posRepo size: 4

2025-10-26T23:05:35.185Z,1761519935.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.84 m.
2025-10-26T23:05:35.361Z,1761519935.361 [DAT](INFO): DAT read: Rx Time:23:05:34.2245 

2025-10-26T23:05:35.362Z,1761519935.362 [DAT](INFO): Rx dataTimestamp_ set to:1761519935.361539
2025-10-26T23:05:35.364Z,1761519935.364 [DAT](INFO): DAT read: Bearing  58.5,  -0.5 (Local)

2025-10-26T23:05:35.364Z,1761519935.364 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.5,  -0.5 (Local)

2025-10-26T23:05:35.367Z,1761519935.367 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed -0.2

2025-10-26T23:05:35.390Z,1761519935.390 [DAT](INFO): DAT read: 23:05:34.2245 LVL= 32752, 26145, 32754, 32755, AGC= 63, IDX= 510, 0.09, 2.210,-2.254, 2.466, 2.929, PHS=-0.618, 1.145,-0.508, RAW= 326.8,  -0.2, CAL= 325.6,  -3.2, ROT= 184.4,   3.2

2025-10-26T23:05:35.395Z,1761519935.395 [DAT](INFO): got valid direction response:
 23:05:34.2245 LVL= 32752, 26145, 32754, 32755, AGC= 63, IDX= 510, 0.09, 2.210,-2.254, 2.466, 2.929, PHS=-0.618, 1.145,-0.508, RAW= 326.8,  -0.2, CAL= 325.6,  -3.2, ROT= 184.4,   3.2

2025-10-26T23:05:35.396Z,1761519935.396 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-10-26T23:05:35.397Z,1761519935.397 [DAT](INFO): direction in FSK: [-0.995498,-0.076599,-0.055822]
2025-10-26T23:05:35.397Z,1761519935.397 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:35.406Z,1761519935.406 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.490877
2025-10-26T23:05:35.552Z,1761519935.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019983,-0.996222,-0.084512],[0.997789,0.014513,0.064859],[-0.063387,-0.085621,0.994309]]
2025-10-26T23:05:35.586Z,1761519935.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.507843 s,
      deltaX: -0.099999 m,
      approachRate: -0.196910 m/s,
      rangeRepo size: 4

2025-10-26T23:05:35.604Z,1761519935.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.736752 m,
      bearing: 273.505269 deg,
      lat: 36.779432 deg,
      lon: -121.859377 deg,
      deltaT: 0.507843 s,
      deltaX: -0.099505 m,
      approachRate: -0.195937 m/s,
      posRepo size: 4

2025-10-26T23:05:35.605Z,1761519935.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.74 m.
2025-10-26T23:05:35.609Z,1761519935.609 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.693361
2025-10-26T23:05:35.861Z,1761519935.861 [DAT](INFO): DAT read: Rx Time:23:05:34.7246 

2025-10-26T23:05:35.861Z,1761519935.861 [DAT](INFO): Rx dataTimestamp_ set to:1761519935.861176
2025-10-26T23:05:35.863Z,1761519935.863 [DAT](INFO): DAT read: Bearing  57.7,  -0.6 (Local)

2025-10-26T23:05:35.863Z,1761519935.863 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.7,  -0.6 (Local)

2025-10-26T23:05:35.869Z,1761519935.869 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed -0.2

2025-10-26T23:05:35.873Z,1761519935.873 [DAT](INFO): DAT read: 23:05:34.7246 LVL= 32752, 27425, 32754, 32755, AGC= 63, IDX= 511,-0.08, 0.908, 2.726, 1.158, 1.652, PHS=-0.642, 1.120,-0.538, RAW= 327.0,   0.7, CAL= 325.7,  -2.2, ROT= 184.3,   2.2

2025-10-26T23:05:35.874Z,1761519935.874 [DAT](INFO): got valid direction response:
 23:05:34.7246 LVL= 32752, 27425, 32754, 32755, AGC= 63, IDX= 511,-0.08, 0.908, 2.726, 1.158, 1.652, PHS=-0.642, 1.120,-0.538, RAW= 327.0,   0.7, CAL= 325.7,  -2.2, ROT= 184.3,   2.2

2025-10-26T23:05:35.875Z,1761519935.875 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-10-26T23:05:35.892Z,1761519935.892 [DAT](INFO): direction in FSK: [-0.996450,-0.074924,-0.038388]
2025-10-26T23:05:35.892Z,1761519935.892 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:35.899Z,1761519935.899 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.983309
2025-10-26T23:05:35.992Z,1761519935.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018100,-0.996170,-0.085545],[0.997874,0.012641,0.063938],[-0.062612,-0.086521,0.994281]]
2025-10-26T23:05:36.064Z,1761519936.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.499637 s,
      deltaX: 0.099999 m,
      approachRate: 0.200144 m/s,
      rangeRepo size: 4

2025-10-26T23:05:36.067Z,1761519936.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.837623 m,
      bearing: 273.434791 deg,
      lat: 36.779432 deg,
      lon: -121.859375 deg,
      deltaT: 0.499637 s,
      deltaX: 0.100871 m,
      approachRate: 0.201889 m/s,
      posRepo size: 4

2025-10-26T23:05:36.069Z,1761519936.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.84 m.
2025-10-26T23:05:36.113Z,1761519936.113 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.197050
2025-10-26T23:05:36.365Z,1761519936.365 [DAT](INFO): DAT read: Rx Time:23:05:35.2246 

2025-10-26T23:05:36.365Z,1761519936.365 [DAT](INFO): Rx dataTimestamp_ set to:1761519936.365153
2025-10-26T23:05:36.367Z,1761519936.367 [DAT](INFO): DAT read: Bearing  56.6,   0.1 (Local)

2025-10-26T23:05:36.367Z,1761519936.367 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.6,   0.1 (Local)

2025-10-26T23:05:36.369Z,1761519936.369 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed -0.2

2025-10-26T23:05:36.374Z,1761519936.374 [DAT](INFO): DAT read: 23:05:35.2246 LVL= 32752, 28721, 32754, 32755, AGC= 64, IDX= 511,-0.26,-0.256, 1.530,-0.040, 0.500, PHS=-0.654, 1.075,-0.584, RAW= 327.9,   1.9, CAL= 326.6,  -0.9, ROT= 183.4,   0.9

2025-10-26T23:05:36.375Z,1761519936.375 [DAT](INFO): got valid direction response:
 23:05:35.2246 LVL= 32752, 28721, 32754, 32755, AGC= 64, IDX= 511,-0.26,-0.256, 1.530,-0.040, 0.500, PHS=-0.654, 1.075,-0.584, RAW= 327.9,   1.9, CAL= 326.6,  -0.9, ROT= 183.4,   0.9

2025-10-26T23:05:36.375Z,1761519936.375 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-10-26T23:05:36.376Z,1761519936.376 [DAT](INFO): direction in FSK: [-0.998117,-0.059299,-0.015707]
2025-10-26T23:05:36.377Z,1761519936.377 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:36.381Z,1761519936.381 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.465195
2025-10-26T23:05:36.521Z,1761519936.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.503977 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:36.523Z,1761519936.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.837623 m,
      bearing: 272.430441 deg,
      lat: 36.779432 deg,
      lon: -121.859375 deg,
      deltaT: 0.503977 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:05:36.526Z,1761519936.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.84 m.
2025-10-26T23:05:36.617Z,1761519936.617 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.701149
2025-10-26T23:05:36.865Z,1761519936.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012596,-0.997157,-0.074286],[0.998140,0.008107,0.060419],[-0.059645,-0.074909,0.995405]]
2025-10-26T23:05:36.869Z,1761519936.869 [DAT](INFO): DAT read: Rx Time:23:05:35.7248 

2025-10-26T23:05:36.869Z,1761519936.869 [DAT](INFO): Rx dataTimestamp_ set to:1761519936.869201
2025-10-26T23:05:36.871Z,1761519936.871 [DAT](INFO): DAT read: Bearing  26.3, -17.7 (Local)

2025-10-26T23:05:36.871Z,1761519936.871 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.3, -17.7 (Local)

2025-10-26T23:05:36.873Z,1761519936.873 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed -0.2

2025-10-26T23:05:36.878Z,1761519936.878 [DAT](INFO): DAT read: 23:05:35.7248 LVL= 32752, 29569, 32754, 32755, AGC= 65, IDX= 513,-0.27,-3.004,-1.504,-2.332,-1.711, PHS=-1.191, 0.251,-0.666, RAW= 308.9,  24.2, CAL= 308.8,  29.5, ROT= 201.2, -29.5

2025-10-26T23:05:36.879Z,1761519936.879 [DAT](INFO): got valid direction response:
 23:05:35.7248 LVL= 32752, 29569, 32754, 32755, AGC= 65, IDX= 513,-0.27,-3.004,-1.504,-2.332,-1.711, PHS=-1.191, 0.251,-0.666, RAW= 308.9,  24.2, CAL= 308.8,  29.5, ROT= 201.2, -29.5

2025-10-26T23:05:36.909Z,1761519936.909 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-10-26T23:05:36.910Z,1761519936.910 [DAT](INFO): direction in FSK: [-0.811453,-0.314742,0.492424]
2025-10-26T23:05:36.910Z,1761519936.910 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:36.914Z,1761519936.914 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.998266
2025-10-26T23:05:37.080Z,1761519937.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.504048 s,
      deltaX: 0.300000 m,
      approachRate: 0.595182 m/s,
      rangeRepo size: 4

2025-10-26T23:05:37.082Z,1761519937.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.137006 m,
      bearing: 288.837916 deg,
      lat: 36.779432 deg,
      lon: -121.859374 deg,
      deltaT: 0.504048 s,
      deltaX: 0.299383 m,
      approachRate: 0.593958 m/s,
      posRepo size: 4

2025-10-26T23:05:37.083Z,1761519937.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.14 m.
2025-10-26T23:05:37.121Z,1761519937.121 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.205248
2025-10-26T23:05:37.373Z,1761519937.373 [DAT](INFO): DAT read: Rx Time:23:05:36.2248 

2025-10-26T23:05:37.373Z,1761519937.373 [DAT](INFO): Rx dataTimestamp_ set to:1761519937.373189
2025-10-26T23:05:37.375Z,1761519937.375 [DAT](INFO): DAT read: Bearing  56.3,  -5.2 (Local)

2025-10-26T23:05:37.375Z,1761519937.375 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.3,  -5.2 (Local)

2025-10-26T23:05:37.377Z,1761519937.377 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed -0.2

2025-10-26T23:05:37.382Z,1761519937.382 [DAT](INFO): DAT read: 23:05:36.2248 LVL= 32752, 28657, 32754, 32755, AGC= 64, IDX= 513,-0.15, 0.652, 2.687, 1.049, 1.587, PHS=-0.834, 1.145,-0.583, RAW= 323.3,   2.9, CAL= 321.6,   0.1, ROT= 188.4,  -0.1

2025-10-26T23:05:37.383Z,1761519937.383 [DAT](INFO): got valid direction response:
 23:05:36.2248 LVL= 32752, 28657, 32754, 32755, AGC= 64, IDX= 513,-0.15, 0.652, 2.687, 1.049, 1.587, PHS=-0.834, 1.145,-0.583, RAW= 323.3,   2.9, CAL= 321.6,   0.1, ROT= 188.4,  -0.1

2025-10-26T23:05:37.384Z,1761519937.384 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-10-26T23:05:37.385Z,1761519937.385 [DAT](INFO): direction in FSK: [-0.989271,-0.146083,0.001745]
2025-10-26T23:05:37.385Z,1761519937.385 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:37.389Z,1761519937.389 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.473137
2025-10-26T23:05:37.423Z,1761519937.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005800,-0.998319,-0.057672],[0.998466,0.002607,0.055299],[-0.055055,-0.057905,0.996803]]
2025-10-26T23:05:37.484Z,1761519937.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.503988 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:37.486Z,1761519937.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.137006 m,
      bearing: 278.064738 deg,
      lat: 36.779432 deg,
      lon: -121.859373 deg,
      deltaT: 0.503988 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:05:37.486Z,1761519937.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.14 m.
2025-10-26T23:05:37.625Z,1761519937.625 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.709213
2025-10-26T23:05:37.877Z,1761519937.877 [DAT](INFO): DAT read: Rx Time:23:05:36.7250 

2025-10-26T23:05:37.878Z,1761519937.878 [DAT](INFO): Rx dataTimestamp_ set to:1761519937.877256
2025-10-26T23:05:37.879Z,1761519937.879 [DAT](INFO): DAT read: Bearing  57.5,   2.3 (Local)

2025-10-26T23:05:37.880Z,1761519937.880 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.5,   2.3 (Local)

2025-10-26T23:05:37.882Z,1761519937.882 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed -0.3

2025-10-26T23:05:37.887Z,1761519937.887 [DAT](INFO): DAT read: 23:05:36.7250 LVL= 26160, 19185, 28530, 32755, AGC= 67, IDX=   3,-0.04,-1.998,-0.254,-1.857,-1.299, PHS=-0.596, 1.090,-0.602, RAW= 330.2,   1.3, CAL= 329.1,  -1.6, ROT= 180.9,   1.6

2025-10-26T23:05:37.888Z,1761519937.888 [DAT](INFO): got valid direction response:
 23:05:36.7250 LVL= 26160, 19185, 28530, 32755, AGC= 67, IDX=   3,-0.04,-1.998,-0.254,-1.857,-1.299, PHS=-0.596, 1.090,-0.602, RAW= 330.2,   1.3, CAL= 329.1,  -1.6, ROT= 180.9,   1.6

2025-10-26T23:05:37.888Z,1761519937.888 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-10-26T23:05:37.889Z,1761519937.889 [DAT](INFO): direction in FSK: [-0.999487,-0.015701,-0.027922]
2025-10-26T23:05:37.889Z,1761519937.889 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:37.893Z,1761519937.893 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.977823
2025-10-26T23:05:38.026Z,1761519938.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.504067 s,
      deltaX: 0.300000 m,
      approachRate: 0.595159 m/s,
      rangeRepo size: 4

2025-10-26T23:05:38.036Z,1761519938.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.436016 m,
      bearing: 270.658467 deg,
      lat: 36.779432 deg,
      lon: -121.859373 deg,
      deltaT: 0.504067 s,
      deltaX: 0.299010 m,
      approachRate: 0.593195 m/s,
      posRepo size: 4

2025-10-26T23:05:38.037Z,1761519938.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.44 m.
2025-10-26T23:05:38.129Z,1761519938.129 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.213160
2025-10-26T23:05:38.381Z,1761519938.381 [DAT](INFO): DAT read: Rx Time:23:05:37.2250 

2025-10-26T23:05:38.381Z,1761519938.381 [DAT](INFO): Rx dataTimestamp_ set to:1761519938.381204
2025-10-26T23:05:38.383Z,1761519938.383 [DAT](INFO): DAT read: Bearing  57.7,   3.0 (Local)

2025-10-26T23:05:38.383Z,1761519938.383 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.7,   3.0 (Local)

2025-10-26T23:05:38.385Z,1761519938.385 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed -0.3

2025-10-26T23:05:38.390Z,1761519938.390 [DAT](INFO): DAT read: 23:05:37.2250 LVL= 32752, 23489, 32754, 32755, AGC= 67, IDX= 499, 0.18,-1.930,-0.183,-1.813,-1.243, PHS=-0.585, 1.105,-0.614, RAW= 330.8,   1.1, CAL= 329.8,  -1.7, ROT= 180.2,   1.7

2025-10-26T23:05:38.391Z,1761519938.391 [DAT](INFO): got valid direction response:
 23:05:37.2250 LVL= 32752, 23489, 32754, 32755, AGC= 67, IDX= 499, 0.18,-1.930,-0.183,-1.813,-1.243, PHS=-0.585, 1.105,-0.614, RAW= 330.8,   1.1, CAL= 329.8,  -1.7, ROT= 180.2,   1.7

2025-10-26T23:05:38.393Z,1761519938.393 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-10-26T23:05:38.398Z,1761519938.398 [DAT](INFO): direction in FSK: [-0.999554,-0.003489,-0.029666]
2025-10-26T23:05:38.403Z,1761519938.403 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:38.406Z,1761519938.406 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.491003
2025-10-26T23:05:38.459Z,1761519938.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000429,-0.998457,-0.055520],[0.998756,-0.002340,0.049814],[-0.049867,-0.055472,0.997214]]
2025-10-26T23:05:38.539Z,1761519938.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.503948 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:38.548Z,1761519938.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.436016 m,
      bearing: 270.269432 deg,
      lat: 36.779430 deg,
      lon: -121.859371 deg,
      deltaT: 0.503948 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:05:38.548Z,1761519938.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.44 m.
2025-10-26T23:05:38.633Z,1761519938.633 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.717060
2025-10-26T23:05:38.886Z,1761519938.886 [DAT](INFO): DAT read: Rx Time:23:05:37.7252 

2025-10-26T23:05:38.887Z,1761519938.887 [DAT](INFO): Rx dataTimestamp_ set to:1761519938.886474
2025-10-26T23:05:38.888Z,1761519938.888 [DAT](INFO): DAT read: Bearing  56.0,   2.3 (Local)

2025-10-26T23:05:38.888Z,1761519938.888 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.0,   2.3 (Local)

2025-10-26T23:05:38.891Z,1761519938.891 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed -0.4

2025-10-26T23:05:38.895Z,1761519938.895 [DAT](INFO): DAT read: 23:05:37.7252 LVL= 32752, 26401, 32754, 32755, AGC= 68, IDX= 502,-0.31, 2.779,-1.788, 2.908,-2.778, PHS=-0.624, 1.036,-0.641, RAW= 330.5,   2.8, CAL= 329.3,  -0.0, ROT= 180.7,   0.0

2025-10-26T23:05:38.896Z,1761519938.896 [DAT](INFO): got valid direction response:
 23:05:37.7252 LVL= 32752, 26401, 32754, 32755, AGC= 68, IDX= 502,-0.31, 2.779,-1.788, 2.908,-2.778, PHS=-0.624, 1.036,-0.641, RAW= 330.5,   2.8, CAL= 329.3,  -0.0, ROT= 180.7,   0.0

2025-10-26T23:05:38.897Z,1761519938.897 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-10-26T23:05:38.898Z,1761519938.898 [DAT](INFO): direction in FSK: [-0.999925,-0.012217,-0.000000]
2025-10-26T23:05:38.898Z,1761519938.898 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:38.910Z,1761519938.910 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.994390
2025-10-26T23:05:38.928Z,1761519938.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001240,-0.998248,-0.059155],[0.998886,-0.004027,0.047014],[-0.047170,-0.059030,0.997141]]
2025-10-26T23:05:39.094Z,1761519939.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.505270 s,
      deltaX: 0.500000 m,
      approachRate: 0.989570 m/s,
      rangeRepo size: 4

2025-10-26T23:05:39.105Z,1761519939.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.933326 m,
      bearing: 270.770722 deg,
      lat: 36.779427 deg,
      lon: -121.859371 deg,
      deltaT: 0.505270 s,
      deltaX: 0.497310 m,
      approachRate: 0.984245 m/s,
      posRepo size: 4

2025-10-26T23:05:39.105Z,1761519939.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.93 m.
2025-10-26T23:05:39.136Z,1761519939.136 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.221020
2025-10-26T23:05:39.389Z,1761519939.389 [DAT](INFO): DAT read: Rx Time:23:05:38.2252 

2025-10-26T23:05:39.389Z,1761519939.389 [DAT](INFO): Rx dataTimestamp_ set to:1761519939.389115
2025-10-26T23:05:39.391Z,1761519939.391 [DAT](INFO): DAT read: Bearing  56.0,   2.5 (Local)

2025-10-26T23:05:39.391Z,1761519939.391 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.0,   2.5 (Local)

2025-10-26T23:05:39.393Z,1761519939.393 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed -0.4

2025-10-26T23:05:39.398Z,1761519939.398 [DAT](INFO): DAT read: 23:05:38.2252 LVL= 32752, 27233, 32754, 32755, AGC= 70, IDX= 502, 0.24, 2.116,-2.439, 2.234, 2.839, PHS=-0.621, 1.050,-0.649, RAW= 330.8,   2.6, CAL= 329.7,  -0.1, ROT= 180.3,   0.1

2025-10-26T23:05:39.399Z,1761519939.399 [DAT](INFO): got valid direction response:
 23:05:38.2252 LVL= 32752, 27233, 32754, 32755, AGC= 70, IDX= 502, 0.24, 2.116,-2.439, 2.234, 2.839, PHS=-0.621, 1.050,-0.649, RAW= 330.8,   2.6, CAL= 329.7,  -0.1, ROT= 180.3,   0.1

2025-10-26T23:05:39.399Z,1761519939.399 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-10-26T23:05:39.400Z,1761519939.400 [DAT](INFO): direction in FSK: [-0.999985,-0.005236,-0.001745]
2025-10-26T23:05:39.401Z,1761519939.401 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:39.404Z,1761519939.404 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.488890
2025-10-26T23:05:39.497Z,1761519939.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002028,-0.997847,-0.065552],[0.999104,-0.004793,0.042039],[-0.042262,-0.065408,0.996963]]
2025-10-26T23:05:39.584Z,1761519939.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.502641 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:39.586Z,1761519939.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.933326 m,
      bearing: 270.422487 deg,
      lat: 36.779426 deg,
      lon: -121.859372 deg,
      deltaT: 0.502641 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:05:39.586Z,1761519939.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.93 m.
2025-10-26T23:05:39.642Z,1761519939.642 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.725830
2025-10-26T23:05:39.893Z,1761519939.893 [DAT](INFO): DAT read: Rx Time:23:05:38.7255 

2025-10-26T23:05:39.893Z,1761519939.893 [DAT](INFO): Rx dataTimestamp_ set to:1761519939.893117
2025-10-26T23:05:39.895Z,1761519939.895 [DAT](INFO): DAT read: Bearing  54.5,   2.3 (Local)

2025-10-26T23:05:39.895Z,1761519939.895 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.5,   2.3 (Local)

2025-10-26T23:05:39.897Z,1761519939.897 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed -0.4

2025-10-26T23:05:39.902Z,1761519939.902 [DAT](INFO): DAT read: 23:05:38.7255 LVL= 32752, 28961, 32754, 32755, AGC= 68, IDX= 505,-0.09, 1.086, 2.777, 1.209, 1.823, PHS=-0.635, 0.999,-0.658, RAW= 330.7,   3.6, CAL= 329.6,   1.3, ROT= 180.4,  -1.3

2025-10-26T23:05:39.903Z,1761519939.903 [DAT](INFO): got valid direction response:
 23:05:38.7255 LVL= 32752, 28961, 32754, 32755, AGC= 68, IDX= 505,-0.09, 1.086, 2.777, 1.209, 1.823, PHS=-0.635, 0.999,-0.658, RAW= 330.7,   3.6, CAL= 329.6,   1.3, ROT= 180.4,  -1.3

2025-10-26T23:05:39.903Z,1761519939.903 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-10-26T23:05:39.904Z,1761519939.904 [DAT](INFO): direction in FSK: [-0.999718,-0.006979,0.022687]
2025-10-26T23:05:39.905Z,1761519939.905 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:39.909Z,1761519939.909 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.993479
2025-10-26T23:05:39.938Z,1761519939.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001277,-0.997694,-0.067866],[0.999219,-0.003953,0.039324],[-0.039501,-0.067762,0.996919]]
2025-10-26T23:05:40.072Z,1761519940.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.504002 s,
      deltaX: 0.400000 m,
      approachRate: 0.793647 m/s,
      rangeRepo size: 4

2025-10-26T23:05:40.074Z,1761519940.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.328695 m,
      bearing: 270.384629 deg,
      lat: 36.779426 deg,
      lon: -121.859373 deg,
      deltaT: 0.504002 s,
      deltaX: 0.395370 m,
      approachRate: 0.784460 m/s,
      posRepo size: 4

2025-10-26T23:05:40.075Z,1761519940.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.33 m.
2025-10-26T23:05:40.146Z,1761519940.146 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.229919
2025-10-26T23:05:40.363Z,1761519940.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000004,-0.997629,-0.068822],[0.999340,-0.002504,0.036247],[-0.036333,-0.068776,0.996970]]
2025-10-26T23:05:40.382Z,1761519940.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.33 m.
2025-10-26T23:05:40.397Z,1761519940.397 [DAT](INFO): DAT read: Rx Time:23:05:39.2255 

2025-10-26T23:05:40.398Z,1761519940.398 [DAT](INFO): Rx dataTimestamp_ set to:1761519940.397254
2025-10-26T23:05:40.399Z,1761519940.399 [DAT](INFO): DAT read: Bearing  55.9,   1.6 (Local)

2025-10-26T23:05:40.399Z,1761519940.399 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.9,   1.6 (Local)

2025-10-26T23:05:40.401Z,1761519940.401 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed -0.4

2025-10-26T23:05:40.406Z,1761519940.406 [DAT](INFO): DAT read: 23:05:39.2255 LVL= 32752, 24945, 32754, 32755, AGC= 69, IDX= 505, 0.47, 0.543, 2.294, 0.684, 1.279, PHS=-0.634, 1.059,-0.639, RAW= 330.1,   2.5, CAL= 328.9,  -0.3, ROT= 181.1,   0.3

2025-10-26T23:05:40.407Z,1761519940.407 [DAT](INFO): got valid direction response:
 23:05:39.2255 LVL= 32752, 24945, 32754, 32755, AGC= 69, IDX= 505, 0.47, 0.543, 2.294, 0.684, 1.279, PHS=-0.634, 1.059,-0.639, RAW= 330.1,   2.5, CAL= 328.9,  -0.3, ROT= 181.1,   0.3

2025-10-26T23:05:40.408Z,1761519940.408 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-10-26T23:05:40.409Z,1761519940.409 [DAT](INFO): direction in FSK: [-0.999802,-0.019197,-0.005236]
2025-10-26T23:05:40.409Z,1761519940.409 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:40.413Z,1761519940.413 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.497320
2025-10-26T23:05:40.648Z,1761519940.648 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.732906
2025-10-26T23:05:40.749Z,1761519940.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001539,-0.997698,-0.067798],[0.999462,-0.000686,0.032783],[-0.032754,-0.067812,0.997160]]
2025-10-26T23:05:40.773Z,1761519940.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.504137 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:40.775Z,1761519940.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.328269 m,
      bearing: 271.030070 deg,
      lat: 36.779426 deg,
      lon: -121.859372 deg,
      deltaT: 0.504137 s,
      deltaX: -0.000426 m,
      approachRate: -0.000846 m/s,
      posRepo size: 4

2025-10-26T23:05:40.776Z,1761519940.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.33 m.
2025-10-26T23:05:40.905Z,1761519940.905 [DAT](INFO): DAT read: Rx Time:23:05:39.7258 

2025-10-26T23:05:40.907Z,1761519940.907 [DAT](INFO): Rx dataTimestamp_ set to:1761519940.905578
2025-10-26T23:05:40.913Z,1761519940.913 [DAT](INFO): DAT read: Bearing  56.8,   1.4 (Local)

2025-10-26T23:05:40.914Z,1761519940.914 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.8,   1.4 (Local)

2025-10-26T23:05:40.918Z,1761519940.918 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed -0.4

2025-10-26T23:05:40.936Z,1761519940.936 [DAT](INFO): DAT read: 23:05:39.7258 LVL= 32752, 25121, 32754, 32755, AGC= 69, IDX= 508,-0.06, 1.872,-2.655, 2.016, 2.584, PHS=-0.610, 1.089,-0.612, RAW= 330.1,   1.6, CAL= 328.9,  -1.3, ROT= 181.1,   1.3

2025-10-26T23:05:40.937Z,1761519940.937 [DAT](INFO): got valid direction response:
 23:05:39.7258 LVL= 32752, 25121, 32754, 32755, AGC= 69, IDX= 508,-0.06, 1.872,-2.655, 2.016, 2.584, PHS=-0.610, 1.089,-0.612, RAW= 330.1,   1.6, CAL= 328.9,  -1.3, ROT= 181.1,   1.3

2025-10-26T23:05:40.938Z,1761519940.938 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-10-26T23:05:40.939Z,1761519940.939 [DAT](INFO): direction in FSK: [-0.999558,-0.019193,-0.022687]
2025-10-26T23:05:40.939Z,1761519940.939 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:40.955Z,1761519940.955 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.039236
2025-10-26T23:05:41.146Z,1761519941.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002957,-0.997833,-0.065735],[0.999573,0.001039,0.029195],[-0.029063,-0.065793,0.997410]]
2025-10-26T23:05:41.152Z,1761519941.152 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.236845
2025-10-26T23:05:41.206Z,1761519941.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.508324 s,
      deltaX: 0.500000 m,
      approachRate: 0.983625 m/s,
      rangeRepo size: 4

2025-10-26T23:05:41.209Z,1761519941.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.825779 m,
      bearing: 271.013442 deg,
      lat: 36.779427 deg,
      lon: -121.859374 deg,
      deltaT: 0.508324 s,
      deltaX: 0.497510 m,
      approachRate: 0.978726 m/s,
      posRepo size: 4

2025-10-26T23:05:41.210Z,1761519941.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.83 m.
2025-10-26T23:05:41.406Z,1761519941.406 [DAT](INFO): DAT read: Rx Time:23:05:40.2258 

2025-10-26T23:05:41.406Z,1761519941.406 [DAT](INFO): Rx dataTimestamp_ set to:1761519941.405948
2025-10-26T23:05:41.408Z,1761519941.408 [DAT](INFO): DAT read: Bearing  54.6,   0.1 (Local)

2025-10-26T23:05:41.409Z,1761519941.409 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.6,   0.1 (Local)

2025-10-26T23:05:41.411Z,1761519941.411 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed -0.4

2025-10-26T23:05:41.448Z,1761519941.448 [DAT](INFO): DAT read: 23:05:40.2258 LVL= 32752, 25841, 32754, 32755, AGC= 70, IDX= 508, 0.03,-1.726,-0.020,-1.556,-0.976, PHS=-0.648, 1.001,-0.624, RAW= 329.3,   3.4, CAL= 328.0,   0.9, ROT= 182.0,  -0.9

2025-10-26T23:05:41.449Z,1761519941.449 [DAT](INFO): got valid direction response:
 23:05:40.2258 LVL= 32752, 25841, 32754, 32755, AGC= 70, IDX= 508, 0.03,-1.726,-0.020,-1.556,-0.976, PHS=-0.648, 1.001,-0.624, RAW= 329.3,   3.4, CAL= 328.0,   0.9, ROT= 182.0,  -0.9

2025-10-26T23:05:41.450Z,1761519941.450 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-26T23:05:41.451Z,1761519941.451 [DAT](INFO): direction in FSK: [-0.999268,-0.034895,0.015707]
2025-10-26T23:05:41.451Z,1761519941.451 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:41.471Z,1761519941.471 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.555250
2025-10-26T23:05:41.577Z,1761519941.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004527,-0.997984,-0.063310],[0.999669,0.002914,0.025542],[-0.025306,-0.063404,0.997667]]
2025-10-26T23:05:41.608Z,1761519941.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.500370 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:41.610Z,1761519941.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.825779 m,
      bearing: 271.680973 deg,
      lat: 36.779428 deg,
      lon: -121.859374 deg,
      deltaT: 0.500370 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:05:41.611Z,1761519941.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.83 m.
2025-10-26T23:05:41.657Z,1761519941.657 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.741613
2025-10-26T23:05:41.913Z,1761519941.913 [DAT](INFO): DAT read: Rx Time:23:05:40.7259 

2025-10-26T23:05:41.914Z,1761519941.914 [DAT](INFO): Rx dataTimestamp_ set to:1761519941.913531
2025-10-26T23:05:41.916Z,1761519941.916 [DAT](INFO): DAT read: Bearing  56.5,  -0.4 (Local)

2025-10-26T23:05:41.917Z,1761519941.917 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.5,  -0.4 (Local)

2025-10-26T23:05:41.919Z,1761519941.919 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed -0.4

2025-10-26T23:05:41.923Z,1761519941.923 [DAT](INFO): DAT read: 23:05:40.7259 LVL= 32752, 25409, 32754, 32755, AGC= 69, IDX= 509, 0.40,-2.454,-0.666,-2.270,-1.713, PHS=-0.639, 1.092,-0.601, RAW= 328.9,   1.8, CAL= 327.7,  -1.1, ROT= 182.3,   1.1

2025-10-26T23:05:41.924Z,1761519941.924 [DAT](INFO): got valid direction response:
 23:05:40.7259 LVL= 32752, 25409, 32754, 32755, AGC= 69, IDX= 509, 0.40,-2.454,-0.666,-2.270,-1.713, PHS=-0.639, 1.092,-0.601, RAW= 328.9,   1.8, CAL= 327.7,  -1.1, ROT= 182.3,   1.1

2025-10-26T23:05:41.925Z,1761519941.925 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-26T23:05:41.926Z,1761519941.926 [DAT](INFO): direction in FSK: [-0.999010,-0.040124,-0.019197]
2025-10-26T23:05:41.926Z,1761519941.926 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:41.934Z,1761519941.934 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.018408
2025-10-26T23:05:41.995Z,1761519941.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006406,-0.998119,-0.060975],[0.999743,0.005066,0.022111],[-0.021760,-0.061101,0.997894]]
2025-10-26T23:05:42.119Z,1761519942.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.507583 s,
      deltaX: 0.100000 m,
      approachRate: 0.197013 m/s,
      rangeRepo size: 4

2025-10-26T23:05:42.125Z,1761519942.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.926975 m,
      bearing: 271.995432 deg,
      lat: 36.779428 deg,
      lon: -121.859374 deg,
      deltaT: 0.507583 s,
      deltaX: 0.101196 m,
      approachRate: 0.199369 m/s,
      posRepo size: 4

2025-10-26T23:05:42.125Z,1761519942.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.93 m.
2025-10-26T23:05:42.161Z,1761519942.161 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.245207
2025-10-26T23:05:42.382Z,1761519942.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008748,-0.998141,-0.060321],[0.999789,0.007609,0.019095],[-0.018600,-0.060476,0.997996]]
2025-10-26T23:05:42.409Z,1761519942.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.93 m.
2025-10-26T23:05:42.413Z,1761519942.413 [DAT](INFO): DAT read: Rx Time:23:05:41.2260 

2025-10-26T23:05:42.414Z,1761519942.414 [DAT](INFO): Rx dataTimestamp_ set to:1761519942.413635
2025-10-26T23:05:42.415Z,1761519942.415 [DAT](INFO): DAT read: Bearing  54.4,  -1.4 (Local)

2025-10-26T23:05:42.416Z,1761519942.416 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.4,  -1.4 (Local)

2025-10-26T23:05:42.418Z,1761519942.418 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed -0.4

2025-10-26T23:05:42.422Z,1761519942.422 [DAT](INFO): DAT read: 23:05:41.2260 LVL= 32752, 26641, 32754, 32755, AGC= 69, IDX= 510,-0.33, 1.821,-2.713, 2.020, 2.597, PHS=-0.674, 1.018,-0.621, RAW= 328.4,   3.4, CAL= 327.1,   0.9, ROT= 182.9,  -0.9

2025-10-26T23:05:42.424Z,1761519942.424 [DAT](INFO): got valid direction response:
 23:05:41.2260 LVL= 32752, 26641, 32754, 32755, AGC= 69, IDX= 510,-0.33, 1.821,-2.713, 2.020, 2.597, PHS=-0.674, 1.018,-0.621, RAW= 328.4,   3.4, CAL= 327.1,   0.9, ROT= 182.9,  -0.9

2025-10-26T23:05:42.424Z,1761519942.424 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-10-26T23:05:42.425Z,1761519942.425 [DAT](INFO): direction in FSK: [-0.998596,-0.050587,0.015707]
2025-10-26T23:05:42.425Z,1761519942.425 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:42.452Z,1761519942.452 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.536535
2025-10-26T23:05:42.665Z,1761519942.665 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.749104
2025-10-26T23:05:42.790Z,1761519942.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011155,-0.998002,-0.062192],[0.999813,0.010151,0.016445],[-0.015781,-0.062364,0.997929]]
2025-10-26T23:05:42.895Z,1761519942.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.500104 s,
      deltaX: 0.200000 m,
      approachRate: 0.399916 m/s,
      rangeRepo size: 4

2025-10-26T23:05:42.906Z,1761519942.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.127354 m,
      bearing: 272.200228 deg,
      lat: 36.779430 deg,
      lon: -121.859373 deg,
      deltaT: 0.500104 s,
      deltaX: 0.200378 m,
      approachRate: 0.400674 m/s,
      posRepo size: 4

2025-10-26T23:05:42.913Z,1761519942.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.13 m.
2025-10-26T23:05:42.920Z,1761519942.920 [DAT](INFO): DAT read: Rx Time:23:05:41.7262 

2025-10-26T23:05:42.922Z,1761519942.922 [DAT](INFO): Rx dataTimestamp_ set to:1761519942.921151
2025-10-26T23:05:42.927Z,1761519942.927 [DAT](INFO): DAT read: Bearing  28.7,  22.8 (Local)

2025-10-26T23:05:42.928Z,1761519942.928 [DAT](INFO): Local bearing/azimuth received:
 Bearing  28.7,  22.8 (Local)

2025-10-26T23:05:42.948Z,1761519942.948 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed -0.2

2025-10-26T23:05:42.961Z,1761519942.961 [DAT](INFO): DAT read: 23:05:41.7262 LVL= 32752, 25889, 32754, 32755, AGC= 67, IDX= 512,-0.33, 2.363,-2.828, 1.747, 3.037, PHS=-0.571, 0.463,-1.334, RAW= 355.0,  18.1, CAL= 355.3,  22.5, ROT= 154.7, -22.5

2025-10-26T23:05:42.962Z,1761519942.962 [DAT](INFO): got valid direction response:
 23:05:41.7262 LVL= 32752, 25889, 32754, 32755, AGC= 67, IDX= 512,-0.33, 2.363,-2.828, 1.747, 3.037, PHS=-0.571, 0.463,-1.334, RAW= 355.0,  18.1, CAL= 355.3,  22.5, ROT= 154.7, -22.5

2025-10-26T23:05:42.962Z,1761519942.962 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-10-26T23:05:42.972Z,1761519942.972 [DAT](INFO): direction in FSK: [-0.835263,0.394827,0.382683]
2025-10-26T23:05:42.972Z,1761519942.972 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:43.013Z,1761519943.013 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.097408
2025-10-26T23:05:43.168Z,1761519943.168 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.252876
2025-10-26T23:05:43.237Z,1761519943.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013480,-0.997808,-0.064790],[0.999820,0.012584,0.014222],[-0.013375,-0.064970,0.997798]]
2025-10-26T23:05:43.278Z,1761519943.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.507516 s,
      deltaX: 0.300000 m,
      approachRate: 0.591115 m/s,
      rangeRepo size: 4

2025-10-26T23:05:43.281Z,1761519943.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.425920 m,
      bearing: 242.461596 deg,
      lat: 36.779430 deg,
      lon: -121.859373 deg,
      deltaT: 0.507516 s,
      deltaX: 0.298566 m,
      approachRate: 0.588289 m/s,
      posRepo size: 4

2025-10-26T23:05:43.281Z,1761519943.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-26T23:05:43.421Z,1761519943.421 [DAT](INFO): DAT read: Rx Time:23:05:42.2262 

2025-10-26T23:05:43.422Z,1761519943.422 [DAT](INFO): Rx dataTimestamp_ set to:1761519943.421449
2025-10-26T23:05:43.423Z,1761519943.423 [DAT](INFO): DAT read: Bearing  53.4,  -2.3 (Local)

2025-10-26T23:05:43.423Z,1761519943.423 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.4,  -2.3 (Local)

2025-10-26T23:05:43.426Z,1761519943.426 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed -0.2

2025-10-26T23:05:43.432Z,1761519943.432 [DAT](INFO): DAT read: 23:05:42.2262 LVL= 32752, 25969, 32754, 32755, AGC= 68, IDX= 511, 0.48,-0.806, 0.945,-0.593,-0.008, PHS=-0.696, 0.998,-0.629, RAW= 328.0,   4.0, CAL= 326.7,   1.8, ROT= 183.3,  -1.8

2025-10-26T23:05:43.434Z,1761519943.434 [DAT](INFO): got valid direction response:
 23:05:42.2262 LVL= 32752, 25969, 32754, 32755, AGC= 68, IDX= 511, 0.48,-0.806, 0.945,-0.593,-0.008, PHS=-0.696, 0.998,-0.629, RAW= 328.0,   4.0, CAL= 326.7,   1.8, ROT= 183.3,  -1.8

2025-10-26T23:05:43.434Z,1761519943.434 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-10-26T23:05:43.436Z,1761519943.436 [DAT](INFO): direction in FSK: [-0.997849,-0.057536,0.031411]
2025-10-26T23:05:43.436Z,1761519943.436 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:43.445Z,1761519943.445 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.529076
2025-10-26T23:05:43.634Z,1761519943.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016084,-0.997676,-0.066206],[0.999802,0.015274,0.012721],[-0.011681,-0.066397,0.997725]]
2025-10-26T23:05:43.664Z,1761519943.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.500298 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:43.666Z,1761519943.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.425920 m,
      bearing: 272.253227 deg,
      lat: 36.779431 deg,
      lon: -121.859373 deg,
      deltaT: 0.500298 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:05:43.667Z,1761519943.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-26T23:05:43.673Z,1761519943.673 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.757076
2025-10-26T23:05:43.929Z,1761519943.929 [DAT](INFO): DAT read: Rx Time:23:05:42.7263 

2025-10-26T23:05:43.931Z,1761519943.931 [DAT](INFO): Rx dataTimestamp_ set to:1761519943.929586
2025-10-26T23:05:43.935Z,1761519943.935 [DAT](INFO): DAT read: Bearing  86.5,  28.9 (Local)

2025-10-26T23:05:43.936Z,1761519943.936 [DAT](INFO): Local bearing/azimuth received:
 Bearing  86.5,  28.9 (Local)

2025-10-26T23:05:43.943Z,1761519943.943 [DAT](INFO): DAT read: Range 11 to 50 :    15.6 m (trip time 10.4 ms) speed 0.0

2025-10-26T23:05:43.958Z,1761519943.958 [DAT](INFO): DAT read: 23:05:42.7263 LVL= 32752, 25313, 32754, 32755, AGC= 69, IDX= 513, 0.22,-0.518, 0.297,-1.116,-1.052, PHS= 0.636, 1.394,-0.108, RAW= 359.7, -27.6, CAL=   0.0, -29.4, ROT= 150.0,  29.4

2025-10-26T23:05:43.959Z,1761519943.959 [DAT](INFO): got valid direction response:
 23:05:42.7263 LVL= 32752, 25313, 32754, 32755, AGC= 69, IDX= 513, 0.22,-0.518, 0.297,-1.116,-1.052, PHS= 0.636, 1.394,-0.108, RAW= 359.7, -27.6, CAL=   0.0, -29.4, ROT= 150.0,  29.4

2025-10-26T23:05:43.959Z,1761519943.959 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-26T23:05:43.960Z,1761519943.960 [DAT](INFO): direction in FSK: [-0.754493,0.435607,-0.490904]
2025-10-26T23:05:43.961Z,1761519943.961 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:43.964Z,1761519943.964 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.048901
2025-10-26T23:05:44.143Z,1761519944.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.508137 s,
      deltaX: 0.100000 m,
      approachRate: 0.196798 m/s,
      rangeRepo size: 4

2025-10-26T23:05:44.149Z,1761519944.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.526062 m,
      bearing: 241.214615 deg,
      lat: 36.779431 deg,
      lon: -121.859373 deg,
      deltaT: 0.508137 s,
      deltaX: 0.100142 m,
      approachRate: 0.197078 m/s,
      posRepo size: 4

2025-10-26T23:05:44.149Z,1761519944.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.53 m.
2025-10-26T23:05:44.177Z,1761519944.177 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.261150
2025-10-26T23:05:44.429Z,1761519944.429 [DAT](INFO): DAT read: Rx Time:23:05:43.2263 

2025-10-26T23:05:44.429Z,1761519944.429 [DAT](INFO): Rx dataTimestamp_ set to:1761519944.429041
2025-10-26T23:05:44.431Z,1761519944.431 [DAT](INFO): DAT read: Bearing  46.9,   2.5 (Local)

2025-10-26T23:05:44.431Z,1761519944.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing  46.9,   2.5 (Local)

2025-10-26T23:05:44.433Z,1761519944.433 [DAT](INFO): DAT read: Range 11 to 50 :    15.6 m (trip time 10.4 ms) speed -0.2

2025-10-26T23:05:44.438Z,1761519944.438 [DAT](INFO): DAT read: 23:05:43.2263 LVL= 32752, 24081, 32754, 32755, AGC= 70, IDX= 513,-0.01, 2.753,-2.127, 2.820,-2.826, PHS=-0.602, 0.744,-0.681, RAW= 332.8,   7.8, CAL= 332.3,   7.9, ROT= 177.7,  -7.9

2025-10-26T23:05:44.439Z,1761519944.439 [DAT](INFO): got valid direction response:
 23:05:43.2263 LVL= 32752, 24081, 32754, 32755, AGC= 70, IDX= 513,-0.01, 2.753,-2.127, 2.820,-2.826, PHS=-0.602, 0.744,-0.681, RAW= 332.8,   7.8, CAL= 332.3,   7.9, ROT= 177.7,  -7.9

2025-10-26T23:05:44.439Z,1761519944.439 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-10-26T23:05:44.440Z,1761519944.440 [DAT](INFO): direction in FSK: [-0.989711,0.039751,0.137445]
2025-10-26T23:05:44.440Z,1761519944.440 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:44.464Z,1761519944.464 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.535866
2025-10-26T23:05:44.496Z,1761519944.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020951,-0.997603,-0.065953],[0.999736,0.020282,0.010794],[-0.009431,-0.066161,0.997764]]
2025-10-26T23:05:44.577Z,1761519944.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.499455 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:44.584Z,1761519944.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.526062 m,
      bearing: 265.975354 deg,
      lat: 36.779418 deg,
      lon: -121.859373 deg,
      deltaT: 0.499455 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:05:44.584Z,1761519944.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.53 m.
2025-10-26T23:05:44.682Z,1761519944.682 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.765968
2025-10-26T23:05:44.871Z,1761519944.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023386,-0.997553,-0.065891],[0.999688,0.022757,0.010277],[-0.008752,-0.066111,0.997774]]
2025-10-26T23:05:44.903Z,1761519944.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.53 m.
2025-10-26T23:05:44.937Z,1761519944.937 [DAT](INFO): DAT read: Rx Time:23:05:43.7264 

2025-10-26T23:05:44.939Z,1761519944.939 [DAT](INFO): Rx dataTimestamp_ set to:1761519944.937593
2025-10-26T23:05:44.943Z,1761519944.943 [DAT](INFO): DAT read: Bearing  54.8,  -1.7 (Local)

2025-10-26T23:05:44.944Z,1761519944.944 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.8,  -1.7 (Local)

2025-10-26T23:05:44.980Z,1761519944.980 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed -0.1

2025-10-26T23:05:44.989Z,1761519944.989 [DAT](INFO): DAT read: 23:05:43.7264 LVL= 32752, 31937, 32754, 32755, AGC= 74, IDX=   2, 0.42, 1.350, 3.100, 1.533, 2.112, PHS=-0.659, 1.033,-0.623, RAW= 328.9,   3.0, CAL= 327.6,   0.3, ROT= 182.4,  -0.3

2025-10-26T23:05:44.990Z,1761519944.990 [DAT](INFO): got valid direction response:
 23:05:43.7264 LVL= 32752, 31937, 32754, 32755, AGC= 74, IDX=   2, 0.42, 1.350, 3.100, 1.533, 2.112, PHS=-0.659, 1.033,-0.623, RAW= 328.9,   3.0, CAL= 327.6,   0.3, ROT= 182.4,  -0.3

2025-10-26T23:05:44.991Z,1761519944.991 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-26T23:05:44.997Z,1761519944.997 [DAT](INFO): direction in FSK: [-0.999109,-0.041875,0.005236]
2025-10-26T23:05:44.997Z,1761519944.997 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:45.005Z,1761519945.005 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.089676
2025-10-26T23:05:45.185Z,1761519945.185 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.269325
2025-10-26T23:05:45.365Z,1761519945.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025766,-0.997439,-0.066724],[0.999637,0.025184,0.009542],[-0.007837,-0.066946,0.997726]]
2025-10-26T23:05:45.419Z,1761519945.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.508552 s,
      deltaX: 0.200000 m,
      approachRate: 0.393273 m/s,
      rangeRepo size: 4

2025-10-26T23:05:45.421Z,1761519945.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.725016 m,
      bearing: 270.898294 deg,
      lat: 36.779418 deg,
      lon: -121.859373 deg,
      deltaT: 0.508552 s,
      deltaX: 0.198954 m,
      approachRate: 0.391216 m/s,
      posRepo size: 4

2025-10-26T23:05:45.421Z,1761519945.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.73 m.
2025-10-26T23:05:45.439Z,1761519945.439 [DAT](INFO): DAT read: Rx Time:23:05:44.2264 

2025-10-26T23:05:45.440Z,1761519945.440 [DAT](INFO): Rx dataTimestamp_ set to:1761519945.439683
2025-10-26T23:05:45.441Z,1761519945.441 [DAT](INFO): DAT read: Bearing  53.7,  -2.0 (Local)

2025-10-26T23:05:45.442Z,1761519945.442 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.7,  -2.0 (Local)

2025-10-26T23:05:45.444Z,1761519945.444 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed 0.0

2025-10-26T23:05:45.449Z,1761519945.449 [DAT](INFO): DAT read: 23:05:44.2264 LVL= 32752, 25553, 32754, 32755, AGC= 71, IDX= 498,-0.11,-1.063, 0.686,-0.875,-0.281, PHS=-0.680, 1.012,-0.638, RAW= 328.7,   3.7, CAL= 327.5,   1.4, ROT= 182.5,  -1.4

2025-10-26T23:05:45.451Z,1761519945.451 [DAT](INFO): got valid direction response:
 23:05:44.2264 LVL= 32752, 25553, 32754, 32755, AGC= 71, IDX= 498,-0.11,-1.063, 0.686,-0.875,-0.281, PHS=-0.680, 1.012,-0.638, RAW= 328.7,   3.7, CAL= 327.5,   1.4, ROT= 182.5,  -1.4

2025-10-26T23:05:45.451Z,1761519945.451 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-10-26T23:05:45.453Z,1761519945.453 [DAT](INFO): direction in FSK: [-0.998750,-0.043606,0.024432]
2025-10-26T23:05:45.453Z,1761519945.453 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:45.462Z,1761519945.462 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.546303
2025-10-26T23:05:45.689Z,1761519945.689 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.773151
2025-10-26T23:05:45.757Z,1761519945.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028048,-0.997604,-0.063235],[0.999585,0.027573,0.008384],[-0.006621,-0.063444,0.997963]]
2025-10-26T23:05:45.810Z,1761519945.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.502090 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:45.827Z,1761519945.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.724559 m,
      bearing: 270.799398 deg,
      lat: 36.779430 deg,
      lon: -121.859375 deg,
      deltaT: 0.502090 s,
      deltaX: -0.000457 m,
      approachRate: -0.000910 m/s,
      posRepo size: 4

2025-10-26T23:05:45.833Z,1761519945.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.72 m.
2025-10-26T23:05:45.945Z,1761519945.945 [DAT](INFO): DAT read: Rx Time:23:05:44.7264 

2025-10-26T23:05:45.948Z,1761519945.948 [DAT](INFO): Rx dataTimestamp_ set to:1761519945.946217
2025-10-26T23:05:45.953Z,1761519945.953 [DAT](INFO): DAT read: Bearing  54.8,  -1.5 (Local)

2025-10-26T23:05:45.954Z,1761519945.954 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.8,  -1.5 (Local)

2025-10-26T23:05:45.980Z,1761519945.980 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed 0.0

2025-10-26T23:05:45.997Z,1761519945.997 [DAT](INFO): DAT read: 23:05:44.7264 LVL= 32752, 26353, 32754, 32755, AGC= 69, IDX= 498, 0.23, 0.651, 2.426, 0.819, 1.415, PHS=-0.662, 1.056,-0.640, RAW= 329.4,   2.9, CAL= 328.1,   0.2, ROT= 181.9,  -0.2

2025-10-26T23:05:45.998Z,1761519945.998 [DAT](INFO): got valid direction response:
 23:05:44.7264 LVL= 32752, 26353, 32754, 32755, AGC= 69, IDX= 498, 0.23, 0.651, 2.426, 0.819, 1.415, PHS=-0.662, 1.056,-0.640, RAW= 329.4,   2.9, CAL= 328.1,   0.2, ROT= 181.9,  -0.2

2025-10-26T23:05:45.999Z,1761519945.999 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-10-26T23:05:46.004Z,1761519946.004 [DAT](INFO): direction in FSK: [-0.999444,-0.033155,0.003491]
2025-10-26T23:05:46.004Z,1761519946.004 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:46.012Z,1761519946.012 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.096802
2025-10-26T23:05:46.154Z,1761519946.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030444,-0.997829,-0.058396],[0.999522,0.030076,0.007177],[-0.005405,-0.058587,0.998268]]
2025-10-26T23:05:46.193Z,1761519946.193 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.277287
2025-10-26T23:05:46.212Z,1761519946.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.506534 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:46.214Z,1761519946.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.724559 m,
      bearing: 270.140484 deg,
      lat: 36.779429 deg,
      lon: -121.859375 deg,
      deltaT: 0.506534 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:05:46.215Z,1761519946.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.72 m.
2025-10-26T23:05:46.445Z,1761519946.445 [DAT](INFO): DAT read: Rx Time:23:05:45.2264 

2025-10-26T23:05:46.446Z,1761519946.446 [DAT](INFO): Rx dataTimestamp_ set to:1761519946.445356
2025-10-26T23:05:46.447Z,1761519946.447 [DAT](INFO): DAT read: Bearing  55.6,  -1.2 (Local)

2025-10-26T23:05:46.447Z,1761519946.447 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.6,  -1.2 (Local)

2025-10-26T23:05:46.449Z,1761519946.449 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed -0.2

2025-10-26T23:05:46.454Z,1761519946.454 [DAT](INFO): DAT read: 23:05:45.2264 LVL= 32752, 23665, 32754, 32755, AGC= 68, IDX= 498,-0.22,-2.910,-1.157,-2.751,-2.179, PHS=-0.629, 1.067,-0.616, RAW= 329.6,   2.1, CAL= 328.4,  -0.7, ROT= 181.6,   0.7

2025-10-26T23:05:46.455Z,1761519946.455 [DAT](INFO): got valid direction response:
 23:05:45.2264 LVL= 32752, 23665, 32754, 32755, AGC= 68, IDX= 498,-0.22,-2.910,-1.157,-2.751,-2.179, PHS=-0.629, 1.067,-0.616, RAW= 329.6,   2.1, CAL= 328.4,  -0.7, ROT= 181.6,   0.7

2025-10-26T23:05:46.456Z,1761519946.456 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-10-26T23:05:46.457Z,1761519946.457 [DAT](INFO): direction in FSK: [-0.999536,-0.027920,-0.012217]
2025-10-26T23:05:46.457Z,1761519946.457 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:46.466Z,1761519946.466 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:05:46.493Z,1761519946.493 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.577576
2025-10-26T23:05:46.575Z,1761519946.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032605,-0.997782,-0.058027],[0.999459,0.032299,0.006205],[-0.004317,-0.058198,0.998296]]
2025-10-26T23:05:46.623Z,1761519946.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.499139 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:46.633Z,1761519946.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.724559 m,
      bearing: 269.769494 deg,
      lat: 36.779429 deg,
      lon: -121.859375 deg,
      deltaT: 0.499139 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:05:46.633Z,1761519946.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.72 m.
2025-10-26T23:05:46.699Z,1761519946.699 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.783428
2025-10-26T23:05:46.957Z,1761519946.957 [DAT](INFO): DAT read: Rx Time:23:05:45.7265 

2025-10-26T23:05:46.959Z,1761519946.959 [DAT](INFO): Rx dataTimestamp_ set to:1761519946.957857
2025-10-26T23:05:46.964Z,1761519946.964 [DAT](INFO): DAT read: Bearing  55.0,  -2.1 (Local)

2025-10-26T23:05:46.965Z,1761519946.965 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.0,  -2.1 (Local)

2025-10-26T23:05:46.996Z,1761519946.996 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.0

2025-10-26T23:05:47.023Z,1761519947.023 [DAT](INFO): DAT read: 23:05:45.7265 LVL= 32752, 25425, 32754, 32755, AGC= 66, IDX= 499, 0.12, 0.173, 1.954, 0.354, 0.938, PHS=-0.663, 1.062,-0.628, RAW= 329.0,   2.7, CAL= 327.7,  -0.1, ROT= 182.3,   0.1

2025-10-26T23:05:47.040Z,1761519947.040 [DAT](INFO): got valid direction response:
 23:05:45.7265 LVL= 32752, 25425, 32754, 32755, AGC= 66, IDX= 499, 0.12, 0.173, 1.954, 0.354, 0.938, PHS=-0.663, 1.062,-0.628, RAW= 329.0,   2.7, CAL= 327.7,  -0.1, ROT= 182.3,   0.1

2025-10-26T23:05:47.040Z,1761519947.040 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-10-26T23:05:47.042Z,1761519947.042 [DAT](INFO): direction in FSK: [-0.999193,-0.040132,-0.001745]
2025-10-26T23:05:47.042Z,1761519947.042 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:47.068Z,1761519947.068 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.152920
2025-10-26T23:05:47.160Z,1761519947.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.512501 s,
      deltaX: 0.099999 m,
      approachRate: 0.195120 m/s,
      rangeRepo size: 4

2025-10-26T23:05:47.162Z,1761519947.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.822050 m,
      bearing: 270.433487 deg,
      lat: 36.779430 deg,
      lon: -121.859375 deg,
      deltaT: 0.512501 s,
      deltaX: 0.097491 m,
      approachRate: 0.190226 m/s,
      posRepo size: 4

2025-10-26T23:05:47.163Z,1761519947.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.82 m.
2025-10-26T23:05:47.205Z,1761519947.205 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.289101
2025-10-26T23:05:47.457Z,1761519947.457 [DAT](INFO): DAT read: Rx Time:23:05:46.2265 

2025-10-26T23:05:47.457Z,1761519947.457 [DAT](INFO): Rx dataTimestamp_ set to:1761519947.457088
2025-10-26T23:05:47.459Z,1761519947.459 [DAT](INFO): DAT read: Bearing  50.9,  -2.6 (Local)

2025-10-26T23:05:47.459Z,1761519947.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.9,  -2.6 (Local)

2025-10-26T23:05:47.461Z,1761519947.461 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.0

2025-10-26T23:05:47.466Z,1761519947.466 [DAT](INFO): DAT read: 23:05:46.2265 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 499,-0.49,-1.740,-0.002,-1.548,-0.918, PHS=-0.720, 0.961,-0.674, RAW= 328.6,   5.3, CAL= 327.5,   3.9, ROT= 182.5,  -3.9

2025-10-26T23:05:47.467Z,1761519947.467 [DAT](INFO): got valid direction response:
 23:05:46.2265 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 499,-0.49,-1.740,-0.002,-1.548,-0.918, PHS=-0.720, 0.961,-0.674, RAW= 328.6,   5.3, CAL= 327.5,   3.9, ROT= 182.5,  -3.9

2025-10-26T23:05:47.468Z,1761519947.468 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:05:47.469Z,1761519947.469 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-10-26T23:05:47.469Z,1761519947.469 [DAT](INFO): direction in FSK: [-0.996735,-0.043518,0.068015]
2025-10-26T23:05:47.470Z,1761519947.470 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:47.494Z,1761519947.494 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.578381
2025-10-26T23:05:47.555Z,1761519947.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039086,-0.997601,-0.057133],[0.999232,0.038858,0.005090],[-0.002858,-0.057288,0.998354]]
2025-10-26T23:05:47.633Z,1761519947.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.499231 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:47.637Z,1761519947.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.822050 m,
      bearing: 270.032742 deg,
      lat: 36.779430 deg,
      lon: -121.859374 deg,
      deltaT: 0.499231 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:05:47.638Z,1761519947.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.82 m.
2025-10-26T23:05:47.708Z,1761519947.708 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.792820
2025-10-26T23:05:47.750Z,1761519947.750 [CTD_Seabird](ERROR): Failed to parse device response: ,10.9352,3.76596,2924.45
2025-10-26T23:05:47.965Z,1761519947.965 [DAT](INFO): DAT read: Rx Time:23:05:46.7266 

2025-10-26T23:05:47.967Z,1761519947.967 [DAT](INFO): Rx dataTimestamp_ set to:1761519947.965885
2025-10-26T23:05:47.972Z,1761519947.972 [DAT](INFO): DAT read: Bearing  56.0,  -2.2 (Local)

2025-10-26T23:05:47.973Z,1761519947.973 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.0,  -2.2 (Local)

2025-10-26T23:05:47.990Z,1761519947.990 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed -0.1

2025-10-26T23:05:48.030Z,1761519948.030 [DAT](INFO): DAT read: 23:05:46.7266 LVL= 32752, 24241, 32754, 32755, AGC= 65, IDX= 500, 0.01,-0.502, 1.291,-0.315, 0.233, PHS=-0.634, 1.103,-0.593, RAW= 328.8,   1.5, CAL= 327.6,  -1.4, ROT= 182.4,   1.4

2025-10-26T23:05:48.050Z,1761519948.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040946,-0.997544,-0.056822],[0.999158,0.040737,0.004841],[-0.002514,-0.056972,0.998373]]
2025-10-26T23:05:48.052Z,1761519948.052 [DAT](INFO): got valid direction response:
 23:05:46.7266 LVL= 32752, 24241, 32754, 32755, AGC= 65, IDX= 500, 0.01,-0.502, 1.291,-0.315, 0.233, PHS=-0.634, 1.103,-0.593, RAW= 328.8,   1.5, CAL= 327.6,  -1.4, ROT= 182.4,   1.4

2025-10-26T23:05:48.053Z,1761519948.053 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-10-26T23:05:48.054Z,1761519948.054 [DAT](INFO): direction in FSK: [-0.998825,-0.041863,-0.024432]
2025-10-26T23:05:48.055Z,1761519948.055 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:48.079Z,1761519948.079 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.163410
2025-10-26T23:05:48.189Z,1761519948.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.508797 s,
      deltaX: 0.200001 m,
      approachRate: 0.393086 m/s,
      rangeRepo size: 4

2025-10-26T23:05:48.191Z,1761519948.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.021070 m,
      bearing: 270.128970 deg,
      lat: 36.779430 deg,
      lon: -121.859374 deg,
      deltaT: 0.508797 s,
      deltaX: 0.199020 m,
      approachRate: 0.391159 m/s,
      posRepo size: 4

2025-10-26T23:05:48.200Z,1761519948.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.02 m.
2025-10-26T23:05:48.212Z,1761519948.212 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.296993
2025-10-26T23:05:48.440Z,1761519948.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042314,-0.997527,-0.056114],[0.999103,0.042140,0.004288],[-0.001912,-0.056245,0.998415]]
2025-10-26T23:05:48.460Z,1761519948.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.02 m.
2025-10-26T23:05:48.465Z,1761519948.465 [DAT](INFO): DAT read: Rx Time:23:05:47.2265 

2025-10-26T23:05:48.466Z,1761519948.466 [DAT](INFO): Rx dataTimestamp_ set to:1761519948.465252
2025-10-26T23:05:48.467Z,1761519948.467 [DAT](INFO): DAT read: Bearing  52.8,  -2.7 (Local)

2025-10-26T23:05:48.467Z,1761519948.467 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.8,  -2.7 (Local)

2025-10-26T23:05:48.469Z,1761519948.469 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed -0.2

2025-10-26T23:05:48.475Z,1761519948.475 [DAT](INFO): DAT read: 23:05:47.2265 LVL= 32752, 28337, 32754, 32755, AGC= 69, IDX= 499, 0.43,-0.334, 1.441,-0.140, 0.466, PHS=-0.698, 1.020,-0.650, RAW= 328.6,   3.9, CAL= 327.3,   1.7, ROT= 182.7,  -1.7

2025-10-26T23:05:48.476Z,1761519948.476 [DAT](INFO): got valid direction response:
 23:05:47.2265 LVL= 32752, 28337, 32754, 32755, AGC= 69, IDX= 499, 0.43,-0.334, 1.441,-0.140, 0.466, PHS=-0.698, 1.020,-0.650, RAW= 328.6,   3.9, CAL= 327.3,   1.7, ROT= 182.7,  -1.7

2025-10-26T23:05:48.476Z,1761519948.476 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-10-26T23:05:48.477Z,1761519948.477 [DAT](INFO): direction in FSK: [-0.998450,-0.047086,0.029666]
2025-10-26T23:05:48.477Z,1761519948.477 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:48.493Z,1761519948.493 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.578033
2025-10-26T23:05:48.717Z,1761519948.717 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.801258
2025-10-26T23:05:48.863Z,1761519948.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043700,-0.997511,-0.055340],[0.999044,0.043567,0.003617],[-0.001197,-0.055445,0.998461]]
2025-10-26T23:05:48.887Z,1761519948.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.499367 s,
      deltaX: -0.200001 m,
      approachRate: -0.400509 m/s,
      rangeRepo size: 4

2025-10-26T23:05:48.889Z,1761519948.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.821776 m,
      bearing: 270.097111 deg,
      lat: 36.779430 deg,
      lon: -121.859374 deg,
      deltaT: 0.499367 s,
      deltaX: -0.199294 m,
      approachRate: -0.399093 m/s,
      posRepo size: 4

2025-10-26T23:05:48.889Z,1761519948.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.82 m.
2025-10-26T23:05:48.976Z,1761519948.976 [DAT](INFO): DAT read: Rx Time:23:05:47.7267 

2025-10-26T23:05:48.978Z,1761519948.978 [DAT](INFO): Rx dataTimestamp_ set to:1761519948.976579
2025-10-26T23:05:48.982Z,1761519948.982 [DAT](INFO): DAT read: Bearing  55.3,  -2.5 (Local)

2025-10-26T23:05:48.999Z,1761519948.999 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.3,  -2.5 (Local)

2025-10-26T23:05:49.006Z,1761519949.006 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed -0.2

2025-10-26T23:05:49.046Z,1761519949.046 [DAT](INFO): DAT read: 23:05:47.7267 LVL= 32752, 26097, 32754, 32755, AGC= 65, IDX= 501, 0.07,-0.545, 1.248,-0.349, 0.205, PHS=-0.648, 1.088,-0.599, RAW= 328.6,   1.9, CAL= 327.3,  -1.0, ROT= 182.7,   1.0

2025-10-26T23:05:49.065Z,1761519949.065 [DAT](INFO): got valid direction response:
 23:05:47.7267 LVL= 32752, 26097, 32754, 32755, AGC= 65, IDX= 501, 0.07,-0.545, 1.248,-0.349, 0.205, PHS=-0.648, 1.088,-0.599, RAW= 328.6,   1.9, CAL= 327.3,  -1.0, ROT= 182.7,   1.0

2025-10-26T23:05:49.065Z,1761519949.065 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-10-26T23:05:49.066Z,1761519949.066 [DAT](INFO): direction in FSK: [-0.998738,-0.047099,-0.017452]
2025-10-26T23:05:49.066Z,1761519949.066 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:49.074Z,1761519949.074 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.158733
2025-10-26T23:05:49.220Z,1761519949.220 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.304958
2025-10-26T23:05:49.246Z,1761519949.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044812,-0.997432,-0.055868],[0.998995,0.044720,0.002888],[-0.000383,-0.055941,0.998434]]
2025-10-26T23:05:49.357Z,1761519949.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.511327 s,
      deltaX: 0.300001 m,
      approachRate: 0.586711 m/s,
      rangeRepo size: 4

2025-10-26T23:05:49.359Z,1761519949.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.120302 m,
      bearing: 270.183264 deg,
      lat: 36.779430 deg,
      lon: -121.859374 deg,
      deltaT: 0.511327 s,
      deltaX: 0.298526 m,
      approachRate: 0.583826 m/s,
      posRepo size: 4

2025-10-26T23:05:49.363Z,1761519949.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.12 m.
2025-10-26T23:05:49.474Z,1761519949.474 [DAT](INFO): DAT read: Rx Time:23:05:48.2267 

2025-10-26T23:05:49.474Z,1761519949.474 [DAT](INFO): Rx dataTimestamp_ set to:1761519949.473873
2025-10-26T23:05:49.476Z,1761519949.476 [DAT](INFO): DAT read: Bearing  53.4,  -3.2 (Local)

2025-10-26T23:05:49.477Z,1761519949.477 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.4,  -3.2 (Local)

2025-10-26T23:05:49.479Z,1761519949.479 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed -0.2

2025-10-26T23:05:49.484Z,1761519949.484 [DAT](INFO): DAT read: 23:05:48.2267 LVL= 32752, 28113, 32754, 32755, AGC= 69, IDX= 501,-0.14, 2.526,-1.984, 2.736,-2.969, PHS=-0.686, 1.030,-0.622, RAW= 328.1,   3.4, CAL= 326.8,   0.8, ROT= 183.2,  -0.8

2025-10-26T23:05:49.485Z,1761519949.485 [DAT](INFO): got valid direction response:
 23:05:48.2267 LVL= 32752, 28113, 32754, 32755, AGC= 69, IDX= 501,-0.14, 2.526,-1.984, 2.736,-2.969, PHS=-0.686, 1.030,-0.622, RAW= 328.1,   3.4, CAL= 326.8,   0.8, ROT= 183.2,  -0.8

2025-10-26T23:05:49.485Z,1761519949.485 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-10-26T23:05:49.486Z,1761519949.486 [DAT](INFO): direction in FSK: [-0.998343,-0.055816,0.013962]
2025-10-26T23:05:49.487Z,1761519949.487 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:49.494Z,1761519949.494 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.578922
2025-10-26T23:05:49.650Z,1761519949.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045952,-0.997345,-0.056496],[0.998943,0.045911,0.002027],[0.000572,-0.056530,0.998401]]
2025-10-26T23:05:49.685Z,1761519949.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.497294 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:49.687Z,1761519949.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.120302 m,
      bearing: 270.515928 deg,
      lat: 36.779430 deg,
      lon: -121.859373 deg,
      deltaT: 0.497294 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:05:49.687Z,1761519949.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.12 m.
2025-10-26T23:05:49.725Z,1761519949.725 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.809467
2025-10-26T23:05:49.981Z,1761519949.981 [DAT](INFO): DAT read: Rx Time:23:05:48.7267 

2025-10-26T23:05:49.983Z,1761519949.983 [DAT](INFO): Rx dataTimestamp_ set to:1761519949.981841
2025-10-26T23:05:49.987Z,1761519949.987 [DAT](INFO): DAT read: Bearing  55.5,  -3.1 (Local)

2025-10-26T23:05:49.988Z,1761519949.988 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.5,  -3.1 (Local)

2025-10-26T23:05:50.036Z,1761519950.036 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed -0.2

2025-10-26T23:05:50.055Z,1761519950.055 [DAT](INFO): DAT read: 23:05:48.7267 LVL= 32752, 22385, 32754, 32755, AGC= 66, IDX= 502,-0.46, 2.407,-2.094, 2.619,-3.136, PHS=-0.637, 1.087,-0.571, RAW= 328.1,   1.5, CAL= 326.8,  -1.4, ROT= 183.2,   1.4

2025-10-26T23:05:50.069Z,1761519950.069 [DAT](INFO): got valid direction response:
 23:05:48.7267 LVL= 32752, 22385, 32754, 32755, AGC= 66, IDX= 502,-0.46, 2.407,-2.094, 2.619,-3.136, PHS=-0.637, 1.087,-0.571, RAW= 328.1,   1.5, CAL= 326.8,  -1.4, ROT= 183.2,   1.4

2025-10-26T23:05:50.070Z,1761519950.070 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-10-26T23:05:50.071Z,1761519950.071 [DAT](INFO): direction in FSK: [-0.998143,-0.055805,-0.024432]
2025-10-26T23:05:50.071Z,1761519950.071 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:50.083Z,1761519950.083 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.167229
2025-10-26T23:05:50.222Z,1761519950.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.507968 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:50.229Z,1761519950.229 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.313091
2025-10-26T23:05:50.229Z,1761519950.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.120684 m,
      bearing: 270.640186 deg,
      lat: 36.779431 deg,
      lon: -121.859373 deg,
      deltaT: 0.507968 s,
      deltaX: 0.000381 m,
      approachRate: 0.000751 m/s,
      posRepo size: 4

2025-10-26T23:05:50.230Z,1761519950.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.12 m.
2025-10-26T23:05:50.481Z,1761519950.481 [DAT](INFO): DAT read: Rx Time:23:05:49.2267 

2025-10-26T23:05:50.482Z,1761519950.482 [DAT](INFO): Rx dataTimestamp_ set to:1761519950.481228
2025-10-26T23:05:50.483Z,1761519950.483 [DAT](INFO): DAT read: Bearing  53.0,  -4.2 (Local)

2025-10-26T23:05:50.483Z,1761519950.483 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.0,  -4.2 (Local)

2025-10-26T23:05:50.485Z,1761519950.485 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed -0.2

2025-10-26T23:05:50.490Z,1761519950.490 [DAT](INFO): DAT read: 23:05:49.2267 LVL= 32752, 28945, 32754, 32755, AGC= 69, IDX= 501, 0.17, 2.952,-1.550,-3.094,-2.529, PHS=-0.701, 1.024,-0.610, RAW= 327.3,   3.5, CAL= 325.9,   1.0, ROT= 184.1,  -1.0

2025-10-26T23:05:50.491Z,1761519950.491 [DAT](INFO): got valid direction response:
 23:05:49.2267 LVL= 32752, 28945, 32754, 32755, AGC= 69, IDX= 501, 0.17, 2.952,-1.550,-3.094,-2.529, PHS=-0.701, 1.024,-0.610, RAW= 327.3,   3.5, CAL= 325.9,   1.0, ROT= 184.1,  -1.0

2025-10-26T23:05:50.492Z,1761519950.492 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-10-26T23:05:50.493Z,1761519950.493 [DAT](INFO): direction in FSK: [-0.997289,-0.071487,0.017452]
2025-10-26T23:05:50.493Z,1761519950.493 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:50.501Z,1761519950.501 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.585186
2025-10-26T23:05:50.504Z,1761519950.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047833,-0.997169,-0.058013],[0.998852,0.047907,0.000119],[0.002660,-0.057952,0.998316]]
2025-10-26T23:05:50.604Z,1761519950.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.499387 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:50.606Z,1761519950.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.120684 m,
      bearing: 271.293407 deg,
      lat: 36.779432 deg,
      lon: -121.859372 deg,
      deltaT: 0.499387 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:05:50.607Z,1761519950.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.12 m.
2025-10-26T23:05:50.733Z,1761519950.733 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.817955
2025-10-26T23:05:50.988Z,1761519950.988 [DAT](INFO): DAT read: Rx Time:23:05:49.7269 

2025-10-26T23:05:50.988Z,1761519950.988 [DAT](INFO): Rx dataTimestamp_ set to:1761519950.987985
2025-10-26T23:05:50.990Z,1761519950.990 [DAT](INFO): DAT read: Bearing  53.7,  -3.8 (Local)

2025-10-26T23:05:50.990Z,1761519950.990 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.7,  -3.8 (Local)

2025-10-26T23:05:50.992Z,1761519950.992 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.0

2025-10-26T23:05:50.997Z,1761519950.997 [DAT](INFO): DAT read: 23:05:49.7269 LVL= 32752, 24401, 32754, 32755, AGC= 70, IDX= 503,-0.03, 2.791,-1.701, 3.014,-2.706, PHS=-0.685, 1.050,-0.608, RAW= 327.7,   2.9, CAL= 326.3,   0.1, ROT= 183.7,  -0.1

2025-10-26T23:05:51.011Z,1761519951.011 [DAT](INFO): got valid direction response:
 23:05:49.7269 LVL= 32752, 24401, 32754, 32755, AGC= 70, IDX= 503,-0.03, 2.791,-1.701, 3.014,-2.706, PHS=-0.685, 1.050,-0.608, RAW= 327.7,   2.9, CAL= 326.3,   0.1, ROT= 183.7,  -0.1

2025-10-26T23:05:51.013Z,1761519951.013 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-10-26T23:05:51.018Z,1761519951.018 [DAT](INFO): direction in FSK: [-0.997914,-0.064532,0.001745]
2025-10-26T23:05:51.019Z,1761519951.019 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:51.068Z,1761519951.068 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.152622
2025-10-26T23:05:51.097Z,1761519951.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048462,-0.997047,-0.059577],[0.998812,0.048680,-0.002220],[0.005114,-0.059399,0.998221]]
2025-10-26T23:05:51.237Z,1761519951.237 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.321194
2025-10-26T23:05:51.280Z,1761519951.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.506757 s,
      deltaX: 0.299999 m,
      approachRate: 0.591998 m/s,
      rangeRepo size: 4

2025-10-26T23:05:51.282Z,1761519951.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.419792 m,
      bearing: 270.909706 deg,
      lat: 36.779432 deg,
      lon: -121.859373 deg,
      deltaT: 0.506757 s,
      deltaX: 0.299109 m,
      approachRate: 0.590240 m/s,
      posRepo size: 4

2025-10-26T23:05:51.283Z,1761519951.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.42 m.
2025-10-26T23:05:51.489Z,1761519951.489 [DAT](INFO): DAT read: Rx Time:23:05:50.2268 

2025-10-26T23:05:51.490Z,1761519951.490 [DAT](INFO): Rx dataTimestamp_ set to:1761519951.489232
2025-10-26T23:05:51.491Z,1761519951.491 [DAT](INFO): DAT read: Bearing  53.7,  -3.8 (Local)

2025-10-26T23:05:51.492Z,1761519951.492 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.7,  -3.8 (Local)

2025-10-26T23:05:51.494Z,1761519951.494 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed -0.4

2025-10-26T23:05:51.501Z,1761519951.501 [DAT](INFO): DAT read: 23:05:50.2268 LVL= 32752, 25377, 32754, 32755, AGC= 71, IDX= 503,-0.20, 1.325, 3.094, 1.547, 2.100, PHS=-0.673, 1.039,-0.597, RAW= 327.8,   2.8, CAL= 326.3,  -0.0, ROT= 183.7,   0.0

2025-10-26T23:05:51.503Z,1761519951.503 [DAT](INFO): got valid direction response:
 23:05:50.2268 LVL= 32752, 25377, 32754, 32755, AGC= 71, IDX= 503,-0.20, 1.325, 3.094, 1.547, 2.100, PHS=-0.673, 1.039,-0.597, RAW= 327.8,   2.8, CAL= 326.3,  -0.0, ROT= 183.7,   0.0

2025-10-26T23:05:51.503Z,1761519951.503 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-10-26T23:05:51.508Z,1761519951.508 [DAT](INFO): direction in FSK: [-0.997916,-0.064532,-0.000000]
2025-10-26T23:05:51.508Z,1761519951.508 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:51.512Z,1761519951.512 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.596581
2025-10-26T23:05:51.577Z,1761519951.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048280,-0.996936,-0.061544],[0.998814,0.048577,-0.003339],[0.006319,-0.061310,0.998099]]
2025-10-26T23:05:51.668Z,1761519951.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.501247 s,
      deltaX: -0.100000 m,
      approachRate: -0.199503 m/s,
      rangeRepo size: 4

2025-10-26T23:05:51.670Z,1761519951.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.320278 m,
      bearing: 270.925669 deg,
      lat: 36.779433 deg,
      lon: -121.859372 deg,
      deltaT: 0.501247 s,
      deltaX: -0.099514 m,
      approachRate: -0.198533 m/s,
      posRepo size: 4

2025-10-26T23:05:51.670Z,1761519951.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.32 m.
2025-10-26T23:05:51.741Z,1761519951.741 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.825783
2025-10-26T23:05:51.934Z,1761519951.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047836,-0.996920,-0.062144],[0.998832,0.048169,-0.003869],[0.006850,-0.061887,0.998060]]
2025-10-26T23:05:51.993Z,1761519951.993 [DAT](INFO): DAT read: Rx Time:23:05:50.7270 

2025-10-26T23:05:51.993Z,1761519951.993 [DAT](INFO): Rx dataTimestamp_ set to:1761519951.993080
2025-10-26T23:05:51.995Z,1761519951.995 [DAT](INFO): DAT read: Bearing  55.3,  -3.4 (Local)

2025-10-26T23:05:51.995Z,1761519951.995 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.3,  -3.4 (Local)

2025-10-26T23:05:51.998Z,1761519951.998 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed -0.2

2025-10-26T23:05:52.052Z,1761519952.052 [DAT](INFO): DAT read: 23:05:50.7270 LVL= 32752, 22193, 32754, 32755, AGC= 69, IDX= 505,-0.32, 1.742,-2.770, 1.957, 2.472, PHS=-0.628, 1.087,-0.558, RAW= 327.9,   1.2, CAL= 326.7,  -1.7, ROT= 183.3,   1.7

2025-10-26T23:05:52.068Z,1761519952.068 [DAT](INFO): got valid direction response:
 23:05:50.7270 LVL= 32752, 22193, 32754, 32755, AGC= 69, IDX= 505,-0.32, 1.742,-2.770, 1.957, 2.472, PHS=-0.628, 1.087,-0.558, RAW= 327.9,   1.2, CAL= 326.7,  -1.7, ROT= 183.3,   1.7

2025-10-26T23:05:52.068Z,1761519952.068 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-10-26T23:05:52.069Z,1761519952.069 [DAT](INFO): direction in FSK: [-0.997902,-0.057539,-0.029666]
2025-10-26T23:05:52.069Z,1761519952.069 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:52.086Z,1761519952.086 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.170151
2025-10-26T23:05:52.117Z,1761519952.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.503848 s,
      deltaX: 0.300001 m,
      approachRate: 0.595420 m/s,
      rangeRepo size: 4

2025-10-26T23:05:52.119Z,1761519952.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.619869 m,
      bearing: 270.657526 deg,
      lat: 36.779433 deg,
      lon: -121.859372 deg,
      deltaT: 0.503848 s,
      deltaX: 0.299591 m,
      approachRate: 0.594606 m/s,
      posRepo size: 4

2025-10-26T23:05:52.124Z,1761519952.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.62 m.
2025-10-26T23:05:52.245Z,1761519952.245 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.329094
2025-10-26T23:05:52.395Z,1761519952.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047145,-0.996932,-0.062476],[0.998861,0.047511,-0.004383],[0.007337,-0.062198,0.998037]]
2025-10-26T23:05:52.448Z,1761519952.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.62 m.
2025-10-26T23:05:52.498Z,1761519952.498 [DAT](INFO): DAT read: Rx Time:23:05:51.2269 

2025-10-26T23:05:52.499Z,1761519952.499 [DAT](INFO): Rx dataTimestamp_ set to:1761519952.498238
2025-10-26T23:05:52.501Z,1761519952.501 [DAT](INFO): DAT read: Bearing  53.1,  -3.5 (Local)

2025-10-26T23:05:52.501Z,1761519952.501 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.1,  -3.5 (Local)

2025-10-26T23:05:52.510Z,1761519952.510 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.0

2025-10-26T23:05:52.525Z,1761519952.525 [DAT](INFO): DAT read: 23:05:51.2269 LVL= 32752, 26145, 32754, 32755, AGC= 69, IDX= 504, 0.35, 2.715,-1.833, 2.920,-2.802, PHS=-0.664, 1.014,-0.605, RAW= 328.2,   3.1, CAL= 326.9,   0.5, ROT= 183.1,  -0.5

2025-10-26T23:05:52.532Z,1761519952.532 [DAT](INFO): got valid direction response:
 23:05:51.2269 LVL= 32752, 26145, 32754, 32755, AGC= 69, IDX= 504, 0.35, 2.715,-1.833, 2.920,-2.802, PHS=-0.664, 1.014,-0.605, RAW= 328.2,   3.1, CAL= 326.9,   0.5, ROT= 183.1,  -0.5

2025-10-26T23:05:52.533Z,1761519952.533 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-26T23:05:52.534Z,1761519952.534 [DAT](INFO): direction in FSK: [-0.998499,-0.054077,0.008727]
2025-10-26T23:05:52.535Z,1761519952.535 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:52.549Z,1761519952.549 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.633659
2025-10-26T23:05:52.748Z,1761519952.748 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.832928
2025-10-26T23:05:52.794Z,1761519952.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046020,-0.997062,-0.061239],[0.998908,0.046427,-0.005236],[0.008064,-0.060931,0.998109]]
2025-10-26T23:05:52.881Z,1761519952.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.505158 s,
      deltaX: -0.200001 m,
      approachRate: -0.395917 m/s,
      rangeRepo size: 4

2025-10-26T23:05:52.883Z,1761519952.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.421127 m,
      bearing: 270.425885 deg,
      lat: 36.779433 deg,
      lon: -121.859371 deg,
      deltaT: 0.505158 s,
      deltaX: -0.198742 m,
      approachRate: -0.393425 m/s,
      posRepo size: 4

2025-10-26T23:05:52.883Z,1761519952.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.42 m.
2025-10-26T23:05:53.001Z,1761519953.001 [DAT](INFO): DAT read: Rx Time:23:05:51.7271 

2025-10-26T23:05:53.002Z,1761519953.002 [DAT](INFO): Rx dataTimestamp_ set to:1761519953.001349
2025-10-26T23:05:53.003Z,1761519953.003 [DAT](INFO): DAT read: Bearing  54.3,  -2.5 (Local)

2025-10-26T23:05:53.003Z,1761519953.003 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.3,  -2.5 (Local)

2025-10-26T23:05:53.005Z,1761519953.005 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed -0.2

2025-10-26T23:05:53.010Z,1761519953.010 [DAT](INFO): DAT read: 23:05:51.7271 LVL= 32752, 21137, 32754, 32755, AGC= 69, IDX= 506, 0.20,-3.073,-1.299,-2.894,-2.329, PHS=-0.642, 1.075,-0.608, RAW= 329.0,   2.1, CAL= 327.8,  -0.7, ROT= 182.2,   0.7

2025-10-26T23:05:53.011Z,1761519953.011 [DAT](INFO): got valid direction response:
 23:05:51.7271 LVL= 32752, 21137, 32754, 32755, AGC= 69, IDX= 506, 0.20,-3.073,-1.299,-2.894,-2.329, PHS=-0.642, 1.075,-0.608, RAW= 329.0,   2.1, CAL= 327.8,  -0.7, ROT= 182.2,   0.7

2025-10-26T23:05:53.012Z,1761519953.012 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-10-26T23:05:53.018Z,1761519953.018 [DAT](INFO): direction in FSK: [-0.999188,-0.038385,-0.012217]
2025-10-26T23:05:53.019Z,1761519953.019 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:53.047Z,1761519953.047 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.130474
2025-10-26T23:05:53.252Z,1761519953.252 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.337009
2025-10-26T23:05:53.270Z,1761519953.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044374,-0.997231,-0.059678],[0.998975,0.044824,-0.006237],[0.008895,-0.059340,0.998198]]
2025-10-26T23:05:53.384Z,1761519953.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.503111 s,
      deltaX: 0.299999 m,
      approachRate: 0.596288 m/s,
      rangeRepo size: 4

2025-10-26T23:05:53.386Z,1761519953.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.719694 m,
      bearing: 269.694563 deg,
      lat: 36.779433 deg,
      lon: -121.859372 deg,
      deltaT: 0.503111 s,
      deltaX: 0.298567 m,
      approachRate: 0.593441 m/s,
      posRepo size: 4

2025-10-26T23:05:53.387Z,1761519953.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.72 m.
2025-10-26T23:05:53.505Z,1761519953.505 [DAT](INFO): DAT read: Rx Time:23:05:52.2271 

2025-10-26T23:05:53.505Z,1761519953.505 [DAT](INFO): Rx dataTimestamp_ set to:1761519953.505141
2025-10-26T23:05:53.507Z,1761519953.507 [DAT](INFO): DAT read: Bearing  53.3,  -2.9 (Local)

2025-10-26T23:05:53.507Z,1761519953.507 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.3,  -2.9 (Local)

2025-10-26T23:05:53.510Z,1761519953.510 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed 0.0

2025-10-26T23:05:53.517Z,1761519953.517 [DAT](INFO): DAT read: 23:05:52.2271 LVL= 32752, 23793, 32754, 32755, AGC= 69, IDX= 506,-0.01, 2.024,-2.494, 2.212, 2.795, PHS=-0.669, 1.039,-0.627, RAW= 328.8,   3.1, CAL= 327.5,   0.4, ROT= 182.5,  -0.4

2025-10-26T23:05:53.519Z,1761519953.519 [DAT](INFO): got valid direction response:
 23:05:52.2271 LVL= 32752, 23793, 32754, 32755, AGC= 69, IDX= 506,-0.01, 2.024,-2.494, 2.212, 2.795, PHS=-0.669, 1.039,-0.627, RAW= 328.8,   3.1, CAL= 327.5,   0.4, ROT= 182.5,  -0.4

2025-10-26T23:05:53.521Z,1761519953.521 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-10-26T23:05:53.523Z,1761519953.523 [DAT](INFO): direction in FSK: [-0.999024,-0.043618,0.006981]
2025-10-26T23:05:53.523Z,1761519953.523 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:53.530Z,1761519953.530 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.613979
2025-10-26T23:05:53.667Z,1761519953.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043335,-0.997305,-0.059205],[0.999017,0.043809,-0.006742],[0.009318,-0.058855,0.998223]]
2025-10-26T23:05:53.742Z,1761519953.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.503792 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:53.748Z,1761519953.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.719694 m,
      bearing: 269.988260 deg,
      lat: 36.779433 deg,
      lon: -121.859371 deg,
      deltaT: 0.503792 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:05:53.749Z,1761519953.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.72 m.
2025-10-26T23:05:53.757Z,1761519953.757 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.841064
2025-10-26T23:05:54.011Z,1761519954.011 [DAT](INFO): DAT read: Rx Time:23:05:52.7272 

2025-10-26T23:05:54.012Z,1761519954.012 [DAT](INFO): Rx dataTimestamp_ set to:1761519954.011235
2025-10-26T23:05:54.018Z,1761519954.018 [DAT](INFO): DAT read: Bearing  54.2,  -2.2 (Local)

2025-10-26T23:05:54.018Z,1761519954.018 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.2,  -2.2 (Local)

2025-10-26T23:05:54.022Z,1761519954.022 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed -0.2

2025-10-26T23:05:54.040Z,1761519954.040 [DAT](INFO): DAT read: 23:05:52.7272 LVL= 32752, 24257, 32754, 32755, AGC= 69, IDX= 507,-0.17, 0.991, 2.751, 1.159, 1.732, PHS=-0.640, 1.064,-0.617, RAW= 329.3,   2.3, CAL= 328.1,  -0.5, ROT= 181.9,   0.5

2025-10-26T23:05:54.044Z,1761519954.044 [DAT](INFO): got valid direction response:
 23:05:52.7272 LVL= 32752, 24257, 32754, 32755, AGC= 69, IDX= 507,-0.17, 0.991, 2.751, 1.159, 1.732, PHS=-0.640, 1.064,-0.617, RAW= 329.3,   2.3, CAL= 328.1,  -0.5, ROT= 181.9,   0.5

2025-10-26T23:05:54.046Z,1761519954.046 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-10-26T23:05:54.093Z,1761519954.093 [DAT](INFO): direction in FSK: [-0.999412,-0.033154,-0.008727]
2025-10-26T23:05:54.094Z,1761519954.094 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:54.102Z,1761519954.102 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.187012
2025-10-26T23:05:54.137Z,1761519954.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042378,-0.997365,-0.058877],[0.999055,0.042873,-0.007169],[0.009675,-0.058518,0.998239]]
2025-10-26T23:05:54.254Z,1761519954.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.506094 s,
      deltaX: 0.200001 m,
      approachRate: 0.395185 m/s,
      rangeRepo size: 4

2025-10-26T23:05:54.261Z,1761519954.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.919033 m,
      bearing: 269.497257 deg,
      lat: 36.779432 deg,
      lon: -121.859372 deg,
      deltaT: 0.506094 s,
      deltaX: 0.199339 m,
      approachRate: 0.393877 m/s,
      posRepo size: 4

2025-10-26T23:05:54.261Z,1761519954.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.92 m.
2025-10-26T23:05:54.265Z,1761519954.265 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.349499
2025-10-26T23:05:54.496Z,1761519954.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041504,-0.997420,-0.058576],[0.999090,0.042010,-0.007431],[0.009872,-0.058214,0.998255]]
2025-10-26T23:05:54.519Z,1761519954.519 [DAT](INFO): DAT read: Rx Time:23:05:53.2272 

2025-10-26T23:05:54.520Z,1761519954.520 [DAT](INFO): Rx dataTimestamp_ set to:1761519954.519503
2025-10-26T23:05:54.522Z,1761519954.522 [DAT](INFO): DAT read: Bearing  53.8,  -1.9 (Local)

2025-10-26T23:05:54.522Z,1761519954.522 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.8,  -1.9 (Local)

2025-10-26T23:05:54.526Z,1761519954.526 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed -0.2

2025-10-26T23:05:54.534Z,1761519954.534 [DAT](INFO): DAT read: 23:05:53.2272 LVL= 32752, 21489, 32754, 32755, AGC= 70, IDX= 507,-0.47, 0.581, 2.345, 0.737, 1.333, PHS=-0.650, 1.058,-0.640, RAW= 329.7,   2.8, CAL= 328.5,  -0.0, ROT= 181.5,   0.0

2025-10-26T23:05:54.538Z,1761519954.538 [DAT](INFO): got valid direction response:
 23:05:53.2272 LVL= 32752, 21489, 32754, 32755, AGC= 70, IDX= 507,-0.47, 0.581, 2.345, 0.737, 1.333, PHS=-0.650, 1.058,-0.640, RAW= 329.7,   2.8, CAL= 328.5,  -0.0, ROT= 181.5,   0.0

2025-10-26T23:05:54.538Z,1761519954.538 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-10-26T23:05:54.548Z,1761519954.548 [DAT](INFO): direction in FSK: [-0.999657,-0.026177,-0.000000]
2025-10-26T23:05:54.548Z,1761519954.548 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:54.554Z,1761519954.554 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.638386
2025-10-26T23:05:54.571Z,1761519954.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.508268 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:54.600Z,1761519954.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.919033 m,
      bearing: 269.118702 deg,
      lat: 36.779431 deg,
      lon: -121.859372 deg,
      deltaT: 0.508268 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:05:54.601Z,1761519954.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.92 m.
2025-10-26T23:05:54.769Z,1761519954.769 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.853096
2025-10-26T23:05:54.898Z,1761519954.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040517,-0.997506,-0.057796],[0.999131,0.041015,-0.007447],[0.009799,-0.057444,0.998301]]
2025-10-26T23:05:54.940Z,1761519954.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.92 m.
2025-10-26T23:05:55.022Z,1761519955.022 [DAT](INFO): DAT read: Rx Time:23:05:53.7273 

2025-10-26T23:05:55.023Z,1761519955.023 [DAT](INFO): Rx dataTimestamp_ set to:1761519955.022386
2025-10-26T23:05:55.025Z,1761519955.025 [DAT](INFO): DAT read: Bearing  53.5,  -1.2 (Local)

2025-10-26T23:05:55.025Z,1761519955.025 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.5,  -1.2 (Local)

2025-10-26T23:05:55.057Z,1761519955.057 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed -0.2

2025-10-26T23:05:55.135Z,1761519955.135 [DAT](INFO): DAT read: 23:05:53.7273 LVL= 32752, 21649, 32754, 32755, AGC= 68, IDX= 508, 0.19, 2.893,-1.637, 3.028,-2.642, PHS=-0.646, 1.050,-0.657, RAW= 330.3,   3.0, CAL= 329.1,   0.3, ROT= 180.9,  -0.3

2025-10-26T23:05:55.151Z,1761519955.151 [DAT](INFO): got valid direction response:
 23:05:53.7273 LVL= 32752, 21649, 32754, 32755, AGC= 68, IDX= 508, 0.19, 2.893,-1.637, 3.028,-2.642, PHS=-0.646, 1.050,-0.657, RAW= 330.3,   3.0, CAL= 329.1,   0.3, ROT= 180.9,  -0.3

2025-10-26T23:05:55.151Z,1761519955.151 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-10-26T23:05:55.161Z,1761519955.161 [DAT](INFO): direction in FSK: [-0.999863,-0.015707,0.005236]
2025-10-26T23:05:55.161Z,1761519955.161 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:55.169Z,1761519955.169 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=44.253414
2025-10-26T23:05:55.273Z,1761519955.273 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=44.357216
2025-10-26T23:05:55.342Z,1761519955.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039515,-0.997593,-0.056975],[0.999171,0.040005,-0.007489],[0.009750,-0.056632,0.998348]]
2025-10-26T23:05:55.401Z,1761519955.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.502883 s,
      deltaX: 0.100000 m,
      approachRate: 0.198854 m/s,
      rangeRepo size: 4

2025-10-26T23:05:55.403Z,1761519955.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.019064 m,
      bearing: 268.616824 deg,
      lat: 36.779431 deg,
      lon: -121.859372 deg,
      deltaT: 0.502883 s,
      deltaX: 0.100031 m,
      approachRate: 0.198915 m/s,
      posRepo size: 4

2025-10-26T23:05:55.403Z,1761519955.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.02 m.
2025-10-26T23:05:55.526Z,1761519955.526 [DAT](INFO): DAT read: Rx Time:23:05:54.2273 

2025-10-26T23:05:55.527Z,1761519955.527 [DAT](INFO): Rx dataTimestamp_ set to:1761519955.526659
2025-10-26T23:05:55.529Z,1761519955.529 [DAT](INFO): DAT read: Bearing  54.8,  -0.3 (Local)

2025-10-26T23:05:55.530Z,1761519955.530 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.8,  -0.3 (Local)

2025-10-26T23:05:55.533Z,1761519955.533 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed -0.2

2025-10-26T23:05:55.544Z,1761519955.544 [DAT](INFO): DAT read: 23:05:54.2273 LVL= 32752, 24401, 32754, 32755, AGC= 69, IDX= 508,-0.06, 0.222, 1.976, 0.330, 0.933, PHS=-0.609, 1.088,-0.646, RAW= 331.1,   2.0, CAL= 330.0,  -0.8, ROT= 180.0,   0.8

2025-10-26T23:05:55.545Z,1761519955.545 [DAT](INFO): got valid direction response:
 23:05:54.2273 LVL= 32752, 24401, 32754, 32755, AGC= 69, IDX= 508,-0.06, 0.222, 1.976, 0.330, 0.933, PHS=-0.609, 1.088,-0.646, RAW= 331.1,   2.0, CAL= 330.0,  -0.8, ROT= 180.0,   0.8

2025-10-26T23:05:55.545Z,1761519955.545 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-10-26T23:05:55.546Z,1761519955.546 [DAT](INFO): direction in FSK: [-0.999903,-0.000000,-0.013962]
2025-10-26T23:05:55.547Z,1761519955.547 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:55.550Z,1761519955.550 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.634991
2025-10-26T23:05:55.710Z,1761519955.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038508,-0.997672,-0.056290],[0.999212,0.038985,-0.007400],[0.009577,-0.055961,0.998387]]
2025-10-26T23:05:55.752Z,1761519955.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.504273 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:55.754Z,1761519955.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.019064 m,
      bearing: 267.837805 deg,
      lat: 36.779430 deg,
      lon: -121.859372 deg,
      deltaT: 0.504273 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:05:55.755Z,1761519955.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.02 m.
2025-10-26T23:05:55.793Z,1761519955.793 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.877838
2025-10-26T23:05:56.048Z,1761519956.048 [DAT](INFO): DAT read: Rx Time:23:05:54.7274 

2025-10-26T23:05:56.048Z,1761519956.048 [DAT](INFO): Rx dataTimestamp_ set to:1761519956.047998
2025-10-26T23:05:56.050Z,1761519956.050 [DAT](INFO): DAT read: Bearing  54.7,  -0.1 (Local)

2025-10-26T23:05:56.050Z,1761519956.050 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.7,  -0.1 (Local)

2025-10-26T23:05:56.052Z,1761519956.052 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed 0.0

2025-10-26T23:05:56.073Z,1761519956.073 [DAT](INFO): DAT read: 23:05:54.7274 LVL= 32752, 22001, 32754, 32755, AGC= 69, IDX= 510,-0.49, 2.005,-2.552, 2.106, 2.709, PHS=-0.602, 1.067,-0.647, RAW= 331.3,   2.2, CAL= 330.2,  -0.6, ROT= 179.8,   0.6

2025-10-26T23:05:56.082Z,1761519956.082 [DAT](INFO): got valid direction response:
 23:05:54.7274 LVL= 32752, 22001, 32754, 32755, AGC= 69, IDX= 510,-0.49, 2.005,-2.552, 2.106, 2.709, PHS=-0.602, 1.067,-0.647, RAW= 331.3,   2.2, CAL= 330.2,  -0.6, ROT= 179.8,   0.6

2025-10-26T23:05:56.083Z,1761519956.083 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-10-26T23:05:56.120Z,1761519956.120 [DAT](INFO): direction in FSK: [-0.999939,0.003490,-0.010472]
2025-10-26T23:05:56.121Z,1761519956.121 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:56.134Z,1761519956.134 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.218922
2025-10-26T23:05:56.165Z,1761519956.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037614,-0.997720,-0.056040],[0.999249,0.038077,-0.007218],[0.009336,-0.055726,0.998402]]
2025-10-26T23:05:56.258Z,1761519956.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.521339 s,
      deltaX: 0.199999 m,
      approachRate: 0.383625 m/s,
      rangeRepo size: 4

2025-10-26T23:05:56.264Z,1761519956.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.218292 m,
      bearing: 267.677980 deg,
      lat: 36.779429 deg,
      lon: -121.859372 deg,
      deltaT: 0.521339 s,
      deltaX: 0.199228 m,
      approachRate: 0.382147 m/s,
      posRepo size: 4

2025-10-26T23:05:56.265Z,1761519956.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.22 m.
2025-10-26T23:05:56.299Z,1761519956.299 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.382977
2025-10-26T23:05:56.521Z,1761519956.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037166,-0.997718,-0.056362],[0.999270,0.037603,-0.006704],[0.008808,-0.056072,0.998388]]
2025-10-26T23:05:56.549Z,1761519956.549 [DAT](INFO): DAT read: Rx Time:23:05:55.2274 

2025-10-26T23:05:56.549Z,1761519956.549 [DAT](INFO): Rx dataTimestamp_ set to:1761519956.549192
2025-10-26T23:05:56.551Z,1761519956.551 [DAT](INFO): DAT read: Bearing  53.3,   0.6 (Local)

2025-10-26T23:05:56.551Z,1761519956.551 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.3,   0.6 (Local)

2025-10-26T23:05:56.553Z,1761519956.553 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed 0.0

2025-10-26T23:05:56.558Z,1761519956.558 [DAT](INFO): DAT read: 23:05:55.2274 LVL= 32752, 26673, 32754, 32755, AGC= 70, IDX= 509, 0.02, 2.041,-2.506, 2.119, 2.773, PHS=-0.631, 1.049,-0.699, RAW= 332.0,   3.3, CAL= 330.9,   0.8, ROT= 179.1,  -0.8

2025-10-26T23:05:56.559Z,1761519956.559 [DAT](INFO): got valid direction response:
 23:05:55.2274 LVL= 32752, 26673, 32754, 32755, AGC= 70, IDX= 509, 0.02, 2.041,-2.506, 2.119, 2.773, PHS=-0.631, 1.049,-0.699, RAW= 332.0,   3.3, CAL= 330.9,   0.8, ROT= 179.1,  -0.8

2025-10-26T23:05:56.559Z,1761519956.559 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-10-26T23:05:56.560Z,1761519956.560 [DAT](INFO): direction in FSK: [-0.999779,0.015706,0.013962]
2025-10-26T23:05:56.561Z,1761519956.561 [DAT](INFO): publishing direction and range info
2025-10-26T23:05:56.564Z,1761519956.564 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.648949
2025-10-26T23:05:56.605Z,1761519956.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.501194 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:56.607Z,1761519956.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.218292 m,
      bearing: 266.926596 deg,
      lat: 36.779427 deg,
      lon: -121.859372 deg,
      deltaT: 0.501194 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:05:56.624Z,1761519956.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.22 m.
2025-10-26T23:05:56.803Z,1761519956.803 [DAT](INFO): DAT read: Rx Time:23:05:55.7275 

2025-10-26T23:05:56.805Z,1761519956.805 [DAT](INFO): Rx dataTimestamp_ set to:1761519956.803649
2025-10-26T23:05:56.806Z,1761519956.806 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.890518
2025-10-26T23:05:56.918Z,1761519956.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036711,-0.997708,-0.056849],[0.999293,0.037114,-0.006039],[0.008135,-0.056587,0.998365]]
2025-10-26T23:05:56.945Z,1761519956.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.22 m.
2025-10-26T23:05:57.053Z,1761519957.053 [DAT](INFO): DAT read: Bearing  53.1,   1.1 (Local)

2025-10-26T23:05:57.054Z,1761519957.054 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.1,   1.1 (Local)

2025-10-26T23:05:57.056Z,1761519957.056 [DAT](INFO): DAT read: Rao 50 :    17.4 m (trip time 11.6 ms) speed 0.0

2025-10-26T23:05:57.056Z,1761519957.056 [DAT](INFO): unknown deviceResponse_: Rao 50 :    17.4 m (trip time 11.6 ms) speed 0.0

2025-10-26T23:05:57.062Z,1761519957.062 [DAT](INFO): DAT read: 23:05:55.7275 LVL= 32752, 24929, 32754, 32755, AGC= 68, IDX= 510, 0.47,-2.515,-0.808,-2.453,-1.793, PHS=-0.620, 1.030,-0.705, RAW= 332.5,   3.5, CAL= 331.5,   1.1, ROT= 178.5,  -1.1

2025-10-26T23:05:57.063Z,1761519957.063 [DAT](INFO): got valid direction response:
 23:05:55.7275 LVL= 32752, 24929, 32754, 32755, AGC= 68, IDX= 510, 0.47,-2.515,-0.808,-2.453,-1.793, PHS=-0.620, 1.030,-0.705, RAW= 332.5,   3.5, CAL= 331.5,   1.1, ROT= 178.5,  -1.1

2025-10-26T23:05:57.065Z,1761519957.065 [DAT](INFO): #Rx 90: Read direction message, but no range.
2025-10-26T23:05:57.066Z,1761519957.066 [DAT](INFO): direction in FSK: [-0.999473,0.026172,0.019197]
2025-10-26T23:05:57.070Z,1761519957.070 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=46.154972
2025-10-26T23:05:57.316Z,1761519957.316 [DAT](INFO): DAT read: Rx Time:23:05:56.2275 

2025-10-26T23:05:57.318Z,1761519957.318 [DAT](INFO): Rx dataTimestamp_ set to:1761519957.316886
2025-10-26T23:05:57.321Z,1761519957.321 [DAT](INFO): DAT read: Bearing  53.7,   1.6 (Local)

2025-10-26T23:05:57.322Z,1761519957.322 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.7,   1.6 (Local)

2025-10-26T23:05:57.344Z,1761519957.344 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed 0.0

2025-10-26T23:05:57.346Z,1761519957.346 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-10-26T23:05:57.360Z,1761519957.360 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=46.444981
2025-10-26T23:05:57.373Z,1761519957.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036066,-0.997738,-0.056734],[0.999322,0.036423,-0.005283],[0.007337,-0.056505,0.998375]]
2025-10-26T23:05:57.468Z,1761519957.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.767694 s,
      deltaX: 0.100000 m,
      approachRate: 0.130261 m/s,
      rangeRepo size: 4

2025-10-26T23:05:57.470Z,1761519957.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.317596 m,
      bearing: 266.373492 deg,
      lat: 36.779427 deg,
      lon: -121.859372 deg,
      deltaT: 0.767694 s,
      deltaX: 0.099304 m,
      approachRate: 0.129354 m/s,
      posRepo size: 4

2025-10-26T23:05:57.471Z,1761519957.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.32 m.
2025-10-26T23:05:57.560Z,1761519957.560 [DAT](INFO): DAT read: 23:05:56.2275 LVL= 32752, 25073, 32754, 32755, AGC= 68, IDX= 510,-0.06, 1.714,-2.849, 1.761, 2.425, PHS=-0.610, 1.053,-0.708, RAW= 332.9,   3.1, CAL= 331.9,   0.5, ROT= 178.1,  -0.5

2025-10-26T23:05:57.561Z,1761519957.561 [DAT](INFO): got valid direction response:
 23:05:56.2275 LVL= 32752, 25073, 32754, 32755, AGC= 68, IDX= 510,-0.06, 1.714,-2.849, 1.761, 2.425, PHS=-0.610, 1.053,-0.708, RAW= 332.9,   3.1, CAL= 331.9,   0.5, ROT= 178.1,  -0.5

2025-10-26T23:05:57.562Z,1761519957.562 [DAT](INFO): #Rx 92: Read direction message, but no range.
2025-10-26T23:05:57.563Z,1761519957.563 [DAT](INFO): direction in FSK: [-0.999412,0.033154,0.008727]
2025-10-26T23:05:57.566Z,1761519957.566 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.650684
2025-10-26T23:05:57.731Z,1761519957.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035718,-0.997831,-0.055302],[0.999343,0.036002,-0.004139],[0.006121,-0.055118,0.998461]]
2025-10-26T23:05:57.752Z,1761519957.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.32 m.
2025-10-26T23:05:57.812Z,1761519957.812 [DAT](INFO): DAT read: Rx Time:23:05:56.7275 

2025-10-26T23:05:57.814Z,1761519957.814 [DAT](INFO): Rx dataTimestamp_ set to:1761519957.812818
2025-10-26T23:05:57.817Z,1761519957.817 [DAT](INFO): DAT read: Bearing  53.2,   2.6 (Local)

2025-10-26T23:05:57.819Z,1761519957.819 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.2,   2.6 (Local)

2025-10-26T23:05:57.823Z,1761519957.823 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed 0.0

2025-10-26T23:05:57.829Z,1761519957.829 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-10-26T23:05:57.841Z,1761519957.841 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.925323
2025-10-26T23:05:58.064Z,1761519958.064 [DAT](INFO): DAT read: 23:05:56.7275 LVL= 32752, 27473, 32754, 32755, AGC= 68, IDX= 510, 0.21,-3.088,-1.391,-3.074,-2.385, PHS=-0.601, 1.039,-0.733, RAW= 333.8,   3.5, CAL= 332.9,   1.1, ROT= 177.1,  -1.1

2025-10-26T23:05:58.065Z,1761519958.065 [DAT](INFO): got valid direction response:
 23:05:56.7275 LVL= 32752, 27473, 32754, 32755, AGC= 68, IDX= 510, 0.21,-3.088,-1.391,-3.074,-2.385, PHS=-0.601, 1.039,-0.733, RAW= 333.8,   3.5, CAL= 332.9,   1.1, ROT= 177.1,  -1.1

2025-10-26T23:05:58.066Z,1761519958.066 [DAT](INFO): #Rx 94: Read direction message, but no range.
2025-10-26T23:05:58.067Z,1761519958.067 [DAT](INFO): direction in FSK: [-0.998535,0.050584,0.019197]
2025-10-26T23:05:58.070Z,1761519958.070 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.154736
2025-10-26T23:05:58.165Z,1761519958.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035158,-0.997885,-0.054680],[0.999368,0.035396,-0.003389],[0.005318,-0.054527,0.998498]]
2025-10-26T23:05:58.275Z,1761519958.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.495932 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:58.279Z,1761519958.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.316946 m,
      bearing: 265.029782 deg,
      lat: 36.779425 deg,
      lon: -121.859372 deg,
      deltaT: 0.495932 s,
      deltaX: -0.000650 m,
      approachRate: -0.001311 m/s,
      posRepo size: 4

2025-10-26T23:05:58.280Z,1761519958.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.32 m.
2025-10-26T23:05:58.318Z,1761519958.318 [DAT](INFO): DAT read: Rx Time:23:05:57.2275 

2025-10-26T23:05:58.319Z,1761519958.319 [DAT](INFO): Rx dataTimestamp_ set to:1761519958.318286
2025-10-26T23:05:58.322Z,1761519958.322 [DAT](INFO): DAT read: Bearing  54.3,   2.2 (Local)

2025-10-26T23:05:58.324Z,1761519958.324 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.3,   2.2 (Local)

2025-10-26T23:05:58.329Z,1761519958.329 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed -0.2

2025-10-26T23:05:58.331Z,1761519958.331 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-10-26T23:05:58.336Z,1761519958.336 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.420391
2025-10-26T23:05:58.568Z,1761519958.568 [DAT](INFO): DAT read: 23:05:57.2275 LVL= 32752, 25329, 32754, 32755, AGC= 68, IDX= 510,-0.35, 0.243, 1.955, 0.271, 0.937, PHS=-0.592, 1.063,-0.710, RAW= 333.4,   2.8, CAL= 332.4,   0.0, ROT= 177.6,  -0.0

2025-10-26T23:05:58.569Z,1761519958.569 [DAT](INFO): got valid direction response:
 23:05:57.2275 LVL= 32752, 25329, 32754, 32755, AGC= 68, IDX= 510,-0.35, 0.243, 1.955, 0.271, 0.937, PHS=-0.592, 1.063,-0.710, RAW= 333.4,   2.8, CAL= 332.4,   0.0, ROT= 177.6,  -0.0

2025-10-26T23:05:58.570Z,1761519958.570 [DAT](INFO): #Rx 96: Read direction message, but no range.
2025-10-26T23:05:58.570Z,1761519958.570 [DAT](INFO): direction in FSK: [-0.999123,0.041876,0.000000]
2025-10-26T23:05:58.574Z,1761519958.574 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.658371
2025-10-26T23:05:58.657Z,1761519958.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034616,-0.997947,-0.053888],[0.999394,0.034762,-0.001771],[0.003641,-0.053794,0.998545]]
2025-10-26T23:05:58.697Z,1761519958.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.505468 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:05:58.704Z,1761519958.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.316946 m,
      bearing: 265.619650 deg,
      lat: 36.779424 deg,
      lon: -121.859372 deg,
      deltaT: 0.505468 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:05:58.704Z,1761519958.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.32 m.
2025-10-26T23:05:58.820Z,1761519958.820 [DAT](INFO): DAT read: Rx Time:23:05:57.7276 

2025-10-26T23:05:58.822Z,1761519958.822 [DAT](INFO): Rx dataTimestamp_ set to:1761519958.820721
2025-10-26T23:05:58.825Z,1761519958.825 [DAT](INFO): DAT read: Bearing  55.3,   3.2 (Local)

2025-10-26T23:05:58.827Z,1761519958.827 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.3,   3.2 (Local)

2025-10-26T23:05:58.838Z,1761519958.838 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed 0.1

2025-10-26T23:05:58.861Z,1761519958.861 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-10-26T23:05:58.862Z,1761519958.862 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.946838
2025-10-26T23:05:59.073Z,1761519959.073 [DAT](INFO): DAT read: 23:05:57.7276 LVL= 32752, 24673, 32754, 32755, AGC= 67, IDX= 511,-0.05, 1.384, 3.082, 1.382, 2.036, PHS=-0.550, 1.091,-0.698, RAW= 334.3,   1.8, CAL= 333.4,  -1.0, ROT= 176.6,   1.0

2025-10-26T23:05:59.074Z,1761519959.074 [DAT](INFO): got valid direction response:
 23:05:57.7276 LVL= 32752, 24673, 32754, 32755, AGC= 67, IDX= 511,-0.05, 1.384, 3.082, 1.382, 2.036, PHS=-0.550, 1.091,-0.698, RAW= 334.3,   1.8, CAL= 333.4,  -1.0, ROT= 176.6,   1.0

2025-10-26T23:05:59.074Z,1761519959.074 [DAT](INFO): #Rx 98: Read direction message, but no range.
2025-10-26T23:05:59.075Z,1761519959.075 [DAT](INFO): direction in FSK: [-0.998088,0.059297,-0.017452]
2025-10-26T23:05:59.078Z,1761519959.078 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.163036
2025-10-26T23:05:59.200Z,1761519959.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.502435 s,
      deltaX: 0.200001 m,
      approachRate: 0.398063 m/s,
      rangeRepo size: 4

2025-10-26T23:05:59.202Z,1761519959.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.516153 m,
      bearing: 264.674568 deg,
      lat: 36.779423 deg,
      lon: -121.859372 deg,
      deltaT: 0.502435 s,
      deltaX: 0.199207 m,
      approachRate: 0.396484 m/s,
      posRepo size: 4

2025-10-26T23:05:59.203Z,1761519959.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.52 m.
2025-10-26T23:05:59.325Z,1761519959.325 [DAT](INFO): DAT read: Rx Time:23:05:58.2275 

2025-10-26T23:05:59.327Z,1761519959.327 [DAT](INFO): Rx dataTimestamp_ set to:1761519959.325525
2025-10-26T23:05:59.330Z,1761519959.330 [DAT](INFO): DAT read: Bearing  54.3,   3.2 (Local)

2025-10-26T23:05:59.334Z,1761519959.334 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.3,   3.2 (Local)

2025-10-26T23:05:59.341Z,1761519959.341 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed -0.1

2025-10-26T23:05:59.343Z,1761519959.343 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-10-26T23:05:59.346Z,1761519959.346 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.430382
2025-10-26T23:05:59.454Z,1761519959.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034358,-0.998005,-0.052964],[0.999407,0.034437,-0.000595],[0.002417,-0.052912,0.998596]]
2025-10-26T23:05:59.501Z,1761519959.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.504804 s,
      deltaX: -0.200001 m,
      approachRate: -0.396195 m/s,
      rangeRepo size: 4

2025-10-26T23:05:59.502Z,1761519959.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.52 m.
2025-10-26T23:05:59.578Z,1761519959.578 [DAT](INFO): DAT read: 23:05:58.2275 LVL= 32752, 27569, 32754, 32755, AGC= 69, IDX= 510, 0.17, 2.145,-2.440, 2.141, 2.823, PHS=-0.575, 1.066,-0.726, RAW= 334.3,   2.8, CAL= 333.4,  -0.0, ROT= 176.6,   0.0

2025-10-26T23:05:59.581Z,1761519959.581 [DAT](INFO): got valid direction response:
 23:05:58.2275 LVL= 32752, 27569, 32754, 32755, AGC= 69, IDX= 510, 0.17, 2.145,-2.440, 2.141, 2.823, PHS=-0.575, 1.066,-0.726, RAW= 334.3,   2.8, CAL= 333.4,  -0.0, ROT= 176.6,   0.0

2025-10-26T23:05:59.581Z,1761519959.581 [DAT](INFO): #Rx 100: Read direction message, but no range.
2025-10-26T23:05:59.583Z,1761519959.583 [DAT](INFO): direction in FSK: [-0.998240,0.059306,-0.000000]
2025-10-26T23:05:59.588Z,1761519959.588 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.672596
2025-10-26T23:05:59.825Z,1761519959.825 [DAT](INFO): DAT read: Rx Time:23:05:58.7276 

2025-10-26T23:05:59.825Z,1761519959.825 [DAT](INFO): Rx dataTimestamp_ set to:1761519959.824717
2025-10-26T23:05:59.826Z,1761519959.826 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed 0.0

2025-10-26T23:05:59.827Z,1761519959.827 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-10-26T23:05:59.828Z,1761519959.828 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.912403
2025-10-26T23:05:59.859Z,1761519959.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034632,-0.998003,-0.052817],[0.999398,0.034683,-0.000038],[0.001870,-0.052784,0.998604]]
2025-10-26T23:05:59.924Z,1761519959.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.499192 s,
      deltaX: 0.200001 m,
      approachRate: 0.400649 m/s,
      rangeRepo size: 4

2025-10-26T23:05:59.926Z,1761519959.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.516624 m,
      bearing: 264.620028 deg,
      lat: 36.779421 deg,
      lon: -121.859371 deg,
      deltaT: 1.003996 s,
      deltaX: 0.000471 m,
      approachRate: 0.000469 m/s,
      posRepo size: 4

2025-10-26T23:05:59.926Z,1761519959.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.52 m.
2025-10-26T23:06:00.077Z,1761519960.077 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.161076
2025-10-26T23:06:00.262Z,1761519960.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035191,-0.997966,-0.053150],[0.999379,0.035223,0.000343],[0.001530,-0.053129,0.998586]]
2025-10-26T23:06:00.276Z,1761519960.276 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050302541852,35.0, +10.9,   0.0,1493.3, ,  0.00,  81.56,  76.81,  79.86,  78.16
2025-10-26T23:06:00.291Z,1761519960.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.52 m.
2025-10-26T23:06:00.334Z,1761519960.334 [DAT](INFO): DAT read: Rx Time:23:05:59.2276 

2025-10-26T23:06:00.336Z,1761519960.336 [DAT](INFO): Rx dataTimestamp_ set to:1761519960.334707
2025-10-26T23:06:00.340Z,1761519960.340 [DAT](INFO): DAT read: Bearing  54.9,   3.2 (Local)

2025-10-26T23:06:00.341Z,1761519960.341 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.9,   3.2 (Local)

2025-10-26T23:06:00.347Z,1761519960.347 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed -0.2

2025-10-26T23:06:00.350Z,1761519960.350 [DAT](ERROR): #Rx 102: Read range message, but no direction.
2025-10-26T23:06:00.353Z,1761519960.353 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.437275
2025-10-26T23:06:00.592Z,1761519960.592 [DAT](INFO): DAT read: 23:05:59.2276 LVL= 32752, 24401, 32754, 32755, AGC= 69, IDX= 511,-0.10, 0.163, 1.870, 0.161, 0.826, PHS=-0.561, 1.088,-0.710, RAW= 334.3,   2.1, CAL= 333.4,  -0.7, ROT= 176.6,   0.7

2025-10-26T23:06:00.593Z,1761519960.593 [DAT](INFO): got valid direction response:
 23:05:59.2276 LVL= 32752, 24401, 32754, 32755, AGC= 69, IDX= 511,-0.10, 0.163, 1.870, 0.161, 0.826, PHS=-0.561, 1.088,-0.710, RAW= 334.3,   2.1, CAL= 333.4,  -0.7, ROT= 176.6,   0.7

2025-10-26T23:06:00.593Z,1761519960.593 [DAT](INFO): #Rx 103: Read direction message, but no range.
2025-10-26T23:06:00.594Z,1761519960.594 [DAT](INFO): direction in FSK: [-0.998165,0.059302,-0.012217]
2025-10-26T23:06:00.599Z,1761519960.599 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.683289
2025-10-26T23:06:00.730Z,1761519960.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035575,-0.997948,-0.053244],[0.999366,0.035584,0.000787],[0.001109,-0.053239,0.998581]]
2025-10-26T23:06:00.762Z,1761519960.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.509990 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:00.764Z,1761519960.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.516624 m,
      bearing: 264.603228 deg,
      lat: 36.779421 deg,
      lon: -121.859371 deg,
      deltaT: 0.509990 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:06:00.765Z,1761519960.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.52 m.
2025-10-26T23:06:00.837Z,1761519960.837 [DAT](INFO): DAT read: Rx Time:23:05:59.7277 

2025-10-26T23:06:00.839Z,1761519960.839 [DAT](INFO): Rx dataTimestamp_ set to:1761519960.837781
2025-10-26T23:06:00.842Z,1761519960.842 [DAT](INFO): DAT read: Bearing  11.3,   5.9 (Local)

2025-10-26T23:06:00.844Z,1761519960.844 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.3,   5.9 (Local)

2025-10-26T23:06:00.856Z,1761519960.856 [DAT](INFO): DAT read: Range 11 to 50 :    17.7 m (trip time 11.8 ms) speed 0.4

2025-10-26T23:06:00.858Z,1761519960.858 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-10-26T23:06:00.859Z,1761519960.859 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.943268
2025-10-26T23:06:01.088Z,1761519961.088 [DAT](INFO): DAT read: 23:05:59.7277 LVL= 32752, 23169, 32754, 32755, AGC= 68, IDX= 512, 0.18, 1.692, 2.678, 1.571, 2.791, PHS=-0.997,-0.068,-1.264, RAW= 342.3,  37.1, CAL= 341.0,  42.2, ROT= 169.0, -42.2

2025-10-26T23:06:01.089Z,1761519961.089 [DAT](INFO): got valid direction response:
 23:05:59.7277 LVL= 32752, 23169, 32754, 32755, AGC= 68, IDX= 512, 0.18, 1.692, 2.678, 1.571, 2.791, PHS=-0.997,-0.068,-1.264, RAW= 342.3,  37.1, CAL= 341.0,  42.2, ROT= 169.0, -42.2

2025-10-26T23:06:01.090Z,1761519961.090 [DAT](INFO): #Rx 105: Read direction message, but no range.
2025-10-26T23:06:01.091Z,1761519961.091 [DAT](INFO): direction in FSK: [-0.727194,0.141352,0.671721]
2025-10-26T23:06:01.094Z,1761519961.094 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.178604
2025-10-26T23:06:01.127Z,1761519961.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035397,-0.997960,-0.053129],[0.999373,0.035399,0.000902],[0.000980,-0.053127,0.998587]]
2025-10-26T23:06:01.245Z,1761519961.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.700001 m,
      deltaT: 0.503074 s,
      deltaX: 0.100000 m,
      approachRate: 0.198779 m/s,
      rangeRepo size: 4

2025-10-26T23:06:01.249Z,1761519961.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.616016 m,
      bearing: 254.315314 deg,
      lat: 36.779420 deg,
      lon: -121.859371 deg,
      deltaT: 0.503074 s,
      deltaX: 0.099392 m,
      approachRate: 0.197569 m/s,
      posRepo size: 4

2025-10-26T23:06:01.250Z,1761519961.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.62 m.
2025-10-26T23:06:01.341Z,1761519961.341 [DAT](INFO): DAT read: Rx Time:23:06:00.2277 

2025-10-26T23:06:01.343Z,1761519961.343 [DAT](INFO): Rx dataTimestamp_ set to:1761519961.341736
2025-10-26T23:06:01.347Z,1761519961.347 [DAT](INFO): DAT read: Bearing  36.0, -16.7 (Local)

2025-10-26T23:06:01.348Z,1761519961.348 [DAT](INFO): Local bearing/azimuth received:
 Bearing  36.0, -16.7 (Local)

2025-10-26T23:06:01.355Z,1761519961.355 [DAT](INFO): DAT read: Range 11 to 50 :    17.7 m (trip time 11.8 ms) speed 0.0

2025-10-26T23:06:01.358Z,1761519961.358 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-10-26T23:06:01.359Z,1761519961.359 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.443253
2025-10-26T23:06:01.538Z,1761519961.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035843,-0.997985,-0.052358],[0.999357,0.035827,0.001241],[0.000637,-0.052369,0.998628]]
2025-10-26T23:06:01.592Z,1761519961.592 [DAT](INFO): DAT read: 23:06:00.2277 LVL= 32752, 26097, 32754, 32755, AGC= 70, IDX= 512,-0.27,-2.086,-0.418,-1.501,-0.958, PHS=-1.026, 0.585,-0.587, RAW= 314.7,  14.2, CAL= 313.5,  18.6, ROT= 196.5, -18.6

2025-10-26T23:06:01.593Z,1761519961.593 [DAT](INFO): got valid direction response:
 23:06:00.2277 LVL= 32752, 26097, 32754, 32755, AGC= 70, IDX= 512,-0.27,-2.086,-0.418,-1.501,-0.958, PHS=-1.026, 0.585,-0.587, RAW= 314.7,  14.2, CAL= 313.5,  18.6, ROT= 196.5, -18.6

2025-10-26T23:06:01.594Z,1761519961.594 [DAT](INFO): #Rx 107: Read direction message, but no range.
2025-10-26T23:06:01.595Z,1761519961.595 [DAT](INFO): direction in FSK: [-0.908739,-0.269181,0.318959]
2025-10-26T23:06:01.598Z,1761519961.598 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=50.682766
2025-10-26T23:06:01.600Z,1761519961.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.700001 m,
      deltaT: 0.503955 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:01.600Z,1761519961.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.62 m.
2025-10-26T23:06:01.845Z,1761519961.845 [DAT](INFO): DAT read: Rx Time:23:06:00.7277 

2025-10-26T23:06:01.847Z,1761519961.847 [DAT](INFO): Rx dataTimestamp_ set to:1761519961.845661
2025-10-26T23:06:01.854Z,1761519961.854 [DAT](INFO): DAT read: Bearing  71.1,  30.0 (Local)

2025-10-26T23:06:01.855Z,1761519961.855 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.1,  30.0 (Local)

2025-10-26T23:06:01.868Z,1761519961.868 [DAT](INFO): DAT read: Range 11 to 50 :    17.7 m (trip time 11.8 ms) speed -0.2

2025-10-26T23:06:01.877Z,1761519961.877 [DAT](INFO): DAT read: 23:06:00.7277 LVL= 32752, 24017, 32754, 32755, AGC= 69, IDX= 512, 0.17, 0.055, 0.955,-0.677,-0.191, PHS= 0.349, 1.191,-0.529, RAW=   0.7, -13.5, CAL=   0.4, -16.1, ROT= 149.6,  16.1

2025-10-26T23:06:01.878Z,1761519961.878 [DAT](INFO): got valid direction response:
 23:06:00.7277 LVL= 32752, 24017, 32754, 32755, AGC= 69, IDX= 512, 0.17, 0.055, 0.955,-0.677,-0.191, PHS= 0.349, 1.191,-0.529, RAW=   0.7, -13.5, CAL=   0.4, -16.1, ROT= 149.6,  16.1

2025-10-26T23:06:01.879Z,1761519961.879 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-10-26T23:06:01.880Z,1761519961.880 [DAT](INFO): direction in FSK: [-0.828685,0.486187,-0.277315]
2025-10-26T23:06:01.880Z,1761519961.880 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:01.887Z,1761519961.887 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=50.971416
2025-10-26T23:06:01.938Z,1761519961.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035723,-0.998050,-0.051187],[0.999362,0.035702,0.001337],[0.000493,-0.051202,0.998688]]
2025-10-26T23:06:01.990Z,1761519961.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.700001 m,
      deltaT: 0.503925 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:01.996Z,1761519961.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.615149 m,
      bearing: 238.317454 deg,
      lat: 36.779420 deg,
      lon: -121.859370 deg,
      deltaT: 1.007880 s,
      deltaX: -0.000868 m,
      approachRate: -0.000861 m/s,
      posRepo size: 4

2025-10-26T23:06:01.997Z,1761519961.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.62 m.
2025-10-26T23:06:02.093Z,1761519962.093 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.177299
2025-10-26T23:06:02.349Z,1761519962.349 [DAT](INFO): DAT read: Rx Time:23:06:01.2277 

2025-10-26T23:06:02.351Z,1761519962.351 [DAT](INFO): Rx dataTimestamp_ set to:1761519962.350049
2025-10-26T23:06:02.356Z,1761519962.356 [DAT](INFO): DAT read: Bearing 105.6,   3.5 (Local)

2025-10-26T23:06:02.357Z,1761519962.357 [DAT](INFO): Local bearing/azimuth received:
 Bearing 105.6,   3.5 (Local)

2025-10-26T23:06:02.361Z,1761519962.361 [DAT](INFO): DAT read: Range 11 to 50 :    17.7 m (trip time 11.8 ms) speed 0.0

2025-10-26T23:06:02.365Z,1761519962.365 [DAT](INFO): DAT read: 23:06:01.2277 LVL= 32752, 25009, 32754, 32755, AGC= 70, IDX= 512,-0.15,-2.687,-1.542,-2.592, 2.849, PHS= 0.849, 1.937, 0.798, RAW= 332.3, -48.7, CAL= 331.8, -51.4, ROT= 178.2,  51.4

2025-10-26T23:06:02.366Z,1761519962.366 [DAT](INFO): got valid direction response:
 23:06:01.2277 LVL= 32752, 25009, 32754, 32755, AGC= 70, IDX= 512,-0.15,-2.687,-1.542,-2.592, 2.849, PHS= 0.849, 1.937, 0.798, RAW= 332.3, -48.7, CAL= 331.8, -51.4, ROT= 178.2,  51.4

2025-10-26T23:06:02.367Z,1761519962.367 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-26T23:06:02.368Z,1761519962.368 [DAT](INFO): direction in FSK: [-0.623572,0.019597,-0.781520]
2025-10-26T23:06:02.368Z,1761519962.368 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:02.372Z,1761519962.372 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.456375
2025-10-26T23:06:02.393Z,1761519962.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035103,-0.998119,-0.050268],[0.999384,0.035080,0.001341],[0.000425,-0.050284,0.998735]]
2025-10-26T23:06:02.556Z,1761519962.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.700001 m,
      deltaT: 0.504388 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:02.558Z,1761519962.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.615149 m,
      bearing: 269.801218 deg,
      lat: 36.779420 deg,
      lon: -121.859333 deg,
      deltaT: 0.504388 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:06:02.558Z,1761519962.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.62 m.
2025-10-26T23:06:02.596Z,1761519962.596 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.681046
2025-10-26T23:06:02.797Z,1761519962.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034432,-0.998100,-0.051104],[0.999407,0.034412,0.001283],[0.000478,-0.051118,0.998693]]
2025-10-26T23:06:02.853Z,1761519962.853 [DAT](INFO): DAT read: Rx Time:23:06:01.7279 

2025-10-26T23:06:02.854Z,1761519962.854 [DAT](INFO): Rx dataTimestamp_ set to:1761519962.853502
2025-10-26T23:06:02.859Z,1761519962.859 [DAT](INFO): DAT read: Bearing  54.1,   4.4 (Local)

2025-10-26T23:06:02.859Z,1761519962.859 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.1,   4.4 (Local)

2025-10-26T23:06:02.861Z,1761519962.861 [DAT](INFO): DAT read: Range 11 to 50 :    18.0 m (trip time 12.0 ms) speed 0.0

2025-10-26T23:06:02.894Z,1761519962.894 [DAT](INFO): DAT read: 23:06:01.7279 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX=   2,-0.42,-1.215, 0.452,-1.249,-0.559, PHS=-0.554, 1.056,-0.734, RAW= 335.2,   2.8, CAL= 334.4,  -0.1, ROT= 175.6,   0.1

2025-10-26T23:06:02.895Z,1761519962.895 [DAT](INFO): got valid direction response:
 23:06:01.7279 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX=   2,-0.42,-1.215, 0.452,-1.249,-0.559, PHS=-0.554, 1.056,-0.734, RAW= 335.2,   2.8, CAL= 334.4,  -0.1, ROT= 175.6,   0.1

2025-10-26T23:06:02.904Z,1761519962.904 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-10-26T23:06:02.904Z,1761519962.904 [DAT](INFO): direction in FSK: [-0.997051,0.076719,-0.001745]
2025-10-26T23:06:02.905Z,1761519962.905 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:02.917Z,1761519962.917 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.001095
2025-10-26T23:06:02.930Z,1761519962.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 0.503453 s,
      deltaX: 0.299999 m,
      approachRate: 0.595883 m/s,
      rangeRepo size: 4

2025-10-26T23:06:02.937Z,1761519962.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.912191 m,
      bearing: 263.637613 deg,
      lat: 36.779419 deg,
      lon: -121.859333 deg,
      deltaT: 0.503453 s,
      deltaX: 0.297043 m,
      approachRate: 0.590011 m/s,
      posRepo size: 4

2025-10-26T23:06:02.937Z,1761519962.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.91 m.
2025-10-26T23:06:03.100Z,1761519963.100 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.184940
2025-10-26T23:06:03.358Z,1761519963.358 [DAT](INFO): DAT read: Rx Time:23:06:02.2278 

2025-10-26T23:06:03.359Z,1761519963.359 [DAT](INFO): Rx dataTimestamp_ set to:1761519963.358221
2025-10-26T23:06:03.360Z,1761519963.360 [DAT](INFO): DAT read: Bearing  54.0,   4.4 (Local)

2025-10-26T23:06:03.361Z,1761519963.361 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.0,   4.4 (Local)

2025-10-26T23:06:03.363Z,1761519963.363 [DAT](INFO): DAT read: Range 11 to 50 :    17.9 m (trip time 11.9 ms) speed -0.2

2025-10-26T23:06:03.388Z,1761519963.388 [DAT](INFO): DAT read: 23:06:02.2278 LVL= 32752, 24001, 32754, 32755, AGC= 70, IDX= 497, 0.26,-1.038, 0.647,-1.075,-0.372, PHS=-0.564, 1.064,-0.747, RAW= 335.2,   2.9, CAL= 334.4,   0.1, ROT= 175.6,  -0.1

2025-10-26T23:06:03.390Z,1761519963.390 [DAT](INFO): got valid direction response:
 23:06:02.2278 LVL= 32752, 24001, 32754, 32755, AGC= 70, IDX= 497, 0.26,-1.038, 0.647,-1.075,-0.372, PHS=-0.564, 1.064,-0.747, RAW= 335.2,   2.9, CAL= 334.4,   0.1, ROT= 175.6,  -0.1

2025-10-26T23:06:03.391Z,1761519963.391 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-10-26T23:06:03.412Z,1761519963.412 [DAT](INFO): direction in FSK: [-0.997051,0.076719,0.001745]
2025-10-26T23:06:03.412Z,1761519963.412 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:03.417Z,1761519963.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031580,-0.998005,-0.054675],[0.999501,0.031577,0.000915],[0.000813,-0.054677,0.998504]]
2025-10-26T23:06:03.428Z,1761519963.428 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.512306
2025-10-26T23:06:03.535Z,1761519963.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 0.504719 s,
      deltaX: -0.100000 m,
      approachRate: -0.198131 m/s,
      rangeRepo size: 4

2025-10-26T23:06:03.541Z,1761519963.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.812679 m,
      bearing: 263.791415 deg,
      lat: 36.779419 deg,
      lon: -121.859333 deg,
      deltaT: 0.504719 s,
      deltaX: -0.099512 m,
      approachRate: -0.197163 m/s,
      posRepo size: 4

2025-10-26T23:06:03.544Z,1761519963.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.81 m.
2025-10-26T23:06:03.605Z,1761519963.605 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.689087
2025-10-26T23:06:03.860Z,1761519963.860 [DAT](INFO): DAT read: Rx Time:23:06:02.7280 

2025-10-26T23:06:03.861Z,1761519963.861 [DAT](INFO): Rx dataTimestamp_ set to:1761519963.860370
2025-10-26T23:06:03.862Z,1761519963.862 [DAT](INFO): DAT read: Bearing  54.6,   4.5 (Local)

2025-10-26T23:06:03.862Z,1761519963.862 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.6,   4.5 (Local)

2025-10-26T23:06:03.870Z,1761519963.870 [DAT](INFO): DAT read: Range 11 to 50 :    18.2 m (trip time 12.1 ms) speed -0.2

2025-10-26T23:06:03.876Z,1761519963.876 [DAT](INFO): DAT read: 23:06:02.7280 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX=   3, 0.12, 0.103, 1.807, 0.061, 0.764, PHS=-0.559, 1.088,-0.747, RAW= 335.3,   2.5, CAL= 334.5,  -0.3, ROT= 175.5,   0.3

2025-10-26T23:06:03.877Z,1761519963.877 [DAT](INFO): got valid direction response:
 23:06:02.7280 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX=   3, 0.12, 0.103, 1.807, 0.061, 0.764, PHS=-0.559, 1.088,-0.747, RAW= 335.3,   2.5, CAL= 334.5,  -0.3, ROT= 175.5,   0.3

2025-10-26T23:06:03.877Z,1761519963.877 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-10-26T23:06:03.878Z,1761519963.878 [DAT](INFO): direction in FSK: [-0.996904,0.078458,-0.005236]
2025-10-26T23:06:03.878Z,1761519963.878 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:03.902Z,1761519963.902 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=52.986542
2025-10-26T23:06:03.908Z,1761519963.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029810,-0.998039,-0.055044],[0.999555,0.029827,0.000505],[0.001138,-0.055035,0.998484]]
2025-10-26T23:06:03.981Z,1761519963.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.200001 m,
      deltaT: 0.502149 s,
      deltaX: 0.300001 m,
      approachRate: 0.597435 m/s,
      rangeRepo size: 4

2025-10-26T23:06:03.983Z,1761519963.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.112015 m,
      bearing: 263.814990 deg,
      lat: 36.779420 deg,
      lon: -121.859369 deg,
      deltaT: 0.502149 s,
      deltaX: 0.299335 m,
      approachRate: 0.596109 m/s,
      posRepo size: 4

2025-10-26T23:06:03.987Z,1761519963.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.11 m.
2025-10-26T23:06:04.109Z,1761519964.109 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.193047
2025-10-26T23:06:04.361Z,1761519964.361 [DAT](INFO): DAT read: Rx Time:23:06:03.2280 

2025-10-26T23:06:04.362Z,1761519964.362 [DAT](INFO): Rx dataTimestamp_ set to:1761519964.361473
2025-10-26T23:06:04.363Z,1761519964.363 [DAT](INFO): DAT read: Bearing  55.0,   5.2 (Local)

2025-10-26T23:06:04.363Z,1761519964.363 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.0,   5.2 (Local)

2025-10-26T23:06:04.366Z,1761519964.366 [DAT](INFO): DAT read: Range 11 to 50 :    18.2 m (trip time 12.1 ms) speed -0.2

2025-10-26T23:06:04.370Z,1761519964.370 [DAT](INFO): DAT read: 23:06:03.2280 LVL= 32752, 22305, 32754, 32755, AGC= 68, IDX= 499, 0.01,-1.942,-0.274,-2.005,-1.309, PHS=-0.532, 1.080,-0.740, RAW= 336.0,   2.3, CAL= 335.2,  -0.6, ROT= 174.8,   0.6

2025-10-26T23:06:04.372Z,1761519964.372 [DAT](INFO): got valid direction response:
 23:06:03.2280 LVL= 32752, 22305, 32754, 32755, AGC= 68, IDX= 499, 0.01,-1.942,-0.274,-2.005,-1.309, PHS=-0.532, 1.080,-0.740, RAW= 336.0,   2.3, CAL= 335.2,  -0.6, ROT= 174.8,   0.6

2025-10-26T23:06:04.372Z,1761519964.372 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-10-26T23:06:04.373Z,1761519964.373 [DAT](INFO): direction in FSK: [-0.995830,0.090628,-0.010472]
2025-10-26T23:06:04.373Z,1761519964.373 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:04.381Z,1761519964.381 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.466038
2025-10-26T23:06:04.572Z,1761519964.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.200001 m,
      deltaT: 0.501103 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:04.574Z,1761519964.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.112015 m,
      bearing: 263.132423 deg,
      lat: 36.779420 deg,
      lon: -121.859370 deg,
      deltaT: 0.501103 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:06:04.575Z,1761519964.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.11 m.
2025-10-26T23:06:04.613Z,1761519964.613 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.697086
2025-10-26T23:06:04.865Z,1761519964.865 [DAT](INFO): DAT read: Rx Time:23:06:03.7282 

2025-10-26T23:06:04.865Z,1761519964.865 [DAT](INFO): Rx dataTimestamp_ set to:1761519964.865186
2025-10-26T23:06:04.867Z,1761519964.867 [DAT](INFO): DAT read: Bearing  55.6,   5.8 (Local)

2025-10-26T23:06:04.867Z,1761519964.867 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.6,   5.8 (Local)

2025-10-26T23:06:04.869Z,1761519964.869 [DAT](INFO): DAT read: Range 11 to 50 :    18.5 m (trip time 12.3 ms) speed -0.2

2025-10-26T23:06:04.875Z,1761519964.875 [DAT](INFO): DAT read: 23:06:03.7282 LVL= 32752, 22449, 32754, 32755, AGC= 69, IDX= 501,-0.05,-2.030,-0.369,-2.109,-1.418, PHS=-0.510, 1.094,-0.735, RAW= 336.5,   1.8, CAL= 335.7,  -1.1, ROT= 174.3,   1.1

2025-10-26T23:06:04.876Z,1761519964.876 [DAT](INFO): got valid direction response:
 23:06:03.7282 LVL= 32752, 22449, 32754, 32755, AGC= 69, IDX= 501,-0.05,-2.030,-0.369,-2.109,-1.418, PHS=-0.510, 1.094,-0.735, RAW= 336.5,   1.8, CAL= 335.7,  -1.1, ROT= 174.3,   1.1

2025-10-26T23:06:04.876Z,1761519964.876 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-10-26T23:06:04.877Z,1761519964.877 [DAT](INFO): direction in FSK: [-0.994872,0.099301,-0.019197]
2025-10-26T23:06:04.877Z,1761519964.877 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:04.891Z,1761519964.891 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=53.975418
2025-10-26T23:06:04.920Z,1761519964.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024684,-0.998311,-0.052598],[0.999694,0.024744,-0.000477],[0.001778,-0.052570,0.998616]]
2025-10-26T23:06:05.045Z,1761519965.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.500000 m,
      deltaT: 0.503713 s,
      deltaX: 0.299999 m,
      approachRate: 0.595576 m/s,
      rangeRepo size: 4

2025-10-26T23:06:05.047Z,1761519965.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.411245 m,
      bearing: 262.950679 deg,
      lat: 36.779419 deg,
      lon: -121.859371 deg,
      deltaT: 0.503713 s,
      deltaX: 0.299231 m,
      approachRate: 0.594050 m/s,
      posRepo size: 4

2025-10-26T23:06:05.052Z,1761519965.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.41 m.
2025-10-26T23:06:05.119Z,1761519965.119 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.203377
2025-10-26T23:06:05.334Z,1761519965.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021163,-0.998469,-0.051107],[0.999774,0.021252,-0.001189],[0.002274,-0.051070,0.998693]]
2025-10-26T23:06:05.373Z,1761519965.373 [DAT](INFO): DAT read: Rx Time:23:06:04.2282 

2025-10-26T23:06:05.374Z,1761519965.374 [DAT](INFO): Rx dataTimestamp_ set to:1761519965.373369
2025-10-26T23:06:05.375Z,1761519965.375 [DAT](INFO): DAT read: Bearing  53.9,   5.7 (Local)

2025-10-26T23:06:05.375Z,1761519965.375 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.9,   5.7 (Local)

2025-10-26T23:06:05.377Z,1761519965.377 [DAT](INFO): DAT read: Range 11 to 50 :    18.5 m (trip time 12.3 ms) speed -0.3

2025-10-26T23:06:05.382Z,1761519965.382 [DAT](INFO): DAT read: 23:06:04.2282 LVL= 32752, 24657, 32754, 32755, AGC= 70, IDX= 501,-0.16,-3.098,-1.456, 3.108,-2.449, PHS=-0.547, 1.039,-0.770, RAW= 336.5,   3.3, CAL= 335.8,   0.7, ROT= 174.2,  -0.7

2025-10-26T23:06:05.383Z,1761519965.383 [DAT](INFO): got valid direction response:
 23:06:04.2282 LVL= 32752, 24657, 32754, 32755, AGC= 70, IDX= 501,-0.16,-3.098,-1.456, 3.108,-2.449, PHS=-0.547, 1.039,-0.770, RAW= 336.5,   3.3, CAL= 335.8,   0.7, ROT= 174.2,  -0.7

2025-10-26T23:06:05.384Z,1761519965.384 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-10-26T23:06:05.385Z,1761519965.385 [DAT](INFO): direction in FSK: [-0.994806,0.101049,0.012217]
2025-10-26T23:06:05.385Z,1761519965.385 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:05.400Z,1761519965.400 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.484173
2025-10-26T23:06:05.508Z,1761519965.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.500000 m,
      deltaT: 0.508183 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:05.516Z,1761519965.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.411245 m,
      bearing: 262.959385 deg,
      lat: 36.779418 deg,
      lon: -121.859371 deg,
      deltaT: 0.508183 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:06:05.517Z,1761519965.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.41 m.
2025-10-26T23:06:05.624Z,1761519965.624 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.708916
2025-10-26T23:06:05.877Z,1761519965.877 [DAT](INFO): DAT read: Rx Time:23:06:04.7283 

2025-10-26T23:06:05.877Z,1761519965.877 [DAT](INFO): Rx dataTimestamp_ set to:1761519965.877198
2025-10-26T23:06:05.879Z,1761519965.879 [DAT](INFO): DAT read: Bearing  55.9,   6.6 (Local)

2025-10-26T23:06:05.879Z,1761519965.879 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.9,   6.6 (Local)

2025-10-26T23:06:05.882Z,1761519965.882 [DAT](INFO): DAT read: Range 11 to 50 :    18.6 m (trip time 12.4 ms) speed -0.2

2025-10-26T23:06:05.886Z,1761519965.886 [DAT](INFO): DAT read: 23:06:04.7283 LVL= 32752, 22817, 32754, 32755, AGC= 69, IDX= 502,-0.26, 3.135,-1.493, 3.027,-2.545, PHS=-0.501, 1.097,-0.755, RAW= 337.3,   1.8, CAL= 336.6,  -1.0, ROT= 173.4,   1.0

2025-10-26T23:06:05.892Z,1761519965.892 [DAT](INFO): got valid direction response:
 23:06:04.7283 LVL= 32752, 22817, 32754, 32755, AGC= 69, IDX= 502,-0.26, 3.135,-1.493, 3.027,-2.545, PHS=-0.501, 1.097,-0.755, RAW= 337.3,   1.8, CAL= 336.6,  -1.0, ROT= 173.4,   1.0

2025-10-26T23:06:05.893Z,1761519965.893 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-10-26T23:06:05.894Z,1761519965.894 [DAT](INFO): direction in FSK: [-0.993221,0.114920,-0.017452]
2025-10-26T23:06:05.894Z,1761519965.894 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:05.898Z,1761519965.898 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.982231
2025-10-26T23:06:05.945Z,1761519965.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014311,-0.998593,-0.051069],[0.999893,0.014441,-0.002180],[0.002914,-0.051032,0.998693]]
2025-10-26T23:06:06.033Z,1761519966.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.600000 m,
      deltaT: 0.503829 s,
      deltaX: 0.100000 m,
      approachRate: 0.198481 m/s,
      rangeRepo size: 4

2025-10-26T23:06:06.040Z,1761519966.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.511347 m,
      bearing: 262.638757 deg,
      lat: 36.779418 deg,
      lon: -121.859371 deg,
      deltaT: 0.503829 s,
      deltaX: 0.100101 m,
      approachRate: 0.198681 m/s,
      posRepo size: 4

2025-10-26T23:06:06.040Z,1761519966.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.51 m.
2025-10-26T23:06:06.129Z,1761519966.129 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.213081
2025-10-26T23:06:06.290Z,1761519966.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010838,-0.998572,-0.052312],[0.999936,0.010989,-0.002595],[0.003166,-0.052280,0.998627]]
2025-10-26T23:06:06.381Z,1761519966.381 [DAT](INFO): DAT read: Rx Time:23:06:05.2282 

2025-10-26T23:06:06.382Z,1761519966.382 [DAT](INFO): Rx dataTimestamp_ set to:1761519966.381288
2025-10-26T23:06:06.383Z,1761519966.383 [DAT](INFO): DAT read: Bearing  55.9,   7.3 (Local)

2025-10-26T23:06:06.384Z,1761519966.384 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.9,   7.3 (Local)

2025-10-26T23:06:06.386Z,1761519966.386 [DAT](INFO): DAT read: Range 11 to 50 :    18.5 m (trip time 12.3 ms) speed -0.2

2025-10-26T23:06:06.390Z,1761519966.390 [DAT](INFO): DAT read: 23:06:05.2282 LVL= 32752, 23217, 32754, 32755, AGC= 69, IDX= 501, 0.39,-2.270,-0.627,-2.400,-1.673, PHS=-0.494, 1.091,-0.770, RAW= 337.9,   2.0, CAL= 337.2,  -0.8, ROT= 172.8,   0.8

2025-10-26T23:06:06.391Z,1761519966.391 [DAT](INFO): got valid direction response:
 23:06:05.2282 LVL= 32752, 23217, 32754, 32755, AGC= 69, IDX= 501, 0.39,-2.270,-0.627,-2.400,-1.673, PHS=-0.494, 1.091,-0.770, RAW= 337.9,   2.0, CAL= 337.2,  -0.8, ROT= 172.8,   0.8

2025-10-26T23:06:06.392Z,1761519966.392 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-10-26T23:06:06.393Z,1761519966.393 [DAT](INFO): direction in FSK: [-0.992018,0.125321,-0.013962]
2025-10-26T23:06:06.393Z,1761519966.393 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:06.397Z,1761519966.397 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.481403
2025-10-26T23:06:06.423Z,1761519966.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.500000 m,
      deltaT: 0.504090 s,
      deltaX: -0.100000 m,
      approachRate: -0.198378 m/s,
      rangeRepo size: 4

2025-10-26T23:06:06.433Z,1761519966.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.411823 m,
      bearing: 262.229759 deg,
      lat: 36.779417 deg,
      lon: -121.859371 deg,
      deltaT: 0.504090 s,
      deltaX: -0.099524 m,
      approachRate: -0.197432 m/s,
      posRepo size: 4

2025-10-26T23:06:06.434Z,1761519966.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.41 m.
2025-10-26T23:06:06.633Z,1761519966.633 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.717049
2025-10-26T23:06:06.695Z,1761519966.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007227,-0.998552,-0.053309],[0.999968,0.007407,-0.003166],[0.003556,-0.053284,0.998573]]
2025-10-26T23:06:06.727Z,1761519966.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.41 m.
2025-10-26T23:06:06.885Z,1761519966.885 [DAT](INFO): DAT read: Rx Time:23:06:05.7284 

2025-10-26T23:06:06.886Z,1761519966.886 [DAT](INFO): Rx dataTimestamp_ set to:1761519966.885257
2025-10-26T23:06:06.887Z,1761519966.887 [DAT](INFO): DAT read: Bearing  55.9,   7.4 (Local)

2025-10-26T23:06:06.887Z,1761519966.887 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.9,   7.4 (Local)

2025-10-26T23:06:06.889Z,1761519966.889 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.1

2025-10-26T23:06:06.894Z,1761519966.894 [DAT](INFO): DAT read: 23:06:05.7284 LVL= 32752, 22113, 32754, 32755, AGC= 69, IDX= 503, 0.10,-0.532, 1.120,-0.670, 0.069, PHS=-0.499, 1.096,-0.783, RAW= 338.1,   2.1, CAL= 337.4,  -0.7, ROT= 172.6,   0.7

2025-10-26T23:06:06.895Z,1761519966.895 [DAT](INFO): got valid direction response:
 23:06:05.7284 LVL= 32752, 22113, 32754, 32755, AGC= 69, IDX= 503, 0.10,-0.532, 1.120,-0.670, 0.069, PHS=-0.499, 1.096,-0.783, RAW= 338.1,   2.1, CAL= 337.4,  -0.7, ROT= 172.6,   0.7

2025-10-26T23:06:06.896Z,1761519966.896 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-10-26T23:06:06.897Z,1761519966.897 [DAT](INFO): direction in FSK: [-0.991597,0.128786,-0.012217]
2025-10-26T23:06:06.897Z,1761519966.897 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:06.921Z,1761519966.921 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.005337
2025-10-26T23:06:07.098Z,1761519967.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003729,-0.998584,-0.053069],[0.999986,0.003919,-0.003479],[0.003682,-0.053055,0.998585]]
2025-10-26T23:06:07.136Z,1761519967.136 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.221027
2025-10-26T23:06:07.161Z,1761519967.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.503969 s,
      deltaX: 0.299999 m,
      approachRate: 0.595273 m/s,
      rangeRepo size: 4

2025-10-26T23:06:07.168Z,1761519967.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.711338 m,
      bearing: 262.432941 deg,
      lat: 36.779417 deg,
      lon: -121.859372 deg,
      deltaT: 0.503969 s,
      deltaX: 0.299515 m,
      approachRate: 0.594312 m/s,
      posRepo size: 4

2025-10-26T23:06:07.168Z,1761519967.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-26T23:06:07.394Z,1761519967.394 [DAT](INFO): DAT read: Rx Time:23:06:06.2284 

2025-10-26T23:06:07.394Z,1761519967.394 [DAT](INFO): Rx dataTimestamp_ set to:1761519967.394168
2025-10-26T23:06:07.396Z,1761519967.396 [DAT](INFO): DAT read: Bearing  56.2,   7.7 (Local)

2025-10-26T23:06:07.396Z,1761519967.396 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.2,   7.7 (Local)

2025-10-26T23:06:07.398Z,1761519967.398 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.0

2025-10-26T23:06:07.424Z,1761519967.424 [DAT](INFO): DAT read: 23:06:06.2284 LVL= 32752, 21281, 32754, 32755, AGC= 69, IDX= 503,-0.20,-2.814,-1.172,-2.963,-2.221, PHS=-0.491, 1.094,-0.786, RAW= 338.4,   2.1, CAL= 337.7,  -0.7, ROT= 172.3,   0.7

2025-10-26T23:06:07.425Z,1761519967.425 [DAT](INFO): got valid direction response:
 23:06:06.2284 LVL= 32752, 21281, 32754, 32755, AGC= 69, IDX= 503,-0.20,-2.814,-1.172,-2.963,-2.221, PHS=-0.491, 1.094,-0.786, RAW= 338.4,   2.1, CAL= 337.7,  -0.7, ROT= 172.3,   0.7

2025-10-26T23:06:07.426Z,1761519967.426 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-10-26T23:06:07.427Z,1761519967.427 [DAT](INFO): direction in FSK: [-0.990909,0.133976,-0.012217]
2025-10-26T23:06:07.427Z,1761519967.427 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:07.466Z,1761519967.466 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.550789
2025-10-26T23:06:07.528Z,1761519967.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000461,-0.998651,-0.051924],[0.999993,0.000650,-0.003622],[0.003651,-0.051922,0.998644]]
2025-10-26T23:06:07.569Z,1761519967.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.508911 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:07.572Z,1761519967.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.711338 m,
      bearing: 262.319318 deg,
      lat: 36.779416 deg,
      lon: -121.859372 deg,
      deltaT: 0.508911 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:06:07.572Z,1761519967.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-26T23:06:07.641Z,1761519967.641 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.725998
2025-10-26T23:06:07.893Z,1761519967.893 [DAT](INFO): DAT read: Rx Time:23:06:06.7285 

2025-10-26T23:06:07.893Z,1761519967.893 [DAT](INFO): Rx dataTimestamp_ set to:1761519967.893069
2025-10-26T23:06:07.895Z,1761519967.895 [DAT](INFO): DAT read: Bearing  56.4,   8.4 (Local)

2025-10-26T23:06:07.895Z,1761519967.895 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.4,   8.4 (Local)

2025-10-26T23:06:07.897Z,1761519967.897 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed -0.2

2025-10-26T23:06:07.902Z,1761519967.902 [DAT](INFO): DAT read: 23:06:06.7285 LVL= 32752, 19953, 32754, 32755, AGC= 69, IDX= 504, 0.21, 0.176, 1.823,-0.002, 0.764, PHS=-0.486, 1.104,-0.810, RAW= 339.1,   2.2, CAL= 338.5,  -0.7, ROT= 171.5,   0.7

2025-10-26T23:06:07.903Z,1761519967.903 [DAT](INFO): got valid direction response:
 23:06:06.7285 LVL= 32752, 19953, 32754, 32755, AGC= 69, IDX= 504, 0.21, 0.176, 1.823,-0.002, 0.764, PHS=-0.486, 1.104,-0.810, RAW= 339.1,   2.2, CAL= 338.5,  -0.7, ROT= 171.5,   0.7

2025-10-26T23:06:07.903Z,1761519967.903 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-10-26T23:06:07.904Z,1761519967.904 [DAT](INFO): direction in FSK: [-0.988942,0.147798,-0.012217]
2025-10-26T23:06:07.905Z,1761519967.905 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:07.908Z,1761519967.908 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:06:07.908Z,1761519967.908 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:06:07.908Z,1761519967.908 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T23:06:07.966Z,1761519967.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002924,-0.998719,-0.050515],[0.999989,-0.002732,-0.003859],[0.003716,-0.050525,0.998716]]
2025-10-26T23:06:08.026Z,1761519968.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.498901 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:08.036Z,1761519968.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.712172 m,
      bearing: 261.712523 deg,
      lat: 36.779416 deg,
      lon: -121.859372 deg,
      deltaT: 0.498901 s,
      deltaX: 0.000834 m,
      approachRate: 0.001671 m/s,
      posRepo size: 4

2025-10-26T23:06:08.037Z,1761519968.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-26T23:06:08.144Z,1761519968.144 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:06:08.397Z,1761519968.397 [DAT](INFO): DAT read: Rx Time:23:06:07.2285 

2025-10-26T23:06:08.397Z,1761519968.397 [DAT](INFO): Rx dataTimestamp_ set to:1761519968.397079
2025-10-26T23:06:08.399Z,1761519968.399 [DAT](INFO): DAT read: Bearing  55.4,   8.6 (Local)

2025-10-26T23:06:08.399Z,1761519968.399 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.4,   8.6 (Local)

2025-10-26T23:06:08.401Z,1761519968.401 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.0

2025-10-26T23:06:08.406Z,1761519968.406 [DAT](INFO): DAT read: 23:06:07.2285 LVL= 32752, 24561, 32754, 32755, AGC= 71, IDX= 504,-0.31,-2.564,-0.941,-2.747,-1.956, PHS=-0.506, 1.061,-0.835, RAW= 339.3,   3.2, CAL= 338.8,   0.6, ROT= 171.2,  -0.6

2025-10-26T23:06:08.407Z,1761519968.407 [DAT](INFO): got valid direction response:
 23:06:07.2285 LVL= 32752, 24561, 32754, 32755, AGC= 71, IDX= 504,-0.31,-2.564,-0.941,-2.747,-1.956, PHS=-0.506, 1.061,-0.835, RAW= 339.3,   3.2, CAL= 338.8,   0.6, ROT= 171.2,  -0.6

2025-10-26T23:06:08.407Z,1761519968.407 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:06:08.408Z,1761519968.408 [DAT](INFO): direction in FSK: [-0.988174,0.152977,0.010472]
2025-10-26T23:06:08.408Z,1761519968.408 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:08.412Z,1761519968.412 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:06:08.412Z,1761519968.412 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T23:06:08.444Z,1761519968.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006249,-0.998713,-0.050322],[0.999973,-0.006047,-0.004155],[0.003845,-0.050347,0.998724]]
2025-10-26T23:06:08.582Z,1761519968.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.504010 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:08.588Z,1761519968.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.712172 m,
      bearing: 261.539186 deg,
      lat: 36.779416 deg,
      lon: -121.859371 deg,
      deltaT: 0.504010 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:06:08.589Z,1761519968.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-26T23:06:08.649Z,1761519968.649 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:06:08.873Z,1761519968.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009677,-0.998678,-0.050477],[0.999945,-0.009459,-0.004558],[0.004074,-0.050518,0.998715]]
2025-10-26T23:06:08.901Z,1761519968.901 [DAT](INFO): DAT read: Rx Time:23:06:07.7286 

2025-10-26T23:06:08.902Z,1761519968.902 [DAT](INFO): Rx dataTimestamp_ set to:1761519968.901234
2025-10-26T23:06:08.903Z,1761519968.903 [DAT](INFO): DAT read: Bearing  55.2,   9.2 (Local)

2025-10-26T23:06:08.903Z,1761519968.903 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.2,   9.2 (Local)

2025-10-26T23:06:08.905Z,1761519968.905 [DAT](INFO): DAT read: Range 11 to 50 :    18.9 m (trip time 12.6 ms) speed 0.1

2025-10-26T23:06:08.910Z,1761519968.910 [DAT](INFO): DAT read: 23:06:07.7286 LVL= 32752, 24497, 32754, 32755, AGC= 71, IDX= 505,-0.08,-0.060, 1.558,-0.265, 0.546, PHS=-0.504, 1.057,-0.855, RAW= 339.9,   3.5, CAL= 339.4,   1.0, ROT= 170.6,  -1.0

2025-10-26T23:06:08.911Z,1761519968.911 [DAT](INFO): got valid direction response:
 23:06:07.7286 LVL= 32752, 24497, 32754, 32755, AGC= 71, IDX= 505,-0.08,-0.060, 1.558,-0.265, 0.546, PHS=-0.504, 1.057,-0.855, RAW= 339.9,   3.5, CAL= 339.4,   1.0, ROT= 170.6,  -1.0

2025-10-26T23:06:08.912Z,1761519968.912 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:06:08.913Z,1761519968.913 [DAT](INFO): direction in FSK: [-0.986422,0.163301,0.017452]
2025-10-26T23:06:08.913Z,1761519968.913 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:08.920Z,1761519968.920 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:06:08.921Z,1761519968.921 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T23:06:08.949Z,1761519968.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.900000 m,
      deltaT: 0.504155 s,
      deltaX: 0.100000 m,
      approachRate: 0.198352 m/s,
      rangeRepo size: 4

2025-10-26T23:06:08.951Z,1761519968.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.811480 m,
      bearing: 261.116718 deg,
      lat: 36.779415 deg,
      lon: -121.859372 deg,
      deltaT: 0.504155 s,
      deltaX: 0.099308 m,
      approachRate: 0.196979 m/s,
      posRepo size: 4

2025-10-26T23:06:08.959Z,1761519968.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.81 m.
2025-10-26T23:06:09.152Z,1761519969.152 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:06:09.376Z,1761519969.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.81 m.
2025-10-26T23:06:09.405Z,1761519969.405 [DAT](INFO): DAT read: Rx Time:23:06:08.2285 

2025-10-26T23:06:09.406Z,1761519969.406 [DAT](INFO): Rx dataTimestamp_ set to:1761519969.405250
2025-10-26T23:06:09.407Z,1761519969.407 [DAT](INFO): DAT read: Bearing  55.6,   9.8 (Local)

2025-10-26T23:06:09.407Z,1761519969.407 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.6,   9.8 (Local)

2025-10-26T23:06:09.409Z,1761519969.409 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.0

2025-10-26T23:06:09.414Z,1761519969.414 [DAT](INFO): DAT read: 23:06:08.2285 LVL= 32752, 23121, 32754, 32755, AGC= 71, IDX= 504, 0.07,-0.337, 1.271,-0.567, 0.256, PHS=-0.491, 1.060,-0.867, RAW= 340.6,   3.4, CAL= 340.1,   0.9, ROT= 169.9,  -0.9

2025-10-26T23:06:09.415Z,1761519969.415 [DAT](INFO): got valid direction response:
 23:06:08.2285 LVL= 32752, 23121, 32754, 32755, AGC= 71, IDX= 504, 0.07,-0.337, 1.271,-0.567, 0.256, PHS=-0.491, 1.060,-0.867, RAW= 340.6,   3.4, CAL= 340.1,   0.9, ROT= 169.9,  -0.9

2025-10-26T23:06:09.415Z,1761519969.415 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:06:09.416Z,1761519969.416 [DAT](INFO): direction in FSK: [-0.984382,0.175345,0.015707]
2025-10-26T23:06:09.417Z,1761519969.417 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:09.422Z,1761519969.422 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:06:09.422Z,1761519969.422 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T23:06:09.657Z,1761519969.657 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:06:09.678Z,1761519969.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015276,-0.998538,-0.051852],[0.999872,-0.015012,-0.005475],[0.004689,-0.051929,0.998640]]
2025-10-26T23:06:09.751Z,1761519969.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.504016 s,
      deltaX: -0.100000 m,
      approachRate: -0.198407 m/s,
      rangeRepo size: 4

2025-10-26T23:06:09.769Z,1761519969.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.711948 m,
      bearing: 260.742827 deg,
      lat: 36.779414 deg,
      lon: -121.859371 deg,
      deltaT: 0.504016 s,
      deltaX: -0.099531 m,
      approachRate: -0.197476 m/s,
      posRepo size: 4

2025-10-26T23:06:09.770Z,1761519969.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-26T23:06:09.909Z,1761519969.909 [DAT](INFO): DAT read: Rx Time:23:06:08.7285 

2025-10-26T23:06:09.910Z,1761519969.910 [DAT](INFO): Rx dataTimestamp_ set to:1761519969.909262
2025-10-26T23:06:09.911Z,1761519969.911 [DAT](INFO): DAT read: Bearing  56.7,   9.8 (Local)

2025-10-26T23:06:09.911Z,1761519969.911 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.7,   9.8 (Local)

2025-10-26T23:06:09.913Z,1761519969.913 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed -0.2

2025-10-26T23:06:09.918Z,1761519969.918 [DAT](INFO): DAT read: 23:06:08.7285 LVL= 32752, 23313, 32754, 32755, AGC= 70, IDX= 504, 0.14, 0.361, 1.993, 0.128, 0.946, PHS=-0.483, 1.092,-0.862, RAW= 340.5,   2.8, CAL= 340.0,  -0.0, ROT= 170.0,   0.0

2025-10-26T23:06:09.919Z,1761519969.919 [DAT](INFO): got valid direction response:
 23:06:08.7285 LVL= 32752, 23313, 32754, 32755, AGC= 70, IDX= 504, 0.14, 0.361, 1.993, 0.128, 0.946, PHS=-0.483, 1.092,-0.862, RAW= 340.5,   2.8, CAL= 340.0,  -0.0, ROT= 170.0,   0.0

2025-10-26T23:06:09.920Z,1761519969.920 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:06:09.921Z,1761519969.921 [DAT](INFO): direction in FSK: [-0.984808,0.173648,-0.000000]
2025-10-26T23:06:09.921Z,1761519969.921 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:09.932Z,1761519969.932 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:06:09.933Z,1761519969.933 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T23:06:10.159Z,1761519970.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.504012 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:10.160Z,1761519970.160 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:06:10.162Z,1761519970.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.711752 m,
      bearing: 260.887978 deg,
      lat: 36.779413 deg,
      lon: -121.859371 deg,
      deltaT: 0.504012 s,
      deltaX: -0.000196 m,
      approachRate: -0.000390 m/s,
      posRepo size: 4

2025-10-26T23:06:10.163Z,1761519970.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-26T23:06:10.413Z,1761519970.413 [DAT](INFO): DAT read: Rx Time:23:06:09.2284 

2025-10-26T23:06:10.414Z,1761519970.414 [DAT](INFO): Rx dataTimestamp_ set to:1761519970.413341
2025-10-26T23:06:10.415Z,1761519970.415 [DAT](INFO): DAT read: Bearing  56.8,  10.4 (Local)

2025-10-26T23:06:10.415Z,1761519970.415 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.8,  10.4 (Local)

2025-10-26T23:06:10.417Z,1761519970.417 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.0

2025-10-26T23:06:10.422Z,1761519970.422 [DAT](INFO): DAT read: 23:06:09.2284 LVL= 32560, 23265, 32754, 32755, AGC= 70, IDX= 503, 0.21,-0.695, 0.910,-0.952,-0.126, PHS=-0.467, 1.080,-0.870, RAW= 341.3,   2.9, CAL= 340.8,   0.1, ROT= 169.2,  -0.1

2025-10-26T23:06:10.423Z,1761519970.423 [DAT](INFO): got valid direction response:
 23:06:09.2284 LVL= 32560, 23265, 32754, 32755, AGC= 70, IDX= 503, 0.21,-0.695, 0.910,-0.952,-0.126, PHS=-0.467, 1.080,-0.870, RAW= 341.3,   2.9, CAL= 340.8,   0.1, ROT= 169.2,  -0.1

2025-10-26T23:06:10.423Z,1761519970.423 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:06:10.424Z,1761519970.424 [DAT](INFO): direction in FSK: [-0.982286,0.187381,0.001745]
2025-10-26T23:06:10.425Z,1761519970.425 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:10.428Z,1761519970.428 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:06:10.428Z,1761519970.428 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T23:06:10.562Z,1761519970.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020168,-0.998470,-0.051488],[0.999781,-0.019852,-0.006648],[0.005616,-0.051610,0.998651]]
2025-10-26T23:06:10.664Z,1761519970.664 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:06:10.666Z,1761519970.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.504079 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:10.672Z,1761519970.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.711752 m,
      bearing: 260.363985 deg,
      lat: 36.779413 deg,
      lon: -121.859370 deg,
      deltaT: 0.504079 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:06:10.673Z,1761519970.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-26T23:06:10.917Z,1761519970.917 [DAT](INFO): DAT read: Rx Time:23:06:09.7285 

2025-10-26T23:06:10.917Z,1761519970.917 [DAT](INFO): Rx dataTimestamp_ set to:1761519970.917173
2025-10-26T23:06:10.919Z,1761519970.919 [DAT](INFO): DAT read: Bearing  56.0,  10.8 (Local)

2025-10-26T23:06:10.919Z,1761519970.919 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.0,  10.8 (Local)

2025-10-26T23:06:10.921Z,1761519970.921 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.0

2025-10-26T23:06:10.927Z,1761519970.927 [DAT](INFO): DAT read: 23:06:09.7285 LVL= 32496, 22609, 32754, 32755, AGC= 70, IDX= 504, 0.23, 0.774, 2.362, 0.503, 1.354, PHS=-0.478, 1.052,-0.895, RAW= 341.7,   3.7, CAL= 341.3,   1.2, ROT= 168.7,  -1.2

2025-10-26T23:06:10.930Z,1761519970.930 [DAT](INFO): got valid direction response:
 23:06:09.7285 LVL= 32496, 22609, 32754, 32755, AGC= 70, IDX= 504, 0.23, 0.774, 2.362, 0.503, 1.354, PHS=-0.478, 1.052,-0.895, RAW= 341.7,   3.7, CAL= 341.3,   1.2, ROT= 168.7,  -1.2

2025-10-26T23:06:10.930Z,1761519970.930 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:06:10.931Z,1761519970.931 [DAT](INFO): direction in FSK: [-0.980400,0.195903,0.020942]
2025-10-26T23:06:10.931Z,1761519970.931 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:10.935Z,1761519970.935 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:06:10.935Z,1761519970.935 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T23:06:10.952Z,1761519970.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022262,-0.998565,-0.048711],[0.999734,-0.021938,-0.007177],[0.006098,-0.048858,0.998787]]
2025-10-26T23:06:11.042Z,1761519971.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.503832 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:11.048Z,1761519971.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.711819 m,
      bearing: 259.931859 deg,
      lat: 36.779413 deg,
      lon: -121.859370 deg,
      deltaT: 0.503832 s,
      deltaX: 0.000067 m,
      approachRate: 0.000132 m/s,
      posRepo size: 4

2025-10-26T23:06:11.049Z,1761519971.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-26T23:06:11.168Z,1761519971.168 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:06:11.373Z,1761519971.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024010,-0.998631,-0.046475],[0.999690,-0.023679,-0.007663],[0.006552,-0.046644,0.998890]]
2025-10-26T23:06:11.421Z,1761519971.421 [DAT](INFO): DAT read: Rx Time:23:06:10.2284 

2025-10-26T23:06:11.421Z,1761519971.421 [DAT](INFO): Rx dataTimestamp_ set to:1761519971.421091
2025-10-26T23:06:11.423Z,1761519971.423 [DAT](INFO): DAT read: Bearing  55.0,  10.8 (Local)

2025-10-26T23:06:11.423Z,1761519971.423 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.0,  10.8 (Local)

2025-10-26T23:06:11.425Z,1761519971.425 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.0

2025-10-26T23:06:11.430Z,1761519971.430 [DAT](INFO): DAT read: 23:06:10.2284 LVL= 32752, 27185, 32754, 32755, AGC= 71, IDX= 503, 0.24,-0.500, 1.091,-0.776, 0.103, PHS=-0.501, 1.033,-0.924, RAW= 341.8,   4.4, CAL= 341.5,   2.5, ROT= 168.5,  -2.5

2025-10-26T23:06:11.431Z,1761519971.431 [DAT](INFO): got valid direction response:
 23:06:10.2284 LVL= 32752, 27185, 32754, 32755, AGC= 71, IDX= 503, 0.24,-0.500, 1.091,-0.776, 0.103, PHS=-0.501, 1.033,-0.924, RAW= 341.8,   4.4, CAL= 341.5,   2.5, ROT= 168.5,  -2.5

2025-10-26T23:06:11.431Z,1761519971.431 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:06:11.432Z,1761519971.432 [DAT](INFO): direction in FSK: [-0.978992,0.199178,0.043619]
2025-10-26T23:06:11.432Z,1761519971.432 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:11.436Z,1761519971.436 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:06:11.436Z,1761519971.436 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T23:06:11.454Z,1761519971.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.503918 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:11.461Z,1761519971.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.711819 m,
      bearing: 259.776040 deg,
      lat: 36.779412 deg,
      lon: -121.859370 deg,
      deltaT: 0.503918 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:06:11.461Z,1761519971.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-26T23:06:11.672Z,1761519971.672 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:06:11.747Z,1761519971.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025397,-0.998650,-0.045314],[0.999654,-0.025057,-0.008046],[0.006899,-0.045503,0.998940]]
2025-10-26T23:06:11.767Z,1761519971.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-26T23:06:11.925Z,1761519971.925 [DAT](INFO): DAT read: Rx Time:23:06:10.7285 

2025-10-26T23:06:11.925Z,1761519971.925 [DAT](INFO): Rx dataTimestamp_ set to:1761519971.925147
2025-10-26T23:06:11.927Z,1761519971.927 [DAT](INFO): DAT read: Bearing  54.0,  10.8 (Local)

2025-10-26T23:06:11.927Z,1761519971.927 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.0,  10.8 (Local)

2025-10-26T23:06:11.929Z,1761519971.929 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.0

2025-10-26T23:06:11.934Z,1761519971.934 [DAT](INFO): DAT read: 23:06:10.7285 LVL= 32752, 27617, 32754, 32755, AGC= 70, IDX= 504, 0.21, 0.407, 1.986, 0.129, 1.025, PHS=-0.517, 1.006,-0.940, RAW= 341.9,   5.1, CAL= 341.6,   3.5, ROT= 168.4,  -3.5

2025-10-26T23:06:11.935Z,1761519971.935 [DAT](INFO): got valid direction response:
 23:06:10.7285 LVL= 32752, 27617, 32754, 32755, AGC= 70, IDX= 504, 0.21, 0.407, 1.986, 0.129, 1.025, PHS=-0.517, 1.006,-0.940, RAW= 341.9,   5.1, CAL= 341.6,   3.5, ROT= 168.4,  -3.5

2025-10-26T23:06:11.935Z,1761519971.935 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:06:11.936Z,1761519971.936 [DAT](INFO): direction in FSK: [-0.977748,0.200703,0.061049]
2025-10-26T23:06:11.936Z,1761519971.936 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:11.940Z,1761519971.940 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:06:11.940Z,1761519971.940 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T23:06:12.146Z,1761519972.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026436,-0.998594,-0.045952],[0.999625,-0.026076,-0.008414],[0.007204,-0.046158,0.998908]]
2025-10-26T23:06:12.176Z,1761519972.176 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:06:12.213Z,1761519972.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.504056 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:12.215Z,1761519972.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.712034 m,
      bearing: 259.772572 deg,
      lat: 36.779411 deg,
      lon: -121.859370 deg,
      deltaT: 0.504056 s,
      deltaX: 0.000216 m,
      approachRate: 0.000428 m/s,
      posRepo size: 4

2025-10-26T23:06:12.215Z,1761519972.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-26T23:06:12.429Z,1761519972.429 [DAT](INFO): DAT read: Rx Time:23:06:11.2284 

2025-10-26T23:06:12.429Z,1761519972.429 [DAT](INFO): Rx dataTimestamp_ set to:1761519972.429055
2025-10-26T23:06:12.431Z,1761519972.431 [DAT](INFO): DAT read: Bearing  56.0,  10.9 (Local)

2025-10-26T23:06:12.431Z,1761519972.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.0,  10.9 (Local)

2025-10-26T23:06:12.433Z,1761519972.433 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.0

2025-10-26T23:06:12.438Z,1761519972.438 [DAT](INFO): DAT read: 23:06:11.2284 LVL= 32752, 23537, 32754, 32755, AGC= 69, IDX= 503, 0.19,-1.105, 0.491,-1.396,-0.519, PHS=-0.484, 1.055,-0.921, RAW= 342.2,   3.9, CAL= 341.7,   1.7, ROT= 168.3,  -1.7

2025-10-26T23:06:12.439Z,1761519972.439 [DAT](INFO): got valid direction response:
 23:06:11.2284 LVL= 32752, 23537, 32754, 32755, AGC= 69, IDX= 503, 0.19,-1.105, 0.491,-1.396,-0.519, PHS=-0.484, 1.055,-0.921, RAW= 342.2,   3.9, CAL= 341.7,   1.7, ROT= 168.3,  -1.7

2025-10-26T23:06:12.439Z,1761519972.439 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:06:12.440Z,1761519972.440 [DAT](INFO): direction in FSK: [-0.978792,0.202698,0.029666]
2025-10-26T23:06:12.440Z,1761519972.440 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:12.444Z,1761519972.444 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:06:12.444Z,1761519972.444 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T23:06:12.559Z,1761519972.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026780,-0.998484,-0.048098],[0.999615,-0.026397,-0.008578],[0.007295,-0.048309,0.998806]]
2025-10-26T23:06:12.645Z,1761519972.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.503908 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:12.647Z,1761519972.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.712034 m,
      bearing: 259.768826 deg,
      lat: 36.779411 deg,
      lon: -121.859370 deg,
      deltaT: 0.503908 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:06:12.651Z,1761519972.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-26T23:06:12.680Z,1761519972.680 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:06:12.933Z,1761519972.933 [DAT](INFO): DAT read: Rx Time:23:06:11.7284 

2025-10-26T23:06:12.933Z,1761519972.933 [DAT](INFO): Rx dataTimestamp_ set to:1761519972.933163
2025-10-26T23:06:12.935Z,1761519972.935 [DAT](INFO): DAT read: Bearing  57.1,  10.8 (Local)

2025-10-26T23:06:12.935Z,1761519972.935 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.1,  10.8 (Local)

2025-10-26T23:06:12.937Z,1761519972.937 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.0

2025-10-26T23:06:12.946Z,1761519972.946 [DAT](INFO): DAT read: 23:06:11.7284 LVL= 32752, 20689, 32754, 32755, AGC= 67, IDX= 503, 0.14,-0.588, 1.020,-0.881,-0.017, PHS=-0.469, 1.081,-0.908, RAW= 342.1,   3.3, CAL= 341.7,   0.7, ROT= 168.3,  -0.7

2025-10-26T23:06:12.947Z,1761519972.947 [DAT](INFO): got valid direction response:
 23:06:11.7284 LVL= 32752, 20689, 32754, 32755, AGC= 67, IDX= 503, 0.14,-0.588, 1.020,-0.881,-0.017, PHS=-0.469, 1.081,-0.908, RAW= 342.1,   3.3, CAL= 341.7,   0.7, ROT= 168.3,  -0.7

2025-10-26T23:06:12.947Z,1761519972.947 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:06:12.948Z,1761519972.948 [DAT](INFO): direction in FSK: [-0.979150,0.202772,0.012217]
2025-10-26T23:06:12.949Z,1761519972.949 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:12.958Z,1761519972.958 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:06:12.958Z,1761519972.958 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-26T23:06:13.014Z,1761519973.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026759,-0.998419,-0.049435],[0.999616,-0.026371,-0.008485],[0.007168,-0.049643,0.998741]]
2025-10-26T23:06:13.081Z,1761519973.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.504108 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:13.088Z,1761519973.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.712082 m,
      bearing: 259.813292 deg,
      lat: 36.779411 deg,
      lon: -121.859370 deg,
      deltaT: 0.504108 s,
      deltaX: 0.000048 m,
      approachRate: 0.000095 m/s,
      posRepo size: 4

2025-10-26T23:06:13.088Z,1761519973.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-26T23:06:13.184Z,1761519973.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:06:13.436Z,1761519973.436 [DAT](INFO): DAT read: user:793>

2025-10-26T23:06:13.437Z,1761519973.437 [DAT](INFO): DAT read: 0

2025-10-26T23:06:13.437Z,1761519973.437 [DAT](INFO): unknown deviceResponse_: 0

2025-10-26T23:06:13.437Z,1761519973.437 [DAT](INFO): DAT read: Ok

2025-10-26T23:06:13.438Z,1761519973.438 [DAT](INFO): unknown deviceResponse_: Ok

2025-10-26T23:06:13.438Z,1761519973.438 [DAT](INFO): DAT read: user:794>

2025-10-26T23:06:13.439Z,1761519973.439 [DAT](INFO): DAT read: Tx time:23:06:12.6841

2025-10-26T23:06:13.439Z,1761519973.439 [DAT](INFO): Ping request sent.
2025-10-26T23:06:13.439Z,1761519973.439 [DAT](INFO): transmitted an acoustic signal
2025-10-26T23:06:13.440Z,1761519973.440 [DAT](INFO): publishing transmit ping time
2025-10-26T23:06:13.440Z,1761519973.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000887
2025-10-26T23:06:13.471Z,1761519973.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026602,-0.998438,-0.049140],[0.999625,-0.026253,-0.007749],[0.006447,-0.049328,0.998762]]
2025-10-26T23:06:13.575Z,1761519973.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-26T23:06:13.689Z,1761519973.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249825
2025-10-26T23:06:13.846Z,1761519973.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026613,-0.998464,-0.048605],[0.999626,-0.026277,-0.007533],[0.006244,-0.048787,0.998790]]
2025-10-26T23:06:13.888Z,1761519973.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-26T23:06:13.940Z,1761519973.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501138
2025-10-26T23:06:14.192Z,1761519974.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753127
2025-10-26T23:06:14.262Z,1761519974.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025895,-0.998457,-0.049120],[0.999648,-0.025582,-0.006999],[0.005731,-0.049284,0.998768]]
2025-10-26T23:06:14.293Z,1761519974.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-26T23:06:14.444Z,1761519974.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005197
2025-10-26T23:06:14.656Z,1761519974.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025086,-0.998407,-0.050532],[0.999672,-0.024793,-0.006426],[0.005163,-0.050677,0.998702]]
2025-10-26T23:06:14.709Z,1761519974.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.269806
2025-10-26T23:06:14.716Z,1761519974.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-26T23:06:14.960Z,1761519974.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.521191
2025-10-26T23:06:15.091Z,1761519975.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-26T23:06:15.213Z,1761519975.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.773707
2025-10-26T23:06:15.464Z,1761519975.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025085
2025-10-26T23:06:15.547Z,1761519975.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-26T23:06:15.717Z,1761519975.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277499
2025-10-26T23:06:15.960Z,1761519975.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022363,-0.998382,-0.052274],[0.999741,-0.022117,-0.005280],[0.004115,-0.052378,0.998619]]
2025-10-26T23:06:15.993Z,1761519975.993 [DAT](INFO): DAT read: Rx Time:23:06:14.8390 

2025-10-26T23:06:15.994Z,1761519975.994 [DAT](INFO): Rx dataTimestamp_ set to:1761519975.993209
2025-10-26T23:06:16.012Z,1761519976.012 [DAT](INFO): DAT read: Bearing  57.4,  11.2 (Local)

2025-10-26T23:06:16.012Z,1761519976.012 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.4,  11.2 (Local)

2025-10-26T23:06:16.014Z,1761519976.014 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed 0.0

2025-10-26T23:06:16.023Z,1761519976.023 [DAT](INFO): DAT read: 23:06:14.8390 LVL= 30992, 23857, 32754, 32755, AGC= 71, IDX= 324, 0.31,-1.340, 0.258,-1.636,-0.781, PHS=-0.458, 1.083,-0.899, RAW= 342.3,   3.1, CAL= 341.8,   0.3, ROT= 16.3

2025-10-26T23:06:16.029Z,1761519976.029 [DAT](INFO): unknown deviceResponse_: 23:06:14.8390 LVL= 30992, 23857, 32754, 32755, AGC= 71, IDX= 324, 0.31,-1.340, 0.258,-1.636,-0.781, PHS=-0.458, 1.083,-0.899, RAW= 342.3,   3.1, CAL= 341.8,   0.3, ROT= 16.3

2025-10-26T23:06:16.029Z,1761519976.029 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-26T23:06:16.030Z,1761519976.030 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.590766
2025-10-26T23:06:16.046Z,1761519976.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 3.060046 s,
      deltaX: 0.400002 m,
      approachRate: 0.130717 m/s,
      rangeRepo size: 4

2025-10-26T23:06:16.047Z,1761519976.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-26T23:06:16.220Z,1761519976.220 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.781096
2025-10-26T23:06:16.319Z,1761519976.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021667,-0.998414,-0.051969],[0.999757,-0.021421,-0.005278],[0.004156,-0.052071,0.998635]]
2025-10-26T23:06:16.353Z,1761519976.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-26T23:06:16.474Z,1761519976.474 [DAT](INFO): DAT read: Rx Time:23:06:15.3390 

2025-10-26T23:06:16.475Z,1761519976.475 [DAT](INFO): Rx dataTimestamp_ set to:1761519976.474177
2025-10-26T23:06:16.477Z,1761519976.477 [DAT](INFO): DAT read: Bearing  58.1,  10.9 (Local)

2025-10-26T23:06:16.478Z,1761519976.478 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.1,  10.9 (Local)

2025-10-26T23:06:16.482Z,1761519976.482 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed 0.0

2025-10-26T23:06:16.495Z,1761519976.495 [DAT](INFO): DAT read: 23:06:15.3390 LVL= 30608, 21601, 32754, 32755, AGC= 68, IDX= 500,-0.07, 1.892,-2.791, 1.612, 2.435, PHS=-0.441, 1.102,-0.867, RAW= 341.9,   2.3, CAL= 341.4,  -0.6, ROT= 168.6,   0.6

2025-10-26T23:06:16.497Z,1761519976.497 [DAT](INFO): got valid direction response:
 23:06:15.3390 LVL= 30608, 21601, 32754, 32755, AGC= 68, IDX= 500,-0.07, 1.892,-2.791, 1.612, 2.435, PHS=-0.441, 1.102,-0.867, RAW= 341.9,   2.3, CAL= 341.4,  -0.6, ROT= 168.6,   0.6

2025-10-26T23:06:16.498Z,1761519976.498 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-26T23:06:16.499Z,1761519976.499 [DAT](INFO): direction in FSK: [-0.980217,0.197646,-0.010472]
2025-10-26T23:06:16.501Z,1761519976.501 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:16.518Z,1761519976.518 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.078736
2025-10-26T23:06:16.725Z,1761519976.725 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.285745
2025-10-26T23:06:16.743Z,1761519976.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021140,-0.998400,-0.052447],[0.999767,-0.020884,-0.005424],[0.004320,-0.052549,0.998609]]
2025-10-26T23:06:16.804Z,1761519976.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.480968 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:16.806Z,1761519976.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.109430 m,
      bearing: 259.856495 deg,
      lat: 36.779411 deg,
      lon: -121.859370 deg,
      deltaT: 3.541014 s,
      deltaX: 0.397348 m,
      approachRate: 0.112213 m/s,
      posRepo size: 4

2025-10-26T23:06:16.806Z,1761519976.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.11 m.
2025-10-26T23:06:16.979Z,1761519976.979 [DAT](INFO): DAT read: Rx Time:23:06:15.8390 

2025-10-26T23:06:16.980Z,1761519976.980 [DAT](INFO): Rx dataTimestamp_ set to:1761519976.979607
2025-10-26T23:06:16.983Z,1761519976.983 [DAT](INFO): DAT read: Bearing  57.6,  11.0 (Local)

2025-10-26T23:06:16.984Z,1761519976.984 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.6,  11.0 (Local)

2025-10-26T23:06:16.987Z,1761519976.987 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed -0.2

2025-10-26T23:06:16.994Z,1761519976.994 [DAT](INFO): DAT read: 23:06:15.8390 LVL= 32752, 20529, 32754, 32755, AGC= 69, IDX= 500, 0.46, 2.666,-2.017, 2.383,-3.066, PHS=-0.449, 1.094,-0.878, RAW= 341.9,   2.6, CAL= 341.4,  -0.3, ROT= 168.6,   0.3

2025-10-26T23:06:16.996Z,1761519976.996 [DAT](INFO): got valid direction response:
 23:06:15.8390 LVL= 32752, 20529, 32754, 32755, AGC= 69, IDX= 500, 0.46, 2.666,-2.017, 2.383,-3.066, PHS=-0.449, 1.094,-0.878, RAW= 341.9,   2.6, CAL= 341.4,  -0.3, ROT= 168.6,   0.3

2025-10-26T23:06:16.998Z,1761519976.998 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-10-26T23:06:17.044Z,1761519977.044 [DAT](INFO): direction in FSK: [-0.980258,0.197654,-0.005236]
2025-10-26T23:06:17.044Z,1761519977.044 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:17.053Z,1761519977.053 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.613327
2025-10-26T23:06:17.126Z,1761519977.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020737,-0.998366,-0.053255],[0.999774,-0.020456,-0.005821],[0.004722,-0.053364,0.998564]]
2025-10-26T23:06:17.189Z,1761519977.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.505430 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:17.196Z,1761519977.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.108215 m,
      bearing: 259.818817 deg,
      lat: 36.779411 deg,
      lon: -121.859370 deg,
      deltaT: 0.505430 s,
      deltaX: -0.001215 m,
      approachRate: -0.002404 m/s,
      posRepo size: 4

2025-10-26T23:06:17.196Z,1761519977.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.11 m.
2025-10-26T23:06:17.228Z,1761519977.228 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.789180
2025-10-26T23:06:17.483Z,1761519977.483 [DAT](INFO): DAT read: Rx Time:23:06:16.3390 

2025-10-26T23:06:17.484Z,1761519977.484 [DAT](INFO): Rx dataTimestamp_ set to:1761519977.483484
2025-10-26T23:06:17.486Z,1761519977.486 [DAT](INFO): DAT read: Bearing  57.1,  11.3 (Local)

2025-10-26T23:06:17.486Z,1761519977.486 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.1,  11.3 (Local)

2025-10-26T23:06:17.490Z,1761519977.490 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed 0.0

2025-10-26T23:06:17.497Z,1761519977.497 [DAT](INFO): DAT read: 23:06:16.3390 LVL= 32752, 24561, 32754, 32755, AGC= 69, IDX= 500, 0.12, 1.913,-2.780, 1.620, 2.465, PHS=-0.450, 1.083,-0.889, RAW= 342.3,   2.9, CAL= 341.8,   0.0, ROT= 168.2,  -0.0

2025-10-26T23:06:17.499Z,1761519977.499 [DAT](INFO): got valid direction response:
 23:06:16.3390 LVL= 32752, 24561, 32754, 32755, AGC= 69, IDX= 500, 0.12, 1.913,-2.780, 1.620, 2.465, PHS=-0.450, 1.083,-0.889, RAW= 342.3,   2.9, CAL= 341.8,   0.0, ROT= 168.2,  -0.0

2025-10-26T23:06:17.500Z,1761519977.500 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-26T23:06:17.501Z,1761519977.501 [DAT](INFO): direction in FSK: [-0.978867,0.204496,0.000000]
2025-10-26T23:06:17.502Z,1761519977.502 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:17.538Z,1761519977.538 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.099054
2025-10-26T23:06:17.566Z,1761519977.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020515,-0.998333,-0.053953],[0.999776,-0.020204,-0.006307],[0.005207,-0.054070,0.998524]]
2025-10-26T23:06:17.628Z,1761519977.628 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:06:17.710Z,1761519977.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.503877 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:17.719Z,1761519977.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.108215 m,
      bearing: 259.391476 deg,
      lat: 36.779411 deg,
      lon: -121.859370 deg,
      deltaT: 0.503877 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:06:17.733Z,1761519977.733 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.293916
2025-10-26T23:06:17.740Z,1761519977.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.11 m.
2025-10-26T23:06:17.986Z,1761519977.986 [DAT](INFO): DAT read: Rx Time:23:06:16.8392 

2025-10-26T23:06:17.987Z,1761519977.987 [DAT](INFO): Rx dataTimestamp_ set to:1761519977.986174
2025-10-26T23:06:17.989Z,1761519977.989 [DAT](INFO): DAT read: Bearing  54.4,  11.1 (Local)

2025-10-26T23:06:17.989Z,1761519977.989 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.4,  11.1 (Local)

2025-10-26T23:06:17.993Z,1761519977.993 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed -0.3

2025-10-26T23:06:18.008Z,1761519978.008 [DAT](INFO): DAT read: 23:06:16.8392 LVL= 32752, 24305, 32754, 32755, AGC= 69, IDX= 502,-0.04, 0.858, 2.431, 0.579, 1.456, PHS=-0.496, 1.021,-0.921, RAW= 342.0,   4.5, CAL= 341.7,   2.6, ROT= 168.3,  -2.6

2025-10-26T23:06:18.009Z,1761519978.009 [DAT](INFO): got valid direction response:
 23:06:16.8392 LVL= 32752, 24305, 32754, 32755, AGC= 69, IDX= 502,-0.04, 0.858, 2.431, 0.579, 1.456, PHS=-0.496, 1.021,-0.921, RAW= 342.0,   4.5, CAL= 341.7,   2.6, ROT= 168.3,  -2.6

2025-10-26T23:06:18.009Z,1761519978.009 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-10-26T23:06:18.010Z,1761519978.010 [DAT](INFO): direction in FSK: [-0.978215,0.202579,0.045363]
2025-10-26T23:06:18.011Z,1761519978.011 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:18.018Z,1761519978.018 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.579061
2025-10-26T23:06:18.161Z,1761519978.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.502690 s,
      deltaX: 0.299999 m,
      approachRate: 0.596788 m/s,
      rangeRepo size: 4

2025-10-26T23:06:18.163Z,1761519978.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.406334 m,
      bearing: 259.356416 deg,
      lat: 36.779411 deg,
      lon: -121.859370 deg,
      deltaT: 0.502690 s,
      deltaX: 0.298119 m,
      approachRate: 0.593047 m/s,
      posRepo size: 4

2025-10-26T23:06:18.163Z,1761519978.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.41 m.
2025-10-26T23:06:18.236Z,1761519978.236 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.797109
2025-10-26T23:06:18.490Z,1761519978.490 [DAT](INFO): DAT read: Rx Time:23:06:17.3391 

2025-10-26T23:06:18.491Z,1761519978.491 [DAT](INFO): Rx dataTimestamp_ set to:1761519978.490353
2025-10-26T23:06:18.501Z,1761519978.501 [DAT](INFO): DAT read: Bearing  56.9,  10.8 (Local)

2025-10-26T23:06:18.502Z,1761519978.502 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.9,  10.8 (Local)

2025-10-26T23:06:18.509Z,1761519978.509 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed -0.2

2025-10-26T23:06:18.518Z,1761519978.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019720,-0.998358,-0.053782],[0.999785,-0.019349,-0.007408],[0.006355,-0.053916,0.998525]]
2025-10-26T23:06:18.531Z,1761519978.531 [DAT](INFO): DAT read: 23:06:17.3391 LVL= 32752, 19681, 32754, 32755, AGC= 67, IDX= 502,-0.26, 0.111, 1.716,-0.162, 0.673, PHS=-0.460, 1.088,-0.880, RAW= 341.7,   2.8, CAL= 341.2,  -0.0, ROT= 168.8,   0.0

2025-10-26T23:06:18.552Z,1761519978.552 [DAT](INFO): got valid direction response:
 23:06:17.3391 LVL= 32752, 19681, 32754, 32755, AGC= 67, IDX= 502,-0.26, 0.111, 1.716,-0.162, 0.673, PHS=-0.460, 1.088,-0.880, RAW= 341.7,   2.8, CAL= 341.2,  -0.0, ROT= 168.8,   0.0

2025-10-26T23:06:18.553Z,1761519978.553 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-26T23:06:18.554Z,1761519978.554 [DAT](INFO): direction in FSK: [-0.980955,0.194234,-0.000000]
2025-10-26T23:06:18.554Z,1761519978.554 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:18.562Z,1761519978.562 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.122548
2025-10-26T23:06:18.635Z,1761519978.635 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:06:18.663Z,1761519978.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.504179 s,
      deltaX: -0.100000 m,
      approachRate: -0.198343 m/s,
      rangeRepo size: 4

2025-10-26T23:06:18.669Z,1761519978.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.306814 m,
      bearing: 259.944866 deg,
      lat: 36.779411 deg,
      lon: -121.859370 deg,
      deltaT: 0.504179 s,
      deltaX: -0.099520 m,
      approachRate: -0.197390 m/s,
      posRepo size: 4

2025-10-26T23:06:18.670Z,1761519978.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.31 m.
2025-10-26T23:06:18.741Z,1761519978.741 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.301723
2025-10-26T23:06:18.932Z,1761519978.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019032,-0.998405,-0.053153],[0.999795,-0.018635,-0.007953],[0.006950,-0.053294,0.998555]]
2025-10-26T23:06:18.995Z,1761519978.995 [DAT](INFO): DAT read: Rx Time:23:06:17.8393 

2025-10-26T23:06:18.995Z,1761519978.995 [DAT](INFO): Rx dataTimestamp_ set to:1761519978.994819
2025-10-26T23:06:18.997Z,1761519978.997 [DAT](INFO): DAT read: Bearing  54.6,  11.0 (Local)

2025-10-26T23:06:18.998Z,1761519978.998 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.6,  11.0 (Local)

2025-10-26T23:06:19.005Z,1761519979.005 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed -0.3

2025-10-26T23:06:19.014Z,1761519979.014 [DAT](INFO): DAT read: 23:06:17.8393 LVL= 32752, 28145, 32754, 32755, AGC= 70, IDX= 503, 0.44, 2.802,-1.912, 2.529,-2.893, PHS=-0.486, 1.027,-0.905, RAW= 341.9,   4.2, CAL= 341.5,   2.0, ROT= 168.5,  -2.0

2025-10-26T23:06:19.015Z,1761519979.015 [DAT](INFO): got valid direction response:
 23:06:17.8393 LVL= 32752, 28145, 32754, 32755, AGC= 70, IDX= 503, 0.44, 2.802,-1.912, 2.529,-2.893, PHS=-0.486, 1.027,-0.905, RAW= 341.9,   4.2, CAL= 341.5,   2.0, ROT= 168.5,  -2.0

2025-10-26T23:06:19.016Z,1761519979.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.31 m.
2025-10-26T23:06:19.019Z,1761519979.019 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-26T23:06:19.020Z,1761519979.020 [DAT](INFO): direction in FSK: [-0.979328,0.199246,0.034899]
2025-10-26T23:06:19.021Z,1761519979.021 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:19.044Z,1761519979.044 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.605100
2025-10-26T23:06:19.245Z,1761519979.245 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.805924
2025-10-26T23:06:19.356Z,1761519979.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.504466 s,
      deltaX: 0.300001 m,
      approachRate: 0.594691 m/s,
      rangeRepo size: 4

2025-10-26T23:06:19.358Z,1761519979.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.606127 m,
      bearing: 259.503677 deg,
      lat: 36.779410 deg,
      lon: -121.859370 deg,
      deltaT: 0.504466 s,
      deltaX: 0.299313 m,
      approachRate: 0.593326 m/s,
      posRepo size: 4

2025-10-26T23:06:19.359Z,1761519979.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:06:19.499Z,1761519979.499 [DAT](INFO): DAT read: Rx Time:23:06:18.3393 

2025-10-26T23:06:19.500Z,1761519979.500 [DAT](INFO): Rx dataTimestamp_ set to:1761519979.499272
2025-10-26T23:06:19.502Z,1761519979.502 [DAT](INFO): DAT read: Bearing  55.5,  10.6 (Local)

2025-10-26T23:06:19.502Z,1761519979.502 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.5,  10.6 (Local)

2025-10-26T23:06:19.506Z,1761519979.506 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed -0.2

2025-10-26T23:06:19.510Z,1761519979.510 [DAT](INFO): DAT read: 23:06:18.3393 LVL= 32752, 21857, 32754, 32755, AGC= 68, IDX= 503, 0.20, 2.573,-2.123, 2.315,-3.130, PHS=-0.478, 1.052,-0.882, RAW= 341.4,   3.5, CAL= 341.0,   1.0, ROT= 169.0,  -1.0

2025-10-26T23:06:19.512Z,1761519979.512 [DAT](INFO): got valid direction response:
 23:06:18.3393 LVL= 32752, 21857, 32754, 32755, AGC= 68, IDX= 503, 0.20, 2.573,-2.123, 2.315,-3.130, PHS=-0.478, 1.052,-0.882, RAW= 341.4,   3.5, CAL= 341.0,   1.0, ROT= 169.0,  -1.0

2025-10-26T23:06:19.512Z,1761519979.512 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-10-26T23:06:19.513Z,1761519979.513 [DAT](INFO): direction in FSK: [-0.981478,0.190780,0.017452]
2025-10-26T23:06:19.513Z,1761519979.513 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:19.529Z,1761519979.529 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.089813
2025-10-26T23:06:19.725Z,1761519979.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017195,-0.998498,-0.052027],[0.999820,-0.016751,-0.008957],[0.008072,-0.052171,0.998606]]
2025-10-26T23:06:19.748Z,1761519979.748 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.309224
2025-10-26T23:06:19.826Z,1761519979.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.504453 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:19.833Z,1761519979.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.606127 m,
      bearing: 259.949002 deg,
      lat: 36.779410 deg,
      lon: -121.859371 deg,
      deltaT: 0.504453 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:06:19.833Z,1761519979.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:06:20.002Z,1761519980.002 [DAT](INFO): DAT read: Rx Time:23:06:18.8395 

2025-10-26T23:06:20.003Z,1761519980.003 [DAT](INFO): Rx dataTimestamp_ set to:1761519980.002652
2025-10-26T23:06:20.005Z,1761519980.005 [DAT](INFO): DAT read: Bearing  54.7,  10.4 (Local)

2025-10-26T23:06:20.005Z,1761519980.005 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.7,  10.4 (Local)

2025-10-26T23:06:20.008Z,1761519980.008 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed 0.4

2025-10-26T23:06:20.012Z,1761519980.012 [DAT](INFO): DAT read: 23:06:18.8395 LVL= 32752, 23857, 32754, 32755, AGC= 69, IDX= 505, 0.01,-2.906,-1.323, 3.130,-2.313, PHS=-0.491, 1.035,-0.885, RAW= 341.2,   3.9, CAL= 340.8,   1.7, ROT= 169.2,  -1.7

2025-10-26T23:06:20.013Z,1761519980.013 [DAT](INFO): got valid direction response:
 23:06:18.8395 LVL= 32752, 23857, 32754, 32755, AGC= 69, IDX= 505, 0.01,-2.906,-1.323, 3.130,-2.313, PHS=-0.491, 1.035,-0.885, RAW= 341.2,   3.9, CAL= 340.8,   1.7, ROT= 169.2,  -1.7

2025-10-26T23:06:20.014Z,1761519980.014 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-10-26T23:06:20.015Z,1761519980.015 [DAT](INFO): direction in FSK: [-0.981855,0.187299,0.029666]
2025-10-26T23:06:20.015Z,1761519980.015 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:20.019Z,1761519980.019 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.579495
2025-10-26T23:06:20.146Z,1761519980.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015492,-0.998473,-0.053023],[0.999844,-0.015023,-0.009232],[0.008422,-0.053158,0.998551]]
2025-10-26T23:06:20.186Z,1761519980.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.503380 s,
      deltaX: 0.299999 m,
      approachRate: 0.595970 m/s,
      rangeRepo size: 4

2025-10-26T23:06:20.196Z,1761519980.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.906183 m,
      bearing: 260.015263 deg,
      lat: 36.779410 deg,
      lon: -121.859372 deg,
      deltaT: 0.503380 s,
      deltaX: 0.300056 m,
      approachRate: 0.596083 m/s,
      posRepo size: 4

2025-10-26T23:06:20.197Z,1761519980.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.91 m.
2025-10-26T23:06:20.253Z,1761519980.253 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.813727
2025-10-26T23:06:20.505Z,1761519980.505 [DAT](INFO): DAT read: Rx Time:23:06:19.3394 

2025-10-26T23:06:20.505Z,1761519980.505 [DAT](INFO): Rx dataTimestamp_ set to:1761519980.505180
2025-10-26T23:06:20.507Z,1761519980.507 [DAT](INFO): DAT read: Bearing  55.3,   9.8 (Local)

2025-10-26T23:06:20.507Z,1761519980.507 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.3,   9.8 (Local)

2025-10-26T23:06:20.509Z,1761519980.509 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed -0.1

2025-10-26T23:06:20.518Z,1761519980.518 [DAT](INFO): DAT read: 23:06:19.3394 LVL= 32752, 24785, 32754, 32755, AGC= 67, IDX= 505,-0.29, 1.540, 3.132, 1.315, 2.130, PHS=-0.488, 1.047,-0.859, RAW= 340.6,   3.5, CAL= 340.1,   1.0, ROT= 169.9,  -1.0

2025-10-26T23:06:20.519Z,1761519980.519 [DAT](INFO): got valid direction response:
 23:06:19.3394 LVL= 32752, 24785, 32754, 32755, AGC= 67, IDX= 505,-0.29, 1.540, 3.132, 1.315, 2.130, PHS=-0.488, 1.047,-0.859, RAW= 340.6,   3.5, CAL= 340.1,   1.0, ROT= 169.9,  -1.0

2025-10-26T23:06:20.519Z,1761519980.519 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-26T23:06:20.520Z,1761519980.520 [DAT](INFO): direction in FSK: [-0.984353,0.175340,0.017452]
2025-10-26T23:06:20.521Z,1761519980.521 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:20.524Z,1761519980.524 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.085009
2025-10-26T23:06:20.549Z,1761519980.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013410,-0.998451,-0.054002],[0.999873,-0.012923,-0.009368],[0.008656,-0.054121,0.998497]]
2025-10-26T23:06:20.662Z,1761519980.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.502528 s,
      deltaX: -0.200001 m,
      approachRate: -0.397989 m/s,
      rangeRepo size: 4

2025-10-26T23:06:20.669Z,1761519980.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.707121 m,
      bearing: 260.629933 deg,
      lat: 36.779410 deg,
      lon: -121.859372 deg,
      deltaT: 0.502528 s,
      deltaX: -0.199062 m,
      approachRate: -0.396122 m/s,
      posRepo size: 4

2025-10-26T23:06:20.669Z,1761519980.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:06:20.757Z,1761519980.757 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.317285
2025-10-26T23:06:21.009Z,1761519981.009 [DAT](INFO): DAT read: Rx Time:23:06:19.8395 

2025-10-26T23:06:21.009Z,1761519981.009 [DAT](INFO): Rx dataTimestamp_ set to:1761519981.009156
2025-10-26T23:06:21.011Z,1761519981.011 [DAT](INFO): DAT read: Bearing  54.6,   9.7 (Local)

2025-10-26T23:06:21.011Z,1761519981.011 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.6,   9.7 (Local)

2025-10-26T23:06:21.014Z,1761519981.014 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed -0.1

2025-10-26T23:06:21.020Z,1761519981.020 [DAT](INFO): DAT read: 23:06:19.8395 LVL= 32752, 24801, 32754, 32755, AGC= 70, IDX= 505, 0.20,-3.092,-1.501, 2.968,-2.491, PHS=-0.498, 1.035,-0.867, RAW= 340.5,   3.8, CAL= 340.1,   1.5, ROT= 169.9,  -1.5

2025-10-26T23:06:21.021Z,1761519981.021 [DAT](INFO): got valid direction response:
 23:06:19.8395 LVL= 32752, 24801, 32754, 32755, AGC= 70, IDX= 505, 0.20,-3.092,-1.501, 2.968,-2.491, PHS=-0.498, 1.035,-0.867, RAW= 340.5,   3.8, CAL= 340.1,   1.5, ROT= 169.9,  -1.5

2025-10-26T23:06:21.021Z,1761519981.021 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-10-26T23:06:21.022Z,1761519981.022 [DAT](INFO): direction in FSK: [-0.984166,0.175307,0.026177]
2025-10-26T23:06:21.022Z,1761519981.022 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:21.078Z,1761519981.078 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.638793
2025-10-26T23:06:21.095Z,1761519981.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007129,-0.998558,-0.053215],[0.999940,-0.006676,-0.008679],[0.008311,-0.053274,0.998545]]
2025-10-26T23:06:21.173Z,1761519981.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.503976 s,
      deltaX: 0.200001 m,
      approachRate: 0.396846 m/s,
      rangeRepo size: 4

2025-10-26T23:06:21.180Z,1761519981.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.906488 m,
      bearing: 260.244918 deg,
      lat: 36.779410 deg,
      lon: -121.859372 deg,
      deltaT: 0.503976 s,
      deltaX: 0.199368 m,
      approachRate: 0.395589 m/s,
      posRepo size: 4

2025-10-26T23:06:21.183Z,1761519981.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.91 m.
2025-10-26T23:06:21.261Z,1761519981.261 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.821947
2025-10-26T23:06:21.515Z,1761519981.515 [DAT](INFO): DAT read: Rx Time:23:06:20.3394 

2025-10-26T23:06:21.516Z,1761519981.516 [DAT](INFO): Rx dataTimestamp_ set to:1761519981.515366
2025-10-26T23:06:21.517Z,1761519981.517 [DAT](INFO): DAT read: Bearing  52.9,   9.2 (Local)

2025-10-26T23:06:21.517Z,1761519981.517 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.9,   9.2 (Local)

2025-10-26T23:06:21.520Z,1761519981.520 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed -0.1

2025-10-26T23:06:21.524Z,1761519981.524 [DAT](INFO): DAT read: 23:06:20.3394 LVL= 32752, 28129, 32754, 32755, AGC= 71, IDX= 505,-0.22, 0.118, 1.685,-0.078, 0.743, PHS=-0.523, 0.987,-0.866, RAW= 340.0,   4.8, CAL= 339.6,   3.0, ROT= 170.4,  -3.0

2025-10-26T23:06:21.525Z,1761519981.525 [DAT](INFO): got valid direction response:
 23:06:20.3394 LVL= 32752, 28129, 32754, 32755, AGC= 71, IDX= 505,-0.22, 0.118, 1.685,-0.078, 0.743, PHS=-0.523, 0.987,-0.866, RAW= 340.0,   4.8, CAL= 339.6,   3.0, ROT= 170.4,  -3.0

2025-10-26T23:06:21.526Z,1761519981.526 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-26T23:06:21.526Z,1761519981.526 [DAT](INFO): direction in FSK: [-0.984645,0.166540,0.052336]
2025-10-26T23:06:21.527Z,1761519981.527 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:21.557Z,1761519981.557 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.117512
2025-10-26T23:06:21.564Z,1761519981.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003363,-0.998673,-0.051397],[0.999962,-0.002948,-0.008146],[0.007984,-0.051422,0.998645]]
2025-10-26T23:06:21.664Z,1761519981.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.506210 s,
      deltaX: -0.200001 m,
      approachRate: -0.395094 m/s,
      rangeRepo size: 4

2025-10-26T23:06:21.666Z,1761519981.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.707424 m,
      bearing: 260.456059 deg,
      lat: 36.779411 deg,
      lon: -121.859372 deg,
      deltaT: 0.506210 s,
      deltaX: -0.199064 m,
      approachRate: -0.393244 m/s,
      posRepo size: 4

2025-10-26T23:06:21.666Z,1761519981.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:06:21.765Z,1761519981.765 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.325541
2025-10-26T23:06:21.983Z,1761519981.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001032,-0.998723,-0.050507],[0.999973,0.001401,-0.007265],[0.007326,-0.050498,0.998697]]
2025-10-26T23:06:22.009Z,1761519982.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:06:22.017Z,1761519982.017 [DAT](INFO): DAT read: Rx Time:23:06:20.8396 

2025-10-26T23:06:22.018Z,1761519982.018 [DAT](INFO): Rx dataTimestamp_ set to:1761519982.017239
2025-10-26T23:06:22.019Z,1761519982.019 [DAT](INFO): DAT read: Bearing  52.3,   8.1 (Local)

2025-10-26T23:06:22.019Z,1761519982.019 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.3,   8.1 (Local)

2025-10-26T23:06:22.021Z,1761519982.021 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed -0.2

2025-10-26T23:06:22.030Z,1761519982.030 [DAT](INFO): DAT read: 23:06:20.8396 LVL= 32752, 29809, 32754, 32755, AGC= 70, IDX= 506,-0.05, 2.493,-2.195, 2.328,-3.137, PHS=-0.552, 0.986,-0.862, RAW= 339.0,   5.0, CAL= 338.6,   3.5, ROT= 171.4,  -3.5

2025-10-26T23:06:22.032Z,1761519982.032 [DAT](INFO): got valid direction response:
 23:06:20.8396 LVL= 32752, 29809, 32754, 32755, AGC= 70, IDX= 506,-0.05, 2.493,-2.195, 2.328,-3.137, PHS=-0.552, 0.986,-0.862, RAW= 339.0,   5.0, CAL= 338.6,   3.5, ROT= 171.4,  -3.5

2025-10-26T23:06:22.032Z,1761519982.032 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-26T23:06:22.033Z,1761519982.033 [DAT](INFO): direction in FSK: [-0.986912,0.149257,0.061049]
2025-10-26T23:06:22.033Z,1761519982.033 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:22.058Z,1761519982.058 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.618347
2025-10-26T23:06:22.268Z,1761519982.268 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.829098
2025-10-26T23:06:22.326Z,1761519982.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005678,-0.998701,-0.050640],[0.999963,0.006000,-0.006221],[0.006516,-0.050603,0.998698]]
2025-10-26T23:06:22.360Z,1761519982.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.501873 s,
      deltaX: 0.300001 m,
      approachRate: 0.597763 m/s,
      rangeRepo size: 4

2025-10-26T23:06:22.362Z,1761519982.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.004992 m,
      bearing: 260.913108 deg,
      lat: 36.779412 deg,
      lon: -121.859374 deg,
      deltaT: 0.501873 s,
      deltaX: 0.297567 m,
      approachRate: 0.592914 m/s,
      posRepo size: 4

2025-10-26T23:06:22.363Z,1761519982.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m.
2025-10-26T23:06:22.521Z,1761519982.521 [DAT](INFO): DAT read: Rx Time:23:06:21.3395 

2025-10-26T23:06:22.522Z,1761519982.522 [DAT](INFO): Rx dataTimestamp_ set to:1761519982.521332
2025-10-26T23:06:22.523Z,1761519982.523 [DAT](INFO): DAT read: Bearing  54.8,   8.3 (Local)

2025-10-26T23:06:22.523Z,1761519982.523 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.8,   8.3 (Local)

2025-10-26T23:06:22.525Z,1761519982.525 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed -0.3

2025-10-26T23:06:22.530Z,1761519982.530 [DAT](INFO): DAT read: 23:06:21.3395 LVL= 32752, 22193, 32754, 32755, AGC= 70, IDX= 505,-0.03, 2.715,-1.947, 2.541,-2.955, PHS=-0.512, 1.053,-0.832, RAW= 339.1,   3.4, CAL= 338.6,   0.8, ROT= 171.4,  -0.8

2025-10-26T23:06:22.531Z,1761519982.531 [DAT](INFO): got valid direction response:
 23:06:21.3395 LVL= 32752, 22193, 32754, 32755, AGC= 70, IDX= 505,-0.03, 2.715,-1.947, 2.541,-2.955, PHS=-0.512, 1.053,-0.832, RAW= 339.1,   3.4, CAL= 338.6,   0.8, ROT= 171.4,  -0.8

2025-10-26T23:06:22.532Z,1761519982.532 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-10-26T23:06:22.533Z,1761519982.533 [DAT](INFO): direction in FSK: [-0.988660,0.149521,0.013962]
2025-10-26T23:06:22.533Z,1761519982.533 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:22.553Z,1761519982.553 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.113570
2025-10-26T23:06:22.736Z,1761519982.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010884,-0.998614,-0.051486],[0.999926,0.011150,-0.004885],[0.005452,-0.051429,0.998662]]
2025-10-26T23:06:22.772Z,1761519982.772 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.333005
2025-10-26T23:06:22.806Z,1761519982.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.504093 s,
      deltaX: -0.100000 m,
      approachRate: -0.198377 m/s,
      rangeRepo size: 4

2025-10-26T23:06:22.808Z,1761519982.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.905464 m,
      bearing: 260.747060 deg,
      lat: 36.779413 deg,
      lon: -121.859374 deg,
      deltaT: 0.504093 s,
      deltaX: -0.099527 m,
      approachRate: -0.197438 m/s,
      posRepo size: 4

2025-10-26T23:06:22.808Z,1761519982.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.91 m.
2025-10-26T23:06:23.026Z,1761519983.026 [DAT](INFO): DAT read: Rx Time:23:06:21.8396 

2025-10-26T23:06:23.026Z,1761519983.026 [DAT](INFO): Rx dataTimestamp_ set to:1761519983.026189
2025-10-26T23:06:23.028Z,1761519983.028 [DAT](INFO): DAT read: Bearing  56.1,   8.2 (Local)

2025-10-26T23:06:23.029Z,1761519983.029 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.1,   8.2 (Local)

2025-10-26T23:06:23.031Z,1761519983.031 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed 0.1

2025-10-26T23:06:23.041Z,1761519983.041 [DAT](INFO): DAT read: 23:06:21.8396 LVL= 32752, 23777, 32754, 32755, AGC= 70, IDX= 506,-0.08,-2.134,-0.507,-2.302,-1.552, PHS=-0.480, 1.090,-0.794, RAW= 339.0,   2.1, CAL= 338.4,  -0.7, ROT= 171.6,   0.7

2025-10-26T23:06:23.042Z,1761519983.042 [DAT](INFO): got valid direction response:
 23:06:21.8396 LVL= 32752, 23777, 32754, 32755, AGC= 70, IDX= 506,-0.08,-2.134,-0.507,-2.302,-1.552, PHS=-0.480, 1.090,-0.794, RAW= 339.0,   2.1, CAL= 338.4,  -0.7, ROT= 171.6,   0.7

2025-10-26T23:06:23.043Z,1761519983.043 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-26T23:06:23.044Z,1761519983.044 [DAT](INFO): direction in FSK: [-0.989199,0.146072,-0.012217]
2025-10-26T23:06:23.045Z,1761519983.045 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:23.057Z,1761519983.057 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.617292
2025-10-26T23:06:23.176Z,1761519983.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016260,-0.998491,-0.052457],[0.999859,0.016452,-0.003239],[0.004097,-0.052396,0.998618]]
2025-10-26T23:06:23.219Z,1761519983.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.504857 s,
      deltaX: 0.100000 m,
      approachRate: 0.198077 m/s,
      rangeRepo size: 4

2025-10-26T23:06:23.225Z,1761519983.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.004719 m,
      bearing: 260.715250 deg,
      lat: 36.779414 deg,
      lon: -121.859375 deg,
      deltaT: 0.504857 s,
      deltaX: 0.099255 m,
      approachRate: 0.196599 m/s,
      posRepo size: 4

2025-10-26T23:06:23.226Z,1761519983.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m.
2025-10-26T23:06:23.277Z,1761519983.277 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.837972
2025-10-26T23:06:23.534Z,1761519983.534 [DAT](INFO): DAT read: Rx Time:23:06:22.3394 

2025-10-26T23:06:23.536Z,1761519983.536 [DAT](INFO): Rx dataTimestamp_ set to:1761519983.534171
2025-10-26T23:06:23.540Z,1761519983.540 [DAT](INFO): DAT read: Bearing  54.9,   7.9 (Local)

2025-10-26T23:06:23.541Z,1761519983.541 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.9,   7.9 (Local)

2025-10-26T23:06:23.557Z,1761519983.557 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.1

2025-10-26T23:06:23.561Z,1761519983.561 [DAT](INFO): DAT read: 23:06:22.3394 LVL= 32752, 24017, 32754, 32755, AGC= 70, IDX= 505,-0.26, 3.103,-1.560, 2.946,-2.572, PHS=-0.506, 1.056,-0.810, RAW= 338.7,   3.0, CAL= 338.1,   0.3, ROT= 171.9,  -0.3

2025-10-26T23:06:23.562Z,1761519983.562 [DAT](INFO): got valid direction response:
 23:06:22.3394 LVL= 32752, 24017, 32754, 32755, AGC= 70, IDX= 505,-0.26, 3.103,-1.560, 2.946,-2.572, PHS=-0.506, 1.056,-0.810, RAW= 338.7,   3.0, CAL= 338.1,   0.3, ROT= 171.9,  -0.3

2025-10-26T23:06:23.563Z,1761519983.563 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-10-26T23:06:23.578Z,1761519983.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021268,-0.998388,-0.052629],[0.999770,0.021381,-0.001584],[0.002707,-0.052583,0.998613]]
2025-10-26T23:06:23.604Z,1761519983.604 [DAT](INFO): direction in FSK: [-0.990010,0.140900,0.005236]
2025-10-26T23:06:23.604Z,1761519983.604 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:23.620Z,1761519983.620 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.180744
2025-10-26T23:06:23.692Z,1761519983.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.507982 s,
      deltaX: -0.300001 m,
      approachRate: -0.590574 m/s,
      rangeRepo size: 4

2025-10-26T23:06:23.694Z,1761519983.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.706139 m,
      bearing: 260.676671 deg,
      lat: 36.779414 deg,
      lon: -121.859375 deg,
      deltaT: 0.507982 s,
      deltaX: -0.298580 m,
      approachRate: -0.587777 m/s,
      posRepo size: 4

2025-10-26T23:06:23.695Z,1761519983.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:06:23.781Z,1761519983.781 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.342115
2025-10-26T23:06:23.993Z,1761519983.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026363,-0.998294,-0.052102],[0.999652,0.026394,0.000103],[0.001272,-0.052087,0.998642]]
2025-10-26T23:06:24.023Z,1761519984.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:06:24.033Z,1761519984.033 [DAT](INFO): DAT read: Rx Time:23:06:22.8394 

2025-10-26T23:06:24.034Z,1761519984.034 [DAT](INFO): Rx dataTimestamp_ set to:1761519984.033215
2025-10-26T23:06:24.035Z,1761519984.035 [DAT](INFO): DAT read: Bearing  52.2,   7.5 (Local)

2025-10-26T23:06:24.035Z,1761519984.035 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.2,   7.5 (Local)

2025-10-26T23:06:24.037Z,1761519984.037 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.1

2025-10-26T23:06:24.042Z,1761519984.042 [DAT](INFO): DAT read: 23:06:22.8394 LVL= 32752, 32609, 32754, 32755, AGC= 71, IDX= 504, 0.40,-1.544, 0.065,-1.688,-0.890, PHS=-0.552, 1.000,-0.842, RAW= 338.4,   4.6, CAL= 337.9,   2.8, ROT= 172.1,  -2.8

2025-10-26T23:06:24.043Z,1761519984.043 [DAT](INFO): got valid direction response:
 23:06:22.8394 LVL= 32752, 32609, 32754, 32755, AGC= 71, IDX= 504, 0.40,-1.544, 0.065,-1.688,-0.890, PHS=-0.552, 1.000,-0.842, RAW= 338.4,   4.6, CAL= 337.9,   2.8, ROT= 172.1,  -2.8

2025-10-26T23:06:24.043Z,1761519984.043 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-26T23:06:24.044Z,1761519984.044 [DAT](INFO): direction in FSK: [-0.989327,0.137280,0.048850]
2025-10-26T23:06:24.045Z,1761519984.045 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:24.049Z,1761519984.049 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.609729
2025-10-26T23:06:24.284Z,1761519984.284 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.845095
2025-10-26T23:06:24.387Z,1761519984.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031118,-0.998166,-0.051931],[0.999516,0.031073,0.001673],[-0.000056,-0.051958,0.998649]]
2025-10-26T23:06:24.466Z,1761519984.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.499044 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:24.474Z,1761519984.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.706247 m,
      bearing: 260.183137 deg,
      lat: 36.779414 deg,
      lon: -121.859375 deg,
      deltaT: 0.499044 s,
      deltaX: 0.000109 m,
      approachRate: 0.000218 m/s,
      posRepo size: 4

2025-10-26T23:06:24.475Z,1761519984.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:06:24.541Z,1761519984.541 [DAT](INFO): DAT read: Rx Time:23:06:23.3393 

2025-10-26T23:06:24.543Z,1761519984.543 [DAT](INFO): Rx dataTimestamp_ set to:1761519984.541698
2025-10-26T23:06:24.545Z,1761519984.545 [DAT](INFO): DAT read: Bearing  51.6,   7.8 (Local)

2025-10-26T23:06:24.546Z,1761519984.546 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.6,   7.8 (Local)

2025-10-26T23:06:24.548Z,1761519984.548 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.0

2025-10-26T23:06:24.556Z,1761519984.556 [DAT](INFO): DAT read: 23:06:23.3393 LVL= 32752, 29425, 32754, 32755, AGC= 71, IDX= 503, 0.13,-2.694,-1.101,-2.843,-2.042, PHS=-0.551, 0.986,-0.845, RAW= 338.6,   4.9, CAL= 338.1,   3.2, ROT= 171.9,  -3.2

2025-10-26T23:06:24.558Z,1761519984.558 [DAT](INFO): got valid direction response:
 23:06:23.3393 LVL= 32752, 29425, 32754, 32755, AGC= 71, IDX= 503, 0.13,-2.694,-1.101,-2.843,-2.042, PHS=-0.551, 0.986,-0.845, RAW= 338.6,   4.9, CAL= 338.1,   3.2, ROT= 171.9,  -3.2

2025-10-26T23:06:24.558Z,1761519984.558 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-26T23:06:24.559Z,1761519984.559 [DAT](INFO): direction in FSK: [-0.988480,0.140682,0.055822]
2025-10-26T23:06:24.559Z,1761519984.559 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:24.581Z,1761519984.581 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.141478
2025-10-26T23:06:24.788Z,1761519984.788 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.349154
2025-10-26T23:06:24.792Z,1761519984.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035618,-0.998002,-0.052180],[0.999365,0.035504,0.003123],[-0.001264,-0.052258,0.998633]]
2025-10-26T23:06:24.869Z,1761519984.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.508483 s,
      deltaX: -0.099998 m,
      approachRate: -0.196660 m/s,
      rangeRepo size: 4

2025-10-26T23:06:24.871Z,1761519984.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.606722 m,
      bearing: 259.703523 deg,
      lat: 36.779414 deg,
      lon: -121.859374 deg,
      deltaT: 0.508483 s,
      deltaX: -0.099525 m,
      approachRate: -0.195730 m/s,
      posRepo size: 4

2025-10-26T23:06:24.876Z,1761519984.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:06:25.041Z,1761519985.041 [DAT](INFO): DAT read: Rx Time:23:06:23.8394 

2025-10-26T23:06:25.041Z,1761519985.041 [DAT](INFO): Rx dataTimestamp_ set to:1761519985.041170
2025-10-26T23:06:25.043Z,1761519985.043 [DAT](INFO): DAT read: Bearing  52.4,   7.6 (Local)

2025-10-26T23:06:25.043Z,1761519985.043 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.4,   7.6 (Local)

2025-10-26T23:06:25.045Z,1761519985.045 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.0

2025-10-26T23:06:25.050Z,1761519985.050 [DAT](INFO): DAT read: 23:06:23.8394 LVL= 32752, 25217, 32754, 32755, AGC= 70, IDX= 504,-0.09,-2.081,-0.470,-2.226,-1.439, PHS=-0.540, 1.014,-0.831, RAW= 338.4,   4.2, CAL= 337.9,   2.2, ROT= 172.1,  -2.2

2025-10-26T23:06:25.051Z,1761519985.051 [DAT](INFO): got valid direction response:
 23:06:23.8394 LVL= 32752, 25217, 32754, 32755, AGC= 70, IDX= 504,-0.09,-2.081,-0.470,-2.226,-1.439, PHS=-0.540, 1.014,-0.831, RAW= 338.4,   4.2, CAL= 337.9,   2.2, ROT= 172.1,  -2.2

2025-10-26T23:06:25.052Z,1761519985.052 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-10-26T23:06:25.053Z,1761519985.053 [DAT](INFO): direction in FSK: [-0.989779,0.137343,0.038388]
2025-10-26T23:06:25.053Z,1761519985.053 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:25.057Z,1761519985.057 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.617389
2025-10-26T23:06:25.194Z,1761519985.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039952,-0.997801,-0.052892],[0.999198,0.039763,0.004633],[-0.002519,-0.053034,0.998590]]
2025-10-26T23:06:25.238Z,1761519985.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.499472 s,
      deltaX: 0.099998 m,
      approachRate: 0.200208 m/s,
      rangeRepo size: 4

2025-10-26T23:06:25.244Z,1761519985.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.706699 m,
      bearing: 259.705016 deg,
      lat: 36.779413 deg,
      lon: -121.859374 deg,
      deltaT: 0.499472 s,
      deltaX: 0.099977 m,
      approachRate: 0.200166 m/s,
      posRepo size: 4

2025-10-26T23:06:25.244Z,1761519985.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:06:25.293Z,1761519985.293 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.854147
2025-10-26T23:06:25.549Z,1761519985.549 [DAT](INFO): DAT read: Rx Time:23:06:24.3392 

2025-10-26T23:06:25.551Z,1761519985.551 [DAT](INFO): Rx dataTimestamp_ set to:1761519985.549875
2025-10-26T23:06:25.555Z,1761519985.555 [DAT](INFO): DAT read: Bearing  53.2,   7.7 (Local)

2025-10-26T23:06:25.556Z,1761519985.556 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.2,   7.7 (Local)

2025-10-26T23:06:25.563Z,1761519985.563 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed 0.0

2025-10-26T23:06:25.575Z,1761519985.575 [DAT](INFO): DAT read: 23:06:24.3392 LVL= 32752, 26929, 32754, 32755, AGC= 68, IDX= 503,-0.28, 2.775,-1.893, 2.627,-2.884, PHS=-0.522, 1.036,-0.816, RAW= 338.5,   3.5, CAL= 337.9,   1.1, ROT= 172.1,  -1.1

2025-10-26T23:06:25.577Z,1761519985.577 [DAT](INFO): got valid direction response:
 23:06:24.3392 LVL= 32752, 26929, 32754, 32755, AGC= 68, IDX= 503,-0.28, 2.775,-1.893, 2.627,-2.884, PHS=-0.522, 1.036,-0.816, RAW= 338.5,   3.5, CAL= 337.9,   1.1, ROT= 172.1,  -1.1

2025-10-26T23:06:25.577Z,1761519985.577 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-10-26T23:06:25.578Z,1761519985.578 [DAT](INFO): direction in FSK: [-0.990327,0.137419,0.019197]
2025-10-26T23:06:25.578Z,1761519985.578 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:25.582Z,1761519985.582 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.142551
2025-10-26T23:06:25.633Z,1761519985.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043613,-0.997605,-0.053686],[0.999043,0.043373,0.005624],[-0.003282,-0.053879,0.998542]]
2025-10-26T23:06:25.744Z,1761519985.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.508705 s,
      deltaX: -0.299999 m,
      approachRate: -0.589731 m/s,
      rangeRepo size: 4

2025-10-26T23:06:25.746Z,1761519985.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.408113 m,
      bearing: 259.552616 deg,
      lat: 36.779413 deg,
      lon: -121.859374 deg,
      deltaT: 0.508705 s,
      deltaX: -0.298586 m,
      approachRate: -0.586953 m/s,
      posRepo size: 4

2025-10-26T23:06:25.746Z,1761519985.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.41 m.
2025-10-26T23:06:25.798Z,1761519985.798 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.358305
2025-10-26T23:06:26.026Z,1761519986.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046971,-0.997436,-0.053998],[0.998888,0.046679,0.006661],[-0.004123,-0.054251,0.998519]]
2025-10-26T23:06:26.049Z,1761519986.049 [DAT](INFO): DAT read: Rx Time:23:06:24.8393 

2025-10-26T23:06:26.049Z,1761519986.049 [DAT](INFO): Rx dataTimestamp_ set to:1761519986.049077
2025-10-26T23:06:26.051Z,1761519986.051 [DAT](INFO): DAT read: Bearing  53.4,   7.6 (Local)

2025-10-26T23:06:26.051Z,1761519986.051 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.4,   7.6 (Local)

2025-10-26T23:06:26.053Z,1761519986.053 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.0

2025-10-26T23:06:26.058Z,1761519986.058 [DAT](INFO): DAT read: 23:06:24.8393 LVL= 32752, 26833, 32754, 32755, AGC= 69, IDX= 504,-0.42,-3.044,-1.429, 3.097,-2.425, PHS=-0.517, 1.042,-0.805, RAW= 338.3,   3.3, CAL= 337.7,   0.7, ROT= 172.3,  -0.7

2025-10-26T23:06:26.059Z,1761519986.059 [DAT](INFO): got valid direction response:
 23:06:24.8393 LVL= 32752, 26833, 32754, 32755, AGC= 69, IDX= 504,-0.42,-3.044,-1.429, 3.097,-2.425, PHS=-0.517, 1.042,-0.805, RAW= 338.3,   3.3, CAL= 337.7,   0.7, ROT= 172.3,  -0.7

2025-10-26T23:06:26.059Z,1761519986.059 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-10-26T23:06:26.060Z,1761519986.060 [DAT](INFO): direction in FSK: [-0.990909,0.133976,0.012217]
2025-10-26T23:06:26.060Z,1761519986.060 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:26.064Z,1761519986.064 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.624698
2025-10-26T23:06:26.083Z,1761519986.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.499202 s,
      deltaX: 0.200001 m,
      approachRate: 0.400641 m/s,
      rangeRepo size: 4

2025-10-26T23:06:26.085Z,1761519986.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.607529 m,
      bearing: 259.581086 deg,
      lat: 36.779412 deg,
      lon: -121.859374 deg,
      deltaT: 0.499202 s,
      deltaX: 0.199415 m,
      approachRate: 0.399468 m/s,
      posRepo size: 4

2025-10-26T23:06:26.086Z,1761519986.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:06:26.300Z,1761519986.300 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.861042
2025-10-26T23:06:26.506Z,1761519986.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049666,-0.997301,-0.054080],[0.998755,0.049338,0.007378],[-0.004690,-0.054379,0.998509]]
2025-10-26T23:06:26.557Z,1761519986.557 [DAT](INFO): DAT read: Rx Time:23:06:25.3392 

2025-10-26T23:06:26.559Z,1761519986.559 [DAT](INFO): Rx dataTimestamp_ set to:1761519986.557400
2025-10-26T23:06:26.563Z,1761519986.563 [DAT](INFO): DAT read: Bearing  54.3,   7.2 (Local)

2025-10-26T23:06:26.564Z,1761519986.564 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.3,   7.2 (Local)

2025-10-26T23:06:26.571Z,1761519986.571 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed 0.0

2025-10-26T23:06:26.578Z,1761519986.578 [DAT](INFO): DAT read: 23:06:25.3392 LVL= 32752, 23473, 32754, 32755, AGC= 69, IDX= 502, 0.48, 2.752,-1.890, 2.623,-2.922, PHS=-0.507, 1.077,-0.782, RAW= 337.9,   2.5, CAL= 337.2,  -0.4, ROT= 172.8,   0.4

2025-10-26T23:06:26.580Z,1761519986.580 [DAT](INFO): got valid direction response:
 23:06:25.3392 LVL= 32752, 23473, 32754, 32755, AGC= 69, IDX= 502, 0.48, 2.752,-1.890, 2.623,-2.922, PHS=-0.507, 1.077,-0.782, RAW= 337.9,   2.5, CAL= 337.2,  -0.4, ROT= 172.8,   0.4

2025-10-26T23:06:26.580Z,1761519986.580 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-10-26T23:06:26.581Z,1761519986.581 [DAT](INFO): direction in FSK: [-0.992091,0.125330,-0.006981]
2025-10-26T23:06:26.581Z,1761519986.581 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:26.586Z,1761519986.586 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.146412
2025-10-26T23:06:26.623Z,1761519986.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.508323 s,
      deltaX: -0.200001 m,
      approachRate: -0.393452 m/s,
      rangeRepo size: 4

2025-10-26T23:06:26.633Z,1761519986.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.408466 m,
      bearing: 259.985683 deg,
      lat: 36.779412 deg,
      lon: -121.859373 deg,
      deltaT: 0.508323 s,
      deltaX: -0.199062 m,
      approachRate: -0.391606 m/s,
      posRepo size: 4

2025-10-26T23:06:26.634Z,1761519986.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.41 m.
2025-10-26T23:06:26.807Z,1761519986.807 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.367595
2025-10-26T23:06:27.061Z,1761519987.061 [DAT](INFO): DAT read: Rx Time:23:06:25.8393 

2025-10-26T23:06:27.061Z,1761519987.061 [DAT](INFO): Rx dataTimestamp_ set to:1761519987.061215
2025-10-26T23:06:27.063Z,1761519987.063 [DAT](INFO): DAT read: Bearing  52.6,   7.0 (Local)

2025-10-26T23:06:27.063Z,1761519987.063 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.6,   7.0 (Local)

2025-10-26T23:06:27.065Z,1761519987.065 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.1

2025-10-26T23:06:27.070Z,1761519987.070 [DAT](INFO): DAT read: 23:06:25.8393 LVL= 32752, 26273, 32754, 32755, AGC= 70, IDX= 503, 0.50,-2.829,-1.198,-2.952,-2.191, PHS=-0.536, 1.038,-0.805, RAW= 337.8,   3.6, CAL= 337.1,   1.1, ROT= 172.9,  -1.1

2025-10-26T23:06:27.071Z,1761519987.071 [DAT](INFO): got valid direction response:
 23:06:25.8393 LVL= 32752, 26273, 32754, 32755, AGC= 70, IDX= 503, 0.50,-2.829,-1.198,-2.952,-2.191, PHS=-0.536, 1.038,-0.805, RAW= 337.8,   3.6, CAL= 337.1,   1.1, ROT= 172.9,  -1.1

2025-10-26T23:06:27.071Z,1761519987.071 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-10-26T23:06:27.072Z,1761519987.072 [DAT](INFO): direction in FSK: [-0.992149,0.123579,0.019197]
2025-10-26T23:06:27.073Z,1761519987.073 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:27.104Z,1761519987.104 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.665147
2025-10-26T23:06:27.111Z,1761519987.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.503815 s,
      deltaX: 0.200001 m,
      approachRate: 0.396973 m/s,
      rangeRepo size: 4

2025-10-26T23:06:27.119Z,1761519987.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.607647 m,
      bearing: 260.003711 deg,
      lat: 36.779413 deg,
      lon: -121.859374 deg,
      deltaT: 0.503815 s,
      deltaX: 0.199181 m,
      approachRate: 0.395345 m/s,
      posRepo size: 4

2025-10-26T23:06:27.136Z,1761519987.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:06:27.313Z,1761519987.313 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.873373
2025-10-26T23:06:27.406Z,1761519987.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053348,-0.997106,-0.054168],[0.998563,0.052990,0.008037],[-0.005144,-0.054519,0.998499]]
2025-10-26T23:06:27.500Z,1761519987.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:06:27.502Z,1761519987.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:06:27.570Z,1761519987.570 [DAT](INFO): DAT read: Rx Time:23:06:26.3392 

2025-10-26T23:06:27.573Z,1761519987.573 [DAT](INFO): Rx dataTimestamp_ set to:1761519987.570291
2025-10-26T23:06:27.577Z,1761519987.577 [DAT](INFO): DAT read: Bearing  52.4,   6.8 (Local)

2025-10-26T23:06:27.579Z,1761519987.579 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.4,   6.8 (Local)

2025-10-26T23:06:27.608Z,1761519987.608 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed 0.0

2025-10-26T23:06:27.629Z,1761519987.629 [DAT](INFO): DAT read: 23:06:26.3392 LVL= 32752, 23217, 32754, 32755, AGC= 70, IDX= 503,-0.46, 1.385, 3.015, 1.273, 2.027, PHS=-0.540, 1.033,-0.798, RAW= 337.5,   3.6, CAL= 336.8,   1.2, ROT= 173.2,  -1.2

2025-10-26T23:06:27.631Z,1761519987.631 [DAT](INFO): got valid direction response:
 23:06:26.3392 LVL= 32752, 23217, 32754, 32755, AGC= 70, IDX= 503,-0.46, 1.385, 3.015, 1.273, 2.027, PHS=-0.540, 1.033,-0.798, RAW= 337.5,   3.6, CAL= 336.8,   1.2, ROT= 173.2,  -1.2

2025-10-26T23:06:27.631Z,1761519987.631 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-10-26T23:06:27.644Z,1761519987.644 [DAT](INFO): direction in FSK: [-0.992748,0.118378,0.020942]
2025-10-26T23:06:27.644Z,1761519987.644 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:27.652Z,1761519987.652 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.213102
2025-10-26T23:06:27.816Z,1761519987.816 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.377187
2025-10-26T23:06:27.819Z,1761519987.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054510,-0.997073,-0.053618],[0.998502,0.054176,0.007656],[-0.004729,-0.053955,0.998532]]
2025-10-26T23:06:27.887Z,1761519987.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.509076 s,
      deltaX: -0.200001 m,
      approachRate: -0.392870 m/s,
      rangeRepo size: 4

2025-10-26T23:06:27.889Z,1761519987.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.408585 m,
      bearing: 260.020196 deg,
      lat: 36.779414 deg,
      lon: -121.859373 deg,
      deltaT: 0.509076 s,
      deltaX: -0.199062 m,
      approachRate: -0.391027 m/s,
      posRepo size: 4

2025-10-26T23:06:27.889Z,1761519987.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.41 m.
2025-10-26T23:06:28.069Z,1761519988.069 [DAT](INFO): DAT read: Rx Time:23:06:26.8392 

2025-10-26T23:06:28.070Z,1761519988.070 [DAT](INFO): Rx dataTimestamp_ set to:1761519988.069411
2025-10-26T23:06:28.071Z,1761519988.071 [DAT](INFO): DAT read: Bearing  52.8,   6.9 (Local)

2025-10-26T23:06:28.071Z,1761519988.071 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.8,   6.9 (Local)

2025-10-26T23:06:28.073Z,1761519988.073 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed 0.0

2025-10-26T23:06:28.078Z,1761519988.078 [DAT](INFO): DAT read: 23:06:26.8392 LVL= 32752, 31089, 32754, 32755, AGC= 72, IDX= 503,-0.27, 0.697, 2.331, 0.584, 1.329, PHS=-0.530, 1.046,-0.789, RAW= 337.5,   3.2, CAL= 336.8,   0.6, ROT= 173.2,  -0.6

2025-10-26T23:06:28.079Z,1761519988.079 [DAT](INFO): got valid direction response:
 23:06:26.8392 LVL= 32752, 31089, 32754, 32755, AGC= 72, IDX= 503,-0.27, 0.697, 2.331, 0.584, 1.329, PHS=-0.530, 1.046,-0.789, RAW= 337.5,   3.2, CAL= 336.8,   0.6, ROT= 173.2,  -0.6

2025-10-26T23:06:28.080Z,1761519988.080 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-10-26T23:06:28.081Z,1761519988.081 [DAT](INFO): direction in FSK: [-0.992911,0.118398,0.010472]
2025-10-26T23:06:28.081Z,1761519988.081 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:28.085Z,1761519988.085 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.645214
2025-10-26T23:06:28.257Z,1761519988.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.499120 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:28.259Z,1761519988.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.408697 m,
      bearing: 260.052684 deg,
      lat: 36.779414 deg,
      lon: -121.859373 deg,
      deltaT: 0.499120 s,
      deltaX: 0.000113 m,
      approachRate: 0.000225 m/s,
      posRepo size: 4

2025-10-26T23:06:28.260Z,1761519988.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.41 m.
2025-10-26T23:06:28.323Z,1761519988.323 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.883591
2025-10-26T23:06:28.577Z,1761519988.577 [DAT](INFO): DAT read: Rx Time:23:06:27.3392 

2025-10-26T23:06:28.579Z,1761519988.579 [DAT](INFO): Rx dataTimestamp_ set to:1761519988.577725
2025-10-26T23:06:28.583Z,1761519988.583 [DAT](INFO): DAT read: Bearing  54.7,   6.3 (Local)

2025-10-26T23:06:28.584Z,1761519988.584 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.7,   6.3 (Local)

2025-10-26T23:06:28.591Z,1761519988.591 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed 0.0

2025-10-26T23:06:28.633Z,1761519988.633 [DAT](INFO): DAT read: 23:06:27.3392 LVL= 32752, 23313, 32754, 32755, AGC= 70, IDX= 502,-0.04,-1.054, 0.608,-1.145,-0.454, PHS=-0.498, 1.107,-0.735, RAW= 336.8,   1.5, CAL= 336.1,  -1.4, ROT= 173.9,   1.4

2025-10-26T23:06:28.634Z,1761519988.634 [DAT](INFO): got valid direction response:
 23:06:27.3392 LVL= 32752, 23313, 32754, 32755, AGC= 70, IDX= 502,-0.04,-1.054, 0.608,-1.145,-0.454, PHS=-0.498, 1.107,-0.735, RAW= 336.8,   1.5, CAL= 336.1,  -1.4, ROT= 173.9,   1.4

2025-10-26T23:06:28.634Z,1761519988.634 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-10-26T23:06:28.635Z,1761519988.635 [DAT](INFO): direction in FSK: [-0.994041,0.106233,-0.024432]
2025-10-26T23:06:28.652Z,1761519988.652 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:28.660Z,1761519988.660 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.215869
2025-10-26T23:06:28.661Z,1761519988.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053570,-0.997190,-0.052363],[0.998556,0.053285,0.006831],[-0.004022,-0.052653,0.998605]]
2025-10-26T23:06:28.766Z,1761519988.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.508314 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:28.773Z,1761519988.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.408697 m,
      bearing: 260.911566 deg,
      lat: 36.779415 deg,
      lon: -121.859372 deg,
      deltaT: 0.508314 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:06:28.773Z,1761519988.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.41 m.
2025-10-26T23:06:28.825Z,1761519988.825 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.385236
2025-10-26T23:06:29.077Z,1761519989.077 [DAT](INFO): DAT read: Rx Time:23:06:27.8393 

2025-10-26T23:06:29.077Z,1761519989.077 [DAT](INFO): Rx dataTimestamp_ set to:1761519989.077203
2025-10-26T23:06:29.079Z,1761519989.079 [DAT](INFO): DAT read: Bearing  56.1,   7.2 (Local)

2025-10-26T23:06:29.079Z,1761519989.079 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.1,   7.2 (Local)

2025-10-26T23:06:29.081Z,1761519989.081 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.2

2025-10-26T23:06:29.086Z,1761519989.086 [DAT](INFO): DAT read: 23:06:27.8393 LVL= 32096, 18929, 32754, 32755, AGC= 71, IDX= 503, 0.37,-0.477, 1.189,-0.596, 0.073, PHS=-0.448, 1.161,-0.713, RAW= 337.5,   0.0, CAL= 336.9,  -2.9, ROT= 173.1,   2.9

2025-10-26T23:06:29.087Z,1761519989.087 [DAT](INFO): got valid direction response:
 23:06:27.8393 LVL= 32096, 18929, 32754, 32755, AGC= 71, IDX= 503, 0.37,-0.477, 1.189,-0.596, 0.073, PHS=-0.448, 1.161,-0.713, RAW= 337.5,   0.0, CAL= 336.9,  -2.9, ROT= 173.1,   2.9

2025-10-26T23:06:29.088Z,1761519989.088 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-10-26T23:06:29.088Z,1761519989.088 [DAT](INFO): direction in FSK: [-0.991486,0.119983,-0.050593]
2025-10-26T23:06:29.089Z,1761519989.089 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:29.092Z,1761519989.092 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.653054
2025-10-26T23:06:29.158Z,1761519989.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052343,-0.997269,-0.052106],[0.998623,0.052087,0.006261],[-0.003530,-0.052362,0.998622]]
2025-10-26T23:06:29.205Z,1761519989.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.499478 s,
      deltaX: 0.200001 m,
      approachRate: 0.400420 m/s,
      rangeRepo size: 4

2025-10-26T23:06:29.207Z,1761519989.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.607687 m,
      bearing: 260.261181 deg,
      lat: 36.779415 deg,
      lon: -121.859372 deg,
      deltaT: 0.499478 s,
      deltaX: 0.198990 m,
      approachRate: 0.398396 m/s,
      posRepo size: 4

2025-10-26T23:06:29.209Z,1761519989.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:06:29.328Z,1761519989.328 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.889109
2025-10-26T23:06:29.560Z,1761519989.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051771,-0.997264,-0.052769],[0.998654,0.051532,0.005884],[-0.003148,-0.053003,0.998589]]
2025-10-26T23:06:29.586Z,1761519989.586 [DAT](INFO): DAT read: Rx Time:23:06:28.3393 

2025-10-26T23:06:29.600Z,1761519989.600 [DAT](INFO): Rx dataTimestamp_ set to:1761519989.586870
2025-10-26T23:06:29.604Z,1761519989.604 [DAT](INFO): DAT read: Bearing  53.7,   6.0 (Local)

2025-10-26T23:06:29.605Z,1761519989.605 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.7,   6.0 (Local)

2025-10-26T23:06:29.633Z,1761519989.633 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.0

2025-10-26T23:06:29.642Z,1761519989.642 [DAT](INFO): DAT read: 23:06:28.3393 LVL= 32752, 22513, 32754, 32755, AGC= 72, IDX= 503,-0.20, 2.574,-2.054, 2.494,-3.085, PHS=-0.523, 1.076,-0.748, RAW= 336.5,   2.3, CAL= 335.8,  -0.5, ROT= 174.2,   0.5

2025-10-26T23:06:29.652Z,1761519989.652 [DAT](INFO): got valid direction response:
 23:06:28.3393 LVL= 32752, 22513, 32754, 32755, AGC= 72, IDX= 503,-0.20, 2.574,-2.054, 2.494,-3.085, PHS=-0.523, 1.076,-0.748, RAW= 336.5,   2.3, CAL= 335.8,  -0.5, ROT= 174.2,   0.5

2025-10-26T23:06:29.652Z,1761519989.652 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-10-26T23:06:29.653Z,1761519989.653 [DAT](INFO): direction in FSK: [-0.994843,0.101052,-0.008727]
2025-10-26T23:06:29.653Z,1761519989.653 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:29.657Z,1761519989.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.509667 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:29.658Z,1761519989.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:06:29.687Z,1761519989.687 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.247669
2025-10-26T23:06:29.832Z,1761519989.832 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.393152
2025-10-26T23:06:29.993Z,1761519989.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051276,-0.997261,-0.053312],[0.998680,0.051048,0.005628],[-0.002891,-0.053531,0.998562]]
2025-10-26T23:06:30.042Z,1761519990.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:06:30.086Z,1761519990.086 [DAT](INFO): DAT read: Rx Time:23:06:28.8394 

2025-10-26T23:06:30.086Z,1761519990.086 [DAT](INFO): Rx dataTimestamp_ set to:1761519990.086066
2025-10-26T23:06:30.088Z,1761519990.088 [DAT](INFO): DAT read: Bearing  54.4,   5.9 (Local)

2025-10-26T23:06:30.089Z,1761519990.089 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.4,   5.9 (Local)

2025-10-26T23:06:30.092Z,1761519990.092 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed -0.1

2025-10-26T23:06:30.098Z,1761519990.098 [DAT](INFO): DAT read: 23:06:28.8394 LVL= 32752, 20849, 32754, 32755, AGC= 72, IDX= 504, 0.07,-1.480, 0.170,-1.555,-0.878, PHS=-0.501, 1.092,-0.722, RAW= 336.4,   1.5, CAL= 335.7,  -1.3, ROT= 174.3,   1.3

2025-10-26T23:06:30.112Z,1761519990.112 [DAT](INFO): got valid direction response:
 23:06:28.8394 LVL= 32752, 20849, 32754, 32755, AGC= 72, IDX= 504, 0.07,-1.480, 0.170,-1.555,-0.878, PHS=-0.501, 1.092,-0.722, RAW= 336.4,   1.5, CAL= 335.7,  -1.3, ROT= 174.3,   1.3

2025-10-26T23:06:30.113Z,1761519990.113 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-10-26T23:06:30.113Z,1761519990.113 [DAT](INFO): direction in FSK: [-0.994799,0.099294,-0.022687]
2025-10-26T23:06:30.114Z,1761519990.114 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:30.123Z,1761519990.123 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.683371
2025-10-26T23:06:30.337Z,1761519990.337 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.897249
2025-10-26T23:06:30.364Z,1761519990.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050998,-0.997257,-0.053653],[0.998695,0.050778,0.005454],[-0.002715,-0.053862,0.998545]]
2025-10-26T23:06:30.400Z,1761519990.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.499196 s,
      deltaX: 0.099998 m,
      approachRate: 0.200319 m/s,
      rangeRepo size: 4

2025-10-26T23:06:30.402Z,1761519990.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.707035 m,
      bearing: 261.455100 deg,
      lat: 36.779417 deg,
      lon: -121.859373 deg,
      deltaT: 1.008863 s,
      deltaX: 0.099348 m,
      approachRate: 0.098475 m/s,
      posRepo size: 4

2025-10-26T23:06:30.403Z,1761519990.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:06:30.593Z,1761519990.593 [DAT](INFO): DAT read: Rx Time:23:06:29.3393 

2025-10-26T23:06:30.594Z,1761519990.594 [DAT](INFO): Rx dataTimestamp_ set to:1761519990.593194
2025-10-26T23:06:30.598Z,1761519990.598 [DAT](INFO): DAT read: Bearing  53.4,   5.7 (Local)

2025-10-26T23:06:30.600Z,1761519990.600 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.4,   5.7 (Local)

2025-10-26T23:06:30.607Z,1761519990.607 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed -0.1

2025-10-26T23:06:30.641Z,1761519990.641 [DAT](INFO): DAT read: 23:06:29.3393 LVL= 32752, 26193, 32754, 32755, AGC= 73, IDX= 503, 0.24, 0.005, 1.679,-0.066, 0.642, PHS=-0.535, 1.082,-0.752, RAW= 336.2,   2.4, CAL= 335.4,  -0.4, ROT= 174.6,   0.4

2025-10-26T23:06:30.642Z,1761519990.642 [DAT](INFO): got valid direction response:
 23:06:29.3393 LVL= 32752, 26193, 32754, 32755, AGC= 73, IDX= 503, 0.24, 0.005, 1.679,-0.066, 0.642, PHS=-0.535, 1.082,-0.752, RAW= 336.2,   2.4, CAL= 335.4,  -0.4, ROT= 174.6,   0.4

2025-10-26T23:06:30.643Z,1761519990.643 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-10-26T23:06:30.650Z,1761519990.650 [DAT](INFO): direction in FSK: [-0.995538,0.094106,-0.006981]
2025-10-26T23:06:30.655Z,1761519990.655 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:30.659Z,1761519990.659 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.219706
2025-10-26T23:06:30.768Z,1761519990.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050657,-0.997292,-0.053318],[0.998713,0.050442,0.005367],[-0.002663,-0.053521,0.998563]]
2025-10-26T23:06:30.820Z,1761519990.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.507128 s,
      deltaX: -0.099998 m,
      approachRate: -0.197186 m/s,
      rangeRepo size: 4

2025-10-26T23:06:30.822Z,1761519990.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.607506 m,
      bearing: 261.725504 deg,
      lat: 36.779418 deg,
      lon: -121.859373 deg,
      deltaT: 0.507128 s,
      deltaX: -0.099529 m,
      approachRate: -0.196261 m/s,
      posRepo size: 4

2025-10-26T23:06:30.823Z,1761519990.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:06:30.840Z,1761519990.840 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.401066
2025-10-26T23:06:31.093Z,1761519991.093 [DAT](INFO): DAT read: Rx Time:23:06:29.8394 

2025-10-26T23:06:31.093Z,1761519991.093 [DAT](INFO): Rx dataTimestamp_ set to:1761519991.093122
2025-10-26T23:06:31.095Z,1761519991.095 [DAT](INFO): DAT read: Bearing  52.9,   5.3 (Local)

2025-10-26T23:06:31.095Z,1761519991.095 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.9,   5.3 (Local)

2025-10-26T23:06:31.097Z,1761519991.097 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed -0.2

2025-10-26T23:06:31.102Z,1761519991.102 [DAT](INFO): DAT read: 23:06:29.8394 LVL= 32752, 23457, 32754, 32755, AGC= 70, IDX= 505,-0.34, 0.042, 1.720,-0.017, 0.696, PHS=-0.553, 1.069,-0.758, RAW= 335.9,   2.8, CAL= 335.1,   0.0, ROT= 174.9,  -0.0

2025-10-26T23:06:31.103Z,1761519991.103 [DAT](INFO): got valid direction response:
 23:06:29.8394 LVL= 32752, 23457, 32754, 32755, AGC= 70, IDX= 505,-0.34, 0.042, 1.720,-0.017, 0.696, PHS=-0.553, 1.069,-0.758, RAW= 335.9,   2.8, CAL= 335.1,   0.0, ROT= 174.9,  -0.0

2025-10-26T23:06:31.103Z,1761519991.103 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-10-26T23:06:31.104Z,1761519991.104 [DAT](INFO): direction in FSK: [-0.996041,0.088894,0.000000]
2025-10-26T23:06:31.104Z,1761519991.104 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:31.117Z,1761519991.117 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.677687
2025-10-26T23:06:31.184Z,1761519991.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050528,-0.997334,-0.052641],[0.998719,0.050313,0.005391],[-0.002728,-0.052846,0.998599]]
2025-10-26T23:06:31.232Z,1761519991.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.499928 s,
      deltaX: 0.099998 m,
      approachRate: 0.200026 m/s,
      rangeRepo size: 4

2025-10-26T23:06:31.234Z,1761519991.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.706751 m,
      bearing: 262.010863 deg,
      lat: 36.779418 deg,
      lon: -121.859374 deg,
      deltaT: 0.499928 s,
      deltaX: 0.099245 m,
      approachRate: 0.198519 m/s,
      posRepo size: 4

2025-10-26T23:06:31.234Z,1761519991.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:06:31.345Z,1761519991.345 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.905207
2025-10-26T23:06:31.598Z,1761519991.598 [DAT](INFO): DAT read: Rx Time:23:06:30.3394 

2025-10-26T23:06:31.600Z,1761519991.600 [DAT](INFO): Rx dataTimestamp_ set to:1761519991.598942
2025-10-26T23:06:31.604Z,1761519991.604 [DAT](INFO): DAT read: Bearing  50.2,   5.0 (Local)

2025-10-26T23:06:31.606Z,1761519991.606 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.2,   5.0 (Local)

2025-10-26T23:06:31.632Z,1761519991.632 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed -0.1

2025-10-26T23:06:31.673Z,1761519991.673 [DAT](INFO): DAT read: 23:06:30.3394 LVL= 32752, 26289, 32754, 32755, AGC= 70, IDX= 504, 0.03, 0.132, 1.789, 0.085, 0.831, PHS=-0.598, 1.003,-0.790, RAW= 335.6,   4.6, CAL= 334.9,   2.7, ROT= 175.1,  -2.7

2025-10-26T23:06:31.675Z,1761519991.675 [DAT](INFO): got valid direction response:
 23:06:30.3394 LVL= 32752, 26289, 32754, 32755, AGC= 70, IDX= 504, 0.03, 0.132, 1.789, 0.085, 0.831, PHS=-0.598, 1.003,-0.790, RAW= 335.6,   4.6, CAL= 334.9,   2.7, ROT= 175.1,  -2.7

2025-10-26T23:06:31.675Z,1761519991.675 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-10-26T23:06:31.705Z,1761519991.705 [DAT](INFO): direction in FSK: [-0.995239,0.085322,0.047106]
2025-10-26T23:06:31.705Z,1761519991.705 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:31.722Z,1761519991.722 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.282776
2025-10-26T23:06:31.845Z,1761519991.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.505820 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:31.847Z,1761519991.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.706751 m,
      bearing: 262.067701 deg,
      lat: 36.779419 deg,
      lon: -121.859374 deg,
      deltaT: 0.505820 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:06:31.849Z,1761519991.849 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.409510
2025-10-26T23:06:31.852Z,1761519991.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:06:32.092Z,1761519992.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051110,-0.997341,-0.051950],[0.998687,0.050865,0.006030],[-0.003372,-0.052190,0.998631]]
2025-10-26T23:06:32.101Z,1761519992.101 [DAT](INFO): DAT read: Rx Time:23:06:30.8394 

2025-10-26T23:06:32.101Z,1761519992.101 [DAT](INFO): Rx dataTimestamp_ set to:1761519992.101193
2025-10-26T23:06:32.103Z,1761519992.103 [DAT](INFO): DAT read: Bearing  50.3,   4.7 (Local)

2025-10-26T23:06:32.103Z,1761519992.103 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.3,   4.7 (Local)

2025-10-26T23:06:32.105Z,1761519992.105 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed -0.1

2025-10-26T23:06:32.110Z,1761519992.110 [DAT](INFO): DAT read: 23:06:30.8394 LVL= 32752, 29217, 32754, 32755, AGC= 71, IDX= 505,-0.45,-1.231, 0.408,-1.262,-0.537, PHS=-0.592, 0.991,-0.769, RAW= 335.2,   4.5, CAL= 334.5,   2.6, ROT= 175.5,  -2.6

2025-10-26T23:06:32.111Z,1761519992.111 [DAT](INFO): got valid direction response:
 23:06:30.8394 LVL= 32752, 29217, 32754, 32755, AGC= 71, IDX= 505,-0.45,-1.231, 0.408,-1.262,-0.537, PHS=-0.592, 0.991,-0.769, RAW= 335.2,   4.5, CAL= 334.5,   2.6, ROT= 175.5,  -2.6

2025-10-26T23:06:32.111Z,1761519992.111 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-10-26T23:06:32.112Z,1761519992.112 [DAT](INFO): direction in FSK: [-0.995891,0.078378,0.045363]
2025-10-26T23:06:32.113Z,1761519992.113 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:32.116Z,1761519992.116 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.677029
2025-10-26T23:06:32.188Z,1761519992.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.502251 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:32.190Z,1761519992.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.706057 m,
      bearing: 262.440391 deg,
      lat: 36.779420 deg,
      lon: -121.859373 deg,
      deltaT: 0.502251 s,
      deltaX: -0.000694 m,
      approachRate: -0.001382 m/s,
      posRepo size: 4

2025-10-26T23:06:32.190Z,1761519992.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:06:32.352Z,1761519992.352 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.913095
2025-10-26T23:06:32.496Z,1761519992.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051976,-0.997285,-0.052159],[0.998640,0.051692,0.006771],[-0.004056,-0.052440,0.998616]]
2025-10-26T23:06:32.515Z,1761519992.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:06:32.609Z,1761519992.609 [DAT](INFO): DAT read: Rx Time:23:06:31.3394 

2025-10-26T23:06:32.611Z,1761519992.611 [DAT](INFO): Rx dataTimestamp_ set to:1761519992.610027
2025-10-26T23:06:32.621Z,1761519992.621 [DAT](INFO): DAT read: Bearing  52.8,   4.7 (Local)

2025-10-26T23:06:32.622Z,1761519992.622 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.8,   4.7 (Local)

2025-10-26T23:06:32.629Z,1761519992.629 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed -0.1

2025-10-26T23:06:32.666Z,1761519992.666 [DAT](INFO): DAT read: 23:06:31.3394 LVL= 32752, 27521, 32754, 32755, AGC= 69, IDX= 504, 0.00,-2.293,-0.637,-2.326,-1.636, PHS=-0.555, 1.044,-0.734, RAW= 335.3,   2.9, CAL= 334.4,   0.2, ROT= 175.6,  -0.2

2025-10-26T23:06:32.672Z,1761519992.672 [DAT](INFO): got valid direction response:
 23:06:31.3394 LVL= 32752, 27521, 32754, 32755, AGC= 69, IDX= 504, 0.00,-2.293,-0.637,-2.326,-1.636, PHS=-0.555, 1.044,-0.734, RAW= 335.3,   2.9, CAL= 334.4,   0.2, ROT= 175.6,  -0.2

2025-10-26T23:06:32.672Z,1761519992.672 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-10-26T23:06:32.673Z,1761519992.673 [DAT](INFO): direction in FSK: [-0.997047,0.076718,0.003491]
2025-10-26T23:06:32.673Z,1761519992.673 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:32.682Z,1761519992.682 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.242788
2025-10-26T23:06:32.856Z,1761519992.856 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.417027
2025-10-26T23:06:32.898Z,1761519992.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052671,-0.997207,-0.052957],[0.998601,0.052349,0.007461],[-0.004668,-0.053276,0.998569]]
2025-10-26T23:06:33.008Z,1761519993.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.508834 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:33.010Z,1761519993.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.705982 m,
      bearing: 262.576307 deg,
      lat: 36.779420 deg,
      lon: -121.859373 deg,
      deltaT: 0.508834 s,
      deltaX: -0.000074 m,
      approachRate: -0.000146 m/s,
      posRepo size: 4

2025-10-26T23:06:33.011Z,1761519993.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:06:33.110Z,1761519993.110 [DAT](INFO): DAT read: Rx Time:23:06:31.8395 

2025-10-26T23:06:33.111Z,1761519993.111 [DAT](INFO): Rx dataTimestamp_ set to:1761519993.110447
2025-10-26T23:06:33.113Z,1761519993.113 [DAT](INFO): DAT read: Bearing  50.9,   4.5 (Local)

2025-10-26T23:06:33.113Z,1761519993.113 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.9,   4.5 (Local)

2025-10-26T23:06:33.116Z,1761519993.116 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed 0.0

2025-10-26T23:06:33.122Z,1761519993.122 [DAT](INFO): DAT read: 23:06:31.8395 LVL= 32752, 32129, 32754, 32755, AGC= 71, IDX= 505, 0.37, 0.415, 2.068, 0.389, 1.107, PHS=-0.589, 1.006,-0.761, RAW= 335.1,   4.1, CAL= 334.3,   2.1, ROT= 175.7,  -2.1

2025-10-26T23:06:33.123Z,1761519993.123 [DAT](INFO): got valid direction response:
 23:06:31.8395 LVL= 32752, 32129, 32754, 32755, AGC= 71, IDX= 505, 0.37, 0.415, 2.068, 0.389, 1.107, PHS=-0.589, 1.006,-0.761, RAW= 335.1,   4.1, CAL= 334.3,   2.1, ROT= 175.7,  -2.1

2025-10-26T23:06:33.123Z,1761519993.123 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-10-26T23:06:33.124Z,1761519993.124 [DAT](INFO): direction in FSK: [-0.996515,0.074929,0.036644]
2025-10-26T23:06:33.124Z,1761519993.124 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:33.128Z,1761519993.128 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.688877
2025-10-26T23:06:33.304Z,1761519993.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053483,-0.997134,-0.053512],[0.998554,0.053114,0.008288],[-0.005422,-0.053878,0.998533]]
2025-10-26T23:06:33.332Z,1761519993.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.500420 s,
      deltaX: 0.200001 m,
      approachRate: 0.399666 m/s,
      rangeRepo size: 4

2025-10-26T23:06:33.334Z,1761519993.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.905035 m,
      bearing: 262.526650 deg,
      lat: 36.779421 deg,
      lon: -121.859373 deg,
      deltaT: 0.500420 s,
      deltaX: 0.199053 m,
      approachRate: 0.397772 m/s,
      posRepo size: 4

2025-10-26T23:06:33.335Z,1761519993.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.91 m.
2025-10-26T23:06:33.361Z,1761519993.361 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.921213
2025-10-26T23:06:33.617Z,1761519993.617 [DAT](INFO): DAT read: Rx Time:23:06:32.3395 

2025-10-26T23:06:33.617Z,1761519993.617 [DAT](INFO): Rx dataTimestamp_ set to:1761519993.617123
2025-10-26T23:06:33.619Z,1761519993.619 [DAT](INFO): DAT read: Bearing  49.5,   3.6 (Local)

2025-10-26T23:06:33.619Z,1761519993.619 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.5,   3.6 (Local)

2025-10-26T23:06:33.621Z,1761519993.621 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed -0.1

2025-10-26T23:06:33.626Z,1761519993.626 [DAT](INFO): DAT read: 23:06:32.3395 LVL= 32752, 28145, 32754, 32755, AGC= 71, IDX= 505,-0.17,-2.342,-0.693,-2.336,-1.618, PHS=-0.622, 0.971,-0.762, RAW= 334.2,   5.0, CAL= 333.4,   3.4, ROT= 176.6,  -3.4

2025-10-26T23:06:33.628Z,1761519993.628 [DAT](INFO): got valid direction response:
 23:06:32.3395 LVL= 32752, 28145, 32754, 32755, AGC= 71, IDX= 505,-0.17,-2.342,-0.693,-2.336,-1.618, PHS=-0.622, 0.971,-0.762, RAW= 334.2,   5.0, CAL= 333.4,   3.4, ROT= 176.6,  -3.4

2025-10-26T23:06:33.629Z,1761519993.629 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-10-26T23:06:33.632Z,1761519993.632 [DAT](INFO): direction in FSK: [-0.996483,0.059202,0.059306]
2025-10-26T23:06:33.633Z,1761519993.633 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:33.658Z,1761519993.658 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.218380
2025-10-26T23:06:33.857Z,1761519993.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.506676 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:33.864Z,1761519993.864 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.425165
2025-10-26T23:06:33.865Z,1761519993.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.905035 m,
      bearing: 263.354886 deg,
      lat: 36.779421 deg,
      lon: -121.859373 deg,
      deltaT: 0.506676 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:06:33.865Z,1761519993.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.91 m.
2025-10-26T23:06:34.117Z,1761519994.117 [DAT](INFO): DAT read: Rx Time:23:06:32.8396 

2025-10-26T23:06:34.117Z,1761519994.117 [DAT](INFO): Rx dataTimestamp_ set to:1761519994.117169
2025-10-26T23:06:34.119Z,1761519994.119 [DAT](INFO): DAT read: Bearing  51.7,   4.1 (Local)

2025-10-26T23:06:34.119Z,1761519994.119 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.7,   4.1 (Local)

2025-10-26T23:06:34.121Z,1761519994.121 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed 0.0

2025-10-26T23:06:34.126Z,1761519994.126 [DAT](INFO): DAT read: 23:06:32.8396 LVL= 32752, 28753, 32754, 32755, AGC= 71, IDX= 506, 0.11, 0.967, 2.646, 0.957, 1.658, PHS=-0.588, 1.033,-0.745, RAW= 334.6,   3.6, CAL= 333.7,   1.2, ROT= 176.3,  -1.2

2025-10-26T23:06:34.127Z,1761519994.127 [DAT](INFO): got valid direction response:
 23:06:32.8396 LVL= 32752, 28753, 32754, 32755, AGC= 71, IDX= 506, 0.11, 0.967, 2.646, 0.957, 1.658, PHS=-0.588, 1.033,-0.745, RAW= 334.6,   3.6, CAL= 333.7,   1.2, ROT= 176.3,  -1.2

2025-10-26T23:06:34.127Z,1761519994.127 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-10-26T23:06:34.128Z,1761519994.128 [DAT](INFO): direction in FSK: [-0.997697,0.064518,0.020942]
2025-10-26T23:06:34.129Z,1761519994.129 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:34.132Z,1761519994.132 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.693064
2025-10-26T23:06:34.253Z,1761519994.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056627,-0.997140,-0.050062],[0.998359,0.056127,0.011344],[-0.008502,-0.050622,0.998682]]
2025-10-26T23:06:34.305Z,1761519994.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.500046 s,
      deltaX: 0.100000 m,
      approachRate: 0.199982 m/s,
      rangeRepo size: 4

2025-10-26T23:06:34.312Z,1761519994.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.003647 m,
      bearing: 262.997048 deg,
      lat: 36.779421 deg,
      lon: -121.859375 deg,
      deltaT: 0.500046 s,
      deltaX: 0.098612 m,
      approachRate: 0.197206 m/s,
      posRepo size: 4

2025-10-26T23:06:34.312Z,1761519994.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m.
2025-10-26T23:06:34.370Z,1761519994.370 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.930895
2025-10-26T23:06:34.621Z,1761519994.621 [DAT](INFO): DAT read: Rx Time:23:06:33.3395 

2025-10-26T23:06:34.622Z,1761519994.622 [DAT](INFO): Rx dataTimestamp_ set to:1761519994.621467
2025-10-26T23:06:34.623Z,1761519994.623 [DAT](INFO): DAT read: Bearing  53.4,   4.4 (Local)

2025-10-26T23:06:34.632Z,1761519994.632 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.4,   4.4 (Local)

2025-10-26T23:06:34.639Z,1761519994.639 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed 0.1

2025-10-26T23:06:34.693Z,1761519994.693 [DAT](INFO): DAT read: 23:06:33.3395 LVL= 32752, 25793, 32754, 32755, AGC= 71, IDX= 505, 0.46,-0.660, 1.024,-0.677,-0.004, PHS=-0.554, 1.073,-0.717, RAW= 334.7,   2.3, CAL= 333.8,  -0.5, ROT= 176.2,   0.5

2025-10-26T23:06:34.695Z,1761519994.695 [DAT](INFO): got valid direction response:
 23:06:33.3395 LVL= 32752, 25793, 32754, 32755, AGC= 71, IDX= 505, 0.46,-0.660, 1.024,-0.677,-0.004, PHS=-0.554, 1.073,-0.717, RAW= 334.7,   2.3, CAL= 333.8,  -0.5, ROT= 176.2,   0.5

2025-10-26T23:06:34.708Z,1761519994.708 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-10-26T23:06:34.710Z,1761519994.710 [DAT](INFO): direction in FSK: [-0.997763,0.066271,-0.008727]
2025-10-26T23:06:34.710Z,1761519994.710 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:34.746Z,1761519994.746 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.306705
2025-10-26T23:06:34.756Z,1761519994.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057676,-0.997092,-0.049806],[0.998292,0.057137,0.012188],[-0.009307,-0.050424,0.998685]]
2025-10-26T23:06:34.872Z,1761519994.872 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.433153
2025-10-26T23:06:34.867Z,1761519994.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.504298 s,
      deltaX: -0.100000 m,
      approachRate: -0.198296 m/s,
      rangeRepo size: 4

2025-10-26T23:06:34.875Z,1761519994.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.904125 m,
      bearing: 262.923667 deg,
      lat: 36.779423 deg,
      lon: -121.859375 deg,
      deltaT: 0.504298 s,
      deltaX: -0.099522 m,
      approachRate: -0.197347 m/s,
      posRepo size: 4

2025-10-26T23:06:34.880Z,1761519994.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m.
2025-10-26T23:06:35.125Z,1761519995.125 [DAT](INFO): DAT read: Rx Time:23:06:33.8397 

2025-10-26T23:06:35.126Z,1761519995.126 [DAT](INFO): Rx dataTimestamp_ set to:1761519995.125297
2025-10-26T23:06:35.127Z,1761519995.127 [DAT](INFO): DAT read: Bearing  51.7,   3.9 (Local)

2025-10-26T23:06:35.128Z,1761519995.128 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.7,   3.9 (Local)

2025-10-26T23:06:35.130Z,1761519995.130 [DAT](INFO): DAT read: Range 11 to 50 :    20.3 m (trip time 13.5 ms) speed -0.1

2025-10-26T23:06:35.174Z,1761519995.174 [DAT](INFO): DAT read: 23:06:33.8397 LVL= 32752, 23521, 32754, 32755, AGC= 69, IDX= 507,-0.27, 0.136, 1.821, 0.136, 0.830, PHS=-0.592, 1.036,-0.738, RAW= 334.2,   3.5, CAL= 333.4,   1.1, ROT= 176.6,  -1.1

2025-10-26T23:06:35.176Z,1761519995.176 [DAT](INFO): got valid direction response:
 23:06:33.8397 LVL= 32752, 23521, 32754, 32755, AGC= 69, IDX= 507,-0.27, 0.136, 1.821, 0.136, 0.830, PHS=-0.592, 1.036,-0.738, RAW= 334.2,   3.5, CAL= 333.4,   1.1, ROT= 176.6,  -1.1

2025-10-26T23:06:35.176Z,1761519995.176 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-10-26T23:06:35.177Z,1761519995.177 [DAT](INFO): direction in FSK: [-0.998056,0.059295,0.019197]
2025-10-26T23:06:35.177Z,1761519995.177 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:35.184Z,1761519995.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059048,-0.997014,-0.049755],[0.998203,0.058462,0.013164],[-0.010216,-0.050443,0.998675]]
2025-10-26T23:06:35.230Z,1761519995.230 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.790623
2025-10-26T23:06:35.314Z,1761519995.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.299999 m,
      deltaT: 0.503830 s,
      deltaX: 0.299999 m,
      approachRate: 0.595437 m/s,
      rangeRepo size: 4

2025-10-26T23:06:35.324Z,1761519995.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.202341 m,
      bearing: 263.162824 deg,
      lat: 36.779423 deg,
      lon: -121.859375 deg,
      deltaT: 0.503830 s,
      deltaX: 0.298216 m,
      approachRate: 0.591898 m/s,
      posRepo size: 4

2025-10-26T23:06:35.324Z,1761519995.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.20 m.
2025-10-26T23:06:35.376Z,1761519995.376 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.937149
2025-10-26T23:06:35.585Z,1761519995.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060297,-0.996947,-0.049611],[0.998120,0.059671,0.014003],[-0.011000,-0.050362,0.998670]]
2025-10-26T23:06:35.617Z,1761519995.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.20 m.
2025-10-26T23:06:35.629Z,1761519995.629 [DAT](INFO): DAT read: Rx Time:23:06:34.3396 

2025-10-26T23:06:35.630Z,1761519995.630 [DAT](INFO): Rx dataTimestamp_ set to:1761519995.629225
2025-10-26T23:06:35.631Z,1761519995.631 [DAT](INFO): DAT read: Bearing  51.1,   4.1 (Local)

2025-10-26T23:06:35.631Z,1761519995.631 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.1,   4.1 (Local)

2025-10-26T23:06:35.633Z,1761519995.633 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed 0.0

2025-10-26T23:06:35.638Z,1761519995.638 [DAT](INFO): DAT read: 23:06:34.3396 LVL= 32752, 26257, 32754, 32755, AGC= 72, IDX= 506,-0.10,-0.595, 1.075,-0.598, 0.100, PHS=-0.593, 1.020,-0.743, RAW= 334.4,   3.8, CAL= 333.5,   1.5, ROT= 176.5,  -1.5

2025-10-26T23:06:35.639Z,1761519995.639 [DAT](INFO): got valid direction response:
 23:06:34.3396 LVL= 32752, 26257, 32754, 32755, AGC= 72, IDX= 506,-0.10,-0.595, 1.075,-0.598, 0.100, PHS=-0.593, 1.020,-0.743, RAW= 334.4,   3.8, CAL= 333.5,   1.5, ROT= 176.5,  -1.5

2025-10-26T23:06:35.639Z,1761519995.639 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-10-26T23:06:35.640Z,1761519995.640 [DAT](INFO): direction in FSK: [-0.997793,0.061028,0.026177]
2025-10-26T23:06:35.641Z,1761519995.641 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:35.670Z,1761519995.670 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.230566
2025-10-26T23:06:35.880Z,1761519995.880 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.441193
2025-10-26T23:06:35.989Z,1761519995.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061572,-0.996871,-0.049568],[0.998034,0.060907,0.014808],[-0.011743,-0.050383,0.998661]]
2025-10-26T23:06:36.051Z,1761519996.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.503928 s,
      deltaX: -0.199999 m,
      approachRate: -0.396880 m/s,
      rangeRepo size: 4

2025-10-26T23:06:36.053Z,1761519996.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.003155 m,
      bearing: 262.897493 deg,
      lat: 36.779423 deg,
      lon: -121.859376 deg,
      deltaT: 0.503928 s,
      deltaX: -0.199186 m,
      approachRate: -0.395267 m/s,
      posRepo size: 4

2025-10-26T23:06:36.053Z,1761519996.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m.
2025-10-26T23:06:36.133Z,1761519996.133 [DAT](INFO): DAT read: Rx Time:23:06:34.8396 

2025-10-26T23:06:36.134Z,1761519996.134 [DAT](INFO): Rx dataTimestamp_ set to:1761519996.133324
2025-10-26T23:06:36.135Z,1761519996.135 [DAT](INFO): DAT read: Bearing  52.6,   4.3 (Local)

2025-10-26T23:06:36.135Z,1761519996.135 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.6,   4.3 (Local)

2025-10-26T23:06:36.137Z,1761519996.137 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed 0.0

2025-10-26T23:06:36.142Z,1761519996.142 [DAT](INFO): DAT read: 23:06:34.8396 LVL= 32752, 23825, 32754, 32755, AGC= 71, IDX= 506, 0.03, 0.623, 2.310, 0.613, 1.295, PHS=-0.570, 1.060,-0.726, RAW= 334.5,   2.8, CAL= 333.6,  -0.0, ROT= 176.4,   0.0

2025-10-26T23:06:36.143Z,1761519996.143 [DAT](INFO): got valid direction response:
 23:06:34.8396 LVL= 32752, 23825, 32754, 32755, AGC= 71, IDX= 506, 0.03, 0.623, 2.310, 0.613, 1.295, PHS=-0.570, 1.060,-0.726, RAW= 334.5,   2.8, CAL= 333.6,  -0.0, ROT= 176.4,   0.0

2025-10-26T23:06:36.144Z,1761519996.144 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-10-26T23:06:36.145Z,1761519996.145 [DAT](INFO): direction in FSK: [-0.998027,0.062791,-0.000000]
2025-10-26T23:06:36.145Z,1761519996.145 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:36.149Z,1761519996.149 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.709875
2025-10-26T23:06:36.384Z,1761519996.384 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.945162
2025-10-26T23:06:36.475Z,1761519996.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062930,-0.996779,-0.049722],[0.997940,0.062224,0.015625],[-0.012481,-0.050603,0.998641]]
2025-10-26T23:06:36.522Z,1761519996.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.504099 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:36.544Z,1761519996.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.003155 m,
      bearing: 262.796142 deg,
      lat: 36.779423 deg,
      lon: -121.859376 deg,
      deltaT: 0.504099 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:06:36.545Z,1761519996.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m.
2025-10-26T23:06:36.638Z,1761519996.638 [DAT](INFO): DAT read: Rx Time:23:06:35.3395 

2025-10-26T23:06:36.638Z,1761519996.638 [DAT](INFO): Rx dataTimestamp_ set to:1761519996.638071
2025-10-26T23:06:36.640Z,1761519996.640 [DAT](INFO): DAT read: Bearing  52.9,   4.4 (Local)

2025-10-26T23:06:36.640Z,1761519996.640 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.9,   4.4 (Local)

2025-10-26T23:06:36.644Z,1761519996.644 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed 0.0

2025-10-26T23:06:36.656Z,1761519996.656 [DAT](INFO): DAT read: 23:06:35.3395 LVL= 32752, 22833, 32754, 32755, AGC= 71, IDX= 505, 0.14,-0.469, 1.226,-0.481, 0.192, PHS=-0.559, 1.079,-0.718, RAW= 334.6,   2.3, CAL= 333.7,  -0.5, ROT= 176.3,   0.5

2025-10-26T23:06:36.658Z,1761519996.658 [DAT](INFO): got valid direction response:
 23:06:35.3395 LVL= 32752, 22833, 32754, 32755, AGC= 71, IDX= 505, 0.14,-0.469, 1.226,-0.481, 0.192, PHS=-0.559, 1.079,-0.718, RAW= 334.6,   2.3, CAL= 333.7,  -0.5, ROT= 176.3,   0.5

2025-10-26T23:06:36.660Z,1761519996.660 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-10-26T23:06:36.664Z,1761519996.664 [DAT](INFO): direction in FSK: [-0.997878,0.064530,-0.008727]
2025-10-26T23:06:36.665Z,1761519996.665 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:36.682Z,1761519996.682 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.241983
2025-10-26T23:06:36.814Z,1761519996.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064298,-0.996671,-0.050126],[0.997844,0.063548,0.016425],[-0.013185,-0.051074,0.998608]]
2025-10-26T23:06:36.888Z,1761519996.888 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.449152
2025-10-26T23:06:36.974Z,1761519996.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.504747 s,
      deltaX: -0.100000 m,
      approachRate: -0.198120 m/s,
      rangeRepo size: 4

2025-10-26T23:06:36.980Z,1761519996.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.903637 m,
      bearing: 262.643697 deg,
      lat: 36.779423 deg,
      lon: -121.859376 deg,
      deltaT: 0.504747 s,
      deltaX: -0.099518 m,
      approachRate: -0.197164 m/s,
      posRepo size: 4

2025-10-26T23:06:36.981Z,1761519996.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m.
2025-10-26T23:06:37.141Z,1761519997.141 [DAT](INFO): DAT read: Rx Time:23:06:35.8396 

2025-10-26T23:06:37.141Z,1761519997.141 [DAT](INFO): Rx dataTimestamp_ set to:1761519997.141107
2025-10-26T23:06:37.143Z,1761519997.143 [DAT](INFO): DAT read: Bearing  51.8,   4.1 (Local)

2025-10-26T23:06:37.143Z,1761519997.143 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.8,   4.1 (Local)

2025-10-26T23:06:37.145Z,1761519997.145 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed 0.0

2025-10-26T23:06:37.150Z,1761519997.150 [DAT](INFO): DAT read: 23:06:35.8396 LVL= 32752, 26225, 32754, 32755, AGC= 71, IDX= 506, 0.16, 1.628,-2.970, 1.625, 2.312, PHS=-0.583, 1.046,-0.732, RAW= 334.3,   3.2, CAL= 333.4,   0.6, ROT= 176.6,  -0.6

2025-10-26T23:06:37.151Z,1761519997.151 [DAT](INFO): got valid direction response:
 23:06:35.8396 LVL= 32752, 26225, 32754, 32755, AGC= 71, IDX= 506, 0.16, 1.628,-2.970, 1.625, 2.312, PHS=-0.583, 1.046,-0.732, RAW= 334.3,   3.2, CAL= 333.4,   0.6, ROT= 176.6,  -0.6

2025-10-26T23:06:37.151Z,1761519997.151 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-10-26T23:06:37.152Z,1761519997.152 [DAT](INFO): direction in FSK: [-0.998185,0.059303,0.010472]
2025-10-26T23:06:37.152Z,1761519997.152 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:37.156Z,1761519997.156 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.717016
2025-10-26T23:06:37.281Z,1761519997.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065956,-0.996535,-0.050676],[0.997725,0.065154,0.017315],[-0.013953,-0.051702,0.998565]]
2025-10-26T23:06:37.341Z,1761519997.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.503036 s,
      deltaX: 0.100000 m,
      approachRate: 0.198794 m/s,
      rangeRepo size: 4

2025-10-26T23:06:37.343Z,1761519997.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.003267 m,
      bearing: 262.790795 deg,
      lat: 36.779423 deg,
      lon: -121.859376 deg,
      deltaT: 0.503036 s,
      deltaX: 0.099630 m,
      approachRate: 0.198058 m/s,
      posRepo size: 4

2025-10-26T23:06:37.348Z,1761519997.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m.
2025-10-26T23:06:37.393Z,1761519997.393 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.954115
2025-10-26T23:06:37.645Z,1761519997.645 [DAT](INFO): DAT read: Rx Time:23:06:36.3395 

2025-10-26T23:06:37.645Z,1761519997.645 [DAT](INFO): Rx dataTimestamp_ set to:1761519997.645174
2025-10-26T23:06:37.647Z,1761519997.647 [DAT](INFO): DAT read: Bearing  50.4,   4.3 (Local)

2025-10-26T23:06:37.647Z,1761519997.647 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.4,   4.3 (Local)

2025-10-26T23:06:37.649Z,1761519997.649 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed 0.0

2025-10-26T23:06:37.654Z,1761519997.654 [DAT](INFO): DAT read: 23:06:36.3395 LVL= 32752, 26785, 32754, 32755, AGC= 72, IDX= 505, 0.20, 0.348, 2.023, 0.338, 1.051, PHS=-0.601, 1.017,-0.757, RAW= 334.5,   4.1, CAL= 333.7,   2.0, ROT= 176.3,  -2.0

2025-10-26T23:06:37.655Z,1761519997.655 [DAT](INFO): got valid direction response:
 23:06:36.3395 LVL= 32752, 26785, 32754, 32755, AGC= 72, IDX= 505, 0.20, 0.348, 2.023, 0.338, 1.051, PHS=-0.601, 1.017,-0.757, RAW= 334.5,   4.1, CAL= 333.7,   2.0, ROT= 176.3,  -2.0

2025-10-26T23:06:37.656Z,1761519997.656 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-26T23:06:37.657Z,1761519997.657 [DAT](INFO): direction in FSK: [-0.997308,0.064493,0.034899]
2025-10-26T23:06:37.657Z,1761519997.657 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:37.669Z,1761519997.669 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.229431
2025-10-26T23:06:37.717Z,1761519997.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067569,-0.996397,-0.051256],[0.997607,0.066719,0.018115],[-0.014630,-0.052357,0.998521]]
2025-10-26T23:06:37.863Z,1761519997.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.504067 s,
      deltaX: -0.100000 m,
      approachRate: -0.198387 m/s,
      rangeRepo size: 4

2025-10-26T23:06:37.869Z,1761519997.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.903748 m,
      bearing: 262.323613 deg,
      lat: 36.779423 deg,
      lon: -121.859376 deg,
      deltaT: 0.504067 s,
      deltaX: -0.099520 m,
      approachRate: -0.197434 m/s,
      posRepo size: 4

2025-10-26T23:06:37.875Z,1761519997.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m.
2025-10-26T23:06:37.896Z,1761519997.896 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.457161
2025-10-26T23:06:38.120Z,1761519998.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069210,-0.996267,-0.051596],[0.997485,0.068316,0.018901],[-0.015305,-0.052775,0.998489]]
2025-10-26T23:06:38.138Z,1761519998.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m.
2025-10-26T23:06:38.153Z,1761519998.153 [DAT](INFO): DAT read: Rx Time:23:06:36.8396 

2025-10-26T23:06:38.154Z,1761519998.154 [DAT](INFO): Rx dataTimestamp_ set to:1761519998.153268
2025-10-26T23:06:38.155Z,1761519998.155 [DAT](INFO): DAT read: Bearing  50.0,   4.2 (Local)

2025-10-26T23:06:38.155Z,1761519998.155 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.0,   4.2 (Local)

2025-10-26T23:06:38.157Z,1761519998.157 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed 0.0

2025-10-26T23:06:38.162Z,1761519998.162 [DAT](INFO): DAT read: 23:06:36.8396 LVL= 32752, 29169, 32754, 32755, AGC= 70, IDX= 506, 0.22, 1.700,-2.926, 1.700, 2.404, PHS=-0.602, 0.998,-0.749, RAW= 334.3,   4.3, CAL= 333.5,   2.3, ROT= 176.5,  -2.3

2025-10-26T23:06:38.163Z,1761519998.163 [DAT](INFO): got valid direction response:
 23:06:36.8396 LVL= 32752, 29169, 32754, 32755, AGC= 70, IDX= 506, 0.22, 1.700,-2.926, 1.700, 2.404, PHS=-0.602, 0.998,-0.749, RAW= 334.3,   4.3, CAL= 333.5,   2.3, ROT= 176.5,  -2.3

2025-10-26T23:06:38.163Z,1761519998.163 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-10-26T23:06:38.164Z,1761519998.164 [DAT](INFO): direction in FSK: [-0.997331,0.060999,0.040132]
2025-10-26T23:06:38.165Z,1761519998.165 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:38.173Z,1761519998.173 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.733730
2025-10-26T23:06:38.404Z,1761519998.404 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.965038
2025-10-26T23:06:38.544Z,1761519998.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070932,-0.996148,-0.051559],[0.997353,0.069999,0.019691],[-0.016006,-0.052819,0.998476]]
2025-10-26T23:06:38.592Z,1761519998.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.508094 s,
      deltaX: 0.100000 m,
      approachRate: 0.196815 m/s,
      rangeRepo size: 4

2025-10-26T23:06:38.594Z,1761519998.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.003340 m,
      bearing: 262.312900 deg,
      lat: 36.779423 deg,
      lon: -121.859376 deg,
      deltaT: 0.508094 s,
      deltaX: 0.099592 m,
      approachRate: 0.196011 m/s,
      posRepo size: 4

2025-10-26T23:06:38.594Z,1761519998.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m.
2025-10-26T23:06:38.657Z,1761519998.657 [DAT](INFO): DAT read: Rx Time:23:06:37.3394 

2025-10-26T23:06:38.658Z,1761519998.658 [DAT](INFO): Rx dataTimestamp_ set to:1761519998.657524
2025-10-26T23:06:38.659Z,1761519998.659 [DAT](INFO): DAT read: Bearing  50.1,   4.0 (Local)

2025-10-26T23:06:38.660Z,1761519998.660 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.1,   4.0 (Local)

2025-10-26T23:06:38.662Z,1761519998.662 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.0

2025-10-26T23:06:38.666Z,1761519998.666 [DAT](INFO): DAT read: 23:06:37.3394 LVL= 32752, 29105, 32754, 32755, AGC= 69, IDX= 505, 0.21, 0.192, 1.885, 0.194, 0.906, PHS=-0.613, 1.023,-0.757, RAW= 334.2,   4.1, CAL= 333.4,   2.0, ROT= 176.6,  -2.0

2025-10-26T23:06:38.667Z,1761519998.667 [DAT](INFO): got valid direction response:
 23:06:37.3394 LVL= 32752, 29105, 32754, 32755, AGC= 69, IDX= 505, 0.21, 0.192, 1.885, 0.194, 0.906, PHS=-0.613, 1.023,-0.757, RAW= 334.2,   4.1, CAL= 333.4,   2.0, ROT= 176.6,  -2.0

2025-10-26T23:06:38.668Z,1761519998.668 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-10-26T23:06:38.669Z,1761519998.669 [DAT](INFO): direction in FSK: [-0.997632,0.059270,0.034899]
2025-10-26T23:06:38.669Z,1761519998.669 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:38.677Z,1761519998.677 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.238111
2025-10-26T23:06:38.911Z,1761519998.911 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.471214
2025-10-26T23:06:38.997Z,1761519998.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072771,-0.996007,-0.051723],[0.997210,0.071799,0.020422],[-0.016627,-0.053064,0.998453]]
2025-10-26T23:06:39.052Z,1761519999.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.504256 s,
      deltaX: -0.300001 m,
      approachRate: -0.594938 m/s,
      rangeRepo size: 4

2025-10-26T23:06:39.054Z,1761519999.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.705067 m,
      bearing: 262.322718 deg,
      lat: 36.779423 deg,
      lon: -121.859375 deg,
      deltaT: 0.504256 s,
      deltaX: -0.298273 m,
      approachRate: -0.591511 m/s,
      posRepo size: 4

2025-10-26T23:06:39.055Z,1761519999.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:06:39.161Z,1761519999.161 [DAT](INFO): DAT read: Rx Time:23:06:37.8395 

2025-10-26T23:06:39.161Z,1761519999.161 [DAT](INFO): Rx dataTimestamp_ set to:1761519999.161116
2025-10-26T23:06:39.163Z,1761519999.163 [DAT](INFO): DAT read: Bearing  51.0,   4.4 (Local)

2025-10-26T23:06:39.163Z,1761519999.163 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.0,   4.4 (Local)

2025-10-26T23:06:39.165Z,1761519999.165 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed 0.0

2025-10-26T23:06:39.170Z,1761519999.170 [DAT](INFO): DAT read: 23:06:37.8395 LVL= 32752, 26097, 32754, 32755, AGC= 69, IDX= 506, 0.16, 1.358, 3.035, 1.351, 2.046, PHS=-0.586, 1.034,-0.739, RAW= 334.5,   3.5, CAL= 333.6,   1.0, ROT= 176.4,  -1.0

2025-10-26T23:06:39.171Z,1761519999.171 [DAT](INFO): got valid direction response:
 23:06:37.8395 LVL= 32752, 26097, 32754, 32755, AGC= 69, IDX= 506, 0.16, 1.358, 3.035, 1.351, 2.046, PHS=-0.586, 1.034,-0.739, RAW= 334.5,   3.5, CAL= 333.6,   1.0, ROT= 176.4,  -1.0

2025-10-26T23:06:39.171Z,1761519999.171 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-10-26T23:06:39.172Z,1761519999.172 [DAT](INFO): direction in FSK: [-0.997875,0.062781,0.017452]
2025-10-26T23:06:39.173Z,1761519999.173 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:39.176Z,1761519999.176 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.737045
2025-10-26T23:06:39.417Z,1761519999.417 [DAT](INFO): DAT read: Rx Time:23:06:38.3394 

2025-10-26T23:06:39.418Z,1761519999.418 [DAT](INFO): Rx dataTimestamp_ set to:1761519999.417415
2025-10-26T23:06:39.423Z,1761519999.423 [DAT](INFO): DAT read: Bearing  52.2,   4.1 (Local)

2025-10-26T23:06:39.424Z,1761519999.424 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.2,   4.1 (Local)

2025-10-26T23:06:39.427Z,1761519999.427 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.986624
2025-10-26T23:06:39.510Z,1761519999.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076242,-0.995773,-0.051225],[0.996931,0.075212,0.021742],[-0.017797,-0.052726,0.998450]]
2025-10-26T23:06:39.560Z,1761519999.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.503592 s,
      deltaX: 0.200001 m,
      approachRate: 0.397148 m/s,
      rangeRepo size: 4

2025-10-26T23:06:39.562Z,1761519999.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.904108 m,
      bearing: 261.977588 deg,
      lat: 36.779422 deg,
      lon: -121.859376 deg,
      deltaT: 0.503592 s,
      deltaX: 0.199041 m,
      approachRate: 0.395243 m/s,
      posRepo size: 4

2025-10-26T23:06:39.563Z,1761519999.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m.
2025-10-26T23:06:39.666Z,1761519999.666 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.0

2025-10-26T23:06:39.670Z,1761519999.670 [DAT](INFO): DAT read: 23:06:38.3394 LVL= 32752, 26001, 32754, 32755, AGC= 69, IDX= 505, 0.08,-0.206, 1.488,-0.202, 0.468, PHS=-0.572, 1.065,-0.714, RAW= 334.1,   2.6, CAL= 333.2,  -0.2, ROT= 176.8,   0.2

2025-10-26T23:06:39.672Z,1761519999.672 [DAT](INFO): got valid direction response:
 23:06:38.3394 LVL= 32752, 26001, 32754, 32755, AGC= 69, IDX= 505, 0.08,-0.206, 1.488,-0.202, 0.468, PHS=-0.572, 1.065,-0.714, RAW= 334.1,   2.6, CAL= 333.2,  -0.2, ROT= 176.8,   0.2

2025-10-26T23:06:39.672Z,1761519999.672 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-10-26T23:06:39.673Z,1761519999.673 [DAT](INFO): direction in FSK: [-0.998435,0.055821,-0.003491]
2025-10-26T23:06:39.673Z,1761519999.673 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:39.677Z,1761519999.677 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.237438
2025-10-26T23:06:39.920Z,1761519999.920 [DAT](INFO): DAT read: Rx Time:23:06:38.8394 

2025-10-26T23:06:39.921Z,1761519999.921 [DAT](INFO): Rx dataTimestamp_ set to:1761519999.920235
2025-10-26T23:06:39.925Z,1761519999.925 [DAT](INFO): DAT read: Bearing  50.8,   3.8 (Local)

2025-10-26T23:06:39.926Z,1761519999.926 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.8,   3.8 (Local)

2025-10-26T23:06:39.928Z,1761519999.928 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.488337
2025-10-26T23:06:40.088Z,1761520000.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.502651 s,
      deltaX: -0.200001 m,
      approachRate: -0.397892 m/s,
      rangeRepo size: 4

2025-10-26T23:06:40.090Z,1761520000.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.704815 m,
      bearing: 262.441570 deg,
      lat: 36.779422 deg,
      lon: -121.859375 deg,
      deltaT: 0.502651 s,
      deltaX: -0.199293 m,
      approachRate: -0.396484 m/s,
      posRepo size: 4

2025-10-26T23:06:40.090Z,1761520000.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m.
2025-10-26T23:06:40.170Z,1761520000.170 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.0

2025-10-26T23:06:40.175Z,1761520000.175 [DAT](INFO): DAT read: 23:06:38.8394 LVL= 32752, 29425, 32754, 32755, AGC= 70, IDX= 505, 0.02,-0.592, 1.077,-0.579, 0.098, PHS=-0.589, 1.023,-0.721, RAW= 333.9,   3.4, CAL= 333.0,   1.0, ROT= 177.0,  -1.0

2025-10-26T23:06:40.177Z,1761520000.177 [DAT](INFO): got valid direction response:
 23:06:38.8394 LVL= 32752, 29425, 32754, 32755, AGC= 70, IDX= 505, 0.02,-0.592, 1.077,-0.579, 0.098, PHS=-0.589, 1.023,-0.721, RAW= 333.9,   3.4, CAL= 333.0,   1.0, ROT= 177.0,  -1.0

2025-10-26T23:06:40.177Z,1761520000.177 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-10-26T23:06:40.178Z,1761520000.178 [DAT](INFO): direction in FSK: [-0.998477,0.052328,0.017452]
2025-10-26T23:06:40.178Z,1761520000.178 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:40.182Z,1761520000.182 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.742619
2025-10-26T23:06:40.424Z,1761520000.424 [DAT](INFO): DAT read: Rx Time:23:06:39.3393 

2025-10-26T23:06:40.426Z,1761520000.426 [DAT](INFO): Rx dataTimestamp_ set to:1761520000.424966
2025-10-26T23:06:40.430Z,1761520000.430 [DAT](INFO): DAT read: Bearing  50.4,   3.7 (Local)

2025-10-26T23:06:40.431Z,1761520000.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.4,   3.7 (Local)

2025-10-26T23:06:40.472Z,1761520000.472 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.0

2025-10-26T23:06:40.484Z,1761520000.484 [DAT](INFO): DAT read: 23:06:39.3393 LVL= 32752, 28065, 32754, 32755, AGC= 69, IDX= 504,-0.05,-2.760,-1.103,-2.741,-2.067, PHS=-0.591, 1.008,-0.719, RAW= 333.8,   3.7, CAL= 332.9,   1.3, ROT= 177.1,  -1.3

2025-10-26T23:06:40.485Z,1761520000.485 [DAT](INFO): got valid direction response:
 23:06:39.3393 LVL= 32752, 28065, 32754, 32755, AGC= 69, IDX= 504,-0.05,-2.760,-1.103,-2.741,-2.067, PHS=-0.591, 1.008,-0.719, RAW= 333.8,   3.7, CAL= 332.9,   1.3, ROT= 177.1,  -1.3

2025-10-26T23:06:40.486Z,1761520000.486 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-10-26T23:06:40.487Z,1761520000.487 [DAT](INFO): direction in FSK: [-0.998462,0.050580,0.022687]
2025-10-26T23:06:40.487Z,1761520000.487 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:40.514Z,1761520000.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079299,-0.995560,-0.050719],[0.996678,0.078236,0.022625],[-0.018556,-0.052345,0.998457]]
2025-10-26T23:06:40.507Z,1761520000.507 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.055803
2025-10-26T23:06:40.570Z,1761520000.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.761199 s,
      deltaX: -0.099998 m,
      approachRate: -0.131370 m/s,
      rangeRepo size: 4

2025-10-26T23:06:40.581Z,1761520000.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.605297 m,
      bearing: 262.485314 deg,
      lat: 36.779423 deg,
      lon: -121.859374 deg,
      deltaT: 0.761199 s,
      deltaX: -0.099518 m,
      approachRate: -0.130738 m/s,
      posRepo size: 4

2025-10-26T23:06:40.581Z,1761520000.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:06:40.673Z,1761520000.673 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.233797
2025-10-26T23:06:40.886Z,1761520000.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081025,-0.995447,-0.050202],[0.996531,0.079947,0.023139],[-0.019020,-0.051903,0.998471]]
2025-10-26T23:06:40.937Z,1761520000.937 [DAT](INFO): DAT read: Rx Time:23:06:39.8394 

2025-10-26T23:06:40.938Z,1761520000.938 [DAT](INFO): Rx dataTimestamp_ set to:1761520000.937030
2025-10-26T23:06:40.943Z,1761520000.943 [DAT](INFO): DAT read: Bearing  48.8,   3.0 (Local)

2025-10-26T23:06:40.945Z,1761520000.945 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.8,   3.0 (Local)

2025-10-26T23:06:41.017Z,1761520001.017 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.0

2025-10-26T23:06:41.049Z,1761520001.049 [DAT](INFO): DAT read: 23:06:39.8394 LVL= 32752, 27041, 32754, 32755, AGC= 69, IDX= 505,-0.16,-1.085, 0.584,-1.043,-0.352, PHS=-0.630, 0.982,-0.735, RAW= 333.1,   4.6, CAL= 332.3,   2.9, ROT= 177.7,  -2.9

2025-10-26T23:06:41.050Z,1761520001.050 [DAT](INFO): got valid direction response:
 23:06:39.8394 LVL= 32752, 27041, 32754, 32755, AGC= 69, IDX= 505,-0.16,-1.085, 0.584,-1.043,-0.352, PHS=-0.630, 0.982,-0.735, RAW= 333.1,   4.6, CAL= 332.3,   2.9, ROT= 177.7,  -2.9

2025-10-26T23:06:41.050Z,1761520001.050 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-10-26T23:06:41.063Z,1761520001.063 [DAT](INFO): direction in FSK: [-0.997915,0.040081,0.050593]
2025-10-26T23:06:41.064Z,1761520001.064 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:41.079Z,1761520001.079 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.627905
2025-10-26T23:06:41.089Z,1761520001.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.512064 s,
      deltaX: 0.099998 m,
      approachRate: 0.195285 m/s,
      rangeRepo size: 4

2025-10-26T23:06:41.096Z,1761520001.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.704771 m,
      bearing: 262.901508 deg,
      lat: 36.779423 deg,
      lon: -121.859374 deg,
      deltaT: 0.512064 s,
      deltaX: 0.099474 m,
      approachRate: 0.194261 m/s,
      posRepo size: 4

2025-10-26T23:06:41.096Z,1761520001.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m.
2025-10-26T23:06:41.185Z,1761520001.185 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.745403
2025-10-26T23:06:41.442Z,1761520001.442 [DAT](INFO): DAT read: Rx Time:23:06:40.3393 

2025-10-26T23:06:41.444Z,1761520001.444 [DAT](INFO): Rx dataTimestamp_ set to:1761520001.443401
2025-10-26T23:06:41.455Z,1761520001.455 [DAT](INFO): DAT read: Bearing  50.1,   3.0 (Local)

2025-10-26T23:06:41.456Z,1761520001.456 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.1,   3.0 (Local)

2025-10-26T23:06:41.493Z,1761520001.493 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.0

2025-10-26T23:06:41.513Z,1761520001.513 [DAT](INFO): DAT read: 23:06:40.3393 LVL= 32752, 30305, 32754, 32755, AGC= 69, IDX= 504,-0.18,-3.028,-1.362,-2.988,-2.321, PHS=-0.605, 1.003,-0.711, RAW= 333.2,   3.8, CAL= 332.2,   1.6, ROT= 177.8,  -1.6

2025-10-26T23:06:41.515Z,1761520001.515 [DAT](INFO): got valid direction response:
 23:06:40.3393 LVL= 32752, 30305, 32754, 32755, AGC= 69, IDX= 504,-0.18,-3.028,-1.362,-2.988,-2.321, PHS=-0.605, 1.003,-0.711, RAW= 333.2,   3.8, CAL= 332.2,   1.6, ROT= 177.8,  -1.6

2025-10-26T23:06:41.515Z,1761520001.515 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-10-26T23:06:41.529Z,1761520001.529 [DAT](INFO): direction in FSK: [-0.998873,0.038373,0.027922]
2025-10-26T23:06:41.529Z,1761520001.529 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:41.531Z,1761520001.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082939,-0.995380,-0.048376],[0.996371,0.081894,0.023202],[-0.019133,-0.050125,0.998560]]
2025-10-26T23:06:41.549Z,1761520001.549 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.110119
2025-10-26T23:06:41.590Z,1761520001.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.506371 s,
      deltaX: -0.099998 m,
      approachRate: -0.197481 m/s,
      rangeRepo size: 4

2025-10-26T23:06:41.597Z,1761520001.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.605253 m,
      bearing: 262.962631 deg,
      lat: 36.779424 deg,
      lon: -121.859374 deg,
      deltaT: 0.506371 s,
      deltaX: -0.099518 m,
      approachRate: -0.196531 m/s,
      posRepo size: 4

2025-10-26T23:06:41.597Z,1761520001.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:06:41.689Z,1761520001.689 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.249508
2025-10-26T23:06:41.945Z,1761520001.945 [DAT](INFO): DAT read: Rx Time:23:06:40.8394 

2025-10-26T23:06:41.948Z,1761520001.948 [DAT](INFO): Rx dataTimestamp_ set to:1761520001.946232
2025-10-26T23:06:41.954Z,1761520001.954 [DAT](INFO): DAT read: Bearing  49.9,   2.8 (Local)

2025-10-26T23:06:41.970Z,1761520001.970 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.9,   2.8 (Local)

2025-10-26T23:06:41.972Z,1761520001.972 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.0

2025-10-26T23:06:41.993Z,1761520001.993 [DAT](INFO): DAT read: 23:06:40.8394 LVL= 32752, 24529, 32754, 32755, AGC= 70, IDX= 505,-0.28,-0.981, 0.716,-0.935,-0.260, PHS=-0.619, 1.021,-0.720, RAW= 332.9,   3.8, CAL= 332.0,   1.6, ROT= 178.0,  -1.6

2025-10-26T23:06:41.994Z,1761520001.994 [DAT](INFO): got valid direction response:
 23:06:40.8394 LVL= 32752, 24529, 32754, 32755, AGC= 70, IDX= 505,-0.28,-0.981, 0.716,-0.935,-0.260, PHS=-0.619, 1.021,-0.720, RAW= 332.9,   3.8, CAL= 332.0,   1.6, ROT= 178.0,  -1.6

2025-10-26T23:06:41.994Z,1761520001.994 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-10-26T23:06:42.004Z,1761520002.004 [DAT](INFO): direction in FSK: [-0.999001,0.034886,0.027922]
2025-10-26T23:06:42.004Z,1761520002.004 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:42.011Z,1761520002.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083942,-0.995336,-0.047542],[0.996288,0.082918,0.023135],[-0.019085,-0.049308,0.998601]]
2025-10-26T23:06:42.016Z,1761520002.016 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.567991
2025-10-26T23:06:42.113Z,1761520002.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.502831 s,
      deltaX: 0.099998 m,
      approachRate: 0.198871 m/s,
      rangeRepo size: 4

2025-10-26T23:06:42.119Z,1761520002.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.704777 m,
      bearing: 263.106056 deg,
      lat: 36.779425 deg,
      lon: -121.859374 deg,
      deltaT: 0.502831 s,
      deltaX: 0.099524 m,
      approachRate: 0.197926 m/s,
      posRepo size: 4

2025-10-26T23:06:42.120Z,1761520002.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m.
2025-10-26T23:06:42.193Z,1761520002.193 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.753233
2025-10-26T23:06:42.453Z,1761520002.453 [DAT](INFO): DAT read: Rx Time:23:06:41.3393 

2025-10-26T23:06:42.455Z,1761520002.455 [DAT](INFO): Rx dataTimestamp_ set to:1761520002.453638
2025-10-26T23:06:42.460Z,1761520002.460 [DAT](INFO): DAT read: Bearing  50.7,   2.7 (Local)

2025-10-26T23:06:42.462Z,1761520002.462 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.7,   2.7 (Local)

2025-10-26T23:06:42.489Z,1761520002.489 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.0

2025-10-26T23:06:42.502Z,1761520002.502 [DAT](INFO): DAT read: 23:06:41.3393 LVL= 32752, 25521, 32754, 32755, AGC= 72, IDX= 504,-0.28,-2.308,-0.643,-2.259,-1.615, PHS=-0.591, 1.016,-0.689, RAW= 332.9,   3.2, CAL= 331.9,   0.7, ROT= 178.1,  -0.7

2025-10-26T23:06:42.507Z,1761520002.507 [DAT](INFO): got valid direction response:
 23:06:41.3393 LVL= 32752, 25521, 32754, 32755, AGC= 72, IDX= 504,-0.28,-2.308,-0.643,-2.259,-1.615, PHS=-0.591, 1.016,-0.689, RAW= 332.9,   3.2, CAL= 331.9,   0.7, ROT= 178.1,  -0.7

2025-10-26T23:06:42.507Z,1761520002.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084842,-0.995284,-0.047023],[0.996218,0.083843,0.022824],[-0.018774,-0.048781,0.998633]]
2025-10-26T23:06:42.523Z,1761520002.523 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-10-26T23:06:42.524Z,1761520002.524 [DAT](INFO): direction in FSK: [-0.999376,0.033153,0.012217]
2025-10-26T23:06:42.525Z,1761520002.525 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:42.544Z,1761520002.544 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.105185
2025-10-26T23:06:42.561Z,1761520002.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.507406 s,
      deltaX: -0.099998 m,
      approachRate: -0.197078 m/s,
      rangeRepo size: 4

2025-10-26T23:06:42.563Z,1761520002.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.605259 m,
      bearing: 263.199641 deg,
      lat: 36.779425 deg,
      lon: -121.859374 deg,
      deltaT: 0.507406 s,
      deltaX: -0.099518 m,
      approachRate: -0.196131 m/s,
      posRepo size: 4

2025-10-26T23:06:42.563Z,1761520002.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:06:42.697Z,1761520002.697 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.257301
2025-10-26T23:06:42.953Z,1761520002.953 [DAT](INFO): DAT read: Rx Time:23:06:41.8394 

2025-10-26T23:06:42.955Z,1761520002.955 [DAT](INFO): Rx dataTimestamp_ set to:1761520002.953692
2025-10-26T23:06:42.960Z,1761520002.960 [DAT](INFO): DAT read: Bearing  50.3,   2.3 (Local)

2025-10-26T23:06:42.961Z,1761520002.961 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.3,   2.3 (Local)

2025-10-26T23:06:42.970Z,1761520002.970 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.0

2025-10-26T23:06:42.975Z,1761520002.975 [DAT](INFO): DAT read: 23:06:41.8394 LVL= 32752, 25969, 32754, 32755, AGC= 71, IDX= 505,-0.25,-0.947, 0.744,-0.885,-0.234, PHS=-0.611, 1.023,-0.695, RAW= 332.5,   3.4, CAL= 331.5,   1.0, ROT= 178.5,  -1.0

2025-10-26T23:06:42.976Z,1761520002.976 [DAT](INFO): got valid direction response:
 23:06:41.8394 LVL= 32752, 25969, 32754, 32755, AGC= 71, IDX= 505,-0.25,-0.947, 0.744,-0.885,-0.234, PHS=-0.611, 1.023,-0.695, RAW= 332.5,   3.4, CAL= 331.5,   1.0, ROT= 178.5,  -1.0

2025-10-26T23:06:42.976Z,1761520002.976 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-10-26T23:06:42.977Z,1761520002.977 [DAT](INFO): direction in FSK: [-0.999505,0.026173,0.017452]
2025-10-26T23:06:42.977Z,1761520002.977 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:42.983Z,1761520002.983 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.543249
2025-10-26T23:06:43.011Z,1761520003.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086116,-0.995168,-0.047178],[0.996112,0.085121,0.022699],[-0.018573,-0.048949,0.998629]]
2025-10-26T23:06:43.141Z,1761520003.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.500054 s,
      deltaX: 0.099998 m,
      approachRate: 0.199975 m/s,
      rangeRepo size: 4

2025-10-26T23:06:43.143Z,1761520003.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.704973 m,
      bearing: 263.511084 deg,
      lat: 36.779426 deg,
      lon: -121.859374 deg,
      deltaT: 0.500054 s,
      deltaX: 0.099714 m,
      approachRate: 0.199407 m/s,
      posRepo size: 4

2025-10-26T23:06:43.143Z,1761520003.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m.
2025-10-26T23:06:43.201Z,1761520003.201 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.761385
2025-10-26T23:06:43.461Z,1761520003.461 [DAT](INFO): DAT read: Rx Time:23:06:42.3393 

2025-10-26T23:06:43.464Z,1761520003.464 [DAT](INFO): Rx dataTimestamp_ set to:1761520003.462037
2025-10-26T23:06:43.468Z,1761520003.468 [DAT](INFO): DAT read: Bearing  51.8,   2.3 (Local)

2025-10-26T23:06:43.468Z,1761520003.468 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.8,   2.3 (Local)

2025-10-26T23:06:43.492Z,1761520003.492 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.1

2025-10-26T23:06:43.505Z,1761520003.505 [DAT](INFO): DAT read: 23:06:42.3393 LVL= 32752, 24305, 32754, 32755, AGC= 71, IDX= 504,-0.17,-2.876,-1.202,-2.815,-2.202, PHS=-0.573, 1.045,-0.658, RAW= 332.5,   2.3, CAL= 331.5,  -0.5, ROT= 178.5,   0.5

2025-10-26T23:06:43.506Z,1761520003.506 [DAT](INFO): got valid direction response:
 23:06:42.3393 LVL= 32752, 24305, 32754, 32755, AGC= 71, IDX= 504,-0.17,-2.876,-1.202,-2.815,-2.202, PHS=-0.573, 1.045,-0.658, RAW= 332.5,   2.3, CAL= 331.5,  -0.5, ROT= 178.5,   0.5

2025-10-26T23:06:43.506Z,1761520003.506 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-10-26T23:06:43.513Z,1761520003.513 [DAT](INFO): direction in FSK: [-0.999619,0.026176,-0.008727]
2025-10-26T23:06:43.514Z,1761520003.514 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:43.521Z,1761520003.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087765,-0.994872,-0.050269],[0.996002,0.086799,0.021098],[-0.016626,-0.051920,0.998513]]
2025-10-26T23:06:43.529Z,1761520003.529 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=30.090179
2025-10-26T23:06:43.573Z,1761520003.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.508345 s,
      deltaX: -0.099998 m,
      approachRate: -0.196714 m/s,
      rangeRepo size: 4

2025-10-26T23:06:43.580Z,1761520003.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.605453 m,
      bearing: 263.492275 deg,
      lat: 36.779426 deg,
      lon: -121.859374 deg,
      deltaT: 0.508345 s,
      deltaX: -0.099520 m,
      approachRate: -0.195772 m/s,
      posRepo size: 4

2025-10-26T23:06:43.580Z,1761520003.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:06:43.706Z,1761520003.706 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=30.266058
2025-10-26T23:06:43.962Z,1761520003.962 [DAT](INFO): DAT read: Rx Time:23:06:42.8394 

2025-10-26T23:06:43.964Z,1761520003.964 [DAT](INFO): Rx dataTimestamp_ set to:1761520003.962889
2025-10-26T23:06:43.968Z,1761520003.968 [DAT](INFO): DAT read: Bearing  51.1,   2.0 (Local)

2025-10-26T23:06:43.968Z,1761520003.968 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.1,   2.0 (Local)

2025-10-26T23:06:43.970Z,1761520003.970 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.0

2025-10-26T23:06:44.015Z,1761520004.015 [DAT](INFO): DAT read: 23:06:42.8394 LVL= 32752, 24433, 32754, 32755, AGC= 71, IDX= 505,-0.10,-1.379, 0.305,-1.311,-0.685, PHS=-0.593, 1.034,-0.670, RAW= 332.3,   2.8, CAL= 331.2,  -0.0, ROT= 178.8,   0.0

2025-10-26T23:06:44.024Z,1761520004.024 [DAT](INFO): got valid direction response:
 23:06:42.8394 LVL= 32752, 24433, 32754, 32755, AGC= 71, IDX= 505,-0.10,-1.379, 0.305,-1.311,-0.685, PHS=-0.593, 1.034,-0.670, RAW= 332.3,   2.8, CAL= 331.2,  -0.0, ROT= 178.8,   0.0

2025-10-26T23:06:44.025Z,1761520004.025 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-10-26T23:06:44.026Z,1761520004.026 [DAT](INFO): direction in FSK: [-0.999781,0.020942,-0.000000]
2025-10-26T23:06:44.026Z,1761520004.026 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:44.042Z,1761520004.042 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.602507
2025-10-26T23:06:44.154Z,1761520004.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.500852 s,
      deltaX: 0.099998 m,
      approachRate: 0.199657 m/s,
      rangeRepo size: 4

2025-10-26T23:06:44.157Z,1761520004.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.705011 m,
      bearing: 263.765738 deg,
      lat: 36.779427 deg,
      lon: -121.859375 deg,
      deltaT: 0.500852 s,
      deltaX: 0.099558 m,
      approachRate: 0.198777 m/s,
      posRepo size: 4

2025-10-26T23:06:44.158Z,1761520004.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:06:44.209Z,1761520004.209 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.769384
2025-10-26T23:06:44.466Z,1761520004.466 [DAT](INFO): DAT read: Rx Time:23:06:43.3393 

2025-10-26T23:06:44.467Z,1761520004.467 [DAT](INFO): Rx dataTimestamp_ set to:1761520004.466846
2025-10-26T23:06:44.469Z,1761520004.469 [DAT](INFO): DAT read: Bearing  50.0,   1.5 (Local)

2025-10-26T23:06:44.469Z,1761520004.469 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.0,   1.5 (Local)

2025-10-26T23:06:44.483Z,1761520004.483 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.0

2025-10-26T23:06:44.489Z,1761520004.489 [DAT](INFO): DAT read: 23:06:43.3393 LVL= 32752, 24609, 32754, 32755, AGC= 70, IDX= 504, 0.01,-1.709,-0.018,-1.625,-0.989, PHS=-0.618, 1.016,-0.680, RAW= 331.8,   3.4, CAL= 330.8,   1.0, ROT= 179.2,  -1.0

2025-10-26T23:06:44.490Z,1761520004.490 [DAT](INFO): got valid direction response:
 23:06:43.3393 LVL= 32752, 24609, 32754, 32755, AGC= 70, IDX= 504, 0.01,-1.709,-0.018,-1.625,-0.989, PHS=-0.618, 1.016,-0.680, RAW= 331.8,   3.4, CAL= 330.8,   1.0, ROT= 179.2,  -1.0

2025-10-26T23:06:44.491Z,1761520004.491 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-10-26T23:06:44.495Z,1761520004.495 [DAT](INFO): direction in FSK: [-0.999750,0.013960,0.017452]
2025-10-26T23:06:44.495Z,1761520004.495 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:44.511Z,1761520004.511 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.071404
2025-10-26T23:06:44.548Z,1761520004.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089536,-0.994588,-0.052701],[0.995870,0.088602,0.019800],[-0.015023,-0.054256,0.998414]]
2025-10-26T23:06:44.618Z,1761520004.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.503957 s,
      deltaX: -0.099998 m,
      approachRate: -0.198427 m/s,
      rangeRepo size: 4

2025-10-26T23:06:44.632Z,1761520004.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.605494 m,
      bearing: 264.009111 deg,
      lat: 36.779427 deg,
      lon: -121.859374 deg,
      deltaT: 0.503957 s,
      deltaX: -0.099518 m,
      approachRate: -0.197473 m/s,
      posRepo size: 4

2025-10-26T23:06:44.633Z,1761520004.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:06:44.714Z,1761520004.714 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.274202
2025-10-26T23:06:44.968Z,1761520004.968 [DAT](INFO): DAT read: Rx Time:23:06:43.8393 

2025-10-26T23:06:44.969Z,1761520004.969 [DAT](INFO): Rx dataTimestamp_ set to:1761520004.968585
2025-10-26T23:06:44.970Z,1761520004.970 [DAT](INFO): DAT read: Bearing  50.0,   1.5 (Local)

2025-10-26T23:06:44.970Z,1761520004.970 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.0,   1.5 (Local)

2025-10-26T23:06:44.973Z,1761520004.973 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.0

2025-10-26T23:06:44.997Z,1761520004.997 [DAT](INFO): DAT read: 23:06:43.8393 LVL= 32752, 24241, 32754, 32755, AGC= 69, IDX= 504, 0.16,-0.965, 0.731,-0.884,-0.245, PHS=-0.619, 1.021,-0.684, RAW= 331.9,   3.4, CAL= 330.9,   1.0, ROT= 179.1,  -1.0

2025-10-26T23:06:44.999Z,1761520004.999 [DAT](INFO): got valid direction response:
 23:06:43.8393 LVL= 32752, 24241, 32754, 32755, AGC= 69, IDX= 504, 0.16,-0.965, 0.731,-0.884,-0.245, PHS=-0.619, 1.021,-0.684, RAW= 331.9,   3.4, CAL= 330.9,   1.0, ROT= 179.1,  -1.0

2025-10-26T23:06:44.999Z,1761520004.999 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-26T23:06:45.000Z,1761520005.000 [DAT](INFO): direction in FSK: [-0.999724,0.015705,0.017452]
2025-10-26T23:06:45.000Z,1761520005.000 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:45.031Z,1761520005.031 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.591446
2025-10-26T23:06:45.059Z,1761520005.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090359,-0.994586,-0.051318],[0.995825,0.089562,0.017624],[-0.012933,-0.052696,0.998527]]
2025-10-26T23:06:45.184Z,1761520005.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.501739 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:45.186Z,1761520005.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.605503 m,
      bearing: 263.863580 deg,
      lat: 36.779427 deg,
      lon: -121.859374 deg,
      deltaT: 0.501739 s,
      deltaX: 0.000010 m,
      approachRate: 0.000019 m/s,
      posRepo size: 4

2025-10-26T23:06:45.187Z,1761520005.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:06:45.217Z,1761520005.217 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.777281
2025-10-26T23:06:45.469Z,1761520005.469 [DAT](INFO): DAT read: Rx Time:23:06:44.3393 

2025-10-26T23:06:45.470Z,1761520005.470 [DAT](INFO): Rx dataTimestamp_ set to:1761520005.469570
2025-10-26T23:06:45.471Z,1761520005.471 [DAT](INFO): DAT read: Bearing  50.5,   1.1 (Local)

2025-10-26T23:06:45.472Z,1761520005.472 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.5,   1.1 (Local)

2025-10-26T23:06:45.474Z,1761520005.474 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.0

2025-10-26T23:06:45.478Z,1761520005.478 [DAT](INFO): DAT read: 23:06:44.3393 LVL= 32752, 29457, 32754, 32755, AGC= 71, IDX= 504,-0.43, 1.353, 3.061, 1.445, 2.073, PHS=-0.618, 1.033,-0.672, RAW= 331.6,   3.1, CAL= 330.5,   0.5, ROT= 179.5,  -0.5

2025-10-26T23:06:45.479Z,1761520005.479 [DAT](INFO): got valid direction response:
 23:06:44.3393 LVL= 32752, 29457, 32754, 32755, AGC= 71, IDX= 504,-0.43, 1.353, 3.061, 1.445, 2.073, PHS=-0.618, 1.033,-0.672, RAW= 331.6,   3.1, CAL= 330.5,   0.5, ROT= 179.5,  -0.5

2025-10-26T23:06:45.480Z,1761520005.480 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-26T23:06:45.481Z,1761520005.481 [DAT](INFO): direction in FSK: [-0.999924,0.008726,0.008727]
2025-10-26T23:06:45.481Z,1761520005.481 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:45.485Z,1761520005.485 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.045685
2025-10-26T23:06:45.629Z,1761520005.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.500985 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:45.631Z,1761520005.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.605503 m,
      bearing: 264.289547 deg,
      lat: 36.779428 deg,
      lon: -121.859374 deg,
      deltaT: 0.500985 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:06:45.636Z,1761520005.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:06:45.722Z,1761520005.722 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.282185
2025-10-26T23:06:45.973Z,1761520005.973 [DAT](INFO): DAT read: Rx Time:23:06:44.8394 

2025-10-26T23:06:45.973Z,1761520005.973 [DAT](INFO): Rx dataTimestamp_ set to:1761520005.973216
2025-10-26T23:06:45.975Z,1761520005.975 [DAT](INFO): DAT read: Bearing  50.9,   1.2 (Local)

2025-10-26T23:06:45.975Z,1761520005.975 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.9,   1.2 (Local)

2025-10-26T23:06:45.977Z,1761520005.977 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.0

2025-10-26T23:06:45.986Z,1761520005.986 [DAT](INFO): DAT read: 23:06:44.8394 LVL= 32752, 23361, 32754, 32755, AGC= 70, IDX= 505,-0.13, 3.087,-1.478,-3.114,-2.485, PHS=-0.610, 1.052,-0.673, RAW= 331.9,   2.8, CAL= 330.8,  -0.0, ROT= 179.2,   0.0

2025-10-26T23:06:45.987Z,1761520005.987 [DAT](INFO): got valid direction response:
 23:06:44.8394 LVL= 32752, 23361, 32754, 32755, AGC= 70, IDX= 505,-0.13, 3.087,-1.478,-3.114,-2.485, PHS=-0.610, 1.052,-0.673, RAW= 331.9,   2.8, CAL= 330.8,  -0.0, ROT= 179.2,   0.0

2025-10-26T23:06:45.992Z,1761520005.992 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-10-26T23:06:45.993Z,1761520005.993 [DAT](INFO): direction in FSK: [-0.999903,0.013962,-0.000000]
2025-10-26T23:06:45.993Z,1761520005.993 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:46.029Z,1761520006.029 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.590054
2025-10-26T23:06:46.030Z,1761520006.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091723,-0.994672,-0.047064],[0.995735,0.091145,0.014306],[-0.009940,-0.048176,0.998789]]
2025-10-26T23:06:46.166Z,1761520006.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.503646 s,
      deltaX: 0.099998 m,
      approachRate: 0.198549 m/s,
      rangeRepo size: 4

2025-10-26T23:06:46.176Z,1761520006.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.705379 m,
      bearing: 263.937873 deg,
      lat: 36.779428 deg,
      lon: -121.859374 deg,
      deltaT: 0.503646 s,
      deltaX: 0.099876 m,
      approachRate: 0.198307 m/s,
      posRepo size: 4

2025-10-26T23:06:46.177Z,1761520006.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:06:46.225Z,1761520006.225 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.785271
2025-10-26T23:06:46.471Z,1761520006.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092449,-0.994639,-0.046333],[0.995681,0.091945,0.012899],[-0.008569,-0.047326,0.998843]]
2025-10-26T23:06:46.477Z,1761520006.477 [DAT](INFO): DAT read: Rx Time:23:06:45.3393 

2025-10-26T23:06:46.478Z,1761520006.478 [DAT](INFO): Rx dataTimestamp_ set to:1761520006.477263
2025-10-26T23:06:46.479Z,1761520006.479 [DAT](INFO): DAT read: Bearing  50.7,   1.5 (Local)

2025-10-26T23:06:46.479Z,1761520006.479 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.7,   1.5 (Local)

2025-10-26T23:06:46.481Z,1761520006.481 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed -0.1

2025-10-26T23:06:46.486Z,1761520006.486 [DAT](INFO): DAT read: 23:06:45.3393 LVL= 32752, 23489, 32754, 32755, AGC= 70, IDX= 504, 0.19, 3.133,-1.443,-3.080,-2.446, PHS=-0.602, 1.048,-0.679, RAW= 332.2,   2.8, CAL= 331.2,   0.0, ROT= 178.8,  -0.0

2025-10-26T23:06:46.487Z,1761520006.487 [DAT](INFO): got valid direction response:
 23:06:45.3393 LVL= 32752, 23489, 32754, 32755, AGC= 70, IDX= 504, 0.19, 3.133,-1.443,-3.080,-2.446, PHS=-0.602, 1.048,-0.679, RAW= 332.2,   2.8, CAL= 331.2,   0.0, ROT= 178.8,  -0.0

2025-10-26T23:06:46.488Z,1761520006.488 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-10-26T23:06:46.488Z,1761520006.488 [DAT](INFO): direction in FSK: [-0.999781,0.020942,0.000000]
2025-10-26T23:06:46.489Z,1761520006.489 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:46.501Z,1761520006.501 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.061256
2025-10-26T23:06:46.574Z,1761520006.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.504047 s,
      deltaX: -0.099998 m,
      approachRate: -0.198391 m/s,
      rangeRepo size: 4

2025-10-26T23:06:46.585Z,1761520006.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.605858 m,
      bearing: 263.496602 deg,
      lat: 36.779428 deg,
      lon: -121.859374 deg,
      deltaT: 0.504047 s,
      deltaX: -0.099522 m,
      approachRate: -0.197445 m/s,
      posRepo size: 4

2025-10-26T23:06:46.585Z,1761520006.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:06:46.729Z,1761520006.729 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.289860
2025-10-26T23:06:46.882Z,1761520006.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093043,-0.994578,-0.046460],[0.995632,0.092579,0.012058],[-0.007691,-0.047379,0.998847]]
2025-10-26T23:06:46.981Z,1761520006.981 [DAT](INFO): DAT read: Rx Time:23:06:45.8395 

2025-10-26T23:06:46.982Z,1761520006.982 [DAT](INFO): Rx dataTimestamp_ set to:1761520006.981221
2025-10-26T23:06:46.983Z,1761520006.983 [DAT](INFO): DAT read: Bearing  51.2,   1.8 (Local)

2025-10-26T23:06:46.983Z,1761520006.983 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.2,   1.8 (Local)

2025-10-26T23:06:46.989Z,1761520006.989 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed -0.2

2025-10-26T23:06:46.994Z,1761520006.994 [DAT](INFO): DAT read: 23:06:45.8395 LVL= 32752, 25073, 32754, 32755, AGC= 73, IDX= 506,-0.22, 1.132, 2.840, 1.191, 1.818, PHS=-0.585, 1.067,-0.671, RAW= 332.5,   2.3, CAL= 331.5,  -0.6, ROT= 178.5,   0.6

2025-10-26T23:06:46.995Z,1761520006.995 [DAT](INFO): got valid direction response:
 23:06:45.8395 LVL= 32752, 25073, 32754, 32755, AGC= 73, IDX= 506,-0.22, 1.132, 2.840, 1.191, 1.818, PHS=-0.585, 1.067,-0.671, RAW= 332.5,   2.3, CAL= 331.5,  -0.6, ROT= 178.5,   0.6

2025-10-26T23:06:46.995Z,1761520006.995 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-10-26T23:06:46.996Z,1761520006.996 [DAT](INFO): direction in FSK: [-0.999603,0.026176,-0.010472]
2025-10-26T23:06:46.997Z,1761520006.997 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:47.010Z,1761520007.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.503958 s,
      deltaX: 0.299999 m,
      approachRate: 0.595286 m/s,
      rangeRepo size: 4

2025-10-26T23:06:47.012Z,1761520007.012 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.573135
2025-10-26T23:06:47.017Z,1761520007.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.904570 m,
      bearing: 263.191323 deg,
      lat: 36.779428 deg,
      lon: -121.859374 deg,
      deltaT: 0.503958 s,
      deltaX: 0.298712 m,
      approachRate: 0.592731 m/s,
      posRepo size: 4

2025-10-26T23:06:47.017Z,1761520007.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m.
2025-10-26T23:06:47.233Z,1761520007.233 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.793743
2025-10-26T23:06:47.299Z,1761520007.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m.
2025-10-26T23:06:47.485Z,1761520007.485 [DAT](INFO): DAT read: Rx Time:23:06:46.3394 

2025-10-26T23:06:47.485Z,1761520007.485 [DAT](INFO): Rx dataTimestamp_ set to:1761520007.485173
2025-10-26T23:06:47.487Z,1761520007.487 [DAT](INFO): DAT read: Bearing  50.9,   1.4 (Local)

2025-10-26T23:06:47.487Z,1761520007.487 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.9,   1.4 (Local)

2025-10-26T23:06:47.489Z,1761520007.489 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.0

2025-10-26T23:06:47.495Z,1761520007.495 [DAT](INFO): DAT read: 23:06:46.3394 LVL= 32752, 21937, 32754, 32755, AGC= 72, IDX= 505, 0.11, 1.911,-2.657, 1.982, 2.607, PHS=-0.595, 1.064,-0.670, RAW= 332.2,   2.4, CAL= 331.2,  -0.4, ROT= 178.8,   0.4

2025-10-26T23:06:47.497Z,1761520007.497 [DAT](INFO): got valid direction response:
 23:06:46.3394 LVL= 32752, 21937, 32754, 32755, AGC= 72, IDX= 505, 0.11, 1.911,-2.657, 1.982, 2.607, PHS=-0.595, 1.064,-0.670, RAW= 332.2,   2.4, CAL= 331.2,  -0.4, ROT= 178.8,   0.4

2025-10-26T23:06:47.497Z,1761520007.497 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-26T23:06:47.499Z,1761520007.499 [DAT](INFO): direction in FSK: [-0.999756,0.020942,-0.006981]
2025-10-26T23:06:47.499Z,1761520007.499 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:47.504Z,1761520007.504 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.064930
2025-10-26T23:06:47.689Z,1761520007.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093545,-0.994495,-0.047219],[0.995603,0.093208,0.009279],[-0.004827,-0.047880,0.998841]]
2025-10-26T23:06:47.719Z,1761520007.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.503952 s,
      deltaX: -0.200001 m,
      approachRate: -0.396865 m/s,
      rangeRepo size: 4

2025-10-26T23:06:47.737Z,1761520007.737 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.297764
2025-10-26T23:06:47.750Z,1761520007.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.705524 m,
      bearing: 263.452947 deg,
      lat: 36.779427 deg,
      lon: -121.859374 deg,
      deltaT: 0.503952 s,
      deltaX: -0.199045 m,
      approachRate: -0.394969 m/s,
      posRepo size: 4

2025-10-26T23:06:47.750Z,1761520007.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:06:47.989Z,1761520007.989 [DAT](INFO): DAT read: Rx Time:23:06:46.8396 

2025-10-26T23:06:47.989Z,1761520007.989 [DAT](INFO): Rx dataTimestamp_ set to:1761520007.989135
2025-10-26T23:06:47.991Z,1761520007.991 [DAT](INFO): DAT read: Bearing  50.3,   1.3 (Local)

2025-10-26T23:06:47.991Z,1761520007.991 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.3,   1.3 (Local)

2025-10-26T23:06:47.993Z,1761520007.993 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed 0.0

2025-10-26T23:06:47.998Z,1761520007.998 [DAT](INFO): DAT read: 23:06:46.8396 LVL= 32752, 22897, 32754, 32755, AGC= 71, IDX= 507,-0.37, 1.110, 2.816, 1.178, 1.814, PHS=-0.603, 1.047,-0.680, RAW= 332.3,   2.8, CAL= 331.2,   0.1, ROT= 178.8,  -0.1

2025-10-26T23:06:47.000Z,1761520008.000 [DAT](INFO): got valid direction response:
 23:06:46.8396 LVL= 32752, 22897, 32754, 32755, AGC= 71, IDX= 507,-0.37, 1.110, 2.816, 1.178, 1.814, PHS=-0.603, 1.047,-0.680, RAW= 332.3,   2.8, CAL= 331.2,   0.1, ROT= 178.8,  -0.1

2025-10-26T23:06:47.000Z,1761520008.000 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-10-26T23:06:48.001Z,1761520008.001 [DAT](INFO): direction in FSK: [-0.999779,0.020942,0.001745]
2025-10-26T23:06:48.001Z,1761520008.001 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:48.005Z,1761520008.005 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.565544
2025-10-26T23:06:48.090Z,1761520008.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093917,-0.994436,-0.047707],[0.995575,0.093653,0.007750],[-0.003239,-0.048224,0.998831]]
2025-10-26T23:06:48.176Z,1761520008.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.503962 s,
      deltaX: 0.300001 m,
      approachRate: 0.595285 m/s,
      rangeRepo size: 4

2025-10-26T23:06:48.178Z,1761520008.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.003916 m,
      bearing: 263.407551 deg,
      lat: 36.779427 deg,
      lon: -121.859375 deg,
      deltaT: 0.503962 s,
      deltaX: 0.298391 m,
      approachRate: 0.592091 m/s,
      posRepo size: 4

2025-10-26T23:06:48.179Z,1761520008.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m.
2025-10-26T23:06:48.241Z,1761520008.241 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.801933
2025-10-26T23:06:48.493Z,1761520008.493 [DAT](INFO): DAT read: Rx Time:23:06:47.3395 

2025-10-26T23:06:48.494Z,1761520008.494 [DAT](INFO): Rx dataTimestamp_ set to:1761520008.493229
2025-10-26T23:06:48.495Z,1761520008.495 [DAT](INFO): DAT read: Bearing  50.9,   1.9 (Local)

2025-10-26T23:06:48.495Z,1761520008.495 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.9,   1.9 (Local)

2025-10-26T23:06:48.497Z,1761520008.497 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed -0.1

2025-10-26T23:06:48.502Z,1761520008.502 [DAT](INFO): DAT read: 23:06:47.3395 LVL= 32752, 24161, 32754, 32755, AGC= 72, IDX= 506, 0.00, 1.202, 2.904, 1.250, 1.881, PHS=-0.577, 1.068,-0.675, RAW= 332.9,   2.2, CAL= 331.9,  -0.6, ROT= 178.1,   0.6

2025-10-26T23:06:48.503Z,1761520008.503 [DAT](INFO): got valid direction response:
 23:06:47.3395 LVL= 32752, 24161, 32754, 32755, AGC= 72, IDX= 506, 0.00, 1.202, 2.904, 1.250, 1.881, PHS=-0.577, 1.068,-0.675, RAW= 332.9,   2.2, CAL= 331.9,  -0.6, ROT= 178.1,   0.6

2025-10-26T23:06:48.503Z,1761520008.503 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-26T23:06:48.504Z,1761520008.504 [DAT](INFO): direction in FSK: [-0.999395,0.033153,-0.010472]
2025-10-26T23:06:48.505Z,1761520008.505 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:48.513Z,1761520008.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094189,-0.994396,-0.048012],[0.995553,0.094008,0.006018],[-0.001471,-0.048365,0.998829]]
2025-10-26T23:06:48.517Z,1761520008.517 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.077763
2025-10-26T23:06:48.560Z,1761520008.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.504094 s,
      deltaX: -0.100000 m,
      approachRate: -0.198376 m/s,
      rangeRepo size: 4

2025-10-26T23:06:48.562Z,1761520008.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.904392 m,
      bearing: 262.726645 deg,
      lat: 36.779427 deg,
      lon: -121.859376 deg,
      deltaT: 0.504094 s,
      deltaX: -0.099524 m,
      approachRate: -0.197431 m/s,
      posRepo size: 4

2025-10-26T23:06:48.563Z,1761520008.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m.
2025-10-26T23:06:48.745Z,1761520008.745 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.305279
2025-10-26T23:06:48.752Z,1761520008.752 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:06:48.975Z,1761520008.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094694,-0.994339,-0.048200],[0.995506,0.094598,0.004283],[0.000301,-0.048389,0.998829]]
2025-10-26T23:06:48.997Z,1761520008.997 [DAT](INFO): DAT read: Rx Time:23:06:47.8395 

2025-10-26T23:06:48.997Z,1761520008.997 [DAT](INFO): Rx dataTimestamp_ set to:1761520008.997203
2025-10-26T23:06:48.999Z,1761520008.999 [DAT](INFO): DAT read: Bearing  50.4,   1.5 (Local)

2025-10-26T23:06:48.999Z,1761520008.999 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.4,   1.5 (Local)

2025-10-26T23:06:49.001Z,1761520009.001 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed -0.2

2025-10-26T23:06:49.006Z,1761520009.006 [DAT](INFO): DAT read: 23:06:47.8395 LVL= 32752, 24625, 32754, 32755, AGC= 73, IDX= 506, 0.37, 2.321,-2.240, 2.373, 3.019, PHS=-0.596, 1.070,-0.689, RAW= 332.7,   2.5, CAL= 331.7,  -0.3, ROT= 178.3,   0.3

2025-10-26T23:06:49.012Z,1761520009.012 [DAT](INFO): got valid direction response:
 23:06:47.8395 LVL= 32752, 24625, 32754, 32755, AGC= 73, IDX= 506, 0.37, 2.321,-2.240, 2.373, 3.019, PHS=-0.596, 1.070,-0.689, RAW= 332.7,   2.5, CAL= 331.7,  -0.3, ROT= 178.3,   0.3

2025-10-26T23:06:49.012Z,1761520009.012 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-10-26T23:06:49.013Z,1761520009.013 [DAT](INFO): direction in FSK: [-0.999546,0.029666,-0.005236]
2025-10-26T23:06:49.013Z,1761520009.013 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:49.021Z,1761520009.021 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.581554
2025-10-26T23:06:49.115Z,1761520009.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.503974 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:49.121Z,1761520009.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.904503 m,
      bearing: 262.882782 deg,
      lat: 36.779426 deg,
      lon: -121.859376 deg,
      deltaT: 0.503974 s,
      deltaX: 0.000111 m,
      approachRate: 0.000220 m/s,
      posRepo size: 4

2025-10-26T23:06:49.121Z,1761520009.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m.
2025-10-26T23:06:49.249Z,1761520009.249 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.809204
2025-10-26T23:06:49.375Z,1761520009.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095245,-0.994289,-0.048152],[0.995452,0.095234,0.002526],[0.002075,-0.048174,0.998837]]
2025-10-26T23:06:49.393Z,1761520009.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m.
2025-10-26T23:06:49.501Z,1761520009.501 [DAT](INFO): DAT read: Rx Time:23:06:48.3395 

2025-10-26T23:06:49.502Z,1761520009.502 [DAT](INFO): Rx dataTimestamp_ set to:1761520009.501244
2025-10-26T23:06:49.503Z,1761520009.503 [DAT](INFO): DAT read: Bearing  49.5,   1.4 (Local)

2025-10-26T23:06:49.503Z,1761520009.503 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.5,   1.4 (Local)

2025-10-26T23:06:49.505Z,1761520009.505 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed 0.0

2025-10-26T23:06:49.510Z,1761520009.510 [DAT](INFO): DAT read: 23:06:48.3395 LVL= 32752, 24401, 32754, 32755, AGC= 73, IDX= 506,-0.21,-0.352, 1.362,-0.299, 0.361, PHS=-0.611, 1.046,-0.703, RAW= 332.7,   3.2, CAL= 331.7,   0.6, ROT= 178.3,  -0.6

2025-10-26T23:06:49.511Z,1761520009.511 [DAT](INFO): got valid direction response:
 23:06:48.3395 LVL= 32752, 24401, 32754, 32755, AGC= 73, IDX= 506,-0.21,-0.352, 1.362,-0.299, 0.361, PHS=-0.611, 1.046,-0.703, RAW= 332.7,   3.2, CAL= 331.7,   0.6, ROT= 178.3,  -0.6

2025-10-26T23:06:49.512Z,1761520009.512 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-10-26T23:06:49.513Z,1761520009.513 [DAT](INFO): direction in FSK: [-0.999505,0.029665,0.010472]
2025-10-26T23:06:49.513Z,1761520009.513 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:49.536Z,1761520009.536 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.096725
2025-10-26T23:06:49.752Z,1761520009.752 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.312954
2025-10-26T23:06:49.756Z,1761520009.756 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:06:49.783Z,1761520009.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096025,-0.994226,-0.047900],[0.995372,0.096095,0.000836],[0.003772,-0.047759,0.998852]]
2025-10-26T23:06:49.883Z,1761520009.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.504041 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:49.895Z,1761520009.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.904503 m,
      bearing: 262.762985 deg,
      lat: 36.779426 deg,
      lon: -121.859376 deg,
      deltaT: 0.504041 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:06:49.901Z,1761520009.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m.
2025-10-26T23:06:50.005Z,1761520010.005 [DAT](INFO): DAT read: Rx Time:23:06:48.8396 

2025-10-26T23:06:50.006Z,1761520010.006 [DAT](INFO): Rx dataTimestamp_ set to:1761520010.005332
2025-10-26T23:06:50.007Z,1761520010.007 [DAT](INFO): DAT read: Bearing  50.6,   1.5 (Local)

2025-10-26T23:06:50.007Z,1761520010.007 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.6,   1.5 (Local)

2025-10-26T23:06:50.009Z,1761520010.009 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed 0.0

2025-10-26T23:06:50.022Z,1761520010.022 [DAT](INFO): DAT read: 23:06:48.8396 LVL= 32752, 22481, 32754, 32755, AGC= 72, IDX= 507, 0.05, 2.071,-2.507, 2.121, 2.752, PHS=-0.579, 1.069,-0.675, RAW= 332.8,   2.2, CAL= 331.8,  -0.6, ROT= 178.2,   0.6

2025-10-26T23:06:50.024Z,1761520010.024 [DAT](INFO): got valid direction response:
 23:06:48.8396 LVL= 32752, 22481, 32754, 32755, AGC= 72, IDX= 507, 0.05, 2.071,-2.507, 2.121, 2.752, PHS=-0.579, 1.069,-0.675, RAW= 332.8,   2.2, CAL= 331.8,  -0.6, ROT= 178.2,   0.6

2025-10-26T23:06:50.024Z,1761520010.024 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-10-26T23:06:50.025Z,1761520010.025 [DAT](INFO): direction in FSK: [-0.999452,0.031409,-0.010472]
2025-10-26T23:06:50.026Z,1761520010.026 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:50.031Z,1761520010.031 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.591244
2025-10-26T23:06:50.256Z,1761520010.256 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.817104
2025-10-26T23:06:50.344Z,1761520010.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098465,-0.993985,-0.047945],[0.995116,0.098687,-0.002286],[0.007004,-0.047485,0.998847]]
2025-10-26T23:06:50.385Z,1761520010.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.504088 s,
      deltaX: 0.100000 m,
      approachRate: 0.198379 m/s,
      rangeRepo size: 4

2025-10-26T23:06:50.387Z,1761520010.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.003834 m,
      bearing: 262.579408 deg,
      lat: 36.779426 deg,
      lon: -121.859376 deg,
      deltaT: 0.504088 s,
      deltaX: 0.099331 m,
      approachRate: 0.197051 m/s,
      posRepo size: 4

2025-10-26T23:06:50.416Z,1761520010.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m.
2025-10-26T23:06:50.510Z,1761520010.510 [DAT](INFO): DAT read: Rx Time:23:06:49.3395 

2025-10-26T23:06:50.511Z,1761520010.511 [DAT](INFO): Rx dataTimestamp_ set to:1761520010.510324
2025-10-26T23:06:50.513Z,1761520010.513 [DAT](INFO): DAT read: Bearing  50.2,   1.8 (Local)

2025-10-26T23:06:50.513Z,1761520010.513 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.2,   1.8 (Local)

2025-10-26T23:06:50.516Z,1761520010.516 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed 0.0

2025-10-26T23:06:50.523Z,1761520010.523 [DAT](INFO): DAT read: 23:06:49.3395 LVL= 32752, 24529, 32754, 32755, AGC= 73, IDX= 506, 0.19, 1.124, 2.847, 1.157, 1.814, PHS=-0.588, 1.078,-0.701, RAW= 333.3,   2.5, CAL= 332.3,  -0.3, ROT= 177.7,   0.3

2025-10-26T23:06:50.526Z,1761520010.526 [DAT](INFO): got valid direction response:
 23:06:49.3395 LVL= 32752, 24529, 32754, 32755, AGC= 73, IDX= 506, 0.19, 1.124, 2.847, 1.157, 1.814, PHS=-0.588, 1.078,-0.701, RAW= 333.3,   2.5, CAL= 332.3,  -0.3, ROT= 177.7,   0.3

2025-10-26T23:06:50.526Z,1761520010.526 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-10-26T23:06:50.542Z,1761520010.542 [DAT](INFO): direction in FSK: [-0.999181,0.040131,-0.005236]
2025-10-26T23:06:50.542Z,1761520010.542 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:50.570Z,1761520010.570 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=37.130810
2025-10-26T23:06:50.745Z,1761520010.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100121,-0.993795,-0.048452],[0.994938,0.100417,-0.003715],[0.008558,-0.047835,0.998819]]
2025-10-26T23:06:50.761Z,1761520010.761 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=37.321541
2025-10-26T23:06:50.787Z,1761520010.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.504992 s,
      deltaX: -0.100000 m,
      approachRate: -0.198024 m/s,
      rangeRepo size: 4

2025-10-26T23:06:50.789Z,1761520010.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.904312 m,
      bearing: 261.970409 deg,
      lat: 36.779426 deg,
      lon: -121.859376 deg,
      deltaT: 0.504992 s,
      deltaX: -0.099522 m,
      approachRate: -0.197076 m/s,
      posRepo size: 4

2025-10-26T23:06:50.790Z,1761520010.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m.
2025-10-26T23:06:51.013Z,1761520011.013 [DAT](INFO): DAT read: Rx Time:23:06:49.8396 

2025-10-26T23:06:51.013Z,1761520011.013 [DAT](INFO): Rx dataTimestamp_ set to:1761520011.013181
2025-10-26T23:06:51.015Z,1761520011.015 [DAT](INFO): DAT read: Bearing  49.9,   1.7 (Local)

2025-10-26T23:06:51.015Z,1761520011.015 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.9,   1.7 (Local)

2025-10-26T23:06:51.021Z,1761520011.021 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed 0.0

2025-10-26T23:06:51.026Z,1761520011.026 [DAT](INFO): DAT read: 23:06:49.8396 LVL= 32752, 23441, 32754, 32755, AGC= 72, IDX= 507, 0.23,-2.802,-1.096,-2.765,-2.112, PHS=-0.587, 1.062,-0.697, RAW= 333.2,   2.6, CAL= 332.2,  -0.2, ROT= 177.8,   0.2

2025-10-26T23:06:51.028Z,1761520011.028 [DAT](INFO): got valid direction response:
 23:06:49.8396 LVL= 32752, 23441, 32754, 32755, AGC= 72, IDX= 507, 0.23,-2.802,-1.096,-2.765,-2.112, PHS=-0.587, 1.062,-0.697, RAW= 333.2,   2.6, CAL= 332.2,  -0.2, ROT= 177.8,   0.2

2025-10-26T23:06:51.029Z,1761520011.029 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-10-26T23:06:51.030Z,1761520011.030 [DAT](INFO): direction in FSK: [-0.999257,0.038388,-0.003491]
2025-10-26T23:06:51.031Z,1761520011.031 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:51.038Z,1761520011.038 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.599072
2025-10-26T23:06:51.146Z,1761520011.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102291,-0.993538,-0.049179],[0.994706,0.102651,-0.004847],[0.009864,-0.048423,0.998778]]
2025-10-26T23:06:51.197Z,1761520011.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.502857 s,
      deltaX: 0.100000 m,
      approachRate: 0.198864 m/s,
      rangeRepo size: 4

2025-10-26T23:06:51.199Z,1761520011.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.003401 m,
      bearing: 261.940657 deg,
      lat: 36.779426 deg,
      lon: -121.859376 deg,
      deltaT: 0.502857 s,
      deltaX: 0.099089 m,
      approachRate: 0.197051 m/s,
      posRepo size: 4

2025-10-26T23:06:51.199Z,1761520011.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m.
2025-10-26T23:06:51.265Z,1761520011.265 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.825886
2025-10-26T23:06:51.517Z,1761520011.517 [DAT](INFO): DAT read: Rx Time:23:06:50.3395 

2025-10-26T23:06:51.517Z,1761520011.517 [DAT](INFO): Rx dataTimestamp_ set to:1761520011.517149
2025-10-26T23:06:51.519Z,1761520011.519 [DAT](INFO): DAT read: Bearing  50.2,   1.4 (Local)

2025-10-26T23:06:51.519Z,1761520011.519 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.2,   1.4 (Local)

2025-10-26T23:06:51.521Z,1761520011.521 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed 0.0

2025-10-26T23:06:51.526Z,1761520011.526 [DAT](INFO): DAT read: 23:06:50.3395 LVL= 32752, 23329, 32754, 32755, AGC= 73, IDX= 506, 0.22, 2.494,-2.076, 2.536,-3.109, PHS=-0.578, 1.078,-0.683, RAW= 333.0,   2.2, CAL= 332.1,  -0.6, ROT= 177.9,   0.6

2025-10-26T23:06:51.527Z,1761520011.527 [DAT](INFO): got valid direction response:
 23:06:50.3395 LVL= 32752, 23329, 32754, 32755, AGC= 73, IDX= 506, 0.22, 2.494,-2.076, 2.536,-3.109, PHS=-0.578, 1.078,-0.683, RAW= 333.0,   2.2, CAL= 332.1,  -0.6, ROT= 177.9,   0.6

2025-10-26T23:06:51.527Z,1761520011.527 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-10-26T23:06:51.528Z,1761520011.528 [DAT](INFO): direction in FSK: [-0.999274,0.036642,-0.010472]
2025-10-26T23:06:51.529Z,1761520011.529 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:51.566Z,1761520011.566 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=38.126785
2025-10-26T23:06:51.586Z,1761520011.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104553,-0.993265,-0.049939],[0.994458,0.104973,-0.005857],[0.011060,-0.049050,0.998735]]
2025-10-26T23:06:51.642Z,1761520011.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.503968 s,
      deltaX: -0.100000 m,
      approachRate: -0.198426 m/s,
      rangeRepo size: 4

2025-10-26T23:06:51.649Z,1761520011.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.903881 m,
      bearing: 261.929761 deg,
      lat: 36.779425 deg,
      lon: -121.859376 deg,
      deltaT: 0.503968 s,
      deltaX: -0.099520 m,
      approachRate: -0.197472 m/s,
      posRepo size: 4

2025-10-26T23:06:51.650Z,1761520011.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m.
2025-10-26T23:06:51.768Z,1761520011.768 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=38.329124
2025-10-26T23:06:51.978Z,1761520011.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107151,-0.992952,-0.050654],[0.994171,0.107618,-0.006582],[0.011987,-0.049654,0.998695]]
2025-10-26T23:06:52.021Z,1761520012.021 [DAT](INFO): DAT read: Rx Time:23:06:50.8396 

2025-10-26T23:06:52.022Z,1761520012.022 [DAT](INFO): Rx dataTimestamp_ set to:1761520012.021282
2025-10-26T23:06:52.023Z,1761520012.023 [DAT](INFO): DAT read: Bearing  50.1,   0.6 (Local)

2025-10-26T23:06:52.023Z,1761520012.023 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.1,   0.6 (Local)

2025-10-26T23:06:52.025Z,1761520012.025 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed 0.0

2025-10-26T23:06:52.030Z,1761520012.030 [DAT](INFO): DAT read: 23:06:50.8396 LVL= 32752, 23969, 32754, 32755, AGC= 71, IDX= 507, 0.10,-2.014,-0.305,-1.947,-1.329, PHS=-0.583, 1.069,-0.662, RAW= 332.3,   2.1, CAL= 331.3,  -0.7, ROT= 178.7,   0.7

2025-10-26T23:06:52.032Z,1761520012.032 [DAT](INFO): got valid direction response:
 23:06:50.8396 LVL= 32752, 23969, 32754, 32755, AGC= 71, IDX= 507, 0.10,-2.014,-0.305,-1.947,-1.329, PHS=-0.583, 1.069,-0.662, RAW= 332.3,   2.1, CAL= 331.3,  -0.7, ROT= 178.7,   0.7

2025-10-26T23:06:52.032Z,1761520012.032 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-10-26T23:06:52.033Z,1761520012.033 [DAT](INFO): direction in FSK: [-0.999668,0.022686,-0.012217]
2025-10-26T23:06:52.033Z,1761520012.033 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:52.045Z,1761520012.045 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.605602
2025-10-26T23:06:52.077Z,1761520012.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.504133 s,
      deltaX: 0.100000 m,
      approachRate: 0.198361 m/s,
      rangeRepo size: 4

2025-10-26T23:06:52.084Z,1761520012.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.001286 m,
      bearing: 262.584533 deg,
      lat: 36.779425 deg,
      lon: -121.859377 deg,
      deltaT: 0.504133 s,
      deltaX: 0.097404 m,
      approachRate: 0.193212 m/s,
      posRepo size: 4

2025-10-26T23:06:52.084Z,1761520012.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m.
2025-10-26T23:06:52.273Z,1761520012.273 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.833328
2025-10-26T23:06:52.492Z,1761520012.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109796,-0.992644,-0.051020],[0.993872,0.110303,-0.007224],[0.012798,-0.049914,0.998672]]
2025-10-26T23:06:52.510Z,1761520012.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m.
2025-10-26T23:06:52.533Z,1761520012.533 [DAT](INFO): DAT read: Rx Time:23:06:51.3395 

2025-10-26T23:06:52.534Z,1761520012.533 [DAT](INFO): Rx dataTimestamp_ set to:1761520012.533213
2025-10-26T23:06:52.535Z,1761520012.535 [DAT](INFO): DAT read: Bearing  49.2,  -0.0 (Local)

2025-10-26T23:06:52.535Z,1761520012.535 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.2,  -0.0 (Local)

2025-10-26T23:06:52.537Z,1761520012.537 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed 0.0

2025-10-26T23:06:52.542Z,1761520012.542 [DAT](INFO): DAT read: 23:06:51.3395 LVL= 32752, 22833, 32754, 32755, AGC= 72, IDX= 506,-0.06, 2.392,-2.178, 2.476, 3.104, PHS=-0.610, 1.046,-0.672, RAW= 331.8,   2.8, CAL= 330.7,   0.1, ROT= 179.3,  -0.1

2025-10-26T23:06:52.543Z,1761520012.543 [DAT](INFO): got valid direction response:
 23:06:51.3395 LVL= 32752, 22833, 32754, 32755, AGC= 72, IDX= 506,-0.06, 2.392,-2.178, 2.476, 3.104, PHS=-0.610, 1.046,-0.672, RAW= 331.8,   2.8, CAL= 330.7,   0.1, ROT= 179.3,  -0.1

2025-10-26T23:06:52.544Z,1761520012.544 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-10-26T23:06:52.545Z,1761520012.545 [DAT](INFO): direction in FSK: [-0.999924,0.012217,0.001745]
2025-10-26T23:06:52.545Z,1761520012.545 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:52.549Z,1761520012.549 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=39.109398
2025-10-26T23:06:52.784Z,1761520012.784 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=39.345066
2025-10-26T23:06:52.871Z,1761520012.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112698,-0.992305,-0.051278],[0.993539,0.113235,-0.007681],[0.013428,-0.050081,0.998655]]
2025-10-26T23:06:52.928Z,1761520012.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.511931 s,
      deltaX: -0.100000 m,
      approachRate: -0.195340 m/s,
      rangeRepo size: 4

2025-10-26T23:06:52.952Z,1761520012.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.901775 m,
      bearing: 262.824393 deg,
      lat: 36.779425 deg,
      lon: -121.859377 deg,
      deltaT: 0.511931 s,
      deltaX: -0.099510 m,
      approachRate: -0.194382 m/s,
      posRepo size: 4

2025-10-26T23:06:52.955Z,1761520012.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m.
2025-10-26T23:06:53.046Z,1761520013.046 [DAT](INFO): DAT read: Rx Time:23:06:51.8395 

2025-10-26T23:06:53.048Z,1761520013.048 [DAT](INFO): Rx dataTimestamp_ set to:1761520013.046625
2025-10-26T23:06:53.050Z,1761520013.050 [DAT](INFO): DAT read: Bearing  49.1,  -0.2 (Local)

2025-10-26T23:06:53.050Z,1761520013.050 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.1,  -0.2 (Local)

2025-10-26T23:06:53.053Z,1761520013.053 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed 0.0

2025-10-26T23:06:53.073Z,1761520013.073 [DAT](INFO): DAT read: 23:06:51.8395 LVL= 32752, 25745, 32754, 32755, AGC= 71, IDX= 506,-0.21, 2.206,-2.341, 2.292, 2.926, PHS=-0.618, 1.061,-0.678, RAW= 331.7,   2.8, CAL= 330.6,   0.0, ROT= 179.4,  -0.0

2025-10-26T23:06:53.084Z,1761520013.084 [DAT](INFO): got valid direction response:
 23:06:51.8395 LVL= 32752, 25745, 32754, 32755, AGC= 71, IDX= 506,-0.21, 2.206,-2.341, 2.292, 2.926, PHS=-0.618, 1.061,-0.678, RAW= 331.7,   2.8, CAL= 330.6,   0.0, ROT= 179.4,  -0.0

2025-10-26T23:06:53.085Z,1761520013.085 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-10-26T23:06:53.086Z,1761520013.086 [DAT](INFO): direction in FSK: [-0.999945,0.010472,0.000000]
2025-10-26T23:06:53.086Z,1761520013.086 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:53.102Z,1761520013.102 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.662556
2025-10-26T23:06:53.276Z,1761520013.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115497,-0.991962,-0.051690],[0.993209,0.116063,-0.008089],[0.014023,-0.050404,0.998630]]
2025-10-26T23:06:53.293Z,1761520013.293 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.853230
2025-10-26T23:06:53.345Z,1761520013.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.513412 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:53.347Z,1761520013.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.902559 m,
      bearing: 262.767776 deg,
      lat: 36.779427 deg,
      lon: -121.859377 deg,
      deltaT: 0.513412 s,
      deltaX: 0.000784 m,
      approachRate: 0.001527 m/s,
      posRepo size: 4

2025-10-26T23:06:53.352Z,1761520013.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m.
2025-10-26T23:06:53.545Z,1761520013.545 [DAT](INFO): DAT read: Rx Time:23:06:52.3393 

2025-10-26T23:06:53.545Z,1761520013.545 [DAT](INFO): Rx dataTimestamp_ set to:1761520013.545136
2025-10-26T23:06:53.547Z,1761520013.547 [DAT](INFO): DAT read: Bearing  48.1,  -0.3 (Local)

2025-10-26T23:06:53.547Z,1761520013.547 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.1,  -0.3 (Local)

2025-10-26T23:06:53.549Z,1761520013.549 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.0

2025-10-26T23:06:53.554Z,1761520013.554 [DAT](INFO): DAT read: 23:06:52.3393 LVL 25585, 32754, 32755, AGC= 71, IDX= 504, 0.48, 2.496,-2.078, 2.582,-3.062, PHS=-0.623, 1.029,-0.683, RAW= 331.8,   3.3, CAL= 330.7,   0.9, ROT= 179.3,  -0.9

2025-10-26T23:06:53.554Z,1761520013.554 [DAT](INFO): unknown deviceResponse_: 23:06:52.3393 LVL 25585, 32754, 32755, AGC= 71, IDX= 504, 0.48, 2.496,-2.078, 2.582,-3.062, PHS=-0.623, 1.029,-0.683, RAW= 331.8,   3.3, CAL= 330.7,   0.9, ROT= 179.3,  -0.9

2025-10-26T23:06:53.555Z,1761520013.555 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-10-26T23:06:53.556Z,1761520013.556 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=40.116295
2025-10-26T23:06:53.678Z,1761520013.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118530,-0.991562,-0.052487],[0.992845,0.119123,-0.008307],[0.014489,-0.051127,0.998587]]
2025-10-26T23:06:53.734Z,1761520013.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.498511 s,
      deltaX: -0.299999 m,
      approachRate: -0.601791 m/s,
      rangeRepo size: 4

2025-10-26T23:06:53.748Z,1761520013.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m.
2025-10-26T23:06:53.797Z,1761520013.797 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=40.357670
2025-10-26T23:06:54.049Z,1761520014.049 [DAT](INFO): DAT read: Rx Time:23:06:52.8394 

2025-10-26T23:06:54.050Z,1761520014.050 [DAT](INFO): Rx dataTimestamp_ set to:1761520014.049687
2025-10-26T23:06:54.051Z,1761520014.051 [DAT](INFO): DAT read: Bearing  48.9,  -0.9 (Local)

2025-10-26T23:06:54.052Z,1761520014.052 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.9,  -0.9 (Local)

2025-10-26T23:06:54.054Z,1761520014.054 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.0

2025-10-26T23:06:54.058Z,1761520014.058 [DAT](INFO): DAT read: 23:06:52.8394 LVL= 32752, 22801, 32754, 32755, AGC= 70, IDX= 505, 0.20,-2.875,-1.134,-2.772,-2.149, PHS=-0.623, 1.060,-0.667, RAW= 331.3,   2.7, CAL= 330.1,  -0.1, ROT= 179.9,   0.1

2025-10-26T23:06:54.060Z,1761520014.060 [DAT](INFO): got valid direction response:
 23:06:52.8394 LVL= 32752, 22801, 32754, 32755, AGC= 70, IDX= 505, 0.20,-2.875,-1.134,-2.772,-2.149, PHS=-0.623, 1.060,-0.667, RAW= 331.3,   2.7, CAL= 330.1,  -0.1, ROT= 179.9,   0.1

2025-10-26T23:06:54.060Z,1761520014.060 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-10-26T23:06:54.061Z,1761520014.061 [DAT](INFO): direction in FSK: [-0.999997,0.001745,-0.001745]
2025-10-26T23:06:54.061Z,1761520014.061 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:54.065Z,1761520014.065 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.625786
2025-10-26T23:06:54.095Z,1761520014.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121427,-0.991176,-0.053151],[0.992489,0.122040,-0.008429],[0.014841,-0.051729,0.998551]]
2025-10-26T23:06:54.195Z,1761520014.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.504551 s,
      deltaX: 0.099998 m,
      approachRate: 0.198193 m/s,
      rangeRepo size: 4

2025-10-26T23:06:54.201Z,1761520014.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.704653 m,
      bearing: 262.930039 deg,
      lat: 36.779428 deg,
      lon: -121.859377 deg,
      deltaT: 1.003062 s,
      deltaX: -0.197906 m,
      approachRate: -0.197302 m/s,
      posRepo size: 4

2025-10-26T23:06:54.202Z,1761520014.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m.
2025-10-26T23:06:54.301Z,1761520014.301 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.861206
2025-10-26T23:06:54.486Z,1761520014.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124061,-0.990834,-0.053448],[0.992158,0.124691,-0.008607],[0.015192,-0.051962,0.998534]]
2025-10-26T23:06:54.529Z,1761520014.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m.
2025-10-26T23:06:54.553Z,1761520014.553 [DAT](INFO): DAT read: Rx Time:23:06:53.3393 

2025-10-26T23:06:54.554Z,1761520014.554 [DAT](INFO): Rx dataTimestamp_ set to:1761520014.553227
2025-10-26T23:06:54.555Z,1761520014.555 [DAT](INFO): DAT read: Bearing  48.4,  -1.7 (Local)

2025-10-26T23:06:54.555Z,1761520014.555 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.4,  -1.7 (Local)

2025-10-26T23:06:54.557Z,1761520014.557 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.0

2025-10-26T23:06:54.562Z,1761520014.562 [DAT](INFO): DAT read: 23:06:53.3393 LVL= 32752, 24993, 32754, 32755, AGC= 70, IDX= 504,-0.02, 1.331, 3.088, 1.459, 2.079, PHS=-0.646, 1.054,-0.664, RAW= 330.5,   3.0, CAL= 329.4,   0.4, ROT= 180.6,  -0.4

2025-10-26T23:06:54.563Z,1761520014.563 [DAT](INFO): got valid direction response:
 23:06:53.3393 LVL= 32752, 24993, 32754, 32755, AGC= 70, IDX= 504,-0.02, 1.331, 3.088, 1.459, 2.079, PHS=-0.646, 1.054,-0.664, RAW= 330.5,   3.0, CAL= 329.4,   0.4, ROT= 180.6,  -0.4

2025-10-26T23:06:54.564Z,1761520014.564 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-10-26T23:06:54.565Z,1761520014.565 [DAT](INFO): direction in FSK: [-0.999921,-0.010472,0.006981]
2025-10-26T23:06:54.565Z,1761520014.565 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:54.569Z,1761520014.569 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=41.129814
2025-10-26T23:06:54.805Z,1761520014.805 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=41.365246
2025-10-26T23:06:54.977Z,1761520014.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126718,-0.990510,-0.053212],[0.991820,0.127351,-0.008656],[0.015350,-0.051680,0.998546]]
2025-10-26T23:06:55.057Z,1761520015.057 [DAT](INFO): DAT read: Rx Time:23:06:53.8394 

2025-10-26T23:06:55.058Z,1761520015.058 [DAT](INFO): Rx dataTimestamp_ set to:1761520015.057237
2025-10-26T23:06:55.059Z,1761520015.059 [DAT](INFO): DAT read: Bearing  47.4,  -1.9 (Local)

2025-10-26T23:06:55.059Z,1761520015.059 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.4,  -1.9 (Local)

2025-10-26T23:06:55.061Z,1761520015.061 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.0

2025-10-26T23:06:55.066Z,1761520015.066 [DAT](INFO): DAT read: 23:06:53.8394 LVL= 32752, 24993, 32754, 32755, AGC= 70, IDX= 505,-0.23, 1.933,-2.617, 2.065, 2.688, PHS=-0.653, 1.023,-0.667, RAW= 330.4,   3.6, CAL= 329.3,   1.2, ROT= 180.7,  -1.2

2025-10-26T23:06:55.067Z,1761520015.067 [DAT](INFO): got valid direction response:
 23:06:53.8394 LVL= 32752, 24993, 32754, 32755, AGC= 70, IDX= 505,-0.23, 1.933,-2.617, 2.065, 2.688, PHS=-0.653, 1.023,-0.667, RAW= 330.4,   3.6, CAL= 329.3,   1.2, ROT= 180.7,  -1.2

2025-10-26T23:06:55.068Z,1761520015.068 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-10-26T23:06:55.069Z,1761520015.069 [DAT](INFO): direction in FSK: [-0.999706,-0.012214,0.020942]
2025-10-26T23:06:55.069Z,1761520015.069 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:55.073Z,1761520015.073 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.633423
2025-10-26T23:06:55.092Z,1761520015.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.503540 s,
      deltaX: -0.099998 m,
      approachRate: -0.198591 m/s,
      rangeRepo size: 4

2025-10-26T23:06:55.094Z,1761520015.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.605137 m,
      bearing: 263.297680 deg,
      lat: 36.779428 deg,
      lon: -121.859377 deg,
      deltaT: 0.503540 s,
      deltaX: -0.099516 m,
      approachRate: -0.197633 m/s,
      posRepo size: 4

2025-10-26T23:06:55.095Z,1761520015.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:06:55.309Z,1761520015.309 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.869259
2025-10-26T23:06:55.365Z,1761520015.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129037,-0.990247,-0.052545],[0.991517,0.129672,-0.008851],[0.015579,-0.050957,0.998579]]
2025-10-26T23:06:55.389Z,1761520015.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.504010 s,
      deltaX: 0.099998 m,
      approachRate: 0.198406 m/s,
      rangeRepo size: 4

2025-10-26T23:06:55.391Z,1761520015.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.704643 m,
      bearing: 263.222965 deg,
      lat: 36.779429 deg,
      lon: -121.859377 deg,
      deltaT: 0.504010 s,
      deltaX: 0.099506 m,
      approachRate: 0.197429 m/s,
      posRepo size: 4

2025-10-26T23:06:55.391Z,1761520015.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m.
2025-10-26T23:06:55.561Z,1761520015.561 [DAT](INFO): DAT read: Rx Time:23:06:54.3393 

2025-10-26T23:06:55.561Z,1761520015.561 [DAT](INFO): Rx dataTimestamp_ set to:1761520015.561154
2025-10-26T23:06:55.563Z,1761520015.563 [DAT](INFO): DAT read: Bearing  48.7,  -2.3 (Local)

2025-10-26T23:06:55.563Z,1761520015.563 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.7,  -2.3 (Local)

2025-10-26T23:06:55.565Z,1761520015.565 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.0

2025-10-26T23:06:55.570Z,1761520015.570 [DAT](INFO): DAT read: 23:06:54.3393 LVL= 32752, 27473, 32754, 32755, AGC= 70, IDX= 504,-0.39, 0.579, 2.339, 0.726, 1.323, PHS=-0.642, 1.060,-0.641, RAW= 330.0,   2.7, CAL= 328.7,  -0.1, ROT= 181.3,   0.1

2025-10-26T23:06:55.571Z,1761520015.571 [DAT](INFO): got valid direction response:
 23:06:54.3393 LVL= 32752, 27473, 32754, 32755, AGC= 70, IDX= 504,-0.39, 0.579, 2.339, 0.726, 1.323, PHS=-0.642, 1.060,-0.641, RAW= 330.0,   2.7, CAL= 328.7,  -0.1, ROT= 181.3,   0.1

2025-10-26T23:06:55.571Z,1761520015.571 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-10-26T23:06:55.572Z,1761520015.572 [DAT](INFO): direction in FSK: [-0.999741,-0.022687,-0.001745]
2025-10-26T23:06:55.573Z,1761520015.573 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:55.576Z,1761520015.576 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=42.137016
2025-10-26T23:06:55.812Z,1761520015.812 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=42.373180
2025-10-26T23:06:55.872Z,1761520015.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.503917 s,
      deltaX: -0.099998 m,
      approachRate: -0.198442 m/s,
      rangeRepo size: 4

2025-10-26T23:06:55.874Z,1761520015.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.605125 m,
      bearing: 263.888754 deg,
      lat: 36.779430 deg,
      lon: -121.859376 deg,
      deltaT: 0.503917 s,
      deltaX: -0.099518 m,
      approachRate: -0.197489 m/s,
      posRepo size: 4

2025-10-26T23:06:55.875Z,1761520015.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:06:56.066Z,1761520016.066 [DAT](INFO): DAT read: Rx Time:23:06:54.8393 

2025-10-26T23:06:56.067Z,1761520016.067 [DAT](INFO): Rx dataTimestamp_ set to:1761520016.066599
2025-10-26T23:06:56.069Z,1761520016.069 [DAT](INFO): DAT read: Bearing  49.8,  -2.0 (Local)

2025-10-26T23:06:56.069Z,1761520016.069 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.8,  -2.0 (Local)

2025-10-26T23:06:56.072Z,1761520016.072 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed -0.1

2025-10-26T23:06:56.082Z,1761520016.082 [DAT](INFO): DAT read: 23:06:54.8393 LVL= 32752, 24897, 32754, 32755, AGC= 70, IDX= 505,-0.45, 0.845, 2.598, 0.986, 1.552, PHS=-0.605, 1.091,-0.611, RAW= 330.2,   1.5, CAL= 329.0,  -1.3, ROT= 181.0,   1.3

2025-10-26T23:06:56.088Z,1761520016.088 [DAT](INFO): got valid direction response:
 23:06:54.8393 LVL= 32752, 24897, 32754, 32755, AGC= 70, IDX= 505,-0.45, 0.845, 2.598, 0.986, 1.552, PHS=-0.605, 1.091,-0.611, RAW= 330.2,   1.5, CAL= 329.0,  -1.3, ROT= 181.0,   1.3

2025-10-26T23:06:56.088Z,1761520016.088 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-26T23:06:56.089Z,1761520016.089 [DAT](INFO): direction in FSK: [-0.999590,-0.017448,-0.022687]
2025-10-26T23:06:56.089Z,1761520016.089 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:56.099Z,1761520016.099 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.659454
2025-10-26T23:06:56.242Z,1761520016.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132408,-0.989785,-0.052862],[0.991066,0.133065,-0.009084],[0.016026,-0.051187,0.998560]]
2025-10-26T23:06:56.311Z,1761520016.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.505445 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:56.313Z,1761520016.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.604643 m,
      bearing: 263.455992 deg,
      lat: 36.779430 deg,
      lon: -121.859376 deg,
      deltaT: 0.505445 s,
      deltaX: -0.000483 m,
      approachRate: -0.000955 m/s,
      posRepo size: 4

2025-10-26T23:06:56.314Z,1761520016.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.60 m.
2025-10-26T23:06:56.317Z,1761520016.317 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.877277
2025-10-26T23:06:56.569Z,1761520016.569 [DAT](INFO): DAT read: Rx Time:23:06:55.3392 

2025-10-26T23:06:56.569Z,1761520016.569 [DAT](INFO): Rx dataTimestamp_ set to:1761520016.569182
2025-10-26T23:06:56.571Z,1761520016.571 [DAT](INFO): DAT read: Bearing  48.1,  -2.4 (Local)

2025-10-26T23:06:56.571Z,1761520016.571 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.1,  -2.4 (Local)

2025-10-26T23:06:56.573Z,1761520016.573 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed 0.0

2025-10-26T23:06:56.579Z,1761520016.579 [DAT](INFO): DAT read: 23:06:55.3392 LVL= 32752, 24721, 32754, 32755, AGC= 69, IDX= 503, 0.35, 1.754,-2.767, 1.904, 2.509, PHS=-0.652, 1.052,-0.649, RAW= 329.9,   3.0, CAL= 328.7,   0.3, ROT= 181.3,  -0.3

2025-10-26T23:06:56.581Z,1761520016.581 [DAT](INFO): got valid direction response:
 23:06:55.3392 LVL= 32752, 24721, 32754, 32755, AGC= 69, IDX= 503, 0.35, 1.754,-2.767, 1.904, 2.509, PHS=-0.652, 1.052,-0.649, RAW= 329.9,   3.0, CAL= 328.7,   0.3, ROT= 181.3,  -0.3

2025-10-26T23:06:56.582Z,1761520016.582 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-10-26T23:06:56.583Z,1761520016.583 [DAT](INFO): direction in FSK: [-0.999729,-0.022687,0.005236]
2025-10-26T23:06:56.583Z,1761520016.583 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:56.606Z,1761520016.606 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=43.166256
2025-10-26T23:06:56.653Z,1761520016.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132811,-0.989609,-0.055090],[0.991007,0.133502,-0.009058],[0.016318,-0.053391,0.998440]]
2025-10-26T23:06:56.716Z,1761520016.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.502583 s,
      deltaX: -0.200001 m,
      approachRate: -0.397946 m/s,
      rangeRepo size: 4

2025-10-26T23:06:56.719Z,1761520016.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.405611 m,
      bearing: 263.649120 deg,
      lat: 36.779431 deg,
      lon: -121.859376 deg,
      deltaT: 0.502583 s,
      deltaX: -0.199032 m,
      approachRate: -0.396018 m/s,
      posRepo size: 4

2025-10-26T23:06:56.728Z,1761520016.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.41 m.
2025-10-26T23:06:56.821Z,1761520016.821 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=43.381329
2025-10-26T23:06:57.076Z,1761520017.076 [DAT](INFO): DAT read: Rx Time:23:06:55.8392 

2025-10-26T23:06:57.076Z,1761520017.076 [DAT](INFO): Rx dataTimestamp_ set to:1761520017.076111
2025-10-26T23:06:57.078Z,1761520017.078 [DAT](INFO): DAT read: Bearing  49.4,  -2.1 (Local)

2025-10-26T23:06:57.078Z,1761520017.078 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.4,  -2.1 (Local)

2025-10-26T23:06:57.112Z,1761520017.112 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed -0.1

2025-10-26T23:06:57.116Z,1761520017.116 [DAT](INFO): DAT read: 23:06:55.8392 LVL= 32752, 23889, 32754, 32755, AGC= 69, IDX= 504,-0.45,-0.789, 0.966,-0.647,-0.075, PHS=-0.612, 1.086,-0.616, RAW= 330.1,   1.7, CAL= 329.0,  -1.1, ROT= 181.0,   1.1

2025-10-26T23:06:57.117Z,1761520017.117 [DAT](INFO): got valid direction response:
 23:06:55.8392 LVL= 32752, 23889, 32754, 32755, AGC= 69, IDX= 504,-0.45,-0.789, 0.966,-0.647,-0.075, PHS=-0.612, 1.086,-0.616, RAW= 330.1,   1.7, CAL= 329.0,  -1.1, ROT= 181.0,   1.1

2025-10-26T23:06:57.118Z,1761520017.118 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-10-26T23:06:57.119Z,1761520017.119 [DAT](INFO): direction in FSK: [-0.999663,-0.017449,-0.019197]
2025-10-26T23:06:57.119Z,1761520017.119 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:57.147Z,1761520017.147 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.707363
2025-10-26T23:06:57.162Z,1761520017.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132305,-0.989687,-0.054918],[0.991071,0.133009,-0.009345],[0.016553,-0.053191,0.998447]]
2025-10-26T23:06:57.260Z,1761520017.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.506929 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:57.262Z,1761520017.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.405924 m,
      bearing: 263.453707 deg,
      lat: 36.779431 deg,
      lon: -121.859376 deg,
      deltaT: 0.506929 s,
      deltaX: 0.000313 m,
      approachRate: 0.000617 m/s,
      posRepo size: 4

2025-10-26T23:06:57.263Z,1761520017.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.41 m.
2025-10-26T23:06:57.325Z,1761520017.325 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.885803
2025-10-26T23:06:57.577Z,1761520017.577 [DAT](INFO): DAT read: Rx Time:23:06:56.3392 

2025-10-26T23:06:57.578Z,1761520017.578 [DAT](INFO): Rx dataTimestamp_ set to:1761520017.577300
2025-10-26T23:06:57.579Z,1761520017.579 [DAT](INFO): DAT read: Bearing  46.9,  -2.2 (Local)

2025-10-26T23:06:57.580Z,1761520017.580 [DAT](INFO): Local bearing/azimuth received:
 Bearing  46.9,  -2.2 (Local)

2025-10-26T23:06:57.582Z,1761520017.582 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed -0.1

2025-10-26T23:06:57.587Z,1761520017.587 [DAT](INFO): DAT read: 23:06:56.3392 LVL= 32752, 27921, 32754, 32755, AGC= 70, IDX= 503,-0.35,-2.087,-0.347,-1.944,-1.324, PHS=-0.661, 1.022,-0.664, RAW= 330.1,   3.7, CAL= 329.0,   1.3, ROT= 181.0,  -1.3

2025-10-26T23:06:57.589Z,1761520017.589 [DAT](INFO): got valid direction response:
 23:06:56.3392 LVL= 32752, 27921, 32754, 32755, AGC= 70, IDX= 503,-0.35,-2.087,-0.347,-1.944,-1.324, PHS=-0.661, 1.022,-0.664, RAW= 330.1,   3.7, CAL= 329.0,   1.3, ROT= 181.0,  -1.3

2025-10-26T23:06:57.589Z,1761520017.589 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-10-26T23:06:57.590Z,1761520017.590 [DAT](INFO): direction in FSK: [-0.999590,-0.017448,0.022687]
2025-10-26T23:06:57.590Z,1761520017.590 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:57.594Z,1761520017.594 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=44.154472
2025-10-26T23:06:57.678Z,1761520017.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131349,-0.989853,-0.054206],[0.991197,0.132051,-0.009555],[0.016616,-0.052474,0.998484]]
2025-10-26T23:06:57.754Z,1761520017.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.501189 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:06:57.760Z,1761520017.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.405924 m,
      bearing: 263.381530 deg,
      lat: 36.779431 deg,
      lon: -121.859374 deg,
      deltaT: 0.501189 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:06:57.761Z,1761520017.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.41 m.
2025-10-26T23:06:57.829Z,1761520017.829 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=44.389305
2025-10-26T23:06:58.081Z,1761520018.081 [DAT](INFO): DAT read: Rx Time:23:06:56.8393 

2025-10-26T23:06:58.082Z,1761520018.082 [DAT](INFO): Rx dataTimestamp_ set to:1761520018.081266
2025-10-26T23:06:58.083Z,1761520018.083 [DAT](INFO): DAT read: Bearing  47.2,  -1.9 (Local)

2025-10-26T23:06:58.083Z,1761520018.083 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.2,  -1.9 (Local)

2025-10-26T23:06:58.085Z,1761520018.085 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed -0.1

2025-10-26T23:06:58.090Z,1761520018.090 [DAT](INFO): DAT read: 23:06:56.8393 LVL= 32752, 25169, 32754, 32755, AGC= 72, IDX= 504,-0.15,-0.797, 0.926,-0.665,-0.051, PHS=-0.644, 1.022,-0.658, RAW= 330.4,   3.4, CAL= 329.3,   0.9, ROT= 180.7,  -0.9

2025-10-26T23:06:58.091Z,1761520018.091 [DAT](INFO): got valid direction response:
 23:06:56.8393 LVL= 32752, 25169, 32754, 32755, AGC= 72, IDX= 504,-0.15,-0.797, 0.926,-0.665,-0.051, PHS=-0.644, 1.022,-0.658, RAW= 330.4,   3.4, CAL= 329.3,   0.9, ROT= 180.7,  -0.9

2025-10-26T23:06:58.100Z,1761520018.100 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-10-26T23:06:58.101Z,1761520018.101 [DAT](INFO): direction in FSK: [-0.999802,-0.012216,0.015707]
2025-10-26T23:06:58.101Z,1761520018.101 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:58.123Z,1761520018.123 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.683765
2025-10-26T23:06:58.220Z,1761520018.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.503966 s,
      deltaX: 0.200001 m,
      approachRate: 0.396854 m/s,
      rangeRepo size: 4

2025-10-26T23:06:58.222Z,1761520018.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.605259 m,
      bearing: 263.103092 deg,
      lat: 36.779431 deg,
      lon: -121.859374 deg,
      deltaT: 0.503966 s,
      deltaX: 0.199335 m,
      approachRate: 0.395533 m/s,
      posRepo size: 4

2025-10-26T23:06:58.223Z,1761520018.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:06:58.332Z,1761520018.332 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.893169
2025-10-26T23:06:58.585Z,1761520018.585 [DAT](INFO): DAT read: Rx Time:23:06:57.3392 

2025-10-26T23:06:58.585Z,1761520018.585 [DAT](INFO): Rx dataTimestamp_ set to:1761520018.585086
2025-10-26T23:06:58.587Z,1761520018.587 [DAT](INFO): DAT read: Bearing  47.5,  -1.8 (Local)

2025-10-26T23:06:58.587Z,1761520018.587 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.5,  -1.8 (Local)

2025-10-26T23:06:58.589Z,1761520018.589 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed -0.1

2025-10-26T23:06:58.594Z,1761520018.594 [DAT](INFO): DAT read: 23:06:57.3392 LVL= 32752, 23281, 32754, 32755, AGC= 71, IDX= 503, 0.06,-0.947, 0.793,-0.817,-0.199, PHS=-0.646, 1.037,-0.662, RAW= 330.5,   3.2, CAL= 329.3,   0.7, ROT= 180.7,  -0.7

2025-10-26T23:06:58.595Z,1761520018.595 [DAT](INFO): got valid direction response:
 23:06:57.3392 LVL= 32752, 23281, 32754, 32755, AGC= 71, IDX= 503, 0.06,-0.947, 0.793,-0.817,-0.199, PHS=-0.646, 1.037,-0.662, RAW= 330.5,   3.2, CAL= 329.3,   0.7, ROT= 180.7,  -0.7

2025-10-26T23:06:58.595Z,1761520018.595 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-10-26T23:06:58.608Z,1761520018.608 [DAT](INFO): direction in FSK: [-0.999851,-0.012216,0.012217]
2025-10-26T23:06:58.608Z,1761520018.608 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:58.612Z,1761520018.612 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=45.172802
2025-10-26T23:06:58.633Z,1761520018.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128423,-0.990322,-0.052626],[0.991574,0.129134,-0.010314],[0.017010,-0.050858,0.998561]]
2025-10-26T23:06:58.697Z,1761520018.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.503820 s,
      deltaX: -0.200001 m,
      approachRate: -0.396969 m/s,
      rangeRepo size: 4

2025-10-26T23:06:58.699Z,1761520018.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.406219 m,
      bearing: 263.283878 deg,
      lat: 36.779431 deg,
      lon: -121.859374 deg,
      deltaT: 0.503820 s,
      deltaX: -0.199039 m,
      approachRate: -0.395061 m/s,
      posRepo size: 4

2025-10-26T23:06:58.708Z,1761520018.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.41 m.
2025-10-26T23:06:58.836Z,1761520018.836 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=45.397148
2025-10-26T23:06:59.089Z,1761520019.089 [DAT](INFO): DAT read: Rx Time:23:06:57.8394 

2025-10-26T23:06:59.090Z,1761520019.090 [DAT](INFO): Rx dataTimestamp_ set to:1761520019.089482
2025-10-26T23:06:59.091Z,1761520019.091 [DAT](INFO): DAT read: Bearing  49.4,  -0.9 (Local)

2025-10-26T23:06:59.091Z,1761520019.091 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.4,  -0.9 (Local)

2025-10-26T23:06:59.094Z,1761520019.094 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed -0.2

2025-10-26T23:06:59.102Z,1761520019.102 [DAT](INFO): DAT read: 23:06:57.8394 LVL= 32752, 23537, 32754, 32755, AGC= 72, IDX= 505,-0.43,-2.170,-0.422,-2.063,-1.474, PHS=-0.595, 1.096,-0.633, RAW= 331.1,   1.6, CAL= 330.1,  -1.3, ROT= 179.9,   1.3

2025-10-26T23:06:59.103Z,1761520019.103 [DAT](INFO): got valid direction response:
 23:06:57.8394 LVL= 32752, 23537, 32754, 32755, AGC= 72, IDX= 505,-0.43,-2.170,-0.422,-2.063,-1.474, PHS=-0.595, 1.096,-0.633, RAW= 331.1,   1.6, CAL= 330.1,  -1.3, ROT= 179.9,   1.3

2025-10-26T23:06:59.104Z,1761520019.104 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-10-26T23:06:59.105Z,1761520019.105 [DAT](INFO): direction in FSK: [-0.999741,0.001745,-0.022687]
2025-10-26T23:06:59.105Z,1761520019.105 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:59.109Z,1761520019.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125227,-0.990815,-0.051030],[0.991980,0.125930,-0.010793],[0.017120,-0.049269,0.998639]]
2025-10-26T23:06:59.113Z,1761520019.113 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.673538
2025-10-26T23:06:59.224Z,1761520019.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.504396 s,
      deltaX: 0.299999 m,
      approachRate: 0.594769 m/s,
      rangeRepo size: 4

2025-10-26T23:06:59.226Z,1761520019.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.705187 m,
      bearing: 262.769266 deg,
      lat: 36.779431 deg,
      lon: -121.859374 deg,
      deltaT: 0.504396 s,
      deltaX: 0.298967 m,
      approachRate: 0.592723 m/s,
      posRepo size: 4

2025-10-26T23:06:59.227Z,1761520019.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:06:59.341Z,1761520019.341 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.901218
2025-10-26T23:06:59.594Z,1761520019.594 [DAT](INFO): DAT read: Rx Time:23:06:58.3393 

2025-10-26T23:06:59.594Z,1761520019.594 [DAT](INFO): Rx dataTimestamp_ set to:1761520019.593767
2025-10-26T23:06:59.596Z,1761520019.596 [DAT](INFO): DAT read: Bearing  47.7,  -1.5 (Local)

2025-10-26T23:06:59.596Z,1761520019.596 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.7,  -1.5 (Local)

2025-10-26T23:06:59.598Z,1761520019.598 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.0

2025-10-26T23:06:59.603Z,1761520019.603 [DAT](INFO): DAT read: 23:06:58.3393 LVL= 32752, 27297, 32754, 32755, AGC= 72, IDX= 504,-0.07,-2.428,-0.705,-2.304,-1.692, PHS=-0.634, 1.031,-0.656, RAW= 330.7,   3.1, CAL= 329.5,   0.5, ROT= 180.5,  -0.5

2025-10-26T23:06:59.604Z,1761520019.604 [DAT](INFO): got valid direction response:
 23:06:58.3393 LVL= 32752, 27297, 32754, 32755, AGC= 72, IDX= 504,-0.07,-2.428,-0.705,-2.304,-1.692, PHS=-0.634, 1.031,-0.656, RAW= 330.7,   3.1, CAL= 329.5,   0.5, ROT= 180.5,  -0.5

2025-10-26T23:06:59.604Z,1761520019.604 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-10-26T23:06:59.605Z,1761520019.605 [DAT](INFO): direction in FSK: [-0.999924,-0.008726,0.008727]
2025-10-26T23:06:59.605Z,1761520019.605 [DAT](INFO): publishing direction and range info
2025-10-26T23:06:59.609Z,1761520019.609 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=46.169750
2025-10-26T23:06:59.663Z,1761520019.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123533,-0.991063,-0.050338],[0.992193,0.124229,-0.010923],[0.017079,-0.048595,0.998673]]
2025-10-26T23:06:59.740Z,1761520019.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.504285 s,
      deltaX: -0.099998 m,
      approachRate: -0.198298 m/s,
      rangeRepo size: 4

2025-10-26T23:06:59.742Z,1761520019.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.605667 m,
      bearing: 263.378002 deg,
      lat: 36.779431 deg,
      lon: -121.859376 deg,
      deltaT: 0.504285 s,
      deltaX: -0.099520 m,
      approachRate: -0.197348 m/s,
      posRepo size: 4

2025-10-26T23:06:59.742Z,1761520019.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:06:59.846Z,1761520019.846 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=46.406246
2025-10-26T23:07:00.097Z,1761520020.097 [DAT](INFO): DAT read: Rx Time:23:06:58.8394 

2025-10-26T23:07:00.098Z,1761520020.098 [DAT](INFO): Rx dataTimestamp_ set to:1761520020.097282
2025-10-26T23:07:00.099Z,1761520020.099 [DAT](INFO): DAT read: Bearing  49.2,  -0.3 (Local)

2025-10-26T23:07:00.104Z,1761520020.104 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.2,  -0.3 (Local)

2025-10-26T23:07:00.106Z,1761520020.106 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.0

2025-10-26T23:07:00.111Z,1761520020.111 [DAT](INFO): DAT read: 23:06:58.8394 LVL= 32752, 23217, 32754, 32755, AGC= 73, IDX= 505, 0.37,-0.836, 0.911,-0.750,-0.141, PHS=-0.593, 1.096,-0.653, RAW= 331.7,   1.8, CAL= 330.7,  -1.1, ROT= 179.3,   1.1

2025-10-26T23:07:00.112Z,1761520020.112 [DAT](INFO): got valid direction response:
 23:06:58.8394 LVL= 32752, 23217, 32754, 32755, AGC= 73, IDX= 505, 0.37,-0.836, 0.911,-0.750,-0.141, PHS=-0.593, 1.096,-0.653, RAW= 331.7,   1.8, CAL= 330.7,  -1.1, ROT= 179.3,   1.1

2025-10-26T23:07:00.112Z,1761520020.112 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-10-26T23:07:00.113Z,1761520020.113 [DAT](INFO): direction in FSK: [-0.999741,0.012215,-0.019197]
2025-10-26T23:07:00.114Z,1761520020.114 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:00.117Z,1761520020.117 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=46.678093
2025-10-26T23:07:00.141Z,1761520020.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121935,-0.991266,-0.050242],[0.992393,0.122627,-0.010908],[0.016973,-0.048530,0.998677]]
2025-10-26T23:07:00.311Z,1761520020.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.503515 s,
      deltaX: 0.099998 m,
      approachRate: 0.198601 m/s,
      rangeRepo size: 4

2025-10-26T23:07:00.325Z,1761520020.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.706020 m,
      bearing: 262.349100 deg,
      lat: 36.779430 deg,
      lon: -121.859376 deg,
      deltaT: 0.503515 s,
      deltaX: 0.100353 m,
      approachRate: 0.199305 m/s,
      posRepo size: 4

2025-10-26T23:07:00.326Z,1761520020.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:07:00.348Z,1761520020.348 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=46.909119
2025-10-26T23:07:00.601Z,1761520020.601 [DAT](INFO): DAT read: Rx Time:23:06:59.3394 

2025-10-26T23:07:00.601Z,1761520020.601 [DAT](INFO): Rx dataTimestamp_ set to:1761520020.601140
2025-10-26T23:07:00.603Z,1761520020.603 [DAT](INFO): DAT read: Bearing  49.6,   0.1 (Local)

2025-10-26T23:07:00.603Z,1761520020.603 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.6,   0.1 (Local)

2025-10-26T23:07:00.605Z,1761520020.605 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed -0.2

2025-10-26T23:07:00.610Z,1761520020.610 [DAT](INFO): DAT read: 23:06:59.3394 LVL= 32752, 21281, 32754, 32755, AGC= 72, IDX= 505,-0.11, 1.834,-2.716, 1.910, 2.513, PHS=-0.578, 1.099,-0.647, RAW= 332.0,   1.5, CAL= 331.0,  -1.4, ROT= 179.0,   1.4

2025-10-26T23:07:00.628Z,1761520020.628 [DAT](INFO): got valid direction response:
 23:06:59.3394 LVL= 32752, 21281, 32754, 32755, AGC= 72, IDX= 505,-0.11, 1.834,-2.716, 1.910, 2.513, PHS=-0.578, 1.099,-0.647, RAW= 332.0,   1.5, CAL= 331.0,  -1.4, ROT= 179.0,   1.4

2025-10-26T23:07:00.629Z,1761520020.629 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-10-26T23:07:00.630Z,1761520020.630 [DAT](INFO): direction in FSK: [-0.999549,0.017447,-0.024432]
2025-10-26T23:07:00.630Z,1761520020.630 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:00.633Z,1761520020.633 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=47.194199
2025-10-26T23:07:00.747Z,1761520020.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.503858 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:07:00.749Z,1761520020.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.706020 m,
      bearing: 262.063784 deg,
      lat: 36.779429 deg,
      lon: -121.859376 deg,
      deltaT: 0.503858 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:07:00.750Z,1761520020.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:07:00.853Z,1761520020.853 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=47.413742
2025-10-26T23:07:00.989Z,1761520020.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119286,-0.991583,-0.050332],[0.992723,0.119957,-0.010512],[0.016461,-0.048712,0.998677]]
2025-10-26T23:07:01.012Z,1761520021.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:07:01.105Z,1761520021.105 [DAT](INFO): DAT read: Rx Time:23:06:59.8394 

2025-10-26T23:07:01.106Z,1761520021.106 [DAT](INFO): Rx dataTimestamp_ set to:1761520021.105251
2025-10-26T23:07:01.107Z,1761520021.107 [DAT](INFO): DAT read: Bearing  49.5,   0.9 (Local)

2025-10-26T23:07:01.107Z,1761520021.107 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.5,   0.9 (Local)

2025-10-26T23:07:01.109Z,1761520021.109 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed -0.3

2025-10-26T23:07:01.115Z,1761520021.115 [DAT](INFO): DAT read: 23:06:59.8394 LVL= 32752, 21201, 32754, 32755, AGC= 72, IDX= 505, 0.20, 3.122,-1.435,-3.107,-2.490, PHS=-0.569, 1.099,-0.661, RAW= 332.7,   1.5, CAL= 331.7,  -1.3, ROT= 178.3,   1.3

2025-10-26T23:07:01.117Z,1761520021.117 [DAT](INFO): got valid direction response:
 23:06:59.8394 LVL= 32752, 21201, 32754, 32755, AGC= 72, IDX= 505, 0.20, 3.122,-1.435,-3.107,-2.490, PHS=-0.569, 1.099,-0.661, RAW= 332.7,   1.5, CAL= 331.7,  -1.3, ROT= 178.3,   1.3

2025-10-26T23:07:01.117Z,1761520021.117 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-10-26T23:07:01.119Z,1761520021.119 [DAT](INFO): direction in FSK: [-0.999303,0.029659,-0.022687]
2025-10-26T23:07:01.125Z,1761520021.125 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:01.130Z,1761520021.130 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=47.691177
2025-10-26T23:07:01.356Z,1761520021.356 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=47.917091
2025-10-26T23:07:01.495Z,1761520021.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.504111 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:07:01.497Z,1761520021.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.706295 m,
      bearing: 261.512619 deg,
      lat: 36.779429 deg,
      lon: -121.859376 deg,
      deltaT: 0.504111 s,
      deltaX: 0.000275 m,
      approachRate: 0.000545 m/s,
      posRepo size: 4

2025-10-26T23:07:01.498Z,1761520021.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:07:01.610Z,1761520021.610 [DAT](INFO): DAT read: Rx Time:23:07:00.3393 

2025-10-26T23:07:01.611Z,1761520021.611 [DAT](INFO): Rx dataTimestamp_ set to:1761520021.610223
2025-10-26T23:07:01.612Z,1761520021.612 [DAT](INFO): DAT read: Bearing  49.3,   1.7 (Local)

2025-10-26T23:07:01.613Z,1761520021.613 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.3,   1.7 (Local)

2025-10-26T23:07:01.615Z,1761520021.615 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed -0.2

2025-10-26T23:07:01.620Z,1761520021.620 [DAT](INFO): DAT read: 23:07:00.3393 LVL= 32752, 25393, 32754, 32755, AGC= 72, IDX= 505,-0.43, 0.552, 2.250, 0.584, 1.211, PHS=-0.557, 1.084,-0.671, RAW= 333.3,   1.7, CAL= 332.4,  -1.1, ROT= 177.6,   1.1

2025-10-26T23:07:01.621Z,1761520021.621 [DAT](INFO): got valid direction response:
 23:07:00.3393 LVL= 32752, 25393, 32754, 32755, AGC= 72, IDX= 505,-0.43, 0.552, 2.250, 0.584, 1.211, PHS=-0.557, 1.084,-0.671, RAW= 333.3,   1.7, CAL= 332.4,  -1.1, ROT= 177.6,   1.1

2025-10-26T23:07:01.622Z,1761520021.622 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-10-26T23:07:01.622Z,1761520021.622 [DAT](INFO): direction in FSK: [-0.998939,0.041868,-0.019197]
2025-10-26T23:07:01.623Z,1761520021.623 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:01.634Z,1761520021.634 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=48.195110
2025-10-26T23:07:01.795Z,1761520021.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117973,-0.991789,-0.049362],[0.992900,0.118577,-0.009484],[0.015259,-0.047893,0.998736]]
2025-10-26T23:07:01.825Z,1761520021.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.504972 s,
      deltaX: -0.099998 m,
      approachRate: -0.198028 m/s,
      rangeRepo size: 4

2025-10-26T23:07:01.827Z,1761520021.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.606770 m,
      bearing: 260.878464 deg,
      lat: 36.779428 deg,
      lon: -121.859376 deg,
      deltaT: 0.504972 s,
      deltaX: -0.099525 m,
      approachRate: -0.197091 m/s,
      posRepo size: 4

2025-10-26T23:07:01.827Z,1761520021.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:07:01.860Z,1761520021.860 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=48.421089
2025-10-26T23:07:02.116Z,1761520022.116 [DAT](INFO): DAT read: Rx Time:23:07:00.8395 

2025-10-26T23:07:02.116Z,1761520022.116 [DAT](INFO): Rx dataTimestamp_ set to:1761520022.116010
2025-10-26T23:07:02.118Z,1761520022.118 [DAT](INFO): DAT read: Bearing  49.4,   1.5 (Local)

2025-10-26T23:07:02.118Z,1761520022.118 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.4,   1.5 (Local)

2025-10-26T23:07:02.120Z,1761520022.120 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed 0.0

2025-10-26T23:07:02.129Z,1761520022.129 [DAT](INFO): DAT read: 23:07:00.8395 LVL= 32752, 22833, 32754, 32755, AGC= 71, IDX= 506,-0.20, 2.013,-2.559, 2.048, 2.677, PHS=-0.562, 1.092,-0.673, RAW= 333.2,   1.7, CAL= 332.3,  -1.1, ROT= 177.7,   1.1

2025-10-26T23:07:02.130Z,1761520022.130 [DAT](INFO): got valid direction response:
 23:07:00.8395 LVL= 32752, 22833, 32754, 32755, AGC= 71, IDX= 506,-0.20, 2.013,-2.559, 2.048, 2.677, PHS=-0.562, 1.092,-0.673, RAW= 333.2,   1.7, CAL= 332.3,  -1.1, ROT= 177.7,   1.1

2025-10-26T23:07:02.130Z,1761520022.130 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-10-26T23:07:02.131Z,1761520022.131 [DAT](INFO): direction in FSK: [-0.999010,0.040125,-0.019197]
2025-10-26T23:07:02.132Z,1761520022.132 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:02.135Z,1761520022.135 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=48.695877
2025-10-26T23:07:02.229Z,1761520022.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117615,-0.991855,-0.048901],[0.992953,0.118181,-0.008840],[0.014547,-0.047516,0.998765]]
2025-10-26T23:07:02.318Z,1761520022.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.505787 s,
      deltaX: 0.299999 m,
      approachRate: 0.593134 m/s,
      rangeRepo size: 4

2025-10-26T23:07:02.325Z,1761520022.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.904816 m,
      bearing: 260.998711 deg,
      lat: 36.779427 deg,
      lon: -121.859376 deg,
      deltaT: 0.505787 s,
      deltaX: 0.298046 m,
      approachRate: 0.589272 m/s,
      posRepo size: 4

2025-10-26T23:07:02.325Z,1761520022.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m.
2025-10-26T23:07:02.365Z,1761520022.365 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=48.925320
2025-10-26T23:07:02.617Z,1761520022.617 [DAT](INFO): DAT read: Rx Time:23:07:01.3394 

2025-10-26T23:07:02.617Z,1761520022.617 [DAT](INFO): Rx dataTimestamp_ set to:1761520022.617033
2025-10-26T23:07:02.619Z,1761520022.619 [DAT](INFO): DAT read: Bearing  50.7,   1.9 (Local)

2025-10-26T23:07:02.619Z,1761520022.619 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.7,   1.9 (Local)

2025-10-26T23:07:02.621Z,1761520022.621 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.0

2025-10-26T23:07:02.626Z,1761520022.626 [DAT](INFO): DAT read: 23:07:01.3394 LVL= 32752, 18417, 32754, 32755, AGC= 71, IDX= 505,-0.11, 0.677, 2.396, 0.706, 1.305, PHS=-0.526, 1.136,-0.643, RAW= 333.4,   0.4, CAL= 332.5,  -2.5, ROT= 177.5,   2.5

2025-10-26T23:07:02.627Z,1761520022.627 [DAT](INFO): got valid direction response:
 23:07:01.3394 LVL= 32752, 18417, 32754, 32755, AGC= 71, IDX= 505,-0.11, 0.677, 2.396, 0.706, 1.305, PHS=-0.526, 1.136,-0.643, RAW= 333.4,   0.4, CAL= 332.5,  -2.5, ROT= 177.5,   2.5

2025-10-26T23:07:02.627Z,1761520022.627 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-10-26T23:07:02.628Z,1761520022.628 [DAT](INFO): direction in FSK: [-0.998097,0.043578,-0.043619]
2025-10-26T23:07:02.628Z,1761520022.628 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:02.632Z,1761520022.632 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=49.192711
2025-10-26T23:07:02.649Z,1761520022.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117422,-0.991883,-0.048784],[0.992987,0.117947,-0.008022],[0.013711,-0.047500,0.998777]]
2025-10-26T23:07:02.738Z,1761520022.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.501023 s,
      deltaX: -0.200001 m,
      approachRate: -0.399185 m/s,
      rangeRepo size: 4

2025-10-26T23:07:02.745Z,1761520022.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.705767 m,
      bearing: 260.875868 deg,
      lat: 36.779425 deg,
      lon: -121.859376 deg,
      deltaT: 0.501023 s,
      deltaX: -0.199049 m,
      approachRate: -0.397285 m/s,
      posRepo size: 4

2025-10-26T23:07:02.745Z,1761520022.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:07:02.869Z,1761520022.869 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=49.429661
2025-10-26T23:07:03.025Z,1761520023.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117254,-0.991905,-0.048749],[0.993020,0.117734,-0.007072],[0.012754,-0.047579,0.998786]]
2025-10-26T23:07:03.117Z,1761520023.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:07:03.121Z,1761520023.121 [DAT](INFO): DAT read: Rx Time:23:07:01.8395 

2025-10-26T23:07:03.122Z,1761520023.122 [DAT](INFO): Rx dataTimestamp_ set to:1761520023.121313
2025-10-26T23:07:03.123Z,1761520023.123 [DAT](INFO): DAT read: Bearing  47.6,   2.0 (Local)

2025-10-26T23:07:03.123Z,1761520023.123 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.6,   2.0 (Local)

2025-10-26T23:07:03.125Z,1761520023.125 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed 0.0

2025-10-26T23:07:03.134Z,1761520023.134 [DAT](INFO): DAT read: 23:07:01.8395 LVL= 32752, 23089, 32754, 32755, AGC= 73, IDX= 506,-0.31,-2.272,-0.582,-2.252,-1.578, PHS=-0.592, 1.041,-0.717, RAW= 333.7,   3.2, CAL= 332.7,   0.6, ROT= 177.3,  -0.6

2025-10-26T23:07:03.135Z,1761520023.135 [DAT](INFO): got valid direction response:
 23:07:01.8395 LVL= 32752, 23089, 32754, 32755, AGC= 73, IDX= 506,-0.31,-2.272,-0.582,-2.252,-1.578, PHS=-0.592, 1.041,-0.717, RAW= 333.7,   3.2, CAL= 332.7,   0.6, ROT= 177.3,  -0.6

2025-10-26T23:07:03.139Z,1761520023.139 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-10-26T23:07:03.140Z,1761520023.140 [DAT](INFO): direction in FSK: [-0.998835,0.047104,0.010472]
2025-10-26T23:07:03.141Z,1761520023.141 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:03.152Z,1761520023.152 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.713123
2025-10-26T23:07:03.372Z,1761520023.372 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.933056
2025-10-26T23:07:03.476Z,1761520023.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117875,-0.991822,-0.048939],[0.992972,0.118249,-0.004800],[0.010547,-0.048030,0.998790]]
2025-10-26T23:07:03.536Z,1761520023.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.504280 s,
      deltaX: 0.200001 m,
      approachRate: 0.396607 m/s,
      rangeRepo size: 4

2025-10-26T23:07:03.538Z,1761520023.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.905125 m,
      bearing: 260.504550 deg,
      lat: 36.779425 deg,
      lon: -121.859376 deg,
      deltaT: 0.504280 s,
      deltaX: 0.199358 m,
      approachRate: 0.395332 m/s,
      posRepo size: 4

2025-10-26T23:07:03.539Z,1761520023.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.91 m.
2025-10-26T23:07:03.625Z,1761520023.625 [DAT](INFO): DAT read: Rx Time:23:07:02.3393 

2025-10-26T23:07:03.626Z,1761520023.626 [DAT](INFO): Rx dataTimestamp_ set to:1761520023.625608
2025-10-26T23:07:03.628Z,1761520023.628 [DAT](INFO): DAT read: Bearing  50.1,   2.8 (Local)

2025-10-26T23:07:03.628Z,1761520023.628 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.1,   2.8 (Local)

2025-10-26T23:07:03.632Z,1761520023.632 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.1

2025-10-26T23:07:03.638Z,1761520023.638 [DAT](INFO): DAT read: 23:07:02.3393 LVL= 32752, 23873, 32754, 32755, AGC= 73, IDX= 505,-0.45,-2.387,-0.695,-2.387,-1.762, PHS=-0.523, 1.112,-0.669, RAW= 334.2,   1.0, CAL= 333.4,  -1.9, ROT= 176.6,   1.9

2025-10-26T23:07:03.660Z,1761520023.660 [DAT](INFO): got valid direction response:
 23:07:02.3393 LVL= 32752, 23873, 32754, 32755, AGC= 73, IDX= 505,-0.45,-2.387,-0.695,-2.387,-1.762, PHS=-0.523, 1.112,-0.669, RAW= 334.2,   1.0, CAL= 333.4,  -1.9, ROT= 176.6,   1.9

2025-10-26T23:07:03.660Z,1761520023.660 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-10-26T23:07:03.661Z,1761520023.661 [DAT](INFO): direction in FSK: [-0.997691,0.059274,-0.033155]
2025-10-26T23:07:03.661Z,1761520023.661 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:03.669Z,1761520023.669 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=50.230057
2025-10-26T23:07:03.877Z,1761520023.877 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=50.437286
2025-10-26T23:07:03.879Z,1761520023.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.504295 s,
      deltaX: -0.299999 m,
      approachRate: -0.594888 m/s,
      rangeRepo size: 4

2025-10-26T23:07:03.954Z,1761520023.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.606548 m,
      bearing: 259.923764 deg,
      lat: 36.779425 deg,
      lon: -121.859376 deg,
      deltaT: 0.504295 s,
      deltaX: -0.298576 m,
      approachRate: -0.592067 m/s,
      posRepo size: 4

2025-10-26T23:07:03.964Z,1761520023.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:07:04.141Z,1761520024.141 [DAT](INFO): DAT read: Rx Time:23:07:02.8394 

2025-10-26T23:07:04.143Z,1761520024.143 [DAT](INFO): Rx dataTimestamp_ set to:1761520024.142143
2025-10-26T23:07:04.145Z,1761520024.145 [DAT](INFO): DAT read: Bearing  46.8,   2.8 (Local)

2025-10-26T23:07:04.146Z,1761520024.146 [DAT](INFO): Local bearing/azimuth received:
 Bearing  46.8,   2.8 (Local)

2025-10-26T23:07:04.148Z,1761520024.148 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.0

2025-10-26T23:07:04.153Z,1761520024.153 [DAT](INFO): DAT read: 23:07:02.8394 LVL= 32752, 26753, 32754, 32755, AGC= 71, IDX= 505, 0.17, 1.890,-2.727, 1.889, 2.583, PHS=-0.591, 1.018,-0.738, RAW= 334.3,   3.7, CAL= 333.5,   1.5, ROT= 176.5,  -1.5

2025-10-26T23:07:04.154Z,1761520024.154 [DAT](INFO): got valid direction response:
 23:07:02.8394 LVL= 32752, 26753, 32754, 32755, AGC= 71, IDX= 505, 0.17, 1.890,-2.727, 1.889, 2.583, PHS=-0.591, 1.018,-0.738, RAW= 334.3,   3.7, CAL= 333.5,   1.5, ROT= 176.5,  -1.5

2025-10-26T23:07:04.154Z,1761520024.154 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-10-26T23:07:04.160Z,1761520024.160 [DAT](INFO): direction in FSK: [-0.997793,0.061028,0.026177]
2025-10-26T23:07:04.160Z,1761520024.160 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:04.175Z,1761520024.175 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.730991
2025-10-26T23:07:04.239Z,1761520024.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118450,-0.991763,-0.048750],[0.992916,0.118764,-0.003586],[0.009346,-0.047980,0.998805]]
2025-10-26T23:07:04.349Z,1761520024.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.516535 s,
      deltaX: 0.099998 m,
      approachRate: 0.193595 m/s,
      rangeRepo size: 4

2025-10-26T23:07:04.355Z,1761520024.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.706512 m,
      bearing: 259.629839 deg,
      lat: 36.779424 deg,
      lon: -121.859377 deg,
      deltaT: 0.516535 s,
      deltaX: 0.099964 m,
      approachRate: 0.193528 m/s,
      posRepo size: 4

2025-10-26T23:07:04.356Z,1761520024.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-10-26T23:07:04.380Z,1761520024.380 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.941189
2025-10-26T23:07:04.633Z,1761520024.633 [DAT](INFO): DAT read: Rx Time:23:07:03.3393 

2025-10-26T23:07:04.633Z,1761520024.633 [DAT](INFO): Rx dataTimestamp_ set to:1761520024.633132
2025-10-26T23:07:04.635Z,1761520024.635 [DAT](INFO): DAT read: Bearing  48.1,   2.9 (Local)

2025-10-26T23:07:04.635Z,1761520024.635 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.1,   2.9 (Local)

2025-10-26T23:07:04.637Z,1761520024.637 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed -0.1

2025-10-26T23:07:04.642Z,1761520024.642 [DAT](INFO): DAT read: 23:07:03.3393 LVL= 32752, 25697, 32754, 32755, AGC= 71, IDX= 504,-0.00,-0.425, 1.276,-0.431, 0.258, PHS=-0.581, 1.063,-0.732, RAW= 334.4,   2.9, CAL= 333.4,   0.2, ROT= 176.6,  -0.2

2025-10-26T23:07:04.643Z,1761520024.643 [DAT](INFO): got valid direction response:
 23:07:03.3393 LVL= 32752, 25697, 32754, 32755, AGC= 71, IDX= 504,-0.00,-0.425, 1.276,-0.431, 0.258, PHS=-0.581, 1.063,-0.732, RAW= 334.4,   2.9, CAL= 333.4,   0.2, ROT= 176.6,  -0.2

2025-10-26T23:07:04.644Z,1761520024.644 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-10-26T23:07:04.649Z,1761520024.649 [DAT](INFO): direction in FSK: [-0.998234,0.059306,0.003491]
2025-10-26T23:07:04.649Z,1761520024.649 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:04.653Z,1761520024.653 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=51.213554
2025-10-26T23:07:04.769Z,1761520024.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119026,-0.991680,-0.049031],[0.992865,0.119235,-0.001358],[0.007193,-0.048520,0.998796]]
2025-10-26T23:07:04.829Z,1761520024.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.490989 s,
      deltaX: -0.099998 m,
      approachRate: -0.203667 m/s,
      rangeRepo size: 4

2025-10-26T23:07:04.831Z,1761520024.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.606987 m,
      bearing: 259.758193 deg,
      lat: 36.779423 deg,
      lon: -121.859376 deg,
      deltaT: 0.490989 s,
      deltaX: -0.099525 m,
      approachRate: -0.202704 m/s,
      posRepo size: 4

2025-10-26T23:07:04.835Z,1761520024.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:07:04.885Z,1761520024.885 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=51.445930
2025-10-26T23:07:05.141Z,1761520025.141 [DAT](INFO): DAT read: Rx Time:23:07:03.8393 

2025-10-26T23:07:05.142Z,1761520025.142 [DAT](INFO): Rx dataTimestamp_ set to:1761520025.141471
2025-10-26T23:07:05.145Z,1761520025.145 [DAT](INFO): DAT read: Bearing  48.4,   3.0 (Local)

2025-10-26T23:07:05.145Z,1761520025.145 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.4,   3.0 (Local)

2025-10-26T23:07:05.147Z,1761520025.147 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.0

2025-10-26T23:07:05.174Z,1761520025.174 [DAT](INFO): DAT read: 23:07:03.8393 LVL= 32752, 23233, 32754, 32755, AGC= 69, IDX= 504,-0.22,-1.093, 0.590,-1.098,-0.423, PHS=-0.568, 1.058,-0.720, RAW= 334.4,   2.7, CAL= 333.5,  -0.1, ROT= 176.5,   0.1

2025-10-26T23:07:05.196Z,1761520025.196 [DAT](INFO): got valid direction response:
 23:07:03.8393 LVL= 32752, 23233, 32754, 32755, AGC= 69, IDX= 504,-0.22,-1.093, 0.590,-1.098,-0.423, PHS=-0.568, 1.058,-0.720, RAW= 334.4,   2.7, CAL= 333.5,  -0.1, ROT= 176.5,   0.1

2025-10-26T23:07:05.197Z,1761520025.197 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-10-26T23:07:05.198Z,1761520025.198 [DAT](INFO): direction in FSK: [-0.998133,0.061048,-0.001745]
2025-10-26T23:07:05.198Z,1761520025.198 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:05.214Z,1761520025.214 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=51.774593
2025-10-26T23:07:05.256Z,1761520025.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118932,-0.991672,-0.049411],[0.992883,0.119096,-0.000370],[0.006252,-0.049015,0.998778]]
2025-10-26T23:07:05.356Z,1761520025.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.508339 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:07:05.358Z,1761520025.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.607182 m,
      bearing: 259.678298 deg,
      lat: 36.779423 deg,
      lon: -121.859376 deg,
      deltaT: 0.508339 s,
      deltaX: 0.000195 m,
      approachRate: 0.000383 m/s,
      posRepo size: 4

2025-10-26T23:07:05.359Z,1761520025.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.61 m.
2025-10-26T23:07:05.389Z,1761520025.389 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=51.949638
2025-10-26T23:07:05.630Z,1761520025.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118883,-0.991681,-0.049346],[0.992894,0.119004,0.000492],[0.005385,-0.049054,0.998782]]
2025-10-26T23:07:05.641Z,1761520025.641 [DAT](INFO): DAT read: Rx Time:23:07:04.3391 

2025-10-26T23:07:05.641Z,1761520025.641 [DAT](INFO): Rx dataTimestamp_ set to:1761520025.641002
2025-10-26T23:07:05.643Z,1761520025.643 [DAT](INFO): DAT read: Bearing  48.8,   3.5 (Local)

2025-10-26T23:07:05.643Z,1761520025.643 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.8,   3.5 (Local)

2025-10-26T23:07:05.645Z,1761520025.645 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed 0.2

2025-10-26T23:07:05.650Z,1761520025.650 [DAT](INFO): DAT read: 23:07:04.3391 LVL= 32752, 24017, 32754, 32755, AGC= 69, IDX= 503,-0.47,-2.274,-0.611,-2.293,-1.626, PHS=-0.546, 1.060,-0.710, RAW= 334.8,   2.3, CAL= 333.9,  -0.5, ROT= 176.1,   0.5

2025-10-26T23:07:05.651Z,1761520025.651 [DAT](INFO): got valid direction response:
 23:07:04.3391 LVL= 32752, 24017, 32754, 32755, AGC= 69, IDX= 503,-0.47,-2.274,-0.611,-2.293,-1.626, PHS=-0.546, 1.060,-0.710, RAW= 334.8,   2.3, CAL= 333.9,  -0.5, ROT= 176.1,   0.5

2025-10-26T23:07:05.651Z,1761520025.651 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-10-26T23:07:05.652Z,1761520025.652 [DAT](INFO): direction in FSK: [-0.997646,0.068013,-0.008727]
2025-10-26T23:07:05.652Z,1761520025.652 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:05.656Z,1761520025.656 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=52.216618
2025-10-26T23:07:05.754Z,1761520025.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.499531 s,
      deltaX: -0.300001 m,
      approachRate: -0.600566 m/s,
      rangeRepo size: 4

2025-10-26T23:07:05.761Z,1761520025.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.308594 m,
      bearing: 259.301119 deg,
      lat: 36.779423 deg,
      lon: -121.859376 deg,
      deltaT: 0.499531 s,
      deltaX: -0.298588 m,
      approachRate: -0.597736 m/s,
      posRepo size: 4

2025-10-26T23:07:05.761Z,1761520025.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.31 m.
2025-10-26T23:07:05.892Z,1761520025.892 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=52.453171
2025-10-26T23:07:06.030Z,1761520026.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118789,-0.991715,-0.048884],[0.992909,0.118873,0.001196],[0.004624,-0.048680,0.998804]]
2025-10-26T23:07:06.064Z,1761520026.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.31 m.
2025-10-26T23:07:06.151Z,1761520026.151 [DAT](INFO): DAT read: Rx Time:23:07:04.8392 

2025-10-26T23:07:06.153Z,1761520026.153 [DAT](INFO): Rx dataTimestamp_ set to:1761520026.151674
2025-10-26T23:07:06.170Z,1761520026.170 [DAT](INFO): DAT read: Bearing  48.8,   3.7 (Local)

2025-10-26T23:07:06.171Z,1761520026.171 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.8,   3.7 (Local)

2025-10-26T23:07:06.175Z,1761520026.175 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed 0.0

2025-10-26T23:07:06.202Z,1761520026.202 [DAT](INFO): DAT read: 23:07:04.8392 LVL= 32752, 25201, 32754, 32755, AGC= 69, IDX= 503, 0.27,-0.293, 1.399,-0.321, 0.363, PHS=-0.554, 1.081,-0.728, RAW= 335.0,   2.4, CAL= 334.1,  -0.5, ROT= 175.9,   0.5

2025-10-26T23:07:06.203Z,1761520026.203 [DAT](INFO): got valid direction response:
 23:07:04.8392 LVL= 32752, 25201, 32754, 32755, AGC= 69, IDX= 503, 0.27,-0.293, 1.399,-0.321, 0.363, PHS=-0.554, 1.081,-0.728, RAW= 335.0,   2.4, CAL= 334.1,  -0.5, ROT= 175.9,   0.5

2025-10-26T23:07:06.207Z,1761520026.207 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-10-26T23:07:06.208Z,1761520026.208 [DAT](INFO): direction in FSK: [-0.997403,0.071495,-0.008727]
2025-10-26T23:07:06.209Z,1761520026.209 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:06.216Z,1761520026.216 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=52.777199
2025-10-26T23:07:06.398Z,1761520026.398 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=52.958271
2025-10-26T23:07:06.473Z,1761520026.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118212,-0.991834,-0.047871],[0.992980,0.118268,0.001657],[0.004018,-0.047731,0.998852]]
2025-10-26T23:07:06.539Z,1761520026.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.510672 s,
      deltaX: 0.100000 m,
      approachRate: 0.195821 m/s,
      rangeRepo size: 4

2025-10-26T23:07:06.545Z,1761520026.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.408155 m,
      bearing: 259.139273 deg,
      lat: 36.779423 deg,
      lon: -121.859376 deg,
      deltaT: 0.510672 s,
      deltaX: 0.099562 m,
      approachRate: 0.194962 m/s,
      posRepo size: 4

2025-10-26T23:07:06.546Z,1761520026.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.41 m.
2025-10-26T23:07:06.652Z,1761520026.652 [DAT](INFO): DAT read: Rx Time:23:07:05.3391 

2025-10-26T23:07:06.652Z,1761520026.652 [DAT](INFO): Rx dataTimestamp_ set to:1761520026.652130
2025-10-26T23:07:06.654Z,1761520026.654 [DAT](INFO): DAT read: Bearing  46.1,   3.6 (Local)

2025-10-26T23:07:06.654Z,1761520026.654 [DAT](INFO): Local bearing/azimuth received:
 Bearing  46.1,   3.6 (Local)

2025-10-26T23:07:06.657Z,1761520026.657 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed 0.0

2025-10-26T23:07:06.662Z,1761520026.662 [DAT](INFO): DAT read: 23:07:05.3391 LVL= 32752, 25553, 32754, 32755, AGC= 71, IDX= 502, 0.05,-0.914, 0.732,-0.935,-0.219, PHS=-0.594, 0.996,-0.760, RAW= 334.9,   4.3, CAL= 334.2,   2.4, ROT= 175.8,  -2.4

2025-10-26T23:07:06.663Z,1761520026.663 [DAT](INFO): got valid direction response:
 23:07:05.3391 LVL= 32752, 25553, 32754, 32755, AGC= 71, IDX= 502, 0.05,-0.914, 0.732,-0.935,-0.219, PHS=-0.594, 0.996,-0.760, RAW= 334.9,   4.3, CAL= 334.2,   2.4, ROT= 175.8,  -2.4

2025-10-26T23:07:06.680Z,1761520026.680 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-10-26T23:07:06.681Z,1761520026.681 [DAT](INFO): direction in FSK: [-0.996440,0.073174,0.041876]
2025-10-26T23:07:06.681Z,1761520026.681 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:06.693Z,1761520026.693 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=53.253674
2025-10-26T23:07:06.838Z,1761520026.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117331,-0.991981,-0.046979],[0.993086,0.117370,0.001940],[0.003589,-0.046882,0.998894]]
2025-10-26T23:07:06.876Z,1761520026.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.500456 s,
      deltaX: -0.100000 m,
      approachRate: -0.199819 m/s,
      rangeRepo size: 4

2025-10-26T23:07:06.878Z,1761520026.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.308626 m,
      bearing: 258.954758 deg,
      lat: 36.779423 deg,
      lon: -121.859375 deg,
      deltaT: 0.500456 s,
      deltaX: -0.099529 m,
      approachRate: -0.198877 m/s,
      posRepo size: 4

2025-10-26T23:07:06.878Z,1761520026.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.31 m.
2025-10-26T23:07:06.902Z,1761520026.902 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=53.462654
2025-10-26T23:07:07.156Z,1761520027.156 [DAT](INFO): DAT read: Rx Time:23:07:05.8392 

2025-10-26T23:07:07.158Z,1761520027.158 [DAT](INFO): Rx dataTimestamp_ set to:1761520027.156851
2025-10-26T23:07:07.174Z,1761520027.174 [DAT](INFO): DAT read: Bearing  48.7,   4.0 (Local)

2025-10-26T23:07:07.174Z,1761520027.174 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.7,   4.0 (Local)

2025-10-26T23:07:07.177Z,1761520027.177 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed 0.0

2025-10-26T23:07:07.181Z,1761520027.181 [DAT](INFO): DAT read: 23:07:05.8392 LVL= 32752, 23169, 32754, 32755, AGC= 70, IDX= 503,-0.01,-1.530, 0.142,-1.564,-0.878, PHS=-0.550, 1.065,-0.730, RAW= 335.2,   2.5, CAL= 334.4,  -0.3, ROT= 175.6,   0.3

2025-10-26T23:07:07.182Z,1761520027.182 [DAT](INFO): got valid direction response:
 23:07:05.8392 LVL= 32752, 23169, 32754, 32755, AGC= 70, IDX= 503,-0.01,-1.530, 0.142,-1.564,-0.878, PHS=-0.550, 1.065,-0.730, RAW= 335.2,   2.5, CAL= 334.4,  -0.3, ROT= 175.6,   0.3

2025-10-26T23:07:07.183Z,1761520027.183 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-10-26T23:07:07.185Z,1761520027.185 [DAT](INFO): direction in FSK: [-0.997039,0.076718,-0.005236]
2025-10-26T23:07:07.185Z,1761520027.185 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:07.189Z,1761520027.189 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=53.749439
2025-10-26T23:07:07.247Z,1761520027.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116292,-0.992111,-0.046809],[0.993210,0.116319,0.002167],[0.003295,-0.046743,0.998901]]
2025-10-26T23:07:07.353Z,1761520027.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.504721 s,
      deltaX: 0.100000 m,
      approachRate: 0.198130 m/s,
      rangeRepo size: 4

2025-10-26T23:07:07.355Z,1761520027.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.407549 m,
      bearing: 258.940426 deg,
      lat: 36.779422 deg,
      lon: -121.859375 deg,
      deltaT: 0.504721 s,
      deltaX: 0.098923 m,
      approachRate: 0.195995 m/s,
      posRepo size: 4

2025-10-26T23:07:07.360Z,1761520027.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.41 m.
2025-10-26T23:07:07.405Z,1761520027.405 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=53.965801
2025-10-26T23:07:07.647Z,1761520027.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115321,-0.992201,-0.047309],[0.993323,0.115338,0.002368],[0.003107,-0.047266,0.998877]]
2025-10-26T23:07:07.657Z,1761520027.657 [DAT](INFO): DAT read: Rx Time:23:07:06.3391 

2025-10-26T23:07:07.658Z,1761520027.658 [DAT](INFO): Rx dataTimestamp_ set to:1761520027.657281
2025-10-26T23:07:07.659Z,1761520027.659 [DAT](INFO): DAT read: Bearing  47.1,   3.7 (Local)

2025-10-26T23:07:07.659Z,1761520027.659 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.1,   3.7 (Local)

2025-10-26T23:07:07.661Z,1761520027.661 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed 0.0

2025-10-26T23:07:07.666Z,1761520027.666 [DAT](INFO): DAT read: 23:07:06.3391 LVL= 32752, 24689, 32754, 32755, AGC= 70, IDX= 502,-0.10,-3.038,-1.359,-3.065,-2.349, PHS=-0.587, 1.035,-0.760, RAW= 335.0,   3.7, CAL= 334.2,   1.4, ROT= 175.8,  -1.4

2025-10-26T23:07:07.667Z,1761520027.667 [DAT](INFO): got valid direction response:
 23:07:06.3391 LVL= 32752, 24689, 32754, 32755, AGC= 70, IDX= 502,-0.10,-3.038,-1.359,-3.065,-2.349, PHS=-0.587, 1.035,-0.760, RAW= 335.0,   3.7, CAL= 334.2,   1.4, ROT= 175.8,  -1.4

2025-10-26T23:07:07.668Z,1761520027.668 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-10-26T23:07:07.669Z,1761520027.669 [DAT](INFO): direction in FSK: [-0.997017,0.073216,0.024432]
2025-10-26T23:07:07.669Z,1761520027.669 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:07.677Z,1761520027.677 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=54.237270
2025-10-26T23:07:07.706Z,1761520027.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.500430 s,
      deltaX: -0.100000 m,
      approachRate: -0.199829 m/s,
      rangeRepo size: 4

2025-10-26T23:07:07.724Z,1761520027.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.308022 m,
      bearing: 259.116763 deg,
      lat: 36.779422 deg,
      lon: -121.859374 deg,
      deltaT: 0.500430 s,
      deltaX: -0.099527 m,
      approachRate: -0.198884 m/s,
      posRepo size: 4

2025-10-26T23:07:07.743Z,1761520027.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.31 m.
2025-10-26T23:07:07.909Z,1761520027.909 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=54.469936
2025-10-26T23:07:08.046Z,1761520028.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114333,-0.992263,-0.048403],[0.993438,0.114340,0.002636],[0.002918,-0.048387,0.998824]]
2025-10-26T23:07:08.071Z,1761520028.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.31 m.
2025-10-26T23:07:08.178Z,1761520028.178 [DAT](INFO): DAT read: Rx Time:23:07:06.8391 

2025-10-26T23:07:08.179Z,1761520028.179 [DAT](INFO): Rx dataTimestamp_ set to:1761520028.177895
2025-10-26T23:07:08.183Z,1761520028.183 [DAT](INFO): DAT read: Bearing  48.3,   4.3 (Local)

2025-10-26T23:07:08.192Z,1761520028.192 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.3,   4.3 (Local)

2025-10-26T23:07:08.199Z,1761520028.199 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed 0.0

2025-10-26T23:07:08.217Z,1761520028.217 [DAT](INFO): DAT read: 23:07:06.8391 LVL= 32752, 25153, 32754, 32755, AGC= 71, IDX= 502,-0.11, 2.614,-2.003, 2.571,-3.010, PHS=-0.557, 1.052,-0.746, RAW= 335.5,   3.0, CAL= 334.6,   0.2, ROT= 175.4,  -0.2

2025-10-26T23:07:08.219Z,1761520028.219 [DAT](INFO): got valid direction response:
 23:07:06.8391 LVL= 32752, 25153, 32754, 32755, AGC= 71, IDX= 502,-0.11, 2.614,-2.003, 2.571,-3.010, PHS=-0.557, 1.052,-0.746, RAW= 335.5,   3.0, CAL= 334.6,   0.2, ROT= 175.4,  -0.2

2025-10-26T23:07:08.225Z,1761520028.225 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-10-26T23:07:08.226Z,1761520028.226 [DAT](INFO): direction in FSK: [-0.996773,0.080199,0.003491]
2025-10-26T23:07:08.226Z,1761520028.226 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:08.239Z,1761520028.239 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=54.799255
2025-10-26T23:07:08.416Z,1761520028.416 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=54.975849
2025-10-26T23:07:08.482Z,1761520028.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113172,-0.992354,-0.049259],[0.993571,0.113179,0.002654],[0.002942,-0.049242,0.998783]]
2025-10-26T23:07:08.530Z,1761520028.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.520614 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:07:08.532Z,1761520028.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.308146 m,
      bearing: 258.897503 deg,
      lat: 36.779422 deg,
      lon: -121.859374 deg,
      deltaT: 0.520614 s,
      deltaX: 0.000124 m,
      approachRate: 0.000238 m/s,
      posRepo size: 4

2025-10-26T23:07:08.533Z,1761520028.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.31 m.
2025-10-26T23:07:08.665Z,1761520028.665 [DAT](INFO): DAT read: Rx Time:23:07:07.3390 

2025-10-26T23:07:08.665Z,1761520028.665 [DAT](INFO): Rx dataTimestamp_ set to:1761520028.665147
2025-10-26T23:07:08.667Z,1761520028.667 [DAT](INFO): DAT read: Bearing  47.2,   4.3 (Local)

2025-10-26T23:07:08.667Z,1761520028.667 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.2,   4.3 (Local)

2025-10-26T23:07:08.669Z,1761520028.669 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed 0.0

2025-10-26T23:07:08.674Z,1761520028.674 [DAT](INFO): DAT read: 23:07:07.3390 LVL= 32752, 25521, 32754, 32755, AGC= 71, IDX= 501,-0.13, 1.944,-2.667, 1.900, 2.623, PHS=-0.577, 1.038,-0.767, RAW= 335.5,   3.6, CAL= 334.7,   1.2, ROT= 175.3,  -1.2

2025-10-26T23:07:08.675Z,1761520028.675 [DAT](INFO): got valid direction response:
 23:07:07.3390 LVL= 32752, 25521, 32754, 32755, AGC= 71, IDX= 501,-0.13, 1.944,-2.667, 1.900, 2.623, PHS=-0.577, 1.038,-0.767, RAW= 335.5,   3.6, CAL= 334.7,   1.2, ROT= 175.3,  -1.2

2025-10-26T23:07:08.675Z,1761520028.675 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-10-26T23:07:08.676Z,1761520028.676 [DAT](INFO): direction in FSK: [-0.996419,0.081921,0.020942]
2025-10-26T23:07:08.677Z,1761520028.677 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:08.680Z,1761520028.680 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=55.240963
2025-10-26T23:07:08.855Z,1761520028.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111941,-0.992485,-0.049435],[0.993710,0.111956,0.002474],[0.003079,-0.049401,0.998774]]
2025-10-26T23:07:08.887Z,1761520028.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.487252 s,
      deltaX: -0.199999 m,
      approachRate: -0.410463 m/s,
      rangeRepo size: 4

2025-10-26T23:07:08.890Z,1761520028.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.109095 m,
      bearing: 258.819619 deg,
      lat: 36.779422 deg,
      lon: -121.859374 deg,
      deltaT: 0.487252 s,
      deltaX: -0.199051 m,
      approachRate: -0.408517 m/s,
      posRepo size: 4

2025-10-26T23:07:08.891Z,1761520028.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.11 m.
2025-10-26T23:07:08.920Z,1761520028.920 [DAT](INFO): DAT read: Rx Time:23:07:07.8391 

2025-10-26T23:07:08.922Z,1761520028.922 [DAT](INFO): Rx dataTimestamp_ set to:1761520028.920833
2025-10-26T23:07:08.924Z,1761520028.924 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=55.484440
2025-10-26T23:07:09.173Z,1761520029.173 [DAT](INFO): DAT read: Bearing  47.0,   4.6 (Local)

2025-10-26T23:07:09.174Z,1761520029.174 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.0,   4.6 (Local)

2025-10-26T23:07:09.180Z,1761520029.180 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed 0.0

2025-10-26T23:07:09.204Z,1761520029.204 [DAT](INFO): DAT read: 23:07:07.8391 LVL= 32752, 25905, 32754, 32755, AGC= 71, IDX= 502,-0.09, 2.699,-1.938, 2.648,-2.912, PHS=-0.570, 1.019,-0.767, RAW= 335.8,   3.8, CAL= 335.0,   1.5, ROT= 175.0,  -1.5

2025-10-26T23:07:09.206Z,1761520029.206 [DAT](INFO): got valid direction response:
 23:07:07.8391 LVL= 32752, 25905, 32754, 32755, AGC= 71, IDX= 502,-0.09, 2.699,-1.938, 2.648,-2.912, PHS=-0.570, 1.019,-0.767, RAW= 335.8,   3.8, CAL= 335.0,   1.5, ROT= 175.0,  -1.5

2025-10-26T23:07:09.206Z,1761520029.206 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-10-26T23:07:09.207Z,1761520029.207 [DAT](INFO): direction in FSK: [-0.995853,0.087126,0.026177]
2025-10-26T23:07:09.208Z,1761520029.208 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:09.212Z,1761520029.212 [RudderServo](FAULT): Rudder uart error: serial timeout
2025-10-26T23:07:09.212Z,1761520029.212 [RudderServo] Communications Fault, FailCount= 1
2025-10-26T23:07:09.212Z,1761520029.212 [RudderServo](ERROR): Communications Fault
2025-10-26T23:07:09.223Z,1761520029.223 [CBIT](ERROR): Communications Fault in component: RudderServo
2025-10-26T23:07:09.225Z,1761520029.225 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=55.771866
2025-10-26T23:07:09.279Z,1761520029.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110559,-0.992663,-0.048954],[0.993865,0.110579,0.002324],[0.003106,-0.048911,0.998798]]
2025-10-26T23:07:09.364Z,1761520029.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.503841 s,
      deltaX: 0.199999 m,
      approachRate: 0.396948 m/s,
      rangeRepo size: 4

2025-10-26T23:07:09.366Z,1761520029.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.307646 m,
      bearing: 258.585583 deg,
      lat: 36.779422 deg,
      lon: -121.859374 deg,
      deltaT: 0.503841 s,
      deltaX: 0.198551 m,
      approachRate: 0.394075 m/s,
      posRepo size: 4

2025-10-26T23:07:09.366Z,1761520029.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.31 m.
2025-10-26T23:07:09.427Z,1761520029.427 [DAT](INFO): DAT read: Rx Time:23:07:08.3390 

2025-10-26T23:07:09.429Z,1761520029.429 [DAT](INFO): Rx dataTimestamp_ set to:1761520029.428104
2025-10-26T23:07:09.432Z,1761520029.432 [DAT](INFO): DAT read: Bearing  48.9,   5.1 (Local)

2025-10-26T23:07:09.433Z,1761520029.433 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.9,   5.1 (Local)

2025-10-26T23:07:09.440Z,1761520029.440 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=55.995335
2025-10-26T23:07:09.597Z,1761520029.597 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-10-26T23:07:09.597Z,1761520029.597 [RudderServo](INFO): Powering down
2025-10-26T23:07:09.670Z,1761520029.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109396,-0.992833,-0.048120],[0.993993,0.109427,0.001999],[0.003281,-0.048050,0.998840]]
2025-10-26T23:07:09.674Z,1761520029.674 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed 0.0

2025-10-26T23:07:09.679Z,1761520029.679 [DAT](INFO): DAT read: 23:07:08.3390 LVL= 32752, 26321, 32754, 32755, AGC= 70, IDX= 501,-0.00, 1.479, 3.139, 1.411, 2.113, PHS=-0.532, 1.072,-0.746, RAW= 336.2,   2.4, CAL= 335.4,  -0.4, ROT= 174.6,   0.4

2025-10-26T23:07:09.681Z,1761520029.681 [DAT](INFO): got valid direction response:
 23:07:08.3390 LVL= 32752, 26321, 32754, 32755, AGC= 70, IDX= 501,-0.00, 1.479, 3.139, 1.411, 2.113, PHS=-0.532, 1.072,-0.746, RAW= 336.2,   2.4, CAL= 335.4,  -0.4, ROT= 174.6,   0.4

2025-10-26T23:07:09.681Z,1761520029.681 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-10-26T23:07:09.682Z,1761520029.682 [DAT](INFO): direction in FSK: [-0.995538,0.094106,-0.006981]
2025-10-26T23:07:09.682Z,1761520029.682 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:09.686Z,1761520029.686 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=56.246670
2025-10-26T23:07:09.762Z,1761520029.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.503157 s,
      deltaX: -0.199999 m,
      approachRate: -0.397488 m/s,
      rangeRepo size: 4

2025-10-26T23:07:09.766Z,1761520029.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.108599 m,
      bearing: 258.344595 deg,
      lat: 36.779422 deg,
      lon: -121.859374 deg,
      deltaT: 0.503157 s,
      deltaX: -0.199047 m,
      approachRate: -0.395596 m/s,
      posRepo size: 4

2025-10-26T23:07:09.767Z,1761520029.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.11 m.
2025-10-26T23:07:09.929Z,1761520029.929 [DAT](INFO): DAT read: Rx Time:23:07:08.8391 

2025-10-26T23:07:09.931Z,1761520029.931 [DAT](INFO): Rx dataTimestamp_ set to:1761520029.930001
2025-10-26T23:07:09.938Z,1761520029.938 [DAT](INFO): DAT read: Bearing  48.2,   5.2 (Local)

2025-10-26T23:07:09.946Z,1761520029.946 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.2,   5.2 (Local)

2025-10-26T23:07:09.980Z,1761520029.980 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed 0.0

2025-10-26T23:07:09.994Z,1761520029.994 [DAT](INFO): DAT read: 23:07:08.8391 LVL= 32752, 26865, 32754, 32755, AGC= 69, IDX= 502, 0.07, 2.873,-1.763, 2.801,-2.764, PHS=-0.545, 1.046,-0.762, RAW= 336.3,   3.1, CAL= 335.6,   0.4, ROT= 174.4,  -0.4

2025-10-26T23:07:10.004Z,1761520030.004 [DAT](INFO): got valid direction response:
 23:07:08.8391 LVL= 32752, 26865, 32754, 32755, AGC= 69, IDX= 502, 0.07, 2.873,-1.763, 2.801,-2.764, PHS=-0.545, 1.046,-0.762, RAW= 336.3,   3.1, CAL= 335.6,   0.4, ROT= 174.4,  -0.4

2025-10-26T23:07:10.005Z,1761520030.005 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-26T23:07:10.006Z,1761520030.006 [DAT](INFO): direction in FSK: [-0.995203,0.097581,0.006981]
2025-10-26T23:07:10.006Z,1761520030.006 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:10.014Z,1761520030.014 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.574520
2025-10-26T23:07:10.067Z,1761520030.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108551,-0.992966,-0.047273],[0.994085,0.108588,0.001784],[0.003362,-0.047187,0.998880]]
2025-10-26T23:07:10.129Z,1761520030.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.257856 s,
      deltaX: 0.199999 m,
      approachRate: 0.775622 m/s,
      rangeRepo size: 4

2025-10-26T23:07:10.131Z,1761520030.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.307646 m,
      bearing: 258.155614 deg,
      lat: 36.779421 deg,
      lon: -121.859374 deg,
      deltaT: 0.257856 s,
      deltaX: 0.199047 m,
      approachRate: 0.771931 m/s,
      posRepo size: 4

2025-10-26T23:07:10.136Z,1761520030.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.31 m.
2025-10-26T23:07:10.229Z,1761520030.229 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.771721
2025-10-26T23:07:10.433Z,1761520030.433 [DAT](INFO): DAT read: Rx Time:23:07:09.3390 

2025-10-26T23:07:10.435Z,1761520030.435 [DAT](INFO): Rx dataTimestamp_ set to:1761520030.433895
2025-10-26T23:07:10.438Z,1761520030.438 [DAT](INFO): DAT read: Bearing  48.8,   5.8 (Local)

2025-10-26T23:07:10.439Z,1761520030.439 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.8,   5.8 (Local)

2025-10-26T23:07:10.450Z,1761520030.450 [RudderServo](DEBUG): Initializing EZServoServo.
2025-10-26T23:07:10.451Z,1761520030.451 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed 0.0

2025-10-26T23:07:10.454Z,1761520030.454 [DAT](ERROR): #Rx 110: Read range message, but no direction.
2025-10-26T23:07:10.459Z,1761520030.459 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=57.018688
2025-10-26T23:07:10.568Z,1761520030.568 [RudderServo](DEBUG): Initializing RudderServo.
2025-10-26T23:07:10.573Z,1761520030.573 [CBIT](INFO): Clearing failed state for component RudderServo
2025-10-26T23:07:10.573Z,1761520030.573 [RudderServo] No Fault, FailCount= 1
2025-10-26T23:07:10.598Z,1761520030.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107929,-0.993062,-0.046678],[0.994153,0.107974,0.001573],[0.003478,-0.046575,0.998909]]
2025-10-26T23:07:10.606Z,1761520030.606 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS2552857,35.0, +10.9,   0.0, 0
2025-10-26T23:07:10.623Z,1761520030.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.503894 s,
      deltaX: -0.199999 m,
      approachRate: -0.396907 m/s,
      rangeRepo size: 4

2025-10-26T23:07:10.623Z,1761520030.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.31 m.
2025-10-26T23:07:10.686Z,1761520030.686 [DAT](INFO): DAT read: 23:07:09.3390 LVL= 32752, 22769, 32754, 32755, AGC= 70, IDX= 501, 0.16, 2.220,-2.412, 2.130, 2.851, PHS=-0.529, 1.066,-0.765, RAW= 336.8,   2.7, CAL= 336.1,  -0.1, ROT= 173.9,   0.1

2025-10-26T23:07:10.687Z,1761520030.687 [DAT](INFO): got valid direction response:
 23:07:09.3390 LVL= 32752, 22769, 32754, 32755, AGC= 70, IDX= 501, 0.16, 2.220,-2.412, 2.130, 2.851, PHS=-0.529, 1.066,-0.765, RAW= 336.8,   2.7, CAL= 336.1,  -0.1, ROT= 173.9,   0.1

2025-10-26T23:07:10.688Z,1761520030.688 [DAT](INFO): #Rx 111: Read direction message, but no range.
2025-10-26T23:07:10.689Z,1761520030.689 [DAT](INFO): direction in FSK: [-0.994336,0.106264,-0.001745]
2025-10-26T23:07:10.692Z,1761520030.692 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=57.252838
2025-10-26T23:07:10.937Z,1761520030.937 [DAT](INFO): DAT read: Rx Time:23:07:09.8391 

2025-10-26T23:07:10.938Z,1761520030.938 [DAT](INFO): Rx dataTimestamp_ set to:1761520030.937208
2025-10-26T23:07:10.942Z,1761520030.942 [DAT](INFO): DAT read: Bearing  47.9,   5.9 (Local)

2025-10-26T23:07:10.943Z,1761520030.943 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.9,   5.9 (Local)

2025-10-26T23:07:10.951Z,1761520030.951 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed 0.0

2025-10-26T23:07:10.953Z,1761520030.953 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-10-26T23:07:10.957Z,1761520030.957 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=57.516685
2025-10-26T23:07:11.003Z,1761520031.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107440,-0.993145,-0.046030],[0.994205,0.107496,0.001272],[0.003685,-0.045900,0.998939]]
2025-10-26T23:07:11.084Z,1761520031.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.503313 s,
      deltaX: 0.199999 m,
      approachRate: 0.397365 m/s,
      rangeRepo size: 4

2025-10-26T23:07:11.086Z,1761520031.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.306917 m,
      bearing: 257.742931 deg,
      lat: 36.779421 deg,
      lon: -121.859374 deg,
      deltaT: 1.007207 s,
      deltaX: -0.000729 m,
      approachRate: -0.000723 m/s,
      posRepo size: 4

2025-10-26T23:07:11.086Z,1761520031.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.31 m.
2025-10-26T23:07:11.236Z,1761520031.236 [DAT](INFO): DAT read: 23:07:09.8391 LVL= 32752, 28017, 32754, 32755, AGC= 70, IDX= 502, 0.30,-2.773,-1.128,-2.869,-2.128, PHS=-0.543, 1.045,-0.784, RAW= 337.0,   3.3, CAL= 336.3,   0.8, ROT= 173.7,  -0.8

2025-10-26T23:07:11.237Z,1761520031.237 [DAT](INFO): got valid direction response:
 23:07:09.8391 LVL= 32752, 28017, 32754, 32755, AGC= 70, IDX= 502, 0.30,-2.773,-1.128,-2.869,-2.128, PHS=-0.543, 1.045,-0.784, RAW= 337.0,   3.3, CAL= 336.3,   0.8, ROT= 173.7,  -0.8

2025-10-26T23:07:11.237Z,1761520031.237 [DAT](INFO): #Rx 113: Read direction message, but no range.
2025-10-26T23:07:11.238Z,1761520031.238 [DAT](INFO): direction in FSK: [-0.993864,0.109724,0.013962]
2025-10-26T23:07:11.246Z,1761520031.246 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=57.806355
2025-10-26T23:07:11.407Z,1761520031.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107106,-0.993201,-0.045616],[0.994240,0.107173,0.000982],[0.003913,-0.045458,0.998959]]
2025-10-26T23:07:11.441Z,1761520031.441 [DAT](INFO): DAT read: Rx Time:23:07:10.3390 

2025-10-26T23:07:11.442Z,1761520031.442 [DAT](INFO): Rx dataTimestamp_ set to:1761520031.441311
2025-10-26T23:07:11.457Z,1761520031.457 [DAT](INFO): DAT read: Bearing  47.3,   6.0 (Local)

2025-10-26T23:07:11.458Z,1761520031.458 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.3,   6.0 (Local)

2025-10-26T23:07:11.477Z,1761520031.477 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed 0.0

2025-10-26T23:07:11.494Z,1761520031.494 [DAT](INFO): DAT read: 23:07:10.3390 LVL= 32752, 25905, 32754, 32755, AGC= 70, IDX= 501, 0.40, 2.388,-2.247, 2.287, 3.042, PHS=-0.553, 1.039,-0.799, RAW= 337.1,   3.7, CAL= 336.4,   1.3, ROT= 173.6,  -1.3

2025-10-26T23:07:11.507Z,1761520031.507 [DAT](INFO): got valid direction response:
 23:07:10.3390 LVL= 32752, 25905, 32754, 32755, AGC= 70, IDX= 501, 0.40, 2.388,-2.247, 2.287, 3.042, PHS=-0.553, 1.039,-0.799, RAW= 337.1,   3.7, CAL= 336.4,   1.3, ROT= 173.6,  -1.3

2025-10-26T23:07:11.508Z,1761520031.508 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-10-26T23:07:11.509Z,1761520031.509 [DAT](INFO): direction in FSK: [-0.993512,0.111440,0.022687]
2025-10-26T23:07:11.509Z,1761520031.509 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:11.525Z,1761520031.525 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=58.085499
2025-10-26T23:07:11.562Z,1761520031.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.504103 s,
      deltaX: -0.199999 m,
      approachRate: -0.396742 m/s,
      rangeRepo size: 4

2025-10-26T23:07:11.565Z,1761520031.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.107782 m,
      bearing: 257.399658 deg,
      lat: 36.779420 deg,
      lon: -121.859374 deg,
      deltaT: 0.504103 s,
      deltaX: -0.199135 m,
      approachRate: -0.395028 m/s,
      posRepo size: 4

2025-10-26T23:07:11.566Z,1761520031.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.11 m.
2025-10-26T23:07:11.689Z,1761520031.689 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=58.249218
2025-10-26T23:07:11.842Z,1761520031.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107723,-0.993123,-0.045858],[0.994172,0.107801,0.000778],[0.004171,-0.045675,0.998948]]
2025-10-26T23:07:11.867Z,1761520031.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.11 m.
2025-10-26T23:07:11.946Z,1761520031.946 [DAT](INFO): DAT read: Rx Time:23:07:10.8390 

2025-10-26T23:07:11.948Z,1761520031.948 [DAT](INFO): Rx dataTimestamp_ set to:1761520031.946381
2025-10-26T23:07:11.952Z,1761520031.952 [DAT](INFO): DAT read: Bearing  49.0,   6.1 (Local)

2025-10-26T23:07:11.953Z,1761520031.953 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.0,   6.1 (Local)

2025-10-26T23:07:11.961Z,1761520031.961 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed 0.4

2025-10-26T23:07:11.964Z,1761520031.964 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-10-26T23:07:11.966Z,1761520031.966 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=58.526508
2025-10-26T23:07:12.209Z,1761520032.209 [DAT](INFO): DAT read: 23:07:10.8390 LVL= 32752, 19889, 32754, 32755, AGC= 70, IDX= 502,-0.39, 1.022, 2.663, 0.920, 1.640, PHS=-0.516, 1.068,-0.764, RAW= 337.2,   2.5, CAL= 336.4,  -0.3, ROT= 173.6,   0.3

2025-10-26T23:07:12.213Z,1761520032.213 [DAT](INFO): got valid direction response:
 23:07:10.8390 LVL= 32752, 19889, 32754, 32755, AGC= 70, IDX= 502,-0.39, 1.022, 2.663, 0.920, 1.640, PHS=-0.516, 1.068,-0.764, RAW= 337.2,   2.5, CAL= 336.4,  -0.3, ROT= 173.6,   0.3

2025-10-26T23:07:12.214Z,1761520032.214 [DAT](INFO): #Rx 116: Read direction message, but no range.
2025-10-26T23:07:12.218Z,1761520032.218 [DAT](INFO): direction in FSK: [-0.993754,0.111467,-0.005236]
2025-10-26T23:07:12.265Z,1761520032.265 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=58.825874
2025-10-26T23:07:12.368Z,1761520032.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.505070 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:07:12.370Z,1761520032.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.108082 m,
      bearing: 257.435775 deg,
      lat: 36.779419 deg,
      lon: -121.859372 deg,
      deltaT: 0.505070 s,
      deltaX: 0.000299 m,
      approachRate: 0.000593 m/s,
      posRepo size: 4

2025-10-26T23:07:12.371Z,1761520032.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.11 m.
2025-10-26T23:07:12.449Z,1761520032.449 [DAT](INFO): DAT read: Rx Time:23:07:11.3390 

2025-10-26T23:07:12.451Z,1761520032.451 [DAT](INFO): Rx dataTimestamp_ set to:1761520032.449773
2025-10-26T23:07:12.457Z,1761520032.457 [DAT](INFO): DAT read: Bearing  47.6,   6.2 (Local)

2025-10-26T23:07:12.458Z,1761520032.458 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.6,   6.2 (Local)

2025-10-26T23:07:12.467Z,1761520032.467 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed 0.0

2025-10-26T23:07:12.484Z,1761520032.484 [DAT](INFO): DAT read: 23:07:11.3390 LVL= 32752, 26097, 32754, 32755, AGC= 71, IDX= 501,-0.29,-0.440, 1.198,-0.547, 0.204, PHS=-0.542, 1.039,-0.795, RAW= 337.3,   3.5, CAL= 336.6,   1.1, ROT= 173.4,  -1.1

2025-10-26T23:07:12.486Z,1761520032.486 [DAT](INFO): got valid direction response:
 23:07:11.3390 LVL= 32752, 26097, 32754, 32755, AGC= 71, IDX= 501,-0.29,-0.440, 1.198,-0.547, 0.204, PHS=-0.542, 1.039,-0.795, RAW= 337.3,   3.5, CAL= 336.6,   1.1, ROT= 173.4,  -1.1

2025-10-26T23:07:12.486Z,1761520032.486 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-10-26T23:07:12.487Z,1761520032.487 [DAT](INFO): direction in FSK: [-0.993190,0.114916,0.019197]
2025-10-26T23:07:12.491Z,1761520032.491 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:12.495Z,1761520032.495 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=59.055668
2025-10-26T23:07:12.697Z,1761520032.697 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=59.257198
2025-10-26T23:07:12.718Z,1761520032.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.503392 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-26T23:07:12.726Z,1761520032.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.108082 m,
      bearing: 257.173090 deg,
      lat: 36.779419 deg,
      lon: -121.859372 deg,
      deltaT: 0.503392 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-26T23:07:12.727Z,1761520032.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.11 m.
2025-10-26T23:07:12.953Z,1761520032.953 [DAT](INFO): DAT read: Rx Time:23:07:11.8391 

2025-10-26T23:07:12.955Z,1761520032.955 [DAT](INFO): Rx dataTimestamp_ set to:1761520032.953547
2025-10-26T23:07:12.959Z,1761520032.959 [DAT](INFO): DAT read: Bearing  47.0,   6.2 (Local)

2025-10-26T23:07:12.969Z,1761520032.969 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.0,   6.2 (Local)

2025-10-26T23:07:12.971Z,1761520032.971 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed -0.2

2025-10-26T23:07:12.980Z,1761520032.980 [DAT](INFO): DAT read: 23:07:11.8391 LVL= 32752, 27313, 32754, 32755, AGC= 72, IDX= 502,-0.18, 0.370, 2.013, 0.262, 1.025, PHS=-0.553, 1.033,-0.807, RAW= 337.3,   3.8, CAL= 336.7,   1.6, ROT= 173.3,  -1.6

2025-10-26T23:07:12.981Z,1761520032.981 [DAT](INFO): got valid direction response:
 23:07:11.8391 LVL= 32752, 27313, 32754, 32755, AGC= 72, IDX= 502,-0.18, 0.370, 2.013, 0.262, 1.025, PHS=-0.553, 1.033,-0.807, RAW= 337.3,   3.8, CAL= 336.7,   1.6, ROT= 173.3,  -1.6

2025-10-26T23:07:12.981Z,1761520032.981 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-10-26T23:07:12.982Z,1761520032.982 [DAT](INFO): direction in FSK: [-0.992783,0.116625,0.027922]
2025-10-26T23:07:12.982Z,1761520032.982 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:13.009Z,1761520033.009 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=59.569824
2025-10-26T23:07:13.061Z,1761520033.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111754,-0.992601,-0.047485],[0.993720,0.111895,-0.000307],[0.005618,-0.047152,0.998872]]
2025-10-26T23:07:13.108Z,1761520033.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.503774 s,
      deltaX: 0.199999 m,
      approachRate: 0.397001 m/s,
      rangeRepo size: 4

2025-10-26T23:07:13.110Z,1761520033.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.307123 m,
      bearing: 256.816638 deg,
      lat: 36.779419 deg,
      lon: -121.859372 deg,
      deltaT: 0.503774 s,
      deltaX: 0.199041 m,
      approachRate: 0.395101 m/s,
      posRepo size: 4

2025-10-26T23:07:13.111Z,1761520033.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.31 m.
2025-10-26T23:07:13.204Z,1761520033.204 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=59.763927
2025-10-26T23:07:13.459Z,1761520033.459 [DAT](INFO): DAT read: Rx Time:23:07:12.3390 

2025-10-26T23:07:13.461Z,1761520033.461 [DAT](INFO): Rx dataTimestamp_ set to:1761520033.459425
2025-10-26T23:07:13.466Z,1761520033.466 [DAT](INFO): DAT read: Bearing  46.5,   5.9 (Local)

2025-10-26T23:07:13.467Z,1761520033.467 [DAT](INFO): Local bearing/azimuth received:
 Bearing  46.5,   5.9 (Local)

2025-10-26T23:07:13.469Z,1761520033.469 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed 0.0

2025-10-26T23:07:13.473Z,1761520033.473 [DAT](INFO): DAT read: 23:07:12.3390 LVL= 32752, 27345, 32754, 32755, AGC= 70, IDX= 501,-0.13,-0.010, 1.639,-0.109, 0.659, PHS=-0.567, 1.025,-0.812, RAW= 337.0,   4.1, CAL= 336.4,   2.1, ROT= 173.6,  -2.1

2025-10-26T23:07:13.474Z,1761520033.474 [DAT](INFO): got valid direction response:
 23:07:12.3390 LVL= 32752, 27345, 32754, 32755, AGC= 70, IDX= 501,-0.13,-0.010, 1.639,-0.109, 0.659, PHS=-0.567, 1.025,-0.812, RAW= 337.0,   4.1, CAL= 336.4,   2.1, ROT= 173.6,  -2.1

2025-10-26T23:07:13.475Z,1761520033.475 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-10-26T23:07:13.490Z,1761520033.490 [DAT](INFO): direction in FSK: [-0.993101,0.111394,0.036644]
2025-10-26T23:07:13.490Z,1761520033.490 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:13.510Z,1761520033.510 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=60.070988
2025-10-26T23:07:13.534Z,1761520033.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112234,-0.992552,-0.047373],[0.993663,0.112395,-0.000736],[0.006055,-0.046990,0.998877]]
2025-10-26T23:07:13.617Z,1761520033.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.505878 s,
      deltaX: -0.199999 m,
      approachRate: -0.395350 m/s,
      rangeRepo size: 4

2025-10-26T23:07:13.619Z,1761520033.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.107918 m,
      bearing: 257.065805 deg,
      lat: 36.779418 deg,
      lon: -121.859372 deg,
      deltaT: 0.505878 s,
      deltaX: -0.199205 m,
      approachRate: -0.393782 m/s,
      posRepo size: 4

2025-10-26T23:07:13.624Z,1761520033.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.11 m.
2025-10-26T23:07:13.705Z,1761520033.705 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=60.266060
2025-10-26T23:07:13.868Z,1761520033.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112869,-0.992495,-0.047057],[0.993589,0.113047,-0.001138],[0.006449,-0.046627,0.998892]]
2025-10-26T23:07:13.933Z,1761520033.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.11 m.
2025-10-26T23:07:13.961Z,1761520033.961 [DAT](INFO): DAT read: Rx Time:23:07:12.8391 

2025-10-26T23:07:13.964Z,1761520033.964 [DAT](INFO): Rx dataTimestamp_ set to:1761520033.962071
2025-10-26T23:07:13.967Z,1761520033.967 [DAT](INFO): DAT read: Bearing  48.3,   6.3 (Local)

2025-10-26T23:07:13.967Z,1761520033.967 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.3,   6.3 (Local)

2025-10-26T23:07:13.969Z,1761520033.969 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed -0.1

2025-10-26T23:07:13.978Z,1761520033.978 [DAT](INFO): DAT read: 23:07:12.8391 LVL= 32752, 21617, 32754, 32755, AGC= 69, IDX= 502,-0.07, 1.212, 2.865, 1.097, 1.842, PHS=-0.528, 1.068,-0.789, RAW= 337.5,   2.9, CAL= 336.7,   0.1, ROT= 173.3,  -0.1

2025-10-26T23:07:13.979Z,1761520033.979 [DAT](INFO): got valid direction response:
 23:07:12.8391 LVL= 32752, 21617, 32754, 32755, AGC= 69, IDX= 502,-0.07, 1.212, 2.865, 1.097, 1.842, PHS=-0.528, 1.068,-0.789, RAW= 337.5,   2.9, CAL= 336.7,   0.1, ROT= 173.3,  -0.1

2025-10-26T23:07:13.984Z,1761520033.984 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-10-26T23:07:13.985Z,1761520033.985 [DAT](INFO): direction in FSK: [-0.993169,0.116671,0.001745]
2025-10-26T23:07:13.985Z,1761520033.985 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:13.996Z,1761520033.996 [DAT](INFO): ****** received valid address query ******
2025-10-26T23:07:13.996Z,1761520033.996 [DAT](INFO): ****** received valid ping request ******
2025-10-26T23:07:13.997Z,1761520033.997 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:07:14.209Z,1761520034.209 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:14.302Z,1761520034.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113184,-0.992462,-0.046987],[0.993549,0.113393,-0.001796],[0.007111,-0.046480,0.998894]]
2025-10-26T23:07:14.358Z,1761520034.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.502646 s,
      deltaX: 0.199999 m,
      approachRate: 0.397892 m/s,
      rangeRepo size: 4

2025-10-26T23:07:14.360Z,1761520034.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.305952 m,
      bearing: 256.803137 deg,
      lat: 36.779418 deg,
      lon: -121.859372 deg,
      deltaT: 0.502646 s,
      deltaX: 0.198034 m,
      approachRate: 0.393984 m/s,
      posRepo size: 4

2025-10-26T23:07:14.361Z,1761520034.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.31 m.
2025-10-26T23:07:14.466Z,1761520034.466 [DAT](INFO): DAT read: Rx Time:23:07:13.3389 

2025-10-26T23:07:14.467Z,1761520034.467 [DAT](INFO): Rx dataTimestamp_ set to:1761520034.466312
2025-10-26T23:07:14.468Z,1761520034.468 [DAT](INFO): DAT read: Bearing  45.8,   6.6 (Local)

2025-10-26T23:07:14.469Z,1761520034.469 [DAT](INFO): Local bearing/azimuth received:
 Bearing  45.8,   6.6 (Local)

2025-10-26T23:07:14.471Z,1761520034.471 [DAT](INFO): DAT read: Range 11 to 50 :    19.1 m (trip time 12.7 ms) speed 0.1

2025-10-26T23:07:14.475Z,1761520034.475 [DAT](INFO): DAT read: 23:07:13.3389 LVL= 32752, 26353, 32754, 32755, AGC= 69, IDX= 501, 0.00, 0.096, 1.709,-0.025, 0.751, PHS=-0.553, 1.002,-0.820, RAW= 337.8,   4.4, CAL= 337.2,   2.5, ROT= 172.8,  -2.5

2025-10-26T23:07:14.477Z,1761520034.477 [DAT](INFO): got valid direction response:
 23:07:13.3389 LVL= 32752, 26353, 32754, 32755, AGC= 69, IDX= 501, 0.00, 0.096, 1.709,-0.025, 0.751, PHS=-0.553, 1.002,-0.820, RAW= 337.8,   4.4, CAL= 337.2,   2.5, ROT= 172.8,  -2.5

2025-10-26T23:07:14.477Z,1761520034.477 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:07:14.478Z,1761520034.478 [DAT](INFO): direction in FSK: [-0.991170,0.125214,0.043619]
2025-10-26T23:07:14.478Z,1761520034.478 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:14.494Z,1761520034.494 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:14.494Z,1761520034.494 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:07:14.675Z,1761520034.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113781,-0.992385,-0.047178],[0.993475,0.114023,-0.002447],[0.007807,-0.046592,0.998884]]
2025-10-26T23:07:14.713Z,1761520034.713 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:14.746Z,1761520034.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.100000 m,
      deltaT: 0.504241 s,
      deltaX: -0.299999 m,
      approachRate: -0.594952 m/s,
      rangeRepo size: 4

2025-10-26T23:07:14.752Z,1761520034.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.007406 m,
      bearing: 256.160511 deg,
      lat: 36.779417 deg,
      lon: -121.859372 deg,
      deltaT: 0.504241 s,
      deltaX: -0.298546 m,
      approachRate: -0.592070 m/s,
      posRepo size: 4

2025-10-26T23:07:14.752Z,1761520034.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:14.967Z,1761520034.967 [DAT](INFO): DAT read: Rx Time:23:07:13.8390 

2025-10-26T23:07:14.968Z,1761520034.968 [DAT](INFO): Rx dataTimestamp_ set to:1761520034.967212
2025-10-26T23:07:14.969Z,1761520034.969 [DAT](INFO): DAT read: Bearing  45.7,   6.1 (Local)

2025-10-26T23:07:14.969Z,1761520034.969 [DAT](INFO): Local bearing/azimuth received:
 Bearing  45.7,   6.1 (Local)

2025-10-26T23:07:14.971Z,1761520034.971 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed 0.1

2025-10-26T23:07:14.982Z,1761520034.982 [DAT](INFO): DAT read: 23:07:13.8390 LVL= 32752, 29825, 32754, 32755, AGC= 69, IDX= 502, 0.04, 1.921,-2.747, 1.817, 2.583, PHS=-0.560, 0.999,-0.810, RAW= 337.3,   4.4, CAL= 336.7,   2.5, ROT= 173.3,  -2.5

2025-10-26T23:07:14.983Z,1761520034.983 [DAT](INFO): got valid direction response:
 23:07:13.8390 LVL= 32752, 29825, 32754, 32755, AGC= 69, IDX= 502, 0.04, 1.921,-2.747, 1.817, 2.583, PHS=-0.560, 0.999,-0.810, RAW= 337.3,   4.4, CAL= 336.7,   2.5, ROT= 173.3,  -2.5

2025-10-26T23:07:14.984Z,1761520034.984 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:07:14.985Z,1761520034.985 [DAT](INFO): direction in FSK: [-0.992225,0.116560,0.043619]
2025-10-26T23:07:14.985Z,1761520034.985 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:14.988Z,1761520034.988 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:14.989Z,1761520034.989 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:07:15.115Z,1761520035.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.500900 s,
      deltaX: 0.100000 m,
      approachRate: 0.199641 m/s,
      rangeRepo size: 4

2025-10-26T23:07:15.117Z,1761520035.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.106922 m,
      bearing: 256.659747 deg,
      lat: 36.779417 deg,
      lon: -121.859372 deg,
      deltaT: 0.500900 s,
      deltaX: 0.099516 m,
      approachRate: 0.198674 m/s,
      posRepo size: 4

2025-10-26T23:07:15.117Z,1761520035.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.11 m.
2025-10-26T23:07:15.221Z,1761520035.221 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:15.473Z,1761520035.473 [DAT](INFO): DAT read: Rx Time:23:07:14.3389 

2025-10-26T23:07:15.473Z,1761520035.473 [DAT](INFO): Rx dataTimestamp_ set to:1761520035.473029
2025-10-26T23:07:15.475Z,1761520035.475 [DAT](INFO): DAT read: Bearing  45.3,   6.1 (Local)

2025-10-26T23:07:15.475Z,1761520035.475 [DAT](INFO): Local bearing/azimuth received:
 Bearing  45.3,   6.1 (Local)

2025-10-26T23:07:15.477Z,1761520035.477 [DAT](INFO): DAT read: Range 11 to 50 :    19.1 m (trip time 12.7 ms) speed 0.0

2025-10-26T23:07:15.482Z,1761520035.482 [DAT](INFO): DAT read: 23:07:14.3389 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 501, 0.10, 0.839, 2.449, 0.733, 1.503, PHS=-0.563, 0.990,-0.814, RAW= 337.4,   4.6, CAL= 336.8,   2.8, ROT= 173.2,  -2.8

2025-10-26T23:07:15.483Z,1761520035.483 [DAT](INFO): got valid direction response:
 23:07:14.3389 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 501, 0.10, 0.839, 2.449, 0.733, 1.503, PHS=-0.563, 0.990,-0.814, RAW= 337.4,   4.6, CAL= 336.8,   2.8, ROT= 173.2,  -2.8

2025-10-26T23:07:15.483Z,1761520035.483 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T23:07:15.485Z,1761520035.485 [DAT](INFO): direction in FSK: [-0.991780,0.118263,0.048850]
2025-10-26T23:07:15.485Z,1761520035.485 [DAT](INFO): publishing direction and range info
2025-10-26T23:07:15.488Z,1761520035.488 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:15.488Z,1761520035.488 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-26T23:07:15.526Z,1761520035.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115041,-0.992202,-0.047967],[0.993315,0.115363,-0.003994],[0.009496,-0.047187,0.998841]]
2025-10-26T23:07:15.645Z,1761520035.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.100000 m,
      deltaT: 0.505817 s,
      deltaX: -0.100000 m,
      approachRate: -0.197701 m/s,
      rangeRepo size: 4

2025-10-26T23:07:15.647Z,1761520035.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.006037 m,
      bearing: 256.472472 deg,
      lat: 36.779417 deg,
      lon: -121.859372 deg,
      deltaT: 0.505817 s,
      deltaX: -0.100885 m,
      approachRate: -0.199450 m/s,
      posRepo size: 4

2025-10-26T23:07:15.656Z,1761520035.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:15.726Z,1761520035.726 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:15.976Z,1761520035.976 [DAT](INFO): DAT read: user:795>

2025-10-26T23:07:15.977Z,1761520035.977 [DAT](INFO): DAT read: Command 'tr50' not found

2025-10-26T23:07:15.978Z,1761520035.978 [DAT](INFO): unknown deviceResponse_: Command 'tr50' not found

2025-10-26T23:07:15.978Z,1761520035.978 [DAT](INFO): DAT read: Error

2025-10-26T23:07:15.978Z,1761520035.978 [DAT](INFO): unknown deviceResponse_: Error

2025-10-26T23:07:15.979Z,1761520035.979 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:16.065Z,1761520036.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115526,-0.992130,-0.048298],[0.993248,0.115901,-0.005035],[0.010594,-0.047391,0.998820]]
2025-10-26T23:07:16.096Z,1761520036.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:16.228Z,1761520036.228 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:16.446Z,1761520036.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116144,-0.992045,-0.048558],[0.993164,0.116572,-0.006054],[0.011666,-0.047523,0.998802]]
2025-10-26T23:07:16.480Z,1761520036.480 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:16.490Z,1761520036.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:16.733Z,1761520036.733 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:16.851Z,1761520036.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116631,-0.991979,-0.048733],[0.993091,0.117119,-0.007281],[0.012931,-0.047547,0.998785]]
2025-10-26T23:07:16.870Z,1761520036.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:16.984Z,1761520036.984 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:17.236Z,1761520037.236 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:17.310Z,1761520037.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117863,-0.991805,-0.049311],[0.992931,0.118406,-0.008242],[0.014013,-0.047991,0.998749]]
2025-10-26T23:07:17.373Z,1761520037.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:17.489Z,1761520037.489 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:17.658Z,1761520037.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119027,-0.991640,-0.049827],[0.992775,0.119631,-0.009312],[0.015195,-0.048358,0.998714]]
2025-10-26T23:07:17.692Z,1761520037.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:17.741Z,1761520037.741 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:17.992Z,1761520037.992 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:18.076Z,1761520038.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120483,-0.991436,-0.050376],[0.992581,0.121147,-0.010330],[0.016344,-0.048758,0.998677]]
2025-10-26T23:07:18.106Z,1761520038.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:18.244Z,1761520038.244 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:18.478Z,1761520038.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121811,-0.991257,-0.050723],[0.992398,0.122537,-0.011460],[0.017575,-0.048941,0.998647]]
2025-10-26T23:07:18.496Z,1761520038.496 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:18.535Z,1761520038.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:18.748Z,1761520038.748 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:18.894Z,1761520038.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123602,-0.991022,-0.050963],[0.992156,0.124385,-0.012466],[0.018693,-0.049022,0.998623]]
2025-10-26T23:07:18.917Z,1761520038.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:19.000Z,1761520039.000 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:19.252Z,1761520039.252 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:19.364Z,1761520039.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125666,-0.990731,-0.051571],[0.991874,0.126511,-0.013454],[0.019854,-0.049461,0.998579]]
2025-10-26T23:07:19.433Z,1761520039.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:19.506Z,1761520039.506 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:19.690Z,1761520039.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128067,-0.990382,-0.052376],[0.991544,0.128975,-0.014333],[0.020950,-0.050098,0.998525]]
2025-10-26T23:07:19.714Z,1761520039.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:19.756Z,1761520039.756 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:19.878Z,1761520039.878 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:07:20.008Z,1761520040.008 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:20.097Z,1761520040.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130578,-0.989995,-0.053466],[0.991192,0.131558,-0.015211],[0.022092,-0.051009,0.998454]]
2025-10-26T23:07:20.115Z,1761520040.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:20.264Z,1761520040.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:20.498Z,1761520040.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133481,-0.989549,-0.054559],[0.990783,0.134525,-0.015908],[0.023081,-0.051932,0.998384]]
2025-10-26T23:07:20.512Z,1761520040.512 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:20.549Z,1761520040.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:20.764Z,1761520040.764 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:20.880Z,1761520040.880 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:07:20.912Z,1761520040.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136510,-0.989126,-0.054718],[0.990341,0.137615,-0.016930],[0.024276,-0.051879,0.998358]]
2025-10-26T23:07:20.955Z,1761520040.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:21.017Z,1761520041.017 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:21.268Z,1761520041.268 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:21.322Z,1761520041.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140111,-0.988691,-0.053476],[0.989810,0.141245,-0.018041],[0.025390,-0.050403,0.998406]]
2025-10-26T23:07:21.408Z,1761520041.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:21.520Z,1761520041.520 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:21.718Z,1761520041.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143969,-0.988185,-0.052563],[0.989227,0.145137,-0.019094],[0.026497,-0.049247,0.998435]]
2025-10-26T23:07:21.772Z,1761520041.772 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:21.780Z,1761520041.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:22.024Z,1761520042.024 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:22.114Z,1761520042.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147330,-0.987680,-0.052740],[0.988708,0.148540,-0.019785],[0.027375,-0.049229,0.998412]]
2025-10-26T23:07:22.142Z,1761520042.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:22.276Z,1761520042.276 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:22.518Z,1761520042.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150478,-0.987178,-0.053247],[0.988211,0.151735,-0.020394],[0.028212,-0.049551,0.998373]]
2025-10-26T23:07:22.528Z,1761520042.528 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:22.570Z,1761520042.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:22.780Z,1761520042.780 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:22.922Z,1761520042.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153634,-0.986648,-0.054050],[0.987697,0.154952,-0.021068],[0.029161,-0.050148,0.998316]]
2025-10-26T23:07:22.941Z,1761520042.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:23.032Z,1761520043.032 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:23.285Z,1761520043.285 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:23.341Z,1761520043.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156739,-0.986122,-0.054739],[0.987180,0.158116,-0.021771],[0.030124,-0.050625,0.998263]]
2025-10-26T23:07:23.418Z,1761520043.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:23.536Z,1761520043.536 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:23.776Z,1761520043.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159763,-0.985590,-0.055562],[0.986662,0.161209,-0.022574],[0.031206,-0.051215,0.998200]]
2025-10-26T23:07:23.788Z,1761520043.788 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:23.829Z,1761520043.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:24.040Z,1761520044.040 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:24.178Z,1761520044.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162451,-0.985124,-0.056045],[0.986185,0.163967,-0.023557],[0.032396,-0.051444,0.998150]]
2025-10-26T23:07:24.196Z,1761520044.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:24.292Z,1761520044.292 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:24.544Z,1761520044.544 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:24.585Z,1761520044.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165114,-0.984681,-0.056046],[0.985705,0.166683,-0.024548],[0.033514,-0.051192,0.998126]]
2025-10-26T23:07:24.642Z,1761520044.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:24.796Z,1761520044.796 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:24.988Z,1761520044.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167745,-0.984251,-0.055789],[0.985222,0.169361,-0.025601],[0.034646,-0.050670,0.998114]]
2025-10-26T23:07:25.011Z,1761520045.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:25.049Z,1761520045.049 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:25.300Z,1761520045.300 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:25.434Z,1761520045.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170178,-0.983849,-0.055495],[0.984761,0.171845,-0.026748],[0.035853,-0.050098,0.998101]]
2025-10-26T23:07:25.488Z,1761520045.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:25.552Z,1761520045.552 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:25.804Z,1761520045.804 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:25.845Z,1761520045.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172670,-0.983370,-0.056294],[0.984288,0.174409,-0.027548],[0.036908,-0.050653,0.998034]]
2025-10-26T23:07:25.885Z,1761520045.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:26.056Z,1761520046.056 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:26.244Z,1761520046.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174864,-0.982890,-0.057873],[0.983877,0.176676,-0.027788],[0.037537,-0.052081,0.997937]]
2025-10-26T23:07:26.270Z,1761520046.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:26.308Z,1761520046.308 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:26.560Z,1761520046.560 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:26.646Z,1761520046.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176552,-0.982540,-0.058685],[0.983539,0.178435,-0.028513],[0.038486,-0.052685,0.997869]]
2025-10-26T23:07:26.693Z,1761520046.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:26.813Z,1761520046.813 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:27.050Z,1761520047.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178432,-0.982186,-0.058927],[0.983147,0.180389,-0.029712],[0.039813,-0.052632,0.997820]]
2025-10-26T23:07:27.064Z,1761520047.064 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:27.085Z,1761520047.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:27.316Z,1761520047.316 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:27.479Z,1761520047.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181262,-0.981688,-0.058594],[0.982556,0.183296,-0.031399],[0.041564,-0.051881,0.997788]]
2025-10-26T23:07:27.521Z,1761520047.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:07:27.523Z,1761520047.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:27.569Z,1761520047.569 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:27.820Z,1761520047.820 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:27.913Z,1761520047.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:28.074Z,1761520048.074 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:28.284Z,1761520048.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182972,-0.981387,-0.058311],[0.982234,0.185000,-0.031487],[0.041688,-0.051514,0.997802]]
2025-10-26T23:07:28.302Z,1761520048.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:28.324Z,1761520048.324 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:28.576Z,1761520048.576 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:28.734Z,1761520048.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:28.829Z,1761520048.829 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:29.080Z,1761520049.080 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:29.081Z,1761520049.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183050,-0.981343,-0.058812],[0.982280,0.185018,-0.029912],[0.040235,-0.052295,0.997821]]
2025-10-26T23:07:29.099Z,1761520049.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:29.332Z,1761520049.332 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:29.559Z,1761520049.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:29.584Z,1761520049.584 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:29.836Z,1761520049.836 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:29.893Z,1761520049.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183430,-0.981319,-0.058020],[0.982287,0.185270,-0.028051],[0.038277,-0.051847,0.997921]]
2025-10-26T23:07:29.918Z,1761520049.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:30.088Z,1761520050.088 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:30.293Z,1761520050.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183929,-0.981280,-0.057087],[0.982242,0.185676,-0.026929],[0.037024,-0.051120,0.998006]]
2025-10-26T23:07:30.340Z,1761520050.340 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:30.341Z,1761520050.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:30.592Z,1761520050.592 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:30.738Z,1761520050.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184910,-0.981158,-0.056004],[0.982115,0.186546,-0.025509],[0.035476,-0.050286,0.998105]]
2025-10-26T23:07:30.774Z,1761520050.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:30.845Z,1761520050.845 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:31.096Z,1761520051.096 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:31.126Z,1761520051.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186221,-0.980964,-0.055061],[0.981929,0.187743,-0.023851],[0.033734,-0.049624,0.998198]]
2025-10-26T23:07:31.145Z,1761520051.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:31.352Z,1761520051.352 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:31.543Z,1761520051.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187724,-0.980711,-0.054459],[0.981709,0.189129,-0.021859],[0.031738,-0.049360,0.998277]]
2025-10-26T23:07:31.594Z,1761520051.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:31.600Z,1761520051.600 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:31.853Z,1761520051.853 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:31.936Z,1761520051.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189438,-0.980394,-0.054233],[0.981443,0.190733,-0.019738],[0.029695,-0.049488,0.998333]]
2025-10-26T23:07:31.960Z,1761520051.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:32.104Z,1761520052.104 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:32.338Z,1761520052.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191476,-0.980009,-0.054023],[0.981110,0.192656,-0.017498],[0.027556,-0.049653,0.998386]]
2025-10-26T23:07:32.358Z,1761520052.358 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:32.393Z,1761520052.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:32.608Z,1761520052.608 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:32.745Z,1761520052.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194219,-0.979484,-0.053767],[0.980633,0.195274,-0.015077],[0.025267,-0.049798,0.998440]]
2025-10-26T23:07:32.795Z,1761520052.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:32.861Z,1761520052.861 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:33.112Z,1761520053.112 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:33.150Z,1761520053.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197077,-0.978947,-0.053132],[0.980123,0.197994,-0.012534],[0.022790,-0.049605,0.998509]]
2025-10-26T23:07:33.169Z,1761520053.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:33.365Z,1761520053.365 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:33.573Z,1761520053.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200424,-0.978303,-0.052471],[0.979497,0.201208,-0.010058],[0.020397,-0.049379,0.998572]]
2025-10-26T23:07:33.616Z,1761520053.616 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:33.625Z,1761520053.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:33.869Z,1761520053.869 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:33.992Z,1761520053.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:34.120Z,1761520054.120 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:34.373Z,1761520054.373 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:34.379Z,1761520054.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207837,-0.976793,-0.051773],[0.978036,0.208374,-0.005146],[0.015815,-0.049566,0.998646]]
2025-10-26T23:07:34.408Z,1761520054.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:34.626Z,1761520054.626 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:34.780Z,1761520054.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211606,-0.975980,-0.051834],[0.977256,0.212041,-0.002986],[0.013905,-0.050023,0.998651]]
2025-10-26T23:07:34.825Z,1761520054.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:34.877Z,1761520054.877 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:35.128Z,1761520055.128 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:35.208Z,1761520055.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215449,-0.975138,-0.051835],[0.976439,0.215793,-0.001058],[0.012218,-0.050386,0.998655]]
2025-10-26T23:07:35.241Z,1761520055.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:35.380Z,1761520055.380 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:35.603Z,1761520055.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219011,-0.974352,-0.051687],[0.975661,0.219283,0.000404],[0.010940,-0.050518,0.998663]]
2025-10-26T23:07:35.640Z,1761520055.640 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:35.664Z,1761520055.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:35.892Z,1761520055.892 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:35.990Z,1761520055.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222383,-0.973589,-0.051681],[0.974907,0.222606,0.001475],[0.010068,-0.050712,0.998663]]
2025-10-26T23:07:36.017Z,1761520056.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:36.144Z,1761520056.144 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:36.396Z,1761520056.396 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:36.399Z,1761520056.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225237,-0.972952,-0.051303],[0.974261,0.225408,0.002500],[0.009132,-0.050545,0.998680]]
2025-10-26T23:07:36.439Z,1761520056.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:36.649Z,1761520056.649 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:36.798Z,1761520056.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227693,-0.972388,-0.051167],[0.973697,0.227822,0.003383],[0.008368,-0.050591,0.998684]]
2025-10-26T23:07:36.858Z,1761520056.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:36.900Z,1761520056.900 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:37.152Z,1761520057.152 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:37.240Z,1761520057.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229528,-0.971950,-0.051280],[0.973270,0.229630,0.003960],[0.007927,-0.050818,0.998676]]
2025-10-26T23:07:37.258Z,1761520057.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:37.404Z,1761520057.404 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:37.642Z,1761520057.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230921,-0.971609,-0.051484],[0.972943,0.231005,0.004403],[0.007615,-0.051108,0.998664]]
2025-10-26T23:07:37.656Z,1761520057.656 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:37.720Z,1761520057.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:37.908Z,1761520057.908 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:38.048Z,1761520058.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231587,-0.971437,-0.051751],[0.972784,0.231671,0.004452],[0.007665,-0.051373,0.998650]]
2025-10-26T23:07:38.067Z,1761520058.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:38.160Z,1761520058.160 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:38.412Z,1761520058.412 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:38.450Z,1761520058.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231796,-0.971391,-0.051680],[0.972732,0.231896,0.004136],[0.007966,-0.051229,0.998655]]
2025-10-26T23:07:38.487Z,1761520058.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:38.665Z,1761520058.665 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:38.864Z,1761520058.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231984,-0.971362,-0.051370],[0.972685,0.232101,0.003768],[0.008263,-0.050841,0.998673]]
2025-10-26T23:07:38.914Z,1761520058.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:38.916Z,1761520058.916 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:39.168Z,1761520059.168 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:39.258Z,1761520059.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231551,-0.971482,-0.051065],[0.972782,0.231703,0.003003],[0.008915,-0.050371,0.998691]]
2025-10-26T23:07:39.277Z,1761520059.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:39.420Z,1761520059.420 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:39.668Z,1761520059.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231115,-0.971599,-0.050797],[0.972879,0.231305,0.002191],[0.009621,-0.049926,0.998707]]
2025-10-26T23:07:39.672Z,1761520059.672 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:39.726Z,1761520059.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:39.924Z,1761520059.924 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:40.066Z,1761520060.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230461,-0.971745,-0.050974],[0.973024,0.230698,0.001257],[0.010538,-0.049888,0.998699]]
2025-10-26T23:07:40.093Z,1761520060.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:40.177Z,1761520060.177 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:40.428Z,1761520060.428 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:40.470Z,1761520060.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229934,-0.971848,-0.051397],[0.973139,0.230218,0.000410],[0.011434,-0.050110,0.998678]]
2025-10-26T23:07:40.507Z,1761520060.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:40.684Z,1761520060.684 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:40.878Z,1761520060.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229502,-0.971923,-0.051902],[0.973230,0.229833,-0.000412],[0.012329,-0.050418,0.998652]]
2025-10-26T23:07:40.932Z,1761520060.932 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:40.949Z,1761520060.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:41.185Z,1761520061.185 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:41.281Z,1761520061.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229197,-0.971986,-0.052078],[0.973292,0.229569,-0.001201],[0.013123,-0.050412,0.998642]]
2025-10-26T23:07:41.299Z,1761520061.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:41.436Z,1761520061.436 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:41.688Z,1761520061.688 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:41.698Z,1761520061.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228888,-0.972053,-0.052187],[0.973353,0.229303,-0.002038],[0.013948,-0.050330,0.998635]]
2025-10-26T23:07:41.766Z,1761520061.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:41.940Z,1761520061.940 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:42.086Z,1761520062.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228863,-0.972073,-0.051925],[0.973349,0.229311,-0.002776],[0.014605,-0.049906,0.998647]]
2025-10-26T23:07:42.104Z,1761520062.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:42.193Z,1761520062.193 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:42.444Z,1761520062.444 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:42.495Z,1761520062.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229106,-0.972026,-0.051729],[0.973284,0.229582,-0.003357],[0.015139,-0.049578,0.998655]]
2025-10-26T23:07:42.514Z,1761520062.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:42.698Z,1761520062.698 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:42.948Z,1761520062.948 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:42.968Z,1761520062.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:43.202Z,1761520063.202 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:43.298Z,1761520063.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230651,-0.971637,-0.052178],[0.972905,0.231169,-0.004050],[0.015997,-0.049830,0.998630]]
2025-10-26T23:07:43.324Z,1761520063.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:43.452Z,1761520063.452 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:43.707Z,1761520063.707 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:43.732Z,1761520063.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231675,-0.971378,-0.052456],[0.972657,0.232208,-0.004207],[0.016267,-0.050047,0.998614]]
2025-10-26T23:07:43.771Z,1761520063.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:43.956Z,1761520063.956 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:44.106Z,1761520064.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232731,-0.971121,-0.052541],[0.972402,0.233273,-0.004351],[0.016482,-0.050078,0.998609]]
2025-10-26T23:07:44.125Z,1761520064.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:44.208Z,1761520064.208 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:44.460Z,1761520064.460 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:44.513Z,1761520064.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234219,-0.970772,-0.052376],[0.972046,0.234752,-0.004179],[0.016353,-0.049933,0.998619]]
2025-10-26T23:07:44.531Z,1761520064.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:44.716Z,1761520064.716 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:44.914Z,1761520064.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235594,-0.970458,-0.052035],[0.971715,0.236119,-0.004107],[0.016272,-0.049595,0.998637]]
2025-10-26T23:07:44.962Z,1761520064.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:44.964Z,1761520064.964 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:45.216Z,1761520065.216 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:45.329Z,1761520065.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237060,-0.970110,-0.051858],[0.971358,0.237585,-0.004098],[0.016296,-0.049401,0.998646]]
2025-10-26T23:07:45.386Z,1761520065.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:45.468Z,1761520065.468 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:45.724Z,1761520065.724 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:45.760Z,1761520065.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239088,-0.969626,-0.051606],[0.970866,0.239594,-0.003762],[0.016012,-0.049203,0.998660]]
2025-10-26T23:07:45.806Z,1761520065.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:45.972Z,1761520065.972 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:46.162Z,1761520066.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241357,-0.969076,-0.051368],[0.970308,0.241847,-0.003463],[0.015779,-0.049007,0.998674]]
2025-10-26T23:07:46.200Z,1761520066.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:46.224Z,1761520066.224 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:46.476Z,1761520066.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:46.566Z,1761520066.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244034,-0.968419,-0.051114],[0.969642,0.244508,-0.003128],[0.015527,-0.048799,0.998688]]
2025-10-26T23:07:46.584Z,1761520066.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:46.731Z,1761520066.731 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:46.975Z,1761520066.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247053,-0.967683,-0.050541],[0.968882,0.247507,-0.002849],[0.015266,-0.048264,0.998718]]
2025-10-26T23:07:46.980Z,1761520066.980 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:47.041Z,1761520067.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:47.232Z,1761520067.232 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:47.375Z,1761520067.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250888,-0.966731,-0.049867],[0.967900,0.251323,-0.002559],[0.015006,-0.047624,0.998753]]
2025-10-26T23:07:47.401Z,1761520067.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:47.486Z,1761520067.486 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:47.738Z,1761520067.738 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:47.787Z,1761520067.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255070,-0.965663,-0.049334],[0.966814,0.255474,-0.001956],[0.014492,-0.047198,0.998780]]
2025-10-26T23:07:47.837Z,1761520067.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:47.988Z,1761520067.988 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:48.219Z,1761520068.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258393,-0.964800,-0.048918],[0.965934,0.258782,-0.001688],[0.014288,-0.046815,0.998801]]
2025-10-26T23:07:48.238Z,1761520068.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:48.240Z,1761520068.240 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:48.492Z,1761520068.492 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:48.618Z,1761520068.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262790,-0.963614,-0.048891],[0.964753,0.263153,-0.001043],[0.013871,-0.046894,0.998804]]
2025-10-26T23:07:48.647Z,1761520068.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:48.746Z,1761520068.746 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:48.996Z,1761520068.996 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:49.022Z,1761520069.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267665,-0.962273,-0.048852],[0.963419,0.267999,-0.000301],[0.013382,-0.046984,0.998806]]
2025-10-26T23:07:49.068Z,1761520069.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:49.248Z,1761520069.248 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:49.426Z,1761520069.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272289,-0.960990,-0.048546],[0.962127,0.272602,0.000172],[0.013068,-0.046754,0.998821]]
2025-10-26T23:07:49.445Z,1761520069.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:49.501Z,1761520069.501 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:49.755Z,1761520069.755 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:49.840Z,1761520069.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277238,-0.959581,-0.048404],[0.960717,0.277530,0.000696],[0.012766,-0.046695,0.998828]]
2025-10-26T23:07:49.906Z,1761520069.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:50.005Z,1761520070.005 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:50.234Z,1761520070.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281583,-0.958328,-0.048150],[0.959456,0.281857,0.001139],[0.012480,-0.046519,0.998839]]
2025-10-26T23:07:50.256Z,1761520070.256 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:50.267Z,1761520070.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:50.508Z,1761520070.508 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:50.638Z,1761520070.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286129,-0.956954,-0.048683],[0.958112,0.286390,0.001682],[0.012333,-0.047125,0.998813]]
2025-10-26T23:07:50.676Z,1761520070.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:50.761Z,1761520070.761 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:50.000Z,1761520071.000 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:07:51.012Z,1761520071.012 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:51.106Z,1761520071.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:51.264Z,1761520071.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:51.473Z,1761520071.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:51.517Z,1761520071.517 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:51.771Z,1761520071.771 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:51.858Z,1761520071.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296861,-0.953597,-0.050252],[0.954841,0.297104,0.002745],[0.012313,-0.048797,0.998733]]
2025-10-26T23:07:51.900Z,1761520071.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:52.012Z,1761520072.012 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:07:52.020Z,1761520072.020 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:52.254Z,1761520072.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299727,-0.952691,-0.050427],[0.953943,0.299977,0.002715],[0.012541,-0.048919,0.998724]]
2025-10-26T23:07:52.276Z,1761520072.276 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:52.298Z,1761520072.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:52.528Z,1761520072.528 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:52.658Z,1761520072.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301965,-0.951986,-0.050403],[0.953233,0.302225,0.002580],[0.012777,-0.048825,0.998726]]
2025-10-26T23:07:52.677Z,1761520072.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:52.783Z,1761520072.783 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:53.032Z,1761520073.032 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:53.070Z,1761520073.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303974,-0.951345,-0.050432],[0.952592,0.304241,0.002480],[0.012984,-0.048795,0.998724]]
2025-10-26T23:07:53.125Z,1761520073.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:53.284Z,1761520073.284 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:53.469Z,1761520073.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305658,-0.950769,-0.051093],[0.952048,0.305939,0.002425],[0.013326,-0.049384,0.998691]]
2025-10-26T23:07:53.488Z,1761520073.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:53.537Z,1761520073.537 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:53.788Z,1761520073.788 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:53.876Z,1761520073.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306883,-0.950341,-0.051720],[0.951649,0.307179,0.002307],[0.013694,-0.049927,0.998659]]
2025-10-26T23:07:53.925Z,1761520073.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:54.040Z,1761520074.040 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:54.274Z,1761520074.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308007,-0.949932,-0.052536],[0.951279,0.308323,0.002184],[0.014124,-0.050649,0.998617]]
2025-10-26T23:07:54.296Z,1761520074.296 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:54.305Z,1761520074.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:54.544Z,1761520074.544 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:54.681Z,1761520074.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309030,-0.949569,-0.053105],[0.950943,0.309360,0.002090],[0.014444,-0.051146,0.998587]]
2025-10-26T23:07:54.708Z,1761520074.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:54.797Z,1761520074.797 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:55.048Z,1761520075.048 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:55.082Z,1761520075.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309607,-0.949394,-0.052874],[0.950745,0.309973,0.001338],[0.015120,-0.050684,0.998600]]
2025-10-26T23:07:55.138Z,1761520075.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:55.300Z,1761520075.300 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:55.486Z,1761520075.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310736,-0.949052,-0.052382],[0.950366,0.311132,0.000624],[0.015706,-0.049975,0.998627]]
2025-10-26T23:07:55.521Z,1761520075.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:55.552Z,1761520075.552 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:55.804Z,1761520075.804 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:55.908Z,1761520075.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313914,-0.948058,-0.051415],[0.949316,0.314324,0.000115],[0.016051,-0.048845,0.998677]]
2025-10-26T23:07:55.958Z,1761520075.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:56.056Z,1761520076.056 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:56.308Z,1761520076.308 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:56.337Z,1761520076.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:56.561Z,1761520076.561 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:56.710Z,1761520076.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319194,-0.946326,-0.050811],[0.947569,0.319548,0.001202],[0.015099,-0.048530,0.998708]]
2025-10-26T23:07:56.743Z,1761520076.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:56.813Z,1761520076.813 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:57.064Z,1761520077.064 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:57.107Z,1761520077.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322328,-0.945259,-0.050903],[0.946518,0.322644,0.002108],[0.014431,-0.048860,0.998701]]
2025-10-26T23:07:57.152Z,1761520077.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:57.317Z,1761520077.317 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:57.512Z,1761520077.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325956,-0.944008,-0.051000],[0.945289,0.326216,0.003374],[0.013451,-0.049310,0.998693]]
2025-10-26T23:07:57.530Z,1761520077.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:57.568Z,1761520077.568 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:57.821Z,1761520077.821 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:57.933Z,1761520077.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329865,-0.942663,-0.050752],[0.943950,0.330054,0.004859],[0.012171,-0.049510,0.998699]]
2025-10-26T23:07:57.981Z,1761520077.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:58.073Z,1761520078.073 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:58.325Z,1761520078.325 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:58.330Z,1761520078.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333506,-0.941412,-0.050162],[0.942685,0.333628,0.006180],[0.010918,-0.049348,0.998722]]
2025-10-26T23:07:58.353Z,1761520078.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:58.576Z,1761520078.576 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:58.723Z,1761520078.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337430,-0.940049,-0.049485],[0.941303,0.337475,0.007699],[0.009462,-0.049178,0.998745]]
2025-10-26T23:07:58.756Z,1761520078.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:58.831Z,1761520078.831 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:59.080Z,1761520079.080 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:59.122Z,1761520079.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341407,-0.938640,-0.048952],[0.939881,0.341376,0.009246],[0.008032,-0.049165,0.998758]]
2025-10-26T23:07:59.172Z,1761520079.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:59.333Z,1761520079.333 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:59.529Z,1761520079.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345362,-0.937206,-0.048689],[0.938446,0.345256,0.010837],[0.006653,-0.049434,0.998755]]
2025-10-26T23:07:59.548Z,1761520079.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:07:59.586Z,1761520079.586 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:59.840Z,1761520079.840 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:07:59.958Z,1761520079.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349514,-0.935672,-0.048560],[0.936917,0.349328,0.012555],[0.005216,-0.049885,0.998741]]
2025-10-26T23:08:00.011Z,1761520080.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:00.093Z,1761520080.093 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:00.341Z,1761520080.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353222,-0.934295,-0.048244],[0.935531,0.352961,0.014110],[0.003845,-0.050118,0.998736]]
2025-10-26T23:08:00.344Z,1761520080.344 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:00.377Z,1761520080.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:00.596Z,1761520080.596 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:00.743Z,1761520080.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356556,-0.933057,-0.047678],[0.934270,0.356234,0.015379],[0.002635,-0.050028,0.998744]]
2025-10-26T23:08:00.762Z,1761520080.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:00.848Z,1761520080.848 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:01.104Z,1761520081.104 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:01.143Z,1761520081.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359430,-0.931992,-0.046925],[0.933171,0.359064,0.016294],[0.001664,-0.049646,0.998766]]
2025-10-26T23:08:01.189Z,1761520081.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:01.352Z,1761520081.352 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:01.546Z,1761520081.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362340,-0.930905,-0.046098],[0.932046,0.361932,0.017198],[0.000674,-0.049197,0.998789]]
2025-10-26T23:08:01.565Z,1761520081.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:01.604Z,1761520081.604 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:01.856Z,1761520081.856 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:01.985Z,1761520081.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364839,-0.929945,-0.045772],[0.931070,0.364404,0.017824],[0.000104,-0.049120,0.998793]]
2025-10-26T23:08:02.035Z,1761520082.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:02.108Z,1761520082.108 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:02.354Z,1761520082.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366763,-0.929142,-0.046703],[0.930315,0.366289,0.018625],[-0.000198,-0.050279,0.998735]]
2025-10-26T23:08:02.360Z,1761520082.360 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:02.393Z,1761520082.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:02.612Z,1761520082.612 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:02.758Z,1761520082.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368136,-0.928532,-0.047995],[0.929772,0.367630,0.019294],[-0.000271,-0.051728,0.998661]]
2025-10-26T23:08:02.777Z,1761520082.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:02.864Z,1761520082.864 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:03.116Z,1761520083.116 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:03.170Z,1761520083.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369414,-0.927983,-0.048798],[0.929265,0.368882,0.019832],[-0.000404,-0.052672,0.998612]]
2025-10-26T23:08:03.226Z,1761520083.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:03.368Z,1761520083.368 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:03.566Z,1761520083.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370642,-0.927515,-0.048375],[0.928776,0.370121,0.019637],[-0.000309,-0.052208,0.998636]]
2025-10-26T23:08:03.592Z,1761520083.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:03.625Z,1761520083.625 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:03.876Z,1761520083.876 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:04.013Z,1761520084.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371395,-0.927237,-0.047924],[0.928475,0.370898,0.019215],[-0.000042,-0.051633,0.998666]]
2025-10-26T23:08:04.062Z,1761520084.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:04.130Z,1761520084.130 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:04.375Z,1761520084.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372036,-0.926991,-0.047725],[0.928218,0.371565,0.018732],[0.000369,-0.051268,0.998685]]
2025-10-26T23:08:04.380Z,1761520084.380 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:04.395Z,1761520084.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:04.632Z,1761520084.632 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:04.779Z,1761520084.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372073,-0.926991,-0.047424],[0.928203,0.371639,0.017977],[0.000960,-0.050708,0.998713]]
2025-10-26T23:08:04.805Z,1761520084.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:04.884Z,1761520084.884 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:05.136Z,1761520085.136 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:05.185Z,1761520085.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372266,-0.926916,-0.047388],[0.928125,0.371863,0.017373],[0.001518,-0.050449,0.998725]]
2025-10-26T23:08:05.260Z,1761520085.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:05.388Z,1761520085.388 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:05.586Z,1761520085.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372836,-0.926669,-0.047730],[0.927895,0.372452,0.017036],[0.001990,-0.050640,0.998715]]
2025-10-26T23:08:05.616Z,1761520085.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:05.640Z,1761520085.640 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:05.892Z,1761520085.892 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:06.032Z,1761520086.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373069,-0.926560,-0.048028],[0.927800,0.372709,0.016570],[0.002548,-0.050742,0.998709]]
2025-10-26T23:08:06.089Z,1761520086.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:06.145Z,1761520086.145 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:06.394Z,1761520086.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373436,-0.926401,-0.048237],[0.927651,0.373091,0.016313],[0.002884,-0.050839,0.998703]]
2025-10-26T23:08:06.396Z,1761520086.396 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:06.414Z,1761520086.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:06.648Z,1761520086.648 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:06.806Z,1761520086.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373958,-0.926186,-0.048319],[0.927441,0.373623,0.016123],[0.003120,-0.050842,0.998702]]
2025-10-26T23:08:06.833Z,1761520086.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:06.900Z,1761520086.900 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:07.152Z,1761520087.152 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:07.202Z,1761520087.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374614,-0.925929,-0.048171],[0.927175,0.374291,0.015894],[0.003313,-0.050617,0.998713]]
2025-10-26T23:08:07.246Z,1761520087.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:07.404Z,1761520087.404 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:07.606Z,1761520087.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375585,-0.925557,-0.047760],[0.926782,0.375265,0.015833],[0.003269,-0.050210,0.998733]]
2025-10-26T23:08:07.625Z,1761520087.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:07.656Z,1761520087.656 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:07.911Z,1761520087.911 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:08.032Z,1761520088.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376623,-0.925161,-0.047251],[0.926361,0.376312,0.015658],[0.003295,-0.049668,0.998760]]
2025-10-26T23:08:08.092Z,1761520088.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:08.161Z,1761520088.161 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:08.412Z,1761520088.412 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:08.418Z,1761520088.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377899,-0.924663,-0.046810],[0.925841,0.377591,0.015602],[0.003248,-0.049235,0.998782]]
2025-10-26T23:08:08.459Z,1761520088.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:08.667Z,1761520088.667 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:08.826Z,1761520088.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379970,-0.923809,-0.046894],[0.924994,0.379648,0.015931],[0.003086,-0.049430,0.998773]]
2025-10-26T23:08:08.850Z,1761520088.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:08.921Z,1761520088.921 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:09.172Z,1761520089.172 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:09.222Z,1761520089.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381978,-0.922987,-0.046787],[0.924167,0.381639,0.016317],[0.002795,-0.049472,0.998772]]
2025-10-26T23:08:09.269Z,1761520089.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:09.424Z,1761520089.424 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:09.626Z,1761520089.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384111,-0.922097,-0.046849],[0.923283,0.383754,0.016757],[0.002527,-0.049691,0.998761]]
2025-10-26T23:08:09.645Z,1761520089.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:09.676Z,1761520089.676 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:09.928Z,1761520089.928 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:10.041Z,1761520090.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386041,-0.921294,-0.046786],[0.922479,0.385672,0.017031],[0.002354,-0.049734,0.998760]]
2025-10-26T23:08:10.118Z,1761520090.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:10.193Z,1761520090.193 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:10.434Z,1761520090.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388000,-0.920470,-0.046811],[0.921657,0.387623,0.017251],[0.002266,-0.049837,0.998755]]
2025-10-26T23:08:10.445Z,1761520090.445 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:10.494Z,1761520090.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:10.696Z,1761520090.696 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:10.838Z,1761520090.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389726,-0.919756,-0.046500],[0.920928,0.389347,0.017316],[0.002178,-0.049571,0.998768]]
2025-10-26T23:08:10.857Z,1761520090.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:10.948Z,1761520090.948 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:11.200Z,1761520091.200 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:11.250Z,1761520091.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391437,-0.919039,-0.046301],[0.920202,0.391057,0.017384],[0.002130,-0.049411,0.998776]]
2025-10-26T23:08:11.318Z,1761520091.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:11.452Z,1761520091.452 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:11.648Z,1761520091.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392991,-0.918379,-0.046236],[0.919540,0.392611,0.017416],[0.002158,-0.049360,0.998779]]
2025-10-26T23:08:11.668Z,1761520091.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:11.705Z,1761520091.705 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:11.956Z,1761520091.956 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:12.050Z,1761520092.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394349,-0.917792,-0.046336],[0.918958,0.393971,0.017401],[0.002284,-0.049443,0.998774]]
2025-10-26T23:08:12.137Z,1761520092.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:12.208Z,1761520092.208 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:12.458Z,1761520092.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395519,-0.917286,-0.046384],[0.918455,0.395144,0.017383],[0.002384,-0.049477,0.998772]]
2025-10-26T23:08:12.460Z,1761520092.460 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:12.509Z,1761520092.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:12.715Z,1761520092.715 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:12.858Z,1761520092.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396456,-0.916869,-0.046622],[0.918050,0.396089,0.017252],[0.002649,-0.049640,0.998764]]
2025-10-26T23:08:12.877Z,1761520092.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:12.964Z,1761520092.964 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:13.216Z,1761520093.216 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:13.270Z,1761520093.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397160,-0.916558,-0.046743],[0.917745,0.396805,0.017036],[0.002933,-0.049664,0.998762]]
2025-10-26T23:08:13.341Z,1761520093.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:13.468Z,1761520093.468 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:13.666Z,1761520093.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397474,-0.916407,-0.047041],[0.917607,0.397138,0.016684],[0.003393,-0.049797,0.998754]]
2025-10-26T23:08:13.692Z,1761520093.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:13.721Z,1761520093.721 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:13.972Z,1761520093.972 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:14.070Z,1761520094.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397535,-0.916381,-0.047028],[0.917579,0.397221,0.016250],[0.003789,-0.049612,0.998761]]
2025-10-26T23:08:14.139Z,1761520094.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:14.224Z,1761520094.224 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:14.476Z,1761520094.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:14.480Z,1761520094.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397616,-0.916349,-0.046973],[0.917543,0.397317,0.015954],[0.004044,-0.049443,0.998769]]
2025-10-26T23:08:14.538Z,1761520094.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:14.729Z,1761520094.729 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:14.878Z,1761520094.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397916,-0.916200,-0.047343],[0.917412,0.397624,0.015850],[0.004303,-0.049740,0.998753]]
2025-10-26T23:08:14.903Z,1761520094.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:14.980Z,1761520094.980 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:15.233Z,1761520095.233 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:15.285Z,1761520095.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398178,-0.916068,-0.047688],[0.917297,0.397892,0.015760],[0.004537,-0.050019,0.998738]]
2025-10-26T23:08:15.340Z,1761520095.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:15.484Z,1761520095.484 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:15.686Z,1761520095.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397903,-0.916176,-0.047909],[0.917414,0.397633,0.015467],[0.004880,-0.050107,0.998732]]
2025-10-26T23:08:15.708Z,1761520095.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:15.737Z,1761520095.737 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:15.988Z,1761520095.988 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:16.091Z,1761520096.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398090,-0.916084,-0.048103],[0.917333,0.397821,0.015459],[0.004975,-0.050280,0.998723]]
2025-10-26T23:08:16.113Z,1761520096.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:16.240Z,1761520096.240 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:16.492Z,1761520096.492 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:16.504Z,1761520096.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398334,-0.915980,-0.048063],[0.917227,0.398063,0.015500],[0.004935,-0.050259,0.998724]]
2025-10-26T23:08:16.546Z,1761520096.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:16.744Z,1761520096.744 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:16.898Z,1761520096.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398643,-0.915859,-0.047814],[0.917094,0.398367,0.015590],[0.004769,-0.050065,0.998735]]
2025-10-26T23:08:16.933Z,1761520096.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:16.997Z,1761520096.997 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:17.248Z,1761520097.248 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:17.312Z,1761520097.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399142,-0.915661,-0.047444],[0.916878,0.398856,0.015761],[0.004492,-0.049792,0.998750]]
2025-10-26T23:08:17.354Z,1761520097.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:17.500Z,1761520097.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:17.710Z,1761520097.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399859,-0.915363,-0.047156],[0.916568,0.399556,0.016088],[0.004115,-0.049655,0.998758]]
2025-10-26T23:08:17.737Z,1761520097.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:17.752Z,1761520097.752 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:18.004Z,1761520098.004 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:18.112Z,1761520098.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401051,-0.914848,-0.047016],[0.916048,0.400724,0.016611],[0.003644,-0.049731,0.998756]]
2025-10-26T23:08:18.133Z,1761520098.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:18.256Z,1761520098.256 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:18.508Z,1761520098.508 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:18.516Z,1761520098.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402199,-0.914352,-0.046864],[0.915547,0.401850,0.017066],[0.003228,-0.049770,0.998756]]
2025-10-26T23:08:18.566Z,1761520098.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:18.760Z,1761520098.760 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:18.918Z,1761520098.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403332,-0.913861,-0.046695],[0.915049,0.402961,0.017526],[0.002800,-0.049797,0.998755]]
2025-10-26T23:08:18.945Z,1761520098.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:19.013Z,1761520099.013 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:19.264Z,1761520099.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:19.329Z,1761520099.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404423,-0.913385,-0.046585],[0.914569,0.404030,0.017988],[0.002392,-0.049880,0.998752]]
2025-10-26T23:08:19.386Z,1761520099.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:19.517Z,1761520099.517 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:19.736Z,1761520099.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405455,-0.912938,-0.046365],[0.914113,0.405045,0.018356],[0.002022,-0.049825,0.998756]]
2025-10-26T23:08:19.754Z,1761520099.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:19.768Z,1761520099.768 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:20.020Z,1761520100.020 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:20.131Z,1761520100.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406461,-0.912487,-0.046441],[0.913666,0.406043,0.018532],[0.001947,-0.049964,0.998749]]
2025-10-26T23:08:20.169Z,1761520100.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:20.273Z,1761520100.273 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:20.524Z,1761520100.524 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:20.547Z,1761520100.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407455,-0.912048,-0.046363],[0.913224,0.407025,0.018784],[0.001739,-0.049994,0.998748]]
2025-10-26T23:08:20.562Z,1761520100.562 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00,        +0.00,     ,  20.00,406.00
2025-10-26T23:08:20.578Z,1761520100.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:20.777Z,1761520100.777 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:20.938Z,1761520100.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408220,-0.911710,-0.046283],[0.912882,0.407788,0.018854],[0.001684,-0.049947,0.998750]]
2025-10-26T23:08:20.966Z,1761520100.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:21.029Z,1761520101.029 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:21.283Z,1761520101.283 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:21.342Z,1761520101.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408284,-0.911681,-0.046274],[0.912853,0.407867,0.018541],[0.001970,-0.049811,0.998757]]
2025-10-26T23:08:21.396Z,1761520101.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:21.532Z,1761520101.532 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:21.748Z,1761520101.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408237,-0.911685,-0.046624],[0.912873,0.407840,0.018159],[0.002459,-0.049975,0.998747]]
2025-10-26T23:08:21.768Z,1761520101.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:21.790Z,1761520101.790 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:22.036Z,1761520102.036 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:22.132Z,1761520102.132 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:08:22.157Z,1761520102.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407936,-0.911811,-0.046791],[0.913006,0.407559,0.017775],[0.002863,-0.049971,0.998747]]
2025-10-26T23:08:22.179Z,1761520102.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:22.289Z,1761520102.289 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:22.540Z,1761520102.540 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:22.556Z,1761520102.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407186,-0.912125,-0.047201],[0.913338,0.406841,0.017141],[0.003568,-0.050090,0.998738]]
2025-10-26T23:08:22.608Z,1761520102.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:22.793Z,1761520102.793 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:22.958Z,1761520102.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405904,-0.912677,-0.047573],[0.913905,0.405604,0.016245],[0.004469,-0.050071,0.998736]]
2025-10-26T23:08:22.977Z,1761520102.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:23.044Z,1761520103.044 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:23.136Z,1761520103.136 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:08:23.316Z,1761520103.316 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:23.364Z,1761520103.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404162,-0.913439,-0.047769],[0.914671,0.403916,0.015143],[0.005463,-0.049814,0.998744]]
2025-10-26T23:08:23.402Z,1761520103.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:23.548Z,1761520103.548 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:23.768Z,1761520103.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402105,-0.914341,-0.047872],[0.915570,0.401921,0.013835],[0.006591,-0.049393,0.998758]]
2025-10-26T23:08:23.800Z,1761520103.800 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:23.814Z,1761520103.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:24.052Z,1761520104.052 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:24.170Z,1761520104.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399895,-0.915293,-0.048187],[0.916527,0.399777,0.012493],[0.007829,-0.049161,0.998760]]
2025-10-26T23:08:24.189Z,1761520104.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:24.306Z,1761520104.306 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:24.556Z,1761520104.556 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:24.574Z,1761520104.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397338,-0.916395,-0.048397],[0.917628,0.397285,0.011123],[0.009034,-0.048830,0.998766]]
2025-10-26T23:08:24.620Z,1761520104.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:24.808Z,1761520104.808 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:24.978Z,1761520104.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394665,-0.917529,-0.048789],[0.918769,0.394673,0.009869],[0.010201,-0.048720,0.998760]]
2025-10-26T23:08:25.018Z,1761520105.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:25.060Z,1761520105.060 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:25.314Z,1761520105.314 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:25.382Z,1761520105.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392107,-0.918593,-0.049382],[0.919850,0.392173,0.008753],[0.011326,-0.048856,0.998742]]
2025-10-26T23:08:25.435Z,1761520105.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:25.564Z,1761520105.564 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:25.796Z,1761520105.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389091,-0.919836,-0.050089],[0.921116,0.389213,0.007708],[0.012405,-0.049137,0.998715]]
2025-10-26T23:08:25.814Z,1761520105.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:25.816Z,1761520105.816 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:26.068Z,1761520106.068 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:26.190Z,1761520106.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386087,-0.921072,-0.050622],[0.922365,0.386264,0.006635],[0.013443,-0.049254,0.998696]]
2025-10-26T23:08:26.216Z,1761520106.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:26.322Z,1761520106.322 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:26.572Z,1761520106.572 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:26.650Z,1761520106.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:26.825Z,1761520106.825 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:27.045Z,1761520107.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:27.076Z,1761520107.076 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:27.330Z,1761520107.330 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:27.403Z,1761520107.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377336,-0.924686,-0.050723],[0.925946,0.377636,0.003889],[0.015559,-0.048434,0.998705]]
2025-10-26T23:08:27.442Z,1761520107.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:27.580Z,1761520107.580 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:27.807Z,1761520107.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374808,-0.925700,-0.050982],[0.926964,0.375136,0.003336],[0.016037,-0.048509,0.998694]]
2025-10-26T23:08:27.831Z,1761520107.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:08:27.832Z,1761520107.832 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:27.834Z,1761520107.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:28.084Z,1761520108.084 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:28.210Z,1761520108.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372409,-0.926668,-0.050961],[0.927927,0.372751,0.002990],[0.016225,-0.048402,0.998696]]
2025-10-26T23:08:28.248Z,1761520108.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:28.338Z,1761520108.338 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:28.588Z,1761520108.588 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:28.614Z,1761520108.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370389,-0.927464,-0.051204],[0.928733,0.370739,0.002825],[0.016363,-0.048601,0.998684]]
2025-10-26T23:08:28.662Z,1761520108.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:28.840Z,1761520108.840 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:29.019Z,1761520109.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368409,-0.928253,-0.051201],[0.929521,0.368759,0.002789],[0.016292,-0.048620,0.998684]]
2025-10-26T23:08:29.057Z,1761520109.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:29.093Z,1761520109.093 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:29.357Z,1761520109.357 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:29.423Z,1761520109.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366397,-0.929065,-0.050915],[0.930320,0.366738,0.002812],[0.016060,-0.048398,0.998699]]
2025-10-26T23:08:29.463Z,1761520109.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:29.596Z,1761520109.596 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:29.826Z,1761520109.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364639,-0.929776,-0.050548],[0.931017,0.364963,0.003007],[0.015652,-0.048158,0.998717]]
2025-10-26T23:08:29.846Z,1761520109.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:29.848Z,1761520109.848 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:30.100Z,1761520110.100 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:30.257Z,1761520110.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362900,-0.930466,-0.050360],[0.931704,0.363205,0.003277],[0.015241,-0.048110,0.998726]]
2025-10-26T23:08:30.307Z,1761520110.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:30.354Z,1761520110.354 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:30.604Z,1761520110.604 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:30.634Z,1761520110.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361331,-0.931084,-0.050216],[0.932321,0.361612,0.003691],[0.014722,-0.048151,0.998732]]
2025-10-26T23:08:30.685Z,1761520110.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:30.856Z,1761520110.856 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:31.040Z,1761520111.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360178,-0.931534,-0.050162],[0.932778,0.360424,0.004384],[0.013996,-0.048369,0.998731]]
2025-10-26T23:08:31.065Z,1761520111.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:31.108Z,1761520111.108 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:31.360Z,1761520111.360 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:31.449Z,1761520111.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358662,-0.932123,-0.050074],[0.933371,0.358880,0.004890],[0.013413,-0.048491,0.998734]]
2025-10-26T23:08:31.486Z,1761520111.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:31.612Z,1761520111.612 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:31.846Z,1761520111.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356817,-0.932844,-0.049849],[0.934085,0.357013,0.005213],[0.012934,-0.048423,0.998743]]
2025-10-26T23:08:31.864Z,1761520111.864 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:31.890Z,1761520111.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:32.116Z,1761520112.116 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:32.250Z,1761520112.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354768,-0.933652,-0.049329],[0.934871,0.354946,0.005402],[0.012465,-0.048033,0.998768]]
2025-10-26T23:08:32.299Z,1761520112.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:32.371Z,1761520112.371 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:32.620Z,1761520112.620 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:32.656Z,1761520112.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352712,-0.934455,-0.048861],[0.935655,0.352872,0.005599],[0.012010,-0.047692,0.998790]]
2025-10-26T23:08:32.711Z,1761520112.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:32.872Z,1761520112.872 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:33.058Z,1761520113.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350585,-0.935279,-0.048409],[0.936460,0.350727,0.005799],[0.011554,-0.047366,0.998811]]
2025-10-26T23:08:33.083Z,1761520113.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:33.124Z,1761520113.124 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:33.376Z,1761520113.376 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:33.474Z,1761520113.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348197,-0.936184,-0.048140],[0.937354,0.348327,0.005939],[0.011208,-0.047192,0.998823]]
2025-10-26T23:08:33.517Z,1761520113.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:33.628Z,1761520113.628 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:33.866Z,1761520113.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345920,-0.937011,-0.048471],[0.938200,0.346039,0.006185],[0.010977,-0.047615,0.998805]]
2025-10-26T23:08:33.880Z,1761520113.880 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:33.890Z,1761520113.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:34.132Z,1761520114.132 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:34.282Z,1761520114.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343292,-0.937964,-0.048723],[0.939165,0.343409,0.006214],[0.010903,-0.047893,0.998793]]
2025-10-26T23:08:34.300Z,1761520114.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:34.386Z,1761520114.386 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:34.636Z,1761520114.636 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:34.679Z,1761520114.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340467,-0.938982,-0.048941],[0.940194,0.340583,0.006205],[0.010842,-0.048127,0.998782]]
2025-10-26T23:08:34.799Z,1761520114.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:34.888Z,1761520114.888 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:35.078Z,1761520115.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337300,-0.940117,-0.049070],[0.941335,0.337418,0.006109],[0.010814,-0.048252,0.998777]]
2025-10-26T23:08:35.107Z,1761520115.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:35.153Z,1761520115.153 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:35.404Z,1761520115.404 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:35.501Z,1761520115.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334071,-0.941271,-0.049041],[0.942487,0.334188,0.006031],[0.010712,-0.048236,0.998779]]
2025-10-26T23:08:35.553Z,1761520115.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:35.656Z,1761520115.656 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:35.886Z,1761520115.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330423,-0.942563,-0.048940],[0.943771,0.330549,0.005727],[0.010779,-0.048080,0.998785]]
2025-10-26T23:08:35.908Z,1761520115.908 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:35.911Z,1761520115.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:36.160Z,1761520116.160 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:36.293Z,1761520116.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327229,-0.943676,-0.048956],[0.944886,0.327347,0.005808],[0.010544,-0.048159,0.998784]]
2025-10-26T23:08:36.313Z,1761520116.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:36.415Z,1761520116.415 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:36.664Z,1761520116.664 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:36.694Z,1761520116.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323701,-0.944882,-0.049139],[0.946101,0.323823,0.005686],[0.010540,-0.048331,0.998776]]
2025-10-26T23:08:36.789Z,1761520116.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:36.916Z,1761520116.916 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:37.135Z,1761520117.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:37.169Z,1761520117.169 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:37.420Z,1761520117.420 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:37.527Z,1761520117.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316834,-0.947193,-0.049407],[0.948425,0.316952,0.005638],[0.010319,-0.048645,0.998763]]
2025-10-26T23:08:37.580Z,1761520117.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:37.672Z,1761520117.672 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:37.908Z,1761520117.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313605,-0.948267,-0.049401],[0.949500,0.313713,0.005765],[0.010031,-0.048715,0.998762]]
2025-10-26T23:08:37.924Z,1761520117.924 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:37.931Z,1761520117.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:38.176Z,1761520118.176 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:38.310Z,1761520118.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310344,-0.949358,-0.049055],[0.950576,0.310436,0.005915],[0.009613,-0.048466,0.998779]]
2025-10-26T23:08:38.340Z,1761520118.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:38.428Z,1761520118.428 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:38.680Z,1761520118.680 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:38.721Z,1761520118.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307055,-0.950451,-0.048585],[0.951648,0.307132,0.006058],[0.009164,-0.048096,0.998801]]
2025-10-26T23:08:38.798Z,1761520118.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:38.932Z,1761520118.932 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:39.118Z,1761520119.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303964,-0.951466,-0.048149],[0.952644,0.304023,0.006281],[0.008663,-0.047778,0.998820]]
2025-10-26T23:08:39.142Z,1761520119.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:39.184Z,1761520119.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:39.436Z,1761520119.436 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:39.566Z,1761520119.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299148,-0.953007,-0.047836],[0.954179,0.299147,0.007357],[0.007299,-0.047845,0.998828]]
2025-10-26T23:08:39.602Z,1761520119.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:39.688Z,1761520119.688 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:39.942Z,1761520119.942 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:39.964Z,1761520119.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:40.192Z,1761520120.192 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:40.330Z,1761520120.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296892,-0.953704,-0.047998],[0.954888,0.296859,0.007989],[0.006629,-0.048205,0.998815]]
2025-10-26T23:08:40.363Z,1761520120.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:40.448Z,1761520120.448 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:40.696Z,1761520120.696 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:40.746Z,1761520120.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294521,-0.954438,-0.048015],[0.955627,0.294455,0.008612],[0.005919,-0.048421,0.998809]]
2025-10-26T23:08:40.800Z,1761520120.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:40.948Z,1761520120.948 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:41.142Z,1761520121.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292343,-0.955113,-0.047894],[0.956300,0.292236,0.009381],[0.005037,-0.048544,0.998808]]
2025-10-26T23:08:41.162Z,1761520121.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:41.201Z,1761520121.201 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:41.452Z,1761520121.452 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:41.594Z,1761520121.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287188,-0.956695,-0.047523],[0.957867,0.287024,0.010385],[0.003705,-0.048503,0.998816]]
2025-10-26T23:08:41.631Z,1761520121.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:41.705Z,1761520121.705 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:41.956Z,1761520121.956 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:41.965Z,1761520121.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284587,-0.957482,-0.047307],[0.958645,0.284397,0.010846],[0.003069,-0.048437,0.998821]]
2025-10-26T23:08:41.984Z,1761520121.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:42.208Z,1761520122.208 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:42.356Z,1761520122.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282083,-0.958226,-0.047242],[0.959387,0.281868,0.011308],[0.002480,-0.048513,0.998819]]
2025-10-26T23:08:42.387Z,1761520122.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:42.460Z,1761520122.460 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:42.712Z,1761520122.712 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:42.768Z,1761520122.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279699,-0.958920,-0.047338],[0.960086,0.279460,0.011730],[0.001981,-0.048729,0.998810]]
2025-10-26T23:08:42.811Z,1761520122.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:42.964Z,1761520122.964 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:43.162Z,1761520123.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277686,-0.959506,-0.047319],[0.960671,0.277419,0.012243],[0.001380,-0.048857,0.998805]]
2025-10-26T23:08:43.181Z,1761520123.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:43.217Z,1761520123.217 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:43.468Z,1761520123.468 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:43.618Z,1761520123.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275284,-0.960193,-0.047419],[0.961362,0.275009,0.012357],[0.001175,-0.048988,0.998799]]
2025-10-26T23:08:43.661Z,1761520123.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:43.721Z,1761520123.721 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:43.970Z,1761520123.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273184,-0.960796,-0.047350],[0.961962,0.272892,0.012647],[0.000770,-0.049003,0.998798]]
2025-10-26T23:08:43.972Z,1761520123.972 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:44.006Z,1761520124.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:44.224Z,1761520124.224 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:44.370Z,1761520124.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270502,-0.961564,-0.047144],[0.962719,0.270207,0.012638],[0.000586,-0.048805,0.998808]]
2025-10-26T23:08:44.389Z,1761520124.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:44.477Z,1761520124.477 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:44.729Z,1761520124.729 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:44.779Z,1761520124.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267736,-0.962343,-0.047051],[0.963492,0.267436,0.012672],[0.000388,-0.048726,0.998812]]
2025-10-26T23:08:44.816Z,1761520124.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:44.980Z,1761520124.980 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:45.178Z,1761520125.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264877,-0.963137,-0.046988],[0.964282,0.264566,0.012829],[0.000076,-0.048708,0.998813]]
2025-10-26T23:08:45.213Z,1761520125.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:45.234Z,1761520125.234 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:45.484Z,1761520125.484 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:45.644Z,1761520125.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261818,-0.963965,-0.047151],[0.965117,0.261499,0.012918],[-0.000122,-0.048888,0.998804]]
2025-10-26T23:08:45.689Z,1761520125.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:45.737Z,1761520125.737 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:45.988Z,1761520125.988 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:45.993Z,1761520125.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258903,-0.964737,-0.047445],[0.965903,0.258573,0.013071],[-0.000342,-0.049212,0.998788]]
2025-10-26T23:08:46.012Z,1761520126.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:46.241Z,1761520126.241 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:46.392Z,1761520126.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256096,-0.965471,-0.047749],[0.966651,0.255753,0.013270],[-0.000600,-0.049555,0.998771]]
2025-10-26T23:08:46.411Z,1761520126.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:46.493Z,1761520126.493 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:46.748Z,1761520126.748 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:46.795Z,1761520126.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253167,-0.966231,-0.048002],[0.967422,0.252819,0.013292],[-0.000707,-0.049804,0.998759]]
2025-10-26T23:08:46.840Z,1761520126.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:46.996Z,1761520126.996 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:47.198Z,1761520127.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250510,-0.966935,-0.047762],[0.968113,0.250149,0.013479],[-0.001086,-0.049616,0.998768]]
2025-10-26T23:08:47.221Z,1761520127.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:47.249Z,1761520127.249 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:47.500Z,1761520127.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:47.644Z,1761520127.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248310,-0.967514,-0.047520],[0.968679,0.247932,0.013796],[-0.001567,-0.049457,0.998775]]
2025-10-26T23:08:47.713Z,1761520127.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:47.753Z,1761520127.753 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:48.004Z,1761520128.004 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:48.016Z,1761520128.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246355,-0.968030,-0.047192],[0.969178,0.245963,0.014039],[-0.001983,-0.049196,0.998787]]
2025-10-26T23:08:48.050Z,1761520128.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:48.258Z,1761520128.258 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:48.414Z,1761520128.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244813,-0.968436,-0.046885],[0.969567,0.244401,0.014422],[-0.002508,-0.048989,0.998796]]
2025-10-26T23:08:48.433Z,1761520128.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:48.508Z,1761520128.508 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:48.760Z,1761520128.760 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:48.820Z,1761520128.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243889,-0.968676,-0.046749],[0.969798,0.243451,0.014932],[-0.003083,-0.048979,0.998795]]
2025-10-26T23:08:48.857Z,1761520128.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:49.012Z,1761520129.012 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:49.225Z,1761520129.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243182,-0.968866,-0.046488],[0.969974,0.242718,0.015460],[-0.003695,-0.048852,0.998799]]
2025-10-26T23:08:49.264Z,1761520129.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:49.266Z,1761520129.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:49.516Z,1761520129.516 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:49.631Z,1761520129.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242585,-0.969019,-0.046412],[0.970121,0.242098,0.015925],[-0.004195,-0.048889,0.998795]]
2025-10-26T23:08:49.714Z,1761520129.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:49.769Z,1761520129.769 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:50.020Z,1761520130.020 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:50.047Z,1761520130.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242144,-0.969134,-0.046314],[0.970229,0.241636,0.016345],[-0.004650,-0.048893,0.998793]]
2025-10-26T23:08:50.103Z,1761520130.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:50.272Z,1761520130.272 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:50.434Z,1761520130.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241487,-0.969309,-0.046095],[0.970391,0.240967,0.016592],[-0.004975,-0.048737,0.998799]]
2025-10-26T23:08:50.464Z,1761520130.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:50.524Z,1761520130.524 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:50.776Z,1761520130.776 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:50.838Z,1761520130.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241095,-0.969417,-0.045869],[0.970487,0.240563,0.016874],[-0.005323,-0.048584,0.998805]]
2025-10-26T23:08:50.889Z,1761520130.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:51.028Z,1761520131.028 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:51.253Z,1761520131.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240412,-0.969601,-0.045554],[0.970655,0.239878,0.016928],[-0.005486,-0.048287,0.998818]]
2025-10-26T23:08:51.271Z,1761520131.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:51.280Z,1761520131.280 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:51.532Z,1761520131.532 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:51.656Z,1761520131.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239756,-0.969770,-0.045412],[0.970817,0.239223,0.016908],[-0.005533,-0.048141,0.998825]]
2025-10-26T23:08:51.731Z,1761520131.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:51.785Z,1761520131.785 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:52.036Z,1761520132.036 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:52.068Z,1761520132.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239184,-0.969907,-0.045507],[0.970958,0.238649,0.016926],[-0.005557,-0.048233,0.998821]]
2025-10-26T23:08:52.126Z,1761520132.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:52.288Z,1761520132.288 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:52.458Z,1761520132.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238031,-0.970201,-0.045282],[0.971242,0.237509,0.016654],[-0.005403,-0.047944,0.998835]]
2025-10-26T23:08:52.492Z,1761520132.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:52.541Z,1761520132.541 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:52.792Z,1761520132.792 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:52.863Z,1761520132.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236717,-0.970521,-0.045323],[0.971565,0.236214,0.016233],[-0.005049,-0.047877,0.998840]]
2025-10-26T23:08:52.912Z,1761520132.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:53.044Z,1761520133.044 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:53.256Z,1761520133.256 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:08:53.268Z,1761520133.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235183,-0.970882,-0.045571],[0.971941,0.234704,0.015657],[-0.004505,-0.047975,0.998838]]
2025-10-26T23:08:53.287Z,1761520133.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:53.296Z,1761520133.296 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:53.556Z,1761520133.556 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:53.672Z,1761520133.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233424,-0.971294,-0.045847],[0.972367,0.232975,0.014979],[-0.003868,-0.048076,0.998836]]
2025-10-26T23:08:53.695Z,1761520133.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:53.805Z,1761520133.805 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:54.056Z,1761520134.056 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:54.075Z,1761520134.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231401,-0.971761,-0.046202],[0.972853,0.230987,0.014191],[-0.003118,-0.048231,0.998831]]
2025-10-26T23:08:54.127Z,1761520134.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:54.260Z,1761520134.260 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:08:54.308Z,1761520134.308 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:54.479Z,1761520134.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229610,-0.972157,-0.046788],[0.973280,0.229224,0.013534],[-0.002433,-0.048645,0.998813]]
2025-10-26T23:08:54.552Z,1761520134.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:54.560Z,1761520134.560 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:54.812Z,1761520134.812 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:54.912Z,1761520134.912 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -28.95131.31,        +4.28,   8.26,  0.00
2025-10-26T23:08:54.943Z,1761520134.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:55.064Z,1761520135.064 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:55.292Z,1761520135.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225129,-0.973160,-0.047714],[0.974329,0.224822,0.011779],[-0.000736,-0.049141,0.998792]]
2025-10-26T23:08:55.311Z,1761520135.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:55.316Z,1761520135.316 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:55.568Z,1761520135.568 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:55.690Z,1761520135.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222722,-0.973697,-0.048052],[0.974882,0.222462,0.010777],[0.000196,-0.049245,0.998787]]
2025-10-26T23:08:55.774Z,1761520135.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:55.824Z,1761520135.824 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:56.072Z,1761520136.072 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:56.099Z,1761520136.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220702,-0.974155,-0.048087],[0.975341,0.220479,0.009970],[0.000889,-0.049102,0.998793]]
2025-10-26T23:08:56.150Z,1761520136.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:56.326Z,1761520136.326 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:56.498Z,1761520136.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218584,-0.974638,-0.047966],[0.975817,0.218399,0.009138],[0.001569,-0.048803,0.998807]]
2025-10-26T23:08:56.518Z,1761520136.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:56.577Z,1761520136.577 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:56.828Z,1761520136.828 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:56.898Z,1761520136.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216619,-0.975074,-0.048021],[0.976254,0.216467,0.008398],[0.002206,-0.048700,0.998811]]
2025-10-26T23:08:56.945Z,1761520136.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:57.080Z,1761520137.080 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:57.302Z,1761520137.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215304,-0.975358,-0.048174],[0.976544,0.215173,0.007951],[0.002610,-0.048756,0.998807]]
2025-10-26T23:08:57.332Z,1761520137.332 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:57.337Z,1761520137.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:57.584Z,1761520137.584 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:57.714Z,1761520137.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214554,-0.975510,-0.048442],[0.976708,0.214432,0.007764],[0.002814,-0.048980,0.998796]]
2025-10-26T23:08:57.824Z,1761520137.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:57.836Z,1761520137.836 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:58.088Z,1761520138.088 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:58.123Z,1761520138.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214199,-0.975576,-0.048689],[0.976786,0.214078,0.007764],[0.002849,-0.049222,0.998784]]
2025-10-26T23:08:58.245Z,1761520138.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:58.340Z,1761520138.340 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:58.593Z,1761520138.593 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:58.623Z,1761520138.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214290,-0.975555,-0.048711],[0.976766,0.214158,0.007988],[0.002639,-0.049291,0.998781]]
2025-10-26T23:08:58.720Z,1761520138.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:58.845Z,1761520138.845 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:59.024Z,1761520139.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214373,-0.975543,-0.048572],[0.976749,0.214230,0.008187],[0.002419,-0.049198,0.998786]]
2025-10-26T23:08:59.096Z,1761520139.096 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:59.102Z,1761520139.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:59.348Z,1761520139.348 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:59.428Z,1761520139.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215380,-0.975333,-0.048333],[0.976529,0.215206,0.008853],[0.001767,-0.049105,0.998792]]
2025-10-26T23:08:59.473Z,1761520139.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:08:59.600Z,1761520139.600 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:59.854Z,1761520139.854 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:08:59.861Z,1761520139.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216601,-0.975079,-0.048016],[0.976260,0.216391,0.009588],[0.001041,-0.048953,0.998801]]
2025-10-26T23:08:59.917Z,1761520139.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:00.105Z,1761520140.105 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:00.241Z,1761520140.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217995,-0.974780,-0.047762],[0.975950,0.217752,0.010308],[0.000353,-0.048860,0.998806]]
2025-10-26T23:09:00.306Z,1761520140.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:00.359Z,1761520140.359 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:00.608Z,1761520140.608 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:00.646Z,1761520140.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219339,-0.974490,-0.047545],[0.975649,0.219062,0.011022],[-0.000325,-0.048805,0.998808]]
2025-10-26T23:09:00.665Z,1761520140.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:00.860Z,1761520140.860 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:01.054Z,1761520141.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221345,-0.974039,-0.047487],[0.975195,0.221022,0.012012],[-0.001205,-0.048968,0.998800]]
2025-10-26T23:09:01.112Z,1761520141.112 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:01.114Z,1761520141.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:01.364Z,1761520141.364 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:01.454Z,1761520141.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223301,-0.973598,-0.047366],[0.974748,0.222936,0.012912],[-0.002012,-0.049053,0.998794]]
2025-10-26T23:09:01.480Z,1761520141.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:01.617Z,1761520141.617 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:01.871Z,1761520141.871 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:01.889Z,1761520141.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225075,-0.973187,-0.047415],[0.974338,0.224673,0.013712],[-0.002691,-0.049284,0.998781]]
2025-10-26T23:09:01.945Z,1761520141.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:02.120Z,1761520142.120 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:02.262Z,1761520142.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226641,-0.972826,-0.047369],[0.973973,0.226211,0.014328],[-0.003223,-0.049384,0.998775]]
2025-10-26T23:09:02.281Z,1761520142.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:02.372Z,1761520142.372 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:02.624Z,1761520142.624 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:02.681Z,1761520142.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228219,-0.972471,-0.047076],[0.973602,0.227757,0.015026],[-0.003891,-0.049262,0.998778]]
2025-10-26T23:09:02.701Z,1761520142.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:02.879Z,1761520142.879 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:03.083Z,1761520143.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229509,-0.972174,-0.046937],[0.973297,0.229024,0.015534],[-0.004353,-0.049249,0.998777]]
2025-10-26T23:09:03.121Z,1761520143.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:03.128Z,1761520143.128 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:03.380Z,1761520143.380 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:03.483Z,1761520143.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230720,-0.971889,-0.046903],[0.973009,0.230214,0.015988],[-0.004741,-0.049326,0.998771]]
2025-10-26T23:09:03.511Z,1761520143.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:03.632Z,1761520143.632 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:03.886Z,1761520143.886 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:03.969Z,1761520143.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231298,-0.971760,-0.046736],[0.972871,0.230786,0.016148],[-0.004906,-0.049203,0.998777]]
2025-10-26T23:09:04.041Z,1761520144.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:04.136Z,1761520144.136 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:04.290Z,1761520144.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231939,-0.971601,-0.046863],[0.972718,0.231418,0.016319],[-0.005010,-0.049370,0.998768]]
2025-10-26T23:09:04.317Z,1761520144.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:04.389Z,1761520144.389 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:04.640Z,1761520144.640 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:04.716Z,1761520144.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232075,-0.971573,-0.046768],[0.972685,0.231554,0.016332],[-0.005038,-0.049281,0.998772]]
2025-10-26T23:09:04.769Z,1761520144.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:04.894Z,1761520144.894 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:05.098Z,1761520145.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232163,-0.971545,-0.046921],[0.972664,0.231643,0.016312],[-0.004979,-0.049425,0.998765]]
2025-10-26T23:09:05.144Z,1761520145.144 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:05.178Z,1761520145.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:05.397Z,1761520145.397 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:05.502Z,1761520145.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231806,-0.971623,-0.047051],[0.972750,0.231296,0.016089],[-0.004749,-0.049499,0.998763]]
2025-10-26T23:09:05.537Z,1761520145.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:05.649Z,1761520145.649 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:05.903Z,1761520145.903 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:05.950Z,1761520145.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231324,-0.971733,-0.047153],[0.972867,0.230832,0.015716],[-0.004387,-0.049509,0.998764]]
2025-10-26T23:09:06.013Z,1761520146.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:06.152Z,1761520146.152 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:06.313Z,1761520146.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231105,-0.971785,-0.047169],[0.972919,0.230617,0.015607],[-0.004289,-0.049498,0.998765]]
2025-10-26T23:09:06.331Z,1761520146.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:06.404Z,1761520146.404 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:06.656Z,1761520146.656 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:06.743Z,1761520146.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230588,-0.971903,-0.047258],[0.973043,0.230112,0.015344],[-0.004038,-0.049523,0.998765]]
2025-10-26T23:09:06.761Z,1761520146.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:06.910Z,1761520146.910 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:07.118Z,1761520147.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230435,-0.971937,-0.047314],[0.973080,0.229963,0.015271],[-0.003962,-0.049560,0.998763]]
2025-10-26T23:09:07.160Z,1761520147.160 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:07.169Z,1761520147.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:07.413Z,1761520147.413 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:07.589Z,1761520147.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230237,-0.971984,-0.047309],[0.973127,0.229766,0.015243],[-0.003946,-0.049547,0.998764]]
2025-10-26T23:09:07.607Z,1761520147.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:07.664Z,1761520147.664 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:07.920Z,1761520147.920 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:07.993Z,1761520147.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230252,-0.971980,-0.047321],[0.973123,0.229781,0.015243],[-0.003942,-0.049559,0.998763]]
2025-10-26T23:09:08.030Z,1761520148.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:08.168Z,1761520148.168 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:08.394Z,1761520148.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230832,-0.971833,-0.047507],[0.972985,0.230348,0.015505],[-0.004126,-0.049802,0.998751]]
2025-10-26T23:09:08.418Z,1761520148.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:08.420Z,1761520148.420 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:08.672Z,1761520148.672 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:08.801Z,1761520148.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231358,-0.971708,-0.047500],[0.972859,0.230864,0.015712],[-0.004302,-0.049846,0.998748]]
2025-10-26T23:09:08.832Z,1761520148.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:08.927Z,1761520148.927 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:09.176Z,1761520149.176 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:09.211Z,1761520149.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232303,-0.971494,-0.047265],[0.972632,0.231791,0.016124],[-0.004709,-0.049717,0.998752]]
2025-10-26T23:09:09.266Z,1761520149.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:09.429Z,1761520149.429 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:09.625Z,1761520149.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233407,-0.971233,-0.047207],[0.972365,0.232872,0.016624],[-0.005153,-0.049783,0.998747]]
2025-10-26T23:09:09.643Z,1761520149.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:09.680Z,1761520149.680 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:09.932Z,1761520149.932 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:10.028Z,1761520150.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234629,-0.970952,-0.046911],[0.972068,0.234067,0.017214],[-0.005734,-0.049639,0.998751]]
2025-10-26T23:09:10.065Z,1761520150.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:10.184Z,1761520150.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:10.435Z,1761520150.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235997,-0.970632,-0.046676],[0.971734,0.235410,0.017783],[-0.006273,-0.049553,0.998752]]
2025-10-26T23:09:10.436Z,1761520150.436 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:10.455Z,1761520150.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:10.689Z,1761520150.689 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:10.838Z,1761520150.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237614,-0.970250,-0.046419],[0.971335,0.236998,0.018431],[-0.006882,-0.049468,0.998752]]
2025-10-26T23:09:10.891Z,1761520150.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:10.943Z,1761520150.943 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:11.193Z,1761520151.193 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:11.242Z,1761520151.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239476,-0.969810,-0.046047],[0.970873,0.238831,0.019122],[-0.007548,-0.049285,0.998756]]
2025-10-26T23:09:11.299Z,1761520151.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:11.444Z,1761520151.444 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:11.648Z,1761520151.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241417,-0.969338,-0.045849],[0.970388,0.240745,0.019740],[-0.008097,-0.049257,0.998753]]
2025-10-26T23:09:11.666Z,1761520151.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:11.713Z,1761520151.713 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:11.964Z,1761520151.964 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:12.065Z,1761520152.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243563,-0.968813,-0.045588],[0.969846,0.242860,0.020448],[-0.008739,-0.049194,0.998751]]
2025-10-26T23:09:12.101Z,1761520152.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:12.221Z,1761520152.221 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:12.468Z,1761520152.468 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:12.480Z,1761520152.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245477,-0.968334,-0.045508],[0.969359,0.244750,0.021004],[-0.009201,-0.049269,0.998743]]
2025-10-26T23:09:12.505Z,1761520152.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:12.721Z,1761520152.721 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:12.858Z,1761520152.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247553,-0.967811,-0.045389],[0.968826,0.246799,0.021614],[-0.009716,-0.049324,0.998736]]
2025-10-26T23:09:12.877Z,1761520152.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:12.975Z,1761520152.975 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:13.224Z,1761520153.224 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:13.262Z,1761520153.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249088,-0.967423,-0.045245],[0.968429,0.248317,0.022009],[-0.010057,-0.049299,0.998733]]
2025-10-26T23:09:13.311Z,1761520153.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:13.476Z,1761520153.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:13.664Z,1761520153.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250591,-0.967041,-0.045109],[0.968037,0.249804,0.022399],[-0.010392,-0.049280,0.998731]]
2025-10-26T23:09:13.714Z,1761520153.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:13.729Z,1761520153.729 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:13.981Z,1761520153.981 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:14.078Z,1761520154.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251976,-0.966684,-0.045060],[0.967676,0.251181,0.022595],[-0.010524,-0.049297,0.998729]]
2025-10-26T23:09:14.122Z,1761520154.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:14.232Z,1761520154.232 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:14.472Z,1761520154.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253012,-0.966417,-0.044966],[0.967406,0.252220,0.022601],[-0.010501,-0.049219,0.998733]]
2025-10-26T23:09:14.484Z,1761520154.484 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:14.492Z,1761520154.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:14.737Z,1761520154.737 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:14.874Z,1761520154.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254094,-0.966135,-0.044935],[0.967123,0.253302,0.022624],[-0.010476,-0.049206,0.998734]]
2025-10-26T23:09:14.903Z,1761520154.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:14.989Z,1761520154.989 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:15.240Z,1761520155.240 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:15.308Z,1761520155.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254746,-0.965969,-0.044811],[0.966954,0.253968,0.022379],[-0.010237,-0.049031,0.998745]]
2025-10-26T23:09:15.418Z,1761520155.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:15.492Z,1761520155.492 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:15.687Z,1761520155.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255494,-0.965765,-0.044958],[0.966760,0.254727,0.022141],[-0.009931,-0.049120,0.998744]]
2025-10-26T23:09:15.744Z,1761520155.744 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:15.785Z,1761520155.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:15.997Z,1761520155.997 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:16.102Z,1761520156.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256005,-0.965623,-0.045089],[0.966629,0.255256,0.021744],[-0.009487,-0.049151,0.998746]]
2025-10-26T23:09:16.166Z,1761520156.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:16.248Z,1761520156.248 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:16.490Z,1761520156.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256440,-0.965493,-0.045403],[0.966518,0.255709,0.021329],[-0.008983,-0.049353,0.998741]]
2025-10-26T23:09:16.500Z,1761520156.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:16.528Z,1761520156.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:16.752Z,1761520156.752 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:16.894Z,1761520156.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256680,-0.965422,-0.045565],[0.966459,0.255972,0.020849],[-0.008465,-0.049389,0.998744]]
2025-10-26T23:09:16.932Z,1761520156.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:17.004Z,1761520157.004 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:17.256Z,1761520157.256 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:17.298Z,1761520157.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257063,-0.965309,-0.045784],[0.966362,0.256375,0.020412],[-0.007966,-0.049491,0.998743]]
2025-10-26T23:09:17.356Z,1761520157.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:17.508Z,1761520157.508 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:17.715Z,1761520157.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257234,-0.965260,-0.045860],[0.966320,0.256569,0.019935],[-0.007476,-0.049444,0.998749]]
2025-10-26T23:09:17.741Z,1761520157.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:17.760Z,1761520157.760 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:18.012Z,1761520158.012 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:18.130Z,1761520158.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257374,-0.965207,-0.046204],[0.966288,0.256735,0.019373],[-0.006837,-0.049632,0.998744]]
2025-10-26T23:09:18.244Z,1761520158.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:18.264Z,1761520158.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:18.510Z,1761520158.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257739,-0.965099,-0.046412],[0.966194,0.257118,0.018989],[-0.006393,-0.049737,0.998742]]
2025-10-26T23:09:18.516Z,1761520158.516 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:18.558Z,1761520158.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:18.769Z,1761520158.769 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:18.914Z,1761520158.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258139,-0.964983,-0.046615],[0.966089,0.257535,0.018632],[-0.005975,-0.049844,0.998739]]
2025-10-26T23:09:18.962Z,1761520158.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:19.021Z,1761520159.021 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:19.272Z,1761520159.272 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:19.326Z,1761520159.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258856,-0.964781,-0.046806],[0.965899,0.258260,0.018471],[-0.005733,-0.049991,0.998733]]
2025-10-26T23:09:19.388Z,1761520159.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:19.524Z,1761520159.524 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:19.734Z,1761520159.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259561,-0.964588,-0.046895],[0.965712,0.258978,0.018208],[-0.005418,-0.050013,0.998734]]
2025-10-26T23:09:19.756Z,1761520159.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:19.797Z,1761520159.797 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:20.048Z,1761520160.048 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:20.161Z,1761520160.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260282,-0.964395,-0.046856],[0.965519,0.259712,0.017988],[-0.005178,-0.049922,0.998740]]
2025-10-26T23:09:20.222Z,1761520160.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:20.301Z,1761520160.301 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:20.538Z,1761520160.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261167,-0.964157,-0.046830],[0.965281,0.260610,0.017748],[-0.004907,-0.049839,0.998745]]
2025-10-26T23:09:20.552Z,1761520160.552 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:20.574Z,1761520160.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:20.805Z,1761520160.805 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:20.942Z,1761520160.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262505,-0.963792,-0.046863],[0.964918,0.261949,0.017753],[-0.004834,-0.049879,0.998744]]
2025-10-26T23:09:20.961Z,1761520160.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:21.056Z,1761520161.056 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:21.312Z,1761520161.312 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:21.437Z,1761520161.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264013,-0.963373,-0.047002],[0.964508,0.263459,0.017728],[-0.004696,-0.050015,0.998737]]
2025-10-26T23:09:21.484Z,1761520161.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:21.560Z,1761520161.560 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:21.779Z,1761520161.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265660,-0.962924,-0.046935],[0.964055,0.265104,0.017823],[-0.004719,-0.049983,0.998739]]
2025-10-26T23:09:21.803Z,1761520161.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:21.812Z,1761520161.812 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:22.064Z,1761520162.064 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:22.201Z,1761520162.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267204,-0.962501,-0.046844],[0.963628,0.266644,0.017929],[-0.004766,-0.049931,0.998741]]
2025-10-26T23:09:22.238Z,1761520162.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:22.317Z,1761520162.317 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:22.568Z,1761520162.568 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:22.583Z,1761520162.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268838,-0.962047,-0.046813],[0.963173,0.268275,0.018042],[-0.004798,-0.049940,0.998741]]
2025-10-26T23:09:22.602Z,1761520162.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:22.821Z,1761520162.821 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:22.986Z,1761520162.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270337,-0.961631,-0.046722],[0.962753,0.269768,0.018218],[-0.004915,-0.049907,0.998742]]
2025-10-26T23:09:23.005Z,1761520163.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:23.072Z,1761520163.072 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:23.324Z,1761520163.324 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:23.455Z,1761520163.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:23.576Z,1761520163.576 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:23.794Z,1761520163.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273089,-0.960863,-0.046523],[0.961974,0.272495,0.018780],[-0.005368,-0.049882,0.998741]]
2025-10-26T23:09:23.824Z,1761520163.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:23.829Z,1761520163.829 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:24.080Z,1761520164.080 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:24.223Z,1761520164.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274502,-0.960459,-0.046544],[0.961570,0.273888,0.019220],[-0.005712,-0.050031,0.998731]]
2025-10-26T23:09:24.259Z,1761520164.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:24.333Z,1761520164.333 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:24.386Z,1761520164.386 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:09:24.584Z,1761520164.584 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:24.602Z,1761520164.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275695,-0.960112,-0.046665],[0.961226,0.275062,0.019613],[-0.005995,-0.050263,0.998718]]
2025-10-26T23:09:24.620Z,1761520164.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:24.836Z,1761520164.836 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:25.014Z,1761520165.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276510,-0.959893,-0.046349],[0.960990,0.275864,0.019931],[-0.006346,-0.050052,0.998726]]
2025-10-26T23:09:25.033Z,1761520165.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:25.089Z,1761520165.089 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:25.340Z,1761520165.340 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:25.388Z,1761520165.388 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:09:25.462Z,1761520165.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:25.592Z,1761520165.592 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:25.814Z,1761520165.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277800,-0.959531,-0.046131],[0.960614,0.277126,0.020547],[-0.006931,-0.050022,0.998724]]
2025-10-26T23:09:25.844Z,1761520165.844 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:25.849Z,1761520165.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:26.096Z,1761520166.096 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:26.246Z,1761520166.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278361,-0.959374,-0.045998],[0.960449,0.277671,0.020902],[-0.007281,-0.049997,0.998723]]
2025-10-26T23:09:26.288Z,1761520166.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:26.349Z,1761520166.349 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:26.600Z,1761520166.600 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:26.625Z,1761520166.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279114,-0.959167,-0.045768],[0.960226,0.278400,0.021436],[-0.007818,-0.049931,0.998722]]
2025-10-26T23:09:26.644Z,1761520166.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:26.852Z,1761520166.852 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:27.027Z,1761520167.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279624,-0.959023,-0.045664],[0.960074,0.278887,0.021916],[-0.008283,-0.049969,0.998716]]
2025-10-26T23:09:27.048Z,1761520167.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:27.105Z,1761520167.105 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:27.356Z,1761520167.356 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:27.430Z,1761520167.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280173,-0.958866,-0.045607],[0.959909,0.279409,0.022463],[-0.008796,-0.050072,0.998707]]
2025-10-26T23:09:27.484Z,1761520167.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:27.608Z,1761520167.608 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:27.836Z,1761520167.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280979,-0.958627,-0.045652],[0.959668,0.280181,0.023164],[-0.009415,-0.050320,0.998689]]
2025-10-26T23:09:27.854Z,1761520167.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:09:27.860Z,1761520167.860 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:27.861Z,1761520167.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:28.112Z,1761520168.112 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:28.274Z,1761520168.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281726,-0.958416,-0.045486],[0.959441,0.280893,0.023897],[-0.010126,-0.050374,0.998679]]
2025-10-26T23:09:28.335Z,1761520168.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:28.365Z,1761520168.365 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:28.616Z,1761520168.616 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:28.642Z,1761520168.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282414,-0.958235,-0.045033],[0.959231,0.281554,0.024547],[-0.010842,-0.050130,0.998684]]
2025-10-26T23:09:28.740Z,1761520168.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:28.868Z,1761520168.868 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:29.047Z,1761520169.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283194,-0.958023,-0.044649],[0.958993,0.282308,0.025172],[-0.011511,-0.049947,0.998686]]
2025-10-26T23:09:29.072Z,1761520169.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:29.121Z,1761520169.121 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:29.372Z,1761520169.372 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:29.452Z,1761520169.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284294,-0.957717,-0.044229],[0.958658,0.283376,0.025925],[-0.012295,-0.049771,0.998685]]
2025-10-26T23:09:29.527Z,1761520169.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:29.624Z,1761520169.624 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:29.876Z,1761520169.876 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:29.904Z,1761520169.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:30.128Z,1761520170.128 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:30.321Z,1761520170.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286713,-0.957024,-0.043597],[0.957915,0.285723,0.027580],[-0.013938,-0.049670,0.998668]]
2025-10-26T23:09:30.348Z,1761520170.348 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, . +128.43,        +4.47,   8.40,  0.00
2025-10-26T23:09:30.364Z,1761520170.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:30.380Z,1761520170.380 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:30.632Z,1761520170.632 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:30.670Z,1761520170.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288264,-0.956570,-0.043332],[0.957436,0.287232,0.028542],[-0.014856,-0.049715,0.998653]]
2025-10-26T23:09:30.712Z,1761520170.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:30.884Z,1761520170.884 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:31.068Z,1761520171.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289603,-0.956178,-0.043063],[0.957021,0.288542,0.029231],[-0.015525,-0.049678,0.998645]]
2025-10-26T23:09:31.087Z,1761520171.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:31.137Z,1761520171.137 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:31.388Z,1761520171.388 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:31.470Z,1761520171.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291136,-0.955728,-0.042714],[0.956542,0.290043,0.030030],[-0.016311,-0.049601,0.998636]]
2025-10-26T23:09:31.515Z,1761520171.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:31.640Z,1761520171.640 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:31.874Z,1761520171.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292637,-0.955276,-0.042548],[0.956072,0.291510,0.030787],[-0.017006,-0.049689,0.998620]]
2025-10-26T23:09:31.897Z,1761520171.897 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:31.913Z,1761520171.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:32.148Z,1761520172.148 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:32.308Z,1761520172.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294133,-0.954828,-0.042306],[0.955602,0.292977,0.031467],[-0.017651,-0.049683,0.998609]]
2025-10-26T23:09:32.382Z,1761520172.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:32.400Z,1761520172.400 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:32.653Z,1761520172.653 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:32.692Z,1761520172.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295674,-0.954365,-0.041997],[0.955114,0.294493,0.032114],[-0.018281,-0.049607,0.998601]]
2025-10-26T23:09:32.802Z,1761520172.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:32.904Z,1761520172.904 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:33.086Z,1761520173.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297159,-0.953925,-0.041526],[0.954643,0.295963,0.032599],[-0.018807,-0.049329,0.998606]]
2025-10-26T23:09:33.140Z,1761520173.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:33.158Z,1761520173.158 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:33.408Z,1761520173.408 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:33.490Z,1761520173.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298855,-0.953407,-0.041232],[0.954103,0.297641,0.033116],[-0.019301,-0.049237,0.998601]]
2025-10-26T23:09:33.547Z,1761520173.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:33.661Z,1761520173.661 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:33.895Z,1761520173.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300528,-0.952884,-0.041156],[0.953571,0.299298,0.033507],[-0.019611,-0.049315,0.998591]]
2025-10-26T23:09:33.912Z,1761520173.912 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:33.950Z,1761520173.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:34.165Z,1761520174.165 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:34.318Z,1761520174.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302094,-0.952394,-0.041061],[0.953072,0.300853,0.033768],[-0.019807,-0.049335,0.998586]]
2025-10-26T23:09:34.381Z,1761520174.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:34.416Z,1761520174.416 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:34.669Z,1761520174.669 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:34.704Z,1761520174.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303575,-0.951926,-0.040973],[0.952598,0.302326,0.033993],[-0.019972,-0.049350,0.998582]]
2025-10-26T23:09:34.758Z,1761520174.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:34.924Z,1761520174.924 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:35.107Z,1761520175.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304866,-0.951509,-0.041069],[0.952186,0.303611,0.034099],[-0.019977,-0.049501,0.998574]]
2025-10-26T23:09:35.153Z,1761520175.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:35.177Z,1761520175.177 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:35.428Z,1761520175.428 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:35.510Z,1761520175.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306035,-0.951142,-0.040877],[0.951810,0.304782,0.034134],[-0.020008,-0.049354,0.998581]]
2025-10-26T23:09:35.577Z,1761520175.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:35.680Z,1761520175.680 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:35.916Z,1761520175.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306922,-0.950854,-0.040937],[0.951530,0.305679,0.033927],[-0.019746,-0.049366,0.998586]]
2025-10-26T23:09:35.932Z,1761520175.932 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:35.946Z,1761520175.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:36.184Z,1761520176.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:36.322Z,1761520176.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308061,-0.950487,-0.040890],[0.951163,0.306823,0.033886],[-0.019662,-0.049332,0.998589]]
2025-10-26T23:09:36.408Z,1761520176.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:36.436Z,1761520176.436 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:36.688Z,1761520176.688 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:36.729Z,1761520176.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308896,-0.950211,-0.041011],[0.950900,0.307671,0.033566],[-0.019277,-0.049366,0.998595]]
2025-10-26T23:09:36.775Z,1761520176.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:36.940Z,1761520176.940 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:37.128Z,1761520177.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309968,-0.949860,-0.041062],[0.950557,0.308754,0.033342],[-0.018992,-0.049367,0.998600]]
2025-10-26T23:09:37.151Z,1761520177.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:37.194Z,1761520177.194 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:37.444Z,1761520177.444 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:37.530Z,1761520177.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311296,-0.949419,-0.041217],[0.950130,0.310091,0.033125],[-0.018669,-0.049473,0.998601]]
2025-10-26T23:09:37.574Z,1761520177.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:37.696Z,1761520177.696 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:37.934Z,1761520177.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312704,-0.948948,-0.041402],[0.949675,0.311511,0.032823],[-0.018250,-0.049582,0.998603]]
2025-10-26T23:09:37.948Z,1761520177.948 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:37.978Z,1761520177.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:38.200Z,1761520178.200 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:38.338Z,1761520178.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314202,-0.948451,-0.041445],[0.949190,0.313030,0.032425],[-0.017780,-0.049528,0.998614]]
2025-10-26T23:09:38.408Z,1761520178.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:38.452Z,1761520178.452 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:38.705Z,1761520178.705 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:38.749Z,1761520178.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316033,-0.947844,-0.041412],[0.948589,0.314881,0.032067],[-0.017355,-0.049417,0.998627]]
2025-10-26T23:09:38.785Z,1761520178.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:38.956Z,1761520178.956 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:39.151Z,1761520179.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318151,-0.947134,-0.041440],[0.947889,0.317017,0.031735],[-0.016920,-0.049377,0.998637]]
2025-10-26T23:09:39.183Z,1761520179.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:39.208Z,1761520179.208 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:39.460Z,1761520179.460 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:39.554Z,1761520179.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320435,-0.946365,-0.041414],[0.947126,0.319315,0.031474],[-0.016562,-0.049309,0.998646]]
2025-10-26T23:09:39.607Z,1761520179.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:39.713Z,1761520179.713 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:39.958Z,1761520179.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322683,-0.945596,-0.041516],[0.946371,0.321584,0.031076],[-0.016035,-0.049318,0.998654]]
2025-10-26T23:09:39.964Z,1761520179.964 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:39.994Z,1761520179.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:40.216Z,1761520180.216 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:40.452Z,1761520180.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:40.469Z,1761520180.469 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:40.721Z,1761520180.721 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:40.762Z,1761520180.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327660,-0.943882,-0.041551],[0.944676,0.326601,0.030313],[-0.015041,-0.049184,0.998676]]
2025-10-26T23:09:40.819Z,1761520180.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:40.972Z,1761520180.972 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:41.173Z,1761520181.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329981,-0.943066,-0.041694],[0.943878,0.328947,0.029800],[-0.014388,-0.049188,0.998686]]
2025-10-26T23:09:41.224Z,1761520181.224 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:41.226Z,1761520181.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:41.476Z,1761520181.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:41.570Z,1761520181.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332315,-0.942244,-0.041738],[0.943067,0.331304,0.029370],[-0.013846,-0.049121,0.998697]]
2025-10-26T23:09:41.652Z,1761520181.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:41.729Z,1761520181.729 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:41.978Z,1761520181.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334863,-0.941340,-0.041783],[0.942171,0.333870,0.029051],[-0.013397,-0.049095,0.998704]]
2025-10-26T23:09:41.980Z,1761520181.980 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:42.116Z,1761520182.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:42.232Z,1761520182.232 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:42.382Z,1761520182.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337151,-0.940517,-0.041908],[0.941364,0.336183,0.028543],[-0.012756,-0.049074,0.998714]]
2025-10-26T23:09:42.484Z,1761520182.484 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:42.487Z,1761520182.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:42.737Z,1761520182.737 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:42.878Z,1761520182.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:42.989Z,1761520182.989 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:43.186Z,1761520183.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342113,-0.938716,-0.042077],[0.939585,0.341183,0.027814],[-0.011754,-0.049051,0.998727]]
2025-10-26T23:09:43.240Z,1761520183.240 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:43.242Z,1761520183.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:43.492Z,1761520183.492 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:43.591Z,1761520183.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344529,-0.937825,-0.042239],[0.938709,0.343618,0.027435],[-0.011215,-0.049102,0.998731]]
2025-10-26T23:09:43.679Z,1761520183.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:43.745Z,1761520183.745 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:43.996Z,1761520183.996 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:44.004Z,1761520184.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347082,-0.936887,-0.042148],[0.937771,0.346184,0.027237],[-0.010927,-0.048979,0.998740]]
2025-10-26T23:09:44.048Z,1761520184.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:44.249Z,1761520184.249 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:44.398Z,1761520184.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349307,-0.936052,-0.042328],[0.936950,0.348428,0.026869],[-0.010403,-0.049045,0.998742]]
2025-10-26T23:09:44.439Z,1761520184.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:44.503Z,1761520184.503 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:44.752Z,1761520184.752 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:44.809Z,1761520184.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354136,-0.934232,-0.042406],[0.935143,0.353278,0.026508],[-0.009783,-0.049043,0.998749]]
2025-10-26T23:09:44.922Z,1761520184.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:45.004Z,1761520185.004 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:45.211Z,1761520185.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356811,-0.933214,-0.042393],[0.934127,0.355956,0.026489],[-0.009630,-0.049052,0.998750]]
2025-10-26T23:09:45.251Z,1761520185.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:45.257Z,1761520185.257 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:45.510Z,1761520185.510 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:45.615Z,1761520185.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359504,-0.932184,-0.042313],[0.933095,0.358653,0.026501],[-0.009528,-0.049009,0.998753]]
2025-10-26T23:09:45.733Z,1761520185.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:45.760Z,1761520185.760 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:46.012Z,1761520186.012 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:46.024Z,1761520186.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362279,-0.931110,-0.042286],[0.932022,0.361428,0.026562],[-0.009449,-0.049034,0.998752]]
2025-10-26T23:09:46.067Z,1761520186.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:46.267Z,1761520186.267 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:46.426Z,1761520186.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365220,-0.929964,-0.042203],[0.930872,0.364361,0.026783],[-0.009530,-0.049067,0.998750]]
2025-10-26T23:09:46.471Z,1761520186.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:46.519Z,1761520186.519 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:46.768Z,1761520186.768 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:46.835Z,1761520186.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368549,-0.928654,-0.042114],[0.929558,0.367677,0.027136],[-0.009716,-0.049148,0.998744]]
2025-10-26T23:09:47.019Z,1761520187.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:47.020Z,1761520187.020 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:47.267Z,1761520187.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372118,-0.927242,-0.041852],[0.928131,0.371230,0.027584],[-0.010040,-0.049109,0.998743]]
2025-10-26T23:09:47.272Z,1761520187.272 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:47.326Z,1761520187.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:47.527Z,1761520187.527 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:47.665Z,1761520187.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375883,-0.925739,-0.041453],[0.926607,0.374975,0.028149],[-0.010515,-0.048992,0.998744]]
2025-10-26T23:09:47.761Z,1761520187.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:47.776Z,1761520187.776 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:48.029Z,1761520188.029 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:48.063Z,1761520188.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379802,-0.924157,-0.041041],[0.925002,0.378872,0.028757],[-0.011027,-0.048885,0.998744]]
2025-10-26T23:09:48.108Z,1761520188.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:48.280Z,1761520188.280 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:48.466Z,1761520188.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383887,-0.922481,-0.040746],[0.923308,0.382932,0.029414],[-0.011531,-0.048913,0.998737]]
2025-10-26T23:09:48.535Z,1761520188.535 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:48.552Z,1761520188.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:48.784Z,1761520188.784 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:48.870Z,1761520188.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388179,-0.920701,-0.040317],[0.921503,0.387196,0.030185],[-0.012181,-0.048869,0.998731]]
2025-10-26T23:09:48.942Z,1761520188.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:49.036Z,1761520189.036 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:49.274Z,1761520189.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392617,-0.918840,-0.039819],[0.919612,0.391604,0.030993],[-0.012885,-0.048787,0.998726]]
2025-10-26T23:09:49.288Z,1761520189.288 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:49.308Z,1761520189.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:49.542Z,1761520189.542 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:49.678Z,1761520189.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397132,-0.916918,-0.039332],[0.917661,0.396089,0.031808],[-0.013587,-0.048725,0.998720]]
2025-10-26T23:09:49.742Z,1761520189.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:49.793Z,1761520189.793 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:50.044Z,1761520190.044 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:50.090Z,1761520190.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401775,-0.914913,-0.038865],[0.915626,0.400699,0.032691],[-0.014337,-0.048720,0.998710]]
2025-10-26T23:09:50.112Z,1761520190.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:50.297Z,1761520190.297 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:50.486Z,1761520190.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406390,-0.912897,-0.038285],[0.913574,0.405283,0.033572],[-0.015132,-0.048619,0.998703]]
2025-10-26T23:09:50.513Z,1761520190.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:50.550Z,1761520190.550 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:50.800Z,1761520190.800 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:50.890Z,1761520190.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410907,-0.910894,-0.037780],[0.911541,0.409775,0.034320],[-0.015781,-0.048540,0.998697]]
2025-10-26T23:09:50.947Z,1761520190.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:51.052Z,1761520191.052 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:51.294Z,1761520191.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415422,-0.908861,-0.037356],[0.909481,0.414265,0.035049],[-0.016380,-0.048535,0.998687]]
2025-10-26T23:09:51.304Z,1761520191.304 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:51.314Z,1761520191.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:51.558Z,1761520191.558 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:51.698Z,1761520191.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419599,-0.906963,-0.036803],[0.907552,0.418426,0.035617],[-0.016904,-0.048346,0.998688]]
2025-10-26T23:09:51.768Z,1761520191.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:51.808Z,1761520191.808 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:52.060Z,1761520192.060 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:52.102Z,1761520192.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423722,-0.905060,-0.036411],[0.905626,0.422530,0.036197],[-0.017375,-0.048312,0.998681]]
2025-10-26T23:09:52.145Z,1761520192.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:52.312Z,1761520192.312 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:52.507Z,1761520192.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427254,-0.903415,-0.035995],[0.903961,0.426062,0.036405],[-0.017553,-0.048092,0.998689]]
2025-10-26T23:09:52.525Z,1761520192.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:52.564Z,1761520192.564 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:52.816Z,1761520192.816 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:52.916Z,1761520192.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430917,-0.901682,-0.035787],[0.902218,0.429719,0.036662],[-0.017679,-0.048086,0.998687]]
2025-10-26T23:09:52.969Z,1761520192.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:53.068Z,1761520193.068 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:53.314Z,1761520193.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434332,-0.900046,-0.035687],[0.900580,0.433132,0.036761],[-0.017629,-0.048105,0.998687]]
2025-10-26T23:09:53.320Z,1761520193.320 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:53.342Z,1761520193.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:53.574Z,1761520193.574 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:53.725Z,1761520193.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437696,-0.898416,-0.035658],[0.898952,0.436496,0.036842],[-0.017535,-0.048181,0.998685]]
2025-10-26T23:09:53.773Z,1761520193.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:53.824Z,1761520193.824 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:54.076Z,1761520194.076 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:54.129Z,1761520194.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440680,-0.896958,-0.035607],[0.897497,0.439486,0.036766],[-0.017329,-0.048159,0.998689]]
2025-10-26T23:09:54.174Z,1761520194.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:54.328Z,1761520194.328 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:54.528Z,1761520194.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443547,-0.895539,-0.035713],[0.896089,0.442357,0.036665],[-0.017037,-0.048265,0.998689]]
2025-10-26T23:09:54.547Z,1761520194.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:54.582Z,1761520194.582 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:54.832Z,1761520194.832 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:54.930Z,1761520194.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445903,-0.894367,-0.035749],[0.894928,0.444730,0.036327],[-0.016591,-0.048191,0.998700]]
2025-10-26T23:09:54.989Z,1761520194.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:55.084Z,1761520195.084 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:55.336Z,1761520195.336 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:55.339Z,1761520195.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448301,-0.893163,-0.035867],[0.893737,0.447142,0.036032],[-0.016145,-0.048209,0.998707]]
2025-10-26T23:09:55.415Z,1761520195.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:55.520Z,1761520195.520 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:09:55.588Z,1761520195.588 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:55.840Z,1761520195.840 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:55.844Z,1761520195.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:56.092Z,1761520196.092 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:56.154Z,1761520196.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452482,-0.891039,-0.036188],[0.891648,0.451364,0.035145],[-0.014981,-0.048169,0.998727]]
2025-10-26T23:09:56.191Z,1761520196.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:56.344Z,1761520196.344 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:56.524Z,1761520196.524 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:09:56.550Z,1761520196.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454557,-0.889971,-0.036466],[0.890601,0.453454,0.034787],[-0.014424,-0.048290,0.998729]]
2025-10-26T23:09:56.568Z,1761520196.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:56.596Z,1761520196.596 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:56.848Z,1761520196.848 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:56.950Z,1761520196.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456860,-0.888777,-0.036792],[0.889428,0.455760,0.034652],[-0.014030,-0.048555,0.998722]]
2025-10-26T23:09:56.999Z,1761520196.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:57.101Z,1761520197.101 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:57.352Z,1761520197.352 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:57.356Z,1761520197.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458926,-0.887710,-0.036861],[0.888369,0.457837,0.034428],[-0.013686,-0.048546,0.998727]]
2025-10-26T23:09:57.393Z,1761520197.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:57.604Z,1761520197.604 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:57.758Z,1761520197.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461129,-0.886561,-0.037010],[0.887233,0.460049,0.034253],[-0.013341,-0.048631,0.998728]]
2025-10-26T23:09:57.813Z,1761520197.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:57.856Z,1761520197.856 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:58.109Z,1761520198.109 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:58.168Z,1761520198.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463606,-0.885268,-0.037010],[0.885943,0.462526,0.034287],[-0.013235,-0.048685,0.998727]]
2025-10-26T23:09:58.187Z,1761520198.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:58.360Z,1761520198.360 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:58.566Z,1761520198.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466386,-0.883811,-0.036917],[0.884482,0.465302,0.034423],[-0.013245,-0.048707,0.998725]]
2025-10-26T23:09:58.593Z,1761520198.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:58.614Z,1761520198.614 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:58.864Z,1761520198.864 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:58.970Z,1761520198.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469538,-0.882145,-0.036797],[0.882811,0.468444,0.034719],[-0.013390,-0.048786,0.998720]]
2025-10-26T23:09:59.014Z,1761520199.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:59.116Z,1761520199.116 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:59.368Z,1761520199.368 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:59.376Z,1761520199.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472990,-0.880306,-0.036638],[0.880961,0.471879,0.035177],[-0.013678,-0.048915,0.998709]]
2025-10-26T23:09:59.400Z,1761520199.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:59.621Z,1761520199.621 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:09:59.780Z,1761520199.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476485,-0.878440,-0.036132],[0.879068,0.475359,0.035667],[-0.014155,-0.048757,0.998710]]
2025-10-26T23:09:59.817Z,1761520199.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:09:59.873Z,1761520199.873 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:00.125Z,1761520200.125 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:00.182Z,1761520200.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480371,-0.876345,-0.035535],[0.876940,0.479223,0.036341],[-0.014818,-0.048619,0.998707]]
2025-10-26T23:10:00.209Z,1761520200.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:00.376Z,1761520200.376 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:00.587Z,1761520200.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484482,-0.874104,-0.034919],[0.874664,0.483313,0.037034],[-0.015495,-0.048485,0.998704]]
2025-10-26T23:10:00.608Z,1761520200.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:00.628Z,1761520200.628 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:00.880Z,1761520200.880 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:00.990Z,1761520200.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488855,-0.871699,-0.034079],[0.872212,0.487663,0.037844],[-0.016369,-0.048224,0.998702]]
2025-10-26T23:10:01.125Z,1761520201.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:01.133Z,1761520201.133 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:01.384Z,1761520201.384 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:01.395Z,1761520201.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493661,-0.869013,-0.033401],[0.869483,0.492437,0.038795],[-0.017265,-0.048193,0.998689]]
2025-10-26T23:10:01.480Z,1761520201.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:01.636Z,1761520201.636 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:01.798Z,1761520201.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498372,-0.866350,-0.032618],[0.866775,0.497126,0.039586],[-0.018080,-0.048001,0.998684]]
2025-10-26T23:10:01.888Z,1761520201.888 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:01.890Z,1761520201.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:02.140Z,1761520202.140 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:02.211Z,1761520202.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503409,-0.863457,-0.031971],[0.863842,0.502135,0.040472],[-0.018892,-0.047992,0.998669]]
2025-10-26T23:10:02.259Z,1761520202.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:02.392Z,1761520202.392 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:02.613Z,1761520202.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508417,-0.860545,-0.031214],[0.860886,0.507121,0.041283],[-0.019696,-0.047861,0.998660]]
2025-10-26T23:10:02.644Z,1761520202.644 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:02.652Z,1761520202.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:02.896Z,1761520202.896 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:03.010Z,1761520203.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513596,-0.857487,-0.030582],[0.857789,0.512274,0.042110],[-0.020443,-0.047860,0.998645]]
2025-10-26T23:10:03.062Z,1761520203.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:03.148Z,1761520203.148 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:03.400Z,1761520203.400 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:03.415Z,1761520203.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518733,-0.854407,-0.030074],[0.854677,0.517388,0.042865],[-0.021064,-0.047939,0.998628]]
2025-10-26T23:10:03.434Z,1761520203.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:03.652Z,1761520203.652 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:03.819Z,1761520203.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523624,-0.851432,-0.029703],[0.851681,0.522264,0.043361],[-0.021406,-0.048003,0.998618]]
2025-10-26T23:10:03.882Z,1761520203.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:03.904Z,1761520203.904 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:04.156Z,1761520204.156 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:04.225Z,1761520204.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528108,-0.848673,-0.029243],[0.848903,0.526750,0.043567],[-0.021570,-0.047833,0.998622]]
2025-10-26T23:10:04.244Z,1761520204.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:04.408Z,1761520204.408 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:04.633Z,1761520204.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532593,-0.845873,-0.029053],[0.846097,0.531232,0.043719],[-0.021546,-0.047866,0.998621]]
2025-10-26T23:10:04.658Z,1761520204.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:04.660Z,1761520204.660 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:04.912Z,1761520204.912 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:05.030Z,1761520205.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536834,-0.843193,-0.028889],[0.843416,0.535476,0.043754],[-0.021424,-0.047854,0.998625]]
2025-10-26T23:10:05.081Z,1761520205.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:05.164Z,1761520205.164 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:05.416Z,1761520205.416 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:05.434Z,1761520205.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540822,-0.840635,-0.029055],[0.840875,0.539469,0.043608],[-0.020985,-0.048016,0.998626]]
2025-10-26T23:10:05.453Z,1761520205.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:05.668Z,1761520205.668 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:05.838Z,1761520205.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544293,-0.838386,-0.029223],[0.838649,0.542958,0.043182],[-0.020336,-0.048012,0.998640]]
2025-10-26T23:10:05.884Z,1761520205.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:05.920Z,1761520205.920 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:06.172Z,1761520206.172 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:06.242Z,1761520206.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547796,-0.836090,-0.029557],[0.836381,0.546472,0.042849],[-0.019674,-0.048193,0.998644]]
2025-10-26T23:10:06.279Z,1761520206.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:06.427Z,1761520206.427 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:06.646Z,1761520206.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550971,-0.833983,-0.030054],[0.834312,0.549663,0.042348],[-0.018798,-0.048407,0.998651]]
2025-10-26T23:10:06.665Z,1761520206.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:06.683Z,1761520206.683 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:06.936Z,1761520206.936 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:07.052Z,1761520207.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553646,-0.832191,-0.030569],[0.832564,0.552365,0.041598],[-0.017732,-0.048481,0.998667]]
2025-10-26T23:10:07.089Z,1761520207.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:07.188Z,1761520207.188 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:07.440Z,1761520207.440 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:07.455Z,1761520207.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556097,-0.830534,-0.031135],[0.830951,0.554846,0.040827],[-0.016633,-0.048576,0.998681]]
2025-10-26T23:10:07.484Z,1761520207.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:07.692Z,1761520207.692 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:07.858Z,1761520207.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558086,-0.829177,-0.031729],[0.829641,0.556873,0.039849],[-0.015373,-0.048562,0.998702]]
2025-10-26T23:10:07.944Z,1761520207.944 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:07.956Z,1761520207.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:08.196Z,1761520208.196 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:08.262Z,1761520208.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560093,-0.827795,-0.032424],[0.828309,0.558915,0.038953],[-0.014122,-0.048674,0.998715]]
2025-10-26T23:10:08.281Z,1761520208.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:08.448Z,1761520208.448 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:08.668Z,1761520208.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561813,-0.826606,-0.032989],[0.827164,0.560679,0.037927],[-0.012854,-0.048595,0.998736]]
2025-10-26T23:10:08.686Z,1761520208.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:08.701Z,1761520208.701 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:08.952Z,1761520208.952 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:09.070Z,1761520209.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563749,-0.825265,-0.033531],[0.825862,0.562648,0.037125],[-0.011772,-0.048621,0.998748]]
2025-10-26T23:10:09.177Z,1761520209.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:09.204Z,1761520209.204 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:09.456Z,1761520209.456 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:09.474Z,1761520209.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565545,-0.824014,-0.034053],[0.824649,0.564482,0.036260],[-0.010656,-0.048589,0.998762]]
2025-10-26T23:10:09.528Z,1761520209.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:09.709Z,1761520209.709 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:09.884Z,1761520209.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567466,-0.822672,-0.034540],[0.823341,0.566437,0.035479],[-0.009623,-0.048571,0.998773]]
2025-10-26T23:10:09.952Z,1761520209.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:09.960Z,1761520209.960 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:10.212Z,1761520210.212 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:10.285Z,1761520210.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569615,-0.821167,-0.034972],[0.821865,0.568612,0.034906],[-0.008778,-0.048625,0.998779]]
2025-10-26T23:10:10.353Z,1761520210.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:10.464Z,1761520210.464 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:10.686Z,1761520210.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571966,-0.819519,-0.035277],[0.820237,0.570981,0.034524],[-0.008151,-0.048682,0.998781]]
2025-10-26T23:10:10.717Z,1761520210.717 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:10.730Z,1761520210.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:10.968Z,1761520210.968 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:11.093Z,1761520211.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574578,-0.817678,-0.035532],[0.818414,0.573603,0.034330],[-0.007690,-0.048805,0.998779]]
2025-10-26T23:10:11.147Z,1761520211.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:11.220Z,1761520211.220 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:11.472Z,1761520211.472 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:11.496Z,1761520211.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577330,-0.815733,-0.035642],[0.816477,0.576362,0.034231],[-0.007380,-0.048864,0.998778]]
2025-10-26T23:10:11.520Z,1761520211.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:11.725Z,1761520211.725 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:11.913Z,1761520211.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580207,-0.813692,-0.035579],[0.814437,0.579241,0.034242],[-0.007254,-0.048845,0.998780]]
2025-10-26T23:10:11.974Z,1761520211.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:11.976Z,1761520211.976 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:12.228Z,1761520212.228 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:12.302Z,1761520212.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583372,-0.811429,-0.035506],[0.812173,0.582399,0.034443],[-0.007269,-0.048930,0.998776]]
2025-10-26T23:10:12.336Z,1761520212.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:12.480Z,1761520212.480 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:12.709Z,1761520212.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586874,-0.808907,-0.035330],[0.809643,0.585885,0.034877],[-0.007512,-0.049073,0.998767]]
2025-10-26T23:10:12.733Z,1761520212.733 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:12.750Z,1761520212.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:12.984Z,1761520212.984 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:13.120Z,1761520213.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590575,-0.806225,-0.034978],[0.806944,0.589564,0.035438],[-0.007949,-0.049154,0.998760]]
2025-10-26T23:10:13.172Z,1761520213.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:13.237Z,1761520213.237 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:13.488Z,1761520213.488 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:13.514Z,1761520213.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594535,-0.803330,-0.034477],[0.804023,0.593496,0.036187],[-0.008608,-0.049235,0.998750]]
2025-10-26T23:10:13.543Z,1761520213.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:13.740Z,1761520213.740 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:13.948Z,1761520213.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598426,-0.800465,-0.033802],[0.801124,0.597360,0.036902],[-0.009347,-0.049163,0.998747]]
2025-10-26T23:10:13.985Z,1761520213.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:13.992Z,1761520213.992 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:14.244Z,1761520214.244 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:14.322Z,1761520214.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602256,-0.797617,-0.033088],[0.798240,0.601168,0.037553],[-0.010062,-0.049029,0.998747]]
2025-10-26T23:10:14.349Z,1761520214.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:14.496Z,1761520214.496 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:14.732Z,1761520214.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606379,-0.794521,-0.032276],[0.795100,0.605259,0.038435],[-0.011002,-0.048969,0.998740]]
2025-10-26T23:10:14.748Z,1761520214.748 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:14.765Z,1761520214.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:15.003Z,1761520215.003 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:15.130Z,1761520215.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610489,-0.791398,-0.031499],[0.791936,0.609339,0.039288],[-0.011899,-0.048930,0.998731]]
2025-10-26T23:10:15.181Z,1761520215.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:15.256Z,1761520215.256 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:15.508Z,1761520215.508 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:15.536Z,1761520215.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614459,-0.788348,-0.030763],[0.788846,0.613286,0.040015],[-0.012679,-0.048855,0.998725]]
2025-10-26T23:10:15.643Z,1761520215.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:15.760Z,1761520215.760 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:15.984Z,1761520215.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618415,-0.785285,-0.029842],[0.785734,0.617220,0.040764],[-0.013592,-0.048657,0.998723]]
2025-10-26T23:10:16.012Z,1761520216.012 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:16.075Z,1761520216.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:16.264Z,1761520216.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:16.350Z,1761520216.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622514,-0.782073,-0.028938],[0.782472,0.621291,0.041649],[-0.014594,-0.048571,0.998713]]
2025-10-26T23:10:16.393Z,1761520216.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:16.516Z,1761520216.516 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:16.754Z,1761520216.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626364,-0.779025,-0.028071],[0.779378,0.625121,0.042358],[-0.015450,-0.048410,0.998708]]
2025-10-26T23:10:16.768Z,1761520216.768 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:16.807Z,1761520216.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:17.021Z,1761520217.021 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:17.158Z,1761520217.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630080,-0.776047,-0.027379],[0.776361,0.628818,0.043022],[-0.016171,-0.048364,0.998699]]
2025-10-26T23:10:17.202Z,1761520217.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:17.272Z,1761520217.272 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:17.524Z,1761520217.524 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:17.563Z,1761520217.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633625,-0.773181,-0.026671],[0.773456,0.632344,0.043671],[-0.016900,-0.048300,0.998690]]
2025-10-26T23:10:17.606Z,1761520217.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:17.776Z,1761520217.776 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:17.998Z,1761520217.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637054,-0.770370,-0.026307],[0.770623,0.635751,0.044277],[-0.017385,-0.048480,0.998673]]
2025-10-26T23:10:18.029Z,1761520218.029 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:18.050Z,1761520218.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:18.281Z,1761520218.281 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:18.371Z,1761520218.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640053,-0.767902,-0.025668],[0.768121,0.638741,0.044721],[-0.017946,-0.048339,0.998670]]
2025-10-26T23:10:18.396Z,1761520218.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:18.532Z,1761520218.532 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:18.774Z,1761520218.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643107,-0.765358,-0.025295],[0.765556,0.641780,0.045198],[-0.018359,-0.048432,0.998658]]
2025-10-26T23:10:18.784Z,1761520218.784 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:18.818Z,1761520218.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:19.036Z,1761520219.036 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:19.178Z,1761520219.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645867,-0.763037,-0.025082],[0.763225,0.644531,0.045474],[-0.018532,-0.048513,0.998651]]
2025-10-26T23:10:19.232Z,1761520219.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:19.289Z,1761520219.289 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:19.540Z,1761520219.540 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:19.593Z,1761520219.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648131,-0.761120,-0.024944],[0.761306,0.646801,0.045414],[-0.018432,-0.048424,0.998657]]
2025-10-26T23:10:19.618Z,1761520219.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:19.792Z,1761520219.792 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:20.028Z,1761520220.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650556,-0.759052,-0.024823],[0.759234,0.649223,0.045536],[-0.018448,-0.048471,0.998654]]
2025-10-26T23:10:20.044Z,1761520220.044 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:20.085Z,1761520220.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:20.296Z,1761520220.296 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:20.391Z,1761520220.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652658,-0.757241,-0.024945],[0.757435,0.651330,0.045389],[-0.018123,-0.048518,0.998658]]
2025-10-26T23:10:20.432Z,1761520220.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:20.548Z,1761520220.548 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:20.794Z,1761520220.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654792,-0.755394,-0.025070],[0.755599,0.653465,0.045322],[-0.017854,-0.048619,0.998658]]
2025-10-26T23:10:20.801Z,1761520220.801 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:20.819Z,1761520220.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:21.053Z,1761520221.053 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:21.200Z,1761520221.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656727,-0.753700,-0.025397],[0.753929,0.655408,0.045069],[-0.017323,-0.048746,0.998661]]
2025-10-26T23:10:21.263Z,1761520221.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:21.304Z,1761520221.304 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:21.556Z,1761520221.556 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:21.608Z,1761520221.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658585,-0.752069,-0.025673],[0.752321,0.657280,0.044688],[-0.016734,-0.048745,0.998671]]
2025-10-26T23:10:21.635Z,1761520221.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:21.808Z,1761520221.808 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:22.060Z,1761520222.060 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:22.112Z,1761520222.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:22.312Z,1761520222.312 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:22.494Z,1761520222.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:22.564Z,1761520222.564 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:22.814Z,1761520222.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664406,-0.746887,-0.026914],[0.747229,0.663146,0.043425],[-0.014586,-0.048963,0.998694]]
2025-10-26T23:10:22.816Z,1761520222.816 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:22.861Z,1761520222.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:23.071Z,1761520223.071 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:23.218Z,1761520223.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666156,-0.745310,-0.027367],[0.745687,0.664922,0.042790],[-0.013695,-0.048912,0.998709]]
2025-10-26T23:10:23.278Z,1761520223.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:23.320Z,1761520223.320 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:23.573Z,1761520223.573 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:23.623Z,1761520223.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668139,-0.743511,-0.027953],[0.743926,0.666921,0.042318],[-0.012822,-0.049069,0.998713]]
2025-10-26T23:10:23.668Z,1761520223.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:23.824Z,1761520223.824 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:24.079Z,1761520224.079 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:24.086Z,1761520224.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672306,-0.739707,-0.028931],[0.740189,0.671129,0.041310],[-0.011142,-0.049187,0.998727]]
2025-10-26T23:10:24.141Z,1761520224.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:24.328Z,1761520224.328 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:24.468Z,1761520224.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:24.581Z,1761520224.581 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:24.832Z,1761520224.832 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:24.840Z,1761520224.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674544,-0.737652,-0.029324],[0.738162,0.673388,0.040808],[-0.010356,-0.049173,0.998737]]
2025-10-26T23:10:24.875Z,1761520224.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:25.086Z,1761520225.086 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:25.238Z,1761520225.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676921,-0.735454,-0.029762],[0.735994,0.675785,0.040336],[-0.009552,-0.049209,0.998743]]
2025-10-26T23:10:25.288Z,1761520225.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:25.338Z,1761520225.338 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:25.589Z,1761520225.589 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:25.649Z,1761520225.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681740,-0.730967,-0.030309],[0.731550,0.680652,0.039345],[-0.008130,-0.048996,0.998766]]
2025-10-26T23:10:25.668Z,1761520225.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:25.840Z,1761520225.840 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:26.087Z,1761520226.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684505,-0.728365,-0.030612],[0.728969,0.683431,0.039073],[-0.007539,-0.049061,0.998767]]
2025-10-26T23:10:26.103Z,1761520226.103 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:26.167Z,1761520226.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:26.352Z,1761520226.352 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:26.455Z,1761520226.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687158,-0.725851,-0.030885],[0.726475,0.686103,0.038695],[-0.006896,-0.049027,0.998774]]
2025-10-26T23:10:26.480Z,1761520226.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:26.604Z,1761520226.604 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:26.644Z,1761520226.644 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:10:26.856Z,1761520226.856 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:26.863Z,1761520226.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689701,-0.723428,-0.031050],[0.724067,0.688670,0.038224],[-0.006269,-0.048846,0.998787]]
2025-10-26T23:10:26.897Z,1761520226.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:27.110Z,1761520227.110 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:27.262Z,1761520227.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692409,-0.720827,-0.031279],[0.721483,0.691395,0.037893],[-0.005688,-0.048804,0.998792]]
2025-10-26T23:10:27.313Z,1761520227.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:27.361Z,1761520227.361 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:27.612Z,1761520227.612 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:27.654Z,1761520227.654 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:10:27.666Z,1761520227.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695117,-0.718211,-0.031397],[0.718878,0.694118,0.037617],[-0.005224,-0.048719,0.998799]]
2025-10-26T23:10:27.685Z,1761520227.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:27.864Z,1761520227.864 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:28.083Z,1761520228.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697796,-0.715601,-0.031561],[0.716281,0.696810,0.037377],[-0.004755,-0.048688,0.998803]]
2025-10-26T23:10:28.119Z,1761520228.119 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:28.155Z,1761520228.155 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:10:28.161Z,1761520228.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:28.162Z,1761520228.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 19.10 m and bearing: 195.621097 deg. Not drifting fast enough.
2025-10-26T23:10:28.368Z,1761520228.368 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:28.470Z,1761520228.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700271,-0.713179,-0.031561],[0.713863,0.699302,0.037097],[-0.004386,-0.048508,0.998813]]
2025-10-26T23:10:28.514Z,1761520228.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:28.517Z,1761520228.517 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-10-26T23:10:28.517Z,1761520228.517 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-26T23:10:28.517Z,1761520228.517 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-10-26T23:10:28.517Z,1761520228.517 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-10-26T23:10:28.620Z,1761520228.620 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:28.872Z,1761520228.872 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:28.920Z,1761520228.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:29.127Z,1761520229.127 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:29.279Z,1761520229.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705143,-0.708344,-0.031967],[0.709057,0.704191,0.036786],[-0.003546,-0.048606,0.998812]]
2025-10-26T23:10:29.334Z,1761520229.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:29.376Z,1761520229.376 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:29.628Z,1761520229.628 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:29.685Z,1761520229.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707153,-0.706336,-0.032007],[0.707053,0.706215,0.036550],[-0.003213,-0.048478,0.998819]]
2025-10-26T23:10:29.713Z,1761520229.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:29.880Z,1761520229.880 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:30.099Z,1761520230.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709165,-0.704314,-0.032030],[0.705036,0.708232,0.036493],[-0.003018,-0.048462,0.998820]]
2025-10-26T23:10:30.135Z,1761520230.135 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:30.251Z,1761520230.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:30.384Z,1761520230.384 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:30.511Z,1761520230.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710987,-0.702472,-0.032096],[0.703199,0.710057,0.036478],[-0.002835,-0.048505,0.998819]]
2025-10-26T23:10:30.544Z,1761520230.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:30.636Z,1761520230.636 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:30.889Z,1761520230.889 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:30.950Z,1761520230.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712622,-0.700805,-0.032292],[0.701544,0.711691,0.036505],[-0.002600,-0.048669,0.998812]]
2025-10-26T23:10:30.994Z,1761520230.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:31.143Z,1761520231.143 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:31.338Z,1761520231.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714107,-0.699282,-0.032508],[0.700033,0.713173,0.036583],[-0.002398,-0.048881,0.998802]]
2025-10-26T23:10:31.392Z,1761520231.392 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:31.415Z,1761520231.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:31.644Z,1761520231.644 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:31.745Z,1761520231.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715376,-0.697981,-0.032566],[0.698736,0.714445,0.036558],[-0.002250,-0.048907,0.998801]]
2025-10-26T23:10:31.784Z,1761520231.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:31.896Z,1761520231.896 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:32.150Z,1761520232.150 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:32.254Z,1761520232.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:32.400Z,1761520232.400 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:32.552Z,1761520232.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718404,-0.694861,-0.032614],[0.695621,0.717429,0.037521],[-0.002673,-0.049642,0.998764]]
2025-10-26T23:10:32.590Z,1761520232.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:32.654Z,1761520232.654 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:32.904Z,1761520232.904 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:32.954Z,1761520232.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720450,-0.692583,-0.035780],[0.693490,0.719123,0.043972],[-0.004724,-0.056493,0.998392]]
2025-10-26T23:10:32.983Z,1761520232.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:33.156Z,1761520233.156 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:33.358Z,1761520233.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723117,-0.689271,-0.044800],[0.690694,0.720948,0.056350],[-0.006542,-0.071691,0.997405]]
2025-10-26T23:10:33.408Z,1761520233.408 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:33.410Z,1761520233.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:33.660Z,1761520233.660 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:33.762Z,1761520233.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725743,-0.685892,-0.053377],[0.687925,0.722665,0.067184],[-0.007507,-0.085478,0.996312]]
2025-10-26T23:10:33.780Z,1761520233.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:33.916Z,1761520233.916 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:34.164Z,1761520234.164 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:34.195Z,1761520234.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728547,-0.682718,-0.055819],[0.684948,0.725106,0.071186],[-0.008125,-0.090095,0.995900]]
2025-10-26T23:10:34.254Z,1761520234.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:34.416Z,1761520234.416 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:34.581Z,1761520234.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731125,-0.680320,-0.051195],[0.682192,0.728085,0.067132],[-0.008397,-0.084007,0.996430]]
2025-10-26T23:10:34.625Z,1761520234.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:34.669Z,1761520234.669 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:34.920Z,1761520234.920 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:34.982Z,1761520234.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733449,-0.678367,-0.043251],[0.679692,0.731117,0.059059],[-0.008442,-0.072714,0.997317]]
2025-10-26T23:10:35.000Z,1761520235.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:35.172Z,1761520235.172 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:35.388Z,1761520235.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735853,-0.676115,-0.037260],[0.677088,0.733991,0.053007],[-0.008491,-0.064233,0.997899]]
2025-10-26T23:10:35.424Z,1761520235.424 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:35.454Z,1761520235.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:35.676Z,1761520235.676 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:35.786Z,1761520235.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738603,-0.673168,-0.036195],[0.674086,0.736793,0.052388],[-0.008597,-0.063092,0.997971]]
2025-10-26T23:10:35.863Z,1761520235.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:35.928Z,1761520235.928 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:36.183Z,1761520236.183 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:36.197Z,1761520236.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741874,-0.669391,-0.039221],[0.670483,0.739785,0.056303],[-0.008674,-0.068067,0.997643]]
2025-10-26T23:10:36.312Z,1761520236.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:36.432Z,1761520236.432 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:36.595Z,1761520236.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745282,-0.665360,-0.043018],[0.666694,0.742838,0.060922],[-0.008580,-0.074084,0.997215]]
2025-10-26T23:10:36.649Z,1761520236.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:36.701Z,1761520236.701 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:36.944Z,1761520236.944 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:37.001Z,1761520237.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749212,-0.660764,-0.045520],[0.662277,0.746510,0.064120],[-0.008387,-0.078186,0.996903]]
2025-10-26T23:10:37.044Z,1761520237.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:37.196Z,1761520237.196 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:37.402Z,1761520237.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753584,-0.655655,-0.047193],[0.657303,0.750712,0.066217],[-0.007987,-0.080920,0.996689]]
2025-10-26T23:10:37.448Z,1761520237.448 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:37.458Z,1761520237.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:37.701Z,1761520237.701 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:37.806Z,1761520237.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758388,-0.649940,-0.049247],[0.651762,0.755320,0.068549],[-0.007355,-0.084085,0.996431]]
2025-10-26T23:10:37.832Z,1761520237.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:37.952Z,1761520237.952 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:38.204Z,1761520238.204 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:38.220Z,1761520238.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763653,-0.643476,-0.052653],[0.645593,0.760241,0.072405],[-0.006562,-0.089285,0.995984]]
2025-10-26T23:10:38.297Z,1761520238.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:38.458Z,1761520238.458 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:38.614Z,1761520238.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769747,-0.635848,-0.056457],[0.638323,0.765895,0.077128],[-0.005802,-0.095407,0.995421]]
2025-10-26T23:10:38.660Z,1761520238.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:38.709Z,1761520238.709 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:38.960Z,1761520238.960 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:39.018Z,1761520239.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775995,-0.627910,-0.059677],[0.630719,0.771730,0.081404],[-0.005060,-0.100809,0.994893]]
2025-10-26T23:10:39.059Z,1761520239.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:39.212Z,1761520239.212 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:39.422Z,1761520239.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782660,-0.619286,-0.062681],[0.622435,0.777958,0.085769],[-0.004352,-0.106143,0.994341]]
2025-10-26T23:10:39.464Z,1761520239.464 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:39.483Z,1761520239.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:39.717Z,1761520239.717 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:39.826Z,1761520239.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789171,-0.610521,-0.066880],[0.614163,0.783837,0.091671],[-0.003544,-0.113419,0.993541]]
2025-10-26T23:10:39.850Z,1761520239.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:39.968Z,1761520239.968 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:40.220Z,1761520240.220 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:40.231Z,1761520240.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795564,-0.601519,-0.072477],[0.605863,0.789290,0.099754],[-0.002798,-0.123272,0.992369]]
2025-10-26T23:10:40.303Z,1761520240.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:40.472Z,1761520240.472 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:40.644Z,1761520240.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802213,-0.591882,-0.078301],[0.597034,0.794783,0.108948],[-0.002252,-0.134147,0.990959]]
2025-10-26T23:10:40.688Z,1761520240.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:40.725Z,1761520240.725 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:40.976Z,1761520240.976 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:41.062Z,1761520241.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808474,-0.582661,-0.082925],[0.588530,0.800018,0.116633],[-0.001616,-0.143099,0.989707]]
2025-10-26T23:10:41.105Z,1761520241.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:41.228Z,1761520241.228 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:41.452Z,1761520241.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814724,-0.573527,-0.085390],[0.579848,0.805507,0.122208],[-0.001308,-0.149079,0.988824]]
2025-10-26T23:10:41.480Z,1761520241.480 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:41.494Z,1761520241.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:41.732Z,1761520241.732 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:41.855Z,1761520241.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820752,-0.564656,-0.086770],[0.571283,0.810915,0.126698],[-0.001178,-0.153558,0.988139]]
2025-10-26T23:10:41.889Z,1761520241.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:41.985Z,1761520241.985 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:42.236Z,1761520242.236 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:42.259Z,1761520242.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826653,-0.555900,-0.087290],[0.562711,0.816364,0.130024],[-0.001020,-0.156604,0.987661]]
2025-10-26T23:10:42.281Z,1761520242.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:42.488Z,1761520242.488 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:42.663Z,1761520242.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832506,-0.547114,-0.087176],[0.554015,0.821945,0.132188],[-0.000668,-0.158344,0.987384]]
2025-10-26T23:10:42.702Z,1761520242.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:42.741Z,1761520242.741 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:42.992Z,1761520242.992 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:43.083Z,1761520243.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838449,-0.537964,-0.087165],[0.544980,0.827489,0.135126],[-0.000565,-0.160799,0.986987]]
2025-10-26T23:10:43.102Z,1761520243.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:43.245Z,1761520243.245 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:43.497Z,1761520243.497 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:43.566Z,1761520243.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844546,-0.528178,-0.088148],[0.535483,0.832943,0.139512],[-0.000264,-0.165026,0.986289]]
2025-10-26T23:10:43.630Z,1761520243.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:43.749Z,1761520243.749 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:43.946Z,1761520243.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850715,-0.517930,-0.089623],[0.525626,0.838342,0.144565],[0.000260,-0.170091,0.985428]]
2025-10-26T23:10:43.981Z,1761520243.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:44.000Z,1761520244.000 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:44.252Z,1761520244.252 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:44.395Z,1761520244.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857229,-0.507047,-0.089785],[0.514935,0.844337,0.148112],[0.000709,-0.173199,0.984887]]
2025-10-26T23:10:44.504Z,1761520244.504 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:44.509Z,1761520244.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:44.756Z,1761520244.756 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:44.786Z,1761520244.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863641,-0.496174,-0.089080],[0.504105,0.850589,0.149587],[0.001550,-0.174095,0.984728]]
2025-10-26T23:10:44.837Z,1761520244.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:45.008Z,1761520245.008 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:45.190Z,1761520245.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870284,-0.484480,-0.088799],[0.492543,0.856974,0.151645],[0.002629,-0.175712,0.984438]]
2025-10-26T23:10:45.234Z,1761520245.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:45.264Z,1761520245.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:45.512Z,1761520245.512 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:45.595Z,1761520245.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876970,-0.472134,-0.089514],[0.480531,0.863038,0.155740],[0.003724,-0.179594,0.983734]]
2025-10-26T23:10:45.654Z,1761520245.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:45.764Z,1761520245.764 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:46.000Z,1761520246.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884198,-0.458156,-0.091036],[0.467089,0.869163,0.162429],[0.004707,-0.186141,0.982512]]
2025-10-26T23:10:46.016Z,1761520246.016 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:46.024Z,1761520246.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:46.268Z,1761520246.268 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:46.421Z,1761520246.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891327,-0.443965,-0.091826],[0.453328,0.875276,0.168481],[0.005574,-0.191799,0.981418]]
2025-10-26T23:10:46.458Z,1761520246.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:46.521Z,1761520246.521 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:46.772Z,1761520246.772 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:46.806Z,1761520246.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898480,-0.429348,-0.091618],[0.438969,0.881606,0.173430],[0.006309,-0.196041,0.980575]]
2025-10-26T23:10:46.841Z,1761520246.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:47.024Z,1761520247.024 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:47.210Z,1761520247.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905503,-0.414414,-0.091244],[0.424278,0.887847,0.178090],[0.007208,-0.199974,0.979775]]
2025-10-26T23:10:47.236Z,1761520247.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:47.276Z,1761520247.276 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:47.529Z,1761520247.529 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:47.615Z,1761520247.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912457,-0.398912,-0.091061],[0.409086,0.893970,0.182939],[0.008429,-0.204176,0.978898]]
2025-10-26T23:10:47.652Z,1761520247.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:47.781Z,1761520247.781 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:48.018Z,1761520248.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919319,-0.383015,-0.090293],[0.393399,0.900066,0.187400],[0.009492,-0.207801,0.978125]]
2025-10-26T23:10:48.034Z,1761520248.034 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:48.095Z,1761520248.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:48.284Z,1761520248.284 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:48.450Z,1761520248.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926018,-0.367123,-0.087821],[0.377347,0.906473,0.189516],[0.010032,-0.208634,0.977942]]
2025-10-26T23:10:48.492Z,1761520248.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:48.537Z,1761520248.537 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:48.788Z,1761520248.788 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:48.830Z,1761520248.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932446,-0.351434,-0.083892],[0.361172,0.913002,0.189690],[0.009930,-0.207175,0.978253]]
2025-10-26T23:10:48.856Z,1761520248.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:49.041Z,1761520249.041 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:49.235Z,1761520249.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938611,-0.335466,-0.080446],[0.344843,0.918882,0.191674],[0.009620,-0.207648,0.978156]]
2025-10-26T23:10:49.292Z,1761520249.292 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:49.316Z,1761520249.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:49.546Z,1761520249.546 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:49.638Z,1761520249.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944287,-0.319962,-0.077116],[0.329001,0.924051,0.194650],[0.008979,-0.209176,0.977837]]
2025-10-26T23:10:49.727Z,1761520249.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:49.796Z,1761520249.796 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:50.050Z,1761520250.050 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:50.057Z,1761520250.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949832,-0.303762,-0.074487],[0.312650,0.928512,0.200290],[0.008322,-0.213530,0.976901]]
2025-10-26T23:10:50.105Z,1761520250.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:50.300Z,1761520250.300 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:50.554Z,1761520250.554 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:50.577Z,1761520250.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:50.804Z,1761520250.804 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:50.880Z,1761520250.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962420,-0.263615,-0.065231],[0.271467,0.940400,0.204826],[0.007347,-0.214837,0.976622]]
2025-10-26T23:10:50.899Z,1761520250.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:51.065Z,1761520251.065 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:51.285Z,1761520251.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964951,-0.254729,-0.063114],[0.262345,0.942495,0.207071],[0.006738,-0.216371,0.976288]]
2025-10-26T23:10:51.303Z,1761520251.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:51.312Z,1761520251.312 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:51.564Z,1761520251.564 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:51.769Z,1761520251.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:51.817Z,1761520251.817 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:52.076Z,1761520252.076 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:52.087Z,1761520252.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968221,-0.242951,-0.059349],[0.250015,0.946245,0.205216],[0.006301,-0.213533,0.976916]]
2025-10-26T23:10:52.125Z,1761520252.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:52.320Z,1761520252.320 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:52.509Z,1761520252.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968942,-0.240378,-0.058047],[0.247196,0.947899,0.200953],[0.006718,-0.209061,0.977880]]
2025-10-26T23:10:52.572Z,1761520252.572 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:52.602Z,1761520252.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:52.824Z,1761520252.824 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:52.932Z,1761520252.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:53.076Z,1761520253.076 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:53.299Z,1761520253.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968891,-0.241238,-0.055270],[0.247385,0.950508,0.187977],[0.007188,-0.195803,0.980617]]
2025-10-26T23:10:53.324Z,1761520253.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:53.328Z,1761520253.328 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:53.580Z,1761520253.580 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:53.705Z,1761520253.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968269,-0.244563,-0.051423],[0.249814,0.952909,0.171922],[0.006955,-0.179313,0.983768]]
2025-10-26T23:10:53.760Z,1761520253.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:53.833Z,1761520253.833 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:54.089Z,1761520254.089 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:54.117Z,1761520254.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967471,-0.248678,-0.046460],[0.252912,0.955035,0.154735],[0.005892,-0.161452,0.986863]]
2025-10-26T23:10:54.152Z,1761520254.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:54.337Z,1761520254.337 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:54.588Z,1761520254.588 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:54.593Z,1761520254.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966763,-0.252312,-0.041337],[0.255642,0.956544,0.140250],[0.004154,-0.146156,0.989253]]
2025-10-26T23:10:54.647Z,1761520254.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:54.841Z,1761520254.841 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:55.092Z,1761520255.092 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:55.150Z,1761520255.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:55.344Z,1761520255.344 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:55.514Z,1761520255.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965812,-0.257046,-0.033672],[0.259240,0.957037,0.129905],[-0.001166,-0.134193,0.990955]]
2025-10-26T23:10:55.583Z,1761520255.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:55.596Z,1761520255.596 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:55.848Z,1761520255.848 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:55.912Z,1761520255.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965835,-0.257310,-0.030901],[0.259126,0.956914,0.131029],[-0.004145,-0.134560,0.990897]]
2025-10-26T23:10:55.950Z,1761520255.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:56.101Z,1761520256.101 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:56.310Z,1761520256.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965956,-0.257338,-0.026569],[0.258600,0.957514,0.127642],[-0.007407,-0.130168,0.991464]]
2025-10-26T23:10:56.344Z,1761520256.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:56.352Z,1761520256.352 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:56.604Z,1761520256.604 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:56.721Z,1761520256.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966157,-0.256924,-0.023030],[0.257724,0.957671,0.128241],[-0.010893,-0.129837,0.991476]]
2025-10-26T23:10:56.771Z,1761520256.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:56.856Z,1761520256.856 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:57.108Z,1761520257.108 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:57.134Z,1761520257.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966555,-0.255628,-0.020620],[0.256059,0.957440,0.133199],[-0.014307,-0.134024,0.990875]]
2025-10-26T23:10:57.153Z,1761520257.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:57.360Z,1761520257.360 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:57.555Z,1761520257.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967275,-0.253118,-0.017629],[0.253113,0.957741,0.136624],[-0.017698,-0.136615,0.990466]]
2025-10-26T23:10:57.612Z,1761520257.612 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:57.641Z,1761520257.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:57.772Z,1761520257.772 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:10:57.864Z,1761520257.864 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:57.926Z,1761520257.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968096,-0.250202,-0.013750],[0.249719,0.958769,0.135654],[-0.020758,-0.134760,0.990661]]
2025-10-26T23:10:57.956Z,1761520257.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:58.117Z,1761520258.117 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:58.330Z,1761520258.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968700,-0.248038,-0.009818],[0.247096,0.959733,0.133625],[-0.023722,-0.131868,0.990983]]
2025-10-26T23:10:58.368Z,1761520258.368 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:58.375Z,1761520258.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:58.620Z,1761520258.620 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:58.740Z,1761520258.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969588,-0.244684,-0.005447],[0.243207,0.960763,0.133358],[-0.027398,-0.130627,0.991053]]
2025-10-26T23:10:58.776Z,1761520258.776 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:10:58.846Z,1761520258.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:58.889Z,1761520258.889 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:59.140Z,1761520259.140 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:59.159Z,1761520259.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970342,-0.241736,-0.000599],[0.239699,0.961836,0.131968],[-0.031325,-0.128197,0.991254]]
2025-10-26T23:10:59.185Z,1761520259.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:59.392Z,1761520259.392 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:59.599Z,1761520259.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970921,-0.239359,0.004529],[0.236765,0.962856,0.129810],[-0.035432,-0.124963,0.991529]]
2025-10-26T23:10:59.644Z,1761520259.644 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:59.686Z,1761520259.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:10:59.896Z,1761520259.896 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:10:59.984Z,1761520259.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971252,-0.237895,0.008637],[0.234737,0.963131,0.131442],[-0.039588,-0.125636,0.991286]]
2025-10-26T23:11:00.051Z,1761520260.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:00.149Z,1761520260.149 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:00.384Z,1761520260.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971342,-0.237403,0.011589],[0.233667,0.962711,0.136337],[-0.043524,-0.129722,0.990595]]
2025-10-26T23:11:00.400Z,1761520260.400 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:00.413Z,1761520260.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:00.652Z,1761520260.652 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:00.787Z,1761520260.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971406,-0.237000,0.014222],[0.232690,0.962223,0.141359],[-0.047187,-0.134008,0.989856]]
2025-10-26T23:11:00.831Z,1761520260.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:00.905Z,1761520260.905 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:01.156Z,1761520261.156 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:01.198Z,1761520261.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971271,-0.237333,0.017510],[0.232611,0.962332,0.140746],[-0.050254,-0.132629,0.989891]]
2025-10-26T23:11:01.231Z,1761520261.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:01.408Z,1761520261.408 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:01.625Z,1761520261.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971199,-0.237291,0.021576],[0.232306,0.963134,0.135668],[-0.052973,-0.126749,0.990519]]
2025-10-26T23:11:01.660Z,1761520261.660 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:01.728Z,1761520261.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:01.920Z,1761520261.920 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:02.040Z,1761520262.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971320,-0.236249,0.026891],[0.231120,0.964648,0.126640],[-0.055859,-0.116793,0.991584]]
2025-10-26T23:11:02.074Z,1761520262.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:02.164Z,1761520262.164 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:02.416Z,1761520262.416 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:02.440Z,1761520262.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971311,-0.235835,0.030596],[0.230506,0.965292,0.122793],[-0.058493,-0.112218,0.991961]]
2025-10-26T23:11:02.459Z,1761520262.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:02.669Z,1761520262.669 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:02.839Z,1761520262.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971492,-0.234796,0.032776],[0.229064,0.965290,0.125482],[-0.061101,-0.114397,0.991554]]
2025-10-26T23:11:02.920Z,1761520262.920 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:02.939Z,1761520262.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:03.173Z,1761520263.173 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:03.382Z,1761520263.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971968,-0.232488,0.035037],[0.225225,0.963456,0.145004],[-0.067468,-0.133048,0.988811]]
2025-10-26T23:11:03.408Z,1761520263.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:03.424Z,1761520263.424 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:03.683Z,1761520263.683 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:03.930Z,1761520263.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:03.933Z,1761520263.933 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:04.184Z,1761520264.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:04.388Z,1761520264.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971742,-0.232873,0.038578],[0.224141,0.961570,0.158568],[-0.074021,-0.145440,0.986594]]
2025-10-26T23:11:04.436Z,1761520264.436 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:04.437Z,1761520264.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:04.689Z,1761520264.689 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:04.795Z,1761520264.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971196,-0.234677,0.041299],[0.225806,0.961762,0.155001],[-0.076095,-0.141211,0.987051]]
2025-10-26T23:11:04.854Z,1761520264.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:04.941Z,1761520264.941 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:05.196Z,1761520265.196 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:05.204Z,1761520265.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970093,-0.238709,0.044011],[0.229977,0.961884,0.147951],[-0.077651,-0.133405,0.988015]]
2025-10-26T23:11:05.239Z,1761520265.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:05.448Z,1761520265.448 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:05.598Z,1761520265.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968741,-0.244013,0.044702],[0.235216,0.960756,0.147040],[-0.078827,-0.131929,0.988120]]
2025-10-26T23:11:05.624Z,1761520265.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:05.704Z,1761520265.704 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:05.952Z,1761520265.952 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:06.064Z,1761520266.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:06.204Z,1761520266.204 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:06.407Z,1761520266.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966065,-0.254280,0.045401],[0.245929,0.959219,0.139345],[-0.078982,-0.123451,0.989203]]
2025-10-26T23:11:06.425Z,1761520266.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:06.457Z,1761520266.457 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:06.711Z,1761520266.711 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:06.813Z,1761520266.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964054,-0.261744,0.045722],[0.253837,0.958104,0.132677],[-0.078534,-0.116301,0.990104]]
2025-10-26T23:11:06.850Z,1761520266.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:06.962Z,1761520266.962 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:07.212Z,1761520267.212 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:07.216Z,1761520267.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962296,-0.268345,0.044468],[0.260618,0.956414,0.131724],[-0.077877,-0.115169,0.990288]]
2025-10-26T23:11:07.253Z,1761520267.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:07.464Z,1761520267.464 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:07.618Z,1761520267.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960529,-0.274904,0.042566],[0.267275,0.954430,0.132766],[-0.077124,-0.116149,0.990233]]
2025-10-26T23:11:07.637Z,1761520267.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:07.719Z,1761520267.719 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:07.968Z,1761520267.968 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:08.033Z,1761520268.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959115,-0.279957,0.041511],[0.272527,0.953138,0.131367],[-0.076343,-0.114683,0.990464]]
2025-10-26T23:11:08.094Z,1761520268.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:08.220Z,1761520268.220 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:08.426Z,1761520268.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958067,-0.283431,0.042130],[0.276319,0.952763,0.126059],[-0.075869,-0.109131,0.991128]]
2025-10-26T23:11:08.453Z,1761520268.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:08.472Z,1761520268.472 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:08.727Z,1761520268.727 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:08.831Z,1761520268.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957228,-0.285948,0.044151],[0.279133,0.952823,0.119221],[-0.076159,-0.101798,0.991886]]
2025-10-26T23:11:08.878Z,1761520268.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:08.976Z,1761520268.976 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:09.228Z,1761520269.228 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:09.245Z,1761520269.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957069,-0.286073,0.046703],[0.279287,0.953230,0.115550],[-0.077574,-0.097545,0.992203]]
2025-10-26T23:11:09.263Z,1761520269.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:09.480Z,1761520269.480 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:09.640Z,1761520269.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957359,-0.284823,0.048372],[0.277721,0.953446,0.117522],[-0.079593,-0.099076,0.991892]]
2025-10-26T23:11:09.664Z,1761520269.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:09.734Z,1761520269.734 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:09.984Z,1761520269.984 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:10.043Z,1761520270.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958085,-0.282475,0.047767],[0.274585,0.952990,0.128112],[-0.081710,-0.109626,0.990609]]
2025-10-26T23:11:10.091Z,1761520270.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:10.236Z,1761520270.236 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:10.447Z,1761520270.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959262,-0.278811,0.045616],[0.269964,0.952205,0.142914],[-0.083282,-0.124778,0.988683]]
2025-10-26T23:11:10.466Z,1761520270.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:10.490Z,1761520270.490 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:10.744Z,1761520270.744 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:10.852Z,1761520270.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960552,-0.274689,0.043426],[0.264925,0.951313,0.157539],[-0.084586,-0.139820,0.986557]]
2025-10-26T23:11:10.910Z,1761520270.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:10.994Z,1761520270.994 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:11.245Z,1761520271.245 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:11.333Z,1761520271.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962698,-0.267264,0.042225],[0.256242,0.950640,0.174995],[-0.086911,-0.157648,0.983663]]
2025-10-26T23:11:11.352Z,1761520271.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:11.497Z,1761520271.497 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:11.751Z,1761520271.751 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:11.800Z,1761520271.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963640,-0.263730,0.042940],[0.252353,0.951083,0.178209],[-0.087838,-0.160893,0.983055]]
2025-10-26T23:11:11.856Z,1761520271.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:12.001Z,1761520272.001 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:12.209Z,1761520272.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964648,-0.259692,0.044872],[0.248306,0.952666,0.175421],[-0.088304,-0.158077,0.983470]]
2025-10-26T23:11:12.232Z,1761520272.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:12.252Z,1761520272.252 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:12.505Z,1761520272.505 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:12.606Z,1761520272.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965495,-0.256377,0.045720],[0.244859,0.953480,0.175840],[-0.088675,-0.158578,0.983357]]
2025-10-26T23:11:12.637Z,1761520272.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:12.759Z,1761520272.759 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:13.009Z,1761520273.009 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:13.021Z,1761520273.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966474,-0.252342,0.047442],[0.240536,0.954450,0.176542],[-0.089830,-0.159212,0.983149]]
2025-10-26T23:11:13.127Z,1761520273.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:13.260Z,1761520273.260 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:13.431Z,1761520273.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967469,-0.247557,0.052137],[0.235489,0.956534,0.172008],[-0.092453,-0.154135,0.983715]]
2025-10-26T23:11:13.477Z,1761520273.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:13.513Z,1761520273.513 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:13.766Z,1761520273.766 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:13.845Z,1761520273.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968264,-0.243111,0.057991],[0.230858,0.958865,0.165176],[-0.095762,-0.146546,0.984558]]
2025-10-26T23:11:13.912Z,1761520273.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:14.016Z,1761520274.016 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:14.242Z,1761520274.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968792,-0.239825,0.062655],[0.226926,0.959816,0.165097],[-0.099732,-0.145727,0.984285]]
2025-10-26T23:11:14.268Z,1761520274.268 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:14.311Z,1761520274.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:14.520Z,1761520274.520 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:14.642Z,1761520274.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969140,-0.237577,0.065768],[0.223682,0.959642,0.170450],[-0.103609,-0.150478,0.983169]]
2025-10-26T23:11:14.676Z,1761520274.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:14.775Z,1761520274.775 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:15.024Z,1761520275.024 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:15.046Z,1761520275.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969217,-0.236464,0.068573],[0.221852,0.959566,0.173250],[-0.106768,-0.152704,0.982488]]
2025-10-26T23:11:15.104Z,1761520275.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:15.276Z,1761520275.276 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:15.455Z,1761520275.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968769,-0.237501,0.071269],[0.222736,0.959799,0.170809],[-0.108971,-0.149600,0.982723]]
2025-10-26T23:11:15.474Z,1761520275.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:15.529Z,1761520275.529 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:15.783Z,1761520275.783 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:15.873Z,1761520275.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968124,-0.239441,0.073505],[0.224596,0.959793,0.168384],[-0.110868,-0.146507,0.982977]]
2025-10-26T23:11:15.926Z,1761520275.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:16.032Z,1761520276.032 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:16.285Z,1761520276.285 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:16.367Z,1761520276.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967282,-0.242095,0.075871],[0.227415,0.959938,0.163714],[-0.112465,-0.141103,0.983586]]
2025-10-26T23:11:16.445Z,1761520276.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:16.537Z,1761520276.537 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:16.789Z,1761520276.789 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:16.789Z,1761520276.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966469,-0.244720,0.077785],[0.230478,0.960260,0.157419],[-0.113218,-0.134213,0.984464]]
2025-10-26T23:11:16.938Z,1761520276.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:17.040Z,1761520277.040 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:17.295Z,1761520277.295 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:17.365Z,1761520277.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964772,-0.250869,0.079244],[0.237958,0.960563,0.143857],[-0.112208,-0.119933,0.986421]]
2025-10-26T23:11:17.397Z,1761520277.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:17.544Z,1761520277.544 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:17.759Z,1761520277.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964160,-0.253605,0.077970],[0.240866,0.959876,0.143602],[-0.111260,-0.119675,0.986559]]
2025-10-26T23:11:17.783Z,1761520277.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:17.796Z,1761520277.796 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:18.048Z,1761520278.048 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:18.164Z,1761520278.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963862,-0.255238,0.076313],[0.242525,0.959234,0.145089],[-0.110234,-0.121338,0.986471]]
2025-10-26T23:11:18.246Z,1761520278.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:18.301Z,1761520278.301 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:18.552Z,1761520278.552 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:18.569Z,1761520278.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963836,-0.256106,0.073686],[0.243288,0.958450,0.148942],[-0.108770,-0.125629,0.986097]]
2025-10-26T23:11:18.594Z,1761520278.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:18.804Z,1761520278.804 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:18.970Z,1761520278.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963761,-0.257004,0.071513],[0.244333,0.958006,0.150084],[-0.107082,-0.127172,0.986084]]
2025-10-26T23:11:19.031Z,1761520279.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:19.057Z,1761520279.057 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:19.309Z,1761520279.309 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:19.376Z,1761520279.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963484,-0.258599,0.069466],[0.246129,0.957470,0.150571],[-0.105449,-0.127975,0.986156]]
2025-10-26T23:11:19.396Z,1761520279.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:19.560Z,1761520279.560 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:19.782Z,1761520279.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963030,-0.260838,0.067357],[0.248503,0.956672,0.151742],[-0.104019,-0.129393,0.986122]]
2025-10-26T23:11:19.801Z,1761520279.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:19.812Z,1761520279.812 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:20.064Z,1761520280.064 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:20.182Z,1761520280.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962549,-0.263046,0.065625],[0.250512,0.955518,0.155660],[-0.103652,-0.133390,0.985628]]
2025-10-26T23:11:20.226Z,1761520280.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:20.316Z,1761520280.316 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:20.568Z,1761520280.568 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:20.664Z,1761520280.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962068,-0.265216,0.063911],[0.252474,0.954332,0.159710],[-0.103350,-0.137516,0.985093]]
2025-10-26T23:11:20.682Z,1761520280.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:20.820Z,1761520280.820 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:21.063Z,1761520281.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961426,-0.267532,0.063928],[0.255163,0.954240,0.155944],[-0.102723,-0.133616,0.985695]]
2025-10-26T23:11:21.072Z,1761520281.072 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:21.110Z,1761520281.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:21.325Z,1761520281.325 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:21.465Z,1761520281.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960350,-0.271594,0.062960],[0.259772,0.953694,0.151610],[-0.101221,-0.129243,0.986433]]
2025-10-26T23:11:21.498Z,1761520281.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:21.576Z,1761520281.576 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:21.828Z,1761520281.828 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:21.881Z,1761520281.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959271,-0.275892,0.060682],[0.264614,0.952798,0.148846],[-0.098883,-0.126727,0.986997]]
2025-10-26T23:11:21.963Z,1761520281.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:22.081Z,1761520282.081 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:22.330Z,1761520282.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:22.332Z,1761520282.332 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:22.584Z,1761520282.584 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:22.678Z,1761520282.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956777,-0.285618,0.054770],[0.276056,0.951194,0.137924],[-0.091490,-0.116843,0.988927]]
2025-10-26T23:11:22.719Z,1761520282.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:22.837Z,1761520282.837 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:23.082Z,1761520283.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955678,-0.290040,0.050559],[0.281392,0.950347,0.132890],[-0.086592,-0.112773,0.989840]]
2025-10-26T23:11:23.088Z,1761520283.088 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:23.128Z,1761520283.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:23.340Z,1761520283.340 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:23.501Z,1761520283.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954766,-0.293854,0.045510],[0.286064,0.949463,0.129177],[-0.081169,-0.110315,0.990577]]
2025-10-26T23:11:23.520Z,1761520283.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:23.592Z,1761520283.592 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:23.844Z,1761520283.844 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:24.006Z,1761520284.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954657,-0.295151,0.038940],[0.288003,0.948726,0.130283],[-0.075396,-0.113160,0.990712]]
2025-10-26T23:11:24.044Z,1761520284.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:24.098Z,1761520284.098 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:24.348Z,1761520284.348 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:24.390Z,1761520284.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955070,-0.294508,0.033271],[0.287962,0.948640,0.130996],[-0.070142,-0.115529,0.990824]]
2025-10-26T23:11:24.409Z,1761520284.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:24.601Z,1761520284.601 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:24.852Z,1761520284.852 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:24.853Z,1761520284.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955984,-0.292161,0.027153],[0.286043,0.948571,0.135618],[-0.065379,-0.121882,0.990389]]
2025-10-26T23:11:24.872Z,1761520284.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:25.105Z,1761520285.105 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:25.309Z,1761520285.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:25.356Z,1761520285.356 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:25.608Z,1761520285.608 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:25.654Z,1761520285.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958836,-0.283535,0.015522],[0.278336,0.949267,0.146363],[-0.056233,-0.136018,0.989109]]
2025-10-26T23:11:25.673Z,1761520285.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:25.860Z,1761520285.860 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:26.056Z,1761520286.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960505,-0.278171,0.007103],[0.273365,0.948065,0.162615],[-0.051968,-0.154251,0.986664]]
2025-10-26T23:11:26.093Z,1761520286.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:26.112Z,1761520286.112 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:26.364Z,1761520286.364 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:26.458Z,1761520286.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962123,-0.272614,-0.000984],[0.268419,0.946674,0.178212],[-0.047652,-0.171726,0.983992]]
2025-10-26T23:11:26.507Z,1761520286.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:26.616Z,1761520286.616 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:26.862Z,1761520286.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963446,-0.267798,-0.007528],[0.264370,0.945812,0.188544],[-0.043371,-0.183642,0.982036]]
2025-10-26T23:11:26.868Z,1761520286.868 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:26.883Z,1761520286.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:27.120Z,1761520287.120 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:27.270Z,1761520287.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964109,-0.265177,-0.013258],[0.262688,0.945423,0.192797],[-0.038591,-0.189359,0.981149]]
2025-10-26T23:11:27.372Z,1761520287.372 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:27.434Z,1761520287.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:27.624Z,1761520287.624 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:27.754Z,1761520287.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964201,-0.264160,-0.023137],[0.263689,0.945944,0.188832],[-0.027996,-0.188173,0.981737]]
2025-10-26T23:11:27.822Z,1761520287.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:27.877Z,1761520287.877 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:28.128Z,1761520288.128 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:28.154Z,1761520288.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963907,-0.264989,-0.025790],[0.265256,0.947500,0.178561],[-0.022880,-0.178957,0.983591]]
2025-10-26T23:11:28.218Z,1761520288.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:11:28.220Z,1761520288.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:28.380Z,1761520288.380 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:28.560Z,1761520288.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963155,-0.267647,-0.026434],[0.268347,0.949775,0.160986],[-0.017981,-0.162148,0.986603]]
2025-10-26T23:11:28.588Z,1761520288.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:28.632Z,1761520288.632 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:28.884Z,1761520288.884 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:28.896Z,1761520288.896 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:11:28.978Z,1761520288.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962386,-0.270288,-0.027515],[0.271362,0.951360,0.145868],[-0.013250,-0.147848,0.988921]]
2025-10-26T23:11:29.056Z,1761520289.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:29.136Z,1761520289.136 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:29.370Z,1761520289.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961582,-0.272946,-0.029331],[0.274388,0.952347,0.133213],[-0.008427,-0.136143,0.990653]]
2025-10-26T23:11:29.388Z,1761520289.388 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:29.424Z,1761520289.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:29.641Z,1761520289.641 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:29.770Z,1761520289.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961056,-0.274452,-0.032358],[0.276330,0.952868,0.125240],[-0.003540,-0.129304,0.991599]]
2025-10-26T23:11:29.790Z,1761520289.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:29.893Z,1761520289.893 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:29.900Z,1761520289.900 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:11:30.144Z,1761520290.144 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:30.177Z,1761520290.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960777,-0.274964,-0.036090],[0.277320,0.953138,0.120922],[0.001149,-0.126188,0.992006]]
2025-10-26T23:11:30.291Z,1761520290.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:30.396Z,1761520290.396 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:30.591Z,1761520290.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960900,-0.273938,-0.040353],[0.276847,0.953169,0.121755],[0.005110,-0.128166,0.991740]]
2025-10-26T23:11:30.628Z,1761520290.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:30.648Z,1761520290.648 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:30.901Z,1761520290.901 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:30.000Z,1761520291.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961510,-0.271056,-0.045019],[0.274631,0.953228,0.126231],[0.008697,-0.133736,0.990979]]
2025-10-26T23:11:31.108Z,1761520291.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:31.154Z,1761520291.154 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:31.404Z,1761520291.404 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:31.476Z,1761520291.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962199,-0.267938,-0.048802],[0.272110,0.953266,0.131301],[0.011340,-0.139617,0.990141]]
2025-10-26T23:11:31.526Z,1761520291.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:31.656Z,1761520291.656 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:31.909Z,1761520291.909 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:31.990Z,1761520291.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962977,-0.264325,-0.052989],[0.269241,0.952903,0.139592],[0.013596,-0.148690,0.988790]]
2025-10-26T23:11:32.023Z,1761520292.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:32.161Z,1761520292.161 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:32.412Z,1761520292.412 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:32.417Z,1761520292.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963621,-0.260992,-0.057597],[0.266802,0.952094,0.149443],[0.015834,-0.159373,0.987091]]
2025-10-26T23:11:32.497Z,1761520292.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:32.664Z,1761520292.664 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:32.916Z,1761520292.916 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:32.946Z,1761520292.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964822,-0.254298,-0.066713],[0.262164,0.949628,0.171689],[0.019693,-0.183139,0.982890]]
2025-10-26T23:11:32.977Z,1761520292.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:33.168Z,1761520293.168 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:33.339Z,1761520293.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965309,-0.251795,-0.069127],[0.260230,0.949454,0.175550],[0.021430,-0.187449,0.982041]]
2025-10-26T23:11:33.382Z,1761520293.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:33.421Z,1761520293.421 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:33.672Z,1761520293.672 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:33.746Z,1761520293.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965692,-0.249909,-0.070602],[0.258668,0.949765,0.176174],[0.023028,-0.188392,0.981824]]
2025-10-26T23:11:33.764Z,1761520293.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:33.924Z,1761520293.924 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:34.147Z,1761520294.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965883,-0.248746,-0.072083],[0.257744,0.950449,0.173826],[0.025273,-0.186474,0.982135]]
2025-10-26T23:11:34.176Z,1761520294.176 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:34.196Z,1761520294.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:34.428Z,1761520294.428 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:34.550Z,1761520294.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965889,-0.248062,-0.074324],[0.257416,0.951007,0.171240],[0.028205,-0.184531,0.982422]]
2025-10-26T23:11:34.586Z,1761520294.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:34.680Z,1761520294.680 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:34.932Z,1761520294.932 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:34.960Z,1761520294.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965889,-0.247208,-0.077110],[0.257075,0.951194,0.170708],[0.031146,-0.184708,0.982300]]
2025-10-26T23:11:35.001Z,1761520295.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:35.184Z,1761520295.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:35.359Z,1761520295.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965754,-0.246607,-0.080645],[0.257153,0.951104,0.171094],[0.034509,-0.185973,0.981949]]
2025-10-26T23:11:35.436Z,1761520295.436 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:35.488Z,1761520295.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:35.688Z,1761520295.688 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:35.799Z,1761520295.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965503,-0.246665,-0.083434],[0.257655,0.951328,0.169083],[0.037666,-0.184747,0.982064]]
2025-10-26T23:11:35.817Z,1761520295.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:35.940Z,1761520295.940 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:36.192Z,1761520296.192 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:36.204Z,1761520296.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965014,-0.247628,-0.086187],[0.259030,0.951321,0.167009],[0.040635,-0.183491,0.982181]]
2025-10-26T23:11:36.257Z,1761520296.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:36.444Z,1761520296.444 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:36.610Z,1761520296.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964437,-0.248883,-0.088990],[0.260606,0.951587,0.162993],[0.044116,-0.180388,0.982606]]
2025-10-26T23:11:36.628Z,1761520296.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:36.701Z,1761520296.701 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:36.953Z,1761520296.953 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:37.046Z,1761520297.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:37.205Z,1761520297.205 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:37.414Z,1761520297.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962663,-0.253800,-0.094152],[0.265673,0.952522,0.148730],[0.051934,-0.168191,0.984385]]
2025-10-26T23:11:37.457Z,1761520297.457 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:37.505Z,1761520297.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:37.711Z,1761520297.711 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:37.868Z,1761520297.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:37.962Z,1761520297.962 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:38.212Z,1761520298.212 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:38.228Z,1761520298.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960600,-0.260738,-0.096242],[0.271444,0.954521,0.123319],[0.059711,-0.144584,0.987689]]
2025-10-26T23:11:38.265Z,1761520298.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:38.465Z,1761520298.465 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:38.626Z,1761520298.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959806,-0.262977,-0.098064],[0.273430,0.954953,0.115327],[0.063319,-0.137505,0.988475]]
2025-10-26T23:11:38.660Z,1761520298.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:38.717Z,1761520298.717 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:38.969Z,1761520298.969 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:39.030Z,1761520299.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959243,-0.264368,-0.099809],[0.274597,0.955428,0.108418],[0.066698,-0.131406,0.989082]]
2025-10-26T23:11:39.049Z,1761520299.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:39.220Z,1761520299.220 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:39.435Z,1761520299.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958905,-0.264953,-0.101493],[0.274969,0.956007,0.102194],[0.069952,-0.125901,0.989573]]
2025-10-26T23:11:39.481Z,1761520299.481 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:39.508Z,1761520299.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:39.732Z,1761520299.732 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:39.838Z,1761520299.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958816,-0.264578,-0.103299],[0.274587,0.956458,0.098947],[0.072622,-0.123237,0.989716]]
2025-10-26T23:11:39.862Z,1761520299.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:39.984Z,1761520299.984 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:40.236Z,1761520300.236 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:40.244Z,1761520300.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958938,-0.263012,-0.106126],[0.273491,0.956616,0.100439],[0.075105,-0.125339,0.989267]]
2025-10-26T23:11:40.290Z,1761520300.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:40.489Z,1761520300.489 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:40.646Z,1761520300.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959490,-0.259972,-0.108598],[0.271063,0.956908,0.104173],[0.076836,-0.129390,0.988612]]
2025-10-26T23:11:40.688Z,1761520300.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:40.740Z,1761520300.740 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:40.992Z,1761520300.992 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:41.053Z,1761520301.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960135,-0.256453,-0.111232],[0.268365,0.957014,0.110020],[0.078235,-0.135485,0.987686]]
2025-10-26T23:11:41.071Z,1761520301.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:41.244Z,1761520301.244 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:41.472Z,1761520301.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960967,-0.251932,-0.114335],[0.264928,0.957033,0.117899],[0.079720,-0.143588,0.986421]]
2025-10-26T23:11:41.496Z,1761520301.496 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:41.594Z,1761520301.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:41.748Z,1761520301.748 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:41.883Z,1761520301.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961927,-0.246920,-0.117165],[0.261047,0.957025,0.126320],[0.080939,-0.152096,0.985046]]
2025-10-26T23:11:41.909Z,1761520301.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:42.000Z,1761520302.000 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:42.252Z,1761520302.252 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:42.282Z,1761520302.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963005,-0.241591,-0.119392],[0.256739,0.957139,0.134055],[0.081888,-0.159748,0.983756]]
2025-10-26T23:11:42.342Z,1761520302.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:42.504Z,1761520302.504 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:42.686Z,1761520302.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964178,-0.236101,-0.120899],[0.252135,0.957328,0.141247],[0.082391,-0.166670,0.982564]]
2025-10-26T23:11:42.744Z,1761520302.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:42.756Z,1761520302.756 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:43.009Z,1761520303.009 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:43.096Z,1761520303.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965421,-0.230456,-0.121867],[0.247196,0.957725,0.147164],[0.082800,-0.172200,0.981576]]
2025-10-26T23:11:43.114Z,1761520303.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:43.261Z,1761520303.261 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:43.506Z,1761520303.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966569,-0.225541,-0.121967],[0.242587,0.958447,0.150102],[0.083044,-0.174672,0.981118]]
2025-10-26T23:11:43.512Z,1761520303.512 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:43.617Z,1761520303.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:43.765Z,1761520303.765 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:44.017Z,1761520304.017 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:44.038Z,1761520304.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967336,-0.222222,-0.121978],[0.239450,0.958953,0.151899],[0.083216,-0.176145,0.980840]]
2025-10-26T23:11:44.084Z,1761520304.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:44.270Z,1761520304.270 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:44.523Z,1761520304.523 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:44.524Z,1761520304.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:44.772Z,1761520304.772 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:44.842Z,1761520304.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967678,-0.219633,-0.123936],[0.237830,0.958236,0.158812],[0.083879,-0.183155,0.979499]]
2025-10-26T23:11:44.885Z,1761520304.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:45.024Z,1761520305.024 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:45.278Z,1761520305.278 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:45.285Z,1761520305.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967481,-0.219865,-0.125059],[0.238708,0.957156,0.163924],[0.083660,-0.188446,0.978514]]
2025-10-26T23:11:45.342Z,1761520305.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:45.533Z,1761520305.533 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:45.650Z,1761520305.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966918,-0.222757,-0.124297],[0.241062,0.957289,0.159649],[0.083425,-0.184330,0.979317]]
2025-10-26T23:11:45.691Z,1761520305.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:45.780Z,1761520305.780 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:46.032Z,1761520306.032 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:46.070Z,1761520306.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965995,-0.227837,-0.122245],[0.244832,0.958025,0.149146],[0.083133,-0.174004,0.981230]]
2025-10-26T23:11:46.089Z,1761520306.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:46.287Z,1761520306.287 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:46.477Z,1761520306.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965010,-0.233272,-0.119746],[0.248712,0.958949,0.136230],[0.083051,-0.161246,0.983414]]
2025-10-26T23:11:46.518Z,1761520306.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:46.536Z,1761520306.536 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:46.789Z,1761520306.789 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:46.878Z,1761520306.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963960,-0.238961,-0.116955],[0.252739,0.959806,0.122048],[0.083090,-0.147209,0.985609]]
2025-10-26T23:11:46.905Z,1761520306.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:47.040Z,1761520307.040 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:47.295Z,1761520307.295 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:47.318Z,1761520307.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963200,-0.243222,-0.114406],[0.255828,0.960137,0.112648],[0.082447,-0.137770,0.987027]]
2025-10-26T23:11:47.384Z,1761520307.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:47.544Z,1761520307.544 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:47.686Z,1761520307.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962743,-0.246303,-0.111626],[0.258131,0.960063,0.107922],[0.080587,-0.132715,0.987873]]
2025-10-26T23:11:47.708Z,1761520307.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:47.797Z,1761520307.797 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:48.048Z,1761520308.048 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:48.093Z,1761520308.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962564,-0.247672,-0.110130],[0.259512,0.959381,0.110640],[0.078255,-0.135078,0.987740]]
2025-10-26T23:11:48.115Z,1761520308.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:48.306Z,1761520308.306 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:48.494Z,1761520308.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962796,-0.247286,-0.108968],[0.259452,0.958656,0.116890],[0.075558,-0.140813,0.987149]]
2025-10-26T23:11:48.552Z,1761520308.552 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:48.554Z,1761520308.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:48.804Z,1761520308.804 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:48.898Z,1761520308.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963106,-0.246374,-0.108289],[0.258984,0.957884,0.124037],[0.073169,-0.147506,0.986351]]
2025-10-26T23:11:48.917Z,1761520308.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:49.056Z,1761520309.056 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:49.308Z,1761520309.308 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:49.390Z,1761520309.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:49.560Z,1761520309.560 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:49.752Z,1761520309.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:49.813Z,1761520309.813 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:50.064Z,1761520310.064 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:50.111Z,1761520310.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962935,-0.247335,-0.107619],[0.260466,0.956322,0.132689],[0.070100,-0.155802,0.985298]]
2025-10-26T23:11:50.147Z,1761520310.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:50.319Z,1761520310.319 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:50.514Z,1761520310.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962729,-0.247916,-0.108118],[0.261256,0.955843,0.134571],[0.069982,-0.157802,0.984988]]
2025-10-26T23:11:50.555Z,1761520310.555 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +.00
2025-10-26T23:11:50.568Z,1761520310.568 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:50.572Z,1761520310.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:50.821Z,1761520310.821 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:51.021Z,1761520311.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:51.073Z,1761520311.073 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:51.328Z,1761520311.328 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:51.382Z,1761520311.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960559,-0.256173,-0.108174],[0.268388,0.955858,0.119598],[0.072761,-0.143914,0.986912]]
2025-10-26T23:11:51.419Z,1761520311.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:51.577Z,1761520311.577 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:51.739Z,1761520311.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959749,-0.259175,-0.108213],[0.270960,0.955827,0.113913],[0.073909,-0.138649,0.987580]]
2025-10-26T23:11:51.757Z,1761520311.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:51.828Z,1761520311.828 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:52.080Z,1761520312.080 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:52.135Z,1761520312.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959170,-0.261482,-0.107801],[0.272882,0.955776,0.109669],[0.074357,-0.134608,0.988105]]
2025-10-26T23:11:52.170Z,1761520312.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:52.332Z,1761520312.332 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:52.539Z,1761520312.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958635,-0.263698,-0.107157],[0.274760,0.955605,0.106423],[0.074336,-0.131463,0.988530]]
2025-10-26T23:11:52.584Z,1761520312.584 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:52.611Z,1761520312.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:52.837Z,1761520312.837 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:52.955Z,1761520312.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958358,-0.265164,-0.106006],[0.275987,0.955376,0.105297],[0.073355,-0.130168,0.988775]]
2025-10-26T23:11:52.974Z,1761520312.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:53.089Z,1761520313.089 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:53.342Z,1761520313.342 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:53.402Z,1761520313.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958245,-0.266179,-0.104478],[0.276807,0.955123,0.105438],[0.071724,-0.129956,0.988922]]
2025-10-26T23:11:53.477Z,1761520313.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:53.592Z,1761520313.592 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:53.757Z,1761520313.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958483,-0.265876,-0.103054],[0.276568,0.954799,0.108945],[0.069430,-0.132924,0.988691]]
2025-10-26T23:11:53.788Z,1761520313.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:53.845Z,1761520313.845 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:54.096Z,1761520314.096 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:54.158Z,1761520314.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959043,-0.264665,-0.100941],[0.275303,0.954782,0.112245],[0.066669,-0.135437,0.988540]]
2025-10-26T23:11:54.180Z,1761520314.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:54.349Z,1761520314.349 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:54.567Z,1761520314.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959684,-0.263069,-0.099001],[0.273734,0.954713,0.116590],[0.063846,-0.138990,0.988234]]
2025-10-26T23:11:54.601Z,1761520314.601 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:54.607Z,1761520314.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:54.852Z,1761520314.852 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:54.966Z,1761520314.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960479,-0.260605,-0.097804],[0.271531,0.954511,0.123205],[0.061247,-0.144892,0.987550]]
2025-10-26T23:11:54.995Z,1761520314.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:55.104Z,1761520315.104 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:55.356Z,1761520315.356 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:55.449Z,1761520315.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961187,-0.258754,-0.095737],[0.269481,0.954900,0.124683],[0.059158,-0.145643,0.987567]]
2025-10-26T23:11:55.483Z,1761520315.483 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -44. +170.3  +5.66,  0.00
2025-10-26T23:11:55.498Z,1761520315.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:55.608Z,1761520315.608 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:55.807Z,1761520315.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961978,-0.256820,-0.092959],[0.267106,0.955674,0.123859],[0.057029,-0.143979,0.987936]]
2025-10-26T23:11:55.860Z,1761520315.860 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:55.896Z,1761520315.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:56.113Z,1761520316.113 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:56.210Z,1761520316.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963161,-0.253109,-0.090873],[0.263221,0.956512,0.125695],[0.055106,-0.144984,0.987898]]
2025-10-26T23:11:56.237Z,1761520316.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:56.364Z,1761520316.364 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:56.614Z,1761520316.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964532,-0.248455,-0.089153],[0.258536,0.957334,0.129118],[0.053269,-0.147587,0.987613]]
2025-10-26T23:11:56.616Z,1761520316.616 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:56.801Z,1761520316.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:56.870Z,1761520316.870 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:57.107Z,1761520317.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966204,-0.242400,-0.087710],[0.252621,0.958103,0.134986],[0.051315,-0.152582,0.986958]]
2025-10-26T23:11:57.120Z,1761520317.120 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:57.172Z,1761520317.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:57.372Z,1761520317.372 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:57.499Z,1761520317.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967809,-0.236368,-0.086461],[0.246600,0.959252,0.137928],[0.050336,-0.154809,0.986661]]
2025-10-26T23:11:57.551Z,1761520317.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:57.625Z,1761520317.625 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:57.876Z,1761520317.876 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:57.902Z,1761520317.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969112,-0.231342,-0.085460],[0.241536,0.960333,0.139360],[0.049831,-0.155697,0.986547]]
2025-10-26T23:11:57.957Z,1761520317.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:58.129Z,1761520318.129 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:58.306Z,1761520318.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970320,-0.225926,-0.086239],[0.236625,0.960587,0.145882],[0.049881,-0.161959,0.985536]]
2025-10-26T23:11:58.325Z,1761520318.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:58.381Z,1761520318.381 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:58.632Z,1761520318.632 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:58.719Z,1761520318.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971494,-0.220375,-0.087380],[0.231768,0.960400,0.154647],[0.049840,-0.170490,0.984098]]
2025-10-26T23:11:58.782Z,1761520318.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:58.884Z,1761520318.884 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:59.117Z,1761520319.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972559,-0.215167,-0.088498],[0.227227,0.960156,0.162691],[0.049966,-0.178335,0.982700]]
2025-10-26T23:11:59.136Z,1761520319.136 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:59.155Z,1761520319.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:59.389Z,1761520319.389 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:59.518Z,1761520319.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973108,-0.212641,-0.088573],[0.224711,0.960864,0.162006],[0.050657,-0.177553,0.982807]]
2025-10-26T23:11:59.578Z,1761520319.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:11:59.640Z,1761520319.640 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:59.892Z,1761520319.892 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:11:59.939Z,1761520319.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973085,-0.212619,-0.088873],[0.224552,0.961508,0.158360],[0.051782,-0.174055,0.983374]]
2025-10-26T23:11:59.958Z,1761520319.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:00.021Z,1761520320.021 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:12:00.144Z,1761520320.144 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:00.326Z,1761520320.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972947,-0.212938,-0.089617],[0.224825,0.961971,0.155131],[0.053176,-0.171082,0.983821]]
2025-10-26T23:12:00.351Z,1761520320.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:00.398Z,1761520320.398 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:00.648Z,1761520320.648 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:00.737Z,1761520320.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972726,-0.213997,-0.089494],[0.225530,0.962738,0.149235],[0.054224,-0.165349,0.984743]]
2025-10-26T23:12:00.781Z,1761520320.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:00.900Z,1761520320.900 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:01.024Z,1761520321.024 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:12:01.139Z,1761520321.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972431,-0.215495,-0.089104],[0.226712,0.963118,0.144934],[0.054585,-0.161140,0.985421]]
2025-10-26T23:12:01.152Z,1761520321.152 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:01.159Z,1761520321.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:01.404Z,1761520321.404 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:01.539Z,1761520321.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972303,-0.216670,-0.087645],[0.227428,0.963526,0.141043],[0.053888,-0.157070,0.986116]]
2025-10-26T23:12:01.583Z,1761520321.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:01.657Z,1761520321.657 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:01.909Z,1761520321.909 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:01.946Z,1761520321.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972370,-0.217156,-0.085668],[0.227509,0.963753,0.139353],[0.052302,-0.154994,0.986530]]
2025-10-26T23:12:01.976Z,1761520321.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:02.161Z,1761520322.161 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:02.346Z,1761520322.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972415,-0.217756,-0.083611],[0.227747,0.963800,0.138642],[0.050395,-0.153860,0.986807]]
2025-10-26T23:12:02.364Z,1761520322.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:02.413Z,1761520322.413 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:02.664Z,1761520322.664 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:02.752Z,1761520322.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972512,-0.217924,-0.082030],[0.227819,0.963340,0.141681],[0.048147,-0.156475,0.986508]]
2025-10-26T23:12:02.789Z,1761520322.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:02.917Z,1761520322.917 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:03.157Z,1761520323.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972366,-0.219382,-0.079853],[0.229033,0.962695,0.144093],[0.045263,-0.158400,0.986337]]
2025-10-26T23:12:03.168Z,1761520323.168 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:03.189Z,1761520323.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:03.421Z,1761520323.421 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:03.564Z,1761520323.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972128,-0.221147,-0.077851],[0.230647,0.961660,0.148367],[0.042055,-0.162187,0.985863]]
2025-10-26T23:12:03.607Z,1761520323.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:03.675Z,1761520323.675 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:03.924Z,1761520323.924 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:03.963Z,1761520323.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971945,-0.222782,-0.075442],[0.232027,0.960719,0.152259],[0.038558,-0.165492,0.985457]]
2025-10-26T23:12:03.981Z,1761520323.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:04.176Z,1761520324.176 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:04.367Z,1761520324.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971539,-0.225771,-0.071698],[0.234203,0.960884,0.147819],[0.035520,-0.160404,0.986412]]
2025-10-26T23:12:04.386Z,1761520324.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:04.430Z,1761520324.430 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:04.680Z,1761520324.680 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:04.822Z,1761520324.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:04.933Z,1761520324.933 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:05.177Z,1761520325.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970366,-0.232956,-0.064202],[0.239695,0.961607,0.133637],[0.030605,-0.145065,0.988949]]
2025-10-26T23:12:05.184Z,1761520325.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:05.220Z,1761520325.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:05.436Z,1761520325.436 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:05.590Z,1761520325.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969906,-0.235581,-0.061509],[0.241766,0.961757,0.128732],[0.028829,-0.139729,0.989770]]
2025-10-26T23:12:05.636Z,1761520325.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:05.689Z,1761520325.689 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:05.940Z,1761520325.940 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:05.986Z,1761520325.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969515,-0.237735,-0.059357],[0.243481,0.961904,0.124328],[0.027539,-0.134990,0.990464]]
2025-10-26T23:12:06.004Z,1761520326.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:06.192Z,1761520326.192 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:06.386Z,1761520326.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969252,-0.239071,-0.058274],[0.244632,0.961749,0.123266],[0.026576,-0.133731,0.990661]]
2025-10-26T23:12:06.426Z,1761520326.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:06.453Z,1761520326.453 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:06.705Z,1761520326.705 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:06.790Z,1761520326.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969265,-0.238970,-0.058463],[0.244680,0.961125,0.127945],[0.025616,-0.138317,0.990057]]
2025-10-26T23:12:06.842Z,1761520326.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:06.956Z,1761520326.956 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:07.198Z,1761520327.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969408,-0.238054,-0.059827],[0.244169,0.960170,0.135846],[0.025105,-0.146298,0.988922]]
2025-10-26T23:12:07.208Z,1761520327.208 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:07.218Z,1761520327.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:07.460Z,1761520327.460 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:07.619Z,1761520327.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969528,-0.237103,-0.061625],[0.243670,0.959317,0.142602],[0.025306,-0.153273,0.987860]]
2025-10-26T23:12:07.669Z,1761520327.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:07.713Z,1761520327.713 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:07.964Z,1761520327.964 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:08.002Z,1761520328.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969260,-0.237749,-0.063323],[0.244641,0.958676,0.145227],[0.026179,-0.156254,0.987370]]
2025-10-26T23:12:08.038Z,1761520328.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:08.216Z,1761520328.216 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:08.417Z,1761520328.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968621,-0.240068,-0.064347],[0.247032,0.958408,0.142929],[0.027358,-0.154340,0.987639]]
2025-10-26T23:12:08.452Z,1761520328.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:08.470Z,1761520328.470 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:08.721Z,1761520328.721 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:08.810Z,1761520328.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967644,-0.243786,-0.065066],[0.250697,0.958105,0.138514],[0.028572,-0.150345,0.988221]]
2025-10-26T23:12:08.868Z,1761520328.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:08.972Z,1761520328.972 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:09.221Z,1761520329.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966349,-0.248994,-0.064595],[0.255538,0.958014,0.130035],[0.029505,-0.142166,0.989403]]
2025-10-26T23:12:09.224Z,1761520329.224 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:09.241Z,1761520329.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:09.476Z,1761520329.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:09.647Z,1761520329.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964876,-0.254982,-0.063230],[0.260944,0.958054,0.118490],[0.030365,-0.130827,0.990940]]
2025-10-26T23:12:09.729Z,1761520329.729 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:09.772Z,1761520329.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:09.980Z,1761520329.980 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:10.077Z,1761520330.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963571,-0.260329,-0.061313],[0.265562,0.958487,0.103828],[0.031738,-0.116328,0.992704]]
2025-10-26T23:12:10.184Z,1761520330.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:10.233Z,1761520330.233 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:10.482Z,1761520330.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962054,-0.266474,-0.058681],[0.270777,0.958889,0.084919],[0.033640,-0.097586,0.994658]]
2025-10-26T23:12:10.484Z,1761520330.484 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:10.540Z,1761520330.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:10.737Z,1761520330.737 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:10.885Z,1761520330.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960331,-0.273185,-0.055979],[0.276579,0.958714,0.066122],[0.035604,-0.078982,0.996240]]
2025-10-26T23:12:10.967Z,1761520330.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:10.988Z,1761520330.988 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:11.240Z,1761520331.240 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:11.286Z,1761520331.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958840,-0.278371,-0.056001],[0.281477,0.957789,0.058411],[0.037377,-0.071770,0.996721]]
2025-10-26T23:12:11.323Z,1761520331.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:11.492Z,1761520331.492 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:11.748Z,1761520331.748 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:11.781Z,1761520331.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:11.997Z,1761520331.997 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:12.095Z,1761520332.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957605,-0.281415,-0.061635],[0.285478,0.955685,0.071893],[0.038672,-0.086440,0.995506]]
2025-10-26T23:12:12.114Z,1761520332.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:12.248Z,1761520332.248 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:12.500Z,1761520332.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:12.505Z,1761520332.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957674,-0.280372,-0.065210],[0.285184,0.954911,0.082552],[0.039124,-0.097655,0.994451]]
2025-10-26T23:12:12.528Z,1761520332.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:12.759Z,1761520332.759 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:12.916Z,1761520332.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957748,-0.279588,-0.067449],[0.284916,0.954338,0.089792],[0.039265,-0.105215,0.993674]]
2025-10-26T23:12:12.976Z,1761520332.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:13.013Z,1761520333.013 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:13.264Z,1761520333.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:13.307Z,1761520333.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957847,-0.278910,-0.068828],[0.284631,0.953830,0.095883],[0.038908,-0.111432,0.993010]]
2025-10-26T23:12:13.325Z,1761520333.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:13.516Z,1761520333.516 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:13.721Z,1761520333.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958180,-0.277514,-0.069831],[0.283617,0.953433,0.102605],[0.038105,-0.118120,0.992268]]
2025-10-26T23:12:13.768Z,1761520333.768 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:13.785Z,1761520333.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:14.020Z,1761520334.020 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:14.118Z,1761520334.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958975,-0.274465,-0.070967],[0.281069,0.953160,0.111737],[0.036976,-0.127099,0.991201]]
2025-10-26T23:12:14.136Z,1761520334.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:14.272Z,1761520334.272 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:14.519Z,1761520334.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960274,-0.269396,-0.072803],[0.276692,0.953067,0.122904],[0.036277,-0.138165,0.989745]]
2025-10-26T23:12:14.524Z,1761520334.524 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:14.555Z,1761520334.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:14.776Z,1761520334.776 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:14.984Z,1761520334.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:15.030Z,1761520335.030 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:15.280Z,1761520335.280 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:15.329Z,1761520335.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963675,-0.255818,-0.076733],[0.264477,0.954057,0.140806],[0.037187,-0.155986,0.987059]]
2025-10-26T23:12:15.361Z,1761520335.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:15.532Z,1761520335.532 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:15.743Z,1761520335.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965649,-0.247075,-0.080474],[0.256979,0.953935,0.154819],[0.038515,-0.170181,0.984660]]
2025-10-26T23:12:15.784Z,1761520335.784 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:15.798Z,1761520335.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:16.036Z,1761520336.036 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:16.130Z,1761520336.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967660,-0.237655,-0.084580],[0.249122,0.953015,0.172340],[0.039648,-0.187837,0.981400]]
2025-10-26T23:12:16.154Z,1761520336.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:16.156Z,1761520336.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange] Running Loop=1
2025-10-26T23:12:16.156Z,1761520336.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange
2025-10-26T23:12:16.156Z,1761520336.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A] Running Loop=1
2025-10-26T23:12:16.157Z,1761520336.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A](IMPORTANT): Transitioning to midcourse guidance. Received last range of 19.100000 m  5.005736 min ago.
2025-10-26T23:12:16.157Z,1761520336.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A] Stopped
2025-10-26T23:12:16.157Z,1761520336.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B] Running Loop=1
2025-10-26T23:12:16.288Z,1761520336.288 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:16.540Z,1761520336.540 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:16.544Z,1761520336.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969597,-0.227872,-0.089199],[0.241280,0.951044,0.193133],[0.040823,-0.208783,0.977110]]
2025-10-26T23:12:16.567Z,1761520336.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-26T23:12:16.569Z,1761520336.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B] Stopped
2025-10-26T23:12:16.569Z,1761520336.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange
2025-10-26T23:12:16.569Z,1761520336.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange] Stopped
2025-10-26T23:12:16.569Z,1761520336.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange
2025-10-26T23:12:16.792Z,1761520336.792 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:16.939Z,1761520336.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970915,-0.220640,-0.092960],[0.235670,0.949198,0.208525],[0.042229,-0.224368,0.973589]]
2025-10-26T23:12:16.986Z,1761520336.986 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-10-26T23:12:16.987Z,1761520336.987 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-10-26T23:12:16.988Z,1761520336.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-10-26T23:12:16.988Z,1761520336.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-10-26T23:12:16.988Z,1761520336.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-10-26T23:12:16.988Z,1761520336.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-10-26T23:12:16.988Z,1761520336.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-10-26T23:12:16.988Z,1761520336.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-10-26T23:12:16.989Z,1761520336.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-10-26T23:12:16.989Z,1761520336.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-10-26T23:12:16.989Z,1761520336.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-10-26T23:12:16.989Z,1761520336.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-10-26T23:12:16.989Z,1761520336.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-10-26T23:12:16.989Z,1761520336.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-10-26T23:12:16.989Z,1761520336.989 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-10-26T23:12:16.989Z,1761520336.989 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-10-26T23:12:16.989Z,1761520336.989 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-10-26T23:12:16.989Z,1761520336.989 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-10-26T23:12:16.990Z,1761520336.990 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-10-26T23:12:16.990Z,1761520336.990 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-10-26T23:12:16.990Z,1761520336.990 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-10-26T23:12:16.990Z,1761520336.990 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-10-26T23:12:16.990Z,1761520336.990 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-10-26T23:12:16.992Z,1761520336.992 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )
2025-10-26T23:12:16.992Z,1761520336.992 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-10-26T23:12:16.992Z,1761520336.992 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-10-26T23:12:16.992Z,1761520336.992 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-10-26T23:12:16.993Z,1761520336.993 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-121.859630
2025-10-26T23:12:17.045Z,1761520337.045 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:17.296Z,1761520337.296 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:17.379Z,1761520337.379 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-10-26T23:12:17.380Z,1761520337.380 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T23:12:17.380Z,1761520337.380 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-10-26T23:12:17.383Z,1761520337.383 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 19.100000 m (mode  0.000000 count ).
2025-10-26T23:12:17.383Z,1761520337.383 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-10-26T23:12:17.383Z,1761520337.383 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-10-26T23:12:17.406Z,1761520337.406 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-10-26T23:12:17.406Z,1761520337.406 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-10-26T23:12:17.548Z,1761520337.548 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:17.770Z,1761520337.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971294,-0.221127,-0.087698],[0.234233,0.953359,0.190373],[0.041511,-0.205450,0.977787]]
2025-10-26T23:12:17.800Z,1761520337.800 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:17.822Z,1761520337.822 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-10-26T23:12:17.822Z,1761520337.822 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-10-26T23:12:17.822Z,1761520337.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:12:18.053Z,1761520338.053 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:18.175Z,1761520338.175 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-10-26T23:12:18.175Z,1761520338.175 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-10-26T23:12:18.304Z,1761520338.304 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:18.557Z,1761520338.557 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:18.569Z,1761520338.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969551,-0.232076,-0.078182],[0.241642,0.958454,0.151573],[0.039758,-0.165850,0.985349]]
2025-10-26T23:12:18.585Z,1761520338.585 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-10-26T23:12:18.585Z,1761520338.585 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T23:12:18.585Z,1761520338.585 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-10-26T23:12:18.585Z,1761520338.585 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-26T23:12:18.808Z,1761520338.808 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:18.963Z,1761520338.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968671,-0.237561,-0.072396],[0.245306,0.960734,0.129676],[0.038748,-0.143373,0.988910]]
2025-10-26T23:12:19.061Z,1761520339.061 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:19.312Z,1761520339.312 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:19.368Z,1761520339.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967662,-0.243391,-0.066259],[0.249431,0.962406,0.107515],[0.037600,-0.120566,0.991993]]
2025-10-26T23:12:19.564Z,1761520339.564 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:19.816Z,1761520339.816 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:19.849Z,1761520339.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:12:20.068Z,1761520340.068 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:20.174Z,1761520340.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965481,-0.253872,-0.058264],[0.258105,0.962553,0.082910],[0.035033,-0.095087,0.994852]]
2025-10-26T23:12:20.320Z,1761520340.320 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:20.572Z,1761520340.572 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:20.576Z,1761520340.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963482,-0.261772,-0.056366],[0.265504,0.961256,0.074133],[0.034776,-0.086391,0.995654]]
2025-10-26T23:12:20.828Z,1761520340.828 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:20.978Z,1761520340.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960599,-0.271942,-0.057424],[0.275783,0.958265,0.075305],[0.034549,-0.088175,0.995506]]
2025-10-26T23:12:21.077Z,1761520341.077 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:21.328Z,1761520341.328 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:21.393Z,1761520341.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956784,-0.285204,-0.056778],[0.288808,0.954756,0.070927],[0.033980,-0.084259,0.995864]]
2025-10-26T23:12:21.580Z,1761520341.580 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:21.828Z,1761520341.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952095,-0.301311,-0.052208],[0.303984,0.951126,0.054334],[0.033285,-0.067601,0.997157]]
2025-10-26T23:12:21.832Z,1761520341.832 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:21.905Z,1761520341.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:12:22.084Z,1761520342.084 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:22.190Z,1761520342.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945834,-0.321631,-0.044182],[0.322941,0.946049,0.026477],[0.033283,-0.039312,0.998673]]
2025-10-26T23:12:22.336Z,1761520342.336 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:22.588Z,1761520342.588 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:22.596Z,1761520342.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937731,-0.345833,-0.032553],[0.345661,0.938296,-0.010963],[0.034336,-0.000971,0.999410]]
2025-10-26T23:12:22.843Z,1761520342.843 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:22.999Z,1761520342.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927757,-0.372765,-0.017706],[0.371431,0.926951,-0.052928],[0.036142,0.042527,0.998441]]
2025-10-26T23:12:23.092Z,1761520343.092 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:23.344Z,1761520343.344 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:23.410Z,1761520343.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916396,-0.400265,-0.002611],[0.398482,0.912891,-0.088552],[0.037828,0.080109,0.996068]]
2025-10-26T23:12:23.596Z,1761520343.596 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:23.851Z,1761520343.851 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:23.855Z,1761520343.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903894,-0.427675,0.008381],[0.425958,0.898125,-0.109228],[0.039187,0.102300,0.993981]]
2025-10-26T23:12:23.941Z,1761520343.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:12:24.100Z,1761520344.100 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:24.210Z,1761520344.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890955,-0.453815,0.015857],[0.452333,0.883893,-0.118858],[0.039924,0.113070,0.992785]]
2025-10-26T23:12:24.352Z,1761520344.352 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:24.604Z,1761520344.604 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:24.617Z,1761520344.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877732,-0.478610,0.022767],[0.477457,0.869649,-0.125483],[0.040258,0.121011,0.991835]]
2025-10-26T23:12:24.858Z,1761520344.858 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:25.021Z,1761520345.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864208,-0.502084,0.032498],[0.501533,0.854510,-0.135197],[0.040110,0.133137,0.990286]]
2025-10-26T23:12:25.108Z,1761520345.108 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:25.363Z,1761520345.363 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:25.448Z,1761520345.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850374,-0.524495,0.042053],[0.524697,0.839273,-0.142526],[0.039460,0.143266,0.988897]]
2025-10-26T23:12:25.612Z,1761520345.612 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:25.867Z,1761520345.867 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:25.890Z,1761520345.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836685,-0.545765,0.045806],[0.546374,0.825976,-0.138707],[0.037867,0.141082,0.989274]]
2025-10-26T23:12:25.944Z,1761520345.944 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:12:26.116Z,1761520346.116 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:26.230Z,1761520346.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823341,-0.565715,0.045562],[0.566482,0.814230,-0.126993],[0.034744,0.130369,0.990857]]
2025-10-26T23:12:26.374Z,1761520346.374 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:26.620Z,1761520346.620 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:26.639Z,1761520346.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810078,-0.584753,0.042858],[0.585549,0.803096,-0.110313],[0.030087,0.114457,0.992972]]
2025-10-26T23:12:26.875Z,1761520346.875 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:27.038Z,1761520347.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796840,-0.603387,0.031143],[0.603690,0.793026,-0.081657],[0.024574,0.083868,0.996174]]
2025-10-26T23:12:27.124Z,1761520347.124 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:27.377Z,1761520347.377 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:27.442Z,1761520347.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783056,-0.621624,0.020167],[0.621654,0.781271,-0.056234],[0.019201,0.056571,0.998214]]
2025-10-26T23:12:27.628Z,1761520347.628 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:27.883Z,1761520347.883 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:27.900Z,1761520347.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768241,-0.639982,0.015126],[0.639994,0.767287,-0.040976],[0.014618,0.041160,0.999046]]
2025-10-26T23:12:27.954Z,1761520347.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:12:28.132Z,1761520348.132 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:28.250Z,1761520348.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751170,-0.659878,0.017449],[0.660022,0.750380,-0.036070],[0.010709,0.038612,0.999197]]
2025-10-26T23:12:28.385Z,1761520348.385 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:28.636Z,1761520348.636 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:28.654Z,1761520348.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732578,-0.680308,0.022583],[0.680644,0.731779,-0.034975],[0.007268,0.040993,0.999133]]
2025-10-26T23:12:28.892Z,1761520348.892 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:29.058Z,1761520349.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713788,-0.699357,0.037508],[0.700348,0.712416,-0.044449],[0.004364,0.057996,0.998307]]
2025-10-26T23:12:29.140Z,1761520349.140 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:29.394Z,1761520349.394 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:29.464Z,1761520349.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693929,-0.717701,0.058025],[0.720041,0.691480,-0.058282],[0.001706,0.082224,0.996612]]
2025-10-26T23:12:29.644Z,1761520349.644 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:29.890Z,1761520349.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673952,-0.734562,0.078784],[0.738774,0.670226,-0.070775],[-0.000815,0.105903,0.994376]]
2025-10-26T23:12:29.907Z,1761520349.907 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:29.974Z,1761520349.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:12:30.156Z,1761520350.156 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:30.270Z,1761520350.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654423,-0.750923,0.088577],[0.756120,0.650478,-0.071840],[-0.003671,0.113988,0.993475]]
2025-10-26T23:12:30.408Z,1761520350.408 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:30.660Z,1761520350.660 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:30.676Z,1761520350.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636325,-0.766890,0.083490],[0.771393,0.633491,-0.060354],[-0.006605,0.102809,0.994679]]
2025-10-26T23:12:30.914Z,1761520350.914 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:31.079Z,1761520351.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619971,-0.781254,0.072642],[0.784568,0.618374,-0.045464],[-0.009401,0.085179,0.996321]]
2025-10-26T23:12:31.144Z,1761520351.144 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:12:31.165Z,1761520351.165 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:31.416Z,1761520351.416 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:31.482Z,1761520351.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603016,-0.795206,0.063396],[0.797636,0.602254,-0.032663],[-0.012207,0.070264,0.997454]]
2025-10-26T23:12:31.668Z,1761520351.668 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:31.901Z,1761520351.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585331,-0.809065,0.052931],[0.810656,0.585189,-0.019774],[-0.014976,0.054483,0.998402]]
2025-10-26T23:12:31.923Z,1761520351.923 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:31.985Z,1761520351.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:12:32.148Z,1761520352.148 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:12:32.172Z,1761520352.172 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:32.291Z,1761520352.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567019,-0.822500,0.044542],[0.823511,0.567230,-0.008969],[-0.017889,0.041766,0.998967]]
2025-10-26T23:12:32.424Z,1761520352.424 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:32.676Z,1761520352.676 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:32.694Z,1761520352.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547889,-0.835293,0.045859],[0.836287,0.548269,-0.004958],[-0.021002,0.041068,0.998936]]
2025-10-26T23:12:32.928Z,1761520352.928 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:33.098Z,1761520353.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527309,-0.847952,0.054067],[0.849325,0.527848,-0.004944],[-0.024347,0.048527,0.998525]]
2025-10-26T23:12:33.180Z,1761520353.180 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:33.432Z,1761520353.432 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:33.502Z,1761520353.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505393,-0.860359,0.066034],[0.862455,0.506085,-0.007013],[-0.027385,0.060496,0.997793]]
2025-10-26T23:12:33.685Z,1761520353.685 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:33.911Z,1761520353.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483537,-0.871902,0.077326],[0.874813,0.484383,-0.008671],[-0.029895,0.071838,0.996968]]
2025-10-26T23:12:33.940Z,1761520353.940 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:34.188Z,1761520354.188 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:34.313Z,1761520354.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460717,-0.882982,0.089902],[0.886991,0.461644,-0.011443],[-0.031399,0.085014,0.995885]]
2025-10-26T23:12:34.347Z,1761520354.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:12:34.440Z,1761520354.440 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:34.692Z,1761520354.692 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:34.721Z,1761520354.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437320,-0.893629,0.100886],[0.898727,0.438305,-0.013366],[-0.032275,0.096514,0.994808]]
2025-10-26T23:12:34.944Z,1761520354.944 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:35.118Z,1761520355.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413165,-0.904046,0.109528],[0.910065,0.414233,-0.013887],[-0.032815,0.105415,0.993887]]
2025-10-26T23:12:35.208Z,1761520355.208 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:35.456Z,1761520355.456 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:35.523Z,1761520355.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388907,-0.914196,0.114008],[0.920675,0.390138,-0.012228],[-0.033300,0.109720,0.993405]]
2025-10-26T23:12:35.709Z,1761520355.709 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:35.944Z,1761520355.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365151,-0.924515,0.109250],[0.930335,0.366647,-0.006794],[-0.033775,0.104120,0.993991]]
2025-10-26T23:12:35.960Z,1761520355.960 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:36.212Z,1761520356.212 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:36.331Z,1761520356.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342488,-0.934164,0.100198],[0.938910,0.344161,-0.000619],[-0.033906,0.094290,0.994967]]
2025-10-26T23:12:36.413Z,1761520356.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:12:36.465Z,1761520356.465 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:36.716Z,1761520356.716 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:36.740Z,1761520356.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320729,-0.942777,0.091129],[0.946572,0.322460,0.004548],[-0.033674,0.084802,0.995829]]
2025-10-26T23:12:36.969Z,1761520356.969 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:37.141Z,1761520357.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299010,-0.950579,0.083621],[0.953651,0.300777,0.009093],[-0.033794,0.077026,0.996456]]
2025-10-26T23:12:37.220Z,1761520357.220 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:37.472Z,1761520357.472 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:37.542Z,1761520357.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277078,-0.957382,0.081533],[0.960228,0.278946,0.012266],[-0.034487,0.074891,0.996595]]
2025-10-26T23:12:37.725Z,1761520357.725 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:37.951Z,1761520357.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255609,-0.963684,0.077313],[0.966109,0.257594,0.016722],[-0.036030,0.070419,0.996867]]
2025-10-26T23:12:37.983Z,1761520357.983 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:38.232Z,1761520358.232 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:38.360Z,1761520358.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235393,-0.969580,0.067114],[0.971152,0.237359,0.022884],[-0.038118,0.059791,0.997483]]
2025-10-26T23:12:38.485Z,1761520358.485 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:38.737Z,1761520358.737 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:38.757Z,1761520358.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215389,-0.975019,0.054279],[0.975674,0.217192,0.029794],[-0.040839,0.046542,0.998081]]
2025-10-26T23:12:38.776Z,1761520358.776 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:12:38.988Z,1761520358.988 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:39.158Z,1761520359.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194977,-0.979666,0.047319],[0.979811,0.196727,0.035629],[-0.044214,0.039417,0.998244]]
2025-10-26T23:12:39.240Z,1761520359.240 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:39.492Z,1761520359.492 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:39.562Z,1761520359.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174879,-0.983338,0.049634],[0.983406,0.176918,0.040160],[-0.048272,0.041787,0.997960]]
2025-10-26T23:12:39.744Z,1761520359.744 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:39.972Z,1761520359.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153860,-0.986690,0.052625],[0.986683,0.156266,0.045133],[-0.052755,0.044980,0.997594]]
2025-10-26T23:12:39.997Z,1761520359.997 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:40.248Z,1761520360.248 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:40.380Z,1761520360.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131778,-0.990044,0.049472],[0.989619,0.134280,0.051211],[-0.057345,0.042210,0.997462]]
2025-10-26T23:12:40.500Z,1761520360.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:40.752Z,1761520360.752 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:40.774Z,1761520360.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109006,-0.992893,0.047768],[0.992132,0.111648,0.056653],[-0.061584,0.041217,0.997251]]
2025-10-26T23:12:40.807Z,1761520360.807 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:12:41.008Z,1761520361.008 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:41.179Z,1761520361.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084339,-0.995188,0.049873],[0.994327,0.087311,0.060743],[-0.064805,0.044467,0.996907]]
2025-10-26T23:12:41.261Z,1761520361.261 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:41.512Z,1761520361.512 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:41.585Z,1761520361.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058103,-0.996804,0.054826],[0.996029,0.061594,0.064284],[-0.067455,0.050873,0.996424]]
2025-10-26T23:12:41.764Z,1761520361.764 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:41.990Z,1761520361.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029568,-0.997441,0.065094],[0.997198,0.033913,0.066686],[-0.068723,0.062940,0.995648]]
2025-10-26T23:12:42.016Z,1761520362.016 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:42.268Z,1761520362.268 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:42.390Z,1761520362.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000622,-0.997118,0.075869],[0.997685,0.005778,0.067763],[-0.068006,0.075651,0.994813]]
2025-10-26T23:12:42.520Z,1761520362.520 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:42.772Z,1761520362.772 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:42.797Z,1761520362.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029904,-0.995848,0.085978],[0.997427,-0.024124,0.067502],[-0.065148,0.087775,0.994008]]
2025-10-26T23:12:42.813Z,1761520362.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:12:43.024Z,1761520363.024 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:43.199Z,1761520363.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061672,-0.993602,0.094612],[0.996257,-0.055529,0.066250],[-0.060573,0.098344,0.993307]]
2025-10-26T23:12:43.279Z,1761520363.279 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:43.528Z,1761520363.528 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:43.606Z,1761520363.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092930,-0.990381,0.102518],[0.994096,-0.086498,0.065503],[-0.056005,0.108000,0.992572]]
2025-10-26T23:12:43.781Z,1761520363.781 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:44.010Z,1761520364.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123071,-0.987523,0.098248],[0.991005,-0.117050,0.064878],[-0.052568,0.105349,0.993045]]
2025-10-26T23:12:44.032Z,1761520364.032 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:44.284Z,1761520364.284 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:44.413Z,1761520364.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150906,-0.984870,0.085195],[0.987255,-0.145741,0.063939],[-0.050555,0.093758,0.994311]]
2025-10-26T23:12:44.536Z,1761520364.536 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:44.788Z,1761520364.788 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:44.814Z,1761520364.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177785,-0.981285,0.073979],[0.982824,-0.173277,0.063493],[-0.049486,0.083997,0.995237]]
2025-10-26T23:12:44.857Z,1761520364.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:12:45.040Z,1761520365.040 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:45.218Z,1761520365.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202859,-0.977690,0.054495],[0.977927,-0.199435,0.062321],[-0.050062,0.065934,0.996567]]
2025-10-26T23:12:45.301Z,1761520365.301 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:45.552Z,1761520365.552 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:45.626Z,1761520365.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224967,-0.973626,0.037968],[0.972937,-0.222357,0.062860],[-0.052759,0.051081,0.997300]]
2025-10-26T23:12:45.804Z,1761520365.804 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:46.035Z,1761520366.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245365,-0.968978,0.029636],[0.967793,-0.243060,0.065556],[-0.056319,0.044767,0.997409]]
2025-10-26T23:12:46.056Z,1761520366.056 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:46.308Z,1761520366.308 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:46.430Z,1761520366.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264680,-0.963859,0.030341],[0.962453,-0.262066,0.070752],[-0.060244,0.047928,0.997032]]
2025-10-26T23:12:46.560Z,1761520366.560 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:46.812Z,1761520366.812 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:46.839Z,1761520366.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284219,-0.958299,0.029723],[0.956623,-0.281381,0.075483],[-0.063972,0.049888,0.996704]]
2025-10-26T23:12:46.880Z,1761520366.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:12:47.064Z,1761520367.064 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:47.238Z,1761520367.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304856,-0.951803,0.033675],[0.950073,-0.301452,0.080553],[-0.066519,0.056551,0.996181]]
2025-10-26T23:12:47.317Z,1761520367.317 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:47.568Z,1761520367.568 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:47.646Z,1761520367.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326478,-0.944577,0.034446],[0.942745,-0.322784,0.083922],[-0.068152,0.059873,0.995877]]
2025-10-26T23:12:47.820Z,1761520367.820 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:48.046Z,1761520368.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348501,-0.936755,0.032198],[0.934774,-0.344829,0.085389],[-0.068886,0.059856,0.995827]]
2025-10-26T23:12:48.072Z,1761520368.072 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:48.324Z,1761520368.324 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:48.450Z,1761520368.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370827,-0.928138,0.032360],[0.926145,-0.366997,0.087000],[-0.068872,0.062232,0.995683]]
2025-10-26T23:12:48.576Z,1761520368.576 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:48.829Z,1761520368.829 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:48.861Z,1761520368.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393359,-0.918871,0.030745],[0.916862,-0.389584,0.087115],[-0.068069,0.062457,0.995724]]
2025-10-26T23:12:48.897Z,1761520368.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:12:49.080Z,1761520369.080 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:49.260Z,1761520369.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415787,-0.908940,0.030827],[0.906977,-0.411908,0.087886],[-0.067185,0.064501,0.995653]]
2025-10-26T23:12:49.333Z,1761520369.333 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:49.584Z,1761520369.584 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:49.662Z,1761520369.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437586,-0.898256,0.040690],[0.896716,-0.432596,0.093601],[-0.066476,0.077446,0.994778]]
2025-10-26T23:12:49.837Z,1761520369.837 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:50.066Z,1761520370.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458838,-0.887148,0.049352],[0.886024,-0.452682,0.100197],[-0.066549,0.089701,0.993743]]
2025-10-26T23:12:50.092Z,1761520370.092 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:50.344Z,1761520370.344 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:50.477Z,1761520370.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479569,-0.876431,0.043389],[0.874891,-0.473744,0.100660],[-0.067666,0.086234,0.993974]]
2025-10-26T23:12:50.597Z,1761520370.597 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:50.849Z,1761520370.849 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:50.878Z,1761520370.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500026,-0.865560,0.027913],[0.863228,-0.495580,0.096113],[-0.069358,0.072155,0.994979]]
2025-10-26T23:12:51.100Z,1761520371.100 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:51.288Z,1761520371.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520111,-0.854043,0.009687],[0.851085,-0.517291,0.089799],[-0.071681,0.054950,0.995913]]
2025-10-26T23:12:51.323Z,1761520371.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:12:51.353Z,1761520371.353 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:51.604Z,1761520371.604 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:51.682Z,1761520371.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540089,-0.841582,-0.006640],[0.838331,-0.538665,0.083917],[-0.074200,0.039756,0.996451]]
2025-10-26T23:12:51.856Z,1761520371.856 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:52.091Z,1761520372.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561565,-0.827288,-0.015472],[0.823919,-0.560803,0.081597],[-0.076181,0.033074,0.996545]]
2025-10-26T23:12:52.109Z,1761520372.109 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:52.360Z,1761520372.360 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:52.490Z,1761520372.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584895,-0.810930,-0.017035],[0.807420,-0.584107,0.083017],[-0.077271,0.034802,0.996403]]
2025-10-26T23:12:52.613Z,1761520372.613 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:52.864Z,1761520372.864 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:52.894Z,1761520372.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609420,-0.792798,-0.008899],[0.789089,-0.607584,0.090451],[-0.077116,0.048100,0.995861]]
2025-10-26T23:12:53.116Z,1761520373.116 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:53.311Z,1761520373.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633654,-0.773576,0.007925],[0.769866,-0.629542,0.104799],[-0.076081,0.072508,0.994462]]
2025-10-26T23:12:53.368Z,1761520373.368 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:53.429Z,1761520373.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:12:53.620Z,1761520373.620 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:53.714Z,1761520373.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657768,-0.752993,0.018506],[0.749533,-0.651923,0.114879],[-0.074439,0.089435,0.993207]]
2025-10-26T23:12:53.872Z,1761520373.872 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:54.106Z,1761520374.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681634,-0.731482,0.017614],[0.728061,-0.675657,0.115825],[-0.072823,0.091774,0.993113]]
2025-10-26T23:12:54.124Z,1761520374.124 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:54.376Z,1761520374.376 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:54.510Z,1761520374.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704519,-0.709560,0.013337],[0.706083,-0.698929,0.113780],[-0.071412,0.089577,0.993416]]
2025-10-26T23:12:54.629Z,1761520374.629 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:54.880Z,1761520374.880 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:54.917Z,1761520374.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726627,-0.687009,0.005538],[0.683431,-0.721971,0.108073],[-0.070248,0.082314,0.994128]]
2025-10-26T23:12:55.132Z,1761520375.132 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:55.345Z,1761520375.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747177,-0.664618,-0.003101],[0.660940,-0.743518,0.101684],[-0.069887,0.073927,0.994812]]
2025-10-26T23:12:55.384Z,1761520375.384 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:55.636Z,1761520375.636 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:55.728Z,1761520375.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765985,-0.642727,-0.012998],[0.639010,-0.763454,0.093833],[-0.070232,0.063569,0.995503]]
2025-10-26T23:12:55.753Z,1761520375.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:12:55.890Z,1761520375.890 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:56.126Z,1761520376.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782605,-0.622011,-0.025133],[0.618350,-0.781395,0.084056],[-0.071923,0.050242,0.996144]]
2025-10-26T23:12:56.144Z,1761520376.144 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:56.396Z,1761520376.396 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:56.532Z,1761520376.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797689,-0.601980,-0.036219],[0.598480,-0.797585,0.075357],[-0.074251,0.038435,0.996499]]
2025-10-26T23:12:56.648Z,1761520376.648 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:56.900Z,1761520376.900 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:56.934Z,1761520376.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812018,-0.581796,-0.046264],[0.578610,-0.812874,0.066678],[-0.076400,0.027375,0.996701]]
2025-10-26T23:12:57.152Z,1761520377.152 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:57.368Z,1761520377.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825520,-0.561839,-0.053418],[0.558859,-0.826983,0.061450],[-0.078701,0.020875,0.996680]]
2025-10-26T23:12:57.404Z,1761520377.404 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:57.656Z,1761520377.656 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:57.745Z,1761520377.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838188,-0.542339,-0.057527],[0.539309,-0.839928,0.060550],[-0.081157,0.019727,0.996506]]
2025-10-26T23:12:57.763Z,1761520377.763 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:12:57.908Z,1761520377.908 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:58.154Z,1761520378.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850591,-0.522497,-0.059094],[0.519144,-0.852320,0.063551],[-0.083572,0.023378,0.996227]]
2025-10-26T23:12:58.161Z,1761520378.161 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:58.412Z,1761520378.412 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:58.550Z,1761520378.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862617,-0.502262,-0.060204],[0.498457,-0.864239,0.068058],[-0.086214,0.028699,0.995863]]
2025-10-26T23:12:58.665Z,1761520378.665 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:58.916Z,1761520378.916 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:58.954Z,1761520378.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874349,-0.481646,-0.059412],[0.477035,-0.875493,0.077133],[-0.089166,0.039100,0.995249]]
2025-10-26T23:12:59.168Z,1761520379.168 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:59.399Z,1761520379.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885397,-0.460968,-0.059837],[0.455578,-0.886107,0.085225],[-0.092308,0.048198,0.994563]]
2025-10-26T23:12:59.420Z,1761520379.420 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:59.677Z,1761520379.677 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:12:59.764Z,1761520379.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895732,-0.440501,-0.060182],[0.434272,-0.895883,0.093814],[-0.095241,0.057896,0.993769]]
2025-10-26T23:12:59.785Z,1761520379.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:12:59.928Z,1761520379.928 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:00.166Z,1761520380.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905309,-0.420037,-0.063130],[0.413226,-0.905348,0.097922],[-0.098285,0.062562,0.993190]]
2025-10-26T23:13:00.180Z,1761520380.180 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:00.434Z,1761520380.434 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:00.571Z,1761520380.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914018,-0.400060,-0.067253],[0.392839,-0.914224,0.099355],[-0.101232,0.064393,0.992777]]
2025-10-26T23:13:00.684Z,1761520380.684 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:00.936Z,1761520380.936 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:00.974Z,1761520380.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922019,-0.380172,-0.073143],[0.372942,-0.922903,0.095732],[-0.103899,0.060989,0.992716]]
2025-10-26T23:13:01.188Z,1761520381.188 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:01.421Z,1761520381.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935961,-0.342007,-0.083715],[0.335447,-0.938377,0.083212],[-0.107015,0.049802,0.993009]]
2025-10-26T23:13:01.440Z,1761520381.440 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:01.692Z,1761520381.692 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:01.830Z,1761520381.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:01.944Z,1761520381.944 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:02.186Z,1761520382.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942320,-0.323136,-0.087271],[0.317046,-0.945298,0.076774],[-0.107305,0.044677,0.993222]]
2025-10-26T23:13:02.199Z,1761520382.199 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:02.268Z,1761520382.268 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:13:02.448Z,1761520382.448 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:02.590Z,1761520382.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948459,-0.304350,-0.088296],[0.298544,-0.951588,0.073154],[-0.106286,0.043023,0.993404]]
2025-10-26T23:13:02.701Z,1761520382.701 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:02.952Z,1761520382.952 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:03.004Z,1761520383.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960358,-0.265674,-0.084443],[0.259690,-0.962734,0.075530],[-0.101363,0.050607,0.993562]]
2025-10-26T23:13:03.204Z,1761520383.204 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:03.272Z,1761520383.272 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:13:03.456Z,1761520383.456 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:03.709Z,1761520383.709 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:03.813Z,1761520383.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971587,-0.222714,-0.080105],[0.216776,-0.973216,0.076540],[-0.095006,0.057000,0.993843]]
2025-10-26T23:13:03.844Z,1761520383.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:03.960Z,1761520383.960 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:04.213Z,1761520384.213 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:04.213Z,1761520384.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976805,-0.199648,-0.077408],[0.193666,-0.977931,0.078389],[-0.091350,0.061580,0.993913]]
2025-10-26T23:13:04.464Z,1761520384.464 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:04.616Z,1761520384.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981764,-0.174537,-0.075337],[0.168684,-0.982569,0.078132],[-0.087660,0.063999,0.994092]]
2025-10-26T23:13:04.717Z,1761520384.717 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:04.968Z,1761520384.968 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:05.016Z,1761520385.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986172,-0.148505,-0.073566],[0.142781,-0.986693,0.077782],[-0.084139,0.066202,0.994252]]
2025-10-26T23:13:05.220Z,1761520385.220 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:05.434Z,1761520385.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989942,-0.121815,-0.071947],[0.116156,-0.990146,0.078219],[-0.080767,0.069076,0.994337]]
2025-10-26T23:13:05.477Z,1761520385.477 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:05.725Z,1761520385.725 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:05.831Z,1761520385.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992982,-0.094882,-0.070592],[0.089294,-0.992906,0.078511],[-0.077541,0.071657,0.994411]]
2025-10-26T23:13:05.848Z,1761520385.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:05.976Z,1761520385.976 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:06.229Z,1761520386.229 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:06.234Z,1761520386.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995206,-0.068684,-0.069625],[0.063125,-0.994865,0.079119],[-0.074702,0.074344,0.994431]]
2025-10-26T23:13:06.481Z,1761520386.481 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:06.631Z,1761520386.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996698,-0.042697,-0.069071],[0.037198,-0.996178,0.079027],[-0.072182,0.076196,0.994477]]
2025-10-26T23:13:06.733Z,1761520386.733 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:06.984Z,1761520386.984 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:07.034Z,1761520387.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997550,-0.016329,-0.068021],[0.010865,-0.996741,0.079934],[-0.069105,0.078999,0.994477]]
2025-10-26T23:13:07.236Z,1761520387.236 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:07.442Z,1761520387.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997745,0.008655,-0.066566],[-0.014020,-0.996651,0.080564],[-0.065645,0.081316,0.994524]]
2025-10-26T23:13:07.491Z,1761520387.491 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:07.743Z,1761520387.743 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:07.844Z,1761520387.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997304,0.034575,-0.064730],[-0.039455,-0.996350,0.075695],[-0.061877,0.078045,0.995028]]
2025-10-26T23:13:07.959Z,1761520387.959 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:07.997Z,1761520387.997 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:08.246Z,1761520388.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996246,0.059753,-0.062637],[-0.064169,-0.995408,0.071037],[-0.058104,0.074789,0.995505]]
2025-10-26T23:13:08.248Z,1761520388.248 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:08.502Z,1761520388.502 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:08.650Z,1761520388.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994636,0.083980,-0.060378],[-0.087844,-0.994046,0.064464],[-0.054605,0.069422,0.996092]]
2025-10-26T23:13:08.752Z,1761520388.752 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:09.006Z,1761520389.006 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:09.054Z,1761520389.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992354,0.109087,-0.057735],[-0.112150,-0.992289,0.052770],[-0.051533,0.058842,0.996936]]
2025-10-26T23:13:09.256Z,1761520389.256 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:09.465Z,1761520389.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989477,0.133740,-0.055221],[-0.136078,-0.989850,0.040990],[-0.049179,0.048073,0.997632]]
2025-10-26T23:13:09.510Z,1761520389.510 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:09.760Z,1761520389.760 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:09.862Z,1761520389.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985923,0.158221,-0.054055],[-0.160179,-0.986502,0.034013],[-0.047943,0.042192,0.997959]]
2025-10-26T23:13:10.012Z,1761520390.012 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:10.264Z,1761520390.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:10.269Z,1761520390.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981773,0.181933,-0.054975],[-0.183841,-0.982439,0.031881],[-0.048209,0.041407,0.997979]]
2025-10-26T23:13:10.290Z,1761520390.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:10.519Z,1761520390.519 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:10.670Z,1761520390.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977020,0.205436,-0.056811],[-0.207216,-0.977912,0.027389],[-0.049929,0.038532,0.998009]]
2025-10-26T23:13:10.768Z,1761520390.768 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:11.020Z,1761520391.020 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:11.074Z,1761520391.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971344,0.230327,-0.058654],[-0.231920,-0.972489,0.021883],[-0.052000,0.034859,0.998038]]
2025-10-26T23:13:11.272Z,1761520391.272 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:11.478Z,1761520391.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964722,0.255939,-0.061700],[-0.257567,-0.966055,0.019911],[-0.054510,0.035101,0.997896]]
2025-10-26T23:13:11.527Z,1761520391.527 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:11.780Z,1761520391.780 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:11.885Z,1761520391.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956776,0.283603,-0.064407],[-0.285047,-0.958407,0.014275],[-0.057680,0.032017,0.997822]]
2025-10-26T23:13:12.029Z,1761520392.029 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:12.280Z,1761520392.280 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:12.289Z,1761520392.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947248,0.312590,-0.070773],[-0.314544,-0.949071,0.018091],[-0.061514,0.039398,0.997328]]
2025-10-26T23:13:12.329Z,1761520392.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:12.534Z,1761520392.534 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:12.690Z,1761520392.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936972,0.339955,-0.080708],[-0.343267,-0.938724,0.031069],[-0.065200,0.056815,0.996253]]
2025-10-26T23:13:12.784Z,1761520392.784 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:13.036Z,1761520393.036 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:13.095Z,1761520393.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926108,0.365831,-0.092149],[-0.371042,-0.927417,0.047178],[-0.068201,0.077883,0.994627]]
2025-10-26T23:13:13.289Z,1761520393.289 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:13.498Z,1761520393.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914877,0.390505,-0.102501],[-0.397716,-0.915382,0.062435],[-0.069446,0.097887,0.992772]]
2025-10-26T23:13:13.543Z,1761520393.543 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:13.793Z,1761520393.793 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:13.902Z,1761520393.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903294,0.415037,-0.108650],[-0.423424,-0.903223,0.070003],[-0.069081,0.109238,0.991612]]
2025-10-26T23:13:14.044Z,1761520394.044 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:14.300Z,1761520394.300 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:14.318Z,1761520394.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891641,0.438908,-0.111072],[-0.447467,-0.891664,0.068616],[-0.068923,0.110882,0.991441]]
2025-10-26T23:13:14.396Z,1761520394.396 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:14.554Z,1761520394.554 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:14.717Z,1761520394.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879750,0.462587,-0.109788],[-0.470416,-0.880404,0.059984],[-0.068910,0.104417,0.992143]]
2025-10-26T23:13:14.806Z,1761520394.806 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:15.056Z,1761520395.056 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:15.116Z,1761520395.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869070,0.483035,-0.106746],[-0.489929,-0.870292,0.050603],[-0.068457,0.096276,0.992998]]
2025-10-26T23:13:15.309Z,1761520395.309 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:15.518Z,1761520395.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859282,0.501892,-0.098687],[-0.507057,-0.861190,0.035270],[-0.067286,0.080347,0.994493]]
2025-10-26T23:13:15.560Z,1761520395.560 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:15.814Z,1761520395.814 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:15.922Z,1761520395.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849815,0.519960,-0.086343],[-0.523029,-0.852163,0.016069],[-0.065223,0.058816,0.996136]]
2025-10-26T23:13:16.065Z,1761520396.065 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:16.317Z,1761520396.317 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:16.336Z,1761520396.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840613,0.537329,-0.068176],[-0.538079,-0.842853,-0.008407],[-0.061980,0.029617,0.997638]]
2025-10-26T23:13:16.571Z,1761520396.571 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:16.743Z,1761520396.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831459,0.553248,-0.050917],[-0.552522,-0.833006,-0.028655],[-0.058267,0.004308,0.998292]]
2025-10-26T23:13:16.803Z,1761520396.803 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:16.820Z,1761520396.820 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:17.072Z,1761520397.072 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:17.134Z,1761520397.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822147,0.567981,-0.038360],[-0.566636,-0.822957,-0.040815],[-0.054751,-0.011819,0.998430]]
2025-10-26T23:13:17.325Z,1761520397.325 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:17.538Z,1761520397.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813366,0.580772,-0.033775],[-0.579449,-0.813940,-0.041714],[-0.051717,-0.014358,0.998559]]
2025-10-26T23:13:17.576Z,1761520397.576 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:17.828Z,1761520397.828 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:17.943Z,1761520397.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804313,0.593329,-0.032287],[-0.592134,-0.804857,-0.039770],[-0.049583,-0.012870,0.998687]]
2025-10-26T23:13:18.080Z,1761520398.080 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:18.332Z,1761520398.332 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:18.352Z,1761520398.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794951,0.605906,-0.030505],[-0.604776,-0.795436,-0.039071],[-0.047938,-0.012611,0.998771]]
2025-10-26T23:13:18.585Z,1761520398.585 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:18.836Z,1761520398.836 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:18.845Z,1761520398.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:19.089Z,1761520399.089 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:19.154Z,1761520399.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776509,0.629458,-0.028570],[-0.628375,-0.776938,-0.038881],[-0.046671,-0.012239,0.998835]]
2025-10-26T23:13:19.341Z,1761520399.341 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:19.559Z,1761520399.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767344,0.640643,-0.027572],[-0.639482,-0.767715,-0.040944],[-0.047399,-0.013786,0.998781]]
2025-10-26T23:13:19.594Z,1761520399.594 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:19.847Z,1761520399.847 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:19.965Z,1761520399.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758359,0.651277,-0.027020],[-0.650033,-0.758692,-0.042929],[-0.048458,-0.014992,0.998713]]
2025-10-26T23:13:20.096Z,1761520400.096 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:20.348Z,1761520400.348 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:20.366Z,1761520400.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749430,0.661544,-0.026728],[-0.660229,-0.749741,-0.044573],[-0.049526,-0.015757,0.998649]]
2025-10-26T23:13:20.600Z,1761520400.600 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:20.770Z,1761520400.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741042,0.670845,-0.028686],[-0.669503,-0.741468,-0.044632],[-0.051211,-0.013869,0.998592]]
2025-10-26T23:13:20.852Z,1761520400.852 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:21.104Z,1761520401.104 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:21.206Z,1761520401.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:21.356Z,1761520401.356 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:21.580Z,1761520401.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726991,0.686027,-0.029166],[-0.684440,-0.727403,-0.049268],[-0.055015,-0.015854,0.998360]]
2025-10-26T23:13:21.608Z,1761520401.608 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:21.860Z,1761520401.860 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:21.982Z,1761520401.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720965,0.692520,-0.024996],[-0.690632,-0.721025,-0.056135],[-0.056897,-0.023208,0.998110]]
2025-10-26T23:13:22.112Z,1761520402.112 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:22.364Z,1761520402.364 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:22.386Z,1761520402.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715827,0.698002,-0.019605],[-0.695853,-0.715398,-0.063205],[-0.058142,-0.031601,0.997808]]
2025-10-26T23:13:22.619Z,1761520402.619 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:22.801Z,1761520402.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710934,0.703120,-0.013959],[-0.700769,-0.709946,-0.069996],[-0.059126,-0.039981,0.997450]]
2025-10-26T23:13:22.868Z,1761520402.868 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:23.120Z,1761520403.120 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:23.197Z,1761520403.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707289,0.706848,-0.010374],[-0.704437,-0.705955,-0.073465],[-0.059252,-0.044653,0.997244]]
2025-10-26T23:13:23.233Z,1761520403.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:23.372Z,1761520403.372 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:23.598Z,1761520403.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704172,0.709987,-0.007763],[-0.707565,-0.702596,-0.075566],[-0.059105,-0.047719,0.997111]]
2025-10-26T23:13:23.624Z,1761520403.624 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:23.876Z,1761520403.876 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:24.002Z,1761520404.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701289,0.712867,-0.003665],[-0.710491,-0.699353,-0.078156],[-0.058278,-0.052206,0.996934]]
2025-10-26T23:13:24.128Z,1761520404.128 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:24.384Z,1761520404.384 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:24.406Z,1761520404.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698634,0.715477,0.002000],[-0.713207,-0.696189,-0.081588],[-0.056982,-0.058427,0.996664]]
2025-10-26T23:13:24.632Z,1761520404.632 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:24.817Z,1761520404.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696454,0.717539,0.009440],[-0.715456,-0.693296,-0.086394],[-0.055446,-0.066924,0.996216]]
2025-10-26T23:13:24.884Z,1761520404.884 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:25.136Z,1761520405.136 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:25.214Z,1761520405.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693592,0.720098,0.019701],[-0.718340,-0.689331,-0.093862],[-0.054009,-0.079254,0.995390]]
2025-10-26T23:13:25.241Z,1761520405.241 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:25.389Z,1761520405.389 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:25.640Z,1761520405.640 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:25.892Z,1761520405.892 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:26.025Z,1761520406.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685848,0.726656,0.039804],[-0.725910,-0.679211,-0.108294],[-0.051657,-0.103168,0.993322]]
2025-10-26T23:13:26.144Z,1761520406.144 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:26.396Z,1761520406.396 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:26.427Z,1761520406.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681491,0.730229,0.048335],[-0.730066,-0.673788,-0.114075],[-0.050733,-0.113029,0.992296]]
2025-10-26T23:13:26.648Z,1761520406.648 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:26.830Z,1761520406.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677310,0.733784,0.053027],[-0.733988,-0.669066,-0.116671],[-0.050132,-0.117944,0.991754]]
2025-10-26T23:13:26.902Z,1761520406.902 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:27.152Z,1761520407.152 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:27.234Z,1761520407.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673224,0.737527,0.053139],[-0.737772,-0.665148,-0.115194],[-0.049613,-0.116756,0.991921]]
2025-10-26T23:13:27.334Z,1761520407.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:27.404Z,1761520407.404 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:27.640Z,1761520407.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669798,0.740588,0.053850],[-0.740906,-0.661748,-0.114665],[-0.049285,-0.116700,0.991944]]
2025-10-26T23:13:27.657Z,1761520407.657 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:27.908Z,1761520407.908 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:28.043Z,1761520408.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666532,0.743467,0.054696],[-0.743829,-0.658391,-0.115064],[-0.049535,-0.117379,0.991851]]
2025-10-26T23:13:28.161Z,1761520408.161 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:28.412Z,1761520408.412 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:28.446Z,1761520408.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664757,0.745189,0.052827],[-0.745373,-0.656847,-0.113891],[-0.050171,-0.115086,0.992088]]
2025-10-26T23:13:28.664Z,1761520408.664 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:28.908Z,1761520408.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663898,0.745874,0.053955],[-0.746092,-0.655731,-0.115601],[-0.050844,-0.117002,0.991829]]
2025-10-26T23:13:28.916Z,1761520408.916 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:29.169Z,1761520409.169 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:29.304Z,1761520409.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663757,0.745676,0.058263],[-0.746180,-0.654820,-0.120113],[-0.051413,-0.123200,0.991049]]
2025-10-26T23:13:29.425Z,1761520409.425 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:29.673Z,1761520409.673 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:29.710Z,1761520409.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664067,0.745065,0.062389],[-0.745852,-0.654321,-0.124775],[-0.052142,-0.129392,0.990222]]
2025-10-26T23:13:29.746Z,1761520409.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:29.924Z,1761520409.924 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:30.176Z,1761520410.176 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:30.428Z,1761520410.428 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:30.517Z,1761520410.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666845,0.741638,0.072739],[-0.743203,-0.654751,-0.137661],[-0.054469,-0.145859,0.987805]]
2025-10-26T23:13:30.680Z,1761520410.680 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:30.918Z,1761520410.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669013,0.738985,0.079519],[-0.741156,-0.655269,-0.145985],[-0.055774,-0.156602,0.986086]]
2025-10-26T23:13:30.932Z,1761520410.932 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:31.184Z,1761520411.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:31.323Z,1761520411.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671571,0.735509,0.089550],[-0.738755,-0.655405,-0.157116],[-0.056868,-0.171670,0.983512]]
2025-10-26T23:13:31.436Z,1761520411.436 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:31.688Z,1761520411.688 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:31.733Z,1761520411.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673382,0.732335,0.101206],[-0.737039,-0.654320,-0.169230],[-0.057712,-0.188550,0.980366]]
2025-10-26T23:13:31.768Z,1761520411.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:31.941Z,1761520411.941 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:32.130Z,1761520412.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675125,0.729655,0.108672],[-0.735392,-0.654016,-0.177374],[-0.058349,-0.199667,0.978125]]
2025-10-26T23:13:32.209Z,1761520412.209 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:32.460Z,1761520412.460 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:32.534Z,1761520412.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676415,0.727834,0.112782],[-0.734139,-0.653971,-0.182653],[-0.059185,-0.206348,0.976687]]
2025-10-26T23:13:32.716Z,1761520412.716 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:32.938Z,1761520412.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677205,0.726989,0.113492],[-0.733342,-0.654288,-0.184707],[-0.060023,-0.208313,0.976219]]
2025-10-26T23:13:32.964Z,1761520412.964 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:33.216Z,1761520413.216 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:33.345Z,1761520413.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678035,0.726869,0.109222],[-0.732511,-0.655920,-0.182201],[-0.060795,-0.203545,0.977176]]
2025-10-26T23:13:33.404Z,1761520413.404 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:13:33.468Z,1761520413.468 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:33.721Z,1761520413.721 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:33.748Z,1761520413.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679119,0.726807,0.102705],[-0.731439,-0.658325,-0.177781],[-0.061599,-0.195857,0.978696]]
2025-10-26T23:13:33.789Z,1761520413.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:33.973Z,1761520413.973 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:34.150Z,1761520414.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680139,0.726349,0.099140],[-0.730436,-0.659973,-0.175782],[-0.062249,-0.191972,0.979424]]
2025-10-26T23:13:34.226Z,1761520414.226 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:34.411Z,1761520414.411 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:13:34.476Z,1761520414.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:34.555Z,1761520414.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681933,0.725067,0.096153],[-0.728710,-0.662219,-0.174493],[-0.062845,-0.189060,0.979952]]
2025-10-26T23:13:34.729Z,1761520414.729 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:34.962Z,1761520414.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683473,0.724033,0.092960],[-0.727181,-0.664180,-0.173413],[-0.063815,-0.186122,0.980452]]
2025-10-26T23:13:34.980Z,1761520414.980 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:35.232Z,1761520415.232 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:35.362Z,1761520415.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685755,0.722550,0.087530],[-0.724935,-0.667348,-0.170635],[-0.064879,-0.180468,0.981439]]
2025-10-26T23:13:35.484Z,1761520415.484 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:35.736Z,1761520415.736 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:35.777Z,1761520415.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688249,0.720491,0.084883],[-0.722488,-0.670102,-0.170219],[-0.065761,-0.178480,0.981744]]
2025-10-26T23:13:35.805Z,1761520415.805 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:35.988Z,1761520415.988 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:36.169Z,1761520416.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691273,0.717907,0.082164],[-0.719542,-0.673450,-0.169482],[-0.066339,-0.176279,0.982102]]
2025-10-26T23:13:36.240Z,1761520416.240 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:36.492Z,1761520416.492 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:36.570Z,1761520416.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694383,0.714993,0.081347],[-0.716516,-0.676505,-0.170135],[-0.066613,-0.176425,0.982057]]
2025-10-26T23:13:36.744Z,1761520416.744 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:36.974Z,1761520416.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698111,0.711475,0.080276],[-0.712831,-0.680130,-0.171156],[-0.067175,-0.176709,0.981968]]
2025-10-26T23:13:36.996Z,1761520416.996 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:37.249Z,1761520417.249 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:37.378Z,1761520417.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702491,0.707370,0.078327],[-0.708416,-0.684458,-0.172231],[-0.068219,-0.176479,0.981938]]
2025-10-26T23:13:37.500Z,1761520417.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:37.753Z,1761520417.753 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:37.790Z,1761520417.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707386,0.702598,0.077211],[-0.703399,-0.688996,-0.174684],[-0.069534,-0.177879,0.981593]]
2025-10-26T23:13:37.846Z,1761520417.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:38.004Z,1761520418.004 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:38.186Z,1761520418.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712929,0.696878,0.078051],[-0.697651,-0.693636,-0.179311],[-0.070818,-0.182288,0.980691]]
2025-10-26T23:13:38.259Z,1761520418.259 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:38.508Z,1761520418.508 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:38.590Z,1761520418.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718910,0.690343,0.081206],[-0.691383,-0.698097,-0.186145],[-0.071815,-0.189966,0.979161]]
2025-10-26T23:13:38.760Z,1761520418.760 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:38.994Z,1761520418.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724713,0.683692,0.085769],[-0.685178,-0.701855,-0.194758],[-0.072957,-0.199910,0.977094]]
2025-10-26T23:13:39.012Z,1761520419.012 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:39.265Z,1761520419.265 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:39.398Z,1761520419.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730794,0.676621,0.090129],[-0.678592,-0.705862,-0.203156],[-0.073841,-0.209626,0.974989]]
2025-10-26T23:13:39.516Z,1761520419.516 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:39.769Z,1761520419.769 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:39.802Z,1761520419.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736826,0.669472,0.094314],[-0.671942,-0.709738,-0.211578],[-0.074707,-0.219270,0.972800]]
2025-10-26T23:13:40.020Z,1761520420.020 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:40.208Z,1761520420.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742983,0.662345,0.096308],[-0.665070,-0.714422,-0.217448],[-0.075221,-0.225612,0.971309]]
2025-10-26T23:13:40.273Z,1761520420.273 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:40.320Z,1761520420.320 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:40.524Z,1761520420.524 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:40.610Z,1761520420.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748923,0.655393,0.097850],[-0.658304,-0.718950,-0.223039],[-0.075829,-0.231454,0.969886]]
2025-10-26T23:13:40.776Z,1761520420.776 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:41.015Z,1761520421.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754497,0.648765,0.099184],[-0.651834,-0.723146,-0.228412],[-0.076461,-0.236988,0.968499]]
2025-10-26T23:13:41.037Z,1761520421.037 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:41.288Z,1761520421.288 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:41.418Z,1761520421.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759903,0.642511,0.098623],[-0.645424,-0.727738,-0.232002],[-0.077292,-0.239953,0.967703]]
2025-10-26T23:13:41.540Z,1761520421.540 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:41.792Z,1761520421.792 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:41.824Z,1761520421.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765251,0.636593,0.095606],[-0.638908,-0.732942,-0.233651],[-0.078667,-0.239885,0.967609]]
2025-10-26T23:13:42.044Z,1761520422.044 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:42.228Z,1761520422.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769409,0.632103,0.091953],[-0.633629,-0.737079,-0.235009],[-0.080774,-0.239082,0.967634]]
2025-10-26T23:13:42.296Z,1761520422.296 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:42.548Z,1761520422.548 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:42.630Z,1761520422.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772925,0.628496,0.087067],[-0.628973,-0.740877,-0.235571],[-0.083550,-0.236841,0.967949]]
2025-10-26T23:13:42.658Z,1761520422.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:42.800Z,1761520422.800 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:43.046Z,1761520423.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782107,0.618587,0.075220],[-0.616701,-0.751049,-0.235806],[-0.089373,-0.230814,0.968885]]
2025-10-26T23:13:43.053Z,1761520423.053 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:43.304Z,1761520423.304 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:43.443Z,1761520423.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786141,0.613749,0.072756],[-0.611099,-0.754297,-0.239989],[-0.092414,-0.233126,0.968045]]
2025-10-26T23:13:43.556Z,1761520423.556 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:43.808Z,1761520423.808 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:43.850Z,1761520423.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790684,0.608257,0.069585],[-0.604755,-0.758276,-0.243494],[-0.095342,-0.234608,0.967403]]
2025-10-26T23:13:44.060Z,1761520424.060 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:44.263Z,1761520424.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794487,0.603698,0.065876],[-0.599322,-0.761940,-0.245481],[-0.098003,-0.234513,0.967160]]
2025-10-26T23:13:44.312Z,1761520424.312 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:44.564Z,1761520424.564 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:44.654Z,1761520424.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798805,0.598519,0.060709],[-0.593176,-0.766795,-0.245292],[-0.100261,-0.231952,0.967546]]
2025-10-26T23:13:44.671Z,1761520424.671 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:44.816Z,1761520424.816 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:45.068Z,1761520425.068 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:45.072Z,1761520425.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802970,0.593242,0.057461],[-0.587203,-0.770888,-0.246828],[-0.102133,-0.231937,0.967354]]
2025-10-26T23:13:45.320Z,1761520425.320 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:45.461Z,1761520425.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807311,0.587699,0.053470],[-0.580966,-0.775608,-0.246802],[-0.103573,-0.230310,0.967590]]
2025-10-26T23:13:45.572Z,1761520425.572 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:45.824Z,1761520425.824 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:45.862Z,1761520425.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811432,0.582251,0.050606],[-0.574860,-0.779507,-0.248807],[-0.105420,-0.230982,0.967230]]
2025-10-26T23:13:46.080Z,1761520426.080 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:46.271Z,1761520426.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815321,0.577216,0.045527],[-0.568865,-0.783905,-0.248769],[-0.107905,-0.228725,0.967492]]
2025-10-26T23:13:46.328Z,1761520426.328 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:46.580Z,1761520426.580 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:46.670Z,1761520426.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819321,0.572048,0.038395],[-0.562573,-0.789221,-0.246256],[-0.110568,-0.223363,0.968444]]
2025-10-26T23:13:46.687Z,1761520426.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:46.832Z,1761520426.832 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:47.084Z,1761520427.084 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:47.336Z,1761520427.336 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:47.478Z,1761520427.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827213,0.561253,0.026713],[-0.549728,-0.798558,-0.245162],[-0.116266,-0.217486,0.969114]]
2025-10-26T23:13:47.590Z,1761520427.590 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:47.844Z,1761520427.844 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:47.886Z,1761520427.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830681,0.556288,0.022650],[-0.543841,-0.802041,-0.246917],[-0.119190,-0.217427,0.968772]]
2025-10-26T23:13:48.095Z,1761520428.095 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:48.286Z,1761520428.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834519,0.550705,0.017386],[-0.537151,-0.806143,-0.248199],[-0.122669,-0.216466,0.968553]]
2025-10-26T23:13:48.344Z,1761520428.344 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:48.596Z,1761520428.596 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:48.691Z,1761520428.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838427,0.544870,0.012548],[-0.530148,-0.810000,-0.250687],[-0.126428,-0.216835,0.967987]]
2025-10-26T23:13:48.714Z,1761520428.714 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:48.848Z,1761520428.848 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:49.102Z,1761520429.102 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:49.118Z,1761520429.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842281,0.538998,0.006644],[-0.523038,-0.814236,-0.251897],[-0.130362,-0.215643,0.967731]]
2025-10-26T23:13:49.352Z,1761520429.352 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:49.498Z,1761520429.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845919,0.533310,0.001144],[-0.516102,-0.818080,-0.253738],[-0.134385,-0.215233,0.967272]]
2025-10-26T23:13:49.604Z,1761520429.604 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:49.856Z,1761520429.856 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:49.906Z,1761520429.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849468,0.527619,-0.004800],[-0.509190,-0.822115,-0.254661],[-0.138310,-0.213883,0.967018]]
2025-10-26T23:13:50.111Z,1761520430.111 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:50.307Z,1761520430.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852912,0.521933,-0.011252],[-0.502212,-0.826190,-0.255327],[-0.142560,-0.212121,0.966789]]
2025-10-26T23:13:50.360Z,1761520430.360 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:50.612Z,1761520430.612 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:50.714Z,1761520430.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856271,0.516223,-0.017704],[-0.495184,-0.830158,-0.256184],[-0.146946,-0.210596,0.966466]]
2025-10-26T23:13:50.805Z,1761520430.805 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:50.865Z,1761520430.865 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:51.118Z,1761520431.118 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:51.150Z,1761520431.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859848,0.509941,-0.024944],[-0.487581,-0.834672,-0.256100],[-0.151416,-0.208044,0.966329]]
2025-10-26T23:13:51.368Z,1761520431.368 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:51.518Z,1761520431.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862946,0.504391,-0.030237],[-0.480664,-0.837864,-0.258740],[-0.155841,-0.208745,0.965474]]
2025-10-26T23:13:51.620Z,1761520431.620 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:51.872Z,1761520431.872 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:51.931Z,1761520431.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865961,0.498900,-0.034779],[-0.473823,-0.840706,-0.262119],[-0.160010,-0.210506,0.964409]]
2025-10-26T23:13:52.127Z,1761520432.127 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:52.326Z,1761520432.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868854,0.493468,-0.039772],[-0.467220,-0.843893,-0.263722],[-0.163702,-0.210554,0.963778]]
2025-10-26T23:13:52.376Z,1761520432.376 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:52.628Z,1761520432.628 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:52.739Z,1761520432.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871609,0.488063,-0.045749],[-0.460734,-0.847507,-0.263547],[-0.167400,-0.208632,0.963561]]
2025-10-26T23:13:52.880Z,1761520432.880 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:53.134Z,1761520433.134 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:53.175Z,1761520433.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873779,0.483765,-0.049816],[-0.455332,-0.849776,-0.265621],[-0.170831,-0.209411,0.962790]]
2025-10-26T23:13:53.305Z,1761520433.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:53.385Z,1761520433.385 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:53.540Z,1761520433.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875339,0.480420,-0.054582],[-0.450898,-0.851836,-0.266585],[-0.174567,-0.208741,0.962265]]
2025-10-26T23:13:53.636Z,1761520433.636 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:53.888Z,1761520433.888 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:53.942Z,1761520433.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876840,0.477086,-0.059504],[-0.446280,-0.853697,-0.268395],[-0.178846,-0.208784,0.961469]]
2025-10-26T23:13:54.143Z,1761520434.143 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:54.346Z,1761520434.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878097,0.474158,-0.064186],[-0.442153,-0.855365,-0.269910],[-0.182882,-0.208628,0.960744]]
2025-10-26T23:13:54.392Z,1761520434.392 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:54.645Z,1761520434.645 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:54.757Z,1761520434.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878813,0.472202,-0.068654],[-0.438945,-0.856431,-0.271760],[-0.187123,-0.208691,0.959913]]
2025-10-26T23:13:54.896Z,1761520434.896 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:55.150Z,1761520435.150 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:55.400Z,1761520435.400 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:55.652Z,1761520435.652 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:55.657Z,1761520435.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879988,0.468538,-0.078061],[-0.432917,-0.858753,-0.274091],[-0.195457,-0.207403,0.958530]]
2025-10-26T23:13:55.689Z,1761520435.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:55.904Z,1761520435.904 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:56.067Z,1761520436.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880778,0.465869,-0.084837],[-0.429407,-0.861302,-0.271604],[-0.199602,-0.202793,0.958663]]
2025-10-26T23:13:56.156Z,1761520436.156 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:56.408Z,1761520436.408 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:56.471Z,1761520436.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881738,0.462813,-0.091332],[-0.425475,-0.863835,-0.269742],[-0.203736,-0.198982,0.958592]]
2025-10-26T23:13:56.660Z,1761520436.660 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:56.874Z,1761520436.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883280,0.458912,-0.096007],[-0.420569,-0.866041,-0.270360],[-0.207217,-0.198426,0.957960]]
2025-10-26T23:13:56.912Z,1761520436.912 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:57.166Z,1761520437.166 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:57.278Z,1761520437.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885022,0.454955,-0.098756],[-0.415641,-0.867718,-0.272596],[-0.209711,-0.200206,0.957047]]
2025-10-26T23:13:57.416Z,1761520437.416 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:57.668Z,1761520437.668 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:57.683Z,1761520437.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887294,0.449883,-0.101561],[-0.409949,-0.870219,-0.273242],[-0.211308,-0.200811,0.956569]]
2025-10-26T23:13:57.758Z,1761520437.758 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:57.920Z,1761520437.920 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:58.087Z,1761520438.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890442,0.442938,-0.104493],[-0.402441,-0.873588,-0.273653],[-0.212495,-0.201620,0.956136]]
2025-10-26T23:13:58.172Z,1761520438.172 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:58.424Z,1761520438.424 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:58.492Z,1761520438.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893768,0.435821,-0.106011],[-0.394705,-0.876492,-0.275627],[-0.213041,-0.204504,0.955401]]
2025-10-26T23:13:58.676Z,1761520438.676 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:58.894Z,1761520438.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897331,0.428233,-0.106836],[-0.386404,-0.879213,-0.278706],[-0.213283,-0.208810,0.954416]]
2025-10-26T23:13:58.928Z,1761520438.928 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:59.183Z,1761520439.183 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:59.298Z,1761520439.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900943,0.420427,-0.107441],[-0.378170,-0.882136,-0.280755],[-0.212814,-0.212313,0.953747]]
2025-10-26T23:13:59.432Z,1761520439.432 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:59.685Z,1761520439.685 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:13:59.708Z,1761520439.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904809,0.412054,-0.107388],[-0.369841,-0.885453,-0.281408],[-0.211042,-0.214904,0.953560]]
2025-10-26T23:13:59.762Z,1761520439.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:13:59.936Z,1761520439.936 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:00.108Z,1761520440.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908608,0.404062,-0.105668],[-0.362076,-0.888180,-0.282906],[-0.208164,-0.218791,0.953309]]
2025-10-26T23:14:00.188Z,1761520440.188 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:00.440Z,1761520440.440 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:00.692Z,1761520440.692 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:00.944Z,1761520440.944 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:01.196Z,1761520441.196 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:01.318Z,1761520441.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918039,0.383921,-0.099039],[-0.343747,-0.895170,-0.283739],[-0.197591,-0.226439,0.953773]]
2025-10-26T23:14:01.449Z,1761520441.449 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:01.701Z,1761520441.701 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:01.740Z,1761520441.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920286,0.378683,-0.098349],[-0.339527,-0.897896,-0.280186],[-0.194409,-0.224459,0.954894]]
2025-10-26T23:14:01.953Z,1761520441.953 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:02.126Z,1761520442.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922258,0.373756,-0.098727],[-0.335780,-0.901058,-0.274494],[-0.191553,-0.220004,0.956507]]
2025-10-26T23:14:02.161Z,1761520442.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:02.204Z,1761520442.204 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:02.456Z,1761520442.456 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:02.531Z,1761520442.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923748,0.370208,-0.098161],[-0.333172,-0.903139,-0.270806],[-0.188907,-0.217452,0.957616]]
2025-10-26T23:14:02.709Z,1761520442.709 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:02.934Z,1761520442.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925062,0.366892,-0.098237],[-0.330948,-0.905526,-0.265510],[-0.186369,-0.213102,0.959090]]
2025-10-26T23:14:02.960Z,1761520442.960 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:03.213Z,1761520443.213 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:03.340Z,1761520443.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926145,0.364384,-0.097361],[-0.329550,-0.907345,-0.261002],[-0.183445,-0.209640,0.960416]]
2025-10-26T23:14:03.464Z,1761520443.464 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:03.717Z,1761520443.717 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:03.748Z,1761520443.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927165,0.362144,-0.096000],[-0.328435,-0.908941,-0.256821],[-0.180265,-0.206586,0.961679]]
2025-10-26T23:14:03.968Z,1761520443.968 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:04.150Z,1761520444.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928166,0.359995,-0.094404],[-0.327299,-0.910313,-0.253390],[-0.177156,-0.204289,0.962747]]
2025-10-26T23:14:04.182Z,1761520444.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:04.221Z,1761520444.221 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:04.472Z,1761520444.472 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:04.528Z,1761520444.528 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:14:04.551Z,1761520444.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929027,0.358241,-0.092588],[-0.326476,-0.911400,-0.250527],[-0.174134,-0.202519,0.963672]]
2025-10-26T23:14:04.725Z,1761520444.725 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:04.960Z,1761520444.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929758,0.356989,-0.090050],[-0.326038,-0.911966,-0.249031],[-0.171024,-0.202179,0.964300]]
2025-10-26T23:14:04.976Z,1761520444.976 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:05.229Z,1761520445.229 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:05.365Z,1761520445.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930468,0.355691,-0.087826],[-0.325763,-0.912903,-0.245941],[-0.167656,-0.200230,0.965298]]
2025-10-26T23:14:05.481Z,1761520445.481 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:05.532Z,1761520445.532 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:14:05.733Z,1761520445.733 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:05.762Z,1761520445.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931361,0.353894,-0.085591],[-0.325143,-0.914202,-0.241903],[-0.163855,-0.197470,0.966518]]
2025-10-26T23:14:05.984Z,1761520445.984 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:06.170Z,1761520446.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932467,0.351354,-0.084000],[-0.323847,-0.916039,-0.236634],[-0.160090,-0.193450,0.967961]]
2025-10-26T23:14:06.187Z,1761520446.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:06.236Z,1761520446.236 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:06.488Z,1761520446.488 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:06.570Z,1761520446.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933619,0.348768,-0.081951],[-0.322433,-0.917677,-0.232175],[-0.156180,-0.190340,0.969215]]
2025-10-26T23:14:06.740Z,1761520446.740 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:06.983Z,1761520446.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934814,0.346118,-0.079531],[-0.320818,-0.919071,-0.228875],[-0.152312,-0.188441,0.970202]]
2025-10-26T23:14:06.993Z,1761520446.993 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:07.244Z,1761520447.244 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:07.391Z,1761520447.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936277,0.342701,-0.077086],[-0.318309,-0.920559,-0.226384],[-0.148545,-0.187421,0.970983]]
2025-10-26T23:14:07.496Z,1761520447.496 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:07.748Z,1761520447.748 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:07.782Z,1761520447.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937713,0.339591,-0.073301],[-0.315992,-0.921388,-0.226259],[-0.144374,-0.189003,0.971305]]
2025-10-26T23:14:08.000Z,1761520448.000 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:08.189Z,1761520448.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939280,0.335970,-0.069841],[-0.313239,-0.922563,-0.225299],[-0.140126,-0.189742,0.971783]]
2025-10-26T23:14:08.215Z,1761520448.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:08.252Z,1761520448.252 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:08.504Z,1761520448.504 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:08.590Z,1761520448.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941062,0.331628,-0.066521],[-0.309834,-0.924094,-0.223727],[-0.135666,-0.189930,0.972379]]
2025-10-26T23:14:08.756Z,1761520448.756 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:08.994Z,1761520448.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942966,0.326861,-0.063065],[-0.305864,-0.925495,-0.223396],[-0.131386,-0.191366,0.972685]]
2025-10-26T23:14:09.008Z,1761520449.008 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:09.260Z,1761520449.260 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:09.417Z,1761520449.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944887,0.321941,-0.059512],[-0.301745,-0.926881,-0.223254],[-0.127035,-0.192993,0.972942]]
2025-10-26T23:14:09.514Z,1761520449.514 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:09.764Z,1761520449.764 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:09.806Z,1761520449.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946861,0.316836,-0.055406],[-0.297379,-0.927979,-0.224546],[-0.122560,-0.196138,0.972887]]
2025-10-26T23:14:10.016Z,1761520450.016 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:10.222Z,1761520450.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948611,0.312167,-0.051852],[-0.293478,-0.929159,-0.224800],[-0.118354,-0.198031,0.973024]]
2025-10-26T23:14:10.250Z,1761520450.250 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:10.276Z,1761520450.276 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:10.521Z,1761520450.521 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:10.772Z,1761520450.772 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:11.016Z,1761520451.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952250,0.301552,-0.047809],[-0.284461,-0.933137,-0.219858],[-0.110911,-0.195760,0.974360]]
2025-10-26T23:14:11.024Z,1761520451.024 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:11.276Z,1761520451.276 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:11.446Z,1761520451.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953956,0.296313,-0.046549],[-0.279757,-0.934939,-0.218233],[-0.108186,-0.195163,0.974786]]
2025-10-26T23:14:11.528Z,1761520451.528 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:11.780Z,1761520451.780 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:11.856Z,1761520451.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955412,0.291741,-0.045565],[-0.275588,-0.936428,-0.217148],[-0.106019,-0.194909,0.975075]]
2025-10-26T23:14:12.033Z,1761520452.033 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:12.271Z,1761520452.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958010,0.283082,-0.045621],[-0.267366,-0.939404,-0.214560],[-0.103594,-0.193353,0.975645]]
2025-10-26T23:14:12.284Z,1761520452.284 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:12.293Z,1761520452.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:12.536Z,1761520452.536 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:12.788Z,1761520452.788 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:13.040Z,1761520453.040 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:13.073Z,1761520453.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959888,0.276156,-0.048505],[-0.260532,-0.942415,-0.209708],[-0.103624,-0.188659,0.976560]]
2025-10-26T23:14:13.292Z,1761520453.292 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:13.481Z,1761520453.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960543,0.273538,-0.050332],[-0.257728,-0.943419,-0.208654],[-0.104559,-0.187449,0.976693]]
2025-10-26T23:14:13.544Z,1761520453.544 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:13.796Z,1761520453.796 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:13.879Z,1761520453.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961146,0.271150,-0.051725],[-0.255025,-0.943959,-0.209530],[-0.105640,-0.188198,0.976433]]
2025-10-26T23:14:14.048Z,1761520454.048 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:14.289Z,1761520454.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961679,0.268923,-0.053416],[-0.252530,-0.944655,-0.209416],[-0.106777,-0.187902,0.976367]]
2025-10-26T23:14:14.300Z,1761520454.300 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:14.307Z,1761520454.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:14.552Z,1761520454.552 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:14.685Z,1761520454.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962137,0.266925,-0.055166],[-0.250330,-0.945428,-0.208570],[-0.107827,-0.186863,0.976450]]
2025-10-26T23:14:14.805Z,1761520454.805 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:15.056Z,1761520455.056 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:15.086Z,1761520455.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962686,0.264507,-0.057191],[-0.247847,-0.946618,-0.206121],[-0.108659,-0.184255,0.976854]]
2025-10-26T23:14:15.308Z,1761520455.308 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:15.541Z,1761520455.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963161,0.262246,-0.059572],[-0.245418,-0.947704,-0.204029],[-0.109963,-0.181892,0.977151]]
2025-10-26T23:14:15.560Z,1761520455.560 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:15.813Z,1761520455.813 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:15.914Z,1761520455.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963617,0.260092,-0.061605],[-0.242923,-0.948340,-0.204056],[-0.111496,-0.181667,0.977019]]
2025-10-26T23:14:16.064Z,1761520456.064 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:16.316Z,1761520456.316 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:16.329Z,1761520456.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963878,0.258590,-0.063796],[-0.240998,-0.948745,-0.204458],[-0.113397,-0.181698,0.976794]]
2025-10-26T23:14:16.346Z,1761520456.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:16.568Z,1761520456.568 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:16.730Z,1761520456.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964273,0.256670,-0.065564],[-0.238774,-0.949288,-0.204548],[-0.114741,-0.181585,0.976658]]
2025-10-26T23:14:16.820Z,1761520456.820 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:17.072Z,1761520457.072 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:17.126Z,1761520457.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964612,0.254942,-0.067293],[-0.236712,-0.949725,-0.204914],[-0.116152,-0.181734,0.976464]]
2025-10-26T23:14:17.324Z,1761520457.324 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:17.541Z,1761520457.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965163,0.252228,-0.069578],[-0.233892,-0.950904,-0.202671],[-0.117281,-0.179337,0.976772]]
2025-10-26T23:14:17.576Z,1761520457.576 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:17.828Z,1761520457.828 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:17.936Z,1761520457.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965737,0.249352,-0.071936],[-0.230925,-0.952141,-0.200254],[-0.118427,-0.176781,0.977100]]
2025-10-26T23:14:18.080Z,1761520458.080 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:18.336Z,1761520458.336 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:18.339Z,1761520458.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966419,0.246002,-0.074280],[-0.227457,-0.953407,-0.198191],[-0.119575,-0.174640,0.977345]]
2025-10-26T23:14:18.371Z,1761520458.371 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:18.588Z,1761520458.588 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:18.744Z,1761520458.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967010,0.242984,-0.076492],[-0.224233,-0.954411,-0.197024],[-0.120879,-0.173372,0.977410]]
2025-10-26T23:14:18.841Z,1761520458.841 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:19.092Z,1761520459.092 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:19.147Z,1761520459.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967679,0.239481,-0.079029],[-0.220539,-0.955611,-0.195370],[-0.122308,-0.171626,0.977540]]
2025-10-26T23:14:19.344Z,1761520459.344 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:19.570Z,1761520459.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968349,0.235746,-0.081995],[-0.216587,-0.956916,-0.193395],[-0.124055,-0.169515,0.977689]]
2025-10-26T23:14:19.612Z,1761520459.612 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:19.864Z,1761520459.864 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:19.954Z,1761520459.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968877,0.232944,-0.083747],[-0.213230,-0.957215,-0.195636],[-0.125736,-0.171690,0.977094]]
2025-10-26T23:14:20.116Z,1761520460.116 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:20.358Z,1761520460.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969433,0.229963,-0.085541],[-0.209666,-0.957517,-0.197993],[-0.127438,-0.174006,0.976464]]
2025-10-26T23:14:20.368Z,1761520460.368 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:20.404Z,1761520460.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:20.620Z,1761520460.620 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:20.764Z,1761520460.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969752,0.228141,-0.086794],[-0.207196,-0.957343,-0.201406],[-0.129041,-0.177331,0.975655]]
2025-10-26T23:14:20.774Z,1761520460.774 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 156.33, 121.66, 128.17
2025-10-26T23:14:20.872Z,1761520460.872 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:21.124Z,1761520461.124 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:21.166Z,1761520461.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970038,0.226216,-0.088610],[-0.204692,-0.957443,-0.203478],[-0.130869,-0.179244,0.975062]]
2025-10-26T23:14:21.376Z,1761520461.376 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:21.597Z,1761520461.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970203,0.224788,-0.090428],[-0.202875,-0.957710,-0.204042],[-0.132470,-0.179617,0.974777]]
2025-10-26T23:14:21.629Z,1761520461.629 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:21.880Z,1761520461.880 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:21.975Z,1761520461.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970393,0.222891,-0.093041],[-0.200898,-0.958695,-0.201355],[-0.134078,-0.176701,0.975090]]
2025-10-26T23:14:22.133Z,1761520462.133 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:22.378Z,1761520462.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970639,0.220552,-0.096004],[-0.198720,-0.960134,-0.196603],[-0.135538,-0.171752,0.975772]]
2025-10-26T23:14:22.384Z,1761520462.384 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:22.408Z,1761520462.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:22.636Z,1761520462.636 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:22.782Z,1761520462.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970806,0.218582,-0.098780],[-0.196823,-0.961295,-0.192802],[-0.137100,-0.167731,0.976253]]
2025-10-26T23:14:22.888Z,1761520462.888 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:23.140Z,1761520463.140 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:23.194Z,1761520463.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970982,0.216523,-0.101542],[-0.194837,-0.962428,-0.189130],[-0.138678,-0.163858,0.976688]]
2025-10-26T23:14:23.392Z,1761520463.392 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:23.622Z,1761520463.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971075,0.214845,-0.104190],[-0.193324,-0.963530,-0.185029],[-0.140143,-0.159534,0.977194]]
2025-10-26T23:14:23.644Z,1761520463.644 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:23.896Z,1761520463.896 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:23.994Z,1761520463.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971086,0.213593,-0.106629],[-0.192077,-0.964292,-0.182339],[-0.141768,-0.156586,0.977437]]
2025-10-26T23:14:24.148Z,1761520464.148 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:24.398Z,1761520464.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971210,0.211769,-0.109105],[-0.190256,-0.965143,-0.179728],[-0.143363,-0.153796,0.977647]]
2025-10-26T23:14:24.400Z,1761520464.400 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:24.440Z,1761520464.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:24.652Z,1761520464.652 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:24.802Z,1761520464.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971296,0.210655,-0.110493],[-0.188735,-0.965194,-0.181051],[-0.144786,-0.155001,0.977247]]
2025-10-26T23:14:24.904Z,1761520464.904 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:25.156Z,1761520465.156 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:25.212Z,1761520465.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971271,0.209954,-0.112034],[-0.187740,-0.965317,-0.181428],[-0.146240,-0.155183,0.977002]]
2025-10-26T23:14:25.409Z,1761520465.409 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:25.651Z,1761520465.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971273,0.209179,-0.113455],[-0.186739,-0.965504,-0.181468],[-0.147501,-0.155068,0.976830]]
2025-10-26T23:14:25.660Z,1761520465.660 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:25.912Z,1761520465.912 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:26.014Z,1761520466.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971254,0.208553,-0.114770],[-0.185822,-0.965572,-0.182044],[-0.148785,-0.155485,0.976569]]
2025-10-26T23:14:26.164Z,1761520466.164 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:26.416Z,1761520466.416 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:26.419Z,1761520466.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971315,0.207709,-0.115775],[-0.184641,-0.965574,-0.183233],[-0.149848,-0.156601,0.976228]]
2025-10-26T23:14:26.671Z,1761520466.671 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:26.824Z,1761520466.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971347,0.206786,-0.117149],[-0.183424,-0.965708,-0.183751],[-0.151128,-0.156998,0.975967]]
2025-10-26T23:14:26.862Z,1761520466.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:26.921Z,1761520466.921 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:27.173Z,1761520467.173 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:27.226Z,1761520467.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971325,0.206357,-0.118085],[-0.182409,-0.965361,-0.186563],[-0.152493,-0.159674,0.975321]]
2025-10-26T23:14:27.424Z,1761520467.424 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:27.673Z,1761520467.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971198,0.206432,-0.118997],[-0.181777,-0.964789,-0.190106],[-0.154051,-0.163000,0.974525]]
2025-10-26T23:14:27.680Z,1761520467.680 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:27.928Z,1761520467.928 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:28.034Z,1761520468.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971032,0.206488,-0.120247],[-0.181259,-0.964432,-0.192396],[-0.155698,-0.165027,0.973922]]
2025-10-26T23:14:28.181Z,1761520468.181 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:28.432Z,1761520468.432 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:28.440Z,1761520468.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970724,0.207055,-0.121754],[-0.181225,-0.964012,-0.194520],[-0.157648,-0.166760,0.973313]]
2025-10-26T23:14:28.687Z,1761520468.687 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:28.842Z,1761520468.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970348,0.207943,-0.123222],[-0.181395,-0.963406,-0.197345],[-0.159750,-0.169141,0.972559]]
2025-10-26T23:14:28.886Z,1761520468.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:28.937Z,1761520468.937 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:29.189Z,1761520469.189 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:29.246Z,1761520469.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969785,0.209482,-0.125040],[-0.182274,-0.962825,-0.199359],[-0.162153,-0.170543,0.971916]]
2025-10-26T23:14:29.440Z,1761520469.440 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:29.674Z,1761520469.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969316,0.210054,-0.127689],[-0.182597,-0.963026,-0.198090],[-0.164578,-0.168697,0.971831]]
2025-10-26T23:14:29.695Z,1761520469.695 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:29.944Z,1761520469.944 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:30.054Z,1761520470.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968705,0.211094,-0.130575],[-0.183321,-0.963112,-0.197002],[-0.167344,-0.166899,0.971669]]
2025-10-26T23:14:30.198Z,1761520470.198 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:30.452Z,1761520470.452 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:30.462Z,1761520470.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968119,0.212074,-0.133308],[-0.184186,-0.963361,-0.194965],[-0.169770,-0.164196,0.971709]]
2025-10-26T23:14:30.706Z,1761520470.706 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:30.862Z,1761520470.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967614,0.212645,-0.136037],[-0.185012,-0.964012,-0.190923],[-0.171740,-0.159571,0.972133]]
2025-10-26T23:14:30.913Z,1761520470.913 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:30.956Z,1761520470.956 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:31.208Z,1761520471.208 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:31.266Z,1761520471.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967241,0.212972,-0.138156],[-0.185466,-0.964447,-0.188265],[-0.173340,-0.156474,0.972353]]
2025-10-26T23:14:31.461Z,1761520471.461 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:31.693Z,1761520471.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967057,0.212740,-0.139792],[-0.185320,-0.964852,-0.186327],[-0.174518,-0.154283,0.972492]]
2025-10-26T23:14:31.714Z,1761520471.714 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:31.964Z,1761520471.964 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:32.077Z,1761520472.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966950,0.212529,-0.140848],[-0.185201,-0.965149,-0.184898],[-0.175236,-0.152702,0.972612]]
2025-10-26T23:14:32.217Z,1761520472.217 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:32.469Z,1761520472.469 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:32.480Z,1761520472.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966841,0.212821,-0.141158],[-0.185274,-0.964955,-0.185838],[-0.175761,-0.153523,0.972388]]
2025-10-26T23:14:32.723Z,1761520472.723 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:32.882Z,1761520472.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966716,0.213281,-0.141322],[-0.185588,-0.964767,-0.186498],[-0.176119,-0.154063,0.972238]]
2025-10-26T23:14:32.933Z,1761520472.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:32.972Z,1761520472.972 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:33.224Z,1761520473.224 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:33.286Z,1761520473.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966628,0.213648,-0.141364],[-0.185783,-0.964554,-0.187402],[-0.176392,-0.154885,0.972058]]
2025-10-26T23:14:33.476Z,1761520473.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:33.699Z,1761520473.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966750,0.212894,-0.141674],[-0.184902,-0.964639,-0.187838],[-0.176654,-0.155397,0.971929]]
2025-10-26T23:14:33.731Z,1761520473.731 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:33.980Z,1761520473.980 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:34.094Z,1761520474.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966839,0.212396,-0.141812],[-0.184249,-0.964620,-0.188577],[-0.176848,-0.156195,0.971765]]
2025-10-26T23:14:34.236Z,1761520474.236 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:34.484Z,1761520474.484 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:34.499Z,1761520474.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966894,0.211926,-0.142137],[-0.183579,-0.964588,-0.189391],[-0.177241,-0.157027,0.971560]]
2025-10-26T23:14:34.738Z,1761520474.738 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:34.905Z,1761520474.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967056,0.210878,-0.142593],[-0.182376,-0.964725,-0.189855],[-0.177600,-0.157595,0.971402]]
2025-10-26T23:14:34.968Z,1761520474.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:34.988Z,1761520474.988 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:35.240Z,1761520475.240 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:35.308Z,1761520475.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967342,0.209089,-0.143288],[-0.180502,-0.965102,-0.189729],[-0.177957,-0.157669,0.971325]]
2025-10-26T23:14:35.492Z,1761520475.492 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:35.652Z,1761520475.652 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:14:35.715Z,1761520475.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967667,0.206928,-0.144229],[-0.178296,-0.965622,-0.189166],[-0.178414,-0.157335,0.971295]]
2025-10-26T23:14:35.746Z,1761520475.746 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:35.996Z,1761520475.996 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:36.118Z,1761520476.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968002,0.204792,-0.145022],[-0.176062,-0.966060,-0.189026],[-0.178811,-0.157445,0.971204]]
2025-10-26T23:14:36.248Z,1761520476.248 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:36.500Z,1761520476.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:36.518Z,1761520476.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968311,0.202770,-0.145801],[-0.173920,-0.966451,-0.189010],[-0.179235,-0.157663,0.971091]]
2025-10-26T23:14:36.657Z,1761520476.657 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:14:36.753Z,1761520476.753 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:36.931Z,1761520476.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968712,0.200623,-0.146106],[-0.171395,-0.966547,-0.190815],[-0.179500,-0.159803,0.970692]]
2025-10-26T23:14:36.998Z,1761520476.998 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:37.004Z,1761520477.004 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:37.256Z,1761520477.256 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:37.326Z,1761520477.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969030,0.198792,-0.146498],[-0.169285,-0.966685,-0.191995],[-0.179785,-0.161249,0.970400]]
2025-10-26T23:14:37.508Z,1761520477.508 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:37.736Z,1761520477.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969366,0.196618,-0.147208],[-0.166980,-0.967066,-0.192094],[-0.180129,-0.161629,0.970273]]
2025-10-26T23:14:37.760Z,1761520477.760 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:38.012Z,1761520478.012 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:38.134Z,1761520478.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969776,0.194205,-0.147713],[-0.164157,-0.967194,-0.193877],[-0.180519,-0.163769,0.969842]]
2025-10-26T23:14:38.264Z,1761520478.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:38.516Z,1761520478.516 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:38.538Z,1761520478.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969998,0.192547,-0.148422],[-0.162228,-0.967352,-0.194709],[-0.181067,-0.164790,0.969567]]
2025-10-26T23:14:38.768Z,1761520478.768 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:38.946Z,1761520478.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970161,0.191099,-0.149227],[-0.160418,-0.967407,-0.195935],[-0.181806,-0.166149,0.969196]]
2025-10-26T23:14:39.001Z,1761520479.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:39.020Z,1761520479.020 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:39.272Z,1761520479.272 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:39.347Z,1761520479.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970342,0.189525,-0.150056],[-0.158539,-0.967536,-0.196824],[-0.182488,-0.167197,0.968888]]
2025-10-26T23:14:39.524Z,1761520479.524 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:39.750Z,1761520479.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970561,0.187239,-0.151503],[-0.156036,-0.967970,-0.196691],[-0.183479,-0.167261,0.968690]]
2025-10-26T23:14:39.776Z,1761520479.776 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:40.029Z,1761520480.029 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:40.162Z,1761520480.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970648,0.185487,-0.153090],[-0.153815,-0.968112,-0.197739],[-0.184886,-0.168387,0.968227]]
2025-10-26T23:14:40.280Z,1761520480.280 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:40.533Z,1761520480.533 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:40.565Z,1761520480.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970607,0.184342,-0.154725],[-0.152203,-0.968169,-0.198704],[-0.186430,-0.169314,0.967769]]
2025-10-26T23:14:40.784Z,1761520480.784 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:40.971Z,1761520480.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970561,0.182867,-0.156750],[-0.150365,-0.968442,-0.198772],[-0.188152,-0.169351,0.967429]]
2025-10-26T23:14:41.006Z,1761520481.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:41.036Z,1761520481.036 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:41.288Z,1761520481.288 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:41.366Z,1761520481.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970419,0.182348,-0.158227],[-0.149365,-0.968362,-0.199914],[-0.189674,-0.170366,0.966953]]
2025-10-26T23:14:41.540Z,1761520481.540 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:41.770Z,1761520481.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970318,0.181353,-0.159982],[-0.148181,-0.968666,-0.199322],[-0.191117,-0.169699,0.966787]]
2025-10-26T23:14:41.792Z,1761520481.792 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:42.044Z,1761520482.044 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:42.179Z,1761520482.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970233,0.180573,-0.161374],[-0.147154,-0.968817,-0.199345],[-0.192338,-0.169665,0.966550]]
2025-10-26T23:14:42.297Z,1761520482.297 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:42.548Z,1761520482.548 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:42.581Z,1761520482.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970242,0.179061,-0.162998],[-0.145884,-0.969546,-0.196720],[-0.193259,-0.167087,0.966816]]
2025-10-26T23:14:42.800Z,1761520482.800 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:42.986Z,1761520482.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970398,0.177081,-0.164226],[-0.144038,-0.970169,-0.194999],[-0.193857,-0.165572,0.966957]]
2025-10-26T23:14:43.032Z,1761520483.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:43.053Z,1761520483.053 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:43.304Z,1761520483.304 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:43.386Z,1761520483.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970577,0.175765,-0.164583],[-0.142316,-0.970076,-0.196719],[-0.194234,-0.167508,0.966547]]
2025-10-26T23:14:43.556Z,1761520483.556 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:43.790Z,1761520483.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970869,0.174865,-0.163817],[-0.140543,-0.969303,-0.201740],[-0.194066,-0.172839,0.965642]]
2025-10-26T23:14:43.808Z,1761520483.808 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:44.060Z,1761520484.060 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:44.199Z,1761520484.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971055,0.174859,-0.162715],[-0.139164,-0.967840,-0.209569],[-0.194127,-0.180859,0.964160]]
2025-10-26T23:14:44.312Z,1761520484.312 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:44.564Z,1761520484.564 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:44.598Z,1761520484.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971212,0.174919,-0.161714],[-0.138261,-0.966713,-0.215291],[-0.193989,-0.186734,0.963067]]
2025-10-26T23:14:44.816Z,1761520484.816 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:45.002Z,1761520485.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971232,0.175095,-0.161403],[-0.137680,-0.965885,-0.219340],[-0.194302,-0.190808,0.962205]]
2025-10-26T23:14:45.049Z,1761520485.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:45.068Z,1761520485.068 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:45.320Z,1761520485.320 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:45.406Z,1761520485.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971154,0.175624,-0.161298],[-0.137503,-0.965091,-0.222917],[-0.194817,-0.194308,0.961401]]
2025-10-26T23:14:45.572Z,1761520485.572 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:45.810Z,1761520485.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971036,0.175848,-0.161759],[-0.137239,-0.964679,-0.224854],[-0.195586,-0.196142,0.960872]]
2025-10-26T23:14:45.825Z,1761520485.825 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:46.076Z,1761520486.076 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:46.216Z,1761520486.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970815,0.176583,-0.162285],[-0.137604,-0.964331,-0.226123],[-0.196425,-0.197193,0.960485]]
2025-10-26T23:14:46.328Z,1761520486.328 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:46.580Z,1761520486.580 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:46.618Z,1761520486.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970544,0.176785,-0.163680],[-0.137748,-0.964568,-0.225020],[-0.197661,-0.195845,0.960508]]
2025-10-26T23:14:46.832Z,1761520486.832 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:47.022Z,1761520487.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970262,0.176710,-0.165427],[-0.137922,-0.965217,-0.222113],[-0.198923,-0.192692,0.960885]]
2025-10-26T23:14:47.070Z,1761520487.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:47.084Z,1761520487.084 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:47.336Z,1761520487.336 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:47.426Z,1761520487.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969946,0.176466,-0.167524],[-0.138130,-0.966136,-0.217950],[-0.200312,-0.188260,0.961475]]
2025-10-26T23:14:47.588Z,1761520487.588 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:47.832Z,1761520487.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969691,0.175838,-0.169650],[-0.138113,-0.967225,-0.213074],[-0.201556,-0.183185,0.962194]]
2025-10-26T23:14:47.840Z,1761520487.840 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:48.092Z,1761520488.092 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:48.234Z,1761520488.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969486,0.174806,-0.171873],[-0.137525,-0.968201,-0.208984],[-0.202940,-0.178970,0.962697]]
2025-10-26T23:14:48.344Z,1761520488.344 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:48.596Z,1761520488.596 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:48.646Z,1761520488.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969289,0.174130,-0.173658],[-0.136876,-0.968655,-0.207300],[-0.204311,-0.177164,0.962741]]
2025-10-26T23:14:48.848Z,1761520488.848 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:49.049Z,1761520489.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969086,0.173595,-0.175322],[-0.136261,-0.968967,-0.206245],[-0.205684,-0.175979,0.962666]]
2025-10-26T23:14:49.103Z,1761520489.103 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:49.166Z,1761520489.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:49.352Z,1761520489.352 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:49.447Z,1761520489.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968927,0.173065,-0.176718],[-0.135656,-0.969230,-0.205405],[-0.206829,-0.175050,0.962590]]
2025-10-26T23:14:49.605Z,1761520489.605 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:49.850Z,1761520489.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968762,0.172344,-0.178318],[-0.134926,-0.969607,-0.204100],[-0.208074,-0.173665,0.962572]]
2025-10-26T23:14:49.856Z,1761520489.856 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:50.108Z,1761520490.108 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:50.254Z,1761520490.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968673,0.171534,-0.179581],[-0.134240,-0.970043,-0.202475],[-0.208932,-0.172026,0.962681]]
2025-10-26T23:14:50.360Z,1761520490.360 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:50.612Z,1761520490.612 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:50.666Z,1761520490.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968608,0.170812,-0.180613],[-0.133721,-0.970485,-0.200691],[-0.209563,-0.170239,0.962861]]
2025-10-26T23:14:50.864Z,1761520490.864 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:51.062Z,1761520491.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968610,0.169558,-0.181783],[-0.132502,-0.970884,-0.199568],[-0.210328,-0.169217,0.962875]]
2025-10-26T23:14:51.116Z,1761520491.116 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:51.368Z,1761520491.368 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:51.466Z,1761520491.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968488,0.169179,-0.182784],[-0.132104,-0.971085,-0.198851],[-0.211140,-0.168439,0.962833]]
2025-10-26T23:14:51.482Z,1761520491.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:51.620Z,1761520491.620 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:51.872Z,1761520491.872 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:51.873Z,1761520491.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968485,0.167689,-0.184167],[-0.130685,-0.971572,-0.197408],[-0.212035,-0.167119,0.962867]]
2025-10-26T23:14:52.125Z,1761520492.125 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:52.275Z,1761520492.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968492,0.167018,-0.184739],[-0.129414,-0.971281,-0.199660],[-0.212780,-0.169461,0.962293]]
2025-10-26T23:14:52.377Z,1761520492.377 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:52.629Z,1761520492.629 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:52.690Z,1761520492.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968365,0.166841,-0.185564],[-0.128661,-0.970982,-0.201596],[-0.213813,-0.171344,0.961730]]
2025-10-26T23:14:52.880Z,1761520492.880 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:53.133Z,1761520493.133 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:53.385Z,1761520493.385 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:53.487Z,1761520493.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968004,0.168073,-0.186331],[-0.128227,-0.969594,-0.208437],[-0.215698,-0.177875,0.960122]]
2025-10-26T23:14:53.509Z,1761520493.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:53.637Z,1761520493.637 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:53.888Z,1761520493.888 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:53.896Z,1761520493.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967902,0.167994,-0.186931],[-0.127721,-0.969358,-0.209837],[-0.216455,-0.179227,0.959701]]
2025-10-26T23:14:54.141Z,1761520494.141 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:54.294Z,1761520494.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967764,0.168228,-0.187438],[-0.127840,-0.969323,-0.209929],[-0.217004,-0.179199,0.959582]]
2025-10-26T23:14:54.392Z,1761520494.392 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:54.645Z,1761520494.645 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:54.699Z,1761520494.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967558,0.169224,-0.187604],[-0.128430,-0.968884,-0.211589],[-0.217573,-0.180630,0.959184]]
2025-10-26T23:14:54.896Z,1761520494.896 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:55.128Z,1761520495.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967074,0.171291,-0.188221],[-0.130972,-0.969105,-0.209005],[-0.218206,-0.177471,0.959630]]
2025-10-26T23:14:55.149Z,1761520495.149 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:55.400Z,1761520495.400 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:55.514Z,1761520495.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966826,0.172474,-0.188415],[-0.132810,-0.969502,-0.205976],[-0.218195,-0.174120,0.960247]]
2025-10-26T23:14:55.530Z,1761520495.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:55.652Z,1761520495.652 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:55.906Z,1761520495.906 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:55.917Z,1761520495.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966626,0.173878,-0.188150],[-0.134905,-0.969806,-0.203166],[-0.217795,-0.171003,0.960897]]
2025-10-26T23:14:56.156Z,1761520496.156 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:56.319Z,1761520496.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966397,0.175641,-0.187688],[-0.137323,-0.969988,-0.200662],[-0.217300,-0.168146,0.961513]]
2025-10-26T23:14:56.408Z,1761520496.408 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:56.660Z,1761520496.660 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:56.730Z,1761520496.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966245,0.176954,-0.187240],[-0.139578,-0.970447,-0.196849],[-0.216539,-0.164070,0.962389]]
2025-10-26T23:14:56.912Z,1761520496.912 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:57.153Z,1761520497.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966103,0.178281,-0.186708],[-0.141798,-0.970839,-0.193301],[-0.215726,-0.160274,0.963211]]
2025-10-26T23:14:57.164Z,1761520497.164 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:57.416Z,1761520497.416 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:57.526Z,1761520497.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965915,0.179734,-0.186288],[-0.144394,-0.971395,-0.188527],[-0.214844,-0.155202,0.964238]]
2025-10-26T23:14:57.554Z,1761520497.554 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:57.668Z,1761520497.668 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:57.928Z,1761520497.928 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:57.931Z,1761520497.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965771,0.180863,-0.185943],[-0.146502,-0.971871,-0.184399],[-0.214063,-0.150846,0.965102]]
2025-10-26T23:14:58.180Z,1761520498.180 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:58.334Z,1761520498.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965636,0.182323,-0.185217],[-0.148675,-0.972044,-0.181732],[-0.213173,-0.147950,0.965748]]
2025-10-26T23:14:58.432Z,1761520498.432 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:58.684Z,1761520498.684 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:58.741Z,1761520498.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965609,0.183541,-0.184154],[-0.150549,-0.972165,-0.179528],[-0.211979,-0.145630,0.966363]]
2025-10-26T23:14:58.936Z,1761520498.936 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:59.169Z,1761520499.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965577,0.184472,-0.183389],[-0.152009,-0.972280,-0.177667],[-0.211080,-0.143674,0.966852]]
2025-10-26T23:14:59.188Z,1761520499.188 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:59.440Z,1761520499.440 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:59.546Z,1761520499.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965550,0.185816,-0.182168],[-0.153882,-0.972268,-0.176112],[-0.209841,-0.142013,0.967367]]
2025-10-26T23:14:59.564Z,1761520499.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:14:59.693Z,1761520499.693 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:59.944Z,1761520499.944 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:14:59.954Z,1761520499.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965599,0.186414,-0.181297],[-0.154888,-0.972338,-0.174840],[-0.208874,-0.140744,0.967762]]
2025-10-26T23:15:00.196Z,1761520500.196 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:00.354Z,1761520500.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965645,0.186766,-0.180687],[-0.155608,-0.972454,-0.173552],[-0.208124,-0.139473,0.968107]]
2025-10-26T23:15:00.449Z,1761520500.449 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:00.701Z,1761520500.701 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:00.759Z,1761520500.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965612,0.187125,-0.180494],[-0.156184,-0.972515,-0.172689],[-0.207848,-0.138560,0.968298]]
2025-10-26T23:15:00.952Z,1761520500.952 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:01.193Z,1761520501.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965645,0.187325,-0.180107],[-0.156586,-0.972570,-0.172012],[-0.207389,-0.137900,0.968490]]
2025-10-26T23:15:01.204Z,1761520501.204 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:01.457Z,1761520501.457 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:01.568Z,1761520501.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965750,0.187377,-0.179492],[-0.156885,-0.972653,-0.171271],[-0.206676,-0.137246,0.968736]]
2025-10-26T23:15:01.585Z,1761520501.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:01.709Z,1761520501.709 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:01.970Z,1761520501.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965764,0.187321,-0.179472],[-0.156831,-0.972662,-0.171267],[-0.206648,-0.137257,0.968740]]
2025-10-26T23:15:01.976Z,1761520501.976 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:02.228Z,1761520502.228 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:02.374Z,1761520502.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965791,0.186959,-0.179706],[-0.156594,-0.972833,-0.170514],[-0.206702,-0.136540,0.968830]]
2025-10-26T23:15:02.485Z,1761520502.485 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:02.733Z,1761520502.733 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:02.779Z,1761520502.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965901,0.186223,-0.179876],[-0.155910,-0.973008,-0.170137],[-0.206704,-0.136291,0.968864]]
2025-10-26T23:15:02.984Z,1761520502.984 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:03.236Z,1761520503.236 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:03.237Z,1761520503.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965914,0.185803,-0.180243],[-0.155271,-0.972977,-0.170899],[-0.207126,-0.137087,0.968662]]
2025-10-26T23:15:03.488Z,1761520503.488 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:03.586Z,1761520503.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965928,0.185091,-0.180901],[-0.154286,-0.972991,-0.171712],[-0.207798,-0.137951,0.968395]]
2025-10-26T23:15:03.621Z,1761520503.621 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:03.740Z,1761520503.740 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:03.990Z,1761520503.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966074,0.183457,-0.181780],[-0.152601,-0.973328,-0.171306],[-0.208358,-0.137754,0.968303]]
2025-10-26T23:15:03.992Z,1761520503.992 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:04.244Z,1761520504.244 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:04.394Z,1761520504.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966113,0.183004,-0.182030],[-0.151933,-0.973289,-0.172122],[-0.208666,-0.138633,0.968111]]
2025-10-26T23:15:04.496Z,1761520504.496 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:04.748Z,1761520504.748 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:04.798Z,1761520504.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966109,0.182850,-0.182208],[-0.151606,-0.973220,-0.172797],[-0.208924,-0.139317,0.967957]]
2025-10-26T23:15:05.000Z,1761520505.000 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:05.251Z,1761520505.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966139,0.182756,-0.182144],[-0.151022,-0.972898,-0.175108],[-0.209209,-0.141671,0.967554]]
2025-10-26T23:15:05.252Z,1761520505.252 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:05.504Z,1761520505.504 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:05.611Z,1761520505.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966073,0.183113,-0.182135],[-0.150721,-0.972389,-0.178164],[-0.209730,-0.144668,0.966998]]
2025-10-26T23:15:05.651Z,1761520505.651 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:05.756Z,1761520505.756 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:06.008Z,1761520506.008 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:06.013Z,1761520506.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966016,0.183275,-0.182271],[-0.150650,-0.972220,-0.179146],[-0.210041,-0.145598,0.966791]]
2025-10-26T23:15:06.260Z,1761520506.260 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:06.415Z,1761520506.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965956,0.183895,-0.181965],[-0.150773,-0.971733,-0.181665],[-0.210228,-0.148045,0.966378]]
2025-10-26T23:15:06.512Z,1761520506.512 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:06.764Z,1761520506.764 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:06.784Z,1761520506.784 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:15:06.818Z,1761520506.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965840,0.184190,-0.182281],[-0.150895,-0.971606,-0.182242],[-0.210673,-0.148511,0.966210]]
2025-10-26T23:15:07.016Z,1761520507.016 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:07.271Z,1761520507.271 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:07.282Z,1761520507.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965701,0.184884,-0.182315],[-0.151290,-0.971287,-0.183609],[-0.211027,-0.149729,0.965944]]
2025-10-26T23:15:07.521Z,1761520507.521 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:07.632Z,1761520507.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965441,0.186136,-0.182421],[-0.152285,-0.970917,-0.184742],[-0.211503,-0.150577,0.965708]]
2025-10-26T23:15:07.772Z,1761520507.772 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:07.788Z,1761520507.788 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:15:08.026Z,1761520508.026 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:08.033Z,1761520508.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965257,0.186845,-0.182668],[-0.152942,-0.970798,-0.184823],[-0.211867,-0.150464,0.965646]]
2025-10-26T23:15:08.058Z,1761520508.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:08.278Z,1761520508.278 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:08.434Z,1761520508.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965032,0.187968,-0.182707],[-0.153852,-0.970470,-0.185791],[-0.212235,-0.151184,0.965453]]
2025-10-26T23:15:08.529Z,1761520508.529 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:08.780Z,1761520508.780 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:08.838Z,1761520508.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964731,0.189475,-0.182736],[-0.155190,-0.970106,-0.186573],[-0.212625,-0.151634,0.965297]]
2025-10-26T23:15:09.032Z,1761520509.032 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:09.286Z,1761520509.286 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:09.288Z,1761520509.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964423,0.191108,-0.182664],[-0.156805,-0.969813,-0.186748],[-0.212839,-0.151461,0.965277]]
2025-10-26T23:15:09.536Z,1761520509.536 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:09.647Z,1761520509.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964033,0.192847,-0.182893],[-0.158949,-0.969838,-0.184794],[-0.213014,-0.149077,0.965609]]
2025-10-26T23:15:09.788Z,1761520509.788 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:10.042Z,1761520510.042 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:10.057Z,1761520510.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963610,0.194856,-0.182992],[-0.161417,-0.969827,-0.182702],[-0.213071,-0.146516,0.965988]]
2025-10-26T23:15:10.074Z,1761520510.074 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:10.294Z,1761520510.294 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:10.454Z,1761520510.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963118,0.197243,-0.183028],[-0.164321,-0.969769,-0.180409],[-0.213079,-0.143679,0.966413]]
2025-10-26T23:15:10.544Z,1761520510.544 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:10.796Z,1761520510.796 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:10.858Z,1761520510.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962651,0.199429,-0.183117],[-0.167230,-0.969874,-0.177140],[-0.212927,-0.139901,0.967000]]
2025-10-26T23:15:11.049Z,1761520511.049 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:11.286Z,1761520511.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962166,0.201695,-0.183184],[-0.170192,-0.969925,-0.174013],[-0.212772,-0.136253,0.967555]]
2025-10-26T23:15:11.302Z,1761520511.302 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:11.552Z,1761520511.552 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:11.666Z,1761520511.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961763,0.203717,-0.183063],[-0.172852,-0.969944,-0.171260],[-0.212449,-0.133069,0.968069]]
2025-10-26T23:15:11.804Z,1761520511.804 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:12.056Z,1761520512.056 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:12.071Z,1761520512.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961378,0.205583,-0.182996],[-0.175143,-0.969853,-0.169441],[-0.212314,-0.130846,0.968402]]
2025-10-26T23:15:12.088Z,1761520512.088 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:12.311Z,1761520512.311 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:12.475Z,1761520512.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960928,0.207313,-0.183407],[-0.177217,-0.969781,-0.167685],[-0.212628,-0.128630,0.968630]]
2025-10-26T23:15:12.560Z,1761520512.560 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:12.812Z,1761520512.812 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:12.880Z,1761520512.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960522,0.208658,-0.184009],[-0.178854,-0.969762,-0.166053],[-0.213093,-0.126587,0.968797]]
2025-10-26T23:15:13.064Z,1761520513.064 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:13.283Z,1761520513.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960052,0.210313,-0.184578],[-0.180566,-0.969535,-0.165526],[-0.213767,-0.125585,0.968779]]
2025-10-26T23:15:13.319Z,1761520513.319 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:13.568Z,1761520513.568 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:13.686Z,1761520513.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959596,0.212097,-0.184909],[-0.182210,-0.969138,-0.166046],[-0.214420,-0.125645,0.968627]]
2025-10-26T23:15:13.821Z,1761520513.821 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:14.072Z,1761520514.072 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:14.102Z,1761520514.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959302,0.212795,-0.185627],[-0.182894,-0.969065,-0.165720],[-0.215149,-0.125025,0.968545]]
2025-10-26T23:15:14.126Z,1761520514.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:14.328Z,1761520514.328 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:14.494Z,1761520514.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958900,0.213952,-0.186373],[-0.184059,-0.968916,-0.165297],[-0.215946,-0.124199,0.968474]]
2025-10-26T23:15:14.576Z,1761520514.576 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:14.828Z,1761520514.828 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:14.898Z,1761520514.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958483,0.215181,-0.187101],[-0.185174,-0.968679,-0.165445],[-0.216841,-0.123930,0.968308]]
2025-10-26T23:15:15.080Z,1761520515.080 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:15.303Z,1761520515.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958156,0.215757,-0.188114],[-0.185603,-0.968580,-0.165541],[-0.217920,-0.123699,0.968096]]
2025-10-26T23:15:15.333Z,1761520515.333 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:15.585Z,1761520515.585 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:15.710Z,1761520515.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957972,0.215877,-0.188911],[-0.185562,-0.968542,-0.165809],[-0.218763,-0.123786,0.967894]]
2025-10-26T23:15:15.837Z,1761520515.837 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:16.089Z,1761520516.089 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:16.121Z,1761520516.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957697,0.216489,-0.189601],[-0.185911,-0.968339,-0.166606],[-0.219666,-0.124310,0.967623]]
2025-10-26T23:15:16.159Z,1761520516.159 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:16.343Z,1761520516.343 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:16.514Z,1761520516.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957469,0.216987,-0.190186],[-0.186124,-0.968136,-0.167545],[-0.220481,-0.125021,0.967346]]
2025-10-26T23:15:16.592Z,1761520516.592 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:16.844Z,1761520516.844 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:16.918Z,1761520516.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957292,0.217330,-0.190683],[-0.186311,-0.968027,-0.167962],[-0.221090,-0.125263,0.967176]]
2025-10-26T23:15:17.097Z,1761520517.097 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:17.329Z,1761520517.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957203,0.217092,-0.191399],[-0.186005,-0.968107,-0.167841],[-0.221732,-0.125057,0.967055]]
2025-10-26T23:15:17.351Z,1761520517.351 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:17.600Z,1761520517.600 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:17.732Z,1761520517.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957017,0.217293,-0.192098],[-0.186110,-0.968082,-0.167868],[-0.222443,-0.124901,0.966912]]
2025-10-26T23:15:17.852Z,1761520517.852 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:18.105Z,1761520518.105 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:18.133Z,1761520518.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956840,0.217463,-0.192789],[-0.186229,-0.968087,-0.167709],[-0.223107,-0.124568,0.966802]]
2025-10-26T23:15:18.356Z,1761520518.356 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:18.536Z,1761520518.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956373,0.218974,-0.193393],[-0.187637,-0.967784,-0.167888],[-0.223926,-0.124276,0.966650]]
2025-10-26T23:15:18.576Z,1761520518.576 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:18.609Z,1761520518.609 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:18.860Z,1761520518.860 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:18.938Z,1761520518.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955889,0.220519,-0.194030],[-0.189194,-0.967538,-0.167561],[-0.224682,-0.123460,0.966579]]
2025-10-26T23:15:19.112Z,1761520519.112 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:19.342Z,1761520519.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955413,0.221988,-0.194696],[-0.190733,-0.967337,-0.166970],[-0.225402,-0.122390,0.966548]]
2025-10-26T23:15:19.364Z,1761520519.364 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:19.616Z,1761520519.616 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:19.749Z,1761520519.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954897,0.223536,-0.195457],[-0.192583,-0.967250,-0.165344],[-0.226016,-0.120245,0.966673]]
2025-10-26T23:15:19.868Z,1761520519.868 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:20.120Z,1761520520.120 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:20.150Z,1761520520.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954353,0.225374,-0.196003],[-0.194630,-0.967025,-0.164263],[-0.226560,-0.118617,0.966748]]
2025-10-26T23:15:20.372Z,1761520520.372 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:20.574Z,1761520520.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953688,0.227961,-0.196248],[-0.196986,-0.966377,-0.165263],[-0.227323,-0.118951,0.966527]]
2025-10-26T23:15:20.625Z,1761520520.625 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:20.645Z,1761520520.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:20.876Z,1761520520.876 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:21.002Z,1761520521.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953089,0.230118,-0.196641],[-0.199290,-0.966025,-0.164557],[-0.227827,-0.117649,0.966568]]
2025-10-26T23:15:21.128Z,1761520521.128 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:21.364Z,1761520521.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952429,0.232871,-0.196598],[-0.201919,-0.965358,-0.165264],[-0.228273,-0.117706,0.966456]]
2025-10-26T23:15:21.380Z,1761520521.380 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:21.632Z,1761520521.632 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:21.766Z,1761520521.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951793,0.235478,-0.196571],[-0.204427,-0.964730,-0.165846],[-0.228691,-0.117667,0.966362]]
2025-10-26T23:15:21.884Z,1761520521.884 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:22.136Z,1761520522.136 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:22.170Z,1761520522.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951165,0.238184,-0.196352],[-0.207017,-0.964047,-0.166605],[-0.228975,-0.117821,0.966276]]
2025-10-26T23:15:22.388Z,1761520522.388 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:22.577Z,1761520522.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950334,0.241621,-0.196176],[-0.210556,-0.963305,-0.166463],[-0.229199,-0.116889,0.966336]]
2025-10-26T23:15:22.640Z,1761520522.640 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:22.892Z,1761520522.892 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:22.979Z,1761520522.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949401,0.245136,-0.196333],[-0.214345,-0.962647,-0.165430],[-0.229552,-0.114976,0.966481]]
2025-10-26T23:15:22.996Z,1761520522.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:23.144Z,1761520523.144 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:23.382Z,1761520523.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948635,0.248117,-0.196291],[-0.217312,-0.961937,-0.165689],[-0.229930,-0.114522,0.966446]]
2025-10-26T23:15:23.396Z,1761520523.396 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:23.648Z,1761520523.648 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:23.786Z,1761520523.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947846,0.251257,-0.196109],[-0.220294,-0.961096,-0.166629],[-0.230346,-0.114737,0.966321]]
2025-10-26T23:15:23.902Z,1761520523.902 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:24.152Z,1761520524.152 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:24.193Z,1761520524.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947064,0.254293,-0.195970],[-0.223184,-0.960280,-0.167487],[-0.230777,-0.114884,0.966201]]
2025-10-26T23:15:24.404Z,1761520524.404 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:24.604Z,1761520524.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946264,0.257659,-0.195437],[-0.226315,-0.959292,-0.168936],[-0.231009,-0.115628,0.966056]]
2025-10-26T23:15:24.656Z,1761520524.656 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:24.909Z,1761520524.909 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:24.999Z,1761520524.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945531,0.260544,-0.195163],[-0.229104,-0.958505,-0.169644],[-0.231264,-0.115691,0.965988]]
2025-10-26T23:15:25.030Z,1761520525.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:25.160Z,1761520525.160 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:25.402Z,1761520525.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944880,0.263170,-0.194790],[-0.231691,-0.957794,-0.170144],[-0.231345,-0.115634,0.965975]]
2025-10-26T23:15:25.413Z,1761520525.413 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:25.664Z,1761520525.664 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:25.807Z,1761520525.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944224,0.266229,-0.193811],[-0.234506,-0.956807,-0.171836],[-0.231188,-0.116802,0.965872]]
2025-10-26T23:15:25.917Z,1761520525.917 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:26.168Z,1761520526.168 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:26.210Z,1761520526.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943682,0.268245,-0.193675],[-0.236541,-0.956288,-0.171937],[-0.231330,-0.116442,0.965882]]
2025-10-26T23:15:26.420Z,1761520526.420 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:26.614Z,1761520526.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943050,0.270668,-0.193379],[-0.238883,-0.955593,-0.172561],[-0.231498,-0.116539,0.965830]]
2025-10-26T23:15:26.672Z,1761520526.672 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:26.924Z,1761520526.924 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:27.018Z,1761520527.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942413,0.273121,-0.193034],[-0.241163,-0.954832,-0.173597],[-0.231728,-0.117047,0.965713]]
2025-10-26T23:15:27.043Z,1761520527.043 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:27.176Z,1761520527.176 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:27.424Z,1761520527.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941775,0.275719,-0.192454],[-0.243416,-0.953917,-0.175471],[-0.231966,-0.118408,0.965490]]
2025-10-26T23:15:27.428Z,1761520527.428 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:27.680Z,1761520527.680 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:27.826Z,1761520527.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941250,0.277684,-0.192196],[-0.245238,-0.953297,-0.176305],[-0.232177,-0.118813,0.965390]]
2025-10-26T23:15:27.932Z,1761520527.932 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:28.184Z,1761520528.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:28.231Z,1761520528.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940768,0.279648,-0.191707],[-0.246977,-0.952607,-0.177600],[-0.232287,-0.119733,0.965250]]
2025-10-26T23:15:28.436Z,1761520528.436 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:28.635Z,1761520528.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940210,0.281718,-0.191419],[-0.248827,-0.951907,-0.178770],[-0.232575,-0.120451,0.965091]]
2025-10-26T23:15:28.688Z,1761520528.688 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:28.940Z,1761520528.940 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:29.040Z,1761520529.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939512,0.284388,-0.190896],[-0.251132,-0.950938,-0.180693],[-0.232917,-0.121823,0.964836]]
2025-10-26T23:15:29.086Z,1761520529.086 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:29.192Z,1761520529.192 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:29.442Z,1761520529.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939041,0.286136,-0.190600],[-0.252752,-0.950361,-0.181467],[-0.233063,-0.122231,0.964749]]
2025-10-26T23:15:29.444Z,1761520529.444 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:29.696Z,1761520529.696 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:29.846Z,1761520529.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938549,0.287948,-0.190293],[-0.254438,-0.949763,-0.182242],[-0.233210,-0.122625,0.964664]]
2025-10-26T23:15:29.948Z,1761520529.948 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:30.200Z,1761520530.200 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:30.252Z,1761520530.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938047,0.289674,-0.190148],[-0.256070,-0.949218,-0.182796],[-0.233443,-0.122780,0.964588]]
2025-10-26T23:15:30.453Z,1761520530.453 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:30.656Z,1761520530.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937433,0.291792,-0.189940],[-0.258152,-0.948584,-0.183157],[-0.233618,-0.122664,0.964560]]
2025-10-26T23:15:30.718Z,1761520530.718 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:30.968Z,1761520530.968 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:31.060Z,1761520531.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936938,0.293502,-0.189745],[-0.259841,-0.948069,-0.183433],[-0.233730,-0.122561,0.964546]]
2025-10-26T23:15:31.098Z,1761520531.098 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:31.220Z,1761520531.220 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:31.460Z,1761520531.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936362,0.295404,-0.189640],[-0.261747,-0.947519,-0.183563],[-0.233913,-0.122243,0.964542]]
2025-10-26T23:15:31.472Z,1761520531.472 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:31.724Z,1761520531.724 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:31.867Z,1761520531.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935716,0.297564,-0.189448],[-0.263855,-0.946852,-0.183987],[-0.234128,-0.122173,0.964499]]
2025-10-26T23:15:31.976Z,1761520531.976 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:32.228Z,1761520532.228 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:32.266Z,1761520532.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934930,0.300176,-0.189207],[-0.266334,-0.946002,-0.184789],[-0.234459,-0.122372,0.964393]]
2025-10-26T23:15:32.480Z,1761520532.480 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:32.670Z,1761520532.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934282,0.302504,-0.188700],[-0.268616,-0.945244,-0.185362],[-0.234440,-0.122493,0.964382]]
2025-10-26T23:15:32.733Z,1761520532.733 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:32.984Z,1761520532.984 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:33.084Z,1761520533.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933632,0.305330,-0.187363],[-0.271352,-0.944224,-0.186574],[-0.233880,-0.123350,0.964409]]
2025-10-26T23:15:33.102Z,1761520533.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:33.236Z,1761520533.236 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:33.478Z,1761520533.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933007,0.308044,-0.186030],[-0.274058,-0.943269,-0.187443],[-0.233217,-0.123902,0.964499]]
2025-10-26T23:15:33.488Z,1761520533.488 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:33.740Z,1761520533.740 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:33.993Z,1761520533.993 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:34.244Z,1761520534.244 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:34.286Z,1761520534.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932298,0.312909,-0.181405],[-0.278789,-0.941220,-0.190742],[-0.230427,-0.127255,0.964733]]
2025-10-26T23:15:34.496Z,1761520534.496 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:34.690Z,1761520534.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931902,0.314983,-0.179845],[-0.280971,-0.940468,-0.191246],[-0.229378,-0.127691,0.964925]]
2025-10-26T23:15:34.756Z,1761520534.756 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:35.008Z,1761520535.008 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:35.097Z,1761520535.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931449,0.316975,-0.178688],[-0.283071,-0.939783,-0.191516],[-0.228633,-0.127806,0.965087]]
2025-10-26T23:15:35.129Z,1761520535.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:35.260Z,1761520535.260 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:35.498Z,1761520535.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931035,0.318862,-0.177482],[-0.285067,-0.939120,-0.191806],[-0.227837,-0.127984,0.965252]]
2025-10-26T23:15:35.512Z,1761520535.512 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:35.764Z,1761520535.764 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:35.912Z,1761520535.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930861,0.320058,-0.176239],[-0.286487,-0.938730,-0.191602],[-0.226764,-0.127865,0.965520]]
2025-10-26T23:15:36.016Z,1761520536.016 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:36.268Z,1761520536.268 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:36.306Z,1761520536.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930451,0.322109,-0.174661],[-0.288674,-0.937979,-0.191998],[-0.225673,-0.128225,0.965728]]
2025-10-26T23:15:36.520Z,1761520536.520 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:36.725Z,1761520536.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930421,0.322755,-0.173623],[-0.289612,-0.937819,-0.191362],[-0.224591,-0.127764,0.966041]]
2025-10-26T23:15:36.772Z,1761520536.772 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:37.024Z,1761520537.024 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:37.114Z,1761520537.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930244,0.324075,-0.172108],[-0.291117,-0.937329,-0.191482],[-0.223376,-0.128022,0.966288]]
2025-10-26T23:15:37.131Z,1761520537.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:37.276Z,1761520537.276 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:37.520Z,1761520537.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930131,0.325088,-0.170805],[-0.292356,-0.936983,-0.191288],[-0.222227,-0.127987,0.966558]]
2025-10-26T23:15:37.528Z,1761520537.528 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:37.780Z,1761520537.780 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:37.908Z,1761520537.908 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:15:38.033Z,1761520538.033 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:38.284Z,1761520538.284 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:38.327Z,1761520538.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930065,0.326464,-0.168522],[-0.294146,-0.936512,-0.190851],[-0.220129,-0.127934,0.967045]]
2025-10-26T23:15:38.536Z,1761520538.536 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:38.743Z,1761520538.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929987,0.327267,-0.167394],[-0.295099,-0.936207,-0.190875],[-0.219183,-0.128114,0.967236]]
2025-10-26T23:15:38.788Z,1761520538.788 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:38.912Z,1761520538.912 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:15:39.040Z,1761520539.040 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:39.136Z,1761520539.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929918,0.327934,-0.166466],[-0.295872,-0.935943,-0.190974],[-0.218429,-0.128337,0.967377]]
2025-10-26T23:15:39.157Z,1761520539.157 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:39.292Z,1761520539.292 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:39.538Z,1761520539.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929958,0.328451,-0.165219],[-0.296137,-0.935475,-0.192846],[-0.217899,-0.130411,0.967219]]
2025-10-26T23:15:39.546Z,1761520539.546 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:39.797Z,1761520539.797 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:39.945Z,1761520539.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929640,0.329887,-0.164144],[-0.297510,-0.934838,-0.193817],[-0.217385,-0.131346,0.967208]]
2025-10-26T23:15:40.049Z,1761520540.049 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:40.300Z,1761520540.300 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:40.356Z,1761520540.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929577,0.331496,-0.161233],[-0.299075,-0.933917,-0.195841],[-0.215499,-0.133829,0.967290]]
2025-10-26T23:15:40.552Z,1761520540.552 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:40.771Z,1761520540.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929373,0.332874,-0.159566],[-0.300417,-0.933225,-0.197082],[-0.214514,-0.135226,0.967315]]
2025-10-26T23:15:40.809Z,1761520540.809 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:41.061Z,1761520541.061 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:41.159Z,1761520541.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929153,0.334328,-0.157794],[-0.301908,-0.932534,-0.198069],[-0.213369,-0.136397,0.967404]]
2025-10-26T23:15:41.207Z,1761520541.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:41.312Z,1761520541.312 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:41.564Z,1761520541.564 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:41.573Z,1761520541.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929258,0.335235,-0.155230],[-0.302906,-0.931942,-0.199330],[-0.211488,-0.138209,0.967559]]
2025-10-26T23:15:41.816Z,1761520541.816 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:41.967Z,1761520541.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929197,0.336817,-0.152142],[-0.304425,-0.930939,-0.201690],[-0.209568,-0.141094,0.967561]]
2025-10-26T23:15:42.069Z,1761520542.069 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:42.320Z,1761520542.320 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:42.377Z,1761520542.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929075,0.338461,-0.149209],[-0.306107,-0.929987,-0.203526],[-0.207649,-0.143417,0.967633]]
2025-10-26T23:15:42.572Z,1761520542.572 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:42.795Z,1761520542.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928904,0.339989,-0.146784],[-0.307873,-0.929277,-0.204103],[-0.205796,-0.144401,0.967882]]
2025-10-26T23:15:42.824Z,1761520542.824 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:43.076Z,1761520543.076 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:43.174Z,1761520543.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928624,0.341737,-0.144472],[-0.309720,-0.928404,-0.205279],[-0.204280,-0.145881,0.967982]]
2025-10-26T23:15:43.328Z,1761520543.328 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:43.580Z,1761520543.580 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:43.582Z,1761520543.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928348,0.343454,-0.142160],[-0.311599,-0.927579,-0.206164],[-0.202673,-0.147095,0.968136]]
2025-10-26T23:15:43.599Z,1761520543.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:43.832Z,1761520543.832 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:43.988Z,1761520543.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928165,0.344915,-0.139797],[-0.313366,-0.926928,-0.206413],[-0.200776,-0.147778,0.968427]]
2025-10-26T23:15:44.085Z,1761520544.085 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:44.336Z,1761520544.336 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:44.391Z,1761520544.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928083,0.346049,-0.137522],[-0.314897,-0.926466,-0.206158],[-0.198750,-0.148027,0.968807]]
2025-10-26T23:15:44.588Z,1761520544.588 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:44.840Z,1761520544.840 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:45.092Z,1761520545.092 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:45.194Z,1761520545.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927961,0.347695,-0.134151],[-0.317453,-0.926030,-0.204187],[-0.195222,-0.146891,0.969697]]
2025-10-26T23:15:45.344Z,1761520545.344 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:45.596Z,1761520545.596 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:45.617Z,1761520545.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928020,0.348190,-0.132448],[-0.318304,-0.925846,-0.203694],[-0.193551,-0.146873,0.970034]]
2025-10-26T23:15:45.634Z,1761520545.634 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:45.850Z,1761520545.850 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:46.002Z,1761520546.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928147,0.348398,-0.131005],[-0.318856,-0.925797,-0.203054],[-0.192028,-0.146692,0.970364]]
2025-10-26T23:15:46.100Z,1761520546.100 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:46.352Z,1761520546.352 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:46.406Z,1761520546.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928408,0.348100,-0.129942],[-0.318987,-0.926050,-0.201692],[-0.190542,-0.145803,0.970791]]
2025-10-26T23:15:46.605Z,1761520546.605 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:46.852Z,1761520546.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928689,0.347662,-0.129103],[-0.318936,-0.926357,-0.200357],[-0.189252,-0.144894,0.971179]]
2025-10-26T23:15:46.856Z,1761520546.856 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:47.108Z,1761520547.108 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:47.216Z,1761520547.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929077,0.346780,-0.128685],[-0.318487,-0.926920,-0.198459],[-0.188102,-0.143399,0.971625]]
2025-10-26T23:15:47.360Z,1761520547.360 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:47.612Z,1761520547.612 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:47.619Z,1761520547.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929449,0.346100,-0.127821],[-0.318158,-0.927279,-0.197303],[-0.186812,-0.142716,0.971974]]
2025-10-26T23:15:47.644Z,1761520547.644 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:47.866Z,1761520547.866 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:48.022Z,1761520548.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929901,0.345355,-0.126548],[-0.317772,-0.927601,-0.196410],[-0.185217,-0.142428,0.972321]]
2025-10-26T23:15:48.116Z,1761520548.116 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:48.368Z,1761520548.368 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:48.426Z,1761520548.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930512,0.344395,-0.124656],[-0.317174,-0.927899,-0.195970],[-0.183159,-0.142815,0.972654]]
2025-10-26T23:15:48.620Z,1761520548.620 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:48.869Z,1761520548.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931135,0.343463,-0.122558],[-0.316637,-0.928177,-0.195521],[-0.180909,-0.143250,0.973011]]
2025-10-26T23:15:48.874Z,1761520548.874 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:49.124Z,1761520549.124 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:49.234Z,1761520549.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931976,0.342188,-0.119703],[-0.315720,-0.928412,-0.195886],[-0.178163,-0.144769,0.973293]]
2025-10-26T23:15:49.376Z,1761520549.376 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:49.628Z,1761520549.628 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:49.678Z,1761520549.678 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:49.884Z,1761520549.884 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:50.052Z,1761520550.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933460,0.340170,-0.113739],[-0.314468,-0.928678,-0.196638],[-0.172517,-0.147787,0.973857]]
2025-10-26T23:15:50.132Z,1761520550.132 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:50.384Z,1761520550.384 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:50.452Z,1761520550.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934084,0.339787,-0.109691],[-0.314123,-0.928085,-0.199964],[-0.169748,-0.152326,0.973644]]
2025-10-26T23:15:50.636Z,1761520550.636 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:50.882Z,1761520550.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934744,0.338968,-0.106560],[-0.313687,-0.928093,-0.200610],[-0.166898,-0.154093,0.973859]]
2025-10-26T23:15:50.891Z,1761520550.891 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:51.140Z,1761520551.140 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:51.255Z,1761520551.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935183,0.338644,-0.103695],[-0.313848,-0.928078,-0.200425],[-0.164110,-0.154889,0.974206]]
2025-10-26T23:15:51.392Z,1761520551.392 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:51.644Z,1761520551.644 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:51.660Z,1761520551.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935511,0.338799,-0.100173],[-0.314342,-0.927626,-0.201739],[-0.161272,-0.157240,0.974303]]
2025-10-26T23:15:51.679Z,1761520551.679 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:51.901Z,1761520551.901 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:52.073Z,1761520552.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935728,0.339050,-0.097249],[-0.315086,-0.927409,-0.201575],[-0.158534,-0.157977,0.974633]]
2025-10-26T23:15:52.148Z,1761520552.148 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:52.400Z,1761520552.400 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:52.466Z,1761520552.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935893,0.339364,-0.094532],[-0.315899,-0.927220,-0.201176],[-0.155923,-0.158416,0.974983]]
2025-10-26T23:15:52.652Z,1761520552.652 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:52.884Z,1761520552.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935995,0.339952,-0.091357],[-0.316875,-0.926722,-0.201933],[-0.153310,-0.160060,0.975129]]
2025-10-26T23:15:52.907Z,1761520552.907 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:53.156Z,1761520553.156 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:53.275Z,1761520553.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935929,0.340826,-0.088734],[-0.318267,-0.926386,-0.201285],[-0.150805,-0.160147,0.975505]]
2025-10-26T23:15:53.409Z,1761520553.409 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:53.660Z,1761520553.660 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:53.681Z,1761520553.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935813,0.341612,-0.086916],[-0.319651,-0.926349,-0.199253],[-0.148581,-0.158681,0.976086]]
2025-10-26T23:15:53.704Z,1761520553.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:53.914Z,1761520553.914 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:54.082Z,1761520554.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935635,0.342544,-0.085156],[-0.321166,-0.926264,-0.197197],[-0.146425,-0.157156,0.976658]]
2025-10-26T23:15:54.164Z,1761520554.164 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:54.416Z,1761520554.416 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:54.487Z,1761520554.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935438,0.343504,-0.083432],[-0.322678,-0.926150,-0.195256],[-0.144342,-0.155728,0.977197]]
2025-10-26T23:15:54.670Z,1761520554.670 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:54.895Z,1761520554.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935373,0.343989,-0.082152],[-0.323779,-0.926366,-0.192389],[-0.142282,-0.153357,0.977874]]
2025-10-26T23:15:54.923Z,1761520554.923 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:55.172Z,1761520555.172 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:55.297Z,1761520555.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935283,0.344493,-0.081062],[-0.324936,-0.926658,-0.189002],[-0.140226,-0.150430,0.978625]]
2025-10-26T23:15:55.425Z,1761520555.425 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:55.676Z,1761520555.676 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:55.698Z,1761520555.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935350,0.344567,-0.079959],[-0.325590,-0.927018,-0.186087],[-0.138243,-0.148023,0.979274]]
2025-10-26T23:15:55.742Z,1761520555.742 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:55.930Z,1761520555.930 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:56.180Z,1761520556.180 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:56.433Z,1761520556.433 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:56.536Z,1761520556.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935304,0.345424,-0.076736],[-0.327295,-0.926956,-0.183388],[-0.134477,-0.146408,0.980041]]
2025-10-26T23:15:56.684Z,1761520556.684 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:56.938Z,1761520556.938 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:56.947Z,1761520556.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935329,0.345801,-0.074704],[-0.328029,-0.926783,-0.182947],[-0.132497,-0.146611,0.980280]]
2025-10-26T23:15:57.188Z,1761520557.188 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:57.337Z,1761520557.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935667,0.345497,-0.071831],[-0.328205,-0.926795,-0.182572],[-0.129650,-0.147251,0.980565]]
2025-10-26T23:15:57.440Z,1761520557.440 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:57.692Z,1761520557.692 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:57.745Z,1761520557.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936072,0.345127,-0.068238],[-0.328417,-0.926784,-0.182247],[-0.126140,-0.148185,0.980882]]
2025-10-26T23:15:57.762Z,1761520557.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:57.944Z,1761520557.944 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:58.142Z,1761520558.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936472,0.344677,-0.064941],[-0.328616,-0.926948,-0.181047],[-0.122600,-0.148205,0.981328]]
2025-10-26T23:15:58.196Z,1761520558.196 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:58.448Z,1761520558.448 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:58.551Z,1761520558.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937047,0.343813,-0.061112],[-0.328404,-0.927132,-0.180488],[-0.118713,-0.149057,0.981677]]
2025-10-26T23:15:58.569Z,1761520558.569 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Reached waypoint: 36.779130,-121.859630
2025-10-26T23:15:58.569Z,1761520558.569 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-10-26T23:15:58.569Z,1761520558.569 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-10-26T23:15:58.569Z,1761520558.569 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F] Running Loop=1
2025-10-26T23:15:58.700Z,1761520558.700 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:58.953Z,1761520558.953 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:58.957Z,1761520558.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937551,0.343176,-0.056817],[-0.328307,-0.926974,-0.181474],[-0.114945,-0.151487,0.981753]]
2025-10-26T23:15:59.045Z,1761520559.045 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F](INFO): Executing search pattern.
2025-10-26T23:15:59.045Z,1761520559.045 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F] Stopped
2025-10-26T23:15:59.046Z,1761520559.046 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern] Running Loop=1
2025-10-26T23:15:59.046Z,1761520559.046 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern
2025-10-26T23:15:59.046Z,1761520559.046 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle] Running Loop=1
2025-10-26T23:15:59.046Z,1761520559.046 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Initialize CircleComponent.
2025-10-26T23:15:59.046Z,1761520559.046 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait] Running Loop=1
2025-10-26T23:15:59.047Z,1761520559.047 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Initialize Wait Component.
2025-10-26T23:15:59.204Z,1761520559.204 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:59.354Z,1761520559.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938177,0.342096,-0.052858],[-0.327849,-0.927141,-0.181449],[-0.111080,-0.152902,0.981979]]
2025-10-26T23:15:59.398Z,1761520559.398 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle] Running Loop=1
2025-10-26T23:15:59.456Z,1761520559.456 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:59.709Z,1761520559.709 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:15:59.758Z,1761520559.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938648,0.341425,-0.048678],[-0.327737,-0.927011,-0.182316],[-0.107372,-0.155177,0.982034]]
2025-10-26T23:15:59.795Z,1761520559.795 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:15:59.960Z,1761520559.960 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:00.162Z,1761520560.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939258,0.340248,-0.045017],[-0.327193,-0.927286,-0.181895],[-0.103633,-0.156117,0.982287]]
2025-10-26T23:16:00.212Z,1761520560.212 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:00.464Z,1761520560.464 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:00.568Z,1761520560.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939813,0.339167,-0.041448],[-0.326758,-0.927573,-0.181210],[-0.099907,-0.156760,0.982571]]
2025-10-26T23:16:00.717Z,1761520560.717 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:00.968Z,1761520560.968 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:01.220Z,1761520561.220 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:01.374Z,1761520561.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940677,0.337594,-0.034010],[-0.326479,-0.927864,-0.180223],[-0.092399,-0.158429,0.983038]]
2025-10-26T23:16:01.473Z,1761520561.473 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:01.724Z,1761520561.724 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:01.779Z,1761520561.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940722,0.337771,-0.030886],[-0.327345,-0.927969,-0.178097],[-0.088817,-0.157429,0.983528]]
2025-10-26T23:16:01.976Z,1761520561.976 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:02.184Z,1761520562.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939989,0.339942,-0.029332],[-0.330314,-0.928163,-0.171484],[-0.085520,-0.151505,0.984750]]
2025-10-26T23:16:02.219Z,1761520562.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:02.236Z,1761520562.236 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:02.488Z,1761520562.488 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:02.586Z,1761520562.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938974,0.342703,-0.029693],[-0.333965,-0.928900,-0.160039],[-0.082428,-0.140356,0.986664]]
2025-10-26T23:16:02.740Z,1761520562.740 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:02.990Z,1761520562.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937605,0.346417,-0.029881],[-0.338524,-0.929092,-0.148962],[-0.079365,-0.129552,0.988391]]
2025-10-26T23:16:02.992Z,1761520562.992 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:03.245Z,1761520563.245 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:03.394Z,1761520563.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936138,0.350370,-0.029788],[-0.343235,-0.928897,-0.139066],[-0.076394,-0.119961,0.989835]]
2025-10-26T23:16:03.497Z,1761520563.497 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:03.748Z,1761520563.748 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:03.802Z,1761520563.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934488,0.354832,-0.028749],[-0.348338,-0.928062,-0.131765],[-0.073435,-0.113118,0.990864]]
2025-10-26T23:16:04.001Z,1761520564.001 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:04.202Z,1761520564.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932697,0.359730,-0.025878],[-0.353714,-0.926391,-0.129177],[-0.070442,-0.111329,0.991284]]
2025-10-26T23:16:04.243Z,1761520564.243 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:04.252Z,1761520564.252 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:04.505Z,1761520564.505 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:04.606Z,1761520564.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930851,0.364656,-0.023282],[-0.359083,-0.924699,-0.126456],[-0.067642,-0.109352,0.991699]]
2025-10-26T23:16:04.756Z,1761520564.756 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:05.009Z,1761520565.009 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:05.025Z,1761520565.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929106,0.369242,-0.020567],[-0.364068,-0.923019,-0.124459],[-0.064939,-0.108148,0.992012]]
2025-10-26T23:16:05.260Z,1761520565.260 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:05.518Z,1761520565.518 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:05.768Z,1761520565.768 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:05.818Z,1761520565.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925635,0.378151,-0.014187],[-0.373692,-0.919340,-0.123159],[-0.059615,-0.108699,0.992286]]
2025-10-26T23:16:06.021Z,1761520566.021 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:06.222Z,1761520566.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923764,0.382801,-0.011101],[-0.378696,-0.917404,-0.122306],[-0.057003,-0.108778,0.992430]]
2025-10-26T23:16:06.272Z,1761520566.272 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:06.273Z,1761520566.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:06.525Z,1761520566.525 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:06.626Z,1761520566.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921885,0.387399,-0.006997],[-0.383662,-0.915217,-0.123216],[-0.054138,-0.110907,0.992355]]
2025-10-26T23:16:06.779Z,1761520566.779 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:07.029Z,1761520567.029 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:07.038Z,1761520567.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919993,0.391925,-0.002727],[-0.388556,-0.912954,-0.124657],[-0.051346,-0.113624,0.992196]]
2025-10-26T23:16:07.280Z,1761520567.280 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:07.434Z,1761520567.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917664,0.397353,0.001580],[-0.394360,-0.910250,-0.126193],[-0.048705,-0.116426,0.992004]]
2025-10-26T23:16:07.532Z,1761520567.532 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:07.784Z,1761520567.784 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:07.838Z,1761520567.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915373,0.402563,0.005909],[-0.399974,-0.907614,-0.127506],[-0.045967,-0.119079,0.991820]]
2025-10-26T23:16:08.036Z,1761520568.036 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:08.288Z,1761520568.288 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:08.308Z,1761520568.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:08.540Z,1761520568.540 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:08.648Z,1761520568.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910106,0.414128,0.014281],[-0.412369,-0.901775,-0.129436],[-0.040725,-0.123689,0.991485]]
2025-10-26T23:16:08.792Z,1761520568.792 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:09.040Z,1761520569.040 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:16:09.045Z,1761520569.045 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:09.053Z,1761520569.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907439,0.419812,0.017654],[-0.418444,-0.899069,-0.128764],[-0.038185,-0.124232,0.991518]]
2025-10-26T23:16:09.296Z,1761520569.296 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:09.552Z,1761520569.552 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:09.800Z,1761520569.800 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:09.859Z,1761520569.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902350,0.430261,0.025295],[-0.429751,-0.893703,-0.128873],[-0.032842,-0.127159,0.991338]]
2025-10-26T23:16:10.044Z,1761520570.044 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:16:10.053Z,1761520570.053 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:10.262Z,1761520570.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900055,0.434821,0.028834],[-0.434715,-0.891284,-0.128981],[-0.030385,-0.128625,0.991228]]
2025-10-26T23:16:10.304Z,1761520570.304 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:10.313Z,1761520570.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:10.556Z,1761520570.556 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:10.669Z,1761520570.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897995,0.438813,0.032371],[-0.439125,-0.889119,-0.128981],[-0.027817,-0.130039,0.991119]]
2025-10-26T23:16:10.809Z,1761520570.809 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:11.061Z,1761520571.061 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:11.075Z,1761520571.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896301,0.442047,0.035203],[-0.442726,-0.887499,-0.127821],[-0.025261,-0.130152,0.991172]]
2025-10-26T23:16:11.312Z,1761520571.312 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:11.564Z,1761520571.564 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:11.816Z,1761520571.816 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:11.878Z,1761520571.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894638,0.444985,0.040149],[-0.446323,-0.885966,-0.125935],[-0.020469,-0.130586,0.991226]]
2025-10-26T23:16:12.068Z,1761520572.068 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:12.282Z,1761520572.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894445,0.445086,0.043197],[-0.446809,-0.885609,-0.126725],[-0.018148,-0.132649,0.990997]]
2025-10-26T23:16:12.320Z,1761520572.320 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:12.345Z,1761520572.345 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:12.572Z,1761520572.572 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:12.687Z,1761520572.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894520,0.444532,0.047184],[-0.446763,-0.885358,-0.128624],[-0.015403,-0.136137,0.990570]]
2025-10-26T23:16:12.824Z,1761520572.824 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:13.076Z,1761520573.076 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:13.092Z,1761520573.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894533,0.443932,0.052307],[-0.446822,-0.884709,-0.132816],[-0.012685,-0.142180,0.989760]]
2025-10-26T23:16:13.328Z,1761520573.328 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:13.504Z,1761520573.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895035,0.442384,0.056649],[-0.445883,-0.884705,-0.135958],[-0.010028,-0.146946,0.989094]]
2025-10-26T23:16:13.593Z,1761520573.593 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:13.844Z,1761520573.844 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:13.901Z,1761520573.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895936,0.439968,0.061049],[-0.444122,-0.885030,-0.139562],[-0.007373,-0.152152,0.988330]]
2025-10-26T23:16:14.096Z,1761520574.096 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:14.303Z,1761520574.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897079,0.437081,0.064875],[-0.441847,-0.885828,-0.141706],[-0.004469,-0.155786,0.987781]]
2025-10-26T23:16:14.346Z,1761520574.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:14.348Z,1761520574.348 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:14.600Z,1761520574.600 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:14.709Z,1761520574.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898577,0.433448,0.068424],[-0.438812,-0.886949,-0.144106],[-0.001774,-0.159515,0.987194]]
2025-10-26T23:16:14.852Z,1761520574.852 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:15.104Z,1761520575.104 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:15.111Z,1761520575.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900059,0.429657,0.072720],[-0.435767,-0.887783,-0.148148],[0.000907,-0.165031,0.986288]]
2025-10-26T23:16:15.356Z,1761520575.356 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:15.521Z,1761520575.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901773,0.425520,0.075758],[-0.432197,-0.889170,-0.150273],[0.003418,-0.168255,0.985738]]
2025-10-26T23:16:15.609Z,1761520575.609 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:15.860Z,1761520575.860 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:15.918Z,1761520575.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903452,0.421369,0.078888],[-0.428652,-0.890391,-0.153174],[0.005698,-0.172200,0.985045]]
2025-10-26T23:16:16.113Z,1761520576.113 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:16.322Z,1761520576.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904855,0.417764,0.081921],[-0.425644,-0.891422,-0.155543],[0.008046,-0.175613,0.984426]]
2025-10-26T23:16:16.364Z,1761520576.364 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:16.371Z,1761520576.371 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:16.616Z,1761520576.616 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:16.733Z,1761520576.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906313,0.414089,0.084423],[-0.422483,-0.892631,-0.157218],[0.010256,-0.178156,0.983949]]
2025-10-26T23:16:16.869Z,1761520576.869 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:17.121Z,1761520577.121 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:17.373Z,1761520577.373 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:17.539Z,1761520577.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908679,0.408034,0.088381],[-0.417251,-0.894824,-0.158720],[0.014322,-0.181102,0.983360]]
2025-10-26T23:16:17.624Z,1761520577.624 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:17.876Z,1761520577.876 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:17.939Z,1761520577.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909319,0.406185,0.090295],[-0.415780,-0.895486,-0.158846],[0.016337,-0.181985,0.983166]]
2025-10-26T23:16:18.128Z,1761520578.128 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:18.343Z,1761520578.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909626,0.405239,0.091444],[-0.415034,-0.896067,-0.157518],[0.018108,-0.181235,0.983273]]
2025-10-26T23:16:18.380Z,1761520578.380 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:18.413Z,1761520578.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:18.632Z,1761520578.632 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:18.747Z,1761520578.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909723,0.404882,0.092058],[-0.414733,-0.896740,-0.154446],[0.020020,-0.178683,0.983703]]
2025-10-26T23:16:18.884Z,1761520578.884 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:19.136Z,1761520579.136 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:19.152Z,1761520579.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909549,0.404981,0.093335],[-0.415028,-0.896847,-0.153028],[0.021733,-0.177923,0.983804]]
2025-10-26T23:16:19.388Z,1761520579.388 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:19.554Z,1761520579.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909427,0.405129,0.093871],[-0.415219,-0.897139,-0.150782],[0.023129,-0.176103,0.984100]]
2025-10-26T23:16:19.640Z,1761520579.640 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:19.892Z,1761520579.892 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:19.960Z,1761520579.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908988,0.405800,0.095223],[-0.416087,-0.896954,-0.149482],[0.024751,-0.175498,0.984169]]
2025-10-26T23:16:20.144Z,1761520580.144 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:20.370Z,1761520580.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908386,0.406992,0.095879],[-0.417315,-0.896793,-0.147006],[0.026153,-0.173550,0.984478]]
2025-10-26T23:16:20.396Z,1761520580.396 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:20.418Z,1761520580.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:20.648Z,1761520580.648 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:20.766Z,1761520580.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907432,0.409007,0.096332],[-0.419311,-0.896289,-0.144377],[0.027290,-0.171405,0.984823]]
2025-10-26T23:16:20.901Z,1761520580.901 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:21.152Z,1761520581.152 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:21.171Z,1761520581.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906673,0.410680,0.096359],[-0.420863,-0.896156,-0.140639],[0.028595,-0.168067,0.985361]]
2025-10-26T23:16:21.404Z,1761520581.404 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:21.579Z,1761520581.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905673,0.412768,0.096843],[-0.422931,-0.895583,-0.138056],[0.029746,-0.165991,0.985678]]
2025-10-26T23:16:21.656Z,1761520581.656 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:21.908Z,1761520581.908 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:21.995Z,1761520581.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904660,0.414795,0.097654],[-0.425020,-0.894850,-0.136389],[0.030813,-0.164891,0.985830]]
2025-10-26T23:16:22.160Z,1761520582.160 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:22.404Z,1761520582.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902521,0.419098,0.099055],[-0.429375,-0.893384,-0.132296],[0.033049,-0.161932,0.986248]]
2025-10-26T23:16:22.412Z,1761520582.412 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:22.440Z,1761520582.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:22.664Z,1761520582.664 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:22.916Z,1761520582.916 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:23.168Z,1761520583.168 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:23.199Z,1761520583.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900502,0.422969,0.100964],[-0.433414,-0.891865,-0.129345],[0.035338,-0.160234,0.986446]]
2025-10-26T23:16:23.420Z,1761520583.420 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:23.598Z,1761520583.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899594,0.424578,0.102292],[-0.435186,-0.891138,-0.128397],[0.036642,-0.160021,0.986433]]
2025-10-26T23:16:23.672Z,1761520583.672 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:23.924Z,1761520583.924 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:24.004Z,1761520584.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898991,0.425614,0.103283],[-0.436339,-0.890700,-0.127522],[0.037719,-0.159708,0.986443]]
2025-10-26T23:16:24.176Z,1761520584.176 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:24.425Z,1761520584.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898379,0.426880,0.103381],[-0.437517,-0.890462,-0.125126],[0.038644,-0.157641,0.986740]]
2025-10-26T23:16:24.428Z,1761520584.428 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:24.482Z,1761520584.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:24.681Z,1761520584.681 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:24.822Z,1761520584.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897987,0.427615,0.103751],[-0.438239,-0.890333,-0.123507],[0.039559,-0.156375,0.986905]]
2025-10-26T23:16:24.932Z,1761520584.932 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:25.184Z,1761520585.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:25.211Z,1761520585.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897529,0.428282,0.104956],[-0.439090,-0.889918,-0.123473],[0.040521,-0.156905,0.986782]]
2025-10-26T23:16:25.436Z,1761520585.436 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:25.644Z,1761520585.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897428,0.428306,0.105724],[-0.439189,-0.890020,-0.122385],[0.041678,-0.156264,0.986836]]
2025-10-26T23:16:25.696Z,1761520585.696 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:25.948Z,1761520585.948 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:26.018Z,1761520586.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897396,0.428188,0.106471],[-0.439164,-0.890111,-0.121808],[0.042614,-0.156069,0.986827]]
2025-10-26T23:16:26.200Z,1761520586.200 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:26.453Z,1761520586.453 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:26.457Z,1761520586.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897285,0.428157,0.107528],[-0.439287,-0.890089,-0.121524],[0.043678,-0.156277,0.986747]]
2025-10-26T23:16:26.509Z,1761520586.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:26.704Z,1761520586.704 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:26.830Z,1761520586.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897731,0.427059,0.108167],[-0.438286,-0.890620,-0.121251],[0.044554,-0.156259,0.986711]]
2025-10-26T23:16:26.957Z,1761520586.957 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:27.208Z,1761520587.208 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:27.230Z,1761520587.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898189,0.425918,0.108863],[-0.437238,-0.891207,-0.120717],[0.045604,-0.156025,0.986700]]
2025-10-26T23:16:27.461Z,1761520587.461 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:27.634Z,1761520587.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898943,0.424102,0.109717],[-0.435608,-0.891900,-0.121491],[0.046332,-0.157007,0.986510]]
2025-10-26T23:16:27.714Z,1761520587.714 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:27.965Z,1761520587.965 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:28.041Z,1761520588.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899677,0.422369,0.110389],[-0.433997,-0.892677,-0.121547],[0.047204,-0.157262,0.986428]]
2025-10-26T23:16:28.216Z,1761520588.216 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:28.488Z,1761520588.488 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:28.495Z,1761520588.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900436,0.420669,0.110696],[-0.432324,-0.893584,-0.120844],[0.048081,-0.156669,0.986480]]
2025-10-26T23:16:28.521Z,1761520588.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:28.721Z,1761520588.721 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:28.847Z,1761520588.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901303,0.418650,0.111289],[-0.430454,-0.894376,-0.121657],[0.048603,-0.157554,0.986314]]
2025-10-26T23:16:28.972Z,1761520588.972 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:29.224Z,1761520589.224 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:29.254Z,1761520589.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902338,0.416238,0.111944],[-0.428201,-0.895360,-0.122374],[0.049293,-0.158357,0.986151]]
2025-10-26T23:16:29.479Z,1761520589.479 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:29.654Z,1761520589.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902994,0.414763,0.112128],[-0.426725,-0.896177,-0.121546],[0.050074,-0.157603,0.986232]]
2025-10-26T23:16:29.697Z,1761520589.697 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00,        +00.00
2025-10-26T23:16:29.728Z,1761520589.728 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:29.980Z,1761520589.980 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:30.058Z,1761520590.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903731,0.412991,0.112729],[-0.425124,-0.896771,-0.122763],[0.050392,-0.158869,0.986013]]
2025-10-26T23:16:30.232Z,1761520590.232 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:30.486Z,1761520590.486 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:30.512Z,1761520590.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904409,0.411181,0.113909],[-0.423592,-0.897297,-0.124212],[0.051136,-0.160590,0.985696]]
2025-10-26T23:16:30.564Z,1761520590.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:30.737Z,1761520590.737 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:30.877Z,1761520590.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904741,0.410073,0.115258],[-0.422826,-0.897354,-0.126389],[0.051599,-0.163083,0.985262]]
2025-10-26T23:16:30.988Z,1761520590.988 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:31.240Z,1761520591.240 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:31.270Z,1761520591.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904734,0.409940,0.115781],[-0.422772,-0.897401,-0.126238],[0.052152,-0.163161,0.985220]]
2025-10-26T23:16:31.494Z,1761520591.494 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:31.674Z,1761520591.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904611,0.410034,0.116413],[-0.422997,-0.897221,-0.126759],[0.052473,-0.163909,0.985079]]
2025-10-26T23:16:31.744Z,1761520591.744 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:31.996Z,1761520591.996 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:32.080Z,1761520592.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904340,0.410488,0.116917],[-0.423542,-0.896933,-0.126977],[0.052744,-0.164349,0.984991]]
2025-10-26T23:16:32.248Z,1761520592.248 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:32.502Z,1761520592.502 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:32.522Z,1761520592.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904105,0.410730,0.117874],[-0.423999,-0.896565,-0.128046],[0.053089,-0.165746,0.984738]]
2025-10-26T23:16:32.577Z,1761520592.577 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:32.753Z,1761520592.753 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:32.890Z,1761520592.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903771,0.411268,0.118558],[-0.424670,-0.896185,-0.128479],[0.053410,-0.166464,0.984600]]
2025-10-26T23:16:33.005Z,1761520593.005 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:33.256Z,1761520593.256 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:33.290Z,1761520593.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903391,0.411943,0.119116],[-0.425436,-0.895815,-0.128532],[0.053758,-0.166791,0.984526]]
2025-10-26T23:16:33.511Z,1761520593.511 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:33.696Z,1761520593.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903192,0.412406,0.119021],[-0.425825,-0.895772,-0.127535],[0.054019,-0.165871,0.984667]]
2025-10-26T23:16:33.760Z,1761520593.760 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:34.012Z,1761520594.012 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:34.098Z,1761520594.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902915,0.413009,0.119029],[-0.426397,-0.895571,-0.127033],[0.054133,-0.165454,0.984731]]
2025-10-26T23:16:34.264Z,1761520594.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:34.515Z,1761520594.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902722,0.413681,0.118156],[-0.426818,-0.895628,-0.125205],[0.054029,-0.163456,0.985070]]
2025-10-26T23:16:34.527Z,1761520594.527 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:34.590Z,1761520594.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:34.768Z,1761520594.768 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:34.910Z,1761520594.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902848,0.413716,0.117063],[-0.426567,-0.896018,-0.123255],[0.053898,-0.161216,0.985446]]
2025-10-26T23:16:35.020Z,1761520595.020 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:35.272Z,1761520595.272 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:35.313Z,1761520595.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902809,0.413911,0.116680],[-0.426653,-0.896091,-0.122427],[0.053882,-0.160310,0.985595]]
2025-10-26T23:16:35.526Z,1761520595.526 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:35.721Z,1761520595.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903169,0.413363,0.115829],[-0.425893,-0.896653,-0.120950],[0.053863,-0.158569,0.985878]]
2025-10-26T23:16:35.776Z,1761520595.776 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:36.029Z,1761520596.029 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:36.118Z,1761520596.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903387,0.412907,0.115758],[-0.425388,-0.896991,-0.120219],[0.054195,-0.157846,0.985975]]
2025-10-26T23:16:36.280Z,1761520596.280 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:36.526Z,1761520596.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903586,0.412695,0.114960],[-0.424976,-0.897370,-0.118837],[0.054118,-0.156234,0.986236]]
2025-10-26T23:16:36.534Z,1761520596.534 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:36.605Z,1761520596.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:36.784Z,1761520596.784 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:36.978Z,1761520596.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904017,0.411809,0.114745],[-0.424026,-0.897905,-0.118187],[0.054360,-0.155498,0.986339]]
2025-10-26T23:16:37.036Z,1761520597.036 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:37.288Z,1761520597.288 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:37.330Z,1761520597.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904256,0.411317,0.114630],[-0.423504,-0.898186,-0.117922],[0.054456,-0.155178,0.986385]]
2025-10-26T23:16:37.543Z,1761520597.543 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:37.738Z,1761520597.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904530,0.410720,0.114609],[-0.422933,-0.898395,-0.118379],[0.054343,-0.155550,0.986332]]
2025-10-26T23:16:37.792Z,1761520597.792 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:38.044Z,1761520598.044 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:38.138Z,1761520598.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904727,0.410316,0.114501],[-0.422510,-0.898607,-0.118280],[0.054360,-0.155389,0.986357]]
2025-10-26T23:16:38.296Z,1761520598.296 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:38.543Z,1761520598.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904849,0.410001,0.114665],[-0.422220,-0.898751,-0.118229],[0.054581,-0.155393,0.986344]]
2025-10-26T23:16:38.551Z,1761520598.551 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:38.800Z,1761520598.800 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:38.957Z,1761520598.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904844,0.409927,0.114969],[-0.422247,-0.898612,-0.119178],[0.054458,-0.156383,0.986194]]
2025-10-26T23:16:38.995Z,1761520598.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:39.052Z,1761520599.052 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:39.304Z,1761520599.304 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:39.350Z,1761520599.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904560,0.410435,0.115385],[-0.422859,-0.898222,-0.119946],[0.054411,-0.157290,0.986052]]
2025-10-26T23:16:39.556Z,1761520599.556 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:39.754Z,1761520599.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904378,0.410676,0.115956],[-0.423215,-0.897994,-0.120401],[0.054682,-0.157962,0.985930]]
2025-10-26T23:16:39.808Z,1761520599.808 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:40.060Z,1761520600.060 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:40.159Z,1761520600.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903931,0.411408,0.116843],[-0.424125,-0.897460,-0.121173],[0.055010,-0.159088,0.985731]]
2025-10-26T23:16:40.168Z,1761520600.168 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:16:40.312Z,1761520600.312 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:40.564Z,1761520600.564 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:40.565Z,1761520600.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903731,0.411640,0.117570],[-0.424499,-0.897220,-0.121642],[0.055414,-0.159840,0.985586]]
2025-10-26T23:16:40.816Z,1761520600.816 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:40.969Z,1761520600.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903412,0.412099,0.118408],[-0.425087,-0.896948,-0.121592],[0.056098,-0.160181,0.985492]]
2025-10-26T23:16:41.017Z,1761520601.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:41.068Z,1761520601.068 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:41.172Z,1761520601.172 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:16:41.320Z,1761520601.320 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:41.370Z,1761520601.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903208,0.412347,0.119105],[-0.425459,-0.896741,-0.121821],[0.056574,-0.160704,0.985380]]
2025-10-26T23:16:41.572Z,1761520601.572 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:41.775Z,1761520601.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903200,0.412279,0.119395],[-0.425416,-0.896814,-0.121433],[0.057011,-0.160471,0.985393]]
2025-10-26T23:16:41.832Z,1761520601.832 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:42.084Z,1761520602.084 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:42.179Z,1761520602.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903560,0.411487,0.119403],[-0.424556,-0.897395,-0.120143],[0.057714,-0.159249,0.985550]]
2025-10-26T23:16:42.336Z,1761520602.336 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:42.582Z,1761520602.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903968,0.410539,0.119584],[-0.423617,-0.897900,-0.119689],[0.058238,-0.158853,0.985583]]
2025-10-26T23:16:42.588Z,1761520602.588 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:42.840Z,1761520602.840 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:42.993Z,1761520602.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904678,0.408973,0.119575],[-0.422023,-0.898732,-0.119068],[0.058771,-0.158182,0.985659]]
2025-10-26T23:16:43.028Z,1761520603.028 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:43.092Z,1761520603.092 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:43.345Z,1761520603.345 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:43.390Z,1761520603.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905656,0.406713,0.119882],[-0.419816,-0.899788,-0.118893],[0.059513,-0.158005,0.985643]]
2025-10-26T23:16:43.596Z,1761520603.596 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:43.794Z,1761520603.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906905,0.403963,0.119736],[-0.417017,-0.901182,-0.118187],[0.060161,-0.157116,0.985746]]
2025-10-26T23:16:43.848Z,1761520603.848 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:44.100Z,1761520604.100 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:44.200Z,1761520604.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908251,0.400850,0.120001],[-0.413989,-0.902528,-0.118562],[0.060779,-0.157363,0.985669]]
2025-10-26T23:16:44.352Z,1761520604.352 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:44.604Z,1761520604.604 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:44.605Z,1761520604.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909877,0.397235,0.119700],[-0.410304,-0.904303,-0.117843],[0.061433,-0.156336,0.985792]]
2025-10-26T23:16:44.856Z,1761520604.856 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:45.006Z,1761520605.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911719,0.393097,0.119348],[-0.406119,-0.906226,-0.117564],[0.061942,-0.155654,0.985868]]
2025-10-26T23:16:45.057Z,1761520605.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:45.109Z,1761520605.109 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:45.360Z,1761520605.360 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:45.413Z,1761520605.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913562,0.388929,0.118906],[-0.401860,-0.908217,-0.116835],[0.062552,-0.154520,0.986008]]
2025-10-26T23:16:45.616Z,1761520605.616 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:45.814Z,1761520605.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915291,0.384712,0.119328],[-0.397806,-0.909855,-0.117960],[0.063191,-0.155437,0.985823]]
2025-10-26T23:16:45.864Z,1761520605.864 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:46.116Z,1761520606.116 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:46.219Z,1761520606.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916851,0.381023,0.119188],[-0.394113,-0.911468,-0.117905],[0.063711,-0.155075,0.985846]]
2025-10-26T23:16:46.368Z,1761520606.368 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:46.620Z,1761520606.620 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:46.628Z,1761520606.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918172,0.377908,0.118937],[-0.390980,-0.912811,-0.117941],[0.063996,-0.154792,0.985872]]
2025-10-26T23:16:46.872Z,1761520606.872 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:47.026Z,1761520607.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919421,0.374776,0.119195],[-0.388005,-0.913883,-0.119455],[0.064161,-0.156078,0.985659]]
2025-10-26T23:16:47.075Z,1761520607.075 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:47.125Z,1761520607.125 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:47.376Z,1761520607.376 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:47.439Z,1761520607.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920215,0.372881,0.119011],[-0.386150,-0.914552,-0.120343],[0.063968,-0.156697,0.985573]]
2025-10-26T23:16:47.628Z,1761520607.628 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:47.834Z,1761520607.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920555,0.371714,0.120029],[-0.385353,-0.914476,-0.123437],[0.063880,-0.159884,0.985067]]
2025-10-26T23:16:47.880Z,1761520607.880 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:48.132Z,1761520608.132 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:48.239Z,1761520608.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920569,0.371592,0.120304],[-0.385360,-0.914299,-0.124719],[0.063649,-0.161173,0.984872]]
2025-10-26T23:16:48.384Z,1761520608.384 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:48.636Z,1761520608.636 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:48.644Z,1761520608.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920220,0.372556,0.119985],[-0.386259,-0.913933,-0.124617],[0.063232,-0.161021,0.984923]]
2025-10-26T23:16:48.888Z,1761520608.888 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:49.046Z,1761520609.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919448,0.374579,0.119609],[-0.388144,-0.913270,-0.123622],[0.062929,-0.160089,0.985095]]
2025-10-26T23:16:49.106Z,1761520609.106 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:49.140Z,1761520609.140 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:49.392Z,1761520609.392 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:49.450Z,1761520609.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918332,0.377371,0.119403],[-0.390816,-0.912274,-0.122554],[0.062681,-0.159210,0.985253]]
2025-10-26T23:16:49.644Z,1761520609.644 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:49.854Z,1761520609.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916957,0.380749,0.119251],[-0.394078,-0.911016,-0.121460],[0.062394,-0.158368,0.985407]]
2025-10-26T23:16:49.896Z,1761520609.896 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:50.148Z,1761520610.148 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:50.258Z,1761520610.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915287,0.384875,0.118830],[-0.397977,-0.909601,-0.119334],[0.062159,-0.156517,0.985717]]
2025-10-26T23:16:50.401Z,1761520610.401 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:50.654Z,1761520610.654 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:50.677Z,1761520610.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913396,0.389333,0.118861],[-0.402326,-0.907865,-0.117961],[0.061984,-0.155566,0.985879]]
2025-10-26T23:16:50.908Z,1761520610.908 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:51.075Z,1761520611.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911430,0.393923,0.118832],[-0.406793,-0.906059,-0.116516],[0.061770,-0.154536,0.986054]]
2025-10-26T23:16:51.130Z,1761520611.130 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:51.166Z,1761520611.166 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:51.417Z,1761520611.417 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:51.470Z,1761520611.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909607,0.398224,0.118458],[-0.410847,-0.904564,-0.113878],[0.061804,-0.152252,0.986407]]
2025-10-26T23:16:51.668Z,1761520611.668 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:51.874Z,1761520611.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907709,0.402574,0.118314],[-0.414980,-0.903017,-0.111142],[0.062096,-0.149982,0.986737]]
2025-10-26T23:16:51.921Z,1761520611.921 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:52.172Z,1761520612.172 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:52.279Z,1761520612.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906192,0.405937,0.118455],[-0.418248,-0.901699,-0.109579],[0.062329,-0.148843,0.986895]]
2025-10-26T23:16:52.425Z,1761520612.425 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:52.676Z,1761520612.676 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:52.688Z,1761520612.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904998,0.408618,0.118362],[-0.420775,-0.900765,-0.107563],[0.062664,-0.147148,0.987127]]
2025-10-26T23:16:52.929Z,1761520612.929 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:53.086Z,1761520613.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904137,0.410613,0.118038],[-0.422589,-0.900147,-0.105611],[0.062887,-0.145368,0.987377]]
2025-10-26T23:16:53.180Z,1761520613.180 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:53.432Z,1761520613.432 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:53.490Z,1761520613.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903530,0.412256,0.116958],[-0.423855,-0.899939,-0.102262],[0.063097,-0.141970,0.987858]]
2025-10-26T23:16:53.507Z,1761520613.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:53.685Z,1761520613.685 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:53.899Z,1761520613.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903230,0.412970,0.116753],[-0.424432,-0.899852,-0.100616],[0.063509,-0.140433,0.988051]]
2025-10-26T23:16:53.936Z,1761520613.936 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:54.188Z,1761520614.188 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:54.300Z,1761520614.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903673,0.412202,0.116033],[-0.423423,-0.900571,-0.098412],[0.063930,-0.138063,0.988358]]
2025-10-26T23:16:54.440Z,1761520614.440 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:54.696Z,1761520614.696 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:54.706Z,1761520614.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904619,0.410131,0.116002],[-0.421319,-0.901617,-0.097866],[0.064452,-0.137405,0.988416]]
2025-10-26T23:16:54.948Z,1761520614.948 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:55.106Z,1761520615.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905828,0.407474,0.115933],[-0.418663,-0.902851,-0.097888],[0.064783,-0.137207,0.988422]]
2025-10-26T23:16:55.123Z,1761520615.123 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,32768,-32768,V
2025-10-26T23:16:55.200Z,1761520615.200 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:55.452Z,1761520615.452 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:55.510Z,1761520615.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907018,0.404766,0.116116],[-0.416108,-0.903833,-0.099697],[0.064595,-0.138744,0.988219]]
2025-10-26T23:16:55.534Z,1761520615.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:55.704Z,1761520615.704 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:55.922Z,1761520615.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908770,0.400914,0.115776],[-0.412235,-0.905585,-0.099893],[0.064797,-0.138507,0.988239]]
2025-10-26T23:16:55.956Z,1761520615.956 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:56.208Z,1761520616.208 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:56.318Z,1761520616.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910517,0.396771,0.116322],[-0.408339,-0.907086,-0.102250],[0.064945,-0.140599,0.987934]]
2025-10-26T23:16:56.460Z,1761520616.460 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:56.713Z,1761520616.713 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:56.728Z,1761520616.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912349,0.392522,0.116389],[-0.404220,-0.908748,-0.103838],[0.065010,-0.141784,0.987761]]
2025-10-26T23:16:56.964Z,1761520616.964 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:57.133Z,1761520617.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914256,0.387929,0.116820],[-0.399850,-0.910430,-0.106001],[0.065236,-0.143622,0.987480]]
2025-10-26T23:16:57.217Z,1761520617.217 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:57.468Z,1761520617.468 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:57.531Z,1761520617.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916081,0.383480,0.117210],[-0.395656,-0.911943,-0.108700],[0.065205,-0.145953,0.987140]]
2025-10-26T23:16:57.552Z,1761520617.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:57.721Z,1761520617.721 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:57.935Z,1761520617.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917891,0.379131,0.117198],[-0.391461,-0.913504,-0.110765],[0.065067,-0.147548,0.986912]]
2025-10-26T23:16:57.972Z,1761520617.972 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:58.224Z,1761520618.224 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:58.476Z,1761520618.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:58.728Z,1761520618.728 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:58.754Z,1761520618.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920740,0.372095,0.117400],[-0.384793,-0.915766,-0.115359],[0.064586,-0.151390,0.986362]]
2025-10-26T23:16:58.984Z,1761520618.984 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:59.146Z,1761520619.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921742,0.369573,0.117502],[-0.382436,-0.916490,-0.117425],[0.064292,-0.153172,0.986106]]
2025-10-26T23:16:59.232Z,1761520619.232 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:59.484Z,1761520619.484 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:59.550Z,1761520619.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922277,0.368234,0.117511],[-0.381210,-0.916796,-0.119010],[0.063910,-0.154557,0.985915]]
2025-10-26T23:16:59.583Z,1761520619.583 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:16:59.737Z,1761520619.737 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:16:59.954Z,1761520619.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922485,0.367708,0.117529],[-0.380752,-0.916861,-0.119976],[0.063642,-0.155425,0.985795]]
2025-10-26T23:16:59.988Z,1761520619.988 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:00.240Z,1761520620.240 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:00.360Z,1761520620.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922219,0.368336,0.117646],[-0.381478,-0.916388,-0.121276],[0.063139,-0.156722,0.985622]]
2025-10-26T23:17:00.492Z,1761520620.492 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:00.744Z,1761520620.744 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:00.766Z,1761520620.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921582,0.370060,0.117223],[-0.383071,-0.915834,-0.120435],[0.062789,-0.155895,0.985776]]
2025-10-26T23:17:00.996Z,1761520620.996 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:01.167Z,1761520621.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920648,0.372356,0.117294],[-0.385365,-0.914870,-0.120448],[0.062459,-0.156091,0.985766]]
2025-10-26T23:17:01.248Z,1761520621.248 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:01.500Z,1761520621.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:01.570Z,1761520621.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919324,0.375621,0.117270],[-0.388566,-0.913598,-0.119812],[0.062134,-0.155714,0.985846]]
2025-10-26T23:17:01.587Z,1761520621.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:01.752Z,1761520621.752 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:01.974Z,1761520621.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917830,0.379288,0.117168],[-0.392110,-0.912257,-0.118476],[0.061951,-0.154684,0.986020]]
2025-10-26T23:17:02.004Z,1761520622.004 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:02.256Z,1761520622.256 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:02.385Z,1761520622.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916075,0.383530,0.117093],[-0.396254,-0.910590,-0.117511],[0.061555,-0.154048,0.986144]]
2025-10-26T23:17:02.508Z,1761520622.508 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:02.760Z,1761520622.760 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:02.782Z,1761520622.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914223,0.387941,0.117040],[-0.400516,-0.908960,-0.115669],[0.061512,-0.152624,0.986368]]
2025-10-26T23:17:03.012Z,1761520623.012 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:03.186Z,1761520623.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912307,0.392368,0.117229],[-0.404864,-0.907200,-0.114338],[0.061488,-0.151773,0.986501]]
2025-10-26T23:17:03.264Z,1761520623.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:03.516Z,1761520623.516 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:03.592Z,1761520623.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910545,0.396587,0.116737],[-0.408812,-0.905773,-0.111573],[0.061489,-0.149315,0.986876]]
2025-10-26T23:17:03.608Z,1761520623.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:03.768Z,1761520623.768 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:04.002Z,1761520624.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908737,0.400774,0.116518],[-0.412833,-0.904169,-0.109759],[0.061364,-0.147845,0.987105]]
2025-10-26T23:17:04.020Z,1761520624.020 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:04.272Z,1761520624.272 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:04.405Z,1761520624.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907112,0.404466,0.116425],[-0.416400,-0.902714,-0.108255],[0.061313,-0.146679,0.987282]]
2025-10-26T23:17:04.524Z,1761520624.524 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:04.780Z,1761520624.780 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:04.803Z,1761520624.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905721,0.407579,0.116397],[-0.419463,-0.901352,-0.107771],[0.060990,-0.146435,0.987338]]
2025-10-26T23:17:05.029Z,1761520625.029 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:05.207Z,1761520625.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904787,0.409906,0.115487],[-0.421483,-0.900722,-0.105126],[0.060930,-0.143792,0.987730]]
2025-10-26T23:17:05.280Z,1761520625.280 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:05.532Z,1761520625.532 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:05.611Z,1761520625.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904215,0.411305,0.114989],[-0.422723,-0.900295,-0.103803],[0.060829,-0.142468,0.987928]]
2025-10-26T23:17:05.654Z,1761520625.654 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:05.784Z,1761520625.784 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:06.038Z,1761520626.038 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:06.288Z,1761520626.288 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:06.418Z,1761520626.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904161,0.411917,0.113213],[-0.422871,-0.900611,-0.100400],[0.060604,-0.138652,0.988485]]
2025-10-26T23:17:06.540Z,1761520626.540 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:06.792Z,1761520626.792 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:06.825Z,1761520626.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904731,0.410809,0.112681],[-0.421652,-0.901258,-0.099717],[0.060590,-0.137730,0.988615]]
2025-10-26T23:17:07.047Z,1761520627.047 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:07.228Z,1761520627.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905508,0.409075,0.112753],[-0.419989,-0.901936,-0.100599],[0.060544,-0.138448,0.988517]]
2025-10-26T23:17:07.296Z,1761520627.296 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:07.548Z,1761520627.548 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:07.630Z,1761520627.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906347,0.407121,0.113080],[-0.418188,-0.902590,-0.102226],[0.060446,-0.139940,0.988313]]
2025-10-26T23:17:07.663Z,1761520627.663 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:07.800Z,1761520627.800 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:08.053Z,1761520628.053 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:08.065Z,1761520628.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908153,0.402967,0.113475],[-0.414234,-0.904174,-0.104308],[0.060568,-0.141733,0.988050]]
2025-10-26T23:17:08.304Z,1761520628.304 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:08.444Z,1761520628.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908809,0.401241,0.114330],[-0.412785,-0.904559,-0.106687],[0.060611,-0.144152,0.987698]]
2025-10-26T23:17:08.557Z,1761520628.557 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:08.808Z,1761520628.808 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:08.850Z,1761520628.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909428,0.399646,0.114994],[-0.411412,-0.904960,-0.108575],[0.060673,-0.146051,0.987415]]
2025-10-26T23:17:09.062Z,1761520629.062 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:09.251Z,1761520629.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909971,0.398125,0.115971],[-0.410208,-0.905182,-0.111243],[0.060686,-0.148800,0.987003]]
2025-10-26T23:17:09.312Z,1761520629.312 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:09.564Z,1761520629.564 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:09.654Z,1761520629.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910208,0.397362,0.116725],[-0.409700,-0.905134,-0.113485],[0.060557,-0.151118,0.986659]]
2025-10-26T23:17:09.670Z,1761520629.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:09.816Z,1761520629.816 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:10.070Z,1761520630.070 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:10.084Z,1761520630.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910478,0.396850,0.116365],[-0.409119,-0.905430,-0.113215],[0.060431,-0.150687,0.986733]]
2025-10-26T23:17:10.320Z,1761520630.320 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:10.458Z,1761520630.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910643,0.396361,0.116739],[-0.408739,-0.905502,-0.114011],[0.060518,-0.151539,0.986597]]
2025-10-26T23:17:10.572Z,1761520630.572 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:10.824Z,1761520630.824 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:10.867Z,1761520630.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910539,0.396595,0.116756],[-0.408976,-0.905392,-0.114035],[0.060484,-0.151583,0.986592]]
2025-10-26T23:17:11.080Z,1761520631.080 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:11.267Z,1761520631.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910452,0.396792,0.116764],[-0.409190,-0.905260,-0.114314],[0.060343,-0.151856,0.986559]]
2025-10-26T23:17:11.296Z,1761520631.296 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:17:11.328Z,1761520631.328 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:11.580Z,1761520631.580 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:11.673Z,1761520631.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910170,0.397409,0.116865],[-0.409820,-0.904972,-0.114336],[0.060321,-0.151959,0.986544]]
2025-10-26T23:17:11.690Z,1761520631.690 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:11.832Z,1761520631.832 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:12.092Z,1761520632.092 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:12.112Z,1761520632.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909696,0.398462,0.116971],[-0.410891,-0.904471,-0.114459],[0.060189,-0.152185,0.986518]]
2025-10-26T23:17:12.300Z,1761520632.300 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:17:12.346Z,1761520632.346 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:12.478Z,1761520632.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909162,0.399847,0.116392],[-0.412062,-0.904180,-0.112534],[0.060243,-0.150272,0.986807]]
2025-10-26T23:17:12.596Z,1761520632.596 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:12.848Z,1761520632.848 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:12.891Z,1761520632.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908695,0.400895,0.116436],[-0.413082,-0.903774,-0.112050],[0.060312,-0.149917,0.986857]]
2025-10-26T23:17:13.102Z,1761520633.102 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:13.288Z,1761520633.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908090,0.402180,0.116723],[-0.414402,-0.903171,-0.112036],[0.060362,-0.150109,0.986825]]
2025-10-26T23:17:13.352Z,1761520633.352 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:13.604Z,1761520633.604 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:13.690Z,1761520633.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907525,0.403377,0.116982],[-0.415658,-0.902542,-0.112457],[0.060219,-0.150682,0.986746]]
2025-10-26T23:17:13.735Z,1761520633.735 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:13.859Z,1761520633.859 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:14.110Z,1761520634.110 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:14.140Z,1761520634.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907025,0.404529,0.116881],[-0.416761,-0.902089,-0.112008],[0.060126,-0.150306,0.986809]]
2025-10-26T23:17:14.361Z,1761520634.361 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:14.498Z,1761520634.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906341,0.406109,0.116713],[-0.418256,-0.901501,-0.111167],[0.060071,-0.149571,0.986925]]
2025-10-26T23:17:14.612Z,1761520634.612 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:14.864Z,1761520634.864 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:14.905Z,1761520634.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905693,0.407522,0.116819],[-0.419667,-0.900867,-0.110990],[0.060007,-0.149548,0.986932]]
2025-10-26T23:17:15.118Z,1761520635.118 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:15.307Z,1761520635.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905034,0.408906,0.117086],[-0.421130,-0.900090,-0.111750],[0.059693,-0.150446,0.986814]]
2025-10-26T23:17:15.369Z,1761520635.369 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:15.620Z,1761520635.620 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:15.762Z,1761520635.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:15.872Z,1761520635.872 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:16.126Z,1761520636.126 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:16.168Z,1761520636.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903402,0.412885,0.115718],[-0.424806,-0.898514,-0.110510],[0.058346,-0.148993,0.987115]]
2025-10-26T23:17:16.377Z,1761520636.377 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:16.520Z,1761520636.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902608,0.414664,0.115558],[-0.426572,-0.897633,-0.110868],[0.057756,-0.149364,0.987094]]
2025-10-26T23:17:16.628Z,1761520636.628 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:16.881Z,1761520636.881 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:16.922Z,1761520636.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901758,0.416604,0.115208],[-0.428455,-0.896722,-0.110976],[0.057077,-0.149435,0.987123]]
2025-10-26T23:17:17.135Z,1761520637.135 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:17.327Z,1761520637.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900733,0.419106,0.114146],[-0.430740,-0.895722,-0.110203],[0.056056,-0.148431,0.987333]]
2025-10-26T23:17:17.384Z,1761520637.384 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:17.636Z,1761520637.636 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:17.737Z,1761520637.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899996,0.420699,0.114101],[-0.432349,-0.894876,-0.110774],[0.055504,-0.149027,0.987274]]
2025-10-26T23:17:17.888Z,1761520637.888 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:18.142Z,1761520638.142 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:18.157Z,1761520638.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899267,0.422420,0.113490],[-0.433945,-0.894158,-0.110333],[0.054871,-0.148467,0.987394]]
2025-10-26T23:17:18.212Z,1761520638.212 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:18.392Z,1761520638.392 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:18.644Z,1761520638.644 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:18.896Z,1761520638.896 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:18.942Z,1761520638.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897953,0.425278,0.113219],[-0.436779,-0.892702,-0.110937],[0.053892,-0.149068,0.987357]]
2025-10-26T23:17:19.151Z,1761520639.151 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:19.350Z,1761520639.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897743,0.425895,0.112568],[-0.437281,-0.892487,-0.110692],[0.053322,-0.148597,0.987459]]
2025-10-26T23:17:19.400Z,1761520639.400 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:19.652Z,1761520639.652 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:19.750Z,1761520639.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897480,0.426585,0.112051],[-0.437883,-0.892208,-0.110563],[0.052808,-0.148293,0.987533]]
2025-10-26T23:17:19.904Z,1761520639.904 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:20.156Z,1761520640.156 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:20.159Z,1761520640.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897589,0.426531,0.111384],[-0.437713,-0.892330,-0.110250],[0.052366,-0.147713,0.987643]]
2025-10-26T23:17:20.237Z,1761520640.237 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:20.408Z,1761520640.408 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:20.558Z,1761520640.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897912,0.426046,0.110634],[-0.437109,-0.892651,-0.110050],[0.051871,-0.147174,0.987750]]
2025-10-26T23:17:20.660Z,1761520640.660 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:20.912Z,1761520640.912 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:20.965Z,1761520640.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898478,0.424961,0.110208],[-0.435993,-0.893135,-0.110542],[0.051455,-0.147369,0.987742]]
2025-10-26T23:17:21.164Z,1761520641.164 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:21.376Z,1761520641.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899557,0.422664,0.110240],[-0.433791,-0.894024,-0.112012],[0.051214,-0.148582,0.987573]]
2025-10-26T23:17:21.416Z,1761520641.416 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:21.668Z,1761520641.668 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:21.771Z,1761520641.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900447,0.420672,0.110590],[-0.431967,-0.894657,-0.113989],[0.050988,-0.150412,0.987308]]
2025-10-26T23:17:21.920Z,1761520641.920 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:22.173Z,1761520642.173 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:22.179Z,1761520642.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901590,0.418254,0.110452],[-0.429609,-0.895631,-0.115246],[0.050722,-0.151356,0.987177]]
2025-10-26T23:17:22.424Z,1761520642.424 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:22.579Z,1761520642.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902603,0.416010,0.110646],[-0.427514,-0.896367,-0.117296],[0.050383,-0.153174,0.986914]]
2025-10-26T23:17:22.614Z,1761520642.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:22.676Z,1761520642.676 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:22.928Z,1761520642.928 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:22.982Z,1761520642.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903690,0.413669,0.110550],[-0.425227,-0.897319,-0.118321],[0.050253,-0.153935,0.986802]]
2025-10-26T23:17:23.180Z,1761520643.180 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:23.386Z,1761520643.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904563,0.411656,0.110928],[-0.423396,-0.897902,-0.120451],[0.050018,-0.155922,0.986502]]
2025-10-26T23:17:23.432Z,1761520643.432 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:23.684Z,1761520643.684 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:23.798Z,1761520643.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905441,0.409823,0.110553],[-0.421552,-0.898675,-0.121145],[0.049703,-0.156294,0.986459]]
2025-10-26T23:17:23.936Z,1761520643.936 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:24.188Z,1761520644.188 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:24.197Z,1761520644.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905873,0.408887,0.110478],[-0.420690,-0.898866,-0.122720],[0.049127,-0.157645,0.986273]]
2025-10-26T23:17:24.440Z,1761520644.440 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:24.598Z,1761520644.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906155,0.408206,0.110683],[-0.420141,-0.898863,-0.124605],[0.048624,-0.159414,0.986014]]
2025-10-26T23:17:24.645Z,1761520644.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:24.693Z,1761520644.693 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:24.944Z,1761520644.944 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:25.002Z,1761520645.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906093,0.408266,0.110973],[-0.420328,-0.898546,-0.126252],[0.048170,-0.161041,0.985771]]
2025-10-26T23:17:25.196Z,1761520645.196 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:25.407Z,1761520645.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905698,0.409085,0.111175],[-0.421239,-0.897928,-0.127604],[0.047626,-0.162402,0.985575]]
2025-10-26T23:17:25.448Z,1761520645.448 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:25.700Z,1761520645.700 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:25.819Z,1761520645.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904731,0.411215,0.111195],[-0.423405,-0.896756,-0.128673],[0.046803,-0.163495,0.985433]]
2025-10-26T23:17:25.952Z,1761520645.952 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:26.205Z,1761520646.205 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:26.215Z,1761520646.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903793,0.413268,0.111210],[-0.425472,-0.895684,-0.129317],[0.046166,-0.164192,0.985347]]
2025-10-26T23:17:26.457Z,1761520646.457 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:26.618Z,1761520646.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902826,0.415369,0.111240],[-0.427571,-0.894647,-0.129575],[0.045699,-0.164547,0.985310]]
2025-10-26T23:17:26.660Z,1761520646.660 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:26.709Z,1761520646.709 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:26.960Z,1761520646.960 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:27.022Z,1761520647.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901783,0.417708,0.110941],[-0.429828,-0.893603,-0.129315],[0.045121,-0.164300,0.985378]]
2025-10-26T23:17:27.212Z,1761520647.212 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:27.428Z,1761520647.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900897,0.420013,0.109425],[-0.431795,-0.892872,-0.127801],[0.044024,-0.162384,0.985745]]
2025-10-26T23:17:27.464Z,1761520647.464 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:27.717Z,1761520647.717 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:27.859Z,1761520647.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900046,0.422166,0.108137],[-0.433665,-0.892140,-0.126576],[0.043037,-0.160819,0.986045]]
2025-10-26T23:17:27.968Z,1761520647.968 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:28.225Z,1761520648.225 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:28.236Z,1761520648.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899252,0.424049,0.107367],[-0.435400,-0.891318,-0.126408],[0.042095,-0.160420,0.986151]]
2025-10-26T23:17:28.472Z,1761520648.472 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:28.638Z,1761520648.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898711,0.425602,0.105744],[-0.436619,-0.890923,-0.124976],[0.041019,-0.158487,0.986509]]
2025-10-26T23:17:28.693Z,1761520648.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:28.725Z,1761520648.725 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:28.976Z,1761520648.976 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:29.044Z,1761520649.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898299,0.426990,0.103626],[-0.437580,-0.890726,-0.123008],[0.039779,-0.155843,0.986981]]
2025-10-26T23:17:29.228Z,1761520649.228 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:29.446Z,1761520649.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898611,0.426847,0.101486],[-0.437018,-0.891305,-0.120788],[0.038897,-0.152892,0.987477]]
2025-10-26T23:17:29.480Z,1761520649.480 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:29.733Z,1761520649.733 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:29.859Z,1761520649.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899040,0.426366,0.099691],[-0.436239,-0.891786,-0.120059],[0.037714,-0.151427,0.987749]]
2025-10-26T23:17:29.984Z,1761520649.984 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:30.236Z,1761520650.236 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:30.254Z,1761520650.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899644,0.425505,0.097912],[-0.435111,-0.892349,-0.119961],[0.036328,-0.150525,0.987939]]
2025-10-26T23:17:30.488Z,1761520650.488 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:30.683Z,1761520650.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900734,0.423595,0.096151],[-0.432937,-0.893461,-0.119555],[0.035264,-0.149314,0.988161]]
2025-10-26T23:17:30.740Z,1761520650.740 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:30.749Z,1761520650.749 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:30.992Z,1761520650.992 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:31.062Z,1761520651.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902264,0.420726,0.094386],[-0.429829,-0.894953,-0.119604],[0.034151,-0.148485,0.988325]]
2025-10-26T23:17:31.244Z,1761520651.244 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:31.466Z,1761520651.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903881,0.417619,0.092699],[-0.426520,-0.896440,-0.120317],[0.032853,-0.148291,0.988398]]
2025-10-26T23:17:31.496Z,1761520651.496 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:31.748Z,1761520651.748 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:31.882Z,1761520651.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905703,0.413927,0.091470],[-0.422723,-0.898040,-0.121774],[0.031738,-0.148958,0.988334]]
2025-10-26T23:17:32.000Z,1761520652.000 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:32.252Z,1761520652.252 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:32.278Z,1761520652.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907506,0.410173,0.090503],[-0.418925,-0.899523,-0.123938],[0.030574,-0.150388,0.988154]]
2025-10-26T23:17:32.504Z,1761520652.504 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:32.678Z,1761520652.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909322,0.406466,0.088986],[-0.415056,-0.901161,-0.125051],[0.029362,-0.150646,0.988152]]
2025-10-26T23:17:32.756Z,1761520652.756 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:33.008Z,1761520653.008 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:33.082Z,1761520653.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910975,0.402937,0.088131],[-0.411507,-0.902410,-0.127744],[0.028058,-0.152638,0.987884]]
2025-10-26T23:17:33.099Z,1761520653.099 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:33.264Z,1761520653.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:33.487Z,1761520653.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912364,0.399887,0.087655],[-0.408510,-0.903270,-0.131239],[0.026696,-0.155546,0.987468]]
2025-10-26T23:17:33.512Z,1761520653.512 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:33.765Z,1761520653.765 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:33.890Z,1761520653.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913509,0.397557,0.086316],[-0.406031,-0.904179,-0.132663],[0.025304,-0.156236,0.987396]]
2025-10-26T23:17:34.017Z,1761520654.017 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:34.268Z,1761520654.268 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:34.294Z,1761520654.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914305,0.395867,0.085642],[-0.404314,-0.904593,-0.135062],[0.024004,-0.158114,0.987129]]
2025-10-26T23:17:34.521Z,1761520654.521 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:34.700Z,1761520654.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914844,0.394837,0.084640],[-0.403187,-0.904763,-0.137278],[0.022377,-0.159714,0.986910]]
2025-10-26T23:17:34.772Z,1761520654.772 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:35.024Z,1761520655.024 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:35.103Z,1761520655.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914567,0.395643,0.083865],[-0.403870,-0.904383,-0.137768],[0.021339,-0.159869,0.986908]]
2025-10-26T23:17:35.126Z,1761520655.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:35.276Z,1761520655.276 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:35.506Z,1761520655.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914137,0.396784,0.083163],[-0.404902,-0.903811,-0.138494],[0.020211,-0.160276,0.986865]]
2025-10-26T23:17:35.528Z,1761520655.528 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:35.780Z,1761520655.780 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:36.032Z,1761520656.032 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:36.284Z,1761520656.284 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:36.319Z,1761520656.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913168,0.399630,0.080126],[-0.407220,-0.902854,-0.137935],[0.017219,-0.158587,0.987195]]
2025-10-26T23:17:36.537Z,1761520656.537 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:36.722Z,1761520656.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912293,0.401845,0.079002],[-0.409227,-0.901993,-0.137632],[0.015952,-0.157890,0.987328]]
2025-10-26T23:17:36.788Z,1761520656.788 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:37.040Z,1761520657.040 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:37.122Z,1761520657.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911547,0.403775,0.077761],[-0.410932,-0.901286,-0.137180],[0.014695,-0.157000,0.987489]]
2025-10-26T23:17:37.158Z,1761520657.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:37.292Z,1761520657.292 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:37.526Z,1761520657.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910838,0.405726,0.075903],[-0.412554,-0.900724,-0.135997],[0.013190,-0.155185,0.987797]]
2025-10-26T23:17:37.544Z,1761520657.544 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:37.796Z,1761520657.796 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:37.937Z,1761520657.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910167,0.407609,0.073835],[-0.414073,-0.900318,-0.134053],[0.011834,-0.152583,0.988220]]
2025-10-26T23:17:38.048Z,1761520658.048 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:38.300Z,1761520658.300 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:38.342Z,1761520658.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909449,0.409397,0.072785],[-0.415680,-0.899595,-0.133935],[0.010644,-0.152062,0.988314]]
2025-10-26T23:17:38.554Z,1761520658.554 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:38.748Z,1761520658.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908961,0.410719,0.071413],[-0.416774,-0.899180,-0.133318],[0.009457,-0.150944,0.988497]]
2025-10-26T23:17:38.804Z,1761520658.804 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:39.056Z,1761520659.056 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:39.142Z,1761520659.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908599,0.411704,0.070334],[-0.417581,-0.898883,-0.132801],[0.008548,-0.150033,0.988644]]
2025-10-26T23:17:39.167Z,1761520659.167 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:39.308Z,1761520659.308 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:39.549Z,1761520659.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908219,0.412739,0.069169],[-0.418428,-0.898534,-0.132495],[0.007465,-0.149277,0.988767]]
2025-10-26T23:17:39.560Z,1761520659.560 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:39.813Z,1761520659.813 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:39.950Z,1761520659.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907998,0.413449,0.067820],[-0.418925,-0.898416,-0.131724],[0.006469,-0.148017,0.988964]]
2025-10-26T23:17:40.065Z,1761520660.065 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:40.317Z,1761520660.317 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:40.355Z,1761520660.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907903,0.413759,0.067198],[-0.419141,-0.898273,-0.132012],[0.005741,-0.148019,0.988968]]
2025-10-26T23:17:40.568Z,1761520660.568 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:40.760Z,1761520660.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907615,0.414523,0.066381],[-0.419776,-0.897961,-0.132110],[0.004845,-0.147770,0.989010]]
2025-10-26T23:17:40.821Z,1761520660.821 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:41.072Z,1761520661.072 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:41.162Z,1761520661.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907484,0.414976,0.065324],[-0.420069,-0.897794,-0.132317],[0.003739,-0.147516,0.989053]]
2025-10-26T23:17:41.189Z,1761520661.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:41.325Z,1761520661.325 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:41.571Z,1761520661.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907219,0.415629,0.064861],[-0.420649,-0.897427,-0.132961],[0.002946,-0.147909,0.988997]]
2025-10-26T23:17:41.576Z,1761520661.576 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:41.829Z,1761520661.829 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:41.970Z,1761520661.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907381,0.415458,0.063674],[-0.420303,-0.897684,-0.132319],[0.002187,-0.146826,0.989160]]
2025-10-26T23:17:42.080Z,1761520662.080 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:42.333Z,1761520662.333 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:42.377Z,1761520662.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907594,0.415114,0.062880],[-0.419847,-0.897928,-0.132114],[0.001619,-0.146306,0.989238]]
2025-10-26T23:17:42.420Z,1761520662.420 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:17:42.584Z,1761520662.584 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:42.778Z,1761520662.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907873,0.414583,0.062352],[-0.419244,-0.898248,-0.131852],[0.001344,-0.145845,0.989306]]
2025-10-26T23:17:42.837Z,1761520662.837 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:43.088Z,1761520663.088 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:43.182Z,1761520663.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907964,0.414400,0.062241],[-0.419047,-0.898217,-0.132684],[0.000922,-0.146554,0.989202]]
2025-10-26T23:17:43.215Z,1761520663.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:43.340Z,1761520663.340 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:43.424Z,1761520663.424 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:17:43.592Z,1761520663.592 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:43.599Z,1761520663.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908234,0.413897,0.061655],[-0.418464,-0.898390,-0.133356],[0.000195,-0.146919,0.989148]]
2025-10-26T23:17:43.844Z,1761520663.844 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:43.995Z,1761520663.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908534,0.413352,0.060876],[-0.417810,-0.898738,-0.133062],[-0.000289,-0.146326,0.989236]]
2025-10-26T23:17:44.097Z,1761520664.097 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:44.348Z,1761520664.348 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:44.398Z,1761520664.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909083,0.412262,0.060070],[-0.416614,-0.899344,-0.132711],[-0.000688,-0.145671,0.989333]]
2025-10-26T23:17:44.600Z,1761520664.600 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:44.798Z,1761520664.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909519,0.411246,0.060427],[-0.415661,-0.899517,-0.134517],[-0.000965,-0.147463,0.989067]]
2025-10-26T23:17:44.852Z,1761520664.852 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:45.104Z,1761520665.104 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:45.202Z,1761520665.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909948,0.410400,0.059720],[-0.414720,-0.899976,-0.134354],[-0.001392,-0.147022,0.989132]]
2025-10-26T23:17:45.226Z,1761520665.226 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:45.356Z,1761520665.356 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:45.612Z,1761520665.612 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:45.628Z,1761520665.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910532,0.409201,0.059037],[-0.413434,-0.900583,-0.134249],[-0.001767,-0.146646,0.989187]]
2025-10-26T23:17:45.860Z,1761520665.860 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:46.010Z,1761520666.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910923,0.408411,0.058482],[-0.412571,-0.900961,-0.134370],[-0.002188,-0.146529,0.989204]]
2025-10-26T23:17:46.112Z,1761520666.112 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:46.364Z,1761520666.364 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:46.414Z,1761520666.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911226,0.407777,0.058180],[-0.411899,-0.901208,-0.134768],[-0.002523,-0.146769,0.989168]]
2025-10-26T23:17:46.618Z,1761520666.618 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:46.826Z,1761520666.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911356,0.407448,0.058448],[-0.411609,-0.901165,-0.135941],[-0.002718,-0.147949,0.988991]]
2025-10-26T23:17:46.868Z,1761520666.868 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:47.120Z,1761520667.120 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:47.223Z,1761520667.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911581,0.406934,0.058520],[-0.411109,-0.901208,-0.137162],[-0.003077,-0.149093,0.988818]]
2025-10-26T23:17:47.239Z,1761520667.239 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:47.372Z,1761520667.372 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:47.626Z,1761520667.626 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:47.656Z,1761520667.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911709,0.406659,0.058431],[-0.410821,-0.901196,-0.138100],[-0.003502,-0.149912,0.988693]]
2025-10-26T23:17:47.876Z,1761520667.876 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:48.030Z,1761520668.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911781,0.406440,0.058840],[-0.410659,-0.900967,-0.140065],[-0.003916,-0.151872,0.988392]]
2025-10-26T23:17:48.128Z,1761520668.128 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:48.380Z,1761520668.380 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:48.435Z,1761520668.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911814,0.406408,0.058539],[-0.410580,-0.900936,-0.140492],[-0.004357,-0.152138,0.988350]]
2025-10-26T23:17:48.635Z,1761520668.635 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:48.840Z,1761520668.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911703,0.406634,0.058715],[-0.410823,-0.900624,-0.141780],[-0.004772,-0.153383,0.988155]]
2025-10-26T23:17:48.884Z,1761520668.884 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:49.136Z,1761520669.136 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:49.242Z,1761520669.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911454,0.407214,0.058553],[-0.411369,-0.900321,-0.142118],[-0.005156,-0.153621,0.988116]]
2025-10-26T23:17:49.268Z,1761520669.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:49.388Z,1761520669.388 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:49.642Z,1761520669.642 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:49.686Z,1761520669.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911009,0.408252,0.058244],[-0.412345,-0.899783,-0.142694],[-0.005848,-0.154012,0.988052]]
2025-10-26T23:17:49.892Z,1761520669.892 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:50.144Z,1761520670.144 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:50.396Z,1761520670.396 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:50.458Z,1761520670.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910683,0.408971,0.058295],[-0.413060,-0.899375,-0.143200],[-0.006135,-0.154489,0.987975]]
2025-10-26T23:17:50.650Z,1761520670.650 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:50.858Z,1761520670.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910350,0.409795,0.057712],[-0.413790,-0.899214,-0.142100],[-0.006337,-0.153242,0.988168]]
2025-10-26T23:17:50.901Z,1761520670.901 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:51.152Z,1761520671.152 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:51.262Z,1761520671.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909621,0.411417,0.057666],[-0.415385,-0.898468,-0.142165],[-0.006678,-0.153270,0.988162]]
2025-10-26T23:17:51.307Z,1761520671.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:51.404Z,1761520671.404 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:51.663Z,1761520671.663 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:51.717Z,1761520671.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908922,0.413243,0.055597],[-0.416902,-0.898326,-0.138576],[-0.007321,-0.149133,0.988790]]
2025-10-26T23:17:51.912Z,1761520671.912 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:52.171Z,1761520672.171 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:52.425Z,1761520672.425 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:52.474Z,1761520672.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908959,0.413236,0.055042],[-0.416816,-0.898432,-0.138145],[-0.007635,-0.148511,0.988881]]
2025-10-26T23:17:52.679Z,1761520672.679 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:52.883Z,1761520672.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908875,0.413461,0.054730],[-0.416993,-0.898369,-0.138025],[-0.007900,-0.148269,0.988915]]
2025-10-26T23:17:52.928Z,1761520672.928 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:53.180Z,1761520673.180 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:53.290Z,1761520673.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908971,0.413386,0.053705],[-0.416766,-0.898450,-0.138178],[-0.008870,-0.147982,0.988950]]
2025-10-26T23:17:53.333Z,1761520673.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:53.432Z,1761520673.432 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:53.687Z,1761520673.687 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:53.741Z,1761520673.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908996,0.413375,0.053365],[-0.416704,-0.898478,-0.138183],[-0.009174,-0.147845,0.988968]]
2025-10-26T23:17:53.936Z,1761520673.936 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:54.094Z,1761520674.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909233,0.412935,0.052723],[-0.416177,-0.898765,-0.137903],[-0.009559,-0.147328,0.989041]]
2025-10-26T23:17:54.189Z,1761520674.189 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:54.440Z,1761520674.440 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:54.498Z,1761520674.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909376,0.412615,0.052776],[-0.415851,-0.898650,-0.139629],[-0.010186,-0.148922,0.988797]]
2025-10-26T23:17:54.696Z,1761520674.696 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:54.899Z,1761520674.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909481,0.412449,0.052248],[-0.415607,-0.898736,-0.139804],[-0.010705,-0.148864,0.988800]]
2025-10-26T23:17:54.944Z,1761520674.944 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:55.196Z,1761520675.196 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:55.313Z,1761520675.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909627,0.412173,0.051883],[-0.415268,-0.898727,-0.140861],[-0.011430,-0.149677,0.988669]]
2025-10-26T23:17:55.448Z,1761520675.448 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:55.707Z,1761520675.707 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:55.837Z,1761520675.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:55.952Z,1761520675.952 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:56.110Z,1761520676.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909472,0.412628,0.050988],[-0.415574,-0.898456,-0.141685],[-0.012653,-0.150048,0.988598]]
2025-10-26T23:17:56.204Z,1761520676.204 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:56.456Z,1761520676.456 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:56.514Z,1761520676.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909472,0.412689,0.050488],[-0.415555,-0.898418,-0.141987],[-0.013238,-0.150114,0.988580]]
2025-10-26T23:17:56.711Z,1761520676.711 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:56.919Z,1761520676.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909346,0.412996,0.050241],[-0.415813,-0.898207,-0.142563],[-0.013751,-0.150530,0.988510]]
2025-10-26T23:17:56.960Z,1761520676.960 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:57.212Z,1761520677.212 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:57.324Z,1761520677.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909223,0.413319,0.049805],[-0.416063,-0.898047,-0.142837],[-0.014311,-0.150593,0.988492]]
2025-10-26T23:17:57.464Z,1761520677.464 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:57.721Z,1761520677.721 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:57.767Z,1761520677.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909078,0.413630,0.049872],[-0.416366,-0.897749,-0.143827],[-0.014719,-0.151515,0.988345]]
2025-10-26T23:17:57.972Z,1761520677.972 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:58.130Z,1761520678.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908669,0.414539,0.049789],[-0.417238,-0.897216,-0.144622],[-0.015280,-0.152188,0.988234]]
2025-10-26T23:17:58.177Z,1761520678.177 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:17:58.224Z,1761520678.224 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:58.476Z,1761520678.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:58.536Z,1761520678.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908528,0.414949,0.048933],[-0.417527,-0.897210,-0.143825],[-0.015777,-0.151100,0.988393]]
2025-10-26T23:17:58.728Z,1761520678.728 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:58.943Z,1761520678.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908224,0.415632,0.048773],[-0.418168,-0.896823,-0.144375],[-0.016266,-0.151520,0.988320]]
2025-10-26T23:17:58.980Z,1761520678.980 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:59.232Z,1761520679.232 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:59.342Z,1761520679.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907957,0.416217,0.048755],[-0.418739,-0.896520,-0.144600],[-0.016475,-0.151706,0.988288]]
2025-10-26T23:17:59.484Z,1761520679.484 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:59.738Z,1761520679.738 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:17:59.753Z,1761520679.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907720,0.416748,0.048635],[-0.419242,-0.896261,-0.144749],[-0.016734,-0.151782,0.988272]]
2025-10-26T23:17:59.992Z,1761520679.992 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:00.152Z,1761520680.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907518,0.417222,0.048338],[-0.419663,-0.896047,-0.144853],[-0.017123,-0.151742,0.988272]]
2025-10-26T23:18:00.208Z,1761520680.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:00.245Z,1761520680.245 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:00.496Z,1761520680.496 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:00.554Z,1761520680.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907367,0.417604,0.047867],[-0.419973,-0.895934,-0.144653],[-0.017522,-0.151356,0.988324]]
2025-10-26T23:18:00.750Z,1761520680.750 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:00.962Z,1761520680.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907270,0.417879,0.047308],[-0.420170,-0.895934,-0.144083],[-0.017824,-0.150599,0.988434]]
2025-10-26T23:18:01.000Z,1761520681.000 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:01.252Z,1761520681.252 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:01.363Z,1761520681.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907104,0.418295,0.046819],[-0.420504,-0.895745,-0.144280],[-0.018413,-0.150565,0.988429]]
2025-10-26T23:18:01.504Z,1761520681.504 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:01.756Z,1761520681.756 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:01.772Z,1761520681.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906822,0.418933,0.046583],[-0.421100,-0.895482,-0.144177],[-0.018686,-0.150359,0.988455]]
2025-10-26T23:18:02.008Z,1761520682.008 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:02.170Z,1761520682.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906728,0.419189,0.046100],[-0.421289,-0.895459,-0.143767],[-0.018985,-0.149779,0.988537]]
2025-10-26T23:18:02.213Z,1761520682.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:02.260Z,1761520682.260 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:02.512Z,1761520682.512 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:02.574Z,1761520682.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906373,0.419908,0.046521],[-0.422035,-0.894879,-0.145181],[-0.019332,-0.151222,0.988311]]
2025-10-26T23:18:02.764Z,1761520682.764 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:02.982Z,1761520682.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906200,0.420327,0.046129],[-0.422389,-0.894711,-0.145187],[-0.019754,-0.151053,0.988328]]
2025-10-26T23:18:03.022Z,1761520683.022 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:03.278Z,1761520683.278 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:03.382Z,1761520683.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905890,0.421001,0.046061],[-0.423040,-0.894369,-0.145398],[-0.020017,-0.151200,0.988301]]
2025-10-26T23:18:03.528Z,1761520683.528 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:03.781Z,1761520683.781 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:03.796Z,1761520683.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905584,0.421690,0.045768],[-0.423669,-0.894024,-0.145690],[-0.020518,-0.151325,0.988271]]
2025-10-26T23:18:04.032Z,1761520684.032 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:04.190Z,1761520684.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905406,0.422072,0.045782],[-0.424044,-0.893804,-0.145950],[-0.020681,-0.151557,0.988232]]
2025-10-26T23:18:04.246Z,1761520684.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:04.285Z,1761520684.285 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:04.536Z,1761520684.536 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:04.597Z,1761520684.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905213,0.422453,0.046065],[-0.424444,-0.893466,-0.146855],[-0.020882,-0.152487,0.988085]]
2025-10-26T23:18:04.789Z,1761520684.789 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:04.998Z,1761520684.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905072,0.422763,0.046010],[-0.424733,-0.893267,-0.147227],[-0.021143,-0.152792,0.988032]]
2025-10-26T23:18:05.040Z,1761520685.040 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:05.295Z,1761520685.295 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:05.402Z,1761520685.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905327,0.422259,0.045614],[-0.424179,-0.893557,-0.147065],[-0.021341,-0.152491,0.988074]]
2025-10-26T23:18:05.544Z,1761520685.544 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:05.800Z,1761520685.800 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:06.052Z,1761520686.052 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:06.210Z,1761520686.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906065,0.420754,0.044857],[-0.422573,-0.894277,-0.147310],[-0.021867,-0.152428,0.988073]]
2025-10-26T23:18:06.252Z,1761520686.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:06.305Z,1761520686.305 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:06.556Z,1761520686.556 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:06.614Z,1761520686.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906590,0.419618,0.044891],[-0.421434,-0.894647,-0.148325],[-0.022078,-0.153389,0.987919]]
2025-10-26T23:18:06.808Z,1761520686.808 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:07.018Z,1761520687.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907204,0.418317,0.044624],[-0.420092,-0.895152,-0.149083],[-0.022419,-0.153995,0.987817]]
2025-10-26T23:18:07.061Z,1761520687.061 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:07.312Z,1761520687.312 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:07.423Z,1761520687.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907652,0.417414,0.043974],[-0.419103,-0.895624,-0.149032],[-0.022824,-0.153699,0.987854]]
2025-10-26T23:18:07.564Z,1761520687.564 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:07.816Z,1761520687.816 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:07.827Z,1761520687.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908047,0.416557,0.043934],[-0.418239,-0.895936,-0.149581],[-0.022947,-0.154201,0.987773]]
2025-10-26T23:18:08.068Z,1761520688.068 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:08.230Z,1761520688.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908465,0.415610,0.044259],[-0.417318,-0.896103,-0.151143],[-0.023156,-0.155778,0.987521]]
2025-10-26T23:18:08.285Z,1761520688.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:08.320Z,1761520688.320 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:08.572Z,1761520688.572 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:08.635Z,1761520688.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908764,0.414979,0.044053],[-0.416656,-0.896358,-0.151462],[-0.023366,-0.155999,0.987481]]
2025-10-26T23:18:08.824Z,1761520688.824 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:09.044Z,1761520689.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909103,0.414300,0.043453],[-0.415887,-0.896677,-0.151683],[-0.023879,-0.155967,0.987474]]
2025-10-26T23:18:09.076Z,1761520689.076 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:09.328Z,1761520689.328 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:09.442Z,1761520689.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908974,0.414593,0.043346],[-0.416143,-0.896440,-0.152380],[-0.024319,-0.156548,0.987371]]
2025-10-26T23:18:09.580Z,1761520689.580 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:09.832Z,1761520689.832 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:09.848Z,1761520689.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908823,0.414916,0.043419],[-0.416454,-0.896169,-0.153127],[-0.024624,-0.157247,0.987252]]
2025-10-26T23:18:10.084Z,1761520690.084 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:10.250Z,1761520690.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908541,0.415533,0.043435],[-0.417043,-0.895749,-0.153977],[-0.025075,-0.158008,0.987119]]
2025-10-26T23:18:10.310Z,1761520690.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:10.337Z,1761520690.337 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:10.588Z,1761520690.588 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:10.655Z,1761520690.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907916,0.416973,0.042679],[-0.418368,-0.895284,-0.153086],[-0.025623,-0.156844,0.987291]]
2025-10-26T23:18:10.840Z,1761520690.840 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:11.061Z,1761520691.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907173,0.418601,0.042541],[-0.419947,-0.894517,-0.153247],[-0.026095,-0.156887,0.987272]]
2025-10-26T23:18:11.092Z,1761520691.092 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:11.344Z,1761520691.344 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:11.462Z,1761520691.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906130,0.420885,0.042233],[-0.422173,-0.893609,-0.152422],[-0.026413,-0.155944,0.987413]]
2025-10-26T23:18:11.596Z,1761520691.596 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:11.848Z,1761520691.848 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:11.867Z,1761520691.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904951,0.423419,0.042185],[-0.424685,-0.892548,-0.151660],[-0.026564,-0.155161,0.987532]]
2025-10-26T23:18:12.102Z,1761520692.102 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:12.282Z,1761520692.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903900,0.425636,0.042404],[-0.426903,-0.891467,-0.151789],[-0.026806,-0.155305,0.987503]]
2025-10-26T23:18:12.319Z,1761520692.319 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:12.352Z,1761520692.352 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:12.604Z,1761520692.604 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:12.674Z,1761520692.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902729,0.428070,0.042851],[-0.429373,-0.890285,-0.151761],[-0.026815,-0.155398,0.987488]]
2025-10-26T23:18:12.856Z,1761520692.856 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:13.078Z,1761520693.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901864,0.429831,0.043425],[-0.431182,-0.889304,-0.152383],[-0.026881,-0.156153,0.987367]]
2025-10-26T23:18:13.113Z,1761520693.113 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:13.364Z,1761520693.364 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:13.485Z,1761520693.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901014,0.431538,0.044159],[-0.432962,-0.888331,-0.153007],[-0.026801,-0.156981,0.987238]]
2025-10-26T23:18:13.548Z,1761520693.548 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:18:13.616Z,1761520693.616 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:13.868Z,1761520693.868 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:13.886Z,1761520693.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900398,0.432755,0.044785],[-0.434251,-0.887638,-0.153376],[-0.026622,-0.157547,0.987153]]
2025-10-26T23:18:14.120Z,1761520694.120 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:14.294Z,1761520694.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899864,0.433798,0.045421],[-0.435381,-0.887096,-0.153312],[-0.026213,-0.157735,0.987133]]
2025-10-26T23:18:14.336Z,1761520694.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:14.372Z,1761520694.372 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:14.552Z,1761520694.552 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:18:14.624Z,1761520694.624 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:14.695Z,1761520694.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899573,0.434412,0.045328],[-0.436001,-0.886981,-0.152210],[-0.025916,-0.156687,0.987308]]
2025-10-26T23:18:14.876Z,1761520694.876 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:15.100Z,1761520695.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899375,0.434809,0.045452],[-0.436419,-0.886822,-0.151939],[-0.025757,-0.156487,0.987344]]
2025-10-26T23:18:15.128Z,1761520695.128 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:15.380Z,1761520695.380 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:15.502Z,1761520695.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899438,0.434692,0.045316],[-0.436304,-0.887023,-0.151091],[-0.025482,-0.155669,0.987481]]
2025-10-26T23:18:15.632Z,1761520695.632 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:15.884Z,1761520695.884 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:15.906Z,1761520695.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899763,0.434036,0.045169],[-0.435650,-0.887454,-0.150446],[-0.025213,-0.155044,0.987586]]
2025-10-26T23:18:16.136Z,1761520696.136 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:16.310Z,1761520696.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899951,0.433645,0.045175],[-0.435273,-0.887682,-0.150191],[-0.025029,-0.154828,0.987624]]
2025-10-26T23:18:16.364Z,1761520696.364 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:16.388Z,1761520696.388 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:16.640Z,1761520696.640 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:16.725Z,1761520696.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900496,0.432521,0.045094],[-0.434162,-0.888298,-0.149769],[-0.024722,-0.154444,0.987692]]
2025-10-26T23:18:16.892Z,1761520696.892 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:17.118Z,1761520697.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900918,0.431624,0.045244],[-0.433296,-0.888692,-0.149935],[-0.024508,-0.154683,0.987660]]
2025-10-26T23:18:17.144Z,1761520697.144 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:17.396Z,1761520697.396 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:17.522Z,1761520697.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901454,0.430525,0.045053],[-0.432195,-0.889314,-0.149429],[-0.024267,-0.154175,0.987745]]
2025-10-26T23:18:17.648Z,1761520697.648 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:17.900Z,1761520697.900 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:17.926Z,1761520697.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901973,0.429393,0.045462],[-0.431116,-0.889666,-0.150445],[-0.024154,-0.155297,0.987572]]
2025-10-26T23:18:18.152Z,1761520698.152 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:18.332Z,1761520698.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902504,0.428297,0.045261],[-0.430014,-0.890260,-0.150087],[-0.023987,-0.154917,0.987636]]
2025-10-26T23:18:18.367Z,1761520698.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:18.405Z,1761520698.405 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:18.656Z,1761520698.656 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:18.742Z,1761520698.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902902,0.427364,0.046133],[-0.429182,-0.890332,-0.152025],[-0.023896,-0.157063,0.987299]]
2025-10-26T23:18:18.909Z,1761520698.909 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:19.138Z,1761520699.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903221,0.426561,0.047305],[-0.428529,-0.890315,-0.153954],[-0.023555,-0.159326,0.986945]]
2025-10-26T23:18:19.160Z,1761520699.160 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:19.412Z,1761520699.412 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:19.542Z,1761520699.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903394,0.426081,0.048311],[-0.428170,-0.890144,-0.155927],[-0.023434,-0.161549,0.986587]]
2025-10-26T23:18:19.664Z,1761520699.664 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:19.916Z,1761520699.916 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:19.950Z,1761520699.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903580,0.425676,0.048405],[-0.427789,-0.890345,-0.155825],[-0.023233,-0.161507,0.986598]]
2025-10-26T23:18:20.168Z,1761520700.168 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:20.350Z,1761520700.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903542,0.425718,0.048741],[-0.427879,-0.890267,-0.156025],[-0.023030,-0.161830,0.986550]]
2025-10-26T23:18:20.398Z,1761520700.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:20.420Z,1761520700.420 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:20.672Z,1761520700.672 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:20.766Z,1761520700.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903624,0.425526,0.048893],[-0.427725,-0.890416,-0.155597],[-0.022675,-0.161514,0.986610]]
2025-10-26T23:18:20.925Z,1761520700.925 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:21.159Z,1761520701.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903502,0.425743,0.049274],[-0.428008,-0.890344,-0.155231],[-0.022218,-0.161341,0.986649]]
2025-10-26T23:18:21.176Z,1761520701.176 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:21.428Z,1761520701.428 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:21.562Z,1761520701.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903494,0.425719,0.049624],[-0.428045,-0.890354,-0.155071],[-0.021833,-0.161347,0.986656]]
2025-10-26T23:18:21.681Z,1761520701.681 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:21.932Z,1761520701.932 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:21.966Z,1761520701.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903616,0.425408,0.050067],[-0.427819,-0.890533,-0.154670],[-0.021211,-0.161182,0.986697]]
2025-10-26T23:18:22.184Z,1761520702.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:22.370Z,1761520702.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903613,0.425368,0.050458],[-0.427848,-0.890564,-0.154410],[-0.020745,-0.161115,0.986718]]
2025-10-26T23:18:22.419Z,1761520702.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:22.438Z,1761520702.438 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:22.688Z,1761520702.688 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:22.790Z,1761520702.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903753,0.425052,0.050610],[-0.427585,-0.890890,-0.153254],[-0.020053,-0.160143,0.986890]]
2025-10-26T23:18:22.940Z,1761520702.940 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:23.179Z,1761520703.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904067,0.424368,0.050732],[-0.426947,-0.891342,-0.152399],[-0.019454,-0.159439,0.987016]]
2025-10-26T23:18:23.192Z,1761520703.192 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:23.444Z,1761520703.444 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:23.582Z,1761520703.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904393,0.423656,0.050868],[-0.426284,-0.891809,-0.151519],[-0.018827,-0.158717,0.987145]]
2025-10-26T23:18:23.698Z,1761520703.698 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:23.948Z,1761520703.948 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:23.986Z,1761520703.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904692,0.423032,0.050759],[-0.425663,-0.892214,-0.150883],[-0.018541,-0.158109,0.987248]]
2025-10-26T23:18:24.200Z,1761520704.200 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:24.390Z,1761520704.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904822,0.422771,0.050608],[-0.425384,-0.892371,-0.150739],[-0.018567,-0.157920,0.987277]]
2025-10-26T23:18:24.452Z,1761520704.452 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:24.455Z,1761520704.455 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:24.705Z,1761520704.705 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:24.797Z,1761520704.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904960,0.422509,0.050331],[-0.425085,-0.892547,-0.150538],[-0.018681,-0.157626,0.987322]]
2025-10-26T23:18:24.956Z,1761520704.956 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:25.203Z,1761520705.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905428,0.421629,0.049288],[-0.424078,-0.893235,-0.149294],[-0.018921,-0.156077,0.987564]]
2025-10-26T23:18:25.208Z,1761520705.208 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:25.460Z,1761520705.460 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:25.603Z,1761520705.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905854,0.420790,0.048625],[-0.423147,-0.893675,-0.149303],[-0.019371,-0.155822,0.987595]]
2025-10-26T23:18:25.716Z,1761520705.716 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:25.964Z,1761520705.964 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:26.218Z,1761520706.218 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:26.410Z,1761520706.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905992,0.420531,0.048301],[-0.422826,-0.893700,-0.150061],[-0.019939,-0.156376,0.987496]]
2025-10-26T23:18:26.462Z,1761520706.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:26.468Z,1761520706.468 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:26.720Z,1761520706.720 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:26.819Z,1761520706.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906046,0.420388,0.048526],[-0.422689,-0.893509,-0.151579],[-0.020363,-0.157849,0.987253]]
2025-10-26T23:18:26.972Z,1761520706.972 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:27.224Z,1761520707.224 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:27.237Z,1761520707.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905634,0.421272,0.048548],[-0.423550,-0.892983,-0.152275],[-0.020796,-0.158468,0.987145]]
2025-10-26T23:18:27.476Z,1761520707.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:27.623Z,1761520707.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905285,0.422026,0.048515],[-0.424285,-0.892606,-0.152433],[-0.021026,-0.158580,0.987122]]
2025-10-26T23:18:27.729Z,1761520707.729 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:27.980Z,1761520707.980 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:28.026Z,1761520708.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904940,0.422765,0.048514],[-0.425007,-0.892209,-0.152750],[-0.021293,-0.158848,0.987073]]
2025-10-26T23:18:28.235Z,1761520708.235 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:28.432Z,1761520708.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904497,0.423692,0.048691],[-0.425936,-0.891670,-0.153307],[-0.021539,-0.159405,0.986978]]
2025-10-26T23:18:28.466Z,1761520708.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:28.484Z,1761520708.484 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:28.737Z,1761520708.737 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:28.837Z,1761520708.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903903,0.424908,0.049119],[-0.427191,-0.890972,-0.153874],[-0.021619,-0.160070,0.986869]]
2025-10-26T23:18:28.988Z,1761520708.988 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:29.243Z,1761520709.243 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:29.264Z,1761520709.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903048,0.426620,0.050003],[-0.429000,-0.889942,-0.154799],[-0.021541,-0.161242,0.986680]]
2025-10-26T23:18:29.492Z,1761520709.492 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:29.642Z,1761520709.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902166,0.428392,0.050759],[-0.430849,-0.888895,-0.155674],[-0.021570,-0.162313,0.986504]]
2025-10-26T23:18:29.745Z,1761520709.745 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:29.996Z,1761520709.996 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:30.046Z,1761520710.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901148,0.430500,0.051009],[-0.432983,-0.887992,-0.154909],[-0.021392,-0.161682,0.986611]]
2025-10-26T23:18:30.250Z,1761520710.250 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:30.450Z,1761520710.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900332,0.432123,0.051700],[-0.434683,-0.887070,-0.155429],[-0.021303,-0.162410,0.986493]]
2025-10-26T23:18:30.500Z,1761520710.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:30.539Z,1761520710.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:30.753Z,1761520710.753 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:30.857Z,1761520710.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899623,0.433554,0.052050],[-0.436160,-0.886426,-0.154964],[-0.021047,-0.162111,0.986548]]
2025-10-26T23:18:31.004Z,1761520711.004 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:31.259Z,1761520711.259 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:31.285Z,1761520711.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898823,0.435161,0.052464],[-0.437818,-0.885672,-0.154600],[-0.020810,-0.161928,0.986583]]
2025-10-26T23:18:31.508Z,1761520711.508 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:31.665Z,1761520711.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898016,0.436924,0.051622],[-0.439474,-0.885291,-0.152057],[-0.020737,-0.159236,0.987023]]
2025-10-26T23:18:31.760Z,1761520711.760 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:32.012Z,1761520712.012 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:32.066Z,1761520712.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897367,0.438318,0.051079],[-0.440804,-0.884969,-0.150070],[-0.020575,-0.157184,0.987355]]
2025-10-26T23:18:32.266Z,1761520712.266 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:32.470Z,1761520712.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897143,0.438764,0.051197],[-0.441271,-0.884808,-0.149649],[-0.020360,-0.156848,0.987413]]
2025-10-26T23:18:32.518Z,1761520712.518 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:32.768Z,1761520712.768 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:32.877Z,1761520712.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896688,0.439658,0.051495],[-0.442208,-0.884409,-0.149244],[-0.020073,-0.156597,0.987459]]
2025-10-26T23:18:32.894Z,1761520712.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:33.020Z,1761520713.020 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:33.274Z,1761520713.274 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:33.313Z,1761520713.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896861,0.439365,0.050974],[-0.441869,-0.884838,-0.147696],[-0.019788,-0.154987,0.987718]]
2025-10-26T23:18:33.524Z,1761520713.524 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:33.682Z,1761520713.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897388,0.438306,0.050816],[-0.440821,-0.885534,-0.146651],[-0.019279,-0.154003,0.987882]]
2025-10-26T23:18:33.776Z,1761520713.776 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:34.029Z,1761520714.029 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:34.090Z,1761520714.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898239,0.436620,0.050295],[-0.439103,-0.886613,-0.145278],[-0.018839,-0.152579,0.988112]]
2025-10-26T23:18:34.284Z,1761520714.284 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:34.492Z,1761520714.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899139,0.434775,0.050196],[-0.437280,-0.887628,-0.144579],[-0.018304,-0.151946,0.988219]]
2025-10-26T23:18:34.532Z,1761520714.532 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:34.784Z,1761520714.784 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:34.897Z,1761520714.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900049,0.432873,0.050321],[-0.435426,-0.888582,-0.144315],[-0.017756,-0.151802,0.988251]]
2025-10-26T23:18:34.931Z,1761520714.931 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:35.036Z,1761520715.036 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:35.290Z,1761520715.290 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:35.344Z,1761520715.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902700,0.427264,0.050776],[-0.429954,-0.891210,-0.144514],[-0.016493,-0.152284,0.988199]]
2025-10-26T23:18:35.540Z,1761520715.540 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:35.809Z,1761520715.809 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:36.060Z,1761520716.060 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:36.111Z,1761520716.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904180,0.424060,0.051308],[-0.426860,-0.892580,-0.145226],[-0.015788,-0.153211,0.988067]]
2025-10-26T23:18:36.314Z,1761520716.314 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:36.510Z,1761520716.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905780,0.420633,0.051294],[-0.423482,-0.894256,-0.144808],[-0.015041,-0.152886,0.988129]]
2025-10-26T23:18:36.565Z,1761520716.565 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:36.816Z,1761520716.816 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:36.917Z,1761520716.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907198,0.417409,0.052541],[-0.420457,-0.895297,-0.147173],[-0.014391,-0.155606,0.987714]]
2025-10-26T23:18:36.938Z,1761520716.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:37.068Z,1761520717.068 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:37.325Z,1761520717.325 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:37.372Z,1761520717.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909251,0.412775,0.053666],[-0.416039,-0.897109,-0.148683],[-0.013228,-0.157518,0.987428]]
2025-10-26T23:18:37.572Z,1761520717.572 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:37.743Z,1761520717.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910041,0.410904,0.054630],[-0.414321,-0.897596,-0.150532],[-0.012819,-0.159624,0.987095]]
2025-10-26T23:18:37.825Z,1761520717.825 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:38.076Z,1761520718.076 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:38.131Z,1761520718.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910327,0.410175,0.055333],[-0.413700,-0.897678,-0.151745],[-0.012570,-0.161029,0.986870]]
2025-10-26T23:18:38.329Z,1761520718.329 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:38.535Z,1761520718.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910359,0.410019,0.055953],[-0.413635,-0.897559,-0.152625],[-0.012358,-0.162087,0.986699]]
2025-10-26T23:18:38.580Z,1761520718.580 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:38.832Z,1761520718.832 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:38.943Z,1761520718.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910122,0.410421,0.056859],[-0.414164,-0.897119,-0.153775],[-0.012103,-0.163503,0.986469]]
2025-10-26T23:18:38.959Z,1761520718.959 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:39.084Z,1761520719.084 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:39.336Z,1761520719.336 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:39.380Z,1761520719.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909734,0.411184,0.057546],[-0.415020,-0.896598,-0.154504],[-0.011934,-0.164440,0.986315]]
2025-10-26T23:18:39.409Z,1761520719.409 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050303065774,35.0, +11.4,   .8,  0
2025-10-26T23:18:39.588Z,1761520719.588 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:39.747Z,1761520719.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908827,0.413072,0.058350],[-0.417008,-0.895600,-0.154935],[-0.011741,-0.165141,0.986200]]
2025-10-26T23:18:39.840Z,1761520719.840 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:40.092Z,1761520720.092 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:40.146Z,1761520720.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907699,0.415474,0.058860],[-0.419466,-0.894559,-0.154316],[-0.011460,-0.164762,0.986267]]
2025-10-26T23:18:40.345Z,1761520720.345 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:40.550Z,1761520720.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906401,0.418310,0.058775],[-0.422270,-0.893573,-0.152366],[-0.011216,-0.162924,0.986575]]
2025-10-26T23:18:40.596Z,1761520720.596 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:40.848Z,1761520720.848 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:40.958Z,1761520720.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904924,0.421490,0.058804],[-0.425433,-0.892404,-0.150410],[-0.010920,-0.161126,0.986873]]
2025-10-26T23:18:40.975Z,1761520720.975 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:41.102Z,1761520721.102 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:41.352Z,1761520721.352 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:41.391Z,1761520721.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903299,0.424890,0.059328],[-0.428879,-0.890898,-0.149544],[-0.010684,-0.160528,0.986973]]
2025-10-26T23:18:41.604Z,1761520721.604 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:41.762Z,1761520721.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901627,0.428366,0.059764],[-0.432392,-0.889438,-0.148114],[-0.010291,-0.159385,0.987163]]
2025-10-26T23:18:41.857Z,1761520721.857 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:42.108Z,1761520722.108 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:42.166Z,1761520722.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900038,0.431726,0.059530],[-0.435699,-0.888276,-0.145371],[-0.009881,-0.156777,0.987585]]
2025-10-26T23:18:42.360Z,1761520722.360 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:42.570Z,1761520722.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898760,0.434413,0.059292],[-0.438336,-0.887338,-0.143152],[-0.009575,-0.154649,0.987923]]
2025-10-26T23:18:42.612Z,1761520722.612 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:42.864Z,1761520722.864 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:42.983Z,1761520722.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897396,0.437149,0.059845],[-0.441131,-0.886100,-0.142234],[-0.009149,-0.154040,0.988022]]
2025-10-26T23:18:43.000Z,1761520723.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:43.116Z,1761520723.116 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:43.368Z,1761520723.368 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:43.384Z,1761520723.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896236,0.439452,0.060353],[-0.443491,-0.885057,-0.141388],[-0.008718,-0.153483,0.988113]]
2025-10-26T23:18:43.620Z,1761520723.620 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:43.872Z,1761520723.872 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:44.124Z,1761520724.124 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:44.376Z,1761520724.376 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:44.590Z,1761520724.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894778,0.442268,0.061402],[-0.446456,-0.884031,-0.138442],[-0.006947,-0.151289,0.988465]]
2025-10-26T23:18:44.628Z,1761520724.628 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:44.688Z,1761520724.688 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:18:44.880Z,1761520724.880 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:44.997Z,1761520724.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894858,0.442050,0.061815],[-0.446306,-0.884191,-0.137902],[-0.006304,-0.150991,0.988515]]
2025-10-26T23:18:45.030Z,1761520725.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:45.132Z,1761520725.132 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:45.388Z,1761520725.388 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:45.400Z,1761520725.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894765,0.442151,0.062440],[-0.446503,-0.884158,-0.137477],[-0.005579,-0.150889,0.988535]]
2025-10-26T23:18:45.640Z,1761520725.640 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:45.692Z,1761520725.692 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:18:45.909Z,1761520725.909 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:46.160Z,1761520726.160 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:46.220Z,1761520726.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894958,0.441542,0.063967],[-0.446133,-0.884382,-0.137237],[-0.004025,-0.151359,0.988471]]
2025-10-26T23:18:46.412Z,1761520726.412 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:46.610Z,1761520726.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895287,0.440707,0.065107],[-0.445476,-0.884492,-0.138651],[-0.003518,-0.153136,0.988199]]
2025-10-26T23:18:46.664Z,1761520726.664 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:46.916Z,1761520726.916 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:47.014Z,1761520727.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895573,0.439899,0.066614],[-0.444905,-0.884500,-0.140425],[-0.002853,-0.155398,0.987848]]
2025-10-26T23:18:47.034Z,1761520727.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:47.168Z,1761520727.168 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:47.418Z,1761520727.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895825,0.439294,0.067226],[-0.444403,-0.884819,-0.140006],[-0.002021,-0.155296,0.987866]]
2025-10-26T23:18:47.420Z,1761520727.420 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:47.672Z,1761520727.672 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:47.822Z,1761520727.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896468,0.437865,0.067969],[-0.443106,-0.885350,-0.140757],[-0.001457,-0.156302,0.987708]]
2025-10-26T23:18:47.925Z,1761520727.925 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:48.176Z,1761520728.176 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:48.230Z,1761520728.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897033,0.436522,0.069138],[-0.441963,-0.885741,-0.141885],[-0.000698,-0.157832,0.987466]]
2025-10-26T23:18:48.428Z,1761520728.428 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:48.633Z,1761520728.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897618,0.435252,0.069550],[-0.440773,-0.886412,-0.141396],[0.000107,-0.157575,0.987507]]
2025-10-26T23:18:48.685Z,1761520728.685 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:48.938Z,1761520728.938 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:49.035Z,1761520729.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898427,0.433515,0.069947],[-0.439121,-0.887215,-0.141502],[0.000714,-0.157845,0.987464]]
2025-10-26T23:18:49.084Z,1761520729.084 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:49.188Z,1761520729.188 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:49.438Z,1761520729.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899284,0.431738,0.069935],[-0.437365,-0.888005,-0.141985],[0.000802,-0.158272,0.987395]]
2025-10-26T23:18:49.440Z,1761520729.440 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:49.693Z,1761520729.693 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:49.844Z,1761520729.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900139,0.429929,0.070071],[-0.435600,-0.888903,-0.141791],[0.001327,-0.158154,0.987413]]
2025-10-26T23:18:49.944Z,1761520729.944 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:50.197Z,1761520730.197 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:50.246Z,1761520730.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901006,0.428056,0.070408],[-0.433804,-0.889734,-0.142085],[0.001824,-0.158563,0.987347]]
2025-10-26T23:18:50.448Z,1761520730.448 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:50.650Z,1761520730.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901891,0.426164,0.070543],[-0.431958,-0.890580,-0.142408],[0.002134,-0.158908,0.987291]]
2025-10-26T23:18:50.701Z,1761520730.701 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:50.952Z,1761520730.952 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:51.055Z,1761520731.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902634,0.424580,0.070599],[-0.430403,-0.891307,-0.142569],[0.002394,-0.159074,0.987264]]
2025-10-26T23:18:51.205Z,1761520731.205 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:51.457Z,1761520731.457 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:51.462Z,1761520731.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903646,0.422484,0.070225],[-0.428273,-0.892358,-0.142406],[0.002501,-0.158760,0.987314]]
2025-10-26T23:18:51.486Z,1761520731.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:51.709Z,1761520731.709 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:51.862Z,1761520731.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904217,0.421246,0.070316],[-0.427067,-0.892839,-0.143013],[0.002537,-0.159345,0.987220]]
2025-10-26T23:18:51.961Z,1761520731.961 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:52.213Z,1761520732.213 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:52.266Z,1761520732.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904802,0.420044,0.069981],[-0.425827,-0.893360,-0.143453],[0.002262,-0.159597,0.987180]]
2025-10-26T23:18:52.464Z,1761520732.464 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:52.670Z,1761520732.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905131,0.419350,0.069880],[-0.425128,-0.893594,-0.144069],[0.002029,-0.160109,0.987097]]
2025-10-26T23:18:52.717Z,1761520732.717 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:52.968Z,1761520732.968 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:53.080Z,1761520733.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905189,0.419192,0.070086],[-0.425006,-0.893526,-0.144851],[0.001904,-0.160904,0.986968]]
2025-10-26T23:18:53.220Z,1761520733.220 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:53.472Z,1761520733.472 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:53.480Z,1761520733.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904918,0.419716,0.070440],[-0.425582,-0.893074,-0.145938],[0.001656,-0.162040,0.986783]]
2025-10-26T23:18:53.507Z,1761520733.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:53.724Z,1761520733.724 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:53.882Z,1761520733.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904589,0.420371,0.070759],[-0.426282,-0.892615,-0.146706],[0.001490,-0.162872,0.986646]]
2025-10-26T23:18:53.976Z,1761520733.976 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:54.228Z,1761520734.228 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:54.286Z,1761520734.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903906,0.421759,0.071235],[-0.427730,-0.891861,-0.147075],[0.001501,-0.163411,0.986557]]
2025-10-26T23:18:54.480Z,1761520734.480 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:54.703Z,1761520734.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902837,0.424007,0.071443],[-0.429981,-0.890826,-0.146783],[0.001407,-0.163240,0.986585]]
2025-10-26T23:18:54.733Z,1761520734.733 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:54.984Z,1761520734.984 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:55.094Z,1761520735.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901545,0.426717,0.071619],[-0.432683,-0.889601,-0.146274],[0.001295,-0.162861,0.986648]]
2025-10-26T23:18:55.236Z,1761520735.236 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:55.489Z,1761520735.489 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:55.500Z,1761520735.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899980,0.430012,0.071588],[-0.435928,-0.888226,-0.144985],[0.001241,-0.161691,0.986841]]
2025-10-26T23:18:55.653Z,1761520735.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:55.744Z,1761520735.744 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:55.902Z,1761520735.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898340,0.433443,0.071507],[-0.439300,-0.886796,-0.143556],[0.001188,-0.160375,0.987055]]
2025-10-26T23:18:55.992Z,1761520735.992 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:56.244Z,1761520736.244 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:56.307Z,1761520736.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896618,0.437047,0.071181],[-0.442804,-0.885396,-0.141419],[0.001217,-0.158318,0.987387]]
2025-10-26T23:18:56.496Z,1761520736.496 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:56.720Z,1761520736.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894891,0.440572,0.071174],[-0.446282,-0.883967,-0.139411],[0.001494,-0.156521,0.987673]]
2025-10-26T23:18:56.748Z,1761520736.748 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:57.000Z,1761520737.000 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:57.114Z,1761520737.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893397,0.443682,0.070631],[-0.449266,-0.882849,-0.136884],[0.001623,-0.154024,0.988066]]
2025-10-26T23:18:57.252Z,1761520737.252 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:57.504Z,1761520737.504 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:57.519Z,1761520737.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892230,0.446041,0.070521],[-0.451578,-0.881927,-0.135210],[0.001885,-0.152485,0.988304]]
2025-10-26T23:18:57.756Z,1761520737.756 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:57.929Z,1761520737.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891311,0.447946,0.070065],[-0.453386,-0.881388,-0.132651],[0.002333,-0.150000,0.988683]]
2025-10-26T23:18:57.980Z,1761520737.980 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:18:58.008Z,1761520738.008 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:58.260Z,1761520738.260 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:58.332Z,1761520738.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890668,0.449268,0.069772],[-0.454644,-0.881094,-0.130274],[0.002948,-0.147752,0.989020]]
2025-10-26T23:18:58.513Z,1761520738.513 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:58.753Z,1761520738.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890171,0.450259,0.069725],[-0.455611,-0.880905,-0.128163],[0.003714,-0.145854,0.989299]]
2025-10-26T23:18:58.764Z,1761520738.764 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:59.016Z,1761520739.016 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:59.148Z,1761520739.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890317,0.449904,0.070161],[-0.455318,-0.881217,-0.127051],[0.004666,-0.145061,0.989412]]
2025-10-26T23:18:59.270Z,1761520739.270 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:59.520Z,1761520739.520 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:59.550Z,1761520739.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890772,0.448821,0.071303],[-0.454413,-0.881665,-0.127187],[0.005781,-0.145696,0.989313]]
2025-10-26T23:18:59.772Z,1761520739.772 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:18:59.955Z,1761520739.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891586,0.447007,0.072520],[-0.452801,-0.882386,-0.127933],[0.006803,-0.146900,0.989128]]
2025-10-26T23:18:59.990Z,1761520739.990 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:00.024Z,1761520740.024 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:00.276Z,1761520740.276 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:00.358Z,1761520740.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892600,0.444845,0.073337],[-0.450782,-0.883399,-0.128073],[0.007813,-0.147377,0.989050]]
2025-10-26T23:19:00.528Z,1761520740.528 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:00.780Z,1761520740.780 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:00.784Z,1761520740.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893946,0.441819,0.075210],[-0.448084,-0.884461,-0.130190],[0.009000,-0.150083,0.988632]]
2025-10-26T23:19:01.032Z,1761520741.032 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:01.166Z,1761520741.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895285,0.438894,0.076404],[-0.445381,-0.885665,-0.131277],[0.010052,-0.151559,0.988397]]
2025-10-26T23:19:01.284Z,1761520741.284 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:01.536Z,1761520741.536 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:01.572Z,1761520741.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896380,0.436560,0.076930],[-0.443153,-0.886777,-0.131307],[0.010897,-0.151793,0.988352]]
2025-10-26T23:19:01.788Z,1761520741.788 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:01.974Z,1761520741.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897878,0.433228,0.078283],[-0.440083,-0.888058,-0.132965],[0.011915,-0.153837,0.988024]]
2025-10-26T23:19:02.019Z,1761520742.019 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:02.040Z,1761520742.040 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:02.292Z,1761520742.292 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:02.378Z,1761520742.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899224,0.430137,0.079862],[-0.437302,-0.889069,-0.135361],[0.012779,-0.156643,0.987573]]
2025-10-26T23:19:02.544Z,1761520742.544 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:02.782Z,1761520742.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900312,0.427519,0.081646],[-0.435030,-0.889802,-0.137848],[0.013716,-0.159625,0.987082]]
2025-10-26T23:19:02.796Z,1761520742.796 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:03.048Z,1761520743.048 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:03.205Z,1761520743.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901465,0.424881,0.082689],[-0.432617,-0.890679,-0.139762],[0.014267,-0.161764,0.986726]]
2025-10-26T23:19:03.300Z,1761520743.300 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:03.552Z,1761520743.552 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:03.590Z,1761520743.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902155,0.423370,0.082917],[-0.431173,-0.891254,-0.140558],[0.014392,-0.162556,0.986594]]
2025-10-26T23:19:03.806Z,1761520743.806 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:03.995Z,1761520743.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902649,0.422140,0.083803],[-0.430134,-0.891429,-0.142618],[0.014500,-0.164781,0.986224]]
2025-10-26T23:19:04.050Z,1761520744.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:04.056Z,1761520744.056 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:04.308Z,1761520744.308 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:04.398Z,1761520744.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902822,0.421667,0.084321],[-0.429767,-0.891447,-0.143609],[0.014612,-0.165892,0.986036]]
2025-10-26T23:19:04.560Z,1761520744.560 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:04.803Z,1761520744.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903030,0.421182,0.084516],[-0.429315,-0.891714,-0.143298],[0.015009,-0.165687,0.986064]]
2025-10-26T23:19:04.812Z,1761520744.812 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:05.064Z,1761520745.064 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:05.211Z,1761520745.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902827,0.421568,0.084756],[-0.429731,-0.891571,-0.142938],[0.015308,-0.165471,0.986096]]
2025-10-26T23:19:05.317Z,1761520745.317 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:05.568Z,1761520745.568 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:05.610Z,1761520745.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902442,0.422407,0.084685],[-0.430526,-0.891409,-0.141554],[0.015696,-0.164203,0.986302]]
2025-10-26T23:19:05.820Z,1761520745.820 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:06.014Z,1761520746.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901941,0.423419,0.084957],[-0.431559,-0.891022,-0.140844],[0.016062,-0.163697,0.986380]]
2025-10-26T23:19:06.065Z,1761520746.065 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:06.072Z,1761520746.072 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:06.324Z,1761520746.324 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:06.420Z,1761520746.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901328,0.424497,0.086082],[-0.432827,-0.890231,-0.141948],[0.016377,-0.165200,0.986124]]
2025-10-26T23:19:06.576Z,1761520746.576 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:06.828Z,1761520746.828 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:06.831Z,1761520746.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900555,0.426047,0.086515],[-0.434423,-0.889514,-0.141569],[0.016641,-0.165075,0.986141]]
2025-10-26T23:19:07.080Z,1761520747.080 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:07.230Z,1761520747.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899586,0.428040,0.086756],[-0.436413,-0.888720,-0.140431],[0.016992,-0.164191,0.986282]]
2025-10-26T23:19:07.333Z,1761520747.333 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:07.584Z,1761520747.584 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:07.630Z,1761520747.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898472,0.430391,0.086667],[-0.438691,-0.887876,-0.138661],[0.017272,-0.162603,0.986540]]
2025-10-26T23:19:07.836Z,1761520747.836 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:08.088Z,1761520748.088 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:08.105Z,1761520748.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:08.340Z,1761520748.340 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:08.438Z,1761520748.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896405,0.434628,0.086927],[-0.442865,-0.886287,-0.135523],[0.018140,-0.159980,0.986954]]
2025-10-26T23:19:08.592Z,1761520748.592 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:08.846Z,1761520748.846 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:08.857Z,1761520748.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895445,0.436585,0.087012],[-0.444779,-0.885607,-0.133685],[0.018694,-0.158409,0.987197]]
2025-10-26T23:19:09.096Z,1761520749.096 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:09.248Z,1761520749.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894521,0.438389,0.087447],[-0.446607,-0.884883,-0.132380],[0.019347,-0.157471,0.987334]]
2025-10-26T23:19:09.352Z,1761520749.352 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:09.600Z,1761520749.600 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:09.653Z,1761520749.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893749,0.439884,0.087834],[-0.448117,-0.884337,-0.130916],[0.020087,-0.156366,0.987495]]
2025-10-26T23:19:09.852Z,1761520749.852 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:10.054Z,1761520750.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893371,0.440537,0.088408],[-0.448833,-0.884118,-0.129942],[0.020919,-0.155767,0.987572]]
2025-10-26T23:19:10.104Z,1761520750.104 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:10.127Z,1761520750.127 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:10.356Z,1761520750.356 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:10.459Z,1761520750.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893105,0.440867,0.089440],[-0.449326,-0.883836,-0.130154],[0.021670,-0.156429,0.987451]]
2025-10-26T23:19:10.608Z,1761520750.608 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:10.862Z,1761520750.862 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:10.885Z,1761520750.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893151,0.440702,0.089794],[-0.449209,-0.883956,-0.129741],[0.022197,-0.156214,0.987474]]
2025-10-26T23:19:11.112Z,1761520751.112 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:11.270Z,1761520751.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893381,0.440140,0.090268],[-0.448726,-0.884203,-0.129729],[0.022716,-0.156403,0.987432]]
2025-10-26T23:19:11.364Z,1761520751.364 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:11.617Z,1761520751.617 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:11.684Z,1761520751.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893834,0.439221,0.090256],[-0.447810,-0.884705,-0.129474],[0.022983,-0.156146,0.987467]]
2025-10-26T23:19:11.871Z,1761520751.871 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:12.074Z,1761520752.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894440,0.437999,0.090186],[-0.446578,-0.885395,-0.129015],[0.023342,-0.155672,0.987533]]
2025-10-26T23:19:12.120Z,1761520752.120 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:12.372Z,1761520752.372 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:12.478Z,1761520752.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895273,0.436187,0.090700],[-0.444895,-0.886055,-0.130288],[0.023535,-0.156996,0.987319]]
2025-10-26T23:19:12.518Z,1761520752.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:12.624Z,1761520752.624 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:12.879Z,1761520752.879 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:12.912Z,1761520752.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896298,0.434032,0.090916],[-0.442820,-0.886948,-0.131278],[0.023659,-0.157924,0.987168]]
2025-10-26T23:19:13.128Z,1761520753.128 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:13.293Z,1761520753.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897231,0.432182,0.090523],[-0.440921,-0.887931,-0.131023],[0.023752,-0.157472,0.987238]]
2025-10-26T23:19:13.380Z,1761520753.380 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:13.632Z,1761520753.632 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:13.691Z,1761520753.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898299,0.430011,0.090273],[-0.438731,-0.889030,-0.130923],[0.023958,-0.157213,0.987274]]
2025-10-26T23:19:13.886Z,1761520753.886 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:14.095Z,1761520754.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899138,0.428322,0.089950],[-0.437009,-0.889875,-0.130943],[0.023958,-0.157045,0.987301]]
2025-10-26T23:19:14.136Z,1761520754.136 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:14.388Z,1761520754.388 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:14.498Z,1761520754.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899932,0.426681,0.089810],[-0.435364,-0.890673,-0.130994],[0.024099,-0.156986,0.987307]]
2025-10-26T23:19:14.640Z,1761520754.640 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:14.895Z,1761520754.895 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:14.941Z,1761520754.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900616,0.425252,0.089730],[-0.433944,-0.891325,-0.131269],[0.024156,-0.157161,0.987278]]
2025-10-26T23:19:14.988Z,1761520754.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:15.144Z,1761520755.144 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:15.306Z,1761520755.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901193,0.423978,0.089963],[-0.432747,-0.891748,-0.132348],[0.024112,-0.158202,0.987112]]
2025-10-26T23:19:15.396Z,1761520755.396 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:15.649Z,1761520755.649 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:15.714Z,1761520755.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901625,0.423056,0.089983],[-0.431851,-0.892094,-0.132940],[0.024033,-0.158721,0.987031]]
2025-10-26T23:19:15.812Z,1761520755.812 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:19:15.903Z,1761520755.903 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:16.153Z,1761520756.153 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:16.404Z,1761520756.404 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:16.518Z,1761520756.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901982,0.422221,0.090321],[-0.431113,-0.892246,-0.134308],[0.023881,-0.160082,0.986815]]
2025-10-26T23:19:16.657Z,1761520756.657 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:16.816Z,1761520756.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:19:16.918Z,1761520756.918 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:16.970Z,1761520756.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901808,0.422580,0.090374],[-0.431508,-0.891860,-0.135600],[0.023299,-0.161283,0.986633]]
2025-10-26T23:19:17.019Z,1761520757.019 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:17.161Z,1761520757.161 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:17.421Z,1761520757.421 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:17.673Z,1761520757.673 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:17.738Z,1761520757.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901324,0.423486,0.090965],[-0.432519,-0.891242,-0.136438],[0.023292,-0.162319,0.986463]]
2025-10-26T23:19:17.926Z,1761520757.926 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:18.134Z,1761520758.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900940,0.424243,0.091241],[-0.433319,-0.890806,-0.136744],[0.023266,-0.162735,0.986396]]
2025-10-26T23:19:18.176Z,1761520758.176 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:18.428Z,1761520758.428 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:18.538Z,1761520758.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900118,0.425935,0.091473],[-0.435029,-0.889981,-0.136688],[0.023189,-0.162829,0.986382]]
2025-10-26T23:19:18.680Z,1761520758.680 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:18.935Z,1761520758.935 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:18.998Z,1761520758.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898531,0.429055,0.092488],[-0.438288,-0.888330,-0.137014],[0.023373,-0.163647,0.986242]]
2025-10-26T23:19:19.048Z,1761520759.048 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:19.184Z,1761520759.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:19.437Z,1761520759.437 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:19.688Z,1761520759.688 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:19.779Z,1761520759.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896907,0.432374,0.092795],[-0.441611,-0.886738,-0.136656],[0.023198,-0.163547,0.986263]]
2025-10-26T23:19:19.942Z,1761520759.942 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:20.192Z,1761520760.192 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:20.444Z,1761520760.444 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:20.559Z,1761520760.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896191,0.433744,0.093314],[-0.443057,-0.885976,-0.136919],[0.023286,-0.164049,0.986177]]
2025-10-26T23:19:20.698Z,1761520760.698 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:20.952Z,1761520760.952 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:20.995Z,1761520760.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895175,0.435972,0.092687],[-0.445096,-0.885351,-0.134326],[0.023498,-0.161500,0.986593]]
2025-10-26T23:19:21.074Z,1761520761.074 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:21.204Z,1761520761.204 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:21.457Z,1761520761.457 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:21.709Z,1761520761.709 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:21.776Z,1761520761.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894987,0.436351,0.092714],[-0.445460,-0.885265,-0.133687],[0.023742,-0.160948,0.986677]]
2025-10-26T23:19:21.961Z,1761520761.961 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:22.180Z,1761520762.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895144,0.436133,0.092224],[-0.445138,-0.885597,-0.132551],[0.023864,-0.159705,0.986876]]
2025-10-26T23:19:22.212Z,1761520762.212 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:22.464Z,1761520762.464 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:22.584Z,1761520762.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895292,0.435858,0.092085],[-0.444825,-0.885867,-0.131794],[0.024132,-0.158956,0.986991]]
2025-10-26T23:19:22.717Z,1761520762.717 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:22.971Z,1761520762.971 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:23.004Z,1761520763.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895459,0.435576,0.091794],[-0.444477,-0.886178,-0.130875],[0.024340,-0.157993,0.987140]]
2025-10-26T23:19:23.076Z,1761520763.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:23.220Z,1761520763.220 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:23.390Z,1761520763.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896156,0.434310,0.090994],[-0.443062,-0.887098,-0.129435],[0.024506,-0.156310,0.987404]]
2025-10-26T23:19:23.472Z,1761520763.472 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:23.724Z,1761520763.724 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:23.795Z,1761520763.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896902,0.432811,0.090778],[-0.441543,-0.887867,-0.129351],[0.024614,-0.156098,0.987435]]
2025-10-26T23:19:23.978Z,1761520763.978 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:24.200Z,1761520764.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897611,0.431409,0.090444],[-0.440091,-0.888655,-0.128887],[0.024771,-0.155494,0.987526]]
2025-10-26T23:19:24.229Z,1761520764.229 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:24.480Z,1761520764.480 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:24.602Z,1761520764.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898304,0.429907,0.090724],[-0.438669,-0.889235,-0.129732],[0.024902,-0.156337,0.987390]]
2025-10-26T23:19:24.733Z,1761520764.733 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:24.984Z,1761520764.984 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:25.010Z,1761520765.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899265,0.427937,0.090510],[-0.436684,-0.890218,-0.129691],[0.025074,-0.156151,0.987415]]
2025-10-26T23:19:25.082Z,1761520765.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:25.236Z,1761520765.236 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:25.410Z,1761520765.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900036,0.426289,0.090626],[-0.435084,-0.890928,-0.130187],[0.025244,-0.156603,0.987339]]
2025-10-26T23:19:25.488Z,1761520765.488 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:25.740Z,1761520765.740 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:25.992Z,1761520765.992 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:26.218Z,1761520766.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901815,0.422547,0.090462],[-0.431391,-0.892513,-0.131616],[0.025124,-0.157717,0.987165]]
2025-10-26T23:19:26.244Z,1761520766.244 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:26.496Z,1761520766.496 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:26.622Z,1761520766.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902767,0.420463,0.090683],[-0.429395,-0.893292,-0.132854],[0.025146,-0.158875,0.986978]]
2025-10-26T23:19:26.748Z,1761520766.748 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:27.000Z,1761520767.000 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:27.026Z,1761520767.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903210,0.419461,0.090902],[-0.428461,-0.893610,-0.133725],[0.025138,-0.159730,0.986841]]
2025-10-26T23:19:27.253Z,1761520767.253 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:27.431Z,1761520767.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903651,0.418536,0.090794],[-0.427529,-0.894048,-0.133779],[0.025183,-0.159706,0.986843]]
2025-10-26T23:19:27.471Z,1761520767.471 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:27.504Z,1761520767.504 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:27.756Z,1761520767.756 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:27.837Z,1761520767.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903919,0.417970,0.090728],[-0.426970,-0.894251,-0.134210],[0.025038,-0.160054,0.986791]]
2025-10-26T23:19:28.008Z,1761520768.008 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:28.238Z,1761520768.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904101,0.417360,0.091719],[-0.426563,-0.894231,-0.135627],[0.025413,-0.161744,0.986505]]
2025-10-26T23:19:28.260Z,1761520768.260 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:28.512Z,1761520768.512 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:28.652Z,1761520768.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904299,0.416776,0.092416],[-0.426100,-0.894444,-0.135680],[0.026112,-0.162074,0.986433]]
2025-10-26T23:19:28.764Z,1761520768.764 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:29.016Z,1761520769.016 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:29.047Z,1761520769.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904532,0.416158,0.092922],[-0.425565,-0.894731,-0.135465],[0.026766,-0.162077,0.986415]]
2025-10-26T23:19:29.268Z,1761520769.268 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:29.450Z,1761520769.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904560,0.415683,0.094760],[-0.425406,-0.894748,-0.135854],[0.028314,-0.163200,0.986187]]
2025-10-26T23:19:29.498Z,1761520769.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:29.521Z,1761520769.521 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:29.775Z,1761520769.775 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:29.858Z,1761520769.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904621,0.415283,0.095919],[-0.425172,-0.894999,-0.134927],[0.029814,-0.162840,0.986202]]
2025-10-26T23:19:30.024Z,1761520770.024 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:30.259Z,1761520770.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904581,0.415001,0.097512],[-0.425149,-0.895030,-0.134792],[0.031337,-0.163387,0.986064]]
2025-10-26T23:19:30.276Z,1761520770.276 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:30.528Z,1761520770.528 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:30.668Z,1761520770.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904402,0.414959,0.099327],[-0.425383,-0.895023,-0.134099],[0.033255,-0.163531,0.985978]]
2025-10-26T23:19:30.781Z,1761520770.781 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:31.032Z,1761520771.032 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:31.066Z,1761520771.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904097,0.415227,0.100973],[-0.425916,-0.894783,-0.134010],[0.034705,-0.164164,0.985822]]
2025-10-26T23:19:31.284Z,1761520771.284 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:31.470Z,1761520771.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903911,0.415221,0.102644],[-0.426163,-0.894758,-0.133391],[0.036455,-0.164316,0.985734]]
2025-10-26T23:19:31.536Z,1761520771.536 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:31.574Z,1761520771.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:31.788Z,1761520771.788 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:31.882Z,1761520771.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903746,0.415204,0.104157],[-0.426316,-0.894993,-0.131312],[0.038698,-0.163077,0.985854]]
2025-10-26T23:19:32.040Z,1761520772.040 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:32.278Z,1761520772.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903508,0.415309,0.105790],[-0.426630,-0.895051,-0.129884],[0.040746,-0.162485,0.985869]]
2025-10-26T23:19:32.292Z,1761520772.292 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:32.544Z,1761520772.544 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:32.682Z,1761520772.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903293,0.415393,0.107287],[-0.426894,-0.895137,-0.128419],[0.042692,-0.161800,0.985900]]
2025-10-26T23:19:32.797Z,1761520772.797 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:33.048Z,1761520773.048 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:33.086Z,1761520773.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903157,0.415272,0.108890],[-0.427001,-0.895195,-0.127654],[0.044466,-0.161788,0.985823]]
2025-10-26T23:19:33.300Z,1761520773.300 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:33.491Z,1761520773.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902885,0.415437,0.110499],[-0.427371,-0.895189,-0.126450],[0.046385,-0.161394,0.985799]]
2025-10-26T23:19:33.552Z,1761520773.552 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:33.804Z,1761520773.804 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:33.901Z,1761520773.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902876,0.415179,0.111543],[-0.427186,-0.895565,-0.124403],[0.048244,-0.159970,0.985942]]
2025-10-26T23:19:33.922Z,1761520773.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:34.056Z,1761520774.056 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:34.299Z,1761520774.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902718,0.415163,0.112868],[-0.427318,-0.895681,-0.123102],[0.049987,-0.159357,0.985955]]
2025-10-26T23:19:34.316Z,1761520774.316 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:34.568Z,1761520774.568 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:34.703Z,1761520774.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902641,0.414823,0.114719],[-0.427247,-0.895797,-0.122507],[0.051946,-0.159593,0.985815]]
2025-10-26T23:19:34.820Z,1761520774.820 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:35.072Z,1761520775.072 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:35.106Z,1761520775.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902759,0.414158,0.116187],[-0.426792,-0.896093,-0.121926],[0.053618,-0.159657,0.985715]]
2025-10-26T23:19:35.324Z,1761520775.324 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:35.510Z,1761520775.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902750,0.413673,0.117971],[-0.426565,-0.896280,-0.121344],[0.055538,-0.159866,0.985575]]
2025-10-26T23:19:35.576Z,1761520775.576 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:35.830Z,1761520775.830 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:35.914Z,1761520775.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902768,0.413299,0.119139],[-0.426282,-0.896647,-0.119613],[0.057389,-0.158770,0.985646]]
2025-10-26T23:19:35.974Z,1761520775.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:36.084Z,1761520776.084 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:36.318Z,1761520776.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902796,0.412784,0.120698],[-0.425961,-0.896932,-0.118615],[0.059295,-0.158497,0.985577]]
2025-10-26T23:19:36.340Z,1761520776.340 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:36.592Z,1761520776.592 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:36.729Z,1761520776.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903048,0.412035,0.121370],[-0.425299,-0.897301,-0.118201],[0.060203,-0.158360,0.985544]]
2025-10-26T23:19:36.845Z,1761520776.845 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:37.096Z,1761520777.096 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:37.142Z,1761520777.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903274,0.411280,0.122254],[-0.424659,-0.897670,-0.117704],[0.061334,-0.158235,0.985495]]
2025-10-26T23:19:37.348Z,1761520777.348 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:37.531Z,1761520777.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903366,0.410749,0.123346],[-0.424282,-0.897897,-0.117328],[0.062559,-0.158324,0.985403]]
2025-10-26T23:19:37.601Z,1761520777.601 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:37.852Z,1761520777.852 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:37.936Z,1761520777.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903439,0.410222,0.124560],[-0.423916,-0.898144,-0.116760],[0.063975,-0.158288,0.985318]]
2025-10-26T23:19:38.104Z,1761520778.104 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:38.340Z,1761520778.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903240,0.410196,0.126084],[-0.424118,-0.898079,-0.116529],[0.065434,-0.158728,0.985152]]
2025-10-26T23:19:38.356Z,1761520778.356 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:38.382Z,1761520778.382 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:38.610Z,1761520778.610 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:38.745Z,1761520778.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902969,0.410325,0.127593],[-0.424441,-0.898018,-0.115820],[0.067056,-0.158738,0.985041]]
2025-10-26T23:19:38.860Z,1761520778.860 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:39.114Z,1761520779.114 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:39.148Z,1761520779.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902789,0.410302,0.128933],[-0.424600,-0.898003,-0.115348],[0.068455,-0.158880,0.984922]]
2025-10-26T23:19:39.364Z,1761520779.364 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:39.550Z,1761520779.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902525,0.410506,0.130130],[-0.424969,-0.897877,-0.114974],[0.069643,-0.159068,0.984808]]
2025-10-26T23:19:39.617Z,1761520779.617 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:39.868Z,1761520779.868 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:39.961Z,1761520779.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902242,0.410751,0.131312],[-0.425375,-0.897735,-0.114581],[0.070819,-0.159237,0.984697]]
2025-10-26T23:19:40.120Z,1761520780.120 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:40.366Z,1761520780.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901746,0.411517,0.132320],[-0.426266,-0.897370,-0.114127],[0.071775,-0.159317,0.984615]]
2025-10-26T23:19:40.372Z,1761520780.372 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:40.403Z,1761520780.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:40.625Z,1761520780.625 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:40.762Z,1761520780.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901378,0.412019,0.133261],[-0.426869,-0.897167,-0.113463],[0.072808,-0.159158,0.984565]]
2025-10-26T23:19:40.876Z,1761520780.876 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:41.128Z,1761520781.128 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:41.167Z,1761520781.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900763,0.412969,0.134473],[-0.428016,-0.896610,-0.113546],[0.073678,-0.159835,0.984390]]
2025-10-26T23:19:41.380Z,1761520781.380 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:41.570Z,1761520781.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900351,0.413841,0.134553],[-0.428784,-0.896432,-0.112042],[0.074250,-0.158572,0.984552]]
2025-10-26T23:19:41.633Z,1761520781.633 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:41.884Z,1761520781.884 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:41.974Z,1761520781.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899842,0.414906,0.134676],[-0.429798,-0.896056,-0.111165],[0.074554,-0.157914,0.984634]]
2025-10-26T23:19:42.136Z,1761520782.136 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:42.378Z,1761520782.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899502,0.415331,0.135637],[-0.430350,-0.895830,-0.110850],[0.075468,-0.158081,0.984538]]
2025-10-26T23:19:42.388Z,1761520782.388 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:42.434Z,1761520782.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:42.640Z,1761520782.640 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:42.784Z,1761520782.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899250,0.415788,0.135906],[-0.430793,-0.895706,-0.110126],[0.075943,-0.157578,0.984582]]
2025-10-26T23:19:42.892Z,1761520782.892 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:43.144Z,1761520783.144 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:43.186Z,1761520783.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899148,0.415756,0.136672],[-0.430843,-0.895747,-0.109596],[0.076858,-0.157427,0.984535]]
2025-10-26T23:19:43.396Z,1761520783.396 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:43.590Z,1761520783.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898942,0.415948,0.137440],[-0.431122,-0.895665,-0.109169],[0.077692,-0.157390,0.984476]]
2025-10-26T23:19:43.648Z,1761520783.648 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:43.900Z,1761520783.900 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:43.996Z,1761520783.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898900,0.415772,0.138245],[-0.431027,-0.895785,-0.108560],[0.078702,-0.157172,0.984430]]
2025-10-26T23:19:44.152Z,1761520784.152 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:44.398Z,1761520784.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899143,0.415280,0.138145],[-0.430427,-0.896215,-0.107385],[0.079213,-0.156016,0.984573]]
2025-10-26T23:19:44.404Z,1761520784.404 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:44.449Z,1761520784.449 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:44.656Z,1761520784.656 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:44.803Z,1761520784.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899389,0.414719,0.138229],[-0.429847,-0.896543,-0.106969],[0.079566,-0.155624,0.984607]]
2025-10-26T23:19:44.909Z,1761520784.909 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:45.160Z,1761520785.160 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:45.207Z,1761520785.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899495,0.414375,0.138569],[-0.429527,-0.896742,-0.106583],[0.080096,-0.155390,0.984601]]
2025-10-26T23:19:45.412Z,1761520785.412 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:45.624Z,1761520785.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899826,0.413535,0.138936],[-0.428744,-0.897120,-0.106557],[0.080577,-0.155450,0.984552]]
2025-10-26T23:19:45.668Z,1761520785.668 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:45.920Z,1761520785.920 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:46.014Z,1761520786.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900189,0.412614,0.139316],[-0.427897,-0.897508,-0.106690],[0.081016,-0.155655,0.984484]]
2025-10-26T23:19:46.172Z,1761520786.172 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:46.418Z,1761520786.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900716,0.411483,0.139254],[-0.426722,-0.898122,-0.106235],[0.081353,-0.155110,0.984542]]
2025-10-26T23:19:46.424Z,1761520786.424 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:46.491Z,1761520786.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:46.676Z,1761520786.676 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:46.824Z,1761520786.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901326,0.410247,0.138958],[-0.425399,-0.898812,-0.105700],[0.081534,-0.154382,0.984641]]
2025-10-26T23:19:46.928Z,1761520786.928 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:46.940Z,1761520786.940 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:19:47.180Z,1761520787.180 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:47.230Z,1761520787.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901803,0.409188,0.138983],[-0.424368,-0.899269,-0.105957],[0.081626,-0.154533,0.984610]]
2025-10-26T23:19:47.432Z,1761520787.432 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:47.633Z,1761520787.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902161,0.408374,0.139052],[-0.423616,-0.899554,-0.106543],[0.081575,-0.155023,0.984537]]
2025-10-26T23:19:47.685Z,1761520787.685 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:47.936Z,1761520787.936 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:47.944Z,1761520787.944 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:19:48.041Z,1761520788.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902376,0.407990,0.138785],[-0.423208,-0.899723,-0.106744],[0.081318,-0.155058,0.984553]]
2025-10-26T23:19:48.188Z,1761520788.188 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:48.438Z,1761520788.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902531,0.407687,0.138668],[-0.422951,-0.899751,-0.107524],[0.080931,-0.155693,0.984485]]
2025-10-26T23:19:48.440Z,1761520788.440 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:48.692Z,1761520788.692 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:48.842Z,1761520788.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902858,0.406972,0.138639],[-0.422396,-0.899772,-0.109506],[0.080178,-0.157429,0.984270]]
2025-10-26T23:19:48.916Z,1761520788.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:48.944Z,1761520788.944 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:49.196Z,1761520789.196 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:49.249Z,1761520789.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902758,0.407091,0.138943],[-0.422721,-0.899380,-0.111453],[0.079591,-0.159350,0.984009]]
2025-10-26T23:19:49.448Z,1761520789.448 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:49.709Z,1761520789.709 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:49.960Z,1761520789.960 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:50.055Z,1761520790.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902478,0.407630,0.139181],[-0.423468,-0.898763,-0.113578],[0.078793,-0.161440,0.983732]]
2025-10-26T23:19:50.212Z,1761520790.212 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:50.462Z,1761520790.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902095,0.408803,0.138219],[-0.424427,-0.898394,-0.112921],[0.078013,-0.160529,0.983943]]
2025-10-26T23:19:50.464Z,1761520790.464 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:50.717Z,1761520790.717 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:50.862Z,1761520790.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901511,0.410299,0.137599],[-0.425838,-0.897689,-0.113205],[0.077073,-0.160651,0.983998]]
2025-10-26T23:19:50.968Z,1761520790.968 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:51.220Z,1761520791.220 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:51.269Z,1761520791.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900910,0.411900,0.136746],[-0.427286,-0.897015,-0.113095],[0.076080,-0.160318,0.984129]]
2025-10-26T23:19:51.285Z,1761520791.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:51.477Z,1761520791.477 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:51.670Z,1761520791.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900335,0.413675,0.135167],[-0.428685,-0.896533,-0.111613],[0.075010,-0.158433,0.984516]]
2025-10-26T23:19:51.725Z,1761520791.725 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:51.976Z,1761520791.976 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:52.074Z,1761520792.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899455,0.415908,0.134168],[-0.430703,-0.895640,-0.111012],[0.073996,-0.157637,0.984721]]
2025-10-26T23:19:52.228Z,1761520792.228 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:52.480Z,1761520792.480 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:52.490Z,1761520792.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898648,0.418001,0.133071],[-0.432575,-0.894799,-0.110514],[0.072877,-0.156877,0.984926]]
2025-10-26T23:19:52.732Z,1761520792.732 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:52.882Z,1761520792.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897868,0.420170,0.131496],[-0.434421,-0.894014,-0.109623],[0.071499,-0.155551,0.985237]]
2025-10-26T23:19:52.984Z,1761520792.984 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:53.236Z,1761520793.236 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:53.286Z,1761520793.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897544,0.421463,0.129551],[-0.435357,-0.893639,-0.108968],[0.069846,-0.154205,0.985567]]
2025-10-26T23:19:53.302Z,1761520793.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:53.490Z,1761520793.490 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:53.690Z,1761520793.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897088,0.422827,0.128258],[-0.436545,-0.893004,-0.109419],[0.068270,-0.154149,0.985686]]
2025-10-26T23:19:53.740Z,1761520793.740 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:53.992Z,1761520793.992 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:54.110Z,1761520794.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896961,0.423730,0.126153],[-0.437044,-0.892894,-0.108322],[0.066742,-0.152295,0.986079]]
2025-10-26T23:19:54.244Z,1761520794.244 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:54.500Z,1761520794.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:54.520Z,1761520794.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896764,0.424670,0.124377],[-0.437696,-0.892593,-0.108166],[0.065083,-0.151439,0.986322]]
2025-10-26T23:19:54.748Z,1761520794.748 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:55.003Z,1761520795.003 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:55.252Z,1761520795.252 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:55.306Z,1761520795.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897179,0.424779,0.120965],[-0.437340,-0.892664,-0.109014],[0.061675,-0.150708,0.986653]]
2025-10-26T23:19:55.330Z,1761520795.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:55.507Z,1761520795.507 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:55.716Z,1761520795.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897607,0.424374,0.119200],[-0.436692,-0.892936,-0.109386],[0.060017,-0.150239,0.986826]]
2025-10-26T23:19:55.756Z,1761520795.756 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:56.008Z,1761520796.008 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:56.117Z,1761520796.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898099,0.423633,0.118129],[-0.435911,-0.893071,-0.111379],[0.058313,-0.151523,0.986732]]
2025-10-26T23:19:56.260Z,1761520796.260 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:56.515Z,1761520796.515 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:56.547Z,1761520796.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898767,0.422624,0.116651],[-0.434756,-0.893475,-0.112648],[0.056617,-0.151959,0.986764]]
2025-10-26T23:19:56.764Z,1761520796.764 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:56.923Z,1761520796.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899569,0.421224,0.115525],[-0.433330,-0.893853,-0.115113],[0.054774,-0.153612,0.986612]]
2025-10-26T23:19:57.017Z,1761520797.017 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:57.268Z,1761520797.268 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:57.326Z,1761520797.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900513,0.419596,0.114090],[-0.431589,-0.894460,-0.116925],[0.052988,-0.154532,0.986566]]
2025-10-26T23:19:57.349Z,1761520797.349 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:57.523Z,1761520797.523 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:57.749Z,1761520797.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901343,0.418123,0.112930],[-0.430039,-0.894976,-0.118677],[0.051449,-0.155533,0.986490]]
2025-10-26T23:19:57.772Z,1761520797.772 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:58.024Z,1761520798.024 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:58.134Z,1761520798.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902287,0.416670,0.110744],[-0.428263,-0.895806,-0.118840],[0.049688,-0.154656,0.986718]]
2025-10-26T23:19:58.276Z,1761520798.276 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:58.530Z,1761520798.530 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:58.570Z,1761520798.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902918,0.415813,0.108805],[-0.427154,-0.896220,-0.119705],[0.047738,-0.154560,0.986829]]
2025-10-26T23:19:58.780Z,1761520798.780 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:59.033Z,1761520799.033 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:59.284Z,1761520799.284 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:59.346Z,1761520799.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903883,0.414605,0.105352],[-0.425517,-0.896710,-0.121848],[0.043952,-0.154965,0.986942]]
2025-10-26T23:19:59.363Z,1761520799.363 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:19:59.538Z,1761520799.538 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:19:59.752Z,1761520799.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904404,0.413889,0.103675],[-0.424578,-0.897053,-0.122596],[0.042261,-0.154895,0.987027]]
2025-10-26T23:19:59.788Z,1761520799.788 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:00.040Z,1761520800.040 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:00.154Z,1761520800.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904596,0.413855,0.102122],[-0.424365,-0.896948,-0.124094],[0.040241,-0.155592,0.987001]]
2025-10-26T23:20:00.292Z,1761520800.292 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:00.547Z,1761520800.547 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:00.616Z,1761520800.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904686,0.414048,0.100533],[-0.424360,-0.896766,-0.125416],[0.038227,-0.156125,0.986997]]
2025-10-26T23:20:00.797Z,1761520800.797 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:00.967Z,1761520800.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904670,0.414656,0.098147],[-0.424598,-0.896625,-0.125619],[0.035912,-0.155316,0.987212]]
2025-10-26T23:20:01.049Z,1761520801.049 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:01.300Z,1761520801.300 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:01.370Z,1761520801.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904550,0.415194,0.096965],[-0.425040,-0.896035,-0.128303],[0.033613,-0.157271,0.986983]]
2025-10-26T23:20:01.411Z,1761520801.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:01.552Z,1761520801.552 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:01.774Z,1761520801.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904415,0.415922,0.095087],[-0.425485,-0.895732,-0.128942],[0.031543,-0.157075,0.987083]]
2025-10-26T23:20:01.808Z,1761520801.808 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:02.056Z,1761520802.056 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:02.180Z,1761520802.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904135,0.416982,0.093086],[-0.426215,-0.895413,-0.128747],[0.029665,-0.156079,0.987299]]
2025-10-26T23:20:02.309Z,1761520802.309 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:02.562Z,1761520802.562 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:02.634Z,1761520802.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903520,0.418938,0.090239],[-0.427718,-0.894643,-0.129117],[0.026640,-0.155257,0.987515]]
2025-10-26T23:20:02.812Z,1761520802.812 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:03.064Z,1761520803.064 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:03.316Z,1761520803.316 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:03.390Z,1761520803.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903338,0.419675,0.088622],[-0.428188,-0.894466,-0.128783],[0.025222,-0.154282,0.987705]]
2025-10-26T23:20:03.435Z,1761520803.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:03.569Z,1761520803.569 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:03.794Z,1761520803.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902937,0.420686,0.087908],[-0.429086,-0.893992,-0.129090],[0.024283,-0.154280,0.987729]]
2025-10-26T23:20:03.820Z,1761520803.820 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:04.073Z,1761520804.073 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:04.205Z,1761520804.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902503,0.421679,0.087612],[-0.430035,-0.893464,-0.129581],[0.023636,-0.154623,0.987691]]
2025-10-26T23:20:04.325Z,1761520804.325 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:04.579Z,1761520804.579 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:04.667Z,1761520804.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901776,0.423553,0.086041],[-0.431668,-0.892534,-0.130558],[0.021496,-0.154875,0.987700]]
2025-10-26T23:20:04.829Z,1761520804.829 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:05.081Z,1761520805.081 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:05.332Z,1761520805.332 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:05.417Z,1761520805.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901700,0.424206,0.083580],[-0.431930,-0.892446,-0.130297],[0.019318,-0.153589,0.987946]]
2025-10-26T23:20:05.585Z,1761520805.585 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:05.836Z,1761520805.836 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:05.890Z,1761520805.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:06.089Z,1761520806.089 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:06.226Z,1761520806.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901646,0.424686,0.081706],[-0.432132,-0.892225,-0.131138],[0.017207,-0.153547,0.987991]]
2025-10-26T23:20:06.340Z,1761520806.340 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:06.593Z,1761520806.593 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:06.691Z,1761520806.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901887,0.424361,0.080732],[-0.431665,-0.892415,-0.131381],[0.016294,-0.153340,0.988039]]
2025-10-26T23:20:06.844Z,1761520806.844 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:07.029Z,1761520807.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901944,0.424387,0.079954],[-0.431582,-0.892355,-0.132055],[0.015305,-0.153613,0.988012]]
2025-10-26T23:20:07.096Z,1761520807.096 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:07.348Z,1761520807.348 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:07.431Z,1761520807.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902635,0.423233,0.078255],[-0.430169,-0.893148,-0.131307],[0.014320,-0.152185,0.988248]]
2025-10-26T23:20:07.600Z,1761520807.600 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:07.834Z,1761520807.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903239,0.422131,0.077232],[-0.428930,-0.893661,-0.131868],[0.013354,-0.152235,0.988254]]
2025-10-26T23:20:07.852Z,1761520807.852 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:08.104Z,1761520808.104 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:08.238Z,1761520808.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903815,0.421062,0.076318],[-0.427744,-0.894100,-0.132740],[0.012344,-0.152617,0.988208]]
2025-10-26T23:20:08.254Z,1761520808.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:08.356Z,1761520808.356 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:08.608Z,1761520808.608 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:08.647Z,1761520808.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904374,0.420106,0.074964],[-0.426594,-0.894617,-0.132955],[0.011209,-0.152220,0.988283]]
2025-10-26T23:20:08.860Z,1761520808.860 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:09.049Z,1761520809.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905088,0.418735,0.074010],[-0.425100,-0.895231,-0.133606],[0.010311,-0.152387,0.988267]]
2025-10-26T23:20:09.112Z,1761520809.112 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:09.364Z,1761520809.364 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:09.451Z,1761520809.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905673,0.417557,0.073508],[-0.423872,-0.895604,-0.135006],[0.009461,-0.153429,0.988114]]
2025-10-26T23:20:09.618Z,1761520809.618 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:09.854Z,1761520809.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906383,0.416242,0.072195],[-0.422373,-0.896281,-0.135208],[0.008428,-0.153043,0.988183]]
2025-10-26T23:20:09.868Z,1761520809.868 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:10.120Z,1761520810.120 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:10.260Z,1761520810.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906781,0.415540,0.071241],[-0.421537,-0.896571,-0.135895],[0.007403,-0.153258,0.988158]]
2025-10-26T23:20:10.276Z,1761520810.276 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:10.372Z,1761520810.372 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:10.624Z,1761520810.624 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:10.669Z,1761520810.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906971,0.415268,0.070403],[-0.421144,-0.896688,-0.136344],[0.006510,-0.153309,0.988157]]
2025-10-26T23:20:10.876Z,1761520810.876 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:11.075Z,1761520811.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907121,0.414992,0.070092],[-0.420830,-0.896647,-0.137571],[0.005757,-0.154290,0.988009]]
2025-10-26T23:20:11.128Z,1761520811.128 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:11.380Z,1761520811.380 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:11.470Z,1761520811.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907116,0.415076,0.069660],[-0.420852,-0.896495,-0.138491],[0.004966,-0.154944,0.987911]]
2025-10-26T23:20:11.632Z,1761520811.632 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:11.875Z,1761520811.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906966,0.415466,0.069289],[-0.421183,-0.896192,-0.139445],[0.004161,-0.155655,0.987803]]
2025-10-26T23:20:11.884Z,1761520811.884 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:12.137Z,1761520812.137 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:12.281Z,1761520812.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906619,0.416280,0.068940],[-0.421937,-0.895712,-0.140249],[0.003368,-0.156241,0.987713]]
2025-10-26T23:20:12.298Z,1761520812.298 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:12.388Z,1761520812.388 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:12.640Z,1761520812.640 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:12.683Z,1761520812.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906240,0.417183,0.068464],[-0.422756,-0.895232,-0.140843],[0.002534,-0.156581,0.987662]]
2025-10-26T23:20:12.892Z,1761520812.892 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:13.090Z,1761520813.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905847,0.418159,0.067711],[-0.423601,-0.894966,-0.139998],[0.002057,-0.155499,0.987834]]
2025-10-26T23:20:13.144Z,1761520813.144 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:13.396Z,1761520813.396 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:13.497Z,1761520813.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905192,0.419653,0.067224],[-0.425000,-0.894323,-0.139857],[0.001428,-0.155168,0.987887]]
2025-10-26T23:20:13.648Z,1761520813.648 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:13.894Z,1761520813.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904702,0.420824,0.066491],[-0.426044,-0.893901,-0.139383],[0.000781,-0.154428,0.988004]]
2025-10-26T23:20:13.900Z,1761520813.900 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:14.152Z,1761520814.152 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:14.298Z,1761520814.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904187,0.421962,0.066287],[-0.427136,-0.893382,-0.139365],[0.000413,-0.154326,0.988020]]
2025-10-26T23:20:14.332Z,1761520814.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:14.405Z,1761520814.405 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:14.656Z,1761520814.656 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:14.704Z,1761520814.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903730,0.423002,0.065887],[-0.428102,-0.892937,-0.139252],[-0.000071,-0.154052,0.988063]]
2025-10-26T23:20:14.908Z,1761520814.908 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:15.108Z,1761520815.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903449,0.423646,0.065598],[-0.428695,-0.892760,-0.138564],[-0.000139,-0.153307,0.988179]]
2025-10-26T23:20:15.160Z,1761520815.160 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:15.412Z,1761520815.412 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:15.518Z,1761520815.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903225,0.424129,0.065570],[-0.429168,-0.892529,-0.138592],[-0.000258,-0.153320,0.988177]]
2025-10-26T23:20:15.664Z,1761520815.664 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:15.916Z,1761520815.916 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:15.962Z,1761520815.962 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +748,   -38,A
2025-10-26T23:20:16.168Z,1761520816.168 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:16.320Z,1761520816.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903146,0.424441,0.064626],[-0.429333,-0.892833,-0.136101],[-0.000066,-0.150665,0.988585]]
2025-10-26T23:20:16.386Z,1761520816.386 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:16.424Z,1761520816.424 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:16.676Z,1761520816.676 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:16.728Z,1761520816.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903365,0.424016,0.064352],[-0.428871,-0.893208,-0.135086],[0.000201,-0.149631,0.988742]]
2025-10-26T23:20:16.928Z,1761520816.928 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:17.126Z,1761520817.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903657,0.423425,0.064147],[-0.428256,-0.893572,-0.134628],[0.000315,-0.149130,0.988818]]
2025-10-26T23:20:17.180Z,1761520817.180 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:17.432Z,1761520817.432 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:17.531Z,1761520817.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904225,0.422333,0.063344],[-0.427057,-0.894191,-0.134332],[-0.000091,-0.148517,0.988910]]
2025-10-26T23:20:17.684Z,1761520817.684 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:17.936Z,1761520817.936 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:17.937Z,1761520817.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904786,0.421315,0.062101],[-0.425865,-0.894635,-0.135157],[-0.001386,-0.148735,0.988876]]
2025-10-26T23:20:18.080Z,1761520818.080 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:20:18.188Z,1761520818.188 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:18.338Z,1761520818.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905461,0.420130,0.060254],[-0.424416,-0.895160,-0.136235],[-0.003299,-0.148928,0.988842]]
2025-10-26T23:20:18.440Z,1761520818.440 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:18.692Z,1761520818.692 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:18.744Z,1761520818.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906082,0.418987,0.058872],[-0.423070,-0.895447,-0.138514],[-0.005319,-0.150412,0.988609]]
2025-10-26T23:20:18.784Z,1761520818.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:18.944Z,1761520818.944 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:19.084Z,1761520819.084 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:20:19.147Z,1761520819.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906817,0.417700,0.056649],[-0.421458,-0.896079,-0.139342],[-0.007441,-0.150233,0.988623]]
2025-10-26T23:20:19.196Z,1761520819.196 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:19.448Z,1761520819.448 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:19.568Z,1761520819.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907607,0.416311,0.054174],[-0.419705,-0.896738,-0.140383],[-0.009863,-0.150150,0.988614]]
2025-10-26T23:20:19.700Z,1761520819.700 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:19.952Z,1761520819.952 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:19.956Z,1761520819.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907912,0.415925,0.051973],[-0.418976,-0.896831,-0.141961],[-0.012434,-0.150664,0.988507]]
2025-10-26T23:20:20.204Z,1761520820.204 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:20.358Z,1761520820.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908216,0.415521,0.049854],[-0.418241,-0.896992,-0.143108],[-0.014745,-0.150824,0.988451]]
2025-10-26T23:20:20.456Z,1761520820.456 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:20.708Z,1761520820.708 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:20.762Z,1761520820.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908403,0.415368,0.047683],[-0.417739,-0.896995,-0.144548],[-0.017269,-0.151227,0.988348]]
2025-10-26T23:20:20.960Z,1761520820.960 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:21.168Z,1761520821.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908409,0.415606,0.045441],[-0.417618,-0.896901,-0.145478],[-0.019706,-0.151130,0.988317]]
2025-10-26T23:20:21.207Z,1761520821.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:21.212Z,1761520821.212 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:21.464Z,1761520821.464 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:21.575Z,1761520821.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908241,0.416147,0.043810],[-0.417861,-0.896449,-0.147550],[-0.022129,-0.152317,0.988084]]
2025-10-26T23:20:21.717Z,1761520821.717 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:21.972Z,1761520821.972 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:21.976Z,1761520821.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907796,0.417286,0.042180],[-0.418704,-0.895827,-0.148934],[-0.024362,-0.152862,0.987947]]
2025-10-26T23:20:22.227Z,1761520822.227 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:22.378Z,1761520822.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907375,0.418472,0.039392],[-0.419458,-0.895520,-0.148660],[-0.026934,-0.151414,0.988103]]
2025-10-26T23:20:22.476Z,1761520822.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:22.729Z,1761520822.729 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:22.785Z,1761520822.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906885,0.419695,0.037619],[-0.420346,-0.894810,-0.150416],[-0.029467,-0.152223,0.987907]]
2025-10-26T23:20:22.980Z,1761520822.980 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:23.186Z,1761520823.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906303,0.421150,0.035333],[-0.421415,-0.894202,-0.151037],[-0.032014,-0.151775,0.987896]]
2025-10-26T23:20:23.229Z,1761520823.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:23.232Z,1761520823.232 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:23.484Z,1761520823.484 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:23.590Z,1761520823.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905826,0.422292,0.033900],[-0.422303,-0.893673,-0.151686],[-0.033761,-0.151717,0.987847]]
2025-10-26T23:20:23.737Z,1761520823.737 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:23.988Z,1761520823.988 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:23.996Z,1761520823.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905358,0.423352,0.033152],[-0.423215,-0.893143,-0.152262],[-0.034851,-0.151882,0.987784]]
2025-10-26T23:20:24.240Z,1761520824.240 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:24.398Z,1761520824.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905151,0.423897,0.031837],[-0.423567,-0.893037,-0.151906],[-0.035961,-0.150983,0.987882]]
2025-10-26T23:20:24.493Z,1761520824.493 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:24.744Z,1761520824.744 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:24.802Z,1761520824.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904965,0.424361,0.030921],[-0.423873,-0.892829,-0.152277],[-0.037013,-0.150912,0.987854]]
2025-10-26T23:20:24.996Z,1761520824.996 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:25.206Z,1761520825.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905129,0.424086,0.029880],[-0.423458,-0.893084,-0.151935],[-0.037748,-0.150174,0.987939]]
2025-10-26T23:20:25.248Z,1761520825.248 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:25.257Z,1761520825.257 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:25.500Z,1761520825.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:25.613Z,1761520825.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905260,0.423872,0.028937],[-0.423096,-0.893214,-0.152181],[-0.038658,-0.150006,0.987929]]
2025-10-26T23:20:25.752Z,1761520825.752 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:26.004Z,1761520826.004 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:26.256Z,1761520826.256 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:26.419Z,1761520826.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906334,0.421731,0.026485],[-0.420636,-0.894452,-0.151724],[-0.040297,-0.148653,0.988068]]
2025-10-26T23:20:26.508Z,1761520826.508 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:26.760Z,1761520826.760 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:26.822Z,1761520826.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906917,0.420534,0.025536],[-0.419284,-0.894964,-0.152449],[-0.041256,-0.148965,0.987981]]
2025-10-26T23:20:27.012Z,1761520827.012 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:27.226Z,1761520827.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907621,0.419083,0.024369],[-0.417644,-0.895594,-0.153246],[-0.042398,-0.149267,0.987888]]
2025-10-26T23:20:27.264Z,1761520827.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:27.284Z,1761520827.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:27.516Z,1761520827.516 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:27.631Z,1761520827.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908315,0.417605,0.023866],[-0.416024,-0.896002,-0.155256],[-0.043451,-0.150950,0.987586]]
2025-10-26T23:20:27.768Z,1761520827.768 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:28.020Z,1761520828.020 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:28.053Z,1761520828.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909137,0.415904,0.022225],[-0.414104,-0.896915,-0.155116],[-0.044579,-0.150225,0.987646]]
2025-10-26T23:20:28.272Z,1761520828.272 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:28.438Z,1761520828.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909669,0.414753,0.021979],[-0.412831,-0.897114,-0.157346],[-0.045542,-0.152206,0.987299]]
2025-10-26T23:20:28.525Z,1761520828.525 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:28.777Z,1761520828.777 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:28.845Z,1761520828.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910096,0.413856,0.021159],[-0.411743,-0.897322,-0.159000],[-0.046817,-0.153417,0.987052]]
2025-10-26T23:20:29.032Z,1761520829.032 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:29.246Z,1761520829.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910212,0.413637,0.020449],[-0.411333,-0.897193,-0.160777],[-0.048156,-0.154753,0.986779]]
2025-10-26T23:20:29.280Z,1761520829.280 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:29.373Z,1761520829.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:29.533Z,1761520829.533 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:29.650Z,1761520829.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910139,0.413836,0.019657],[-0.411324,-0.896900,-0.162429],[-0.049589,-0.155918,0.986525]]
2025-10-26T23:20:29.784Z,1761520829.784 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:30.039Z,1761520830.039 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:30.062Z,1761520830.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909921,0.414362,0.018665],[-0.411624,-0.896535,-0.163679],[-0.051089,-0.156618,0.986337]]
2025-10-26T23:20:30.288Z,1761520830.288 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:30.460Z,1761520830.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909512,0.415283,0.018135],[-0.412372,-0.895927,-0.165115],[-0.052321,-0.157652,0.986108]]
2025-10-26T23:20:30.544Z,1761520830.544 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:30.792Z,1761520830.792 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:30.862Z,1761520830.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909026,0.416390,0.017054],[-0.413313,-0.895561,-0.164748],[-0.053326,-0.156809,0.986188]]
2025-10-26T23:20:31.047Z,1761520831.047 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:31.266Z,1761520831.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908439,0.417705,0.016152],[-0.414425,-0.894904,-0.165525],[-0.054686,-0.157063,0.986073]]
2025-10-26T23:20:31.296Z,1761520831.296 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:31.549Z,1761520831.549 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:31.670Z,1761520831.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907674,0.419396,0.015315],[-0.415945,-0.894153,-0.165774],[-0.055831,-0.156839,0.986045]]
2025-10-26T23:20:31.687Z,1761520831.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:31.801Z,1761520831.801 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:32.055Z,1761520832.055 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:32.090Z,1761520832.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906889,0.421106,0.014879],[-0.417493,-0.893209,-0.166966],[-0.057020,-0.157632,0.985850]]
2025-10-26T23:20:32.306Z,1761520832.306 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:32.478Z,1761520832.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906116,0.422777,0.014578],[-0.419146,-0.892608,-0.166034],[-0.057183,-0.156556,0.986012]]
2025-10-26T23:20:32.556Z,1761520832.556 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:32.808Z,1761520832.808 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:32.886Z,1761520832.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905537,0.424039,0.013885],[-0.420384,-0.892352,-0.164274],[-0.057269,-0.154593,0.986317]]
2025-10-26T23:20:33.070Z,1761520833.070 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:33.320Z,1761520833.320 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:33.572Z,1761520833.572 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:33.692Z,1761520833.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904561,0.426144,0.013056],[-0.422517,-0.891927,-0.161076],[-0.056996,-0.151220,0.986856]]
2025-10-26T23:20:33.713Z,1761520833.713 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:33.824Z,1761520833.824 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:34.079Z,1761520834.079 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:34.118Z,1761520834.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904408,0.426463,0.013206],[-0.422945,-0.892007,-0.159501],[-0.056241,-0.149840,0.987109]]
2025-10-26T23:20:34.328Z,1761520834.328 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:34.498Z,1761520834.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904283,0.426709,0.013836],[-0.423276,-0.891835,-0.159587],[-0.055758,-0.150168,0.987087]]
2025-10-26T23:20:34.581Z,1761520834.581 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:34.832Z,1761520834.832 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:34.906Z,1761520834.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904693,0.425807,0.014785],[-0.422537,-0.892211,-0.159440],[-0.054700,-0.150492,0.987097]]
2025-10-26T23:20:35.086Z,1761520835.086 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:35.308Z,1761520835.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905124,0.424862,0.015581],[-0.421747,-0.892654,-0.159057],[-0.053669,-0.150537,0.987146]]
2025-10-26T23:20:35.336Z,1761520835.336 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:35.588Z,1761520835.588 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:35.717Z,1761520835.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905715,0.423607,0.015419],[-0.420529,-0.893376,-0.158226],[-0.053250,-0.149792,0.987283]]
2025-10-26T23:20:35.740Z,1761520835.740 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:35.843Z,1761520835.843 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:36.094Z,1761520836.094 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:36.344Z,1761520836.344 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:36.524Z,1761520836.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906945,0.420888,0.017438],[-0.418149,-0.894487,-0.158253],[-0.051008,-0.150819,0.987245]]
2025-10-26T23:20:36.604Z,1761520836.604 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:36.856Z,1761520836.856 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:36.926Z,1761520836.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907584,0.419477,0.018183],[-0.416874,-0.895096,-0.158174],[-0.050075,-0.151136,0.987244]]
2025-10-26T23:20:37.111Z,1761520837.111 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:37.327Z,1761520837.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908183,0.418096,0.020017],[-0.415682,-0.895261,-0.160364],[-0.049127,-0.153960,0.986855]]
2025-10-26T23:20:37.360Z,1761520837.360 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:37.612Z,1761520837.612 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:37.735Z,1761520837.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908727,0.416905,0.020150],[-0.414525,-0.895783,-0.160444],[-0.048840,-0.154152,0.986839]]
2025-10-26T23:20:37.764Z,1761520837.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:37.864Z,1761520837.864 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:38.125Z,1761520838.125 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:38.172Z,1761520838.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908989,0.416319,0.020404],[-0.413960,-0.895948,-0.160979],[-0.048738,-0.154774,0.986747]]
2025-10-26T23:20:38.368Z,1761520838.368 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:38.545Z,1761520838.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909173,0.415908,0.020622],[-0.413579,-0.896091,-0.161161],[-0.048549,-0.155051,0.986713]]
2025-10-26T23:20:38.621Z,1761520838.621 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:38.872Z,1761520838.872 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:38.955Z,1761520838.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909391,0.415426,0.020744],[-0.413138,-0.896350,-0.160854],[-0.048229,-0.154849,0.986760]]
2025-10-26T23:20:39.126Z,1761520839.126 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:39.346Z,1761520839.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909506,0.415153,0.021139],[-0.412913,-0.896391,-0.161203],[-0.047975,-0.155343,0.986695]]
2025-10-26T23:20:39.376Z,1761520839.376 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:39.628Z,1761520839.628 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:39.750Z,1761520839.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909403,0.415346,0.021779],[-0.413175,-0.896167,-0.161773],[-0.047675,-0.156116,0.986588]]
2025-10-26T23:20:39.768Z,1761520839.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:39.882Z,1761520839.882 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:40.138Z,1761520840.138 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:40.199Z,1761520840.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909504,0.415124,0.021775],[-0.412993,-0.896390,-0.161004],[-0.047318,-0.155427,0.986713]]
2025-10-26T23:20:40.388Z,1761520840.388 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:40.558Z,1761520840.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909209,0.415741,0.022350],[-0.413658,-0.895963,-0.161670],[-0.047188,-0.156237,0.986592]]
2025-10-26T23:20:40.640Z,1761520840.640 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:40.892Z,1761520840.892 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:40.965Z,1761520840.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908882,0.416385,0.023593],[-0.414395,-0.895268,-0.163620],[-0.047007,-0.158488,0.986241]]
2025-10-26T23:20:41.146Z,1761520841.146 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:41.366Z,1761520841.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908493,0.417186,0.024432],[-0.415276,-0.894699,-0.164495],[-0.046765,-0.159589,0.986075]]
2025-10-26T23:20:41.396Z,1761520841.396 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:41.648Z,1761520841.648 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:41.771Z,1761520841.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908310,0.417563,0.024774],[-0.415721,-0.894568,-0.164085],[-0.046354,-0.159339,0.986135]]
2025-10-26T23:20:41.803Z,1761520841.803 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:41.900Z,1761520841.900 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:42.152Z,1761520842.152 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:42.226Z,1761520842.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907952,0.418326,0.025034],[-0.416554,-0.894338,-0.163227],[-0.045894,-0.158631,0.986271]]
2025-10-26T23:20:42.404Z,1761520842.404 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:42.579Z,1761520842.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907508,0.419295,0.024924],[-0.417581,-0.894210,-0.161292],[-0.045342,-0.156782,0.986592]]
2025-10-26T23:20:42.656Z,1761520842.656 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:42.908Z,1761520842.908 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:42.993Z,1761520842.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907224,0.419922,0.024713],[-0.418255,-0.894245,-0.159339],[-0.044810,-0.154893,0.986915]]
2025-10-26T23:20:43.162Z,1761520843.162 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:43.386Z,1761520843.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907162,0.420031,0.025131],[-0.418435,-0.894190,-0.159176],[-0.044387,-0.154914,0.986930]]
2025-10-26T23:20:43.412Z,1761520843.412 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:43.664Z,1761520843.664 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:43.790Z,1761520843.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906913,0.420551,0.025409],[-0.419036,-0.894093,-0.158133],[-0.043785,-0.154060,0.987091]]
2025-10-26T23:20:43.879Z,1761520843.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:43.936Z,1761520843.936 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:44.188Z,1761520844.188 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:44.216Z,1761520844.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906715,0.420963,0.025670],[-0.419567,-0.894182,-0.156211],[-0.042805,-0.152409,0.987390]]
2025-10-26T23:20:44.440Z,1761520844.440 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:44.692Z,1761520844.692 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:44.944Z,1761520844.944 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:45.025Z,1761520845.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906317,0.421748,0.026812],[-0.420547,-0.893855,-0.155447],[-0.041593,-0.152160,0.987480]]
2025-10-26T23:20:45.198Z,1761520845.198 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:45.452Z,1761520845.452 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:45.700Z,1761520845.700 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:45.810Z,1761520845.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906280,0.421768,0.027731],[-0.420775,-0.894036,-0.153779],[-0.040066,-0.151035,0.987716]]
2025-10-26T23:20:45.953Z,1761520845.953 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:46.210Z,1761520846.210 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:46.240Z,1761520846.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906193,0.421894,0.028647],[-0.421055,-0.893979,-0.153346],[-0.039086,-0.151023,0.987757]]
2025-10-26T23:20:46.299Z,1761520846.299 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:46.464Z,1761520846.464 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:46.618Z,1761520846.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906018,0.422211,0.029481],[-0.421530,-0.893914,-0.152418],[-0.037999,-0.150521,0.987876]]
2025-10-26T23:20:46.717Z,1761520846.717 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:46.968Z,1761520846.968 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:47.029Z,1761520847.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906049,0.422063,0.030632],[-0.421571,-0.893958,-0.152039],[-0.036787,-0.150669,0.987900]]
2025-10-26T23:20:47.222Z,1761520847.222 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:47.427Z,1761520847.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906118,0.421810,0.032022],[-0.421542,-0.894021,-0.151751],[-0.035382,-0.151003,0.987900]]
2025-10-26T23:20:47.472Z,1761520847.472 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:47.724Z,1761520847.724 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:47.832Z,1761520847.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905917,0.422150,0.033218],[-0.422067,-0.893822,-0.151467],[-0.034251,-0.151236,0.987904]]
2025-10-26T23:20:47.976Z,1761520847.976 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:48.228Z,1761520848.228 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:48.240Z,1761520848.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905907,0.422079,0.034370],[-0.422186,-0.893839,-0.151034],[-0.033027,-0.151333,0.987931]]
2025-10-26T23:20:48.321Z,1761520848.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:48.480Z,1761520848.480 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:48.644Z,1761520848.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905863,0.422052,0.035838],[-0.422388,-0.893778,-0.150828],[-0.031626,-0.151767,0.987910]]
2025-10-26T23:20:48.733Z,1761520848.733 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:48.985Z,1761520848.985 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:49.046Z,1761520849.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905982,0.421688,0.037105],[-0.422232,-0.893910,-0.150485],[-0.030289,-0.152003,0.987916]]
2025-10-26T23:20:49.220Z,1761520849.220 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:20:49.239Z,1761520849.239 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:49.447Z,1761520849.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905991,0.421479,0.039186],[-0.422325,-0.893761,-0.151105],[-0.028665,-0.153449,0.987741]]
2025-10-26T23:20:49.489Z,1761520849.489 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:49.740Z,1761520849.740 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:49.850Z,1761520849.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906091,0.421020,0.041723],[-0.422227,-0.893584,-0.152419],[-0.026888,-0.155722,0.987435]]
2025-10-26T23:20:49.993Z,1761520849.993 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:50.224Z,1761520850.224 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:20:50.256Z,1761520850.256 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:50.261Z,1761520850.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905941,0.420944,0.045582],[-0.422725,-0.893135,-0.153668],[-0.023975,-0.158483,0.987071]]
2025-10-26T23:20:50.352Z,1761520850.352 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:50.505Z,1761520850.505 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:50.666Z,1761520850.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905912,0.420878,0.046742],[-0.422849,-0.893115,-0.153440],[-0.022834,-0.158767,0.987052]]
2025-10-26T23:20:50.756Z,1761520850.756 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:51.008Z,1761520851.008 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:51.075Z,1761520851.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905977,0.420624,0.047758],[-0.422779,-0.893291,-0.152606],[-0.021528,-0.158448,0.987133]]
2025-10-26T23:20:51.260Z,1761520851.260 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:51.470Z,1761520851.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905855,0.420783,0.048666],[-0.423098,-0.893291,-0.151725],[-0.020371,-0.158031,0.987224]]
2025-10-26T23:20:51.513Z,1761520851.513 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:51.764Z,1761520851.764 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:51.873Z,1761520851.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905646,0.421095,0.049851],[-0.423601,-0.893128,-0.151273],[-0.019177,-0.158117,0.987234]]
2025-10-26T23:20:52.017Z,1761520852.017 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:52.268Z,1761520852.268 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:52.276Z,1761520852.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905530,0.421227,0.050822],[-0.423898,-0.893104,-0.150581],[-0.018040,-0.157899,0.987290]]
2025-10-26T23:20:52.520Z,1761520852.520 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:52.684Z,1761520852.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905228,0.421734,0.051982],[-0.424591,-0.892866,-0.150046],[-0.016867,-0.157897,0.987311]]
2025-10-26T23:20:52.741Z,1761520852.741 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:52.772Z,1761520852.772 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:53.024Z,1761520853.024 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:53.082Z,1761520853.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905008,0.422118,0.052698],[-0.425101,-0.892818,-0.148881],[-0.015796,-0.157140,0.987450]]
2025-10-26T23:20:53.276Z,1761520853.276 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:53.491Z,1761520853.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904792,0.422529,0.053115],[-0.425598,-0.892853,-0.147240],[-0.014789,-0.155827,0.987674]]
2025-10-26T23:20:53.528Z,1761520853.528 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:53.780Z,1761520853.780 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:53.891Z,1761520853.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904532,0.422983,0.053925],[-0.426186,-0.892734,-0.146257],[-0.013723,-0.155276,0.987776]]
2025-10-26T23:20:54.034Z,1761520854.034 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:54.288Z,1761520854.288 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:54.299Z,1761520854.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904175,0.423648,0.054672],[-0.426972,-0.892531,-0.145199],[-0.012717,-0.154628,0.987891]]
2025-10-26T23:20:54.540Z,1761520854.540 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:54.699Z,1761520854.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903824,0.424298,0.055435],[-0.427744,-0.892329,-0.144169],[-0.011704,-0.154016,0.987999]]
2025-10-26T23:20:54.757Z,1761520854.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:54.792Z,1761520854.792 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:55.045Z,1761520855.045 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:55.103Z,1761520855.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903477,0.424964,0.055994],[-0.428505,-0.892218,-0.142588],[-0.010636,-0.152819,0.988197]]
2025-10-26T23:20:55.296Z,1761520855.296 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:55.514Z,1761520855.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903369,0.425111,0.056618],[-0.428760,-0.892320,-0.141172],[-0.009492,-0.151806,0.988365]]
2025-10-26T23:20:55.548Z,1761520855.548 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:55.800Z,1761520855.800 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:55.912Z,1761520855.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903099,0.425557,0.057559],[-0.429353,-0.892206,-0.140086],[-0.008260,-0.151224,0.988465]]
2025-10-26T23:20:56.053Z,1761520856.053 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:56.304Z,1761520856.304 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:56.315Z,1761520856.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902872,0.425831,0.059075],[-0.429855,-0.892000,-0.139859],[-0.006862,-0.151668,0.988408]]
2025-10-26T23:20:56.556Z,1761520856.556 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:56.722Z,1761520856.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902460,0.426493,0.060585],[-0.430738,-0.891589,-0.139761],[-0.005590,-0.152225,0.988330]]
2025-10-26T23:20:56.770Z,1761520856.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:56.808Z,1761520856.808 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:57.064Z,1761520857.064 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:57.126Z,1761520857.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902325,0.426587,0.061919],[-0.431035,-0.891467,-0.139626],[-0.004364,-0.152678,0.988266]]
2025-10-26T23:20:57.312Z,1761520857.312 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:57.528Z,1761520857.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902359,0.426354,0.063012],[-0.430973,-0.891555,-0.139255],[-0.003193,-0.152815,0.988250]]
2025-10-26T23:20:57.564Z,1761520857.564 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:57.816Z,1761520857.816 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:57.930Z,1761520857.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902316,0.426243,0.064357],[-0.431070,-0.891509,-0.139248],[-0.001978,-0.153388,0.988164]]
2025-10-26T23:20:58.068Z,1761520858.068 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:58.320Z,1761520858.320 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:58.335Z,1761520858.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902202,0.426324,0.065409],[-0.431312,-0.891465,-0.138784],[-0.000857,-0.153423,0.988160]]
2025-10-26T23:20:58.572Z,1761520858.572 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:58.750Z,1761520858.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902160,0.426198,0.066808],[-0.431403,-0.891358,-0.139189],[0.000227,-0.154391,0.988010]]
2025-10-26T23:20:58.810Z,1761520858.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:20:58.824Z,1761520858.824 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:59.076Z,1761520859.076 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:59.150Z,1761520859.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902195,0.425999,0.067597],[-0.431327,-0.891490,-0.138575],[0.001229,-0.154178,0.988042]]
2025-10-26T23:20:59.188Z,1761520859.188 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern](INFO): Timed out from 2025-10-26T23:15:59.0Z
2025-10-26T23:20:59.188Z,1761520859.188 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout] Running Loop=1
2025-10-26T23:20:59.189Z,1761520859.189 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout
2025-10-26T23:20:59.189Z,1761520859.189 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A] Running Loop=1
2025-10-26T23:20:59.189Z,1761520859.189 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A](IMPORTANT): Timed out while executing search pattern around dock waypoint.
2025-10-26T23:20:59.189Z,1761520859.189 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A] Stopped
2025-10-26T23:20:59.189Z,1761520859.189 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout
2025-10-26T23:20:59.189Z,1761520859.189 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern] Stopped
2025-10-26T23:20:59.189Z,1761520859.189 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern
2025-10-26T23:20:59.190Z,1761520859.190 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle] Stopped
2025-10-26T23:20:59.190Z,1761520859.190 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Uninitialize.
2025-10-26T23:20:59.190Z,1761520859.190 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait] Stopped
2025-10-26T23:20:59.190Z,1761520859.190 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Uninitialize Wait Component.
2025-10-26T23:20:59.190Z,1761520859.190 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:H] Running Loop=1
2025-10-26T23:20:59.328Z,1761520859.328 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:59.546Z,1761520859.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902136,0.426008,0.068327],[-0.431447,-0.891532,-0.137929],[0.002157,-0.153910,0.988082]]
2025-10-26T23:20:59.580Z,1761520859.580 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:59.598Z,1761520859.598 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:H](IMPORTANT): Homing sequence timed out prior to docking.
2025-10-26T23:20:59.598Z,1761520859.598 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:H] Stopped
2025-10-26T23:20:59.598Z,1761520859.598 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:I] Running Loop=1
2025-10-26T23:20:59.832Z,1761520859.832 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:20:59.950Z,1761520859.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902238,0.425692,0.068943],[-0.431227,-0.891756,-0.137167],[0.003089,-0.153487,0.988146]]
2025-10-26T23:20:59.999Z,1761520859.999 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:I] Stopped
2025-10-26T23:21:00.000Z,1761520860.000 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-10-26T23:21:00.001Z,1761520860.001 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-10-26T23:21:00.001Z,1761520860.001 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-10-26T23:21:00.001Z,1761520860.001 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-10-26T23:21:00.001Z,1761520860.001 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-10-26T23:21:00.001Z,1761520860.001 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-10-26T23:21:00.001Z,1761520860.001 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-10-26T23:21:00.084Z,1761520860.084 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:00.336Z,1761520860.336 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:00.356Z,1761520860.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902177,0.425682,0.069798],[-0.431348,-0.891767,-0.136716],[0.004046,-0.153449,0.988148]]
2025-10-26T23:21:00.373Z,1761520860.373 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-10-26T23:21:00.373Z,1761520860.373 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-10-26T23:21:00.373Z,1761520860.373 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-10-26T23:21:00.374Z,1761520860.374 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-10-26T23:21:00.374Z,1761520860.374 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-10-26T23:21:00.374Z,1761520860.374 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-10-26T23:21:00.374Z,1761520860.374 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-10-26T23:21:00.374Z,1761520860.374 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-10-26T23:21:00.588Z,1761520860.588 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:00.761Z,1761520860.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902244,0.425321,0.071117],[-0.431196,-0.891768,-0.137184],[0.005073,-0.154439,0.987989]]
2025-10-26T23:21:00.841Z,1761520860.841 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:01.092Z,1761520861.092 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:01.162Z,1761520861.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902004,0.425687,0.071971],[-0.431684,-0.891696,-0.136114],[0.006234,-0.153844,0.988075]]
2025-10-26T23:21:01.189Z,1761520861.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:21:01.344Z,1761520861.344 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:01.566Z,1761520861.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902047,0.425872,0.070320],[-0.431563,-0.892888,-0.128466],[0.008078,-0.146230,0.989218]]
2025-10-26T23:21:01.596Z,1761520861.596 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:01.848Z,1761520861.848 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:01.974Z,1761520861.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901961,0.426457,0.067833],[-0.431717,-0.893952,-0.120296],[0.009338,-0.137787,0.990418]]
2025-10-26T23:21:02.100Z,1761520862.100 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:02.352Z,1761520862.352 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:02.377Z,1761520862.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901236,0.428304,0.065802],[-0.433210,-0.894101,-0.113634],[0.010164,-0.130917,0.991341]]
2025-10-26T23:21:02.604Z,1761520862.604 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:02.778Z,1761520862.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900694,0.429859,0.063020],[-0.434322,-0.894464,-0.106293],[0.010678,-0.123109,0.992336]]
2025-10-26T23:21:02.856Z,1761520862.856 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:03.108Z,1761520863.108 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:03.182Z,1761520863.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900312,0.431034,0.060391],[-0.435106,-0.894816,-0.099930],[0.010966,-0.116245,0.993160]]
2025-10-26T23:21:03.210Z,1761520863.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:21:03.360Z,1761520863.360 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:03.586Z,1761520863.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899484,0.433064,0.058177],[-0.436808,-0.894624,-0.094061],[0.011312,-0.110019,0.993865]]
2025-10-26T23:21:03.612Z,1761520863.612 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:03.864Z,1761520863.864 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:03.000Z,1761520864.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899006,0.434315,0.056211],[-0.437782,-0.894672,-0.088934],[0.011665,-0.104560,0.994450]]
2025-10-26T23:21:04.017Z,1761520864.017 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-10-26T23:21:04.017Z,1761520864.017 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-10-26T23:21:04.017Z,1761520864.017 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-10-26T23:21:04.017Z,1761520864.017 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-10-26T23:21:04.116Z,1761520864.116 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:04.368Z,1761520864.368 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:04.394Z,1761520864.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898600,0.435377,0.054450],[-0.438605,-0.894705,-0.084431],[0.011958,-0.099752,0.994940]]
2025-10-26T23:21:04.421Z,1761520864.421 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode -1.000000 count 
2025-10-26T23:21:04.422Z,1761520864.422 [lineCaptureHoming:LineCapture:M] Stopped
2025-10-26T23:21:04.424Z,1761520864.424 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-10-26T23:21:04.424Z,1761520864.424 [lineCaptureHoming:LineCapture] Stopped
2025-10-26T23:21:04.424Z,1761520864.424 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-10-26T23:21:04.424Z,1761520864.424 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-10-26T23:21:04.424Z,1761520864.424 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-10-26T23:21:04.424Z,1761520864.424 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-10-26T23:21:04.424Z,1761520864.424 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-10-26T23:21:04.425Z,1761520864.425 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-10-26T23:21:04.425Z,1761520864.425 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-10-26T23:21:04.425Z,1761520864.425 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-10-26T23:21:04.425Z,1761520864.425 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-10-26T23:21:04.425Z,1761520864.425 [lineCaptureHoming:LineCapture:G] Stopped
2025-10-26T23:21:04.425Z,1761520864.425 [lineCaptureHoming:LineCapture:H] Stopped
2025-10-26T23:21:04.425Z,1761520864.425 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-10-26T23:21:04.425Z,1761520864.425 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-10-26T23:21:04.425Z,1761520864.425 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-10-26T23:21:04.425Z,1761520864.425 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-10-26T23:21:04.425Z,1761520864.425 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-10-26T23:21:04.425Z,1761520864.425 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-10-26T23:21:04.425Z,1761520864.425 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-26T23:21:04.425Z,1761520864.425 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-10-26T23:21:04.426Z,1761520864.426 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-10-26T23:21:04.620Z,1761520864.620 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:04.798Z,1761520864.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897969,0.436856,0.052988],[-0.439893,-0.894399,-0.080902],[0.012050,-0.095957,0.995313]]
2025-10-26T23:21:04.842Z,1761520864.842 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-10-26T23:21:04.842Z,1761520864.842 [lineCaptureHoming:Lap:B] Stopped
2025-10-26T23:21:04.842Z,1761520864.842 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-10-26T23:21:04.842Z,1761520864.842 [lineCaptureHoming:Lap:C] Running Loop=1
2025-10-26T23:21:04.884Z,1761520864.884 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:05.136Z,1761520865.136 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:05.202Z,1761520865.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897159,0.438621,0.052123],[-0.441537,-0.893823,-0.078266],[0.012260,-0.093232,0.995569]]
2025-10-26T23:21:05.234Z,1761520865.234 [lineCaptureHoming:Lap:C] Stopped
2025-10-26T23:21:05.234Z,1761520865.234 [lineCaptureHoming:Lap:D] Running Loop=1
2025-10-26T23:21:05.235Z,1761520865.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:21:05.388Z,1761520865.388 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:05.609Z,1761520865.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896482,0.440085,0.051436],[-0.442911,-0.893293,-0.076535],[0.012265,-0.091394,0.995739]]
2025-10-26T23:21:05.640Z,1761520865.640 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:05.735Z,1761520865.735 [lineCaptureHoming:Lap:D](INFO): Mode -1.000000 count 
2025-10-26T23:21:05.735Z,1761520865.735 [lineCaptureHoming:Lap:D] Stopped
2025-10-26T23:21:05.735Z,1761520865.735 [lineCaptureHoming:Lap:E] Running Loop=1
2025-10-26T23:21:05.736Z,1761520865.736 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-10-26T23:21:05.892Z,1761520865.892 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:06.010Z,1761520866.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896000,0.441159,0.050619],[-0.443891,-0.892918,-0.075223],[0.012013,-0.089869,0.995881]]
2025-10-26T23:21:06.038Z,1761520866.038 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-10-26T23:21:06.038Z,1761520866.038 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-10-26T23:21:06.038Z,1761520866.038 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-10-26T23:21:06.038Z,1761520866.038 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-10-26T23:21:06.039Z,1761520866.039 [lineCaptureHoming:restartDHCP:A] Stopped
2025-10-26T23:21:06.039Z,1761520866.039 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-10-26T23:21:06.144Z,1761520866.144 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:06.396Z,1761520866.396 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:06.414Z,1761520866.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895780,0.441699,0.049793],[-0.444338,-0.892816,-0.073772],[0.011871,-0.088208,0.996031]]
2025-10-26T23:21:06.450Z,1761520866.450 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-10-26T23:21:06.450Z,1761520866.450 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-10-26T23:21:06.450Z,1761520866.450 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-10-26T23:21:06.450Z,1761520866.450 [lineCaptureHoming:restartDHCP] Stopped
2025-10-26T23:21:06.450Z,1761520866.450 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-10-26T23:21:06.556Z,1761520866.556 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-10-26T23:21:06.649Z,1761520866.649 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:06.823Z,1761520866.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895623,0.441963,0.050273],[-0.444641,-0.892684,-0.073553],[0.012370,-0.088229,0.996023]]
2025-10-26T23:21:06.862Z,1761520866.862 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-10-26T23:21:06.862Z,1761520866.862 [lineCaptureHoming:Lap:E] Stopped
2025-10-26T23:21:06.862Z,1761520866.862 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-10-26T23:21:06.862Z,1761520866.862 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-10-26T23:21:06.862Z,1761520866.862 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-10-26T23:21:06.863Z,1761520866.863 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-10-26T23:21:06.900Z,1761520866.900 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:07.152Z,1761520867.152 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:07.222Z,1761520867.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895341,0.442508,0.050516],[-0.445204,-0.892415,-0.073413],[0.012596,-0.088220,0.996021]]
2025-10-26T23:21:07.253Z,1761520867.253 [lineCaptureHoming:Lap:Docked] Stopped
2025-10-26T23:21:07.253Z,1761520867.253 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-10-26T23:21:07.253Z,1761520867.253 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-10-26T23:21:07.253Z,1761520867.253 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2025-10-26T23:21:07.254Z,1761520867.254 [lineCaptureHoming:Lap] Stopped
2025-10-26T23:21:07.254Z,1761520867.254 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-10-26T23:21:07.254Z,1761520867.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-26T23:21:07.259Z,1761520867.259 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-10-26T23:21:07.259Z,1761520867.259 [MissionManager](INFO): lineCaptureHoming is completed.
2025-10-26T23:21:07.259Z,1761520867.259 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-10-26T23:21:07.259Z,1761520867.259 [lineCaptureHoming] Stopped
2025-10-26T23:21:07.259Z,1761520867.259 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-10-26T23:21:07.259Z,1761520867.259 [lineCaptureHoming:Science] Stopped
2025-10-26T23:21:07.260Z,1761520867.260 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-10-26T23:21:07.260Z,1761520867.260 [lineCaptureHoming:Science:B] Stopped
2025-10-26T23:21:07.260Z,1761520867.260 [lineCaptureHoming:Science:C] Stopped
2025-10-26T23:21:07.260Z,1761520867.260 [lineCaptureHoming:Science:E] Stopped
2025-10-26T23:21:07.260Z,1761520867.260 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-10-26T23:21:07.260Z,1761520867.260 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-10-26T23:21:07.260Z,1761520867.260 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-10-26T23:21:07.260Z,1761520867.260 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-10-26T23:21:07.261Z,1761520867.261 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-10-26T23:21:07.261Z,1761520867.261 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-10-26T23:21:07.261Z,1761520867.261 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-10-26T23:21:07.261Z,1761520867.261 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-10-26T23:21:07.261Z,1761520867.261 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-10-26T23:21:07.261Z,1761520867.261 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-10-26T23:21:07.261Z,1761520867.261 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-10-26T23:21:07.261Z,1761520867.261 [lineCaptureHoming:TrackAC.] Stopped
2025-10-26T23:21:07.262Z,1761520867.262 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-10-26T23:21:07.351Z,1761520867.351 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl
2025-10-26T23:21:07.404Z,1761520867.404 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:07.634Z,1761520867.634 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-10-26T23:21:07.634Z,1761520867.634 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-10-26T23:21:07.645Z,1761520867.645 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-10-26T23:21:07.656Z,1761520867.656 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:07.733Z,1761520867.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895310,0.442589,0.050358],[-0.445264,-0.892422,-0.072952],[0.012652,-0.087737,0.996063]]
2025-10-26T23:21:07.760Z,1761520867.760 [WetLabsBB2FL](INFO): Powering down
2025-10-26T23:21:07.908Z,1761520867.908 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:08.108Z,1761520868.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895310,0.442643,0.049863],[-0.445270,-0.892459,-0.072466],[0.012424,-0.087082,0.996124]]
2025-10-26T23:21:08.161Z,1761520868.161 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:08.412Z,1761520868.412 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:08.510Z,1761520868.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895384,0.442533,0.049527],[-0.445122,-0.892584,-0.071829],[0.012421,-0.086360,0.996187]]
2025-10-26T23:21:08.664Z,1761520868.664 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:08.914Z,1761520868.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895563,0.442241,0.048896],[-0.444767,-0.892823,-0.071058],[0.012230,-0.085384,0.996273]]
2025-10-26T23:21:08.916Z,1761520868.916 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:09.168Z,1761520869.168 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:09.321Z,1761520869.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895922,0.441646,0.047678],[-0.444056,-0.893277,-0.069785],[0.011770,-0.083693,0.996422]]
2025-10-26T23:21:09.420Z,1761520869.420 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:09.672Z,1761520869.672 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:09.723Z,1761520869.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896180,0.441224,0.046732],[-0.443543,-0.893621,-0.068634],[0.011478,-0.082236,0.996547]]
2025-10-26T23:21:09.924Z,1761520869.924 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:10.126Z,1761520870.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896630,0.440434,0.045525],[-0.442640,-0.894185,-0.067109],[0.011151,-0.080323,0.996706]]
2025-10-26T23:21:10.176Z,1761520870.176 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:10.428Z,1761520870.428 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:10.530Z,1761520870.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896923,0.439937,0.044552],[-0.442056,-0.894551,-0.066076],[0.010785,-0.078959,0.996819]]
2025-10-26T23:21:10.680Z,1761520870.680 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:10.932Z,1761520870.932 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:10.939Z,1761520870.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897355,0.439154,0.043572],[-0.441184,-0.895075,-0.064790],[0.010547,-0.077362,0.996947]]
2025-10-26T23:21:11.184Z,1761520871.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:11.338Z,1761520871.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897645,0.438663,0.042522],[-0.440604,-0.895432,-0.063801],[0.010088,-0.076006,0.997056]]
2025-10-26T23:21:11.436Z,1761520871.436 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:11.689Z,1761520871.689 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:11.743Z,1761520871.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897929,0.438165,0.041648],[-0.440033,-0.895770,-0.062986],[0.009709,-0.074884,0.997145]]
2025-10-26T23:21:11.940Z,1761520871.940 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:12.146Z,1761520872.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897912,0.438255,0.041065],[-0.440077,-0.895764,-0.062760],[0.009279,-0.074425,0.997183]]
2025-10-26T23:21:12.192Z,1761520872.192 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:12.444Z,1761520872.444 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:12.506Z,1761520872.506 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="OnDock">
    <DefineArg Name="DockedTime">
        <Units:hour />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="DetachedTimeout">
        <Dock:Docked.detachTimeout />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:Docked.rangeTimeout />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <BIT:CBIT.stopDepth />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="IfconfigInterval">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="RunScience">
        <False />
    </DefineArg>
    <DefineArg Name="MissionTimeout">
        <Arg Name="DockedTime" />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="DockedTime" />
        <Add>
            <Units:minute />
            <Value>5</Value>
        </Add>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="dataRead">
        <While>
            <True />
        </While>
        <ReadDatum>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Aggregate Id="science">
        <Parallel />
        <Break>
            <Not>
                <Arg Name="RunScience" />
            </Not>
        </Break>
        <Insert Filename="Insert/Science.tl" />
    </Aggregate>
    <Estimation:TrackAcousticContact>
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumberOfPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingUpdatePeriod" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="PeriodicCheck">
        <Parallel />
        <Aggregate Id="CheckIP">
            <Sequence />
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>! ifconfig</String>
                </Setting>
            </Guidance:Execute>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="IfconfigInterval" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
    </Aggregate>
    <Dock:Docked>
        <Sequence />
        <Timeout Duration="DockedTime" />
        <Setting>
            <Dock:Docked.detachTimeout />
            <Arg Name="DetachedTimeout" />
        </Setting>
        <Setting>
            <Dock:Docked.rangeTimeout />
            <Arg Name="RangeTimeout" />
        </Setting>
    </Dock:Docked>
    <Aggregate Id="Detach">
        <Sequence />
        <Break>
            <Arg Name="StayOnDock" />
            <Eq>
                <True />
            </Eq>
        </Break>
        <Syslog Severity="Important">
            Mission ending, breaking off. Range: 
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
            .
        </Syslog>
        <Dock:Undock>
            <Sequence />
        </Dock:Undock>
    </Aggregate>
</Mission>

2025-10-26T23:21:12.515Z,1761520872.515 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-10-26T23:21:12.520Z,1761520872.520 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-10-26T23:21:12.524Z,1761520872.524 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-10-26T23:21:12.529Z,1761520872.529 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-10-26T23:21:12.533Z,1761520872.533 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-10-26T23:21:12.552Z,1761520872.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897997,0.438134,0.040508],[-0.439912,-0.895862,-0.062525],[0.008896,-0.073967,0.997221]]
2025-10-26T23:21:12.585Z,1761520872.585 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-10-26T23:21:12.614Z,1761520872.614 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 275.000000 m
2025-10-26T23:21:12.676Z,1761520872.676 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-10-26T23:21:12.690Z,1761520872.690 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-10-26T23:21:12.700Z,1761520872.700 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:12.716Z,1761520872.716 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-10-26T23:21:12.721Z,1761520872.721 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-10-26T23:21:12.737Z,1761520872.737 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-10-26T23:21:12.744Z,1761520872.744 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-10-26T23:21:12.744Z,1761520872.744 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-10-26T23:21:12.745Z,1761520872.745 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-10-26T23:21:12.746Z,1761520872.746 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-10-26T23:21:12.878Z,1761520872.878 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-10-26T23:21:12.901Z,1761520872.901 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-10-26T23:21:12.909Z,1761520872.909 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-10-26T23:21:12.914Z,1761520872.914 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-10-26T23:21:12.930Z,1761520872.930 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-10-26T23:21:12.936Z,1761520872.936 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-10-26T23:21:12.948Z,1761520872.948 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:12.956Z,1761520872.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898143,0.437901,0.039775],[-0.439623,-0.896032,-0.062116],[0.008439,-0.073275,0.997276]]
2025-10-26T23:21:12.986Z,1761520872.986 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-10-26T23:21:13.045Z,1761520873.045 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-10-26T23:21:13.096Z,1761520873.096 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-10-26T23:21:13.096Z,1761520873.096 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-10-26T23:21:13.097Z,1761520873.097 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-10-26T23:21:13.142Z,1761520873.142 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-10-26T23:21:13.151Z,1761520873.151 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-10-26T23:21:13.159Z,1761520873.159 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-10-26T23:21:13.166Z,1761520873.166 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-10-26T23:21:13.166Z,1761520873.166 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-10-26T23:21:13.172Z,1761520873.172 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-10-26T23:21:13.200Z,1761520873.200 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:13.358Z,1761520873.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898069,0.438097,0.039274],[-0.439779,-0.895974,-0.061845],[0.008094,-0.072813,0.997313]]
2025-10-26T23:21:13.408Z,1761520873.408 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-10-26T23:21:13.423Z,1761520873.423 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-10-26T23:21:13.435Z,1761520873.435 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-10-26T23:21:13.443Z,1761520873.443 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-10-26T23:21:13.449Z,1761520873.449 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-10-26T23:21:13.463Z,1761520873.463 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:13.473Z,1761520873.473 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-10-26T23:21:13.496Z,1761520873.496 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-10-26T23:21:13.520Z,1761520873.520 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-10-26T23:21:13.523Z,1761520873.523 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-10-26T23:21:13.523Z,1761520873.523 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-10-26T23:21:13.537Z,1761520873.537 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-10-26T23:21:13.704Z,1761520873.704 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:13.765Z,1761520873.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897923,0.438436,0.038819],[-0.440084,-0.895835,-0.061693],[0.007727,-0.072479,0.997340]]
2025-10-26T23:21:13.956Z,1761520873.956 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:14.166Z,1761520874.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897603,0.439123,0.038464],[-0.440743,-0.895512,-0.061685],[0.007358,-0.072322,0.997354]]
2025-10-26T23:21:14.209Z,1761520874.209 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:14.460Z,1761520874.460 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:14.570Z,1761520874.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897202,0.439964,0.038204],[-0.441563,-0.895105,-0.061722],[0.007041,-0.072246,0.997362]]
2025-10-26T23:21:14.713Z,1761520874.713 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:14.964Z,1761520874.964 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:14.975Z,1761520874.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896813,0.440795,0.037774],[-0.442360,-0.894722,-0.061570],[0.006658,-0.071927,0.997388]]
2025-10-26T23:21:15.217Z,1761520875.217 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:15.380Z,1761520875.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896452,0.441584,0.037106],[-0.443097,-0.894380,-0.061228],[0.006150,-0.071330,0.997434]]
2025-10-26T23:21:15.468Z,1761520875.468 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:15.721Z,1761520875.721 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:15.782Z,1761520875.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895758,0.443022,0.036738],[-0.444505,-0.893688,-0.061124],[0.005753,-0.071082,0.997454]]
2025-10-26T23:21:15.972Z,1761520875.972 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:16.224Z,1761520876.224 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:16.476Z,1761520876.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:16.590Z,1761520876.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894450,0.445694,0.036275],[-0.447133,-0.892439,-0.060206],[0.005539,-0.070071,0.997527]]
2025-10-26T23:21:16.732Z,1761520876.732 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:16.980Z,1761520876.980 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:16.998Z,1761520876.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893726,0.447152,0.036188],[-0.448578,-0.891754,-0.059594],[0.005624,-0.069494,0.997567]]
2025-10-26T23:21:17.232Z,1761520877.232 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:17.398Z,1761520877.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892817,0.448953,0.036317],[-0.450382,-0.890871,-0.059202],[0.005775,-0.069213,0.997585]]
2025-10-26T23:21:17.484Z,1761520877.484 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:17.554Z,1761520877.554 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDepthAvgProfilesChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="NumberOfLayers">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlAvgProfiles">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepthAvgProfiles">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
        <Aggregate Id="SyslogSendDataPeakDepthAvgProfilesChl">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="PeakDepthAvgProfilesChlActive" />
                </Not>
            </Break>
            <Syslog Severity="Info">
                PeakChlAvgProfiles = 
                <Arg Name="PeakChlAvgProfiles" />
                <Units:microgram_per_liter />
                . PeakChlDepthAvgProfiles = 
                <Arg Name="PeakChlDepthAvgProfiles" />
                <Units:meter />
            </Syslog>
            <SendData Service="Express">
                <Arg Name="PeakChlAvgProfiles" />
                <Arg Name="PeakChlDepthAvgProfiles" />
            </SendData>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDepthAvgProfilesChl">
        <While>
            <Arg Name="PeakDepthAvgProfilesChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectHorizontal</Syslog>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <False />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <OutputArg Name="PeakChlAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepthAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-10-26T23:21:17.597Z,1761520877.597 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-10-26T23:21:17.601Z,1761520877.601 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDepthAvgProfilesChlActive = 0 bool
2025-10-26T23:21:17.605Z,1761520877.605 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-10-26T23:21:17.609Z,1761520877.609 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-10-26T23:21:17.613Z,1761520877.613 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-10-26T23:21:17.642Z,1761520877.642 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-10-26T23:21:17.658Z,1761520877.658 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-10-26T23:21:17.666Z,1761520877.666 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-10-26T23:21:17.689Z,1761520877.689 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-10-26T23:21:17.717Z,1761520877.717 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-10-26T23:21:17.737Z,1761520877.737 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:17.740Z,1761520877.740 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-10-26T23:21:17.747Z,1761520877.747 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-10-26T23:21:17.768Z,1761520877.768 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-10-26T23:21:17.780Z,1761520877.780 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-10-26T23:21:17.786Z,1761520877.786 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-10-26T23:21:17.803Z,1761520877.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892004,0.450560,0.036382],[-0.451987,-0.890101,-0.058551],[0.006003,-0.068672,0.997621]]
2025-10-26T23:21:17.826Z,1761520877.826 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-10-26T23:21:17.846Z,1761520877.846 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-10-26T23:21:17.854Z,1761520877.854 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-10-26T23:21:17.862Z,1761520877.862 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-10-26T23:21:17.893Z,1761520877.893 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-10-26T23:21:17.898Z,1761520877.898 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-10-26T23:21:17.910Z,1761520877.910 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-10-26T23:21:17.940Z,1761520877.940 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-10-26T23:21:17.952Z,1761520877.952 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-10-26T23:21:17.958Z,1761520877.958 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-10-26T23:21:17.971Z,1761520877.971 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-10-26T23:21:17.980Z,1761520877.980 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-10-26T23:21:17.989Z,1761520877.989 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:17.992Z,1761520877.992 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-10-26T23:21:17.997Z,1761520877.997 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-10-26T23:21:18.014Z,1761520878.014 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-10-26T23:21:18.023Z,1761520878.023 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 0 bool
2025-10-26T23:21:18.036Z,1761520878.036 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-10-26T23:21:18.043Z,1761520878.043 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-10-26T23:21:18.052Z,1761520878.052 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-10-26T23:21:18.057Z,1761520878.057 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-10-26T23:21:18.080Z,1761520878.080 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-10-26T23:21:18.085Z,1761520878.085 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-10-26T23:21:18.097Z,1761520878.097 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-10-26T23:21:18.105Z,1761520878.105 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-10-26T23:21:18.110Z,1761520878.110 [MissionManager](INFO): DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count
2025-10-26T23:21:18.118Z,1761520878.118 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-10-26T23:21:18.136Z,1761520878.136 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-10-26T23:21:18.141Z,1761520878.141 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-10-26T23:21:18.157Z,1761520878.157 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-10-26T23:21:18.177Z,1761520878.177 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-10-26T23:21:18.206Z,1761520878.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891599,0.451376,0.036194],[-0.452781,-0.889779,-0.057301],[0.006340,-0.067478,0.997701]]
2025-10-26T23:21:18.183Z,1761520878.183 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-10-26T23:21:18.232Z,1761520878.232 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-10-26T23:21:18.240Z,1761520878.240 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:18.244Z,1761520878.244 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-10-26T23:21:18.254Z,1761520878.254 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-10-26T23:21:18.263Z,1761520878.263 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-10-26T23:21:18.285Z,1761520878.285 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-10-26T23:21:18.294Z,1761520878.294 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-10-26T23:21:18.313Z,1761520878.313 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-10-26T23:21:18.321Z,1761520878.321 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-10-26T23:21:18.326Z,1761520878.326 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlAvgProfiles = nan ug/l
2025-10-26T23:21:18.339Z,1761520878.339 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepthAvgProfiles = nan m
2025-10-26T23:21:18.347Z,1761520878.347 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-10-26T23:21:18.361Z,1761520878.361 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-10-26T23:21:18.366Z,1761520878.366 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-10-26T23:21:18.382Z,1761520878.382 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-10-26T23:21:18.387Z,1761520878.387 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-10-26T23:21:18.400Z,1761520878.400 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-10-26T23:21:18.416Z,1761520878.416 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-10-26T23:21:18.425Z,1761520878.425 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-10-26T23:21:18.433Z,1761520878.433 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-10-26T23:21:18.439Z,1761520878.439 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-10-26T23:21:18.456Z,1761520878.456 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-10-26T23:21:18.472Z,1761520878.472 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-10-26T23:21:18.481Z,1761520878.481 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-10-26T23:21:18.485Z,1761520878.485 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-10-26T23:21:18.492Z,1761520878.492 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:18.501Z,1761520878.501 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-10-26T23:21:18.506Z,1761520878.506 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-10-26T23:21:18.518Z,1761520878.518 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-10-26T23:21:18.523Z,1761520878.523 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-10-26T23:21:18.535Z,1761520878.535 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-10-26T23:21:18.548Z,1761520878.548 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-10-26T23:21:18.556Z,1761520878.556 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-10-26T23:21:18.565Z,1761520878.565 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-10-26T23:21:18.573Z,1761520878.573 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-10-26T23:21:18.578Z,1761520878.578 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-10-26T23:21:18.587Z,1761520878.587 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-10-26T23:21:18.591Z,1761520878.591 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-10-26T23:21:18.610Z,1761520878.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890939,0.452635,0.036731],[-0.454069,-0.889160,-0.056699],[0.006996,-0.067194,0.997715]]
2025-10-26T23:21:18.660Z,1761520878.660 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-10-26T23:21:18.665Z,1761520878.665 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-10-26T23:21:18.689Z,1761520878.689 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-10-26T23:21:18.694Z,1761520878.694 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-10-26T23:21:18.747Z,1761520878.747 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:18.761Z,1761520878.761 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-10-26T23:21:18.777Z,1761520878.777 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-10-26T23:21:18.782Z,1761520878.782 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-10-26T23:21:18.799Z,1761520878.799 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-10-26T23:21:18.812Z,1761520878.812 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-10-26T23:21:18.820Z,1761520878.820 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-10-26T23:21:18.829Z,1761520878.829 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-10-26T23:21:18.837Z,1761520878.837 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-10-26T23:21:18.842Z,1761520878.842 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-10-26T23:21:18.859Z,1761520878.859 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-10-26T23:21:18.872Z,1761520878.872 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-10-26T23:21:18.876Z,1761520878.876 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-10-26T23:21:18.889Z,1761520878.889 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-10-26T23:21:18.893Z,1761520878.893 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-10-26T23:21:18.909Z,1761520878.909 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-10-26T23:21:18.914Z,1761520878.914 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-10-26T23:21:18.926Z,1761520878.926 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-10-26T23:21:18.931Z,1761520878.931 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-10-26T23:21:18.952Z,1761520878.952 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-10-26T23:21:18.961Z,1761520878.961 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-10-26T23:21:18.966Z,1761520878.966 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-10-26T23:21:18.982Z,1761520878.982 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-10-26T23:21:18.996Z,1761520878.996 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:19.015Z,1761520879.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890477,0.453524,0.036982],[-0.454965,-0.888764,-0.055716],[0.007600,-0.066439,0.997761]]
2025-10-26T23:21:19.036Z,1761520879.036 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-10-26T23:21:19.045Z,1761520879.045 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-10-26T23:21:19.065Z,1761520879.065 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-10-26T23:21:19.074Z,1761520879.074 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-10-26T23:21:19.090Z,1761520879.090 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-10-26T23:21:19.110Z,1761520879.110 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-10-26T23:21:19.122Z,1761520879.122 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-10-26T23:21:19.158Z,1761520879.158 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-10-26T23:21:19.167Z,1761520879.167 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-10-26T23:21:19.196Z,1761520879.196 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-10-26T23:21:19.206Z,1761520879.206 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-10-26T23:21:19.223Z,1761520879.223 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-10-26T23:21:19.240Z,1761520879.240 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-10-26T23:21:19.244Z,1761520879.244 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-10-26T23:21:19.248Z,1761520879.248 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:19.261Z,1761520879.261 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-10-26T23:21:19.273Z,1761520879.273 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-10-26T23:21:19.278Z,1761520879.278 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-10-26T23:21:19.290Z,1761520879.290 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-10-26T23:21:19.304Z,1761520879.304 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-10-26T23:21:19.309Z,1761520879.309 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-10-26T23:21:19.321Z,1761520879.321 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-10-26T23:21:19.326Z,1761520879.326 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-10-26T23:21:19.343Z,1761520879.343 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-10-26T23:21:19.355Z,1761520879.355 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-10-26T23:21:19.363Z,1761520879.363 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-10-26T23:21:19.379Z,1761520879.379 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-10-26T23:21:19.388Z,1761520879.388 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-10-26T23:21:19.393Z,1761520879.393 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-10-26T23:21:19.418Z,1761520879.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890327,0.453798,0.037225],[-0.455245,-0.888701,-0.054437],[0.008379,-0.065413,0.997823]]
2025-10-26T23:21:19.495Z,1761520879.495 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T23:21:19.500Z,1761520879.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:19.580Z,1761520879.580 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-26T23:21:19.645Z,1761520879.645 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-26T23:21:19.677Z,1761520879.677 [OnDock:science:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-26T23:21:19.716Z,1761520879.716 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T23:21:19.754Z,1761520879.754 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:19.790Z,1761520879.790 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T23:21:19.823Z,1761520879.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890172,0.454074,0.037552],[-0.455531,-0.888626,-0.053245],[0.009192,-0.064504,0.997875]]
2025-10-26T23:21:19.867Z,1761520879.867 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-26T23:21:19.915Z,1761520879.915 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T23:21:19.968Z,1761520879.968 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T23:21:19.994Z,1761520879.994 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-26T23:21:20.004Z,1761520880.004 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:20.026Z,1761520880.026 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T23:21:20.064Z,1761520880.064 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-26T23:21:20.117Z,1761520880.117 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T23:21:20.162Z,1761520880.162 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-26T23:21:20.227Z,1761520880.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890311,0.453789,0.037709],[-0.455243,-0.888859,-0.051806],[0.010009,-0.063291,0.997945]]
2025-10-26T23:21:20.256Z,1761520880.256 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:20.268Z,1761520880.268 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T23:21:20.318Z,1761520880.318 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-26T23:21:20.344Z,1761520880.344 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T23:21:20.373Z,1761520880.373 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T23:21:20.407Z,1761520880.407 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-26T23:21:20.466Z,1761520880.466 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-10-26T23:21:20.508Z,1761520880.508 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:20.537Z,1761520880.537 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-10-26T23:21:20.546Z,1761520880.546 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-10-26T23:21:20.552Z,1761520880.552 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-10-26T23:21:20.554Z,1761520880.554 [OnDock:N.Docked](DEBUG): Construct.
2025-10-26T23:21:20.554Z,1761520880.554 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-10-26T23:21:20.613Z,1761520880.613 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-10-26T23:21:20.613Z,1761520880.613 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-10-26T23:21:20.630Z,1761520880.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890649,0.453043,0.038668],[-0.454556,-0.889228,-0.051503],[0.011052,-0.063448,0.997924]]
2025-10-26T23:21:20.762Z,1761520880.762 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:20.833Z,1761520880.833 [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
    }
  }
}


2025-10-26T23:21:20.834Z,1761520880.834 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock
2025-10-26T23:21:21.012Z,1761520881.012 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:21.034Z,1761520881.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890951,0.452344,0.039896],[-0.453939,-0.889532,-0.051692],[0.012106,-0.064165,0.997866]]
2025-10-26T23:21:21.123Z,1761520881.123 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-10-26T23:21:21.124Z,1761520881.124 [DefaultWithUndock] Running Loop=1
2025-10-26T23:21:21.124Z,1761520881.124 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-10-26T23:21:21.124Z,1761520881.124 [DefaultWithUndock:A.Wait] Running Loop=1
2025-10-26T23:21:21.124Z,1761520881.124 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-10-26T23:21:21.264Z,1761520881.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:21.348Z,1761520881.348 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T23:21:21.439Z,1761520881.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891431,0.451314,0.040821],[-0.452968,-0.890033,-0.051576],[0.013055,-0.064467,0.997834]]
2025-10-26T23:21:21.516Z,1761520881.516 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:21.770Z,1761520881.770 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:21.842Z,1761520881.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891840,0.450420,0.041749],[-0.452132,-0.890472,-0.051336],[0.014054,-0.064659,0.997808]]
2025-10-26T23:21:22.020Z,1761520882.020 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:22.246Z,1761520882.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892260,0.449496,0.042726],[-0.451272,-0.890913,-0.051253],[0.015027,-0.065011,0.997771]]
2025-10-26T23:21:22.272Z,1761520882.272 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:22.524Z,1761520882.524 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:22.650Z,1761520882.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892529,0.448947,0.042866],[-0.450715,-0.891264,-0.050050],[0.015736,-0.063991,0.997826]]
2025-10-26T23:21:22.778Z,1761520882.778 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:23.029Z,1761520883.029 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:23.057Z,1761520883.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892701,0.448575,0.043186],[-0.450343,-0.891519,-0.048839],[0.016593,-0.063047,0.997873]]
2025-10-26T23:21:23.280Z,1761520883.280 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:23.458Z,1761520883.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892751,0.448433,0.043637],[-0.450212,-0.891643,-0.047773],[0.017485,-0.062295,0.997905]]
2025-10-26T23:21:23.532Z,1761520883.532 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:23.786Z,1761520883.786 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:23.862Z,1761520883.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892639,0.448582,0.044383],[-0.450393,-0.891591,-0.047035],[0.018472,-0.061975,0.997907]]
2025-10-26T23:21:24.036Z,1761520884.036 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:24.267Z,1761520884.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892105,0.449534,0.045470],[-0.451410,-0.891082,-0.046928],[0.019422,-0.062390,0.997863]]
2025-10-26T23:21:24.290Z,1761520884.290 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:24.540Z,1761520884.540 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:24.670Z,1761520884.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891612,0.450382,0.046741],[-0.452332,-0.890627,-0.046686],[0.020602,-0.062768,0.997815]]
2025-10-26T23:21:24.795Z,1761520884.795 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:25.044Z,1761520885.044 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:25.075Z,1761520885.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891054,0.451361,0.047921],[-0.453379,-0.890108,-0.046425],[0.021701,-0.063093,0.997772]]
2025-10-26T23:21:25.296Z,1761520885.296 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:25.478Z,1761520885.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890604,0.452111,0.049201],[-0.454196,-0.889722,-0.045829],[0.023055,-0.063163,0.997737]]
2025-10-26T23:21:25.549Z,1761520885.549 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:25.802Z,1761520885.802 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:25.884Z,1761520885.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889936,0.453321,0.050133],[-0.455431,-0.889160,-0.044477],[0.024414,-0.062414,0.997752]]
2025-10-26T23:21:26.052Z,1761520886.052 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:26.287Z,1761520886.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889113,0.454811,0.051230],[-0.456972,-0.888402,-0.043805],[0.025590,-0.062358,0.997726]]
2025-10-26T23:21:26.304Z,1761520886.304 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:26.308Z,1761520886.308 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 24 hour
2025-10-26T23:21:26.309Z,1761520886.309 [CommandExec](IMPORTANT): got command run
2025-10-26T23:21:26.354Z,1761520886.354 [CommandExec](IMPORTANT): Running 
2025-10-26T23:21:26.429Z,1761520886.429 [DefaultWithUndock] Stopped
2025-10-26T23:21:26.430Z,1761520886.430 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-10-26T23:21:26.430Z,1761520886.430 [DefaultWithUndock:A.Wait] Stopped
2025-10-26T23:21:26.430Z,1761520886.430 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-10-26T23:21:26.430Z,1761520886.430 [MissionManager](IMPORTANT): Started mission OnDock
2025-10-26T23:21:26.430Z,1761520886.430 [OnDock] Running Loop=1
2025-10-26T23:21:26.430Z,1761520886.430 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-10-26T23:21:26.430Z,1761520886.430 [OnDock:StandardEnvelopes] Running Loop=1
2025-10-26T23:21:26.430Z,1761520886.430 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-10-26T23:21:26.431Z,1761520886.431 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-26T23:21:26.431Z,1761520886.431 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-10-26T23:21:26.431Z,1761520886.431 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-26T23:21:26.431Z,1761520886.431 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-10-26T23:21:26.432Z,1761520886.432 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-26T23:21:26.432Z,1761520886.432 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-10-26T23:21:26.432Z,1761520886.432 [OnDock:BackseatDriver] Running Loop=1
2025-10-26T23:21:26.432Z,1761520886.432 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-10-26T23:21:26.498Z,1761520886.498 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-10-26T23:21:26.498Z,1761520886.498 [OnDock:PowerOnly] Running Loop=1
2025-10-26T23:21:26.498Z,1761520886.498 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-10-26T23:21:26.498Z,1761520886.498 [OnDock:PowerOnly:A] Running Loop=1
2025-10-26T23:21:26.498Z,1761520886.498 [OnDock:PowerOnly:B] Running Loop=1
2025-10-26T23:21:26.498Z,1761520886.498 [OnDock:PowerOnly:C] Running Loop=1
2025-10-26T23:21:26.498Z,1761520886.498 [OnDock:PowerOnly:D] Running Loop=1
2025-10-26T23:21:26.498Z,1761520886.498 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-10-26T23:21:26.498Z,1761520886.498 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-10-26T23:21:26.498Z,1761520886.498 [OnDock:dataRead] Running Loop=1
2025-10-26T23:21:26.499Z,1761520886.499 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-10-26T23:21:26.499Z,1761520886.499 [OnDock:dataRead:A] Running Loop=1
2025-10-26T23:21:26.499Z,1761520886.499 [OnDock:science] Running Loop=1
2025-10-26T23:21:26.499Z,1761520886.499 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-10-26T23:21:26.499Z,1761520886.499 [OnDock:science:Science] Running Loop=1
2025-10-26T23:21:26.499Z,1761520886.499 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-10-26T23:21:26.499Z,1761520886.499 [OnDock:science:Science:A] Running Loop=1
2025-10-26T23:21:26.499Z,1761520886.499 [OnDock:science:Science:B] Running Loop=1
2025-10-26T23:21:26.499Z,1761520886.499 [OnDock:science:Science:C] Running Loop=1
2025-10-26T23:21:26.499Z,1761520886.499 [OnDock:science:Science:D] Running Loop=1
2025-10-26T23:21:26.500Z,1761520886.500 [OnDock:science:Science:E] Running Loop=1
2025-10-26T23:21:26.500Z,1761520886.500 [OnDock:science:Science:F] Running Loop=1
2025-10-26T23:21:26.500Z,1761520886.500 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-10-26T23:21:26.500Z,1761520886.500 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-10-26T23:21:26.500Z,1761520886.500 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-10-26T23:21:26.501Z,1761520886.501 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-10-26T23:21:26.501Z,1761520886.501 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-10-26T23:21:26.501Z,1761520886.501 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-10-26T23:21:26.501Z,1761520886.501 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-10-26T23:21:26.501Z,1761520886.501 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-10-26T23:21:26.501Z,1761520886.501 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-10-26T23:21:26.501Z,1761520886.501 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-26T23:21:26.502Z,1761520886.502 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-26T23:21:26.502Z,1761520886.502 [OnDock:science:Science:PeakDepthAvgProfilesChl] Running Loop=1
2025-10-26T23:21:26.502Z,1761520886.502 [OnDock:science:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDepthAvgProfilesChl
2025-10-26T23:21:26.502Z,1761520886.502 [OnDock:science:Science:PeakDepthAvgProfilesChl:A] Running Loop=1
2025-10-26T23:21:26.502Z,1761520886.502 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-10-26T23:21:26.502Z,1761520886.502 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-10-26T23:21:26.503Z,1761520886.503 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-10-26T23:21:26.503Z,1761520886.503 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-10-26T23:21:26.503Z,1761520886.503 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-10-26T23:21:26.503Z,1761520886.503 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-10-26T23:21:26.503Z,1761520886.503 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-10-26T23:21:26.503Z,1761520886.503 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-10-26T23:21:26.544Z,1761520886.544 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-26T23:21:26.544Z,1761520886.544 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-26T23:21:26.544Z,1761520886.544 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-10-26T23:21:26.544Z,1761520886.544 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-10-26T23:21:26.556Z,1761520886.556 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:26.557Z,1761520886.557 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-10-26T23:21:26.557Z,1761520886.557 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-10-26T23:21:26.557Z,1761520886.557 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-10-26T23:21:26.557Z,1761520886.557 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-10-26T23:21:26.557Z,1761520886.557 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-10-26T23:21:26.557Z,1761520886.557 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-10-26T23:21:26.557Z,1761520886.557 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-26T23:21:26.557Z,1761520886.557 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-26T23:21:26.558Z,1761520886.558 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-10-26T23:21:26.558Z,1761520886.558 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-10-26T23:21:26.558Z,1761520886.558 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-10-26T23:21:26.558Z,1761520886.558 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-10-26T23:21:26.559Z,1761520886.559 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-10-26T23:21:26.559Z,1761520886.559 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-10-26T23:21:26.559Z,1761520886.559 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-10-26T23:21:26.560Z,1761520886.560 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-10-26T23:21:26.560Z,1761520886.560 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-10-26T23:21:26.560Z,1761520886.560 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-10-26T23:21:26.560Z,1761520886.560 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-10-26T23:21:26.561Z,1761520886.561 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-10-26T23:21:26.561Z,1761520886.561 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-10-26T23:21:26.561Z,1761520886.561 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-10-26T23:21:26.561Z,1761520886.561 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-10-26T23:21:26.561Z,1761520886.561 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-10-26T23:21:26.561Z,1761520886.561 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-10-26T23:21:26.561Z,1761520886.561 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-10-26T23:21:26.561Z,1761520886.561 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-10-26T23:21:26.561Z,1761520886.561 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-10-26T23:21:26.562Z,1761520886.562 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-10-26T23:21:26.562Z,1761520886.562 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-10-26T23:21:26.562Z,1761520886.562 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-10-26T23:21:26.562Z,1761520886.562 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-10-26T23:21:26.562Z,1761520886.562 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-10-26T23:21:26.562Z,1761520886.562 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-10-26T23:21:26.563Z,1761520886.563 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-10-26T23:21:26.563Z,1761520886.563 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-10-26T23:21:26.563Z,1761520886.563 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-10-26T23:21:26.567Z,1761520886.567 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-10-26T23:21:26.567Z,1761520886.567 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-10-26T23:21:26.568Z,1761520886.568 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-10-26T23:21:26.568Z,1761520886.568 [OnDock:J.] Running Loop=1
2025-10-26T23:21:26.568Z,1761520886.568 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-10-26T23:21:26.568Z,1761520886.568 [OnDock:PeriodicCheck] Running Loop=1
2025-10-26T23:21:26.568Z,1761520886.568 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-10-26T23:21:26.568Z,1761520886.568 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-10-26T23:21:26.568Z,1761520886.568 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-10-26T23:21:26.568Z,1761520886.568 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-10-26T23:21:26.569Z,1761520886.569 [OnDock:B] Running Loop=1
2025-10-26T23:21:26.569Z,1761520886.569 [OnDock:PeriodicCheck] Running Loop=1
2025-10-26T23:21:26.569Z,1761520886.569 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-10-26T23:21:26.569Z,1761520886.569 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-10-26T23:21:26.569Z,1761520886.569 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-10-26T23:21:26.569Z,1761520886.569 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-10-26T23:21:26.570Z,1761520886.570 [OnDock:J.] Running Loop=1
2025-10-26T23:21:26.581Z,1761520886.581 [OnDock:science] Stopped
2025-10-26T23:21:26.581Z,1761520886.581 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-10-26T23:21:26.582Z,1761520886.582 [OnDock:science:Science] Stopped
2025-10-26T23:21:26.582Z,1761520886.582 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-10-26T23:21:26.582Z,1761520886.582 [OnDock:science:Science:A] Stopped
2025-10-26T23:21:26.582Z,1761520886.582 [OnDock:science:Science:B] Stopped
2025-10-26T23:21:26.582Z,1761520886.582 [OnDock:science:Science:C] Stopped
2025-10-26T23:21:26.582Z,1761520886.582 [OnDock:science:Science:D] Stopped
2025-10-26T23:21:26.582Z,1761520886.582 [OnDock:science:Science:E] Stopped
2025-10-26T23:21:26.582Z,1761520886.582 [OnDock:science:Science:F] Stopped
2025-10-26T23:21:26.582Z,1761520886.582 [OnDock:science:Science:Read_Oil] Stopped
2025-10-26T23:21:26.582Z,1761520886.582 [OnDock:science:Science:OceanCurrent] Stopped
2025-10-26T23:21:26.582Z,1761520886.582 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-10-26T23:21:26.582Z,1761520886.582 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-10-26T23:21:26.582Z,1761520886.582 [OnDock:science:Science:PeakDetectChl] Stopped
2025-10-26T23:21:26.582Z,1761520886.582 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-10-26T23:21:26.582Z,1761520886.582 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-10-26T23:21:26.583Z,1761520886.583 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-10-26T23:21:26.583Z,1761520886.583 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-10-26T23:21:26.583Z,1761520886.583 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-10-26T23:21:26.583Z,1761520886.583 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-10-26T23:21:26.583Z,1761520886.583 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-10-26T23:21:26.583Z,1761520886.583 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-26T23:21:26.583Z,1761520886.583 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-26T23:21:26.587Z,1761520886.587 [OnDock:science:Science:PeakDepthAvgProfilesChl] Stopped
2025-10-26T23:21:26.587Z,1761520886.587 [OnDock:science:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDepthAvgProfilesChl
2025-10-26T23:21:26.588Z,1761520886.588 [OnDock:science:Science:PeakDepthAvgProfilesChl:A] Stopped
2025-10-26T23:21:26.588Z,1761520886.588 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-10-26T23:21:26.588Z,1761520886.588 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-10-26T23:21:26.588Z,1761520886.588 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-10-26T23:21:26.588Z,1761520886.588 [OnDock:science:Science:PeakDetectOil] Stopped
2025-10-26T23:21:26.588Z,1761520886.588 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-10-26T23:21:26.588Z,1761520886.588 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-10-26T23:21:26.588Z,1761520886.588 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-10-26T23:21:26.588Z,1761520886.588 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-10-26T23:21:26.588Z,1761520886.588 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-26T23:21:26.588Z,1761520886.588 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-26T23:21:26.588Z,1761520886.588 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-10-26T23:21:26.589Z,1761520886.589 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-10-26T23:21:26.589Z,1761520886.589 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-10-26T23:21:26.589Z,1761520886.589 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-10-26T23:21:26.589Z,1761520886.589 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-10-26T23:21:26.589Z,1761520886.589 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-10-26T23:21:26.589Z,1761520886.589 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-10-26T23:21:26.589Z,1761520886.589 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-10-26T23:21:26.589Z,1761520886.589 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-26T23:21:26.589Z,1761520886.589 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-26T23:21:26.589Z,1761520886.589 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-10-26T23:21:26.589Z,1761520886.589 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-10-26T23:21:26.589Z,1761520886.589 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-10-26T23:21:26.589Z,1761520886.589 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-10-26T23:21:26.590Z,1761520886.590 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-10-26T23:21:26.590Z,1761520886.590 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-10-26T23:21:26.590Z,1761520886.590 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-10-26T23:21:26.590Z,1761520886.590 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-10-26T23:21:26.590Z,1761520886.590 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-10-26T23:21:26.590Z,1761520886.590 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-10-26T23:21:26.590Z,1761520886.590 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-10-26T23:21:26.590Z,1761520886.590 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-10-26T23:21:26.590Z,1761520886.590 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-10-26T23:21:26.590Z,1761520886.590 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-10-26T23:21:26.590Z,1761520886.590 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-10-26T23:21:26.590Z,1761520886.590 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-10-26T23:21:26.590Z,1761520886.590 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-10-26T23:21:26.591Z,1761520886.591 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-10-26T23:21:26.591Z,1761520886.591 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-10-26T23:21:26.591Z,1761520886.591 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-10-26T23:21:26.591Z,1761520886.591 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-10-26T23:21:26.591Z,1761520886.591 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-10-26T23:21:26.591Z,1761520886.591 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-10-26T23:21:26.591Z,1761520886.591 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-10-26T23:21:26.599Z,1761520886.599 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-10-26T23:21:26.599Z,1761520886.599 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-10-26T23:21:26.599Z,1761520886.599 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-10-26T23:21:26.599Z,1761520886.599 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-10-26T23:21:26.599Z,1761520886.599 [OnDock:dataRead] Running Loop=1
2025-10-26T23:21:26.600Z,1761520886.600 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-10-26T23:21:26.600Z,1761520886.600 [OnDock:PowerOnly] Running Loop=1
2025-10-26T23:21:26.601Z,1761520886.601 [OnDock:PowerOnly:D] Stopped
2025-10-26T23:21:26.601Z,1761520886.601 [OnDock:PowerOnly:C] Stopped
2025-10-26T23:21:26.601Z,1761520886.601 [OnDock:PowerOnly:B] Stopped
2025-10-26T23:21:26.601Z,1761520886.601 [OnDock:PowerOnly:A] Stopped
2025-10-26T23:21:26.601Z,1761520886.601 [OnDock:BackseatDriver] Running Loop=1
2025-10-26T23:21:26.601Z,1761520886.601 [OnDock:B] Stopped
2025-10-26T23:21:26.602Z,1761520886.602 [OnDock:C] Running Loop=1
2025-10-26T23:21:26.602Z,1761520886.602 [OnDock:StandardEnvelopes] Running Loop=1
2025-10-26T23:21:26.602Z,1761520886.602 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-26T23:21:26.602Z,1761520886.602 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-26T23:21:26.602Z,1761520886.602 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-26T23:21:26.665Z,1761520886.665 [CommandExec](IMPORTANT): got command ! ifconfig
2025-10-26T23:21:26.809Z,1761520886.809 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:27.031Z,1761520887.031 [CommandExec](IMPORTANT): eth0      Link encap:Ethernet  HWaddr 50:2D:F4:07:45:37  
            inet addr:10.89.11.2  Bcast:10.89.11.255  Mask:255.255.255.0
            UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
            RX packets:73154 errors:0 dropped:0 overruns:0 frame:0
            TX packets:74754 errors:0 dropped:0 overruns:0 carrier:0
            collisions:491 txqueuelen:1000 
            RX bytes:29961990 (28.5 Mb)  TX bytes:16156502 (15.4 Mb)
            Interrupt:29 
  
  lo        Link encap:Local Loopback  
            inet addr:127.0.0.1  Mask:255.0.0.0
            UP LOOPBACK RUNNING MULTICAST  MTU:16436  Metric:1
            RX packets:1513 errors:0 dropped:0 overruns:0 frame:0
            TX packets:1513 errors:0 dropped:0 overruns:0 carrier:0
            collisions:0 txqueuelen:0 
            RX bytes:133236 (130.1 Kb)  TX bytes:133236 (130.1 Kb)
  
  
2025-10-26T23:21:27.061Z,1761520887.061 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:27.312Z,1761520887.312 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:27.404Z,1761520887.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887067,0.458443,0.054235],[-0.460707,-0.886608,-0.040915],[0.029328,-0.061281,0.997690]]
2025-10-26T23:21:27.521Z,1761520887.521 [OnDock:C] Stopped
2025-10-26T23:21:27.522Z,1761520887.522 [OnDock:D] Running Loop=1
2025-10-26T23:21:27.568Z,1761520887.568 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:27.769Z,1761520887.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886237,0.459908,0.055398],[-0.462210,-0.885875,-0.039831],[0.030757,-0.060906,0.997670]]
2025-10-26T23:21:27.795Z,1761520887.795 [OnDock:D] Stopped
2025-10-26T23:21:27.795Z,1761520887.795 [OnDock:E] Running Loop=1
2025-10-26T23:21:27.823Z,1761520887.823 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:28.072Z,1761520888.072 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:28.170Z,1761520888.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885506,0.461162,0.056652],[-0.463502,-0.885252,-0.038654],[0.032325,-0.060486,0.997645]]
2025-10-26T23:21:28.227Z,1761520888.227 [OnDock:E] Stopped
2025-10-26T23:21:28.227Z,1761520888.227 [OnDock:K] Running Loop=1
2025-10-26T23:21:28.324Z,1761520888.324 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:28.574Z,1761520888.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884811,0.462347,0.057833],[-0.464718,-0.884667,-0.037433],[0.033856,-0.059997,0.997624]]
2025-10-26T23:21:28.576Z,1761520888.576 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:28.625Z,1761520888.625 [OnDock:K](IMPORTANT): Restarting logs
2025-10-26T23:21:28.625Z,1761520888.625 [OnDock:K] Stopped
2025-10-26T23:21:28.626Z,1761520888.626 [OnDock:L.Execute] Running Loop=1
2025-10-26T23:21:28.828Z,1761520888.828 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:28.978Z,1761520888.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884449,0.462904,0.058900],[-0.465284,-0.884435,-0.035856],[0.035495,-0.059118,0.997620]]
2025-10-26T23:21:29.013Z,1761520889.013 [OnDock:L.Execute](INFO): Executing command restart logs
2025-10-26T23:21:29.013Z,1761520889.013 [OnDock:L.Execute] Stopped
2025-10-26T23:21:29.014Z,1761520889.014 [OnDock:N.Docked] Running Loop=1
2025-10-26T23:21:29.014Z,1761520889.014 [OnDock:N.Docked](DEBUG): Initialize.
2025-10-26T23:21:29.015Z,1761520889.015 [OnDock:N.Docked](IMPORTANT): DHCP script made executable: /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-10-26T23:21:29.015Z,1761520889.015 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-10-26T23:21:29.088Z,1761520889.088 [DAT](DEBUG): Acoustic response timeout
2025-10-26T23:21:29.117Z,1761520889.117 [CommandExec](IMPORTANT): got command restart logs